diff --git a/.gitattributes b/.gitattributes
index acc1eebb92e099f0838ecd8c7feca33c2b8a266d..61339f3bef7720b22939eb28505e9a5acea9c38c 100644
--- a/.gitattributes
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/fem_node.csv
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/franka_data.csv
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index 0000000000000000000000000000000000000000..7dc7dc9070ec3212e95e619572b398935b5213b8
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+47,0.783333333,BASELINE,789,761,736.262403279,733.262403279,693,658,922,806.737596721,839.737596721,663,633,664,0.400945017508,-0.0154467808662,0.0499391748309,0.999999978998,3.64000388822e-05,-0.000199164597789,-3.1830002926e-05,1793255929927492608
+48,0.800000000,BASELINE,789,761,736.832327042,733.832327042,693,658,922,806.167672958,839.167672958,663,633,664,0.400944703808,-0.0154457419826,0.0499390338674,0.999999978707,3.99832333798e-05,-0.000199934670972,-3.1840226071e-05,1793255929944159488
+49,0.816666667,BASELINE,789,761,737,733.579255423,693,658,922,806.420744577,839.420744577,663,633,664,0.400945357571,-0.0154466899694,0.0499395620796,0.999999978822,3.9606686138e-05,-0.000199465738288,-3.16257017086e-05,1793255929960826112
+50,0.833333333,BASELINE,789,761,737,733,693,658,922,807,839.983649576,663,633,664,0.400946358916,-0.0154484752807,0.0499403266107,0.999999979101,3.75325483015e-05,-0.000198513431284,-3.13208210248e-05,1793255929977492736
+51,0.850000000,BASELINE,789,761,737,733,693,658,922,807,839.405916072,663,633,664,0.400945448048,-0.0154505738547,0.0499396278664,0.999999979202,3.38438512059e-05,-0.000198697214779,-3.11301608964e-05,1793255929994159616
+52,0.866666667,BASELINE,789,761,737,733,693,658,922,807,839.170959782,663,633,664,0.40094499446,-0.0154514552427,0.0499393073156,0.999999979276,3.20149194396e-05,-0.000198640192899,-3.10695423005e-05,1793255930010826496
+53,0.883333333,BASELINE,789,761,737,733,693,658,922,807,839.745809415,663,633,664,0.400945621189,-0.0154494610476,0.0499398802411,0.999999979307,3.45796548391e-05,-0.000198014272022,-3.13161448338e-05,1793255930027493376
+54,0.900000000,BASELINE,789,761,736.671914319,733,693,658,922,807,840,663,633.328085681,664,0.400945523813,-0.0154481790604,0.0499394703143,0.99999997917,3.60684769028e-05,-0.000198414784072,-3.14837404296e-05,1793255930044160000
+55,0.916666667,BASELINE,789,761,736.083750894,733,693,658,922,807,840,663,633.916249106,664,0.400944852429,-0.0154474616496,0.0499382812679,0.999999978902,3.67044084849e-05,-0.000199628962755,-3.15887061971e-05,1793255930060826368
+56,0.933333333,BASELINE,789,761.484511345,736.484511345,733,693.484511345,658,922,807,839.515488655,663,634,664,0.400945299603,-0.0154477405695,0.0499388224073,0.999999978919,3.65481309653e-05,-0.000199593524703,-3.14395231177e-05,1793255930077492736
+57,0.950000000,BASELINE,789,761.948089979,737,733,693.948089979,658,922.051910021,807,839.051910021,663,633.948089979,664,0.400946004594,-0.0154481127341,0.0499396609578,0.999999979012,3.63812677337e-05,-0.000199186753542,-3.1258846082e-05,1793255930094159360
+58,0.966666667,BASELINE,789,761.355258071,737,733,693.355258071,658,922.644741929,807,839.644741929,663,633.355258071,664,0.400947460862,-0.0154477327282,0.0499406051412,0.999999979393,3.74747482344e-05,-0.00019707259252,-3.11897091945e-05,1793255930110825984
+59,0.983333333,BASELINE,789,761,737,733,693,658,922.771678383,807,839.771678383,663,633,664,0.4009477689,-0.0154478491271,0.0499406733698,0.999999979482,3.80087530801e-05,-0.000196523585062,-3.11458783082e-05,1793255930127492352
+60,1.000000000,BASELINE,789,761,737,733,693,658,922.201933997,807,839.201933997,663,633,664,0.400946359923,-0.0154487078293,0.0499394317318,0.99999997914,3.77061411715e-05,-0.000198315043651,-3.11398889666e-05,1793255930144159232
+61,1.016666667,BASELINE,789,761.383221541,736.616778459,733,693.383221541,658.383221541,922,807,839.383221541,663,633.383221541,664.383221541,0.400945618358,-0.0154487334059,0.0499390688559,0.999999979039,3.7323691485e-05,-0.000198898406674,-3.11049911559e-05,1793255930160825856
+62,1.033333333,BASELINE,789,761.976838022,736.023161978,733,693.976838022,658.976838022,922,807,839.976838022,663,633.976838022,664.976838022,0.400945243214,-0.0154483015827,0.049939188435,0.999999979073,3.68974095614e-05,-0.000198818505221,-3.10542221199e-05,1793255930177492480
+63,1.050000000,BASELINE,789,761.444537524,736.555462476,733,693.444537524,658.444537524,922,807,839.444537524,663,634,665,0.400945035671,-0.0154490714603,0.0499387594385,0.999999979031,3.61893548778e-05,-0.000199149924609,-3.10985195974e-05,1793255930194159360
+64,1.066666667,BASELINE,789,761.133169298,737,733,693,658,922,807,839.133169298,663,634,664.866830702,0.400945153543,-0.0154494463969,0.0499384947787,0.999999979025,3.58207111179e-05,-0.000199245482529,-3.11216970139e-05,1793255930210825984
+65,1.083333333,BASELINE,789,761.709847277,737,733,693,658,922,807,839.709847277,663,634,664.290152723,0.400946332518,-0.0154483435184,0.0499388516083,0.999999979146,3.66205480796e-05,-0.000198499904167,-3.10616806743e-05,1793255930227492608
+66,1.100000000,BASELINE,789,762,737,733,693,658,922,807,839.716766543,663,634,664,0.400947076944,-0.0154476403586,0.0499392287728,0.999999979267,3.70114664213e-05,-0.000197807034984,-3.1127285119e-05,1793255930244159232
+67,1.116666667,BASELINE,789,762,737,733,693,658,922,807,839.146713872,663,634,664,0.400947381317,-0.015447341978,0.0499396265297,0.999999979388,3.69882891541e-05,-0.000197167542326,-3.13201007202e-05,1793255930260825856
+68,1.133333333,BASELINE,789,761.556917313,737,733,693,658,922,807,839,663,634,664,0.40094681067,-0.0154477315573,0.0499391171641,0.99999997911,3.87226558016e-05,-0.000198265328355,-3.11580568976e-05,1793255930277492224
+69,1.150000000,BASELINE,789,761,736.961598665,733,693,658,922.038401335,807,839.038401335,663,634,664.038401335,0.400945957261,-0.0154483089774,0.0499383619232,0.999999978727,4.07063415335e-05,-0.000199832852642,-3.09186104834e-05,1793255930294158848
+70,1.166666667,BASELINE,789,761,736.38479366,733,693,658,922.61520634,807,839.61520634,663,634,664.61520634,0.400945391113,-0.0154481772259,0.0499385670886,0.999999978892,3.76457237322e-05,-0.000199544916547,-3.13181994722e-05,1793255930310826240
+71,1.183333333,BASELINE,789,761.191764428,736,733,693,658,922.808235572,807,839.808235572,663,634,664.808235572,0.400944786527,-0.0154477179668,0.049938594481,0.999999978883,3.6369692136e-05,-0.000199777899296,-3.16149990351e-05,1793255930327493120
+72,1.200000000,BASELINE,789,761.767827793,736,733,693,658,922.232172207,807,839.232172207,663,634,664.232172207,0.400944104909,-0.0154466023774,0.0499382656137,0.999999978538,3.86699988831e-05,-0.000201054811572,-3.170580704e-05,1793255930344159744
+73,1.216666667,BASELINE,788.648624367,762,736.351375633,733,693,658,922.351375633,807.351375633,839,663,634,664.351375633,0.400944670429,-0.0154477126252,0.0499384223352,0.999999978637,3.87223030392e-05,-0.000200587009037,-3.14860812721e-05,1793255930360826368
+74,1.233333333,BASELINE,788.060023548,762,736.939976452,733,693,658,922.939976452,807.939976452,839,663,634,664.939976452,0.400946077932,-0.0154503256088,0.0499389068937,0.999999979035,3.72569069516e-05,-0.000198941292367,-3.10567039877e-05,1793255930377492736
+75,1.250000000,BASELINE,788.519858814,761.480141186,736.480141186,733,693,658,922.480141186,807.480141186,839,663,634,664.480141186,0.400945141748,-0.0154489810235,0.0499387747995,0.999999978965,3.74147522765e-05,-0.000199224139975,-3.12921266716e-05,1793255930394159360
+76,1.266666667,BASELINE,789,761,736.098539589,733,693,658,922,807,839,663,634,664,0.400944489467,-0.0154475183583,0.0499387470382,0.999999978916,3.77592574173e-05,-0.000199368206952,-3.15351055623e-05,1793255930410826240
+77,1.283333333,BASELINE,789,761,736.676191782,733,693,658,922,807,839,663,634,664,0.400946511575,-0.015447666658,0.0499395670294,0.999999979222,3.8115089868e-05,-0.00019777268903,-3.14477688344e-05,1793255930427492608
+78,1.300000000,BASELINE,788.747714555,761,737,733,693,658,922,807,839.252285445,663,634,664,0.400947734002,-0.0154476799858,0.0499397944996,0.999999979395,3.81586061803e-05,-0.000196895337632,-3.14048635506e-05,1793255930444159488
+79,1.316666667,BASELINE,788.173609026,761,737,733,693,658,922,807,839.826390974,663,634,664,0.400947936342,-0.0154475211408,0.0499392661387,0.9999999794,3.78037260946e-05,-0.000196934093148,-3.14186358638e-05,1793255930460826624
+80,1.333333333,BASELINE,788.412030268,761,737,733,693,658,922,807,839.587969732,663,634,664,0.400948731515,-0.015447992352,0.0499398560963,0.99999997957,3.7476933061e-05,-0.000196150005559,-3.13225595035e-05,1793255930477492992
+81,1.350000000,BASELINE,789,761,736.997381841,733,693,658,922,807,839,662.997381841,634,664,0.400949767424,-0.0154487382328,0.0499409183465,0.999999979806,3.71566428487e-05,-0.00019502617107,-3.11787969749e-05,1793255930494159616
+82,1.366666667,BASELINE,789,761,736.418063747,733,693,658,922,807,839,662.418063747,634,664,0.400947224397,-0.0154498254862,0.0499392313949,0.999999979356,3.55868854226e-05,-0.000197634343492,-3.10199551012e-05,1793255930510826240
+83,1.383333333,BASELINE,789,761,736.160241641,733,693,658,922.160241641,807,839,662.160241641,634,664.160241641,0.400945877846,-0.0154499267235,0.0499382948203,0.999999979092,3.54371710861e-05,-0.000198994216455,-3.10203746562e-05,1793255930527492608
+84,1.400000000,BASELINE,789,761,736.735921637,733,693,658,922.735921637,807,839,662.735921637,634,664.735921637,0.400947633243,-0.0154474716412,0.0499393036532,0.999999979319,3.89690235999e-05,-0.000197117780912,-3.14336912608e-05,1793255930544159232
+85,1.416666667,BASELINE,789,761.317524035,737,733,693,658,922.682475965,807,839,663,634,664.682475965,0.40094805195,-0.0154473226561,0.0499396166342,0.999999979421,3.90267116203e-05,-0.000196608296612,-3.13172605354e-05,1793255930560825856
+86,1.433333333,BASELINE,789,761.904145558,737,733,693,658,922.095854442,807,839,663,634,664.095854442,0.40094733783,-0.0154491280587,0.0499393398896,0.999999979419,3.61400902296e-05,-0.000197257285814,-3.07518758166e-05,1793255930577492736
+87,1.450000000,BASELINE,789,761.515213643,737,733.484786357,693,658,922,807,839,663,634,664.484786357,0.400948031315,-0.0154485972089,0.0499399028995,0.999999979516,3.76097696083e-05,-0.000196497129383,-3.06943586199e-05,1793255930594159360
+88,1.466666667,BASELINE,789,761,737,733.936160207,693,658,922,807,839,663,634,665,0.400948782464,-0.0154475672047,0.0499405298712,0.999999979596,3.98396484278e-05,-0.000195632443916,-3.08004443855e-05,1793255930610826240
+89,1.483333333,BASELINE,789,761,737,733.360468076,693,658,922,807,839,663,634,665,0.400947791639,-0.0154461936548,0.0499403546242,0.999999979417,4.13426863545e-05,-0.000196136382701,-3.14229425624e-05,1793255930627492864
+90,1.500000000,BASELINE,789,761,736.783640141,733,693,658,922,807,839.216359859,662.783640141,634,665,0.400946932495,-0.0154461226996,0.0499399244364,0.99999997928,4.11609270927e-05,-0.000196849399574,-3.15734954635e-05,1793255930644159488
+91,1.516666667,BASELINE,789,761,736.204909961,733,693,658,922,807,839.795090039,662.204909961,634,665,0.400946293896,-0.0154482333953,0.0499390672611,0.999999979209,3.81573850253e-05,-0.000197912590839,-3.09336107338e-05,1793255930660825856
+92,1.533333333,BASELINE,789,761,736.379154794,733,693,658,922,807,839.620845206,662.379154794,634,665,0.400946225242,-0.0154486034049,0.0499386429751,0.999999979269,3.68268091063e-05,-0.000197864265697,-3.09270602145e-05,1793255930677492480
+93,1.550000000,BASELINE,789,761,736.966143757,733,693,658,922,807,839.033856243,662.966143757,634,665,0.400946469004,-0.0154480192555,0.0499384559778,0.999999979403,3.6413271366e-05,-0.000197206661563,-3.12676725645e-05,1793255930694158848
+94,1.566666667,BASELINE,788.454409606,761,737,733,693,658,922,807,839,662.454409606,634,665,0.400945941435,-0.0154488433498,0.0499382460343,0.999999979165,3.64187629197e-05,-0.000198394976276,-3.13566614852e-05,1793255930710825984
+95,1.583333333,BASELINE,788.123464287,761,736.876535713,733,693,658,922,807,839,662.123464287,634,665,0.400945876434,-0.01544934434,0.049938112795,0.999999979012,3.64594752287e-05,-0.000199140438767,-3.14463401933e-05,1793255930727492608
+96,1.600000000,BASELINE,788.697285442,761,736.302714558,733,693,658,922,807,839,662.697285442,634,665,0.400947670938,-0.0154483523393,0.0499382644704,0.99999997926,3.65351057265e-05,-0.000197858390182,-3.15947142873e-05,1793255930744159744
+97,1.616666667,BASELINE,789,761,736.27211544,733,693,658,922,807,839,663,634.27211544,665,0.400948066439,-0.0154478391908,0.0499386732898,0.999999979369,3.66141634641e-05,-0.000197288186164,-3.16058495593e-05,1793255930760826368
+98,1.633333333,BASELINE,789,761,736.848071869,733,693,658,922,807,839,663,634.848071869,665,0.400946899829,-0.0154478607232,0.0499393692333,0.999999979326,3.66970480139e-05,-0.000197512819727,-3.14637455239e-05,1793255930777492992
+99,1.650000000,BASELINE,789,761.43597718,737,733,693.43597718,658,922,807,839.43597718,662.56402282,634.56402282,665,0.400946199436,-0.0154487847086,0.0499391711507,0.999999979227,3.60819706172e-05,-0.000198188346996,-3.10644353072e-05,1793255930794159360
+100,1.666666667,BASELINE,789,761.972492308,737,733,694,658,922,807,840,662.027507692,634.027507692,665,0.400945746324,-0.0154498477054,0.0499386998262,0.999999979117,3.54770253794e-05,-0.000198920923792,-3.06107134743e-05,1793255930810825984
+101,1.683333333,BASELINE,789,761.394099996,737,733,694,658,922,807,840,662.605900004,634.605900004,665,0.400946900051,-0.0154472191101,0.0499391714534,0.999999979204,4.00831914544e-05,-0.00019756063648,-3.09128867257e-05,1793255930827492608
+102,1.700000000,BASELINE,789,761.182637827,737,733,693.817362173,658,922,807,839.817362173,662.817362173,634.817362173,665,0.400947481325,-0.0154456943541,0.0499392215246,0.999999979215,4.22177728172e-05,-0.00019701120004,-3.12012105027e-05,1793255930844158976
+103,1.716666667,BASELINE,789,761.755837532,737,733,693.244162468,658,922,807,839.244162468,662.244162468,634.244162468,665,0.400946838435,-0.0154465301034,0.0499383701193,0.999999979101,3.9066993049e-05,-0.000198195727902,-3.14599178317e-05,1793255930860825600
+104,1.733333333,BASELINE,789,761.661422596,737,733,693.338577404,658,922,807,839.338577404,662.338577404,634.338577404,665,0.400946743401,-0.0154482753322,0.0499382623918,0.999999979154,3.63515371921e-05,-0.000198460324815,-3.13646253125e-05,1793255930877492480
+105,1.750000000,BASELINE,789,761.071603369,737,733,693.928396631,658,922,807,839.928396631,662.928396631,634.928396631,665,0.400947054904,-0.0154506954414,0.0499387065113,0.999999979332,3.39591137063e-05,-0.000198042285843,-3.10066467519e-05,1793255930894159616
+106,1.766666667,BASELINE,789,761,737,733,693.491419072,658,922,807,840,663,635,665,0.40094701739,-0.0154505845999,0.0499389546501,0.99999997939,3.43116336458e-05,-0.000197750296125,-3.06347549451e-05,1793255930910826496
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,761,737,734,693,658,922,807,839,663,634,665,0.400945274486,-0.0154473921426,0.0499379396251,0.999999978757,3.7688634892e-05,-0.000200185100238,-3.14927685681e-05,1793255930953921792
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,761,736.425161852,733.425161852,693,658,922.574838148,807,839,663,634.574838148,665,0.400946099485,-0.0154470814232,0.0499388800704,0.999999979254,3.78187555126e-05,-0.000197681047281,-3.13795399913e-05,1793255930970588416
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,761,736.153857368,733,693,658,922.846142632,807,839,663,635,665,0.400946419742,-0.0154476885464,0.0499392507282,0.999999979524,3.67043409801e-05,-0.000196546401231,-3.12159203849e-05,1793255930987255040
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,761,736.744753235,733,693,658,922.255246765,807,839,663,635,665,0.400945306256,-0.0154509028412,0.0499380028798,0.999999979148,3.20547706301e-05,-0.000199301614059,-3.09091628565e-05,1793255931003921408
+111,1.850000000,POSE1_TO_POSE2_PRESS,788.671352435,761,737,733,693,658,922,807,839,663,635,665,0.400946612686,-0.0154510959069,0.0499382179171,0.999999979333,3.16033071566e-05,-0.000198459559564,-3.08083335345e-05,1793255931020588032
+112,1.866666667,POSE1_TO_POSE2_PRESS,788.092782509,761,737,733,693,658,922,807,839,663,635,665,0.400949759357,-0.0154489914575,0.0499395454162,0.999999979944,3.43443239856e-05,-0.000194881937564,-3.08641037898e-05,1793255931037254656
+113,1.883333333,POSE1_TO_POSE2_PRESS,788,761,736.513784895,733,693,658,922,807,839,662.513784895,635,665,0.400953735616,-0.0154487351439,0.0499406710088,0.999999980362,3.57078115738e-05,-0.000192461790055,-3.09737882467e-05,1793255931053921024
+114,1.900000000,POSE1_TO_POSE2_PRESS,788.064675411,761,736.064675411,733.064675411,693,658,922,807,839,662,635,665,0.400959292144,-0.0154491166384,0.0499422554597,0.999999980985,3.63986853066e-05,-0.000189071204639,-3.09506753458e-05,1793255931070587392
+115,1.916666667,POSE1_TO_POSE2_PRESS,788.638265042,761,736.638265042,733.638265042,693,658,922,807,839,662,635,665,0.400976036627,-0.0154517393499,0.04994775399,0.999999983441,3.3867198772e-05,-0.000176304943188,-2.98015873543e-05,1793255931087254016
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,761,737,733.78083747,693,658,922,807,839,662,635,665.21916253,0.400997070371,-0.015453922458,0.0499535516009,0.99999998609,3.2252876084e-05,-0.000161069827134,-2.89079971389e-05,1793255931103920896
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,761,737,733.187462117,693,658,922,807,839,662,635,665.812537883,0.401025427888,-0.0154553549577,0.0499598598816,0.999999989049,3.22045808098e-05,-0.000141619224211,-2.84506611052e-05,1793255931120587776
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.394612858,662,635,665.605387142,0.401063516402,-0.0154554797835,0.0499647558217,0.999999991661,3.48281658123e-05,-0.000121087074846,-2.834262615e-05,1793255931137254144
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.971469051,662,635,665.028530949,0.401106098966,-0.0154550006888,0.0499689995036,0.999999993843,3.86857003886e-05,-0.000100055435126,-2.83959082262e-05,1793255931153920768
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,840,662,635,665,0.401161480198,-0.0154562731448,0.0499732144918,0.999999995603,3.94846421443e-05,-8.01352855841e-05,-2.85059338871e-05,1793255931170587392
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.877859859,662.122140141,635,665,0.401218477569,-0.0154587605907,0.0499763459205,0.999999996719,3.87223200592e-05,-6.52276460981e-05,-2.8408448545e-05,1793255931187254016
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.29057518,662.70942482,635,665,0.401279093537,-0.0154655279845,0.0499753565318,0.999999996696,3.26203385168e-05,-6.91888221672e-05,-2.75094580219e-05,1793255931203920896
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.294483861,663,635,665,0.401353618458,-0.0154713016523,0.04997531637,0.999999996812,2.84657098781e-05,-6.96186110538e-05,-2.68192015671e-05,1793255931220587520
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.877363245,663,635,665,0.401441764767,-0.0154761021384,0.04997620581,0.999999997092,2.62181737509e-05,-6.65900225708e-05,-2.63333637401e-05,1793255931237254144
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,761.451785394,737,733,693,658,922,807,840,662.548214606,635,665,0.401551303311,-0.0154817011615,0.0499775416702,0.999999997337,2.51532576165e-05,-6.34642551599e-05,-2.58027223023e-05,1793255931253920768
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,761.975879243,737,733,693,658,922,807,840,662,635,665.024120757,0.401667525005,-0.0154876687737,0.0499789616476,0.99999999756,2.4156897215e-05,-6.05045475646e-05,-2.52192226569e-05,1793255931270587904
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,761.399727734,737,733,693,658,922,807,840,662,635,665.600272266,0.401806242709,-0.0154972022779,0.0499795843519,0.999999997648,1.75175841865e-05,-6.19379280532e-05,-2.36992272945e-05,1793255931287254528
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.819338476,662.180661524,635,665.819338476,0.401951824613,-0.015506322165,0.0499788669104,0.999999997573,1.18111988683e-05,-6.48641174973e-05,-2.25341968272e-05,1793255931303921152
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839.229347725,662.770652275,635,665.229347725,0.402112958881,-0.0155145049088,0.049975113068,0.999999997188,8.2185715428e-06,-7.11726004459e-05,-2.2173419197e-05,1793255931320587776
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839,662.646323917,635,665.353676083,0.402298341032,-0.0155247031354,0.0499735590443,0.99999999702,3.52924588921e-06,-7.42371845165e-05,-2.0903943745e-05,1793255931337254144
+131,2.183333333,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658,922,807,839,662.067730616,635,665.932269384,0.402499143427,-0.0155361830916,0.0499734039757,0.999999996986,-1.85751584355e-06,-7.52388400366e-05,-1.90565898115e-05,1793255931353920768
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,761.507651309,737,733,692.492348691,658,922,807,839,662.507651309,635,666,0.402748496198,-0.0155469049842,0.0499792849254,0.999999997687,-5.46065758675e-06,-6.57145874692e-05,-1.66484240152e-05,1793255931370587392
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,762,737,733,692.084465909,658,922,807,839.084465909,662.915534091,635,666,0.403009124935,-0.0155572664593,0.0499864163295,0.999999998461,-8.41278046806e-06,-5.30045291247e-05,-1.40628197026e-05,1793255931387254272
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,762,737,733,692.672357243,658,922,807,839.672357243,662.327642757,635,666,0.403298595396,-0.0155660788317,0.0499962309367,0.999999999463,-8.89417442063e-06,-2.96242639814e-05,-1.08628137109e-05,1793255931403920896
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,761.751220778,737,733.248779222,693,658,922,807,840,662.248779222,635,666,0.403607274295,-0.01556788616,0.0500042650127,0.9999999999,1.72073185017e-07,-1.16143574184e-05,-8.05765315471e-06,1793255931420587520
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,761.1892383,737,733.8107617,693,658,922,807,840,662.8107617,635,666,0.403940135843,-0.0155608744126,0.0500100574692,0.999999999757,2.1258425981e-05,-3.65522474561e-07,-5.74958766473e-06,1793255931437254400
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,761,737,733.604088597,693,658.395911403,922,807,840,663,635,666,0.404295104682,-0.0155574261164,0.0500141746058,0.99999999937,3.37585545879e-05,1.03523679479e-05,-3.67738633486e-06,1793255931453920768
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,761,737,733.007177156,693,658.992822844,922,807,840,663,635,666,0.404661297148,-0.0155557869469,0.0500174412,0.999999998904,4.18995471846e-05,2.08007030993e-05,-1.72493081952e-06,1793255931470587648
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,761,737,733,693,658.432203906,922,807,840,663,635,666,0.405067518517,-0.0155581816041,0.0500114765131,0.999999999684,2.15653923313e-05,1.29020885786e-05,7.81760475959e-07,1793255931487254016
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,761.145774749,737,733,693,658,922,807,840,663,635,666,0.405472282777,-0.0155595482175,0.0500014920445,0.999999999929,1.10755729539e-05,-3.52532816756e-06,2.60921005357e-06,1793255931503920896
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,761.733678339,737,733,693,658,922,807,840,663,635,666,0.405871150078,-0.0155576479203,0.0499796564848,0.999999998482,3.14942860538e-05,-4.51430364507e-05,2.35608914756e-06,1793255931520587520
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,761.683569034,737,733.316430966,692.683569034,658.316430966,922,807,840,663,635,666,0.406310101232,-0.0155571169039,0.049963303126,0.999999995939,5.15713960468e-05,-7.38272808659e-05,3.57072368031e-06,1793255931537254400
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,761.105082171,737,733.894917829,692.105082171,658.894917829,922,807,840,663,635,666,0.406782248329,-0.0155577198728,0.0499514899119,0.999999993222,7.13656058081e-05,-9.18005349131e-05,6.00089651989e-06,1793255931553921792
+144,2.400000000,POSE1_TO_POSE2_PRESS,789.47168423,761,737,733.52831577,692,658.52831577,922,807,840,663,635,666,0.407314056405,-0.0155545081745,0.0499531510351,0.999999991703,9.59311932933e-05,-8.55314831968e-05,8.73259389883e-06,1793255931570588416
+145,2.416666667,POSE1_TO_POSE2_PRESS,789.952145074,761,736.952145074,733,692,658,922,807,840,663,635,666.047854926,0.40786551913,-0.0155507688208,0.0499596987971,0.999999990104,0.00012115026073,-7.05430154076e-05,1.17640802494e-05,1793255931587254784
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.378323939,761,736.378323939,733,692,658,922,807,840,663,635,666.621676061,0.408487451552,-0.0155505365395,0.0499870821868,0.999999989602,0.000141911150074,-1.88635258944e-05,1.73548890395e-05,1793255931603921408
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,761,736.202561931,733,692,658,922,807,840,663,635,667,0.409108178188,-0.0155491116592,0.0500089492717,0.999999986558,0.00016127139515,1.95289995006e-05,2.22504829622e-05,1793255931620588032
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,761,736.797119362,733,692,658,922,807,840,663,635,667,0.409726571361,-0.0155453788751,0.0500201412658,0.99999998332,0.000177921129121,3.22087429381e-05,2.58007048886e-05,1793255931637254656
+149,2.483333333,POSE1_TO_POSE2_PRESS,789.379854661,761.379854661,737,733,692,658.379854661,922,807,840,663,635,667,0.410336761765,-0.0155408948775,0.0500110435738,0.99999998282,0.000183467072851,6.56475960786e-06,2.5622589364e-05,1793255931653921792
+150,2.500000000,POSE1_TO_POSE2_PRESS,789.956466317,761.956466317,737,733,692,658.956466317,922,807,840,663,635,667,0.41094270328,-0.0155360217667,0.0499914362364,0.999999982173,0.000183261478067,-3.89301358401e-05,2.35132706508e-05,1793255931670588928
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,762,737,733,692,659,922,807,840,663,635,667,0.411606830391,-0.0155371743719,0.0499683596183,0.999999980999,0.000176760105552,-7.95960508707e-05,2.05550723559e-05,1793255931687255552
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.890945012,762,737,733.109054988,692,658.890945012,922.109054988,807,840,663.218109977,635,667.327164965,0.412298684743,-0.015539728179,0.0499548449632,0.999999980074,0.000171681533938,-0.000100119516704,1.8802059272e-05,1793255931703922176
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.299302695,762,737,733.700697305,692,658.299302695,922.700697305,807,840,664.40139461,635,669.102091915,0.413092209626,-0.0155463049706,0.0499848973991,0.999999983847,0.000175174279954,-3.32542240588e-05,2.26889704811e-05,1793255931720588800
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.285487641,762,737,733.714512359,692,658.285487641,922.714512359,807,840,665.285487641,635,670.570975282,0.413863533416,-0.0155497421216,0.0499967639845,0.999999983473,0.000179851989024,-8.84295793647e-06,2.50631675822e-05,1793255931737255168
+155,2.583333333,POSE1_TO_POSE2_PRESS,789.863262863,762,737,733.136737137,692,658.863262863,922.136737137,807,840,665.863262863,635,671.726525727,0.414612127409,-0.0155499648508,0.0499900115598,0.999999982026,0.000185742886389,-2.78969094125e-05,2.58886202587e-05,1793255931753921280
+156,2.600000000,POSE1_TO_POSE2_PRESS,789.560233924,761.560233924,737,733.439766076,691.560233924,658.560233924,922,807,840,666,635,672,0.41536707569,-0.0155492870824,0.0499651044932,0.999999980678,0.000182682872208,-6.84897465754e-05,2.41057696319e-05,1793255931770587648
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,761.016184623,737,734,691.016184623,658,922,807,840,666,635,672,0.416126680815,-0.0155484429098,0.0499358801067,0.999999977667,0.000176978330353,-0.00011347675807,2.16342756676e-05,1793255931787254272
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,761.603533999,737,734,691.603533999,658,922,807,840,666,635,672,0.41698110614,-0.0155515788504,0.0499529304341,0.999999981227,0.000175881538892,-7.78732869691e-05,2.33984007216e-05,1793255931803920896
+159,2.650000000,POSE1_TO_POSE2_PRESS,789,761.811979603,737,733.811979603,692,658,922,807,840,666,635,672.188020397,0.417837739348,-0.0155543581694,0.0499710264734,0.999999983021,0.000177069111335,-4.41975385282e-05,2.55015297196e-05,1793255931820587520
+160,2.666666667,POSE1_TO_POSE2_PRESS,789,761.233439661,737,733.233439661,692,658,922,807,840,666,635,672.766560339,0.418698958291,-0.0155563967825,0.0499912944618,0.999999982749,0.000183001322278,-1.45256844097e-05,2.83087719656e-05,1793255931837254400
+161,2.683333333,POSE1_TO_POSE2_PRESS,789,761,737,733,691.655410681,658,922,807.344589319,840,666,635,673,0.419548005398,-0.0155566977237,0.0499882007418,0.999999982119,0.000185516982481,-2.29113725806e-05,2.8655044556e-05,1793255931853921280
+162,2.700000000,POSE1_TO_POSE2_PRESS,789,761,737,733,691.077727359,658,922,807.922272641,840,666,635,673,0.420388818954,-0.015555823234,0.0499693042268,0.999999980753,0.000185721550736,-5.70407062265e-05,2.73366186801e-05,1793255931870587904
+163,2.716666667,POSE1_TO_POSE2_PRESS,789,761.497201841,737,733,691,658.497201841,922,807.502798159,840,665.502798159,635,672.502798159,0.421314347625,-0.0155599487006,0.0499892048076,0.999999982832,0.00018281142829,-7.1045915473e-06,2.94082575815e-05,1793255931887254528
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+182,3.033333333,POSE1_TO_POSE2_PRESS,789,761,737.481163977,733,688.518836023,659,922,808.481163977,840,664,634,672.481163977,0.438447092708,-0.0155457934182,0.0499760492352,0.999999973945,0.000219939911364,-4.90308944409e-05,3.64970476894e-05,1793255932203920896
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+223,3.716666667,POSE1_TO_POSE2_PRESS,788.325715418,761.674284582,738,733,686.674284582,655.674284582,922,805,840.674284582,665,629.325715418,673,0.454341767681,-0.0157022841561,0.0497360405568,0.999999916835,2.6262791003e-05,-0.000404969074021,4.05046087755e-05,1793255932887254528
+224,3.733333333,POSE1_TO_POSE2_PRESS,788.903955156,761.096044844,738,733,686.096044844,655.096044844,922,805,840.096044844,665,629.903955156,673,0.45436671844,-0.0157038355552,0.0497348742908,0.999999916275,2.56108888573e-05,-0.000406369612247,4.07218281768e-05,1793255932903921152
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+227,3.783333333,POSE1_TO_POSE2_PRESS,788,761.638721309,738,733,686.361278691,655,922,805,840.361278691,665,629.361278691,672.638721309,0.4544040496,-0.0157019000228,0.0497283821688,0.9999999127,2.08285102709e-05,-0.000415430823756,3.97820787317e-05,1793255932953921280
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+232,3.866666667,POSE1_TO_POSE2_PRESS,788.070101333,761,737.535050667,733,686,655,922.535050667,805,840,665,630,673,0.454419147303,-0.0156992670916,0.0497222631967,0.999999909544,2.33687835491e-05,-0.000422946732247,3.84972952948e-05,1793255933037254400
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+236,3.933333333,POSE1_TO_POSE2_PRESS,788,761,738,733,686,655,922,805,840.862927388,665,629.137072612,673,0.454417642442,-0.0156970152948,0.0497177460548,0.999999906747,2.35038893631e-05,-0.000429560436087,3.78207097027e-05,1793255933103920896
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+238,3.966666667,POSE1_TO_POSE2_PRESS,788.016608871,761.983391129,738.016608871,733,686.983391129,655.983391129,922,804.983391129,841,665,629.983391129,673.016608871,0.454418771673,-0.0156966775007,0.0497181924761,0.999999907174,2.18321069098e-05,-0.000428646169614,3.79249559337e-05,1793255933137254400
+239,3.983333333,POSE1_TO_POSE2_PRESS,788.603691044,761.396308956,738.603691044,733,686.396308956,655.396308956,922,804.396308956,841,665,629.396308956,673.603691044,0.454421801505,-0.0156981103624,0.0497193871319,0.99999990806,2.06913079804e-05,-0.000426590491629,3.83704504926e-05,1793255933153921280
+240,4.000000000,POSE1_TO_POSE2_PRESS,788.811099737,761,738.811099737,733,686,655.188900263,922,804,841,665,629.188900263,673.811099737,0.454423768371,-0.0156981845498,0.0497202491466,0.999999908537,2.0297620556e-05,-0.000425482399787,3.84501972731e-05,1793255933170587904
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+242,4.033333333,POSE1_TO_POSE2_PRESS,788,761.349110247,738,733.349110247,686.349110247,655.650889753,922,804.349110247,840.650889753,665,629.650889753,673.349110247,0.454421763961,-0.0156950571998,0.049719104398,0.999999907166,2.29221925363e-05,-0.000428619000699,3.77872353904e-05,1793255933203920896
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+248,4.133333333,HOLD_POSE2,788,761,738,733.267318516,687,655.267318516,922,805,840.267318516,665,629.267318516,673.732681484,0.454421471509,-0.0156943778693,0.0497163145039,0.999999906194,2.04762900395e-05,-0.000431031855793,3.74755293286e-05,1793255933330083584
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+251,4.183333333,HOLD_POSE2,788,761,738,733,686.479809597,655,922,804.479809597,840.520190403,665.520190403,630,673.520190403,0.454423412711,-0.0156932552883,0.0497175816228,0.999999906827,2.12056806144e-05,-0.000429555863275,3.71101063049e-05,1793255933380083712
+252,4.200000000,HOLD_POSE2,788,761,738,733,686.944012573,655,922,804.944012573,840.055987427,665,629.944012573,673,0.454422126123,-0.0156940964508,0.0497168305376,0.999999906203,2.01050359988e-05,-0.000431049256792,3.72445607296e-05,1793255933396750592
+253,4.216666667,HOLD_POSE2,788,761,738,733,686.366932691,655,922,804.366932691,840.633067309,665,629.366932691,673,0.45442218883,-0.0156927768139,0.0497155376107,0.999999905522,2.10015567654e-05,-0.00043260112618,3.70247831106e-05,1793255933413417216
+254,4.233333333,HOLD_POSE2,788,761,738,733,686,655,922,804.211343792,841,665,629,673.211343792,0.454422504891,-0.0156919969738,0.0497151083624,0.999999905416,2.16430250528e-05,-0.000432830815065,3.6841649301e-05,1793255933430083840
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+256,4.266666667,HOLD_POSE2,788,761,738,733,686.376301152,655,922,804.623698848,840.623698848,665,629,674,0.454423688099,-0.0156923623364,0.0497171346409,0.999999906597,2.16267885218e-05,-0.000430093305566,3.68514250191e-05,1793255933463416832
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,788,761,737.263864229,733,686.263864229,655.263864229,922,805,840.263864229,665.263864229,630.263864229,674,0.452023874964,-0.0155687241722,0.0496289050903,0.999999825484,5.7119169786e-05,-0.000587813571356,1.56694709015e-05,1793255934034491648
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f564420c0d5c69b9394ca2ac5006b9c8b2f4ce4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.589453023254,-0.00981814023107,1.04002033218,0.560024170541,-0.00114390333929,1.03969205366
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de516827f7f502e64de089f92b000797960fadea
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74b8e872f49223b77cfcb2f2b79f31b99696d317
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+18,0.300000000,BASELINE,788.547727585,761,737,732.547727585,692,658,922,807.547727585,838,668,635.452272415,675,0.400984343382,-0.0154463142336,0.0498534052493,0.999999957239,-0.000136022818452,-0.000255439181639,-4.20789402486e-05,1793255936423838464
+19,0.316666667,BASELINE,788.026916533,761,737,732.026916533,692.026916533,658,922,807.026916533,838,667.973083467,636,674.973083467,0.400986225528,-0.0154460444838,0.0498545896399,0.999999957931,-0.000134445812828,-0.000253584848515,-4.19085036109e-05,1793255936440505088
+20,0.333333333,BASELINE,788.614821933,761,737,732.614821933,692.614821933,658,922,807.614821933,838,667.385178067,636,674.385178067,0.400987300282,-0.0154461484301,0.0498551439566,0.999999958277,-0.000135522767018,-0.000251608695368,-4.20974737593e-05,1793255936457171968
+21,0.350000000,BASELINE,789,761,737,733,692.800330614,658,922,807.800330614,838,667.199669386,636,674.199669386,0.40098727033,-0.0154463855709,0.0498551449188,0.999999958291,-0.000136113202463,-0.000251224897915,-4.21595167551e-05,1793255936473838592
+22,0.366666667,BASELINE,789,761,737,733,692.221293269,658,922,807.221293269,838,667.778706731,636,674.778706731,0.400985141458,-0.0154468757789,0.0498540945183,0.999999957677,-0.000135779261609,-0.000253866545616,-4.19804006025e-05,1793255936490505216
+23,0.383333333,BASELINE,788.643793393,761,737,733,692,658,922,807.356206607,838,668,635.643793393,674.643793393,0.400984007207,-0.0154474478537,0.0498534559384,0.999999957484,-0.000135870352897,-0.000254614660496,-4.17533647646e-05,1793255936507171840
+24,0.400000000,BASELINE,788.067244509,761,737,733,692,658,922,807.932755491,838,668,635.067244509,674.067244509,0.40098348821,-0.0154480705699,0.0498530721024,0.999999957554,-0.000136224360528,-0.000254191474135,-4.14966867516e-05,1793255936523838464
+25,0.416666667,BASELINE,788.508256798,761,737,733.508256798,692,658.508256798,922,808,838,668,635.508256798,674.508256798,0.400984652001,-0.0154479469498,0.0498539164337,0.999999957757,-0.000136588045517,-0.000253176076399,-4.16138578932e-05,1793255936540505344
+26,0.433333333,BASELINE,789,761,737,733.914252026,692,658.914252026,922,807.914252026,838,668,636,675,0.400985611513,-0.0154476167762,0.0498545500439,0.999999957912,-0.00013653427987,-0.000252565580989,-4.17806260301e-05,1793255936557171968
+27,0.450000000,BASELINE,789,761,737,733.324245402,692,658.324245402,922,807.324245402,838,668,636,675,0.400984063137,-0.0154466514082,0.0498529908649,0.999999957679,-0.000134018095874,-0.000254796014446,-4.19487874847e-05,1793255936573838592
+28,0.466666667,BASELINE,789,761,737,733,692,658,922,807,838,667.739235489,636,675,0.400984032111,-0.0154464635143,0.0498529004618,0.999999957653,-0.000133962230078,-0.000254929041719,-4.19522435233e-05,1793255936590505216
+29,0.483333333,BASELINE,789,761,737,733,692,658,922,807,838,667.160321913,636,675,0.40098585235,-0.0154472241878,0.0498546020573,0.999999957877,-0.000136908107028,-0.000252503101695,-4.17547486084e-05,1793255936607171840
+30,0.500000000,BASELINE,789,761,737,733,692,658,922,807,838,667,636,675,0.400985449651,-0.0154474522268,0.0498547681739,0.99999995786,-0.000137302496998,-0.000252351833038,-4.17920209107e-05,1793255936623838464
+31,0.516666667,BASELINE,789,761,737,733,692,658,922,807,838,667,636,675,0.400984195559,-0.0154474762652,0.0498543461972,0.999999957753,-0.000136719659512,-0.000253071770592,-4.19192097865e-05,1793255936640505344
+32,0.533333333,BASELINE,788.426373531,761,736.426373531,733,692,658,922,807.573626469,838,667,636,675,0.400985663207,-0.0154463850076,0.0498546230705,0.999999958438,-0.000133399425692,-0.000252166176783,-4.17285227031e-05,1793255936657171968
+33,0.550000000,BASELINE,788,761,736.157216601,733,692,658,922,807.842783399,838,667.157216601,636,675,0.400986516364,-0.0154460131927,0.0498547251688,0.999999958738,-0.00013192532895,-0.000251776589944,-4.15699247388e-05,1793255936673838848
+34,0.566666667,BASELINE,788,761,736.738917713,733,692,658,922,807.261082287,838,667.738917713,636,675,0.40098557379,-0.0154476398495,0.0498543202995,0.999999957979,-0.000135573191434,-0.000252861807836,-4.15139218255e-05,1793255936690505216
+35,0.583333333,BASELINE,788,761,737,733,692,658,922,807.319956344,838,667.680043656,636,675,0.400985119539,-0.0154478789328,0.049853997745,0.999999957666,-0.000136855723219,-0.000253380241985,-4.16740519619e-05,1793255936707172096
+36,0.600000000,BASELINE,788,761,737,733,692,658,922,807.900455576,838,667.099544424,636,675,0.400985062932,-0.0154469881044,0.0498537422202,0.999999957726,-0.000136212148601,-0.000253437139936,-4.20101808808e-05,1793255936723838720
+37,0.616666667,BASELINE,788.47547336,761,737,733,692,658.47547336,922,808,838,667.47547336,636,675,0.40098504055,-0.0154482661537,0.0498537603747,0.999999957714,-0.00013650564739,-0.000253382341063,-4.1650406863e-05,1793255936740505344
+38,0.633333333,BASELINE,789,761,737,733,692,658.949515199,922,807.949515199,838,667.949515199,636,675,0.400985034422,-0.0154497090207,0.0498538213588,0.999999957705,-0.000136851405445,-0.000253303051384,-4.12248104621e-05,1793255936757171712
+39,0.650000000,BASELINE,789,761,737,733,692,658.362514018,922,807.362514018,838,667.362514018,636,675,0.400985125762,-0.0154481328848,0.0498537355312,0.99999995787,-0.000135691392585,-0.00025320917428,-4.16303778917e-05,1793255936773838592
+40,0.666666667,BASELINE,788.778569475,761,737,733,692,658.221430525,922,807,838,667.221430525,636,675,0.400985373752,-0.0154471678144,0.0498541232571,0.999999958071,-0.000134741198867,-0.000252898728954,-4.17746682818e-05,1793255936790505216
+41,0.683333333,BASELINE,788.199560991,761,737,733,692,658.800439009,922,807,838,667.800439009,636,675,0.400985874711,-0.0154471895256,0.0498552757029,0.999999958331,-0.000134129832491,-0.000252238557582,-4.14970343853e-05,1793255936807171584
+42,0.700000000,BASELINE,788.379771123,761,737,733,692,658.620228877,922.379771123,807,838.379771123,668,636,675,0.400984940241,-0.0154480379838,0.0498548475191,0.999999957936,-0.000135720838112,-0.000252968984391,-4.14045548183e-05,1793255936823838464
+43,0.716666667,BASELINE,788.959273425,761,737,733,692,658.040726575,922.959273425,807,838.959273425,668,636,675,0.400983250842,-0.0154493212491,0.0498535880425,0.999999957188,-0.000138470126535,-0.00025443076175,-4.14094525748e-05,1793255936840505344
+44,0.733333333,BASELINE,789,761,736.468903718,733,692,658,922.468903718,807,838.468903718,668,636,675,0.400984057842,-0.0154489140717,0.049854143929,0.999999957514,-0.000137829449389,-0.000253510889713,-4.13083828694e-05,1793255936857171968
+45,0.750000000,BASELINE,789,761,736.106608866,733,692,658,922,807.106608866,838.106608866,668,636,675,0.400984781861,-0.0154485183834,0.0498546727607,0.999999957874,-0.000136796032663,-0.000252663688929,-4.12180302867e-05,1793255936873838336
+46,0.766666667,BASELINE,789,761,736.701686939,733,692,658,922,807.701686939,838.701686939,668,636,675,0.400984261054,-0.0154487608202,0.0498544488814,0.999999958022,-0.000135137240555,-0.00025297434106,-4.12134840317e-05,1793255936890504960
+47,0.783333333,BASELINE,788.712593947,761,737,733,692,658,922,808,838.712593947,668,636,675,0.400983744827,-0.0154487746306,0.0498540890381,0.999999957935,-0.000134712749756,-0.000253547254702,-4.11751797022e-05,1793255936907171840
+48,0.800000000,BASELINE,788.136282545,761,737,733,692,658,922,808,838.136282545,668,636,675,0.400983233205,-0.0154485586221,0.0498535925215,0.999999957616,-0.000135528998986,-0.000254383798021,-4.11029411937e-05,1793255936923838720
+49,0.816666667,BASELINE,788.439033669,761.439033669,737,733,692,658,922,808,838,668,636,675.439033669,0.400984206531,-0.0154485486341,0.0498544043922,0.999999957864,-0.000136058186832,-0.000253102132939,-4.12361550317e-05,1793255936940505344
+50,0.833333333,BASELINE,788.985603073,761.985603073,737,733,692,658,922,807.985603073,838.014396927,668,636,676,0.400985600729,-0.0154485706186,0.0498555869503,0.999999958274,-0.000136465399093,-0.000251221835301,-4.14363803524e-05,1793255936957172224
+51,0.850000000,BASELINE,788.396045396,761.396045396,737,733,692,658,922,807.396045396,838.603954604,668,636,676,0.400985435495,-0.0154473207997,0.0498553897543,0.99999995828,-0.000135551497195,-0.000251634819793,-4.17716488813e-05,1793255936973838592
+52,0.866666667,BASELINE,788.189774796,761,737,733,692.189774796,658.189774796,922,807.189774796,839,668,636,676,0.40098552729,-0.0154469060478,0.0498552773175,0.999999958306,-0.000135216633397,-0.000251694663655,-4.1883273785e-05,1793255936990505216
+53,0.883333333,BASELINE,788.767945757,761,737,733,692.767945757,658.767945757,922,807.767945757,839,668,636,676,0.400986145127,-0.0154482003576,0.0498553383501,0.999999958372,-0.000136066838383,-0.000251031764175,-4.15371860131e-05,1793255937007171840
+54,0.900000000,BASELINE,788.653574071,761,737,733,693,659,922,808,839,668,636,676,0.400985372865,-0.015448454974,0.0498547205072,0.999999958068,-0.000136639057012,-0.000251934919153,-4.149997788e-05,1793255937023838208
+55,0.916666667,BASELINE,788.074886612,761,737,733,693,659,922,808,839,668,636,676,0.400983668609,-0.0154480125269,0.0498536475115,0.999999957514,-0.000137024899438,-0.000253888036576,-4.1669858353e-05,1793255937040504832
+56,0.933333333,BASELINE,788.508720836,761,737,733,692.491279164,658.491279164,922,808,839,668,636,676,0.400985393549,-0.0154476467875,0.0498551624431,0.99999995833,-0.000136621279224,-0.000250884840847,-4.16181927057e-05,1793255937057171712
+57,0.950000000,BASELINE,788.907862322,761,737,733,692,658,922,808,839,668,636,676,0.400987168843,-0.0154471987244,0.0498565923646,0.999999959117,-0.000135972010299,-0.000248092917789,-4.15737618989e-05,1793255937073838336
+58,0.966666667,BASELINE,788.329312726,761,737,733,692,658,922,808,839,668,636,676,0.400986519023,-0.0154462558663,0.0498555427148,0.999999958738,-0.000134645419963,-0.000250305639555,-4.17413758678e-05,1793255937090505216
+59,0.983333333,BASELINE,788.249749049,761,737,733,692,658.249749049,922,808,839,668,636,676,0.400986253328,-0.015447156458,0.0498553518573,0.999999958472,-0.000135436191381,-0.000250977777162,-4.15009708273e-05,1793255937107172096
+60,1.000000000,BASELINE,788.829487637,761,737,733,692,658.829487637,922,808,839,668,636,676,0.400986495174,-0.0154504927711,0.0498562957087,0.999999958353,-0.000139024599825,-0.000249614365141,-4.07214566277e-05,1793255937123838464
+61,1.016666667,BASELINE,789,761,737,733.406238875,692,659,922,808,839,668,636,676,0.400986469357,-0.0154503485446,0.0498561560444,0.999999958315,-0.000138638059476,-0.000249956464506,-4.08692936062e-05,1793255937140505088
+62,1.033333333,BASELINE,789,761,737,733.981745337,692,659,922,808,839,668,636,676,0.400986332012,-0.0154487540813,0.0498555649115,0.999999958311,-0.000136595276649,-0.000251009199531,-4.14035301286e-05,1793255937157171712
+63,1.050000000,BASELINE,789,761,737,733.44247098,692,658.44247098,922,808,839,668,636,676,0.400985451974,-0.0154481566733,0.0498547816291,0.999999957959,-0.000137418259691,-0.000251932771903,-4.15707231781e-05,1793255937173838336
+64,1.066666667,BASELINE,789,761,737,733,692,658.136559596,922,808,839,668,636,676,0.400985054799,-0.015447468388,0.0498543291688,0.999999957837,-0.0001373497842,-0.000252425215011,-4.17343574943e-05,1793255937190504960
+65,1.083333333,BASELINE,789,761,737,733,692,658.726335855,922,808,839,668,636,676,0.400986340898,-0.0154463700984,0.0498549955381,0.999999958515,-0.000134011155029,-0.000251500860282,-4.19260856568e-05,1793255937207171584
+66,1.100000000,BASELINE,789,761,737,733,692,659,922,808,839,668,636,676,0.400986843678,-0.0154465357988,0.0498553586309,0.999999958681,-0.000133809280138,-0.000250944579677,-4.19476806629e-05,1793255937223838464
+67,1.116666667,BASELINE,789,761,737,733,692,659,922,808,839,668,636,676,0.400986668325,-0.0154477957588,0.0498554591715,0.999999958406,-0.000136322951727,-0.000250706947713,-4.18219882331e-05,1793255937240505600
+68,1.133333333,BASELINE,789,761,737,733.462444929,692.462444929,658.537555071,922,808,839,668,636,676,0.400987468757,-0.0154487422659,0.0498560971199,0.999999958559,-0.000137845169203,-0.000249291703677,-4.16504621003e-05,1793255937257172224
+69,1.150000000,BASELINE,789,761.037483282,737,733.962516718,692.962516718,658.037483282,922,808,838.962516718,668,636,676,0.400988369873,-0.0154494413392,0.0498567850964,0.999999958801,-0.000138909246827,-0.000247750386815,-4.14984134052e-05,1793255937273838592
+70,1.166666667,BASELINE,789,761.626830839,737,733.373169161,692.373169161,658.626830839,922,808,838.373169161,668,636,676,0.400987285706,-0.0154476113816,0.0498562998388,0.999999958891,-0.000136751499549,-0.000248537804775,-4.17960100022e-05,1793255937290505216
+71,1.183333333,BASELINE,789,761.786825009,737,733,692,659,922.213174991,808,838.213174991,668,636,676,0.400986297433,-0.0154468340738,0.0498557622927,0.999999958785,-0.000135454045816,-0.000249654989521,-4.18817149377e-05,1793255937307171840
+72,1.200000000,BASELINE,789,761.205665268,737,733,692,659,922.794334732,808,838.794334732,668,636,676,0.400985474697,-0.0154478738599,0.0498551344856,0.999999958349,-0.000135641638843,-0.000251341421042,-4.16016504682e-05,1793255937323838464
+73,1.216666667,BASELINE,789,761,737,733,692,658.628528001,922.628528001,808,839,668,636,676,0.400985137568,-0.0154479720733,0.0498549163567,0.99999995857,-0.000133731317144,-0.0002515175271,-4.14157425911e-05,1793255937340505344
+74,1.233333333,BASELINE,789,761,737,733,692,658.053593951,922.053593951,808,839,668,636,676,0.400985066416,-0.01544755457,0.0498549226162,0.999999959143,-0.000130671928925,-0.000250866400004,-4.12814060291e-05,1793255937357171968
+75,1.250000000,BASELINE,789,761,737,733,692,658.520461417,922,808,839,668,636,676,0.400985180136,-0.015448544904,0.0498553140527,0.999999958676,-0.000133762386231,-0.000251096907918,-4.12964938751e-05,1793255937373838592
+76,1.266666667,BASELINE,788.902480633,761,737,733,692,659,922,808,839,668.097519367,636,676,0.400985330752,-0.0154494896128,0.0498557795201,0.999999958242,-0.000136717978604,-0.000251240299039,-4.12583987985e-05,1793255937390505216
+77,1.283333333,BASELINE,788.309715556,761,737,733,692,659,922,808,839,668.690284444,636,676,0.400985572236,-0.015449467634,0.0498564198604,0.999999958577,-0.000135778049659,-0.000250481002554,-4.08722084998e-05,1793255937407171840
+78,1.300000000,BASELINE,788.275637107,761,737,733.275637107,692,659,922,808,839,668.724362893,636,676,0.400986152992,-0.0154494977578,0.0498564932933,0.999999958668,-0.000135925942711,-0.000250023038354,-4.09460246103e-05,1793255937423838208
+79,1.316666667,BASELINE,788.852878997,761,737,733.852878997,692,659,922,808,839,668.147121003,636,676,0.400987104983,-0.0154495848925,0.0498559464107,0.999999958493,-0.000137264141154,-0.000249894794898,-4.15231841996e-05,1793255937440504832
+80,1.333333333,BASELINE,789,761,736.572275656,733.572275656,692,659,922,808,839,668,636,676,0.400986067652,-0.0154495784647,0.0498555058165,0.999999958228,-0.000137240630476,-0.000250987012284,-4.14074563751e-05,1793255937457171712
+81,1.350000000,BASELINE,789,761,736.00180154,733,692.00180154,659,922,808,839,668,636,676,0.40098435786,-0.0154495318697,0.0498551038377,0.999999957932,-0.000136743928267,-0.000252488985331,-4.10576112525e-05,1793255937473838592
+82,1.366666667,BASELINE,789,761,736.592730111,733,692.592730111,659,922,808,839,668,636,676,0.400985257121,-0.0154468153827,0.0498554409227,0.999999958559,-0.000133819241419,-0.00025147366192,-4.16501831345e-05,1793255937490505216
+83,1.383333333,BASELINE,789,761,737,733,692.820106175,658.820106175,922,808,839,668,636,676,0.400986395509,-0.0154455955081,0.0498559021557,0.999999959105,-0.000131885781451,-0.000250279787558,-4.191185311e-05,1793255937507171840
+84,1.400000000,BASELINE,789,761,737,733,692.241291058,658.241291058,922,808,839,668,636,676,0.400988064168,-0.0154476944266,0.0498566386916,0.999999959486,-0.000132150403647,-0.000248689969586,-4.14397358331e-05,1793255937523838720
+85,1.416666667,BASELINE,789,761,737,733,692,658,922,808,839,668,636,676,0.400987960783,-0.0154475830915,0.0498570251313,0.999999959516,-0.000132775484281,-0.000248243571535,-4.14054530662e-05,1793255937540505344
+86,1.433333333,BASELINE,789,761,737,733,692,658,922,808,839,668,636,676,0.40098659059,-0.0154458916782,0.0498571612924,0.999999959294,-0.000133658251377,-0.000248614587791,-4.16841718285e-05,1793255937557172224
+87,1.450000000,BASELINE,789,761,737.480965685,733,692,658,922,808,839,668,636,676,0.400985943984,-0.0154464291887,0.0498565068717,0.999999959045,-0.000134009817473,-0.000249442527831,-4.15994395474e-05,1793255937573838848
+88,1.466666667,BASELINE,789,761,737.948199823,733,692,658,922,808,839,668,636,676,0.400985424967,-0.0154472178316,0.0498557739729,0.999999958829,-0.00013404678684,-0.000250307027346,-4.14755971809e-05,1793255937590505472
+89,1.483333333,BASELINE,789,761,737.349049794,733,692,658,922,808,839,668,636,676,0.400984868114,-0.0154463905807,0.0498557261889,0.99999995903,-0.000131777064508,-0.000250682598193,-4.16346854505e-05,1793255937607171840
+90,1.500000000,BASELINE,789,761,736.759109444,733,692,658,922,808,839,668,636,676,0.400985171262,-0.0154462398325,0.0498558306587,0.999999959066,-0.000131532984679,-0.000250654837371,-4.17079244616e-05,1793255937623838464
+91,1.516666667,BASELINE,789,761,736.182022534,733,692,658,922,808,839,668,636,676,0.400986674659,-0.0154470332382,0.0498561476196,0.999999958873,-0.000134115971547,-0.000250064170946,-4.16613488511e-05,1793255937640505088
+92,1.533333333,BASELINE,789,761,736.391176643,733,692,658,922,808,839,668,636,676.391176643,0.400985770584,-0.0154475944473,0.0498556752239,0.99999995851,-0.00013515290347,-0.000250970205238,-4.15580825346e-05,1793255937657171968
+93,1.550000000,BASELINE,789,761,736.962584629,733,692,658,922,808,839,668,636,676.962584629,0.400983757287,-0.0154480486739,0.0498548391389,0.99999995807,-0.000135477503828,-0.000252565831728,-4.14286964489e-05,1793255937673838848
+94,1.566666667,BASELINE,789,761,737,733,692.554167919,658.554167919,922.554167919,808,839,668,636,676.445832081,0.400985295565,-0.0154467576854,0.0498554876007,0.999999958695,-0.000134320920884,-0.000250651504535,-4.17313430408e-05,1793255937690505472
+95,1.583333333,BASELINE,789,761,737,733,692.856586695,658.856586695,922.856586695,808,839,668.143413305,636,676,0.400986711851,-0.0154459451007,0.0498561208031,0.999999959195,-0.000133415150621,-0.000249105716582,-4.19114952652e-05,1793255937707171840
+96,1.600000000,BASELINE,789,761,737,733,692.278706339,658.278706339,922.278706339,808,839,668.721293661,636,676,0.400987004681,-0.0154469522795,0.0498563926576,0.999999959106,-0.000133583616992,-0.000249421455475,-4.16288476977e-05,1793255937723838464
+97,1.616666667,BASELINE,789,761,737,733,692,658,922.299264769,808,839,668.700735231,636,676,0.40098626419,-0.0154475981843,0.0498561365119,0.999999958899,-0.000133595003633,-0.000250284587686,-4.13740698702e-05,1793255937740505088
+98,1.633333333,BASELINE,789,761,737,733,692,658,922.877320385,808,839,668.122679615,636,676,0.400984561073,-0.0154479075311,0.0498553884884,0.999999958582,-0.000133460056998,-0.000251657663789,-4.11452551173e-05,1793255937757171968
+99,1.650000000,BASELINE,789,761,737,733,692,658,922.54790289,808,839,668,636,676.45209711,0.400985384988,-0.01544683575,0.0498554600169,0.999999958808,-0.000132603226819,-0.000251119732402,-4.17006656922e-05,1793255937773838592
+100,1.666666667,BASELINE,788.973270093,761,737,733,692,658,922,808,839,668,636,676.973270093,0.400986828196,-0.0154455138676,0.0498557583013,0.999999959154,-0.000131683409048,-0.000250104204414,-4.24104815664e-05,1793255937790505216
+101,1.683333333,BASELINE,788.383049591,761,737,733,692,658,922,808,839,668,636,676.383049591,0.400986974972,-0.0154467634031,0.0498561823614,0.999999958987,-0.000133535517468,-0.000249873610118,-4.19214840398e-05,1793255937807172096
+102,1.700000000,BASELINE,788.202063834,761.202063834,737,733,692,658.202063834,922,808,839,668,636,676,0.400986612905,-0.0154476425401,0.0498560615857,0.999999958818,-0.000134129595757,-0.000250294486605,-4.15380461475e-05,1793255937823838720
+103,1.716666667,BASELINE,788.777734445,761.777734445,737,733,692,658.777734445,922,808,839,668,636,676,0.400985310009,-0.0154478368272,0.0498549334334,0.999999958649,-0.000132397633741,-0.000251919902763,-4.13497832391e-05,1793255937840505600
+104,1.733333333,BASELINE,789,761.644774308,737,733,692,658.644774308,922,808,839,668.355225692,636,676,0.400985145679,-0.0154484957259,0.0498550364369,0.999999958363,-0.000134370797869,-0.000251990937715,-4.14735001466e-05,1793255937857172224
+105,1.750000000,BASELINE,789,761.06613796,737,733,692,658.06613796,922,808,839,668.93386204,636,676,0.400985697424,-0.0154494468309,0.0498559137462,0.99999995799,-0.000138674211811,-0.000251084382143,-4.17934292378e-05,1793255937873838592
+106,1.766666667,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922,808,839,669,636,676,0.400986676934,-0.0154454327092,0.0498554853729,0.999999958793,-0.000133964461168,-0.000250369592112,-4.2221083203e-05,1793255937904118016
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922.578939613,808,839,668.421060387,636,676,0.400985327061,-0.0154461362324,0.0498552869413,0.999999958611,-0.000133685351257,-0.000251292309048,-4.19227563068e-05,1793255937920784896
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,761,737,733.157267124,692,658.842732876,922.842732876,808,839,668,636,676,0.400984393255,-0.0154467271093,0.0498549605874,0.999999958436,-0.000133541244476,-0.000252104881355,-4.1679506497e-05,1793255937937451520
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,761,737,733.733962298,692,658.266037702,922.266037702,808,839,668,636,676,0.400984569087,-0.0154470175609,0.0498542930676,0.999999958281,-0.00013375718809,-0.000252623700496,-4.15831460312e-05,1793255937954118400
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,761,737,733.689378061,692,658.310621939,922.310621939,808,839,668,636,676.310621939,0.400984853557,-0.0154479271223,0.0498547267299,0.99999995835,-0.00013403592979,-0.00025223185488,-4.14029720513e-05,1793255937970785280
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,761,737,733.112748884,692,658.887251116,922.887251116,808,839,668,636,676.887251116,0.400985231059,-0.0154493668706,0.0498561034113,0.99999995861,-0.000134368449858,-0.000251060143467,-4.11510227176e-05,1793255937987451904
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,761.472849088,737,733,692,659,923,808,839,668.472849088,636,676.527150912,0.400984316884,-0.0154491298272,0.0498555219618,0.99999995841,-0.000134188939748,-0.000251915152451,-4.13709461245e-05,1793255938004118528
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,762,737,733.060111729,692,658.939888271,923,808,839,669,636,676,0.400983259611,-0.0154485675115,0.0498546652727,0.999999958128,-0.000134066218462,-0.000253051088905,-4.16655866954e-05,1793255938020784896
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,762,737,733.6428943,692,658.3571057,923,808,839,669,636,676,0.400983687899,-0.0154487206359,0.0498555536323,0.999999958112,-0.000135519384205,-0.000252346478236,-4.16126508906e-05,1793255938037451264
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,761.77832958,737,734,692,658.22167042,922.77832958,808,839,668.77832958,636,676,0.400985764118,-0.0154484984133,0.0498565827975,0.999999958519,-0.000135623604692,-0.000250700995359,-4.14353875414e-05,1793255938054117888
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,761.205893228,737,734,692,658.794106772,922.205893228,808,839,668.205893228,636,676,0.400990447982,-0.0154476822505,0.04985783477,0.999999959589,-0.000133593286568,-0.000247566699036,-4.10613912866e-05,1793255938070784768
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,761.368286763,737.368286763,733.631713237,692,659,922,808,839,668,636,676.368286763,0.401006525142,-0.0154497944086,0.0498631638431,0.999999962085,-0.000135003162512,-0.000236644007787,-4.00564723837e-05,1793255938087451392
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,761.943446238,737.943446238,733.056553762,692,659,922,808,839,668,636,676.943446238,0.401029002103,-0.0154535514526,0.0498707830906,0.999999965184,-0.000138345451636,-0.000221346447105,-3.86971538445e-05,1793255938104118016
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,761.467753688,737.467753688,733,692,659,922,808.532246312,839,668,636,676.467753688,0.40107867136,-0.0154552233277,0.0498862073349,0.999999972234,-0.00013653202192,-0.00018840125371,-3.73630919933e-05,1793255938120784896
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,761,737.120481859,733,692,659,922,808.879518141,839,668.120481859,636,676.120481859,0.401135572091,-0.0154573387854,0.0499024644606,0.999999978059,-0.00013516145927,-0.000155983819322,-3.58246861499e-05,1793255938137451776
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,761,737.700884279,733,692,659,922,808.299115721,839,668.700884279,636,676.700884279,0.40120875825,-0.0154620155639,0.0499186519226,0.999999981133,-0.000137627693612,-0.00013292736616,-3.34957151308e-05,1793255938154118400
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,761,737.722884094,733,692,659,922,808,839,668.722884094,636,676.722884094,0.401288071104,-0.0154666425076,0.0499321767705,0.999999983442,-0.000139238511389,-0.000112839796474,-3.15639540844e-05,1793255938170784768
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,761,737.151087655,733,692,659,922,808,839,668.151087655,636,676.151087655,0.401373898981,-0.0154712164576,0.0499428702368,0.999999985158,-0.000139939693031,-9.59092904472e-05,-3.0054579789e-05,1793255938187451392
+124,2.066666667,POSE1_TO_POSE2_PRESS,788.566286871,761,737,733,692,659,922,808,839,668.433713129,636,676,0.40147279942,-0.0154775582452,0.04994740808,0.999999985561,-0.000141826520867,-8.90720819792e-05,-2.88122204658e-05,1793255938204118016
+125,2.083333333,POSE1_TO_POSE2_PRESS,788.022921403,761,737,733,692,659,922,808,839,669,636,676,0.401577322722,-0.015484495704,0.0499496825544,0.999999985542,-0.000144028399219,-8.60571813416e-05,-2.76807970182e-05,1793255938220784896
+126,2.100000000,POSE1_TO_POSE2_PRESS,788.605712961,761,737,733,692,659,922,808,839,669,636,676,0.401704517033,-0.0154904755354,0.0499506692713,0.999999985478,-0.000143525225699,-8.78672646024e-05,-2.69168260026e-05,1793255938237451520
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922.1856056,808.1856056,839,668.8143944,636,676.1856056,0.401837587751,-0.0154971446317,0.049949430097,0.999999985014,-0.000143729991222,-9.28810545463e-05,-2.62252904211e-05,1793255938254118144
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922.759434618,808.759434618,839,668.240565382,636,676.759434618,0.401982949884,-0.0155052554335,0.0499435351197,0.999999983627,-0.000145415523075,-0.0001045959026,-2.56852650807e-05,1793255938270785024
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922.666193371,808.666193371,839,668,636,676.666193371,0.402153692681,-0.015513934434,0.0499420837671,0.999999983291,-0.000146574780801,-0.000106384289478,-2.48372422991e-05,1793255938287451648
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,761,737,733,692,659,922.091429344,808.091429344,839,668,636,676.091429344,0.402342756455,-0.0155230235882,0.0499438400321,0.99999998376,-0.000147354149174,-0.000101007288818,-2.37668923555e-05,1793255938304118272
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+132,2.200000000,POSE1_TO_POSE2_PRESS,789,761,737,733.911947058,692,659,922,808,839.911947058,668.911947058,636,676,0.402806730651,-0.0155384502141,0.0499570457481,0.999999986064,-0.000142762630456,-8.38052234924e-05,-2.16445240357e-05,1793255938337451264
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+148,2.466666667,POSE1_TO_POSE2_PRESS,789,761.356119626,737,733.643880374,692,658.356119626,922.356119626,808.356119626,839.356119626,668,635.643880374,676,0.409862541504,-0.0155397010023,0.0499995980183,0.999999978684,0.000204863172399,5.15166187558e-06,2.52417284177e-05,1793255938604118272
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+150,2.500000000,POSE1_TO_POSE2_PRESS,789,761.479121916,737,733,691.479121916,658.479121916,923,809,840,668,635,676.520878084,0.411092224738,-0.0155366851044,0.0499652528229,0.999999983824,0.00016177106578,-7.29065634201e-05,2.94355600117e-05,1793255938637451264
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+166,2.766666667,POSE1_TO_POSE2_PRESS,789,762,737.192880325,733.807119675,690.192880325,659,923,809,840.192880325,667,635,677,0.424284315866,-0.0155657420774,0.0499798574652,0.999999986764,0.000159328856239,-1.40453731144e-05,2.98209505953e-05,1793255938904118016
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+202,3.366666667,POSE1_TO_POSE2_PRESS,789,762,738,734,688,657.299003234,923,807,841,667,633,677,0.451147420775,-0.0156362520719,0.0498253201574,0.999999962519,5.61032837358e-05,-0.000267038482618,2.24626981619e-05,1793255939504118016
+203,3.383333333,POSE1_TO_POSE2_PRESS,789,762,738,734,687.722473618,657,923,807,841,667,633,677,0.451488529634,-0.0156381595142,0.0498033417731,0.999999950781,1.78601314492e-05,-0.000312812395369,1.63411645888e-05,1793255939520784640
+204,3.400000000,POSE1_TO_POSE2_PRESS,789,762,738,734,687.147794408,657,923,807,841,667,633,677,0.451793259689,-0.0156378286166,0.0497706812875,0.999999929852,1.50484763444e-05,-0.000373946469052,1.52705456888e-05,1793255939537451520
+205,3.416666667,POSE1_TO_POSE2_PRESS,789,761.562895469,738,734,687,656.562895469,923,807,841,667,632.562895469,677,0.452111549808,-0.0156399521996,0.049759925938,0.999999924345,1.96042118156e-05,-0.000388169468013,1.58382579575e-05,1793255939554117888
+206,3.433333333,POSE1_TO_POSE2_PRESS,789,761.025149142,738,734,687,656,923,807,841,667,632,677,0.45243345858,-0.0156429150454,0.0497574020024,0.999999925312,2.66994490582e-05,-0.000385192093506,1.70475618366e-05,1793255939570784512
+207,3.450000000,POSE1_TO_POSE2_PRESS,789,761.604542603,738,734,687,656,923,807,841,667,632,677,0.452731652924,-0.0156456460936,0.0497691479124,0.99999993405,3.35476894006e-05,-0.000361079930046,1.98959626906e-05,1793255939587451392
+208,3.466666667,POSE1_TO_POSE2_PRESS,789,762,738,734,687.183281081,656,923,806.816718919,841,667,632,677,0.453013835448,-0.0156475835601,0.0497783211229,0.999999940091,4.01350423438e-05,-0.000343104883904,2.20508864221e-05,1793255939604118272
+209,3.483333333,POSE1_TO_POSE2_PRESS,789,762,738,734,687.760611292,656,923,806.239388708,841,667,632,677,0.453261592972,-0.0156478148481,0.0497819631008,0.999999941445,4.61614939258e-05,-0.000338324469582,2.27148536484e-05,1793255939620784640
+210,3.500000000,POSE1_TO_POSE2_PRESS,789,762,738,734,688,656,923,806,841,667,631.664691818,677,0.45347709391,-0.0156476789135,0.0497775316,0.999999939068,5.0583660133e-05,-0.000344655997067,2.27625403811e-05,1793255939637451264
+211,3.516666667,POSE1_TO_POSE2_PRESS,789,762,738,734,688,656,923,806,841,667,631.091860243,677,0.453669745168,-0.0156472828483,0.0497673810622,0.999999933909,5.38693938807e-05,-0.000358858927905,2.23736704762e-05,1793255939654118144
+212,3.533333333,POSE1_TO_POSE2_PRESS,789,762,738,734,687.501842446,656,923,806,841,667,631.498157554,677,0.453845299819,-0.0156492134363,0.0497587811265,0.999999930175,5.59943015378e-05,-0.000368781586902,2.26935990908e-05,1793255939670785024
+213,3.550000000,POSE1_TO_POSE2_PRESS,789,762,738,734,687,656,923,806,841,667,632,677,0.454012328504,-0.0156511752679,0.0497513290712,0.999999926866,5.79943044423e-05,-0.000377317484719,2.31391346485e-05,1793255939687451392
+214,3.566666667,POSE1_TO_POSE2_PRESS,789,762,738,734,687,656,923,806,841,667,632,677,0.454150490976,-0.0156508702385,0.0497485506,0.99999992465,6.05254661981e-05,-0.000382729679541,2.35310839846e-05,1793255939704118016
+215,3.583333333,POSE1_TO_POSE2_PRESS,789,762,738,734,687.242627498,656,923,806,841,667,631.757372502,677,0.454276988888,-0.0156496002795,0.0497462252996,0.999999922861,6.32627840512e-05,-0.000386944334105,2.34475558039e-05,1793255939720784640
+216,3.600000000,POSE1_TO_POSE2_PRESS,789,762,738,734,687.816790407,656,923,806,841,667,631.183209593,677,0.454387547896,-0.0156470118043,0.0497445192291,0.999999921681,6.62818012603e-05,-0.000389522623953,2.27143170973e-05,1793255939737451520
+217,3.616666667,POSE1_TO_POSE2_PRESS,789,762,738,734,688,656,923,806,841,667,631,677,0.454473940486,-0.015646378559,0.0497369314367,0.999999917105,6.68920613435e-05,-0.000401033935863,2.2068601415e-05,1793255939754118144
+218,3.633333333,POSE1_TO_POSE2_PRESS,789,762,738,734,688,656,923,806,841,667,631,677,0.454549008142,-0.0156466615788,0.0497265873363,0.999999910734,6.63735231979e-05,-0.000416731464026,2.14639010199e-05,1793255939770785024
+219,3.650000000,POSE1_TO_POSE2_PRESS,789,762,738.572051593,734,687.427948407,656,923,806,841,667.572051593,630.427948407,677,0.454610851049,-0.0156485705552,0.0497196470726,0.999999906864,6.40618868278e-05,-0.000426278020656,2.13191035803e-05,1793255939787451392
+220,3.666666667,POSE1_TO_POSE2_PRESS,789,762,738.849431671,734,687.150568329,656,923,806,841,668,630.150568329,677.150568329,0.454668290952,-0.0156501904282,0.0497131210091,0.999999903039,6.19442995177e-05,-0.000435475942295,2.11157474396e-05,1793255939804118016
+221,3.683333333,POSE1_TO_POSE2_PRESS,789,762,738.2733873,734,687.7266127,656,923,806,841,668,630.7266127,677.7266127,0.454713768339,-0.0156509343979,0.0497076419773,0.99999989943,6.04400707586e-05,-0.0004439117117,2.07302409461e-05,1793255939820784640
+222,3.700000000,POSE1_TO_POSE2_PRESS,789,762,738,734,687.700259043,656,923,806,841,668,630.700259043,677.700259043,0.454752493683,-0.0156500614046,0.0497042630061,0.999999897105,6.13598403964e-05,-0.000449000531951,2.05921629995e-05,1793255939837451264
+223,3.716666667,POSE1_TO_POSE2_PRESS,789,762,738,734,687.129764819,656,923,806,841,668,630.129764819,677.129764819,0.454785119972,-0.0156477278233,0.049702781,0.999999895978,6.44691854665e-05,-0.000451066084598,2.06775849553e-05,1793255939854118144
+224,3.733333333,POSE1_TO_POSE2_PRESS,789,762,738,734,687,656,923,806,841,667.540829666,630.459170334,677,0.454807010967,-0.0156483937138,0.0496991784246,0.999999893815,6.3118390625e-05,-0.000456022566297,2.07246610408e-05,1793255939870785024
+225,3.750000000,POSE1_TO_POSE2_PRESS,789,762,738.052184446,734,687,656,923,806,841,667,631,677,0.454825300369,-0.0156496571721,0.0496952512736,0.999999891457,6.07550195246e-05,-0.000461478912431,2.07718871209e-05,1793255939887451648
+226,3.766666667,POSE1_TO_POSE2_PRESS,789,762,738.631554316,734,687,656,923,806,841,667,631,677,0.454839136872,-0.015648035679,0.0496943526803,0.999999890531,6.14287300701e-05,-0.000463386131488,2.09346865553e-05,1793255939904118272
+227,3.783333333,POSE1_TO_POSE2_PRESS,789,762,739,734,687.209399112,656,923,806,841.209399112,667,630.790600888,677,0.454850270895,-0.0156468828758,0.0496933428643,0.999999889485,6.14919577942e-05,-0.000465629758965,2.09327705793e-05,1793255939920784896
+228,3.800000000,POSE1_TO_POSE2_PRESS,789,762,739,734,687.78457985,656,923,806,841.78457985,667,630.21542015,677,0.454856684182,-0.0156465487875,0.0496921387629,0.99999988823,6.04887845852e-05,-0.000468461029786,2.06431271509e-05,1793255939937451520
+229,3.816666667,POSE1_TO_POSE2_PRESS,789,762,738.63231982,734,688,656,923,806,841.63231982,667.36768018,630.36768018,677.36768018,0.454860510794,-0.0156465508536,0.0496910365355,0.999999887521,5.79770100098e-05,-0.000470288739128,2.06238260202e-05,1793255939954118144
+230,3.833333333,POSE1_TO_POSE2_PRESS,789,762,738.044477359,734,688,656,923,806,841.044477359,667.955522641,630.955522641,677.955522641,0.454862788537,-0.0156467542046,0.049689995309,0.999999887132,5.4561903889e-05,-0.000471515528336,2.07664024778e-05,1793255939970784768
+231,3.850000000,POSE1_TO_POSE2_PRESS,789,762,738.534276979,734,687.465723021,655.465723021,923,806,841,667.465723021,631,677.465723021,0.454864811795,-0.0156486192559,0.0496890336464,0.999999886332,5.37200897416e-05,-0.000473265885515,2.1676049575e-05,1793255939987451392
+232,3.866666667,POSE1_TO_POSE2_PRESS,789,762,738.887527715,734,687.112472285,655,923,806,841,667.112472285,630.887527715,677.112472285,0.454866101334,-0.0156546122582,0.0496878693445,0.999999885539,4.92273072256e-05,-0.00047531346202,2.39779340701e-05,1793255940004118016
+233,3.883333333,POSE1_TO_POSE2_PRESS,789,762,738.308565758,734,687.691434242,655,923,806,841,667.691434242,630.308565758,677.691434242,0.454864434107,-0.0156771621832,0.0496858375649,0.999999884641,2.871814015e-05,-0.000478416030835,3.17938345586e-05,1793255940020784640
+234,3.900000000,POSE1_TO_POSE2_PRESS,789,762,738.267183885,734,687.732816115,655,923,806,841,667.732816115,630,677.732816115,0.454864200073,-0.0156921668846,0.0496848309736,0.999999884189,1.49714363072e-05,-0.000479632723457,3.67535623595e-05,1793255940037451264
+235,3.916666667,POSE1_TO_POSE2_PRESS,789,762,738.839267835,734,687.160732165,655,923,806,841,667.160732165,630,677.160732165,0.454865601545,-0.0156985612672,0.0496849942878,0.999999884645,8.94179506196e-06,-0.000478697326659,3.84539357986e-05,1793255940054118144
+236,3.933333333,POSE1_TO_POSE2_PRESS,789,762,739,734,687,655,923,805.574953381,841,667,630.425046619,677.425046619,0.454866630142,-0.0156948607709,0.0496851977752,0.999999884707,1.21521517044e-05,-0.000478562136854,3.76498745186e-05,1793255940070784768
+237,3.950000000,POSE1_TO_POSE2_PRESS,789,762,738.984139937,734,687.015860063,655.015860063,923,805.015860063,841,667,630.984139937,677.984139937,0.454867473644,-0.0156875520954,0.0496853893138,0.999999884572,1.86259511853e-05,-0.000478766515296,3.59450562412e-05,1793255940087451648
+238,3.966666667,POSE1_TO_POSE2_PRESS,789,762,738.404573654,734,687.595426346,655.595426346,923,805.595426346,841,667,630.404573654,677.404573654,0.454866916864,-0.0156921966254,0.0496845982424,0.999999884069,1.27662804668e-05,-0.00047992678379,3.7006481369e-05,1793255940104118272
+239,3.983333333,POSE1_TO_POSE2_PRESS,789,761.826189701,738,733.826189701,688,655.826189701,923,805.826189701,841,667,630.173810299,677,0.454866431546,-0.0156944932957,0.0496838700706,0.999999883615,9.15534089794e-06,-0.000480911126838,3.75664435711e-05,1793255940120784640
+240,4.000000000,POSE1_TO_POSE2_PRESS,789,761.250539266,738,733.250539266,688,655.250539266,923,805.250539266,841,667,630.749460734,677,0.454866111443,-0.0156913618394,0.0496832873197,0.999999883343,1.07433480979e-05,-0.000481488739608,3.6967050188e-05,1793255940137451520
+241,4.016666667,POSE1_TO_POSE2_PRESS,789,761.331177943,738,733.331177943,687.668822057,655,923,805,841,667,630.668822057,677,0.454866593489,-0.0156898222954,0.0496835710856,0.99999988339,1.15177612534e-05,-0.000481403503404,3.65910953639e-05,1793255940154118144
+242,4.033333333,POSE1_TO_POSE2_PRESS,789,761.917570341,738,733.917570341,687.082429659,655,923,805,841,667,630.082429659,677,0.454867693691,-0.0156895095209,0.0496845226122,0.999999883682,1.16651973092e-05,-0.000480807458274,3.63873282133e-05,1793255940170785280
+243,4.050000000,POSE1_TO_POSE2_PRESS,789,762,738,734,687,655,923,805.497875833,841,667.497875833,630,677.497875833,0.454868143295,-0.0156927071451,0.0496843347531,0.999999883685,8.53789965651e-06,-0.000480802334446,3.72201629739e-05,1793255940187451648
+244,4.066666667,HOLD_POSE2,789,762,738,734,687,655,923,805,841,667,630,677,0.454866994326,-0.0156875521421,0.0496826139934,0.999999882576,1.06650241643e-05,-0.000483175375237,3.57218496106e-05,1793255940230885632
+245,4.083333333,HOLD_POSE2,789,762,738,734,687,655,923,805,841,667,630,677.579702595,0.454868108369,-0.0156895474957,0.0496833221751,0.999999882985,8.87273824607e-06,-0.000482306275853,3.64875504916e-05,1793255940247552256
+246,4.100000000,HOLD_POSE2,789,762,738.161365738,734,687,655,923,805,841,667,630,677.838634262,0.454868752976,-0.0156910720362,0.0496834515804,0.999999883059,7.67111123173e-06,-0.000482133841363,3.70100169276e-05,1793255940264218880
+247,4.116666667,HOLD_POSE2,789,762,738.748198307,734,687,655,923,805,841,667,630,677.251801693,0.454868159845,-0.0156913552022,0.0496820549482,0.999999882257,8.02685142893e-06,-0.000483798276203,3.68911566298e-05,1793255940280885504
+248,4.133333333,HOLD_POSE2,789,762,739,734,687,655.329849002,923,805,841,667.329849002,630,677.329849002,0.454868330212,-0.0156901009865,0.049682065296,0.999999882381,9.24973863254e-06,-0.000483539654973,3.66225308162e-05,1793255940297552384
+249,4.150000000,HOLD_POSE2,789,762,739,734,687,655.907605082,923,805,841,667.907605082,630,677.907605082,0.454869074408,-0.0156876913093,0.0496831330983,0.999999883199,1.11243539686e-05,-0.000481835708021,3.62413446221e-05,1793255940314219008
+250,4.166666667,HOLD_POSE2,789,762,738.514091535,734,687.485908465,655.514091535,923,805.485908465,841,668,630,677.514091535,0.454869194499,-0.0156902285326,0.0496830347572,0.999999883142,8.84642797373e-06,-0.000481967480351,3.66719981796e-05,1793255940330885632
+251,4.183333333,HOLD_POSE2,789,762,738,734,687.936203756,655.063796244,923,806,841,667.936203756,630,677,0.454869139675,-0.0156930227752,0.0496826028212,0.999999882863,6.36597227024e-06,-0.000482549996215,3.71297054043e-05,1793255940347552256
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+255,4.250000000,HOLD_POSE2,789,762,738,734,687.391306288,655.608693712,923,805.608693712,841,667.608693712,630.391306288,678,0.454868820073,-0.0156903878883,0.0496819026349,0.999999882598,7.67756943782e-06,-0.000483134681431,3.64168536328e-05,1793255940414219008
+256,4.266666667,HOLD_POSE2,789,762,738,734,687.972228359,655.027771641,923,805.027771641,841,667.027771641,630.972228359,678,0.454868277735,-0.0156896292167,0.0496810534248,0.999999882239,8.63149878154e-06,-0.000483861289398,3.64013689104e-05,1793255940430885632
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+259,4.316666667,HOLD_POSE2,789,761.697045937,738.697045937,734,687,655,923,805.302954063,841,667,630,677,0.4548693353,-0.0156911004449,0.0496821295006,0.999999882157,7.6016305117e-06,-0.000484013600624,3.6869648958e-05,1793255940480885504
+260,4.333333333,HOLD_POSE2,789,762,738.719539088,734,687.280460912,655,923,805,841,667.280460912,630,677.280460912,0.454868811672,-0.0156902050824,0.0496811320685,0.999999881682,9.40464927635e-06,-0.000484982441189,3.66093878099e-05,1793255940497552384
+261,4.350000000,HOLD_POSE2,789,762,738.126128911,734,687.873871089,655,923,805,841,667.873871089,630,677.873871089,0.454868218129,-0.0156904770387,0.049679599646,0.999999881021,7.99043471912e-06,-0.000486386021319,3.63778909233e-05,1793255940514218752
+262,4.366666667,POSE2_TO_POSE3_RETREAT,789,762,738,734,688,655,923,805,841,667,630,677,0.454869595547,-0.0156909638211,0.049681308445,0.999999881726,7.24791780715e-06,-0.000484966910621,3.60930246263e-05,1793255940546706944
+263,4.383333333,POSE2_TO_POSE3_RETREAT,789,762,738.573538385,734,688,655,923,805,841,667,630,677.573538385,0.454868017422,-0.0156897462636,0.0496791505808,0.999999880592,7.2583609443e-06,-0.000487331840025,3.5655712537e-05,1793255940563373312
+264,4.400000000,POSE2_TO_POSE3_RETREAT,789,762,738.84816184,734,688,655,923,805,841,667.15183816,630,678,0.454867104868,-0.0156893931396,0.0496779905721,0.999999879997,6.71680253196e-06,-0.000488566773943,3.55543223267e-05,1793255940580039936
+265,4.416666667,POSE2_TO_POSE3_RETREAT,789,762,738.256055867,734,688,655,923,805,841,667.743944133,630,678,0.454868122193,-0.0156915465145,0.0496797239311,0.999999880973,4.57466812895e-06,-0.000486525189269,3.64269664088e-05,1793255940596706304
+266,4.433333333,POSE2_TO_POSE3_RETREAT,789,762,738,734,687.672197084,655,923,805,841,667.672197084,630,678,0.454868142452,-0.015690358734,0.0496801115223,0.99999988106,6.22944696505e-06,-0.000486323409922,3.64777248871e-05,1793255940613373184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,789,762,738,734,687.094622341,655,923,805,841,667.094622341,630,678,0.45486740299,-0.0156866251357,0.0496794736958,0.999999880458,1.07773117027e-05,-0.0004875234838,3.5902241574e-05,1793255940630040064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,789,762,738.481872642,734,687.481872642,655,923,805,841,667,630,678,0.454867177026,-0.0156890709686,0.0496796614471,0.999999880715,8.47664281024e-06,-0.000487015878055,3.62555065126e-05,1793255940646706432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,789,762,739,734,688,655,923,805,841,667.059265026,630,677.940734974,0.454867020433,-0.0156922906298,0.0496799376868,0.999999881077,5.17561056567e-06,-0.000486281749092,3.67376452243e-05,1793255940663373312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,789,762,739,734,688,655,923,805,841,667.646537377,630,677.353462623,0.454866585541,-0.0156916180559,0.0496795612108,0.999999880967,4.91650185901e-06,-0.000486510296738,3.6746782442e-05,1793255940680039680
+271,4.516666667,POSE2_TO_POSE3_RETREAT,789,762,739,734,687.769625128,655,923,805,841,668,630,677.230374872,0.454861762947,-0.0156910226204,0.0496771035348,0.999999879143,4.82334951236e-06,-0.000490263244523,3.65187904385e-05,1793255940696706304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,789,762,739,734,687.190980342,655,923,805,841,668,630,677.809019658,0.454850307229,-0.0156905437993,0.0496714995981,0.99999987467,4.98108222153e-06,-0.000499344214905,3.59323176098e-05,1793255940713372928
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,789,762,738.036613616,734,687.963386384,655,923,805.963386384,841,667.036613616,630,678,0.454782481851,-0.0156832530688,0.0496409029079,0.999999848587,7.29969755682e-06,-0.000549343920568,3.15368564181e-05,1793255940746706176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,789,762,738,734,688,655,923,806,841,667.5396112,630,678,0.454723682541,-0.0156807775339,0.0496200560989,0.999999831899,7.68359929847e-06,-0.000579021243913,2.96053841756e-05,1793255940763373056
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,789,762,738.707151616,734,688,655,923,805.292848384,841,667.292848384,630,678,0.45459209226,-0.0156728779187,0.049587719647,0.999999809101,1.10594125116e-05,-0.000617246083634,2.61208386243e-05,1793255940796706560
+278,4.633333333,POSE2_TO_POSE3_RETREAT,789,762,739,734,688,655,923,805.290918743,841,667.290918743,630,678,0.454512554494,-0.0156672479569,0.049577949316,0.999999802042,1.35066048402e-05,-0.000628589555378,2.46804843249e-05,1793255940813372928
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,789,762,738.976319724,734,688,656,923,805.976319724,841,668,630.023680276,678,0.454220498228,-0.0156485031773,0.0495776744233,0.999999799737,2.10179946747e-05,-0.000632104571859,2.29979669243e-05,1793255940863373056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,789,762,738.390478524,734,688,656,923,805.390478524,841,668,630.609521476,678,0.454100702065,-0.0156432279059,0.0495871673314,0.999999806976,2.27440694492e-05,-0.000620471631535,2.33795216884e-05,1793255940880039680
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,789,762,738.772428479,734,688,656,923,805,841,668,631,678,0.453806670857,-0.0156254141078,0.0496028914977,0.999999819655,3.08198655713e-05,-0.000599326801243,2.33988613655e-05,1793255940913372928
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,789,762.930671021,739,734,688,656,923,805.930671021,841,668,631,678,0.453422996719,-0.0156049671436,0.0496054256684,0.999999820148,4.1569006221e-05,-0.000597932992856,2.12617599813e-05,1793255940946706176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,789,762.492641488,739,734,688,656,923,805.492641488,841,668,631,678,0.453190537856,-0.0155949615461,0.0496068699511,0.999999817607,4.3407607947e-05,-0.000602070131292,2.03081968008e-05,1793255940963372800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,789.085091199,762,739,734,688.085091199,656,923,805.085091199,841,668,631,678,0.452950208137,-0.0155853152591,0.049609017741,0.999999815826,4.4229377641e-05,-0.000604996588666,1.92631648612e-05,1793255940980039424
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,790,762,738.746485511,734,689,656,923,806,841,668,631,678,0.452405892237,-0.0155729973119,0.0496203973062,0.999999823218,3.58635612983e-05,-0.000593312550249,1.60454060545e-05,1793255941013372672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,790,762,738.167948843,734,689,656,923,806,841,668,631,678,0.452091265996,-0.0155720056207,0.0496284921914,0.99999982618,2.49569606445e-05,-0.000588882251633,1.52954502255e-05,1793255941030039296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,789.590793127,762,738.409206873,734,689,656,923,806,841,668,631.409206873,678,0.451752268299,-0.0155714587538,0.0496344222218,0.999999829929,1.35935102689e-05,-0.000582884088704,1.42816342964e-05,1793255941046705920
+293,4.883333333,POSE2_TO_POSE3_RETREAT,789.014202297,762,738.985797703,734,689,656,923,806,841,668,631.985797703,678,0.451403301593,-0.0155710938398,0.0496394667294,0.999999833882,2.0431881414e-06,-0.000576244599021,1.31598877737e-05,1793255941063372544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,789,762,739,734,689,656.563582206,923,806,841,668,632,678,0.451007427885,-0.0155649932964,0.0496319597429,0.999999832555,-3.40178356561e-06,-0.000578599611606,1.00913717537e-05,1793255941080039424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,789,762.143639482,739,734,689,657,923,806.143639482,840.856360518,668.287278964,632.143639482,678.143639482,0.450611294323,-0.0155581182396,0.0496299891402,0.999999836101,-8.18270015487e-06,-0.000572431525136,7.25248615902e-06,1793255941096706048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,789,762.730618459,739,734,689,657,923,806.730618459,840.269381541,669.461236919,632.730618459,678.730618459,0.450218014942,-0.0155492997289,0.0496460847604,0.999999854523,-1.13899046769e-05,-0.000539256045239,5.27408915081e-06,1793255941113372672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,789.312840761,762.687159239,739.312840761,734,689.312840761,657,923,807,840,670,633,679,0.449788505042,-0.0155408148414,0.0496652184022,0.999999873185,-1.56786020516e-05,-0.000503359940865,3.61812660056e-06,1793255941130039296
+298,4.966666667,POSE2_TO_POSE3_RETREAT,789.891028585,762.108971415,739.891028585,734,689.891028585,657,923,807,840,670,633,679,0.44932826489,-0.0155326129276,0.0496869288523,0.999999891594,-2.08846065508e-05,-0.000465156237806,2.23564812767e-06,1793255941146705920
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,793.085349747,762.914650253,737,735.085349747,693.914650253,659.085349747,926.085349747,810,838,676,641.914650253,676,0.4359591665,-0.0154340399046,0.0497869123056,0.999999937587,-0.000112819210684,-0.000330145454775,-5.5686453097e-05,1793255941463372544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,762.017824876,737,735,693.508912438,658.508912438,926.491087562,809.508912438,838,675.508912438,641.508912438,676,0.435035677075,-0.0154320503909,0.0497855796001,0.999999931561,-0.0001188059621,-0.000346137502841,-5.43280617418e-05,1793255941480039424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,761,737,735,692.930889779,658.069110221,927,809.069110221,837.930889779,675,641,675.930889779,0.434109271143,-0.0154288485263,0.049780415471,0.999999924628,-0.000119019892374,-0.000366082517457,-5.06099190276e-05,1793255941496706048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,761,737,735,692.34172718,658.65827282,927,809.65827282,837.34172718,675,641,675.34172718,0.433245496152,-0.0154215940766,0.0497759914338,0.999999934887,-5.31195657037e-05,-0.000355381719819,-3.32759259517e-05,1793255941513372672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,761,737,735,692.242729121,659,927,809.757270879,837,675,641,675,0.43237152993,-0.0154173241956,0.0497849277942,0.999999943901,-1.71019416309e-05,-0.000333641563,-2.42783038515e-05,1793255941530039296
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,761,737,735,692.820685747,659,927,809.179314253,837,675,641,675,0.431483488713,-0.0154171762317,0.049812315886,0.999999955389,-2.23546092087e-05,-0.000296655205671,-2.67938461696e-05,1793255941546705920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,761.398682397,737,735,693.398682397,659,927,809.398682397,837.398682397,675,641,675,0.430536880074,-0.015418127355,0.0497983279548,0.999999947582,-3.00672341346e-05,-0.000320801845666,-3.19091820757e-05,1793255941563372800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,761.976697016,737,735,693.976697016,659,927,809.976697016,837.976697016,675,641,675,0.429563927146,-0.0154195728612,0.0497657285804,0.999999929156,-3.88863776084e-05,-0.00037244685766,-3.81939367428e-05,1793255941580039424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,762,737,735.549592366,693.450407634,659,927,810,837.450407634,675,641.549592366,675,0.428622926319,-0.0154247377942,0.049766472171,0.99999992986,-6.53884953288e-05,-0.000366625354377,-3.98749307779e-05,1793255941596706048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,761.87372288,737,735.87372288,693.12627712,658.87372288,927,809.87372288,837.12627712,675,642,675,0.427682190957,-0.0154276441962,0.0497678711255,0.999999928852,-8.72557395293e-05,-0.000364684922119,-4.10807729042e-05,1793255941613372416
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,761.282287191,737,735.282287191,693.717712809,658.282287191,927,809.282287191,837.717712809,675,642,675,0.426737489044,-0.0154216554307,0.049766524495,0.999999920688,-8.93134322549e-05,-0.000385933670191,-4.12487452634e-05,1793255941630039040
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,761,737,735,693.696490229,658.303509771,927,809,837.696490229,675,642,675,0.425821684873,-0.0154196479045,0.0497681228887,0.999999925003,-7.5696274026e-05,-0.000377543146642,-4.15332740698e-05,1793255941646705920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,761,737,735,693.115842089,658.884157911,927,809,837.115842089,675,642,675,0.424932267626,-0.0154212756952,0.049772410419,0.999999939468,-4.77662233354e-05,-0.000342088651128,-4.19242318894e-05,1793255941663373056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,761,737,735,693.458973696,659,927,809.458973696,837,675,642,675,0.424058987973,-0.0154237316377,0.0498022814064,0.999999955536,-6.12465999926e-05,-0.000288963668944,-4.09439237661e-05,1793255941680039680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793.032386611,761,737,735,693.967613389,659,927,809.967613389,837,675,642,675,0.423185308532,-0.0154260195131,0.0498355293289,0.999999967719,-8.42241645783e-05,-0.000236398333758,-3.98128983342e-05,1793255941696706304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793.606647244,761,737,735,693.393352756,659,927,809.393352756,837,675,642,675,0.422237648734,-0.0154220420617,0.0498185972309,0.999999959146,-9.34250980559e-05,-0.000266881241978,-4.18782273837e-05,1793255941713372928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793.813235991,761,736.813235991,735,693,659,927,809,837,675,642,675,0.421308271247,-0.0154195060023,0.049803808002,0.999999951105,-9.73098185911e-05,-0.000293970394699,-4.36137873101e-05,1793255941730039552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793.220385968,761,736.220385968,735,693,659,927,809,837,675,642,675,0.420418645301,-0.0154201039995,0.0497936780676,0.999999945789,-8.96353561092e-05,-0.000313680419698,-4.46323218133e-05,1793255941746706176
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793.362404555,761,736,735,693.362404555,659,927,809,837.362404555,675,642,675,0.419540034239,-0.015420995344,0.0497957501857,0.999999942817,-8.60833394147e-05,-0.000323999107225,-4.45097209463e-05,1793255941763373056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793.939242864,761,736,735,693.939242864,659,927,809,837.939242864,675,642,675,0.418667940707,-0.0154220602612,0.0498050422244,0.999999941393,-8.49705627625e-05,-0.000328760965674,-4.37119134389e-05,1793255941780039680
+337,5.616666667,POSE2_TO_POSE3_RETREAT,794,760.484466885,736,735,693.484466885,659,927,809,837.484466885,675,642,675,0.417797593451,-0.0154163052265,0.0497834573214,0.999999928564,-9.10270112468e-05,-0.000363930638271,-4.62714437579e-05,1793255941796706304
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793.906276244,760.093723756,736,735,693.093723756,659,927,809,837,675,642,675,0.416941650118,-0.0154117158507,0.0497652848172,0.999999917878,-9.89132960713e-05,-0.000390001961332,-4.85626485721e-05,1793255941813373184
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793.317711301,760.682288699,736,735,693.682288699,659,927,809,837,675,642,675,0.416160670959,-0.015417520033,0.0497843214608,0.999999931659,-0.000112004491386,-0.00034913514623,-4.73503065572e-05,1793255941830039808
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793.267630772,761,736,735,694,659,927,809.267630772,837,675,641.732369228,675,0.415379774653,-0.0154210447552,0.0497989071712,0.999999942611,-0.00010749327281,-0.000317914902293,-4.64131788457e-05,1793255941846706176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793.849192378,761,736,735,694,659,927,809.849192378,837,675,641.150807622,675,0.41459897559,-0.015421895671,0.0498082719367,0.999999951157,-8.23344260478e-05,-0.000298010087273,-4.57988775765e-05,1793255941863372800
+342,5.700000000,POSE2_TO_POSE3_RETREAT,794,761,736.425194172,735,693.574805828,659,927,810,837,675,641.425194172,675,0.41381633684,-0.0154191658227,0.0497910146047,0.999999941416,-7.98085506277e-05,-0.000329424602717,-4.77240569216e-05,1793255941880039424
+343,5.716666667,POSE2_TO_POSE3_RETREAT,794,761,736.999249515,735,693.000750485,659,927,810,837,675,641.999249515,675,0.41303305395,-0.0154151823432,0.0497644368337,0.999999923346,-8.52065129944e-05,-0.000378806096747,-5.05383124071e-05,1793255941896706048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,794,761,736.4245836,735,693,658.4245836,927,809.4245836,837,675,642,675,0.412327577272,-0.0154137930484,0.0497728903116,0.999999929012,-9.3788653494e-05,-0.000361450757873,-5.03208999772e-05,1793255941913372672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,794,761,736.155336818,735,693.155336818,658.155336818,927,809.155336818,837,675,642,675,0.411631903975,-0.015413107555,0.0497859803429,0.999999936266,-0.000101779290714,-0.000338636283496,-4.93449605722e-05,1793255941930039552
+346,5.766666667,POSE2_TO_POSE3_RETREAT,794,761,736.745763057,735,693.745763057,658.745763057,927,809.745763057,837,675,642,675,0.410963403938,-0.0154143838563,0.0498119286489,0.999999947854,-0.000108101488465,-0.0003007757789,-4.62555468885e-05,1793255941946706176
+347,5.783333333,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,659,927,809.67149516,837,675,642,675,0.410287909794,-0.0154139158047,0.0498089719576,0.999999944113,-0.000110719991524,-0.000312019831676,-4.64567524982e-05,1793255941963372800
+348,5.800000000,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,659,927,809.094564639,837,675,642,675,0.409607126526,-0.0154121286186,0.0497841563978,0.99999992774,-0.000110537643801,-0.000360398295381,-4.9146427935e-05,1793255941980039424
+349,5.816666667,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,658.516718261,927,809,837,675,642,675,0.409014001575,-0.0154124846603,0.049785351682,0.999999930558,-0.00010886055694,-0.000352960206426,-4.95320568459e-05,1793255941996706048
+350,5.833333333,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,658,927,809,837,675,642,675,0.408441484973,-0.0154137901643,0.0497927448156,0.999999937072,-0.000108355931307,-0.00033419781473,-4.92648302962e-05,1793255942013372416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,658,927,809,837,675,642,675,0.407897822698,-0.0154195567306,0.0498093972216,0.999999942917,-0.000120202909964,-0.000312217192977,-4.73021504704e-05,1793255942030039296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,794,761,737,735.233617666,694,658.233617666,927,809,837,675,642,675,0.407361932315,-0.015422940298,0.0498190798694,0.999999945164,-0.000129178693297,-0.000301431072418,-4.60821419278e-05,1793255942046705920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,794,761,737,735.813772918,694,658.813772918,927,809,837,675,642,675,0.406837570443,-0.0154227890348,0.0498184239001,0.999999942778,-0.000133895477997,-0.000307250356679,-4.59637776486e-05,1793255942063372800
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794,761,737,735.610375483,694,658.610375483,927,809,837,675,642,675,0.40632543551,-0.0154218327985,0.0498014206211,0.999999931587,-0.000141921933125,-0.000338246168486,-4.76899167514e-05,1793255942080039424
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,761,737,735.036558359,694,658.036558359,927,809,837,675,642,675,0.405819080741,-0.0154204960161,0.0497766892512,0.999999914622,-0.0001515130149,-0.000381144029714,-5.02880334623e-05,1793255942096706304
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,761,737,735,694,658.538051247,927,809,837,675,642,675,0.405375742758,-0.0154200860988,0.0497672202723,0.999999908855,-0.000157877473722,-0.000393323514702,-5.15823869639e-05,1793255942113373184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794.11626917,760.88373083,736.88373083,735,694,658.88373083,927,809,837,675,642,675,0.404950006454,-0.0154200694978,0.0497640716342,0.999999906659,-0.000164908488759,-0.000395907247921,-5.23807578924e-05,1793255942130039296
+358,5.966666667,POSE2_TO_POSE3_RETREAT,794.709054543,760.290945457,736.290945457,735,694,658.290945457,927,809,837,675,642,675,0.40457883445,-0.0154214063755,0.0497825698396,0.999999915648,-0.000175571150164,-0.000367730586755,-5.15099925768e-05,1793255942146705920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,794.709251958,760.290748042,736,735,694,658,927,809,836.709251958,675,642,675,0.404238270545,-0.0154252499002,0.0498070404997,0.999999925704,-0.00018774350506,-0.000333004559964,-4.9519563137e-05,1793255942163373056
+360,6.000000000,POSE2_TO_POSE3_RETREAT,794.138250023,760.861749977,736,735,694,658,927,809,836.138250023,675,642,675,0.403927210004,-0.0154315095978,0.049837268046,0.999999936024,-0.000201371062368,-0.000291965559269,-4.64498823139e-05,1793255942180040448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,794,760.563464607,736,735.436535393,694,658,927,809,836.436535393,675,642,675,0.403623669964,-0.0154338959778,0.0498496985387,0.999999945565,-0.000178802553835,-0.000273499990488,-4.57960787083e-05,1793255942196707072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,794,760,736,735.98743304,694,658.01256696,927,809,837,675,641.98743304,675,0.403322813766,-0.0154349925673,0.0498560123568,0.999999953863,-0.000144745052876,-0.000263080704513,-4.59593531795e-05,1793255942213373440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,760,736,735.409716713,694,658.590283287,927,809,837,675,641.409716713,675,0.403034607213,-0.0154337330054,0.0498429391451,0.999999950229,-0.000114036157742,-0.000290203820181,-4.81591274079e-05,1793255942230040576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,760,736,735,694,658.826300462,927,809,837,675,641.173699538,675,0.402756208345,-0.0154330802035,0.0498304839025,0.99999994469,-9.43932493518e-05,-0.000315007196199,-4.98129085004e-05,1793255942246707200
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,760,736,735,694,658.22898335,927,809,837,675,641.77101665,675,0.402501728451,-0.0154339071653,0.0498195357619,0.999999937739,-0.000101738019566,-0.000334153199597,-5.01351240666e-05,1793255942263373312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,760.35434537,736,735,694,658.35434537,927,809,837,675,642,675,0.402278632306,-0.0154326903542,0.049811248273,0.999999935088,-7.99095370583e-05,-0.000348445398722,-4.50001020652e-05,1793255942280039680
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,760.928977933,736,735,694,658.928977933,927,809,837,675,642,675,0.402075046588,-0.0154302029834,0.0498046148403,0.999999933838,-3.99448115537e-05,-0.000359720116867,-3.64724590332e-05,1793255942296706560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,760.495876307,736,735,694,659,927,809,836.495876307,675,642,675,0.40191725669,-0.0154288632663,0.0498090508445,0.999999937565,-4.06068756669e-05,-0.000349157766083,-3.62054959087e-05,1793255942313372928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794,760.081689274,736,735,694,658.918310726,927,809,836.081689274,675,642,675,0.401770115026,-0.0154285307638,0.0498149190586,0.999999941805,-4.83406958989e-05,-0.000335686493257,-3.69925391467e-05,1793255942330039552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794,760.673926368,736,735,694,658.326073632,927,809,836.673926368,675,642,675,0.401649159284,-0.0154334816918,0.0498199818778,0.999999944979,-6.44639219255e-05,-0.000323281866968,-3.70860808109e-05,1793255942346706176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794,760.74004639,736.25995361,735,694,658.25995361,927,809,837,675.25995361,642,675,0.401536217751,-0.0154355985028,0.0498246372394,0.999999947605,-7.4707614647e-05,-0.000312736176162,-3.74777003837e-05,1793255942363372800
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,760.161626798,736.838373202,735,694,658.838373202,927,809,837,675.838373202,642,675,0.401433094333,-0.0154342432714,0.0498287934294,0.999999949896,-7.77483621977e-05,-0.000304467845295,-3.82344915575e-05,1793255942380039680
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,760,736.586557554,735,694,658.586557554,927,809,837,675.586557554,642,675,0.401349336195,-0.0154361177309,0.0498324492354,0.999999951292,-8.48923387215e-05,-0.000297838708129,-3.87451756234e-05,1793255942396706304
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5443182db8297455f867b0ca62a2b4351e47b7b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56ec417d73a8da78793b1dc44ab078aa251a8fca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c35b5cc8e06b2b6ef14d5baeecabcffd299274ca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+62,1.033333333,BASELINE,794,760,736.950260123,735,694,659,927,809,837,675,642,675,0.40098508489,-0.015458787035,0.0498535820977,0.99999996066,-0.000115139877456,-0.000253130438644,-3.67077982415e-05,1793255944109338368
+63,1.050000000,BASELINE,794,760,736.372809476,735,694,659,927,809,837,675,642,675,0.400985699602,-0.015458682924,0.0498544377745,0.999999960825,-0.000116107598996,-0.000252055123961,-3.65755928475e-05,1793255944126005248
+64,1.066666667,BASELINE,794,760,736.204406521,735,694,659,927,809,837,675,642,675,0.40098625516,-0.0154587143336,0.0498549480776,0.999999960899,-0.000117198118806,-0.000251266038146,-3.65057126183e-05,1793255944142671872
+65,1.083333333,BASELINE,794,760,736.781195004,735,694,659,927,809,837,675,642,675,0.400986702955,-0.0154589926305,0.049854829189,0.999999960809,-0.000118512348938,-0.000250998395974,-3.65493746019e-05,1793255944159338240
+66,1.100000000,BASELINE,794.356440431,760.356440431,736.643559569,735,694,659,927,809.356440431,837,675,642,675,0.400986654957,-0.0154588611908,0.0498546850964,0.999999960776,-0.000118147821782,-0.000251283280213,-3.66917580495e-05,1793255944176004864
+67,1.116666667,BASELINE,794.930742697,760.930742697,736.069257303,735,694,659,927,809.930742697,837,675,642,675,0.400986303924,-0.015458479314,0.0498545255988,0.999999960775,-0.000116757212479,-0.000251905877044,-3.68944815624e-05,1793255944192671488
+68,1.133333333,BASELINE,794.476812938,760.476812938,736,735,694,659,927,809.476812938,837,675,642,675,0.400985687263,-0.0154597093885,0.0498545091169,0.999999960597,-0.000117540968785,-0.000252273324412,-3.67225122483e-05,1793255944209338368
+69,1.150000000,BASELINE,794.11432773,760.11432773,736,735,694,659,927,809.11432773,836.88567227,675,642,675.11432773,0.400985024702,-0.0154604968469,0.0498544596233,0.999999960448,-0.000118094124673,-0.000252622804473,-3.65985224405e-05,1793255944226004992
+70,1.166666667,BASELINE,794.690162907,760.690162907,736,735,694,659,927,809.690162907,836.309837093,675,642,675.690162907,0.400984323898,-0.0154586052865,0.0498541977037,0.999999960518,-0.000116512777977,-0.000253040995581,-3.68756258462e-05,1793255944242671616
+71,1.183333333,BASELINE,795,760.735285344,736,735,694,658.735285344,927,810,836.264714656,675,642,675.735285344,0.400985144042,-0.0154576608232,0.0498544314833,0.999999960825,-0.000115215633302,-0.000252415321864,-3.6900988304e-05,1793255944259338240
+72,1.200000000,BASELINE,795,760.162228467,736,735,694,658.162228467,927,810,836.837771533,675,642,675.162228467,0.400987735802,-0.0154578195478,0.0498552426582,0.999999961409,-0.000114249529717,-0.000250573744247,-3.66331204799e-05,1793255944276004864
+73,1.216666667,BASELINE,794.575643398,760,736,735,694,658,927,810,837,675,642,675,0.400987556161,-0.0154570326184,0.0498550760238,0.999999961441,-0.000113533952462,-0.000250739756293,-3.68493922357e-05,1793255944292671744
+74,1.233333333,BASELINE,794,760.01595937,736,735,694,658.01595937,927,809.98404063,837,675,642,675,0.400986332072,-0.0154559855767,0.0498545618192,0.999999961261,-0.000113004867454,-0.000251638275333,-3.72319587909e-05,1793255944309338112
+75,1.250000000,BASELINE,794,760.596098002,736,735,694,658.596098002,927,809.403901998,837,675,642,675,0.400986872885,-0.0154589441088,0.0498554103333,0.999999961295,-0.000115571256504,-0.00025040680568,-3.67348921874e-05,1793255944326004736
+76,1.266666667,BASELINE,794,761,736.174347897,735,694,659,927,809,836.825652103,675,642,675,0.400987315904,-0.0154607566435,0.0498560273045,0.999999961288,-0.000117808852318,-0.000249420471479,-3.65384111287e-05,1793255944342671616
+77,1.283333333,BASELINE,794,761,736.74826912,735,694,659,927,809,836.25173088,675,642,675,0.400987534798,-0.0154599427629,0.0498561136217,0.999999961199,-0.000119292914329,-0.000248995942741,-3.70308169087e-05,1793255944359338240
+78,1.300000000,BASELINE,794,761,736.678340638,735,694,659,927,809.321659362,836.321659362,675,642,675,0.4009874327,-0.0154592671985,0.0498556017978,0.999999960988,-0.000119484257762,-0.000249729015289,-3.71929847451e-05,1793255944376004608
+79,1.316666667,BASELINE,794,761,736.105365284,735,694,659,927,809.894634716,836.894634716,675,642,675,0.400987079807,-0.0154586997022,0.0498546226398,0.999999960679,-0.000118665585902,-0.000251366534456,-3.70971340256e-05,1793255944392671488
+80,1.333333333,BASELINE,794,760.514630431,736.485369569,735.485369569,694,659,927,809.514630431,837,675,642,675,0.400987333108,-0.0154583809798,0.0498547720412,0.999999960947,-0.000117468031466,-0.000250849949429,-3.71776964591e-05,1793255944409338112
+81,1.350000000,BASELINE,794,760.077710989,737,735.922289011,694,659,927,809,836.922289011,675,642,675,0.400987541963,-0.0154585045702,0.0498550629957,0.999999961201,-0.000116821478282,-0.000250133678078,-3.71970815109e-05,1793255944426004992
+82,1.366666667,BASELINE,794,760.654664951,737,735.345335049,694,659,927,809,836.345335049,675,642,675,0.400986587766,-0.0154611096147,0.0498546296548,0.999999960536,-0.000120263216925,-0.000251252794105,-3.65680687705e-05,1793255944442671616
+83,1.383333333,BASELINE,794,761,736.768797851,735,694,658.768797851,927,809,836,675,642,675,0.400986340515,-0.0154614989138,0.0498545158072,0.999999960457,-0.000120643032421,-0.000251416736673,-3.63453073685e-05,1793255944459338240
+84,1.400000000,BASELINE,794,761,736.192881949,735,694,658.192881949,927,809,836,675,642,675,0.400987147293,-0.0154585846194,0.0498548783118,0.999999961255,-0.00011645763557,-0.000250156551512,-3.67282514195e-05,1793255944476005120
+85,1.416666667,BASELINE,794,761,736,735,694,658,927,809,836.391170299,675,642,675,0.400987289534,-0.0154587040285,0.0498551742711,0.999999961363,-0.000115935724652,-0.000249971542672,-3.66932710033e-05,1793255944492671744
+86,1.433333333,BASELINE,794,761,736,735,694,658,927,809,836.979319679,675,642,675,0.400987097137,-0.0154603511001,0.0498554367204,0.999999961129,-0.000117258611752,-0.000250327953449,-3.64478390608e-05,1793255944509338112
+87,1.450000000,BASELINE,794,760.441395144,736,735,694,658.558604856,927,809.558604856,837,675,642,675,0.400986470316,-0.015459220146,0.0498545957217,0.999999960972,-0.000116220130093,-0.000251336262194,-3.71367347712e-05,1793255944526004992
+88,1.466666667,BASELINE,794,760,736.136663817,735,694,659,927,809.863336183,836.863336183,675,642,675,0.4009863751,-0.0154585674756,0.0498542378471,0.99999996092,-0.000115706945946,-0.000251715725166,-3.75566626398e-05,1793255944542671616
+89,1.483333333,BASELINE,794,760,736.711824825,735,694,659,927,809.288175175,836.288175175,675,642,675,0.400988036381,-0.015459774254,0.0498555591432,0.999999961202,-0.000117155338872,-0.000250001257423,-3.7004333304e-05,1793255944559338496
+90,1.500000000,BASELINE,794,760.292739959,736.707260041,735,694,659,927,809,836.292739959,675,642,675,0.400987933001,-0.015460432244,0.0498555188412,0.999999961077,-0.000118788373723,-0.000249761667292,-3.68060057955e-05,1793255944576005120
+91,1.516666667,BASELINE,794,760.879433028,736.120566972,735,694,659,927,809,836.879433028,675,642,675,0.400986057647,-0.015460539171,0.0498541112985,0.999999960543,-0.000120606815592,-0.000251003066961,-3.69631471771e-05,1793255944592671744
+92,1.533333333,BASELINE,794,760.540029261,736.459970739,735,694,659,927,809.459970739,836.540029261,675,642,675.459970739,0.400986759032,-0.0154599185559,0.0498547856287,0.999999961058,-0.000117590561348,-0.000250395571541,-3.68474278787e-05,1793255944609338368
+93,1.550000000,BASELINE,794,760.038928503,737,735,694,659,927,810,836,675,642,675.961071497,0.40098799894,-0.0154591875918,0.0498559173242,0.999999961758,-0.00011375790638,-0.000249394936926,-3.6666116037e-05,1793255944626004736
+94,1.566666667,BASELINE,794,760.618054699,737,735,694,659,927,810,836,675,642,675.381945301,0.400987463048,-0.0154595367214,0.0498559232546,0.999999961466,-0.000115949521394,-0.000249575085805,-3.6553978107e-05,1793255944642671616
+95,1.583333333,BASELINE,794.195117203,760.804882797,736.804882797,735.195117203,694,659,927,810,836.195117203,675,642,675,0.400987039077,-0.015459723063,0.0498555999454,0.999999961248,-0.000117363099108,-0.000249790224079,-3.65234069253e-05,1793255944659338240
+96,1.600000000,BASELINE,794.768182375,760.231817625,736.231817625,735.768182375,694,659,927,810,836.768182375,675,642,675,0.400986831899,-0.0154595940791,0.0498546388889,0.999999961184,-0.000117269595241,-0.000250073137908,-3.66508330013e-05,1793255944676004864
+97,1.616666667,BASELINE,795,760.350706629,736,735.649293371,694,658.649293371,927,810,837,675,642,675,0.400987111271,-0.0154591940668,0.0498549381195,0.999999961376,-0.00011611324575,-0.000249836519917,-3.66953090462e-05,1793255944692671488
+98,1.633333333,BASELINE,795,760.939656628,736,735.060343372,694,658.060343372,927,810,837,675,642,675,0.400987721167,-0.0154586099384,0.0498560934932,0.99999996174,-0.000114234879904,-0.000249246971564,-3.66834351506e-05,1793255944709338112
+99,1.650000000,BASELINE,794.481298952,760.481298952,736,735,694,658.518701048,927,809.481298952,837,675,642,675,0.400987327187,-0.0154578718438,0.0498557560904,0.999999961536,-0.00011442566881,-0.000249973651438,-3.67249944509e-05,1793255944726004992
+100,1.666666667,BASELINE,794,760.097006114,736,735,694,659,927,809,837,675,642,675,0.400986848078,-0.0154574414931,0.049855258372,0.999999961234,-0.000115150064134,-0.000250836801076,-3.67824995455e-05,1793255944742671616
+101,1.683333333,BASELINE,794,760.67726109,736,735,694,659,927,809,837,675,642,675,0.400986515769,-0.0154586317672,0.0498548109333,0.999999960774,-0.000117356001855,-0.00025163127902,-3.68890542912e-05,1793255944759338240
+102,1.700000000,BASELINE,794,760.7467697,736,735,694,659,927,809,837,675,642,675,0.400986459883,-0.0154593551796,0.0498549594522,0.999999960709,-0.000118242114595,-0.000251470168221,-3.6928996766e-05,1793255944776004864
+103,1.716666667,BASELINE,794,760.176171784,736,735,694,659,927,809,837,675,642,675,0.400986750433,-0.015459493485,0.0498558548709,0.999999961142,-0.000117474121372,-0.00025011144033,-3.68854556307e-05,1793255944792671488
+104,1.733333333,BASELINE,794,760.408810021,736.408810021,735,694,658.591189979,927,809,836.591189979,675,642,675,0.400987077214,-0.0154599210431,0.0498559097856,0.999999961301,-0.000117905637505,-0.000249287786604,-3.67583400364e-05,1793255944809338112
+105,1.750000000,BASELINE,794,760.999787648,736.999787648,735,694,658.000212352,927,809.000212352,836,675,642,675,0.400987419934,-0.0154604774988,0.0498555892365,0.999999961338,-0.000118872806891,-0.000248703789305,-3.65940084443e-05,1793255944826004992
+106,1.766666667,BASELINE,794,760.419684817,736.419684817,735,694,658.580315183,927,809.580315183,836,675,642,675,0.400987096513,-0.0154602201589,0.0498551327516,0.999999960948,-0.00011953468434,-0.000249932406102,-3.67378054924e-05,1793255944842671616
+107,1.783333333,POSE1_TO_POSE2_PRESS,794,760,736,735,694,659,927,809,837,675,642,676,0.400985422868,-0.0154584160864,0.0498541433012,0.999999961294,-0.000112986783211,-0.000251564363167,-3.68869804869e-05,1793255944883696384
+108,1.800000000,POSE1_TO_POSE2_PRESS,794,760.5750167,736.5750167,735,694,659,927,809,837,675,642,675.4249833,0.400987012868,-0.0154598066097,0.0498556165217,0.999999961511,-0.000116272103087,-0.000249251610138,-3.65023076402e-05,1793255944900363008
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,761,736.845130112,735,694,659,927,809.154869888,837,675,642,675,0.400987728799,-0.0154605952563,0.0498563871737,0.999999961517,-0.000118819988992,-0.000248038454822,-3.64042986822e-05,1793255944917029632
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,761,736.251576996,735,694,659,927,809.748423004,837,675,642,675,0.40098596885,-0.015459679032,0.0498551677358,0.999999960962,-0.000119279025974,-0.00024994001083,-3.71182915176e-05,1793255944933696256
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,810,837,675,642,675,0.400985644291,-0.0154593544375,0.0498548511619,0.999999960859,-0.000118851701651,-0.000250555714896,-3.71346621679e-05,1793255944950363136
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,810,837,675,642,675,0.400986375686,-0.0154594650794,0.0498551987858,0.999999961087,-0.000117772319829,-0.000250225473489,-3.66378224684e-05,1793255944967029760
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,761,736,735.483034121,694,659,927,810,836.516965879,675,642,675,0.400986817067,-0.0154600383658,0.0498556023266,0.999999961229,-0.000117059103703,-0.000250014323973,-3.64891230735e-05,1793255944983696384
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,761,736,735.941493415,694,659,927,809.941493415,836.058506585,675,642,675,0.400987193796,-0.0154605791948,0.0498560554705,0.999999961371,-0.000116462041874,-0.000249735262813,-3.6428766075e-05,1793255945000363008
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,761,736,735.35127189,694,659,927,809.35127189,836.64872811,675,642,675,0.400987478496,-0.0154600345432,0.0498568638713,0.999999961659,-0.00011629495112,-0.000248635524624,-3.657642153e-05,1793255945017029632
+116,1.933333333,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,809.233907438,837,675,642.233907438,675,0.400988709349,-0.0154593330723,0.0498571958307,0.999999961863,-0.000115961590468,-0.000247966399452,-3.65986048358e-05,1793255945033696256
+117,1.950000000,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,809.811674349,837,675,642.811674349,675,0.400991331113,-0.0154584010669,0.0498568273894,0.999999961945,-0.00011538380204,-0.000247930304116,-3.64363357348e-05,1793255945050363136
+118,1.966666667,POSE1_TO_POSE2_PRESS,794,761,736.388658308,735,694,658.611341692,927,809.611341692,837,675,642.611341692,675,0.401007984545,-0.0154595993764,0.0498619829657,0.999999964594,-0.000115514347159,-0.000237054849705,-3.56909593315e-05,1793255945067029760
+119,1.983333333,POSE1_TO_POSE2_PRESS,794,761,736.9652637,735,694,658.0347363,927,809.0347363,837,675,642.0347363,675,0.401031423402,-0.0154618278619,0.0498698098421,0.999999968266,-0.000115987427592,-0.000220937706366,-3.46636043279e-05,1793255945083696384
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,760.459748812,737,735,694,658,927,809,837,675,642,675,0.401083277505,-0.0154657120192,0.0498869481816,0.999999975247,-0.000117819325048,-0.000185865915428,-3.28523532202e-05,1793255945100363008
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,760.118384792,737,735,694,658,927,809,837,675,642,675,0.401139972227,-0.0154695462019,0.0499041134705,0.999999980749,-0.000119363864814,-0.000152621808386,-3.098971859e-05,1793255945117029632
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,760.709495574,737,735,694,658,927,809,837,675,642,675,0.401208722514,-0.0154727570148,0.0499190028465,0.999999983796,-0.000119413121413,-0.000131527846421,-2.91225626037e-05,1793255945133696256
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,761,736.705537651,735,694,658.294462349,927,809.294462349,837,675,642,675.294462349,0.401287436866,-0.0154770209845,0.0499319899389,0.999999986122,-0.000119917613279,-0.000112419612365,-2.71416533293e-05,1793255945150363136
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,761,736.126508448,735,694,658.873491552,927,809.873491552,837,675,642,675.873491552,0.401375780434,-0.0154823027192,0.0499431386734,0.999999987848,-0.000120862042107,-9.52303765284e-05,-2.50508135944e-05,1793255945167029760
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,761,736.449595185,735,694,659,927,810,837,675,642,675.550404815,0.401476448644,-0.015488674975,0.0499481693048,0.999999988261,-0.000122883885311,-8.84051983553e-05,-2.37040235645e-05,1793255945183696384
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,761,736.97539719,735,694,658.97539719,927,810,837,675,642,675,0.401581504131,-0.0154953720333,0.0499514401384,0.999999988341,-0.000125120416532,-8.4579767575e-05,-2.25687381426e-05,1793255945200363008
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,761,736.406541916,735,694,658.406541916,927,810,837,675,642,675,0.401707392713,-0.015502510029,0.0499536182268,0.999999988455,-0.000125443033252,-8.3018066726e-05,-2.15107716755e-05,1793255945217029632
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,761,736.171528755,735,694,658.171528755,927,809.828471245,837,675,642,675,0.40183918482,-0.0155105584526,0.0499538111428,0.999999988103,-0.000126957160936,-8.51923495363e-05,-2.04617448754e-05,1793255945233696256
+129,2.150000000,POSE1_TO_POSE2_PRESS,794,761,736.772680889,735,694,658.772680889,927,809.227319111,837,675,642,675,0.401985763306,-0.0155208871992,0.0499490318512,0.999999986493,-0.000131455633474,-9.67240486273e-05,-1.94351091718e-05,1793255945250362880
+130,2.166666667,POSE1_TO_POSE2_PRESS,794,761,736.643485936,735,694,659,927,809.356514064,837,675,642,675.356514064,0.402160304556,-0.0155301285069,0.0499501331823,0.999999986437,-0.000133273592173,-9.50347283931e-05,-1.82555375407e-05,1793255945267029760
+131,2.183333333,POSE1_TO_POSE2_PRESS,794,761,736.070183959,735,694,659,927,809.929816041,837,675,642,675.929816041,0.402351849327,-0.0155387085693,0.0499548103827,0.999999987311,-0.00013346159317,-8.53060148681e-05,-1.69829690293e-05,1793255945283696384
+132,2.200000000,POSE1_TO_POSE2_PRESS,794,761,736.484625541,735,694,659,927,810,837,675,642,675.515374459,0.402569219841,-0.0155494614239,0.0499570683126,0.999999987244,-0.000134924282192,-8.41413600635e-05,-1.50666363391e-05,1793255945300363264
+133,2.216666667,POSE1_TO_POSE2_PRESS,794,761,737,735.04139325,694,659,927,810,837,675,642,675.04139325,0.40279366445,-0.0155604921656,0.0499591673661,0.99999998713,-0.000136368623032,-8.35039161452e-05,-1.30349482786e-05,1793255945317030144
+134,2.233333333,POSE1_TO_POSE2_PRESS,794,761,737,735.661617766,694,659,927,810,837,675,642,675.661617766,0.403066653096,-0.0155711703458,0.0499637640126,0.999999988118,-0.000135069855942,-7.35329292077e-05,-1.06459528743e-05,1793255945333696768
+135,2.250000000,POSE1_TO_POSE2_PRESS,794,760.737351776,736.737351776,735.737351776,694,659,927,810,837,675,642,676,0.403356643105,-0.0155771770097,0.049970392402,0.999999990115,-0.000126858361292,-6.01954145461e-05,-7.26922413124e-06,1793255945350363136
+136,2.266666667,POSE1_TO_POSE2_PRESS,794,760.159365901,736.159365901,735.159365901,694,659,927,810,837,675,642,676,0.403667045075,-0.0155775750114,0.0499794601187,0.999999992991,-0.000110347388278,-4.2816019183e-05,-2.70661463976e-06,1793255945367029760
+137,2.283333333,POSE1_TO_POSE2_PRESS,794.415073344,760.415073344,736,735,694,659,927,810,837,675,642,676,0.404004401941,-0.015565164302,0.049986492858,0.999999996466,-7.82491208163e-05,-3.06852248885e-05,-1.89917482063e-06,1793255945383696384
+138,2.300000000,POSE1_TO_POSE2_PRESS,794.988162399,760.988162399,736,735,694,659,927,810,837,675,642,676,0.404352020353,-0.0155478773998,0.0499927508944,0.999999998977,-4.02168725002e-05,-2.05525390842e-05,-2.52130365914e-06,1793255945400363008
+139,2.316666667,POSE1_TO_POSE2_PRESS,794.436949684,761,736,735,694,659,927,810,837,675,642,675.436949684,0.404754152108,-0.0155321568645,0.0499970835593,0.999999999957,-4.81338878479e-06,-6.23789815722e-06,-4.89037348082e-06,1793255945417029888
+140,2.333333333,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,809.857382424,837,675,642,675,0.405153547338,-0.0155190735461,0.049995608043,0.999999999585,2.77868198056e-05,-3.98518332395e-06,-6.51559397371e-06,1793255945433696512
+141,2.350000000,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927,809.263116663,837,675,642,675,0.405540635203,-0.0155142372733,0.0499758675005,0.99999999784,5.16850593367e-05,-4.02100848784e-05,-5.66847214663e-06,1793255945450363136
+142,2.366666667,POSE1_TO_POSE2_PRESS,794,761,736,735.321885022,694,659,927,809.321885022,837,675,642,675,0.405956455934,-0.0155162390971,0.0499564240499,0.999999994597,7.05261600857e-05,-7.62553967348e-05,-4.17950699052e-06,1793255945467029760
+143,2.383333333,POSE1_TO_POSE2_PRESS,794,761,736,735.899525938,694,659,927,809.899525938,837,675,642,675,0.406395106597,-0.0155236741755,0.0499372166536,0.999999990066,8.5349079994e-05,-0.000112158018268,-2.18056083983e-06,1793255945483696384
+144,2.400000000,POSE1_TO_POSE2_PRESS,794,761,736.473099847,735.526900153,693.526900153,659,927,810,837,675,642,675.473099847,0.406886498827,-0.0155269332425,0.0499305991321,0.999999986852,0.000105066264924,-0.000123516720029,7.80149679139e-07,1793255945500363008
+145,2.416666667,POSE1_TO_POSE2_PRESS,794,761,736.952695402,735.047304598,693.047304598,659,927,810,837,675,642,676,0.407396686023,-0.0155292390731,0.0499289240192,0.999999984154,0.000126513713685,-0.000125174890158,4.18383666581e-06,1793255945517029632
+146,2.433333333,POSE1_TO_POSE2_PRESS,794,761,736.361387318,735.638612682,693.638612682,659,927,810,837,675,642,676,0.407995302944,-0.0155306948308,0.0499536004546,0.999999984986,0.000156007838633,-7.47095925332e-05,1.03528618332e-05,1793255945533696512
+147,2.450000000,POSE1_TO_POSE2_PRESS,794,761,736,735.774847638,694,659,927.225152362,810,837.225152362,675,642.225152362,675.774847638,0.408605357813,-0.0155323673031,0.0499778418755,0.999999982224,0.00018569076073,-2.81331570481e-05,1.66963529219e-05,1793255945550363136
+148,2.466666667,POSE1_TO_POSE2_PRESS,794,761,736,735.195802924,694,659,927.804197076,810,837.804197076,675,642.804197076,675.195802924,0.409233390703,-0.0155343804052,0.0500013995432,0.999999976395,0.000215670431009,1.23307984805e-05,2.33140675459e-05,1793255945567029760
+149,2.483333333,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927.619373615,810,837.619373615,675,642.619373615,675.380626385,0.409849583506,-0.015537083651,0.0500054969395,0.999999970537,0.000240673000922,1.48718066327e-05,2.79492898126e-05,1793255945583696384
+150,2.500000000,POSE1_TO_POSE2_PRESS,794,761,736,735,694,659,927.044280565,810,837.044280565,675,642.044280565,675.955719435,0.410459727044,-0.0155401394996,0.0499996518452,0.99999996488,0.000263132708659,-1.96248293623e-06,3.1571632348e-05,1793255945600363008
+151,2.516666667,POSE1_TO_POSE2_PRESS,794,761,736,735,693.45815929,659,927,810,837.54184071,675,642,676,0.41108365129,-0.0155364022889,0.0499689768736,0.999999954018,0.000293144111817,-7.06908881164e-05,3.21341267411e-05,1793255945617029888
+152,2.533333333,POSE1_TO_POSE2_PRESS,794,761,736,735,693,659,927.127192681,810,837.872807319,675,642,676,0.41173529034,-0.0155336953182,0.049945581753,0.999999950757,0.000288103068936,-0.000119868405017,3.33919942541e-05,1793255945633696256
+153,2.550000000,POSE1_TO_POSE2_PRESS,794,761,736,735,693,659,927.70653933,810,837.29346067,675,642,676,0.412481365225,-0.0155366651963,0.0499554288654,0.999999983534,0.000156215540696,-8.41558174997e-05,3.80292203193e-05,1793255945650363136
+154,2.566666667,POSE1_TO_POSE2_PRESS,794,761,736.284865093,735.284865093,693.284865093,659,928,810,837.284865093,675,642,675.715134907,0.413244526175,-0.0155397030568,0.0499714525739,0.999999992117,0.000106859097006,-4.9753468665e-05,4.32578535169e-05,1793255945667029504
+155,2.583333333,POSE1_TO_POSE2_PRESS,794,761,736.862142992,735.862142992,693.862142992,659,928,810,837.862142992,675,642,675.137857008,0.414025225988,-0.0155428107012,0.0499938165333,0.999999988542,0.00014222044584,-1.66960709177e-05,4.9093564672e-05,1793255945683696128
+156,2.600000000,POSE1_TO_POSE2_PRESS,794,761,737,735.563005732,693.563005732,659,927.563005732,810,837.563005732,675,642.436994268,675.436994268,0.414768988552,-0.0155472975167,0.0499756729243,0.999999994131,9.11277996693e-05,-4.97479526959e-05,3.09560187192e-05,1793255945700363264
+157,2.616666667,POSE1_TO_POSE2_PRESS,794,761,737,735,693,659,927,810,837.011371524,674.977256953,642.988628476,675.977256953,0.415502858542,-0.0155523392041,0.0499452810601,0.999999994607,1.49810181906e-05,-0.000102595573063,5.89255633963e-06,1793255945717030144
+158,2.633333333,POSE1_TO_POSE2_PRESS,794,761,737,735,693,659,927,810,837.600341996,673.799316007,642.399658004,674.799316007,0.416322853036,-0.0155635874765,0.0499382516977,0.999999993199,4.39045002575e-05,-0.000107476673603,1.10550244746e-05,1793255945733696768
+159,2.650000000,POSE1_TO_POSE2_PRESS,794,761,736.813605448,735.186394552,693,659,927,810,838,672.813605448,642.186394552,674,0.4171610056,-0.0155696431945,0.0499436698395,0.999999992663,7.58438929932e-05,-9.3004551771e-05,1.64629861784e-05,1793255945750363136
+160,2.666666667,POSE1_TO_POSE2_PRESS,794,761,736.233712947,735.766287053,693,659,927,810,838,672.233712947,642.766287053,674,0.41803749166,-0.015564736899,0.0499753659351,0.999999992524,0.000114150179507,-3.76757992879e-05,2.2389209559e-05,1793255945767030016
+161,2.683333333,POSE1_TO_POSE2_PRESS,794,761,736,735.655563557,693.344436443,659,927.344436443,810.344436443,838,672.344436443,643,674,0.418886808226,-0.0155606327432,0.0499826783905,0.999999988804,0.000143854933823,-3.19536618933e-05,2.60076486605e-05,1793255945783696384
+162,2.700000000,POSE1_TO_POSE2_PRESS,794,761,736,735.078591,693.921409,659,927.921409,810.921409,838,672.921409,643,674,0.419717782076,-0.0155570701287,0.0499735289486,0.999999983752,0.000167752615727,-5.97219710617e-05,2.80680549991e-05,1793255945800363008
+163,2.716666667,POSE1_TO_POSE2_PRESS,793.502975648,761,736,735.497024352,693.502975648,659,927.502975648,811,838,673,642.502975648,674,0.420611563913,-0.01555943648,0.0499749400676,0.999999988557,0.000143002671222,-4.05957551271e-05,2.80596113761e-05,1793255945817029632
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,761,736,736,693,659,927,810.925852002,838,673,642,674,0.421519559579,-0.0155628401151,0.0499798354544,0.99999999271,0.000116631368431,-1.38114719315e-05,2.80498207105e-05,1793255945833696512
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,761,736,736,693,659,927,810.33676766,838,673,642,674,0.422457482935,-0.0155669544064,0.0499973629013,0.999999990683,0.000132275607832,1.4800337145e-05,3.02963316172e-05,1793255945850363392
+166,2.766666667,POSE1_TO_POSE2_PRESS,793.247694639,761,736,736,693,659,927,810,838,673,642.247694639,673.752305361,0.423376423807,-0.0155694875346,0.0499996271699,0.999999988599,0.000146865241831,1.59493252163e-05,3.1264864413e-05,1793255945867030016
+167,2.783333333,POSE1_TO_POSE2_PRESS,793.825987967,761,736,736,693,659,927,810,838,673,642.825987967,673.174012033,0.424270028838,-0.0155699102808,0.0499815196365,0.999999986535,0.000160047293412,-1.95563823098e-05,3.05276767715e-05,1793255945883696640
+168,2.800000000,POSE1_TO_POSE2_PRESS,793.598164524,761,736,736,693,659,927.401835476,810.401835476,838,673,642.598164524,673.401835476,0.425200237257,-0.0155721481202,0.0499859972951,0.999999988625,0.000146801860587,-1.36589788384e-05,3.1812919568e-05,1793255945900363520
+169,2.816666667,POSE1_TO_POSE2_PRESS,793.023369787,761,736,736,693,659,927.976630213,810.976630213,838,673,642.023369787,673.976630213,0.426146200564,-0.0155751672175,0.0500001961424,0.999999991908,0.0001221814278,1.00592810947e-05,3.39686631164e-05,1793255945917030144
+170,2.833333333,POSE1_TO_POSE2_PRESS,793.564521078,761,736,736,693.564521078,659,927.435478922,811,838,673,642.564521078,674,0.427030285126,-0.015569958448,0.0499982968856,0.999999989593,0.000138666435309,-1.99720204235e-05,3.44403460638e-05,1793255945933696768
+171,2.850000000,POSE1_TO_POSE2_PRESS,793.849457742,761.150542258,736,735.849457742,693.849457742,659.150542258,927,810.849457742,838,672.849457742,642.849457742,673.849457742,0.427924371614,-0.0155644768915,0.0499875069252,0.999999985666,0.000156684339549,-5.45142215972e-05,3.38565215259e-05,1793255945950363392
+172,2.866666667,POSE1_TO_POSE2_PRESS,793.270339449,761.729660551,736,735.270339449,693.270339449,659.729660551,927,810.270339449,838,672.270339449,642.270339449,673.270339449,0.428854398208,-0.0155592114586,0.0499533484644,0.999999979827,0.000174106728164,-9.54133788955e-05,3.04709786511e-05,1793255945967030016
+173,2.883333333,POSE1_TO_POSE2_PRESS,793.307969217,762,736,735,693.307969217,660,927,810.307969217,838,672.307969217,642.307969217,673.307969217,0.429802549008,-0.0155608289684,0.0499446611593,0.999999979081,0.000176822498846,-9.83673285529e-05,2.99294720202e-05,1793255945983696640
+174,2.900000000,POSE1_TO_POSE2_PRESS,793.885569015,762,736,735,693.885569015,660,927,810.885569015,838,672.885569015,642.885569015,673.885569015,0.430766567709,-0.0155684725737,0.0499582741451,0.999999983285,0.000166662456073,-6.80998117445e-05,3.18779519232e-05,1793255946000363264
+175,2.916666667,POSE1_TO_POSE2_PRESS,794,762,736,735.459399589,694,660,927.459399589,810.540600411,838,672.540600411,643,674,0.431676562631,-0.0155683493759,0.0499468533904,0.999999983671,0.000156083737065,-8.54275623248e-05,3.15756844397e-05,1793255946017030144
+176,2.933333333,POSE1_TO_POSE2_PRESS,794,761.966734817,736,735.966734817,693.966734817,660,927.966734817,810,838,672,643,673.966734817,0.432574520308,-0.0155665224735,0.0499311970793,0.999999982582,0.000146755681723,-0.000111109057939,3.08746195428e-05,1793255946033697024
+177,2.950000000,POSE1_TO_POSE2_PRESS,794,761.376697489,736,735.376697489,693.376697489,660,927.376697489,810,838,672,643,673.376697489,0.433494401636,-0.0155682969558,0.0499481670796,0.999999983463,0.000160091771347,-7.97964955013e-05,3.28059224421e-05,1793255946050363648
+178,2.966666667,POSE1_TO_POSE2_PRESS,793.790238975,761,736,735,693,659.790238975,927,810.209761025,838,672,643,673,0.434419446398,-0.0155665495371,0.0499651417612,0.999999982459,0.00017642440226,-5.2518786279e-05,3.46196184857e-05,1793255946067030016
+179,2.983333333,POSE1_TO_POSE2_PRESS,793.210099536,761,736,735,693,659.210099536,927,810.789900464,838,672,643,673,0.43535360847,-0.0155585834411,0.0499821247114,0.999999979209,0.000198048076708,-3.23654771782e-05,3.62256545679e-05,1793255946083696640
+180,3.000000000,POSE1_TO_POSE2_PRESS,793.367174575,761.367174575,736,735.367174575,693,659,927,810.632825425,838,672.367174575,642.632825425,673,0.436226112436,-0.0155536217352,0.0499719785539,0.999999976725,0.000202922928056,-6.35560397463e-05,3.65001203337e-05,1793255946100363008
+181,3.016666667,POSE1_TO_POSE2_PRESS,793.942821789,761.942821789,736,735.942821789,693,659,927,810.057178211,838,672.942821789,642.057178211,673,0.4370636084,-0.015550365848,0.0499464291591,0.999999972017,0.000198288210236,-0.000123898383254,3.60185532285e-05,1793255946117029888
+182,3.033333333,POSE1_TO_POSE2_PRESS,794,762,736,735.482850731,693,659,927,810,838,672.482850731,642,673.517149269,0.437969048744,-0.0155530057481,0.0499663247639,0.999999978994,0.000187456585526,-7.38320782508e-05,3.76971132783e-05,1793255946133696512
+183,3.050000000,POSE1_TO_POSE2_PRESS,794,762,736,735.09405668,693.09405668,659.09405668,927,810,838,672,642.09405668,673.90594332,0.438865473734,-0.0155557351018,0.0499860766735,0.999999982785,0.000179817103141,-2.36777127197e-05,3.91779556104e-05,1793255946150363648
+184,3.066666667,POSE1_TO_POSE2_PRESS,794,762,736,735.685373141,693.685373141,659.685373141,927,810,838,672,642.685373141,673.314626859,0.439674621665,-0.0155554998744,0.0499785724522,0.999999980004,0.000192666943996,-3.74309090329e-05,3.83540530346e-05,1793255946167030272
+185,3.083333333,POSE1_TO_POSE2_PRESS,793.728574142,762,736,735.728574142,693.728574142,660,927,810.271425858,838,672,643,673.271425858,0.440490586911,-0.0155559396375,0.049970092372,0.999999977544,0.000202132250157,-5.15708440681e-05,3.73536735927e-05,1793255946183696896
+186,3.100000000,POSE1_TO_POSE2_PRESS,793.148506926,762,736,735.148506926,693.148506926,660,927,810.851493074,838,672,643,673.851493074,0.441314304147,-0.01555714694,0.0499605026326,0.999999975579,0.000207748963479,-6.61505430637e-05,3.6152620408e-05,1793255946200363520
+187,3.116666667,POSE1_TO_POSE2_PRESS,793,762,736,735.427013674,693,660,927,810.572986326,838,672,642.572986326,674,0.442123902027,-0.0155582874376,0.0499767028224,0.999999978268,0.000202147252325,-3.45992290566e-05,3.74708848354e-05,1793255946217030144
+188,3.133333333,POSE1_TO_POSE2_PRESS,793,762,736,735.999006315,693.000993685,660,927,810,838,672,642,673.999006315,0.4429284175,-0.0155593995313,0.0500017004948,0.999999980572,0.000192675144684,1.26706943629e-05,3.96503842469e-05,1793255946233696768
+189,3.150000000,POSE1_TO_POSE2_PRESS,793,762,736,735.410887886,693.589112114,660,927,810,838,672,642,673.410887886,0.443600716006,-0.0155573119455,0.0499810521403,0.999999983023,0.000177322423996,-3.2131050508e-05,3.84600245583e-05,1793255946250363392
+190,3.166666667,POSE1_TO_POSE2_PRESS,793.174426503,762,736,735.174426503,693.825573497,660,927,810,838.174426503,672,642,673.174426503,0.444268992972,-0.0155572990367,0.0499524322771,0.99999998164,0.00016826243384,-8.39881561875e-05,3.67798188766e-05,1793255946267029760
+191,3.183333333,POSE1_TO_POSE2_PRESS,793.753240173,762,736,735.753240173,693.246759827,660,927,810,838.753240173,672,642,673.753240173,0.444927946608,-0.0155620960201,0.049905331412,0.999999972739,0.000173791390557,-0.000152202288291,3.39639631545e-05,1793255946283696640
+192,3.200000000,POSE1_TO_POSE2_PRESS,794,762,736,735.669672823,693,660,927,809.669672823,839,672,642,674,0.445607291373,-0.0155684614427,0.0498843275882,0.999999969301,0.000175433522541,-0.000171877871469,3.28634369431e-05,1793255946300363264
+193,3.216666667,POSE1_TO_POSE2_PRESS,794,762,736,735.093868995,693,660,927,809.093868995,839,672,642,674,0.446301789395,-0.0155759924221,0.0498827173103,0.999999972196,0.000174187231268,-0.000155482908391,3.30376270001e-05,1793255946317030144
+194,3.233333333,POSE1_TO_POSE2_PRESS,794,762,736,735.482965638,693,659.517034362,927,809,839,672,641.517034362,674,0.446907879346,-0.0155835625213,0.0498664255954,0.999999968483,0.000173154626966,-0.000178681016554,3.3548895389e-05,1793255946333696768
+195,3.250000000,POSE1_TO_POSE2_PRESS,794,762,736.059270649,736,693,659,927,809,839,672.059270649,641,674,0.447490478525,-0.0155909020194,0.0498453978888,0.99999996204,0.000172222643094,-0.000212397347983,3.3865540042e-05,1793255946350363648
+196,3.266666667,POSE1_TO_POSE2_PRESS,794,762,736.629281778,736,693,659,927,809,839,672.629281778,641,674,0.44801903939,-0.0155961887498,0.0498082009827,0.999999948202,0.000171799063924,-0.000270297297455,3.19393438063e-05,1793255946367030016
+197,3.283333333,POSE1_TO_POSE2_PRESS,794,762,737,736,693,659,927,808.79040442,839,673,641,674,0.448551926902,-0.0156020558552,0.0497848821511,0.999999937737,0.000172452339877,-0.00030626238968,3.14527159783e-05,1793255946383696384
+198,3.300000000,POSE1_TO_POSE2_PRESS,794,762,737,736,693,659,927,808.190925988,839,673,641,674,0.44909286264,-0.0156090025547,0.0497873788645,0.999999938674,0.000175108747487,-0.000301424971866,3.36439266592e-05,1793255946400363008
+199,3.316666667,POSE1_TO_POSE2_PRESS,794,762,736.609433373,736,693,658.609433373,927,808,839,672.609433373,640.609433373,674,0.449626031838,-0.0156144139976,0.049803461022,0.999999944736,0.000176299806231,-0.000279517874515,3.62662643022e-05,1793255946417029632
+200,3.333333333,POSE1_TO_POSE2_PRESS,794,762,736.036345895,736,693,658.036345895,927,808,839,672.036345895,640.036345895,674,0.450155571601,-0.0156191079801,0.049825891973,0.999999952447,0.000176806073541,-0.000249633719067,3.90900777476e-05,1793255946433696512
+201,3.350000000,POSE1_TO_POSE2_PRESS,794,762,736.54804393,736,693,658,927,808,839,672,640.54804393,674,0.45060371482,-0.0156262294886,0.049831151269,0.999999953795,0.000171993876212,-0.000247210659206,4.14078974628e-05,1793255946450363136
+202,3.366666667,POSE1_TO_POSE2_PRESS,794,762,737,736,693,658,927,808,839,672.133214489,640.866785511,674,0.451030866602,-0.0156319775118,0.0498298581528,0.999999953624,0.000155860627201,-0.000258094115952,4.29829443931e-05,1793255946467030016
+203,3.383333333,POSE1_TO_POSE2_PRESS,794,762,737,736,693,658,927,808,839,672.718437404,640.281562596,674,0.451405494846,-0.0156325074189,0.0498102775871,0.999999946479,0.00010253605709,-0.000307818130254,4.21539586722e-05,1793255946483696384
+204,3.400000000,POSE1_TO_POSE2_PRESS,794,762.298672275,737,736,692.701327725,658,927,808,839,673,639.701327725,674,0.451759883823,-0.0156337251946,0.0497860764701,0.999999935041,4.89042501892e-05,-0.000355738560304,3.12445698978e-05,1793255946500363008
+205,3.416666667,POSE1_TO_POSE2_PRESS,794,762.874282053,737,736,692.125717947,658,927,808,839,673,639.125717947,674,0.452095506348,-0.0156355807819,0.0497575910467,0.99999991913,-5.01243219955e-06,-0.000401986652038,1.09883422629e-05,1793255946517029888
+206,3.433333333,POSE1_TO_POSE2_PRESS,794,762.550888559,737.449111441,736,692.449111441,658,927,808,839,673,639,674,0.452441368446,-0.015639979803,0.0497539354866,0.999999921213,-8.66272553595e-06,-0.000396773490573,8.37900222756e-06,1793255946533696768
+207,3.450000000,POSE1_TO_POSE2_PRESS,794,762.024389903,737.975610097,736,692.975610097,658,927,807.975610097,839,673,639,674,0.452788332065,-0.0156450265856,0.0497577018348,0.999999928865,1.55652397745e-06,-0.000377031863188,1.07418151257e-05,1793255946550363136
+208,3.466666667,POSE1_TO_POSE2_PRESS,794,762.615161007,737.384838993,736,692.384838993,658,927,807.384838993,839,673,639,674,0.453094429124,-0.0156486109266,0.0497726946473,0.999999937267,7.66743634215e-06,-0.000353850738937,1.40544036906e-05,1793255946567030016
+209,3.483333333,POSE1_TO_POSE2_PRESS,794,763,737,736,692,658,927,807,839,672.798011475,639.201988525,674,0.453381852914,-0.0156517966393,0.0497819054809,0.999999942218,1.43399320193e-05,-0.000339231070551,1.67450971777e-05,1793255946583696640
+210,3.500000000,POSE1_TO_POSE2_PRESS,794,763,737,736,692,658,927,807,839,672.218553659,639.781446341,674,0.453634380703,-0.0156542374086,0.0497803111472,0.999999941582,2.2061894822e-05,-0.00034061076275,1.82736139239e-05,1793255946600363264
+211,3.516666667,POSE1_TO_POSE2_PRESS,794,762.642753509,737,736,692,657.642753509,927,807,839,672,639.285507018,674,0.453857135949,-0.015654039214,0.0497707751057,0.999999937369,2.91481417886e-05,-0.000352238199133,1.84337089193e-05,1793255946617030144
+212,3.533333333,POSE1_TO_POSE2_PRESS,794,762.069168285,737,736,692,657.069168285,927,807,839,672,638.13833657,674,0.454061861777,-0.0156522429349,0.0497564297824,0.999999930723,3.58494173168e-05,-0.000370071389985,1.77651251603e-05,1793255946633697024
+213,3.550000000,POSE1_TO_POSE2_PRESS,794,762.501450688,737,735.498549312,692,657,927,807,839,672.501450688,638,674,0.4542371829,-0.0156502921979,0.0497454623443,0.999999924463,4.20631435316e-05,-0.000385994077801,1.76767665771e-05,1793255946650363392
+214,3.566666667,POSE1_TO_POSE2_PRESS,794,762.924739051,737,735.075260949,692.075260949,657,927,807,839,673,638,674,0.454404342091,-0.015648573844,0.0497353648864,0.999999918239,4.78143520915e-05,-0.000401153251344,1.76797574709e-05,1793255946667030016
+215,3.583333333,POSE1_TO_POSE2_PRESS,794,762.325897458,737,735.674102542,692.674102542,657,927,807,839,673,638,674,0.45454277085,-0.0156486194953,0.0497280973885,0.99999991334,5.08129920951e-05,-0.000412823311309,1.77647418526e-05,1793255946683696640
+216,3.600000000,POSE1_TO_POSE2_PRESS,794,762,737,736,693,657,927,807,839,672.73696354,638,674,0.454668640349,-0.0156480722326,0.0497199766153,0.999999907993,5.34219873882e-05,-0.000425263792878,1.76155635442e-05,1793255946700363264
+217,3.616666667,POSE1_TO_POSE2_PRESS,794,762,737,736,693,657,927,807,839,672.159859499,638,674,0.454779513986,-0.0156468170258,0.0497108370252,0.999999902113,5.5565743686e-05,-0.000438624163137,1.71867931574e-05,1793255946717029888
+218,3.633333333,POSE1_TO_POSE2_PRESS,794,762.414309175,737,735.585690825,692.585690825,657,927,807,839,672.414309175,638,674,0.454870342529,-0.0156465989387,0.0497008924783,0.999999894897,5.6004432701e-05,-0.000454741796062,1.66920559248e-05,1793255946733696256
+219,3.650000000,POSE1_TO_POSE2_PRESS,794,762.987353205,737,735.012646795,692.012646795,657,927,807,839,672.987353205,638,674,0.454953491164,-0.0156467782047,0.0496906395274,0.999999886961,5.57898568372e-05,-0.000471915822495,1.61720447288e-05,1793255946750362880
+220,3.666666667,POSE1_TO_POSE2_PRESS,794,763,737.578329311,735.578329311,692,657,927.578329311,807,839,673,638,674,0.455026785167,-0.01564673515,0.0496893650804,0.999999884879,5.91586312209e-05,-0.000475875861409,1.68612513104e-05,1793255946767029760
+221,3.683333333,POSE1_TO_POSE2_PRESS,794,762.833735824,737.833735824,735.833735824,692.166264176,657,927.833735824,807,839,673,637.833735824,674,0.455095513288,-0.0156468200529,0.0496889388699,0.99999988388,6.1288344096e-05,-0.000477682344118,1.7425261326e-05,1793255946783696640
+222,3.700000000,POSE1_TO_POSE2_PRESS,794,762.254362973,737.254362973,735.254362973,692.745637027,657,927.254362973,807,839,673,637.254362973,674,0.455153449343,-0.0156472353522,0.0496901167848,0.999999885282,6.01384918739e-05,-0.000474878929495,1.7610397397e-05,1793255946800363264
+223,3.716666667,POSE1_TO_POSE2_PRESS,794,762,737,735.322193539,692.677806461,657,927,807,839,672.677806461,637.322193539,674,0.45519968546,-0.0156462225053,0.0496894258208,0.999999884687,6.04705355642e-05,-0.000476096191684,1.73782881571e-05,1793255946817029888
+224,3.733333333,POSE1_TO_POSE2_PRESS,794,762,737,735.896545956,692.103454044,657,927,807,839,672.103454044,637.896545956,674,0.455236764842,-0.015644091946,0.0496872722132,0.999999882518,6.19623578562e-05,-0.000480460162721,1.68196295274e-05,1793255946833696768
+225,3.750000000,POSE1_TO_POSE2_PRESS,794,762.472025971,737,736,692,657,927,807,839,672.472025971,637.527974029,674,0.455264556632,-0.0156438839977,0.0496866999277,0.999999882085,6.15771175592e-05,-0.000481406781101,1.69155969054e-05,1793255946850363392
+226,3.766666667,POSE1_TO_POSE2_PRESS,794,762.951056376,737,736,692,657,927,807,839,673,637,674,0.455289368196,-0.0156439729072,0.0496862621834,0.999999881888,6.09768133868e-05,-0.00048188541246,1.70995860616e-05,1793255946867030016
+227,3.783333333,POSE1_TO_POSE2_PRESS,794,762.360982428,737,736,692,657,927,807,839,673,637,674,0.455303789285,-0.0156426739298,0.0496834709341,0.999999880054,6.25580896267e-05,-0.000485490608726,1.66666803246e-05,1793255946883696896
+228,3.800000000,POSE1_TO_POSE2_PRESS,794,762.223904755,737,736,692,657,927,806.776095245,839,672.776095245,637,674,0.455316010328,-0.0156416970807,0.049681294206,0.999999878498,6.31099331866e-05,-0.000488625101637,1.63329908768e-05,1793255946900363264
+229,3.816666667,POSE1_TO_POSE2_PRESS,794,762.800619052,737,736,692,657,927,806.199380948,839,672.199380948,637,674,0.455324764728,-0.0156412278134,0.049680085787,0.999999877396,6.20396866234e-05,-0.000491017901143,1.61556378107e-05,1793255946917030144
+230,3.833333333,POSE1_TO_POSE2_PRESS,794,763,737.375351043,736,692,656.624648957,927,806,839,672.375351043,637,674,0.455329949269,-0.015641123603,0.0496788317639,0.999999876375,6.08147643008e-05,-0.000493247376706,1.61083766482e-05,1793255946933697024
+231,3.850000000,POSE1_TO_POSE2_PRESS,794,763,737.949035577,736,692,656.050964423,927,806,839,672.949035577,637,674,0.455333247514,-0.0156412122868,0.0496775536439,0.999999875393,5.95081121655e-05,-0.000495390552692,1.61298553593e-05,1793255946950363648
+232,3.866666667,POSE1_TO_POSE2_PRESS,794,762.460812052,737.460812052,736,692,656.539187948,927,806,839,672.460812052,637,674,0.455335887939,-0.0156408458473,0.0496770365094,0.999999875274,5.93373017018e-05,-0.000495659696584,1.59002642561e-05,1793255946967030016
+233,3.883333333,POSE1_TO_POSE2_PRESS,794,762,737,736,692,657,927,806,839,672,637,674,0.455337751746,-0.0156402067771,0.0496762902922,0.999999874952,5.93584999191e-05,-0.000496312959976,1.56790444774e-05,1793255946983696384
+234,3.900000000,POSE1_TO_POSE2_PRESS,794,762,737,736,692,657,927,806,839,672,637,674,0.455337108264,-0.0156387644481,0.0496744768098,0.999999873618,5.96656808329e-05,-0.000498960972445,1.55734281258e-05,1793255947000363264
+235,3.916666667,POSE1_TO_POSE2_PRESS,794,762.284032497,737.284032497,736,692,657,927,806,839,672,637,674,0.45533692384,-0.0156383242823,0.049673334129,0.999999872667,5.93337705805e-05,-0.000500908285606,1.53675066028e-05,1793255947017030144
+236,3.933333333,POSE1_TO_POSE2_PRESS,794,762.857177423,737.857177423,736,692,657,927,806,839,672,637,674,0.455337206685,-0.0156389042032,0.049672874247,0.999999872111,5.83513390287e-05,-0.000502142367751,1.50594859339e-05,1793255947033696768
+237,3.950000000,POSE1_TO_POSE2_PRESS,793.569540162,762.569540162,737.569540162,736,692,657,927,806,839,672.430459838,637,674,0.455337786211,-0.0156383518625,0.0496723433928,0.999999871755,5.85093270826e-05,-0.000502828629693,1.51523720828e-05,1793255947050363392
+238,3.966666667,POSE1_TO_POSE2_PRESS,793.00393526,762.00393526,737.00393526,736,692,657,927,806,839,672.99606474,637,674,0.4553384702,-0.0156374351959,0.0496717965245,0.999999871474,5.90344102746e-05,-0.000503318530981,1.53774566611e-05,1793255947067030016
+239,3.983333333,POSE1_TO_POSE2_PRESS,793.599574935,762.599574935,737.599574935,736,692,657,927,806,839,672.400425065,637,674,0.455340055493,-0.0156382428317,0.0496723835608,0.999999872395,5.78444370778e-05,-0.000501622068511,1.54730490705e-05,1793255947083696640
+240,4.000000000,POSE1_TO_POSE2_PRESS,794,763,737.810454596,736,692,657,927,806,839,672,637,674,0.455341061618,-0.0156383310301,0.0496727744269,0.999999873026,5.68761632805e-05,-0.000500476225354,1.54115844446e-05,1793255947100363264
+241,4.016666667,POSE1_TO_POSE2_PRESS,794,763,737.232112861,736,692,657,927,806,839,672,637,674,0.455340879747,-0.0156369435157,0.049672762908,0.999999873069,5.63626402977e-05,-0.000500459814957,1.50279637604e-05,1793255947117029888
+242,4.033333333,POSE1_TO_POSE2_PRESS,794,763,737.343121446,736,692,657,927,806,839,672.343121446,637,674,0.455340434527,-0.0156356313472,0.0496715769639,0.999999872303,5.85696683392e-05,-0.000501740642497,1.48432016029e-05,1793255947133696768
+243,4.050000000,POSE1_TO_POSE2_PRESS,794,763,737.916272502,736,692,657,927,806,839,672.916272502,637,674,0.455339812758,-0.0156343696909,0.0496696036817,0.999999870978,6.26005616701e-05,-0.000503891142092,1.47917547917e-05,1793255947150363392
+244,4.066666667,POSE1_TO_POSE2_PRESS,794,762.496315468,737.496315468,736,692,657,927,806,839,672.496315468,637,674,0.455339856906,-0.0156351193194,0.0496697060001,0.999999870618,6.16538787756e-05,-0.000504714160284,1.5058417968e-05,1793255947167029760
+245,4.083333333,POSE1_TO_POSE2_PRESS,794,762,737.091614728,735.908385272,692,656.908385272,927,806,839,672,637,674,0.455340253079,-0.0156358706347,0.0496702315475,0.9999998706,6.01010269098e-05,-0.000504930325078,1.52520305832e-05,1793255947183696640
+246,4.100000000,POSE1_TO_POSE2_PRESS,794,762,737.669348913,735.330651087,692,656.330651087,927,806,839,672,637,674,0.455341912658,-0.015634805178,0.0496711186988,0.999999871529,5.98501052789e-05,-0.000503131454476,1.47692666509e-05,1793255947200363520
+247,4.116666667,HOLD_POSE2,794,763,738,736,692,657,927,806,839,673,637,674,0.45534013904,-0.0156338981612,0.0496690236394,0.999999870192,6.20679351122e-05,-0.000505510469464,1.4896621864e-05,1793255947238697728
+248,4.133333333,HOLD_POSE2,794,762.424965821,737.424965821,736,692,657,927,806,839,672.424965821,637,674,0.455340389674,-0.0156353680319,0.0496691606254,0.999999870413,5.75106253049e-05,-0.000505626241772,1.4428791982e-05,1793255947255364096
+249,4.150000000,HOLD_POSE2,794,762,737,736,692.153548963,656.846451037,927,806,839,672,637,674,0.455340863011,-0.015636430658,0.049669358047,0.999999870564,5.47704403825e-05,-0.000505638660391,1.41714040154e-05,1793255947272030720
+250,4.166666667,HOLD_POSE2,794,762,737,736,692.741920314,656.258079686,927,806,839,672,637,674,0.455341966998,-0.0156363400429,0.0496697266114,0.999999870567,5.71760174797e-05,-0.000505358400446,1.45099486955e-05,1793255947288697344
+251,4.183333333,HOLD_POSE2,794,762,737,735.674603495,693,656.325396505,927,806,839,672.325396505,637,674,0.455341768712,-0.0156353457101,0.0496693659031,0.999999870155,5.8316397111e-05,-0.000506043361121,1.44547925912e-05,1793255947305363968
+252,4.200000000,HOLD_POSE2,794,762,737,735.094952266,693,656.905047734,927,806,839,672.905047734,637,674,0.45534055287,-0.0156336452403,0.0496684353639,0.999999869422,5.84681905873e-05,-0.000507482515234,1.40920108994e-05,1793255947322030848
+253,4.216666667,HOLD_POSE2,794,762.482259366,737,735.482259366,692.517740634,657,927,806,839,673,637,674,0.455340029062,-0.0156350254555,0.049668399024,0.999999869253,5.74023109853e-05,-0.000507929758347,1.43665004582e-05,1793255947338697728
+254,4.233333333,HOLD_POSE2,794,762.941762251,737,736,692,657,927,806,839,672.941762251,637,674,0.455339827586,-0.0156366989051,0.0496685256283,0.999999869232,5.63379638633e-05,-0.000508079800343,1.47059489111e-05,1793255947355364352
+255,4.250000000,HOLD_POSE2,794,762.372412862,737,736,692,657,927,806,839,672.372412862,637,674,0.455341265195,-0.015635649333,0.0496685449082,0.999999869558,5.73805766419e-05,-0.000507326881989,1.45198535519e-05,1793255947372030976
+256,4.266666667,HOLD_POSE2,794,762.206059,737,736,692,657,927,806,839,672.206059,637,674,0.455342596165,-0.015634249294,0.0496688797662,0.99999987002,5.7651108791e-05,-0.000506394431274,1.42012317726e-05,1793255947388697600
+257,4.283333333,HOLD_POSE2,794,762.801781663,737,736,692,657,927,806,839,672.801781663,637,674,0.455343725476,-0.0156321865117,0.0496698113918,0.999999870739,5.64616135126e-05,-0.000505122479637,1.36319986335e-05,1793255947405363968
+258,4.300000000,HOLD_POSE2,794,762.615472304,737,736,692,656.615472304,927,806,839,673,637,674,0.4553437637,-0.0156324334606,0.0496700415379,0.999999870884,5.60154047039e-05,-0.000504881855596,1.37475209593e-05,1793255947422030592
+259,4.316666667,HOLD_POSE2,794,762.039197109,737,736,692,656.039197109,927,806,839,673,637,674,0.455343257845,-0.0156338321734,0.0496699218863,0.999999870743,5.5939840929e-05,-0.00050515551036,1.42045014686e-05,1793255947438697216
+260,4.333333333,HOLD_POSE2,794,762,737,735.46211341,692,656.53788659,927,806,839,672.46211341,637,674,0.455342186308,-0.0156335619047,0.049669052453,0.999999869989,5.59508190849e-05,-0.000506647244056,1.41145401962e-05,1793255947455364096
+261,4.350000000,HOLD_POSE2,794,762,737,735.117125505,692.117125505,657,927,806,839,672,637,674,0.455341005989,-0.0156331716017,0.0496681108352,0.99999986912,5.60106519187e-05,-0.00050835798873,1.3962364868e-05,1793255947472030464
+262,4.366666667,HOLD_POSE2,794,762,737,735.704785816,692.704785816,657,927,806,839,672,637,674,0.455339554514,-0.0156327884157,0.0496670990581,0.999999867973,5.62413776935e-05,-0.000510591443958,1.37206142258e-05,1793255947488697088
+263,4.383333333,POSE2_TO_POSE3_RETREAT,794,763,737,736,692,657,928,806,839,673,636,674,0.455342511752,-0.0156328091797,0.0496688970286,0.999999870006,5.70643830857e-05,-0.000506490002355,1.40912242226e-05,1793255947525734144
+264,4.400000000,POSE2_TO_POSE3_RETREAT,794,762.426119175,737.573880825,736,692,656.426119175,927.426119175,806,839,672.426119175,636.573880825,674,0.455343478764,-0.0156332153867,0.0496692525585,0.999999870396,5.71182372722e-05,-0.000505712888117,1.41473624153e-05,1793255947542400768
+265,4.416666667,POSE2_TO_POSE3_RETREAT,793.852199987,762,738,736,692.147800013,656.147800013,927,805.852199987,839,672,637,674,0.455343908065,-0.0156335220057,0.0496693197528,0.999999870485,5.73009732601e-05,-0.000505513834981,1.41922731754e-05,1793255947559067648
+266,4.433333333,POSE2_TO_POSE3_RETREAT,793.278170032,762,738,736,692.721829968,656.721829968,927,805.278170032,839,672,637,674,0.4553427867,-0.0156335414297,0.0496685554367,0.99999986971,5.78553823186e-05,-0.000506981810954,1.42048059544e-05,1793255947575734528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,793.305736551,762.305736551,738,736,693,657,927,805.305736551,839,672.305736551,637,674,0.455341413226,-0.0156332398217,0.0496675836695,0.999999869003,5.74444939198e-05,-0.000508428785985,1.39459016621e-05,1793255947592401152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,793.898929189,762.898929189,738,736,693,657,927,805.898929189,839,672.898929189,637,674,0.455339802719,-0.0156326363764,0.0496664168552,0.999999868358,5.61260246723e-05,-0.000509856015665,1.3431789944e-05,1793255947609067520
+269,4.483333333,POSE2_TO_POSE3_RETREAT,794,762.520827548,737.520827548,736,692.520827548,657,927,806,839.479172452,672.520827548,637,674,0.455341872013,-0.0156333080111,0.049667487606,0.999999869328,5.43901570728e-05,-0.000508135425474,1.35531203617e-05,1793255947625734400
+270,4.500000000,POSE2_TO_POSE3_RETREAT,794,762,737,736,692,656.943502598,927,806.056497402,839.943502598,672,637,674,0.455344212234,-0.0156342155257,0.0496687527723,0.999999870392,5.27026294964e-05,-0.000506209645277,1.37996310068e-05,1793255947642401024
+271,4.516666667,POSE2_TO_POSE3_RETREAT,794,762,737,736,692,656.368552523,927,806.631447477,839.368552523,672,637,674,0.45534210345,-0.0156348845132,0.0496675849494,0.999999869336,5.22453530275e-05,-0.000508333503852,1.39972730203e-05,1793255947659067904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,794,762.206620466,737,736,692,656,927,806.793379534,839,672,637,674,0.455338742469,-0.0156343147623,0.0496663055801,0.999999868061,5.29409283181e-05,-0.000510762841893,1.40040578298e-05,1793255947675734272
+273,4.550000000,POSE2_TO_POSE3_RETREAT,794,762.782191436,737,736,692,656,927,806.217808564,839,672,637,674,0.455333145513,-0.0156315330661,0.0496648270287,0.999999866392,5.56950859798e-05,-0.000513737657147,1.36700396799e-05,1793255947692400896
+274,4.566666667,POSE2_TO_POSE3_RETREAT,794,762.630667751,737,735.630667751,692,656.369332249,927,806,839,672.369332249,637,674,0.455314813914,-0.015630445991,0.0496563856917,0.999999859103,5.57881916843e-05,-0.00052775117176,1.26351202592e-05,1793255947709067520
+275,4.583333333,POSE2_TO_POSE3_RETREAT,794,762.036483069,737,735.036483069,692,656.963516931,927,806,839,672.963516931,637,674,0.455288729361,-0.0156303906146,0.0496437053549,0.999999848047,5.42612278852e-05,-0.000548485135085,1.11734864928e-05,1793255947725734144
+276,4.600000000,POSE2_TO_POSE3_RETREAT,794,762,737,735.539270439,692.539270439,656.460729561,927,806,839,672.460729561,637,674,0.455243144753,-0.0156262664023,0.0496267000202,0.999999832063,5.60442861494e-05,-0.00057674722692,9.80952557989e-06,1793255947742400768
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794,762,737,736,692.887065029,656.112934971,927,806,839,672,636.887065029,674,0.455191564355,-0.015622118077,0.0496089155179,0.999999815698,5.78961193111e-05,-0.000604304642885,8.23191214629e-06,1793255947759067136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794,762,737,736,692.316975739,656.683024261,927,806,839,672,636.316975739,674,0.455120877015,-0.0156189495846,0.0495891222586,0.999999801659,5.91498443904e-05,-0.000627016105943,5.76358099262e-06,1793255947775734016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794,762,737,736,692,656.734652296,927,806,839,672,636.265347704,674,0.455045411345,-0.0156146537748,0.0495735821075,0.999999789635,6.12553513239e-05,-0.000645726686232,3.85717588088e-06,1793255947792400640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794,762,737,736,692,656.137007981,927,806,839,672,636.862992019,674,0.454963961746,-0.0156089462185,0.0495633681518,0.999999780499,6.44275500195e-05,-0.000659426934532,2.65447446387e-06,1793255947809067264
+281,4.683333333,POSE2_TO_POSE3_RETREAT,794,762.444838047,737,736,692,656.444838047,927,806,839,672,637,674,0.454871831821,-0.0156036639371,0.049561055812,0.999999779299,6.50685415181e-05,-0.000661185148174,1.69040397365e-06,1793255947825733888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,794,763,737.021896222,736,692,657,927,806.021896222,839,672,637,674,0.454775730859,-0.0155984170755,0.0495611744649,0.999999780631,6.52247332427e-05,-0.000659153571629,8.27364389621e-07,1793255947842400768
+283,4.716666667,POSE2_TO_POSE3_RETREAT,794,763,737.596708821,736,692,657,927,806.596708821,839,672,637,674,0.454659570784,-0.0155908705266,0.0495633334355,0.999999785421,7.21499458511e-05,-0.000651115955613,7.23249410253e-07,1793255947859067392
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794,762.828442028,738,736,692,657,927,806.828442028,838.828442028,672,637,674,0.454533161235,-0.0155826527119,0.0495657705291,0.999999788625,7.79535756273e-05,-0.000645501625549,5.21285954057e-07,1793255947875734272
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794,762.253507012,738,736,692,657,927,806.253507012,838.253507012,672,637,674,0.454382652542,-0.0155728565789,0.0495688615615,0.99999978832,8.11200739053e-05,-0.000645585067096,8.92555048242e-08,1793255947892400896
+286,4.766666667,POSE2_TO_POSE3_RETREAT,794,762.332209071,737.667790929,736,692,656.667790929,927,806,838.332209071,672,637,674,0.454221008385,-0.0155633378912,0.0495733896213,0.999999791245,8.43858353875e-05,-0.000640616557711,-5.52146878505e-07,1793255947909067520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,794,762.926428135,737.073571865,736,692,656.073571865,927,806,838.926428135,672,637,674,0.454050581781,-0.0155540380206,0.0495790510509,0.999999796651,8.77298851067e-05,-0.000631663624795,-1.35867887204e-06,1793255947925734144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794,762.492956149,737,735.492956149,692,656.507043851,927,806,839,672.507043851,637,674,0.453850411836,-0.0155445739674,0.0495900796918,0.999999805521,9.08462260035e-05,-0.000617011105659,-1.31082235461e-06,1793255947942400768
+289,4.816666667,POSE2_TO_POSE3_RETREAT,794,762,737.084026077,735.084026077,692,656.915973923,927,806.084026077,839,673,637,674,0.453639840486,-0.0155353502235,0.0496008558283,0.99999981375,9.35516562985e-05,-0.000603113470212,-1.30329284211e-06,1793255947959067392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794,762,737.651169672,735.651169672,692,656.348830328,927,806.651169672,839,673,637,674,0.453393630543,-0.0155276415555,0.0496058194725,0.999999816658,9.40795169511e-05,-0.000598186857711,-2.22179237221e-06,1793255947975734016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794,762,737.770517932,735.770517932,692,656.229482068,927,806.770517932,838.770517932,672.770517932,637.229482068,674,0.453128790296,-0.0155204369109,0.049611452667,0.999999819967,9.19258152586e-05,-0.000592963016109,-3.36574434761e-06,1793255947992400640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794,762,737.174359584,735.174359584,692,656.825640416,927,806.174359584,838.174359584,672.174359584,637.825640416,674,0.452834181767,-0.015514037617,0.0496181556973,0.999999823894,8.54873983265e-05,-0.000587264249403,-4.86993384438e-06,1793255948009067520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,794,762,737,735.410017818,692,657,927,806.410017818,838.410017818,672,638,674,0.452514071859,-0.0155128399058,0.0496253060903,0.999999827781,7.43292095719e-05,-0.000582135122642,-5.59726414779e-06,1793255948025734144
+294,4.900000000,POSE2_TO_POSE3_RETREAT,794,762,737,735.989525298,692,657,927,806.989525298,838.989525298,672,638,674,0.452183420415,-0.0155137923804,0.0496326414102,0.999999831504,6.12200020216e-05,-0.00057724146883,-6.00346299815e-06,1793255948042400768
+295,4.916666667,POSE2_TO_POSE3_RETREAT,794,762.564694364,737,736,692,657,927,807,839,672.564694364,638,674,0.45181574377,-0.01551311706,0.0496377347045,0.999999834014,5.17689450038e-05,-0.000573794783767,-7.23399363589e-06,1793255948059068416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,794,763,737,736,692,657.142665207,927,807,839,673,638.142665207,674,0.451432556949,-0.0155096636796,0.0496391118147,0.999999834759,4.39704147437e-05,-0.000573117453795,-9.26961068382e-06,1793255948075735552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,794,763,737,736,692,657.729609767,927,807,839,673,638.729609767,674,0.451003191807,-0.0154976523458,0.0496290447316,0.999999830291,4.11083823921e-05,-0.000580981335437,-1.3765124223e-05,1793255948092401664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,794,762.688030097,737,735.688030097,692,657.688030097,927,807,839,673,639,674,0.450576893788,-0.0154875925182,0.0496322813887,0.999999839291,3.80396042047e-05,-0.000565410803073,-1.67750985177e-05,1793255948109067776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,794,762.109585757,737,735.109585757,692,657.109585757,927,807,839,673,639,674,0.450153215556,-0.0154791996017,0.0496468816622,0.999999858867,3.4794230167e-05,-0.000529823365004,-1.85161745109e-05,1793255948125734144
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794,762,737,735.46848471,692.46848471,657.46848471,927,807.46848471,839,673,639,674,0.449688680936,-0.0154737681859,0.0496689902157,0.999999877893,2.62213822118e-05,-0.000493104988223,-1.93352587052e-05,1793255948142400768
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794,762,736.953702539,736,693,658,927,808,839,672.953702539,639,674,0.449210173589,-0.0154687744827,0.0496917125334,0.999999894864,1.64504655387e-05,-0.000457815724107,-2.01336841821e-05,1793255948159067392
+302,5.033333333,POSE2_TO_POSE3_RETREAT,794,762,736.377837678,736,693,658,927,808,839,672.377837678,639,674,0.448681069259,-0.0154608699928,0.0497013821213,0.999999902069,7.21846522984e-06,-0.000441896692856,-2.31607314122e-05,1793255948175734016
+303,5.050000000,POSE2_TO_POSE3_RETREAT,794,762,736.202175294,735.797824706,693,658,927,808,838.797824706,672,639.202175294,674,0.448124985691,-0.0154517046342,0.0497027165798,0.999999903917,-2.47157728162e-06,-0.000437531230138,-2.69404726292e-05,1793255948192400896
+304,5.066666667,POSE2_TO_POSE3_RETREAT,794,762,736.790102865,735.209897135,693,658,927,808,838.209897135,672,639.790102865,674,0.447517425529,-0.0154401335274,0.0496881475359,0.99999989579,-1.30355678677e-05,-0.000455210080898,-3.21563605491e-05,1793255948209068032
+305,5.083333333,POSE2_TO_POSE3_RETREAT,794,762,737,735,693,658.372263686,927,808.372263686,838,672.372263686,640.372263686,673.627736314,0.446885933002,-0.0154291132532,0.0496720075244,0.999999884491,-2.36849864339e-05,-0.000478606406489,-3.73205876662e-05,1793255948225734656
+306,5.100000000,POSE2_TO_POSE3_RETREAT,794,762,737,735,693,658.951222565,927,808.951222565,838,672.951222565,640.951222565,673.048777435,0.446241152321,-0.0154183988228,0.0496549952514,0.999999870906,-3.43818375533e-05,-0.000505177294364,-4.24561305143e-05,1793255948242401536
+307,5.116666667,POSE2_TO_POSE3_RETREAT,794,762,737,735.527339482,693,659,927,809,838,672.472660518,640.472660518,673.527339482,0.445603239728,-0.0154097993847,0.0496708312817,0.999999882908,-4.42285747491e-05,-0.000479816504958,-4.47659295535e-05,1793255948259067904
+308,5.133333333,POSE2_TO_POSE3_RETREAT,794,762,737,736,693,659,927,809,838,672,640.103651872,674,0.444961896588,-0.0154024127438,0.0496949723448,0.999999898903,-5.49232079563e-05,-0.000443896053919,-4.61821278207e-05,1793255948275734272
+309,5.150000000,POSE2_TO_POSE3_RETREAT,794,762,737,736,693,659,927,809,838,672,640.682056985,674,0.444301946666,-0.0153996898017,0.049743310691,0.999999923792,-6.98596586973e-05,-0.000381493083358,-4.46961383777e-05,1793255948292400640
+310,5.166666667,POSE2_TO_POSE3_RETREAT,794,762,737,736,693.26489919,659,927,809.26489919,838,672,641,674,0.443595998074,-0.0153954014351,0.0497695417784,0.999999937174,-3.22943026314e-05,-0.00035008578081,-4.52594126564e-05,1793255948309067264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,794,762,737,736,693.853157777,659,927,809.853157777,838,672,641,674,0.442833899346,-0.0153892021722,0.0497687867953,0.999999932876,6.93594039791e-05,-0.000356514524602,-4.83241992565e-05,1793255948325733888
+312,5.200000000,POSE2_TO_POSE3_RETREAT,793.565670458,762,737,736,693.565670458,659,927,810,838,672.434329542,641,674,0.44207864184,-0.0153863483235,0.0497732254164,0.999999937227,7.30088997414e-05,-0.000342888013017,-5.1417722766e-05,1793255948342400768
+313,5.216666667,POSE2_TO_POSE3_RETREAT,793.01304804,762,737,736,693,659,927,810,838,672.98695196,641.01304804,674,0.441325128192,-0.0153846634074,0.0497798862487,0.999999945726,4.4000090554e-05,-0.000321938307812,-5.44698361053e-05,1793255948359067392
+314,5.233333333,POSE2_TO_POSE3_RETREAT,793.587647043,762,737,736,693,659,927,810,838,672.412352957,641.587647043,674,0.44054871876,-0.0153853903833,0.0498078289489,0.99999996114,1.25777323552e-05,-0.000272946248341,-5.53283569895e-05,1793255948375734272
+315,5.250000000,POSE2_TO_POSE3_RETREAT,793.833967436,762,737,736,693.166032564,659,927,810,837.833967436,672,641.833967436,674,0.439753133497,-0.0153841852174,0.0498235595875,0.999999967771,-1.64147273633e-05,-0.000246798525502,-5.72618427668e-05,1793255948392400896
+316,5.266666667,POSE2_TO_POSE3_RETREAT,793.245958411,762,737,736,693.754041589,659,927,810,837.245958411,672,641.245958411,674,0.438908812364,-0.0153780694584,0.0498082529239,0.999999958473,-3.92315293066e-05,-0.000278710335806,-6.19273825618e-05,1793255948409067520
+317,5.283333333,POSE2_TO_POSE3_RETREAT,793,762,736.663009609,736,693.663009609,659,927,810,837.336990391,672,641,673.663009609,0.438016220244,-0.0153738336288,0.0497842817813,0.99999994391,-6.30978750846e-05,-0.000321905218531,-6.76466734889e-05,1793255948425734144
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,762,736.083699489,736,693.083699489,659,927,810,837.916300511,672,641,673.083699489,0.437088917934,-0.0153709496005,0.0497540802711,0.999999923761,-8.77189153993e-05,-0.000373213419831,-7.41236850732e-05,1793255948442400768
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,762,736,735.507747908,693.492252092,659,927,810,838,672,641.492252092,673,0.436219638698,-0.0153742849767,0.0497759637014,0.999999935685,-8.10736019003e-05,-0.000341130926087,-7.54068284397e-05,1793255948459067392
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,762,736,735.067949357,694,659,927,810,838,672,641.932050643,673,0.435351042679,-0.0153774693966,0.0498003647718,0.999999947654,-7.10407724858e-05,-0.000306468599206,-7.5642828621e-05,1793255948475734272
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,762,736,735.645995104,694,659,927,810,838,672,641.354004896,673,0.434414014648,-0.0153716356528,0.0497776327364,0.999999930248,-7.52171722503e-05,-0.000358161791551,-7.46026778173e-05,1793255948492401152
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,761.77255798,736,736,694,659,927,810,837.77255798,672,641,673.22744202,0.433508173299,-0.0153666350723,0.0497689990922,0.999999925766,-4.92955647692e-05,-0.000376536761074,-6.52588062614e-05,1793255948509067520
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,761.185736817,736,736,694,659,927,810,837.185736817,672,641,673.814263183,0.432651609608,-0.015362950965,0.0497826421888,0.999999940219,2.41836398227e-05,-0.000342265905854,-4.27942980049e-05,1793255948525734400
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,659,927,810,837,672,641.396754769,673.603245231,0.431735746303,-0.0153598783569,0.0497961765504,0.999999948261,4.65843481549e-05,-0.000315964919701,-3.83879758838e-05,1793255948542401024
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,659,927,810,837,672,641.977241349,673.022758651,0.430792422193,-0.0153570889261,0.0498096605574,0.999999955048,4.53312856548e-05,-0.00029335467564,-4.23441589572e-05,1793255948559067648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,659,927,810,837,672,641.447772605,673,0.429823453183,-0.0153611622627,0.0497762540426,0.99999993727,3.13293347675e-05,-0.000349383077422,-4.90910969748e-05,1793255948575734784
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,761,736,736,693.872318461,659,927.127681539,810,837,672,641.127681539,673,0.428864031663,-0.0153653300329,0.0497518594426,0.999999922244,1.35673126053e-05,-0.000390291656742,-5.47791468199e-05,1793255948592401920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,693.29442235,659,927.70557765,810,837,672,641.70557765,673,0.427941965272,-0.0153688433328,0.0497659883673,0.999999931104,-1.56186245651e-05,-0.000366571699514,-5.63319308386e-05,1793255948609068032
+329,5.483333333,POSE2_TO_POSE3_RETREAT,792.711811038,761,736,736,693.288188962,659,928,810,837,672,642,673,0.427007229784,-0.0153689515644,0.0497676997362,0.999999929548,-3.26426094631e-05,-0.000369545015803,-5.72260150111e-05,1793255948625734400
+330,5.500000000,POSE2_TO_POSE3_RETREAT,792.124302445,761,736,736,693.875697555,659,928,810,837,672,642,673,0.426059335943,-0.0153655232141,0.0497565139475,0.999999917568,-3.70349115096e-05,-0.000400242576437,-5.74359584241e-05,1793255948642401280
+331,5.516666667,POSE2_TO_POSE3_RETREAT,792.457823338,761,736,735.542176662,694,659,928,810,837.457823338,672,641.542176662,673.457823338,0.425153168672,-0.0153664221944,0.0497701534081,0.999999934617,-1.75751069843e-05,-0.000356587440425,-5.74637415695e-05,1793255948659067904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,761,736,735.038030229,694,659,927.961969771,810,837.961969771,672,641.038030229,673.961969771,0.424259042394,-0.0153683592264,0.0497909818982,0.99999995497,5.09318799046e-06,-0.00029452328951,-5.73510521188e-05,1793255948675734528
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,761,736,735.611556515,694,659,927.388443485,810,837.388443485,672,641.611556515,673.388443485,0.423376795251,-0.0153685615355,0.0498192325847,0.999999965979,-1.71883707039e-05,-0.000254195812027,-5.59487128216e-05,1793255948692401152
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,693.814167893,659,927.185832107,809.814167893,837,672,642,673,0.422490632817,-0.0153680156089,0.0498296023096,0.999999968448,-3.53070903933e-05,-0.000242361723517,-5.58482000665e-05,1793255948709067520
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,761,736,736,693.238319585,659,927.761680415,809.238319585,837,672,642,673,0.421596252979,-0.0153658993186,0.0498024442688,0.999999955146,-4.4689032023e-05,-0.000290328291526,-5.84799030898e-05,1793255948725733888
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,761,736,736,693,658.652811263,927.652811263,809.347188737,837,672,641.652811263,673,0.420689919477,-0.0153674739112,0.0497923466984,0.999999948323,-3.67504403853e-05,-0.000313808934552,-5.93935522005e-05,1793255948742400512
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,693,658.060482309,927.060482309,809.939517691,837,672,641.060482309,673,0.419775145883,-0.0153716545329,0.0497942950486,0.999999946916,-1.65823061594e-05,-0.000320000751047,-5.90941315897e-05,1793255948759067392
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,761,736,735.481359256,693,658.518640744,927,810,837,671.481359256,641.518640744,673,0.418859717036,-0.0153668418728,0.049792430956,0.999999940705,-2.29473740934e-05,-0.000338441793548,-5.93268210794e-05,1793255948775734016
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,761,736,735,693.095481796,659,927.095481796,810,837,671.095481796,642,673,0.417959935342,-0.0153619518638,0.0497879476251,0.999999933858,-3.2890715677e-05,-0.000357223740706,-5.99415506439e-05,1793255948792401152
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,761,736,735,693.668421386,659,927.668421386,810,837,671.668421386,642,673,0.417138770062,-0.0153617892339,0.0497725347661,0.999999928301,-4.56387565332e-05,-0.000370744681826,-6.21640837092e-05,1793255948809067776
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,761,736,735,694,659,927.750906446,810,837,672,641.750906446,673,0.416347310329,-0.0153628422777,0.0497748966405,0.999999933267,-5.45403050061e-05,-0.000355736970358,-6.27859799059e-05,1793255948825734400
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,761,736,735,694,659,927.159611411,810,837,672,641.159611411,673,0.415596659757,-0.0153655653983,0.0498016772139,0.999999950973,-5.81575911678e-05,-0.000301536965572,-6.12089417159e-05,1793255948842401024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,761,736,735.422821617,694,659,927.422821617,810,837,672,641,673,0.414813712877,-0.0153652784583,0.049806219052,0.999999953729,-4.27444371139e-05,-0.000294940268719,-6.10331921719e-05,1793255948859067392
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.998032245,928,810,837,672,641.001967755,673,0.414018810593,-0.0153638791918,0.0498024530085,0.999999951067,-2.04144969287e-05,-0.000306072804077,-6.13842071969e-05,1793255948875733760
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.421886975,928,810,837,672,641.578113025,673,0.413219809216,-0.0153626603094,0.0497737985319,0.999999934506,-3.29719007488e-05,-0.000354644184141,-6.42591658037e-05,1793255948892400640
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.156855314,928,810,837,672,642,673.156855314,0.412457578224,-0.0153621022063,0.0497589550857,0.999999924303,-4.46646398945e-05,-0.000380873959567,-6.58313150005e-05,1793255948909067264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.74270042,928,810,837,672,642,673.74270042,0.411795911834,-0.0153633512942,0.0497818839654,0.999999936646,-5.3992576453e-05,-0.000346000810834,-6.38403602658e-05,1793255948925734144
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.675066048,928,809.675066048,836.675066048,671.675066048,642,673.675066048,0.411131656787,-0.0153647244116,0.0498011113809,0.999999945757,-6.17222950977e-05,-0.000317535809664,-6.20264228028e-05,1793255948942401024
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.095660945,928,809.095660945,836.095660945,671.095660945,642,673.095660945,0.410465374479,-0.0153661946625,0.0498174400033,0.999999952609,-6.82003731362e-05,-0.000294089334213,-6.03511160773e-05,1793255948959067904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,792.517909722,761,736,735.517909722,694,658.482090278,927.517909722,809.482090278,836,671.482090278,641.517909722,673,0.409801423332,-0.0153610271253,0.0497995578298,0.999999942225,-5.85287883365e-05,-0.000329082738325,-6.18736832743e-05,1793255948975734528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,792.059331334,761,736,735.059331334,694,659,927,810,836.059331334,672,641.059331334,673,0.409147025718,-0.0153556085259,0.0497783802282,0.999999929062,-4.76323814846e-05,-0.000368158417937,-6.37654297666e-05,1793255948992400896
+352,5.866666667,POSE2_TO_POSE3_RETREAT,792.634978945,761,736,735.634978945,694,659,927,810,836.634978945,672,641.634978945,673,0.4085717537,-0.0153594279575,0.0497873976588,0.999999937994,-5.38688987673e-05,-0.000342191067339,-6.33667110784e-05,1793255949009067776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793,761,736,736,694,658.785079391,927.214920609,810,837,672,642,673,0.408018268043,-0.0153631899919,0.0498003136493,0.999999945707,-6.11700611869e-05,-0.000317737270112,-6.23546813239e-05,1793255949025734400
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,793,761,735.915006109,735.457503054,694,658,928,810,836.457503054,671,642,673,0.405959777401,-0.0153690930845,0.049786429249,0.999999928351,-9.28760844382e-05,-0.000361453686384,-6.3429090136e-05,1793255949092401152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793,761,735,735.119825566,694,658.119825566,928,810,836.119825566,671.119825566,642,673,0.405475138309,-0.0153691751597,0.0497640289756,0.999999912982,-0.000100465447721,-0.000399496258528,-6.59233108133e-05,1793255949109068032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793,761,735,735.699070312,694,658.699070312,928,810,836.699070312,671.699070312,642,673,0.405058938065,-0.0153689440429,0.049765303233,0.999999912207,-0.000106528308833,-0.000399755202639,-6.65792561879e-05,1793255949125734400
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793,761,735.280869278,736,694,659,928,810,836.719130722,672,642,673,0.404675936472,-0.0153696563543,0.0497782452371,0.999999919373,-0.000114628236388,-0.00037915610533,-6.59952313302e-05,1793255949142401280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793,761,735.865429972,736,694,659,928,810,836.134570028,672,642,673,0.404328831126,-0.0153713887523,0.0498038030552,0.999999933694,-0.000124930752463,-0.000336004138017,-6.40704818571e-05,1793255949159068416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793,761.445317015,735.554682985,736,694,658.554682985,928,809.554682985,836,671.554682985,642,673,0.404009656117,-0.0153768263273,0.0498294383822,0.999999943881,-0.000135865030511,-0.000299903771105,-6.19421652293e-05,1793255949175735808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,793,761.976397499,735,735.976397499,694,658.023602501,927.976397499,809,836.023602501,671.023602501,642,673,0.403699367033,-0.0153830820152,0.0498539946152,0.999999951698,-0.000146760339484,-0.000267352793243,-5.990038608e-05,1793255949192402688
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793,761.402862543,735,735.402862543,694,658.597137457,927.402862543,809,836.597137457,671.597137457,642,673,0.403401504504,-0.0153825825746,0.0498528681682,0.999999950506,-0.000152345689193,-0.000268367501371,-6.12933258702e-05,1793255949209070080
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793,761,735,735,694,658.824450108,927,809.175549892,836.824450108,671.824450108,642,673,0.403107962963,-0.0153820828166,0.0498479256482,0.999999950116,-0.00013620705355,-0.00027793210269,-6.30093453914e-05,1793255949225736704
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793,761,735,735,694,658.234524742,927,809.765475258,836.234524742,671.234524742,642,673,0.402824620909,-0.0153815823093,0.0498339755069,0.999999948157,-6.87901925259e-05,-0.000307678236465,-6.54879757138e-05,1793255949242402304
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793,761,735,735,694,658,927.349239414,809.650760586,836,671,642,672.650760586,0.402571448648,-0.0153829076851,0.0498242215422,0.999999943685,-4.64579534448e-05,-0.000325536734508,-6.7060460682e-05,1793255949259068672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,793,761,735,735,694,658,927.928937916,809.071062084,836,671,642,672.071062084,0.402338185058,-0.0153854379403,0.049817236585,0.999999939937,-5.38765333474e-05,-0.000335550721619,-6.80349911151e-05,1793255949275735296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793,761,735.50642326,735.50642326,694,658.50642326,928,809,836.50642326,671,642,672.50642326,0.4021429695,-0.0153873765434,0.0498146777858,0.999999937377,-6.31836743447e-05,-0.00034138616905,-6.86254022998e-05,1793255949292401664
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,793,761,735.343501699,736,694,659,928,809.656498301,836.343501699,671,642,673,0.401818309746,-0.0153892076238,0.0498192939155,0.999999943658,-6.89408863148e-06,-0.000331532293651,-5.2181230953e-05,1793255949325734400
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793,761,735,736,694.237119194,659,928,809.762880806,836,671,642,673,0.401684777287,-0.0153852132293,0.0498232975118,0.999999947025,3.01135640563e-05,-0.000321120348385,-4.38623033721e-05,1793255949342401024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694.828467377,659,928,809.171532623,836,671,642,673,0.401563500099,-0.0153749333313,0.0498250932354,0.999999948989,3.82749572633e-05,-0.000313872540948,-4.51725257757e-05,1793255949359067904
+374,6.233333333,POSE2_TO_POSE3_RETREAT,793,761,735,736,694.588566432,659,927.588566432,809.411433568,836.411433568,671,642,672.588566432,0.401461783376,-0.0153776393231,0.0498270883188,0.999999951283,2.98287974375e-05,-0.000307376968696,-4.54337906423e-05,1793255949375734784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,793,761,735,736,694.009025059,659,927.009025059,809.990974941,836.990974941,671,642,672.009025059,0.401368058874,-0.0153856512251,0.0498291648587,0.999999953512,1.45969506516e-05,-0.000301188752638,-4.52664614871e-05,1793255949392401664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658.436054139,927.563945861,809.436054139,836.436054139,671,642,672.563945861,0.401298627736,-0.0153885150785,0.0498340616909,0.999999955973,7.22053799958e-06,-0.000293116936521,-4.56650790565e-05,1793255949409068288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,809,836.140820956,671,642,672.859179044,0.401232293012,-0.0153915975376,0.049837428187,0.999999957642,-5.03404049473e-07,-0.000287390914697,-4.60774544696e-05,1793255949425734656
+378,6.300000000,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,809,836.730470721,671,642,672.269529279,0.401174602434,-0.0153956363035,0.049835774952,0.999999957042,-9.73106508952e-06,-0.00028923645051,-4.65051446865e-05,1793255949442401536
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,809,837,671,642,672.314599421,0.401127685099,-0.0153991464669,0.0498355268932,0.999999957241,-1.7935182787e-05,-0.00028809422704,-4.68901558053e-05,1793255949459067904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,809,837,671,642,672.89407966,0.401089838419,-0.0154022115675,0.0498364619395,0.999999958113,-2.52775167108e-05,-0.000284436423429,-4.72392327842e-05,1793255949475734272
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,809.472119873,837,671,642,672.527880127,0.40106145021,-0.0154027219725,0.0498368137098,0.999999958413,-2.67183525647e-05,-0.00028319885967,-4.75336759838e-05,1793255949492400896
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658.049455561,928,810,837,671,642,672.049455561,0.401036000541,-0.0154025775173,0.0498370507313,0.999999958612,-2.68218844129e-05,-0.000282439939787,-4.78040566001e-05,1793255949509067776
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658.622740913,928,810,837,671,642,672.622740913,0.401019267813,-0.0154015491036,0.0498374541693,0.999999959008,-2.67419012279e-05,-0.000281017042421,-4.79489999628e-05,1793255949525734912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793,760.798082589,735,736,694,659,928,809.798082589,836.798082589,671,642,673,0.401005821087,-0.015401099264,0.0498381745238,0.999999959524,-2.68800903709e-05,-0.000279136014622,-4.80841868946e-05,1793255949542401536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,793,760.20756842,735,736,694,659,928,809.20756842,836.20756842,671,642,673,0.400998698382,-0.0154017629094,0.0498395047948,0.999999960271,-2.74381594025e-05,-0.000276373299691,-4.82005972425e-05,1793255949559068160
+386,6.433333333,POSE2_TO_POSE3_RETREAT,793,760.375721987,735,736,694,658.624278013,927.624278013,809,836.375721987,671,642,672.624278013,0.40099470991,-0.0154024755471,0.0498412140975,0.999999961089,-2.96853457349e-05,-0.000273180806365,-4.81040507935e-05,1793255949575734528
+387,6.450000000,POSE2_TO_POSE3_RETREAT,793,760.955096871,735,736,694,658.044903129,927.044903129,809,836.955096871,671,642,672.044903129,0.400992420291,-0.0154032147403,0.049843128847,0.99999996193,-3.28480856928e-05,-0.000269755359988,-4.78920751916e-05,1793255949592400896
+388,6.466666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,927.530934128,809.530934128,837,671,642,672.530934128,0.400991544971,-0.0154041100311,0.0498444223977,0.999999962654,-3.23032323211e-05,-0.000267144556689,-4.77709600827e-05,1793255949609067520
+389,6.483333333,POSE2_TO_POSE3_RETREAT,793.106256984,761,735,736,694,658,928,809.893743016,836.893743016,671,641.893743016,673,0.400990648356,-0.0154048892973,0.0498456001814,0.999999963259,-3.16860035264e-05,-0.000264969913971,-4.76356824089e-05,1793255949625733888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,793.680622861,761,735,736,694,658,928,809.319377139,836.319377139,671,641.319377139,673,0.400989134465,-0.0154050996491,0.0498464978781,0.999999963403,-3.21221796213e-05,-0.000264415236976,-4.74043832375e-05,1793255949642400768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,793.737312712,761,735,736,694,658,928,809,836,671,641.262687288,673,0.40098840197,-0.015406278861,0.0498472131556,0.999999963606,-3.35624870434e-05,-0.00026351954663,-4.71000628495e-05,1793255949659067904
+392,6.533333333,POSE2_TO_POSE3_RETREAT,793.145605659,761,735,736,694,658,928,809,836,671,641.854394341,673,0.400988648185,-0.0154086715848,0.0498476999504,0.999999963878,-3.62604840625e-05,-0.000262196731873,-4.67042822616e-05,1793255949675734784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793,761,735,735.563399879,694,658,927.563399879,809,836.436600121,671,642,672.563399879,0.400988636704,-0.0154071135618,0.0498480431196,0.99999996406,-3.48126583698e-05,-0.000261606115256,-4.7225294384e-05,1793255949692401408
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.015557382,761,735,735.015557382,694,658,927.015557382,809.015557382,837,671,642,672.015557382,0.400988497878,-0.0154043515662,0.0498483201054,0.999999964194,-3.20592491122e-05,-0.000261301838696,-4.80132622033e-05,1793255949709068032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,793.589230028,761,735,735.589230028,694,658,927.589230028,809.589230028,837,671,642,672.589230028,0.400986808041,-0.015404658096,0.0498479045463,0.999999963879,-3.10133190576e-05,-0.000262696353956,-4.76431389825e-05,1793255949725734400
+396,6.600000000,POSE2_TO_POSE3_RETREAT,793.833053263,761,735,736,694,658.166946737,928,810,836.833053263,671,642,673,0.400985960954,-0.015405725106,0.0498477734119,0.999999963769,-3.18201761342e-05,-0.000263091976205,-4.72348040114e-05,1793255949742401280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793.245139215,761,735,736,694,658.754860785,928,810,836.245139215,671,642,673,0.400987238918,-0.0154087097177,0.0498483594729,0.99999996416,-3.729895936e-05,-0.000260968823148,-4.67301155897e-05,1793255949759068160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658.661871344,928,810,836.338128656,671,642,673,0.400987927836,-0.0154094237615,0.0498487957823,0.99999996443,-3.80445321007e-05,-0.000259839660033,-4.66487478779e-05,1793255949775734528
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658.081926265,928,810,836.918073735,671,642,673,0.400988195492,-0.0154085139837,0.0498491249951,0.999999964625,-3.54050971086e-05,-0.000259421359847,-4.68701226466e-05,1793255949792400896
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793,761,735,736,694,658,928,810,837,671,642,673,0.400989168368,-0.015406113005,0.0498500952901,0.999999965011,-3.32830767046e-05,-0.000258159497711,-4.71560349123e-05,1793255949809067776
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793,761,735,735.929694202,694,658,928,810,837,671,642,673,0.400989839571,-0.0154041055422,0.0498508857477,0.999999965296,-3.17916244324e-05,-0.000257194907272,-4.74129189683e-05,1793255949825734400
+402,6.700000000,POSE2_TO_POSE3_RETREAT,793,761,735,735.358920906,694,658,928,810,837,671,642,673,0.400987537504,-0.0154066455166,0.0498496453274,0.999999964666,-3.41829338023e-05,-0.000259334250776,-4.73875930339e-05,1793255949842401024
+403,6.716666667,POSE2_TO_POSE3_RETREAT,793,761,735,735.22086597,694,658.22086597,927.77913403,809.77913403,836.77913403,671,642,673,0.400985788151,-0.0154077745127,0.0498485992008,0.999999964178,-3.56021055339e-05,-0.000261022307574,-4.73713458746e-05,1793255949859067392
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793,761,735,735.815923775,694,658.815923775,927.184076225,809.184076225,836.184076225,671,642,673,0.400984975206,-0.0154065130249,0.0498478822472,0.999999963945,-3.53742789542e-05,-0.000261945793338,-4.73704800016e-05,1793255949875734016
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793,761,735,735.599878402,694,658.599878402,927.400121598,809.400121598,836.400121598,671,642,673,0.40098566944,-0.0154062171348,0.0498482180423,0.999999964306,-3.46846739465e-05,-0.000260669840055,-4.72857978394e-05,1793255949892400640
+406,6.766666667,POSE2_TO_POSE3_RETREAT,793,761,735,735.020544737,694,658.020544737,927.979455263,809.979455263,836.979455263,671,642,673,0.400987038731,-0.0154063537303,0.0498490253573,0.999999964929,-3.37882411589e-05,-0.000258408771132,-4.71635748629e-05,1793255949909067264
+407,6.783333333,POSE2_TO_POSE3_RETREAT,793.553754514,761,735,735.553754514,694,658,928,810,836.446245486,671,642,673,0.400986490656,-0.0154061430874,0.0498490735556,0.999999964793,-3.44188276092e-05,-0.000258775665351,-4.75906309229e-05,1793255949925734656
+408,6.800000000,POSE2_TO_POSE3_RETREAT,793.869117389,761,735,736,694,658.130882611,928,810,836,671,642,673,0.400986171883,-0.0154062071182,0.0498493786146,0.99999996476,-3.50282158945e-05,-0.0002587804709,-4.78010001371e-05,1793255949942402048
+409,6.816666667,POSE2_TO_POSE3_RETREAT,793.281471037,761,735,736,694,658.718528963,928,810,836,671,642,673,0.400986899362,-0.0154072742793,0.0498506774875,0.999999965189,-3.53676925107e-05,-0.00025718443734,-4.71846813569e-05,1793255949959069184
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d1959382cd1b649a672c7a1e2f569705cc641f4
--- /dev/null
+++ b/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
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+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
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+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11dec62bd41f6e07f20d15de61c72496e2a67cdc
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ab7d12f433174072eca02c220b66ef81b4d720
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+36,0.600000000,BASELINE,794,761,735.873980932,736,694,658.126019068,928,810,837,671,642,673,0.400988992898,-0.0154086546992,0.0498528803137,0.999999966568,-3.88665164179e-05,-0.000251265313306,-4.71086173196e-05,1793255950681920768
+37,0.616666667,BASELINE,794,761,735.53761189,736,694,658,928,810,837,671,642,673,0.40098858305,-0.0154090394181,0.0498523264846,0.999999966428,-3.98052593738e-05,-0.00025165234883,-4.72225557563e-05,1793255950698587392
+38,0.633333333,BASELINE,794,761,735,736,694,658,928,810,837,671,642,673,0.400987685165,-0.0154095681498,0.0498517012306,0.999999966138,-4.0193684388e-05,-0.000252735464599,-4.72482556536e-05,1793255950715254528
+39,0.650000000,BASELINE,794,761,735,736,694,658,928,810,837,671,642,673,0.400987446263,-0.015408982171,0.0498520175782,0.999999966091,-3.83911944576e-05,-0.000253244524451,-4.70230061705e-05,1793255950731920896
+40,0.666666667,BASELINE,793.790920329,760.790920329,735,735.790920329,694.209079671,658.209079671,928,810,836.790920329,671,642,673,0.400987229335,-0.0154087289523,0.0498521370602,0.999999966097,-3.68209304854e-05,-0.000253476947909,-4.68997776965e-05,1793255950748587264
+41,0.683333333,BASELINE,793.218159657,760.218159657,735,735.218159657,694.781840343,658.781840343,928,810,836.218159657,671,642,673,0.40098705063,-0.0154090545489,0.0498519141071,0.9999999662,-3.56546091414e-05,-0.000253228179646,-4.69540083968e-05,1793255950765253888
+42,0.700000000,BASELINE,793,760.353263716,735.353263716,735.353263716,694.646736284,658.646736284,928,810,836.353263716,671,642,673,0.400986641163,-0.01540796654,0.0498516736417,0.999999966137,-3.36499129803e-05,-0.000253720382098,-4.71036267464e-05,1793255950781920512
+43,0.716666667,BASELINE,793,760.923864328,735.923864328,735.923864328,694.076135672,658.076135672,928,810,836.923864328,671,642,673,0.400986089725,-0.0154060088448,0.0498514224023,0.999999965968,-3.11294271785e-05,-0.000254668448742,-4.7311930021e-05,1793255950798587392
+44,0.733333333,BASELINE,793.518566551,761,736,736,694,658,928,810,837,671,642,673,0.400987058407,-0.015407691314,0.0498519460241,0.999999966148,-3.47274684896e-05,-0.000253529056019,-4.71302418224e-05,1793255950815254528
+45,0.750000000,BASELINE,794,760.887297666,735.887297666,736,694,658,928,809.887297666,837,671,642.112702334,673,0.400988027214,-0.0154096260171,0.0498526039321,0.999999966343,-3.85084537952e-05,-0.000252254125455,-4.68846813143e-05,1793255950831921664
+46,0.766666667,BASELINE,794,760.310766233,735.310766233,736,694,658,928,809.310766233,837,671,642.689233767,673,0.400988033247,-0.0154102920532,0.0498533234751,0.999999966459,-3.91650905585e-05,-0.000251744191056,-4.66233871033e-05,1793255950848588288
+47,0.783333333,BASELINE,793.736278404,760.263721596,735,736,694,658,928,809.263721596,837,671,642.736278404,673,0.400987702858,-0.0154102256211,0.0498533344818,0.999999966439,-3.87350314116e-05,-0.000251911104653,-4.65098438581e-05,1793255950865254912
+48,0.800000000,BASELINE,793.164180139,760.835819861,735,736,694,658,928,809.835819861,837,671,642.164180139,673,0.400986979083,-0.0154093026946,0.0498525169784,0.999999966258,-3.70342699544e-05,-0.000252869474525,-4.65690697083e-05,1793255950881921280
+49,0.816666667,BASELINE,793,760.57870999,735,736,694,658,928,810,837,671,642,673,0.4009855092,-0.015409305236,0.049851546555,0.999999965772,-3.66284986719e-05,-0.000254790694096,-4.68601657038e-05,1793255950898587904
+50,0.833333333,BASELINE,793.011923731,760,735.011923731,736,694.011923731,658,928,810,836.988076269,671,642,673,0.400983809927,-0.0154096734095,0.049850546526,0.999999965178,-3.6733481334e-05,-0.000257030514907,-4.72309322189e-05,1793255950915254784
+51,0.850000000,BASELINE,793.592150562,760,735.592150562,736,694.592150562,658,928,810,836.407849438,671,642,673,0.400985490107,-0.0154097149474,0.0498510688994,0.999999965473,-3.63400357205e-05,-0.000255985059736,-4.69509634482e-05,1793255950931921152
+52,0.866666667,BASELINE,793.82922867,760,735.82922867,736,694.82922867,658,928,809.82922867,836,671,642,673,0.400986412622,-0.0154098443006,0.0498514197528,0.999999965654,-3.6473257868e-05,-0.000255278066204,-4.68476168849e-05,1793255950948587520
+53,0.883333333,BASELINE,793.254407924,760,735.254407924,736,694.254407924,658,928,809.254407924,836,671,642,673,0.400985542483,-0.0154101814269,0.0498513647857,0.999999965564,-3.78525896888e-05,-0.00025537188179,-4.71621630846e-05,1793255950965254656
+54,0.900000000,BASELINE,793.32568626,760,735,736,694,658,928,809.32568626,836.32568626,671,642,673,0.400986278828,-0.0154107027277,0.0498521785697,0.999999965805,-4.03860519298e-05,-0.000254050850086,-4.70961412546e-05,1793255950981921280
+55,0.916666667,BASELINE,793.909967529,760,735,736,694,658,928,809.909967529,836.909967529,671,642,673,0.400988290724,-0.0154113702634,0.0498536821426,0.999999966295,-4.38358940745e-05,-0.000251606429119,-4.67279482561e-05,1793255950998587904
+56,0.933333333,BASELINE,793.505223993,760.494776007,735,736,694,658.494776007,928,810,837,671,642,673,0.400988372734,-0.0154105047142,0.0498535302421,0.999999966461,-4.13439026343e-05,-0.000251320754431,-4.69773308135e-05,1793255951015254528
+57,0.950000000,BASELINE,793,761,735,736,694,658.921503921,928,809.921503921,836.921503921,671,642,673,0.400987814323,-0.0154094701732,0.0498529561648,0.999999966442,-3.83469045149e-05,-0.000251811547789,-4.72907051122e-05,1793255951031921152
+58,0.966666667,BASELINE,793,761,735,736,694,658.345294214,928,809.345294214,836.345294214,671,642,673,0.400985424281,-0.0154091348461,0.0498516173124,0.999999965676,-3.90107210687e-05,-0.00025473225819,-4.72965215e-05,1793255951048587520
+59,0.983333333,BASELINE,793,761.230219706,735,736,694,658.230219706,928,809,836,671,642,673,0.400984437568,-0.0154096297194,0.0498511973108,0.999999965348,-3.9462356133e-05,-0.000255986408089,-4.7085598495e-05,1793255951065253888
+60,1.000000000,BASELINE,793,761.804693281,735,736,694,658.804693281,928,809,836,671,642,673,0.400985549292,-0.0154113660142,0.0498521512919,0.999999965684,-3.95967104701e-05,-0.000254748504598,-4.65505791061e-05,1793255951081920768
+61,1.016666667,BASELINE,793,761.226292392,735,736,694.386853804,659,928,809.386853804,836.386853804,671,642,673,0.400986658353,-0.0154118240052,0.0498527022174,0.999999966055,-3.95181596651e-05,-0.000253337890467,-4.63388493664e-05,1793255951098587136
+62,1.033333333,BASELINE,793,760.05405241,735,736,694.972973795,659,928,809.972973795,836.972973795,671,642,673,0.400987766043,-0.0154116235492,0.0498530455312,0.999999966444,-3.93299426281e-05,-0.000251838314145,-4.62936443123e-05,1793255951115253760
+63,1.050000000,BASELINE,793,760,735,736,694.444313258,658.444313258,928,809.444313258,837,671,642,673,0.400988073263,-0.0154095790638,0.0498535100656,0.999999966581,-3.72163942594e-05,-0.000251559033875,-4.65848199838e-05,1793255951131921152
+64,1.066666667,BASELINE,793,760.136266266,735,736,694,658.136266266,928,809,837,671,642,673,0.400988148381,-0.015408382428,0.0498537327577,0.999999966592,-3.6290587791e-05,-0.00025160631417,-4.68278194156e-05,1793255951148588032
+65,1.083333333,BASELINE,793,760.710517901,735,736,694,658.710517901,928,809,837,671,642,673,0.400987601852,-0.0154101974502,0.049853159289,0.999999966241,-3.94815487617e-05,-0.000252513622106,-4.68637073383e-05,1793255951165254400
+66,1.100000000,BASELINE,793,760.713598252,735,736,694.286401748,659,928,809.286401748,836.713598252,671,642,673,0.400987406,-0.015410835234,0.0498530817638,0.999999966198,-4.07141038658e-05,-0.000252486915482,-4.68734409755e-05,1793255951181920768
+67,1.116666667,BASELINE,793,760.136055217,735,736,694.863944783,659,928,809.863944783,836.136055217,671,642,673,0.400987566629,-0.0154102762978,0.0498535083891,0.999999966475,-3.99558441055e-05,-0.000251510737647,-4.68565875097e-05,1793255951198587392
+68,1.133333333,BASELINE,793.451797139,760.451797139,735,736,694.548202861,658.548202861,928,810,836,671,642,673,0.400986493341,-0.0154112665835,0.0498528646727,0.999999966272,-4.10263637604e-05,-0.00025214439957,-4.68685178335e-05,1793255951215254016
+69,1.150000000,BASELINE,794,761,735,736,694,658,928,809.9581281,836,671,642,673,0.400985244003,-0.0154124782714,0.0498520254151,0.999999965974,-4.22387111828e-05,-0.000253122946499,-4.68792120632e-05,1793255951231920896
+70,1.166666667,BASELINE,794,761,735,736,694,658,928,809.380274111,836,671,642,673,0.400986608677,-0.0154104126635,0.049852905405,0.999999966389,-3.80523721202e-05,-0.000252165717023,-4.67605375689e-05,1793255951248587520
+71,1.183333333,BASELINE,794,760.803618713,735,736,694,658.196381287,928,809.196381287,836.196381287,671,642.196381287,673,0.400987392641,-0.0154093925607,0.0498535301703,0.999999966634,-3.60324001285e-05,-0.000251497015897,-4.67178433141e-05,1793255951265254144
+72,1.200000000,BASELINE,794,760.229270096,735,736,694,658.770729904,928,809.770729904,836.770729904,671,642.770729904,673,0.400987058936,-0.0154103847004,0.049853663715,0.999999966578,-3.81819488081e-05,-0.000251383633768,-4.68213852152e-05,1793255951281921024
+73,1.216666667,BASELINE,794,760.353481109,735,736,694,659,928,810,836.646518891,671,642.646518891,673,0.400987204115,-0.0154114255286,0.0498534832874,0.999999966466,-4.00233994218e-05,-0.000251541008112,-4.68401299512e-05,1793255951298587648
+74,1.233333333,BASELINE,794,760.941814957,735,736,694,659,928,810,836.058185043,671,642.058185043,673,0.400987667465,-0.0154124987055,0.0498530942567,0.999999966316,-4.16601496479e-05,-0.000251878272979,-4.68025354708e-05,1793255951315254272
+75,1.250000000,BASELINE,794,761,735,736,694.52283444,658.47716556,928,810,836,671,642.52283444,673,0.400987642968,-0.0154121156459,0.0498537241508,0.999999966596,-4.04463032907e-05,-0.000250962239609,-4.68055535875e-05,1793255951331920896
+76,1.266666667,BASELINE,794,761,735,736,694.897859283,658,928,810,836,671,642.897859283,673,0.400987417821,-0.0154115166936,0.0498541813137,0.999999966774,-3.92398629802e-05,-0.000250436581054,-4.68282327124e-05,1793255951348587520
+77,1.283333333,BASELINE,794,761,735,736,694.322768689,658,928,810,836,671,642.322768689,673,0.400986511511,-0.0154106581277,0.0498533208547,0.999999966277,-3.95163724212e-05,-0.000252355423531,-4.69213105979e-05,1793255951365254656
+78,1.300000000,BASELINE,794,761,735,736,694,658.250753088,928,810,836.250753088,671,642.250753088,673,0.400986079922,-0.0154102745334,0.0498528725747,0.999999966099,-3.90165957837e-05,-0.000253153275592,-4.68261647422e-05,1793255951381921280
+79,1.316666667,BASELINE,794,761,735,736,694,658.822267999,928,810,836.822267999,671,642.822267999,673,0.400986255592,-0.0154104985198,0.0498529515515,0.999999966333,-3.75237987016e-05,-0.000252517163392,-4.6490244216e-05,1793255951398587648
+80,1.333333333,BASELINE,794,760.590083099,735,736,694,659,928,810,837,671,643,673,0.400987453903,-0.0154096223339,0.0498535705648,0.999999966742,-3.6635421445e-05,-0.000250990581111,-4.66686702166e-05,1793255951415254016
+81,1.350000000,BASELINE,794,760.004704836,735,736,694,658.995295164,928,810,836.995295164,671,642.995295164,673,0.400989078412,-0.0154082666412,0.0498544131036,0.999999967215,-3.6049596334e-05,-0.000249106082118,-4.7077766558e-05,1793255951431921152
+82,1.366666667,BASELINE,794,760.582084487,735,736,694,658.417915513,928,810,836.417915513,671,642.417915513,673,0.400986398274,-0.0154089863653,0.0498527947727,0.99999996622,-3.90849857383e-05,-0.000252576406736,-4.73070211799e-05,1793255951448588032
+83,1.383333333,BASELINE,794,761,735,736,694,658.15864494,928,810,836,671,642,673,0.400984987009,-0.0154096693234,0.0498519400592,0.999999965692,-4.0735635768e-05,-0.000254393762864,-4.73246672424e-05,1793255951465254656
+84,1.400000000,BASELINE,794,761,735,736,694,658.733058603,928,810,836,671,642,673,0.400986901139,-0.0154102559274,0.049853086596,0.999999966433,-3.87572307673e-05,-0.000251879102617,-4.67877402282e-05,1793255951481921024
+85,1.416666667,BASELINE,794,761,735,736,694,659,928,810,836,671,642,673,0.400987204759,-0.0154099713866,0.0498530606713,0.999999966584,-3.74265107785e-05,-0.000251491185811,-4.67194278641e-05,1793255951498587648
+86,1.433333333,BASELINE,794,761,735,736,694,659,928,810,836,671,642,673,0.400986110167,-0.0154089305349,0.0498520168385,0.999999966229,-3.66580982744e-05,-0.000252949665909,-4.70579575381e-05,1793255951515254016
+87,1.450000000,BASELINE,794,761,734.513580627,736,694,658.513580627,928,810,836.486419373,671,642,673,0.400986808342,-0.0154083739515,0.0498529146358,0.999999966557,-3.69123998193e-05,-0.000251574958623,-4.72600473946e-05,1793255951531920896
+88,1.466666667,BASELINE,794,761,734.064557898,736,694,658.064557898,928.064557898,810,837,671,642,673,0.400987413259,-0.0154081401454,0.0498538778144,0.999999966844,-3.74290210937e-05,-0.000250332367459,-4.73767341573e-05,1793255951548587776
+89,1.483333333,BASELINE,794,761,734.639565994,736,694,658.639565994,928.639565994,810,837,671,642,673,0.400984596386,-0.015409733374,0.0498524506513,0.9999999658,-3.84884049342e-05,-0.0002543766776,-4.70224490883e-05,1793255951565254400
+90,1.500000000,BASELINE,794,761,735,736,694,659,928.784973242,810,837,671,642,673,0.400983722429,-0.0154109954382,0.0498519693598,0.999999965369,-3.94170689343e-05,-0.000255983202757,-4.66919584974e-05,1793255951581921024
+91,1.516666667,BASELINE,794,761,735,736,694,659,928.20875216,810,837,671,642,673,0.400986112114,-0.0154117012241,0.0498530769101,0.999999965989,-4.01261542742e-05,-0.000253494822711,-4.64014370642e-05,1793255951598587904
+92,1.533333333,BASELINE,794,761,735,736,694,658.623083987,928,810,836.623083987,671,642,673,0.400986024779,-0.0154112187899,0.049852627698,0.999999966059,-3.87735632612e-05,-0.000253385935253,-4.66324248041e-05,1793255951615254272
+93,1.550000000,BASELINE,794,761,735,736,694,658.032049046,928,810,836.032049046,671,642,673,0.400984530295,-0.0154100613502,0.0498512941185,0.999999965813,-3.62497725868e-05,-0.00025462879274,-4.71596721117e-05,1793255951631920640
+94,1.566666667,BASELINE,794,761,735,736,694,658.547535503,928,810,836.547535503,671,642.547535503,673,0.400986094628,-0.0154102008204,0.0498527844817,0.999999966253,-3.98373512298e-05,-0.000252356713407,-4.71559793474e-05,1793255951648587264
+95,1.583333333,BASELINE,794,761,735,736,694,659,928.12525326,810,836.87474674,671,642.87474674,673,0.40098744749,-0.015410747458,0.0498541012816,0.999999966579,-4.28073019659e-05,-0.00025059775924,-4.70234838074e-05,1793255951665253888
+96,1.600000000,BASELINE,794,761,735,736,694,659,928.698640954,810,836.301359046,671,642.301359046,673,0.400987416282,-0.0154124848322,0.0498542178214,0.999999966422,-4.23138504973e-05,-0.00025139570347,-4.65390671036e-05,1793255951681920768
+97,1.616666667,BASELINE,794,761,735,736,694,659,928.72690494,810,836,671.27309506,642,673,0.40098755322,-0.0154128354512,0.0498542822326,0.99999996648,-4.13351190259e-05,-0.000251374374918,-4.62861831929e-05,1793255951698587648
+98,1.633333333,BASELINE,794,761,735,736,694,659,928.151269477,810,836,671.848730523,642,673,0.400987876433,-0.0154116497939,0.0498542888947,0.999999966774,-3.98187842747e-05,-0.000250445438841,-4.62897961688e-05,1793255951715254016
+99,1.650000000,BASELINE,794,761,735,736,694,659,928,810,836,671.56320757,642,673,0.400987045404,-0.0154098999014,0.0498537037085,0.999999966715,-3.66285731013e-05,-0.000251133550178,-4.64886790399e-05,1793255951731921152
+100,1.666666667,BASELINE,794,761,735,736,694,659,928,810,836.02846984,671,642,673,0.400985838031,-0.0154080817341,0.0498529226883,0.999999966514,-3.31759677895e-05,-0.000252359105136,-4.67545377718e-05,1793255951748588544
+101,1.683333333,BASELINE,794,761,735,736,694,659,928,810,836.604491559,671,642,673,0.400985305664,-0.0154088186774,0.04985243278,0.999999966281,-3.61523863986e-05,-0.000252835181287,-4.69698139321e-05,1793255951765254656
+102,1.700000000,BASELINE,794,761,735,736.179939473,694,659,928.179939473,810,837,671,642.179939473,673,0.400985792132,-0.0154097688937,0.0498526731107,0.999999966328,-3.86543183283e-05,-0.000252271830305,-4.69904237696e-05,1793255951781920768
+103,1.716666667,BASELINE,794,761,735,736.75413009,694,659,928.75413009,810,837,671,642.75413009,673,0.400988510887,-0.0154111863957,0.0498545134105,0.999999967002,-4.01166396409e-05,-0.000249431072704,-4.65845155994e-05,1793255951798587392
+104,1.733333333,BASELINE,794,761,735,736.661791365,694,659,928.661791365,810,837,671,643,673,0.400988507448,-0.015411632131,0.0498545220029,0.999999966944,-4.02535191383e-05,-0.000249647392983,-4.65579972658e-05,1793255951815254016
+105,1.750000000,BASELINE,794,761,735,736.070307973,694,659,928.070307973,810,837,671,643,673,0.400986465437,-0.015411350138,0.0498531588823,0.999999966337,-3.93978133897e-05,-0.000252153070998,-4.6815593068e-05,1793255951831920640
+106,1.766666667,BASELINE,794,761,735,736,694,659,928,810,836.489311321,671,643,673,0.400988846773,-0.0154124848978,0.0498545246859,0.999999966889,-4.06076429319e-05,-0.000249825940651,-4.64728335478e-05,1793255951848587520
+107,1.783333333,POSE1_TO_POSE2_PRESS,794,761,735,737,694,659,928,810,837,671,642,673,0.400986848055,-0.0154103631653,0.0498535422203,0.999999966501,-3.85155198209e-05,-0.000251655410513,-4.67272170502e-05,1793255951891611904
+108,1.800000000,POSE1_TO_POSE2_PRESS,794.584993205,761,735,736.415006795,694.584993205,659,928.584993205,810,837,671,642,673,0.400987970012,-0.0154111017047,0.049854001545,0.999999966703,-3.98476907903e-05,-0.000250699148573,-4.6423507549e-05,1793255951908278528
+109,1.816666667,POSE1_TO_POSE2_PRESS,794.831313431,761,735,736,694.831313431,659,928.831313431,810,837,671.168686569,642,673,0.400988477404,-0.0154116618461,0.0498542046924,0.999999966797,-4.08632054731e-05,-0.000250191074626,-4.62667324958e-05,1793255951924945152
+110,1.833333333,POSE1_TO_POSE2_PRESS,794.250793394,761,735,736,694.250793394,659,928.250793394,810,837,671.749206606,642,673,0.400987484387,-0.0154117864445,0.0498537824058,0.999999966631,-4.11056318681e-05,-0.00025077721217,-4.64686849536e-05,1793255951941611520
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,761,735,736.328408578,694,659,928,810,837,671.671591422,642,673.328408578,0.400986898236,-0.0154113438363,0.0498535929982,0.99999996658,-4.00432494733e-05,-0.000251111510542,-4.66820031071e-05,1793255951958277888
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,761,735,736.90660798,694,659,928,810,837,671.09339202,642,673.90660798,0.400986621551,-0.0154104698052,0.0498535807208,0.999999966614,-3.7988416543e-05,-0.000251254257502,-4.69039661091e-05,1793255951974944768
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,761,735,736.517256723,694,659,928,810,836.517256723,671,642,673.517256723,0.400987408434,-0.0154116736356,0.0498537135848,0.999999966716,-3.99120847695e-05,-0.0002506048869,-4.66069971097e-05,1793255951991611136
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,836,671,642,673,0.400988294754,-0.0154129242318,0.0498538546596,0.999999966802,-4.21431651767e-05,-0.000249953939515,-4.62887655104e-05,1793255952008278016
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,836,671,642,673,0.400988248425,-0.0154110480931,0.0498538210575,0.999999966689,-4.03144845872e-05,-0.000250638698055,-4.66666530222e-05,1793255952024944640
+116,1.933333333,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,836,671,642,673,0.400992932383,-0.0154100033341,0.0498561233738,0.999999967563,-3.87002085643e-05,-0.000247400439669,-4.65850800944e-05,1793255952041611264
+117,1.950000000,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,836,671,642,673,0.401004860158,-0.0154102317246,0.0498620028439,0.999999969892,-3.74142652749e-05,-0.000238154593582,-4.57999035245e-05,1793255952058277888
+118,1.966666667,POSE1_TO_POSE2_PRESS,794,761,735,736.390421502,694,659,928,810,836,671.390421502,642.390421502,673,0.401030795287,-0.0154130846135,0.0498707873398,0.999999974041,-3.89065005598e-05,-0.000220022183123,-4.46505152401e-05,1793255952074944512
+119,1.983333333,POSE1_TO_POSE2_PRESS,794,761,735,736.966321822,694,659,928,810,836,671.966321822,642.966321822,673,0.401063384937,-0.0154171843315,0.0498809519364,0.999999978655,-4.17185740906e-05,-0.000197668002577,-4.33280996189e-05,1793255952091611136
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,761,735,737,694.540727007,659,928.540727007,810,836.540727007,671.459272993,643,673,0.401123239351,-0.0154187254059,0.0498987715323,0.999999985188,-4.12056646087e-05,-0.000161863382568,-4.15599952258e-05,1793255952108277760
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,761,735,737,694.881370327,659,928.881370327,810,836.881370327,671,642.881370327,673,0.401187718143,-0.0154212414899,0.0499160842164,0.999999989936,-4.1330884093e-05,-0.00012981209608,-3.96099220036e-05,1793255952124944384
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,761,735,737,694.289133696,659,928.289133696,810,836.289133696,671,642.289133696,673,0.40126389813,-0.015428284582,0.0499294749582,0.999999991572,-4.48282052441e-05,-0.00011608056886,-3.70438883119e-05,1793255952141611008
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,760.704859917,735,736.704859917,694.295140083,659,928,810,836.295140083,671,642.295140083,673,0.401347740717,-0.0154337128375,0.049939125197,0.999999993057,-4.60881356633e-05,-0.000102562798012,-3.5248217078e-05,1793255952158277888
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,760.128182038,735,736.128182038,694.871817962,659,928,810,836.871817962,671,642.871817962,673,0.401438892749,-0.0154376006799,0.0499452073227,0.999999994411,-4.52137910201e-05,-8.92489328511e-05,-3.41874043305e-05,1793255952174944768
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,760.446879028,735,736,694.553120972,659,928,810,837,671,642.553120972,673,0.401544968301,-0.0154449615967,0.0499491295228,0.99999999487,-4.69299631396e-05,-8.35068186952e-05,-3.29138751152e-05,1793255952191611392
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,837,671,642,673,0.401656091056,-0.0154532491462,0.0499523015165,0.999999995062,-4.93604859542e-05,-8.02590443879e-05,-3.15950942005e-05,1793255952208278016
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,837,671,642,673,0.401787352559,-0.0154598373416,0.0499520511988,0.999999994566,-5.11206580784e-05,-8.55174799712e-05,-3.0676605313e-05,1793255952224944640
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,837,671,642.175551622,673,0.401928389779,-0.0154676279016,0.0499512325997,0.999999993997,-5.3498394293e-05,-9.09243290371e-05,-2.96051154721e-05,1793255952241611008
+129,2.150000000,POSE1_TO_POSE2_PRESS,794,761,735,736,694,659,928,810,837,671,642.768918821,673,0.402092693343,-0.0154782801071,0.0499490614823,0.999999993285,-5.73459423461e-05,-9.66844037393e-05,-2.81694811273e-05,1793255952258277632
+130,2.166666667,POSE1_TO_POSE2_PRESS,794,761,735,736.353908858,694,659,928,810,837,671,643,673,0.40227784699,-0.01548775489,0.0499486254965,0.999999993077,-5.88466239276e-05,-9.82440117689e-05,-2.704270489e-05,1793255952274944512
+131,2.183333333,POSE1_TO_POSE2_PRESS,794,761,735,736.933555646,694,659,928,810,837,671,643,673,0.402476299714,-0.0154964786644,0.0499492962503,0.999999993211,-5.88503759052e-05,-9.71243863399e-05,-2.61129311827e-05,1793255952291611136
+132,2.200000000,POSE1_TO_POSE2_PRESS,794.508204354,761,735,736.491795646,694,659,928,810,837,671,643,673,0.402713854376,-0.0155088907857,0.0499553341161,0.999999993945,-6.04979230857e-05,-8.88666712245e-05,-2.35285082944e-05,1793255952308278016
+133,2.216666667,POSE1_TO_POSE2_PRESS,794.915507436,761,735,736.084492564,694,659.084492564,928.084492564,810,837,671,643,673,0.402961918075,-0.0155211807992,0.0499623055529,0.999999994833,-6.14001188359e-05,-7.8336679957e-05,-2.06601061595e-05,1793255952324944896
+134,2.233333333,POSE1_TO_POSE2_PRESS,794.325539407,761,735,736.674460593,694,659.674460593,928.674460593,810,837,671,643,673,0.403242565524,-0.0155298834917,0.0499707049559,0.999999996464,-5.65700559669e-05,-5.97416543163e-05,-1.73744143497e-05,1793255952341611264
+135,2.250000000,POSE1_TO_POSE2_PRESS,794.259634375,761,735,736.740365625,694,659.740365625,929,810,837,671,642.740365625,673,0.403545388999,-0.0155300159036,0.049977436035,0.999999998031,-4.05568062606e-05,-4.56707938821e-05,-1.44153386085e-05,1793255952358277888
+136,2.266666667,POSE1_TO_POSE2_PRESS,794.838905902,761,735,736.161094098,694,659.161094098,929,810,837,671,642.161094098,673,0.403875513473,-0.0155195974005,0.0499821132318,0.999999999181,-1.07758806539e-05,-3.71696565307e-05,-1.1858361704e-05,1793255952374944512
+137,2.283333333,POSE1_TO_POSE2_PRESS,794.585402767,761,735,736.414597233,694,659,928.585402767,810,836.585402767,671,642.414597233,673,0.404227479914,-0.0155127581886,0.0499872021282,0.999999999499,1.40238584362e-05,-2.66585588915e-05,-9.72222522822e-06,1793255952391611136
+138,2.300000000,POSE1_TO_POSE2_PRESS,794.011090645,761,735,736.988909355,694,659,928.011090645,810,836.011090645,671,642.988909355,673,0.404587860508,-0.0155072978238,0.049992449623,0.999999999171,3.69046991999e-05,-1.53731663973e-05,-7.74820875695e-06,1793255952408277760
+139,2.316666667,POSE1_TO_POSE2_PRESS,794.56388549,761,735,736.43611451,694,659,928,810,836.56388549,671,643,673,0.404985079913,-0.0155183681124,0.0499909750468,0.999999998886,4.46986584966e-05,-1.45885255558e-05,-4.25893107452e-06,1793255952424944640
+140,2.333333333,POSE1_TO_POSE2_PRESS,795,761,735,736,694,659,928,810,837,671,642.857023262,673,0.405382221013,-0.0155273536863,0.049984281871,0.999999998214,5.44175227785e-05,-2.46662017133e-05,-1.41334112268e-06,1793255952441611264
+141,2.350000000,POSE1_TO_POSE2_PRESS,795,761,735,736,694,659,928,810,837,671,642.265050308,673,0.405776838098,-0.0155287703143,0.0499616161741,0.999999995145,7.11141917365e-05,-6.82059508879e-05,-6.82853677684e-07,1793255952458278144
+142,2.366666667,POSE1_TO_POSE2_PRESS,795,761,735,736,694,659,928,810,837,671.319626456,642,673.319626456,0.406217953605,-0.0155271996356,0.0499431512119,0.999999990483,9.49477054039e-05,-0.00010009669621,3.35855168162e-07,1793255952474944768
+143,2.383333333,POSE1_TO_POSE2_PRESS,795,761,735,736,694,659,928,810,837,671.898387947,642,673.898387947,0.406696767441,-0.0155232070179,0.0499280919649,0.999999984732,0.000124567370534,-0.000122543093428,1.5882376872e-06,1793255952491611392
+144,2.400000000,POSE1_TO_POSE2_PRESS,794.527650149,761,735,736.472349851,694,659,928,810,836.527650149,671.527650149,642.472349851,673.527650149,0.407216797145,-0.0155228926051,0.0499301488075,0.999999981433,0.000152115114509,-0.00011818874,5.18069213297e-06,1793255952508277760
+145,2.416666667,POSE1_TO_POSE2_PRESS,794,761,735,736.953397179,694,659,928.046602821,810,836.046602821,671,642.953397179,673,0.407750687536,-0.0155236215283,0.0499375359151,0.99999997846,0.000178954555769,-0.000104724208162,9.43585293416e-06,1793255952524944384
+146,2.433333333,POSE1_TO_POSE2_PRESS,794,761,735,736.363844612,694,659,928.636155388,810,836.636155388,671,642.363844612,673,0.408343804057,-0.0155273800514,0.0499645575483,0.999999978006,0.000202682455321,-5.16152546684e-05,1.56060563421e-05,1793255952541611008
+147,2.450000000,POSE1_TO_POSE2_PRESS,794.221648884,761,735,736.221648884,694,659,929,810.221648884,837,671,642.221648884,673,0.408951049853,-0.0155314600724,0.0499867988944,0.999999974095,0.000226298839069,-1.13864512983e-05,2.16553862192e-05,1793255952558277632
+148,2.466666667,POSE1_TO_POSE2_PRESS,794.800599061,761,735,736.800599061,694,659,929,810.800599061,837,671,642.800599061,673,0.409581072216,-0.0155360583526,0.050001334345,0.999999968405,0.000249735457028,8.07935540494e-06,2.75098658581e-05,1793255952574944768
+149,2.483333333,POSE1_TO_POSE2_PRESS,794.623371873,761,735,736.623371873,694,659,928.623371873,811,837,671,642.623371873,673,0.410208615329,-0.0155380940247,0.049996821458,0.999999961417,0.000275881924614,-8.26654214247e-06,3.14286175507e-05,1793255952591612160
+150,2.500000000,POSE1_TO_POSE2_PRESS,794.048877466,761,735,736.048877466,694,659,928.048877466,811,837,671,642.048877466,673,0.410834855919,-0.0155387833984,0.049982301289,0.999999952426,0.000303452044361,-4.3426565347e-05,3.43304102205e-05,1793255952608279808
+151,2.516666667,POSE1_TO_POSE2_PRESS,794,761.525014943,735,736,694,659,928,810.474985057,837,671,642.525014943,673,0.411485555743,-0.015534787946,0.0499584616966,0.99999994014,0.000332258060955,-8.97629897441e-05,3.56003829074e-05,1793255952624945920
+152,2.533333333,POSE1_TO_POSE2_PRESS,794.102395805,761.897604195,735,736.102395805,694,659.102395805,928.102395805,810.102395805,837,671,643,673,0.412158452875,-0.015531959726,0.0499423973654,0.999999938005,0.000329490893237,-0.000118359875098,3.76263864615e-05,1793255952641612288
+153,2.550000000,POSE1_TO_POSE2_PRESS,794.696807638,761.303192362,735,736.696807638,694,659.696807638,928.696807638,810.696807638,837,671,643,673,0.412927079796,-0.0155368333987,0.0499678576306,0.999999982204,0.000174461045464,-5.67236512036e-05,4.40142849376e-05,1793255952658278400
+154,2.566666667,POSE1_TO_POSE2_PRESS,795,761,735.28182834,737,694,659.71817166,929,810.71817166,837,671,642.71817166,673,0.413690979905,-0.0155406336273,0.0499823343847,0.999999992637,0.000108122617055,-2.7416611258e-05,4.77906360668e-05,1793255952674944512
+155,2.583333333,POSE1_TO_POSE2_PRESS,795,761,735.857071885,737,694,659.142928115,929,810.142928115,837,671,642.142928115,673,0.414449958963,-0.0155433162798,0.0499853760634,0.999999989308,0.000134121980583,-3.17679050282e-05,4.88480725178e-05,1793255952691611136
+156,2.600000000,POSE1_TO_POSE2_PRESS,795,761,735.566781251,737,694,659.433218749,929,810.433218749,837,671,642.433218749,673,0.41522104335,-0.0155510809717,0.0499613261656,0.999999993567,8.17812221978e-05,-7.24689095499e-05,3.04158353802e-05,1793255952708277760
+157,2.616666667,POSE1_TO_POSE2_PRESS,795,761.009890202,735,737,694,659.990109798,929,811,837,671,643,673,0.415996994006,-0.0155604419612,0.049929109121,0.999999992296,5.47229875184e-06,-0.00012385876857,6.07272573468e-06,1793255952724944384
+158,2.633333333,POSE1_TO_POSE2_PRESS,795,761.599814712,735,737,694,659.400185288,929,811,837,671,643,673,0.416823625599,-0.0155648837063,0.0499432010126,0.999999994279,4.24650861016e-05,-9.73211951852e-05,1.29664458505e-05,1793255952741611008
+159,2.650000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,659.185843508,928.814156492,811,837.185843508,671,643,673,0.417663903337,-0.0155665710553,0.0499603692817,0.999999994431,8.04637917399e-05,-6.54766150868e-05,1.94069977997e-05,1793255952758277888
+160,2.666666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,659.763655693,928.236344307,811,837.763655693,671,643,673,0.418532962559,-0.0155624490165,0.0499840260391,0.999999992168,0.000120584110628,-2.24388537715e-05,2.48917574112e-05,1793255952774944512
+161,2.683333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928.338734543,811,838,671,643,673,0.419377085043,-0.0155600482487,0.049980373559,0.999999988562,0.000144968072247,-3.36086408958e-05,2.7022981051e-05,1793255952791611136
+162,2.700000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928.911921513,811,838,671,643,673,0.420203947725,-0.0155588388452,0.049957819206,0.999999983699,0.000158460237275,-8.22977544497e-05,2.68330811309e-05,1793255952808278016
+163,2.716666667,POSE1_TO_POSE2_PRESS,795,762,735,737.489881735,694,660,929,811,838,671,643,673,0.421163681758,-0.0155654623908,0.0499774630445,0.9999999894,0.000139418861234,-3.02039244392e-05,2.91448814183e-05,1793255952824944640
+164,2.733333333,POSE1_TO_POSE2_PRESS,795,762,735,737.93004443,694,660,928.93004443,811,838,671,643,673,0.42213616878,-0.0155723046514,0.0500017266829,0.999999991818,0.000119837829931,3.16528687476e-05,3.16488601595e-05,1793255952841611264
+165,2.750000000,POSE1_TO_POSE2_PRESS,795,762,735,737.340713024,694,660,928.340713024,811,838,671,643,673,0.423024227352,-0.0155702118982,0.0500034061656,0.999999989212,0.000140105484545,3.013787373e-05,3.22073458383e-05,1793255952858277632
+166,2.766666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838,671,643,673,0.423922278238,-0.0155701568795,0.0499981860741,0.999999987535,0.000153254180889,2.00952101645e-05,3.22433168188e-05,1793255952874944256
+167,2.783333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838,671,643,673,0.424834022977,-0.0155728944248,0.0499835106263,0.999999987231,0.000156646874309,-1.63399268269e-06,3.15632201313e-05,1793255952891611136
+168,2.800000000,POSE1_TO_POSE2_PRESS,795,762,735,737,693.598414027,660,928,811,838,671,642.598414027,673.401585973,0.425769923509,-0.0155749562776,0.0499919168729,0.999999989187,0.000143228078302,1.77041107496e-06,3.3294876884e-05,1793255952908278016
+169,2.816666667,POSE1_TO_POSE2_PRESS,795,762,735,737,693.024564733,660,928,811,838,671,642.024564733,673.975435267,0.426716185795,-0.015576728287,0.0500102241866,0.999999991707,0.00012259786728,1.59560656061e-05,3.606107343e-05,1793255952924944640
+170,2.833333333,POSE1_TO_POSE2_PRESS,795,762,735,737,693.562584055,660,928.562584055,811,838,671,642.562584055,673.437415945,0.427600282934,-0.0155681724524,0.0499852332049,0.999999987283,0.000149294673793,-4.40886903465e-05,3.46477355694e-05,1793255952941611264
+171,2.850000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928.851816212,811,838,671,643,673,0.428502231987,-0.0155618747199,0.0499626789734,0.999999980576,0.000172524223726,-8.93745767146e-05,3.30922427092e-05,1793255952958277888
+172,2.866666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928.272454513,811,838,671,643,673,0.429464215043,-0.0155634914433,0.0499528493964,0.999999980021,0.00017950635483,-8.20563776146e-05,3.16669888059e-05,1793255952974944768
+173,2.883333333,POSE1_TO_POSE2_PRESS,795.306627541,762,735,737,694,660.306627541,928,811,838,671,642.693372459,673,0.430408639698,-0.015566258517,0.049948574752,0.999999982495,0.00016642037039,-7.95392067571e-05,3.14338772739e-05,1793255952991611392
+174,2.900000000,POSE1_TO_POSE2_PRESS,795.885461313,762,735,737,694,660.885461313,928,811,838,671,642.114538687,673,0.431337476967,-0.0155700468053,0.0499492314566,0.999999986993,0.000135519070931,-8.12841119676e-05,3.22590809771e-05,1793255953008278016
+175,2.916666667,POSE1_TO_POSE2_PRESS,795.539223687,762,735,737,694,660.539223687,928,811,838,671,642.460776313,673,0.432257085071,-0.0155678786587,0.0499384985724,0.999999984512,0.000144456763832,-9.55022623242e-05,3.14348669383e-05,1793255953024945152
+176,2.933333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838.036089795,671,643,673.036089795,0.433176489359,-0.0155643953215,0.0499275739338,0.999999980288,0.000163074306488,-0.00010910292324,3.04599449167e-05,1793255953041612032
+177,2.950000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838.624668262,671,643,673.624668262,0.434127627003,-0.0155632729723,0.0499567273294,0.999999981158,0.000179423383341,-6.61445560919e-05,3.34070126989e-05,1793255953058278656
+178,2.966666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838.789955808,671,643,673.789955808,0.435049792614,-0.0155613421236,0.0499727103668,0.999999979195,0.000194718111493,-4.9143738512e-05,3.5761071984e-05,1793255953074945024
+179,2.983333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660,928,811,838.210216513,671,643,673.210216513,0.435920965214,-0.0155579882491,0.0499655124924,0.999999974619,0.000208157102089,-7.78303423228e-05,3.70713879664e-05,1793255953091611392
+180,3.000000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660.366775919,928,811,838,671,642.633224081,673,0.436799298932,-0.0155550685576,0.0499584624318,0.999999976622,0.00019307400813,-9.01509979752e-05,3.67517595528e-05,1793255953108278016
+181,3.016666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660.942205664,928,811,838,671,642.057794336,673,0.437681706461,-0.0155523958672,0.049951496461,0.999999981946,0.000161765087749,-9.3161286804e-05,3.55048778721e-05,1793255953124944640
+182,3.033333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,661,928,811,838,671,642.51768002,673,0.438575320008,-0.0155540535653,0.0499685185946,0.999999981902,0.000176581148954,-6.01282376804e-05,3.74135073574e-05,1793255953141611264
+183,3.050000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,661,928,811,838,671,642.904320345,673,0.439458876471,-0.0155558307958,0.0499824385377,0.99999997978,0.000194550471183,-3.27289270621e-05,3.89632873528e-05,1793255953158277632
+184,3.066666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,661,928,811,838,671,642.313272213,673,0.440283886016,-0.015555723681,0.0499664308361,0.999999977352,0.000202182545054,-5.53326119983e-05,3.68311100672e-05,1793255953174944768
+185,3.083333333,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660.72789602,928,811,838,671,642.27210398,673,0.4411091857,-0.0155576128715,0.0499628817681,0.999999976894,0.000203507249849,-5.88422970261e-05,3.65350674088e-05,1793255953191611904
+186,3.100000000,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660.148916606,928,811,838,671,642.851083394,673,0.441934812545,-0.0155617534698,0.0499733833908,0.999999978887,0.000197718582962,-4.08180085049e-05,3.8309794354e-05,1793255953208278784
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,762,735,737,694,660.425083793,928,811,838.425083793,671,643,673,0.442722131417,-0.0155616826319,0.0499869854762,0.999999982198,0.000183881674408,-1.49163619613e-05,3.96096475692e-05,1793255953224945152
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+189,3.150000000,POSE1_TO_POSE2_PRESS,795,762,735.57302496,737,694,661,928,810.42697504,838.42697504,671,643,673,0.444158817978,-0.0155587196788,0.0499530620502,0.999999980629,0.000176371626469,-7.86585945959e-05,3.80429304821e-05,1793255953258277632
+190,3.166666667,POSE1_TO_POSE2_PRESS,795,762,735.846382662,737,693.846382662,660.846382662,928,810,838.153617338,671,642.846382662,673,0.444830826503,-0.0155593233137,0.0499101445999,0.999999971188,0.000183296182432,-0.000150892730306,3.54784409601e-05,1793255953274944256
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+192,3.200000000,POSE1_TO_POSE2_PRESS,795,762,735.33220595,737,693.33220595,660,928,810,839,671,642,673,0.446208013944,-0.01557361425,0.0498730639964,0.999999968751,0.000182594038625,-0.000167519063341,3.30974720815e-05,1793255953308277760
+193,3.216666667,POSE1_TO_POSE2_PRESS,795,762,735.908171633,737,693.908171633,660,928,810,839,671,642,673,0.446867443979,-0.015582469604,0.0498723431437,0.999999969527,0.000180645226712,-0.000164751212436,3.41961481685e-05,1793255953324944384
+194,3.233333333,POSE1_TO_POSE2_PRESS,795,762.483093298,736,737,693.516906702,660,928,809.516906702,839,671,642,673,0.447444668794,-0.0155923409283,0.049840849653,0.999999961005,0.000176265007169,-0.00021405621364,3.31846501497e-05,1793255953341611776
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+196,3.266666667,POSE1_TO_POSE2_PRESS,795.63374167,762.36625833,736,737,693,660,928,809.63374167,838.36625833,671,641.36625833,673.63374167,0.448562397177,-0.0156057944992,0.0497851324744,0.99999993826,0.000174317652615,-0.000303405632021,3.22143609045e-05,1793255953374945024
+197,3.283333333,POSE1_TO_POSE2_PRESS,796,762.214825848,736.214825848,737,693,659.785174152,928,809.785174152,838.214825848,671,641,673.785174152,0.449118356076,-0.0156096087465,0.0497793572042,0.999999934229,0.000177356816976,-0.000314605364987,3.33244005037e-05,1793255953391611136
+198,3.300000000,POSE1_TO_POSE2_PRESS,796,762.805119403,736.805119403,737,693,659.194880597,928,809.194880597,838.805119403,671,641,673.194880597,0.449673191144,-0.0156130990033,0.049798650559,0.999999941337,0.000181885394592,-0.000288018427055,3.58990343925e-05,1793255953408277760
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+219,3.650000000,POSE1_TO_POSE2_PRESS,796,763,736.014902253,737,693,658,928,807,839,672,638,673.014902253,0.455450335292,-0.0156525792745,0.0496877489567,0.999999883634,5.13233933638e-05,-0.000479366688591,1.74655400645e-05,1793255953758278656
+220,3.666666667,POSE1_TO_POSE2_PRESS,795.425215843,762.425215843,736,737,693,658,928.574784157,807,839,672,638,673.574784157,0.455523355797,-0.0156545085157,0.049687597972,0.999999883371,5.01434555013e-05,-0.00048001590289,1.81087966833e-05,1793255953774945280
+221,3.683333333,POSE1_TO_POSE2_PRESS,795.161935588,762.161935588,736,737,693,658,928.838064412,807,839,672,638,674,0.45558967312,-0.0156560415297,0.0496868921904,0.999999882655,4.93787868632e-05,-0.000481568541069,1.85497392202e-05,1793255953791611904
+222,3.700000000,POSE1_TO_POSE2_PRESS,795.741362501,762.741362501,736,737,693,658,928.258637499,807,839,672,638,674,0.455640221732,-0.015656702879,0.0496847877582,0.999999880801,4.95571059066e-05,-0.00048538853812,1.8459641068e-05,1793255953808278272
+223,3.716666667,POSE1_TO_POSE2_PRESS,796,763,736.319026241,737,693,658,928,807,839,672,638,674,0.455683004319,-0.0156563651494,0.0496818700745,0.999999878861,5.07923502712e-05,-0.000489248068969,1.82937255215e-05,1793255953824944896
+224,3.733333333,POSE1_TO_POSE2_PRESS,796,763,736.895268482,737,693,658,928,807,839,672,638,674,0.455719525527,-0.0156552219089,0.0496782967036,0.999999876845,5.28797443125e-05,-0.000493139474489,1.80666819319e-05,1793255953841611520
+225,3.750000000,POSE1_TO_POSE2_PRESS,795.53003906,763,737,737,693,657.53003906,928,807,839,671.53003906,638,674,0.455745354482,-0.0156548330433,0.0496755278299,0.999999874769,5.22460318204e-05,-0.000497399178791,1.80809959416e-05,1793255953858278144
+226,3.766666667,POSE1_TO_POSE2_PRESS,795.045507962,763,737,737.045507962,693,657,928.045507962,807,839,671.045507962,637.954492038,674,0.455768073044,-0.0156545959967,0.0496729878025,0.999999872685,5.11255619702e-05,-0.000501687263431,1.80738920072e-05,1793255953874944768
+227,3.783333333,POSE1_TO_POSE2_PRESS,795.635395849,763,737,737.635395849,693,657,928.635395849,807,839,671.635395849,637.364604151,674,0.455781994067,-0.0156541706384,0.0496710477079,0.999999870849,5.1412482935e-05,-0.00050533625558,1.71692798277e-05,1793255953891611392
+228,3.800000000,POSE1_TO_POSE2_PRESS,796,763,736.77836332,737.77836332,693,657,928.77836332,807,839,672,637.22163668,674,0.455794665765,-0.0156537457599,0.0496699628397,0.999999869888,5.20382972673e-05,-0.000507179683362,1.68595118915e-05,1793255953908278272
+229,3.816666667,POSE1_TO_POSE2_PRESS,796,763,736.198025,737.198025,693,657,928.198025,807,839,672,637.801975,674,0.455805315527,-0.0156533216579,0.0496702620885,0.999999870362,5.32125840051e-05,-0.000506100946163,1.75124529149e-05,1793255953924945152
+230,3.833333333,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,807,839,672,638,674,0.455809807665,-0.0156516694247,0.0496682748301,0.999999868707,5.41770279184e-05,-0.00050926951154,1.72047236309e-05,1793255953941611520
+231,3.850000000,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,807,839,672,638,674,0.455811110369,-0.0156493810623,0.0496651032405,0.999999865925,5.50327805212e-05,-0.000514638031708,1.6399400574e-05,1793255953958278144
+232,3.866666667,POSE1_TO_POSE2_PRESS,796,763,736.539325435,737,693,657,928,806.460674565,839,672,638,674,0.455816871593,-0.0156477077597,0.049666662958,0.999999867545,5.68375232728e-05,-0.00051129195371,1.61154066973e-05,1793255953974945024
+233,3.883333333,POSE1_TO_POSE2_PRESS,796,763,737,737,693,657.124154383,928,806,839,672,638,674,0.455821268272,-0.0156467643922,0.049667624402,0.999999868532,5.81048326735e-05,-0.000509216230049,1.61117430545e-05,1793255953991611392
+234,3.900000000,POSE1_TO_POSE2_PRESS,796,763,737,737,693,657.70434722,928,806,839,672,638,674,0.45581923271,-0.015648306292,0.0496648813513,0.999999865829,5.70958074622e-05,-0.000514582354679,1.69717306249e-05,1793255954008277760
+235,3.916666667,POSE1_TO_POSE2_PRESS,796,763,736.716821755,737,693,657.716821755,928,806,839,672,638,674,0.4558185294,-0.0156477485075,0.0496627757328,0.999999864407,5.7334452557e-05,-0.000517306675371,1.71281264554e-05,1793255954024944640
+236,3.933333333,POSE1_TO_POSE2_PRESS,796,763,736.139405658,737,693,657.139405658,928,806,839,672,638,674,0.455819210375,-0.0156450090351,0.0496613324411,0.999999864338,5.88694959607e-05,-0.000517286016376,1.65534516727e-05,1793255954041611264
+237,3.950000000,POSE1_TO_POSE2_PRESS,796,763,736.436136927,737,693,657.436136927,928,806.436136927,839,672,637.563863073,674,0.455819479025,-0.0156461847598,0.049661616965,0.999999864488,5.67748985945e-05,-0.000517230680894,1.65393781086e-05,1793255954058278144
+238,3.966666667,POSE1_TO_POSE2_PRESS,796,763,736.988645053,737,693,657.988645053,928,807,839,672,637.011354947,674,0.455819618923,-0.0156485440341,0.049662431713,0.999999864681,5.36167872786e-05,-0.000517188352602,1.66955316438e-05,1793255954074945024
+239,3.983333333,POSE1_TO_POSE2_PRESS,796,763,736.399601413,737,693,657.399601413,928,807,839,672,637.600398587,674,0.455819884874,-0.0156477215161,0.049662244824,0.999999863992,5.51235655267e-05,-0.000518369258887,1.64347330689e-05,1793255954091611392
+240,4.000000000,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,806.813912859,839,672,637.813912859,674,0.455819954846,-0.0156471284402,0.0496619763838,0.99999986349,5.57073460636e-05,-0.000519277975563,1.63590380226e-05,1793255954108278016
+241,4.016666667,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,806.235301414,839,672,637.235301414,674,0.455819611429,-0.0156470193394,0.0496615359231,0.999999863386,5.43441943885e-05,-0.000519612546988,1.66737925037e-05,1793255954124944640
+242,4.033333333,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,806,839,672,637,674,0.455819410041,-0.0156469175978,0.0496607943373,0.999999863029,5.45528760747e-05,-0.0005202819627,1.65399079056e-05,1793255954141611264
+243,4.050000000,POSE1_TO_POSE2_PRESS,796,763,736,737,693,657,928,806,839,672,637,674,0.455819305999,-0.0156468209,0.0496598463633,0.999999862497,5.5838877275e-05,-0.000521180877447,1.60985303872e-05,1793255954158277888
+244,4.066666667,POSE1_TO_POSE2_PRESS,796,763,736.492515494,737,693,657,928,806.492515494,839,672,637,674,0.455818318721,-0.0156471103728,0.0496586552829,0.99999986182,5.44442974612e-05,-0.000522626194936,1.60313304582e-05,1793255954174944512
+245,4.083333333,POSE1_TO_POSE2_PRESS,796,763,737,737.067625469,693,657,928,806.932374531,839,672,637,674,0.455817492056,-0.0156474317898,0.0496577703825,0.99999986129,5.29928498007e-05,-0.000523787004816,1.60696677124e-05,1793255954191611136
+246,4.100000000,POSE1_TO_POSE2_PRESS,796,763,737,737.658639619,693,657,928,806.341360381,839,672,637,674,0.455819026296,-0.0156475116938,0.0496595628494,0.99999986211,5.44938685959e-05,-0.000522054323592,1.64512457155e-05,1793255954208277760
+247,4.116666667,HOLD_POSE2,796,763,737,737,693,658,928,806,839,672,637,674,0.45582076188,-0.0156471321782,0.0496598155029,0.999999862579,5.15661301464e-05,-0.000521463440087,1.61068904693e-05,1793255954246604800
+248,4.133333333,HOLD_POSE2,796,763,737,737,693,657.423569084,928,806.576430916,839,672,637.576430916,674,0.455820479749,-0.0156467620723,0.0496591749748,0.999999862135,5.14128654924e-05,-0.000522336293017,1.58601577216e-05,1793255954263271424
+249,4.150000000,HOLD_POSE2,796,763,737,737,693,657,928,806.844985073,839,672,637.844985073,674,0.455820092255,-0.0156467202802,0.0496586904993,0.9999998617,5.14763138848e-05,-0.000523163596769,1.58135785475e-05,1793255954279938048
+250,4.166666667,HOLD_POSE2,796,763,737,737,693,657,928,806.260434861,839,672,637.260434861,674,0.455819412812,-0.0156475882224,0.0496586384342,0.99999986129,5.2140258608e-05,-0.000523864687203,1.63216105672e-05,1793255954296604672
+251,4.183333333,HOLD_POSE2,796,763,736.689989176,737.310010824,693.310010824,657,928,806,839,672,637.310010824,674,0.455819354021,-0.0156483199137,0.0496589114541,0.999999861333,5.19515635251e-05,-0.000523787299415,1.68087444708e-05,1793255954313271296
+252,4.200000000,HOLD_POSE2,796,763,736.130876869,737.869123131,693.869123131,657,928,806,839,672,637.869123131,674,0.455819793938,-0.0156489421242,0.0496594456879,0.999999861738,5.10777508999e-05,-0.000523084384778,1.72790861828e-05,1793255954329938176
+253,4.216666667,HOLD_POSE2,796,763,736,737.540829484,693.540829484,657,928,806,839,672,637.540829484,674,0.455819647828,-0.0156476580788,0.0496583719883,0.999999861169,5.19717465253e-05,-0.000524101525054,1.66791201531e-05,1793255954346604800
+254,4.233333333,HOLD_POSE2,796,763,736,737,693,657,928,806.056413672,839,672,637,674,0.45581945621,-0.0156461727276,0.0496569929698,0.999999860442,5.30369012135e-05,-0.000525406708818,1.58575984471e-05,1793255954363271680
+255,4.250000000,HOLD_POSE2,796,763,736,737,693,657,928,806.632837776,839,672,637,674,0.455820496026,-0.0156482019613,0.0496573293487,0.999999861025,5.0699609418e-05,-0.00052452139208,1.60090224261e-05,1793255954379938304
+256,4.266666667,HOLD_POSE2,796,763,736.213379081,737,693,657.213379081,928,806.786620919,839,672,637.213379081,674,0.455821083789,-0.0156488563477,0.0496575128587,0.999999861345,4.97383753611e-05,-0.000523999043974,1.6173133186e-05,1793255954396604928
+257,4.283333333,HOLD_POSE2,796,763,736.801144195,737,693,657.801144195,928,806.198855805,839,672,637.801144195,674,0.455820878396,-0.0156470984841,0.0496574281513,0.999999861208,5.11915150557e-05,-0.000524113545588,1.63595036265e-05,1793255954413271296
+258,4.300000000,HOLD_POSE2,796,763,737,737.383586371,693,657.616413629,928,806,839,672,637.616413629,674,0.455820978271,-0.0156471567237,0.0496577439092,0.999999861024,5.11566281051e-05,-0.000524467576249,1.63818441306e-05,1793255954429937920
+259,4.316666667,HOLD_POSE2,796,763,737,737.963306892,693,657.036693108,928,806,839,672,637.036693108,674,0.455821234232,-0.0156481435672,0.0496582644315,0.999999860816,5.0360888286e-05,-0.000524944082144,1.63203133919e-05,1793255954446604544
+260,4.333333333,HOLD_POSE2,796,763,737,738,693,657.54034296,928,806.54034296,839,672,637.54034296,674,0.455820995547,-0.015647629035,0.0496572630195,0.999999860605,5.13419776965e-05,-0.000525244113907,1.65293570925e-05,1793255954463271424
+261,4.350000000,HOLD_POSE2,796,763,737,737.883236849,693,657.883236849,928,806.883236849,839,672,637.883236849,674,0.455820858305,-0.0156473175211,0.049656612881,0.999999860477,5.23105387193e-05,-0.00052538109792,1.68721472571e-05,1793255954479938048
+262,4.366666667,HOLD_POSE2,796,763,737,737.308520568,693,657.308520568,928,806.308520568,839,672,637.308520568,674,0.455821250023,-0.0156482001533,0.0496577438037,0.999999860679,5.27590683153e-05,-0.000524925366594,1.76677928195e-05,1793255954496604672
+263,4.383333333,POSE2_TO_POSE3_RETREAT,796,763,736,737,693,657,928,807,839,672,637,674,0.455819298535,-0.0156456671397,0.0496568030128,0.999999859805,5.75459858828e-05,-0.000526110674834,1.68907986929e-05,1793255954533841408
+264,4.400000000,POSE2_TO_POSE3_RETREAT,796,763,736.57364828,737,693,657,928,806.42635172,839,672,637,674,0.455821264452,-0.0156455670805,0.0496581828357,0.999999860751,5.45175912188e-05,-0.000524640216737,1.66599832786e-05,1793255954550508288
+265,4.416666667,POSE2_TO_POSE3_RETREAT,796,763,737,737,693,657,928,806.147529984,839,672,637,674,0.455822315873,-0.015645470424,0.0496589016256,0.999999861199,5.24648032084e-05,-0.000524000530116,1.64977663566e-05,1793255954567174912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,796,763,737,737,693,657,928,806.722087469,839,672,637,674,0.455820720274,-0.0156453836165,0.0496577070469,0.999999860232,5.32359209195e-05,-0.000525765522248,1.65341086281e-05,1793255954583842304
+267,4.450000000,POSE2_TO_POSE3_RETREAT,796,763,737,737,693,657,928,806.6940552,839,672,637.3059448,674,0.455819977073,-0.0156452319537,0.0496570323014,0.999999859734,5.28903257515e-05,-0.000526751959131,1.63464781455e-05,1793255954600508672
+268,4.466666667,POSE2_TO_POSE3_RETREAT,796,763,737,737,693,657,928,806.101485323,839,672,637.898514677,674,0.455820032444,-0.015645019531,0.0496568445629,0.999999859678,5.14985355516e-05,-0.000527009004664,1.59490182799e-05,1793255954617174528
+269,4.483333333,POSE2_TO_POSE3_RETREAT,796,763,737,737,693,657.481232072,928,806,839,672,637.518767928,674,0.45582161842,-0.0156460180421,0.0496580148523,0.999999860593,5.04780422138e-05,-0.000525364054768,1.60882712972e-05,1793255954633841408
+270,4.500000000,POSE2_TO_POSE3_RETREAT,796,763,736.938997306,737,693,657.938997306,928,806,839,672,637,674,0.455823229605,-0.0156468553186,0.0496591634917,0.999999861489,4.99866477756e-05,-0.000523697029203,1.62827147812e-05,1793255954650508544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,796,763,736.366857382,737,693,657.366857382,928,806,839,672,637,674,0.455822401702,-0.0156442448273,0.0496577792316,0.999999860567,5.3285615601e-05,-0.000525138436524,1.6010249166e-05,1793255954667174912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,796,763,736.20709378,737,693,657,928,806,839,672,637,674,0.455819526723,-0.0156433428424,0.0496558596301,0.99999985928,5.44096223942e-05,-0.00052747122945,1.59409435185e-05,1793255954683841536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,796,763,736.784281716,737,693,657,928,806,839,672,637,674,0.455812993446,-0.0156454941036,0.0496529833281,0.999999857343,5.16467889485e-05,-0.000531397003921,1.62347019984e-05,1793255954700507904
+274,4.566666667,POSE2_TO_POSE3_RETREAT,796,763,736.629375971,737.370624029,693,657,928,806,839,672,637,674,0.455794415716,-0.0156454409794,0.049644192811,0.99999984992,5.06006483561e-05,-0.000545303704617,1.55714255194e-05,1793255954717174272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,796,763,736.037570442,737.962429558,693,657,928,806,839,672,637,674,0.455768650081,-0.0156440723195,0.0496318728004,0.999999838911,5.05789977268e-05,-0.000565166835943,1.43370084685e-05,1793255954733840896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,796,763,736,737.458885848,693,657,928,806.541114152,839,672,637,674,0.455717718911,-0.0156405188281,0.0496113490382,0.999999818927,5.25876041345e-05,-0.00059935906755,1.217545681e-05,1793255954750507520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,796,763,736.109320263,737,693,657,928,806.890679737,839,672,637,674,0.455662621111,-0.0156369457981,0.0495915004635,0.999999799989,5.42585032703e-05,-0.000630060581483,1.00864163507e-05,1793255954767174144
+278,4.633333333,POSE2_TO_POSE3_RETREAT,796,763,736.640521222,737,693,657,928,806.359478778,839,672,637,674,0.455598027101,-0.0156338689217,0.049576403635,0.999999791427,5.40950286792e-05,-0.000643542464702,8.51974555085e-06,1793255954783841024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,796,763,736.797818219,737,693,657.202181781,928,806.202181781,839,672,637.202181781,674,0.455527086487,-0.0156291831501,0.0495640077642,0.999999782536,5.537500308e-05,-0.000657125470701,6.96845555255e-06,1793255954800507904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,796,763,736.172394355,737,693,657.827605645,928,806.827605645,839,672,637.827605645,674,0.455442860058,-0.0156211293595,0.0495572660089,0.999999773138,5.96766560795e-05,-0.000670920163813,5.44936341977e-06,1793255954817174784
+281,4.683333333,POSE2_TO_POSE3_RETREAT,796.43133004,763,736.43133004,737,693,657.56866996,928.43133004,807,839,672,637.56866996,674,0.455348131211,-0.0156161350279,0.0495556765519,0.999999770805,6.13877016079e-05,-0.000674240198225,4.73889387302e-06,1793255954833841664
+282,4.700000000,POSE2_TO_POSE3_RETREAT,796.974093052,763,737,737.025906948,693,657,928.974093052,806.974093052,839,672,637,673.974093052,0.455248462586,-0.0156121046734,0.04955611772,0.999999771246,6.22921561986e-05,-0.000673504579941,4.33009565364e-06,1793255954850508032
+283,4.716666667,POSE2_TO_POSE3_RETREAT,796.398403844,763,737,737.601596156,693,657,928.398403844,806.398403844,839,672,637,673.398403844,0.45512877741,-0.015603824533,0.0495580441041,0.999999772433,6.70001324047e-05,-0.000671290663108,3.79313591343e-06,1793255954867174400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,796,762.823002119,737,737.823002119,693,657.176997881,928.176997881,806,839,671.823002119,637.176997881,673.176997881,0.45500079115,-0.0155953745275,0.0495599288374,0.999999774403,7.1212183322e-05,-0.000667916761181,3.22411815576e-06,1793255954883841024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,796,762.248246516,737,737.248246516,693,657.751753484,928.751753484,806,839,671.248246516,637.751753484,673.751753484,0.454854150333,-0.0155865427946,0.0495617199708,0.999999778156,7.43097676481e-05,-0.000661936088089,2.58305822971e-06,1793255954900507904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,796,762.335630553,737,737.335630553,693,658,928.664369447,806,839,671.335630553,638,674,0.45469153283,-0.0155771619597,0.0495625275479,0.999999780648,7.94757161248e-05,-0.000657559097182,1.77632452344e-06,1793255954917174528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,796,762.92644278,737,737.92644278,693,658,928.07355722,806,839,671.92644278,638,674,0.454516768155,-0.0155673636385,0.0495625873222,0.999999782163,8.62142530665e-05,-0.000654401393628,8.4362810324e-07,1793255954933841152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,796,763,736.494526253,738,693,657.494526253,928,806.505473747,839,672,638,674,0.454304361084,-0.0155584738086,0.0495650605966,0.999999781953,8.76114823523e-05,-0.000654536611214,9.03630826834e-08,1793255954950508288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,796,763,736.082996602,738,693,657.082996602,928.082996602,807,839,672,638,674,0.45408427398,-0.0155499212348,0.0495695044685,0.999999783647,8.79015674378e-05,-0.000651904836515,-5.19159381684e-07,1793255954967174912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,796,763,736.661518344,738,693,657.661518344,928.661518344,807,839,672,638,674,0.453850293449,-0.0155426108785,0.0495836645019,0.999999797869,8.61164905221e-05,-0.000629957129034,-4.22821408578e-07,1793255954983841280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,796,762.756867379,736.756867379,738,693,658,929,807,839,672,638,673.756867379,0.453601101348,-0.0155358571405,0.049597461427,0.999999810737,8.36650318571e-05,-0.000609528948299,-8.0946714542e-07,1793255955000507648
+292,4.866666667,POSE2_TO_POSE3_RETREAT,796,762.170892338,736.170892338,738,693,658,929,807,839,672,638,673.170892338,0.453330459356,-0.0155298882926,0.0496107463304,0.999999821992,8.0273905377e-05,-0.000591243460674,-1.87717042296e-06,1793255955017174528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,796,762.410475717,736,737.589524283,693,658,928.589524283,807,839,672,638.410475717,673.410475717,0.453015225306,-0.0155276707449,0.0496204102808,0.99999982821,7.15999085206e-05,-0.000581761531127,-2.71093837332e-06,1793255955033841152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,796,762.989947031,736,737.010052969,693,658,928.010052969,807,839,672,638.989947031,673.989947031,0.452681632413,-0.0155269976326,0.0496285834604,0.999999832316,6.07509186973e-05,-0.00057590408572,-3.44839355915e-06,1793255955050507776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,796,763,736,737,693,658,928.572493773,807,838.427506227,672,639,674,0.452312275357,-0.0155233908725,0.0496338342483,0.999999832437,5.25808587616e-05,-0.00057648804807,-4.8699682089e-06,1793255955067174656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,796,763,736,737,693,658,928.849374396,807.150625604,838,672,639,673.849374396,0.451925324971,-0.0155184679881,0.0496362385391,0.999999831278,4.49519057097e-05,-0.000579118594383,-6.77828271452e-06,1793255955083841280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,796,763,736,737,693,658,928.283561663,807.716438337,838,672,639,673.283561663,0.451491620503,-0.0155100600792,0.0496309389086,0.999999826872,3.86841032894e-05,-0.000587076916724,-9.99496347998e-06,1793255955100507648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,796,762.703793408,736.296206592,737,693,658,928.296206592,808,838.296206592,672,639.296206592,673.296206592,0.451051890044,-0.0155032643361,0.0496263709029,0.999999826486,3.03240370063e-05,-0.000588160943387,-1.3234991083e-05,1793255955117174528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,796,762.11000476,736.88999524,737,693,658,928.88999524,808,838.88999524,672,639.88999524,673.88999524,0.450606105562,-0.0154980882442,0.0496225379188,0.999999830107,1.98619904768e-05,-0.000582338753858,-1.64984743233e-05,1793255955133841152
+300,5.000000000,POSE2_TO_POSE3_RETREAT,796,762,736.528130534,737,693,658,929,808,839,672,640,674,0.450146989181,-0.0154904696861,0.049643262518,0.99999985322,1.23194529119e-05,-0.000541365772417,-1.8187136992e-05,1793255955150508032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,796,762.050490298,736,737,693.050490298,658,928.949509702,808,838.949509702,672,640.050490298,674,0.449679163954,-0.0154819039038,0.0496691758685,0.999999877961,5.70834181004e-06,-0.000493621168049,-1.96039846863e-05,1793255955167174912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,796,762.623479402,736,737,693.623479402,658,928.376520598,808,838.376520598,672,640.623479402,674,0.449152586013,-0.015469283095,0.0496909989673,0.999999894641,1.86624218612e-06,-0.000458513176752,-2.19136418666e-05,1793255955183841280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,796.197092118,762.802907882,736,737,694,658.197092118,928.197092118,808.197092118,838,672,641,674,0.448604800772,-0.0154580749857,0.0497037948912,0.999999903944,-5.0056707567e-06,-0.00043757406642,-2.48192571845e-05,1793255955200507648
+304,5.066666667,POSE2_TO_POSE3_RETREAT,796.771899919,762.228100081,736,737,694,658.771899919,928.771899919,808.771899919,838,672,641,674,0.448016372996,-0.0154495742347,0.0496992907536,0.999999900953,-1.76840460184e-05,-0.000443788802552,-2.8866991817e-05,1793255955217174528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,796.641537104,762.358462896,736,737,693.641537104,659,929,809,838,671.641537104,641,673.641537104,0.447399649784,-0.0154406254698,0.0496861864035,0.999999893115,-3.06128868907e-05,-0.000460086972737,-3.39507629718e-05,1793255955233841408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,796.047240384,762.952759616,736,737,693.047240384,659,929,809,838,671.047240384,641,673.047240384,0.446764310941,-0.0154313819557,0.0496674239477,0.999999881602,-4.37065093302e-05,-0.000483019064214,-3.97161455119e-05,1793255955250508544
+307,5.116666667,POSE2_TO_POSE3_RETREAT,796,762.466746861,736,737,693,659,929,809.533253139,838,671,641.533253139,673,0.446091311084,-0.0154204102387,0.0496599902259,0.999999873974,-5.6768379693e-05,-0.000496859542315,-4.42784091175e-05,1793255955267175168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,796,762,736,737,693.110353869,659.110353869,929,810,838,671,642,673,0.44541855498,-0.0154103607082,0.0496639697451,0.999999874392,-7.01038129322e-05,-0.000493991035376,-4.76873972791e-05,1793255955283841536
+309,5.150000000,POSE2_TO_POSE3_RETREAT,796,762,736,737,693.678327923,659.678327923,929,810,838,671,642,673,0.444760296108,-0.0154047542049,0.0497112214159,0.99999990498,-8.45850351394e-05,-0.000425088650611,-4.67447633688e-05,1793255955300507904
+310,5.166666667,POSE2_TO_POSE3_RETREAT,796,762,736,737,694,660,929,810,838,671.258291635,642,673.258291635,0.444073810336,-0.015400249121,0.0497493468776,0.999999924595,-0.000100148218353,-0.000372316257525,-4.64843885444e-05,1793255955317174528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,796,762,736,737,694,660,929,810,838,671.853914004,642,673.853914004,0.443350459938,-0.0153971824977,0.0497755534508,0.999999934024,-0.000117124452785,-0.000340609741823,-4.71150490577e-05,1793255955333841152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,796,762,736,737.436331173,694,660,929,810,838,672,642,673.563668827,0.442588265618,-0.0153929125624,0.0497749212782,0.999999934209,-0.000107579828509,-0.000342707931838,-5.05869091879e-05,1793255955350507776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,796,762,736,737.98561948,694,660,929,810.01438052,838,671.98561948,642,673,0.441813546129,-0.0153883682565,0.0497664985173,0.999999931956,-8.74744162668e-05,-0.000354151968453,-5.48958972194e-05,1793255955367174656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,796,762,736,737.410552326,694,660,929,810.589447674,838,671.410552326,642,673,0.44104264394,-0.0153883728274,0.0497943829187,0.999999952905,8.3597923217e-06,-0.000301666006137,-5.58448840428e-05,1793255955383841536
+315,5.250000000,POSE2_TO_POSE3_RETREAT,796,762,736,737,694.163633183,660,929,810.836366817,837.836366817,671,642,673.163633183,0.440246942403,-0.0153876179944,0.0498152557477,0.999999961294,6.81183377573e-05,-0.00026358069544,-5.74133435149e-05,1793255955400508160
+316,5.266666667,POSE2_TO_POSE3_RETREAT,796,762,736,737,694.735618479,660,929,810.264381521,837.264381521,671,642,673.735618479,0.439389353304,-0.0153849680437,0.0498186309602,0.999999963278,3.78488462665e-05,-0.000261432706129,-6.05277191645e-05,1793255955417174784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,796,761.693256933,736,737,694.693256933,659.693256933,929,810,837.306743067,671,642,673.693256933,0.438508690075,-0.0153815503494,0.0498000189263,0.999999954702,6.86214695641e-06,-0.000293651237803,-6.57150139738e-05,1793255955433841408
+318,5.300000000,POSE2_TO_POSE3_RETREAT,796,761.122872141,736,737,694.122872141,659.122872141,929,810,837.877127859,671,642,673.122872141,0.437608194973,-0.0153774727895,0.0497625091364,0.999999933895,-2.47409817311e-05,-0.00035540735186,-7.26839557985e-05,1793255955450508032
+319,5.316666667,POSE2_TO_POSE3_RETREAT,796,761.475265583,736,737,694.475265583,659.475265583,929,810.475265583,837.524734417,671,642,673,0.436726324782,-0.0153794958767,0.049769724054,0.999999934158,-5.87338411859e-05,-0.000350102460076,-7.52448678156e-05,1793255955467174656
+320,5.333333333,POSE2_TO_POSE3_RETREAT,796.07695024,762,736,737,694.92304976,660,929,810.92304976,837,671,642,673,0.435841868318,-0.0153819836081,0.0497858139525,0.999999937693,-8.98026480493e-05,-0.000332701389253,-7.65456357022e-05,1793255955483841024
+321,5.350000000,POSE2_TO_POSE3_RETREAT,796.652255837,762,736,737,694.347744163,660,929,810.347744163,837,671,642,673,0.434907544154,-0.0153766324415,0.0497798523083,0.999999928782,-9.76849141368e-05,-0.000356208413407,-7.7523588784e-05,1793255955500507904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,797,762,736,737,694,660,929,810.22708838,837,671,642.22708838,673,0.433981562908,-0.0153718684238,0.0497749865175,0.999999928256,-6.81563083364e-05,-0.00036636125761,-6.79859381215e-05,1793255955517175040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,797,762,736,737,694,660,929,810.801198121,837,671,642.801198121,673,0.433068330615,-0.0153680016474,0.0497717953363,0.999999935524,1.85411033116e-05,-0.000356107133782,-4.23790408806e-05,1793255955533841920
+324,5.400000000,POSE2_TO_POSE3_RETREAT,796.612989101,762,735.612989101,737,694.387010899,660,929,811,837,671,643,673,0.432170175849,-0.0153653356902,0.0497866405514,0.999999943655,4.43315070852e-05,-0.000330854581185,-3.550653304e-05,1793255955550508544
+325,5.416666667,POSE2_TO_POSE3_RETREAT,796.02097722,762,735.02097722,737,694.97902278,660,929,811,837,671,643,673,0.431280007754,-0.0153633058113,0.0498110397068,0.99999995424,3.7859257604e-05,-0.000297657311455,-3.85576962556e-05,1793255955567175168
+326,5.433333333,POSE2_TO_POSE3_RETREAT,796.558162104,762,735.558162104,737,695,660,929,810.441837896,837,671,643,673.558162104,0.430318567579,-0.0153619121658,0.0497858229253,0.999999942088,3.68188920514e-05,-0.000335215503811,-4.5810666379e-05,1793255955583841792
+327,5.450000000,POSE2_TO_POSE3_RETREAT,797,762,735.864314276,737,694.864314276,660,929,810.135685724,837,671,642.864314276,673.864314276,0.429361282405,-0.015362252543,0.0497646022383,0.999999931379,2.83475100359e-05,-0.000365674688483,-5.21564418306e-05,1793255955600508160
+328,5.466666667,POSE2_TO_POSE3_RETREAT,797,762,735.290481025,737,694.290481025,660,929,810.709518975,837,671,642.290481025,673.290481025,0.428425868908,-0.0153681168415,0.04976217111,0.999999931926,-4.763978005e-06,-0.000364816939246,-5.50743288431e-05,1793255955617174528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,797,762,735,737,694,660,929,811,837.290834115,671,642,673,0.42747205108,-0.0153690978076,0.049761256964,0.999999927911,-2.60085351389e-05,-0.000374569018473,-5.65679713725e-05,1793255955633841152
+330,5.500000000,POSE2_TO_POSE3_RETREAT,797,762,735,737,694,660,929,811,837.879819345,671,642,673,0.426499365949,-0.015365072583,0.0497618979658,0.999999919692,-3.50876031663e-05,-0.000395197855528,-5.66015371726e-05,1793255955650507776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,796.539355534,761.539355534,735,737,694,660,929,810.539355534,837.539355534,671,642.460644466,673,0.425583238825,-0.0153660437077,0.049763327848,0.999999928465,-1.53269529308e-05,-0.000373616061052,-5.69769937186e-05,1793255955667174656
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,797,761.80806738,735,737,694.80806738,659.80806738,929,810,837,671,643,673.80806738,0.422935047535,-0.0153693032419,0.0498335955598,0.999999970124,-2.57659219882e-05,-0.000236832035033,-5.47532275351e-05,1793255955717175040
+335,5.583333333,POSE2_TO_POSE3_RETREAT,797,761.233048934,735,737,694.233048934,659.233048934,929,810,837,671,643,673.233048934,0.421999241316,-0.015368850859,0.0498161320063,0.999999962164,-4.13791178878e-05,-0.000265959580298,-5.67991285798e-05,1793255955733841152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,837,671,642.649046728,673,0.421077709065,-0.015370457304,0.0498014869705,0.999999954665,-4.6663162972e-05,-0.000291702090084,-5.8338492362e-05,1793255955750507776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,837,671,642.058922212,673,0.420165904439,-0.0153734668201,0.0497887627281,0.999999947564,-4.49079912209e-05,-0.000315137729357,-5.95326558037e-05,1793255955767174400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,797,761.521608625,735,737,694.521608625,659,929,810,837,671,642,673,0.419275958415,-0.0153701279413,0.0497968217785,0.999999946017,-3.67370679694e-05,-0.000321172553129,-5.88571909598e-05,1793255955783841024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,796.89983552,761.89983552,735,737.10016448,694.89983552,659,929,810,837,671,642.10016448,673,0.418393123915,-0.015366231066,0.0498006203577,0.999999942646,-3.17237186097e-05,-0.00033206055286,-5.86365499915e-05,1793255955800507648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,796.325590652,761.325590652,735,737.674409348,694.325590652,659,929,810,837,671,642.674409348,673,0.417532472707,-0.0153630260746,0.0497733428656,0.999999926759,-4.50234811262e-05,-0.000375054113255,-6.1550149471e-05,1793255955817174784
+341,5.683333333,POSE2_TO_POSE3_RETREAT,796.254751587,761,735,737.745248413,694,659.254751587,929,810,837,671.254751587,642.745248413,673,0.416704413108,-0.015363690896,0.0497670438262,0.999999924273,-5.43064464631e-05,-0.00038025652872,-6.25266868144e-05,1793255955833841408
+342,5.700000000,POSE2_TO_POSE3_RETREAT,796.843077744,761,735,737.156922256,694,659.843077744,929,810,837,671.843077744,642.156922256,673,0.415919029391,-0.0153694228937,0.0497882142089,0.999999940001,-5.83297717247e-05,-0.000335974794143,-6.09668131911e-05,1793255955850507776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,797,761,735,737.424502576,694.424502576,659.575497424,929,810.424502576,837,672,642.424502576,673.424502576,0.415138867436,-0.0153700945684,0.0497989587761,0.999999947895,-4.66348430118e-05,-0.000313678409618,-6.0343719475e-05,1793255955867174144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,797,761.003413557,735,737.996586443,694.996586443,659,929,810.996586443,837,672,642.996586443,673.996586443,0.414360504256,-0.0153688969279,0.0498057083501,0.999999952838,-2.9362625824e-05,-0.000299752921166,-6.00804384257e-05,1793255955883840768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,797,761.581725747,735,737.418274253,694.418274253,659,929,810.418274253,837,672,642.418274253,673.418274253,0.413565204137,-0.0153628769533,0.0497783325067,0.999999936554,-3.57014569627e-05,-0.000348776843661,-6.3027337017e-05,1793255955900507392
+346,5.766666667,POSE2_TO_POSE3_RETREAT,797,761.841135303,735,737,694,659,929,810,836.841135303,671.841135303,642.158864697,673,0.412798791166,-0.0153595005877,0.0497614998802,0.999999925177,-4.30291604254e-05,-0.00037892353357,-6.48920443413e-05,1793255955917174272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,797,761.2670626,735,737,694,659,929,810,836.2670626,671.2670626,642.7329374,673,0.412107877334,-0.0153630335446,0.049772222948,0.999999931851,-5.29413773763e-05,-0.000359732792039,-6.39283427663e-05,1793255955933841152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,836.314728251,671,643,673,0.411428853827,-0.0153661375357,0.0497930548123,0.999999942879,-6.0602542756e-05,-0.000326745016927,-6.16965543332e-05,1793255955950507776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,836.903232946,671,643,673,0.410760173543,-0.0153688683769,0.0498226801361,0.999999956406,-6.6305558195e-05,-0.000281755451224,-5.83616799316e-05,1793255955967174144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,837,671,643,673,0.410084228575,-0.0153659615935,0.049808044158,0.999999947345,-6.20341934351e-05,-0.000312982723355,-5.91866523734e-05,1793255955983840768
+351,5.850000000,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,837,671,642.935345717,673,0.409417668087,-0.0153625323881,0.0497872267688,0.999999934284,-5.67998434864e-05,-0.000352864985987,-6.07559069045e-05,1793255956000507392
+352,5.866666667,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659,929,810,837,671,642.360317763,673,0.408836472612,-0.0153637367631,0.0497863697923,0.999999937614,-5.94580607428e-05,-0.000342673073073,-6.17385099424e-05,1793255956017174272
+353,5.883333333,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659.21448402,929,809.78551598,836.78551598,671,642.21448402,673,0.408274875529,-0.015366321971,0.0497939556747,0.999999942777,-6.48613621875e-05,-0.000326262444989,-6.15702913335e-05,1793255956033840896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659.788906196,929,809.211093804,836.211093804,671,642.788906196,673,0.407746167711,-0.0153712244353,0.0498157100116,0.999999950604,-7.4871349363e-05,-0.000299415828837,-5.94708116139e-05,1793255956050507776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659.625525566,929,809.374474434,836.374474434,671.374474434,643,673,0.407218599784,-0.0153733033265,0.0498230365168,0.999999952357,-8.00562780314e-05,-0.000292287335881,-5.87027929037e-05,1793255956067174400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,797,761,735,737,694,659.033481411,929,809.966518589,836.966518589,671.966518589,643,673,0.406691694084,-0.0153737417218,0.049821980451,0.999999950888,-8.24378476967e-05,-0.000296615074064,-5.87083531303e-05,1793255956083841024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,797,761,735,737,694.546463924,659,929,810,836.453536076,671.453536076,643,673,0.406172084389,-0.015371660517,0.0497930163975,0.99999993328,-8.70491650299e-05,-0.000349270823481,-6.22245826214e-05,1793255956100507648
+358,5.966666667,POSE2_TO_POSE3_RETREAT,797,761,735,737,694.880449562,659,929,810,836,671,643,673,0.405671562829,-0.0153700244015,0.0497681671384,0.999999916011,-9.24374990282e-05,-0.00039391124222,-6.53176874876e-05,1793255956117174784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,797,761,735,737,694.329496219,659,929,810,836,671,643,673,0.405238343331,-0.015370539407,0.0497642028812,0.999999913129,-0.000100147430921,-0.000399174492578,-6.61245602749e-05,1793255956133842176
+360,6.000000000,POSE2_TO_POSE3_RETREAT,797,761,735,737.247106667,694,659,929,810,836.247106667,671,643,673,0.404838647371,-0.0153719039056,0.0497705191584,0.999999916899,-0.000107918548347,-0.000387566025191,-6.59397884444e-05,1793255956150509312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,797,761,735,737.86187233,694,659,929,810,836.86187233,671,643,673,0.404488829614,-0.015374532327,0.0497921313848,0.999999929682,-0.000115780700444,-0.000350854880218,-6.42795926743e-05,1793255956167175936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,797,761,735.449180286,738,694,659.449180286,929,810,837,671.449180286,643,673,0.404157954215,-0.0153780598336,0.0498193517096,0.99999994127,-0.000126246273551,-0.000312447319352,-6.24339276653e-05,1793255956183842048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,797,761,735.971574692,738,694.028425308,660,929,810,837,671.971574692,643,673,0.403833661675,-0.0153817465134,0.0498469899024,0.999999950885,-0.00013727944466,-0.000275149132548,-6.06359822815e-05,1793255956200508160
+364,6.066666667,POSE2_TO_POSE3_RETREAT,797,761,735.394372199,738,694.605627801,660,929,810,837,671.394372199,643,673,0.403530479028,-0.0153834759966,0.0498513193662,0.999999951566,-0.000144705068711,-0.000268759518475,-6.07969691477e-05,1793255956217174784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,797,761,735,737.818791516,695,659.818791516,929,809.818791516,837,671,643,673,0.40323371256,-0.0153849145476,0.0498512671541,0.999999949643,-0.000152596205409,-0.000271391922137,-6.14474299366e-05,1793255956233841664
+366,6.100000000,POSE2_TO_POSE3_RETREAT,797,761,735,737.246709217,695,659.246709217,929,809.246709217,837,671,643,673,0.402950786082,-0.0153857255463,0.0498417634943,0.999999941899,-0.000161491470175,-0.000293485173175,-6.3153705168e-05,1793255956250508800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,797.337309832,761,735,737.337309832,695,659,929,809.337309832,837,671.337309832,643,673,0.402691340548,-0.0153861629804,0.0498323428662,0.999999935036,-0.000168671017547,-0.000311890879949,-6.48294757752e-05,1793255956267175680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,797.930379802,761,735,737.930379802,695,659,929,809.930379802,837,671.930379802,643,673,0.40244969906,-0.0153863171648,0.0498229851946,0.999999928928,-0.0001745496488,-0.000327500563755,-6.64821168923e-05,1793255956283842048
+369,6.150000000,POSE2_TO_POSE3_RETREAT,798,761,735,737.488537607,694.488537607,659.511462393,929,809.488537607,837,671.488537607,643,673,0.402238986696,-0.0153882462245,0.0498192249198,0.99999992585,-0.000180521019734,-0.000333513011444,-6.69464875862e-05,1793255956300508416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,797.910009243,761,735,737,694.089990757,659.910009243,929,809,837,671,643,673,0.402040664443,-0.0153898324458,0.0498167480311,0.999999924229,-0.000183617287996,-0.000336706611635,-6.67490408503e-05,1793255956317175296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,797.336636579,761,735,737,694.663363421,659.336636579,929,809,837,671,643,673,0.401886798772,-0.0153883091202,0.0498171659169,0.999999928322,-0.000171203799747,-0.000331615325771,-6.38455896927e-05,1793255956333841664
+372,6.200000000,POSE2_TO_POSE3_RETREAT,797,760.756771854,735,737,694.756771854,659,929,809.243228146,837,671,643,673,0.401744962109,-0.0153853906025,0.0498182234483,0.999999934944,-0.000141458352206,-0.00032678836607,-5.75408847989e-05,1793255956350507776
+373,6.216666667,POSE2_TO_POSE3_RETREAT,797,760.167675512,735,737,694.167675512,659,929,809.832324488,837,671,643,673,0.401620230591,-0.0153804881342,0.0498201905499,0.999999943183,-8.70670176691e-05,-0.000322337275411,-4.63996282867e-05,1793255956367174400
+374,6.233333333,POSE2_TO_POSE3_RETREAT,797.414338242,760,735,737,694,659.414338242,929,810,837,671,643,673,0.401513926631,-0.0153788740209,0.0498238336147,0.999999947324,-7.3115680431e-05,-0.000313258070048,-4.3316213221e-05,1793255956383841280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,797.993533952,760,735,737,694,659.993533952,929,810,837,671,643,673,0.401414954657,-0.0153785682829,0.049828143514,0.999999950521,-7.52546661047e-05,-0.000302337424389,-4.34388634521e-05,1793255956400507904
+376,6.266666667,POSE2_TO_POSE3_RETREAT,797.428650541,760,735,737,694.571349459,660,929,809.428650541,837,671,643,673,0.401337484964,-0.0153852196625,0.0498328611972,0.999999952438,-8.60290224561e-05,-0.000292972186968,-4.34837015333e-05,1793255956417174272
+377,6.283333333,POSE2_TO_POSE3_RETREAT,797.148064609,760.148064609,735,737,694.851935391,659.851935391,929,809.148064609,837,671,643,673,0.401264391067,-0.0153908012778,0.0498361663533,0.999999953413,-9.5939270571e-05,-0.000286456756906,-4.37174366832e-05,1793255956433841152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,797.721662053,760.721662053,735,737,694.278337947,659.278337947,929,809.721662053,837,671,643,673,0.401203175399,-0.0153930826884,0.049835398721,0.999999952201,-0.000103085908459,-0.000288081113626,-4.44965805799e-05,1793255956450507776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,798,761,735,737,694,659,929,809.69618201,836.69618201,671,643,673,0.401152272338,-0.0153968646962,0.0498349459927,0.999999951633,-0.000110122771814,-0.000287387485413,-4.48848146422e-05,1793255956467174400
+380,6.333333333,POSE2_TO_POSE3_RETREAT,798,761,735,737,694,659,929,809.105958003,836.105958003,671,643,673,0.401111090857,-0.0154020613013,0.0498347901212,0.999999951668,-0.000117056152706,-0.000284508717429,-4.49045422156e-05,1793255956483841024
+381,6.350000000,POSE2_TO_POSE3_RETREAT,798,760.524139136,735,737,694.475860864,659,929,809.475860864,836.475860864,671,643,673,0.401077435803,-0.0154008629862,0.0498336852313,0.999999951432,-0.000118671050931,-0.000284537008941,-4.57334967428e-05,1793255956500507392
+382,6.366666667,POSE2_TO_POSE3_RETREAT,798,760.055305435,735,737,695,659.055305435,929,809.944694565,837,671,643,673,0.401046823179,-0.0153985193879,0.0498327100906,0.999999951265,-0.000119158938227,-0.000284772755463,-4.66456870872e-05,1793255956517174272
+383,6.383333333,POSE2_TO_POSE3_RETREAT,798,760.629726423,735,737,695,659.629726423,929,809.370273577,837,671,643,673,0.401029310466,-0.015398559292,0.0498349018579,0.999999952235,-0.000119991113742,-0.000280985393522,-4.66772137802e-05,1793255956533840896
+384,6.400000000,POSE2_TO_POSE3_RETREAT,798,760.795536225,735,737,695,659.795536225,929,809.204463775,837,671,643,673,0.40101470753,-0.0153989623686,0.0498368501066,0.999999953089,-0.000120936286136,-0.000277511656569,-4.67338329516e-05,1793255956550507520
+385,6.416666667,POSE2_TO_POSE3_RETREAT,798,760.220225102,735,737,695,659.220225102,929,809.779774898,837,671,643,673,0.401005382216,-0.0154000241511,0.0498383566722,0.999999953746,-0.00012208640722,-0.000274606758975,-4.6835963749e-05,1793255956567174144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,798,760,735,737,695,659.366781267,929,810,836.633218733,671,643,673,0.401000759821,-0.015402877361,0.0498404057998,0.999999954377,-0.000125403931908,-0.000270848019672,-4.64858513683e-05,1793255956583841024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,798,760,735,737,695,659.961041032,929,810,836.038958968,671,643,673,0.400999054186,-0.0154068416179,0.0498427914254,0.999999954963,-0.00013006568473,-0.000266559726082,-4.58552568322e-05,1793255956600507648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,798,760.536921274,735.536921274,737.536921274,695,660,929,809.463078726,836,671,643.536921274,673,0.400996463295,-0.0154045437988,0.0498435875503,0.999999956033,-0.00012509552047,-0.000264927373871,-4.58185719356e-05,1793255956617175296
+389,6.483333333,POSE2_TO_POSE3_RETREAT,798,760.888500552,735.888500552,737.888500552,694.888500552,659.888500552,929,809.111499448,836.111499448,671,643.888500552,673,0.400993947317,-0.0154026424967,0.0498441154301,0.999999956811,-0.000121314910869,-0.000263737007114,-4.58598661985e-05,1793255956633842688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,798,760.313974815,735.313974815,737.313974815,694.313974815,659.313974815,929,809.686025185,836.686025185,671,643.313974815,673,0.40099200035,-0.0154042122646,0.04984399246,0.999999956347,-0.000125280433429,-0.000263608280512,-4.60519518884e-05,1793255956650509056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,798,760,735,737,694,659.268514424,929,810,836.731485576,671,643,673,0.400990943275,-0.0154058066972,0.049844348567,0.999999956204,-0.000127444525378,-0.000263127507398,-4.5972889725e-05,1793255956667175168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,798,760,735,737,694,659.860600098,929,810,836.139399902,671,643,673,0.400990958559,-0.015407430852,0.0498452819821,0.999999956461,-0.000127437817698,-0.000262222503317,-4.55670829437e-05,1793255956683841536
+393,6.550000000,POSE2_TO_POSE3_RETREAT,797.558180824,760,735,737,694,660,929,809.558180824,836,671,643,673,0.400991472347,-0.0154078642741,0.0498458306039,0.999999956613,-0.000128484260741,-0.000261155471634,-4.54314432878e-05,1793255956700508416
+394,6.566666667,POSE2_TO_POSE3_RETREAT,797,760,735,737,694,659.980421079,929,809,836,671,643,673,0.400992141435,-0.0154079248481,0.049846277846,0.999999956746,-0.000129805625851,-0.000259997009924,-4.53829111088e-05,1793255956717175808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,797,760,735,737,694,659.405865575,929,809,836,671,643,673,0.400992861297,-0.0154078104135,0.0498472101779,0.999999957358,-0.000129727150541,-0.000257661202517,-4.54452755219e-05,1793255956733842432
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..618dca6d4a9a714401d6875385f439b78c84fcfa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+365,6.083333333,pose2_to_pose3_retreat,0.577496107747,-0.00981829400629,1.04002041113,0.548067256275,-0.0011440533753,1.03969212017
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0968e875087d130f169930104a9709f1b0f258da
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1672f71db08e96dcb7399453f83a439fabba9e01
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+13,0.216666667,BASELINE,797.467417071,760,735,737,694.467417071,659.467417071,929,809,836.467417071,671,643,673,0.400991450572,-0.0154123333504,0.0498510522638,0.999999958872,-0.000128330819679,-0.000252506112531,-4.50235769132e-05,1793255957306580480
+14,0.233333333,BASELINE,797.123628976,760.123628976,735,737.123628976,694.123628976,659.123628976,929,809.123628976,836.123628976,671,643,673,0.400990522913,-0.0154129922369,0.0498507616984,0.999999958549,-0.000129427065526,-0.000253204194828,-4.5155288838e-05,1793255957323247104
+15,0.250000000,BASELINE,797.700847136,760.700847136,735,737.700847136,694.700847136,659.700847136,929,809.700847136,836.700847136,671,643,673,0.400991275669,-0.0154103328972,0.0498508664374,0.999999958825,-0.000128701375456,-0.00025238076047,-4.57071395719e-05,1793255957339913216
+16,0.266666667,BASELINE,798,760.723185951,735,737.723185951,694.723185951,659.723185951,929,810,836.723185951,671,643,673,0.400991742446,-0.0154096189692,0.0498510717347,0.9999999589,-0.000129289113364,-0.000251778151504,-4.57462846793e-05,1793255957356579584
+17,0.283333333,BASELINE,798,760.14856521,735,737.14856521,694.14856521,659.14856521,929,810,836.14856521,671,643,673,0.400991901555,-0.0154109979864,0.0498513852161,0.999999958754,-0.000131289885241,-0.000251413114631,-4.52338422625e-05,1793255957373246208
+18,0.300000000,BASELINE,798,760,735,737,694.437741453,659.437741453,929,810,836.437741453,671,643,673,0.400991036502,-0.0154119598181,0.0498510279057,0.999999958425,-0.000131893549714,-0.000252425311497,-4.51181487975e-05,1793255957389912832
+19,0.316666667,BASELINE,798,760,735,737,694.972462653,660,929,810,836.972462653,671.027537347,643,673,0.400989888095,-0.0154127484504,0.0498504735745,0.999999958075,-0.000131924791135,-0.000253785721698,-4.51501276461e-05,1793255957406579456
+20,0.333333333,BASELINE,798,760,735,737,694.394375197,660,929,810,836.394375197,671.605624803,643,673,0.400990214592,-0.0154129827358,0.0498506566541,0.999999958608,-0.000130251584793,-0.000252506537598,-4.53685654917e-05,1793255957423246336
+21,0.350000000,BASELINE,798,760,735,737,694,659.817218173,929,810,836,671.817218173,643,673,0.400990470764,-0.0154126499266,0.0498507542945,0.999999958893,-0.000129198617151,-0.000251891990728,-4.55227022023e-05,1793255957439913216
+22,0.366666667,BASELINE,798,760,735,737,694,659.242058579,929,810,836,671.242058579,643,673,0.400990575971,-0.0154110997355,0.0498506685221,0.999999958651,-0.000129477116206,-0.000252704220834,-4.5538803632e-05,1793255957456580096
+23,0.383333333,BASELINE,798,760,735,737.317895272,694,659.317895272,929,810,836.317895272,671.317895272,643,673,0.400991582804,-0.015410423158,0.0498511959419,0.999999958881,-0.000129655222145,-0.000251708123531,-4.55025545262e-05,1793255957473246720
+24,0.400000000,BASELINE,798,760,735,737.866799438,694,659.866799438,929,810,836.866799438,671.866799438,643,673,0.400993244833,-0.01541038142,0.0498521689578,0.99999995945,-0.000129760374202,-0.000249397946644,-4.54282632099e-05,1793255957489912832
+25,0.416666667,BASELINE,797.528249574,760,735,737.528249574,694,659.528249574,929,810,836.528249574,671.528249574,643,673,0.400992425515,-0.0154103342762,0.0498518801217,0.99999995951,-0.000128048290675,-0.000250067873341,-4.52640909296e-05,1793255957506579200
+26,0.433333333,BASELINE,797.087552098,760,735,737.087552098,694,659.087552098,929,810,836.087552098,671,643,673,0.40099106222,-0.0154104413095,0.0498513445975,0.99999995939,-0.00012628147113,-0.000251469701825,-4.51218633461e-05,1793255957523246080
+27,0.450000000,BASELINE,797.663688147,760,735,737.663688147,694,659.663688147,929,810,836.663688147,671,643,673,0.400991100196,-0.0154114183932,0.0498516887646,0.999999959195,-0.000127458618852,-0.000251627143126,-4.52628152367e-05,1793255957539912704
+28,0.466666667,BASELINE,798,760,735,738,694.239906696,659.760093304,929,810,836.760093304,671,643,673,0.400991161577,-0.0154117177972,0.0498521372163,0.999999959244,-0.000127543870244,-0.00025139318299,-4.5235251665e-05,1793255957556579584
+29,0.483333333,BASELINE,798,760,735,738,694.816240903,659.183759097,929,810,836.183759097,671,643,673,0.400991255777,-0.0154110668731,0.049852731909,0.999999959636,-0.000126097926437,-0.000250610350247,-4.49713743911e-05,1793255957573246464
+30,0.500000000,BASELINE,798,760,735,737.598763923,695,659.401236077,929,810,836,671,643,673,0.400990302316,-0.0154112475578,0.0498520885834,0.999999959466,-0.000125423182565,-0.00025164626411,-4.48420288911e-05,1793255957589913088
+31,0.516666667,BASELINE,798,760,735,737.009714682,695,659.990285318,929,810,836,671,643,673,0.400988858458,-0.0154118175074,0.0498508657582,0.999999959032,-0.000125109426956,-0.000253533508602,-4.47756558964e-05,1793255957606579968
+32,0.533333333,BASELINE,798,760,735,737,694.429802206,659.429802206,929,810,836,671,643,673,0.40099156853,-0.0154115150549,0.0498520435139,0.99999995971,-0.000125849143866,-0.000250469103883,-4.47990809852e-05,1793255957623246336
+33,0.550000000,BASELINE,798,760.148690654,735,737,694,659.148690654,929,810,836,671,643,673,0.400993699509,-0.015411211048,0.0498530282659,0.999999960227,-0.000126342070181,-0.000248136222141,-4.48633269618e-05,1793255957639912704
+34,0.566666667,BASELINE,798,760.723553685,735,737,694,659.723553685,929,810,836,671,643,673,0.400993971064,-0.0154109445154,0.0498533444601,0.999999960252,-0.000126077021218,-0.000248137994215,-4.50402565872e-05,1793255957656579584
+35,0.583333333,BASELINE,798,761,735,737.298254359,694,659.701745641,929,810,836,671,643,673,0.40099351762,-0.0154113154868,0.0498531513828,0.999999960059,-0.000126669078762,-0.000248589659187,-4.5173954626e-05,1793255957673245952
+36,0.600000000,BASELINE,798,761,735,737.872804693,694,659.127195307,929,810,836,671,643,673,0.400992392553,-0.0154122770274,0.0498524865282,0.999999959662,-0.000128055140022,-0.000249458094589,-4.52676039378e-05,1793255957689912576
+37,0.616666667,BASELINE,798,760.538800591,735,737.538800591,694,659.461199409,929,810,836,671,643,673,0.400991809176,-0.0154120120998,0.0498524164135,0.999999959794,-0.000126730184849,-0.00024962296955,-4.51668596819e-05,1793255957706579456
+38,0.633333333,BASELINE,798,760,735,737,694,660,929,810,836.052169613,671,643,673,0.400991481586,-0.0154115353277,0.0498525048105,0.999999960054,-0.000124816323111,-0.000249575591281,-4.49929979605e-05,1793255957723246592
+39,0.650000000,BASELINE,798,760,735,737,694,660,929,810,836.629442854,671,643,673,0.400992178347,-0.0154124362349,0.0498524866248,0.999999960123,-0.000124733439305,-0.000249405298425,-4.46395100969e-05,1793255957739913216
+40,0.666666667,BASELINE,797.793528092,760,735,737,694.206471908,659.793528092,929,809.793528092,836.793528092,671.206471908,643,673,0.400992506442,-0.0154127519416,0.0498523242814,0.999999960098,-0.000124734630862,-0.000249504032426,-4.46482284255e-05,1793255957756580096
+41,0.683333333,BASELINE,797.216936798,760,735,737,694.783063202,659.216936798,929,809.216936798,836.216936798,671.783063202,643,673,0.400992173668,-0.0154120186239,0.0498519035226,0.999999959904,-0.000124886535041,-0.000250085021171,-4.53062338147e-05,1793255957773246720
+42,0.700000000,BASELINE,797,760,735,737.35912478,695,659.35912478,929,809.35912478,836.35912478,672,643,673,0.400991492839,-0.0154119110882,0.0498515270872,0.999999959722,-0.000124657725648,-0.000250930450659,-4.52894061575e-05,1793255957789913088
+43,0.716666667,BASELINE,797,760,735,737.934866822,695,659.934866822,929,809.934866822,836.934866822,672,643,673,0.40099060207,-0.0154121810122,0.0498511773867,0.999999959545,-0.000124199277038,-0.000251935385771,-4.48655319703e-05,1793255957806579712
+44,0.733333333,BASELINE,797.525167065,760.525167065,735,737.474832935,695,660,929,809.474832935,837,671.474832935,643,673,0.400992327732,-0.0154110732613,0.0498521266335,0.999999960065,-0.000123862827097,-0.000250003079837,-4.50053787094e-05,1793255957823246336
+45,0.750000000,BASELINE,798,760.886096036,735,737,694.886096036,660,929,809.113903964,837,671.113903964,643,673,0.400993682727,-0.0154101572593,0.0498529703743,0.999999960538,-0.000123325043005,-0.00024833882647,-4.51888988027e-05,1793255957839912704
+46,0.766666667,BASELINE,798,760.31120221,735,737,694.31120221,660,929,809.68879779,837,671.68879779,643,673,0.400992186817,-0.0154107285351,0.0498527165215,0.999999960476,-0.000121909440689,-0.000249275803742,-4.52581475609e-05,1793255957856579840
+47,0.783333333,BASELINE,798,760,735,737.264824961,694.264824961,660,929,810,837,671.735175039,643,673,0.400991502541,-0.0154112641733,0.0498526816517,0.999999963689,-9.11723578299e-05,-0.00024950170255,-4.53643737498e-05,1793255957873246720
+48,0.800000000,BASELINE,798,760,735,737.842189751,694.842189751,660,929,810,837,671.157810249,643,673,0.400991776134,-0.0154117577532,0.0498529052201,0.999999967658,-2.58307926695e-05,-0.000248888403591,-4.55142396502e-05,1793255957889913600
+49,0.816666667,BASELINE,798,760,735,737.57419867,695,660,929,810,837,671,643,673,0.400992092069,-0.0154119333707,0.0498528882148,0.999999968053,-2.30777094516e-06,-0.000248669731877,-4.53098764582e-05,1793255957906579968
+50,0.833333333,BASELINE,798,760.011692176,735,737.011692176,695,660,929,810,837,671,643,673,0.40099237479,-0.0154119984955,0.0498527604396,0.999999968061,5.30976067978e-06,-0.000248650547729,-4.49821915227e-05,1793255957923246336
+51,0.850000000,BASELINE,798,760.594148813,735,737.594148813,695,660,929,810,837,671,643,673,0.400990258626,-0.0154125080897,0.0498516426224,0.99999996744,4.33754345343e-06,-0.000251123571344,-4.51386181477e-05,1793255957939912704
+52,0.866666667,BASELINE,798,761,735,737.825848704,695,660,929,810,837,671,643,673,0.400989336656,-0.0154123435592,0.0498510930113,0.99999996714,3.9109077978e-06,-0.00025228862667,-4.53366224957e-05,1793255957956579328
+53,0.883333333,BASELINE,798,761,735,737.251486069,695,660,929,810,837,671,643,673,0.400991159024,-0.0154106298447,0.0498518491757,0.999999967586,4.73805518756e-06,-0.000250447883124,-4.56301752271e-05,1793255957973245952
+54,0.900000000,BASELINE,798,760.677846714,735,737.322153286,695,660,929,810,836.677846714,671,643,673,0.400991759037,-0.0154106280468,0.0498520104304,0.999999967751,4.21494121942e-06,-0.000249805656168,-4.55786646232e-05,1793255957989912832
+55,0.916666667,BASELINE,798,760.104770744,735,737.895229256,695,660,929,810,836.104770744,671,643,673,0.400991406967,-0.0154119596476,0.0498517083144,0.999999967698,2.64011916452e-06,-0.000250096944528,-4.52583868632e-05,1793255958006580224
+56,0.933333333,BASELINE,798,760,735,737.516747025,694.516747025,660,929,810,836.483252975,671,643,673,0.400991343104,-0.0154116280954,0.0498516882287,0.999999967623,2.28984470551e-06,-0.00025037370021,-4.54015671725e-05,1793255958023247104
+57,0.950000000,BASELINE,798,760,735,737.072981085,694.072981085,660,929,810,837,671,643,673,0.400991506891,-0.0154108822019,0.0498518191353,0.999999967593,2.63799058611e-06,-0.000250449921536,-4.56177047741e-05,1793255958039914240
+58,0.966666667,BASELINE,798,760,735,737.651353562,694.651353562,660,929,810,837,671,643,673,0.400992800638,-0.015409843691,0.0498525587148,0.999999967901,5.92551113265e-06,-0.00024915996464,-4.56210448193e-05,1793255958056580352
+59,0.983333333,BASELINE,798,760,735,738,694.771080476,660,929,810,837,671,643,673,0.400993653453,-0.0154097170723,0.0498532066313,0.999999968182,6.71096363716e-06,-0.000248017981653,-4.55892666831e-05,1793255958073246464
+60,1.000000000,BASELINE,798,760,735,738,694.194738442,660,929,810,837,671,643,673,0.400993837084,-0.0154109743976,0.0498537154347,0.999999968428,3.6991225349e-06,-0.000247100572885,-4.55041910112e-05,1793255958089912832
+61,1.016666667,BASELINE,798,760,735,738,694,660,929,810,837,671.381311365,643,673,0.400993058131,-0.015411433126,0.0498531635518,0.999999968201,2.61313379745e-06,-0.000248050322969,-4.54208804698e-05,1793255958106579456
+62,1.033333333,BASELINE,798,760,735,738,694,660,929,810,837,671.957212009,643,673,0.400991787956,-0.0154114843176,0.0498520703837,0.999999967731,2.5099384622e-06,-0.000249952914093,-4.53384707079e-05,1793255958123246080
+63,1.050000000,BASELINE,798,760,735,738,694.54709663,659.45290337,929,810,837,671.45290337,643.54709663,673,0.400991662262,-0.0154110711306,0.0498525026924,0.999999967827,4.36089768613e-06,-0.000249546087535,-4.53127925324e-05,1793255958139912704
+64,1.066666667,BASELINE,798,760,735,737.865102485,694.865102485,659.134897515,929,810,836.865102485,671,644,673,0.400991658755,-0.01541049802,0.049852791075,0.999999967909,5.62151178015e-06,-0.000249175428691,-4.54051824069e-05,1793255958156579584
+65,1.083333333,BASELINE,798,760,735,737.287815863,694.287815863,659.712184137,929,810,836.287815863,671,644,673,0.400991754717,-0.0154095226784,0.0498522059382,0.999999967805,4.4317666335e-06,-0.000249531243168,-4.58698377156e-05,1793255958173246720
+66,1.100000000,BASELINE,798,760,735,737,694,659.712862661,929,810,836.287137339,671,643.712862661,673,0.400991600036,-0.0154099410644,0.0498518660812,0.9999999677,3.80328425542e-06,-0.000249959365558,-4.5886666541e-05,1793255958189913344
+67,1.116666667,BASELINE,798,760,735,737,694,659.140229572,929,810,836.859770428,671,643.140229572,673,0.400991196145,-0.0154117452098,0.0498517701016,0.999999967595,3.73285592685e-06,-0.00025045938245,-4.54582291198e-05,1793255958206579968
+68,1.133333333,BASELINE,798,760,735,737.44685272,694.44685272,659.44685272,929,810,837,671,643,673,0.400991833007,-0.0154136476468,0.0498522551992,0.999999967939,2.11787670364e-06,-0.000249199920256,-4.49130435423e-05,1793255958223246336
+69,1.150000000,BASELINE,798,760,735,738,695,660,929,810,837,671,643,673,0.400992643275,-0.015415344108,0.0498528289381,0.999999968352,2.7667246997e-07,-0.000247640528757,-4.43909664979e-05,1793255958239912960
+70,1.166666667,BASELINE,798,760,735,738,695,660,929,810,837,671,643,673,0.400991103022,-0.015413633943,0.0498519732444,0.999999967757,2.36951788037e-06,-0.000249957860526,-4.47421341372e-05,1793255958256579840
+71,1.183333333,BASELINE,798,760.195232186,735,738,695,660,929,810,837,671.195232186,643.195232186,673,0.400991084944,-0.0154125356872,0.0498521163457,0.999999967677,3.43911164787e-06,-0.000250221206816,-4.49806474646e-05,1793255958273246720
+72,1.200000000,BASELINE,798,760.771864091,735,738,695,660,929,810,837,671.771864091,643.771864091,673,0.400994040543,-0.0154126328388,0.0498542106626,0.99999996861,2.5097121946e-06,-0.000246471949348,-4.49990827839e-05,1793255958289913856
+73,1.216666667,BASELINE,798,760.646067147,735,738,695,660,929,810,837,672,643.646067147,673,0.40099410687,-0.015411664386,0.049854328993,0.999999968673,3.40776877908e-06,-0.000246167139665,-4.52116840332e-05,1793255958306580736
+74,1.233333333,BASELINE,798,760.060439292,735,738,695,660,929,810,837,672,643.060439292,673,0.400992281792,-0.0154099983569,0.0498531537836,0.999999968166,5.50213265436e-06,-0.000248117168471,-4.5551392091e-05,1793255958323247360
+75,1.250000000,BASELINE,798,760.519631544,735,738,694.480368456,660,929,810,837,672,643,673,0.400991298575,-0.015411588679,0.0498522613857,0.999999967786,3.2698341699e-06,-0.000249737651958,-4.52659764057e-05,1793255958339913728
+76,1.266666667,BASELINE,798,761,735,737.90040282,694.09959718,660,929,810,836.90040282,672,643,673,0.400990702077,-0.0154129167715,0.0498516535338,0.999999967522,1.44166100173e-06,-0.000250852804585,-4.50251363952e-05,1793255958356580096
+77,1.283333333,BASELINE,798,761,735,737.317846277,694.682153723,660,929,810,836.317846277,672,643,673,0.400991511043,-0.0154111560953,0.0498522676603,0.999999967788,3.98760645712e-06,-0.000249701444168,-4.53492954245e-05,1793255958373246720
+78,1.300000000,BASELINE,798,760.741763112,735,737.258236888,694.741763112,660,929,810,836.258236888,671.741763112,643,673,0.400991732207,-0.0154103103712,0.049852627991,0.999999967898,5.91119262668e-06,-0.000249200373729,-4.54679540975e-05,1793255958389913088
+79,1.316666667,BASELINE,798,760.173452786,735,737.826547214,694.173452786,660,929,810,836.826547214,671.173452786,643,673,0.400991247579,-0.0154105632601,0.0498526835805,0.999999967827,7.08749155838e-06,-0.00024948012772,-4.53398617799e-05,1793255958406579712
+80,1.333333333,BASELINE,798,760.409702967,735,737.590297033,694.409702967,660,929.409702967,810,837,671,643,673,0.400990928333,-0.0154126512845,0.0498526534212,0.999999967849,4.28058012946e-06,-0.000249510544719,-4.50259131829e-05,1793255958423246336
+81,1.350000000,BASELINE,798,760.999380061,735,737.000619939,694.999380061,660,929.999380061,810,837,671,643,673,0.400990681737,-0.0154155454466,0.0498525855942,0.999999967896,-2.76073982483e-07,-0.0002494314331,-4.46303217144e-05,1793255958439913216
+82,1.366666667,BASELINE,798,760.416851013,735,737,694.416851013,659.416851013,929.416851013,810,837,671,643,673,0.400991736276,-0.0154133300816,0.0498530140711,0.999999968035,2.3691892966e-06,-0.000248776680696,-4.51165966097e-05,1793255958456579840
+83,1.383333333,BASELINE,798,760.16403378,735,737,694.16403378,659.16403378,929,810,837,671,643,673,0.400992428064,-0.0154118178668,0.0498533830704,0.999999968141,3.75555931774e-06,-0.000248282545141,-4.5381923486e-05,1793255958473246464
+84,1.400000000,BASELINE,798,760.737731287,735,737,694.737731287,659.737731287,929,810,837,671,643,673,0.400992210486,-0.015412075153,0.049853602224,0.999999968182,1.97899633549e-06,-0.000248191052617,-4.50931292468e-05,1793255958489913088
+85,1.416666667,BASELINE,798,760.689431884,735,737,695,660,929,810,836.689431884,671,643,673,0.40099229273,-0.0154125429507,0.0498536092508,0.999999968203,7.42814005368e-07,-0.000248144866539,-4.49195975398e-05,1793255958506579712
+86,1.433333333,BASELINE,798,760.117319907,735,737,695,660,929,810,836.117319907,671,643,673,0.40099262747,-0.0154131880299,0.0498534376357,0.999999968209,-3.82885264831e-08,-0.000248136835135,-4.4843133792e-05,1793255958523246080
+87,1.450000000,BASELINE,798,760,735,737,694.529179322,660,929,810,836.470820678,671,643,673,0.400992358076,-0.015412914731,0.0498532464728,0.999999968278,1.5580607489e-06,-0.000247833541968,-4.49355387395e-05,1793255958539912960
+88,1.466666667,BASELINE,798,760,735.061731411,737,694.061731411,660,929,810,836.938268589,671,643.061731411,673,0.400991966438,-0.0154122865921,0.0498530723734,0.999999968325,3.78335759873e-06,-0.000247594276809,-4.50855247055e-05,1793255958556579584
+89,1.483333333,BASELINE,798,760,735.641197009,737,694.641197009,660,929,810,836.358802991,671,643.641197009,673,0.400991856588,-0.0154106693736,0.0498530836758,0.999999968069,6.13991760988e-06,-0.000248530809707,-4.53530864267e-05,1793255958573246208
+90,1.500000000,BASELINE,798,760.218695478,735.781304522,737.218695478,694.781304522,660,929,810,836,671,643.781304522,673,0.400991693785,-0.0154103549516,0.0498531512275,0.999999967991,6.68526230147e-06,-0.000248828364328,-4.53703595641e-05,1793255958589913088
+91,1.516666667,BASELINE,798,760.792995291,735.207004709,737.792995291,694.207004709,660,929,810,836,671,643.207004709,673,0.400991444881,-0.0154121589095,0.0498533102419,0.999999968206,4.28552520082e-06,-0.000248086924146,-4.49806571573e-05,1793255958606580224
+92,1.533333333,BASELINE,798,760.623743002,734.623743002,737.623743002,694,660,929,810,836.376256998,671,643,673,0.40099199534,-0.0154129667201,0.0498537381423,0.999999968378,2.47044127023e-06,-0.000247462121479,-4.47306290821e-05,1793255958623246848
+93,1.550000000,BASELINE,798,760.035430385,734.035430385,737.035430385,694,660,929,810,836.964569615,671,643,673,0.400992996314,-0.0154132131097,0.0498543175849,0.999999968526,9.84863252606e-07,-0.000246903054771,-4.45593203753e-05,1793255958639913472
+94,1.566666667,BASELINE,798,760.544254687,734.544254687,737,694.544254687,659.455745313,929,810,836.455745313,671.544254687,643,673,0.400992638354,-0.0154129120136,0.0498537506828,0.999999968304,1.56838585514e-06,-0.00024774123652,-4.48685418515e-05,1793255958656579840
+95,1.583333333,BASELINE,798,760.877108199,735,737,694.877108199,659,929,810,836.122891801,672,643,673,0.400992105496,-0.0154124560948,0.0498530977979,0.999999968039,2.38798941128e-06,-0.000248746200277,-4.51748963908e-05,1793255958673246208
+96,1.600000000,BASELINE,798,760.300299561,735,737,694.300299561,659,929,810,836.699700439,672,643,673,0.400991248286,-0.0154115579076,0.049852398663,0.999999967706,3.58983457566e-06,-0.00025003646785,-4.53569205542e-05,1793255958689912832
+97,1.616666667,BASELINE,798,760,735,737.275526894,694,659.275526894,929,810,837,671.724473106,643,673,0.400990815036,-0.0154123156428,0.0498522022144,0.999999967619,2.44582791002e-06,-0.000250426386482,-4.5206496412e-05,1793255958706579456
+98,1.633333333,BASELINE,798,760,735,737.850286625,694,659.850286625,929,810,837,671.149713375,643,673,0.400990842223,-0.0154148717737,0.0498525517026,0.999999967791,-1.24586442111e-06,-0.000249838491351,-4.46950205725e-05,1793255958723246080
+99,1.650000000,BASELINE,798,760,735,737.563973872,694.436026128,660,929,810,836.563973872,671,643.436026128,673,0.400992451613,-0.015414731658,0.0498536683778,0.999999968271,-2.85582339674e-06,-0.000247884652198,-4.47494886342e-05,1793255958739912960
+100,1.666666667,BASELINE,798,760,735,737,694.974868243,660,929,810,836,671.025131757,643.974868243,673,0.400994422924,-0.01541368755,0.0498549380564,0.99999996881,-3.55333434495e-06,-0.00024564978818,-4.49903850144e-05,1793255958756579840
+101,1.683333333,BASELINE,798,760,735,737,694.396791033,660,929,810,836,671.603208967,643.396791033,673,0.400992095577,-0.015413648975,0.0498536286408,0.999999968283,-3.08056304887e-07,-0.00024781748111,-4.49471678183e-05,1793255958773246464
+102,1.700000000,BASELINE,798,760,735,737,694.180972582,660,929,810,836.180972582,671.819027418,643,673,0.400990693811,-0.015413507777,0.0498526948794,0.999999967895,2.09880958655e-06,-0.000249372786484,-4.49266871694e-05,1793255958789913088
+103,1.716666667,BASELINE,798,760,735,737,694.758049741,660,929,810,836.758049741,671.241950259,643,673,0.400991317916,-0.0154131419625,0.0498525833331,0.999999967839,2.67059658177e-06,-0.000249587725487,-4.49559712506e-05,1793255958806579456
+104,1.733333333,BASELINE,797.666468868,760.333531132,735,737.333531132,694.666468868,659.666468868,929,810,837,671,643,673,0.400992142655,-0.0154138954739,0.0498531040738,0.99999996813,1.71486035082e-06,-0.000248466503632,-4.47401893197e-05,1793255958823246080
+105,1.750000000,BASELINE,797.092139508,760.907860492,735,737.907860492,694.092139508,659.092139508,929,810,837,671,643,673,0.400993112245,-0.0154154571009,0.0498540813041,0.999999968665,-3.43696065704e-07,-0.000246380618726,-4.4347477997e-05,1793255958839912704
+106,1.766666667,BASELINE,797,760.503440294,735,737.503440294,694,659.496559706,929,810,837,671,643.496559706,673,0.400991349993,-0.0154136034652,0.0498526479157,0.999999968062,4.10727741747e-07,-0.000248701602619,-4.49718530976e-05,1793255958856579328
+107,1.783333333,POSE1_TO_POSE2_PRESS,799,760,735,737,694,660,929,810,836,671,643,673,0.400989577283,-0.0154117981567,0.0498520717742,0.99999996742,4.60776595074e-06,-0.000251126508476,-4.55403032794e-05,1793255958899556096
+108,1.800000000,POSE1_TO_POSE2_PRESS,798.426496902,760,735,737,694.573503098,660,929,810,836,671,643,673,0.400989560201,-0.0154112729085,0.0498517747691,0.999999967384,3.05934343682e-06,-0.000251257682738,-4.57438731769e-05,1793255958916222464
+109,1.816666667,POSE1_TO_POSE2_PRESS,798,760,735,737,694.849061754,660,929,810,836.150938246,671,643,673,0.400989524125,-0.0154112839693,0.0498515342926,0.999999967358,1.88568597215e-06,-0.000251372876204,-4.57374093825e-05,1793255958932888832
+110,1.833333333,POSE1_TO_POSE2_PRESS,798,760,735,737,694.260218734,660,929,810,836.739781266,671,643,673,0.400989432944,-0.0154128509793,0.0498514578176,0.999999967369,1.79930329524e-06,-0.000251441705924,-4.51215920846e-05,1793255958949554944
+111,1.850000000,POSE1_TO_POSE2_PRESS,798,760,735,737,694,659.675523699,928.675523699,810,837,671,643,673,0.40098999256,-0.0154133295701,0.0498518697307,0.999999967628,1.91800721774e-06,-0.000250442558934,-4.49423576216e-05,1793255958966221312
+112,1.866666667,POSE1_TO_POSE2_PRESS,798,760,735,737,694,659.09411325,928.09411325,810,837,671,643,673,0.400991067504,-0.0154129463043,0.0498526683702,0.99999996808,2.19910744573e-06,-0.000248597742515,-4.51088280704e-05,1793255958982887424
+113,1.883333333,POSE1_TO_POSE2_PRESS,798,760,735,737,694,659.481464387,928.481464387,810,837,671,643,673,0.400990938069,-0.0154135469721,0.0498525498069,0.999999967947,7.7111539089e-07,-0.00024919001141,-4.48260232556e-05,1793255958999554560
+114,1.900000000,POSE1_TO_POSE2_PRESS,798,760,735,737.055701235,694.055701235,659.944298765,929,810,836.944298765,671,643,673,0.400990416728,-0.0154141593181,0.0498522430536,0.999999967659,-7.10222941562e-07,-0.00025039961128,-4.45128420763e-05,1793255959016221184
+115,1.916666667,POSE1_TO_POSE2_PRESS,798,760,735,737.627950972,694.627950972,659.372049028,929,810,836.372049028,671,643,673,0.400988418092,-0.0154131177075,0.0498518338487,0.999999967003,3.74766486e-07,-0.000252969168628,-4.47226299664e-05,1793255959032888320
+116,1.933333333,POSE1_TO_POSE2_PRESS,798,760,735,737.791011883,694.791011883,659.208988117,929,810,836,671,643.208988117,673,0.400990611272,-0.015412271227,0.049852772602,0.999999967256,1.73592137985e-06,-0.000251958010207,-4.47541813716e-05,1793255959049555200
+117,1.950000000,POSE1_TO_POSE2_PRESS,798,760,735,737.19364446,694.19364446,659.80635554,929,810,836,671,643.80635554,673,0.401000594437,-0.0154117873725,0.0498562163739,0.999999969166,3.61029649264e-06,-0.00024429252143,-4.44545016584e-05,1793255959066222080
+118,1.966666667,POSE1_TO_POSE2_PRESS,798,760,735,737.389556234,694.389556234,660,929,810,836.389556234,671,643.610443766,673,0.401025295721,-0.0154141190043,0.0498651021287,0.999999973429,3.17052010093e-06,-0.0002263553788,-4.35256099204e-05,1793255959082888448
+119,1.983333333,POSE1_TO_POSE2_PRESS,798,760,735,737.965961952,694.965961952,660,929,810,836.965961952,671,643.034038048,673,0.401057056508,-0.0154178010756,0.0498765981147,0.9999999784,1.62076802015e-06,-0.000203491467316,-4.22949184699e-05,1793255959099554304
+120,2.000000000,POSE1_TO_POSE2_PRESS,798,760,735,737.458799078,695,659.458799078,929,810,837,671,643.541200922,673,0.401115533801,-0.0154211396801,0.0498945890383,0.999999985053,3.720853586e-07,-0.000168161890407,-4.01960470513e-05,1793255959116220928
+121,2.016666667,POSE1_TO_POSE2_PRESS,798,760,735,737.118708435,695,659,929,810,837,671.118708435,643.881291565,673,0.401178328081,-0.0154243025847,0.049911966699,0.999999989948,-2.92973327098e-07,-0.000136575556973,-3.81029869537e-05,1793255959132887552
+122,2.033333333,POSE1_TO_POSE2_PRESS,798,760,735,737.705449009,695,659,929,810,837,671.705449009,643.294550991,673,0.40125153232,-0.0154268577436,0.0499253193631,0.999999991798,1.26852802998e-06,-0.000122832180988,-3.6247658703e-05,1793255959149554176
+123,2.050000000,POSE1_TO_POSE2_PRESS,798,760,735,737.710009152,694.710009152,659,929,810,837,671.710009152,643,673,0.401332429171,-0.0154310322294,0.0499350875604,0.999999993347,6.53975059832e-07,-0.000110054145139,-3.45570061804e-05,1793255959166221056
+124,2.066666667,POSE1_TO_POSE2_PRESS,798,760,735,737.127683853,694.127683853,659,929,810,837,671.127683853,643,673,0.401421080799,-0.0154368391288,0.049941242322,0.999999994626,-2.15421843057e-06,-9.82492517958e-05,-3.30323603495e-05,1793255959182887936
+125,2.083333333,POSE1_TO_POSE2_PRESS,798,760,735,737.447740376,694,659.447740376,929,810,836.552259624,671,643.447740376,673,0.401526911252,-0.0154455952122,0.0499453301115,0.999999995245,-6.49706838748e-06,-9.21180251531e-05,-3.13326149626e-05,1793255959199555072
+126,2.100000000,POSE1_TO_POSE2_PRESS,798,760.021337715,735,737.978662285,694.021337715,660,929,810,836.021337715,671.021337715,643.978662285,673,0.401638428444,-0.0154550885575,0.0499486877683,0.999999995633,-1.12016404889e-05,-8.79207342338e-05,-2.96268670623e-05,1793255959216221952
+127,2.116666667,POSE1_TO_POSE2_PRESS,798,760.597829508,735,737.402170492,694.597829508,660,929,810,836.597829508,671.597829508,643.402170492,673,0.401772376621,-0.0154622142514,0.0499481523354,0.999999995193,-1.41037553449e-05,-9.25827621245e-05,-2.9044381341e-05,1793255959232888320
+128,2.133333333,POSE1_TO_POSE2_PRESS,797.822158665,760.822158665,735,737,694.822158665,660,929,810,837,671.822158665,643,673,0.401912225313,-0.0154700779686,0.0499466333122,0.99999999459,-1.70816166316e-05,-9.86100481193e-05,-2.83612671592e-05,1793255959249554944
+129,2.150000000,POSE1_TO_POSE2_PRESS,797.234025978,760.234025978,735,737,694.234025978,660,929,810,837,671.234025978,643,673,0.402065686852,-0.0154796443517,0.0499428450837,0.99999999361,-2.02342293848e-05,-0.000107787071383,-2.74459967528e-05,1793255959266221824
+130,2.166666667,POSE1_TO_POSE2_PRESS,797.349141454,760,735,737,694,660,929,810,836.650858546,671,643,673,0.402246290346,-0.0154895903597,0.0499436977616,0.999999993597,-2.32379999702e-05,-0.000107673420975,-2.59152383513e-05,1793255959282888448
+131,2.183333333,POSE1_TO_POSE2_PRESS,797.929027453,760,735,737,694,660,929,810,836.070972547,671,643,673,0.402444831737,-0.0154997872594,0.0499476175737,0.999999994228,-2.61434023786e-05,-0.00010141964624,-2.39777092082e-05,1793255959299555072
+132,2.200000000,POSE1_TO_POSE2_PRESS,798,760,735,737,694,660,929,810,836,671,643,673,0.402678351356,-0.0155108225487,0.0499534932252,0.999999995057,-2.81312554037e-05,-9.289404542e-05,-2.15643054675e-05,1793255959316221952
+133,2.216666667,POSE1_TO_POSE2_PRESS,798,760,735,737.079425227,694,660,929,810,836,671,643,673,0.40292237429,-0.0155216890841,0.0499595399921,0.999999995912,-2.92519894979e-05,-8.34120417754e-05,-1.90535348867e-05,1793255959332888832
+134,2.233333333,POSE1_TO_POSE2_PRESS,798,760,735,737.667665876,694,660,929,810,836,671,643,673,0.403202434158,-0.0155307255283,0.049964935608,0.999999997099,-2.56375134138e-05,-6.98327682774e-05,-1.63441585175e-05,1793255959349554944
+135,2.250000000,POSE1_TO_POSE2_PRESS,798,760.252233511,735,738,694.252233511,660,929,810,836.252233511,671,643,673,0.403501083321,-0.0155311328923,0.0499707821027,0.999999998221,-1.12611041066e-05,-5.69307783807e-05,-1.38148265309e-05,1793255959366221312
+136,2.266666667,POSE1_TO_POSE2_PRESS,798,760.832031137,735,738,694.832031137,660,929,810,836.832031137,671,643,673,0.403823873536,-0.0155203340642,0.0499772141328,0.999999998779,1.70913350439e-05,-4.49083464824e-05,-1.15193100986e-05,1793255959382887680
+137,2.283333333,POSE1_TO_POSE2_PRESS,798,760.589217491,735,738,694.589217491,660,929,810,837,671.410782509,643,673,0.404171481245,-0.0155124756405,0.0499834232777,0.999999998441,4.39887723028e-05,-3.31010929102e-05,-9.29201381609e-06,1793255959399554304
+138,2.300000000,POSE1_TO_POSE2_PRESS,798,760.01089286,735,738,694.01089286,660,929,810,837,671.98910714,643,673,0.404529211033,-0.0155058164932,0.0499895415162,0.999999997276,7.02927704659e-05,-2.13816024439e-05,-7.09254191745e-06,1793255959416220672
+139,2.316666667,POSE1_TO_POSE2_PRESS,798,760.564457233,735,738,694.564457233,660,929,810,837,671.435542767,643,673,0.404926640579,-0.0155165680933,0.0499894877048,0.999999996613,8.00583285721e-05,-1.87915857075e-05,-3.36705936193e-06,1793255959432887552
+140,2.333333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694.857466181,660,929,810,836.857466181,671,643,673,0.405324906725,-0.0155258293674,0.0499843659566,0.999999995523,9.06770517367e-05,-2.70379416368e-05,-2.38358277222e-07,1793255959449553920
+141,2.350000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694.270714411,660,929,810,836.270714411,671,643,673,0.405723404955,-0.0155294042652,0.0499638188447,0.999999992146,0.000104944195851,-6.85105121392e-05,9.39126734492e-07,1793255959466220544
+142,2.366666667,POSE1_TO_POSE2_PRESS,797.687712234,760.687712234,735,737.687712234,694,660,929,810,836.312287766,671,643,673,0.406156698919,-0.0155291354935,0.0499453050551,0.999999986965,0.000126299416524,-0.000100566359853,1.99695649729e-06,1793255959482887424
+143,2.383333333,POSE1_TO_POSE2_PRESS,797.107921854,760.107921854,735,737.107921854,694,660,929,810,836.892078146,671,643,673,0.40661979861,-0.0155255742729,0.0499285329869,0.999999980423,0.000153726215095,-0.000124555940545,2.95229088767e-06,1793255959499554560
+144,2.400000000,POSE1_TO_POSE2_PRESS,797.469494888,760.469494888,735,737.469494888,694,660,929,810,837,671,643,673,0.407131622613,-0.0155252747477,0.049927838103,0.999999975773,0.000181341736168,-0.000124611685713,6.41696029487e-06,1793255959516221440
+145,2.416666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.407661282786,-0.0155260339913,0.0499327027829,0.999999971507,0.000208664587523,-0.000115464575818,1.06227103834e-05,1793255959532887808
+146,2.433333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.408267510622,-0.0155303717658,0.0499591054429,0.999999970888,0.000232145192849,-6.3654986811e-05,1.67410166213e-05,1793255959549554432
+147,2.450000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.408882225968,-0.0155354363261,0.0499819700472,0.999999967069,0.000254751862413,-2.09947103667e-05,2.28596019647e-05,1793255959566221056
+148,2.466666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.409513200834,-0.0155418931926,0.0499980567817,0.999999961571,0.000275684329299,4.13818731097e-06,2.89787216985e-05,1793255959582887680
+149,2.483333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.410134739037,-0.0155425589874,0.0499967024328,0.999999954087,0.000301183898588,-6.01247832721e-06,3.28336643665e-05,1793255959599554304
+150,2.500000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,810,837,671,643,673,0.41075112781,-0.0155400647034,0.0499858308132,0.999999944566,0.000329175648529,-3.54167197146e-05,3.54530880873e-05,1793255959616220928
+151,2.516666667,POSE1_TO_POSE2_PRESS,798,760.471877475,735,737.471877475,694,660,929,810,837,671,643,673,0.411391991149,-0.0155360751263,0.0499612862156,0.999999978988,0.000182525429998,-8.56944078369e-05,3.6933719665e-05,1793255959632887552
+152,2.533333333,POSE1_TO_POSE2_PRESS,798,760.105710951,735,737.105710951,694,660,929,810.105710951,837,671,643,673,0.412059872128,-0.0155336088826,0.0499441520208,0.99999999061,5.69147171868e-05,-0.000118360935976,3.91433938727e-05,1793255959649554176
+153,2.550000000,POSE1_TO_POSE2_PRESS,798,760.693379923,735,737.693379923,694,660,929,810.693379923,837,671,643,673,0.412840947661,-0.0155386978278,0.0499663812003,0.999999992197,9.84716981641e-05,-6.22193463008e-05,4.51414911493e-05,1793255959666221056
+154,2.566666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694.276218544,660,929,811,837,671,643,673,0.413610208566,-0.0155421523902,0.0499799430294,0.999999992666,0.000108381651678,-3.28998942183e-05,4.28817175366e-05,1793255959682887680
+155,2.583333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694.853787397,660,929,811,837,671,643,673,0.414366579987,-0.0155438238663,0.0499840489115,0.999999995453,8.37651761899e-05,-3.28429870395e-05,3.16127309609e-05,1793255959699554048
+156,2.600000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694.567662817,660,929,811,837,671,643.432337183,673,0.415128043559,-0.0155540181674,0.0499616643207,0.999999996145,4.71606434469e-05,-7.1471900264e-05,1.94527433507e-05,1793255959716220928
+157,2.616666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,811,837.011165233,671,643.988834767,673,0.415892468057,-0.0155669055208,0.0499310733355,0.999999992516,8.04071698048e-06,-0.000121855463935,7.35859805862e-06,1793255959732887552
+158,2.633333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929,811,837.587250978,671,643.412749022,673,0.416719375938,-0.0155698837998,0.0499395842476,0.99999999343,4.72479703185e-05,-0.000103513957257,1.38766154452e-05,1793255959749554176
+159,2.650000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929.166755623,810.833244377,837.833244377,671,643,673,0.417563195612,-0.0155700881281,0.0499538569922,0.999999993055,8.75263850256e-05,-7.62842841988e-05,2.02397142572e-05,1793255959766220800
+160,2.666666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929.754899732,810.245100268,837.245100268,671,643,673,0.418449751035,-0.0155632827324,0.0499826897847,0.999999990786,0.00013051160305,-2.6594374558e-05,2.6211336213e-05,1793255959782887424
+161,2.683333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929.661667973,810.338332027,837.338332027,671,643,673,0.419304159714,-0.0155605203839,0.0499816404311,0.999999986782,0.000156380369259,-3.41866578738e-05,2.8495213354e-05,1793255959799554304
+162,2.700000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660,929.081602232,810.918397768,837.918397768,671,643,673,0.420135599938,-0.0155606467391,0.049959240682,0.99999998173,0.000170019657359,-8.27063052834e-05,2.81442458145e-05,1793255959816220928
+163,2.716666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660.495469418,929,811,838,671,643,673,0.421073030228,-0.0155649146035,0.0499771240866,0.999999988806,0.000142968315387,-3.29900965165e-05,2.93159742575e-05,1793255959832887296
+164,2.733333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660.927596814,929,811,838,671,643,673,0.422018006692,-0.0155694671099,0.0499990177278,0.999999992525,0.00011570316849,2.48399512484e-05,3.07677746265e-05,1793255959849554176
+165,2.750000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,660.348196572,929,811,838,671,643,673,0.422894322628,-0.0155712651847,0.0500028141854,0.99999999019,0.000133586509087,2.6873958695e-05,3.24352154131e-05,1793255959866221568
+166,2.766666667,POSE1_TO_POSE2_PRESS,798.233378396,761.233378396,735,738,694,660,929,811,838,671,643,673,0.423797228683,-0.0155726576689,0.0499968863794,0.999999988419,0.000147813353431,1.52669844494e-05,3.28511542454e-05,1793255959882888448
+167,2.783333333,POSE1_TO_POSE2_PRESS,798.818228623,761.818228623,735,738,694,660,929,811,838,671,643,673,0.42474018004,-0.015573439327,0.0499763136678,0.999999987114,0.000156533454898,-1.6883539781e-05,3.13823101008e-05,1793255959899554304
+168,2.800000000,POSE1_TO_POSE2_PRESS,798.602034536,761.602034536,735,738,694,660.397965464,929,811,838,671,643,673,0.425692247241,-0.0155742087125,0.0499852523713,0.99999998873,0.000146052680995,-1.09060766714e-05,3.30180977784e-05,1793255959916221184
+169,2.816666667,POSE1_TO_POSE2_PRESS,798.02460365,761.02460365,735,738,694,660.97539635,929,811,838,671,643,673,0.426648425241,-0.0155749725635,0.0500074994634,0.999999991221,0.000126913131993,1.22654818011e-05,3.60539418486e-05,1793255959932888064
+170,2.833333333,POSE1_TO_POSE2_PRESS,798,761,735,738,694,661,929,811,838,671,643,673.550554097,0.427530920702,-0.0155681620178,0.049983975467,0.999999986829,0.000151220206186,-4.73401073051e-05,3.51238313243e-05,1793255959949554688
+171,2.850000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,661,929,811,838,671,643,673.871527723,0.428422987473,-0.0155627423896,0.04996159257,0.999999979851,0.000173242340827,-9.56101278033e-05,3.38252659667e-05,1793255959966221056
+172,2.866666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,661,929,811,838,671,643,673.283370518,0.429361034624,-0.0155635057557,0.0499505813625,0.9999999792,0.000180170184785,-9.01388009147e-05,3.18398892612e-05,1793255959982887424
+173,2.883333333,POSE1_TO_POSE2_PRESS,798,761,734.699430131,738,694,660.699430131,929,811,838,671,643,673,0.430319424573,-0.0155663497911,0.0499478010708,0.999999982136,0.000166645762433,-8.34655528119e-05,3.14748445523e-05,1793255959999554304
+174,2.900000000,POSE1_TO_POSE2_PRESS,798,761,734.119410294,738,694,660.119410294,929,811,838,671,643,673,0.431296727857,-0.015571128295,0.0499526733403,0.999999987613,0.000134106176263,-7.56748381682e-05,3.26162773552e-05,1793255960016220928
+175,2.916666667,POSE1_TO_POSE2_PRESS,798,761,734,738,694,660.457497706,929,811,838,671,642.542502294,673,0.43222139844,-0.0155705958284,0.0499398026264,0.99999998498,0.000141685373515,-9.44863365838e-05,3.21996058162e-05,1793255960032887552
+176,2.933333333,POSE1_TO_POSE2_PRESS,798.033428498,761,734,738,694,661,929,811,838,671,642.033428498,673,0.433134727214,-0.0155687719471,0.0499251000444,0.999999980049,0.000159512497649,-0.000116019782145,3.15787046286e-05,1793255960049554176
+177,2.950000000,POSE1_TO_POSE2_PRESS,798.606605927,761,734,738,694,661,929,811,838,671,642.606605927,673,0.434085238477,-0.015568327341,0.049955088944,0.999999981665,0.000174875181864,-7.0149866053e-05,3.41822296651e-05,1793255960066221824
+178,2.966666667,POSE1_TO_POSE2_PRESS,798.814094754,761,734.185905246,738,694,661,929,811,838,671,643,673,0.435008439229,-0.0155664034666,0.0499738931683,0.999999980228,0.00018977961767,-4.699249356e-05,3.63324993839e-05,1793255960082888960
+179,2.983333333,POSE1_TO_POSE2_PRESS,798.221399668,761,734.778600332,738,694,661,929,811,838,671,643,673,0.435871880477,-0.015561242721,0.0499682235742,0.999999975851,0.000203681337666,-7.35337204636e-05,3.74909759989e-05,1793255960099554816
+180,3.000000000,POSE1_TO_POSE2_PRESS,798,761,735,738,694,661,929,811,838,671,643,673,0.436777046328,-0.015557999835,0.049962931304,0.999999977713,0.000190228963918,-8.32994701669e-05,3.805841685e-05,1793255960116221184
+181,3.016666667,POSE1_TO_POSE2_PRESS,798,761,735,738,694,661,929,811,838,671,643,673,0.437707092078,-0.0155559005491,0.0499578640285,0.999999982943,0.000160465624946,-8.30621739977e-05,3.82734290804e-05,1793255960132887552
+182,3.033333333,POSE1_TO_POSE2_PRESS,798,761.518359085,734.481640915,738,694,661,929,811.518359085,838.518359085,671,643.518359085,673,0.438600777959,-0.0155567026604,0.0499715606581,0.999999982879,0.000172279957141,-5.49139042887e-05,3.93132388768e-05,1793255960149554432
+183,3.050000000,POSE1_TO_POSE2_PRESS,798.094114427,762,734.094114427,738,694,661,929,812,838.905885573,671.094114427,643.905885573,673.094114427,0.439475974301,-0.0155580472284,0.0499819841159,0.999999981306,0.000186253772915,-3.32425669887e-05,3.98944499175e-05,1793255960166221056
+184,3.066666667,POSE1_TO_POSE2_PRESS,798.681266678,762,734.681266678,738,694,661,929,812,838.318733322,671.681266678,643.318733322,673.681266678,0.440274601025,-0.0155606143603,0.0499647886505,0.999999979692,0.000188336873645,-6.1078497934e-05,3.76128950011e-05,1793255960182887680
+185,3.083333333,POSE1_TO_POSE2_PRESS,798.735057741,762,735,738,694,661,929,812,838.264942259,671.735057741,643,673.735057741,0.441095203606,-0.0155629551501,0.0499610098221,0.999999979091,0.000190037383078,-6.57906950979e-05,3.70754767456e-05,1793255960199554560
+186,3.100000000,POSE1_TO_POSE2_PRESS,798.155510563,762,735,738,694,661,929,812,838.844489437,671.155510563,643,673.155510563,0.441941901298,-0.0155650271707,0.0499731625417,0.999999980034,0.000191283585496,-4.30446795045e-05,3.86091286985e-05,1793255960216221440
+187,3.116666667,POSE1_TO_POSE2_PRESS,798,762,735,738,694.423402317,661,929,811.576597683,838.576597683,671,643,673,0.442768689384,-0.015562466842,0.0499879769086,0.999999981513,0.000187487403743,-1.45998277046e-05,4.01077701939e-05,1793255960232888064
+188,3.133333333,POSE1_TO_POSE2_PRESS,798.002061513,762,734.997938487,738,694.997938487,661,929,811,838.002061513,671,643,673.002061513,0.44358758683,-0.0155582224799,0.0500035120315,0.999999982476,0.000181882581005,1.54499654357e-05,4.15765868934e-05,1793255960249554688
+189,3.150000000,POSE1_TO_POSE2_PRESS,798.574875802,762,734.425124198,738,694.425124198,661,929,811,838.574875802,671,643,673.574875802,0.444243388661,-0.0155580833301,0.0499483440201,0.999999977742,0.000187517255123,-8.87900686987e-05,3.8342860035e-05,1793255960266221056
+190,3.166666667,POSE1_TO_POSE2_PRESS,799,762,734.152199683,738,694,661,929,811,839,671,643,674,0.444908783327,-0.015559965443,0.0499019412293,0.999999967095,0.000191259780189,-0.000167240796093,3.55108622908e-05,1793255960282887424
+191,3.183333333,POSE1_TO_POSE2_PRESS,799,762,734.742504507,738,694,661,929,811,839,671,643,674,0.445601791021,-0.0155676657384,0.0498807690184,0.999999966763,0.000189555781108,-0.000171457309624,3.38352377529e-05,1793255960299554048
+192,3.200000000,POSE1_TO_POSE2_PRESS,799,762,735,738,694,660.673094591,929,811,839,671,642.673094591,673.673094591,0.446284086791,-0.0155775694128,0.0498682210213,0.999999966547,0.0001856787548,-0.000176879280981,3.37995346894e-05,1793255960316220928
+193,3.216666667,POSE1_TO_POSE2_PRESS,799,762,735,738,694,660.093261605,929,811,839,671,642.093261605,673.093261605,0.446958094678,-0.0155891778471,0.0498623456023,0.999999966377,0.000180120451689,-0.000183233917979,3.50326432938e-05,1793255960332887552
+194,3.233333333,POSE1_TO_POSE2_PRESS,799,762,735,738,694,660,929,810.517480975,839,671.482519025,642,673,0.447566933459,-0.0155977522793,0.0498308253668,0.999999956909,0.000176023060065,-0.000232425620962,3.43068282997e-05,1793255960349554944
+195,3.250000000,POSE1_TO_POSE2_PRESS,799,762,735,738,694,660,929,810,839,672,642,673,0.448160895092,-0.0156053503676,0.0497969068924,0.999999943689,0.000172683256157,-0.000285817080742,3.33285660904e-05,1793255960366222080
+196,3.266666667,POSE1_TO_POSE2_PRESS,799,762,735,738,694,660,929,810,839,672,642,673,0.448733390984,-0.0156093966799,0.0497856327033,0.999999938422,0.000173639745703,-0.000303126482884,3.34570166304e-05,1793255960382888704
+197,3.283333333,POSE1_TO_POSE2_PRESS,799,762.212721049,735,738,694,660,929,810,839,672,642,673,0.449301254632,-0.0156137944882,0.0497853264578,0.999999937511,0.000175473469664,-0.00030494055669,3.46307264906e-05,1793255960399555328
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+259,4.316666667,HOLD_POSE2,799,763,735.18945721,738.18945721,693,658,929,807,839,672,637,673,0.456309237152,-0.0156581271544,0.0496530034258,0.99999985886,3.6898923986e-05,-0.000529651357863,1.96904366569e-05,1793255961450217984
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+262,4.366666667,HOLD_POSE2,799,763,736,738.461079282,693,657,929,807,839,672,637.461079282,673.461079282,0.45630559479,-0.0157041301653,0.0496507607756,0.999999856411,-4.59851544874e-06,-0.000534678148996,3.57337104205e-05,1793255961500218112
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,799,763,736.819485499,738.090257251,693.909742749,658,929.909742749,807,839,672,638,673.090257251,0.454452923558,-0.015603563649,0.0495551781084,0.999999773901,2.82162290676e-05,-0.000671665293798,1.63601042791e-05,1793255962003896832
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b066f96032d82e8c26a1a4a3c449bc82c11e6c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12072747674ec0a1cd14a1cbd973c4c0bb109044
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..676b8b1be6df63dd112b3a698d1c4708f78b6ec9
--- /dev/null
+++ b/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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..addb33be19a0c06ede1b16140c104b2cfd6b5ee1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1aa0247132d547a53c573112da0f8a7225a6af1
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4937b4f2a679f51e7c728d503c78be70153d52e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,808,759,735,739,695,661,930,809,838,672,647,673,0.400964248516,-0.0153818917406,0.0698129918196,0.999999935359,0.000207939421231,-0.000293118613552,1.11482721773e-05,1793255972541523712
+1,0.016666667,BASELINE,807.427161101,759,735,739,694.427161101,661,930,809.572838899,838,672,646.427161101,673.572838899,0.400965227876,-0.0153807127966,0.0698140368156,0.999999935226,0.000210131311146,-0.000292002185245,1.1267274778e-05,1793255972558190336
+2,0.033333333,BASELINE,807,759,735,739,694,661,930,810,838,672,646.147006319,673.852993681,0.400966014722,-0.0153798705932,0.0698147877109,0.999999935188,0.000211508115077,-0.000291136658504,1.13375796673e-05,1793255972574856960
+3,0.050000000,BASELINE,807,759,735,739,694,661,930,810,838,672,646.725069408,673.274930592,0.400966237071,-0.0153800157917,0.0698146762343,0.99999993544,0.000210494897574,-0.000291006833331,1.12650915521e-05,1793255972591523584
+4,0.066666667,BASELINE,807.305677862,759,735,739,694.305677862,661,930,810,838,672,647,673.305677862,0.400965954256,-0.0153797452512,0.0698144174635,0.999999935266,0.000210888830065,-0.000291315808469,1.13290215943e-05,1793255972608190464
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+6,0.100000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.527599238,0.400964546944,-0.0153791587353,0.0698139384374,0.999999934719,0.000211985395856,-0.000292394934595,1.13338833747e-05,1793255972641523456
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+8,0.133333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.629381065,0.400962816574,-0.0153803912419,0.0698124171769,0.999999933882,0.000213141592444,-0.000294410155888,1.13365296273e-05,1793255972674856960
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+10,0.166666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.196614215,0.400965841927,-0.0153811313071,0.0698151069159,0.999999935786,0.000209393593564,-0.000290621425302,1.10516808966e-05,1793255972708190208
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+12,0.200000000,BASELINE,808,759,735,739,695,661,930,810,838,671.036471787,647,673.963528213,0.400964980654,-0.0153825588421,0.0698137247968,0.999999935443,0.000208969214831,-0.000292095662441,1.11899733489e-05,1793255972741523456
+13,0.216666667,BASELINE,808,759,735,739,695,661,930,810,838,671.538598017,647,673.461401983,0.400966119331,-0.0153827549245,0.0698141780033,0.999999936078,0.000208008835767,-0.00029059912601,1.13179345079e-05,1793255972758190848
+14,0.233333333,BASELINE,808,759,735,739,695,661,930,810,838,671.8836098,647,673,0.40096709849,-0.015382807956,0.0698147645778,0.999999936632,0.000207216643451,-0.000289254375407,1.13932234942e-05,1793255972774857728
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+16,0.266666667,BASELINE,808,759,735,739,695,661,930,810,838,671.290282429,647,673,0.400966506556,-0.0153822054915,0.0698155686531,0.999999936411,0.000207623297251,-0.000289734855111,1.11152096234e-05,1793255972808190208
+17,0.283333333,BASELINE,808,759,735,739,695,661,930,810,838,671.869550816,647,673,0.400966137345,-0.015382059705,0.0698152777879,0.999999936247,0.000207577572636,-0.000290340028191,1.09608783994e-05,1793255972824857088
+18,0.300000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400966429172,-0.0153823580109,0.0698153782896,0.999999936359,0.000208025454967,-0.000289627467946,1.10970518375e-05,1793255972841524224
+19,0.316666667,BASELINE,807.976476421,759,735,739,695,661,930,810,838,672,647,673.023523579,0.400966848383,-0.0153827706935,0.0698155652695,0.999999936542,0.000208548594794,-0.000288610675928,1.1294993856e-05,1793255972858191360
+20,0.333333333,BASELINE,807.406341375,759,735,739,695,661,930,810,838,672,647,673.593658625,0.400965763112,-0.0153828418269,0.0698151185276,0.999999936531,0.000207486774081,-0.000289424174094,1.09662396721e-05,1793255972874857728
+21,0.350000000,BASELINE,807.170963485,759,735,739,695,661,930,810,838,672,647,673.829036515,0.400965260875,-0.0153827276659,0.0698149481316,0.99999993644,0.000207264018635,-0.000289902483921,1.08599207423e-05,1793255972891524096
+22,0.366666667,BASELINE,807.766055221,759,735,739,695,661,930,810,838,672,647,673.233944779,0.400966205037,-0.0153821538241,0.0698154632983,0.999999936151,0.000209122826466,-0.000289549254398,1.13054218914e-05,1793255972908190720
+23,0.383333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400966263426,-0.0153816240043,0.0698152741391,0.99999993601,0.000209719216665,-0.000289605192981,1.12920579899e-05,1793255972924857344
+24,0.400000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400965748026,-0.0153811227012,0.0698146287295,0.999999935966,0.000209497834441,-0.000289926183648,1.09814491796e-05,1793255972941523200
+25,0.416666667,BASELINE,808,758.492210657,735,739,695,661,930,810,838,672,647,673,0.400964704264,-0.0153823227596,0.0698145367905,0.999999936029,0.000208380415342,-0.000290522752818,1.0775447483e-05,1793255972958189824
+26,0.433333333,BASELINE,808,758.083354823,735,739,695,661,930.083354823,810,838,671.916645177,647,673,0.400963777196,-0.0153834219002,0.0698144829189,0.999999936043,0.000207526595375,-0.000291089358073,1.06562072812e-05,1793255972974856704
+27,0.450000000,BASELINE,808,758.655568895,735,739,695,661,930.655568895,810,838,671.344431105,647,673,0.400963951601,-0.0153825861365,0.0698142153992,0.999999935698,0.000208926055409,-0.000291262691686,1.09632296366e-05,1793255972991524352
+28,0.466666667,BASELINE,808,759,735,739,694.763708339,661,930.763708339,810,838,671.236291661,647,673,0.400964074178,-0.0153818513361,0.0698140559425,0.999999935413,0.000209714388054,-0.000291673401715,1.09602544161e-05,1793255973008191232
+29,0.483333333,BASELINE,808,759,735,739,694.170119596,661,930.170119596,810,838,671.829880404,647,673,0.400964118385,-0.0153812692026,0.0698140598881,0.999999935222,0.0002095786337,-0.000292443049075,1.0488531238e-05,1793255973024857344
+30,0.500000000,BASELINE,808,759,735,739,694.412454706,661,930,810,838,672,647,673,0.400964581535,-0.0153810885938,0.0698145031387,0.999999935508,0.000209236022235,-0.000291708161384,1.05195215532e-05,1793255973041523712
+31,0.516666667,BASELINE,808,759,735,739,694.990604181,661,930,810,838,672,647,673,0.400965212986,-0.015381069289,0.0698151228706,0.999999935984,0.000208810310399,-0.000290368859217,1.07524661665e-05,1793255973058190336
+32,0.533333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.564104897,0.400965748503,-0.0153809507658,0.0698152880887,0.999999936213,0.000209002722101,-0.000289436614734,1.08647895635e-05,1793255973074856960
+33,0.550000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400966046983,-0.0153811463475,0.0698154559085,0.999999936418,0.000208988606929,-0.000288734525601,1.09234171464e-05,1793255973091523840
+34,0.566666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.4009655992,-0.015382342674,0.0698156557727,0.999999936564,0.000208287543809,-0.000288740596209,1.08181725493e-05,1793255973108190464
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+42,0.700000000,BASELINE,808,759,735,739,694.374376782,661,930,810,838,671.374376782,647,673.374376782,0.400964134279,-0.0153816368363,0.0698143517739,0.999999935731,0.000209387047981,-0.00029082889076,1.07031247972e-05,1793255973241523456
+43,0.716666667,BASELINE,808,759,735,739,694.95527901,661,930,810,838,671.95527901,647,673.95527901,0.400965355347,-0.0153826202498,0.0698152974009,0.999999935686,0.00021073331289,-0.0002899825064,1.13898173908e-05,1793255973258189824
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+45,0.750000000,BASELINE,808,759,735,739,695,661,930,809.104780878,838,672,647,673,0.400967667618,-0.0153824636611,0.0698179418985,0.999999937597,0.00020813228782,-0.000285233985102,1.13248595608e-05,1793255973291522816
+46,0.766666667,BASELINE,808,759,735,739,695,661,930,809.679424596,838,672,647,673,0.400968136114,-0.0153826258977,0.0698186532955,0.999999937832,0.000208022376262,-0.000284479705557,1.15622555416e-05,1793255973308189440
+47,0.783333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400968507878,-0.0153833106943,0.0698188237223,0.999999938007,0.000207557019339,-0.00028420086042,1.16759446356e-05,1793255973324856064
+48,0.800000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400968757589,-0.0153846548405,0.0698183115696,0.999999938105,0.000206643172513,-0.000284521903501,1.16335442661e-05,1793255973341522688
+49,0.816666667,BASELINE,808,759,735.434738337,739,695,661,930,810,838,672,647,673,0.40096705241,-0.0153834991184,0.0698170869909,0.999999937175,0.000207687008963,-0.000287038148488,1.12268234537e-05,1793255973358189056
+50,0.833333333,BASELINE,808,759,735.986182908,739,695,661,930,810,838,672,647,673,0.400964773197,-0.0153815477293,0.0698156753893,0.999999935921,0.000209395616003,-0.00029016572339,1.07138696035e-05,1793255973374855936
+51,0.850000000,BASELINE,808,759,735.411373189,739,695,661,930,810,838,672,647,673,0.400965559207,-0.0153810147868,0.0698162811357,0.99999993592,0.000211685365752,-0.000288500518635,1.08024479107e-05,1793255973391523840
+52,0.866666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400965792579,-0.0153812025025,0.0698162873523,0.999999935926,0.00021245086823,-0.00028791334553,1.09060539952e-05,1793255973408191232
+53,0.883333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400964634951,-0.0153832041302,0.0698147845396,0.999999935958,0.000209379808378,-0.000290039600687,1.10474853033e-05,1793255973424857856
+54,0.900000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400965054032,-0.0153839364313,0.0698150859004,0.99999993644,0.000207778002198,-0.000289526513049,1.10848469653e-05,1793255973441524224
+55,0.916666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400966608062,-0.0153837550447,0.069816685943,0.999999937249,0.000207233795594,-0.000287113571322,1.10472971191e-05,1793255973458190592
+56,0.933333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.495923728,0.400965727245,-0.0153826847357,0.0698164977782,0.999999936791,0.000207705326581,-0.000288373644347,1.08586910974e-05,1793255973474856704
+57,0.950000000,BASELINE,808,759,735,739,694.930810778,661,930,810,838,672,647,674,0.400964518806,-0.0153817335639,0.0698159703326,0.99999993617,0.000208291965259,-0.000290103903143,1.06939685818e-05,1793255973491523072
+58,0.966666667,BASELINE,808,759,735,739,694.354259281,661,930,810,838,672,647,674,0.400963676321,-0.0153826667138,0.0698149881198,0.999999935819,0.000208567805133,-0.000291105851548,1.08761318807e-05,1793255973508189696
+59,0.983333333,BASELINE,808,759,735,739,694.22743793,661.22743793,930,810,838,672,647,674,0.400963918165,-0.0153829553029,0.0698150204423,0.999999935804,0.000208998429524,-0.000290846980225,1.09830270118e-05,1793255973524856576
+60,1.000000000,BASELINE,808,759,735,739,694.817335776,661.817335776,930,810,838,672,647,674,0.400965888065,-0.0153822166781,0.0698166695943,0.999999936319,0.000209675728661,-0.000288578784517,1.09699699107e-05,1793255973541523200
+61,1.016666667,BASELINE,808,759,735,739,694.600342609,661.600342609,930,810,838,672,647,673.600342609,0.400965929676,-0.0153825473732,0.069816304602,0.999999936521,0.000208915776883,-0.000288433002674,1.09184333727e-05,1793255973558189824
+62,1.033333333,BASELINE,808,759,735,739,694.02141934,661.02141934,930,810,838,672,647,673.02141934,0.400965106354,-0.0153833577106,0.0698150361674,0.999999936581,0.000207511147763,-0.000289239227349,1.08496369271e-05,1793255973574856704
+63,1.050000000,BASELINE,808,759,735,739,694.554109889,661,930,810,838,672,647,673,0.400965073875,-0.0153837494513,0.0698158176103,0.999999936541,0.00020871898237,-0.000288495720355,1.11731274471e-05,1793255973591523584
+64,1.066666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400965395118,-0.0153839026484,0.0698166168533,0.999999936631,0.000209597493269,-0.000287536516458,1.13811391268e-05,1793255973608190464
+65,1.083333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673,0.400966829593,-0.0153832899269,0.0698172062277,0.999999937189,0.000208996593079,-0.000286039677309,1.11396738096e-05,1793255973624857088
+66,1.100000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647.304121194,673,0.400967193427,-0.0153832595383,0.0698170682545,0.999999937431,0.000207982666754,-0.000285937849439,1.10042877515e-05,1793255973641523712
+67,1.116666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647.886299117,673,0.400966578378,-0.0153837615742,0.0698162652705,0.999999937383,0.000206591112403,-0.000287111474592,1.09658895269e-05,1793255973658190336
+68,1.133333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647.536028384,673,0.40096642672,-0.0153837492384,0.0698165948748,0.999999937019,0.000207602684161,-0.000287645538334,1.11214455086e-05,1793255973674856704
+69,1.150000000,BASELINE,808,759,735,739,695,661,930,809.959815707,838,672,647,673,0.400966378196,-0.0153835788348,0.0698171314936,0.999999936619,0.000209075755888,-0.000287963076812,1.12869655458e-05,1793255973691523328
+70,1.166666667,BASELINE,808,759,735,739,695,661,930,809.388446175,838,672,647,673,0.400966206299,-0.0153829691978,0.069816770981,0.999999936792,0.000208939492672,-0.000287470285035,1.09619482507e-05,1793255973708189952
+71,1.183333333,BASELINE,808,759,735,739,695,661,930,809.189233805,838,672,647,673,0.400965896641,-0.0153827149439,0.0698166068388,0.999999937031,0.000208206593467,-0.000287181737973,1.07489637808e-05,1793255973724856576
+72,1.200000000,BASELINE,808,759,735,739,695,661,930,809.78031442,838,672,647,673,0.40096529444,-0.0153832153626,0.0698168596984,0.999999937403,0.000206206709889,-0.000287326913995,1.07738861792e-05,1793255973741523200
+73,1.216666667,BASELINE,808,759.365303228,735,739,695,661,930,810,838,672,647,673.365303228,0.400966382268,-0.0153829985294,0.0698173874244,0.999999937672,0.000206440279768,-0.000286221345391,1.07996078811e-05,1793255973758190080
+74,1.233333333,BASELINE,808,759.94668861,735,739,695,661,930,810,838,672,647,673.94668861,0.400968469772,-0.0153823574311,0.0698180777378,0.999999937876,0.00020799496985,-0.000284375943209,1.08258023812e-05,1793255973774857472
+75,1.250000000,BASELINE,808,759.47895283,735,739,695,661,930,810,838,672,647,674,0.400967059818,-0.0153831395658,0.0698176653441,0.999999938027,0.000205584677548,-0.00028559968836,1.06425389084e-05,1793255973791523840
+76,1.266666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400965681995,-0.0153840366127,0.069817248891,0.999999938122,0.000203441176378,-0.00028680296826,1.05278442733e-05,1793255973808189952
+77,1.283333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400966252495,-0.015384788151,0.0698173749537,0.999999938002,0.000204671583245,-0.000286335618626,1.08669056227e-05,1793255973824856576
+78,1.300000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.733764083,0.400966588675,-0.0153844723905,0.0698173788664,0.999999937795,0.00020607434513,-0.000286049124947,1.09341452394e-05,1793255973841522944
+79,1.316666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,673.154625732,0.400966649463,-0.0153829022522,0.0698172392184,0.999999937487,0.000207679672777,-0.000285975188153,1.06819174878e-05,1793255973858189824
+80,1.333333333,BASELINE,808,759,735,739.423644197,695,661,930,810,838,672,647,673,0.400966287405,-0.0153824919288,0.0698172244765,0.999999937401,0.000207767375493,-0.000286211453761,1.0703439701e-05,1793255973874856960
+81,1.350000000,BASELINE,808,759,735,739.998408236,695,661,930,810,837.998408236,672,647,673,0.400965774811,-0.0153825071636,0.0698172554282,0.999999937396,0.000207301661158,-0.000286558926354,1.08246804263e-05,1793255973891524352
+82,1.366666667,BASELINE,808,759,735,739.422658517,695,661,930,810,837.422658517,672,647,673,0.400966518224,-0.0153836419603,0.0698173575498,0.999999937623,0.000206607685008,-0.000286263591005,1.09484479634e-05,1793255973908190720
+83,1.383333333,BASELINE,808,759,735,739,695,661,930,809.843997784,837.156002216,672,647.156002216,673,0.400967004416,-0.0153844357106,0.0698173986576,0.999999937746,0.000206388677394,-0.00028598929533,1.10302842574e-05,1793255973924857088
+84,1.400000000,BASELINE,808,759,735,739,695,661,930,809.257300109,837.742699891,672,647.742699891,673,0.400966780467,-0.0153842878901,0.0698172713172,0.999999937582,0.000207480976578,-0.000285773086532,1.09963555838e-05,1793255973941524480
+85,1.416666667,BASELINE,808,759,735,739,694.673688288,661,930,809.326311712,837.673688288,672,647.673688288,673,0.400966993325,-0.015383431014,0.0698175037974,0.999999937701,0.000207839705166,-0.000285102280318,1.08412539636e-05,1793255973958191616
+86,1.433333333,BASELINE,808,759,735,739,694.092486935,661,930,809.907513065,837.092486935,672,647.092486935,673,0.400967547384,-0.0153820202779,0.0698180173419,0.99999993804,0.000207625424697,-0.000284076377539,1.05915013484e-05,1793255973974858240
+87,1.450000000,BASELINE,808,759,735,739,694.483963477,661,930,810.483963477,837.483963477,672,647,673,0.400966808534,-0.0153818430143,0.0698173769568,0.99999993731,0.000208878103594,-0.000285719784659,1.06853699416e-05,1793255973991524352
+88,1.466666667,BASELINE,808,759,735,739,695,661,930,810.940858451,838,672,647.059141549,673.059141549,0.400965960348,-0.0153819196574,0.0698166562325,0.999999936544,0.000210000034846,-0.000287567367141,1.08139998201e-05,1793255974008190976
+89,1.483333333,BASELINE,808,759,735,739,695,661,930,810.368916691,838,672,647.631083309,673.631083309,0.400966285682,-0.0153821738577,0.069817132387,0.999999937269,0.000207581163037,-0.000286805241734,1.06801890552e-05,1793255974024857600
+90,1.500000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647.78781635,673.78781635,0.400967026791,-0.0153827386906,0.0698175115782,0.999999937811,0.000206084988539,-0.000285996374446,1.06628012844e-05,1793255974041524224
+91,1.516666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647.190074023,673.190074023,0.400968523404,-0.0153838679734,0.0698177145775,0.999999938027,0.000206265446577,-0.00028510257262,1.08569656229e-05,1793255974058190592
+92,1.533333333,BASELINE,808.392464038,759,735,739,695,661,930,810,838,672,647,673.392464038,0.400968206894,-0.0153841301147,0.069817804849,0.999999937864,0.000207184079559,-0.000285005395867,1.09104880609e-05,1793255974074857216
+93,1.550000000,BASELINE,808.967913208,759,735,739,695,661,930,810,838,672,647,673.967913208,0.400967045022,-0.0153839879541,0.0698178425616,0.999999937523,0.00020844688432,-0.000285279642991,1.08984366685e-05,1793255974091524096
+94,1.566666667,BASELINE,808.458604769,759,735,739,695,661,930,810,838,672,647.541395231,674,0.400966493304,-0.0153826406169,0.0698175494527,0.999999937168,0.000209766772519,-0.000285573013933,1.0518330348e-05,1793255974108190464
+95,1.583333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647.88148197,674,0.400966465367,-0.0153819408399,0.0698175682474,0.999999937135,0.000210105436592,-0.000285446899474,1.0295286979e-05,1793255974124857088
+96,1.600000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647.289345621,674,0.400968386563,-0.0153841132249,0.0698189115301,0.999999938393,0.000206509490909,-0.000283639936798,1.07867486292e-05,1793255974141524736
+97,1.616666667,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400968267518,-0.015384516223,0.0698183024257,0.999999938364,0.000205449819342,-0.000284508659772,1.08441112065e-05,1793255974158191616
+98,1.633333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400966198827,-0.015383228402,0.069815827628,0.999999937106,0.000206813801197,-0.00028793425716,1.04866504496e-05,1793255974174858240
+99,1.650000000,BASELINE,808,759,735,738.548076868,695,661,930,810,838,672,647,674,0.400965616142,-0.0153831172613,0.0698156976883,0.999999936918,0.000207160251915,-0.000288338433093,1.042147457e-05,1793255974191524864
+100,1.666666667,BASELINE,808,759,735,738,695,661,930.027384441,810,838,672,647,674,0.400965386933,-0.0153833621238,0.069816168914,0.999999937017,0.000207184962783,-0.000287978287752,1.04393612142e-05,1793255974208191232
+101,1.683333333,BASELINE,808,759,735,738,695,661,930.601613165,810,838,672,647,674,0.400964100486,-0.0153842896114,0.0698158384214,0.999999936937,0.000206342063756,-0.00028885683637,1.05196175507e-05,1793255974224857088
+102,1.700000000,BASELINE,808,759,735,738.181265833,695,661,930.818734167,810,838,672,647,674,0.400963936682,-0.0153846568795,0.0698159711517,0.999999937046,0.000206035220424,-0.000288696764055,1.05533173366e-05,1793255974241523456
+103,1.716666667,BASELINE,808,759,735,738.773206892,695,661,930.226793108,810,838,672,647,674,0.400966316337,-0.0153837549163,0.0698171533582,0.999999937582,0.000206942863077,-0.00028618359573,1.04815387558e-05,1793255974258191104
+104,1.733333333,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400966980461,-0.0153834945709,0.0698174893609,0.999999937722,0.000206819491796,-0.000285776260998,1.06341917563e-05,1793255974274857984
+105,1.750000000,BASELINE,808,759,735,739,695,661,930,810,838,672,647,674,0.400966579068,-0.0153836327338,0.0698172997871,0.999999937619,0.000206055758489,-0.000286676857959,1.09262390659e-05,1793255974291524096
+106,1.766666667,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,648,674,0.40096426516,-0.0153823252098,0.0698169608907,0.999999936499,0.000209816432759,-0.000287868312795,1.05414536998e-05,1793255974322549504
+107,1.783333333,POSE1_TO_POSE2_PRESS,808,759,735,739,694.441843928,661,930,809.441843928,838,672,648,674,0.400965110319,-0.0153836649344,0.0698167799321,0.999999937038,0.000208015143663,-0.000287306350335,1.04043222569e-05,1793255974339216896
+108,1.800000000,POSE1_TO_POSE2_PRESS,808,759,735,739,694.128404529,661,930,809.128404529,838,672,648,673.871595471,0.400966031713,-0.0153847139734,0.0698168317198,0.999999937507,0.00020673377987,-0.000286597995283,1.03874014936e-05,1793255974355883776
+109,1.816666667,POSE1_TO_POSE2_PRESS,808,759,735,739,694.744589447,661,930,809.744589447,838,672,648,673.255410553,0.400967242708,-0.0153846587626,0.069817767659,0.999999937721,0.000207427496716,-0.000285333527018,1.08271344564e-05,1793255974372549120
+110,1.833333333,POSE1_TO_POSE2_PRESS,808,759,734.663746732,739,695,661,930,810,838,672,647.663746732,673.336253268,0.400967332566,-0.0153844867246,0.0698181202526,0.999999937694,0.00020797917438,-0.000285021042353,1.09208865443e-05,1793255974389215488
+111,1.850000000,POSE1_TO_POSE2_PRESS,808,759,734.08944268,739,695,661,930,810,838,672,647.08944268,673.91055732,0.400966628712,-0.0153842319785,0.069818059866,0.999999937499,0.000208430295243,-0.000285382515361,1.07697011526e-05,1793255974405882368
+112,1.866666667,POSE1_TO_POSE2_PRESS,808,758.515222266,734.484777734,738.515222266,695,661,930,810,838,672,647.484777734,674,0.400965825538,-0.0153846994159,0.0698175364036,0.999999937768,0.000205680411436,-0.000286442053093,1.05313122041e-05,1793255974422548736
+113,1.883333333,POSE1_TO_POSE2_PRESS,808,758.061018526,735,738.061018526,695,661,930,810,838,672,648,673.938981474,0.400965227847,-0.0153852021996,0.0698170654926,0.99999993804,0.000202994653335,-0.000287411090586,1.03553206934e-05,1793255974439215616
+114,1.900000000,POSE1_TO_POSE2_PRESS,808,758.655042391,735,738.655042391,695,661,930,810,838,672,648,673.344957609,0.400966585136,-0.0153848500297,0.0698177998144,0.999999937686,0.000206027066263,-0.000286464750729,1.0864897275e-05,1793255974455882240
+115,1.916666667,POSE1_TO_POSE2_PRESS,808.240455698,759,735,739,695,661,930,810,838,672,648,673.240455698,0.400968000613,-0.0153846034445,0.0698185771752,0.999999937441,0.000207715719496,-0.00028609241241,1.10687940869e-05,1793255974472549120
+116,1.933333333,POSE1_TO_POSE2_PRESS,808.813943305,759,735,739,695,661,930,810,838,672,648,673.813943305,0.400969496682,-0.0153845030943,0.0698194141452,0.999999937359,0.00020754326102,-0.000286515068133,1.08493234013e-05,1793255974489216512
+117,1.950000000,POSE1_TO_POSE2_PRESS,808.609681916,759,735,739,695,661,930,810,838,672,648,673.609681916,0.400984619061,-0.0153849107214,0.0698264788883,0.999999940367,0.000207246705517,-0.000276019502693,1.13006634762e-05,1793255974505882880
+118,1.966666667,POSE1_TO_POSE2_PRESS,808.031920574,759,735,739,695,661,930,810,838,672,648,673.031920574,0.40100628523,-0.0153855622955,0.0698365344079,0.999999944652,0.000206890554584,-0.000260280657355,1.20741483648e-05,1793255974522548992
+119,1.983333333,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,647.444836315,673.555163685,0.401052694112,-0.015388273476,0.0698529473978,0.999999951354,0.000207496695653,-0.00023250627115,1.33338784563e-05,1793255974539216384
+120,2.000000000,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,647,674,0.401104347594,-0.0153913440779,0.0698692820938,0.999999956766,0.000207346139995,-0.000208003359947,1.45043560852e-05,1793255974555883008
+121,2.016666667,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,647,674,0.401167831733,-0.0153951591519,0.0698842146934,0.999999959754,0.000204662975665,-0.000195884527217,1.53082067051e-05,1793255974572549888
+122,2.033333333,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,647.298756092,674,0.401243255825,-0.0153989263863,0.069895659449,0.999999962768,0.000203153238598,-0.000181545058887,1.52809324942e-05,1793255974589216768
+123,2.050000000,POSE1_TO_POSE2_PRESS,808,759,735,739,695,661,930,810,838,672,647.876356315,674,0.401329824075,-0.0154026489692,0.0699038488232,0.999999965709,0.000202738720534,-0.000165132960036,1.44779275008e-05,1793255974605883392
+124,2.066666667,POSE1_TO_POSE2_PRESS,808.451754804,759,735,739,695,661,930,810,838,672,648,674,0.401428957658,-0.0154050971497,0.0699076328878,0.999999966637,0.00020318625034,-0.000159009428267,1.2540043898e-05,1793255974622550272
+125,2.083333333,POSE1_TO_POSE2_PRESS,808.972776537,759,735,739,695,661,930,810,838,672,648,673.972776537,0.401532473896,-0.0154074458843,0.0699101869229,0.999999967109,0.000203550169683,-0.000155703127805,1.02776353481e-05,1793255974639216896
+126,2.100000000,POSE1_TO_POSE2_PRESS,808.383477422,759,735,739,695,661,930,810,838,672,648,673.383477422,0.401655816164,-0.015414908028,0.0699121182592,0.999999968839,0.000197340053447,-0.000152705384741,7.6968699339e-06,1793255974655883520
+127,2.116666667,POSE1_TO_POSE2_PRESS,808.201872955,759,735,739,695,661,930,810,838,672,647.798127045,673,0.401791387485,-0.0154221147094,0.0699140323148,0.999999970466,0.000191624379801,-0.000149417971875,4.81754623572e-06,1793255974672550144
+128,2.133333333,POSE1_TO_POSE2_PRESS,808.77986616,759,735,739,695,661,930,810,838,672,647.22013384,673,0.401949743393,-0.0154288454245,0.0699159141737,0.999999971948,0.000186829929177,-0.000145590860117,1.38196299072e-06,1793255974689216512
+129,2.150000000,POSE1_TO_POSE2_PRESS,809,759,735,738.642740216,695,661,930,810,838,672,647,673.357259784,0.402129395379,-0.015435750467,0.0699181191469,0.999999973861,0.000180239210353,-0.000140660024301,-2.58194225014e-06,1793255974705882624
+130,2.166666667,POSE1_TO_POSE2_PRESS,809,759,735,738.065715363,695,661,930,810,838,672,647,673.934284637,0.402322147468,-0.015442762746,0.069920522881,0.999999975971,0.000172543533193,-0.000135050242404,-6.87084023957e-06,1793255974722548736
+131,2.183333333,POSE1_TO_POSE2_PRESS,808.48035627,758.48035627,735,738.51964373,695,661,930,810,838,672,647.51964373,674,0.402538503911,-0.0154509206457,0.0699228832952,0.99999997794,0.00016449892014,-0.000130127557136,-1.12496642728e-05,1793255974739215872
+132,2.200000000,POSE1_TO_POSE2_PRESS,808,758,735,739,694.895228577,661,930,810,838,672,648,674,0.402765851782,-0.0154597360422,0.0699258794574,0.999999980802,0.000150895697798,-0.000124019306514,-1.56849338364e-05,1793255974755883008
+133,2.216666667,POSE1_TO_POSE2_PRESS,808,758,735,739,694.315999271,661,930,810,838,672,648,674,0.403029236261,-0.0154708621446,0.0699317798211,0.999999987197,0.000112323372068,-0.000112142311998,-2.03234799452e-05,1793255974772550144
+134,2.233333333,POSE1_TO_POSE2_PRESS,808.263225899,758.263225899,735,739,694,661,930,810,838,672,648,674,0.403316612381,-0.015480969933,0.0699413661216,0.999999992773,6.90234596823e-05,-9.52857419348e-05,-2.47144334277e-05,1793255974789218816
+135,2.250000000,POSE1_TO_POSE2_PRESS,808.842446071,758.842446071,735,739,694,661,930,810,838,672,648,674,0.403632789683,-0.0154898552673,0.069955377271,0.999999996759,2.00482330359e-05,-7.24513513715e-05,-2.88081595861e-05,1793255974805888768
+136,2.266666667,POSE1_TO_POSE2_PRESS,808.582350063,759,735,739,694,661,930,810,838,672,647.582350063,673.582350063,0.403966737736,-0.0154967598218,0.0699577482217,0.999999996927,2.33937545909e-06,-7.07932510455e-05,-3.36060586313e-05,1793255974822553600
+137,2.283333333,POSE1_TO_POSE2_PRESS,808.008646889,759,735,739,694,661,930,810,838,672,647.008646889,673.008646889,0.404307325751,-0.0155029242656,0.0699557698581,0.999999996277,-3.68692651466e-06,-7.70475879319e-05,-3.86670690032e-05,1793255974839216896
+138,2.300000000,POSE1_TO_POSE2_PRESS,808.579593622,759,735,739,694.579593622,661,930,810,838,672,647.579593622,673,0.404688628063,-0.015497321734,0.0699626182213,0.999999996872,3.66275287767e-05,-6.3584770009e-05,-2.95339652093e-05,1793255974855884032
+139,2.316666667,POSE1_TO_POSE2_PRESS,809,759,734.834534524,739,695,661,930,810,838,672,648,673,0.405078270492,-0.0154898741561,0.0699666049084,0.999999996182,6.24090757651e-05,-5.60044056709e-05,-2.46075048006e-05,1793255974872550656
+140,2.333333333,POSE1_TO_POSE2_PRESS,809,759,734.255144634,739,695,661,930,810,838,672,648,673,0.405487217716,-0.0154782615061,0.0699630950003,0.999999996233,5.00614817468e-05,-6.3894236524e-05,-3.0747645884e-05,1793255974889216768
+141,2.350000000,POSE1_TO_POSE2_PRESS,809,759,734.321385055,739,695,661,930,810,838,672,648,673,0.405919661543,-0.0154787424488,0.0699574465283,0.99999999563,4.61817937539e-05,-7.40570201973e-05,-3.35049276197e-05,1793255974905883392
+142,2.366666667,POSE1_TO_POSE2_PRESS,809,759,734.895664149,739,695,661,930,810,838,672,648,673,0.406370594609,-0.015488739693,0.0699501152458,0.999999994538,4.89653979712e-05,-8.60083639885e-05,-3.36002786297e-05,1793255974922550016
+143,2.383333333,POSE1_TO_POSE2_PRESS,809,759,735,739,695,661,930,810,838,672,648,673.472191473,0.406871983796,-0.0154913281346,0.0699366753381,0.999999993549,3.59422788143e-05,-0.000101151179396,-3.71339991693e-05,1793255974939216640
+144,2.400000000,POSE1_TO_POSE2_PRESS,809,759,735,739,695,661,930,810.050496025,838,672.050496025,648,674,0.407389283812,-0.0154922925359,0.0699241950707,0.999999992467,2.12356949465e-05,-0.000113681997658,-4.11271396595e-05,1793255974955883520
+145,2.416666667,POSE1_TO_POSE2_PRESS,809,759,735,739,695,661,930,810.642506995,838,672.642506995,648,674,0.40795707948,-0.0154934804998,0.0699365499243,0.999999994678,2.61100212668e-05,-9.06034196371e-05,-4.18606438352e-05,1793255974972550144
+146,2.433333333,POSE1_TO_POSE2_PRESS,808.770419438,759,735,739,695,661,930,811,838,672.770419438,648,674,0.408544506594,-0.0154943638903,0.0699492762091,0.999999996663,2.81911533108e-05,-6.40478869937e-05,-4.21662783866e-05,1793255974989216512
+147,2.450000000,POSE1_TO_POSE2_PRESS,808.190872356,759,735,739,695,661,930,811,838,672.190872356,648,674,0.409161859331,-0.0154947829969,0.0699625686933,0.999999998269,2.60144137715e-05,-3.21921783125e-05,-4.18196797833e-05,1793255975005882880
+148,2.466666667,POSE1_TO_POSE2_PRESS,808.383238753,759,735,739,695,661,930,811,838,672,648,674,0.409771615704,-0.015494537584,0.0699580603263,0.999999998142,2.38834563125e-05,-3.58186110209e-05,-4.31557473887e-05,1793255975022549760
+149,2.483333333,POSE1_TO_POSE2_PRESS,808.954680319,759,735,739,695,661,930,811,838,672,648,674,0.410377641598,-0.0154939658356,0.0699448102275,0.999999997119,2.17749818109e-05,-5.68697930053e-05,-4.53181471817e-05,1793255975039216384
+150,2.500000000,POSE1_TO_POSE2_PRESS,809,759,735,739,695,661,930,811,838,672,648,674,0.411043602319,-0.0154950639758,0.0699446753524,0.999999996749,1.69416582867e-05,-6.38800863909e-05,-4.62057015602e-05,1793255975055883264
+151,2.516666667,POSE1_TO_POSE2_PRESS,809,759,734.867972316,739,695,661.132027684,930,811,838,672,648,674,0.411735547827,-0.0154971489049,0.0699533743556,0.999999997332,1.20844982539e-05,-5.51130281076e-05,-4.64017238494e-05,1793255975072550144
+152,2.533333333,POSE1_TO_POSE2_PRESS,809,759,734.287942649,739,695,661.712057351,930,811,838,672,648,674,0.41249814747,-0.0155020941544,0.0699882153905,0.999999998968,7.94290503469e-06,3.08639080963e-06,-4.46238354323e-05,1793255975089216512
+153,2.550000000,POSE1_TO_POSE2_PRESS,809,759.290818458,734.290818458,739,695,662,930,811,838,672,648,674,0.413258821385,-0.0155052966406,0.0700145970358,0.999999998047,4.90513758411e-06,4.45133602523e-05,-4.35864844512e-05,1793255975105882880
+154,2.566666667,POSE1_TO_POSE2_PRESS,809,759.868329073,734.868329073,739,695,662,930,811,838,672,648,674,0.414017596987,-0.0155067810916,0.0700326393223,0.999999996651,2.95553370074e-06,6.94058644622e-05,-4.32791636086e-05,1793255975122549248
+155,2.583333333,POSE1_TO_POSE2_PRESS,809,759.557691364,734.557691364,739,695,661.557691364,930,811,838.442308636,672.442308636,648,674,0.414737122614,-0.0155026429056,0.069997165047,0.999999998871,4.18971488708e-06,5.29041267454e-06,-4.70450107329e-05,1793255975139215872
+156,2.600000000,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930,811,838.98425543,672.98425543,648,674,0.415447747773,-0.0154969500525,0.0699465397996,0.999999995126,6.3623359481e-06,-8.36802482082e-05,-5.20038854896e-05,1793255975155882240
+157,2.616666667,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930,811,838.392556717,672.392556717,648,674,0.416256826163,-0.0154951303995,0.0699198460062,0.999999991129,8.46783028823e-06,-0.000120276859419,-5.66002262912e-05,1793255975172548864
+158,2.633333333,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930.194445562,811,838.194445562,672,648,674,0.417086471258,-0.0154955734519,0.0699132079961,0.999999990092,4.85798562038e-06,-0.000127765994133,-5.88861908627e-05,1793255975189215744
+159,2.650000000,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930.772190007,811,838.772190007,672,648,674,0.417956658218,-0.0155004768396,0.0699461047509,0.999999995315,-1.00181643773e-05,-7.78773029645e-05,-5.66178490013e-05,1793255975205882880
+160,2.666666667,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930.651161446,811.348838554,838.651161446,672,648,674,0.418832390584,-0.0155032010979,0.0699740456321,0.999999997756,-1.31476931755e-05,-3.62564684296e-05,-5.47820128841e-05,1793255975222549504
+161,2.683333333,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930.075226359,811.924773641,838.075226359,672,648,674,0.419711733016,-0.0155045067262,0.0699987602009,0.999999998546,-8.63008226422e-06,-1.80729964035e-08,-5.32277413721e-05,1793255975239216128
+162,2.700000000,POSE1_TO_POSE2_PRESS,809,759,734,739,695,661,930,812,838.49688677,672.49688677,648,674,0.420624995611,-0.0155077122731,0.070024781772,0.999999997758,-1.50533701504e-05,3.92620890519e-05,-5.21117001689e-05,1793255975255882752
+163,2.716666667,POSE1_TO_POSE2_PRESS,809,759.071349159,734.071349159,739,695,661,930.071349159,812,839,673,648,674,0.421537402209,-0.0155103398552,0.0700437708778,0.999999996126,-2.24972806872e-05,6.76467212333e-05,-5.16357429193e-05,1793255975272549376
+164,2.733333333,POSE1_TO_POSE2_PRESS,809,759.66730663,734.66730663,739,695,661,930.66730663,812,839,673,648,674,0.422406043983,-0.0155066190626,0.0700096086246,0.999999998066,-2.53594656371e-05,1.25597329013e-05,-5.5382027717e-05,1793255975289216000
+165,2.750000000,POSE1_TO_POSE2_PRESS,809,760,734.744925999,739,695,661.255074001,931,812,839,672.744925999,648,674,0.423252650601,-0.0155029536004,0.0699526755127,0.999999994907,-2.67180353251e-05,-7.52375906312e-05,-6.17364506516e-05,1793255975305882624
+166,2.766666667,POSE1_TO_POSE2_PRESS,809,760,734.167508582,739,695,661.832491418,931,812,839,672.167508582,648,674,0.42407141096,-0.0154993580599,0.0698669662906,0.999999976225,-2.61764488057e-05,-0.000204371792821,-7.13868431809e-05,1793255975322548992
+167,2.783333333,POSE1_TO_POSE2_PRESS,809,759.593013543,734,739.406986457,695,662,931,812,839,672,648,674,0.424991088884,-0.0155001454394,0.0698665773385,0.999999977136,-3.58087949344e-05,-0.000197860535726,-7.27829764573e-05,1793255975339215616
+168,2.800000000,POSE1_TO_POSE2_PRESS,809,759.019712765,734,739.980287235,695,662,931,812,839,672,648,674,0.425952006549,-0.0155027238918,0.0699010543743,0.999999987026,-4.95987013199e-05,-0.000135917985673,-7.08060202669e-05,1793255975355882752
+169,2.816666667,POSE1_TO_POSE2_PRESS,809,759.571140236,734,739.428859764,695,662,930.428859764,812,839,672,647.428859764,674,0.42694331118,-0.0155096970386,0.0699633263516,0.999999995432,-4.4088679814e-05,-5.52514283558e-05,-6.43336754322e-05,1793255975372549376
+170,2.833333333,POSE1_TO_POSE2_PRESS,809,760,734,739,695.158939072,662,930,812,839,672,647.158939072,674,0.427930816092,-0.0155159407999,0.0700169684782,0.999999997293,-4.07069068836e-05,1.7020476901e-05,-5.88888271773e-05,1793255975389215744
+171,2.850000000,POSE1_TO_POSE2_PRESS,809,760,734,739,695.737035069,662,930,812,839,672,647.737035069,674,0.428905446656,-0.0155198483118,0.0700452416137,0.99999999526,-4.4750224885e-05,6.53955011931e-05,-5.65758693234e-05,1793255975405882112
+172,2.866666667,POSE1_TO_POSE2_PRESS,809,759.686377167,734,739,695.686377167,662,930,812,839,672,647.686377167,674,0.429839028044,-0.01552039622,0.0700458233005,0.999999994969,-4.7250080899e-05,6.71777695954e-05,-5.75928692495e-05,1793255975422548480
+173,2.883333333,POSE1_TO_POSE2_PRESS,809,759.111047998,734,739,695.111047998,662,930,812,839,672,647.111047998,674,0.430738355407,-0.0155181406663,0.070023297524,0.999999996489,-4.84619763422e-05,3.00801511381e-05,-6.1388592554e-05,1793255975439214848
+174,2.900000000,POSE1_TO_POSE2_PRESS,809,759.474816439,734,739,695,661.525183561,930.474816439,812,838.525183561,672,647.474816439,674,0.431544566082,-0.0155110762066,0.0699483808209,0.999999991902,-4.65129334105e-05,-9.70337181406e-05,-6.79537639147e-05,1793255975455882752
+175,2.916666667,POSE1_TO_POSE2_PRESS,809,760,734.062237849,739.062237849,695,661.062237849,931,812,838.062237849,672,648,674,0.432351348667,-0.0155043641422,0.0698741633964,0.99999997166,-4.48386178482e-05,-0.000221746578943,-7.41452506381e-05,1793255975472550400
+176,2.933333333,POSE1_TO_POSE2_PRESS,809,760,734.64165759,739.64165759,695,661.64165759,931,812,838.64165759,672,648,674,0.433347957409,-0.0155101383517,0.0699098865321,0.999999985197,-5.17297587834e-05,-0.000147595609369,-7.17270909847e-05,1793255975489216256
+177,2.950000000,POSE1_TO_POSE2_PRESS,809,760,734.779926859,740,695,662,930.779926859,812,839,672.220073141,648,674,0.434325447375,-0.0155145049115,0.0699530612534,0.999999993725,-5.73410582466e-05,-6.77237417735e-05,-6.83825505172e-05,1793255975505882624
+178,2.966666667,POSE1_TO_POSE2_PRESS,809,760,734.203138901,740,695,662,930.203138901,812,839,672.796861099,648,674,0.435271948024,-0.0155165898239,0.0700083141967,0.999999995899,-6.08778739281e-05,2.14210954524e-05,-6.35364464551e-05,1793255975522549504
+179,2.983333333,POSE1_TO_POSE2_PRESS,809,759.629069884,734,740,695.370930116,662,930.370930116,812,839,672.629069884,648,674,0.436180250114,-0.0155175819183,0.0700304059979,0.99999999427,-6.51430819113e-05,5.76500230186e-05,-6.23939868221e-05,1793255975539216128
+180,3.000000000,POSE1_TO_POSE2_PRESS,809,759.056479087,734,740,695.943520913,662,930.943520913,812,839,672.056479087,648,674,0.437067785035,-0.0155179798887,0.0700344693367,0.999999993443,-6.98042892174e-05,6.51105658736e-05,-6.32650591115e-05,1793255975555882496
+181,3.016666667,POSE1_TO_POSE2_PRESS,809.534232712,759.534232712,734,740,695.465767288,662,930.465767288,812,839,672,648,674,0.437892591304,-0.0155193531527,0.0700061138582,0.999999994819,-6.84523068916e-05,3.74152227364e-05,-6.53867706769e-05,1793255975572549120
+182,3.033333333,POSE1_TO_POSE2_PRESS,809.875968689,760,734.124031311,739.875968689,695,662,930,812.124031311,839,672,647.875968689,674,0.438695869273,-0.015519289511,0.0699659744004,0.999999995344,-6.69796701349e-05,-1.33953848278e-05,-6.81653856914e-05,1793255975589215744
+183,3.050000000,POSE1_TO_POSE2_PRESS,809.296797932,760,734.703202068,739.296797932,695,662,930,812.703202068,839,672,647.296797932,674,0.439445337682,-0.0155135614223,0.0698956113091,0.999999985969,-6.74789786901e-05,-0.000134911261504,-7.2852327739e-05,1793255975605882368
+184,3.066666667,POSE1_TO_POSE2_PRESS,809,760,734.719458196,739.280541804,695,662,930.280541804,812.719458196,839,672,647,674,0.440220032693,-0.0155115924309,0.0698597421202,0.999999975667,-7.0572844861e-05,-0.000194708465588,-7.59830776862e-05,1793255975622548992
+185,3.083333333,POSE1_TO_POSE2_PRESS,809,760,734.144043059,739.855956941,695,662,930.855956941,812.144043059,839,672,647,674,0.441021242964,-0.0155135745714,0.0698601289656,0.9999999761,-7.63938128711e-05,-0.000189634081299,-7.7478137736e-05,1793255975639216384
+186,3.100000000,POSE1_TO_POSE2_PRESS,809,760,734,740,695,662,931,811.569331071,839,672,647,674,0.44183029162,-0.0155240827129,0.069900649057,0.999999984937,-8.69455084985e-05,-0.000131059329767,-7.34225150997e-05,1793255975655883008
+187,3.116666667,POSE1_TO_POSE2_PRESS,809,760,734,740,695,661.994699456,930.994699456,811,839,672,647,674,0.442640871176,-0.0155373922987,0.0699539656473,0.999999991259,-9.91381577655e-05,-5.55696940138e-05,-6.75708436141e-05,1793255975672549632
+188,3.133333333,POSE1_TO_POSE2_PRESS,809,760,734,740,695,661.402988768,930.402988768,811,839,672,647,674,0.443331243975,-0.0155456631196,0.0699403793486,0.999999987081,-0.000118109930549,-8.5166981322e-05,-6.80724268577e-05,1793255975689216256
+189,3.150000000,POSE1_TO_POSE2_PRESS,809,760,734.18459558,740,694.81540442,661,930,811,839,672,647.18459558,674,0.444012173529,-0.0155530980715,0.069913483258,0.999999979839,-0.000132077792382,-0.000134149628385,-6.98609142311e-05,1793255975705882624
+190,3.166666667,POSE1_TO_POSE2_PRESS,809,760,734.763368828,740,694.236631172,661,930,811,839,672,647.763368828,674,0.444672938501,-0.0155587481453,0.0698581659925,0.999999962865,-0.000135360515515,-0.000224526965847,-7.43974026529e-05,1793255975722549248
+191,3.183333333,POSE1_TO_POSE2_PRESS,809,760,734.660609661,740,693.660609661,661,930.339390339,810.660609661,839,672.339390339,647.660609661,674,0.445307837262,-0.015563990305,0.0698156314144,0.999999945973,-0.000143025484009,-0.000285458121676,-7.81812443909e-05,1793255975739215872
+192,3.200000000,POSE1_TO_POSE2_PRESS,809,760,734.086491332,740,693.086491332,661,930.913508668,810.086491332,839,672.913508668,647.086491332,674,0.445924846484,-0.0155689503443,0.0697819375583,0.999999931723,-0.000153721286251,-0.000326023804929,-8.14445431162e-05,1793255975755883008
+193,3.216666667,POSE1_TO_POSE2_PRESS,809,760,734,740,693.499430812,661,931,810,839,673,647,674,0.446499531621,-0.0155749855814,0.0697689186759,0.999999920811,-0.000160893997247,-0.00035457397987,-8.22699067544e-05,1793255975772549632
+194,3.233333333,POSE1_TO_POSE2_PRESS,809,760.086165073,734,740,693.913834927,660.913834927,930.913834927,809.913834927,839,673,647,674,0.447064212894,-0.0155805732807,0.0697577974671,0.999999909728,-0.000166777285383,-0.000381990983879,-8.25308275761e-05,1793255975789216512
+195,3.250000000,POSE1_TO_POSE2_PRESS,809,760.665563388,734,740,693.334436612,660.334436612,930.334436612,809.334436612,839,673,647,674,0.447614602004,-0.01558250747,0.0697365472199,0.999999896216,-0.000168856642325,-0.000415121067316,-8.20360195027e-05,1793255975805883392
+196,3.266666667,POSE1_TO_POSE2_PRESS,809,760.756247211,734.243752789,740,693,660,930,809,839,673,647,674,0.448171229563,-0.0155879914996,0.0697304683759,0.99999989198,-0.000172097840547,-0.000424147312414,-8.07531597747e-05,1793255975822550016
+197,3.283333333,POSE1_TO_POSE2_PRESS,809,760.179708339,734.820291661,740,693,660,930,809,839,673,647,674,0.448736374185,-0.0155983219863,0.0697451024531,0.99999990117,-0.000176925254865,-0.000400265533986,-7.83944042636e-05,1793255975839216384
+198,3.300000000,POSE1_TO_POSE2_PRESS,809,760,734.604385503,739.604385503,692.604385503,660,930.395614497,808.604385503,839,673,646.604385503,674,0.449260753223,-0.0156066110813,0.0697617872329,0.999999908823,-0.000185053749024,-0.00037714262954,-7.66336830025e-05,1793255975855883264
+199,3.316666667,POSE1_TO_POSE2_PRESS,809,760,734.029613309,739.029613309,692.029613309,660,930.970386691,808.029613309,839,673,646.029613309,674,0.449766671238,-0.0156139757139,0.0697794006936,0.99999991544,-0.000194677168178,-0.000354363386014,-7.51437868692e-05,1793255975872550144
+200,3.333333333,POSE1_TO_POSE2_PRESS,809,760,734,739.560323624,692.560323624,660,930.439676376,807.439676376,839.560323624,673,646,674,0.450166297695,-0.0156262186502,0.0697616787214,0.999999904249,-0.000204065855307,-0.000380084344544,-7.34544445752e-05,1793255975889216256
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+202,3.366666667,POSE1_TO_POSE2_PRESS,809,760.726133683,734,740,692.273866317,660,930.726133683,807,840,673,646,674,0.450928718383,-0.0156657551391,0.0696990790059,0.999999853606,-0.000252384436859,-0.000473910688127,-6.70746110013e-05,1793255975922549504
+203,3.383333333,POSE1_TO_POSE2_PRESS,809,761,734,740,692,660,931,806.697430563,840,673,646,674,0.451291762067,-0.0156811023708,0.0696706899348,0.999999829001,-0.00027367595536,-0.000512534136883,-6.63882678051e-05,1793255975939216384
+204,3.400000000,POSE1_TO_POSE2_PRESS,809,761,734,740,692,660,931,806.12262645,840,673,646,674,0.451645202016,-0.0156886001952,0.0696511368007,0.999999814693,-0.000284503854147,-0.0005338029209,-6.87489153456e-05,1793255975955883008
+205,3.416666667,POSE1_TO_POSE2_PRESS,809,761,734,740,692,660,930.537293592,805.537293592,839.537293592,672.537293592,646,674,0.451972246179,-0.0156882965623,0.0696447983432,0.999999812391,-0.000286245996063,-0.000536877544822,-7.10168864825e-05,1793255975972549376
+206,3.433333333,POSE1_TO_POSE2_PRESS,809,761,734,740,692,659.949855405,930.050144595,805,839,672.050144595,646,674,0.452288528339,-0.0156864103751,0.0696424167041,0.999999813279,-0.000285421826203,-0.000535388575368,-7.30464358634e-05,1793255975989215744
+207,3.450000000,POSE1_TO_POSE2_PRESS,809,761,734,740,692,659.37033458,930.62966542,805,839,672.62966542,646,674,0.452566766206,-0.0156901524355,0.0696439740801,0.999999812537,-0.000283517279007,-0.000537810935497,-7.28242970467e-05,1793255976005882112
+208,3.466666667,POSE1_TO_POSE2_PRESS,809,760.79173268,734.20826732,740,692,659,931,804.79173268,839.20826732,673,646,674,0.452834931947,-0.0156930123321,0.0696458326381,0.999999813412,-0.000279718295961,-0.000538278588944,-7.20342272129e-05,1793255976022548736
+209,3.483333333,POSE1_TO_POSE2_PRESS,809,760.214757666,734.785242334,740,692,659,931,804.214757666,839.785242334,673,646,674,0.453085266393,-0.0156943104829,0.0696482243957,0.999999817122,-0.000272565483655,-0.000535285711714,-7.02387162426e-05,1793255976039215616
+210,3.500000000,POSE1_TO_POSE2_PRESS,809,760,734.639494676,740,692,659,931,804,840,673,646,674,0.453312856122,-0.015693489601,0.0696503136888,0.999999822601,-0.000259220167418,-0.000532311581971,-6.51753396246e-05,1793255976055882752
+211,3.516666667,POSE1_TO_POSE2_PRESS,809,760,734.065246687,740,692,659,931,804,840,673,646,674,0.453526960592,-0.0156914123502,0.0696522236516,0.999999828872,-0.000242203331004,-0.000529348567142,-5.81744537992e-05,1793255976072549376
+212,3.533333333,POSE1_TO_POSE2_PRESS,809,760.522928605,734,740,692,659,930.477071395,804,840,673,646,674,0.453702757764,-0.0156938946815,0.0696531516574,0.999999822678,-0.000267876435122,-0.000528603589159,-5.88597496239e-05,1793255976089216000
+213,3.550000000,POSE1_TO_POSE2_PRESS,809,761,734,740,691.889423105,659,930,803.889423105,840,673,646,674,0.453867100805,-0.0156974317719,0.069653123015,0.99999981484,-0.000293545164698,-0.000529623528197,-6.04225241588e-05,1793255976105882624
+214,3.566666667,POSE1_TO_POSE2_PRESS,809,761,734,740,691.311546376,659,930,803.311546376,840,673,646,674,0.454003790184,-0.0157029562997,0.0696495835018,0.999999810147,-0.000296069639781,-0.000536900494464,-6.15298199605e-05,1793255976122549248
+215,3.583333333,POSE1_TO_POSE2_PRESS,809,761,734,740,691,659,930.266266911,803,839.733733089,672.733733089,645.733733089,674.266266911,0.454126306711,-0.0157065715541,0.06964394666,0.999999804199,-0.00029659837419,-0.000547475597496,-6.2468472528e-05,1793255976139215616
+216,3.600000000,POSE1_TO_POSE2_PRESS,809,761,734,740,691,659,930.844005947,803,839.155994053,672.155994053,645.155994053,674.844005947,0.454232244195,-0.0157079533897,0.0696358564177,0.99999979668,-0.000294792542737,-0.000561908774889,-6.32098505409e-05,1793255976155881984
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+233,3.883333333,POSE1_TO_POSE2_PRESS,809,760.31058901,734.31058901,740,691,658.31058901,930,802,839.68941099,673,646,674,0.454751568048,-0.0157086117725,0.0696105407317,0.999999769586,-0.000291818464265,-0.000609628209533,-6.34372620033e-05,1793255976439215104
+234,3.900000000,POSE1_TO_POSE2_PRESS,809,760.26408078,734,740,691,658.26408078,930,802,839.73591922,673,646,674,0.454752243121,-0.0157085848095,0.0696107889935,0.999999769487,-0.000291994700702,-0.000609716895944,-6.33273586813e-05,1793255976455881984
+235,3.916666667,POSE1_TO_POSE2_PRESS,809,760.861158654,734,740,691,658.861158654,930,802,839.138841346,673,646,674,0.454751923496,-0.0157090511663,0.0696108297151,0.999999769005,-0.000292644854065,-0.000610242303049,-6.2867803227e-05,1793255976472548608
+236,3.933333333,POSE1_TO_POSE2_PRESS,809,760.547684033,734,740,691,658.547684033,930,801.547684033,839,673,646,674,0.454751226347,-0.0157069031366,0.0696092723842,0.999999768101,-0.000290778221038,-0.000612609366917,-6.28955377434e-05,1793255976489214976
+237,3.950000000,POSE1_TO_POSE2_PRESS,809,760,734,740,691,658.040924329,930,801,839,673,646,674,0.454750480509,-0.0157042773569,0.0696073434596,0.999999767149,-0.000288346624388,-0.000615293097391,-6.3023072048e-05,1793255976505881600
+238,3.966666667,POSE1_TO_POSE2_PRESS,809,760,734,740,691,658.619611186,930,801,839,673,646,674,0.454750597938,-0.0157057827163,0.0696068941589,0.999999767433,-0.000288511556601,-0.000614805549486,-6.25219103949e-05,1793255976522548480
+239,3.983333333,POSE1_TO_POSE2_PRESS,809,760,734,739.802528134,691,658.802528134,930.197471866,801,839,673,646,674,0.454751108703,-0.0157066568158,0.0696069030889,0.999999767557,-0.000289125098694,-0.000614333841561,-6.23374699638e-05,1793255976539216128
+240,4.000000000,POSE1_TO_POSE2_PRESS,809,760,734,739.226252315,691,658.226252315,930.773747685,801,839,673,646,674,0.454752373992,-0.0157063199895,0.0696077910284,0.999999767375,-0.000290599194738,-0.00061389251899,-6.27605857318e-05,1793255976555886592
+241,4.016666667,POSE1_TO_POSE2_PRESS,809,760,734,739.356443138,691,658.356443138,930.643556862,801,839,673,646,674,0.454752470987,-0.0157055612263,0.0696076199095,0.99999976686,-0.000290926441134,-0.000614535748719,-6.31527363773e-05,1793255976572552448
+242,4.033333333,POSE1_TO_POSE2_PRESS,809,760,734,739.943288166,691,658.943288166,930.056711834,801,839,673,646,674,0.454751812806,-0.0157045297266,0.0696067642241,0.999999766129,-0.000290512373363,-0.000615880024086,-6.35248714076e-05,1793255976589215488
+243,4.050000000,POSE1_TO_POSE2_PRESS,809,760,734.523272704,740,691,659,930,801,839.523272704,673,646,674.523272704,0.454752775933,-0.0157060237254,0.0696066770866,0.999999766695,-0.000290048211958,-0.000615230951235,-6.30244485844e-05,1793255976605881600
+244,4.066666667,POSE1_TO_POSE2_PRESS,809,760.102314954,734.897685046,740,691,659,930,801.102314954,840,673,646,675,0.454753820987,-0.015707305101,0.069606684755,0.999999767319,-0.00028957218777,-0.000614496976012,-6.247848911e-05,1793255976622548224
+245,4.083333333,POSE1_TO_POSE2_PRESS,809,760.680388088,734.319611912,740,691,659,930,801.680388088,840,673,646,675,0.454754440504,-0.0157063415213,0.0696067509629,0.99999976757,-0.000289065920818,-0.000614359770344,-6.21548275412e-05,1793255976639214848
+246,4.100000000,HOLD_POSE2,809,760,734,740,691,659,931,801,839,673,646,674,0.454752478894,-0.0157045500537,0.0696053994819,0.999999766223,-0.000289427028484,-0.000616285800305,-6.3071905923e-05,1793255976677548800
+247,4.116666667,HOLD_POSE2,809.59144836,760.59144836,734,739.40855164,691,659,930.40855164,801.59144836,839,673,646,674,0.454754407335,-0.0157053279533,0.0696060503787,0.999999767233,-0.000289345516175,-0.000614720135397,-6.27018611976e-05,1793255976694215424
+248,4.133333333,HOLD_POSE2,809.820774669,760.820774669,734,739,691,659,930.179225331,801.820774669,839,673,646,674,0.454755652781,-0.01570561525,0.0696064602936,0.999999767797,-0.000289276804654,-0.000613865121708,-6.24092761422e-05,1793255976710882048
+249,4.150000000,HOLD_POSE2,809.241198672,760.241198672,734,739,691,659,930.758801328,801.241198672,839,673,646,674,0.454755372562,-0.0157048066459,0.0696063319069,0.999999767366,-0.000289236687316,-0.000614597549003,-6.22897191829e-05,1793255976727548672
+250,4.166666667,HOLD_POSE2,809,760,734,739,691,659,930.665624566,801,839,673,646,674,0.45475404233,-0.0157036823526,0.0696051634015,0.999999766611,-0.000287429489099,-0.000616682615085,-6.21665870075e-05,1793255976744215296
+251,4.183333333,HOLD_POSE2,809,760,734,739,691,659,930.09290308,801,839,673,646,674,0.454751963637,-0.0157023330331,0.0696032534894,0.999999765611,-0.000284362698501,-0.000619731855152,-6.20409063897e-05,1793255976760881920
+252,4.200000000,HOLD_POSE2,809,760.485586054,734,739.485586054,691,659,930,801,839,672.514413946,646,674,0.454752623205,-0.0157024978255,0.069603480091,0.999999765471,-0.000285614391632,-0.00061936320852,-6.22288705894e-05,1793255976777548544
+253,4.216666667,HOLD_POSE2,809,761,734,740,691,659,930,801,839,672.066299257,646,674,0.454753623802,-0.0157030591757,0.0696041003287,0.999999765414,-0.000287584961068,-0.000618525439449,-6.2397612675e-05,1793255976794215424
+254,4.233333333,HOLD_POSE2,809,761,734,740,691,659,930,801,839,672.655750142,646,674,0.4547531318,-0.015704436379,0.0696045624484,0.999999764719,-0.000288630147201,-0.000619207851977,-6.19354848958e-05,1793255976810882048
+255,4.250000000,HOLD_POSE2,809,760.759826835,734,740,691,658.759826835,930,801,839,673,646,674,0.454753212155,-0.0157043971438,0.0696045553243,0.999999764985,-0.000287620727033,-0.000619284003508,-6.15819183224e-05,1793255976827548672
+256,4.266666667,HOLD_POSE2,809,760.182462725,734,740,691,658.182462725,930,801,839,673,646,674,0.454754096069,-0.0157023693007,0.0696038894057,0.999999766589,-0.000283726743706,-0.00061850899528,-6.13807662158e-05,1793255976844215040
+257,4.283333333,HOLD_POSE2,809,760,734,739.606321261,691,658,930,801,839,673,646,674,0.454754371419,-0.0157013073626,0.0696043915133,0.999999767397,-0.000281646538215,-0.000618148300572,-6.14334070904e-05,1793255976860882432
+258,4.300000000,HOLD_POSE2,809,760,734,739.030744665,691,658,930,801,839,673,646,674,0.454754365585,-0.0157006917173,0.0696054333033,0.99999976784,-0.000280404381959,-0.000617979037882,-6.16033120885e-05,1793255976877550080
+259,4.316666667,HOLD_POSE2,809,760,734,739.557048123,691,658.557048123,930.557048123,801,839,673,646,674,0.454754761624,-0.0157009789499,0.0696050308436,0.999999767539,-0.000282112321418,-0.000617688834505,-6.15967806903e-05,1793255976894216192
+260,4.333333333,HOLD_POSE2,809.144035073,760.144035073,734,740,691,658.855964927,931,801,839,673,646,674,0.454754866598,-0.0157013522296,0.069604506412,0.99999976705,-0.000283819767841,-0.000617696576189,-6.16150497116e-05,1793255976910882304
+261,4.350000000,HOLD_POSE2,809.726471234,760.726471234,734,740,691,658.273528766,931,801,839,673,646,674,0.454754016628,-0.0157018323376,0.0696038587913,0.999999766123,-0.00028501901898,-0.000618631948585,-6.1739107946e-05,1793255976927548672
+262,4.366666667,HOLD_POSE2,809.696699514,760.696699514,734,740,691,658,930.696699514,801,839,673,646,674,0.454753896184,-0.0157019797461,0.0696034528332,0.999999765496,-0.00028613190162,-0.00061910837526,-6.19796062138e-05,1793255976944215808
+263,4.383333333,HOLD_POSE2,809.124835054,760.124835054,734,740,691,658,930.124835054,801,839,673,646,674,0.454754421715,-0.0157018325585,0.0696032608604,0.999999765134,-0.000287168307335,-0.000619178418468,-6.23232088194e-05,1793255976960883456
+264,4.400000000,POSE2_TO_POSE3_RETREAT,810,760,734,740,691,659,931,801,839,673,647,674,0.454755164468,-0.0157037286895,0.069604810647,0.999999765881,-0.000287047072961,-0.000618126190718,-6.13340784609e-05,1793255976993456128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,809.408688077,760,734,739.408688077,691,659,930.408688077,801,839,673,646.408688077,674,0.454755682039,-0.0157035455786,0.0696051784544,0.999999766039,-0.000288081681074,-0.000617369769215,-6.15302807897e-05,1793255977010122496
+266,4.433333333,POSE2_TO_POSE3_RETREAT,809.179106796,760,734,739,691,658.820893204,930,801,839,673,646,674,0.45475602383,-0.0157033482636,0.0696052914111,0.999999766246,-0.000288153741133,-0.000616993437043,-6.15998180023e-05,1793255977026788864
+267,4.450000000,POSE2_TO_POSE3_RETREAT,809.759031091,760,734,739,691,658.240968909,930,801,839,673,646,674,0.454755972246,-0.0157031191617,0.0696048340454,0.999999766564,-0.000286071745207,-0.000617467694755,-6.13858953508e-05,1793255977043455232
+268,4.466666667,POSE2_TO_POSE3_RETREAT,809.664712786,760,734,739,691,658,930,801,839,673,646.335287214,674,0.454755716675,-0.015702249179,0.0696043310805,0.999999766795,-0.000283552817116,-0.000618268959444,-6.12473810561e-05,1793255977060121856
+269,4.483333333,POSE2_TO_POSE3_RETREAT,809.091064461,760,734,739,691,658,930,801,839,673,646.908935539,674,0.454755316085,-0.0157009235838,0.0696037956983,0.999999766959,-0.000280723266995,-0.000619302698659,-6.11624757959e-05,1793255977076788736
+270,4.500000000,POSE2_TO_POSE3_RETREAT,809,760,734,739.494771985,691,658.494771985,930,801,839,673,647,674,0.454755423089,-0.0157002770221,0.0696037650945,0.99999976684,-0.000280709249287,-0.000619460127724,-6.15742203511e-05,1793255977093455872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,809.081647615,760,734,739.918352385,690.918352385,658.918352385,930,801,839,673,646.918352385,674,0.454755077335,-0.0156998768911,0.0696036301075,0.999999766513,-0.00028123701967,-0.000619707741763,-6.19767383221e-05,1793255977110122752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,809.660840553,760,734,739.339159447,690.339159447,658.339159447,930,801,839,673,646.339159447,674,0.454751388865,-0.0157001976335,0.0696022785768,0.999999765241,-0.000281828726068,-0.000621512607284,-6.1751926764e-05,1793255977126789376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,810,760,734,739.2389688,690.2389688,658.2389688,930.2389688,801,839,673,646.2389688,674,0.454742793813,-0.0156996973234,0.0695988563915,0.999999762096,-0.000281570010266,-0.000626667563167,-6.17622458834e-05,1793255977143455744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,810,760,734,739.815592625,690.815592625,658.815592625,930.815592625,801,839,673,646.815592625,674,0.454727265923,-0.0156980368934,0.0695925084397,0.999999756239,-0.000280109675903,-0.000636556085936,-6.21047969027e-05,1793255977160122368
+275,4.583333333,POSE2_TO_POSE3_RETREAT,810,760,734,739.60884021,691,659,930.60884021,801,839,673,647,674,0.454693386153,-0.015696897949,0.0695791674353,0.99999974235,-0.000280056018348,-0.000657956155766,-6.29436792052e-05,1793255977176788992
+276,4.600000000,POSE2_TO_POSE3_RETREAT,810,760,734,739.033769801,691,659,930.033769801,801,839,673,647,674,0.454650877923,-0.0156960041899,0.0695625385243,0.999999724111,-0.000280663734214,-0.000684768581328,-6.40159203375e-05,1793255977193455360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,809.443981634,760.556018366,734,739.556018366,691,659,930.556018366,801,839,673,646.443981634,674,0.45459438788,-0.0156936951007,0.0695470941706,0.999999713522,-0.000281284821431,-0.000699734548698,-6.48535730678e-05,1793255977210121728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,809,760.856305059,734,739.856305059,691,659,930.856305059,801,839,672.856305059,646,674,0.454533452838,-0.015690861538,0.0695340743618,0.9999997045,-0.000280953541197,-0.000712594448368,-6.53746402901e-05,1793255977226788352
+279,4.650000000,POSE2_TO_POSE3_RETREAT,809,760.277796309,734,739.277796309,691,659,930.277796309,801,839,672.277796309,646,674,0.454461706898,-0.0156867081266,0.0695281674837,0.99999969917,-0.000277737920038,-0.00072131784775,-6.49820207695e-05,1793255977243454976
+280,4.666666667,POSE2_TO_POSE3_RETREAT,809,760,734,739.300081929,691,658.699918071,930,801,839,672.300081929,646.300081929,674,0.454380118227,-0.0156829335298,0.0695257877713,0.999999697056,-0.000275040298635,-0.000725377607473,-6.3779009366e-05,1793255977260121344
+281,4.683333333,POSE2_TO_POSE3_RETREAT,809,760,734,739.877377669,691,658.122622331,930,801,839,672.877377669,646.877377669,674,0.454289436908,-0.0156795088797,0.0695266664327,0.999999697967,-0.000272821202383,-0.000725129125518,-6.1827363029e-05,1793255977276787968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,809,759.538227555,734,739.538227555,691,658,930,801,839,673,646.538227555,674,0.454183663249,-0.0156739061168,0.0695277084391,0.999999701183,-0.000271105702408,-0.000721444101831,-6.04530378311e-05,1793255977293454592
+283,4.716666667,POSE2_TO_POSE3_RETREAT,809,759.047516063,734,739,691,658,930,801,839,672.952483937,646.047516063,674,0.45407120327,-0.0156676205007,0.0695286662513,0.999999704827,-0.000269101526629,-0.000717241180189,-5.91165261883e-05,1793255977310121216
+284,4.733333333,POSE2_TO_POSE3_RETREAT,809,759.626927088,734,739,691,658,930,801,839,672.373072912,646.626927088,674,0.45392945956,-0.0156602666301,0.0695281884656,0.999999706507,-0.000262345582542,-0.000717615642898,-5.64603977496e-05,1793255977326787840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,809,760,734,739,691,658,930,801,839,672.205275973,647,674,0.45377992253,-0.0156529811106,0.0695300717294,0.999999710473,-0.000256934979074,-0.00071426230549,-5.3544795081e-05,1793255977343454976
+286,4.766666667,POSE2_TO_POSE3_RETREAT,809,760,734,739,691,658,930,801,839,672.781704377,647,674,0.453616294682,-0.0156458191753,0.069536223926,0.999999718568,-0.000253956840469,-0.000704168860779,-5.01600462636e-05,1793255977360122624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,809.357095585,760,734,739.357095585,691,658,930,801.357095585,839,672.642904415,646.642904415,674,0.453428615826,-0.0156374511662,0.0695414054739,0.999999725186,-0.00024642838166,-0.000697658429108,-4.66278269315e-05,1793255977376789504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,809.931854637,760,734,739.931854637,691,658,930,801.931854637,839,672.068145363,646.068145363,674,0.453226276941,-0.0156283480081,0.0695459953746,0.999999730843,-0.000236126327706,-0.000693331980411,-4.30057183301e-05,1793255977393456384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,809.479075226,760,734,739.479075226,691,658,930.520924774,802,839,672.520924774,646.520924774,674,0.452984012654,-0.015618058253,0.0695425008692,0.999999729069,-0.000229413452768,-0.000698336548653,-3.94577484091e-05,1793255977410123008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,809,760,734,739,691,658.109666475,930.890333525,802.109666475,839,673,646.890333525,674,0.452727788465,-0.0156079735239,0.069537737745,0.99999972611,-0.000222723994117,-0.000704902026857,-3.58728019153e-05,1793255977426789632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,809,760,734,739,691,658.688762468,930.311237532,802.688762468,839,673,646.311237532,674,0.452434796766,-0.0155994496269,0.0695321991039,0.999999722547,-0.000214068193147,-0.00071277640862,-3.20868878534e-05,1793255977443455744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,809.265698391,759.734301609,734,739,691,659,930,803,839,673,646.265698391,674,0.452130160161,-0.0155907714993,0.0695272823842,0.99999971985,-0.000204966509049,-0.000719378469819,-2.79798099486e-05,1793255977460122368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,809.840124393,759.159875607,734,739,691,659,930,803,839,673,646.840124393,674,0.4518119928,-0.0155819141643,0.0695230883052,0.999999718192,-0.000195346732644,-0.000724502160734,-2.34995567118e-05,1793255977476788992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,810,759,734,739,691,659,930.424429093,803,839,673,647,674,0.451453136926,-0.0155748055398,0.0695218346203,0.999999722604,-0.000141074088809,-0.000731133617176,-1.82773400179e-05,1793255977493455104
+295,4.916666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,691,659,931,803.012353761,839,673,647,674,0.451078108735,-0.015568554028,0.0695219159167,0.999999725093,-7.14014590742e-05,-0.00073793853612,-1.27623250928e-05,1793255977510121728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,810,759,734,739,691,659,931,803.591567491,839,673,647,674,0.450681037871,-0.0155706860271,0.0695312196771,0.999999732786,-8.5279613424e-05,-0.000726021233429,-6.94205777374e-06,1793255977526788608
+297,4.950000000,POSE2_TO_POSE3_RETREAT,810,759,734,739,691.170433036,659,931,804.170433036,839,673,647,674,0.450272215571,-0.0155723259375,0.0695423204716,0.99999974079,-9.56479007013e-05,-0.000713632672815,-6.85437807777e-07,1793255977543455744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,691.748465791,659,931,804.748465791,839,673,647,674,0.449835289139,-0.0155727889914,0.0695577189679,0.999999750131,-9.76221512061e-05,-0.000700117075818,6.61474201216e-06,1793255977560122880
+299,4.983333333,POSE2_TO_POSE3_RETREAT,809.67673734,759,734,739,692,659,930.67673734,805,839,673,647,674,0.449390351759,-0.0155674843822,0.0695761666385,0.999999769551,-8.15045554629e-05,-0.000673866933855,1.2561085562e-05,1793255977576789504
+300,5.000000000,POSE2_TO_POSE3_RETREAT,809.104433335,759,734,739,692,659,930.104433335,805,839,673,647,674,0.448939242706,-0.0155577363689,0.0695969633925,0.999999795126,-5.14490131045e-05,-0.000637806104132,1.74644352783e-05,1793255977593455616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,809.468345818,759,734,739.468345818,692,659,930,805.468345818,839,672.531654182,647,674,0.448439169757,-0.0155497558137,0.0696189552321,0.999999815426,-6.85687369265e-05,-0.000603649175862,7.2806994434e-06,1793255977610121984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,810,759,734,739.956910424,692,659.043089576,930,806.043089576,839,672.043089576,647,674,0.447921962937,-0.0155424829459,0.0696392659492,0.999999831597,-9.27109003751e-05,-0.000572877296505,-4.66583420059e-06,1793255977626788864
+303,5.050000000,POSE2_TO_POSE3_RETREAT,810,759,734,739.358201107,692,659.641798893,930,806.641798893,839,672.641798893,647,674,0.447324749689,-0.0155392482955,0.0696344597254,0.999999829068,-7.16249678875e-05,-0.000580274227279,4.08060541225e-06,1793255977643455232
+304,5.066666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,692,660,930,807,838.771186663,673,647.228813337,674,0.446709711854,-0.0155340058595,0.0696201578152,0.99999981743,-5.39625654096e-05,-0.000601779266694,9.42176463254e-06,1793255977660122368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,810,759,734,739,692,660,930,807,838.201590022,673,647.798409978,674,0.446068126994,-0.0155257731272,0.0695917134981,0.999999791537,-4.13990010036e-05,-0.000644296226826,9.69126655953e-06,1793255977676789504
+306,5.100000000,POSE2_TO_POSE3_RETREAT,810,759,734,739,692.383046211,660,930,807.383046211,838,673,648,674,0.445449067932,-0.0155170599945,0.0695930975372,0.999999797603,-3.77463969999e-05,-0.000635061527296,8.06766180893e-06,1793255977693455872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,692.97592095,660,930,807.97592095,838,673,648,674,0.444842348278,-0.0155080837041,0.0696108212248,0.999999820736,-3.89751201035e-05,-0.000597477832586,5.40703390067e-06,1793255977710121984
+308,5.133333333,POSE2_TO_POSE3_RETREAT,810,759,734,739,693,660,930.5546939,808.5546939,838,673,648,674,0.44417514037,-0.0155010970686,0.0696542156163,0.999999861107,-1.64100550918e-05,-0.000526664771765,1.18609669869e-05,1793255977726788608
+309,5.150000000,POSE2_TO_POSE3_RETREAT,810,759,734,739,693.132703035,660,930.867296965,809,838,673,648,674,0.443496398403,-0.015489204093,0.0696959040328,0.99999989345,8.87703664508e-06,-0.000461252943457,1.631603824e-05,1793255977743455232
+310,5.166666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,693.710152902,660,930.289847098,809,838,673,648,674,0.442787582769,-0.0154605855043,0.0697282328518,0.999999911485,3.99110291047e-05,-0.000418657584185,1.27788784462e-05,1793255977760121856
+311,5.183333333,POSE2_TO_POSE3_RETREAT,809.713931956,759,734,739,694,660.286068044,930.286068044,809.286068044,838,673,648,673.713931956,0.442062326034,-0.0154335832051,0.0697535152225,0.999999923864,6.94608446923e-05,-0.000383829290249,1.10680086484e-05,1793255977776788480
+312,5.200000000,POSE2_TO_POSE3_RETREAT,809.139563446,759,734,739,694,660.860436554,930.860436554,809.860436554,838,673,648,673.139563446,0.44132049981,-0.0154082098051,0.0697716961598,0.999999931519,9.75149049382e-05,-0.000356828669649,1.1197680456e-05,1793255977793455104
+313,5.216666667,POSE2_TO_POSE3_RETREAT,809.447065899,759,734,739,694.447065899,661,930.552934101,810.447065899,838,673,648,673.447065899,0.440582642553,-0.0154044738985,0.0697993536163,0.999999948481,0.000108832213754,-0.000301639098682,1.4424492137e-05,1793255977810121984
+314,5.233333333,POSE2_TO_POSE3_RETREAT,810,759,734,739,695,661,930,810.963091796,838,672.963091796,648,674,0.439835510207,-0.0154076389637,0.0698262312091,0.999999963242,0.000114435169484,-0.000245122678056,1.83354359629e-05,1793255977826789376
+315,5.250000000,POSE2_TO_POSE3_RETREAT,810,759,734,739,695,661,930,810.383865349,838,672.383865349,648,674,0.438933372601,-0.0154101543241,0.0697969549207,0.99999994761,0.000115009928175,-0.000302059554191,1.76915447487e-05,1793255977843456256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,810,759,734,739,694.806150749,661,930,810,838,672.193849251,648.193849251,674,0.438036255257,-0.0154103602303,0.0697601677518,0.999999926676,0.000117075570153,-0.00036427977932,1.55716859064e-05,1793255977860123136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,810,759,734,739,694.231406815,661,930,810,838,672.768593185,648.768593185,674,0.437149002287,-0.0154060282863,0.0697086224443,0.999999897061,0.000122070651096,-0.000436881261794,1.05516961353e-05,1793255977876789504
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,810,758.081539976,733.081539976,739,694,661,930.918460024,810.918460024,838,673,649,674,0.435441103916,-0.0154067092936,0.0697441588513,0.999999919142,0.000126644508297,-0.000381447286775,1.32512337386e-05,1793255977910122240
+320,5.333333333,POSE2_TO_POSE3_RETREAT,810,758,733.508501432,739,694.508501432,661,930.491498568,811,838,673,649,674,0.434596510238,-0.015406774078,0.0697883625753,0.999999938702,0.000128728927611,-0.000325083798816,1.85718995413e-05,1793255977926789120
+321,5.350000000,POSE2_TO_POSE3_RETREAT,810,758,734,739,695,661,930,811,838,673,649,673.901368096,0.433740524982,-0.015406658513,0.0698282750824,0.999999953438,0.000131799301952,-0.000274230303157,2.34693033313e-05,1793255977943456512
+322,5.366666667,POSE2_TO_POSE3_RETREAT,810,758,734,739,695,661,930,811,838,673,649,673.32291143,0.432828349596,-0.0154068339941,0.0698401049455,0.999999958028,0.000139280207943,-0.00025288354627,2.440610668e-05,1793255977960123392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,810,758,734,739,695,661,930,810.74571552,838,673,648.74571552,673,0.431902499324,-0.0154071103193,0.0698394725521,0.999999957259,0.000146552052917,-0.000251797476356,2.45337239431e-05,1793255977976790272
+324,5.400000000,POSE2_TO_POSE3_RETREAT,810,758,734,739,695,661,930,810.170112646,838,673,648.170112646,673,0.4309593691,-0.0154075140729,0.0698230926311,0.999999949756,0.000153559725689,-0.000276313168252,2.36388393926e-05,1793255977993456384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,810,758,734,739,694.58557624,661,930,810.41442376,838,672.58557624,648.41442376,673.41442376,0.429983852147,-0.0154034988731,0.0697657467241,0.999999920223,0.000154181896091,-0.000368017817828,1.85840143448e-05,1793255978010122752
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,810,758,734,739,694.581920272,661,930,811,838,672,649,674,0.428104498057,-0.015400580675,0.0697307324673,0.999999898372,0.000151654920091,-0.000424295489794,1.51782762276e-05,1793255978043456000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,810,758,734,738.839701835,695,661,930,811,837.839701835,672,649,673.839701835,0.427214136215,-0.0154029742261,0.0697760842525,0.999999926113,0.000152075133706,-0.00035252593759,1.93171701449e-05,1793255978060123648
+329,5.483333333,POSE2_TO_POSE3_RETREAT,810,758,734,738.26359627,695,661,930,811,837.26359627,672,649,673.26359627,0.426324659785,-0.0154040269805,0.0698379246385,0.999999954557,0.000154824102343,-0.000257420898247,2.55087323913e-05,1793255978076792832
+330,5.500000000,POSE2_TO_POSE3_RETREAT,810,757.688162919,733.688162919,738,695,661,930,810.688162919,837,672,649.311837081,673.311837081,0.42541738054,-0.0154043317278,0.0698589595952,0.99999996171,0.000158115239421,-0.00022536338924,2.8129163543e-05,1793255978093458944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,810,757.113296596,733.113296596,738,695,661,930,810.113296596,837,672,649.886703404,673.886703404,0.424495084971,-0.0154040055437,0.0698455758675,0.999999956138,0.000161863686975,-0.000246485399119,2.77374065603e-05,1793255978110122496
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,810,757.936877644,734,738,695,661,931,811,837.936877644,672,649,673.063122356,0.422626570044,-0.0153960981858,0.0697738855313,0.999999922263,0.000149240664161,-0.000364544374592,1.75580695759e-05,1793255978143456256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,810,757.362365117,734,738,695,661,931,811,837.362365117,672,649,673.637634883,0.421624400534,-0.0153879559362,0.0697014520788,0.999999866029,0.00016546211056,-0.00049033011627,1.18496954232e-05,1793255978160123136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,810,757,734,738,694.786132639,661,931,811,837.213867361,672,649,674,0.420684044348,-0.0153851196969,0.0696751025642,0.999999842278,0.000171923604402,-0.000534594576654,9.76269733326e-06,1793255978176789760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,810,757,734,738,694.206962249,661,931,811,837.793037751,672,649,674,0.41984927024,-0.0153913465579,0.0697274681908,0.999999890198,0.0001617143025,-0.000439614017447,1.38613064324e-05,1793255978193456128
+337,5.616666667,POSE2_TO_POSE3_RETREAT,810,757.377781458,734,738,694.377781458,661,930.622218542,810.622218542,838,672,649,673.622218542,0.419062685841,-0.0153948354798,0.0697934517966,0.999999930727,0.000164047187923,-0.000333506813086,2.01802650382e-05,1793255978210122496
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,810,757,734,738,695,661,930,810,837,672,649.12409308,673.12409308,0.41662147939,-0.0153888419959,0.0698449402856,0.999999945623,0.000191913801062,-0.000266901675649,2.61949649889e-05,1793255978260121856
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,810,757,734,738,694.723375428,661,930,809.723375428,837,672.276624572,649.723375428,673.723375428,0.414940890079,-0.0153898349346,0.0697758560789,0.999999924318,0.000185618430491,-0.000341432520408,1.82569052982e-05,1793255978293455104
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,810,757,734,738,695,661,930.974179652,809,838,672,649,673,0.412609066809,-0.0153831012385,0.0697545293051,0.999999899186,0.000197869206758,-0.000402628539794,1.91237565804e-05,1793255978343456256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,810,757,734,738,695,661,930.394106925,809,838,672,649,673,0.411989440003,-0.0153882927239,0.0698113071452,0.999999938102,0.000195394463204,-0.000291663313884,2.34335763975e-05,1793255978360123136
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,810.912305755,757,734,737.912305755,694.087694245,660.087694245,930,809,837,672,649,673.087694245,0.408104369797,-0.015377009584,0.0697616170055,0.999999904304,0.000210017313426,-0.000383440365297,1.60884336698e-05,1793255978460123392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,810.33395513,757,734,737.33395513,694.66604487,660.66604487,930,809,837,672,649,673.66604487,0.407577014877,-0.0153803875377,0.0697729148302,0.999999914647,0.000208139347361,-0.000356502071716,1.70141589926e-05,1793255978476789760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,810,757,734.242140095,737,695,661.242140095,930.242140095,809,837,672.242140095,649.242140095,673.757859905,0.407062830882,-0.0153821465585,0.0697863915253,0.999999922825,0.000207439876141,-0.000333161410371,1.7926699404e-05,1793255978493456384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,810,757,734.81515337,737,695,661.81515337,930.81515337,809,837,672.81515337,649.81515337,673.18484663,0.406566644386,-0.0153816933824,0.0698028455446,0.999999928588,0.000208350763604,-0.000314736748611,1.88212231804e-05,1793255978510122752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,810,757,734.599736008,737.400263992,695,661.599736008,930.599736008,809.400263992,837,672.599736008,649.599736008,673.400263992,0.406077561251,-0.0153792801008,0.0698035415608,0.999999925946,0.00021013670515,-0.000321832613691,1.93339404849e-05,1793255978526789376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,810,757,734.008864526,737.991135474,695,661.008864526,930.008864526,809.991135474,837,672.008864526,649.008864526,673.991135474,0.405591860723,-0.0153759334083,0.0697967335474,0.999999919094,0.000212339351374,-0.000341081465291,1.9664839927e-05,1793255978543456256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,810.569828113,757,734,737.430171887,695,661,930,809.430171887,837,672.569828113,649,673.430171887,0.405182945429,-0.015374258227,0.0698004935413,0.99999992122,0.000216847174414,-0.00033195988502,1.84638200167e-05,1793255978560123136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,810.851990796,757,734.148009204,737,695,661,930,809,837,673,649.148009204,673,0.404790619069,-0.0153736530232,0.0698074122671,0.999999925287,0.000219598441035,-0.000317615836342,1.7970657592e-05,1793255978576790016
+360,6.000000000,POSE2_TO_POSE3_RETREAT,810.274755124,757,734.725244876,737,695,661,930,809,837,673,649.725244876,673,0.404443008913,-0.0153760769219,0.0698230245253,0.99999993436,0.000217153878561,-0.000289379750127,1.95979450451e-05,1793255978593456896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,810,757,735,737.306723739,695,661,930,809,837,672.693276261,649.693276261,673,0.404107597044,-0.015377310321,0.0698364781924,0.999999941933,0.000213251013892,-0.000264982548357,2.1011712449e-05,1793255978610123264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,810,757,735,737.892056825,695,661,930,809,837,672.107943175,649.107943175,673,0.403783265386,-0.0153774623419,0.0698479711246,0.99999994833,0.000208023515644,-0.000244072359456,2.2231531023e-05,1793255978626789376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,810,757,735,737.527442161,695,661,930,809,837,672,649,673,0.403474097192,-0.0153749436901,0.0698420626994,0.99999994325,0.000223961227374,-0.000250786990112,2.1166265038e-05,1793255978643456000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,810,757,734.948023096,737,695,660.948023096,930,809,837,672,649.051976904,673,0.403171188566,-0.0153717071412,0.069832040371,0.999999935604,0.000241775070695,-0.000264496536181,1.94531486324e-05,1793255978660122368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,810,757,734.368496024,737,695,660.368496024,930,809,837,672,649.631503976,673,0.402897013127,-0.0153673132378,0.0698201985816,0.99999993256,0.000230057764664,-0.000285804518537,1.64087224368e-05,1793255978676789504
+366,6.100000000,POSE2_TO_POSE3_RETREAT,810,757,734.209222905,737,695,660.209222905,930,809.209222905,837,672.209222905,650,673,0.402640992425,-0.0153636848353,0.0698113038196,0.999999929137,0.00022406031262,-0.000302180588822,1.45197259262e-05,1793255978693456640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,810,757,734.783784451,737,695,660.783784451,930,809.783784451,837,672.783784451,650,673,0.402416672996,-0.0153613931275,0.0698075550679,0.999999925856,0.000228050696124,-0.000309944703048,1.46483057343e-05,1793255978710123264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,810,756.633423243,735,737,695,660.633423243,930,809.633423243,837,672.633423243,650,673,0.402210555858,-0.0153621972082,0.0698020040072,0.99999992252,0.000230110001665,-0.000319031795514,1.50939280989e-05,1793255978726789888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,810,756.045664678,735,737,695,660.045664678,930,809.045664678,837,672.045664678,650,673,0.402015421435,-0.0153648691978,0.069795365485,0.999999919102,0.000231004151018,-0.000328917135493,1.57308447791e-05,1793255978743456000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,810,756.534598059,734.465401941,737,695,660.534598059,930,809,837,672,649.465401941,673,0.401855792559,-0.0153695820377,0.0697945286983,0.999999919505,0.000226014665717,-0.000331103581226,1.6675507672e-05,1793255978760122880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,810,757,734.113807173,737,695,661,930,809,837,672,649.113807173,673.113807173,0.40170625915,-0.0153736882992,0.0697947889837,0.999999920868,0.000219734820191,-0.000331203168114,1.68788411934e-05,1793255978776789760
+372,6.200000000,POSE2_TO_POSE3_RETREAT,810,757,734.691296336,737,695,661,930,809,837,672,649.691296336,673.691296336,0.401585671668,-0.0153746227596,0.0697975278478,0.999999924851,0.000210216993743,-0.00032544263022,1.39561727892e-05,1793255978793455872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,810,757,735,737,695,661,930,809,837,672.267436261,649.732563739,674,0.401476948996,-0.0153744996196,0.0697992034398,0.999999926136,0.000210994675102,-0.000321091567318,1.04850323985e-05,1793255978810122240
+374,6.233333333,POSE2_TO_POSE3_RETREAT,810,757,735,737,695,661,930,809,837,672.842026534,649.157973466,674,0.401381853219,-0.0153731618116,0.06979965785,0.999999924306,0.000223596881136,-0.000318359305047,6.38396500071e-06,1793255978826788608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,810,756.57254414,735,737,695,661,930,809,837,672.57254414,649.42745586,674,0.401300324223,-0.0153728238715,0.0698004229269,0.999999923928,0.000226523201138,-0.000317475207016,6.35403255827e-06,1793255978843455488
+376,6.266666667,POSE2_TO_POSE3_RETREAT,810,756.016710973,735,737,695,660.983289027,930,809,837,672,650,673.983289027,0.401224452029,-0.0153727855402,0.0698012318014,0.999999924135,0.000225751177405,-0.00031733957601,7.82920964898e-06,1793255978860122112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,810,756.596392726,735,737,695,660.403607274,930,809,837,672,650,673.403607274,0.401165846185,-0.0153700681926,0.0697995476608,0.999999924063,0.000223987866831,-0.000318810119326,8.00433083755e-06,1793255978876789248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,810,757,735,737,695,660.174539948,930,809.174539948,837,672,650,673.174539948,0.401112640255,-0.0153683056825,0.0697979314811,0.999999923683,0.000223089486209,-0.000320621572873,8.21322635409e-06,1793255978893456384
+379,6.316666667,POSE2_TO_POSE3_RETREAT,810,757,735,737,695,660.74916956,930,809.74916956,837,672,650,673.74916956,0.4010718123,-0.0153687319016,0.0697964710852,0.999999922603,0.000224173743823,-0.000323214478613,8.49954114006e-06,1793255978910123264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,810,757,734.676217519,737,695,661,930,809.676217519,837,672,650,674,0.401041036419,-0.0153689745131,0.069797007015,0.999999922907,0.00022488449474,-0.000321767659746,8.87892849457e-06,1793255978926789888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,810,757,734.101617466,737,695,661,930,809.101617466,837,672,650,674,0.401018047356,-0.0153690748934,0.0697990893952,0.99999992427,0.000225305909414,-0.00031719147505,9.33041439344e-06,1793255978943456000
+382,6.366666667,POSE2_TO_POSE3_RETREAT,810,757,734,737.485345531,695,660.514654469,930,809,837,672,649.514654469,673.514654469,0.401003007712,-0.0153681426882,0.0698013351233,0.999999925533,0.000225907782525,-0.000312739304029,9.7318594169e-06,1793255978960121856
+383,6.383333333,POSE2_TO_POSE3_RETREAT,810.073211417,757,734.073211417,737.926788583,695,660,930,809,837,672,649.073211417,673,0.400990460468,-0.015367222626,0.0698035435455,0.999999926724,0.000226383943914,-0.000308544978002,1.00869164368e-05,1793255978976787968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,810.649041242,757,734.649041242,737.350958758,695,660,930,809,837,672,649.649041242,673,0.400983299142,-0.0153679089605,0.0698052549203,0.999999927672,0.000225730886289,-0.000305937917105,1.01973147603e-05,1793255978993454848
+385,6.416666667,POSE2_TO_POSE3_RETREAT,810.775056299,757,734.775056299,737,695,660.224943701,930,809.224943701,837,672.224943701,650,673,0.400976575992,-0.0153679151044,0.0698060439962,0.999999927977,0.000226172407409,-0.000304608995339,1.02463627215e-05,1793255979010121984
+386,6.433333333,POSE2_TO_POSE3_RETREAT,810.199040512,757,734.199040512,737,695,660.800959488,930,809.800959488,837,672.800959488,650,673,0.400970536708,-0.0153668596675,0.0698053936301,0.999999927286,0.000228322249543,-0.000305274879402,1.01996604971e-05,1793255979026789376
+387,6.450000000,POSE2_TO_POSE3_RETREAT,810,757,734,737,695,661,930,809.613783312,837,672.613783312,649.613783312,673.386216688,0.400967458157,-0.0153679305908,0.0698062312959,0.99999992784,0.000227196784207,-0.000304300583003,1.01274811273e-05,1793255979043456512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,810,757,734,737,695,661,930,809.023646725,837,672.023646725,649.023646725,673.976353275,0.400965942855,-0.0153701242184,0.0698078546328,0.999999929044,0.000224341977753,-0.000302460281963,1.00418499918e-05,1793255979060123136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,810,756.44368252,734,737,695,660.44368252,930,809,837,672,649.55631748,673.44368252,0.40096419126,-0.0153696887081,0.0698077374447,0.999999928247,0.000227352307466,-0.000302841951907,1.01590205852e-05,1793255979076788992
+390,6.500000000,POSE2_TO_POSE3_RETREAT,810,756.129791751,734.129791751,737,695,660.129791751,930,809,837,672,650,673,0.400963181784,-0.0153692931578,0.0698080060383,0.999999927878,0.000229301969027,-0.000302586611495,1.03194013796e-05,1793255979093455104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,810,756.683457785,734.683457785,737,695,660.683457785,930,809,837,672,650,673,0.400964628134,-0.0153693865207,0.0698097717924,0.999999929198,0.000226988144339,-0.00029994801515,1.05932516287e-05,1793255979110121728
+392,6.533333333,POSE2_TO_POSE3_RETREAT,810,757,734.742076661,737,695,660.742076661,930,809.257923339,837,672,650,673,0.400965585646,-0.0153691238558,0.069810625771,0.999999929802,0.000226242851155,-0.000298497372664,1.04578333366e-05,1793255979126788608
+393,6.550000000,POSE2_TO_POSE3_RETREAT,810,757,734.139845249,737,695,660.139845249,930,809.860154751,837,672,650,673,0.400965890595,-0.0153683859209,0.0698102625989,0.999999929463,0.000227591428108,-0.000298632558014,9.77607265645e-06,1793255979143456000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,810,756.548570732,734,737,695,660,930,809.548570732,837,672,650,673,0.400965659759,-0.0153689018657,0.0698110695766,0.999999929693,0.000227683764226,-0.000297789641514,9.7360893459e-06,1793255979160122880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,810.038838246,756,734.038838246,737,695,660.038838246,930,809,837,672,650,673,0.400965273223,-0.0153697161103,0.0698121580726,0.99999993008,0.00022733602973,-0.000296750862033,9.87807424621e-06,1793255979176789760
+396,6.600000000,POSE2_TO_POSE3_RETREAT,810.618564272,756,734.618564272,737,695,660.618564272,930,809,837,672,650,673,0.400964975041,-0.0153694033126,0.0698122384872,0.999999930244,0.000226150884651,-0.000297104145463,9.85109284305e-06,1793255979193456384
+397,6.616666667,POSE2_TO_POSE3_RETREAT,810.80467739,756.19532261,735,737,695,661,930,809.19532261,837,672,649.80467739,673,0.400964815655,-0.0153694815941,0.0698122910698,0.999999930334,0.00022580598534,-0.000297059357507,9.95626728452e-06,1793255979210123264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,810.233627796,756.766372204,735,737,695,661,930,809.766372204,837,672,649.233627796,673,0.400964923259,-0.0153703121644,0.0698122901138,0.999999930283,0.000227077401835,-0.000296248830421,1.03156596942e-05,1793255979226790144
+399,6.650000000,POSE2_TO_POSE3_RETREAT,810.349562639,757,735,737,695,660.650437361,930,809.650437361,837.349562639,672,649.349562639,673.349562639,0.400963750822,-0.0153701162867,0.0698116195909,0.999999929989,0.000226860917914,-0.000297408201511,1.02492548037e-05,1793255979243456512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,810.941159257,757,735,737,695,660.058840743,930,809.058840743,837.941159257,672,649.941159257,673.941159257,0.400961692096,-0.0153692097059,0.0698104854662,0.999999929521,0.000225614225273,-0.00029993151215,9.88803173394e-06,1793255979260122880
+401,6.683333333,POSE2_TO_POSE3_RETREAT,810.477907142,757,735,737,695,660.522092858,930,809,837.477907142,672,650,673.477907142,0.400962305244,-0.0153685881037,0.0698112954707,0.999999930024,0.000225235697778,-0.000298546191075,9.52481449376e-06,1793255979276788992
+402,6.700000000,POSE2_TO_POSE3_RETREAT,810.101244735,757,735,737,695,661,930,809,837.101244735,672,650,673.101244735,0.400963058042,-0.0153683088072,0.0698120241463,0.999999930489,0.000225074044218,-0.000297117829771,9.24253662785e-06,1793255979293455360
+403,6.716666667,POSE2_TO_POSE3_RETREAT,810.677562096,757,735,737,695,661,930,809,837.677562096,672,650,673.677562096,0.400963081427,-0.0153694880292,0.0698113636593,0.999999930279,0.000225480107839,-0.000297513150289,9.34108574068e-06,1793255979310121984
+404,6.733333333,POSE2_TO_POSE3_RETREAT,810.7474678,757,735,737,695,660.7474678,930,809,837.7474678,672,650,673.7474678,0.400963297755,-0.0153704983442,0.0698114354736,0.999999930377,0.000225420839708,-0.000297219064583,9.56451019409e-06,1793255979326788864
+405,6.750000000,POSE2_TO_POSE3_RETREAT,810.174208693,757,735,737,695,660.174208693,930,809,837.174208693,672,650,673.174208693,0.400963759127,-0.01537129414,0.0698124373425,0.999999930867,0.000224770580014,-0.00029604940296,9.94653178933e-06,1793255979343456000
+406,6.766666667,POSE2_TO_POSE3_RETREAT,810,757,735,737,695,660.41281185,930,809,837,672,650,673,0.400964106241,-0.0153707391579,0.0698128378707,0.999999931164,0.000224169724899,-0.000295506147405,9.8152839222e-06,1793255979360122624
+407,6.783333333,POSE2_TO_POSE3_RETREAT,810,756.994293361,735,737,695,661,930,809,837,672,650,673,0.400964405951,-0.0153696108522,0.0698129771264,0.999999931375,0.000223603462555,-0.000295232887544,9.46439170424e-06,1793255979376788224
+408,6.800000000,POSE2_TO_POSE3_RETREAT,810,756.414809676,735,737,695,661,930,809,837,672,650,673,0.4009649547,-0.0153701284001,0.0698132418184,0.999999931391,0.000224346782036,-0.000294611039365,9.55867196225e-06,1793255979393454848
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a6430769677bd5a3498e86b03421b59e909de1f
--- /dev/null
+++ b/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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6fe7c4f6ead8fcf37ba24a7b958acc1fb65c7a5f
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96326985f09fdb93deb170d5e32f6d16a7f220e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+33,0.550000000,BASELINE,810,757,734.859505307,737,695,660.859505307,930,809,837,672,650,673,0.400963178912,-0.015373061792,0.0698151097581,0.999999932721,0.000222434938136,-0.000291527052189,9.66280839899e-06,1793255980070642688
+34,0.566666667,BASELINE,810,757,734.285926182,737,695,660.285926182,930,809,837,672,650,673,0.400961257791,-0.0153735478354,0.0698138898363,0.999999931956,0.000223159435047,-0.000293599934447,9.32980035681e-06,1793255980087309312
+35,0.583333333,BASELINE,810,757,734,737,695,660.298841816,930,809,837,672,650,673,0.400961306736,-0.0153732183192,0.0698139107706,0.999999932069,0.000222955862959,-0.000293375842485,9.17577846265e-06,1793255980103975936
+36,0.600000000,BASELINE,810,757,734,737,695,660.894731592,930,809,837,672,650,673,0.400963313919,-0.0153720781391,0.0698151651124,0.999999933051,0.000221829792868,-0.000290868564572,9.19966827836e-06,1793255980120642560
+37,0.616666667,BASELINE,810,757,734,737,695,660.526451689,930,809,837,672,650,673,0.400964031616,-0.0153728097658,0.0698156326076,0.999999933314,0.000221123294715,-0.000290505145449,9.10508030158e-06,1793255980137309184
+38,0.633333333,BASELINE,810.048827343,757,734,737,695,660.048827343,930,809,837,672,650,673,0.400964445158,-0.0153739906269,0.0698158702994,0.999999933447,0.00022038778513,-0.000290608012957,9.0155403746e-06,1793255980153975808
+39,0.650000000,BASELINE,810.625463737,757,734,737,695,660.625463737,930,809,837,672,650,673,0.40096456163,-0.0153756862136,0.0698154488548,0.999999933839,0.00021836553812,-0.000290778952322,9.2553591434e-06,1793255980170642432
+40,0.666666667,BASELINE,810.79357517,757,734,737,695,661.20642483,930,809.20642483,837,672,650,673,0.400964125566,-0.0153760937142,0.0698150862786,0.9999999337,0.000218490352522,-0.000291156901423,9.4205974876e-06,1793255980187309056
+41,0.683333333,BASELINE,810.204599488,757,734,737,695,661.795400512,930,809.795400512,837,672,650,673,0.400962665529,-0.0153741141063,0.0698148327985,0.999999932573,0.000222594146587,-0.000291918485328,9.44762179992e-06,1793255980203975936
+42,0.700000000,BASELINE,810,757,734.377944852,737,695,661.622055148,930,809.622055148,837,672,650,673,0.400962082666,-0.0153736045138,0.0698147122872,0.99999993236,0.000222994371263,-0.000292341072287,9.53662645469e-06,1793255980220642560
+43,0.716666667,BASELINE,810,757,734.957065836,737,695,661.042934164,930,809.042934164,837,672,650,673,0.400961966714,-0.0153738773954,0.0698146625539,0.999999932637,0.000221423224162,-0.000292583214658,9.65862260333e-06,1793255980237309440
+44,0.733333333,BASELINE,810,757,734.467180765,737,695,661,930,809,837,672,650,673,0.400963358214,-0.0153750066922,0.0698147782713,0.999999933272,0.000219606110323,-0.000291778776299,9.75502648812e-06,1793255980253976320
+45,0.750000000,BASELINE,810,757,734,737,695,661,930,809,837,672,650,673,0.40096424679,-0.0153757436417,0.0698147297615,0.999999933661,0.00021833397467,-0.000291398216406,9.75603947574e-06,1793255980270643200
+46,0.766666667,BASELINE,810,757,734,737,695,661,930,809,837,672,650,673,0.400962445244,-0.0153744923318,0.0698139156856,0.999999932881,0.000219497640575,-0.000293207614367,9.35440973009e-06,1793255980287309568
+47,0.783333333,BASELINE,810,757,734.232740196,737,695,661,930,809.232740196,837,672,650,673,0.400962280739,-0.0153738515132,0.0698141331056,0.99999993277,0.000219996685522,-0.000293222362406,9.05615100198e-06,1793255980303975936
+48,0.800000000,BASELINE,810,757,734.850910524,737,695,661,930,809.850910524,837,672,650,673,0.400964827262,-0.0153742217005,0.0698160587378,0.999999933766,0.000219395083036,-0.000290265075108,8.92908010718e-06,1793255980320642560
+49,0.816666667,BASELINE,810,756.563371925,734.563371925,737,695,660.563371925,930,809.563371925,837,672,650,673.436628075,0.400964824856,-0.015374267843,0.0698161478926,0.999999933939,0.000219299644689,-0.000289735263544,9.16156040065e-06,1793255980337309440
+50,0.833333333,BASELINE,810.012007703,756.012007703,734.012007703,737,695,660.012007703,930,809,837,672.012007703,650,674,0.400964029997,-0.0153741995509,0.0698156543482,0.999999933838,0.00021941167087,-0.000289985651607,9.4993403036e-06,1793255980353976064
+51,0.850000000,BASELINE,810.586295504,756.586295504,734.586295504,737,695,660.586295504,930,809,837,672.586295504,650,674,0.400964063071,-0.0153735954568,0.0698152073608,0.999999933143,0.000221705290765,-0.00029064189637,9.41672583364e-06,1793255980370642688
+52,0.866666667,BASELINE,810.834338294,756.834338294,734.834338294,737,695,661,930,809.165661706,837,672.834338294,650,673.834338294,0.40096421928,-0.0153734629363,0.0698152043713,0.99999993287,0.000222667956729,-0.000290844743434,9.41067173495e-06,1793255980387309568
+53,0.883333333,BASELINE,810.241888839,756.241888839,734.241888839,737,695,661,930,809.758111161,837,672.241888839,650,673.241888839,0.400964692718,-0.0153745453125,0.0698163452357,0.999999933694,0.000220201738218,-0.000289879519773,9.60185711876e-06,1793255980403976192
+54,0.900000000,BASELINE,810.342761097,756.342761097,734.342761097,737,695,661,930.342761097,810,837,672,650,673,0.400964024343,-0.0153751366161,0.0698160682828,0.999999933787,0.000219149526467,-0.000290360197572,9.51184325209e-06,1793255980420642816
+55,0.916666667,BASELINE,810.922029297,756.922029297,734.922029297,737,695,661,930.922029297,810,837,672,650,673,0.400962568111,-0.0153753890766,0.0698148130279,0.999999933376,0.000219072987513,-0.000291838555631,9.22780029792e-06,1793255980437309440
+56,0.933333333,BASELINE,810.500127781,757,734.500127781,737,695,661,930.500127781,809.500127781,837,672,650,673.499872219,0.400961962372,-0.0153757751072,0.0698144734514,0.999999933031,0.000219493934041,-0.00029269913608,9.31416587547e-06,1793255980453976320
+57,0.950000000,BASELINE,810,757,734.076956509,737,695,661,930,809,837,672,650,673.923043491,0.400961618774,-0.0153760793719,0.0698143699279,0.999999932799,0.00021979098423,-0.000293267270118,9.42245642291e-06,1793255980470642944
+58,0.966666667,BASELINE,810,757,734.650575194,737,695,661,930,809,837,672,650,673.349424806,0.400962113245,-0.0153757218563,0.069814870677,0.999999933224,0.000218789050544,-0.000292568143699,9.30042645569e-06,1793255980487309568
+59,0.983333333,BASELINE,810,757,735,737,695,661,930,809.23071323,837,672.23071323,650,673,0.400962855878,-0.0153753014466,0.0698150208181,0.999999933653,0.000218075264409,-0.000291638048001,9.21788388306e-06,1793255980503975936
+60,1.000000000,BASELINE,810,757,735,737,695,661,930,809.821012304,837,672.821012304,650,673,0.400963985292,-0.0153747830115,0.0698146245073,0.999999934086,0.000217810580152,-0.000290347967277,9.19688569554e-06,1793255980520642816
+61,1.016666667,BASELINE,810,756.596209289,735,737,695,661,930,810,837,672.596209289,649.596209289,673.403790711,0.400963480432,-0.0153746445602,0.0698144773103,0.999999933713,0.000218299811589,-0.000291265500432,9.11062413774e-06,1793255980537309440
+62,1.033333333,BASELINE,810,756.016703637,735,737,695,661,930,810,837,672.016703637,649.016703637,673.983296363,0.400962264396,-0.015374671464,0.0698144385183,0.999999932987,0.000219117119563,-0.000293143706434,8.99596235072e-06,1793255980553976064
+63,1.050000000,BASELINE,810,756,735,737,695,661,930,810,837,672,649.560371325,673.439628675,0.400963666016,-0.0153747339114,0.0698151787269,0.99999993335,0.000219439906622,-0.000291653471695,9.22282925579e-06,1793255980570642688
+64,1.066666667,BASELINE,810,756.136559446,735,737,695,661,930,810,837,672,650,673.136559446,0.400964498937,-0.0153745348088,0.0698157130461,0.999999933522,0.000220088632276,-0.000290565432975,9.41225011282e-06,1793255980587309312
+65,1.083333333,BASELINE,810,756.710140312,735,737,695,661,930,810,837,672,650,673.710140312,0.400963263264,-0.0153734953106,0.069815514482,0.999999932987,0.000221827405918,-0.000291084451078,9.44939634019e-06,1793255980603975936
+66,1.100000000,BASELINE,810,757,735,737,695,661,930,809.707341619,837,672,650,673.707341619,0.400963270353,-0.0153730647311,0.0698155648305,0.999999932957,0.000222323382069,-0.000290807038363,9.43450636393e-06,1793255980620642816
+67,1.116666667,BASELINE,810,757,735,737,695,661,930,809.115693023,837,672,650,673.115693023,0.400964547092,-0.0153732562446,0.0698158694768,0.999999933446,0.000221549671974,-0.000289715963554,9.36645434809e-06,1793255980637309440
+68,1.133333333,BASELINE,810,757,735,737,695,661,930,809.464027651,837,672,650,673.464027651,0.40096455624,-0.0153736215206,0.0698161920835,0.999999933443,0.000222016877792,-0.000289370050404,9.37643110747e-06,1793255980653976064
+69,1.150000000,BASELINE,810,756.959293374,735,737,695.040706626,660.959293374,930,809.959293374,837,672,650,674,0.400964232142,-0.0153739972994,0.0698164350228,0.999999933304,0.000222720908567,-0.000289309878921,9.3784691438e-06,1793255980670642944
+70,1.166666667,BASELINE,810,756.384482288,735,737,695.615517712,660.384482288,930,809.384482288,837,672,650,674,0.400963578349,-0.0153739566934,0.069815575377,0.999999932959,0.00022257456493,-0.000290622294097,9.02748368053e-06,1793255980687309568
+71,1.183333333,BASELINE,810,756.191043145,734.808956855,737,695.808956855,660.191043145,930,809.191043145,837,672,650,674,0.400962965147,-0.0153738916482,0.0698149208704,0.999999932715,0.000222272105301,-0.000291698729069,8.81479924386e-06,1793255980703975936
+72,1.200000000,BASELINE,810,756.768011727,734.231988273,737,695.231988273,660.768011727,930,809.768011727,837,672,650,674,0.400962433944,-0.0153737772332,0.0698146807645,0.999999932676,0.000221654276397,-0.000292298461682,8.88149605502e-06,1793255980720642560
+73,1.216666667,BASELINE,810,756.645470057,734,737,695,661,930,810,837,672,650,673.645470057,0.400962382671,-0.015372994651,0.0698148497534,0.999999932532,0.000222327087633,-0.0002922791923,8.86566853266e-06,1793255980737309440
+74,1.233333333,BASELINE,810,756.052530051,734,737,695,661,930,810,837,672,650,673.052530051,0.400962654136,-0.0153717627478,0.0698152938457,0.999999932317,0.000223867813173,-0.000291843663814,8.79434602806e-06,1793255980753976064
+75,1.250000000,BASELINE,810,756.523554791,734,737,695,661,930,809.476445209,837,672,650,673,0.400961704091,-0.0153732037583,0.0698143578598,0.999999932502,0.000221792798557,-0.000292789811293,8.78462426386e-06,1793255980770642688
+76,1.266666667,BASELINE,810,756.901777818,734.098222182,737,695,661,930,809.098222182,837,672,650,673,0.400961029844,-0.0153742752514,0.0698137284926,0.999999932764,0.000220010811026,-0.000293242296333,8.74308841647e-06,1793255980787309312
+77,1.283333333,BASELINE,810,756.326036328,734.673963672,737,695,661,930,809.673963672,837,672,650,673,0.400962273666,-0.0153722871514,0.0698152419735,0.999999933227,0.000221362100211,-0.000290641842059,8.51777381938e-06,1793255980803975936
+78,1.300000000,BASELINE,810,756.255377286,735,737,695,661,930,810,837,672,650,673,0.400962890399,-0.0153715055691,0.069815608363,0.999999933193,0.000222479105769,-0.000289907426104,8.46019151848e-06,1793255980820642816
+79,1.316666667,BASELINE,810,756.84419686,735,737,695,661,930,810,837,672,650,673,0.400962688349,-0.015372299319,0.0698144770122,0.999999932516,0.000223290210606,-0.000291609468572,8.62161477658e-06,1793255980837309440
+80,1.333333333,BASELINE,810,757,735,737,695,661,930,809.573012979,837,672,650,673,0.400963580828,-0.0153735371815,0.0698149241296,0.999999932707,0.00022279256331,-0.000291325330092,8.94079749418e-06,1793255980853976064
+81,1.350000000,BASELINE,810,756.992471382,735,737,695,661,930,809,837,672,650,673,0.40096484348,-0.015374910983,0.0698159253308,0.999999933206,0.000221826466834,-0.000290333310867,9.31013967427e-06,1793255980870642688
+82,1.366666667,BASELINE,810,756.417893179,735,737,695,661,930,809,837,672,650,673,0.400964324884,-0.0153744879037,0.0698158823664,0.999999933521,0.000221045014133,-0.000289850810864,9.18208760215e-06,1793255980887309312
+83,1.383333333,BASELINE,810,756.156717899,735,737,695,661,930,809.156717899,837,672,650,673,0.400964453488,-0.0153745973114,0.0698162281138,0.999999934141,0.000219467552216,-0.000288909023791,9.10465015161e-06,1793255980903976192
+84,1.400000000,BASELINE,810,756.731416782,735,737,695,661,930,809.731416782,837,672,650,673,0.400966308234,-0.0153761269107,0.0698176105908,0.99999993557,0.00021576706068,-0.000286742275956,9.16220650162e-06,1793255980920643072
+85,1.416666667,BASELINE,810,757,734.685119623,737,695.314880377,661,930,809.685119623,837,672,650,673,0.400966274703,-0.0153767322837,0.0698177200437,0.999999935699,0.000215039360329,-0.000286835462838,9.28132022394e-06,1793255980937309440
+86,1.433333333,BASELINE,810,757,734.09396598,737,695.90603402,661,930,809.09396598,837,672,650,673,0.400964584414,-0.0153765267485,0.0698167125564,0.999999934693,0.000216919960971,-0.00028891149664,9.4544438385e-06,1793255980953976064
+87,1.450000000,BASELINE,810.485546517,757,734.485546517,737,695.514453483,661,930,809,837,672,650,673.485546517,0.400964521635,-0.015375471518,0.0698165774649,0.999999934284,0.000218907256859,-0.000288822724313,9.59459204951e-06,1793255980970642688
+88,1.466666667,BASELINE,810.937215692,756.937215692,735,737,695,661,930,809,837,672,650,673.937215692,0.400964797273,-0.0153745858287,0.0698166941328,0.999999934082,0.000220492422804,-0.000288313249633,9.69507537726e-06,1793255980987309568
+89,1.483333333,BASELINE,810.36058833,756.36058833,735,737,695,661,930,809,837,672,650,673.36058833,0.400965325196,-0.0153764020035,0.0698175218579,0.999999934669,0.000218621418615,-0.000287709125385,9.52193685103e-06,1793255981003976192
+90,1.500000000,BASELINE,810.220341191,756,735,737,695,661,930,809.220341191,837,672,650,673.220341191,0.40096544101,-0.0153771687996,0.0698179233609,0.99999993474,0.000218372447888,-0.000287649489021,9.50185682091e-06,1793255981020642816
+91,1.516666667,BASELINE,810.80845134,756,735,737,695,661,930,809.80845134,837,672,650,673.80845134,0.400964868977,-0.0153761840895,0.0698176134614,0.999999933954,0.000220830794814,-0.000288498651208,9.73724499056e-06,1793255981037309440
+92,1.533333333,BASELINE,811,756.390494488,735,737,695,661,930,809.609505512,837,672,650,674,0.400963709597,-0.0153753104256,0.0698163065459,0.999999933368,0.000221238601517,-0.000290220890083,9.48850450744e-06,1793255981053976064
+93,1.550000000,BASELINE,811,756.969607182,735,737,695,661,930,809.030392818,837,672,650,674,0.400962266514,-0.0153744903996,0.0698145180479,0.999999932876,0.000220655948321,-0.000292364846017,9.0059182927e-06,1793255981070642688
+94,1.566666667,BASELINE,810.453341477,757,735,737,695,661,930,809,837,672,650,673.453341477,0.400962704377,-0.0153748777221,0.0698147252356,0.999999933417,0.000219838274459,-0.000291125007584,9.12229079801e-06,1793255981087309568
+95,1.583333333,BASELINE,810,757,735,737,695,661,930,809.120262674,837,672,649.879737326,673.120262674,0.400963088266,-0.0153750789705,0.0698151302597,0.99999993378,0.000219494681613,-0.000290131044866,9.25587370214e-06,1793255981103975936
+96,1.600000000,BASELINE,810,757,735,737,695,661,930,809.681641687,837,672,649.318358313,673.681641687,0.400962892044,-0.0153743524232,0.0698158554884,0.999999933289,0.000220937736796,-0.000290726397822,9.33089769208e-06,1793255981120642560
+97,1.616666667,BASELINE,810,756.738297942,735,737,695,661,930,809.738297942,837,672,649.261702058,673.738297942,0.400963399175,-0.0153742991893,0.0698163686343,0.999999933322,0.000221138545353,-0.000290457913756,9.36436221787e-06,1793255981137309440
+98,1.633333333,BASELINE,810,756.133764938,735,737,695,661,930,809.133764938,837,672,649.866235062,673.133764938,0.400964827702,-0.0153751279992,0.0698166039504,0.999999934042,0.00021971200481,-0.000289057799027,9.34338364254e-06,1793255981153976064
+99,1.650000000,BASELINE,810,756.449039621,734.550960379,737,695,661,930,809,837,672,650,673.449039621,0.40096563968,-0.0153742765856,0.0698174014647,0.999999933761,0.000221963330315,-0.00028830430157,9.50000136965e-06,1793255981170642688
+100,1.666666667,BASELINE,810,757,734.025661636,737,695,661,930,809.025661636,837,672,650,673.974338364,0.400966127511,-0.0153730328135,0.0698182129699,0.999999933206,0.000225013872217,-0.000287858905236,9.68801870983e-06,1793255981187309312
+101,1.683333333,BASELINE,810,757,734.602099595,737,695,661,930,809.602099595,837,672,650,673.397900405,0.40096341818,-0.0153736147593,0.0698158961704,0.999999933064,0.000222788385222,-0.000290082866354,9.46688775823e-06,1793255981203975936
+102,1.700000000,BASELINE,810,756.821763506,734.821763506,737,695,661,930,809.821763506,837,672,650,673,0.400962088982,-0.0153743724932,0.0698146781466,0.999999933351,0.000220354820358,-0.000290957331004,9.20856532216e-06,1793255981220642560
+103,1.716666667,BASELINE,810,756.246297646,734.246297646,737,695,661,930,809.246297646,837,672,650,673,0.400963835637,-0.015375522,0.0698159089257,0.999999934607,0.000217457520009,-0.000288824220334,8.86735557036e-06,1793255981237309440
+104,1.733333333,BASELINE,810,756.33872375,734.33872375,737,695,661,930,809,837,672,650,673,0.400963991937,-0.015375081953,0.0698159897934,0.99999993453,0.000217792871891,-0.000288844238983,8.68768741527e-06,1793255981253976064
+105,1.750000000,BASELINE,810,756.930895066,734.930895066,737,695,661,930,809,837,672,650,673,0.400962958265,-0.0153734525341,0.0698152102483,0.999999933454,0.00022054703182,-0.000290475320649,8.62889154084e-06,1793255981270642432
+106,1.766666667,BASELINE,810,757,734.491518427,737,695,661,930,809.508481573,837,672,650,673.508481573,0.400964370288,-0.0153750417034,0.0698161786448,0.999999933999,0.000219650144614,-0.000289261939448,9.12333848867e-06,1793255981287309312
+107,1.783333333,POSE1_TO_POSE2_PRESS,811,757,735,737,696,661,930,810,838,672,650,673,0.400962690698,-0.0153734803654,0.0698148964836,0.999999933645,0.000217386010653,-0.000292201003855,8.52241417733e-06,1793255981330624000
+108,1.800000000,POSE1_TO_POSE2_PRESS,810.406503825,757,735,737,695.406503825,661,930,810,837.406503825,672,650,673,0.400964445699,-0.0153750480819,0.0698164697457,0.99999993413,0.000219221337917,-0.000289133863634,9.18248574463e-06,1793255981347290880
+109,1.816666667,POSE1_TO_POSE2_PRESS,810,757,734.81794091,737,695,661,930,810,837,672,650,673,0.400965558165,-0.0153760580024,0.0698175049974,0.999999934492,0.000220192527836,-0.000287120317424,9.6126201539e-06,1793255981363957504
+110,1.833333333,POSE1_TO_POSE2_PRESS,810,757,734.240102327,737,695,661,930,810,837,672,650,673,0.400965273818,-0.0153758553266,0.069817370665,0.999999934613,0.000219285164069,-0.000287397185816,9.54289273947e-06,1793255981380624128
+111,1.850000000,POSE1_TO_POSE2_PRESS,810,756.663870779,734.336129221,737,695,661,930,810,837,672,650,673.336129221,0.400964745796,-0.0153750584624,0.069816644128,0.999999934271,0.000220262799262,-0.000287849504929,9.26064260761e-06,1793255981397290752
+112,1.866666667,POSE1_TO_POSE2_PRESS,810,756.088781733,734.911218267,737,695,661,930,810,837,672,650,673.911218267,0.400964044541,-0.0153738391797,0.0698154965829,0.999999933595,0.000222580511461,-0.000288426554848,8.82730656324e-06,1793255981413957632
+113,1.883333333,POSE1_TO_POSE2_PRESS,810,756.481762449,735,737,695,661,930,810,837,672,650,674,0.400963778742,-0.0153751060425,0.0698160192518,0.999999933587,0.000221699469719,-0.00028913106283,8.90831936137e-06,1793255981430624512
+114,1.900000000,POSE1_TO_POSE2_PRESS,810,756.945861983,734.945861983,737,695,661,930,810,837,672,649.945861983,674,0.400963718387,-0.0153766844238,0.0698168171904,0.999999933737,0.000220191602402,-0.000289757154085,9.09985755868e-06,1793255981447291136
+115,1.916666667,POSE1_TO_POSE2_PRESS,810,756.346695994,734.346695994,737,695,661,930,810,837,672,649.346695994,674,0.400964925979,-0.0153768296171,0.0698173166361,0.999999934274,0.000218252333832,-0.000289359535249,9.4587591068e-06,1793255981463957760
+116,1.933333333,POSE1_TO_POSE2_PRESS,810,756.242943818,734.242943818,737,695,661,930,810,837,672,649.242943818,673.757056182,0.400969050923,-0.0153765763091,0.0698191933061,0.999999934933,0.00021806041872,-0.000287209362841,9.72939421363e-06,1793255981480624128
+117,1.950000000,POSE1_TO_POSE2_PRESS,810,756.819502076,734.819502076,737,695,661,930,810,837,672,649.819502076,673.180497924,0.400977182023,-0.0153757757724,0.0698229612029,0.999999935746,0.000220267998226,-0.000282652555116,9.87882036411e-06,1793255981497291008
+118,1.966666667,POSE1_TO_POSE2_PRESS,810,756.604981717,734.604981717,737,695,661,930,809.604981717,837,672,650,673,0.401002590222,-0.0153781206581,0.0698334343652,0.999999940894,0.000218787809122,-0.000264999860273,1.08968324973e-05,1793255981513957376
+119,1.983333333,POSE1_TO_POSE2_PRESS,810,756.029940356,734.029940356,737,695,661,930,809.029940356,837,672,650,673,0.401035872176,-0.0153818990182,0.069846963342,0.999999947545,0.000215626980295,-0.000241378930022,1.23106883957e-05,1793255981530624000
+120,2.000000000,POSE1_TO_POSE2_PRESS,810,756,734.559290624,737,695,661,930,809.559290624,837,672,650,673.559290624,0.401092553227,-0.0153838914419,0.0698646008657,0.999999952917,0.000215629547164,-0.000217940072701,1.31455719982e-05,1793255981547290624
+121,2.016666667,POSE1_TO_POSE2_PRESS,810,756,734.85354712,737,695,661,930,809.85354712,837,672,650,673.85354712,0.401153568019,-0.0153860502461,0.0698806265328,0.999999957258,0.000215492932446,-0.000197126822073,1.36803320521e-05,1793255981563957504
+122,2.033333333,POSE1_TO_POSE2_PRESS,810,756,734.274791819,737,695,661,930,809.274791819,837,672,650,673.274791819,0.401223581495,-0.0153889897343,0.0698912281666,0.999999959985,0.000214432590324,-0.000184034362446,1.34230520134e-05,1793255981580624128
+123,2.050000000,POSE1_TO_POSE2_PRESS,810,756.302133011,734.302133011,737,695,661,930,809.302133011,837,672.302133011,650,673.302133011,0.401305676379,-0.0153923591785,0.0698996466345,0.999999962246,0.0002133472245,-0.000172719233552,1.25946217815e-05,1793255981597291008
+124,2.066666667,POSE1_TO_POSE2_PRESS,810,756.877403009,734.877403009,737,695,661,930,809.877403009,837,672.877403009,650,673.877403009,0.401398693199,-0.0153961173151,0.0699060914566,0.999999964128,0.000212239236601,-0.000163010863873,1.12498552613e-05,1793255981613957632
+125,2.083333333,POSE1_TO_POSE2_PRESS,810,757,734.54676614,737,695,661,930,810,837,672.54676614,649.54676614,673.54676614,0.401508679172,-0.0154009539543,0.0699118248036,0.999999965807,0.000211276836071,-0.000153807860598,9.59923795532e-06,1793255981630624256
+126,2.100000000,POSE1_TO_POSE2_PRESS,810,757,734.030005972,737,695,661,930,810,837.030005972,672,649.030005972,673.030005972,0.40162434687,-0.0154060044987,0.0699169364696,0.999999967275,0.000210319535217,-0.000145446338591,7.76907316478e-06,1793255981647290624
+127,2.116666667,POSE1_TO_POSE2_PRESS,810,757,734.621550586,737,695,661,930,810,837.621550586,672,649.621550586,673.621550586,0.401760337984,-0.0154095918785,0.0699140198639,0.999999966919,0.000208719782162,-0.000150271111032,4.12897596607e-06,1793255981663957248
+128,2.133333333,POSE1_TO_POSE2_PRESS,810,757,735,737,695,661,930,810,837.792048688,672,650,673.792048688,0.401908756071,-0.0154145029087,0.0699132915434,0.999999967491,0.000205274171915,-0.000151261486678,6.43300970053e-07,1793255981680624128
+129,2.150000000,POSE1_TO_POSE2_PRESS,810,757,735,737,695,661,930,810,837.214783385,672,650,673.214783385,0.402079243998,-0.0154217646933,0.0699164495384,0.999999969709,0.000198550386393,-0.000145442112131,-2.56812540519e-06,1793255981697290496
+130,2.166666667,POSE1_TO_POSE2_PRESS,810,757,734.639092999,737,695,661,930,810,837,672,650,673,0.402269319122,-0.0154304235284,0.06991828813,0.999999972283,0.000188981100059,-0.000140260935517,-6.87811276493e-06,1793255981713957376
+131,2.183333333,POSE1_TO_POSE2_PRESS,810,757,734.06433575,737,695,661,930,810,837,672,650,673,0.402471000373,-0.0154399101662,0.0699193449284,0.999999974962,0.000177725752528,-0.000135457913327,-1.1839036924e-05,1793255981730624512
+132,2.200000000,POSE1_TO_POSE2_PRESS,810,757,734,737,695,661,930,810,837,672.512787791,650,673,0.402712552868,-0.0154494096434,0.0699258682124,0.999999978428,0.000167076615787,-0.00012230871406,-1.64275760626e-05,1793255981747290880
+133,2.216666667,POSE1_TO_POSE2_PRESS,810,757,734,737,695,661,930,809.908123515,837,672.908123515,650,673,0.402966127583,-0.0154588560367,0.0699335611706,0.999999983717,0.000143495260838,-0.000107416976273,-2.0901377713e-05,1793255981763957248
+134,2.233333333,POSE1_TO_POSE2_PRESS,810,757,734,737,695,661,930,809.320031877,837,672.320031877,650,673,0.403257490697,-0.0154680069927,0.069943850096,0.999999994512,4.96556819755e-05,-8.87956453157e-05,-2.50089979495e-05,1793255981780624128
+135,2.250000000,POSE1_TO_POSE2_PRESS,810.265236553,757,734,737,695,661,930,809.265236553,837,672.265236553,650,673,0.403558838634,-0.0154770516474,0.0699503308719,0.999999996502,-5.4226550948e-07,-7.81228563988e-05,-2.98755916267e-05,1793255981797291008
+136,2.266666667,POSE1_TO_POSE2_PRESS,810.847134367,757,734,737,695,661,930,809.847134367,837,672.847134367,650,673,0.403872107257,-0.0154859693902,0.0699522651644,0.999999996404,1.36277017911e-06,-7.69396940695e-05,-3.56483103345e-05,1793255981813957632
+137,2.283333333,POSE1_TO_POSE2_PRESS,810.576063796,756.576063796,734.423936204,737,695,661,930,810,837,672.576063796,650,673,0.404220420391,-0.015489064782,0.0699568467958,0.999999996571,-3.09291804159e-07,-7.20634240891e-05,-4.07995222953e-05,1793255981830624256
+138,2.300000000,POSE1_TO_POSE2_PRESS,810.001077685,756.001077685,734.998922315,737,695,661,930,810,837,672.001077685,650,673,0.404581219996,-0.0154900856501,0.0699623716831,0.99999999678,-3.25588585023e-06,-6.58712873591e-05,-4.57292891707e-05,1793255981847290880
+139,2.316666667,POSE1_TO_POSE2_PRESS,810.581067766,756.581067766,734.418932234,737,695,661,930,810,837,672,650,673.581067766,0.404970645569,-0.0154817070301,0.0699661780965,0.999999996146,5.93769605703e-05,-5.67992305085e-05,-3.09248709582e-05,1793255981863957504
+140,2.333333333,POSE1_TO_POSE2_PRESS,810.836775939,756.836775939,734,737,695,661,930,809.836775939,837,672,650,674,0.405374962537,-0.015474589974,0.0699677876392,0.999999993683,9.68251571013e-05,-5.24806611893e-05,-2.24862490909e-05,1793255981880624384
+141,2.350000000,POSE1_TO_POSE2_PRESS,810.254626403,756.254626403,734,737,695,661,930,809.254626403,837,672,650,674,0.405817361243,-0.0154707561083,0.0699637670477,0.99999999531,6.93191955997e-05,-6.03761173137e-05,-3.04809808662e-05,1793255981897291008
+142,2.366666667,POSE1_TO_POSE2_PRESS,810,756.325262547,734,737.325262547,695,661,930,809.325262547,837,672,650,674,0.406267979974,-0.0154736445036,0.0699522080927,0.999999994584,5.67678496566e-05,-7.9693011191e-05,-3.5477715922e-05,1793255981913957376
+143,2.383333333,POSE1_TO_POSE2_PRESS,810,756.903394113,734,737.903394113,695,661,930,809.903394113,837,672,650,674,0.406724989251,-0.015481758989,0.0699347885836,0.999999991893,5.58426747229e-05,-0.000107889279726,-3.81437177969e-05,1793255981930624256
+144,2.400000000,POSE1_TO_POSE2_PRESS,810,757,734,737.522014548,694.522014548,661,930,810,837,672,650,673.522014548,0.407244717896,-0.0154850316599,0.0699288678903,0.999999992057,4.11528639504e-05,-0.000111914528404,-4.08278340725e-05,1793255981947290880
+145,2.416666667,POSE1_TO_POSE2_PRESS,810.053262352,756.946737648,734.053262352,737.053262352,694.053262352,661,930,810,837.053262352,672,649.946737648,673.053262352,0.407782669266,-0.0154872437334,0.0699273258561,0.999999992948,2.57986041692e-05,-0.000107563883515,-4.3234655305e-05,1793255981963957504
+146,2.433333333,POSE1_TO_POSE2_PRESS,810.642587966,756.357412034,734.642587966,737.642587966,694.642587966,661,930,810,837.642587966,672,649.357412034,673.642587966,0.408377381995,-0.0154885579451,0.0699466347514,0.999999996293,3.15505168904e-05,-6.77195581819e-05,-4.28140432734e-05,1793255981980624640
+147,2.450000000,POSE1_TO_POSE2_PRESS,810.773589593,756,734.773589593,737.773589593,695,661,930,810,837.773589593,672,649,674,0.408980506668,-0.015489670607,0.0699570431996,0.999999997618,3.23247829436e-05,-4.30614884658e-05,-4.31791024542e-05,1793255981997291520
+148,2.466666667,POSE1_TO_POSE2_PRESS,810.198248362,756,734.198248362,737.198248362,695,661,930,810,837.198248362,672,649,674,0.409596595316,-0.0154904726517,0.0699537347843,0.999999997801,2.54277832032e-05,-4.18076133949e-05,-4.47549934645e-05,1793255982013957888
+149,2.483333333,POSE1_TO_POSE2_PRESS,810.379947581,756.379947581,734,737,695,661,930,810,837.379947581,672,649,673.620052419,0.410223558923,-0.0154894700905,0.0699474037612,0.999999997244,2.23390536436e-05,-5.33392436069e-05,-4.65602676953e-05,1793255982030624256
+150,2.500000000,POSE1_TO_POSE2_PRESS,810.959644309,756.959644309,734,737,695,661,930,810,837.959644309,672,649,673.040355691,0.410856239782,-0.015487518797,0.0699394836682,0.999999996036,2.12524392107e-05,-7.15925741466e-05,-4.84861350853e-05,1793255982047290880
+151,2.516666667,POSE1_TO_POSE2_PRESS,811,756.453723134,734,737.546276866,695,661,930,809.453723134,837.453723134,672,649,673,0.411545551328,-0.0154912332143,0.0699552302442,0.999999997671,1.62941292892e-05,-4.60618079906e-05,-4.7648283694e-05,1793255982063957248
+152,2.533333333,POSE1_TO_POSE2_PRESS,810.868295587,756.131704413,734.131704413,738,695,661,930,809.131704413,837,672,649.131704413,673,0.412257729077,-0.0154953360194,0.0699764907049,0.999999998781,1.23248335235e-05,-1.18762799225e-05,-4.63249891762e-05,1793255982080624128
+153,2.550000000,POSE1_TO_POSE2_PRESS,810.288730554,756.711269446,734.711269446,738,695,661,930,809.711269446,837,672,649.711269446,673,0.413033254092,-0.015499317957,0.0700104793906,0.999999998125,1.27037905845e-05,4.05993574509e-05,-4.40541445966e-05,1793255982097291008
+154,2.566666667,POSE1_TO_POSE2_PRESS,810.28909655,757,734.71090345,738,695,661,930,810,837.28909655,672,649.71090345,673,0.413799574895,-0.0155005898172,0.0700237748864,0.999999997302,1.18041385317e-05,5.76700235612e-05,-4.39314925463e-05,1793255982113957888
+155,2.583333333,POSE1_TO_POSE2_PRESS,810.865198365,757,734.134801635,738,695,661,930,810,837.865198365,672,649.134801635,673,0.414556758158,-0.0154991712047,0.070016526888,0.999999998115,9.63512671369e-06,3.95918393983e-05,-4.59414931072e-05,1793255982130624512
+156,2.600000000,POSE1_TO_POSE2_PRESS,811,757,734,738,695,661,930,810,838,672,649,673.439907125,0.415286868145,-0.0154937825104,0.0699678018894,0.999999997743,1.23115834267e-05,-4.11840362687e-05,-5.1641147095e-05,1793255982147291392
+157,2.616666667,POSE1_TO_POSE2_PRESS,811,757,734.014624633,738,695,661,930,810,838,672,649.014624633,673.985375367,0.416011452522,-0.0154874619836,0.069908135207,0.999999988601,1.61103104169e-05,-0.000138342150037,-5.83071960051e-05,1793255982163957760
+158,2.633333333,POSE1_TO_POSE2_PRESS,811,757,734.606484552,738,695,661,930,810,838,672,649.606484552,673.393515448,0.416844357192,-0.0154922280861,0.0699166756652,0.999999990304,5.784711459e-06,-0.000126180488829,-5.86318593858e-05,1793255982180624384
+159,2.650000000,POSE1_TO_POSE2_PRESS,810.80589272,757,734.80589272,738,695,661,930.19410728,810.19410728,838,672,649.80589272,673,0.417692534269,-0.0154960291374,0.0699328863909,0.999999993158,-4.48400650071e-06,-0.000101185691715,-5.85316765883e-05,1793255982197291008
+160,2.666666667,POSE1_TO_POSE2_PRESS,810.226676614,757,734.226676614,738,695,661,930.773323386,810.773323386,838,672,649.226676614,673,0.418571011749,-0.0154979155268,0.0699643149263,0.999999996948,-1.46398719423e-05,-5.07299546714e-05,-5.75885989125e-05,1793255982213957376
+161,2.683333333,POSE1_TO_POSE2_PRESS,810.347662302,757.347662302,734,738,695,661.347662302,930.652337698,811,838,672,649,673.347662302,0.419476522733,-0.0155002478723,0.0699924045693,0.999999998245,-1.92529221743e-05,-6.77969939227e-06,-5.56264647604e-05,1793255982230624256
+162,2.700000000,POSE1_TO_POSE2_PRESS,810.91886525,757.91886525,734,738,695,661.91886525,930.08113475,811,838,672,649,673.91886525,0.420399415741,-0.0155028669594,0.070018347363,0.999999997845,-2.03020408995e-05,3.29876454147e-05,-5.30090955405e-05,1793255982247290880
+163,2.716666667,POSE1_TO_POSE2_PRESS,811,758,734,738,695,661.514999937,930.485000063,811,838,672,649,674,0.421284462737,-0.0155044880876,0.0700263222936,0.999999997413,-2.30637220761e-05,4.28574584981e-05,-5.29697668236e-05,1793255982263957504
+164,2.733333333,POSE1_TO_POSE2_PRESS,810.948176413,757.948176413,734,738,695,661.051823587,930.948176413,811,838,672,649,674,0.422158758921,-0.0155054681787,0.0700246359443,0.999999997523,-2.57226680975e-05,3.71383263196e-05,-5.39766381701e-05,1793255982280624384
+165,2.750000000,POSE1_TO_POSE2_PRESS,810.365709721,757.365709721,734,738,695,661.634290279,930.365709721,811,838,672,649,674,0.4229871297,-0.015501576183,0.0699544831941,0.999999994817,-2.44264980936e-05,-7.75196377786e-05,-6.13256437848e-05,1793255982297291264
+166,2.766666667,POSE1_TO_POSE2_PRESS,810.215124539,757,734,738,695,661.784875461,930,811,838,672,649,674,0.42383868373,-0.0154985726242,0.0698953541483,0.999999983463,-2.50586326626e-05,-0.000166659337678,-6.83440852073e-05,1793255982313958144
+167,2.783333333,POSE1_TO_POSE2_PRESS,810.793204671,757,734,738,695,661.206795329,930,811,838,672,649,674,0.4247293524,-0.0154970680249,0.0698548241558,0.999999974153,-2.89441802245e-05,-0.000212744942189,-7.48048048219e-05,1793255982330624768
+168,2.800000000,POSE1_TO_POSE2_PRESS,811,757,734.38085945,738,695,661,930.38085945,811,838,672,649,674,0.425694707843,-0.0155011421804,0.0698827435114,0.99999998268,-3.47642559462e-05,-0.000167653918087,-7.29631136043e-05,1793255982347291136
+169,2.816666667,POSE1_TO_POSE2_PRESS,811,757,734.973847006,738,695,661,930.973847006,811,838,672,649,674,0.426701661685,-0.015508323547,0.0699487872501,0.999999994345,-4.16618095079e-05,-7.1780047124e-05,-6.64972098835e-05,1793255982363957760
+170,2.833333333,POSE1_TO_POSE2_PRESS,811,757,734.432215979,738,695,661.567784021,930.432215979,811,838,672.567784021,649,674,0.427674849423,-0.0155097655683,0.0699980399226,0.999999997032,-4.34790371307e-05,-9.63908499751e-06,-6.28774713208e-05,1793255982380624384
+171,2.850000000,POSE1_TO_POSE2_PRESS,811,757,734,738,695.15750483,662,930.15750483,811,838,673,649,674,0.428644085466,-0.0155122763206,0.0700375544964,0.999999996197,-4.55761911679e-05,4.45067583952e-05,-5.9562628104e-05,1793255982397291008
+172,2.866666667,POSE1_TO_POSE2_PRESS,811,757,734,738,695.735843374,662,930.735843374,811,838,673,649,674,0.429606925592,-0.0155183501209,0.0700531200051,0.999999993872,-4.90475615699e-05,8.14491040874e-05,-5.67115622737e-05,1793255982413957888
+173,2.883333333,POSE1_TO_POSE2_PRESS,811,757,734,738,695.686544468,662,930.686544468,811.313455532,838,672.686544468,649,673.686544468,0.430504144529,-0.0155171490819,0.070024528695,0.999999996521,-4.59972435163e-05,3.58510284904e-05,-5.96434097536e-05,1793255982430624768
+174,2.900000000,POSE1_TO_POSE2_PRESS,811,757,734,738,695.109543068,662,930.109543068,811.890456932,838,672.109543068,649,673.109543068,0.431346190699,-0.0155098315329,0.0699588113931,0.999999993892,-3.7463646097e-05,-7.91450497894e-05,-6.74373912e-05,1793255982447291648
+175,2.916666667,POSE1_TO_POSE2_PRESS,811,757,734,738,695,661.535831045,930,812,838,672,649,673.464168955,0.432228836826,-0.0155080578352,0.0699114075765,0.99999998466,-3.88899186531e-05,-0.00015548414911,-7.0654562504e-05,1793255982463958272
+176,2.933333333,POSE1_TO_POSE2_PRESS,811,757,734,738,695,661.038420142,930.038420142,812,838,672.038420142,649.19210071,674,0.433126694144,-0.0155078013945,0.0698755316088,0.999999974302,-4.30507258702e-05,-0.000210459175859,-7.24477309826e-05,1793255982480624640
+177,2.950000000,POSE1_TO_POSE2_PRESS,811,757,734,738,695,661.63158556,930.63158556,812,838,672.63158556,652.157927798,674,0.434106810388,-0.0155106944321,0.0699441401796,0.999999992353,-5.29952200175e-05,-8.77590812051e-05,-6.91658488143e-05,1793255982497291008
+178,2.966666667,POSE1_TO_POSE2_PRESS,812.534473267,756.3423686,734,736.903947667,695,662,931,811.780789533,837.780789533,673,655.753683733,673.780789533,0.435067937578,-0.0155131278283,0.0699994893527,0.999999996107,-5.83217560555e-05,7.97105591146e-06,-6.57298452444e-05,1793255982513957632
+179,2.983333333,POSE1_TO_POSE2_PRESS,816.584273766,754.606739814,734,734.011233024,695,662,931,811.202246605,837.202246605,673,660.382027162,673.202246605,0.435997937834,-0.0155148077752,0.0700331035709,0.999999994733,-5.60784815658e-05,5.94917285952e-05,-6.20412047454e-05,1793255982530624256
+180,3.000000000,POSE1_TO_POSE2_PRESS,818.373713707,753.252572587,733.626286293,732.252572587,695,661.626286293,930.626286293,809.131431467,836.252572587,673.373713707,660.87885888,673,0.436900859609,-0.0155174277211,0.070041275705,0.999999992931,-6.1974531632e-05,8.06436813789e-05,-6.15933849996e-05,1793255982547290624
+181,3.016666667,POSE1_TO_POSE2_PRESS,818.948285914,752.103428173,733.051714086,731.103428173,695,661.051714086,930.051714086,806.258570431,835.103428173,673.948285914,659.155142259,673,0.437789227558,-0.0155205528846,0.070035773576,0.99999999176,-7.22451940411e-05,8.54734694544e-05,-6.28873972704e-05,1793255982563957504
+182,3.033333333,POSE1_TO_POSE2_PRESS,819.535350176,750.929299649,733,728.858599297,695,660.464649824,928.929299649,805.464649824,834.464649824,672.929299649,660.070700351,673,0.438574430725,-0.0155156501217,0.0699756325958,0.999999995529,-6.61141486177e-05,-4.71758393065e-06,-6.74453172118e-05,1793255982580624128
+183,3.050000000,POSE1_TO_POSE2_PRESS,820,750,733,727.365702697,695,660,928,805.121900899,833.878099101,671.878099101,661.121900899,673,0.439345073742,-0.0155103902358,0.0699125612859,0.999999990365,-5.97702267135e-05,-0.000102371246551,-7.22281886445e-05,1793255982597291008
+184,3.066666667,POSE1_TO_POSE2_PRESS,820,750,733,729.10563676,695,660,928,805.70187892,833.29812108,671.29812108,661.70187892,673,0.440099346029,-0.0155067720934,0.0698587860188,0.999999976762,-5.87223746012e-05,-0.00019275144138,-7.66432862974e-05,1793255982613957376
+185,3.083333333,POSE1_TO_POSE2_PRESS,820,750.278550819,733,730.278550819,694.721449181,660.278550819,928,806,833.278550819,670.721449181,662,673,0.440897245431,-0.0155098753111,0.0698545258641,0.999999974473,-6.57858476742e-05,-0.000201861032759,-7.73234445551e-05,1793255982630624000
+186,3.100000000,POSE1_TO_POSE2_PRESS,820,750.851725784,733,730.851725784,694.148274216,660.851725784,928,806,833.851725784,670.148274216,662,673,0.441741289333,-0.0155200877345,0.0699026380154,0.999999986129,-8.14286970864e-05,-0.000125010425744,-7.4053144612e-05,1793255982647290880
+187,3.116666667,POSE1_TO_POSE2_PRESS,820,751,732.573358816,730.573358816,694.426641184,661.426641184,928.426641184,806,833.146717631,670.426641184,661.573358816,672.573358816,0.442529674569,-0.0155306771125,0.0699326446041,0.999999989247,-9.43235483943e-05,-8.75337421332e-05,-7.03380219512e-05,1793255982663957504
+188,3.133333333,POSE1_TO_POSE2_PRESS,820,750.997768938,732,729.997768938,694.997768938,661.995537875,928.997768938,805.997768938,832,670.997768938,661,672,0.443298329031,-0.0155413918803,0.0699560874759,0.999999990085,-0.000106261369753,-6.41593234202e-05,-6.64937956525e-05,1793255982680624384
+189,3.150000000,POSE1_TO_POSE2_PRESS,820,750.404404421,732,729.404404421,694.404404421,660.808808843,928.404404421,805.404404421,832,670.404404421,661,672,0.443985356688,-0.015550476126,0.0699144663199,0.999999981181,-0.00011870683169,-0.000136768836406,-6.95709753677e-05,1793255982697291008
+190,3.166666667,POSE1_TO_POSE2_PRESS,819.815819265,750,732,729.36836147,693.815819265,660,928,804.815819265,832,670,661.184180735,672.184180735,0.444659512268,-0.0155583055963,0.0698707933289,0.999999967284,-0.000130476546196,-0.000207495696937,-7.31697889531e-05,1793255982713957888
+191,3.183333333,POSE1_TO_POSE2_PRESS,819.237462584,750,732,730.525074833,693.237462584,660,928,804.237462584,832,670,661.762537416,672.762537416,0.445306119696,-0.0155634496503,0.0698227290781,0.999999949464,-0.000140800057293,-0.000274193397496,-7.78849826893e-05,1793255982730624256
+192,3.200000000,POSE1_TO_POSE2_PRESS,819,750,732,730.660066147,693,660,928.339933853,804,832,670.339933853,661.660066147,673,0.445931309885,-0.0155694456413,0.0697900285031,0.999999933893,-0.000151672523546,-0.000320542127622,-8.03879043376e-05,1793255982747290880
+193,3.216666667,POSE1_TO_POSE2_PRESS,819,750,732,730.083338639,693,660,928.916661361,804,832,670.916661361,661.083338639,673,0.446541581057,-0.0155760350805,0.0697680300747,0.999999921214,-0.000162927384638,-0.000352716016766,-8.13497848425e-05,1793255982763957504
+194,3.233333333,POSE1_TO_POSE2_PRESS,819,750.49092359,732,730,692.50907641,660,929,804,832,670.50907641,661,673,0.447109535321,-0.0155957345086,0.0697458238588,0.999999901649,-0.000180589471018,-0.000397758387081,-7.66689662974e-05,1793255982780624640
+195,3.250000000,POSE1_TO_POSE2_PRESS,819,751,732,730,692,659.866241537,928.933120768,803.866241537,832,670,661,673,0.447672375278,-0.0156181616174,0.0697261963661,0.999999880971,-0.000200094012435,-0.000439243341712,-7.13076046582e-05,1793255982797291520
+196,3.266666667,POSE1_TO_POSE2_PRESS,819,751,732,730,692,658.68116452,928.34058226,802.68116452,832,670,661,673,0.448251197973,-0.0156446228931,0.0697271130561,0.99999987733,-0.00022557364891,-0.00043568331881,-6.80885891244e-05,1793255982813957888
+197,3.283333333,POSE1_TO_POSE2_PRESS,819,751,732,730,692,658,928,801.754580629,832,670,660.754580629,673,0.448820712951,-0.0156625259253,0.0697378322151,0.9999998807,-0.000243332457946,-0.000418457903053,-6.54373133821e-05,1793255982830624256
+198,3.300000000,POSE1_TO_POSE2_PRESS,819,751,732,730,692,658,928,801.17741528,832,670,660.17741528,673,0.449377646161,-0.0156688603376,0.0697618018754,0.999999893314,-0.000250654625525,-0.000382760273522,-6.35534809464e-05,1793255982847290624
+199,3.316666667,POSE1_TO_POSE2_PRESS,819,751,732,729.601549435,692.398450565,658,928,801,832,670,660,672.601549435,0.4498722837,-0.0156688905222,0.0697671183265,0.999999897662,-0.000245344759352,-0.000374633124734,-6.42787877548e-05,1793255982863957504
+200,3.333333333,POSE1_TO_POSE2_PRESS,819,751,732,729.026260281,692.973739719,658,928,801,832,670,660,672.026260281,0.450339273494,-0.0156661227925,0.0697641561937,0.99999989861,-0.000234428599814,-0.000378742183337,-6.61620712039e-05,1793255982880624384
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+202,3.366666667,POSE1_TO_POSE2_PRESS,819.128447693,750,732.871552307,729,692,658,928,799,832,670,659,673,0.451123310907,-0.0156695722021,0.0696891950962,0.99999984357,-0.000265097251795,-0.000488111183758,-6.58124915393e-05,1793255982913957888
+203,3.383333333,POSE1_TO_POSE2_PRESS,819.718204537,750,732.281795463,729,692,658,928,799,832,670,659,673,0.451493421589,-0.0156733027396,0.0696601738121,0.999999824395,-0.000265738242445,-0.000525316534251,-6.80860685689e-05,1793255982930624512
+204,3.400000000,POSE1_TO_POSE2_PRESS,820,750.302803752,732,729,692,658,928,799,832,670.302803752,659.302803752,673,0.451860329121,-0.0156790110786,0.0696439781865,0.999999813263,-0.000273607293009,-0.000541843880868,-7.0835964871e-05,1793255982947290880
+205,3.416666667,POSE1_TO_POSE2_PRESS,820,750.882683522,732,729,692,658,928,799,832,670.882683522,659.882683522,673,0.452224305635,-0.015686529175,0.0696395184884,0.999999810259,-0.00028809027119,-0.000539450129387,-7.40217098714e-05,1793255982963957504
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+207,3.450000000,POSE1_TO_POSE2_PRESS,819,751,732,729.972077647,691,658,928.027922353,798.972077647,832,670,659.972077647,673,0.452844601881,-0.0156948246512,0.0696383348426,0.999999804573,-0.000289402167951,-0.000548808625784,-7.68770691267e-05,1793255982997291520
+208,3.466666667,POSE1_TO_POSE2_PRESS,819,751,732,729.381241683,691,658,928.618758317,798.381241683,832,670,659.381241683,673,0.453137733351,-0.0156929761002,0.0696474031261,0.999999813699,-0.000282291710688,-0.000535790588068,-7.64279689896e-05,1793255983013957888
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+214,3.566666667,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,796,832,670,659,673,0.454371075895,-0.0157026178669,0.0696401429862,0.999999800664,-0.000286271789553,-0.000559395022288,-6.16205703955e-05,1793255983113957376
+215,3.583333333,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,796,832,670,659,673,0.454499026661,-0.0157046723195,0.0696300184576,0.999999791947,-0.000285459517149,-0.0005750372625,-6.28591014355e-05,1793255983130624000
+216,3.600000000,POSE1_TO_POSE2_PRESS,819.733045377,751,732,729,691,657,928,796,832,670,659,673,0.454614946373,-0.0157059440808,0.0696224427212,0.99999978383,-0.000286274672263,-0.000588437950281,-6.42414223148e-05,1793255983147290624
+217,3.616666667,POSE1_TO_POSE2_PRESS,819.154934962,751,732,729,691,657,928,796,832,670,659,673,0.454716842973,-0.0157063035562,0.0696178377951,0.999999776543,-0.000288986717244,-0.000599225938414,-6.5791341054e-05,1793255983163957504
+218,3.633333333,POSE1_TO_POSE2_PRESS,819.420034809,751,732,729,691,656.579965191,928,796,832,670,659,673,0.454809000544,-0.0157089071872,0.0696157386359,0.999999773426,-0.0002916515355,-0.000603087690148,-6.61320732502e-05,1793255983180624384
+219,3.650000000,POSE1_TO_POSE2_PRESS,819.993854699,751,732,729,691,656.006145301,928,796,832,670,659,673,0.454897592414,-0.0157123324587,0.0696145568998,0.999999771856,-0.000294299062836,-0.000604413576039,-6.60300924589e-05,1793255983197291008
+220,3.666666667,POSE1_TO_POSE2_PRESS,820,751,732.58345262,729,691,656.58345262,928,795.41654738,832,670.58345262,659,673,0.454963664573,-0.0157132528056,0.0696171782737,0.999999773693,-0.000293347679764,-0.000601860274096,-6.57639366731e-05,1793255983213957888
+221,3.683333333,POSE1_TO_POSE2_PRESS,819.829740922,751,732.829740922,729,691,656.829740922,928,795,832,670.829740922,659,673,0.455024885866,-0.0157132512839,0.0696189484902,0.999999774844,-0.000292303792096,-0.000600471849493,-6.56049818548e-05,1793255983230624512
+222,3.700000000,POSE1_TO_POSE2_PRESS,819.250057945,751,732.250057945,729,691,656.250057945,928,795,832,670.250057945,659,673,0.455075028447,-0.0157110981422,0.0696185729159,0.999999774269,-0.000291131144385,-0.000601985601584,-6.57080882298e-05,1793255983247290880
+223,3.716666667,POSE1_TO_POSE2_PRESS,819.327940352,751,732,729.327940352,691,656.327940352,928,795.327940352,832,670,659,673,0.455116440504,-0.0157101677491,0.0696178966642,0.999999773621,-0.000291228798352,-0.000603040492457,-6.54655331136e-05,1793255983263957248
+224,3.733333333,POSE1_TO_POSE2_PRESS,819.90466069,751,732,729.90466069,691,656.90466069,928,795.90466069,832,670,659,673,0.455151229472,-0.0157101649494,0.0696169923145,0.999999772918,-0.000292290120227,-0.000603747285166,-6.49607545274e-05,1793255983280623872
+225,3.750000000,POSE1_TO_POSE2_PRESS,820,751,732.47814696,729.52185304,691,656.52185304,928,795.52185304,832,670,659,673,0.455174285848,-0.0157090003353,0.0696155929587,0.999999771952,-0.000291671600109,-0.000605634696097,-6.50333165035e-05,1793255983297290752
+226,3.766666667,POSE1_TO_POSE2_PRESS,819.947308994,751,732.947308994,729,691,656.052691006,928,795,832,670,659,673,0.455194232747,-0.0157077726491,0.0696141247664,0.999999770815,-0.000291083415645,-0.000607777646166,-6.51737064688e-05,1793255983313957632
+227,3.783333333,POSE1_TO_POSE2_PRESS,819.355384418,751,732.355384418,729,691,656.644615582,928,795,832,670,659,673,0.455206137934,-0.0157082543245,0.0696129554146,0.999999768481,-0.000294210484371,-0.000610142808957,-6.48380525229e-05,1793255983330624768
+228,3.800000000,POSE1_TO_POSE2_PRESS,819,751,732,729,691,656.768755356,928,795,832,670,659,673,0.455216102717,-0.0157085692553,0.0696115917906,0.999999766803,-0.000295688627007,-0.000612212398945,-6.44833037207e-05,1793255983347291392
+229,3.816666667,POSE1_TO_POSE2_PRESS,819,751,732,729,691,656.190082458,928,795,832,670,659,673,0.45522315218,-0.0157086336645,0.0696099362867,0.999999766126,-0.000294689377958,-0.000613837912168,-6.40998663074e-05,1793255983363957760
+230,3.833333333,POSE1_TO_POSE2_PRESS,819.386351726,751,732,729,691,656,928,794.613648274,832,670,659,673,0.455227260586,-0.015707858697,0.0696086665037,0.999999765427,-0.000293088326173,-0.00061576176513,-6.38957502135e-05,1793255983380624384
+231,3.850000000,POSE1_TO_POSE2_PRESS,819.961690806,751,732,729,691,656,928,794.038309194,832,670,659,673,0.455229930348,-0.0157066731408,0.0696075853995,0.999999764712,-0.000291192897299,-0.000617831553555,-6.37793507355e-05,1793255983397291008
+232,3.866666667,POSE1_TO_POSE2_PRESS,820,751,732,729,691,656.549047772,928,794.549047772,832,670,659,673,0.455231256654,-0.0157075244685,0.0696069690459,0.999999763297,-0.000292722432219,-0.000619421615905,-6.35392063534e-05,1793255983413957376
+233,3.883333333,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,795,832,670,659,673,0.455232055876,-0.0157080988504,0.0696060123027,0.999999761806,-0.000293941504561,-0.000621263438992,-6.33949504615e-05,1793255983430624256
+234,3.900000000,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,795,832,670,659,673,0.455231438298,-0.0157072860068,0.0696038283461,0.999999760238,-0.000293337925782,-0.000624044809589,-6.359472159e-05,1793255983447291136
+235,3.916666667,POSE1_TO_POSE2_PRESS,820,751,732,729.293054067,691,657,928,795,832,670,659,673,0.455232357773,-0.0157057285508,0.0696031748742,0.999999760522,-0.000291165530896,-0.00062461066322,-6.35584394001e-05,1793255983463957760
+236,3.933333333,POSE1_TO_POSE2_PRESS,820,751,732,729.871129166,691,657,928,795,832,670,659,673,0.455234772168,-0.0157034468933,0.0696040099338,0.9999997626,-0.000287467323347,-0.000623021730735,-6.3292574478e-05,1793255983480624384
+237,3.950000000,POSE1_TO_POSE2_PRESS,820,751,732,729.554064327,691,656.554064327,928,795,832,670,659,673,0.455236673738,-0.0157040340632,0.0696053796243,0.999999763602,-0.000288561015212,-0.000620929057448,-6.30451301688e-05,1793255983497291008
+238,3.966666667,POSE1_TO_POSE2_PRESS,820,751,732,729,691,656.020266571,928,795,832,670,659,673,0.455238324214,-0.0157053351293,0.0696067853395,0.999999764212,-0.00029087965807,-0.000618884439458,-6.28224959438e-05,1793255983513957632
+239,3.983333333,POSE1_TO_POSE2_PRESS,820,751,732,729,691,656.607526728,928,795,832,670,659,673,0.455237065919,-0.0157035830114,0.0696049078754,0.99999976266,-0.000289007876298,-0.000622227362633,-6.3146120742e-05,1793255983530624000
+240,4.000000000,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,794.806740789,832,670,659,673,0.455236492936,-0.0157023441323,0.0696036604978,0.999999761848,-0.000288021583658,-0.00062396007638,-6.34171235609e-05,1793255983547290624
+241,4.016666667,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928,794.224086429,832,670,659,673,0.455237300778,-0.0157021393707,0.0696036826725,0.999999762549,-0.000288819450202,-0.000622448402583,-6.35820991077e-05,1793255983563957504
+242,4.033333333,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928.353537635,794.353537635,832,670,659,673,0.455237180571,-0.0157012620187,0.0696031551427,0.999999762419,-0.000287745537682,-0.000623165591525,-6.34731717967e-05,1793255983580623872
+243,4.050000000,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928.928018002,794.928018002,832,670,659,673,0.455236480382,-0.0156999643323,0.0696022840762,0.999999761763,-0.000285501860051,-0.000625275704423,-6.31930693632e-05,1793255983597290752
+244,4.066666667,POSE1_TO_POSE2_PRESS,820,751,732,729,691,657,928.497220396,795,832,670,659,673,0.455236969221,-0.0157011397738,0.0696024824041,0.999999761862,-0.000285895451344,-0.000624970876512,-6.28612189012e-05,1793255983613957632
+245,4.083333333,POSE1_TO_POSE2_PRESS,820,751,732,729,691,656.920467718,928,794.920467718,831.920467718,670,659,673,0.455237555666,-0.0157024548905,0.0696027917502,0.999999762023,-0.000286743549615,-0.000624354812367,-6.25471859202e-05,1793255983630624256
+246,4.100000000,POSE1_TO_POSE2_PRESS,820,751,732,729,691,656.331212675,928,794.331212675,831.331212675,670,659,673,0.455237676044,-0.0157023946605,0.069602830824,0.999999761894,-0.000288083364932,-0.000623961139326,-6.23948541585e-05,1793255983647291136
+247,4.116666667,HOLD_POSE2,820,751,732,729,691,657,928,794,832,670,659,673,0.455240743825,-0.0157020794259,0.0696039541726,0.999999763546,-0.00028643883275,-0.000622116369649,-6.18999507562e-05,1793255983685432064
+248,4.133333333,HOLD_POSE2,820,751,732,729,691,657,928,794.576166044,832,670,659,673,0.455240778891,-0.015702201251,0.0696041579456,0.999999763206,-0.000286976443562,-0.00062241499926,-6.18978833304e-05,1793255983702098688
+249,4.150000000,HOLD_POSE2,820,751,732,729,691,656.844876399,928,794.844876399,832,670,659,673,0.455240664894,-0.0157022551348,0.0696040429058,0.999999762776,-0.000287330372967,-0.00062293583054,-6.19664547505e-05,1793255983718765312
+250,4.166666667,HOLD_POSE2,820,751,732,729,691,656.258151874,928,794.258151874,832,670,659,673,0.455240136161,-0.015702119985,0.0696030408321,0.999999762095,-0.000287173245086,-0.000624074894342,-6.22315648714e-05,1793255983735431936
+251,4.183333333,HOLD_POSE2,820,751,732,729,691,656,928,794,832,670,659,673,0.455240145554,-0.0157025682411,0.0696030879686,0.999999762096,-0.000287123454771,-0.00062410354567,-6.2144091353e-05,1793255983752098560
+252,4.200000000,HOLD_POSE2,820,751,732,729,691,656,928,794,832,670,659,673,0.45524057774,-0.0157034748654,0.0696039594452,0.999999762635,-0.00028715799708,-0.000623259771846,-6.17796011083e-05,1793255983768765440
+253,4.216666667,HOLD_POSE2,820,751,732,729,691,656,928,794,832,670,659,673,0.455240385669,-0.0157018868144,0.0696037008887,0.99999976254,-0.000285660948282,-0.000624079974663,-6.19881242239e-05,1793255983785432320
+254,4.233333333,HOLD_POSE2,820,751,732,729,691,656.05892961,928,794,832,670,659,673,0.455240196321,-0.0157001152062,0.0696033306205,0.999999762406,-0.00028410533519,-0.000624981826094,-6.22138618675e-05,1793255983802098944
+255,4.250000000,HOLD_POSE2,820,751,732,729,691,656.633498232,928,794,832,670,659,673,0.45524112869,-0.0157011248989,0.0696039702804,0.999999763085,-0.00028473092258,-0.000623671637417,-6.15824568676e-05,1793255983818765568
+256,4.266666667,HOLD_POSE2,820,751,732,729,691,656.786429807,928,794.213570193,832,670,659,673,0.455241587172,-0.0157010113173,0.0696041527141,0.999999763495,-0.00028445561275,-0.000623164613135,-6.13325241118e-05,1793255983835431936
+257,4.283333333,HOLD_POSE2,820,751,732,729,691,656.19666399,928,794.80333601,832,670,659,673,0.455241210918,-0.0156989191313,0.0696035297614,0.999999763431,-0.000282593407286,-0.000624072331972,-6.17545400101e-05,1793255983852098560
+258,4.300000000,HOLD_POSE2,820,751,732,729,691,656.386014659,928,794.613985341,832,670,659,673,0.455241180817,-0.0156985258014,0.0696038702043,0.999999763833,-0.000281817069119,-0.000623770790585,-6.18359915662e-05,1793255983868765184
+259,4.316666667,HOLD_POSE2,820,751,732,729,691,656.965147737,928,794.034852263,832,670,659,673,0.45524132389,-0.0156989823882,0.0696046926222,0.999999764469,-0.000281583976931,-0.000622864271162,-6.17470629797e-05,1793255983885431808
+260,4.333333333,HOLD_POSE2,820,750.459333666,732,729,691,656.459333666,928,794.540666334,832,670,659,673,0.455240516847,-0.0156993028441,0.0696033450064,0.999999763124,-0.000283077753936,-0.000624347159741,-6.17206481837e-05,1793255983902098688
+261,4.350000000,HOLD_POSE2,820,750.115803349,732,729,691,656,928,794.884196651,832,670,659,673,0.455240019253,-0.0156994654717,0.069602172393,0.999999762124,-0.000284031501008,-0.000625518743227,-6.16862738935e-05,1793255983918765568
+262,4.366666667,HOLD_POSE2,820,750.690345801,732,729,691,656,928,794.309654199,832,670,659,673,0.455240988505,-0.0156990374159,0.0696022434786,0.999999763006,-0.000282407955729,-0.000624851036655,-6.16045118818e-05,1793255983935432704
+263,4.383333333,HOLD_POSE2,820,751,732,729,691,656,928,794,831.727093969,670,659,673,0.455241694372,-0.0156994829213,0.0696025202998,0.999999763497,-0.000282015463365,-0.000624268041671,-6.13337014522e-05,1793255983952099328
+264,4.400000000,HOLD_POSE2,820,751,732,729,691,656,928,794,831.135160997,670,659,673,0.455242092344,-0.0157009496191,0.0696030376257,0.999999763534,-0.00028306207101,-0.000623784074512,-6.08418935723e-05,1793255983968765440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,820,751,732,728,691,656,928,795,832,670,659,673,0.455241652959,-0.0157012987729,0.0696016391414,0.999999761451,-0.000285403491264,-0.0006260238278,-6.11280223856e-05,1793255984001378048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,820,751,732,728.575864265,691,656,928,794.424135735,832,670,659,673,0.455240809664,-0.01570025131,0.0696020071493,0.999999762341,-0.000283073910662,-0.000625655146113,-6.11710561805e-05,1793255984018044672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,832,670,659,673,0.455240488109,-0.0156995517756,0.0696023483173,0.999999762989,-0.000281364071292,-0.000625383382481,-6.12467667681e-05,1793255984034711552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,832,670,659,673,0.455241625007,-0.0156998248266,0.0696026144584,0.999999762973,-0.000281386631265,-0.000625382539631,-6.14138207668e-05,1793255984051378176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,832,670,659,673,0.455241895113,-0.0156992438678,0.0696026262275,0.999999762954,-0.000281968801553,-0.00062513773894,-6.15494679291e-05,1793255984068044800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,832,670,659,673,0.455241482898,-0.0156979906491,0.0696024377597,0.999999762931,-0.000282991486255,-0.000624700899356,-6.1660392227e-05,1793255984084711680
+271,4.516666667,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,832,670,659,673,0.455243129711,-0.0156986195673,0.069603214877,0.999999764284,-0.000282210732952,-0.000622928946759,-6.12335064226e-05,1793255984101378048
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,656,928,794,831.366345841,670,659,673,0.455240436991,-0.0156979519167,0.0696017755187,0.99999976302,-0.000280467766605,-0.000625718932832,-6.14228186915e-05,1793255984134711296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,820.214016085,751,732,729,691,656,928,794,831.214016085,670,658.785983915,673,0.455231306679,-0.0156967647363,0.0695971384715,0.99999975867,-0.000279899639273,-0.000632820707054,-6.20848599075e-05,1793255984151377664
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,821,751,732,729,691,656,928,794,831.036359158,670,658.963640842,673,0.455139511969,-0.0156936060606,0.0695601968198,0.999999719017,-0.000282218599681,-0.000691507766989,-6.43076668306e-05,1793255984201378048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,820.461140285,751,732,729,690.461140285,656,928,794,831.538859715,670,659,673,0.455084164552,-0.0156904103141,0.069546391403,0.999999709175,-0.000280167931633,-0.000706351653097,-6.49894517622e-05,1793255984218044672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,820,751,732,729,690.114144423,656,928,794.114144423,832,670,659,673,0.455023049809,-0.0156871317602,0.0695331682607,0.999999699282,-0.000277949662798,-0.000721035140473,-6.54904966372e-05,1793255984234711552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,820,751,732,729,690.690619542,656,928,794.690619542,832,670,659,673,0.454942531702,-0.0156840369895,0.0695220051663,0.99999968747,-0.000276080165833,-0.000737955690252,-6.52723453001e-05,1793255984251378432
+281,4.683333333,POSE2_TO_POSE3_RETREAT,820.273559322,751,732,729,691,656.273559322,928,794.726440678,832,670,659,673,0.454855917919,-0.0156805587659,0.0695149949831,0.999999679738,-0.000274939791382,-0.000748846307337,-6.45018137142e-05,1793255984268044800
+282,4.700000000,POSE2_TO_POSE3_RETREAT,820.863987199,751,732,729,691,656.863987199,928,794.136012801,832,670,659,673,0.454762243412,-0.0156766363824,0.0695127951901,0.999999676977,-0.000274643972492,-0.00075275234692,-6.3091450439e-05,1793255984284711424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,820.55415443,751,732,728.55415443,691,656.55415443,928,794.44584557,832,670,659,673,0.454654711495,-0.015670174712,0.0695134752731,0.999999680642,-0.000269738392747,-0.000749809577641,-6.11733555309e-05,1793255984301378048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,820,751,732,728.024989317,691,656.024989317,928.024989317,795,832,670,659,673,0.454542018273,-0.0156630345938,0.0695151235362,0.999999686147,-0.000263618251925,-0.000744796123747,-5.9076276565e-05,1793255984318044416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,820,751,732,728.600834406,691,656.600834406,928.600834406,795,832,670,659,673,0.454406981802,-0.0156576931551,0.0695191126783,0.999999691012,-0.000261139829783,-0.000739325481013,-5.63837348566e-05,1793255984334711296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,657,928.824612345,795,832,670,659,673,0.454262297184,-0.0156512741088,0.0695224745908,0.999999696193,-0.000258049366044,-0.000733572187975,-5.38092313929e-05,1793255984351377920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,657,928.252977784,795,832,670,659,673,0.454095814882,-0.0156424204639,0.0695244194258,0.999999702128,-0.000253576139481,-0.000727180314221,-5.15014077805e-05,1793255984368044800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,657,928,795.331152278,831.668847722,670,659,673,0.453909600855,-0.0156335438875,0.0695280035671,0.999999708223,-0.00024713534224,-0.000721202704237,-4.84143280012e-05,1793255984384711424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,820,751,732,729,691,657,928,795.925202434,831.074797566,670,659,673,0.453707722026,-0.015624649105,0.0695328891345,0.9999997144,-0.000239132513415,-0.000715553972636,-4.47086057165e-05,1793255984401378048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,820,751,732,728.497238012,690.497238012,657,928,796,831.502761988,670,659,673.502761988,0.453479450756,-0.0156161462643,0.069538922459,0.999999723189,-0.000229344328532,-0.00070668473358,-4.02383803747e-05,1793255984418044416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,820,751,732,728,690.078060177,657,928,796,832,670,659,673.921939823,0.453241469359,-0.0156078785648,0.0695443919078,0.99999973144,-0.000219835129422,-0.000698226428947,-3.56777351395e-05,1793255984434711296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,820,751,732,728,690.65408637,657,928,796,832,670,659,673.34591363,0.452965797068,-0.0156007507236,0.0695452095516,0.999999734913,-0.00021374625255,-0.000695348975067,-3.12427952808e-05,1793255984451378176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,820,751,732,728,691,657,928,796,832,670,659,673,0.452670435381,-0.0155941484248,0.06954461114,0.999999737452,-0.000203494544502,-0.000694971849347,-2.64458187391e-05,1793255984468044800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,820,751,732,728,691,657,928,796,832,670,659,673,0.452345475892,-0.0155883361408,0.0695418840623,0.999999738447,-0.00018698511719,-0.000698353308159,-2.11046157182e-05,1793255984484711424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,820,751,732,728.384199366,691,657,928,796.384199366,832,670,659,673,0.451986580727,-0.0155829830785,0.0695343891424,0.999999736168,-0.000155605863888,-0.000709350017754,-1.65329328289e-05,1793255984501378048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,820,751,732,728.984674517,691,657,928,796.984674517,832,670,659,673,0.451608582301,-0.0155778885241,0.0695242102808,0.999999730665,-0.000115856000327,-0.000724633548373,-1.2394432932e-05,1793255984518044928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,820,751,732,728.441739066,691,657,928,797.558260934,831.441739066,670,659,673,0.45119976951,-0.0155767841411,0.0695226994854,0.999999727367,-9.79531612088e-05,-0.000731862066421,-6.95622248745e-06,1793255984534711808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,820,751,732,728,691,657.132321414,928,798.132321414,831.132321414,670,659,673,0.450784424663,-0.0155754958127,0.069524511355,0.999999727052,-8.51845649064e-05,-0.000733918758547,-1.52226395804e-06,1793255984551378176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,820,751,732,728,691,657.710350722,928,798.710350722,831.710350722,670,659,673,0.450349795947,-0.0155732358748,0.0695367505026,0.999999737469,-8.77826717075e-05,-0.000719265424299,3.78271084076e-06,1793255984568044800
+300,5.000000000,POSE2_TO_POSE3_RETREAT,820.294975239,750.705024761,732,728,691,658,928,799,832,670,659.294975239,673,0.449892266857,-0.0155677993095,0.0695513430199,0.999999748726,-8.29235409132e-05,-0.000703980016319,9.11601922779e-06,1793255984584711168
+301,5.016666667,POSE2_TO_POSE3_RETREAT,820.886224063,750.113775937,732,728,691,658,928,799,832,670,659.886224063,673,0.449411736547,-0.0155591721344,0.0695682992668,0.999999760692,-7.05743494545e-05,-0.00068805975065,1.44777865509e-05,1793255984601377792
+302,5.033333333,POSE2_TO_POSE3_RETREAT,821,750.467570254,732,728,691,658,928,799.467570254,831.532429746,670,660,673,0.448921384543,-0.0155528060391,0.069594978976,0.999999789322,-9.29021009726e-05,-0.000642426938352,3.62315278689e-06,1793255984618044672
+303,5.050000000,POSE2_TO_POSE3_RETREAT,820.953800409,751,732,728,691.046199591,658,928,800,831,670,660,673,0.448423002895,-0.0155473255596,0.0696225976031,0.999999817435,-0.000118060665677,-0.000592542550594,-9.18578458351e-06,1793255984634711552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,820.379255362,751,732,728,691.620744638,658,928,800,831,670,660,673,0.447859557702,-0.0155458114551,0.0696344565046,0.999999831396,-8.1094919267e-05,-0.000575005985899,-1.53218873921e-07,1793255984651378176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,820.196071213,750.803928787,732,728,692,658,928,800.196071213,831,670,660,673,0.447267975276,-0.015541268646,0.0696346691967,0.999999832027,-5.5300423804e-05,-0.000576921779037,7.07421592787e-06,1793255984668044800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,820.772915492,750.227084508,732,728,692,658,928,800.772915492,831,670,660,673,0.446621749978,-0.0155308440498,0.0696122647846,0.999999808524,-5.12006579608e-05,-0.000616614328114,1.07960604453e-05,1793255984684711424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,821,750.357826319,732,728,692,658.357826319,928,801.357826319,831,670,660,673,0.445966005956,-0.0155193022179,0.0695970028301,0.999999796768,-4.08334847421e-05,-0.000636163687534,9.6539459161e-06,1793255984701378048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,821,750.947974399,732,728,692,658.947974399,928,801.947974399,831,670,660,673,0.445304081849,-0.0155070350115,0.0695863781773,0.999999793147,-2.63971445297e-05,-0.000642634909692,5.35386475047e-06,1793255984718044416
+309,5.150000000,POSE2_TO_POSE3_RETREAT,820.473153871,750.473153871,732,728,692,659,928,802,831.526846129,670,660,673,0.444664184159,-0.0155011040456,0.069621944744,0.999999833016,-1.4763117046e-05,-0.00057763669065,9.23469929902e-06,1793255984734711296
+310,5.166666667,POSE2_TO_POSE3_RETREAT,820,750,732,728,692.10398799,659,928,802.10398799,831.89601201,670,660,673,0.444015761258,-0.0154957195719,0.0696623581256,0.999999871281,-3.44938778724e-06,-0.000507181890712,1.39093478136e-05,1793255984751377664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,820,750,732,728,692.678236909,659,928,802.678236909,831.321763091,670,660,673,0.443319155098,-0.0154900362027,0.0697044947245,0.999999901541,7.64106898531e-06,-0.000443298303899,1.85970384875e-05,1793255984768044544
+312,5.200000000,POSE2_TO_POSE3_RETREAT,820.258891754,750.258891754,732,727.741108246,693,659.258891754,928,803,831.258891754,670,660.258891754,673,0.442607055816,-0.0154738609386,0.0697387597409,0.999999921294,2.89020214254e-05,-0.000395235864875,1.91317051792e-05,1793255984784711168
+313,5.216666667,POSE2_TO_POSE3_RETREAT,820.847710267,750.847710267,732,727.152289733,693,659.847710267,928,803,831.847710267,670,660.847710267,673,0.441875212299,-0.015444315001,0.0697629933669,0.999999930437,6.31240628818e-05,-0.000367335590153,1.43738372787e-05,1793255984801378048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,820.570642401,750.570642401,732,727,693,660,928,803.429357599,831.570642401,670,661,673,0.441108747131,-0.0154199267488,0.0697880424586,0.999999944121,9.01765938395e-05,-0.000321590991896,1.43061338498e-05,1793255984818044928
+315,5.250000000,POSE2_TO_POSE3_RETREAT,820,750,732,727,693.008460903,660,928,804,831,670,660.991539097,673,0.440329438147,-0.0153976872934,0.0698130585422,0.99999995677,0.000114503860032,-0.000270364560567,1.58788678141e-05,1793255984834711552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,820,750,732,727,693.584731117,660,928,804,831,670,660.415268883,673,0.439498751817,-0.0153988998857,0.06981676767,0.999999955992,0.000123793851448,-0.000269029507391,1.77335978248e-05,1793255984851377920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,820,750,732,727,694,660,928,804,831,670,660,673,0.438641431786,-0.0153997651458,0.0698008093177,0.999999947276,0.000129975049858,-0.000297065337209,1.7487444665e-05,1793255984868044544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,820,750,732,727,694,660,928,804,831,670,660,673,0.437715415815,-0.0153997345355,0.0697341228642,0.999999911377,0.000128137773438,-0.000400857140001,1.18225078983e-05,1793255984884711424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,820,750,732,726.67996012,694,660,928,804,831,670,660.32003988,673,0.436831366274,-0.0153999749556,0.0697056348639,0.999999893811,0.000125627499088,-0.00044330140118,8.96586715223e-06,1793255984901378048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,820,750,732,726.090468274,694,660,928,804,831,670,660.909531726,673,0.43598264968,-0.015400443565,0.0697093073849,0.999999898235,0.00012255060686,-0.000434095172782,8.4736223609e-06,1793255984918044672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,820,750,732,726.489897863,694,660,928,804,831,670,660.510102137,673,0.435109006685,-0.0154016761596,0.0697586313231,0.999999923643,0.000128612228081,-0.000368728785212,1.45364458507e-05,1793255984934711552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,820,750,732,727,694,660,927.932001778,804,831,670,660.067998222,673,0.434230579718,-0.0154025911145,0.0698117055166,0.999999945613,0.000137098736488,-0.000299208296191,2.12484287834e-05,1793255984951378176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,820,750,732,727,694,660,927.358447189,804,831,670,660.641552811,673,0.433350182602,-0.0154001147147,0.0698311301813,0.999999950593,0.000151296403147,-0.000274499218429,2.39514445079e-05,1793255984968044800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,820,750.216656312,732.216656312,727,694,660,927.216656312,804,831,670,661,673,0.43245676345,-0.0153993263442,0.0698447553952,0.999999955244,0.000158491726214,-0.00025248698865,2.53484396777e-05,1793255984984711680
+325,5.416666667,POSE2_TO_POSE3_RETREAT,820,750.794340955,732.794340955,727,694,660,927.794340955,804,831,670,661,673,0.431541644704,-0.0154013508449,0.0698487166146,0.999999960232,0.000154018596674,-0.000234968686218,2.45691293416e-05,1793255985001378048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,820,750.619479873,732.619479873,727,694,660,928,804,831,670,661,673,0.430560226856,-0.0154004373197,0.0698012377199,0.999999938704,0.000156108925459,-0.000312706306851,2.08779663328e-05,1793255985018044672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,820,750.028604886,732.028604886,727,694,660,928,804,831,670,661,673,0.429542158339,-0.0153978996279,0.0697253222793,0.999999888615,0.000161827589609,-0.000443102233072,1.5577105409e-05,1793255985034711296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,820,750.548842933,732.548842933,726.451157067,694,660,928,804,831,670,661,673,0.4285970533,-0.0153991217155,0.069721416363,0.999999891633,0.000155997603798,-0.00043839610712,1.43895705233e-05,1793255985051377664
+329,5.483333333,POSE2_TO_POSE3_RETREAT,820,750.874591096,732.874591096,726.125408904,694,660,927.874591096,804,831,670,661,673,0.427673286324,-0.0154002959534,0.0697371637376,0.999999906521,0.00015048708134,-0.000405068239649,1.51789351023e-05,1793255985068044288
+330,5.500000000,POSE2_TO_POSE3_RETREAT,820,750.298739043,732.298739043,726.701260957,694,660,927.298739043,804,831,670,661,673,0.426812828836,-0.0154006113046,0.0698103435065,0.999999945657,0.000148234275082,-0.000293623949937,2.23172955809e-05,1793255985084711168
+331,5.516666667,POSE2_TO_POSE3_RETREAT,820.282786046,750,732.282786046,727,694,660,927,804,831,670,661,673,0.425935844031,-0.0154006593017,0.0698509633765,0.999999960192,0.000152062226254,-0.000236180438244,2.66643949201e-05,1793255985101378048
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,820.545963365,750,733,726.545963365,694,660,927,804,830.545963365,670,660.545963365,673,0.424102118954,-0.0154002562475,0.0698361846148,0.999999950596,0.000165246540307,-0.000266090726751,2.63981677202e-05,1793255985134711552
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,821,750.184548338,733.184548338,726.815451662,694,660,927.184548338,803,831,670,661,673,0.421132278304,-0.015385104225,0.069678306195,0.999999839716,0.000178107444314,-0.000537326005285,1.12095874024e-05,1793255985184711168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,821,750.760323894,733.760323894,726.239676106,694,660,927.760323894,803,831,670,661,673,0.420286442976,-0.0153879368682,0.0696985921595,0.999999866006,0.000171365940224,-0.000488317640274,1.29505058606e-05,1793255985201377792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,820.654373231,750.654373231,733.654373231,726.345626769,694,660,927.654373231,803.345626769,831,670,661,673,0.419492887906,-0.0153920937665,0.0697558353713,0.999999909418,0.000166543288307,-0.000391307868208,1.75020422364e-05,1793255985218044160
+339,5.650000000,POSE2_TO_POSE3_RETREAT,820.062276361,750.062276361,733.062276361,726.937723639,694,660,927.062276361,803.937723639,831,670,661,673,0.418736614492,-0.015397195005,0.0698394331854,0.999999952594,0.000163088988487,-0.00026006778341,2.40578596377e-05,1793255985234710784
+340,5.666666667,POSE2_TO_POSE3_RETREAT,820,750.51499431,733,726.48500569,694,660,927,803.48500569,831,670,661,673,0.417915688214,-0.0153951191836,0.0698639021532,0.999999957743,0.00017507820533,-0.000230415140965,2.77591110311e-05,1793255985251377664
+341,5.683333333,POSE2_TO_POSE3_RETREAT,820,750.909653454,733,726,694,660,927,803.090346546,830.909653454,669.909653454,660.909653454,673,0.417081180595,-0.0153923970071,0.0698718252088,0.999999957148,0.00018696030463,-0.000223298293173,2.98004969104e-05,1793255985268044800
+342,5.700000000,POSE2_TO_POSE3_RETREAT,820,750.335242755,733,726,694,660,927,803.664757245,830.335242755,669.335242755,660.335242755,673,0.416214622867,-0.0153907316875,0.0698283354855,0.999999944669,0.000188542532175,-0.000272947787381,2.4746291431e-05,1793255985284711680
+343,5.716666667,POSE2_TO_POSE3_RETREAT,820,750,733.246402626,726,694,660,927,804,830,669,660,673,0.41536733346,-0.0153893996059,0.0697923165303,0.999999929823,0.000190970524657,-0.000321634144389,2.08912319022e-05,1793255985301378048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,820,750,733.838188844,726,694,660,927,804,830,669,660,673,0.414547052613,-0.0153885346255,0.0697667693857,0.999999912824,0.000194584029476,-0.000368970464062,1.8717020724e-05,1793255985318044416
+345,5.750000000,POSE2_TO_POSE3_RETREAT,820,750,734,726,694,660,927,804,830,669.420558613,660,673,0.413749557145,-0.0153848800828,0.0697481616068,0.999999895984,0.00019893272612,-0.000410063189761,1.74647361633e-05,1793255985334711040
+346,5.766666667,POSE2_TO_POSE3_RETREAT,820,750,734,726,694,660,927,804,830,669.999384766,660,673,0.412960636362,-0.0153801757527,0.0697321652962,0.999999878431,0.000203558095405,-0.000448806286355,1.65593972428e-05,1793255985351377408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,820,750,733.430405584,726.569594416,694,660,927,803.430405584,830,670,660,673,0.412330327099,-0.0153837423391,0.0697853573853,0.999999919719,0.000204452828013,-0.000343989508146,2.07710130399e-05,1793255985368044544
+348,5.800000000,POSE2_TO_POSE3_RETREAT,820,750.141993,733,727,694,660,927,803,830,669.858007,660,673,0.41169399531,-0.0153873559702,0.0698352215987,0.99999994771,0.000204368426541,-0.000249372054372,2.5043727757e-05,1793255985384711424
+349,5.816666667,POSE2_TO_POSE3_RETREAT,820,750.721159325,733,727,694,660,927,803,830,669.278840675,660,673,0.41103860138,-0.0153910873498,0.069874613178,0.999999961893,0.000201281657971,-0.000186626942419,2.94877946621e-05,1793255985401378304
+350,5.833333333,POSE2_TO_POSE3_RETREAT,820,750.692630628,733.307369372,726.692630628,694,660,926.692630628,803,830,669,660,673,0.410371619778,-0.0153918913762,0.0698768378246,0.999999961903,0.000199287363337,-0.000188659285203,2.97536636942e-05,1793255985418044928
+351,5.850000000,POSE2_TO_POSE3_RETREAT,820,750.099880793,733.900119207,726.099880793,694,660,926.099880793,803,830,669,660,673,0.409693879514,-0.0153899774693,0.0698445544229,0.999999948536,0.000198307388246,-0.000250834969556,2.61402388417e-05,1793255985434711552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,820,750,734,726.479510488,694.479510488,660,926,803,830,669,660.479510488,673,0.409045769065,-0.0153848172218,0.0698049695557,0.999999928303,0.000202344554598,-0.000319345963217,2.16737195252e-05,1793255985451377920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,819.94381587,750,734,727,694.94381587,660,926,803,830,669,661,673,0.408412297863,-0.01537935265,0.0697678201692,0.999999905721,0.000207108574159,-0.000381263845829,1.73485541542e-05,1793255985468044544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,819.367239496,750,734,727,694.367239496,660,926,803,830,669,661,673,0.407858803624,-0.0153771627729,0.0697669338009,0.999999909461,0.000209187660782,-0.000370223141178,1.59339174464e-05,1793255985484711168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,819.213381491,750,734,727,694,660,926,803,830,669.213381491,660.786618509,673,0.407324623146,-0.015376317947,0.0697750239503,0.999999916022,0.000210627716141,-0.000351201822759,1.58150291043e-05,1793255985501377792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,819.801097878,750,734,727,694,660,926,803,830,669.801097878,660.198902122,673,0.406824324836,-0.0153778327432,0.0697988615944,0.99999992697,0.000210946719374,-0.000318180124045,1.79692707228e-05,1793255985518044416
+357,5.950000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.616740798,926,803,830,669.616740798,660.383259202,673,0.406331268851,-0.0153779383246,0.0698063636827,0.999999927791,0.000212145106905,-0.000314724343273,1.89834304863e-05,1793255985534711040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.037421174,926,803,830,669.037421174,660.962578826,673,0.405841917711,-0.0153773230069,0.0698055091414,0.999999923691,0.000213793353144,-0.000326393327213,1.94143691489e-05,1793255985551377664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,819.461023252,750,734,726.461023252,694,659.538976748,926,803,830,669,660.461023252,673,0.405406658791,-0.0153756349269,0.06980006201,0.999999920612,0.000212364408624,-0.000336674321399,1.81269913511e-05,1793255985568044800
+360,6.000000000,POSE2_TO_POSE3_RETREAT,819.115108964,750,734,726.115108964,694,660,926,803,830,669,660,673,0.404989482771,-0.0153742592005,0.069798727394,0.999999920185,0.000211921796198,-0.000338262972779,1.72413031426e-05,1793255985584711424
+361,6.016666667,POSE2_TO_POSE3_RETREAT,819.690985386,750,734,726.690985386,694,660,926,803,830,669,660,673,0.404629738051,-0.0153744303224,0.0698151241763,0.999999929795,0.000216277955309,-0.00030544088584,1.84385100074e-05,1793255985601378048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.72707184,926,803,830,669,660.27292816,673,0.404284160678,-0.0153734593536,0.0698305407237,0.999999937645,0.000218853041717,-0.000276447161133,1.97708638453e-05,1793255985618044416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.138104525,926,803,830,669,660.861895475,673,0.403954988508,-0.0153711658924,0.0698448222001,0.99999994399,0.000219365721839,-0.000251886518562,2.12597120451e-05,1793255985634711296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,820,750,734,726.556276039,694,659.443723961,926,803,830,669,660.556276039,673,0.403637406328,-0.0153689850376,0.0698437091768,0.999999941244,0.000231361243587,-0.000252138837513,2.02389096509e-05,1793255985651377920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,820,750,734,726.023178322,694,660,926,803,830,669,660.023178322,673,0.403324713451,-0.0153668961828,0.0698376129949,0.999999935696,0.000245742801791,-0.000260536943536,1.84122427363e-05,1793255985668044288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,820,750,734,726.598170944,694,660,926,803,830,669,660.598170944,673,0.403043902163,-0.0153661764232,0.069825144919,0.999999932949,0.000233191314754,-0.000281916911039,1.57016249275e-05,1793255985684711168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.827892196,926,803,830,669,660.827892196,673,0.402775798252,-0.0153650304216,0.0698147243932,0.999999929266,0.000226233516353,-0.000300147511508,1.40674831373e-05,1793255985701378048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.256405328,926,803,830,669,660.256405328,673,0.402537182063,-0.0153628953181,0.0698090552437,0.999999924535,0.0002322559688,-0.000311069949988,1.4931322502e-05,1793255985718044672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.328082773,926,803,830,669,660.328082773,673,0.402320040433,-0.0153619016891,0.0698050840898,0.999999921638,0.000236500718622,-0.000317067725714,1.6085130126e-05,1793255985734711296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.923151009,926,803,830,669,660.923151009,673,0.402120374231,-0.0153618369628,0.0698024947213,0.999999920316,0.000239298819677,-0.000319057936643,1.74749066821e-05,1793255985751377664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926,803,830,669,660.500546553,673,0.401946516668,-0.0153638710587,0.0697974187073,0.999999917348,0.000237783108001,-0.000329264977695,1.86286455302e-05,1793255985768044288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926.073577242,803,830,669,660.073577242,673,0.40178170293,-0.0153658982879,0.0697930320181,0.999999914556,0.000236422677803,-0.000338533115677,1.97118393943e-05,1793255985784711168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926.651845851,803,830,669,660.651845851,673,0.401652671201,-0.015365743492,0.0697959030597,0.99999991542,0.000240515392185,-0.000333002831278,2.05512396429e-05,1793255985801377792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,820,750,734.233318254,727,694,660,926.766681746,803,830,669,661,673,0.401532956243,-0.0153666693749,0.0697972970013,0.99999991716,0.000237909104461,-0.000329890281669,1.58818338853e-05,1793255985818044672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,820,750,734.81963784,727,694,660,926.18036216,803,830,669,661,673,0.401427337201,-0.0153692302824,0.0697964561485,0.999999920052,0.000225167490073,-0.000330435669859,2.87782152345e-06,1793255985834711552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,820,750,735,727,694,660,926,803,830,669,660.59715511,673,0.401337857626,-0.0153701745571,0.069795845364,0.999999920925,0.000221479860125,-0.000330296469322,6.82283624761e-07,1793255985851378176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,820,750,735,727,694,660,926,803,830,669,660.015330939,673,0.401255548632,-0.0153704005807,0.0697953367962,0.999999920992,0.000221814810132,-0.000329853114021,3.28882510387e-06,1793255985868044800
+378,6.300000000,POSE2_TO_POSE3_RETREAT,820,750,734.437710049,727,694,660,926,802.437710049,830,669,660,673,0.40119369378,-0.0153674744145,0.0697960576534,0.999999921279,0.000224296004673,-0.000327284766938,4.23239121855e-06,1793255985884711680
+379,6.316666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.860674368,926,802.139325632,830,668.860674368,660,673,0.401136669825,-0.0153649102766,0.0697963661401,0.999999921195,0.000226842043773,-0.0003257711827,5.06360717198e-06,1793255985901378048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.285114946,926,802.714885054,830,668.285114946,660,673,0.401093038423,-0.015363746764,0.0697952793042,0.999999919963,0.000229409251332,-0.000327740162049,5.68396241882e-06,1793255985918044672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.29689745,926,803,830,668.29689745,660,673,0.401056422015,-0.0153639961921,0.0697950350124,0.99999991971,0.000230258599668,-0.000327900615582,6.43667733693e-06,1793255985934711296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.885244479,926,803,830,668.885244479,660,673,0.401026691877,-0.0153656326342,0.0697956178045,0.999999920425,0.000229421610655,-0.000326285728774,7.31932328859e-06,1793255985951377920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,659.533816069,926,802.533816069,830,669,660,673,0.40100742719,-0.0153650418829,0.0697972285132,0.999999921542,0.000229504338714,-0.000322778575677,7.5788369861e-06,1793255985968044544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,820,750,734,726.954890399,694,659.045109601,926,802.045109601,830,668.954890399,660.045109601,673,0.400991164189,-0.0153640008907,0.0697990086733,0.999999922688,0.000229774188789,-0.000319011422777,7.68529009096e-06,1793255985984711424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,820,750,734,726.378541709,694,659.621458291,926,802.621458291,830,668.378541709,660.621458291,673,0.400980386861,-0.0153640130616,0.0697998511539,0.999999923177,0.000229623215618,-0.000317582086898,7.76736574972e-06,1793255986001378048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,820,750,734,726.200474238,694,660,926,802.799525762,830,668.200474238,661,673,0.400971552673,-0.0153647947666,0.0698001915675,0.999999923849,0.000227982507283,-0.000316649400287,7.73213683432e-06,1793255986018044928
+387,6.450000000,POSE2_TO_POSE3_RETREAT,820,750,734,726.784594457,694,660,926,802.215405543,830,668.784594457,661,673,0.400966437056,-0.0153670491229,0.0697995711792,0.999999924859,0.00022349090442,-0.00031666714758,7.47242306761e-06,1793255986034711296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926,802.368463064,830,669,661,673,0.400964198714,-0.0153663262693,0.0698009415303,0.999999925008,0.000225762358254,-0.000314577981131,7.51174134454e-06,1793255986051377920
+389,6.483333333,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926,802.952184657,830,669,661,673,0.400963641295,-0.0153638641102,0.0698034748843,0.999999924621,0.000231984834134,-0.000311257941902,7.72575610351e-06,1793255986068044544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926,802.470320653,830,668.470320653,661,673,0.40096250778,-0.0153650149633,0.0698052574929,0.999999925198,0.000232106750954,-0.000309296413907,8.13174533454e-06,1793255986084711168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,820,750,734.106025738,727,694,660,926,802.106025738,830,668.106025738,661,673,0.400961402148,-0.0153662402659,0.0698065809727,0.999999925835,0.000231339035604,-0.00030780176583,8.43901869848e-06,1793255986101377792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,820,750,734.679757351,727,694,660,926,802.679757351,830,668.679757351,661,673,0.400960646256,-0.015366371951,0.0698061746046,0.999999926354,0.0002290480283,-0.000307831950205,8.23527319745e-06,1793255986118044416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,820,750,735,727,694,660,926.260708736,803,830,669,660.739291264,673,0.40096055836,-0.0153657236103,0.0698065157094,0.999999926653,0.000228846392578,-0.000307013750265,8.08166938043e-06,1793255986134711296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,820,750,735,727,694,660,926.850781222,803,830,669,660.149218778,673,0.400961314371,-0.0153640898321,0.0698078011268,0.999999926672,0.000231284343047,-0.000305123752569,7.9914115263e-06,1793255986151378176
+395,6.583333333,POSE2_TO_POSE3_RETREAT,820,750,734.566716579,727,694,660,926.566716579,803,830,669,660,673,0.400960693847,-0.0153644598525,0.0698080952157,0.999999926725,0.000231043976849,-0.0003051293612,8.10314093219e-06,1793255986168044800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,820,750,734,727,694,660,926,803,829.986901357,669,660,673,0.400959638909,-0.0153655082796,0.0698080605126,0.999999926795,0.000229919569614,-0.000305741743612,8.2783400319e-06,1793255986184711424
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a82f1a718f8f5e2eab28cfe10d6780de83c08f6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+339,5.650000000,pose2_to_pose3_retreat,0.590141554376,-0.00981818416996,1.06002031322,0.560712701379,-0.00114394866434,1.05969202354
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+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
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+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
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+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
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+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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e3ba422a8bdb4331a0ec2f96775ad1a3852c91a
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b423b5f6bb1b4f2e0d44a0a75e3e9fc4af7840c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/franka_data.csv
@@ -0,0 +1,434 @@
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+16,0.266666667,BASELINE,820,750,734,727,694,660,926,802.724777344,830,668.275222656,660.724777344,673,0.400960798932,-0.0153685719848,0.0698136572013,0.999999929939,0.000228298250438,-0.000296540654181,8.11720311892e-06,1793255986824426496
+17,0.283333333,BASELINE,820,750,734,727,694,660,926,802.150239284,830,668.849760716,660.150239284,673,0.400960343872,-0.0153691935541,0.0698133216712,0.999999930177,0.000226977213153,-0.00029676082896,7.81795217834e-06,1793255986841092864
+18,0.300000000,BASELINE,820,750,734,727,694,660,926,802.422636677,830,669,660.422636677,673,0.400960414383,-0.0153695529867,0.069813137769,0.999999930256,0.000226244818357,-0.000297051483426,7.81287042692e-06,1793255986857759488
+19,0.316666667,BASELINE,820,750,734,727,694,660,926,802.994924097,830,669,660.994924097,673,0.400960670993,-0.0153698195999,0.0698130075565,0.99999993028,0.000225720855064,-0.000297367093926,7.91195057747e-06,1793255986874426112
+20,0.333333333,BASELINE,820,750,734,727,693.427205249,660,926,803,830,669,660.427205249,673,0.400961477061,-0.015371034231,0.0698139176671,0.999999931035,0.000224008240227,-0.000296113972886,8.12069007472e-06,1793255986891092992
+21,0.350000000,BASELINE,820.154220187,750,734,727,693,660,926,803,830,669,660.154220187,673,0.400961791217,-0.0153719160039,0.0698143151021,0.99999993154,0.000222776160246,-0.000295335781582,8.21948056258e-06,1793255986907759616
+22,0.366666667,BASELINE,820.745579988,750,734,727,693,660,926,803,830,669,660.745579988,673,0.400960697098,-0.015371830237,0.0698132329613,0.999999931326,0.000222936315391,-0.000295943578515,8.00383718148e-06,1793255986924426240
+23,0.383333333,BASELINE,820.672200307,750,734,727,693.327799693,660,926,803,830,668.672200307,661,673,0.400960843397,-0.0153707460844,0.0698132101507,0.999999931082,0.000224115165793,-0.000295879864139,7.98926350571e-06,1793255986941092864
+24,0.400000000,BASELINE,820.096882139,750,734,727,693.903117861,660,926,803,830,668.096882139,661,673,0.400961926321,-0.0153689080601,0.0698139872303,0.999999930811,0.000226063223447,-0.000295309097935,8.12651565619e-06,1793255986957759232
+25,0.416666667,BASELINE,820.493150688,749.506849312,734,727,694,660,926,803,830,668.493150688,661,673,0.400960812173,-0.0153698253099,0.0698132362964,0.999999930514,0.000225729892389,-0.000296576373749,7.75857009547e-06,1793255986974425856
+26,0.433333333,BASELINE,821,749.084420336,734,727,694,660,926,803,830,668.915579664,661,673,0.400959596364,-0.0153710619741,0.0698124301536,0.99999993035,0.000224955832782,-0.000297724280767,7.40548598271e-06,1793255986991092736
+27,0.450000000,BASELINE,821,749.665437954,734,727,694,660,926,803,830,668.334562046,661,673,0.400960399647,-0.0153708955486,0.0698131193853,0.999999931011,0.000224306757871,-0.000295980571632,7.74160421385e-06,1793255987007759616
+28,0.466666667,BASELINE,820.756323886,750,734,727,694,660,926,803,830,668,661,673,0.400960688761,-0.0153704630472,0.0698133132126,0.999999931147,0.000224502076193,-0.000295368335126,7.88165876638e-06,1793255987024425984
+29,0.483333333,BASELINE,820.18185886,750,734,727,694,660,926,803,830,668,661,673,0.400960279896,-0.0153696693493,0.0698128345313,0.999999930573,0.000225843653474,-0.000296292066269,7.75555799065e-06,1793255987041092608
+30,0.500000000,BASELINE,820,750,734,727,694,660,926,802.612142565,830,668.387857435,660.612142565,673,0.400960363663,-0.0153690945438,0.0698128028538,0.99999993072,0.000224684159119,-0.000296685943063,7.42654741327e-06,1793255987057759232
+31,0.516666667,BASELINE,820,750,734,727,694,660,926,802.044625942,830,668.955374058,660.044625942,673,0.400960675621,-0.0153686211313,0.0698129782327,0.999999931197,0.000222366144973,-0.000296834386345,7.00354712345e-06,1793255987074426112
+32,0.533333333,BASELINE,820,750,734,727,694,660,926,802.555125634,830,669,660.555125634,673,0.400960198419,-0.0153697595237,0.069813035418,0.999999930847,0.000223553544268,-0.000297115982984,7.14786469264e-06,1793255987091092736
+33,0.550000000,BASELINE,820.149653157,750,734,727,693.850346843,660,926,803,830,668.850346843,661,673,0.400959996506,-0.0153706309317,0.0698132448793,0.99999993074,0.000224267297728,-0.000296934015604,7.36127561584e-06,1793255987107759360
+34,0.566666667,BASELINE,820.721672352,750,734,727,693.278327648,660,926,803,830,668.278327648,661,673,0.400960761627,-0.0153703605963,0.0698139125776,0.999999931517,0.000222799937606,-0.000295411659231,7.63303977051e-06,1793255987124425984
+35,0.583333333,BASELINE,821,750,734,727,693.297596462,660,926,803,830,668.297596462,661,673,0.40096084631,-0.0153689171757,0.0698137869385,0.999999931104,0.000224486583623,-0.000295536395019,7.54000361558e-06,1793255987141092608
+36,0.600000000,BASELINE,821,750,734,727,693.877221277,660,926,803,830,668.877221277,661,673,0.400960286151,-0.0153663620371,0.0698129094639,0.999999929547,0.000229162240674,-0.000297222058761,7.10125091281e-06,1793255987157759232
+37,0.616666667,BASELINE,821,750,734,727,694,659.551308789,925.551308789,803,829.551308789,668.551308789,660.551308789,673,0.400960179319,-0.0153668923202,0.0698129363587,0.999999929599,0.000229383146669,-0.000296870824157,7.23053743187e-06,1793255987174425856
+38,0.633333333,BASELINE,820.9810374,750,733.9810374,727,693.9810374,659.0189626,925.0189626,803,829.0189626,668.0189626,660,673,0.400960234382,-0.0153682082011,0.0698132084341,0.999999930084,0.000228392553231,-0.000295993820174,7.49425466661e-06,1793255987191092480
+39,0.650000000,BASELINE,820.380296203,750,733.380296203,727,693.380296203,659.619703797,925.619703797,803,829.619703797,668.619703797,660,673,0.40096151856,-0.0153681858554,0.0698135458192,0.999999930474,0.000226964086389,-0.000295781135532,7.1986246605e-06,1793255987207759360
+40,0.666666667,BASELINE,820,750,733.211374888,727,693,659.788625112,926,803,830,669,660,673,0.400961587597,-0.0153683378803,0.0698134897705,0.999999930473,0.000226430708211,-0.000296196904318,7.14849010196e-06,1793255987224425728
+41,0.683333333,BASELINE,820,750,733.787398837,727,693,659.212601163,926,803,830,669,660,673,0.400959560362,-0.0153687907171,0.0698127549972,0.999999929795,0.000227441473999,-0.000297696836681,7.52186700648e-06,1793255987241092608
+42,0.700000000,BASELINE,820,750,734,727,693,659,925.638135048,803,830,669,660.361864952,673,0.400959977872,-0.0153691843699,0.0698132191554,0.999999930207,0.000226901188958,-0.000296717985454,7.70591137763e-06,1793255987257759232
+43,0.716666667,BASELINE,820,750,734,727,693,659,925.064580281,803,830,669,660.935419719,673,0.400961825551,-0.0153695434003,0.0698143846847,0.999999931252,0.000225453544215,-0.000294289053874,7.77919682238e-06,1793255987274425856
+44,0.733333333,BASELINE,820,750,734,727,693,659.52511516,925.52511516,803,830,669,660.47488484,673,0.400961497663,-0.0153699454414,0.0698138184731,0.999999930725,0.000226435201891,-0.000295324878378,7.82416097936e-06,1793255987291092480
+45,0.750000000,BASELINE,820,750,734,727,693,659.886459642,926,803,830,669,660,673,0.400961026135,-0.0153704130241,0.0698132689517,0.99999993028,0.00022697690081,-0.000296410682628,7.88464440752e-06,1793255987307759360
+46,0.766666667,BASELINE,820,750,734,727,693,659.311519053,926,803,830,669,660,673,0.400961092661,-0.0153711247742,0.0698136801787,0.99999993099,0.000224478112784,-0.000295913087348,8.02279742498e-06,1793255987324426240
+47,0.783333333,BASELINE,820,750,734,727,693,659,926,803,830,669,660,673,0.400960360922,-0.0153706928531,0.0698134972456,0.999999930997,0.000223800782688,-0.000296406272599,7.87405307531e-06,1793255987341092864
+48,0.800000000,BASELINE,820,750,734,727,693,659,926,803,830,669,660,673,0.400958685164,-0.0153689084403,0.069812611666,0.999999930175,0.000225277486419,-0.000298071142878,7.38602738164e-06,1793255987357759488
+49,0.816666667,BASELINE,819.57553198,750,734,727,693,659,926,803,830,669,660,673,0.400958683848,-0.0153688111185,0.0698127880577,0.999999930177,0.000225366670835,-0.000298001141157,7.21511354974e-06,1793255987374425856
+50,0.833333333,BASELINE,819,750,734,727,693,659,926,803,830,669,660.011717202,673,0.400959311473,-0.015369350076,0.0698133510261,0.999999930486,0.000224932707052,-0.00029728961706,7.17286851806e-06,1793255987391092480
+51,0.850000000,BASELINE,819,750,734,727,693,659,926,803,830,669,660.594111477,673,0.400959277183,-0.0153693480743,0.0698128944714,0.999999930341,0.000224950903403,-0.000297756688965,7.47075600062e-06,1793255987407759104
+52,0.866666667,BASELINE,819,750,734,726.82612383,693,659,925.82612383,803,830,669,660.82612383,673,0.400959121206,-0.0153696353542,0.0698127833183,0.999999930309,0.000224863694222,-0.000297924222118,7.70248419821e-06,1793255987424426752
+53,0.883333333,BASELINE,819,750,734,726.252406095,693,659,925.252406095,803,830,669,660.252406095,673,0.400958685402,-0.0153705878595,0.0698134664423,0.999999930538,0.000224534096958,-0.000297402942946,7.7820740375e-06,1793255987441096448
+54,0.900000000,BASELINE,819,750,734,726.323021928,693,659,925.323021928,803,830,669,660.323021928,673,0.40095905321,-0.0153701948034,0.0698138133522,0.999999930577,0.00022508972543,-0.000296853288644,7.71732157729e-06,1793255987457762816
+55,0.916666667,BASELINE,819,750,734,726.899793439,693,659,925.899793439,803,830,669,660.899793439,673,0.400960052295,-0.0153687447429,0.0698138961494,0.999999930465,0.000226340742194,-0.000296281344308,7.53918115065e-06,1793255987474426368
+56,0.933333333,BASELINE,819,750,734,727,693,659,925.514135653,803,830,669,661,673,0.400959314359,-0.0153693420088,0.069812960516,0.999999930413,0.000225008749148,-0.000297472513528,7.44318428125e-06,1793255987491092480
+57,0.950000000,BASELINE,819,750,734,727,693,659,925,803,830,669,660.926776646,673,0.400958584923,-0.0153703289254,0.0698121373553,0.999999930494,0.000223234576184,-0.000298535739571,7.41380248375e-06,1793255987507759360
+58,0.966666667,BASELINE,819,750,734,727,693,659,925,803,830,669,660.344060851,673,0.400960455998,-0.0153710316929,0.0698135868116,0.999999931446,0.000222162788859,-0.000296129187397,7.72775137869e-06,1793255987524425984
+59,0.983333333,BASELINE,819,750,734,727,693,659,925,803,830,669,660,673,0.400961079855,-0.0153707990576,0.0698141666061,0.999999931556,0.000223070863615,-0.000295073877116,7.7045036111e-06,1793255987541092608
+60,1.000000000,BASELINE,819,750,734,727,693,659,925,803,830,669,660,673,0.400959905642,-0.0153692178834,0.069813492638,0.999999930449,0.000226833239878,-0.000295966607216,7.19513061616e-06,1793255987557759232
+61,1.016666667,BASELINE,819,750,734,727,693.368182188,659,925,803,830,669,660.368182188,673,0.400960211709,-0.0153690823401,0.0698136152713,0.999999930461,0.000226875490867,-0.000295893516156,7.27134726031e-06,1793255987574425600
+62,1.033333333,BASELINE,819,750,734,727,693.921610913,659,925,803,830,669,660.921610913,673,0.400961262563,-0.0153696741492,0.0698141387053,0.999999931037,0.000225046004358,-0.000295334483486,7.64219647371e-06,1793255987591092480
+63,1.050000000,BASELINE,819,749.46985388,734,727,693.46985388,659,925,803,830,669,660.46985388,673,0.400960863816,-0.0153700665525,0.0698142015756,0.999999931053,0.000223862554587,-0.000296182316227,7.46646939058e-06,1793255987607759360
+64,1.066666667,BASELINE,819,749.138125992,734,727,693,659,925,803,830,668.861874008,660,673,0.400960776383,-0.0153702650849,0.0698144463119,0.999999931057,0.000223529891333,-0.000296421848779,7.32494969408e-06,1793255987624425984
+65,1.083333333,BASELINE,819,749.715427291,734,727,693,659,925,803,830,668.284572709,660,673,0.400962439346,-0.0153699518218,0.0698155109406,0.999999931317,0.000225563369055,-0.000293989130956,7.5789668349e-06,1793255987641092608
+66,1.100000000,BASELINE,819,750,734,727,693,659,925,803,829.708961607,668.291038393,660,673,0.400962217458,-0.0153699767886,0.0698154062939,0.999999931171,0.000226388734896,-0.000293850661926,7.6732570854e-06,1793255987657759232
+67,1.116666667,BASELINE,819,750,734,727,693,659,925,803,829.134993646,668.865006354,660,673,0.400960163233,-0.0153703305616,0.0698141649497,0.999999930633,0.000226039648785,-0.000295942520161,7.61227069329e-06,1793255987674425856
+68,1.133333333,BASELINE,819,750,734,727,693,659,925,803,829.451856897,668.548143103,660,673,0.40095894899,-0.015370118218,0.0698132988453,0.999999930384,0.000225804543078,-0.000296967047891,7.40516153495e-06,1793255987691092480
+69,1.150000000,BASELINE,819,750,734,727,693,659,925,803,830,668,660,673,0.400958201826,-0.0153697188372,0.0698126874583,0.999999930264,0.000225689910204,-0.000297464677189,7.17624923447e-06,1793255987707759104
+70,1.166666667,BASELINE,819,750,734,727,693,659,925,803,830,668,660,673,0.400960136573,-0.0153691531649,0.0698138658713,0.99999993065,0.000226672632816,-0.000295410090204,7.2445070872e-06,1793255987724425728
+71,1.183333333,BASELINE,819,750,734,727,693.196813922,659,925,803,830,668.196813922,660,673,0.400961182452,-0.0153689654343,0.0698145436355,0.99999993091,0.000226771037231,-0.000294450988433,7.28597591774e-06,1793255987741092352
+72,1.200000000,BASELINE,819,750,734,727,693.768916526,659,925,803,830,668.768916526,660,673,0.40096053342,-0.0153694983705,0.0698142667529,0.999999930936,0.000225183206374,-0.0002955807792,7.27636292232e-06,1793255987757759232
+73,1.216666667,BASELINE,819,750,734,727,693.656293278,659,925,803,829.656293278,669,660,673,0.400960414126,-0.015370003893,0.0698143316104,0.999999931075,0.000225049869186,-0.000295207587397,7.47964124421e-06,1793255987774426112
+74,1.233333333,BASELINE,819,750,734,727,693.079681936,659,925,803,829.079681936,669,660,673,0.400960653798,-0.0153704908395,0.06981462804,0.99999993129,0.00022590213486,-0.000293815935419,7.82718026433e-06,1793255987791092736
+75,1.250000000,BASELINE,819,750,734,727,693,659,925,803,829.511845043,669,660,673,0.40096089214,-0.0153696348879,0.0698146061714,0.999999930731,0.000227265861777,-0.000294670557767,7.60461752478e-06,1793255987807759360
+76,1.266666667,BASELINE,819,750,734,727,693,659,925.103039144,803,830,669,660.103039144,673,0.400961201206,-0.0153687311172,0.0698145478788,0.999999930235,0.000228298177862,-0.000295559751836,7.31580615668e-06,1793255987824425984
+77,1.283333333,BASELINE,819,750,734,727,693,659,925.68165788,803,830,669,660.68165788,673,0.40096183769,-0.015368600505,0.0698145570409,0.999999930617,0.000227422330691,-0.000294946061147,7.14315086862e-06,1793255987841092352
+78,1.300000000,BASELINE,819,750,734,727,693,659,925.741440266,803,830,669,660.741440266,673,0.400961408592,-0.0153684759437,0.069814068786,0.999999930531,0.000227069234259,-0.00029550932988,7.12807788097e-06,1793255987857759232
+79,1.316666667,BASELINE,819,750,734,727,693,659,925.166638358,803,830,669,660.166638358,673,0.400959676192,-0.0153683587832,0.0698129721447,0.999999929871,0.000227355509797,-0.000297512127541,7.30574245412e-06,1793255987874425856
+80,1.333333333,BASELINE,819,750,734,727,693,659,925,803,829.593186473,669,660,673,0.400959083175,-0.015369609063,0.0698128321541,0.999999930142,0.000225881712437,-0.000297722553423,7.33091445572e-06,1793255987891092480
+81,1.350000000,BASELINE,819,750,734,727,693,659,925,803,829.020285705,669,660,673,0.400958955326,-0.0153714176193,0.0698130827292,0.999999930791,0.000223689341032,-0.000297201218942,7.29382927403e-06,1793255987907759360
+82,1.366666667,BASELINE,819,750,734,727,693,659,925.573973181,803,829.573973181,669,660,673,0.400958297069,-0.0153726353238,0.0698130451632,0.999999931375,0.000220976145476,-0.000297263243285,7.32075266133e-06,1793255987924425984
+83,1.383333333,BASELINE,819,750,734,727,693,659,926,803,830,669,660,673,0.400958159198,-0.0153729621187,0.069813300692,0.999999931648,0.000220074124317,-0.000297015023265,7.32227869137e-06,1793255987941092608
+84,1.400000000,BASELINE,819,750,734,727,693,659,926,803,830,669,660,673,0.400959382109,-0.0153710979314,0.0698143216655,0.999999931146,0.000223785593338,-0.000295930814752,7.25386477124e-06,1793255987957759488
+85,1.416666667,BASELINE,819.314477946,750,734,727,693,659,925.685522054,803,830,669,660.314477946,673,0.400960252383,-0.0153697929445,0.0698146833565,0.999999930884,0.0002262861823,-0.000294914071893,7.1667863009e-06,1793255987974426112
+86,1.433333333,BASELINE,819.888962814,750,734,727,693,659,925.111037186,803,830,669,660.888962814,673,0.400960831099,-0.0153689502985,0.0698144999599,0.999999930828,0.000227785628677,-0.000293953108965,7.0642761891e-06,1793255987991092992
+87,1.450000000,BASELINE,819.522938159,749.522938159,733.522938159,727,693,659,925,803,829.522938159,668.522938159,660.522938159,673,0.400959936073,-0.0153691143357,0.0698137576825,0.999999930616,0.000226603949363,-0.000295579546745,7.16141897358e-06,1793255988007759616
+88,1.466666667,BASELINE,819,749.066955377,733.066955377,727,693.066955377,659,925,803,829.066955377,668,660,673,0.400958977246,-0.0153694271213,0.0698131152388,0.999999930399,0.0002251702543,-0.000297399341358,7.29965675138e-06,1793255988024425984
+89,1.483333333,BASELINE,819,749.645634705,733.645634705,727,693.645634705,659,925,803,829.645634705,668,660,673,0.400960229417,-0.0153690333926,0.0698142591798,0.999999930476,0.000226719939596,-0.000295959061733,7.38638431968e-06,1793255988041092864
+90,1.500000000,BASELINE,819.222647413,749.777352587,733.777352587,727,694,659,925,803,829.777352587,668,660,673,0.400960698326,-0.015369132266,0.0698146030479,0.999999930592,0.000227227308405,-0.000295174121034,7.44691308867e-06,1793255988057759232
+91,1.516666667,BASELINE,819.797027185,749.202972815,733.202972815,727,694,659,925,803,829.202972815,668,660,673,0.400959929858,-0.015370009339,0.0698136829823,0.999999930776,0.000226088053675,-0.000295424467184,7.46605369494e-06,1793255988074425856
+92,1.533333333,BASELINE,819.627946798,749,733.372053202,727,694,659,925,803,829.372053202,668,660.372053202,673,0.400960290043,-0.0153702883622,0.0698140521607,0.999999931111,0.00022549989003,-0.000294743802024,7.39464254678e-06,1793255988091092480
+93,1.550000000,BASELINE,819.052567556,749,733.947432444,727,694,659,925,803,829.947432444,668,660.947432444,673,0.400961267034,-0.0153702405529,0.0698151259073,0.999999931526,0.000225212896022,-0.000293554341797,7.27374511864e-06,1793255988107759104
+94,1.566666667,BASELINE,819.538548285,749.538548285,734,727,694,659,925,803,830,668,661,673,0.400960952784,-0.01537083491,0.069814727102,0.999999931445,0.000224711166997,-0.000294206780194,7.50242887897e-06,1793255988124425472
+95,1.583333333,BASELINE,820,750,733.872205611,727,694,659,925,803,829.872205611,668,660.872205611,673,0.400960436885,-0.0153708987436,0.0698141886413,0.999999931142,0.000224885391546,-0.000295101092618,7.62808752345e-06,1793255988141092352
+96,1.600000000,BASELINE,820,750,733.295096361,727,694,659,925,803,829.295096361,668,660.295096361,673,0.40095966848,-0.015368870282,0.0698136797369,0.999999930227,0.000227512127399,-0.00029619467076,7.26793493101e-06,1793255988157758976
+97,1.616666667,BASELINE,819.719616079,750,733.280383921,727,694,659,925,803,829.280383921,668,660,673,0.400959852604,-0.0153689074051,0.0698136296893,0.99999993042,0.000226807504075,-0.000296086002425,7.212405186e-06,1793255988174425600
+98,1.633333333,BASELINE,819.145840375,750,733.854159625,727,694,659,925,803,829.854159625,668,660,673,0.400961033447,-0.0153711059418,0.0698140597863,0.999999931763,0.000222616969527,-0.000294719311673,7.47563069046e-06,1793255988191092480
+99,1.650000000,BASELINE,819,750,734,727,694,659,925,803,830,668,660.437892005,673,0.400960395178,-0.0153726315781,0.069813972099,0.999999931593,0.000222587536048,-0.000295315713419,7.62521156801e-06,1793255988207759360
+100,1.666666667,BASELINE,819,750,734,727,694,659,925,803,830,668,661,673,0.400959231028,-0.0153737917241,0.0698137366919,0.99999993094,0.000223945189128,-0.000296495372651,7.72803923419e-06,1793255988224425984
+101,1.683333333,BASELINE,819,750,734,727,694,659,925,803,830,668,661,673,0.400960180583,-0.0153718924308,0.0698141470545,0.999999931013,0.000224605941431,-0.000295748033275,7.6505995665e-06,1793255988241092608
+102,1.700000000,BASELINE,819,750,734.185998157,727,694,659,925,803,830,668,661,673,0.400960957794,-0.0153712701932,0.0698144513721,0.999999931325,0.000224226718917,-0.000294980159861,7.64718302314e-06,1793255988257759232
+103,1.716666667,BASELINE,819,750,734.762100729,727,694,659,925,803,830,668,661,673,0.400961373537,-0.0153733263968,0.0698145332753,0.999999932134,0.000221666298531,-0.000294169219347,7.79901935944e-06,1793255988274425856
+104,1.733333333,BASELINE,819,750,734.662860952,727,694,659,925,803,830,668,660.662860952,673,0.400961286212,-0.0153731298983,0.0698145113864,0.999999932459,0.000220706042066,-0.000293789811134,7.61928085647e-06,1793255988291092480
+105,1.750000000,BASELINE,819,750,734.088571192,727,694,659,925,803,830,668,660.088571192,673,0.400960845018,-0.0153713488018,0.0698144164879,0.999999932448,0.000220871374368,-0.000293713951754,7.2063056389e-06,1793255988307759104
+106,1.766666667,BASELINE,819,750,734,727,694,659,925,803,830,668,660.485787315,673,0.400959659663,-0.0153713560943,0.0698138865673,0.999999931449,0.000222733324038,-0.000295702318475,7.22725022842e-06,1793255988324425984
+107,1.783333333,POSE1_TO_POSE2_PRESS,819,749,734,727,694,659,925,803,829,668,661,673,0.400959710897,-0.0153709139845,0.0698152367677,0.999999931369,0.000224004922859,-0.000294997131779,7.76639914784e-06,1793255988367338240
+108,1.800000000,POSE1_TO_POSE2_PRESS,819.574337534,749,734,727,694,659,925,803,829,668,660.425662466,673,0.400961307045,-0.0153693148276,0.0698151958223,0.999999931227,0.000226191503438,-0.00029381721154,7.45019308903e-06,1793255988384004864
+109,1.816666667,POSE1_TO_POSE2_PRESS,819.848136593,749.151863407,734,727,694,659,925,803,829.151863407,668,660,673,0.400962209701,-0.0153685689953,0.0698151182592,0.999999931162,0.000227104576613,-0.000293338180013,7.20400787402e-06,1793255988400671488
+110,1.833333333,POSE1_TO_POSE2_PRESS,819.261482245,749.738517755,734,727,694,659,925,803,829.738517755,668,660,673,0.400961126863,-0.0153702662646,0.0698149358586,0.99999993133,0.000224371548214,-0.000294865820325,7.15829503204e-06,1793255988417337600
+111,1.850000000,POSE1_TO_POSE2_PRESS,819,750,734,727,694,659,925,803,829.676898465,668,660,673,0.400961167146,-0.015371428505,0.069814786413,0.999999931457,0.000223433413791,-0.000295143263446,7.32988234657e-06,1793255988434004224
+112,1.866666667,POSE1_TO_POSE2_PRESS,819,750,734,727,694,659,925,803,829.093979735,668,660,673,0.40096211057,-0.0153721605099,0.0698146634678,0.999999931556,0.000223938616273,-0.000294415379386,7.67620828557e-06,1793255988450670848
+113,1.883333333,POSE1_TO_POSE2_PRESS,819,750,734,727,694,659,925,803,829.479113677,668,660.479113677,673,0.400961511253,-0.015371412256,0.0698143255806,0.999999930996,0.000225249841579,-0.000295317437059,7.5659559415e-06,1793255988467337728
+114,1.900000000,POSE1_TO_POSE2_PRESS,819,750,734,727,694,659,925,803,829.948973828,668,661,673,0.400960950575,-0.0153704485289,0.0698141411397,0.999999930434,0.000226584344532,-0.000296203904464,7.38314156865e-06,1793255988484004608
+115,1.916666667,POSE1_TO_POSE2_PRESS,819,750,734,727,694,659,925,803,829.369736163,668,661,673,0.400963859523,-0.0153701995884,0.0698159728176,0.999999931183,0.000226556043833,-0.000293685839105,7.35764936543e-06,1793255988500671488
+116,1.933333333,POSE1_TO_POSE2_PRESS,819,749.787331396,734,727,694,659,925,803,829.212668604,668,661,673,0.400972846477,-0.0153707997931,0.0698206098826,0.999999933378,0.000225944150215,-0.000286588987344,7.71639720051e-06,1793255988517338112
+117,1.950000000,POSE1_TO_POSE2_PRESS,819,749.199337272,734,727,694,659,925,803,829.800662728,668,661,673,0.400992560127,-0.0153728986011,0.0698301979996,0.999999937974,0.000224302309912,-0.00027141132199,8.75326625517e-06,1793255988534004480
+118,1.966666667,POSE1_TO_POSE2_PRESS,819.384904317,749.384904317,734,727,694,659,925,803,829.615095683,668,661,673,0.401028878437,-0.0153746799814,0.069844916334,0.999999944412,0.000223981611635,-0.000246800024901,9.94561614989e-06,1793255988550671104
+119,1.983333333,POSE1_TO_POSE2_PRESS,819.967221329,749.967221329,734,727,694,659,925,803,829.032778671,668,661,673,0.401073713074,-0.0153762985571,0.0698622658946,0.999999951153,0.000224338510581,-0.00021735033245,1.12177103452e-05,1793255988567337728
+120,2.000000000,POSE1_TO_POSE2_PRESS,819.459345446,750,734,727,694,659,925,803,829,668,661,673,0.401131508102,-0.015379889545,0.0698756453731,0.999999954214,0.000222441958823,-0.000204821203089,1.18368992692e-05,1793255988584004352
+121,2.016666667,POSE1_TO_POSE2_PRESS,819,749.886469096,734,727,694,659,925,803,829.113530904,668,660.886469096,673,0.401194303133,-0.0153834700889,0.0698882549718,0.999999957094,0.000220932175049,-0.000191968030961,1.22095468242e-05,1793255988600670976
+122,2.033333333,POSE1_TO_POSE2_PRESS,819,749.313701697,734,727,694,659,925,803,829.686298303,668,660.313701697,673,0.401274196326,-0.0153865324898,0.0698987082722,0.999999960304,0.000221530586224,-0.00017372155106,1.17424569819e-05,1793255988617337344
+123,2.050000000,POSE1_TO_POSE2_PRESS,819,749.268262169,734,727,694,659,925,803,829.731737831,668,660,673,0.401362891756,-0.0153897866215,0.0699054566944,0.999999962444,0.000220989326656,-0.000161752908783,1.05333769807e-05,1793255988634004224
+124,2.066666667,POSE1_TO_POSE2_PRESS,819,749.861361968,734,727,694,659,925,803,829.138638032,668,660,673,0.401462245776,-0.015393272919,0.0699077188934,0.999999963584,0.000219068044198,-0.000157386077088,8.42582398052e-06,1793255988650671104
+125,2.083333333,POSE1_TO_POSE2_PRESS,819,750,733.556344955,727,694,659,925,803,829,668,660,673,0.401579227892,-0.0153974748142,0.069910294047,0.999999964471,0.000217536283394,-0.000153950200488,5.99343151238e-06,1793255988667337728
+126,2.100000000,POSE1_TO_POSE2_PRESS,819,749.977477326,733.022522674,727,694,659.022522674,925,803,829,668,660.022522674,673,0.401702662151,-0.0154020264095,0.0699129821913,0.99999996533,0.000215867368964,-0.000150761715275,3.45204938346e-06,1793255988684004352
+127,2.116666667,POSE1_TO_POSE2_PRESS,819,749.401771752,733.598228248,727,694,659.598228248,925,803,829,668,660.598228248,673,0.40185248785,-0.0154098053441,0.0699161006688,0.99999996763,0.000207911263879,-0.000146674152515,6.67653636825e-07,1793255988700670976
+128,2.133333333,POSE1_TO_POSE2_PRESS,819,749,734,727,694,659.825970924,925,803,829,668,661,673,0.402012429691,-0.0154172643937,0.0699194156517,0.999999970039,0.000200162390928,-0.000140891491464,-2.48123278872e-06,1793255988717337344
+129,2.150000000,POSE1_TO_POSE2_PRESS,819,749,734,727,694,659.249950145,925,803,829,668,661,673,0.402195738904,-0.0154239845364,0.0699231845441,0.99999997277,0.000192892206905,-0.000131193304554,-6.47205990957e-06,1793255988734003968
+130,2.166666667,POSE1_TO_POSE2_PRESS,819,749.335196878,734,727,694,659,925,803,829,668,661,673,0.402401480532,-0.0154323842379,0.0699266924878,0.999999975302,0.000184503572709,-0.00012343396999,-1.08619556545e-05,1793255988750670848
+131,2.183333333,POSE1_TO_POSE2_PRESS,819,749.927339706,734,727,694,659,925,803,829,668,661,673,0.402624417801,-0.0154420714097,0.0699300004011,0.999999977658,0.000175257587141,-0.000117160866195,-1.55577588092e-05,1793255988767337472
+132,2.200000000,POSE1_TO_POSE2_PRESS,819.503728524,750,734,727,694,659,925,803,829.503728524,668,661,673,0.402872300618,-0.0154504119484,0.069932897255,0.999999979678,0.000167365454708,-0.000110504594731,-2.05307684608e-05,1793255988784004352
+133,2.216666667,POSE1_TO_POSE2_PRESS,819.921905754,750,733.921905754,727,694,659,925,803,830,668.078094246,660.921905754,673,0.403130331006,-0.0154588868929,0.0699365455153,0.999999983704,0.000146431786668,-0.000102464708283,-2.55172307353e-05,1793255988800670976
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+143,2.383333333,POSE1_TO_POSE2_PRESS,820,750,734,727,694,659,925,804,829.113880876,668,660.113880876,673,0.407002855495,-0.0154770150807,0.0699271588055,0.999999991179,5.47281631686e-05,-0.000113990098076,-4.06551805384e-05,1793255988967337984
+144,2.400000000,POSE1_TO_POSE2_PRESS,820,750,733.534311497,727.465688503,694,659,925,804,829,668,660.465688503,673,0.407562594954,-0.0154814865618,0.0699309972218,0.999999993072,4.70646828507e-05,-9.917794928e-05,-4.24714029251e-05,1793255988984004352
+145,2.416666667,POSE1_TO_POSE2_PRESS,820,749.958271291,733,727.958271291,694,659.041728709,925,804,829.041728709,668,661,673,0.408144475871,-0.0154853516436,0.0699400467486,0.999999995408,4.02166636714e-05,-7.52230495098e-05,-4.36782934583e-05,1793255989000670976
+146,2.433333333,POSE1_TO_POSE2_PRESS,820,749.381994502,733,727.381994502,694,659.618005498,925,804,829.618005498,668,661,673,0.408755405522,-0.0154860937665,0.0699548574485,0.999999997385,3.5734483032e-05,-4.51313405078e-05,-4.37680114017e-05,1793255989017337600
+147,2.450000000,POSE1_TO_POSE2_PRESS,820,749.198470684,733,727,694,659.801529316,925,804,830,668,661,673,0.409357903122,-0.0154861592607,0.0699617882302,0.999999998068,3.18854741045e-05,-2.94180363603e-05,-4.45103332618e-05,1793255989034004480
+148,2.466666667,POSE1_TO_POSE2_PRESS,820,749.787170986,733,727,694,659.212829014,925,804,830,668,661,673,0.409943821733,-0.0154848943792,0.0699532256525,0.999999997608,2.92813967418e-05,-4.19753045087e-05,-4.65357936884e-05,1793255989050670848
+149,2.483333333,POSE1_TO_POSE2_PRESS,820,750,733,727.370949108,694,659,925.370949108,804,830,668,660.629050892,673,0.410577602555,-0.0154838598772,0.0699479084179,0.999999997027,2.81878457219e-05,-5.33917444853e-05,-4.7969813462e-05,1793255989067337728
+150,2.500000000,POSE1_TO_POSE2_PRESS,820,750,733,727.951940133,694,659,925.951940133,804,830,668,660.048059867,673,0.411238484299,-0.0154829558227,0.0699444287889,0.999999996347,2.79495976874e-05,-6.41622147352e-05,-4.90689426771e-05,1793255989084004608
+151,2.516666667,POSE1_TO_POSE2_PRESS,820,749.47128454,733,727.47128454,694,659,925.47128454,804,830,668,660.52871546,673,0.411993736621,-0.0154887674842,0.0699723624172,0.999999998562,1.78084663697e-05,-1.53574341107e-05,-4.81995530186e-05,1793255989100671232
+152,2.533333333,POSE1_TO_POSE2_PRESS,820,749.104260812,733,727,694,659,925.104260812,804,830,668,661,673,0.412755679973,-0.0154944647605,0.0700016493174,0.999999998268,9.17780844175e-06,3.41115650412e-05,-4.70733048631e-05,1793255989117337856
+153,2.550000000,POSE1_TO_POSE2_PRESS,820,749.675995734,733,727,694,659,925.675995734,804,830,668,661,673,0.413509465767,-0.015496933726,0.0700243022016,0.999999996945,1.13238050884e-05,6.24699802672e-05,-4.55913344844e-05,1793255989134004480
+154,2.566666667,POSE1_TO_POSE2_PRESS,820.257699718,750,733,727.257699718,694.257699718,659,926,804,830,668.257699718,661,673,0.414243030404,-0.0154973225291,0.0700223450802,0.999999997547,1.31113379903e-05,5.11066155885e-05,-4.60637446394e-05,1793255989150671104
+155,2.583333333,POSE1_TO_POSE2_PRESS,820.852442213,750,733,727.852442213,694.852442213,659,926,804,830,668.852442213,661,673,0.414950148104,-0.0154949907096,0.0699882007917,0.999999998616,1.44300401621e-05,-1.22084477189e-05,-4.9092268451e-05,1793255989167337472
+156,2.600000000,POSE1_TO_POSE2_PRESS,821,750,733,728,694.565082978,659,926,804,830,668.565082978,661,673,0.415711152724,-0.015490509875,0.0699456223129,0.999999995351,1.36805912968e-05,-7.83603745798e-05,-5.45001772698e-05,1793255989184004096
+157,2.616666667,POSE1_TO_POSE2_PRESS,821,750,733,728,694,659,926,804,830,668,661,673,0.416492237633,-0.0154855682423,0.0699019245338,0.999999987869,1.20185082854e-05,-0.000143020623055,-6.05154942962e-05,1793255989200670720
+158,2.633333333,POSE1_TO_POSE2_PRESS,821,750,733,728,694,659,926,804,830,668,661,673,0.417370690521,-0.0154911421545,0.0699286823068,0.99999999276,6.07712771043e-07,-0.000104870487139,-5.90048143632e-05,1793255989217337856
+159,2.650000000,POSE1_TO_POSE2_PRESS,820.83750234,750,733,728,694,659,926,804.16249766,830,668,661,673,0.418246412066,-0.0154956592742,0.0699562661901,0.999999996188,-8.01075914176e-06,-6.52269147216e-05,-5.74901448177e-05,1793255989234004736
+160,2.666666667,POSE1_TO_POSE2_PRESS,820.246644153,750,733,728,694,659,926,804.753355847,830,668,661,673,0.419114933456,-0.0154973905799,0.0699860277831,0.999999998157,-9.26837843665e-06,-2.16464928004e-05,-5.59649584772e-05,1793255989250671104
+161,2.683333333,POSE1_TO_POSE2_PRESS,820.337508965,749.662491035,733,728,694,659,926,805,830,668,661,673,0.420010163592,-0.0154987534074,0.0700108821475,0.999999998271,-1.23053852257e-05,1.76665364726e-05,-5.47272202276e-05,1793255989267337472
+162,2.700000000,POSE1_TO_POSE2_PRESS,820.916857588,749.083142412,733,728,694,659,926,805,830,668,661,673,0.420924531654,-0.0154998522045,0.0700322202708,0.999999996967,-1.66173994582e-05,5.39217938852e-05,-5.36954509322e-05,1793255989284004096
+163,2.716666667,POSE1_TO_POSE2_PRESS,821,749.493614011,732.506385989,728,694,659,926,804.506385989,830,668.493614011,661,673,0.42181537415,-0.0155017479214,0.0700241366371,0.999999997581,-1.92216487823e-05,3.82584203091e-05,-5.48099580764e-05,1793255989300671232
+164,2.733333333,POSE1_TO_POSE2_PRESS,821,750,732,728,694.070812035,659,926,804.070812035,830,668.929187965,661,673,0.422692267562,-0.0155029300806,0.0700018971307,0.999999998125,-2.14756616515e-05,1.81428280243e-07,-5.73398204881e-05,1793255989317337856
+165,2.750000000,POSE1_TO_POSE2_PRESS,821,750,732,728,694.654352184,659,926,804.654352184,830,668.345647816,661,673,0.423496701246,-0.0154979787456,0.0699128544596,0.999999988039,-2.32656179159e-05,-0.000137196797891,-6.75139218375e-05,1793255989334004480
+166,2.766666667,POSE1_TO_POSE2_PRESS,821,750,732,728,694.762863077,659.237136923,926,805,830,668.237136923,661,673,0.424366162895,-0.0154965276134,0.0698641929685,0.999999975191,-2.81594776001e-05,-0.000208449773924,-7.32994291745e-05,1793255989350670848
+167,2.783333333,POSE1_TO_POSE2_PRESS,821,750,732,728,694.181175831,659.818824169,926,805,830,668.818824169,661,673,0.425330107657,-0.0155001621331,0.0698742036794,0.999999979792,-3.75631837084e-05,-0.000183625469535,-7.27084905485e-05,1793255989367337728
+168,2.800000000,POSE1_TO_POSE2_PRESS,821,750,732,728.398128766,694,659.601871234,926,805,830,668.601871234,661,673,0.426307841226,-0.015504909683,0.0699220351028,0.999999990476,-4.1167290248e-05,-0.000112525424675,-6.84938435391e-05,1793255989384004608
+169,2.816666667,POSE1_TO_POSE2_PRESS,821,750,732,728.97635551,694,659.02364449,926,805,830,668.02364449,661,673,0.427291812259,-0.0155101607242,0.0699869751457,0.99999999694,-4.21478825238e-05,-2.04920342694e-05,-6.26399712687e-05,1793255989400671232
+170,2.833333333,POSE1_TO_POSE2_PRESS,821,750,732,729,694,659,926,805.551758255,830,668,661,673,0.428282231876,-0.0155133253881,0.0700266086017,0.999999996575,-4.26514884425e-05,3.85712025379e-05,-5.95310328883e-05,1793255989417337600
+171,2.850000000,POSE1_TO_POSE2_PRESS,821,750,731.870151188,729,694,659.129848812,926.129848812,805.870151188,830,668,661,673,0.429260766078,-0.0155161088191,0.0700544473395,0.999999994127,-4.44352724949e-05,8.0355882386e-05,-5.75747912342e-05,1793255989434004224
+172,2.866666667,POSE1_TO_POSE2_PRESS,821,750,731.282152348,729,694,659.717847652,926.717847652,805.282152348,830,668,661,673,0.43019639445,-0.0155178609861,0.070044477229,0.999999994766,-5.08077063802e-05,6.6135725018e-05,-5.92727300673e-05,1793255989450670848
+173,2.883333333,POSE1_TO_POSE2_PRESS,821,750,731.301168086,729,694,660,926.698831914,805.301168086,830,668,661,673,0.431068338317,-0.0155150194415,0.0699935558441,0.999999996507,-4.99286960827e-05,-1.98806252814e-05,-6.40166954171e-05,1793255989467337472
+174,2.900000000,POSE1_TO_POSE2_PRESS,821,750,731.880172522,729,694,660,926.119827478,805.880172522,830,668,661,673,0.431881531315,-0.0155079400638,0.0699048557138,0.999999981727,-4.23600156113e-05,-0.000172131058599,-7.15707079481e-05,1793255989484004096
+175,2.916666667,POSE1_TO_POSE2_PRESS,821,750,732,729,694,659.541722373,926,806,830,668,661,673,0.4328059871,-0.0155095033606,0.0698966867659,0.999999980925,-4.39381432822e-05,-0.000176192329307,-7.19471974827e-05,1793255989500670720
+176,2.933333333,POSE1_TO_POSE2_PRESS,821.035785917,750,732,729.035785917,694,659.035785917,926.035785917,806,830,668,661,673,0.433760475994,-0.0155131645554,0.0699125854823,0.999999986912,-4.80471300345e-05,-0.000137581705452,-7.02781408943e-05,1793255989517337600
+177,2.950000000,POSE1_TO_POSE2_PRESS,821.607866685,750,732,729.607866685,694,659.607866685,926.607866685,806,830,668,661,673,0.43472991721,-0.0155144653172,0.0699742240274,0.999999995584,-5.43125479889e-05,-3.90227512997e-05,-6.60241220726e-05,1793255989534004224
+178,2.966666667,POSE1_TO_POSE2_PRESS,822,750,732,730,694,659.814000756,927,806,830,668.185999244,661,673,0.435687080254,-0.0155157694059,0.0700215012655,0.999999995601,-5.90227042354e-05,3.70799376196e-05,-6.27606339507e-05,1793255989550670848
+179,2.983333333,POSE1_TO_POSE2_PRESS,822,750,732,730,694,659.222680295,927,806,830,668.777319705,661,673,0.43661748744,-0.0155170807444,0.0700374829983,0.999999994215,-6.03437060193e-05,6.42469579703e-05,-6.16556662749e-05,1793255989567337472
+180,3.000000000,POSE1_TO_POSE2_PRESS,822,750,732,730,694,659.361233193,927,806,830,668.638766807,661,673,0.437503721983,-0.0155184531915,0.070024129349,0.999999994438,-6.27393831727e-05,5.64355024225e-05,-6.32676405836e-05,1793255989584004096
+181,3.016666667,POSE1_TO_POSE2_PRESS,822,750,732,730,694,659.940672399,927,806,830,668.059327601,661,673,0.438363273606,-0.0155198625516,0.0699930554092,0.999999995246,-6.57842271095e-05,2.74949964221e-05,-6.65208070761e-05,1793255989600670720
+182,3.033333333,POSE1_TO_POSE2_PRESS,821.483981177,750,732,730,694,660,927,806.516018823,830,668.516018823,661,673,0.439115223174,-0.0155133260026,0.0699259643431,0.999999991765,-6.42195388017e-05,-8.53606976021e-05,-7.11278669845e-05,1793255989617337600
+183,3.050000000,POSE1_TO_POSE2_PRESS,821.090999497,750,732,730,694,660,927,806.909000503,830,669,661,673,0.439868245021,-0.0155074239668,0.0698651111827,0.999999977313,-6.28120882023e-05,-0.000189083004827,-7.53418584926e-05,1793255989634004224
+184,3.066666667,POSE1_TO_POSE2_PRESS,821.666518459,750,732,730,694,660,927,806.333481541,830,669,661,673,0.440692327237,-0.0155097262204,0.0698593459205,0.999999976283,-6.50413987185e-05,-0.000193210215018,-7.66407191268e-05,1793255989650671104
+185,3.083333333,POSE1_TO_POSE2_PRESS,821.751590355,750.248409645,732,730,694,659.751590355,927,806,830,669,661,673,0.441526043617,-0.0155170074377,0.0698792960759,0.999999981334,-7.30555204067e-05,-0.000162332522555,-7.51254217797e-05,1793255989667337728
+186,3.100000000,POSE1_TO_POSE2_PRESS,821.160919504,750.839080496,732,730,694,659.160919504,927,806,830,669,661,673,0.442373033973,-0.0155311487188,0.069934677182,0.999999990141,-8.90400102119e-05,-8.32247364523e-05,-6.97327499656e-05,1793255989684004352
+187,3.116666667,POSE1_TO_POSE2_PRESS,821.422413401,750.577586599,731.577586599,730,694,659,926.577586599,805.577586599,830,669,661,673,0.443137744321,-0.0155416991914,0.0699409339889,0.999999988234,-0.000108991532273,-8.32440191277e-05,-6.87294773425e-05,1793255989700671232
+188,3.133333333,POSE1_TO_POSE2_PRESS,821.997029188,750,731,730,693.997029188,659,926,805,830,668.997029188,661,673,0.44387128785,-0.0155508959245,0.0699285779285,0.999999982693,-0.00013033562712,-0.000113185179494,-6.93888187959e-05,1793255989717338112
+189,3.150000000,POSE1_TO_POSE2_PRESS,821.421838947,750,731,730,693.421838947,659,926,805,830,668.421838947,661,673,0.444536010719,-0.0155583265011,0.0698741600645,0.999999968424,-0.000133790509282,-0.000199544416534,-7.37102367171e-05,1793255989734004736
+190,3.166666667,POSE1_TO_POSE2_PRESS,821,750,731.156146915,730,693,659,926,805,830,668,660.843853085,673,0.445196845088,-0.0155688986961,0.0698245757004,0.999999949151,-0.000142439071176,-0.000274994450487,-7.60735517333e-05,1793255989750671104
+191,3.183333333,POSE1_TO_POSE2_PRESS,821,750,731.741823105,730,693,659,926,805,830,668,660.258176895,673,0.445846983115,-0.0155881128638,0.0697882873258,0.999999932318,-0.00016537442157,-0.000320435447346,-7.30505151629e-05,1793255989767337728
+192,3.200000000,POSE1_TO_POSE2_PRESS,821.323863815,750,732,730,692.676136185,658.676136185,926.323863815,804.676136185,830,668.323863815,660,673,0.446469564942,-0.0156100170178,0.0697626162606,0.999999913321,-0.000190878605041,-0.000363122564362,-7.11699867063e-05,1793255989784004352
+193,3.216666667,POSE1_TO_POSE2_PRESS,821.903038537,750,732,730,692.096961463,658.096961463,926.903038537,804.096961463,830,668.903038537,660,673,0.447070423406,-0.0156340417621,0.0697453151196,0.999999892224,-0.000218407870041,-0.00040363871793,-7.01901295213e-05,1793255989800670976
+194,3.233333333,POSE1_TO_POSE2_PRESS,822,750,732,730,692,658,927,804,830,669,660,673,0.447658399357,-0.0156426001611,0.0697301145886,0.999999881011,-0.000222981775487,-0.000428298076249,-6.94107661442e-05,1793255989817337600
+195,3.250000000,POSE1_TO_POSE2_PRESS,822,750.052329178,732,730,692,658,927,803.947670822,830,669,660,673,0.448243820464,-0.0156477288873,0.0697184666113,0.999999873662,-0.000223447942736,-0.000445015536391,-6.86153822031e-05,1793255989834004480
+196,3.266666667,POSE1_TO_POSE2_PRESS,822,750.629769347,732,730,692,658,927,803.370230653,830,669,660,673,0.448829598038,-0.0156496488615,0.0697382291695,0.999999885803,-0.00022901208442,-0.000414032955536,-6.7254689427e-05,1793255989850671104
+197,3.283333333,POSE1_TO_POSE2_PRESS,822,750.788206457,732,730.211793543,692,658,927,802.788206457,830,669,660,673,0.449399910232,-0.0156528627681,0.0697564574342,0.999999896441,-0.000231888561029,-0.000385923200612,-6.64055807673e-05,1793255989867337728
+198,3.300000000,POSE1_TO_POSE2_PRESS,822,750.197991835,732,730.802008165,692,658,927,802.197991835,830,669,660,673,0.449942589667,-0.0156583886016,0.0697719443053,0.999999905484,-0.000229962864845,-0.000362946457164,-6.64705427482e-05,1793255989884004352
+199,3.316666667,POSE1_TO_POSE2_PRESS,822,750,732,730.614405137,692,658,927,802,830.385594863,669,659.614405137,673,0.450413253694,-0.0156636345398,0.0697553587157,0.999999893134,-0.000241199821521,-0.00038852140892,-6.78598403917e-05,1793255989900670720
+200,3.333333333,POSE1_TO_POSE2_PRESS,822,750,732,730.034164126,692,658,927,802,830.965835874,669,659.034164126,673,0.45084756479,-0.0156687391888,0.0697225831273,0.999999867807,-0.000259081211683,-0.000438604984303,-6.99176551929e-05,1793255989917337344
+201,3.350000000,POSE1_TO_POSE2_PRESS,821.459330786,750.540669214,732,730.540669214,691.459330786,657.459330786,927,801.459330786,830.459330786,668.459330786,659,673,0.451247217091,-0.0156720732095,0.0696873212516,0.999999844506,-0.00026397258431,-0.000486415187888,-6.86015474627e-05,1793255989934004224
+202,3.366666667,POSE1_TO_POSE2_PRESS,821.117027279,751,732,731,691.117027279,657,926.882972721,800.882972721,830,668.234054558,659.117027279,672.882972721,0.451640632402,-0.0156749234902,0.0696563403009,0.999999823001,-0.000268012804188,-0.00052678460372,-6.83057713157e-05,1793255989950671104
+203,3.383333333,POSE1_TO_POSE2_PRESS,821.700816242,751,732,731,691.700816242,657,926.299183758,800.299183758,830,669.401632484,659.700816242,672.299183758,0.452017820131,-0.0156762862082,0.0696430541556,0.999999815631,-0.00027189962913,-0.000538043835244,-7.29214721006e-05,1793255989967337728
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+208,3.466666667,POSE1_TO_POSE2_PRESS,818.8064392,749,732.5967804,728.8064392,691.1935608,656.5967804,925.4032196,797.4032196,831.612878399,669.1935608,659.5967804,671.4032196,0.453671182281,-0.0156974222212,0.0696563050466,0.999999819069,-0.000288557869564,-0.000523196744754,-6.97312964979e-05,1793255990050670848
+209,3.483333333,POSE1_TO_POSE2_PRESS,817.474427595,749.525572405,732.649618397,728.700763206,691.474427595,656.824809198,925.175190802,797,830.175190802,670,660,671,0.453928002911,-0.0156979924577,0.0696582097713,0.999999820582,-0.000285743699906,-0.000522704014388,-6.29843994928e-05,1793255990067337728
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+238,3.966666667,POSE1_TO_POSE2_PRESS,816.989280262,751,731,729.010719738,689.010719738,655,924,794,830,670,659,672,0.455730233712,-0.0157053849901,0.0696057064201,0.999999764081,-0.000291471637884,-0.000618871612459,-6.22925926032e-05,1793255990550670848
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+241,4.016666667,POSE1_TO_POSE2_PRESS,816.753477913,751.753477913,731,730,690,655,924,794,830,670,659,672,0.455727913093,-0.0157035929392,0.0696028003709,0.999999760801,-0.000291197512841,-0.000624188664752,-6.31757748925e-05,1793255990600670720
+242,4.033333333,POSE1_TO_POSE2_PRESS,817,752,731,729.663021549,690,655,924,794,830,670,659,672,0.455729578002,-0.0157034038946,0.0696034382555,0.999999761886,-0.00029025094556,-0.000622935404681,-6.27190409177e-05,1793255990617337600
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+247,4.116666667,HOLD_POSE2,817,752,731,729,689,655,925,793,830,670,659,672,0.455732683829,-0.0157013176445,0.069603042254,0.999999763566,-0.000286891690804,-0.000621833225069,-6.23184164413e-05,1793255990722534400
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+260,4.333333333,HOLD_POSE2,818.577466052,756.051644035,733,733.103288069,687.896711931,656.525822017,924.474177983,798.474177983,827.215957809,666.422533948,659.474177983,669.422533948,0.455738223534,-0.0156980573114,0.0696056469564,0.999999766093,-0.00028369689734,-0.000619259717063,-6.20325642358e-05,1793255990939201536
+261,4.350000000,HOLD_POSE2,817.074660025,755,732.925339975,730.925339975,690,656,925,799,833,667.776019926,659.85067995,670.925339975,0.455737529724,-0.0156966212391,0.0696051269352,0.999999765436,-0.00028414780361,-0.000620056342969,-6.25956766674e-05,1793255990955867648
+262,4.366666667,HOLD_POSE2,817.600181645,755,732.399818355,730.399818355,690,656,925,799,833,666.199455064,658.799636709,670.399818355,0.455735372325,-0.0156967617456,0.069603094404,0.999999762788,-0.000287057058879,-0.000622925254073,-6.31397085258e-05,1793255990972534528
+263,4.383333333,HOLD_POSE2,818.316101474,755,731.209746315,730,690,656,925.790253685,799.158050737,833,665,658,669.841949263,0.455734113512,-0.0156975553609,0.0696017653133,0.999999760814,-0.000289475896941,-0.000624953080983,-6.3318822706e-05,1793255990989201664
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,800,747,732,721.151850021,698,649,928.57242778,793.42757222,835,677.57242778,656,678,0.451278965869,-0.0155763338744,0.0693993592351,0.999999555819,-0.00012611257003,-0.00093392081725,-1.58155824533e-05,1793255996888852224
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,800.721646558,747,732,716.340241303,698,649,928.278353442,793.721646558,835,678,656,678,0.451279237564,-0.01557508635,0.0693991260981,0.999999555772,-0.00012700261359,-0.000933841636433,-1.63041077378e-05,1793255996922185728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,800.694575822,747,732,713,698,649,928.305424178,793.694575822,835,677.694575822,656,678,0.451279019027,-0.0155756245071,0.0693988523863,0.999999555328,-0.000127514816959,-0.000934249115981,-1.61698450091e-05,1793255996938852096
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,800,747.441623704,732,713,698,649,928.558376296,793.441623704,835,677.441623704,656,678,0.451278475708,-0.0155760841254,0.0693986798845,0.999999554982,-0.000127160153799,-0.000934676075257,-1.56856238929e-05,1793255996972185344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,800,747.976913262,732,713,698,649,928.023086738,793.976913262,835,677.976913262,656,678,0.4512779612,-0.0155750249255,0.0693987743013,0.99999955463,-0.000126978111154,-0.000935075286775,-1.58120664713e-05,1793255996988851968
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,800.824900986,747,732,713.350198028,698,649,929,793.175099014,835,677.175099014,655.824900986,678.175099014,0.451280557485,-0.0155764462109,0.0694010590672,0.999999558369,-0.000128069967718,-0.00093092219987,-1.56109610675e-05,1793255997022185472
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,800,747,732,715.880429381,698,649,928.119570619,794,835,678,655.880429381,678.119570619,0.451280139084,-0.0155753828194,0.0694005411455,0.999999557761,-0.000124402229447,-0.000932070947525,-1.56714271258e-05,1793255997072185344
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,800,747.670219931,732,715.005329897,698,650,928.335109966,796.335109966,835,677.335109966,656,678,0.447013976347,-0.0155619158356,0.0690939535696,0.999998977166,-0.000166826334045,-0.00142022570311,-2.81800375302e-05,1793255997772185600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,800,748.822478048,732,716.733717072,698,650,928.911239024,796.911239024,835,677.911239024,656,678,0.446626890973,-0.0155615540484,0.0690898278256,0.999998976457,-0.000131830910595,-0.00142449171501,-2.2993752182e-05,1793255997788853248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,800,748.512394864,732,714.561974319,698,650,928.512394864,797.487605136,835,677.512394864,656.487605136,678,0.446206436057,-0.0155580894115,0.0690879583619,0.99999897404,-0.000119701362325,-0.00142732114625,-1.85745122395e-05,1793255997805519872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,800,748.065383769,732,712,698.065383769,650,928.065383769,798.065383769,835,677,657,678,0.445779979956,-0.015553775507,0.0690892960916,0.999998978386,-0.000112281987514,-0.00142492718506,-1.42054453952e-05,1793255997822186752
+323,5.383333333,POSE2_TO_POSE3_RETREAT,800,748.654122828,732,712,698.654122828,650,928.654122828,798.654122828,835,677,657,678,0.445354133853,-0.0155471870282,0.069113016198,0.9999990379,-0.000109231156048,-0.00138281751861,-9.11980195943e-06,1793255997838853376
+324,5.400000000,POSE2_TO_POSE3_RETREAT,800,749.239156255,732,712.239156255,699,650.239156255,929,798.760843745,835,677,657,677.760843745,0.444913849488,-0.0155401280856,0.0691401703745,0.999999102935,-9.40895716491e-05,-0.00133613384857,-4.77233047117e-06,1793255997855519744
+325,5.416666667,POSE2_TO_POSE3_RETREAT,800,749.818912308,732,712.818912308,699,650.818912308,929,798.181087692,835,677,657,677.181087692,0.444453002484,-0.0155323991205,0.0691722152631,0.999999175131,-6.17286670211e-05,-0.00128293600065,-1.4761425484e-06,1793255997872186112
+326,5.433333333,POSE2_TO_POSE3_RETREAT,800,750,732,712.601716682,699,651,929,798.398283318,835,677.398283318,657,677,0.443959251845,-0.0155257742952,0.0691906261039,0.999999212784,-6.33445886376e-05,-0.00125315982163,-3.20738721577e-06,1793255997888852992
+327,5.450000000,POSE2_TO_POSE3_RETREAT,800,750,732,712.022520604,699,651,929,798.977479396,835,677.977479396,657,677,0.443450555373,-0.0155196510052,0.0692028439311,0.999999235336,-8.03938510104e-05,-0.00123402250226,-7.22224944461e-06,1793255997905519360
+328,5.466666667,POSE2_TO_POSE3_RETREAT,800,750,732,712,699,651,929,799,835,677.45008229,657,677.54991771,0.442862405785,-0.0155163762234,0.0692145356598,0.99999926342,-6.53471468505e-05,-0.00121197463834,-2.38525427817e-06,1793255997922186496
+329,5.483333333,POSE2_TO_POSE3_RETREAT,800,750.125853556,731.874146444,712.125853556,699,651,928.874146444,799.125853556,835,677,657,677.874146444,0.442270922748,-0.0155127046774,0.0692290516872,0.999999293551,-5.00916194802e-05,-0.00118759568445,2.15416069665e-06,1793255997938853120
+330,5.500000000,POSE2_TO_POSE3_RETREAT,800,750.715691639,731.284308361,712.715691639,699,651,928.284308361,799.715691639,835,677,657,677.284308361,0.441679000547,-0.0155071455321,0.069254058527,0.999999332158,-3.88532570474e-05,-0.00115505680071,4.27625366415e-06,1793255997955519744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,800,751,731.299751391,712.700248609,699.299751391,651.299751391,928.299751391,800.299751391,835,677,657,677.299751391,0.441089327832,-0.0155030772206,0.069290165125,0.999999395237,-3.20662070745e-05,-0.00109929797434,6.41726333996e-06,1793255997972186880
+332,5.533333333,POSE2_TO_POSE3_RETREAT,800,751,731.878434129,712.121565871,699.878434129,651.878434129,928.878434129,800.878434129,835,677,657,677.878434129,0.440501748393,-0.0155003961934,0.0693366005159,0.999999477358,-2.94212921195e-05,-0.00102193200693,8.5758756712e-06,1793255997988854016
+333,5.550000000,POSE2_TO_POSE3_RETREAT,800,751,732,712.455426108,699.544573892,652,929,801,835,677.455426108,657,677.544573892,0.439866293674,-0.0154955937587,0.069371799025,0.999999534575,-2.07106584664e-05,-0.000964510717184,1.18419857081e-05,1793255998005520384
+334,5.566666667,POSE2_TO_POSE3_RETREAT,800,751,732,712.967468959,699.032531041,652,928.967468959,801,835,677.967468959,657,677.032531041,0.439210821163,-0.0154900518397,0.069399947806,0.99999957717,-9.8923900028e-06,-0.000919421316562,1.50587795382e-05,1793255998022187008
+335,5.583333333,POSE2_TO_POSE3_RETREAT,800,751,732,712.380781135,699.619218865,652,928.380781135,801,835,677.380781135,657,677.619218865,0.43843123771,-0.0154815234697,0.0693589120115,0.999999505813,9.34977945624e-06,-0.000994048393572,1.24182757569e-05,1793255998038853376
+336,5.600000000,POSE2_TO_POSE3_RETREAT,800,751,732,712,699.79663332,652,928,801,835,677,657,677.79663332,0.437659483454,-0.0154749987467,0.0693215191535,0.999999443818,2.21267547486e-05,-0.00105441123679,9.53464598176e-06,1793255998055519744
+337,5.616666667,POSE2_TO_POSE3_RETREAT,800,751,732,712,699.217182616,652,928,801,835,677,657,677.217182616,0.436902207519,-0.0154721793472,0.0692908631355,0.999999407415,2.29477127399e-05,-0.00108839539222,6.20140532305e-06,1793255998072186368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,800,751.360528673,731.639471327,712.360528673,699,652,928.360528673,801,835,677,657,677,0.436154736266,-0.0154707604067,0.0692972644453,0.999999419538,2.31327884256e-05,-0.00107719713747,5.92494668251e-06,1793255998088852992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,800,751.937197134,731.062802866,712.937197134,699,652,928.937197134,801,835,677,657,677,0.435413143042,-0.0154701810526,0.0693258819178,0.99999946004,2.29366475788e-05,-0.00103891166797,7.48105321141e-06,1793255998105519616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,800,751.487309128,731.512690872,713,699,652,929,801,835,677,657,677,0.434665357872,-0.0154714907746,0.0693694200714,0.999999519896,3.10355768515e-05,-0.000979335411618,1.20888313308e-05,1793255998122186496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,800,751,731.909750541,712.909750541,699,652,929,801,835,677,657,677,0.433909080084,-0.0154723042221,0.0694108109287,0.999999573062,3.98824658882e-05,-0.000923044670745,1.65246576873e-05,1793255998138853376
+342,5.700000000,POSE2_TO_POSE3_RETREAT,800,751,731.319968313,712.319968313,699,652,929,801,835,677,657,677,0.433109984162,-0.0154690928728,0.0694302230413,0.999999594314,4.72579534915e-05,-0.00089934195388,1.79443594734e-05,1793255998155519488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,800,751,731.264649316,711.735350684,699,652,928.735350684,801,835,677,657,677,0.432310854739,-0.0154659959027,0.069449357652,0.999999620337,5.34863488945e-05,-0.000869545542176,1.88563254293e-05,1793255998172185856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,800,751,731.843142283,711.156857717,699,652,928.156857717,801,835,677,657,677,0.431511685645,-0.0154630345735,0.069468163176,0.999999651567,5.83544243261e-05,-0.000832522710535,1.91661749764e-05,1793255998188852736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,800.420956422,751,731.579043578,711.420956422,699.420956422,652,928.420956422,801.420956422,835,677,657,677,0.430646143168,-0.0154591396599,0.0694517424505,0.999999625303,6.8384972632e-05,-0.000862799246386,1.71443964665e-05,1793255998205519616
+346,5.766666667,POSE2_TO_POSE3_RETREAT,800.998518069,751,731.001481931,711.998518069,699.998518069,652,928.998518069,801.998518069,835,677,657,677,0.429755908239,-0.0154548974315,0.0694222167721,0.999999575206,8.03360768023e-05,-0.000918112650381,1.4255200037e-05,1793255998222186496
+347,5.783333333,POSE2_TO_POSE3_RETREAT,800.426426069,751,731.573573931,712,699.426426069,652,928.426426069,801.426426069,835,676.426426069,657,677.573573931,0.428896136284,-0.0154520863059,0.0693945333812,0.999999547234,7.70114245347e-05,-0.000948423453945,9.73107967044e-06,1793255998238852864
+348,5.800000000,POSE2_TO_POSE3_RETREAT,800,751.152406966,732,712,699,652,928,801,834.847593034,676,657,677.847593034,0.428052525502,-0.0154510425259,0.0693927172027,0.999999551603,7.44663635607e-05,-0.000944022753936,8.3616764321e-06,1793255998255519488
+349,5.816666667,POSE2_TO_POSE3_RETREAT,800,751.742095994,732,712,699,652,928,801,834.257904006,676,657,677.257904006,0.427255058895,-0.0154550590044,0.0694651049467,0.999999644134,7.42708313054e-05,-0.000840213261218,1.60557706239e-05,1793255998272186368
+350,5.833333333,POSE2_TO_POSE3_RETREAT,800.32593549,752,732,712.65187098,699.32593549,652,928,801.32593549,834,676,657,677,0.426447797562,-0.0154552506155,0.0695216279078,0.999999710253,7.74540883278e-05,-0.000756989672966,2.15023656741e-05,1793255998288853248
+351,5.850000000,POSE2_TO_POSE3_RETREAT,800.905227977,752,732,713.810455954,699.905227977,652,928,801.905227977,834,676,657,677,0.425632922618,-0.0154524690707,0.0695658188116,0.999999758326,8.32637545427e-05,-0.000689767980313,2.52019285952e-05,1793255998305519872
+352,5.866666667,POSE2_TO_POSE3_RETREAT,801,752,732,714,700,652,928.481889269,802,834.481889269,676,657,677,0.424780862519,-0.0154494707943,0.0695627405719,0.999999756157,8.938495555e-05,-0.000692185519287,2.39988525016e-05,1793255998322186496
+353,5.883333333,POSE2_TO_POSE3_RETREAT,800.940970168,752,732,715.88895464,700,652,929,802,835,676.059029832,657,677,0.423922477135,-0.0154463583722,0.0695500729388,0.999999743547,9.50480941074e-05,-0.000709503142174,2.18295402173e-05,1793255998338853120
+354,5.900000000,POSE2_TO_POSE3_RETREAT,800.354956331,752,732,734.641397421,700,652,929,802,835,676.645043669,657,677,0.423072555947,-0.0154426053795,0.0695343381423,0.999999722696,9.60779156669e-05,-0.000738236039998,1.95952199116e-05,1793255998355519488
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,800.614098327,751,731.614098327,711.771803347,699,652,928.385901673,802,835,676,657,677,0.420417537418,-0.0154265244107,0.0694608177201,0.999999615573,0.000114588052279,-0.000869273904844,9.26966378223e-06,1793255998405519104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,800.036740337,751,731.036740337,712.926519327,699,652,928.963259663,802,835,676,657,677,0.41966218405,-0.015428789873,0.0695123773975,0.999999696452,0.000109713401203,-0.00077129349529,1.28159305946e-05,1793255998422185472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,800.538828888,751.538828888,731,714.616486665,699.538828888,652.538828888,929,802,835,676,657,677,0.418939852977,-0.015429819283,0.0695938051026,0.999999784115,0.000114635687998,-0.000646712828607,1.97626519882e-05,1793255998438852096
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,800.290169862,751.290169862,731,719.647452072,699.709830138,652,928,802,834.709830138,675.709830138,657,677,0.416638927429,-0.0154275674315,0.0696630520855,0.999999839187,0.000134212370494,-0.000550384698162,2.62550768194e-05,1793255998488852224
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,800,752,731,709,699,652,928,802,835,675.979917496,657,677,0.414273906732,-0.0154150205853,0.0696054635177,0.99999979469,0.000148466303211,-0.000623125113372,1.71012289976e-05,1793255998538853120
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,800,751.23307562,731.76692438,709,699,652.76692438,928,802,835,675,657,677,0.412221476489,-0.0154148688843,0.0696590486468,0.999999839049,0.000163437519339,-0.000542875814238,2.18079889863e-05,1793255998588853248
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,801,751.834389251,731,708.165610749,699,652,928,802,834.165610749,675.165610749,657,677,0.407970468615,-0.0154029096681,0.0696870425546,0.999999858648,0.000178820298017,-0.000500409135203,1.78309202213e-05,1793255998705518336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,801,752,731,708.411409207,699,652,928,802,834,675,657,677,0.407453949135,-0.0154006490735,0.069701865516,0.999999871418,0.000181020185877,-0.00047335725528,1.81289058291e-05,1793255998722185216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,801,752,731,708.987515523,699,652,928,802,834,675,657,677,0.406954447083,-0.0153988311115,0.0697257915778,0.999999889287,0.000183850048041,-0.000432716403392,1.9553107175e-05,1793255998738851840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,801,752,731,709,699,652,928,802,834.562051006,675,657,677,0.406491861838,-0.0153983444477,0.0697427038258,0.99999989554,0.000190827597533,-0.000414820929527,2.06843475613e-05,1793255998755518464
+379,6.316666667,POSE2_TO_POSE3_RETREAT,801,752,731.140435499,709,699,652.140435499,928,802,835,675,657,677,0.406033807148,-0.0153968488486,0.0697537477398,0.999999898173,0.000195617488227,-0.000406116637295,2.13673371674e-05,1793255998772185088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,801,752,731.731276022,709,699,652.731276022,928,802,835,675,657,677,0.40558766035,-0.0153920228133,0.0697464689856,0.999999890715,0.000193096458069,-0.000425274472043,2.06335079579e-05,1793255998788851712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,801,752,731.698391376,709,699,652.698391376,928,802,835,675,657,677,0.405183887997,-0.0153909374204,0.0697502843607,0.999999892425,0.000194984702856,-0.000420354102677,2.08105957817e-05,1793255998805518336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,801,752,731.145167335,709,699,652.145167335,928,802,835,675,657,677,0.404815466253,-0.0153929726383,0.0697633549542,0.999999901504,0.00020055136187,-0.000395346619456,2.17476112894e-05,1793255998822185216
+383,6.383333333,POSE2_TO_POSE3_RETREAT,801,752,731,709,699,652,928,802,835,675,657,677,0.404476317953,-0.0153934542028,0.0697843104006,0.999999916201,0.000201802199253,-0.000355448480881,2.30248823287e-05,1793255998838851840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,801,752,731,709.043934659,699,652,928.043934659,802,835,675,657,677,0.404149492569,-0.0153935244604,0.0698071356445,0.999999930742,0.00020091238191,-0.000312350491664,2.42302575153e-05,1793255998855518464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,801,752,731,709.633433114,699,652,928.633433114,802,835,675,657,677,0.403846369724,-0.0153953506907,0.0698183471883,0.999999937605,0.000192506322168,-0.000295298952638,2.30397452425e-05,1793255998872185088
+386,6.433333333,POSE2_TO_POSE3_RETREAT,801,752,731,710.219220527,699,652,929,802,835,675,657,677,0.403544924136,-0.0153951524139,0.0698202548919,0.999999938315,0.000193033873467,-0.000292626410549,2.18456437921e-05,1793255998888851712
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,801,752,731,711.375269266,699,652,929,802,835,675,657,677,0.402977461273,-0.0153898361019,0.0698003425608,0.999999924879,0.000211237586128,-0.000324310762151,2.10694888528e-05,1793255998922185472
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,801,752,731,753.797465627,700.044936641,652,928.47753168,802,835,675,657,676.47753168,0.402501195164,-0.0153840541598,0.069794410526,0.99999991998,0.000216563517433,-0.00033551271826,2.39060512119e-05,1793255998955520000
+391,6.516666667,POSE2_TO_POSE3_RETREAT,801.098433967,752,731,794.36241521,701,652.098433967,928.098433967,802,835,675,657.098433967,676.098433967,0.402287243188,-0.0153796293866,0.0697916805161,0.999999916132,0.000225547859171,-0.000340898108433,2.55420784109e-05,1793255998972186368
+392,6.533333333,POSE2_TO_POSE3_RETREAT,801.692300412,752,731,808.615209898,701,652.692300412,928.692300412,802,835,675,657.692300412,676.692300412,0.402106544543,-0.0153796254819,0.0697906949141,0.999999914436,0.000229340737915,-0.000343184783317,2.74832610458e-05,1793255998988852736
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,802,752.847241484,731,848.195176395,701.847241484,652.152758516,928.152758516,802,835,675.847241484,657.152758516,677,0.401790368383,-0.0153769637937,0.0697904729833,0.999999913929,0.000230364608964,-0.000344237332673,2.39559636591e-05,1793255999022186752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,801.573485938,752.573485938,731,850.587887504,702,652,928.426514062,802,835,676,657,677,0.401662656403,-0.0153786499304,0.0697930628116,0.999999916961,0.000225986931868,-0.000338721939606,1.66104025506e-05,1793255999038853120
+396,6.600000000,POSE2_TO_POSE3_RETREAT,801,752,731,844.809933069,701.97412898,652.008623673,928.991376327,802,835,675.991376327,657,676.991376327,0.401543464099,-0.0153816143903,0.0697964902268,0.999999920831,0.00022023418913,-0.000331320093269,7.87320525567e-06,1793255999055519232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,801,752,731,763.64495,700.209672826,652.596775725,928.403224275,802,835,675.403224275,657,676.403224275,0.401446248428,-0.0153851960384,0.0697975242276,0.999999922613,0.000213770309225,-0.000330094386224,1.06423623631e-05,1793255999072186112
+398,6.633333333,POSE2_TO_POSE3_RETREAT,801,751.817857542,731,708.182142458,699,652.817857542,928.182142458,802,835,675,657,676,0.401355410146,-0.0153860574143,0.0697988352008,0.999999923693,0.000211033024152,-0.000328500718117,1.2885177321e-05,1793255999088852992
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,801,751.339071435,731,708.660928565,699,652,929,802,835,675,657,676,0.401211458194,-0.0153796358389,0.0698002303248,0.999999922996,0.000217898160804,-0.000326051578557,1.47673399112e-05,1793255999122185728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,801,751.915546075,731,708.084453925,699,652,929,802,835,675,657,676,0.401151380041,-0.0153808877903,0.0697980059043,0.999999922743,0.000216636267438,-0.000327638774598,1.53385925494e-05,1793255999138852608
+402,6.700000000,POSE2_TO_POSE3_RETREAT,801,751.510549937,731,708.489450063,699,652,928.510549937,802,835,675,657,676,0.401108307114,-0.0153782055125,0.0697982781715,0.999999922608,0.000218328554312,-0.000326942912951,1.49838291564e-05,1793255999155520000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,801,751.06488157,731,709.19464471,699,652.06488157,928,802,835,675,657,676,0.401069676206,-0.0153754121025,0.0697990184214,0.999999922664,0.000220094351059,-0.000325605359594,1.45263500537e-05,1793255999172186880
+404,6.733333333,POSE2_TO_POSE3_RETREAT,801,751.656289655,731,710.968868965,699,652.656289655,928,802,835,675,657,676,0.401043405752,-0.0153771970189,0.0698000786824,0.999999924138,0.000218341669782,-0.000322240538159,1.45252068462e-05,1793255999188852736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,801,752,731,711.271697728,699,653,928,802,835,675,657,676.242767424,0.40102052537,-0.015377945576,0.0698016167504,0.999999925209,0.000218082995719,-0.000319071220124,1.46643395084e-05,1793255999205518848
+406,6.766666667,POSE2_TO_POSE3_RETREAT,801,752,731,709.532788387,699,653,928,802,835,675,657,676.822403871,0.401002349116,-0.0153772560599,0.0698038178332,0.999999925727,0.000219897436246,-0.000316173186109,1.49981218246e-05,1793255999222185472
+407,6.783333333,POSE2_TO_POSE3_RETREAT,801,751.600595086,731,710.198214742,699,652.600595086,928,802,835,675,657,677,0.400991635034,-0.0153784749195,0.0698060339758,0.999999927179,0.000218792500386,-0.000312329367215,1.49266565841e-05,1793255999238851840
+408,6.800000000,POSE2_TO_POSE3_RETREAT,801,751.024758233,731,711.925725301,699,652.024758233,928,802,835,675,657,677,0.400984217271,-0.0153805367794,0.0698082567709,0.999999929025,0.000216397967769,-0.00030806776029,1.46761784729e-05,1793255999255518464
+409,6.816666667,POSE2_TO_POSE3_RETREAT,801,751.549380443,731,720.240706648,699,652,928,802,835,675,657,676.450619557,0.400979075823,-0.0153790061856,0.0698072890806,0.999999928509,0.000219110448858,-0.000307840384219,1.43639662302e-05,1793255999272186112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,801,751.872889309,731,724.839118248,699,652,928,802,835,675,657,676,0.400975038257,-0.0153779623878,0.0698071323041,0.999999928507,0.000220688832701,-0.000306728220975,1.41572113179e-05,1793255999288853248
+411,6.850000000,POSE2_TO_POSE3_RETREAT,801,751.281769799,731,714.790086585,699,652,928,802,835,675,657,676,0.400974657009,-0.0153792847761,0.0698104589595,0.999999930771,0.00021728970999,-0.000301724579539,1.43455456852e-05,1793255999305519360
+412,6.866666667,POSE2_TO_POSE3_RETREAT,801,751.303277555,730.696722445,713.032775553,699,652,928,802,835,675,657,676,0.400973128603,-0.0153803667686,0.0698121014648,0.99999993181,0.000215392618902,-0.000299627382581,1.44984518094e-05,1793255999322185728
+413,6.883333333,POSE2_TO_POSE3_RETREAT,801,751.882794083,730.117205917,718.827940828,699,652,928,802,835,675,657,676,0.400970555313,-0.0153812297974,0.0698122099695,0.999999931757,0.000214863646627,-0.000300177507544,1.4619088271e-05,1793255999338852096
+414,6.900000000,POSE2_TO_POSE3_RETREAT,801,752,730.458227057,720,699,652,928,802,835,675,657,676,0.400967868233,-0.0153825534559,0.0698112753361,0.999999931368,0.000214265737764,-0.000301902268554,1.44486515617e-05,1793255999355518720
+415,6.916666667,POSE2_TO_POSE3_RETREAT,801,751.966609747,731,719.59931697,698.966609747,652,928,802,835,675,657,676,0.400965434788,-0.015383886627,0.0698102676112,0.99999993099,0.0002136222653,-0.000303618713755,1.4212459242e-05,1793255999372185600
+416,6.933333333,POSE2_TO_POSE3_RETREAT,801,751.378735376,731,712.544824509,698.378735376,652,928,802,835,675,657,676,0.400967692312,-0.0153834384993,0.0698124377588,0.999999932244,0.000212512381856,-0.000300251810924,1.41097450448e-05,1793255999388852224
+417,6.950000000,POSE2_TO_POSE3_RETREAT,801,751.2064497,731,708,698.2064497,652,928,802,835,675,657,676,0.400968865648,-0.0153827783669,0.0698139665422,0.999999932794,0.000212930551502,-0.000298118486778,1.41012922461e-05,1793255999405518848
+418,6.966666667,POSE2_TO_POSE3_RETREAT,801,751.786764757,731,708,698.786764757,652,928,802,835,675,657,676,0.400968075599,-0.0153817343092,0.0698143338619,0.999999932078,0.000216115913711,-0.000298219083135,1.42635399507e-05,1793255999422185984
+419,6.983333333,POSE2_TO_POSE3_RETREAT,801,752,731,708,699,652,928,802,835,675,657,676,0.400967118172,-0.0153826536762,0.0698142194627,0.999999932174,0.000215526159198,-0.000298313863295,1.44631257432e-05,1793255999438853120
+420,7.000000000,POSE2_TO_POSE3_RETREAT,801,752,731,708,699,652,928,802,835,675,657,676,0.400966063516,-0.0153847135887,0.0698138252348,0.999999932739,0.00021274345416,-0.000298405264842,1.46844010732e-05,1793255999455519488
+421,7.016666667,POSE2_TO_POSE3_RETREAT,801,752,731,708.513023601,699,652.513023601,928,802,835,675,657,676,0.400967350947,-0.0153850817575,0.0698143502087,0.999999933345,0.000211628690489,-0.000297177405776,1.44225835844e-05,1793255999472185856
+422,7.033333333,POSE2_TO_POSE3_RETREAT,801,751.910612748,731,709.089387252,699,652.910612748,928.089387252,802,835,675,657,676.089387252,0.400968626702,-0.0153849603572,0.0698149992233,0.999999933792,0.000211296048902,-0.000295921101075,1.41733531783e-05,1793255999488852224
+423,7.050000000,POSE2_TO_POSE3_RETREAT,801,751.314881007,731,709.685118993,699,652.314881007,928.685118993,802,835,675,657,676.685118993,0.400968286739,-0.0153831850354,0.0698157427149,0.999999933314,0.000214290278056,-0.000295376517922,1.4315049811e-05,1793255999505518592
+424,7.066666667,POSE2_TO_POSE3_RETREAT,800.728419297,751.271580703,731,710.543161406,699,652.271580703,928.728419297,802,835,675,657,676.728419297,0.400967760524,-0.0153817944421,0.0698159085332,0.999999932902,0.000216107435399,-0.000295458889914,1.40703485987e-05,1793255999522185216
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,800.422209635,752,730.577790365,714.533257811,699,652.577790365,928,802,835,675,657,676,0.400966757568,-0.015382779077,0.0698152911177,0.999999932787,0.000215372135731,-0.000296403133845,1.36746810171e-05,1793255999555519232
+427,7.116666667,POSE2_TO_POSE3_RETREAT,800.996228045,752,730.003771955,717.977368268,699,652.003771955,928,802,835,675,657,676,0.400966657604,-0.0153857668028,0.0698152800627,0.999999933195,0.000213517259631,-0.000296336876378,1.43021679074e-05,1793255999572185856
+428,7.133333333,POSE2_TO_POSE3_RETREAT,801,752,730.58436676,720.9218338,699,652,928,802,835,675,657,676,0.400967418606,-0.015385308234,0.069815637811,0.999999934251,0.000211086840749,-0.000294540113563,1.36632741693e-05,1793255999588852480
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,800.250587646,752,731,714.756464105,699,652,928,802,835,675,657,676,0.40096787229,-0.0153870447411,0.0698163753411,0.999999934903,0.000209221215329,-0.000293635117978,1.41191559756e-05,1793255999622185216
+431,7.183333333,POSE2_TO_POSE3_RETREAT,800.328497477,752,731,712.328497477,699,652,928,802,835,675,657,676,0.400967944521,-0.0153873573088,0.0698165817075,0.999999934799,0.000210147081351,-0.000293319051474,1.43110564297e-05,1793255999638852096
+432,7.200000000,POSE2_TO_POSE3_RETREAT,800.907339638,752,731,712.907339638,699,652,928,802,835,675,657,676,0.400968123679,-0.0153866845192,0.0698166607404,0.999999934667,0.000211864358123,-0.000292542546535,1.41111218452e-05,1793255999655518976
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c404cce3819a09e3982adfb012cde3c981a0fc6e
--- /dev/null
+++ b/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
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+367,6.116666667,pose2_to_pose3_retreat,0.586388598334,-0.00981816464958,1.06002080242,0.556959745468,-0.00114392932102,1.05969249618
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+389,6.483333333,pose2_to_pose3_retreat,0.577248072803,-0.00981829400354,1.06002047894,0.547819220401,-0.00114405649941,1.05969218893
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+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
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+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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cf3de9c0136df6054c098f24228de97c7244edd
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f9d15def0decd86d088b8c7e0f22b6def1b0bd87
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/franka_data.csv
@@ -0,0 +1,415 @@
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+18,0.300000000,BASELINE,801,752,731,708,699,652,928,802.448081875,834.448081875,675,657,676,0.400967762385,-0.0153857320022,0.0698186476075,0.999999935669,0.000209953319508,-0.000290529294691,1.32050679203e-05,1793256000073216512
+19,0.316666667,BASELINE,801,751.975041663,731,707.975041663,699,652,928,802.975041663,835,675,657,676.024958337,0.400967032019,-0.0153865646904,0.0698180946082,0.999999935811,0.000207566749828,-0.000291766739686,1.28849714457e-05,1793256000089883136
+20,0.333333333,BASELINE,801,751.386907953,731,707.386907953,699,652,928,802.386907953,835,675,657,676.613092047,0.400967043932,-0.0153875109461,0.0698187098394,0.999999935539,0.000209652277689,-0.000291174306849,1.35896472669e-05,1793256000106549504
+21,0.350000000,BASELINE,801,751.19807646,731,707.19807646,699,652,928,802,835,675,657,676.80192354,0.400967391199,-0.0153878397806,0.0698192642029,0.999999935418,0.000211401075592,-0.000290302306402,1.40682931809e-05,1793256000123216128
+22,0.366666667,BASELINE,801,751.777005475,731,707.777005475,699,652,928,802,835,675,657,676.222994525,0.400968383267,-0.0153869814652,0.0698197015328,0.999999935592,0.000212502423954,-0.000288892765931,1.41123388202e-05,1793256000139882752
+23,0.383333333,BASELINE,801,751.647545345,730.647545345,708,699,652,928,802,835,675,657,676,0.40096844236,-0.0153860285823,0.069819721359,0.999999935668,0.000212179832138,-0.000288891921564,1.36074411321e-05,1793256000156549632
+24,0.400000000,BASELINE,801,751.074276241,730.074276241,708,699,652,928,802,835,675,657,676,0.40096791694,-0.0153850164525,0.0698194796173,0.999999935681,0.000210965135413,-0.000289773631595,1.27586279497e-05,1793256000173216768
+25,0.416666667,BASELINE,800.487284292,751.512715708,730.512715708,707.487284292,699,652,928,802.512715708,835,675,657,676,0.400967816226,-0.015385843227,0.0698188979169,0.999999935835,0.000210169579603,-0.000289805929942,1.30709347477e-05,1793256000189883392
+26,0.433333333,BASELINE,800,752,731,707.099629462,699,652,928,802.900370538,835,675,657,676,0.400968119553,-0.0153866988729,0.0698186387103,0.999999936035,0.000209684292991,-0.000289450304006,1.34752089722e-05,1793256000206549760
+27,0.450000000,BASELINE,800,752,731,707.676386523,699,652,928,802.323613477,835,675,657,676,0.400970055087,-0.0153863819091,0.069820166275,0.999999936351,0.000210386104379,-0.000287842409406,1.34922049732e-05,1793256000223216384
+28,0.466666667,BASELINE,800,751.745811567,731,708,699,652,928,802,835,675,657,676,0.400970855205,-0.0153861091132,0.0698208757593,0.999999936356,0.000211775284288,-0.000286802443801,1.35707085929e-05,1793256000239883008
+29,0.483333333,BASELINE,800,751.166673975,731,708,699,652,928,802,835,675,657,676,0.400970203832,-0.0153858927806,0.0698205394268,0.999999935961,0.000214043181643,-0.000286488506805,1.372784226e-05,1793256000256549632
+30,0.500000000,BASELINE,800.408696014,751.408696014,731,708,699,652,928,802,835,675,657,676.408696014,0.400970315683,-0.0153864344012,0.0698206189132,0.999999936474,0.00021196565393,-0.000286251455561,1.35521855445e-05,1793256000273216256
+31,0.516666667,BASELINE,800.982543525,751.982543525,731,708,699,652,928,802,835,675,657,676.982543525,0.40097073595,-0.0153872823061,0.0698208664294,0.999999937342,0.000208132167133,-0.000286045473372,1.32420503179e-05,1793256000289882624
+32,0.533333333,BASELINE,800.44452509,751.44452509,731,707.44452509,699,652,928,802,835,675,657,676.44452509,0.400969332953,-0.0153878092956,0.0698198985469,0.999999936701,0.000207997085987,-0.00028837400776,1.32173111476e-05,1793256000306549504
+33,0.550000000,BASELINE,800,751.133373497,731,707.133373497,699,652,928,802,835,675,657,676,0.400968113921,-0.0153878783646,0.0698192595146,0.999999936024,0.000208868560459,-0.000290086349629,1.32511336361e-05,1793256000323216384
+34,0.566666667,BASELINE,800,751.72857111,731,707.72857111,699,652,928,802,835,675,657,676,0.40096772997,-0.0153863966841,0.0698198912101,0.999999935389,0.000212823583475,-0.000289389693546,1.34567289615e-05,1793256000339883008
+35,0.583333333,BASELINE,800,751.686285558,731,708,699,652,928,802,835,675,657,676,0.40096682408,-0.0153859897581,0.0698194290751,0.999999934996,0.000213690963865,-0.000290106629776,1.35345909195e-05,1793256000356549376
+36,0.600000000,BASELINE,800,751.109571087,731,708,699,652,928,802,835,675,657,676,0.400965480625,-0.0153864838439,0.069818049936,0.999999934809,0.000211969843839,-0.000292008639904,1.35053686387e-05,1793256000373216000
+37,0.616666667,BASELINE,800,751,731,708,699,652,928,802.464993391,835,675,657,676,0.400966571866,-0.0153864915756,0.0698187359589,0.999999935354,0.000210912922028,-0.000290905811609,1.35072696621e-05,1793256000389883904
+38,0.633333333,BASELINE,800,751,731,708,699,652,928,802.959440843,835,675,657,676.040559157,0.400968061637,-0.015386388794,0.0698197497123,0.999999935967,0.000210144885218,-0.000289349344128,1.35016414402e-05,1793256000406551552
+39,0.650000000,BASELINE,800,751,731,708,699,652,928,802.36324917,835,675,657,676.63675083,0.400967187694,-0.0153863348344,0.0698186172684,0.9999999352,0.000211200138308,-0.000291233627394,1.32928607988e-05,1793256000423217152
+40,0.666666667,BASELINE,800,751,731,708,699,652.224423523,928,802,835,675,657,677,0.400966961534,-0.0153864920053,0.0698183676103,0.999999935071,0.000211146065516,-0.000291724157438,1.31585589993e-05,1793256000439883008
+41,0.683333333,BASELINE,800,751,731,708,699,652.798811733,928,802,835,675,657,677,0.400967745521,-0.0153869784117,0.069819494563,0.999999935935,0.000209362116577,-0.000290041277008,1.31403990686e-05,1793256000456549632
+42,0.700000000,BASELINE,800.373781382,751,731,708,699,652.626218618,928,802,835,675,657,677,0.400967797847,-0.0153874350704,0.0698196117624,0.999999936215,0.000208288873771,-0.0002898551515,1.30617847161e-05,1793256000473216512
+43,0.716666667,BASELINE,800.94906446,751,731,708,699,652.05093554,928,802,835,675,657,677,0.400967455741,-0.0153878756924,0.0698191846143,0.999999936179,0.000207598765384,-0.000290475911221,1.29505800075e-05,1793256000489883392
+44,0.733333333,BASELINE,800.475021244,751.524978756,731,708,699,652,928,802,835,675,657,676.475021244,0.400966779602,-0.0153883003676,0.0698190621778,0.999999935973,0.000208062945336,-0.000290849015875,1.30429771082e-05,1793256000506549760
+45,0.750000000,BASELINE,800,751.896001032,731,708,699,652,928,802,834.896001032,675,657,676,0.400966197499,-0.0153885124626,0.0698189578192,0.999999935731,0.000208964620202,-0.000291033194182,1.31252571595e-05,1793256000523216896
+46,0.766666667,BASELINE,800,751.302655232,731,708,699,652,928,802,834.302655232,675,657,676,0.400966210548,-0.0153877315922,0.0698187992458,0.999999935392,0.000211397243034,-0.000290441613793,1.30668716573e-05,1793256000539884032
+47,0.783333333,BASELINE,800,751,731,708,699,652,928,802,834,675,657,676,0.400966127606,-0.0153875891328,0.069818824753,0.999999935378,0.000211493938103,-0.000290419684378,1.30953340417e-05,1793256000556550656
+48,0.800000000,BASELINE,800,751,731,708,699,652,928,802,834,675,657,676,0.400965944722,-0.0153881113611,0.0698190419175,0.999999935701,0.000209158559627,-0.000290990852526,1.32142189381e-05,1793256000573216512
+49,0.816666667,BASELINE,800,751.435619847,731,708,699,652,928,802,834.435619847,675,657,676,0.400967411567,-0.0153876273883,0.0698194594189,0.999999935864,0.000209804337015,-0.000289967060874,1.31946711923e-05,1793256000589883392
+50,0.833333333,BASELINE,800,751.987905353,731,708,699,652,928,802,835,675,657,676,0.400969358598,-0.0153868560055,0.069819940375,0.999999935978,0.000211343242078,-0.000288453793027,1.313117629e-05,1793256000606551040
+51,0.850000000,BASELINE,800,751.398769743,731,708,699,652,928,802,835,675,657,676,0.400968813295,-0.0153878654584,0.0698203640324,0.999999936436,0.000209590387094,-0.000288146288129,1.3102502911e-05,1793256000623217664
+52,0.866666667,BASELINE,800,751,731,708,699,652,928,802,835,675,657,676,0.400968375838,-0.0153884520657,0.069820618989,0.999999936689,0.000208454392807,-0.000288092228381,1.30739622415e-05,1793256000639884288
+53,0.883333333,BASELINE,800,751,731,708,699,652,928,802,835,675,657,676,0.400968164294,-0.0153881529158,0.0698205205588,0.99999993652,0.0002086105702,-0.000288569073964,1.30456995677e-05,1793256000656550912
+54,0.900000000,BASELINE,800,751,731,708,699,652,928,802,835,675,657,676,0.400968686951,-0.0153875663232,0.0698209466502,0.999999936706,0.000209112375391,-0.000287559755647,1.30467336298e-05,1793256000673217280
+55,0.916666667,BASELINE,800,751,731,708,699,652,928,802,835,675,657,676,0.400969703623,-0.0153867863222,0.0698217256709,0.999999937127,0.000209846739565,-0.000285550457623,1.3067480284e-05,1793256000689883904
+56,0.933333333,BASELINE,800,751,731,708,699,652,928,802,835,675,657,676,0.400969728781,-0.0153854968633,0.0698217516788,0.999999936914,0.000211466457344,-0.000285111102909,1.29050878092e-05,1793256000706550784
+57,0.950000000,BASELINE,800,751.06763322,731,708,699,652.06763322,928,802,835,675,657,676.06763322,0.400969532579,-0.0153845123339,0.0698215989706,0.999999936627,0.000212719338576,-0.000285189685684,1.27711586717e-05,1793256000723217152
+58,0.966666667,BASELINE,800,751.660302571,731,708,699,652.660302571,928,802,835,675,657,676.660302571,0.40096887511,-0.0153865409202,0.069821013647,0.999999936594,0.000210001916762,-0.000287298458518,1.30903951171e-05,1793256000739884032
+59,0.983333333,BASELINE,800,751.753065184,731,708,699,652.753065184,928,802,835,675,657,676.753065184,0.400967936009,-0.015387590715,0.0698201483807,0.999999936386,0.000208612896832,-0.0002890237259,1.31716130976e-05,1793256000756551168
+60,1.000000000,BASELINE,800,751.174539647,731,708,699,652.174539647,928,802,835,675,657,676.174539647,0.400966618728,-0.0153873261624,0.0698189071997,0.999999935956,0.00020900769035,-0.00029023401213,1.29332135173e-05,1793256000773218304
+61,1.016666667,BASELINE,800.401123115,751.401123115,731,708,699,652,928,802,835,675,657,676.401123115,0.40096705264,-0.0153870808941,0.0698193326588,0.999999936158,0.000209215989969,-0.000289384776817,1.29806774674e-05,1793256000789884416
+62,1.033333333,BASELINE,800.975548998,751.975548998,731,708,699,652,928,802,835,675,657,676.975548998,0.400968243144,-0.0153868439574,0.0698204781794,0.999999936631,0.000209343716024,-0.000287645737853,1.3151647007e-05,1793256000806550272
+63,1.050000000,BASELINE,800.436646383,752,731,708,699,652,928,802,835,675,657,676.436646383,0.40096742893,-0.01538691714,0.0698205903164,0.999999936497,0.000208942083021,-0.00028840139101,1.31477815236e-05,1793256000823216896
+64,1.066666667,BASELINE,800,752,730.850434052,707.850434052,699,652,928,802,834.850434052,675,657,676,0.400967205849,-0.0153871333006,0.0698207324142,0.99999993652,0.00020839543141,-0.000288718986625,1.31298278588e-05,1793256000839883520
+65,1.083333333,BASELINE,800,752,730.270514756,707.270514756,699,652,928,802,834.270514756,675,657,676,0.400968940111,-0.0153877211876,0.0698210929123,0.999999937071,0.000207499227581,-0.00028745701125,1.30937028861e-05,1793256000856550144
+66,1.100000000,BASELINE,800.308055331,752,730.308055331,707.308055331,699,652,928,802,834.308055331,675.308055331,657,676,0.40096939232,-0.015388219289,0.0698211173325,0.999999937125,0.000207461555561,-0.000287287480611,1.32637989855e-05,1793256000873217024
+67,1.116666667,BASELINE,800.885445764,752,730.885445764,707.885445764,699,652,928,802,834.885445764,675.885445764,657,676,0.400968723618,-0.0153886388903,0.0698208479171,0.999999936746,0.000208174504432,-0.000288073082721,1.36141957273e-05,1793256000889883904
+68,1.133333333,BASELINE,800.54102014,752,731,708,699,652,928,802,835,675.54102014,657,676,0.40096888834,-0.0153889162824,0.0698212909195,0.999999937018,0.000208378684049,-0.000286987837602,1.3448012148e-05,1793256000906550272
+69,1.150000000,BASELINE,800,752,731,708,699,652,928,802,835,675,657,676.032759688,0.400969310211,-0.0153890809101,0.0698218953246,0.999999937453,0.000208408105008,-0.000285460267445,1.31592918369e-05,1793256000923216384
+70,1.166666667,BASELINE,800,752,731,708,699,652,928,802,835,675,657,676.627113503,0.400970604165,-0.0153879158227,0.0698222438844,0.999999937957,0.000207600342137,-0.000284287879399,1.29617622219e-05,1793256000939883776
+71,1.183333333,BASELINE,800,752,731,708,699,652,928.21476513,802,835,675,657,676.78523487,0.400970713137,-0.015387417863,0.0698219602877,0.999999938102,0.000206764414587,-0.000284390142491,1.28824966584e-05,1793256000956550912
+72,1.200000000,BASELINE,800,752,731,708,699,652,928.791132317,802,835,675,657,676.208867683,0.400968826943,-0.0153880431523,0.0698206123233,0.999999937641,0.000205881065774,-0.000286638547434,1.30023533528e-05,1793256000973217280
+73,1.216666667,BASELINE,800,751.63295031,730.63295031,708,699,652.36704969,928.63295031,802,835,675,657,676.36704969,0.400968232064,-0.0153878713825,0.0698207096395,0.999999937352,0.00020684041803,-0.000286950443717,1.31556626908e-05,1793256000989883648
+74,1.233333333,BASELINE,800,751.057288622,730.057288622,708,699,652.942711378,928.057288622,802,835,675,657,676.942711378,0.400968371101,-0.0153872466057,0.0698216283783,0.999999937158,0.000208847066014,-0.000286161728827,1.33279847686e-05,1793256001006550272
+75,1.250000000,BASELINE,800.514222177,751.514222177,730.514222177,708.514222177,699,652.485777823,928,802,835,675,657,677,0.400968843531,-0.0153862462047,0.0698213961464,0.999999936492,0.000211984557619,-0.000286198094019,1.30402066855e-05,1793256001023216640
+76,1.266666667,BASELINE,800.915738744,752,731,709,699,652,928,802,835,675,657,676.915738744,0.40096930679,-0.0153856496519,0.0698210343056,0.999999936025,0.000214050088131,-0.000286303268298,1.27894521791e-05,1793256001039883008
+77,1.283333333,BASELINE,800.351470266,752,731,709,699,652,928,802,835,675,657,676.351470266,0.400969507914,-0.0153875901653,0.0698206587472,0.999999937034,0.000209297078987,-0.000286280976373,1.30392746206e-05,1793256001056550144
+78,1.300000000,BASELINE,800.229172297,751.770827703,731,709,699,652,928,802,835,675,657,676,0.400969588097,-0.0153889608853,0.0698207313761,0.999999937749,0.000206280002309,-0.000285964016032,1.32650875336e-05,1793256001073217024
+79,1.316666667,BASELINE,800.836859218,751.163140782,731,709,699,652,928,802,835,675,657,676,0.400969468527,-0.0153893905002,0.0698215442577,0.999999938007,0.000206130095622,-0.000285160363781,1.34512448538e-05,1793256001089883136
+80,1.333333333,BASELINE,800.578764644,751.421235356,731,709.421235356,699,652,928,802,835,675,657,676,0.400968715151,-0.0153877848849,0.0698214941773,0.999999936991,0.000209782839847,-0.000286064595063,1.33025876078e-05,1793256001106549504
+81,1.350000000,BASELINE,800.002943116,751.997056884,731,709.997056884,699,652,928,802,835,675,657,676,0.400967729179,-0.0153854323751,0.0698211274047,0.999999935483,0.00021483109192,-0.000287595590325,1.30310591559e-05,1793256001123215872
+82,1.366666667,BASELINE,800,751.409978794,731,710,699,652,928,802,835,675,657,676,0.400967460282,-0.0153873365557,0.0698201797488,0.999999936465,0.000209557102791,-0.000288073872111,1.29936254512e-05,1793256001139882752
+83,1.383333333,BASELINE,800,751.177326074,731,710,699,652,928,802,835,675,657,676,0.400967514126,-0.015388278459,0.0698198668528,0.999999937088,0.000206642994792,-0.000288017157313,1.29952528503e-05,1793256001156549376
+84,1.400000000,BASELINE,800,751.75175993,731,710,699,652,928,802,835,675,657,676,0.400968282473,-0.015387016446,0.0698209821344,0.999999936926,0.000209132409565,-0.000286774471188,1.30816612865e-05,1793256001173216000
+85,1.416666667,BASELINE,800.32682002,752,731,710.32682002,699,652,928,802.32682002,835,675,657,676,0.400969574149,-0.0153870512793,0.0698220898518,0.999999937244,0.000210292265286,-0.000284798575465,1.33448619632e-05,1793256001189883136
+86,1.433333333,BASELINE,800.90235665,752,731,710.90235665,699,652,928,802.90235665,835,675,657,676,0.400971264089,-0.0153880730388,0.0698231918126,0.999999937926,0.00021044029967,-0.000282264692561,1.3742605087e-05,1793256001206550272
+87,1.450000000,BASELINE,800.509057299,752,731,711,699,652,928,802.509057299,835,675,657,676,0.400970472006,-0.0153879067096,0.0698219913134,0.999999937674,0.000209303349052,-0.000284016594267,1.33304245119e-05,1793256001223216640
+88,1.466666667,BASELINE,800,752,730.919470795,710.919470795,699,652.080529205,928,802,835,675,657,676,0.400969274765,-0.0153875990284,0.0698206268063,0.999999937245,0.000208145598473,-0.000286388409253,1.28922678975e-05,1793256001239883008
+89,1.483333333,BASELINE,800,752,730.34020112,710.34020112,699,652.65979888,928,802,835,675,657,676,0.400968709061,-0.0153879193396,0.0698211601184,0.999999936943,0.000208485066928,-0.000287176229349,1.33181237381e-05,1793256001256549376
+90,1.500000000,BASELINE,800.237827684,752,730.237827684,710,699,652.762172316,928,802.237827684,835,675,657,676.237827684,0.400968525616,-0.0153882833406,0.0698214277056,0.999999936772,0.00020906983231,-0.000287338260833,1.34736630674e-05,1793256001273216000
+91,1.516666667,BASELINE,800.814090646,752,730.814090646,710,699,652.185909354,928,802.814090646,835,675,657,676.814090646,0.400968886136,-0.0153887095133,0.0698213171589,0.999999936789,0.000210003661875,-0.000286609778,1.32445345965e-05,1793256001289882880
+92,1.533333333,BASELINE,800.615499122,752,731,710.769001757,699,652,928,802.615499122,835,675.384500878,657,676.615499122,0.400969271554,-0.0153888406288,0.0698217762833,0.99999993731,0.000208735716328,-0.000285719458397,1.32189135431e-05,1793256001306549504
+93,1.550000000,BASELINE,800.047876252,752,731,711.904247496,699,652,928,802.047876252,835,675.952123748,657,676.047876252,0.40096966883,-0.0153888312208,0.0698225067186,0.999999938065,0.000206419155726,-0.000284752062516,1.32902147018e-05,1793256001323216384
+94,1.566666667,BASELINE,800,751.4527195,730.4527195,711.4527195,699,652,928,802,835,675.4527195,657,676,0.400969223919,-0.0153888084303,0.0698220861748,0.999999937937,0.000206040596706,-0.000285490227896,1.3017530676e-05,1793256001339883264
+95,1.583333333,BASELINE,800,751,730.140420324,710.859579676,699,652,928,802,835,675,657,676,0.400969081191,-0.015389025662,0.0698216592058,0.999999937854,0.000205931888788,-0.000285864807564,1.2889021677e-05,1793256001356550144
+96,1.600000000,BASELINE,800,751,730.719341678,710.280658322,699,652,928,802,835,675,657,676,0.40097012437,-0.0153899962784,0.0698215432551,0.999999938169,0.000206108392768,-0.000284613381146,1.33096871423e-05,1793256001373217024
+97,1.616666667,BASELINE,800,751.296731927,731,710,699,652,928,802,834.703268073,675,657,676.296731927,0.400970469915,-0.0153902467433,0.0698219480221,0.999999938079,0.000207473688662,-0.000283923471893,1.35797061598e-05,1793256001389883392
+98,1.633333333,BASELINE,800,751.872681409,731,710,699,652,928,802,834.127318591,675,657,676.872681409,0.400970159004,-0.0153898195629,0.0698228427721,0.999999937605,0.000209957608941,-0.000283761936766,1.37079704937e-05,1793256001406549504
+99,1.650000000,BASELINE,800,751.542559458,731,709.542559458,699,652,928,802.457440542,834.457440542,675,657,676.542559458,0.400969325656,-0.0153879821129,0.0698226123494,0.999999937347,0.000210102800015,-0.00028458220282,1.32934999721e-05,1793256001423216128
+100,1.666666667,BASELINE,800.042289478,751,731,709,699,652,928,802.957710522,835,675,657,676,0.400968513412,-0.0153859479418,0.0698221218786,0.999999937158,0.000209707746538,-0.000285556131621,1.2783855501e-05,1793256001439882496
+101,1.683333333,BASELINE,800.597882384,751,731,709,699,652,928,802.402117616,835,675,657,676,0.400969756925,-0.015386383878,0.0698223508027,0.999999937079,0.00021081137677,-0.000285013239602,1.298853262e-05,1793256001456549376
+102,1.700000000,BASELINE,800.833584808,751,731,709,699,652,928,802,834.833584808,675,657,676,0.400970511137,-0.0153870695605,0.0698223594608,0.999999937151,0.000210816169694,-0.00028474701813,1.31803296304e-05,1793256001473216000
+103,1.716666667,BASELINE,800.231148513,751,731,709,699,652,928,802,834.231148513,675,657,676,0.400969983342,-0.0153884095982,0.0698217910045,0.99999993762,0.000207941920868,-0.000285205695696,1.33383796944e-05,1793256001489882880
+104,1.733333333,BASELINE,800,751,731,709,699,652,928,802.354959732,834.354959732,675,657,676,0.40096949981,-0.015389268632,0.0698214404892,0.999999937862,0.000206325868903,-0.00028552316238,1.34598865436e-05,1793256001506549504
+105,1.750000000,BASELINE,800,751,731,709,699,652,928,802.93090286,834.93090286,675,657,676,0.400969043835,-0.0153898282126,0.069821225655,0.999999937967,0.000205493118506,-0.000285752716997,1.35586430989e-05,1793256001523216384
+106,1.766666667,BASELINE,800.518524234,751.518524234,731,709,699,652,928,802.481475766,835,675,657,676,0.400969373647,-0.0153875699823,0.069821141849,0.999999936874,0.000209985548831,-0.000286329931886,1.31688951163e-05,1793256001539883008
+107,1.783333333,POSE1_TO_POSE2_PRESS,800,752,731,709,699,652,928,802,835,675,657,676,0.400970636665,-0.015390575612,0.069823151592,0.999999938177,0.000207418792799,-0.000283629168523,1.3314814778e-05,1793256001583502848
+108,1.800000000,POSE1_TO_POSE2_PRESS,800,752,731,708.402207976,699,652.597792024,928,802.597792024,835,675,657,676,0.400970901218,-0.0153903470904,0.0698233359527,0.999999938526,0.00020705977581,-0.000282653086029,1.34823362787e-05,1793256001600169472
+109,1.816666667,POSE1_TO_POSE2_PRESS,800,751.812072915,731,708,699,652.812072915,928,803,835,675,657,676.187927085,0.400970836021,-0.0153902338992,0.0698233019411,0.999999938653,0.00020673883219,-0.00028243358408,1.35729494016e-05,1793256001616835840
+110,1.833333333,POSE1_TO_POSE2_PRESS,800,751.237683879,731,708,699,652.237683879,928,803,835,675,657,676.762316121,0.400970092709,-0.0153903578786,0.0698228188582,0.999999938326,0.000206496184342,-0.000283769949182,1.35054046091e-05,1793256001633502464
+111,1.850000000,POSE1_TO_POSE2_PRESS,800,751.348577957,731,708,699,652.348577957,928,803,835,675,657,676.651422043,0.400969456646,-0.0153899913085,0.0698224557806,0.999999937982,0.000206964053253,-0.000284631859429,1.36506957665e-05,1793256001650169344
+112,1.866666667,POSE1_TO_POSE2_PRESS,800,751.943220897,731,708,699,652.943220897,928,803,835,675,657,676.056779103,0.400968896291,-0.0153892784541,0.0698221774162,0.999999937627,0.000207933483711,-0.000285158846738,1.3946230147e-05,1793256001666835968
+113,1.883333333,POSE1_TO_POSE2_PRESS,800.519809843,752,731,708.519809843,699,653,928,803,835,675,657,676.519809843,0.400969133984,-0.0153884315846,0.069821576264,0.999999937839,0.000206365252229,-0.000285586187967,1.32541003749e-05,1793256001683502336
+114,1.900000000,POSE1_TO_POSE2_PRESS,800.905273809,751.905273809,731,708.905273809,699,652.905273809,928,803,834.905273809,675,657,677,0.40096949091,-0.0153879346397,0.0698212022375,0.999999938075,0.000204673093635,-0.000286004902475,1.26359645534e-05,1793256001700169216
+115,1.916666667,POSE1_TO_POSE2_PRESS,800.329172128,751.329172128,731,708.329172128,699,652.329172128,928,803,834.329172128,675,657,677,0.400970025635,-0.0153892878191,0.0698221555677,0.999999938145,0.00020371249896,-0.000286433233312,1.29236814812e-05,1793256001716835584
+116,1.933333333,POSE1_TO_POSE2_PRESS,800.244979134,751,730.755020866,708,699,652.244979134,928,802.755020866,834.244979134,675,657,677,0.400974199765,-0.0153904842356,0.0698245711905,0.999999938847,0.000203906203202,-0.000283810591484,1.34061921453e-05,1793256001733501952
+117,1.950000000,POSE1_TO_POSE2_PRESS,800.816530323,751,730.183469677,708,699,652.816530323,928,802.183469677,834.816530323,675,657,677,0.400983225439,-0.0153914716775,0.0698289361379,0.999999940358,0.000205638658026,-0.000277120817882,1.41483746586e-05,1793256001750168832
+118,1.966666667,POSE1_TO_POSE2_PRESS,801,751.40657158,730.40657158,708,699,653,928,802.40657158,835,675,657,677,0.401008812324,-0.0153916987552,0.0698392138162,0.999999944826,0.000207156708305,-0.000259260308964,1.47906086357e-05,1793256001766835712
+119,1.983333333,POSE1_TO_POSE2_PRESS,800.994852842,752,731,708.005147158,699,652.994852842,928,802.994852842,835,675,657,676.994852842,0.401042409576,-0.0153916006481,0.0698523144581,0.999999950258,0.000208546153896,-0.000236125178818,1.53911635056e-05,1793256001783502848
+120,2.000000000,POSE1_TO_POSE2_PRESS,800.419231758,752,731,708.580768242,699,652.419231758,928,802.419231758,835,675,657,676.419231758,0.401096053854,-0.0153953024931,0.0698684802761,0.99999995562,0.0002069162161,-0.000213706613493,1.66093435189e-05,1793256001800169216
+121,2.016666667,POSE1_TO_POSE2_PRESS,800,752,731,709,699,652,928,802.156375768,835,675,657,676.156375768,0.401155689048,-0.0153991696878,0.0698840338273,0.999999960256,0.000205523138009,-0.0001921922147,1.76307127002e-05,1793256001816835840
+122,2.033333333,POSE1_TO_POSE2_PRESS,800,752,731,709,699,652,928,802.731947077,835,675,657,676.731947077,0.401231384063,-0.0154034801348,0.0698979460823,0.999999963889,0.000204765008077,-0.000173101604702,1.81244926059e-05,1793256001833502720
+123,2.050000000,POSE1_TO_POSE2_PRESS,800.314781059,752,731,709.314781059,699,652,928,803,835,675,657,676.685218941,0.40131582034,-0.0154069113684,0.0699082606853,0.999999966535,0.000204001937,-0.000158124107661,1.76074689548e-05,1793256001850169344
+124,2.066666667,POSE1_TO_POSE2_PRESS,800.903945622,752,731,709.903945622,699,652,928,803,835,675,657,676.096054378,0.401407876061,-0.0154095762225,0.0699154393416,0.999999968451,0.000203234558976,-0.000146731866727,1.62093636031e-05,1793256001866835712
+125,2.083333333,POSE1_TO_POSE2_PRESS,800.513228132,752,730.513228132,710.486771868,699,652.486771868,928,803,835,675,657,676,0.40151736999,-0.0154146807131,0.0699194399067,0.999999969948,0.000200389401264,-0.000140538780127,1.40681375323e-05,1793256001883502336
+126,2.100000000,POSE1_TO_POSE2_PRESS,800,752,730.067534357,711.202603072,699,653,928,803,835,675,657,676,0.401632905455,-0.0154203156899,0.0699223202786,0.999999971277,0.000196905827893,-0.000136152337878,1.16955855595e-05,1793256001900169472
+127,2.116666667,POSE1_TO_POSE2_PRESS,800,752,730.642072536,712.926217609,699,653,928,803,835,675,657,676,0.401768295575,-0.0154263655396,0.0699214385435,0.99999997211,0.000191667946247,-0.000137725871663,8.67311322879e-06,1793256001916835840
+128,2.133333333,POSE1_TO_POSE2_PRESS,800,751.78429233,730.78429233,714.43141534,699,652.78429233,928,802.78429233,835,675,657,676,0.401916944475,-0.0154331602067,0.0699232039653,0.999999973662,0.000185743837454,-0.000134698897046,5.63892676024e-06,1793256001933502464
+129,2.150000000,POSE1_TO_POSE2_PRESS,800,751.212149445,730.212149445,715.57570111,699,652.212149445,928,802.212149445,835,675,657,676,0.402087502161,-0.0154411856089,0.0699293435475,0.999999976336,0.000178685807874,-0.000124070045134,2.58538415705e-06,1793256001950169344
+130,2.166666667,POSE1_TO_POSE2_PRESS,800,751.37316701,730.37316701,717.492668038,699,652,928,802,835,675,657,676,0.402276556936,-0.015448543933,0.0699310944832,0.999999978364,0.000169958776554,-0.000119925913754,-1.78397327363e-06,1793256001966835712
+131,2.183333333,POSE1_TO_POSE2_PRESS,800,751.966246899,730.966246899,719.864987596,699,652,928,802,835,675,657,676,0.402476512338,-0.0154555091388,0.0699302591246,0.999999979984,0.000160248176956,-0.000119603323805,-6.92876028217e-06,1793256001983502080
+132,2.200000000,POSE1_TO_POSE2_PRESS,800,752,731,718.910644999,699,652,928,802.544677501,835,675,657,676,0.40271753528,-0.0154662556826,0.0699366617147,0.999999984151,0.000142198493852,-0.000106519919296,-1.14218440508e-05,1793256002000168960
+133,2.216666667,POSE1_TO_POSE2_PRESS,800.121409353,752,731,718.121409353,699,652,928,802.878590647,835,675,657,676.121409353,0.402968923323,-0.0154767273345,0.0699435280191,0.99999998958,0.000109323132307,-9.29312554754e-05,-1.5899212671e-05,1793256002016835584
+134,2.233333333,POSE1_TO_POSE2_PRESS,800.695106268,752,731,718.695106268,699,652,928,802.304893732,835,675,657,676.695106268,0.403249692374,-0.0154853248595,0.069950494661,0.999999996298,2.30921939958e-05,-8.03290647938e-05,-2.04645463977e-05,1793256002033502208
+135,2.250000000,POSE1_TO_POSE2_PRESS,800.722945122,751.722945122,731,719.277054878,699,652.277054878,928,802,835,675,657,677,0.403545623634,-0.0154935821046,0.0699572871514,0.999999997179,-1.94363179931e-05,-6.81644225606e-05,-2.48686612361e-05,1793256002050169088
+136,2.266666667,POSE1_TO_POSE2_PRESS,800.131636948,751.131636948,731,719.868363052,699,652.868363052,928,802,835,675,657,677,0.40385875282,-0.0155014533822,0.0699638821076,0.999999997904,-1.23947481773e-05,-5.64960769173e-05,-2.90899112028e-05,1793256002066835968
+137,2.283333333,POSE1_TO_POSE2_PRESS,800.449267265,751,731,719.550732735,699,653,928,802.449267265,835,675.449267265,657,677,0.40420771489,-0.0155066993554,0.0699661158373,0.999999997881,-6.3257737406e-06,-5.63547973033e-05,-3.19857042442e-05,1793256002083502592
+138,2.300000000,POSE1_TO_POSE2_PRESS,800.972969667,751.027030333,731,719,699,652.972969667,928,802.972969667,835,675.972969667,657,677,0.404568913474,-0.0155108021453,0.0699674104226,0.99999999769,-1.32786338043e-07,-5.87323857169e-05,-3.4204491014e-05,1793256002100168960
+139,2.316666667,POSE1_TO_POSE2_PRESS,800.398482285,751.601517715,731,719,699,652.398482285,928,802.398482285,835,675.398482285,657,677,0.404970112336,-0.0155069783552,0.0699749792902,0.999999998412,1.42129591105e-05,-4.52685412204e-05,-3.03992476494e-05,1793256002116835584
+140,2.333333333,POSE1_TO_POSE2_PRESS,800,752,731,718.457822268,699,652,928,802,835,675,657,676.819274089,0.405377540754,-0.015502653723,0.0699798045963,0.999999998608,2.72267427193e-05,-3.6104393181e-05,-2.71800146389e-05,1793256002133502208
+141,2.350000000,POSE1_TO_POSE2_PRESS,800,752,731,716.688133615,699,652,928,802,835,675,657,676.229377872,0.405799073069,-0.0154971951657,0.0699784183741,0.999999998315,3.72249123348e-05,-3.66749226366e-05,-2.52875318041e-05,1793256002150169088
+142,2.366666667,POSE1_TO_POSE2_PRESS,800,751.645657435,731,716.354342565,699,652.354342565,928,802,835,675,657,676.354342565,0.406240960563,-0.0154985616752,0.0699671446929,0.999999997574,3.21738530601e-05,-5.48222364305e-05,-2.8476605292e-05,1793256002166835712
+143,2.383333333,POSE1_TO_POSE2_PRESS,800,751.065866249,731,716.934133751,699,652.934133751,928,802,835,675,657,676.934133751,0.406695798976,-0.0155042705977,0.0699495801671,0.999999995696,1.75478008387e-05,-8.41526881918e-05,-3.48987924489e-05,1793256002183502336
+144,2.400000000,POSE1_TO_POSE2_PRESS,800,751,731,717.513419073,699,652.486580927,928,802.513419073,835,675.513419073,657,677,0.407231057488,-0.0155071784249,0.0699434450727,0.999999995625,1.30575047099e-05,-8.55520914715e-05,-3.55060759033e-05,1793256002200168960
+145,2.416666667,POSE1_TO_POSE2_PRESS,800,751.091397119,731,717.725808644,699,652.091397119,928,803,835,675.908602881,657,677,0.407784014062,-0.0155097807238,0.0699420821661,0.99999999621,1.05427890987e-05,-7.88013792993e-05,-3.54990788801e-05,1793256002216835840
+146,2.433333333,POSE1_TO_POSE2_PRESS,800,751.662849559,731,716.011451324,699,652.662849559,928,803,835,675.337150441,657,677,0.408375792298,-0.0155126638642,0.0699580908524,0.999999998124,1.158159106e-05,-4.80451277505e-05,-3.61800217351e-05,1793256002233502208
+147,2.450000000,POSE1_TO_POSE2_PRESS,800,751.757735767,731,714.2732073,699,652.757735767,928,802.757735767,835,675,657,677,0.408967132859,-0.0155141642363,0.0699673301859,0.999999998887,8.74636285175e-06,-2.75069223196e-05,-3.73154272664e-05,1793256002250168832
+148,2.466666667,POSE1_TO_POSE2_PRESS,800,751.166863817,731,712.500591451,699,652.166863817,928,802.166863817,835,675,657,677,0.409557843592,-0.0155136748645,0.0699668287135,0.999999999001,3.36573324289e-07,-2.16720436458e-05,-3.91047848594e-05,1793256002266835712
+149,2.483333333,POSE1_TO_POSE2_PRESS,800,751,731,711.168385285,699,652,928,802,835,675.415807357,657,677,0.410181544272,-0.0155136501362,0.0699628390995,0.999999998786,-1.33127367475e-06,-2.87392618901e-05,-4.00096677921e-05,1793256002283502080
+150,2.500000000,POSE1_TO_POSE2_PRESS,800,751,731,710.009497617,699,652,928,802,835,675.995251191,657,677,0.410818227775,-0.0155138082632,0.0699574767652,0.999999998341,-3.45902097065e-07,-4.08839606115e-05,-4.05664752665e-05,1793256002300168960
+151,2.516666667,POSE1_TO_POSE2_PRESS,800,751.571701585,731,710,699,652.571701585,928,802.571701585,835,675.428298415,657,677,0.411542797918,-0.0155168628696,0.0699722622602,0.999999998996,-7.92003992156e-06,-1.69103323189e-05,-4.07438706601e-05,1793256002316835840
+152,2.533333333,POSE1_TO_POSE2_PRESS,800,751.849424504,731,710,699,652.849424504,928,802.849424504,835,675.150575496,657.150575496,677,0.412275051949,-0.0155203544484,0.0699930169881,0.999999998959,-1.45663326949e-05,1.58854934132e-05,-4.02276542292e-05,1793256002333502976
+153,2.550000000,POSE1_TO_POSE2_PRESS,800,751.263471759,731,710,699,652.263471759,928,802.263471759,835,675.736528241,657.736528241,677,0.413027423397,-0.0155250402948,0.0700305499042,0.999999996432,-1.8325326167e-05,7.33270561276e-05,-3.77149785549e-05,1793256002350169600
+154,2.566666667,POSE1_TO_POSE2_PRESS,800,751.31850757,731,710,699,652,928,802,835,676,657.68149243,677,0.413775804722,-0.015525405046,0.0700463709488,0.999999994572,-1.89872418796e-05,9.54653661121e-05,-3.71711075132e-05,1793256002366835968
+155,2.583333333,POSE1_TO_POSE2_PRESS,800,751.897240624,731,710,699,652,928,802,835,676,657.102759376,677,0.414520926138,-0.0155222393977,0.0700444530713,0.999999995183,-1.71187988473e-05,8.87603931488e-05,-3.82357793167e-05,1793256002383502592
+156,2.600000000,POSE1_TO_POSE2_PRESS,800,751.524490859,731,710.475509141,699,652.475509141,928,802,834.524490859,676,657,677,0.415244267476,-0.0155182539392,0.0699886439438,0.999999998851,-1.69548955067e-05,-6.07574043546e-06,-4.44153697138e-05,1793256002400168960
+157,2.616666667,POSE1_TO_POSE2_PRESS,800,751,731.053355064,711,699,652.946644936,928,802,834.053355064,676,657,677,0.41597638157,-0.0155150013434,0.0699279203288,0.999999992622,-1.79618853973e-05,-0.000108724914578,-5.11037003486e-05,1793256002416835328
+158,2.633333333,POSE1_TO_POSE2_PRESS,800,751,731.628052063,711,699,652.371947937,928,802,834.628052063,676,657,677,0.416840162018,-0.0155206390928,0.0699328614921,0.999999993108,-2.68141096558e-05,-0.000101801533338,-5.19729629653e-05,1793256002433502208
+159,2.650000000,POSE1_TO_POSE2_PRESS,800,751,732,710.792096137,699,652,928,802,835,676,657,677,0.417699393874,-0.0155241709183,0.0699463767361,0.999999994842,-3.35251429061e-05,-8.07679367325e-05,-5.16518954456e-05,1793256002450168832
+160,2.666666667,POSE1_TO_POSE2_PRESS,800,751,732,710.20278777,699,652,928,802,835,676,657,677,0.418550281178,-0.0155238393767,0.0699756213317,0.99999999756,-3.63081105561e-05,-3.38488200352e-05,-4.91471393069e-05,1793256002466835712
+161,2.683333333,POSE1_TO_POSE2_PRESS,800,751,731.620216789,710,699,652,928,802,835,676,657,677,0.419448159093,-0.015526062533,0.070008387754,0.999999998026,-3.75369642758e-05,1.75011185439e-05,-4.72539489663e-05,1793256002483502336
+162,2.700000000,POSE1_TO_POSE2_PRESS,800,751,731.04118059,710,699,652,928,802,835,676,657,677,0.420370690571,-0.0155296260098,0.0700430018991,0.999999995703,-3.79504530947e-05,7.11756831048e-05,-4.56816161839e-05,1793256002500168960
+163,2.716666667,POSE1_TO_POSE2_PRESS,799.464874854,751,731,709.464874854,699,652.535125146,928,802,835,676,657,677,0.421270562125,-0.015534530351,0.0700477234125,0.999999994996,-5.0653493419e-05,7.33277608773e-05,-4.54373130554e-05,1793256002516835584
+164,2.733333333,POSE1_TO_POSE2_PRESS,799.110926262,751,731.110926262,709,699,652.889073738,928,802,835,676,657,677,0.422158298897,-0.0155376074092,0.070036586111,0.999999995754,-6.11441776228e-05,5.07127284776e-05,-4.67015377202e-05,1793256002533502208
+165,2.750000000,POSE1_TO_POSE2_PRESS,799.685491848,751,731.685491848,709,699,652.314508152,928,802,835,676,657,677,0.423002567144,-0.0155326178584,0.0699687297462,0.999999995105,-5.84549936006e-05,-5.89335189808e-05,-5.38459752203e-05,1793256002550168832
+166,2.766666667,POSE1_TO_POSE2_PRESS,800,751,731.732762059,708.732762059,698.732762059,652,928,802,835,676,657,677,0.423862936652,-0.0155292733084,0.0699110385084,0.999999986376,-5.69711238842e-05,-0.000142528382786,-6.07204742291e-05,1793256002566835712
+167,2.783333333,POSE1_TO_POSE2_PRESS,800,751,731.14233193,708.14233193,698.14233193,652,928,802,835,676,657,677,0.424742778812,-0.0155279181886,0.0698656407616,0.999999977178,-5.69449372203e-05,-0.00019461724259,-6.72685165113e-05,1793256002583502592
+168,2.800000000,POSE1_TO_POSE2_PRESS,800,751,731.439498523,708,698,652,928,802,835,676,657,677,0.425710544797,-0.0155315707691,0.0699046052672,0.99999998655,-6.7468017867e-05,-0.000134721152678,-6.47941857523e-05,1793256002600168960
+169,2.816666667,POSE1_TO_POSE2_PRESS,800,751,732,708,698.018547495,652,928,802,834.981452505,676,657.018547495,677,0.426705969102,-0.0155368158139,0.0699696684166,0.99999999414,-8.08207661796e-05,-4.06296696014e-05,-5.9470819407e-05,1793256002616835840
+170,2.833333333,POSE1_TO_POSE2_PRESS,800,751,732,708,698.596093091,652,928,802,834.403906909,676,657.596093091,677,0.427693275482,-0.0155421163363,0.0700137006157,0.999999995356,-7.84666035101e-05,1.20208686401e-05,-5.46535195051e-05,1793256002633502464
+171,2.850000000,POSE1_TO_POSE2_PRESS,800,751.172077271,731.827922729,708.172077271,699,652,927.827922729,801.827922729,834.172077271,676,657.827922729,677,0.428683181383,-0.0155463320425,0.0700501278918,0.999999993769,-7.785709387e-05,6.14272704487e-05,-5.12551398267e-05,1793256002650169088
+172,2.866666667,POSE1_TO_POSE2_PRESS,800,751.744429354,731.255570646,708.744429354,699,652,927.255570646,801.255570646,834.744429354,676,657.255570646,677,0.429679134056,-0.0155480243203,0.0700688650946,0.999999990052,-8.13058816489e-05,0.000103287372694,-5.1157359419e-05,1793256002666835712
+173,2.883333333,POSE1_TO_POSE2_PRESS,800,752,731.327409448,709.327409448,699,652,927.327409448,801.327409448,835,676,657,677,0.430577841566,-0.0155445653348,0.0700384327644,0.999999994183,-7.68881144148e-05,5.27758274427e-05,-5.41870747427e-05,1793256002683502080
+174,2.900000000,POSE1_TO_POSE2_PRESS,800,752,731.918963903,709.918963903,699,652,927.918963903,801.918963903,835,676,657,677,0.431398094284,-0.0155369504506,0.0699683317958,0.999999993419,-6.61238242393e-05,-7.22586448622e-05,-5.97399676728e-05,1793256002700168704
+175,2.916666667,POSE1_TO_POSE2_PRESS,800,752,732,710,699.500227186,652,927.499772814,802,835,676,657.500227186,677,0.432286795793,-0.015534361715,0.0699245238487,0.99999998611,-6.65698049888e-05,-0.000138986875968,-6.34910961012e-05,1793256002716835840
+176,2.933333333,POSE1_TO_POSE2_PRESS,800.079172053,752.079172053,732.079172053,710,699.920827947,652,927,802,835,676,657.920827947,677,0.43319988321,-0.0155336100271,0.0698991990954,0.999999980432,-6.99529589735e-05,-0.000172972284361,-6.57445755082e-05,1793256002733502976
+177,2.950000000,POSE1_TO_POSE2_PRESS,800.653830532,752.653830532,732.653830532,710,699.346169468,652,927,802,835,676,657.346169468,677,0.434197588308,-0.0155393622182,0.0699634289986,0.999999993131,-8.05816143812e-05,-5.99634198506e-05,-6.04151261995e-05,1793256002750169344
+178,2.966666667,POSE1_TO_POSE2_PRESS,800.532879531,753.233560234,732.766439766,710.467120469,699.233560234,652.233560234,927,802.467120469,835,676,657,677,0.435175303684,-0.0155439382857,0.0700153330686,0.999999994341,-8.61377231757e-05,2.79274603863e-05,-5.58477074875e-05,1793256002766835968
+179,2.983333333,POSE1_TO_POSE2_PRESS,799.358053758,753.820973121,732.179026879,711.641946242,699.820973121,652.820973121,927,803.641946242,835,676,657,677,0.436122734021,-0.0155467324819,0.0700485630413,0.999999992073,-8.40087333685e-05,7.77636540031e-05,-5.24347941885e-05,1793256002783502336
+180,3.000000000,POSE1_TO_POSE2_PRESS,799.404526828,756.022634138,732.404526828,713.213580483,701.213580483,653.809053655,927.404526828,805.213580483,835.404526828,676,657,676.595473172,0.437039605572,-0.015548198241,0.0700493678973,0.999999990384,-9.15143699801e-05,8.93684546089e-05,-5.35696809735e-05,1793256002800168960
+181,3.016666667,POSE1_TO_POSE2_PRESS,799.986388725,758.931943626,732.986388725,714.959166176,702.959166176,654.97277745,927.986388725,806.959166176,835.986388725,676,657,676.013611275,0.437943080812,-0.0155490816442,0.070035958341,0.999999989517,-0.000103243600937,8.42135065812e-05,-5.66982168472e-05,1793256002816835584
+182,3.033333333,POSE1_TO_POSE2_PRESS,799.439693214,761.241227146,733,718.361840719,704.120613573,655.560306786,928,808.120613573,836,675.439693214,656.439693214,676,0.438729247085,-0.015545640981,0.0699764912649,0.999999993414,-9.66755202943e-05,-5.95456050618e-06,-6.15659317269e-05,1793256002833502208
+183,3.050000000,POSE1_TO_POSE2_PRESS,799.673789345,762.595726393,733,726.390314759,704.865242131,656.269515738,928,808.865242131,835.865242131,675,656,676.134757869,0.439511330976,-0.0155429838516,0.0699188542206,0.999999989024,-9.19046894257e-05,-9.5666192819e-05,-6.59857435923e-05,1793256002850169088
+184,3.066666667,POSE1_TO_POSE2_PRESS,802.557908324,760.865255006,733,749.46326659,704.288418335,657.42316333,928,808.288418335,835.288418335,675,656,676.711581665,0.440289240501,-0.0155432368324,0.0698708395321,0.999999977471,-9.4467377724e-05,-0.000177200490628,-6.87995764104e-05,1793256002866836224
+185,3.083333333,POSE1_TO_POSE2_PRESS,804.591297795,759.704351102,733.295648898,751.243586381,703.408702205,657.704351102,928,808,835.295648898,675,656.295648898,677,0.44112379047,-0.0155475683214,0.0698760306842,0.99999997756,-0.000102961436436,-0.000172156371429,-6.81316909637e-05,1793256002883502848
+186,3.100000000,POSE1_TO_POSE2_PRESS,805.77391971,759.113040145,733.886959855,731.730324779,702.22608029,657.113040145,928,808,835.886959855,675,656.886959855,677,0.442014983358,-0.0155559785001,0.0699344300486,0.999999987821,-0.000117387129304,-8.05299755249e-05,-6.39819319753e-05,1793256002900169216
+187,3.116666667,POSE1_TO_POSE2_PRESS,802.748742012,757.60660372,733.535534573,724.284276586,702.928930854,655.60660372,929.39339628,808.928930854,836,674.071069146,657.464465427,677.464465427,0.442802717564,-0.0155652916102,0.0699535927063,0.999999987717,-0.000129139620807,-6.38925972008e-05,-6.17013274987e-05,1793256002916835584
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+189,3.150000000,POSE1_TO_POSE2_PRESS,799,752.92091183,733,716.305094196,703.384182366,652.768364732,931,809.384182366,836,673,657.384182366,677.384182366,0.444263503656,-0.0155847854597,0.0699178744251,0.999999975313,-0.000159567283985,-0.000140640914864,-6.42776906419e-05,1793256002950169088
+190,3.166666667,POSE1_TO_POSE2_PRESS,798.617043248,750.808521624,733,714,702.617043248,652.191478376,930.808521624,808.808521624,835.808521624,673,656.808521624,676.808521624,0.444953271995,-0.015592976421,0.0698737358223,0.999999961286,-0.000172298974426,-0.000207702345558,-6.78246525355e-05,1793256002966835712
+191,3.183333333,POSE1_TO_POSE2_PRESS,797.470775274,750.235387637,733,714,701.470775274,652.764612363,930.235387637,808.235387637,835.235387637,673,656.235387637,676.235387637,0.445619341281,-0.0155976822046,0.0698255391641,0.999999946916,-0.000172955183041,-0.000267008223126,-7.04282637594e-05,1793256002983502592
+192,3.200000000,POSE1_TO_POSE2_PRESS,796.649983972,750.350016028,733.350016028,714,700.299967944,653,930.350016028,807.649983972,835.350016028,673.350016028,656,676.350016028,0.44626476141,-0.0156044389724,0.0697924162017,0.999999929923,-0.000182955749736,-0.000318578487322,-7.20357402163e-05,1793256003000169216
+193,3.216666667,POSE1_TO_POSE2_PRESS,796.056029161,750.943970839,733.943970839,714,699.112058323,653,930.943970839,807.056029161,835.943970839,673.943970839,656,676.943970839,0.446895790359,-0.0156126251448,0.0697697986442,0.999999910921,-0.000199468736222,-0.000364757520139,-7.29489742874e-05,1793256003016835840
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+198,3.300000000,POSE1_TO_POSE2_PRESS,796.375601803,757.687800901,734.687800901,791.390045064,699.687800901,652.843900451,929,802.312199099,836,674,656.843900451,677.843900451,0.449890756956,-0.0156532176319,0.069794580755,0.999999917595,-0.000226966639781,-0.000330196754491,-6.53224638259e-05,1793256003100168960
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f8bdc2c7c0471080d411144b5bee6b821af5acf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b23cd019e42bfcc5cb221565b04c9430bac55a5
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9023978f121c92247655fd4723f63cb18810d9aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+44,0.733333333,BASELINE,784,745,730.531601775,712,696.468398225,650,922,805,838,676,653,677,0.401056576088,-0.0154908215682,0.0798756504035,0.999999980136,0.000143914885082,-0.00013004098009,4.58845918919e-05,1793256008691716352
+45,0.750000000,BASELINE,784,745,731,712,696,650,922,805.110296651,838,676,653,677,0.401055302857,-0.0154885421226,0.079875081771,0.99999997977,0.000145141233436,-0.000131591417863,4.55742001588e-05,1793256008708383232
+46,0.766666667,BASELINE,784,745,731,712,696,650,922,805.684267281,838,676,653,677,0.401054634498,-0.0154897075662,0.0798748763531,0.999999979581,0.000145957540349,-0.000132098167886,4.56657582266e-05,1793256008725050368
+47,0.783333333,BASELINE,784,745,730.735407716,712,696.264592284,650,922.264592284,806,838,676,653,677,0.401055363954,-0.0154895715318,0.0798755008242,0.999999979555,0.0001471377159,-0.000130922807967,4.58121065322e-05,1793256008741717504
+48,0.800000000,BASELINE,784,745,730.147313504,712,696.852686496,650,922.852686496,806,838,676,653,677,0.401057802439,-0.0154878442545,0.0798771399532,0.999999979723,0.000148762773034,-0.000127690828021,4.6025443755e-05,1793256008758384384
+49,0.816666667,BASELINE,784,745,730,712.434765402,696.565234598,650,922.565234598,806,838,676,653,677,0.401057739675,-0.0154890148147,0.0798765603308,0.999999979915,0.000147040395969,-0.000128143387385,4.61437561609e-05,1793256008775050496
+50,0.833333333,BASELINE,784,745,730,712.9852444,696,650,922,806,837.9852444,676,653,677,0.401056856298,-0.015491073698,0.0798752838761,0.999999980107,0.000144251844861,-0.000129777571403,4.6212827253e-05,1793256008791716864
+51,0.850000000,BASELINE,784,745,730,712.408237525,696,650,922,806,837.408237525,676,653,677,0.401056557061,-0.0154900779787,0.0798757105817,0.999999980281,0.00014346655528,-0.00012951467149,4.56157205831e-05,1793256008808383232
+52,0.866666667,BASELINE,784,745,730,712,696.167441691,650,922,806,837.167441691,676,653,677,0.401056092756,-0.0154895570168,0.0798758199442,0.999999980274,0.000143531359322,-0.000129603084739,4.53199398188e-05,1793256008825049344
+53,0.883333333,BASELINE,784,745,730,712,696.739909389,650,922,806,837.739909389,676,653,677,0.401055229164,-0.0154901844496,0.0798751616829,0.999999979825,0.000145652461489,-0.000130541292141,4.57530386673e-05,1793256008841715968
+54,0.900000000,BASELINE,784,745,730,712.323387094,697,650,922,806,838,676,653,677,0.401055810493,-0.015490785985,0.0798754178021,0.999999979826,0.000145702006024,-0.000130414793653,4.59492663125e-05,1793256008858382592
+55,0.916666667,BASELINE,784,745,730,712.916031894,697,650,922,806,838,676,653,677,0.401057594887,-0.0154913659578,0.0798764352505,0.9999999802,0.000144026735629,-0.000129401802525,4.59482708628e-05,1793256008875049216
+56,0.933333333,BASELINE,783.503286166,745,730,713,697,650,922,805.503286166,837.503286166,676,653,676.503286166,0.40105718511,-0.0154918329989,0.0798762753225,0.999999980408,0.000142376487066,-0.000129629165302,4.59266826291e-05,1793256008891716352
+57,0.950000000,BASELINE,783.074982961,744.925017039,730,713.074982961,696.925017039,650,922,805.074982961,837.074982961,676,653,676.074982961,0.401056505314,-0.0154920533469,0.079875942364,0.999999980492,0.000141408743797,-0.000130038440001,4.59313772488e-05,1793256008908383488
+58,0.966666667,BASELINE,783.650328477,744.349671523,730,713.650328477,696.349671523,650,922,805.650328477,837.650328477,676,653,676.650328477,0.401056440622,-0.015490751905,0.0798757516809,0.99999997994,0.000144967808323,-0.000130295333784,4.61341412872e-05,1793256008925049856
+59,0.983333333,BASELINE,784,744.230618017,730,714,696.230618017,650,922,806,838,676,653,677,0.401056476921,-0.015489967931,0.0798758324095,0.999999979736,0.000146398776915,-0.000130282469161,4.60659238514e-05,1793256008941716224
+60,1.000000000,BASELINE,784,744.818568188,730,714,696.818568188,650,922,806,838,676,653,677,0.401056669702,-0.0154899857499,0.0798763336782,0.999999980086,0.000144532357962,-0.000129851626168,4.55778329482e-05,1793256008958382592
+61,1.016666667,BASELINE,784,745,730,714,696.599557385,650,922,806,838,676,653,677,0.401056582045,-0.0154912824793,0.0798762430986,0.999999980162,0.000143717927199,-0.000130103735135,4.57539339324e-05,1793256008975049216
+62,1.033333333,BASELINE,784,745,730,714,696.020394638,650,922,806,838,676,653,677,0.401056369227,-0.0154931499947,0.0798758883732,0.999999980118,0.000143373005692,-0.000130660650013,4.62264680874e-05,1793256008991715840
+63,1.050000000,BASELINE,784,745,730,714,696.556718858,650,922,806,838,676,653,677,0.401056351922,-0.0154918085866,0.0798763156703,0.999999980118,0.000144010839286,-0.000129979033215,4.61557142622e-05,1793256009008382720
+64,1.066666667,BASELINE,784,745,730,714.132571722,697,650,922,806,838,676,653,677,0.401056143121,-0.015490565385,0.0798765288699,0.999999980044,0.00014483345117,-0.000129672146223,4.6050288301e-05,1793256009025049344
+65,1.083333333,BASELINE,784,745,730,714.704494621,697,650,922,806,838,676,653,677,0.40105527604,-0.0154900358007,0.0798759379421,0.999999979718,0.000146149555091,-0.000130756951848,4.58956733099e-05,1793256009041715968
+66,1.100000000,BASELINE,784,745,730,715,697,650,922,806,838,676,653,677,0.401055247453,-0.015489325004,0.0798759829087,0.999999979531,0.000147284150057,-0.000130958782152,4.5780131602e-05,1793256009058382848
+67,1.116666667,BASELINE,784,745,730,715,697,650,922,806,838,676,653,677,0.401056115262,-0.0154884204815,0.0798767076809,0.999999979492,0.000148224702005,-0.000130216663814,4.57063613659e-05,1793256009075049728
+68,1.133333333,BASELINE,784,745,730,715,697,650,922,806,837.559497323,676,653,677,0.401056229964,-0.0154893644172,0.0798766320254,0.999999979573,0.00014803857172,-0.00012971378844,4.59579343343e-05,1793256009091716352
+69,1.150000000,BASELINE,784,745,730,715,697,650,922,806,837.004920714,676,653,677,0.40105614964,-0.0154907870354,0.0798763490887,0.999999979686,0.000147560672398,-0.000129272868104,4.62937591778e-05,1793256009108382720
+70,1.166666667,BASELINE,784,745,730,715,696.403900395,650,922,806,837.596099605,676,653,677,0.401056906317,-0.0154902955024,0.0798766482032,0.999999980209,0.00014464637256,-0.00012868622204,4.58271269708e-05,1793256009125049344
+71,1.183333333,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.401057370471,-0.0154901196731,0.0798769387415,0.999999980469,0.00014337074832,-0.000128161193733,4.56191990987e-05,1793256009141715968
+72,1.200000000,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.401057221183,-0.0154906244001,0.0798772010898,0.999999980198,0.000145490315243,-0.000127764822406,4.59549317612e-05,1793256009158382848
+73,1.216666667,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.40105724396,-0.0154902930139,0.0798773652133,0.999999979986,0.000146788637936,-0.000127951804189,4.59244149785e-05,1793256009175049728
+74,1.233333333,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.401057388093,-0.015489371924,0.0798774600595,0.999999979817,0.000147507743968,-0.000128550219956,4.56355855729e-05,1793256009191716352
+75,1.250000000,BASELINE,784,745,730.519252258,715,696,650,922,806,838,676,653,677,0.401057620517,-0.0154908283912,0.0798773646574,0.999999980133,0.000145240475627,-0.000128671118684,4.56384455206e-05,1793256009208382976
+76,1.266666667,BASELINE,784,745,730.903888619,715,696.096111381,650,922.096111381,806,838,676,653,677,0.401057500052,-0.0154918067375,0.079877044992,0.99999998034,0.000143466089119,-0.000129060514669,4.56263424288e-05,1793256009225049856
+77,1.283333333,BASELINE,784,745,730.328860129,715,696.671139871,650,922.671139871,806,838,676,653,677,0.40105557204,-0.0154890798996,0.0798757136798,0.999999979753,0.000145809149503,-0.00013105347901,4.53774002528e-05,1793256009241716224
+78,1.300000000,BASELINE,784,745,730,715,696.747633776,650,922.747633776,806,838,676,653.252366224,677,0.401054828469,-0.0154883383232,0.0798752548468,0.999999979609,0.000146208237774,-0.000131738232527,4.52867216744e-05,1793256009258382848
+79,1.316666667,BASELINE,784,745,730,715,696.158127647,650,922.158127647,806,838,676,653.841872353,677,0.401055667212,-0.0154902488881,0.0798759615725,0.999999980062,0.000144010343738,-0.000130675327012,4.54074698796e-05,1793256009275049472
+80,1.333333333,BASELINE,784,745,730.423838633,715,696,650,922,806,838,676,653.576161367,677,0.401056009255,-0.0154911697768,0.079876459149,0.999999980179,0.000143795524665,-0.00012993067062,4.56351700091e-05,1793256009291715840
+81,1.350000000,BASELINE,783.996971732,745,730.996971732,715,696.003028268,650,922,806,838,676,653,677,0.401056163678,-0.015491722667,0.0798768741246,0.999999980175,0.00014429680817,-0.000129313337623,4.58980875719e-05,1793256009308382720
+82,1.366666667,BASELINE,783.420218125,745,730.420218125,715,696.579781875,650,922,806,838,676,653,677,0.401055266577,-0.0154912867583,0.0798761647677,0.999999980237,0.000142748066897,-0.000130716540898,4.54055904061e-05,1793256009325049344
+83,1.383333333,BASELINE,783.15574649,745,730,715,696.84425351,650,922,806,838,676,653,677,0.401054633515,-0.0154907031752,0.0798756532185,0.999999980177,0.000142354183171,-0.000131714983274,4.50725876464e-05,1793256009341715968
+84,1.400000000,BASELINE,783.729593191,745,730,715,696.270406809,650,922,806,838,676,653,677,0.401054709262,-0.0154897231613,0.0798756726826,0.999999979796,0.000145060504969,-0.000131626848551,4.51677462377e-05,1793256009358382336
+85,1.416666667,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.401055071708,-0.0154886945984,0.0798756566432,0.999999979561,0.000146942578562,-0.000131328116146,4.51623312681e-05,1793256009375049472
+86,1.433333333,BASELINE,784,745,730,715,696,650,922,806,838,676,653,677,0.401055689641,-0.0154876227716,0.0798756089655,0.999999979459,0.000148090133217,-0.00013084171218,4.50672913859e-05,1793256009391716352
+87,1.450000000,BASELINE,784.484361906,745,730,715,696.484361906,650,922,806,838,676,653,677,0.401055872998,-0.0154887025896,0.0798759506532,0.999999979754,0.000146070349921,-0.000130848607322,4.5093221252e-05,1793256009408382976
+88,1.466666667,BASELINE,784.936664849,745,730,715,696.936664849,650,922.063335151,806,838,676,653,677,0.401055912047,-0.0154900295356,0.0798763267459,0.999999980058,0.000143894831113,-0.000130919690913,4.51567667232e-05,1793256009425049856
+89,1.483333333,BASELINE,784.361461996,745,730,715,696.361461996,650,922.638538004,806,838,676,653,677,0.401055474245,-0.0154899402974,0.0798763631937,0.999999979845,0.000145485451627,-0.000130726951365,4.53324066909e-05,1793256009441716480
+90,1.500000000,BASELINE,784,745,730,715,696,650,922.7838599,806,838,676,653,677,0.401055693652,-0.015490391115,0.079876620745,0.999999979885,0.000145736338445,-0.00013007076756,4.55282837157e-05,1793256009458382848
+91,1.516666667,BASELINE,784,745,730,715,696,650,922.202200446,806,838,676,653,677,0.401057024481,-0.0154917552331,0.0798772522094,0.999999980352,0.000143721571507,-0.000128630842833,4.5758384062e-05,1793256009475049728
+92,1.533333333,BASELINE,784,745,730,715,696.381188471,650,922,806,838,676,653,677,0.401056860914,-0.0154914083845,0.0798769595643,0.999999980516,0.000142338027582,-0.000129052420462,4.53071572209e-05,1793256009491716352
+93,1.550000000,BASELINE,784,745,730,715,696.965499011,650,922,806,838,676,653,677,0.401055901037,-0.0154901498215,0.0798761744935,0.999999980518,0.000141290840245,-0.000130465927777,4.44928748555e-05,1793256009508382976
+94,1.566666667,BASELINE,784,745,730,715,696.455279459,650,922,806,838,676,653,677,0.401055379212,-0.0154898419785,0.0798759069097,0.999999980203,0.000143077797738,-0.000130766080776,4.49802031735e-05,1793256009525049600
+95,1.583333333,BASELINE,784.122580828,745,730,715,696.122580828,650,922,806,838,676,653,677,0.401054774135,-0.0154895754967,0.0798755507992,0.999999979857,0.000144919683632,-0.000131235775599,4.54122726793e-05,1793256009541716224
+96,1.600000000,BASELINE,784.69660414,745,730,715,696.69660414,650,922,806,838,676,653,677,0.40105376122,-0.0154892416295,0.0798747490699,0.999999979479,0.00014630889154,-0.00013258715733,4.53400327003e-05,1793256009558382592
+97,1.616666667,BASELINE,784.722353867,745,730.277646133,715,697,650,922,806,838,676,653,677,0.401053502109,-0.0154893022637,0.079874634098,0.99999997938,0.000146705210507,-0.000132946402911,4.52062685657e-05,1793256009575049472
+98,1.633333333,BASELINE,784.133443387,745,730.866556613,715,697,650,922,806,838,676,653,677,0.401054088074,-0.0154898051669,0.079875289038,0.999999979593,0.00014598841852,-0.000132193381478,4.50035307532e-05,1793256009591716096
+99,1.650000000,BASELINE,783.552372756,745,730.552372756,715,696.552372756,650,922,806,838,676,653,677,0.401053945327,-0.0154891079615,0.0798757473655,0.999999979666,0.000145718697002,-0.000131850827176,4.52783887762e-05,1793256009608382720
+100,1.666666667,BASELINE,783.026147415,745,730,715.026147415,696,650,922,806,838,675.973852585,653,677,0.401053640647,-0.0154881777256,0.0798761225028,0.999999979702,0.000145539315539,-0.000131636858246,4.5672669779e-05,1793256009625049344
+101,1.683333333,BASELINE,783.59936329,745,730,715.59936329,696,650,922,806,838,675.40063671,653,677,0.401054414872,-0.0154897284558,0.0798759623106,0.999999979858,0.000144509576329,-0.000131597092581,4.56379625572e-05,1793256009641715968
+102,1.700000000,BASELINE,784,745,730,715.828141012,696,650,922,806,838,675,653,677,0.401054910563,-0.0154904280901,0.0798755559659,0.999999979894,0.000144104530604,-0.0001317974697,4.55535493173e-05,1793256009658382848
+103,1.716666667,BASELINE,784,745,730,715.257317261,696,650,922,806,838,675,653,677,0.401054759645,-0.0154891519343,0.0798745781867,0.999999979652,0.000145149689584,-0.000132555330082,4.53537452611e-05,1793256009675049472
+104,1.733333333,BASELINE,783.671291481,745.328708519,730,714.671291481,696.328708519,650,922,806,838,675,653,677,0.401055010964,-0.0154899411225,0.0798749886699,0.999999979862,0.000144172267729,-0.000131992838901,4.54729090873e-05,1793256009691715840
+105,1.750000000,BASELINE,783.072788239,745.927211761,730,714.072788239,696.927211761,650,922,806,838,675,653,677,0.401055592427,-0.0154924254869,0.0798765385999,0.999999980438,0.000141534768435,-0.000130346640316,4.58538727725e-05,1793256009708382720
+106,1.766666667,BASELINE,783.508399927,745.491600073,730,714.508399927,697,650,922,806,838,675.508399927,653,677,0.401054933105,-0.0154911721206,0.0798758459542,0.999999980187,0.000143215188896,-0.000130547574113,4.55377625647e-05,1793256009725049088
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,745,730,715,697,650,922,806,838,676,653,677,0.401057696713,-0.0154894397018,0.07987659688,0.99999997961,0.000148440857999,-0.000129223220547,4.52321244785e-05,1793256009768281344
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,745,730.58937663,715.58937663,697,650,922,806,838,675.41062337,653,677,0.401056906774,-0.0154892859897,0.0798768057036,0.999999979784,0.000147049749788,-0.000129470325601,4.52315634342e-05,1793256009784948736
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,745,730.82542193,715.82542193,696.82542193,650,922,806,838,675.17457807,653,677,0.401056408368,-0.0154891238313,0.0798769718658,0.999999979841,0.000146613952039,-0.000129521040087,4.52330518141e-05,1793256009801615872
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,745,730.249811421,715.249811421,696.249811421,650,922,806,838,675.750188579,653,677,0.401056579659,-0.0154889422702,0.0798770400283,0.999999979633,0.000148372647761,-0.000129120615558,4.52392480337e-05,1793256009818282496
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,745,730,715.328307808,696.328307808,650,922,806,838,676,653,677,0.401056795444,-0.0154893520536,0.0798773345711,0.999999979817,0.000147420224067,-0.000128748174463,4.53591824858e-05,1793256009834948864
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,745,730,715.908350601,696.908350601,650,922,806,838,676,653,677,0.401057045343,-0.0154902152592,0.0798778026944,0.999999980295,0.000144389008373,-0.000128397190115,4.55663274504e-05,1793256009851614976
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,745,730,716.485859424,696.514140576,650,922,806,838,676,653,677,0.401055708471,-0.0154910894002,0.0798768174169,0.999999980266,0.000142595813753,-0.000130671739188,4.53733855101e-05,1793256009868281344
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.935848868,745,730,717,696.064151132,650,922,806,838,675.935848868,653,677,0.401054265062,-0.0154916834448,0.0798757720055,0.999999980095,0.00014159687183,-0.0001331222338,4.51503078294e-05,1793256009884947712
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.347269895,745,730,717,696.652730105,650,922,806,838,675.347269895,653,677,0.401054384931,-0.0154899709596,0.0798764646053,0.999999979592,0.000145191656973,-0.000132983346605,4.52946298378e-05,1793256009901614592
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,745,730,717,696.762552975,650,922,806,838,675.237447025,653,677,0.401055723029,-0.0154895347774,0.0798777312721,0.999999979391,0.000145819206718,-0.000133771325666,4.53938411594e-05,1793256009918281216
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,745,730,717,696.183394016,650,922,806,838,675.816605984,653,677,0.40105881429,-0.0154909353333,0.0798798240833,0.999999979628,0.00014217658371,-0.000135893165461,4.54281333144e-05,1793256009934948096
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,745,730.392295554,717,696,650,922,806,838,675.607704446,653,677,0.40107230989,-0.0154914154052,0.0798844124096,0.999999979491,0.000143048365718,-0.000135968717444,4.54789808172e-05,1793256009951614720
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,745,730.966377491,717,696,650,922,806,838,675.033622509,653,677,0.401090626772,-0.015491468933,0.0798901571363,0.999999979178,0.000146012083832,-0.000135096037456,4.55374999285e-05,1793256009968281600
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,745.54212319,731,717,696,650,922,806,838,675.54212319,653,677,0.401133428103,-0.0154934589767,0.0799031027532,0.999999980695,0.00014576249121,-0.000123394841995,4.62262311688e-05,1793256009984947968
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.121331826,745.878668174,730.878668174,717,696.121331826,650,922,806,837.878668174,676,653,677,0.401182977097,-0.0154958107058,0.079916523932,0.999999982343,0.000145231873826,-0.000109705567535,4.67579266913e-05,1793256010001614592
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.713579337,745.286420663,730.286420663,717,696.713579337,650,922,806,837.286420663,676,653,677,0.401252803397,-0.0154990986358,0.0799300521882,0.999999984361,0.000144386405604,-9.09147092727e-05,4.65279644449e-05,1793256010018281472
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.701797208,745,730.298202792,717,697,650.298202792,922,806,837.298202792,676,653,677,0.401335683172,-0.0155019322887,0.0799427384225,0.999999986001,0.000143706088527,-7.2635956646e-05,4.55123275394e-05,1793256010034948352
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.124314063,745,730.875685937,717,697,650.875685937,922,806,837.875685937,676,653,677,0.401430788111,-0.0155043404905,0.0799546360647,0.999999987289,0.000143180442994,-5.48368151589e-05,4.37608709193e-05,1793256010051614720
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.45080375,745,730.54919625,717,697,650.54919625,922,806,837.54919625,676,653,677,0.401539597461,-0.0155064411004,0.0799604957309,0.99999998765,0.000144610698123,-4.61707348327e-05,4.06997269022e-05,1793256010068281600
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,745,730,717,697,650,922,806,837.025941864,676,653,677,0.401653027877,-0.0155084362431,0.0799646327553,0.999999987786,0.000146399829401,-4.0084524154e-05,3.72584431433e-05,1793256010084948224
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,745,730,717,697,650,922,806,837.615621593,676,653,677,0.401785182677,-0.0155099731243,0.0799673291439,0.999999988394,0.000144328055319,-3.56166881786e-05,3.33637619429e-05,1793256010101614592
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,745.201587717,730,717.201587717,697,650,922,806,838,676,653,677,0.401927986745,-0.0155121414557,0.0799701060066,0.999999989152,0.000141088246561,-3.0813804536e-05,2.89883284774e-05,1793256010118281472
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,745.780600923,730,717.780600923,697,650,922,806,838,676,653,677,0.402090729043,-0.015515492029,0.0799730335379,0.999999990195,0.000135661568385,-2.53836236034e-05,2.37128001374e-05,1793256010134948096
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.64197736,745.64197736,730,718,697,650,922,806,838,676,653,677,0.402264839095,-0.0155176269754,0.0799711007213,0.99999999144,0.000126152111989,-3.02182504321e-05,1.71186961673e-05,1793256010151614720
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.065526546,745.065526546,730,718,697,650,922,806,838,676,653,677,0.402445884583,-0.0155190202731,0.0799662026262,0.999999992584,0.000114151768468,-4.13153946582e-05,9.72013399537e-06,1793256010168281088
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.505015618,745,730,718,697,650,922,806,838,675.494984382,653,677,0.402657607329,-0.0155186087112,0.0799597114841,0.999999995529,7.64625271584e-05,-5.56106636148e-05,1.78611591245e-06,1793256010184947712
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,745,730.078118202,718,697,650,922,806,838,675,653,677,0.402879276468,-0.0155178176517,0.0799538725224,0.999999996825,4.01964150034e-05,-6.85128283912e-05,-6.27754740711e-06,1793256010201614848
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,745,730.673179108,718,697,650,922,806,838,675,653,677,0.403140729798,-0.0155160470619,0.0799537013319,0.99999999686,3.51497629979e-05,-6.94819858298e-05,-1.47446962603e-05,1793256010218281472
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,745,731,718,697,650,922,806,837.739200448,675.260799552,653,677,0.403424379678,-0.015514302735,0.0799561537361,0.99999999732,2.144436328e-05,-6.65685052874e-05,-2.16431775804e-05,1793256010234948096
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,745,731,718,697,650,922,806,837.160645424,675.839354576,653,677,0.403735073588,-0.0155125904068,0.0799618027008,0.999999997905,-2.81076468333e-06,-5.8924458755e-05,-2.66304101075e-05,1793256010251614720
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.57800992,745,730.57800992,718,697,650,922,806,837,676,653,677,0.404075747237,-0.0155135819691,0.0799656361253,0.999999998222,-2.40034701535e-06,-5.27631785686e-05,-2.7681656888e-05,1793256010268281344
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,745,730,718,697,650,922,806,837,675.993858998,653,677,0.40442844303,-0.0155156637195,0.0799687435046,0.99999999849,7.23241048466e-06,-4.71813192979e-05,-2.72372164234e-05,1793256010284947712
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,745,730,718,697,650,922,806,837,675.414664591,653,677,0.404827598135,-0.0155224865077,0.0799692242948,0.999999998667,-7.31795855872e-06,-4.24805442433e-05,-2.84085267576e-05,1793256010301614592
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.164551163,745,730,718,696.835448837,650,922,806,837.164551163,675.164551163,653,677,0.405233899961,-0.0155294975141,0.0799670153958,0.999999998461,-1.90409679157e-05,-4.29084944963e-05,-2.95588341604e-05,1793256010318281472
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.743820631,745,730,718,696.256179369,650,922,806,837.743820631,675.743820631,653,677,0.405658213609,-0.0155369828862,0.0799580276732,0.999999997668,-2.36381802975e-05,-5.62623721587e-05,-3.06562077079e-05,1793256010334948096
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.678698264,745,730.321301736,718.321301736,696.321301736,650,922,806,837.678698264,676,653,677,0.40610508673,-0.0155456738325,0.0799508475979,0.999999996393,-3.49926518219e-05,-7.04121769539e-05,-3.21160219907e-05,1793256010351614464
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.102635098,745,730.897364902,718.897364902,696.897364902,650,922,806,837.102635098,676,653,677,0.406569847394,-0.0155553206843,0.0799451008127,0.999999994461,-5.17049815973e-05,-8.51930769693e-05,-3.38632170896e-05,1793256010368281088
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,745,730.527160579,719,697,650,922,806,837,676,653,677,0.407071338626,-0.0155562711523,0.0799433550864,0.999999994696,-4.10297460501e-05,-8.91059341095e-05,-3.13756338192e-05,1793256010384948480
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,745.049435725,730.049435725,719.049435725,697,650,922.049435725,806,837.049435725,675.950564275,653,677,0.407583735516,-0.0155548270778,0.0799417952318,0.999999994991,-2.61465584733e-05,-9.22609285381e-05,-2.86644050368e-05,1793256010401615616
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,745.639700932,730.639700932,719.639700932,697,650,922.639700932,806,837.639700932,675.360299068,653,677,0.408128327044,-0.0155478118685,0.0799327794762,0.999999992608,-3.01834657765e-05,-0.000112900697536,-3.35501407349e-05,1793256010418282240
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.774149245,746,731,720.225850755,697,650,923,806,837.774149245,675,653,677,0.408706865066,-0.0155443766947,0.0799337530264,0.999999992175,-3.29459158316e-05,-0.000115162715144,-3.60770072862e-05,1793256010434948608
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.194447229,746,731,720.805552771,697,650,923,806,837.194447229,675,653,677,0.409338588663,-0.0155465505352,0.0799503773038,0.999999994895,-3.37116120642e-05,-8.86314228563e-05,-3.49081195879e-05,1793256010451615744
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.382702796,746,731,721,697,650,923,806,837.382702796,675,653,677,0.410005976507,-0.0155489748395,0.0799787970646,0.999999997971,-3.69887922896e-05,-3.9186587708e-05,-3.39872997075e-05,1793256010468282368
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.958564752,746,731,721,697,650,923,806,837.958564752,675,653,677,0.410691364921,-0.0155515255588,0.0800131702847,0.999999998349,-4.15335778126e-05,2.18232542817e-05,-3.3191685465e-05,1793256010484948736
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.455996904,746,731,721.544003096,697,650,923.544003096,806,837.455996904,675,653,677,0.411353574614,-0.0155506697736,0.0800014523988,0.999999998323,-4.51670190721e-05,-5.04329977575e-06,-3.58968439465e-05,1793256010501615360
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.128622993,746,730.871377007,721.871377007,697,650,923.871377007,806,837,675,653,677,0.412020171159,-0.0155490384522,0.0799814960103,0.999999997218,-4.75849326444e-05,-4.1849316332e-05,-3.93491252768e-05,1793256010518281984
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.70777529,746,730.29222471,721.29222471,697,650,923.29222471,806,837,675,653,677,0.412708428144,-0.0155456157649,0.0799451996122,0.999999993939,-4.59926983079e-05,-8.96055639072e-05,-4.44676476341e-05,1793256010534949120
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.713599118,746,730,721.286400882,697,650,923.286400882,806,837.286400882,675,653,677,0.413435301017,-0.0155439201077,0.0799274872882,0.999999991922,-4.61210593763e-05,-0.000108422015113,-4.76826302417e-05,1793256010551615488
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.135509883,746,730,721.864490117,697,650,923.864490117,806,837.864490117,675,653,677,0.414201502777,-0.0155439833643,0.0799287021289,0.99999999287,-4.80017809866e-05,-9.7764395759e-05,-4.89589310647e-05,1793256010568281856
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,746.4393704,730.4393704,722,697,650.4393704,924,806.4393704,838,675,653,677,0.414992883455,-0.015545334618,0.0799524348072,0.9999999959,-4.94670590103e-05,-5.92244444899e-05,-4.73864868375e-05,1793256010584948224
+157,2.616666667,POSE1_TO_POSE2_PRESS,781.986687302,747,731,722,697,650.986687302,924,806.986687302,837.986687302,675,653,677,0.415791599322,-0.0155469598,0.0799819863705,0.999999997596,-5.07889748318e-05,-1.40611574086e-05,-4.50551468606e-05,1793256010601614592
+158,2.633333333,POSE1_TO_POSE2_PRESS,781.410861615,747,731,722,697,650.410861615,924,806.410861615,837.410861615,675,653,677,0.416574508177,-0.0155434962117,0.0799660866205,0.999999996311,-5.14280415778e-05,-4.97604859718e-05,-4.75128173457e-05,1793256010618281216
+159,2.650000000,POSE1_TO_POSE2_PRESS,781,747,731,722.170168992,697,650,924.170168992,806.170168992,837.170168992,675,653,677,0.417393968451,-0.0155420883922,0.0799623148361,0.999999995858,-5.13945224331e-05,-5.68363090405e-05,-4.91184619498e-05,1793256010634947840
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,747,731,722.764163007,697,650,924.764163007,806.764163007,837.764163007,675,653,677,0.418304464098,-0.0155458006967,0.0799887491159,0.999999997557,-4.96858524116e-05,7.37793128786e-06,-4.86020400786e-05,1793256010651614464
+161,2.683333333,POSE1_TO_POSE2_PRESS,781,747,731,723,697,650.346359346,925,806.653640654,838,675,653,677,0.419188415141,-0.0155482393285,0.0800019887012,0.999999996734,-5.2256103823e-05,3.85038258878e-05,-4.81591621822e-05,1793256010668281344
+162,2.700000000,POSE1_TO_POSE2_PRESS,781,747,731,723,697,650.920787204,925,806.079212796,838,675,653,677,0.420054887226,-0.0155498392803,0.0800065399265,0.999999996053,-5.76439125076e-05,4.7841913411e-05,-4.77647111649e-05,1793256010684948480
+163,2.716666667,POSE1_TO_POSE2_PRESS,781,747.495698401,731,723,697,651,925,806,838,675,653.495698401,677,0.420910899333,-0.0155490492896,0.0799905665208,0.999999997086,-5.55447064561e-05,1.80042550456e-05,-4.91860330015e-05,1793256010701614848
+164,2.733333333,POSE1_TO_POSE2_PRESS,781,747.927161398,731,722.927161398,697,651,925,806,838,675,654,677,0.421776551596,-0.0155482376052,0.079976982576,0.99999999731,-5.25872925857e-05,-8.5598041036e-06,-5.04033067774e-05,1793256010718281472
+165,2.750000000,POSE1_TO_POSE2_PRESS,781,747.334670691,731,722.334670691,697,651,925,806,838,675,654,677,0.422722915833,-0.0155499984959,0.0800038679747,0.999999996946,-5.20511733027e-05,3.29373952545e-05,-4.80927247102e-05,1793256010734948096
+166,2.766666667,POSE1_TO_POSE2_PRESS,781,747,730.748564194,720.491385164,697,650.748564194,925,806,837.748564194,675,654,677,0.423640048939,-0.0155498188037,0.0800134467489,0.99999999691,-4.706504711e-05,4.18827808581e-05,-4.7026124569e-05,1793256010751614720
+167,2.783333333,POSE1_TO_POSE2_PRESS,781,747,730.170744823,717.02446894,697,650.170744823,925,806,837.170744823,675,654,677,0.424519237855,-0.0155471200819,0.0800005601593,0.999999998173,-3.63024599258e-05,8.57334310094e-06,-4.7574311091e-05,1793256010768281344
+168,2.800000000,POSE1_TO_POSE2_PRESS,780.595483364,747,730.404516636,713.572900184,696.595483364,650.404516636,925,806,837,675,653.595483364,676.595483364,0.425404534126,-0.0155451969772,0.0799669245836,0.999999997034,-3.6505112775e-05,-4.53228204757e-05,-5.0458459397e-05,1793256010784947968
+169,2.816666667,POSE1_TO_POSE2_PRESS,780.021294839,747,730.978705161,710.127769033,696.021294839,650.978705161,925,806,837,675,653.021294839,676.021294839,0.426292392037,-0.0155435992002,0.0799245859805,0.999999991855,-4.1307065237e-05,-0.000107853951032,-5.43224115927e-05,1793256010801614592
+170,2.833333333,POSE1_TO_POSE2_PRESS,780,747,731,707.802457485,696.549385629,651,925.549385629,806,837.549385629,675,653.549385629,676,0.427205022312,-0.0155445642962,0.0799191715015,0.999999991758,-4.77852656439e-05,-0.000104774725929,-5.67762421034e-05,1793256010818281472
+171,2.850000000,POSE1_TO_POSE2_PRESS,780,747,731,705.622062773,697,651,925.874020924,806,837.874020924,675,654,676.125979076,0.428128195767,-0.0155458880571,0.079920449299,0.999999992186,-5.35298928344e-05,-9.67360847205e-05,-5.83429470575e-05,1793256010834947840
+172,2.866666667,POSE1_TO_POSE2_PRESS,780,747,731,703.824109377,697,651,925.274703126,806,837.274703126,675,654,676.725296874,0.429087397987,-0.0155481885428,0.0799415284708,0.99999999364,-5.62757051439e-05,-7.95581714722e-05,-5.6780534699e-05,1793256010851614464
+173,2.883333333,POSE1_TO_POSE2_PRESS,780,747,731,703.624471235,696.687764383,650.687764383,925.312235617,806,837,674.687764383,654,677,0.430056895644,-0.015552213981,0.0799787964292,0.999999996493,-5.60876256146e-05,-3.06801072309e-05,-5.41006891783e-05,1793256010868281088
+174,2.900000000,POSE1_TO_POSE2_PRESS,780,747,731,704.777397266,696.111301367,650.111301367,925.888698633,806,837,674.111301367,654,677,0.431035105701,-0.0155576991492,0.080029764044,0.999999996286,-5.34167584665e-05,4.50240067349e-05,-5.04752228247e-05,1793256010884947968
+175,2.916666667,POSE1_TO_POSE2_PRESS,779.535664161,747,731,700.356641608,696,650.464335839,926,806,837,674,653.535664161,677,0.431941252447,-0.0155544141764,0.0800352044508,0.999999996592,-4.45908418873e-05,4.88279779712e-05,-4.94253663151e-05,1793256010901614848
+176,2.933333333,POSE1_TO_POSE2_PRESS,779,747,731,694.756840825,696,650.959473471,926,806,837,674,653.040526529,676.959473471,0.432825280852,-0.0155491270918,0.0800253330322,0.999999997678,-3.59663237133e-05,3.00027957819e-05,-4.9494686285e-05,1793256010918281216
+177,2.950000000,POSE1_TO_POSE2_PRESS,779,747,731,691.239010598,696,650.373168433,926,806,837,674,653.626831567,676.373168433,0.433643650116,-0.015545137714,0.0799559592465,0.999999995254,-4.98878510569e-05,-6.18855970306e-05,-5.63366358204e-05,1793256010934947840
+178,2.966666667,POSE1_TO_POSE2_PRESS,779,747,731,687.517687128,696,650,926,806.211758982,837,674.211758982,654,676.211758982,0.434505510145,-0.015545197095,0.0799169866297,0.999999990006,-6.32392727033e-05,-0.000110965426347,-6.06293189872e-05,1793256010951614208
+179,2.983333333,POSE1_TO_POSE2_PRESS,779,747,731,683.440078553,696,650,926,806.794274492,837,674.794274492,654,676.794274492,0.435443515768,-0.0155523452126,0.0799312416462,0.999999991695,-7.55925322212e-05,-8.50942386914e-05,-6.04586412101e-05,1793256010968280832
+180,3.000000000,POSE1_TO_POSE2_PRESS,779,746.629119333,731,682.370880667,696.370880667,650,926,807,837,675,654,677,0.43634529594,-0.0155534173214,0.0799596217344,0.999999994178,-7.60787860575e-05,-4.94813529101e-05,-5.83766849388e-05,1793256010984947712
+181,3.016666667,POSE1_TO_POSE2_PRESS,779,746.055739662,731,682.944260338,696.944260338,650,926,807,837,675,654,677,0.437227297139,-0.0155511719591,0.0799957140406,0.999999995981,-7.0085712834e-05,-8.54954977621e-06,-5.52511800363e-05,1793256011001614336
+182,3.033333333,POSE1_TO_POSE2_PRESS,779,746,731,682.499312632,697,650,926,807,837,674.499312632,654,676.499312632,0.438078723136,-0.0155575449442,0.0800235348764,0.999999995412,-6.89857934564e-05,4.02864862141e-05,-5.28560015299e-05,1793256011018281472
+183,3.050000000,POSE1_TO_POSE2_PRESS,779,746,731,682.06155082,696.93844918,650,926,806.93844918,837,674.06155082,653.93844918,676.06155082,0.438921273711,-0.0155645016076,0.0800443793378,0.9999999931,-7.01524185945e-05,7.91161239129e-05,-5.11795224986e-05,1793256011034948352
+184,3.066666667,POSE1_TO_POSE2_PRESS,779,746,731,682.678965204,696.321034796,650,926,806.321034796,837,674.678965204,653.321034796,676.678965204,0.439713403718,-0.0155683484708,0.080010264035,0.999999994487,-8.70297520372e-05,1.98917526436e-05,-5.52833854674e-05,1793256011051614720
+185,3.083333333,POSE1_TO_POSE2_PRESS,779,746,731,682.72400663,696,649.72400663,926,806,837,675,653,677,0.440441301397,-0.0155716660658,0.0799373612589,0.999999988392,-0.000101283381299,-9.55754390663e-05,-6.18353560492e-05,1793256011068281344
+186,3.100000000,POSE1_TO_POSE2_PRESS,779,746,731,682.149060607,696,649.149060607,926,806,837,675,653,677,0.441099623351,-0.0155744103637,0.0798224443668,0.999999954144,-0.000112695043073,-0.000271964163355,-7.10390854905e-05,1793256011084948224
+187,3.116666667,POSE1_TO_POSE2_PRESS,779,746,731,682,696,649.425138946,926,806,837,675,653.425138946,677,0.441804034494,-0.0155799166986,0.0797736551955,0.999999931982,-0.000124099421464,-0.000339215225307,-7.46201310683e-05,1793256011101614592
+188,3.133333333,POSE1_TO_POSE2_PRESS,779,746,731,682,696,649.999077279,926,806,837,675,653.999077279,677,0.442524576989,-0.0155863897516,0.0797480108346,0.999999920103,-0.000135501252293,-0.00036826792786,-7.62332284998e-05,1793256011118281472
+189,3.150000000,POSE1_TO_POSE2_PRESS,778.427916376,746,731,682,696,649.427916376,926,805.427916376,837,675,653.427916376,677,0.443282510666,-0.0155976387938,0.0798054418864,0.999999946445,-0.000143810199917,-0.000285206487193,-7.13119840287e-05,1793256011134948352
+190,3.166666667,POSE1_TO_POSE2_PRESS,778.15092388,746,730.84907612,682.15092388,695.84907612,649,926,805,837,675,653,676.84907612,0.444018981292,-0.0156092090972,0.0798522114626,0.999999962075,-0.000153480329054,-0.000218496493311,-6.7469647004e-05,1793256011151614976
+191,3.183333333,POSE1_TO_POSE2_PRESS,778.746974937,746,730.253025063,682.746974937,695.253025063,649,926,805,837,675,653,676.253025063,0.444691972488,-0.0156217042315,0.079867142091,0.999999963682,-0.000167179750937,-0.000200545070324,-6.68404181313e-05,1793256011168281344
+192,3.200000000,POSE1_TO_POSE2_PRESS,779,746,730.331342747,683,695,649,926,804.668657253,837,675,653,676.331342747,0.445340045698,-0.0156313462102,0.0798613672217,0.99999995929,-0.000179431665476,-0.00021154739738,-6.68781886506e-05,1793256011184947712
+193,3.216666667,POSE1_TO_POSE2_PRESS,779,746,730.907092651,683,695,649,926,804.092907349,837,675,653,676.907092651,0.445969738703,-0.015638883625,0.0798403194298,0.999999949816,-0.000190615859448,-0.000243906775688,-6.74079555221e-05,1793256011201614592
+194,3.233333333,POSE1_TO_POSE2_PRESS,779,745.516425696,730.516425696,683,695,648.516425696,926.483574304,804,837,675,653,677,0.446554741906,-0.0156448080233,0.0798167237941,0.999999941705,-0.000197973282567,-0.000269387217267,-6.9473991839e-05,1793256011218281472
+195,3.250000000,POSE1_TO_POSE2_PRESS,779,745.061507725,730.061507725,683,695,648,927,804,837,675,653,677,0.447124336643,-0.0156503680901,0.0797928522464,0.999999932936,-0.000205762374508,-0.000294339363585,-7.17941636254e-05,1793256011234948096
+196,3.266666667,POSE1_TO_POSE2_PRESS,779,745.650687888,730.650687888,683,695,648,927,804,837,675,653,677,0.447635514116,-0.0156554652467,0.0797708194914,0.999999919112,-0.000223571750217,-0.000326114638416,-7.37585693088e-05,1793256011251614720
+197,3.283333333,POSE1_TO_POSE2_PRESS,779,745.76387935,731,683,695,648,926.76387935,803.76387935,837,675,653,676.76387935,0.448127266227,-0.0156594397899,0.0797437650361,0.999999901269,-0.000235206220004,-0.000369363563094,-7.55720843022e-05,1793256011268281088
+198,3.300000000,POSE1_TO_POSE2_PRESS,779,745.183903857,731,683,695,648,926.183903857,803.183903857,837,675,653,676.183903857,0.44859072977,-0.0156617795072,0.0797093976435,0.999999876578,-0.000237848372824,-0.000429321188647,-7.71658618311e-05,1793256011284947968
+199,3.316666667,POSE1_TO_POSE2_PRESS,779,745.392445547,731,683,695,648,926,802.607554453,837,675,653,676.392445547,0.449068535581,-0.0156636010037,0.07969817706,0.999999870695,-0.000238009435463,-0.000442534199643,-7.82669427018e-05,1793256011301614848
+200,3.333333333,POSE1_TO_POSE2_PRESS,779,745.967111337,731,683,695,648,926,802.032888663,837,675,653,676.967111337,0.449553000832,-0.0156651818802,0.0796977039956,0.999999874583,-0.000237018479253,-0.000434042765687,-7.91392549731e-05,1793256011318281728
+201,3.350000000,POSE1_TO_POSE2_PRESS,779,745.477014151,731,683.522985849,695,648,926,802,836.477014151,675,652.477014151,676.477014151,0.450007307032,-0.0156732505214,0.0797225217968,0.999999884689,-0.000253453869718,-0.00040075333811,-7.60264618824e-05,1793256011334948096
+202,3.366666667,POSE1_TO_POSE2_PRESS,779,745,731,684,694.913851993,647.913851993,926,801.913851993,836.086148007,675,652.086148007,676.086148007,0.450450394602,-0.0156814863347,0.0797465833376,0.999999893172,-0.000268633689551,-0.000368992760837,-7.30462283801e-05,1793256011351614464
+203,3.383333333,POSE1_TO_POSE2_PRESS,779,745,731,684,694.298959347,647.298959347,926,801.298959347,836.701040653,675,652.701040653,676.701040653,0.450835863396,-0.0156883309434,0.0797565802255,0.999999897719,-0.000269614481234,-0.000355855070319,-7.23643894804e-05,1793256011368281344
+204,3.400000000,POSE1_TO_POSE2_PRESS,779,745,731,684,694,647,926.296579109,800.703420891,837,675,652.703420891,677,0.451182849878,-0.0156920722424,0.0797504322433,0.999999892238,-0.000272068124954,-0.00036901835319,-7.30024197182e-05,1793256011384947712
+205,3.416666667,POSE1_TO_POSE2_PRESS,779,745,731,684,694,647,926.873803172,800.126196828,837,675,652.126196828,677,0.451493421544,-0.0156928769614,0.0797290067977,0.999999876278,-0.000275915489209,-0.000407069550819,-7.48894071228e-05,1793256011401614336
+206,3.433333333,POSE1_TO_POSE2_PRESS,778.570302815,745,731,684,694,647,926.570302815,800,837,675,652,677,0.451763222908,-0.0156926424154,0.0796980276615,0.999999854541,-0.000278240017095,-0.000455669190365,-7.65915310407e-05,1793256011418281472
+207,3.450000000,POSE1_TO_POSE2_PRESS,778.020376931,745,731,684,694,647,926.020376931,800,837,675,652,677,0.452021616792,-0.0156921170843,0.0796643754158,0.999999829064,-0.000280138456741,-0.000507220268272,-7.82419302074e-05,1793256011434948864
+208,3.466666667,POSE1_TO_POSE2_PRESS,778,745,731,684,694,647,926,799.404357696,837,675,652,676.404357696,0.452275883336,-0.0156938228766,0.0796505582923,0.99999981812,-0.00028384331739,-0.000526075040853,-8.02381438187e-05,1793256011451614976
+209,3.483333333,POSE1_TO_POSE2_PRESS,778,745,731,684,694,647,926,799,837,675,652.200629436,676,0.452522239829,-0.0156965253873,0.0796417582697,0.999999811429,-0.000287682807813,-0.000536440661231,-8.13140183331e-05,1793256011468281344
+210,3.500000000,POSE1_TO_POSE2_PRESS,778,745,731,684,694,647,926,799,837,675,652.779990082,676,0.452753964172,-0.0157009473519,0.0796409883049,0.999999812093,-0.000291645224164,-0.000533156202025,-8.0627435086e-05,1793256011484947712
+211,3.516666667,POSE1_TO_POSE2_PRESS,778,744.644986255,731,684,694,647,926,798.644986255,837,675,652.644986255,676,0.452960835448,-0.0157044535788,0.0796403823235,0.999999809381,-0.000295985279598,-0.000535864971791,-8.04934107279e-05,1793256011501614336
+212,3.533333333,POSE1_TO_POSE2_PRESS,778,744.072617824,731,684,694,647,926,798.072617824,837,675,652.072617824,676,0.453152490629,-0.0157073991522,0.0796398767396,0.999999804563,-0.000300556542294,-0.000542243053816,-8.06976866222e-05,1793256011518281216
+213,3.550000000,POSE1_TO_POSE2_PRESS,778.506736875,744,731,684,694,647,926,798,837,675,652,676.506736875,0.453320557492,-0.0157079982695,0.0796387852518,0.999999803363,-0.000301082205824,-0.000544180706574,-8.0569879756e-05,1793256011534947840
+214,3.566666667,POSE1_TO_POSE2_PRESS,779,744,731,684,694,647,926,797.91143424,837,675,652,677,0.45347854045,-0.0157081799286,0.0796366464241,0.999999801902,-0.000300794174453,-0.000547032967224,-8.04629880762e-05,1793256011551614464
+215,3.583333333,POSE1_TO_POSE2_PRESS,779,744,731,684,694,647,926,797.321343034,837,675,652,677,0.453598830365,-0.0157079283926,0.079629058882,0.999999795888,-0.000299227288356,-0.000558718197358,-8.07477857127e-05,1793256011568281088
+216,3.600000000,POSE1_TO_POSE2_PRESS,778.736848807,744.263151193,731,684,694,647,926,797,837,675,652,676.736848807,0.453705264382,-0.0157082271809,0.0796183745333,0.999999786769,-0.000299629364687,-0.000574520019105,-8.13133769699e-05,1793256011584947968
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+228,3.800000000,POSE1_TO_POSE2_PRESS,778,744,730.229093701,683.229093701,694,646.770906299,926,796,836.229093701,675,652,676,0.454248763019,-0.0157154545532,0.0795957754267,0.999999764376,-0.000307100651088,-0.000608782182312,-7.95047376046e-05,1793256011784948224
+229,3.816666667,POSE1_TO_POSE2_PRESS,778,744,730.807092925,683.807092925,694,646.192907075,926,796,836.807092925,675,652,676,0.454254256361,-0.0157142643192,0.0795949453094,0.999999764972,-0.000302462689583,-0.000610227069324,-7.87147855342e-05,1793256011801614592
+230,3.833333333,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646,926.382757273,796,837,675,652,676.382757273,0.45425897507,-0.0157140288005,0.0795943479829,0.999999764865,-0.000302425009341,-0.000610455996975,-7.84411042282e-05,1793256011818281216
+231,3.850000000,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646,926.957251976,796,837,675,652,676.957251976,0.454263305736,-0.0157142715346,0.0795938672702,0.99999976441,-0.000304691782153,-0.00061007580507,-7.84260422782e-05,1793256011834947840
+232,3.866666667,POSE1_TO_POSE2_PRESS,778,744,730.469568217,684,694,646,926.469568217,796,837,675,652,677,0.454265637532,-0.0157130920032,0.0795954023762,0.999999765423,-0.000303477028362,-0.00060903414005,-7.83154313471e-05,1793256011851614976
+233,3.883333333,POSE1_TO_POSE2_PRESS,778,744,730.107552123,684,694,646,926,796,836.892447877,675,652,677,0.454267028978,-0.0157120721744,0.0795963110894,0.999999765884,-0.000302254724576,-0.000608900251463,-7.81978399011e-05,1793256011868281856
+234,3.900000000,POSE1_TO_POSE2_PRESS,778,744,730.703028591,684,694,646,926,796,836.296971409,675,652,677,0.454264883405,-0.0157122955682,0.0795936429043,0.999999763307,-0.000302267908729,-0.000613125854568,-7.80834279016e-05,1793256011884948736
+235,3.916666667,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646,926,796,836.289210017,675,652,677,0.454265054777,-0.0157126048758,0.0795926447161,0.999999762244,-0.000302845432001,-0.00061460895745,-7.78007129235e-05,1793256011901615616
+236,3.933333333,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646,926,796,836.866144227,675,652,677,0.454267531188,-0.0157129996559,0.0795933079446,0.999999762698,-0.000303984395087,-0.000613363650295,-7.73505596154e-05,1793256011918282496
+237,3.950000000,POSE1_TO_POSE2_PRESS,778,744,730.559433774,684,694,646.440566226,926,796,837,675,652,677,0.454267027521,-0.0157121988172,0.0795925066796,0.999999762268,-0.000303339374346,-0.000614388376621,-7.73102090261e-05,1793256011934948864
+238,3.966666667,POSE1_TO_POSE2_PRESS,778.014194858,744,730.014194858,684,694,646.985805142,926,796,837,675,652,677,0.45426567465,-0.0157110703352,0.0795913041399,0.999999761607,-0.0003021395081,-0.000616042012635,-7.73918347267e-05,1793256011951615488
+239,3.983333333,POSE1_TO_POSE2_PRESS,778.586471725,744,730.586471725,684,694,646.413528275,926,796,837,675,652,677,0.454266330382,-0.0157112612039,0.079591719618,0.999999762515,-0.000300314642348,-0.000615459507482,-7.7401640336e-05,1793256011968281344
+240,4.000000000,POSE1_TO_POSE2_PRESS,778.835088546,744,731,684,694,646.164911454,926,796,837,675,652,677,0.454266700588,-0.0157114903975,0.0795916713353,0.999999762832,-0.000299297614828,-0.000615438903763,-7.74016570744e-05,1793256011984947712
+241,4.016666667,POSE1_TO_POSE2_PRESS,778.240595056,744,731,684,694,646.759404944,926,796,837,675,652,677,0.454266327023,-0.0157118194245,0.0795904149899,0.999999761619,-0.000300384945738,-0.000616882011394,-7.73761745349e-05,1793256012001614848
+242,4.033333333,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646.655563373,926,796,837,675.344436627,652,676.655563373,0.454267456959,-0.015712228723,0.0795905185391,0.999999761605,-0.000301697063705,-0.000616298734769,-7.70966676264e-05,1793256012018281728
+243,4.050000000,POSE1_TO_POSE2_PRESS,778,744,731,684,694,646.076964247,926,796,837,675.923035753,652,676.076964247,0.454269609037,-0.0157126925934,0.0795915466017,0.999999762404,-0.000303162001315,-0.000614337836883,-7.66444642743e-05,1793256012034948608
+244,4.066666667,POSE1_TO_POSE2_PRESS,778,744,730.501675269,684,694,646,926,796,837,675.501675269,652,676,0.454270146505,-0.0157118937494,0.0795920876341,0.99999976293,-0.000301230592209,-0.000614433282734,-7.66265477637e-05,1793256012051615488
+245,4.083333333,POSE1_TO_POSE2_PRESS,778,744,730.07491818,683.92508182,694,646,926,796,837,675,652,676.07491818,0.454270216773,-0.0157108645434,0.0795922459614,0.999999763209,-0.000298948358544,-0.000615085290695,-7.66891617851e-05,1793256012068282112
+246,4.100000000,POSE1_TO_POSE2_PRESS,778,744,730.663948164,683.336051836,694,646,926,796,837,675,652,676.663948164,0.454268780932,-0.0157095839868,0.0795902908229,0.999999762108,-0.000297834545161,-0.000617391553195,-7.6847156958e-05,1793256012084948224
+247,4.116666667,HOLD_POSE2,778,744,730,684,694,646,926,796,836,675,652,677,0.454268195003,-0.0157101064114,0.0795900555,0.999999760485,-0.000299980803705,-0.000618906687914,-7.74289668526e-05,1793256012123199232
+248,4.133333333,HOLD_POSE2,778,743.425914701,730.574085299,683.425914701,694,646,926,795.425914701,836.574085299,675,652,677,0.454269488947,-0.0157093565724,0.0795902407969,0.999999761571,-0.000298948680228,-0.000617664325431,-7.73157276788e-05,1793256012139866112
+249,4.150000000,HOLD_POSE2,778,743.148709574,731,683.148709574,694,646,926,795,837,675,652,676.851290426,0.454270434208,-0.0157087626942,0.0795902977686,0.999999762469,-0.00029783963227,-0.000616765908498,-7.71531678833e-05,1793256012156532736
+250,4.166666667,HOLD_POSE2,778,743.724883267,731,683.724883267,694,646,926,795,837,675,652,676.275116733,0.45427037718,-0.0157086171233,0.0795899858713,0.999999762832,-0.000296509465449,-0.000616856159169,-7.68488364495e-05,1793256012173199104
+251,4.183333333,HOLD_POSE2,777.689287786,744,731,684,694,646,926,795,837,675,652,676.310712214,0.454270881441,-0.0157095238899,0.0795902681453,0.999999762757,-0.000298137000056,-0.000616200334026,-7.67948529905e-05,1793256012189865472
+252,4.200000000,HOLD_POSE2,777.094635553,744,731,684,694,646,926,795,837,675,652,676.905364447,0.454271898628,-0.0157113923205,0.0795910933946,0.999999762266,-0.000302467388886,-0.000614862717908,-7.69696465494e-05,1793256012206531840
+253,4.216666667,HOLD_POSE2,777.484282653,744,731,684,694,646,926,795.484282653,837,675,652,677,0.454270938644,-0.0157110342572,0.0795902697991,0.999999761378,-0.000301541877506,-0.000616781079508,-7.67948061939e-05,1793256012223198464
+254,4.233333333,HOLD_POSE2,778,744,731,684,694,646,926,795.939955907,837,675,652,676.939955907,0.454269757204,-0.0157103396764,0.0795892688012,0.999999760524,-0.000299827032193,-0.000619021583691,-7.65982848993e-05,1793256012239865088
+255,4.250000000,HOLD_POSE2,778,744,731,684,694,646,926,795.365726174,837,675,652,676.365726174,0.454269883852,-0.0157103719575,0.0795894210103,0.999999760669,-0.000299871319364,-0.000618743577679,-7.67827732558e-05,1793256012256531712
+256,4.266666667,HOLD_POSE2,778,744,731,683.785289419,693.785289419,646,926,795,837,675,652,676.214710581,0.454270244168,-0.015709914113,0.0795897477574,0.999999761167,-0.000299671502765,-0.000618028810505,-7.68358644717e-05,1793256012273198336
+257,4.283333333,HOLD_POSE2,778,744,731,683.193965287,693.193965287,646,926,795,837,675,652,676.806034713,0.454271014351,-0.0157085965628,0.0795903806532,0.999999762283,-0.000299043515427,-0.000616547941516,-7.66584782341e-05,1793256012289864960
+258,4.300000000,HOLD_POSE2,778,744,731,683.388524756,693.388524756,646,926,795.388524756,837,675.388524756,652,677,0.454272062556,-0.015708313134,0.0795912347143,0.999999762995,-0.000299037216137,-0.000615417170456,-7.64733707417e-05,1793256012306531840
+259,4.316666667,HOLD_POSE2,778,744,731,683.966702611,693.966702611,646,926,795.966702611,837,675.966702611,652,677,0.454273246473,-0.0157085344974,0.0795921967341,0.999999763511,-0.000299334385393,-0.000614457294829,-7.62844942077e-05,1793256012323198464
+260,4.333333333,HOLD_POSE2,778,744,730.458160571,684,694,646,926,796,837,675.458160571,652,677,0.454272243433,-0.0157085027443,0.0795915776149,0.999999763112,-0.000297701052651,-0.000615878505241,-7.6447938174e-05,1793256012339865088
+261,4.350000000,HOLD_POSE2,778,744,730.116132841,683.883867159,694,646,926,795.883867159,836.883867159,675,652,677,0.454271553237,-0.015708370845,0.0795910153903,0.999999762752,-0.000296476272824,-0.00061703531247,-7.6585234514e-05,1793256012356531712
+262,4.366666667,HOLD_POSE2,778,744,730.687846817,683.312153183,694,646,926,795.312153183,836.312153183,675,652,677,0.454272614587,-0.0157079067582,0.079591055403,0.999999762784,-0.000297317013722,-0.000616584070569,-7.65354943169e-05,1793256012373198080
+263,4.383333333,POSE2_TO_POSE3_RETREAT,778,744,731,684,694,646,926,795,837,675,652,677,0.454270596641,-0.0157074238705,0.0795891066216,0.99999976194,-0.000294653468388,-0.000619318356441,-7.57866415628e-05,1793256012410277632
+264,4.400000000,POSE2_TO_POSE3_RETREAT,778,744,731,683.424354064,694,646,926,795,837,675,652,677,0.454271728511,-0.0157076030754,0.0795892176684,0.999999761656,-0.000296637001865,-0.000618770958897,-7.62675648713e-05,1793256012426944512
+265,4.416666667,POSE2_TO_POSE3_RETREAT,778,743.848409846,731,683,694,646,926,795,837,675,652,676.848409846,0.454272528863,-0.01570798673,0.0795893077202,0.999999761497,-0.000298009449095,-0.000618337046567,-7.65168553061e-05,1793256012443611136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,778,743.271628854,731,683,694,646,926,795,837,675,652,676.271628854,0.454272399349,-0.0157089438397,0.0795893388842,0.999999761701,-0.000297667878647,-0.000618221445509,-7.61164455044e-05,1793256012460277760
+267,4.450000000,POSE2_TO_POSE3_RETREAT,778,743,731,683,694,646.311446897,926,795.311446897,837,675,652,676.311446897,0.45427275381,-0.0157094719671,0.0795899035886,0.999999762152,-0.000297298053396,-0.000617678051859,-7.60534470842e-05,1793256012476944640
+268,4.466666667,POSE2_TO_POSE3_RETREAT,778,743,731,683,694,646.900125844,926,795.900125844,837,675,652,676.900125844,0.454273539075,-0.0157096182393,0.07959094322,0.999999762821,-0.000296903077369,-0.000616753861941,-7.62907928243e-05,1793256012493612032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,778,743.481223947,731,683.962447893,694,646.518776053,926,795.518776053,837,675,652,677,0.454273239886,-0.0157087743879,0.0795910508194,0.99999976251,-0.000297794706815,-0.000616866519426,-7.59922119116e-05,1793256012510278400
+270,4.500000000,POSE2_TO_POSE3_RETREAT,778,743.939681371,731,684.939681371,694,646,926,795.060318629,837,675,652,677,0.454272499753,-0.015707792585,0.079590761949,0.999999761892,-0.000298825860669,-0.000617404214997,-7.5706940965e-05,1793256012526944512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,778,743.364466211,731,684.364466211,694,646,926,795.635533789,837,675,652,677,0.45426988706,-0.0157073601218,0.0795887143136,0.999999760382,-0.000298803988556,-0.000619761726339,-7.64700290721e-05,1793256012543611136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,778,743.211237851,731,684.211237851,694,646,926,795.788762149,837,675,652,676.788762149,0.454265071539,-0.0157068178331,0.0795858220643,0.999999758129,-0.000298403320944,-0.000623505847482,-7.70514656666e-05,1793256012560277760
+273,4.550000000,POSE2_TO_POSE3_RETREAT,778,743.787787353,731,684.787787353,694,646,926,795.212212647,837,675,652,676.212212647,0.454256446481,-0.0157060856138,0.0795814691523,0.999999754575,-0.000297347569929,-0.00062964795108,-7.73187567115e-05,1793256012576944384
+274,4.566666667,POSE2_TO_POSE3_RETREAT,778.372480359,744,731,684.255039283,694,646.372480359,926,795.372480359,837,675,652,676,0.454236342119,-0.0157050412343,0.0795732131149,0.999999745789,-0.000296985904935,-0.000643580626083,-7.762614368e-05,1793256012593611520
+275,4.583333333,POSE2_TO_POSE3_RETREAT,778.961916707,744,731,683.076166586,694,646.961916707,926,795.961916707,837,675,652,676,0.454209551486,-0.015703815033,0.0795626836512,0.999999733693,-0.000297028519118,-0.000662051020309,-7.79568850413e-05,1793256012610278912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,778.458083169,744,730.458083169,683.541916831,694,647,926,795.458083169,837,675,652,676.541916831,0.454153416572,-0.0157019538775,0.0795447065499,0.999999711049,-0.000294778442871,-0.000696348067334,-7.81430615302e-05,1793256012626945536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,778,743.879905738,730.120094262,684,694,647,926,795,837,675,652.120094262,676.879905738,0.454091649381,-0.0156998908815,0.0795268135325,0.999999688387,-0.000293248376508,-0.000728750116956,-7.84491687055e-05,1793256012643612160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,778,743.306151292,730.693848708,684,694,647,926,795,837,675,652.693848708,676.306151292,0.454016262663,-0.0156972310996,0.0795111814027,0.999999672189,-0.000295036389253,-0.000749864216926,-7.92460388642e-05,1793256012660278272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,778,743.268419127,731,684,694,646.731580873,926,795,837,675,652.731580873,676.268419127,0.453933945669,-0.0156934786222,0.0794999047026,0.999999660245,-0.000294075878755,-0.000766046580894,-7.87532754033e-05,1793256012676944640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,778,743.843923026,731,684,694,646.156076974,926,795,837,675,652.156076974,676.843923026,0.453843700102,-0.0156884760472,0.0794936108306,0.999999653467,-0.00028997092155,-0.00077658679363,-7.67851071999e-05,1793256012693611008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,778,744,731,684,694,646,926,795,837,675,652,677,0.453745979274,-0.0156836099574,0.0794916309457,0.999999653956,-0.000286465459962,-0.000777496195567,-7.43367884602e-05,1793256012710277888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,778,743.976381802,730.976381802,683.976381802,693.976381802,646,926,795.023618198,837,675,652,677,0.453644252073,-0.0156787698632,0.0794913788044,0.999999657078,-0.000283178967006,-0.000774928162103,-7.16933902773e-05,1793256012726944256
+283,4.716666667,POSE2_TO_POSE3_RETREAT,778,743.400281575,730.400281575,683.400281575,693.400281575,646,926,795.599718425,837,675,652,677,0.453513876831,-0.0156733498013,0.0794939904428,0.999999658304,-0.000279796203426,-0.000774848543388,-6.86662175786e-05,1793256012743611904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,778,743.175538864,730.175538864,683.175538864,693.175538864,646,926,796,836.824461136,675,652,677,0.453374735535,-0.0156677697979,0.0794972342079,0.999999661239,-0.000276097602971,-0.000772690985811,-6.51230926703e-05,1793256012760279296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,778,743.750722238,730.750722238,683.750722238,693.750722238,646,926,796,836.249277762,675,652,677,0.453215636822,-0.0156618256607,0.0795019171179,0.999999668044,-0.000271679945831,-0.000765802641916,-6.04053139553e-05,1793256012776945920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,778,743.665593258,730.665593258,683.665593258,694,646.334406742,926,796,836.334406742,675,652,677,0.453040528868,-0.0156544661038,0.0795066646502,0.999999675701,-0.00026436593494,-0.000758711567305,-5.53581012846e-05,1793256012793612544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,778,743.075406371,730.075406371,683.075406371,694,646.924593629,926,796,836.924593629,675,652,677,0.452853175792,-0.0156460239238,0.0795114616112,0.999999683926,-0.000254836568145,-0.000751465427764,-5.00589115354e-05,1793256012810278656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,778,743.505028461,730.505028461,683,694,646.494971539,926,796.505028461,837,675,652,677,0.452632935573,-0.0156378004619,0.0795160044392,0.99999969061,-0.000244952175822,-0.000746229425314,-4.38097616896e-05,1793256012826945024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,778,744,731,683.083656784,694,646.083656784,926,797,837,675,652,677,0.452400870226,-0.0156291958953,0.0795195585969,0.999999695727,-0.000234287216594,-0.000743138225441,-3.7421681588e-05,1793256012843611136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,778,744,731,683.660058874,694,646.660058874,926,797,837,675,652,677,0.452127528653,-0.0156181578786,0.079517508672,0.999999693506,-0.00021933096444,-0.000750945751812,-3.10349084539e-05,1793256012860277760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,778,744,731,684,694,647,926,797.239263319,837,675,652,677,0.451847790352,-0.0156059888326,0.0795212038009,0.999999704081,-0.000181431643013,-0.000747224207297,-2.40093024739e-05,1793256012876944640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,778,744,731,684,694,647,926,797.822496453,837,675,652,677,0.451558855998,-0.0155921937963,0.079533158136,0.999999729548,-0.000110548898676,-0.000726928232838,-1.60652976911e-05,1793256012893611520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,778,744,731,683.595596618,694,647,926,798,837,675,652,677,0.45123712486,-0.0155806207301,0.0795437925838,0.999999743248,-8.44020916322e-05,-0.000711552211275,-8.63366472249e-06,1793256012910278400
+294,4.900000000,POSE2_TO_POSE3_RETREAT,778,744,731,683.014269908,694,647,926,798,837,675,652,677,0.450901045391,-0.0155700197589,0.0795538495908,0.999999753139,-7.78269104156e-05,-0.000698328632252,-1.42619065528e-06,1793256012926945536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,778,744,731,683,694,647,926,798,837,675,652,677,0.450546611529,-0.0155694422056,0.0795726710262,0.99999977932,-7.63287954609e-05,-0.000659935849921,4.37012226922e-06,1793256012943612672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,778,744,730.858217077,683,694,647,926,798.141782923,837,675,652.141782923,677,0.45017625309,-0.0155701275839,0.079590422185,0.999999801374,-7.8517865159e-05,-0.000625329043097,7.04530165888e-06,1793256012960279040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,778,744,730.282845503,683,694,647,926,798.717154497,837,675,652.717154497,677,0.449758608014,-0.0155739037807,0.0796042258254,0.999999813254,-9.15920583166e-05,-0.000604237147516,2.84289796687e-07,1793256012976944896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,778,744,730.299013185,683,694,647,926,799.299013185,837,675,653,677,0.449310432826,-0.0155742652241,0.0796110029414,0.999999817996,-9.34576628953e-05,-0.000596048141533,-2.36043905506e-07,1793256012993611264
+299,4.983333333,POSE2_TO_POSE3_RETREAT,778,744,730.887144378,683,694,647,926,799.887144378,837,675,653,677,0.448832737803,-0.0155713249182,0.0796109860617,0.999999816216,-8.44856038359e-05,-0.000600335030392,5.27777836082e-06,1793256013010277632
+300,5.000000000,POSE2_TO_POSE3_RETREAT,777.531916829,744,730.531916829,683.468083171,694,647,926,800,837,675,653,677,0.448300537312,-0.015559005679,0.0795956288337,0.9999998004,-6.77496972726e-05,-0.000628151614818,5.91261868616e-06,1793256013026945024
+301,5.016666667,POSE2_TO_POSE3_RETREAT,777.047104445,744,730.047104445,684,694,647.047104445,926,800.047104445,837,675,652.952895555,677,0.447755054027,-0.0155453174881,0.0795774810032,0.99999978143,-5.00713445042e-05,-0.000659244796577,5.41937490793e-06,1793256013043612416
+302,5.033333333,POSE2_TO_POSE3_RETREAT,777.62376907,744,730.62376907,684,694,647.62376907,926,800.62376907,837,675,652.37623093,677,0.447205744529,-0.0155412763135,0.0795689116683,0.999999778394,-4.25234071472e-05,-0.000664361656937,5.26840033196e-06,1793256013060279296
+303,5.050000000,POSE2_TO_POSE3_RETREAT,778,744,731,684,694.200027361,648,926,801.200027361,837,675,652.200027361,677,0.446653423625,-0.0155380032987,0.0795761134289,0.999999788583,-3.48532245023e-05,-0.000649291268035,6.30816002759e-06,1793256013076945664
+304,5.066666667,POSE2_TO_POSE3_RETREAT,778,744,731,684,694.775522894,648,926,801.775522894,837,675,652.775522894,677,0.44609545009,-0.0155361721844,0.0796129188618,0.999999821787,-2.69535775607e-05,-0.000596327713827,9.58302804302e-06,1793256013093611520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,778,744,730.640500388,683.640500388,695,648,926,802.359499612,837,674.640500388,653,677,0.445503507832,-0.0155308343967,0.0796501764575,0.99999985191,-1.7710992043e-05,-0.000543756101414,1.39920114635e-05,1793256013110277888
+306,5.100000000,POSE2_TO_POSE3_RETREAT,778,744,730.051099956,683.051099956,695,648,926,802.948900044,837,674.051099956,653,677,0.444889842518,-0.0155232540834,0.0796877232109,0.999999879034,-7.60959453699e-06,-0.00049143513818,1.91262641266e-05,1793256013126944256
+307,5.116666667,POSE2_TO_POSE3_RETREAT,778,744.529113761,730.529113761,683,695,648,926,803.529113761,837,674.529113761,653,676.470886239,0.444220911811,-0.0155141686062,0.0797072464166,0.999999888925,9.62107201021e-06,-0.000470711258691,2.20915426649e-05,1793256013143610880
+308,5.133333333,POSE2_TO_POSE3_RETREAT,778,744.892362319,731,683.107637681,695.107637681,648.107637681,926,804.107637681,837,675,653,676.107637681,0.443541216965,-0.0155051332069,0.0797213446711,0.999999895165,2.67222861223e-05,-0.000456455426942,2.45887974049e-05,1793256013160277504
+309,5.150000000,POSE2_TO_POSE3_RETREAT,778,744.317388883,731,683.682611117,695.682611117,648.682611117,926,804.682611117,837,675,653,676.682611117,0.442837565025,-0.0154969355972,0.0797193176394,0.999999894307,4.03230822854e-05,-0.000457259346528,2.59479629559e-05,1793256013176943872
+310,5.166666667,POSE2_TO_POSE3_RETREAT,778,744,731,684.263080095,695.736919905,649,926,805,837,675,653.263080095,676.736919905,0.442123433071,-0.015489115768,0.0797262542333,0.9999999012,5.08885319054e-05,-0.000440761750294,2.71916828759e-05,1793256013193610752
+311,5.183333333,POSE2_TO_POSE3_RETREAT,778,744,731,684.850320616,695.149679384,649,926,805,837,675,653.850320616,676.149679384,0.441396387823,-0.0154817614291,0.0797442355723,0.999999916752,5.77139085351e-05,-0.000402945677663,2.82931538611e-05,1793256013210277632
+312,5.200000000,POSE2_TO_POSE3_RETREAT,777.568302315,744,730.568302315,684.136604631,695.431697685,649,926,805,836.568302315,675,654,676.431697685,0.440607304326,-0.0154706715085,0.0797350868369,0.999999911273,7.27552015875e-05,-0.000413976708134,2.79845146387e-05,1793256013226944256
+313,5.216666667,POSE2_TO_POSE3_RETREAT,777,744.011070366,730.011070366,683.011070366,696,649.011070366,926,805.011070366,836,675,653.988929634,676.988929634,0.439796493308,-0.0154580746773,0.0797165868406,0.99999989792,9.088643629e-05,-0.000441775958967,2.70966839607e-05,1793256013243610624
+314,5.233333333,POSE2_TO_POSE3_RETREAT,777,744.590514764,730.590514764,683.590514764,696,649.590514764,926,805.590514764,836,675,653.409485236,676.409485236,0.438959716449,-0.0154337176342,0.0796944569151,0.999999880493,0.000123366243616,-0.00047259288323,2.12376232984e-05,1793256013260277248
+315,5.250000000,POSE2_TO_POSE3_RETREAT,777.168311403,745,731,683.831688597,696,650,926,806,836.168311403,675,653,676,0.438144986772,-0.0154117262819,0.0796985095573,0.999999879899,0.000152998770912,-0.00046524624345,1.84342929068e-05,1793256013276943872
+316,5.266666667,POSE2_TO_POSE3_RETREAT,777.742138035,745,731,683.257861965,696,650,926,806,836.742138035,675,653,676,0.437383375761,-0.0153954346261,0.07976564426,0.999999917328,0.000175771300629,-0.000365951543719,2.29931803716e-05,1793256013293610496
+317,5.283333333,POSE2_TO_POSE3_RETREAT,778,745,731,683.323891433,696,650,926,806,837,675,653.323891433,676.323891433,0.436589659086,-0.0153892095327,0.0798254458692,0.999999943522,0.000191343071729,-0.000274794212135,2.88475502307e-05,1793256013310277376
+318,5.300000000,POSE2_TO_POSE3_RETREAT,778,745,731,683.912113916,696,650,926,806,837,675,653.912113916,676.912113916,0.435769740695,-0.0153911998627,0.0798792628638,0.99999996105,0.000201038230388,-0.000190277873676,3.57591760431e-05,1793256013326944256
+319,5.316666667,POSE2_TO_POSE3_RETREAT,778,745,730.506846762,684,696,650,926,806,837,675,653.506846762,677,0.434872022166,-0.0153955017749,0.0798662325504,0.999999956922,0.00019758636335,-0.000213952321443,3.65939564309e-05,1793256013343611136
+320,5.333333333,POSE2_TO_POSE3_RETREAT,777.927591686,745,730.072408314,684,696,650,926,806,837,675,653.072408314,676.927591686,0.433956889904,-0.0153997874764,0.0798400198488,0.999999947507,0.000192555836642,-0.000258094572475,3.59938124616e-05,1793256013360277504
+321,5.350000000,POSE2_TO_POSE3_RETREAT,777.351968077,745,730.648031923,684,696,650,926,806,837,675,653.648031923,676.351968077,0.433015711844,-0.015401138674,0.0798037968827,0.999999932113,0.000192603228092,-0.000312408787175,3.28396424531e-05,1793256013376943872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,777.221801417,745,731,683.778198583,696.221801417,650,926,806,837,675,654,676.221801417,0.432058612606,-0.0153998125845,0.0797622969196,0.99999990709,0.000191790691743,-0.000384848449963,3.04575696208e-05,1793256013393610496
+323,5.383333333,POSE2_TO_POSE3_RETREAT,777.792653166,745,731,683.207346834,696.792653166,650,926,806,837,675,654,676.792653166,0.431076457961,-0.0153942732312,0.0797124925063,0.999999863585,0.00018962488079,-0.000485812255345,2.92905505495e-05,1793256013410277120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,778,745.37890634,731,683,696.62109366,650,925.62109366,806,836.62109366,675,653.62109366,677,0.430173286264,-0.0153908790547,0.0797295672963,0.999999875906,0.000202985265133,-0.000453866769669,3.14614088348e-05,1793256013426944000
+325,5.416666667,POSE2_TO_POSE3_RETREAT,778,745.973944606,731,683,696.026055394,650,925.026055394,806,836.026055394,675,653.026055394,677,0.429315167281,-0.0153887085087,0.0797847906487,0.999999914115,0.000225201943791,-0.000346108500597,3.55362252693e-05,1793256013443610624
+326,5.433333333,POSE2_TO_POSE3_RETREAT,777.447281051,745.447281051,730.447281051,683.552718949,696,650,925,806,836.552718949,675,653,677,0.428441864877,-0.0153953244102,0.0798364561965,0.999999938439,0.000219216367225,-0.000270860831599,4.12357359673e-05,1793256013460277248
+327,5.450000000,POSE2_TO_POSE3_RETREAT,777,745,730.130019977,684,696,650,925,806.130019977,837,675,653.130019977,677,0.427549539262,-0.0154003169203,0.0798677229312,0.999999950204,0.000215172622147,-0.000226403353158,4.50930046861e-05,1793256013476943872
+328,5.466666667,POSE2_TO_POSE3_RETREAT,777,745,730.70482869,684,696,650,925,806.70482869,837,675,653.70482869,677,0.426594515241,-0.0153983794939,0.0798297641758,0.999999934603,0.000222189745181,-0.00028218392608,4.23935847155e-05,1793256013493610752
+329,5.483333333,POSE2_TO_POSE3_RETREAT,777,745,730.713598748,684,696,650,924.713598748,806.713598748,837,675,653.713598748,676.713598748,0.425648291068,-0.0153933268022,0.0797934958008,0.999999917006,0.000229086214051,-0.000334640726282,3.90151638686e-05,1793256013510277632
+330,5.500000000,POSE2_TO_POSE3_RETREAT,777,745,730.124886641,684,696,650,924.124886641,806.124886641,837,675,653.124886641,676.124886641,0.424711355637,-0.015384985792,0.0797590117093,0.999999898006,0.000235855326119,-0.000383589114656,3.49200238188e-05,1793256013526944256
+331,5.516666667,POSE2_TO_POSE3_RETREAT,777,745,730,684,696.456395269,650,924.456395269,806,837,675,653.456395269,676.456395269,0.423734648617,-0.0153835432162,0.0797364179293,0.999999879344,0.000245572842186,-0.000423942088266,3.57606735049e-05,1793256013543610880
+332,5.533333333,POSE2_TO_POSE3_RETREAT,777,745,730,684,696.964592945,650.035407055,924.964592945,806,837,675,654,677,0.422757630154,-0.0153842547357,0.0797210075836,0.999999863541,0.000255017562507,-0.000454360136575,3.79633233709e-05,1793256013560277248
+333,5.550000000,POSE2_TO_POSE3_RETREAT,777,745,730,684,696.38968847,650.61031153,924.38968847,806,837,675,654,677,0.42193903496,-0.0153894865791,0.0797662698825,0.999999900413,0.000248209511565,-0.000368663347518,4.06691184405e-05,1793256013576943872
+334,5.566666667,POSE2_TO_POSE3_RETREAT,777,745,730.186127775,684,696,650.813872225,924,806.186127775,837,675,653.813872225,677,0.421117876385,-0.0153916812387,0.0798118295747,0.999999929077,0.000242320383317,-0.000285068085127,4.3167815524e-05,1793256013593610496
+335,5.583333333,POSE2_TO_POSE3_RETREAT,777,745,730.76386246,684,696,650.23613754,924,806.76386246,837,675,653.23613754,677,0.420291324386,-0.0153874857616,0.0798580149814,0.999999949372,0.000238364640099,-0.000205894355379,4.52307859003e-05,1793256013610277376
+336,5.600000000,POSE2_TO_POSE3_RETREAT,777,745.348065709,730.651934291,684,696.348065709,650.348065709,924,807,837,675,653.348065709,677,0.419432074677,-0.0153834031487,0.0798594365704,0.999999948622,0.000240685742708,-0.000206876923411,4.50271831201e-05,1793256013626944000
+337,5.616666667,POSE2_TO_POSE3_RETREAT,777,745.936740477,730.063259523,684,696.936740477,650.936740477,924,807,837,675,653.936740477,677,0.418550221914,-0.0153793985562,0.0798299140567,0.999999933819,0.00024734587112,-0.000263269526365,4.3256755295e-05,1793256013643610624
+338,5.633333333,POSE2_TO_POSE3_RETREAT,777,746,730.517873602,684,696.482126398,650.482126398,924,807,837,675,654,677,0.417659385534,-0.0153843598633,0.0798076747158,0.999999924639,0.000240991241296,-0.000301667971523,4.05145757127e-05,1793256013660277248
+339,5.650000000,POSE2_TO_POSE3_RETREAT,777,745.902800811,730.902800811,684,696,650.097199189,923.902800811,807,837,675,654,677,0.416780692029,-0.0153889632912,0.0797920540779,0.999999916791,0.000235436444069,-0.000330897690388,3.8654216446e-05,1793256013676943872
+340,5.666666667,POSE2_TO_POSE3_RETREAT,777,745.327896172,730.327896172,684,696,650.672103828,923.327896172,807,837,675,654,677,0.415966993053,-0.01538650249,0.0798046527761,0.999999916921,0.00024151376378,-0.000325713428933,4.17027561427e-05,1793256013693610496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,777.251700781,745.251700781,730,684,696,651,923.251700781,807,837,675,654,677,0.415171758085,-0.0153809480707,0.079801165927,0.999999911703,0.000248390456311,-0.000336336131408,4.2117509396e-05,1793256013710277120
+342,5.700000000,POSE2_TO_POSE3_RETREAT,777.837526592,745.837526592,730,684,696,651,923.837526592,807,837,675,654,677,0.414401033581,-0.0153712869687,0.0797763260088,0.999999898695,0.000256328290971,-0.000367942091546,3.90359920417e-05,1793256013726943744
+343,5.716666667,POSE2_TO_POSE3_RETREAT,777.578934877,745.578934877,730,684,696,651,923.578934877,807,837,675,653.578934877,677,0.413662845832,-0.0153710172268,0.0797800387992,0.999999904273,0.000256921288001,-0.000352071615749,3.86254377025e-05,1793256013743610624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,777,745,730,683.996321261,696,651,922.996321261,807,837,675,653,677,0.412937060027,-0.0153743418726,0.0797946210479,0.999999916155,0.000254702728337,-0.000318239989183,3.92405447399e-05,1793256013760277248
+345,5.750000000,POSE2_TO_POSE3_RETREAT,777,745,730,683.421034648,696,651,922.421034648,807,837,675,653,677,0.412198083732,-0.0153761419926,0.079795459954,0.99999991433,0.000253607882656,-0.000324694372912,3.99495139753e-05,1793256013776944128
+346,5.766666667,POSE2_TO_POSE3_RETREAT,777,745,730,683,696,651,922,807,837,675,653,677,0.411471336985,-0.015375967212,0.0797932188026,0.999999910764,0.00025448431446,-0.000334805631264,4.01938500793e-05,1793256013793610752
+347,5.783333333,POSE2_TO_POSE3_RETREAT,777,745,730,683,696,651,922,807,837,675,653,677,0.410777970942,-0.015370401889,0.0797825705536,0.999999902263,0.000260741399493,-0.000354898426054,3.91699580346e-05,1793256013810277376
+348,5.800000000,POSE2_TO_POSE3_RETREAT,777,744.695607135,730,683.304392865,696,651,922,807,837,675,653,677,0.410126869773,-0.0153672522697,0.0797843819608,0.999999901674,0.000266568167413,-0.000352216812859,3.92020469263e-05,1793256013826944000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,777,744.120260462,730,683.879739538,696,651,922,807,837,675,653,677,0.409513390514,-0.0153662529775,0.0797972842702,0.999999907991,0.000272011890265,-0.000329262671495,4.01741120953e-05,1793256013843610624
+350,5.833333333,POSE2_TO_POSE3_RETREAT,777,744,730,683.058982596,696,651,922,806.529491298,837,675,653.470508702,677,0.408943917958,-0.0153724737871,0.0798242212364,0.999999924304,0.000262972713094,-0.000283470893632,4.33788783581e-05,1793256013860277248
+351,5.850000000,POSE2_TO_POSE3_RETREAT,777,744.063130099,730,682.063130099,696,651,921.936869901,806,837,675,654,677,0.408382280916,-0.0153792273071,0.0798497002332,0.999999938046,0.000252228672741,-0.000241073746868,4.66084127412e-05,1793256013876944128
+352,5.866666667,POSE2_TO_POSE3_RETREAT,777,744.637738478,730,682.637738478,696,651,921.362261522,806,837,675,654,677,0.407789907886,-0.0153748384781,0.0798333183791,0.999999927685,0.000258680003967,-0.000275075552728,4.52583699641e-05,1793256013893611008
+353,5.883333333,POSE2_TO_POSE3_RETREAT,777,745,730,683.212108919,696,651,921.212108919,806,837,675,654,677,0.407213082783,-0.0153687298722,0.0798083982059,0.999999911927,0.000267206400608,-0.000320763491271,4.30923383646e-05,1793256013910277632
+354,5.900000000,POSE2_TO_POSE3_RETREAT,777,745,730,683.786073382,696,651,921.786073382,806,837,675,654,677,0.406662782338,-0.0153596873456,0.0797689117536,0.999999885574,0.000279272835591,-0.000386387843096,3.95342386501e-05,1793256013926944512
+355,5.916666667,POSE2_TO_POSE3_RETREAT,776.62763837,744.62763837,730,684,696,651,921.62763837,806.37236163,837,675,654,677,0.406188191239,-0.0153575700479,0.0797636119032,0.999999883008,0.000285618717909,-0.00038843789392,3.9015936402e-05,1793256013943610880
+356,5.933333333,POSE2_TO_POSE3_RETREAT,776.034027541,744.034027541,730,684,696,651,921.034027541,806.965972459,837,675,654,677,0.405758584936,-0.0153595675703,0.0797786249858,0.999999895349,0.000288565573357,-0.000352713481459,4.03038155239e-05,1793256013960277504
+357,5.950000000,POSE2_TO_POSE3_RETREAT,776,743.4583641,730,684.5416359,696,651,921,807,837,675,654,677,0.405355228815,-0.0153645005282,0.079797907826,0.999999910468,0.000277778400194,-0.000316597766677,4.08574533516e-05,1793256013976944128
+358,5.966666667,POSE2_TO_POSE3_RETREAT,776,743,730,685,696,651,921,807,837,675,653.883027415,677,0.404955426382,-0.0153687046485,0.0798155184489,0.999999921889,0.000269178119527,-0.000286402280416,4.16925170198e-05,1793256013993610752
+359,5.983333333,POSE2_TO_POSE3_RETREAT,776,743,730,685,696,651,921,807,837,675,653.304674708,677,0.404563344682,-0.0153693299178,0.0798255091738,0.99999992281,0.000272497806824,-0.000279652057374,4.38137295241e-05,1793256014010277632
+360,6.000000000,POSE2_TO_POSE3_RETREAT,776,743,730,685,696,650.723379653,921,807,837,675,653.276620347,677,0.404195901843,-0.0153666405144,0.0798314959107,0.999999922756,0.000274425994062,-0.000277941417045,4.38939212298e-05,1793256014026944256
+361,6.016666667,POSE2_TO_POSE3_RETREAT,776,743,730,685,696,650.138809035,921,807,837,675,653.861190965,677,0.403855888478,-0.0153602610193,0.0798330251687,0.999999921654,0.000274805080242,-0.000281841141208,4.17019267141e-05,1793256014043610880
+362,6.033333333,POSE2_TO_POSE3_RETREAT,776,743,730,685.888668403,696,650,921,807,837,675,653.555665798,677,0.403542633884,-0.0153602341418,0.0798362277627,0.999999920824,0.000278445779562,-0.000281028981243,4.29174882356e-05,1793256014060277504
+363,6.050000000,POSE2_TO_POSE3_RETREAT,775.973353709,742.973353709,730,687,696,650,921,806.973353709,837,675.026646291,653,677,0.403239651814,-0.0153621102608,0.079839710773,0.99999992007,0.000282910458433,-0.000278903039,4.51002736242e-05,1793256014076944384
+364,6.066666667,POSE2_TO_POSE3_RETREAT,775.398989351,742.398989351,730,687,696,650,921,806.398989351,837,675.601010649,653,677,0.402976544775,-0.0153624407882,0.0798382470594,0.999999919623,0.000283435160483,-0.000279932033168,4.53533335523e-05,1793256014093611008
+365,6.083333333,POSE2_TO_POSE3_RETREAT,775.176343358,742,729.823656642,686.647313284,696,650,921,806,837,675.823656642,653.176343358,677,0.402723246501,-0.015360598373,0.0798371138547,0.999999918486,0.000285805890599,-0.0002815740965,4.53761943604e-05,1793256014110277632
+366,6.100000000,POSE2_TO_POSE3_RETREAT,775.753879047,742,729.246120953,685.492241905,696,650,921,806,837,675.246120953,653.753879047,677,0.402492263827,-0.0153538123755,0.0798367325789,0.999999915749,0.000292376451658,-0.000284610930947,4.48753375235e-05,1793256014126944000
+367,6.116666667,POSE2_TO_POSE3_RETREAT,776,742,729.327209185,685.327209185,696,650,921,806.327209185,837,675,653.672790815,677,0.402289108015,-0.0153515036465,0.079836835044,0.999999914358,0.000296545269277,-0.000285280603738,4.4273496039e-05,1793256014143610624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,776,742,729.897416182,685.897416182,696,650,921,806.897416182,837,675,653.102583818,677,0.402106617449,-0.0153525199043,0.0798372967531,0.999999913987,0.000298930462835,-0.000284192333829,4.35966595168e-05,1793256014160277504
+369,6.150000000,POSE2_TO_POSE3_RETREAT,775.509206938,742,730,686,696,649.509206938,921,806.509206938,837,675,653,677,0.401955256013,-0.0153540350594,0.0798409906998,0.999999916919,0.000297205862578,-0.000275504592992,4.38976500322e-05,1793256014176943872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,775,742,730,686,696,649,921,806.085663195,837,675,653,677,0.401813904266,-0.0153552656439,0.0798455764372,0.999999920268,0.00029485048285,-0.000265606876596,4.44936256456e-05,1793256014193610752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,775,742,730,686,696,649,921,806.660054152,837,675,653,677,0.40169069967,-0.0153542482841,0.079851204667,0.999999922369,0.000294040063349,-0.00025831725303,4.55487375276e-05,1793256014210277376
+372,6.200000000,POSE2_TO_POSE3_RETREAT,775.24025773,742,730,685.75974227,696,649,921,807,837,675,653.24025773,677,0.401576172247,-0.0153527900114,0.0798547423916,0.999999923433,0.000294337448081,-0.000253739272375,4.59971932394e-05,1793256014226944256
+373,6.216666667,POSE2_TO_POSE3_RETREAT,775.828889586,742,730,685.171110414,696,649,921,807,837,675,653.828889586,677,0.40147422675,-0.0153506924146,0.0798552488796,0.999999923054,0.000296241150935,-0.000253093179099,4.5565996391e-05,1793256014243610624
+374,6.233333333,POSE2_TO_POSE3_RETREAT,775.589288151,742,730,685,696,649,921,806.589288151,837,675,653.589288151,677,0.401382838667,-0.0153505003077,0.0798510016138,0.999999920459,0.000298733887933,-0.00026056311777,4.4112872139e-05,1793256014260277248
+375,6.250000000,POSE2_TO_POSE3_RETREAT,775.01025664,742,730,685,696,649,921,806.01025664,837,675,653.01025664,677,0.40129577727,-0.0153510891168,0.0798448061447,0.999999916848,0.00030146802531,-0.000271359202882,4.22409372928e-05,1793256014276943872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,775,741.432360631,730,685.567639369,696,649.567639369,921,806.567639369,837,675,653,677,0.401232572513,-0.0153544267124,0.0798407021838,0.999999916502,0.000298402454704,-0.000276101233784,4.14679579235e-05,1793256014293610496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,775,741.144826049,729.855173951,686,696,650,921,806.855173951,837,675,653,677,0.401175184261,-0.0153561018941,0.0798378391467,0.999999916098,0.000297118511699,-0.000279011292926,4.09527948216e-05,1793256014310277376
+378,6.300000000,POSE2_TO_POSE3_RETREAT,775,741.719965874,729.280034126,686,696,650,921,806.280034126,837,675,653,677,0.401133800044,-0.0153526903548,0.0798385511368,0.999999915411,0.000301438971423,-0.000276802489637,4.11447852301e-05,1793256014326944000
+379,6.316666667,POSE2_TO_POSE3_RETREAT,775,741.698238676,729.301761324,685.698238676,696,650,921,806,837.301761324,675,653.301761324,677,0.401098529763,-0.0153519823914,0.0798389791571,0.999999915163,0.000302647224402,-0.000276328433422,4.14938016868e-05,1793256014343610624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,775,741.110127448,729.889872552,685.110127448,696,650,921,806,837.889872552,675,653.889872552,677,0.401069061164,-0.0153538399275,0.0798391377106,0.999999915344,0.000300902216374,-0.000277500527799,4.19918246509e-05,1793256014360277248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,775.470930322,741.470930322,730,685,696,650,921,806.470930322,837.529069678,675,653.529069678,677,0.401048552714,-0.0153551237053,0.0798388513557,0.999999915815,0.000299234604642,-0.000277650690273,4.16909054918e-05,1793256014376943872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,775.94992632,742,730,685.05007368,696,650,921,807,837,675,653.05007368,677,0.401030608513,-0.0153562141053,0.0798383107774,0.99999991628,0.000297614276143,-0.000277787822164,4.12177462468e-05,1793256014393610752
+383,6.383333333,POSE2_TO_POSE3_RETREAT,775.373821657,742,730,685.626178343,696,650,921,807,837,675,653.626178343,677,0.401017915104,-0.0153566617613,0.0798361763952,0.999999915994,0.000296303334704,-0.000280261533308,4.08689271168e-05,1793256014410277632
+384,6.400000000,POSE2_TO_POSE3_RETREAT,775,742,730,686,696,650,921,806.794419743,837,675,653.794419743,677,0.401008727552,-0.0153566541383,0.0798358456787,0.999999915926,0.000296463020056,-0.000280359501123,4.07061610319e-05,1793256014426944256
+385,6.416666667,POSE2_TO_POSE3_RETREAT,775,742,730,686,696,650,921,806.208924501,837,675,653.208924501,677,0.401006018871,-0.0153558051538,0.07983884816,0.999999916255,0.000299340442896,-0.00027606706426,4.08872234121e-05,1793256014443610880
+386,6.433333333,POSE2_TO_POSE3_RETREAT,775,741.627441779,730,686,696,650,921,806.372558221,837,675,653,677,0.401003325264,-0.0153564058633,0.0798400468733,0.999999916414,0.000300074976889,-0.0002746797771,4.0956011196e-05,1793256014460277504
+387,6.450000000,POSE2_TO_POSE3_RETREAT,775,741.048185256,730,686,696,650,921,806.951814744,837,675,653,677,0.401000640021,-0.0153578108747,0.0798402448415,0.999999916489,0.000299620618793,-0.000274904290544,4.09625081239e-05,1793256014476944128
+388,6.466666667,POSE2_TO_POSE3_RETREAT,775,741,730,685.470179767,696,649.470179767,921,807,837,675,653,677,0.400999463788,-0.0153576376828,0.0798400071289,0.999999916858,0.000298703962791,-0.000274553935582,4.09941377874e-05,1793256014493610496
+389,6.483333333,POSE2_TO_POSE3_RETREAT,775,741.10745122,730,685,696,649.10745122,920.89254878,806.89254878,837,675,653,677,0.400998760574,-0.0153569801302,0.079839920995,0.999999917194,0.000298227883246,-0.000273851541081,4.0949313577e-05,1793256014510277376
+390,6.500000000,POSE2_TO_POSE3_RETREAT,775,741.683942769,730,685,696,649.683942769,920.316057231,806.316057231,837,675,653,677,0.400999524501,-0.0153548333343,0.0798406690801,0.999999917271,0.000299858082181,-0.000271840124464,4.05608029341e-05,1793256014526944256
+391,6.516666667,POSE2_TO_POSE3_RETREAT,775,741.734730109,730,685,696,649.734730109,920.265269891,806,837,675,653.265269891,677,0.400999271335,-0.0153542418316,0.0798411231559,0.99999991743,0.000299871240825,-0.00027127667673,4.03375805179e-05,1793256014543610880
+392,6.533333333,POSE2_TO_POSE3_RETREAT,775,741.147534568,730,685,696,649.147534568,920.852465432,806,837,675,653.852465432,677,0.400997783848,-0.0153555377978,0.0798412204288,0.999999917689,0.000297921995485,-0.000272470451625,4.03149481727e-05,1793256014560277504
+393,6.550000000,POSE2_TO_POSE3_RETREAT,775,741.433329646,730,685,696,649,921,806.433329646,837,675.433329646,654,677,0.400997330671,-0.0153576064052,0.079841127583,0.999999918602,0.000294959762887,-0.000272365682449,4.01454864211e-05,1793256014576943872
+394,6.566666667,POSE2_TO_POSE3_RETREAT,775,742,730,685,696,649.012028735,921,806.987971265,837,675.987971265,653.987971265,677,0.400997244323,-0.0153598597084,0.0798409949892,0.999999919698,0.00029177317328,-0.000271803137837,3.99326377847e-05,1793256014593610752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,775,742,730,685,696,649.588825316,921,806.411174684,837,675.411174684,653.411174684,677,0.400998085336,-0.0153586116055,0.0798419915378,0.999999919473,0.000294012552078,-0.000270206235732,3.99960438041e-05,1793256014610277376
+396,6.600000000,POSE2_TO_POSE3_RETREAT,775.164932395,742,729.835067605,685,696,650,921,806.164932395,837,675,653.164932395,677,0.400998599826,-0.015357532026,0.0798427474664,0.999999919225,0.000295891683069,-0.000269065561865,4.00285628544e-05,1793256014626944000
+397,6.616666667,POSE2_TO_POSE3_RETREAT,775.739327672,742,729.260672328,685,696,650,921,806.739327672,837,675,653.739327672,677,0.400998303685,-0.0153568708244,0.0798429060289,0.999999918937,0.000296876458971,-0.000269057525079,3.99844015908e-05,1793256014643610880
+398,6.633333333,POSE2_TO_POSE3_RETREAT,775.677603837,742,729.322396163,685,696,649.677603837,921,807,837,675,653.677603837,677,0.40099742434,-0.0153576213023,0.0798429048185,0.999999919242,0.000295505199244,-0.000269436249644,3.99708673963e-05,1793256014660277504
+399,6.650000000,POSE2_TO_POSE3_RETREAT,775.087328805,742,729.912671195,685,696,649.087328805,921,807,837,675,653.087328805,677,0.400996060412,-0.0153595447442,0.0798427708528,0.99999992003,0.000292176310205,-0.000270136334088,3.99827812256e-05,1793256014676944128
+400,6.666666667,POSE2_TO_POSE3_RETREAT,775,742,730,685,696,649,921,807,837,675,653,677,0.400997031385,-0.0153598649213,0.0798430375834,0.999999920176,0.000292904324506,-0.000268858270422,3.96299839853e-05,1793256014693610752
+401,6.683333333,POSE2_TO_POSE3_RETREAT,774.92763391,742,730,685,696,649.07236609,921,806.92763391,837,675.07236609,653,677,0.400998043497,-0.0153598316033,0.079843236427,0.999999920111,0.000294281135046,-0.000267639234127,3.93270845805e-05,1793256014710277376
+402,6.700000000,POSE2_TO_POSE3_RETREAT,774.352471617,742,730,685,696,649.647528383,921,806.352471617,837,675.647528383,653,677,0.400996524605,-0.0153592764041,0.0798424801927,0.999999919376,0.000295271485515,-0.000269216764232,3.98108621719e-05,1793256014726944000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,774.226785141,742,730,685,696,650,921,806.226785141,837.226785141,675.773214859,653.226785141,677,0.400995154303,-0.0153589358488,0.0798417984789,0.999999918953,0.000295448977878,-0.00027057380944,3.99184990032e-05,1793256014743610624
+404,6.733333333,POSE2_TO_POSE3_RETREAT,774.812522648,742,730,685,696,650,921,806.812522648,837.812522648,675.187477352,653.812522648,677,0.40099401919,-0.015358935029,0.0798412347149,0.999999919026,0.000294339889891,-0.000271581874463,3.94307855457e-05,1793256014760277248
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25710167d5e6ed6130a5c17530c5d38a6fc2de79
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+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
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+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
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+395,6.583333333,pose2_to_pose3_retreat,0.575668109634,-0.00981814711481,1.07002051245,0.546239256116,-0.00114391355485,1.06969221896
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b39290de19f40904183099c9098ee0fcc6b2aa2
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b642134d0db4744360a550129d538049cd18525
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+27,0.450000000,BASELINE,774.670912026,742,730,685.329087974,696,649.329087974,920.329087974,807,837,675,654,677,0.400996979539,-0.0153610193171,0.0798451496894,0.999999922751,0.000288132964304,-0.000264588922501,3.83296107189e-05,1793256015388175104
+28,0.466666667,BASELINE,775,742,729.74383322,685,696,649.25616678,920.25616678,806.74383322,837,675,654,677,0.400996649293,-0.0153618460779,0.0798449510152,0.999999922734,0.000287943046161,-0.000264843534547,3.84663330013e-05,1793256015404841472
+29,0.483333333,BASELINE,775,742,729.162352322,685,696,649.837647678,920.837647678,806.162352322,837,675,654,677,0.400996061975,-0.0153625835344,0.0798450204476,0.999999922602,0.000287935913675,-0.000265302476318,3.87866922128e-05,1793256015421508096
+30,0.500000000,BASELINE,774.585401182,742,729,685,696,649.585401182,921,806,837,675,654,677,0.400997722797,-0.0153613306306,0.0798462009666,0.999999922745,0.000289211721466,-0.000263352521257,3.88838778835e-05,1793256015438174720
+31,0.516666667,BASELINE,774.010204687,742,729,685,696,649.010204687,921,806,837,675,654,677,0.401000254451,-0.0153593067472,0.0798478118725,0.999999922985,0.000290984484911,-0.000260469463584,3.88946157551e-05,1793256015454841344
+32,0.533333333,BASELINE,774,742,729.565463552,685.565463552,696,649,921,806.565463552,837,675.565463552,654,677,0.400997422481,-0.0153619979047,0.079845737071,0.999999922846,0.000288560890496,-0.000263677218584,3.8910506529e-05,1793256015471507968
+33,0.550000000,BASELINE,774,742,730,685.855735329,696,649.144264671,921,807,837,675.855735329,653.855735329,677,0.400995747407,-0.0153638237194,0.0798444910347,0.999999922769,0.000287144623996,-0.000265511917633,3.88928985683e-05,1793256015488174592
+34,0.566666667,BASELINE,774,742,730,685.267315183,696,649.732684817,921,807,837,675.267315183,653.267315183,677,0.400997932389,-0.0153627231643,0.0798460015162,0.999999922943,0.000289063021682,-0.000262780619908,3.87718696934e-05,1793256015504841472
+35,0.583333333,BASELINE,774,742,730,685.31611847,696,649.68388153,921,806.68388153,837,675,653,677,0.400998274108,-0.0153619370572,0.0798464531938,0.999999922676,0.000290575439104,-0.000262131556425,3.87549940488e-05,1793256015521508352
+36,0.600000000,BASELINE,774,742,730,685.895401005,696,649.104598995,921,806.104598995,837,675,653,677,0.400997081336,-0.0153614127236,0.0798460234326,0.999999922046,0.000291749884025,-0.000263215922603,3.88248244522e-05,1793256015538174976
+37,0.616666667,BASELINE,774.47172578,742,730,685.05654844,696,649,921,806.47172578,837,675,653,677,0.400997260464,-0.0153618870705,0.0798459438279,0.999999921636,0.000292566095494,-0.000263846560401,3.89634590115e-05,1793256015554841344
+38,0.633333333,BASELINE,774.952919962,742,730,684.047080038,696,649,921,807,837,675,653,677,0.400997597815,-0.0153624771164,0.0798458942727,0.999999921295,0.000293244096806,-0.000264363076295,3.91069633274e-05,1793256015571507968
+39,0.650000000,BASELINE,774.381117957,742,730,684.618882043,696,649,921,807,837,675,653,677,0.400996329311,-0.0153619039768,0.0798453196698,0.999999921194,0.000293261498451,-0.000264721992362,3.9135764626e-05,1793256015588174592
+40,0.666666667,BASELINE,774.199262226,742,730,685,696,649,920.800737774,806.800737774,837,675,653,677,0.400995943708,-0.0153615046854,0.0798452489039,0.999999921457,0.000292546559405,-0.000264518541438,3.91487942621e-05,1793256015604841216
+41,0.683333333,BASELINE,774.796787475,742,730,685,696,649,920.203212525,806.203212525,837,675,653,677,0.400997322746,-0.0153614528622,0.0798461851513,0.999999922443,0.000290367899795,-0.000263191094328,3.91303012629e-05,1793256015621508096
+42,0.700000000,BASELINE,774.620072662,742,729.620072662,685,696,649,920.379927338,806.379927338,837,675,653,677,0.400998447253,-0.0153616548821,0.0798470752006,0.999999923229,0.000288863900396,-0.000261895992613,3.88720984196e-05,1793256015638174976
+43,0.716666667,BASELINE,774.04434645,742,729.04434645,685,696,649,920.95565355,806.95565355,837,675,653,677,0.400999440584,-0.0153619877223,0.0798479414413,0.999999923911,0.000287707593097,-0.000260617560418,3.84903590143e-05,1793256015654841600
+44,0.733333333,BASELINE,774.529507415,742,729.529507415,685.529507415,696,649.529507415,921,807,837,675,653,677,0.4009981294,-0.0153624458651,0.0798470941791,0.999999923335,0.000288452080586,-0.000261987613169,3.85750298714e-05,1793256015671508224
+45,0.750000000,BASELINE,774.893453563,742,730,686,696,649.893453563,921,807,837,675.106546437,653,677,0.400997136968,-0.0153628771858,0.0798464045112,0.999999922806,0.000289252344766,-0.000263099873998,3.8734136572e-05,1793256015688174848
+46,0.766666667,BASELINE,774.301181827,742,730,686,696,649.301181827,921,807,837,675.698818173,653,677,0.400998474439,-0.0153631385566,0.0798470852004,0.999999922978,0.000289583713403,-0.000262029274361,3.90551332613e-05,1793256015704841472
+47,0.783333333,BASELINE,774,742,730,686,696,649.273021894,921,806.726978106,837,675.726978106,653.273021894,677,0.400998667476,-0.0153631994497,0.0798470496735,0.999999923018,0.000289526315577,-0.000261926117489,3.91447774249e-05,1793256015721508096
+48,0.800000000,BASELINE,774,742,730,686,696,649.82853126,921,806.17146874,837,675.17146874,653.82853126,677,0.400997676402,-0.0153630529146,0.0798462730995,0.999999922922,0.00028906667292,-0.000262823944175,3.8995048186e-05,1793256015738174720
+49,0.816666667,BASELINE,774,742,730,685.585628596,696,649.585628596,921,806.414371404,837,675,653.585628596,677,0.400996653985,-0.0153627663527,0.0798458450552,0.999999922906,0.000288835864475,-0.000263151409918,3.88895832066e-05,1793256015754841344
+50,0.833333333,BASELINE,774,742,730,685,696,649,921,807,837,675,653,677,0.400995657707,-0.0153624083101,0.079845573035,0.999999922921,0.000288731890541,-0.000263222251027,3.88041067202e-05,1793256015771507968
+51,0.850000000,BASELINE,774,742,730,685,696,649,921,807,837,675,653,677,0.400996370276,-0.0153616687223,0.0798453184926,0.999999922654,0.000289678064803,-0.000263209360021,3.87282156559e-05,1793256015788174848
+52,0.866666667,BASELINE,774.186869794,741.813130206,730,685,696,649,921,806.813130206,837,675,653,677,0.400996994516,-0.0153613566347,0.0798454222446,0.999999922772,0.000289368474528,-0.000263102544366,3.87155823162e-05,1793256015804841472
+53,0.883333333,BASELINE,774.766497659,741.233502341,730,685,696,649,921,806.233502341,837,675,653,677,0.40099743311,-0.0153619430558,0.0798462790507,0.999999923696,0.000286419550955,-0.000262798320326,3.88359024208e-05,1793256015821508096
+54,0.900000000,BASELINE,775,741.344183621,730,685,696,649.344183621,921,806,837,675,653.344183621,677,0.400998171534,-0.0153629966772,0.0798469694669,0.999999924075,0.000286036513527,-0.000261766171081,3.88850409201e-05,1793256015838174976
+55,0.916666667,BASELINE,775,741.920559518,730,685,696,649.920559518,921,806,837,675,653.920559518,677,0.400999112228,-0.0153643654803,0.0798475476336,0.999999924086,0.000287384467782,-0.000260242950807,3.88861590619e-05,1793256015854841600
+56,0.933333333,BASELINE,775,742,730,685,696,650,921,806.49695071,837,675,653.50304929,677,0.400997794594,-0.0153628679486,0.0798468167103,0.999999923191,0.000288909611744,-0.000262037021648,3.8538702299e-05,1793256015871508224
+57,0.950000000,BASELINE,774.925065005,741.925065005,730,685.074934995,696,649.925065005,920.925065005,807,837,675,653.074934995,677,0.400996442721,-0.0153612280702,0.079846051974,0.999999922359,0.000290090849608,-0.000263945895133,3.82404129305e-05,1793256015888174592
+58,0.966666667,BASELINE,774.336171177,741.336171177,730,685.663828823,696,649.336171177,920.336171177,807,837,675,653.663828823,677,0.400997332131,-0.0153617546431,0.0798464906649,0.999999922987,0.000288719049779,-0.000263004951203,3.86615416827e-05,1793256015904841216
+59,0.983333333,BASELINE,774,741.248207803,730,685.751792197,696,649,920,807,837,675,653.751792197,677,0.400997477435,-0.0153617727381,0.079846545424,0.999999923072,0.000288768481807,-0.000262594679625,3.89022194089e-05,1793256015921508096
+60,1.000000000,BASELINE,774,741.826581223,730,685.173418777,696,649,920,807,837,675,653.173418777,677,0.40099663293,-0.0153611144566,0.0798460894778,0.999999922432,0.000290708433956,-0.00026289030742,3.8902861532e-05,1793256015938174976
+61,1.016666667,BASELINE,774.402449748,742,730,685,696,649,920,807,837,675,653,677.402449748,0.400997443208,-0.0153620551983,0.0798465920975,0.999999922808,0.000290079696774,-0.000262151786114,3.8906201276e-05,1793256015954841856
+62,1.033333333,BASELINE,774.977245535,742,730,685,696,649,920,807,837,675,653,677.977245535,0.400998962135,-0.0153636807097,0.0798475052159,0.999999923617,0.000288350937825,-0.000260970398313,3.89106962555e-05,1793256015971508480
+63,1.050000000,BASELINE,774.447907709,741.447907709,729.447907709,685,696,649,920,806.447907709,837,675,653,677.447907709,0.400998750083,-0.0153623530929,0.0798467050678,0.999999923072,0.000289594250895,-0.000261732115682,3.85574295879e-05,1793256015988175104
+64,1.066666667,BASELINE,774.130815008,741.130815008,729.130815008,685,696,649.130815008,920.130815008,806.130815008,837,675,653,677,0.400998503909,-0.0153613143132,0.0798461487107,0.999999922713,0.000290387406479,-0.000262267474207,3.8270811003e-05,1793256016004841728
+65,1.083333333,BASELINE,774.723206491,741.723206491,729.723206491,685,696,649.723206491,920.723206491,806.723206491,837,675,653,677,0.400998389088,-0.0153617241862,0.0798467017384,0.999999923212,0.000289159940609,-0.000261721529489,3.8271390541e-05,1793256016021508096
+66,1.100000000,BASELINE,774.691926519,742,730,685,696,649.691926519,920.691926519,807,837,675,653,677,0.400998448495,-0.0153618975203,0.079847187192,0.999999923456,0.000288699407922,-0.000261283094548,3.83725924369e-05,1793256016038174720
+67,1.116666667,BASELINE,774.113658873,742,730,685,696,649.113658873,920.113658873,807,837,675,653,677,0.400998660709,-0.0153618633992,0.0798476133799,0.999999923477,0.00028891150986,-0.000260938950501,3.85620446223e-05,1793256016054841600
+68,1.133333333,BASELINE,774.461073719,742,730,685.461073719,696,649,920.461073719,807,837,675,653,677,0.400998403446,-0.0153622168932,0.0798472904913,0.999999923572,0.000288367058356,-0.000261162355516,3.86643112089e-05,1793256016071508224
+69,1.150000000,BASELINE,775,742,729.96432091,686,696,649.03567909,921,806.96432091,837,675.03567909,653,677,0.400998021175,-0.0153626348426,0.0798467997106,0.999999923667,0.000287675763716,-0.000261548929238,3.87289555497e-05,1793256016088174848
+70,1.166666667,BASELINE,775,742,729.378340147,686,696,649.621659853,921,806.378340147,837,675.621659853,653,677,0.400997482221,-0.0153625844031,0.0798465457932,0.999999923504,0.000287574195899,-0.000262310716477,3.85422911157e-05,1793256016104841728
+71,1.183333333,BASELINE,775,741.793550097,729,685.793550097,696,649.587100194,921,806,837,676,653.206449903,677,0.400996966773,-0.0153621883219,0.0798462005316,0.999999922971,0.000288674378955,-0.000263143581095,3.84757315546e-05,1793256016121508096
+72,1.200000000,BASELINE,775,741.210929533,729,685.210929533,696,648.421859066,921,806,837,676,653.789070467,677,0.400996494152,-0.0153611624498,0.0798456888328,0.999999921756,0.000291964262316,-0.00026410595534,3.86280140572e-05,1793256016138174720
+73,1.216666667,BASELINE,774.632626836,741.367373164,729.367373164,685.367373164,696,648.367373164,921,806.367373164,837,675.632626836,653.632626836,677,0.400998146768,-0.0153618975307,0.0798467839995,0.999999922856,0.000290291892435,-0.000261778390842,3.8614614082e-05,1793256016154841600
+74,1.233333333,BASELINE,774.056774504,741.943225496,729.943225496,685.943225496,696,648.943225496,921,806.943225496,837,675.056774504,653.056774504,677,0.401001005424,-0.015363631928,0.0798487910401,0.999999925242,0.000285803512557,-0.000257583831738,3.85071915918e-05,1793256016171508224
+75,1.250000000,BASELINE,774.517763551,742,729.482236449,685.482236449,696,649,920.482236449,807,837,675,653.517763551,677,0.400998622657,-0.0153632407254,0.0798471548205,0.999999924236,0.000286312067132,-0.000260922284738,3.83754336837e-05,1793256016188174848
+76,1.266666667,BASELINE,774.905224372,741.905224372,729.094775628,685,695.905224372,649,920,807,836.905224372,675,654,677,0.400996388557,-0.0153624085804,0.0798456588892,0.999999923006,0.000287715531116,-0.000264087633471,3.82866756986e-05,1793256016204841472
+77,1.283333333,BASELINE,774.314514241,741.314514241,729.685485759,685,695.314514241,649,920,807,836.314514241,675,654,677,0.40099793223,-0.0153604856573,0.0798469822035,0.999999922606,0.000290941898356,-0.000262035786805,3.84368523098e-05,1793256016221508096
+78,1.300000000,BASELINE,774,741.270671881,730,685,695.270671881,649,920.270671881,807,836.270671881,675,653.729328119,677,0.400997896449,-0.0153604216679,0.0798471198344,0.999999922529,0.000291325205439,-0.000261896158735,3.84967942087e-05,1793256016238174720
+79,1.316666667,BASELINE,774,741.849567577,730,685,695.849567577,649,920.849567577,807,836.849567577,675,653.150432423,677,0.400996062087,-0.0153624745132,0.0798459072848,0.999999922822,0.00028847101737,-0.000263934042951,3.84539825825e-05,1793256016254841600
+80,1.333333333,BASELINE,774.426106767,742,730,685,696,649,921,806.573893233,837,675,653.426106767,677,0.400996129909,-0.015362878174,0.0798454141022,0.999999923024,0.00028787340898,-0.000263834237433,3.8364068808e-05,1793256016271508480
+81,1.350000000,BASELINE,774.998155933,741.998155933,730,685,696,649,921,806.001844067,837,675,653.998155933,677,0.400996862008,-0.0153627018272,0.0798451760712,0.999999923194,0.000288074128514,-0.000262987415163,3.82580923284e-05,1793256016288175104
+82,1.366666667,BASELINE,774.414394738,741.414394738,730,685,696,649,921,806.585605262,837,675,653.414394738,677,0.400996465452,-0.0153622153279,0.0798457532985,0.999999922513,0.000290183434704,-0.000263251696128,3.83019302195e-05,1793256016304841472
+83,1.383333333,BASELINE,774,741.168741121,730,685,696,649,920.831258879,807,837,675,653,677,0.400996645817,-0.0153622676975,0.079846476539,0.999999922368,0.000291119796142,-0.000262747494278,3.84215071775e-05,1793256016321508096
+84,1.400000000,BASELINE,774,741.75034707,730,685,696,649,920.24965293,807,837,675,653,677,0.400998237755,-0.0153636385368,0.0798475570354,0.999999923541,0.000289186272894,-0.000260363018591,3.87263975804e-05,1793256016338174720
+85,1.416666667,BASELINE,774.33008233,742,730,685.33008233,696,649.33008233,920.33008233,807,837,675.33008233,653.33008233,677,0.400998499546,-0.0153629985815,0.0798476277132,0.999999923481,0.000289348717558,-0.000260400010675,3.88130436369e-05,1793256016354841344
+86,1.433333333,BASELINE,774.908410659,742,730,685.908410659,696,649.908410659,920.908410659,807,837,675.908410659,653.908410659,677,0.400997760967,-0.0153608463617,0.0798469389337,0.999999922494,0.000291087483158,-0.000262258123369,3.87355540007e-05,1793256016371508224
+87,1.450000000,BASELINE,775,742,730,685.515237625,696,649.515237625,921,807,837,675.515237625,653.515237625,677,0.40099640318,-0.0153616643136,0.0798461475529,0.999999922681,0.000289075332713,-0.000263797520361,3.85163575396e-05,1793256016388175104
+88,1.466666667,BASELINE,774.938108216,742,730,685,696,649,921,807,837,675,653.061891784,677,0.400995153232,-0.015362961109,0.079845456325,0.99999992308,0.000286561756205,-0.000265056055304,3.82983108034e-05,1793256016404841728
+89,1.483333333,BASELINE,774.351227184,742,730,685,696,649,921,807,837,675,653.648772816,677,0.400995806359,-0.0153635788765,0.0798457783955,0.999999923466,0.000285781817615,-0.000264440922703,3.83161979019e-05,1793256016421508352
+90,1.500000000,BASELINE,774,742,730,685.233917167,696,649,920.766082833,807,837,675,653.766082833,677,0.400996348763,-0.015364004103,0.079845916049,0.999999923752,0.000285487571765,-0.000263685916431,3.8241985307e-05,1793256016438174720
+91,1.516666667,BASELINE,774,742,730,685.816473054,696,649,920.183526946,807,837,675,653.183526946,677,0.40099672614,-0.0153641423594,0.0798457788404,0.999999923891,0.000285917220245,-0.000262722437367,3.80305039517e-05,1793256016454841344
+92,1.533333333,BASELINE,774.393440303,742,730,686,696,649,920.393440303,807,837,675,653,677,0.40099643679,-0.0153635930991,0.0798455602274,0.99999992345,0.000286965072674,-0.000263270124911,3.79531317726e-05,1793256016471507968
+93,1.550000000,BASELINE,774.967837198,742,730,686,696,649,920.967837198,807,837,675,653,677,0.400995840791,-0.0153627276263,0.0798453041738,0.999999922739,0.000288297258187,-0.000264512849351,3.79374409517e-05,1793256016488174592
+94,1.566666667,BASELINE,774.446038045,742,730,686,696,649,921,807,836.446038045,675.553961955,653,677,0.400996995141,-0.0153632367244,0.0798458328762,0.99999992342,0.000287526602192,-0.00026272138409,3.82990370483e-05,1793256016504841472
+95,1.583333333,BASELINE,774,742,730,686,696,649,921,807,836.139047822,676,653.139047822,677,0.400998072427,-0.0153634678629,0.0798463304944,0.999999923913,0.000287166593685,-0.000261191901364,3.85755766507e-05,1793256016521508352
+96,1.600000000,BASELINE,774,742,730,686,696,649,921,807,836.718638351,676,653.718638351,677,0.400998576616,-0.0153625600273,0.0798465821518,0.999999923565,0.00028850281423,-0.00026106266109,3.85117307169e-05,1793256016538174976
+97,1.616666667,BASELINE,774.297358735,741.702641265,730,686,696,649,921,807,837,676,654,677,0.400999160233,-0.0153630263464,0.0798472115575,0.999999923731,0.000288262491578,-0.000260666694178,3.8670799496e-05,1793256016554841600
+98,1.633333333,BASELINE,774.875258152,741.124741848,730,686,696,649,921,807,837,676,654,677,0.400999818785,-0.0153647891005,0.0798481973468,0.999999924382,0.000286534791972,-0.000260019086191,3.90401753537e-05,1793256016571507968
+99,1.650000000,BASELINE,775,741,730,685.549756668,696,649.450243332,921,807,837,675.549756668,653.549756668,677,0.400998911689,-0.0153646889493,0.07984745322,0.999999924357,0.000286047266926,-0.000260723784488,3.85457992936e-05,1793256016588174592
+100,1.666666667,BASELINE,775,741.025051886,730,685.025051886,696,649.974948114,921,807,837,675,653.025051886,677,0.400997642837,-0.0153640180625,0.0798463003523,0.999999924127,0.000286012406473,-0.000261743232904,3.78570073566e-05,1793256016604841472
+101,1.683333333,BASELINE,775,741.613940456,730,685.613940456,696,649.386059544,921,807,837,675,653.613940456,677,0.400997931971,-0.0153620433857,0.0798466657349,0.999999923479,0.000288482065245,-0.000261468482325,3.81439130355e-05,1793256016621508096
+102,1.700000000,BASELINE,774.80056113,741.80056113,730,685.80056113,696,649.19943887,920.80056113,806.80056113,837,675,653.80056113,677,0.400997926885,-0.0153609557038,0.0798470150569,0.999999923099,0.000290022998969,-0.000261178948854,3.83837640734e-05,1793256016638174720
+103,1.716666667,BASELINE,774.221515516,741.221515516,730,685.221515516,696,649.778484484,920.221515516,806.221515516,837,675,653.221515516,677,0.40099736179,-0.0153615563051,0.0798473338097,0.999999923242,0.00028979622138,-0.000260861278045,3.85340525029e-05,1793256016654841600
+104,1.733333333,BASELINE,774,741,730,685,696,650,920,806.357336168,837,675,653,677,0.40099761385,-0.0153623165435,0.0798474989833,0.999999923183,0.000290148741328,-0.000260639228163,3.8920194176e-05,1793256016671508480
+105,1.750000000,BASELINE,774,741,730,685,696,650,920,806.936067754,837,675,653,677,0.400998372198,-0.0153631756886,0.0798475690038,0.999999922998,0.000290860177683,-0.000260476422283,3.9452463887e-05,1793256016688175104
+106,1.766666667,BASELINE,774,741.51080133,730,685,696,649.48919867,920.51080133,807,837,675,653.51080133,677,0.400996565534,-0.015363591219,0.0798461957847,0.999999923135,0.000288025429635,-0.000263177838391,3.88387414257e-05,1793256016704841472
+107,1.783333333,POSE1_TO_POSE2_PRESS,775,741,729,685,697,649,921,807,837,675,653,677,0.400995030222,-0.0153617093994,0.0798448706643,0.999999921859,0.00029103744923,-0.000264791688781,3.82571893104e-05,1793256016747398912
+108,1.800000000,POSE1_TO_POSE2_PRESS,775,741.58015406,729.58015406,685,696.41984594,649.58015406,921,806.41984594,837,675,653,677,0.400995632009,-0.0153635237546,0.0798454285829,0.99999992348,0.000286645839851,-0.000263476674164,3.81303429936e-05,1793256016764065536
+109,1.816666667,POSE1_TO_POSE2_PRESS,775,742,730,685,696,649.841382302,921,806.158617698,837,675,653,677,0.40099591602,-0.0153647503997,0.0798457811652,0.999999924386,0.000283994666612,-0.000262912024032,3.81077801941e-05,1793256016780732160
+110,1.833333333,POSE1_TO_POSE2_PRESS,775,742,730,685,696,649.267345743,921,806.732654257,837,675,653,677,0.400995367777,-0.0153644378355,0.0798455959732,0.999999923464,0.0002859016849,-0.000264312573996,3.83583353139e-05,1793256016797398784
+111,1.850000000,POSE1_TO_POSE2_PRESS,775,742,730,685,696,649,921,807,837,675,653.306019735,677,0.400995748203,-0.0153645042667,0.0798459424459,0.999999923482,0.000286385851735,-0.000263695395602,3.85335799406e-05,1793256016814065152
+112,1.866666667,POSE1_TO_POSE2_PRESS,775,742,730,685,696,649,921,807,837,675,653.878800189,677,0.40099693816,-0.0153649010723,0.0798467523766,0.999999924317,0.000285629703424,-0.000261319341446,3.86431755794e-05,1793256016830731776
+113,1.883333333,POSE1_TO_POSE2_PRESS,775,742,729.531902648,685.468097352,696,649.468097352,921,807,837,675,653.531902648,677,0.40099615648,-0.0153637027683,0.0798460293033,0.999999923693,0.000286264623461,-0.000263040891168,3.84309146786e-05,1793256016847398400
+114,1.900000000,POSE1_TO_POSE2_PRESS,775,741.939591181,729.060408819,685.939591181,696,649.939591181,921,807,837,675,653,677,0.400995400295,-0.0153624288187,0.0798453128789,0.999999922921,0.000287129537996,-0.000265055137618,3.82027278217e-05,1793256016864065536
+115,1.916666667,POSE1_TO_POSE2_PRESS,775,741.359484064,729.640515936,685.359484064,696,649.359484064,921,807,837,675,653,677,0.400999415881,-0.0153641871434,0.0798481933099,0.999999924307,0.000286761170214,-0.000260126231418,3.85806854829e-05,1793256016880731904
+116,1.933333333,POSE1_TO_POSE2_PRESS,775,741,730,685.218429895,696,649,920.781570105,807,837,675,653,677,0.401005110541,-0.0153651084157,0.0798514269822,0.999999925686,0.000286508077149,-0.000255001719492,3.89172218331e-05,1793256016897398528
+117,1.950000000,POSE1_TO_POSE2_PRESS,775,741,730,685.792770259,696,649,920.207229741,807,837,675,653,677,0.401013541093,-0.0153646657917,0.0798552362271,0.999999927068,0.000286442813165,-0.000249558487363,3.91862661111e-05,1793256016914065152
+118,1.966666667,POSE1_TO_POSE2_PRESS,775,741.374454023,730,686,696,649,920,807,837,675.374454023,653,677,0.401037657008,-0.0153655635713,0.0798648432492,0.999999931259,0.000286002020214,-0.000232628310881,3.96179481829e-05,1793256016930731776
+119,1.983333333,POSE1_TO_POSE2_PRESS,775,741.960283109,730,686,696,649,920,807,837,675.960283109,653,677,0.401070627133,-0.0153672179937,0.0798777230514,0.999999936597,0.000285349245277,-0.000209213883594,4.01414374581e-05,1793256016947398656
+120,2.000000000,POSE1_TO_POSE2_PRESS,775,742,730,685.457778556,696,649,920,807,837,675.457778556,653,677,0.401132728822,-0.0153699180927,0.0798964053629,0.999999943082,0.000286810320874,-0.000172834250684,4.12885119887e-05,1793256016964065280
+121,2.016666667,POSE1_TO_POSE2_PRESS,774.876941257,742,730,685,696,649,920,807,837,675,653,677,0.401200104643,-0.0153727621291,0.0799150097361,0.999999948118,0.000287514601949,-0.000139019446396,4.21033607096e-05,1793256016980731904
+122,2.033333333,POSE1_TO_POSE2_PRESS,774.299126934,742,730,685,696,649,920,807,837,675,653,677,0.401279141397,-0.0153758570453,0.079931766637,0.999999951585,0.000284854088711,-0.000118167272552,4.15228984951e-05,1793256016997398784
+123,2.050000000,POSE1_TO_POSE2_PRESS,774.28230259,742,730,685,696,649,920,807,837,675,653.28230259,677,0.401365252558,-0.0153791707188,0.0799438411987,0.99999995406,0.000283246177851,-0.000100172406854,4.02230830791e-05,1793256017014065152
+124,2.066666667,POSE1_TO_POSE2_PRESS,774.867612427,742,730,685,696,649,920,807,837,675,653.867612427,677,0.401458956974,-0.0153827191934,0.0799508900074,0.99999995566,0.000282768069625,-8.52444114808e-05,3.81511556486e-05,1793256017030731776
+125,2.083333333,POSE1_TO_POSE2_PRESS,775,742,730,685,696,649,920,807,837,675,653.55232105,677,0.40156997662,-0.0153863751261,0.0799561954316,0.999999957323,0.000280308209616,-7.45277546559e-05,3.50336013488e-05,1793256017047398656
+126,2.100000000,POSE1_TO_POSE2_PRESS,774.973744843,742,730,685.026255157,696,649,920,807,837,675,653,677,0.401687056456,-0.0153900959108,0.0799608180571,0.999999958953,0.000277180755189,-6.53376526723e-05,3.15660935017e-05,1793256017064065024
+127,2.116666667,POSE1_TO_POSE2_PRESS,774.394277493,742,730,685.605722507,696,649,920,807,837,675,653,677,0.401825186059,-0.0153945213469,0.0799617909675,0.999999960641,0.000272192019424,-6.23759256457e-05,2.71647242518e-05,1793256017080731648
+128,2.133333333,POSE1_TO_POSE2_PRESS,774.18330493,741.81669507,730,686,696,649.18330493,920,807,836.81669507,675,653,677,0.401972348415,-0.0153992100783,0.0799632115447,0.999999962465,0.000266675207003,-5.87558467101e-05,2.23866362092e-05,1793256017097398528
+129,2.150000000,POSE1_TO_POSE2_PRESS,774.756874184,741.243125816,730,686,696,649.756874184,920,807,836.243125816,675,653,677,0.402138741886,-0.0154044593764,0.0799655852244,0.999999964606,0.000260034096608,-5.37341077412e-05,1.68064977118e-05,1793256017114065152
+130,2.166666667,POSE1_TO_POSE2_PRESS,774.66095265,741.33904735,730,685.66095265,696,649.66095265,920,806.66095265,836.33904735,675,653.33904735,677,0.402317911373,-0.0154108284348,0.0799637087788,0.999999966812,0.000250871821567,-5.77070757749e-05,1.04931619027e-05,1793256017130732032
+131,2.183333333,POSE1_TO_POSE2_PRESS,774.072449042,741.927550958,730,685.072449042,696,649.072449042,920,806.072449042,836.927550958,675,653.927550958,677,0.402506480912,-0.0154180213644,0.0799587052766,0.999999968896,0.000239854582768,-6.82979565246e-05,3.64037089571e-06,1793256017147398656
+132,2.200000000,POSE1_TO_POSE2_PRESS,774,742,730,685,696,649,920,806.510452754,837,675,654,677,0.402727753138,-0.0154248362664,0.0799551563954,0.999999983081,0.000167816534899,-7.51861590516e-05,-4.66982446362e-06,1793256017164065280
+133,2.216666667,POSE1_TO_POSE2_PRESS,774,742,730,685,696,649,920,807,837,675,654,677,0.40296083699,-0.0154319413152,0.0799527872578,0.999999991902,9.83436375802e-05,-7.96944305012e-05,-1.31883278613e-05,1793256017180731648
+134,2.233333333,POSE1_TO_POSE2_PRESS,774,742,730,685,696,649,920,807,837,675,654,677,0.403232106543,-0.0154408614796,0.0799555772136,0.99999999315,8.7741777012e-05,-7.43654888046e-05,-2.17264160774e-05,1793256017197398272
+135,2.250000000,POSE1_TO_POSE2_PRESS,774,742,730,685.235403195,696,649,920.235403195,807,837,675,654,677.235403195,0.403520637031,-0.0154502825853,0.0799571565657,0.999999994392,7.20792156861e-05,-7.1987938109e-05,-2.89571675065e-05,1793256017214064896
+136,2.266666667,POSE1_TO_POSE2_PRESS,774,742,730,685.813862256,696,649,920.813862256,807,837,675,654,677.813862256,0.403834322068,-0.0154604337179,0.0799569716902,0.999999995478,4.90416358169e-05,-7.39114847943e-05,-3.42827210299e-05,1793256017230731776
+137,2.283333333,POSE1_TO_POSE2_PRESS,774,742,729.598257474,685.598257474,696,649,920.598257474,807,837,675,653.598257474,677.196514948,0.404184830112,-0.0154649512232,0.079959203356,0.999999995496,5.7324286987e-05,-6.87686262141e-05,-3.15058534759e-05,1793256017247398656
+138,2.300000000,POSE1_TO_POSE2_PRESS,774,742,729.005907307,685.005907307,696,649,920.005907307,807,837,675,653.005907307,676.011814613,0.404552808907,-0.0154667958412,0.0799625815553,0.999999994636,8.04668925709e-05,-6.02730957459e-05,-2.48847739278e-05,1793256017264065536
+139,2.316666667,POSE1_TO_POSE2_PRESS,774,742,729.572033459,685.572033459,696,649,920,806.427966541,837,675,653,676.572033459,0.404953944763,-0.01547422716,0.0799597056576,0.999999995872,6.24519477445e-05,-5.96410923955e-05,-2.82761201869e-05,1793256017280731904
+140,2.333333333,POSE1_TO_POSE2_PRESS,773.851253251,742,730,686,696,649,920.148746749,806.148746749,837,675,653.148746749,677,0.405363522447,-0.0154782580916,0.0799560588881,0.999999996297,5.01826305976e-05,-6.2418913349e-05,-3.14765627659e-05,1793256017297398528
+141,2.350000000,POSE1_TO_POSE2_PRESS,773.277631585,742,730,686,696,649,920.722368415,806.722368415,837,675,653.722368415,677,0.405796258983,-0.0154724155334,0.0799503901738,0.999999995096,5.55091281359e-05,-7.4710181915e-05,-3.38436318802e-05,1793256017314065152
+142,2.366666667,POSE1_TO_POSE2_PRESS,773,742,730,685.69573085,696,649,920.69573085,806.69573085,837,675,653.69573085,677,0.406246871333,-0.0154670240041,0.0799449522668,0.999999993761,6.22712087505e-05,-8.54301508871e-05,-3.60766618678e-05,1793256017330731776
+143,2.383333333,POSE1_TO_POSE2_PRESS,773,742,730,685.106064479,696,649,920.106064479,806.106064479,837,675,653.106064479,677,0.406714250819,-0.0154620555285,0.0799397308507,0.999999992313,7.03798327388e-05,-9.46762796711e-05,-3.81839666205e-05,1793256017347398400
+144,2.400000000,POSE1_TO_POSE2_PRESS,773,742,730,685.474978807,696,649,920,806.474978807,837,675,653.474978807,677,0.407229176611,-0.0154675355013,0.0799368898322,0.999999991867,6.55887568979e-05,-0.000102535637317,-3.80885906439e-05,1793256017364065024
+145,2.416666667,POSE1_TO_POSE2_PRESS,773.05378816,742,730,686,696,649,920,807,836.94621184,675,654,677,0.407756900826,-0.0154746984728,0.0799339133832,0.999999991422,5.82535721353e-05,-0.000111072160197,-3.77633653636e-05,1793256017380731648
+146,2.433333333,POSE1_TO_POSE2_PRESS,773.62927397,742,730,686,696,649,920,807,836.37072603,675,654,677,0.408307616925,-0.0154759588119,0.0799245597264,0.999999989426,5.3683383267e-05,-0.000129126571964,-3.9894409936e-05,1793256017397398272
+147,2.450000000,POSE1_TO_POSE2_PRESS,774,742,730,686,696,649,920.20461354,807,836.20461354,675,653.79538646,677,0.408894837292,-0.0154779333485,0.0799291342796,0.999999990357,4.92626616649e-05,-0.000123274100507,-4.07667642444e-05,1793256017414064896
+148,2.466666667,POSE1_TO_POSE2_PRESS,774,742,730,686,696,649,920.779688299,807,836.779688299,675,653.220311701,677,0.409548150102,-0.015481200969,0.0799589264298,0.99999999546,4.51125569062e-05,-7.41372336054e-05,-3.93602079467e-05,1793256017430731776
+149,2.483333333,POSE1_TO_POSE2_PRESS,773.635603253,742,730,686,696,649.364396747,921,807,837,675,653,677,0.410214989672,-0.015492248941,0.0799880963507,0.999999998477,3.24271929851e-05,-2.64030973754e-05,-3.60084824414e-05,1793256017447398656
+150,2.500000000,POSE1_TO_POSE2_PRESS,773.044912201,742,730,686,696,649.955087799,921,807,837,675,653,677,0.410890229482,-0.0155081285949,0.0800168798594,0.999999999192,1.44413413336e-05,2.04599261717e-05,-3.14487859281e-05,1793256017464065280
+151,2.516666667,POSE1_TO_POSE2_PRESS,773.533926591,742,730,686,696,649.466073409,921,807,836.466073409,675,653.533926591,677,0.411561396882,-0.0155239968866,0.0799951552396,0.999999999175,-9.95274327457e-06,-1.96082340609e-05,-3.41578047678e-05,1793256017480731648
+152,2.533333333,POSE1_TO_POSE2_PRESS,773.888596307,742,730,686,696,649.111403693,921,807,836,675,654,677,0.412237321916,-0.0155361410681,0.0799676261937,0.999999996681,-2.97120582058e-05,-6.57499683468e-05,-3.78468279266e-05,1793256017497398528
+153,2.550000000,POSE1_TO_POSE2_PRESS,773.312730192,742,730,686,696,649.687269808,921,807,836,675,654,677,0.41293447939,-0.0155327626449,0.0799332258953,0.999999992913,-2.7949609065e-05,-0.000107388961634,-4.31278987761e-05,1793256017514065152
+154,2.566666667,POSE1_TO_POSE2_PRESS,773.268481708,742.268481708,730,686.268481708,696,650,921.268481708,807,836.268481708,675,654,677,0.413658852174,-0.0155284342332,0.0799180196717,0.999999991438,-2.38960441678e-05,-0.000120103641984,-4.61331827103e-05,1793256017530732032
+155,2.583333333,POSE1_TO_POSE2_PRESS,773.856047009,742.856047009,730,686.856047009,696,650,921.856047009,807,836.856047009,675,654,677,0.414415569745,-0.0155229767842,0.0799256251072,0.99999999393,-1.71195470103e-05,-9.84425270172e-05,-4.6433753261e-05,1793256017547398656
+156,2.600000000,POSE1_TO_POSE2_PRESS,774,743,730.437426912,686.562573088,696,650,922,806.562573088,837,675,654,677,0.41521514773,-0.0155232606474,0.0799489243538,0.999999996742,-1.80760316386e-05,-6.4526637764e-05,-4.4996543668e-05,1793256017564065536
+157,2.616666667,POSE1_TO_POSE2_PRESS,774,743,730.983354364,686.016645636,696,650,922.016645636,806.016645636,837,675,653.983354364,677,0.41602853202,-0.0155253508764,0.0799760007459,0.999999998429,-2.15793495699e-05,-2.85827823247e-05,-4.31222819724e-05,1793256017580732160
+158,2.633333333,POSE1_TO_POSE2_PRESS,774,743,730.409291666,686.590708334,696,650,922.590708334,806.590708334,837,675,653.409291666,677,0.416838503084,-0.0155255423703,0.0799590238673,0.999999996942,-2.63373379081e-05,-5.78965165943e-05,-4.54962364589e-05,1793256017597398528
+159,2.650000000,POSE1_TO_POSE2_PRESS,774,743.165774431,730,687,696,650,923,807,837,675,653.165774431,677,0.417677286535,-0.0155276033414,0.0799567245815,0.999999996704,-3.13919521371e-05,-5.82938701103e-05,-4.69923672068e-05,1793256017614065152
+160,2.666666667,POSE1_TO_POSE2_PRESS,774,743.743332942,730,687,696,650,923,807,837,675,653.743332942,677,0.418587639973,-0.015534308098,0.0799908844721,0.99999999815,-3.71833854507e-05,1.31371365368e-05,-4.63079814982e-05,1793256017630731776
+161,2.683333333,POSE1_TO_POSE2_PRESS,773.672709258,743.672709258,730,686.672709258,696,650,923,807,836.672709258,675,653.672709258,677,0.419454513877,-0.0155360083021,0.0799988179736,0.999999997614,-3.82329848678e-05,3.36560494375e-05,-4.66720140918e-05,1793256017647398400
+162,2.700000000,POSE1_TO_POSE2_PRESS,773.083632973,743.083632973,730,686.083632973,696,650,923,807,836.083632973,675,653.083632973,677,0.420286610362,-0.0155337055834,0.0799857741325,0.999999998134,-3.54897986697e-05,1.34526030279e-05,-4.78746307629e-05,1793256017664065024
+163,2.716666667,POSE1_TO_POSE2_PRESS,773.49685416,743.49685416,730.49685416,686,696,650,923,807,836.49685416,675,653.49685416,677,0.421166723142,-0.0155335508385,0.0799766582444,0.999999998094,-3.71220344998e-05,-5.57305744275e-06,-4.9013715853e-05,1793256017680731904
+164,2.733333333,POSE1_TO_POSE2_PRESS,773.92460554,744,730.92460554,686.07539446,696,649.92460554,923,807,837,675,654,677,0.422063739882,-0.0155340077934,0.0799731795751,0.999999997928,-3.7844750583e-05,-1.61511704962e-05,-4.95166198559e-05,1793256017697398784
+165,2.750000000,POSE1_TO_POSE2_PRESS,773.349549041,744,730.349549041,686.650450959,696,649.349549041,923,807,837,675,654,677,0.423020129988,-0.0155361632353,0.0800027531426,0.999999998172,-2.77417824801e-05,2.79636521947e-05,-4.58730253527e-05,1793256017714065152
+166,2.766666667,POSE1_TO_POSE2_PRESS,773,744,730.225019631,687,696,649.225019631,923,807,837,675,654,677,0.42393697169,-0.0155372676411,0.0800092622174,0.999999998381,-2.11453286523e-05,2.85932293349e-05,-4.44310980437e-05,1793256017730731776
+167,2.783333333,POSE1_TO_POSE2_PRESS,773,744,730.798832232,687,696,649.798832232,923,807,837,675,654,677,0.424792511308,-0.0155367428826,0.0799800200476,0.999999997995,-1.99841658293e-05,-3.81817409499e-05,-4.64018770113e-05,1793256017747398400
+168,2.800000000,POSE1_TO_POSE2_PRESS,773,744,731,687.384835041,696.384835041,650,923.384835041,807,837,675,654,677,0.425676227873,-0.0155352758333,0.0799448378166,0.999999994791,-2.3894093944e-05,-8.51945760266e-05,-5.08904656272e-05,1793256017764065024
+169,2.816666667,POSE1_TO_POSE2_PRESS,773,744,731,687.97741855,696.97741855,650,923.97741855,807,837,675,654,677,0.426575155364,-0.0155333000999,0.0799064489181,0.999999990538,-3.05415882662e-05,-0.000121539061234,-5.67382627448e-05,1793256017780731648
+170,2.833333333,POSE1_TO_POSE2_PRESS,773.556658989,744,730.443341011,687.443341011,696.443341011,650,923.443341011,807,836.443341011,675,654,677,0.427512205782,-0.0155342292501,0.0799097503267,0.999999990854,-3.3185038121e-05,-0.000118153120155,-5.6832340706e-05,1793256017797398272
+171,2.850000000,POSE1_TO_POSE2_PRESS,773.865695648,744,730,687,696,650,923.134304352,806.865695648,836,674.865695648,654,677,0.428456486312,-0.0155360788996,0.0799195591573,0.999999991908,-3.70441638513e-05,-0.000107943086138,-5.62200659111e-05,1793256017814064896
+172,2.866666667,POSE1_TO_POSE2_PRESS,773.291543024,744,730,687,696,650,923.708456976,806.291543024,836,674.291543024,654,677,0.429419499257,-0.0155405663025,0.0799452707892,0.999999994266,-4.54041435437e-05,-8.05388661614e-05,-5.40409899576e-05,1793256017830732032
+173,2.883333333,POSE1_TO_POSE2_PRESS,773,744,730,687,696,650,924,806.289576541,836,674.289576541,654,677,0.430384318605,-0.0155457666448,0.0799850962072,0.999999997176,-4.86618593069e-05,-2.58698277137e-05,-5.11016619681e-05,1793256017847398656
+174,2.900000000,POSE1_TO_POSE2_PRESS,773,744,730,687,696,650,924,806.87788324,836,674.87788324,654,677,0.431351001399,-0.0155517024624,0.0800394815515,0.999999996169,-4.6656026038e-05,5.69258782209e-05,-4.73780500103e-05,1793256017864065024
+175,2.916666667,POSE1_TO_POSE2_PRESS,773,744,730,687,696,650,924,806.541525604,836,675,654,677,0.432237057139,-0.0155489985024,0.0800243701947,0.999999997549,-3.86860129353e-05,3.22454579724e-05,-4.86287798576e-05,1793256017880731648
+176,2.933333333,POSE1_TO_POSE2_PRESS,773,744,730.037054796,687.037054796,696,650,924,806,836,675,654,676.962945204,0.433102531479,-0.0155443536037,0.0799896453424,0.999999997981,-3.03599526558e-05,-2.18557300257e-05,-5.13736776775e-05,1793256017897398272
+177,2.950000000,POSE1_TO_POSE2_PRESS,773,744,730.615785157,687.615785157,696,650,924,806,836,675,654,676.384214843,0.433975877708,-0.0155444189922,0.0799343221661,0.99999999313,-3.96671160631e-05,-9.44896631445e-05,-5.69129538113e-05,1793256017914065152
+178,2.966666667,POSE1_TO_POSE2_PRESS,773,744,731,688,696,650,924,806,836.192808853,674.807191147,654,676.192808853,0.434867974539,-0.015545389393,0.0799071562252,0.999999988679,-4.97947258095e-05,-0.000128640694041,-6.01120926885e-05,1793256017930731776
+179,2.983333333,POSE1_TO_POSE2_PRESS,773,744,731,688,696,650,924,806,836.766461575,674.233538425,654,676.766461575,0.435797108476,-0.0155481474108,0.0799356075887,0.999999992619,-6.15429164234e-05,-8.67787483425e-05,-5.8688898904e-05,1793256017947398400
+180,3.000000000,POSE1_TO_POSE2_PRESS,773,744,731,687.658874286,696,650,924,806,836.658874286,674.341125714,654,677,0.436708993062,-0.0155496174894,0.0799686214511,0.999999995481,-6.53390360329e-05,-4.01843249896e-05,-5.6168444339e-05,1793256017964065024
+181,3.016666667,POSE1_TO_POSE2_PRESS,773,744,731,687.083515696,696,650,924,806,836.083515696,674.916484304,654,677,0.437609033379,-0.0155502032084,0.0800047681371,0.999999996527,-6.36748908655e-05,9.65963645302e-06,-5.28945592109e-05,1793256017980731904
+182,3.033333333,POSE1_TO_POSE2_PRESS,773,744,731,687.5096064,696.5096064,650,924,806,836.5096064,675,654,677,0.438473897863,-0.0155547764058,0.0800243701136,0.999999995584,-6.41163818369e-05,4.49088451032e-05,-5.20105601637e-05,1793256017997398528
+183,3.050000000,POSE1_TO_POSE2_PRESS,773,744,731,688,696.898027336,650,924,806,836.898027336,675,654,677,0.439312464956,-0.01555982666,0.0800283559123,0.999999994812,-6.74115541468e-05,5.5542861013e-05,-5.24168110802e-05,1793256018014065152
+184,3.066666667,POSE1_TO_POSE2_PRESS,773,744,731,688,696.323154286,650,924,806,836.323154286,675,654,677,0.440056776834,-0.0155639493021,0.0799729496265,0.999999994329,-8.22826330414e-05,-3.64838400947e-05,-5.69246875701e-05,1793256018030731776
+185,3.083333333,POSE1_TO_POSE2_PRESS,773,744,731,688,696,650,924,806,836,675,654,677,0.440766712216,-0.0155677763273,0.0798922913881,0.999999979831,-9.47278418136e-05,-0.000165279507547,-6.36184668476e-05,1793256018047398400
+186,3.100000000,POSE1_TO_POSE2_PRESS,773,744,731,688,696,650,924,806,836,675,654,677,0.441432515312,-0.015571223842,0.0797792149287,0.999999933677,-0.000104058738303,-0.000341278827747,-7.31184868793e-05,1793256018064065024
+187,3.116666667,POSE1_TO_POSE2_PRESS,773,744,731,688,696,649.587464104,924.412535896,805.587464104,836,675,654,676.587464104,0.44216786438,-0.015579574556,0.0797558698819,0.999999921989,-0.000119081645444,-0.000369134167379,-7.47080847368e-05,1793256018080731648
+188,3.133333333,POSE1_TO_POSE2_PRESS,773,744,731,688,696,649,924.993752835,805,836.006247165,675,654,676.006247165,0.442933575917,-0.0155901184701,0.0797723786637,0.999999933085,-0.000136576385984,-0.000331478990474,-7.27971507892e-05,1793256018097398528
+189,3.150000000,POSE1_TO_POSE2_PRESS,773,744,731,688,696,649,924.419462421,805,836.580537579,675,654,676.580537579,0.443679607495,-0.0156040539617,0.0798252227891,0.999999952407,-0.0001512611855,-0.000259932090621,-6.88512868991e-05,1793256018114065408
+190,3.166666667,POSE1_TO_POSE2_PRESS,773,744,731,688,695.84539749,649,924,804.84539749,837,675,653.84539749,677,0.444405700364,-0.0156171575729,0.0798638325799,0.999999962587,-0.000164492112684,-0.00020839559619,-6.58715922686e-05,1793256018130732032
+191,3.183333333,POSE1_TO_POSE2_PRESS,773,744,731,688,695.27194331,649,924,804.27194331,837,675,653.27194331,677,0.445077775126,-0.0156280074431,0.0798638784882,0.999999960478,-0.000173784190119,-0.000211071609567,-6.5509459317e-05,1793256018147398912
+192,3.200000000,POSE1_TO_POSE2_PRESS,773,743.687919139,731,688,695,649,924.312080861,804,836.687919139,675.312080861,653.312080861,676.687919139,0.445727153675,-0.0156363407921,0.0798513989146,0.999999955221,-0.000182929849531,-0.000227358757953,-6.6358527063e-05,1793256018164065536
+193,3.216666667,POSE1_TO_POSE2_PRESS,773,743.094361556,731,688,695,649,924.905638444,804,836.094361556,675.905638444,653.905638444,676.094361556,0.44635606167,-0.0156424044012,0.0798276221676,0.999999946498,-0.000191943448698,-0.000255922268179,-6.83000193657e-05,1793256018180731904
+194,3.233333333,POSE1_TO_POSE2_PRESS,773,743.48559396,731,688,695,648.51440604,924.51440604,803.51440604,836.48559396,676,654,676,0.446935723111,-0.0156493723479,0.0797991184758,0.999999935072,-0.000200909134649,-0.000290840805721,-7.00238560049e-05,1793256018197398528
+195,3.250000000,POSE1_TO_POSE2_PRESS,773,744,731,688,695,648,924,802.937248311,836.937248311,675.937248311,653.937248311,676.062751689,0.44749932885,-0.0156561660414,0.0797699301688,0.99999992146,-0.000210227334784,-0.000328226471256,-7.17813507679e-05,1793256018214065152
+196,3.266666667,POSE1_TO_POSE2_PRESS,773,744,731,688,695,648,924,802.361941677,836.361941677,675.361941677,653.361941677,676.638058323,0.448007827088,-0.0156601401676,0.0797424481974,0.999999901828,-0.00022249884444,-0.000375951633868,-7.41498191395e-05,1793256018230732032
+197,3.283333333,POSE1_TO_POSE2_PRESS,773,744,731,688,695,648,924,801.794951828,836.205048172,675,653,677,0.448506392467,-0.0156621861674,0.0797162703257,0.999999882757,-0.0002317834722,-0.000418233716734,-7.64401557995e-05,1793256018247398912
+198,3.300000000,POSE1_TO_POSE2_PRESS,773,744,731,688,695,648,924,801.242070218,836.757929782,675,653,677,0.448988108193,-0.0156609613897,0.079692304666,0.999999867235,-0.000236001302587,-0.000451282428122,-7.85979536927e-05,1793256018264065792
+199,3.316666667,POSE1_TO_POSE2_PRESS,773,743.652763191,731,688,695,647.652763191,924.347236809,801,836.652763191,675,653,676.652763191,0.449478175169,-0.0156649033203,0.0796902609238,0.999999866493,-0.000238578765025,-0.000451647338357,-7.8161687532e-05,1793256018280732416
+200,3.333333333,POSE1_TO_POSE2_PRESS,773,743.035086775,731,688,695,647.035086775,924.964913225,801,836.035086775,675,653,676.035086775,0.449974746428,-0.0156728692555,0.0797052906994,0.999999877388,-0.000239878654677,-0.000426557017861,-7.57050780167e-05,1793256018297399040
+201,3.350000000,POSE1_TO_POSE2_PRESS,773,743.543940665,731,688,694.456059335,647,924.456059335,801,836.543940665,675.543940665,653,676,0.450441561776,-0.0156800271702,0.0797336780869,0.999999890378,-0.00025537621,-0.000385592999515,-7.31118929753e-05,1793256018314065408
+202,3.366666667,POSE1_TO_POSE2_PRESS,773,743.879433612,731,688,694,647,924,800.758867223,836.879433612,676,653,676.120566388,0.450886120633,-0.0156866165179,0.0797550765792,0.999999897985,-0.000268059767081,-0.000356525694444,-7.11508343053e-05,1793256018330732032
+203,3.383333333,POSE1_TO_POSE2_PRESS,773,743.303087691,731,688,694,647,924,799.606175383,836.303087691,676,653,676.696912309,0.451253317547,-0.0156912404665,0.0797470136675,0.99999989112,-0.000266873108399,-0.000376045756591,-7.16105097248e-05,1793256018347398656
+204,3.400000000,POSE1_TO_POSE2_PRESS,773,743,731,688,694,647,924,799,836,675.727668193,653,677,0.451589014924,-0.015694712007,0.0797265005744,0.999999876052,-0.000270073402016,-0.000411893293897,-7.28047772641e-05,1793256018364065024
+205,3.416666667,POSE1_TO_POSE2_PRESS,773,743,731,688,694,647,924,799,836,675.153276281,653,677,0.451889774186,-0.0156969053401,0.0796921782133,0.999999850012,-0.000278139536203,-0.000465850645073,-7.48138263403e-05,1793256018380731904
+206,3.433333333,POSE1_TO_POSE2_PRESS,773,743.434793096,731,688,694,647,924.434793096,798.565206904,836.434793096,675,653,677,0.452177338029,-0.0156985924249,0.0796656936064,0.999999827364,-0.000287413966667,-0.000506564979094,-7.78287240326e-05,1793256018397398528
+207,3.450000000,POSE1_TO_POSE2_PRESS,773,743.973000143,731,688,694,646.973000143,924.973000143,798,837,675.026999857,653,677,0.452459386873,-0.0157000461932,0.0796430494887,0.999999806513,-0.000296483750754,-0.000540827893062,-8.10940009569e-05,1793256018414065152
+208,3.466666667,POSE1_TO_POSE2_PRESS,773,743.39786454,731,688,694,646.39786454,924.39786454,798,837,675.60213546,653,677,0.452726977658,-0.0157005040998,0.0796404576787,0.999999807,-0.000292470525988,-0.000541973704579,-8.20098717259e-05,1793256018430731776
+209,3.483333333,POSE1_TO_POSE2_PRESS,772.822429316,743,731,688,694,646,924,797.822429316,837,676,653,677,0.452983746715,-0.0157001520206,0.0796392147275,0.999999807483,-0.000288588142643,-0.000543070482395,-8.26093425199e-05,1793256018447398656
+210,3.500000000,POSE1_TO_POSE2_PRESS,772.246321706,743,731,688,694,646,924,797.246321706,837,676,653,677,0.453216227614,-0.015697982022,0.079640999135,0.999999807986,-0.000284999418327,-0.000544057209584,-8.24986899295e-05,1793256018464065280
+211,3.516666667,POSE1_TO_POSE2_PRESS,772.337732377,743,731,688,694,646,924,797,837,675.662267623,653,677,0.453426438554,-0.0156982447855,0.0796405879687,0.999999806995,-0.000285256671109,-0.000546086798707,-8.01755962705e-05,1793256018480731904
+212,3.533333333,POSE1_TO_POSE2_PRESS,772.927721854,743,731,688,694,646,924,797,837,675.072278146,653,677,0.453620015771,-0.0157003246132,0.0796385368973,0.99999980487,-0.000288386538312,-0.000548895316283,-7.61999990088e-05,1793256018497398784
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+214,3.566666667,POSE1_TO_POSE2_PRESS,772.085321897,743,731,688,693.914678103,646,924.914678103,796.914678103,836,675.914678103,653,677,0.453919821647,-0.0157116520764,0.0796109393003,0.999999778666,-0.000303241894012,-0.00058741115467,-7.52358183875e-05,1793256018530732032
+215,3.583333333,POSE1_TO_POSE2_PRESS,772.660447591,743,731,688,693.339552409,646,924.339552409,796.339552409,836,675.339552409,653,677,0.454044332922,-0.0157130426132,0.0796038925278,0.999999771134,-0.000304148646556,-0.000599335252423,-7.76004846519e-05,1793256018547398656
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+221,3.683333333,POSE1_TO_POSE2_PRESS,773,743,731,688,693,646,924,795,837,675,652,677,0.454579221975,-0.0157226892719,0.0796110774169,0.999999777693,-0.000303971060055,-0.000588403477693,-7.74418920873e-05,1793256018647398400
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+226,3.766666667,POSE1_TO_POSE2_PRESS,773,743,731,688.053096167,693,646,924,795,836.946903833,676,652,677,0.45472630454,-0.0157183322108,0.0796035541543,0.999999769481,-0.000306744270339,-0.000600642424273,-7.85828149042e-05,1793256018730732288
+227,3.783333333,POSE1_TO_POSE2_PRESS,773,743,731,688.62757596,693,646,924,795,836.37242404,676,652,677,0.454736105857,-0.0157181500178,0.0796016930472,0.999999766764,-0.000307691602497,-0.000604718236358,-7.8193384704e-05,1793256018747398912
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+241,4.016666667,POSE1_TO_POSE2_PRESS,773,743,731,688.254721556,693,646,924,795,836.254721556,675.745278444,652.745278444,677,0.454763824398,-0.015714687459,0.0795945180369,0.999999762162,-0.000303943700984,-0.000614428456636,-7.59674315693e-05,1793256018980731904
+242,4.033333333,POSE1_TO_POSE2_PRESS,773,743,731,688.328479831,693,646,924,795,836.328479831,676,653,676.671520169,0.45476460285,-0.0157145854151,0.0795948214659,0.999999762636,-0.000303820574924,-0.000613740050525,-7.5790477419e-05,1793256018997398528
+243,4.050000000,POSE1_TO_POSE2_PRESS,773,743,731,688.917125651,693,646,924,795,836.917125651,676,653,676.082874349,0.454765876285,-0.0157142565494,0.0795959781464,0.999999763723,-0.000303698229638,-0.00061204579083,-7.56437638435e-05,1793256019014065664
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+247,4.116666667,HOLD_POSE2,772,743,731,688,694,646,924,795,836,675,652,677,0.454763846108,-0.0157155747751,0.0795911775134,0.999999758682,-0.000307520802557,-0.000618336772693,-7.56728711345e-05,1793256019103036928
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+256,4.266666667,HOLD_POSE2,773,743,730.239453003,688,693,646,924,794,836.239453003,675,652,677,0.454767058852,-0.0157114263335,0.0795940796161,0.999999761874,-0.000301469023439,-0.00061618977684,-7.53621237943e-05,1793256019253036800
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,773,742.93909294,731,689,693,646,924,794,836.06090706,675.06090706,652,677,0.454765219844,-0.0157090816398,0.0795911626753,0.999999760574,-0.000297428375944,-0.000620374061726,-7.43305932268e-05,1793256019506761728
+271,4.516666667,POSE2_TO_POSE3_RETREAT,773,742.350619975,731,689,693,646,924,794,836.649380025,675.649380025,652,677,0.454768397536,-0.0157097460731,0.0795939613197,0.999999763514,-0.000297751818743,-0.000615458077594,-7.43502555197e-05,1793256019523428608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,773,742.23378195,731,689,693,646,924.23378195,794,836.76621805,675.76621805,652,676.76621805,0.454768146357,-0.0157101977335,0.0795942428047,0.999999763967,-0.000298078401335,-0.00061453959072,-7.45347583694e-05,1793256019540095232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,773,742.812182688,731,689,693,646,924.812182688,794,836.187817312,675.187817312,652,676.187817312,0.454762840668,-0.0157103357449,0.0795908137359,0.999999760767,-0.000298409612279,-0.000619513828922,-7.49622532576e-05,1793256019556762112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,772.610048825,743,731,688.610048825,693,646,924.610048825,794,836,675,652,676,0.454747779379,-0.0157102941303,0.0795835490892,0.999999753141,-0.000299274718629,-0.000631249525324,-7.53394468745e-05,1793256019573428480
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,773,743,731,688,693,646,924,794,836,676,652,676.391653181,0.454089332104,-0.0156817092973,0.0795054392812,0.999999666573,-0.00028826530164,-0.000760982656967,-6.82823910064e-05,1793256019723428608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,773,743,731,688,693,646,924,794,836.192910027,675.807089973,652.192910027,676.192910027,0.453950040685,-0.0156752807255,0.079500519039,0.999999662786,-0.000283129088303,-0.000768102232077,-6.54646752139e-05,1793256019740095232
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,773,743,731,688,693,646,924,795,836,675.492337707,652,676.492337707,0.453225934057,-0.0156418267285,0.0794969295365,0.999999665985,-0.000250193955707,-0.000776619903871,-4.78936885837e-05,1793256019806761728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,773,743,731,688.083977577,693,646,924,795,836,675,652.083977577,676,0.453012136493,-0.0156322216018,0.0795041444911,0.999999676168,-0.000239103880259,-0.000767291935297,-4.19039123227e-05,1793256019823428608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,773,743,731,688,694,647,924,800,836.801702679,675.801702679,653,676.198297321,0.446858340277,-0.0155344101481,0.0795727436133,0.999999784373,-4.12584420323e-05,-0.000655379164149,5.45136297696e-06,1793256020073428736
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,773,743,730.527564495,688,694,648,924,802.05512899,836.527564495,675,653,677,0.445066548503,-0.0155312989946,0.0796793967133,0.999999873576,-1.29248681565e-05,-0.00050231890429,1.88669680087e-05,1793256020123428608
+308,5.133333333,POSE2_TO_POSE3_RETREAT,773,743.104876288,730.895123712,688,694.104876288,648,924,803,836.895123712,675,653,677,0.444425227344,-0.0155265248533,0.079718055433,0.999999897636,-1.6533862017e-06,-0.000451799145501,2.45469727567e-05,1793256020140095488
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,773,743.719614928,730,688,695,648,923.719614928,803.280385072,836,675,653.280385072,677,0.443019976173,-0.0155002768543,0.0797321906763,0.999999901563,3.68737143469e-05,-0.000441344379798,2.69980440889e-05,1793256020173430016
+311,5.183333333,POSE2_TO_POSE3_RETREAT,773,743.1491109,730,688,695,648,923.1491109,803.8508891,836,675,653.8508891,677,0.442275743977,-0.015487979094,0.079725703544,0.999999900805,5.26187106562e-05,-0.000441481923092,2.67369373837e-05,1793256020190096384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,773,743,730,688,695,648.430122841,923.430122841,804,836,675.430122841,654,677,0.441526625977,-0.0154758256518,0.0797388464254,0.999999912329,7.01079675395e-05,-0.000411966865406,2.66421083659e-05,1793256020206763008
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,773.729826446,743.729826446,730.729826446,688,696,650,923,806,836.729826446,675.729826446,654,677,0.427623783559,-0.0154015721111,0.0798688769381,0.999999951525,0.000215436135669,-0.000220302479392,4.47754797445e-05,1793256020473428992
+329,5.483333333,POSE2_TO_POSE3_RETREAT,773.691874739,744,730.691874739,687.691874739,696,650,923,806,836.691874739,675.691874739,653.691874739,677,0.426676769229,-0.0153998169785,0.0798496851016,0.999999943753,0.000218531835732,-0.000250741645865,4.31949879686e-05,1793256020490095616
+330,5.500000000,POSE2_TO_POSE3_RETREAT,773.114383174,744,730.114383174,687.114383174,696,650,923,806,836.114383174,675.114383174,653.114383174,677,0.4256950823,-0.0153943107647,0.0797944799579,0.999999917421,0.000226891346816,-0.000335009227842,3.80472866116e-05,1793256020506762240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,773.461080512,744,730.461080512,687,696,650,923,806,836,675,653.461080512,677,0.424715006228,-0.0153900975985,0.0797675714451,0.999999902456,0.000233971565122,-0.000372776054654,3.72002831624e-05,1793256020523428864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,773.963094817,744,730.963094817,687,696,650,922.963094817,806,836.036905183,675.036905183,654,677,0.423740061674,-0.0153863470468,0.0797482319713,0.999999890873,0.000240683728285,-0.000398659144762,3.73731889653e-05,1793256020540095232
+333,5.550000000,POSE2_TO_POSE3_RETREAT,773.374384415,744,730.374384415,687,696,650,922.374384415,806,836.625615585,675.625615585,654,677,0.422835895657,-0.0153847382898,0.0797375654426,0.999999881303,0.000246617145925,-0.000418583665187,3.69133204511e-05,1793256020556761856
+334,5.566666667,POSE2_TO_POSE3_RETREAT,773,744,730,687,696,650,922,806,836.789653156,675.789653156,654,677,0.421970292394,-0.0153857472045,0.0797555033567,0.999999893205,0.000247170785544,-0.000388624251754,3.83166433637e-05,1793256020573428480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,773,744,730,687,696,650,922,806,836.211872566,675.211872566,654,677,0.421172050377,-0.0153913286665,0.0798234074934,0.999999933813,0.000238327030755,-0.0002715276106,4.29745875993e-05,1793256020590095360
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,773,743.057518649,730.942481351,687.942481351,696,650,922,806,836.942481351,675,654,677,0.419479455959,-0.0153865905244,0.0798790126043,0.999999954645,0.000241462505402,-0.00017405048246,4.59542875381e-05,1793256020623428864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,773,743,730.471893398,688,696,650,922,806.528106602,837,675,654,677,0.418570332647,-0.0153831931452,0.0798381205464,0.999999938835,0.000242284319933,-0.0002486106253,4.26700347059e-05,1793256020640095488
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,774,742.729911372,730,687,696,650,921,806.270088628,837,676,654,677.270088628,0.416005663695,-0.0153839242033,0.0798061224695,0.999999919611,0.000235620566831,-0.000321864385892,4.07992428766e-05,1793256020690095360
+342,5.700000000,POSE2_TO_POSE3_RETREAT,774,742.152915564,730,687,696,650,921,806.847084436,837,676,654,677.847084436,0.415181784453,-0.0153783597825,0.0797997914738,0.99999990994,0.000245301221918,-0.0003438068988,4.17638740047e-05,1793256020706761728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,774,742.423754367,730,687.423754367,696,650,920.576245633,807,836.576245633,675.576245633,654,677.576245633,0.414405430968,-0.0153777090931,0.0797883366242,0.999999905766,0.000244303097165,-0.000356619847388,4.0068181169e-05,1793256020723428608
+344,5.733333333,POSE2_TO_POSE3_RETREAT,774,743,730,687.999687376,696,649.999687376,920,806.999687376,836.000312624,675,654,677,0.413646244006,-0.0153788292094,0.0797750530602,0.999999903609,0.000239461394268,-0.000366114309118,3.74161391122e-05,1793256020740095488
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,774,742.827189497,730,687,696,649.172810503,920,806,837,675.172810503,654,677,0.412231365909,-0.0153768896746,0.0798095900711,0.999999920181,0.000254344742637,-0.000305255925111,4.20090107777e-05,1793256020773428992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,774,742.247610698,730,687,696,649.752389302,920,806,837,675.752389302,654,677,0.411501271643,-0.01537466736,0.0797991400949,0.999999911239,0.000256921392518,-0.000331373323568,4.13032490885e-05,1793256020790095616
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,774,742,730,687,696,649.0925974,920.9074026,806,837,675.0925974,654,677,0.410143837449,-0.0153711253912,0.0797873403781,0.999999903005,0.000259994624631,-0.000353258634686,4.0023899823e-05,1793256020823428864
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,774,743,730,687,696,650,920,807,837,676,653.639654526,677,0.408396428758,-0.0153742800332,0.0798477482369,0.999999932756,0.00026159954884,-0.000252914879479,4.56979787703e-05,1793256020873429504
+353,5.883333333,POSE2_TO_POSE3_RETREAT,774,743,730,687,696,649.767092661,920,807,837,676,654,677,0.407811536355,-0.0153730556057,0.0798439206145,0.999999929155,0.000265048147309,-0.000263343095304,4.57055248862e-05,1793256020890095616
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,774,742.613744639,730,687,696,649.386255361,920.386255361,807,837,676,654,677,0.406695623286,-0.0153625107104,0.0797816676358,0.999999893643,0.000275853591971,-0.000367397629414,4.04648659235e-05,1793256020923429376
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,774.13128114,742,730,687.13128114,696,649.86871886,920.86871886,807,837,676,654,677,0.404213291888,-0.0153633562137,0.0798378108032,0.999999924732,0.000275083337363,-0.000270201111392,4.30784612254e-05,1793256021023428352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,774.444935903,742,730,687,696,649.555064097,920.555064097,806.555064097,837,675.555064097,653.555064097,676.555064097,0.403869509474,-0.015359696814,0.0798373656088,0.999999921858,0.000277469978049,-0.000278282300505,4.30514495601e-05,1793256021040095488
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,774.826962313,742,730,687,696,649,920,806.826962313,837,676,653.173037687,677,0.402977517136,-0.0153503668962,0.0798361315348,0.999999914238,0.000296358751732,-0.00028590962862,4.41829802294e-05,1793256021090095360
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,774,742,730,687,696,649,920,806.352835104,837,676,653.647164896,677,0.402499528846,-0.0153483243366,0.0798374859295,0.999999913365,0.000297045758966,-0.000288227597112,4.42586681011e-05,1793256021123428608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,774,742,730,687,696,649,920,806.927718896,837,676,653.072281104,677,0.402290098306,-0.0153488823133,0.0798368391571,0.999999913731,0.000295083153607,-0.000289119751749,4.32883498024e-05,1793256021140095232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,774,742,730,687.503835768,696,649,920,806.496164232,837,676,653,676.496164232,0.402117953094,-0.0153528567899,0.079838320208,0.999999915317,0.00029401789338,-0.00028456103119,4.40933409354e-05,1793256021156761600
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,775,742.01193333,730,686.023866659,696,649.01193333,920,806.01193333,837,676,653,676,0.401379474557,-0.0153602755017,0.0798498410458,0.999999928181,0.000269597201994,-0.000263953374491,3.58441688741e-05,1793256021256761600
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e90f837cc9150036167d3060a4ad00d320d4681
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc2fd54006e3c6bb7cf0b6f518f3cf7e00f77fff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25849979
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1168af569c8676d4b0c4b9bd28d9f63c85eb59bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/franka_data.csv
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+1,0.016666667,BASELINE,805.424713427,754.150573146,726,718.150573146,697.725859719,652.575286573,927.424713427,801.424713427,830.575286573,667.424713427,652.274140281,669,0.400998542819,-0.0153613032018,0.0798462737131,0.999999923322,0.000284845644015,-0.000266089662246,3.76207413031e-05,1793256021962785536
+2,0.033333333,BASELINE,805.768575055,755.153715011,726,719.307430022,698.692569978,653,927.153715011,801.307430022,831.153715011,666.846284989,651.307430022,668.692569978,0.400998570585,-0.0153615425854,0.0798460355146,0.999999923525,0.000284230053745,-0.000266020605577,3.73658932685e-05,1793256021979452160
+3,0.050000000,BASELINE,808.705028351,755.74100567,726,720.48201134,697.51798866,653,927.74100567,802.48201134,831.74100567,666.25899433,652.48201134,667.51798866,0.400997784251,-0.0153631937017,0.0798461074459,0.999999924032,0.000282786210762,-0.00026558756356,3.78298976848e-05,1793256021996118272
+4,0.066666667,BASELINE,811.295210499,756,726,721.64760525,695.380986876,653,927.676197375,803.323802625,832,666,653.323802625,666.676197375,0.400997240823,-0.0153631449364,0.0798463890087,0.999999923791,0.000283732440456,-0.00026545161464,3.80619458659e-05,1793256022012784384
+5,0.083333333,BASELINE,813.61221777,756,726,722.806108885,692.484727788,653,927.096945558,803.903054442,832,666,653.903054442,666.096945558,0.400996889027,-0.0153617551275,0.0798468359504,0.999999922956,0.000286564208183,-0.000265550043685,3.81110028118e-05,1793256022029451008
+6,0.100000000,BASELINE,817.853140042,755.518357495,725.518357495,725.408212526,691.518357495,653,927.481642505,804.481642505,832,666,654.481642505,666,0.400997452363,-0.0153618357965,0.0798467148862,0.999999922969,0.000286880989349,-0.000265137264385,3.82517378237e-05,1793256022046117888
+7,0.116666667,BASELINE,821.761269195,754.880634597,725.059682701,727.701586493,691.119365403,653.059682701,927.940317299,805.059682701,832,665.880634597,654.940317299,666.059682701,0.400997977584,-0.0153622697368,0.079846460662,0.999999923146,0.000286583605801,-0.000264773577846,3.83888442249e-05,1793256022062784512
+8,0.133333333,BASELINE,819.463407347,753.731703674,725.634148163,724.829259184,692.268296326,653.634148163,927.365851837,805.634148163,832,664.731703674,654.365851837,666.634148163,0.400996587446,-0.0153632013496,0.0798460426566,0.99999992325,0.000285349149673,-0.000265719627712,3.83357080111e-05,1793256022079451392
+9,0.150000000,BASELINE,818.427453563,752.572546437,726,723.213726782,692.786273218,653.572546437,927,806,832,664,653.786273218,667,0.400996108935,-0.0153635077272,0.0798459185022,0.999999923465,0.000284354435347,-0.000265989766591,3.82425393604e-05,1793256022096118272
+10,0.166666667,BASELINE,819.604544862,751.395455138,726,723.802272431,692.197727569,652.395455138,927,806,832,664,653.197727569,667,0.400997229172,-0.0153627176113,0.0798463096829,0.999999923877,0.000283780163318,-0.000265074540633,3.80791646681e-05,1793256022112784640
+11,0.183333333,BASELINE,819.231723402,751.384138299,725.615861701,724,692,652,927,805.615861701,832,664,653,666.615861701,0.400997688677,-0.0153630399181,0.0798465060901,0.999999924272,0.000283114190658,-0.000264310424951,3.7968417341e-05,1793256022129451264
+12,0.200000000,BASELINE,818.0747506,751.9626247,725.0373753,724,692,652,927,805.0373753,832,664,653,666.0373753,0.400997813895,-0.0153639250358,0.0798466039551,0.999999924659,0.000282401823601,-0.000263622760807,3.78842959005e-05,1793256022146117888
+13,0.216666667,BASELINE,819.62239402,753.62239402,725,725.081596014,692.540798007,652.540798007,927,805.540798007,832,663.459201993,653.540798007,665.459201993,0.4009980607,-0.0153626536479,0.0798465524671,0.999999924164,0.00028436750003,-0.000263417560149,3.76676888867e-05,1793256022162784512
+14,0.233333333,BASELINE,821.117393281,755,725,726,693.117393281,652.882606719,927,805.882606719,832,662.882606719,654,664.882606719,0.400998445109,-0.015361653094,0.0798467274571,0.999999923771,0.000286070904273,-0.000263078919933,3.75711202816e-05,1793256022179451392
+15,0.250000000,BASELINE,821.687980258,755,725,726,693.687980258,652.312019742,927,805.312019742,832,662.312019742,654,664.312019742,0.400999328308,-0.0153622731164,0.0798478165843,0.99999992402,0.00028604771841,-0.000262096491667,3.79732838083e-05,1793256022196118016
+16,0.266666667,BASELINE,821.461771405,755.269114297,725,725.730885703,693.730885703,652.269114297,927,805,831.730885703,662.269114297,654,664.538228595,0.401000039195,-0.0153622223813,0.0798486555449,0.999999924243,0.000286134992523,-0.000261134279325,3.80752884909e-05,1793256022212784640
+17,0.283333333,BASELINE,820.274048573,755.862975713,725,725.137024287,693.137024287,652.862975713,927,805,831.137024287,662.862975713,654,665.725951427,0.40100054215,-0.015361362226,0.079849192623,0.999999924434,0.000286355561523,-0.000260196462115,3.7815083781e-05,1793256022229451264
+18,0.300000000,BASELINE,820,756,725,725,693,653,927,805.445765839,831,663,654,665.554234161,0.400999553941,-0.0153616482553,0.0798480494673,0.999999924421,0.000285245748774,-0.000261476146016,3.77274313395e-05,1793256022246117888
+19,0.316666667,BASELINE,820,755.974937812,724.974937812,724.974937812,693.025062188,653.050124376,927.025062188,806.050124376,831.025062188,663,654.025062188,664.974937812,0.400998199955,-0.0153622247366,0.0798464978971,0.999999924314,0.000283944030162,-0.000263299299962,3.76998482998e-05,1793256022262784256
+20,0.333333333,BASELINE,820,755.399441723,724.399441723,724.399441723,693.600558277,654.201116555,927.600558277,807.201116555,831.600558277,663,654.600558277,664.399441723,0.400998635576,-0.0153616298165,0.0798470450199,0.999999923604,0.000287191460134,-0.00026245069045,3.78548603395e-05,1793256022279450880
+21,0.350000000,BASELINE,820.179261389,755,724,724,694,655.179261389,928.179261389,808,832,663,655,664.179261389,0.400998967222,-0.0153612582019,0.0798474699345,0.999999923236,0.000288993633164,-0.000261862801786,3.79157025722e-05,1793256022296118016
+22,0.366666667,BASELINE,820.765240688,755,724,724,694,655.765240688,928.765240688,808,832,663,655,664.765240688,0.400999062963,-0.0153613932348,0.0798476175765,0.999999923667,0.000287516728839,-0.000261866450764,3.77628872458e-05,1793256022312784640
+23,0.383333333,BASELINE,821.347353893,755.347353893,724,724,694,656,928.652646107,808.347353893,832,663,655,665,0.400998938529,-0.015362034325,0.0798477196583,0.999999923972,0.000286222808304,-0.000262115300694,3.77855019713e-05,1793256022329451264
+24,0.400000000,BASELINE,821.926883014,755.926883014,724,724,694,656,928.073116986,808.926883014,832,663,655,665,0.400998666927,-0.0153630136697,0.079847791287,0.999999924193,0.000285051196033,-0.000262528045682,3.79253760914e-05,1793256022346117632
+25,0.416666667,BASELINE,822.505651153,756,724,725.011302307,694.505651153,656,928,809,832,664.011302307,655,665.505651153,0.400997324235,-0.0153627119265,0.079847284149,0.999999924151,0.000284275556534,-0.000263571395205,3.76289142155e-05,1793256022362784512
+26,0.433333333,BASELINE,823.167416783,755.916291608,723.916291608,726.167416783,695,656,928,809,832.083708392,665.167416783,655,666.251125175,0.400996317939,-0.0153623404129,0.0798469184849,0.999999924132,0.000283681937033,-0.000264321720805,3.73536371787e-05,1793256022379451392
+27,0.450000000,BASELINE,824.316483466,755.341758267,723.341758267,727.316483466,695,656,928,809,832.658241733,666.316483466,655,667.974725199,0.400998190871,-0.0153626443518,0.079847872331,0.99999992448,0.000283820367657,-0.000262820036461,3.75719740605e-05,1793256022396117760
+28,0.466666667,BASELINE,824.761797055,754.761797055,722.761797055,728.238202945,695.238202945,655.761797055,928,809,833.238202945,666.761797055,654.761797055,668.761797055,0.400998426669,-0.015362997915,0.0798478674187,0.99999992427,0.000284632710945,-0.000262705966369,3.78255644782e-05,1793256022412784384
+29,0.483333333,BASELINE,824.173866726,754.173866726,722.173866726,728.826133274,695.826133274,655.173866726,928,809,833.826133274,666.173866726,654.173866726,668.173866726,0.400996258841,-0.0153634243359,0.0798464548661,0.999999923236,0.000286434486626,-0.000264629178906,3.81309138016e-05,1793256022429451008
+30,0.500000000,BASELINE,823.590247805,753.590247805,721.590247805,728.590247805,696,655,928,809.409752195,833.590247805,666.409752195,654,668.409752195,0.400996293391,-0.0153636669697,0.0798464226898,0.999999923362,0.000285861206007,-0.000264799985351,3.79395104236e-05,1793256022446117888
+31,0.516666667,BASELINE,823.008439272,753.008439272,721.008439272,728.008439272,696,655,928,809.991560728,833.008439272,666.991560728,654,668.991560728,0.400997252727,-0.0153638324308,0.0798469701384,0.999999923975,0.000284290631144,-0.000264234950484,3.75395188928e-05,1793256022462784512
+32,0.533333333,BASELINE,823.566556675,751.866886649,721,728,696,655,927.433443325,810,832.433443325,667.566556675,652.300329974,670.133113351,0.400997638899,-0.0153622031908,0.079847611804,0.999999923582,0.000286208161257,-0.000263662391135,3.74658674482e-05,1793256022479451136
+33,0.550000000,BASELINE,823.576796936,750.717864624,720.858932312,727.294661561,696,655,926.858932312,810,831.576796936,667.717864624,651,670.717864624,0.400997812082,-0.0153608778786,0.0798477695417,0.999999923218,0.000287718729372,-0.000263405873706,3.74071325351e-05,1793256022496117760
+34,0.566666667,BASELINE,821.856800308,749.571200205,720.285600103,724.428000513,696,655,926.285600103,810,829.856800308,666.571200205,651,669.571200205,0.400997358461,-0.015360564817,0.0798464401611,0.999999923001,0.000287824950633,-0.000264118122409,3.73793869068e-05,1793256022512784384
+35,0.583333333,BASELINE,820.407380991,748.703690495,720.296309505,722.407380991,696,655,925.703690495,810,828.703690495,666.296309505,651,669.296309505,0.400996727817,-0.0153611744454,0.0798460438694,0.999999923181,0.000286713722161,-0.000264634431941,3.74510692103e-05,1793256022529451008
+36,0.600000000,BASELINE,819.226533951,748.113266976,720.886733024,721.226533951,696,655,925.113266976,810,828.113266976,666.886733024,651,669.886733024,0.400995921459,-0.0153626999272,0.0798465737525,0.999999923751,0.000284394064597,-0.000264956254187,3.76214427361e-05,1793256022546117888
+37,0.616666667,BASELINE,819,748.938189757,721,720.530905121,696,655,925,809.530905121,827.061810243,667,651,669.530905121,0.400996862563,-0.0153630872103,0.0798472116102,0.999999924131,0.000284087221772,-0.000263825292851,3.7808237967e-05,1793256022562784512
+38,0.633333333,BASELINE,819.0981336,750,721,720.0490668,696,655,925,808.9509332,826,667.0490668,651,669,0.400998036128,-0.0153631016884,0.0798477605458,0.999999924374,0.000284392714628,-0.000262549914263,3.79520855991e-05,1793256022579451136
+39,0.650000000,BASELINE,820.247870965,750,721,720.623935483,696,655,925,808.376064517,826,667.623935483,651,669,0.400997255639,-0.0153620164806,0.0798470819267,0.99999992366,0.000286139896685,-0.000263422491925,3.75939321571e-05,1793256022596117760
+40,0.666666667,BASELINE,820.594731127,749.797365563,721.405268873,720.797365563,696.202634437,655,925,806.986827817,826.202634437,668.810537746,651,669.405268873,0.400996748672,-0.0153613665215,0.079846589948,0.999999923067,0.000287420596411,-0.000264303119768,3.74067360149e-05,1793256022612784384
+41,0.683333333,BASELINE,819.422842354,749.211421177,722.577157646,720.211421177,696.788578823,655,925,804.057105884,826.788578823,671.154315292,651,670.577157646,0.40099675911,-0.0153615398931,0.0798464510246,0.99999992271,0.000287818882746,-0.000265198975542,3.75429283329e-05,1793256022629451008
+42,0.700000000,BASELINE,816.020730162,749.37240873,723.37240873,717.393138892,697.37240873,654.255182541,925.37240873,801.137956351,827.744817459,673.117226189,651,671.37240873,0.400996142166,-0.0153612361985,0.079846164036,0.999999922605,0.000288131751831,-0.000265252678137,3.75703218585e-05,1793256022646117632
+43,0.716666667,BASELINE,811.359640187,749.955044977,723.955044977,713.314685163,697.955044977,653.089910047,925.955044977,798.224775117,828.910089953,674.86513493,651,671.955044977,0.400995171061,-0.0153606631965,0.0798457934635,0.999999922642,0.000288396402225,-0.000264830978923,3.75362976462e-05,1793256022662784512
+44,0.733333333,BASELINE,807.818685641,750,724.53021906,713,697.46978094,652.46978094,926.53021906,798.53021906,831.120876239,674.46978094,651,671.46978094,0.400996318673,-0.0153615123085,0.0798466382702,0.999999923428,0.000286890951675,-0.00026348746618,3.75639411305e-05,1793256022679451648
+45,0.750000000,BASELINE,804.373716119,750.104380647,725.104380647,713.208761294,697,652,927.104380647,799.208761294,833,674,651.104380647,671.208761294,0.400997359065,-0.0153621926786,0.0798473904128,0.999999924016,0.00028583967349,-0.000262396299343,3.75857056898e-05,1793256022696118784
+46,0.766666667,BASELINE,800.939202167,750.676799639,725.676799639,714.353599278,697,652,927.676799639,800.353599278,833,674,651.676799639,672.353599278,0.400997124383,-0.0153615832672,0.0798472714078,0.999999923443,0.000287488495078,-0.000262782228543,3.75579902074e-05,1793256022712784896
+47,0.783333333,BASELINE,797.199042524,750.742720361,726,713.970881442,697,651.742720361,928,800.742720361,833,674,652.257279639,673,0.400997065724,-0.0153608234155,0.0798473803295,0.999999923173,0.000288317067042,-0.000262898905208,3.755821801e-05,1793256022729451264
+48,0.800000000,BASELINE,793.06250425,750.151786321,726,711.607145286,697,651.151786321,928,800.151786321,833,674,652.848213679,673,0.400997235344,-0.0153598684646,0.0798477848391,0.999999923301,0.000288081894365,-0.00026266640042,3.75946841992e-05,1793256022746117888
+49,0.816666667,BASELINE,790.270081545,750,726,710.567520386,697,651,928,799.135040772,833.432479614,674,652.135040772,673,0.400997673448,-0.0153610210896,0.079847865605,0.999999924078,0.00028576639473,-0.000262222111572,3.76903395759e-05,1793256022762784512
+50,0.833333333,BASELINE,788.014236062,750.014236062,726,709.985763938,697,651,927.985763938,798,833.985763938,673.985763938,650.957291813,673.014236062,0.400998154848,-0.0153628613746,0.0798478104008,0.999999925028,0.000282839757177,-0.000261756626961,3.78021979121e-05,1793256022779451648
+51,0.850000000,BASELINE,788.587947907,750.587947907,726,709.412052093,697,651,927.412052093,798,833.412052093,673.412052093,649.236156279,673.587947907,0.400996690833,-0.0153630982584,0.0798468091686,0.999999924243,0.000284153689032,-0.000263334930074,3.77468316441e-05,1793256022796118272
+52,0.866666667,BASELINE,789.330722319,750.834638841,725.834638841,709.165361159,697,651,927.165361159,798.165361159,833,672.834638841,647.669277681,674.165361159,0.400995750782,-0.0153630429365,0.0798460466149,0.999999923643,0.000285288485224,-0.000264389790926,3.77214722929e-05,1793256022812785152
+53,0.883333333,BASELINE,790.504417678,750.247791161,725.247791161,709.752208839,697,651,927.752208839,798.752208839,833,672.247791161,646.495582322,674.752208839,0.400996146255,-0.015362242816,0.0798458924249,0.999999923521,0.000285966685195,-0.000264110457744,3.77725971149e-05,1793256022829451776
+54,0.900000000,BASELINE,791,750,725.335526104,710,696.664473896,651,927.664473896,798.664473896,833.335526104,672,646.671052207,675,0.400996758751,-0.0153626614913,0.0798467786056,0.999999923812,0.000285858221451,-0.000263108548073,3.78732069404e-05,1793256022846118400
+55,0.916666667,BASELINE,791,750,725.916263226,710,696.083736774,651,927.083736774,798.083736774,833.916263226,672,647.832526451,675,0.400997529854,-0.0153639708936,0.0798484251157,0.999999924404,0.000285174843809,-0.00026157856112,3.80099816638e-05,1793256022862784768
+56,0.933333333,BASELINE,791,750,726,710,696,651,927.494183094,798.494183094,834,672,648.494183094,675,0.400998551933,-0.0153650709835,0.0798489978848,0.999999924901,0.000284044014576,-0.000260908532088,3.79906935609e-05,1793256022879451392
+57,0.950000000,BASELINE,790.857049333,750,726,710,696.071475333,651,928,798.928524667,833.928524667,672,648.928524667,675.071475333,0.400999297965,-0.0153658668794,0.0798491868707,0.999999925302,0.000282913173946,-0.000260613072107,3.79068569367e-05,1793256022896117760
+58,0.966666667,BASELINE,789.704625814,750,726,710,696.647687093,651,928,798.352312907,833.352312907,672,648.352312907,675.647687093,0.400997796016,-0.0153647636889,0.0798479432186,0.999999925138,0.000282314624009,-0.000261939537882,3.75528798853e-05,1793256022912784384
+59,0.983333333,BASELINE,789,750,726.228400578,710.228400578,696.771599422,651,927.771599422,798.228400578,833.228400578,672.228400578,648,676,0.400997054439,-0.0153637499859,0.0798471610714,0.99999992504,0.000282025602287,-0.000262671863695,3.72222793495e-05,1793256022929451264
+60,1.000000000,BASELINE,789,750,726.816197781,710.816197781,696.183802219,651,927.183802219,798.816197781,833.816197781,672.816197781,648,676,0.400997509334,-0.0153628770945,0.0798471051188,0.999999925048,0.000282223634389,-0.000262469288852,3.69284625573e-05,1793256022946118144
+61,1.016666667,BASELINE,789.398224764,750.398224764,727,711,696,651.398224764,927.398224764,799,834,673,648.796449528,676,0.400997065851,-0.0153623875415,0.0798470098222,0.999999924356,0.00028387589777,-0.000263286041098,3.71968882423e-05,1793256022962784768
+62,1.033333333,BASELINE,789.977626483,750.977626483,727,711,696,651.977626483,927.977626483,799,834,673,649.955252966,676,0.40099621364,-0.0153620723927,0.0798468966255,0.999999923339,0.000286189780452,-0.000264566547983,3.77211126518e-05,1793256022979451136
+63,1.050000000,BASELINE,790.551796896,751,726.448203104,711,696,652,928,798.448203104,834,673.551796896,650,676,0.400996612945,-0.0153634223626,0.0798466480598,0.999999924338,0.000283030823242,-0.000264219108585,3.75053890959e-05,1793256022996118272
+64,1.066666667,BASELINE,790.614615618,751,726,711,696,651.871538539,928,798,834,673.871538539,649.871538539,676,0.400996632943,-0.0153644837579,0.0798463235464,0.999999925012,0.000280790733124,-0.000264080833275,3.73296046115e-05,1793256023012784896
+65,1.083333333,BASELINE,788.855707664,751,726,711,696,651.285235888,928,798,834,673.285235888,649.285235888,676,0.400995121917,-0.0153642782971,0.0798457477313,0.999999924275,0.000282608968997,-0.000264921070867,3.74020898417e-05,1793256023029451264
+66,1.100000000,BASELINE,788,750.701891225,726.298108775,711,696,651,928,798,834,673,648.701891225,676,0.400995118609,-0.0153645042523,0.079845965989,0.999999924395,0.000282541285941,-0.000264534518628,3.74302316715e-05,1793256023046117888
+67,1.116666667,BASELINE,788,750.121349046,726.878650954,711,696,651,928,798,834,673,648.121349046,676,0.400996543739,-0.0153651389385,0.079846936565,0.999999925327,0.0002806868506,-0.000262985684457,3.74163617933e-05,1793256023062784512
+68,1.133333333,BASELINE,788,750,726.542335081,711,696,651,928,798,834,673,648.457664919,676.457664919,0.40099688599,-0.0153649011847,0.0798473230558,0.999999925141,0.000281702499266,-0.000262589015314,3.75283717703e-05,1793256023079451392
+69,1.150000000,BASELINE,788.036031877,750,726,711,695.963968123,651,927.963968123,798,834,673,648.963968123,676.963968123,0.400997016018,-0.0153644324209,0.0798476140902,0.999999924714,0.000283368425344,-0.00026240271939,3.76735747645e-05,1793256023096118272
+70,1.166666667,BASELINE,788.610762924,750,726,711,695.389237076,651,927.389237076,798,834,673,648.389237076,676.389237076,0.400998251579,-0.0153639568709,0.0798487856759,0.999999925112,0.000283416875968,-0.000260809500683,3.78176903132e-05,1793256023112784640
+71,1.183333333,BASELINE,789.189796592,750,726.189796592,711.189796592,695.189796592,651,927.189796592,798,834,673,648.189796592,676.189796592,0.400998751064,-0.0153633170159,0.0798491892377,0.999999925177,0.000283845414712,-0.000260092691917,3.78072451649e-05,1793256023129451264
+72,1.200000000,BASELINE,789.777858911,750,726.777858911,711.777858911,695.777858911,651,927.777858911,798,834,673,648.777858911,676.777858911,0.400997705979,-0.0153623323864,0.0798479811925,0.999999924548,0.000285071523479,-0.00026121492558,3.74724726795e-05,1793256023146117888
+73,1.216666667,BASELINE,789.639677627,750,727,712,695.639677627,651.360322373,927.639677627,798,834,673,649,676.639677627,0.400997418607,-0.0153620592924,0.079847605729,0.999999924434,0.000285228962759,-0.000261511397993,3.72691377054e-05,1793256023162784512
+74,1.233333333,BASELINE,789.060613117,750,727,712,695.060613117,651.939386883,927.060613117,798,834,673,649,676.060613117,0.400997591221,-0.0153622181527,0.0798477357037,0.999999924632,0.000284737641119,-0.000261306572627,3.71455949713e-05,1793256023179451136
+75,1.250000000,BASELINE,788.483192488,750,727,712,695,652,927,798,834,673,648.483192488,676,0.400998338212,-0.0153633995296,0.0798483433288,0.999999924549,0.000285438363985,-0.000260792648056,3.76180978051e-05,1793256023196117760
+76,1.266666667,BASELINE,788.093612672,750,727.093612672,712,695,651.906387328,927,797.906387328,834,672.906387328,647.812774657,676,0.400998923657,-0.0153643827331,0.0798487887197,0.999999924502,0.000285853116942,-0.000260455487856,3.80400817254e-05,1793256023212784384
+77,1.283333333,BASELINE,788.668242843,750,727.668242843,712,695,651.331757157,927,797.331757157,834,672.331757157,646.663514314,676,0.400998333962,-0.0153637333826,0.0798481135467,0.999999924817,0.000284082341832,-0.000261212297733,3.78444132713e-05,1793256023229451264
+78,1.300000000,BASELINE,789,750,727.750969341,712,695,651,927,797,834,672,646,676,0.400998393143,-0.0153634259723,0.0798480943235,0.999999925011,0.000283430586771,-0.000261182307811,3.77939759827e-05,1793256023246118144
+79,1.316666667,BASELINE,789,750,727.161770418,712,695,651,927,797,834,672,646,676,0.400999338668,-0.0153635856417,0.079848971108,0.999999925045,0.000284307379026,-0.000260077573362,3.79419200413e-05,1793256023262784768
+80,1.333333333,BASELINE,789,750,727,712,695,651,927,797,834,672,646.838708297,676,0.400996857253,-0.0153627830244,0.0798476863722,0.999999923841,0.000286018411751,-0.000262842296969,3.77599282262e-05,1793256023279451648
+81,1.350000000,BASELINE,789,750,727,712,695,651,927,797,834,672,647.994845662,676,0.40099307883,-0.0153616162068,0.0798455835578,0.99999992215,0.000288045182657,-0.000267071508754,3.74530643573e-05,1793256023296118272
+82,1.366666667,BASELINE,788.425131335,750,727,712,695,651,927,797,834,672,648.574868665,676,0.400995340179,-0.0153630100241,0.0798465401619,0.999999923615,0.000285347294183,-0.000264448959745,3.75906670085e-05,1793256023312784896
+83,1.383333333,BASELINE,788,750,727.151523621,712,695,651,927,797,834,672,648.696952758,676,0.400997235565,-0.015363918338,0.0798473940159,0.999999924732,0.00028346398607,-0.000262234695814,3.76368500498e-05,1793256023329451264
+84,1.400000000,BASELINE,788,750,727.725978999,712,695,651,927,797,834,672,647.548042001,676,0.400998033986,-0.0153634395113,0.0798479228331,0.999999924872,0.000283913384875,-0.000261245677809,3.74223076706e-05,1793256023346117888
+85,1.416666667,BASELINE,788,750,727.690815,711.690815,695,651.309185,927,797,834,672,647,676,0.400998513384,-0.015362527793,0.0798483173459,0.999999924621,0.000285368730689,-0.000260632183173,3.73297899715e-05,1793256023362785024
+86,1.433333333,BASELINE,788,750,727.099627744,711.099627744,695,651.900372256,927,797,834,672,647,676,0.400998701808,-0.0153612212418,0.0798485893618,0.999999924011,0.000287741583232,-0.000260361196924,3.73485688716e-05,1793256023379451904
+87,1.450000000,BASELINE,787.518413136,750,727.481586864,711.481586864,695,652,927,797,834,672.481586864,647.963173728,676,0.400998695371,-0.0153621773672,0.0798487704447,0.999999924508,0.000285960690687,-0.000260380144604,3.75977205483e-05,1793256023396118272
+88,1.466666667,BASELINE,787.060236523,750.060236523,728,712,695,652,927.060236523,797,834,673.060236523,649.120473046,676,0.400998647347,-0.015363507434,0.0798488999024,0.999999925122,0.000283703672931,-0.000260451684026,3.78576675279e-05,1793256023412784640
+89,1.483333333,BASELINE,787.634248631,750.634248631,728,712,695,652,927.634248631,797,834,673.634248631,650.268497263,676,0.400998581471,-0.0153641154883,0.0798487462293,0.999999924874,0.000284566186776,-0.000260470587795,3.78114472399e-05,1793256023429451264
+90,1.500000000,BASELINE,788,751,728,712,695,652,928,797,834,674,651.213280756,676,0.400998292235,-0.0153642472552,0.0798483931288,0.999999924751,0.000284770883292,-0.000260734904755,3.77035536888e-05,1793256023446118144
+91,1.516666667,BASELINE,788,751,728,712,695,652,928,797,834,674,651.801129064,676,0.40099761073,-0.0153635425574,0.0798476897905,0.999999924847,0.000283820308932,-0.000261430220832,3.74873484337e-05,1793256023462784768
+92,1.533333333,BASELINE,787.615068318,750.615068318,727.615068318,712,695,652,928,797,834,673.615068318,651.615068318,676,0.400997073294,-0.0153637802008,0.0798475489657,0.999999924993,0.000282991115181,-0.000261783748571,3.73953271152e-05,1793256023479451136
+93,1.550000000,BASELINE,787.03333407,750.03333407,727.03333407,712,695,652,928,797,834,673.03333407,651.03333407,676,0.400996609516,-0.0153644996312,0.0798476957349,0.999999925164,0.000282223979148,-0.000261962531543,3.73667968286e-05,1793256023496117760
+94,1.566666667,BASELINE,787,750,727,712,695,652,928,797,834,673.542009678,650.457990322,676,0.400999157756,-0.0153648524007,0.0798496607695,0.999999925732,0.000282791476202,-0.000259123003223,3.76796197649e-05,1793256023512784640
+95,1.583333333,BASELINE,787.116971341,750,727.116971341,712,695,652,927.883028659,797,834,674,650.116971341,676,0.401000992639,-0.0153649759422,0.0798509858282,0.999999926174,0.000283109262736,-0.000257031332791,3.79027855012e-05,1793256023529451264
+96,1.600000000,BASELINE,787.691958067,750,727.691958067,712,695,652,927.308041933,797,834,674,650.691958067,676,0.400999317399,-0.0153642891821,0.079849372223,0.999999926057,0.000282131624634,-0.000258586371066,3.7693643005e-05,1793256023546118144
+97,1.616666667,BASELINE,787.72649402,750,727.72649402,712,695,652,927.27350598,797,834,674,651,676.27350598,0.400998744133,-0.0153638985041,0.0798487872358,0.999999926055,0.000281714281917,-0.000259071693199,3.75264919696e-05,1793256023562784768
+98,1.633333333,BASELINE,787.137374835,750,727.137374835,712,695,652,927.862625165,797,834,674,651,676.862625165,0.400999442494,-0.0153638494914,0.0798493892259,0.999999926189,0.000281943494126,-0.000258322612471,3.74077971434e-05,1793256023579451392
+99,1.650000000,BASELINE,787.445037229,750,727.445037229,712,695,652,928,797,834,674,651,676.554962771,0.400999875581,-0.0153627608855,0.079849807397,0.999999925819,0.000283862413647,-0.000257668286806,3.73109600975e-05,1793256023596118016
+100,1.666666667,BASELINE,788,750,727.974847144,712,695,652,928,797,834,674,651,676,0.401000176402,-0.0153614724275,0.0798501097805,0.999999925317,0.000286094442665,-0.000257159999909,3.72225925705e-05,1793256023612784384
+101,1.683333333,BASELINE,788,750,727.400340216,712,695,652,928,797,834,674,651,676,0.40099935032,-0.0153627237414,0.079849104163,0.999999925402,0.000283942444169,-0.000259211955597,3.71740316904e-05,1793256023629451264
+102,1.700000000,BASELINE,787.82265025,750,727,712,695,652,928,797,834,673.82265025,650.82265025,676,0.400998617698,-0.0153636266149,0.0798484160317,0.999999925348,0.000282798890345,-0.000260651997107,3.7277261894e-05,1793256023646117888
+103,1.716666667,BASELINE,787.237643822,750,727,712,695,652,928,797,834,673.237643822,650.237643822,676,0.400998099907,-0.015363728562,0.0798484576751,0.999999924989,0.000283973350843,-0.000260685490535,3.77293995559e-05,1793256023662784768
+104,1.733333333,BASELINE,786.654967433,750,727,712,695,652,928,797,834,673,650,676,0.400997590294,-0.015363959528,0.0798480753893,0.999999924747,0.000284239692104,-0.000261296308418,3.79100322379e-05,1793256023679451392
+105,1.750000000,BASELINE,786.073885053,750,727,712,695,652,928,797,834,673,650,676,0.400997086276,-0.0153642787607,0.0798474030777,0.999999924585,0.000283884754806,-0.000262302095776,3.79049181523e-05,1793256023696118016
+106,1.766666667,BASELINE,786,750,727,712,695,652,928,797,834,673,650,676,0.40099731995,-0.0153640399647,0.0798481392873,0.999999924934,0.000283535415098,-0.00026137620002,3.77025333291e-05,1793256023712784640
+107,1.783333333,POSE1_TO_POSE2_PRESS,786,751,728,712,695,652,928,797,834,673,651,676,0.400997842172,-0.0153625318981,0.0798485115972,0.999999923822,0.000287791095499,-0.000260946325162,3.79427148465e-05,1793256023756085760
+108,1.800000000,POSE1_TO_POSE2_PRESS,786,750.411251707,728,712,695,652,928,797,834,673,650.411251707,676,0.400997097097,-0.0153637473719,0.0798481193316,0.999999924441,0.000285095137182,-0.000261584246597,3.7591189613e-05,1793256023772752128
+109,1.816666667,POSE1_TO_POSE2_PRESS,786,750,727.824816411,712.175183589,695,652.175183589,928,797,834,673.175183589,650.175183589,676.175183589,0.400996776686,-0.0153645957044,0.079848032197,0.999999924963,0.000283278875052,-0.000261591073237,3.73777698371e-05,1793256023789418496
+110,1.833333333,POSE1_TO_POSE2_PRESS,786,750,727.243740109,712.756259891,695,652.756259891,928,797,834,673.756259891,650.756259891,676.756259891,0.400997440202,-0.0153645933865,0.0798486520371,0.999999925276,0.000283500829981,-0.000260135680973,3.74843342966e-05,1793256023806085632
+111,1.850000000,POSE1_TO_POSE2_PRESS,786,750,727,712.66573135,695,652.66573135,928,797,834,674,651,677,0.400996887373,-0.0153650903869,0.0798480604238,0.999999925103,0.000283404239911,-0.000260882223684,3.76361017869e-05,1793256023822752512
+112,1.866666667,POSE1_TO_POSE2_PRESS,786,750,727,712.089939059,695,652.089939059,928,797,834,674,651,677,0.400995455682,-0.0153659481664,0.0798465934826,0.999999924576,0.000283077487207,-0.000263219760284,3.78205304267e-05,1793256023839419136
+113,1.883333333,POSE1_TO_POSE2_PRESS,786,750,727,712.484676288,695,652,928,797,834,674,651.484676288,677,0.40099600314,-0.0153650173738,0.0798468037489,0.999999924814,0.0002824969425,-0.000262967842996,3.76150576211e-05,1793256023856085504
+114,1.900000000,POSE1_TO_POSE2_PRESS,785.939371502,750,727.060628498,712.939371502,695,652,928,797,834,674,652,677,0.4009971686,-0.0153638970337,0.0798474714704,0.999999925191,0.000282003847561,-0.000262097126654,3.73831621324e-05,1793256023872751616
+115,1.916666667,POSE1_TO_POSE2_PRESS,785.349856714,750,727.650143286,712.349856714,695,652,928,797,834,674,652,677,0.401000529133,-0.01536401145,0.0798494213376,0.999999925537,0.000282683444176,-0.000260009928622,3.75503985109e-05,1793256023889418240
+116,1.933333333,POSE1_TO_POSE2_PRESS,785.235607605,750,728,712,695,652,928,797,833.764392395,674,652,677,0.401010425311,-0.0153648220089,0.0798541333216,0.999999927403,0.000282759417739,-0.000252605587681,3.78395790129e-05,1793256023906085120
+117,1.950000000,POSE1_TO_POSE2_PRESS,785.815158934,750,728,712,695,652,928,797,833.184841066,674,652,677,0.401029862327,-0.0153666488079,0.0798628774875,0.999999931329,0.000281954212682,-0.000237439197213,3.83067754621e-05,1793256023922751744
+118,1.966666667,POSE1_TO_POSE2_PRESS,786,750,728,712.391257413,695,652,928,797,833.391257413,674,652,676.608742587,0.401067882949,-0.0153687038148,0.0798771167003,0.999999937117,0.000282203104761,-0.00021114769687,3.93062498538e-05,1793256023939418624
+119,1.983333333,POSE1_TO_POSE2_PRESS,786,750,728,712.965738988,695,652,928,797,833.965738988,674,652,676.034261012,0.401114606196,-0.0153708656906,0.0798939292207,0.999999943012,0.000282945625703,-0.000179646353984,4.0554987725e-05,1793256023956085504
+120,2.000000000,POSE1_TO_POSE2_PRESS,786,750,728,713,695,652,928,797,834,674.552063812,652,676.552063812,0.401184537512,-0.0153727103569,0.0799123182036,0.999999948717,0.000283144804106,-0.000144014128295,4.06746328485e-05,1793256023972752128
+121,2.016666667,POSE1_TO_POSE2_PRESS,786.137380555,750,727.862619445,713,694.862619445,652,928,797,834,674.862619445,652.137380555,676.862619445,0.401259298514,-0.0153753167644,0.0799295094597,0.999999952902,0.000282380522621,-0.000113205495231,4.05117512188e-05,1793256023989418752
+122,2.033333333,POSE1_TO_POSE2_PRESS,786.717034057,750,727.282965943,713,694.282965943,652,928,797,834,674.282965943,652.717034057,676.282965943,0.401344869454,-0.015380440231,0.0799425229776,0.999999955519,0.000278625484382,-9.87689828097e-05,3.96698517595e-05,1793256024006085120
+123,2.050000000,POSE1_TO_POSE2_PRESS,787,750,727.29556991,713,694,652,927.70443009,797,834,674,653,676.29556991,0.401438382499,-0.0153843169152,0.0799506613735,0.999999957411,0.000276239909373,-8.62649019552e-05,3.77785377689e-05,1793256024022751488
+124,2.066666667,POSE1_TO_POSE2_PRESS,787,750,727.87303977,713,694,652,927.12696023,797,834,674,653,676.87303977,0.401539470326,-0.0153870044796,0.0799541501187,0.999999958677,0.000275160460851,-7.56038795535e-05,3.48863441937e-05,1793256024039418112
+125,2.083333333,POSE1_TO_POSE2_PRESS,786.550417663,750,728,713,694,652,927,797,834,674,652.550417663,676.550417663,0.401657870787,-0.0153905161288,0.0799571239998,0.999999959784,0.000273194731383,-6.94603328491e-05,3.11757026137e-05,1793256024056084992
+126,2.100000000,POSE1_TO_POSE2_PRESS,786,750,727.973481883,713,694.026518117,652,927,797,834,674,652,676.026518117,0.401782199118,-0.0153942653576,0.0799599710778,0.999999960861,0.000270856569012,-6.46113727767e-05,2.72049128112e-05,1793256024072751616
+127,2.116666667,POSE1_TO_POSE2_PRESS,786,750,727.382616343,713,694.617383657,652,927,797,834,674,652,676.617383657,0.401928850049,-0.0153981282418,0.0799632074613,0.999999962578,0.000265907881576,-6.02198723057e-05,2.26063672841e-05,1793256024089418752
+128,2.133333333,POSE1_TO_POSE2_PRESS,786.203898351,750,727.203898351,713,694.796101649,652,927,797,834,674,652,677,0.402088452372,-0.0154037991092,0.0799658243966,0.999999964982,0.000258008699044,-5.62271556075e-05,1.74896824293e-05,1793256024106085376
+129,2.150000000,POSE1_TO_POSE2_PRESS,786.782419169,750,727.782419169,713,694.217580831,652,927,797,834,674,652,677,0.40227185027,-0.0154127917842,0.0799673032193,0.999999968596,0.000244688572008,-5.29671248704e-05,1.14210206241e-05,1793256024122752000
+130,2.166666667,POSE1_TO_POSE2_PRESS,787,750,727.642582647,713,694.357417353,652,927,797.357417353,834,674,652,677,0.402464061075,-0.0154191717709,0.0799644530879,0.999999971097,0.000233022722019,-5.90511877317e-05,4.33393546744e-06,1793256024139418880
+131,2.183333333,POSE1_TO_POSE2_PRESS,787,750,727.069707912,713,694.930292088,652,927,797.930292088,834,674,652,677,0.402661584471,-0.0154239767847,0.079958993388,0.99999997277,0.000222354097618,-7.07680320011e-05,-3.36707353826e-06,1793256024156085248
+132,2.200000000,POSE1_TO_POSE2_PRESS,786.482222631,749.482222631,727,713,694.482222631,652,927,797.482222631,834,674,652,677,0.402891285608,-0.0154319663723,0.0799554742416,0.999999987198,0.000140290682418,-7.60911085982e-05,-1.15474030617e-05,1793256024172751872
+133,2.216666667,POSE1_TO_POSE2_PRESS,786.105230125,749.105230125,727.105230125,713,694,652,927.105230125,797,834,674,652,677,0.40313612482,-0.0154404439511,0.0799532048113,0.999999994627,6.39766253511e-05,-7.91116118699e-05,-1.98536252758e-05,1793256024189417984
+134,2.233333333,POSE1_TO_POSE2_PRESS,786.68343905,749.68343905,727.68343905,713,694,652,927.68343905,797,834,674,652,677,0.403428968606,-0.0154491319101,0.0799553441277,0.999999995046,5.79610338478e-05,-7.57640549254e-05,-2.84272336663e-05,1793256024206084608
+135,2.250000000,POSE1_TO_POSE2_PRESS,787,750.261883096,728,713,694,652,928,797,834,674,652,677,0.403745842525,-0.0154583059308,0.079959330636,0.999999995522,5.48987858026e-05,-7.00510672403e-05,-3.2168958422e-05,1793256024222751488
+136,2.266666667,POSE1_TO_POSE2_PRESS,787,750.840611573,728,713,694,652,928,797,834,674,652,677,0.404091789843,-0.0154680680242,0.0799655520122,0.999999996123,5.54097096977e-05,-6.14762081203e-05,-3.00647153717e-05,1793256024239418112
+137,2.283333333,POSE1_TO_POSE2_PRESS,787,750.583934333,728,713,694.416065667,652,927.583934333,797,834,674,652.416065667,677,0.404457621262,-0.0154729230326,0.0799661008235,0.999999996166,6.08147058284e-05,-5.67447874815e-05,-2.73817537873e-05,1793256024256084992
+138,2.300000000,POSE1_TO_POSE2_PRESS,787,750.009724824,728,713,694.990275176,652,927.009724824,797,834,674,652.990275176,677,0.40483101049,-0.0154759128899,0.0799644935298,0.999999995953,6.80799068236e-05,-5.34742328895e-05,-2.44788251163e-05,1793256024272751616
+139,2.316666667,POSE1_TO_POSE2_PRESS,787,750,728,713,695,652,927,797,834,674.579621535,652.420378465,677,0.40523707015,-0.015477041621,0.0799624561015,0.999999996417,5.94454967093e-05,-5.33809008996e-05,-2.79726173802e-05,1793256024289418240
+140,2.333333333,POSE1_TO_POSE2_PRESS,786.833844837,750,728,713,694.833844837,652,927,797,833.833844837,674.833844837,652,677,0.405657870999,-0.0154752592702,0.0799589981118,0.999999996302,5.58052970516e-05,-5.74377894818e-05,-3.13586092443e-05,1793256024306084608
+141,2.350000000,POSE1_TO_POSE2_PRESS,786.254946145,750,728,713,694.254946145,652,927,797,833.254946145,674.254946145,652,677,0.406113892008,-0.0154663251922,0.0799520297349,0.999999994718,6.52515699067e-05,-7.1668208051e-05,-3.42030656778e-05,1793256024322751488
+142,2.366666667,POSE1_TO_POSE2_PRESS,786,750,728,713,694.321960671,652,927,797.321960671,833.321960671,674,652,677,0.406593001482,-0.0154648022576,0.079946665412,0.999999993593,6.80084799249e-05,-8.32566671624e-05,-3.54607149991e-05,1793256024339418368
+143,2.383333333,POSE1_TO_POSE2_PRESS,786,750,728,713,694.89729997,652,927,797.89729997,833.89729997,674,652,677,0.40709028131,-0.0154691117902,0.0799425634569,0.999999992923,6.55009542364e-05,-9.27659419802e-05,-3.54695692139e-05,1793256024356084992
+144,2.400000000,POSE1_TO_POSE2_PRESS,786,750,728,713,695,652,927,798,834,674.471305403,652,677,0.407605983332,-0.0154743927555,0.0799354048577,0.99999999194,5.75254435338e-05,-0.000106922592612,-3.71240952384e-05,1793256024372751616
+145,2.416666667,POSE1_TO_POSE2_PRESS,786.046536044,750,728,713,695,652,927,797.953463956,834,675,652,677,0.408130196679,-0.015479760612,0.0799282560375,0.999999990743,4.87768025646e-05,-0.000120866167083,-3.90538651868e-05,1793256024389418240
+146,2.433333333,POSE1_TO_POSE2_PRESS,786.639558746,750,728,713,695,652,927,797.360441254,834,675,652,677,0.408707353392,-0.0154836700503,0.0799290217096,0.999999990937,4.49017530285e-05,-0.000120448793325,-4.0016635432e-05,1793256024406084864
+147,2.450000000,POSE1_TO_POSE2_PRESS,787,750,728,713,694.773351592,652,927.226648408,797,834,675,652,677,0.409326420925,-0.0154886225196,0.0799449742242,0.999999993977,3.97033952974e-05,-9.44714334257e-05,-3.93122604049e-05,1793256024422751744
+148,2.466666667,POSE1_TO_POSE2_PRESS,787,750,728,713,694.195456643,652,927.804543357,797,834,675,652,677,0.410010439379,-0.0154951914178,0.0799844624248,0.999999998407,3.24542514855e-05,-2.88826911307e-05,-3.60242402785e-05,1793256024439418368
+149,2.483333333,POSE1_TO_POSE2_PRESS,786.618374999,750,728,713,694.381625001,652,927.618374999,797,834,674.618374999,652,677,0.410697575348,-0.0155101979998,0.0800031710173,0.999999999352,1.25163146392e-05,1.67513089878e-07,-3.37656185813e-05,1793256024456084992
+150,2.500000000,POSE1_TO_POSE2_PRESS,786.041709037,750,728,713,694.958290963,652,927.041709037,797,834,674.041709037,652,677,0.411386304596,-0.0155295169144,0.0800112595633,0.999999999335,-1.39066121475e-05,1.0543593919e-05,-3.20331021137e-05,1793256024472751616
+151,2.516666667,POSE1_TO_POSE2_PRESS,786.532229281,750,728,713,694.467770719,652,927.532229281,797,834,674,652.532229281,677,0.412047258741,-0.0155337280715,0.0799795959754,0.999999998234,-2.48022232825e-05,-4.01977135094e-05,-3.60602727599e-05,1793256024489418240
+152,2.533333333,POSE1_TO_POSE2_PRESS,787,750,728,713,694.109154273,652,928,797,834,674.109154273,652.890845727,677,0.412716543703,-0.0155350779557,0.079947102136,0.999999994716,-3.09581367176e-05,-8.93334129199e-05,-4.03741542404e-05,1793256024506084608
+153,2.550000000,POSE1_TO_POSE2_PRESS,787,750,728,713,694.700203572,652,928,797,834,674.700203572,652.299796428,677,0.413432167883,-0.0155289961086,0.0799246259748,0.999999992714,-2.15338501169e-05,-0.000110343452413,-4.39712678702e-05,1793256024522751488
+154,2.566666667,POSE1_TO_POSE2_PRESS,787,750,728,713,694.715852113,652,927.715852113,797,834,675,652.284147887,677,0.414191590747,-0.015525589466,0.0799267119404,0.999999994011,-1.56460605088e-05,-9.86252001492e-05,-4.47931549868e-05,1793256024539418624
+155,2.583333333,POSE1_TO_POSE2_PRESS,787,750,728,713,694.139221125,652,927.139221125,797,834,675,652.860778875,677,0.414996097177,-0.0155249365018,0.079954080537,0.99999999758,-1.33985065575e-05,-5.32186047646e-05,-4.27584073051e-05,1793256024556086016
+156,2.600000000,POSE1_TO_POSE2_PRESS,786.562366533,750,728,713,694,652,927,797,834,674.562366533,652.562366533,677,0.415796812582,-0.0155245249297,0.079960186587,0.999999997276,-1.7625234524e-05,-5.71304279945e-05,-4.32736245762e-05,1793256024572752384
+157,2.616666667,POSE1_TO_POSE2_PRESS,786.014779967,750.014779967,728,713,694.014779967,652,927,797,834,674.014779967,652,677,0.41659722803,-0.0155242845897,0.0799596986079,0.999999995877,-2.37572647891e-05,-7.54714113038e-05,-4.45709114182e-05,1793256024589418496
+158,2.633333333,POSE1_TO_POSE2_PRESS,786.60045412,750.60045412,728,713,694.60045412,652,927,797,834,674.60045412,652,677,0.417432666573,-0.0155276905851,0.0799659133107,0.99999999771,-2.3888093774e-05,-4.48279442035e-05,-4.47269215654e-05,1793256024606085120
+159,2.650000000,POSE1_TO_POSE2_PRESS,786.814984018,751,728.185015982,713.185015982,695,652,927,797,834,674.814984018,652.185015982,677,0.418289566147,-0.0155316875721,0.0799786544966,0.999999998606,-2.66550934559e-05,-8.60326024303e-06,-4.47616594332e-05,1793256024622751488
+160,2.666666667,POSE1_TO_POSE2_PRESS,786.232809852,751,728.767190148,713.767190148,695,652,927,797,834,674.232809852,652.767190148,677,0.41919253425,-0.015536953191,0.0800054055325,0.999999997609,-3.50809381457e-05,3.96021487512e-05,-4.45360723357e-05,1793256024639418112
+161,2.683333333,POSE1_TO_POSE2_PRESS,786,751,728.654774071,714,695,652,927,797,834,674.345225929,653,677.345225929,0.420064631221,-0.0155367447519,0.0800017135047,0.999999997562,-3.96498689351e-05,3.43499909976e-05,-4.60840754845e-05,1793256024656084992
+162,2.700000000,POSE1_TO_POSE2_PRESS,786,751,728.079496056,714,695,652,927,797,834,674.920503944,653,677.920503944,0.42091615621,-0.015532888503,0.079977734789,0.99999999792,-4.1648624275e-05,-6.52528876805e-06,-4.8813965914e-05,1793256024672752128
+163,2.716666667,POSE1_TO_POSE2_PRESS,786,751,728,713.504190831,695,652,927,797,834,675,653,677.504190831,0.421839732389,-0.0155339514713,0.0799840325041,0.999999998033,-3.94612869198e-05,2.18701657772e-06,-4.87132364893e-05,1793256024689419264
+164,2.733333333,POSE1_TO_POSE2_PRESS,786,751,728.073101572,713.073101572,694.926898428,652.073101572,927,797.073101572,834,675,653,677,0.42277210379,-0.0155360873469,0.0799964908437,0.999999998003,-3.59826845062e-05,2.03547165801e-05,-4.77966378872e-05,1793256024706086144
+165,2.750000000,POSE1_TO_POSE2_PRESS,786,751,728.664450692,713.664450692,694.335549308,652.664450692,927,797.664450692,834,675,653,677,0.423684923458,-0.0155402375835,0.0800182076479,0.999999997413,-2.81083123794e-05,4.91869018188e-05,-4.43137129014e-05,1793256024722752256
+166,2.766666667,POSE1_TO_POSE2_PRESS,786,750.750372502,728.750372502,714,694.249627498,652.750372502,927,797.750372502,833.750372502,675,652.750372502,677.249627498,0.424569460876,-0.0155405907349,0.0800074030552,0.999999998543,-2.3335185227e-05,2.03881749849e-05,-4.42039345622e-05,1793256024739418368
+167,2.783333333,POSE1_TO_POSE2_PRESS,786,750.173292246,728.173292246,714,694.826707754,652.173292246,927,797.173292246,833.173292246,675,652.173292246,677.826707754,0.425416898737,-0.0155359630011,0.0799539380165,0.999999995038,-2.26301632302e-05,-8.40087948964e-05,-4.85189331057e-05,1793256024756084992
+168,2.800000000,POSE1_TO_POSE2_PRESS,786,750.40357885,728,714,695,652.40357885,927,797,833.40357885,675,652,677.59642115,0.426342746806,-0.0155353377534,0.0799302684779,0.999999992568,-2.82595579857e-05,-0.000106369620454,-5.24561272927e-05,1793256024772751616
+169,2.816666667,POSE1_TO_POSE2_PRESS,786,750.980360146,728,714,695,652.980360146,927,797,833.980360146,675,652,677.019639854,0.427302245842,-0.015536430238,0.0799193861675,0.999999993376,-3.66074711278e-05,-9.35232905309e-05,-5.62311804603e-05,1793256024789418240
+170,2.833333333,POSE1_TO_POSE2_PRESS,786,750.449156152,728,713.449156152,694.449156152,653,927,796.449156152,833.449156152,675,652,677.550843848,0.428234725413,-0.0155384941214,0.0799259953558,0.99999999293,-3.93360135779e-05,-9.78452932247e-05,-5.49443595309e-05,1793256024806085120
+171,2.850000000,POSE1_TO_POSE2_PRESS,786,750.126771883,728.126771883,713.126771883,694.126771883,653,927,796.126771883,833.126771883,675,652,678,0.429174813297,-0.0155416505347,0.0799398323612,0.999999993671,-4.24691069286e-05,-8.96338133512e-05,-5.31098893697e-05,1793256024822752000
+172,2.866666667,POSE1_TO_POSE2_PRESS,786,750.723715165,728.723715165,713.723715165,694.723715165,653,927,796.723715165,833.723715165,675,652,678,0.430146651343,-0.0155487319211,0.0799781890593,0.999999997076,-4.783727036e-05,-3.26935933953e-05,-4.99060841216e-05,1793256024839418880
+173,2.883333333,POSE1_TO_POSE2_PRESS,786,751,729,714,694.690411034,653,927.309588966,797,834,675,652,678,0.431108094769,-0.0155529072654,0.0800142637639,0.999999997252,-5.25991979843e-05,2.17954474983e-05,-4.74788639616e-05,1793256024856085504
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+192,3.200000000,POSE1_TO_POSE2_PRESS,787,750,729,714,693,651.666435545,927,794.666435545,833,675,652.333564455,678,0.446383205997,-0.0156455835026,0.0798366223701,0.999999948078,-0.00019621102781,-0.000246860068584,-6.63786153052e-05,1793256025172751872
+193,3.216666667,POSE1_TO_POSE2_PRESS,787,750,729,714,693,651.090244577,927,794.090244577,833,675,652.909755423,678,0.446997298816,-0.0156499990856,0.0798098588269,0.999999939534,-0.000203534207745,-0.000273600345159,-6.81813427468e-05,1793256025189418496
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+196,3.266666667,POSE1_TO_POSE2_PRESS,786,751,729,714,693,651.349645166,927,793,833.650354834,675,652,678,0.448603161685,-0.0156648952676,0.0797157314555,0.999999881516,-0.000240589846846,-0.000416360255278,-7.56865249632e-05,1793256025239418624
+197,3.283333333,POSE1_TO_POSE2_PRESS,786.235941048,750.764058952,729,714,693,651,927,792.764058952,833.764058952,675,652,678,0.449113145466,-0.0156681088115,0.079695551247,0.999999867629,-0.000244561728777,-0.000446184237223,-7.64986430698e-05,1793256025256085504
+198,3.300000000,POSE1_TO_POSE2_PRESS,786.814263151,750.185736849,729,714,693,651,927,792.185736849,833.185736849,675,652,678,0.449626132205,-0.0156716447249,0.0796960622167,0.999999871328,-0.000242699129714,-0.00043881921807,-7.66702187654e-05,1793256025272752640
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,784,747,729,713,694,650,927,786,833,675,650.811041367,678.188958633,0.452602913744,-0.0156057945146,0.0795055855158,0.999999695573,-0.000137159136783,-0.000767904958061,-1.90657594399e-05,1793256026881606656
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,747.397989436,729,713,694,650,927,786.397989436,833,675,651,678.397989436,0.452287181659,-0.0155991341265,0.0795129476853,0.99999970689,-0.00011486296752,-0.000756891653026,-1.18723556643e-05,1793256026898273536
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,747.145583325,729,713,694,650,927,787,833,675.854416675,650,678,0.451202908334,-0.0155821036493,0.0795490628864,0.999999747906,-8.94913138063e-05,-0.000704388532083,3.94432651698e-06,1793256026948273408
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,751,728.072219176,712.072219176,696.072219176,652.927780824,928,795.072219176,832,675,651,678,0.435272570517,-0.0154099834927,0.0798854459666,0.999999967542,0.000177316957465,-0.000178976541677,3.79686275338e-05,1793256027348273152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,751,728.652378446,712.652378446,696.652378446,652.347621554,928,795.652378446,832,675,651,678,0.434340174943,-0.0154060598603,0.079860571641,0.999999958667,0.000184632358884,-0.000217292205338,3.68848267096e-05,1793256027364939776
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783.229605187,751.229605187,729,713,697,652,928,796,832.229605187,675,651.229605187,678,0.43338137769,-0.0154019406098,0.0798274332979,0.999999943449,0.000193961520579,-0.000272475266208,3.51822870445e-05,1793256027381606400
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.802448161,751.802448161,729,713,697,652,928,796,832.802448161,675,651.802448161,678,0.432383112312,-0.0153975289286,0.0797819410355,0.99999991593,0.000206301061789,-0.00035287347725,3.25547917427e-05,1793256027398272768
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.614553883,752,729,713,696.614553883,652.385446117,928,796,833,675,651.614553883,678,0.431401990104,-0.0153937273171,0.0797396633353,0.999999883371,0.000207927983251,-0.000434829988152,3.07761557736e-05,1793256027414939648
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,752,729,713,696.553684155,652.446315845,928,796,833,675,651,678,0.429593837647,-0.0153939684371,0.079762624033,0.999999899318,0.000208469960973,-0.000395936231719,3.37490983789e-05,1793256027448273152
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,752,729,713,697,652.130034842,928.130034842,796.130034842,833,675,651,678,0.428751010171,-0.0153975927533,0.0798239549367,0.999999936835,0.000211839809448,-0.000282819126035,3.83050813405e-05,1793256027464940032
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,752,729,713,697,652.695829716,928.695829716,796.695829716,833,675,651,678,0.427864228546,-0.015399765756,0.0798615912537,0.999999950532,0.000209902495759,-0.000230310570359,4.28222842378e-05,1793256027481607168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.275265836,752.275265836,729,713,697,652.724734164,929,796.724734164,832.724734164,675,651.275265836,678.275265836,0.426928770513,-0.0153984150396,0.0798576511621,0.999999947482,0.00021560306119,-0.000238092333331,4.31562209753e-05,1793256027498273792
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.545755172,753,729,713,697,652,928.545755172,796.454244828,832.454244828,674.545755172,651.545755172,679,0.424963808785,-0.0153887218724,0.0797735455033,0.999999906676,0.000233095250462,-0.000361901617851,3.66210964848e-05,1793256027531606528
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,753,728,712.234128362,697,652.765871638,929,796.765871638,832.765871638,674,652,678,0.421343828668,-0.0153891939928,0.0798036031041,0.999999924884,0.000240878338272,-0.000300867474389,4.10862197519e-05,1793256027598273024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.651265283,753,728,712.348734717,697,652.651265283,929,797,833,674,652,678,0.42051104083,-0.0153917943035,0.0798462764166,0.999999945773,0.00023530876171,-0.000226168264059,4.39572121055e-05,1793256027614939648
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.516199935,753,728,713,697,652.516199935,929,797,832.483800065,674,652,678,0.418751735814,-0.015385679181,0.0798388901134,0.999999940553,0.000237458259687,-0.000246300371364,4.29316131384e-05,1793256027648273152
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,753,728,713,697,652,929,797,833,674.363692962,651.363692962,678,0.408502566472,-0.0153712408033,0.0798418433791,0.999999930971,0.000262632760564,-0.00025905775276,4.44063011934e-05,1793256027881606656
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,753.20059768,728,713,697,652,929,798,833,674,651.79940232,678,0.401017435564,-0.0153568268994,0.0798353249165,0.999999916339,0.000290651494171,-0.000285284480711,3.81508817513e-05,1793256028414939648
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,753.774427237,728,713,697,652,929,798,833,674,651.225572763,678,0.401009739723,-0.015359287808,0.0798364362872,0.999999917488,0.000288438179841,-0.000283449316411,3.8527182246e-05,1793256028431606272
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,754,728,713,697,652,928.651873364,798,833,674,651,678,0.401005336906,-0.015359757396,0.0798379718635,0.99999991822,0.00028843493108,-0.000280846107989,3.86201336247e-05,1793256028448273152
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,753.588063122,728,713,697,652,929,798,833,674,652,678,0.400995473123,-0.0153598558588,0.0798421423164,0.99999991999,0.000288630719096,-0.000274353045906,3.79912039182e-05,1793256028598273280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,754,728.166307567,713,697,652,929,798.166307567,833,674,651.833692433,678,0.400997182706,-0.0153609302361,0.0798437526882,0.999999921155,0.000287076032305,-0.000271684501407,3.8279554144e-05,1793256028614939648
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,754,728.740664522,713,697,652,929,798.740664522,833,674,651.259335478,678,0.400999148429,-0.0153608607387,0.0798452602658,0.999999921739,0.000288527694445,-0.000267969863744,3.8286729958e-05,1793256028631606784
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,784,754,728.460493407,712.539506593,697,652,929,798,833,674,651,678,0.40099673667,-0.0153617999515,0.0798456041767,0.999999922182,0.000287016971927,-0.000268009412563,3.77868415987e-05,1793256028798273280
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e3d4c073605e1f45c430b9a9d3911cb85d1ae65
--- /dev/null
+++ b/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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34305b3198dfd8b1e0ad3abac3e940bba07e06f4
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b75dae0ba69d76deb1f310cf01a2ebda06fd3a8f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+34,0.566666667,BASELINE,784,753.255365938,728,713,697,652,929,798,833,674,652,678,0.400996914805,-0.0153632715174,0.0798475262402,0.999999923761,0.000285718551071,-0.000263549054884,3.72054883179e-05,1793256029521998848
+35,0.583333333,BASELINE,784,753.328515988,728,713,697,652,929,798,833,674,652,678,0.400997137002,-0.0153638522943,0.0798476771428,0.999999924049,0.000284815186774,-0.000263434047055,3.72127167444e-05,1793256029538665216
+36,0.600000000,BASELINE,784,753.9075545,728,713,697,652,929,798,833,674,652,678,0.400997847189,-0.0153635615817,0.0798482319242,0.99999992451,0.000283847211935,-0.000262736866484,3.71443401076e-05,1793256029555331840
+37,0.616666667,BASELINE,784.482141179,753.517858821,728.482141179,713,697,652,929,798,833,674,652,678,0.400997587487,-0.015363529245,0.079847691425,0.999999924428,0.000283407387952,-0.000263518626738,3.71891476348e-05,1793256029571999232
+38,0.633333333,BASELINE,784.888162088,753,728.944081044,713,697,652,929,798,832.944081044,674,652,677.944081044,0.400997289739,-0.0153635323822,0.0798471782364,0.99999992428,0.000283217212215,-0.000264275457255,3.72420232384e-05,1793256029588666368
+39,0.650000000,BASELINE,783.739922275,753,728.369961138,713,697,652,929,798,832.369961138,674,652,677.369961138,0.400998347003,-0.0153634093617,0.0798488464791,0.999999924491,0.000284410667601,-0.000262197451174,3.71703944575e-05,1793256029605332736
+40,0.666666667,BASELINE,783.211400635,753,728,713,697,652,928.788599365,798,832.211400635,674,651.788599365,677.211400635,0.40099851689,-0.0153633650567,0.0798492454014,0.999999924264,0.000285576363953,-0.000261788129783,3.72148242866e-05,1793256029621999104
+41,0.683333333,BASELINE,783.805885536,753,728,713,697,652,928.194114464,798,832.805885536,674,651.194114464,677.805885536,0.40099707874,-0.0153634633938,0.079847344157,0.999999923248,0.000286691757407,-0.000264402672901,3.74695667691e-05,1793256029638665984
+42,0.700000000,BASELINE,784,753,728,713,697,652,928,798,833,674,651,678,0.40099680359,-0.0153637942133,0.0798472677146,0.999999923664,0.000285228538419,-0.000264400620198,3.75437630906e-05,1793256029655332608
+43,0.716666667,BASELINE,784,753,728,713,697,652,928,798,833,674,651,678,0.400997092306,-0.0153642377488,0.079848076004,0.99999992477,0.000282515112391,-0.000263129944659,3.75304239255e-05,1793256029671999488
+44,0.733333333,BASELINE,784,753,728,712.460893491,697,652,928,798,833,674,651.539106509,678,0.400996645477,-0.0153640383225,0.0798480769156,0.999999924574,0.000283060140928,-0.000263298259669,3.74685712765e-05,1793256029688665856
+45,0.750000000,BASELINE,784,753,728,712.116356497,697,652,928,798,833,674,652,678,0.400996522674,-0.0153637477642,0.0798481311686,0.999999924303,0.000284036236612,-0.000263285366166,3.7396492523e-05,1793256029705332224
+46,0.766666667,BASELINE,784,753,728,712.703137725,697,652,928,798,833,674,652,678,0.400997907293,-0.0153632613159,0.0798486177566,0.999999924078,0.000285880641021,-0.000262153668693,3.72960897181e-05,1793256029721998848
+47,0.783333333,BASELINE,784,753.28620195,728,713,697,652,928.28620195,798,833,674,652,678,0.400999100178,-0.0153632339555,0.079849366816,0.99999992437,0.000286064906556,-0.000260851876014,3.71838263722e-05,1793256029738665472
+48,0.800000000,BASELINE,784,753.865460225,728,713,697,652,928.865460225,798,833,674,652,678,0.401000096737,-0.0153636766779,0.0798503846329,0.999999925191,0.000284549274059,-0.000259375914307,3.70594184198e-05,1793256029755332096
+49,0.816666667,BASELINE,784,754,728,713,697,652,929,798.442998097,833,674,651.557001903,678,0.400998407908,-0.0153636215987,0.0798490847158,0.999999924512,0.000284461260711,-0.000262061764337,3.71760851178e-05,1793256029771998720
+50,0.833333333,BASELINE,784,754,728,712.980099206,697,652,929,798.980099206,833,674,651,678,0.400995989182,-0.0153633765806,0.0798471692445,0.9999999234,0.000284856198986,-0.000265823553376,3.73532761152e-05,1793256029788665600
+51,0.850000000,BASELINE,784,754,728,712.406387579,697,652,929,798.406387579,833,674,651,678,0.400995866521,-0.0153620367866,0.0798476365943,0.999999923241,0.000286671979819,-0.000264489230668,3.71851837908e-05,1793256029805332480
+52,0.866666667,BASELINE,784,753.827645854,728,712.172354146,697,652,929,798,833,674,651.172354146,678,0.400995741661,-0.015361225403,0.0798480504295,0.999999923217,0.000287577308676,-0.000263603512943,3.71310907328e-05,1793256029821998848
+53,0.883333333,BASELINE,784,753.236687335,728,712.763312665,697,652,929,798,833,674,651.763312665,678,0.400995611458,-0.0153616973936,0.0798483342911,0.99999992353,0.000286271381203,-0.000263807342675,3.73538729008e-05,1793256029838665472
+54,0.900000000,BASELINE,783.652392393,753.347607607,728,713,697,652,929,798,833,674,652,678,0.400996794974,-0.0153613269637,0.0798488913161,0.999999923539,0.000287055070685,-0.00026290839769,3.74327541877e-05,1793256029855332096
+55,0.916666667,BASELINE,783.072549387,753.927450613,728,713,697,652,929,798,833,674,652,678,0.400998856182,-0.0153603937155,0.0798496308407,0.99999992334,0.000289234825836,-0.000261272692851,3.74154958016e-05,1793256029871998720
+56,0.933333333,BASELINE,783.502540801,754,728,713,697,652,929,798,833,674,652,678,0.400998096074,-0.0153612939959,0.0798489551739,0.9999999236,0.000287634550015,-0.000262049609581,3.73658656163e-05,1793256029888665344
+57,0.950000000,BASELINE,784,753.923702201,728,712.923702201,697,651.923702201,929,798,833,674,651.923702201,678,0.400997058456,-0.0153625129761,0.0798481489256,0.999999923923,0.000285552188997,-0.000263102282755,3.73110924413e-05,1793256029905331968
+58,0.966666667,BASELINE,784,753.354169933,728,712.354169933,697,651.354169933,929,798,833,674,651.354169933,678,0.400996835206,-0.0153640970896,0.0798478068923,0.999999924251,0.000283848052539,-0.000263707095472,3.72530002774e-05,1793256029921998592
+59,0.983333333,BASELINE,784,753,728.227163775,712.227163775,697,651.227163775,929,798,833,674,651,678,0.400996542328,-0.0153647032765,0.0798476174355,0.999999924392,0.000282956594925,-0.000264129578744,3.72485673615e-05,1793256029938665472
+60,1.000000000,BASELINE,784,753,728.827905405,712.827905405,697,651.827905405,929,798,833,674,651,678,0.400996134944,-0.0153637012332,0.0798476788957,0.99999992423,0.000283401612543,-0.000264252215705,3.73323787296e-05,1793256029955332608
+61,1.016666667,BASELINE,784,753,728.588123625,713,697,652,929,798,833,674,651,678,0.40099647146,-0.0153634683505,0.0798478973578,0.999999924425,0.000283056127799,-0.000263900235933,3.72144932438e-05,1793256029971999232
+62,1.033333333,BASELINE,784,753,728.010885828,713,697,652,929,798,833,674,651,678,0.40099710664,-0.0153635442728,0.0798481788534,0.999999924763,0.000282393269651,-0.000263357705536,3.70156298658e-05,1793256029988665600
+63,1.050000000,BASELINE,784,753,728,713,697,652,928.435673916,798,833,674,651.564326084,678,0.400997834977,-0.0153630673921,0.0798485708584,0.999999924511,0.000283909273326,-0.000262679874041,3.70519864786e-05,1793256030005332224
+64,1.066666667,BASELINE,784,753,728.142711625,713,697,652,928.142711625,798,833,674,652,678,0.400998048153,-0.0153625238851,0.0798485452011,0.999999924242,0.000285087536733,-0.000262438801491,3.69746775177e-05,1793256030021998848
+65,1.083333333,BASELINE,784,753,728.731130406,713,697,652,928.731130406,798,833,674,652,678,0.40099664682,-0.0153618054802,0.0798472084959,0.999999923963,0.000285080196665,-0.000263569906622,3.6528255877e-05,1793256030038665472
+66,1.100000000,BASELINE,784,753,728.68600011,713,697,652,928.68600011,798,832.68600011,674,652,678,0.400996831444,-0.0153610230306,0.079847334355,0.999999923714,0.000286148406325,-0.000263349969459,3.6571039704e-05,1793256030055332096
+67,1.116666667,BASELINE,784,753,728.107799851,713,697,652,928.107799851,798,832.107799851,674,652,678,0.400998350495,-0.0153601866937,0.0798486908198,0.999999923487,0.000288121586479,-0.000261993261542,3.70254423777e-05,1793256030071999232
+68,1.133333333,BASELINE,784,753,728,713,697,652,928.469311558,798,832.469311558,674,651.530688442,678,0.400998101789,-0.0153616450267,0.0798486830338,0.999999924065,0.000286257484247,-0.000261835905719,3.70011419238e-05,1793256030088665856
+69,1.150000000,BASELINE,784,753.045950671,728,713,697,652,929,798,833,674,651,678,0.400997467256,-0.0153635725848,0.0798484024646,0.999999924771,0.000283673628944,-0.000261963267667,3.69047509324e-05,1793256030105332480
+70,1.166666667,BASELINE,784,753.62002895,728,713,697,652,929,798,833,674,651,678,0.400997054361,-0.0153648492093,0.0798485799856,0.999999924908,0.000282924370951,-0.000262204033026,3.72406484928e-05,1793256030121999104
+71,1.183333333,BASELINE,784,753.800064579,728,712.800064579,697,652,928.800064579,798,833,674,651,678,0.400996595321,-0.0153653963975,0.079848481528,0.999999924793,0.000282829388043,-0.000262717087409,3.74405635461e-05,1793256030138665728
+72,1.200000000,BASELINE,784,753.208749132,728,712.208749132,697,652,928.208749132,798,833,674,651,678,0.400996045953,-0.0153645156913,0.0798478428335,0.999999924184,0.000284015169554,-0.00026376315637,3.73742885223e-05,1793256030155332352
+73,1.216666667,BASELINE,784,753.374037439,728,712,697,652,928.374037439,798,833,674,651,678,0.40099612894,-0.0153639368341,0.0798477320047,0.999999923951,0.000285166462436,-0.000263406313177,3.73431777411e-05,1793256030171998976
+74,1.233333333,BASELINE,784,753.952170154,728,712,697,652,928.952170154,798,833,674,651,678,0.400996556975,-0.0153635226823,0.0798479092083,0.999999923923,0.000286298936366,-0.000262283964358,3.7331254497e-05,1793256030188665600
+75,1.250000000,BASELINE,784,754,728,712.528567721,697,652,929,798,833,674,651,678,0.400996382763,-0.0153635274764,0.0798475601401,0.999999924183,0.000285045428388,-0.000262677248283,3.72080393654e-05,1793256030205332480
+76,1.266666667,BASELINE,784,753.893206665,728.106793335,713,697,652,928.893206665,798,833,674,651,678,0.400996414346,-0.0153634311911,0.0798475002793,0.999999924422,0.000284178886463,-0.000262725618225,3.7067118395e-05,1793256030221998848
+77,1.283333333,BASELINE,784,753.306054538,728.693945462,713,697,652,928.306054538,798,833,674,651,678,0.400997615929,-0.0153627102855,0.0798489547836,0.999999924457,0.000286020900621,-0.000260607677092,3.68917064186e-05,1793256030238665728
+78,1.300000000,BASELINE,784,753,728.722509761,713,697,652,928.277490239,798,833,674,651,678,0.40099869324,-0.0153625152888,0.0798499010498,0.999999924322,0.000287460482768,-0.000259526468521,3.69991700913e-05,1793256030255332608
+79,1.316666667,BASELINE,784,753,728.142892645,713,697,652,928.857107355,798,833,674,651,678,0.400999635244,-0.0153628928933,0.0798502939547,0.999999924006,0.000288461903346,-0.000259574037706,3.74146241982e-05,1793256030271999232
+80,1.333333333,BASELINE,784,753,728,713,697,652,929,798,833,674,651,678,0.400998604709,-0.015363578847,0.0798496399621,0.999999924474,0.000286056161768,-0.000260435179859,3.73795992314e-05,1793256030288665856
+81,1.350000000,BASELINE,784,753,728,713,697,652,928.985676606,798,833,674,651,678,0.40099696779,-0.0153643257353,0.0798486572601,0.999999925163,0.000282647177503,-0.000261537804837,3.71924751679e-05,1793256030305331968
+82,1.366666667,BASELINE,784,753,728,713,697,652,928.412298183,798,833,674,651,678,0.400996853717,-0.015363513152,0.0798482142292,0.999999924873,0.000283592206094,-0.000261675912678,3.68216699654e-05,1793256030321998848
+83,1.383333333,BASELINE,784,753,728,713,697,652,928.165607734,798,833,674,651.165607734,677.834392266,0.400997057575,-0.0153628541614,0.0798481535841,0.999999924578,0.000284627858045,-0.000261694545284,3.66872663087e-05,1793256030338665472
+84,1.400000000,BASELINE,784,753,728,713,697,652,928.75510227,798,833,674,651.75510227,677.24489773,0.400998075208,-0.0153625883043,0.0798490716876,0.999999924275,0.000285895468241,-0.000261407371093,3.71579520366e-05,1793256030355332096
+85,1.416666667,BASELINE,784,753,728,713,697,652,929,798,832.662242071,674,651.662242071,677.337757929,0.400997519017,-0.0153625696114,0.0798486280169,0.9999999241,0.000285410451039,-0.000262585831702,3.72672453692e-05,1793256030371998976
+86,1.433333333,BASELINE,784,753,728,713,697,652,929,798,832.084446693,674,651.084446693,677.915553307,0.400995844343,-0.0153627265728,0.0798472165618,0.999999924013,0.000283679878363,-0.000264805888123,3.71197047059e-05,1793256030388666112
+87,1.450000000,BASELINE,784,753,728,712.506949791,697,651.506949791,929,798.493050209,832.493050209,674,651,678,0.400997465392,-0.0153621792437,0.0798481254986,0.999999923773,0.000286125712351,-0.000263120460293,3.67935246421e-05,1793256030405332480
+88,1.466666667,BASELINE,784,753.069973027,728,712.069973027,697,651.069973027,928.930026973,799,833,674,651,678,0.400999251143,-0.0153617879855,0.0798492144074,0.999999923614,0.000288558656117,-0.000261094884646,3.65355113556e-05,1793256030421998848
+89,1.483333333,BASELINE,784,753.643134909,728,712.643134909,697,651.643134909,928.356865091,799,833,674,651,678,0.400998164529,-0.0153633859857,0.0798487413165,0.999999924314,0.000285758091004,-0.000261430573504,3.69875882556e-05,1793256030438665472
+90,1.500000000,BASELINE,784,753.776828381,728,713,697,652,928.223171619,798.776828381,833,674,651.223171619,678,0.400996877369,-0.0153638283068,0.0798480383875,0.999999924448,0.000284369598219,-0.000262395353314,3.72362426947e-05,1793256030455332096
+91,1.516666667,BASELINE,784,753.185449045,728,713,697,652,928.814550955,798.185449045,833,674,651.814550955,678,0.400995259332,-0.0153623638889,0.0798469562517,0.999999923656,0.000285310864,-0.000264398061413,3.71492732297e-05,1793256030471998720
+92,1.533333333,BASELINE,784,753.397474989,728,712.602525011,697,652,928.602525011,798,833,674,652,678,0.400995432245,-0.015362753744,0.0798469419073,0.999999923464,0.000285805344144,-0.000264574734672,3.72417416973e-05,1793256030488665344
+93,1.550000000,BASELINE,784,753.976536275,728,712.023463725,697,652,928.023463725,798,833,674,652,678,0.400996423352,-0.0153639907229,0.0798474153827,0.999999923548,0.000286095710524,-0.000263917184791,3.7416186308e-05,1793256030505331968
+94,1.566666667,BASELINE,784,754,728,712.54960224,697,652,928.54960224,798.54960224,833,674,652,678,0.400996551338,-0.0153635461133,0.079847695019,0.999999924327,0.000284350743955,-0.000262885167641,3.71761387202e-05,1793256030521998848
+95,1.583333333,BASELINE,784,753.873923259,728,713,697,652,929,798.873923259,833,674,652,678,0.400996829575,-0.015363323216,0.0798481456157,0.999999925005,0.00028295582188,-0.000261820995764,3.70803801403e-05,1793256030538665728
+96,1.600000000,BASELINE,784,753.283976114,728,713,697,652,929,798.283976114,833,674,652,678,0.400997794739,-0.0153641773454,0.0798492553405,0.999999925221,0.000283165059958,-0.000260696702816,3.75799040206e-05,1793256030555332352
+97,1.616666667,BASELINE,784,753.300354236,728,713,697,652,928.699645764,798,833,674,652,678,0.400997723904,-0.0153638829443,0.0798492662216,0.999999924754,0.000284663122955,-0.000260848056033,3.76512091713e-05,1793256030571998976
+98,1.633333333,BASELINE,784,753.879471523,728,713,697,652,928.120528477,798,833,674,652,678,0.400996691545,-0.0153625225755,0.0798482572502,0.999999923646,0.000287357362733,-0.000262183354722,3.73250783794e-05,1793256030588665600
+99,1.650000000,BASELINE,784,753.542929302,728,713,697,652,928.457070698,798.457070698,833,674,652,678,0.400997065407,-0.0153631875014,0.0798482535406,0.999999924447,0.00028493290098,-0.00026177976118,3.72822527697e-05,1793256030605332224
+100,1.666666667,BASELINE,784,753.034142382,728,713,697,652,928.965857618,799,833,674,651.965857618,678,0.400997803561,-0.0153642200745,0.0798485508637,0.999999925616,0.00028161578895,-0.000260899176378,3.73146868043e-05,1793256030621998848
+101,1.683333333,BASELINE,784,753.60917853,728,713,697,652,928.39082147,799,833,674,651.39082147,678,0.400998457771,-0.015362644209,0.0798494315816,0.999999924833,0.000285470025563,-0.000259702262182,3.7359795286e-05,1793256030638665472
+102,1.700000000,BASELINE,784,753.811388705,728,713,697,652,928.188611295,798.811388705,833,674,651.188611295,678,0.400998594291,-0.0153616486998,0.0798495990431,0.999999924283,0.000287598195727,-0.000259490325665,3.7222616792e-05,1793256030655332096
+103,1.716666667,BASELINE,784,753.222628349,728,713,697,652,928.777371651,798.222628349,833,674,651.777371651,678,0.400997632501,-0.0153618844478,0.0798482532922,0.999999924254,0.000286064422119,-0.000261368072702,3.66987066197e-05,1793256030671998976
+104,1.733333333,BASELINE,784,753,728,713,697,652,929,798,833,674,652,678,0.400996677351,-0.0153621622528,0.0798474853605,0.99999992417,0.000285252137983,-0.000262575885609,3.66818800556e-05,1793256030688665856
+105,1.750000000,BASELINE,784,753,728,713,697,652,929,798,833,674,652,678,0.400995726237,-0.0153624656308,0.0798470687746,0.999999924055,0.000284878558997,-0.000263376341882,3.69733881765e-05,1793256030705332480
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,753,729,712,697,652,929,798,833,674,651,678,0.400997834567,-0.0153626855821,0.0798495498068,0.999999924915,0.000284707288544,-0.00026035943194,3.64070661225e-05,1793256030736484096
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,753.595900642,728.404099358,712.595900642,697,652,929,798.595900642,833,674,651.595900642,678,0.400997081847,-0.0153625330334,0.0798492118216,0.999999924086,0.000286320672559,-0.000261719757115,3.67619108221e-05,1793256030753151232
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,753.813658233,728,712.813658233,697,652,929,799,833,674,652,678,0.400996901327,-0.01536223921,0.0798491466812,0.999999923671,0.000287296269774,-0.000262197765071,3.70267426604e-05,1793256030769818112
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,753.234719464,728,712.234719464,697,652,929,799,833,674,652,678,0.400997926358,-0.0153616477401,0.0798496563876,0.999999924135,0.000286928136419,-0.000260816849757,3.71019295918e-05,1793256030786484992
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,753.343948168,728,712.343948168,697,652,929,798.656051832,833,674,651.656051832,677.656051832,0.400998390936,-0.0153624766666,0.0798497091194,0.999999924727,0.000285454263661,-0.00026016785644,3.70786608366e-05,1793256030803151616
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,753.92243088,728,712.92243088,697,652,929,798.07756912,833,674,651.07756912,677.07756912,0.400998473349,-0.0153642741462,0.079849450245,0.999999925403,0.000283226399154,-0.000260017952919,3.69882562064e-05,1793256030819818240
+112,1.866666667,POSE1_TO_POSE2_PRESS,784.497957786,754,728,713,697,652,929,798,833,674,651.497957786,677.497957786,0.400997363281,-0.0153633102219,0.0798490643824,0.999999924903,0.000284351071229,-0.000260723284724,3.69137266914e-05,1793256030836484864
+113,1.883333333,POSE1_TO_POSE2_PRESS,784.925362008,753.925362008,728,713,697,652,928.925362008,798,833,674,652,678,0.400996239891,-0.0153622264346,0.0798486577674,0.999999924245,0.000285811899887,-0.000261649279881,3.6889468907e-05,1793256030853151232
+114,1.900000000,POSE1_TO_POSE2_PRESS,784.337606422,753.337606422,728,713,697,652,928.337606422,798,833,674,652,678,0.400996294424,-0.0153632583862,0.0798482436749,0.999999923774,0.000286014639219,-0.000263181804298,3.71939162307e-05,1793256030869817600
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,753.247410858,728,713,697,652,928,798,833,674,652,678,0.400997725972,-0.0153640700197,0.0798490439867,0.999999923964,0.000285971416551,-0.000262441586004,3.76372789453e-05,1793256030886484224
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,753.828732417,728,713,697,652,928,798,833,674,652,678,0.401001015971,-0.0153645843074,0.0798514832832,0.999999925039,0.000285596238571,-0.000258634028014,3.82681246588e-05,1793256030903151104
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,754,728,712.594986145,697,652,928.405013855,798,833,674,652,678,0.401016162327,-0.0153650310536,0.0798582598238,0.999999928236,0.000284680150401,-0.000246992224003,3.8468372227e-05,1793256030919817728
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,754,728,712.020809771,697,652,928.979190229,798,833,674,652,678,0.40103626074,-0.0153654495896,0.0798668479055,0.999999932132,0.000283538139677,-0.000232078282685,3.84887715073e-05,1793256030936484352
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,754,728.55513148,712.55513148,697,652,929,798,833,674,651.44486852,678,0.401079498347,-0.0153656050697,0.0798815114197,0.999999937855,0.000284954209966,-0.000203919228564,3.88238521274e-05,1793256030953151232
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,753.865389362,728.865389362,712.865389362,697,652,929,798,833,674,651.134610638,678,0.401130631707,-0.015366923657,0.0798975027212,0.999999943494,0.000285653060512,-0.000172836328559,3.92727869173e-05,1793256030969817856
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,753.274133406,728.274133406,712.274133406,697,652,929,798,833,674,651.725866594,678,0.401205598269,-0.0153722214601,0.0799172232825,0.999999950071,0.000283592518757,-0.000133524436281,4.00678097364e-05,1793256030986484224
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,753,728,712,697,652,929,798,833,674,652,678,0.401284937688,-0.0153759916219,0.0799327934303,0.999999953479,0.000282264353997,-0.000108600640805,3.96741930917e-05,1793256031003150592
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,753,728,712,697,652,929,798,833,674,652,678,0.401368057174,-0.0153784412292,0.0799447757938,0.999999955009,0.000281569285466,-9.61144920995e-05,3.82530691092e-05,1793256031019817472
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,753.465589572,728,712.465589572,697,652,929,798,833,674,651.534410428,678,0.401465069227,-0.0153814905505,0.0799509444886,0.999999956923,0.00027926827181,-8.29434366078e-05,3.58284078454e-05,1793256031036484352
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,753.959265046,728,712.959265046,697,652,929,798,833,674,651.040734954,678,0.401566554041,-0.0153847386709,0.0799554306395,0.99999995871,0.000276607463527,-7.05204198544e-05,3.30829697378e-05,1793256031053151232
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,753.371326235,728,712.371326235,697,652,929,798,833,674,651.628673765,678,0.401684591085,-0.015388778145,0.0799555315371,0.999999959526,0.000274145578196,-7.02921306799e-05,2.91729780202e-05,1793256031069817600
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,753.213285744,728,712.213285744,697,652,929,798,833,674,652,678,0.401816270261,-0.01539328193,0.0799578016361,0.999999960906,0.000270346016603,-6.69076955653e-05,2.49767973533e-05,1793256031086484224
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,753.792194671,728,712.792194671,697,652,929,798,833,674,652,678,0.401971335328,-0.0153985816555,0.0799637902691,0.999999963191,0.00026425335566,-5.811286548e-05,2.02900202367e-05,1793256031103151104
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,754,728,713,697,652,929,798,833,674,651.629963831,678,0.402138111609,-0.0154049650705,0.0799655043076,0.999999965647,0.000255823870739,-5.51027653911e-05,1.49470564193e-05,1793256031119817728
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,754,728,713,697,652,929,798,833,674,651.052720001,678,0.402311445786,-0.0154119553154,0.0799648247192,0.999999968147,0.00024608584334,-5.53319163853e-05,9.23664994426e-06,1793256031136484352
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,753.478859767,728,712.478859767,697,652,929,798,833,674,651.521140233,678,0.402506747644,-0.0154192694671,0.0799603228575,0.999999970624,0.000233490127508,-6.50392684864e-05,1.86757006409e-06,1793256031153150976
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,753,728,712.097449404,697,652,929,798,833,674,651.902550596,678,0.402710679031,-0.0154265770101,0.0799560825596,0.999999975941,0.000206332721225,-7.42486707185e-05,-5.72803689181e-06,1793256031169817856
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,753,728,712.687867653,697,652,929,798,833,674,651.312132347,678,0.402947095304,-0.0154336864327,0.0799551088819,0.999999991289,0.000106964853748,-7.61198735668e-05,-1.36262258758e-05,1793256031186484480
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,753.27261363,728,713,697,652,929,798,833,674,651,678,0.403213631993,-0.0154420757457,0.0799561880607,0.999999995667,5.21691241834e-05,-7.3926532244e-05,-2.19058248127e-05,1793256031203150848
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,753.850997412,728,713,697,652,929,798,833,674,651,678,0.403513952466,-0.0154519006149,0.0799595697737,0.999999996153,4.73666075189e-05,-6.71742987384e-05,-3.06132221851e-05,1793256031219817472
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,753.572119845,728,713,697,652,929,798,833,674,651,678,0.403834886722,-0.0154609959908,0.0799628234862,0.999999996719,3.58741258595e-05,-6.27442602658e-05,-3.65678824145e-05,1793256031236484096
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,753,728,713,697,652,929,798,833,674,651.004236766,678,0.404163347945,-0.015469797739,0.079966007574,0.999999997144,2.2399246156e-05,-5.91033727345e-05,-4.14432550515e-05,1793256031253150720
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,753,728,713,697,652,929,798,833,674,651.579887359,678,0.4045422022,-0.0154731398002,0.0799657920624,0.999999996652,5.46634008256e-05,-5.32114521969e-05,-2.95892069512e-05,1793256031269817344
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.159534586,753,728,712.840465414,697,652,929,798,833,674,652,678,0.404927022456,-0.0154763179398,0.0799646358782,0.999999995735,7.42788848434e-05,-5.00906358387e-05,-2.24419457689e-05,1793256031286484224
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.749976742,753,728,712.250023258,697,652,929,798,833,674,652,678,0.405327956993,-0.0154790533217,0.0799609389103,0.999999996341,5.9729935416e-05,-5.4454653792e-05,-2.80078553375e-05,1793256031303150848
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.666083147,753.333916853,728,712.333916853,697,652,929,798,833,674,651.666083147,678,0.4057669717,-0.0154747927314,0.0799556070922,0.999999995754,5.82435825913e-05,-6.37113174427e-05,-3.22447763088e-05,1793256031319817472
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.086918452,753.913081548,728,712.913081548,697,652,929,798,833,674,651.086918452,678,0.406233954729,-0.0154653938948,0.0799490745453,0.999999994238,6.63511543441e-05,-7.65614233877e-05,-3.55056118026e-05,1793256031336484096
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,753.528007209,728,712.528007209,697.471992791,652,929,798,833,674.471992791,651,678,0.406715635237,-0.0154653991549,0.0799445973304,0.9999999932,6.73765596657e-05,-8.79319941491e-05,-3.64402600917e-05,1793256031353150720
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.029971436,753,728.029971436,712,697.970028564,652,929,798,833,674.970028564,651.029971436,678,0.407200934796,-0.0154673767642,0.0799403912773,0.999999992189,6.66322473974e-05,-9.90724764121e-05,-3.69692822727e-05,1793256031369817600
+145,2.416666667,POSE1_TO_POSE2_PRESS,784.639029617,753,728.639029617,712,697.360970383,652,929,798,833,674.360970383,651.639029617,678,0.407706016866,-0.0154753791285,0.0799344123216,0.999999991593,5.58566504217e-05,-0.000110815036136,-3.75972444296e-05,1793256031386484224
+146,2.433333333,POSE1_TO_POSE2_PRESS,784.764096272,753,728.764096272,712,697,652,929,798,832.764096272,674,651.764096272,678,0.408247281209,-0.0154816927397,0.0799318890471,0.999999991444,4.78948720366e-05,-0.000115532668143,-3.83323246876e-05,1793256031403150848
+147,2.450000000,POSE1_TO_POSE2_PRESS,784.184950148,753,728.184950148,712,697,652,929,798,832.184950148,674,651.184950148,678,0.408841191109,-0.0154855491972,0.0799343938254,0.999999992208,4.40272298584e-05,-0.000110028956005,-3.92232628777e-05,1793256031419817216
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,753.392977286,728,712.392977286,697.392977286,652,929,798,832.392977286,674,651.392977286,678,0.409499794074,-0.0154872340153,0.079959018751,0.999999995964,4.07565457599e-05,-6.99785128819e-05,-3.89115350734e-05,1793256031436484096
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,753.970332916,728,712.970332916,697.970332916,652,929,798,832.970332916,674,651.970332916,678,0.410188749922,-0.0154878999367,0.0799940220782,0.999999998469,3.77659443679e-05,-1.37193236847e-05,-3.80355364523e-05,1793256031453151232
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.455967146,753.455967146,728,712.455967146,698,652,929,798,833,674,652,678,0.410858461031,-0.0154895824045,0.0800061009968,0.999999998725,3.31241500489e-05,3.20038353071e-06,-3.79934590233e-05,1793256031469817856
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.120998067,753,728,712,698,652,929,798,833,674,651.879001933,678,0.411522068825,-0.0154913082073,0.0800073750582,0.999999998842,2.82403133667e-05,3.20891540375e-06,-3.88409096747e-05,1793256031486484480
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.711398726,753,728,712,698,652,929,798,833,674,651.288601274,678,0.412166043205,-0.0154929885074,0.0799715498435,0.999999997353,2.27644745663e-05,-5.41213567965e-05,-4.29639752967e-05,1793256031503151104
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,753,728,712,697.702583519,652,929,798,833,674,651.297416481,678,0.412857585104,-0.0154996321907,0.0799417750376,0.999999994407,1.27952835674e-05,-9.47039474365e-05,-4.53160585113e-05,1793256031519817728
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,753,728,712,697.120756931,652,929,798,833,674,651.879243069,678,0.413594614414,-0.0155110222029,0.0799177860447,0.999999991829,-1.47076065598e-06,-0.000119271259153,-4.59746070221e-05,1793256031536484608
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,753.454125547,728.454125547,712.454125547,697.454125547,652,929,798,833,674,651.545874453,678,0.414391512536,-0.0155253605175,0.0799338647989,0.999999994789,-1.8611913478e-05,-9.00043617201e-05,-4.44370754961e-05,1793256031553151232
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652,929,798,833,674,651.02720502,678,0.415202500296,-0.0155396064249,0.0799592808467,0.999999997251,-3.56580707407e-05,-4.92354723389e-05,-4.24465339139e-05,1793256031569817856
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652,929,798,833,674,651.600600428,678,0.415981559584,-0.0155364942232,0.0799614742366,0.999999996606,-3.56790268325e-05,-6.06163395663e-05,-4.29085074163e-05,1793256031586484480
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652,929,798,833,674.180390327,652,678,0.416777800058,-0.0155333455531,0.0799634941705,0.999999996517,-3.4300556278e-05,-6.23562994665e-05,-4.36095755824e-05,1793256031603151104
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652,929,798,833,674.774858456,652,678,0.417613479117,-0.015530113172,0.0799651159443,0.999999997672,-2.9709765408e-05,-4.19659937429e-05,-4.48594746616e-05,1793256031619817728
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652.359125446,929.359125446,798,833,675,652,678,0.418496801105,-0.0155327363415,0.0799840678553,0.999999998491,-3.17253209654e-05,-3.47264513157e-07,-4.4858811078e-05,1793256031636484352
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,754,729,713,698,652.937173799,929.937173799,798,833,675,652,678,0.419409166197,-0.0155389290554,0.0800135842196,0.999999996845,-3.77681060563e-05,5.42123130515e-05,-4.4095804224e-05,1793256031653150976
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,754,729,713,698,653,929.488012731,798,833,675,652,678,0.420283031379,-0.0155375307657,0.0799955413749,0.999999997944,-3.88868751877e-05,2.30345044622e-05,-4.54956632942e-05,1793256031669817600
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,754,729,712.91182705,698,652.91182705,929,798,833,675,652,678,0.421155534388,-0.0155358719996,0.0799767085603,0.999999998069,-3.94055711602e-05,-1.02230651689e-05,-4.69507587647e-05,1793256031686484224
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,754,729,712.325663631,698,652.325663631,929,798,833,675,652,678,0.422046858672,-0.0155379700407,0.0799861682646,0.99999999808,-3.99263087192e-05,3.82072417255e-06,-4.72282505355e-05,1793256031703151360
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,753.741041306,729,712,698,652.258958694,929,798,833,675,652,678,0.422958294744,-0.0155392952085,0.08000162212,0.999999997987,-3.48551997142e-05,2.61707480909e-05,-4.61022016746e-05,1793256031719818240
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,753.158345497,729,712,698,652.841654503,929,798,833,675,652,678,0.42389487368,-0.0155396541695,0.0800245695626,0.999999997071,-2.27934458754e-05,5.89048099218e-05,-4.32215170259e-05,1793256031736484608
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.418985777,753.418985777,729,712,698,653,929,798,833,675,652,678,0.424774544566,-0.0155390372443,0.0799934349636,0.999999998752,-2.13819620348e-05,-6.36324650381e-06,-4.47114482278e-05,1793256031753150976
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.99431525,753.99431525,729,712,698,653,929,798,833,675,652,678,0.425632980271,-0.0155380561691,0.0799421197587,0.999999992716,-2.39446054708e-05,-0.000108200597319,-4.7832265691e-05,1793256031769817856
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.42983229,754,729,712.57016771,698,653,929,798,833,675,652,678,0.426611060912,-0.0155404607957,0.0799282835993,0.999999993184,-3.19625671012e-05,-9.96734655933e-05,-5.17355733732e-05,1793256031786484480
+170,2.833333333,POSE1_TO_POSE2_PRESS,784.148734297,754,729,712.851265703,698,653,929,798,833.148734297,675,652,678,0.427569463496,-0.0155424207175,0.0799195577381,0.999999993253,-3.9323194057e-05,-9.47592470854e-05,-5.44869191573e-05,1793256031803151104
+171,2.850000000,POSE1_TO_POSE2_PRESS,784.735274646,754,729,712.264725354,698,653,929,798,833.735274646,675,652,678,0.428466428216,-0.0155429721755,0.0799247733213,0.999999992178,-4.45886765665e-05,-0.000103721757809,-5.38244277489e-05,1793256031819817984
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,753.680665824,729,712.319334176,698,653,929,798,834,675,652,678.319334176,0.429410874533,-0.0155457047793,0.0799483548449,0.999999994553,-4.82096574928e-05,-7.66945274356e-05,-5.18341667286e-05,1793256031836484352
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,753.098647047,729,712.901352953,698,653,929,798,834,675,652,678.901352953,0.430394379214,-0.0155502315956,0.0799870442085,0.999999997336,-5.04778694516e-05,-2.00621006186e-05,-4.87516810484e-05,1793256031853150720
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.522771555,753,729,712.522771555,698,653,929,798,833.522771555,675,652,678.522771555,0.431367469871,-0.015552361216,0.08002440355,0.999999997007,-5.0648620935e-05,3.57464514179e-05,-4.62862806711e-05,1793256031869817600
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,753,729,712,698,653,929,798,833.051875483,675,652,678.051875483,0.432328822634,-0.0155534494565,0.0800520172384,0.99999999473,-5.11384219455e-05,7.69890653641e-05,-4.46882069359e-05,1793256031886484224
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,753,729,712,698,653,929,798,833.626776924,675,652,678.626776924,0.433193257358,-0.0155489706603,0.0799841086409,0.999999996609,-5.91607523125e-05,-2.69318006022e-05,-5.05650893729e-05,1793256031903150592
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.207697792,752.792302208,729,712,698,653,929,798,833.792302208,675,652,679,0.434072464493,-0.0155477621797,0.0799355929512,0.999999991737,-6.37555872604e-05,-9.70577478708e-05,-5.51455082155e-05,1793256031919817472
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.799758226,752.200241774,729,712,698,653,929,798,833.200241774,675,652,679,0.434979009397,-0.0155526056989,0.0799229654953,0.999999990959,-6.20075492695e-05,-0.000104643307476,-5.73267114322e-05,1793256031936484096
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.618016615,752,729,712.381983385,698,653,929,797.618016615,833,675,652,678.618016615,0.435886690199,-0.0155551703119,0.079942741184,0.999999993381,-6.24339203549e-05,-7.91684968163e-05,-5.54198090348e-05,1793256031953150976
+180,3.000000000,POSE1_TO_POSE2_PRESS,784.04081788,752,729,712.95918212,698,653,929,797.04081788,833,675,652,678.04081788,0.436794951456,-0.0155565702733,0.079979076733,0.999999995955,-6.39715388155e-05,-3.67979461e-05,-5.14236507117e-05,1793256031969817600
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,752,729,712.466349121,698,653,929,797.533650879,833,675,652,678.533650879,0.437715078011,-0.0155588437273,0.0800115594099,0.999999996337,-6.64540174259e-05,1.92477240445e-05,-5.03889922414e-05,1793256031986484224
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,752,729,712,698,653,929,797.889119821,833,675,652,679,0.438621057438,-0.0155618151673,0.0800356471796,0.999999994376,-7.05990494251e-05,6.1348938068e-05,-4.99949791553e-05,1793256032003151104
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,752,729,712,698,653,929,797.299062872,833,675,652,679,0.439461996891,-0.0155675157421,0.0800247228234,0.9999999946,-8.16181953045e-05,3.86908845006e-05,-5.13956256961e-05,1793256032019817728
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,752,729,712,698,653,929,797,833,675,652,679,0.440229088465,-0.0155703622245,0.0799667483292,0.999999992776,-9.13073815891e-05,-5.42105090732e-05,-5.63236397236e-05,1793256032036484352
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,752,729,712,698,653,929,797,833,675,652,679,0.440920284436,-0.0155702754751,0.0798604190799,0.999999968886,-9.96297283608e-05,-0.000219302965861,-6.48768277957e-05,1793256032053150976
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,751.561116509,729.438883491,712.438883491,697.561116509,652.561116509,929,797,833,675,652,679,0.441637068018,-0.0155765126396,0.0797897905666,0.999999939728,-0.000112030209641,-0.00032077979968,-7.13730747024e-05,1793256032069817600
+187,3.116666667,POSE1_TO_POSE2_PRESS,783.985691602,750.985691602,729.985691602,713,697,652,929,796.985691602,833,675,652,679,0.442363957231,-0.0155848912427,0.0797332248671,0.999999909871,-0.000125660980442,-0.00039818161613,-7.69381925304e-05,1793256032086484480
+188,3.133333333,POSE1_TO_POSE2_PRESS,783.413523674,750.413523674,729.413523674,713,697,652,929,796.413523674,833,675,652,679,0.443174286116,-0.0156000068835,0.0797916410223,0.999999940223,-0.000137761884688,-0.000309048556406,-7.11654673205e-05,1793256032103151104
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.164820774,749.835179226,729.164820774,713,697,652,929,795.835179226,833,675,652,678.835179226,0.443965903218,-0.0156145542841,0.0798410959053,0.999999958612,-0.000151002609807,-0.000235742243721,-6.63298771721e-05,1793256032119817472
+190,3.166666667,POSE1_TO_POSE2_PRESS,783.759265128,749.240734872,729.759265128,713,697,652,929,795.240734872,833,675,652,678.240734872,0.444708746164,-0.015627620507,0.079867192254,0.999999963231,-0.000167214409128,-0.000203690083961,-6.39370332127e-05,1793256032136484352
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,749,729.657179897,713,697,652,929,794.657179897,833,675,651.657179897,678.342820103,0.445408554681,-0.0156377177716,0.0798679274294,0.999999960436,-0.000180981734557,-0.000205760339133,-6.35269242466e-05,1793256032153150976
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,749,729.081036275,713,697,652,929,794.081036275,833,675,651.081036275,678.918963725,0.446079073902,-0.015645794361,0.0798514017771,0.999999952588,-0.000193085348956,-0.000231054327467,-6.4466265769e-05,1793256032169817600
+193,3.216666667,POSE1_TO_POSE2_PRESS,783.503104389,749,729,712.503104389,696.503104389,651.503104389,929,794,833,675,651.496895611,679,0.44671325574,-0.0156512848411,0.0798297428008,0.999999945809,-0.000202089445592,-0.000251314262159,-6.62014715838e-05,1793256032186484480
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,749,729,712.074540615,696,651,929,793.925459385,833,675,652,678.925459385,0.447331333784,-0.0156566248054,0.0798051585602,0.999999937023,-0.000211699497933,-0.000276527975076,-6.83405080809e-05,1793256032203151360
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,749,729,712.648304033,696,651,929,793.351695967,833,675,652,678.351695967,0.447881391745,-0.0156637915546,0.0797666099137,0.99999991327,-0.000228765459934,-0.000340436980603,-7.2311720469e-05,1793256032219817984
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,749,729,713,696,651,929,792.771280226,833,675,652,678.228719774,0.448420636698,-0.0156683429879,0.0797300771693,0.999999888609,-0.000240709003993,-0.000398964334405,-7.5295800881e-05,1793256032236484864
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,749,729,713,696,651,929,792.180329027,833,675,652,678.819670973,0.448942756665,-0.0156687524543,0.0796967370824,0.999999866371,-0.000244539996643,-0.000448968575235,-7.67165261021e-05,1793256032253152000
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,749,729,712.598917452,696,651,929,791.598917452,833.401082548,675,651.598917452,679,0.449477511151,-0.0156710274218,0.0796953937142,0.999999867172,-0.000244184734788,-0.00044738702533,-7.66458908029e-05,1793256032269818880
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,749,729,712.021695254,696,651,929,791.021695254,833.978304746,675,651.021695254,679,0.450017814266,-0.0156741216439,0.0797081020411,0.99999987831,-0.000241991035298,-0.000423151033291,-7.59203088699e-05,1793256032286485248
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,749,729,712.555873746,696,651,929,791,833.444126254,675,651,679,0.450535000312,-0.015683058641,0.0797414278591,0.99999989405,-0.000256559932766,-0.000375228476188,-7.26661187534e-05,1793256032303151872
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,749,729,713,696,651,929,790.864343844,833,675,651,679,0.451028742343,-0.0156910791323,0.0797652692062,0.999999902557,-0.000268899687393,-0.000342962380051,-7.03944442596e-05,1793256032319818496
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,749,729,713,696,651,929,790.27724039,833,675,651,679,0.451447470076,-0.0156952902472,0.0797548678317,0.9999998936,-0.000271642575148,-0.00036587751393,-7.17210938166e-05,1793256032336484864
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,749,729,712.692944099,695.692944099,650.692944099,929,789.692944099,833.307055901,675,651,679,0.451828953175,-0.0156993819324,0.0797303781194,0.999999875423,-0.000276862201535,-0.000408892850361,-7.286042703e-05,1793256032353151744
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,749,729,712.111159465,695.111159465,650.111159465,929,789.111159465,833.888840535,675,651,679,0.45217711277,-0.0157033667612,0.0796932833049,0.999999846462,-0.000284297812049,-0.000469892216564,-7.38321644967e-05,1793256032369818624
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.536049373,749,729,712.463950627,695,650,929,789,833.536049373,675,651,679,0.452508748054,-0.0157044047856,0.0796663733021,0.999999825972,-0.000290494956063,-0.000507659902944,-7.71314486087e-05,1793256032386485248
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.037450401,749,729,713,695,650,929,788.962549599,833,675,650.962549599,678.962549599,0.452834884867,-0.0157048670427,0.0796429889912,0.999999807663,-0.000296492572259,-0.000538721395685,-8.09029073532e-05,1793256032403151872
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.610466558,749,729,713,695,650,929,788.389533442,833,675,650.389533442,678.389533442,0.453138204915,-0.0157070490137,0.0796356226683,0.999999797809,-0.000303820041348,-0.000552350675342,-8.35649068971e-05,1793256032419818240
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.809126009,749,729,712.809126009,695,650,929,787.809126009,833,675.190873991,650.190873991,678.190873991,0.45343522148,-0.0157091921891,0.0796315942247,0.999999791407,-0.000310996565737,-0.000559623252338,-8.53777424226e-05,1793256032436484864
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.213026986,749,729,712.213026986,695,650,929,787.213026986,833,675.786973014,650.786973014,678.786973014,0.453718855726,-0.0157112530012,0.079634652092,0.999999792713,-0.000317852634067,-0.000553400563091,-8.53878044382e-05,1793256032453151744
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,748.629085483,729,712,695,650,929,787,833,675.629085483,651,679,0.453963651849,-0.0157144529976,0.0796294929994,0.999999791894,-0.000303814604226,-0.000563593894031,-7.91863968628e-05,1793256032469818112
+211,3.516666667,POSE1_TO_POSE2_PRESS,782,748.051904743,729,712,695,650,929,787,833,675.051904743,651,679,0.454186850051,-0.0157182864967,0.0796197644411,0.999999789001,-0.000278157329605,-0.000582916201909,-6.95307799314e-05,1793256032486484480
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+213,3.550000000,POSE1_TO_POSE2_PRESS,782.097615071,749,729,712.097615071,695,650,929,786,833,675,651,679,0.454589823436,-0.015718015957,0.0796188491007,0.99999978841,-0.000287893024251,-0.000578969559527,-7.13523616393e-05,1793256032519817728
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+220,3.666666667,POSE1_TO_POSE2_PRESS,782.840514013,749,729,712,695,649.840514013,929,785,833.159485987,675,650,679,0.455403819162,-0.0157315781426,0.0795909182902,0.999999746133,-0.0003271757574,-0.000627933174478,-7.99413508188e-05,1793256032636484608
+221,3.683333333,POSE1_TO_POSE2_PRESS,782.248661051,749,729,712,695,649.248661051,929,785,833.751338949,675,650,679,0.455468676609,-0.0157338514754,0.0795931730012,0.999999747023,-0.000328767616854,-0.000625804785914,-7.8954321188e-05,1793256032653151232
+222,3.700000000,POSE1_TO_POSE2_PRESS,782.334765575,749,729,712,695,649,929,784.665234425,834,675,650.334765575,679,0.455523195998,-0.0157347885556,0.0795932771404,0.9999997454,-0.000331695078449,-0.000626902966043,-7.85499654483e-05,1793256032669817600
+223,3.716666667,POSE1_TO_POSE2_PRESS,782.912086927,749,729,712,695,649,929,784.087913073,834,675,650.912086927,679,0.455570224912,-0.0157347574488,0.0795918230744,0.999999741939,-0.000335590256236,-0.000630338969575,-7.85677883727e-05,1793256032686484224
+224,3.733333333,POSE1_TO_POSE2_PRESS,782.513850456,749,729,712,695,649,929,784,834,675,651,679,0.455601962925,-0.015733637355,0.0795891152113,0.999999739212,-0.000335756219711,-0.000634480480292,-7.92408345994e-05,1793256032703151360
+225,3.750000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.059891777,929,784,834,675,650.940108223,679,0.455630123155,-0.0157324169524,0.0795862999202,0.999999736786,-0.00033515767108,-0.000638524588515,-7.99007016143e-05,1793256032719818240
+226,3.766666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.63591793,929,784,834,675,650.36408207,679,0.455651121534,-0.0157320178869,0.0795844997446,0.999999735945,-0.000333743636183,-0.000640637163466,-7.9432691979e-05,1793256032736484864
+227,3.783333333,POSE1_TO_POSE2_PRESS,782.21835824,749,729,712,695,649.78164176,929,783.78164176,833.78164176,675,650,679,0.455668306261,-0.01573120956,0.0795825101811,0.99999973433,-0.000332798034432,-0.000643700097333,-7.89694633304e-05,1793256032753151488
+228,3.800000000,POSE1_TO_POSE2_PRESS,782.81181689,749,729,712,695,649.18818311,929,783.18818311,833.18818311,675,650,679,0.455678939816,-0.015729698195,0.0795801952829,0.999999731379,-0.00033265711714,-0.000648395577739,-7.85144475892e-05,1793256032769817856
+229,3.816666667,POSE1_TO_POSE2_PRESS,782.60611266,749,729,712,695,649,929,783.39388734,833,675,650.39388734,679,0.455685988192,-0.0157291399681,0.0795789097238,0.999999729892,-0.000331393309491,-0.000651373150138,-7.8155172842e-05,1793256032786484480
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.029330151,749,729,712,695,649,929,783.970669849,833,675,650.970669849,679,0.455691371848,-0.0157290243152,0.0795781021215,0.999999729084,-0.000329608106002,-0.000653553039809,-7.78403538782e-05,1793256032803151104
+231,3.850000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649,929,784,833.54562955,675,651,678.45437045,0.455693342886,-0.0157278937908,0.0795758884996,0.999999727234,-0.000329241833633,-0.000656511478689,-7.82583634423e-05,1793256032819817728
+232,3.866666667,POSE1_TO_POSE2_PRESS,782,748.876363542,729,712,695,649,929,784,834,675,650.876363542,678.123636458,0.45569602659,-0.0157271989668,0.0795746747394,0.999999726226,-0.000329239832531,-0.000658028157687,-7.84138194893e-05,1793256032836484352
+233,3.883333333,POSE1_TO_POSE2_PRESS,782,748.286497575,729,712,695,649,929,784,834,675,650.286497575,678.713502425,0.455702087198,-0.0157283521942,0.0795775154904,0.999999728619,-0.00033032481775,-0.000653950708968,-7.74311385552e-05,1793256032853150976
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.298118039,748.298118039,729,712,695,649,929,784,834,675,650.298118039,679,0.455704484236,-0.0157279641578,0.0795780348459,0.999999729205,-0.000329623051648,-0.000653457165318,-7.70163127039e-05,1793256032869817856
+235,3.916666667,POSE1_TO_POSE2_PRESS,782.877775351,748.877775351,729,712,695,649,929,784,834,675,650.877775351,679,0.455703421443,-0.0157261205695,0.0795763619023,0.999999728087,-0.000327233898125,-0.00065634822022,-7.71377625944e-05,1793256032886484480
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.546074119,749,729,712,695,649.453925881,929,784,833.546074119,675,650.546074119,678.546074119,0.455703679711,-0.0157263891973,0.0795758090917,0.999999727718,-0.000327287127165,-0.000656903650836,-7.69684083259e-05,1793256032903151104
+237,3.950000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.970272435,929,784,833.029727565,675,650.029727565,678.029727565,0.455704267073,-0.0157272295552,0.0795755459333,0.999999727508,-0.000328052154412,-0.000656869585797,-7.67290865305e-05,1793256032919817728
+238,3.966666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.383447966,929,784,833.616552034,675,650.616552034,678.616552034,0.455704406756,-0.0157282076953,0.0795751020428,0.999999726495,-0.00032992661093,-0.000657483481703,-7.66347092171e-05,1793256032936484352
+239,3.983333333,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649,929,784,834,675,650.7992358,679,0.455704778078,-0.0157279903629,0.0795746718415,0.999999726077,-0.000330141408704,-0.00065800899052,-7.66594165317e-05,1793256032953150976
+240,4.000000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649,929,784,834,675,650.219948931,679,0.455705586133,-0.0157255190754,0.0795742674495,0.99999972678,-0.000327227070499,-0.000658367853469,-7.69086471053e-05,1793256032969817344
+241,4.016666667,POSE1_TO_POSE2_PRESS,782,749,728.641305285,712,695,649,929,783.641305285,834,675,650.358694715,679,0.4557061943,-0.0157254500835,0.0795745594705,0.999999727212,-0.000326546739932,-0.000658085456062,-7.65973785362e-05,1793256032986484480
+242,4.033333333,POSE1_TO_POSE2_PRESS,782,749,728.063055376,712,695,649,929,783.063055376,834,675,650.936944624,679,0.455706680115,-0.0157268515246,0.0795752777624,0.999999727481,-0.000327233834089,-0.000657410546467,-7.59430313082e-05,1793256033003151872
+243,4.050000000,POSE1_TO_POSE2_PRESS,782.511979886,749,728.511979886,712,695,649.511979886,929,783.511979886,833.488020114,675,650.488020114,679,0.455706375115,-0.0157262600011,0.0795746741699,0.999999726771,-0.000327990621024,-0.000658089125754,-7.61472243909e-05,1793256033019818496
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.911219521,749,729,712,695,650,929,783.911219521,833,675,650,678.911219521,0.455705852239,-0.0157254588633,0.0795738270243,0.999999725933,-0.000328498825291,-0.00065907922652,-7.63998141288e-05,1793256033036485120
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.32225677,749,729,712,695,650,929,783.32225677,833,675,650,678.32225677,0.455704647169,-0.0157248510104,0.0795725192163,0.999999725051,-0.000327558477768,-0.00066089112512,-7.63330658073e-05,1793256033053151232
+246,4.100000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.738458825,929,783.261541175,833,675,650,678,0.455705054989,-0.015724889442,0.0795721378961,0.999999724792,-0.000327896550879,-0.000661112595798,-7.63553896869e-05,1793256033069817856
+247,4.116666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.160901361,929,783.839098639,833,675,650,678,0.455707411638,-0.0157257087693,0.0795728760371,0.999999725285,-0.000329779320396,-0.000659412376443,-7.64853381658e-05,1793256033086484480
+248,4.133333333,HOLD_POSE2,783,749,729,713,695,649,929,784,833,675,650,679,0.455706904288,-0.0157206663389,0.0795734580915,0.999999728242,-0.000320596005841,-0.000659457969604,-7.6482268922e-05,1793256033119916288
+249,4.150000000,HOLD_POSE2,783,749,729,712.415385856,695,649.584614144,929,783.415385856,833.584614144,675,650,679,0.455706582495,-0.015723505396,0.079573328693,0.999999725796,-0.000326440493451,-0.000660330896024,-7.62106546267e-05,1793256033136583680
+250,4.166666667,HOLD_POSE2,782.832481708,748.832481708,729,712,695,649.832481708,929,783,834,675,650,679,0.4557063714,-0.0157254783423,0.0795729171166,0.999999724054,-0.000329941963484,-0.000661261640599,-7.59168299528e-05,1793256033153250816
+251,4.183333333,HOLD_POSE2,782.253774778,748.253774778,729,712,695,649.253774778,929,783,834,675,650,679,0.455706432021,-0.0157253253426,0.0795718129095,0.99999972411,-0.000327692288433,-0.000662334305233,-7.55684878656e-05,1793256033169917184
+252,4.200000000,HOLD_POSE2,782.325410882,748.325410882,729,712,695,649.325410882,929,783,834,675,650,678.674589118,0.455707527669,-0.0157244968526,0.0795722271915,0.999999725433,-0.000325933355959,-0.000661197235155,-7.56297520112e-05,1793256033186583552
+253,4.216666667,HOLD_POSE2,782.904970399,748.904970399,729,712,695,649.904970399,929,783,834,675,650,678.095029601,0.455709431681,-0.015723140799,0.0795738274264,0.99999972774,-0.0003245576977,-0.000658334343621,-7.60109220892e-05,1793256033203249408
+254,4.233333333,HOLD_POSE2,782.52009794,749,729,712,695,650,929,783,833.52009794,675,650,678.47990206,0.45570685404,-0.0157234139418,0.0795720609169,0.999999724754,-0.000326411405799,-0.000661952394077,-7.59362146413e-05,1793256033219916032
+255,4.250000000,HOLD_POSE2,782,749,729,712,695,650,929,783,833.055335757,675,650,679,0.455704139507,-0.0157238304638,0.0795701168908,0.999999721462,-0.000328463717205,-0.000665914762931,-7.58023396565e-05,1793256033236582656
+256,4.266666667,HOLD_POSE2,782,749,729,712,695,650,929,783,833.644365414,675,650,679,0.455708582092,-0.0157225480727,0.079572829244,0.999999725452,-0.000326322883291,-0.000660938742309,-7.59601433816e-05,1793256033253249280
+257,4.283333333,HOLD_POSE2,782,749,729,712,695,649.770666674,929,783,833.770666674,675,650.229333326,678.770666674,0.455710477764,-0.0157227244067,0.0795739157263,0.999999727088,-0.000325873926214,-0.000658688951371,-7.58897911752e-05,1793256033269915904
+258,4.300000000,HOLD_POSE2,782,749,729,712,695,649.191887878,929,783,833.191887878,675,650.808112122,678.191887878,0.455708492589,-0.0157251234656,0.079572524796,0.999999725167,-0.000328002957922,-0.000660593239296,-7.54717875357e-05,1793256033286582784
+259,4.316666667,HOLD_POSE2,782,749,729,712,695,649,929,783,833,675,650.615050184,678.384949816,0.455708655974,-0.0157239102987,0.0795724260031,0.999999725656,-0.000326488436517,-0.000660582983203,-7.56580585173e-05,1793256033303249664
+260,4.333333333,HOLD_POSE2,782,749,729,712,695,649,929,783,833,675,650.039175175,678.960824825,0.455709884988,-0.0157209055611,0.0795729680769,0.999999727331,-0.000323166806802,-0.000659623162756,-7.61440341089e-05,1793256033319916544
+261,4.350000000,HOLD_POSE2,782,749,729,712,695,649,929,782.462847934,833,675,650,678.462847934,0.45571018116,-0.0157210065856,0.0795735120887,0.999999727595,-0.00032340966005,-0.000659151316076,-7.57355958262e-05,1793256033336582912
+262,4.366666667,HOLD_POSE2,782.116146078,749,729,712,695,649,929,782.116146078,833,675,650.116146078,678,0.455710278468,-0.0157214585888,0.0795738870307,0.999999727567,-0.00032392897688,-0.000658980534512,-7.53749322215e-05,1793256033353249280
+263,4.383333333,HOLD_POSE2,782.705879466,749,729,712,695,649,929,782.705879466,833,675,650.705879466,678,0.455709842544,-0.0157224173487,0.0795735720115,0.999999726768,-0.000324514685231,-0.000659892115104,-7.54752737672e-05,1793256033369915904
+264,4.400000000,HOLD_POSE2,783,749,729,712,695,649,928.709499675,783,833.290500325,675,650.709499675,678.290500325,0.455709573807,-0.0157226765037,0.0795731797444,0.999999726128,-0.000324466962685,-0.00066088148005,-7.55092282782e-05,1793256033386582784
+265,4.416666667,HOLD_POSE2,783,749,729,712,695,649,928.12996557,783,833.87003443,675,650.12996557,678.87003443,0.455709471414,-0.0157222395856,0.0795727106193,0.999999725644,-0.000323789006987,-0.000661948236615,-7.54771308933e-05,1793256033403249664
+266,4.433333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783,833,675,651,679,0.45571268257,-0.0157229834367,0.0795747924448,0.999999729323,-0.000322576672982,-0.000657014897979,-7.50249948365e-05,1793256033436023552
+267,4.450000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783,833,675,650.426474128,678.426474128,0.455710873309,-0.0157221078005,0.0795722847455,0.999999727451,-0.000322245244243,-0.000659981306526,-7.53647902518e-05,1793256033452689408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783,833,675,650,678,0.45570972995,-0.0157212121313,0.0795707607562,0.99999972631,-0.000321994217861,-0.000661805226498,-7.55854218496e-05,1793256033469355264
+269,4.483333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783,833,675,650,678,0.455710517819,-0.0157202583626,0.0795720896869,0.99999972731,-0.00032197637148,-0.000660315742255,-7.54604588431e-05,1793256033486020864
+270,4.500000000,POSE2_TO_POSE3_RETREAT,782.331296385,749,729,712,695,649,929,783,833,675,650.331296385,678.331296385,0.455710373966,-0.0157192452071,0.0795724116632,0.999999727738,-0.000320765718306,-0.000660244343664,-7.557433492e-05,1793256033502687232
+271,4.516666667,POSE2_TO_POSE3_RETREAT,782.908208074,749,729,712,695,649,929,783,833,675,650.908208074,678.908208074,0.455709539354,-0.0157181880239,0.079571987107,0.999999727738,-0.00031867074639,-0.00066122428032,-7.58652806512e-05,1793256033519353856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782.517661806,749,729,712,695,649,929,783,833,675,650.517661806,678.517661806,0.455709586764,-0.0157198835132,0.0795713740925,0.999999726677,-0.000321098223634,-0.000661659662496,-7.58148318966e-05,1793256033536020480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,928.942404914,783,833,675,650,678.057595086,0.455709625304,-0.0157216546084,0.0795707654339,0.999999725595,-0.000323724810955,-0.000662027743342,-7.57017774521e-05,1793256033552687104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,928.351851094,783,833,675,650,678.648148906,0.455708037422,-0.0157193056461,0.0795705270572,0.99999972625,-0.000320275473931,-0.000662726513888,-7.56071492314e-05,1793256033569353728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,782.233663035,749,729,712,695,649,928.233663035,783,833,675,650,679,0.455701762479,-0.0157185181996,0.0795679910536,0.999999723565,-0.000320093995957,-0.000666834948957,-7.57699387175e-05,1793256033586020352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,782.81174854,749,729,712,695,649,928.81174854,783,833,675,650,679,0.455688578746,-0.015720032449,0.079562068317,0.999999715896,-0.000324729386646,-0.000675969275486,-7.63121653841e-05,1793256033602687232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,782.611099958,749,729,712,695,649,929,783,833.388900042,675,650,679,0.455657369484,-0.0157182922921,0.0795499788402,0.999999701532,-0.000323633402631,-0.000697331676906,-7.69813751171e-05,1793256033619353856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782.034399436,749,729,712,695,649,929,783,833.965600564,675,650,679,0.455617455663,-0.0157149805771,0.0795349114339,0.999999683332,-0.00031976972842,-0.000724599036498,-7.77119051864e-05,1793256033636020480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782,749.539537352,729,712,695,649,929,783,834,675,650,679,0.455556865715,-0.0157132237028,0.0795186925884,0.999999661836,-0.00032025472941,-0.000753491503648,-7.75647811252e-05,1793256033652686848
+280,4.666666667,POSE2_TO_POSE3_RETREAT,782.116889969,749.883110031,729,712,695,649,929,783,833.883110031,675,650,678.883110031,0.455492940247,-0.0157110009112,0.0795038959826,0.999999643137,-0.000320523948664,-0.000777826312993,-7.73076827628e-05,1793256033669353728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.708837671,749.291162329,729,712,695,649,929,783,833.291162329,675,650,678.291162329,0.455420788989,-0.0157064837283,0.0794951763986,0.999999639517,-0.000318795119962,-0.000783219203133,-7.68298908147e-05,1793256033686020352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.705571133,749,729,712,695,649,929,783,833.294428867,675,650.294428867,678.294428867,0.455339766341,-0.0157029456974,0.0794911063462,0.999999636622,-0.000316958810545,-0.000787784032007,-7.54270003504e-05,1793256033702687232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.126133116,749,729,712,695,649,929,783,833.873866884,675,650.873866884,678.873866884,0.455250156128,-0.0157003554924,0.0794915370724,0.999999634434,-0.00031501845917,-0.000791547291612,-7.31286082418e-05,1793256033719353856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782,748.550854943,729,712,695,649,929,783,834,675,650.550854943,679,0.455149601153,-0.0156951787742,0.0794960192565,0.999999641758,-0.000309777956005,-0.00078461860998,-6.99644620928e-05,1793256033736020736
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782,748.023831431,729,712,695,649,929,783,834,675,650.023831431,679,0.455044685903,-0.015689326462,0.0795013685103,0.999999651246,-0.000303856728477,-0.000775077404548,-6.65819029653e-05,1793256033752687616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782,748.611911559,729,712,695,649,929,783,834,675,650.611911559,679,0.454908638927,-0.0156845185015,0.0795005557348,0.999999652264,-0.000303559898781,-0.00077411977056,-6.37317136655e-05,1793256033769354240
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783.19692948,833.80307052,675,651,679,0.454758728966,-0.0156788281513,0.0794992362182,0.999999652899,-0.000301022706085,-0.00077455711251,-6.04008037172e-05,1793256033786020608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,783.77600505,833.22399495,675,651,679,0.454581917585,-0.0156714255042,0.0794969333591,0.999999652756,-0.000294138038556,-0.000777701436772,-5.61370448531e-05,1793256033802687232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,784,833,675,651,679,0.454390604849,-0.0156632000945,0.0794990867332,0.999999657492,-0.000285000141594,-0.000775363362699,-5.10074300703e-05,1793256033819353600
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,784,833,675,651,679,0.454190144227,-0.0156544556617,0.0795040512264,0.999999665197,-0.000274440842382,-0.000769566835236,-4.5331608197e-05,1793256033836020224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,784,833.508162547,675,650.491837453,679,0.453951359142,-0.0156429729119,0.079503005845,0.999999667974,-0.000260674699496,-0.000771051420914,-3.97445099706e-05,1793256033852687104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,784.08351574,834,675,650,679,0.453702716187,-0.0156317413501,0.0795005990865,0.999999669011,-0.000245700288026,-0.000774886009676,-3.40786100895e-05,1793256033869353728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649,929,784.672514541,834,675,650,679,0.453424049267,-0.0156241480133,0.0794946007575,0.999999664167,-0.00022589304281,-0.00078731266028,-2.78671353316e-05,1793256033886020864
+294,4.900000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649.25777237,929,785,834,675,650.25777237,678.74222763,0.453124900754,-0.0156159870758,0.0794927905216,0.999999670421,-0.000189644654655,-0.000789144661478,-2.10671041676e-05,1793256033902687488
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,649.838345456,929,785,834,675,650.838345456,678.161654544,0.452800103764,-0.0156071153492,0.0794962249112,0.999999688674,-0.000132807510272,-0.000777709294325,-1.35300415545e-05,1793256033919353856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782,749.41535247,729,712,695,649.58464753,929,785,833.58464753,675,650.58464753,678,0.452456647722,-0.0155975409087,0.0795048757708,0.999999701165,-0.000110100121697,-0.000765184276804,-6.37782924564e-06,1793256033936020480
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782,749.990983375,729,712,695,649.009016625,929,785,833.009016625,675,650.009016625,678,0.452105991432,-0.0155876953015,0.0795155395897,0.999999712012,-0.000100562907492,-0.000752238779877,6.25874784854e-07,1793256033952687104
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782,749.43492459,729,712,695,649.56507541,929,785.56507541,833,675,650.56507541,678.56507541,0.451720128491,-0.0155861835429,0.0795294994528,0.999999728279,-0.000101655710637,-0.000730141156572,1.65027608003e-06,1793256033969353984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,650,929,786.143056725,833.143056725,675,650.856943275,679,0.451326188318,-0.0155856450852,0.079543209628,0.999999743236,-0.000105377718614,-0.00070881679631,1.47233274933e-06,1793256033986020608
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,650,929,786.733271347,833.733271347,675,650.266728653,679,0.450908752098,-0.0155877343829,0.0795559753951,0.999999754876,-0.000116789191833,-0.000690364689285,-2.16641272064e-06,1793256034002686976
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,650,929,787.317232188,834,675,650.317232188,678.682767812,0.450465690234,-0.0155893713999,0.07957448608,0.999999776443,-0.000124877319662,-0.000656897893297,-2.07704942484e-06,1793256034019353344
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,695,650,929,787.896036571,834,675,650.896036571,678.103963429,0.450001498827,-0.0155906354913,0.0795977337091,0.999999804829,-0.000130225200948,-0.000611050808599,1.08630668885e-06,1793256034036019968
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,695.47181301,650,929,788.47181301,833.52818699,675,651,678.47181301,0.449496230546,-0.0155842914308,0.0796153741967,0.999999823721,-0.000107324926553,-0.000583947246606,6.77210889553e-06,1793256034052686592
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,749,729.047923475,712,695.952076525,650,929,789,833,675,651,678.952076525,0.448976638197,-0.0155759837116,0.0796289694268,0.999999836783,-8.0240981644e-05,-0.000565545728661,1.23886114879e-05,1793256034069353216
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,749,729.635255961,712,695.364744039,650,929,789,833,675,651,678.364744039,0.448397046807,-0.0155643229128,0.0796108506971,0.999999817735,-7.56804910065e-05,-0.000598900613837,1.10089187788e-05,1793256034086020096
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,749,729.780285093,712,695.219714907,650.219714907,929,789.219714907,833,674.780285093,651,678.219714907,0.447795690842,-0.015553602911,0.0795900876809,0.999999797864,-6.49975833908e-05,-0.00063242296957,9.36543164314e-06,1793256034102686976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782,749,729.200534903,712,695.799465097,650.799465097,929,789.799465097,833,674.200534903,651,678.799465097,0.447158670446,-0.0155444245444,0.0795649916123,0.999999777069,-4.42821928022e-05,-0.000666219748746,7.28967851791e-06,1793256034119353600
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,696,651,929,790.37552991,833,674.37552991,651,678.62447009,0.446530484422,-0.0155402765702,0.0795759957551,0.999999789549,-3.55695118206e-05,-0.000647730129959,9.07813502069e-06,1793256034136020480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,696,651,929,790.949645822,833,674.949645822,651,678.050354178,0.445906970172,-0.0155387887451,0.0796060902465,0.99999981841,-3.32040491663e-05,-0.000601590656732,1.29100451477e-05,1793256034152687104
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782,749,729,712,696,651,929,791.525438187,833,674.474561813,651,678.525438187,0.445264686573,-0.0155350114483,0.0796576476913,0.99999986002,-2.12773068289e-05,-0.000528338907225,1.91350207111e-05,1793256034169353728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782,749,729,712,696,651,929,792.10457527,833,674.10457527,651,679,0.44461039607,-0.0155296453678,0.079705619422,0.99999989299,-7.33614183969e-06,-0.000461894778093,2.4870749036e-05,1793256034186020352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782,749,729,712,696,651,929,792.698612679,833,674.698612679,651,679,0.443908353532,-0.0155178732366,0.0797271504147,0.999999902974,1.17311062223e-05,-0.000439513538734,2.72397371737e-05,1793256034202686720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782,749.570502135,729,712,696.285251068,651,929,793,833,675,651.285251068,678.714748932,0.443173787493,-0.0155028697643,0.0797344298328,0.999999906135,3.44497400854e-05,-0.000431002188056,2.79374005995e-05,1793256034219353600
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782,750.728539208,729,712,696.864269604,651,929,793,833,675,651.864269604,678.135730396,0.442405726852,-0.0154845384753,0.0797270321866,0.999999902396,6.09287771428e-05,-0.000436774820137,2.69138408539e-05,1793256034236020224
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.439858859,751,729,712,697,651.439858859,929,793.439858859,833,674.560141141,652,678.439858859,0.441625557481,-0.0154587247188,0.0797382135458,0.999999911479,9.11292198714e-05,-0.00041006987878,2.4095224731e-05,1793256034252686848
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,751.014708704,729,712,697,652.014708704,929,794.014708704,833,674.014708704,652,679,0.440839953443,-0.0154308002899,0.0797537559311,0.999999921661,0.000122427780959,-0.000375841970345,2.0778937517e-05,1793256034269353728
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,751.601643528,729,712,697,652.601643528,929,794.601643528,833,674.601643528,652,679,0.439987156782,-0.0154098934502,0.0797176464263,0.999999893273,0.0001521181809,-0.000435813646614,1.94839831427e-05,1793256034286020864
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782.813973715,752,729,712,697,653,929,795,833,674.813973715,652,678.813973715,0.4391403941,-0.0153963751468,0.0796940423446,0.999999874142,0.000170140080776,-0.000471620857076,1.85049175559e-05,1793256034302687744
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.234982026,752,729,712,697,653,929,795,833,674.234982026,652,678.234982026,0.438306377761,-0.0153984645269,0.0796968549545,0.999999882324,0.000163513222306,-0.00045638259787,1.81931415797e-05,1793256034319354368
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782,752,729,712,697,652.656856527,929,795.343143473,833,674,652,678.343143473,0.437488235938,-0.0154039756841,0.0797455921176,0.999999912741,0.000163515435409,-0.000383726546166,2.31418469858e-05,1793256034336020992
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782,752,729,712,697,652.079322719,929,795.920677281,833,674,652,678.920677281,0.436680937524,-0.0154118241476,0.0798256988747,0.999999948427,0.000168045754025,-0.000271850232744,3.16838188391e-05,1793256034352687872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,752,729,712,697,652,929,796,833.495553355,674,652,679,0.435803735848,-0.015411861217,0.0798602892179,0.999999960283,0.000172205053613,-0.000220097263201,3.65515444403e-05,1793256034369354240
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,752.071866774,729,712,697,652,929,795.928133226,833.928133226,674,652,679,0.434912506067,-0.0154101584442,0.0798806188661,0.99999996585,0.000177401990416,-0.000187692337932,4.00058684537e-05,1793256034386020608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,752.66158614,729,712,697,652,929,795.33841386,833.33841386,674,652,679,0.434000391276,-0.015404880545,0.0798504089814,0.999999955675,0.000190501515113,-0.000225727059399,3.74909189562e-05,1793256034402687232
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.246886562,652.246886562,929,795.246886562,833,674.246886562,652,679,0.433047077592,-0.0153993021741,0.0798115269736,0.999999936966,0.000201071427478,-0.000290639003196,3.41678123921e-05,1793256034419353600
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.826236414,652.826236414,929,795.826236414,833,674.826236414,652,679,0.432038284379,-0.0153933191803,0.0797609668752,0.999999901145,0.000208234904711,-0.000391744454633,2.97564218418e-05,1793256034436020224
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,753,729,712,698,652.596319816,929,796,833,674.596319816,652,678.596319816,0.431058716533,-0.0153907950074,0.0797307601788,0.999999874343,0.000216780928897,-0.000451052675384,2.95249825035e-05,1793256034452687104
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,753,729,712,698,652.019692693,929,796,833,674.019692693,652,678.019692693,0.430091669646,-0.0153897526823,0.0797092734045,0.999999852742,0.000225919271475,-0.000492453885687,3.1084341701e-05,1793256034469353984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.434955592,652,929,796,833,674,652,678,0.429255671971,-0.0153948195841,0.0797835604526,0.999999910603,0.000222057358091,-0.000357955493565,3.67721617735e-05,1793256034486020608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.148406469,652,929.148406469,796,833,674.148406469,652,678,0.428399981216,-0.0153985932174,0.0798457372438,0.999999944595,0.000218779500561,-0.000247396535142,4.1712523275e-05,1793256034502687232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.726951953,652,929.726951953,796,833,674.726951953,652,678,0.427473781905,-0.0153979923612,0.0798629985423,0.999999950008,0.000218526793831,-0.000224250222566,4.40633617293e-05,1793256034519353856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.695918358,652,930,796,833,674.695918358,652,678,0.426523785464,-0.0153958744656,0.0798434887608,0.99999994171,0.0002226257953,-0.000255331053297,4.2702733767e-05,1793256034536020480
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,753,729,712,697.120054114,652,930,796,833,674.120054114,652,678,0.425552519633,-0.0153924006681,0.0797911136604,0.999999916614,0.000230614272882,-0.000334879111877,3.80248647602e-05,1793256034552687360
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,753,728.543988321,712,697,652,929.543988321,796.456011679,833.456011679,674.456011679,652,678,0.424578113467,-0.0153884833422,0.0797613628825,0.999999900814,0.000234792747646,-0.000376690645266,3.67177502045e-05,1793256034569353728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,753,728,712,697.032857612,652,929.032857612,797,833.967142388,674.967142388,651.967142388,678,0.423606026683,-0.0153846639855,0.0797388115444,0.999999888066,0.000238312981493,-0.000407128688989,3.63350574491e-05,1793256034586020096
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,753,728,712,697.622012235,652,929.622012235,797,833.377987765,674.377987765,651.377987765,678,0.422687213129,-0.0153844811161,0.0797372626464,0.999999883257,0.000247678671158,-0.000413284772622,3.6572217181e-05,1793256034602686976
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,753.207779847,728.207779847,712,698,652,930,797,833,674,651.207779847,678.207779847,0.421807788643,-0.0153861642279,0.0797611091459,0.999999898291,0.000249440153863,-0.000373789614531,3.84562577886e-05,1793256034619353856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782,753.787484821,728.787484821,712,698,652,930,797,833,674,651.787484821,678.787484821,0.420998870285,-0.0153911874387,0.079830413309,0.99999993894,0.000237590134386,-0.000252578906102,4.32882085099e-05,1793256034636020480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782,753.633934315,729,712,698,652,929.633934315,797,833,674,652,678.633934315,0.420155906054,-0.0153913250265,0.0798617117529,0.999999951499,0.000235013962639,-0.000199314061527,4.52147401678e-05,1793256034652687104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,753.056004078,729,712,698,652,929.056004078,797,833,674,652,678.056004078,0.419293237449,-0.0153886350058,0.0798710139634,0.999999953509,0.00023780513458,-0.000185373643439,4.54597284686e-05,1793256034669353984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,753,729,712,698,652,929,797.519417035,833,674,652,678,0.41838213362,-0.0153847320247,0.0798278392801,0.999999936977,0.000237565262397,-0.000260606234677,4.11558157129e-05,1793256034686020352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.096607885,753,729,712,698,652.096607885,929,797.903392115,833,674,652,678,0.417481217653,-0.0153818101863,0.0797895169479,0.999999917015,0.000237061519779,-0.00032917902781,3.75833012045e-05,1793256034702687232
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782.684160433,753,729,712,698,652.684160433,929,797.315839567,833,674,652,678,0.416658486096,-0.0153845357671,0.0798044687562,0.999999921437,0.000236869650056,-0.00031528238956,4.02081157846e-05,1793256034719353856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,753,729,712,697.730803059,652.730803059,929,797,833,674,652,678.269196941,0.415828094868,-0.0153821966589,0.0798041288712,0.999999917695,0.000241484345742,-0.000323401531928,4.13247790648e-05,1793256034736020480
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,753,729,712,697.14869124,652.14869124,929,797,833,674,652,678.85130876,0.414988800086,-0.0153739703495,0.0797860139011,0.999999903735,0.000251686199186,-0.000357111847239,4.0688365087e-05,1793256034752687360
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.572851361,753.427148639,729,712,697,652,929,797,833,674,652,678.572851361,0.41422806649,-0.0153731251498,0.079781004458,0.999999903839,0.000248236044606,-0.000359473492591,3.84557019394e-05,1793256034769353984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,753.999161916,729,712,697.000838084,652,929,797.000838084,833.000838084,674.000838084,652,678.000838084,0.413494322791,-0.0153748098233,0.0797805168922,0.999999908915,0.000240128001157,-0.000351047846475,3.56843166089e-05,1793256034786020608
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782,753.424652024,729,712,697.575347976,652,929,797.575347976,833.575347976,674.575347976,652,678.575347976,0.412786862112,-0.0153749036451,0.0797977137951,0.999999916816,0.000249565098044,-0.000320257289018,3.90012934668e-05,1793256034802686976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782,753,728.846060144,712,697.846060144,652,929,798,833.846060144,674.846060144,651.846060144,678.846060144,0.412073997919,-0.0153742709704,0.0798073072329,0.999999919823,0.000256366648337,-0.000304843618335,4.12468057193e-05,1793256034819353600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,782,753,728.25590101,712,697.25590101,652,929,798,833.25590101,674.25590101,651.25590101,678.25590101,0.411345821633,-0.0153715796226,0.0797953547405,0.999999911045,0.000255699854484,-0.000333003416283,4.04561101908e-05,1793256034836020480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782,753.32882081,728.32882081,712,697,652,929,797.67117919,833,674,651.32882081,678,0.410653026723,-0.0153698028651,0.0797875472294,0.999999904964,0.000257786933712,-0.000349338410913,3.97450568869e-05,1793256034852687104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782,753.909379901,728.909379901,712,697,652,929,797.090620099,833,674,651.909379901,678,0.409987319091,-0.0153687262987,0.0797829130293,0.999999901329,0.000261982320263,-0.000356620583808,3.90949760542e-05,1793256034869353984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,782,753.516777238,728.516777238,712,697.483222762,652,929,797,833,674,652,678,0.409407035899,-0.0153705012401,0.0798095323758,0.999999916599,0.000260967315155,-0.000311413166964,4.14807899049e-05,1793256034886020864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,782,753,728.05602164,712,697.94397836,652,929,797.05602164,833,674,652,678,0.40884178159,-0.015372598186,0.0798394470136,0.999999931335,0.000259262733992,-0.000261070054387,4.42285538346e-05,1793256034902687744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,782,753,728.630655932,712,697.369344068,652,929,797.630655932,833,674,652,678,0.408269386193,-0.0153727935199,0.0798463531488,0.999999933137,0.000260096050744,-0.000253059795275,4.512877981e-05,1793256034919354624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,782.213004616,753,728.786995384,712,697,652,929,797.786995384,833,674,652,678,0.407689501394,-0.0153705802543,0.0798367496548,0.999999926836,0.000263973051972,-0.000273244222221,4.45326193859e-05,1793256034936021504
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782.80923244,753,728.19076756,712,697,652,929,797.19076756,833,674,652,678,0.40709614224,-0.0153640336025,0.0797974431743,0.999999902575,0.000273326039335,-0.00034415458303,4.12442635445e-05,1793256034952687872
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782.60725809,753,728,712,697.39274191,652,929,797.39274191,833,674,651.60725809,678,0.406573532962,-0.0153616489331,0.079776853122,0.999999891312,0.000276063994448,-0.000373621234648,3.96559169773e-05,1793256034969354240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782.029732506,753,728,712,697.970267494,652,929,797.970267494,833,674,651.029732506,678,0.406084211197,-0.0153612224609,0.0797650690793,0.999999887672,0.000275689601646,-0.000383588775233,3.88674185006e-05,1793256034986020864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781.455475063,753,728,712,698,651.455475063,928.455475063,798,833,674,651.544524937,678,0.405673614376,-0.0153654227381,0.0797855265931,0.999999903862,0.000272093249305,-0.000341504123477,4.01902836139e-05,1793256035002687488
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781.12157874,753,728,712,698,651.12157874,928.12157874,798,833,674,652,678,0.40527035955,-0.0153686295333,0.0798067385449,0.999999917416,0.000269338360791,-0.000301507732818,4.14593820392e-05,1793256035019354112
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781.710052697,753,728,712,698,651.710052697,928.710052697,798,833,674,652,678,0.404878890581,-0.0153670567003,0.0798241273858,0.999999923226,0.000270486500024,-0.000280380469833,4.20819142625e-05,1793256035036020992
+363,6.050000000,POSE2_TO_POSE3_RETREAT,782,753,728.294069833,712,697.705930167,652,929,798,833,674,652,678,0.404499349621,-0.0153649183604,0.0798341149432,0.999999925229,0.00027286864074,-0.000270656853921,4.27647907593e-05,1793256035052687616
+364,6.066666667,POSE2_TO_POSE3_RETREAT,782,753,728.873758199,712,697.126241801,652,929,798,833,674,652,678,0.404131393892,-0.0153622307661,0.0798369139223,0.999999923847,0.000276449318868,-0.000272009155968,4.35062772656e-05,1793256035069354240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781.549858443,753,728.549858443,712,697,652,929,798,833,674,652,678.450141557,0.40379197924,-0.0153589600727,0.0798359981996,0.999999920695,0.000279191420109,-0.000280659507499,4.35058850873e-05,1793256035086020608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781.026092999,753,728.026092999,712,697,651.973907001,928.973907001,798,833,674,652,678.973907001,0.403463268412,-0.0153555646286,0.0798342685931,0.999999917102,0.000281905866352,-0.000290597978306,4.33358987036e-05,1793256035102687232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781.612528939,753,728.612528939,712,697,651.387471061,928.387471061,798,833,674,652,678.387471061,0.403193781744,-0.0153529763573,0.0798372700619,0.999999916773,0.00028904002941,-0.000284565736674,4.39593764273e-05,1793256035119353856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781.803336039,753,728.803336039,712,697.196663961,651,928,798,833,674,652,678,0.402930954361,-0.0153512675867,0.0798399659702,0.999999916095,0.000295112518823,-0.000280574723642,4.46829745943e-05,1793256035136020480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781.223681973,753,728.223681973,712,697.776318027,651,928,798,833,674,652,678,0.40268109553,-0.0153512715863,0.0798420668191,0.999999914868,0.000299117467971,-0.000280558869542,4.56015506597e-05,1793256035152687104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781.355062704,753,728.355062704,712,698,651,928,798.355062704,833,674,652,678,0.402460238817,-0.0153527269274,0.0798434690717,0.999999915847,0.000297143461841,-0.000279105844363,4.59621419966e-05,1793256035169353728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781.933236006,753,728.933236006,712,698,651,928,798.933236006,833,674,652,678,0.402257606128,-0.0153550942475,0.079844432348,0.999999918187,0.00029141246257,-0.000276749744612,4.5972112801e-05,1793256035186020352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,753,729,712,698,651,928,798.484281358,833,674,652,678,0.402087746767,-0.0153603828908,0.0798404425919,0.999999918477,0.000286619631994,-0.000280708543414,4.58081682682e-05,1793256035202687488
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782,753,728.901812872,711.901812872,698,651.098187128,928,798,833.098187128,674.098187128,652,678,0.401927283607,-0.0153652623075,0.0798372347084,0.999999918941,0.000282190895316,-0.000283524623828,4.58318367891e-05,1793256035219353856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782,753,728.322172131,711.322172131,698,651.677827869,928,798,833.677827869,674.677827869,652,678,0.401791914538,-0.0153662650633,0.0798410313037,0.999999921715,0.000278946908217,-0.0002766950613,4.68867823443e-05,1793256035236020480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,651.743153474,928,798,833.743153474,674.743153474,652,678,0.401666850319,-0.015365392252,0.0798461867167,0.999999925582,0.000272976883323,-0.000268688053787,4.61079103554e-05,1793256035252686848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,651.164913269,928,798,833.164913269,674.164913269,652,678,0.40155468063,-0.0153621725316,0.0798530424266,0.999999930738,0.000263595750312,-0.000259207702323,4.30343708368e-05,1793256035269353728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782,753,728,711.412801228,698,651,928,798,833,674.412801228,652,678,0.401455386004,-0.0153628491947,0.0798522622677,0.999999928961,0.000269211166767,-0.000260940494006,3.88968289261e-05,1793256035286020096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,782,753,728,711.99030596,698,651,928,798,833,674.99030596,652,678,0.4013612284,-0.0153650804754,0.0798484354744,0.9999999243,0.000280810054534,-0.000267147216262,3.43347609226e-05,1793256035302686720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,782,753,728,712,697.440798989,651,928,798,833,674.440798989,652,678,0.401289773307,-0.0153623256784,0.0798456603784,0.999999920652,0.000289514017563,-0.00027138033179,3.50775502455e-05,1793256035319353344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,782,753,728,712,697,651,928,798,833,674,652,678,0.401223493023,-0.015360199451,0.079843611738,0.999999918172,0.000295124637458,-0.000274337879811,3.60018063183e-05,1793256035336020480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,782,753,728,712,697,651,928,798,833,674,652,678,0.401173705253,-0.0153605319843,0.0798440039606,0.999999919915,0.000290248613855,-0.000273017036322,3.72392184509e-05,1793256035352687872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,782,753,728,712,697.316995852,651,928,798,833,674,652,678.316995852,0.401130529316,-0.0153607526447,0.0798441004059,0.999999920592,0.000287746829745,-0.000273081141497,3.80059024216e-05,1793256035369354496
+383,6.383333333,POSE2_TO_POSE3_RETREAT,782,753,728,712,697.896500289,651,928,798,833,674,652,678.896500289,0.401092828724,-0.015360880662,0.0798439519141,0.9999999204,0.000287211185192,-0.000274292141393,3.83827701216e-05,1793256035386020608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,782,753,728,711.527565577,698,651,928,798,833,674,652,678.527565577,0.401067113102,-0.0153592429206,0.0798434315352,0.999999919635,0.000289388952423,-0.000274749000652,3.86887798523e-05,1793256035402687232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,782,753.048561732,728,711.048561732,698,651,928,798,833,674.048561732,652,678,0.401044738791,-0.0153575351323,0.0798428815081,0.999999918863,0.000291772740183,-0.000274998921657,3.89667409992e-05,1793256035419354112
+386,6.433333333,POSE2_TO_POSE3_RETREAT,782,753.63543629,728,711.63543629,698,651,928,798,833,674.63543629,652,678,0.401030516118,-0.0153593068454,0.0798428991803,0.999999919464,0.000289900196934,-0.000274772600661,3.9104568241e-05,1793256035436020480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,782,754,728,712,698,651,928,798,833,675,652,678.219450056,0.401018308498,-0.0153599121812,0.0798427533666,0.999999919552,0.000289633201113,-0.000274726147804,3.91612444137e-05,1793256035452686848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,782,754,728,712,698,651,928,798,833,675,652,678.798772425,0.40100940533,-0.0153586047951,0.0798423394555,0.999999918799,0.000291999114571,-0.000274974657579,3.90848423581e-05,1793256035469353728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,782,753.622940036,728,712,698,651.377059964,928.377059964,798,833,675,652,678.622940036,0.401004327987,-0.015358868726,0.0798428642715,0.999999919321,0.000291594366934,-0.000273498864059,3.91092861172e-05,1793256035486020608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,782,753.045203268,728,712,698,651.954796732,928.954796732,798,833,675,652,678.045203268,0.401001286805,-0.0153599689349,0.0798438886918,0.999999920516,0.000289715033027,-0.000271105371201,3.91874014899e-05,1793256035502687488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781.471075163,753,728.528924837,712,698,651.471075163,928.471075163,798,833,674.471075163,652,678,0.401000541834,-0.0153606247141,0.0798449627642,0.999999921625,0.000287543207837,-0.000269376612498,3.87971460968e-05,1793256035519353856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781.105616668,753,729,712,698,651,928,798,833,674.105616668,652,678,0.401000190414,-0.0153610716713,0.0798460098817,0.999999922543,0.000285910984307,-0.000267746068069,3.84877241787e-05,1793256035536020224
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781.695466956,753,729,712,698,651,928,798,833,674.695466956,652,678,0.401000749728,-0.0153607341768,0.0798469140924,0.999999922644,0.000286866569413,-0.000266307120933,3.87311878624e-05,1793256035552686848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,782,753,728.719744114,712,698,651.280255886,928,798,833,675,652,678,0.401000265717,-0.0153612556353,0.0798472344736,0.999999922631,0.000287580411286,-0.000265560101959,3.89014283132e-05,1793256035569353472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,782,753,728.140357346,712,698,651.859642654,928,798,833,675,652,678,0.400998668114,-0.0153626938964,0.079846931705,0.999999922498,0.000288036228843,-0.000265551611743,3.89935140391e-05,1793256035586020096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,782,753,728,711.56337633,698,651.56337633,928.43662367,798,833.43662367,674.56337633,652,678,0.400998346053,-0.0153614598745,0.0798465285238,0.999999922319,0.000288612789997,-0.00026564580654,3.86981061944e-05,1793256035602686976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,782,753,728.012776406,711.012776406,698,651,928.987223594,798,834,674,652,678,0.400998445902,-0.0153594161029,0.079846134315,0.999999922137,0.000289219925293,-0.000265726662442,3.82913395066e-05,1793256035619353344
+398,6.633333333,POSE2_TO_POSE3_RETREAT,782,753,728.586333917,711.586333917,698,651,928.413666083,798,834,674,652,678,0.400999165516,-0.0153593289018,0.0798475429294,0.999999922573,0.000289474720445,-0.000263781150957,3.84342098177e-05,1793256035636019968
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a9dab6f99c747a25cf97fcc7aa6e8ec333024d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+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
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+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
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+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
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+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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52f62ff5e7c9fbbab2bd483c41a32613718ddaa2
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f19712b2133e80cd68d8f65715b803c68659504d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+15,0.250000000,BASELINE,782,753,728.695812969,712,697.695812969,651,928.304187031,799,833,674.695812969,652,678,0.40099969436,-0.0153623458599,0.0798520426453,0.999999924854,0.000287949524094,-0.000256763894436,3.80597438603e-05,1793256036242231296
+16,0.266666667,BASELINE,782,753,729,712,698,651,928.277363356,799,833,675,651.722636644,678.277363356,0.401000219235,-0.0153619960337,0.0798523134277,0.999999924384,0.000289952411577,-0.000256335442928,3.81133945673e-05,1793256036258897920
+17,0.283333333,BASELINE,782,753,729,712,698,651,928.867195385,799,833,675,651.132804615,678.867195385,0.400999387648,-0.0153620679568,0.079851661507,0.999999924308,0.000288589470703,-0.000258175803708,3.80295416955e-05,1793256036275564544
+18,0.300000000,BASELINE,782,753,728.551701795,712,698,651,929,799,833,674.551701795,651.448298205,678.551701795,0.400999975988,-0.0153618451312,0.0798519057481,0.999999924808,0.000287530661437,-0.000257449870402,3.78227755074e-05,1793256036292231168
+19,0.316666667,BASELINE,782,753,728,711.97315373,698,651.02684627,928.97315373,799,833.02684627,674,652,678,0.401000914765,-0.015361546175,0.0798524033698,0.999999925432,0.00028663344518,-0.000256054036523,3.76095541514e-05,1793256036308897792
+20,0.333333333,BASELINE,782,753,728,711.394979059,698,651.605020941,928.394979059,799,833.605020941,674,652,678,0.401000576785,-0.0153614426923,0.0798527566358,0.999999925202,0.000287239857539,-0.000256215322385,3.79972596688e-05,1793256036325564416
+21,0.350000000,BASELINE,782,753,728.182281147,711,697.817718853,651.817718853,928,798.817718853,833.817718853,674,652,678,0.40100058645,-0.0153613382436,0.0798532064892,0.999999925143,0.000287786523362,-0.000255793738044,3.82379044058e-05,1793256036342231040
+22,0.366666667,BASELINE,782,753,728.757569646,711,697.242430354,651.242430354,928,798.242430354,833.242430354,674,652,678,0.401001345659,-0.015361231712,0.0798538645897,0.999999925454,0.000288204372562,-0.0002541154561,3.81614786278e-05,1793256036358897664
+23,0.383333333,BASELINE,782,753,728.659486613,711,697.340513387,651,928,798,833,674.340513387,652,678,0.401000600248,-0.0153614422485,0.0798534231809,0.999999925473,0.000287876328317,-0.00025443546792,3.79976197252e-05,1793256036375564544
+24,0.400000000,BASELINE,782,753,728.070967274,711,697.929032726,651,928,798,833,674.929032726,652,678,0.40099875898,-0.0153618837152,0.0798521809672,0.999999925279,0.000287005027899,-0.000256210895907,3.77700806888e-05,1793256036392231168
+25,0.416666667,BASELINE,782,753,728,711.509357002,697.490642998,651,928,798,833,675,652,678,0.400999601462,-0.0153626429396,0.0798522091245,0.999999925538,0.000286466052664,-0.000255804424263,3.77584675627e-05,1793256036408897536
+26,0.433333333,BASELINE,782,753,728,711.911925662,697,651,928,798,833,674.911925662,652,678,0.401000878423,-0.0153631585024,0.0798525314095,0.999999925754,0.000286520776284,-0.000254891191722,3.77982300954e-05,1793256036425564416
+27,0.450000000,BASELINE,782,753,728,711.335885353,697,651,928,798,833,674.335885353,652,678,0.401002523704,-0.0153620826846,0.0798535181704,0.999999925381,0.000289612352829,-0.000252827904284,3.79585939915e-05,1793256036442231296
+28,0.466666667,BASELINE,782,753,728,711.239752972,697.239752972,651,928,798,833,674,652,678,0.401002677689,-0.0153616287502,0.0798539415641,0.999999925367,0.000289977033637,-0.000252467502056,3.7940100514e-05,1793256036458897920
+29,0.483333333,BASELINE,782,753,728,711.814829041,697.814829041,651,928,798,833,674,652,678,0.40100074592,-0.0153620445939,0.0798535770218,0.999999925859,0.000286527825675,-0.000254488787809,3.76714536803e-05,1793256036475564544
+30,0.500000000,BASELINE,782,753,728,711.599544129,698,651,928,798,833,674,652,678,0.400999891659,-0.015362874279,0.0798525144039,0.999999925993,0.000284664324275,-0.00025605935229,3.76039458912e-05,1793256036492231168
+31,0.516666667,BASELINE,782,753,728,711.008906624,698,651,928,798,833,674,652,678,0.400999549122,-0.0153639005027,0.0798511202609,0.999999925959,0.000283553895381,-0.000257415863394,3.76319616245e-05,1793256036508898048
+32,0.533333333,BASELINE,782,753,728,711.56935843,698,651,928,798,833,674,652,678,0.400999984601,-0.015363778253,0.0798521014543,0.999999926165,0.000284311043048,-0.00025573861748,3.78926401489e-05,1793256036525564416
+33,0.550000000,BASELINE,782,753,728,712,698,651.146631614,928,798,833,674,652,678,0.401000348091,-0.0153635505444,0.0798527942894,0.99999992627,0.000284902218767,-0.000254644731578,3.80444041911e-05,1793256036542231040
+34,0.566666667,BASELINE,782,753,728,712,698,651.721560839,928,798,833,674,652,678,0.401000466517,-0.0153630661605,0.0798525386295,0.99999992608,0.000284925085961,-0.000255390459416,3.78676340337e-05,1793256036558897920
+35,0.583333333,BASELINE,782,753,728,712,697.696758398,651.696758398,928,798,833,674,652,678,0.400999787537,-0.0153628899369,0.0798522254188,0.999999926118,0.000284069018948,-0.000256233295969,3.75831565592e-05,1793256036575564288
+36,0.600000000,BASELINE,782,753,728,712,697.108737077,651.108737077,928,798,833,674,652,678,0.400998359698,-0.0153630031122,0.0798518581612,0.999999926369,0.000282387528787,-0.000257167329173,3.71975291576e-05,1793256036592231168
+37,0.616666667,BASELINE,782,753,728,711.52836041,697.47163959,651.47163959,928,798,833,674,652,678,0.400999376175,-0.0153639125888,0.0798524397038,0.999999926467,0.000282874320837,-0.000256178431765,3.76913688245e-05,1793256036608898048
+38,0.633333333,BASELINE,782,753,728,711,698,652,928,798,833,674,652,678,0.401000705295,-0.0153648941683,0.0798531152979,0.999999926479,0.00028378078267,-0.000255035739582,3.83036438993e-05,1793256036625564672
+39,0.650000000,BASELINE,782,753,728,711,698,652,928,798,833,674,652,678,0.400999492444,-0.0153647350327,0.0798525172578,0.999999925979,0.000283927972334,-0.000256861212748,3.80637993609e-05,1793256036642232320
+40,0.666666667,BASELINE,781.795682851,753,728,711.204317149,697.795682851,651.795682851,928,798,833,674,651.795682851,678,0.400998864551,-0.0153639873216,0.079852202082,0.999999925588,0.000284522239619,-0.000257753186226,3.7876826277e-05,1793256036658899456
+41,0.683333333,BASELINE,781.218789174,753,728,711.781210826,697.218789174,651.218789174,928,798,833,674,651.218789174,678,0.40099930334,-0.0153621663305,0.0798524027153,0.999999925398,0.000285931762144,-0.000256942903701,3.7786265393e-05,1793256036675565824
+42,0.700000000,BASELINE,781.365030787,753,728,712,697.365030787,651,928,798,833,674,651.365030787,678,0.400999599607,-0.0153623231132,0.0798520559106,0.999999925418,0.000286100561808,-0.000256676626674,3.77742636139e-05,1793256036692232192
+43,0.716666667,BASELINE,781.953082441,753,728,712,697.953082441,651,928,798,833,674,651.953082441,678,0.400999808797,-0.0153636882455,0.0798513746406,0.999999925568,0.000285511323748,-0.000256742717745,3.78102586657e-05,1793256036708898304
+44,0.733333333,BASELINE,782,753,728,712,698,651,928.533035385,798,833,674.533035385,652,678,0.400999887455,-0.0153650381008,0.0798520429742,0.999999926113,0.000284339577927,-0.000255901987592,3.79479821854e-05,1793256036725564672
+45,0.750000000,BASELINE,782,753,728,712,697.888454428,651.111545572,928.888454428,798,833,674.888454428,652,678,0.400999785052,-0.0153657707356,0.0798526039577,0.999999926473,0.00028352174305,-0.000255387345058,3.80379404565e-05,1793256036742231040
+46,0.766666667,BASELINE,782,753,728,712,697.313024251,651.686975749,928.313024251,798,833,674.313024251,652,678,0.400998976736,-0.0153639420435,0.079852231879,0.999999925934,0.00028438575218,-0.000256555774889,3.78925772234e-05,1793256036758897664
+47,0.783333333,BASELINE,782,753,728,712,697.262645106,651.737354894,928,798,833,674,651.737354894,678,0.400998707371,-0.0153627322988,0.0798521079955,0.999999925484,0.000285587630712,-0.000256982441866,3.78321931592e-05,1793256036775564800
+48,0.800000000,BASELINE,782,753,728,712,697.838599858,651.161400142,928,798,833,674,651.161400142,678,0.400999080922,-0.0153622608968,0.0798522801843,0.999999925141,0.000287192554151,-0.00025652425925,3.78731808223e-05,1793256036792231936
+49,0.816666667,BASELINE,782,753,728,712,698,651,928,798.423499771,833,674,651.423499771,678,0.400999648163,-0.0153633384155,0.0798527673785,0.99999992612,0.000284566536894,-0.000255636783519,3.78420351602e-05,1793256036808898816
+50,0.833333333,BASELINE,782,753,728,712,698,651,928,798.98829937,833,674,652,678,0.401000273507,-0.0153649551681,0.079853364615,0.999999927546,0.000280453050742,-0.000254609333641,3.77866675649e-05,1793256036825565440
+51,0.850000000,BASELINE,782,753,728,712,698,651,928,798.408912803,833,674,652,678,0.401000059196,-0.0153634758648,0.0798533505274,0.99999992644,0.000284091664178,-0.000254899821032,3.79186751995e-05,1793256036842231808
+52,0.866666667,BASELINE,782,753,728,712,698,651.169415739,928,798,833,674,652,678.169415739,0.400999572708,-0.0153627104222,0.0798530699799,0.999999925614,0.000286422207758,-0.000255535015213,3.7885078948e-05,1793256036858898176
+53,0.883333333,BASELINE,782,753,728,712,698,651.745206379,928,798,833,674,652,678.745206379,0.400998433357,-0.0153636573064,0.0798521502789,0.999999925487,0.000285615104282,-0.000256997052203,3.74542512208e-05,1793256036875564800
+54,0.900000000,BASELINE,782,753,728,712,698,652,928,798,833,674,652,678.679261161,0.400998698211,-0.0153633780679,0.0798522596232,0.999999925501,0.00028582382104,-0.000256718999531,3.73912346474e-05,1793256036892231424
+55,0.916666667,BASELINE,782,753,728,712,698,652,928,798,833,674,652,678.103933659,0.401000077661,-0.015362125586,0.0798531857795,0.999999925626,0.000286838852143,-0.000255059738637,3.76201707309e-05,1793256036908898048
+56,0.933333333,BASELINE,782,753,728.484057826,712,698,651.515942174,928,798.484057826,833,674,652,678,0.400999935502,-0.0153632816584,0.0798527025326,0.999999925911,0.000285247330838,-0.000255737081308,3.75659522658e-05,1793256036925565184
+57,0.950000000,BASELINE,782,753,728.926820274,712,698,651,928,799,833.073179726,674,652,678,0.400999595831,-0.0153647451761,0.0798520439912,0.999999926199,0.000283403700871,-0.000256664723852,3.75089281661e-05,1793256036942231808
+58,0.966666667,BASELINE,782,753,728.349154512,712,698,651,928,799,833.650845488,674,652,678,0.401000207337,-0.0153646672651,0.0798523192346,0.999999926308,0.000283783928496,-0.000255766349965,3.78629447841e-05,1793256036958898432
+59,0.983333333,BASELINE,781.773245105,753,728,712,698,651,928,798.773245105,833.773245105,674,651.773245105,678,0.401001019794,-0.0153647513647,0.0798529812757,0.999999926771,0.000283194732939,-0.000254578375961,3.80493563699e-05,1793256036975565056
+60,1.000000000,BASELINE,781.20001924,753,728,712,698,651,928,798.20001924,833.20001924,674,651.20001924,678,0.401002139295,-0.0153650830089,0.0798542343256,0.999999927772,0.000281124303747,-0.000252947906263,3.79796752872e-05,1793256036992231424
+61,1.016666667,BASELINE,781.384351112,753.384351112,728,712,698,651.384351112,928,798.384351112,833,674,651.384351112,678,0.401001117245,-0.015364792798,0.0798537119897,0.999999927701,0.00028051769991,-0.000253922277996,3.78202470045e-05,1793256037008898048
+62,1.033333333,BASELINE,781.974694289,753.974694289,728,712,698,651.974694289,928,798.974694289,833,674,651.974694289,678,0.400998947436,-0.0153641693052,0.0798522381399,0.999999927055,0.000280695629921,-0.000256292708409,3.76127189269e-05,1793256037025564416
+63,1.050000000,BASELINE,782,753.444357625,728,712,698,652,928,799,833.555642375,674,652,678,0.400999368757,-0.0153637077212,0.0798526888774,0.999999926949,0.000281625380968,-0.000255687862773,3.75774551481e-05,1793256037042231296
+64,1.066666667,BASELINE,782,753,728,712,698,652,928,798.864887469,833.864887469,674,651.864887469,678,0.40099956926,-0.0153633618226,0.0798528568116,0.999999926775,0.00028246065951,-0.000255446806968,3.75800351575e-05,1793256037058897920
+65,1.083333333,BASELINE,782,753,728,712,698,652,928,798.288867143,833.288867143,674,651.288867143,678,0.400998670491,-0.0153633697733,0.0798518206093,0.9999999263,0.000282877772035,-0.000256827724493,3.76809333065e-05,1793256037075564800
+66,1.100000000,BASELINE,782,753,728,712,698,652,928,798.286004727,833,674.286004727,651.286004727,678,0.400999528938,-0.0153636391041,0.0798521161496,0.999999926411,0.000283354190823,-0.000255852113489,3.77826978302e-05,1793256037092231680
+67,1.116666667,BASELINE,782,753,728,712,698,652,928,798.859721252,833,674.859721252,651.859721252,678,0.401002155089,-0.0153641713751,0.0798537513814,0.999999927106,0.000283890269824,-0.000252505908503,3.78853338931e-05,1793256037108898304
+68,1.133333333,BASELINE,782,753.445710245,728,712,698,652,928.445710245,799,833.445710245,674.554289755,652,678,0.401001180637,-0.0153643302254,0.0798533454329,0.999999926904,0.000283605681032,-0.000253652946428,3.76852851042e-05,1793256037125564672
+69,1.150000000,BASELINE,782,753.965013595,728,712,698,651.965013595,928.965013595,799,833.965013595,674,652,678,0.400999171697,-0.0153643545351,0.0798523612315,0.999999926447,0.000283058874133,-0.000256094889953,3.74053424689e-05,1793256037142231296
+70,1.166666667,BASELINE,782,753.38637795,728,712,698,651.38637795,928.38637795,799,833.38637795,674,652,678,0.400999195558,-0.0153641661823,0.0798526567968,0.999999926595,0.000282564660911,-0.000256061529487,3.74061524734e-05,1793256037158898176
+71,1.183333333,BASELINE,782,753.19017698,728.19017698,711.80982302,698,651.19017698,928,799,833,674,652,678.19017698,0.400999447188,-0.0153640375248,0.0798529949895,0.999999926712,0.000282607735328,-0.000255559224883,3.74019232526e-05,1793256037175564800
+72,1.200000000,BASELINE,782,753.762550424,728.762550424,711.237449576,698,651.762550424,928,799,833,674,652,678.762550424,0.401000156561,-0.0153640288365,0.0798534188501,0.999999926762,0.000283730590378,-0.000254114488688,3.73875667588e-05,1793256037192231424
+73,1.216666667,BASELINE,782,753.654415936,728.654415936,711,698,651.654415936,928,798.654415936,833,674,652,678.654415936,0.401000158816,-0.0153638288798,0.0798534697319,0.999999926429,0.000284856274909,-0.000254166140504,3.73917993928e-05,1793256037208898048
+74,1.233333333,BASELINE,782,753.063824616,728.063824616,711,698,651.063824616,928,798.063824616,833,674,652,678.063824616,0.400999659747,-0.0153634933204,0.0798532561845,0.999999925823,0.000285983965378,-0.000255278680211,3.7409211082e-05,1793256037225564672
+75,1.250000000,BASELINE,782,753,728,711.516728023,698,651,928,798,833,674,652,678,0.400998603798,-0.0153635287336,0.0798525347179,0.999999926035,0.000284207430288,-0.000256444533398,3.73130352277e-05,1793256037242231552
+76,1.266666667,BASELINE,782,753,728,711.904658195,698,651,928,798.095341805,833,674,652,678.095341805,0.400997698893,-0.0153635583551,0.0798518708135,0.999999926277,0.000282492471678,-0.000257406117392,3.722159554e-05,1793256037258898176
+77,1.283333333,BASELINE,782,753,728,711.329679319,698,651,928,798.670320681,833,674,652,678.670320681,0.400997893291,-0.0153633327187,0.0798518060822,0.999999926199,0.000282857516246,-0.000257307585607,3.72232178231e-05,1793256037275564800
+78,1.300000000,BASELINE,782,753,728,711.245245502,698,651.245245502,928,799,833,674.245245502,652,678.754754498,0.400997854914,-0.0153629504286,0.0798518081635,0.999999926018,0.00028349292878,-0.000257314102805,3.72298530839e-05,1793256037292231424
+79,1.316666667,BASELINE,782,753,728,711.820097628,698,651.820097628,928,799,833,674.820097628,652,678.179902372,0.400997503689,-0.0153623575982,0.07985190004,0.999999925695,0.000284491712159,-0.000257461804416,3.72432257188e-05,1793256037308898304
+80,1.333333333,BASELINE,782.408735148,753,728,712,698,651.591264852,928,798.591264852,832.591264852,674.591264852,652,678.408735148,0.400998483599,-0.0153627122648,0.0798526591076,0.999999926099,0.000284177748426,-0.000256235109926,3.72650603584e-05,1793256037325564672
+81,1.350000000,BASELINE,782.996473102,753,728.003526898,712,698,651.003526898,928.003526898,798.003526898,832.007053796,674,652,678.996473102,0.401000061147,-0.0153634897054,0.0798537133583,0.999999926823,0.000283281382486,-0.000254390981332,3.72915533958e-05,1793256037342231296
+82,1.366666667,BASELINE,782.421945583,753,728.578054417,712,698,651.578054417,928.578054417,798.578054417,833.156108833,674,652,678.421945583,0.401000229749,-0.0153628396073,0.0798533547016,0.99999992647,0.000284904705245,-0.000253941301115,3.74481958412e-05,1793256037358898176
+83,1.383333333,BASELINE,782,753,728.846576392,712,698,651.846576392,929,799,834,674.153423608,652,678,0.401000157623,-0.0153625027036,0.0798530423586,0.999999926261,0.00028562262592,-0.000253954805114,3.74881164738e-05,1793256037375564800
+84,1.400000000,BASELINE,782,753,728.268879534,712,698,651.268879534,929,799,834,674.731120466,652,678,0.400999419796,-0.0153630318984,0.07985285809,0.99999992645,0.000283836773973,-0.000255249185376,3.72052579846e-05,1793256037392231424
+85,1.416666667,BASELINE,782,753,728,712,698,651.303279591,928.696720409,799,834,675,652,678,0.400999117884,-0.0153635119355,0.0798526534706,0.999999926501,0.000283096798628,-0.000255871006599,3.72013782833e-05,1793256037408898048
+86,1.433333333,BASELINE,782,753,728,712,698,651.870617117,928.129382883,799,834,675,652,678,0.400999195514,-0.0153639491721,0.0798524311322,0.999999926435,0.000283267441924,-0.000255907247454,3.74403984341e-05,1793256037425564672
+87,1.450000000,BASELINE,782,753,728.464506092,712,698,652,928.464506092,798.535493908,833.535493908,674.535493908,652,678.464506092,0.401000235194,-0.0153638047438,0.0798535912903,0.99999992658,0.000284003712581,-0.000254488032337,3.76503157418e-05,1793256037442231552
+88,1.466666667,BASELINE,782,753,729,712,698,652,928.936821981,798,833,674,652,678.936821981,0.401001272654,-0.0153635267931,0.079854885203,0.999999926708,0.000284885128379,-0.000252966576344,3.78495381701e-05,1793256037458897920
+89,1.483333333,BASELINE,782,753,729,712,698,652,928.362896074,798,833,674,652,678.362896074,0.4009999945,-0.0153635585991,0.0798539586128,0.999999926214,0.000285589050232,-0.00025409463837,3.8031806591e-05,1793256037475564544
+90,1.500000000,BASELINE,782,753.210806739,729,711.789193261,698,652,928.210806739,798,833,674,652,678,0.400999374472,-0.0153637122476,0.079853240784,0.999999926068,0.000285644818224,-0.000254625013639,3.79112345321e-05,1793256037492231424
+91,1.516666667,BASELINE,782,753.784125854,729,711.215874146,698,652,928.784125854,798,833,674,652,678,0.400999886187,-0.0153640754215,0.0798528819501,0.99999992652,0.000284585992769,-0.000254127580827,3.72698848846e-05,1793256037508898048
+92,1.533333333,BASELINE,782,753.631172286,728.631172286,711.368827714,698,651.631172286,928.631172286,798,833,674,652,678,0.40099950631,-0.0153645798647,0.0798529198868,0.999999926517,0.000284145997565,-0.000254607177951,3.74575483999e-05,1793256037525564672
+93,1.550000000,BASELINE,782,753.03959591,728.03959591,711.96040409,698,651.03959591,928.03959591,798,833,674,652,678,0.400998587967,-0.0153651696255,0.0798531974478,0.999999926236,0.000284079736676,-0.000255676839446,3.81458834837e-05,1793256037542231552
+94,1.566666667,BASELINE,782,753,728,712,698,651.539804694,928.539804694,798.539804694,833.539804694,674.539804694,652,678,0.400998534098,-0.0153649811301,0.0798532879059,0.999999926587,0.000283252493539,-0.00025526298656,3.78867137306e-05,1793256037558898176
+95,1.583333333,BASELINE,782,753.118037189,728,712,698,652,928.881962811,798.881962811,833.881962811,674.881962811,652,678.118037189,0.400998502337,-0.0153646157804,0.0798532759272,0.999999926829,0.000282641601772,-0.000255028069094,3.76339083696e-05,1793256037575564288
+96,1.600000000,BASELINE,782,753.695123799,728,712,698,652,928.304876201,798.304876201,833.304876201,674.304876201,652,678.695123799,0.400998315392,-0.0153637797553,0.0798529177671,0.999999926479,0.000283084401312,-0.000255902900807,3.76701855126e-05,1793256037592231168
+97,1.616666667,BASELINE,782,753.729029737,728.270970263,712,698,651.729029737,928,798.270970263,833.270970263,674,652,678.729029737,0.400998107811,-0.0153635562323,0.0798527173036,0.999999926305,0.000283240973566,-0.000256415381487,3.76203198501e-05,1793256037608898048
+98,1.633333333,BASELINE,782,753.154572274,728.845427726,712,698,651.154572274,928,798.845427726,833.845427726,674,652,678.154572274,0.400997877119,-0.0153640187128,0.0798526934608,0.99999992633,0.000283076970699,-0.000256522028287,3.74739740832e-05,1793256037625564672
+99,1.650000000,BASELINE,782,753,728.568076932,712,697.568076932,651,928,799,833.568076932,674,652,678,0.400997544612,-0.0153644977423,0.0798522447991,0.999999926402,0.000282369035673,-0.000257033157969,3.73823196089e-05,1793256037642231296
+100,1.666666667,BASELINE,782,753,728,712,697.022174479,651.022174479,928,799,833,674,652,678,0.400997214916,-0.0153649708841,0.0798516765839,0.999999926484,0.000281533390666,-0.000257638188992,3.73209945193e-05,1793256037658897920
+101,1.683333333,BASELINE,782,753,728,712,697.595634071,651.595634071,928,799,833,674,652,678,0.400997886918,-0.0153651461938,0.0798520241307,0.9999999264,0.000282500873703,-0.000256875829969,3.75131518233e-05,1793256037675564800
+102,1.700000000,BASELINE,782,753,728,712,698,652,928.170924631,799,833.170924631,674,652,678.170924631,0.400998551554,-0.015365116567,0.0798524475528,0.999999926392,0.000283368802918,-0.000255932447654,3.76332600954e-05,1793256037692231424
+103,1.716666667,BASELINE,782,753,728,712,698,652,928.750593636,799,833.750593636,674,652,678.750593636,0.400999198574,-0.0153645968605,0.0798530524206,0.999999926567,0.000283998661772,-0.000254556171417,3.75810723036e-05,1793256037708898048
+104,1.733333333,BASELINE,782,753,728,711.67124873,697.67124873,651.67124873,928.67124873,798.67124873,833.67124873,674,652,678.67124873,0.400999081216,-0.0153652958626,0.0798532980599,0.999999926912,0.000282948124809,-0.000254366178168,3.76047729233e-05,1793256037725564672
+105,1.750000000,BASELINE,782,753,728,711.094232387,697.094232387,651.094232387,928.094232387,798.094232387,833.094232387,674,652,678.094232387,0.400998386616,-0.0153669152041,0.0798532724184,0.999999927383,0.000280628593297,-0.000255072037231,3.76857826458e-05,1793256037742231296
+106,1.766666667,BASELINE,782,753,728,711.493136081,697.493136081,651,928,798.493136081,833,674,652,678,0.400997623026,-0.0153660503845,0.0798526733864,0.999999927172,0.000280818063863,-0.000255703735221,3.75851021809e-05,1793256037758898176
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,753,728,712,698,651,928,799,833,674,652,678,0.40099681133,-0.0153659564989,0.0798519329954,0.999999926537,0.000281769820503,-0.00025709536467,3.78586197035e-05,1793256037802061312
+108,1.800000000,POSE1_TO_POSE2_PRESS,782,753,728,712,698,651,928,798.426705379,833,674,652,678,0.400998406369,-0.0153648285827,0.0798527547891,0.999999926589,0.000283281928817,-0.000255246324357,3.77182437748e-05,1793256037818727680
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.151187166,753,728.151187166,712,698,651.151187166,928.151187166,798,833,674,652,678,0.400999707822,-0.0153637132448,0.0798534684383,0.999999926626,0.00028441034387,-0.000253878099984,3.74892545206e-05,1793256037835394304
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.742463909,753,728.742463909,712,698,651.742463909,928.742463909,798,833,674,652,678,0.401000154677,-0.0153626345209,0.0798538672908,0.999999926632,0.000284421869473,-0.000253909478667,3.70023213756e-05,1793256037852060672
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.672526078,753,728.672526078,712,698,652,928.672526078,798,833,674,652,678,0.400999973502,-0.0153627467999,0.0798534782356,0.999999926194,0.000285463203991,-0.000254471577199,3.69784224436e-05,1793256037868727040
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.092351918,753,728.092351918,712,698,652,928.092351918,798,833,674,652,678,0.400999307699,-0.0153637781347,0.0798524811795,0.999999925408,0.000287299206234,-0.000255443213779,3.7311830941e-05,1793256037885393664
+113,1.883333333,POSE1_TO_POSE2_PRESS,781.515314218,753.484685782,728.484685782,712,698,651.515314218,928,798.484685782,833,674,652,678,0.400998446653,-0.015364400997,0.0798519787799,0.999999925351,0.000286617223135,-0.000256415895248,3.74040879147e-05,1793256037902060288
+114,1.900000000,POSE1_TO_POSE2_PRESS,781.060892845,753.939107155,728.939107155,712,698,651,928,798.939107155,833.060892845,674,652,678,0.400998037512,-0.0153647953832,0.0798518841851,0.999999925503,0.000285646168898,-0.000256898915307,3.74474848542e-05,1793256037918726912
+115,1.916666667,POSE1_TO_POSE2_PRESS,781.63510325,753.36489675,728.36489675,712,698,651,928,798.36489675,833.63510325,674,652,678,0.401001749449,-0.0153639156292,0.0798544379046,0.999999926258,0.000286256727167,-0.000253252495577,3.74638514148e-05,1793256037935393792
+116,1.933333333,POSE1_TO_POSE2_PRESS,782,753,728.215022404,711.784977596,698,651.215022404,928.215022404,798.215022404,834,674.215022404,652,678,0.401011576509,-0.015364323153,0.0798591715962,0.999999928562,0.000284867376285,-0.000245573266667,3.76792610783e-05,1793256037952060672
+117,1.950000000,POSE1_TO_POSE2_PRESS,782,753,728.804893569,711.195106431,698,651.804893569,928.804893569,798.804893569,834,674.804893569,652,678,0.401032064068,-0.0153669747895,0.0798677056351,0.999999933422,0.000279991581792,-0.000230863638065,3.82416627632e-05,1793256037968727296
+118,1.966666667,POSE1_TO_POSE2_PRESS,782,753,729,711.387981223,698,652,928.612018777,799,833.612018777,675,652,678.387981223,0.401069605742,-0.0153686568481,0.0798806574009,0.999999938902,0.000279739685075,-0.000205946637195,3.907476026e-05,1793256037985393920
+119,1.983333333,POSE1_TO_POSE2_PRESS,782,753,729,711.967716283,698,652,928.032283717,799,833.032283717,675,652,678.967716283,0.401115576155,-0.0153698597077,0.079895792562,0.999999944015,0.000281773079103,-0.00017598479588,4.0041645082e-05,1793256038002060544
+120,2.000000000,POSE1_TO_POSE2_PRESS,782,753,728.456791365,712,698,652,928,799,833,675,652,678.456791365,0.401184377793,-0.0153706444682,0.0799127565825,0.999999948561,0.000284293780317,-0.000143002388328,4.00597213755e-05,1793256038018726912
+121,2.016666667,POSE1_TO_POSE2_PRESS,782,753,728.12079085,711.87920915,698,651.87920915,928.12079085,799,833,675,652,678,0.401256670785,-0.0153721973416,0.0799286747241,0.999999951938,0.000285445123355,-0.000114291410177,3.97933587109e-05,1793256038035393536
+122,2.033333333,POSE1_TO_POSE2_PRESS,782,753,728.707397398,711.292602602,698,651.292602602,928.707397398,799,833,675,652,678,0.401337235646,-0.0153768074344,0.0799401436528,0.999999954437,0.000281204878785,-0.000102739608091,3.86458635975e-05,1793256038052060160
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,753,728.709454084,711,698,651.290545916,928.709454084,799,833,674.709454084,652,678,0.401429127923,-0.0153808613272,0.0799482390399,0.999999956059,0.000279829137887,-9.06872589847e-05,3.67969703539e-05,1793256038068727040
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,753,728.129747148,711,698,651.870252852,928.129747148,799,833,674.129747148,652,678,0.401532293618,-0.0153843616707,0.0799529769648,0.999999956795,0.000281304247161,-7.81367494232e-05,3.42500222861e-05,1793256038085393664
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,753,728.447804609,711.447804609,698,652,928,799,833,674,652,678.447804609,0.401647884844,-0.0153893473653,0.0799543852205,0.99999995871,0.00027579322071,-7.47403224581e-05,3.05145075473e-05,1793256038102060544
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,753,728.975327959,712,697.975327959,651.975327959,928,798.975327959,833.024672041,674.024672041,651.975327959,679,0.401768388303,-0.015394690075,0.0799550120315,0.999999960897,0.000268471838202,-7.36991756168e-05,2.64121865101e-05,1793256038118727168
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,753,728.399863981,712,697.399863981,651.399863981,928,798.399863981,833.600136019,674.600136019,651.399863981,679,0.401918567746,-0.015398441269,0.0799596276709,0.999999962264,0.000265707237384,-6.63106067154e-05,2.17722933836e-05,1793256038135393792
+128,2.133333333,POSE1_TO_POSE2_PRESS,782,753,728,712,697.179847657,651,928.179847657,798,833.820152343,674.820152343,651.179847657,678.820152343,0.402075034146,-0.0154030831,0.0799628379806,0.999999963864,0.000261282918295,-6.09908021847e-05,1.68620290887e-05,1793256038152060416
+129,2.150000000,POSE1_TO_POSE2_PRESS,782,753,728,712,697.769231686,651,928.769231686,798,833.230768314,674.230768314,651.769231686,678.230768314,0.402245816741,-0.0154097530262,0.0799628481723,0.999999966088,0.000253079206471,-6.03818426776e-05,1.13360953149e-05,1793256038168727040
+130,2.166666667,POSE1_TO_POSE2_PRESS,782,753,728,711.647470069,697.647470069,651.352529931,928.647470069,798,833,674,652,678.352529931,0.40243517732,-0.015415751389,0.0799590045748,0.999999968388,0.000242040739752,-6.79853683395e-05,4.18503306479e-06,1793256038185393664
+131,2.183333333,POSE1_TO_POSE2_PRESS,782,753,728,711.068087954,697.068087954,651.931912046,928.068087954,798,833,674,652,678.931912046,0.402636492806,-0.0154213176029,0.0799526810731,0.99999997046,0.000229178114028,-8.087360888e-05,-4.01179609681e-06,1793256038202060544
+132,2.200000000,POSE1_TO_POSE2_PRESS,782,753,728,711.507186985,697,652,928,798,833,674,652,678.492813015,0.402873098807,-0.0154295163235,0.0799523959902,0.999999987101,0.000138063052304,-8.11975496919e-05,-1.19871933999e-05,1793256038218727168
+133,2.216666667,POSE1_TO_POSE2_PRESS,782,753,728,712,697.081733998,652,928.081733998,798.081733998,833,674,652,678,0.403121036232,-0.0154382636974,0.0799530537045,0.999999995361,5.05668109598e-05,-7.95007654799e-05,-1.99993708653e-05,1793256038235393536
+134,2.233333333,POSE1_TO_POSE2_PRESS,782,753,728,712,697.65519244,652,928.65519244,798.65519244,833,674,652,678,0.403408872072,-0.0154482028024,0.0799545457021,0.9999999956,4.75345332852e-05,-7.57129859195e-05,-2.84102295406e-05,1793256038252060416
+135,2.250000000,POSE1_TO_POSE2_PRESS,782,753,728,711.763136633,698,651.763136633,929,798.763136633,833,674,651.763136633,678,0.403711203196,-0.0154576067153,0.079956273788,0.999999995876,4.04904921289e-05,-7.31394772677e-05,-3.5487426684e-05,1793256038268727040
+136,2.266666667,POSE1_TO_POSE2_PRESS,782,753,728,711.169081241,698,651.169081241,929,798.169081241,833,674,651.169081241,678,0.40403539332,-0.0154662035535,0.079958357897,0.999999996182,2.73966768234e-05,-7.23970999654e-05,-4.05534500961e-05,1793256038285393920
+137,2.283333333,POSE1_TO_POSE2_PRESS,782,753,728,711.412764337,698,651,929,798,833,674,651.412764337,678,0.404404739228,-0.0154726904065,0.0799599544862,0.999999996256,4.45121143377e-05,-6.63278056716e-05,-3.3268703501e-05,1793256038302060544
+138,2.300000000,POSE1_TO_POSE2_PRESS,782,753,728,711.989752075,698,651,929,798,833,674,651.989752075,678,0.404792050915,-0.0154783377757,0.0799613571095,0.999999995376,7.36466772814e-05,-5.81391314784e-05,-2.10700500349e-05,1793256038318726912
+139,2.316666667,POSE1_TO_POSE2_PRESS,782,753,728.563816004,712,698,651.563816004,929,798,833,674,652,678.563816004,0.405200698992,-0.0154808712615,0.0799599691731,0.999999996114,6.19587576617e-05,-5.72150667542e-05,-2.56647693052e-05,1793256038335393536
+140,2.333333333,POSE1_TO_POSE2_PRESS,782,753,728.858120552,712,698,652,929,798.141879448,833,674,652,678.858120552,0.405616519093,-0.0154807574886,0.0799568282339,0.999999996239,5.38951339133e-05,-6.08721624173e-05,-3.02061536966e-05,1793256038352060160
+141,2.350000000,POSE1_TO_POSE2_PRESS,782,753,728.267232562,712,698,652,929,798.732767438,833,674,652,678.267232562,0.406053815576,-0.0154724440788,0.079948299225,0.999999994567,5.9637464335e-05,-7.86116234604e-05,-3.36177431057e-05,1793256038368727040
+142,2.366666667,POSE1_TO_POSE2_PRESS,782,753,728,712,698,652,929,798.685715914,833,674,652,678.314284086,0.406516538879,-0.0154690182146,0.0799410121703,0.999999993018,6.36632574021e-05,-9.30562125886e-05,-3.53729959715e-05,1793256038385393664
+143,2.383333333,POSE1_TO_POSE2_PRESS,782,753,728,712,698,652,929,798.111936837,833,674,652,678.888063163,0.407000256395,-0.0154696278498,0.0799347505591,0.999999991675,6.6271757439e-05,-0.00010478032626,-3.57606615621e-05,1793256038402060544
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.466845997,753,728.466845997,712,698,652,929,798,833,674,652,678.533154003,0.407525915302,-0.0154763882206,0.0799293350737,0.999999990761,5.72775954379e-05,-0.000117688375249,-3.67065181255e-05,1793256038418727424
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,753,728.953865439,712,698,652,929,798,833,674,652,678,0.408065385777,-0.0154840594398,0.0799246943004,0.999999989834,4.61927732313e-05,-0.000129481024925,-3.78497158305e-05,1793256038435394304
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,753,728.382623923,712,698,652,929,798,833,674,652,678,0.408646358207,-0.0154851301196,0.0799265371645,0.999999990422,4.33198844455e-05,-0.000125312033482,-3.96991975342e-05,1793256038452060928
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.80295771,753,728,712,698,652,929,798,833,674.19704229,652,678.19704229,0.409255116411,-0.0154856802716,0.0799393319172,0.99999999292,4.11293379956e-05,-0.000104024104297,-4.05874190773e-05,1793256038468727552
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.206201448,753,728,712,698,652,929,798,833,674.793798552,652,678.793798552,0.409920239949,-0.0154851744964,0.0799743433368,0.999999997253,4.03229704618e-05,-4.80092207149e-05,-3.95256574153e-05,1793256038485393920
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.37720612,753,728.37720612,712,698,652,929,798,833.37720612,674.62279388,652,679,0.410596145913,-0.015485799462,0.0799968714088,0.999999998451,3.83917454018e-05,-1.16157322757e-05,-3.85966083334e-05,1793256038502060544
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.953565951,753,728.953565951,712,698,652,929,798,833.953565951,674.046434049,652,679,0.411277744659,-0.0154870214254,0.0800128086401,0.999999998541,3.5866628773e-05,1.44182360962e-05,-3.77376276374e-05,1793256038518727168
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.475702902,753.524297098,729,712,698,652,929,798.524297098,833.475702902,674.524297098,652,679,0.411949122636,-0.0154892050463,0.079982826004,0.999999998007,3.13003338331e-05,-3.56159116303e-05,-4.16895768775e-05,1793256038535394304
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.098675865,754,729,712,698,652,929,799,833.098675865,675,652,678.901324135,0.412627802379,-0.0154910121461,0.0799507231415,0.999999994841,2.6183384125e-05,-8.67412070165e-05,-4.59249745069e-05,1793256038552060928
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.693891184,754,729,712,698,652,929,799,833.693891184,675,652,678.306108816,0.413347731162,-0.0154905005627,0.0799281984553,0.999999992562,1.91955333685e-05,-0.000109816863982,-4.94654334447e-05,1793256038568727552
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,753.719179915,729,711.719179915,698,652,929.280820085,798.719179915,833.719179915,675,652,678.280820085,0.414104413064,-0.0154916417846,0.0799280448881,0.99999999352,1.62281723781e-05,-0.000100771643013,-5.04188011074e-05,1793256038585394176
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,753.141024685,729,711.141024685,698,652,929.858975315,798.141024685,833.141024685,675,652,678.858975315,0.414900009631,-0.0154945330132,0.0799515780853,0.999999996998,1.75177457454e-05,-5.77165143107e-05,-4.86329307489e-05,1793256038602060544
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929.563862602,798,833,674.563862602,652,678.563862602,0.415690981373,-0.0154982344703,0.0799602562086,0.999999997251,1.22429113031e-05,-5.52041477209e-05,-4.79722478297e-05,1793256038618727168
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929,798,833,674,652,678,0.416482130027,-0.015502276922,0.0799640668839,0.999999996729,4.82981827442e-06,-6.51718725827e-05,-4.76654718079e-05,1793256038635393792
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929,798,833,674,652,678,0.417345786694,-0.015509777673,0.0799646199287,0.999999997686,-3.47324500451e-06,-4.90907889992e-05,-4.69635718635e-05,1793256038652060416
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,753,729,711.16680375,698,652,929,798,833,674,652,678.16680375,0.418216247639,-0.0155200076007,0.0799728836444,0.999999998561,-1.51926672235e-05,-2.31826637682e-05,-4.59419463149e-05,1793256038668727040
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,753,729,711.757271182,698,652,929,798,833,674,652,678.757271182,0.419103990667,-0.0155371693448,0.0800007316396,0.999999998011,-3.55892752232e-05,2.76850952177e-05,-4.41082519157e-05,1793256038685393920
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,753.341408229,729,712,698,652.341408229,929.341408229,798,833,674.341408229,652,678.658591771,0.419973951367,-0.0155454553538,0.0800010000897,0.999999997495,-4.6341172615e-05,3.03404361283e-05,-4.40606389677e-05,1793256038702060544
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,753.921126512,729,712,698,652.921126512,929.921126512,798,833,674.921126512,652,678.078873488,0.420831499593,-0.0155475459142,0.079982017442,0.999999997707,-5.03608603294e-05,-6.57496863649e-07,-4.52597481737e-05,1793256038718727424
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,753.502225436,729,712,698,653,929.502225436,798,833,675,652,678.497774564,0.421738896605,-0.0155460380907,0.0799851504402,0.999999997812,-4.74934165743e-05,1.23318212708e-06,-4.6030168284e-05,1793256038735394048
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,753.073761524,729,711.926238476,698,652.926238476,929,798,833,674.926238476,652,679,0.422658718068,-0.0155442205587,0.079993668978,0.999999997963,-4.25872819816e-05,1.09962795663e-05,-4.62641899044e-05,1793256038752060672
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,753.648541944,729,711.351458056,698,652.351458056,929,798,833,674.351458056,652,679,0.423609609092,-0.0155441484621,0.0800151117658,0.999999997813,-3.12005113952e-05,3.90519610881e-05,-4.33133281871e-05,1793256038768727040
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,753.770722189,729,711.229277811,698,652,929,797.770722189,833,674,652,679,0.424518509081,-0.0155435013846,0.0800085775334,0.999999998643,-2.45294845849e-05,1.63347563197e-05,-4.29528708862e-05,1793256038785393664
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,753.180613726,729,711.819386274,698,652,929,797.180613726,833,674,652,679,0.425361324966,-0.0155419494193,0.0799580138954,0.999999994869,-2.5279954263e-05,-8.62873145147e-05,-4.66691148994e-05,1793256038802060288
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,753,729,711.598214074,698,652,929,797,833,674,652,678.598214074,0.426285388503,-0.0155439479587,0.0799347497131,0.99999999233,-3.29597459042e-05,-0.000108425275442,-4.99828016482e-05,1793256038818727168
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,753,729,711.01921454,698,652,929,797,833,674,652,678.01921454,0.427245287464,-0.0155475125008,0.0799235263614,0.999999993116,-4.36958171872e-05,-9.50645272349e-05,-5.31189344906e-05,1793256038835394048
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929,797.555351884,833,674.555351884,652,678.555351884,0.428169847581,-0.0155476013346,0.0799261395224,0.999999992182,-4.51283251248e-05,-0.000103988895348,-5.27795096651e-05,1793256038852060672
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929,797.870557819,833.129442181,674.870557819,652,679,0.429112673613,-0.0155481274319,0.0799379296016,0.999999992894,-4.58793565194e-05,-9.71297384018e-05,-5.17083178028e-05,1793256038868727296
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,753,729,711,698,652,929,797.297577614,833.702422386,674.297577614,652,679,0.430122244764,-0.0155505606239,0.0799795373167,0.999999997229,-4.53895265607e-05,-3.3566726239e-05,-4.85384799958e-05,1793256038885393664
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,753,729,711.285173331,698,652.285173331,929.285173331,797.285173331,833.714826669,674,652,679,0.43110609285,-0.0155528439387,0.0800174138943,0.999999997573,-4.7351520269e-05,2.25422433517e-05,-4.5872300114e-05,1793256038902060288
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,753,729,711.878481703,698,652.878481703,929.878481703,797.878481703,833.121518297,674,652,679,0.432062146623,-0.0155549653083,0.0800512589064,0.999999995201,-5.19627547473e-05,7.05969783322e-05,-4.3750332189e-05,1793256038918727168
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,753,729,712,698,653,929.540014933,797.540014933,833,674,652,678.540014933,0.432931942276,-0.0155526930236,0.0800044730197,0.999999997163,-5.8288301549e-05,-3.02974199244e-06,-4.76238207729e-05,1793256038935393792
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,752.961758332,729,711.961758332,698,652.961758332,929.038241668,797.038241668,833,674,652,678.038241668,0.433784880792,-0.0155498234385,0.0799404593669,0.999999991349,-6.47034426853e-05,-0.000101582295978,-5.28772439544e-05,1793256038952060416
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,752.38639802,729,711.38639802,698,652.38639802,929.61360198,797.61360198,833,674,652,678.61360198,0.434713105075,-0.015554459242,0.0799261695053,0.999999990199,-6.61751922553e-05,-0.000110026826483,-5.58229194739e-05,1793256038968727296
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,752.193228154,729,711.193228154,698,652.193228154,930,797.806771846,833,674.193228154,652,678.806771846,0.435640202594,-0.0155576514352,0.0799291934935,0.999999991139,-6.66634568419e-05,-0.000100538741384,-5.63102165512e-05,1793256038985394176
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,752.781577447,729,711.781577447,698,652.781577447,930,797.218422553,833,674.781577447,652,678.218422553,0.436564996227,-0.0155578916736,0.0799676215748,0.99999999506,-6.51406497275e-05,-5.43812833201e-05,-5.17705173953e-05,1793256039002060800
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,752.635082033,729,712,698,653,929.635082033,796.635082033,833.364917967,675,652,678,0.437495170547,-0.0155614401703,0.0800030192448,0.999999996516,-6.72350867593e-05,-8.76870617486e-07,-4.94704571502e-05,1793256039018727424
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,752.05469897,729,712,698,653,929.05469897,796.05469897,833.94530103,675,652,678,0.438428521829,-0.0155669420216,0.0800366276123,0.999999994648,-7.14653184572e-05,5.69655342351e-05,-4.84927874816e-05,1793256039035393792
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.478542637,752,729,712,698,652.478542637,929,796,834,675,652,678.521457363,0.439258979758,-0.0155750844515,0.080020265085,0.999999994834,-8.56417730531e-05,2.18960036892e-05,-5.0185330648e-05,1793256039052060672
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,752,729,712,698,652,929,796.097284662,834,675,652,679,0.440056141268,-0.0155821389928,0.0799818501162,0.999999992443,-0.000100546518063,-4.6210487051e-05,-5.35647743912e-05,1793256039068727296
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,752,729,712,698,652,929,796.673657435,834,675,652,679,0.440742055707,-0.0155824830342,0.0798604417225,0.999999965156,-0.000113941166125,-0.000229400961213,-6.38832611673e-05,1793256039085393664
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,751.48896405,729,712,698,652,929,796.744482025,833.744482025,675,652,679,0.441452600706,-0.0155876182059,0.0797667209192,0.999999920929,-0.000132904163168,-0.000367728137411,-7.24895316039e-05,1793256039102060544
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,750.310917655,729,712,698,652,929,796.155458828,833.155458828,675,652,679,0.442195293763,-0.0155990068201,0.079709138311,0.999999884101,-0.000159135040513,-0.000447499175003,-7.88609971945e-05,1793256039118727424
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,749.574836185,729,711.574836185,697.574836185,652,929.425163815,795.574836185,833,675,652,679,0.442995710286,-0.0156154608833,0.0797379789951,0.999999901282,-0.000170988593034,-0.000403089679063,-7.56126169888e-05,1793256039135393792
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,749,729,711.002767381,697,651.997232619,930,795,833,675,652,678.997232619,0.443816403814,-0.0156337023026,0.0797976206939,0.999999932389,-0.000177718833676,-0.000314461830341,-6.89353794789e-05,1793256039152060672
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,749,729,711.578916196,697,651.421083804,930,795,833,675,652,678.421083804,0.444549996679,-0.0156459532683,0.0798185331996,0.999999937603,-0.000191042293059,-0.000289613105252,-6.6492181631e-05,1793256039168727040
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,749,729,712,697,651.158128044,929.841871956,794.683743911,833,674.841871956,652,678.158128044,0.445270680799,-0.0156563673722,0.0798285859575,0.999999938499,-0.00020351473828,-0.000278098955753,-6.51555074648e-05,1793256039185393664
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,749,729,712,697,651.745657782,929.254342218,793.508684436,833,674.254342218,652,678.745657782,0.445956310979,-0.0156617934232,0.0798091487322,0.999999929096,-0.00021367623093,-0.000302795261904,-6.68236328219e-05,1793256039202060288
+192,3.200000000,POSE1_TO_POSE2_PRESS,781.671434713,749,729,712,697,651.671434713,929,792.671434713,833,674,651.671434713,679,0.4466087465,-0.0156662197493,0.079781702078,0.999999916427,-0.000221696676471,-0.000336525401129,-6.88987481882e-05,1793256039218727168
+193,3.216666667,POSE1_TO_POSE2_PRESS,781.092055674,749,729,712,697,651.092055674,929,792.092055674,833,674,651.092055674,679,0.447235842488,-0.0156698829248,0.0797481413435,0.999999900327,-0.000228082730462,-0.000377151609631,-7.12845434749e-05,1793256039235393792
+194,3.233333333,POSE1_TO_POSE2_PRESS,781,749,729,712,696.515164048,651,929,791.515164048,833,674.484835952,651,679,0.447799930687,-0.0156755578516,0.079706263168,0.999999869627,-0.000241989375442,-0.000443420094197,-7.46084556259e-05,1793256039252060672
+195,3.250000000,POSE1_TO_POSE2_PRESS,781,749,729,712,696,650.938830817,929,791,833,675,651,679,0.448350032129,-0.015681120634,0.0796643886376,0.999999833428,-0.000256174278641,-0.000511312755082,-7.7960566961e-05,1793256039268727552
+196,3.266666667,POSE1_TO_POSE2_PRESS,781,749,729,712,696,650.363242011,929,791,833,675,651,679,0.448882602998,-0.01568254441,0.0796357579563,0.999999810376,-0.000260751972479,-0.000552128748125,-8.00595253262e-05,1793256039285394432
+197,3.283333333,POSE1_TO_POSE2_PRESS,781.217094502,749,729,712,696,650,929.217094502,790.782905498,833,674.782905498,651,679,0.449426411918,-0.0156861040406,0.0796246471865,0.999999800052,-0.000267562318546,-0.000567265652973,-8.07234436063e-05,1793256039302061056
+198,3.300000000,POSE1_TO_POSE2_PRESS,781.805552418,749,729,712,696,650,929.805552418,790.194447582,833,674.194447582,651,679,0.449989444675,-0.0156933172793,0.0796435061062,0.999999813211,-0.000278191855522,-0.000538475721921,-7.89325719343e-05,1793256039318727424
+199,3.316666667,POSE1_TO_POSE2_PRESS,782,749,729,712,696,650,929.61185145,789.61185145,833,674,651,679,0.450530923132,-0.0157003207157,0.0796716849374,0.999999832199,-0.000286831067725,-0.000497416061338,-7.68614007417e-05,1793256039335394048
+200,3.333333333,POSE1_TO_POSE2_PRESS,782,749,729,712,696,650,929.032148109,789.032148109,833,674,651,679,0.451061764398,-0.0157072206134,0.0797044632303,0.999999852466,-0.000294488037289,-0.000450301175788,-7.4651898938e-05,1793256039352060672
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,749,729,712,696,650,929,788.456508787,833.543491213,674.543491213,651,679,0.451481235892,-0.0157116006761,0.0796878250852,0.999999836791,-0.000297612580537,-0.000481910986054,-7.48787755217e-05,1793256039368727296
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695.878697323,650,929,787.878697323,833.878697323,675,651,679,0.451881084026,-0.0157159563438,0.0796640098293,0.999999814444,-0.000301808808918,-0.000523729131973,-7.57105148768e-05,1793256039385393920
+203,3.383333333,POSE1_TO_POSE2_PRESS,782,749,729,712,695.29162915,650,929,787.29162915,833.29162915,675,651,679,0.452230691356,-0.015720786406,0.0796237769124,0.999999776246,-0.000311141759341,-0.000586996774765,-7.83154952295e-05,1793256039402060544
+204,3.400000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,650,929,786.708574596,833,675,651,679,0.452585757049,-0.0157256178162,0.0795933630237,0.999999745657,-0.000320956030691,-0.000631644858512,-8.1836513562e-05,1793256039418727168
+205,3.416666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,650,929,786.129481938,833,675,651,679,0.452946210694,-0.0157304505567,0.0795726415417,0.999999724993,-0.000331245416167,-0.00065791349404,-8.62617569096e-05,1793256039435393792
+206,3.433333333,POSE1_TO_POSE2_PRESS,782,749,729,712,695,650,929,786,833,674.551176073,651,679,0.453279343739,-0.015731938518,0.0795685170202,0.999999717249,-0.000341675086802,-0.000664049507692,-8.8304841347e-05,1793256039452060416
+207,3.450000000,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.973215458,929,785.973215458,833.026784542,674,651,679,0.453602581308,-0.015732568595,0.0795690152475,0.999999713606,-0.000350944174829,-0.000664569270517,-8.92998472572e-05,1793256039468727296
+208,3.466666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649.397685784,929,785.397685784,833.602314216,674,651,679,0.453884280714,-0.0157353573857,0.0795662978499,0.999999716595,-0.000335608271128,-0.000668811137223,-8.28774322412e-05,1793256039485393920
+209,3.483333333,POSE1_TO_POSE2_PRESS,782,749,729,711.818247677,695,649,929,784.818247677,834,674.181752323,651,679,0.454153683404,-0.0157375220978,0.0795645328875,0.99999971935,-0.000322071946057,-0.000671954322162,-7.77624308069e-05,1793256039502060544
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,749,729,711.230069805,695,649,929,784.230069805,834,674.769930195,651,679,0.454395588748,-0.0157382912755,0.0795648977141,0.999999722075,-0.000312559751874,-0.000672640689077,-7.55710038176e-05,1793256039518727168
+211,3.516666667,POSE1_TO_POSE2_PRESS,781.647375793,749,729,711,695,649,929,784,834,674.647375793,650.647375793,679,0.454621270503,-0.0157408030035,0.0795643217548,0.999999719959,-0.000317435340836,-0.000673534461421,-7.52905427381e-05,1793256039535394048
+212,3.533333333,POSE1_TO_POSE2_PRESS,781.06820488,749,729,711,695,649,929,784,834,674.06820488,650.06820488,679,0.454836529287,-0.0157444342492,0.0795631413789,0.999999714613,-0.000331554494103,-0.000674561483301,-7.623779928e-05,1793256039552060672
+213,3.550000000,POSE1_TO_POSE2_PRESS,781.509049648,749,728.490950352,711.509049648,695,649,929,783.490950352,833.490950352,674,650.509049648,679,0.45500971711,-0.0157468097437,0.0795566291628,0.999999702348,-0.000344089267034,-0.000686266625189,-7.71068231542e-05,1793256039568727296
+214,3.566666667,POSE1_TO_POSE2_PRESS,782,749,728.086930797,711.913069203,695,649,929,783,833,674.086930797,650.913069203,679,0.455171118396,-0.0157491183888,0.0795491202286,0.9999996889,-0.000355386765019,-0.000699870570971,-7.79791848886e-05,1793256039585393920
+215,3.583333333,POSE1_TO_POSE2_PRESS,782,749,728.66984687,711.33015313,695,649,929,783,833,674.66984687,650.33015313,679,0.455297312068,-0.0157520019867,0.0795399851481,0.999999675331,-0.000360831613974,-0.000716175884869,-7.89301721442e-05,1793256039602060544
+216,3.600000000,POSE1_TO_POSE2_PRESS,781.74789069,749,729,711.25210931,695,649,929,783,833,674.74789069,650.25210931,678.74789069,0.455418189671,-0.0157539164903,0.0795340026914,0.999999666696,-0.000363310555394,-0.000726801822423,-7.98222640028e-05,1793256039618727168
+217,3.616666667,POSE1_TO_POSE2_PRESS,781.166482046,749,729,711.833517954,695,649,929,783,833,674.166482046,650.833517954,678.166482046,0.45553212354,-0.0157545651854,0.0795321381193,0.9999996648,-0.000361915496954,-0.00073000948954,-8.0637428026e-05,1793256039635393536
+218,3.633333333,POSE1_TO_POSE2_PRESS,781.412769464,749,729,712,695,649,929,782.587230536,833,674,651,678.412769464,0.455630223183,-0.0157551059564,0.0795278321371,0.999999660359,-0.000360990668639,-0.000736423543117,-8.15411694194e-05,1793256039652060160
+219,3.650000000,POSE1_TO_POSE2_PRESS,781.991155449,749,729,712,695,649,929,782.008844551,833,674,651,678.991155449,0.455721969618,-0.0157556034246,0.0795225465819,0.999999654846,-0.000360254511946,-0.000744124103005,-8.24804509081e-05,1793256039668726784
+220,3.666666667,POSE1_TO_POSE2_PRESS,782,749,729,712,695,649,929,782,833.563614588,674,650.436385412,679,0.455787210075,-0.0157568535646,0.0795198136517,0.999999649161,-0.000362662899328,-0.000750533830769,-8.27807524878e-05,1793256039685393664
+221,3.683333333,POSE1_TO_POSE2_PRESS,781.859520487,749,729,712,695,649,929,781.859520487,833.859520487,674.140479513,650.140479513,679,0.455845986373,-0.0157583942675,0.0795156730205,0.999999642014,-0.000365374812895,-0.000758666596614,-8.30509844672e-05,1793256039702060288
+222,3.700000000,POSE1_TO_POSE2_PRESS,781.268221487,749,729,712,695,649,929,781.268221487,833.268221487,674.731778513,650.731778513,679,0.455885339159,-0.0157608299197,0.0795068876578,0.999999630193,-0.000368904075893,-0.000772393174155,-8.32565625867e-05,1793256039718726912
+223,3.716666667,POSE1_TO_POSE2_PRESS,781,749,729,711.68351157,695,649,929,781,833.31648843,674.68351157,651,679,0.455922202889,-0.0157606133366,0.0795010539669,0.999999622545,-0.000368635981206,-0.000782346171335,-8.33825409591e-05,1793256039735393536
+224,3.733333333,POSE1_TO_POSE2_PRESS,781,749,729,711.104271897,695,649,929,781,833.895728103,674.104271897,651,679,0.455957000189,-0.0157581948467,0.0794976707765,0.999999618436,-0.000365215290008,-0.000789166313285,-8.34424350094e-05,1793256039752060416
+225,3.750000000,POSE1_TO_POSE2_PRESS,781,749,729,711,695,649,929,781,833.528558904,674.471441096,651,679,0.45598696373,-0.0157580651613,0.0794982503389,0.999999618646,-0.000366707525237,-0.000788177503079,-8.37208080371e-05,1793256039768727040
+226,3.766666667,POSE1_TO_POSE2_PRESS,781.04638138,748.95361862,729,711,695,649,929,781,833.04638138,674.95361862,651,679,0.456015018439,-0.0157584300479,0.0794997903095,0.999999619949,-0.000369014919716,-0.00078542262224,-8.39086305612e-05,1793256039785393920
+227,3.783333333,POSE1_TO_POSE2_PRESS,781.621339403,748.378660597,729,711,695,649,929,781,833.621339403,674.378660597,651,679,0.456033413039,-0.0157587049034,0.0795023610396,0.999999622942,-0.000368320545215,-0.000782078153045,-8.25179022148e-05,1793256039802060544
+228,3.800000000,POSE1_TO_POSE2_PRESS,781.798239969,748.201760031,729,711,695,649,929,781,833.798239969,674,651,679,0.4560474589,-0.015759633662,0.0795035296097,0.999999623998,-0.000368120543744,-0.000780928352307,-8.14947688996e-05,1793256039818726912
+229,3.816666667,POSE1_TO_POSE2_PRESS,781.207281932,748.792718068,729,711,695,649,929,781,833.207281932,674,651,679,0.456053115978,-0.015761823809,0.0795019933927,0.999999621333,-0.000368874195014,-0.00078401209883,-8.1180731776e-05,1793256039835393536
+230,3.833333333,POSE1_TO_POSE2_PRESS,781.374665231,749,729,711,695,649,929,781,833.374665231,674,650.625334769,679,0.456055846099,-0.0157610906398,0.0794989788563,0.999999618239,-0.000367607221881,-0.000788529384065,-8.12886714318e-05,1793256039852060416
+231,3.850000000,POSE1_TO_POSE2_PRESS,781.951744228,749,729,711,695,649,929,781,833.951744228,674,650.048255772,679,0.456056994924,-0.0157587781422,0.0794951656543,0.999999614889,-0.000365248601659,-0.000793821141824,-8.16245850378e-05,1793256039868727040
+232,3.866666667,POSE1_TO_POSE2_PRESS,781.472671878,749,728.472671878,711.527328122,695,649,929,781,834,674,650,678.472671878,0.456058407519,-0.0157591809618,0.079494475734,0.999999612605,-0.000366991543418,-0.000795901395809,-8.15356750234e-05,1793256039885393920
+233,3.883333333,POSE1_TO_POSE2_PRESS,781.105359292,749,728.105359292,711.894640708,695,648.894640708,929,781,834,674,650,678.105359292,0.456059653987,-0.0157595348387,0.0794939330324,0.99999961077,-0.000368270246925,-0.000797625860835,-8.14266042525e-05,1793256039902060544
+234,3.900000000,POSE1_TO_POSE2_PRESS,781.695272923,749,728.695272923,711.304727077,695,648.304727077,929,781,834,674,650,678.695272923,0.456060025728,-0.0157585240862,0.0794927566502,0.999999610571,-0.000365692583079,-0.000799061801646,-8.14030987906e-05,1793256039918726912
+235,3.916666667,POSE1_TO_POSE2_PRESS,782,749,729,711,695,648.279712717,929,781,833.720287283,674,650,678.720287283,0.456060873726,-0.0157569532899,0.079492155585,0.999999611093,-0.000363396867744,-0.00079946197105,-8.13480346219e-05,1793256039935393536
+236,3.933333333,POSE1_TO_POSE2_PRESS,782,749,729,711,695,648.858303687,929,781,833.141696313,674,650,678.141696313,0.456062230612,-0.0157547840764,0.0794921692566,0.999999612387,-0.000361402419333,-0.000798755399574,-8.12592493837e-05,1793256039952060160
+237,3.950000000,POSE1_TO_POSE2_PRESS,782,749,729,711,695,649,929,780.564572402,833.435427598,674,650,678.435427598,0.456064062858,-0.0157544297742,0.0794924791324,0.999999612804,-0.000362073506986,-0.000797967123523,-8.08934646442e-05,1793256039968727040
+238,3.966666667,POSE1_TO_POSE2_PRESS,782,749,728.987981333,711,695,649,929,780,833.987981333,674,650.012018667,679,0.45606601129,-0.0157546667189,0.0794928819805,0.999999612925,-0.000363571612513,-0.000797178416907,-8.04464986913e-05,1793256039985393408
+239,3.983333333,POSE1_TO_POSE2_PRESS,782,749,728.414055194,711,695,649,929,780,833.414055194,674,650.585944806,679,0.456066183773,-0.0157550263436,0.0794931401496,0.999999612678,-0.000363317196326,-0.000797608479095,-8.04042682916e-05,1793256040002060288
+240,4.000000000,POSE1_TO_POSE2_PRESS,782,748.835167741,728,711.164832259,695,649,929,780,833,674,650.835167741,679,0.456066534793,-0.0157553135899,0.0794930914775,0.999999612599,-0.00036301060344,-0.000797840692383,-8.04685723431e-05,1793256040018727424
+241,4.016666667,POSE1_TO_POSE2_PRESS,782,748.24343085,728,711.75656915,695,649,929,780,833,674,650.24343085,679,0.45606734821,-0.0157554133811,0.0794922481066,0.999999612955,-0.000362568876375,-0.000797560490096,-8.08087935693e-05,1793256040035394048
+242,4.033333333,POSE1_TO_POSE2_PRESS,782,748.316620151,728.316620151,711.683379849,694.683379849,649,929,780,833.316620151,674,650.316620151,679,0.456068721512,-0.015755772997,0.0794928680462,0.99999961381,-0.000362448092771,-0.000796582106514,-8.04274413895e-05,1793256040052060416
+243,4.050000000,POSE1_TO_POSE2_PRESS,782,748.854525883,728.854525883,711.145474117,694.145474117,649,929,780,833.854525883,674,650.854525883,679,0.456070486118,-0.0157563142043,0.0794945106924,0.99999961501,-0.000362551616324,-0.000795115764566,-7.95417820933e-05,1793256040068727040
+244,4.066666667,POSE1_TO_POSE2_PRESS,781.5459966,749,729,711,694.4540034,649,929,780.4540034,833.5459966,674,650.5459966,679,0.456072871412,-0.0157544298737,0.0794956437588,0.999999616265,-0.000361327373555,-0.000794033643186,-8.01494038991e-05,1793256040085393664
+245,4.083333333,POSE1_TO_POSE2_PRESS,781,749,729,711,695,649,929,780.929549783,833,674,650.070450217,679,0.456075329251,-0.0157519965664,0.0794965680894,0.999999617627,-0.000359706021465,-0.000792956461412,-8.10971206064e-05,1793256040102060288
+246,4.100000000,POSE1_TO_POSE2_PRESS,781,749,729,711,695,649,929,780.355000439,833,674,650.644999561,679,0.456076659804,-0.0157520688538,0.0794973504928,0.999999619644,-0.000358765096243,-0.000790895480089,-8.05174221973e-05,1793256040118727168
+247,4.116666667,POSE1_TO_POSE2_PRESS,781.225683149,749,729,711,695,648.774316851,929,780,833,674,650.774316851,679,0.456078009576,-0.0157518806499,0.0794983313974,0.999999621423,-0.000358249849945,-0.000788908084801,-8.02161816638e-05,1793256040135394048
+248,4.133333333,POSE1_TO_POSE2_PRESS,781.816285617,749,729,711,695,648.183714383,929,780,833,674,650.183714383,679,0.456079390426,-0.0157512712436,0.0794996332695,0.999999622821,-0.000358422906839,-0.000787039674443,-8.03651946765e-05,1793256040152060928
+249,4.150000000,HOLD_POSE2,782,749,729,711,695,649,929,780,833,674,650,679,0.45608551096,-0.0157527196423,0.0795026535576,0.999999626138,-0.000359713677342,-0.000782254832094,-8.0042941176e-05,1793256040188517632
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+251,4.183333333,HOLD_POSE2,782,749,729,711.238560877,694.238560877,649,929,781,833.238560877,674,650,679,0.456087509224,-0.0157517194158,0.0795025877418,0.999999627518,-0.000358985836853,-0.0007808362867,-7.99214397779e-05,1793256040221850368
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+253,4.216666667,HOLD_POSE2,782,749,729,711.589597624,695,649,929,780.589597624,833.589597624,674,650.410402376,679,0.456089783481,-0.0157523169683,0.0795047469208,0.999999630042,-0.000357728765532,-0.000778269926079,-7.90092665194e-05,1793256040255183360
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+255,4.250000000,HOLD_POSE2,782,749,728.433457447,711,695,649,929,780,833.566542553,674,650.433457447,679,0.456091158653,-0.0157509988032,0.0795052333478,0.999999630599,-0.000357073112374,-0.000777858418147,-7.89685775262e-05,1793256040288516864
+256,4.266666667,HOLD_POSE2,782,749,728.142043002,711,695,649,929,780.142043002,833.857956998,674,650.142043002,679,0.456091884318,-0.0157513472042,0.0795056602865,0.999999630789,-0.000357650244091,-0.00077734068069,-7.90555576537e-05,1793256040305183744
+257,4.283333333,HOLD_POSE2,782,749,728.716246839,711,695,649,929,780.716246839,833.283753161,674,650.716246839,679,0.456094179524,-0.0157513125364,0.0795069448712,0.99999963312,-0.000355271691794,-0.000775429675748,-7.90664393799e-05,1793256040321850624
+258,4.300000000,HOLD_POSE2,782,749,729,711.299454027,695,649,929,781,833.299454027,674,651,678.700545973,0.456095982367,-0.015751088521,0.0795077492613,0.999999634559,-0.000354329516615,-0.000774021321206,-7.88842852646e-05,1793256040338517248
+259,4.316666667,HOLD_POSE2,782,749,729,711.891456922,695,649,929,781,833.891456922,674,651,678.108543078,0.4560973042,-0.0157506795242,0.0795080845296,0.999999635135,-0.000354790597051,-0.000773104026488,-7.85135465511e-05,1793256040355183872
+260,4.333333333,HOLD_POSE2,782,749,728.528817092,711.528817092,695,649,929,781,833.528817092,674,650.528817092,678.471182908,0.456100183302,-0.0157508308115,0.079509596511,0.999999637243,-0.000354936837033,-0.000770310337759,-7.84627566606e-05,1793256040371850496
+261,4.350000000,HOLD_POSE2,782,749,728.048042703,711,695,649,929,781,833,674,650,678.951957297,0.456103355321,-0.0157509773948,0.0795113986138,0.99999963966,-0.000355020437422,-0.000767124349658,-7.84906180971e-05,1793256040388517120
+262,4.366666667,HOLD_POSE2,782,749,728.623695499,711,695,649,929,781,833,674,650,678.376304501,0.456105904536,-0.0157496908666,0.0795134855249,0.999999641787,-0.000355192402278,-0.000764256578706,-7.85933622814e-05,1793256040405183744
+263,4.383333333,HOLD_POSE2,781.79938551,749,729,711.20061449,695,649,929,780.79938551,833.20061449,674,650.20061449,678.20061449,0.456107371048,-0.0157493758202,0.0795143559607,0.999999642589,-0.000355439311208,-0.000763096121495,-7.8548356806e-05,1793256040421850368
+264,4.400000000,HOLD_POSE2,781.220076256,749,729,711.779923744,695,649,929,780.220076256,833.779923744,674,650.779923744,678.779923744,0.456106793769,-0.0157508946148,0.079512930088,0.9999996409,-0.000355827690155,-0.00076515851563,-7.82244481513e-05,1793256040438516992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,781,749,729,711,695,649,929,781,834,674,650,679,0.456107592691,-0.015750961663,0.0795149192977,0.999999643278,-0.000354209949877,-0.000762885386845,-7.73662304993e-05,1793256040473279232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,781,749,729,711,695,649,929,780.421567164,834,674,650,679,0.456108805132,-0.0157499981661,0.079514904331,0.999999644287,-0.00035236858887,-0.000762408389333,-7.74295126867e-05,1793256040489946112
+267,4.450000000,POSE2_TO_POSE3_RETREAT,781.155880899,749,729,711,695,649,929,780.155880899,834,674,650,679,0.456109620676,-0.015749203867,0.0795148185858,0.999999644825,-0.000351309884055,-0.00076217793489,-7.75657038523e-05,1793256040506612480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,781.730682569,749,729,711,695,649,929,780.730682569,834,674,650,679,0.45610936958,-0.0157488642771,0.0795145426273,0.999999644102,-0.000352354521438,-0.000762610050381,-7.78978336346e-05,1793256040523279104
+269,4.483333333,POSE2_TO_POSE3_RETREAT,782,749,729,711.313884293,695,649,929,781,833.686115707,674,650.313884293,678.686115707,0.456109737557,-0.0157488357332,0.0795149016242,0.999999644138,-0.000353170359381,-0.000762183409715,-7.79211601997e-05,1793256040539945728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,782,749,729,711.90449154,695,649,929,781,833.09550846,674,650.90449154,678.09550846,0.456110651316,-0.0157490814099,0.0795158204032,0.999999644841,-0.000353784485811,-0.000760999682591,-7.76722433096e-05,1793256040556612352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,782,749,729,711.515575798,695,649,929,780.515575798,833.484424202,674,651,678.484424202,0.456111185161,-0.0157494833958,0.0795161417535,0.999999645175,-0.000354567401904,-0.000760195771722,-7.76826214758e-05,1793256040573279232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,648.937756563,929,780,834,674.062243437,650.937756563,679,0.456111799265,-0.0157497748102,0.0795164710271,0.999999645659,-0.000355148614707,-0.000759285142537,-7.76963968167e-05,1793256040589946112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,648.360385987,929,780,834,674.639614013,650.360385987,679,0.456113684123,-0.0157489015853,0.0795178196726,0.999999647989,-0.000353791055748,-0.00075688493244,-7.73243208145e-05,1793256040606612736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,781.784363577,748.784363577,729,711,695,648.215636423,929,780,833.784363577,674.784363577,650.215636423,678.784363577,0.456113751267,-0.0157486491616,0.0795178634564,0.999999648758,-0.000352958603767,-0.00075627175785,-7.71790285097e-05,1793256040623279360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,781.210580372,748.210580372,729,711,695,648.789419628,929,780,833.210580372,674.210580372,650.789419628,678.210580372,0.456110799402,-0.0157494278159,0.0795157400178,0.999999646943,-0.00035299829297,-0.00075862663968,-7.74103973397e-05,1793256040639945472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,781,748.374173338,729,711.374173338,695,649,929,780,833.374173338,674,651,678,0.456097332377,-0.0157489881314,0.0795102465238,0.999999640289,-0.000353109331202,-0.000767261730151,-7.774704586e-05,1793256040656612096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,781,748.965287663,729,711.965287663,695,649,929,780,833.965287663,674,651,678,0.456077768796,-0.0157478420695,0.0795027991138,0.99999963071,-0.000353261736664,-0.000779538006579,-7.81447342304e-05,1793256040673278720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,781.545341446,749,729,711.454658554,695,649,929,780,834,674,650.454658554,678.545341446,0.456033338738,-0.0157442627335,0.0794880521396,0.99999961039,-0.000350732852926,-0.000806213611635,-7.89037870038e-05,1793256040689945600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,648.87707971,929,780.12292029,834,674,650.12292029,679,0.455983316884,-0.0157407916147,0.0794731985266,0.999999590609,-0.00034871458314,-0.000831180740778,-7.94934668607e-05,1793256040706612224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,648.306008226,929,780.693991774,834,674,650.693991774,679,0.455918564082,-0.0157382685013,0.079459616443,0.999999577487,-0.000349167818192,-0.000846643796861,-7.93834414956e-05,1793256040723279104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,781.732782588,749,729,711,695,648.267217412,929,780.732782588,833.732782588,674,651,679,0.455845910199,-0.0157350368834,0.0794486242041,0.999999565754,-0.000348839983845,-0.000860544424967,-7.91576063982e-05,1793256040739945984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,781.157070074,749,729,711,695,648.842929926,929,780.157070074,833.157070074,674,651,679,0.45576413474,-0.0157309873168,0.07944062187,0.999999555727,-0.00034761042651,-0.000872641272399,-7.87980721866e-05,1793256040756612608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,781.433464901,749,729,711,695,649,929,780.433464901,833.433464901,674,651,679,0.455675733886,-0.0157273339133,0.079442766315,0.999999560502,-0.0003445529047,-0.00086859209587,-7.63357946061e-05,1793256040773278976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833.971397206,674,650.971397206,678.971397206,0.455583606414,-0.0157237085809,0.0794487222699,0.999999570665,-0.000340805872209,-0.000858593719441,-7.30591962152e-05,1793256040789945600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833.394624972,674,650.394624972,678.394624972,0.455467698298,-0.0157177726347,0.0794547654124,0.999999578993,-0.00033698834335,-0.000850676878703,-6.92959148392e-05,1793256040806611968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833,674,650.181434886,678.181434886,0.455343191487,-0.0157121415353,0.0794606566029,0.999999587551,-0.00033299470395,-0.000842471505142,-6.52185960372e-05,1793256040823278592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833,674,650.755951295,678.755951295,0.455200055482,-0.0157071708919,0.0794662185862,0.999999596698,-0.000328619518831,-0.000833641021813,-6.04609107308e-05,1793256040839945216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833,674,651,679,0.455039570322,-0.0156997651205,0.079468937821,0.999999604199,-0.000322146362834,-0.000827437875647,-5.63104210645e-05,1793256040856612096
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782,749,729,711,695,649,929,781,833,674,651,679,0.454866272881,-0.0156905610187,0.0794695577007,0.999999610471,-0.000314123865253,-0.000823175004058,-5.260834188e-05,1793256040873278976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782,749,729,711,694.490140259,648.490140259,929,781,833.509859741,674,651,679,0.454651134733,-0.0156817479719,0.0794682195156,0.999999612594,-0.000305027390572,-0.000824323441236,-4.7555691531e-05,1793256040889945856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782,749,729,711,694.088647828,648.088647828,929,781.088647828,834,674,650.911352172,679,0.454425327665,-0.0156726945774,0.079466921676,0.999999614542,-0.000295148208221,-0.000825848617146,-4.21666936776e-05,1793256040906612480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,782,749,729,711,694.667970212,648.667970212,929,781.667970212,834,674,650.332029788,679,0.454171732321,-0.0156620186173,0.0794673103095,0.999999619011,-0.00028173918368,-0.000825415496041,-3.5925187175e-05,1793256040923278848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,781.757460685,749,729,711,695,649,929,782.242539315,834,674,650.242539315,679,0.453902381304,-0.0156516532171,0.079467660074,0.999999624995,-0.000263083990406,-0.000824584922283,-2.92784285115e-05,1793256040939945472
+294,4.900000000,POSE2_TO_POSE3_RETREAT,781.189273653,749,729,711,695,649,929,782.810726347,834,674,650.810726347,679,0.453611875795,-0.015641704794,0.0794679576505,0.999999632734,-0.000237384979533,-0.000823220704737,-2.20875545473e-05,1793256040956612096
+295,4.916666667,POSE2_TO_POSE3_RETREAT,781.396790552,749,729,711,695,649,929,783,834,674,651,679,0.453294942522,-0.0156314773073,0.0794660500333,0.999999641237,-0.000189235641944,-0.00082551593447,-1.54973349442e-05,1793256040973278720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,781.99178469,749,729,711,695,649,929,783,834,674,651,679,0.452964808142,-0.0156211104239,0.0794630408846,0.999999647374,-0.000129871986993,-0.000829639117741,-9.20715251916e-06,1793256040989945344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782,749.570803398,729,711,695,649,929,783.570803398,834,674,651,679,0.452586212049,-0.0156130172911,0.079469578766,0.999999659761,-0.000124028832471,-0.000815527963143,-2.93371582253e-06,1793256041006612224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782,749.701957928,729,711,695,649,929,784,833.850978964,674,651,679,0.452200917362,-0.0156064525877,0.0794785137521,0.999999672298,-0.000125778478551,-0.000799740000384,2.59761991214e-07,1793256041023278848
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782,748.548835987,729,711,695,649,929,784,833.274417994,674,651,679,0.451798351147,-0.0156041816037,0.0794939425239,0.999999685056,-0.000147161994616,-0.000779873727721,-5.38246139989e-06,1793256041039945728
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782,748.307534682,729,711,695,649.307534682,929,784.307534682,833,674,651,679,0.451386347267,-0.015604818975,0.0795116837664,0.999999704569,-0.00014639695699,-0.000754590859143,-4.70214297994e-06,1793256041056612352
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782,748.89438438,729,711,695,649.89438438,929,784.89438438,833,674,651,679,0.450965771687,-0.015608097828,0.079531525287,0.999999729752,-0.000125515739682,-0.000724388423842,1.72055436392e-06,1793256041073278720
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782,749,729,711,695.477599359,650,929,785.477599359,833.477599359,674,651,679,0.450503497903,-0.0156045979853,0.079553516173,0.999999757706,-0.000137151327938,-0.000682478816345,5.59956025553e-07,1793256041089945344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,781.940914247,749,729,711,696,650,929,786.118171507,834,674,651,679,0.450026446302,-0.0155995565264,0.0795764481244,0.999999784937,-0.000150796917699,-0.000638267678691,-1.12023614335e-06,1793256041106611968
+304,5.066666667,POSE2_TO_POSE3_RETREAT,781.367530122,749,729,711,696,650,929,787.264939755,834,674,651,679,0.449500420873,-0.0155940458395,0.0796034654193,0.999999814957,-0.000119820895226,-0.000596387727799,7.16334043737e-06,1793256041123278592
+305,5.083333333,POSE2_TO_POSE3_RETREAT,781,749,729,711.205929375,696,650,929,788.205929375,834,674,651,679,0.448948910648,-0.0155858775959,0.0796171992613,0.999999828264,-9.58157254404e-05,-0.000578041422474,1.26500940445e-05,1793256041139945472
+306,5.100000000,POSE2_TO_POSE3_RETREAT,781,749,729,711.779523408,696,650,929,788.779523408,834,674,651,679,0.448351900104,-0.0155729645721,0.0796072169309,0.999999815335,-8.425626256e-05,-0.000601711904331,1.31434218192e-05,1793256041156612352
+307,5.116666667,POSE2_TO_POSE3_RETREAT,781.353227334,749,729,712,696,650,929,789.353227334,834,674,651,679,0.447726668832,-0.0155641661128,0.0795882266286,0.999999798226,-7.05716463998e-05,-0.000631212633516,1.17671890786e-05,1793256041173279488
+308,5.133333333,POSE2_TO_POSE3_RETREAT,781.926999853,749,729,712,696,650,929,789.926999853,834,674,651,679,0.447083817356,-0.015557936672,0.0795636120029,0.999999777731,-5.55601448517e-05,-0.000664353603309,9.22365545635e-06,1793256041189946112
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782,748.479738617,729,711.479738617,696,650.520261383,929,790.520261383,834,674,651,678.479738617,0.446456134574,-0.0155524867495,0.0795785706995,0.999999794656,-5.26701145549e-05,-0.000638576175103,1.15452306552e-05,1793256041206612480
+310,5.166666667,POSE2_TO_POSE3_RETREAT,781.887973168,748,729,711,696,651,929,791,833.887973168,674,651.112026832,678.112026832,0.44582260425,-0.0155471066757,0.0796068436416,0.999999822027,-4.80143489517e-05,-0.000594481201639,1.52440164482e-05,1793256041223279104
+311,5.183333333,POSE2_TO_POSE3_RETREAT,781.314088609,748,729,711,696,651,929,791,833.314088609,674,651.685911391,678.685911391,0.445155849915,-0.015541546087,0.0796662244817,0.999999869159,-2.87939910994e-05,-0.000510277278158,2.16967882251e-05,1793256041239945728
+312,5.200000000,POSE2_TO_POSE3_RETREAT,781.260586374,748.260586374,729,711,696.260586374,651,929,791.521172749,833,674,651.739413626,679,0.444466006186,-0.0155323149019,0.0797112987541,0.999999898327,-7.91091717352e-06,-0.000450107507417,2.62129539848e-05,1793256041256612096
+313,5.216666667,POSE2_TO_POSE3_RETREAT,781.836217041,748.836217041,729,711,696.836217041,651,929,792.672434083,833,674,651.163782959,679,0.443748247702,-0.0155186460303,0.0797390766487,0.999999911707,1.49823533035e-05,-0.000418994591727,2.83877984981e-05,1793256041273278720
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782,749.426375632,729,711,697,651,929,793,833,674,651.426375632,679,0.443001956324,-0.0154930395811,0.0797442878729,0.999999915149,4.75162336273e-05,-0.000408355656258,2.62520666988e-05,1793256041289945344
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782,750.021625142,729,711,697,651.021625142,929.021625142,793.043250283,833.021625142,674,652,679,0.44224329296,-0.0154627770964,0.0797412019346,0.999999914307,8.37296440094e-05,-0.000404805186601,2.25334043997e-05,1793256041306612224
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,750.5992253,729,711,697,651.5992253,929.5992253,794.198450599,833.5992253,674,652,679,0.441458274233,-0.015434861385,0.0797555244109,0.999999923028,0.000115975271924,-0.000374167154251,2.21902297455e-05,1793256041323279104
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,751.175438133,729,711,697.175438133,652,930,795,833.824561867,674,652,679,0.440636726507,-0.0154135278355,0.0797530108586,0.999999919823,0.000143467036388,-0.000373235521145,2.15747590304e-05,1793256041339945728
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,751.748506561,729,711,697.748506561,652,930,795,833.251493439,674,652,679,0.4397323859,-0.015407112749,0.0797123384689,0.999999890325,0.000160184173722,-0.000439633404837,2.0342129691e-05,1793256041356612096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782,752,729,711.329731707,697.670268293,652,930,795,833,674,652,678.670268293,0.438871987182,-0.0154059916264,0.0796962818755,0.999999880771,0.000163360489222,-0.000459761015259,1.97927664303e-05,1793256041373278720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782,752,729,711.917335933,697.082664067,652,930,795,833,674,652,678.082664067,0.438045954039,-0.0154090107424,0.0796994765032,0.999999889209,0.000155946964924,-0.000443702137392,1.97777636071e-05,1793256041389945344
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782,752,729,712,697.500713574,652,929.499286426,795,833,674,652,678,0.437230048634,-0.0154123982685,0.0797676123713,0.999999927082,0.000163081114216,-0.000344241335861,2.71708768882e-05,1793256041406612224
+322,5.366666667,POSE2_TO_POSE3_RETREAT,781.917620642,752,729,712,698,652,929.082379358,795,833.082379358,674,652,678.082379358,0.436407060048,-0.0154148337113,0.0798396379897,0.999999955666,0.000172000577,-0.00024053237836,3.50388455677e-05,1793256041423278848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,781.342061061,752,729,712,698,652,929.657938939,795,833.657938939,674,652,678.657938939,0.435531740898,-0.0154112082453,0.0798713023402,0.999999964883,0.000177350208064,-0.000193132112428,3.84890380721e-05,1793256041439945728
+324,5.400000000,POSE2_TO_POSE3_RETREAT,781.232788752,752,729,711.767211248,698,652,929.767211248,795.232788752,833.767211248,674,652,679,0.434623152982,-0.0154077483851,0.0798777304931,0.999999965683,0.000184961035405,-0.00018122027425,3.97847667536e-05,1793256041456612608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,781.806598883,752,729,711.193401117,698,652,929.193401117,795.806598883,833.193401117,674,652,679,0.433665828215,-0.0154045311267,0.0798471891545,0.999999955609,0.000195884378967,-0.000221296819992,3.79243373896e-05,1793256041473279744
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,752.389842328,729,711,698,652,929.389842328,796,833,674,652,679,0.432674057267,-0.0154011752319,0.0797978805759,0.999999930874,0.000199694551,-0.000311810631793,3.38982779154e-05,1793256041489946368
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,752.977881664,729,711,698,652,929.977881664,796,833,674,652,679,0.431664773835,-0.015397748854,0.079739030678,0.999999888031,0.000199888362529,-0.000427966895082,2.87712053536e-05,1793256041506612480
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,752.440917293,728.440917293,711,698,652,930,796,833,674,652,678.440917293,0.430708910977,-0.015396158808,0.0797247583996,0.999999873301,0.000211256983158,-0.00045590220611,3.03510560717e-05,1793256041523278848
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,752.139061687,728,711,698,652,929.860938313,796,833,674,652,678.139061687,0.429780183851,-0.015396003634,0.079733866569,0.999999878044,0.000218965148743,-0.000441435315288,3.3176983441e-05,1793256041539945472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782,752.71603395,728,711,698,652,929.28396605,796,833,674,652,678.71603395,0.428930333424,-0.015400140918,0.0798111142137,0.999999930087,0.000213771043702,-0.000304300173324,3.91013898786e-05,1793256041556612096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782,753,728.290694982,711,698,652,929,796,833,674,652,678.709305018,0.428029444545,-0.015399702805,0.0798521984624,0.999999948719,0.000215717263753,-0.000232762555322,4.30142814317e-05,1793256041573278976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,753,728.863116058,711,698,652,929,796,833,674,652,678.136883942,0.427079091966,-0.0153948304607,0.0798582350692,0.999999948502,0.000224583509769,-0.000224798575471,4.49777200958e-05,1793256041589945600
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,753,729,711,698,652.449665613,929,796.449665613,833,674,652,678.449665613,0.426117305391,-0.0153923697683,0.079821136554,0.999999933271,0.000229188676611,-0.000281444707602,4.14668315483e-05,1793256041606612224
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,753,729,711,698,652.960264673,929,796.960264673,833,674,652,679,0.425151584701,-0.0153905892729,0.0797725281844,0.999999909257,0.000232500655946,-0.000355091698308,3.66057823009e-05,1793256041623279360
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,753,729,711,698,652.382652505,929,796.382652505,833,674,652,679,0.424181255171,-0.0153877562435,0.079751628815,0.999999897647,0.000236435556617,-0.000383996443587,3.67580174225e-05,1793256041639945984
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,753,729,711,698,652,929,796,833,674,652,678.805969276,0.423233395251,-0.0153847604555,0.0797390508613,0.999999889083,0.000242909945103,-0.000401823027997,3.69743566216e-05,1793256041656612352
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,753,729,711,698,652,929,796,833,674,652,678.231109199,0.422329636869,-0.0153814452166,0.0797428055716,0.999999887787,0.000254368656042,-0.000397906211957,3.73165147021e-05,1793256041673278976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.647518368,753,729,711,698,652,929,796.352481632,833,674,652,678,0.421479046215,-0.0153840883584,0.0797849392241,0.999999914623,0.000249293733947,-0.000327089218855,4.02437488285e-05,1793256041689945344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.058057747,753,729,711,698,652,929,796.941942253,833,674,652,678,0.42066420112,-0.0153907374143,0.0798528756476,0.9999999495,0.000233102984887,-0.000211294172895,4.49089701011e-05,1793256041706611968
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781.523419924,753,728.476580076,711,698,652.523419924,929,797,833,674,652,678.523419924,0.419791588208,-0.0153900782844,0.079862264853,0.999999951419,0.000237078769403,-0.000197171169301,4.55913972751e-05,1793256041723279104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,652.896978051,929,797,833,674,652,679,0.418909140471,-0.015388218634,0.0798569957707,0.999999948142,0.000241496476372,-0.000208246136281,4.50334088098e-05,1793256041739945984
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,652.321973368,929,797,833,674,652,679,0.41801055038,-0.0153845169299,0.0798138763059,0.999999930591,0.000237844782753,-0.000283872387552,4.0786123633e-05,1793256041756612864
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,652,929,797,833,674,652,679,0.417146324905,-0.0153822151168,0.0797976083516,0.999999920001,0.000238938832987,-0.000318356417234,3.94325910902e-05,1793256041773279488
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,652,929,797,833,674,652,679,0.416325827248,-0.0153816946153,0.0798155079899,0.999999923706,0.00024607167457,-0.000300488433242,4.17612561022e-05,1793256041789945600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,753,728.413988303,711,698,652,929,797,833,674,652,679,0.415492105611,-0.0153772337891,0.0798040375629,0.999999915059,0.000250645020301,-0.000324591859605,4.12189665748e-05,1793256041806612224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,753,728.995469926,711,698,652,929,797,833,674,652,678.995469926,0.414653524957,-0.0153711625619,0.0797802243303,0.999999899912,0.000254042037216,-0.000366172879235,3.94518116868e-05,1793256041823278592
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,753,728.416481663,711,698,652,929,797,833,674,652,678.416481663,0.413914311153,-0.0153740815512,0.0797803907663,0.999999906513,0.000246759331738,-0.000353076459985,3.77025935565e-05,1793256041839945216
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782,752.838505001,728.161494999,711.161494999,698,652,929,797,833,674,652.161494999,678.161494999,0.41318649677,-0.0153763172888,0.0797855379127,0.999999913626,0.000242717792661,-0.000335344451767,3.71568088745e-05,1793256041856612096
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782,752.263120813,728.736879187,711.736879187,698,652,929,797,833,674,652.736879187,678.736879187,0.412487897359,-0.0153768019482,0.0798034499265,0.999999921976,0.000246982910094,-0.000305732071817,3.96952561382e-05,1793256041873278720
+350,5.833333333,POSE2_TO_POSE3_RETREAT,782,752.311277492,728.688722508,711.688722508,698,652,929,797.311277492,833,674.311277492,652.688722508,679,0.411776487072,-0.0153754927358,0.0798044824695,0.999999919383,0.000253479247132,-0.000308740700848,4.07709218686e-05,1793256041889945600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782,752.884845035,728.115154965,711.115154965,698,652,929,797.884845035,833,674.884845035,652.115154965,679,0.41105428207,-0.0153726719632,0.0797912919554,0.99999990735,0.000261855664224,-0.000339236593893,4.06140118381e-05,1793256041906612480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782.474177006,753,728,711.474177006,698,652,929,798,833,674.525822994,652,678.525822994,0.410382212813,-0.0153708886678,0.0797883299179,0.999999905621,0.000259921686558,-0.000345797850397,4.02849651678e-05,1793256041923279360
+353,5.883333333,POSE2_TO_POSE3_RETREAT,782.934558078,753,728,711.934558078,698,652,929,798,833,674,652,678.065441922,0.40973274198,-0.0153696624531,0.0797914188471,0.999999908459,0.000256094008291,-0.000340408567337,4.02424394197e-05,1793256041939945984
+354,5.900000000,POSE2_TO_POSE3_RETREAT,782.359091715,753,728,711.359091715,698,652,929,798,833,674,652,678.640908285,0.40916123878,-0.0153707467318,0.0798216412683,0.999999924197,0.000257693046215,-0.000288740688661,4.27699301952e-05,1793256041956612608
+355,5.916666667,POSE2_TO_POSE3_RETREAT,782.216831404,753,728,711,698,652,929,798,833,674,652,679,0.408592248597,-0.0153717537298,0.079842436532,0.999999933006,0.000259386356946,-0.000254385759783,4.46611723581e-05,1793256041973279232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,782.79351249,753,728,711,698,652,929,798,833,674,652,679,0.408027429032,-0.0153726324741,0.0798475866436,0.999999933901,0.000261236121976,-0.00024876311194,4.54965071265e-05,1793256041989945856
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782.622485107,753,728,711,698,652,929,798,833,674,652,678.622485107,0.407448120614,-0.0153689197087,0.0798241355,0.999999920658,0.000265816597369,-0.000293552219044,4.30521024701e-05,1793256042006612736
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782.034398947,753,728,711,698,652,929,798,833,674,652,678.034398947,0.406860730513,-0.0153626458788,0.0797847310723,0.999999895131,0.000271920214703,-0.000366460127918,3.87783158688e-05,1793256042023279360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,651.453946889,929,798,833,674,652.546053111,678.546053111,0.406370039417,-0.0153637748739,0.079771163989,0.999999890704,0.000269758624414,-0.000379976733536,3.7952121884e-05,1793256042039945984
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782,753,728,711.12525915,698,651,929,798,833,674,652.87474085,678.87474085,0.405903774366,-0.0153654802159,0.0797678436957,0.999999892673,0.000268582221393,-0.00037559603512,3.80278692358e-05,1793256042056612864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782,753,728,711.70168566,698,651,929,798,833,674,652.29831434,678.29831434,0.405503849971,-0.0153676049287,0.0797956493043,0.999999910752,0.000272803870292,-0.000320041755543,4.05808128882e-05,1793256042073279488
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782,753,728,711.717164606,698,651.282835394,928.717164606,798,833,674,652,678,0.405112801255,-0.0153677655931,0.0798162693061,0.999999920878,0.000273411294755,-0.000285883500838,4.19683481958e-05,1793256042089945856
+363,6.050000000,POSE2_TO_POSE3_RETREAT,782,753,728,711.130948588,698,651.869051412,928.130948588,798,833,674,652,678,0.404731272974,-0.0153658195399,0.0798291817352,0.999999924902,0.000270141957063,-0.000274675487469,4.21058195637e-05,1793256042106612224
+364,6.066666667,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,652,928,798,833,674,652,678,0.404356922653,-0.0153646197134,0.079834379626,0.999999925491,0.000270905058239,-0.000271650937489,4.28227908405e-05,1793256042123278848
+365,6.083333333,POSE2_TO_POSE3_RETREAT,782,753,728.028329305,711,698,651.971670695,928,798,833,674,652,678,0.403986669024,-0.0153634695278,0.0798370764993,0.999999924875,0.00027304027757,-0.000271648452206,4.36563507716e-05,1793256042139945472
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782,753,728.606799709,711,698,651.393200291,928,798,833,674,652,678,0.403655877564,-0.0153591151956,0.0798342954294,0.999999919544,0.000279297629481,-0.000284623144976,4.35171310708e-05,1793256042156612096
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782,753,728.815270219,711,698,651,928.184729781,798,833,674,652,678.184729781,0.403345558418,-0.0153556878923,0.0798345889341,0.99999991648,0.00028520028207,-0.000289452102231,4.37955313665e-05,1793256042173278976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782,753,728.238486971,711,698,651,928.761513029,798,833,674,652,678.761513029,0.403078687867,-0.0153542280301,0.079841407633,0.999999918475,0.00029035015278,-0.000276993299459,4.4960249889e-05,1793256042189945856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,651.343968796,928.656031204,798,833,674,652,678.656031204,0.402830680955,-0.0153529738656,0.0798444342271,0.999999917901,0.000295790693368,-0.000273130583215,4.5880730697e-05,1793256042206612480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,753,728,711,698,651.930423549,928.069576451,798,833,674,652,678.069576451,0.40259597222,-0.0153518647107,0.0798447875207,0.999999915578,0.000301436146589,-0.000275327805746,4.66290325895e-05,1793256042223278848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782.510421805,753,728,711,698,651.489578195,928,798,833,674,652,678,0.402383025001,-0.0153541071564,0.0798425792758,0.999999917308,0.000292685426724,-0.000278627215235,4.5667712295e-05,1793256042239945472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782.910659137,753,728.089340863,711.089340863,698,651,928.089340863,798,833,674,652,678.089340863,0.402179858194,-0.0153571714957,0.0798400287731,0.999999919091,0.000283447008871,-0.000281901603086,4.48047678114e-05,1793256042256612352
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,782,753,728.183781423,711.183781423,697.183781423,651.816218577,928.183781423,798,833.816218577,674,652,678.183781423,0.401736394577,-0.0153683370369,0.0798451465665,0.999999925277,0.000271460726066,-0.000271050873004,4.78200079119e-05,1793256042306611968
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..133259a3c133df645295b8d7e0d7d4a5e64811ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10be77da3163bd2fa15d471cf738acb3ba52e967
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fa4b9b1ac73adca06dc830ad703937856fa5852
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/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,783,754,730,710,697,654,929,799,835,671,652,677,0.400924208585,0.0043988437149,0.0599393976185,0.999999971087,-0.000126226036082,-0.000202547210635,-2.94469102429e-05,1793256044666885120
+1,0.016666667,BASELINE,783,754,730,710.57585742,697,654,929,799,835,671,652,677,0.400924020042,0.00440028297036,0.0599390971748,0.999999971124,-0.000125084780933,-0.000203005967495,-2.98936452408e-05,1793256044683551744
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+3,0.050000000,BASELINE,783.740958106,754,730,711,697,654,929,799,835,671,652,677,0.400925276514,0.00440146401897,0.0599398546235,0.999999971557,-0.000124199382895,-0.000201428811163,-2.97867287637e-05,1793256044716885504
+4,0.066666667,BASELINE,784,753.675924947,730,711,697,654,929,799,835,671,652,677,0.400925922997,0.00440147008856,0.0599403815285,0.999999971711,-0.000124411288925,-0.000200522714515,-2.98428264434e-05,1793256044733551872
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+6,0.100000000,BASELINE,783.517780033,753,730,710.517780033,697.482219967,654,928.517780033,799,835,671,652,677,0.400926990272,0.00440041048561,0.0599411251258,0.999999971943,-0.000124737911762,-0.000199165795551,-2.9788213625e-05,1793256044766885376
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+9,0.150000000,BASELINE,784,753,730,711,698,654,929,799,835,671.215479402,652.784520598,677,0.400927208097,0.0043997993347,0.0599400326115,0.999999971865,-0.000125804489242,-0.000198938275219,-2.94491924039e-05,1793256044816885248
+10,0.166666667,BASELINE,784,753,730,711,698,654,929,799,835,671.803370819,652.196629181,677,0.400927497471,0.00440132586865,0.0599404579407,0.999999972331,-0.000122867841887,-0.000198394072965,-2.96843451142e-05,1793256044833551872
+11,0.183333333,BASELINE,783.616806012,753.383193988,730.383193988,711,698,654,928.616806012,799,835.383193988,672,652,677,0.400926192227,0.00440159047917,0.0599391555424,0.999999971978,-0.000122473347337,-0.000200409327714,-2.96647727751e-05,1793256044850218496
+12,0.200000000,BASELINE,783.041037497,753.958962503,730.958962503,711,698,654,928.041037497,799,835.958962503,672,652,677,0.400924085606,0.00440122090892,0.0599369848731,0.999999971207,-0.000123356413995,-0.000203710840129,-2.95171881246e-05,1793256044866885120
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+14,0.233333333,BASELINE,783,753.88981916,730,711,697,654,928.11018084,799,835.11018084,671,652.11018084,677,0.400926426555,0.00440166508588,0.0599404632359,0.999999972312,-0.000121813309772,-0.000199194899732,-2.93079992557e-05,1793256044900218368
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+16,0.266666667,BASELINE,783,753.2688274,730,710.7311726,697,654,929,799,835.7311726,671,653,677,0.400924821189,0.00440084758669,0.0599390091686,0.999999971392,-0.000125204381635,-0.000201701726817,-2.92471984149e-05,1793256044933551872
+17,0.283333333,BASELINE,783,753.861837279,730,710.138162721,697,654,929,799,835.138162721,671,653,677,0.400925081296,0.00439972207205,0.0599383537417,0.999999971393,-0.000125367635065,-0.000201605297159,-2.91813657653e-05,1793256044950218496
+18,0.300000000,BASELINE,783.444244058,754,730,710,697.444244058,654,929,799,835.444244058,671,653,677,0.400926031008,0.004400313737,0.0599389628922,0.999999971591,-0.000125578047735,-0.000200460885508,-2.93797265397e-05,1793256044966885376
+19,0.316666667,BASELINE,784,753.976866015,730,710.023133985,698,654,929,799,835.976866015,671.023133985,652.976866015,677,0.400927088902,0.00440139634558,0.0599399004135,0.999999971831,-0.000125755454983,-0.000199113545552,-2.96357262762e-05,1793256044983552256
+20,0.333333333,BASELINE,784,753.404999103,730,710.595000897,698,654,929,799,835.404999103,671.595000897,652.404999103,677,0.400925744217,0.00440175169174,0.0599395154933,0.99999997168,-0.00012481019722,-0.000200503535883,-2.93553870603e-05,1793256045000218624
+21,0.350000000,BASELINE,784,753.168267793,730,711,697.831732207,654,929,799,835.168267793,671.831732207,652,677,0.400925092166,0.00440223083254,0.0599391693017,0.99999997168,-0.000123500904592,-0.000201331732171,-2.92133855984e-05,1793256045016885248
+22,0.366666667,BASELINE,784,753.744932458,730,711,697.255067542,654,929,799,835.744932458,671.255067542,652,677,0.400926121182,0.00440301043089,0.059938917107,0.99999997205,-0.000121308075821,-0.000200796417599,-2.94071388982e-05,1793256045033551872
+23,0.383333333,BASELINE,784,754,730,710.6682333,697,654,929,799,835.6682333,671.3317667,652.3317667,677,0.400926517955,0.00440248892645,0.0599389272006,0.999999972035,-0.000121902060966,-0.000200542282302,-2.92157334648e-05,1793256045050218496
+24,0.400000000,BASELINE,784,754,730,710.073333224,697,654,929,799,835.073333224,671.926666776,652.926666776,677,0.400926413281,0.00440093548137,0.0599391453223,0.999999971709,-0.00012470634533,-0.000200511158032,-2.87188479721e-05,1793256045066885120
+25,0.416666667,BASELINE,784,754,730.504087209,710.504087209,697.504087209,654,929,799,835.504087209,672,652.495912791,677.504087209,0.400925682983,0.00440149980107,0.0599388296867,0.999999971501,-0.000125580216322,-0.000200945720396,-2.91398361748e-05,1793256045083552000
+26,0.433333333,BASELINE,784,754,730.921236121,711,698,654,929,799,835.921236121,672,652,677.921236121,0.400924971831,0.0044022955782,0.0599384949645,0.999999971353,-0.000125915755737,-0.000201396815997,-2.96491931244e-05,1793256045100218880
+27,0.450000000,BASELINE,784,754,730.348353982,711,698,654,929,799,835.348353982,672,652,677.348353982,0.400924932613,0.00440267540304,0.0599385113064,0.999999971484,-0.000124576846259,-0.000201540871411,-2.99033107695e-05,1793256045116885504
+28,0.466666667,BASELINE,784,754,730,711,698,654,929,799,835,671.76858724,652,677,0.400925854752,0.00440273327349,0.05993894571,0.999999971734,-0.000123671023981,-0.000200874883425,-2.97697990471e-05,1793256045133552128
+29,0.483333333,BASELINE,784,754,730,711,698,654,929,799,835,671.178139116,652,677,0.400928268433,0.00440229163382,0.0599400287337,0.999999972169,-0.000123437133707,-0.000198952118462,-2.9034882914e-05,1793256045150218496
+30,0.500000000,BASELINE,783.594849722,753.594849722,730,711,698,654,929,799,835.405150278,671,652,677,0.400928374697,0.00440163275524,0.0599402926154,0.999999972136,-0.000124316676738,-0.000198572306268,-2.90203196186e-05,1793256045166885120
+31,0.516666667,BASELINE,783.01465329,753.01465329,730,711,698,654,929,799,835.98534671,671,652,677,0.400927484035,0.00440088001808,0.0599402025847,0.9999999719,-0.000125677281317,-0.000198859130584,-2.93169865202e-05,1793256045183552000
+32,0.533333333,BASELINE,783,753.55883656,730,711,698,654,929,799,836,671,652,677,0.400926179169,0.00440186542976,0.0599387875077,0.999999971796,-0.000123664255216,-0.00020063799918,-2.93114198029e-05,1793256045200218624
+33,0.550000000,BASELINE,783,754,730,710.867159865,698,654,929,799,835.867159865,671,652.132840135,677,0.400925464771,0.00440284004737,0.0599379329133,0.999999971815,-0.000121957308615,-0.000201585059854,-2.9338303216e-05,1793256045216885504
+34,0.566666667,BASELINE,783,754,730,710.290861356,698,654,929,799,835.290861356,671,652.709138644,677,0.400926757352,0.00440362828921,0.0599390639805,0.999999972251,-0.000121563946876,-0.000199626252385,-2.94996562654e-05,1793256045233552128
+35,0.583333333,BASELINE,783,754,730,710.292907152,698,654,929,799,835,671,653,677,0.400926579047,0.00440387185109,0.0599392084209,0.999999972276,-0.000121355724888,-0.000199642472112,-2.93769097741e-05,1793256045250218752
+36,0.600000000,BASELINE,783,754,730,710.884287684,698,654,929,799,835,671,653,677,0.400924901904,0.00440356038233,0.0599383474854,0.999999971884,-0.000121336160884,-0.000201671250996,-2.89646649089e-05,1793256045266885376
+37,0.616666667,BASELINE,783.467355589,753.532644411,730,711,698,654,929,799,835,671.467355589,652.532644411,677,0.400925253564,0.00440349730755,0.0599387104643,0.99999997182,-0.000122571610443,-0.000201216889534,-2.91078539253e-05,1793256045283552256
+38,0.633333333,BASELINE,783.95214697,753.04785303,730,710.95214697,698,654,928.95214697,799,835,671.95214697,652.04785303,677,0.400926045455,0.00440349592876,0.0599393063473,0.999999971842,-0.000123953762749,-0.000200224262814,-2.93581278174e-05,1793256045300218624
+39,0.650000000,BASELINE,783.377683157,753.622316843,730,710.377683157,698,654,928.377683157,799,835,671.377683157,652.622316843,677,0.400926250786,0.00440350853716,0.0599391888096,0.999999971942,-0.00012359061526,-0.000199955638796,-2.9299922745e-05,1793256045316885248
+40,0.666666667,BASELINE,783,754,730,710.20067502,698,654,928.20067502,799,835,671,652.79932498,677,0.400926545575,0.00440368936055,0.0599390469948,0.999999972059,-0.00012317102982,-0.000199627705666,-2.93320687684e-05,1793256045333552128
+41,0.683333333,BASELINE,783,754,730,710.786507653,698,654,928.786507653,799,835,671,652.213492347,677,0.400927012064,0.00440419304069,0.0599388585847,0.999999972206,-0.000122643122467,-0.00019918593997,-2.95376265754e-05,1793256045350219264
+42,0.700000000,BASELINE,783,754,730,711,697.629692602,654,929,799,835.370307398,671,652.370307398,677,0.400927010551,0.00440440171814,0.0599388058274,0.999999972469,-0.000120902853721,-0.000198925681147,-2.95633687928e-05,1793256045366885888
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+47,0.783333333,BASELINE,783,753.262213302,730,710,698,654,928.262213302,799,835,671.262213302,652.737786698,677,0.400927021776,0.00440242216677,0.0599383789286,0.999999971977,-0.000122580119379,-0.000200481153162,-2.87600804394e-05,1793256045450218752
+48,0.800000000,BASELINE,783,753.852141988,730,710,698,654,928.852141988,799,835,671.852141988,652.147858012,677,0.400926205308,0.00440444920386,0.0599380137112,0.999999972133,-0.000119775654781,-0.000201393479671,-2.87895791299e-05,1793256045466885376
+49,0.816666667,BASELINE,783,754,730,710,697.566658431,654,929,799,835,671.566658431,652,677,0.400926736226,0.0044038766712,0.0599389206781,0.999999972261,-0.000120596923456,-0.000200255456544,-2.88578329752e-05,1793256045483552256
+50,0.833333333,BASELINE,783,753.988464698,730,710,697.011535302,654,929,799,835,671,652,677,0.400927692712,0.00440248396648,0.0599402183627,0.999999972371,-0.000122588113469,-0.000198477746551,-2.89377335985e-05,1793256045500219136
+51,0.850000000,BASELINE,783,753.414474815,730,710,697.585525185,654,929,799,835,671,652,677,0.40092742591,0.00440349499933,0.0599398199151,0.999999972288,-0.000122494041789,-0.000198947217888,-2.89534895679e-05,1793256045516885760
+52,0.866666667,BASELINE,783,753,730,710,698,654,929,799,835,671,652,677,0.400927595928,0.00440412862056,0.0599397439226,0.999999972345,-0.000121999136143,-0.00019896523909,-2.89753681471e-05,1793256045533552128
+53,0.883333333,BASELINE,783,753,730,710,698,654,929,799,835,671,652,677,0.400928900958,0.0044037815971,0.0599405057792,0.999999972759,-0.000120462726575,-0.00019781023819,-2.90131553629e-05,1793256045550219264
+54,0.900000000,BASELINE,783,753.315440622,730,710,698,654,929,798.684559378,835.315440622,671,652,677.315440622,0.400929208529,0.00440305769976,0.0599405222395,0.999999972721,-0.000121392605118,-0.000197438999821,-2.89719964373e-05,1793256045566885888
+55,0.916666667,BASELINE,783,753.912784665,730,710,698,654,929,798.087215335,835.912784665,671,652,677.912784665,0.40092862469,0.00440199699726,0.059939872553,0.999999972274,-0.000124526559599,-0.000197768195523,-2.88602848101e-05,1793256045583552256
+56,0.933333333,BASELINE,783,754,730,710,697.50785741,654,929,798.49214259,835.50785741,671,652,677.50785741,0.400927738975,0.00440255500278,0.0599398258028,0.999999972124,-0.000124846615773,-0.000198285400667,-2.91378952943e-05,1793256045600218880
+57,0.950000000,BASELINE,783,754,730,710,697,654,929,799,835,671,652,677,0.400926803918,0.00440328800524,0.059939721734,0.999999972005,-0.000124631888355,-0.000198975932516,-2.94233616885e-05,1793256045616885248
+58,0.966666667,BASELINE,783,754,730,710,697,654,929,799,835,671,652,677,0.40092588571,0.00440326581981,0.0599384271605,0.999999971738,-0.000124018604809,-0.000200714332703,-2.92731133212e-05,1793256045633551872
+59,0.983333333,BASELINE,783.22147239,754,730,710,697,654,929,799,835,671,652,677,0.400926486838,0.00440307912123,0.059938181228,0.999999971853,-0.000123595926117,-0.000200423350234,-2.91363758771e-05,1793256045650218496
+60,1.000000000,BASELINE,783.812598875,754,730,710,697,654,929,799,835,671,652,677,0.400929623853,0.00440261783781,0.0599396855561,0.999999972599,-0.000123491381183,-0.000196745175588,-2.90221891568e-05,1793256045666885376
+61,1.016666667,BASELINE,783.604853987,754,730,710,697,654,929,799,835.395146013,671.395146013,652,677,0.40092987654,0.00440268316685,0.0599398414355,0.999999972732,-0.000122897692357,-0.000196444731127,-2.90062631524e-05,1793256045683552256
+62,1.033333333,BASELINE,783.026289242,754,730,710,697,654,929,799,835.973710758,671.973710758,652,677,0.400928790382,0.00440299293869,0.0599393713925,0.999999972582,-0.000122076952904,-0.000197712160448,-2.90359477783e-05,1793256045700218880
+63,1.050000000,BASELINE,783.550083256,754,730,710.550083256,697,654,929,799,835.449916744,671.449916744,652.550083256,677,0.400928324496,0.00440179691602,0.0599391695908,0.999999972389,-0.000123381248506,-0.000197878229092,-2.90252293993e-05,1793256045716885760
+64,1.066666667,BASELINE,784,753.874185288,730,710.874185288,697.125814712,654,929,799,835,671,652.874185288,677,0.400927821693,0.00440123695978,0.0599388297382,0.999999972216,-0.000123954789755,-0.000198394515173,-2.90214919286e-05,1793256045733552384
+65,1.083333333,BASELINE,784,753.300364919,730,710.300364919,697.699635081,654,929,799,835,671,652.300364919,677,0.400927082296,0.00440319716728,0.0599379528412,0.99999997212,-0.000121566036622,-0.000200344551032,-2.90494607173e-05,1793256045750218752
+66,1.100000000,BASELINE,783.718290656,753.281709344,730,710,697.718290656,653.718290656,928.718290656,799,835,671.281709344,652,677,0.400927342646,0.00440398023819,0.0599379115676,0.999999972186,-0.000121034479622,-0.000200322371411,-2.9148763021e-05,1793256045766885376
+67,1.116666667,BASELINE,783.127150313,753.872849687,730,710,697.127150313,653.127150313,928.127150313,799,835,671.872849687,652,677,0.400928701123,0.00440347033605,0.0599387881471,0.999999972433,-0.000122542876617,-0.000198133899981,-2.93264184246e-05,1793256045783552000
+68,1.133333333,BASELINE,783,754,730,710,697,653.455321443,928,798.544678557,835,671.544678557,652,677,0.400928938205,0.00440379350254,0.0599391706283,0.999999972699,-0.000121303491982,-0.000197560457184,-2.92673941481e-05,1793256045800218624
+69,1.150000000,BASELINE,783,754,730,710,697,654,928.035003937,798.035003937,835,671,652,677,0.400928832554,0.00440428358401,0.0599394034837,0.999999972952,-0.000119414439202,-0.000197453285994,-2.91310218073e-05,1793256045816885248
+70,1.166666667,BASELINE,783,754,730,710,697,654,928.608322815,798.608322815,835,671,652,677,0.400928182031,0.00440382977514,0.059939417584,0.999999972946,-0.000119114392002,-0.000197710504508,-2.88025829554e-05,1793256045833552384
+71,1.183333333,BASELINE,783,754,730,710,697.185721056,654,928.814278944,799,835,671.185721056,652,677,0.400927677824,0.00440344620264,0.0599392978568,0.999999972898,-0.000118988371995,-0.000198056623241,-2.86094551948e-05,1793256045850219520
+72,1.200000000,BASELINE,783,754,730,710,697.771915811,654,928.228084189,799,835,671.771915811,652,677,0.400927489121,0.00440321408201,0.0599388895547,0.999999972759,-0.000119237609944,-0.000198594439187,-2.87081011457e-05,1793256045866886144
+73,1.216666667,BASELINE,783,753.643379698,730,710.356620302,698,654,928.356620302,799,835,671.643379698,652,677,0.400926475234,0.00440303424358,0.0599381280288,0.999999972415,-0.000120374870298,-0.000199630449538,-2.87824552292e-05,1793256045883552512
+74,1.233333333,BASELINE,783,753.059624406,730,710.940375594,698,654,928.940375594,799,835,671.059624406,652,677,0.400924935778,0.0044028877042,0.0599371415312,0.999999971935,-0.000122077720871,-0.00020098376479,-2.88413375765e-05,1793256045900218624
+75,1.250000000,BASELINE,783,753,730,711,697.480323054,654,929,798.480323054,835,671,652.519676946,677,0.400925862491,0.00440310946298,0.0599380744633,0.999999972058,-0.000122918262805,-0.000199851678884,-2.88720015701e-05,1793256045916884992
+76,1.266666667,BASELINE,783.096806919,753.096806919,730,710.903193081,697.096806919,654,929,798.096806919,835,671,652.903193081,677,0.400926880126,0.00440346816693,0.059939015118,0.99999997224,-0.000123354553601,-0.000198661498003,-2.89318307821e-05,1793256045933551616
+77,1.283333333,BASELINE,783.665816805,753.665816805,730,710.334183195,697.665816805,654,929,798.665816805,835,671,652.334183195,677,0.400926972802,0.00440429049461,0.0599389283698,0.999999972382,-0.000122297481933,-0.000198567065963,-2.91495796198e-05,1793256045950218752
+78,1.300000000,BASELINE,783.755495866,753.755495866,730,710.244504134,698,654,929,799,835,671,652,677,0.400927481043,0.00440447918367,0.0599392519653,0.999999972578,-0.000121688203962,-0.000197949921885,-2.91835418253e-05,1793256045966885888
+79,1.316666667,BASELINE,783.163036562,753.163036562,730,710.836963438,698,654,929,799,835,671,652,677,0.400928580677,0.00440376613808,0.0599401595232,0.99999997285,-0.000121716183738,-0.000196588903458,-2.89559562517e-05,1793256045983552768
+80,1.333333333,BASELINE,783.420232785,753,730,710.579767215,698,654,929,799,835,671,652,677,0.400929379826,0.0044029965802,0.0599402750466,0.999999972858,-0.00012264261521,-0.000196008549315,-2.87104168276e-05,1793256046000219392
+81,1.350000000,BASELINE,783.999987008,753.000012992,730,710.000012992,697.999987008,654,929,798.999987008,835,671,652,677,0.40093006483,0.00440220558642,0.0599400898429,0.999999972764,-0.000123910082715,-0.000195724639329,-2.84580690449e-05,1793256046016885504
+82,1.366666667,BASELINE,783.424119242,753.575880758,730,710.575880758,697.424119242,654,929,798.424119242,835,671,652,677,0.400927952504,0.00440229534554,0.0599390327772,0.999999972598,-0.000121885602456,-0.000197820172844,-2.85648413932e-05,1793256046033552128
+83,1.383333333,BASELINE,783.154391496,753.845608504,730,710.845608504,697.154391496,654,929,798.154391496,835,671,652,677,0.400926888946,0.00440259887156,0.0599384477914,0.99999997251,-0.000120595330839,-0.000199031480676,-2.86909713409e-05,1793256046050218752
+84,1.400000000,BASELINE,783.740289159,753.259710841,730,710.259710841,697.740289159,654,929,798.740289159,835,671,652,677,0.400928756573,0.00440349985105,0.0599391822133,0.999999972663,-0.000121357086019,-0.000197771481648,-2.88712035391e-05,1793256046066885376
+85,1.416666667,BASELINE,784,753.322230798,730,710,698,654,929,799,835,671,652,677,0.400928514371,0.00440389262418,0.0599387835123,0.999999972451,-0.000122173973183,-0.00019830975513,-2.90800851531e-05,1793256046083552000
+86,1.433333333,BASELINE,784,753.901022604,730,710,698,654,929,799,835,671,652,677,0.400926592317,0.00440388076203,0.059937482616,0.999999971946,-0.000123034756531,-0.000200279817979,-2.93117774963e-05,1793256046100218624
+87,1.450000000,BASELINE,783.52246956,754,730,710.47753044,698,654,929,799,835,671,652.47753044,677.47753044,0.400926676652,0.00440482574727,0.059937685446,0.999999972132,-0.000121906187448,-0.000200019758741,-2.94294055999e-05,1793256046116885504
+88,1.466666667,BASELINE,783,754,730,710.946345499,698,654,929,799,835,671,653,677.946345499,0.400927165881,0.00440576733969,0.0599381591036,0.999999972439,-0.00012047471236,-0.000199341846739,-2.95002250791e-05,1793256046133552384
+89,1.483333333,BASELINE,783,754,730,710.369369241,698,654,929,799,835,671,653,677.369369241,0.400927567442,0.00440475067472,0.0599382488113,0.999999972543,-0.000120091381964,-0.00019907536637,-2.93439902696e-05,1793256046150218752
+90,1.500000000,BASELINE,783.211366218,754,730,710,698,654,929,799,835,671,653,677,0.400927637846,0.00440425229155,0.0599384694238,0.999999972632,-0.00011986134625,-0.000198773066629,-2.92880426754e-05,1793256046166885376
+91,1.516666667,BASELINE,783.798789891,754,730,710,698,654,929,799,835,671,653,677,0.400927119062,0.00440467602245,0.0599389229391,0.999999972696,-0.000119904048618,-0.000198407037995,-2.94105235874e-05,1793256046183552000
+92,1.533333333,BASELINE,783.616703901,754,730,710,698,654,928.616703901,799,835,671,652.616703901,677,0.400926356961,0.00440389780444,0.0599384190612,0.999999972371,-0.000120898442424,-0.000199472387818,-2.91963367074e-05,1793256046200218624
+93,1.550000000,BASELINE,783.033717584,754,730,710,698,654,928.033717584,799,835,671,652.033717584,677,0.400925468095,0.00440249339319,0.0599374163992,0.999999971838,-0.000122388649966,-0.000201283459455,-2.88067521113e-05,1793256046216885248
+94,1.566666667,BASELINE,783,753.458540417,730,710.541459583,698,654,928.541459583,799,835,671,652.541459583,677,0.400926413586,0.00440392095095,0.0599377993349,0.999999972395,-0.000120236591511,-0.00019979806746,-2.88649184153e-05,1793256046233551872
+95,1.583333333,BASELINE,783,753.11593869,730,710.88406131,698,654,929,799,835,671,653,677,0.400927337793,0.00440496084837,0.0599383304393,0.999999972822,-0.000118942957867,-0.00019842293557,-2.89399223865e-05,1793256046250218496
+96,1.600000000,BASELINE,783,753.68955469,730,710.31044531,698,654,929,799,835,671,653,677,0.400927733466,0.0044037841621,0.0599391106834,0.99999997249,-0.000121920645502,-0.000198281887363,-2.89728921066e-05,1793256046266885120
+97,1.616666667,BASELINE,783,753.727764032,730,710.272235968,698,654,929,799,835,671,653,677,0.400927475677,0.00440310147386,0.0599390161142,0.999999972261,-0.000123093272917,-0.000198705664731,-2.90226463211e-05,1793256046283551744
+98,1.633333333,BASELINE,783,753.134389073,730,710.865610927,698,654,929,799,835,671,653,677,0.400926447042,0.00440300152292,0.0599378895848,0.999999972159,-0.000122136588507,-0.000199795729953,-2.90922001051e-05,1793256046300218368
+99,1.650000000,BASELINE,783,753,730.447262724,711,698,654,929,799,835,671.447262724,653,677,0.400927092194,0.00440383471002,0.0599379890112,0.999999972364,-0.00012110248897,-0.000199406081868,-2.90479594226e-05,1793256046316884992
+100,1.666666667,BASELINE,783,753.025265293,730.974734707,711,697.974734707,654,929,799,835,671.974734707,652.974734707,677,0.400928199378,0.00440495351023,0.0599384374959,0.999999972652,-0.000120058503875,-0.000198599119482,-2.89879156152e-05,1793256046333551872
+101,1.683333333,BASELINE,783,753.598566742,730.401433258,711,697.401433258,654,929,799,835,671.401433258,652.401433258,677,0.400928698184,0.00440634115966,0.0599386713187,0.999999972826,-0.000119291759963,-0.000198137900932,-2.93078029764e-05,1793256046350218496
+102,1.700000000,BASELINE,783,754,730,711,697.172469621,654,929,799,835,671,652,677,0.400928801508,0.00440695899941,0.0599389290262,0.999999972961,-0.000118733096559,-0.000197763123074,-2.95014935047e-05,1793256046366885376
+103,1.716666667,BASELINE,783,754,730,711,697.747777184,654,929,799,835,671,652,677,0.400927981101,0.00440577879161,0.0599392425211,0.999999973007,-0.000118660447679,-0.000197590245132,-2.94004255723e-05,1793256046383553024
+104,1.733333333,BASELINE,783,754,730,711,698,654,929,799,835.332635622,671,652,677,0.400927380226,0.00440583312847,0.0599388690018,0.999999972945,-0.000118250511497,-0.000198163385971,-2.92957436813e-05,1793256046400219648
+105,1.750000000,BASELINE,783,754,730,711,698,654,929,799,835.924950213,671,652,677,0.400926950735,0.00440685123838,0.0599379591505,0.999999972798,-0.000117577264907,-0.000199318921984,-2.91882404668e-05,1793256046416885760
+106,1.766666667,POSE1_TO_POSE2_PRESS,783,754,730,710,698,654,929,798,835,671,652,677,0.400928525808,0.00440398402207,0.0599392272098,0.999999972642,-0.000122035937186,-0.000197470069966,-2.88005688558e-05,1793256046447844096
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,754,730,710.572989695,698,654,929,798.572989695,835,671,652.572989695,677,0.400927912811,0.00440380039177,0.0599392654417,0.999999972717,-0.000121281422967,-0.000197573567944,-2.86787701412e-05,1793256046464510720
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,754,730,711,698,654,929,799,835,671.146471045,653,677,0.400927212619,0.00440353440233,0.0599389716962,0.999999972673,-0.000120914840185,-0.000198033705113,-2.85649882772e-05,1793256046481177344
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,754,730,711,698,654,929,799,835,671.721390691,653,677,0.400926257369,0.00440302750069,0.0599377068698,0.999999972284,-0.000121683011756,-0.00019953706257,-2.84746568107e-05,1793256046497843968
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,754,730,710.69317495,698,654,929,799,835,671.69317495,652.69317495,677,0.400926745413,0.00440264434156,0.0599377264861,0.999999972136,-0.00012313708273,-0.000199377657491,-2.85184536504e-05,1793256046514510592
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,754,730,710.097854044,698,654,929,799,835,671.097854044,652.097854044,677,0.400928590529,0.00440237753279,0.0599389538148,0.999999972213,-0.000125236078629,-0.000197654820316,-2.86883662106e-05,1793256046531176960
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,754,730,710,697.519927255,654,929,799,835,671,652.480072745,677,0.400930045225,0.00440415169199,0.0599390643566,0.99999997267,-0.000122442329144,-0.000197038098205,-2.905750041e-05,1793256046547844096
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.054621238,753.945378762,730,710.054621238,697.054621238,654,929,798.945378762,835.054621238,671,653,677,0.400932145733,0.00440613907702,0.0599392121748,0.999999973299,-0.000118813643827,-0.000196011771684,-2.9406823537e-05,1793256046564511488
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.629581369,753.370418631,730,710.629581369,697.629581369,654,929,798.370418631,835.629581369,671,653,677,0.400941130057,0.00440633320977,0.0599418078121,0.999999974937,-0.000116399467035,-0.000189010710735,-2.91941048708e-05,1793256046581177600
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.789018405,753.210981595,730,711,698,654,929,798.210981595,835.789018405,671,652.789018405,677,0.40095604675,0.00440621255287,0.0599464166573,0.999999977004,-0.000115752846272,-0.000178176746465,-2.90940417784e-05,1793256046597843712
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.19595542,753.80404458,730,711,698,654,929,798.80404458,835.19595542,671,652.19595542,677,0.400981706787,0.00440552182129,0.0599546713617,0.999999979711,-0.000118307217117,-0.000160401509088,-2.91979945968e-05,1793256046614510336
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,754,730.386411127,711,698,654,929,799,835,671,652.386411127,677,0.401014568297,0.00440517901036,0.0599601500704,0.999999982155,-0.0001199663156,-0.000142838182223,-2.99305430356e-05,1793256046631176960
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,754,730.963499496,711,698,654,929,799,835,671,652.963499496,677,0.401050983426,0.00440500788321,0.0599642589455,0.999999984318,-0.000121183635962,-0.000125379422451,-3.09732763326e-05,1793256046647843584
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,754,730.461514589,710.461514589,698,654,929,799,835,671,653,677,0.40109901944,0.00440726181716,0.0599671757327,0.999999986553,-0.000119184925409,-0.000107817135138,-3.26147458609e-05,1793256046664509952
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,753.887413827,730,710,698,654,929,798.887413827,835,671,652.887413827,677,0.401149112489,0.00440884991959,0.059969209835,0.999999987956,-0.000118457291729,-9.43587129062e-05,-3.39593205606e-05,1793256046681176832
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,753.316339427,730,710,698,654,929,798.316339427,835,671,652.316339427,677,0.401204387149,0.00440705973172,0.0599679771339,0.999999986995,-0.000123790196385,-9.76410510211e-05,-3.39302107742e-05,1793256046697843712
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,753,730,710.265986034,698,654,928.734013966,798,835,671,652.265986034,677,0.401271267205,0.00440591056961,0.0599679794321,0.999999986852,-0.000126152156053,-9.59893164893e-05,-3.41658795042e-05,1793256046714510592
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,753,730,710.862283449,698,654,928.137716551,798,835,671,652.862283449,677,0.401352559271,0.00440555745729,0.0599695153987,0.999999987716,-0.000124824685055,-8.82102662413e-05,-3.47303600772e-05,1793256046731177472
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,753.441852197,730.441852197,711,698,654,928.441852197,798.441852197,835,671,652.558147803,677,0.401453419116,0.00440603040847,0.0599707169642,0.999999987931,-0.000125685656733,-8.40006590163e-05,-3.58437573465e-05,1793256046747844096
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,754,730.983585292,711,698,654,929,799,835,671,652.016414708,677,0.401561031101,0.00440671888834,0.0599719592296,0.999999987977,-0.000127196658269,-8.05655235478e-05,-3.71057426003e-05,1793256046764510976
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,754,730.408424958,711,698,654,929,799,835,671,652.591575042,677,0.401698452524,0.00440629950135,0.0599780052636,0.999999988789,-0.000128463190414,-6.70047518916e-05,-3.78143394272e-05,1793256046781177344
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,754,730,710.828314794,697.828314794,654,929,799,835,671,652.828314794,677,0.401841119788,0.00440628114949,0.05998273186,0.999999989347,-0.000129312821824,-5.5541866935e-05,-3.87132400549e-05,1793256046797843456
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,754,730,710.23607991,697.23607991,654,929,799,835,671,652.23607991,677,0.401996636924,0.00440724514901,0.059984226441,0.999999989647,-0.000129141238312,-4.92178401533e-05,-4.00782972531e-05,1793256046814510080
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.347189063,753.652810937,730,710.347189063,697,654,928.652810937,799,835,671,652,677,0.402173726679,0.00440748770436,0.0599847476799,0.999999990092,-0.000127549889345,-4.31836641378e-05,-4.10190863265e-05,1793256046831176960
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.924514974,753.075485026,730,710.924514974,697,654,928.075485026,799,835,671,652,677,0.40236511602,0.00440725204518,0.0599846237317,0.99999999062,-0.000125017438284,-3.73416172237e-05,-4.16786462584e-05,1793256046847843840
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.500584733,753.499415267,730,710.500584733,697.499415267,654,928.499415267,799,835.499415267,671,652.499415267,677,0.402594672443,0.00440807771905,0.059985430893,0.999999990738,-0.000125805220901,-2.91886720314e-05,-4.29506577158e-05,1793256046864510464
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,754,730,710,698,654,929,798.92406141,835.92406141,671,652.92406141,677,0.40283375543,0.00440898424731,0.0599865069103,0.99999999075,-0.000126924632877,-2.07823263451e-05,-4.42599919838e-05,1793256046881177088
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,754,730,710,698,654,929,798.334081499,835.334081499,671,652.334081499,677,0.403098464012,0.00440935745101,0.0599884548113,0.999999990841,-0.000126908261439,-1.30136067196e-05,-4.51983773069e-05,1793256046897843712
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,754,730,710,698,654,928.748479301,798,835,671,652,677,0.40337719555,0.00440936983333,0.0599893017769,0.999999991064,-0.000125427468484,-7.82475213001e-06,-4.55991956882e-05,1793256046914510336
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,754,730,710,698,654,928.16859235,798,835,671,652,677,0.403674234375,0.00440891115473,0.0599887114452,0.99999999151,-0.000122034838419,-6.0039731649e-06,-4.52982075891e-05,1793256046931176960
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,754,730,710.409090709,698,654,928,798,835,671,652,677,0.403989791103,0.00441077577131,0.0599771388438,0.999999991946,-0.000116205024462,-2.2900631267e-05,-4.56158930512e-05,1793256046947843584
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,754,730,710.985870364,698,654,928,798,835,671,652,677,0.404312938432,0.00441359272172,0.0599610645385,0.999999991825,-0.00010937619298,-4.74696887154e-05,-4.61871768162e-05,1793256046964510464
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,753.440509476,730,710.440509476,698,654,928.559490524,798,835,671,652,677,0.404674627227,0.00441630162127,0.0599452787332,0.999999990348,-0.000105703417892,-7.67772736725e-05,-4.72764334934e-05,1793256046981177088
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.137166612,753.137166612,730,710.137166612,698,654,929,798,835,671,652.137166612,677,0.405051296604,0.00441797228512,0.0599336407706,0.999999988663,-0.000102584731828,-9.91843450197e-05,-4.8091840463e-05,1793256046997843968
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.728535792,753.728535792,730,710.728535792,698,654,929,798,835,671,652.728535792,677,0.405474366458,0.00441621400269,0.0599357136556,0.99999998891,-0.000101038367755,-9.83475635083e-05,-4.79573706904e-05,1793256047014510592
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.687159108,753.687159108,730,710.687159108,698,654,929,798,835,671,652.687159108,677,0.405941876677,0.00441559225097,0.0599516275689,0.999999991364,-9.96706069381e-05,-7.10750561981e-05,-4.7810921519e-05,1793256047031177216
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.108848362,753.108848362,730,710.108848362,698,654,929,798,835,671,652.108848362,677,0.406447098052,0.00441593493383,0.0599792866723,0.99999999379,-9.84544045253e-05,-2.13697772248e-05,-4.76543067889e-05,1793256047047843584
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,929,798,835,671,652,677,0.406991628883,0.00441726008686,0.0600097034686,0.999999993809,-9.5675676077e-05,3.03266887401e-05,-4.80473769362e-05,1793256047064510208
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,753.040353105,730,710,698,654,929,798.040353105,835,671,652,677,0.407544293139,0.00441869309339,0.0600381727714,0.999999991532,-9.28362924541e-05,7.72435817993e-05,-4.84810429777e-05,1793256047081177344
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,753.61376386,730,710,698,654,929,798.61376386,835,671,652,677,0.408084002103,0.00441854172023,0.0600324697899,0.999999992935,-9.39813654898e-05,5.49245713929e-05,-4.77674019602e-05,1793256047097843968
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,753.805891854,730,710,698,654,929,798.805891854,835,671,652,677,0.408632103225,0.00441879994539,0.0600237579751,0.999999993175,-0.000102749140415,2.93539506751e-05,-4.72341152465e-05,1793256047114510848
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,753.211240215,730,710,698,654,929,798.211240215,835,671,652,677,0.40919752159,0.00441990337953,0.0600088374126,0.999999990792,-0.000127246412948,-2.92638891015e-06,-4.70729909094e-05,1793256047131177728
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,929,798,835.370919512,671,652,677,0.409811794448,0.00442052893761,0.0600048625913,0.999999989654,-0.000135282151538,-1.02064321197e-05,-4.78218250399e-05,1793256047147844352
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,929,798,835.946196812,671,652,677,0.410452983627,0.00442089121025,0.0600069183174,0.999999989778,-0.000134248421367,-3.7125823913e-06,-4.90720000411e-05,1793256047164510720
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,753.521326811,730,710,698,654,929,798,835.478673189,671.521326811,652,677,0.411146814158,0.00442160138171,0.0600144606012,0.999999990221,-0.000129675281445,1.60038424228e-05,-4.98678802814e-05,1793256047181177344
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,753.903869825,730,710,698,654,929,798,835,671.903869825,652.096130175,677,0.411846117397,0.00442287443141,0.060018408328,0.999999990624,-0.000124002327615,2.8402163925e-05,-5.06857763569e-05,1793256047197843712
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,753.330612413,730,710,698,654,929,798,835,671.330612413,652.669387587,677,0.412545626022,0.00442676308293,0.0600017053926,0.999999992077,-0.000114683130289,-2.29299580044e-06,-5.18455860882e-05,1793256047214510080
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,929,798,835,671,652.746562432,677,0.41323683297,0.00442840468418,0.0599752767445,0.999999991368,-0.000107769049853,-5.41813172753e-05,-5.21034877934e-05,1793256047231176704
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,929,798,835,671,652.147807108,677,0.413916728685,0.00442698459959,0.0599355964625,0.999999984166,-0.000104132025548,-0.000134946084275,-5.1132507515e-05,1793256047247843328
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,753,730.432331205,710,698,654.432331205,929,798,835.432331205,671,652.432331205,677,0.414712090806,0.00442730751236,0.0599522759682,0.999999988113,-0.000103322949611,-0.000101824745664,-5.22524235917e-05,1793256047264509952
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.993632589,752.993632589,730.993632589,710,698,654.993632589,929.006367411,798,835.993632589,671,653,677,0.415545544257,0.00442819181733,0.0599874995977,0.999999992699,-0.000103417419745,-3.14026583413e-05,-5.40347979937e-05,1793256047281176832
+157,2.616666667,POSE1_TO_POSE2_PRESS,782.419594785,752.419594785,730.419594785,710,698,654.419594785,929.580405215,798,835.419594785,671,653,677,0.416400840545,0.00442819268683,0.0600290621383,0.999999992742,-0.000101428480178,3.65545150324e-05,-5.37779318539e-05,1793256047297843712
+158,2.633333333,POSE1_TO_POSE2_PRESS,782.158717843,752.158717843,730.158717843,710,698,654,929.841282157,798,835,671,653,677.158717843,0.417249452356,0.0044276256731,0.0600560946366,0.999999990379,-9.97140749929e-05,8.02920210331e-05,-5.33987060884e-05,1793256047314510592
+159,2.650000000,POSE1_TO_POSE2_PRESS,782.748644384,752.748644384,730.748644384,710,698,654,929.251355616,798,835,671,653,677.748644384,0.418079903558,0.00442551581966,0.0600436515416,0.999999992041,-9.87455330354e-05,5.82289109466e-05,-5.26870511426e-05,1793256047331176960
+160,2.666666667,POSE1_TO_POSE2_PRESS,782.666603254,753,730.666603254,710,698,654,929,798,835.333396746,671,653,678,0.418920982537,0.0044258728126,0.0600228608228,0.99999999324,-0.000100074720499,2.50186071953e-05,-5.3660126022e-05,1793256047347843328
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.085692239,753,730.085692239,710,698,654,929,798,835.914307761,671,653,678,0.419769951558,0.00442806119628,0.0599958728157,0.999999992987,-0.000103109745847,-1.6467389775e-05,-5.58839469557e-05,1793256047364509952
+162,2.700000000,POSE1_TO_POSE2_PRESS,782.489613183,753,730,710,698,654,929.489613183,798,835.510386817,671,652.510386817,677.510386817,0.420597550274,0.00442975073333,0.0599651701948,0.999999991178,-0.000101762669989,-6.35957008319e-05,-5.69634950159e-05,1793256047381176576
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,930,798,835.063858332,671,652.063858332,677,0.421424667529,0.00443125411007,0.0599343427791,0.99999998709,-9.91827620238e-05,-0.000112556721028,-5.75675315181e-05,1793256047397843456
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,753,730,710,698,654,930,798,835.637382566,671,652.637382566,677,0.422277455354,0.00443196064076,0.0599076494713,0.999999979956,-9.28153236824e-05,-0.000168352555446,-5.59567259678e-05,1793256047414510080
+165,2.750000000,POSE1_TO_POSE2_PRESS,782.782202375,752.782202375,730,709.782202375,698,654,929.782202375,798,835.782202375,670.782202375,653,677.217797625,0.423191548079,0.00443123659087,0.0599164500721,0.999999981835,-9.18206369142e-05,-0.000157638564684,-5.52135984308e-05,1793256047431176704
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.189939648,752.189939648,730,709.189939648,698,654,929.189939648,798,835.189939648,670.189939648,653,677.810060352,0.42421104405,0.00442805290684,0.0599862762658,0.999999992897,-0.000100063459613,-3.25725151307e-05,-5.59622915883e-05,1793256047447843584
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.394973793,752,730,709,698,654,929,798,835,670,653,678,0.425190803289,0.0044279005907,0.0600350329695,0.999999992349,-0.000100152216202,4.64451908145e-05,-5.58039864151e-05,1793256047464510464
+168,2.800000000,POSE1_TO_POSE2_PRESS,782.976417547,752,730,709,698,654,929,798,835,670,653,678,0.42615180247,0.00442917940529,0.0600738426117,0.999999988451,-9.639137941e-05,0.000103723135804,-5.52174808988e-05,1793256047481176832
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,752,730,709,698,654.549046623,929.549046623,798,835.549046623,670.549046623,653,678,0.427065263645,0.00442670927192,0.0600567898919,0.999999989309,-0.000100139598463,9.01143928474e-05,-5.6860283686e-05,1793256047497843712
+170,2.833333333,POSE1_TO_POSE2_PRESS,782.877522576,752,730,709,698,654.877522576,930,798,835.877522576,671,653,678,0.427973318531,0.00442480592807,0.0600353063176,0.999999990601,-0.000103561523316,6.81203655973e-05,-5.85826400822e-05,1793256047514510336
+171,2.850000000,POSE1_TO_POSE2_PRESS,782.299726076,752,730,709,698,654.299726076,930,798,835.299726076,671,653,678,0.42886874582,0.00442559882543,0.0600061296425,0.999999992375,-0.000104590354313,2.60934634482e-05,-6.02504005449e-05,1793256047531176704
+172,2.866666667,POSE1_TO_POSE2_PRESS,782.285475181,752,730.285475181,709,698,654,930,797.714524819,835.285475181,671,653,678,0.429747819263,0.00442617515749,0.0599726827647,0.999999992384,-0.000103062684091,-3.05454921597e-05,-6.06315870092e-05,1793256047547843328
+173,2.883333333,POSE1_TO_POSE2_PRESS,782.878657825,752,730.878657825,709,698,654,930,797.121342175,835.878657825,671,653,678,0.430609265196,0.00442651805851,0.0599346331305,0.999999988046,-9.87794167046e-05,-0.000102934458341,-5.9626003195e-05,1793256047564510208
+174,2.900000000,POSE1_TO_POSE2_PRESS,782.542184937,751.542184937,731,709,698,654,930,797.457815063,836,671,653,678,0.431573409553,0.00442432348075,0.0599616018541,0.999999991529,-0.000103630273829,-5.03521090039e-05,-6.05555000364e-05,1793256047581177088
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,751.033221053,731,709.033221053,698,654,930,797.966778947,836,671,653,678,0.432559545862,0.00442160450688,0.0600043893647,0.999999991471,-0.000110568564195,3.17253626148e-05,-6.18601105861e-05,1793256047597843712
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,751.606280412,731,709.606280412,698,654,930,797.393719588,836,671,653,678,0.433473876389,0.00442096814984,0.0600325220119,0.999999989206,-0.000113256381281,7.08465472643e-05,-6.11736794845e-05,1793256047614510336
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.180672888,751.819327112,731,709.819327112,698,654,930,797,835.819327112,671,653,678,0.434374332464,0.00442019180775,0.0600423700454,0.999999988074,-0.000115809504333,8.19551400158e-05,-6.10274010705e-05,1793256047631176960
+178,2.966666667,POSE1_TO_POSE2_PRESS,782.75799218,751.24200782,731,709.24200782,698,654,930,797,835.24200782,671,653,678,0.435244328962,0.00441910814459,0.0600120763325,0.999999990606,-0.00011806692288,3.15653389035e-05,-6.20669652687e-05,1793256047647843840
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,751,731,709,698,654,930,797,835.345956641,671,653,678,0.436099378272,0.00441618912418,0.0599827113721,0.999999990531,-0.000120952476769,-2.12693430534e-05,-6.20969109313e-05,1793256047664510208
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,751,731,709,698,654,930,797,835.941604113,671,653,678,0.436943639541,0.00441194545263,0.0599540167316,0.999999987513,-0.000124291380952,-7.586859084e-05,-6.13981741315e-05,1793256047681176576
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,750.484155902,730.484155902,709,697.484155902,654,930,797,835.484155902,671,653,678,0.437737508573,0.00441531926054,0.0599324263987,0.999999983567,-0.000121870873168,-0.000119167230722,-6.17486990554e-05,1793256047697843456
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,750,730,709,697,654,930,797,835,671,653,678,0.43853472683,0.00441830497483,0.0599179722952,0.999999979676,-0.00012012444617,-0.000149535666642,-6.21058217607e-05,1793256047714510336
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,750,730,709,697,654,930,797,835,671,653,678,0.439380641054,0.00441458166283,0.0599386285255,0.999999983552,-0.000125550621814,-0.000115344822141,-6.18701418628e-05,1793256047731177728
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,749.753627438,730.246372562,709,697.246372562,654,930,797,835.246372562,671,653.246372562,678,0.440238092406,0.00441097287887,0.0599748189401,0.999999988012,-0.000129461811689,-5.90272326032e-05,-6.10822770926e-05,1793256047747844352
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,749.15912963,730.84087037,709,697.84087037,654,930,797,835.84087037,671,653.84087037,678,0.441111845689,0.00440752592374,0.0600329592069,0.99999998921,-0.000131232320659,2.85555184795e-05,-5.9514173035e-05,1793256047764510976
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,749,731,709.423605631,697.576394369,654,930,797,835.576394369,671,653.576394369,678,0.441872400043,0.00440910743636,0.0600285258891,0.999999990052,-0.000125919339847,2.33249296896e-05,-5.91225528334e-05,1793256047781178880
+187,3.116666667,POSE1_TO_POSE2_PRESS,782.997972084,748.997972084,730.997972084,710,697,654,930,797,835,671,653,678,0.442591392322,0.00441252748005,0.0600011439486,0.999999991156,-0.000118035428933,-1.59476587517e-05,-5.91682842732e-05,1793256047797847296
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.42342991,748.42342991,730.42342991,710,697,654,930,797,835,671,653,678,0.44325751798,0.00441611585699,0.0599518521639,0.999999987555,-0.000115269254944,-8.85830266568e-05,-6.12861766409e-05,1793256047814511872
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,748,730,709.849211645,696.849211645,654,930,797,835.150788355,671,653.150788355,678,0.443919225645,0.00441991196566,0.0599111667285,0.999999980812,-0.000111123815296,-0.000148581262238,-6.28598946281e-05,1793256047831176704
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,748,730,709.275900873,696.275900873,654,930,797,835.724099127,671,653.724099127,678,0.444568553847,0.00442429015795,0.0598945970406,0.999999977711,-0.000103113551084,-0.000173169143827,-6.29087887219e-05,1793256047847843328
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.308484528,748,730.308484528,709,695.691515472,653.691515472,930.308484528,797,836,671,653.691515472,678,0.445201489238,0.00442947387966,0.0598795716013,0.999999972843,-9.18267775044e-05,-0.000205020850812,-6.20317703165e-05,1793256047864510720
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.903143593,748,730.903143593,709,695.096856407,653.096856407,930.903143593,797,836,671,653.096856407,678,0.445819217328,0.0044354048736,0.0598659787298,0.999999965506,-7.75004562677e-05,-0.000243611052499,-6.02958025218e-05,1793256047881178112
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,748,731,709,695,653,930.518334289,796.518334289,835.518334289,671,653,678,0.446393196321,0.00444381873287,0.0598401542652,0.999999956233,-6.71973380699e-05,-0.000281583322289,-6.10752878822e-05,1793256047897844736
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,747.943099887,730.943099887,709,695,653,930,796.056900113,835,671,653,678,0.446959843349,0.00445329163767,0.0598159573524,0.999999947319,-5.74512761024e-05,-0.000313252781838,-6.27232203338e-05,1793256047914511104
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,747.369210047,730.369210047,709,695,653,930,796.630789953,835,671,653,678,0.447537213638,0.00446799766509,0.0598281715885,0.999999954971,-4.56542515397e-05,-0.000288747829192,-6.78149043098e-05,1793256047931177728
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,747.211205499,730.211205499,709,694.788794501,652.788794501,930.211205499,797,835,671,653,678.211205499,0.448096439706,0.00448470523502,0.059840292229,0.999999961586,-3.01018018081e-05,-0.000265919894607,-7.21708795522e-05,1793256047947844608
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,747.803392321,730.803392321,709,694.196607679,652.196607679,930.803392321,797,835,671,653,678.803392321,0.448622936403,0.00450502326957,0.0598522440364,0.999999966855,-7.7751601836e-06,-0.000246117038241,-7.51997520524e-05,1793256047964511232
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,748,731,709,694,652,930.613194425,797,835.386805575,671,653,678.613194425,0.449091742195,0.00451557319461,0.0598347448824,0.999999958928,5.19322051154e-06,-0.000276236105227,-7.62261436344e-05,1793256047981177600
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,748,731,709,694,652,930.03414169,797,835.96585831,671,653,678.03414169,0.449531874941,0.00452126825008,0.059802608237,0.999999942165,1.35104316394e-05,-0.000331166983868,-7.62572775032e-05,1793256047997844224
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,748,730.461406351,709.538593649,693.461406351,652,930.538593649,796.461406351,835.461406351,671,653,678,0.449924214018,0.00452142503426,0.059767664693,0.999999923241,1.7329682066e-05,-0.000384007140133,-7.58715980041e-05,1793256048014510592
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,748,730,709.889538498,692.889538498,651.889538498,930.889538498,796,835,671,653,678,0.450311914348,0.00452166477926,0.0597380927153,0.999999905632,2.0492153907e-05,-0.000427311813559,-7.56316933159e-05,1793256048031176704
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,748,730,709.319632275,692.319632275,651.319632275,930.319632275,796,835,671,653,678,0.450692776,0.00452369288256,0.0597315942793,0.999999903764,2.20950630671e-05,-0.000431500234948,-7.61067367009e-05,1793256048047843328
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,748,730,709,691.736289879,651,930.263710121,796,835.263710121,671,653,678,0.451066745347,0.00452508215263,0.059734841514,0.999999907866,2.33701212605e-05,-0.000421745672448,-7.64947418435e-05,1793256048064509952
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,748,730,709,691.135787785,651,930.864212215,796,835.864212215,671,653,678,0.451431912304,0.00452565554981,0.0597505352328,0.999999919069,2.42264712064e-05,-0.000394184113509,-7.67715878108e-05,1793256048081176832
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,748,730,709.443458861,691,650.556541139,931,796,836,671.443458861,653,678,0.451765493795,0.00452627492703,0.0597607619227,0.999999925045,2.45420776001e-05,-0.000378796477938,-7.62897870227e-05,1793256048097843456
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,748,730.016547551,710,691,650.016547551,931,796.016547551,836,671.983452449,653,678,0.452088196593,0.00452694971087,0.059769132634,0.999999929412,2.47659759125e-05,-0.00036721070638,-7.56229931689e-05,1793256048114510336
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,748,730.591418261,710,691,650.591418261,931,796.591418261,836,671.408581739,653,678,0.452355243259,0.00452904063346,0.0597687803004,0.999999930522,2.72267084071e-05,-0.000363880868493,-7.61938246098e-05,1793256048131176960
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,748,731,709.829283251,690.829283251,650.829283251,930.829283251,796.829283251,835.829283251,671,653,678,0.452606099201,0.00453028539725,0.0597655480827,0.999999929522,2.82783560804e-05,-0.000366465904326,-7.65429443687e-05,1793256048147843328
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,748,731,709.239105538,690.239105538,650.239105538,930.239105538,796.239105538,835.239105538,671,653,678,0.452817173553,0.00452945109942,0.0597552398222,0.999999923183,2.58678001821e-05,-0.000383584128689,-7.63473055586e-05,1793256048164509952
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,748,731,709.345360897,690,650,930.345360897,796,835,671,653,678,0.453011085517,0.00453044709431,0.059745564152,0.999999916269,2.69117563292e-05,-0.000401140576233,-7.63187073894e-05,1793256048181176832
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,748,731,709.925937597,690,650,930.925937597,796,835,671,653,678,0.453193308671,0.00453268965111,0.0597363193207,0.999999908843,3.03084853246e-05,-0.000418995487204,-7.64038759752e-05,1793256048197843712
+212,3.533333333,POSE1_TO_POSE2_PRESS,782.499307942,748,731,709.499307942,689.499307942,650,931,796,835,671,653,678,0.453353744329,0.00453279544715,0.059730794284,0.999999904748,3.19571699067e-05,-0.000428620198546,-7.594999573e-05,1793256048214510592
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.074702033,748,731,709,689,649.925297967,931,796,835,671,653,678,0.453507613151,0.00453294454755,0.0597262597297,0.999999901331,3.35745089635e-05,-0.000436482014621,-7.54605021296e-05,1793256048231177216
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.649427411,748,731,709,689,649.350572589,931,796,835,671,653,678,0.453638850589,0.00453547482554,0.0597247143534,0.999999899431,3.6692902829e-05,-0.000440598933207,-7.52602123269e-05,1793256048247844096
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,748,731,709,689,649.230921545,931,796,835,671,653,678,0.453760015617,0.00453744688906,0.0597229261039,0.999999898057,3.96230000857e-05,-0.000443470158805,-7.51685018625e-05,1793256048264510464
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,748,731,709,689,649.823001904,931,796,835,671,653,678,0.453865427496,0.00453854591101,0.0597207580035,0.999999897533,4.22586032841e-05,-0.000444393133726,-7.52466083307e-05,1793256048281176832
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,748,731,709,689,649.594462045,931,796,835,671,653,678,0.453956865694,0.00453841920187,0.0597202076009,0.999999897269,4.16505476535e-05,-0.000445062961374,-7.51355621242e-05,1793256048297843712
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,748,731,709,689,649.015995862,931,796,835,671,653,678,0.454042345276,0.00453776982029,0.059720347012,0.999999897115,3.96593410947e-05,-0.000445624842728,-7.49438580232e-05,1793256048314510592
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,748,731,709,688.442928652,649,931,796,835,671,653,678,0.454108155542,0.00453766651286,0.0597218388366,0.999999897777,4.07175889179e-05,-0.000444147542443,-7.43096790343e-05,1793256048331177216
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,748,730.869265246,709,688,649,931,796,835,671,653,678,0.454169349199,0.00453771588552,0.0597233450047,0.999999898662,4.20353861452e-05,-0.000442128831123,-7.37023559158e-05,1793256048347843840
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,748,730.293047212,709,688,649,931,796,835,671,653,678,0.454216717642,0.00453823260338,0.0597247689919,0.999999900228,4.39420979899e-05,-0.000438462850843,-7.32294235063e-05,1793256048364510464
+222,3.700000000,POSE1_TO_POSE2_PRESS,782.707681237,748,730,709.292318763,688,649,931,796,835,671,653,678,0.454255568533,0.00453844679007,0.0597246450699,0.999999900447,4.51893636295e-05,-0.00043791430263,-7.27685664677e-05,1793256048381177088
+223,3.716666667,POSE1_TO_POSE2_PRESS,782.11284819,748,730,709.88715181,688,649,931,796,835,671,653,678,0.454285604802,0.00453834789395,0.0597229192506,0.999999899278,4.57541830701e-05,-0.000440591916132,-7.23202059087e-05,1793256048397843712
+224,3.733333333,POSE1_TO_POSE2_PRESS,782.932515569,748,730.466257784,709.533742216,688,649,931,796,835,671,653,678,0.454306531472,0.00453814419844,0.0597218538119,0.999999898664,4.47608790291e-05,-0.000442131847906,-7.20313845557e-05,1793256048414510080
+225,3.750000000,POSE1_TO_POSE2_PRESS,783.958350531,748,731,709,688,649,931,796,835.041649469,671,653,678,0.454324673159,0.00453789892918,0.0597208624823,0.999999898078,4.35387229215e-05,-0.000443614156555,-7.17942296281e-05,1793256048431176960
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.383369102,748,731,709,688,649,931,796,835.616630898,671,653,678,0.454334464125,0.00453743549883,0.059718840236,0.999999896207,4.40575019979e-05,-0.000447769496558,-7.17403580576e-05,1793256048447843584
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,748,731,709,687.803234931,649,931,796,835.803234931,671,653,678,0.454343257423,0.00453728033768,0.0597172366958,0.999999894964,4.45089147339e-05,-0.000450517729985,-7.15823268151e-05,1793256048464510208
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,748,731,709,687.21279143,649,931,796,835.21279143,671,653,678,0.454350054632,0.00453774194731,0.0597164708836,0.999999895007,4.48255439878e-05,-0.000450450689532,-7.12158977315e-05,1793256048481177088
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,748,731,709,687.36953077,649,931,796.36953077,835,671,653,678,0.454355154903,0.00453794878442,0.0597157687553,0.999999894915,4.56768943341e-05,-0.000450584674193,-7.11175678177e-05,1793256048497843456
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,748,731,709,687.947276932,649,931,796.947276932,835,671,653,678,0.454359299019,0.00453801206769,0.0597151025102,0.999999894746,4.68295380131e-05,-0.000450831928238,-7.11703007716e-05,1793256048514510080
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,748,731,709,688,649,931,796.47718073,835.52281927,671,653,678,0.454358576095,0.0045394754941,0.0597132098418,0.99999989332,4.80625139881e-05,-0.000453844447695,-7.12347053195e-05,1793256048531176704
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,748,731,709,688,649,931,796,836,671,653,678,0.454357830874,0.00454080731672,0.0597116332626,0.999999892045,4.94122363886e-05,-0.000456508709797,-7.11893775332e-05,1793256048547843328
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,748,731,709,688,649,931,796,836,671,653,678,0.454359353657,0.00454081560708,0.0597121924042,0.999999892165,5.12903825451e-05,-0.000456129475454,-7.06048072029e-05,1793256048564509952
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,748,731,709.253811987,687.746188013,649,931,796,835.746188013,671,653,678,0.454360129889,0.00454128021872,0.0597119254071,0.999999891975,5.23259015556e-05,-0.000456460140402,-7.0403785378e-05,1793256048581176832
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,748,731,709.846658319,687.153341681,649,931,796,835.153341681,671,653,678,0.454359908898,0.00454235437047,0.0597105548791,0.999999891373,5.22358650747e-05,-0.000457739067218,-7.07150959185e-05,1793256048597843456
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,748,730.57193987,709.57193987,687,649,931,796,835,671,653.42806013,678,0.454360419868,0.00454108152724,0.0597103098521,0.999999891491,4.93397898391e-05,-0.000457829995447,-7.05288837413e-05,1793256048614510336
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.994549802,748,730.005450198,709,687.005450198,648.994549802,931,796,835.005450198,671,653.994549802,678,0.454361164169,0.00453902531115,0.0597104439815,0.999999891837,4.55247402499e-05,-0.000457525084171,-7.01773487806e-05,1793256048631177216
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.419120857,748,730.580879143,709,687.580879143,648.419120857,931,796,835.580879143,671,653.419120857,678,0.454359602737,0.00454068015873,0.0597091634733,0.999999890931,4.79889347528e-05,-0.000459170491271,-7.06897638021e-05,1793256048647843584
+239,3.983333333,POSE1_TO_POSE2_PRESS,782,748,730.839879874,709,687.839879874,648.160120126,931,796,835.839879874,671,653,678,0.454358873233,0.00454174765077,0.0597084322993,0.99999989031,5.02604842836e-05,-0.000460255153958,-7.08452020818e-05,1793256048664510208
+240,4.000000000,POSE1_TO_POSE2_PRESS,782,748,730.250417419,709,687.250417419,648.749582581,931,796,835.250417419,671,653,678,0.454360374438,0.0045412402214,0.059709174097,0.999999890469,5.20154799825e-05,-0.000459836249712,-7.00434513156e-05,1793256048681176832
+241,4.016666667,POSE1_TO_POSE2_PRESS,782.334614542,748,730.334614542,709,687,649,931,796,835,671,653,678,0.45436077346,0.00454147258854,0.0597091606837,0.999999890346,5.25610441868e-05,-0.000460094048136,-6.96982502133e-05,1793256048697843456
+242,4.033333333,POSE1_TO_POSE2_PRESS,782.916374132,748,730.916374132,709,687,649,931,796,835,671,653,678,0.454360358414,0.00454225136663,0.0597085894742,0.999999890016,5.22133267446e-05,-0.000460851656636,-6.96902550172e-05,1793256048714510080
+243,4.050000000,POSE1_TO_POSE2_PRESS,782.509793824,748,730.509793824,709,687,649,931,796,835,671,653,678,0.454361126189,0.00454155044582,0.0597087402518,0.999999890332,5.0549257295e-05,-0.000460367491186,-6.95892173722e-05,1793256048731177216
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.063159948,747.936840052,730.063159948,709,687,649,931,796,835,671,653,678,0.454361925784,0.00454072036322,0.0597088908101,0.999999890659,4.87566238066e-05,-0.000459855752684,-6.95478472217e-05,1793256048747844096
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.63979283,747.36020717,730.63979283,709,687,649,931,796,835,671,653,678,0.454361369748,0.00454085973133,0.0597080542138,0.999999890228,4.77153645948e-05,-0.000460814632154,-7.01185421609e-05,1793256048764511232
+246,4.100000000,HOLD_POSE2,783,748,731,709,687,649,931,796,835,671,653,678,0.454362077133,0.00454445500123,0.0597084963094,0.999999889926,5.50966077422e-05,-0.000460615978753,-7.03213255764e-05,1793256048803160320
+247,4.116666667,HOLD_POSE2,782.420289843,748,731,709,687,649,931,796,835,671,653,678,0.454361807947,0.00454182013299,0.0597074729939,0.999999889828,5.25628818952e-05,-0.000461260977174,-6.941604799e-05,1793256048819825920
+248,4.133333333,HOLD_POSE2,782,748,731,709,687,649,931,796,835,671,653,678,0.454361652701,0.00453993587523,0.0597067242901,0.999999889671,5.04752360456e-05,-0.000461928724147,-6.87837468265e-05,1793256048836491776
+249,4.150000000,HOLD_POSE2,782,748,731,709,687,649,931,796,835,671,653,678,0.454361797838,0.00454003049934,0.0597066995621,0.999999889375,4.95636188779e-05,-0.000462656444736,-6.88711106736e-05,1793256048853158144
+250,4.166666667,HOLD_POSE2,782.309167648,748,731,709,687,649,931,796,835,671,653,678.309167648,0.454361545877,0.00454070888337,0.0597062901014,0.999999888893,5.02434862017e-05,-0.000463568662084,-6.92417506853e-05,1793256048869825024
+251,4.183333333,HOLD_POSE2,782.884976788,748,731,709,687,649,931,796,835,671,653,678.884976788,0.454360951439,0.00454189073086,0.0597055488281,0.999999888247,5.22959286307e-05,-0.00046463999853,-6.98567020861e-05,1793256048886492416
+252,4.200000000,HOLD_POSE2,782.52724631,747.52724631,731,709,687,649,930.52724631,796,835,671,653,679,0.454359809186,0.00454220675994,0.0597045746998,0.999999887797,5.23054685127e-05,-0.000465605025862,-6.9878879867e-05,1793256048903159296
+253,4.216666667,HOLD_POSE2,782.062130436,747.062130436,731,709,687,649,930.062130436,796,835.062130436,671,653,678.937869564,0.454358822458,0.00454225024543,0.0597037884414,0.999999887504,5.18087192366e-05,-0.000466304999173,-6.97645921582e-05,1793256048919825664
+254,4.233333333,HOLD_POSE2,782.639989159,747.639989159,731,709,687,649,930.639989159,796,835.639989159,671,653,678.360010841,0.454360261815,0.00454182544847,0.0597050441324,0.999999888126,5.13424193861e-05,-0.000465025108482,-6.97458045171e-05,1793256048936492032
+255,4.250000000,HOLD_POSE2,783,748,731,709,687,648.783062178,930.783062178,796,835.783062178,671,653,678,0.454361238272,0.00454118290432,0.0597059108901,0.999999888601,5.04043989374e-05,-0.000464131092556,-6.95682495291e-05,1793256048953158912
+256,4.266666667,HOLD_POSE2,783,748,731,709,687,648.207617518,930.207617518,796,835.207617518,671,653,678,0.454361449751,0.00454018051583,0.0597061349049,0.999999888836,4.86868230898e-05,-0.000463874765203,-6.91283189964e-05,1793256048969825280
+257,4.283333333,HOLD_POSE2,783,748,731,709,687,648.376284307,930.376284307,796,835,671,653,678,0.454362014975,0.00454050556279,0.0597064684945,0.999999889099,4.9059245508e-05,-0.000463253298085,-6.921500653e-05,1793256048986491904
+258,4.300000000,HOLD_POSE2,783,748,731,709,687,648.964959776,930.964959776,796,835,671,653,678,0.454362779867,0.00454157987171,0.0597068639329,0.999999889378,5.06113533131e-05,-0.000462425730245,-6.95989400688e-05,1793256049003158528
+259,4.316666667,HOLD_POSE2,782.454970959,748,731,709,687,649,931,796,835,671.545029041,653.545029041,678,0.454361734158,0.00454061034203,0.0597057878444,0.999999888623,5.11599616894e-05,-0.000464040583517,-6.929660113e-05,1793256049019825408
+260,4.333333333,HOLD_POSE2,782.123666782,748,731,709,687,649,931,796,835,671.876333218,653.876333218,678,0.454360666321,0.00454022227185,0.0597047271177,0.999999887864,5.2072586147e-05,-0.00046561692101,-6.90038578288e-05,1793256049036492544
+261,4.350000000,HOLD_POSE2,782.699065272,748,731,709,687,649,931,796,835,671.300934728,653.300934728,678,0.454359936256,0.00454243068133,0.059704062708,0.999999887333,5.45468935481e-05,-0.000466487902599,-6.89048254311e-05,1793256049053159168
+262,4.366666667,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,649,931,796,835,671,653,678,0.454361403481,0.00454390133085,0.0597041093912,0.999999887846,5.40016522511e-05,-0.000465435365711,-6.89988583694e-05,1793256049090820352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,649,931,796,835.59076938,671,653,678,0.454362153569,0.00454183369427,0.0597054933749,0.99999988858,5.06565090703e-05,-0.000464214392213,-6.9128691204e-05,1793256049107486720
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,649,931,796,835.822505065,671,653,678,0.454362651456,0.00454091029823,0.0597062863864,0.99999988893,4.90308976796e-05,-0.000463621691565,-6.92223248797e-05,1793256049124153344
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,649,931,796,835.244895118,671,653,678,0.454362580821,0.00454256628701,0.059705747209,0.999999888434,5.12815116299e-05,-0.000464445264328,-6.92343572299e-05,1793256049140819456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,648.668449506,931,796,835,671,653,678,0.454362545623,0.0045420063028,0.059705254889,0.999999888132,5.17359138172e-05,-0.000465097186604,-6.88765315398e-05,1793256049157486336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,748,731,709,687,648.092860939,931,796,835,671,653,678,0.454362536507,0.00453981524935,0.0597047970585,0.999999887975,5.08682123994e-05,-0.00046562276532,-6.82464714677e-05,1793256049174153472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,782.506151572,748,731,709,687,648.493848428,931,796,835.493848428,671,653,678,0.454363325867,0.00453905073398,0.059705813177,0.99999988886,5.05200215027e-05,-0.000463788079284,-6.80352789772e-05,1793256049190819584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,782.081425304,747.918574696,731,709,687,648.918574696,931,796,835.918574696,671,653,678,0.454364019761,0.00453873982517,0.0597067865478,0.999999889729,5.02556644496e-05,-0.000461942286143,-6.8013979321e-05,1793256049207485696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,782.661218271,747.338781729,731,709,687,648.338781729,931,796,835.338781729,671,653,678,0.454363189238,0.00453952564242,0.0597057628627,0.999999889303,4.98927486912e-05,-0.000462807470143,-6.86617566108e-05,1793256049224152320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,782.761159792,747.238840208,730.761159792,709,687,648.238840208,931,796,835,671,653,678,0.45436087572,0.00454022102127,0.0597044322052,0.999999888649,4.98302193642e-05,-0.00046416302666,-6.90809166993e-05,1793256049240819200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782.18658965,747.81341035,730.18658965,709,687,648.81341035,931,796,835,671,653,678,0.454356477604,0.00454078927374,0.0597026700466,0.999999887673,5.01899335329e-05,-0.000466207883847,-6.91787169476e-05,1793256049257485824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782,748,730,709,687,649,931,796,835.388357378,671,653.388357378,678,0.454335847259,0.00454225176976,0.0596943942295,0.999999881077,5.20955134813e-05,-0.000479906097446,-6.94389516407e-05,1793256049274152448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,782,748,730,709,687,649,931,796,835.963485712,671,653.963485712,678,0.454307410422,0.00454414433033,0.059682985828,0.999999871462,5.47445396764e-05,-0.00049920870702,-6.97773051828e-05,1793256049290819072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,782.551812709,748,730.551812709,709,687,648.448187291,931,796,836,671.551812709,653.448187291,678,0.45425638676,0.00454218982679,0.0596657186087,0.999999859039,5.23939222709e-05,-0.000523789289828,-6.94440410978e-05,1793256049307485696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,748,730.86062037,709.13937963,687,648.13937963,931,796,836,671.86062037,653,678,0.454198927566,0.00454131716041,0.0596483819998,0.9999998467,5.18192364697e-05,-0.000546913065934,-6.92939412435e-05,1793256049324152320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,748,730.278312187,709.721687813,687,648.721687813,931,796,836,671.278312187,653,678,0.45412588319,0.00454471121592,0.0596320870806,0.999999836679,5.7965313317e-05,-0.000564270256746,-6.98706021848e-05,1793256049340818944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,748,730,709.700520628,687,649,931,796,835.700520628,671,653,678,0.454043113592,0.00454622274247,0.0596189186938,0.999999826697,6.18467629017e-05,-0.000581286744928,-6.99074857437e-05,1793256049357485824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,748,730,709.126864128,687,649,931,796,835.126864128,671,653,678,0.453951440435,0.00454601078991,0.0596086126877,0.999999816766,6.36549174139e-05,-0.000597991314536,-6.94501962954e-05,1793256049374152448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,748,730.453026618,709,687,648.546973382,931,796,835,671,653,678,0.453851948315,0.00454702374484,0.0596050486925,0.999999812968,6.55189006718e-05,-0.000604150925911,-6.90810364455e-05,1793256049390819328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.965204123,748,731,709,687,648.034795877,931,796,835.034795877,671,653,678,0.453748309984,0.00454839682675,0.0596034160886,0.999999811038,6.75084114028e-05,-0.000607162475639,-6.87062772007e-05,1793256049407485952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.381726481,748,731,709,687,648.618273519,931,796,835.618273519,671,653,678,0.453614300346,0.00454996420201,0.0596020521195,0.999999810483,7.12273455853e-05,-0.000607747535239,-6.78486319001e-05,1793256049424152576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.199935616,748,731,709,687,649,931,796,835.800064384,671,653,678,0.45347003893,0.00455076364481,0.0596011748225,0.999999810265,7.43788090659e-05,-0.000607843655653,-6.68189535358e-05,1793256049440819200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782.778162515,748,731,709,687,649,931,796,835.221837485,671,653,678,0.453306380495,0.00455011010894,0.059601218341,0.999999810701,7.64565803798e-05,-0.000607014671043,-6.54637774434e-05,1793256049457485824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.645232922,747.645232922,730.645232922,709,687.354767078,649,930.645232922,796,835,671,653,678,0.453128092702,0.00455069653649,0.0596028371825,0.999999811584,7.96124508143e-05,-0.000605286428156,-6.42079737031e-05,1793256049474152448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.069638138,747.069638138,730.069638138,709,687.930361862,649,930.069638138,796,835,671,653,678,0.452940698728,0.0045520547895,0.0596054365968,0.99999981273,8.34393931753e-05,-0.000602998434419,-6.30140249737e-05,1793256049490819072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782,747.516376498,730,709,688,649,930.516376498,796,835.516376498,671,653,678,0.452731952076,0.00455244436814,0.0596081918369,0.999999816217,8.80975590765e-05,-0.000596740576777,-6.08752721775e-05,1793256049507485952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.1025178,748,730,709.1025178,688,649,930.8974822,796,835.8974822,671,653,678,0.452512399154,0.00455339810096,0.0596114446677,0.999999819962,9.33993176163e-05,-0.000589832207288,-5.87472646124e-05,1793256049524152576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.682568966,748,730,709.682568966,688,649,930.317431034,796,835.317431034,671,653,678,0.452256199575,0.00455760072901,0.0596169154004,0.999999823625,0.000101166053775,-0.000582438869903,-5.72750394835e-05,1793256049540819200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.738177597,748,730,709.738177597,688.261822403,649.261822403,930.261822403,796,835.261822403,671,653,678,0.451976982831,0.00456013209704,0.0596220783257,0.999999827114,0.000108496700173,-0.000575276061856,-5.53026864694e-05,1793256049557485824
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782.159888417,748,730,709.159888417,688.840111583,649.840111583,930.840111583,796,835.840111583,671,653,678,0.451669945075,0.00456064339981,0.0596268692015,0.999999830428,0.000115300241023,-0.000568391896883,-5.27258250767e-05,1793256049574152448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,782.414712057,748,730,709,689,650,931,796,835.585287943,671.414712057,653,678,0.451334175162,0.00456249560973,0.0596271137344,0.999999828641,0.000123285647434,-0.000570081044021,-5.02650174593e-05,1793256049590819072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,782.98790291,748,730,709,689,650,931,796,835.01209709,671.98790291,653,678,0.4509874255,0.00456486023626,0.0596256209198,0.999999824841,0.00013172269387,-0.000575046411874,-4.78485588921e-05,1793256049607485952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,748,730,709,689,650,931,796.577961576,835,671.422038424,653,678,0.450610312111,0.00456684159238,0.0596210502192,0.999999822349,0.000139658598252,-0.000577687981558,-4.55400072275e-05,1793256049624152576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.834895488,748,730.165104512,709,689.165104512,650,931,797,835,671.165104512,653,678.165104512,0.450212655186,0.00456884242634,0.0596139575875,0.999999817076,0.000148164513091,-0.000584849854528,-4.29753294746e-05,1793256049640818944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.255972144,748,730.744027856,709,689.744027856,650,931,797,835,671.744027856,653,678.744027856,0.44976514868,0.00457091279043,0.0596007102967,0.999999804621,0.00015812618451,-0.00060346701209,-3.976286523e-05,1793256049657485568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782,748,731,709,690,650,931,797,835,672,653.321426101,678.678573899,0.449298961339,0.00457371216917,0.0595952264407,0.999999798885,0.000170795051785,-0.000609695855502,-3.64627155645e-05,1793256049674152448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782,748,731,709,690,650,931,797,835,672,653.897615609,678.102384391,0.448817967458,0.0045770893676,0.0595958959077,0.999999798545,0.000185609652673,-0.000606105681536,-3.30930657975e-05,1793256049690819072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782.480991826,748,730.519008174,709,690.480991826,650.480991826,931,797,835.480991826,671.519008174,654,678,0.448335834068,0.00457726272049,0.0596078639887,0.999999806492,0.000192920449523,-0.000590728039539,-2.89443207801e-05,1793256049707485696
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,748,730.065381967,709,691.065381967,651,931,797,836,671,653.934618033,678,0.447850298783,0.00457690330252,0.0596243786207,0.999999818304,0.00019935906457,-0.000568371683015,-2.45407488307e-05,1793256049724152320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,748,730.645528394,709,691.645528394,651,931,797,836,671,653.354471606,678,0.447339918153,0.00457780002811,0.0596574666128,0.999999846779,0.000211697161977,-0.000511124781061,-1.94563604447e-05,1793256049740818944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,748,730.774973305,709,692.225026695,651.225026695,931,797,835.774973305,671,653,678,0.446797073712,0.00457890637692,0.0596850863238,0.999999864741,0.000223716830698,-0.000469330446017,-1.40408721273e-05,1793256049757485568
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,748,730.196493063,709,692.803506937,651.803506937,931,797,835.196493063,671,653,678,0.446203237802,0.00458034198468,0.0597041169034,0.999999870234,0.000235236337773,-0.000451807746147,-8.1053194698e-06,1793256049774152192
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,748.379072026,730.379072026,708.620927974,693.379072026,652,931,797,835,671,653.379072026,678,0.445545674253,0.00458250086036,0.0596926547383,0.999999856515,0.00024890409909,-0.000474349813246,-3.11609968921e-06,1793256049790819328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,748.953137551,730.953137551,708.046862449,693.953137551,652,931,797,835,671,653.953137551,678,0.444855329418,0.00458503178281,0.0596655071974,0.999999831333,0.000263676915115,-0.000517501074583,1.38632915567e-06,1793256049807485952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.459168562,749,731,708.540831438,694,652.540831438,931,797,835,671,654,678,0.444213957698,0.00458141448581,0.0596706395783,0.999999838357,0.000269531001269,-0.000500606352071,5.76042967512e-06,1793256049824152576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782,749.12766915,731,709,694.2553383,653,930.87233085,797,835,671,654,678,0.443573416991,0.00457806350932,0.0596876769544,0.999999853279,0.000275735084864,-0.000466158333572,1.04204558157e-05,1793256049840819200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782,749.707189063,731,709,695.414378125,653,930.292810937,797,835,671,654,678,0.442920410729,0.00457758932213,0.0597366936687,0.99999988352,0.000285983704305,-0.000388475481544,1.61328099325e-05,1793256049857485824
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.285055537,750,731,709,696,653,930.285055537,797,835,671,654,678.285055537,0.44221989527,0.00457875919199,0.0597684693324,0.999999896002,0.000298073786795,-0.000344505398755,2.15505692677e-05,1793256049874152448
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.861233452,750,731,709,696,653,930.861233452,797,835,671,654,678.861233452,0.441470859393,0.00458160810936,0.0597826370101,0.999999894858,0.000312044526766,-0.000334965586947,2.66674647255e-05,1793256049890819328
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,782,751,730,708,696.810254059,654,931,797,835.189745941,671,654,678,0.438285098797,0.00458607780346,0.0598237123775,0.999999926412,0.000261497476466,-0.000280205927083,1.67195778117e-05,1793256049957485824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782,751,730,708,696.231607017,654,931,797,835.768392983,671,654,678,0.437418195885,0.00458596886559,0.0598136197298,0.99999991726,0.000268995831233,-0.000304432536477,2.10068327599e-05,1793256049974152448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,751,730.344526054,708.344526054,696.344526054,654,930.655473946,797,835.655473946,671,654,678,0.436526898014,0.00458686545309,0.0597803990695,0.999999897323,0.000277534632616,-0.000357416499931,2.41402571417e-05,1793256049990819072
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,782.505564626,751,730.494435374,709,697,654,930,797.505564626,835,671,654,678,0.434753579144,0.00458749720961,0.0597390186386,0.999999881798,0.000282660851244,-0.000394709768201,2.66499783514e-05,1793256050024152576
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,751,730.092652299,709,697,654,930,798,835.092652299,671,654,678,0.43388891426,0.00458554988651,0.0597560875567,0.999999901261,0.000275930180898,-0.000347310768478,2.67468627154e-05,1793256050040819200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,751,730.671930042,709,697,654,930,798,835.671930042,671,654,678,0.432993818465,0.00458044936324,0.0597763606563,0.999999910669,0.000266923399056,-0.000326498183073,2.84959118156e-05,1793256050057485824
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.750251645,751,731,708.750251645,697,654,930,798,836,671,654,678,0.432106229421,0.00457349124648,0.0597958209555,0.999999922336,0.000254711320404,-0.000299296244462,2.95322553318e-05,1793256050074152704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782.174339225,751,731,708.174339225,697,654,930,798,836,671,654,678,0.431228443848,0.00456410716611,0.059814219764,0.999999936382,0.00023831321625,-0.000263749993938,2.96378263751e-05,1793256050090819328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782.400723342,751.400723342,730.599276658,708.400723342,697,654,930.400723342,798,835.599276658,671,654,678,0.430324314563,0.00455699302134,0.0598312902295,0.999999944689,0.000226305432985,-0.000241758066934,3.10057942092e-05,1793256050107485952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.975416918,751.975416918,730.024583082,708.975416918,697,654,930.975416918,798,835.024583082,671,654,678,0.429408748457,0.00455086434812,0.0598477840065,0.999999950627,0.000216203666875,-0.000225650622989,3.29218196241e-05,1793256050124152576
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,752,730.564147094,709,697,654,931,798,835,671,654,678,0.428408047991,0.00455561173743,0.0597918843655,0.99999992162,0.000217946138841,-0.000328889583915,3.30185440321e-05,1793256050140819200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,752,730.848869116,709,697,654,930.848869116,798,835.151130884,671,654,678,0.427430365953,0.00455869600648,0.0597489123147,0.999999895619,0.00021620651783,-0.000401192842623,3.25753033566e-05,1793256050157485824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,752,730.268624968,709,697,654,930.268624968,798,835.731375032,671,654,678,0.426528843456,0.00455567810432,0.0597518317314,0.999999910264,0.000203077188668,-0.000370515773781,3.08297537525e-05,1793256050174152448
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,752,730,709,697,654,930,798.308951759,835.691048241,671,653.691048241,678,0.425630495459,0.00455508896402,0.0597726918075,0.999999923337,0.000195349359935,-0.000337895537941,3.14893957904e-05,1793256050190819072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,752,730,709,697,654,930,798.884229058,835.115770942,671,653.115770942,678,0.424734884021,0.00455659348835,0.0598090172617,0.999999934842,0.000192277784749,-0.00030360023628,3.42223841454e-05,1793256050207485952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.459613598,752,730,708.540386402,697.459613598,654,930,799,835,671,653.459613598,678,0.423838145836,0.00455624087701,0.0598283357605,0.999999944128,0.000185848870213,-0.000275625814751,3.51372403405e-05,1793256050224152576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,752,730,708,698,654,930,798.964120172,835,671,653.964120172,678,0.422941722919,0.00455539997652,0.0598429368025,0.999999952221,0.000178579127397,-0.000249800899421,3.55876733858e-05,1793256050240819200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,752,730,708,698,654,930,798.374668314,835,671,653.374668314,678,0.422054545008,0.00455424448029,0.0598508631967,0.999999957623,0.000171387170251,-0.000232569440308,3.59401132283e-05,1793256050257486848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,752,730.211487879,708,698,654,930,798.211487879,835,671,653.211487879,678,0.421133170253,0.00455475844121,0.0598325033314,0.99999995022,0.000166605221877,-0.000265503064141,3.62042834063e-05,1793256050274154240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,752,730.791895211,708,698,654,930,798.791895211,835,671,653.791895211,678,0.420152142376,0.00455818460295,0.0597682897169,0.999999911081,0.000166027290011,-0.000385944652907,3.63144757007e-05,1793256050290820608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,752.373766502,730.626233498,708,698,654,930,799,835,671,653.626233498,678,0.419268407007,0.00455704953835,0.0597348670965,0.99999989528,0.000156984683404,-0.000428453816842,3.4975422344e-05,1793256050307486976
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,784,752,729.884944901,708,697,654,930,799,835,670.884944901,653,678,0.416802332007,0.00455691662552,0.0598045189521,0.999999940577,0.000137330690707,-0.000314089398483,3.65190798405e-05,1793256050357486592
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784,752,729.305332537,708,697,654,930,799,835,670.305332537,653,678,0.416008383107,0.00455423448468,0.0598298570915,0.999999950726,0.000130780212014,-0.000282805094412,3.82919003266e-05,1793256050374153216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784,752,729.272655941,708,697.272655941,654,930,799,835,670.272655941,653,678,0.415228000512,0.00455158781935,0.0598444253136,0.999999950493,0.00016732561397,-0.000263585740435,3.92266537006e-05,1793256050390820096
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,752,730,708,697.575174126,654,930,799.424825874,835,671,653,678,0.413696774124,0.00454994040036,0.0598412463829,0.999999926628,0.000269103699982,-0.000269792280315,3.92437690364e-05,1793256050424152832
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,752,730,707.235946242,698,654.235946242,930,799,834.764053758,671,653.235946242,677.764053758,0.407241340982,0.00453585873534,0.0598371215695,0.999999949176,0.000169537065809,-0.000267410579453,3.73724152261e-05,1793256050590819584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,752,730,707.813124103,698,654.813124103,930,799,834.186875897,671,653.813124103,677.186875897,0.406726098595,0.00453322862879,0.0598283536527,0.999999947976,0.000161497000591,-0.000276843336068,3.64033429124e-05,1793256050607485952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,752.389302671,730,707.610697329,698,654.610697329,929.610697329,799.389302671,834,671,653.610697329,677,0.406248592924,0.00453127643236,0.059829458411,0.999999949495,0.000157738670094,-0.000273517778222,3.62711492466e-05,1793256050624152832
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,752.965002831,730,707.034997169,698,654.034997169,929.034997169,799.965002831,834,671,653.034997169,677,0.405789155486,0.00452964881798,0.0598352901893,0.99999995229,0.000156030426526,-0.000264083560919,3.65396516341e-05,1793256050640819968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,753,730,707.552637254,698,654,929.552637254,799.447362746,834.552637254,671,653,677,0.405360480152,0.00452872500247,0.0598300517847,0.999999951778,0.00015075504444,-0.000269184663436,3.54392349751e-05,1793256050657486848
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,753,730,708,698,654,930,799.718781555,835,671,653,677,0.404506755292,0.00452658707215,0.05979756525,0.999999937546,0.000149775995429,-0.0003182668013,3.43616923356e-05,1793256050690819584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,753,730,707.703796868,698,654,930,800,834.703796868,671,653,677.296203132,0.404118352457,0.00452643960241,0.0597793155786,0.999999927279,0.000156297876091,-0.000346219224175,3.38486937418e-05,1793256050707486208
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784.780582525,753,730,707,698,654,930,799.780582525,834,671,653.219417475,677,0.402528883499,0.00451634694417,0.0598445342831,0.999999959937,0.000155123017723,-0.000234378364716,3.36180675011e-05,1793256050807486208
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,752.524248723,730,707.262124362,698,654,930,800,835,671,653,678,0.401537780528,0.00450741117725,0.0598337401833,0.999999953047,0.000138017442978,-0.000271552575682,3.34004462402e-05,1793256050907485696
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,753.674196398,730,707.837098199,698,654,930,800,835,671,653,678,0.401431961131,0.00450704863165,0.0598344713946,0.999999953744,0.000136118420362,-0.000269935502351,3.34321159802e-05,1793256050924152576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,753.179737098,730,707.589868549,698,654,930,800,834.589868549,671,653,678,0.401346819821,0.00450539022166,0.0598364132216,0.99999995456,0.000133946658097,-0.000267976269299,3.35628346834e-05,1793256050940819200
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,752.035204939,730,707.017602469,698,654,930,800,834.017602469,671,653,678,0.401269853048,0.00450321952594,0.0598388336336,0.999999955416,0.000131667075464,-0.00026588177248,3.37327097751e-05,1793256050957485568
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,752.57367157,730,707,698,654,930,800,834,671,653,678,0.401207113169,0.00450407419578,0.0598369308927,0.999999954546,0.000131099263652,-0.000269444825865,3.34735794342e-05,1793256050974152448
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,753,729.837551548,707.162448452,698,654.162448452,929.837551548,800,834,671,653,678,0.401148216526,0.00450469404055,0.0598339988388,0.999999953104,0.000130892675821,-0.000274874811841,3.31992744087e-05,1793256050990819328
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,753,730,707.480854192,698,654,930,800,834.480854192,671,653,678,0.401012669487,0.00450343317057,0.059829873816,0.999999951633,0.000124773287151,-0.000283084234191,3.20762981362e-05,1793256051057485824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784.065570449,752.934429551,730,708,698,654,929.934429551,800,834.934429551,671,653,678,0.40099957568,0.00450217324815,0.0598320013513,0.999999952983,0.000124184944701,-0.000278517134442,3.22683204494e-05,1793256051074152704
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784.645513611,752.354486389,730,708,698,654,929.354486389,800,834.354486389,671,653,678,0.400990874466,0.00450323883004,0.0598343904297,0.999999953528,0.000126325499869,-0.000275608725353,3.20277514463e-05,1793256051090819328
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,785,752.801996424,730,707.198003576,698,654,929.801996424,800,834,671,653,677.198003576,0.400980650541,0.00450380578587,0.0598389075768,0.999999955415,0.000125917761822,-0.000268914590046,3.16031864567e-05,1793256051124152576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784.622196334,753,730,707.377803666,698,654,930,799.622196334,834.377803666,671,653,677.377803666,0.40097673302,0.00450273935308,0.0598387242402,0.999999955534,0.000124276120553,-0.000269243786929,3.15552910544e-05,1793256051140819200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784.047268358,753,730,707.952731642,698,654,930,799.047268358,834.952731642,671,653,677.952731642,0.400972614451,0.00450114819398,0.0598372967732,0.999999955126,0.000122422693163,-0.000271591862865,3.15866709749e-05,1793256051157485824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784.540561638,753,729.459438362,708,698,654,930,799,835,671,653.540561638,678,0.40097238694,0.00450086815709,0.059838174447,0.999999955753,0.000120441556039,-0.000270231156016,3.10276322879e-05,1793256051174152448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784.872251087,752.872251087,729.127748913,707.872251087,698,654,929.872251087,799.127748913,834.872251087,671,653.872251087,678,0.400972245207,0.00450038595558,0.0598390804397,0.999999956419,0.000118506994626,-0.000268663020603,3.06180929649e-05,1793256051190819328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,784.291442303,752.291442303,729.708557697,707.291442303,698,654,929.291442303,799.708557697,834.291442303,671,653.291442303,678,0.4009711715,0.0044987702385,0.0598393545247,0.999999956915,0.000116778187015,-0.000267537517261,3.09263264036e-05,1793256051207485952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784.287114177,752.287114177,730,707,698,654.287114177,929.287114177,800,834.287114177,671,653,678,0.400970066917,0.00449811763479,0.0598396465209,0.999999957035,0.000116300191343,-0.000267264435542,3.12223303571e-05,1793256051224152576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,784.863402264,752.863402264,730,707,698,654.863402264,929.863402264,800,834.863402264,671,653,678,0.400968931234,0.00449843505356,0.0598399565566,0.999999956778,0.000117081980628,-0.000267849890513,3.15060171295e-05,1793256051240819200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,785,753,730,707.444923753,698,654.555076247,930,800,834.555076247,671,653,677.555076247,0.400970176644,0.00449985874064,0.0598410123756,0.99999995708,0.00011941347425,-0.0002657173193,3.12154523812e-05,1793256051257486080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,785,753,730,708,698,654,930,799.972063803,834,671.027936197,653,677,0.400972023236,0.00450148680022,0.0598422082794,0.99999995753,0.00012191521909,-0.000262925388023,3.07697685703e-05,1793256051274152704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,785,753,730,708,698,654,930,799.391718032,834,671.608281968,653,677,0.400971130197,0.00450036015582,0.0598415927641,0.99999995774,0.000118263458129,-0.000263792503607,3.07844722077e-05,1793256051290819328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,785,752.811636613,730,708,698,654.188363387,930,799.188363387,834,671.811636613,653,677.188363387,0.400970561966,0.00450016917711,0.0598413054237,0.999999957817,0.000116515691142,-0.000264298220295,3.06095749556e-05,1793256051307485952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,785,752.232104201,730,708,698,654.767895799,930,799.767895799,834,671.232104201,653,677.767895799,0.400970668253,0.00450192126946,0.0598416995948,0.999999957639,0.000118721895873,-0.000264053429871,3.00409387931e-05,1793256051324152576
+397,6.616666667,POSE2_TO_POSE3_RETREAT,785,752,730,707.655214281,698,654.655214281,930,799.655214281,834.344785719,671,653,678,0.40097095233,0.00450191775117,0.0598421591656,0.999999957767,0.000118764143651,-0.000263556606007,2.99691143337e-05,1793256051340819200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,752,730,707.080089737,698,654.080089737,930,799.080089737,834.919910263,671,653,678,0.400971355182,0.00450074137308,0.0598426624274,0.9999999581,0.000117360730244,-0.000262891407759,3.02291917632e-05,1793256051357485824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,784.495998565,752.504001435,730,707.504001435,698,654.504001435,930,799.504001435,835,671,653,678,0.400970989464,0.00450047569042,0.0598426465334,0.999999958229,0.000116259712235,-0.000262883963594,3.02958674554e-05,1793256051374152704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,784.089306592,753,730,707.910693408,698,654.910693408,930,799.910693408,835,671,653,678,0.400970443442,0.00450046522447,0.0598424451565,0.999999958238,0.000115471365302,-0.000263194193273,3.03117600215e-05,1793256051390819328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,784.67330044,753,730,707.32669956,698,654.32669956,930,799.32669956,835,671,653,678,0.400969587458,0.00450105232139,0.0598416816025,0.999999957772,0.000116143970641,-0.00026467462584,3.02196745899e-05,1793256051407485952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,784.747196489,752.747196489,730,707.252803511,698,654,930,799,834.747196489,671,653,677.747196489,0.400969849398,0.00450132819141,0.0598420471469,0.999999957747,0.000117093619569,-0.000264348422358,3.02535598223e-05,1793256051424152576
+403,6.716666667,POSE2_TO_POSE3_RETREAT,784.173395504,752.173395504,730,707.826604496,698,654,930,799,834.173395504,671,653,677.173395504,0.400971530825,0.00450120888088,0.0598438463649,0.999999958277,0.000118395044924,-0.000261728241419,3.04473963996e-05,1793256051440819200
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784.400643581,752.400643581,730,708,698.400643581,654.400643581,930,799.400643581,834,671,653,677.400643581,0.400971484523,0.00450000191458,0.0598434705575,0.999999958615,0.000116299357459,-0.000261378719713,3.04232601226e-05,1793256051457485824
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784.974785742,752.974785742,730,708,698.974785742,654.974785742,930,799.974785742,834,671,653,677.974785742,0.400970690029,0.0044983239393,0.0598421528558,0.999999958861,0.000112732551254,-0.000262012506447,3.03047307561e-05,1793256051474152448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785,753,730,708,698.436362085,654.436362085,930,799.436362085,834.563637915,671,653,678,0.400968750771,0.0044989878345,0.0598415691266,0.999999958343,0.000113394471332,-0.000263687085553,3.03985765074e-05,1793256051490819072
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db9b6ec4cd8c140864875841afd9a5cdd6bba80b
--- /dev/null
+++ b/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
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+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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95255d08cd943ae1f2af5a7ac4b773123d86d749
--- /dev/null
+++ b/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
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9f3239d6cf7626a70b847d637deb0c43ec3bd0c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,785,752.577664901,730,707,698,654,930,800,835,671.577664901,653.577664901,678,0.400970453455,0.00449922944582,0.0598442007189,0.999999959034,0.000115616678271,-0.000260120660612,3.00271962269e-05,1793256051634680832
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+20,0.333333333,BASELINE,785,753,730,708,698,654,929,800,834,671,653.601490884,677.398509116,0.400969101271,0.0044990144011,0.0598446838825,0.999999959094,0.000114309705402,-0.000260441834248,3.02380927331e-05,1793256051951347712
+21,0.350000000,BASELINE,785,752.821977618,730,707.821977618,698,654,929,800,834.178022382,671,653.821977618,677.178022382,0.400969693404,0.00449940164041,0.0598455487372,0.999999959336,0.000114631182166,-0.000259348937597,3.04161258306e-05,1793256051968014592
+22,0.366666667,BASELINE,785,752.246761788,730,707.246761788,698,654,929,800,834.753238212,671,653.246761788,677.753238212,0.400969665825,0.00450099683933,0.0598453072939,0.999999959111,0.00011714900305,-0.000259146399442,2.99529017437e-05,1793256051984681216
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+27,0.450000000,BASELINE,784.659789422,752.340210578,730,708,698,655,930,799.659789422,835,671,653,678,0.400970326508,0.00449989205248,0.0598454569987,0.999999959348,0.000117441816139,-0.000258073331925,3.01583980936e-05,1793256052068014080
+28,0.466666667,BASELINE,784.761066183,752.238933817,729.761066183,708,698,654.761066183,930,800,834.761066183,671,653,677.761066183,0.400970894974,0.00450029056107,0.0598457018459,0.999999959553,0.000117423298488,-0.000257296793029,3.00574114588e-05,1793256052084680960
+29,0.483333333,BASELINE,784.175786582,752.824213418,729.175786582,708,698,654.175786582,930,800,834.175786582,671,653,677.175786582,0.400972832495,0.00450070757552,0.0598466694141,0.999999960099,0.000116447353496,-0.000255646870713,2.97709496825e-05,1793256052101348096
+30,0.500000000,BASELINE,784,753,729.406615858,707.593384142,698,654.406615858,929.593384142,799.593384142,834,671,653,677.406615858,0.400971997791,0.00450000766123,0.0598461357568,0.999999959932,0.000116159967606,-0.000256426999186,2.98087654496e-05,1793256052118014720
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+35,0.583333333,BASELINE,784.700650443,753,730,707,698,654.700650443,930,800,834.299349557,671,653,678,0.400968499318,0.00450067113327,0.0598445890818,0.999999958937,0.000115738983922,-0.000260484570317,2.9644914715e-05,1793256052201347584
+36,0.600000000,BASELINE,784.11156433,753,730,707,698,654.11156433,930,800,834.88843567,671,653,678,0.400969949447,0.00449970155922,0.0598448065637,0.999999959038,0.000117318647053,-0.000259338607488,3.00606523457e-05,1793256052218014208
+37,0.616666667,BASELINE,784.469801651,753,730,707,698,654,929.530198349,800,834.530198349,671,653,678,0.400969849129,0.00449968914979,0.0598450013154,0.999999959371,0.00011593120255,-0.000258700457507,2.98659181521e-05,1793256052234680832
+38,0.633333333,BASELINE,784.950849279,753,729.950849279,707.049150721,698,654.049150721,929.049150721,800,834.049150721,671,653,678,0.400969459818,0.0044999560622,0.0598452198932,0.999999959702,0.00011419717367,-0.000258225619806,2.95578433095e-05,1793256052251347968
+39,0.650000000,BASELINE,784.373790162,753,729.373790162,707.626209838,698,654.626209838,929.626209838,800,834.626209838,671,653,678,0.400969857162,0.00450082120092,0.0598457514147,0.999999959472,0.000116186122936,-0.000258230575124,2.95643073879e-05,1793256052268014592
+40,0.666666667,BASELINE,784.205248264,753,729.205248264,707.794751736,698,655,930,800,834.794751736,671,653,678,0.400969917711,0.00450092530556,0.0598459260341,0.999999959373,0.000116675760328,-0.000258391168146,2.95887397764e-05,1793256052284681216
+41,0.683333333,BASELINE,784.787926396,753,729.787926396,707.212073604,698,655,930,800,834.212073604,671,653,678,0.400969358929,0.0044996299489,0.059845444348,0.999999959517,0.000114408321494,-0.00025883796246,2.96462139881e-05,1793256052301347584
+42,0.700000000,BASELINE,785,753,730,707.369943701,698,654.630056299,930,799.630056299,834.369943701,671,653,677.630056299,0.400970176237,0.00449995918008,0.0598456484725,0.999999959771,0.000114753246925,-0.000257726675862,2.94319867109e-05,1793256052318014208
+43,0.716666667,BASELINE,785,753,730,707.951582835,698,654.048417165,930,799.048417165,834.951582835,671,653,677.048417165,0.400971780993,0.00450121806041,0.0598462450433,0.999999960083,0.000116593063649,-0.000255723797867,2.90622818157e-05,1793256052334680832
+44,0.733333333,BASELINE,784.469239154,753,730,708,698.530760846,654.530760846,930,799.530760846,834.469239154,671,653,677.530760846,0.400971128815,0.00450051920867,0.0598465218593,0.999999959797,0.000116577052564,-0.000256806455978,2.94327124274e-05,1793256052351347712
+45,0.750000000,BASELINE,784.108994809,753,730,707.891005191,698.891005191,655,929.891005191,799.891005191,834,671,653,678,0.400970400375,0.00449974893137,0.0598465389237,0.999999959531,0.000115915558039,-0.00025809961244,2.97681370933e-05,1793256052368014336
+46,0.766666667,BASELINE,784.684146801,753,730,707.315853199,698.315853199,655,929.315853199,799.315853199,834,671,653,678,0.400970222246,0.00449943345187,0.0598455692376,0.999999959586,0.000113214113249,-0.000259094790702,2.96664175451e-05,1793256052384681216
+47,0.783333333,BASELINE,785,753,730,707.264938472,698,655,929.264938472,799.264938472,834.264938472,671,653.264938472,677.735061528,0.400970332043,0.00449943013751,0.0598455318458,0.999999959668,0.000112992364281,-0.000258880137292,2.96225110818e-05,1793256052401347840
+48,0.800000000,BASELINE,785,753,730,707.852599944,698,655,929.852599944,799.852599944,834.852599944,671,653.852599944,677.147400056,0.400970792564,0.00449980707316,0.0598466300864,0.999999959783,0.000115791145983,-0.000257191781446,2.96490270396e-05,1793256052418014464
+49,0.816666667,BASELINE,784.56599604,753,730,707.56599604,698,655,930,800,835,671,653.56599604,677.43400396,0.400969977073,0.00449984872491,0.0598461688245,0.999999959537,0.000115754635522,-0.000258152173139,2.97466554496e-05,1793256052434680832
+50,0.833333333,BASELINE,784,753,730,707,698,654.986718753,930,800,835,671,653,678,0.400968762489,0.00449980800094,0.0598452040771,0.999999959173,0.000114830862336,-0.000259954289469,2.98620374206e-05,1793256052451347456
+51,0.850000000,BASELINE,784,753,730,707,698,654.408788762,930,800,835,671,653,678,0.400968743326,0.00450103752075,0.0598450317103,0.999999959009,0.000116542852941,-0.000259839877867,2.97199940625e-05,1793256052468014336
+52,0.866666667,BASELINE,784.168447354,753,730,707,698.168447354,654.168447354,930,799.831552646,834.831552646,671,653,678,0.400968838141,0.00450137962702,0.0598450829788,0.999999959044,0.000116954707051,-0.000259535078637,2.95975400087e-05,1793256052484680960
+53,0.883333333,BASELINE,784.744006444,753,730,707,698.744006444,654.744006444,930,799.255993556,834.255993556,671,653,678,0.400969208423,0.00449957698914,0.0598456747396,0.99999995956,0.000114224328131,-0.000258770141363,2.95224303437e-05,1793256052501347584
+54,0.900000000,BASELINE,785,753,730,707,699,654.674290306,930,799.325709694,834,671,653,678,0.400970176964,0.00449928187589,0.0598462600368,0.999999959912,0.000113853199568,-0.000257567647842,2.95250805725e-05,1793256052518014464
+55,0.916666667,BASELINE,785,753,730,707,699,654.087665196,930,799.912334804,834,671,653,678,0.40097162475,0.00450019439154,0.0598468401563,0.999999960135,0.000115371989668,-0.00025601464232,2.95900217202e-05,1793256052534681088
+56,0.933333333,BASELINE,785,753,730,707.494110548,698.505889452,654.494110548,930,800,834.494110548,671,653,678,0.400970898584,0.00449884833397,0.0598464834122,0.999999959927,0.000114211580311,-0.000257325377734,2.97521313538e-05,1793256052551347712
+57,0.950000000,BASELINE,785,752.925623163,730,707.925623163,698.074376837,654.925623163,930,800,835,671.074376837,653.074376837,678,0.400969879161,0.00449749385331,0.0598459276063,0.999999959641,0.000112930048346,-0.000258986908267,2.98565713467e-05,1793256052568014336
+58,0.966666667,BASELINE,785,752.349789698,730,707.349789698,698.650210302,654.349789698,930,800,835,671.650210302,653.650210302,678,0.400969457733,0.00449875800057,0.0598451394766,0.999999959366,0.000114005569181,-0.000259621262137,2.94570943981e-05,1793256052584680960
+59,0.983333333,BASELINE,785,752.224897263,730,707.224897263,698.775102737,654,930,800,835,671.775102737,654,678,0.4009694438,0.00449947569925,0.0598448869363,0.99999995936,0.000114370602844,-0.000259507725033,2.9255395474e-05,1793256052601347840
+60,1.000000000,BASELINE,785,752.797810162,730,707.797810162,698.202189838,654,930,800,835,671.202189838,654,678,0.400970060441,0.00449934780024,0.0598454631896,0.999999959769,0.000113636198461,-0.000258236869574,2.93597466552e-05,1793256052618014464
+61,1.016666667,BASELINE,785,753,730,708,698.383333,654,930,800,835,671,653.616667,678,0.400970782935,0.00449880134886,0.0598461938034,0.999999960111,0.000112949897027,-0.000257192199706,2.95363810128e-05,1793256052634681088
+62,1.033333333,BASELINE,785,753,730,708,698.975733179,654,930,800,835,671,653.024266821,678,0.400971563159,0.00449802662193,0.0598470086044,0.999999960416,0.000112289830655,-0.000256270889977,2.97524381105e-05,1793256052651347712
+63,1.050000000,BASELINE,785,753,730.555652193,708,698.444347807,654.555652193,930,800,835,671.555652193,653,678,0.40097110846,0.00449844093816,0.0598465471703,0.999999960162,0.00011378516065,-0.000256599425653,2.97679359967e-05,1793256052668014592
+64,1.066666667,BASELINE,784.86594514,753,730.86594514,707.86594514,698,654.86594514,930,800,834.86594514,672,653,678,0.400971021965,0.00449884257305,0.0598464265154,0.99999996007,0.0001148475595,-0.000256483906821,2.97591151803e-05,1793256052684681472
+65,1.083333333,BASELINE,784.290777879,753,730.290777879,707.290777879,698,654.290777879,930,800,834.290777879,672,653,678,0.400972320626,0.00449903536006,0.0598476065813,0.999999960596,0.000114182442687,-0.000254731545288,2.96984612838e-05,1793256052701348096
+66,1.100000000,BASELINE,784.290364422,753,730,707.290364422,698,654.290364422,930,800,834,672,653,677.709635578,0.400971981623,0.00449875184275,0.0598477041579,0.999999960619,0.000113224302478,-0.000255059015022,2.97904776598e-05,1793256052718014464
+67,1.116666667,BASELINE,784.87761595,753,730,707.87761595,698,654.87761595,930,800,834,672,653,677.12238405,0.400969968169,0.0044979813215,0.0598466949281,0.999999960124,0.000111966556498,-0.000257513037017,3.00385938647e-05,1793256052734681088
+68,1.133333333,BASELINE,785,753,730,708,698,655,930,800,834.45897288,671.54102712,653,677.45897288,0.40096979088,0.00449991602753,0.0598461317545,0.999999959753,0.000114596558983,-0.000257839005797,2.96724326165e-05,1793256052751347456
+69,1.150000000,BASELINE,785,753,730,708,698.038656636,654.961343364,930,800,834.961343364,671,653,678,0.400970122943,0.00450227296721,0.059845760895,0.999999959469,0.000117809315472,-0.000257547987435,2.9196811789e-05,1793256052768014336
+70,1.166666667,BASELINE,785,753,730,708,698.616647075,654.383352925,930,800,834.383352925,671,653,678,0.40097081707,0.00450058437886,0.0598464347877,0.999999960081,0.000114872624547,-0.000256465310987,2.9450305887e-05,1793256052784680960
+71,1.183333333,BASELINE,785,753,730,708,699,654.196212004,930,800,834,671,653,678,0.400971455467,0.00449931612124,0.0598469626358,0.999999960541,0.000112978717997,-0.00025549218203,2.96256638083e-05,1793256052801347584
+72,1.200000000,BASELINE,785,753,730,708,699,654.778878112,930,800,834,671,653,678,0.400971984098,0.00449887573591,0.0598472028387,0.999999960715,0.000113138652147,-0.000254734814798,2.96471267758e-05,1793256052818014208
+73,1.216666667,BASELINE,785,753,730,708,698.639566599,655,930,800,834.360433401,671,653,677.639566599,0.400971100432,0.00449926863593,0.0598467788405,0.999999960361,0.000114091942925,-0.000255701275244,2.96345122269e-05,1793256052834680576
+74,1.233333333,BASELINE,785,753,730,708,698.058690725,655,930,800,834.941309275,671,653,677.058690725,0.400969352998,0.00450017117655,0.0598459486143,0.999999959678,0.0001155304537,-0.000257722035458,2.96010557345e-05,1793256052851347200
+75,1.250000000,BASELINE,785,753,730,707.479035272,698.520964728,654.479035272,930,800,835,671.520964728,653.520964728,677.520964728,0.400971207623,0.0045002983437,0.0598472214946,0.999999960245,0.000115390789956,-0.000255579709539,2.95627340029e-05,1793256052868014080
+76,1.266666667,BASELINE,784.900735426,753,730,707.099264574,698.900735426,654.099264574,930,800,835,671.900735426,653.900735426,678,0.40097277621,0.00450016590733,0.0598481726913,0.999999960714,0.000115224832596,-0.000253812685755,2.9560233331e-05,1793256052884680704
+77,1.283333333,BASELINE,784.328244288,753,730,707.671755712,698.328244288,654.671755712,930,800,835,671.328244288,653.328244288,678,0.400971051103,0.00449921131778,0.0598464634285,0.999999960071,0.000115779144175,-0.000256065518847,2.97311102197e-05,1793256052901348352
+78,1.300000000,BASELINE,784.25076899,753,730,708,698.25076899,655,930,800,834.74923101,671,653,678,0.400970053721,0.00449886886098,0.0598458564109,0.99999995982,0.00011541639561,-0.00025720776234,2.97083668292e-05,1793256052918015232
+79,1.316666667,BASELINE,784.83854735,753,730,708,698.83854735,655,930,800,834.16145265,671,653,678,0.400970034333,0.00449934905168,0.0598467307048,0.999999960102,0.000113821206497,-0.000256857480199,2.94254164192e-05,1793256052934681088
+80,1.333333333,BASELINE,784.578795794,753,730,707.578795794,699,655,930,800,834.421204206,671,653,678,0.400970470675,0.0044991884485,0.0598473444364,0.999999960191,0.000114001332901,-0.000256412331726,2.95542941568e-05,1793256052951347968
+81,1.350000000,BASELINE,784.001912549,753,730,707,699,655,930,800,835,671,653,678,0.400971072029,0.00449878548393,0.0598478523437,0.999999960208,0.000114849520121,-0.00025593813313,2.98369764914e-05,1793256052968014592
+82,1.366666667,BASELINE,784.579906997,753,730,707,699,655,930,800,835,671,653,678,0.400969391133,0.00449847648356,0.0598462073464,0.999999959858,0.000114413292951,-0.000257535212204,2.94697214199e-05,1793256052984681984
+83,1.383333333,BASELINE,785,753,730,707.155798701,698.844201299,654.844201299,930,800,835,671,653.155798701,678,0.400968323025,0.00449862847118,0.0598452435051,0.99999995962,0.000114590564148,-0.000258404843887,2.92452584983e-05,1793256053001348864
+84,1.400000000,BASELINE,785,753,730,707.72609623,698.27390377,654.27390377,930,800,835,671,653.72609623,678,0.400968885226,0.00450000690656,0.0598460918631,0.999999959682,0.000116400033427,-0.000257339119014,2.94006906981e-05,1793256053018015232
+85,1.416666667,BASELINE,785,753,730.308739918,707.691260082,698,654,930,800,834.691260082,671,654,678,0.400970278136,0.00450043362281,0.0598475011625,0.999999960073,0.00011731850892,-0.000255372297276,2.95904843793e-05,1793256053034681600
+86,1.433333333,BASELINE,785,753,730.902792918,707.097207082,698,654,930,800,834.097207082,671,654,678,0.400972438724,0.00449998083522,0.0598494288395,0.999999960766,0.000117413598124,-0.00025257275295,2.98120322216e-05,1793256053051347968
+87,1.450000000,BASELINE,785,753,730.51557183,707.48442817,698,654,930,800,834,671,653.51557183,678,0.400971753592,0.00449924945541,0.0598487232224,0.999999960702,0.00011585207146,-0.000253552182817,2.97512318607e-05,1793256053068014336
+88,1.466666667,BASELINE,785,753,730,708,698,654.063345353,930,800,834,671,653,678,0.400970634551,0.00449859208273,0.0598476004416,0.999999960486,0.000114250546043,-0.000255136659499,2.96642008006e-05,1793256053084681472
+89,1.483333333,BASELINE,785,753,730,708,698,654.639924619,930,800,834,671,653,678,0.400970510866,0.00449897594432,0.0598472719641,0.999999960275,0.000114950967792,-0.000255632990513,2.98122153798e-05,1793256053101348096
+90,1.500000000,BASELINE,785,753,730,708,698.220015639,654.779984361,930,800,834,671,653,677.779984361,0.400971142779,0.00449948567747,0.0598473815227,0.999999960357,0.000115992115157,-0.000254849966113,2.97347190257e-05,1793256053118014976
+91,1.516666667,BASELINE,785,753,730,708,698.805947125,654.194052875,930,800,834,671,653,677.194052875,0.400973031353,0.00450020475205,0.0598482195945,0.99999996092,0.000117599935359,-0.000251939200109,2.92821673919e-05,1793256053134681600
+92,1.533333333,BASELINE,784.612506093,753,730,707.612506093,698.612506093,654.387493907,930,800,834.387493907,671.387493907,653.387493907,677.387493907,0.400972044471,0.00449971072452,0.0598476435225,0.999999960547,0.000117503222373,-0.000253446318257,2.938481201e-05,1793256053151347968
+93,1.550000000,BASELINE,784.033130503,753,730,707.033130503,698.033130503,654.966869497,930,800,834.966869497,671.966869497,653.966869497,677.966869497,0.400969633704,0.00449861598547,0.0598463671858,0.999999959703,0.000116562448009,-0.000257141111947,2.97623821773e-05,1793256053168014336
+94,1.566666667,BASELINE,784.544097887,753,730,707,698.544097887,655,930,799.455902113,835,671.455902113,653.455902113,678,0.400970000027,0.00449955280777,0.0598473516822,0.999999960204,0.000115513190283,-0.000255669401042,2.96903975342e-05,1793256053184680704
+95,1.583333333,BASELINE,785,752.878859503,730,707.121140497,698.878859503,654.878859503,930,799.121140497,835,671,653.121140497,677.878859503,0.400970488907,0.00450048319263,0.0598481982951,0.999999960678,0.000114540836186,-0.000254272183573,2.94968925068e-05,1793256053201347328
+96,1.600000000,BASELINE,785,752.30202569,730,707.69797431,698.30202569,654.30202569,930,799.69797431,835,671,653.69797431,677.30202569,0.40097080521,0.00450092585789,0.0598480104199,0.999999960753,0.000113882520269,-0.000254333934043,2.89488318324e-05,1793256053218013952
+97,1.616666667,BASELINE,785,752.279422614,730,708,698,654.279422614,930,800,835,671.279422614,653.720577386,677.279422614,0.400971036689,0.00450025389539,0.0598480142494,0.999999960949,0.000112310413084,-0.000254260803678,2.89627570658e-05,1793256053234680832
+98,1.633333333,BASELINE,785,752.865942404,730,708,698,654.865942404,930,800,835,671.865942404,653.134057596,677.865942404,0.400971174942,0.00449835691021,0.0598482287705,0.999999961273,0.000109734010996,-0.000254039433613,2.95943284227e-05,1793256053251347712
+99,1.650000000,BASELINE,785,753,730,708,698.448028675,654.551971325,930,800,834.551971325,671.551971325,653,678,0.40097065893,0.00449802719556,0.0598477232717,0.999999960985,0.000110598976033,-0.000254777419869,2.9755314794e-05,1793256053268014080
+100,1.666666667,BASELINE,785,753,730,708,698.971468034,654.028531966,930,800,834,671.028531966,653,678,0.400969883733,0.00449822787286,0.0598469800218,0.999999960503,0.000112438946652,-0.000255864536681,2.97509652056e-05,1793256053284680960
+101,1.683333333,BASELINE,785,753,730,708,698.396127519,654.603872481,930,800,834,671.603872481,653,678,0.400967856362,0.00449969407197,0.0598457687617,0.999999959807,0.000113423812176,-0.000258195217733,2.92500783218e-05,1793256053301347584
+102,1.700000000,BASELINE,785,753,730,708,698,655,930,800,834.179336835,672,653,678,0.400967031992,0.0045009544378,0.0598453804169,0.99999995941,0.00011489066768,-0.000259114845717,2.89889511993e-05,1793256053318013952
+103,1.716666667,BASELINE,785,753,730,708,698,655,930,800,834.75507484,672,653,678,0.400968866701,0.00450175983528,0.0598468110214,0.999999959675,0.000117422900354,-0.00025691552079,2.92577824758e-05,1793256053334680832
+104,1.733333333,BASELINE,785,753,730,708,698.339028626,655,930,800,835,671.660971374,653.339028626,678,0.400969590407,0.00450064343324,0.0598473110129,0.999999959906,0.000117131251628,-0.000256113932669,2.95498031837e-05,1793256053351347456
+105,1.750000000,BASELINE,785,753,730,708,698.929065223,655,930,800,835,671.070934777,653.929065223,678,0.400969491553,0.00449810418091,0.0598471220028,0.999999960114,0.000114748874874,-0.000256347192273,2.98589927712e-05,1793256053368014080
+106,1.766666667,BASELINE,785,753,730,707.490062964,698.490062964,655,930,800,835,671,653.490062964,678,0.400969864549,0.00449842995882,0.0598470639405,0.999999960185,0.000114688864602,-0.000256102710661,2.98093092043e-05,1793256053384680704
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,753,730,708,699,655,930,800,835,672,654,678,0.400969304475,0.00450120067702,0.0598470959093,0.999999959549,0.000118896458179,-0.000256723156861,2.93036716138e-05,1793256053427853568
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,753,730,707.411129705,699,655,930,800,834.411129705,671.411129705,654,678,0.400968850027,0.00450005560848,0.0598471245887,0.99999995998,0.000115722082973,-0.000256461390217,2.95825834771e-05,1793256053444520192
+109,1.816666667,POSE1_TO_POSE2_PRESS,784.174840824,753,730,707,698.825159176,655,930,800,834,671.174840824,654,678,0.400968511613,0.00449944434265,0.0598468784297,0.999999960105,0.000114253493439,-0.000256619216917,2.97180219625e-05,1793256053461186816
+110,1.833333333,POSE1_TO_POSE2_PRESS,784.754104051,753,730,707,698.245895949,655,930,800,834,671.754104051,654,678,0.400968441597,0.00450006780979,0.0598459965449,0.999999959534,0.000116730537526,-0.000257747600362,2.9521593797e-05,1793256053477853184
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,753,730.333004797,707.333004797,698,654.666995203,930,800,834.333004797,672,654,678,0.400970751866,0.00450069549442,0.0598471774221,0.999999960017,0.000117501905508,-0.0002555362648,2.93469199068e-05,1793256053494519808
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,753,730.911638137,707.911638137,698,654.088361863,930,800,834.911638137,672,654,678,0.400974817863,0.0045013262899,0.0598498798188,0.999999961262,0.000117015145105,-0.000250861510252,2.91882922563e-05,1793256053511186432
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,753,730.515038207,708,698.484961793,654.484961793,930,800,835,671.515038207,653.515038207,678,0.400973132249,0.00449953794407,0.0598489802469,0.999999961213,0.000113705081465,-0.000252570869037,2.9217271348e-05,1793256053527853056
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,753,730,708,699,655,930,799.940861238,834.940861238,671,653.059138762,678,0.400970911067,0.00449774178319,0.0598477046384,0.999999960932,0.000110718339133,-0.000254990716055,2.92831571894e-05,1793256053544519936
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,753,730,708,699,655,930,799.350420707,834.350420707,671,653.649579293,678,0.4009731913,0.00449979245653,0.0598488829884,0.999999960812,0.000115207769183,-0.000253456499607,2.93768421548e-05,1793256053561186560
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,753,730,708,699,655,930,799.235352,834,671,653.764648,678,0.400979224366,0.00450053964725,0.0598516576343,0.999999961525,0.000117424782015,-0.000249569117396,2.95942231318e-05,1793256053577853184
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,753,730,708,699,655,930,799.814309794,834,671,653.185690206,678,0.400990736436,0.0044993837982,0.0598567628169,0.999999963443,0.000116324143794,-0.000242246194565,2.99921960052e-05,1793256053594519808
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,753,730,707.60880433,699,655,930,799.60880433,834.39119567,671,653,678,0.401025862717,0.00449975881894,0.0598700914616,0.999999969305,0.000115151007898,-0.000217362123676,2.97479817576e-05,1793256053611186688
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,753,730,707.032896707,699,655,930,799.032896707,834.967103293,671,653,678,0.401072138988,0.00450085667465,0.0598873030019,0.99999997612,0.000113943640373,-0.000184186155509,2.92005442278e-05,1793256053627853312
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,753,730,707.541231258,699,654.458768742,930,799.541231258,835,671,653,678,0.401134270443,0.00449756026217,0.0599064009237,0.999999981257,0.000110633624475,-0.000156016455811,3.0094745841e-05,1793256053644519936
+121,2.016666667,POSE1_TO_POSE2_PRESS,784.88113097,753,730,708,698.88113097,654.11886903,930,800,835,671,653,678,0.401200023413,0.00449508098915,0.0599244527609,0.999999985261,0.00010824977046,-0.000129651901573,3.08400648179e-05,1793256053661186816
+122,2.033333333,POSE1_TO_POSE2_PRESS,784.289092745,753,730,708,698.289092745,654.710907255,930,800,835,671,653,678,0.401276368659,0.00449691410282,0.0599378856612,0.999999987504,0.000110059647645,-0.000109265614551,3.06450882667e-05,1793256053677853440
+123,2.050000000,POSE1_TO_POSE2_PRESS,784.295709964,753,730,708,698.295709964,655,930,800,835,671,653.295709964,678,0.4013621744,0.00449788522674,0.0599470715802,0.999999989051,0.000109630421402,-9.47306103966e-05,3.00990634321e-05,1793256053694520064
+124,2.066666667,POSE1_TO_POSE2_PRESS,784.873607978,753,730,708,698.873607978,655,930,800,835,671,653.873607978,678,0.401457008033,0.00449803377694,0.0599522047188,0.999999990163,0.000107064479001,-8.57793290799e-05,2.92180426976e-05,1793256053711186432
+125,2.083333333,POSE1_TO_POSE2_PRESS,784.555156412,753,730,708,699,655,930,800,834.555156412,671,653.555156412,678,0.401572303927,0.00449691396781,0.0599556868245,0.999999991081,0.000105475253123,-7.68159755649e-05,2.84934200142e-05,1793256053727853312
+126,2.100000000,POSE1_TO_POSE2_PRESS,784.014831715,753,730,708,699,655,930,800,834.014831715,671,653,678,0.401693730503,0.00449552378097,0.0599586664611,0.999999991878,0.000104146864968,-6.80090556166e-05,2.77872710698e-05,1793256053744519936
+127,2.116666667,POSE1_TO_POSE2_PRESS,784.608939666,753,730,708,699,655,930,800,834.608939666,671,653,678,0.40183088103,0.00449744089014,0.0599600725774,0.999999992283,0.000102327193129,-6.5443880956e-05,2.60926993653e-05,1793256053761186560
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,752.801880472,730,708,699,655,930,800,835,671,653,678,0.401976891609,0.0044979592788,0.0599599158284,0.999999992714,9.96029030977e-05,-6.36659993806e-05,2.4438818702e-05,1793256053777853184
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,752.222191951,730,708,699,655,930,800,835,671,653,678,0.402139966218,0.00449578379658,0.0599567490737,0.999999993203,9.51363607162e-05,-6.34044079608e-05,2.2863307287e-05,1793256053794519808
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.644359418,752.355640582,730,708,698.644359418,655,930,800,835,671,653,678,0.402332138666,0.00449519596923,0.059956751676,0.999999993986,9.04518696402e-05,-5.84671189791e-05,2.06697269402e-05,1793256053811186432
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.067680367,752.932319633,730,708,698.067680367,655,930,800,835,671,653,678,0.402542396079,0.00449559490421,0.0599587241032,0.999999994889,8.56319182007e-05,-5.06237807581e-05,1.80920029592e-05,1793256053827853056
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,753,730.508873425,708,698,655,930,799.491126575,835,671,653,678,0.402793673295,0.00449540062913,0.0599616892667,0.999999995957,7.91524309759e-05,-3.97333762831e-05,1.55656464836e-05,1793256053844520192
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,753,730.912887987,708,698.087112013,655,930,799.087112013,835,671.087112013,653,678,0.403052581594,0.00449503113297,0.0599645436512,0.999999996821,7.28844703759e-05,-2.95586574092e-05,1.30902126516e-05,1793256053861186816
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,753,730.324865504,708,698.675134496,655,930,799.675134496,835,671.675134496,653,678,0.403324006866,0.00449410764451,0.0599660020009,0.99999999722,6.91016880195e-05,-2.58290145764e-05,1.0868317562e-05,1793256053877853184
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.259107848,753,730,708,698.740892152,655,930,799.740892152,834.740892152,671.740892152,653,678,0.403605991508,0.00449394953821,0.0599607931654,0.999999997253,6.52641515854e-05,-3.42148310738e-05,8.05120484312e-06,1793256053894519808
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.838082541,753,730,708,698.161917459,655,930,799.161917459,834.161917459,671.161917459,653,678,0.403901011601,0.00449473629092,0.0599473537357,0.999999996451,6.13590218235e-05,-5.7557098434e-05,4.4993002123e-06,1793256053911186432
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.584754741,753,730,708,698,655,930,799.415245259,834.415245259,671,653,678,0.404232406278,0.00449528850705,0.0599368323765,0.999999995597,5.58392687432e-05,-7.54144419767e-05,1.05257722496e-06,1793256053927853056
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.008295513,753,730,708,698,655,930,799.991704487,834.991704487,671,653,678,0.404577922943,0.00449574966718,0.0599274439233,0.999999994609,4.96926577029e-05,-9.11423293942e-05,-2.353310174e-06,1793256053944519680
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.56654674,753,730,708,698,655,930,800,835,671,653.56654674,678,0.404968961459,0.00449405996626,0.0599158802665,0.999999992754,3.94656248308e-05,-0.000113569967473,-6.07781251871e-06,1793256053961186304
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,752.854786906,730,707.854786906,698,655,930,800,835,671,653.854786906,678,0.405376396103,0.00449230855551,0.0599108346856,0.999999991749,2.91603084332e-05,-0.000124734532208,-9.65450848395e-06,1793256053977852928
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,752.264322848,730,707.264322848,698,655,930,800,835,671,653.264322848,678,0.405832066392,0.004490464221,0.0599258721472,0.999999994635,1.87976346443e-05,-0.000101064432802,-1.27637374992e-05,1793256053994519552
+142,2.366666667,POSE1_TO_POSE2_PRESS,785,752.319284457,730,707.319284457,698,655,930,800,835,671,653,678,0.406328665825,0.00448897419221,0.0599516011676,0.999999998169,9.55405639781e-06,-5.75366318715e-05,-1.61452200911e-05,1793256054011186432
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,752.897334735,730,707.897334735,698,655,930,800,835,671,653,678,0.406858436556,0.00448777131222,0.0599859952213,0.999999999802,1.21745405245e-06,2.08495367953e-06,-1.974735237e-05,1793256054027853312
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,753,730,708,698,655,930,799.528488545,835,671,653.471511455,678,0.407406932659,0.0044866712734,0.0600089207753,0.999999998986,-9.21719973976e-06,3.7193696936e-05,-2.36496230121e-05,1793256054044519936
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,753,730,708,698,655,930,799,835,671.046118755,653.953881245,678,0.407958476494,0.00448552430465,0.060026737414,0.999999997537,-1.99236640909e-05,6.14273971375e-05,-2.75020422492e-05,1793256054061186560
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,753,730,708,698,655,930,799,835,671.635657059,653.364342941,678,0.408498281962,0.00448356265797,0.0600135393017,0.999999998946,-2.84939930599e-05,1.98976619355e-05,-3.00033025161e-05,1793256054077853184
+147,2.450000000,POSE1_TO_POSE2_PRESS,784.778747452,752.778747452,730.221252548,708,698,655,930,799,835,671.778747452,653,678,0.409059899593,0.0044826357216,0.060000658494,0.999999998698,-3.53448216565e-05,-1.64313705718e-05,-3.29289183139e-05,1793256054094519808
+148,2.466666667,POSE1_TO_POSE2_PRESS,784.199531064,752.199531064,730.800468936,708,698,655,930,799,835,671.199531064,653,678,0.409656807027,0.00448338284008,0.059988291053,0.999999997572,-3.94136752547e-05,-4.4346199135e-05,-3.65410975658e-05,1793256054111186432
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.376804012,752.376804012,730.623195988,708,698,655,930,799,835,671,653,678,0.410310106661,0.00448421474341,0.0599926794452,0.999999998095,-3.81708082313e-05,-2.86349237024e-05,-3.91462523597e-05,1793256054127853312
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.951624892,752.951624892,730.048375108,708,698,655,930,799,835,671,653,678,0.410993041328,0.00448509120259,0.0600058733109,0.999999998518,-3.41365422059e-05,1.00026066015e-05,-4.12221986527e-05,1793256054144519936
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,753,730,708,698,654.472531217,930,799,835,671,653,678,0.411690596725,0.00449047999517,0.0600077631411,0.99999999925,5.13644628076e-06,1.57340209166e-05,-3.50291667947e-05,1793256054161186560
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,753,730.106020938,708,698,654.106020938,930,799,835,671,653.106020938,678,0.412384904975,0.00449439089934,0.0600023604819,0.999999998825,3.7726523619e-05,5.3217285095e-06,-2.99764554696e-05,1793256054177853184
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,753,730.696519137,708,698,654.696519137,930,799,835,671,653.696519137,678,0.413058235431,0.00448965364034,0.0599683803994,0.999999997008,2.49812241365e-05,-6.50440421672e-05,-3.36067753205e-05,1793256054194519808
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,753,730.717688987,708,698,655,930,799,835,671,653.717688987,678,0.413772284125,0.00448696791073,0.0599445692337,0.99999999297,1.72818215452e-05,-0.000111266376497,-3.71503956172e-05,1793256054211187200
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,753,730.136873321,708,698,655,930,799,835,671,653.136873321,678,0.41452938678,0.0044864513877,0.0599315102798,0.999999990358,1.49177520134e-05,-0.000131960391974,-4.0602343764e-05,1793256054227855360
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,753,730,708,698,655,930,799,835,671,653,678,0.415372769992,0.00448873673321,0.0599719586025,0.999999997347,2.28185543691e-05,-5.53553274576e-05,-4.14778219258e-05,1793256054244521728
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,752.988599549,730,708,698,655,930,799,835,671,653,678,0.41624170266,0.00449175018757,0.0600279497249,0.999999997359,3.37150253936e-05,4.91987223114e-05,-4.15404864809e-05,1793256054261187328
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,752.437789268,730,708,698,655,930,799,835,671,653,678,0.41706086338,0.00448834093347,0.060038793043,0.999999996889,3.66093006651e-05,5.67760461892e-05,-4.07300383989e-05,1793256054277853952
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,752,730,708,698,655,930,799,835,671,653.127013197,678,0.417887115553,0.00448573326281,0.0600428430791,0.999999996748,3.95381750899e-05,5.73705106917e-05,-4.06200077599e-05,1793256054294520832
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,752,730,708,698,655,930,799,835,671,653.746014646,678,0.418740836562,0.00448623054244,0.0600205791955,0.999999997681,4.26010698708e-05,3.09167241928e-05,-4.32230586459e-05,1793256054311187456
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.659101279,752,730,708,698,655,930,799,835.340898721,671,654,678,0.41958804741,0.00448652742631,0.0599932486656,0.999999997937,4.48633803094e-05,-1.079594156e-05,-4.46851037088e-05,1793256054327853824
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.08099857,752,730,708,698,655,930,799,835.91900143,671,654,678,0.420430728327,0.00448668487088,0.0599623926652,0.999999995895,4.65686283144e-05,-6.31260324375e-05,-4.53532144415e-05,1793256054344520448
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,752,730,708,698,655,930.494671629,799,835.505328371,671,653.505328371,678,0.421254159106,0.0044878724217,0.0599292786693,0.999999990821,-1.5464210879e-05,-0.000126472971496,-4.60861141169e-05,1793256054361187072
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,752,730,708,698,655,930.928652267,798.928652267,835,671,653.071347733,678,0.422089613118,0.00448862746056,0.0599017715739,0.99999997967,-7.88474243904e-05,-0.00017955377742,-4.69392906066e-05,1793256054377853696
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,752,730,708,698,655,930.34184569,798.34184569,835,671,653.65815431,678,0.423034590694,0.0044850451497,0.0599174301823,0.999999985274,-7.69551571861e-05,-0.000145497009817,-4.85851528378e-05,1793256054394520576
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,752,730.243152713,708,698,655,930.243152713,798.243152713,835.243152713,671,654,678,0.424003988006,0.00448302483211,0.0599558398603,0.999999992909,-7.26530574271e-05,-8.04492966189e-05,-4.93055174371e-05,1793256054411187456
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,752,730.825627874,708,698,655,930.825627874,798.825627874,835.825627874,671,654,678,0.425007463478,0.00448318429384,0.0600259989236,0.999999996313,-6.49880074305e-05,2.78466482916e-05,-4.8734339182e-05,1793256054427854592
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,752,730.598703881,708,698,655,930.598703881,798.598703881,836,671,654,678,0.425963616038,0.0044837609962,0.0600513044122,0.999999994469,-5.74724451716e-05,7.26295061165e-05,-4.98455540698e-05,1793256054444521728
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,752,730.025944095,708,698,655,930.025944095,798.025944095,836,671,654,678,0.426899548657,0.0044845159749,0.0600574451002,0.999999993339,-5.00207558808e-05,9.0274824208e-05,-5.16756131134e-05,1793256054461188608
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,752,730,708,698,655,930,798,835.448760587,671,653.448760587,678,0.427813676475,0.00447941671763,0.0600350403016,0.999999995194,-5.21514052945e-05,6.35665249786e-05,-5.33910682314e-05,1793256054477855232
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,752,730,708,698,654.868383114,930,798,835,671,653.131616886,678,0.428717739453,0.00447608941032,0.0600085498195,0.999999996799,-5.12271471503e-05,2.76004149647e-05,-5.49177418217e-05,1793256054494521600
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,752,730,708,698,654.277595132,930,798,835,671,653.722404868,678,0.429590298452,0.00447991291068,0.0599725305953,0.999999997163,-3.80591446846e-05,-3.33217864456e-05,-5.5804783948e-05,1793256054511187968
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,751.693540883,730,708,698,654.306459117,930,798,835.306459117,671,654,678,0.430487315748,0.00448014076027,0.0599505698483,0.999999995547,-3.2109690604e-05,-6.79242264844e-05,-5.71032255149e-05,1793256054527854592
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,751.115455037,730,708,698,654.884544963,930,798,835.884544963,671,654,678,0.431406011346,0.00447718164343,0.0599410696827,0.999999994607,-3.25583197079e-05,-7.91984271653e-05,-5.87663066214e-05,1793256054544521216
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.539648232,751,730.460351768,708,698,655,930.460351768,798,836,671,654,678,0.432380369921,0.00447403929496,0.05998269375,0.999999997563,-3.53616290099e-05,-7.8938324508e-06,-5.9680812948e-05,1793256054561188096
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.035514905,751,730.964485095,708,698,655,931,798,835.964485095,671,654,678,0.433362351624,0.00447094231513,0.0600335732811,0.999999994431,-3.84213913491e-05,7.75904787842e-05,-6.0338207268e-05,1793256054577854976
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.609541598,751,730.390458402,708,698,655,931,798,835.390458402,671,654,678,0.434249287112,0.00446922662997,0.060031333823,0.999999995388,-3.64593947213e-05,6.55948135929e-05,-5.99297068969e-05,1793256054594521344
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,751,730,708,697.810033828,654.810033828,930.810033828,798,835,671,654,678,0.4351329819,0.00446667688531,0.0600186481162,0.999999996853,-3.57688926301e-05,3.77408203113e-05,-5.99213692816e-05,1793256054611187968
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,751,730,708,697.216000547,654.216000547,930.216000547,798,835,671,654,678,0.436009783734,0.00446235305601,0.0599837427399,0.999999997156,-3.77829196128e-05,-2.38445955243e-05,-6.07641967223e-05,1793256054627854592
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,751,730.364688156,708,697.364688156,654.364688156,930.364688156,798,835,671,654,678,0.436849858674,0.00446373754255,0.0599585139609,0.999999995367,-3.21107015171e-05,-6.6179491628e-05,-6.20955346971e-05,1793256054644521728
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,751,730.937751993,708,697.937751993,654.937751993,930.937751993,798,835,671,654,678,0.437668948532,0.0044683836494,0.0599388142025,0.999999992973,-2.20467131808e-05,-9.75150134797e-05,-6.37059980237e-05,1793256054661188608
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.48608637,750.48608637,731,708,698,655,931,798,835,671,654,678,0.438485099589,0.00446515781521,0.0599258747078,0.999999989719,-2.1379863756e-05,-0.000126972465251,-6.31147942331e-05,1793256054677855488
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,750.092792197,731,708,697.907207803,655,931,798,835.092792197,671,654,678,0.439311826012,0.00446068786892,0.0599244317164,0.999999988471,-2.26679955835e-05,-0.000136593557789,-6.23381134944e-05,1793256054694522112
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,750.684242683,731,708,697.315757317,655,931,798,835.684242683,671,654,678,0.440197308162,0.00445468722736,0.0599803430001,0.999999996843,-2.83081793056e-05,-4.08454316392e-05,-6.2006491257e-05,1793256054711188992
+185,3.083333333,POSE1_TO_POSE2_PRESS,783.270097722,750.729902278,731,708,697,654.729902278,931,798,836,671,654,678,0.441049497136,0.0044524141028,0.0600184343056,0.999999997446,-2.95566012014e-05,1.96270033042e-05,-6.2048066855e-05,1793256054727855616
+186,3.100000000,POSE1_TO_POSE2_PRESS,783.849544134,750.150455866,731,708,697,654.150455866,931,798,836,671,654,678,0.441863554662,0.00445441018352,0.0600361160057,0.999999996926,-2.57750442945e-05,3.96974287177e-05,-6.25170744114e-05,1793256054744521984
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,749.573676348,731,708,697,654,931,798,836,671,654,678,0.44258745718,0.00445648418149,0.0600038702441,0.999999997727,-2.12118228558e-05,-8.13757255611e-06,-6.3480716727e-05,1793256054761188352
+188,3.133333333,POSE1_TO_POSE2_PRESS,783.997841386,749,731,708,696.997841386,654,931,798,836,671,654,678,0.443279652262,0.00445861072508,0.0599541661957,0.999999994601,-1.63603304756e-05,-7.97171682008e-05,-6.46175022258e-05,1793256054777854976
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.424458722,749,731,708,696.424458722,654,931,798,836,671,654,678,0.443948490372,0.00446741066017,0.0599183051194,0.999999989043,-7.77112998097e-06,-0.000132442131989,-6.56655640702e-05,1793256054794521600
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,748.846183959,731,708.153816041,695.846183959,654,931,797.846183959,836,671,654,678,0.444609978811,0.00447799891436,0.059890516643,0.999999982225,-1.45114747158e-05,-0.000175940191886,-6.62091164443e-05,1793256054811187968
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,748.253965742,731,708.746034258,695.253965742,654,931,797.253965742,836,671,654,678,0.445250519577,0.00449368418768,0.0598857364568,0.999999977107,-6.49436584545e-05,-0.000193140001281,-6.53147306295e-05,1793256054827854848
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,748,730.678040836,708.678040836,695,653.678040836,931,797,835.678040836,671,653.678040836,678,0.445859061978,0.00451073238566,0.0598644407241,0.999999967798,-7.08687294949e-05,-0.000234762609237,-6.53254107272e-05,1793256054844521728
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,748,730.11434926,708.11434926,695,653.11434926,931,797,835.11434926,671,653.11434926,678,0.446443579424,0.00452880388969,0.0598307448386,0.99999995345,-4.33771008652e-05,-0.000294722267868,-6.60156296216e-05,1793256054861188608
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,748,730,708,694.530029009,653,931,797,835,671,653.469970991,678,0.447047845461,0.00453150356771,0.0598202872722,0.999999951051,-3.56518323461e-05,-0.000303602200861,-6.67284611709e-05,1793256054877855488
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,748,730,708,694,652.940457445,931,797,835.059542555,671,653.940457445,678,0.447653023692,0.004530098723,0.0598185540809,0.999999953179,-3.34798293332e-05,-0.000296609132713,-6.74091532913e-05,1793256054894522368
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,748,730,708,694,652.350870709,931,797,835.649129291,671,653.350870709,678,0.448221584239,0.00452697866174,0.0598418411707,0.999999962202,-3.5964381827e-05,-0.000264030455118,-6.77525156136e-05,1793256054911188480
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,747.765593182,730.234406818,708,693.765593182,652,931,796.765593182,835.765593182,671,653,678,0.448753581769,0.00452562616108,0.0598467485892,0.999999963259,-3.72402070173e-05,-0.000259622173097,-6.84901031887e-05,1793256054927854848
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,747.186649487,730.813350513,708,693.186649487,652,931,796.186649487,835.186649487,671,653,678,0.449231838031,0.00452687166454,0.0598246411149,0.999999952897,-3.67394150226e-05,-0.000296619430935,-6.98071326785e-05,1793256054944521472
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,747.390106449,731,708.390106449,692.609893551,651.609893551,931,796.390106449,835,671,653,678,0.449679186726,0.00452824477189,0.0597904986048,0.999999935473,-3.54010200875e-05,-0.000350298761678,-7.1348859523e-05,1793256054961188096
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,747.965821524,731,708.965821524,692.034178476,651.034178476,931,796.965821524,835,671,653,678,0.450111829962,0.00452967859196,0.0597506299467,0.999999911932,-3.36641021709e-05,-0.000411915252945,-7.29974949706e-05,1793256054977854976
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,748,731,708.459715055,691.459715055,651,931,796.459715055,835,671,653,678,0.450522846972,0.00453196101927,0.0597347746027,0.999999905051,-3.24822593541e-05,-0.000428010998618,-7.5162442618e-05,1793256054994521600
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,748,731,708,691,651,931,796.118160829,835,671,653,678,0.450927809066,0.00453396521212,0.0597255720575,0.999999902257,-3.03900853434e-05,-0.000434334350554,-7.69133310493e-05,1793256055011187968
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,748,731,708,691,651,931,796.710034326,835,671,653,678,0.451313968839,0.00453463922958,0.059736964901,0.999999911461,-2.45078989344e-05,-0.000412997655765,-7.68735952772e-05,1793256055027854592
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.292722248,748,730.707277752,708,690.707277752,650.707277752,931,797,835,671,653,678,0.451686661536,0.0045333137731,0.0597503746435,0.999999921244,-4.73300256488e-06,-0.000390576833583,-7.02766472704e-05,1793256055044520960
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.866587902,748,730.133412098,708,690.133412098,650.133412098,931,797,835,671,653,678,0.452046419832,0.00453006793329,0.0597657215043,0.999999930564,2.83850671533e-05,-0.000367114768335,-5.73818622671e-05,1793256055061187072
+206,3.433333333,POSE1_TO_POSE2_PRESS,783.557022105,747.557022105,730.442977895,708,690,650,931,796.557022105,835.442977895,671,653,678,0.452367545249,0.00453390941879,0.0597692258089,0.999999933205,3.65284407067e-05,-0.000359126111133,-5.73118709342e-05,1793256055077853440
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,747.020062219,731,708,689.979937781,650,931,796.020062219,835.979937781,671,653.020062219,678,0.452674485935,0.00453968951704,0.059768742497,0.99999993383,3.69706371217e-05,-0.000356717201938,-6.10358740552e-05,1793256055094519808
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,747.595202228,731,708,689.404797772,650,931,796.595202228,835.404797772,671,653.595202228,678,0.452912729104,0.00453971146384,0.0597571770959,0.999999925671,3.36385413807e-05,-0.000379012822155,-6.22532256996e-05,1793256055111186432
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,748,730.82446618,708,689,650,931,797,835,671,653.82446618,678,0.453140597579,0.00453963392464,0.0597456965028,0.999999917409,3.16708731241e-05,-0.000400204837741,-6.33577650549e-05,1793256055127853312
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,748,730.231797504,708,689,650,931,797,835,671,653.231797504,678,0.453343811819,0.004539319969,0.059734417447,0.999999909711,3.29456019918e-05,-0.000418774267744,-6.41942195491e-05,1793256055144520192
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,748.350877427,730.350877427,708,688.649122573,649.649122573,931,796.649122573,835,671,653,678,0.453534085922,0.00453912864392,0.0597264238866,0.999999903566,3.14287259176e-05,-0.000433207775034,-6.48905683707e-05,1793256055161186816
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,748.927133156,730.927133156,708,688.072866844,649.072866844,931,796.072866844,835,671,653,678,0.453716048235,0.0045390160878,0.05972054069,0.999999898454,2.81187247007e-05,-0.000444984666313,-6.5496923518e-05,1793256055177853440
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,748.497769607,731,708,688,649,931,796.502230393,835.502230393,671,653,678,0.453882593794,0.00454100929071,0.0597209979758,0.999999898737,2.79660929654e-05,-0.000444150100883,-6.68960040624e-05,1793256055194520320
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.079545897,748,731,708,687.920454103,649,931,796.920454103,835.920454103,671,653,678,0.454043025646,0.00454304117637,0.0597228443979,0.999999900217,2.82719033018e-05,-0.000440585379746,-6.81934257071e-05,1793256055211186944
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.67225384,748,731,708,687.32774616,649,931,796.32774616,835.32774616,671,653,678,0.454178413642,0.00454335621163,0.0597277314711,0.999999904313,2.85867754835e-05,-0.000431184857536,-6.80947691337e-05,1793256055227853568
+216,3.600000000,POSE1_TO_POSE2_PRESS,783.742670535,748,731,708,687,649,931,796.257329465,835.257329465,671.257329465,653.257329465,678,0.454302277405,0.0045425326744,0.0597328009147,0.999999908337,2.77315886951e-05,-0.000421851108837,-6.78183428897e-05,1793256055244520192
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.167035787,748,731,708,687,649,931,796.832964213,835.832964213,671.832964213,653.832964213,678,0.454411886187,0.00454030077282,0.0597380959423,0.999999912291,2.54290901697e-05,-0.000412599956623,-6.7322023354e-05,1793256055261186816
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.409199222,748,731,708,687,649,931,796.590800778,836,671.590800778,653.590800778,678,0.454497457749,0.00454034741145,0.0597361321953,0.99999991143,2.5451696575e-05,-0.000414623914055,-6.76761642852e-05,1793256055277853440
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.985679605,748,731,708,687,649,931,796.014320395,836,671.014320395,653.014320395,678,0.454573202861,0.00454132552024,0.0597312010518,0.999999908584,2.64248088756e-05,-0.000421257150804,-6.83779745432e-05,1793256055294520064
+220,3.666666667,POSE1_TO_POSE2_PRESS,783.437798336,748,731,708,687,649,931,796,836,671,653,678,0.454631132041,0.00454339679432,0.0597273125449,0.999999906195,2.94758120576e-05,-0.000426732661264,-6.81273522823e-05,1793256055311186944
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,748,731,708,687,649,931,796,835.858403969,671,653,678,0.454683873719,0.00454472503189,0.0597233759624,0.999999903787,3.19320269303e-05,-0.000432216402107,-6.77875973505e-05,1793256055327853824
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,748,731,708,687,649,931,796,835.269948422,671,653,678,0.45472167654,0.00454362045579,0.0597192038401,0.999999901373,3.23441164049e-05,-0.000437819188395,-6.72431191571e-05,1793256055344520448
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,748,731,708,687,649,931,796,835,671,653,678,0.454756029698,0.00454309864606,0.05971751738,0.999999900611,3.19322402489e-05,-0.000439574996219,-6.73276162271e-05,1793256055361187072
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,748,731,708,687,649,931,796,835,671,653,678,0.454787459123,0.00454307075576,0.0597179376253,0.999999901264,3.082201783e-05,-0.000438070324971,-6.79451968248e-05,1793256055377853440
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,748,731,708,686.525799438,649,931,796.474200562,835,671,653,678,0.45480631031,0.0045456762675,0.0597161158076,0.999999899855,3.29835973086e-05,-0.000441064398915,-6.82992368157e-05,1793256055394520320
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,748,731,708,686.048901277,649,931,797,835.048901277,671,653.048901277,678,0.454821965743,0.00454830307041,0.0597139099677,0.999999898059,3.54613302706e-05,-0.000444894999837,-6.85046065099e-05,1793256055411186944
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,748,731,708,686.617998162,649,931,797,835.617998162,671,653.617998162,678,0.454832132167,0.00454518822465,0.0597127002626,0.999999897036,3.38872416977e-05,-0.000447428691487,-6.7725739099e-05,1793256055427853568
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,748,730.803648028,708,687,649,931,796.803648028,835.803648028,671,653.803648028,678,0.454840602575,0.00454375375401,0.0597111551747,0.999999896026,3.37648074249e-05,-0.00044977024937,-6.71855368265e-05,1793256055444520192
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,748,730.206393904,708,687,649,931,796.206393904,835.206393904,671,653.206393904,678,0.454845610134,0.00454575019387,0.059708925318,0.999999895051,3.66062922158e-05,-0.000451719517484,-6.71326297727e-05,1793256055461187072
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,748,730.376580303,708,686.623419697,649,931,796,835,671,653,678,0.454849348542,0.00454644337544,0.0597081062998,0.999999894724,3.60709206871e-05,-0.000452483561746,-6.71552926264e-05,1793256055477853952
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,748,730.952013977,708,686.047986023,649,931,796,835,671,653,678,0.454852416774,0.00454644837093,0.0597080322755,0.999999894738,3.37523988247e-05,-0.000452621748047,-6.72178601996e-05,1793256055494520832
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648.472593974,931,796,835,671,653,678,0.454852618163,0.00454986690455,0.0597068914896,0.999999893644,3.70794089851e-05,-0.000454757082822,-6.73339429548e-05,1793256055511187200
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,747.894400026,731,708,686,648,931,796,835,671,653,678,0.454852634843,0.00455229183166,0.0597056380848,0.999999892611,3.99753643917e-05,-0.000456776494168,-6.73442222484e-05,1793256055527853568
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,747.303307189,731,708,686,648,931,796,835,671,653,678,0.454853001437,0.00454872090706,0.0597043131108,0.999999892404,3.85282124837e-05,-0.000457427607295,-6.68456894454e-05,1793256055544520192
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,747.281994007,731,708,686.281994007,648,931,796.281994007,835,671,653,678,0.454853644592,0.00454680584111,0.0597037689912,0.999999892241,3.79806293462e-05,-0.000457880463994,-6.64891467035e-05,1793256055561186816
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,747.861191267,731,708,686.861191267,648,931,796.861191267,835,671,653,678,0.454854579224,0.00454663594152,0.0597040478409,0.999999892128,3.83811327171e-05,-0.000458124371459,-6.62822521439e-05,1793256055577853696
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.562719481,747.562719481,731,708,686.562719481,648.437280519,931,796.562719481,835,671,653,678,0.45485365003,0.00454724192754,0.0597023285887,0.999999891128,3.75458090621e-05,-0.000460337106378,-6.65072816405e-05,1793256055594520576
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.012651179,747.012651179,731,708,686,648.987348821,931,796,835,671,653,678,0.45485218631,0.00454802326013,0.0597000463467,0.999999889882,3.63017581098e-05,-0.000463087282632,-6.68515265052e-05,1793256055611187456
+239,3.983333333,POSE1_TO_POSE2_PRESS,782.599879078,747.599879078,731,708,686,648.400120922,931,796,835,671,653,678,0.45485312719,0.00454566131682,0.059700798135,0.999999890459,3.41857240042e-05,-0.00046206217569,-6.64270741558e-05,1793256055627854080
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648,931,796,835,671,653,678,0.454853277005,0.00454434609366,0.0597007756218,0.999999890548,3.30889237787e-05,-0.00046199043138,-6.61405340231e-05,1793256055644520704
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648,931,796,835,671,653,678,0.454851735155,0.00454526924038,0.0596990972952,0.9999998896,3.41717151101e-05,-0.000463957415504,-6.61489137492e-05,1793256055661187072
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648.338850305,930.661149695,796,835,671,653.338850305,678,0.454852324407,0.00454583165686,0.0596992083105,0.999999889664,3.53809768418e-05,-0.000463735596161,-6.60985571058e-05,1793256055677854208
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648.910666299,930.089333701,796,835,671,653.910666299,678,0.454854378828,0.00454614606478,0.0597005495306,0.999999890423,3.66771892067e-05,-0.000462008934932,-6.60078181499e-05,1793256055694522112
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648.509343514,930.490656486,796.490656486,835,671,653.509343514,678,0.454853611742,0.00454822329411,0.0596995762585,0.999999889348,3.90310903266e-05,-0.00046410160141,-6.62610151003e-05,1793256055711188224
+245,4.083333333,HOLD_POSE2,783,748,731,708,686,649,931,797,836,671,653,678,0.454854887531,0.00454747610861,0.0596999894984,0.99999988998,3.80728895743e-05,-0.000462785143962,-6.64812998835e-05,1793256055754199808
+246,4.100000000,HOLD_POSE2,783,748,731,708,686,649,931,796.419649985,835.419649985,671,653,678,0.454854801509,0.00454743683772,0.0597000195783,0.999999889715,3.80460407969e-05,-0.000463398533941,-6.6210805774e-05,1793256055770866688
+247,4.116666667,HOLD_POSE2,783,748,730.840471569,708,686,649,931,796,835,671,653,678,0.454854817504,0.00454773538479,0.059699996082,0.999999889506,3.83570780636e-05,-0.000463838987464,-6.61080902633e-05,1793256055787533312
+248,4.133333333,HOLD_POSE2,783,748,730.264352528,708,686,649,931,796,835,671,653,678,0.454855099905,0.00454891610557,0.0596998326777,0.999999889442,3.95504668434e-05,-0.000463827836956,-6.64435096926e-05,1793256055804199424
+249,4.150000000,HOLD_POSE2,783,748,730,708,686,649,931,796,835,671,653,678,0.45485546781,0.00454900475435,0.0596996414441,0.999999889503,3.93391540712e-05,-0.000463717610041,-6.64294525189e-05,1793256055820865536
+250,4.166666667,HOLD_POSE2,783,748,730,708,686,649,931,796,835,671,653,678,0.454855908215,0.00454816741536,0.0596994266134,0.999999889668,3.79367692499e-05,-0.000463523374443,-6.61190677614e-05,1793256055837531904
+251,4.183333333,HOLD_POSE2,783,747.524969027,730.475030973,708,686,648.524969027,931,796,835,671,653,678,0.454856981558,0.00454755995243,0.0596998426495,0.99999989031,3.64189834209e-05,-0.000462259344095,-6.6106216276e-05,1793256055854198784
+252,4.200000000,HOLD_POSE2,783,747,731,708,686,648,931,796,835,671,653,678,0.454857851856,0.00454716732202,0.0597002211577,0.999999890853,3.53970653551e-05,-0.000461157642985,-6.61472843457e-05,1793256055870865408
+253,4.216666667,HOLD_POSE2,783,747,731,708,686,648,931,796,835,671,653,678,0.454855826795,0.00454807371929,0.0596990565848,0.999999889667,3.86405757056e-05,-0.000463476513799,-6.60439632041e-05,1793256055887532032
+254,4.233333333,HOLD_POSE2,783,747.219373287,731,708,686,648,931,796.219373287,835.219373287,671,653,678,0.454855091119,0.00454888490755,0.0596984746681,0.999999889054,4.07980697646e-05,-0.000464619134277,-6.60010859938e-05,1793256055904198912
+255,4.250000000,HOLD_POSE2,783,747.791209724,731,708,686,648,931,796.791209724,835.791209724,671,653,678,0.454856427077,0.0045495431251,0.0596988288948,0.999999889381,4.12106805027e-05,-0.000463871894103,-6.60553229816e-05,1793256055920865536
+256,4.266666667,HOLD_POSE2,783,748,730.625104877,708,686,648,931,796.625104877,835.625104877,671,653,678,0.454855945734,0.00454955864392,0.0596984409974,0.999999889075,4.01410919136e-05,-0.00046462963004,-6.60187808455e-05,1793256055937532160
+257,4.283333333,HOLD_POSE2,783,748,730.034605004,708,686,648,931,796.034605004,835.034605004,671,653,678,0.454854419249,0.00454920454237,0.0596976262995,0.9999998884,3.82190803892e-05,-0.000466252887962,-6.59300310188e-05,1793256055954199040
+258,4.300000000,HOLD_POSE2,783,748,730.545113415,708,686,648.545113415,931,796,835,671,653,678,0.454856831778,0.00454772922495,0.0596992032027,0.999999889682,3.71015020923e-05,-0.000463624611125,-6.56701777691e-05,1793256055970865664
+259,4.316666667,HOLD_POSE2,783.12363274,748,731,708,686,648.87636726,931,796,835.12363274,671,653,678,0.454858543057,0.00454679365654,0.0597002209565,0.999999890475,3.66956099902e-05,-0.000461961381475,-6.55315399247e-05,1793256055987532288
+260,4.333333333,HOLD_POSE2,783.700218025,748,731,708,686,648.299781975,931,796,835.700218025,671,653,678,0.454856786813,0.00454809127708,0.0596986447093,0.99999988906,3.87136521782e-05,-0.000464803430214,-6.5876021488e-05,1793256056004198656
+261,4.350000000,HOLD_POSE2,783.449643826,748,731,708,686,648,931,796.275178087,836,671,653,678,0.454856524453,0.00454880419468,0.0596980636921,0.999999888643,3.94316445426e-05,-0.000465606145494,-6.6102156846e-05,1793256056020865536
+262,4.366666667,HOLD_POSE2,782.303244052,748,731,708,686,648,931,796.848377974,836,671,653,678,0.454857879991,0.00454888387057,0.0596985605231,0.999999889317,3.87416642519e-05,-0.000464200233337,-6.62001215523e-05,1793256056037532160
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648,931,796,836,671,653,679,0.454857708405,0.00454783629816,0.0596996147044,0.999999889353,3.73089202204e-05,-0.000464306278841,-6.57473065321e-05,1793256056070074624
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648,931,796,835.423877792,671,653.576122208,678.423877792,0.454856662289,0.00454790723766,0.0596984208412,0.999999888671,3.77311590651e-05,-0.000465760919664,-6.55897143042e-05,1793256056086741248
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,747.847134992,731,708.152865008,686,648,931,796,835.152865008,671,653.847134992,678,0.454855929959,0.00454779711913,0.0596976357547,0.999999888232,3.8154064381e-05,-0.00046669478418,-6.53904254513e-05,1793256056103407872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,747.268664212,731,708.731335788,686,648,931,796,835.731335788,671,653.268664212,678,0.45485607127,0.00454718290005,0.0596979887814,0.999999888477,3.85788253781e-05,-0.000466178706979,-6.50750450874e-05,1793256056120074240
+267,4.450000000,POSE2_TO_POSE3_RETREAT,782.68556295,747.31443705,731,708.68556295,686,648,931,796.31443705,835.68556295,671,653.31443705,678,0.454856892452,0.00454772694857,0.0596983669541,0.999999888879,3.98125073453e-05,-0.000465217818196,-6.50351605564e-05,1793256056136740608
+268,4.466666667,POSE2_TO_POSE3_RETREAT,782.098446172,747.901553828,731,708.098446172,686,648,931,796.901553828,835.098446172,671,653.901553828,678,0.454858303219,0.00454927544648,0.0596987669332,0.999999889413,4.17476853456e-05,-0.000463871188953,-6.52341859605e-05,1793256056153407232
+269,4.483333333,POSE2_TO_POSE3_RETREAT,782.482086221,748,730.517913779,708,686,648,931.482086221,796.517913779,835.482086221,671,653.517913779,678,0.45485791098,0.00454895682186,0.059698423776,0.999999889298,4.02387258225e-05,-0.000464217148288,-6.54734360875e-05,1793256056170074112
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783.061156224,748,730.061156224,708,686,648,931.938843776,796.061156224,836,671,653.061156224,678,0.45485697575,0.00454826497997,0.0596978307131,0.999999888975,3.81691623532e-05,-0.000465059193231,-6.5671268469e-05,1793256056186740480
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.639077744,748,730.639077744,708,686,648,931.360922256,796.639077744,836,671,653.639077744,678,0.454854521536,0.00454759787815,0.0596963910052,0.999999888022,3.72254838494e-05,-0.000467211834503,-6.54506497408e-05,1793256056203407104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.783734515,748,731,708,686,648,931,796.783734515,835.783734515,671,654,678,0.454847775139,0.00454777550161,0.0596929189504,0.99999988559,3.71458685132e-05,-0.000472398803407,-6.5415030523e-05,1793256056220073728
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783.207767284,748,731,708,686,648,931,796.207767284,835.207767284,671,654,678,0.454833889802,0.00454935810731,0.0596860666117,0.999999880634,3.85033990557e-05,-0.000482632591945,-6.56871102006e-05,1793256056236740608
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648.375073887,931,796,835,671,653.624926113,678,0.45480641409,0.00454963683693,0.0596748717101,0.99999987167,3.99416060572e-05,-0.000500764840015,-6.55613667439e-05,1793256056253407232
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648.96179393,931,796,835,671,653.03820607,678,0.454771269618,0.00454917981736,0.0596612263927,0.999999860066,4.14253371676e-05,-0.000523354020284,-6.52111402196e-05,1793256056270073856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,748,731,708.542101465,686,649,931,796,835,671.542101465,653,678,0.454715265486,0.00455006325923,0.0596427656997,0.999999847341,4.21342470507e-05,-0.000546997403685,-6.58548903025e-05,1793256056286740736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,748,731,709,686,648.878618946,931,796.121381054,835,671.878618946,653,678,0.454654088881,0.00455116060615,0.0596253990267,0.999999834819,4.32522368868e-05,-0.000569275953339,-6.64469658074e-05,1793256056303407360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,748,731,709,686,648.301521605,931,796.698478395,835,671.301521605,653,678,0.454578947601,0.00455271050008,0.0596133990352,0.999999824932,4.61087112315e-05,-0.000586154657515,-6.65850983656e-05,1793256056320074752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,748,730.726711368,708.726711368,686,648,931,796.726711368,835,671,653.273288632,678,0.454496949039,0.00455304846786,0.0596053985535,0.999999817707,4.79503597977e-05,-0.000598265106473,-6.60716724899e-05,1793256056336741888
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,748,730.154403605,708.154403605,686,648,931,796.154403605,835,671,653.845596395,678,0.454407447577,0.00455206040489,0.0596017741416,0.999999813604,4.86816351819e-05,-0.000605158361539,-6.4845343064e-05,1793256056353408512
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,748,730.432381978,708,686,648,931,796,835,671,654,678,0.454305762315,0.00455173911636,0.0596010716275,0.999999812176,4.89164977054e-05,-0.000607569809997,-6.41335593134e-05,1793256056370075136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648,931,796,835,671,653.976007765,678,0.454198454842,0.00455186746078,0.059601582171,0.999999811841,4.92519716123e-05,-0.000608148700798,-6.36177021806e-05,1793256056386741504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,686,648,931,796,835,671,653.39653979,678,0.454065201749,0.0045567021818,0.0596051835541,0.99999981363,5.61632049248e-05,-0.000604637536053,-6.32365158687e-05,1793256056403407872
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,748,731,708.181652327,686.181652327,648.181652327,931,796.181652327,835,671,653,678,0.453919439501,0.0045596941555,0.0596068652203,0.999999813614,6.24937829266e-05,-0.000604133491797,-6.23673820865e-05,1793256056420074240
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,748,731,708.75707865,686.75707865,648.75707865,931,796.75707865,835,671,653,678,0.453746560743,0.00455869154184,0.0596043854497,0.999999809751,6.75656535508e-05,-0.000610148086515,-6.04405078494e-05,1793256056436741120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,748,730.66130308,708.66130308,687,648.66130308,931,797,835,671,653,678,0.453556249132,0.0045596362178,0.0595983777294,0.99999980373,7.25253078923e-05,-0.000619513251089,-5.90226770698e-05,1793256056453408000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,748,730.075161039,708.075161039,687,648.075161039,931,797,835,671,653,678,0.453353201413,0.00456200354409,0.0595897925599,0.999999796037,7.74029798064e-05,-0.000631326274818,-5.79767429416e-05,1793256056470074880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,748,730.504898097,708,687,648.504898097,931,796.495101903,835,671,653,678,0.453129924459,0.00456275088355,0.0595883062766,0.999999795626,8.07473302085e-05,-0.00063165662887,-5.68927384982e-05,1793256056486741504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,687,649,931,796.083819136,835.083819136,671,653,678,0.452899896829,0.00456345929866,0.0595895395041,0.999999798053,8.45310858671e-05,-0.000627417631147,-5.56409416834e-05,1793256056503408128
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,687,649,931,796.661307139,835.661307139,671,653,678,0.452647634792,0.00456534189587,0.0596006398727,0.999999810571,9.22311581932e-05,-0.000606214277449,-5.34338803215e-05,1793256056520074752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,748,731,708.238043646,687.238043646,649,931,796.761956354,835.761956354,671,653.238043646,678.238043646,0.45237290129,0.00456659757165,0.0596099441094,0.999999819413,9.93018757398e-05,-0.000590515369072,-5.10272372513e-05,1793256056536741120
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,748,731,708.813714243,687.813714243,649,931,796.186285757,835.186285757,671,653.813714243,678.813714243,0.452066295612,0.00456696405926,0.0596167008186,0.999999823544,0.000105479953485,-0.000582623640115,-4.83375195161e-05,1793256056553407488
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,747.602750933,731,708.602750933,688,649,931,796.397249067,835,671,654,678.602750933,0.451739043209,0.00456909799739,0.0596233484329,0.99999982819,0.00011349827771,-0.000573279323898,-4.5697426876e-05,1793256056570074624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,747.015453796,731,708.015453796,688,649,931,796.984546204,835,671,654,678.015453796,0.451401913209,0.00457207750215,0.0596299438549,0.999999832962,0.000122396994724,-0.000563240075042,-4.3081075467e-05,1793256056586741504
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,747.564582451,731,708,688.564582451,649,931,797,835,671,654,678,0.451006552326,0.00457428358434,0.0596263976287,0.999999827565,0.000131051754194,-0.00057099953314,-4.06826386477e-05,1793256056603407872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,748,731,708.143668406,689,649.143668406,931,797,835.143668406,671,653.856331594,678,0.450596626879,0.0045766825871,0.0596202588249,0.999999820416,0.000139776403839,-0.000581522443008,-3.82321585243e-05,1793256056620074496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,748,731,708.720480818,689,649.720480818,931,797,835.720480818,671,653.279519182,678,0.450147535405,0.0045797262385,0.0596071299934,0.999999808949,0.000148731639531,-0.000598926680556,-3.5607019387e-05,1793256056636741888
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,748,731,709,689.295638172,650.295638172,931,797,835.704361828,671,653.295638172,678,0.449674684754,0.00458332643918,0.0595979262017,0.999999801026,0.00016136755975,-0.000608974943036,-3.25202108475e-05,1793256056653409024
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,748,731,709,689.869239484,650.869239484,931,797,835.130760516,671,653.869239484,678,0.449179495339,0.00458744991562,0.0595924127856,0.999999796495,0.000177464112052,-0.000612107017009,-2.89993339806e-05,1793256056670075904
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,748,731,708.544182642,690.455817358,651,931,797,835,671,654,678,0.448677633792,0.00458837048545,0.0595975222212,0.999999797881,0.000187662608144,-0.000606970988372,-2.46537348635e-05,1793256056686742272
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,691,651,931,797,835,671,653.954638897,678,0.448172728645,0.00458853766763,0.0596074092482,0.999999802995,0.000196462510844,-0.000595826200646,-2.01026904316e-05,1793256056703408896
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,691,651,931,797,835,671,653.375286931,678,0.447655186151,0.00459096926049,0.0596366130989,0.999999830715,0.000209299797358,-0.000542686188483,-1.59998713447e-05,1793256056720075520
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,748,731,708,691.203005113,651,931,797.203005113,835,671,653,678,0.447115308991,0.00459219644693,0.05966701838,0.999999852779,0.000221642565975,-0.000495173165163,-1.09636335792e-05,1793256056736742144
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,691.77934787,651,931,797.77934787,835,671,653,678,0.446534357173,0.0045912086631,0.0596996331565,0.999999867943,0.00023307588876,-0.000458008490966,-4.21078748869e-06,1793256056753408768
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,748.351414791,731,708.351414791,692.351414791,651.351414791,931,797.648585209,835,671,653.351414791,678,0.445891365355,0.00459211497259,0.0597012217042,0.999999862984,0.000245283925439,-0.000462456625426,1.30410223165e-06,1793256056770075392
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,748.920829183,731,708.920829183,692.920829183,651.920829183,931,797.079170817,835,671,653.920829183,678,0.445209887144,0.00459419627987,0.0596835631796,0.999999845321,0.000257972554155,-0.000492719200141,6.05102745399e-06,1793256056786742272
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.48713941,749,731,708.48713941,693.51286059,652.51286059,931,797,835,671,654,678,0.444533399058,0.00459214178242,0.0596726757616,0.999999838879,0.000264176137755,-0.000502349352005,9.94745120473e-06,1793256056803408640
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.105595093,749.105595093,731,708,694,653,931,797,835,671,654,678,0.443860685112,0.0045896635292,0.0596725721658,0.999999841643,0.000269600632946,-0.000493797070154,1.38920048642e-05,1793256056820074752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.68509278,749.68509278,731,708,694,653,931,797,835,671,654,678,0.443201292747,0.00458828098964,0.0597159580553,0.999999874063,0.000276228785575,-0.000418597135536,1.86689762332e-05,1793256056836741376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,750,731,708,694.262320283,653,931,797,835.262320283,671,654,678,0.442505961439,0.00458858156138,0.0597522812241,0.999999892461,0.000285778705651,-0.00036446302845,2.39951045653e-05,1793256056853408000
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,750,731,708,694.83684596,653,931,797,835.83684596,671,654,678,0.441767856639,0.00459088531933,0.0597801985694,0.999999898661,0.000298806024032,-0.000335400802091,2.99748230445e-05,1793256056870074368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,750.420619011,731,708,695.420619011,653,931,797.420619011,835.579380989,671,654,678,0.440982910301,0.00459419860154,0.0597861918525,0.999999893639,0.00031293784801,-0.000336982270991,3.51283548678e-05,1793256056886740992
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.992017455,751,731,708,696,653.007982545,931,798,835,670.992017455,654,678,0.440179366769,0.00459787643685,0.0597837754736,0.999999884339,0.000327446217855,-0.000350007638783,3.9947442543e-05,1793256056903407872
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.41019505,751,731,708,696,653.58980495,931,798,835,670.41019505,654,678,0.439374426498,0.00459897828545,0.0598018926097,0.999999893379,0.000337532756338,-0.000312015544497,4.4279849755e-05,1793256056920074752
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.169561619,751,730.830438381,708,696,654,931,798,835,670.169561619,654,678,0.438555692465,0.00460099018935,0.0598158249001,0.999999898369,0.00034467906226,-0.000286737834117,4.73176283626e-05,1793256056936741632
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.744381076,751,730.255618924,708,696,654,931,798,835,670.744381076,654,678,0.437703990936,0.00460517715528,0.0598197552709,0.999999896853,0.000344798116223,-0.000291847922277,4.72612019506e-05,1793256056953408512
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,751,730.325138054,708,696.325138054,654,931,798,835.325138054,671,654,678,0.436809202086,0.00460521522654,0.0597921463711,0.999999894481,0.000306432327174,-0.000340297030072,3.65398159239e-05,1793256056970074880
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,751,730.910649828,708,696.910649828,654,931,798,835.910649828,671,654,678,0.435879908529,0.00460193082234,0.0597392805161,0.999999882052,0.00023724749811,-0.000423452443498,1.72778260185e-05,1793256056986740992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,751.492361724,731,708,697,654,931,798,836,671,654,678,0.435005384162,0.00459810491233,0.059738216962,0.99999989422,0.000231846741993,-0.000396852211608,1.77705413537e-05,1793256057003407616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,751.926958681,731,708,697,654,931,798,835.926958681,671,654,678,0.434136907408,0.00459534472513,0.0597485645881,0.999999909003,0.000238745852862,-0.000352874752948,2.17771804212e-05,1793256057020074240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,751.348686562,731,708,697,654,931,798,835.348686562,671,654,678,0.43324203992,0.00460063072555,0.0597733168153,0.999999915159,0.000251271656091,-0.000325414397675,2.54825178801e-05,1793256057036741120
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,751,730.771993872,708,696.771993872,654,931,798,835,671,654,678,0.432347088949,0.00460131868536,0.0597927103649,0.99999992183,0.000254053399229,-0.000301716636919,2.76271731503e-05,1793256057053408000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,751,730.197699877,708,696.197699877,654,931,798,835,671,654,678,0.431452011054,0.00459502330005,0.059803965343,0.999999930082,0.0002420362011,-0.000283733371425,2.74015185651e-05,1793256057070075136
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,751.385021851,730.385021851,708,696.385021851,654,931,798,835.385021851,671,654,678,0.430549502722,0.00457527072704,0.0598254793684,0.999999945376,0.000212605668345,-0.000251463922357,2.84999971742e-05,1793256057086742016
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,751.972167835,730.972167835,708,696.972167835,654,931,798,835.972167835,671,654,678,0.429643093703,0.00454845356216,0.0598523790641,0.99999996199,0.000174033693214,-0.000211694685259,3.02936032183e-05,1793256057103408896
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,752,731,708,697,654,930.446532863,798,835.446532863,670.446532863,654,677.446532863,0.428638047665,0.0045462423587,0.0598016733442,0.99999993647,0.000174097157112,-0.000309337179271,3.2571237753e-05,1793256057120074752
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,751.866397041,730.866397041,708,697,654,930.133602959,798,835,670.133602959,654,677,0.42765111975,0.00454704593994,0.0597576304278,0.999999909383,0.000175423167183,-0.000386436462231,3.35873543623e-05,1793256057136741120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,751.289158564,730.289158564,708,697,654,930.710841436,798,835,670.710841436,654,677,0.426740652328,0.00455379450682,0.0597485348164,0.999999914883,0.000174557610898,-0.000372615749448,3.03345581328e-05,1793256057153407744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,751.285411317,730,708,697,654,931,798,835,671,654,677.285411317,0.425838333504,0.00455592656655,0.0597623498116,0.99999992436,0.000170411768238,-0.000348327978397,3.01183634162e-05,1793256057170074368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,751.857302577,730,708,697,654,931,798,835,671,654,677.857302577,0.424944193845,0.00455342483381,0.059799161195,0.999999937025,0.000162973357211,-0.000313533959325,3.29501398953e-05,1793256057186740992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.444734253,752,730,708,697.444734253,654,931,798.444734253,835,671,654,678,0.424035975135,0.00455517313114,0.059822823107,0.999999946596,0.000160474077928,-0.000282659023523,3.40527827988e-05,1793256057203407616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.963508609,752,730,708,697.963508609,654,930.963508609,799,835,671,654,678,0.423124839751,0.00455794528211,0.0598415040969,0.999999954564,0.000159150928659,-0.000253665616317,3.458714941e-05,1793256057220074240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.38426638,752,730,708,697.38426638,654,930.38426638,799,835,671,654,678,0.422239946548,0.00455492889742,0.0598511269471,0.999999960786,0.000150896457749,-0.000233276808094,3.52200108024e-05,1793256057236741632
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.193491971,752,730.193491971,708,697,654,930.193491971,799,835,671,653.806508029,677.806508029,0.421326842672,0.00455416713776,0.0598384990824,0.999999956253,0.000145462029597,-0.000255090987004,3.55400529563e-05,1793256057253408512
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.768325936,752,730.768325936,708,697,654,930.768325936,799,835,671,653.231674064,677.231674064,0.420358139875,0.00455784888599,0.0597820185884,0.999999923952,0.000145585456121,-0.000360080556392,3.5243577873e-05,1793256057270074624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784,752,731,708,697,654.34168381,930.65831619,799,835,671,653.34168381,677.34168381,0.419456747648,0.00455878222557,0.0597440946125,0.999999904321,0.000139430415024,-0.000413263835971,3.36214065703e-05,1793256057286740992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784,752,731,708,697,654.914045112,930.085954888,799,835,671,653.914045112,677.914045112,0.418600798175,0.00455786005995,0.059718698512,0.999999898107,0.000129036657095,-0.000431471661388,3.11042317473e-05,1793256057303407616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784,752,730.494530016,708,697,654.494530016,930.505469984,799,835,671,654,678,0.417778456879,0.00455685473717,0.0597547628261,0.999999920058,0.000126234902642,-0.000377962919327,3.30473422885e-05,1793256057320074240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784,752.097107788,730,708,697.097107788,654,930.902892212,799,835,671,654,677.902892212,0.416966917742,0.00455578248967,0.0597989286953,0.99999994145,0.000125185192719,-0.000316486331643,3.55792486636e-05,1793256057336740864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784,752.6731799,730,708,697.6731799,654,930.3268201,799,835,671,654,677.3268201,0.416179364947,0.00455445262997,0.0598294845408,0.99999995265,0.00012615984808,-0.000278218596901,3.71276576283e-05,1793256057353407488
+341,5.683333333,POSE2_TO_POSE3_RETREAT,784,753,730,708,697.750566835,654,930,799,835,671,653.750566835,677,0.415397373528,0.00455257939457,0.0598473449399,0.999999953214,0.000161943933174,-0.000256711996768,3.80219497587e-05,1793256057370074112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,753,730,708,697.174076083,654,930,799,835,671,653.174076083,677,0.414622674266,0.00454999368325,0.0598485590255,0.99999993659,0.000243370256343,-0.000257182653594,3.80585615012e-05,1793256057386740736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784,752.600047469,730,708,697,654,930,799,834.600047469,670.600047469,653.399952531,677.399952531,0.413861011114,0.00455064662741,0.0598450753248,0.999999930112,0.000262525016746,-0.000263449958113,3.80780558221e-05,1793256057403407616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,752.027083874,730,708,697,654,930,799,834.027083874,670.027083874,653.972916126,677.972916126,0.413104987042,0.00455270054568,0.0598395594607,0.999999929775,0.000254742414627,-0.000272224771154,3.80901455757e-05,1793256057420075008
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,753,730.84243518,707.15756482,698,654.15756482,930,799.15756482,834.15756482,671,654,678,0.411530510432,0.00454818774725,0.0597501184347,0.999999882754,0.000234508330425,-0.000421998765391,3.76130280482e-05,1793256057453407744
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,753,730.266739833,707.733260167,698,654.733260167,930,799.733260167,834.733260167,671,654,678,0.410867994501,0.0045481750781,0.0597452675782,0.999999888126,0.000223184390658,-0.000415504243322,3.59653581919e-05,1793256057470074368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,752.691910452,730,708,698,655,930,800,835,671,654,677.691910452,0.410243191152,0.00454562334384,0.0597686475796,0.999999906306,0.000209847376733,-0.000376856612728,3.6487739037e-05,1793256057486741248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784,752.117828748,730,708,698,655,930,800,835,671,654,677.117828748,0.409650947375,0.0045408794826,0.0598164009717,0.999999932087,0.00019477235527,-0.000310449276989,3.88836545878e-05,1793256057503408128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784,752,730,707.532908793,698,655,930,800,834.532908793,671,654,677,0.409076413936,0.00453987414137,0.0598452427172,0.999999947466,0.000182959490988,-0.000264658407185,3.93564341734e-05,1793256057520075520
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.054338538,752,730,707,698,654.945661462,930,800,834.054338538,671,654,677,0.40850435937,0.00453974146079,0.0598657052487,0.999999958005,0.000172478134685,-0.00022956751336,3.92489585669e-05,1793256057536742912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.637000313,752,730,707,698,654.362999687,930,800,834.637000313,671,654,677,0.407911936671,0.00453870627213,0.0598521844031,0.999999954921,0.000166751676963,-0.000246743614518,3.8328662834e-05,1793256057553409280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.783664221,752.216335779,730,707,698,654,930,800,834.783664221,671,654,677,0.407347722148,0.0045373496817,0.0598396174656,0.999999952038,0.000159717243298,-0.000262708120313,3.73886832979e-05,1793256057570075648
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,752.635287261,730,707,698,654,930,800,834,671,654,677.364712739,0.406347673559,0.00453288663263,0.0598282976522,0.999999951678,0.0001395462902,-0.000275515467723,3.5521742378e-05,1793256057603407616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,752.060345402,730,707,698,654,930,800,834,671,654,677.939654598,0.405885485789,0.0045299149459,0.0598341138469,0.999999955981,0.000127545713868,-0.000265646574758,3.46723129251e-05,1793256057620074496
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.121222457,752,730,707.878777543,698,654,930,800,835,671,654,677,0.405018283733,0.00452836674045,0.059821381289,0.999999953362,0.000118896760218,-0.000279197056367,3.44713379995e-05,1793256057653408000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784.697956665,752,730,707.302043335,698,654,930,800,835,671,654,677,0.404588168186,0.00452622409961,0.0597985400424,0.999999942539,0.000118335659311,-0.000315706325299,3.53285341841e-05,1793256057670075136
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,752.600463602,730,707,698,654,930,800,834,671,653.399536398,677.399536398,0.40303372567,0.00452036542692,0.0598124178909,0.999999953484,0.000108592862103,-0.000282539117854,3.75702621419e-05,1793256057753407488
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,752.819689956,730,707,698,654,930,800,834,671,653.180310044,677.180310044,0.402794521279,0.00451947563451,0.0598305851557,0.99999995854,0.000127426916711,-0.000255463477987,3.76912166641e-05,1793256057770074112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,752.243792103,730,707,698,654,930,800,834,671,653.756207897,677.756207897,0.402569189686,0.0045161523877,0.0598410976394,0.999999953381,0.000185073453945,-0.000240181233469,3.60392157217e-05,1793256057786740736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784.329602472,752.329602472,730,707,698,654,930,800,834,671,654,678,0.402355778471,0.00451303053136,0.0598418675576,0.999999950792,0.000195851630296,-0.000243014837711,3.16447039814e-05,1793256057803407616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784.901159502,752.901159502,730,707,698,654,930,800,834,671,654,678,0.402151117742,0.00451005651138,0.0598354856552,0.999999951272,0.000172224690088,-0.000259146921522,2.52369699948e-05,1793256057820074496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784.507599356,752.507599356,730,707,698,654,930,800,834.492400644,671,654,677.507599356,0.40197933103,0.00451014665017,0.0598337186901,0.999999949801,0.000169988448657,-0.00026620649056,2.52261887985e-05,1793256057836741120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,784.08494288,752,730,707,698,654,930,800,834.91505712,671,654,677.08494288,0.401819126792,0.00451056611612,0.0598331884717,0.999999948261,0.000171742377232,-0.000270698994537,2.65365730967e-05,1793256057853407488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784.661205004,752,730,707,698,654,930,800,834.338794996,671,654,677.661205004,0.401686158903,0.00450918464612,0.0598342304192,0.999999948239,0.000170705933547,-0.000271315628992,2.77522369737e-05,1793256057870074112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,752.23650399,730,707,698,654,930,800,834,671,654,677.76349601,0.401563311555,0.00450763684517,0.0598345646385,0.999999948435,0.000168994044679,-0.000271568937032,2.86595057405e-05,1793256057886740736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,752.81042883,730,707,698,654,930,800,834,671,654,677.18957117,0.401454903219,0.00450585173949,0.05983388914,0.999999948942,0.000166318496504,-0.000271303886307,2.91267863405e-05,1793256057903407616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,753,730,707.385934571,698.385934571,654,930,800.385934571,834.385934571,671,654,677.385934571,0.401364741367,0.00450482482944,0.0598344026875,0.999999949243,0.000165164994064,-0.00027084712948,2.95942374825e-05,1793256057920074496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,753,730,707.962220029,698.962220029,654,930,800.962220029,834.962220029,671,654,677.962220029,0.401283579058,0.00450417187716,0.0598355026969,0.999999949445,0.000164762196036,-0.000270295819259,3.00617727257e-05,1793256057936741120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784.44474249,753,730,708,698.44474249,654,930,800.44474249,834.44474249,671,654,678,0.401221499461,0.00450159990963,0.0598347044241,0.999999950047,0.000160507292087,-0.000270604226486,3.02681209167e-05,1793256057953407744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784.144510154,753,730,708,698,654,930,800,834,671,654,678,0.401163611736,0.0044999887656,0.0598335325551,0.999999950061,0.000157507742402,-0.000272291252688,3.04406894489e-05,1793256057970074624
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,752.706441203,730.293558797,708,698,654,930,800,834,671,654,678,0.401073125988,0.00450235390639,0.0598298334983,0.999999947192,0.000159028193476,-0.000281752042822,3.06730917306e-05,1793256058003407616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785,752.131828234,730.868171766,708,698,654,930,800,834,671,654,678,0.401039995903,0.0045021788517,0.0598280938419,0.999999946816,0.0001575160264,-0.000283919777436,3.07590370082e-05,1793256058020074240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784.545790751,752,730.545790751,707.545790751,698,654,930,800,834,671,653.545790751,678,0.401019051963,0.00450254849507,0.0598283114868,0.999999947017,0.000157695806399,-0.000283123365874,3.0635892731e-05,1793256058036740864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784.042952856,752.042952856,730,707,698,654,930,800,834,671,653.042952856,678,0.40100237177,0.00450298345161,0.0598291992621,0.999999947451,0.00015821257449,-0.000281315899317,3.04687349834e-05,1793256058053407744
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,784.798975682,752.798975682,730,707,698,654,930,800.201024318,834,671,654,678,0.400985852325,0.0045014353037,0.0598330845594,0.999999949579,0.000155339107232,-0.000275272922059,3.06069246716e-05,1793256058086740992
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,785,752.502482607,729.502482607,707.502482607,698,655,930,800,834,671,654,677.497517393,0.400975877056,0.00449813436732,0.0598390031728,0.999999952727,0.000149310172705,-0.000267067048026,3.04450868777e-05,1793256058153407744
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d98f89bff2554376e9ba9bf1bf322eab4a981b73
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+336,5.600000000,pose2_to_pose3_retreat,0.590979365524,0.0101817994466,1.0500204718,0.561550513296,0.0188560372898,1.04969217482
+337,5.616666667,pose2_to_pose3_retreat,0.590257108267,0.0101816789296,1.05002060174,0.560828257521,0.0188559215533,1.04969229826
+338,5.633333333,pose2_to_pose3_retreat,0.589564842481,0.0101817869971,1.05002066594,0.560135991067,0.0188560275553,1.04969236764
+339,5.650000000,pose2_to_pose3_retreat,0.58889254445,0.0101817093664,1.05002052747,0.559463692301,0.0188559477106,1.04969223657
+340,5.666666667,pose2_to_pose3_retreat,0.588233636786,0.0101818152696,1.05002049671,0.558804784462,0.0188560532531,1.04969221192
+341,5.683333333,pose2_to_pose3_retreat,0.587584827965,0.010181738806,1.05002060604,0.5581559765,0.0188559793545,1.04969231204
+342,5.700000000,pose2_to_pose3_retreat,0.586945216253,0.0101816929331,1.0500205473,0.557516365748,0.0188559366982,1.04969225218
+343,5.716666667,pose2_to_pose3_retreat,0.586302628356,0.010181726047,1.05002045342,0.556873777359,0.0188559682181,1.04969216028
+344,5.733333333,pose2_to_pose3_retreat,0.585662385809,0.0101817567984,1.05002056716,0.556233532796,0.018855991853,1.04969226668
+345,5.750000000,pose2_to_pose3_retreat,0.58504062245,0.0101818400261,1.05002053537,0.555611769321,0.0188560750423,1.04969224431
+346,5.766666667,pose2_to_pose3_retreat,0.584441667163,0.0101818076728,1.05002063828,0.55501281589,0.0188560490642,1.04969234919
+347,5.783333333,pose2_to_pose3_retreat,0.583869855579,0.0101818601776,1.05002049926,0.554441002793,0.018856096708,1.04969221739
+348,5.800000000,pose2_to_pose3_retreat,0.583336393987,0.010181754409,1.05002064451,0.553907542397,0.0188559943356,1.04969234512
+349,5.816666667,pose2_to_pose3_retreat,0.582835507997,0.010181779506,1.05002070235,0.553406655931,0.0188560176265,1.04969239788
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+351,5.850000000,pose2_to_pose3_retreat,0.581867183743,0.0101817022209,1.05002060519,0.552438332575,0.0188559437293,1.04969230973
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+355,5.916666667,pose2_to_pose3_retreat,0.580108745216,0.0101816683988,1.05002066054,0.550679894993,0.0188559131541,1.04969236701
+356,5.933333333,pose2_to_pose3_retreat,0.579723630501,0.0101816561806,1.0500206524,0.55029477958,0.0188558984636,1.049692356
+357,5.950000000,pose2_to_pose3_retreat,0.579353014886,0.0101816454095,1.0500205377,0.549924162667,0.0188558832957,1.04969224126
+358,5.966666667,pose2_to_pose3_retreat,0.578996718573,0.0101817617915,1.05002052717,0.549567865078,0.0188559954359,1.04969223297
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+362,6.033333333,pose2_to_pose3_retreat,0.577799050518,0.010181692238,1.05002061841,0.54837019972,0.018855935144,1.04969232708
+363,6.050000000,pose2_to_pose3_retreat,0.577568531628,0.0101817627591,1.05002039975,0.548139679121,0.0188559999485,1.04969211062
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+368,6.133333333,pose2_to_pose3_retreat,0.576645230993,0.0101819435124,1.05002045462,0.547216375721,0.0188561712365,1.04969216361
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+372,6.200000000,pose2_to_pose3_retreat,0.576155650046,0.0101817621065,1.05002067498,0.546726799622,0.0188560064235,1.04969238784
+373,6.216666667,pose2_to_pose3_retreat,0.576068227837,0.0101816620897,1.05002043155,0.546639376516,0.0188559030032,1.04969213496
+374,6.233333333,pose2_to_pose3_retreat,0.5759925806,0.0101818009829,1.0500205684,0.546563726705,0.0188560328307,1.0496922634
+375,6.250000000,pose2_to_pose3_retreat,0.575927730226,0.0101817915406,1.05002073976,0.54649887762,0.0188560279568,1.04969243994
+376,6.266666667,pose2_to_pose3_retreat,0.575872639313,0.0101817564308,1.0500205717,0.546443787075,0.0188559941661,1.04969227367
+377,6.283333333,pose2_to_pose3_retreat,0.575825593182,0.0101817587468,1.05002049124,0.546396740837,0.0188559961085,1.0496921929
+378,6.300000000,pose2_to_pose3_retreat,0.575786446503,0.0101817693517,1.05002058721,0.546357594631,0.0188560083862,1.04969229069
+379,6.316666667,pose2_to_pose3_retreat,0.575754180773,0.0101817307221,1.05002058293,0.546325329928,0.0188559733523,1.04969228937
+380,6.333333333,pose2_to_pose3_retreat,0.575728766368,0.0101816849547,1.05002033255,0.546299915274,0.0188559265389,1.04969203369
+381,6.350000000,pose2_to_pose3_retreat,0.575709860721,0.010181806857,1.05002052475,0.5462810076,0.0188560416373,1.0496922278
+382,6.366666667,pose2_to_pose3_retreat,0.575696435302,0.0101817332329,1.05002052088,0.54626758448,0.0188559760559,1.04969223029
+383,6.383333333,pose2_to_pose3_retreat,0.575687364359,0.0101817266243,1.05002053395,0.546258513332,0.0188559686198,1.04969223999
+384,6.400000000,pose2_to_pose3_retreat,0.575681107309,0.0101817692469,1.05002056793,0.546252254479,0.0188560048094,1.04969226549
+385,6.416666667,pose2_to_pose3_retreat,0.575677219742,0.0101817616424,1.05002069497,0.546248367275,0.0188559984313,1.0496923923
+386,6.433333333,pose2_to_pose3_retreat,0.575674629643,0.0101817556516,1.05002078248,0.546245777457,0.0188559933994,1.04969247979
+387,6.450000000,pose2_to_pose3_retreat,0.575673255833,0.0101817611187,1.05002073989,0.546244403674,0.0188559990173,1.04969243886
+388,6.466666667,pose2_to_pose3_retreat,0.575672531681,0.0101817688568,1.05002066743,0.546243679466,0.0188560066341,1.04969236821
+389,6.483333333,pose2_to_pose3_retreat,0.575672050144,0.0101817740025,1.05002061925,0.546243197892,0.018856011699,1.04969232124
+390,6.500000000,pose2_to_pose3_retreat,0.575671627832,0.0101817785152,1.050020577,0.546242775548,0.0188560161409,1.04969228004
+391,6.516666667,pose2_to_pose3_retreat,0.575671158842,0.0101817835267,1.05002053007,0.546242306523,0.0188560210739,1.04969223429
+392,6.533333333,pose2_to_pose3_retreat,0.575670677563,0.0101817886696,1.05002048192,0.546241825207,0.0188560261361,1.04969218734
+393,6.550000000,pose2_to_pose3_retreat,0.575670164549,0.0101817941516,1.05002043059,0.546241312154,0.018856031532,1.04969213729
+394,6.566666667,pose2_to_pose3_retreat,0.57566963056,0.0101817925856,1.05002044942,0.546240778047,0.0188560295994,1.04969215701
+395,6.583333333,pose2_to_pose3_retreat,0.575669233636,0.0101817887203,1.05002049026,0.546240381007,0.0188560253586,1.04969219834
+396,6.600000000,pose2_to_pose3_retreat,0.57566896973,0.0101817861504,1.05002051742,0.546240117024,0.018856022539,1.04969222583
+397,6.616666667,pose2_to_pose3_retreat,0.575668863941,0.0101817851202,1.0500205283,0.546240011203,0.0188560214087,1.04969223684
+398,6.633333333,pose2_to_pose3_retreat,0.575668583421,0.0101817823885,1.05002055717,0.546239730601,0.0188560184116,1.04969226606
+399,6.650000000,pose2_to_pose3_retreat,0.575668013123,0.010181776835,1.05002061585,0.546239160136,0.0188560123185,1.04969232544
+400,6.666666667,pose2_to_pose3_retreat,0.575667719874,0.0101817730191,1.0500206007,0.546238867113,0.0188560092483,1.0496923098
+401,6.683333333,pose2_to_pose3_retreat,0.575667544471,0.0101817699234,1.05002055326,0.546238692108,0.0188560074653,1.04969226133
+402,6.700000000,pose2_to_pose3_retreat,0.575667257432,0.0101817648573,1.05002047562,0.546238405722,0.0188560045475,1.04969218201
+403,6.716666667,pose2_to_pose3_retreat,0.575667219255,0.0101817641835,1.05002046529,0.546238367631,0.0188560041594,1.04969217146
+404,6.733333333,pose2_to_pose3_retreat,0.575666944436,0.0101818093179,1.05002050574,0.546238093184,0.0188560505596,1.0496922121
+405,6.750000000,pose2_to_pose3_retreat,0.575666925956,0.0101818244098,1.05002053615,0.546238074668,0.0188560655459,1.04969224295
+406,6.766666667,pose2_to_pose3_retreat,0.575666905684,0.0101818409659,1.05002056951,0.546238054357,0.0188560819861,1.0496922768
+407,6.783333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be2799097efa8ec108e03deb97ccd73e0b130376
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69082274cc6e6e0c5a0c7193d2fd2ac2b7969f3938820a29f213a6e00e21446
+size 26026888
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22ab550c06ba238de7c5f56a7c70a88090648bbe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+16,0.266666667,BASELINE,785,752.644117317,729.355882683,707,698,654.644117317,930,800,834,671,654,677,0.400971809283,0.00449726273398,0.0598436649474,0.999999955714,0.000142920190048,-0.000259358405058,2.9657635107e-05,1793256058866831360
+17,0.283333333,BASELINE,785,752.051818823,729.948181177,707,698,654.051818823,930,800,834,671,654,677,0.40097419808,0.00449812035955,0.0598451712689,0.999999956707,0.000142352978944,-0.000255839930695,2.94712943446e-05,1793256058883497472
+18,0.300000000,BASELINE,785,752.527071572,729.472928428,707,698,654.527071572,930,800,834,671,654,677.527071572,0.400972687904,0.00449703508947,0.0598437017066,0.999999956109,0.000141741271593,-0.000258515471487,2.93408825995e-05,1793256058900164096
+19,0.316666667,BASELINE,784.895949996,752.895949996,729.104050004,707,698,654.895949996,930,800,834,671,653.895949996,677.895949996,0.400971450332,0.00449624229145,0.059842479326,0.999999955601,0.000141416217976,-0.0002606629561,2.92316462962e-05,1793256058916830720
+20,0.333333333,BASELINE,784.321801901,752.321801901,729.678198099,707,698,654.321801901,930,800,834,671,653.321801901,677.321801901,0.400973133281,0.00449761247947,0.0598436627653,0.999999956219,0.000142405540706,-0.000257741643865,2.91938541187e-05,1793256058933497344
+21,0.350000000,BASELINE,784,752,730,707,698,654,930,800,834,671,653.253156081,677.253156081,0.400974167334,0.00449860291621,0.0598445925987,0.999999956533,0.000143340570088,-0.000256002659526,2.9169114746e-05,1793256058950163968
+22,0.366666667,BASELINE,784,752,730,707,698,654,930,800,834,671,653.82914682,677.82914682,0.400974373887,0.00449910907898,0.0598451990237,0.999999956468,0.000144206362371,-0.000255771426764,2.91610208298e-05,1793256058966830848
+23,0.383333333,BASELINE,784.416880674,752,730,707,698,654,930,800,834,671,654,678,0.400973702758,0.0044988848782,0.059844720099,0.999999956249,0.00014431176637,-0.000256543202957,2.93380976762e-05,1793256058983497728
+24,0.400000000,BASELINE,784.990705313,752,729.990705313,707,698,654,930,800,834,671,654,678,0.40097268714,0.00449834624754,0.0598438040905,0.999999955977,0.00014407031909,-0.000257710622246,2.95866895735e-05,1793256059000164608
+25,0.416666667,BASELINE,784.414879846,752,729.414879846,707,698,654,930,800,834,671,654,678,0.400973234615,0.00449741609194,0.0598441452866,0.999999956373,0.000142232962876,-0.000257211464474,2.94345499312e-05,1793256059016831232
+26,0.433333333,BASELINE,784.160933222,752,729.160933222,707,698,654.160933222,930,800,834,671,653.839066778,678,0.400973452018,0.0044972246063,0.0598442372849,0.999999956486,0.000141804825778,-0.000257018084307,2.93318059207e-05,1793256059033498112
+27,0.450000000,BASELINE,784.736714447,752,729.736714447,707,698,654.736714447,930,800,834,671,653.263285553,678,0.400972818575,0.0044989372379,0.0598436869101,0.999999955873,0.00014500932381,-0.000257612926801,2.93563922016e-05,1793256059050164480
+28,0.466666667,BASELINE,785,752.320184375,730,707,698,654.679815625,930,800,834,671,653,677.679815625,0.400973096766,0.0044990040166,0.0598439293421,0.999999955881,0.000145744907107,-0.000257170182323,2.93290191548e-05,1793256059066830848
+29,0.483333333,BASELINE,785,752.910132195,730,707,698,654.089867805,930,800,834,671,653,677.089867805,0.400974143034,0.00449768412244,0.0598448397338,0.999999956416,0.000144400367024,-0.00025585324451,2.92578690571e-05,1793256059083497728
+30,0.500000000,BASELINE,785,752.509765494,730,707,698,654,930,800,834,671,653.490234506,677,0.400973451477,0.00449761526774,0.0598442648683,0.999999956338,0.000143446866596,-0.000256707572854,2.91311936482e-05,1793256059100164352
+31,0.516666667,BASELINE,785,752,730,707,698,654,930,800,834,671,654,677,0.400972437018,0.00449779735807,0.0598435438392,0.999999956118,0.000142873433491,-0.000257892563603,2.90389988819e-05,1793256059116830720
+32,0.533333333,BASELINE,785,752,730,707,698,654,930,800,834,671,654,677,0.400971343732,0.00449817367244,0.0598437205066,0.99999995567,0.000144603171449,-0.000258634985736,2.92773341826e-05,1793256059133497600
+33,0.550000000,BASELINE,785,752,730,707,698,654,930,800,834,671,654,677.223903598,0.400970820465,0.0044981919625,0.0598439232116,0.999999955525,0.000145212213798,-0.000258832322684,2.94887608375e-05,1793256059150164480
+34,0.566666667,BASELINE,785,752,730,707,698,654,930,800,834,671,654,677.811245502,0.400971222449,0.00449762911067,0.0598441681806,0.999999955873,0.000144002152955,-0.000258144882196,2.96565095975e-05,1793256059166831104
+35,0.583333333,BASELINE,785,752.393084533,730,707,698,654,930,800,834,671,654,677.606915467,0.400972561752,0.00449768115469,0.0598446092056,0.999999956176,0.00014408830009,-0.000256933977669,2.95043276623e-05,1793256059183497728
+36,0.600000000,BASELINE,785,752.972317684,730,707,698,654,930,800,834,671,654,677.027682316,0.400974344931,0.00449802438799,0.0598451430748,0.999999956458,0.000144788277739,-0.000255475182106,2.92006397641e-05,1793256059200164352
+37,0.616666667,BASELINE,784.44972027,753,730,707,698,654,930,800,834,671,654,677,0.400972751537,0.004496103626,0.0598441759837,0.999999956614,0.000140692527788,-0.000257121972879,2.94226655246e-05,1793256059216830720
+38,0.633333333,BASELINE,784,752.872281582,730,707,698,654,930,800,834,671,654,677.127718418,0.400971619934,0.00449486128503,0.059843526469,0.999999956698,0.000137891310097,-0.000258291079325,2.96032641338e-05,1793256059233497344
+39,0.650000000,BASELINE,784,752.29645514,730,707,698,654,930,800,834,671,654,677.70354486,0.40097270315,0.00449639790326,0.059844255502,0.999999956611,0.000140476540126,-0.000257237324031,2.95459377267e-05,1793256059250163968
+40,0.666666667,BASELINE,784,752.2842648,730,707,698,654,930,800,834,671,654,677.7157352,0.400972760173,0.00449737616981,0.059844192675,0.999999956336,0.000142389618846,-0.00025726467636,2.94682852901e-05,1793256059266830848
+41,0.683333333,BASELINE,784,752.870177444,730,707,698,654,930,800,834,671,654,677.129822556,0.400971728251,0.00449776194091,0.0598432895649,0.999999955864,0.000143589443455,-0.000258439247064,2.93690638731e-05,1793256059283498240
+42,0.700000000,BASELINE,784,752.548277204,730,707,698.451722796,654.451722796,930,800,834,671,654,677,0.400972400936,0.00449702539607,0.059843928775,0.999999956132,0.000143233192412,-0.000257596060342,2.94019882267e-05,1793256059300164864
+43,0.716666667,BASELINE,784.031866096,752,730,707,698.968133904,655,930,800,834,671,653.968133904,677,0.400973337504,0.00449617282168,0.0598448860531,0.999999956537,0.000142564435769,-0.000256388360118,2.94350370369e-05,1793256059316831488
+44,0.733333333,BASELINE,784.6092885,752,730,707,698.3907115,655,930,800,834,671,653.3907115,677,0.400970485017,0.00449880300893,0.0598437727758,0.999999955716,0.000144128495537,-0.000258772933518,2.88262497415e-05,1793256059333498112
+45,0.750000000,BASELINE,785,752,730,707,698,654.814714953,930,800,834,671,653.185285047,677,0.400968928375,0.00449988515096,0.0598430919902,0.999999955372,0.000144539465293,-0.00025990299092,2.8548249466e-05,1793256059350164480
+46,0.766666667,BASELINE,785,752,730,707,698,654.241702229,930,800,834,671,653.758297771,677,0.400970083421,0.00449772785163,0.0598433162375,0.999999956035,0.000142537477529,-0.000258407846585,2.89624545185e-05,1793256059366831104
+47,0.783333333,BASELINE,784.658095605,752,729.658095605,707,698,654,930,800,834,671,654,677,0.400971054612,0.00449745774828,0.059843987468,0.999999956239,0.000142930982027,-0.000257376168718,2.91685336144e-05,1793256059383497728
+48,0.800000000,BASELINE,784.066760311,752,729.066760311,707,698,654,930,800,834,671,654,677,0.400971891675,0.00449856441843,0.059844984788,0.999999956107,0.000145072079492,-0.000256682605267,2.92227777809e-05,1793256059400164352
+49,0.816666667,BASELINE,784.512607563,752,729.512607563,707.512607563,698,654.512607563,930,800,833.487392437,671,654,677,0.400972305947,0.00449867119464,0.0598452400076,0.999999956443,0.000143405718655,-0.000256334618015,2.9003054537e-05,1793256059416831232
+50,0.833333333,BASELINE,784.909619028,752,729.909619028,707.909619028,698,655,930,800,833.090380972,671,653.909619028,677.090380972,0.400972703609,0.00449861298537,0.059845375272,0.99999995678,0.000141540338032,-0.000256077139116,2.88092383805e-05,1793256059433498112
+51,0.850000000,BASELINE,784.332230255,752,729.332230255,707.332230255,698,655,930,800,833.667769745,671,653.332230255,677.667769745,0.400973301711,0.00449835145361,0.0598453730708,0.999999956825,0.000141213548402,-0.000256070373296,2.89428944041e-05,1793256059450164736
+52,0.866666667,BASELINE,784,752,729.248831913,707,698,654.751168087,930,800,834,671,653.248831913,678,0.400972849096,0.00449816351174,0.0598450702889,0.999999956601,0.000141698474523,-0.000256654167963,2.91241544449e-05,1793256059466831360
+53,0.883333333,BASELINE,784,752,729.834872105,707,698,654.165127895,930,800,834,671,653.834872105,678,0.400970972588,0.00449807529634,0.0598443601706,0.999999956012,0.000143283409365,-0.000258038269483,2.93699257711e-05,1793256059483497984
+54,0.900000000,BASELINE,784,752.416246332,730,707,698,654,930,800,834,671,654,678,0.400970431379,0.00449809320661,0.0598440206483,0.999999955985,0.000142812589714,-0.000258428592166,2.91525794064e-05,1793256059500164608
+55,0.916666667,BASELINE,784,752.995790044,730,707,698,654,930,800,834,671,654,678,0.40097041402,0.00449815275099,0.0598438265143,0.999999956178,0.000141535278065,-0.000258429045964,2.87535475784e-05,1793256059516831232
+56,0.933333333,BASELINE,784.572817672,752.427182328,730,707,698,654.572817672,930,800,834,671,654,677.427182328,0.400970561887,0.00449733409413,0.0598438857868,0.999999956155,0.00014151374134,-0.000258506165167,2.8969613379e-05,1793256059533497600
+57,0.950000000,BASELINE,785,752,730,707,698,655,930,800,834,671,654,677.14923847,0.400970768911,0.00449712112716,0.0598439788678,0.999999956051,0.000142267956225,-0.000258469359851,2.917205442e-05,1793256059550164224
+58,0.966666667,BASELINE,785,752,730,707,698,655,930,800,834,671,654,677.723981488,0.400971141154,0.00449865340847,0.0598441630556,0.999999955718,0.000145207772877,-0.00025810613664,2.93228159779e-05,1793256059566831360
+59,0.983333333,BASELINE,784.693378422,752,730,707,698,655,930,800,834,671,654,678,0.400972460264,0.00449928335982,0.0598449366462,0.999999956028,0.000145663889638,-0.00025666323437,2.91473291043e-05,1793256059583498240
+60,1.000000000,BASELINE,784.103441447,752,730,707,698,655,930,800,834,671,654,678,0.400974654269,0.00449907956712,0.0598462548393,0.999999956932,0.00014382509185,-0.000254222718958,2.86703918248e-05,1793256059600164608
+61,1.016666667,BASELINE,784.477621803,752,730,707,698.477621803,654.522378197,929.522378197,800,834,671,654,678,0.40097415758,0.00449838562539,0.0598458185044,0.999999956729,0.000144239658656,-0.000254750005184,2.89609587374e-05,1793256059616831232
+62,1.033333333,BASELINE,784.943159157,752,730,707,698.943159157,654,929.056840843,800,834,671,653.943159157,678,0.400973101808,0.004497709492,0.0598450242555,0.999999956329,0.000144851800844,-0.000255925306077,2.93660360688e-05,1793256059633498112
+63,1.050000000,BASELINE,784.36354823,752,730,707,698.36354823,654,929.63645177,800,834,671,653.36354823,678,0.400972165848,0.0044981556472,0.0598443692852,0.999999956273,0.00014287452426,-0.000257256809135,2.93233932283e-05,1793256059650164224
+64,1.066666667,BASELINE,784.213105463,752,730,707,698,654,929.786894537,800,834,671,653,678,0.400971995729,0.00449875204818,0.0598442411865,0.999999956319,0.000141887581957,-0.00025763816647,2.91871587385e-05,1793256059666830592
+65,1.083333333,BASELINE,784.784783263,752,730,707,698,654,929.215216737,800,834,671,653,678,0.400973114222,0.00449960125342,0.0598449996046,0.999999956544,0.000142566981284,-0.000256420803688,2.88934464651e-05,1793256059683497728
+66,1.100000000,BASELINE,785,752.368039216,730,707,698,654,929.368039216,800,834,671,653,678,0.400972473297,0.00449935449727,0.0598446146169,0.999999956329,0.000142914447271,-0.000257058270168,2.89462328866e-05,1793256059700164864
+67,1.116666667,BASELINE,785,752.958285568,730,707,698,654,929.958285568,800,834,671,653,678,0.400970770107,0.0044984460441,0.059843539287,0.999999955847,0.000143061505359,-0.00025881560729,2.9208221162e-05,1793256059716832000
+68,1.133333333,BASELINE,785,752.461160953,730,707,698,654,930,800,834,671,653.538839047,678,0.400971447218,0.00449982026209,0.0598442023322,0.999999955677,0.000146069074615,-0.000257807010708,2.9077640216e-05,1793256059733498368
+69,1.150000000,BASELINE,784.88274516,752,730,707,698,654,930,800,834,671,654,677.88274516,0.400972040424,0.00450093485873,0.0598448163983,0.999999955579,0.000148420493589,-0.000256862415695,2.89002675703e-05,1793256059750164992
+70,1.166666667,BASELINE,784.309772898,752,730,707,698,654,930,800,834,671,654,677.309772898,0.400971604008,0.00450036575027,0.0598447263057,0.999999955709,0.000147376287666,-0.000256984072828,2.86570651653e-05,1793256059766831616
+71,1.183333333,BASELINE,784.268362779,752,730,707,698,654,930,800,834,671,654,677,0.40097162055,0.00449947836915,0.0598447687996,0.999999955965,0.000145704433712,-0.000256948439345,2.85820621079e-05,1793256059783498240
+72,1.200000000,BASELINE,784.852575621,752,730,707,698,654,930,800,834,671,654,677,0.400972170203,0.00449821639634,0.0598449673415,0.999999956367,0.000143293868124,-0.000256727682399,2.87050215484e-05,1793256059800164352
+73,1.216666667,BASELINE,785,752,730,707,698,654,930,800,834,671,654,677,0.400971877043,0.00449871262531,0.0598443826633,0.999999956267,0.00014278999908,-0.000257411563263,2.85881637007e-05,1793256059816830976
+74,1.233333333,BASELINE,785,752.020586824,730,707,698,654,930,800,834,671,654,677,0.400971353173,0.00449978570407,0.0598435953674,0.999999956012,0.00014295998585,-0.000258325580033,2.83992017717e-05,1793256059833497344
+75,1.250000000,BASELINE,785,752.594960717,730,707,698,654,930,800,834,671,654,677,0.400972275332,0.00450041287261,0.0598444687233,0.999999956155,0.000143945303839,-0.000257216807347,2.84480037481e-05,1793256059850164224
+76,1.266666667,BASELINE,784.830980053,752.830980053,730,707,698,654,930,800,834,671,654,677.169019947,0.400973160248,0.00450079624201,0.059845221803,0.999999956283,0.000144867400463,-0.000256193706518,2.84987807022e-05,1793256059866831104
+77,1.283333333,BASELINE,784.257673516,752.257673516,730,707,698,654,930,800,834,671,654,677.742326484,0.400973956079,0.00450059645698,0.0598456871889,0.999999956379,0.000145638274931,-0.000255375528218,2.85542816938e-05,1793256059883497984
+78,1.300000000,BASELINE,784,752,730,707,698,654,930,800,834,671,654,678,0.400973817758,0.00449867583944,0.0598457887854,0.999999956767,0.000142944749374,-0.000255347747672,2.88319688986e-05,1793256059900164352
+79,1.316666667,BASELINE,784,752,730,707,698,654,930,800,834,671,654,678,0.400972916823,0.004495350385,0.0598455933949,0.999999957369,0.00013742298978,-0.000255965224575,2.92910423711e-05,1793256059916831232
+80,1.333333333,BASELINE,784.501826184,752.501826184,729.498173816,707,698,654,930,800,834,671,654,678,0.40097220356,0.00449727073203,0.0598452966749,0.999999956666,0.000141815377918,-0.000256319270535,2.92877504112e-05,1793256059933497600
+81,1.350000000,BASELINE,785,753,729.078366088,707,698,654.078366088,930,800,834,671,654,678,0.400971531272,0.0044992570172,0.0598450073933,0.999999955914,0.000146356164986,-0.000256707234341,2.92216178673e-05,1793256059950164224
+82,1.366666667,BASELINE,785,753,729.651593235,707,698,654.651593235,930,800,834,671,654,678,0.400970940049,0.00449669315895,0.0598448610176,0.99999995626,0.000142447713701,-0.000257558786589,2.91964136389e-05,1793256059966831104
+83,1.383333333,BASELINE,785,753,729.775184137,707,698,654.775184137,930,800,834,671,654,678,0.400970728716,0.00449572207434,0.0598447820477,0.999999956361,0.000141044855449,-0.000257940099612,2.91844173782e-05,1793256059983497984
+84,1.400000000,BASELINE,785,753,729.201968425,707,698,654.201968425,930,800,834,671,654,678,0.400971106106,0.00449721932985,0.0598448075375,0.999999956097,0.000143524944292,-0.000257592677381,2.91928896609e-05,1793256060000164352
+85,1.416666667,BASELINE,785,752.61339379,729.38660621,707,698,654.38660621,930,800,834,671,654,677.61339379,0.400971724913,0.00449787536679,0.0598450529006,0.999999956348,0.000142826249541,-0.00025703282812,2.89691682101e-05,1793256060016830976
+86,1.433333333,BASELINE,785,752.016463528,729.983536472,707,698,654.983536472,930,800,834,671,654,677.016463528,0.400972475058,0.00449807375839,0.0598454178807,0.999999956875,0.000140398211884,-0.000256357412931,2.86191271969e-05,1793256060033497600
+87,1.450000000,BASELINE,785,752,730,707,698.559406469,655,930,800,834,671,654,677,0.400971506474,0.00449778513798,0.0598445048568,0.999999956317,0.000142320152433,-0.000257448816673,2.88329572237e-05,1793256060050163968
+88,1.466666667,BASELINE,785,752,729.86515555,707,699,654.86515555,930,800,834,671,654,677,0.400970853958,0.00449766425665,0.0598438375388,0.999999955899,0.000143750003048,-0.00025825612823,2.89995025406e-05,1793256060066830848
+89,1.483333333,BASELINE,785,752,729.289176808,707,699,654.289176808,930,800,834,671,654,677,0.400971394911,0.00449813731012,0.0598440926118,0.999999956058,0.000143166397501,-0.000257970115411,2.89590397451e-05,1793256060083497472
+90,1.500000000,BASELINE,785,752,729.294305868,707,699,654.294305868,930,800.294305868,834,671,654,677.294305868,0.400971221643,0.00449845955609,0.0598441661648,0.999999956007,0.000143472378651,-0.000257998535731,2.89716321283e-05,1793256060100164096
+91,1.516666667,BASELINE,785,752,729.885354579,707,699,654.885354579,930,800.885354579,834,671,654,677.885354579,0.40097032824,0.00449862974577,0.0598440566949,0.999999955742,0.000144675312685,-0.000258343992848,2.90377190118e-05,1793256060116830720
+92,1.533333333,BASELINE,785,752,730,707,698.534977664,655,930,800.534977664,834,671,654,678,0.400971083214,0.00449804549733,0.0598447151756,0.999999956185,0.000142925443473,-0.000257597174345,2.90927274523e-05,1793256060133497344
+93,1.550000000,BASELINE,785,752,730,707,698,654.958177435,930,800,834.041822565,671,654,678,0.40097218921,0.00449739954946,0.0598455351639,0.999999956742,0.0001408038715,-0.000256597294786,2.91313167235e-05,1793256060150163968
+94,1.566666667,BASELINE,785,752,730,707,698,654.38301931,930,800,834.61698069,671,654,678,0.400972712998,0.00449828202714,0.0598460580449,0.999999956658,0.00014300385245,-0.000255722296146,2.89945208978e-05,1793256060166830592
+95,1.583333333,BASELINE,785,752,730,707,698,654.19179859,930,800,834.80820141,671.19179859,654,678,0.400972478933,0.00449881902787,0.0598459188688,0.99999995651,0.000143881830937,-0.000255818578099,2.88908551477e-05,1793256060183497472
+96,1.600000000,BASELINE,785,752,730,707,698,654.765938373,930,800,834.234061627,671.765938373,654,678,0.400970734121,0.00449866733717,0.0598444599138,0.99999995624,0.000142124461995,-0.000257851060676,2.88532325732e-05,1793256060200164096
+97,1.616666667,BASELINE,785,752,730,707,698,654.647230412,930,800.352769588,834,671.647230412,654,678,0.400970090497,0.00449778335933,0.0598443284597,0.99999995636,0.000140130683343,-0.000258498873433,2.86782922127e-05,1793256060216830720
+98,1.633333333,BASELINE,785,752,730,707,698,654.051664247,930,800.948335753,834,671.051664247,654,678,0.400970204774,0.00449639537884,0.0598451106693,0.999999956746,0.000137974193864,-0.000258193675656,2.84088417568e-05,1793256060233497344
+99,1.650000000,BASELINE,784.472821766,752,730,707,698,654,930,800.472821766,834,671,654,677.472821766,0.400970689708,0.00449686587648,0.059844869692,0.999999956426,0.000140676348309,-0.000257941605579,2.8718681589e-05,1793256060250163968
+100,1.666666667,BASELINE,784,752,730,707.103717426,698,654,930,800,834,671,654,677,0.400971257116,0.0044975583805,0.0598446534188,0.999999956141,0.000143285033311,-0.000257579761654,2.89927601572e-05,1793256060266830336
+101,1.683333333,BASELINE,784,752,730,707.677020591,698,654,930,800,834,671,654,677,0.400972038524,0.00449845676542,0.0598449890305,0.999999956358,0.000143381004837,-0.000256698062978,2.88557961703e-05,1793256060283496960
+102,1.700000000,BASELINE,784,752.257946712,730,707.742053288,698,654,930,800,834,671,654,677.257946712,0.400972711367,0.00449855491973,0.0598456717828,0.999999956672,0.000142704383861,-0.000255849371366,2.88710529676e-05,1793256060300163840
+103,1.716666667,BASELINE,784,752.848708281,730,707.151291719,698,654,930,800,834,671,654,677.848708281,0.400973244135,0.0044976205792,0.0598468024322,0.999999957109,0.000141030928056,-0.000255043267069,2.90827121185e-05,1793256060316830464
+104,1.733333333,BASELINE,784.430743794,752.569256206,730,707,698,654.430743794,930,800,834,671,654,678,0.400972966804,0.00449807390088,0.0598472455363,0.999999956995,0.000142621712861,-0.000254611337116,2.90305422523e-05,1793256060333497344
+105,1.750000000,BASELINE,785,752,730,707.009720951,698,655,930,800,834,671,653.990279049,678,0.400972410224,0.00449898041166,0.0598474258502,0.999999956691,0.000145245699126,-0.000254335870123,2.88883596526e-05,1793256060350164224
+106,1.766666667,BASELINE,785,752,730,707.585531658,698,655,930,800,834,671,653.414468342,678,0.400971832402,0.00449845861479,0.0598460864831,0.999999956735,0.000142596891521,-0.000255670565423,2.87935185248e-05,1793256060366830848
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,752,731,707,698,654,930,800,834,671,653,678,0.400973909873,0.00449526888086,0.0598460788955,0.999999957838,0.00013553975299,-0.000255209898158,2.86338493839e-05,1793256060408142080
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,752.597401276,730.402598724,707,698,654,930,800,834,671,653.597401276,678,0.4009726287,0.00449743594164,0.0598456284338,0.999999956999,0.000139882074584,-0.000256116615906,2.89680298135e-05,1793256060424808960
+109,1.816666667,POSE1_TO_POSE2_PRESS,784.812253464,753,730,707,698,654.187746536,930,800,834,671,654,678,0.400971832532,0.0044983491433,0.059845459608,0.999999956556,0.000142084259887,-0.000256618843756,2.90844627489e-05,1793256060441475584
+110,1.833333333,POSE1_TO_POSE2_PRESS,784.236490777,753,730,707,698,654.763509223,930,800,834,671,654,678,0.400972038723,0.00449667099216,0.05984587284,0.999999956965,0.000139863421918,-0.000256285111673,2.87508765522e-05,1793256060458142208
+111,1.850000000,POSE1_TO_POSE2_PRESS,784.34084277,753,730,707,698,655,930,800,834,671,654,678,0.400971059454,0.00449732437768,0.0598451560876,0.999999956652,0.000140262722469,-0.000257305477777,2.85670825299e-05,1793256060474808832
+112,1.866666667,POSE1_TO_POSE2_PRESS,784.919271255,753,730,707,698,655,930,800,834,671,654,678,0.400969253856,0.00449960296958,0.0598436516752,0.999999955832,0.000142488400414,-0.000259269723058,2.84877017175e-05,1793256060491475456
+113,1.883333333,POSE1_TO_POSE2_PRESS,784.494672942,753,730,707,698,654.494672942,930,800,834,671,654,678,0.400969676453,0.00449858835028,0.0598441294489,0.999999956205,0.000141598510706,-0.000258303945791,2.86288655693e-05,1793256060508142336
+114,1.900000000,POSE1_TO_POSE2_PRESS,784.091375384,753,730,707,698.091375384,654.091375384,930,800,834,671,654,678,0.40097053297,0.00449737192584,0.0598449501841,0.999999956689,0.000140625025378,-0.00025693634961,2.87984594364e-05,1793256060524808448
+115,1.916666667,POSE1_TO_POSE2_PRESS,784.670776136,753,730,707,698.670776136,654.670776136,930,800,834,671,654,678,0.400971776693,0.00449793062958,0.0598458854465,0.999999956755,0.000141904116909,-0.000255960996625,2.89288343989e-05,1793256060541475072
+116,1.933333333,POSE1_TO_POSE2_PRESS,784.750709229,753,730,707,698.750709229,655,930,800,834,671,653.750709229,678,0.400976328686,0.00449798980203,0.0598482253385,0.999999957613,0.000142045531223,-0.000252491552843,2.90861211602e-05,1793256060558141952
+117,1.950000000,POSE1_TO_POSE2_PRESS,784.173360739,753,730,707,698.173360739,655,930,800,834,671,653.173360739,678,0.400985234242,0.00449739160918,0.0598524136726,0.99999995948,0.000140689802988,-0.000245739975031,2.92788228731e-05,1793256060574808576
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,752.596891446,730,707,698,654.596891446,930,800,834,671,653.403108554,678,0.401010386103,0.0044963798893,0.0598634214195,0.999999964305,0.000139035740404,-0.000226236704236,2.95808611054e-05,1793256060591475456
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,752.020799389,730,707,698,654.020799389,930,800,834,671,653.979200611,678,0.401042509642,0.00449519071505,0.0598773555398,0.99999996988,0.00013725365524,-0.000201261376842,2.99298182497e-05,1793256060608142080
+120,2.000000000,POSE1_TO_POSE2_PRESS,784.566723633,752,730,707,698,654,930,800,834,671,653.433276367,677.433276367,0.401097680683,0.00449634734393,0.0598961929407,0.999999975811,0.000139910674454,-0.000167120757485,2.9554804974e-05,1793256060624809216
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,752.152301639,730,707,698,654,930,800,834,671,653.152301639,677.152301639,0.401157234108,0.00449681489431,0.0599145136474,0.99999998012,0.000141428069628,-0.000137431838586,2.94988908312e-05,1793256060641475840
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,752.731232001,730,707,698,654,930,800,834,671,653.731232001,677.731232001,0.401226645288,0.00449510606143,0.0599308725189,0.999999982495,0.000139287372842,-0.000121174713264,3.04128017931e-05,1793256060658142208
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,752.703766004,730,707,698,654.296233996,930,800,834,671,654,678,0.401306342286,0.00449510362028,0.0599433417137,0.999999984635,0.000138180791337,-0.000103511894955,3.03588883515e-05,1793256060674809088
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,752.150833527,730,707,698,654.849166473,930,800,834,671,654,678,0.401394952349,0.00449657983522,0.0599524403486,0.999999986467,0.000137970311765,-8.46309890024e-05,2.9466316702e-05,1793256060691475712
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,752,730,707,698,655,930,800,834.434482586,671,654,677.565517414,0.401499138992,0.00449604570528,0.0599573165774,0.999999987481,0.000135635480107,-7.6093399105e-05,2.91833847432e-05,1793256060708142080
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,752.031685438,730,707,698,655,930,800,834.968314562,671,654,677.031685438,0.401610208976,0.00449491451422,0.0599605867247,0.999999988246,0.000132615533511,-7.12675298871e-05,2.90241224685e-05,1793256060724808704
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,752.624270653,730,707,698,655,930,800,834.375729347,671,654,677.624270653,0.401739694991,0.00449656344786,0.0599634640316,0.999999988966,0.000131574017412,-6.34638604293e-05,2.70058605473e-05,1793256060741475584
+128,2.133333333,POSE1_TO_POSE2_PRESS,784.787436332,753,730,707,698,655,930,800,834,671,654,677.787436332,0.40187705296,0.00449662607534,0.0599640952863,0.999999989623,0.000128900711581,-5.91909197711e-05,2.52093983931e-05,1793256060758142720
+129,2.150000000,POSE1_TO_POSE2_PRESS,784.206580141,753,730,707,698,655,930,800,834,671,654,677.206580141,0.40202805004,0.00449394023344,0.0599608349809,0.99999999024,0.000123400130814,-6.10353988979e-05,2.37972316423e-05,1793256060774809856
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.368865407,752.631134593,730,707,698,654.631134593,930,800,834,671,654,677.368865407,0.402205603927,0.00449438181629,0.0599605294525,0.999999990951,0.000119956153887,-5.68650655644e-05,2.17799547847e-05,1793256060791476224
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.941324626,752.058675374,730,707,698,654.058675374,930,800,834,671,654,677.941324626,0.402397815754,0.00449654956871,0.0599618548014,0.999999991672,0.00011764731085,-4.93748802982e-05,1.9428689649e-05,1793256060808142592
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.483043551,752.516956449,730,707,698,654.516956449,930,800,833.483043551,671,654,677.483043551,0.402629576639,0.00449368949749,0.0599635243381,0.999999992852,0.00011054258332,-4.20432479168e-05,1.75823971756e-05,1793256060824808960
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,752.904532447,730,707,698,655,930,800,833.095467553,671,654,677.095467553,0.402869504696,0.00449093196267,0.0599649830341,0.999999993895,0.000103498508464,-3.5394669278e-05,1.56477648285e-05,1793256060841475328
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,752.312941036,730,707,698,655,930,800,833.687058964,671,654,677.687058964,0.403128404069,0.00449169122351,0.0599651417677,0.999999994436,9.96159149062e-05,-3.22016691119e-05,1.29543552498e-05,1793256060858141952
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.271405546,752.271405546,730,707.271405546,698,655,930,800,834,671,654,678,0.40340231648,0.00449241288734,0.0599633029816,0.999999994824,9.54918945023e-05,-3.36751686308e-05,9.97279205637e-06,1793256060874808832
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.847615717,752.847615717,730,707.847615717,698,655,930,800,834,671,654,678,0.403693089414,0.00449309232743,0.0599592208616,0.999999995013,9.10967375738e-05,-4.03894259709e-05,6.667615319e-06,1793256060891475712
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.578481246,753,730.421518754,707.578481246,698,654.578481246,930,800,834,671,654,677.578481246,0.404008642507,0.00449380499034,0.0599491184641,0.999999994872,8.5287123666e-05,-5.4509780775e-05,3.23968200069e-06,1793256060908142592
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.005407739,753,730.994592261,707.005407739,698,654.005407739,930,800,834,671,654,677.005407739,0.404333105163,0.0044945295983,0.059936851509,0.999999994341,7.89689495911e-05,-7.12929570883e-05,-2.32387701675e-07,1793256060924808960
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,752.412952271,730.412952271,707,698,654,930,800,834,671,654,677,0.404692028208,0.00449182448977,0.0599231769877,0.999999992562,6.92944860114e-05,-0.000100296443904,-3.73158711546e-06,1793256060941475840
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,752.175653341,730.175653341,707,698,654.175653341,930,800,834,671,654,677.175653341,0.405073152836,0.00449010458682,0.0599143372283,0.999999990955,5.96553800649e-05,-0.000120332661585,-7.20179345221e-06,1793256060958142208
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,752.754986941,730.754986941,707,698,654.754986941,930,800,834,671,654,677.754986941,0.405504545864,0.00449072393528,0.0599166393644,0.999999991546,5.01710123003e-05,-0.000119493078025,-1.06047745013e-05,1793256060974808832
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.332570012,752.667429988,730.667429988,707,698,654.667429988,930,800,834.332570012,671.332570012,654,677.667429988,0.40597603666,0.00448992935391,0.059933661641,0.999999994895,4.04810776838e-05,-9.14838927219e-05,-1.41955063588e-05,1793256060991475456
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.908870235,752.091129765,730.091129765,707,698,654.091129765,930,800,834.908870235,671.908870235,654,677.091129765,0.406476913907,0.00448809854744,0.0599614718507,0.999999998421,3.06404884561e-05,-4.35629516607e-05,-1.79238352689e-05,1793256061008141824
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.517623462,752,730,707,698,654.482376538,930,800,834.517623462,671.517623462,654,677,0.407022363671,0.00448851422739,0.0599918294212,0.999999999517,2.00740995717e-05,8.36192794824e-06,-2.22042696651e-05,1793256061024808704
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,752.05711755,730,707,698,655,930,799.94288245,834,671,654,677.05711755,0.407574665188,0.00448903652858,0.0600194361263,0.999999998136,9.38055649452e-06,5.42390095862e-05,-2.64326601662e-05,1793256061041475584
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,752.648310986,730,707,698,655,930,799.351689014,834,671,654,677.648310986,0.408112751337,0.00448661027952,0.0600168470328,0.999999998905,-1.22722047808e-06,3.65342487861e-05,-2.92047548217e-05,1793256061058142208
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,753,730,707,698,654.764807251,930,799.235192749,834,671,654,678,0.408664785106,0.00448454072888,0.0600090756346,0.999999999356,-1.05555431462e-05,1.16115791614e-05,-3.22850387876e-05,1793256061074808832
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,753,730,707,698,654.184256795,930,799.815743205,834,671,654,678,0.409237299566,0.00448299495539,0.0599936945253,0.999999998911,-1.80051108087e-05,-2.39098873829e-05,-3.58178686387e-05,1793256061091475456
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.397448285,752.602551715,730,707,698,654.397448285,930,800,834.397448285,671,654,677.602551715,0.409848794654,0.00448331081898,0.0599920699651,0.99999999845,-2.53359280952e-05,-2.89810186616e-05,-4.02250554983e-05,1793256061108142336
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.979690192,752.020309808,730,707,698,654.979690192,930,800,834.979690192,671,654,677.020309808,0.410478413772,0.00448449225096,0.0599968415143,0.999999998256,-3.26115321798e-05,-1.98942624543e-05,-4.50387746499e-05,1793256061124808960
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.441337844,752,730.558662156,707,698,655,930,800,834.441337844,671,654,677,0.411193518082,0.00448096195302,0.0600054084126,0.999999997683,-4.6484605885e-05,1.15827464537e-06,-4.97101062688e-05,1793256061141475584
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.137664755,752,730.862335245,707,698,655,930,800,834.137664755,671,654,677,0.411905247622,0.00447895394082,0.0600088441876,0.999999998058,-3.73063685268e-05,1.18045841331e-05,-4.85126395182e-05,1793256061158142464
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.717144852,752,730.282855148,707,698,655,930,800,834.717144852,671,654,677,0.41259623031,0.00448237802577,0.0599953721119,0.999999998431,4.66170331865e-05,-1.23343833085e-05,-2.84966188046e-05,1793256061174809344
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.70439564,752,730,707,698,655,930,800,834.70439564,671,654,677.29560436,0.413284942366,0.00448777350463,0.0599677735593,0.99999999398,8.48694912147e-05,-6.58017780479e-05,-2.25210125201e-05,1793256061191476480
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.126909278,752,730,707,698,655,930,800,834.126909278,671,654,677.873090722,0.413971489279,0.00449504886301,0.0599267042985,0.999999985547,7.95711228565e-05,-0.000147236137163,-2.99340431531e-05,1793256061208143616
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.446793551,752,730,707,698,655,930,800,834.446793551,671,654,677.553206449,0.414775241686,0.00449148445991,0.0599469413278,0.999999991468,6.80408324085e-05,-0.000106137788466,-3.41833405639e-05,1793256061224810240
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,752,730,707,698,654.979916255,930,799.979916255,835,671,654,677,0.415613071659,0.00448487279364,0.0599844664598,0.999999997301,5.51428437188e-05,-3.09736424365e-05,-3.73824360017e-05,1793256061241476352
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,752,730,707,698,654.38803269,930,799.38803269,835,671,654,677,0.416481239687,0.00447842788932,0.0600225784068,0.999999997436,5.3279579127e-05,3.1472915936e-05,-3.60516493294e-05,1793256061258142720
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,752,730,707,698,654.19954716,930.19954716,799,835,670.80045284,654,677,0.417337508014,0.00447055340318,0.060044582214,0.999999995903,5.01995074019e-05,6.70135660014e-05,-3.4401555739e-05,1793256061274808832
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,752,730,707,698,654.778934799,930.778934799,799,835,670.221065201,654,677,0.41817112506,0.00445995769084,0.060035923976,0.999999997162,4.48032287215e-05,5.13384842316e-05,-3.21436577867e-05,1793256061291475456
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,752,730,707,698,655,930.644487393,799,835,670,654,677,0.41901072556,0.00445444594123,0.0600163244001,0.999999998676,3.52119198796e-05,1.9507354065e-05,-3.20682371757e-05,1793256061308142592
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,752,730,707,698,655,930.069643118,799,835,670,654,677,0.419854017489,0.00445207071657,0.0599899746227,0.999999998931,2.30325089839e-05,-2.22911662109e-05,-3.33392847322e-05,1793256061324809728
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.48593598,752,730,707,698,655,930.51406402,799,835,670.51406402,653.48593598,677.51406402,0.420672220605,0.00445375269673,0.0599580727722,0.999999995254,-5.77409746964e-05,-7.0023757798e-05,-3.54218122911e-05,1793256061341476096
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.09857264,752,730,707,698,655,930.90142736,799,835,670.90142736,653.09857264,677.90142736,0.421499844687,0.00445530303198,0.0599268598309,0.999999983537,-0.000131556178095,-0.000119272381228,-3.7319723939e-05,1793256061358142464
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.68101798,752,730,707,698,655,930.31898202,799,835,670.31898202,653.68101798,677.31898202,0.422390691376,0.00445346168622,0.0599027856351,0.999999976717,-0.000124797794917,-0.000171947361985,-3.77622760584e-05,1793256061374809344
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.740202373,752,730,707.259797627,698,655,930.259797627,799,835,670.259797627,654,677.259797627,0.423334442558,0.00445127842492,0.0599211490281,0.999999981573,-0.000119789634724,-0.000145034919197,-3.83302243473e-05,1793256061391476224
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.165860802,752,730,707.834139198,698,655,930.834139198,799,835,670.834139198,654,677.834139198,0.424342246745,0.00444868119708,0.0599908927431,0.999999992168,-0.000116900514476,-2.17638566693e-05,-3.90499928747e-05,1793256061408142592
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,751.591835748,730.408164252,708,698,655,930.591835748,799,835,671,654,678,0.425310281855,0.00444775936062,0.0600357021171,0.999999991953,-0.000109401495913,5.11227097585e-05,-3.88882367178e-05,1793256061424809216
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,751.017939248,730.982060752,708,698,655,930.017939248,799,835,671,654,678,0.426262168949,0.0044475178053,0.0600703870716,0.999999988899,-0.000100030660654,0.000103550995498,-3.83685436289e-05,1793256061441475840
+170,2.833333333,POSE1_TO_POSE2_PRESS,784.558335166,751.558335166,731,707.441664834,698,655,930.558335166,798.441664834,835,671,654,678,0.427192460352,0.00444557877066,0.0600532069792,0.999999990193,-9.84768536848e-05,9.06001255679e-05,-4.13149757706e-05,1793256061458142720
+171,2.850000000,POSE1_TO_POSE2_PRESS,784.860425908,752,730.860425908,707,698,655,931,798,835,671,654,677.860425908,0.428117539701,0.00444397727523,0.0600307511809,0.999999992257,-9.55401391701e-05,6.65890511887e-05,-4.38656880557e-05,1793256061474809344
+172,2.866666667,POSE1_TO_POSE2_PRESS,784.263158942,752,730.263158942,707,698,655,931,798,835,671,654,677.263158942,0.429027812646,0.00444366225467,0.0599964831411,0.999999995106,-8.72414490721e-05,1.3227090753e-05,-4.47519959729e-05,1793256061491475968
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,751.677610592,730.322389408,707.322389408,698,654.677610592,930.677610592,798,835,670.677610592,654,677.322389408,0.429914106842,0.0044435520517,0.0599625057676,0.999999994834,-7.83719624948e-05,-4.61818524645e-05,-4.53625033419e-05,1793256061508142592
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,751.101292394,730.898707606,707.898707606,698,654.101292394,930.101292394,798,835,670.101292394,654,677.898707606,0.430781514223,0.00444360317254,0.0599287573378,0.99999999048,-6.90528905152e-05,-0.000110353676008,-4.57557773435e-05,1793256061524808960
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,751,731,708,698,654.472754443,930.472754443,798,835.472754443,670,654,678,0.431761987363,0.00443931951999,0.0599635734139,0.999999995276,-7.2930603382e-05,-4.3669114612e-05,-4.7129298157e-05,1793256061541475584
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,751,730.952399131,708,698,654.952399131,930.952399131,798.047600869,835.952399131,670.047600869,654,678,0.432759008155,0.00443454351435,0.0600106422808,0.999999994691,-7.87358104336e-05,4.53615964506e-05,-4.85804560562e-05,1793256061558142208
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,751,730.362937746,708,698,654.362937746,930.362937746,798.637062254,835.362937746,670.637062254,654,678,0.433669946845,0.0044346848613,0.0600307597287,0.999999993521,-7.44492820191e-05,7.113361405e-05,-4.85359905208e-05,1793256061574808832
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.77733536,751,730,708,698,654.22266464,930.22266464,798.77733536,835,671,654,678,0.43457879287,0.00443277484594,0.0600316629237,0.999999993908,-7.24542804493e-05,6.75679037641e-05,-4.86732685214e-05,1793256061591475712
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.1979158,751,730,708,698,654.8020842,930.8020842,798.1979158,835,671,654,678,0.435484286155,0.00442757812288,0.0600017809047,0.999999995902,-7.41307792742e-05,1.69970745197e-05,-4.91017372988e-05,1793256061608142336
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,751,730,708,697.619951025,654.619951025,931,798,835.380048975,671,654,678,0.436350993691,0.00442540859204,0.0599753653337,0.999999995552,-7.37176381791e-05,-3.02601123411e-05,-5.04566656793e-05,1793256061624809216
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,751,730,708,697.042740996,654.042740996,931,798,835.957259004,671,654,678,0.437197579979,0.0044248095023,0.0599507480814,0.999999993152,-7.22204376619e-05,-7.57982512878e-05,-5.22922208698e-05,1793256061641476096
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,750.458904763,730.541095237,708,697.541095237,654.541095237,931,798,835.458904763,671,654,678,0.43798310172,0.00442496235431,0.0599280590631,0.999999989166,-6.42661930881e-05,-0.000121954125829,-5.16177963664e-05,1793256061658142464
+183,3.050000000,POSE1_TO_POSE2_PRESS,783.124480556,750,730.875519444,708,697.875519444,654.875519444,931,798,835,671,654,678,0.438788300847,0.00442385593295,0.0599169826763,0.999999986102,-5.8660274961e-05,-0.000147547098289,-5.08335067349e-05,1793256061674809088
+184,3.066666667,POSE1_TO_POSE2_PRESS,783.704278323,750,730.295721677,708,697.295721677,654.295721677,931,798,835,671,654,678,0.439683336394,0.00441792347263,0.0599478182292,0.999999991936,-6.3532642975e-05,-9.77456779833e-05,-5.03815434729e-05,1793256061691475712
+185,3.083333333,POSE1_TO_POSE2_PRESS,783.716677223,750,730.283322777,708,697.283322777,654,931,798,835,671,654,678,0.440571559837,0.00441428252342,0.0599877101531,0.999999995931,-6.6247664061e-05,-3.47278960327e-05,-5.04323312592e-05,1793256061708142336
+186,3.100000000,POSE1_TO_POSE2_PRESS,783.138417002,750,730.861582998,708,697.861582998,654,931,798,835,671,654,678,0.441452691859,0.00441302702496,0.0600370297072,0.99999999559,-6.67168984458e-05,4.20480423262e-05,-5.10064800156e-05,1793256061724809216
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,750,731,708,697.561611196,654,931,797.561611196,835,671,654,678,0.442215962255,0.00441302609272,0.0600200965227,0.999999996526,-6.30603888239e-05,1.73535003523e-05,-5.16785553838e-05,1793256061741475584
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,749.985036997,731,708,696.985036997,654,931,797.014963003,835,671,654,678,0.442940623805,0.00441340950955,0.0599821581152,0.999999996156,-5.81548229197e-05,-3.95160642387e-05,-5.23816826884e-05,1793256061758142464
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,749.399848396,731,708,696.399848396,654,931,797.600151604,835,671,654,678,0.443607424629,0.0044133943739,0.0599382848688,0.999999991492,-5.51280428665e-05,-0.000105632441241,-5.30937590875e-05,1793256061774809088
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,749,731,708,696,654,931,798,835,671,654,678,0.444279810645,0.00441629317083,0.0599036308849,0.999999984917,-4.78117605134e-05,-0.000158114281895,-5.36655436825e-05,1793256061791475712
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,749,731,708,696,654,931,798,835,671,654,678,0.444964246147,0.00442547841592,0.0598888663082,0.999999981644,-3.1241408711e-05,-0.000181181314454,-5.39346666369e-05,1793256061808142592
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,748.314655288,730.657327644,708,695.657327644,653.657327644,931,797.657327644,835,670.657327644,654,678,0.445610714754,0.00443775000014,0.0598656311361,0.999999970744,-6.31026791709e-05,-0.000227573981662,-5.23552864696e-05,1793256061824809472
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,747.16385055,730.081925275,708,695.081925275,653.081925275,931,797.081925275,835,670.081925275,654,678,0.446231397651,0.0044521177078,0.0598366430591,0.999999948606,-0.000127856863633,-0.000289808528857,-4.95204730462e-05,1793256061841475840
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,747.492823083,730.492823083,708,694.507176917,652.507176917,931,797,835,670.492823083,654,678,0.44684339614,0.00448480049574,0.0598208672065,0.999999945896,-0.000105232177271,-0.000306866313666,-5.4479878797e-05,1793256061858142464
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,747.930204813,730.930204813,708,694,652,931,797,835,671,654,678,0.447451298263,0.00451809443503,0.0598119162227,0.999999947433,-7.08402198797e-05,-0.000310539457177,-6.06750873706e-05,1793256061874808832
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,747.3356986,730.3356986,708,694,652,931,797,835,671,654,678,0.448039243377,0.00453312407629,0.0598377836691,0.999999959724,-5.70400921531e-05,-0.000269973259411,-6.64330184256e-05,1793256061891475712
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,747,730,708,693.74996067,652,931,797,835,671,654,678,0.448603984948,0.00454248219944,0.0598467384659,0.999999963459,-4.96221144813e-05,-0.000256179767186,-7.06500285959e-05,1793256061908142592
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,747,730,708,693.1755961,652,931,797,835,671,654,678,0.449138629229,0.0045444838128,0.059833755915,0.999999957675,-5.04824050626e-05,-0.000277113072065,-7.28683147113e-05,1793256061924809216
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,747.401231682,730.401231682,708,692.598768318,651.598768318,931,797,835,671,654,678,0.449620872154,0.00454092393283,0.0597999893291,0.999999941112,-5.55721253665e-05,-0.000330361937239,-7.44933733794e-05,1793256061941475840
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,747.979144179,730.979144179,708,692.020855821,651.020855821,931,797,835,671,654,678,0.450080040392,0.004534915071,0.0597570705729,0.99999991603,-6.25242585125e-05,-0.000397840834637,-7.58572065524e-05,1793256061958142464
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,747.432452522,731,708,691.432452522,651,931,797,835,671,654,678,0.450507705489,0.00453986147209,0.0597365307887,0.999999906746,-6.03243812677e-05,-0.000420181577974,-7.94707041749e-05,1793256061974808832
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,747.153860023,731,708,691,651,931,797,835,671,654,678,0.450931547108,0.00454313798335,0.0597238429446,0.99999990161,-5.958226906e-05,-0.000431779619272,-8.24447905113e-05,1793256061991475456
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,747.733303172,731,708,691,651,931,797,835,671,654,678,0.451348075352,0.00454066099951,0.059730556347,0.999999906981,-6.38201642722e-05,-0.000418337359459,-8.34172676389e-05,1793256062008142336
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.309693003,748,731,708,690.690306997,650.690306997,931,797,835,671,654,678,0.45175307005,0.00453896214419,0.0597447120954,0.999999916203,-6.54997131909e-05,-0.000395304643851,-8.38870082539e-05,1793256062024808960
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.883479058,748,731,708,690.116520942,650.116520942,931,797,835,671,654,678,0.452148229403,0.00453792684401,0.0597652143604,0.999999928084,-6.49976126449e-05,-0.000364093595017,-8.39280363911e-05,1793256062041475840
+206,3.433333333,POSE1_TO_POSE2_PRESS,783.543658648,747.543658648,731,708,690,650,931,797,835,671,653.543658648,678,0.452488878615,0.0045373145553,0.0597673791216,0.99999993309,-1.85024552198e-05,-0.000358851581546,-6.85823143151e-05,1793256062058142720
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,747.0300626,731,708,689.9699374,650,931,797,835,671,653.0300626,678,0.45281255748,0.00453718314344,0.0597644864216,0.999999932827,3.70215570613e-05,-0.000361156089411,-5.04222673132e-05,1793256062074809344
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,747.624322054,731,708,689.375677946,650,931,797,835,671,653.624322054,678,0.453078432902,0.00454405355671,0.0597543744172,0.999999925169,4.20394883051e-05,-0.000380896566551,-5.30292585164e-05,1793256062091475968
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,747.787098559,730.787098559,708,689,649.787098559,931,797,835,671,654,678,0.453329391423,0.00454777048249,0.0597422022658,0.999999916102,4.29824502788e-05,-0.000403598064246,-5.52869564147e-05,1793256062108142592
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,747.208281613,730.208281613,708,689,649.208281613,931,797,835,671,654,678,0.453554712114,0.00454606748195,0.0597264893232,0.999999904649,3.69217275977e-05,-0.000431388690976,-5.69443206886e-05,1793256062124809216
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,747,730.371679417,708,688.628320583,649.371679417,931,797,835,671,654,678,0.453768150116,0.00454437482362,0.0597169796992,0.999999897622,3.14161842101e-05,-0.00044760275721,-5.84805812574e-05,1793256062141475840
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,747,730.952283603,708,688.047716397,649.952283603,931,797,835,671,654,678,0.453974908759,0.00454268797861,0.059710957022,0.999999893293,2.6222712171e-05,-0.00045730952412,-5.99487683729e-05,1793256062158142208
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,747.534718976,731,708,688,649.465281024,931,796.465281024,835,671,654,678,0.454167359496,0.00454305994984,0.0597193255802,0.999999900925,2.31260346728e-05,-0.000440268013641,-6.14678086816e-05,1793256062174809088
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,748,731,708,687.883321787,649,931,796.116678213,835,671,654,678,0.454353490811,0.00454337890988,0.0597287272164,0.999999908673,2.06211399171e-05,-0.000422234643312,-6.28187146058e-05,1793256062191475712
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,748,731,708,687.303901019,649,931,796.696098981,835,671,654,678,0.454519640631,0.00454275649147,0.0597371153233,0.999999913836,1.97186135948e-05,-0.000409766567577,-6.34847454993e-05,1793256062208142336
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,748,730.724999507,708,687,649,931,796.724999507,835,671,654,678,0.45466362702,0.00454211311803,0.0597402463532,0.999999916042,1.86248351067e-05,-0.000404338209837,-6.38711689661e-05,1793256062224808960
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,748,730.146670777,708,687,649,931,796.146670777,835,671,654,678,0.454783166916,0.00454144663102,0.0597375787751,0.999999915113,1.73201036623e-05,-0.000406674730823,-6.39491826697e-05,1793256062241475584
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.427644637,748,730,708,687,648.572355363,931,796.427644637,835,671,653.572355363,678,0.454878904959,0.00454051709497,0.0597304664091,0.999999911432,1.53438159257e-05,-0.000415653150331,-6.42834395264e-05,1793256062258142208
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.999385639,747.999385639,730.000614361,708,687,648,931,797,835,671,653.000614361,678,0.454966530285,0.0045394998572,0.0597218430734,0.999999906702,1.31418918271e-05,-0.000426892075877,-6.4705028563e-05,1793256062274808832
+220,3.666666667,POSE1_TO_POSE2_PRESS,783.409153788,747.409153788,730.590846212,708,687,648,931,797,835,671,653.590846212,678,0.455029962222,0.00454009333568,0.0597125490215,0.999999900236,1.33855026001e-05,-0.000441673054278,-6.53806455791e-05,1793256062291475456
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,747,731,708,686.8230392,648,931,797,835,671,654,678,0.455091010094,0.0045408557348,0.059705858131,0.99999989578,1.42535205849e-05,-0.000451544601803,-6.59187424087e-05,1793256062308142080
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,747,731,708,686.246227827,648,931,797,835,671,654,678,0.455146671058,0.0045419998173,0.0597050491974,0.99999989628,1.65324136172e-05,-0.000450323076312,-6.61461063703e-05,1793256062324808960
+223,3.716666667,POSE1_TO_POSE2_PRESS,783.329422424,747,731,708,686,648,931,797,835,671,654,678,0.455191690641,0.00454333560113,0.059704294553,0.999999895788,1.85711610262e-05,-0.000451326182588,-6.62028179258e-05,1793256062341475584
+224,3.733333333,POSE1_TO_POSE2_PRESS,783.904207899,747,731,708,686,648,931,797,835,671,654,678,0.455228784232,0.0045448141696,0.0597035803448,0.999999894553,2.04310414856e-05,-0.000453986256797,-6.61324228116e-05,1793256062358142208
+225,3.750000000,POSE1_TO_POSE2_PRESS,783.508689314,747.491310686,731,708,686,648,931,796.508689314,835,671,654,678,0.455258570373,0.00454406336611,0.0597042485549,0.999999894997,2.06494607618e-05,-0.00045297639591,-6.62768276394e-05,1793256062374809088
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.079512939,748,731,708,686,648,931,796.079512939,835,671,654,678,0.455285079113,0.00454338546979,0.0597047489258,0.999999895489,2.10694884323e-05,-0.000451846143773,-6.64279567665e-05,1793256062391475968
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.659137392,748,731,708,686,648,931,796.659137392,835,671,654,678,0.455300165721,0.00454597035427,0.0597024547652,0.999999894172,2.48222835941e-05,-0.000454574899571,-6.63511933651e-05,1793256062408142336
+228,3.800000000,POSE1_TO_POSE2_PRESS,784,748,730.762525137,708.237474863,686,648.237474863,931,797,835,671,654,678,0.455311831576,0.0045470633978,0.059700162713,0.999999892863,2.62456107827e-05,-0.000457363842317,-6.63534584289e-05,1793256062424808960
+229,3.816666667,POSE1_TO_POSE2_PRESS,784,748,730.186025028,708.813974972,686,648.813974972,931,797,835,671,654,678,0.455318613873,0.00454602665053,0.059697873671,0.999999891585,2.43433291217e-05,-0.000460238709348,-6.64685465756e-05,1793256062441475584
+230,3.833333333,POSE1_TO_POSE2_PRESS,783.611127369,748,730.388872631,708.611127369,686,648.611127369,931,796.611127369,835,671,654,678,0.455323122377,0.00454556731595,0.0596961169044,0.999999890403,2.40083003359e-05,-0.000462843634426,-6.62855802332e-05,1793256062458141952
+231,3.850000000,POSE1_TO_POSE2_PRESS,783.036993144,748,730.963006856,708.036993144,686,648.036993144,931,796.036993144,835,671,654,678,0.45532654763,0.00454538306478,0.0596946137176,0.999999889265,2.44199216428e-05,-0.000465319957219,-6.59606186805e-05,1793256062474808832
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,748,730.447717403,708,686,648,931,796,835,671,654,678,0.455329638289,0.00454623155751,0.0596939108198,0.999999889255,2.60408538518e-05,-0.000465222406812,-6.6184050818e-05,1793256062491475712
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,747.860005621,730.139994379,708,685.860005621,648,931,796.139994379,835,671,654,678,0.455332289388,0.00454704981935,0.0596935535638,0.999999889333,2.72683218957e-05,-0.000464959284614,-6.63611819525e-05,1793256062508142592
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,747.280478273,730.719521727,708,685.280478273,648,931,796.719521727,835,671,654,678,0.455333632774,0.00454754985758,0.0596941084558,0.999999889451,2.6998962942e-05,-0.000464732871222,-6.6274365655e-05,1793256062524809216
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,747,730.704045472,708,685.295954528,648,931,796.704045472,835,671,654,678,0.455333924902,0.00454673104155,0.0596936439621,0.999999888946,2.63769493765e-05,-0.000465885313354,-6.60532248307e-05,1793256062541475840
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,747,730.130514982,708,685.869485018,648,931,796.130514982,835,671,654,678,0.455333231054,0.00454467527122,0.0596922233859,0.999999887851,2.5424180769e-05,-0.000468330985034,-6.5706100927e-05,1793256062558142464
+237,3.950000000,POSE1_TO_POSE2_PRESS,783.454738463,747,730.454738463,708,685.545261537,648,931,796.454738463,835,671,654,678,0.45533385285,0.0045436855045,0.059691838497,0.999999887788,2.55237789515e-05,-0.000468536740205,-6.51672760208e-05,1793256062574809088
+238,3.966666667,POSE1_TO_POSE2_PRESS,783.957485753,747.042514247,731,708,685.042514247,648,931,797,835,671,654,678,0.45533485332,0.00454313508451,0.059691773141,0.999999888013,2.59886050391e-05,-0.000468103694507,-6.46318392488e-05,1793256062591475968
+239,3.983333333,POSE1_TO_POSE2_PRESS,783.381397876,747.618602124,731,708,685.618602124,648,931,797,835,671,654,678,0.455335741818,0.00454415718452,0.0596918886769,0.999999888047,2.71461474431e-05,-0.00046793535966,-6.48477278727e-05,1793256062608142336
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648,931,796.804338692,835,671,654,678,0.455336502667,0.00454542486448,0.0596921042438,0.999999888071,2.85220817961e-05,-0.000467777847436,-6.50329676223e-05,1793256062624808960
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,748,731,708,686,648,931,796.225376751,835,671,654,678,0.455337013449,0.00454717363566,0.0596925157716,0.999999888073,3.03258460554e-05,-0.000467641536746,-6.51581661933e-05,1793256062641475584
+242,4.033333333,POSE1_TO_POSE2_PRESS,783.352965495,748,731,708,686,648,931,796.352965495,835,671,654,678,0.455336930464,0.00454668671213,0.0596920907414,0.9999998878,3.08485985824e-05,-0.00046823705433,-6.48209015208e-05,1793256062658142464
+243,4.050000000,POSE1_TO_POSE2_PRESS,783.930912722,748,731,708,686,648,931,796.930912722,835,671,654,678,0.455336469008,0.00454477474707,0.0596911324855,0.999999887352,3.05548286283e-05,-0.000469299042421,-6.41888607739e-05,1793256062674809344
+244,4.066666667,POSE1_TO_POSE2_PRESS,783.493938738,748,730.493938738,708,686,648,931,797,835,671,654,678,0.455338109129,0.00454585629305,0.0596917262406,0.999999888011,2.9521686467e-05,-0.000467916246914,-6.45084503756e-05,1793256062691475712
+245,4.083333333,POSE1_TO_POSE2_PRESS,783.083287719,748,730.083287719,708,686,648,931.083287719,797,835,671,654,678,0.455339425944,0.00454697797211,0.0596921038396,0.999999888461,2.84448469016e-05,-0.000466965159848,-6.49036056413e-05,1793256062708142336
+246,4.100000000,POSE1_TO_POSE2_PRESS,783.675533714,748,730.675533714,708,686,648,931.675533714,797,835,671,654,678,0.45533702348,0.00454586129619,0.0596898728983,0.999999886735,2.77144085643e-05,-0.000470680519814,-6.49709994934e-05,1793256062724808704
+247,4.116666667,HOLD_POSE2,783,747,731,708,685,648,931,796,835,671,654,678,0.455334481625,0.00454625501005,0.0596885522119,0.999999885814,2.64188840257e-05,-0.000472629184996,-6.5543721289e-05,1793256062762935808
+248,4.133333333,HOLD_POSE2,783,747,731,708,685,648,931,796.576401671,835,671,654,678,0.455336970195,0.00454677739869,0.0596893449911,0.999999886609,2.81612222919e-05,-0.0004708908447,-6.52004655859e-05,1793256062779602688
+249,4.150000000,HOLD_POSE2,783.155675405,747,731,708,685.155675405,648,931,796.844324595,835,671,654,678,0.455338332772,0.00454698868326,0.0596895825336,0.999999886873,2.93936514816e-05,-0.000470295022554,-6.49118277595e-05,1793256062796269568
+250,4.166666667,HOLD_POSE2,783.742911146,747,731,708,685.742911146,648,931,796.257088854,835,671,654,678,0.455336573892,0.00454633753129,0.05968828086,0.999999885674,2.92125210215e-05,-0.000472866466664,-6.47746004737e-05,1793256062812936448
+251,4.183333333,HOLD_POSE2,784,747,731,708,685.672420833,648,931,796,835,671,654,678,0.455336446747,0.00454657681464,0.0596882201587,0.999999885539,3.00860827595e-05,-0.000473083314066,-6.48814750653e-05,1793256062829602816
+252,4.200000000,HOLD_POSE2,784,747,731,708,685.089752356,648,931,796,835,671,654,678,0.45533759025,0.00454750948929,0.0596891258155,0.99999988623,3.17809443074e-05,-0.000471466612333,-6.51784343392e-05,1793256062846269184
+253,4.216666667,HOLD_POSE2,783.51286574,747.48713426,731,708,685,648,931,796,835,671,654,678,0.455338844016,0.00454854844603,0.0596901146029,0.999999886877,3.43097730457e-05,-0.000469957594374,-6.48693374378e-05,1793256062862935808
+254,4.233333333,HOLD_POSE2,783,747.937301836,731,708,685,648.062698164,931,796.062698164,835,671,654,678,0.455339873199,0.00454936015436,0.0596909062789,0.999999887377,3.62486610678e-05,-0.000468795428439,-6.45202071727e-05,1793256062879602176
+255,4.250000000,HOLD_POSE2,783,747.363936427,731,708,685,648.636063573,931,796.636063573,835,671,654,678,0.455338909664,0.00454816333633,0.0596899692257,0.999999886797,3.21457538313e-05,-0.00047029862029,-6.47438231668e-05,1793256062896268800
+256,4.266666667,HOLD_POSE2,783,747.217224173,731,708,685,648.782775827,931,797,835,671,654,678,0.455338724972,0.00454760934089,0.0596896897453,0.999999886581,3.07010051898e-05,-0.000470854402512,-6.47394263315e-05,1793256062912935680
+257,4.283333333,HOLD_POSE2,783,747.811930846,731,708,685,648.188069154,931,797,835,671,654,678,0.455339893721,0.00454817241409,0.0596905529658,0.999999887017,3.38754866906e-05,-0.000469763818294,-6.43387989261e-05,1793256062929602304
+258,4.300000000,HOLD_POSE2,783,748,730.605563072,708.394436928,685,648,931,797,835,671,654,678,0.455338762834,0.00454851403566,0.0596893403995,0.99999988623,3.42161584208e-05,-0.000471367350435,-6.46704905397e-05,1793256062946268928
+259,4.316666667,HOLD_POSE2,783,748,730.028699691,708.971300309,685,648,931,797,835,671,654,678,0.455336568369,0.00454875323626,0.0596871677851,0.999999884872,3.32461979113e-05,-0.000474216907017,-6.53408785012e-05,1793256062962935808
+260,4.333333333,HOLD_POSE2,783,747.459050449,730.540949551,708.459050449,685,648,931.540949551,797,835,671,654,678,0.455336169251,0.00454714459497,0.0596871758359,0.999999884847,3.20742377521e-05,-0.000474406620715,-6.49320529644e-05,1793256062979602944
+261,4.350000000,HOLD_POSE2,783,747.114628018,731,708,685,648,931.885371982,797,835,671,654,678,0.455336230683,0.0045457766296,0.0596873173842,0.99999988495,3.10415521673e-05,-0.000474314745303,-6.45120367014e-05,1793256062996269824
+262,4.366666667,HOLD_POSE2,783,747.706660712,731,708,685,648,931.293339288,797,835,671,654,678,0.455337818745,0.00454581396294,0.0596875394237,0.999999885302,3.06329659872e-05,-0.000473630090651,-6.4280739132e-05,1793256063012936192
+263,4.383333333,HOLD_POSE2,783,748,730.706189191,708,685,648,931,797,835,671,654,678,0.455338810586,0.00454618418552,0.0596879914254,0.999999885592,3.19811923355e-05,-0.00047293268411,-6.42529018219e-05,1793256063029602560
+264,4.400000000,HOLD_POSE2,783,748,730.123834205,708,685,648,931,797,835,671,654,678,0.455339216893,0.00454688133022,0.0596886692672,0.999999885813,3.50547399319e-05,-0.000472222754299,-6.44248777084e-05,1793256063046269440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,747,731,708,685,648,931,796,835,671,654,678,0.455340938136,0.00455108412178,0.0596902784368,0.999999886735,3.6866593021e-05,-0.000470032961928,-6.5117224032e-05,1793256063078781440
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,747.573212144,730.426787856,708,685,648,931,796.573212144,835,671,654,678,0.455339158476,0.00454873239958,0.0596890485952,0.999999885808,3.45338741697e-05,-0.000472253435144,-6.45585461125e-05,1793256063095447808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783.151435483,748,730.151435483,708,685,648,931,796.848564517,835,671,654,678,0.455338021523,0.00454678810412,0.0596881724692,0.99999988522,3.24441510834e-05,-0.000473697376028,-6.41758668242e-05,1793256063112114432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.744265261,748,730.744265261,708,685,648,931,796.255734739,835,671,654,678,0.45533875789,0.00454603134909,0.0596883273301,0.999999885643,3.10626957019e-05,-0.00047287793151,-6.43061767694e-05,1793256063128781056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784,748,730.670619554,708.329380446,685,648,931,796,835,671,654,678.329380446,0.45533772302,0.00454627441388,0.0596870392252,0.999999884974,3.11228358427e-05,-0.00047426490427,-6.44743458758e-05,1793256063145447680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784,748,730.091357026,708.908642974,685,648,931,796,835,671,654,678.908642974,0.455335344414,0.00454727598477,0.0596846564245,0.999999883468,3.22766320368e-05,-0.000477325759516,-6.46712365514e-05,1793256063162114304
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.515326383,748,730.484673617,708.515326383,685,648,931,796.484673617,835,671,654,678.515326383,0.455336066037,0.00454793825631,0.0596856460084,0.999999883969,3.41763592673e-05,-0.000476157278704,-6.45560711305e-05,1793256063178780672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,685,648,931,796.938744248,835,671,654,678,0.455336996489,0.00454842235602,0.0596869107153,0.999999884668,3.57886245343e-05,-0.000474591084446,-6.43981595962e-05,1793256063195447296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,748,731,708,685,648,931,796.352244355,835,671,654,678,0.455334740026,0.00454792345998,0.0596851200037,0.999999883878,3.3738395259e-05,-0.000476405012334,-6.4374734746e-05,1793256063212113920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,748,730.76873602,708,684.76873602,648,931,796.23126398,835,671,654,678,0.455327915339,0.00454748857697,0.0596816209768,0.999999881536,3.25080780867e-05,-0.000481371526903,-6.44390486064e-05,1793256063228780800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,748,730.189726073,708,684.189726073,648,931,796.810273927,835,671,654,678,0.455314221525,0.00454714994882,0.0596755531982,0.999999876804,3.25106427941e-05,-0.000491078508464,-6.463529301e-05,1793256063245447680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,747.612103664,730.387896336,708,684.387896336,648,931,797,835,671,654,678,0.455283180532,0.00454725962052,0.0596634636815,0.999999866429,3.35380199603e-05,-0.000511709211903,-6.45782251256e-05,1793256063262114304
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,747.035157451,730.964842549,708,684.964842549,648,931,797,835,671,654,678,0.455243685005,0.00454758778106,0.0596484393367,0.99999985277,3.50648621763e-05,-0.000537663833927,-6.43976998662e-05,1793256063278780672
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,747,731,708,685,648,931,796.460269401,835,671,654,678,0.455185597302,0.00454943539948,0.0596300811531,0.999999840322,3.73884068896e-05,-0.000560092185615,-6.52247591786e-05,1793256063295447296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783.117457138,747.117457138,731,708,685,648,931,796,835,671,654,678,0.455123307248,0.00455101667353,0.0596130505298,0.999999828202,3.92992533977e-05,-0.000581131045638,-6.58668652718e-05,1793256063312114176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.707132501,747.707132501,731,708,685,648,931,796,835,671,654,678,0.455048972713,0.00455113074668,0.0596022269028,0.999999818575,3.9343062988e-05,-0.000597503631699,-6.55025312949e-05,1793256063328780800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783.708580565,747.708580565,731,708,685,648,931,796.291419435,835,671,654,678,0.454966631964,0.00455101370512,0.059594879379,0.999999811752,4.00191160665e-05,-0.000608821571602,-6.50420762274e-05,1793256063345447424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783.129610558,747.129610558,731,708,685,648,931,796.870389442,835,671,654,678,0.454876391298,0.0045506686171,0.0595909618104,0.999999807861,4.1319019019e-05,-0.000615151969575,-6.44867761989e-05,1793256063362114048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,747.447669004,731,708,685,648,931,797,835,671,654,678,0.454771017079,0.00455145933154,0.0595900083684,0.999999807048,4.30813881905e-05,-0.000616456382164,-6.34775416329e-05,1793256063378780928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,748,730.975638882,708,685.024361118,648,931,797,835,671,654,678,0.454660067128,0.00455255839217,0.0595900906551,0.999999807224,4.50259508654e-05,-0.000616146701665,-6.23593669796e-05,1793256063395447808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,748,730.401201555,708,685.598798445,648,931,797,835,671,654,678,0.454521779383,0.00455322260809,0.0595942548291,0.999999809591,4.80724790816e-05,-0.000612124225615,-6.17377299507e-05,1793256063412114432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,748,730.178067394,708,686,648,931.178067394,797,835,671,654,678,0.454374738843,0.00455392315041,0.05959749607,0.999999810604,5.17851386444e-05,-0.00061025492664,-6.08130999628e-05,1793256063428781056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,748,730.76852595,708,686,648,931.76852595,797,835,671,654,678,0.454207427484,0.00455470782194,0.0595985998643,0.999999808509,5.70405096449e-05,-0.000613372230097,-5.91867603564e-05,1793256063445447424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783.353022091,748,731,708,685.646977909,648.353022091,931.646977909,797,835.353022091,671,654,678,0.45402036468,0.0045562915578,0.0596002590761,0.99999980739,6.25806667781e-05,-0.000614812235014,-5.75314309407e-05,1793256063462113792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.933673711,748,731,708,685.066326289,648.933673711,931.066326289,797,835.933673711,671,654,678,0.45382056608,0.00455839053243,0.0596022764225,0.99999980689,6.83044552408e-05,-0.000615170713934,-5.58574086619e-05,1793256063478780416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.491634647,748,731,708,685.508365353,648.491634647,931,797,835.491634647,671,654,678,0.453580315481,0.00456066890465,0.0595953867463,0.999999799515,7.47700879156e-05,-0.000626442341199,-5.43103455882e-05,1793256063495447040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783.082240882,748,731,708,686,648.082240882,931,797,835,671,654,678,0.45332976637,0.0045629710511,0.0595876209971,0.999999791723,8.13250821029e-05,-0.000638081374384,-5.28458777189e-05,1793256063512114176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.655832699,748,731,708,686,648.655832699,931,797,835,671,654,678,0.45304885511,0.00456527701918,0.0595814836486,0.999999787751,8.78424089486e-05,-0.000643507315163,-5.1777059737e-05,1793256063528781056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783.763066977,748,731,708,686,648.763066977,931,797,835.236933023,671,654,678,0.45276707392,0.00456795408104,0.0595837179668,0.999999792579,9.53738521764e-05,-0.000634995995491,-5.02517383401e-05,1793256063545447680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783.170702929,748,731,708,686,648.170702929,931,797,835.829297071,671,654,678,0.452483987737,0.00457118783277,0.0595985108981,0.999999810032,0.000104426604316,-0.000605576932083,-4.80416011824e-05,1793256063562114304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,748,731,708,686.409799695,648.409799695,931,797,835.590200305,671,654,678,0.452161534287,0.00457293430674,0.0596104872901,0.999999818671,0.000113194864319,-0.000589737833306,-4.53210971253e-05,1793256063578780672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,748,731,708,686.985500391,648.985500391,931,797,835.014499609,671,654,678,0.451823143621,0.00457407867948,0.0596213234499,0.999999823828,0.000121847951916,-0.00057939637175,-4.2393979063e-05,1793256063595447296
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.547579354,748,731,708,687.547579354,649,931,797,835,671,654,678,0.451442941341,0.00457659907562,0.0596280136837,0.999999829396,0.000129973310796,-0.000568133013109,-3.92454250633e-05,1793256063612113920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.882169779,748,730.882169779,708,688,649.117830221,931,797,835.117830221,671,654,678,0.451046468002,0.00457951099377,0.0596317880835,0.999999832073,0.000139185226348,-0.000561405473168,-3.61292601167e-05,1793256063628780544
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783.276638748,748,730.276638748,708,688,649.723361252,931,797,835.723361252,671,654,678,0.450587119911,0.0045838962759,0.0596239371663,0.999999823273,0.000152950846646,-0.000573550335233,-3.3170834759e-05,1793256063645447424
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,748,730.29195358,708,688.29195358,650,931,797,836,671,654,678,0.450104584509,0.00458698199586,0.0596127368382,0.999999812261,0.000164890960384,-0.000589383636519,-3.02729873712e-05,1793256063662114304
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,748,730.829475987,708,688.829475987,650,931,797,836,671,654,678,0.449602545679,0.00458897462488,0.0595987192431,0.999999799233,0.000175295600341,-0.000608319369553,-2.74260931666e-05,1793256063678781184
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,747.576594953,730.576594953,708,689.423405047,650,931,797,835.576594953,671,654,678,0.449093530371,0.00459048018109,0.0595967460764,0.999999796857,0.000185793956359,-0.000609265422126,-2.37022471108e-05,1793256063695447552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,747.041433481,730,707.958566519,690.041433481,650.041433481,931,797,835,670.958566519,654,678,0.448578283453,0.00459183266674,0.0596011005711,0.999999799798,0.00019653326211,-0.000601164073242,-1.9525240715e-05,1793256063712113920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,747.631525919,730,707.368474081,690.631525919,650.631525919,931,797,835,670.368474081,654,678,0.448023442445,0.00459415506391,0.0596151385748,0.999999807369,0.000209886598888,-0.000583944539463,-1.47432213742e-05,1793256063728780800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,748,730,707,691,651,931,797,835,670.217672386,654,678,0.447465427946,0.00459595244564,0.0596389963868,0.999999824321,0.000222297706156,-0.000549406445715,-9.73588912766e-06,1793256063745447424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,748,730,707,691,651,931,797,835,670.797258043,654,678,0.446902137071,0.00459687690965,0.0596791811147,0.999999854679,0.000233142213038,-0.000486073625822,-4.35394035272e-06,1793256063762114048
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.626064676,748.373935324,730,707,691.373935324,651.373935324,931,797,835,671,654,678,0.446286278467,0.00459663307502,0.0596996942688,0.999999864623,0.000243375022213,-0.000459913848947,1.4334060548e-06,1793256063778780672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.050952119,748.949047881,730,707,691.949047881,651.949047881,931,797,835,671,654,678,0.445642138438,0.00459576069561,0.0597096241134,0.999999864951,0.000253278737949,-0.000453753174666,7.43885624151e-06,1793256063795447296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782,749,730.524755093,707,692.524755093,652,931,797.524755093,835,671,654,678,0.444942925195,0.00459660194605,0.0596875480986,0.999999849997,0.000264147850214,-0.000479698256577,1.10558246052e-05,1793256063812113920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.103251107,749.103251107,730.896748893,707,693.103251107,652.103251107,931,797.896748893,835,670.896748893,654,678,0.444241144687,0.00459687451965,0.0596717143774,0.999999839683,0.000274306112714,-0.000495149748238,1.47056484544e-05,1793256063828780288
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.694658709,749.694658709,730.305341291,707,693.694658709,652.694658709,931,797.305341291,835,670.305341291,654,678,0.443552537351,0.0045936709178,0.0597001026315,0.99999986086,0.000280659898036,-0.000446233829493,1.96085089469e-05,1793256063845447168
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,750,730,707.280007884,694.280007884,653,931,797.280007884,835,670,654,678,0.442849506902,0.0045921408321,0.0597356870253,0.999999882041,0.000287608400977,-0.00039061430887,2.48947746488e-05,1793256063862113792
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,750,730,707.85889049,694.85889049,653,931,797.85889049,835,670,654,678,0.442131081431,0.00459239702311,0.0597789524356,0.999999902224,0.000295191693905,-0.000327839493511,3.05902798531e-05,1793256063878780416
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,750.431954625,730.431954625,708,695.431954625,653,931,798,835,670,654,678,0.441353965641,0.00459484230755,0.0597910007167,0.999999899607,0.000308991431129,-0.000322482311018,3.62758021119e-05,1793256063895447040
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783.003176626,751,730.996823374,708,696,653.003176626,931,798,835.003176626,670.003176626,654,677.996823374,0.440557843809,0.00459800274082,0.059793021312,0.999999890106,0.00032479052258,-0.000335469124898,4.19488634177e-05,1793256063912113664
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.580434351,751,730.419565649,708,696,653.580434351,931,798,835.580434351,670.580434351,654,677.419565649,0.439745790251,0.00460288507715,0.0598013096492,0.999999890376,0.000339790585407,-0.000318871118223,4.59515674168e-05,1793256063928780544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783.675513006,750.837756503,730,707.837756503,695.837756503,654,931,797.837756503,835.837756503,671,654,677.162243497,0.438921663799,0.00460711036323,0.0598119859946,0.999999892357,0.000350826656883,-0.000299628236571,4.92894402833e-05,1793256063945447168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782.487675178,750.243837589,730,707.243837589,695.243837589,654,931,797.243837589,835.243837589,671,654,677.756162411,0.438065415481,0.00460958745913,0.0598290160268,0.999999899636,0.000351315878985,-0.000273348232758,5.08584207424e-05,1793256063962113792
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.34142728,750.34142728,730,707,695.34142728,653.65857272,931,797.34142728,835,671,654,678,0.437160536389,0.00460865161815,0.0598063266855,0.999999904611,0.000302089947252,-0.000313242053761,3.7403649568e-05,1793256063978780416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782.920664437,750.920664437,730,707,695.920664437,653.079335563,931,797.920664437,835,671,654,678,0.436221785175,0.0046053386088,0.0597559721279,0.999999896404,0.000218236566297,-0.000399227060682,1.34845807194e-05,1793256063995447296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,751,730,707,696,653,931,798,835,671,654,678,0.435344524793,0.00460215268662,0.0597448152293,0.999999900436,0.000216935699392,-0.000389693738649,1.43250006811e-05,1793256064012113920
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782.92994543,751,730,707,696,653.07005457,931,798,835,671,654,678,0.434475648948,0.00460015572879,0.0597430619605,0.999999907041,0.000229368882564,-0.000364612900455,1.90929511924e-05,1793256064028780544
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782.341073304,751,730,707,696,653.658926696,931,798,835,671,654,678,0.433596596331,0.00460681476074,0.0597648807204,0.999999912669,0.000246488302851,-0.000336654641888,2.38471333696e-05,1793256064045447168
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.243838528,751.243838528,730,707,696,654,930.756161472,798,835,670.756161472,654,677.756161472,0.432691085425,0.00461139277322,0.0597831811636,0.999999917268,0.000256206165998,-0.000314767569856,2.7265360519e-05,1793256064062113792
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.823299446,751.823299446,730,707,696,654,930.176700554,798,835,670.176700554,654,677.176700554,0.431749156874,0.00461310644552,0.0597966389552,0.999999921512,0.000255736436359,-0.000301236950999,2.88447632228e-05,1793256064078780416
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,752,730,707.401663449,696.401663449,653.598336551,930.401663449,798,835,670,654,677,0.430845139051,0.00461460370828,0.0598218428378,0.99999993473,0.000250396607776,-0.000258867053266,2.87963831638e-05,1793256064095447040
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,752,730,707.979546175,696.979546175,653.020453825,930.979546175,798,835,670,654,677,0.42995775362,0.00461600602695,0.0598522000083,0.999999949326,0.00024292015073,-0.000203844680409,2.80338560522e-05,1793256064112113664
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,752,730,708,697,653.554383441,931,798.554383441,835,670,654,677,0.428956993325,0.00462002452033,0.0598120843881,0.999999925636,0.00024855561253,-0.000293275278525,3.06102572276e-05,1793256064128780288
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,752,730.132232338,707.867767662,697,654,931,799,835,670.132232338,654,677.132232338,0.427973757476,0.00462263428207,0.0597736843753,0.999999900224,0.000250621753983,-0.000368389115266,3.21030509192e-05,1793256064145446912
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,752,730.720861471,707.279138529,697,654,931,799,835,670.720861471,654,677.720861471,0.427065365315,0.00462005051267,0.059750130809,0.999999900465,0.000238707910513,-0.000375794663767,2.94329391857e-05,1793256064162113792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.304399122,752,730.695600878,707,697,654,930.695600878,799,835,670.695600878,654,678,0.426143078128,0.00461850284645,0.0597563990618,0.999999908447,0.000229461148096,-0.000360004572856,2.91526213102e-05,1793256064178780416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.883344587,752,730.116655413,707,697,654,930.116655413,799,835,670.116655413,654,678,0.425208258667,0.0046178896717,0.0597895644745,0.999999922479,0.000222619903402,-0.000323293665295,3.10277275299e-05,1793256064195447296
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.965416428,752,730,707,697,654,930.965416428,799,835,671,654,678,0.423404866034,0.00462114342264,0.0598374115962,0.99999994094,0.000215523429201,-0.000265569160358,3.38096271734e-05,1793256064228780288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.39133194,752,730,707,697,654,930.39133194,799,835,671,654,678,0.422533529477,0.00461853211922,0.059852512907,0.999999951373,0.000207569775537,-0.000230215796107,3.41905994659e-05,1793256064245446912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.18843431,752,730,707,697,654,930.18843431,799.18843431,835,671,654,678,0.421634648597,0.00461751605945,0.0598480897448,0.999999951706,0.000200305697243,-0.000235127185728,3.43606405141e-05,1793256064262113792
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.780367148,752,730,707,697,654,930.780367148,799.780367148,835,671,654,678,0.420676786291,0.00461991592949,0.0598018584025,0.999999927278,0.000194518219724,-0.000326258370556,3.40790098164e-05,1793256064278780672
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784,752,730,706.635667533,697,654,930.635667533,799.635667533,835,671,654,678,0.419742478321,0.00461771088808,0.0597586389429,0.999999905969,0.000185622557648,-0.000390504663658,3.33409782287e-05,1793256064295447552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784,752,730,706.056402568,697,654,930.056402568,799.056402568,835,671,654,678,0.418822065938,0.00461278924779,0.0597171963012,0.999999887871,0.000174893269145,-0.000438890611452,3.23336998184e-05,1793256064312113920
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784,752,730,706.518316368,697,654,930.518316368,799,834.481683632,671,654,678,0.418006417609,0.00461123828728,0.0597453551775,0.999999907924,0.000165933342259,-0.000394381716904,3.28806673586e-05,1793256064328780544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,784,752.094723022,730,707,697,654,930.905276978,799,834.094723022,671,654,678,0.417208184742,0.00460942311857,0.0597814094672,0.999999928942,0.000158548776272,-0.000340366470017,3.3600249535e-05,1793256064345447424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,752.682466421,730,707,697,654,930.317533579,799,834.682466421,671,654,678,0.416441775907,0.00460434027181,0.059819479657,0.999999945101,0.000158370320204,-0.000289028940485,3.43456167505e-05,1793256064362114304
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784,752.733541068,730,707,697,654,930,799.266458932,834.733541068,670.733541068,654,677.733541068,0.415662571216,0.00458773475302,0.0598412050947,0.999999946232,0.000192529723808,-0.000263032378075,3.58038906284e-05,1793256064378780928
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,752.153956404,730,707,697,654,930,799.846043596,834.153956404,670.153956404,654,677.153956404,0.414868329694,0.00455758851712,0.0598437232077,0.999999928024,0.000267040814182,-0.000266814925258,3.80999273418e-05,1793256064395447552
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,752,730,707,697,654,930,800,834.999668139,670.999668139,654,677,0.413307138498,0.00454255818847,0.0598437043048,0.999999931411,0.000255327195705,-0.000265607806313,3.79256799126e-05,1793256064428780800
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,752.576895331,730,706.423104669,697.576895331,654,930.576895331,800,834.423104669,670.423104669,654,677,0.41251351793,0.00454835902051,0.059798742772,0.999999906844,0.000254216215822,-0.000346799883994,3.76409593008e-05,1793256064445447424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,752.843024617,730,706,698,654,930.843024617,800,834,670.156975383,654,677.156975383,0.411753663364,0.0045510695732,0.0597611145845,0.999999884371,0.000248702504002,-0.000409909004411,3.71518446107e-05,1793256064462114048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784,752.255113976,730,706,698,654,930.255113976,800,834,670.744886024,654,677.744886024,0.411086528338,0.00454528098794,0.0597436886665,0.999999883082,0.000231075263252,-0.000423245649702,3.61013546827e-05,1793256064478780672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784,752,730,706,697.672108081,654,930,800,834,670.672108081,654,678,0.410452333616,0.00454376925558,0.0597614837639,0.999999898927,0.000219306330504,-0.000390844761024,3.59440381617e-05,1793256064495447040
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784,752,730,706,697.092862081,654,930,800,834,670.092862081,654,678,0.40984339018,0.00454553605641,0.0598062784477,0.999999924569,0.000212028236472,-0.000323382573778,3.64714068936e-05,1793256064512113664
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,752,730,706.483091337,697.483091337,654,930,800,834,670.483091337,654,678,0.409244080102,0.00454047528938,0.0598378512925,0.999999942459,0.000198169379005,-0.000272684563996,3.81353117064e-05,1793256064528780288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.059361079,752.059361079,730,706.940638921,698,654,930,800,834,671,654,678,0.408650347405,0.00453467667944,0.059863226047,0.999999955719,0.000183455214788,-0.000230930520481,3.97041149452e-05,1793256064545447168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784.643992496,752.643992496,730,706.356007504,698,654,930,800,834,671,654,678,0.408089692537,0.0045338837948,0.0598560929326,0.999999955617,0.000172290413245,-0.00023999733743,3.8511291848e-05,1793256064562114048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785,752.772621751,730,706.227378249,698,654,930,800,834,671,654,678,0.407537962618,0.00453456275445,0.0598457779251,0.999999953652,0.000163092021725,-0.000254411817378,3.70280700319e-05,1793256064578780416
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785,752.191175771,730,706.808824229,698,654,930,800,834,671,654,678,0.407000130457,0.0045375336334,0.0598305081535,0.99999994866,0.000156955675816,-0.000277153543748,3.50926466885e-05,1793256064595447040
+357,5.950000000,POSE2_TO_POSE3_RETREAT,785,752.387021034,730,707,698,654,930,800,834,670.612978966,654,677.612978966,0.406504007429,0.00453380220985,0.0598272701861,0.999999949745,0.000145504271613,-0.000279524644869,3.4697946252e-05,1793256064612113664
+358,5.966666667,POSE2_TO_POSE3_RETREAT,785,752.963626267,730,707,698,654,930,800,834,670.036373733,654,677.036373733,0.406028315781,0.00452678763002,0.059829926057,0.999999953777,0.00013144925884,-0.000271917094853,3.50579765011e-05,1793256064628780544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785,752.460650703,730,706.460650703,698,654,930,800,834,670.539349297,654,677.539349297,0.405579698342,0.00452571746881,0.0598322437379,0.999999956307,0.000125061606425,-0.000265547256954,3.5082337972e-05,1793256064645447168
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785,752.117734574,730,706,698,654,930,800,834.117734574,671,654,678,0.405139495612,0.00452528669377,0.0598303074778,0.999999956644,0.000120486952512,-0.000266390980805,3.50757877117e-05,1793256064662113536
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785,752.707020785,730,706,698,654,930,800,834.707020785,671,654,678,0.404725694303,0.00452581376051,0.0598114244935,0.999999948306,0.000121106075825,-0.000295792754632,3.50359494026e-05,1793256064678780160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785,753,730,706,698,654,930,800,834.70886006,671,654,678,0.404328582425,0.00452578539941,0.0597913024624,0.999999937981,0.000122039732877,-0.000328455193381,3.55306638539e-05,1793256064695447040
+363,6.050000000,POSE2_TO_POSE3_RETREAT,785,753,730,706,698,654,930,800,834.129849967,671,654,678,0.403947972563,0.00452520784843,0.0597699553016,0.99999992536,0.000123284391065,-0.000364341674718,3.65539275065e-05,1793256064712113664
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784.553239483,753,730,706.446760517,698,654,930,800,834,671,654,678,0.403637692867,0.00452408709965,0.0597739713236,0.999999929646,0.000122556546797,-0.00035255216135,3.73430179407e-05,1793256064728780288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784.022622779,752.977377221,730,706.977377221,698,654,930,800,834,671,654,678,0.403349370452,0.00452272437736,0.0597857790897,0.999999938596,0.00012124012078,-0.000326580381385,3.81197076197e-05,1793256064745447168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784.597155511,752.402844489,730,706.402844489,698,654,930,800,834,671,654,678,0.403100696136,0.00451928949691,0.0598087938341,0.999999949752,0.000119476242879,-0.000290865414166,4.02454485169e-05,1793256064762113792
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,752,730,706.176557319,698,654,930.176557319,800,834,671,654,678,0.402862010981,0.0045170594544,0.0598292121704,0.999999958499,0.000119007413573,-0.000258974904109,4.20864201672e-05,1793256064778780416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,752,730,706.767383704,698,654,930.767383704,800,834,671,654,678,0.402646764142,0.00451765640981,0.0598435383657,0.999999963812,0.000121577249942,-0.000236057997147,4.32592171531e-05,1793256064795447040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785,752.351052261,730,706.648947739,698,654,930.648947739,800,834,671,654.351052261,678,0.402434854443,0.0045173563979,0.0598472584567,0.999999964448,0.000122610073114,-0.000232709268467,4.37964054704e-05,1793256064812113920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,752.930072689,730,706.069927311,698,654,930.069927311,800,834,671,654.930072689,678,0.402225111811,0.00451647390871,0.0598440911012,0.999999962216,0.00012264478284,-0.000242067824215,4.39208390072e-05,1793256064828780544
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,752.920775545,730,706.079224455,698,654,930,800,834.079224455,671,654,678,0.401863241755,0.00450471187599,0.0598312455581,0.999999961441,2.40326987376e-05,-0.000276088770329,1.77721583386e-05,1793256064862113792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,752.344283817,730,706.655716183,698,654,930,800,834.655716183,671,654,678,0.401726544089,0.00450301389629,0.0598335164299,0.999999956798,0.000110063249046,-0.00027184633952,1.97240599299e-05,1793256064878780416
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,752,730,706.170736481,698,654,930,800.829263519,834.170736481,671,654,678,0.401497362992,0.00450589215973,0.0598391108785,0.999999951229,0.000168310858075,-0.000262193787382,2.16215780665e-05,1793256064912113920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,752.410869656,730,706,698,654,930,800.589130344,834,671,654,678,0.401406927634,0.00450371906434,0.0598413387644,0.999999952049,0.000166956369093,-0.000259792824534,2.31198147293e-05,1793256064928780800
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5477ccee077dd47ee73624f07d192bfa3e56ea29
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0eb8b0aa254dc0c656fb329a4a161957c2acc47a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5959d6b2b96921c6b46d5630c6cdd5ac05d55002ba5458bd045e31f309bcecef
+size 26091535
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f64568d7637808327d101fb9f7831f71cce7c2f3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+2,0.033333333,BASELINE,785,752.845991092,729.154008908,707,698,654,930,800,834,671,653.154008908,678,0.400976492927,0.00449837277966,0.0598453152347,0.999999953818,0.000162155551261,-0.000255654112251,2.66551631013e-05,1793256065668288000
+3,0.050000000,BASELINE,785,752.26883032,729.73116968,707,698,654,930,800,834,671,653.73116968,678,0.40097699915,0.00449844390466,0.059845839133,0.99999995408,0.000161702736971,-0.000254925154449,2.65678335996e-05,1793256065684954880
+4,0.066666667,BASELINE,785,752.305382768,730,706.694617232,698,654,930,800,834,670.694617232,654,678,0.400977578329,0.00449798391749,0.0598461453853,0.999999954366,0.000160763546855,-0.000254376760749,2.6735596576e-05,1793256065701621248
+5,0.083333333,BASELINE,785,752.877025764,730,706.122974236,698,654,930,800,834,670.122974236,654,678,0.400978221116,0.00449706085882,0.0598462618742,0.999999954673,0.000159400290471,-0.000253985799156,2.71257721774e-05,1793256065718287872
+6,0.100000000,BASELINE,784.531153439,752.531153439,730,706,698,654,930,800,834,670.468846561,654,678,0.400977282361,0.0044966714014,0.0598459264129,0.999999954335,0.000159929825002,-0.000254972902942,2.72159237723e-05,1793256065734954752
+7,0.116666667,BASELINE,784.063746906,752,730,706.063746906,698,654.063746906,930,800,834,671,654,678,0.400976196585,0.00449638208343,0.0598455797818,0.999999953949,0.000160570508546,-0.000256083096802,2.72162390107e-05,1793256065751621376
+8,0.133333333,BASELINE,784.63898174,752,730,706.63898174,698,654.63898174,930,800,834,671,654,678,0.400977409295,0.00449572276188,0.0598461374544,0.999999954608,0.000157940397393,-0.000255150291866,2.71555441973e-05,1793256065768288000
+9,0.150000000,BASELINE,784.785731083,752.214268917,730,707,698,655,930,800,834,671,654,678,0.400978273745,0.00449600273882,0.0598466532493,0.999999954797,0.000158025877493,-0.000254354220879,2.71654319872e-05,1793256065784954624
+10,0.166666667,BASELINE,784.210355755,752.789644245,730,707,698,655,930,800,834,671,654,678,0.400978551274,0.00449786571119,0.059847098468,0.99999995419,0.000162687931211,-0.000253788587071,2.7294272317e-05,1793256065801621248
+11,0.183333333,BASELINE,784.37530625,753,730,707,698,655,930,800.37530625,834,671,654,677.62469375,0.400977876037,0.00449826388686,0.0598467098043,0.999999953859,0.000163686830376,-0.000254465743599,2.71373746278e-05,1793256065818287872
+12,0.200000000,BASELINE,784.96689638,753,730,707,698,655,930,800.96689638,834,671,654,677.03310362,0.400976651734,0.00449781792031,0.0598458405858,0.999999953693,0.000162574703907,-0.000255859103217,2.68158100224e-05,1793256065834954240
+13,0.216666667,BASELINE,785,753,730,706.456277849,698,655,930,800.456277849,834,671,654,677.543722151,0.400976367001,0.00449768053517,0.0598466901324,0.999999954066,0.000161610630343,-0.000255007194933,2.68561093741e-05,1793256065851621120
+14,0.233333333,BASELINE,785,752.880352437,730,706,698,654.880352437,930,800,834.119647563,671,654,678,0.400976369259,0.00449743227287,0.0598473792881,0.999999954399,0.000160789822868,-0.000254214534488,2.69047253706e-05,1793256065868288000
+15,0.250000000,BASELINE,785,752.30452301,730,706,698,654.30452301,930,800,834.69547699,671,654,678,0.400977253398,0.00449669153011,0.0598470684891,0.999999954463,0.000160481788575,-0.000254155185912,2.69032712754e-05,1793256065884954624
+16,0.266666667,BASELINE,784.730921974,752.269078026,730,706,698,654,930,800.269078026,834.730921974,671,654,678,0.400977369699,0.00449665115458,0.0598467953768,0.999999954466,0.000160097099718,-0.000254391228568,2.68589656789e-05,1793256065901621248
+17,0.283333333,BASELINE,784.15982219,752.84017781,730,706,698,654,930,800.84017781,834.15982219,671,654,678,0.400976624154,0.00449739689359,0.0598465645654,0.999999954399,0.000159626371353,-0.000254958827767,2.67665621908e-05,1793256065918287872
+18,0.300000000,BASELINE,784.430752278,752.569247722,730,706,698,654,930,800.569247722,834,671,654,678,0.400975590784,0.00449760069361,0.0598456976401,0.999999953983,0.000160005670043,-0.000256343812982,2.68330918194e-05,1793256065934954752
+19,0.316666667,BASELINE,785.027892546,752,730,706.027892546,698,654,930,800,834,671,654,678,0.400974590795,0.00449754866918,0.0598446843985,0.99999995349,0.000160681952412,-0.000257827700554,2.69575162828e-05,1793256065951621376
+20,0.333333333,BASELINE,785.605291886,752,730,706.605291886,698,654,930,800,834,671,654,678,0.400976451948,0.00449660562797,0.0598456585201,0.99999995421,0.000160701482733,-0.000255002357821,2.70057681695e-05,1793256065968288000
+21,0.350000000,BASELINE,785.637060979,752,730,707,698,654,930,800,834,671,654,677.81853049,0.400977542204,0.00449610910432,0.0598463941637,0.99999995474,0.00016011709019,-0.000253297248493,2.6898377871e-05,1793256065984954624
+22,0.366666667,BASELINE,784.48998496,752,730,707,698,654,930,800,834,671,654,677.24499248,0.400976966919,0.00449657729093,0.0598466145706,0.999999954871,0.000158227910244,-0.000254012426168,2.64547195187e-05,1793256066001621504
+23,0.383333333,BASELINE,784,752,730,706.661603562,698,654,930,800,834,671,654,677.338396438,0.400977599151,0.00449616347543,0.0598472921109,0.999999955068,0.00015773931566,-0.000253527821146,2.65517836484e-05,1793256066018288384
+24,0.400000000,BASELINE,784,752,730,706.070868879,698,654,930,800,834,671,654,677.929131121,0.400979131813,0.00449509196138,0.0598483105302,0.999999955316,0.00015829512092,-0.000252148552344,2.70520581309e-05,1793256066034955008
+25,0.416666667,BASELINE,784,752,730,706,698,654,930,800,834,671,654,678,0.400977499328,0.00449563107487,0.0598467963922,0.999999954402,0.000160508491323,-0.000254336605853,2.73048182382e-05,1793256066051621376
+26,0.433333333,BASELINE,784.082878107,752,730,706,698,654.082878107,930,800.082878107,834,671,654,677.917121893,0.400975870209,0.00449624539033,0.0598453154192,0.99999995355,0.000162367381009,-0.000256480962986,2.74580595445e-05,1793256066068288000
+27,0.450000000,BASELINE,784.661461706,752,730,706,698,654.661461706,930,800.661461706,834,671,654,677.338538294,0.400976841948,0.00449599626181,0.0598460977503,0.99999995408,0.000160754564571,-0.000255455323122,2.72178779149e-05,1793256066084954624
+28,0.466666667,BASELINE,784.762141851,752,730,706,698,654.762141851,930,800.762141851,834,671,654,677.237858149,0.400977405089,0.00449583440587,0.059846790417,0.99999995449,0.000159921689982,-0.000254378512558,2.71539702096e-05,1793256066101621248
+29,0.483333333,BASELINE,784.188830009,752,730,706,698,654.188830009,930,800.188830009,834,671,654,677.811169991,0.40097739198,0.00449579563132,0.0598473566291,0.999999954733,0.000160188775173,-0.000253229535515,2.73386633721e-05,1793256066118287872
+30,0.500000000,BASELINE,784,752,729.605339421,706,698,654.394660579,930,800.394660579,834,671,654,678,0.400975702449,0.00449672961245,0.0598465850093,0.999999954217,0.000160888141813,-0.000254862529721,2.6942695843e-05,1793256066134954496
+31,0.516666667,BASELINE,784,752,729.016849776,706,698,654.983150224,930,800.983150224,834,671,654,678,0.400973189579,0.00449814134164,0.0598451563421,0.999999953319,0.000161799814189,-0.000257861829369,2.62615492843e-05,1793256066151621120
+32,0.533333333,BASELINE,784,752,729.565547392,706,698,654.434452608,930,801,834.565547392,671,654,677.434452608,0.400976168005,0.00449700825282,0.0598470645369,0.999999954179,0.000161602143255,-0.000254553217122,2.6989073907e-05,1793256066168288000
+33,0.550000000,BASELINE,784,752,730,706.144663693,698,654.144663693,930,800.855336307,834.855336307,671,654,677.144663693,0.400978176111,0.00449623151727,0.0598484116314,0.99999995479,0.000161310134847,-0.000252281855486,2.74509421264e-05,1793256066184954624
+34,0.566666667,BASELINE,784,752,730,706.71466162,698,654.71466162,930,800.28533838,834.28533838,671,654,677.71466162,0.400976855415,0.00449672306315,0.059847819813,0.999999954543,0.000160836900271,-0.000253606849569,2.70096560666e-05,1793256066201621248
+35,0.583333333,BASELINE,784.296376363,752,730,706.703623637,698,654.703623637,930,800,834,671,654,678,0.400976198426,0.00449711832342,0.0598472213824,0.999999954293,0.00016087661424,-0.000254584611595,2.6812831488e-05,1793256066218287872
+36,0.600000000,BASELINE,784.889835936,752,730,706.110164064,698,654.110164064,930,800,834,671,654,678,0.400976206727,0.0044974170685,0.0598466163236,0.999999954042,0.00016143050006,-0.00025521431359,2.68610513685e-05,1793256066234954752
+37,0.616666667,BASELINE,785,752.468937241,730,706.468937241,698,654.468937241,930,800,834,671,654,678,0.400976422071,0.00449603867634,0.0598463453243,0.999999954524,0.000159359289951,-0.000254620001083,2.6944178005e-05,1793256066251621376
+38,0.633333333,BASELINE,785,752.955130675,730,706.955130675,698.044869325,654.955130675,930,800,834,671,654,678,0.400976660201,0.00449462179189,0.0598461995377,0.999999955053,0.000157245096814,-0.000253849369218,2.70075665204e-05,1793256066268287744
+39,0.650000000,BASELINE,785,752.377968504,730,706.377968504,698.622031496,654.377968504,930,800,834,671,654,678,0.400976608775,0.00449728346964,0.0598466358299,0.999999954232,0.000161719598636,-0.000254296928353,2.67424056776e-05,1793256066284954368
+40,0.666666667,BASELINE,784.801342558,752.198657442,730,706,698.801342558,654,930,800,834,671,654,678,0.400976505585,0.00449910063638,0.0598468435656,0.999999953852,0.000163433405881,-0.000254730037185,2.64403830029e-05,1793256066301620992
+41,0.683333333,BASELINE,784.225734132,752.774265868,730,706,698.225734132,654,930,800,834,671,654,678,0.400976304174,0.00449931534974,0.0598466176172,0.999999954328,0.0001599088159,-0.000255135726654,2.6068415299e-05,1793256066318287872
+42,0.700000000,BASELINE,784,752.639988085,730,706,698,654,930,800,834,671,654,678,0.400976405054,0.00449806967122,0.0598466757411,0.999999954627,0.000158370659747,-0.000254897050056,2.63183877015e-05,1793256066334954752
+43,0.716666667,BASELINE,784,752.047701406,730,706,698,654,930,800,834,671,654,678,0.400976700966,0.00449588176783,0.0598469171447,0.999999954817,0.000158114123673,-0.000254242637269,2.696962737e-05,1793256066351621376
+44,0.733333333,BASELINE,784,752,730,706,698,654,930,800,834,671,654,678,0.400977642142,0.00449535582241,0.0598475629877,0.999999954972,0.000158832044955,-0.000253182875498,2.6949752447e-05,1793256066368287744
+45,0.750000000,BASELINE,784,752.107503863,729.892496137,706,698,654.107503863,930,800.107503863,834,671,654,678,0.40097843549,0.00449519998033,0.0598481340273,0.999999955118,0.000159325421353,-0.000252304913235,2.68476642112e-05,1793256066384954368
+46,0.766666667,BASELINE,784,752.682057664,729.317942336,706,698,654.682057664,930,800.682057664,834,671,654,678,0.400978341046,0.00449601960265,0.0598482261772,0.999999955243,0.000158472439916,-0.000252371031242,2.66437891435e-05,1793256066401620992
+47,0.783333333,BASELINE,784.263339828,753,729.263339828,706,698,654.736660172,930,800.736660172,834,671,654,678,0.400978317974,0.00449633597046,0.0598483832229,0.99999995538,0.000157942503241,-0.000252165518621,2.65967202661e-05,1793256066418287872
+48,0.800000000,BASELINE,784.852958532,753,729.852958532,706,698,654.147041468,930,800.147041468,834,671,654,678,0.400978383332,0.00449602880445,0.0598486206745,0.999999955533,0.000157812819926,-0.000251623454807,2.67439347247e-05,1793256066434955264
+49,0.816666667,BASELINE,785,752.565286011,730,706,698,654,930,800.434713989,834,671,654,678,0.400978224674,0.0044954731603,0.0598481707461,0.999999955568,0.000157958448185,-0.000251360862257,2.70321961294e-05,1793256066451621632
+50,0.833333333,BASELINE,785,752,730,706,698,654.013824917,930,800.986175083,834,671,654,678,0.400978002615,0.00449488080706,0.0598475266352,0.999999955563,0.000158206414229,-0.000251191645542,2.7347412242e-05,1793256066468288256
+51,0.850000000,BASELINE,785,752,730,706,698,654.591629785,930,800.408370215,834,671,654,678,0.400978230369,0.00449615867665,0.0598482773684,0.999999955504,0.000158897755848,-0.000251043827185,2.68505501475e-05,1793256066484954624
+52,0.866666667,BASELINE,785,752,730,706,698,654.831651951,930,800,834,671,654,678,0.400978278913,0.00449700941035,0.0598485472158,0.999999955449,0.00015923489138,-0.000251086028107,2.64929992403e-05,1793256066501621504
+53,0.883333333,BASELINE,785,752,730,706,698,654.257552647,930,800,834,671,654,678,0.40097789553,0.00449683066414,0.0598476580353,0.999999955406,0.000158718321911,-0.000251586212137,2.64712151844e-05,1793256066518288640
+54,0.900000000,BASELINE,785,752,730,706,698,654,930,800,834,671,654,678,0.400977299017,0.00449724888054,0.0598473102431,0.999999955083,0.000159500220299,-0.000252361665925,2.6608278882e-05,1793256066534955264
+55,0.916666667,BASELINE,785,752,730,706,698,654,930,800,834,671,654,678,0.400976529095,0.00449815280507,0.0598474029421,0.999999954528,0.000161338594239,-0.000253361088087,2.68745862608e-05,1793256066551622144
+56,0.933333333,BASELINE,785,752,730,706,698,654.494708884,930,800,834,671,654,678,0.400976553345,0.00449652706071,0.0598469099708,0.999999954737,0.000159335670056,-0.000253815420313,2.67625338708e-05,1793256066568288256
+57,0.950000000,BASELINE,784.927006335,752.072993665,730,706,698,654.927006335,930,800,834.072993665,671,654,678,0.400976687834,0.00449485035265,0.0598464268117,0.99999995501,0.000157118615033,-0.000254135603795,2.66152271211e-05,1793256066584954880
+58,0.966666667,BASELINE,784.355544764,752.644455236,730,706,698,654.355544764,930,800,834.644455236,671,654,678,0.400976647967,0.00449577892226,0.0598466944101,0.999999954872,0.000157923865779,-0.000254176070321,2.66688936089e-05,1793256066601621760
+59,0.983333333,BASELINE,784.219369163,753,730,706,698,654.219369163,930,800,834.780630837,671,654,677.780630837,0.400976347636,0.00449627068924,0.0598467562655,0.999999954741,0.0001581789904,-0.000254534108449,2.66373731582e-05,1793256066618288384
+60,1.000000000,BASELINE,784.79996809,753,730,706,698,654.79996809,930,800,834.20003191,671,654,677.20003191,0.400975618402,0.0044960431843,0.0598464793289,0.999999954624,0.000157528236095,-0.000255415083875,2.64655774954e-05,1793256066634955008
+61,1.016666667,BASELINE,785,753,730,706,698,654.613618823,930,800,834,671,653.613618823,677.386381177,0.400976051774,0.00449589363293,0.0598464964104,0.999999954917,0.00015679671773,-0.000254714917254,2.64623226937e-05,1793256066651621632
+62,1.033333333,BASELINE,785,753,730,706,698,654.024149759,930,800,834,671,653.024149759,677.975850241,0.400977096229,0.00449578505518,0.0598466680323,0.999999955425,0.000156022748574,-0.000253183678014,2.65476555699e-05,1793256066668288256
+63,1.050000000,BASELINE,785,752.444318888,730,706.555681112,698,654,930,800,834,671,653.555681112,678,0.400976719299,0.00449673340052,0.0598466976417,0.999999954784,0.000159036032521,-0.000253857356799,2.63875570937e-05,1793256066684955136
+64,1.066666667,BASELINE,785,752,730,706.866086814,698,654,930,800.133913186,834,671,654,677.866086814,0.400976536794,0.00449732617628,0.0598468153178,0.99999995435,0.000161247440964,-0.000254174965647,2.63665808112e-05,1793256066701621760
+65,1.083333333,BASELINE,785,752,730,706.291758795,698,654,930,800.708241205,834,671,654,677.291758795,0.40097719341,0.00449660106044,0.0598472425808,0.999999954786,0.000160289548149,-0.000253011751003,2.68376324145e-05,1793256066718288384
+66,1.100000000,BASELINE,785,752,730,706,698,654,930,800.717990176,834,671,654,677.282009824,0.400977020188,0.00449659451468,0.0598472069161,0.999999954775,0.000160167929997,-0.000253110246473,2.70370750978e-05,1793256066734955008
+67,1.116666667,BASELINE,785,752,730,706,698,654,930,800.144799184,834,671,654,677.855200816,0.400975990141,0.00449732990792,0.0598466932686,0.999999954303,0.000160909783357,-0.000254511484656,2.69560757411e-05,1793256066751621632
+68,1.133333333,BASELINE,785,752.443893884,730,706,698,654,930,800.443893884,834,671,654,678,0.400976657358,0.00449698871785,0.0598472356151,0.999999954704,0.000159867032163,-0.00025360585438,2.68051910036e-05,1793256066768288256
+69,1.150000000,BASELINE,785,752.963281687,730,706.036718313,698,654.036718313,930,800.963281687,834,671,654,678,0.400977764968,0.00449636641522,0.0598480345406,0.999999955325,0.000158419623147,-0.000252076975212,2.6654599324e-05,1793256066784954880
+70,1.166666667,BASELINE,785,752.386753585,730,706.613246415,698,654.613246415,930,800.386753585,834,671,654,678,0.400976912979,0.00449696108652,0.059847358127,0.999999954891,0.000159891174423,-0.000252848679511,2.68555878548e-05,1793256066801621504
+71,1.183333333,BASELINE,785,752,730,707,698.189199816,654.810800184,930,800,834,671,654,678,0.40097637562,0.00449717461668,0.0598471167223,0.999999954685,0.000160783525246,-0.000253087087225,2.69502281595e-05,1793256066818287872
+72,1.200000000,BASELINE,785,752,730,707,698.763982099,654.236017901,930,800,834,671,654,678,0.400976479466,0.00449661139496,0.0598477618502,0.999999954949,0.000160495486498,-0.000252238655687,2.68281346144e-05,1793256066834954496
+73,1.216666667,BASELINE,785,752.348084316,730,706.651915684,698.651915684,654,930,800,834,671,654,678,0.400976804922,0.00449643912981,0.0598477963202,0.999999955023,0.000160579938664,-0.000251882597017,2.69096380254e-05,1793256066851621632
+74,1.233333333,BASELINE,785,752.938679717,730,706.061320283,698.061320283,654,930,800,834,671,654,678,0.400977284774,0.00449653924498,0.0598474053436,0.999999954965,0.000160923906062,-0.000251869575623,2.7132987877e-05,1793256066868288512
+75,1.250000000,BASELINE,785,752.48491127,729.48491127,706,698,654,930,800,834,671,654,678,0.400978519529,0.00449669517024,0.0598479144627,0.999999955143,0.000160752967928,-0.000251309742195,2.67439200095e-05,1793256066884954880
+76,1.266666667,BASELINE,785,752,729.090574317,706,698,654,930,800,834,671,654,678,0.40097937616,0.00449655259867,0.059848401803,0.99999995537,0.000160132582597,-0.000250836841749,2.64156732274e-05,1793256066901621504
+77,1.283333333,BASELINE,785,752,729.669946388,706,698,654,930,800,834,671,654,678,0.400977720197,0.00449476424986,0.0598482088356,0.999999955708,0.000157408628297,-0.000251174976861,2.67985645738e-05,1793256066918287872
+78,1.300000000,BASELINE,785,752.246898327,730,706.246898327,698,654.246898327,930,800,834,671,654,677.753101673,0.400976920249,0.00449448879813,0.0598479258041,0.999999955671,0.000156726157811,-0.000251733658608,2.69355792141e-05,1793256066934954496
+79,1.316666667,BASELINE,785,752.820646393,730,706.820646393,698,654.820646393,930,800,834,671,654,677.179353607,0.400977253512,0.00449621615485,0.0598475235437,0.999999955143,0.000158746251232,-0.000252584305087,2.67470965297e-05,1793256066951621376
+80,1.333333333,BASELINE,785,752.592456422,730,707,698,655,930,800,834,671,654,677.407543578,0.400976798194,0.00449707932242,0.0598473390621,0.999999954989,0.000159160247085,-0.000252956231305,2.6510116213e-05,1793256066968288256
+81,1.350000000,BASELINE,785,752,730,706.999589494,698,654.999589494,930,800,834,671,654,678,0.400975986615,0.00449754882178,0.0598472545239,0.999999955008,0.000158844638533,-0.000253108832686,2.62514496316e-05,1793256066984954880
+82,1.366666667,BASELINE,785,752,730,706.420759863,698,654.420759863,930,800,834,671,654,678,0.400978489305,0.00449707107731,0.0598484481434,0.999999955414,0.000159627513777,-0.000250973853665,2.65118610412e-05,1793256067001622016
+83,1.383333333,BASELINE,785,752.15037493,730,706.15037493,698,654,930,800,834,671,654,678,0.400980102867,0.00449682208662,0.0598492868858,0.999999955742,0.000159930128053,-0.000249454914159,2.66727182403e-05,1793256067018288896
+84,1.400000000,BASELINE,785,752.70102725,730,706.70102725,698,654,930,800,834,671,654,678,0.400979349697,0.00449718200693,0.0598491809946,0.99999995587,0.00015895435383,-0.000249575786681,2.65685758753e-05,1793256067034955008
+85,1.416666667,BASELINE,785,752.719178067,730,706.719178067,698,654,930,800,834,671,654,678,0.400978419743,0.00449766205711,0.0598485391009,0.999999955491,0.00015963199195,-0.000250667038594,2.65075523788e-05,1793256067051621888
+86,1.433333333,BASELINE,785,752.104764907,730,706.104764907,698,654,930,800,834,671,654,678,0.400977279787,0.00449828481075,0.0598472604843,0.999999954501,0.000162273735448,-0.000252911014035,2.64977502304e-05,1793256067068289280
+87,1.450000000,BASELINE,785,752,730,706,698,654,930,800,834,671,654,678,0.400977929892,0.00449712000093,0.0598475212531,0.999999954952,0.000160735405742,-0.00025210157306,2.65578364293e-05,1793256067084956672
+88,1.466666667,BASELINE,785,752.066346511,730,706,698,654,930,800,834,671,654,678,0.400978761132,0.00449571841256,0.0598480170282,0.999999955615,0.000158446902767,-0.000250908208812,2.66396293511e-05,1793256067101623808
+89,1.483333333,BASELINE,785,752.639297387,730,706,698,654,930,800,834,671,654,678,0.40097816574,0.00449531465165,0.0598478909908,0.999999955673,0.000156991426314,-0.000251576029414,2.67774705043e-05,1793256067118290176
+90,1.500000000,BASELINE,784.786221982,753,730,706,698,654,930,800.213778018,834,671,654,678,0.400978086639,0.00449538989551,0.0598479970378,0.999999955678,0.000156865415724,-0.000251635665094,2.67792895635e-05,1793256067134956288
+91,1.516666667,BASELINE,784.209141686,753,730,706,698,654,930,800.790858314,834,671,654,678,0.400978884941,0.00449627917786,0.0598484974977,0.999999955592,0.000158998748791,-0.000250661728734,2.65499476262e-05,1793256067151622912
+92,1.533333333,BASELINE,784,752.623352902,730,706,698,654,930,800.623352902,834,671,654,678,0.400978924189,0.00449657902533,0.0598485542783,0.99999995577,0.00015886510977,-0.000250049983403,2.63963602186e-05,1793256067168289280
+93,1.550000000,BASELINE,784,752.032614031,730,706,698,654,930,800.032614031,834,671,654,678,0.400978531978,0.00449654382938,0.0598483588652,0.999999956099,0.000157442890535,-0.00024964411271,2.62858327826e-05,1793256067184955392
+94,1.566666667,BASELINE,784.545797811,752.545797811,730,706,698,654.545797811,930,800.545797811,834,671,654,678,0.400979032581,0.00449618865134,0.0598488700558,0.999999956351,0.000155664712597,-0.000249738724911,2.64150778731e-05,1793256067201622272
+95,1.583333333,BASELINE,785,753,730,706,698,654.877360149,930,800.877360149,834,671,654,678,0.400979191014,0.00449581442337,0.0598491228943,0.999999956453,0.000154561707339,-0.000250000432575,2.65447462132e-05,1793256067218289408
+96,1.600000000,BASELINE,785,753,730,706,698,654.30364236,930,800.30364236,834,671,654,678,0.400977899034,0.00449543890138,0.0598482736269,0.999999956032,0.000156018539348,-0.000250769161248,2.66244374932e-05,1793256067234955520
+97,1.616666667,BASELINE,785,753,730,706.271383231,698,654.271383231,930,800,834,671,654,678,0.400978405029,0.00449529162566,0.0598486738389,0.999999956091,0.000156894736818,-0.000249982763293,2.66573539239e-05,1793256067251621888
+98,1.633333333,BASELINE,785,753,730,706.847879133,698,654.847879133,930,800,834,671,654,678,0.400980932466,0.00449540096429,0.0598504788243,0.999999956687,0.000157118134269,-0.000247447956458,2.66376819893e-05,1793256067268288512
+99,1.650000000,BASELINE,785,753,730,706.563655882,698,655,930,800.436344118,834,671,654,678,0.40097983698,0.00449630051307,0.0598500313812,0.999999956186,0.000159246573737,-0.000248109627335,2.66436409799e-05,1793256067284955136
+100,1.666666667,BASELINE,785,753,730,706,698,654.971678518,930,800.971678518,834,671,654,678,0.400977495653,0.00449742611552,0.0598487842015,0.999999955314,0.000161832885769,-0.000249946337545,2.66393533134e-05,1793256067301621760
+101,1.683333333,BASELINE,785,753,730,706,698,654.394771582,930,800.394771582,834,671,654,678,0.400976177558,0.00449744368171,0.0598476855066,0.999999955005,0.000160060844338,-0.000252349319146,2.62586247448e-05,1793256067318288384
+102,1.700000000,BASELINE,785,752.818736374,730,706,698,654,930,800,834,670.818736374,654,678,0.400975528056,0.0044975565769,0.0598471543648,0.999999954792,0.000159039706191,-0.000253854188754,2.60671653973e-05,1793256067334955008
+103,1.716666667,BASELINE,785,752.244590678,730,706,698,654,930,800,834,670.244590678,654,678,0.400976327705,0.00449787609412,0.0598478533729,0.999999954802,0.000159646122813,-0.000253412434194,2.62859399952e-05,1793256067351621888
+104,1.733333333,BASELINE,785,752.338517118,730,706.338517118,698,654,930,800,834,670.338517118,654,678,0.400977812985,0.00449705993764,0.0598482992801,0.9999999552,0.000159281284256,-0.000252046930021,2.64803534285e-05,1793256067368289024
+105,1.750000000,BASELINE,785,752.928276508,730,706.928276508,698,654,930,800,834,670.928276508,654,678,0.40097980713,0.0044954009014,0.0598485573396,0.999999955883,0.000158195594895,-0.000249995832842,2.66566863979e-05,1793256067384955648
+106,1.766666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,655,930,800,834,671,654,678,0.400979362561,0.00449538296088,0.0598503590225,0.99999995629,0.000158456004091,-0.000248168813249,2.6913682966e-05,1793256067416906752
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,752.597543301,730,706,698.597543301,655,930,800,834,671,654,678,0.400976712837,0.00449755288753,0.059847953889,0.999999955028,0.000160587679751,-0.000251917877944,2.63156218063e-05,1793256067433573376
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,753,730,706,698.807900611,655,930,800.192099389,834,671,654,678,0.400975389749,0.00449883100311,0.0598466642777,0.999999954328,0.000161908548339,-0.000253876064712,2.59996078834e-05,1793256067450240256
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,753,730,706,698.219506931,655,930,800.780493069,834,671,654,678,0.400976803462,0.00449826934415,0.0598476759493,0.999999954818,0.000161556750805,-0.000252139733916,2.62654473947e-05,1793256067466906624
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,753,730,706.363101789,698,654.636898211,930,800.636898211,834,671,654,678,0.400977262242,0.0044974408108,0.0598479396439,0.999999955184,0.000160026858818,-0.000251632057731,2.65560705032e-05,1793256067483573248
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,753,730,706.942268119,698,654.057731881,930,800.057731881,834,671,654,678,0.400977152786,0.00449645347327,0.059847758253,0.999999955474,0.000157795939081,-0.000251855495355,2.68614411311e-05,1793256067500239872
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,752.47946405,730,706.47946405,698,654,930,800,834,671,654,678,0.400978049846,0.00449647006198,0.059848698253,0.999999955735,0.000158029530341,-0.000250692039612,2.66587720152e-05,1793256067516906752
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,800,834,671,654,678,0.400978570462,0.00449684378105,0.059849375444,0.999999955834,0.000158672549057,-0.000249912962205,2.64186347002e-05,1793256067533573632
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,800,834,671,654,678,0.400976721144,0.00449841235902,0.0598481729149,0.99999995517,0.000159978934108,-0.000251746930612,2.62697259249e-05,1793256067550240256
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.251742172,930,800.251742172,834,671,654,677.748257828,0.400978563081,0.00449853267134,0.0598490928999,0.999999955459,0.000160372141367,-0.000250343331191,2.62943856646e-05,1793256067566906880
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.841076371,930,800.841076371,834,671,654,677.158923629,0.400985355074,0.00449671082608,0.0598528592251,0.999999957007,0.00015954075615,-0.000244598078899,2.65518047757e-05,1793256067583573504
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.57711019,930,801,834,671,654,677.42288981,0.401003461247,0.00449657527742,0.0598605795637,0.999999960142,0.00015867995834,-0.000232003619652,2.66539944237e-05,1793256067600239872
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,801,834.001908733,671,654,678,0.401025837933,0.00449705576197,0.0598697899421,0.999999963687,0.000157808650615,-0.000216817980037,2.67003165426e-05,1793256067616906752
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,801,834.575649867,671,654,678,0.401076045049,0.00449555585045,0.0598880088678,0.999999970555,0.000157042321573,-0.000182999047186,2.71807338977e-05,1793256067633573376
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.149250958,930,801,834.850749042,671,654,678,0.401130624787,0.00449465115303,0.0599056960609,0.999999975624,0.000156553469438,-0.000153230405364,2.76137164637e-05,1793256067650240000
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.722454389,930,801,834.277545611,671,654,678,0.401197625116,0.00449543718136,0.0599218728533,0.999999978201,0.000156852800221,-0.000134966746963,2.79119590639e-05,1793256067666906880
+122,2.033333333,POSE1_TO_POSE2_PRESS,784.693044431,752,729.693044431,706,698,654.693044431,930,800.693044431,834,671,654,677.693044431,0.401274380312,0.00449461630952,0.0599344322048,0.999999980787,0.000155339945406,-0.000116263922272,2.79074709673e-05,1793256067683573760
+123,2.050000000,POSE1_TO_POSE2_PRESS,784.097937644,752,729.097937644,706,698,654.097937644,930,800.097937644,834,671,654,677.097937644,0.40136029278,0.00449228697748,0.0599435957218,0.999999983329,0.000152125920953,-9.71488360709e-05,2.76187976872e-05,1793256067700240384
+124,2.066666667,POSE1_TO_POSE2_PRESS,784.483053216,752.483053216,729.483053216,706,698,654,930,800,834,671,654,677.483053216,0.401460831421,0.00449255534697,0.0599496275225,0.999999984401,0.000150307346951,-8.88004594922e-05,2.68530746125e-05,1793256067716906752
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,752.939173491,730,706,698,654.060826509,930,800.060826509,834,671,654,678,0.401567011719,0.00449319331111,0.0599550483835,0.99999998525,0.000148755835372,-8.18341740688e-05,2.59969750969e-05,1793256067733573376
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,752.365086467,730,706,698,654.634913533,930,800.634913533,834,671,654,678,0.401696484896,0.00449263198309,0.0599605196944,0.999999986503,0.000147138268637,-6.86333993553e-05,2.51712348432e-05,1793256067750240000
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,752,729.791741829,706,698,654.791741829,930,800.791741829,834,670.791741829,654,678,0.401833184085,0.004493128224,0.0599635863779,0.99999998736,0.000145373124412,-5.98189428962e-05,2.38401076422e-05,1793256067766906624
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,752,729.219694069,706,698,654.219694069,930,800.219694069,834,670.219694069,654,678,0.401982505805,0.0044954718478,0.0599624526091,0.999999987771,0.000143350189048,-5.86665974019e-05,2.16261603788e-05,1793256067783573248
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,752,729.367965682,706,698,654,930,800,834,670.367965682,654,678,0.402154585318,0.00449518670479,0.0599626911058,0.999999988581,0.000139516143445,-5.46133838819e-05,1.97399076791e-05,1793256067800240128
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,752,729.965359634,706,698,654,930,800,834,670.965359634,654,678,0.402340854432,0.00449326251398,0.0599637852162,0.999999989596,0.000134552862194,-4.87514658831e-05,1.80579738087e-05,1793256067816907008
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.46035798,752,730,706,698,654,930,800,834,671,654,678,0.402558883785,0.00449309795839,0.0599633165459,0.999999990496,0.000129360864755,-4.50040457346e-05,1.57522163069e-05,1793256067833573632
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.112109155,752.112109155,730,706,698,654.112109155,930,800,834,671,654,678,0.402785543223,0.0044925299046,0.059963033409,0.999999991455,0.000123497006064,-4.07302903156e-05,1.3396875583e-05,1793256067850240256
+133,2.216666667,POSE1_TO_POSE2_PRESS,784.682969878,752.682969878,730,706,698,654.682969878,930,800,834,671,654,678,0.403039517211,0.00448986750886,0.0599639031154,0.999999992764,0.000114941494074,-3.3770157305e-05,1.09957704248e-05,1793256067866906880
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,752.734671191,730,706,698,654.734671191,930,800,834,671,654,677.734671191,0.403312928224,0.00448860772298,0.0599640189131,0.999999993709,0.000107899981382,-2.94834782797e-05,8.3885156799e-06,1793256067883573248
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,752.13795123,730,706,698,654.13795123,930,800,834,671,654,677.13795123,0.403610615734,0.00448909977302,0.0599631930917,0.999999994299,0.000102749428496,-2.853589807e-05,5.52378376484e-06,1793256067900239872
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.556430915,752.443569085,730,706,698,654,930,800,834,671,654,677.443569085,0.403919073538,0.00449047696032,0.0599528904686,0.999999994145,9.75404158864e-05,-4.68160214865e-05,2.01532003459e-06,1793256067916907008
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.020527345,752.979472655,730,706,698,654.020527345,930,800,834.020527345,671,654,678,0.404232190821,0.00449203196656,0.0599397363365,0.999999993239,9.21258422595e-05,-7.09331974961e-05,-1.68013478585e-06,1793256067933573632
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.597715326,752.402284674,730,706,698,654.597715326,930,800,834.597715326,671,654,678,0.40458383917,0.00449119134677,0.0599265321491,0.999999991995,8.16135643771e-05,-9.65501247404e-05,-5.19720008489e-06,1793256067950241024
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.826863868,752,730,706,698,654.826863868,930,800,834.826863868,671,654,678,0.404951807297,0.00449089074427,0.0599164537546,0.99999999058,7.23337138564e-05,-0.000116322231977,-8.78575668282e-06,1793256067966908416
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.255507713,752,730,706,698,654.255507713,930,800,834.255507713,671,654,678,0.405357311518,0.00449183220322,0.0599135648103,0.999999990229,6.58884970818e-05,-0.000122651016263,-1.2538745647e-05,1793256067983575552
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,752,730,706,698,654,930,800,834,671,654,677.669062067,0.405819057441,0.00449013117794,0.0599260942077,0.999999993039,5.50400259935e-05,-0.000103125738825,-1.60447990182e-05,1793256068000241920
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,752,730,706,698,654,930,800,834,671,654,677.070409609,0.406326300522,0.00448629249693,0.0599510963787,0.999999997023,4.06295111771e-05,-6.26856403556e-05,-1.93510925237e-05,1793256068016907008
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.510591717,752,730,706,698,654.510591717,930,800,834,670.489408283,654,677.510591717,0.406868001907,0.00448579461888,0.0599826206251,0.999999999201,3.16543891665e-05,-8.77065531028e-06,-2.27979334612e-05,1793256068033573632
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,752,730,706,698.088399514,654.911600486,930,800,834.088399514,670.088399514,654,677.911600486,0.407412923548,0.0044858333507,0.0600108892193,0.999999998631,2.35665966113e-05,3.86202954122e-05,-2.62719525273e-05,1793256068050240256
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698.661596419,654.338403581,930,800,834.661596419,670.661596419,654,677.338403581,0.407950317299,0.00448637286049,0.0600165357555,0.999999998607,1.63718683268e-05,4.03824511627e-05,-2.97922844482e-05,1793256068066906880
+146,2.433333333,POSE1_TO_POSE2_PRESS,784.758665073,752,730.241334927,706,698.758665073,654,930,800,834.758665073,671,654,677.241334927,0.408491552274,0.0044857367394,0.0600136486077,0.999999999087,7.61307930502e-06,2.54542280728e-05,-3.34709001842e-05,1793256068083573504
+147,2.450000000,POSE1_TO_POSE2_PRESS,784.169498302,752,730.830501698,706,698.169498302,654,930,800,834.169498302,671,654,677.830501698,0.409038323506,0.00448340620186,0.059998462009,0.999999999204,-3.3999629129e-06,-1.35295487364e-05,-3.73776473914e-05,1793256068100240128
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,752,730.174662709,706,698,654.412668646,930,800,834.412668646,670.587331354,654,678,0.409659671234,0.00448357232835,0.059993447489,0.999999998675,-1.27762970598e-05,-2.69352966709e-05,-4.19746364947e-05,1793256068116906752
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,752,729.015983104,706,698,654.992008448,930,800,834.992008448,670.007991552,654,678,0.410311139365,0.00448474682296,0.0599925413313,0.999999998221,-2.14915871967e-05,-3.00104316907e-05,-4.68504046683e-05,1793256068133573120
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.56852525,752.56852525,729.56852525,706,698,655,930,800,835,670.56852525,654,677.43147475,0.411006234384,0.00448203048106,0.0600048848657,0.999999998069,-3.36201994877e-05,2.49185471375e-06,-5.22025005971e-05,1793256068150240000
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.855577506,752.855577506,730,706,698,655,930,799.855577506,834.855577506,671,654,677.144422494,0.411700150818,0.00447975640419,0.0600116649597,0.999999997184,-4.35920320724e-05,2.21223098352e-05,-5.6943211656e-05,1793256068166906624
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.281406453,752.281406453,730,706,698,655,930,799.281406453,834.281406453,671,654,677.718593547,0.412388744302,0.00447896028644,0.0600013388237,0.999999997103,-4.70040093834e-05,1.97013466644e-06,-5.98448388565e-05,1793256068183573248
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,752.301073895,730,706,698,655,930,799.301073895,834.301073895,671,654,678,0.413061719973,0.00448103864359,0.0599750427616,0.999999997542,2.75953869025e-06,-5.03003505571e-05,-4.87775639658e-05,1793256068200239872
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,752.891541237,730,706,698,655,930,799.891541237,834.891541237,671,654,678,0.41371968382,0.00448587995758,0.0599333963406,0.999999985431,0.000103635616952,-0.000133443087408,-2.4283323451e-05,1793256068216906496
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,752.526897068,730,706,698,654.526897068,930,800,835,671,654,678,0.414525081876,0.00448084668583,0.0599405279139,0.999999987796,0.000103298995794,-0.00011470509048,-2.40813040581e-05,1793256068233573376
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,752,730,706,698,654.052207312,930,799.947792688,835,671,654,678,0.415366137714,0.00447325306383,0.0599615599709,0.99999999397,8.03449091702e-05,-6.90208773851e-05,-2.8990762741e-05,1793256068250240000
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,752,730,706,698,654.626775394,930,799.373224606,835,671,654,678,0.416232037732,0.00446227328757,0.0600118555904,0.999999997658,5.89599367763e-05,1.69015914157e-05,-3.03521105708e-05,1793256068266906880
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.205800772,752,730,706.205800772,698,654.794199228,930.205800772,799,835,671,654,678,0.417075088693,0.00445394568016,0.0600423704783,0.999999997268,1.16462475599e-05,6.60818117251e-05,-3.09936542592e-05,1793256068283573760
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.793088479,752,730,706.793088479,698,654.206911521,930.793088479,799,835,671,654,678,0.417875784966,0.00445053432206,0.0600362183937,0.999999994924,-8.37307516691e-05,4.71539844369e-05,-3.03009179343e-05,1793256068300240384
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,752.37511875,730,706.62488125,698,654,931,799.37511875,835,670.62488125,654,678,0.418713388489,0.00444968441226,0.06001931442,0.999999991496,-0.000124829292784,2.10040304697e-05,-3.13635608556e-05,1793256068316906752
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,752.95428914,730,706.04571086,698,654,931,799.95428914,835,670.04571086,654,678,0.419571068256,0.00445022784196,0.0599965617903,0.999999990099,-0.000136402225205,-9.07451014605e-06,-3.33810695383e-05,1793256068333573120
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.467768122,752.467768122,730,706,698,654.532231878,930.467768122,799.467768122,835,670.532231878,654,678,0.420438733342,0.00445144698065,0.0599673514846,0.999999989797,-0.000128095185813,-5.23626108855e-05,-3.54377094257e-05,1793256068350239744
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,752,730,706,698,655,930.109541367,799,835,671,654,678,0.421301549838,0.00445238606783,0.0599372402856,0.999999987191,-0.000118160877915,-0.000101391060108,-3.71038923522e-05,1793256068366906368
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,752,730,706,698,655,930.684606597,799,835,671,654,678,0.422140124607,0.00445188894441,0.0599056520896,0.99999997897,-0.000108550397458,-0.000170004289435,-3.70964791629e-05,1793256068383573248
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,752,730,706.265414939,698,654.734585061,930.734585061,799,835,671,654,678,0.423042836005,0.00445051475943,0.0599134816094,0.999999981283,-0.000102547721677,-0.000159656091126,-3.77879736871e-05,1793256068400239616
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,752,730,706.853198854,698,654.146801146,930.146801146,799,835,671,654,678,0.424023446896,0.00444807530866,0.0599691872874,0.999999992708,-0.000100927029345,-5.3402543425e-05,-3.93283508281e-05,1793256068416906496
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,751.565231706,730,707,698,654,930,799,835,671,654,678,0.425002791735,0.00444699008408,0.060018969911,0.999999994319,-9.60648441023e-05,2.41478729721e-05,-3.93750906585e-05,1793256068433573376
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,751,730,706.98579823,698,654,930,799,835,671,654,678,0.425981372633,0.00444634501331,0.0600652708841,0.999999991089,-9.01522190211e-05,9.04094571802e-05,-3.90028757124e-05,1793256068450240000
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,751,730,706.409025083,698,654,930,799,835,671,654,678,0.426946389455,0.00444527759424,0.0600517609378,0.999999991613,-8.5374028447e-05,8.79949101223e-05,-4.17311632893e-05,1793256068466906368
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,751.166889723,730,706.166889723,698,654.166889723,930.166889723,799,835,671,654,678,0.427892645769,0.00444415819546,0.0600344105391,0.999999993002,-8.08081331923e-05,7.43457080254e-05,-4.40274129885e-05,1793256068483572992
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,751.740711574,730,706.740711574,698,654.740711574,930.740711574,799,835,671,654,678,0.428793157722,0.00444291205311,0.0600076958527,0.999999995475,-7.67598840731e-05,3.33027155452e-05,-4.52702117915e-05,1793256068500239616
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,752,730.325735711,707,697.674264289,654.674264289,930.674264289,798.674264289,835,670.674264289,654,677.674264289,0.429661521255,0.00444330142885,0.059972906618,0.99999999607,-7.01341857242e-05,-2.84953018711e-05,-4.6148573319e-05,1793256068516905984
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,752,730.919994522,707,697.080005478,654.080005478,930.080005478,798.080005478,835,670.080005478,654,677.080005478,0.430503382908,0.00444503905838,0.0599314610598,0.999999991257,-6.1383744346e-05,-0.000107402904635,-4.67265075311e-05,1793256068533572608
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.501773918,751.501773918,730.501773918,706.501773918,697,654,930,798,835,670,654,677.498226082,0.431483949061,0.00443958689729,0.0599559525283,0.999999995108,-6.51880937328e-05,-5.72628751385e-05,-4.74972576866e-05,1793256068550240000
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.073979869,751,730,706.073979869,697.073979869,654,930.073979869,798,835,670,654,678,0.432483010574,0.00443383621378,0.0599906440746,0.999999996332,-6.99551464677e-05,1.05719683772e-05,-4.8266534054e-05,1793256068566907136
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.649839776,751,730,706.649839776,697.649839776,654,930.649839776,798,835,670,654,678,0.43346115155,0.00443364866754,0.0600249411739,0.999999994559,-6.8002496672e-05,6.22479429978e-05,-4.88223094757e-05,1793256068583573760
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,751,730.224998979,707,697.775001021,654,931,798,835,670,654,678,0.434402694533,0.00443230874537,0.0600357229416,0.999999993486,-6.81471878121e-05,7.70233929763e-05,-4.95097389512e-05,1793256068600240384
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,751,730.799071167,707,697.200928833,654,931,798,835,670,654,678,0.435287457945,0.004429180977,0.0600100220053,0.999999995574,-7.15457848205e-05,3.45497707636e-05,-5.04014224427e-05,1793256068616906752
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.613264783,751,730.613264783,706.613264783,697.386735217,654,931,798,835,670,654,678,0.436143626215,0.00442661053695,0.0599803861285,0.999999995754,-7.3969989992e-05,-1.96484600111e-05,-5.13181365615e-05,1793256068633573376
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.018281874,751,730.018281874,706.018281874,697.981718126,654,931,798,835,670,654,678,0.436984396631,0.0044243402051,0.0599486313817,0.999999992544,-7.58695080176e-05,-8.01601102695e-05,-5.2248328901e-05,1793256068650240000
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.558300903,750.441699097,730,706.558300903,697.441699097,654,931,798,835,670,654.558300903,678,0.437809751437,0.00442489691427,0.0599293296537,0.999999988997,-6.76770835962e-05,-0.000121598319864,-5.13867720467e-05,1793256068666906880
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.866024478,750,730,707,697,654,931,798,835,670,654.866024478,678,0.438653620954,0.00442398266304,0.0599197064887,0.999999986249,-6.38802826641e-05,-0.000144366908968,-5.07960064075e-05,1793256068683573248
+183,3.050000000,POSE1_TO_POSE2_PRESS,783.291418318,750,730,707,697,654,931,798,835,670,654.291418318,678,0.439559990497,0.00441793583783,0.0599406166897,0.999999990026,-7.55923902497e-05,-0.000107721788399,-5.12826517103e-05,1793256068700239872
+184,3.066666667,POSE1_TO_POSE2_PRESS,783.289370713,749.710629287,730.289370713,707,697.289370713,654,931,798,835,670,654,678,0.440443754251,0.00441338993682,0.0599778320393,0.999999993146,-9.36255652539e-05,-4.82929414732e-05,-5.10831901366e-05,1793256068716906496
+185,3.083333333,POSE1_TO_POSE2_PRESS,783.876522276,749.123477724,730.876522276,707,697.876522276,654,931,798,835,670,654,678,0.441304255157,0.00441038858257,0.0600318264216,0.999999991162,-0.000118163519111,3.45818054133e-05,-5.01776807385e-05,1793256068733572864
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,749,731,707,697.541599056,654,931,798,835,670.458400944,654,678,0.442082337049,0.00440959578383,0.0600213936302,0.99999998778,-0.000146217411221,2.0833031909e-05,-5.12435005681e-05,1793256068750239488
+187,3.116666667,POSE1_TO_POSE2_PRESS,783.961405578,749,731,707,696.961405578,654,931,798,835,671,654,678,0.442835129473,0.00440946210472,0.0599924545268,0.99999998348,-0.000172674132659,-2.08772804284e-05,-5.28037290614e-05,1793256068766906368
+188,3.133333333,POSE1_TO_POSE2_PRESS,783.385127553,749,731,707,696.385127553,654,931,798,835,671,654,678,0.443541374925,0.00441031722025,0.0599447193888,0.999999980738,-0.000163835355585,-9.36607862846e-05,-5.39381750273e-05,1793256068783572992
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,748.809691438,731,707,696,653.809691438,931,798,835,671,654,678,0.444248059382,0.00441366822099,0.0599085167317,0.999999976109,-0.000150674361244,-0.000148735072131,-5.43770556558e-05,1793256068800239616
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,748.23595149,731,707,696,653.23595149,931,798,835,671,654,678,0.444955628468,0.00442204790122,0.0598955495689,0.999999976144,-0.000128805015651,-0.000168129049827,-5.34145203236e-05,1793256068816906240
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,747.652295798,730.652295798,707,695.652295798,653,931,797.652295798,835,670.652295798,654,678,0.445602186877,0.00443052359557,0.0598712682996,0.999999968616,-0.000113117648581,-0.000217404542593,-5.20401232246e-05,1793256068833572864
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,747.061713812,730.061713812,707,695.061713812,653,931,797.061713812,835,670.061713812,654,678,0.446206128164,0.00443906635703,0.0598390839195,0.999999952211,-0.000101748508199,-0.000287552821705,-5.03780329712e-05,1793256068850239488
+193,3.216666667,POSE1_TO_POSE2_PRESS,783.520021029,747,730.520021029,707,695,652.479978971,931,797,835,670.520021029,654,678,0.446833436072,0.00447505827,0.0598195338518,0.999999949425,-6.02802387546e-05,-0.000307447631218,-5.47000626624e-05,1793256068866906112
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,747,730.90031143,707,694.90031143,652,931,797,835,671,654,678,0.447464259323,0.00451154300887,0.0598086840364,0.999999949077,-1.9278430621e-05,-0.000312840729116,-6.00493536981e-05,1793256068883572992
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,747,730.325575641,707,694.325575641,652,931,797,835,671,654,678,0.448098840887,0.00453511267598,0.0598322681332,0.999999959369,2.76343916177e-06,-0.000277072883368,-6.69663008616e-05,1793256068900239616
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,747,730,707,693.745841449,651.745841449,931,797,835,671,654,678,0.448690554519,0.00454826322526,0.0598411405278,0.999999962531,1.4218087941e-05,-0.00026381822346,-7.16585336407e-05,1793256068916906496
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,747,730,707,693.159575926,651.159575926,931,797,835,671,654,678,0.449226252913,0.00454779919375,0.0598307892554,0.999999958038,1.18384969426e-05,-0.000279981368915,-7.34437492767e-05,1793256068933573120
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,747,730,707,692.578341794,651,931,797,835,671,654,678,0.449712335092,0.00454390611578,0.0597962076088,0.999999941136,4.15233456554e-06,-0.000334804678469,-7.49385906421e-05,1793256068950239488
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,747,730.001007258,707,692,651,931,797,835,671,654,678,0.450179833941,0.00453874364508,0.0597526071116,0.999999915463,-5.50267772951e-06,-0.000404002347494,-7.63278204508e-05,1793256068966906624
+200,3.333333333,POSE1_TO_POSE2_PRESS,784,747,730.578377968,707,692,651,931,797,835,671,654,678,0.450631539747,0.00454103306952,0.059733596385,0.999999906458,-6.15442687984e-06,-0.000425131983148,-7.94248388513e-05,1793256068983572992
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+202,3.366666667,POSE1_TO_POSE2_PRESS,784,747,730.269768408,707,691.269768408,650.269768408,931,797,835,671,654,678,0.451524462401,0.00454224382013,0.0597340833549,0.999999911208,-7.9509104612e-06,-0.000413025675731,-8.32509038603e-05,1793256069016906240
+203,3.383333333,POSE1_TO_POSE2_PRESS,784,747,730,707.312773397,690.687226603,650,931,797,835,671,654,678,0.451950738526,0.00454069362303,0.0597489376836,0.999999921316,-1.1192930846e-05,-0.000387527316644,-8.40584697151e-05,1793256069033573120
+204,3.400000000,POSE1_TO_POSE2_PRESS,784,747,730,707.901893415,690.098106585,650,931,797,835,671,654,678,0.452361845113,0.00453809461188,0.0597669176209,0.999999931978,-1.63805146059e-05,-0.000358660747077,-8.44909317227e-05,1793256069050239744
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.515927299,747,730.484072701,707.515927299,690,649.515927299,931,797,835,671,654,678,0.452719043796,0.00454045113881,0.0597694186773,0.999999934356,6.07924855193e-06,-0.000353662501446,-7.8574601319e-05,1793256069066906112
+206,3.433333333,POSE1_TO_POSE2_PRESS,783.064024077,747.064024077,730.935975923,707,689.935975923,649,931,797,835,671,654,678,0.453056711001,0.00454364335077,0.0597666922488,0.999999932988,3.52942618018e-05,-0.000357432838208,-7.0853278025e-05,1793256069083572992
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.637285319,747.637285319,730.362714681,707,689.362714681,649,931,797,835,671,654,678,0.453324699036,0.00454560707106,0.0597469864564,0.999999918277,7.43019775387e-05,-0.000393015262303,-5.88649032879e-05,1793256069100239872
+208,3.466666667,POSE1_TO_POSE2_PRESS,784,747.789968366,730.210031634,707,688.789968366,649,931,797,835,671,654,678,0.453584623258,0.00454653201341,0.0597287845005,0.999999903892,9.62582163909e-05,-0.000424523781596,-5.2252796062e-05,1793256069116906496
+209,3.483333333,POSE1_TO_POSE2_PRESS,784,747.21810919,730.78189081,707,688.21810919,649,931,797,835,671,654,678,0.453830655691,0.00454566742291,0.0597131732489,0.99999989374,8.88393812645e-05,-0.000449014065546,-5.49025411397e-05,1793256069133573120
+210,3.500000000,POSE1_TO_POSE2_PRESS,784,747,731,707,688,649,931,797,835,671,654,678,0.454074840064,0.00454453299684,0.0597094060192,0.999999892724,8.20490721951e-05,-0.000452326580988,-5.67575186155e-05,1793256069150239744
+211,3.516666667,POSE1_TO_POSE2_PRESS,784,747,731,707,688,649,931,797,835,671,654,678,0.454317885015,0.00454323219998,0.0597129413768,0.99999989751,7.56462884969e-05,-0.000442581664856,-5.81224718528e-05,1793256069166906368
+212,3.533333333,POSE1_TO_POSE2_PRESS,784,747.546618158,731,707,687.453381842,648.453381842,931,797,835,671,654,678,0.454531323193,0.00454256656971,0.0597265486965,0.999999906996,7.09469853267e-05,-0.000421215802353,-5.96045007275e-05,1793256069183573760
+213,3.550000000,POSE1_TO_POSE2_PRESS,783.877964853,747.877964853,731,707,687,648,931,797,835,671,654,678,0.454733758494,0.00454211888084,0.0597381805239,0.999999914831,6.69249645686e-05,-0.000402657349172,-6.10416981038e-05,1793256069200240896
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.304450388,747.304450388,731,707,687,648,931,797,835,671,654,678,0.454901361629,0.0045423514704,0.0597405056266,0.999999917221,6.50706437612e-05,-0.000396790677378,-6.22898108464e-05,1793256069216907776
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.276117793,747.276117793,731,707,687,648,931,797,835,671,654,678,0.455048705583,0.00454228144216,0.0597363503715,0.999999915507,6.25694603692e-05,-0.000401313328848,-6.33855293398e-05,1793256069233574144
+216,3.600000000,POSE1_TO_POSE2_PRESS,783.864667336,747.864667336,731,707,687,648,931,797,835,671,654,678,0.455173125937,0.00454186899697,0.0597248624864,0.99999990898,5.93363416015e-05,-0.000417591667903,-6.43088111899e-05,1793256069250240512
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.561751567,747.561751567,731,707.438248433,687,648,931,797,834.561751567,671,653.561751567,678,0.455273747466,0.00454175557523,0.0597149804441,0.999999902917,5.81606352696e-05,-0.000431945063876,-6.48530797779e-05,1793256069266907392
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.007599144,747,730.992400856,707.992400856,686.992400856,648,931,797,834.007599144,671,653.007599144,678,0.45536711894,0.00454172249813,0.0597056529753,0.999999896924,5.7599918386e-05,-0.000445615466215,-6.52819299046e-05,1793256069283574272
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+220,3.666666667,POSE1_TO_POSE2_PRESS,784,747,730,707,686,648,931,797,835,671,654,678,0.455526707584,0.00454114806762,0.0596997563062,0.999999892948,5.68682745874e-05,-0.000454452536866,-6.5899218762e-05,1793256069316907008
+221,3.683333333,POSE1_TO_POSE2_PRESS,784,747,730,707,686,648,931,797,835,671,654,678,0.455592303998,0.00454318741445,0.0597003362529,0.999999893328,5.72966450332e-05,-0.000453477453805,-6.64848007411e-05,1793256069333573120
+222,3.700000000,POSE1_TO_POSE2_PRESS,784,747,730,707,686,648,931,797,835,671,654,678,0.455647666733,0.00454449619674,0.0597009688179,0.999999893941,5.80297067097e-05,-0.000451993361636,-6.67240071659e-05,1793256069350239744
+223,3.716666667,POSE1_TO_POSE2_PRESS,784,747,730,707,686,648,931,797,835,671,654,678,0.455695427393,0.00454526227981,0.0597016404703,0.999999894726,5.89891081399e-05,-0.000450131152231,-6.67059087659e-05,1793256069366906368
+224,3.733333333,POSE1_TO_POSE2_PRESS,784,747,730.508570672,707.508570672,686,648,931.508570672,797,835,671,654,678,0.455726900889,0.00454502044703,0.0596986647255,0.999999892781,5.78888219124e-05,-0.000454566172784,-6.67514440114e-05,1793256069383572992
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+226,3.766666667,POSE1_TO_POSE2_PRESS,784,747,731,707.338660752,686,648,931.338660752,797,835,671,654,678,0.455773875061,0.00454350561456,0.0596935910411,0.999999889575,5.54327798145e-05,-0.000461869110517,-6.67454980867e-05,1793256069416906752
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.765628732,747,731,707,686,648,931,797,835,671,654,678,0.45579012805,0.00454457340864,0.0596918732004,0.999999888478,5.66533579275e-05,-0.000464077690169,-6.68254360029e-05,1793256069433573376
+228,3.800000000,POSE1_TO_POSE2_PRESS,783.192179164,747,731,707,686,648,931,797,835,671,654,678,0.45580190483,0.004548675125,0.0596903225161,0.999999887304,6.12395374456e-05,-0.000465983198088,-6.70863481037e-05,1793256069450240256
+229,3.816666667,POSE1_TO_POSE2_PRESS,783.396539003,747,731,707,686,648,931,797,835,671,654,678,0.455808154684,0.00454976501622,0.0596877455564,0.999999885418,6.22075406235e-05,-0.000469836167306,-6.74378629962e-05,1793256069466906624
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+231,3.850000000,POSE1_TO_POSE2_PRESS,784,747,731,707,686,648,931,797,835,671,654,678,0.455811943602,0.00454666859917,0.0596827837387,0.999999881391,5.94157955016e-05,-0.000478767063161,-6.68575054676e-05,1793256069500239872
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+236,3.933333333,POSE1_TO_POSE2_PRESS,783.530544945,747,730.469455055,707,686,648,931,797,835,671,654,678.469455055,0.45582045546,0.00455070293828,0.0596814234612,0.999999880682,6.44230580482e-05,-0.00047957538907,-6.70235048721e-05,1793256069583574272
+237,3.950000000,POSE1_TO_POSE2_PRESS,783.048838135,747,731,707,686,648,931,797,835,671,654,678.951161865,0.45582097205,0.00455037770844,0.0596808954444,0.9999998807,6.31217084263e-05,-0.00047975900358,-6.66869508653e-05,1793256069600240896
+238,3.966666667,POSE1_TO_POSE2_PRESS,783.62523277,747,731,707,686,648,931,797,835,671,654,678.37476723,0.455822390695,0.00454929640763,0.0596805733676,0.999999880844,6.20775239514e-05,-0.000479613974299,-6.65490330702e-05,1793256069616907008
+239,3.983333333,POSE1_TO_POSE2_PRESS,784,747,731,707,686,647.799408596,931.200591404,797,835,671,654,678,0.455822349337,0.00454876569673,0.0596796838653,0.999999880327,6.12158252243e-05,-0.000480800108282,-6.65564064296e-05,1793256069633573120
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+247,4.116666667,HOLD_POSE2,784,747,730,707,685,647.592526536,931,797,835,671,653.592526536,678,0.455821413023,0.00454946786272,0.0596768242081,0.99999987756,6.37479001602e-05,-0.000486298115644,-6.58005612631e-05,1793256069788418560
+248,4.133333333,HOLD_POSE2,784,747,730.179633506,707,685,647.820366494,931,797,834.820366494,671,653.820366494,678,0.455821332673,0.00454891142005,0.0596764260145,0.999999877452,6.28713835182e-05,-0.000486672196893,-6.55199482734e-05,1793256069805085184
+249,4.150000000,HOLD_POSE2,784,747,730.754807094,707,685,647.245192906,931,797,834.245192906,671,653.245192906,678,0.455822648786,0.00454966124529,0.059677661504,0.999999878301,6.28736107851e-05,-0.00048487568324,-6.58805170133e-05,1793256069821751552
+250,4.166666667,HOLD_POSE2,784,747.330324117,731,707,685,647,931,796.669675883,834.330324117,671,653.330324117,678,0.455824032267,0.00454976948948,0.0596787035527,0.999999878966,6.32092873607e-05,-0.000483456927319,-6.58991343172e-05,1793256069838418176
+251,4.183333333,HOLD_POSE2,784,747.906096298,731,707,685,647,931,796.093903702,834.906096298,671,653.906096298,678,0.455825465806,0.00454940100543,0.0596796018646,0.999999879494,6.37927341796e-05,-0.000482318865219,-6.56636638319e-05,1793256069855085312
+252,4.200000000,HOLD_POSE2,784,747.502947913,730.502947913,707.497052087,685,647,931,796.497052087,835,671,654,678,0.455824374902,0.00455046111904,0.0596788001112,0.999999878603,6.52715059979e-05,-0.00048393760698,-6.58665395201e-05,1793256069871751936
+253,4.216666667,HOLD_POSE2,784,747,730,707.91173149,685,647,931,797,835,671,654.08826851,678,0.455822929756,0.00455140064306,0.059677661008,0.999999877615,6.59884709653e-05,-0.000485847799694,-6.6091565546e-05,1793256069888418560
+254,4.233333333,HOLD_POSE2,784,747,730,707.335433513,685,647,931,797,835,671,654.664566487,678,0.45582224598,0.00455013420399,0.0596764884487,0.999999877639,6.15288054044e-05,-0.000486399101239,-6.59667658343e-05,1793256069905085184
+255,4.250000000,HOLD_POSE2,784,747,730.240188338,707,685,647,931,797,835,671,654.759811662,678,0.455822388909,0.00454950783172,0.0596759520418,0.999999877758,6.01679798338e-05,-0.000486347752736,-6.58073215921e-05,1793256069921751552
+256,4.266666667,HOLD_POSE2,784,747,730.814868554,707,685,647,931,797,835,671,654.185131446,678,0.455823683127,0.00454977283148,0.0596763015556,0.999999878022,6.31226714204e-05,-0.000485457139692,-6.55996305805e-05,1793256069938418432
+257,4.283333333,HOLD_POSE2,784,747,731,707,685.400408981,647,931,797,835,671,654,678.400408981,0.455824687189,0.00454996744474,0.0596774174352,0.999999878579,6.33040084952e-05,-0.000484285527349,-6.55848993886e-05,1793256069955085056
+258,4.300000000,HOLD_POSE2,784,747,731,707,685.99111073,647,931,797,835,671,654,678.99111073,0.455825553355,0.00455012860713,0.0596788975271,0.999999879277,6.21673201743e-05,-0.000482980371134,-6.56618715621e-05,1793256069971751424
+259,4.316666667,HOLD_POSE2,784,747,730.429883989,707,685.429883989,647,931,797,835,671,654,678.429883989,0.455825549646,0.00455073746305,0.0596782286752,0.99999987903,6.36115670911e-05,-0.000483333544848,-6.54454874035e-05,1793256069988418304
+260,4.333333333,HOLD_POSE2,784,747,730,707.148323402,685,647.148323402,931,796.851676598,835,671,654,678,0.455825112433,0.00455097240745,0.0596773055996,0.999999878603,6.49647073048e-05,-0.000484082097917,-6.50989497499e-05,1793256070005085184
+261,4.350000000,HOLD_POSE2,784,747,730,707.724743812,685,647.724743812,931,796.275256188,835,671,654,678,0.455823462385,0.0045501084112,0.0596757435359,0.999999877704,6.59410787998e-05,-0.000485898682508,-6.43896940855e-05,1793256070021751808
+262,4.366666667,HOLD_POSE2,784,747,730.299491161,708,685.299491161,647.700508839,931,796.299491161,835,671,654,678,0.455823439385,0.00454983081468,0.0596757462369,0.999999877668,6.5486841536e-05,-0.000486051738575,-6.42633989841e-05,1793256070038418688
+263,4.383333333,HOLD_POSE2,784,747,730.872709343,708,685.872709343,647.127290657,931,796.872709343,835,671,654,678,0.455824903464,0.00455008917209,0.0596771790915,0.999999878419,6.37250655482e-05,-0.000484684373347,-6.46699145007e-05,1793256070055085312
+264,4.400000000,POSE2_TO_POSE3_RETREAT,784,747,730,708,685,647,931,797,835,671,654,678,0.45582332488,0.00455118499169,0.0596753754018,0.999999877475,6.20332473165e-05,-0.000486701185024,-6.57488363483e-05,1793256070086989312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,784,747,730,707.422705845,685,647,931,797,835,671,654,678,0.455824081978,0.00455067518798,0.0596756238334,0.999999877376,6.12353278812e-05,-0.000487046931233,-6.5443422916e-05,1793256070103655680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784,747,730.153922132,707.153922132,685,647,931,797,835,671,654,678,0.455824401612,0.00455042489717,0.0596756857597,0.999999877184,6.07922863027e-05,-0.000487520920213,-6.52692492261e-05,1793256070120321792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,747,730.728728639,707.728728639,685,647,931,797,835,671,654,678,0.455823525045,0.00455088421777,0.0596752377065,0.999999876737,6.1319621862e-05,-0.000488345576056,-6.54539371629e-05,1793256070136988160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,784,747,730.688437886,707.688437886,685,647,931,797,835.311562114,671,654,678,0.455823847886,0.00455070939989,0.0596758431814,0.999999877109,6.10156201246e-05,-0.000487622700704,-6.54529757536e-05,1793256070153655040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784,747,730.098430692,707.098430692,685,647,931,797,835.901569308,671,654,678,0.455825242644,0.00454996784831,0.059677390201,0.999999878207,5.99686468274e-05,-0.000485516786647,-6.52860983098e-05,1793256070170321664
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783.517285188,747,730.482714812,707,685,647.482714812,931,797,835.517285188,671,654,678,0.455824448463,0.00454943989598,0.0596769780899,0.999999877878,5.96117393595e-05,-0.000486230644628,-6.53435099594e-05,1793256070186988544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.061779091,747,731,707,685,648,931,797,834.938220909,671,654,678,0.455823423475,0.004548969383,0.0596763379487,0.999999877416,5.93314392283e-05,-0.000487207183613,-6.53951128029e-05,1793256070203655168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.638287157,747,731,707,685,648,931,797,834.361712843,671,654,678,0.455824127297,0.00454862109163,0.0596770663499,0.999999878236,5.85381704328e-05,-0.000485668068102,-6.50241344937e-05,1793256070220321536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783.785458204,747,731,707,685,647.785458204,931.214541796,797,834.214541796,671,654,678,0.455819744327,0.00454828786979,0.0596748561827,0.999999876845,5.87827956827e-05,-0.000488515065028,-6.48605488613e-05,1793256070236988160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783.209630388,747,731,707,685,647.209630388,931.790369612,797,834.790369612,671,654,678,0.455806795255,0.00454798002491,0.0596676974987,0.999999871663,6.0775223133e-05,-0.000498748227039,-6.50462102422e-05,1793256070253654784
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.374611839,747,731,707,685,647,931.625388161,797,835,671,654,678,0.455778990474,0.00455004057471,0.0596549423331,0.99999986103,6.3079963682e-05,-0.00051928435863,-6.56064904526e-05,1793256070270321408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783.963670969,747,731,707,685,647,931.036329031,797,835,671,654,678,0.45574268151,0.00455345691671,0.0596389834499,0.999999846743,6.55634886377e-05,-0.000545718446257,-6.63812219368e-05,1793256070286988032
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647,931,797,835,671,654,678,0.455689632145,0.00455159298801,0.0596235088053,0.999999833709,6.41323639333e-05,-0.000569365377185,-6.55153074739e-05,1793256070303654656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647,931,797,835,671,654,678,0.455631876494,0.00455028496974,0.0596084104812,0.999999821387,6.30404747654e-05,-0.000590787039281,-6.49765035538e-05,1793256070320321536
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647,931,797,835,671,654,678,0.455560717265,0.0045523332876,0.0595945926405,0.999999812978,6.41659063551e-05,-0.000604618260776,-6.60543970618e-05,1793256070336988160
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647,931,797,835,671,654,678.271856118,0.455480709187,0.00455473784248,0.0595842276888,0.999999805266,6.7487249854e-05,-0.00061682178945,-6.66640054122e-05,1793256070353654784
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647,931,797,835,671,654,678.847252489,0.455390820954,0.00455754015277,0.0595777180525,0.999999798394,7.32604330989e-05,-0.000627207921087,-6.67507511099e-05,1793256070370321664
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783.565700584,747,731,707,685,647,931,796.565700584,835,671,654,678.565700584,0.455288696863,0.00455686667865,0.0595771522757,0.99999979751,7.51759474898e-05,-0.000628522886404,-6.5481866386e-05,1793256070386988288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783.024989566,747,730.975010434,707,685,647.024989566,931,796.024989566,835,671,654,678,0.455181192044,0.00455506470279,0.0595788721892,0.999999798901,7.56868280411e-05,-0.000626419727113,-6.37743346854e-05,1793256070403654656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783.603121699,747,730.396878301,707,685,647.603121699,931,796.603121699,835,671,654,678,0.455052468046,0.00455608858234,0.0595836367273,0.999999802158,7.59663519627e-05,-0.000621223040755,-6.3201991745e-05,1793256070420321536
+285,4.750000000,POSE2_TO_POSE3_RETREAT,784,747.180582543,730.180582543,707,685,648,931,797,835,671,654,678,0.454914092715,0.00455760013112,0.0595872489045,0.99999980414,7.84130897858e-05,-0.000617809053666,-6.23119246541e-05,1793256070436988416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,784,747.756573441,730.756573441,707,685,648,931,797,835,671,654,678,0.454754584583,0.00456017949332,0.0595883378408,0.999999803345,8.56052169612e-05,-0.00061829851316,-6.07261603617e-05,1793256070453655296
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783.661140437,748,731,707,685.338859563,648,931,797,835,671,654,678,0.454572705176,0.00456073926863,0.0595888093956,0.9999998013,8.91523463205e-05,-0.000621261057358,-5.90446766137e-05,1793256070470321664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783.07424635,748,731,707,685.92575365,648,931,797,835,671,654,678,0.454374450682,0.00455982077024,0.0595888290467,0.999999798347,9.00314528667e-05,-0.0006260338217,-5.72931290759e-05,1793256070486988288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.506192087,747.493807913,730.493807913,707,686,648,931,797,835,671,654,678.506192087,0.454149713878,0.00456136913467,0.0595919906704,0.999999798418,9.58762551833e-05,-0.000625229919101,-5.53195279282e-05,1793256070503654912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,784,747,730.085642092,707,686,648,931,797,835,671,654,678.914357908,0.453914480837,0.00456310313592,0.0595943539279,0.99999979792,0.000102388083332,-0.000625169569013,-5.32937489169e-05,1793256070520321280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,784,747,730.664784246,707,686,648,931,797,835,671,654,678.335215754,0.453640865665,0.00456384810547,0.0595894945622,0.999999791786,0.000108599397038,-0.000634047877691,-5.11526181687e-05,1793256070536987904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.758589892,747,730.758589892,707,686.241410108,648,931,797,835,670.758589892,654,678,0.453354351233,0.00456564399345,0.0595838850227,0.999999786394,0.00011559370386,-0.000641424573946,-4.9237834221e-05,1793256070553654528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783.185422077,747,730.185422077,707,686.814577923,648,931,797,835,670.185422077,654,678,0.453050110015,0.00456888410544,0.0595772445577,0.999999782084,0.000123664038168,-0.000646737679679,-4.76341073688e-05,1793256070570321152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,747,730.398515372,707,687,648,931,797,835,670.398515372,654,678,0.452729763463,0.00457174426971,0.0595833216647,0.999999789969,0.000131331202537,-0.000633014920985,-4.58974930585e-05,1793256070586988288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,747,730.987602901,707,687,648,931,797,835,670.987602901,654,678,0.452401715263,0.00457442274087,0.0595954803821,0.999999803229,0.00013880556862,-0.000610189110922,-4.40973312886e-05,1793256070603655168
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.566953508,747,731,707,687.566953508,648.566953508,931,797,835,671,654,678,0.45203709142,0.00457575807513,0.0596133185346,0.999999815514,0.000149257671507,-0.000587454619495,-3.988181689e-05,1793256070620321792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.854199912,747.145800088,731,707,688,649,931,797,835,671,654,678,0.451656979671,0.0045774153499,0.059629044274,0.999999825818,0.000159547628374,-0.000567112928612,-3.59300511246e-05,1793256070636988160
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.276227011,747.723772989,731,707,688,649,931,797,835,671,654,678,0.451233290178,0.00458011248815,0.0596381466136,0.99999983177,0.000169167217076,-0.000553858035087,-3.29139824693e-05,1793256070653655040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783.299525291,747.700474709,731,707,688.299525291,649.299525291,931,797,835,671,654,678,0.450779535475,0.00458288776034,0.0596335748653,0.999999826802,0.000180337681283,-0.000559434153065,-3.01182369065e-05,1793256070670321664
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.873244857,747.126755143,731,707,688.873244857,649.873244857,931,797,835,671,654,678,0.450298258145,0.00458573455896,0.0596164854553,0.999999811504,0.000192927863666,-0.000582248732059,-2.75241812367e-05,1793256070686988288
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.54093275,747,731,707,689,650,931,797,835,671,654,678,0.44977062733,0.00458720130735,0.0596043674041,0.999999798502,0.000203960331636,-0.000600702471298,-2.35150643867e-05,1793256070703654912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.047523723,747,731,707,689.095047446,650,931,797,835.047523723,671,654,678,0.449228636831,0.00458836532642,0.0595945990077,0.99999978689,0.000214568412365,-0.000616290387265,-1.91478226171e-05,1793256070720321536
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783.62704557,747,731,707,690.25409114,650,931,797,835.62704557,671,654,678,0.448673053199,0.00459052162276,0.0595953513108,0.99999978621,0.000225370911083,-0.000613641258224,-1.52638819452e-05,1793256070736988672
+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,747,730.794867169,707,691.205132831,650,931,797,835.794867169,671,654,678,0.448115106934,0.00459289546444,0.0596045268332,0.999999793744,0.000237089756702,-0.000596804893302,-1.11926581356e-05,1793256070753655808
+305,5.083333333,POSE2_TO_POSE3_RETREAT,784,747,730.219370066,707,691.780629934,650,931,797,835.219370066,671,654,678,0.447552895005,0.00459566208086,0.0596289103527,0.999999814957,0.000250463052084,-0.000554353684767,-6.78329762888e-06,1793256070770322176
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783.637102622,747.362897378,730.362897378,707,692,650.362897378,931,797,835,671,654,678,0.446975416049,0.00459679495268,0.0596644885846,0.99999983778,0.000262990600704,-0.000505247495998,-1.1117568535e-06,1793256070786988800
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783.050664748,747.949335252,730.949335252,707,692,650.949335252,931,797,835,671,654,678,0.446388532804,0.00459692145704,0.0597069626262,0.999999860003,0.000274997178397,-0.000452041918855,5.33727188444e-06,1793256070803655424
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,748,730.470986072,707,692.529013928,651,931,797.529013928,835,671,654,678,0.445681775976,0.00459725204774,0.0597018883977,0.999999851803,0.000284719872279,-0.00046391790012,1.0426522434e-05,1793256070820322304
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,748.107978224,730,707,693.107978224,651.107978224,931,797.892021776,834.892021776,671,654,678,0.444964860451,0.00459680019797,0.0596922955188,0.999999842143,0.000293044329208,-0.000479175408102,1.51308716648e-05,1793256070836988928
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,748.686614552,730,707,693.686614552,651.686614552,931,797.313385448,834.313385448,671,654,678,0.444253075495,0.00459285370584,0.0596826054204,0.999999839624,0.000296215501785,-0.000482346617903,1.87179852e-05,1793256070853655552
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.263494593,749.263494593,730,707,694.263494593,652,931,797.263494593,834.263494593,670.736505407,654,678,0.443549242316,0.00459126091839,0.059697436174,0.999999851855,0.000303150237731,-0.000451520584437,2.27638106996e-05,1793256070870322176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.838299713,749.838299713,730,707,694.838299713,652,931,797.838299713,834.838299713,670.161700287,654,678,0.442854803816,0.00459244895804,0.0597412375375,0.99999987776,0.000314531504029,-0.000380527882182,2.73515902629e-05,1793256070886988544
+313,5.216666667,POSE2_TO_POSE3_RETREAT,784,750,730.422501778,707,695.422501778,652.422501778,931,798,835,670.422501778,654,678,0.442116939346,0.00459463797978,0.0597696347401,0.99999988621,0.00032772939441,-0.000345085601159,3.30076519789e-05,1793256070903654912
+314,5.233333333,POSE2_TO_POSE3_RETREAT,784,750.010223761,730.989776239,707,696,653,931,798,835,670.989776239,654,678,0.441360222,0.00459721691511,0.0597915294886,0.999999888324,0.00034162717573,-0.000324214494007,3.90758854066e-05,1793256070920321792
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784,750.5891424,730.4108576,707,696,653,931,798,835,670.4108576,654,678,0.440500329777,0.00459969030605,0.0597871219273,0.999999878279,0.000354902864656,-0.000339821366141,4.48113621696e-05,1793256070936988416
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784,750.832298175,730.167701825,707,696,653,931,798,835,670.167701825,654,678,0.439654202667,0.0046024192527,0.0597914912275,0.999999874784,0.000366872268565,-0.000336701567221,4.9684183558e-05,1793256070953655040
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,750.25461695,730.74538305,707,696,653,931,798,835,670.74538305,654,678,0.438841727076,0.00460577295433,0.0598173172557,0.999999886654,0.000375648206205,-0.000287800814247,5.24480774154e-05,1793256070970321664
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783.679075975,750.320924025,730.679075975,707,696,653,931,798,834.679075975,670.679075975,654,678,0.437972905078,0.00460628555542,0.0598177442789,0.999999903473,0.000325529242083,-0.000292613293992,3.82465852736e-05,1793256070986988032
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783.105221826,750.894778174,730.105221826,707,696,653,931,798,834.105221826,670.105221826,654,678,0.437059674775,0.00460455899738,0.0597981535614,0.999999916006,0.000228993385649,-0.000339758829605,1.06741485294e-05,1793256071003654656
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783.481231275,750.518768725,730,706.518768725,696,653,931,798,834,670,654,678,0.436159319843,0.00460059044863,0.0597612120659,0.999999899886,0.0002200024886,-0.000389516402013,1.01731332781e-05,1793256071020321536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783.930532983,750.069467017,730.069467017,706.069467017,696.069467017,653,931,798,834.069467017,670,654.069467017,678,0.435260670806,0.00459759675207,0.0597273776979,0.999999881598,0.000232117074934,-0.000427415670378,1.55387888824e-05,1793256071036988160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783.349994463,750.650005537,730.650005537,706.650005537,696.650005537,653,931,798,834.650005537,670,654.650005537,678,0.434353304115,0.00460547856613,0.0597450638873,0.99999989748,0.000254892366294,-0.000373758163892,1.93472182083e-05,1793256071053654784
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.228203213,751,731,706.771796787,696.771796787,653,931,798,834.771796787,670.228203213,654.771796787,678,0.433444305321,0.00461116191995,0.0597636778098,0.999999906698,0.000271923646717,-0.000334837545534,2.33577801592e-05,1793256071070321408
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.802847288,751,731,706.197152712,696.197152712,653,931,798,834.197152712,670.802847288,654.197152712,678,0.432532828655,0.00461350773884,0.0597837001493,0.999999909697,0.000280234808562,-0.000318289349604,2.76752052276e-05,1793256071086988032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,751,730.624362743,706,696.375637257,653,931,798.375637257,834.375637257,671,654,678,0.43163671729,0.00461371362953,0.0598056299486,0.999999921625,0.000274884811127,-0.000283552421081,2.80589595811e-05,1793256071103654912
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,751,730.052541154,706,696.947458846,653,931,798.947458846,834.947458846,671,654,678,0.430748630827,0.00461280189827,0.059828555957,0.999999936589,0.000262399989533,-0.000239316050995,2.63882726742e-05,1793256071120321792
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783.461441347,751,730,706.538558653,697,653,931,799,834.461441347,670.461441347,654,678,0.42981281266,0.00461484755136,0.0598334340169,0.999999935228,0.000263528447013,-0.000243511966449,2.82549242477e-05,1793256071136988416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.128764654,751,730,706.871235346,697,653,931,799,834.128764654,670.128764654,654,678,0.428854269512,0.00461673640888,0.0598240281577,0.99999992799,0.000264829327059,-0.000270146289551,3.00957820135e-05,1793256071153655040
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.708997773,751,730,706.291002227,697,653,931,799,834.708997773,670.708997773,654,678,0.427832982216,0.00461702637057,0.0597709433029,0.999999901056,0.000261905368006,-0.000358271491046,3.05913143785e-05,1793256071170321664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,751,730,706.285915741,697,653.285915741,931,799,835,671,654,678,0.426873476234,0.00461603765585,0.0597516988546,0.999999892947,0.000255408333996,-0.000384647039999,3.03058031506e-05,1793256071186988288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,751,730,706.859498221,697,653.859498221,931,799,835,671,654,678,0.425976129986,0.00461376243385,0.0597665020605,0.999999908619,0.000245316344334,-0.000348894767197,2.92344652003e-05,1793256071203654912
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,751,730,706.553515205,697,654,931,799,835,670.553515205,654,678,0.425077830004,0.00461423081701,0.0597939687299,0.999999920623,0.000239021298315,-0.000317274959203,3.09602055692e-05,1793256071220321536
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784.037044307,751,730,706,697,654,930.962955693,799,834.962955693,670.037044307,654.037044307,678,0.424179385477,0.00461532434234,0.0598246932856,0.999999931042,0.00023374836926,-0.000286629233209,3.34775798024e-05,1793256071236987904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784.616250765,751,730,706,697,654,930.383749235,799,834.383749235,670.616250765,654.616250765,678,0.423283354925,0.00461254020042,0.0598429711084,0.999999942603,0.000225406342334,-0.000250618332006,3.43000790636e-05,1793256071253654528
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785,751,730,706,697.193757957,654,930.193757957,799,834.193757957,670.806242043,654.806242043,678,0.422373223827,0.00461073774713,0.0598520362799,0.999999948572,0.00021715905553,-0.000233399839815,3.49604339864e-05,1793256071270321152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,785,751,730,706,697.76792901,654,930.76792901,799,834.76792901,670.23207099,654.23207099,678,0.421435408379,0.0046108626837,0.0598430138711,0.999999945492,0.000209097774925,-0.000253077263899,3.5302444364e-05,1793256071286987776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.649893478,751,730,706,698,654,931,799,835,670.350106522,654,677.649893478,0.420493372565,0.00461246187141,0.0597987831203,0.999999923524,0.000205143186225,-0.000331137881929,3.48719790444e-05,1793256071303654656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784.062284646,751,730,706,698,654,931,799,835,670.937715354,654,677.062284646,0.419548473831,0.00461506114916,0.0597306680322,0.999999877909,0.000203974458793,-0.00044880399386,3.39174877794e-05,1793256071320321280
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784,751.517755851,730,706,697.482244149,654,930.482244149,799,834.482244149,670.482244149,654,677.517755851,0.418704707954,0.00461041031024,0.0597283458838,0.999999889809,0.000189089977966,-0.000428476729086,3.21788365759e-05,1793256071336987904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784.09624749,752,730.09624749,706.09624749,697.09624749,654,930,799,834,670,654,678,0.417879138849,0.00460597296588,0.0597410361678,0.999999909176,0.000174742774338,-0.0003874813047,3.1157693038e-05,1793256071353654272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,784.67149662,752,730.67149662,706.67149662,697.67149662,654,930,799,834,670,654,678,0.417084455772,0.00460687618834,0.0597896176469,0.999999931939,0.000171162687298,-0.000325050513378,3.41701270873e-05,1793256071370320896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,785,751.752787632,730.752787632,706.505575264,697.752787632,654,930,799,834.247212368,670,654,678,0.416282030563,0.00460595687863,0.0598253285398,0.99999994558,0.000165008229828,-0.000283321456527,3.66239651846e-05,1793256071386988032
+343,5.716666667,POSE2_TO_POSE3_RETREAT,785,751.176450701,730.176450701,705.352901401,697.176450701,654,930,799,834.823549299,670,654,678,0.415469297983,0.0046026111526,0.0598439042585,0.999999950965,0.000155426402128,-0.000269153524242,3.83341201204e-05,1793256071403654912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784.590898684,751,730,705.409101316,697.409101316,654,930,799.409101316,834.590898684,670,654,678,0.414704383283,0.00459921545259,0.0598501553142,0.999999955601,0.000144584034838,-0.000257699519365,3.85164699725e-05,1793256071420321536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,784.001280439,751,730,705.998719561,697.998719561,654,930,799.998719561,834.001280439,670,654,678,0.413960568266,0.00459579770116,0.0598509680847,0.999999959794,0.000133185450613,-0.000247443040155,3.8024672342e-05,1793256071436988160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,784.577797771,751,730,706,697.422202229,654,930,800,834,670,654,678,0.413178089724,0.00459748855342,0.0598313998894,0.999999949227,0.000131399175937,-0.00028779339336,3.81419889556e-05,1793256071453655040
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784.843840325,751.156159675,730,706,697.156159675,653.843840325,930,800,834,670,654.156159675,678,0.412401187237,0.0045988093784,0.0598040016977,0.999999928521,0.000165895485519,-0.000337641354587,3.78889634115e-05,1793256071470321920
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784.267344628,751.732655372,730,706,697.732655372,653.267344628,930,800,834,670,654.732655372,678,0.411639520176,0.00459910427203,0.0597556468437,0.999999869743,0.000297997553199,-0.000412757633298,3.66355167861e-05,1793256071486988544
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,784,752,730,706,698,654,930,800,834,670.468156574,654.468156574,677.468156574,0.409727780272,0.00459201274513,0.0598167661511,0.999999902775,0.000319598856313,-0.000301560010573,3.69941578666e-05,1793256071536988160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.058126882,751.941873118,730,705.941873118,698,654,930,800,834,671,654.941873118,677.941873118,0.409152922095,0.00459164311059,0.0598570747742,0.999999921174,0.000310727967558,-0.000244170537995,3.84729101169e-05,1793256071553654784
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.639974032,751.360025968,730,705.360025968,698,654,930,800,834,671,654.360025968,677.360025968,0.40856264958,0.00458866895732,0.0598644168088,0.999999927247,0.000298541677847,-0.0002342762443,3.86531996007e-05,1793256071570321664
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785,751.217645021,730,705,698,654,930,800,834,670.782354979,654,677.217645021,0.407984010544,0.00458545954913,0.0598617683082,0.999999930154,0.000285248115754,-0.000238435852224,3.83812220539e-05,1793256071586988544
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930.747877439,800.747877439,834,671,654,678,0.400980065545,0.00454886755684,0.0598455321774,0.99999996241,9.35971495571e-05,-0.000256563655805,2.43941183251e-05,1793256072320321280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930.671366222,800.671366222,834,671,654.328633778,678,0.400979406651,0.0045489797476,0.059845307688,0.999999962418,9.33454880215e-05,-0.000256627135549,2.43430516893e-05,1793256072336987904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930.087197548,800.087197548,834,671,654.912802452,678,0.400979324286,0.00454900637616,0.0598450993658,0.999999962432,9.29534900231e-05,-0.000256676962618,2.47349790002e-05,1793256072353654784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930,800,834,670.507285236,654.507285236,678,0.400979722102,0.00454795420283,0.0598454639196,0.999999962787,9.24458088602e-05,-0.000255465512294,2.4832159802e-05,1793256072370321408
+402,6.700000000,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930,800,834,670.0719138,654.0719138,678,0.400980210377,0.00454703408514,0.0598458467008,0.999999963113,9.21772799432e-05,-0.000254280670881,2.48658315654e-05,1793256072386988032
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930,800.229516649,834,671,654.770483351,678,0.400980789926,0.00454885686364,0.0598458502797,0.99999996277,9.43283803248e-05,-0.000254835695838,2.48991083782e-05,1793256072420320768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,785,752,730,706,698,654,930,800.805768532,834,671,654.194231468,678,0.400980105307,0.00454801367426,0.059846655336,0.99999996307,9.34456836892e-05,-0.000253958099307,2.51819540838e-05,1793256072436987648
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785.380546638,752,730,706,698,654,930,801,834,671,654.380546638,678,0.400979887311,0.00454711801425,0.0598468284419,0.99999996324,9.15795736402e-05,-0.000253962190356,2.52132539373e-05,1793256072453654528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,785.954575392,752,730,706,698,654,930,801,834,671,654.954575392,678,0.400979906561,0.00454619567653,0.0598466802439,0.999999963342,8.92134647211e-05,-0.000254414559702,2.51166597941e-05,1793256072470321152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,930,800.456089199,834,671,655,678,0.40097989292,0.00454561389996,0.0598464119816,0.999999963167,9.01788985214e-05,-0.000254753438529,2.51985121047e-05,1793256072486988288
+409,6.816666667,POSE2_TO_POSE3_RETREAT,785.868378152,752,730,706,698,654,930,800,834,670.868378152,654.868378152,678,0.400979946411,0.00454586243664,0.0598461662319,0.999999962948,9.19701228067e-05,-0.000254969526186,2.52333631685e-05,1793256072503655168
+410,6.833333333,POSE2_TO_POSE3_RETREAT,785.290631124,752,730,706,698,654,930,800,834,670.290631124,654.290631124,678,0.400980237016,0.00454882608172,0.0598460317576,0.999999962655,9.55899553236e-05,-0.000254802475652,2.50569306927e-05,1793256072520321536
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9d84aad42b285291f91dd23a97fc5c2a92e8f60
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.575671195588,0.0101818444961,1.05002040351,0.546242341764,0.0188560770513,1.04969211089
+390,6.500000000,pose2_to_pose3_retreat,0.575670160394,0.0101818242517,1.05002045331,0.546241306734,0.0188560573599,1.04969216061
+391,6.516666667,pose2_to_pose3_retreat,0.575669703005,0.010181815307,1.05002047531,0.546240849417,0.0188560486596,1.04969218258
+392,6.533333333,pose2_to_pose3_retreat,0.575669607901,0.0101818134471,1.05002047989,0.546240754327,0.0188560468505,1.04969218714
+393,6.550000000,pose2_to_pose3_retreat,0.57566948895,0.0101818111209,1.05002048561,0.546240635395,0.0188560445878,1.04969219286
+394,6.566666667,pose2_to_pose3_retreat,0.575669461197,0.0101818105782,1.05002048695,0.546240607646,0.0188560440599,1.04969219419
+395,6.583333333,pose2_to_pose3_retreat,0.575669255234,0.0101818065503,1.05002049685,0.546240401715,0.0188560401421,1.04969220408
+396,6.600000000,pose2_to_pose3_retreat,0.575668638734,0.010181794494,1.05002052651,0.546239785313,0.0188560284151,1.04969223369
+397,6.616666667,pose2_to_pose3_retreat,0.575668056957,0.0101817783676,1.05002058835,0.546239203843,0.018856013252,1.0496922935
+398,6.633333333,pose2_to_pose3_retreat,0.575667573917,0.0101817637188,1.05002064867,0.546238721114,0.018855999576,1.04969235161
+399,6.650000000,pose2_to_pose3_retreat,0.575667280594,0.0101817629251,1.05002067946,0.546238428065,0.0188559996535,1.049692381
+400,6.666666667,pose2_to_pose3_retreat,0.57566718674,0.0101817740003,1.05002068117,0.546238334415,0.0188560113996,1.04969238216
+401,6.683333333,pose2_to_pose3_retreat,0.575667136139,0.0101817799715,1.05002068208,0.546238283923,0.0188560177325,1.04969238278
+402,6.700000000,pose2_to_pose3_retreat,0.575667032733,0.0101817921736,1.05002068396,0.546238180743,0.0188560306739,1.04969238406
+403,6.716666667,pose2_to_pose3_retreat,0.575666974349,0.0101817990632,1.05002068502,0.546238122485,0.0188560379808,1.04969238479
+404,6.733333333,pose2_to_pose3_retreat,0.575666961999,0.0101818005206,1.05002068524,0.546238110162,0.0188560395264,1.04969238494
+405,6.750000000,pose2_to_pose3_retreat,0.575666938016,0.0101818090854,1.05002067106,0.546238086107,0.018856047863,1.04969237125
+406,6.766666667,pose2_to_pose3_retreat,0.575666863707,0.010181866601,1.05002054811,0.546238010897,0.0188561025115,1.04969225329
+407,6.783333333,pose2_to_pose3_retreat,0.575666789925,0.0101819237093,1.05002042603,0.54623793622,0.0188561567731,1.04969213616
+408,6.800000000,pose2_to_pose3_retreat,0.575666778404,0.0101819326263,1.05002040697,0.54623792456,0.0188561652456,1.04969211787
+409,6.816666667,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
+410,6.833333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de6ca54d3495921dbefcd79648bf655fe3f57aef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a3e69c69a2b2babdf19d09bc3860c55d3171a6e24d1673fce047940f66ff450
+size 26155187
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5858d72218053ec2cac777fab0599e918da43d70
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,785,752,730,706,698,654,930,800,834,671,654,678,0.400981015824,0.00454664667943,0.0598486325336,0.999999964012,9.24686483974e-05,-0.000250562536633,2.5381766722e-05,1793256072643734272
+1,0.016666667,BASELINE,785,752.572641254,730,706,698,654,930,800,834,671,654,678,0.400981527953,0.00454584596713,0.0598488288721,0.999999964145,9.17378142554e-05,-0.000250287794994,2.55113595067e-05,1793256072660400896
+2,0.033333333,BASELINE,784.848696425,753,730,706,698,654,930.151303575,800,834,671,654,678,0.400981965914,0.00454583273506,0.059848920129,0.999999964168,9.21757722555e-05,-0.000250032915859,2.55324312096e-05,1793256072677067520
+3,0.050000000,BASELINE,784.252322566,753,730,706,698,654,930.747677434,800,834,671,654,678,0.400982185705,0.00454813593223,0.0598487022805,0.99999996386,9.60518157185e-05,-0.000249836463634,2.52342804233e-05,1793256072693733632
+4,0.066666667,BASELINE,784.332153093,752.667846907,730,706,698,654,930.667846907,800,834,671,654,678,0.400981482403,0.00454888052637,0.0598482571676,0.999999963681,9.62083989102e-05,-0.000250527461453,2.48596801724e-05,1793256072710400000
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+6,0.100000000,BASELINE,785.484084347,752,730,706,698,654,930,800.484084347,834,671,654.484084347,678,0.400980391421,0.00454750960299,0.0598476785797,0.999999963621,9.33485358985e-05,-0.000251859082593,2.47227906875e-05,1793256072743733248
+7,0.116666667,BASELINE,785.938632094,752,730,706,698,654,930,801,834,671,654.938632094,678,0.400980875516,0.00454642681249,0.0598478887956,0.999999963687,9.33219044058e-05,-0.000251566828378,2.51218165356e-05,1793256072760400128
+8,0.133333333,BASELINE,785.352631176,752,730,706,698,654,930,801,834,671,654.352631176,678,0.400980306964,0.00454533520784,0.0598485623718,0.999999963949,9.1819414712e-05,-0.000251064494904,2.52412824537e-05,1793256072777067008
+9,0.150000000,BASELINE,785,752,730,706,698,654,930,801,834,671,654,678,0.400979702402,0.00454513193887,0.0598485588586,0.999999963823,9.16906789455e-05,-0.000251611053002,2.52689637227e-05,1793256072793733376
+10,0.166666667,BASELINE,785,752,730,706,698,654,930,801,834,671,654,678,0.400979043429,0.00454627098114,0.0598475322359,0.999999963107,9.36377410912e-05,-0.000253742528757,2.51579546619e-05,1793256072810400256
+11,0.183333333,BASELINE,785,752,730,706,698,654,930,801,834,671,654,678,0.400979341125,0.00454647917422,0.0598475295911,0.999999963251,9.30754493791e-05,-0.000253393117863,2.50290098415e-05,1793256072827066880
+12,0.200000000,BASELINE,785,752,730,706,698,654,930,801,834,671,654,678,0.400980085571,0.00454625267435,0.059848005129,0.999999963796,9.1341326028e-05,-0.000251885169119,2.48916892722e-05,1793256072843733248
+13,0.216666667,BASELINE,785.542929908,752,730,706,698,654,930.542929908,801,834,671,654,678,0.400981957127,0.00454637210329,0.0598496630768,0.999999964477,9.25948167524e-05,-0.000248677934312,2.51099856844e-05,1793256072860399872
+14,0.233333333,BASELINE,786,752,730,706,698,654,931,801,834,671,654,678,0.400983101621,0.00454633552707,0.0598507336631,0.999999964907,9.31571493047e-05,-0.000246713888252,2.52827806035e-05,1793256072877066752
+15,0.250000000,BASELINE,786,752,730,706,698,654,931,801,834,671,654,678,0.400981190225,0.00454561881883,0.0598492717135,0.999999964369,9.0364730491e-05,-0.000249921552301,2.51974153792e-05,1793256072893733376
+16,0.266666667,BASELINE,785.703918573,752,730,706,698,654,930.703918573,801,834,671,654,678,0.400980418737,0.00454621901916,0.0598487999156,0.999999964088,9.05914567759e-05,-0.00025096925573,2.51251114021e-05,1793256072910400256
+17,0.283333333,BASELINE,785.125971822,752,730,706,698,654,930.125971822,801,834,671,654,678,0.400980732426,0.00454807289784,0.0598492707282,0.999999964057,9.36923665856e-05,-0.000249960707062,2.50652415526e-05,1793256072927067136
+18,0.300000000,BASELINE,785.450123225,752,730,706,698,654,930,800.549876775,833.549876775,671,654,678,0.400980427078,0.0045477309941,0.0598489709683,0.999999964181,9.2894162271e-05,-0.000249802257475,2.46571436903e-05,1793256072943733760
+19,0.316666667,BASELINE,785.973747216,752,729.973747216,706,698,654,930,800,833.026252784,671,654,678,0.400980015411,0.00454682967986,0.0598485060128,0.999999964334,9.11377588662e-05,-0.000249879379934,2.41958764004e-05,1793256072960400128
+20,0.333333333,BASELINE,785.385837668,752,729.385837668,706,698,654,930,800,833.614162332,671,654,678,0.400981020385,0.00454705338254,0.059849101652,0.99999996422,9.21313478033e-05,-0.000249927350222,2.4673527954e-05,1793256072977066752
+21,0.350000000,BASELINE,785.199039448,752,729,706,698,654,930,800,834,671,654,678,0.40098133256,0.0045466633917,0.0598492770524,0.999999964101,9.24543325436e-05,-0.000250243812171,2.50693937463e-05,1793256072993733376
+22,0.366666667,BASELINE,785.778126346,752,729,706,698,654,930,800,834,671,654,678,0.400980321898,0.00454510160974,0.0598486500456,0.999999963975,9.14968603661e-05,-0.000251072934153,2.5309097123e-05,1793256073010400256
+23,0.383333333,BASELINE,786,752.356594281,729.356594281,706,698,654,930,800.356594281,834,671,654,678,0.400979479743,0.00454521436401,0.0598477513666,0.999999963821,9.07049298053e-05,-0.000251986809156,2.51692569025e-05,1793256073027066624
+24,0.400000000,BASELINE,786,752.934677822,729.934677822,706,698,654,930,800.934677822,834,671,654,678,0.400978742253,0.00454636721274,0.0598466839455,0.999999963649,9.00158210187e-05,-0.000252953326374,2.47936730764e-05,1793256073043732992
+25,0.416666667,BASELINE,785.49305663,752.49305663,730,706,698,654,930,800.49305663,834,671,654.50694337,678,0.400980248562,0.00454661948599,0.0598483618679,0.999999964231,9.08424797999e-05,-0.000250337400637,2.48228556869e-05,1793256073060399872
+26,0.433333333,BASELINE,785,752,730,706,698,654,930,800,834,671,654.918755541,678,0.400981647281,0.00454650447035,0.0598499825005,0.999999964769,9.1461937206e-05,-0.000247942954225,2.49163312755e-05,1793256073077067008
+27,0.450000000,BASELINE,785,752,730,706,698,654,930,800,834,671,654.327006554,678,0.400980573826,0.00454480246651,0.0598490455523,0.999999964472,8.95660889053e-05,-0.000249807864096,2.50897877793e-05,1793256073093733632
+28,0.466666667,BASELINE,785.259115518,752,730,706,698,654,930,800.259115518,834,671,654,678,0.400979871836,0.00454450305357,0.0598484568504,0.999999964162,8.95779673792e-05,-0.000251038557602,2.51444812246e-05,1793256073110400000
+29,0.483333333,BASELINE,785.838287262,752,730,706,698,654,930,800.838287262,834,671,654,678,0.400979628674,0.00454593610339,0.0598482982977,0.999999963837,9.19462460657e-05,-0.000251485874922,2.50524800248e-05,1793256073127066624
+30,0.500000000,BASELINE,785.584496489,752,730,706,698,654,930,800.584496489,834,671,654.415503511,678,0.400979853656,0.00454677856978,0.0598485439641,0.999999963949,9.21262758429e-05,-0.000251002347918,2.47423090609e-05,1793256073143733248
+31,0.516666667,BASELINE,785.00803776,752,730,706,698,654,930,800.00803776,834,671,654.99196224,678,0.400980259986,0.00454739225954,0.0598489462146,0.999999964232,9.14586350413e-05,-0.000250158236103,2.43476248257e-05,1793256073160400128
+32,0.533333333,BASELINE,785,752,729.435377921,706,698,654,930,800.564622079,834,670.435377921,654.435377921,678,0.400980307158,0.00454691214954,0.0598488049239,0.999999964105,9.19749925708e-05,-0.00025045329403,2.45619692274e-05,1793256073177066752
+33,0.550000000,BASELINE,785.141909409,752.141909409,729.141909409,706,698,654,930,801,834,670.141909409,654,678,0.400980196181,0.0045467778879,0.059848726539,0.999999963988,9.27580979922e-05,-0.000250621471813,2.46927352595e-05,1793256073193733376
+34,0.566666667,BASELINE,785.734048493,752.734048493,729.734048493,706,698,654,930,801,834,670.734048493,654,678,0.400979599563,0.00454778995519,0.0598488721173,0.999999963916,9.43343848295e-05,-0.000250335996024,2.45310130467e-05,1793256073210400256
+35,0.583333333,BASELINE,785.681881589,753,730,706,698,654.318118411,930.318118411,801,834,671,654,678,0.400979527861,0.00454788434291,0.0598488137849,0.99999996378,9.48678617426e-05,-0.000250658979015,2.47013141893e-05,1793256073227066880
+36,0.600000000,BASELINE,785.104390665,753,730,706,698,654.895609335,930.895609335,801,834,671,654,678,0.400979884139,0.00454723051609,0.0598485891975,0.999999963593,9.45511012401e-05,-0.000251478058636,2.51423249905e-05,1793256073243733248
+37,0.616666667,BASELINE,785,752.528603908,730,706,698,654.528603908,931,801,834,671,654.471396092,678,0.400980006912,0.00454694193444,0.0598489125492,0.999999963783,9.3135689224e-05,-0.000251250942038,2.51375841108e-05,1793256073260400128
+38,0.633333333,BASELINE,785,752,730,706,698,654,930.952084581,800.952084581,834,671,654.952084581,678,0.400980176891,0.00454685832469,0.0598493418174,0.999999964046,9.18020448856e-05,-0.0002507078742,2.5015471761e-05,1793256073277066752
+39,0.650000000,BASELINE,785,752,730,706,698,654,930.363045063,800.363045063,834,671,654.363045063,678,0.400981461864,0.00454817937445,0.0598496018276,0.999999964214,9.41295540523e-05,-0.000249203681033,2.46786131228e-05,1793256073293733376
+40,0.666666667,BASELINE,785.22225613,752,730,706,698,654,930.22225613,800.22225613,834,671,654,678,0.400981925348,0.00454829414782,0.0598494883457,0.999999964335,9.42892952398e-05,-0.000248663014351,2.46095947359e-05,1793256073310400000
+41,0.683333333,BASELINE,785.80155192,752,730,706,698,654,930.80155192,800.80155192,834,671,654,678,0.400981069165,0.00454647111849,0.0598487748738,0.999999964383,9.09666615219e-05,-0.000249670188834,2.49708438804e-05,1793256073327066624
+42,0.700000000,BASELINE,786,752,730,706,698,654,930.621285953,800.621285953,834,671,654,678,0.400981007554,0.0045470687324,0.0598487717517,0.999999964353,9.1554518109e-05,-0.000249581456568,2.49107842822e-05,1793256073343733760
+43,0.716666667,BASELINE,786,752,730,706,698,654,930.04523563,800.04523563,834,671,654,678,0.40098135997,0.00454892766933,0.0598491387712,0.999999964281,9.41800113817e-05,-0.00024892168087,2.46311936065e-05,1793256073360400640
+44,0.733333333,BASELINE,785.470433779,752.529566221,730,706,698.529566221,654.529566221,930,800.529566221,834,671,654,678,0.400981422776,0.00454738737749,0.0598494229473,0.999999964344,9.45437170806e-05,-0.000248498998963,2.49450375723e-05,1793256073377067264
+45,0.750000000,BASELINE,785.107074556,753,730,706,698.892925444,654.892925444,930,800.892925444,834,671,654,678,0.400981418393,0.00454590241182,0.0598496379291,0.999999964419,9.41526618819e-05,-0.000248317498789,2.51986831331e-05,1793256073393733888
+46,0.766666667,BASELINE,785.697274569,753,730,706,698.302725431,654.302725431,930,800.302725431,834,671,654,678,0.400981222207,0.00454597412959,0.0598495725571,0.999999964494,9.12257771599e-05,-0.000249133056388,2.49525270401e-05,1793256073410400256
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+48,0.800000000,BASELINE,786,752.138005648,730,706,698,654,930,800,834,671,654,678,0.400978973573,0.00454634616833,0.0598484190322,0.999999963801,9.18764482865e-05,-0.00025166691358,2.48897070342e-05,1793256073443733248
+49,0.816666667,BASELINE,785.562159016,752,730,706,698,654,930,800.437840984,834,671,654,678,0.400979642817,0.00454562127674,0.0598488945185,0.999999963997,9.1780233829e-05,-0.000250901467944,2.51052232904e-05,1793256073460399872
+50,0.833333333,BASELINE,785.01246746,752,730,706,698,654,930,801,834,671,654,678,0.400980938422,0.00454463912827,0.0598497286756,0.9999999644,9.12175176656e-05,-0.000249471943681,2.53619335635e-05,1793256073477066752
+51,0.850000000,BASELINE,785.585750466,752,730,706,698,654,930,801,834,671,654,678,0.400980699212,0.00454544284269,0.0598494270244,0.999999964531,9.13630031327e-05,-0.000248925896408,2.50419826466e-05,1793256073493733376
+52,0.866666667,BASELINE,785.835306814,752.164693186,730,705.835306814,698,654,930,800.835306814,834,671,654.164693186,678,0.40098081379,0.00454609347806,0.059849568701,0.999999964679,9.13624014601e-05,-0.00024834583641,2.48722737655e-05,1793256073510400256
+53,0.883333333,BASELINE,785.241621738,752.758378262,730,705.241621738,698,654,930,800.241621738,834,671,654.758378262,678,0.400981849909,0.00454634537391,0.0598508651555,0.999999964874,9.09812728142e-05,-0.000247677180291,2.50939145176e-05,1793256073527066880
+54,0.900000000,BASELINE,785,753,730,705.342427324,698,654,930,800.342427324,834,671,654.657572676,678,0.400981784826,0.00454722754051,0.0598507984892,0.999999964823,9.18135146573e-05,-0.000247589995059,2.49614544396e-05,1793256073543733504
+55,0.916666667,BASELINE,785,753,730,705.919863146,698,654,930,800.919863146,834,671,654.080136854,678,0.400980963986,0.00454854226306,0.0598497963103,0.999999964601,9.3478494903e-05,-0.00024790187439,2.4585974305e-05,1793256073560400128
+56,0.933333333,BASELINE,785,753,730,706,698,654,930.495919039,800.504080961,834,671,654.495919039,678,0.400981052074,0.00454706235111,0.0598495236086,0.999999964649,9.17400421517e-05,-0.0002483457694,2.4682967508e-05,1793256073577066752
+57,0.950000000,BASELINE,785,752.926731408,730,706,698,654,930.926731408,800,834,671,654.926731408,678,0.4009811885,0.00454552372171,0.0598493163928,0.999999964695,8.99738082107e-05,-0.000248797657773,2.47937921124e-05,1793256073593733120
+58,0.966666667,BASELINE,785,752.338731641,730,706,698,654,930.338731641,800,834,671,654.338731641,678,0.400980635527,0.00454673633925,0.0598487434057,0.999999964442,9.18653657673e-05,-0.000249156249012,2.44669079638e-05,1793256073610399744
+59,0.983333333,BASELINE,785,752.245115283,729.754884717,706,698,654.245115283,930,800.245115283,834,671,654,678,0.400980054034,0.00454727463565,0.0598485425222,0.999999964269,9.26634601268e-05,-0.000249566357854,2.43524670753e-05,1793256073627066624
+60,1.000000000,BASELINE,785,752.823318973,729.176681027,706,698,654.823318973,930,800.823318973,834,671,654,678,0.400979433784,0.00454689659382,0.0598488472921,0.999999964208,9.19756420491e-05,-0.000250046474279,2.45267163681e-05,1793256073643733504
+61,1.016666667,BASELINE,785,752.599211329,729.400788671,706,698,654.599211329,930.400788671,801,834,671,654,678,0.400979240719,0.00454725956337,0.0598492513138,0.999999964311,9.18635393542e-05,-0.000249668568902,2.45750059568e-05,1793256073660400384
+62,1.033333333,BASELINE,785,752.022064642,729.977935358,706,698,654.022064642,930.977935358,801,834,671,654,678,0.400979235629,0.00454794859831,0.059849699009,0.999999964487,9.20047672714e-05,-0.000248913110352,2.45678698078e-05,1793256073677067264
+63,1.050000000,BASELINE,785,752,730,706,698,654,930.449226314,800.449226314,834,671,654,678,0.400979290188,0.00454673716539,0.0598490563778,0.999999964398,9.12876630277e-05,-0.000249522636149,2.46740825094e-05,1793256073693733632
+64,1.066666667,BASELINE,785,752.127783397,730,706,698,654,930,800.127783397,834,671,654,678,0.400979238227,0.00454598226503,0.0598484388704,0.999999964246,9.10451469431e-05,-0.000250211016915,2.47647144425e-05,1793256073710400000
+65,1.083333333,BASELINE,785,752.72059684,730,706,698,654,930,800.72059684,834,671,654,678,0.400978789989,0.00454716370087,0.0598480705196,0.999999963903,9.26539204633e-05,-0.000250988909435,2.47822477883e-05,1793256073727066624
+66,1.100000000,BASELINE,785.305424064,753,730,705.694575936,698,654,930,801,834,671,654.305424064,678,0.400978896415,0.00454768029834,0.0598479832113,0.99999996384,9.31750762326e-05,-0.000251059692443,2.46655770573e-05,1793256073743733504
+67,1.116666667,BASELINE,785.883131594,753,730,705.116868406,698,654,930,801,834,671,654.883131594,678,0.40097949732,0.0045476041969,0.0598481464505,0.999999964027,9.27266281169e-05,-0.000250500092109,2.44292643075e-05,1793256073760400384
+68,1.133333333,BASELINE,785.540320034,752.540320034,730,705.459679966,698,654,930,801,834,671,654.540320034,678,0.400979803513,0.00454772295957,0.0598489938219,0.999999964234,9.27818420904e-05,-0.000249653741484,2.44366619964e-05,1793256073777067264
+69,1.150000000,BASELINE,785,752.03659389,729.96340611,706,698,654.03659389,930,801,834,671,654,678,0.400980016877,0.00454784476119,0.0598499472796,0.999999964428,9.29745402057e-05,-0.000248796467946,2.45146342065e-05,1793256073793733888
+70,1.166666667,BASELINE,785,752.623423794,729.376576206,706,698,654.623423794,930,801,834,671,654,678,0.400979958229,0.00454726920379,0.0598498871546,0.999999964373,9.33139301085e-05,-0.000248868388182,2.47244709705e-05,1793256073810400768
+71,1.183333333,BASELINE,785,752.791221239,729.208778761,706,698,654.791221239,930,801,834,671,654,678,0.400979768176,0.00454661752212,0.0598500364273,0.999999964436,9.28830452437e-05,-0.000248764856684,2.48540898139e-05,1793256073827067136
+72,1.200000000,BASELINE,785,752.208507869,729.791492131,706,698,654.208507869,930,801,834,671,654,678,0.400979342771,0.00454582949746,0.0598505607431,0.999999964706,9.1072554613e-05,-0.000248347081187,2.48400338442e-05,1793256073843733504
+73,1.216666667,BASELINE,785,752.369173803,730,706,698,654,930.369173803,800.630826197,834,671,654.369173803,678,0.400979978725,0.0045468048705,0.0598508188455,0.999999964835,9.10565807281e-05,-0.000247852976023,2.46407328885e-05,1793256073860399872
+74,1.233333333,BASELINE,785,752.94405177,730,706,698,654,930.94405177,800.05594823,834,671,654.94405177,678,0.400981206068,0.00454876281126,0.0598509286134,0.999999964885,9.20405142193e-05,-0.000247316339884,2.43382131656e-05,1793256073877066752
+75,1.250000000,BASELINE,785,752.481718766,730,706,698,654,931,800,834.518281234,671,654.481718766,678,0.400980096668,0.00454722637498,0.0598501639334,0.999999964649,9.15043733265e-05,-0.000248426311211,2.47805750716e-05,1793256073893733376
+76,1.266666667,BASELINE,785,752.095366474,730,706,698,654,931,800.095366474,834.904633526,671,654,678,0.400979279579,0.00454579401518,0.0598496771642,0.999999964481,9.12305596378e-05,-0.000249160217141,2.51919522036e-05,1793256073910400000
+77,1.283333333,BASELINE,785,752.687697806,730,706,698,654,931,800.687697806,834.312302194,671,654,678,0.400981298621,0.00454686726772,0.0598511299121,0.999999964839,9.31777899252e-05,-0.000247009286687,2.50233647994e-05,1793256073927066624
+78,1.300000000,BASELINE,785,752.726906839,730,706,698,654,931,801,834,671,654.273093161,678,0.400981383629,0.00454758344157,0.0598512608938,0.999999964791,9.37835979446e-05,-0.000247003022574,2.47426401194e-05,1793256073943733760
+79,1.316666667,BASELINE,785,752.149246863,730,706,698,654,931,801,834,671,654.850753137,678,0.40097931171,0.00454790138377,0.0598499177772,0.999999964292,9.28933862893e-05,-0.000249388595119,2.43368544909e-05,1793256073960400896
+80,1.333333333,BASELINE,785,752,730,706,698,654.42730972,930.57269028,801,834,671,655,678,0.400979785145,0.00454765296226,0.0598499399495,0.999999964426,9.25550480294e-05,-0.000248957249712,2.45216325286e-05,1793256073977067520
+81,1.350000000,BASELINE,785,752,730,706,698,654.996452498,930,800.996452498,834,671,654.996452498,678,0.400981131667,0.00454720682855,0.0598504307601,0.999999964777,9.24151690108e-05,-0.000247557635617,2.49106122813e-05,1793256073993733376
+82,1.366666667,BASELINE,785,752,730,706,698,654.409434592,930,800.409434592,834,671,654.409434592,678,0.400980234681,0.00454669370925,0.0598497719959,0.999999964506,9.329541505e-05,-0.000248306866933,2.50473241994e-05,1793256074010400000
+83,1.383333333,BASELINE,785,752,730,706,698,654,930,800.175200233,834,670.824799767,654,678,0.400979468741,0.00454637305401,0.0598493631794,0.999999964281,9.37740417989e-05,-0.000249023483322,2.5121537954e-05,1793256074027066624
+84,1.400000000,BASELINE,785,752,730,706,698,654,930,800.754340757,834,670.245659243,654,678,0.400979004942,0.0045464961423,0.0598495306401,0.999999964165,9.33266984156e-05,-0.000249664903148,2.50516564573e-05,1793256074043733248
+85,1.416666667,BASELINE,785,752,729.669027841,706,698,654,930.330972159,801,834,670.330972159,654,678,0.40097952309,0.00454744124904,0.0598500997178,0.999999964273,9.42621124992e-05,-0.000248889553889,2.49715275979e-05,1793256074060400128
+86,1.433333333,BASELINE,785,752,729.094244819,706,698,654,930.905755181,801,834,670.905755181,654,678,0.400980764589,0.00454899189619,0.0598509646469,0.99999996454,9.62161358232e-05,-0.000247070540698,2.48838500161e-05,1793256074077066752
+87,1.450000000,BASELINE,785.483231902,752.483231902,729.483231902,706,698,654,930.516768098,801,834,671,654,678,0.400979409883,0.00454785266568,0.0598497763345,0.999999964236,9.44454878751e-05,-0.000248971017452,2.4945160189e-05,1793256074093733632
+88,1.466666667,BASELINE,786,752.9376739,730,706,698,654,930,801,834,671,654,678,0.400978001083,0.0045462958489,0.0598485284673,0.999999963946,9.20959424911e-05,-0.000250995408707,2.50379320883e-05,1793256074110400512
+89,1.483333333,BASELINE,786,752.349388272,730,706,698,654,930,801,834,671,654,678,0.400980432651,0.00454566698185,0.0598501762526,0.999999964811,9.10257072971e-05,-0.000247909540329,2.51496215884e-05,1793256074127067136
+90,1.500000000,BASELINE,786,752.235196817,730,706.235196817,698,654.235196817,930,800.764803183,834,671,654.235196817,678,0.400981325354,0.00454567996549,0.0598509176952,0.999999965164,9.06871150505e-05,-0.000246607130859,2.51608303403e-05,1793256074143733760
+91,1.516666667,BASELINE,786,752.814369803,730,706.814369803,698,654.814369803,930,800.185630197,834,671,654.814369803,678,0.400979967462,0.00454663165807,0.0598503336081,0.999999964778,9.14185532768e-05,-0.000247913036578,2.50250856361e-05,1793256074160400384
+92,1.533333333,BASELINE,785.608864314,753,730,706.608864314,698,654.608864314,930,800,834,671,654.608864314,678,0.400979979015,0.00454684740908,0.0598499406827,0.999999964484,9.32760526881e-05,-0.00024841048678,2.49864870431e-05,1793256074177067008
+93,1.550000000,BASELINE,785.033233786,753,730,706.033233786,698,654.033233786,930,800,834,671,654.033233786,678,0.400980636523,0.00454671602381,0.0598496379264,0.999999964229,9.56647041078e-05,-0.000248526596612,2.49937112997e-05,1793256074193733632
+94,1.566666667,BASELINE,785.542245888,752.457754112,730,706,698,654,930,800.542245888,834,671,654,678,0.400979045946,0.00454669849712,0.0598487413621,0.999999964015,9.37841219975e-05,-0.000250117171873,2.4809167897e-05,1793256074210400512
+95,1.583333333,BASELINE,785.879314873,752,730,706,698,654,930,801,834,671,654,678,0.400978070287,0.00454666360416,0.0598482353935,0.999999963954,9.20837894984e-05,-0.000251006685157,2.46427871849e-05,1793256074227067136
+96,1.600000000,BASELINE,785.289330889,752,730,706,698,654,930,801,834,671,654,678,0.40098002145,0.00454653405192,0.0598493897869,0.999999964501,9.21015838059e-05,-0.000248818721738,2.45927255929e-05,1793256074243734272
+97,1.616666667,BASELINE,785,752,730,706,698.295901788,654,930.295901788,800.704098212,834,671,654.295901788,678,0.400979666979,0.00454653326084,0.0598493094542,0.999999964459,9.1293693216e-05,-0.00024928829348,2.45576990975e-05,1793256074260400896
+98,1.633333333,BASELINE,785,752,730,706,698.876562052,654,930.876562052,800.123437948,834,671,654.876562052,678,0.4009770937,0.00454665638193,0.0598480408937,0.999999963845,8.96912120464e-05,-0.000252315320875,2.45371414977e-05,1793256074277067008
+99,1.650000000,BASELINE,785,752.452373797,730,706,698.547626203,654,931,800.452373797,834,671,654.547626203,678,0.40097806126,0.00454689481133,0.0598486209452,0.999999963989,9.14277722066e-05,-0.000251113522414,2.46074525312e-05,1793256074293733376
+100,1.666666667,BASELINE,785,752.972603238,730,706,698.027396762,654,930.972603238,801,834,671,654,678,0.40097991072,0.00454716031358,0.0598496847156,0.999999964328,9.38713109759e-05,-0.000248839644164,2.47031810568e-05,1793256074310400256
+101,1.683333333,BASELINE,785,752.386980877,730,706,698.613019123,654,930.386980877,801,834,671,654,678,0.4009802517,0.00454734314524,0.0598504355665,0.99999996468,9.23523178767e-05,-0.000247983734086,2.48169493867e-05,1793256074327066880
+102,1.700000000,BASELINE,785,752,730,706,698.802882332,654,930.197117668,801,834,671,654.197117668,678,0.400980768636,0.00454723005783,0.0598508023797,0.999999964922,9.13764143298e-05,-0.000247353580964,2.49433255785e-05,1793256074343733504
+103,1.716666667,BASELINE,785,752,730,706,698.22175246,654,930.77824754,801,834,671,654.77824754,678,0.400981628356,0.00454654047956,0.0598504210346,0.999999964958,9.14585237617e-05,-0.000247163233403,2.50942635983e-05,1793256074360400384
+104,1.733333333,BASELINE,785,752.357090695,730,706,698,654,930.642909305,801,834,671,655,678,0.400982109377,0.00454653213886,0.0598506824336,0.999999965182,9.14822502628e-05,-0.000246263130064,2.4937142785e-05,1793256074377067264
+105,1.750000000,BASELINE,785,752.934522897,730,706,698,654,930.065477103,801,834,671,655,678,0.400982356722,0.00454694415324,0.0598513404356,0.99999996552,9.14699517982e-05,-0.000244925074503,2.4589935411e-05,1793256074393734400
+106,1.766666667,BASELINE,785,753,730,706,698,654,930,801,834,671,655,678,0.400981845181,0.00454594456723,0.0598504302281,0.999999965256,8.97586240754e-05,-0.000246617232002,2.47148744059e-05,1793256074410400768
+107,1.783333333,POSE1_TO_POSE2_PRESS,786,752,730,706,698,654,930,801,834,671,654,678,0.400981438718,0.00454528638597,0.0598507644607,0.9999999651,9.04139136534e-05,-0.000246980417225,2.50168395469e-05,1793256074452855040
+108,1.800000000,POSE1_TO_POSE2_PRESS,785.422912151,752.577087849,730,706,698,654,930,801,834,671,654,678,0.400981121204,0.00454641959755,0.0598502852204,0.999999964844,9.18697317977e-05,-0.000247519894417,2.46235299652e-05,1793256074469521408
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,752.846566628,730,706,698,654,930.153433372,801,834,671,654.153433372,678,0.400980686665,0.00454699179467,0.0598500601622,0.999999964674,9.27623729379e-05,-0.000247892837383,2.44315453611e-05,1793256074486187776
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,752.272257217,730,706,698,654,930.727742783,801,834,671,654.727742783,678,0.400979931124,0.00454602509902,0.0598505323392,0.999999964746,9.21101894214e-05,-0.000247808968078,2.47918059723e-05,1793256074502854144
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,752,729.689665409,706,698,654,930.689665409,801,834,671,654.689665409,678,0.400979435524,0.00454460561604,0.0598501759219,0.999999964812,8.95467907594e-05,-0.000248453124084,2.50719440744e-05,1793256074519520768
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,752,729.099608229,706,698,654,930.099608229,801,834,671,654.099608229,678,0.400979174223,0.00454277800961,0.0598490726444,0.999999964857,8.52607029369e-05,-0.00024975349158,2.52798630844e-05,1793256074536187392
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,752.481730028,729.481730028,706,698,654,930,801,834,671,654,678,0.400980244438,0.0045452961882,0.0598495073872,0.999999964679,9.02144291395e-05,-0.000248740556124,2.51465830385e-05,1793256074552854272
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,753,730,706,698,654,930.060946722,801,834,671,654,678,0.40098147011,0.0045483202472,0.0598502239391,0.999999964467,9.5985966922e-05,-0.000247451571969,2.49265992934e-05,1793256074569520896
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,753,730,706,698,654,930.637197555,801,834,671,654,678,0.400981723725,0.00454815904652,0.0598506821352,0.999999964689,9.28057147249e-05,-0.000247800944979,2.45594350082e-05,1793256074586187264
+116,1.933333333,POSE1_TO_POSE2_PRESS,785.212258465,752.787741535,730,706,698,654,930.787741535,801,834,670.787741535,654,677.787741535,0.400985967279,0.00454715147054,0.0598529248011,0.999999965655,9.00722169902e-05,-0.000244889782585,2.46334596584e-05,1793256074602853632
+117,1.950000000,POSE1_TO_POSE2_PRESS,785.785296781,752.214703219,730,706,698,654,930.214703219,801,834,670.214703219,654,677.214703219,0.400996992609,0.00454470529399,0.0598582005648,0.999999967844,8.80980768448e-05,-0.000236436624562,2.54573817793e-05,1793256074619520512
+118,1.966666667,POSE1_TO_POSE2_PRESS,785.629762149,752,730,706,698,654,930,800.629762149,834,670.370237851,654,677.370237851,0.401024176437,0.00454463783173,0.0598693821909,0.999999972156,8.90898759342e-05,-0.000216999645543,2.57159694879e-05,1793256074636187136
+119,1.983333333,POSE1_TO_POSE2_PRESS,785.037689263,752,730,706,698,654,930,800.037689263,834,670.962310737,654,677.962310737,0.401061041938,0.00454599562103,0.059884102427,0.999999977215,9.18587735613e-05,-0.00019098150082,2.5635826421e-05,1793256074652854016
+120,2.000000000,POSE1_TO_POSE2_PRESS,785.541939231,752.541939231,730,706,698,654,930,800.541939231,834,671,654,678,0.401121538759,0.00454530553031,0.0599027800832,0.999999982588,9.18916904371e-05,-0.000160349833375,2.58467810415e-05,1793256074669520640
+121,2.016666667,POSE1_TO_POSE2_PRESS,785.880183149,753,730,706,698,654,930,800.880183149,834,671,654.119816851,678,0.401186803164,0.00454467968464,0.0599206169384,0.999999986781,9.13517495026e-05,-0.000131965096759,2.60265352414e-05,1793256074686187520
+122,2.033333333,POSE1_TO_POSE2_PRESS,785.3057387,753,730,706,698,654,930,800.3057387,834,671,654.6942613,678,0.401264061658,0.00454482586953,0.0599342426627,0.999999989252,8.93439450855e-05,-0.000113296088161,2.60128138164e-05,1793256074702854144
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,753,730,706,698,654,930,800,834,671,654.731012066,678,0.401348209095,0.00454482955076,0.0599443616056,0.999999991081,8.68798110145e-05,-9.81912894444e-05,2.54595332747e-05,1793256074719520512
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,753,730,706,698,654,930,800,834,671,654.155964391,678,0.401440194901,0.00454467108854,0.0599504904631,0.999999992389,8.38964562623e-05,-8.71419197e-05,2.42923318059e-05,1793256074736187136
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,753,730,706,698,654.431607226,930,800.431607226,834,671,654,678,0.401553931675,0.00454426154443,0.0599565341053,0.999999993561,8.24591722576e-05,-7.43283498188e-05,2.35413270747e-05,1793256074752853760
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,752.97668474,730,706,698,654.97668474,930,800.97668474,833.97668474,671,654.02331526,678,0.401676313771,0.00454376109428,0.0599623529886,0.999999994532,8.15543626633e-05,-6.13045125593e-05,2.29285209213e-05,1793256074769520384
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,752.39748035,730,706,698,654.39748035,930,800.39748035,833.39748035,671,654.60251965,678,0.401811822714,0.00454332109883,0.0599635692286,0.999999994854,7.96265944888e-05,-5.89212538049e-05,2.19177494131e-05,1793256074786187008
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,752.179674977,730,706,698,654,930.179674977,800.179674977,833.179674977,671,654.820325023,677.820325023,0.401955144686,0.00454268083293,0.0599632650716,0.999999995187,7.66435326297e-05,-5.76689301188e-05,2.06493807816e-05,1793256074802853632
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,752.752348362,730,706,698,654,930.752348362,800.752348362,833.752348362,671,654.247651638,677.247651638,0.402115555874,0.00454160252074,0.0599596353896,0.999999995543,7.13522545659e-05,-5.88902716361e-05,1.88175767883e-05,1793256074819520512
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,753,730,705.665244092,698,654,931,800.665244092,834,671,654,677.334755908,0.402296472308,0.0045420043043,0.0599583300009,0.999999995926,6.8406757981e-05,-5.64896753318e-05,1.66797326247e-05,1793256074836187136
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,753,730,705.075419501,698,654,931,800.075419501,834,671,654,677.924580499,0.402493012818,0.00454353385297,0.0599587956169,0.999999996319,6.72486389865e-05,-5.13293282663e-05,1.43086996614e-05,1793256074852853760
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,752.494802041,730,705.505197959,698,654,930.494802041,800.505197959,834,671,654,678,0.402738247133,0.00454231323615,0.0599613437191,0.999999997263,5.95936117086e-05,-4.21989633477e-05,1.18766598393e-05,1793256074869520128
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,801,834,671,654,678,0.402993672933,0.00454085987692,0.0599640000885,0.999999998068,5.17001774009e-05,-3.31712830969e-05,9.47739095553e-06,1793256074886186752
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654,930,801,834,671,654,678,0.403266978994,0.00454040515503,0.059965502094,0.999999998425,4.79901829134e-05,-2.81548841925e-05,7.32249186155e-06,1793256074902853376
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,752.236583061,730,706,698,654,930,800.763416939,834,670.763416939,654,678,0.40354924736,0.00454056808137,0.0599615888672,0.999999998489,4.33277364907e-05,-3.35244836775e-05,4.53592274984e-06,1793256074919520000
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,752.813241586,730,706,698,654,930,800.186758414,834,670.186758414,654,678,0.403844398542,0.00454161884393,0.0599498915344,0.999999997856,3.72961916982e-05,-5.38233991724e-05,8.41361989877e-07,1793256074936186880
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.602168128,752.602168128,730,706,698,654,930,800,834,670.397831872,654,678,0.404162453641,0.0045428247045,0.0599384466294,0.999999996915,3.14897567056e-05,-7.19007329952e-05,-2.91085372005e-06,1793256074952853504
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.013778623,752.013778623,730,706,698,654,930,800,834,670.986221377,654,678,0.404491479487,0.00454410485549,0.0599271226353,0.999999995692,2.57911473077e-05,-8.89139500064e-05,-6.69068548867e-06,1793256074969520128
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.565910214,752,730,705.434089786,698,654,930,800.565910214,834,671,654,678,0.404870339278,0.00454260177382,0.0599130406065,0.999999992886,1.8154834324e-05,-0.000117462333052,-1.00743122081e-05,1793256074986186752
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930.144109316,800.855890684,834,671,654,678,0.405269295112,0.00454084865689,0.0599058534187,0.999999990988,9.58030599952e-06,-0.000133221858498,-1.35447807713e-05,1793256075002853632
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930.718483348,800.281516652,834,671,654,678,0.405724683489,0.00453854827655,0.0599194495003,0.999999993802,-1.65670671579e-06,-0.000109972059009,-1.73028967785e-05,1793256075019520256
+142,2.366666667,POSE1_TO_POSE2_PRESS,785,752,730.299685868,705,698,654,930.700314132,800,834,671,654,678,0.406206919757,0.00453728989922,0.059942166577,0.999999997124,-1.09468005661e-05,-7.21495781922e-05,-2.06698051245e-05,1793256075036186880
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,752,730.887452517,705,698,654,930.112547483,800,834,671,654,678,0.406714964307,0.00453703317392,0.0599736514472,0.999999999345,-1.83653696817e-05,-2.03187282442e-05,-2.36606554122e-05,1793256075052853248
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.531748839,752,730.531748839,705,698,654,930,800,834,671,654,678,0.40726216235,0.0045371883352,0.0599992066905,0.99999999913,-2.55529566181e-05,1.88175707145e-05,-2.70723581964e-05,1793256075069520128
+145,2.416666667,POSE1_TO_POSE2_PRESS,784.047244381,752,730,705.047244381,698,654,930,800.047244381,834,671,654,678,0.407818186338,0.00453738475077,0.0600205375292,0.999999997778,-3.27091833877e-05,4.936952458e-05,-3.06096257217e-05,1793256075086186752
+146,2.433333333,POSE1_TO_POSE2_PRESS,784.624497227,752,730,705.624497227,698,654,930,800.624497227,834,671,654,678,0.408369197363,0.00453694963581,0.0600102315375,0.999999998451,-4.01272988505e-05,1.73466023439e-05,-3.44373759994e-05,1793256075102853376
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.201310414,930,800.798689586,834,670.798689586,654.201310414,678,0.408932950876,0.00453591540928,0.0599988794619,0.999999997964,-4.90904279045e-05,-1.36299763244e-05,-3.84336655755e-05,1793256075119520000
+148,2.466666667,POSE1_TO_POSE2_PRESS,785,752,730,706,698,654.777305258,930,800.222694742,834,670.222694742,654.777305258,678,0.409520421025,0.00453376609997,0.0599855803871,0.99999999632,-6.09291779756e-05,-4.26590698655e-05,-4.27436448929e-05,1793256075136186880
+149,2.483333333,POSE1_TO_POSE2_PRESS,785,752,730,705.639495044,698,654.639495044,930,800,834,670.360504956,654.639495044,678,0.410151110943,0.00453275447621,0.0599870709924,0.999999995652,-7.14446596193e-05,-3.6322634391e-05,-4.76626842326e-05,1793256075152853504
+150,2.500000000,POSE1_TO_POSE2_PRESS,785,752,730,705.051753952,698,654.051753952,930,800,834,670.948246048,654.051753952,678,0.410809043442,0.00453245996687,0.0599978839383,0.999999995277,-8.11260485018e-05,-7.69433743619e-06,-5.29656305858e-05,1793256075169520128
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,752,730,705.528099568,698,654,930,800,834,670.471900432,654,678,0.411512236393,0.00453048941684,0.060003794565,0.999999994126,-9.15250910763e-05,5.7177121976e-06,-5.77745327677e-05,1793256075186186752
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,752,730,705.89330448,698,654,930,800,834.10669552,670,654.10669552,677.89330448,0.41221710841,0.00452997400488,0.0600028090241,0.999999995379,-7.77649487834e-05,5.34996887483e-06,-5.62741621359e-05,1793256075202853632
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,752,730,705.316892104,698,654,930,800,834.683107896,670,654.683107896,677.316892104,0.412910132466,0.00453657716543,0.0599735476788,0.999999997509,4.26587731199e-05,-4.92137553706e-05,-2.72078295e-05,1793256075219520256
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930,800,834.740670342,670.259329658,654.740670342,677.259329658,0.413618721918,0.00453781634747,0.0599479076408,0.999999990241,9.93266160074e-05,-9.73270154641e-05,-1.34401657691e-05,1793256075236186880
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930,800,834.164681255,670.835318745,654.164681255,677.835318745,0.414346317887,0.00453250574205,0.0599266894652,0.999999987316,7.81441428902e-05,-0.00013756382135,-1.83532302062e-05,1793256075252853504
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.579343941,752,730,705,698,654,930,799.579343941,834,670.579343941,654,678,0.415165474355,0.00451924909238,0.0599583290272,0.999999995372,4.96942318458e-05,-7.94564618143e-05,-2.17534159458e-05,1793256075269520128
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.009570655,751.990429345,730,705,698,654,930,799,834.009570655,670,654,678,0.416021169879,0.0045031488318,0.0600106629727,0.999999999376,1.8862627892e-05,1.69899702613e-05,-2.4561755607e-05,1793256075286186752
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.588633349,751.411366651,730,705,698,654,930,799,834.588633349,670,654,678,0.416869707565,0.00450715261793,0.0600350878326,0.999999998073,1.94535642711e-05,5.17667413074e-05,-2.81964485901e-05,1793256075302853376
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,751.166927249,730,705,698,654,930.166927249,799.166927249,834.833072751,670.166927249,654,678,0.41772190671,0.00450962612002,0.0600467799735,0.99999999689,2.16744810565e-05,6.91924135517e-05,-3.10371940231e-05,1793256075319520000
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,751.743335225,730,705,698,654,930.743335225,799.743335225,834.256664775,670.743335225,654,678,0.418583087539,0.00450834576011,0.0600272381291,0.999999998131,2.78938197004e-05,4.40549877486e-05,-3.1930347031e-05,1793256075336186624
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930.681769068,800,834.318230932,670.681769068,654,677.681769068,0.419431324999,0.00450796136531,0.0600031094394,0.999999998894,3.26435723609e-05,5.47873746122e-06,-3.34199556563e-05,1793256075352853248
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,930.108087319,800,834.891912681,670.108087319,654,677.108087319,0.420269172496,0.00450829618104,0.0599752987913,0.999999997755,3.62136563808e-05,-4.38851452213e-05,-3.53883519469e-05,1793256075369519872
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.520205122,752,730,705,698,654,930,800,835,670.479794878,654,677.479794878,0.421080679577,0.00451166479784,0.0599354880867,0.999999991821,4.54291543488e-05,-0.000113632108318,-3.71639663515e-05,1793256075386186752
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.06942996,751.93057004,730.06942996,705.06942996,698,654,930.06942996,799.93057004,835,671,654,678,0.421901640091,0.00451445485656,0.0598988240845,0.999999982029,5.42126537864e-05,-0.00017749067293,-3.87358161065e-05,1793256075402853376
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.647749835,751.352250165,730.647749835,705.647749835,698,654,930.647749835,799.352250165,835,671,654,678,0.422836708958,0.00450784219185,0.059905642656,0.999999984605,5.02238609499e-05,-0.000163507162618,-3.91421916585e-05,1793256075419520000
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,751,730.77558777,706,698,654,931,799,835,670.77558777,654,678,0.42380918543,0.00450405852413,0.0599386753139,0.999999992217,4.73645356659e-05,-0.000108529232845,-3.92820245772e-05,1793256075436186880
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,751,730.20150789,706,698,654,931,799,835,670.20150789,654,678,0.424839948662,0.00450468285371,0.0600125534207,0.999999998116,4.62650878467e-05,1.03241067839e-05,-3.90065440926e-05,1793256075452853504
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.617718411,751,730,706,698,654,931,799,835,670,654,678,0.425812105736,0.00450353175429,0.0600504127789,0.999999996514,7.47228660717e-06,7.34811829489e-05,-3.89331723872e-05,1793256075469520128
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.028677471,751,730,706,698,654,931,799,835,670,654,678,0.426752565247,0.00450142040311,0.0600687911706,0.999999992231,-5.17071966458e-05,0.000106514584985,-3.89691125293e-05,1793256075486186752
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,751,730,706,698,654,931,799,835,670.553846535,654,678,0.42768730709,0.00449685094208,0.0600441968566,0.999999994356,-5.77668181071e-05,7.86911970714e-05,-4.19307319588e-05,1793256075502853376
+171,2.850000000,POSE1_TO_POSE2_PRESS,784.134394311,751,730,706,698,654,930.865605689,799,835,670.865605689,654.134394311,678,0.428608257547,0.00449415867556,0.0600148962835,0.999999996577,-5.65398089233e-05,4.08675681395e-05,-4.44872323122e-05,1793256075519520256
+172,2.866666667,POSE1_TO_POSE2_PRESS,784.709554525,751,730,706,698,654,930.290445475,799,835,670.290445475,654.709554525,678,0.429484936738,0.0044980355164,0.0599773734261,0.999999997973,-4.0330915351e-05,-1.95390536644e-05,-4.52240358921e-05,1793256075536186880
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,751,730,706,698,654,930.28469538,799,835,670,654.71530462,678,0.430398945993,0.00449927451472,0.0599537876737,0.999999996861,-3.00004650515e-05,-5.70073474341e-05,-4.61258289269e-05,1793256075552853504
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,751,730,706,698,654,930.85981645,799,835,670,654.14018355,678,0.431351036634,0.00449782257616,0.0599444195529,0.999999996031,-2.56667796449e-05,-7.1075609953e-05,-4.71959323862e-05,1793256075569520128
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.55316345,751,730,706,698,654.44683655,931,799,835,670.44683655,654,678,0.432331864864,0.00449374206899,0.0599836680079,0.999999998493,-2.63404233887e-05,-5.04658083797e-06,-4.79075380867e-05,1793256075586186752
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.036795857,751,730.036795857,706,698,654.963204143,931,798.963204143,835,671,654.036795857,678,0.433317128949,0.00448917905169,0.0600349415935,0.999999995206,-2.80222391626e-05,8.03239502494e-05,-4.848836591e-05,1793256075602853376
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.613605774,751,730.613605774,706,698,654.386394226,931,798.386394226,835,671,654.613605774,678,0.434231558712,0.00448996831091,0.0600327308577,0.999999996093,-2.08144398893e-05,7.06758056703e-05,-4.88456624685e-05,1793256075619520000
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.80998289,751,730.80998289,706,698,654.19001711,931,798,835,670.80998289,654.80998289,678,0.435136152586,0.00448823056062,0.0600205568698,0.999999997629,-1.81605365203e-05,4.46280836552e-05,-4.92008422203e-05,1793256075636186624
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.234380254,751,730.234380254,706,698,654.765619746,931,798,835,670.234380254,654.234380254,678,0.436020787498,0.00448136496539,0.0599881653029,0.999999998358,-2.47474646702e-05,-1.46979051237e-05,-4.95517264771e-05,1793256075652853248
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,750.651102556,730.348897444,706.348897444,697.651102556,654.651102556,931,798,835,670,654.348897444,678,0.436882017706,0.00448105768542,0.0599601608463,0.999999996554,-2.12043221851e-05,-6.21077607569e-05,-5.08416366262e-05,1793256075669519872
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,750.062553014,730.937446986,706.937446986,697.062553014,654.062553014,931,798,835,670,654.937446986,678,0.437727171542,0.00448525520816,0.059935169828,0.999999993416,-1.07029951309e-05,-0.000101332610728,-5.2776548704e-05,1793256075686186752
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,750,731,706.482564683,697,654,931,798,835,670,654.482564683,678,0.438576952429,0.00448257887877,0.0599230231072,0.999999990453,-8.85213470845e-06,-0.000127647126861,-5.21750921207e-05,1793256075702853632
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.095912913,750,730.904087087,706,697,654,931,798,835,670,654,678,0.439439240111,0.00447857348006,0.0599240865575,0.999999989938,-9.1578827645e-06,-0.000131886812609,-5.14437881438e-05,1793256075719520256
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.671924698,750,730.328075302,706,697,654,931,798,835,670,654,678,0.440361377051,0.00447200717565,0.0599836285413,0.999999998001,-1.51092649927e-05,-3.33145936417e-05,-5.15723651373e-05,1793256075736186880
+185,3.083333333,POSE1_TO_POSE2_PRESS,784.752089066,749.752089066,730.247910934,706.247910934,697,654,931,798,835,670.247910934,654.247910934,678,0.44123855654,0.00446947090945,0.0600213779501,0.999999998174,-1.46097096026e-05,2.74245961913e-05,-5.18355035577e-05,1793256075752854016
+186,3.100000000,POSE1_TO_POSE2_PRESS,784.176136683,749.176136683,730.823863317,706.823863317,697,654,931,798,835,670.823863317,654.823863317,678,0.442056247223,0.00447226728296,0.060030290918,0.999999997892,-5.57412492186e-06,3.81022440035e-05,-5.22766972572e-05,1793256075769521664
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,749,730.590881598,706.590881598,697,654,931,798.409118402,835,670.590881598,655,678,0.442811177354,0.00447261143175,0.0599957202185,0.999999998507,-2.54386153395e-08,-1.24920862782e-05,-5.31943867745e-05,1793256075786188032
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,749,730.001528205,706.001528205,697,654,931,798.998471795,835,670.001528205,655,678,0.443538458718,0.0044718752659,0.0599419930157,0.999999994459,3.98711348043e-06,-9.00794676964e-05,-5.4321993822e-05,1793256075802853632
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,749,730,706.576940016,696.423059984,653.423059984,931,798.423059984,835,670.576940016,654.423059984,678,0.444250060478,0.00447488217384,0.0599137000611,0.999999988973,1.61825249335e-05,-0.000137480527717,-5.37629312801e-05,1793256075819520768
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,748.691118248,730.154440876,707,695.845559124,652.845559124,931,797.845559124,835,670.845559124,654.154440876,678,0.444947352294,0.00447812752037,0.0598880567991,0.999999981354,2.83065268155e-05,-0.000183534536511,-5.29751920599e-05,1793256075836188160
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,747.541229929,730.729385035,707,695.270614965,652.270614965,931,797.270614965,835,670.270614965,654.729385035,678,0.445605792913,0.00448199558001,0.0598694479348,0.999999972294,4.01781790778e-05,-0.000226134551612,-5.15767635009e-05,1793256075852855296
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.30364904,747,731,707,695,652,931,797.30364904,835,670.30364904,654.69635096,678,0.446250462266,0.00448632478848,0.0598435641066,0.999999960941,4.82352362885e-05,-0.000270285552903,-5.23248816116e-05,1793256075869521664
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.877308205,747,731,707,695,652,931,797.877308205,835,670.877308205,654.122691795,678,0.446882885925,0.00449106405847,0.0598112112524,0.999999947219,5.29002870364e-05,-0.000315815716013,-5.49817472453e-05,1793256075886187520
+194,3.233333333,POSE1_TO_POSE2_PRESS,784.533739189,747,731,706.533739189,694.533739189,652,931,797.533739189,835,671,654,678,0.447542163018,0.0044937670841,0.0598170340077,0.999999951644,5.64809706444e-05,-0.000300483719053,-5.684580264e-05,1793256075902853888
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+196,3.266666667,POSE1_TO_POSE2_PRESS,784,747.635471939,731,706,693.364528061,652,931,797.635471939,835,671,654,678,0.448793728508,0.00449458651712,0.0598374346837,0.999999962038,5.54358222921e-05,-0.000263141496054,-6.00699482939e-05,1793256075936186880
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,747.787702114,731,706.212297886,693,651.787702114,931.212297886,798,835,671,654,678,0.449348289072,0.00449465513255,0.0598258407957,0.999999956713,5.33097066192e-05,-0.000282659450843,-6.19401474959e-05,1793256075952853504
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,747.212279069,731,706.787720931,693,651.212279069,931.787720931,798,835,671,654,678,0.449838113516,0.0044965739007,0.0597853759575,0.999999935586,5.37691517214e-05,-0.000349002069115,-6.43026312696e-05,1793256075969520128
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,747,731,707,692.628857758,651,931.628857758,797.628857758,835,671,654,678,0.450323507063,0.00450013632473,0.0597513810839,0.999999917492,5.61732592219e-05,-0.000396674815535,-6.7159321897e-05,1793256075986186752
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+202,3.366666667,POSE1_TO_POSE2_PRESS,784.881733942,747.118266058,731,707,691,650,931,797,835,671,654,678,0.451737834458,0.00450730454047,0.0597358277973,0.999999912343,6.05679537644e-05,-0.00040772451049,-7.35244333674e-05,1793256076036186880
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+205,3.416666667,POSE1_TO_POSE2_PRESS,784,747.1541176,731,707,690.1541176,649.1541176,931,797,835,671,654,678,0.452969428952,0.00455948030531,0.0597707960516,0.999999928412,0.000121318643218,-0.000348321345189,-8.44409502833e-05,1793256076086186752
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+211,3.516666667,POSE1_TO_POSE2_PRESS,784,747.330537112,730.330537112,707,688.338925776,648,932,797,835,671,654.330537112,678,0.454666763664,0.0045611693171,0.0597256497945,0.99999989048,0.000198743281427,-0.000419363095266,-6.06257474913e-05,1793256076186186752
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+228,3.800000000,POSE1_TO_POSE2_PRESS,785,747,730.202627709,707.202627709,685,647.797372291,931.797372291,797,835,671,654,678,0.456264526597,0.00458754137241,0.0596637953349,0.999999873945,-2.48331065871e-05,-0.000496283088591,-7.20891102417e-05,1793256076469520128
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,747,730.777786911,707.777786911,685,647.222213089,931.222213089,797,835,671,654,678,0.456272302164,0.00458584740901,0.0596607220539,0.999999871287,-2.46103039922e-05,-0.000501714322918,-7.1434653711e-05,1793256076486187008
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,747.360979346,731,707.639020654,685,647,931,797,835,671,654,678,0.456278717732,0.00458555315799,0.0596592090975,0.999999870067,-2.34227097173e-05,-0.000504217758745,-7.12912704535e-05,1793256076502853632
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,747.949229441,731,707.050770559,685,647,931,797,835,671,654,678,0.456284277052,0.00458614015878,0.0596586785136,0.999999869761,-2.16276875462e-05,-0.000504877867416,-7.1469656339e-05,1793256076519520256
+232,3.866666667,POSE1_TO_POSE2_PRESS,785,747.470783617,731,707.529216383,685,647,931,797,835,671,654,678,0.456285570175,0.0045869389261,0.0596567159319,0.999999868432,-2.0756130215e-05,-0.000507535820191,-7.15077251227e-05,1793256076536186880
+233,3.883333333,POSE1_TO_POSE2_PRESS,784.892248053,747,731,707.892248053,685,647,931.107751947,797,835,671,654,678,0.456286508275,0.0045875626899,0.0596549818626,0.999999867232,-2.00614413874e-05,-0.000509929834152,-7.14485382524e-05,1793256076552853504
+234,3.900000000,POSE1_TO_POSE2_PRESS,784.316625498,747,731,707.316625498,685,647,931.683374502,797,835,671,654,678,0.456287654635,0.00458733971157,0.0596548273643,0.99999986705,-1.97559689381e-05,-0.000510358365711,-7.10246089173e-05,1793256076569520128
+235,3.916666667,POSE1_TO_POSE2_PRESS,784,747.257518201,731,707,685,647,932,797,835,671,654,678.257518201,0.456288289848,0.00458725887004,0.0596543193482,0.99999986653,-1.93595643838e-05,-0.000511413197264,-7.08682245373e-05,1793256076586187264
+236,3.933333333,POSE1_TO_POSE2_PRESS,784,747.829854064,731,707,685,647,932,797,835,671,654,678.829854064,0.456288300181,0.0045873517916,0.0596533791543,0.999999865595,-1.88519947035e-05,-0.000513233684658,-7.10389155339e-05,1793256076602854656
+237,3.950000000,POSE1_TO_POSE2_PRESS,784.416841606,748,731,707.416841606,685,647,931.583158394,797,835,671,654,678.583158394,0.456288529687,0.00458832295877,0.0596526738812,0.999999865205,-1.85691868286e-05,-0.000513994073206,-7.10945774909e-05,1793256076619521536
+238,3.966666667,POSE1_TO_POSE2_PRESS,784.990214065,748,731,707.990214065,685,647,931,797,835,671,654,678,0.456288839095,0.00458959567292,0.0596520652574,0.999999865036,-1.8396207073e-05,-0.000514330536897,-7.10917812077e-05,1793256076636188160
+239,3.983333333,POSE1_TO_POSE2_PRESS,784.411317404,748,731,707.411317404,685,647,931,797,835,671,654,678,0.456288403078,0.00458679783933,0.0596512976532,0.999999864155,-1.90806159324e-05,-0.000516094650295,-7.05193266221e-05,1793256076652854272
+240,4.000000000,POSE1_TO_POSE2_PRESS,784,747.833631501,731,707,685,647,931,797,835,671,654,678,0.456288432559,0.00458539086933,0.0596507964584,0.999999863703,-1.88856916913e-05,-0.000517029971243,-7.01287288145e-05,1793256076669520896
+241,4.016666667,POSE1_TO_POSE2_PRESS,784,747.258917394,731,707,685,647,931,797,835,671,654,678,0.456289604589,0.00458739772512,0.0596509491558,0.999999864308,-1.65324753591e-05,-0.000515931050279,-7.01844920828e-05,1793256076686187520
+242,4.033333333,POSE1_TO_POSE2_PRESS,784.322787452,747.322787452,731,707,685,647,931.322787452,797,835,671,654,678,0.456290336358,0.00458789714146,0.0596510567596,0.999999864494,-1.63497498189e-05,-0.000515577294128,-7.01742804857e-05,1793256076702854400
+243,4.050000000,POSE1_TO_POSE2_PRESS,784.910223878,747.910223878,731,707,685,647,931.910223878,797,835,671,654,678,0.456290707162,0.00458716062891,0.0596511273915,0.999999864339,-1.79465798304e-05,-0.000515834488378,-7.01099770048e-05,1793256076719520768
+244,4.066666667,POSE1_TO_POSE2_PRESS,785,748,731,707,685,647,932,797,835,671,654,678,0.456292136989,0.00458865286032,0.0596521309765,0.999999865051,-1.50195016798e-05,-0.000514514915404,-7.03398987707e-05,1793256076736187392
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,747.93279988,731,707,684.93279988,647,931.93279988,797,835,671,654,678,0.456293417863,0.00459016062768,0.0596529831889,0.999999865706,-1.17692838251e-05,-0.000513300018876,-7.05120393218e-05,1793256076752854016
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,747.378958968,731,707,684.378958968,647,931.378958968,797,835,671,654,678,0.456292236594,0.00458886933537,0.0596515204303,0.999999864923,-1.20888975405e-05,-0.000514902996909,-6.98813803738e-05,1793256076769520640
+247,4.116666667,HOLD_POSE2,785,748,731,707,685,647,931,797,835,671,654,678,0.456291160145,0.00458684045351,0.0596503567346,0.999999864004,-1.55508902912e-05,-0.00051654730147,-7.0200599224e-05,1793256076808601600
+248,4.133333333,HOLD_POSE2,785,747.412995966,731,707,685,647,931,797,835,671,654,678,0.456291817308,0.00458739850545,0.0596513115135,0.999999864502,-1.49740997013e-05,-0.00051561288099,-7.01130171179e-05,1793256076825268736
+249,4.150000000,HOLD_POSE2,785,747.171623061,731,707.171623061,685,647,931.171623061,797,835,671,654.171623061,678,0.456292237987,0.00458780372861,0.0596516695419,0.999999864784,-1.38678769573e-05,-0.000515130898776,-6.98620541207e-05,1793256076841935360
+250,4.166666667,HOLD_POSE2,785,747.750581558,731,707.750581558,685,647,931.750581558,797,835,671,654.750581558,678,0.456292097388,0.00458784622338,0.0596506112247,0.999999864553,-1.15050835836e-05,-0.00051572274723,-6.92233178872e-05,1793256076858601984
+251,4.183333333,HOLD_POSE2,785,747.671493928,731,707.671493928,685,647,932,797,835,671,655,678,0.456292222022,0.00458758523631,0.0596503671805,0.999999864241,-1.1933193389e-05,-0.00051633737347,-6.90686644028e-05,1793256076875268608
+252,4.200000000,HOLD_POSE2,785,747.094352037,731,707.094352037,685,647,932,797,835,671,655,678,0.456292547401,0.00458709455345,0.0596507394337,0.999999863867,-1.44736493611e-05,-0.000516969239456,-6.92803978234e-05,1793256076891935232
+253,4.216666667,HOLD_POSE2,784.521091917,747,731,707,685,647,931.521091917,797,835,671,654.521091917,678,0.45629314032,0.00458742084268,0.0596510451172,0.999999864052,-1.43437909836e-05,-0.000516607367702,-6.93286327173e-05,1793256076908601600
+254,4.233333333,HOLD_POSE2,784.053136682,747,731,707,684.946863318,647,931.053136682,797.053136682,835,671,654,678,0.456293658347,0.00458793496635,0.0596513427984,0.999999864306,-1.37496608267e-05,-0.000516124184381,-6.93838355572e-05,1793256076925267968
+255,4.250000000,HOLD_POSE2,784.644871304,747,731,707,684.355128696,647,931.644871304,797.644871304,835,671,654,678,0.456292887289,0.00458873465283,0.0596516912362,0.999999864143,-1.37392683508e-05,-0.000516379875573,-6.98335409578e-05,1793256076941934848
+256,4.266666667,HOLD_POSE2,785,747.232085993,731,707,684,647,931.767914007,797.767914007,835,671,654,678,0.456292552005,0.00458849551511,0.0596513790511,0.999999863972,-1.38380551715e-05,-0.000516712384761,-6.98075301344e-05,1793256076958601728
+257,4.283333333,HOLD_POSE2,785,747.812516529,731,707,684,647,931.187483471,797.187483471,835,671,654,678,0.456292870786,0.0045866971762,0.0596500753181,0.999999863788,-1.41007123403e-05,-0.000517160192265,-6.90675031037e-05,1793256076975268096
+258,4.300000000,HOLD_POSE2,785,747.611734055,730.611734055,707,684,647,931,797,835,671,654.388265945,678,0.456293531594,0.00458673021608,0.0596506524066,0.999999864097,-1.38114092158e-05,-0.000516576431435,-6.90213332185e-05,1793256076991934976
+259,4.316666667,HOLD_POSE2,785,747.03821805,730.03821805,707,684,647,931,797,835,671,654.96178195,678,0.45629435559,0.00458763704614,0.0596521268753,0.99999986464,-1.32587539509e-05,-0.00051550048714,-6.93062174807e-05,1793256077008602112
+260,4.333333333,HOLD_POSE2,784.451741024,747,730.548258976,707.548258976,684.548258976,647,931.548258976,797,835,671,654.451741024,678,0.456293936828,0.00458880795508,0.0596511684727,0.999999864214,-1.18001027929e-05,-0.000516288261799,-6.98511132124e-05,1793256077025268736
+261,4.350000000,HOLD_POSE2,784.133752773,747,731,707.866247227,685,647,931.866247227,797,835,671,654,678,0.45629376162,0.00458916377032,0.0596505227121,0.999999863929,-1.11381019118e-05,-0.000516822530517,-7.00854853848e-05,1793256077041935872
+262,4.366666667,HOLD_POSE2,784.712891265,747,731,707.287108735,685,647,931.287108735,797,835,671,654,678,0.456294692883,0.00458674260824,0.0596514964192,0.999999864351,-1.33442739768e-05,-0.000516069560763,-6.92240241064e-05,1793256077058601984
+263,4.383333333,HOLD_POSE2,784.707944822,747,731,707,684.707944822,647,931,797,835,671,654,678,0.456294574707,0.00458627377535,0.0596510824368,0.99999986409,-1.41097664005e-05,-0.000516598982606,-6.88997714618e-05,1793256077075268096
+264,4.400000000,HOLD_POSE2,784.12875595,747,731,707,684.12875595,647,931,797,835,671,654,678,0.456293424778,0.00458772437268,0.0596493041489,0.999999863158,-1.34588562492e-05,-0.000518389186236,-6.91036748859e-05,1793256077091934720
+265,4.416666667,POSE2_TO_POSE3_RETREAT,784,747,730,707,684,647,932,797,835,671,654,678,0.456294853192,0.00458728415521,0.0596515276727,0.999999864532,-1.45810444992e-05,-0.000515652698587,-6.94684509833e-05,1793256077124674816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784.587544319,747.587544319,730.587544319,707,684,647,931.412455681,797,835,671,654,678,0.45629374695,0.00458824928509,0.0596503372441,0.999999863365,-1.33725794238e-05,-0.000517936393687,-6.95196639903e-05,1793256077141341184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784.826474964,747.826474964,731,707,684,647,931.173525036,797,835,671,654,678,0.456293409822,0.00458858706419,0.0596498035343,0.999999862916,-1.22305753833e-05,-0.0005188395092,-6.9459183507e-05,1793256077158007808
+268,4.466666667,POSE2_TO_POSE3_RETREAT,784.244177503,747.244177503,731,707,684,647,931.755822497,797,835,671,654,678,0.456294884489,0.00458744699506,0.0596508168544,0.999999864166,-1.12451331672e-05,-0.000516490397837,-6.91355870027e-05,1793256077174674688
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784,747,731,707,684.332841064,647,931.667158936,797,835,671,654,678.332841064,0.456295046749,0.0045881750468,0.0596508684288,0.999999864183,-1.00307136759e-05,-0.000516471492487,-6.92106433109e-05,1793256077191340800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784,747,731,707,684.906047377,647,931.093952623,797,835,671,654,678.906047377,0.456294261237,0.00459025218495,0.0596502254667,0.99999986331,-8.65093550048e-06,-0.000518135374083,-6.9573591649e-05,1793256077208006912
+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.480337632,747,731,707,685,647,931,797,835,671,654,678.519662368,0.456294748161,0.00458857749328,0.0596504371262,0.999999863821,-9.92811843239e-06,-0.000517201906513,-6.90088085609e-05,1793256077224673280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,784.943525101,747,731,707.056474899,684.943525101,647,931,797,835,671,654,678,0.456295132379,0.00458642654419,0.0596506734226,0.999999864404,-1.1486555124e-05,-0.000516129213236,-6.83463917526e-05,1793256077241339904
+273,4.550000000,POSE2_TO_POSE3_RETREAT,784.351899286,747,731,707.648100714,684.351899286,647,931,797,835,671,654,678,0.456292179618,0.0045867322162,0.0596495555867,0.999999863144,-1.07744185964e-05,-0.000518562199708,-6.84822085315e-05,1793256077258006272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,784.234838383,747,731,707.765161617,684.234838383,647,931,797,835,671,654,678,0.456285442564,0.00458811340757,0.0596462993497,0.999999860491,-1.0267433794e-05,-0.000523598911478,-6.89736879553e-05,1793256077274672896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784.814400595,747,731,707.185599405,684.814400595,647,931,797,835,671,654,678,0.456273150472,0.00459107337468,0.0596399041121,0.999999855745,-1.00615952601e-05,-0.000532457681996,-6.99872514747e-05,1793256077291339776
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785,747,730.608575204,707,684.608575204,647,931,797,835,671,654,678,0.456244160878,0.00459089711508,0.059627626326,0.999999844721,-9.29627233002e-06,-0.000552819513078,-6.97221466446e-05,1793256077308006656
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785,747,730.032746633,707,684.032746633,647,931,797,835,671,654,678,0.456207304939,0.00458924335086,0.0596125772171,0.999999830206,-8.26737119723e-06,-0.000578600540935,-6.88546495961e-05,1793256077324673536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785,747,730.552966823,707,684,647,931,797,835,671,654,678,0.456153261047,0.00458974512583,0.0595962141445,0.999999817771,-8.81242517574e-06,-0.000599639501391,-6.93710770284e-05,1793256077341339904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784.862371734,747,731,707,684,647,931.137628266,797,835,671,654,678.137628266,0.456093757039,0.00459041948183,0.0595808311256,0.999999806001,-8.77636943918e-06,-0.000618908988275,-6.9797061319e-05,1793256077358006272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784.282999871,747,731,707,684,647,931.717000129,797,835,671,654,678.717000129,0.456020054266,0.00459123059243,0.0595688480684,0.999999796943,-6.57051532036e-06,-0.00063341679071,-6.96649111473e-05,1793256077374672896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,747,731,707,684,647,932,797,835,671,654,678.703769353,0.455936899179,0.00459194229103,0.0595602123385,0.999999789334,-4.30188279341e-06,-0.000645369379859,-6.93691445296e-05,1793256077391339520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,747,731,707,684,647,932,797,835,671,654,678.124673837,0.455844718267,0.00459255906301,0.0595547729071,0.999999783188,-1.97330452187e-06,-0.000654882044854,-6.8917143772e-05,1793256077408006400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,784,747.449292917,731,707,684.449292917,647,932,797,835,671,654,678.449292917,0.455742354369,0.00459270609538,0.0595573027573,0.999999784347,2.81711701697e-07,-0.000653227068909,-6.78223816889e-05,1793256077424673024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,784,747.977496447,731,707,685,647,931.977496447,797.022503553,835,671,654,678.977496447,0.455635960378,0.00459273942051,0.0595620205205,0.999999787516,2.53559170954e-06,-0.000648482475279,-6.65666024584e-05,1793256077441339904
+285,4.750000000,POSE2_TO_POSE3_RETREAT,784,747.387879906,731,707,685,647,931.387879906,797.612120094,835,671,654,678.387879906,0.455498409831,0.00459315502442,0.0595667756735,0.999999791045,5.26945301895e-06,-0.00064309032634,-6.56971300507e-05,1793256077458006784
+286,4.766666667,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647.198350822,931.198350822,797.801649178,835,671,654,678.198350822,0.455352521447,0.00459401620397,0.0595715141154,0.999999794561,9.45364540583e-06,-0.000637674311361,-6.44910252454e-05,1793256077474673152
+287,4.783333333,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647.778071565,931.778071565,797.221928435,835,671,654,678.778071565,0.455190601884,0.00459573409353,0.059576220426,0.999999798057,1.64263948536e-05,-0.000632212409683,-6.26376760806e-05,1793256077491340032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,784,747,731,707,685,647.645690878,931.645690878,797,835,671,654,678.645690878,0.45500759003,0.00459662334213,0.0595800157091,0.999999799378,2.06952311083e-05,-0.000630140186413,-6.11393369081e-05,1793256077508006656
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,751,730,706,698,654,930.002751144,799.002751144,834,670.002751144,654.997248856,678,0.414142196093,0.00455967416675,0.0598512568173,0.999999960732,0.000118087287201,-0.000251740135165,3.48902689989e-05,1793256078474672896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785.587281479,751,730,706,698,653.412718521,930,799.587281479,834,670.587281479,655,678,0.413358143656,0.00455823691734,0.0598373448725,0.999999940745,0.000196114947641,-0.000280661869369,3.57592480794e-05,1793256078491339520
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785.825410331,751,730,706,698,653.174589669,930.174589669,800,834,671,654.825410331,678,0.412576339653,0.00455678298165,0.0598122412507,0.999999915858,0.000247705947678,-0.000324998624859,3.60756082537e-05,1793256078508006656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,785.244648905,751,730,706,698,653.755351095,930.755351095,800,834,671,654.244648905,678,0.41180001813,0.00455532815578,0.059761285956,0.999999889397,0.00023691936546,-0.000404775797945,3.50867210519e-05,1793256078524673280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,785.334118934,751.334118934,730,706,698,654,930.665881066,800,834,670.665881066,654,678,0.411101969657,0.00455472080146,0.0597469651601,0.999999885688,0.000224294841331,-0.000420913546543,3.38839346391e-05,1793256078541339904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,785.911435652,751.911435652,730,706,698,654,930.088564348,800,834,670.088564348,654,678,0.410460894454,0.00455473030301,0.0597593098086,0.999999901016,0.000210332521164,-0.000390729561814,3.25254558675e-05,1793256078558006528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,930,800,834,670,654,678,0.409867726552,0.00455226420245,0.0597996837494,0.999999924267,0.000200689019966,-0.000331692949212,3.42124731738e-05,1793256078574673152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785.945051178,752,730,706,698,654,930,800,834,670.054948822,654.054948822,677.945051178,0.409282720917,0.00454936411731,0.0598426652365,0.999999944443,0.000191259559494,-0.000270589740899,3.62579194672e-05,1793256078591340032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785.348766307,752,730,706,698,654,930,800,834,670.651233693,654.651233693,677.348766307,0.408692604502,0.00454660793274,0.0598612983928,0.999999954857,0.000176228948877,-0.000240633914527,3.63977644274e-05,1793256078608006656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785.239094936,752,730,706,698,654,930,800.239094936,834,671,654.760905064,677.239094936,0.408114047425,0.00454422501434,0.0598656646496,0.99999995933,0.000163628739037,-0.000230831587151,3.58118243121e-05,1793256078624673792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785.81508681,752,730,706,698,654,930,800.81508681,834,671,654.18491319,677.81508681,0.407551778093,0.00454236804721,0.0598499281171,0.99999995638,0.000154453089066,-0.000249426568639,3.42032160984e-05,1793256078641340928
+357,5.950000000,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,930,800.609044006,834,671,654.390955994,678,0.407026710057,0.00454072858209,0.0598385538805,0.999999954086,0.000147097115824,-0.000262785845041,3.36675750597e-05,1793256078658007552
+358,5.966666667,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,930,800.033232783,834,671,654.966767217,678,0.406519231814,0.00453919195802,0.0598292422613,0.999999952102,0.000140601537228,-0.000273669531243,3.36392635968e-05,1793256078674673920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785.444524027,752,730,706,698,654,930,800,834,671,655,677.444524027,0.406054362636,0.00453720543441,0.0598349602685,0.999999955059,0.000137487817386,-0.000264250265348,3.39267341227e-05,1793256078691340032
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785.142376025,752,730,706,698,654,930.142376025,800,834,671,655,677.142376025,0.405599790561,0.00453556159045,0.0598380665735,0.999999955869,0.000142961303702,-0.000258186296231,3.41069396044e-05,1793256078708006400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785.721308117,752,730,706,698,654,930.721308117,800,834,671,655,677.721308117,0.405168789343,0.00453505297027,0.059830342189,0.999999948827,0.000174129913198,-0.000266223396552,3.38989415763e-05,1793256078724673024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,931,800.298271195,834,670.701728805,655,678,0.40474683144,0.00453445659595,0.0598136172291,0.999999938999,0.000187660396496,-0.000292611411022,3.41068341206e-05,1793256078741339648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,654,931,800.87340654,834,670.12659346,655,678,0.404333267836,0.00453377876565,0.0597885376694,0.99999992586,0.000184818647052,-0.000336033286398,3.470076859e-05,1793256078758006272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,786,752.447730175,730,706.447730175,698,654,931,801,834,670.447730175,654.552269825,678,0.403977952296,0.00453231140911,0.0597754623872,0.99999992,0.000182080612466,-0.000354382559343,3.54800094395e-05,1793256078774673408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,786.02251479,752.97748521,730,707,698,654,930.97748521,800.97748521,834,671,654.02251479,678,0.403641887118,0.00453066596248,0.0597670383895,0.999999917153,0.000179465753498,-0.0003635461342,3.63237434462e-05,1793256078791341056
+366,6.100000000,POSE2_TO_POSE3_RETREAT,786.614761739,752.385238261,730,707,698,654,930.385238261,800.385238261,834,671,654.614761739,678,0.40337694898,0.00453015266471,0.0597905813666,0.99999993225,0.000179227109626,-0.000319332418272,3.74760321885e-05,1793256078808007936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,786.797670588,752,730,706.797670588,698,653.797670588,930,800,834,670.797670588,655,678,0.403122318565,0.00452925030826,0.0598129740706,0.999999944002,0.0001783197047,-0.000280504543211,3.89198200884e-05,1793256078824674560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,786.218811003,752,730,706.218811003,698,653.218811003,930,800,834,670.218811003,655,678,0.402886870604,0.004527623923,0.0598332261417,0.999999951969,0.000176167751988,-0.000251699594296,4.09060808777e-05,1793256078841340928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,653.356319599,930.356319599,800,834,670.356319599,655,678,0.402662385143,0.00452531794726,0.0598440825486,0.999999955929,0.000173247455035,-0.00023732515005,4.24748423008e-05,1793256078858007552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,653.929184056,930.929184056,800,834,670.929184056,655,678,0.402444561861,0.00452259896623,0.0598492289636,0.999999957768,0.000169860214784,-0.000231720502944,4.37898785074e-05,1793256078874674176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,786,752,729.494736065,706,698,654,930.494736065,800,834,671,655,678,0.402240973786,0.00452308419916,0.0598435817325,0.999999954519,0.000169771209765,-0.000245332453835,4.41856763506e-05,1793256078891340800
+372,6.200000000,POSE2_TO_POSE3_RETREAT,786,752,729.083946669,706,698,654,930,800.083946669,834,671,655,678,0.402045123413,0.00452369117291,0.059837224731,0.999999950842,0.000169480002947,-0.00026004725838,4.43587852997e-05,1793256078908007424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,786,752,729.675629333,706,698,654,930,800.675629333,834,671,655,678,0.401883928409,0.0045223008337,0.0598357832931,0.999999950273,0.000165151962598,-0.000265038046318,4.39692397808e-05,1793256078924674560
+374,6.233333333,POSE2_TO_POSE3_RETREAT,786,752.260705016,730,706,698,654.260705016,930,801,834,671,655,678,0.401737094836,0.00451972808079,0.0598348059021,0.999999954697,0.000128952280569,-0.000269620597334,3.58168205384e-05,1793256078941341440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,786,752.837763399,730,706,698,654.837763399,930,801,834,671,655,678,0.401607688197,0.00451572052413,0.0598343916108,0.999999960913,5.40778488564e-05,-0.000273707770456,1.82445162791e-05,1793256078958007808
+376,6.266666667,POSE2_TO_POSE3_RETREAT,786,752.586332172,729.586332172,706.413667828,698,654.586332172,930.413667828,801,834,671,654.586332172,678,0.401500686675,0.00451118239203,0.0598344185953,0.999999962241,3.1929720492e-05,-0.000272561656792,1.4440666831e-05,1793256078974674176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,786,752.010879067,729.010879067,706.989120933,698,654.010879067,930.989120933,801,834,671,654.010879067,678,0.401402447785,0.00450643675223,0.0598346181625,0.99999996313,3.04028242465e-05,-0.000269368807647,1.60216534609e-05,1793256078991340800
+378,6.300000000,POSE2_TO_POSE3_RETREAT,786,752.578010994,729.578010994,706.421989006,698,654,930.421989006,801,834,671,654.578010994,678,0.401326435763,0.00450951093677,0.0598363918772,0.999999963663,3.49860722621e-05,-0.000266803155056,1.62807259307e-05,1793256079008006912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,786,752.835732617,729.835732617,706,698,654,930.164267383,801,834,671,654.835732617,678,0.401254173858,0.00451078887199,0.0598370538844,0.999999963661,3.77191971392e-05,-0.000266407999344,1.68154109087e-05,1793256079024673280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,786,752.256778565,729.256778565,706,698,654,930.743221435,801,834,671,654.256778565,678,0.401190297763,0.00450715184814,0.0598348328541,0.999999962361,3.54845279575e-05,-0.000271461669597,1.81101736997e-05,1793256079041339904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,786,752.320659514,729.320659514,706,698,654,930.679340486,800.679340486,834,671,654.320659514,678,0.401135033076,0.00450709602686,0.0598321633476,0.999999960527,3.68771116138e-05,-0.000277912459025,1.87206445395e-05,1793256079058007040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,786,752.896889403,729.896889403,706,698,654,930.103110597,800.103110597,834,671,654.896889403,678,0.401086631802,0.00450989447659,0.0598291363989,0.999999958228,4.11606691672e-05,-0.000285476773625,1.87857247159e-05,1793256079074674432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,786,753,730,706.470493626,698,654,930.470493626,800.470493626,834,670.529506374,655,678,0.401057543511,0.00450932385461,0.0598295896351,0.999999958703,4.18053406368e-05,-0.000283688115155,1.91497388721e-05,1793256079091341312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,786,753,730,706.955037016,698,654,931,800.955037016,834,670.044962984,655,678,0.40103347133,0.00450808237495,0.0598308751198,0.999999959789,4.15522917253e-05,-0.000279841512562,1.95831239725e-05,1793256079108008704
+385,6.416666667,POSE2_TO_POSE3_RETREAT,786,753,730,706.363081072,698,654,931,800.363081072,834,670.636918928,655,678,0.401019217589,0.00450761206603,0.0598330582255,0.999999960977,4.00258969111e-05,-0.000275756740448,2.00678707573e-05,1793256079124675328
+386,6.433333333,POSE2_TO_POSE3_RETREAT,786,752.776193407,730,706,698,654,931,800.223806593,834,671,654.776193407,678,0.401006020063,0.00450791383216,0.0598348355303,0.999999961748,4.06113801397e-05,-0.000272846429827,2.0261777509e-05,1793256079141341696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,786,752.197345959,730,706,698,654,931,800.802654041,834,671,654.197345959,678,0.400994498091,0.00450944039776,0.059835969083,0.99999996187,4.45470908758e-05,-0.000271799254077,1.99943033033e-05,1793256079158008064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,786.378647717,752.378647717,730,706,698,654,930.621352283,801,834,671,654,678,0.400987820061,0.00450850785981,0.0598366399717,0.999999962255,4.44155987422e-05,-0.000270383716554,2.02656049917e-05,1793256079174674688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,786.953165156,752.953165156,730,706,698,654,930.046834844,801,834,671,654,678,0.400983647742,0.00450630325836,0.05983707153,0.999999962773,4.21801933941e-05,-0.000268777630131,2.08156087089e-05,1793256079191341312
+390,6.500000000,POSE2_TO_POSE3_RETREAT,786.459941475,753,730,706,698,653.459941475,930,801,834,671,654.540058525,678,0.400982816426,0.00450665456784,0.0598391063028,0.999999963528,4.24140042215e-05,-0.000265923167718,2.07165134625e-05,1793256079208007936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,786,753,730,706,698,653.126227872,930,800.873772128,834,671,655,678,0.400982387523,0.00450664942302,0.0598408741282,0.999999964194,4.24371425072e-05,-0.000263403996179,2.07246058144e-05,1793256079224674048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,786,753,730,706,698,653.705851035,930,800.294148965,834,671,655,678,0.40098233893,0.00450454911323,0.0598411720053,0.999999964486,4.09163846777e-05,-0.000262487131745,2.13246357544e-05,1793256079241340672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,786,752.7128865,730,706,698,654,930.2871135,800,834,671,654.7128865,678,0.400980686227,0.00450439616035,0.0598408620144,0.999999964348,4.16150713682e-05,-0.000262887987606,2.14991574718e-05,1793256079258007296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,786,752.129934849,730,706,698,654,930.870065151,800,834,671,654.129934849,678,0.400977380667,0.00450624973937,0.0598399256839,0.999999963761,4.46006456937e-05,-0.000264646605834,2.12352409219e-05,1793256079274673920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,786,752,730,706,698,653.551120188,930.551120188,800,834,670.551120188,654.448879812,678,0.400978247663,0.00450674449988,0.0598410635441,0.999999964272,4.38844626756e-05,-0.000262860672636,2.08362389149e-05,1793256079291340288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,786,752.026640993,730,706,698,653.026640993,930.026640993,800.026640993,834,670.026640993,654.973359007,678,0.400980183519,0.00450676669083,0.0598427160301,0.999999965054,4.21540314253e-05,-0.000260187787107,2.0451655048e-05,1793256079308006912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,786,752.60717015,730,706,698,653.60717015,930.60717015,800.60717015,834,670.60717015,654.39282985,678,0.400979459856,0.00450506674637,0.0598426990954,0.999999965063,4.14110468021e-05,-0.000260211475213,2.11723839347e-05,1793256079324673536
+398,6.633333333,POSE2_TO_POSE3_RETREAT,786,753,730,706,698,654,930.81256573,801,833.81256573,670.81256573,654.18743427,678,0.400978738022,0.00450413062469,0.0598425267684,0.999999965125,4.11804470892e-05,-0.000259988277498,2.14635092236e-05,1793256079341340160
+399,6.650000000,POSE2_TO_POSE3_RETREAT,786,753,730,706,698,654,930.232856335,801,833.232856335,670.232856335,654.767143665,678,0.400978020015,0.00450479308315,0.0598420292258,0.999999965295,4.20222012423e-05,-0.000259248380427,2.08555309819e-05,1793256079358007296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,786,752.655530796,730,706,698,654,930,801,833.344469204,670.344469204,654.655530796,678,0.400978278556,0.00450503759304,0.0598425836384,0.999999965424,4.22590451567e-05,-0.000258701293908,2.09646804974e-05,1793256079374674432
+401,6.683333333,POSE2_TO_POSE3_RETREAT,786,752.079805658,730,706,698,654,930,801,833.920194342,670.920194342,654.079805658,678,0.400979192693,0.00450500151733,0.0598438442707,0.999999965527,4.20897886377e-05,-0.000258283648842,2.15552665383e-05,1793256079391341056
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ddd96b00d0fbf423914ffccfe0ce9da6013675e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+266,4.433333333,pose2_to_pose3_retreat,0.623220632051,0.0101817363185,1.05002062896,0.593791778291,0.0188559765065,1.04969234071
+267,4.450000000,pose2_to_pose3_retreat,0.623220622096,0.0101817342792,1.050020633,0.593791768284,0.0188559742547,1.04969234376
+268,4.466666667,pose2_to_pose3_retreat,0.623220591649,0.0101817280427,1.05002064536,0.593791737678,0.0188559673682,1.0496923531
+269,4.483333333,pose2_to_pose3_retreat,0.623220539871,0.0101817163238,1.05002066387,0.593791685766,0.0188559550257,1.04969236712
+270,4.500000000,pose2_to_pose3_retreat,0.623220446773,0.0101816794132,1.05002066177,0.593791594346,0.0188559238491,1.04969236586
+271,4.516666667,pose2_to_pose3_retreat,0.623220299987,0.0101816218162,1.05002065836,0.593791450183,0.0188558752107,1.04969236378
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+274,4.566666667,pose2_to_pose3_retreat,0.623209087179,0.0101816198273,1.05002054717,0.593780233982,0.0188558616942,1.04969224986
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+288,4.800000000,pose2_to_pose3_retreat,0.622119609279,0.010181780958,1.05002070173,0.592690756316,0.0188560216499,1.04969239702
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+342,5.700000000,pose2_to_pose3_retreat,0.589656475024,0.0101818930608,1.05002066285,0.56022762236,0.0188561295293,1.04969236832
+343,5.716666667,pose2_to_pose3_retreat,0.588967652445,0.0101817567487,1.05002059383,0.559538800438,0.0188559956659,1.04969230507
+344,5.733333333,pose2_to_pose3_retreat,0.588294250534,0.010181894918,1.05002029437,0.558865397963,0.0188561319398,1.04969200615
+345,5.750000000,pose2_to_pose3_retreat,0.58762258293,0.0101818324947,1.05002049849,0.558193730046,0.0188560682036,1.04969220366
+346,5.766666667,pose2_to_pose3_retreat,0.586952874982,0.0101817757025,1.05002064467,0.557524022975,0.018856014236,1.04969234582
+347,5.783333333,pose2_to_pose3_retreat,0.586286019363,0.0101817471763,1.05002043717,0.556857166392,0.0188559826284,1.04969214329
+348,5.800000000,pose2_to_pose3_retreat,0.585631527255,0.0101817338414,1.05002033081,0.556202673694,0.0188559674861,1.04969204206
+349,5.816666667,pose2_to_pose3_retreat,0.584997888302,0.0101817589315,1.05002056125,0.555569035402,0.0188559946681,1.04969226843
+350,5.833333333,pose2_to_pose3_retreat,0.584397137039,0.0101817797257,1.05002075291,0.55496828442,0.0188560162336,1.04969245522
+351,5.850000000,pose2_to_pose3_retreat,0.583830179314,0.0101817411005,1.05002062986,0.554401326523,0.0188559771993,1.04969233685
+352,5.866666667,pose2_to_pose3_retreat,0.583295364481,0.0101817640157,1.05002051902,0.553866513023,0.0188560046911,1.04969222736
+353,5.883333333,pose2_to_pose3_retreat,0.582781294025,0.0101818274594,1.05002032802,0.553352442174,0.0188560667066,1.04969203383
+354,5.900000000,pose2_to_pose3_retreat,0.58228070856,0.0101818041796,1.05002056032,0.552851858102,0.0188560482106,1.04969226841
+355,5.916666667,pose2_to_pose3_retreat,0.581791966686,0.0101818010145,1.05002058725,0.552363114328,0.0188560385396,1.049692294
+356,5.933333333,pose2_to_pose3_retreat,0.581316613193,0.0101816367545,1.05002060925,0.551887762107,0.0188558784197,1.04969231137
+357,5.950000000,pose2_to_pose3_retreat,0.580862874709,0.0101815512185,1.05002063258,0.551434025163,0.0188557979777,1.04969233134
+358,5.966666667,pose2_to_pose3_retreat,0.580430528876,0.010181792341,1.05002058879,0.551001676269,0.0188560287766,1.04969228913
+359,5.983333333,pose2_to_pose3_retreat,0.580020730395,0.0101820234403,1.0500206337,0.550591875916,0.0188562536998,1.04969233818
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+361,6.016666667,pose2_to_pose3_retreat,0.579253395232,0.0101818237871,1.05002056453,0.549824542267,0.0188560589422,1.04969226263
+362,6.033333333,pose2_to_pose3_retreat,0.57889665916,0.0101817897395,1.05002030006,0.549467805943,0.0188560245896,1.0496920127
+363,6.050000000,pose2_to_pose3_retreat,0.578560453421,0.010181712291,1.05002037544,0.549131601375,0.018855950968,1.04969208425
+364,6.066666667,pose2_to_pose3_retreat,0.578252793586,0.0101817328432,1.05002057972,0.548823942584,0.0188559749448,1.04969228535
+365,6.083333333,pose2_to_pose3_retreat,0.577973987353,0.0101818278692,1.05002059692,0.548545135504,0.0188560670526,1.04969230162
+366,6.100000000,pose2_to_pose3_retreat,0.577725900127,0.0101818697025,1.05002048883,0.548297047653,0.018856106826,1.04969219525
+367,6.116666667,pose2_to_pose3_retreat,0.577500352395,0.0101818362629,1.05002040156,0.548071500654,0.0188560759981,1.04969211132
+368,6.133333333,pose2_to_pose3_retreat,0.57729510775,0.0101818195071,1.05002040398,0.547866256796,0.0188560619419,1.04969211443
+369,6.150000000,pose2_to_pose3_retreat,0.577100599467,0.0101816878127,1.05002064245,0.547671748225,0.0188559288914,1.04969234285
+370,6.166666667,pose2_to_pose3_retreat,0.576916213468,0.0101817865947,1.0500205718,0.547487360737,0.0188560228079,1.04969227721
+371,6.183333333,pose2_to_pose3_retreat,0.576744737849,0.0101818662033,1.05002056543,0.54731588426,0.0188560992507,1.04969226401
+372,6.200000000,pose2_to_pose3_retreat,0.576586680814,0.0101819483085,1.0500205123,0.54715782615,0.018856177677,1.04969221015
+373,6.216666667,pose2_to_pose3_retreat,0.576443787357,0.0101819205982,1.05002046428,0.547014932949,0.0188561511278,1.04969216992
+374,6.233333333,pose2_to_pose3_retreat,0.576317553813,0.0101817867848,1.05002060616,0.546888701229,0.0188560234897,1.0496923115
+375,6.250000000,pose2_to_pose3_retreat,0.576208276246,0.0101818212882,1.05002078179,0.546779423345,0.0188560567068,1.04969248157
+376,6.266666667,pose2_to_pose3_retreat,0.576113489439,0.010181719265,1.05002067774,0.546684637101,0.0188559565408,1.0496923761
+377,6.283333333,pose2_to_pose3_retreat,0.576031558447,0.0101818035241,1.05002022828,0.546602705819,0.0188560400871,1.04969193434
+378,6.300000000,pose2_to_pose3_retreat,0.575960982422,0.0101818624036,1.0500205604,0.546532129647,0.0188560982255,1.04969226002
+379,6.316666667,pose2_to_pose3_retreat,0.575899302437,0.0101819100587,1.05002057069,0.546470449167,0.0188561445635,1.04969227984
+380,6.333333333,pose2_to_pose3_retreat,0.575846253017,0.0101818095726,1.05002050814,0.546417401237,0.0188560492739,1.04969222099
+381,6.350000000,pose2_to_pose3_retreat,0.575801252786,0.0101817486078,1.05002048643,0.546372401904,0.0188559910855,1.04969219216
+382,6.366666667,pose2_to_pose3_retreat,0.575764527338,0.0101817334379,1.05002038299,0.546335676446,0.0188559757897,1.0496920862
+383,6.383333333,pose2_to_pose3_retreat,0.575736370165,0.0101815787592,1.05002035897,0.546307521047,0.0188558272438,1.04969206527
+384,6.400000000,pose2_to_pose3_retreat,0.575715301414,0.0101815226008,1.05002050147,0.546286452651,0.018855772271,1.04969220728
+385,6.416666667,pose2_to_pose3_retreat,0.575700416983,0.0101816229752,1.05002029343,0.546271566106,0.0188558655662,1.04969200171
+386,6.433333333,pose2_to_pose3_retreat,0.57568945711,0.0101816339924,1.05002059901,0.546260607706,0.018855881281,1.04969229872
+387,6.450000000,pose2_to_pose3_retreat,0.57568165052,0.0101817163402,1.05002068876,0.54625280003,0.0188559599417,1.04969238873
+388,6.466666667,pose2_to_pose3_retreat,0.57567604449,0.0101817572995,1.05002064932,0.54624719253,0.0188559959778,1.04969235136
+389,6.483333333,pose2_to_pose3_retreat,0.575672622368,0.0101816472651,1.05002058308,0.546243770743,0.0188558869729,1.04969228227
+390,6.500000000,pose2_to_pose3_retreat,0.575670928129,0.0101816274347,1.05002043119,0.546242077143,0.0188558695075,1.04969213563
+391,6.516666667,pose2_to_pose3_retreat,0.575669963632,0.0101816321351,1.05002028976,0.546241113228,0.0188558764104,1.04969200027
+392,6.533333333,pose2_to_pose3_retreat,0.575669116322,0.0101816362644,1.05002016552,0.546240266429,0.0188558824746,1.04969188135
+393,6.550000000,pose2_to_pose3_retreat,0.575668552655,0.0101816564099,1.05002018261,0.54623970242,0.0188559014679,1.04969189864
+394,6.566666667,pose2_to_pose3_retreat,0.575668300583,0.0101816724217,1.0500202304,0.546239449921,0.0188559159827,1.04969194516
+395,6.583333333,pose2_to_pose3_retreat,0.575667971303,0.0101816933378,1.05002029282,0.546239120083,0.0188559349431,1.04969200594
+396,6.600000000,pose2_to_pose3_retreat,0.575667748486,0.0101817074913,1.05002033507,0.546238896888,0.0188559477733,1.04969204707
+397,6.616666667,pose2_to_pose3_retreat,0.575667675364,0.0101817121361,1.05002034893,0.546238823642,0.0188559519838,1.04969206056
+398,6.633333333,pose2_to_pose3_retreat,0.575667671831,0.0101817123605,1.0500203496,0.546238820103,0.0188559521872,1.04969206122
+399,6.650000000,pose2_to_pose3_retreat,0.57566755851,0.0101817195587,1.05002037108,0.54623870659,0.0188559587124,1.04969208213
+400,6.666666667,pose2_to_pose3_retreat,0.575667490861,0.0101817238559,1.05002038391,0.546238638826,0.0188559626078,1.04969209462
+401,6.683333333,pose2_to_pose3_retreat,0.575667304643,0.0101817663358,1.0500204307,0.546238452334,0.018856004062,1.04969213891
+402,6.700000000,pose2_to_pose3_retreat,0.575667271583,0.0101817752928,1.05002043954,0.546238419227,0.0188560128407,1.04969214724
+403,6.716666667,pose2_to_pose3_retreat,0.575667162031,0.0101818049733,1.05002046883,0.546238309521,0.01885604193,1.04969217481
+404,6.733333333,pose2_to_pose3_retreat,0.575667092677,0.0101818237633,1.05002048737,0.546238240068,0.0188560603458,1.04969219227
+405,6.750000000,pose2_to_pose3_retreat,0.575667077316,0.010181827925,1.05002049148,0.546238224685,0.0188560644246,1.04969219614
+406,6.766666667,pose2_to_pose3_retreat,0.57566690821,0.0101818737405,1.05002053669,0.54623805534,0.0188561093276,1.04969223871
+407,6.783333333,pose2_to_pose3_retreat,0.575666821865,0.0101819004892,1.05002053815,0.546237968767,0.0188561353053,1.04969224021
+408,6.800000000,pose2_to_pose3_retreat,0.575666781422,0.0101819306303,1.05002042537,0.546237927664,0.0188561634836,1.04969213472
+409,6.816666667,pose2_to_pose3_retreat,0.575666776741,0.010181934119,1.05002041232,0.546237922906,0.0188561667451,1.04969212252
+410,6.833333333,pose2_to_pose3_retreat,0.575666770708,0.0101819386151,1.05002039549,0.546237916775,0.0188561709485,1.04969210678
+411,6.850000000,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f86c127569f1be4499a5d47c5072f3a6065e533
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfdcb5e439bc98ee3acf9e56e528e8c1419f0f44d94e8d72f8a4b2a67feb4350
+size 25791964
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fe7bbf11064c6a0769c5dc0c3bba8cd914788a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+18,0.300000000,BASELINE,787,753,730,705,698,654.443685877,930.556314123,800.443685877,835,669,654,677,0.400949191494,0.00455865084291,0.0499420095194,0.999999977812,8.02537363716e-05,-0.000193226374898,-2.44892313466e-05,1793256081103993600
+19,0.316666667,BASELINE,786.86478297,753,730,704.86478297,698,654,930.86478297,800.13521703,835,669,654.13521703,677,0.400949651834,0.00455828755205,0.0499422598201,0.999999977885,8.12279289376e-05,-0.000192462890194,-2.43069809904e-05,1793256081120660480
+20,0.333333333,BASELINE,786.286083529,753,730,704.286083529,698,654,930.286083529,800.713916471,835,669,654.713916471,677,0.400948560269,0.00455728502277,0.0499424040261,0.999999977808,7.99765980447e-05,-0.000193402694535,-2.41545536463e-05,1793256081137327616
+21,0.350000000,BASELINE,786,753,730,704.288888133,698,654,930.288888133,801,835,669,655,677,0.400948015609,0.00455719101106,0.0499424663608,0.999999977885,7.8215253024e-05,-0.000193713825111,-2.42321982328e-05,1793256081153994240
+22,0.366666667,BASELINE,786,753,730,704.860215203,698,654,930.860215203,801,835,669,655,677,0.400948005644,0.00455798523503,0.0499424486517,0.999999978111,7.5955279607e-05,-0.000193410316511,-2.45347785868e-05,1793256081170660608
+23,0.383333333,BASELINE,785.594709111,753,730,705,698,654.405290889,931,801,835,669,655,677,0.400948301604,0.004557145857,0.0499423383964,0.999999978118,7.58286648492e-05,-0.00019343968991,-2.44050394057e-05,1793256081187327232
+24,0.400000000,BASELINE,785.058136707,753,730,705,698,654.941863293,931,801,835,669,655,677,0.400948696659,0.00455577732393,0.0499421981634,0.999999978055,7.63930858171e-05,-0.000193576890168,-2.41352636355e-05,1793256081203993600
+25,0.416666667,BASELINE,786.132651653,753,730,705,698,655,930.433674174,800.433674174,835,669,655,677,0.400947071324,0.0045569409438,0.0499412088875,0.999999977638,7.68770536167e-05,-0.000195504370422,-2.43238658988e-05,1793256081220660224
+26,0.433333333,BASELINE,787,753,730,705,698,655,930.184411097,800.184411097,835,669,654.815588903,677,0.400946523101,0.004557691668,0.0499409619421,0.999999977491,7.74114608922e-05,-0.000196043516337,-2.43262139967e-05,1793256081237327104
+27,0.450000000,BASELINE,787,753,730,705,698,655,930.765779782,800.765779782,835,669,654.234220218,677,0.400948821902,0.00455689127699,0.0499425349965,0.99999997802,7.80754866438e-05,-0.000193125898162,-2.38077403887e-05,1793256081253993728
+28,0.466666667,BASELINE,786.656620967,753,730,704.656620967,697.656620967,655,931,801,835,669,654.343379033,677,0.400950021205,0.00455787273371,0.0499433116601,0.999999978154,7.96490308042e-05,-0.000191765757435,-2.3941002886e-05,1793256081270660352
+29,0.483333333,BASELINE,786.081564979,753,730,704.081564979,697.081564979,655,931,801,835,669,654.918435021,677,0.40095047868,0.00456005639858,0.0499435510008,0.999999978023,8.18362246706e-05,-0.000191456442935,-2.45139900988e-05,1793256081287326720
+30,0.500000000,BASELINE,786,753,730,704.510497856,697.510497856,654.489502144,930.489502144,801,835,669,655,677,0.400949566857,0.00456041835196,0.0499430163891,0.999999977869,8.14489416007e-05,-0.000192410405115,-2.46428400746e-05,1793256081303993344
+31,0.516666667,BASELINE,786,753,730,705,698,654,930.101874125,801,835,669,655,677,0.400948690651,0.00456013108059,0.0499425224306,0.999999977783,8.03551358537e-05,-0.000193314432548,-2.46112699432e-05,1793256081320659968
+32,0.533333333,BASELINE,786,753,730,705,698,654,930.677002881,801,835,669,655,677,0.400949031263,0.00455822657965,0.0499428115772,0.999999978042,7.7955907098e-05,-0.000193016528626,-2.41754850943e-05,1793256081337326592
+33,0.550000000,BASELINE,786,753,730,704.747657374,698,654.252342626,930.747657374,801,835,669,655,677,0.400948942241,0.00455712797923,0.0499425873049,0.999999978097,7.64888656046e-05,-0.000193342040139,-2.39787492087e-05,1793256081353993216
+34,0.566666667,BASELINE,786,753,730,704.172047382,698,654.827952618,930.172047382,801,835,669,655,677,0.400948302828,0.00455706179007,0.0499417053096,0.999999977897,7.62160169891e-05,-0.000194466187516,-2.40882506732e-05,1793256081370659840
+35,0.583333333,BASELINE,786,752.588223959,730,704.411776041,698,655,930.411776041,800.588223959,835,669,654.588223959,677,0.400947955938,0.00455615663104,0.0499415531464,0.999999977947,7.50279378219e-05,-0.000194667118861,-2.4116168925e-05,1793256081387326720
+36,0.600000000,BASELINE,786,752.000898924,730,704.999101076,698,655,930.999101076,800.000898924,835,669,654.000898924,677,0.400947733757,0.00455489380108,0.0499417121264,0.999999978102,7.34496761361e-05,-0.000194474463425,-2.41093065057e-05,1793256081403993088
+37,0.616666667,BASELINE,786,752,730,705,698,654.422102011,931,800.577897989,835,669.577897989,654,677,0.400948360792,0.00455608256107,0.0499416224535,0.999999978099,7.52490390512e-05,-0.000193779070282,-2.4283161857e-05,1793256081420660480
+38,0.633333333,BASELINE,786.156312304,752.156312304,730,705,698,654,930.843687696,801,835,669.843687696,654.156312304,677,0.400948652718,0.00455681358129,0.0499415875581,0.999999978102,7.60275099642e-05,-0.000193454682908,-2.43293291073e-05,1793256081437327616
+39,0.650000000,BASELINE,786.733731242,752.733731242,730,705,698,654,930.266268758,801,835,669.266268758,654.733731242,677,0.400948038355,0.00455630132294,0.0499417012604,0.999999978127,7.40417415494e-05,-0.000194131864083,-2.40307573072e-05,1793256081453993984
+40,0.666666667,BASELINE,787,753,730,704.690380077,698,654.309619923,930.309619923,800.690380077,835,669,654.690380077,677,0.400948746008,0.00455609857803,0.0499421870135,0.999999978258,7.37412509642e-05,-0.000193570480161,-2.40214820736e-05,1793256081470660352
+41,0.683333333,BASELINE,787,753,730,704.115800956,698,654.884199044,930.884199044,800.115800956,835,669,654.115800956,677,0.400950584986,0.00455616070123,0.0499429911514,0.99999997848,7.48829475996e-05,-0.000191949186329,-2.42597742142e-05,1793256081487326464
+42,0.700000000,BASELINE,786.526379771,753,730,704.473620229,698,654.526379771,931,800.473620229,835,669,654.473620229,677,0.400949815626,0.00455702272271,0.0499423901416,0.99999997823,7.61545600937e-05,-0.000192743043393,-2.42994454519e-05,1793256081503993088
+43,0.716666667,BASELINE,786,752.935021532,730.064978468,705,698,654,931,801,835,669,654.935021532,677,0.400948454572,0.00455772473356,0.0499415715982,0.999999977928,7.68777875693e-05,-0.000194024766377,-2.4245642478e-05,1793256081520659712
+44,0.733333333,BASELINE,786,752.357922707,730.642077293,705,698,654,931,801,835,669,654.357922707,677,0.400947619056,0.00455557435854,0.0499418339242,0.999999978164,7.30205327887e-05,-0.000194346959791,-2.38502604069e-05,1793256081537326336
+45,0.750000000,BASELINE,786,752.218425596,730.781574404,705,697.781574404,654,930.781574404,801,835,669,654,677,0.400947690781,0.00455433863603,0.049942126326,0.999999978364,7.12969455247e-05,-0.00019398331725,-2.36677672644e-05,1793256081553993216
+46,0.766666667,BASELINE,786,752.793548215,730.206451785,705,697.206451785,654,930.206451785,801,835,669,654,677,0.400949244064,0.0045545965749,0.0499424678427,0.999999978519,7.3057716069e-05,-0.000192499679377,-2.38329296016e-05,1793256081570659840
+47,0.783333333,BASELINE,786,753,730.377630705,704.622369295,697.377630705,654,930.377630705,801,835,669,654,677,0.400949487533,0.00455600354869,0.049942484539,0.999999978355,7.54005676903e-05,-0.00019243567733,-2.39334379006e-05,1793256081587326464
+48,0.800000000,BASELINE,786,753,730.966730685,704.033269315,697.966730685,654,930.966730685,801,835,669,654,677,0.400948997521,0.00455805397013,0.0499423193394,0.999999978008,7.80693788361e-05,-0.000193166656469,-2.39977406248e-05,1793256081603993088
+49,0.816666667,BASELINE,786.54625602,752.45374398,730.45374398,704,698,654.54625602,931,801,835,669,654.54625602,677,0.400948189959,0.00455640846073,0.049941318943,0.999999978063,7.55779794497e-05,-0.000193872100052,-2.39930368407e-05,1793256081620659968
+50,0.833333333,BASELINE,787,752.124637217,730,704.124637217,698,655,931,801,835,669,654.875362783,677,0.40094772673,0.00455495922169,0.0499407120621,0.999999978171,7.34812713764e-05,-0.000194121696738,-2.39918286232e-05,1793256081637326848
+51,0.850000000,BASELINE,787,752.700949158,730,704.700949158,698,655,931,801,835,669,654.299050842,677,0.400948580219,0.00455502293329,0.0499417124102,0.999999978407,7.39341912311e-05,-0.000192724881978,-2.40182562358e-05,1793256081653993216
+52,0.866666667,BASELINE,786.725508718,753,730,705,698,654.725508718,931,801,835,669,654.274491282,677,0.400948489064,0.00455636352008,0.0499417183866,0.9999999783,7.4576329584e-05,-0.000192995824307,-2.43263547153e-05,1793256081670659584
+53,0.883333333,BASELINE,786.154954122,753,730,705,698,654.154954122,931,801,835,669,654.845045878,677,0.400947379024,0.00455908133058,0.0499406518447,0.999999977819,7.54225569249e-05,-0.000195065591387,-2.49382603285e-05,1793256081687326464
+54,0.900000000,BASELINE,786,752.566807463,730,704.566807463,698,654,930.566807463,801,835,669,654.566807463,677,0.400947724814,0.00455896400568,0.0499405457243,0.999999977779,7.58870285067e-05,-0.000195106775566,-2.48118046054e-05,1793256081703993088
+55,0.916666667,BASELINE,786,752,730,704,698,654,930.027170817,801,835,669,654,677,0.40094854536,0.00455783708998,0.0499407735852,0.999999977898,7.62366082231e-05,-0.000194412034005,-2.44138691026e-05,1793256081720659968
+56,0.933333333,BASELINE,786,752,730,704,698,654,930.60636933,801,835,669,654,677,0.400947983529,0.00455767466495,0.0499405116858,0.999999977891,7.71437550075e-05,-0.000194132146045,-2.40934176828e-05,1793256081737326592
+57,0.950000000,BASELINE,786,752.183881724,730,704.183881724,698,654,931,801,835,669,654.183881724,677,0.400948029869,0.00455715455379,0.049940705996,0.999999977997,7.7205228093e-05,-0.000193592653891,-2.38060128137e-05,1793256081753993472
+58,0.966666667,BASELINE,786,752.757817408,730,704.757817408,698,654,931,801,835,669,654.757817408,677,0.400949366278,0.00455587571098,0.0499418680279,0.999999978345,7.54728393923e-05,-0.000192502483643,-2.3588707056e-05,1793256081770660096
+59,0.983333333,BASELINE,786,753,730.339927458,705,697.660072542,654,930.660072542,801,835,669,654.660072542,677,0.400949583368,0.00455609183289,0.049942032239,0.999999978357,7.48149448549e-05,-0.000192671980259,-2.3801946678e-05,1793256081787326720
+60,1.000000000,BASELINE,786,753,730.928004923,705,697.071995077,654,930.071995077,801,835,669,654.071995077,677,0.400948983347,0.00455739929196,0.0499414680323,0.999999978124,7.49414402469e-05,-0.000193761044559,-2.43294881592e-05,1793256081803993600
+61,1.016666667,BASELINE,786,752.491764903,730.491764903,704.491764903,697.508235097,654,930,801,835,669,654,677,0.400950216748,0.0045575465585,0.049941712449,0.999999978348,7.56319291615e-05,-0.000192304003805,-2.45557435727e-05,1793256081820660224
+62,1.033333333,BASELINE,786.087245044,752,730,704,698,654,930,800.912754956,835,669,654,677,0.400951174829,0.00455739713178,0.0499418822627,0.999999978554,7.60519761411e-05,-0.000191046551469,-2.46665043064e-05,1793256081837326848
+63,1.050000000,BASELINE,786.665548806,752,730,704,698,654,930,800.334451194,835,669,654,677,0.400949143686,0.00455648874221,0.0499409972488,0.99999997832,7.45069972564e-05,-0.000192911665678,-2.43637710319e-05,1793256081853993216
+64,1.066666667,BASELINE,786.758752817,752.241247183,730,704.241247183,698,654.241247183,930.241247183,800.241247183,835,669,654,677,0.400948332919,0.00455617372121,0.0499406275625,0.999999978171,7.39084953338e-05,-0.000193932582763,-2.42195942403e-05,1793256081870659840
+65,1.083333333,BASELINE,786.186627839,752.813372161,730,704.813372161,698,654.813372161,930.813372161,800.813372161,835,669,654,677,0.400949195935,0.00455667252319,0.0499409646636,0.999999978143,7.46081152378e-05,-0.000193795657888,-2.42928824713e-05,1793256081887326464
+66,1.100000000,BASELINE,786,753,730,705,698,655,931,800.601588349,835,669,654,677,0.400950250969,0.0045565727234,0.0499416263567,0.999999978253,7.58123906734e-05,-0.000192766653973,-2.42244184453e-05,1793256081903993344
+67,1.116666667,BASELINE,786,753,730,705,698,655,931,800.01029667,835,669,654,677,0.400951398962,0.00455618312702,0.049942445192,0.999999978426,7.72609811646e-05,-0.000191305774563,-2.4087328966e-05,1793256081920659968
+68,1.133333333,BASELINE,786,753,730,704.43089904,698,655,930.43089904,800.56910096,835,669,654,677,0.400947966375,0.00455604253591,0.0499412904386,0.999999977819,7.76454071026e-05,-0.000194338670083,-2.37712156979e-05,1793256081937326592
+69,1.150000000,BASELINE,786.147813342,752.852186658,730,704,698,654.852186658,930,801,835,669,654.147813342,677,0.400946037431,0.00455584500053,0.0499404477774,0.999999977449,7.75405830621e-05,-0.000196291165292,-2.36400043817e-05,1793256081953993216
+70,1.166666667,BASELINE,786.725146933,752.274853067,730,704,698,654.274853067,930,801,835,669,654.725146933,677,0.400948713714,0.00455546917151,0.0499406136399,0.99999997783,7.60688851983e-05,-0.000194872779166,-2.40553059694e-05,1793256081970660096
+71,1.183333333,BASELINE,786.69917191,752.30082809,730,704.30082809,697.69917191,654,930,801,835,669,655,677,0.400950009972,0.00455533960572,0.0499410476843,0.999999978075,7.56077132469e-05,-0.000193765800367,-2.42451979146e-05,1793256081987326720
+72,1.200000000,BASELINE,786.124992193,752.875007807,730,704.875007807,697.124992193,654,930,801,835,669,655,677,0.400950052251,0.0045554338104,0.0499417254158,0.9999999782,7.60647695504e-05,-0.000192941786005,-2.4230268301e-05,1793256082003993344
+73,1.216666667,BASELINE,786.461682198,753,730,704.538317802,697.461682198,654.461682198,930,801,835,669,655,677,0.400949642532,0.00455550136772,0.049941945111,0.999999978398,7.47962967418e-05,-0.000192428405858,-2.4116162266e-05,1793256082020660224
+74,1.233333333,BASELINE,786.949281229,753,730,704,697.949281229,654.949281229,930,800.949281229,835,669,654.949281229,677,0.400949351182,0.0045556175041,0.0499421387573,0.999999978617,7.34125360661e-05,-0.000191835359869,-2.39910610684e-05,1793256082037326592
+75,1.250000000,BASELINE,786.371820198,753,730,704,697.371820198,654.371820198,930,800.371820198,835,669,654.371820198,677,0.400951595392,0.00455631516916,0.0499433855556,0.999999978878,7.58180740162e-05,-0.000189517234556,-2.4038380123e-05,1793256082053993472
+76,1.266666667,BASELINE,786,753,730,704.204299205,697.204299205,654,930.204299205,800.204299205,835,669,654.204299205,677,0.400953256558,0.00455723968531,0.0499441166191,0.999999978998,7.77677184261e-05,-0.000188074343721,-2.41773601398e-05,1793256082070660352
+77,1.283333333,BASELINE,786,753,730,704.777992768,697.777992768,654,930.777992768,800.777992768,835,669,654.777992768,677,0.400953863519,0.00455857437195,0.0499439151797,0.999999978876,7.88930594265e-05,-0.000188213968627,-2.44820727732e-05,1793256082087326720
+78,1.300000000,BASELINE,786,753,730,704.638243135,698,654.361756865,931,801,835,669,655,677,0.400952412435,0.00455827081905,0.049942679893,0.9999999785,7.89475123762e-05,-0.0001901937094,-2.4383792174e-05,1793256082103993344
+79,1.316666667,BASELINE,786,753,730,704.048121885,698,654.951878115,931,801,835,669,655,677,0.400949662178,0.0045569331031,0.0499407919748,0.999999977955,7.83259513223e-05,-0.00019333505059,-2.40311161096e-05,1793256082120659968
+80,1.333333333,BASELINE,786,752.467863333,730,704.532136667,698,654.467863333,930.467863333,801,835,669,654.467863333,677,0.400950161527,0.00455584746909,0.0499414541622,0.999999978412,7.51482149323e-05,-0.000192229823361,-2.40141456291e-05,1793256082137326592
+81,1.350000000,BASELINE,786.11102029,752.11102029,730,705,698,654,930.11102029,801,835,669,654,677,0.400950528198,0.00455530179408,0.049942008674,0.999999978713,7.30408586192e-05,-0.000191467663892,-2.4071001183e-05,1793256082153993472
+82,1.366666667,BASELINE,786.687809186,752.687809186,730,705,698,654,930.687809186,801,835,669,654,677,0.400949127804,0.0045569275372,0.0499411615664,0.999999978023,7.63762621296e-05,-0.000193726586694,-2.43125364094e-05,1793256082170660096
+83,1.383333333,BASELINE,786.737270308,753,730,704.737270308,698,654.262729692,930.737270308,800.737270308,835,669,654.262729692,677,0.400949226677,0.00455760466511,0.0499409401202,0.999999977892,7.74902657469e-05,-0.000193942985569,-2.44354311659e-05,1793256082187326720
+84,1.400000000,BASELINE,786.16455418,753,730,704.16455418,698,654.83544582,930.16455418,800.16455418,835,669,654.83544582,677,0.400951094488,0.00455716255219,0.0499414568719,0.999999978431,7.59833104912e-05,-0.000191749475513,-2.4418345825e-05,1793256082203993600
+85,1.416666667,BASELINE,786,753,730,704.421945353,698,654.578054647,930.421945353,800.421945353,835,669,654.578054647,677,0.400950314225,0.00455666333154,0.049940947575,0.99999997835,7.54487304412e-05,-0.000192407552575,-2.4234753125e-05,1793256082220660224
+86,1.433333333,BASELINE,786,753,730,705,698,654.013700737,930.986299263,801,835,669,654.013700737,677,0.400948532198,0.00455615076351,0.0499400688629,0.999999978032,7.53084166578e-05,-0.000194136902468,-2.39885569972e-05,1793256082237326848
+87,1.450000000,BASELINE,786,753,730,705,698,654.593028779,930.406971221,801,835,669,654.593028779,677,0.400949467988,0.0045560376673,0.0499410168056,0.999999978328,7.5260761659e-05,-0.000192630782395,-2.39291938059e-05,1793256082253993472
+88,1.466666667,BASELINE,786,753,730,705,698,655,930,800.828279642,835,669,654.828279642,677,0.400950540136,0.00455595257418,0.0499418595377,0.999999978559,7.55973654734e-05,-0.000191299201949,-2.3928730141e-05,1793256082270659840
+89,1.483333333,BASELINE,786,753,730,705,698,655,930,800.251090921,835,669,654.251090921,677,0.400951934251,0.00455593360236,0.049942453845,0.999999978636,7.68412862417e-05,-0.000190379746849,-2.40673408138e-05,1793256082287326464
+90,1.500000000,BASELINE,786.323887803,753,730,705,698,654.676112197,930.323887803,800.323887803,835,669,654.323887803,677,0.400951910958,0.00455626037277,0.0499423628122,0.99999997866,7.65627469135e-05,-0.000190352029997,-2.41802795472e-05,1793256082303993088
+91,1.516666667,BASELINE,786.897164834,753,730,705,698,654.102835166,930.897164834,800.897164834,835,669,654.897164834,677,0.400950796279,0.00455685336002,0.0499417440766,0.999999978642,7.51119338453e-05,-0.000191010939576,-2.42734512279e-05,1793256082320659712
+92,1.533333333,BASELINE,786.515251251,753,730.484748749,704.515251251,698,654.484748749,930.515251251,801,835,669,655,677,0.400949555351,0.00455553676112,0.0499409379036,0.999999978451,7.33358420111e-05,-0.000192743386193,-2.38761813497e-05,1793256082337326592
+93,1.550000000,BASELINE,786.074142499,752.925857501,730.925857501,704.074142499,698,654.925857501,930,801,835,669,654.925857501,677,0.400948503037,0.00455415356929,0.0499401798989,0.999999978237,7.19533080208e-05,-0.000194413717713,-2.34790340461e-05,1793256082353993216
+94,1.566666667,BASELINE,786.654539583,752.345460417,730.345460417,704.654539583,698,654.345460417,930,801,835,669,654.345460417,677,0.400948927047,0.00455516588212,0.0499400305597,0.999999978168,7.37435432603e-05,-0.000194057579077,-2.38147469088e-05,1793256082370659840
+95,1.583333333,BASELINE,786.767370257,752.232629743,730,705,698,654,930.232629743,801,835,669,654.232629743,677,0.400949411754,0.00455567987028,0.0499401043704,0.999999978147,7.53792032088e-05,-0.000193524909403,-2.39099447249e-05,1793256082387326464
+96,1.600000000,BASELINE,786.192672207,752.807327793,730,705,698,654,930.807327793,801,835,669,654.807327793,677,0.400949985714,0.00455546110156,0.0499405063101,0.999999978199,7.67875695809e-05,-0.000192732661209,-2.36514794106e-05,1793256082403993088
+97,1.616666667,BASELINE,786.389817259,752.610182741,730,704.610182741,698,654,930.610182741,801,835,669,655,677,0.400949745364,0.00455637511165,0.0499407619539,0.99999997818,7.76210971889e-05,-0.000192491289312,-2.37135590972e-05,1793256082420659968
+98,1.633333333,BASELINE,786.976236238,752.023763762,730,704.023763762,698,654,930.023763762,801,835,669,655,677,0.400949094322,0.00455786043114,0.0499409438145,0.999999978125,7.81647086362e-05,-0.000192527748229,-2.39373035211e-05,1793256082437326592
+99,1.650000000,BASELINE,786.444427942,752.555572058,730,704.555572058,698,654.555572058,930,801,835,669,654.444427942,677,0.400949494384,0.00455650170703,0.0499413777031,0.999999978288,7.74205534334e-05,-0.000192041952914,-2.34506593239e-05,1793256082453993216
+100,1.666666667,BASELINE,786,753,730,705,698,655,930.134587407,801,835,669,654.134587407,677,0.400949889547,0.00455547809345,0.0499417141321,0.999999978415,7.69654679221e-05,-0.000191598690117,-2.31421254608e-05,1793256082470659840
+101,1.683333333,BASELINE,786,753,730,705,698,655,930.713532355,801,835,669,654.713532355,677,0.400950121967,0.00455595747607,0.0499416936416,0.999999978398,7.76443548244e-05,-0.000191368679306,-2.35207053689e-05,1793256082487326208
+102,1.700000000,BASELINE,786,753,730,704.710063126,698,654.710063126,931,801,835,669,654.710063126,677,0.40095013166,0.00455619951252,0.0499413337675,0.999999978298,7.7061674559e-05,-0.000192085666861,-2.38395778357e-05,1793256082503993088
+103,1.716666667,BASELINE,786,753,730,704.136146868,698,654.136146868,931,801,835,669,654.136146868,677,0.400949923204,0.00455620907964,0.0499406414832,0.999999978113,7.5243349197e-05,-0.000193730194301,-2.40999696804e-05,1793256082520659712
+104,1.733333333,BASELINE,786,753,730,704,698,654.449265696,931,800.550734304,835,669,654,677,0.400950329326,0.00455657708834,0.0499408066644,0.999999978176,7.60372780064e-05,-0.000193100655293,-2.40440232283e-05,1793256082537326336
+105,1.750000000,BASELINE,786,753,730,704,698,654.962406084,930.962406084,800.037593916,835.037593916,669,654.037593916,677,0.40095078108,0.00455702208577,0.0499411850669,0.999999978295,7.74814753937e-05,-0.000191926169231,-2.39105456233e-05,1793256082553993216
+106,1.766666667,BASELINE,786,753,730,704,698,654.383576312,930.383576312,800.616423688,835.616423688,669,654.616423688,677,0.400949138074,0.00455697057576,0.0499407939322,0.999999978136,7.65912715093e-05,-0.000193088167215,-2.40772505041e-05,1793256082570659840
+107,1.783333333,POSE1_TO_POSE2_PRESS,787,752,730,704,698,655,931,801,835,669,654,676,0.400950727013,0.00455482125913,0.0499421225838,0.999999978523,7.66507905611e-05,-0.000191114601397,-2.35543539847e-05,1793256082610999552
+108,1.800000000,POSE1_TO_POSE2_PRESS,787,752.581356497,730,704.581356497,698,655,931,801,835,669,654.581356497,676.581356497,0.400950426223,0.00455585386966,0.0499417427408,0.999999978545,7.47001783134e-05,-0.000191684707981,-2.42379069778e-05,1793256082627666944
+109,1.816666667,POSE1_TO_POSE2_PRESS,787,752.834624484,730,705,698,655,931,801,835,669,654.834624484,677,0.400950299463,0.00455612933082,0.0499417188508,0.999999978647,7.30128881965e-05,-0.000191764805131,-2.45161296673e-05,1793256082644334080
+110,1.833333333,POSE1_TO_POSE2_PRESS,787,752.243754949,730,705,698,655,931,801,835,669,654.243754949,677,0.400950620464,0.00455445672555,0.0499426107909,0.999999978965,7.20030981415e-05,-0.000190584159055,-2.37514797539e-05,1793256082661000448
+111,1.850000000,POSE1_TO_POSE2_PRESS,786.659170666,752.340829334,730,705,698,655,930.659170666,801,835.340829334,669,654.340829334,677,0.400950558673,0.0045545453026,0.0499423434343,0.999999978868,7.26044998059e-05,-0.000190893760949,-2.3498465121e-05,1793256082677666816
+112,1.866666667,POSE1_TO_POSE2_PRESS,786.079000121,752.920999879,730,705,698,655,930.079000121,801,835.920999879,669,654.920999879,677,0.400950228073,0.00455587063805,0.0499412619827,0.999999978478,7.43373316574e-05,-0.000192249862488,-2.36047371184e-05,1793256082694333440
+113,1.883333333,POSE1_TO_POSE2_PRESS,786.495962327,753,730,704.504037673,698,655,930.495962327,801,835.504037673,669,654.504037673,676.504037673,0.400953203162,0.00455645092113,0.0499422440098,0.999999978826,7.53899780316e-05,-0.000189976274432,-2.39621837893e-05,1793256082711000064
+114,1.900000000,POSE1_TO_POSE2_PRESS,787,753,730,704.071715545,698,654.928284455,930.928284455,801,835.071715545,669,654,676.071715545,0.400957756944,0.00455669425211,0.0499438454072,0.999999979464,7.57399308507e-05,-0.000186400169768,-2.42797148065e-05,1793256082727666432
+115,1.916666667,POSE1_TO_POSE2_PRESS,787,753,730,704.659056896,698,654.340943104,930.340943104,801,835.659056896,669,654,676.659056896,0.400969914836,0.00455535934388,0.0499475613575,0.999999981367,7.18084923411e-05,-0.000177572838452,-2.40255887e-05,1793256082744333056
+116,1.933333333,POSE1_TO_POSE2_PRESS,786.757809044,752.757809044,730,704.757809044,698,654,930.242190956,801,835.757809044,669,654,677,0.400987389252,0.00455449752309,0.0499522937212,0.999999983553,7.08410613397e-05,-0.000165227437103,-2.39839945499e-05,1793256082760999936
+117,1.950000000,POSE1_TO_POSE2_PRESS,786.180496692,752.180496692,730,704.180496692,698,654,930.819503308,801,835.180496692,669,654,677,0.40101222018,0.00455429031695,0.049958432503,0.999999986016,7.39749495223e-05,-0.000148014057233,-2.42364824405e-05,1793256082777667328
+118,1.966666667,POSE1_TO_POSE2_PRESS,786,752.398552686,730,704.398552686,698,654.398552686,930.601447314,800.601447314,835,669,654,677,0.40104636891,0.00455541451322,0.0499638300397,0.999999988679,7.50570344475e-05,-0.000128021728211,-2.48725622457e-05,1793256082794333952
+119,1.983333333,POSE1_TO_POSE2_PRESS,786,752.978392222,730,704.978392222,698,654.978392222,930.021607778,800.021607778,835,669,654,677,0.401084755966,0.00455714431508,0.049968890412,0.999999991143,7.52058303407e-05,-0.000106765356639,-2.56831238157e-05,1793256082811000320
+120,2.000000000,POSE1_TO_POSE2_PRESS,786,753,730.548996662,705,698,655,930.548996662,800,835,669,654.548996662,677,0.401136621683,0.0045571128258,0.0499733797013,0.999999993287,7.49743376856e-05,-8.42689813723e-05,-2.6510211004e-05,1793256082827666944
+121,2.016666667,POSE1_TO_POSE2_PRESS,786,752.87510513,730.87510513,705,697.87510513,655,930.87510513,800.12489487,835,669,654.87510513,677,0.401190988632,0.00455655523647,0.0499775334085,0.999999994758,7.40812401394e-05,-6.53264225741e-05,-2.70039309741e-05,1793256082844333824
+122,2.033333333,POSE1_TO_POSE2_PRESS,786,752.277832649,730.277832649,705,697.277832649,655,930.277832649,800.722167351,835,669,654.277832649,677,0.401252842492,0.0045542656831,0.0499805014841,0.999999995353,7.07414935169e-05,-6.00066450087e-05,-2.62343697566e-05,1793256082861000192
+123,2.050000000,POSE1_TO_POSE2_PRESS,786,752.30805808,730,705,697.30805808,654.69194192,930,800.69194192,835,669,654,677,0.401325143527,0.00455361226726,0.0499824994654,0.999999995695,6.92422728103e-05,-5.61389951234e-05,-2.57815384448e-05,1793256082877666816
+124,2.066666667,POSE1_TO_POSE2_PRESS,786,752.884049501,730,705,697.884049501,654.115950499,930,800.115950499,835,669,654,677,0.401406530985,0.00455438188123,0.0499836537077,0.999999995835,6.93438486808e-05,-5.35343327876e-05,-2.56041828362e-05,1793256082894333696
+125,2.083333333,POSE1_TO_POSE2_PRESS,786,753,730,705,697.541158207,654.458841793,930,800.458841793,835,669,654.458841793,677,0.401505883678,0.00455366900364,0.0499839074627,0.999999996029,6.76254002133e-05,-5.24800309592e-05,-2.48010406474e-05,1793256082911000320
+126,2.100000000,POSE1_TO_POSE2_PRESS,786.034119977,752.965880023,730,705,697.034119977,655,930.034119977,801,835,669,654.965880023,677,0.401611065952,0.0045525552308,0.0499839550667,0.999999996232,6.54415032134e-05,-5.18098199433e-05,-2.38573059818e-05,1793256082927667200
+127,2.116666667,POSE1_TO_POSE2_PRESS,786.62219386,752.37780614,730,705,697.62219386,655,930.62219386,801,835,669,654.37780614,677,0.401737379568,0.00455099916589,0.0499843405549,0.999999996435,6.31484622786e-05,-5.10313496227e-05,-2.31917367302e-05,1793256082944333824
+128,2.133333333,POSE1_TO_POSE2_PRESS,786.792822756,752.207177244,730,704.792822756,698,655,931,801,835,669,654.207177244,677,0.401877565227,0.00454924140279,0.0499852397451,0.999999996697,6.01417474313e-05,-4.99222067309e-05,-2.22802513429e-05,1793256082961000192
+129,2.150000000,POSE1_TO_POSE2_PRESS,786.213392399,752.786607601,730,704.213392399,698,655,931,801,835,669,654.786607601,677,0.402042675961,0.00454712123144,0.049987061948,0.999999997059,5.58527137351e-05,-4.82189161682e-05,-2.09269074256e-05,1793256082977667072
+130,2.166666667,POSE1_TO_POSE2_PRESS,786,753,730,704,698,654.63584866,931,801,835.36415134,669,654.63584866,677,0.402219569611,0.00454493135517,0.0499852535509,0.999999996974,5.23117154545e-05,-5.42410426888e-05,-1.93138296629e-05,1793256082994333696
+131,2.183333333,POSE1_TO_POSE2_PRESS,786,753,730,704,698,654.059404725,931,801,835.940595275,669,654.059404725,677,0.40240333247,0.0045427008422,0.0499813285904,0.999999996538,4.92068057237e-05,-6.47669252078e-05,-1.75493323845e-05,1793256083011000576
+132,2.200000000,POSE1_TO_POSE2_PRESS,786,753,730,704.517580475,698,654.517580475,931,800.482419525,835.482419525,669,654.517580475,677,0.40262651048,0.00454023111508,0.049980402575,0.999999996748,4.60467694498e-05,-6.42724656305e-05,-1.592755159e-05,1793256083027666688
+133,2.216666667,POSE1_TO_POSE2_PRESS,786,753,730,705,698,654.90370708,931,800,835.09629292,669,655,677,0.40286062171,0.00453766448795,0.0499807849428,0.999999997093,4.25495778828e-05,-6.16274051482e-05,-1.43307275857e-05,1793256083044332800
+134,2.233333333,POSE1_TO_POSE2_PRESS,786,753,730,705,698,654.316505849,931,800,835.683494151,669,655,677,0.403127384416,0.00453474397345,0.0499860809459,0.999999997737,3.7365832669e-05,-5.44734593966e-05,-1.27775400305e-05,1793256083060999424
+135,2.250000000,POSE1_TO_POSE2_PRESS,786,752.73177403,730,705,698,654.26822597,931,800.26822597,835.73177403,669,654.73177403,677,0.403425308833,0.00453148817388,0.0499940205134,0.999999998654,3.24684182254e-05,-3.90222113666e-05,-1.06839271972e-05,1793256083077666048
+136,2.266666667,POSE1_TO_POSE2_PRESS,786,752.149929561,730,705,698,654.850070439,931,800.850070439,835.149929561,669,654.149929561,677,0.403759668517,0.0045278403483,0.0500050510218,0.999999999483,2.79057912968e-05,-1.38694889819e-05,-7.95843170042e-06,1793256083094332672
+137,2.283333333,POSE1_TO_POSE2_PRESS,786.425016873,752,730,705,698,654.574983127,931,801,835,669,654.425016873,677,0.404110330725,0.00452534993461,0.0500132721668,0.999999999702,2.36381518086e-05,2.31835929963e-06,-5.56178959018e-06,1793256083110999808
+138,2.300000000,POSE1_TO_POSE2_PRESS,786.997568796,752,730,705,698,654.002431204,931,801,835,669,654.997568796,677,0.40446665198,0.00452326129052,0.0500205181042,0.999999999687,1.94729106723e-05,1.53942525897e-05,-3.27930159547e-06,1793256083127667456
+139,2.316666667,POSE1_TO_POSE2_PRESS,786.426795768,752,730,705,698,654.573204232,931,801,835,669,655,677,0.404866996975,0.00452024491535,0.0500257676823,0.999999999381,1.52952494063e-05,3.16550437335e-05,-1.06577083401e-06,1793256083144333568
+140,2.333333333,POSE1_TO_POSE2_PRESS,786,752.153585121,730.153585121,705,698,654.846414879,931,801,835,669,655,677,0.405269941556,0.0045168136604,0.0500263937959,0.999999999213,1.04553040246e-05,3.82436413977e-05,1.22457295441e-06,1793256083161000192
+141,2.350000000,POSE1_TO_POSE2_PRESS,786,752.747534528,730.747534528,705,698,654.252465472,931,801,835,669,655,677,0.405679801406,0.00451220419237,0.0500137877695,0.999999999841,3.71658854418e-06,1.70608650913e-05,3.73600031951e-06,1793256083177667584
+142,2.366666667,POSE1_TO_POSE2_PRESS,786,753,730.668328171,705,698,654.331671829,931,801,835,669,654.668328171,677,0.406113300771,0.00450785257346,0.0499947137528,0.99999999983,-2.02917000901e-06,-1.71098427722e-05,6.62399093299e-06,1793256083194333952
+143,2.383333333,POSE1_TO_POSE2_PRESS,786,753,730.091445082,705,698,654.908554918,931,801,835,669,654.091445082,677,0.406564277319,0.0045036915868,0.0499708578271,0.999999998074,-7.04081741905e-06,-6.08827763723e-05,9.79038213479e-06,1793256083211000320
+144,2.400000000,POSE1_TO_POSE2_PRESS,786.483422786,753,730,704.516577214,698,654.516577214,931,800.516577214,835,669,654,677,0.407060443403,0.00449754227768,0.0499584745881,0.99999999665,-1.02622754103e-05,-8.0105069151e-05,1.33290995856e-05,1793256083227666944
+145,2.416666667,POSE1_TO_POSE2_PRESS,787,753,730.05746772,704.05746772,698,654.05746772,931,800,835,669,654.05746772,677.05746772,0.407573161559,0.00449110183279,0.0499512036157,0.999999995799,-1.11961125927e-05,-8.93795241307e-05,1.69601949304e-05,1793256083244333312
+146,2.433333333,POSE1_TO_POSE2_PRESS,787,753,730.62755855,704.62755855,698,654.62755855,931,800,835,669,654.62755855,677.62755855,0.40815759326,0.00448540548269,0.0499702568628,0.999999998461,5.26791392031e-06,-5.11711305604e-05,2.07896810678e-05,1793256083261000192
+147,2.450000000,POSE1_TO_POSE2_PRESS,786.79212259,752.79212259,730.79212259,705,698,654.79212259,931,800,835.20787741,669,655,677.79212259,0.408759507175,0.00447945344605,0.049992070372,0.999999999412,2.1684734826e-05,-9.96366944009e-06,2.46472346802e-05,1793256083277667072
+148,2.466666667,POSE1_TO_POSE2_PRESS,786.192530539,752.192530539,730.192530539,705,698,654.192530539,931,800,835.807469461,669,655,677.192530539,0.409394363735,0.0044730196058,0.0500190851913,0.999999998189,3.80126026569e-05,3.68950944413e-05,2.85576771422e-05,1793256083294334208
+149,2.483333333,POSE1_TO_POSE2_PRESS,786,752,730,704.610398471,698,654.389601529,931,800,835.610398471,669,655,677,0.410039071549,0.00446608143548,0.0500291445782,0.99999999783,2.78630275906e-05,5.15630695035e-05,3.00700691538e-05,1793256083311000832
+150,2.500000000,POSE1_TO_POSE2_PRESS,786,752,730,704.036524582,698,654.963475418,931,800,835.036524582,669,655,677,0.410688438757,0.00445890472908,0.0500311844436,0.999999998222,5.19024435554e-06,5.10055572882e-05,3.0448239605e-05,1793256083327666944
+151,2.516666667,POSE1_TO_POSE2_PRESS,786,752,730,704.539859749,698,655,931,800.539859749,835.539859749,669,654.460140251,677,0.411306879504,0.00445222042518,0.04999678687,0.999999999108,-1.52436609588e-05,-2.49603919518e-05,3.0487946644e-05,1793256083344333824
+152,2.533333333,POSE1_TO_POSE2_PRESS,786,752,730,705,698,654.880660178,931,800.880660178,835.880660178,669,654,677,0.411945371492,0.00444580803377,0.0499682243916,0.999999995462,-3.18506938644e-05,-8.44578704726e-05,3.04549265727e-05,1793256083361000704
+153,2.550000000,POSE1_TO_POSE2_PRESS,786,752,730,705,698,654.289618509,931,800.289618509,835.289618509,669,654,677,0.41267142659,0.00444033811251,0.0499725151409,0.99999999725,-3.39331572172e-05,-5.860256083e-05,3.02253796828e-05,1793256083377667328
+154,2.566666667,POSE1_TO_POSE2_PRESS,786,752,730.295375381,705,697.704624619,654.295375381,931,800,835,669,654.295375381,677,0.413435065402,0.00443585958147,0.0499877032752,0.999999998759,-2.9694844821e-05,-2.47588337713e-05,3.14324625645e-05,1793256083394333440
+155,2.583333333,POSE1_TO_POSE2_PRESS,786,752,730.874558411,705,697.125441589,654.874558411,931,800,835,669,654.874558411,677,0.414234816128,0.00443233361438,0.0500133620224,0.999999999093,-1.93832962947e-05,1.67604648149e-05,3.40199126898e-05,1793256083410999552
+156,2.600000000,POSE1_TO_POSE2_PRESS,786,752.449081157,731,705,697.449081157,655,931,800,835,669,655,677,0.41500892876,0.00444151102571,0.0499988277025,0.999999999297,-1.11813216714e-05,-8.78944326094e-06,3.4692253836e-05,1793256083427666176
+157,2.616666667,POSE1_TO_POSE2_PRESS,785.977089872,753,730.977089872,705,698,654.977089872,931,800,835,669,655,677.022910128,0.415776571831,0.00445394975798,0.0499736120672,0.99999999804,-3.65110247822e-06,-5.19125858475e-05,3.48007182944e-05,1793256083444333056
+158,2.633333333,POSE1_TO_POSE2_PRESS,785.388580508,753,730.388580508,705,698,654.388580508,931,800,835,669,655,677.611419492,0.416559482033,0.00446020024366,0.049959023981,0.99999999689,1.69323733401e-06,-7.11194890463e-05,3.40593165824e-05,1793256083460999936
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,752.803335631,730,705,698,654,931,799.803335631,835.196664369,669,655,677.803335631,0.417371677284,0.00446064838578,0.0499593531866,0.999999997216,2.98821653216e-06,-6.64281248686e-05,3.3845287569e-05,1793256083477666816
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,752.224435627,730,705,698,654,931,799.224435627,835.775564373,669,655,677.224435627,0.418240790726,0.00444981912894,0.0499886755482,0.999999999276,-3.58711652334e-06,-1.52882366562e-05,3.46562568364e-05,1793256083494333440
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,931,799,835.646364163,669,655,677,0.419090754967,0.0044435025118,0.0499957419563,0.999999999195,-1.21914318085e-05,-1.34161248053e-05,3.57895645942e-05,1793256083511000064
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,752,730,705,698,654,931,799,835.068817326,669,655,677,0.419928594507,0.00444004315546,0.0499887165992,0.999999998154,-2.20804340612e-05,-4.27388088517e-05,3.7126966847e-05,1793256083527666688
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,752,730.505134854,705,698,654,931,799,835,669,655,677,0.420845581104,0.00443966974444,0.0499901639231,0.999999998831,-2.58310717979e-05,-1.85549235912e-05,3.6413798703e-05,1793256083544333312
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,752,731,705,698,654,931,799,835,669,655,677,0.421771757604,0.00443948017267,0.0499957821176,0.999999998846,-2.89259112212e-05,1.40551225874e-05,3.56755910169e-05,1793256083560999680
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,752,731,705,698,654,931,799,835,669,655,677,0.422688385609,0.00443781983667,0.0500204438994,0.999999997319,-3.3119742798e-05,5.41457958475e-05,3.65261433477e-05,1793256083577666304
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,752,731,705,697.743039071,654,931,799,835.256960929,669,655,677,0.423593212983,0.00443775880643,0.0500269249965,0.999999996863,-3.26119295785e-05,6.18142332493e-05,3.72795339051e-05,1793256083594333184
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,752,731,705,697.163738657,654,931,799,835.836261343,669,655,677,0.424483237418,0.00443970399303,0.0500105997012,0.999999998523,-2.62062328822e-05,2.88112522493e-05,3.79110419665e-05,1793256083611000576
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,752,730.591912942,705,697,654.408087058,931,799,836,669,655,677,0.425405557009,0.00443680702754,0.0500143122432,0.999999998265,-2.53858374911e-05,3.66760224142e-05,3.84747111323e-05,1793256083627667200
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,752,730.023032426,705,697,654.976967574,931,799,836,669,655,677,0.426340601406,0.00443200216907,0.0500259200456,0.999999997042,-2.6766149159e-05,6.06434053263e-05,3.90116505374e-05,1793256083644333312
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,751.441729032,730.558270968,705,697,654.441729032,931,799,835.441729032,669,655,677,0.427261446305,0.0044303945948,0.0500214180977,0.999999998308,-3.28567285571e-05,2.32805748349e-05,4.1975861421e-05,1793256083661000192
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,751,730.857758382,705.142241618,697,654,931,799,835,669,655,677,0.428171755988,0.00442986588333,0.0500099622707,0.999999998186,-3.75593289459e-05,-1.65515408083e-05,4.40880879398e-05,1793256083677666816
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,751,730.267030706,705.732969294,697,654,931,799,835,669,655,677,0.429050737352,0.00443231343849,0.0499787242295,0.999999996805,-3.72589830841e-05,-5.60097595471e-05,4.31910882283e-05,1793256083694333440
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,751,730.317695583,705.682304417,697,654,931.317695583,799,835.317695583,669,655,677,0.429972889559,0.00443327140705,0.0499725412973,0.999999997246,-2.84955129034e-05,-5.38066365121e-05,4.24317670711e-05,1793256083711000320
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,751,730.897471058,705.102528942,697,654,931.897471058,799,835.897471058,669,655,677,0.430930655091,0.00443300055548,0.049987027336,0.999999998897,-1.27504703744e-05,-1.72353915095e-05,4.17860225346e-05,1793256083727666688
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.476503003,751,731,705,697,653.523496997,931.523496997,799,835.523496997,669,655,677,0.431822739057,0.00443302174432,0.0499732500566,0.999999998019,-1.88930191031e-05,-4.26469045943e-05,4.22537327428e-05,1793256083744333056
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.944232731,750.944232731,731,705.055767269,697.055767269,653.055767269,931,799,835,669,655,677,0.432705802583,0.0044327192796,0.0499563917493,0.999999995828,-2.97986178905e-05,-7.49397298362e-05,4.28886443373e-05,1793256083760999680
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.361262504,750.361262504,731,705.638737496,697.638737496,653.638737496,931,799,835,669,655,677,0.433636986508,0.00442876399123,0.0499678083386,0.999999997154,-4.12794050057e-05,-4.64011564772e-05,4.28428292879e-05,1793256083777666560
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,750,731,706,698,653.779801608,931.220198392,799,835,669,655,677,0.434555309933,0.00442614042926,0.0499825009882,0.999999997766,-4.67558499309e-05,-2.04335371467e-05,4.31758975377e-05,1793256083794333440
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,750,731,706,698,653.200800009,931.799199991,799,835,669,655,677,0.435452677911,0.00442568685389,0.0500025318304,0.999999998125,-4.24484957284e-05,1.34483464063e-06,4.41263388262e-05,1793256083811000064
+180,3.000000000,POSE1_TO_POSE2_PRESS,785.376652047,750,731,705.623347953,698,653,932,799,835,669,655,677,0.436290512715,0.00442618059053,0.0499901432503,0.999999997792,-3.22107563135e-05,-3.55744360565e-05,4.59704382323e-05,1793256083827666944
+181,3.016666667,POSE1_TO_POSE2_PRESS,785.953281364,750,731,705.046718636,698,653,932,799,835,669,655,677,0.437096739296,0.00442717728707,0.0499605421049,0.999999993284,-1.88243756031e-05,-0.00010365826509,4.82890106277e-05,1793256083844334336
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,750,731,705.529487654,698,653,932,799,835,669,655,677,0.437995250906,0.00442731249176,0.0499819978268,0.999999997472,-2.86053521796e-05,-4.5105234456e-05,4.69285751216e-05,1793256083861000448
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.892067612,749.892067612,731,706,698,653,932,799,835,669,655,677,0.438884328549,0.00442753753573,0.0500032460872,0.999999998153,-3.87339873448e-05,1.03454525547e-05,4.56868445858e-05,1793256083877666816
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.303488535,749.303488535,731,706,698,653,932,799,835,669,655,677,0.439695162575,0.00442850088427,0.0500035250245,0.999999998067,-4.13150805547e-05,2.26178579248e-06,4.64181506101e-05,1793256083894333696
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.28038017,749,731,706,697.71961983,653,932,799,835,669.28038017,655,677,0.440486175932,0.00442636670242,0.0499943691739,0.999999998216,-3.30977840242e-05,-1.60372356042e-05,4.70665721296e-05,1793256083911000320
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.859234488,749,731,706,697.140765512,653,932,799,835,669.859234488,655,677,0.441256089467,0.00442093509492,0.0499751696733,0.999999997754,-1.33852371791e-05,-4.52108460573e-05,4.76267602106e-05,1793256083927666944
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,749,731.435937345,706,697.435937345,653,932,799,835,669.564062655,655,677,0.442030141895,0.00441996369388,0.0499858318608,0.999999998481,-1.74932241899e-05,-2.16126130234e-05,4.75919640885e-05,1793256083944333824
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,748.988191452,731.988191452,706,697.988191452,653,932,799,835,669,655,677,0.442803682753,0.00442056371387,0.0500055843337,0.999999998299,-2.8967273662e-05,1.7859964629e-05,4.73741531886e-05,1793256083961000704
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,748.418947853,731.418947853,706,697.418947853,653,932,799,835,669,655,677,0.443490292291,0.00442769136382,0.0500015075019,0.99999999849,-2.68512609911e-05,6.24780011607e-06,4.75417335071e-05,1793256083977666816
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,748,731,706,697,653,932,799,835,669,655,677.157451819,0.444155301127,0.00443551333005,0.0499820044398,0.999999998158,-2.25080322603e-05,-3.05414654605e-05,4.73684797076e-05,1793256083994333184
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,748,731,706,697,653,932,799,835,669,655,677.753799111,0.444760098362,0.00444527069804,0.0499195009043,0.999999989404,-1.19564589283e-05,-0.000137511667478,4.62451536975e-05,1793256084010999808
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,747.659961935,731.340038065,706,697,652.659961935,932,799,835,669,655,677.659961935,0.445386849547,0.00445342978695,0.0498867812766,0.99999998311,5.42556805514e-08,-0.00017823882519,4.48335762321e-05,1793256084027666432
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,747.080830562,731.919169438,706,697,652.080830562,932,799,835,669,655,677.080830562,0.446029037327,0.00446046506629,0.049875003817,0.999999984122,1.30909456666e-05,-0.000172388049107,4.32193188581e-05,1793256084044333056
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,747,732,706,696.504793693,652,932,799,835,669,655,677,0.446633930713,0.00446697105162,0.049878031372,0.999999985951,2.7951833302e-05,-0.000159679726862,4.26619220571e-05,1793256084061000192
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,747,731.930056688,706,696,651.930056688,932,798.930056688,835,669,654.930056688,677.069943312,0.447221145488,0.00447359897071,0.0498789064261,0.999999986394,4.22105881671e-05,-0.000153785912112,4.21829380912e-05,1793256084077667072
+196,3.266666667,POSE1_TO_POSE2_PRESS,786,747,731.36101329,706,696,651.36101329,932,798.36101329,835,669,654.36101329,677.63898671,0.447725378296,0.00448170964638,0.0498472847269,0.999999977004,5.00611257717e-05,-0.000204456614792,4.10401622382e-05,1793256084094333696
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,747,731,706,696,651,932,798.218406928,835,669.218406928,654.218406928,677.781593072,0.4482263763,0.0044909922206,0.0498201832108,0.999999966652,5.82964078119e-05,-0.000248454673518,3.96022751515e-05,1793256084111000064
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,747,731,706,696,651,932,798.815834907,835,669.815834907,654.815834907,677.184165093,0.448721760605,0.00450230849421,0.0498009259756,0.999999957588,6.719937057e-05,-0.000280873092456,3.76522554191e-05,1793256084127666688
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,746.602102341,731.397897659,706,695.602102341,650.602102341,932,798.602102341,835,669.602102341,655,677,0.449204130545,0.00452073581803,0.049802948289,0.999999957055,8.55410542835e-05,-0.000278326497464,3.32828527763e-05,1793256084144333056
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,746.026886849,731.973113151,706,695.026886849,650.026886849,932,798.026886849,835,669.026886849,655,677,0.44968070085,0.00454233208839,0.0498144535504,0.999999959919,0.000108088980004,-0.000260198208733,2.78352839267e-05,1793256084160999680
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+202,3.366666667,POSE1_TO_POSE2_PRESS,786,746.12636973,731.87363027,706,694.87363027,649.87363027,932,798,834.87363027,669,655,677,0.450561744289,0.00457189026515,0.0498476116127,0.999999966924,0.000139369020876,-0.000214686210232,2.52629465387e-05,1793256084194333184
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,746.718031537,731.281968463,706,694.281968463,649.281968463,932,798,834.281968463,669,655,677,0.450942384462,0.00457097887992,0.0498452118817,0.999999964425,0.000139358647328,-0.000225956628414,2.59363980844e-05,1793256084210999808
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+205,3.416666667,POSE1_TO_POSE2_PRESS,786.881605743,747,731.881605743,706,694.881605743,649,932,798,834.881605743,669,655,677.881605743,0.451601961264,0.0045677162883,0.0498235590762,0.999999951161,0.000136343918048,-0.000279932129703,2.69551456542e-05,1793256084244333056
+206,3.433333333,POSE1_TO_POSE2_PRESS,786.541087957,747,731.541087957,706,694.541087957,648.541087957,932,798.458912043,835,669,655,677.541087957,0.451877316992,0.00457062695525,0.0498006796026,0.999999937656,0.000140811517202,-0.000322687662107,2.7060446e-05,1793256084260999680
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,747,731.035823522,706,694,648,932,799,835,669.035823522,655,677.035823522,0.452143050047,0.00457442852489,0.049776901814,0.999999922274,0.000146461234626,-0.000365060707976,2.7036279792e-05,1793256084277666048
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,747,731.612178934,706,694,648,932,799,835,669.612178934,655,677.612178934,0.452413102503,0.00457317149922,0.0497761164937,0.999999924509,0.000144941587447,-0.000359550339943,2.6427617674e-05,1793256084294332672
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,747,732,706,694,647.807572883,932,799,835,670,655,678,0.452673558706,0.00457216555548,0.0497788316473,0.999999928046,0.000144013351355,-0.000349983545008,2.60539776018e-05,1793256084310999296
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,747,732,706,694,647.219317224,932,799,835,670,655,678,0.452914275085,0.00457167609523,0.0497887473845,0.99999993411,0.000144301666364,-0.000332072554845,2.61637852331e-05,1793256084327665920
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,747,732,706,694,647,932.363720757,799,835,670,655,677.636279243,0.453127048738,0.00457273113524,0.0497928671853,0.999999936325,0.000146124289059,-0.000324515365652,2.62156571362e-05,1793256084344332800
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,747,732,706,694,647,932.943657119,799,835,670,655,677.056342881,0.453323211721,0.00457470431103,0.0497935415637,0.999999936375,0.0001488589886,-0.000323113043036,2.62330888725e-05,1793256084360999680
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,747,732,706,694,647,932.481268541,798.481268541,835,670,655,677,0.453479728678,0.0045729203202,0.0497871765568,0.999999932919,0.000148387863478,-0.00033382136452,2.65697423844e-05,1793256084377666560
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,746.906411616,732,706.093588384,694,647,932,798,835,670,655,677.093588384,0.453627296512,0.00457122004925,0.0497799580508,0.999999929152,0.000147714083354,-0.000345197465408,2.67598168164e-05,1793256084394333184
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,746.329976892,732,706.670023108,694,647,932,798,835,670,655,677.670023108,0.453750704176,0.00457203760386,0.0497722442304,0.999999926334,0.000147774555736,-0.000353295258707,2.60164278111e-05,1793256084411000064
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,746.253299963,732,706.746700037,693.746700037,646.746700037,932,798,835,669.746700037,655,678,0.453864841282,0.00457315801024,0.0497650307149,0.99999992344,0.000147659128365,-0.000361492300801,2.53055612386e-05,1793256084427666432
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,746.845737561,732,706.154262439,693.154262439,646.154262439,932,798,835,669.154262439,655,678,0.453966566238,0.00457468389801,0.0497584870468,0.999999920462,0.000147308192759,-0.000369822224398,2.46382382661e-05,1793256084444332800
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,747,732,706,693,646,932,798,834.573789706,669,655,677.573789706,0.454051274427,0.0045756407026,0.0497548147959,0.999999918869,0.000148115135196,-0.000373810663324,2.42678384137e-05,1793256084460999680
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+220,3.666666667,POSE1_TO_POSE2_PRESS,786,747,731.422940274,706,693,646,932,798,834.577059726,669.577059726,655,677.577059726,0.454191032671,0.00457604549671,0.0497517837786,0.999999916935,0.000150984115932,-0.000377815566271,2.42910389721e-05,1793256084494333184
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,746.845121044,731.154878956,706.154878956,693,645.845121044,932,798,834.845121044,670,655,677.845121044,0.454246145275,0.00457599742537,0.0497504204841,0.999999915877,0.000151855809641,-0.000380253541456,2.43416810006e-05,1793256084511000064
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,746.258313351,731.741686649,706.741686649,693,645.258313351,932,798,834.258313351,670,655,677.258313351,0.45428451443,0.00457678281623,0.0497463134334,0.999999914207,0.000150549917243,-0.000385171208775,2.37340077833e-05,1793256084527666432
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+224,3.733333333,POSE1_TO_POSE2_PRESS,786,746.907001425,732,707,693,645,932,798,834.907001425,670,654.092998575,677,0.454348718311,0.00457786726166,0.0497431158175,0.999999911159,0.000153073357433,-0.000392042454747,2.35016155152e-05,1793256084561000448
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+226,3.766666667,POSE1_TO_POSE2_PRESS,785.05744706,747,732,706.94255294,693,645,932,798.05744706,835,669.94255294,655,677,0.454385161104,0.00457857251989,0.0497372332577,0.999999909173,0.00015045219733,-0.000398102626212,2.3081443883e-05,1793256084594332928
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+236,3.933333333,POSE1_TO_POSE2_PRESS,785.130845968,746.130845968,732,706,693,645,932.869154032,798,834,669.130845968,655,677,0.45441415964,0.00458198288183,0.0497288118703,0.999999902435,0.0001562383176,-0.000412574839736,2.23891977702e-05,1793256084760999680
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.449598371,746.449598371,732,706.449598371,692.550401629,645,932.550401629,798,834,669,655,677,0.454415191488,0.00458302780379,0.0497286037659,0.999999902517,0.000157299095222,-0.000412005166797,2.17896593204e-05,1793256084777666304
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+239,3.983333333,POSE1_TO_POSE2_PRESS,785.400557835,746.400557835,732,706.400557835,692.599442165,645,932,798.599442165,834,669.599442165,654.400557835,677,0.454415053312,0.00458268129899,0.0497275444031,0.99999990175,0.000159236073767,-0.000413120497597,2.18081649552e-05,1793256084810999296
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+241,4.016666667,POSE1_TO_POSE2_PRESS,785.76916837,746.76916837,732,706,692.23083163,645,932,798.23083163,834.76916837,669.23083163,654.76916837,677,0.454413413754,0.00457999694217,0.0497259469183,0.999999900987,0.000156428643007,-0.000416018841389,2.20110486168e-05,1793256084844332544
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,747,732,706.353215338,692.353215338,645,932,798,834.646784662,669.353215338,654.646784662,677.353215338,0.454413458948,0.00458141604854,0.0497254819048,0.999999900697,0.000156873893074,-0.000416571844859,2.15289198534e-05,1793256084860999424
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+245,4.083333333,HOLD_POSE2,786,746,732,706,693,645,932,799,835,669,655,677,0.454414476282,0.00458212501431,0.0497243996417,0.999999899741,0.000157981275133,-0.000418437049169,2.16772433937e-05,1793256084937679104
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+248,4.133333333,HOLD_POSE2,786,747,732,707,692.239935754,645,932,798,835,669.239935754,655,677,0.454414946728,0.0045826822503,0.0497247645306,0.999999899571,0.000160860878554,-0.000417738838762,2.17995559104e-05,1793256084987680512
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+251,4.183333333,HOLD_POSE2,785.495857854,747,732,706.504142146,692.504142146,645,932,798,835,669,654.504142146,677.504142146,0.454414447027,0.00458328188121,0.0497232318644,0.999999899378,0.000157033016233,-0.000419686291671,2.11655342149e-05,1793256085037679616
+252,4.200000000,HOLD_POSE2,786,746.916205513,732,706,692.083794487,645,932,798,835,669.083794487,654.083794487,677,0.454413472194,0.00458246209392,0.049722547871,0.999999899004,0.00015629526089,-0.000420838902407,2.14064325431e-05,1793256085054345984
+253,4.216666667,HOLD_POSE2,786,746.333609973,732,706,692.666390027,645,932,798,835,669.666390027,654.666390027,677,0.454413793324,0.00458543217035,0.0497231875898,0.999999898967,0.000158873212474,-0.00042000547693,2.05098566449e-05,1793256085071012608
+254,4.233333333,HOLD_POSE2,785.754772521,746,732,706,692.754772521,645,932,798,834.754772521,669.754772521,655,677,0.454413793229,0.00458577485978,0.0497231017188,0.999999898834,0.000159227976333,-0.00042020036836,2.02619703883e-05,1793256085087679488
+255,4.250000000,HOLD_POSE2,785.180970489,746,732,706,692.180970489,645,932,798,834.180970489,669.180970489,655,677,0.454413362732,0.00458259717472,0.0497220436471,0.999999898573,0.000156603942851,-0.000421773077579,2.08832482519e-05,1793256085104347136
+256,4.266666667,HOLD_POSE2,785.391599492,746.391599492,732,706,692,644.608400508,932,798,834.391599492,669.391599492,654.608400508,677,0.454414127921,0.00458249443269,0.0497225208338,0.99999989876,0.000156216049611,-0.000421458635029,2.12150892408e-05,1793256085121014016
+257,4.283333333,HOLD_POSE2,785.963601941,746.963601941,732,706,692,644.036398059,932,798,834.963601941,669.963601941,654.036398059,677,0.454415443941,0.00458380826222,0.0497237052868,0.999999899153,0.000156858306379,-0.00042027481519,2.14135918377e-05,1793256085137680640
+258,4.300000000,HOLD_POSE2,786,747,732,706,692,644.554359977,932,798,835,669.445640023,654.554359977,677.554359977,0.454414377998,0.00458449117294,0.0497228254377,0.999999898544,0.000158515664346,-0.000421096135706,2.15186037589e-05,1793256085154346752
+259,4.316666667,HOLD_POSE2,785.856377145,747,732,706,692,645,932,798.143622855,835,669.143622855,655,677.856377145,0.454413863496,0.00458449576132,0.0497222821113,0.999999898324,0.000159325006216,-0.000421311053122,2.156248721e-05,1793256085171012864
+260,4.333333333,HOLD_POSE2,785.27554559,747,732,706,692,645,932,798.72445441,835,669.72445441,655,677.27554559,0.454415520417,0.00458256595747,0.0497231902526,0.9999998995,0.000157342870227,-0.000419265187068,2.14396272964e-05,1793256085187679488
+261,4.350000000,HOLD_POSE2,785,747,732,706,692,644.698396801,932,798.698396801,835,670,655,677.301603199,0.454416533272,0.00458160954256,0.0497235916939,0.999999899777,0.000156874091723,-0.000418776390818,2.15107287966e-05,1793256085204346368
+262,4.366666667,HOLD_POSE2,785,747,732,706,692,644.124572046,932,798.124572046,835,670,655,677.875427954,0.454416964807,0.00458153169092,0.049723535797,0.999999899246,0.000157771242257,-0.000419692977553,2.17568963455e-05,1793256085221013248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,786,747,732,706,692,645,932,799,835,670,655,678,0.454417957256,0.00458403179237,0.0497251205005,0.999999900095,0.000159361667797,-0.00041709191204,2.11763471537e-05,1793256085253031936
+264,4.400000000,POSE2_TO_POSE3_RETREAT,785.420822224,747,732,706,692,644.420822224,932,798.420822224,835,670,654.420822224,677.420822224,0.454417566453,0.00458493401081,0.0497242385706,0.999999899573,0.000158844511859,-0.000418557210977,2.07673592348e-05,1793256085269698560
+265,4.416666667,POSE2_TO_POSE3_RETREAT,785.157132804,747,732,706.157132804,692,644.157132804,932,798,835,670,654.157132804,677.157132804,0.454416991611,0.00458530057067,0.0497233709424,0.999999899122,0.000158582740277,-0.000419744331176,2.0534087109e-05,1793256085286365184
+266,4.433333333,POSE2_TO_POSE3_RETREAT,785.731838563,747,732,706.731838563,692,644.731838563,932,798,835,670,654.731838563,677.731838563,0.454415927696,0.00458424364357,0.0497225413201,0.999999898863,0.000158999640368,-0.00042019220493,2.07677712576e-05,1793256085303032064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,747,732,706.692984097,692,645,932.307015903,798,834.692984097,670,655,678,0.454416599155,0.00458402001352,0.0497227526642,0.999999899197,0.000159298347562,-0.000419280291737,2.08365921632e-05,1793256085319698688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,747,732,706.117394258,692,645,932.882605742,798,834.117394258,670,655,678,0.4544187887,0.00458452534211,0.0497238746339,0.999999900046,0.000159493660962,-0.000417178852729,2.07611926095e-05,1793256085336365056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,747,732,706,692,645,932.526946674,798,834.473053326,670,655,677.526946674,0.454418649193,0.00458468160465,0.0497238134038,0.999999900146,0.000158044327957,-0.000417492706706,2.07083890044e-05,1793256085353031168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.934748018,747,731.934748018,706.065251982,692,645,932.065251982,798.065251982,835,669.934748018,654.934748018,677,0.454417506326,0.00458461144303,0.0497232548711,0.999999899877,0.000156495277383,-0.000418720100627,2.06973184337e-05,1793256085369697792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.358642712,747,731.358642712,706.641357288,692,645,932.641357288,798.641357288,835,669.358642712,654.358642712,677,0.454413179955,0.00458346879626,0.0497211763109,0.999999898233,0.000157464458778,-0.000422254820962,2.09676488572e-05,1793256085386364672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.208620332,747,731.208620332,707,692,644.791379668,932.791379668,798.791379668,835,669.208620332,654.208620332,677,0.454403479249,0.00458349558827,0.0497165941933,0.999999894891,0.000159048441358,-0.000429512671107,2.09829950907e-05,1793256085403031552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.761300525,747,731.761300525,707,692,644.238699475,932.238699475,798.238699475,835,669.761300525,654.761300525,677,0.454384915107,0.00458545103682,0.0497078831705,0.999999888639,0.000161646363392,-0.000442910763817,2.05778174463e-05,1793256085419697920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,747,732,706.659890392,692,644,932.340109608,798,834.659890392,669.659890392,655,677,0.454351721425,0.00458517517424,0.0496943348174,0.999999878083,0.000162090143465,-0.000465979958034,2.055997169e-05,1793256085436364544
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,747,732,706.061217119,692,644,932.938782881,798,834.061217119,669.061217119,655,677,0.454307405835,0.00458320298818,0.0496771089494,0.999999863632,0.000160896266832,-0.000496401475649,2.08365896336e-05,1793256085453031424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,747,732,706,692,644,932.466298784,798,834.533701216,669,655,677,0.454241502439,0.00458483970565,0.0496559466345,0.999999849356,0.000161601738349,-0.00052420680425,1.94954478292e-05,1793256085469697792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,747,732,706,692.124204417,644.124204417,932,798,835,669,655,677,0.454169476076,0.00458709912829,0.04963579362,0.999999835081,0.000163007187236,-0.000550401972124,1.79910672913e-05,1793256085486364416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,747,732,706,692.700203437,644.700203437,932,798,835,669,655,677,0.45408412157,0.00459012841288,0.049620942879,0.999999822565,0.000166171876003,-0.000571824109843,1.65631711568e-05,1793256085503031040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,747,732.274397451,706.274397451,692.725602549,645,932,798,834.725602549,669.274397451,655,677,0.453994543764,0.00459202294221,0.0496116516317,0.999999814831,0.000168092354569,-0.000584669118335,1.56793595287e-05,1793256085519697920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,747,732.846632236,706.846632236,692.153367764,645,932,798,834.153367764,669.846632236,655,677,0.453900381897,0.00459268578176,0.0496083947881,0.999999812666,0.000168662338512,-0.000588204311526,1.53861098865e-05,1793256085536364544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,747,732.565908071,706.565908071,692,645,932,798,834.434091929,670,655,677,0.453788352186,0.00459299986018,0.0496107727766,0.999999812672,0.000172329897293,-0.000587133616827,1.52598919972e-05,1793256085553031168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,747,732,706,692,645,932,798,835,670,655,677,0.453668444621,0.00459326369789,0.0496150499875,0.99999981337,0.000177065085282,-0.000584532440568,1.51794974647e-05,1793256085569697792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,747,732,706,692,645,932,798,835,670,655,677,0.453520674502,0.00459514346555,0.0496159065324,0.999999812396,0.000180412012349,-0.000585184907671,1.47791799839e-05,1793256085586364416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,747,732,706.184425357,692.184425357,645,932,798,835,670,655,677,0.453363954985,0.00459683709908,0.0496177335019,0.999999811922,0.000183452565488,-0.000585059290811,1.43522450844e-05,1793256085603031296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,747,732,706.759988536,692.759988536,645,932,798,835,670,655,677,0.453188255191,0.00459813597049,0.0496216185923,0.999999812525,0.000185843346218,-0.000583283477447,1.38688587845e-05,1793256085619698688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,747,732,706.665035214,693,645.334964786,932,798.334964786,835,670,655,677,0.452994072472,0.00460081997594,0.0496246990044,0.99999981262,0.000190627028028,-0.000581590756364,1.31926020586e-05,1793256085636365312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,747,732,706.090478719,693,645.909521281,932,798.909521281,835,670,655,677,0.452786669373,0.00460449473234,0.0496272038512,0.999999812319,0.000197122290759,-0.000579957468855,1.2378390021e-05,1793256085653031424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,747,732,706,693,646,932,798.502249349,835,670,655,677,0.452538193904,0.00460639276285,0.049627842096,0.999999806905,0.000202134492329,-0.000587521233109,1.22800733578e-05,1793256085669698048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785.913969057,747,732,706,693,646,932,798,834.913969057,669.913969057,654.913969057,677,0.452278890581,0.00460832545058,0.0496287223508,0.999999801906,0.00020734153435,-0.000594181286911,1.21081140625e-05,1793256085686364928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785.339897145,747,732,706,693,646,932,798,834.339897145,669.339897145,654.339897145,677,0.45200171177,0.00461233862463,0.0496329546693,0.999999805105,0.000215226384472,-0.000585963000539,1.07593198074e-05,1793256085703031808
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.236570699,747,732,706,693,646,932,798.236570699,834,669,654.236570699,677,0.451701802648,0.00461614681844,0.0496342024966,0.999999805887,0.000221882460007,-0.000582161043364,9.06421374208e-06,1793256085719698432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785.816516127,747,732,706,693,646,932,798.816516127,834,669,654.816516127,677,0.451368901231,0.00461965748982,0.0496311184309,0.99999980329,0.000226755008474,-0.000584769245953,6.86644735107e-06,1793256085736365056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,747,732,706,693,646.401798196,932,799,834.401798196,669.401798196,655,677.401798196,0.451031819024,0.00462328240794,0.0496327983109,0.999999809049,0.000233838938659,-0.000572011957279,4.78321157988e-06,1793256085753031424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,747,732,706,693,646.989550066,932,799,834.989550066,669.989550066,655,677.989550066,0.450692801941,0.00462696019977,0.0496366829624,0.999999818296,0.000241946304159,-0.000552143462815,2.75298105724e-06,1793256085769697792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,747,732,706,693.569070452,647,932,798.430929548,835,669.430929548,655,677.430929548,0.450303435498,0.00463317201288,0.0496573316278,0.999999834154,0.000250519448177,-0.000518586218624,3.77964095971e-07,1793256085786364416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786.147348337,747,732,706,694,647.147348337,932,798.147348337,835,669,655,677,0.449902600179,0.00463878196933,0.0496758519186,0.999999847558,0.000259312704821,-0.0004874817642,-1.68465825729e-06,1793256085803031040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786.722451665,747,732,706,694,647.722451665,932,798.722451665,835,669,655,677,0.449471116346,0.00464251156442,0.0496873125699,0.999999856142,0.000268720475733,-0.000464217135343,-2.82227475199e-06,1793256085819697920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786.705083861,747.294916139,731.705083861,706,694,648.294916139,932,799,835,669.294916139,655,677.294916139,0.449004083744,0.00464591452224,0.0496894200025,0.999999855871,0.000275509681295,-0.000460795755224,-4.43737416687e-06,1793256085836364800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786.135080749,747.864919251,731.135080749,706,694,648.864919251,932,799,835,669.864919251,655,677.864919251,0.448503892503,0.00464901280521,0.0496828030965,0.999999847587,0.000279856386154,-0.000475883428221,-6.49785229533e-06,1793256085853031680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,748,731.455098812,706,694,649,932,799,835,669.544901188,655,677.544901188,0.447970008756,0.00465226152533,0.0496725885095,0.999999840448,0.000284752958442,-0.000487786689154,-9.14069962939e-06,1793256085869698304
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785.949985812,748,732,706,694.050014188,649.050014188,932,798.949985812,835,669,655,677,0.447420663674,0.00465553572557,0.0496613113981,0.999999833304,0.000289915354145,-0.000499196446768,-1.19600319668e-05,1793256085886364672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.371251713,748,732,706,694.628748287,649.628748287,932,798.371251713,835,669,655,677,0.446818493803,0.00465858535423,0.0496506142736,0.999999823011,0.000296082484119,-0.000515844658707,-1.47329509268e-05,1793256085903031296
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,748.780442202,731.219557798,706,695,650.780442202,932,798.780442202,835,669,655,677,0.445636256786,0.00466166313344,0.0496707483041,0.999999836433,0.000306295762269,-0.000482648692902,-1.91513538452e-05,1793256085936364544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.35439302,749,731.35439302,706,695.35439302,651,932,799,835,669,655,677,0.445029174605,0.00466087932701,0.0497047595509,0.999999856197,0.000309114143957,-0.000437764028532,-2.04109768738e-05,1793256085953031168
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.928014213,749,731.928014213,706,695.928014213,651,932,799,835,669,655,677,0.444408989135,0.00465909998947,0.0497475174539,0.999999877319,0.000310826778412,-0.0003850925182,-2.1247853e-05,1793256085969697792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.480939803,749,731.480939803,706,696,651.519060197,932,799,835,669,655,677,0.443722486264,0.00465470196102,0.0497554720767,0.9999998826,0.000304419278176,-0.000376116862494,-2.58067454528e-05,1793256085986364672
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f0f220e3519ff26ec17d80bb3f86452026d25fb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+289,4.816666667,pose2_to_pose3_retreat,0.617269385091,0.0101817845441,1.04002045498,0.58784053355,0.0188560267015,1.03969216197
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+406,6.766666667,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342216,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c9fcb07abbb7fa62b93e4ac30b8c39452584360
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258964445daa46d185a27e67a16e54e03fe0f6413818a088ed426aa731a831b8
+size 25792103
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d75541ac65c12a80769fc43b1ca98dd060ee4af
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+59,0.983333333,BASELINE,788,752,730,705,698.776058722,654.223941278,931,801,835,669,655,677,0.401003978716,0.00461102515401,0.0498669832389,0.999999963912,0.000128212266571,-0.000231790827839,-4.4834026244e-05,1793256088764173568
+60,1.000000000,BASELINE,788,752,730,705,698.19884578,654.80115422,931,801,835,669,655,677,0.401003471606,0.00460947641819,0.0498664699824,0.999999963881,0.000126728458259,-0.000232841200724,-4.43136796609e-05,1793256088780840192
+61,1.016666667,BASELINE,788,751.612365001,730,705.387634999,698,655,931,801,835,669,655,677,0.401002776845,0.00460939082866,0.0498655777903,0.999999963474,0.000127713160942,-0.000234092401814,-4.4064287991e-05,1793256088797506816
+62,1.033333333,BASELINE,788,751.02101367,730,705.97898633,698,655,931,801,835,669,655,677,0.401001983466,0.00461007417596,0.0498644864539,0.999999962866,0.000129995156277,-0.000235449145386,-4.39572930422e-05,1793256088814173440
+63,1.050000000,BASELINE,788,751.557913718,730,705.442086282,698,654.442086282,931,801,835,669,655,677,0.401002264157,0.00460964449082,0.049865283131,0.999999963242,0.000129168736656,-0.00023432923561,-4.38411635867e-05,1793256088830840064
+64,1.066666667,BASELINE,788,752,730.135530656,705,698,654,931,801,834.864469344,669,655.135530656,677,0.401002685752,0.00460883882143,0.0498659511521,0.999999963711,0.000127630724786,-0.000233180103269,-4.37567905917e-05,1793256088847506688
+65,1.083333333,BASELINE,788,752,730.71038354,705,698,654,931,801,834.28961646,669,655.71038354,677,0.401003435808,0.00460694733033,0.0498659766487,0.999999964368,0.000124157328522,-0.000232232034258,-4.37764470173e-05,1793256088864173312
+66,1.100000000,BASELINE,788,752,730.70833169,705,698,654,931,801,834.29166831,669,655.70833169,677,0.40100410716,0.00460790699605,0.0498662168873,0.999999964327,0.000125115001407,-0.00023183146949,-4.41103525045e-05,1793256088880840192
+67,1.116666667,BASELINE,788,752,730.120516306,705,698,654,931,801,834.879483694,669,655.120516306,677,0.401004698601,0.00461176160015,0.0498666751653,0.999999963565,0.000130571785732,-0.000231986816323,-4.47633325597e-05,1793256088897506816
+68,1.133333333,BASELINE,788,752,730,705,698,654,931,801,834.53953718,669,655,677,0.401004050754,0.00461066659424,0.0498666253583,0.999999963948,0.000128045771589,-0.000231796801475,-4.44895610586e-05,1793256088914173696
+69,1.150000000,BASELINE,788,752,730,705,698,654.039585181,931,801,834,669,655,677,0.401003141771,0.0046084562768,0.0498664593935,0.999999964547,0.000123847344149,-0.000231583653369,-4.40016618661e-05,1793256088930840576
+70,1.166666667,BASELINE,788,752,730,705,698,654.617432919,931,801,834,669,655,677,0.401003027903,0.00460843777646,0.0498664957254,0.999999964264,0.000124902321871,-0.000232267067628,-4.38520883932e-05,1793256088947507200
+71,1.183333333,BASELINE,788,752,730.193974409,705,698,655,931,801.193974409,834.193974409,669,655,677,0.401003324588,0.0046084067108,0.0498666225817,0.999999964245,0.000125379645443,-0.000232103286542,-4.37847511638e-05,1793256088964174080
+72,1.200000000,BASELINE,788,752,730.767956978,705,698,655,931,801.767956978,834.767956978,669,655,677,0.401004425572,0.00460835102884,0.0498669267811,0.999999964745,0.000124725308111,-0.000230279796208,-4.38785199201e-05,1793256088980840704
+73,1.216666667,BASELINE,788,752,731,705,698,654.649036906,931,801.649036906,835,669,655,677,0.401003697058,0.00460857255018,0.0498661503345,0.999999964388,0.000125231664681,-0.000231533516371,-4.39740353509e-05,1793256088997507328
+74,1.233333333,BASELINE,788,752,731,705,698,654.059907371,931,801.059907371,835,669,655,677,0.40100172703,0.00460898218395,0.0498646405527,0.999999963441,0.000126525677713,-0.000234875456977,-4.40707360834e-05,1793256089014173952
+75,1.250000000,BASELINE,788,752,730.479182165,705,698,654,931,801,835,669,655,677,0.401002249269,0.00460996469546,0.0498645553621,0.999999963099,0.000129158586553,-0.000234914798143,-4.39964227205e-05,1793256089030840576
+76,1.266666667,BASELINE,788,752,730,705,698,654,931,801,835,669,655,677,0.401003054088,0.00461072827281,0.0498648015254,0.999999962929,0.000131414819168,-0.000234403568041,-4.39024021061e-05,1793256089047507200
+77,1.283333333,BASELINE,788,752,730,705,698,654,931,801,835,669,655,677,0.401003861091,0.00461014000976,0.0498658579441,0.999999963283,0.000131154719237,-0.000233050505258,-4.38067206891e-05,1793256089064173824
+78,1.300000000,BASELINE,788,752,730,705,698,654.247593513,931,801,834.752406487,669,655,677,0.401004658496,0.00460916748285,0.0498666731694,0.999999963765,0.000129479926311,-0.000231932907029,-4.37290340099e-05,1793256089080840448
+79,1.316666667,BASELINE,788,752,730,705,698,654.8243008,931,801,834.1756992,669,655,677,0.401005443143,0.0046076841731,0.0498671677881,0.999999964408,0.000125924652186,-0.000231128300258,-4.36752668505e-05,1793256089097507072
+80,1.333333333,BASELINE,788,752,730,705,698,655,931,801,834,669,655,677,0.401005436066,0.00460767563287,0.0498674523083,0.999999964471,0.000125682431494,-0.000230976879388,-4.37233491799e-05,1793256089114173696
+81,1.350000000,BASELINE,788,752,730,705,698,655,931,801,834.001468466,669,655,677,0.40100508196,0.00460831168259,0.0498676441309,0.999999964284,0.000126886422945,-0.000231111265222,-4.38161361499e-05,1793256089130840320
+82,1.366666667,BASELINE,788,752,730,705,698,655,931,801,834.5809095,669,655,677,0.401004672569,0.00460832932103,0.0498675823679,0.999999964398,0.000125972224489,-0.000231095043955,-4.39403756818e-05,1793256089147506944
+83,1.383333333,BASELINE,788,752,730,705,698,654.841142554,931,801.158857446,835,669,655.158857446,677,0.40100448404,0.00460765199533,0.0498674493223,0.99999996458,0.000124612596071,-0.000231054564209,-4.38902627906e-05,1793256089164173312
+84,1.400000000,BASELINE,788,752,730,705,698,654.267096801,931,801.732903199,835,669,655.732903199,677,0.401004872754,0.00460515831799,0.0498671299736,0.999999964937,0.000122088795956,-0.000230950682729,-4.33844640953e-05,1793256089180839936
+85,1.416666667,BASELINE,788,752,730,705,698,654,931,802,835,669,655.69242462,677,0.401004285497,0.00460566721215,0.0498663738348,0.999999964578,0.000122971197607,-0.000232006396407,-4.35250847865e-05,1793256089197506816
+86,1.433333333,BASELINE,788,752,730,705,698,654,931,802,835,669,655.117207375,677,0.401002848983,0.00460878884432,0.0498652376159,0.999999963586,0.000126817562884,-0.000234071151225,-4.42281981554e-05,1793256089214173696
+87,1.450000000,BASELINE,788,752,730,705,698,654,931,801.529017303,834.529017303,669.470982697,655,677,0.401002924137,0.00460816904725,0.0498653872653,0.999999963737,0.000125428465569,-0.000234209186512,-4.40509664512e-05,1793256089230840320
+88,1.466666667,BASELINE,788,752,730,705,698,654,931,801,834,669.939113183,655,677,0.40100345219,0.00460690210666,0.0498659475532,0.99999996414,0.000123270884404,-0.000233697963868,-4.3692105532e-05,1793256089247507200
+89,1.483333333,BASELINE,788,752,730,705,698,654,931,801,834,669.362802333,655,677,0.401004539419,0.00460826202619,0.049867198417,0.999999964233,0.000125949529329,-0.000231864470548,-4.37028064393e-05,1793256089264174080
+90,1.500000000,BASELINE,788,752,730,705,698,654.213166345,931,801,834,669,655.213166345,677,0.401005066094,0.00460880140639,0.0498678879927,0.999999964413,0.000126394130771,-0.000230821138748,-4.38172189812e-05,1793256089280840704
+91,1.516666667,BASELINE,788,752,730,705,698,654.788553533,931,801,834,669,655.788553533,677,0.401004640255,0.00460794649297,0.049867623805,0.999999964749,0.00012304255525,-0.000231120481426,-4.41078625098e-05,1793256089297507328
+92,1.533333333,BASELINE,788,752,730,705.372938948,698,655,931.372938948,801,834.372938948,669,655.627061052,677,0.401004400476,0.00460798620927,0.0498676178762,0.999999964673,0.00012361839269,-0.000231147483279,-4.40801083878e-05,1793256089314174208
+93,1.550000000,BASELINE,788,752,730,705.962552312,698,655,931.962552312,801,834.962552312,669,655.037447688,677,0.401004268797,0.00460854569788,0.0498677619937,0.999999964355,0.000126476023971,-0.000231016257411,-4.38673679151e-05,1793256089330840832
+94,1.566666667,BASELINE,788,752,730,705.454752404,698,655,931.454752404,801,835,669,655,677.545247596,0.401003143065,0.00460766615618,0.0498669656426,0.999999964381,0.000124267909318,-0.000232093459973,-4.39037723502e-05,1793256089347507200
+95,1.583333333,BASELINE,788,752,730,705,698,654.875634352,931,801,835,669,655,677.875634352,0.401002699468,0.004607198685,0.0498666074881,0.999999964488,0.000122632662211,-0.000232494105651,-4.39525812408e-05,1793256089364173824
+96,1.600000000,BASELINE,788,752,730,705,698,654.307603871,931,801,835,669,655,677.307603871,0.401004929836,0.00460854940426,0.0498680401042,0.999999964818,0.000124266688727,-0.000230188818414,-4.39853636166e-05,1793256089380840448
+97,1.616666667,BASELINE,788,752,730,705,698,654,931,801,835,669,655,677,0.40100502269,0.00460879127282,0.0498682197457,0.999999964675,0.000125387685499,-0.000230242894348,-4.37665784619e-05,1793256089397507328
+98,1.633333333,BASELINE,788,752,730,705,698,654,931,801,835,669,655,677,0.401002590812,0.00460772341827,0.0498669194316,0.999999963975,0.000125902715231,-0.000233083740788,-4.32506534037e-05,1793256089414173696
+99,1.650000000,BASELINE,788,752,730,705,698,654,931,801.43696103,835,669,655,677,0.401001916478,0.00460733773611,0.0498662609521,0.999999964006,0.000125015438284,-0.000233389851866,-4.34563991959e-05,1793256089430840320
+100,1.666666667,BASELINE,788,752,730.028085272,705,698,654,931,801.971914728,835,669,655,677,0.401001948614,0.00460726032264,0.0498658749446,0.999999964273,0.000123853666204,-0.000232784429981,-4.38897233322e-05,1793256089447506944
+101,1.683333333,BASELINE,788,752,730.604533937,705,698,654,931,801.395466063,835,669,655,677,0.401003608583,0.00460847974753,0.0498663660716,0.999999964077,0.000127039349859,-0.000231927161702,-4.37709979749e-05,1793256089464173824
+102,1.700000000,BASELINE,788,752,730.819466787,705,698,654.180533213,931,801,835,669,655,677,0.401004664495,0.00460901076071,0.0498668480446,0.999999964052,0.000128823579747,-0.000231066929499,-4.36845166511e-05,1793256089480840448
+103,1.716666667,BASELINE,788,752,730.244449551,705,698,654.755550449,931,801,835,669,655,677,0.401004400478,0.00460803752186,0.0498673100154,0.999999964417,0.00012754548561,-0.000230200220928,-4.36684919423e-05,1793256089497507072
+104,1.733333333,BASELINE,788,752,730,705,698,655,931,801,834.660981317,669,655,677,0.401004217474,0.00460869444192,0.0498672502419,0.999999964425,0.000127322986757,-0.000230258550776,-4.38195421678e-05,1793256089514173952
+105,1.750000000,BASELINE,788,752,730,705,698,655,931,801,834.071263641,669,655,677,0.401004094377,0.0046105568388,0.0498668046467,0.99999996417,0.000127881083908,-0.000231000931918,-4.4094141682e-05,1793256089530840576
+106,1.766666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,655,931,801,834,669,655,677,0.401004750905,0.00460740608736,0.0498677754439,0.99999996502,0.000123569063587,-0.000229675341324,-4.40434817053e-05,1793256089561745664
+107,1.783333333,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654.423955928,931,801,834,669,655,677,0.401002781298,0.00460707972067,0.0498663407619,0.999999964179,0.000125175022436,-0.000232499644859,-4.37952626536e-05,1793256089578412544
+108,1.800000000,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654.15064885,931,801,834,668.84935115,655,677,0.401001413707,0.004607040072,0.0498653231772,0.999999963575,0.000126279019683,-0.000234521490789,-4.36368376871e-05,1793256089595079168
+109,1.816666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654.721241628,931,801,834,668.278758372,655,677,0.401001724281,0.00460779966923,0.0498654682794,0.999999963658,0.000125983765142,-0.000234306432142,-4.37287197937e-05,1793256089611745536
+110,1.833333333,POSE1_TO_POSE2_PRESS,788,752,730,705,698,655,931,801,834.304368025,668.304368025,655,677,0.401002527777,0.00460783711212,0.0498661272006,0.999999963937,0.000126051413484,-0.000233081602362,-4.37069985994e-05,1793256089628412160
+111,1.850000000,POSE1_TO_POSE2_PRESS,788,752,730,705,698,655,931,801,834.899466418,668.899466418,655,677,0.401003802111,0.00460718475781,0.0498672769184,0.999999964398,0.000126465704332,-0.000230892245737,-4.35767642612e-05,1793256089645079040
+112,1.866666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,655,931,801,834.517902371,669,655,677,0.401003728471,0.00460762622538,0.0498669249578,0.999999964161,0.000127122044994,-0.000231565469591,-4.35279558469e-05,1793256089661745664
+113,1.883333333,POSE1_TO_POSE2_PRESS,788,751.938541983,730,705,698,654.938541983,931,801.061458017,834,669,655,677,0.401003336159,0.00460829355336,0.0498662495818,0.999999963802,0.000127613934107,-0.00023284361985,-4.3531839977e-05,1793256089678412544
+114,1.900000000,POSE1_TO_POSE2_PRESS,788,751.365314792,730,705,698,654.365314792,931,801.634685208,834,669,655,677,0.40100257195,0.00460899012401,0.0498654229942,0.999999963609,0.000126326692039,-0.000234313544369,-4.38366712294e-05,1793256089695079168
+115,1.916666667,POSE1_TO_POSE2_PRESS,788,751.213865023,730,705,698,654.213865023,931,801.786134977,834.213865023,669,655,677,0.401004070468,0.00460890176165,0.0498659097802,0.999999963832,0.000125995723087,-0.000233535983137,-4.38304343246e-05,1793256089711745536
+116,1.933333333,POSE1_TO_POSE2_PRESS,788,751.803503898,730,705,698,654.803503898,931,801.196496102,834.803503898,669,655,677,0.401009544736,0.00460743422418,0.0498687042434,0.999999964778,0.000127344984292,-0.000228809452595,-4.3277631716e-05,1793256089728412160
+117,1.950000000,POSE1_TO_POSE2_PRESS,788,751.6137541,730,705,698,654.6137541,931,801,834.6137541,669,655,677,0.401025210299,0.00460703955414,0.0498745305449,0.999999967416,0.000126323214359,-0.000217570587693,-4.32902809358e-05,1793256089745078528
+118,1.966666667,POSE1_TO_POSE2_PRESS,788,751.034459162,730,705,698,654.034459162,931,801,834.034459162,669,655,677,0.401045969559,0.00460718111237,0.0498818721857,0.999999970728,0.000124116382679,-0.000203076801354,-4.35855478076e-05,1793256089761745152
+119,1.983333333,POSE1_TO_POSE2_PRESS,788,751.541566961,730,705,698,654,931,801,834,669,655,677,0.401097505844,0.0046089942345,0.0498986070439,0.999999977166,0.000126039755446,-0.000166971490925,-4.36213707571e-05,1793256089778412288
+120,2.000000000,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834,669,655,677,0.401154617271,0.00461008139388,0.0499157785097,0.999999982278,0.000127199166832,-0.000131821254701,-4.34390129087e-05,1793256089795079168
+121,2.016666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834,669,655,677,0.401225899586,0.00460792054786,0.049932334952,0.999999985776,0.000124354890824,-0.000105738949089,-4.24686684753e-05,1793256089811745792
+122,2.033333333,POSE1_TO_POSE2_PRESS,788.274831437,751.725168563,730,705,698,654.274831437,931,801,834.274831437,669,655,677,0.401302497883,0.00460602996042,0.0499453849014,0.999999987977,0.000121928266874,-8.64248490073e-05,-4.13469895608e-05,1793256089828412416
+123,2.050000000,POSE1_TO_POSE2_PRESS,788.864572073,751.135427927,730,705,698,654.864572073,931,801,834.864572073,669,655,677,0.401385187373,0.00460444904262,0.0499544170167,0.999999989198,0.000119980200038,-7.48659411327e-05,-4.00519076369e-05,1793256089845078784
+124,2.066666667,POSE1_TO_POSE2_PRESS,788.55554169,751.44445831,730,705,698,655,931,801,834.55554169,668.55554169,655,677,0.40148234173,0.00460353918298,0.0499590637632,0.999999989724,0.000119707747229,-6.85602183211e-05,-3.90150858215e-05,1793256089861745664
+125,2.083333333,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654.978638281,931,801,834.021361719,668.021361719,655,677,0.401584521475,0.00460283689426,0.0499622173785,0.999999990043,0.000119836479132,-6.40539942524e-05,-3.8072473759e-05,1793256089878412288
+126,2.100000000,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654.402910016,931,801,834.597089984,668.597089984,655,677,0.401705217454,0.00460233008317,0.0499605471822,0.999999990249,0.00011741403508,-6.56088581791e-05,-3.75768468088e-05,1793256089895078912
+127,2.116666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834.827523098,669,655,677,0.40183569013,0.00460117754061,0.0499601360606,0.999999990562,0.00011468608377,-6.61018471165e-05,-3.67813201503e-05,1793256089911745536
+128,2.133333333,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834.252932078,669,655,677,0.401988956262,0.00459851953428,0.049962660357,0.999999991134,0.000111245870576,-6.41191714479e-05,-3.5286604829e-05,1793256089928412160
+129,2.150000000,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834,669,655,677,0.402157899254,0.00459633496935,0.0499620669756,0.999999991173,0.000108198103361,-6.94054533771e-05,-3.36297669704e-05,1793256089945078784
+130,2.166666667,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834,669,655,677,0.402339169547,0.00459452268835,0.0499590220508,0.999999990699,0.000105458930333,-8.04075811318e-05,-3.1845446094e-05,1793256089961745408
+131,2.183333333,POSE1_TO_POSE2_PRESS,787.493111466,751.493111466,730,705,698,654,931,801,834.506888534,669,655,677,0.402552780376,0.0045928159985,0.0499600279141,0.999999991294,0.00010195228164,-7.80874239021e-05,-3.03166179669e-05,1793256089978412288
+132,2.200000000,POSE1_TO_POSE2_PRESS,787.081536862,751.081536862,730,705,698,654,931,801,835,669,655,677,0.402776311068,0.00459105827704,0.0499617241692,0.99999999198,9.82470486491e-05,-7.45527792248e-05,-2.87997782723e-05,1793256089995078912
+133,2.216666667,POSE1_TO_POSE2_PRESS,787.656919659,751.656919659,730,705,698,654,931,801,835,669,655,677,0.403033786036,0.0045889061318,0.0499643280837,0.999999992447,9.39593193425e-05,-7.44294078061e-05,-2.71490590065e-05,1793256090011745280
+134,2.233333333,POSE1_TO_POSE2_PRESS,788,752,730.239161516,705,698,654.239161516,931,801,834.760838484,669,655,677,0.403312005469,0.00458509671973,0.0499699210132,0.999999993663,8.80673508822e-05,-6.55183518892e-05,-2.50099867258e-05,1793256090028411904
+135,2.250000000,POSE1_TO_POSE2_PRESS,788,752,730.83153327,705,698,654.83153327,931,801,834.16846673,669,655,677,0.403620861747,0.0045788397417,0.0499799283262,0.999999995618,7.98061315083e-05,-4.36290367915e-05,-2.21496810868e-05,1793256090045078784
+136,2.266666667,POSE1_TO_POSE2_PRESS,788,752,730.585889045,705,698,655,931,801,834.414110955,669,655,677,0.403967336836,0.00457554024951,0.0499903842537,0.999999996761,7.43441619997e-05,-2.38446389897e-05,-1.95393016477e-05,1793256090061745664
+137,2.283333333,POSE1_TO_POSE2_PRESS,788,752,730.007203695,705,698,655,931,801,834.992796305,669,655,677,0.404328762243,0.00457341611019,0.0500010184676,0.999999997393,6.99946598715e-05,-4.89676990454e-06,-1.70282469897e-05,1793256090078412288
+138,2.300000000,POSE1_TO_POSE2_PRESS,788,751.431364429,730,704.431364429,698,655,931,801,835,669,655,677,0.404714403957,0.00456966815672,0.0500051386407,0.999999997733,6.55115492808e-05,5.02825496115e-06,-1.47601068825e-05,1793256090095078656
+139,2.316666667,POSE1_TO_POSE2_PRESS,788,751.146130604,730,704.146130604,698,654.853869396,931,801,835,669,655,677,0.405103951489,0.00456594399533,0.0500062010034,0.999999998001,6.12714306685e-05,9.59354707667e-06,-1.23471988633e-05,1793256090111745280
+140,2.333333333,POSE1_TO_POSE2_PRESS,788,751.728677592,730,704.728677592,698,654.271322408,931,801,835,669,655,677,0.405504251972,0.00456235201852,0.0499983764947,0.999999998286,5.77620337512e-05,-1.50823734853e-06,-9.49279989356e-06,1793256090128411904
+141,2.350000000,POSE1_TO_POSE2_PRESS,788,752,730.311514512,705,698,654,931,801,835,669,655,677,0.405922804186,0.00455853574075,0.0499828684567,0.999999998068,5.41710145832e-05,-2.9824372483e-05,-6.39865431651e-06,1793256090145078784
+142,2.366666667,POSE1_TO_POSE2_PRESS,788,752,730.894604257,705,698,654,931,801,835,669,655,677,0.40635726812,0.00455452391924,0.0499606619938,0.999999996044,5.05088374853e-05,-7.31478074284e-05,-3.09549971757e-06,1793256090161745408
+143,2.383333333,POSE1_TO_POSE2_PRESS,787.52856852,752,730.52856852,705,698,654,931,801,835,669,655,677,0.406848850226,0.00454948131067,0.0499443105035,0.999999994216,4.17497297793e-05,-9.91238218526e-05,-5.01421307168e-07,1793256090178412288
+144,2.400000000,POSE1_TO_POSE2_PRESS,787,751.953191342,730,705,698,654.046808658,931,801,835,669,655,677,0.407358652376,0.00454420639128,0.0499317525482,0.999999992643,3.22921557796e-05,-0.00011690444437,2.07502087776e-06,1793256090195079168
+145,2.416666667,POSE1_TO_POSE2_PRESS,787,751.378584058,730,705,698,654.621415942,931,801,835,669,655,677,0.407931799396,0.0045388764008,0.0499474032051,0.999999995949,2.76390450996e-05,-8.54335118124e-05,6.21664402255e-06,1793256090211745792
+146,2.433333333,POSE1_TO_POSE2_PRESS,787.201424446,751.201424446,730.201424446,705,698.201424446,654.798575554,931,801,835,669,655,677,0.408519537871,0.00453278865815,0.0499673307057,0.999999998548,2.23199997546e-05,-4.79045341023e-05,1.04997100377e-05,1793256090228412416
+147,2.450000000,POSE1_TO_POSE2_PRESS,787.791864412,751.791864412,730.791864412,705,698.791864412,654.208135588,931,801,835,669,655,677,0.409135457115,0.00452523745215,0.0499955181688,0.999999999762,1.57148202354e-05,1.32447927954e-06,1.50559475677e-05,1793256090245079552
+148,2.466666667,POSE1_TO_POSE2_PRESS,788,752,730.624853782,705,698.624853782,654.375146218,931,801,835,669,655,677,0.409770898444,0.00451786975632,0.0500112477956,0.999999997098,6.90539296928e-05,2.5722074739e-05,1.93366997379e-05,1793256090261746432
+149,2.483333333,POSE1_TO_POSE2_PRESS,788,752,730.045469069,705,698.045469069,654.954530931,931,801,835,669,655,677,0.410416968037,0.00451060196801,0.05002019508,0.999999987038,0.000155028131192,3.66008557816e-05,2.3467470895e-05,1793256090278413056
+150,2.500000000,POSE1_TO_POSE2_PRESS,787.468309306,751.468309306,730,705,698,654.468309306,931.531690694,801,835,669,655,677,0.411047454075,0.00450447494992,0.0499920019685,0.999999988247,0.000148473185939,-2.67881903294e-05,2.72773662904e-05,1793256090295079680
+151,2.516666667,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931.891506703,801,835,669,655,677,0.411692179848,0.00449785853153,0.0499652341605,0.999999988942,0.000119537393658,-8.41071217866e-05,2.74366273292e-05,1793256090311746560
+152,2.533333333,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931.315426931,801,835,669,655,677,0.412403995766,0.00448871419033,0.0499582408287,0.999999995661,2.81052485149e-05,-8.80063624955e-05,1.19800855127e-05,1793256090328412672
+153,2.550000000,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931,801,835,669,655,677,0.41314888844,0.00448031574876,0.049969427808,0.999999997877,-1.98612489896e-05,-6.178462026e-05,5.91562661588e-06,1793256090345079040
+154,2.566666667,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931,801,835,669,655,677,0.413933808787,0.00447281995061,0.0500026155484,0.999999999821,-1.52281432017e-05,8.87794095085e-07,1.12169217915e-05,1793256090361745664
+155,2.583333333,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931,801,835,669,655,677,0.414698033453,0.00447493550227,0.049997750323,0.999999999838,-3.19586716374e-06,-8.15943459041e-06,1.5722146866e-05,1793256090378412544
+156,2.600000000,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931,800.985130167,835,669,655,677,0.41545670821,0.00448072045457,0.049980210842,0.999999998897,1.17185675253e-05,-4.09317482297e-05,1.98197114986e-05,1793256090395079424
+157,2.616666667,POSE1_TO_POSE2_PRESS,787,751,730,705,698,654,931,800.409098857,835,669,655,677,0.416263896004,0.0045051843816,0.0499586669121,0.999999996076,4.31759141292e-05,-7.51192770627e-05,1.84552723903e-05,1793256090411746048
+158,2.633333333,POSE1_TO_POSE2_PRESS,787,751,730.16626765,705,698,654,931.16626765,800.16626765,835,669,655,677,0.417087049851,0.0045205496444,0.0499512652353,0.99999999409,6.59704627354e-05,-8.46004486081e-05,1.76107054845e-05,1793256090428412672
+159,2.650000000,POSE1_TO_POSE2_PRESS,787,751,730.740004897,705,698,654,931.740004897,800.740004897,835,669,655,677,0.417949331409,0.00451361694782,0.0499785217642,0.999999996995,6.75352223551e-05,-3.35341245386e-05,1.80401816082e-05,1793256090445078784
+160,2.666666667,POSE1_TO_POSE2_PRESS,787,751,730.676292056,705,698,654,932,800.676292056,835,669,655,677,0.418791664547,0.00450255421814,0.0499920783911,0.999999998328,5.21823076956e-05,-1.58070028545e-05,1.92565220918e-05,1793256090461745408
+161,2.683333333,POSE1_TO_POSE2_PRESS,787,751,730.084330478,705,698,654,932,800.084330478,835,669,655,677,0.419617466579,0.00448806897041,0.0499942820408,0.999999999186,2.28098803306e-05,-2.57077575889e-05,2.11249294362e-05,1793256090478412288
+162,2.700000000,POSE1_TO_POSE2_PRESS,787,751,730.495272053,705,698,654,931.504727947,800,835,669,655,677,0.420499751746,0.00448492297384,0.0499866424769,0.999999999411,1.56421767054e-05,-2.22169318643e-05,2.09639939588e-05,1793256090495078912
+163,2.716666667,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,931.072281357,800,835,669,655,677,0.421400064297,0.00448394239887,0.0499819106529,0.999999999645,1.29679318652e-05,-1.09573309475e-05,2.05504443938e-05,1793256090511745536
+164,2.733333333,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,931.64554711,800,835,669,655,677,0.422360288903,0.00448491417605,0.0500086661566,0.999999998909,1.5871004335e-05,3.87285458068e-05,2.07226471623e-05,1793256090528412416
+165,2.750000000,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,932,799.781087065,835,669,655,677,0.423289396527,0.00448854370131,0.0500185308776,0.999999998022,2.23294274515e-05,5.49548356443e-05,2.09154758455e-05,1793256090545079040
+166,2.766666667,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,932,799.207559042,835,669,655,677,0.424168098184,0.00449647848887,0.0500010343762,0.999999999036,3.45471314897e-05,1.69802504253e-05,2.11417163337e-05,1793256090561745664
+167,2.783333333,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,932,799,835,669,655,677,0.425078835603,0.00449722685186,0.0499983502197,0.999999998843,4.09408547595e-05,1.34349878467e-05,2.1372319861e-05,1793256090578412288
+168,2.800000000,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,932,799,835,669,655,677,0.426007742025,0.00449389943958,0.0500040668736,0.999999998365,4.40315113978e-05,2.94162896274e-05,2.16053978775e-05,1793256090595078912
+169,2.816666667,POSE1_TO_POSE2_PRESS,787,751,731,705,698,654,932,799,835,669,655,677,0.426932680542,0.00448519895953,0.0500153614972,0.999999999033,2.61434213873e-05,2.45256165783e-05,2.54630409144e-05,1793256090611745536
+170,2.833333333,POSE1_TO_POSE2_PRESS,787,750.871740567,731,705.128259433,698,654,932,799,835,669.128259433,655,677,0.427850425951,0.00447815520804,0.0500154044545,0.999999999536,9.27865055986e-06,6.29675887299e-06,2.83317999289e-05,1793256090628412160
+171,2.850000000,POSE1_TO_POSE2_PRESS,787,750.298611719,731,705.701388281,698,654,932,799,835,669.701388281,655,677,0.428743775242,0.00447760709398,0.0499756430419,0.999999998099,-1.11131859555e-06,-5.52852390851e-05,2.72651706754e-05,1793256090645078784
+172,2.866666667,POSE1_TO_POSE2_PRESS,786.716198159,750.283801841,730.716198159,705.716198159,698,654,932,799,835,669.716198159,655,677,0.429669642803,0.00448029875018,0.0499622889909,0.999999997337,1.09492677959e-05,-6.73332630674e-05,2.59336599883e-05,1793256090661745408
+173,2.883333333,POSE1_TO_POSE2_PRESS,786.123684999,750.876315001,730.123684999,705.123684999,698,654,932,799,835,669.123684999,655,677,0.430630882725,0.00448651453349,0.0499776600959,0.999999998254,4.7430910709e-05,-2.54996789913e-05,2.43140191433e-05,1793256090678412032
+174,2.900000000,POSE1_TO_POSE2_PRESS,786,750.541890079,730.458109921,705,698,654,932,799,835,669,655,677,0.431534403951,0.00449129115689,0.0499682794038,0.99999999762,4.7543191842e-05,-4.34729928349e-05,2.46803469908e-05,1793256090695078656
+175,2.916666667,POSE1_TO_POSE2_PRESS,786,750,731,705,698,654,932,799,835,669,655,677,0.43242503573,0.00449490617927,0.0499537775629,0.999999996244,3.72750363527e-05,-7.39492514902e-05,2.55585384792e-05,1793256090711745280
+176,2.933333333,POSE1_TO_POSE2_PRESS,786,750,731,705,698,654,932,799,835,669,655,677,0.433349833088,0.00448709321795,0.0499598656577,0.999999997935,1.55256748033e-05,-5.65585631724e-05,2.62603337444e-05,1793256090728412160
+177,2.950000000,POSE1_TO_POSE2_PRESS,786.18283965,750,731,705.18283965,698,653.81716035,932,799,835,669,655,677,0.434271188549,0.00448062035612,0.0499708211086,0.999999998977,-8.54995905493e-07,-3.63552727351e-05,2.69126285772e-05,1793256090745078784
+178,2.966666667,POSE1_TO_POSE2_PRESS,786.747889007,750,731,705.747889007,698,653.252110993,932,799,835,669,655,677,0.435185349209,0.00447694884929,0.0499919513275,0.999999999552,-6.01290934317e-06,-1.02724894864e-05,2.74614473991e-05,1793256090761745408
+179,2.983333333,POSE1_TO_POSE2_PRESS,786.664500155,749.664500155,731,705.664500155,698,653.335499845,932,799,835,669,655,677,0.436051281693,0.00447747051924,0.0499866934721,0.999999998933,8.5305332083e-06,-3.51672345276e-05,2.87014403455e-05,1793256090778412032
+180,3.000000000,POSE1_TO_POSE2_PRESS,786.058713256,749.058713256,731,705.058713256,698,653.941286744,932,799,835,669,655,677,0.436878360299,0.00448137031733,0.0499601767241,0.999999993663,3.8945880367e-05,-0.000101130750705,3.04982602864e-05,1793256090795078656
+181,3.016666667,POSE1_TO_POSE2_PRESS,786.517947025,749,731,705,698,654,932,799,835,669,655,677,0.437766695294,0.00448339584375,0.0499737564322,0.999999997439,3.0342436503e-05,-5.76687518201e-05,2.95750407459e-05,1793256090811745792
+182,3.033333333,POSE1_TO_POSE2_PRESS,787,749,731,705.091506731,698,654,932,799,835,669,655,677,0.438652230839,0.0044852182491,0.0499902815866,0.999999999367,1.86578411008e-05,-1.0014132797e-05,2.85918639641e-05,1793256090828412416
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,749,731,705.665200077,698,654,932,799,835,669,655,677,0.439488372832,0.00448703027507,0.0499996519254,0.9999999995,1.28035274125e-05,-2.14983607804e-06,2.88310009454e-05,1793256090845079296
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,749,731,706,698,654,932,799,835,669,655,677,0.440305611499,0.00448548240089,0.0499960810694,0.999999999346,1.82829407035e-05,-1.12418305935e-05,2.91237608564e-05,1793256090861745920
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,749,731,706,698,654,932,799,835,669,655,677,0.441096357817,0.00447922575667,0.0499743736294,0.999999997807,3.96461336622e-05,-4.40974108886e-05,2.94916711767e-05,1793256090878412800
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,748.574596712,731,706,697.574596712,654,932,799,835,669,655,677,0.441888422064,0.0044742867187,0.0499811040244,0.999999998385,3.8551522415e-05,-2.88085533232e-05,3.02338129564e-05,1793256090895078912
+187,3.116666667,POSE1_TO_POSE2_PRESS,786.997289539,748,731,706,697.002710461,653.997289539,932,799,835,669,655,677,0.442680594811,0.00446985990077,0.049997918692,0.999999999075,2.94794432004e-05,3.53051505337e-06,3.11083521445e-05,1793256090911745280
+188,3.133333333,POSE1_TO_POSE2_PRESS,786.421533952,748,731,706,697.578466048,653.421533952,932,799,835,669,655,677,0.443396192406,0.00447425018639,0.0499997528027,0.99999999905,2.93286160306e-05,5.81997999274e-06,3.17206461482e-05,1793256090928412160
+189,3.150000000,POSE1_TO_POSE2_PRESS,786.157103809,747.842896191,731,706,697.842896191,653,932,799,835,669,655,677.157103809,0.444085316975,0.00448018116577,0.04998505093,0.999999998772,3.15205442786e-05,-2.05625035917e-05,3.22495302736e-05,1793256090945078784
+190,3.166666667,POSE1_TO_POSE2_PRESS,786.743619548,747.256380452,731,706,697.256380452,653,932,799,835,669,655,677.743619548,0.444702082966,0.00449032332521,0.0499251512451,0.999999990814,4.01159269826e-05,-0.000125314039652,3.2550430045e-05,1793256090961745408
+191,3.183333333,POSE1_TO_POSE2_PRESS,786.673470882,746.673470882,731,706,696.673470882,653,932,799,835,669,655,677.673470882,0.445341200289,0.004503078779,0.0498899977381,0.999999983301,5.51091816696e-05,-0.000171327533184,3.17530197487e-05,1793256090978412288
+192,3.200000000,POSE1_TO_POSE2_PRESS,786.093361867,746.093361867,731,706,696.093361867,653,932,799,835,669,655,677.093361867,0.44599767544,0.00451786369564,0.0498740619182,0.999999981984,7.50709721922e-05,-0.000171725528252,3.01026708292e-05,1793256090995079168
+193,3.216666667,POSE1_TO_POSE2_PRESS,786.481057108,746,731.481057108,706,696,652.518942892,932,799,835,669.481057108,655,677,0.446621793838,0.00452624305066,0.0498758818571,0.999999981937,9.46470205659e-05,-0.000162023760211,3.02560587209e-05,1793256091011746048
+194,3.233333333,POSE1_TO_POSE2_PRESS,787,746.054703246,732,706,695.945296754,651.945296754,932,798.945296754,835,669.945296754,655,677,0.447230636154,0.00453322722421,0.0498773945271,0.99999998091,0.000112780791611,-0.000156573304079,3.075434576e-05,1793256091028412672
+195,3.250000000,POSE1_TO_POSE2_PRESS,787,746.631389107,732,706,695.368610893,651.368610893,932,798.368610893,835,669.368610893,655,677,0.447752933695,0.00453862221077,0.049843477838,0.99999997048,0.000117858244212,-0.000210174228504,3.1242408362e-05,1793256091045079040
+196,3.266666667,POSE1_TO_POSE2_PRESS,787,747,732,706,695,650.792248298,932,798.207751702,835,669,655,677,0.448271537947,0.0045440944375,0.0498150980825,0.999999959767,0.000122126038687,-0.000254084122599,3.15142744819e-05,1793256091061745408
+197,3.283333333,POSE1_TO_POSE2_PRESS,787,747,732,706,695,650.216458439,932,798.783541561,835,669,655,677,0.448783599378,0.00454970349684,0.0497965271688,0.999999952268,0.000124959500246,-0.000280826070909,3.14031423372e-05,1793256091078412032
+198,3.300000000,POSE1_TO_POSE2_PRESS,787,747,732,706.370325239,695,650,932,799,835,669.370325239,655,677,0.44929293564,0.00454966253714,0.0497993914481,0.999999954478,0.000118154821699,-0.000275892006992,3.10869090456e-05,1793256091095079168
+199,3.316666667,POSE1_TO_POSE2_PRESS,787,747,732,706.963731564,695,650,932,799,835,669.963731564,655,677,0.44980063033,0.00454621804979,0.0498151681218,0.99999996224,0.000105544201624,-0.000251876558452,3.06471243744e-05,1793256091111746304
+200,3.333333333,POSE1_TO_POSE2_PRESS,787,747,732,706.45974239,694.45974239,649.45974239,932.54025761,798.45974239,835,669.45974239,655,677,0.450267701236,0.00454423184836,0.0498329854383,0.999999970999,6.33888343581e-05,-0.000231374659275,2.12114870251e-05,1793256091128412672
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+202,3.366666667,POSE1_TO_POSE2_PRESS,787,747,731.309803171,706.690196829,694,649,932.309803171,798.690196829,835,669,655,677,0.451105118862,0.00454067465978,0.0498431827941,0.999999973327,3.0863424741e-05,-0.0002283330587,1.60609515404e-05,1793256091161745920
+203,3.383333333,POSE1_TO_POSE2_PRESS,786.726787788,747,731.273212212,706.726787788,694,648.726787788,932,798.726787788,835,669,655,677,0.451463252537,0.00454120040844,0.0498304960277,0.999999965744,3.37729501893e-05,-0.000258893341694,1.86032170822e-05,1793256091178412288
+204,3.400000000,POSE1_TO_POSE2_PRESS,786.134005487,747,731.865994513,706.134005487,694,648.134005487,932,798.134005487,835,669,655,677,0.451786105387,0.00454433382212,0.0498070056947,0.999999950278,3.74643596117e-05,-0.00031238702036,2.13376709399e-05,1793256091195078656
+205,3.416666667,POSE1_TO_POSE2_PRESS,786.44629738,747,732,706.44629738,694,648,932.44629738,798.44629738,835,669.44629738,655,677,0.452088754401,0.00455527624263,0.0497862373316,0.999999938117,5.07577636614e-05,-0.000347391980481,2.25540856834e-05,1793256091211745280
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,747,732,707,694,648,932.977102362,799,835,670,655,677,0.452385304852,0.00456866849027,0.049767213132,0.999999926861,7.00874515483e-05,-0.000375270547583,2.32098735685e-05,1793256091228412160
+207,3.450000000,POSE1_TO_POSE2_PRESS,787,747,732,707,694,648,932.401887737,799,835,670,655,677,0.452677099601,0.00458613410441,0.049771082179,0.999999920426,0.000167367207501,-0.000361516820645,2.10382238884e-05,1793256091245079040
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.826194209,747,732,707,693.826194209,647.826194209,932,798.826194209,834.826194209,670,655,677,0.45295858428,0.00459599411476,0.0497769571568,0.999999912988,0.000232034658892,-0.000346082844129,2.02491681847e-05,1793256091261745664
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.249390341,747,732,707,693.249390341,647.249390341,932,798.249390341,834.249390341,670,655,677,0.453216163282,0.00458821924597,0.0497874832234,0.99999992192,0.000221084964691,-0.000326752933894,2.26658907831e-05,1793256091278412288
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+214,3.566666667,POSE1_TO_POSE2_PRESS,786.661408668,747,732,706,693,646,932.338591332,798.661408668,835,669.338591332,655,677,0.454124194942,0.00458026854902,0.0497584999739,0.999999914104,0.000193669868246,-0.000365686913103,2.35995843043e-05,1793256091361745408
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+240,4.000000000,POSE1_TO_POSE2_PRESS,786.758588911,747,732,706.241411089,692,644,932.241411089,798.241411089,834.241411089,670,655,677,0.454867210567,0.0045925029245,0.0496931924307,0.999999875966,0.000190842982803,-0.00045960676757,2.02240670938e-05,1793256091795078912
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,747,732,706,692,644.341062756,932,798.341062756,834.341062756,670,655,677.341062756,0.454866944368,0.00459410206638,0.0496925235783,0.999999875175,0.000192694103432,-0.000460559125285,2.00980605293e-05,1793256091811745536
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,747,732,706,692,644.920151586,932,798.920151586,834.920151586,670,655,677.920151586,0.454867112542,0.00459560104687,0.0496920485054,0.999999874477,0.000194432640362,-0.000461330931905,2.04034248579e-05,1793256091828411904
+243,4.050000000,POSE1_TO_POSE2_PRESS,787.496966162,747,732,706.496966162,692,645,932,798.503033838,834.503033838,670,655,677.503033838,0.454867089099,0.00459307004987,0.0496918134149,0.999999874702,0.000191718731132,-0.000461973365514,2.0519198937e-05,1793256091845079040
+244,4.066666667,POSE1_TO_POSE2_PRESS,787.927007011,747,732,707,692,644.927007011,932,798,834.072992989,670,655,677,0.454867159576,0.00459038110866,0.0496917795265,0.999999875029,0.000188986048682,-0.000462385530711,2.06364986381e-05,1793256091861746176
+245,4.083333333,POSE1_TO_POSE2_PRESS,787.353885637,747,732,707,692,644.353885637,932,798,834.646114363,670,655,677,0.454868083546,0.00459102628746,0.0496928612324,0.999999875111,0.000191004017163,-0.000461361733548,2.09720167052e-05,1793256091878412544
+246,4.100000000,HOLD_POSE2,787,747,732,707,692,644,932,798,835,669,655,677,0.454867872743,0.00459229057074,0.0496921167669,0.999999873998,0.000192842986292,-0.000463028049843,2.04845491271e-05,1793256091916905728
+247,4.116666667,HOLD_POSE2,787,746.420563015,732,706.420563015,692,644,932,798,835,669,655,677,0.454867574769,0.00459266440827,0.0496916771884,0.999999874168,0.000191845090011,-0.000463072456995,2.05897278169e-05,1793256091933572096
+248,4.133333333,HOLD_POSE2,787,746.157979861,732,706.157979861,692,644,932,798,835,669,655,677,0.454867500279,0.00459315098444,0.0496912528006,0.999999874206,0.000191347980757,-0.000463195236667,2.0581175309e-05,1793256091950238720
+249,4.150000000,HOLD_POSE2,787,746.734156023,732,706.734156023,692,644,932,798,835,669,655,677,0.454868017382,0.00459393599674,0.0496908686249,0.999999873901,0.000192176529388,-0.000463525480122,2.02715593458e-05,1793256091966905344
+250,4.166666667,HOLD_POSE2,787,746.689937163,732,707,692,644,932,798,835,669,654.689937163,677,0.454868106038,0.00459412584336,0.0496908185896,0.999999873681,0.000192589762528,-0.000463832951606,2.01648061057e-05,1793256091983571968
+251,4.183333333,HOLD_POSE2,787,746.114261118,732,707,692,644,932,798,835,669,654.114261118,677,0.454867827669,0.00459380584532,0.0496910547935,0.999999873535,0.000192647218442,-0.000464120915614,2.02318338472e-05,1793256092000238592
+252,4.200000000,HOLD_POSE2,786.528117505,746.471882495,731.528117505,706.528117505,692,644,932,798,834.528117505,669,654.471882495,677,0.454867927505,0.00459466664392,0.0496907888351,0.999999873449,0.000193633800761,-0.000463902385953,2.00725799283e-05,1793256092016905472
+253,4.216666667,HOLD_POSE2,786.059783093,747,731.059783093,706,692,644.059783093,932,798,834,669.059783093,655,677,0.45486807132,0.00459556358283,0.0496904113643,0.999999873351,0.000194646016379,-0.000463695139945,1.99352172441e-05,1793256092033572096
+254,4.233333333,HOLD_POSE2,786.640407997,747,731.640407997,706,692,644.640407997,932,798,834,669.640407997,655,677,0.45486778235,0.00459422791139,0.0496901457494,0.999999873033,0.000193877040329,-0.000464678917803,2.04767593106e-05,1793256092050238720
+255,4.250000000,HOLD_POSE2,787,747,732,706.218184589,692,644.781815411,932,798,834,669.781815411,655,677,0.454867474254,0.0045931429614,0.049690161345,0.999999872799,0.000193376022807,-0.00046538003668,2.07020797056e-05,1793256092066905344
+256,4.266666667,HOLD_POSE2,787,747,732,706.791327287,692,644.208672713,932,798,834,669.208672713,655,677,0.454867135044,0.00459246590292,0.0496906344339,0.999999872705,0.000193310939235,-0.000465621305852,2.04129482817e-05,1793256092083571968
+257,4.283333333,HOLD_POSE2,787,747,732,706.63769069,691.63769069,644,932,798,834,669,655,677,0.454866899668,0.00459321003143,0.0496898961176,0.999999872348,0.000194007911385,-0.000466108922021,2.01717799557e-05,1793256092100238848
+258,4.300000000,HOLD_POSE2,787,747,732,706.06794568,691.06794568,644,932,798,834,669,655,677,0.454866723741,0.00459476784286,0.0496884642265,0.999999871839,0.000195141189074,-0.000466737581124,1.99580722787e-05,1793256092116905216
+259,4.316666667,HOLD_POSE2,787,746.471054013,731.471054013,706,691.528945987,644,932,798,834,669.528945987,654.471054013,677,0.45486694207,0.00459453057623,0.0496887006373,0.999999871903,0.000194967047487,-0.000466654699493,2.0375268027e-05,1793256092133571840
+260,4.333333333,HOLD_POSE2,787,746.12427725,731.12427725,706.12427725,692,644,932,798,834.12427725,670,654.12427725,677,0.45486713695,0.00459453676897,0.0496892204432,0.999999872002,0.00019482566702,-0.000466489281393,2.06562197439e-05,1793256092150238720
+261,4.350000000,HOLD_POSE2,787,746.700564162,731.700564162,706.700564162,692,644,932,798,834.700564162,670,654.700564162,677,0.45486705238,0.00459631248787,0.0496899493834,0.999999871945,0.000195447318907,-0.000466374088265,2.01309306816e-05,1793256092166905344
+262,4.366666667,POSE2_TO_POSE3_RETREAT,787,747,732,707,692,645,932,798,835,669,655,677,0.454865455318,0.0045943738249,0.0496874153776,0.999999871045,0.000193880312566,-0.000468950312839,2.0150866449e-05,1793256092204807424
+263,4.383333333,POSE2_TO_POSE3_RETREAT,787,747,732,706.404551381,692,644.404551381,932,798,834.404551381,669.595448619,655,677,0.454866753247,0.00459475600573,0.0496880334577,0.999999871686,0.000193546617068,-0.000467724058083,2.00697554528e-05,1793256092221474048
+264,4.400000000,POSE2_TO_POSE3_RETREAT,787,747,732,706.185358642,692,644,932,798,834,669.814641358,655,677,0.454867148865,0.0045947536537,0.049688211474,0.999999871836,0.000193401685231,-0.000467462444446,2.00558666437e-05,1793256092238140416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,747,732,706.763531322,692,644,932,798,834,669.236468678,655,677,0.454865632296,0.00459393639556,0.0496874569025,0.999999870949,0.000193656783317,-0.00046924510847,2.01844358055e-05,1793256092254806784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,747,732,707,692,644,932,798,834,669,654.660900154,677,0.454866274863,0.0045949887952,0.0496879948504,0.999999871082,0.000194468679784,-0.000468631308989,2.00732250156e-05,1793256092271473408
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,747,732,707,692,644,932,798,834,669,654.087133813,677,0.454868411612,0.0045973350499,0.0496894272574,0.999999871916,0.000195665896153,-0.000466359090207,1.97960798432e-05,1793256092288139776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,747,731.500473566,707,692,644,932,798,834.499526434,669,654,677,0.454869332633,0.00459717601764,0.0496904210276,0.999999872493,0.00019600027298,-0.000464978001368,1.98349797438e-05,1793256092304806656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,747,731.087067925,706.912932075,692,644,932,798,835,669,654.087067925,677,0.454869984477,0.00459664626814,0.0496911538445,0.999999872987,0.000196150411284,-0.000463847243487,1.98965105261e-05,1793256092321473536
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,747,731.666536564,706.333463436,692,644,932,798,835,669,654.666536564,677,0.454870345091,0.00459655687923,0.0496908550489,0.99999987328,0.000196132341571,-0.000463229822939,1.97659939207e-05,1793256092338140416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746.755152311,732,706.244847689,692,644,932,798,834.755152311,669.244847689,655,677,0.454866515852,0.00459563548654,0.0496886116064,0.999999872148,0.000194789595014,-0.000466231419143,1.97303030303e-05,1793256092354807040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,746.178410259,732,706.821589741,692,644,932,798,834.178410259,669.821589741,655,677,0.454857007209,0.00459358630145,0.0496837321688,0.999999869035,0.000191651231028,-0.000474138641636,1.98231496918e-05,1793256092371473664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,746.395956059,732,707,692,644,932,798,834.395956059,670,655,677,0.454837686683,0.00459461965197,0.049674735578,0.999999861566,0.000193926967935,-0.000488742290768,1.97973694449e-05,1793256092388140032
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787,746.969258351,732,707,692,644,932,798,834.969258351,670,655,677,0.454813971474,0.00459703365065,0.0496638949398,0.999999851886,0.000198627646325,-0.000506345227917,1.97184569534e-05,1793256092404806400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787,747,732,706.441099808,692,644,932,798,835,669.441099808,655,677,0.454761286217,0.00459696084952,0.0496441716491,0.999999834176,0.000196610931,-0.000540953321909,1.90218945049e-05,1793256092421473536
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786.853173244,747,732,706.146826756,692,644,932,798.146826756,835,669.146826756,655,677,0.45470465012,0.00459679894104,0.0496254734237,0.999999817772,0.000195117884679,-0.000571010349017,1.82432756324e-05,1793256092438140160
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786.273040731,747,732,706.726959269,692,644,932,798.726959269,835,669.726959269,655,677,0.454641198686,0.00459678988803,0.0496112855887,0.999999809593,0.000196293487576,-0.000584793097058,1.73257756083e-05,1793256092454806784
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786.304436108,747,732,706.695563892,692,644,932,798.695563892,835,670,655,677,0.454567394224,0.00459790589461,0.049600100426,0.999999800914,0.000197877753126,-0.000598946797883,1.67121532886e-05,1793256092471473408
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786.879551707,747,732,706.120448293,692,644,932,798.120448293,835,670,655,677,0.454484384706,0.00460002221142,0.0495915849929,0.999999791753,0.000199825367741,-0.000613430318489,1.63687140265e-05,1793256092488140032
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786.545006107,747,731.545006107,706.454993893,692,644,932,798,835,670,655,677,0.454393718263,0.0046007749559,0.0495914008066,0.999999792429,0.000201015296183,-0.00061195473058,1.56687931777e-05,1793256092504806656
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,747,731,707,692,644,932,798,834.968540141,670,655,677,0.454299605933,0.00460131988398,0.0495937466862,0.999999795778,0.000202257419051,-0.000606063484296,1.48993107838e-05,1793256092521473280
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,747,731,707,692,644,932,798,834.375338468,670,655,677,0.454180183831,0.00460460415809,0.0496018598516,0.999999800163,0.000208015585053,-0.00059681806448,1.45740072078e-05,1793256092538139904
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786.211634879,747,731.211634879,706.788365121,692,644.211634879,932,798.211634879,834,670,655,677,0.454048410031,0.00460662840274,0.0496072928987,0.999999802653,0.000212001697173,-0.000591223600804,1.42749707248e-05,1793256092554806528
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786.787877896,747,731.787877896,706.212122104,692,644.787877896,932,798.787877896,834,670,655,677,0.453895356534,0.00460648184702,0.0496081085921,0.999999802047,0.000212934884414,-0.000591919067,1.40211876686e-05,1793256092571473152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,747,732,706.362479525,692,645,932,798.637520475,834.362479525,670,655,677,0.453722435685,0.00460826591941,0.0496097601901,0.999999800768,0.000217489166737,-0.000592436558488,1.3480592321e-05,1793256092588140032
+286,4.766666667,POSE2_TO_POSE3_RETREAT,787,747,732,706.936125002,692,645,932,798.063874998,834.936125002,670,655,677,0.453537940905,0.00461117469784,0.0496118987526,0.99999979906,0.000224152953086,-0.000592850369134,1.27729116756e-05,1793256092604806912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786.491247571,747,732,707,692,645,932,798,835,670,655,677,0.453324218943,0.00461498617388,0.0496132189482,0.999999796476,0.000231316927804,-0.000594468703304,1.21244819745e-05,1793256092621473536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786.084896626,747,732,707,692,645.084896626,932,798,835,670,655,677,0.453100346316,0.00461865376206,0.0496147896393,0.999999794124,0.000238206666694,-0.000595716249629,1.1491893652e-05,1793256092638140416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786.683074543,747,732,707,692,645.683074543,932,798,835,670,655,677,0.452837244683,0.004620767558,0.0496184947847,0.999999794097,0.000243059464524,-0.000593809522127,1.09101947659e-05,1793256092654807040
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.72928197,747,732,706.72928197,692,645.72928197,932,798,835,669.72928197,655,677,0.45256095529,0.00462286018952,0.0496228555954,0.999999794027,0.00024837972812,-0.000591733046363,1.02279941137e-05,1793256092671473408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.153509093,747,732,706.153509093,692,645.153509093,932,798,835,669.153509093,655,677,0.452269805468,0.00462492897207,0.0496279552333,0.999999793905,0.000254226748717,-0.000589465292239,9.43254447967e-06,1793256092688140032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786.420757272,747,732,706.420757272,692,645.420757272,932,798,834.579242728,669.420757272,655,677,0.451947651479,0.00462834467428,0.0496313302011,0.999999794171,0.000260553964017,-0.000586266083208,7.91151315023e-06,1793256092704806912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786.99447595,747,732,706.99447595,692,645.99447595,932,798,834.00552405,669.99447595,655,677,0.451614226294,0.00463225003341,0.0496340781851,0.999999794536,0.000267055748372,-0.00058272825462,6.12670506367e-06,1793256092721473536
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787,747,732,706.413819502,692.586180498,646,932,798.586180498,834.586180498,670,655,677,0.451243688064,0.00463823090249,0.049629075311,0.999999792475,0.000275299645821,-0.000582447058152,3.82138111109e-06,1793256092738140160
+295,4.916666667,POSE2_TO_POSE3_RETREAT,787,747,732,706,693,646.173739755,932,799,834.826260245,670,655,677,0.450865666056,0.00464346496068,0.0496310261183,0.99999979682,0.000282669683005,-0.000571363355973,1.59970209014e-06,1793256092754806784
+296,4.933333333,POSE2_TO_POSE3_RETREAT,787,747,732,706,693,646.751258694,932,799,834.248741306,670,655,677,0.450471090006,0.00464691649975,0.0496493127296,0.99999981537,0.000287969464958,-0.000535100550657,-4.15821074146e-07,1793256092771473408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,787,747,732,706,693,647.327511543,932,798.672488457,834.327511543,670,655,677,0.450052637613,0.00465170253516,0.0496659221197,0.999999829746,0.000293979620665,-0.000504061285243,-2.46601397517e-06,1793256092788140288
+298,4.966666667,POSE2_TO_POSE3_RETREAT,787,747,732,706,693,647.902806576,932,798.097193424,834.902806576,670,655,677,0.449616121192,0.00465749820302,0.0496812625862,0.999999841079,0.000300527220271,-0.00047697395905,-4.54243696761e-06,1793256092804806912
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,788.305697006,751.305697006,730,705,697.305697006,654,931,801,834,669,655,677,0.404477823769,0.00463240062071,0.0498141566983,0.999999932944,0.00015806536637,-0.000326623654687,-4.94463473385e-05,1793256093821475328
+360,6.000000000,POSE2_TO_POSE3_RETREAT,788.881759599,751.881759599,730,705,697.881759599,654,931,801,834,669,655,677,0.404143032363,0.00462850495141,0.0498415815499,0.99999994517,0.000156413126394,-0.000287881596703,-4.81598259125e-05,1793256093838141440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,788.543355699,752,730,705,697.543355699,654,931,801,834,669,655,677,0.403831245924,0.00462873014291,0.0498581308046,0.999999951583,0.000158769841192,-0.000263259080363,-4.81789394296e-05,1793256093854807552
+362,6.033333333,POSE2_TO_POSE3_RETREAT,788,752,730,705,697.032137336,653.967862664,931,801,834,669,655,677,0.403525214673,0.00463010536409,0.0498704169467,0.999999955682,0.000162240297334,-0.000244862844926,-4.8545194715e-05,1793256093871473920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,788,752,730,705,697.623510069,653.376489931,931,801,834,669,655,677,0.403215942549,0.00463297270546,0.0498573961344,0.999999948021,0.000167074335379,-0.000271356502862,-4.90844072043e-05,1793256093888140288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,788.210143234,751.789856766,730,705,698,653.210143234,931,801,834,669,655,677,0.402921713637,0.00463459858283,0.0498436471389,0.999999939465,0.000173163236947,-0.000297779117064,-4.91131220188e-05,1793256093904806912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,788.788472281,751.211527719,730,705,698,653.788472281,931,801,834,669,655,677,0.402653841531,0.00463404932715,0.0498286223162,0.999999929861,0.000181450747757,-0.000324077254968,-4.82474087632e-05,1793256093921474560
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,789,751,730,705,697.060940918,654,931,801,834,669,655,677,0.402196618184,0.00462263846301,0.049807823194,0.999999927612,0.000129793724847,-0.000355833828603,-3.62162814895e-05,1793256093954807808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,788.474414185,751.525585815,730,705.525585815,697,654,931,801,834,669,655,677,0.402032364688,0.00460462183557,0.0498115672162,0.999999934651,0.000104436885545,-0.000344319989958,-3.51327163271e-05,1793256093971473920
+369,6.150000000,POSE2_TO_POSE3_RETREAT,788.111754677,752,730,705.888245323,697,654,931,801,834,669,655,677,0.401879235413,0.00458997836887,0.0498176674888,0.999999941566,8.64090720497e-05,-0.000328875090173,-3.52586517838e-05,1793256093988140288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,788.690522178,752,730,705.309477822,697,654,931,801,834,669,655,677,0.401745042269,0.00459496250369,0.0498271154905,0.999999946916,9.49892868102e-05,-0.000309426812588,-3.74223970293e-05,1793256094004806912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,789,752,730,705,697.269156506,654,931,801,834,669,655,677,0.401625136454,0.00459752766597,0.049836516063,0.99999995165,9.92944230075e-05,-0.000292122544932,-3.87925622617e-05,1793256094021473792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,789,752,730,705,697.847637752,654,931,801,834,669,655,677,0.401521650179,0.00459731285405,0.0498458621276,0.999999955917,9.86864782509e-05,-0.000277282255059,-3.92507154886e-05,1793256094038140160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,788.578633268,752,730,705,697.578633268,654,931,801,834,669,655.421366732,677,0.401429318269,0.00459793273028,0.0498469006997,0.999999956872,9.93772259153e-05,-0.000273447512081,-4.00726939357e-05,1793256094054807040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,788.006603511,752,730,705,697.006603511,654,931,801,834,669,655.993396489,677,0.401340974695,0.0045988510559,0.0498449688615,0.999999956691,0.000100532331397,-0.000273547890218,-4.10247609746e-05,1793256094071474176
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,788,752,729.35366871,705,697.64633129,653.35366871,931,801.64633129,834,669,655,677,0.401031848148,0.00460080462832,0.0498520599399,0.999999960047,0.000111050407332,-0.000256616188458,-4.14877628231e-05,1793256094204806912
+383,6.383333333,POSE2_TO_POSE3_RETREAT,788.230344923,752,729.230344923,705,698,653.230344923,931,801.769655077,834,669,655,677,0.401020385201,0.00460161311325,0.0498520131769,0.999999959916,0.000113486464363,-0.000256055336273,-4.1533685673e-05,1793256094221473792
+384,6.400000000,POSE2_TO_POSE3_RETREAT,788.807931795,752,729.807931795,705,698,653.807931795,931,801.192068205,834,669,655,677,0.401012784062,0.00460249584305,0.0498523072628,0.99999996004,0.000114268539641,-0.000255146542947,-4.1987093461e-05,1793256094238140672
+385,6.416666667,POSE2_TO_POSE3_RETREAT,789,752,730,705,697.619626519,654,931,801,834,669,655,677,0.401007737255,0.00460217640014,0.0498528838178,0.999999960224,0.000114064585069,-0.000254537170294,-4.18535455831e-05,1793256094254807296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,789,752,730,705,697.04974822,654,931,801,834,669,655,677,0.401003963035,0.00460125802607,0.0498536011009,0.999999960438,0.000113369383271,-0.000254076971214,-4.14275721351e-05,1793256094271473920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,788.454230382,752,730,705,697.545769618,654,931,801,834,668.454230382,655,677,0.401005759699,0.004601372991,0.049856388787,0.999999961738,0.000113447461043,-0.00024885622136,-4.15127747532e-05,1793256094288140288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,788,752,730,705,697.860916682,653.860916682,931,801,834,668,655,677,0.401006668883,0.00460156798626,0.0498584513328,0.999999962718,0.000113479257931,-0.000244862049856,-4.15868589266e-05,1793256094304806912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,788,752,730,705,697.282317898,653.282317898,931,801,834,668,655,677,0.40100308976,0.00460170355877,0.0498575965943,0.999999962438,0.000113131080267,-0.000246182845677,-4.14713054239e-05,1793256094321473536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,788,752,730,705,697,653.295173925,931,801,834,668.295173925,655,677,0.401001659824,0.00460142618288,0.0498573216703,0.99999996233,0.000113386222995,-0.000246555913096,-4.11630410667e-05,1793256094338140416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,788,752,730,705,697,653.871611021,931,801,834,668.871611021,655,677,0.40100227779,0.00460075531975,0.0498575992357,0.999999962386,0.000114216253208,-0.000246025916156,-4.06711477854e-05,1793256094354807552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,788.446384545,752,730,705,697,654,931,801,834,668.553615455,655,676.553615455,0.401001780182,0.00459907111928,0.0498573058638,0.99999996252,0.000112414936005,-0.000246365758513,-4.03401390501e-05,1793256094371474176
+393,6.550000000,POSE2_TO_POSE3_RETREAT,788.978732191,752,730,705,697.021267809,654,931,801,834,668.021267809,655,676.021267809,0.40100100861,0.00459725889154,0.049856925448,0.999999962668,0.000110039269759,-0.000246878652789,-4.0073344976e-05,1793256094388140544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,788.388149667,752,730,705,697.611850333,654,931,801,834,668.611850333,655,676.611850333,0.401001460527,0.00459979248438,0.0498585944376,0.999999962764,0.000112473109688,-0.000245351706706,-4.02914121498e-05,1793256094404807168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,788.198013021,752,729.801986979,705,698,654,931,801,834,668.801986979,654.801986979,676.801986979,0.401001461255,0.00460147634421,0.0498592603151,0.999999962664,0.000114289837517,-0.00024488047219,-4.05277463471e-05,1793256094421473792
+396,6.600000000,POSE2_TO_POSE3_RETREAT,788.775700974,752,729.224299026,705,698,654,931,801,834,668.224299026,654.224299026,676.224299026,0.401000596861,0.00460153090535,0.0498580028013,0.999999962199,0.000114923299613,-0.000246433484526,-4.07991061623e-05,1793256094438140416
+397,6.616666667,POSE2_TO_POSE3_RETREAT,788.648739605,751.648739605,729,705,698,654,931,800.648739605,834,668,654.351260395,676,0.401001471594,0.00460101156085,0.0498589094567,0.999999962725,0.000114140843176,-0.000244673391625,-4.06931128657e-05,1793256094454807040
+398,6.633333333,POSE2_TO_POSE3_RETREAT,788.074531204,751.074531204,729,705,698,654,931,800.074531204,834,668,654.925468796,676,0.401003450168,0.00460012795348,0.0498611897291,0.999999963868,0.000112459690992,-0.000240810442156,-4.03476102793e-05,1793256094471473408
+399,6.650000000,POSE2_TO_POSE3_RETREAT,788,751,729.512940431,705,698,654,931,800.512940431,834,668,655,676.512940431,0.401002514009,0.00459941080532,0.0498610615323,0.999999963904,0.000111218973363,-0.000241232350441,-4.03683837226e-05,1793256094488140288
+400,6.666666667,POSE2_TO_POSE3_RETREAT,788.100567189,751,730,705,698,653.899432811,931,801,834,668.100567189,655,677,0.401001419537,0.00459894896398,0.0498606586121,0.999999963758,0.000110562603185,-0.000242121723755,-4.04560638796e-05,1793256094504806912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,788.679520981,751,730,705,698,653.320479019,931,801,834,668.679520981,655,677,0.401001640079,0.00459958348021,0.0498606577476,0.999999963533,0.000112373405376,-0.000242194535439,-4.0602127434e-05,1793256094521473536
+402,6.700000000,POSE2_TO_POSE3_RETREAT,789,751,730,705,698,653.256967285,931,801,834,669,655,677,0.401002395856,0.00460018405426,0.0498610024196,0.999999963665,0.000113276008719,-0.000241205853218,-4.07263145805e-05,1793256094538140416
+403,6.716666667,POSE2_TO_POSE3_RETREAT,789,751,730,705,698,653.832544557,931,801,834,669,655,677,0.401003815262,0.00460074254397,0.0498617755171,0.999999964239,0.000113052549806,-0.00023890104021,-4.08233775081e-05,1793256094554807040
+404,6.733333333,POSE2_TO_POSE3_RETREAT,788.59380919,751,730,705,698,654,931,801,834,669,655,677,0.401005074742,0.00460111607643,0.0498629835021,0.999999964497,0.000114018757539,-0.000237378064497,-4.07040401094e-05,1793256094571473408
+405,6.750000000,POSE2_TO_POSE3_RETREAT,788.020955283,751,730,705,698,654,931,801,834,669,655,677,0.401006268601,0.00460141371952,0.0498643699245,0.999999964623,0.000115473094322,-0.000236175882555,-4.04959120482e-05,1793256094588140288
+406,6.766666667,POSE2_TO_POSE3_RETREAT,788.571489056,751.571489056,730,705,697.428510944,654,931,801,834,669,655,677,0.401005293887,0.00459998903875,0.0498636876208,0.999999964795,0.000112543106235,-0.000236862536484,-4.05115343456e-05,1793256094604806912
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98e58e596c97618ab52746da1e36da7d35328ab5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/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
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+1,0.016666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+2,0.033333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+3,0.050000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+4,0.066666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
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+6,0.100000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
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+16,0.266666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+17,0.283333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
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+381,6.350000000,pose2_to_pose3_retreat,0.575705323956,0.0101817076008,1.04002030068,0.546276471498,0.0188559450406,1.03969201457
+382,6.366666667,pose2_to_pose3_retreat,0.575693413708,0.0101818512794,1.04002035995,0.546264559962,0.0188560842294,1.03969207068
+383,6.383333333,pose2_to_pose3_retreat,0.575684432808,0.010181908754,1.04002046889,0.546255579052,0.0188561415151,1.03969217558
+384,6.400000000,pose2_to_pose3_retreat,0.575678250944,0.0101818546711,1.04002054817,0.546249398362,0.0188560913392,1.03969225279
+385,6.416666667,pose2_to_pose3_retreat,0.575674591246,0.010181749569,1.04002046889,0.546245739382,0.0188559886965,1.03969217415
+386,6.433333333,pose2_to_pose3_retreat,0.575672667115,0.0101816943103,1.04002042722,0.546243815629,0.0188559347309,1.03969213281
+387,6.450000000,pose2_to_pose3_retreat,0.575671403989,0.0101816949084,1.04002036955,0.546242552323,0.0188559348359,1.03969207825
+388,6.466666667,pose2_to_pose3_retreat,0.575670617933,0.0101816976626,1.0400203317,0.546241766127,0.0188559371965,1.03969204253
+389,6.483333333,pose2_to_pose3_retreat,0.575670399963,0.0101816984263,1.04002032121,0.546241548119,0.0188559378511,1.03969203262
+390,6.500000000,pose2_to_pose3_retreat,0.575669885252,0.0101817002298,1.04002029642,0.546241033316,0.0188559393968,1.03969200923
+391,6.516666667,pose2_to_pose3_retreat,0.575669156477,0.0101817047069,1.04002026704,0.546240304404,0.018855943469,1.03969198151
+392,6.533333333,pose2_to_pose3_retreat,0.575668971413,0.0101817201984,1.04002030215,0.546240119242,0.0188559585595,1.03969201475
+393,6.550000000,pose2_to_pose3_retreat,0.575668948858,0.0101817220865,1.04002030643,0.546240096675,0.0188559603987,1.0396920188
+394,6.566666667,pose2_to_pose3_retreat,0.575668757921,0.0101817380696,1.04002034265,0.546239905638,0.0188559759679,1.0396920531
+395,6.583333333,pose2_to_pose3_retreat,0.575668722869,0.0101817410038,1.04002034931,0.546239870567,0.0188559788261,1.0396920594
+396,6.600000000,pose2_to_pose3_retreat,0.575668445533,0.0101817642193,1.04002040192,0.546239593085,0.0188560014405,1.03969210922
+397,6.616666667,pose2_to_pose3_retreat,0.575668325868,0.0101817742363,1.04002042462,0.546239473358,0.0188560111981,1.03969213072
+398,6.633333333,pose2_to_pose3_retreat,0.57566832113,0.010181774633,1.04002042552,0.546239468616,0.0188560115845,1.03969213157
+399,6.650000000,pose2_to_pose3_retreat,0.575668202631,0.0101817845524,1.04002044801,0.546239350055,0.0188560212471,1.03969215286
+400,6.666666667,pose2_to_pose3_retreat,0.575668097644,0.0101817933407,1.04002046792,0.546239245013,0.0188560298079,1.03969217172
+401,6.683333333,pose2_to_pose3_retreat,0.575668056173,0.0101817968122,1.04002047579,0.54623920352,0.0188560331895,1.03969217917
+402,6.700000000,pose2_to_pose3_retreat,0.5756677653,0.0101818211608,1.04002053098,0.546238912494,0.0188560569077,1.03969223143
+403,6.716666667,pose2_to_pose3_retreat,0.575667251322,0.0101818550147,1.04002056946,0.546238397681,0.0188560878764,1.03969226851
+404,6.733333333,pose2_to_pose3_retreat,0.575666882646,0.0101818743312,1.0400205651,0.546238028102,0.0188561041642,1.03969226518
+405,6.750000000,pose2_to_pose3_retreat,0.575666732648,0.0101818252697,1.04002066195,0.546237879026,0.0188560582413,1.03969236219
+406,6.766666667,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342216,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad0280b5939f57a2b965fcf8fcf6e9a136cc0046
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b9b33798491845b4bb385e79f1e6ade696687380ac1d00536b0fdb04957bc2
+size 25861719
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..469deee3ed904205172421c117efb59ebff0d325
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,788,751,730,705,698,654,931,801,834,669,655,676,0.401006792316,0.00460117013262,0.0498645604801,0.999999965385,0.000113901031879,-0.00023373421111,-4.03132872999e-05,1793256094760677376
+1,0.016666667,BASELINE,788.575841264,751.575841264,730,705,698,654,931,801,834.575841264,669,655,676,0.401005783575,0.004600450678,0.0498641076845,0.999999965479,0.000112014591814,-0.000234227941347,-4.03910364065e-05,1793256094777344000
+2,0.033333333,BASELINE,788.844973707,751.844973707,730,705,697.844973707,654,931,801,834.844973707,668.844973707,655,676.155026293,0.401004945705,0.0046001696945,0.0498637683248,0.999999965455,0.000110938963192,-0.000234832090497,-4.04465496568e-05,1793256094794010368
+3,0.050000000,BASELINE,788.256438178,751.256438178,730,705,697.256438178,654,931,801,834.256438178,668.256438178,655,676.743561822,0.40100458565,0.00460111483368,0.0498637461725,0.999999965108,0.000112130654351,-0.000235745010734,-4.04398834791e-05,1793256094810676992
+4,0.066666667,BASELINE,788.326893216,751.326893216,729.673106784,705,697.326893216,654,931,801,834,668.326893216,655,677,0.401003961426,0.00460080488095,0.0498632794309,0.999999964833,0.000112942051744,-0.000236535216258,-4.03588145306e-05,1793256094827343872
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+6,0.100000000,BASELINE,788.517810381,751.517810381,729,705,697.517810381,654,931,801,834,669,655,677,0.401003284999,0.00459986591648,0.0498626007088,0.999999964671,0.00011401608077,-0.000236730107049,-4.02082440181e-05,1793256094860677120
+7,0.116666667,BASELINE,788.057632822,751.057632822,729.057632822,705,697.057632822,654,931,801,834,669,655,677,0.401003681741,0.00460043330056,0.0498629882947,0.999999964827,0.000114150188782,-0.000236004393652,-4.02248700775e-05,1793256094877343744
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+9,0.150000000,BASELINE,789,752,729.784708967,705,698,654,931,801,834,669,655,677,0.401005083369,0.00459990718943,0.0498643923391,0.99999996563,0.000108730146403,-0.000235155652236,-4.02463036149e-05,1793256094910676992
+10,0.166666667,BASELINE,789,752,729.194857677,705,698,654,931,801,834,669,655,677,0.401004902784,0.00459937421276,0.0498635027875,0.99999996527,0.000110601770141,-0.000235843630007,-4.00594623816e-05,1793256094927343616
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+12,0.200000000,BASELINE,788.03377586,752,729.96622414,705,697.03377586,654,931,801,834,669,655,677,0.401003886206,0.00460101328178,0.0498625595392,0.999999964771,0.000112819613866,-0.000236891646548,-4.01597166129e-05,1793256094960677120
+13,0.216666667,BASELINE,788.541447827,751.458552173,729.458552173,705,697,654,931,801,834,669,655,677,0.401004725157,0.00459958541918,0.0498638811161,0.999999965319,0.000111053028648,-0.000235450474062,-3.99061519465e-05,1793256094977344000
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+15,0.250000000,BASELINE,789,751.701886376,729.701886376,705,697.701886376,654,931,801,834,669,655,677,0.401005391874,0.00460020064741,0.0498648354486,0.999999965527,0.000111661718767,-0.000234237748454,-4.01404140993e-05,1793256095010676992
+16,0.266666667,BASELINE,788.714601214,752,730,705,698,654,931,801,834,669,655,677,0.401005269275,0.00460125672996,0.0498647588206,0.999999965365,0.000112848813231,-0.000234323759729,-4.0337144156e-05,1793256095027343616
+17,0.283333333,BASELINE,788.131258603,752,730,705,698,654,931,801,834,669,655,677,0.401005081299,0.00460178476893,0.0498647620508,0.999999965267,0.000113406815065,-0.000234471694845,-4.03452915356e-05,1793256095044009984
+18,0.300000000,BASELINE,788,751.553289357,730,705,697.553289357,654,931,801,834,669,655.446710643,676.553289357,0.401004313794,0.00460127011667,0.0498646229087,0.999999965346,0.000112222639266,-0.000234715664129,-4.02791505942e-05,1793256095060677120
+19,0.316666667,BASELINE,788,751.023060003,730,705,697.023060003,654,931,801,834,669,655.976939997,676.023060003,0.401003409116,0.00460047606194,0.0498644473124,0.999999965455,0.000110664365384,-0.00023500462773,-4.01907821944e-05,1793256095077343744
+20,0.333333333,BASELINE,788,751.597979019,730,705,697.597979019,654,931,801,834,669,655.402020981,676.597979019,0.401003248442,0.00460024041644,0.0498643885591,0.999999965118,0.000112258527051,-0.000235703097713,-4.00866549184e-05,1793256095094010368
+21,0.350000000,BASELINE,788.177098467,752,730,705,697.822901533,654,931,801,834,669,655,677,0.401003305274,0.00459985163725,0.0498642478576,0.999999964942,0.000112711320956,-0.000236244229441,-4.00082055744e-05,1793256095110676992
+22,0.366666667,BASELINE,788.765984638,752,730,705,697.234015362,654,931,801,834,669,655,677,0.401003867851,0.00459910679302,0.0498639166109,0.999999965147,0.000110510216963,-0.000236419519632,-3.99894623336e-05,1793256095127343616
+23,0.383333333,BASELINE,789,752,730,705,697.349684591,654,931,801,834,669,655,676.650315409,0.401004301163,0.0045990277659,0.0498642108234,0.999999965422,0.000109945558599,-0.000235499093128,-4.00895885869e-05,1793256095144010496
+24,0.400000000,BASELINE,789,752,730,705,697.929964613,654,931,801,834,669,655,676.070035387,0.401004649232,0.00459938780405,0.0498649174876,0.999999965744,0.000110460035025,-0.000233856109029,-4.02681019416e-05,1793256095160677376
+25,0.416666667,BASELINE,788.492662836,752,730,704.492662836,698,654,931,801,834,668.492662836,655,676.507337164,0.401004522289,0.004600014915,0.0498646899866,0.999999965552,0.000111900856709,-0.000233997180349,-4.02510623195e-05,1793256095177343744
+26,0.433333333,BASELINE,788,752,730,704.083594553,697.916405447,654,931,801,834,668.083594553,655,677,0.401004405936,0.00460065986869,0.0498644103093,0.999999965328,0.000113363634867,-0.000234258299834,-4.01931750667e-05,1793256095194010112
+27,0.450000000,BASELINE,788,752,730,704.655667781,697.344332219,654,931,801,834,668.655667781,655,677,0.401004732449,0.00460119487707,0.0498645749999,0.999999965347,0.000114211730498,-0.000233789993159,-4.00534428157e-05,1793256095210676992
+28,0.466666667,BASELINE,788.237266993,751.762733007,730,705,697,654,931,801,834,668.762733007,654.762733007,677,0.401004781856,0.00460107404155,0.0498644664502,0.999999965401,0.000113796028694,-0.000233758408838,-4.0073745301e-05,1793256095227343872
+29,0.483333333,BASELINE,788.833268947,751.166731053,730,705,697,654,931,801,834,668.166731053,654.166731053,677,0.401004412291,0.00459996160521,0.0498639447756,0.999999965505,0.000111469532936,-0.000234387125313,-4.03360117285e-05,1793256095244010496
+30,0.500000000,BASELINE,788.586563908,751,730,705,697.413436092,654,931,801,834,668.413436092,654.413436092,677,0.40100487645,0.00459950620083,0.0498643497898,0.999999965616,0.000111118244064,-0.000234129157226,-4.00492596817e-05,1793256095260676864
+31,0.516666667,BASELINE,788.0125471,751,730,705,697.9874529,654,931,801,834,668.9874529,654.9874529,677,0.401005664431,0.0045993059911,0.0498651147347,0.999999965731,0.000111534135818,-0.000233526796252,-3.95492660132e-05,1793256095277343488
+32,0.533333333,BASELINE,788,751,729.435351157,705,697.435351157,654,931,801,834.564648843,669,655,677,0.401007357292,0.00459978428134,0.049866607082,0.99999996614,0.000113475743694,-0.000230792913775,-3.97148346685e-05,1793256095294010368
+33,0.550000000,BASELINE,788.141104121,751.141104121,729.141104121,705,697,654,931,801,834.858895879,669,655,677,0.401008328913,0.00459994600679,0.0498674289339,0.999999966425,0.000114167925487,-0.000229181453533,-3.98929030973e-05,1793256095310676992
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+37,0.616666667,BASELINE,788.472573887,751.527426113,730,705,697.527426113,654,931,801,834,669,655,676.472573887,0.401004879703,0.00459995186823,0.0498651403434,0.999999965997,0.000109984189875,-0.000233022928515,-4.0116396463e-05,1793256095377343744
+38,0.633333333,BASELINE,788.951593086,751.048406914,730,705.048406914,697.048406914,654,931,801,834,668.951593086,655,677,0.40100551131,0.00459687219475,0.049865295177,0.999999966402,0.000107758140793,-0.000232450972096,-3.93753084679e-05,1793256095394010624
+39,0.650000000,BASELINE,788.378264327,751.621735673,730,705.621735673,697.621735673,654,931,801,834,668.378264327,655,677,0.40100443245,0.00459847246312,0.049864626804,0.99999996594,0.00010954462063,-0.000233566734498,-3.95804243893e-05,1793256095410677248
+40,0.666666667,BASELINE,788,751.798996151,730,705.798996151,697.798996151,654,931,801,834,668.201003849,655,676.798996151,0.401003824457,0.00459969981474,0.0498642161209,0.999999965577,0.000111268640961,-0.000234273783292,-3.97729490638e-05,1793256095427343616
+41,0.683333333,BASELINE,788,751.208210431,730,705.208210431,697.208210431,654,931,801,834,668.791789569,655,676.208210431,0.401004129559,0.00460020401498,0.0498643051441,0.99999996541,0.000112871541202,-0.000234188264332,-3.99410570804e-05,1793256095444010240
+42,0.700000000,BASELINE,788.372377345,751.372377345,730,705,697.372377345,654,931,801.372377345,834,669,655,676.372377345,0.401004458385,0.00460037118263,0.0498646533254,0.999999965596,0.000111975863594,-0.000233789781364,-4.01589133357e-05,1793256095460677120
+43,0.716666667,BASELINE,788.947415035,751.947415035,730,705,697.947415035,654,931,801.947415035,834,669,655,676.947415035,0.401004800123,0.00460035492573,0.0498651425493,0.999999965968,0.000109720375366,-0.000233220972798,-4.04038442593e-05,1793256095477344000
+44,0.733333333,BASELINE,789,752,729.473503564,704.473503564,698,653.473503564,931,801.473503564,834,669,655,677,0.401004720666,0.00460028166163,0.0498649427205,0.999999965781,0.000111044783745,-0.00023341548297,-4.03071892009e-05,1793256095494010624
+45,0.750000000,BASELINE,789,751.895136559,729.104863441,704.104863441,698,653.104863441,931,801,834,668.895136559,655,677,0.401004633355,0.00459994073586,0.049864793605,0.99999996565,0.000112002481362,-0.00023354352577,-4.0151794007e-05,1793256095510677248
+46,0.766666667,BASELINE,789,751.321779735,729.678220265,704.678220265,698,653.678220265,931,801,834,668.321779735,655,677,0.401004700353,0.00459842962531,0.0498651809048,0.999999966034,0.000109712070104,-0.000233031373837,-3.98875693348e-05,1793256095527343872
+47,0.783333333,BASELINE,789,751.260202737,730,705,698,654,931,801,833.739797263,668.260202737,655,676.739797263,0.401005316256,0.0045979230276,0.0498657700007,0.999999966361,0.000108761049156,-0.000232111187566,-3.96621821656e-05,1793256095544010496
+48,0.800000000,BASELINE,789,751.853217927,730,705,698,654,931,801,833.146782073,668.853217927,655,676.146782073,0.401006634235,0.00459870125235,0.0498666172041,0.999999966619,0.000109523175803,-0.000230669104687,-3.94864700896e-05,1793256095560677120
+49,0.816666667,BASELINE,788.565195385,752,730,705,698,654,931,801,833.434804615,669,655,676,0.401006721123,0.00459951857412,0.0498664436461,0.999999966348,0.000111486230083,-0.0002308899632,-3.95554503215e-05,1793256095577344000
+50,0.833333333,BASELINE,788.012603498,752,729.987396502,705,698,654,931,801,834,668.987396502,655,676.012603498,0.401006379227,0.00460032964346,0.0498659269958,0.999999965903,0.000113786396814,-0.000231669718542,-3.97045831452e-05,1793256095594010368
+51,0.850000000,BASELINE,788.589126076,752,729.410873924,705,698,654,931,801,834,668.410873924,655,676.589126076,0.401004970895,0.0046002855479,0.0498650824895,0.999999965626,0.000113495243893,-0.000232981729422,-3.98387058704e-05,1793256095610676992
+52,0.866666667,BASELINE,789,751.831251015,729.168748985,705,698,654,931,801,834,668.168748985,655,676.831251015,0.401004391669,0.00460069948302,0.049864754054,0.999999965491,0.000113634061371,-0.000233461517142,-4.00174179016e-05,1793256095627343872
+53,0.883333333,BASELINE,789,751.243938102,729.756061898,705,698,654,931,801,834,668.756061898,655,676.243938102,0.401005868953,0.00460224951459,0.0498657056776,0.99999996571,0.000114839374764,-0.000231877063653,-4.0306728961e-05,1793256095644010496
+54,0.900000000,BASELINE,788.661321533,751.338678467,729.661321533,705,698,654,931,801,834,669,655,676,0.401005845099,0.00460150817576,0.0498660079017,0.999999965909,0.000113661485157,-0.000231612949233,-4.02324582487e-05,1793256095660677120
+55,0.916666667,BASELINE,788.082041333,751.917958667,729.082041333,705,698,654,931,801,834,669,655,676,0.401004754815,0.00459913901654,0.0498658487835,0.999999966088,0.000110790536075,-0.000232286821486,-3.98998941498e-05,1793256095677344000
+56,0.933333333,BASELINE,788,752,729.493592729,705,697.506407271,654,931,801,834,669,655,676,0.40100300511,0.00459879830166,0.049864640406,0.999999965712,0.000109819958776,-0.000234359653952,-3.98830381292e-05,1793256095694010624
+57,0.950000000,BASELINE,788,752,729.931289895,704.931289895,697,654,931,801,834.068710105,668.931289895,655,676,0.401001796433,0.00459887276729,0.0498637123408,0.999999965377,0.000109535357141,-0.000235911600548,-3.99272899104e-05,1793256095710677248
+58,0.966666667,BASELINE,788,752,729.355546281,704.355546281,697,654,931,801,834.644453719,668.355546281,655,676,0.401005383045,0.00459954126597,0.0498661303064,0.999999966034,0.000111999005281,-0.000231916473267,-4.00380877792e-05,1793256095727343872
+59,0.983333333,BASELINE,788.22613402,751.77386598,729.22613402,704.22613402,697.22613402,654,931,801,834.77386598,668.22613402,655,676.22613402,0.401007087137,0.00459980200857,0.0498671848132,0.999999966417,0.000112365184025,-0.000230062366144,-4.01498106418e-05,1793256095744010496
+60,1.000000000,BASELINE,788.817400212,751.182599788,729.817400212,704.817400212,697.817400212,654,931,801,834.182599788,668.817400212,655,676.817400212,0.401005751575,0.00459940435913,0.0498660377824,0.999999966377,0.000109344638956,-0.000231665302779,-4.02630270838e-05,1793256095760677120
+61,1.016666667,BASELINE,789,751,729.599397005,705,698,654,931,801,834,668.599397005,655,677,0.401005562505,0.00459901127746,0.0498659947406,0.999999966321,0.000109709281114,-0.000231774259794,-4.00421491955e-05,1793256095777343744
+62,1.033333333,BASELINE,789,751,729.019797138,705,698,654,931,801,834,668.019797138,655,677,0.401005885709,0.00459862023677,0.0498664449818,0.999999966257,0.000111586488091,-0.000231215678821,-3.96719917375e-05,1793256095794010368
+63,1.050000000,BASELINE,788.446893933,751,729.553106067,705,697.446893933,654,931,801,834,668,655,677,0.401005413154,0.0045979914964,0.0498661952563,0.99999996627,0.000110640655696,-0.000231642045617,-3.94986257319e-05,1793256095810676992
+64,1.066666667,BASELINE,788,751.126659137,730,705,697,654,931,801,834,668.126659137,655,676.873340863,0.401004973549,0.00459778739303,0.0498659912545,0.999999966249,0.00010999157666,-0.000232053877757,-3.942604416e-05,1793256095827343616
+65,1.083333333,BASELINE,788,751.703362758,730,705,697,654,931,801,834,668.703362758,655,676.296637242,0.401004751015,0.00459912197593,0.0498660376738,0.9999999661,0.000110751654286,-0.000232290299944,-3.96868410352e-05,1793256095844010496
+66,1.100000000,BASELINE,788.287607063,751.712392937,730,705,697.287607063,654,931,801,834,669,655,676.287607063,0.401003864573,0.00459903256518,0.0498653575185,0.999999965878,0.000110526675567,-0.000233349930035,-3.96896955049e-05,1793256095860677376
+67,1.116666667,BASELINE,788.87983818,751.12016182,730,705,697.87983818,654,931,801,834,669,655,676.87983818,0.401002274943,0.00459743490657,0.049863907799,0.999999965576,0.000109258357132,-0.000235281475166,-3.94193457448e-05,1793256095877343744
+68,1.133333333,BASELINE,789,751,730,705,698,653.539965007,931,801,834,669,655,677,0.401002687416,0.00459822619635,0.049863955013,0.999999965508,0.000110391850632,-0.000235012528583,-3.95857032609e-05,1793256095894010624
+69,1.150000000,BASELINE,789,751,730,705,698,653.037087994,931,801,834.037087994,669,655,677,0.401003607633,0.00459951003189,0.049864400825,0.999999965514,0.000111997774848,-0.000234181968458,-3.98362760041e-05,1793256095910677248
+70,1.166666667,BASELINE,789,751,730,705,698,653.612969927,931,801,834.612969927,669,655,677,0.401004500589,0.00459911530982,0.0498651018042,0.999999965765,0.000111585353421,-0.00023332970063,-3.96953998444e-05,1793256095927344128
+71,1.183333333,BASELINE,788.807055951,751,730,705,698,654,931,801,834.807055951,669,655,677,0.401005083595,0.00459879974238,0.0498653629252,0.999999965956,0.000111299958674,-0.000232659203587,-3.96127510641e-05,1793256095944010752
+72,1.200000000,BASELINE,788.218695255,751,730,705,698,654,931,801,834.218695255,669,655,677,0.401005031396,0.00459864639318,0.0498647226076,0.999999966027,0.000111274890428,-0.000232361224712,-3.96494325782e-05,1793256095960677120
+73,1.216666667,BASELINE,788,751.365800959,730,705,698,654,931,801,834,669,655,676.634199041,0.401005783187,0.00459889636868,0.0498655529511,0.999999966241,0.000111342565616,-0.000231416092774,-3.95781473364e-05,1793256095977343488
+74,1.233333333,BASELINE,788,751.948010898,730,705,698,654,931,801,834,669,655,676.051989102,0.401007010621,0.00459938495234,0.0498672533424,0.99999996654,0.000111465108107,-0.000230088103097,-3.94429886252e-05,1793256095994010112
+75,1.250000000,BASELINE,788.523647943,751.476352057,729.476352057,704.476352057,698,654,931,801,834,668.476352057,655,676,0.401006946219,0.00459931108552,0.0498670862121,0.999999966551,0.000110999078237,-0.000230283985566,-3.93301724055e-05,1793256096010676992
+76,1.266666667,BASELINE,788.901639333,751,729.098360667,704.098360667,698,654,931,801,834,668,655,676.098360667,0.401006697924,0.00459920359487,0.0498666590448,0.999999966551,0.000110422136204,-0.000230567188662,-3.92981381104e-05,1793256096027343616
+77,1.283333333,BASELINE,788.328278006,751,729.671721994,704.671721994,698,654,931,801,834,668,655,676.671721994,0.401006173268,0.00459920005436,0.0498658604015,0.999999966633,0.00010958827453,-0.000230550510905,-3.96456343216e-05,1793256096044010240
+78,1.300000000,BASELINE,788,751.252309995,730,705,697.747690005,654,931,801,834,668,655,677,0.401004836836,0.00459907548374,0.0498650861603,0.999999966303,0.000109782190423,-0.000231861015294,-3.97727471859e-05,1793256096060677120
+79,1.316666667,BASELINE,788,751.842577753,730,705,697.157422247,654,931,801,834,668,655,677,0.401002413066,0.00459878879882,0.0498643446047,0.999999965415,0.000111352767687,-0.000234949219801,-3.96046665526e-05,1793256096077343744
+80,1.333333333,BASELINE,788.425309131,752,730,705,697,654,931,801,834,668.425309131,655,676.574690869,0.401003998342,0.00459903424345,0.0498653084055,0.999999965876,0.000110741334402,-0.000233285494405,-3.95180255685e-05,1793256096094010368
+81,1.350000000,BASELINE,789,752,730,705,697.005259291,654,931,801,834,668.994740709,655,676.005259291,0.401007006271,0.00459946440577,0.0498668746473,0.999999966807,0.000109357915284,-0.00022993421709,-3.94597246144e-05,1793256096110676992
+82,1.366666667,BASELINE,789,752,730,705,697.580833978,654,931,801,834,668.419166022,655,676.580833978,0.401006175131,0.00459893884955,0.0498665125295,0.999999966465,0.000110316037489,-0.000230994808838,-3.92627428795e-05,1793256096127344384
+83,1.383333333,BASELINE,789,751.840808542,730,705,698,654,931,801,834,668.159191458,655,677,0.401005382565,0.0045985589268,0.0498661694267,0.999999966168,0.000111044934296,-0.000231944507425,-3.91861871257e-05,1793256096144011776
+84,1.400000000,BASELINE,789,751.254993212,730,705,698,654,931,801,834,668.745006788,655,677,0.401004693377,0.00459856929317,0.0498658772833,0.999999965994,0.000111159520548,-0.000232597019004,-3.94323659712e-05,1793256096160677632
+85,1.416666667,BASELINE,788.672852919,751,730,705,698,654,931,801,834,669,655,677,0.401004455821,0.00459925917801,0.0498659750673,0.99999996595,0.000112068430536,-0.000232335031309,-3.95103665776e-05,1793256096177344000
+86,1.433333333,BASELINE,788.09354533,751,730,705,698,654,931,801,834,669,655,677,0.401004566378,0.00460047282642,0.049866373402,0.999999966005,0.000113589594419,-0.000231368160008,-3.94587376763e-05,1793256096194010624
+87,1.450000000,BASELINE,788.485299748,751,729.514700252,704.514700252,697.514700252,654,931,801,834,669,655,677,0.401004142718,0.0046000641998,0.0498661406583,0.999999965954,0.00011229584382,-0.000232213898935,-3.94885569964e-05,1793256096210677504
+88,1.466666667,BASELINE,789,751.06354855,729.06354855,704.06354855,697.06354855,654,931,801,834,668.93645145,655,677,0.401003768083,0.00459931800559,0.0498658105499,0.999999965926,0.000110404344135,-0.000233232299211,-3.95189067476e-05,1793256096227344128
+89,1.483333333,BASELINE,789,751.637721843,729.637721843,704.637721843,697.637721843,654,931,801,834,668.362278157,655,677,0.401004614014,0.00459836965326,0.0498656746098,0.999999966278,0.000108065534312,-0.000232833285308,-3.94274879715e-05,1793256096244010752
+90,1.500000000,BASELINE,789,751.78262605,730,705,698,654,931,801,834,668,655,677,0.401005738245,0.0045982765279,0.0498662243099,0.999999966682,0.000107383002928,-0.00023140321067,-3.94711359283e-05,1793256096260677376
+91,1.516666667,BASELINE,789,751.193606849,730,705,698,654,931,801,834,668,655,677,0.401007338283,0.00459964558816,0.0498679462526,0.999999967172,0.000109532218709,-0.000228210326758,-3.97457081135e-05,1793256096277344000
+92,1.533333333,BASELINE,789,751,730,705,697.611235473,654,931,801,834,668.388764527,655,677,0.401006402644,0.00459985325782,0.0498673926542,0.999999966931,0.000109904388379,-0.000229059266529,-3.98815670196e-05,1793256096294010624
+93,1.550000000,BASELINE,789,751,730,705,697.032119036,654,931,801,834,668.967880964,655,677,0.401004225453,0.00459949227254,0.0498657248762,0.999999966331,0.000109406457974,-0.000231887215923,-3.99495073632e-05,1793256096310676992
+94,1.566666667,BASELINE,789,751.544247877,730,705,697.544247877,654,931,801,834,669,655,677,0.401004344044,0.00459920128356,0.0498657380912,0.999999966242,0.000109497091597,-0.000232246100638,-3.98496305572e-05,1793256096327343616
+95,1.583333333,BASELINE,789,752,730,705,697.880639847,654.119360153,931,801,834,668.880639847,655,677,0.401004465674,0.00459903260529,0.0498658009697,0.999999966188,0.000109872614283,-0.000232316166689,-3.97561976427e-05,1793256096344010496
+96,1.600000000,BASELINE,789,752,730,705,697.309663641,654.690336359,931,801,834,668.309663641,655,677,0.401004088748,0.00459931115571,0.0498656782889,0.999999966153,0.000111195293334,-0.000231842000876,-3.97244301668e-05,1793256096360677120
+97,1.616666667,BASELINE,788.728200153,751.728200153,730,705,697.271799847,654.728200153,931,801,834,668.271799847,655,676.728200153,0.401004961248,0.00459952672111,0.0498664072368,0.999999966492,0.000111155661531,-0.00023040061418,-3.97027377142e-05,1793256096377343744
+98,1.633333333,BASELINE,788.134308942,751.134308942,730,705,697.865691058,654.134308942,931,801,834,668.865691058,655,676.134308942,0.401007314358,0.00459966764727,0.0498681453916,0.999999967268,0.000109501648453,-0.000227813040356,-3.96929844828e-05,1793256096394010368
+99,1.650000000,BASELINE,788.448857453,751.448857453,730,705,698,654,931,801,834,669,655,676.448857453,0.401006816808,0.00460023446221,0.0498673962276,0.999999966892,0.000110007549633,-0.000229218860623,-3.96665661658e-05,1793256096410676992
+100,1.666666667,BASELINE,789,752,730,705,698,654,931,801,834,668.971445257,655,677,0.401005523632,0.00460081491526,0.0498659585873,0.999999966205,0.000111123640485,-0.000231669657066,-3.96270002613e-05,1793256096427343872
+101,1.683333333,BASELINE,789,752,730,705,698,654,931,801,834,668.398136294,655,677,0.40100494498,0.00459928111546,0.0498652539266,0.999999966105,0.000111838596193,-0.000231791874647,-3.94295226898e-05,1793256096444010496
+102,1.700000000,BASELINE,789,751.820165399,730,705,698,654,931,801,834,668.179834601,655,677,0.401004711307,0.00459859432502,0.0498651546067,0.999999966065,0.000112224960575,-0.000231778935813,-3.94118952139e-05,1793256096460677120
+103,1.716666667,BASELINE,789,751.231598841,730,705,698,654,931,801,834,668.768401159,655,677,0.40100526171,0.00459983263591,0.0498664311187,0.999999966164,0.000111864495421,-0.000231458810553,-3.98030349381e-05,1793256096477344000
+104,1.733333333,BASELINE,788.647498791,751.352501209,730,705,698,654,931,801,834,669,655,676.647498791,0.401006017118,0.00459970135639,0.0498670768433,0.999999966486,0.000111094240397,-0.000230424809873,-3.9877586127e-05,1793256096494010624
+105,1.750000000,BASELINE,788.066296532,751.933703468,730,705,698,654,931,801,834,669,655,676.066296532,0.401006905532,0.00459868149347,0.0498673133163,0.99999996695,0.000110058115687,-0.000228927650299,-3.97467362702e-05,1793256096510676992
+106,1.766666667,BASELINE,788,752,729.491698986,704.491698986,697.491698986,654,930.491698986,801,834,669,655,676.508301014,0.401006232491,0.00459883624952,0.0498666712679,0.999999966615,0.000110187584117,-0.0002303650734,-3.94924674658e-05,1793256096527344128
+107,1.783333333,POSE1_TO_POSE2_PRESS,788,752,730,705,698,654,931,801,834,669,656,677,0.401007572894,0.00460032761863,0.0498672425552,0.999999966888,0.000111202001402,-0.000228639052951,-3.97785578665e-05,1793256096570640128
+108,1.800000000,POSE1_TO_POSE2_PRESS,788,752,729.405341303,705,698,654,931,801,834,669,655.405341303,676.405341303,0.401005818437,0.00460038106613,0.0498661410814,0.999999966412,0.000111295088324,-0.000230637519902,-3.99588735516e-05,1793256096587306496
+109,1.816666667,POSE1_TO_POSE2_PRESS,788.183469984,751.816530016,729.366939967,705,698,654,931,801.183469984,834,668.816530016,655,676.183469984,0.401004924237,0.00460037693991,0.0498655541019,0.999999966134,0.00011167673106,-0.000231634470194,-4.00651336678e-05,1793256096603973120
+110,1.833333333,POSE1_TO_POSE2_PRESS,788.759761678,751.240238322,730.519523356,705,698,654,931,801.759761678,834,668.240238322,655,676.759761678,0.401005871907,0.00460024954441,0.0498660686893,0.999999966289,0.000112676191431,-0.000230487105594,-4.00128358088e-05,1793256096620639488
+111,1.850000000,POSE1_TO_POSE2_PRESS,788.666369029,751.333630971,730.666369029,705,698,654,931,801.666369029,834,668,655,676.666369029,0.401005323907,0.00459984791931,0.0498659675532,0.999999966181,0.000112532940879,-0.000231058145604,-3.98389891249e-05,1793256096637306112
+112,1.866666667,POSE1_TO_POSE2_PRESS,788.094231501,751.905768499,730.094231501,705,698,654,931,801.094231501,834,668,655,676.094231501,0.401003706681,0.00459925025259,0.0498654262478,0.999999965881,0.000111572787542,-0.000232857641082,-3.95782494566e-05,1793256096653972992
+113,1.883333333,POSE1_TO_POSE2_PRESS,788,751.517599581,729.517599581,705,698,654,931,801,834,668,655,676.482400419,0.4010053126,0.00459864646844,0.0498662196237,0.999999966418,0.000109546959896,-0.000231543501982,-3.93813802293e-05,1793256096670639616
+114,1.900000000,POSE1_TO_POSE2_PRESS,788,751,729.061700614,705,698,654,931,801,834,668.061700614,655,677,0.401007463453,0.00459818435649,0.0498672659287,0.999999967033,0.000107769703175,-0.000229742115848,-3.92147593199e-05,1793256096687306752
+115,1.916666667,POSE1_TO_POSE2_PRESS,788,751,729.65639522,705,698,654,931,801,834,668.65639522,655,677,0.401008831737,0.00459895648404,0.0498682237966,0.999999966958,0.00010995484237,-0.000229035095694,-3.920064584e-05,1793256096703973120
+116,1.933333333,POSE1_TO_POSE2_PRESS,788.242645181,751.242645181,730,705,698,654,931,801,834,669,655,677,0.401016792324,0.00459902706476,0.0498713502345,0.99999996814,0.000110620123219,-0.000223495180978,-3.91516505019e-05,1793256096720639744
+117,1.950000000,POSE1_TO_POSE2_PRESS,788.81733899,751.81733899,730,705,698,654,931,801,834,669,655,677,0.40103377417,0.00459813761126,0.0498774442593,0.999999970942,0.000109205548525,-0.000211341675189,-3.90549209629e-05,1793256096737306368
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,752,730,705,697.608185023,654,931,801,834,669,655,677,0.401071729147,0.00459779758,0.0498903858481,0.99999997652,0.000108019911336,-0.00018376855201,-3.89850407332e-05,1793256096753972992
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,752,730,705,697.033810477,654,931,801,834,669,655,677,0.401119456201,0.00459771354269,0.0499065179443,0.999999982422,0.000106940943482,-0.000149010917328,-3.89276704393e-05,1793256096770639616
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,751.442656487,729.442656487,705,697.557343513,654,931,801,834,669,655,677,0.401187179688,0.0045964246812,0.0499244636997,0.999999986689,0.000107341406188,-0.000116766200554,-3.82906892829e-05,1793256096787306496
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,751,729.14629704,705,698,654,931,801,834,668.85370296,655,676.85370296,0.401259621227,0.00459505180559,0.0499410001638,0.999999989522,0.000107291395168,-8.97055234223e-05,-3.73741533105e-05,1793256096803973120
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,751,729.725630882,705,698,654,931,801,834,668.274369118,655,676.274369118,0.401342326061,0.00459365330692,0.0499530293779,0.999999990777,0.000105634092357,-7.75242756623e-05,-3.57374471263e-05,1793256096820639744
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751.302758358,730,705,698,654,931,801,834,668,655,676.302758358,0.401431691883,0.00459315305466,0.0499600527516,0.999999991541,0.00010483883172,-6.87129717479e-05,-3.47203189453e-05,1793256096837306624
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751.877900788,730,705,698,654,931,801,834,668,655,676.877900788,0.401527050423,0.00459346093219,0.049962572496,0.999999991939,0.000104819128832,-6.29335222099e-05,-3.4260609597e-05,1793256096853973760
+125,2.083333333,POSE1_TO_POSE2_PRESS,788.537907389,752,729.537907389,704.537907389,698,654,931,801,834,668.462092611,655,677,0.401635463146,0.00459184308803,0.0499607383051,0.999999992022,0.000102646719362,-6.57671852553e-05,-3.30701286427e-05,1793256096870640128
+126,2.100000000,POSE1_TO_POSE2_PRESS,788.048127844,751.951872156,729.048127844,704.048127844,698,654,931,801,834,669,655,677,0.401750716871,0.00458974282302,0.0499583715446,0.999999992071,9.97308765812e-05,-7.00325450057e-05,-3.17245219491e-05,1793256096887306240
+127,2.116666667,POSE1_TO_POSE2_PRESS,788.627589009,751.372410991,729.627589009,704.627589009,698,654,931,801,834,669,655,677,0.401902654277,0.00458804638494,0.0499630798488,0.999999992932,9.5012641269e-05,-6.44765269365e-05,-3.08406511172e-05,1793256096903973120
+128,2.133333333,POSE1_TO_POSE2_PRESS,788.794065327,751.205934673,730,705,698,654,931,801,834,669,655,677,0.40206472798,0.00458624894895,0.0499660925193,0.999999993533,9.07799154247e-05,-6.16882712176e-05,-2.9806647337e-05,1793256096920639744
+129,2.150000000,POSE1_TO_POSE2_PRESS,788.217726123,751.782273877,730,705,698,654,931,801,834,669,655,677,0.402245033324,0.00458426985318,0.0499660553368,0.999999993732,8.74204520094e-05,-6.38782536148e-05,-2.85026069313e-05,1793256096937306368
+130,2.166666667,POSE1_TO_POSE2_PRESS,788,751.641563903,730,704.641563903,698,654,931,801,834,669,655,677,0.402442904197,0.00458214785782,0.0499652275095,0.999999993834,8.42220134512e-05,-6.71468272911e-05,-2.69993745911e-05,1793256096953972992
+131,2.183333333,POSE1_TO_POSE2_PRESS,788,751.06550908,730,704.06550908,698,654,931,801,834,669,655,677,0.402651439717,0.00457993910308,0.0499639196547,0.999999993862,8.11213382268e-05,-7.10702505701e-05,-2.53752059372e-05,1793256096970639872
+132,2.200000000,POSE1_TO_POSE2_PRESS,788.52131078,751.52131078,730,704.52131078,698,654,931,801,834,669,655,677,0.402888127344,0.00457929820975,0.0499640313659,0.999999993875,7.87203560631e-05,-7.41050479159e-05,-2.36849909205e-05,1793256096987306496
+133,2.216666667,POSE1_TO_POSE2_PRESS,788.892067769,751.892067769,730,705,698,654,931,801,834,669,655,677,0.403140547668,0.00457846346501,0.0499657960421,0.999999994156,7.63533412188e-05,-7.33266799565e-05,-2.19240107305e-05,1793256097003973376
+134,2.233333333,POSE1_TO_POSE2_PRESS,788.31235114,751.31235114,730,705,698,654,931,801,834,669,655,677,0.403445947962,0.00457590201252,0.0499739898353,0.999999995494,7.37423665633e-05,-5.6378921921e-05,-1.9890750319e-05,1793256097020639744
+135,2.250000000,POSE1_TO_POSE2_PRESS,788,751.26586963,730,704.73413037,697.73413037,654,931,801,833.73413037,669,655,676.73413037,0.40377178166,0.00457199341,0.0499822815909,0.999999996673,6.85538412739e-05,-4.06459507414e-05,-1.73832121136e-05,1793256097037306368
+136,2.266666667,POSE1_TO_POSE2_PRESS,788,751.84234282,730,704.15765718,697.15765718,654,931,801,833.15765718,669,655,676.15765718,0.40412148677,0.00456651099267,0.049990687791,0.999999997729,6.03540793938e-05,-2.63321615603e-05,-1.43215965658e-05,1793256097053972992
+137,2.283333333,POSE1_TO_POSE2_PRESS,788,751.58151184,730,704.41848816,697.41848816,654,931,801,833.41848816,669,655,676,0.404496672459,0.00456271561093,0.0499989715998,0.999999998236,5.75616297947e-05,-8.87216627643e-06,-1.1669064823e-05,1793256097070639616
+138,2.300000000,POSE1_TO_POSE2_PRESS,788,751.005489927,730,704.994510073,697.994510073,654,931,801,833.994510073,669,655,676,0.404881449932,0.0045595552892,0.050007209336,0.999999998297,5.68046840639e-05,9.77217200091e-06,-9.17052676762e-06,1793256097087306496
+139,2.316666667,POSE1_TO_POSE2_PRESS,788,751.582654612,730,704.417345388,698,654,931,801,834,668.417345388,655,676.582654612,0.405285757667,0.00455569205492,0.0500026696271,0.999999998691,5.0190012326e-05,7.30277257885e-06,-6.74989249775e-06,1793256097103973632
+140,2.333333333,POSE1_TO_POSE2_PRESS,788,751.831732399,730,704,697.831732399,654,931,801,834,668.168267601,655,677,0.405694899812,0.00455208002297,0.0499926406998,0.999999998946,4.49738692264e-05,-8.27487942423e-06,-4.20545177781e-06,1793256097120640512
+141,2.350000000,POSE1_TO_POSE2_PRESS,788,751.252585918,730,704,697.252585918,654,931,801,834,668.747414082,655,677,0.406115387762,0.00454909789787,0.0499695083228,0.999999997529,4.33103146438e-05,-5.53644047288e-05,-1.35686812198e-06,1793256097137307136
+142,2.366666667,POSE1_TO_POSE2_PRESS,788,751,730,704.324099642,697.324099642,654,931,801,834,669,655,677,0.406576742242,0.00454441156596,0.0499510311602,0.999999995343,3.83128971871e-05,-8.8568049097e-05,1.61172764316e-06,1793256097153973760
+143,2.383333333,POSE1_TO_POSE2_PRESS,788,751,730,704.898881806,697.898881806,654,931,801,834,669,655,677,0.407069705952,0.00453840707471,0.0499361546808,0.999999993353,3.07368246146e-05,-0.000111031335977,4.67314991049e-06,1793256097170640128
+144,2.400000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697.515397051,654,931,801,834,669,655,677,0.407606773739,0.00453485514423,0.0499408818158,0.999999994574,2.64194300413e-05,-0.000100449148175,7.96948897339e-06,1793256097187306496
+145,2.416666667,POSE1_TO_POSE2_PRESS,788,751,730,704.928733577,697.071266423,654,931,801,834,669,655,677,0.408161985793,0.00453113761348,0.0499517963243,0.999999996596,2.19181700607e-05,-7.87242368453e-05,1.14032354306e-05,1793256097203973376
+146,2.433333333,POSE1_TO_POSE2_PRESS,788,751,730,704.35195035,697.64804965,654,931,801,834,669,655,677,0.408779115076,0.00452253152978,0.0499769143721,0.999999999426,1.11780993027e-05,-2.80007094579e-05,1.54559279705e-05,1793256097220639744
+147,2.450000000,POSE1_TO_POSE2_PRESS,788,751,730,704,697.774671329,654,931,800.774671329,834,668.774671329,655,676.774671329,0.409405081479,0.00451490813609,0.0499967452606,0.999999999771,3.94002807821e-06,7.46487206684e-06,1.9669725129e-05,1793256097237306368
+148,2.466666667,POSE1_TO_POSE2_PRESS,788,751,730,704,697.196616234,654,931,800.196616234,834,668.196616234,655,676.196616234,0.41004488135,0.00450882303246,0.0500082997009,0.999999999525,2.1839397591e-06,1.90458704628e-05,2.4135713066e-05,1793256097253973248
+149,2.483333333,POSE1_TO_POSE2_PRESS,788,751,730,704,697,654,931,800.378783159,834.378783159,668,655,676,0.410679757616,0.00450213315327,0.0499979864073,0.999999996626,7.63467328029e-05,-1.0370740315e-05,2.85022974061e-05,1793256097270640128
+150,2.500000000,POSE1_TO_POSE2_PRESS,788,751,730,704,697,654,931,800.952813629,834.952813629,668,655,676,0.411312095944,0.00449513153708,0.0499764011862,0.999999979624,0.000189642620118,-6.09199511765e-05,3.28176427388e-05,1793256097287307008
+151,2.516666667,POSE1_TO_POSE2_PRESS,788,751,730,704.543333274,697.543333274,654,931.543333274,800.456666726,834.456666726,668,655,676.543333274,0.411983346453,0.00449156281159,0.0499551071342,0.99999997759,0.000186310894471,-9.39215307569e-05,3.58771579635e-05,1793256097303973376
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,751,730,705,697.867839373,654,931.867839373,800.132160627,834,668.132160627,655,676.867839373,0.41268546963,0.0044874281578,0.0499453880686,0.999999979453,0.000169989463376,-0.000103491768605,3.85709112599e-05,1793256097320640000
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697.289706303,654,931.289706303,800.710293697,834,668.710293697,655,676.289706303,0.413480011134,0.0044803462658,0.0499746404837,0.999999987887,0.000145083219585,-3.92970289421e-05,4.04099621504e-05,1793256097337306368
+154,2.566666667,POSE1_TO_POSE2_PRESS,788,751,730,705,697,654,931,800.712343437,834,668.712343437,655,676.287656563,0.414259187866,0.00447453966572,0.0499872747167,0.999999996187,7.9729023271e-05,-1.53616514665e-05,3.21589978605e-05,1793256097353972992
+155,2.583333333,POSE1_TO_POSE2_PRESS,788,751,730,705,697,654,931,800.135754123,834,668.135754123,655,676.864245877,0.415022931754,0.00447001401456,0.0499832170444,0.999999999053,-2.62525763088e-05,-3.18642390795e-05,1.37732540874e-05,1793256097370639616
+156,2.600000000,POSE1_TO_POSE2_PRESS,787.562803288,751,730,705,697,653.562803288,931,800.437196712,834.437196712,668.437196712,655,677,0.415811440218,0.00448662971726,0.0499651703415,0.999999997614,-2.46271964965e-05,-6.37019646114e-05,1.03454046998e-05,1793256097387306496
+157,2.616666667,POSE1_TO_POSE2_PRESS,787.009388384,751,730,705,697,653.009388384,931.009388384,800.990611616,834.990611616,669,655,677,0.416608366366,0.00450941436485,0.0499434561299,0.999999994975,1.02319041032e-05,-9.90594947298e-05,1.15526234457e-05,1793256097403973120
+158,2.633333333,POSE1_TO_POSE2_PRESS,787.604107875,751,730,705,697,653.604107875,931.604107875,800.395892125,834.395892125,669,655,677,0.417454642291,0.00451090886469,0.0499616671031,0.999999996822,5.11021860867e-05,-5.94386390552e-05,1.45567312769e-05,1793256097420639744
+159,2.650000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697,654,932,800,834,669,655,677,0.418304185307,0.0045068464465,0.0499782521424,0.999999997064,6.89238861966e-05,-2.86030609012e-05,1.74356740167e-05,1793256097437306112
+160,2.666666667,POSE1_TO_POSE2_PRESS,788,751,730,705,697,654,932,800,834,669,655,677,0.419160233493,0.00449171945527,0.049991599727,0.999999998848,4.08527502888e-05,-1.52601573453e-05,2.00653960739e-05,1793256097453972736
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,751,730,705,697.349554891,654,931.650445109,800,834.349554891,669,655,677,0.420019608872,0.0044852030974,0.0499853609155,0.999999999249,2.2632663351e-05,-2.36089889425e-05,2.07703310827e-05,1793256097470639616
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697.925266804,654,931.074733196,800,834.925266804,669,655,677,0.420881136867,0.0044842576969,0.049966449985,0.99999999868,1.07860654637e-05,-4.5992063825e-05,2.02299562638e-05,1793256097487306752
+163,2.716666667,POSE1_TO_POSE2_PRESS,787.489877868,751,730,705,697.489877868,653.489877868,931,800,835,669,655,677,0.421826113972,0.00448523227514,0.0499904244198,0.999999999704,1.2226361158e-05,4.71179213716e-06,2.05178792584e-05,1793256097503973120
+164,2.733333333,POSE1_TO_POSE2_PRESS,787,751,730,705,697.095189822,653.095189822,931.095189822,800,835,669,655,677,0.422773612118,0.00448757566211,0.050014059875,0.999999998276,1.75454631374e-05,5.20271524861e-05,2.08098723626e-05,1793256097520639488
+165,2.750000000,POSE1_TO_POSE2_PRESS,787,751,730,705,697.674401635,653.674401635,931.674401635,800,835,669,655,677,0.423670630849,0.00449542283003,0.0500034421297,0.999999998906,3.25091333738e-05,2.66745092304e-05,2.04942782751e-05,1793256097537306368
+166,2.766666667,POSE1_TO_POSE2_PRESS,787.252499614,750.747500386,730,705,697.747500386,654,932,799.747500386,834.747500386,669,655,677,0.424578663865,0.00449827818557,0.0499949108446,0.999999998872,4.12747157801e-05,1.17756993485e-05,2.03333076711e-05,1793256097553973248
+167,2.783333333,POSE1_TO_POSE2_PRESS,787.829167691,750.170832309,730,705,697.170832309,654,932,799.170832309,834.170832309,669,655,677,0.425500837554,0.00449472486643,0.0499890582339,0.999999998854,4.20829629259e-05,1.0297908906e-05,2.0370848462e-05,1793256097570639872
+168,2.800000000,POSE1_TO_POSE2_PRESS,787.59495881,750,730,705,697,653.59495881,932,799.40504119,834,669,655,677,0.426438886666,0.00448786275916,0.05000192857,0.99999999913,2.88223170112e-05,1.97902935124e-05,2.27335438951e-05,1793256097587306752
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.019419815,750,730,705,697,653.019419815,932,799.980580185,834,669,655,677,0.427383618314,0.00447960785274,0.050022680133,0.999999999039,9.63951928403e-06,3.39004573708e-05,2.6074988572e-05,1793256097603973376
+170,2.833333333,POSE1_TO_POSE2_PRESS,787,750,730.569224343,705,697.569224343,653,932,800,834.569224343,669.569224343,655,677,0.428254560894,0.00447783241039,0.0499830390233,0.999999998708,1.39254432298e-06,-4.28111929812e-05,2.73623979972e-05,1793256097620640000
+171,2.850000000,POSE1_TO_POSE2_PRESS,787.156051175,750,730.843948825,705.156051175,698,653,931.843948825,799.843948825,834.843948825,669.843948825,655,677,0.429154769421,0.0044776204772,0.0499559077874,0.999999995575,3.70529910914e-06,-8.9774868083e-05,2.78681285959e-05,1793256097637306624
+172,2.866666667,POSE1_TO_POSE2_PRESS,787.736688236,750,730.263311764,705.736688236,698,653,931.263311764,799.263311764,834.263311764,669.263311764,655,677,0.430141615836,0.00448104693539,0.0499685515589,0.99999999797,3.37100643505e-05,-4.71707881252e-05,2.64422152366e-05,1793256097653973248
+173,2.883333333,POSE1_TO_POSE2_PRESS,787.684944162,750,730.315055838,705.684944162,697.684944162,653,931.315055838,799,834.315055838,669,655,677,0.431081193401,0.00448751965914,0.0499674902803,0.999999997638,4.82457819164e-05,-4.17179495505e-05,2.56059319338e-05,1793256097670639872
+174,2.900000000,POSE1_TO_POSE2_PRESS,787.108459752,750,730.891540248,705.108459752,697.108459752,653,931.891540248,799,834.891540248,669,655,677,0.43198154794,0.00449652012785,0.0499550567577,0.999999996183,4.99455160641e-05,-6.70926517505e-05,2.52589148414e-05,1793256097687306496
+175,2.916666667,POSE1_TO_POSE2_PRESS,787,750,730.535810945,705,697.464189055,653,932,799.464189055,835,669.464189055,655,677,0.432893401967,0.00449270878702,0.0499511252318,0.999999996671,3.25529462036e-05,-7.03118966341e-05,2.55943266987e-05,1793256097703973376
+176,2.933333333,POSE1_TO_POSE2_PRESS,787,750,730,705.037185316,697.962814684,653,932,799.962814684,835,669.962814684,655,677,0.433809448573,0.00448572404668,0.0499510283872,0.999999997403,1.0697204432e-05,-6.63008956522e-05,2.61327799998e-05,1793256097720640512
+177,2.950000000,POSE1_TO_POSE2_PRESS,787,750,730,705.628607902,697.371392098,653,932,799.371392098,835,669.371392098,655,677,0.434748264031,0.00447569280808,0.0499787204352,0.999999999075,-1.17358169533e-05,-3.10502650057e-05,2.73403924193e-05,1793256097737307136
+178,2.966666667,POSE1_TO_POSE2_PRESS,787,749.784263231,730.215736769,706,697,653,932,799,835,669,655,677,0.435650494704,0.00447020812613,0.0499880003994,0.999999999117,-1.01702065243e-05,-2.88283788771e-05,2.88374562872e-05,1793256097753973504
+179,2.983333333,POSE1_TO_POSE2_PRESS,787,749.204381692,730.795618308,706,697,653,932,799,835,669,655,677,0.436490973616,0.00447239763194,0.0499662023834,0.999999995625,3.19029887909e-05,-8.2356114851e-05,3.0823089018e-05,1793256097770639872
+180,3.000000000,POSE1_TO_POSE2_PRESS,787,749,731,705.627764156,697,653,932,799,835,669,655,677,0.437364476323,0.004478193754,0.0499627021574,0.999999995529,3.91309276864e-05,-8.05153019307e-05,3.04620652073e-05,1793256097787306496
+181,3.016666667,POSE1_TO_POSE2_PRESS,787,749,731,705.052923227,697,653,932,799,835,669,655,677,0.438255953575,0.00448595292919,0.0499691612778,0.999999998031,2.73928611065e-05,-4.8537813876e-05,2.8823774335e-05,1793256097803973120
+182,3.033333333,POSE1_TO_POSE2_PRESS,787.532559325,748.467440675,731,705.532559325,697,653.532559325,932,799,835,669.532559325,655,677,0.439128864538,0.00448730935906,0.0499862068774,0.999999999125,1.95601825846e-05,-2.2417554876e-05,2.93943054089e-05,1793256097820640000
+183,3.050000000,POSE1_TO_POSE2_PRESS,787.882254014,748,731,706,697,653.882254014,932,799,835,669.882254014,655.117745986,677,0.439984768615,0.00448656515134,0.049996749429,0.999999999405,1.48551715558e-05,-7.91879883234e-06,3.00997725014e-05,1793256097837306624
+184,3.066666667,POSE1_TO_POSE2_PRESS,787.302462862,748,731,706,697,653.302462862,932,799,835,669.302462862,655.697537138,677,0.440781323883,0.00448012556799,0.0499775610274,0.999999998645,2.08694065342e-05,-3.66931620495e-05,3.04558321216e-05,1793256097853973248
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,747.724374408,731,706,697,653,932,799,834.724374408,669,655.724374408,677,0.441582702929,0.00447423252699,0.0499757640145,0.999999998465,2.72665538847e-05,-3.68699609638e-05,3.11022784463e-05,1793256097870640128
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,747.148143006,731,706,697,653,932,799,834.148143006,669,655.148143006,677,0.442389342884,0.00446893556244,0.0499929345902,0.999999998888,3.40813169357e-05,-5.85736830334e-06,3.20654294841e-05,1793256097887306752
+187,3.116666667,POSE1_TO_POSE2_PRESS,787.428877209,747,731,706,697,653,932,799,834.428877209,669.428877209,655,677,0.443140596903,0.00446883213963,0.0499957843041,0.999999998857,3.46684373992e-05,2.13622184169e-06,3.28445471305e-05,1793256097903973376
+188,3.133333333,POSE1_TO_POSE2_PRESS,787.99368942,747,731,706,697,653,932,799,835,670,655.00631058,677,0.443871653797,0.00447063334092,0.0499930810824,0.999999998885,3.32086684851e-05,1.03468549663e-06,3.35633355241e-05,1793256097920639744
+189,3.150000000,POSE1_TO_POSE2_PRESS,787.403285477,747,731,706,697,653,932,799,835,670,655.596714523,677,0.444507330825,0.00448237175645,0.0499351115657,0.99999999306,4.17664607579e-05,-0.000104586681948,3.45928156537e-05,1793256097937306368
+190,3.166666667,POSE1_TO_POSE2_PRESS,787.182582794,747,731,706,696.817417206,652.817417206,932,799,835,670,655.817417206,677,0.445152680523,0.00449566785344,0.0498896912127,0.999999982156,5.37465699234e-05,-0.000177761347706,3.46326504682e-05,1793256097953972992
+191,3.183333333,POSE1_TO_POSE2_PRESS,787.758675709,747,731,706,696.241324291,652.241324291,932,799,835,670,655.241324291,677,0.445818877289,0.00451232113325,0.0498713173342,0.999999980417,7.31026028996e-05,-0.000181005539004,3.25395609538e-05,1793256097970640128
+192,3.200000000,POSE1_TO_POSE2_PRESS,788,747,731,706,696,652,932,799,835,670,655,677,0.446469832467,0.00452552706088,0.049867782757,0.999999980017,9.42407383714e-05,-0.000173378855202,3.20208843412e-05,1793256097987307264
+193,3.216666667,POSE1_TO_POSE2_PRESS,788,747,731,706,696,652,932,799,835,670,655,677,0.44710980042,0.00453624789885,0.0498749453703,0.999999980194,0.00011666353474,-0.000157915696399,3.26371529884e-05,1793256098003973888
+194,3.233333333,POSE1_TO_POSE2_PRESS,787.503312322,747,731,706,695.503312322,651.503312322,932,799,835,670,655,677,0.447661383614,0.00454005962302,0.049848435582,0.999999971681,0.00012491114938,-0.000199749889075,3.37002149588e-05,1793256098020640256
+195,3.250000000,POSE1_TO_POSE2_PRESS,787,746.914214157,731,706,695,650.914214157,932,798.914214157,835,670,655,676.914214157,0.448198085393,0.00454273383019,0.0498180021903,0.999999960054,0.000130288327593,-0.000248399978772,3.48405766763e-05,1793256098037306880
+196,3.266666667,POSE1_TO_POSE2_PRESS,787,746.334914844,731,706,695,650.334914844,932,798.334914844,835,670,655,676.334914844,0.448745521885,0.00454639546599,0.0498017020605,0.999999952811,0.000134604205078,-0.000273802971565,3.59385982807e-05,1793256098053973248
+197,3.283333333,POSE1_TO_POSE2_PRESS,787.243310653,746.243310653,731,706,694.756689347,650,932,798.243310653,835,670,655,676.243310653,0.449279347682,0.00455013632588,0.0497974941808,0.999999950138,0.000139467799624,-0.000280899919394,3.69846781208e-05,1793256098070639872
+198,3.300000000,POSE1_TO_POSE2_PRESS,787.8200645,746.8200645,731,706,694.1799355,650,932,798.8200645,835,670,655,676.8200645,0.449794520764,0.00455398575751,0.0498098580327,0.999999954194,0.000145082008466,-0.000262909488246,3.79595747e-05,1793256098087306496
+199,3.316666667,POSE1_TO_POSE2_PRESS,788,746.604921423,731,706,694.395078577,649.604921423,932,799,835,670,655,677,0.450286872389,0.00455369875978,0.0498257296349,0.999999959494,0.000144785210149,-0.000241876099494,3.92985576808e-05,1793256098103973120
+200,3.333333333,POSE1_TO_POSE2_PRESS,788,746.030696186,731,706,694.969303814,649.030696186,932,799,835,670,655,677,0.450768875768,0.00455153611653,0.0498431918123,0.999999965031,0.000141808091834,-0.000219462893229,4.0802634126e-05,1793256098120639744
+201,3.350000000,POSE1_TO_POSE2_PRESS,787.440781012,746.559218988,731.559218988,706,693.881562024,648.440781012,932.559218988,799,835,670,655,676.440781012,0.451167630812,0.00454945081603,0.0498365658911,0.999999961446,0.000135612163343,-0.000238942953128,4.02959929675e-05,1793256098137306624
+202,3.366666667,POSE1_TO_POSE2_PRESS,787,747,731.853105237,706,693.146894763,648,932.853105237,798.853105237,834.853105237,670,655,676.146894763,0.451548965241,0.00454736762619,0.049823163215,0.999999956248,0.00011544857006,-0.000270012700759,3.56143057613e-05,1793256098153973504
+203,3.383333333,POSE1_TO_POSE2_PRESS,787,747,731.274612491,706,693.725387509,648,932.274612491,798.274612491,834.274612491,670,655,676.725387509,0.451892929195,0.00454527780348,0.0497938464832,0.999999944467,5.47800718183e-05,-0.000328183118601,1.89993771768e-05,1793256098170640128
+204,3.400000000,POSE1_TO_POSE2_PRESS,787.302178759,747,731,706,693.697821241,648,932,798.302178759,834.302178759,670,655,677,0.452226216627,0.00454615968093,0.0497732352719,0.999999932508,3.57744147273e-05,-0.000365456583489,1.20802868872e-05,1793256098187306752
+205,3.416666667,POSE1_TO_POSE2_PRESS,787.877432356,747,731,706,693.122567644,648,932,798.877432356,834.877432356,670,655,677,0.452549855809,0.00454972704356,0.049760491123,0.999999924754,5.44189047573e-05,-0.000383845754002,1.3923194951e-05,1793256098203973376
+206,3.433333333,POSE1_TO_POSE2_PRESS,788,747,731.452481945,706,693,647.547518055,932,799,835,670,655,677,0.452868074804,0.00456458096083,0.0497651378713,0.999999925223,0.00011548271829,-0.000368803123187,1.42126453171e-05,1793256098220640000
+207,3.450000000,POSE1_TO_POSE2_PRESS,787.971685774,747,731.971685774,706,692.971685774,646.971685774,932,799,835,670,655,677,0.453182344326,0.00458218158005,0.0497743766589,0.999999923132,0.000184924491843,-0.000345457840938,1.40714357314e-05,1793256098237306624
+208,3.466666667,POSE1_TO_POSE2_PRESS,787.379156008,747,731.379156008,706,692.379156008,646.379156008,932,799,835,670,655,677,0.453447156866,0.00459362068679,0.049781290807,0.999999924589,0.000192446443476,-0.000337042332532,1.37299369024e-05,1793256098253973248
+209,3.483333333,POSE1_TO_POSE2_PRESS,787.207581715,746.792418285,731.207581715,706,692,646,932,798.792418285,835,670,655,677,0.453697585162,0.00459759122041,0.0497828964717,0.99999992513,0.000193098071929,-0.000335024465186,1.45710977029e-05,1793256098270639872
+210,3.500000000,POSE1_TO_POSE2_PRESS,787.784027165,746.215972835,731.784027165,706,692,646,932,798.215972835,835,670,655,677,0.45392245325,0.00458829042117,0.0497750691901,0.999999924071,0.000181541432235,-0.000344374930399,1.75137935869e-05,1793256098287306752
+211,3.516666667,POSE1_TO_POSE2_PRESS,788,746.359233997,732,706.359233997,692,646,932,798,834.640766003,670,655,677,0.454118779071,0.00458519812629,0.049766159406,0.999999920849,0.000176254602714,-0.000356219965286,1.85639340471e-05,1793256098303973376
+212,3.533333333,POSE1_TO_POSE2_PRESS,788,746.93369878,732,706.93369878,692,646,932,798,834.06630122,670,655,677,0.454298004152,0.00458582558224,0.0497566010526,0.999999916278,0.000174724254448,-0.000369559592871,1.8480172662e-05,1793256098320640000
+213,3.550000000,POSE1_TO_POSE2_PRESS,787.495144027,746.495144027,732,706.495144027,692,645.495144027,932,798,834.504855973,669.495144027,655,677,0.454451757202,0.00458536770678,0.0497502914193,0.99999991372,0.000174421575432,-0.000376527416013,1.91048985612e-05,1793256098337306624
+214,3.566666667,POSE1_TO_POSE2_PRESS,787,746,732,706.079436187,692,645,932,798,835,669.079436187,655,677,0.454598049194,0.00458507205977,0.0497443014339,0.999999911194,0.000174257596355,-0.000383220940286,1.96764840981e-05,1793256098353973504
+215,3.583333333,POSE1_TO_POSE2_PRESS,787,746,732,706.67926841,692,645,932,798,835,669.67926841,655,677,0.454717234912,0.00458676686587,0.0497376286898,0.999999907238,0.000173952920298,-0.000393563732963,1.92943692453e-05,1793256098370639872
+216,3.600000000,POSE1_TO_POSE2_PRESS,787.26751477,746,732,707,692,645,932,798,835,670,655,676.73248523,0.45482281875,0.00458793235441,0.0497287429349,0.999999901817,0.000174127342506,-0.000407035846836,1.91628885521e-05,1793256098387306496
+217,3.616666667,POSE1_TO_POSE2_PRESS,787.842447074,746,732,707,692,645,932,798,835,670,655,676.157552926,0.454912771828,0.00458848957175,0.0497173140746,0.999999894595,0.000174852325743,-0.00042410405384,1.93194268755e-05,1793256098403973120
+218,3.633333333,POSE1_TO_POSE2_PRESS,787.582515686,746.417484314,732,707,692,644.582515686,932,798,834.582515686,670,655,676.417484314,0.454987463152,0.00458805992692,0.0497080850034,0.999999888319,0.000173684381804,-0.000439106627301,1.95130089341e-05,1793256098420640000
+219,3.650000000,POSE1_TO_POSE2_PRESS,787.007438849,746.992561151,732,707,692,644.007438849,932,798,834.007438849,670,655,676.992561151,0.455056393446,0.00458725776005,0.0496996863118,0.999999882294,0.000171801893208,-0.000453329462284,1.97205743046e-05,1793256098437306624
+220,3.666666667,POSE1_TO_POSE2_PRESS,787.581127123,747,731.418872877,706.418872877,692,644.581127123,932,798,834,670,655,676.418872877,0.455107119653,0.00458877808529,0.0496941048942,0.999999877807,0.00017172189914,-0.000463169806978,1.92836063751e-05,1793256098453973504
+221,3.683333333,POSE1_TO_POSE2_PRESS,788,747,731.167062346,706,692,644.832937654,932,798.167062346,834,670,655,676,0.455155576008,0.00459023691156,0.049690216406,0.999999874535,0.000172414760526,-0.000469937418449,1.90070686983e-05,1793256098470640128
+222,3.700000000,POSE1_TO_POSE2_PRESS,788,747,731.746074566,706,692,644.253925434,932,798.746074566,834,670,655,676,0.455199023511,0.00459146904002,0.049690411381,0.999999874405,0.000174955116757,-0.000469269763114,1.91469551479e-05,1793256098487306752
+223,3.716666667,POSE1_TO_POSE2_PRESS,787.676990889,747,732,706,692,644,932,799,834,670,655,676,0.45523534842,0.0045915943004,0.0496907461538,0.999999874579,0.000175322227846,-0.000468758751322,1.92097220081e-05,1793256098503973120
+224,3.733333333,POSE1_TO_POSE2_PRESS,787.101679155,747,732,706,692,644,932,799,834,670,655,676,0.45526610987,0.00459085498553,0.0496911901228,0.999999874994,0.000173991816048,-0.00046837009383,1.92122507231e-05,1793256098520639744
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+226,3.766666667,POSE1_TO_POSE2_PRESS,787.951691242,746.048308758,732,706,691.048308758,644,932,798.951691242,835,669.048308758,655,675.048308758,0.455305142922,0.00459236170685,0.0496917461834,0.999999873628,0.000176503621992,-0.000470339604067,1.92817993119e-05,1793256098553973760
+227,3.783333333,POSE1_TO_POSE2_PRESS,787.355657238,746.644342762,732,706,691.644342762,644,932,798.355657238,835,669.644342762,655,675.644342762,0.455312738159,0.00459579931157,0.0496883646835,0.999999871035,0.000180372758305,-0.000474385551229,1.88228772223e-05,1793256098570640384
+228,3.800000000,POSE1_TO_POSE2_PRESS,787,747,732,706,692,644,932,798,834.768115765,670,655,676,0.455318805312,0.00459695210824,0.0496855444975,0.999999869046,0.000181359963925,-0.000478190718046,1.87239420084e-05,1793256098587307008
+229,3.816666667,POSE1_TO_POSE2_PRESS,787,747,732,706,692,644,932,798,834.193139726,670,655,676,0.455322611538,0.00459472434319,0.0496835548216,0.999999867971,0.000178083115744,-0.000481639630305,1.91576370231e-05,1793256098603973376
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+232,3.866666667,POSE1_TO_POSE2_PRESS,787.467139866,747,732,707,692,644,932,798.467139866,835,670,655,675,0.455328835732,0.00459533421473,0.0496798541904,0.999999865308,0.000179171309323,-0.000486735858887,1.92246270405e-05,1793256098653973248
+233,3.883333333,POSE1_TO_POSE2_PRESS,787.113321959,747,732,707,692,644,932.113321959,798.113321959,835,670,655,675.113321959,0.455330344702,0.0045969542954,0.0496790864968,0.999999864697,0.000181225860487,-0.000487238185287,1.90345866224e-05,1793256098670639872
+234,3.900000000,POSE1_TO_POSE2_PRESS,787.706674518,747,732,707,692,644,932.706674518,798.706674518,835,670,655,675.706674518,0.455331438763,0.00459763658767,0.0496789033289,0.999999864506,0.000180656390581,-0.000487866743857,1.83798211984e-05,1793256098687306496
+235,3.916666667,POSE1_TO_POSE2_PRESS,788,747,732,707,691.709394555,644,933,798.709394555,835,670,655,676,0.455332041113,0.0045976827933,0.0496788065238,0.999999864362,0.000180086773286,-0.000488379205996,1.81700476837e-05,1793256098703973120
+236,3.933333333,POSE1_TO_POSE2_PRESS,788,747,732,707,691.134674745,644,933,798.134674745,835,670,655,676,0.455332162737,0.00459710712023,0.0496787941525,0.999999864266,0.000179517011824,-0.000488778164954,1.83953264812e-05,1793256098720640000
+237,3.950000000,POSE1_TO_POSE2_PRESS,787.559169686,747,732,707,691,644,932.559169686,798.440830314,835,670,655,676,0.455332415613,0.0045963440858,0.0496779187378,0.999999863789,0.000180171320333,-0.000489493570227,1.88525661851e-05,1793256098737306880
+238,3.966666667,POSE1_TO_POSE2_PRESS,787.01705671,747,732,707,691,644,932,799,835,670,655,676,0.455332719643,0.0045955806994,0.0496768220588,0.999999863222,0.000181157236926,-0.000490268479212,1.93553893646e-05,1793256098753973504
+239,3.983333333,POSE1_TO_POSE2_PRESS,787.609510959,747,732,707,691,644,932,799,835,670,655,676,0.4553333942,0.00459673981787,0.0496771715048,0.999999863551,0.000180692050473,-0.000489783615673,1.90011037374e-05,1793256098770640128
+240,4.000000000,POSE1_TO_POSE2_PRESS,788,747,732,707,691,644,932,799,835,669.803419579,655,676,0.45533390095,0.00459761424414,0.0496775477113,0.999999863791,0.000181234695486,-0.000489101571983,1.87488944782e-05,1793256098787306496
+241,4.016666667,POSE1_TO_POSE2_PRESS,788,747,732,707,691,644,932,799,835,669.226761353,655,676,0.455334083252,0.00459793823311,0.049677975658,0.999999863857,0.000183725929141,-0.000488038290975,1.86940444771e-05,1793256098803973120
+242,4.033333333,POSE1_TO_POSE2_PRESS,788,747,732,707,691,644,932.350117804,799,835,669.350117804,655,675.649882196,0.455333758789,0.00459859299895,0.0496774258928,0.999999863264,0.00018411543389,-0.000489111487912,1.85163986914e-05,1793256098820639744
+243,4.050000000,POSE1_TO_POSE2_PRESS,788,747,732,707,691,644,932.927140121,799,835,669.927140121,655,675.072859879,0.455333105901,0.0045994621348,0.0496762424918,0.999999862242,0.000183142849083,-0.000491569294525,1.82591713575e-05,1793256098837306368
+244,4.066666667,POSE1_TO_POSE2_PRESS,788,746.498606863,732,707,691.501393137,644,932.498606863,799,835,670,655,675.501393137,0.45533396718,0.00459930863508,0.0496768404397,0.999999862719,0.000182212880349,-0.000490947001255,1.82100383063e-05,1793256098853973248
+245,4.083333333,HOLD_POSE2,788,747,732,706,691,644,933,799,835,670,655,676,0.455332843532,0.00460044385646,0.0496744979289,0.999999860883,0.000183972291279,-0.000494037527915,1.7755530924e-05,1793256098896679936
+246,4.100000000,HOLD_POSE2,788,747,732,706.57757886,691,643.42242114,932.42242114,798.42242114,835,670,655,676,0.455333817008,0.0045991322036,0.0496753523597,0.999999861793,0.000182171705814,-0.00049283901908,1.8379013082e-05,1793256098913346304
+247,4.116666667,HOLD_POSE2,787.845559825,746.845559825,732,706.845559825,691.154440175,643,932,798,835,670,655,676,0.455334511596,0.00459844679673,0.0496758664895,0.999999862316,0.000181393909323,-0.000492054096774,1.86521656986e-05,1793256098930012416
+248,4.133333333,HOLD_POSE2,787.270651919,746.270651919,732,706.270651919,691.729348081,643,932,798,835,670,655,676,0.455334446902,0.00459946636194,0.04967545414,0.999999861794,0.000183400684248,-0.000492395175185,1.79715364026e-05,1793256098946679040
+249,4.150000000,HOLD_POSE2,787.311646463,746,731.688353537,706,691.688353537,643.311646463,932,798.311646463,835,670,655,676,0.455333803736,0.00459979657914,0.0496751418528,0.999999861304,0.000183411758837,-0.000493392680748,1.77578020116e-05,1793256098963345664
+250,4.166666667,HOLD_POSE2,787.900519032,746,731.099480968,706,691.099480968,643.900519032,932,798.900519032,835,670,655,676,0.455332645989,0.00459951358456,0.0496749185764,0.999999860841,0.000181647551698,-0.000494974113156,1.79593955149e-05,1793256098980012288
+251,4.183333333,HOLD_POSE2,787.517803874,746,731,706,691,644,932,798.517803874,834.517803874,670,655,676,0.455333206909,0.00459957523383,0.0496745518117,0.999999860736,0.000182214990337,-0.000494969376738,1.81901268647e-05,1793256098996678912
+252,4.200000000,HOLD_POSE2,787,746.062070102,731.062070102,706,691,644,932,798.062070102,834.062070102,670,655,676,0.455333911276,0.00459985954045,0.0496741446116,0.9999998606,0.000183302142296,-0.000494838200748,1.83425496307e-05,1793256099013346048
+253,4.216666667,HOLD_POSE2,787,746.639119394,731.639119394,706,691,644,932,798.639119394,834.639119394,670,655,676,0.455332907215,0.00460140992843,0.0496736439259,0.999999859599,0.000184768857904,-0.000496333089746,1.77961253599e-05,1793256099030012672
+254,4.233333333,HOLD_POSE2,787,747,732,706.213426807,691,644,932.213426807,799,835,670,655,676,0.455333047489,0.00460173680259,0.0496737102451,0.99999985938,0.000185111467983,-0.000496652337758,1.76202275398e-05,1793256099046679040
+255,4.250000000,HOLD_POSE2,787,747,732,706.783156761,691,644,932.783156761,799,835,670,655,676,0.455335098161,0.00460002109428,0.0496747231446,0.99999986047,0.000183577451723,-0.0004950089241,1.80629012745e-05,1793256099063345664
+256,4.266666667,HOLD_POSE2,787.368130504,747,732,706.631869496,691.368130504,644,933,799,834.631869496,669.631869496,655,676,0.45533617841,0.00460082214616,0.0496756806441,0.999999861161,0.00018438803945,-0.000493322651565,1.76746911513e-05,1793256099080012288
+257,4.283333333,HOLD_POSE2,787.962471369,747,732,706.037528631,691.962471369,644,933,799,834.037528631,669.037528631,655,676,0.455336662349,0.00460316970711,0.0496766041013,0.999999861602,0.000186639349019,-0.000491610042765,1.6775916109e-05,1793256099096678912
+258,4.300000000,HOLD_POSE2,787.455972143,746.455972143,731.455972143,706.544027857,691.455972143,644,932.455972143,799,834.544027857,669.544027857,655.544027857,676,0.455335338492,0.00459996051322,0.0496759076581,0.999999861387,0.000183473912443,-0.000493203495163,1.76924243555e-05,1793256099113345536
+259,4.316666667,HOLD_POSE2,787.122793277,746.122793277,731.122793277,707,691,644,932,798.877206723,835,669.877206723,655.877206723,676,0.455334255623,0.0045977056295,0.0496752036092,0.999999861027,0.000181540832207,-0.000494622236751,1.83984069304e-05,1793256099130012416
+260,4.333333333,HOLD_POSE2,787.694505135,746.694505135,731.694505135,707,691,644,932,798.305494865,835,669.305494865,655.305494865,676,0.45533449923,0.00460030880083,0.049674870904,0.999999860336,0.000185447814328,-0.000494587630355,1.78874390914e-05,1793256099146679296
+261,4.350000000,HOLD_POSE2,787.725686674,746.725686674,732,707,691,644,932,798,835,669.274313326,655,676,0.455334531607,0.00460082820961,0.0496747359894,0.999999860143,0.000185630209271,-0.000494913785335,1.77775540974e-05,1793256099163346176
+262,4.366666667,HOLD_POSE2,787.136587646,746.136587646,732,707,691,644,932,798,835,669.863412354,655,676,0.45533432159,0.00459895641593,0.0496748280477,0.999999860521,0.000181538488641,-0.000495653928678,1.81279280186e-05,1793256099180012800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,788,746,731,707,692,644,932,799,835,670,655,676,0.4553338618,0.00460233254643,0.0496740633513,0.999999859603,0.000184603488888,-0.000496397322415,1.74891883745e-05,1793256099212642048
+264,4.400000000,POSE2_TO_POSE3_RETREAT,787.423263357,746.576736643,731.576736643,707,691.423263357,644,932,799,835,670,655,676,0.455335176569,0.00460105199343,0.0496746353774,0.999999860582,0.000183008763041,-0.000494995580781,1.79598238855e-05,1793256099229308416
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,747,731.269792886,706.269792886,691,644,932,798.269792886,834.269792886,670,655,676,0.455332549839,0.00460094364963,0.0496734322838,0.999999859182,0.0001830094704,-0.000497816803124,1.7951129494e-05,1793256099262641664
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787.312819872,746.687180128,731.312819872,706.312819872,691,643.687180128,932,798,834,670,655,676,0.455331410637,0.00460194933779,0.0496725717571,0.999999858227,0.000183867607191,-0.000499427367938,1.76156768969e-05,1793256099279308288
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787.900599461,746.099400539,731.900599461,706.900599461,691,643.099400539,932,798,834,670,655,676,0.455331763534,0.00460326178074,0.0496720815209,0.99999985791,0.000184667029867,-0.000499780813703,1.72311922148e-05,1793256099295974912
+269,4.483333333,POSE2_TO_POSE3_RETREAT,788,746,732,707,691,643.480954736,932,798,834,670,655,675.519045264,0.455333166847,0.00460118730698,0.0496728545051,0.999999859035,0.000183109604257,-0.000498087093765,1.76002128681e-05,1793256099312642048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787.940585138,746.059414862,732,706.940585138,691,644,932,798,834,670,655,675.059414862,0.455334104289,0.00459884312155,0.0496735360971,0.999999860109,0.000181505678978,-0.000496498010664,1.80871728679e-05,1793256099329308672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787.365458625,746.634541375,732,706.365458625,691,644,932,798,834,670,655,675.634541375,0.455329142338,0.00460014128179,0.0496711927868,0.99999985825,0.000183661803172,-0.000499433726171,1.82666689721e-05,1793256099345975296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,747,732,706,691,644,932.208900411,798,834,670,655,676,0.455317843617,0.00460181290095,0.049665842545,0.999999853749,0.000185754604532,-0.000507619388836,1.78966728154e-05,1793256099362641664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,747,732,706,691,644,932.781921646,798,834,670,655,676,0.455295499681,0.00460413547211,0.0496552511154,0.999999844451,0.00018773703169,-0.00052495589516,1.65688921401e-05,1793256099379308288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787,747,732,706,691,644,933,798,834.365997945,670,655,676,0.455255978537,0.00460398067184,0.0496386552491,0.999999829228,0.000188119142684,-0.000553074282676,1.62543977018e-05,1793256099395974912
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787,747,732,706,691,644,933,798,834.956866579,670,655,676,0.455205903641,0.00460230376428,0.0496183702303,0.999999809517,0.000187518012678,-0.000587817104894,1.65624704788e-05,1793256099412641536
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787.53992214,747,732,706.53992214,691,644,932.46007786,798.53992214,835,670,655,676,0.455142636667,0.00460333973609,0.0496009185376,0.999999796824,0.000187813006386,-0.000608969693877,1.53025590452e-05,1793256099429308416
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787.87983661,747,732,707,691,644,932,798.87983661,834.87983661,670,655,676,0.455074716527,0.00460480915849,0.0495845797172,0.999999784738,0.000188716261805,-0.000628263583071,1.39790591194e-05,1793256099445975296
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787.307863509,747,732,707,691,644,932,798.307863509,834.307863509,670,655,676,0.454993206708,0.00460710507699,0.0495715863242,0.999999773804,0.000191641223033,-0.000644592798036,1.28807360742e-05,1793256099462641920
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,788.723612401,751,730.276387599,705.276387599,697,653.276387599,931.276387599,800.723612401,834,668.276387599,656,675,0.410822346384,0.00462929249187,0.0498147317629,0.999999940993,0.000148962256901,-0.000306072027846,-4.63096144315e-05,1793256100612641792
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,789,751,730,705,697,653,931,801,834,668,656,675,0.409485793222,0.00462937024731,0.0497866305543,0.999999924957,0.000140975083056,-0.0003577698363,-4.70428446104e-05,1793256100645975040
+350,5.833333333,POSE2_TO_POSE3_RETREAT,788.517139569,751,729.517139569,705,697,653,931,801,834,668,656,675,0.408901970933,0.00462228247325,0.0497949375455,0.999999932136,0.000139529385328,-0.000337719450366,-4.69636831962e-05,1793256100662641664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,788.062969376,751,729.062969376,705,696.937030624,653,931,801,834,668,656,675,0.408337905355,0.00461420904919,0.049809406215,0.999999942167,0.000137749664904,-0.000307438535292,-4.66197065639e-05,1793256100679308288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,788.638677257,751,729.638677257,705,696.361322743,653,931,801,834,668,656,675,0.407800970778,0.00460904083121,0.049826208731,0.999999948198,0.000135323545798,-0.000288535980577,-4.51584708402e-05,1793256100695975424
+353,5.883333333,POSE2_TO_POSE3_RETREAT,789,751,730,705.213142783,696.213142783,653,931,801,834,668,655.786857217,675,0.407264235482,0.0046075866886,0.0498297786129,0.999999948329,0.000133571144866,-0.000288973130696,-4.46659381838e-05,1793256100712642560
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,788.629579286,751,730,705.629579286,697,653.370420714,931,800.629579286,834,668,655.370420714,675,0.40621431021,0.00461718273982,0.0497916184718,0.999999927072,0.000135510512885,-0.00035395082033,-4.70321830426e-05,1793256100745975808
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,789,751,729.879525815,705.120474185,697,654,931,801,834,668,655.879525815,675,0.404873022514,0.00462592931934,0.0497822923884,0.999999916609,0.000148693462399,-0.000377191361737,-4.8971795369e-05,1793256100795975424
+359,5.983333333,POSE2_TO_POSE3_RETREAT,789,751,729.302668804,705.697331196,697,654,931,801,834,668,655.302668804,675,0.404525853722,0.00462544335121,0.0498085005502,0.999999931583,0.000149720409419,-0.000334676598497,-4.90812742149e-05,1793256100812641792
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,789,751.177080702,729.822919298,705,697,654,931,801,834,668,656,675,0.40269051787,0.00463052304316,0.0498266778771,0.999999933144,0.000157308695492,-0.000325964463236,-5.20800316072e-05,1793256100912642048
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,789,751,730,705.338664082,697,654,931,801,834.661335918,668,655,675,0.401649667391,0.00459394174326,0.0498388144557,0.999999952323,0.000109896143044,-0.000286991047598,-3.02285850483e-05,1793256101012641792
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,789.011800881,751.011800881,729.011800881,705,697,654,931,801.011800881,834,668,655.988199119,675,0.401283536375,0.00459532902121,0.0498448276819,0.999999956511,0.000112648523798,-0.000270511435255,-3.33552591945e-05,1793256101079308544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,751,729.565796691,705.565796691,697,654,931,801,834,668,656,675,0.401224428938,0.00459930391468,0.0498457690435,0.999999956541,0.000117142643754,-0.000268312299151,-3.47001356184e-05,1793256101095975168
+377,6.283333333,POSE2_TO_POSE3_RETREAT,789.142786073,751.142786073,730,706,697,653.857213927,931,801,834,668,656,675,0.401171198215,0.00460224883471,0.049847244004,0.999999957003,0.000120475279111,-0.000264951658858,-3.57757031975e-05,1793256101112641792
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,789,751,730,706,697,654,932,801,834,668,656,675,0.401042153913,0.00460047776421,0.0498565286833,0.999999962224,0.000120927732697,-0.000244148604895,-3.63241794694e-05,1793256101195974912
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,789.192609836,751.192609836,730,706,697,654,931.807390164,801,834,668,655.807390164,675,0.401019595415,0.00459971938242,0.0498555294479,0.999999961892,0.000118054602547,-0.000246878872293,-3.64793577969e-05,1793256101229308160
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28ebbcfee9e5056f53211253c6684857f871d8ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.591715399985,0.0101817326114,1.04002057587,0.562286550235,0.0188559789843,1.03969228219
+336,5.600000000,pose2_to_pose3_retreat,0.590971969169,0.0101817240076,1.04002039202,0.561543118749,0.0188559683943,1.03969210584
+337,5.616666667,pose2_to_pose3_retreat,0.590243202131,0.0101816380888,1.04002043196,0.560814351403,0.0188558812347,1.03969214052
+338,5.633333333,pose2_to_pose3_retreat,0.589532477593,0.0101817869385,1.04002052927,0.560103624673,0.0188560225959,1.03969223643
+339,5.650000000,pose2_to_pose3_retreat,0.588840580951,0.0101817245901,1.04002044269,0.559411729488,0.0188559651238,1.03969214813
+340,5.666666667,pose2_to_pose3_retreat,0.588167664872,0.0101817056644,1.04002060242,0.55873881348,0.0188559463665,1.03969230581
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+342,5.700000000,pose2_to_pose3_retreat,0.586851811352,0.0101817455473,1.04002047593,0.557422959003,0.0188559831322,1.03969218287
+343,5.716666667,pose2_to_pose3_retreat,0.586213288746,0.0101817911315,1.04002056703,0.556784435632,0.0188560262645,1.0396922777
+344,5.733333333,pose2_to_pose3_retreat,0.585591226581,0.0101817396226,1.04002064652,0.55616237563,0.0188559819344,1.03969235291
+345,5.750000000,pose2_to_pose3_retreat,0.584987642066,0.0101817731786,1.04002057237,0.555558790048,0.018856011573,1.03969227091
+346,5.766666667,pose2_to_pose3_retreat,0.58440310452,0.010181724638,1.04002045545,0.554974252497,0.0188559631544,1.03969215762
+347,5.783333333,pose2_to_pose3_retreat,0.58383828939,0.0101817503133,1.04002043281,0.554409437956,0.0188559909289,1.03969213765
+348,5.800000000,pose2_to_pose3_retreat,0.583290143995,0.0101818015336,1.04002036515,0.553861290934,0.018856036534,1.03969206745
+349,5.816666667,pose2_to_pose3_retreat,0.582761731909,0.0101817568185,1.04002051469,0.553332879036,0.0188559924184,1.03969221593
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+351,5.850000000,pose2_to_pose3_retreat,0.581775162824,0.0101816896248,1.04002032272,0.552346310831,0.0188559284246,1.03969202969
+352,5.866666667,pose2_to_pose3_retreat,0.581314675504,0.0101815447467,1.04002043403,0.551885825126,0.0188557890243,1.039692141
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+354,5.900000000,pose2_to_pose3_retreat,0.580428262121,0.0101816060774,1.0400205436,0.550999410815,0.0188558471915,1.03969225086
+355,5.916666667,pose2_to_pose3_retreat,0.580008088132,0.010181661605,1.04002055689,0.550579238133,0.0188559069651,1.03969225936
+356,5.933333333,pose2_to_pose3_retreat,0.579609104476,0.0101817383571,1.04002055593,0.550180253396,0.0188559800895,1.03969225924
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+358,5.966666667,pose2_to_pose3_retreat,0.578905480811,0.0101817341723,1.04002060876,0.54947662959,0.0188559756338,1.03969231708
+359,5.983333333,pose2_to_pose3_retreat,0.578601318482,0.0101816542997,1.04002045648,0.549172468217,0.0188558990048,1.03969216484
+360,6.000000000,pose2_to_pose3_retreat,0.578317861681,0.010181606438,1.04002018741,0.548889010849,0.018855849292,1.03969189768
+361,6.016666667,pose2_to_pose3_retreat,0.578052078326,0.0101816909332,1.04002049135,0.548623227133,0.0188559323907,1.03969219717
+362,6.033333333,pose2_to_pose3_retreat,0.577793594669,0.0101816869578,1.040020539,0.548364743621,0.0188559289613,1.03969224619
+363,6.050000000,pose2_to_pose3_retreat,0.577542852596,0.0101816804426,1.0400204642,0.548114001097,0.0188559209695,1.03969217319
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+365,6.083333333,pose2_to_pose3_retreat,0.577080832036,0.0101818075813,1.04002057913,0.547651980026,0.0188560464502,1.03969229009
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+367,6.116666667,pose2_to_pose3_retreat,0.576702393835,0.0101817848117,1.0400203852,0.54727354072,0.0188560197105,1.0396920903
+368,6.133333333,pose2_to_pose3_retreat,0.576548344409,0.0101818394126,1.04002053746,0.547119490936,0.0188560731515,1.03969224406
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+370,6.166666667,pose2_to_pose3_retreat,0.576300242672,0.0101817631465,1.04002051932,0.546871391032,0.018856003353,1.03969223255
+371,6.183333333,pose2_to_pose3_retreat,0.576199074578,0.0101817531563,1.04002051327,0.546770223019,0.018855993659,1.03969222707
+372,6.200000000,pose2_to_pose3_retreat,0.576109772297,0.0101817580729,1.04002046337,0.546680921151,0.0188559998187,1.03969217344
+373,6.216666667,pose2_to_pose3_retreat,0.576031184239,0.0101817667603,1.04002048275,0.546602332084,0.0188560048129,1.03969218586
+374,6.233333333,pose2_to_pose3_retreat,0.5759613178,0.0101818001798,1.04002052235,0.546532463496,0.0188560308234,1.03969222226
+375,6.250000000,pose2_to_pose3_retreat,0.575900118217,0.0101819319129,1.04002030108,0.546471264516,0.0188561651352,1.03969201503
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+377,6.283333333,pose2_to_pose3_retreat,0.575805860325,0.01018171975,1.04002053644,0.546377008595,0.0188559593389,1.0396922418
+378,6.300000000,pose2_to_pose3_retreat,0.575772698651,0.010181715641,1.04002048135,0.546343847516,0.0188559573781,1.03969219013
+379,6.316666667,pose2_to_pose3_retreat,0.575746193841,0.0101817801337,1.0400205401,0.546317341543,0.0188560178196,1.03969224611
+380,6.333333333,pose2_to_pose3_retreat,0.575725639789,0.0101818166737,1.04002056356,0.546296786532,0.0188560509081,1.03969226433
+381,6.350000000,pose2_to_pose3_retreat,0.575709228922,0.0101817130677,1.04002055817,0.546280378492,0.0188559570528,1.03969226324
+382,6.366666667,pose2_to_pose3_retreat,0.575696169423,0.0101818026936,1.04002055537,0.546267317959,0.0188560431725,1.03969226041
+383,6.383333333,pose2_to_pose3_retreat,0.575686390277,0.0101818036186,1.04002060499,0.546257538722,0.0188560437234,1.03969230833
+384,6.400000000,pose2_to_pose3_retreat,0.57567938816,0.0101817037146,1.04002066469,0.546250537573,0.0188559470169,1.03969236573
+385,6.416666667,pose2_to_pose3_retreat,0.575675118527,0.0101816241729,1.04002059883,0.546246267334,0.018855865322,1.03969229738
+386,6.433333333,pose2_to_pose3_retreat,0.575672612491,0.0101816687318,1.04002058084,0.546243760363,0.0188559066542,1.03969227795
+387,6.450000000,pose2_to_pose3_retreat,0.575671493051,0.0101817434303,1.04002058521,0.546242640158,0.0188559787325,1.0396922817
+388,6.466666667,pose2_to_pose3_retreat,0.575671068673,0.0101817717483,1.04002058687,0.54624221549,0.0188560060572,1.03969228312
+389,6.483333333,pose2_to_pose3_retreat,0.575670829055,0.0101817877377,1.0400205878,0.546241975708,0.0188560214857,1.03969228392
+390,6.500000000,pose2_to_pose3_retreat,0.575670405235,0.0101818160184,1.04002058946,0.546241551599,0.0188560487745,1.03969228534
+391,6.516666667,pose2_to_pose3_retreat,0.575669866268,0.0101818519829,1.04002059157,0.546241012263,0.0188560834775,1.03969228714
+392,6.533333333,pose2_to_pose3_retreat,0.575669280343,0.0101818208282,1.04002054789,0.546240427018,0.0188560547276,1.03969224614
+393,6.550000000,pose2_to_pose3_retreat,0.575668985566,0.0101817991707,1.04002052201,0.546240132674,0.0188560346016,1.03969222185
+394,6.566666667,pose2_to_pose3_retreat,0.575668965523,0.0101817976981,1.04002052025,0.54624011266,0.0188560332332,1.0396922202
+395,6.583333333,pose2_to_pose3_retreat,0.575668815267,0.0101817866588,1.04002050705,0.546239962626,0.0188560229744,1.03969220782
+396,6.600000000,pose2_to_pose3_retreat,0.575668625622,0.0101817727254,1.0400204904,0.546239773259,0.0188560100264,1.0396921922
+397,6.616666667,pose2_to_pose3_retreat,0.575668503005,0.0101817637167,1.04002047963,0.546239650823,0.0188560016547,1.0396921821
+398,6.633333333,pose2_to_pose3_retreat,0.575668330243,0.0101817510237,1.04002046446,0.546239478315,0.0188559898593,1.03969216787
+399,6.650000000,pose2_to_pose3_retreat,0.575667958303,0.0101817236971,1.04002043179,0.546239106922,0.018855964465,1.03969213722
+400,6.666666667,pose2_to_pose3_retreat,0.575667558031,0.0101817337299,1.04002045133,0.546238706267,0.0188559732057,1.03969215699
+401,6.683333333,pose2_to_pose3_retreat,0.575667319345,0.0101817587526,1.04002048939,0.546238466883,0.0188559958302,1.03969219424
+402,6.700000000,pose2_to_pose3_retreat,0.575667191194,0.0101817721874,1.04002050982,0.546238338356,0.0188560079774,1.03969221423
+403,6.716666667,pose2_to_pose3_retreat,0.575666954074,0.0101817970459,1.04002054763,0.546238100543,0.0188560304534,1.03969225124
+404,6.733333333,pose2_to_pose3_retreat,0.57566679227,0.010181803933,1.04002063268,0.546237938789,0.0188560374301,1.0396923342
+405,6.750000000,pose2_to_pose3_retreat,0.575666731807,0.0101818054603,1.04002067062,0.5462378784,0.018856039169,1.0396923712
+406,6.766666667,pose2_to_pose3_retreat,0.575666709659,0.0101817806964,1.040020649,0.546237856516,0.0188560153469,1.03969235076
+407,6.783333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60238333fd90faf876ebe2a0e5b47861c25c3d81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88187c7a64f0a37a820d3837ef667a057a6f4165897cd2be9f5d1580894f800a
+size 26104794
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9832e00b91b8719fe12feb0c3d0cd54ef605755d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+17,0.283333333,BASELINE,789,752,729.076238038,705.923761962,697,654,931.076238038,801.923761962,834,668,656,675,0.401006399582,0.00459869314794,0.0498639059761,0.999999965902,0.000113571309738,-0.00023217267002,-3.73151073707e-05,1793256102025267456
+18,0.300000000,BASELINE,789.497996096,752,729.497996096,706,697,654,931,801.502003904,834.497996096,668,656,675,0.401006104191,0.00459917276163,0.0498633396328,0.999999965846,0.000113462044754,-0.000232412858171,-3.76707600724e-05,1793256102041934080
+19,0.316666667,BASELINE,790,752,730,705.928408003,697,654,931,801,834.928408003,668,656,675,0.401006087958,0.00459989910823,0.0498628092297,0.999999965766,0.000113919454716,-0.000232473744677,-3.80220513134e-05,1793256102058600704
+20,0.333333333,BASELINE,790,752,730,705.354042041,697,654,931,801,834.354042041,668,656,675,0.401007857385,0.00459958410672,0.0498635575856,0.999999966017,0.00011474038063,-0.000231063965033,-3.75499832665e-05,1793256102075268352
+21,0.350000000,BASELINE,789.773657645,751.773657645,730,705.226342355,697,654,931,801,834,668,656,675,0.401009171852,0.00459892880184,0.0498643711819,0.999999966395,0.000114003369083,-0.000229849350013,-3.7187139953e-05,1793256102091935232
+22,0.366666667,BASELINE,789.183602184,751.183602184,730,705.816397816,697,654,931,801,834,668,656,675,0.401009755236,0.00459772665812,0.0498652896143,0.999999966973,0.000110762883145,-0.000228948348246,-3.69998116341e-05,1793256102108601600
+23,0.383333333,BASELINE,789,751,730,706,697,654,931,801.398365082,834.398365082,668,656,675,0.401009883899,0.00459873778673,0.04986532442,0.999999966865,0.000112314170935,-0.000228666550135,-3.69871984229e-05,1793256102125268224
+24,0.400000000,BASELINE,789,751,730,706,697,654,931,801.976678817,834.976678817,668,656,675,0.401009807156,0.00460074869004,0.0498649600759,0.999999966438,0.000116029988591,-0.000228664457342,-3.70535071436e-05,1793256102141934592
+25,0.416666667,BASELINE,789.552463132,751.552463132,730,705.447536868,697,654,931,801.447536868,834.447536868,668,656,675,0.401009342631,0.00460034542331,0.0498650126318,0.999999966252,0.000116805356167,-0.000229118600821,-3.68264609051e-05,1793256102158600960
+26,0.433333333,BASELINE,789.87242657,751.87242657,729.87242657,705.12757343,697,654,931,801,834.12757343,668,656,675,0.401008754755,0.00459981036319,0.0498648416351,0.999999966076,0.000117089295089,-0.000229764254417,-3.66872811068e-05,1793256102175267584
+27,0.450000000,BASELINE,789.299298929,751.299298929,729.299298929,705.700701071,697,654,931,801,834.700701071,668,656,675,0.401007792985,0.00459916931072,0.04986382869,0.999999965898,0.000116088440709,-0.000231011806612,-3.68980299257e-05,1793256102191934208
+28,0.466666667,BASELINE,789,751.285490773,729.285490773,705.714509227,697,654,931,801,834.714509227,668,655.714509227,674.714509227,0.401007981469,0.00459890493842,0.0498637674643,0.99999996595,0.000115832293875,-0.000230899412576,-3.69988128111e-05,1793256102208601088
+29,0.483333333,BASELINE,789,751.883027247,729.883027247,705.116972753,697,654,931,801,834.116972753,668,655.116972753,674.116972753,0.401009427198,0.00459905228325,0.0498647464822,0.999999966254,0.000116390123629,-0.00022930057682,-3.69794012674e-05,1793256102225267712
+30,0.500000000,BASELINE,789,752,730,705.46303697,697,654,931,801,834,668,655,674.46303697,0.401008700109,0.00460024987457,0.0498646039156,0.999999965953,0.000117512425988,-0.000230008797882,-3.71537303168e-05,1793256102241934336
+31,0.516666667,BASELINE,789.038726315,752,730,705.961273685,697,654,931,801,834,668,655.038726315,675,0.401007655452,0.00460158264018,0.0498642881652,0.999999965571,0.000118673679871,-0.000231036660772,-3.73610861185e-05,1793256102258600960
+32,0.533333333,BASELINE,789.613664767,752,730,705.386335233,697,654,931,801,834,668,655.613664767,675,0.401009536658,0.00460124744542,0.0498653545162,0.999999966129,0.000118471841446,-0.000228714951706,-3.73727794707e-05,1793256102275267584
+33,0.550000000,BASELINE,789.806106689,751.806106689,730,705,697,654,931,801.193893311,834,668,656,675,0.401009813146,0.00460027196612,0.0498654047543,0.999999966404,0.000117056354337,-0.000228245600477,-3.73296949642e-05,1793256102291934208
+34,0.566666667,BASELINE,789.215041984,751.215041984,730,705,697,654,931,801.784958016,834,668,656,675,0.40100680253,0.00459798492688,0.0498633735847,0.999999966095,0.00011315482719,-0.000231570622527,-3.71744033957e-05,1793256102308600832
+35,0.583333333,BASELINE,789,751,729.631769818,705,697,654,931,801.631769818,834,668,656,675,0.401006150209,0.00459814559783,0.0498631398941,0.999999965762,0.000114722020042,-0.000232270631563,-3.6945225726e-05,1793256102325267456
+36,0.600000000,BASELINE,789,751,729.052954037,705,697,654,931,801.052954037,834,668,656,675,0.401006846563,0.00459970607916,0.049863934156,0.999999965408,0.000119416695624,-0.000231469433342,-3.66737936321e-05,1793256102341934336
+37,0.616666667,BASELINE,789,751,729.521663442,705,697,654,931,801,834,668,656,675,0.401007791594,0.00460005608383,0.0498645459671,0.999999965898,0.000117725186498,-0.000230206395073,-3.67357718484e-05,1793256102358600960
+38,0.633333333,BASELINE,789,751.097642375,730,705,697,654,931,801,834,668,656,675,0.401008590484,0.00460030503251,0.0498650854682,0.999999966362,0.000115919342808,-0.000229084496459,-3.68640696909e-05,1793256102375267840
+39,0.650000000,BASELINE,789,751.682524866,730,705,697,654,931,801,834,668,656,675,0.401008535172,0.00460065796615,0.0498653558201,0.999999966297,0.00011675199262,-0.000228898963563,-3.71557684817e-05,1793256102391934464
+40,0.666666667,BASELINE,789,752,730,705,697,654,931,801,834,668,656,675,0.401009437318,0.00459947506204,0.0498660857388,0.999999966731,0.000115000955397,-0.000227894332095,-3.71006788064e-05,1793256102408601088
+41,0.683333333,BASELINE,789,752,730,705,697,654,931,801,834,668,656,675,0.401011476193,0.00459646875917,0.0498673612708,0.99999996774,0.000110182477102,-0.000225917238981,-3.66338700647e-05,1793256102425267456
+42,0.700000000,BASELINE,789,752,729.572103845,705.427896155,697.427896155,654,931,801,834,668,656,675,0.401010953919,0.00459862074192,0.0498666252291,0.999999967257,0.000113180022328,-0.000226500008383,-3.70800985296e-05,1793256102441934080
+43,0.716666667,BASELINE,789,751.994029252,729.005970748,705.994029252,697.994029252,654,931,801,834,668,656,675,0.40100952664,0.00460251497615,0.0498651950954,0.999999966237,0.000118821042738,-0.000227983274028,-3.78336325877e-05,1793256102458600960
+44,0.733333333,BASELINE,789,751.420480343,729.579519657,705.420480343,697.420480343,654,931,801,834,668,656,675,0.401007544628,0.00459987644671,0.0498649182824,0.999999966336,0.000114901017643,-0.000229635565547,-3.7328186881e-05,1793256102475267584
+45,0.750000000,BASELINE,789,751.157474353,730,705,697,654,931,801,834,668,656,675,0.401006541772,0.00459807095979,0.0498647827796,0.999999966432,0.000112500465934,-0.000230468314685,-3.69401358073e-05,1793256102491934208
+46,0.766666667,BASELINE,789,751.747531672,730,705,697,654,931,801,834,668,656,675,0.401008228664,0.00459855384599,0.0498650354565,0.999999966559,0.000114273917146,-0.000229049775853,-3.68745685609e-05,1793256102508601088
+47,0.783333333,BASELINE,789,752,730,705.330916246,697,654,931,801,834,668,656,675,0.401008155658,0.00459919313981,0.0498647268137,0.999999966459,0.000114437679784,-0.000229364589537,-3.71172558982e-05,1793256102525267712
+48,0.800000000,BASELINE,789,752,730,705.909310621,697,654,931,801,834,668,656,675,0.401006766499,0.00459994940426,0.0498639983841,0.999999966189,0.000113397625267,-0.00023097570339,-3.75904736669e-05,1793256102541934592
+49,0.816666667,BASELINE,789,751.516715133,730,705.516715133,697,654,931,801,834,668,656,675,0.401007831553,0.00459917906942,0.0498649263731,0.999999966454,0.000114476899983,-0.000229345577057,-3.72543916246e-05,1793256102558600960
+50,0.833333333,BASELINE,789.056871006,751.056871006,730,705.056871006,697.056871006,654,931.056871006,801,834,668,656,675,0.401009280796,0.00459814879401,0.0498661065632,0.999999966821,0.000115568359797,-0.000227259058325,-3.68037201429e-05,1793256102575267584
+51,0.850000000,BASELINE,789.634429391,751.634429391,730,705.634429391,697.634429391,654,931.634429391,801,834,668,656,675,0.401010069237,0.00459733763442,0.0498667757605,0.99999996727,0.000113163238834,-0.000226512187532,-3.66817422649e-05,1793256102591934208
+52,0.866666667,BASELINE,789.782655131,752,730,706,697.782655131,654,931.782655131,801,834,668,656,674.782655131,0.401010396482,0.00459759715062,0.0498670039253,0.999999967374,0.000112560320429,-0.000226348394233,-3.67128462252e-05,1793256102608600832
+53,0.883333333,BASELINE,789.19050144,752,730,706,697.19050144,654,931.19050144,801,834,668,656,674.19050144,0.401009928401,0.00459970303542,0.0498664715347,0.999999966888,0.000115065280531,-0.000227190111666,-3.7007938129e-05,1793256102625267456
+54,0.900000000,BASELINE,789,752,729.608045922,706,697,654,931,801,834,668,656,674,0.401009316327,0.00459952736471,0.0498660936812,0.999999966991,0.00011406693563,-0.000227213136611,-3.71636653561e-05,1793256102641934592
+55,0.916666667,BASELINE,789,752,729.03019021,706,697,654,931,801,834,668,656,674,0.401008635957,0.00459826956489,0.0498657891236,0.99999996737,0.000111406992631,-0.000226847860248,-3.72532926856e-05,1793256102658601472
+56,0.933333333,BASELINE,789,751.455450343,729,705.455450343,697,654,931,801,834,668,656,674,0.401007920988,0.0045992657257,0.0498652327492,0.999999966816,0.0001131385609,-0.000228366721435,-3.76459351582e-05,1793256102675268096
+57,0.950000000,BASELINE,789,751.122159293,729,705,697.122159293,654,931,801,834,668,655.877840707,674,0.401007897123,0.00459998000505,0.0498651296145,0.999999966501,0.000114447218896,-0.000229055022325,-3.78516304119e-05,1793256102691934464
+58,0.966666667,BASELINE,789,751.711398169,729,705,697.711398169,654,931,801,834,668,655.288601831,674,0.401010523008,0.004599141428,0.049866812531,0.99999996732,0.000113213254457,-0.000226170526085,-3.72786600442e-05,1793256102708600832
+59,0.983333333,BASELINE,789,751.706134653,729,705,697.706134653,654,931,800.706134653,834.293865347,668,655.293865347,674,0.40101036049,0.0045992049089,0.0498668803428,0.999999967187,0.000114019783374,-0.000226380405898,-3.71267365189e-05,1793256102725267456
+60,1.000000000,BASELINE,789,751.130168019,729,705,697.130168019,654,931,800.130168019,834.869831981,668,655.869831981,674,0.401007521197,0.00460013433633,0.0498653977063,0.999999966133,0.000116785120171,-0.000229560786904,-3.73790043593e-05,1793256102741934080
+61,1.016666667,BASELINE,789.448127972,751.448127972,729.448127972,705.448127972,697,654,931,800.448127972,834.551872028,668,656,674,0.401007898164,0.00459978658404,0.0498652772239,0.999999966344,0.000116417417137,-0.000228865115866,-3.71524653312e-05,1793256102758600704
+62,1.033333333,BASELINE,789.973087531,751.973087531,729.973087531,705.973087531,697,654,931,800.973087531,834,668,656,674.026912469,0.401009114923,0.0045991343431,0.0498655107993,0.999999966874,0.000115229176439,-0.000227198672591,-3.68193128233e-05,1793256102775267584
+63,1.050000000,BASELINE,789.398204274,751.398204274,729.398204274,705.398204274,697,654,931,800.398204274,834,668,656,674.601795726,0.401008309474,0.00459987548061,0.0498648550883,0.999999966409,0.000115960459597,-0.000228810179297,-3.71620010767e-05,1793256102791934464
+64,1.066666667,BASELINE,789,751.181595248,729,705,697,654,931,800.181595248,834,668,655.818404752,675,0.401008061391,0.00460004069351,0.0498647141711,0.999999966279,0.000116069538802,-0.000229301596587,-3.72912199389e-05,1793256102808601088
+65,1.083333333,BASELINE,789,751.772475158,729,705,697,654,931,800.772475158,834,668,655.227524842,675,0.401009069517,0.00459890787068,0.0498657335114,0.999999966905,0.000114776276562,-0.00022726852362,-3.69393152472e-05,1793256102825267712
+66,1.100000000,BASELINE,789,752,729.35613985,705.35613985,697,654,931,801,834,668,655.35613985,675,0.401009321965,0.00459896150612,0.0498660805311,0.999999967177,0.000113143232372,-0.000226875856799,-3.70533802126e-05,1793256102841934080
+67,1.116666667,BASELINE,789,752,729.935286512,705.935286512,697,654,931,801,834,668,655.935286512,675,0.401009101224,0.00459975807522,0.0498660065586,0.999999967224,0.00011129742437,-0.000227510375707,-3.74592249719e-05,1793256102858600960
+68,1.133333333,BASELINE,789,751.48938475,729.48938475,705.48938475,697,654,931,801,834,668,656,674.48938475,0.401008418841,0.00459868209169,0.0498654936561,0.99999996675,0.000113502759285,-0.000228585658731,-3.69655806941e-05,1793256102875267584
+69,1.150000000,BASELINE,789,751.085344602,729.085344602,705.085344602,697,654,931,801,834,668,656,674.085344602,0.401008012713,0.00459744077664,0.0498651046721,0.999999966405,0.000115384528176,-0.0002292284273,-3.64882612276e-05,1793256102891933952
+70,1.166666667,BASELINE,789,751.659391699,729.659391699,705.659391699,697,654,931,801,834,668,656,674.659391699,0.401009521013,0.00459660160109,0.0498657414498,0.999999967215,0.000112495304953,-0.000227077022151,-3.6752354728e-05,1793256102908600832
+71,1.183333333,BASELINE,789.240985206,751.759014794,730,705.759014794,697,654,931.240985206,801,834,668,656,675,0.401010268784,0.00459618391255,0.0498659069608,0.999999967574,0.00011131936594,-0.000226052036363,-3.68754373709e-05,1793256102925267712
+72,1.200000000,BASELINE,789.833589694,751.166410306,730,705.166410306,697,654,931.833589694,801,834,668,656,675,0.401009906873,0.00459638121169,0.0498653848509,0.999999967289,0.000112643263627,-0.000226670598323,-3.67927724171e-05,1793256102941934592
+73,1.216666667,BASELINE,789.584117241,751,730,705,697,654,931.584117241,801,834,668,656,675,0.401009630421,0.0045973754703,0.0498656559229,0.999999967157,0.000113293208239,-0.000226909431801,-3.69286397229e-05,1793256102958601216
+74,1.233333333,BASELINE,789.005850372,751,730,705,697,654,931.005850372,801,834,668,656,675,0.401009387336,0.00459868090687,0.0498662366979,0.999999967084,0.000113680003442,-0.000226999997804,-3.71498343655e-05,1793256102975267840
+75,1.250000000,BASELINE,789,751,729.43448911,705,697.56551089,653.43448911,931,801,834,668,656,675,0.401008671108,0.00459690805695,0.0498658784247,0.999999967293,0.00011128107954,-0.000227357909583,-3.65815814508e-05,1793256102991934464
+76,1.266666667,BASELINE,789.141738816,751,729.141738816,705,697.858261184,653.141738816,931,801,834,668,656,674.858261184,0.40100815805,0.00459638499183,0.0498655806462,0.999999967267,0.000110716812779,-0.000227795862191,-3.62920382254e-05,1793256103008601344
+77,1.283333333,BASELINE,789.733647654,751,729.733647654,705,697.266352346,653.733647654,931,801,834,668,656,674.266352346,0.401008305627,0.00459993123349,0.0498655054845,0.999999966481,0.000116069941542,-0.000228479350454,-3.6913317935e-05,1793256103025267712
+78,1.300000000,BASELINE,789.693890437,751,729.693890437,705,697,654,931,801,834,668,656,674.306109563,0.401008155363,0.00460020591305,0.0498651255563,0.999999966335,0.000115846309025,-0.000229184922912,-3.72126733258e-05,1793256103041934336
+79,1.316666667,BASELINE,789.137338959,751,729.137338959,705,697,654,931,801,834,668,656,674.862661041,0.401007761422,0.00459780398127,0.049864496285,0.99999996671,0.00011106007857,-0.000229908563407,-3.72486480117e-05,1793256103058600960
+80,1.333333333,BASELINE,789,751,729.452788583,705,697,654,931,801,834,668,656,675,0.401008538884,0.00459830795835,0.0498651906402,0.999999967007,0.000111491658201,-0.00022840208293,-3.72581573836e-05,1793256103075267840
+81,1.350000000,BASELINE,789,751.051438901,730,705,697,654,931,801,834.051438901,668,656,675,0.401009483737,0.00459944162503,0.0498661460255,0.999999967229,0.000113328035561,-0.000226529461353,-3.72009762976e-05,1793256103091934720
+82,1.366666667,BASELINE,789,751.624947485,730,705,697,654,931,801,834.624947485,668,656,675,0.401008232523,0.00459730395914,0.0498653495816,0.999999966978,0.000112072743594,-0.000228355991288,-3.65549307677e-05,1793256103108601344
+83,1.383333333,BASELINE,789.204457249,751.795542751,730,705,697,654,931,801,834.795542751,668,656,675,0.401008047082,0.00459608970516,0.049865191099,0.999999966991,0.000111169879421,-0.000228790705077,-3.62537721261e-05,1793256103125267712
+84,1.400000000,BASELINE,789.795308455,751.204691545,730,705,697,654,931,801,834.204691545,668,656,675,0.401009875791,0.00459662056273,0.0498662382688,0.999999967504,0.000110933051431,-0.000226595092548,-3.66043985746e-05,1793256103141934336
+85,1.416666667,BASELINE,789.621514666,751.378485334,729.621514666,705,697.378485334,654,931,801,834,668,656,675,0.401009828827,0.00459639199979,0.0498657968907,0.999999967414,0.000110578773245,-0.000227147196727,-3.67145754179e-05,1793256103158600960
+86,1.433333333,BASELINE,789.04240575,751.95759425,729.04240575,705,697.95759425,654,931,801,834,668,656,675,0.401008787626,0.00459576089105,0.0498645664787,0.999999967003,0.00011016223829,-0.000229155782228,-3.66972972059e-05,1793256103175267584
+87,1.450000000,BASELINE,789,751.467654399,729.532345601,705.532345601,698,654,931.532345601,801,834.532345601,668,656,675,0.401008107262,0.00459678197983,0.0498650709817,0.999999967092,0.000110260944606,-0.000228676987527,-3.69505216256e-05,1793256103191934464
+88,1.466666667,BASELINE,789,751,730,706,697.893158293,654,931.893158293,801,834.893158293,668,656,674.893158293,0.401007842234,0.00459789328304,0.0498656830575,0.999999967226,0.000110716311666,-0.00022782770373,-3.72174552717e-05,1793256103208601088
+89,1.483333333,BASELINE,789,751,730,706,697.318272096,654,931.318272096,801,834.318272096,668,656,674.318272096,0.401009271777,0.00459882791906,0.0498661658776,0.999999967377,0.000112555773041,-0.000226216360189,-3.74508167292e-05,1793256103225267968
+90,1.500000000,BASELINE,789,751,729.735682165,705.735682165,697,654,931,801.264317835,834,668,655.735682165,674.264317835,0.401009838446,0.00459932605717,0.049866232895,0.999999967332,0.000113834001239,-0.000225766301375,-3.75135971782e-05,1793256103241934848
+91,1.516666667,BASELINE,789,751,729.143537527,705.143537527,697,654,931,801.856462473,834,668,655.143537527,674.856462473,0.401009334915,0.00459928281774,0.0498657842027,0.999999967047,0.000114416145825,-0.000226756555096,-3.73648102495e-05,1793256103258601472
+92,1.533333333,BASELINE,789,751,729.435456319,705,697,654,931,801.129087363,834,668,655.435456319,674.564543681,0.401009474274,0.0045989474414,0.0498654975047,0.999999967197,0.00011281652993,-0.000226910093637,-3.72830492628e-05,1793256103275268352
+93,1.550000000,BASELINE,789,751,729.989692417,705,697,654,931,800.010307583,834,668,656,674,0.401009790449,0.00459850981815,0.04986527271,0.999999967475,0.000110545898942,-0.000226812166392,-3.72186864233e-05,1793256103291934976
+94,1.566666667,BASELINE,789,751,729.411250989,705,697,654,931,800.588749011,834,668,656,674,0.401008514587,0.00459758859165,0.0498656030251,0.99999996739,0.000109767147486,-0.000227610009105,-3.69312251821e-05,1793256103308601344
+95,1.583333333,BASELINE,789,751.169971633,729.169971633,705.169971633,697,654,931,801,834,668,655.830028367,674.169971633,0.401008004478,0.00459719756444,0.0498659454995,0.99999996736,0.000109888010135,-0.000227705444325,-3.68059273668e-05,1793256103325267712
+96,1.600000000,BASELINE,789,751.758035487,729.758035487,705.758035487,697,654,931,801,834,668,655.241964513,674.758035487,0.401009377947,0.00459811070875,0.0498663178829,0.999999967461,0.000112221722228,-0.000226073114287,-3.70795152705e-05,1793256103341934336
+97,1.616666667,BASELINE,789,751.65910061,730,706,697,654,931,801,834,668,655,675,0.401009155222,0.00459739995748,0.0498660926538,0.999999967561,0.000111015883032,-0.000226219212078,-3.71219530461e-05,1793256103358600960
+98,1.633333333,BASELINE,789,751.079872124,730,706,697,654,931,801,834,668,655,675,0.401007816567,0.0045955539106,0.0498654496226,0.999999967652,0.000107335477638,-0.000227608641898,-3.70027894568e-05,1793256103375268096
+99,1.650000000,BASELINE,789,751,729.5048751,705.5048751,697,654,931,801,834,668,655.4951249,675,0.401008119275,0.00459656384708,0.0498651494607,0.999999967262,0.000110349058856,-0.000227880291856,-3.70172356457e-05,1793256103391935232
+100,1.666666667,BASELINE,789,751.069204404,729,705,697,654,931,801,834,668,656,675,0.401008812254,0.00459789184141,0.0498651201554,0.999999966921,0.000113798859383,-0.000227677372787,-3.70364230931e-05,1793256103408601600
+101,1.683333333,BASELINE,789,751.641534002,729,705,697,654,931,801,834,668,656,675,0.401010433881,0.00459821105305,0.0498666613062,0.999999967589,0.000112635870972,-0.000225324094099,-3.69347108145e-05,1793256103425267968
+102,1.700000000,BASELINE,789,752,729.2224012,705,697,654,931,801,834,668,656,675,0.401011133536,0.0045990166727,0.0498674984126,0.999999967829,0.00011296182434,-0.000224068527675,-3.70759439208e-05,1793256103441934592
+103,1.716666667,BASELINE,789,752,729.817578578,705,697,654,931,801,834,668,656,675,0.401010287837,0.00460063758166,0.0498671554401,0.999999967355,0.000115783456917,-0.000224652884038,-3.76243882033e-05,1793256103458600960
+104,1.733333333,BASELINE,789,752,730,705,697.401133629,654,931,801,834,668,656,675,0.401009331819,0.00460039252455,0.0498670113423,0.999999967236,0.000115640150327,-0.000225258319276,-3.76035529139e-05,1793256103475267584
+105,1.750000000,BASELINE,789,752,730,705,697.979552131,654,931,801,834,668,656,675,0.401008327045,0.00459932278589,0.0498669551391,0.999999967275,0.000114186460535,-0.000225873070579,-3.73311190771e-05,1793256103491934208
+106,1.766666667,BASELINE,789,751.444956279,730,705.555043721,697.444956279,654,931,801,834,668,655.444956279,675,0.401009433147,0.00459838661425,0.0498666314564,0.999999967337,0.000113831245327,-0.00022583988129,-3.6953200549e-05,1793256103508600832
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,752,730,705,697,654,931,801,835,668,656,675,0.401009148541,0.00459853846563,0.0498656790849,0.999999967102,0.000112785985805,-0.000227292538389,-3.75915866805e-05,1793256103551639552
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,751.382631595,730,705.617368405,697,654,931,801.617368405,834.382631595,668,656,674.382631595,0.401008518318,0.00459854313595,0.0498655111032,0.999999966856,0.00011433082148,-0.00022771746875,-3.6894394997e-05,1793256103568306176
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,751,730,705.783232373,697,654,931,801.783232373,834,668,656,674,0.401008237788,0.00459843495487,0.0498653285318,0.99999996681,0.000114328798375,-0.000227975979181,-3.65574189631e-05,1793256103584973056
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,751,730,705.213123641,697,654,931,801.213123641,834,668,656,674,0.401008527273,0.00459814282086,0.0498651221783,0.999999967089,0.000111805325251,-0.000227963217616,-3.68076107341e-05,1793256103601639424
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,751.363845198,730,705,697,654,931,801,834,668,656,674,0.401008514145,0.00459859478172,0.049865764007,0.999999967178,0.000111692956148,-0.000227607560098,-3.69176749157e-05,1793256103618305792
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,751.944909554,730,705,697,654,931,801,834,668,656,674,0.401008320354,0.00459949097455,0.0498669122089,0.999999967156,0.000113020039982,-0.000227047190329,-3.69440815351e-05,1793256103634972416
+113,1.883333333,POSE1_TO_POSE2_PRESS,789.533976953,752,730,705,697,654,931,800.466023047,834,668,656,674,0.401008952902,0.00459951946546,0.0498666164743,0.999999967172,0.000113807675687,-0.000226543272513,-3.71783081033e-05,1793256103651639296
+114,1.900000000,POSE1_TO_POSE2_PRESS,789.878309225,751.878309225,729.878309225,705,697,654,931,800.121690775,834,668,655.878309225,674,0.401009228139,0.00459927261004,0.0498661221571,0.999999967136,0.00011402803901,-0.000226571451847,-3.73012617399e-05,1793256103668305920
+115,1.916666667,POSE1_TO_POSE2_PRESS,789.298840626,751.298840626,729.298840626,705,697,654,931,800.701159374,834,668,655.298840626,674,0.401007833652,0.00459833183826,0.0498654497376,0.999999966885,0.000112326979128,-0.000228579037932,-3.69237440073e-05,1793256103684972544
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,751,729.278533659,705,697.278533659,654,931,801,834,668,655.278533659,674.278533659,0.401008923828,0.00459833681762,0.0498659225591,0.99999996692,0.000112544316484,-0.000228356897518,-3.66877019389e-05,1793256103701639168
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,751,729.853677672,705,697.853677672,654,931,801,834,668,655.853677672,674.853677672,0.401012659918,0.00459934892695,0.0498676149471,0.999999967256,0.00011480455421,-0.000225760322336,-3.66023172589e-05,1793256103718305792
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,751,730,705,697.573962974,654,931,801,834,668,656,674.573962974,0.40102845803,0.00459929113349,0.049873563113,0.999999969666,0.00011549535402,-0.000214469354409,-3.64835074635e-05,1793256103734972672
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,751,730,705,697.002553753,654,931,801,834,668,656,674.002553753,0.401048371942,0.00459886826827,0.049880963434,0.999999972609,0.000115650630977,-0.000200211688812,-3.63532923496e-05,1793256103751639296
+120,2.000000000,POSE1_TO_POSE2_PRESS,788.40431967,751,729.40431967,705,697,654,931,801,834,668,655.40431967,674.59568033,0.401103179266,0.0045987863106,0.0498996905872,0.999999979873,0.000112886977484,-0.000161789536651,-3.65446216043e-05,1793256103768305920
+121,2.016666667,POSE1_TO_POSE2_PRESS,788.186180582,751,729.186180582,705,697,654,931,801,834,668,655,675,0.401163159663,0.00459799659402,0.0499179132204,0.999999985015,0.000110705208768,-0.000128090840608,-3.61421713973e-05,1793256103784972544
+122,2.033333333,POSE1_TO_POSE2_PRESS,788.760314648,751,729.760314648,705,697,654,931,801,834,668,655,675,0.401233593043,0.00459572889693,0.0499349786074,0.999999987925,0.000109763246495,-0.0001044606794,-3.449942642e-05,1793256103801639424
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751,729.665488714,705,697,654,931,801,834,668,655.334511286,675,0.401311212105,0.00459453121859,0.049947699394,0.999999989704,0.000109470325566,-8.66080671136e-05,-3.32652563055e-05,1793256103818306048
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751,729.091247268,705,697,654,931,801,834,668,655.908752732,675,0.401393980838,0.00459410037779,0.0499573065874,0.99999999081,0.000109642545322,-7.28959823948e-05,-3.2323894702e-05,1793256103834972672
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,751,729,705,697,654,931,801,834,668,655.50081862,674.50081862,0.401493116319,0.0045929720431,0.0499630515365,0.999999991665,0.000108159339146,-6.31442268559e-05,-3.13756939083e-05,1793256103851639040
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,751,729.089884845,705,697,654,931,801,834,668,655,674,0.401598178982,0.00459183361875,0.0499669673532,0.9999999923,0.000106381867867,-5.61699477462e-05,-3.04719540384e-05,1793256103868305920
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,751,729.665546314,705,697,654,931,801,834,668,655,674,0.401718564166,0.00459135281073,0.0499649411192,0.999999992264,0.000104704259681,-6.01628358513e-05,-2.9815483113e-05,1793256103884972544
+128,2.133333333,POSE1_TO_POSE2_PRESS,789.241844267,751,730,705,697,654,931,801,834.241844267,668,655.241844267,674.241844267,0.401855104005,0.00459003611554,0.0499653353583,0.999999992544,0.000101974191069,-6.06718955495e-05,-2.88595520644e-05,1793256103901639168
+129,2.150000000,POSE1_TO_POSE2_PRESS,789.819024707,751,730,705,697,654,931,801,834.819024707,668,655.819024707,674.819024707,0.402014043538,0.00458756039681,0.0499690857747,0.999999993254,9.77848031189e-05,-5.63503517499e-05,-2.74883959643e-05,1793256103918305792
+130,2.166666667,POSE1_TO_POSE2_PRESS,789.596334814,751,730,705,697,654,931,800.596334814,834.596334814,668,656,675,0.40218062305,0.00458606626687,0.049967073433,0.999999993114,9.48761475756e-05,-6.3995372472e-05,-2.59686801942e-05,1793256103934972416
+131,2.183333333,POSE1_TO_POSE2_PRESS,789.00828675,751,730,705,697,654,931,800.00828675,834.00828675,668,656,675,0.402350692303,0.00458502049881,0.0499624288261,0.999999992447,9.25524941155e-05,-7.7106382172e-05,-2.4381106431e-05,1793256103951639296
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,751.571190164,730,705.571190164,697,654,931,800.571190164,834.571190164,668,656,675,0.402567604851,0.00458328146527,0.0499637496809,0.999999992984,8.96100520802e-05,-7.39767112973e-05,-2.30189981884e-05,1793256103968306176
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,751.851093951,730,705.851093951,697.148906049,654,931,801,834.851093951,668,656,675,0.402795366412,0.00458108122536,0.0499656700601,0.999999993556,8.59243587601e-05,-7.105516698e-05,-2.13510908824e-05,1793256103984972544
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,751.278045075,730,705.278045075,697.721954925,654,931,801,834.278045075,668,656,675,0.403052123125,0.00457759551348,0.0499690552479,0.999999994204,8.01467864283e-05,-6.93876573207e-05,-1.88029681811e-05,1793256104001639424
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,751,729.702076135,705.297923865,698,654,931,801,834,668,656,675,0.403338601516,0.0045735801472,0.0499739404269,0.999999995245,7.43493980986e-05,-6.08919463502e-05,-1.65404415226e-05,1793256104018306048
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,751,729.123355033,705.876644967,698,654,931,801,834,668,656,675,0.403653092969,0.00456906557475,0.0499802393676,0.99999999649,6.85333332589e-05,-4.59605641589e-05,-1.45470931149e-05,1793256104034972672
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,751,729.464330599,706,697.535669401,654,931,801,834,668,656,675,0.403992042947,0.00456711434976,0.0499891692012,0.999999997326,6.58126003577e-05,-2.94392316693e-05,-1.22816115388e-05,1793256104051639296
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,751,730,706,697,654,931,801,834,668,655.946597009,675,0.404341391232,0.00456556331419,0.0499985126523,0.999999997835,6.38159241284e-05,-1.26454921037e-05,-9.91403793395e-06,1793256104068305920
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,751,730,706,697,654,931,801,834,668,655.367773223,675,0.40472785825,0.00456111769731,0.0500049136149,0.999999998128,6.06932570018e-05,2.5907906664e-06,-7.26730492989e-06,1793256104084972800
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,751,729.790404247,705.790404247,697,654,931,801,834,668,655,675,0.40512474964,0.00455686786959,0.0500066074685,0.999999998323,5.7105876677e-05,8.54438210006e-06,-4.52866943554e-06,1793256104101639424
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,751,729.21557046,705.21557046,697,654,931,801,834,668,655,675,0.405539806324,0.00455295922128,0.0500000987925,0.999999998608,5.27086952937e-05,-1.67788982485e-06,-1.62988648629e-06,1793256104118306048
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,751,729,705,697,654,931,801,834,668,655,674.641498326,0.405967870979,0.00454851935582,0.0499824944182,0.999999998251,4.80384382302e-05,-3.4458579353e-05,1.56314973351e-06,1793256104134972672
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,751,729,705,697,654,931,801,834,668,655,674.067883155,0.406403740908,0.00454376074119,0.0499582322377,0.999999995792,4.32043257368e-05,-8.07751065063e-05,4.9327484462e-06,1793256104151639296
+144,2.400000000,POSE1_TO_POSE2_PRESS,788.477008714,751,729.522991286,705,697,654,931,801,834.522991286,668,655,674.522991286,0.406884015488,0.00453982499273,0.0499440277501,0.999999993981,3.79118736027e-05,-0.000102695879041,7.32708008274e-06,1793256104168306176
+145,2.416666667,POSE1_TO_POSE2_PRESS,788.226069883,751,730,705,697,654,931,800.886965059,834.886965059,668,655.113034941,675,0.407387781566,0.00453515407919,0.0499369759463,0.99999999333,3.13441036354e-05,-0.000110720378895,9.94014563201e-06,1793256104184972800
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.380312604,751,730,705,697,654,931,800.309843698,834.309843698,668,655.690156302,675,0.407963525353,0.00452701132581,0.0499537480804,0.999999996884,1.9792861853e-05,-7.51355147391e-05,1.39887318492e-05,1793256104201639424
+147,2.450000000,POSE1_TO_POSE2_PRESS,789.744410481,751,730,705,697,654,931,800.255589519,834,668,655.744410481,674.744410481,0.408559007835,0.00452078714355,0.0499740218025,0.999999999107,1.1324839316e-05,-3.65868977322e-05,1.78756149886e-05,1793256104218305792
+148,2.466666667,POSE1_TO_POSE2_PRESS,789.192526869,751,730,705,697,654,931,800.807473131,834,668,655.192526869,674.192526869,0.409177372517,0.00451678707994,0.0499983547663,0.999999999732,6.43106283739e-06,5.39747015436e-06,2.15750423594e-05,1793256104234972416
+149,2.483333333,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931,801,834,668,655,674,0.409809296722,0.00451136181661,0.050010512866,0.999999999429,6.23912380079e-07,2.23808333502e-05,2.53120599834e-05,1793256104251639552
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.984964205,751,730,705,697,654,931,801,834,668,655,674.015035795,0.410448106481,0.00450515485493,0.0500153057546,0.999999999279,-2.01708246345e-06,2.43606274578e-05,2.90766259425e-05,1793256104268306688
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.40574035,751,730,705,697,654,931,801,834,668,655,674.59425965,0.411072695126,0.00449826715619,0.0499884863837,0.999999990093,0.000132507209929,-3.40407155916e-05,3.31192108051e-05,1793256104284973056
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,751,729.82756243,705.17243757,697,654,931,801,834.17243757,668,655,675,0.411723068962,0.00449174378137,0.0499676887284,0.999999971993,0.000221367278014,-7.51892901549e-05,3.68490960807e-05,1793256104301639424
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,751,729.251830809,705.748169191,697,654,931,801,834.748169191,668,655,675,0.412433748678,0.00448607248213,0.0499609745628,0.999999975627,0.000203428623231,-7.59873770542e-05,3.98476457372e-05,1793256104318306048
+154,2.566666667,POSE1_TO_POSE2_PRESS,788.324298882,751,729.324298882,705.675701118,697,654,931.324298882,801,834.675701118,668,655.324298882,674.675701118,0.413193363094,0.00447995049288,0.0499731007187,0.999999991021,0.000122281955079,-4.76294638825e-05,2.71492728284e-05,1793256104334972672
+155,2.583333333,POSE1_TO_POSE2_PRESS,788.900738132,751,729.900738132,705.099261868,697,654,931.900738132,801,834.099261868,668,655.900738132,674.099261868,0.413991024011,0.00447347809434,0.0499998751069,0.99999999996,-8.00855533167e-06,3.39705917931e-06,2.24663987867e-06,1793256104351639296
+156,2.600000000,POSE1_TO_POSE2_PRESS,788.512461777,751,730,705,697,654,932,800.512461777,834,668,656,674.487538223,0.414753623169,0.00446617698914,0.0499918817913,0.999999999013,-4.18458943131e-05,-1.40719397437e-05,4.99909140567e-06,1793256104368305920
+157,2.616666667,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653.92478626,932,800,834.07521374,668,655.92478626,675,0.415514034768,0.00446419783147,0.049976117543,0.99999999772,-4.81756331383e-05,-4.56787784631e-05,1.23842374703e-05,1793256104384972544
+158,2.633333333,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653.345684553,932,800,834.654315447,668,655.345684553,675,0.416308653562,0.00449902748803,0.0499567450065,0.999999996984,-4.63811127513e-06,-7.65452346414e-05,1.22654876596e-05,1793256104401639168
+159,2.650000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653,931.767450119,800,835,668,655,674.767450119,0.417130831984,0.00451716807541,0.0499559693663,0.999999996535,3.42555960935e-05,-7.46338957276e-05,1.36454085788e-05,1793256104418305792
+160,2.666666667,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653,931.190500126,800,835,668,655,674.190500126,0.417993825424,0.00451059259868,0.0499827352296,0.999999997363,6.62719365876e-05,-2.41795231971e-05,1.72448205061e-05,1793256104434972416
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653,931.385915746,800,835,668,655,674,0.418845785599,0.00449940687912,0.0499920313947,0.99999999796,5.85605792509e-05,-1.61239441594e-05,1.97453514939e-05,1793256104451639296
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697,653,931.962068306,800,835,668,655,674,0.41969230691,0.00448594854477,0.0499927158871,0.999999998856,3.12654887089e-05,-2.89688130759e-05,2.17041900286e-05,1793256104468305920
+163,2.716666667,POSE1_TO_POSE2_PRESS,788.54949148,750.45050852,730,705,697,653,932,800,835,668,655.54949148,674,0.420578931835,0.00448377341739,0.0499826210692,0.999999999219,1.69088283951e-05,-2.88496588393e-05,2.10448737969e-05,1793256104484972544
+164,2.733333333,POSE1_TO_POSE2_PRESS,788.863928039,750.136071961,730,705,697,653,931.863928039,800,835,668,655.863928039,674,0.421483409865,0.00448283750088,0.0499803789002,0.999999999623,8.06409428671e-06,-1.63211931699e-05,2.05535427563e-05,1793256104501639424
+165,2.750000000,POSE1_TO_POSE2_PRESS,788.282703059,750.717296941,730,705,697,653,931.282703059,800,835,668,655.282703059,674,0.422437047047,0.00448335415796,0.0500063115741,0.999999999101,1.42682966464e-05,3.38147766596e-05,2.12154071008e-05,1793256104518306048
+166,2.766666667,POSE1_TO_POSE2_PRESS,787.706989788,750.706989788,730,705,697,653.293010212,931,800,835,668,655.293010212,674.293010212,0.423361416992,0.00448847165607,0.0500158090942,0.999999998207,2.59250727338e-05,4.95124530948e-05,2.15048649223e-05,1793256104534972672
+167,2.783333333,POSE1_TO_POSE2_PRESS,787.136496091,750.136496091,730,705,697,653.863503909,931,800,835,668,655.863503909,674.863503909,0.424258070694,0.00449794619488,0.0500097423689,0.999999998325,4.27454892493e-05,3.25967408701e-05,2.14416502966e-05,1793256104551639552
+168,2.800000000,POSE1_TO_POSE2_PRESS,787,750,730,705,697,653.561104188,931.438895812,800,835,668,655.561104188,674.561104188,0.425189102322,0.00449668150222,0.0500093075265,0.999999998274,4.35278410603e-05,3.26308488392e-05,2.22133756786e-05,1793256104568306176
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.016336144,750,730,705,697,653,932,800,835,668,655,674.016336144,0.42613084167,0.00449185655288,0.0500108178477,0.999999998272,3.87786631003e-05,3.75476010345e-05,2.33045984753e-05,1793256104584972544
+170,2.833333333,POSE1_TO_POSE2_PRESS,787.611782572,750,730,705,697,653,932,800,835,668,655,674.611782572,0.427068880601,0.00448055589352,0.0500184923843,0.999999999158,1.67507447924e-05,2.65749767724e-05,2.64129566963e-05,1793256104601639424
+171,2.850000000,POSE1_TO_POSE2_PRESS,788,750.200803744,730,705,697,653,931.799196256,799.799196256,835,668.200803744,655.200803744,674.799196256,0.427988268287,0.00447290088347,0.0500097144899,0.999999999599,-1.09404034078e-06,-2.14594518661e-06,2.82126134373e-05,1793256104618306048
+172,2.866666667,POSE1_TO_POSE2_PRESS,788,750.777787971,730,705,697,653,931.222212029,799.222212029,835,668.777787971,655.777787971,674.222212029,0.42887271516,0.00447207553824,0.0499701150408,0.999999997503,-1.11022518144e-05,-6.41160634335e-05,2.75605828022e-05,1793256104634972672
+173,2.883333333,POSE1_TO_POSE2_PRESS,787.647420908,750.647420908,730,705,697,653.352579092,931.352579092,799,835,668.647420908,656,674,0.429816030695,0.00447690665756,0.0499671464183,0.999999997957,1.09144047598e-05,-5.71616147103e-05,2.64375012991e-05,1793256104651639040
+174,2.900000000,POSE1_TO_POSE2_PRESS,787.074003465,750.074003465,730,705,697,653.925996535,931.925996535,799,835,668.074003465,656,674,0.430796218656,0.00448528071052,0.0499871215612,0.999999998258,5.29898775335e-05,-7.03617547877e-06,2.50193764792e-05,1793256104668305920
+175,2.916666667,POSE1_TO_POSE2_PRESS,787,749.498077193,730.501922807,705,697,653.498077193,932,799,835,668.501922807,656,674.501922807,0.431703779703,0.00449081567566,0.0499713449086,0.999999997761,4.85899431638e-05,-3.83678594993e-05,2.53824492514e-05,1793256104684972800
+176,2.933333333,POSE1_TO_POSE2_PRESS,787.080559441,749,731,705.080559441,697,653.080559441,932,799,835,669,656,674.919440559,0.432607875373,0.00449396025072,0.0499544450356,0.999999996374,3.57139366231e-05,-7.27736409641e-05,2.61038800758e-05,1793256104701639680
+177,2.950000000,POSE1_TO_POSE2_PRESS,787.674087044,749,731,705.674087044,697,653.674087044,932,799,835,669,656,674.325912956,0.43355843179,0.00448456266262,0.049964126621,0.999999998298,1.27178342213e-05,-4.98950042728e-05,2.74265315159e-05,1793256104718306304
+178,2.966666667,POSE1_TO_POSE2_PRESS,787.740248748,749,731,706,697,654,932,799.259751252,835,668.740248748,656,674.259751252,0.434492863404,0.0044763338236,0.0499780366074,0.999999999184,-5.20088541256e-06,-2.79871879361e-05,2.86540066396e-05,1793256104734972928
+179,2.983333333,POSE1_TO_POSE2_PRESS,787.164160851,749,731,706,697,654,932,799.835839149,835,668.164160851,656,674.835839149,0.43540765764,0.00446952833801,0.0499970961304,0.999999999387,-1.69361452289e-05,-7.26167685304e-06,2.97655719983e-05,1793256104751639552
+180,3.000000000,POSE1_TO_POSE2_PRESS,787.410372056,749,731,706,697,654,932,799.589627944,835,668,656,675,0.436267960846,0.0044707864736,0.0499856953312,0.999999998623,3.14767496968e-06,-4.23487600723e-05,3.08293104602e-05,1793256104768305920
+181,3.016666667,POSE1_TO_POSE2_PRESS,787.984285235,749,731,706,697,654,932,799.015714765,835,668,656,675,0.437106548278,0.00447525811707,0.0499621555092,0.999999993879,3.59120086698e-05,-9.96782321771e-05,3.18739888104e-05,1793256104784972544
+182,3.033333333,POSE1_TO_POSE2_PRESS,788,748.424736056,731,705.424736056,697,654,932,799,835,668,656,674.424736056,0.438046353145,0.00448138459282,0.049985679437,0.999999998538,2.58892187824e-05,-3.67145976702e-05,3.00853401946e-05,1793256104801639168
+183,3.050000000,POSE1_TO_POSE2_PRESS,788,748,731,705.162239045,697,654,932,799,835,668.162239045,656,674.162239045,0.43895938894,0.0044859865658,0.0500033474094,0.999999999392,1.6850446084e-05,9.3232586133e-06,2.90703730767e-05,1793256104818305792
+184,3.066666667,POSE1_TO_POSE2_PRESS,788,748,731,705.737790761,697,654,932,799,835,668.737790761,656,674.737790761,0.43979696968,0.00448658610066,0.0500027215895,0.999999999447,1.33872199457e-05,3.61431453424e-06,3.0229608781e-05,1793256104834972672
+185,3.083333333,POSE1_TO_POSE2_PRESS,787.685695333,747.685695333,731,706,697,653.685695333,932,799,834.685695333,668.685695333,656,674.685695333,0.440616264284,0.00448310996563,0.0499927038528,0.999999999091,2.67793122538e-05,-1.2556713636e-05,3.07192178246e-05,1793256104851639296
+186,3.100000000,POSE1_TO_POSE2_PRESS,787.108376282,747.108376282,731,706,697,653.108376282,932,799,834.108376282,668.108376282,656,674.108376282,0.441420256759,0.00447622325501,0.0499748268336,0.999999997355,5.42761625451e-05,-3.74825545984e-05,3.06484741561e-05,1793256104868306176
+187,3.116666667,POSE1_TO_POSE2_PRESS,787.477439428,747,731,706,697,653,932,799,834,668.477439428,656,674,0.442217611426,0.00447203002104,0.0499879069853,0.999999998282,4.75896360537e-05,-1.24133261457e-05,3.18894275224e-05,1793256104884972544
+188,3.133333333,POSE1_TO_POSE2_PRESS,788,746.935724971,731,706,696.935724971,653,932,799,834.064275029,669,655.935724971,674.064275029,0.443006843745,0.00446924510258,0.0500043997184,0.9999999987,3.45028110711e-05,1.71174464948e-05,3.34124807064e-05,1793256104901639424
+189,3.150000000,POSE1_TO_POSE2_PRESS,788,746.356451455,731,706,696.356451455,653,932,799,834.643548545,669,655.356451455,674.643548545,0.443743287371,0.00447275660439,0.0499909110972,0.999999998785,3.34325635826e-05,-1.01814965043e-05,3.47669242495e-05,1793256104918305792
+190,3.166666667,POSE1_TO_POSE2_PRESS,788,746.220990918,731,706,696,652.779009082,932,799,835,669,655,674.779009082,0.444443792756,0.00448029613591,0.0499613768162,0.999999996847,3.76960982199e-05,-6.03088620301e-05,3.53257418481e-05,1793256104934972416
+191,3.183333333,POSE1_TO_POSE2_PRESS,788,746.795504078,731,706,696,652.204495922,932,799,835,669,655,674.204495922,0.445086807354,0.00449427936309,0.0499061740684,0.999999987328,5.04921579326e-05,-0.000146955176418,3.46117856226e-05,1793256104951639040
+192,3.200000000,POSE1_TO_POSE2_PRESS,788.371097384,746.628902616,731,706.371097384,696,652,932,799,835,669,655.371097384,674,0.445755933159,0.00450737402004,0.0498819052186,0.999999982337,6.8712163265e-05,-0.000171675968692,3.36441354347e-05,1793256104968305920
+193,3.216666667,POSE1_TO_POSE2_PRESS,788.947287615,746.052712385,731,706.947287615,696,652,932,799,835,669,655.947287615,674,0.446439489698,0.00451997759375,0.049874732481,0.999999982277,8.99297974064e-05,-0.000162172635681,3.2536277387e-05,1793256104984972544
+194,3.233333333,POSE1_TO_POSE2_PRESS,787.927660582,746.536169709,731,706.463830291,695.463830291,651.463830291,932,799,835,668.463830291,655.463830291,674,0.447058244919,0.00452957247076,0.0498681679177,0.999999979086,0.000108894193887,-0.000169794586847,3.37583084635e-05,1793256105001639424
+195,3.250000000,POSE1_TO_POSE2_PRESS,787.124000208,747,731.124000208,706,695,651,932,799,835,668.124000208,655.124000208,674,0.447660719908,0.00453838755721,0.049855440228,0.999999973647,0.000125191517324,-0.000189261472179,3.48182851588e-05,1793256105018306048
+196,3.266666667,POSE1_TO_POSE2_PRESS,787.703277293,747,731.703277293,706,695,651,932,799,835,668.703277293,655.703277293,674,0.448227378716,0.0045454519402,0.0498198592658,0.999999960395,0.00013252952044,-0.000245886517476,3.44218700123e-05,1793256105034972416
+197,3.283333333,POSE1_TO_POSE2_PRESS,787.719108192,747,731.719108192,706.280891808,694.719108192,650.719108192,932,799,835,669,655.719108192,674,0.448786303522,0.00455057945328,0.0498013200733,0.99999995215,0.000138476918569,-0.000274421433302,3.4883888278e-05,1793256105051638784
+198,3.300000000,POSE1_TO_POSE2_PRESS,787.14323965,747,731.14323965,706.85676035,694.14323965,650.14323965,932,799,835,669,655.14323965,674,0.449337106478,0.00455367297437,0.0498006771887,0.999999951734,0.000142963981652,-0.000273457676527,3.62473850113e-05,1793256105068305920
+199,3.316666667,POSE1_TO_POSE2_PRESS,787.439712671,746.560287329,731.439712671,707,694,650,932.439712671,799,835,669,655.439712671,674,0.449866341311,0.00455586688838,0.0498188589167,0.999999957708,0.000147134567488,-0.000247947575011,3.818072016e-05,1793256105084972544
+200,3.333333333,POSE1_TO_POSE2_PRESS,787.975251678,746.024748322,732,707,694,649.975251678,932.975251678,799,835,669,656,674.024748322,0.450386111862,0.00455766950698,0.0498422798836,0.999999964451,0.000151035076914,-0.000216020524323,4.02611303824e-05,1793256105101639168
+201,3.350000000,POSE1_TO_POSE2_PRESS,787.396087487,746.603912513,732,707,694,649.396087487,932.396087487,799,835,669,656,674.603912513,0.450853835296,0.00455737878939,0.0498434459169,0.999999962975,0.00015123264968,-0.00022240417305,4.14097545206e-05,1793256105118306048
+202,3.366666667,POSE1_TO_POSE2_PRESS,787,747,732,706.816566785,694,648.816566785,932,799,835,668.816566785,655.816566785,675,0.451299837173,0.004556691725,0.0498374847649,0.999999958789,0.000148737387816,-0.000241940706313,4.19997074679e-05,1793256105134973696
+203,3.383333333,POSE1_TO_POSE2_PRESS,787,747,732,706.236274661,694,648.236274661,932,799,835,668.236274661,655.236274661,675,0.451698844412,0.00455514716179,0.0498161039033,0.999999947255,0.000140416161179,-0.000289933588495,4.13809719515e-05,1793256105151642880
+204,3.400000000,POSE1_TO_POSE2_PRESS,787.340419381,747,731.659580619,706,693.659580619,648,932.340419381,799,835,668.340419381,655,674.659580619,0.452064701994,0.00455332911113,0.0497910104105,0.999999937531,9.92972080102e-05,-0.00033786370055,3.04342678447e-05,1793256105168308736
+205,3.416666667,POSE1_TO_POSE2_PRESS,787.91464219,747,731.08535781,706,693.08535781,648,932.91464219,799,835,668.91464219,655,674.08535781,0.452407792037,0.00455132322665,0.0497633670468,0.999999924886,3.56524490594e-05,-0.000385750697169,1.23942117589e-05,1793256105184972544
+206,3.433333333,POSE1_TO_POSE2_PRESS,787.498030141,746.498030141,731.501969859,706.501969859,693,647.498030141,932.498030141,799,835,669,655,674.501969859,0.452762196996,0.00455197255556,0.04976628147,0.99999993133,3.10362300376e-05,-0.000369160638657,9.87351496909e-06,1793256105201638912
+207,3.450000000,POSE1_TO_POSE2_PRESS,787.09000236,746,731.90999764,707,692.90999764,646.90999764,932,798.90999764,835,669,655.09000236,674.90999764,0.453112278249,0.00455359614234,0.0497744053814,0.999999939636,4.76597337813e-05,-0.000344017216609,1.03842797099e-05,1793256105218305792
+208,3.466666667,POSE1_TO_POSE2_PRESS,787.669424927,746,731.330575073,707,692.330575073,646.330575073,932,798.330575073,835,669,655.669424927,674.330575073,0.453428104596,0.00455799655513,0.0497818439847,0.999999936627,0.000123735903842,-0.000333580983415,1.26445044329e-05,1793256105234972416
+209,3.483333333,POSE1_TO_POSE2_PRESS,788,746.24560735,731,707,692,646,932,798.24560735,835,669,655.75439265,674,0.453723321387,0.00456671292234,0.0497844924696,0.99999993054,0.000173360085035,-0.00032963764898,1.43106753854e-05,1793256105251639040
+210,3.500000000,POSE1_TO_POSE2_PRESS,788,746.817485442,731,707,692,646,932,798.817485442,835,669,655.182514558,674,0.453991159921,0.00458116270739,0.0497807776446,0.999999926357,0.000187844799429,-0.000334319641057,1.51876908439e-05,1793256105268305920
+211,3.516666667,POSE1_TO_POSE2_PRESS,787.59820158,746.59820158,731.40179842,707,692,646,932,799,835,669,655,674,0.454222793906,0.00459265646918,0.0497715964197,0.9999999208,0.000197198835913,-0.000345386259961,1.48876684053e-05,1793256105284972544
+212,3.533333333,POSE1_TO_POSE2_PRESS,787.008059686,746.008059686,731.991940314,707,692,646,932,799,835,669,655,674,0.45443745699,0.00460276459292,0.0497598528132,0.999999914463,0.000204147862427,-0.000359445680458,1.40359081631e-05,1793256105301639168
+213,3.550000000,POSE1_TO_POSE2_PRESS,787,746.571089794,732,707,692,645.428910206,932.571089794,799,835,669,655,674,0.454618063409,0.004596560802,0.0497503138502,0.999999911021,0.000195035002828,-0.000373732711127,1.56240862033e-05,1793256105318305792
+214,3.566666667,POSE1_TO_POSE2_PRESS,787,747,732,706.855329426,692,645,932.855329426,798.855329426,835,669,655,674,0.454787852287,0.00459242405855,0.0497390125566,0.999999905698,0.000188305179692,-0.000390980761102,1.67334515895e-05,1793256105334972416
+215,3.583333333,POSE1_TO_POSE2_PRESS,787,747,732,706.297227463,692,645,932.297227463,798.297227463,835,669,655,674,0.45492807504,0.0045948398541,0.0497225877357,0.99999989519,0.000189021016979,-0.000416681641753,1.63779472666e-05,1793256105351639040
+216,3.600000000,POSE1_TO_POSE2_PRESS,787.279414131,746.720585869,732,706,692,645,932,798.279414131,834.720585869,669,655,674,0.455058532378,0.00459682063192,0.0497081121747,0.99999988535,0.000188372031539,-0.000439945707876,1.62461268637e-05,1793256105368305664
+217,3.616666667,POSE1_TO_POSE2_PRESS,787.877178825,746.122821175,732,706,692,645,932,798.877178825,834.122821175,669,655,674,0.455177863478,0.00459830577202,0.0496958575043,0.999999876537,0.000186168034971,-0.000460433387287,1.636916082e-05,1793256105384972544
+218,3.633333333,POSE1_TO_POSE2_PRESS,788,746.465465418,732,706,692,644.534534582,932.465465418,799,834.465465418,669,655,674,0.455279210102,0.00459597680747,0.0496897730915,0.99999987183,0.000184624708665,-0.000471118775399,1.73689242456e-05,1793256105401639424
+219,3.650000000,POSE1_TO_POSE2_PRESS,787.949270361,746.949270361,732,706,691.949270361,644,932.949270361,799,835,669,655,674,0.455375025065,0.00459312589112,0.0496861010736,0.999999868798,0.00018339815974,-0.00047794077765,1.8473465956e-05,1793256105418306048
+220,3.666666667,POSE1_TO_POSE2_PRESS,787.369958987,746.369958987,732,706,691.369958987,644,932.369958987,799,835,669,655,674,0.455461661991,0.00459511364106,0.0496909393154,0.999999872078,0.00018369210897,-0.000470920392076,1.83073874792e-05,1793256105434972672
+221,3.683333333,POSE1_TO_POSE2_PRESS,787,746,732,706.208708041,691.208708041,644,932,799,834.791291959,669,655,674.208708041,0.455538733963,0.00459636930158,0.0496926513526,0.999999873524,0.000183502810917,-0.000467921909033,1.80869494756e-05,1793256105451639296
+222,3.700000000,POSE1_TO_POSE2_PRESS,787,746,732,706.786236346,691.786236346,644,932,799,834.213763654,669,655,674.786236346,0.455598903135,0.00459633124356,0.0496888388888,0.99999987179,0.000182459538128,-0.000472030767459,1.77704495709e-05,1793256105468305920
+223,3.716666667,POSE1_TO_POSE2_PRESS,787.362968725,746.362968725,732,706.637031275,691.637031275,644,932,799,834.362968725,669,655,674.637031275,0.455647056089,0.00459586775883,0.0496859252468,0.999999869347,0.000182564730427,-0.000477115892789,1.8330425615e-05,1793256105484972544
+224,3.733333333,POSE1_TO_POSE2_PRESS,787.93923344,746.93923344,732,706.06076656,691.06076656,644,932,799,834.93923344,669,655,674.06076656,0.455688147804,0.00459515427513,0.0496835397906,0.999999866468,0.000183344809963,-0.000482774714803,1.94054564853e-05,1793256105501639168
+225,3.750000000,POSE1_TO_POSE2_PRESS,787.475192677,747,732,706,691,644,932,798.475192677,835,669,655.524807323,674,0.455719746555,0.00459453666565,0.0496827312125,0.999999865804,0.00018089515691,-0.00048506476699,1.95117806787e-05,1793256105518305792
+226,3.766666667,POSE1_TO_POSE2_PRESS,787.110452896,746.889547104,732,706.110452896,691,644,932,798.110452896,835,669,655.889547104,674,0.45574788113,0.0045946081051,0.0496820722026,0.999999865331,0.000179242674459,-0.000486655161645,1.93858063046e-05,1793256105534972672
+227,3.783333333,POSE1_TO_POSE2_PRESS,787.691726608,746.308273392,732,706.691726608,691,644,932,798.691726608,835,669,655.308273392,674,0.455766019184,0.00459756853656,0.0496812584025,0.999999864588,0.000182611107523,-0.000486955898426,1.87563797171e-05,1793256105551639552
+228,3.800000000,POSE1_TO_POSE2_PRESS,787.730363865,746,732,706.730363865,691,644,932,798.730363865,835,669,655,674.269636135,0.45578081095,0.00459876727029,0.049680203643,0.999999863577,0.000184931395067,-0.000488164602077,1.84705757022e-05,1793256105568306176
+229,3.816666667,POSE1_TO_POSE2_PRESS,787.156253229,746,732,706.156253229,691,644,932,798.156253229,835,669,655,674.843746771,0.455791824071,0.00459797668576,0.0496788767907,0.999999862271,0.000186068111129,-0.000490398586545,1.857279209e-05,1793256105584972800
+230,3.833333333,POSE1_TO_POSE2_PRESS,787,746.419865056,732,706.419865056,691,643.580134944,932,798,835,669,655,675,0.455797361706,0.00459732103526,0.0496762490527,0.99999986049,0.000185057065877,-0.000494394567435,1.86620316797e-05,1793256105601639424
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,746.996734068,732,706.996734068,691,643.003265932,932,798,835,669,655,675,0.455800851842,0.00459671584189,0.0496731348625,0.99999985851,0.000183242888696,-0.000499049427596,1.87464187346e-05,1793256105618305792
+232,3.866666667,POSE1_TO_POSE2_PRESS,787.588035308,746.411964692,731.411964692,706.411964692,691.588035308,643.588035308,932,798,835,669,655,674.411964692,0.455803356625,0.00459651863241,0.0496726999825,0.999999858239,0.000183869855961,-0.000499347008905,1.91517502392e-05,1793256105634972416
+233,3.883333333,POSE1_TO_POSE2_PRESS,787.825027103,746,731.174972897,706.174972897,691.825027103,643.825027103,932,798.174972897,835,669,655,674,0.455806444208,0.00459692694069,0.0496725566934,0.999999858273,0.00018426440324,-0.000499132726673,1.917326904e-05,1793256105651639040
+234,3.900000000,POSE1_TO_POSE2_PRESS,787.248297685,746,731.751702315,706.751702315,691.248297685,643.248297685,932,798.751702315,835,669,655,674,0.455810882844,0.00459872024895,0.0496730479005,0.999999858985,0.000184093375231,-0.000497800115218,1.83093168563e-05,1793256105668305664
+235,3.916666667,POSE1_TO_POSE2_PRESS,787.327039484,746,732,706.672960516,691,643,932,798.672960516,835,669,655.327039484,674,0.455811443316,0.00459988638464,0.0496724205359,0.999999858248,0.000184958638837,-0.00049896948666,1.80159773095e-05,1793256105684972288
+236,3.933333333,POSE1_TO_POSE2_PRESS,787.901324158,746,732,706.098675842,691,643,932,798.098675842,835,669,655.901324158,674,0.455809071856,0.00460057837166,0.0496709475195,0.999999856407,0.000186607349473,-0.000502030382592,1.81540266551e-05,1793256105701638912
+237,3.950000000,POSE1_TO_POSE2_PRESS,787.51144387,746.48855613,732,706.48855613,691,643,932,798.48855613,835,669,655.51144387,674.48855613,0.4558080087,0.00460192103171,0.0496696828363,0.999999855067,0.00018896334775,-0.000503818904855,1.80340105191e-05,1793256105718306048
+238,3.966666667,POSE1_TO_POSE2_PRESS,787.077007498,747,732,706.922992502,691,643.077007498,932,799,835,669,655,674.922992502,0.455807648397,0.00460298864283,0.0496686880905,0.999999854091,0.000190896616276,-0.000505029814985,1.79196094911e-05,1793256105734972672
+239,3.983333333,POSE1_TO_POSE2_PRESS,787.655899393,747,732,706.344100607,691,643.655899393,932,799,835,669,655,674.344100607,0.455810099777,0.00460138384482,0.0496691709173,0.999999854844,0.000189118436683,-0.000504196695273,1.81907526324e-05,1793256105751639296
+240,4.000000000,POSE1_TO_POSE2_PRESS,787.766031354,746.766031354,732,706.233968646,691,643.766031354,932,799,835,669,655,674,0.455811493122,0.00459978254108,0.0496696088895,0.999999855514,0.000186838606117,-0.000503714598795,1.83077876739e-05,1793256105768305664
+241,4.016666667,POSE1_TO_POSE2_PRESS,787.189167768,746.189167768,732,706.810832232,691,643.189167768,932,799,835,669,655,674,0.455811335851,0.00459818635849,0.0496699811246,0.999999856058,0.000183823576375,-0.000503746947754,1.81989681298e-05,1793256105784972544
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,746.386068297,732,707,691,643.386068297,932,798.613931703,835,669,655.386068297,674,0.455812025547,0.00460030130724,0.049670261731,0.999999855885,0.000186348603755,-0.000503184451024,1.76137037681e-05,1793256105801639168
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,746.960510231,732,707,691,643.960510231,932,798.039489769,835,669,655.960510231,674,0.455813128501,0.00460422702195,0.0496704976291,0.99999985534,0.000191576781731,-0.00050233171225,1.67959685116e-05,1793256105818305792
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+247,4.116666667,HOLD_POSE2,788,746,732,707,691,643,932,798,835,669,655,674,0.45581293268,0.00460413094901,0.0496673077974,0.999999853771,0.000191049711481,-0.000505620972024,1.74656369586e-05,1793256105905467904
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+250,4.166666667,HOLD_POSE2,787,746.250072164,732,706.250072164,691,643.250072164,933,798.250072164,834.250072164,669,655,674.250072164,0.455813221335,0.00460444695997,0.0496673025084,0.999999853103,0.000192060801509,-0.000506564877681,1.73038207928e-05,1793256105955468032
+251,4.183333333,HOLD_POSE2,787,746.328725408,732,706.328725408,691,643,932.671274592,798.328725408,834.328725408,669,655.328725408,674,0.45581239699,0.00460504158467,0.0496664576745,0.999999852575,0.000192341471754,-0.000507500844953,1.72628496167e-05,1793256105972134656
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+254,4.233333333,HOLD_POSE2,787.94141381,746.05858619,732,706.94141381,691,643,932.94141381,798,835,669,655.94141381,675,0.455810487746,0.00460330935289,0.0496655952623,0.999999852319,0.000188645442211,-0.000509379432443,1.75311064688e-05,1793256106022134784
+255,4.250000000,HOLD_POSE2,787.353752394,746.646247606,732,706.353752394,691,643,932.353752394,798,835,669,655.353752394,675,0.455809713674,0.00460547701312,0.0496649745392,0.999999850424,0.000193642714683,-0.000511235155332,1.71362510929e-05,1793256106038801408
+256,4.266666667,HOLD_POSE2,787.231630452,747,732,706.231630452,691,643,932,798,835,669,655.231630452,674.768369548,0.455809720249,0.00460661935597,0.0496647927476,0.999999849664,0.000196386942175,-0.000511683429582,1.68744962012e-05,1793256106055468032
+257,4.283333333,HOLD_POSE2,787.813567251,747,732,706.813567251,691,643,932,798,835,669,655.813567251,674.186432749,0.455810907437,0.00460621105972,0.0496652747739,0.999999850653,0.000195723776343,-0.000510003148536,1.68140358813e-05,1793256106072134656
+258,4.300000000,HOLD_POSE2,787.609832656,747,731.609832656,707,691,643,932,798.390167344,834.609832656,669,655.609832656,674.390167344,0.455811840069,0.00460670593599,0.0496658717636,0.999999851541,0.000194553741788,-0.000508709472251,1.67600437488e-05,1793256106088801280
+259,4.316666667,HOLD_POSE2,787.035748128,747,731.035748128,707,691,643,932,798.964251872,834.035748128,669,655.035748128,674.964251872,0.455812652707,0.00460762654991,0.0496665229447,0.99999985238,0.000193144779266,-0.000507598033668,1.67091005868e-05,1793256106105467904
+260,4.333333333,HOLD_POSE2,787.536394777,747,731.536394777,707,691,643,932,798.463605223,834.536394777,669,655,674.463605223,0.455812375264,0.00460538176136,0.0496659993617,0.999999851982,0.000191690430323,-0.000508917216425,1.71300532035e-05,1793256106122134528
+261,4.350000000,HOLD_POSE2,787.887716547,747,732,707,691,643.112283453,932.112283453,798,835,669,655.112283453,674.112283453,0.455811855625,0.00460343776139,0.0496653323208,0.999999851502,0.000190348249886,-0.000510352130128,1.74642928371e-05,1793256106138801408
+262,4.366666667,HOLD_POSE2,787.295257686,747,732,707,691,643.704742314,932.704742314,798,835,669,655.704742314,674.704742314,0.455810609804,0.00460367897282,0.0496643853942,0.999999851033,0.000189498641556,-0.000511591721345,1.7293700515e-05,1793256106155468032
+263,4.383333333,HOLD_POSE2,787,746.709364051,732,707,691,643.709364051,932.709364051,798,834.709364051,669,655.709364051,674.709364051,0.455810913724,0.00460381894551,0.0496643719364,0.999999851068,0.000189741170226,-0.000511429665256,1.73720820023e-05,1793256106172134656
+264,4.400000000,HOLD_POSE2,787,746.129992745,732,707,691,643.129992745,932.129992745,798,834.129992745,669,655.129992745,674.129992745,0.455812757251,0.00460385834148,0.0496652858432,0.999999851603,0.000191068693999,-0.000509875127756,1.76978091627e-05,1793256106188801280
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,746,732,706,691,643,933,798,835,669,655,674,0.455810008095,0.00460480891296,0.0496631023294,0.999999849639,0.000191964100151,-0.000513395004104,1.7265644617e-05,1793256106221462272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787.574037963,746.574037963,731.425962037,706.574037963,691,643,933,798.574037963,835,669,655,674.574037963,0.455810274673,0.00460623628086,0.049663436252,0.999999849816,0.000192317967219,-0.000512934312191,1.67336958607e-05,1793256106238128896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787.846806641,747,731.153193359,707,691,643,932.846806641,798.846806641,835,669,655,674.846806641,0.455810736375,0.0046069506885,0.0496637565548,0.99999985005,0.000192545973174,-0.00051240254422,1.64440876668e-05,1793256106254795520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787.252930059,747,731.747069941,707,691,643,932.252930059,798.252930059,835,669,655,674.252930059,0.455811759378,0.00460561416145,0.0496640376782,0.999999850446,0.000192411921212,-0.000511666315417,1.68516076084e-05,1793256106271462144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787.329048879,746.670951121,732,707,691,643,932,798.329048879,835,669,655,674,0.455811923764,0.00460497961794,0.049664321479,0.999999850401,0.000193147897611,-0.000511463440795,1.72170590462e-05,1793256106288129024
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787.902201556,746.097798444,732,707,691,643,932,798.902201556,835,669,655,674,0.455811451188,0.00460486583864,0.0496646072662,0.999999850029,0.000194529301612,-0.000511656233209,1.75513020822e-05,1793256106304795904
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788,746.477273098,732,707,691,643,932,798.522726902,835,669,655,674,0.455810724136,0.00460538874969,0.0496644434478,0.999999849921,0.000193759037597,-0.000512161608881,1.74851745029e-05,1793256106321462528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787.945670192,747,732.054329808,707,691,643.054329808,932.054329808,798,834.945670192,669,655,674,0.455809837392,0.00460585475009,0.0496641367813,0.999999849864,0.000192494654804,-0.000512754353324,1.7363162796e-05,1793256106338128896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787.352850339,747,732.647149661,707,691,643.647149661,932.647149661,798,834.352850339,669,655,674,0.455807886782,0.00460445835863,0.0496633310992,0.99999984978,0.000190720435723,-0.000513575642273,1.75036803697e-05,1793256106354795520
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787,746.767586893,732.767586893,707,691,643.767586893,932.767586893,798.232413107,834,669,655,674.232413107,0.455802496899,0.00460402145306,0.0496606046168,0.999999847791,0.000190910006517,-0.000517363653605,1.75268838083e-05,1793256106371462144
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787,746.193434413,732.193434413,707,691,643.193434413,932.193434413,798.806565587,834,669,655,674.806565587,0.455792049921,0.00460499537212,0.0496550537968,0.999999842951,0.000193987126828,-0.000525513922461,1.73775889629e-05,1793256106388128768
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,746.382878502,732,707,691,643,932.382878502,799,834.382878502,669,655.382878502,674.617121498,0.455763944864,0.00460533176162,0.0496418775422,0.999999831454,0.00019372281829,-0.000547061335073,1.6946202842e-05,1793256106404795392
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,746.960289139,732,707,691,643,932.960289139,799,834.960289139,669,655.960289139,674.039710861,0.455726868125,0.00460534423648,0.0496248269716,0.999999815928,0.000191760803504,-0.00057541554173,1.63714923327e-05,1793256106421462016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,747,732,706.465572795,691,643,933,799,835,669,656,674,0.455669055734,0.00460665058617,0.0496057274787,0.999999796977,0.000192736368787,-0.00060716432238,1.5817857156e-05,1793256106438128896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,746.887549451,732,706.112450549,691,643,932.887549451,799,835,669,655.887549451,674,0.455607695196,0.00460819511032,0.0495871000979,0.999999778834,0.000194199860646,-0.000635917666909,1.50938187932e-05,1793256106454795520
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,787.295018741,746.295018741,732,707,691,643,932.295018741,799,834.704981259,669,655.295018741,674,0.455456837088,0.00461167492375,0.049559931832,0.999999760117,0.000199367275241,-0.000663217693823,1.26868917291e-05,1793256106488128768
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787.87323052,746.87323052,732,707,691,643,932.87323052,799,834.12676948,669,655.87323052,674,0.455365639389,0.00461219554939,0.0495532494641,0.999999752754,0.0002018212264,-0.000673505513606,1.22415763181e-05,1793256106504795136
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,787.024207103,746,732,706.024207103,691,643.024207103,933,799,835,669,655.975792897,674,0.455165813114,0.00461286650723,0.0495557031915,0.999999756662,0.000202147495276,-0.00066760039937,1.10737095704e-05,1793256106538128640
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,787.802309004,746.197690996,732,707,691,644,933,799,835,669,655.197690996,674.197690996,0.454900324515,0.0046192744255,0.0495569398634,0.999999757123,0.000211279904061,-0.000664095985962,9.54808691386e-06,1793256106571462144
+287,4.783333333,POSE2_TO_POSE3_RETREAT,787.223156526,746.776843474,732,707,691,644,933,799,835,669,655.776843474,674.776843474,0.454743156548,0.00462022076911,0.0495586218677,0.999999759077,0.000215030685543,-0.000659944626184,9.03413660607e-06,1793256106588128768
+288,4.800000000,POSE2_TO_POSE3_RETREAT,787.353575499,747,732,707,691.353575499,644,933,799,835,669,655.646424501,674.646424501,0.454564783572,0.0046216250227,0.0495621632436,0.999999760062,0.000219387930259,-0.000657016590524,8.63976512264e-06,1793256106604795136
+289,4.816666667,POSE2_TO_POSE3_RETREAT,787.928790317,747,732,707,691.928790317,644,933,799,835,669,655.071209683,674.071209683,0.454373118191,0.00462331631793,0.0495668701693,0.999999760431,0.000224125337705,-0.000654855396968,8.32035174994e-06,1793256106621462016
+290,4.833333333,POSE2_TO_POSE3_RETREAT,788,747,732,707,691.496082867,644,932.496082867,798.496082867,834.496082867,669,655,674,0.454163750497,0.00462724641719,0.0495798774271,0.99999977079,0.000231654855193,-0.000636160919772,7.47018715555e-06,1793256106638128640
+291,4.850000000,POSE2_TO_POSE3_RETREAT,788,747,732,706.921471825,691.078528175,644.078528175,932,798.078528175,834.078528175,669,655,674,0.453945939603,0.00463117033194,0.0495934457341,0.999999781423,0.000239117403527,-0.000616387402317,6.58175568019e-06,1793256106654795520
+292,4.866666667,POSE2_TO_POSE3_RETREAT,788,747,732,706.350020012,691.649979988,644.649979988,932,798.649979988,834.649979988,669,655,674,0.453690829993,0.00463306990796,0.049603174483,0.999999787579,0.000243683359836,-0.000604503525092,5.92382695643e-06,1793256106671462144
+293,4.883333333,POSE2_TO_POSE3_RETREAT,787.767783941,747,732,706,691.767783941,645,932.232216059,799,835,669,655.232216059,674.232216059,0.453417001282,0.00463531445521,0.0496110816271,0.999999791567,0.000249387417015,-0.000595521289069,5.17994061324e-06,1793256106688128768
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787.168501096,747,732,706,691.168501096,645,932.831498904,799,835,669,655.831498904,674.831498904,0.453113583074,0.00463810430262,0.0496161093376,0.99999979228,0.000256890484026,-0.000591125713857,4.30018004214e-06,1793256106704795392
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,787,747,732,706.980447485,691.980447485,645,933,799,835.980447485,669,656,675,0.45242073996,0.00464520503752,0.049621903339,0.999999785623,0.000269624897148,-0.000596699889111,2.56525235413e-06,1793256106738129152
+297,4.950000000,POSE2_TO_POSE3_RETREAT,787,747,732,707,692,645.571589068,932.428410932,799,835.428410932,669,655.428410932,674.428410932,0.452045827741,0.0046503519203,0.0496308513009,0.999999789246,0.000277717327482,-0.000586839047831,1.33039911649e-06,1793256106754795776
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,789,751.509930691,729.490069309,705,697,654,931,800.509930691,834,667,656,672.509930691,0.401007718559,0.00458597869623,0.0498608244004,0.999999965965,0.000104437771751,-0.000236835950403,-3.2730335154e-05,1793256108504795904
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26086de0913225a7b9ab06ebcd4be6243ea50b94
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575669769577,0.0101817668592,1.04002050298,0.546240917726,0.0188560059264,1.0396922053
+392,6.533333333,pose2_to_pose3_retreat,0.575669067547,0.0101817824315,1.04002041304,0.546240215396,0.0188560206263,1.03969211935
+393,6.550000000,pose2_to_pose3_retreat,0.57566849424,0.0101817951485,1.0400203396,0.546239641843,0.0188560326308,1.03969204916
+394,6.566666667,pose2_to_pose3_retreat,0.575668004787,0.0101818053713,1.04002028327,0.54623915217,0.0188560421985,1.03969199532
+395,6.583333333,pose2_to_pose3_retreat,0.575667559732,0.0101817958595,1.04002042134,0.546238706601,0.0188560306969,1.03969212689
+396,6.600000000,pose2_to_pose3_retreat,0.575667175955,0.0101817876573,1.0400205404,0.546238322381,0.0188560207789,1.03969224035
+397,6.616666667,pose2_to_pose3_retreat,0.575667050459,0.0101817847612,1.04002059085,0.546238196873,0.0188560177788,1.03969228908
+398,6.633333333,pose2_to_pose3_retreat,0.575667035302,0.010181784257,1.04002060525,0.546238181811,0.018856017592,1.03969230336
+399,6.650000000,pose2_to_pose3_retreat,0.575667020181,0.010181783754,1.04002061963,0.546238166785,0.0188560174056,1.03969231761
+400,6.666666667,pose2_to_pose3_retreat,0.575667014078,0.010181783551,1.04002062543,0.54623816072,0.0188560173304,1.03969232336
+401,6.683333333,pose2_to_pose3_retreat,0.575666987478,0.0101817826661,1.04002065071,0.546238134287,0.0188560170025,1.03969234843
+402,6.700000000,pose2_to_pose3_retreat,0.575666985895,0.0101817826134,1.04002065222,0.546238132714,0.018856016983,1.03969234992
+403,6.716666667,pose2_to_pose3_retreat,0.575666964938,0.0101817819163,1.04002067214,0.546238111888,0.0188560167246,1.03969236967
+404,6.733333333,pose2_to_pose3_retreat,0.575666956859,0.0101817816475,1.04002067982,0.54623810386,0.0188560166251,1.03969237728
+405,6.750000000,pose2_to_pose3_retreat,0.575666912588,0.0101817801748,1.0400207219,0.546238059866,0.0188560160794,1.039692419
+406,6.766666667,pose2_to_pose3_retreat,0.575666819491,0.0101817770778,1.04002081039,0.546237967352,0.0188560149318,1.03969250672
+407,6.783333333,pose2_to_pose3_retreat,0.575666803496,0.0101817765457,1.04002082559,0.546237951458,0.0188560147346,1.03969252179
+408,6.800000000,pose2_to_pose3_retreat,0.575666792008,0.0101817707366,1.04002080932,0.546237939977,0.0188560089775,1.03969250623
+409,6.816666667,pose2_to_pose3_retreat,0.57566673616,0.0101817215404,1.04002062519,0.546237883916,0.0188559593054,1.03969232868
+410,6.833333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
+411,6.850000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abc64362f439aa15443df3449e3e4af3113a5934
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15a2f2c8946798123d91b9703a0b352bd1fb8090effb59d5b2918ff345c7817
+size 26108799
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55b84a2da0d6e6609da898ac3e6d9119f0909760
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,789,752,730,706,697,654,931,801,834,667,656,673,0.401009771708,0.00458596464767,0.049865979198,0.999999967635,0.000104378529131,-0.000229749285017,-3.24088614694e-05,1793256108777708544
+1,0.016666667,BASELINE,789,751.423853256,729.423853256,706,697,654,931,801,834,667,656,672.423853256,0.401009557839,0.0045860809698,0.0498650099752,0.999999967377,0.000104971625069,-0.00023059421118,-3.24546384624e-05,1793256108794375424
+2,0.033333333,BASELINE,788.84716324,751,729.15283676,706,697,653.84716324,931,801,834,666.84716324,656,672,0.401009147195,0.00458607433052,0.0498641689524,0.999999967163,0.000105132377279,-0.000231452106137,-3.24160529176e-05,1793256108811042048
+3,0.050000000,BASELINE,788.268961095,751,729.731038905,706,697,653.268961095,931,801,834,666.268961095,656,672,0.401008188896,0.00458572547297,0.0498636847269,0.999999967074,0.00010408985852,-0.000232346095201,-3.21426750242e-05,1793256108827708416
+4,0.066666667,BASELINE,788.314335502,751,730,705.685664498,697,653.314335502,931,801,834,666.314335502,656,672.314335502,0.401008306714,0.00458556934991,0.0498635485139,0.999999967181,0.000103714868104,-0.000232060732889,-3.2069938584e-05,1793256108844375040
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+7,0.116666667,BASELINE,789,751,729.933698687,705.066301313,697,653.933698687,931,801,834,667,656,672,0.401008986187,0.00458439782445,0.049864664751,0.999999967482,0.000102784984175,-0.000231152634282,-3.22303864146e-05,1793256108894374912
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+9,0.150000000,BASELINE,789,751,729,705.779683605,697,653.220316395,931,801,834,666.779683605,656,672,0.401009730117,0.00458379995967,0.0498646785462,0.999999967738,0.000101435264227,-0.000230668243656,-3.2052685482e-05,1793256108927708416
+10,0.166666667,BASELINE,789,751,729,705.191957581,697,653.808042419,931,801,834,666.191957581,656,672,0.401009243004,0.00458417435964,0.0498638573605,0.999999967432,0.000102327281369,-0.000231562880837,-3.23180827027e-05,1793256108944375040
+11,0.183333333,BASELINE,789,751,729,705,697,654,931,801,834,666.390221537,656,672.390221537,0.401009488813,0.00458355804682,0.0498640957234,0.999999967517,0.000102761960898,-0.000231014744304,-3.22208722388e-05,1793256108961041664
+12,0.200000000,BASELINE,789,751,729,705,697,654,931,801,834,666.969710319,656,672.969710319,0.401010090106,0.00458246121345,0.0498648479938,0.999999967791,0.000102974820281,-0.00022976682637,-3.1947787966e-05,1793256108977708544
+13,0.216666667,BASELINE,789,751.545134387,729.545134387,705,697,654,931,801,834,667,655.454865613,672.454865613,0.401010093865,0.00458235429733,0.0498648613685,0.999999967723,0.000103772140657,-0.000229757746213,-3.15674734129e-05,1793256108994374912
+14,0.233333333,BASELINE,789,751.879613267,730,705,697,653.879613267,931,801,834,666.879613267,655.120386733,672,0.401009978463,0.00458270924248,0.0498648054207,0.999999967576,0.000104831434366,-0.000229947482498,-3.13364683906e-05,1793256109011041536
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+16,0.266666667,BASELINE,789,751,730,705,697,653.277522411,931,801,834,666,656,672,0.40100940916,0.00458462270878,0.0498647125241,0.999999967318,0.000106300282525,-0.000230340902832,-3.17523790563e-05,1793256109044374784
+17,0.283333333,BASELINE,789,751,730,705,697,653.866196763,931,801,834,666,656,672,0.401009632297,0.00458253914758,0.0498650470415,0.999999967971,0.000103165645835,-0.0002289608997,-3.14811551299e-05,1793256109061041664
+18,0.300000000,BASELINE,789,751,730,705.448616191,697,654,931,801,834,666.448616191,656,672,0.401010330328,0.00458271655976,0.0498653847998,0.999999968262,0.000102023329923,-0.000228174419065,-3.16843429892e-05,1793256109077708288
+19,0.316666667,BASELINE,789,751,730,705.970904563,697,654,931,801,834,667,656,672,0.401011036019,0.00458354543843,0.0498656581418,0.999999968419,0.000101496676673,-0.000227673073189,-3.20208301999e-05,1793256109094374912
+20,0.333333333,BASELINE,789,751,730,705.392318548,697,654,931,801,834,667,656,672,0.401009248163,0.00458411722057,0.0498646969264,0.999999968046,0.000101529209337,-0.000229259483011,-3.2239245414e-05,1793256109111041536
+21,0.350000000,BASELINE,789,751,729.815989699,705.184010301,697,654,931,801,834,666.815989699,656,672,0.401008386877,0.00458470599867,0.049864275782,0.999999967806,0.000102147822026,-0.000230013195527,-3.23560298752e-05,1793256109127708416
+22,0.366666667,BASELINE,789,751,729.244414989,705.755585011,697,654,931,801,834,666.244414989,656,672,0.40100947714,0.00458533057377,0.0498649921411,0.999999967848,0.000104000842553,-0.000229013072115,-3.22587585598e-05,1793256109144375296
+23,0.383333333,BASELINE,789,751,729.338476795,706,697,653.661523205,931,801,834,666,655.661523205,672,0.401009593122,0.00458444530983,0.0498651491876,0.999999967847,0.000103591391093,-0.00022924388936,-3.1980668978e-05,1793256109161041920
+24,0.400000000,BASELINE,789,751,729.929823419,706,697,653.070176581,931,801,834,666,655.070176581,672,0.401008981237,0.00458243207281,0.0498648883819,0.999999967811,0.000101491688348,-0.000230394319773,-3.15674933633e-05,1793256109177708544
+25,0.416666667,BASELINE,789,751,730,705.492893066,697,653.507106934,931,801,834,666.507106934,655,672,0.40100916024,0.00458332821802,0.0498654998927,0.99999996805,0.000101422454665,-0.000229338552655,-3.18963466766e-05,1793256109194375424
+26,0.433333333,BASELINE,789,751.082929397,730,705,697,654,931,801,834,666.917070603,655.082929397,672,0.401009401742,0.00458440119589,0.0498659995065,0.999999968267,0.000101609945151,-0.000228258317278,-3.22300881794e-05,1793256109211042816
+27,0.450000000,BASELINE,789,751.661336598,730,705,697,654,931,801,834,666.338663402,655.661336598,672,0.401009380375,0.00458419008441,0.0498651287888,0.999999968141,0.000101697762757,-0.000228806786715,-3.19960697159e-05,1793256109227709440
+28,0.466666667,BASELINE,789,751.762289825,730,705,697,654,931,801,834,666.237710175,656,672.237710175,0.401009307161,0.00458423686688,0.0498645785077,0.999999967959,0.000102494190005,-0.000229260340207,-3.18787311855e-05,1793256109244375808
+29,0.483333333,BASELINE,789,751.188788992,730,705,697,654,931,801,834,666.811211008,656,672.811211008,0.401009160707,0.00458464795174,0.0498644808772,0.999999967699,0.000104291602998,-0.000229579814898,-3.19262153635e-05,1793256109261041920
+30,0.500000000,BASELINE,788.602532791,751,729.602532791,705,697,654,931,801,834,666.602532791,656,672.602532791,0.401009656187,0.00458448071579,0.0498646773532,0.99999996792,0.000103374719893,-0.000229014485162,-3.20344392766e-05,1793256109277708288
+31,0.516666667,BASELINE,788.010017187,751,729.010017187,705,697,654,931,801,834,666.010017187,656,672.010017187,0.401010466683,0.00458402968146,0.0498650181557,0.999999968374,0.000101125854914,-0.000228014956873,-3.21724698931e-05,1793256109294374912
+32,0.533333333,BASELINE,789.142203813,751,729.571101907,705,697,654,931,801,834,666,656,672,0.401010396562,0.00458507118155,0.049865060413,0.999999967948,0.000104217777055,-0.000228485949599,-3.22002154392e-05,1793256109311041792
+33,0.550000000,BASELINE,789.850430237,751,730,705,697,654,931,800.850430237,834,666,656,672,0.401010506184,0.0045854065864,0.0498652368668,0.999999967747,0.000105659065534,-0.000228698174713,-3.22289322749e-05,1793256109327708416
+34,0.566666667,BASELINE,789.278889318,751,730,705,697,654,931,800.278889318,834,666,656,672,0.401011165624,0.00458367751922,0.0498658064044,0.999999968242,0.000102184414662,-0.00022810901139,-3.22657399933e-05,1793256109344375296
+35,0.583333333,BASELINE,789,751,729.698701017,705,697,654,931,800.301298983,834,666,656,672,0.401011484828,0.00458262938888,0.0498662934803,0.999999968568,0.000100651037547,-0.000227401687765,-3.19536893655e-05,1793256109361041920
+36,0.600000000,BASELINE,789,751,729.110271917,705,697,654,931,800.889728083,834,666,656,672,0.401011479796,0.00458223017348,0.0498667019725,0.999999968743,0.000100967643569,-0.000226581760369,-3.13091857861e-05,1793256109377708800
+37,0.616666667,BASELINE,789,751.472654688,729.472654688,705.472654688,697,654,931,801,834,666.472654688,656,672,0.401010375111,0.00458249637791,0.049865681937,0.999999968446,0.00010070757581,-0.000227963392566,-3.15883926179e-05,1793256109394375168
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+39,0.650000000,BASELINE,789,751.372604366,730,705.372604366,696.372604366,654,931,800.372604366,834,667,656,672,0.401010266366,0.00458399257758,0.0498657657679,0.999999968442,9.96941272445e-05,-0.000228328218912,-3.23055725696e-05,1793256109427708416
+40,0.666666667,BASELINE,789,751.201663307,729.798336693,705,696.201663307,654,931,800.201663307,834,666.798336693,656,672,0.401010334595,0.00458476544811,0.0498661620747,0.999999968467,0.00010028083588,-0.000227936192541,-3.24791212051e-05,1793256109444375040
+41,0.683333333,BASELINE,789,751.776768089,729.223231911,705,696.776768089,654,931,800.776768089,834,666.223231911,656,672,0.401008627679,0.00458507986859,0.0498650781355,0.999999967916,0.000103066905216,-0.000229101447179,-3.25152177449e-05,1793256109461041664
+42,0.700000000,BASELINE,788.637034759,751.637034759,729,705,697,654,931,801,834,666.362965241,656,672.362965241,0.401008295849,0.00458436813156,0.0498645558688,0.999999967691,0.000104066965765,-0.000229666484803,-3.22644792288e-05,1793256109477708544
+43,0.716666667,BASELINE,788.043800512,751.043800512,729,705,697,654,931,801,834,666.956199488,656,672.956199488,0.401008836389,0.00458300538929,0.0498643899331,0.999999967677,0.000103933963255,-0.000229850738331,-3.18317695043e-05,1793256109494375168
+44,0.733333333,BASELINE,788.535150797,751.535150797,729,705,697,654,931,801,834,666.464849203,656,672.464849203,0.401009217582,0.00458364654285,0.0498652381761,0.999999968004,0.000103334625193,-0.000228656684336,-3.20925677571e-05,1793256109511041792
+45,0.750000000,BASELINE,789,751.887885411,729.112114589,705,697,654,931,801,834,666,656,672,0.401009365957,0.00458443334271,0.0498659241967,0.999999968256,0.000102804335974,-0.000227757418092,-3.23337984045e-05,1793256109527708672
+46,0.766666667,BASELINE,789,751.314414992,729.685585008,705,697,654,931,801,834,666,656,672,0.401008608549,0.00458516210785,0.0498656099656,0.999999968093,0.000102711166132,-0.0002285233665,-3.22670034274e-05,1793256109544375296
+47,0.783333333,BASELINE,789,751,730,705,697,654,931,801,834,666,656,672,0.401008147871,0.00458522374476,0.0498654117361,0.999999967957,0.00010303725178,-0.000228993925071,-3.20971908768e-05,1793256109561041920
+48,0.800000000,BASELINE,789,751,730,705,697,654,931,801,834,666,656,672,0.401008047332,0.00458447568954,0.0498653542975,0.999999967855,0.000103872186991,-0.000229105969675,-3.18023460893e-05,1793256109577708288
+49,0.816666667,BASELINE,789,751,729.561119447,705,697,654,931,801,834,666,656,672,0.401008620134,0.00458476948897,0.0498651514511,0.999999967824,0.000104102010832,-0.000229129295974,-3.18546841159e-05,1793256109594375168
+50,0.833333333,BASELINE,789,751,729,705.017718507,697,654,931,801,834,666,655.982281493,672,0.401009430579,0.00458529597787,0.0498649391688,0.999999967845,0.000104033401881,-0.000229045671777,-3.20119156824e-05,1793256109611041792
+51,0.850000000,BASELINE,789,751,729,705.593621116,697,654,931,801,834,666,655.406378884,672,0.40101095844,0.00458267925389,0.0498658913886,0.999999968776,0.000100646390109,-0.000226484669729,-3.1983421514e-05,1793256109627708416
+52,0.866666667,BASELINE,789,751,729,705.831581624,697,654,931,801,834,666,655.168418376,672.168418376,0.401011275315,0.004581792547,0.0498661388192,0.999999969068,9.94597354933e-05,-0.000225714178857,-3.20204326634e-05,1793256109644375040
+53,0.883333333,BASELINE,789,751,729,705.259434118,697,654,931,801,834,666,655.740565882,672.740565882,0.401008689241,0.00458505300228,0.049864696743,0.999999967846,0.000103547732803,-0.000229235865356,-3.22144718396e-05,1793256109661042176
+54,0.900000000,BASELINE,789,751,729,705,697,654,931,801,834,666.324219398,656,672.675780602,0.401009367999,0.00458481134272,0.049865430442,0.999999968051,0.000103193070064,-0.000228514147054,-3.21104983297e-05,1793256109677708800
+55,0.916666667,BASELINE,789,751,729,705,697,654,931,801,834,666.917418532,656,672.082581468,0.401012755335,0.00458166424943,0.0498679692133,0.999999969431,9.91526760102e-05,-0.000224272004117,-3.17592867552e-05,1793256109694374912
+56,0.933333333,BASELINE,789,751,729,705,697,654,931,801,834,666.501301665,656,672,0.401011955823,0.00458364586215,0.0498674134689,0.999999968969,0.000102149287423,-0.000224986228264,-3.17661787062e-05,1793256109711041792
+57,0.950000000,BASELINE,789,751,729.077583451,705,697,654,931,801,834,666,656,672.077583451,0.401010799574,0.00458596419695,0.0498665148993,0.999999968321,0.000105558861989,-0.000226275758199,-3.18608534008e-05,1793256109727708416
+58,0.966666667,BASELINE,789,751,729.653468927,705,697,654,931,801,834,666,656,672.653468927,0.401011701153,0.00458511779033,0.0498666288599,0.99999996848,0.000104311131909,-0.000226111936491,-3.21473585574e-05,1793256109744375040
+59,0.983333333,BASELINE,789,751,730,705,697,654,931,801,834,666.22870893,656,673,0.401011718104,0.0045841503537,0.0498664679989,0.999999968571,0.000102824053078,-0.0002263868044,-3.21507259727e-05,1793256109761041920
+60,1.000000000,BASELINE,789,751,730,705,697,654,931,801,834,666.802973778,656,673,0.401010398471,0.00458300005291,0.0498658919106,0.99999996856,0.000100975342451,-0.000227324487651,-3.17263011198e-05,1793256109777708544
+61,1.016666667,BASELINE,789,751,729.612107082,705,697,654,931,801,834,667,656,672.612107082,0.401009168272,0.00458328601174,0.0498653570882,0.999999968329,0.000101332459724,-0.000228188654617,-3.16927713258e-05,1793256109794375168
+62,1.033333333,BASELINE,789,751,729.021623395,705,697,654,931,801,834,667,656,672.021623395,0.401007984784,0.00458432210793,0.0498648438184,0.99999996798,0.000102841648588,-0.000229014425051,-3.18634002999e-05,1793256109811042048
+63,1.050000000,BASELINE,789,751.557306466,729,705.557306466,697,654,931,801,834,666.442693534,656,672.557306466,0.401009911507,0.0045836965138,0.0498665411503,0.999999968569,0.000101893778601,-0.000226862985451,-3.1829492833e-05,1793256109827708672
+64,1.066666667,BASELINE,789.134680094,751.865319906,729.134680094,706,697,654,931,801,834,666.134680094,656,672.865319906,0.40101101315,0.00458349524231,0.0498675096461,0.999999968822,0.000101795882686,-0.000225782852191,-3.1878576513e-05,1793256109844375296
+65,1.083333333,BASELINE,789.708412147,751.291587853,729.708412147,706,697,654,931,801,834,666.708412147,656,672.291587853,0.401009039652,0.0045848831581,0.0498658282327,0.999999967871,0.00010477334111,-0.000228564063628,-3.22235536996e-05,1793256109861041920
+66,1.100000000,BASELINE,789.710383887,751.289616113,730,705.710383887,697,654,931,801,834,666.710383887,655.710383887,672.289616113,0.401008638985,0.00458539285632,0.0498653457943,0.999999967687,0.000105241693367,-0.000229130560241,-3.24011664297e-05,1793256109877708544
+67,1.116666667,BASELINE,789.121457951,751.878542049,730,705.121457951,697,654,931,801,834,666.121457951,655.121457951,672.878542049,0.401009863793,0.00458499494218,0.0498661024618,0.999999968301,0.000103116957257,-0.00022740821338,-3.24058128447e-05,1793256109894375168
+68,1.133333333,BASELINE,789,751.540172038,729.540172038,705,697,654,931,801,834,666,655.459827962,673,0.401010220519,0.00458373390124,0.0498660743158,0.999999968329,0.000102933560819,-0.000227405589559,-3.21580840812e-05,1793256109911042048
+69,1.150000000,BASELINE,788.961012103,751,729.038987897,705,697,654,931,801,834,666,656,673,0.401010300898,0.00458238754271,0.0498658581543,0.99999996822,0.000103209713197,-0.000227798726926,-3.18664769198e-05,1793256109927708672
+70,1.166666667,BASELINE,788.38379842,751,729.61620158,705,697,654,931,801,834,666,656,673,0.401009679983,0.00458295925579,0.0498658614298,0.999999968326,0.000102866688632,-0.000227487000007,-3.18743538328e-05,1793256109944375552
+71,1.183333333,BASELINE,788.192045518,751,730,705,697,654,931,801,834,666,656,672.807954482,0.401009319386,0.00458386488623,0.0498656532273,0.999999968284,0.000102886988293,-0.000227643546902,-3.20210800815e-05,1793256109961042176
+72,1.200000000,BASELINE,788.765171543,751,730,705,697,654,931,801,834,666,656,672.234828457,0.401009475344,0.00458543311696,0.0498650253839,0.999999967946,0.000103628240828,-0.000228729300651,-3.24433283849e-05,1793256109977708800
+73,1.216666667,BASELINE,789,751.349012903,729.650987097,705,697,654,931,801,834,666.349012903,656,672.349012903,0.401008878429,0.00458511418179,0.0498649115346,0.999999967902,0.00010290456408,-0.000229259188611,-3.23671460026e-05,1793256109994375168
+74,1.233333333,BASELINE,789,751.940292254,729.059707746,705,697,654,931,801,834,666.940292254,656,672.940292254,0.401007758909,0.00458348527497,0.0498651544731,0.99999996806,0.000101164010236,-0.000229403223639,-3.19449791622e-05,1793256110011041792
+75,1.250000000,BASELINE,789,751.478837352,729,705,697,654,931,801,834,667,656,672.478837352,0.401008855297,0.00458277640573,0.0498656887513,0.999999968379,0.000100137279323,-0.000228480785434,-3.1795500084e-05,1793256110027708160
+76,1.266666667,BASELINE,789,751,729.099730418,705.099730418,697,654,931,801,834,666.900269582,656,672,0.401010005183,0.00458237193742,0.049866176036,0.999999968659,9.96193513778e-05,-0.000227488554583,-3.17406942649e-05,1793256110044374784
+77,1.283333333,BASELINE,789,751,729.672917235,705.672917235,697,654,931,801,834,666.327082765,656,672,0.401010227433,0.00458292197133,0.0498662848725,0.99999996867,0.000101136257696,-0.000226733677079,-3.19899291545e-05,1793256110061041408
+78,1.300000000,BASELINE,789,751,730,706,697,654,931,801,834.247830724,666.247830724,656,672,0.401009236485,0.00458331526135,0.0498658720199,0.999999968466,0.000101257247813,-0.000227548312277,-3.22018336028e-05,1793256110077708544
+79,1.316666667,BASELINE,789,751,730,706,697,654,931,801,834.825038989,666.825038989,656,672,0.401006633144,0.00458350023205,0.0498647658206,0.999999967971,9.95230059908e-05,-0.000230448896462,-3.23641242917e-05,1793256110094375936
+80,1.333333333,BASELINE,789,751,730,705.586151835,697,654,931,801,834.586151835,666.586151835,656,672,0.401007635195,0.00458347626987,0.0498652348654,0.999999968148,0.000100044230188,-0.000229461318812,-3.22845696116e-05,1793256110111043072
+81,1.350000000,BASELINE,789,751,729.992526804,705,697,654,931,801,834,666.007473196,656,672.007473196,0.401010173819,0.00458335870088,0.0498663704544,0.999999968606,0.000101532588333,-0.000226823406292,-3.20981092613e-05,1793256110127709440
+82,1.366666667,BASELINE,789,751,729.416411387,705,697,654,931,801,834,666.583588613,656,672.583588613,0.401010306166,0.00458303343416,0.0498660890503,0.999999968465,0.000101963197047,-0.00022729425115,-3.17813153991e-05,1793256110144375808
+83,1.383333333,BASELINE,789,751,729.159497521,705,697,654,931,801,834,666.840502479,656,672.840502479,0.401010170446,0.0045830552712,0.0498658328499,0.999999968321,0.000102294649156,-0.000227812257132,-3.1560748565e-05,1793256110161042176
+84,1.400000000,BASELINE,789,751,729.734868102,705,697,654,931,801,834,666.265131898,656,672.265131898,0.401009335768,0.00458398214485,0.0498656423656,0.999999968166,0.000102367560907,-0.000228453230892,-3.15910835485e-05,1793256110177708544
+85,1.416666667,BASELINE,789,751,730,705,697,654,931,801,834,666.316017237,656,672.316017237,0.401009226639,0.00458412716096,0.04986588899,0.999999968261,0.000102441558789,-0.000227983616261,-3.17279105359e-05,1793256110194375168
+86,1.433333333,BASELINE,789,751,730,705,697,654,931,801,834,666.902104725,656,672.902104725,0.401009737571,0.00458360399679,0.0498665091703,0.999999968569,0.00010251648488,-0.000226564886004,-3.19557462347e-05,1793256110211041792
+87,1.450000000,BASELINE,788.515589022,751,729.515589022,705,697,654,931,801,834,667,656,672.515589022,0.401009976208,0.00458354424001,0.0498667722727,0.999999968575,0.00010211073014,-0.000226713561283,-3.20060711322e-05,1793256110227708672
+88,1.466666667,BASELINE,788.064545082,751,729.064545082,705.064545082,697,654,931,801,834,666.935454918,656,672,0.401009979931,0.00458348854787,0.0498667965373,0.999999968512,0.00010164945968,-0.000227197155811,-3.20045015304e-05,1793256110244375552
+89,1.483333333,BASELINE,788.633626912,751,729.633626912,705.633626912,697,654,931,801,834,666.366373088,656,672,0.401008574193,0.00458273824884,0.0498655135632,0.999999968384,0.000101507688298,-0.000227841882565,-3.18755260883e-05,1793256110261042176
+90,1.500000000,BASELINE,789,751,730,705.794274005,697,654,931,801,834,666,656,672,0.401007835186,0.00458286210222,0.0498650796175,0.999999968264,0.000101852324694,-0.000228212798091,-3.18757481068e-05,1793256110277708544
+91,1.516666667,BASELINE,789,751,730,705.216721644,697,654,931,801,834,666,656,672,0.401008301221,0.00458456588686,0.049866180194,0.99999996816,0.000103076087904,-0.000228088830857,-3.21094798729e-05,1793256110294375424
+92,1.533333333,BASELINE,789,751,729.627520294,705,697,654,931,801,834,666,656,672,0.401008077684,0.00458471103062,0.0498660520695,0.999999968032,0.000102842276707,-0.000228774950272,-3.19670143532e-05,1793256110311042048
+93,1.550000000,BASELINE,789,751,729.031322287,705,697,654,931,801,834,666,656,672,0.401007439978,0.00458392002558,0.0498651859643,0.999999967888,0.000101733019083,-0.000229947622918,-3.15985977058e-05,1793256110327708416
+94,1.566666667,BASELINE,789,751,729.543521083,705,697,653.456478917,931,801,834,666,656,672,0.401009996872,0.00458348567959,0.0498663602452,0.999999968673,0.000101204258922,-0.000226699900596,-3.1905664945e-05,1793256110344375040
+95,1.583333333,BASELINE,789,751,729.882342506,705,697,653.117657494,931,801,834.117657494,666.117657494,656,672,0.401011972251,0.00458325119504,0.049867362003,0.999999969221,0.000101297597799,-0.000224195852362,-3.21277981145e-05,1793256110361041664
+96,1.600000000,BASELINE,789,751,729.306347169,705,697,653.693652831,931,801,834.693652831,666.693652831,656,672,0.40101099227,0.00458371823524,0.0498672509557,0.999999968681,0.000103688948424,-0.000225543638706,-3.18731596331e-05,1793256110377708544
+97,1.616666667,BASELINE,789,751,729,705,697,654,931,801,834.723045124,666.723045124,656,672,0.40101014961,0.00458337961905,0.0498669378971,0.999999968472,0.000103455023226,-0.000226607508392,-3.16446946666e-05,1793256110394375168
+98,1.633333333,BASELINE,789,751,729,705,697,654,931,801,834.131441969,666.131441969,656,672,0.40100946296,0.00458212569705,0.0498663953336,0.999999968638,0.000100238523479,-0.000227348820442,-3.14459654312e-05,1793256110411042048
+99,1.650000000,BASELINE,789,751,729,705,697,654,931,801,834,666,656,672.419235447,0.401009893449,0.00458260874909,0.0498665220474,0.999999968627,0.000101757680075,-0.000226717096882,-3.14640285998e-05,1793256110427708672
+100,1.666666667,BASELINE,789,751,729,705,697,654,931,801,834,666,656,672.95822269,0.40101064304,0.00458358795614,0.0498668399359,0.99999996856,0.000104629545213,-0.000225693174892,-3.15440170685e-05,1793256110444375296
+101,1.683333333,BASELINE,789,751,729.570590751,705,697,654,931.570590751,801,834,666.570590751,656,672.429409249,0.401010691785,0.00458254156654,0.0498662095923,0.99999996868,0.000102764164282,-0.0002259952763,-3.17225711518e-05,1793256110461041664
+102,1.700000000,BASELINE,789,751,730,705,697,654,931.82392589,801,834.17607411,666.82392589,656,672.17607411,0.401010078629,0.00458168280307,0.0498655223261,0.999999968645,0.00010090664594,-0.000226965846224,-3.18379823502e-05,1793256110477708288
+103,1.716666667,BASELINE,789,751,730,705,697,654,931.248073723,801,834.751926277,666.248073723,656,672.751926277,0.401008096326,0.00458163648237,0.0498648867171,0.999999968231,9.99707336882e-05,-0.000229201206984,-3.1791222988e-05,1793256110494374912
+104,1.733333333,BASELINE,789,751.337060562,730,705,697,654,931.337060562,801,834.662939438,666,656,672.662939438,0.401007581994,0.0045819345655,0.0498651615079,0.999999968116,0.000100245140234,-0.000229600421261,-3.16570280745e-05,1793256110511041536
+105,1.750000000,BASELINE,789,751.929219927,730,705,697,654,931.929219927,801,834.070780073,666,656,672.070780073,0.401008178671,0.00458249330505,0.0498661253201,0.999999968229,0.000101435556774,-0.000228609978179,-3.14566589817e-05,1793256110527708416
+106,1.766666667,BASELINE,789,751.490071126,729.490071126,705,697,654,931.490071126,801,834,666,656,672,0.401008128183,0.004582734466,0.049865783425,0.99999996815,0.000102349852207,-0.000228522492404,-3.16590462294e-05,1793256110544375296
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931,801,834,666,656,672,0.401009804356,0.00458464993704,0.049865745833,0.999999968059,0.00010516114238,-0.000227543019689,-3.23594150562e-05,1793256110587409408
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,751,729.41403574,705,697,654,931,801,834,666,655.41403574,672,0.401010091779,0.00458409191905,0.049866357185,0.999999968569,0.000103350533169,-0.000226159034373,-3.21437761304e-05,1793256110604076032
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,751,729.169945275,705.169945275,697,654,931,801,834,666.169945275,655.169945275,672.169945275,0.401010400792,0.0045836801139,0.0498667561033,0.999999968948,0.000101953232891,-0.000225130080618,-3.20429487008e-05,1793256110620742656
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,751,729.749150384,705.749150384,697,654,931,801,834,666.749150384,655.749150384,672.749150384,0.401010761797,0.00458362041636,0.0498666434422,0.999999969022,0.000101551257043,-0.000224956108631,-3.22186086687e-05,1793256110637409280
+111,1.850000000,POSE1_TO_POSE2_PRESS,788.674080419,751,730,706,697,654,931,801,834,667,656,672.674080419,0.401010618189,0.00458332485867,0.0498666130015,0.999999969008,0.000101107612905,-0.000225221922793,-3.21872175302e-05,1793256110654076160
+112,1.866666667,POSE1_TO_POSE2_PRESS,788.099172191,751,730,706,697,654,931,801,834,667,656,672.099172191,0.401010089079,0.00458284911391,0.0498666453736,0.999999968926,0.000100632135997,-0.00022582371481,-3.19976481746e-05,1793256110670743040
+113,1.883333333,POSE1_TO_POSE2_PRESS,788.479237132,751,730,705.520762868,697,654,931,801,834,666.520762868,656,672,0.401009062489,0.00458387533697,0.0498660330705,0.999999968365,0.000102546644202,-0.000227446196474,-3.19676208421e-05,1793256110687409664
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,751.05918414,730,705,697,654,931,801,834,666.05918414,656,672,0.40100812482,0.00458496496049,0.0498653699601,0.9999999678,0.000104507412645,-0.000229036708381,-3.19507984324e-05,1793256110704076544
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,751.646337797,730,705,697,654,931,801,834,666.646337797,656,672,0.401008905528,0.0045838270568,0.0498654524679,0.999999968156,0.000102436362852,-0.000228443916104,-3.17550847284e-05,1793256110720743168
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,751.769604662,729.769604662,705,697,654,931,801,834.230395338,666.769604662,656,672.230395338,0.401010806971,0.00458337465388,0.0498660634192,0.99999996854,0.000101210908067,-0.000227312894356,-3.17105090652e-05,1793256110737410048
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,751.190236766,729.190236766,705,697,654,931,801,834.809763234,666.190236766,656,672.809763234,0.401014405959,0.00458396055749,0.049867474787,0.999999968969,0.000101266249581,-0.000225366633443,-3.1894857448e-05,1793256110754076416
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,751,729,705,697,654,931,801,834.613098575,666.386901425,656,672.613098575,0.401033841641,0.00458309888973,0.0498749407307,0.999999972103,0.000100204996727,-0.000211542097148,-3.16800612876e-05,1793256110770743040
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,751,729,705,697,654,931,801,834.037050382,666.962949618,656,672.037050382,0.401061019501,0.00458152953933,0.0498853666105,0.999999976235,9.8597867806e-05,-0.000191910558467,-3.12701329998e-05,1793256110787409664
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,751,729.53633659,705,697,654,931,801,834,666.46366341,656,672,0.401119205017,0.00458212345177,0.0499040487918,0.999999982859,9.96489212407e-05,-0.000152856166598,-3.14288170812e-05,1793256110804076288
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,751,729.886965833,705.113034167,697,654,931,801,834,666,656,672,0.401180998787,0.00458249143764,0.0499223481439,0.999999987595,0.000100347101739,-0.00011732809219,-3.12256896073e-05,1793256110820743168
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,751,729.295480636,705.704519364,697,654,931,801,834,666,656,672,0.401249043601,0.00458127369857,0.049936624808,0.999999989451,9.87782176052e-05,-0.000102377478101,-2.93256428964e-05,1793256110837409792
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751,729.289614244,705.710385756,697,654,931,801,834,666,656,672,0.401327919951,0.00457958122855,0.0499486553491,0.999999991234,9.67602923267e-05,-8.59339639597e-05,-2.80270726641e-05,1793256110854076416
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751,729.868330081,705.131669919,697,654,931,801,834,666,656,672,0.40141760866,0.004577414868,0.0499584437421,0.999999992869,9.42941208433e-05,-6.8000193259e-05,-2.73289143421e-05,1793256110870743040
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,751.443349587,729.556650413,705,697,654,931,801,834,666,656,672,0.401517868367,0.004576712368,0.0499605428313,0.999999993186,9.27319379646e-05,-6.58030069622e-05,-2.64447257052e-05,1793256110887409664
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,751.982842967,729.017157033,705,697,654,931,801,834,666.017157033,655.982842967,672,0.401621938504,0.00457640504031,0.0499603946957,0.999999993168,9.1471449252e-05,-6.81772573778e-05,-2.54875854515e-05,1793256110904076288
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,751.413009263,729.586990737,705,697,654,931,801,834,666.586990737,655.413009263,672,0.401748458393,0.0045749385851,0.0499608112897,0.999999993194,9.13525633249e-05,-6.85056156555e-05,-2.39454759806e-05,1793256110920742912
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931,801,834,666.834751121,655.165248879,672,0.401883577429,0.00457348177584,0.0499618103788,0.999999993373,9.00853258138e-05,-6.8022927931e-05,-2.26132847791e-05,1793256110937409536
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931,801,834,666.234306667,655.765693333,672,0.402041342955,0.00457205037014,0.049964343513,0.999999993942,8.57938165087e-05,-6.54042884156e-05,-2.18339296541e-05,1793256110954076160
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,751,729.649028301,705.350971699,697,654,931,801,834,666,656,672,0.402213889034,0.00457092154698,0.0499625907948,0.999999993771,8.29606389529e-05,-7.181494827e-05,-2.04448551494e-05,1793256110970742784
+131,2.183333333,POSE1_TO_POSE2_PRESS,789,751,729.073455283,705.926544717,697,654,931,801,834,666,656,672,0.402395893816,0.00456998635878,0.0499580953826,0.999999993012,8.10607078197e-05,-8.4003830294e-05,-1.86655958953e-05,1793256110987409408
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,751,729,706,697,654,931,801,834,666,656,672,0.402621744433,0.00456820994161,0.0499604743639,0.999999993646,7.70339588182e-05,-8.0440212603e-05,-1.74394148788e-05,1793256111004076032
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,751,729.08017445,705.91982555,697,654,931,801.08017445,834,666,656,672.08017445,0.402857490822,0.00456587159877,0.0499636666324,0.999999994411,7.23589244017e-05,-7.53865771924e-05,-1.60836620126e-05,1793256111020742656
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,751,729.668021949,705.331978051,697,654,931,801.668021949,834,666,656,672.668021949,0.40311528269,0.00456075433809,0.0499656407669,0.999999994913,6.55490112435e-05,-7.54899989304e-05,-1.33951132523e-05,1793256111037409536
+135,2.250000000,POSE1_TO_POSE2_PRESS,788.746630243,751.253369757,729.746630243,705,697,654,931,801.746630243,834,666.253369757,656,672.746630243,0.40339895133,0.00455704289768,0.0499707052791,0.999999995883,6.07347626212e-05,-6.65165250204e-05,-1.09848680977e-05,1793256111054076416
+136,2.266666667,POSE1_TO_POSE2_PRESS,788.164525698,751.835474302,729.164525698,705,697,654,931,801.164525698,834,666.835474302,656,672.164525698,0.403716193792,0.00455515544021,0.049979779404,0.999999997201,5.85097909019e-05,-4.57662257413e-05,-8.93570833204e-06,1793256111070743040
+137,2.283333333,POSE1_TO_POSE2_PRESS,788.413265322,751.586734678,729.413265322,705.413265322,697,654,931.413265322,801,834.413265322,666.586734678,656,672,0.40406415747,0.00455393338439,0.0499889897686,0.999999997962,5.67540771346e-05,-2.83815784956e-05,-6.97542441107e-06,1793256111087409408
+138,2.300000000,POSE1_TO_POSE2_PRESS,788.989356802,751.010643198,729.989356802,705.989356802,697,654,931.989356802,801,834.989356802,666.010643198,656,672,0.404424225273,0.00455297349627,0.0499982538114,0.999999998389,5.51832506172e-05,-1.23229955595e-05,-5.05015753935e-06,1793256111104076032
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,751,730,705.43769896,697,654,931.43769896,801,834.43769896,666.56230104,656,672,0.404827243466,0.00454683778569,0.0500031468994,0.99999999882,4.85431454582e-05,1.0136361348e-06,-1.81037801551e-06,1793256111120743168
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,751.13990808,729.86009192,705.13990808,697,654,931.13990808,801,834,666.86009192,656,672,0.405232255241,0.00454143041652,0.0500043644358,0.999999999065,4.2698090072e-05,6.78508329121e-06,1.26764403447e-06,1793256111137409792
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,751.732803804,729.267196196,705.732803804,697,654,931.732803804,801,834,666.267196196,656,672,0.405641104141,0.00453869666672,0.0499939478259,0.999999999134,3.97361462381e-05,-1.17717790044e-05,3.7418247204e-06,1793256111154076160
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,751.683574879,729.316425121,705.683574879,697,654,932,801,834,666.316425121,656,672.316425121,0.406061218013,0.00453479935735,0.0499754845683,0.999999998294,3.58166967781e-05,-4.56869185448e-05,6.46211197291e-06,1793256111170742784
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,751.107562004,729.892437996,705.107562004,697,654,932,801,834,666.892437996,656,672.892437996,0.406490573449,0.0045299474907,0.0499504200283,0.999999995221,3.11117317624e-05,-9.22016308093e-05,9.38429954665e-06,1793256111187409408
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,751.468331516,730,705.468331516,697,654,931.531668484,801,834,667,656,672.531668484,0.406979972897,0.00452551325826,0.0499371324514,0.999999993168,2.39775090226e-05,-0.000113759332325,1.21666625392e-05,1793256111204075776
+145,2.416666667,POSE1_TO_POSE2_PRESS,789,751.95474784,730,705.95474784,697,654,931.04525216,801,834,666.95474784,656,672.04525216,0.407490131707,0.0045210756126,0.0499289121337,0.999999991927,1.63278733241e-05,-0.000125123489951,1.49506961648e-05,1793256111220742656
+146,2.433333333,POSE1_TO_POSE2_PRESS,789,751.365141442,730,705.365141442,697,654,931.634858558,801,834,666.365141442,656,672.634858558,0.408084165922,0.00451544336323,0.0499491186799,0.999999996365,9.18796448406e-06,-8.27993146699e-05,1.81410360168e-05,1793256111237409280
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931.779499069,801.220500931,834,666.220500931,656,673,0.408693966786,0.00450963299895,0.0499717486166,0.999999998981,1.26261409073e-06,-3.95511505823e-05,2.17480613086e-05,1793256111254076160
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931.200305085,801.799694915,834,666.799694915,656,673,0.40932941552,0.00450353289211,0.0499983207274,0.999999999616,-7.94042855552e-06,5.200080996e-06,2.60329165446e-05,1793256111270743040
+149,2.483333333,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931.372479436,801.627520564,834.372479436,667,656,673,0.409956298266,0.00449809266386,0.0500090045973,0.999999999202,-1.55008040181e-05,2.11495911704e-05,3.01289309838e-05,1793256111287409920
+150,2.500000000,POSE1_TO_POSE2_PRESS,789,751,730,705,697,654,931.941875483,801.058124517,834.941875483,667,656,673,0.410578652458,0.00449300129011,0.0500112889193,0.999999998932,-2.21927595638e-05,2.18726556735e-05,3.4125111903e-05,1793256111304076800
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.478651009,751,730,705,697,654,932,801,834.478651009,667,656,673,0.411206772558,0.00448538586344,0.0499819439292,0.999999991575,0.000116141314205,-4.33533042954e-05,3.84867765386e-05,1793256111320743168
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,751,730,705.10391225,697,654,931.89608775,800.89608775,834,667,655.89608775,672.89608775,0.411855071429,0.00447806091206,0.0499549188064,0.999999965215,0.000240099274298,-0.000100606294963,4.24250406215e-05,1793256111337409792
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,751,730,705.695601091,697,654,931.304398909,800.304398909,834,667,655.304398909,672.304398909,0.412595014665,0.00447344646679,0.049955662623,0.999999971371,0.000219179884904,-8.52390543952e-05,4.41807719544e-05,1793256111354076416
+154,2.566666667,POSE1_TO_POSE2_PRESS,788,751,730,705.719239539,697,654,931,800.280760461,834.280760461,666.719239539,655.280760461,672.280760461,0.413362994388,0.0044673724315,0.0499681741508,0.999999987718,0.000142634365068,-5.61320717659e-05,3.26788715846e-05,1793256111370743040
+155,2.583333333,POSE1_TO_POSE2_PRESS,788,751,730,705.140998417,697,654,931,800.859001583,834.859001583,666.140998417,655.859001583,672.859001583,0.414160680355,0.00445975188226,0.0499931541955,0.999999999871,7.14999228442e-06,-1.24670977776e-05,7.12980398492e-06,1793256111387409664
+156,2.600000000,POSE1_TO_POSE2_PRESS,788,751,730,705,697,654,931,800.564944298,835,666.435055702,655.564944298,673,0.414921758769,0.00445612264157,0.0499832198141,0.999999999055,-3.00894701499e-05,-3.05194230341e-05,7.34672439051e-06,1793256111404076544
+157,2.616666667,POSE1_TO_POSE2_PRESS,788,750.989375721,730,705,697,654,931.010624279,800.010624279,835,667,655.010624279,672.989375721,0.41567215111,0.00445441480385,0.0499621689693,0.999999996947,-3.48587655174e-05,-6.81458141026e-05,1.57158502735e-05,1793256111420743424
+158,2.633333333,POSE1_TO_POSE2_PRESS,788,750.401875744,730,705,697,654,931.598124256,800.598124256,835,667,655.598124256,672.401875744,0.41648329597,0.00448714911446,0.0499488529079,0.999999996005,3.21076702822e-06,-8.79615962495e-05,1.5582094027e-05,1793256111437409792
+159,2.650000000,POSE1_TO_POSE2_PRESS,788,750,730,705,697,654,932,800.817010279,835,667,656,672.182989721,0.417315710007,0.00450750470878,0.0499491058381,0.999999995623,3.52695370507e-05,-8.50866474905e-05,1.64216493181e-05,1793256111454076416
+160,2.666666667,POSE1_TO_POSE2_PRESS,788,750,730,705,697,654,932,800.237848558,835,667,656,672.762151442,0.418194171676,0.00450106043075,0.0499787355807,0.99999999779,5.43150283563e-05,-3.30863575968e-05,1.93684201549e-05,1793256111470742784
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,750,730,705.339431518,697,653.660568482,931.660568482,800,835,667,656,672.660568482,0.41905004554,0.00449286213967,0.0499882425269,0.999999998246,4.92794615748e-05,-2.48682155005e-05,2.14682422479e-05,1793256111487409152
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,750,730,705.915400322,697,653.084599678,931.084599678,800,835,667,656,672.084599678,0.41989017876,0.00448344154195,0.0499837266385,0.999999998247,2.7462694297e-05,-4.71602369362e-05,2.29778569414e-05,1793256111504075776
+163,2.716666667,POSE1_TO_POSE2_PRESS,788,750.491300871,730,705.508699129,697,653.491300871,931.491300871,800,835,667,656,672,0.420786414651,0.00448138225686,0.049983401619,0.99999999923,1.40932183938e-05,-2.94295044493e-05,2.17832359649e-05,1793256111520742912
+164,2.733333333,POSE1_TO_POSE2_PRESS,788,750.931220032,730,705,697,654,932,800.068779968,834.931220032,667,656,672,0.421698043848,0.00448061744432,0.0499864628813,0.999999999775,4.59258977787e-06,-2.95131521163e-06,2.04914471801e-05,1793256111537409792
+165,2.750000000,POSE1_TO_POSE2_PRESS,788,750.341700955,730,705,697,654,932,800.658299045,834.341700955,667,656,672,0.422653085438,0.00448005754772,0.0500096990775,0.999999998963,1.33720982814e-05,3.75839900094e-05,2.19890299075e-05,1793256111554076416
+166,2.766666667,POSE1_TO_POSE2_PRESS,788,750,730,705.243104345,697,654,931.756895655,800.756895655,834.243104345,667,656,672.243104345,0.42358609021,0.00448411258124,0.0500160090382,0.999999998307,2.54866186944e-05,4.72364335612e-05,2.24629428605e-05,1793256111570743296
+167,2.783333333,POSE1_TO_POSE2_PRESS,788,750,730,705.821410194,697,654,931.178589806,800.178589806,834.821410194,667,656,672.821410194,0.424488709916,0.00449453085564,0.0499989804658,0.999999998776,4.21995814574e-05,1.43064202768e-05,2.15253812815e-05,1793256111587409664
+168,2.800000000,POSE1_TO_POSE2_PRESS,787.602654287,750,730,705.602654287,697,654,931.397345713,800.397345713,835,667,656,673,0.425422898971,0.00449432167237,0.0500003360227,0.99999999884,4.00302340309e-05,1.52859098452e-05,2.20037089681e-05,1793256111604076288
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.027777847,750,730,705.027777847,697,654,931.972222153,800.972222153,835,667,656,673,0.426371192892,0.00448936422963,0.0500099054552,0.999999998806,2.94244279612e-05,3.14158825383e-05,2.31146441477e-05,1793256111620742912
+170,2.833333333,POSE1_TO_POSE2_PRESS,787.543684013,750,730,705,697,654,932,800.456315987,835,667.543684013,656,673,0.427264811868,0.00448155722242,0.050005452252,0.999999999547,1.35348343837e-05,-2.27784001711e-06,2.67993740065e-05,1793256111637409280
+171,2.850000000,POSE1_TO_POSE2_PRESS,787.880110111,750,730,705,697,653.880110111,932,800,835,667.880110111,656,673,0.428164852092,0.00447500747446,0.0499948478011,0.999999998799,-6.98807242392e-07,-3.91155831243e-05,2.95326688219e-05,1793256111654075904
+172,2.866666667,POSE1_TO_POSE2_PRESS,787.284387589,750,730,705,697,653.284387589,932,800,835,667.284387589,656,673,0.429101395409,0.00447402190679,0.0499626553327,0.99999999651,-7.29536177306e-06,-7.83915122686e-05,2.79711449516e-05,1793256111670742784
+173,2.883333333,POSE1_TO_POSE2_PRESS,787.301460335,750,730,705,697,653,932,800,834.698539665,667,656,673,0.430058779318,0.00447789423699,0.0499559319829,0.999999996644,1.02850674167e-05,-7.67536327716e-05,2.67466705468e-05,1793256111687409664
+174,2.900000000,POSE1_TO_POSE2_PRESS,787.878288317,750,730,705,697,653,932,800,834.121711683,667,656,673,0.431035199925,0.0044862039932,0.0499724732919,0.999999997707,4.99498589217e-05,-3.77432081875e-05,2.58300725807e-05,1793256111704076288
+175,2.916666667,POSE1_TO_POSE2_PRESS,787.544035675,749.544035675,730.455964325,705.455964325,697,653,932,800,834.455964325,667.455964325,656,673,0.431961371493,0.00449052030997,0.0499624148364,0.999999997003,4.68439983083e-05,-5.57093824336e-05,2.63761358949e-05,1793256111720742656
+176,2.933333333,POSE1_TO_POSE2_PRESS,787,749,731,706,697,653,932,799.966379891,835,667.966379891,656,673,0.432875482179,0.00449293312735,0.0499471878496,0.999999995508,3.17021716299e-05,-8.50496692417e-05,2.73102737652e-05,1793256111737409536
+177,2.950000000,POSE1_TO_POSE2_PRESS,787,749,731,706,697,653,932,799.392692731,835,667.392692731,656,673,0.433811715008,0.00448192407327,0.0499632056317,0.999999998209,6.95714237775e-06,-5.23333207333e-05,2.81948582859e-05,1793256111754076160
+178,2.966666667,POSE1_TO_POSE2_PRESS,787,748.815034928,731,705.815034928,697,653,932,799,835,667,656,673,0.434740274993,0.00447335057404,0.0499774681125,0.999999999162,-7.36195861671e-06,-2.81556170338e-05,2.88061575997e-05,1793256111770742528
+179,2.983333333,POSE1_TO_POSE2_PRESS,787,748.228762146,731,705.228762146,697,653,932,799,835,667,656,673,0.435652187844,0.00447006135113,0.0499879222236,0.999999999331,9.39451759786e-07,-2.25036967448e-05,2.8824526517e-05,1793256111787409152
+180,3.000000000,POSE1_TO_POSE2_PRESS,787,748,731,705,697,653,932,799,835,667.355455191,656,673,0.436536719022,0.00447174388885,0.0499769456412,0.999999998072,1.19883979529e-05,-5.33189048152e-05,2.94883697206e-05,1793256111804075776
+181,3.016666667,POSE1_TO_POSE2_PRESS,787,748,731,705,697,653,932,799,835,667.938357264,656,673,0.437403729299,0.004476607732,0.0499522560935,0.999999993451,2.47954230433e-05,-0.000107468516084,3.0565235696e-05,1793256111820742400
+182,3.033333333,POSE1_TO_POSE2_PRESS,787,748,731,705.51257522,697,653.51257522,932,799,835,667.48742478,656,673,0.438325741881,0.00448008001547,0.0499770800262,0.999999998197,1.70945156573e-05,-4.91627235277e-05,2.99501121722e-05,1793256111837409024
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,747.912133675,731,706,697,653.912133675,932,799.087866325,834.912133675,667,656,673,0.43923666262,0.00448285022275,0.0500015670241,0.999999999496,8.29584493124e-06,8.40005684995e-06,2.94609921518e-05,1793256111854076160
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,747.32490728,731,706,697,653.32490728,932,799.67509272,834.32490728,667,656,673,0.440047580594,0.00448256564121,0.0499908622606,0.999999999404,7.04131072204e-06,-1.38385926763e-05,3.08251215827e-05,1793256111870742784
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,747,731,706,697,653,932,799.739029333,834.260970667,667.260970667,655.739029333,673,0.440877175831,0.00448012116989,0.0499821717996,0.999999998877,1.99621655471e-05,-2.89943383082e-05,3.17410635585e-05,1793256111887409408
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,747,731,706,697,653,932,799.15482161,834.84517839,667.84517839,655.15482161,673,0.44172990458,0.00447500146915,0.0499759762449,0.999999997587,5.04405914462e-05,-3.53772304267e-05,3.21018825266e-05,1793256111904075776
+187,3.116666667,POSE1_TO_POSE2_PRESS,787,746.579163787,731,706,696.579163787,653.420836213,932,799,835,667.579163787,655.420836213,673,0.442546792955,0.00447187543059,0.0499891138107,0.999999998275,4.74148902663e-05,-9.70374585973e-06,3.3284485715e-05,1793256111920742400
+188,3.133333333,POSE1_TO_POSE2_PRESS,787,746.006588713,731,706,696.006588713,653.993411287,932,799,835,667.006588713,655.993411287,673,0.44335075861,0.00446946823667,0.0500092222249,0.999999998495,3.23087717401e-05,2.75281496716e-05,3.47633956238e-05,1793256111937409024
+189,3.150000000,POSE1_TO_POSE2_PRESS,787,746,731,706,696,653.430604357,932,799,835,667,656,673,0.444034978727,0.00447669195755,0.0499715564808,0.999999997655,3.77736187693e-05,-4.45117507492e-05,3.57929214391e-05,1793256111954075904
+190,3.166666667,POSE1_TO_POSE2_PRESS,787.15001115,746.15001115,731,705.84998885,696,652.84998885,932,799,835,667.15001115,656,673,0.444714364359,0.00448568201753,0.049931510487,0.99999999197,4.54312696959e-05,-0.000112692842011,3.59988401999e-05,1793256111970743040
+191,3.183333333,POSE1_TO_POSE2_PRESS,787.744222651,746.744222651,731,705.255777349,696,652.255777349,932,799,835,667.744222651,656,673,0.445383562393,0.00449957042922,0.0498864078046,0.999999983971,5.88729727846e-05,-0.000165680897191,3.37814545534e-05,1793256111987409408
+192,3.200000000,POSE1_TO_POSE2_PRESS,787.672028568,746.672028568,731,705.327971432,695.672028568,652,932,799,835,668,656,673,0.446078980909,0.00451091638037,0.0498702497394,0.999999981329,7.51924820795e-05,-0.000174904530722,3.31046937645e-05,1793256112004076032
+193,3.216666667,POSE1_TO_POSE2_PRESS,787.096187199,746.096187199,731,705.903812801,695.096187199,652,932,799,835,668,656,673,0.446794215957,0.00452034082329,0.049875967059,0.999999983639,9.36869411528e-05,-0.000151052462075,3.35922863369e-05,1793256112020742656
+194,3.233333333,POSE1_TO_POSE2_PRESS,787.477888308,746,731,706,695,651.522111692,932,799,835,668,655.522111692,673,0.447409126747,0.00453126111912,0.0498573779562,0.999999977274,0.000111755472831,-0.000178390215103,3.37673985707e-05,1793256112037409280
+195,3.250000000,POSE1_TO_POSE2_PRESS,787.948212472,746,731.051787528,706,694.948212472,651,932,799,835,668,655,673,0.448001487121,0.00454204619841,0.0498337070791,0.999999967795,0.000128603548861,-0.000216156952855,3.38760688115e-05,1793256112054076160
+196,3.266666667,POSE1_TO_POSE2_PRESS,787.372514197,746,731.627485803,706,694.372514197,651,932,799,835,668,655,673,0.448569244663,0.00454842869445,0.0498079370326,0.99999995779,0.000133968921104,-0.00025557937442,3.39465099912e-05,1793256112070742784
+197,3.283333333,POSE1_TO_POSE2_PRESS,787,746.209759281,731.790240719,706,694,650.790240719,932,799,835,668,655.209759281,673,0.449131964107,0.00455360629545,0.0497941022565,0.99999995107,0.000139952695293,-0.000277644578201,3.44582461477e-05,1793256112087409408
+198,3.300000000,POSE1_TO_POSE2_PRESS,787,746.804087557,731.195912443,706,694,650.195912443,932,799,835,668,655.804087557,673,0.449685446727,0.00455657486231,0.0498021493993,0.999999952663,0.000147070236499,-0.000267887359033,3.57790448591e-05,1793256112104076032
+199,3.316666667,POSE1_TO_POSE2_PRESS,787,746.612428249,731.387571751,706.387571751,694,649.612428249,932,799,835,668,656,673,0.45023644183,0.00455883235755,0.049818647746,0.999999957128,0.000151168781409,-0.000247985850851,3.73420972844e-05,1793256112120742656
+200,3.333333333,POSE1_TO_POSE2_PRESS,787,746.034276348,731.965723652,706.965723652,694,649.034276348,932,799,835,668,656,673,0.450786213798,0.00456074019874,0.0498393017927,0.999999962528,0.000153782799781,-0.000223096103701,3.90242729124e-05,1793256112137409280
+201,3.350000000,POSE1_TO_POSE2_PRESS,787,746.541417533,731.458582467,706.458582467,693.458582467,648.458582467,932,799,835,668,655.458582467,673,0.451243603587,0.00456177153316,0.0498364638508,0.999999959309,0.000152561928876,-0.000237901085559,3.88691696005e-05,1793256112154075904
+202,3.366666667,POSE1_TO_POSE2_PRESS,787,747,731.119688218,706,693,648,932,799,835,668,655.119688218,673,0.451676485519,0.00456210149684,0.0498256824004,0.999999954273,0.000137828488957,-0.000266914389129,3.48467705616e-05,1793256112170742784
+203,3.383333333,POSE1_TO_POSE2_PRESS,787,747,731.708670034,706,693,648,932,799,835,668,655.708670034,673,0.452036101529,0.00455989800151,0.0497895597887,0.999999938922,7.10603400814e-05,-0.000341829145479,1.6114838564e-05,1793256112187409408
+204,3.400000000,POSE1_TO_POSE2_PRESS,787,746.711017248,731.711017248,706,693,647.711017248,932,799,835,668,656,673,0.452406629229,0.00455668135931,0.0497660062197,0.999999926557,3.59249791208e-05,-0.000381499273375,7.35462216273e-06,1793256112204076032
+205,3.416666667,POSE1_TO_POSE2_PRESS,787,746.139189538,731.139189538,706,693,647.139189538,932,799,835,668,656,673,0.452787836842,0.0045524730889,0.0497547547377,0.999999924703,3.17505520628e-05,-0.000386673342472,8.35433025851e-06,1793256112220742656
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,746,731.436180547,706,693,647,932,799,835,668,655.563819453,673,0.453164518383,0.0045536142095,0.049761703809,0.999999931137,3.52195720437e-05,-0.000369307269893,9.86315803784e-06,1793256112237409536
+207,3.450000000,POSE1_TO_POSE2_PRESS,787,746,732,706,692.987359583,646.987359583,932,799,834.987359583,668,655,673,0.45353837611,0.0045564147647,0.0497742760159,0.999999939565,4.10445792852e-05,-0.000345040875,1.1523279409e-05,1793256112254075904
+208,3.466666667,POSE1_TO_POSE2_PRESS,787,746,732,706,692.413115209,646.413115209,932,799,834.413115209,668,655,673,0.453851469403,0.00455647909798,0.0497765230521,0.999999942449,4.22896739011e-05,-0.000336384847188,1.26279576174e-05,1793256112270742784
+209,3.483333333,POSE1_TO_POSE2_PRESS,787,746.167995298,732,706,692,646,932,799,834.167995298,668,655,673,0.454147456003,0.00455782597544,0.0497747952,0.999999942496,4.66767794923e-05,-0.000335617233682,1.38171558596e-05,1793256112287409408
+210,3.500000000,POSE1_TO_POSE2_PRESS,787,746.766709626,732,706,692,646,932,799,834.766709626,668,655,673,0.454399583122,0.00456246113652,0.0497628762286,0.999999935098,5.91196099013e-05,-0.000355074533762,1.52230527751e-05,1793256112304076032
+211,3.516666667,POSE1_TO_POSE2_PRESS,787,747,732,706,692,645.64922996,932,799,835,668,655,673,0.454628068879,0.00457620314467,0.049749946538,0.999999922521,0.000121062581634,-0.000374256260311,1.53085204896e-05,1793256112320742656
+212,3.533333333,POSE1_TO_POSE2_PRESS,787,747,732,706,692,645.074524697,932,799,835,668,655,673,0.454841461768,0.00459575905869,0.0497363715926,0.999999899539,0.000214606956227,-0.000393262057138,1.45510125681e-05,1793256112337409280
+213,3.550000000,POSE1_TO_POSE2_PRESS,787.500720284,747,731.499279716,706,692,645,932,799,835,668,655.500720284,673,0.455023173161,0.00460435485115,0.0497194487025,0.999999884661,0.000231988001603,-0.000420300354462,1.44001434562e-05,1793256112354075904
+214,3.566666667,POSE1_TO_POSE2_PRESS,788,747,731.078182959,706,691.921817041,644.921817041,932,798.921817041,834.921817041,668,656,673.078182959,0.455196184896,0.00460939701175,0.0497028566036,0.999999872071,0.000235733453381,-0.000447296191114,1.46162759037e-05,1793256112370742272
+215,3.583333333,POSE1_TO_POSE2_PRESS,788,747,731.669678253,706,691.330321747,644.330321747,932,798.330321747,834.330321747,668,656,673.669678253,0.455343070798,0.00460182927893,0.0496917113904,0.99999986602,0.000224459648999,-0.000466155594182,1.66485319445e-05,1793256112387408896
+216,3.600000000,POSE1_TO_POSE2_PRESS,787.744376169,746.744376169,732,706.255623831,691,644.255623831,932.255623831,798,834,668,656,673.744376169,0.455483027641,0.00459864654699,0.0496852920706,0.999999862176,0.000219248543124,-0.000476718777639,1.77885640776e-05,1793256112404075776
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+218,3.633333333,POSE1_TO_POSE2_PRESS,787,746,732,706.589597008,691,644.589597008,933,798.410402992,834.410402992,668,655.589597008,673,0.45572748133,0.00460221655126,0.049683791171,0.999999860559,0.000221332146324,-0.000479136896318,1.79301258748e-05,1793256112437409280
+219,3.650000000,POSE1_TO_POSE2_PRESS,787,746,732,706.014974311,691,644.014974311,933,798.985025689,834.985025689,668,655.014974311,673,0.455833566098,0.00460296056064,0.0496824857849,0.999999859321,0.000219826637068,-0.000482395758382,1.81074791472e-05,1793256112454075904
+220,3.666666667,POSE1_TO_POSE2_PRESS,787,746,732,706,691,644,932.439565695,798.439565695,835,668,655,673,0.455920727874,0.00460197641013,0.0496813236963,0.999999860394,0.000215530313499,-0.000482114558026,1.80130273572e-05,1793256112470742784
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+228,3.800000000,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932,798.192985219,834.192985219,668,655.807014781,673,0.456242813265,0.00460571039627,0.0496582474633,0.999999841538,0.000212095157391,-0.000521175268682,1.77896737114e-05,1793256112604076288
+229,3.816666667,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932,798.789549004,834.789549004,668,655.210450996,673,0.456255487522,0.00460680689931,0.0496578551618,0.99999984178,0.000212590822243,-0.000520517133118,1.75141034328e-05,1793256112620742912
+230,3.833333333,POSE1_TO_POSE2_PRESS,787,746,731.625406428,706,691,643,932.374593572,799,834.625406428,668,655.374593572,673,0.456264995354,0.00460603666601,0.0496566965313,0.9999998415,0.000213006808687,-0.000520868113657,1.79966234589e-05,1793256112637409536
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,746,731.046640435,706,691,643,932.953359565,799,834.046640435,668,655.953359565,673,0.456272777324,0.00460424896707,0.0496551202127,0.999999840935,0.000213379366355,-0.000521769113471,1.88923410092e-05,1793256112654076160
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,746.529030618,731.529030618,706,691,643,932.470969382,798.470969382,834,668,655.470969382,673,0.456276258009,0.00460497835624,0.0496550199972,0.999999841154,0.000211372092782,-0.000522169498989,1.87805948955e-05,1793256112670742784
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,746.893510713,732,706,691,643,932,798.106489287,834.106489287,668,655.106489287,673,0.45627903505,0.00460625894656,0.0496549955444,0.999999841239,0.000209951843513,-0.00052259090026,1.84629856656e-05,1793256112687409664
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,746.306766875,732,706,691,643,932,798.693233125,834.693233125,668,655.693233125,673,0.456280338985,0.00460903041527,0.0496547292861,0.999999840423,0.000212119727263,-0.000523304967108,1.76151959771e-05,1793256112704076032
+235,3.916666667,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932,799,834.721922396,668.278077604,656,673,0.456279940243,0.00461013666126,0.0496535268266,0.999999839063,0.000213290000776,-0.000525438594302,1.71683019537e-05,1793256112720742912
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932,799,834.139158944,668.860841056,656,673,0.456277675901,0.00460941834573,0.0496512985843,0.999999837102,0.000213367206593,-0.000529127614546,1.71606637514e-05,1793256112737409536
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,746.436854182,732,706,691,643,932.436854182,799,834.436854182,668.563145818,655.563145818,673,0.456278721964,0.00460925458798,0.0496513002339,0.999999836972,0.000212690154528,-0.000529638316725,1.73617017796e-05,1793256112754076160
+238,3.966666667,POSE1_TO_POSE2_PRESS,787,746.989215089,732,706,691,643,932.989215089,799,835,668.010784911,655,673,0.456280786299,0.00460927532341,0.0496519868487,0.999999837412,0.00021181912317,-0.000529147742057,1.76226033776e-05,1793256112770742784
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,746.413439453,732,706,691,643,932.413439453,799,835,668.586560547,655,673,0.456281792165,0.00460984759843,0.0496519110773,0.9999998375,0.000213181445397,-0.000528435203477,1.75902288033e-05,1793256112787409408
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,746.165858451,732,706.165858451,690.834141549,643,932.165858451,799,835,669,655,673,0.456282327897,0.00461013720943,0.0496517965321,0.999999837625,0.000213401677633,-0.000528114040534,1.74559961644e-05,1793256112804076288
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,746.754126865,732,706.754126865,690.245873135,643,932.754126865,799,835,669,655,673,0.456281666288,0.00460970692879,0.0496515832375,0.999999837845,0.000210713223556,-0.000528789637026,1.70623503881e-05,1793256112820742912
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,746.661680523,732,706.661680523,690.338319477,643,932.661680523,798.661680523,835,668.661680523,655.338319477,673,0.45628139728,0.00461018924723,0.0496512086536,0.999999837219,0.000211454541364,-0.000529675224534,1.70969437591e-05,1793256112837409536
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,746.080414757,732,706.080414757,690.919585243,643,932.080414757,798.080414757,835,668.080414757,655.919585243,673,0.456281410199,0.00461132690058,0.0496507182482,0.999999835981,0.00021465876906,-0.000530711605983,1.74390545027e-05,1793256112854076160
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,746,732,706,690.504866919,643,932,798,834.504866919,668,655.504866919,673,0.456281328395,0.00461099041882,0.0496503463675,0.999999835455,0.000215377036757,-0.000531402861777,1.77141072137e-05,1793256112870742784
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,746,732,706,690.069301422,643,932,798.069301422,834.069301422,668,655,673,0.456281237984,0.00461041680501,0.0496499629369,0.999999835067,0.000215666115179,-0.000532007517582,1.79619882312e-05,1793256112887409664
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,746,732,706,690.640130022,643,932,798.640130022,834.640130022,668,655,673,0.456281195353,0.00460983993164,0.0496493582037,0.999999834847,0.000215737703937,-0.000532386469413,1.80911470586e-05,1793256112904076544
+247,4.116666667,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932.220756262,799,834.779243738,668,655,673,0.456281140657,0.00461039260971,0.0496487169322,0.999999834489,0.000216154533531,-0.000532894538542,1.7955134217e-05,1793256112920743168
+248,4.133333333,POSE1_TO_POSE2_PRESS,787,746,732,706,691,643,932.818096195,799,834.181903805,668,655,673,0.456281065383,0.00461287216678,0.0496480133302,0.999999833893,0.000217160302537,-0.000533622866336,1.73667703763e-05,1793256112937409280
+249,4.150000000,HOLD_POSE2,788,747,732,706,691,643,932,799,835,668,655,673,0.456281548176,0.00460989902709,0.0496492115167,0.999999835141,0.000212110776318,-0.00053331333406,1.74103313903e-05,1793256112971432448
+250,4.166666667,HOLD_POSE2,787.426449733,746.426449733,731.426449733,706,691,643,932,799,834.426449733,668,655.573550267,673,0.45628262841,0.00461141183318,0.0496495530254,0.999999835678,0.00021314945658,-0.000531896298108,1.72745704251e-05,1793256112988099328
+251,4.183333333,HOLD_POSE2,787.151766384,746,731.151766384,706,690.848233616,643,932,799,834,668,656,673,0.456282792409,0.00461277234056,0.049649289833,0.999999835558,0.000214336213301,-0.000531650315599,1.70958388526e-05,1793256113004766464
+252,4.200000000,HOLD_POSE2,787.743509109,746,731.743509109,706,690.256490891,643,932,799,834,668,656,673,0.456280300214,0.00461369132872,0.04964727359,0.999999833536,0.000215952249373,-0.00053479925985,1.67925338733e-05,1793256113021433088
+253,4.216666667,HOLD_POSE2,787.672180879,746,731.672180879,706,690,643,932,799,834.327819121,668,656,673,0.456280455618,0.00461375240695,0.049647011714,0.999999833266,0.000216411671175,-0.000535121602467,1.66953094283e-05,1793256113038099456
+254,4.233333333,HOLD_POSE2,787.093557442,746,731.093557442,706,690,643,932,799,834.906442558,668,656,673,0.456282636617,0.00461315712464,0.0496480920501,0.99999983434,0.000215986202918,-0.000533281399022,1.67557508728e-05,1793256113054765824
+255,4.250000000,HOLD_POSE2,787,746.482906963,731,706,690.482906963,643,932,799,834.517093037,668,655.517093037,673,0.45628211854,0.00461281595724,0.0496481760905,0.999999834169,0.000214621950744,-0.000534141339484,1.7123960792e-05,1793256113071432448
+256,4.266666667,HOLD_POSE2,787.0588566,747,731.0588566,706,690.9411434,643,932.0588566,799,834.0588566,668.0588566,655.0588566,673,0.456281295583,0.00461251488676,0.049648133647,0.999999833834,0.000213342509902,-0.00053526740311,1.74985629648e-05,1793256113088099072
+257,4.283333333,HOLD_POSE2,787.633943681,747,731.633943681,706,690.366056319,643,932.633943681,799,834.633943681,668.633943681,655.633943681,673,0.456282364589,0.00461213561703,0.0496486672589,0.999999834202,0.000214395098507,-0.000534159768481,1.7408576438e-05,1793256113104765696
+258,4.300000000,HOLD_POSE2,788,747,732,706.214547217,690.214547217,643,933,799,835,668.785452783,655.785452783,673,0.456282536146,0.0046119335833,0.0496485584921,0.999999833997,0.000215461897684,-0.000534116580136,1.73488174513e-05,1793256113121432320
+259,4.316666667,HOLD_POSE2,788,747,732,706.804811149,690.804811149,643,933,799,835,668.195188851,655.195188851,673,0.456281136082,0.00461204192663,0.049647324787,0.999999832787,0.000216553582415,-0.000535937458317,1.7341993172e-05,1793256113138099200
+260,4.333333333,HOLD_POSE2,787.613710282,746.613710282,731.613710282,706.613710282,691,643,932.613710282,798.613710282,834.613710282,668,655,673,0.456281518745,0.00461254411779,0.0496476736572,0.999999832907,0.000216954190636,-0.000535557289062,1.71772221415e-05,1793256113154765824
+261,4.350000000,HOLD_POSE2,787.036572114,746.036572114,731.036572114,706.036572114,691,643,932.036572114,798.036572114,834.036572114,668,655,673,0.456282782173,0.00461324089153,0.0496488044068,0.999999833683,0.000217013369001,-0.000534089681006,1.69344166944e-05,1793256113171432704
+262,4.366666667,HOLD_POSE2,787,746,731.540829482,706.540829482,691,642.459170518,932,798.540829482,834.540829482,668,655,673,0.45628247018,0.00461436299104,0.0496478980704,0.999999833205,0.000217566949987,-0.000534773774695,1.64926991726e-05,1793256113188099072
+263,4.383333333,HOLD_POSE2,787,746,732,706.879961169,690.879961169,642.120038831,932,799,834.879961169,668,655,673,0.456282430342,0.00461475796217,0.0496472765835,0.999999832925,0.00021760478517,-0.000535286066888,1.63134473001e-05,1793256113204765696
+264,4.400000000,HOLD_POSE2,787,746,732,706.293801193,690.293801193,642.706198807,932,799,834.293801193,668,655,673,0.456283861188,0.00461221769359,0.0496482963566,0.999999833749,0.000215510050034,-0.000534565963465,1.72056284654e-05,1793256113221432320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,747,732,706,690,642,932,798,834,668,655,673,0.456282608224,0.0046153618269,0.0496482266676,0.999999832258,0.000219406836839,-0.000535794869181,1.64031510992e-05,1793256113258548480
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,747,732,706,690,642.573729086,932,798.573729086,834,668.573729086,655.573729086,673,0.456283289578,0.00461366292059,0.0496479749313,0.999999832969,0.00021728404882,-0.00053531833467,1.68579002848e-05,1793256113275215104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,747,731.851382244,706.148617756,690,643,932,799,834.148617756,669,655.851382244,673,0.456283763327,0.00461255363812,0.04964769789,0.999999833314,0.00021615500177,-0.00053512066421,1.71754241244e-05,1793256113291881984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,747,731.273141323,706.726858677,690,643,932,799,834.726858677,669,655.273141323,673,0.456283636937,0.00461314883571,0.0496473476969,0.999999832611,0.000217898653658,-0.000535729131889,1.70962580024e-05,1793256113308548864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,746.688842045,731.311157955,707,690.311157955,642.688842045,932,799,834.688842045,669,655,673,0.456283580352,0.00461266128163,0.0496473507205,0.999999832619,0.000216987411512,-0.000536087170539,1.70278298799e-05,1793256113325215488
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,746.099119042,731.900880958,707,690.900880958,642.099119042,932,799,834.099119042,669,655,673,0.456283586262,0.00461120439099,0.0496476699623,0.999999833256,0.000213699367789,-0.000536221011845,1.69690149869e-05,1793256113341881856
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746,732,706.516404091,690.516404091,642.483595909,932,799,834.483595909,668.516404091,655.483595909,673.483595909,0.456283713496,0.00461158908377,0.0496476316396,0.999999833426,0.000214439674879,-0.000535602515041,1.7111535888e-05,1793256113358547968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787.064074129,746,731.935925871,706,690.064074129,642.935925871,932.064074129,799,835,668.064074129,656,673.935925871,0.456283706166,0.00461228801661,0.0496474950123,0.999999833468,0.000215899180889,-0.000534933676013,1.72554018631e-05,1793256113375214592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787.638020333,746,731.361979667,706,690.638020333,642.361979667,932.638020333,799,835,668.638020333,656,673.361979667,0.45628243298,0.00461252681493,0.0496471509778,0.999999833243,0.000216605364074,-0.000535073769725,1.70862840935e-05,1793256113391881728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787.783676995,746,731.216323005,706,691,642.216323005,933,798.783676995,835,668.783676995,655.783676995,673,0.456277269646,0.00461294350283,0.0496444851371,0.999999830952,0.000217597394094,-0.000538945787133,1.68577759957e-05,1793256113408548608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787.197934753,746,731.802065247,706,691,642.802065247,933,798.197934753,835,668.197934753,655.197934753,673,0.456265463025,0.00461366397638,0.0496378543003,0.999999825061,0.000219077570532,-0.000549190887196,1.6527845831e-05,1793256113425215488
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,746,732,706,691,643,933,798,834.616397102,668.383602898,655.383602898,673,0.456239384697,0.00461304150477,0.0496256845887,0.99999981402,0.000218272755478,-0.000569248491235,1.65556946633e-05,1793256113441882112
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,746,732,706,691,643,933,798,834.0370054,668.9629946,655.9629946,673,0.456206022167,0.0046117336014,0.0496106878653,0.999999799861,0.000216301693383,-0.000594314343881,1.67661518859e-05,1793256113458548736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,746.540644317,732,706,690.459355683,643,933,798,834.540644317,668.459355683,655.459355683,673,0.45614737955,0.00461399585973,0.0495895956398,0.999999777538,0.000218563864045,-0.00062999627198,1.60620186291e-05,1793256113475215360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,747,732,706.117851518,690.117851518,643,932.882148482,798.117851518,835,668,655,673,0.45608550024,0.00461636630667,0.0495696459967,0.99999975697,0.000220827292846,-0.000661108142802,1.52044745329e-05,1793256113491881984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,787,747,732,706.693800776,690.693800776,643,932.306199224,798.693800776,835,668,655,673,0.456017744018,0.00461821047204,0.0495557542007,0.999999749716,0.000221972945409,-0.000671640448662,1.39931634303e-05,1793256113508548608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,747,732,706.724750868,691,642.724750868,932.275249132,798.724750868,834.724750868,668.275249132,655.275249132,673,0.455942089029,0.00461881977105,0.0495454476541,0.999999742127,0.000221992993606,-0.000682857411869,1.31034688701e-05,1793256113525215232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787,747,732,706.137060401,691,642.137060401,932.862939599,798.137060401,834.137060401,668.862939599,655.862939599,673,0.455857467979,0.00461802734601,0.0495392108036,0.999999734149,0.000220735343489,-0.000694851544036,1.2578848385e-05,1793256113541882112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,787,746.553366302,731.553366302,706,690.553366302,642.446633698,933,798.446633698,834.446633698,669,655.553366302,673.446633698,0.455761537343,0.00461928065012,0.049540813598,0.999999734694,0.000224218460445,-0.000692950653604,1.25525454823e-05,1793256113558548736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,787,746,731.028707077,706.028707077,690.028707077,643,932.971292923,798.971292923,835,668.971292923,655,673.971292923,0.455660748597,0.00462121640473,0.049544804244,0.999999737745,0.000229149557755,-0.000686906388546,1.26221380682e-05,1793256113575215360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,746,731.603078343,706.603078343,690.603078343,643,932.396921657,798.396921657,835,668.396921657,655,673.396921657,0.455533001377,0.00462429713049,0.0495488595508,0.999999739649,0.000234195897028,-0.000682436659875,1.16335703373e-05,1793256113591881984
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,788.246192529,751,730,706,696,653,932,800.246192529,834,667,656,672,0.416757701973,0.00462662904502,0.0497814674731,0.999999923355,0.000160633411414,-0.000354248661185,-4.46555513281e-05,1793256114558548480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,788.820968489,751,730,706,696,653,932,800.820968489,834,667,656,672,0.41598919395,0.00461921338182,0.0498064524469,0.999999942293,0.000140306637973,-0.000306004062374,-4.57165034169e-05,1793256114575215360
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,789,751,730,705.965456845,696,653.034543155,932,801,834.965456845,666.965456845,656,672,0.406720322579,0.00460716902046,0.049825211673,0.999999945046,0.000134762787333,-0.000299698512869,-4.3917322024e-05,1793256114808548608
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,789,751,729,705.074501289,696,653,931.074501289,801,834,666.925498711,656,672,0.402451912949,0.00463224493253,0.0498215095025,0.999999928914,0.000164220280342,-0.000335742112426,-4.98037518478e-05,1793256115008548608
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,789.177631226,751,729.177631226,705.177631226,696,653,931.822368774,801.822368774,834,666.177631226,656,672,0.401651675425,0.00460575269074,0.0498419305769,0.999999951646,0.000123425304722,-0.000283951490718,-2.90915637891e-05,1793256115091881728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,751,729.404894017,705.404894017,696,653.404894017,932,802,834,666,656,672,0.401546230721,0.0045912077086,0.0498458971267,0.999999955881,0.000106261234977,-0.000275917225002,-2.85851026011e-05,1793256115108548352
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,789.142857439,751,729,705.857142561,696.857142561,653,932,801,834,666.857142561,656,672,0.401284237432,0.00458721931524,0.0498479100601,0.99999995843,0.000102827435765,-0.000267618968502,-3.07744491551e-05,1793256115158548480
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,790,751,729.294237271,705,696,653.294237271,931.705762729,801,834.294237271,666.294237271,656,672,0.401168406165,0.00458328896527,0.0498466297857,0.999999958672,9.82410683525e-05,-0.000268430620042,-3.0806926361e-05,1793256115191881984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790,751,729.869913867,705,696,653.869913867,931.130086133,801,834.869913867,666.869913867,656,672,0.401130447117,0.00458457974286,0.0498496173863,0.999999960488,9.9068273505e-05,-0.000261179489868,-3.15456590164e-05,1793256115208548608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790,751,730,705.459500575,696,653.540499425,931,801,834.540499425,666.540499425,656,672,0.401101211199,0.00458356960501,0.049852032309,0.999999961905,9.91907938853e-05,-0.000255650188367,-3.15443220932e-05,1793256115225215232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790,751,730,705.948414535,696.051585465,653.051585465,931.051585465,801,834.051585465,666,656,672,0.401075077023,0.00458220712634,0.0498540866755,0.999999963039,9.93675826667e-05,-0.000251126955757,-3.13686771241e-05,1793256115241881856
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790,751,730,705.372221899,696.627778101,653.627778101,931.627778101,801,834.627778101,666,656,672,0.401054588058,0.00458409274536,0.0498541745553,0.999999962597,0.000102188432669,-0.000251723095948,-3.16176017022e-05,1793256115258548480
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,789.206530475,751,730,705.793469525,696.206530475,654,932,801,835,666,656,672,0.401026520205,0.00458640094978,0.0498545944106,0.999999962849,0.000103609817718,-0.000250003424521,-3.26391709505e-05,1793256115291881728
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,789,751,730,706,696.953395167,653.046604833,932,801,834.046604833,666,656,672,0.401015228764,0.00458648046768,0.0498549315893,0.99999996355,0.000103481319085,-0.000247234958502,-3.26520543622e-05,1793256115325215488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,789.531869858,751,730,705.468130142,697,653,932,801,834,666.531869858,656,672,0.401010492985,0.00458679909413,0.0498553791145,0.999999963547,0.000102567751741,-0.000247628340551,-3.26496118071e-05,1793256115341882112
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47611ebfff6f72b3b472f2f85177914520991911
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+266,4.433333333,pose2_to_pose3_retreat,0.622994431403,0.0101818199718,1.04002058572,0.593565575344,0.0188560522054,1.03969229791
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+268,4.466666667,pose2_to_pose3_retreat,0.622994308543,0.010181823455,1.04002063301,0.593565452882,0.0188560570273,1.03969234503
+269,4.483333333,pose2_to_pose3_retreat,0.622994275186,0.0101818273056,1.04002063382,0.593565419642,0.0188560612691,1.03969234567
+270,4.500000000,pose2_to_pose3_retreat,0.622994270688,0.0101818278248,1.04002063392,0.59356541516,0.0188560618411,1.03969234576
+271,4.516666667,pose2_to_pose3_retreat,0.622994175952,0.0101818387607,1.04002063622,0.593565320757,0.0188560738881,1.03969234757
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+274,4.566666667,pose2_to_pose3_retreat,0.622985008649,0.0101816326818,1.04002055175,0.593556156852,0.0188558790596,1.0396922549
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+276,4.600000000,pose2_to_pose3_retreat,0.622951730297,0.0101818610149,1.04002073985,0.593522873988,0.0188560920291,1.03969244399
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+347,5.783333333,pose2_to_pose3_retreat,0.586460865891,0.0101817897438,1.04002051236,0.557032012727,0.0188560246378,1.03969222085
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+349,5.816666667,pose2_to_pose3_retreat,0.585205041142,0.0101817428544,1.04002042311,0.555776188792,0.0188559804687,1.03969213039
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+353,5.883333333,pose2_to_pose3_retreat,0.58292451024,0.0101818299538,1.04002058879,0.553495657102,0.0188560648838,1.03969229696
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+365,6.083333333,pose2_to_pose3_retreat,0.578105228613,0.0101817555257,1.04002072402,0.548676377187,0.0188559964052,1.03969243565
+366,6.100000000,pose2_to_pose3_retreat,0.577835569907,0.0101816782088,1.04002042263,0.548406719028,0.0188559207301,1.03969212868
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+375,6.250000000,pose2_to_pose3_retreat,0.576216046234,0.0101817316465,1.04002060505,0.546787194661,0.0188559719076,1.03969231375
+376,6.266666667,pose2_to_pose3_retreat,0.576123654896,0.0101817328916,1.04002058159,0.546694803232,0.0188559727531,1.03969228788
+377,6.283333333,pose2_to_pose3_retreat,0.576041679999,0.0101817241476,1.04002040738,0.546612828154,0.018855963476,1.03969211617
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+382,6.366666667,pose2_to_pose3_retreat,0.575774163037,0.0101817086229,1.04002055258,0.546345309758,0.0188559427185,1.03969225172
+383,6.383333333,pose2_to_pose3_retreat,0.575746941603,0.0101817980554,1.04002029827,0.546318087425,0.0188560294047,1.03969200538
+384,6.400000000,pose2_to_pose3_retreat,0.575725516762,0.0101818905551,1.04002026752,0.54629666235,0.0188561212537,1.03969197849
+385,6.416666667,pose2_to_pose3_retreat,0.575708704758,0.0101819186534,1.0400204643,0.546279850888,0.018856151103,1.03969217289
+386,6.433333333,pose2_to_pose3_retreat,0.575695718207,0.0101817771886,1.04002067649,0.546266866307,0.0188560160984,1.0396923792
+387,6.450000000,pose2_to_pose3_retreat,0.575686372974,0.0101817178728,1.04002040943,0.546257520435,0.0188559546231,1.03969211239
+388,6.466666667,pose2_to_pose3_retreat,0.575679613683,0.0101817673836,1.04002036858,0.546250760943,0.0188560035126,1.03969207321
+389,6.483333333,pose2_to_pose3_retreat,0.575675007804,0.0101818270267,1.04002042349,0.546246155075,0.0188560632442,1.03969212942
+390,6.500000000,pose2_to_pose3_retreat,0.575672290583,0.0101817690205,1.04002043111,0.546243437756,0.0188560048421,1.03969213542
+391,6.516666667,pose2_to_pose3_retreat,0.575670491896,0.0101817428117,1.04002041431,0.546241639327,0.0188559794691,1.03969211756
+392,6.533333333,pose2_to_pose3_retreat,0.575669138522,0.0101817506359,1.04002035234,0.546240286879,0.0188559904031,1.03969205482
+393,6.550000000,pose2_to_pose3_retreat,0.575668489478,0.0101817543882,1.04002032262,0.546239638279,0.0188559956468,1.03969202473
+394,6.566666667,pose2_to_pose3_retreat,0.575668481388,0.010181754435,1.04002032225,0.546239630195,0.0188559957122,1.03969202435
+395,6.583333333,pose2_to_pose3_retreat,0.575668195487,0.0101817568636,1.04002033454,0.546239344194,0.0188559977935,1.03969203637
+396,6.600000000,pose2_to_pose3_retreat,0.57566789283,0.0101817624762,1.04002044711,0.546239040277,0.0188559991007,1.03969214819
+397,6.616666667,pose2_to_pose3_retreat,0.575667716249,0.0101817657509,1.04002051279,0.546238862959,0.0188559998633,1.03969221343
+398,6.633333333,pose2_to_pose3_retreat,0.57566760543,0.010181767806,1.040020554,0.546238751679,0.0188560003419,1.03969225438
+399,6.650000000,pose2_to_pose3_retreat,0.57566760241,0.010181767862,1.04002055513,0.546238748646,0.018856000355,1.03969225549
+400,6.666666667,pose2_to_pose3_retreat,0.575667500788,0.0101817697466,1.04002059292,0.5462386466,0.0188560007939,1.03969229304
+401,6.683333333,pose2_to_pose3_retreat,0.575667364884,0.0101817722669,1.04002064347,0.54623851013,0.0188560013809,1.03969234325
+402,6.700000000,pose2_to_pose3_retreat,0.575667221517,0.0101817740618,1.04002067052,0.546238366472,0.0188560021794,1.03969237015
+403,6.716666667,pose2_to_pose3_retreat,0.575667176057,0.0101817734864,1.0400206443,0.546238321323,0.0188560026701,1.03969234413
+404,6.733333333,pose2_to_pose3_retreat,0.575667064912,0.0101817720799,1.04002058018,0.546238210941,0.01885600387,1.03969228053
+405,6.750000000,pose2_to_pose3_retreat,0.575666968519,0.01018177086,1.04002052458,0.54623811521,0.0188560049106,1.03969222537
+406,6.766666667,pose2_to_pose3_retreat,0.575666891071,0.0101817698799,1.0400204799,0.546238038293,0.0188560057467,1.03969218105
+407,6.783333333,pose2_to_pose3_retreat,0.575666849066,0.0101817693484,1.04002045567,0.546237996576,0.0188560062002,1.03969215702
+408,6.800000000,pose2_to_pose3_retreat,0.57566681932,0.0101817638831,1.04002044985,0.546237966974,0.0188560012432,1.03969215168
+409,6.816666667,pose2_to_pose3_retreat,0.575666740952,0.0101817166028,1.04002050781,0.546237888602,0.0188559540788,1.03969221314
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979e3acff34514e6e4efebeb18830d9bc6250202
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df88db1919bea7bbbef99efeb923a20f2e9990d9ae64762c6e87ed185cdbff5b
+size 25750767
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d951e094ec0d4cd28fa8b06a2326f23455e9889
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,789.125981011,750.125981011,729,707,697,654,931,801,834,668,655,673,0.401043084496,0.00448673314536,0.0698606332763,0.999999989966,2.28786455337e-05,-0.00013865670821,1.78836145759e-05,1793256117534757120
+18,0.300000000,BASELINE,789.896680796,750,729,707,697,654,931,801,834,668,655,673,0.401042964958,0.00448730961293,0.0698606749363,0.999999989975,2.32025722975e-05,-0.000138547134537,1.77701731457e-05,1793256117551423488
+19,0.316666667,BASELINE,790.977795603,750,729,707,697,654,931,801,834,668,655.022204397,673,0.40104251316,0.00448778534503,0.0698604284255,0.999999989927,2.38770143071e-05,-0.00013878432766,1.77236568505e-05,1793256117568090368
+20,0.333333333,BASELINE,790.387449414,750,729,707,697,654,931,801,834,668,655.612550586,673,0.401043223678,0.0044871180569,0.0698609209353,0.999999990022,2.35496873443e-05,-0.000138150620187,1.77713657149e-05,1793256117584756992
+21,0.350000000,BASELINE,790,750.199103397,729,707,696.800896603,654,931,801.199103397,834,668,656,673,0.401043494404,0.00448668679325,0.0698610899844,0.999999990075,2.3206468997e-05,-0.000137824992091,1.77947642679e-05,1793256117601423872
+22,0.366666667,BASELINE,790,750.778412349,729,707,696.221587651,654,931,801.778412349,834,668,656,673,0.40104292531,0.00448670623931,0.0698606413566,0.999999990047,2.28329046819e-05,-0.000138087668898,1.77717401245e-05,1793256117618090496
+23,0.383333333,BASELINE,790,751,729,707,696.355213638,654,931,801.644786362,834,668,656,673,0.401043072253,0.00448669833831,0.0698607755523,0.999999990061,2.2788122809e-05,-0.000137989115294,1.78038488874e-05,1793256117634757120
+24,0.400000000,BASELINE,790,751,729,707,696.930461631,654,931,801.069538369,834,668,656,673,0.401043662738,0.00448667349739,0.0698612707735,0.999999990101,2.29470026537e-05,-0.000137666800316,1.78701093024e-05,1793256117651423744
+25,0.416666667,BASELINE,790,750.496707596,729,707,697,653.496707596,931,801.503292404,834,668,655.496707596,673,0.401043939947,0.00448676225287,0.0698612087585,0.999999990111,2.33207602438e-05,-0.000137534978448,1.78391592807e-05,1793256117668090624
+26,0.433333333,BASELINE,790,750.078460372,729,707,697,653.078460372,931,801.921539628,834,668,655,673.078460372,0.40104398029,0.00448698475723,0.0698610006128,0.999999990091,2.37368875732e-05,-0.00013762079861,1.77717300382e-05,1793256117684757248
+27,0.450000000,BASELINE,790,750.671124138,729,707,697,653.671124138,931,801.328875862,834,668,655,673.671124138,0.401042750615,0.00448798143772,0.0698603369409,0.999999989897,2.42370504965e-05,-0.00013896130567,1.75528313535e-05,1793256117701423872
+28,0.466666667,BASELINE,790,750.741236212,729,707,697,654,931,801,833.741236212,668,655.258763788,673.741236212,0.401041798133,0.00448899519818,0.0698596615108,0.999999989651,2.56722244806e-05,-0.000140476087008,1.74554722483e-05,1793256117718090496
+29,0.483333333,BASELINE,790,750.159860383,729,707,697,654,931,801,833.159860383,668,655.840139617,673.159860383,0.40104119124,0.0044900302529,0.0698589714213,0.999999989335,2.82731172945e-05,-0.000142208143574,1.75096418234e-05,1793256117734756608
+30,0.500000000,BASELINE,790,750,729,707,697,654,931,801,833.41618246,668,656,673.41618246,0.401041022472,0.00448884391891,0.0698589821735,0.999999989404,2.59683507694e-05,-0.000142145955647,1.76734015655e-05,1793256117751423488
+31,0.516666667,BASELINE,790,750,729,707,697,654,931,801,833.990202748,668,656,673.990202748,0.401041019864,0.00448681511987,0.0698592587211,0.999999989605,2.18031054646e-05,-0.000141403297742,1.78787235426e-05,1793256117768090112
+32,0.533333333,BASELINE,790,750,729,707,697,653.43648148,931,801,834,668,655.43648148,673.43648148,0.401040929078,0.00448765044657,0.0698591625761,0.999999989512,2.43435640266e-05,-0.000141628167872,1.80068652536e-05,1793256117784756992
+33,0.550000000,BASELINE,790,750.140809671,729,707,697,653.140809671,931,801,834,668,655,673,0.401041110155,0.00448800627275,0.0698592138946,0.999999989497,2.60114282369e-05,-0.000141438832267,1.79898247368e-05,1793256117801423616
+34,0.566666667,BASELINE,790,750.730821746,729,707,697,653.730821746,931,801,834,668,655,673,0.401042163394,0.00448667377,0.0698597562873,0.999999989763,2.45241387483e-05,-0.000139874527516,1.75139080559e-05,1793256117818090496
+35,0.583333333,BASELINE,790,751,729,707,697,653.684853289,931,801,834,668,655,673,0.401043311865,0.00448691357659,0.0698604704488,0.999999989975,2.49260129902e-05,-0.000138299159273,1.73748456652e-05,1793256117834757120
+36,0.600000000,BASELINE,790,751,729,707,697,653.105299723,931,801,834,668,655,673,0.401044540234,0.00448847254442,0.0698613287237,0.999999990139,2.69128880328e-05,-0.000136714508633,1.75184026511e-05,1793256117851423744
+37,0.616666667,BASELINE,790,751,729,707.472127234,697,653.472127234,931,801,834,668,655.472127234,673,0.401044797477,0.00448731453006,0.0698617596785,0.999999990196,2.60621192862e-05,-0.000136438498593,1.77123501074e-05,1793256117868090368
+38,0.633333333,BASELINE,790,750.949892673,729,708,697,654,931,801,834,668,656,673,0.401044707198,0.00448588371255,0.0698619856927,0.999999990208,2.48039363155e-05,-0.000136560934098,1.78693057907e-05,1793256117884756736
+39,0.650000000,BASELINE,790,750.360885025,729,708,697,654,931,801,834,668,656,673,0.401043198339,0.00448800691053,0.069861028003,0.99999999001,2.59401703597e-05,-0.000137843663376,1.75080885766e-05,1793256117901423360
+40,0.666666667,BASELINE,790,750,729,707.776186667,697,654,931,801,834,668,655.776186667,673,0.40104179032,0.00448933563881,0.0698600834785,0.999999989791,2.6758677397e-05,-0.000139298657066,1.72510929008e-05,1793256117918089984
+41,0.683333333,BASELINE,790,750,729,707.198305544,697,654,931,801,834,668,655.198305544,673,0.401040541826,0.00448940753329,0.0698591597808,0.999999989542,2.70745472021e-05,-0.000141026169206,1.7158973437e-05,1793256117934756864
+42,0.700000000,BASELINE,790,750,729,707,697,654,931,801,834,668,655,673,0.401041303755,0.00448889383558,0.0698591883302,0.99999998961,2.6598027795e-05,-0.000140622186656,1.72716854943e-05,1793256117951423744
+43,0.716666667,BASELINE,790,750,729,707,697,654,931,801,834,668,655,673,0.40104311601,0.00448807420098,0.0698597143716,0.999999989842,2.57075324325e-05,-0.000139104625625,1.74914097668e-05,1793256117968090624
+44,0.733333333,BASELINE,789.471035571,750.528964429,729,707,697,654,931,801,834,668,655.528964429,673,0.401042505917,0.00448802828795,0.0698605526471,0.999999989913,2.52540256197e-05,-0.000138689231052,1.73880034901e-05,1793256117984757248
+45,0.750000000,BASELINE,789.107495757,750.892504243,729,707,697,654,931,801,833.892504243,668,655.892504243,673,0.401041842941,0.00448807634858,0.0698612027943,0.999999989946,2.50949936598e-05,-0.000138491277845,1.72897327244e-05,1793256118001423616
+46,0.766666667,BASELINE,789.69837964,750.30162036,729,707,697,654,931,801,833.30162036,668,655.30162036,673,0.40104190631,0.00448823903174,0.0698608826872,0.999999989872,2.60862279495e-05,-0.000138832429377,1.73431689662e-05,1793256118018090240
+47,0.783333333,BASELINE,790,750.283533172,729,707,697,654,931,801,833,668,655.283533172,673,0.401041744144,0.00448856680103,0.069860638185,0.999999989764,2.7127433285e-05,-0.000139405919399,1.73650548907e-05,1793256118034756864
+48,0.800000000,BASELINE,790,750.862711633,729,707,697,654,931,801,833,668,655.862711633,673,0.40104134681,0.00448906670871,0.0698604725174,0.99999998962,2.82207444764e-05,-0.000140221673104,1.73540427221e-05,1793256118051423488
+49,0.816666667,BASELINE,790,751,729,707,697,654,931,801,833,668,656,673,0.401041636479,0.00448757380908,0.0698603607471,0.999999989692,2.42610213291e-05,-0.000140453461366,1.7317801983e-05,1793256118068090112
+50,0.833333333,BASELINE,790,750.984484744,729.015515256,707,697,653.984484744,931,801,833.015515256,668,656,673,0.401042123522,0.00448553997552,0.0698602845467,0.999999989806,1.89387879299e-05,-0.000140464391915,1.72819686196e-05,1793256118084756992
+51,0.850000000,BASELINE,790,750.413661267,729.586338733,707,697,653.413661267,931,801,833.586338733,668,656,673,0.401042035551,0.00448630501071,0.0698608821068,0.999999989955,2.10392170654e-05,-0.000139064124072,1.75412507404e-05,1793256118101423872
+52,0.866666667,BASELINE,790,750.164623585,729.835376415,707,697,653.164623585,931,801,834,668,655.835376415,673,0.401042162138,0.00448718635478,0.0698612717023,0.999999990039,2.3419076733e-05,-0.000138071214251,1.7607873579e-05,1793256118118090752
+53,0.883333333,BASELINE,790,750.762547231,729.237452769,707,697,653.762547231,931,801,834,668,655.237452769,673,0.401042853458,0.00448837383138,0.069861113921,0.999999989958,2.6534415739e-05,-0.000138150497511,1.71674045511e-05,1793256118134757120
+54,0.900000000,BASELINE,790,751,729,707,697,654,931,801,834,668,655,673,0.401043169395,0.00448814551018,0.0698610888984,0.999999989946,2.7002947664e-05,-0.000138138545409,1.72265433241e-05,1793256118151423488
+55,0.916666667,BASELINE,790,751,729,707,697,654,931,801,834,668,655,673,0.401043238057,0.00448698456137,0.0698611513277,0.999999989983,2.57279499625e-05,-0.000138066493893,1.76147884357e-05,1793256118168090368
+56,0.933333333,BASELINE,790,751,729,707,697,654,931,801,834,668,655.497150794,673,0.401042969309,0.00448750080852,0.0698618110088,0.99999999008,2.5421406677e-05,-0.000137408483728,1.76583309372e-05,1793256118184757248
+57,0.950000000,BASELINE,790,751,729,707,696.92701286,654,931,801,833.92701286,668,655.92701286,673,0.401042631776,0.00448817926773,0.0698624029147,0.999999990155,2.54289836031e-05,-0.000136868437789,1.76419218034e-05,1793256118201424128
+58,0.966666667,BASELINE,790,751,729,707,696.335549346,654,931,801,833.335549346,668,655.335549346,673,0.401042174369,0.00448817704506,0.0698618606413,0.999999989996,2.66095570045e-05,-0.000137806756162,1.75763564419e-05,1793256118218090496
+59,0.983333333,BASELINE,790,750.750027376,729,707,696.249972624,654,931,801,833.249972624,668,655.249972624,673,0.401042069312,0.00448794487707,0.0698614946237,0.999999989906,2.69432792235e-05,-0.000138392580989,1.75732609296e-05,1793256118234756864
+60,1.000000000,BASELINE,790,750.172295754,729,707,696.827704246,654,931,801,833.827704246,668,655.827704246,673,0.40104242625,0.00448741120948,0.069861359709,0.999999989908,2.61666276385e-05,-0.000138516223612,1.76520745981e-05,1793256118251423488
+61,1.016666667,BASELINE,789.596121604,750,729,707,697,654,931,801,834,668,655.596121604,673,0.40104208311,0.00448691184494,0.0698611002831,0.999999989886,2.54327251222e-05,-0.00013881527122,1.76546535317e-05,1793256118268090368
+62,1.033333333,BASELINE,789.020609359,750,729,707,697,654,931,801,834,668,655.020609359,673,0.401041442462,0.004486427058,0.0698607879443,0.999999989852,2.47169894753e-05,-0.000139188859658,1.76248354291e-05,1793256118284757248
+63,1.050000000,BASELINE,789.566582563,750,729,707.566582563,697,654,931,801,833.433417437,668,655,673,0.401042151272,0.0044859576499,0.0698605419191,0.999999989911,2.28344053084e-05,-0.000139105889335,1.75248351556e-05,1793256118301423616
+64,1.066666667,BASELINE,790,750.152012134,729,707.847987866,697,653.847987866,931,801,833.152012134,668,655.152012134,673,0.401042835951,0.00448547263179,0.0698605774134,0.999999989985,2.1268156711e-05,-0.000138824511839,1.74922110699e-05,1793256118318090240
+65,1.083333333,BASELINE,790,750.731269206,729,707.268730794,697,653.268730794,931,801,833.731269206,668,655.731269206,673,0.40104331194,0.00448494213491,0.0698613972235,0.999999990103,2.07128039545e-05,-0.000138033150398,1.76562804432e-05,1793256118334756608
+66,1.100000000,BASELINE,790,750.690676472,729,707,697,653.309323528,931,801,834,668,655.690676472,673,0.401042849731,0.00448559025426,0.0698611428204,0.999999990013,2.19080357387e-05,-0.000138515035481,1.75513305658e-05,1793256118351423232
+67,1.116666667,BASELINE,790,750.113663045,729,707,697,653.886336955,931,801,834,668,655.113663045,673,0.401041575602,0.00448725835315,0.0698599587888,0.999999989735,2.46182308671e-05,-0.000140098793568,1.72135702745e-05,1793256118368089856
+68,1.133333333,BASELINE,790,750,729,707,697,654,931,801,833.537710214,668,655.462289786,673,0.401042303715,0.00448868836065,0.0698609153543,0.999999989921,2.59053210753e-05,-0.000138529951247,1.71950520908e-05,1793256118384756992
+69,1.150000000,BASELINE,790,750.038806832,729,707,696.961193168,654,931,801,833.038806832,668,655.961193168,673,0.401043485273,0.00448978478127,0.0698623182942,0.999999990205,2.67406282425e-05,-0.000136296228847,1.7274131308e-05,1793256118401423872
+70,1.166666667,BASELINE,790,750.626993941,729,707,696.373006059,654,931,801,833.626993941,668,655.373006059,673,0.401044132852,0.00448698551411,0.0698626066859,0.99999999031,2.61222358594e-05,-0.000135598160669,1.76262257591e-05,1793256118418090496
+71,1.183333333,BASELINE,790,750.788420319,729,707,696,654,931,801,834,668,655,673,0.401044343755,0.00448589318933,0.069862587599,0.999999990303,2.61178680721e-05,-0.000135625391673,1.78025119981e-05,1793256118434757120
+72,1.200000000,BASELINE,790,750.210077285,729,707,696,654,931,801,834,668,655,673,0.4010437977,0.00448775976782,0.0698620355126,0.999999990102,2.71778827285e-05,-0.000136909894333,1.76740430887e-05,1793256118451423744
+73,1.216666667,BASELINE,790,750.367125592,729,707,696,654,931.367125592,801,834,668,655,673,0.401044084841,0.00448745501226,0.0698624670723,0.999999990225,2.51323895813e-05,-0.000136416637785,1.75897117261e-05,1793256118468090368
+74,1.233333333,BASELINE,790,750.943678031,729,707,696,654,931.943678031,801,834,668,655,673,0.401044847279,0.00448591161876,0.0698634597532,0.999999990519,2.1315358993e-05,-0.000134909258159,1.75305586409e-05,1793256118484756992
+75,1.250000000,BASELINE,790,751,729,707,696.518148248,654,931.481851752,801,833.481851752,668,655,673,0.401043213924,0.00448704643292,0.0698619347914,0.99999999009,2.39194002377e-05,-0.000137640327759,1.74032931437e-05,1793256118501423360
+76,1.266666667,BASELINE,789.904877284,751,729,707,697,654,931,801,833,668,655,673,0.401041622634,0.00448823996211,0.0698605648384,0.999999989679,2.68345244749e-05,-0.000140081080557,1.73241585767e-05,1793256118518090240
+77,1.283333333,BASELINE,789.313666896,751,729,707,697,654,931,801,833,668,655,673,0.401041603431,0.00448822753469,0.0698614248043,0.999999989854,2.77465553303e-05,-0.000138614648807,1.75344959323e-05,1793256118534756864
+78,1.300000000,BASELINE,789.272133883,750.727866117,729,707,697,654,931,801,833.272133883,668,655,673,0.401042062448,0.00448847463529,0.0698619814377,0.99999999002,2.79182644604e-05,-0.000137373082344,1.75793239826e-05,1793256118551423488
+79,1.316666667,BASELINE,789.851820933,750.148179067,729,707,697,654,931,801,833.851820933,668,655,673,0.401043061929,0.00448901504248,0.0698621952583,0.999999990176,2.72532960497e-05,-0.00013638564836,1.74371010332e-05,1793256118568090368
+80,1.333333333,BASELINE,790,750.427906621,729.427906621,707,697,654,931,801,834,668,655,673.427906621,0.401042986144,0.0044892930036,0.0698617912763,0.999999990001,2.78706102933e-05,-0.00013754427046,1.74041669358e-05,1793256118584756992
+81,1.350000000,BASELINE,790,750.997189119,729.997189119,707,696.997189119,654,931,801,834,668,655,673.997189119,0.401042541426,0.00448947659373,0.0698611828466,0.99999998971,2.89215426839e-05,-0.000139427281885,1.74115671126e-05,1793256118601423360
+82,1.366666667,BASELINE,790,750.410819228,729.410819228,707,696.410819228,654,931,801,834,668,655,673.410819228,0.401042161465,0.00448877837375,0.0698621739479,0.99999998981,2.85782889344e-05,-0.000138702199803,1.80012384603e-05,1793256118618089984
+83,1.383333333,BASELINE,790,750.173321282,729.173321282,707,696,654,931,801.173321282,834,668,655,673.173321282,0.40104236798,0.00448819859186,0.0698628733292,0.999999989929,2.78288492264e-05,-0.000137967656768,1.82314106718e-05,1793256118634756608
+84,1.400000000,BASELINE,790,750.752244767,729.752244767,707,696,654,931,801.752244767,834,668,655,673.752244767,0.401043946951,0.00448789597573,0.0698628900349,0.99999999009,2.61288630556e-05,-0.000137210973296,1.76202919611e-05,1793256118651423488
+85,1.416666667,BASELINE,790,751,729.66947979,707,696.33052021,654,931,802,834,668,655,673.66947979,0.401042510258,0.00448843004636,0.0698617241124,0.999999989837,2.60194766e-05,-0.000139092325161,1.74028561677e-05,1793256118668090368
+86,1.433333333,BASELINE,790,751,729.0916892,707,696.9083108,654,931,802,834,668,655,673.0916892,0.401038817471,0.00448959006317,0.0698596734363,0.999999989263,2.71000574155e-05,-0.000142947256852,1.74799443835e-05,1793256118684757248
+87,1.450000000,BASELINE,790,750.518469485,729,707,696.518469485,654,931,802,834,668,655.481530515,673,0.401039513565,0.00448859337825,0.0698602124217,0.999999989401,2.60167491167e-05,-0.000142177432353,1.74845441056e-05,1793256118701423872
+88,1.466666667,BASELINE,789.944060465,750.055939535,729.055939535,707,696.055939535,654,931,801.944060465,834,668,655.944060465,673,0.401040888419,0.00448741464312,0.0698610530182,0.999999989636,2.46671153156e-05,-0.000140765456785,1.74478561083e-05,1793256118718090496
+89,1.483333333,BASELINE,789.349913735,750.650086265,729.650086265,707,696.650086265,654,931,801.349913735,834,668,655.349913735,673,0.401040828965,0.00448839828172,0.0698600958415,0.999999989528,2.46820666665e-05,-0.000141568073323,1.71454794759e-05,1793256118734756864
+90,1.500000000,BASELINE,789,751,729.762433063,707,697,654,931,801,834,667.762433063,655,673,0.401041235542,0.00448912464099,0.0698602296507,0.999999989565,2.52976739464e-05,-0.000141204369819,1.70401718619e-05,1793256118751423488
+91,1.516666667,BASELINE,789,751,729.184502931,707,697,654,931,801,834,667.184502931,655,673,0.401042309803,0.00448948239494,0.0698619265203,0.999999989809,2.67738436123e-05,-0.000139169674401,1.7217205922e-05,1793256118768090112
+92,1.533333333,BASELINE,789.391690142,751,729,707,697,654,931,801,834,667.391690142,655.391690142,673,0.40104245842,0.00448916364149,0.0698622125539,0.99999998985,2.70613124369e-05,-0.000138798490957,1.73799106661e-05,1793256118784756992
+93,1.550000000,BASELINE,789.967068649,751,729,707,697,654,931,801,834,667.967068649,655.967068649,673,0.401042172944,0.00448852763083,0.0698618369572,0.999999989798,2.67913241303e-05,-0.000139207433668,1.75358955001e-05,1793256118801423616
+94,1.566666667,BASELINE,790,751,729,707,697,654,931,801,834,668,655.446362331,673,0.401040528477,0.00448786934074,0.0698608946459,0.999999989651,2.48916340521e-05,-0.000140627660289,1.73984998796e-05,1793256118818090496
+95,1.583333333,BASELINE,790,751,729,707,697,654,931,801,834,668,655.138839904,673.138839904,0.401039222497,0.00448736860408,0.0698601115929,0.999999989523,2.35149209413e-05,-0.000141786833441,1.72747642342e-05,1793256118834757120
+96,1.600000000,BASELINE,790,751,729,707,697,654,931,801,834,668,655.717559574,673.717559574,0.401039250323,0.00448737132146,0.0698599421124,0.999999989489,2.4108588423e-05,-0.000141924412536,1.725073587e-05,1793256118851423744
+97,1.616666667,BASELINE,790,751,729,707,696.703970291,654,931,801,833.703970291,668,656,673.703970291,0.401040439816,0.00448705748686,0.0698602659823,0.999999989587,2.36626021613e-05,-0.000141310104431,1.72404932516e-05,1793256118868090368
+98,1.633333333,BASELINE,790,751,729,707,696.12573807,654,931,801,833.12573807,668,656,673.12573807,0.401042736718,0.00448644188605,0.0698610601587,0.999999989807,2.22255231191e-05,-0.00013997902888,1.72433924644e-05,1793256118884756992
+99,1.650000000,BASELINE,790,751,729,707,696.449374589,654,931,801,833.449374589,668,656,673.449374589,0.401042403772,0.00448648353453,0.0698611841552,0.999999989874,2.19451147299e-05,-0.000139545714009,1.72231611468e-05,1793256118901423616
+100,1.666666667,BASELINE,790,751,729,707,697,654,931,801.024240472,834,667.975759528,656,673.975759528,0.401041371154,0.00448671302114,0.0698611171751,0.999999989893,2.20205648503e-05,-0.000139402322607,1.72075851489e-05,1793256118918090240
+101,1.683333333,BASELINE,790,751,729,707,697,654,931,801.613561486,834,667.386438514,656,673.386438514,0.401041063642,0.0044870638007,0.0698609394996,0.999999989757,2.28989880461e-05,-0.000140202012734,1.74503648197e-05,1793256118934756864
+102,1.700000000,BASELINE,790,751,729,707.199201389,697,654,931,801.800798611,834,667.199201389,656,673,0.401040661031,0.00448719277877,0.069860684745,0.999999989629,2.34958736573e-05,-0.000141006501488,1.74971101929e-05,1793256118951423232
+103,1.716666667,BASELINE,790,751,729,707.777829661,697,654,931,801.222170339,834,667.777829661,656,673,0.401040077283,0.00448689928261,0.069860283175,0.999999989519,2.35565032267e-05,-0.000141820130292,1.71704611407e-05,1793256118968090112
+104,1.733333333,BASELINE,790,750.644501267,729,707.644501267,697,654,931,801,834,668,655.644501267,673,0.401040161174,0.00448700258344,0.06986025764,0.999999989524,2.40968831074e-05,-0.000141696895523,1.714227049e-05,1793256118984756992
+105,1.750000000,BASELINE,790,750.067429982,729,707.067429982,697,654,931,801,834,668,655.067429982,673,0.401040661187,0.00448735319686,0.0698604664774,0.9999999896,2.4936278126e-05,-0.00014098973962,1.73001006942e-05,1793256119001423616
+106,1.766666667,BASELINE,790,750,729,707,696.49645062,654,931,801.50354938,833.49645062,668,655,673,0.401041435103,0.00448787811182,0.0698615237926,0.999999989812,2.6181987472e-05,-0.000139233871894,1.74346048604e-05,1793256119018090496
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696,654,931,802,833,668,655,673,0.401042463404,0.00448923111595,0.0698619250251,0.999999989751,2.71012368258e-05,-0.000139531114516,1.71421006708e-05,1793256119060632064
+108,1.800000000,POSE1_TO_POSE2_PRESS,789.580910125,750,729,707,696.580910125,654,931,801.419089875,833.580910125,668,655,673,0.401041057399,0.00448849367559,0.069861513233,0.999999989684,2.67355400819e-05,-0.000140109722911,1.69110450168e-05,1793256119077298432
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,750,729,707,697,654,931,801.160274147,834,668,655,673,0.401040411734,0.00448810938152,0.069861324182,0.999999989677,2.60767460723e-05,-0.000140298964999,1.67801264347e-05,1793256119093965056
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,750,729,707,697,654,931,801.735634122,834,668,655,673,0.401041735234,0.0044886396828,0.0698617119968,0.999999989826,2.46588743448e-05,-0.000139479807304,1.6908547691e-05,1793256119110631680
+111,1.850000000,POSE1_TO_POSE2_PRESS,790,750.308865387,729,707,697,654,931,802,833.691134613,668,655.308865387,673.308865387,0.401042344756,0.00448841412367,0.0698619214598,0.9999999899,2.50961865581e-05,-0.000138844512208,1.70820821272e-05,1793256119127298560
+112,1.866666667,POSE1_TO_POSE2_PRESS,790,750.880287072,729,707,697,654,931,802,833.119712928,668,655.880287072,673.880287072,0.401042347348,0.00448754603246,0.0698619793118,0.99999998991,2.71105296512e-05,-0.000138365512705,1.72939657849e-05,1793256119143965440
+113,1.883333333,POSE1_TO_POSE2_PRESS,790,751,729,707,697,654,931,801.53178796,833.46821204,668,655.53178796,673.53178796,0.401041369402,0.00448782574045,0.0698612730208,0.999999989704,2.64705623028e-05,-0.000139981242346,1.72209374561e-05,1793256119160632064
+114,1.900000000,POSE1_TO_POSE2_PRESS,790,750.940756023,729,707,697,654,931,801,834,668,655,673,0.401040221258,0.00448823924567,0.0698605440741,0.999999989419,2.51536107801e-05,-0.000142250495031,1.71386126935e-05,1793256119177298432
+115,1.916666667,POSE1_TO_POSE2_PRESS,790,750.360856823,729,707,697,654,931,801,834,668,655,673,0.401039861136,0.00448715526266,0.0698613957895,0.999999988986,2.4069263953e-05,-0.000145384281158,1.76381770152e-05,1793256119193965056
+116,1.933333333,POSE1_TO_POSE2_PRESS,790,750.216515919,729,707,697,654,931,801,834,668,655.216515919,673,0.401043650721,0.00448709811557,0.0698635445215,0.999999988626,2.43688146149e-05,-0.00014774627018,1.80425918526e-05,1793256119210631680
+117,1.950000000,POSE1_TO_POSE2_PRESS,790,750.789726447,729,707,697,654,931,801,834,668,655.789726447,673,0.401054276656,0.00448873260789,0.0698678299964,0.999999988393,2.69482382662e-05,-0.000148836777946,1.82902546196e-05,1793256119227298560
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,751,729,707,697,654,931,801,834,668,656,673,0.40107751916,0.00448906214952,0.0698767199637,0.999999989022,2.71903838418e-05,-0.000144439509948,1.8817300144e-05,1793256119243965184
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,751,729,707,697,654,931,801,834,668,656,673,0.401108071286,0.0044886356463,0.0698882776212,0.999999990104,2.60783885044e-05,-0.000136862807346,1.95062107656e-05,1793256119260631808
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,751,729,707,696.457994288,654,931,801,833.457994288,668,655.457994288,673,0.401165484159,0.00448742835389,0.0699039480023,0.999999992616,2.40586154779e-05,-0.00011756578771,1.91918164502e-05,1793256119277298688
+121,2.016666667,POSE1_TO_POSE2_PRESS,789.877447565,751,729.122552435,707.122552435,696.122552435,654,931,801.122552435,833.122552435,668,655.122552435,673,0.401228448317,0.0044863158123,0.0699185501115,0.999999994683,2.19097255564e-05,-9.90201123871e-05,1.86626090107e-05,1793256119293965312
+122,2.033333333,POSE1_TO_POSE2_PRESS,789.300336256,751,729.699663744,707.699663744,696.699663744,654,931,801.699663744,833.699663744,668,655.699663744,673,0.401304748048,0.00448576559021,0.0699280791131,0.99999999592,1.95271056477e-05,-8.64267291479e-05,1.76076169601e-05,1793256119310631936
+123,2.050000000,POSE1_TO_POSE2_PRESS,789.275782732,750.724217268,729.724217268,707.724217268,696.724217268,654,931,801.724217268,834,668,655.724217268,673.275782732,0.4013886648,0.00448576320477,0.069933857265,0.999999996614,1.80170305366e-05,-7.86242812366e-05,1.63110131838e-05,1793256119327298560
+124,2.066666667,POSE1_TO_POSE2_PRESS,789.850824892,750.149175108,729.149175108,707.149175108,696.149175108,654,931,801.149175108,834,668,655.149175108,673.850824892,0.401480846988,0.00448635529196,0.069935565266,0.999999996849,1.74537779279e-05,-7.60206097773e-05,1.47522299448e-05,1793256119343964928
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,750,729,707,696,654,931,801,834,668,655,673.563303904,0.401585353925,0.00448880981337,0.0699318062359,0.999999996145,1.76711921558e-05,-8.5148643124e-05,1.21256981722e-05,1793256119360631552
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,750.025858801,729,707,696.025858801,654,931,801,834,668,655,673,0.401695728179,0.00449172190286,0.0699264583609,0.999999995018,1.79152136161e-05,-9.77724819546e-05,9.13464758482e-06,1793256119377298176
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,750.604299532,729,707,696.604299532,654,931,801,834,668,655,673,0.401839227592,0.00449047093406,0.0699280806369,0.999999995165,1.2884266164e-05,-9.72832837541e-05,6.34656381981e-06,1793256119393965056
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,751,729.180274722,707,696.819725278,654,931,801,834,668,655,673,0.401994085191,0.00448977153015,0.0699307417541,0.999999995439,8.46358505659e-06,-9.50713375178e-05,3.38082630429e-06,1793256119410631680
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,751,729.750911027,707,696.249088973,654,931,801,834,668,655,673,0.40217353745,0.00449026646881,0.0699356523472,0.999999996014,5.36435740751e-06,-8.91290033895e-05,3.04029418582e-08,1793256119427298560
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,751,729.666609655,707.333390345,696.333390345,654,931,801,834,668,655,673,0.402372339064,0.00449159023823,0.0699396129459,0.999999996395,1.13798982249e-06,-8.48009260483e-05,-4.27916298462e-06,1793256119443965184
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,751,729.074955997,707.925044003,696.925044003,654,931,801,834,668,655,673,0.402586129819,0.00449355606761,0.0699428376251,0.999999996609,-3.96152543538e-06,-8.17233441113e-05,-9.33173619574e-06,1793256119460631808
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,750.494066717,729,707.494066717,697,654,931,801.505933283,834,668,655.505933283,673,0.402830076272,0.0044936174691,0.0699444084822,0.999999996633,-1.13317786472e-05,-7.99653290648e-05,-1.45398955153e-05,1793256119477298432
+133,2.216666667,POSE1_TO_POSE2_PRESS,790,750.085146332,729,707,697,654,931,802,833.914853668,668,656,673,0.403084827012,0.00449338905579,0.0699464152562,0.99999999664,-1.87678684729e-05,-7.73446022196e-05,-1.96593193172e-05,1793256119493965056
+134,2.233333333,POSE1_TO_POSE2_PRESS,790,750.663695124,729,707,697,654,931,802,833.336304876,668,656,673,0.40337683629,0.00449308215603,0.0699523383184,0.99999999705,-2.46766166551e-05,-6.86153994407e-05,-2.41337538653e-05,1793256119510631680
+135,2.250000000,POSE1_TO_POSE2_PRESS,790,750.759477172,729,707,697,654,931,801.759477172,833.240522828,668,656,673,0.40368646159,0.00449109208473,0.0699592489194,0.999999997569,-2.76348971315e-05,-5.8055247769e-05,-2.69673504025e-05,1793256119527298304
+136,2.266666667,POSE1_TO_POSE2_PRESS,790,750.185038876,729,707,697,654,931,801.185038876,833.814961124,668,656,673,0.40402054302,0.00448676528298,0.0699675305103,0.99999999826,-2.64970720393e-05,-4.49532083344e-05,-2.75229874451e-05,1793256119543964928
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,750.398544994,729,707,697,654,931,801.398544994,834,668,656,673,0.404376082181,0.00447964426792,0.0699707798667,0.999999998545,-2.24080144048e-05,-4.19007374617e-05,-2.55447452061e-05,1793256119560631808
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,750.986474735,729,707,697,654,931,801.986474735,834,668,656,673,0.404741817838,0.00447119546971,0.0699716379534,0.999999998655,-1.69165594858e-05,-4.36237252813e-05,-2.23624278893e-05,1793256119577298432
+139,2.316666667,POSE1_TO_POSE2_PRESS,790,751,729.565396019,707,697,654.565396019,931,802,834,668,656,673,0.40515898945,0.004474542649,0.0699779668427,0.999999999125,-1.02420860018e-05,-3.20270318832e-05,-2.49023373543e-05,1793256119593965056
+140,2.333333333,POSE1_TO_POSE2_PRESS,789.856878807,751,729.856878807,707,697,654.856878807,931,802,834,668,656,673,0.405582645583,0.00447865582148,0.0699822249557,0.999999999294,-1.04468895436e-05,-2.37247211131e-05,-2.71880089901e-05,1793256119610631936
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.282121341,751,729.282121341,707,697,654.282121341,931,802,834,668,656,673,0.406022205519,0.00448424146083,0.0699798493536,0.999999998758,-3.14827754453e-05,-2.63037530375e-05,-2.83005731664e-05,1793256119627298560
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,751,729,707,697,654,931.290460891,801.709539109,834,668,656,673,0.406467900625,0.00449023308929,0.0699678688967,0.999999997925,-3.17699836707e-05,-4.76461863329e-05,-2.95057464532e-05,1793256119643965184
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,751,729,707,697,654,931.860946113,801.139053887,834,668,656,673,0.406919510509,0.00449661611992,0.0699466286971,0.999999995662,-1.20540380282e-05,-8.70778329088e-05,-3.08002014074e-05,1793256119660631552
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,751,729.451802576,707,697,654,932,801.451802576,834,668,656,673,0.407458128948,0.0045038191018,0.0699399696331,0.999999995425,7.09708591608e-06,-8.97409299625e-05,-3.23538517512e-05,1793256119677298176
+145,2.416666667,POSE1_TO_POSE2_PRESS,789,751,729.95239042,707,697,654,931.95239042,802,834,668,656,673,0.40802903264,0.00451114563464,0.0699395706378,0.999999996028,2.50372574374e-05,-7.84948717177e-05,-3.40094918434e-05,1793256119693965056
+146,2.433333333,POSE1_TO_POSE2_PRESS,789,751,729.374571711,707,697,654,931.374571711,802,834,668,656,673,0.408647174607,0.00451690496177,0.069956549737,0.999999997878,3.15189252116e-05,-4.43257995666e-05,-3.58705915741e-05,1793256119710631936
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,750.797533194,729,707,697,654,931,801.797533194,834,668,656,673,0.409263566162,0.00452294968273,0.0699680611442,0.999999998578,3.27669735756e-05,-1.90079277569e-05,-3.7526994557e-05,1793256119727298560
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,750.221932561,729,707,697,654,931,801.221932561,834,668,656,673,0.409876731778,0.00452952036657,0.0699694959313,0.9999999989,2.43697840209e-05,-1.00022740577e-05,-3.88061540172e-05,1793256119743965184
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.638814194,750,729,707,697,654,931.361185806,801,834,668,656,673,0.410512164789,0.00453634755098,0.0699653339551,0.999999998568,3.12635335664e-05,-1.74548001441e-05,-3.97693068973e-05,1793256119760631808
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.050978346,750,729,707,697,654,931.949021654,801,834,668,656,673,0.411161570934,0.00454333569347,0.0699576599177,0.999999997418,4.77525994799e-05,-3.52351053767e-05,-4.05341603807e-05,1793256119777298432
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.531888226,750,729,707,697,654,931.468111774,801,833.468111774,668,655.468111774,673,0.411888230501,0.00455146394321,0.0699759083448,0.999999997152,6.27418579203e-05,-2.91078418536e-06,-4.18454722572e-05,1793256119793965056
+152,2.533333333,POSE1_TO_POSE2_PRESS,789,750,729,707,697,654,931.112650774,801,833.112650774,668,655.112650774,673,0.4126292057,0.00455931726665,0.0699986827802,0.999999995688,7.39576316793e-05,3.6102958609e-05,-4.30274566125e-05,1793256119810631424
+153,2.550000000,POSE1_TO_POSE2_PRESS,789,750,729,707,697,654,931.686727728,801,833.686727728,668,655.686727728,673,0.413398770832,0.00456560102296,0.0700299135203,0.999999993137,7.03002714803e-05,8.30288345008e-05,-4.34671598841e-05,1793256119827298304
+154,2.566666667,POSE1_TO_POSE2_PRESS,789,750.259108844,729.259108844,707,697,654,932,801,834,668,656,673,0.414148322123,0.00457188724128,0.0700413586221,0.999999991677,7.459061246e-05,9.57172679225e-05,-4.38325002951e-05,1793256119843965184
+155,2.583333333,POSE1_TO_POSE2_PRESS,789,750.829453037,729.829453037,707,697,654,932,801,834,668,656,673,0.414873833367,0.00457817641772,0.0700290376926,0.999999992854,8.84275416621e-05,6.7280510434e-05,-4.41085179316e-05,1793256119860632064
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,750.581592551,730,707.418407449,697,654,932,801.418407449,834,668,656,673,0.415624482006,0.0045843897762,0.0699838104349,0.999999994126,9.80632855559e-05,-6.97714839795e-06,-4.56366264145e-05,1793256119877298688
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,750,730,707.98518232,697,654,932,801.98518232,834,668,656,673.01481768,0.41638826779,0.00459044154006,0.0699263690463,0.999999988487,0.00010558992649,-9.80001330386e-05,-4.76808628076e-05,1793256119893965312
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,750,730,707.407129877,697,654,932,801.407129877,834,668,656,673.592870123,0.417243811731,0.00459158032453,0.069938228055,0.99999999022,0.000101069180933,-8.33101361256e-05,-4.90411625778e-05,1793256119910631936
+159,2.650000000,POSE1_TO_POSE2_PRESS,789.17004087,750,730,707,697,654,932,801,834,668,655.82995913,673.82995913,0.418104477101,0.00459198943048,0.0699554456283,0.99999999239,9.62197235556e-05,-5.87965546485e-05,-5.00491357161e-05,1793256119927298560
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.745111423,750,730,707,697,654,932,801,834,668,655.254888577,673.254888577,0.418977341434,0.00459066047506,0.0699854270599,0.999999994577,9.05872896227e-05,-1.0883638692e-05,-5.02178825781e-05,1793256119943965184
+161,2.683333333,POSE1_TO_POSE2_PRESS,789.679617516,750,730,707,697,654,932,801,834,668,655.320382484,673.320382484,0.419866930604,0.00458505071167,0.0700129466986,0.999999994624,8.4163782279e-05,3.34760245082e-05,-5.04682341182e-05,1793256119960631808
+162,2.700000000,POSE1_TO_POSE2_PRESS,789.104186862,750,730,707,697,654,932,801,834,668,655.895813138,673.895813138,0.42076983394,0.00457603310838,0.0700385065666,0.999999992924,7.71105222212e-05,7.50070332102e-05,-5.07835490112e-05,1793256119977298688
+163,2.716666667,POSE1_TO_POSE2_PRESS,788.51561304,750,729.51561304,707,697,654,932,801.48438696,834,668,655.51561304,673.51561304,0.421677113461,0.00457220897327,0.0700442948981,0.999999992737,7.44066953746e-05,8.03046225036e-05,-5.04136932322e-05,1793256119993965312
+164,2.733333333,POSE1_TO_POSE2_PRESS,788.073899045,750,729.073899045,707,697,654,932,801.926100955,834,668,655.073899045,673,0.422572301412,0.00457099075813,0.0700357696645,0.999999994049,7.43419412863e-05,6.20114866716e-05,-5.02999553692e-05,1793256120010632448
+165,2.750000000,POSE1_TO_POSE2_PRESS,788.650038779,750,729.650038779,707,697,654,932,801.349961221,834,668,655.650038779,673,0.423378735261,0.0045796795283,0.0699596735362,0.999999992995,8.56777260334e-05,-6.21675281934e-05,-5.29564038876e-05,1793256120027298816
+166,2.766666667,POSE1_TO_POSE2_PRESS,789,750,730,707,697,654,932,801,834,668,656,673,0.424224189568,0.00458591740069,0.0699020467495,0.999999983226,9.18417738543e-05,-0.000148198068873,-5.6131796574e-05,1793256120043965440
+167,2.783333333,POSE1_TO_POSE2_PRESS,789,750,730,707,697,654,932,801,834,668,656,673,0.42513001954,0.00458836305124,0.0698729971795,0.999999978795,9.00037040306e-05,-0.000175202289055,-6.01101421904e-05,1793256120060631808
+168,2.800000000,POSE1_TO_POSE2_PRESS,789,749.612723292,730,707,697,654,932,801,834,668,656,673,0.426076050676,0.00458993054354,0.0699083304137,0.999999987276,8.74633690496e-05,-0.000119071838635,-6.01740803851e-05,1793256120077298176
+169,2.816666667,POSE1_TO_POSE2_PRESS,789,749.023633925,730,707,697,654,932,801,834,668,656,673,0.427043030872,0.00459104042115,0.0699772139888,0.999999994539,8.45570780943e-05,-1.96193150232e-05,-5.81981921981e-05,1793256120093964800
+170,2.833333333,POSE1_TO_POSE2_PRESS,788.444032688,749,729.444032688,707,697,654.555967312,932,801,834,668,656,673,0.428040318566,0.00459234761606,0.0700210933265,0.999999993952,8.70933721519e-05,3.61700402165e-05,-5.65974682719e-05,1793256120110631424
+171,2.850000000,POSE1_TO_POSE2_PRESS,788.134175512,749,729.134175512,707,697,654.865824488,932,801,834,668.134175512,656,673,0.429026245963,0.00459317764759,0.0700566908079,0.999999990874,8.95293855547e-05,8.43925501926e-05,-5.58076071288e-05,1793256120127298048
+172,2.866666667,POSE1_TO_POSE2_PRESS,788.709110335,749,729.709110335,707,697,654.290889665,932,801,834,668.709110335,656,673,0.429970694175,0.00459241313178,0.0700685158797,0.999999987739,9.0888724304e-05,0.000113753265638,-5.76298774501e-05,1793256120143964672
+173,2.883333333,POSE1_TO_POSE2_PRESS,788.715830185,749,730,707,697,654,932,800.715830185,834,668.715830185,655.715830185,673,0.430851775542,0.00459184569247,0.0700397618469,0.999999992016,9.00737111593e-05,6.67871401948e-05,-5.82512910383e-05,1793256120160631808
+174,2.900000000,POSE1_TO_POSE2_PRESS,788.14064308,749,730,707,697,654,932,800.14064308,834,668.14064308,655.14064308,673,0.431667963093,0.00459148007854,0.0699694508973,0.999999992849,8.70319509338e-05,-5.83450327781e-05,-5.76429107859e-05,1793256120177298688
+175,2.916666667,POSE1_TO_POSE2_PRESS,788,748.553153595,730,707,696.553153595,654,932,800,834.446846405,668,655.446846405,673,0.432512895786,0.00459149503084,0.0699233334329,0.999999985568,8.8276477461e-05,-0.000132701178831,-5.88349828071e-05,1793256120193965312
+176,2.933333333,POSE1_TO_POSE2_PRESS,788,748,730,707,696.037469638,654,932,800,834.962530362,668,655.962530362,673,0.433376921044,0.00459137137673,0.0698921059027,0.999999978146,8.99561334691e-05,-0.000178757612529,-6.05157305752e-05,1793256120210632192
+177,2.950000000,POSE1_TO_POSE2_PRESS,788,748,730,707,696.615850464,654,932,800,834.384149536,668,655.384149536,673,0.43438225928,0.00458746868107,0.0699627900003,0.999999993684,7.78904755733e-05,-5.35207227584e-05,-6.08387324675e-05,1793256120227298560
+178,2.966666667,POSE1_TO_POSE2_PRESS,788,748,730,707,697,654,932.192345314,800,834,668,655.192345314,673,0.435351860139,0.00458561115425,0.0700196431473,0.999999994592,7.16192558732e-05,4.46505695051e-05,-6.07753646901e-05,1793256120243965184
+179,2.983333333,POSE1_TO_POSE2_PRESS,788,748,730,707,697,654,932.765110193,800,834,668,655.765110193,673,0.436250779977,0.00458779855104,0.0700491415245,0.999999991267,7.68082457957e-05,8.9291684303e-05,-5.9947838541e-05,1793256120260631808
+180,3.000000000,POSE1_TO_POSE2_PRESS,788,748,730,707,697,654,932.659024753,800,834,668.340975247,656,673.340975247,0.437122851919,0.00458871735302,0.070051772757,0.999999990092,7.89868245672e-05,9.97210163172e-05,-6.0275589076e-05,1793256120277298432
+181,3.016666667,POSE1_TO_POSE2_PRESS,788,748,730,707,697,654,932.081004501,800,834,668.918995499,656,673.918995499,0.437976259225,0.00458875423143,0.0700357260267,0.999999991259,7.90725739727e-05,8.63664133476e-05,-6.14064847194e-05,1793256120293965312
+182,3.033333333,POSE1_TO_POSE2_PRESS,788,747.491531437,730,707,697,654,932,800,834.508468563,668.491531437,656,673.491531437,0.438743591372,0.00458781430031,0.0699870300438,0.999999995168,7.2918993227e-05,1.7869987497e-05,-6.34583566897e-05,1793256120310631936
+183,3.050000000,POSE1_TO_POSE2_PRESS,788,746.902546967,730,707,697,654,932.097453033,800,835,668.097453033,656,673,0.439494416588,0.00458704586311,0.0699329641736,0.999999993573,6.87324030106e-05,-6.26575378523e-05,-6.48308530407e-05,1793256120327298560
+184,3.066666667,POSE1_TO_POSE2_PRESS,788,746.32516127,730,707,697,654,932.67483873,800,835,668.67483873,656,673,0.440233037016,0.00458790602419,0.0698786586911,0.999999982421,7.92407402822e-05,-0.000158175969093,-6.21183718458e-05,1793256120343965184
+185,3.083333333,POSE1_TO_POSE2_PRESS,788,746,729.751490142,707,696.751490142,653.751490142,933,799.751490142,835,668.751490142,656,673,0.441002480149,0.0045912602134,0.0698662787079,0.999999977788,8.67878901286e-05,-0.000182127235578,-6.10029177368e-05,1793256120360631808
+186,3.100000000,POSE1_TO_POSE2_PRESS,788,746,729.182607785,707,696.182607785,653.182607785,933,799.182607785,835,668.182607785,656,673,0.44181165906,0.00459782963929,0.069907948001,0.999999987508,9.0517553192e-05,-0.000113815953072,-6.19463103274e-05,1793256120377298176
+187,3.116666667,POSE1_TO_POSE2_PRESS,787.595158262,746.404841738,729.404841738,707,695.595158262,653,933,799,835,668.404841738,655.595158262,673,0.442570413106,0.00460492303673,0.0699406258897,0.999999990898,9.87690528805e-05,-6.87105949159e-05,-6.1053204332e-05,1793256120393965056
+188,3.133333333,POSE1_TO_POSE2_PRESS,787.001034837,747,729.998965163,707,695,653,933,799,835,669,655.001034837,673.001034837,0.443305192328,0.00461226116684,0.0699689421172,0.999999991681,0.000109157241978,-3.47395233565e-05,-5.92943865616e-05,1793256120410631680
+189,3.150000000,POSE1_TO_POSE2_PRESS,787.578330392,747,729.421669608,707,695,653,933,799,835,669,655.578330392,673.578330392,0.443963685535,0.00461794499513,0.0699354137702,0.999999986948,0.000119006044632,-9.20381362782e-05,-5.89145438494e-05,1793256120427298560
+190,3.166666667,POSE1_TO_POSE2_PRESS,788,747,729.155352796,707,694.844647204,653,933,799,835,669,656,674,0.444613081468,0.00462381307372,0.0698977975682,0.999999978161,0.000128193005051,-0.000154140539991,-5.90441659438e-05,1793256120443965440
+191,3.183333333,POSE1_TO_POSE2_PRESS,788,747,729.731635225,707,694.268364775,653,933,799,835,669,656,674,0.445237828414,0.00463018038125,0.069849105283,0.999999962695,0.00013558670137,-0.000229258865955,-6.05541871382e-05,1793256120460631808
+192,3.200000000,POSE1_TO_POSE2_PRESS,788,746.695442889,730,707,693.695442889,652.695442889,933,799,835,669,655.695442889,673.695442889,0.445842329474,0.00463575837579,0.0698161389533,0.999999949403,0.000146281562926,-0.00027594344827,-6.0423559656e-05,1793256120477298688
+193,3.216666667,POSE1_TO_POSE2_PRESS,788,746.125449908,730,707,693.125449908,652.125449908,933,799,835,669,655.125449908,673.125449908,0.446429185253,0.0046406484465,0.0697968785375,0.999999941135,0.000159853545478,-0.000297846679807,-5.88630296649e-05,1793256120493965568
+194,3.233333333,POSE1_TO_POSE2_PRESS,788,746,730,707,693,652,933,799,835,668.533922934,655.466077066,673.466077066,0.446975731574,0.00464449180937,0.0697849721179,0.999999931909,0.000167119328368,-0.000323923744214,-5.76707582344e-05,1793256120510631936
+195,3.250000000,POSE1_TO_POSE2_PRESS,787.938695506,746,730,707,692.938695506,652,933,798.938695506,835,668.061304494,655.938695506,674,0.447508965946,0.00464799765781,0.0697743928644,0.999999922011,0.000172135898786,-0.000350893368882,-5.67559563269e-05,1793256120527298304
+196,3.266666667,POSE1_TO_POSE2_PRESS,787.363392863,746,730,707,692.363392863,652,933,798.363392863,835,668.636607137,655.363392863,674,0.448025962956,0.00465115024185,0.0697575410361,0.999999912868,0.000173215138998,-0.000375470993252,-5.72962335023e-05,1793256120543964928
+197,3.283333333,POSE1_TO_POSE2_PRESS,787.212180659,746.212180659,730,707.212180659,691.787819341,651.787819341,933,798,835,669,655,674,0.448545450241,0.00465381782733,0.0697530157137,0.999999910452,0.000174315046227,-0.00038132926128,-5.74363230114e-05,1793256120560631552
+198,3.300000000,POSE1_TO_POSE2_PRESS,787.788218639,746.788218639,730,707.788218639,691.211781361,651.211781361,933,798,835,669,655,674,0.449069207912,0.00465565371428,0.069769628462,0.999999919947,0.000175450394177,-0.000355086698967,-5.68901519556e-05,1793256120577298176
+199,3.316666667,POSE1_TO_POSE2_PRESS,788,746.626940018,730,707.626940018,691,651,933,798,835,669,655,674,0.449549472714,0.00465637696885,0.0697838877539,0.999999926714,0.000176169478287,-0.000335184979195,-5.64574980214e-05,1793256120593964800
+200,3.333333333,POSE1_TO_POSE2_PRESS,788,746.03698028,730,707.03698028,691,651,933,798,835,669,655,674,0.450004450499,0.00465645333115,0.0697967787309,0.999999931954,0.000176646543727,-0.000318969868382,-5.60908437092e-05,1793256120610631680
+201,3.350000000,POSE1_TO_POSE2_PRESS,788,746,729.457724708,707,689.915449416,651,933,798,835.542275292,669.542275292,655.542275292,674,0.450383837296,0.00465672285224,0.0697810482793,0.999999923433,0.000176450696447,-0.000344822024692,-5.56567941679e-05,1793256120627298304
+202,3.366666667,POSE1_TO_POSE2_PRESS,787.879420556,746.120579444,729,707.120579444,689,651,933,797.879420556,835.879420556,669.879420556,655.879420556,674,0.450747242228,0.00465751809996,0.0697591458705,0.999999910988,0.000177007995903,-0.00037896531339,-5.5469094004e-05,1793256120643964928
+203,3.383333333,POSE1_TO_POSE2_PRESS,787.30200878,746.69799122,729,707.69799122,689,651,933,797.30200878,835.30200878,669.30200878,655.30200878,674,0.451069249734,0.00466025619826,0.0697211117582,0.999999887994,0.000180589190515,-0.000433862414723,-5.62317988531e-05,1793256120660631552
+204,3.400000000,POSE1_TO_POSE2_PRESS,787,747,729.27411218,707.72588782,688.72588782,650.72588782,933,797.27411218,835,669,655.27411218,674,0.451389786269,0.00466306785247,0.0696948656531,0.999999871078,0.000184243940133,-0.000469750218945,-5.68624564882e-05,1793256120677298176
+205,3.416666667,POSE1_TO_POSE2_PRESS,787,747,729.848817587,707.151182413,688.151182413,650.151182413,933,797.848817587,835,669,655.848817587,674,0.451708709708,0.00466596016841,0.0696815463568,0.999999863176,0.000187979350866,-0.00048479230016,-5.73483103632e-05,1793256120693964800
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,747,730,707,688,650,933,798,835,669,655.565273859,674,0.452001511581,0.00466430478298,0.0696779231584,0.99999986304,0.000186178299825,-0.00048580096886,-5.70598058471e-05,1793256120710631424
+207,3.450000000,POSE1_TO_POSE2_PRESS,787.024158712,747,730,707,687.951682577,650,933,798,835,669,655,674,0.452283472765,0.00466113003424,0.0696777804661,0.999999865633,0.000182486924093,-0.000481911702303,-5.65073606668e-05,1793256120727298304
+208,3.466666667,POSE1_TO_POSE2_PRESS,787.602689355,747,730,707,686.794621289,650,933,798,835,669,655,674,0.452530640954,0.00466034182251,0.0696780817863,0.999999866601,0.000180768816761,-0.00048058071594,-5.62412331504e-05,1793256120743965184
+209,3.483333333,POSE1_TO_POSE2_PRESS,787.819921889,746.819921889,730,707.180078111,686,649.819921889,933,798,835,669,655,674,0.452762299805,0.0046600666075,0.0696758043564,0.999999864903,0.000180132543398,-0.000484361776231,-5.60421692851e-05,1793256120760632064
+210,3.500000000,POSE1_TO_POSE2_PRESS,787.245036709,746.245036709,730,707.754963291,686,649.245036709,933,798,835,669,655,674,0.452959955622,0.00466091609743,0.0696678732199,0.999999857219,0.000181868105974,-0.000499350596114,-5.59901372176e-05,1793256120777298432
+211,3.516666667,POSE1_TO_POSE2_PRESS,787,746,729.66445715,707.66445715,685.66445715,649,933,797.66445715,835,669,655,673.66445715,0.453144791025,0.00466128758664,0.0696630444984,0.999999852579,0.000183278496407,-0.000508071708651,-5.58009061774e-05,1793256120793964800
+212,3.533333333,POSE1_TO_POSE2_PRESS,787,746,729.079647309,707.079647309,685.079647309,649,933,797.079647309,835,669,655,673.079647309,0.453320102463,0.0046613039803,0.069660520488,0.999999850307,0.000184447324209,-0.000512136688585,-5.55097532072e-05,1793256120810631424
+213,3.550000000,POSE1_TO_POSE2_PRESS,787,746.503040425,729.503040425,707,685,649,933,797,835,669,655,673.503040425,0.453471821012,0.00466153635651,0.0696591364665,0.999999849326,0.000184934438683,-0.000513872141944,-5.55245580437e-05,1793256120827298304
+214,3.566666667,POSE1_TO_POSE2_PRESS,787.084725011,746.915274989,729.915274989,707.084725011,685,649,933,797,835.084725011,669,655.084725011,674,0.453615608017,0.0046615577171,0.0696586404463,0.999999849106,0.0001851214492,-0.000514241255354,-5.54477460386e-05,1793256120843965184
+215,3.583333333,POSE1_TO_POSE2_PRESS,787.662519042,746.337480958,729.337480958,707.662519042,685,649,933,797,835.662519042,669,655.662519042,674,0.453734884325,0.00466015286527,0.0696622662607,0.999999852112,0.000184187478191,-0.000508796251592,-5.45570213978e-05,1793256120860631552
+216,3.600000000,POSE1_TO_POSE2_PRESS,787.761650271,746.238349729,729,707.761650271,685,649,933,797.238349729,836,669,655.761650271,674,0.453842937402,0.00466029246085,0.069664993018,0.999999853411,0.000185921386018,-0.000505665142833,-5.39813729975e-05,1793256120877298176
+217,3.616666667,POSE1_TO_POSE2_PRESS,787.188576819,746.811423181,729,707.188576819,685,649,933,797.811423181,836,669,655.188576819,674,0.453935229253,0.00466260098365,0.0696664571943,0.999999852324,0.000191401899133,-0.000505783526473,-5.38481983779e-05,1793256120893965056
+218,3.633333333,POSE1_TO_POSE2_PRESS,787,747,729,707,685,649,933,797.613837544,835.613837544,669,655.386162456,674,0.454011125032,0.0046624005449,0.0696647850266,0.999999850524,0.000189891111762,-0.000509896322634,-5.38384330663e-05,1793256120910631680
+219,3.650000000,POSE1_TO_POSE2_PRESS,787,747,729,707,685,649,933,797.038281282,835.038281282,669,655.961718718,674,0.454078979338,0.00466096958311,0.0696615746354,0.999999848333,0.000184951433122,-0.000515968182831,-5.38891939887e-05,1793256120927298304
+220,3.666666667,POSE1_TO_POSE2_PRESS,787,747,729.553996764,707,684.446003236,649,933,797,835,669,655.446003236,674,0.454124723506,0.00466325548856,0.0696571115056,0.999999843935,0.00018796410366,-0.000523281019324,-5.45483512297e-05,1793256120943964928
+221,3.683333333,POSE1_TO_POSE2_PRESS,787,746.856271229,729.856271229,707,684,649,933,797,835,669,655,674,0.454166236241,0.00466560146623,0.0696531658782,0.999999840018,0.000190891859788,-0.000529585356613,-5.53485185147e-05,1793256120960631552
+222,3.700000000,POSE1_TO_POSE2_PRESS,787,746.277843131,729.277843131,707,684,649,933,797,835,669,655,674,0.454199715845,0.0046673281659,0.0696510553651,0.999999838187,0.00019184911328,-0.000532572122323,-5.64440566307e-05,1793256120977298176
+223,3.716666667,POSE1_TO_POSE2_PRESS,787,746,729,707,683.702025805,649,933,797,835,669,655,674,0.454226163658,0.00468251550293,0.069648480584,0.999999832882,0.000204893043684,-0.000537127074539,-6.12351846586e-05,1793256120993964800
+224,3.733333333,POSE1_TO_POSE2_PRESS,787,746,729,707,683.128621658,649,933,797,835,669,655,674,0.454246111699,0.00471014506754,0.0696454766603,0.999999823847,0.00022910919266,-0.000543131566883,-6.94423003633e-05,1793256121010631424
+225,3.750000000,POSE1_TO_POSE2_PRESS,787,746.458024705,729.458024705,707,683.458024705,649,933,797,835.458024705,669,655.458024705,674,0.454263279414,0.00471950868247,0.0696458036369,0.999999821335,0.000238976419215,-0.000543222372468,-7.16286406357e-05,1793256121027298560
+226,3.766666667,POSE1_TO_POSE2_PRESS,787,746.952452681,730,707,683.952452681,649,933,797,835.952452681,669,656,674,0.45427892995,0.00472230372539,0.0696468935055,0.999999821054,0.000243203195351,-0.000541830425146,-7.18622850567e-05,1793256121043965440
+227,3.783333333,POSE1_TO_POSE2_PRESS,787,746.37358039,730,707,683.37358039,649,933,797,835.37358039,669,656,674,0.454286611103,0.00471072316786,0.0696457447142,0.999999823529,0.000230768042001,-0.000542979143985,-6.97312007428e-05,1793256121060632064
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.796155975,746.203844025,730,707,683,649,933,797,835,669,655.796155975,674,0.454292376865,0.00470523026955,0.0696445653891,0.999999823872,0.000225521798223,-0.00054468052336,-6.86964369744e-05,1793256121077298432
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.221366372,746.778633628,730,707,683,649,933,797,835,669,655.221366372,674,0.454294657089,0.00471081540214,0.0696433305,0.999999820529,0.000233357587991,-0.000547387607905,-6.96567048807e-05,1793256121093965056
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+231,3.850000000,POSE1_TO_POSE2_PRESS,786.948693857,747,730,707,683,648.051306143,933,797,835,669,655,674,0.454300186195,0.00471035260106,0.0696430920026,0.999999820862,0.000230724210953,-0.000547998239455,-6.88439797543e-05,1793256121127298304
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,747,730,707,683,648.528629555,933,797.528629555,835,669,655,674,0.454300489408,0.00471038135125,0.0696416632774,0.999999819981,0.000231175730109,-0.000549417518008,-6.88231639966e-05,1793256121143964928
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,747,729.892440595,707,683,648.892440595,933,797.892440595,835,669,655,674,0.454300232536,0.00471067171976,0.0696400936782,0.999999818748,0.000232210111096,-0.000551219498822,-6.88402072897e-05,1793256121160631808
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,747,729.314755131,707,683,648.314755131,933,797.314755131,835,669,655,674,0.454298605381,0.00471141659281,0.069638567311,0.999999816776,0.000234139608446,-0.000553988729344,-6.87251545665e-05,1793256121177298432
+235,3.916666667,POSE1_TO_POSE2_PRESS,786.738333205,747,729.261666795,707,683,648.261666795,933,797,835.261666795,669,655.261666795,674,0.454297893836,0.00471041185601,0.0696377141355,0.999999815956,0.000233492583179,-0.0005557845037,-6.83591155545e-05,1793256121193965056
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.163423792,747,729.836576208,707,683,648.836576208,933,797,835.836576208,669,655.836576208,674,0.45429827837,0.00470731265269,0.0696376668409,0.999999816515,0.000229761190156,-0.000556414949216,-6.76926195954e-05,1793256121210631424
+237,3.950000000,POSE1_TO_POSE2_PRESS,786.42148093,747,729.57851907,707.42148093,683,649,933,797,835.57851907,669,655.57851907,674,0.454298899349,0.00470773847501,0.0696371490665,0.999999816219,0.000230592593949,-0.000556585507309,-6.78380207969e-05,1793256121227298304
+238,3.966666667,POSE1_TO_POSE2_PRESS,787,747,729.010171983,708,683,649,933,797,835,669,655.010171983,674,0.454299595393,0.00470951194256,0.0696364583038,0.999999815591,0.000233170242266,-0.000556584325845,-6.82896994194e-05,1793256121243964928
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,747,729.58862118,708,683,649,933,797,835,669,655.58862118,674,0.454299238899,0.00470836144124,0.0696365421544,0.99999981554,0.000232066522139,-0.000557192500302,-6.78378982476e-05,1793256121260631552
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,746.833399553,730,707.833399553,683,649,933,797,835,669,655.833399553,674,0.45429942518,0.0047072151626,0.0696370966248,0.999999815931,0.000230933367393,-0.000557009417971,-6.74432310783e-05,1793256121277298176
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,746.256577434,730,707.256577434,683,649,933,797,835,669,655.256577434,674,0.454300947939,0.00470607928158,0.0696388099064,0.999999817411,0.000229727735602,-0.000554878017413,-6.71892454675e-05,1793256121293965056
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,746.31641196,730,707,683,649,933,797,835,669,655,674,0.454301988063,0.00470643295953,0.0696389207888,0.999999817677,0.000229989808157,-0.000554289700493,-6.71841552097e-05,1793256121310631680
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,746.886330577,730,707,683,649,933,797,835,669,655,674,0.454302641505,0.00470798005991,0.0696377478421,0.999999816973,0.000231427793413,-0.000554937689585,-6.73784778727e-05,1793256121327298304
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,747,729.522889857,707,683,649,933,797,835,669,655,674,0.454302739181,0.00470770309154,0.0696380287899,0.999999816867,0.000231444005178,-0.000555149709863,-6.71424602861e-05,1793256121343964928
+245,4.083333333,HOLD_POSE2,787,747,729,707,683,649,933,797,836,669,656,674,0.454303828951,0.00470788787478,0.0696386691957,0.999999816689,0.000231848149756,-0.000555375595326,-6.65363744453e-05,1793256121387369728
+246,4.100000000,HOLD_POSE2,787,747,729.575655837,707,682.424344163,649,933,797,836,669,655.424344163,674,0.454302208766,0.00470795599614,0.0696373576749,0.999999816394,0.000230166950584,-0.000556517083196,-6.72525423249e-05,1793256121404036096
+247,4.116666667,HOLD_POSE2,787,747,730,707,682,648.845891447,933,797,835.845891447,669,655.154108553,674,0.454301096272,0.00470770538773,0.0696362217686,0.999999816102,0.000228793385344,-0.000557562688346,-6.76216763928e-05,1793256121420702720
+248,4.133333333,HOLD_POSE2,787,747,730,707,682,648.259594927,933,797,835.259594927,669,655.740405073,674,0.454301407566,0.00470656092132,0.0696355783625,0.999999815826,0.00022828256018,-0.000558339396569,-6.70175756269e-05,1793256121437369344
+249,4.150000000,HOLD_POSE2,787,747,730,707,682,648,933,797,835,669,655.677079303,674,0.454301359269,0.00470674015711,0.0696352253273,0.999999815353,0.000228455595633,-0.000559117532462,-6.69981901576e-05,1793256121454035968
+250,4.166666667,HOLD_POSE2,787,747,730,707,682,648,933,797,835,669,655.097567989,674,0.454301025246,0.00470797119787,0.0696351030189,0.999999814724,0.000229172022171,-0.000559896802725,-6.74434155731e-05,1793256121470702848
+251,4.183333333,HOLD_POSE2,787,747,730,707,682,648.481054358,933,797,835,669,655.481054358,674,0.454301981904,0.00470816028608,0.0696356291891,0.99999981488,0.000229639751825,-0.000559442182775,-6.73041449505e-05,1793256121487369728
+252,4.200000000,HOLD_POSE2,787,747,730,707,682,648.941123038,933,797.058876962,835,669,655.941123038,674,0.454303139522,0.00470807907466,0.0696362758403,0.999999815203,0.000230131323334,-0.000558694026665,-6.70448752568e-05,1793256121504036352
+253,4.216666667,HOLD_POSE2,787,747,730,707,682,648.368706243,933,797.631293757,835,669,655.368706243,674,0.454303770883,0.00470748011517,0.0696368282786,0.999999815589,0.000231269997144,-0.000557564369878,-6.67710429538e-05,1793256121520703232
+254,4.233333333,HOLD_POSE2,787,747,729.789893382,707.210106618,682.210106618,648.210106618,933,797.789893382,835.210106618,669,655,674,0.454303694714,0.00470689900746,0.0696366556075,0.999999815502,0.000231147384535,-0.000557778326657,-6.67046037555e-05,1793256121537369856
+255,4.250000000,HOLD_POSE2,787,747,729.199504016,707.800495984,682.800495984,648.800495984,933,797.199504016,835.800495984,669,655,674,0.454302337947,0.00470635021065,0.0696351705237,0.999999814556,0.000228741904794,-0.000560424158687,-6.70135360076e-05,1793256121554036480
+256,4.266666667,HOLD_POSE2,787,747,729,707.617036946,682.617036946,649,933,797,835.617036946,669,655.382963054,674,0.454302256025,0.00470589308358,0.0696345787157,0.999999814665,0.000227223107117,-0.000560861013752,-6.68879547748e-05,1793256121570702848
+257,4.283333333,HOLD_POSE2,787,747,729,707.038613284,682.038613284,649,933,797,835.038613284,669,655.961386716,674,0.454302824772,0.00470548274381,0.0696344428269,0.999999815317,0.000226156863099,-0.000560170428761,-6.65406021257e-05,1793256121587369472
+258,4.300000000,HOLD_POSE2,787,747,729.538335008,707.538335008,682.538335008,649,933,797.538335008,835.538335008,669,655.461664992,674,0.454303722086,0.00470751951534,0.0696356613034,0.999999815476,0.000228734812077,-0.000558768775498,-6.71250061611e-05,1793256121604036352
+259,4.316666667,HOLD_POSE2,787,746.885315748,729.885315748,707.885315748,682.885315748,649,933,798,835.885315748,669,655,674,0.454304237453,0.00470895165255,0.0696365084102,0.999999815534,0.000230925037246,-0.000557721277848,-6.74773786851e-05,1793256121620702976
+260,4.333333333,HOLD_POSE2,787,746.310944468,729.310944468,707.310944468,682.310944468,649,933,798,835.310944468,669,655,674,0.45430312766,0.00470725861513,0.0696354786421,0.999999815363,0.000230516302862,-0.000558297211601,-6.66325524526e-05,1793256121637369856
+261,4.350000000,HOLD_POSE2,787,746.270765874,729.270765874,707,682,649,933,797.729234126,835,669,655,674,0.454302487128,0.00470671750819,0.0696352356029,0.999999815134,0.000230157141587,-0.000558893820868,-6.63106505582e-05,1793256121654036480
+262,4.366666667,HOLD_POSE2,787,746.86113908,729.86113908,707,682,649,933,797.13886092,835,669,655,674,0.454302400503,0.0047075361201,0.069635921205,0.999999814836,0.000229856495569,-0.000559514835115,-6.66059995176e-05,1793256121670702848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,788,747,729,708,682,649,933,797,835,669,655,674,0.454303828837,0.00470993403977,0.0696356972344,0.999999814451,0.000232662352476,-0.000559036797513,-6.66674057285e-05,1793256121703547648
+264,4.400000000,POSE2_TO_POSE3_RETREAT,787.424469635,747,729.575530365,707.424469635,682,648.424469635,933,797,835,669,655,674,0.454304682787,0.00470771567462,0.0696356098881,0.999999815256,0.000229999910393,-0.000558740989947,-6.63022264835e-05,1793256121720214272
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,747,730,707.151847456,682,648.151847456,933,797,835,669,655.151847456,674,0.454304815827,0.00470645922139,0.0696353212383,0.999999815451,0.000228698320262,-0.000558949164056,-6.61091050144e-05,1793256121736880896
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,747,730,707.730375323,682,648.730375323,933,797,835,669,655.730375323,674,0.454302923164,0.00470790567083,0.0696344669399,0.999999813943,0.000231220625467,-0.000560573490307,-6.63994534171e-05,1793256121753547776
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,747,730,707.097536532,682,648.097536532,933,797,835.902463468,669,655.097536532,674,0.454303525647,0.0047072583272,0.0696349541264,0.999999814276,0.000231900121272,-0.000559778860844,-6.57118191778e-05,1793256121786881280
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,746.516133555,730,707,682,648,933,797,835.516133555,669,655,674,0.454304640829,0.00470801564468,0.0696357267074,0.999999815337,0.000230770870223,-0.000558298819035,-6.61336034494e-05,1793256121803547904
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746.635206845,730,707.635206845,682,648.635206845,933,797.635206845,835,669,655.635206845,674,0.454302547317,0.00470837435498,0.0696336791666,0.999999814906,0.000228729415909,-0.000559825543594,-6.68259949216e-05,1793256121836880896
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,787.392060098,746.392060098,730,707.607939902,682,648,933,797,835.607939902,669,655.392060098,674,0.454242167601,0.00470764763669,0.0696102963923,0.999999792367,0.000228906410123,-0.000598720603763,-6.63400328948e-05,1793256121886881024
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,788,746.877990221,730,707,682,649,933,797.122009779,835.122009779,669,655,674,0.454078009547,0.00470801954584,0.0695696036925,0.999999755917,0.000233010451979,-0.000655413339489,-6.56220995251e-05,1793256121936880896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,788,746.302616283,730,707,682,649,933,797.697383717,835.697383717,669,655,674,0.454003208857,0.00470825767687,0.0695643741479,0.999999749741,0.00023363424431,-0.000664674262961,-6.43558086962e-05,1793256121953547520
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,746.54808147,729.45191853,707,682,648,933,797.45191853,835,669,655,674,0.453720428046,0.00470812321857,0.0695621448474,0.999999747639,0.000241724649562,-0.000665381741487,-5.96452136865e-05,1793256122003547392
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,682.601419014,648.601419014,933,798,835,669,655.601419014,674,0.453451370826,0.00470693321045,0.0695607711796,0.999999743858,0.000246636302837,-0.000669651944424,-5.49653711351e-05,1793256122036881152
+284,4.733333333,POSE2_TO_POSE3_RETREAT,787,746.178796781,730,707,683,649,933,797.821203219,835,669,655.821203219,674,0.453290944979,0.00470645500267,0.0695569766861,0.999999738936,0.000249334910712,-0.000676189695225,-5.22165507748e-05,1793256122053547776
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,787,747,730,707.353432875,683,649,933,797.353432875,835.353432875,669,655.353432875,674,0.452908131225,0.00470639547696,0.0695468719379,0.999999725904,0.000259284621765,-0.000691999597803,-4.5828166019e-05,1793256122086881024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,787,747,730,707.932325736,683,649,933,797.932325736,835.932325736,669,655.932325736,674,0.452690155524,0.00470616678992,0.0695426635049,0.999999718823,0.000264406032829,-0.000700447025342,-4.26320878956e-05,1793256122103547648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,787,747,730,707.491322988,683,649,933,797.491322988,835.491322988,669,656,674,0.452443162535,0.00470619922331,0.0695374665108,0.99999971265,0.000268907314164,-0.00070773425989,-3.87377531738e-05,1793256122120214272
+289,4.816666667,POSE2_TO_POSE3_RETREAT,787,747,730,707.084748324,683.084748324,649,933,797.084748324,835,669,656,674,0.452186344236,0.00470590998996,0.0695333400346,0.999999707529,0.000273382130165,-0.000713447643993,-3.45957625048e-05,1793256122136880896
+290,4.833333333,POSE2_TO_POSE3_RETREAT,787,747,730,707.661147563,683.661147563,649,933,797.661147563,835,669,656,674,0.451894810529,0.00470355413776,0.0695361831403,0.999999708167,0.000278179653822,-0.000710921634185,-2.95532805458e-05,1793256122153547776
+291,4.850000000,POSE2_TO_POSE3_RETREAT,787,747,730,707.757156231,684,649,933,798,835,669,656,674,0.451590780984,0.00470055724531,0.0695386471329,0.999999708095,0.000282773209228,-0.000709422287187,-2.38541920154e-05,1793256122170214656
+292,4.866666667,POSE2_TO_POSE3_RETREAT,787,747,730,707.16790412,684,649,933,798,835,669,656,674,0.451268926567,0.00469664593098,0.0695405703337,0.99999970703,0.000287075810601,-0.000709387439796,-1.72184769357e-05,1793256122186881024
+293,4.883333333,POSE2_TO_POSE3_RETREAT,787,747,730,707,684.414692827,649,933,797.585307173,835,669,655.585307173,674,0.450919152393,0.00469483157236,0.0695467090327,0.999999708945,0.000292656512761,-0.000704514350396,-1.10706839296e-05,1793256122203547648
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787,747,730,707,684.994637725,649,933,797.005362275,835,669,655.005362275,674,0.450558252406,0.00469385283542,0.0695545275771,0.99999971196,0.000298746528645,-0.000697713256738,-5.11732447356e-06,1793256122220214528
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,787,746.144425422,729.144425422,707.855574578,686,649.144425422,933,798,835,669,655.144425422,674,0.449746651766,0.00468760585078,0.0695761852759,0.999999722892,0.00030620747764,-0.000678525351151,7.44701609274e-06,1793256122253548032
+297,4.950000000,POSE2_TO_POSE3_RETREAT,787,746.719061551,729.719061551,707.280938449,686,649.719061551,933,798,835,669,655.719061551,674,0.449321592826,0.00468512082686,0.0696008084777,0.999999749911,0.000307818240891,-0.000636612595766,1.22266244906e-05,1793256122270214400
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,787,749,730,707.760665611,695,653,932.239334389,799,834.239334389,669,656,674,0.436559766775,0.00457833758184,0.069722556912,0.999999904273,0.000124326985786,-0.000418781037881,2.48957146079e-05,1793256122586880768
+317,5.283333333,POSE2_TO_POSE3_RETREAT,787.34261973,749,730,707.65738027,695,653,932,799.34261973,834.34261973,668.65738027,656,674,0.435720963234,0.00457332588691,0.0697559091418,0.999999923339,0.000125172046052,-0.000370075620386,2.64286894833e-05,1793256122603547392
+318,5.300000000,POSE2_TO_POSE3_RETREAT,787.920761162,749,730,707.079238838,695,653,932,799.920761162,834.920761162,668.079238838,656,674,0.434892860724,0.00456864898901,0.0698107522568,0.99999994748,0.000140838204474,-0.000290378325167,2.974958024e-05,1793256122620214272
+319,5.316666667,POSE2_TO_POSE3_RETREAT,788,749,730,707.497010635,695,653,932.497010635,800,835,668.497010635,656,674,0.434025260487,0.00456392404459,0.0698363370554,0.999999956395,0.000133999439571,-0.000261296262169,3.12911520343e-05,1793256122636880896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,788,749,730,707.926866675,695,653,932.926866675,800,835,668.926866675,656,673.926866675,0.433149393725,0.00455896102951,0.0698550440781,0.999999963014,0.000123248693148,-0.00024028340149,3.23216093146e-05,1793256122653547520
+321,5.350000000,POSE2_TO_POSE3_RETREAT,788,749,730,707.349546684,695,653,932.349546684,800,835,668.349546684,656,673.349546684,0.432259785774,0.00455240934867,0.0698583718782,0.999999969341,0.000110170452811,-0.000219478571523,3.17766874921e-05,1793256122670214400
+322,5.366666667,POSE2_TO_POSE3_RETREAT,787.767772015,749.232227985,730,707,695.232227985,653.232227985,932,800,834.767772015,668,656,673.232227985,0.431316015012,0.00454678744649,0.0698332131152,0.999999961439,0.000104589604412,-0.000255298107299,3.1711539833e-05,1793256122686881280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,787.179160995,749.820839005,730,707,695.820839005,653.820839005,932,800,834.179160995,668,656,673.820839005,0.430289124472,0.00454259240555,0.069764338141,0.999999921921,0.00011051444336,-0.000378014844599,3.23826655434e-05,1793256122703547904
+324,5.400000000,POSE2_TO_POSE3_RETREAT,787.403698537,750,730,707,695.596301463,653.596301463,932,800,834,668,656,673.596301463,0.429334503729,0.00453618554818,0.0697338989674,0.999999905354,0.000103999868286,-0.000421251484388,3.19806626126e-05,1793256122720214272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,787.984041384,750,730,707,695.015958616,653.015958616,932,800,834,668,656,673.015958616,0.428411505775,0.00452881087784,0.069720277955,0.999999902955,9.20422423617e-05,-0.000429710417601,3.1109096349e-05,1793256122736880896
+326,5.433333333,POSE2_TO_POSE3_RETREAT,787.440871786,750,730,707,695.559128214,653,932,800,834,668,656,673.559128214,0.427557458635,0.00452184595894,0.0697936062019,0.99999994631,7.94847362076e-05,-0.00031621345093,3.2742726935e-05,1793256122753547520
+327,5.450000000,POSE2_TO_POSE3_RETREAT,787.133835517,750,730,707,695.866164483,653,932,800,834,668,656,673.866164483,0.426695330625,0.00451583560008,0.0698551061518,0.999999971736,7.20559110392e-05,-0.00022393480718,3.4469780855e-05,1793256122770214144
+328,5.466666667,POSE2_TO_POSE3_RETREAT,787.707783461,750,730,707,695.292216539,653,932,800,834,668,656,673.292216539,0.425800217675,0.00451292617114,0.0698696242728,0.999999973381,8.15483196084e-05,-0.000212771800116,3.62711090688e-05,1793256122786881024
+329,5.483333333,POSE2_TO_POSE3_RETREAT,788,750,729.708708235,707,695,653,932,800,834,668,656,673,0.424879897633,0.00450486495144,0.0698641354897,0.999999972055,7.11932336886e-05,-0.000222523103398,3.61284253322e-05,1793256122803547648
+330,5.500000000,POSE2_TO_POSE3_RETREAT,788,750,729.115283803,707,695,653,932,800,834,668,656,673,0.423933432429,0.0044914602088,0.0698378952116,0.999999966363,4.02519953929e-05,-0.000253967077949,3.39693798798e-05,1793256122820214272
+331,5.516666667,POSE2_TO_POSE3_RETREAT,788,750,729,707,695.465080166,653,932,800.465080166,834,668,655.534919834,673,0.422935005372,0.00448768075998,0.0697764001241,0.999999930949,4.20895851759e-05,-0.000367614505116,3.45024785646e-05,1793256122836881152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800.957128772,834,668,655.042871228,673,0.421934582151,0.00448550234284,0.0697106408555,0.999999877116,4.9507699001e-05,-0.000491991717107,3.55035716465e-05,1793256122853547520
+333,5.550000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800.372052356,834,668,655.627947644,673,0.421067364817,0.0044742215512,0.0696984563087,0.999999873333,2.75495250317e-05,-0.000501402762312,3.42141861695e-05,1793256122870214144
+334,5.566666667,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800,834,668,655.78921859,673.21078141,0.420233743595,0.00446432938304,0.0697222843913,0.999999896126,1.15179604136e-05,-0.000454411799897,3.35495015111e-05,1793256122886880768
+335,5.583333333,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800,834,668,655.21030158,673.78969842,0.419458798776,0.00445686248259,0.0698090095318,0.999999951692,5.83738022819e-06,-0.000308913155593,3.39758735561e-05,1793256122903547392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800,834,668,655.368460415,673.631539585,0.418641568936,0.00445019624265,0.0698605513098,0.999999973226,2.19295991129e-06,-0.00022860318333,3.58265579371e-05,1793256122920214272
+337,5.616666667,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653,932,800,834,668,655.947133936,673.052866064,0.417800214797,0.00444398679398,0.0698920203594,0.999999982057,-2.89795243817e-07,-0.000185484498339,3.84898376018e-05,1793256122936881408
+338,5.633333333,POSE2_TO_POSE3_RETREAT,788,750.521544756,729.521544756,707,696,653,932,800,834,668,656,673.521544756,0.416949305615,0.00443664425737,0.0698596669856,0.999999973118,-1.24820825792e-05,-0.000228521115224,3.7223212316e-05,1793256122953548032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,788,751,729.902088387,707,696,653,932,800.097911613,834,668,655.902088387,673.902088387,0.416104469584,0.00443004846069,0.0698231969339,0.999999960594,-2.4013172815e-05,-0.000277434547055,3.55746766695e-05,1793256122970214656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,788,751,729.313777965,707,696,653,932,800.686222035,834,668,655.313777965,673.313777965,0.415294863182,0.0044277633724,0.0697982476169,0.999999950253,-2.73431077222e-05,-0.000312396733707,3.39923180178e-05,1793256122986881280
+341,5.683333333,POSE2_TO_POSE3_RETREAT,788,750.729537113,729,707,696,653.270462887,932,801,834,667.729537113,655.270462887,673,0.414475216041,0.004433665213,0.0697733543273,0.999999934718,-1.98385731905e-05,-0.000359155475632,3.43172189759e-05,1793256123003547904
+342,5.700000000,POSE2_TO_POSE3_RETREAT,788,750.149947632,729,707,696,653.850052368,932,801,834,667.149947632,655.850052368,673,0.413644092855,0.0044489243355,0.0697485250764,0.999999911375,4.92599863887e-08,-0.000419397132551,3.68220296611e-05,1793256123020214528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,932,801,834,667.428793547,656,673,0.412926583299,0.00446599131758,0.0697743859327,0.999999931537,2.0251703351e-05,-0.000367758248472,3.56246834881e-05,1793256123036880896
+344,5.733333333,POSE2_TO_POSE3_RETREAT,788,750.007136743,729,707,696,653.992863257,932,801,834,668,656,673,0.412249359273,0.00448326861575,0.069817984341,0.999999960212,4.01476889065e-05,-0.000277239612377,3.31889289976e-05,1793256123053547520
+345,5.750000000,POSE2_TO_POSE3_RETREAT,788,750.577433824,729,707,696,653.422566176,932,801,834,668,656,673,0.411622143204,0.00446735326288,0.0698652434699,0.999999979034,2.71965865432e-05,-0.000199918703863,3.49880756822e-05,1793256123070214400
+346,5.766666667,POSE2_TO_POSE3_RETREAT,788,751,729,707.153194522,696,653.153194522,932,801,834,668,656,673.153194522,0.410982065712,0.00445466454587,0.0698944297836,0.999999987312,1.55750025469e-05,-0.000154316603444,3.63204674333e-05,1793256123086881280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,788,751,729,707.744583363,696,653.744583363,932,801,834,668,656,673.744583363,0.410305199538,0.00445120522507,0.0698719210154,0.999999979422,7.75634172824e-06,-0.000199442285566,3.63177643e-05,1793256123103547904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,788,750.670587983,729,707.670587983,696,654,932,801,834,668,656,673.670587983,0.409630511732,0.00445208454048,0.0698362591829,0.99999996486,5.48592128875e-06,-0.000262689590422,3.52593236471e-05,1793256123120214528
+349,5.816666667,POSE2_TO_POSE3_RETREAT,788,750.090746626,729,707.090746626,696,654,932,801,834,668,656,673.090746626,0.40895748003,0.00445626222333,0.06979059798,0.999999941712,7.43344754723e-06,-0.000339713517271,3.33982781159e-05,1793256123136881152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,932,801,834,668,656,673,0.408355982943,0.00445653053833,0.069778716563,0.999999937594,5.84465342695e-06,-0.000351754652155,3.23563053834e-05,1793256123153547776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,931.936135462,801,834,667.936135462,656,673,0.407775960404,0.00445673599133,0.0697761920195,0.99999993884,5.48110455241e-06,-0.000348265427551,3.1625776722e-05,1793256123170214144
+352,5.866666667,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,931.360277201,801,834,667.360277201,656,673,0.407261692354,0.0044622524768,0.0697984345774,0.999999949056,2.0200287478e-05,-0.000316929972585,3.21737248034e-05,1793256123186881024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,788,750.22049383,729,707,696,654,931,801,833.77950617,667,656,673,0.406758114667,0.00446737770158,0.0698127949517,0.999999954244,2.91268443879e-05,-0.000299331342263,3.2630519405e-05,1793256123203547648
+354,5.900000000,POSE2_TO_POSE3_RETREAT,788,750.80947498,729,707,696,654,931,801,833.19052502,667,656,673,0.406272402672,0.00447184905441,0.0698139826887,0.999999952637,2.83728149493e-05,-0.000304689574352,3.29349791219e-05,1793256123220214272
+355,5.916666667,POSE2_TO_POSE3_RETREAT,788,751,729,707,696,654,931.391753734,801,833.391753734,667,656,673,0.405806010246,0.0044726446686,0.0698100562737,0.999999949534,2.45366410117e-05,-0.000315094974457,3.232008109e-05,1793256123236880640
+356,5.933333333,POSE2_TO_POSE3_RETREAT,788,751,729,707,696,654,931.970827735,801,833.970827735,667,656,673,0.405348855587,0.00447168269856,0.0698036844851,0.999999945563,1.92267142843e-05,-0.00032791371985,3.12655846178e-05,1793256123253547520
+357,5.950000000,POSE2_TO_POSE3_RETREAT,788.547464322,751,729,707,696,653.452535678,932,801,834,667,655.452535678,673,0.40495930557,0.00447072799433,0.0698197481926,0.999999955048,2.66874677575e-05,-0.000297037032877,3.09976325376e-05,1793256123270214400
+358,5.966666667,POSE2_TO_POSE3_RETREAT,788.877637957,751,729,707,696,653.122362043,931.877637957,801,834,667,655.122362043,673,0.404584613623,0.00446999866458,0.0698362432975,0.999999963808,3.24702048561e-05,-0.000265309083512,3.06771832081e-05,1793256123286881280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,788.308615487,751,729,707,696,653.691384513,931.308615487,801,834,667,655.691384513,673,0.404251066672,0.00447009061622,0.0698499685277,0.999999970565,2.96546175051e-05,-0.000238935334704,3.00127885068e-05,1793256123303547648
+360,6.000000000,POSE2_TO_POSE3_RETREAT,788.272626642,751,729.272626642,707,696,653.727373358,931,801,834,667,656,673,0.403920667109,0.00446909140742,0.0698539038655,0.999999972788,2.34333968225e-05,-0.000230246157417,2.93419287976e-05,1793256123320214016
+361,6.016666667,POSE2_TO_POSE3_RETREAT,788.86835059,751,729.86835059,707,696,653.13164941,931,801,834,667,656,673,0.403593997624,0.00446679903448,0.0698462369329,0.999999970096,1.31760669121e-05,-0.000242515452273,2.86634072842e-05,1793256123336880640
+362,6.033333333,POSE2_TO_POSE3_RETREAT,789,751,729.547813134,707,696,653.452186866,931,801,834,667,655.547813134,673,0.403287722108,0.0044658162272,0.0698358778872,0.999999965802,3.90309202973e-06,-0.000260067723913,2.72966602281e-05,1793256123353547264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.967689036,931,801,834,667,655.032310964,673,0.402989656013,0.00446541857648,0.0698250976149,0.999999960832,-4.47439543568e-06,-0.000278654539499,2.58426983095e-05,1793256123370213888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.393267013,931,801,834,667,655.606732987,673,0.402732260014,0.00446860564532,0.0698200633841,0.999999957762,-2.51258692865e-06,-0.000289454063228,2.62011226899e-05,1793256123386881024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.18497974,931,801,834,667,656,673,0.40249008937,0.00447110789174,0.0698145230765,0.999999954672,-3.3210298203e-07,-0.000299917610912,2.65709976191e-05,1793256123403547904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.771529475,931,801,834,667,656,673,0.402280971272,0.00447212346612,0.0698078841342,0.999999951692,2.32310023667e-06,-0.000309651791418,2.69657303451e-05,1793256123420214784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,789,750.644186693,729,707,696,654,931,801.355813307,834,667,656,673,0.402091990897,0.00447830752694,0.0698040563176,0.999999949867,1.80483301599e-05,-0.0003149983636,2.67792765105e-05,1793256123436881152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,789,750.061348551,729,707,696,654,931,801.938651449,834,667,656,673,0.40191585927,0.00448778931383,0.0698020221246,0.999999948352,4.2112823112e-05,-0.000317545445861,2.62219996313e-05,1793256123453547776
+369,6.150000000,POSE2_TO_POSE3_RETREAT,789,750.511373883,729,707.511373883,696,654,931,801.488626117,834,667,655.488626117,673,0.401769356057,0.00449670037928,0.0698023369364,0.999999947391,6.62184386586e-05,-0.000316467547542,2.60853069643e-05,1793256123470214400
+370,6.166666667,POSE2_TO_POSE3_RETREAT,789,751,729,707.916304443,696,653.916304443,931,801,834,667,655,673.083695557,0.401630333624,0.00450378691871,0.0698027449654,0.999999946412,8.52616707948e-05,-0.000315012095408,2.59582732626e-05,1793256123486880768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.339330847,696,653.339330847,931,801,834,667,655,673.660669153,0.401514858088,0.0045005159251,0.0698020737248,0.999999947652,7.44401392489e-05,-0.000313844802026,2.5596557762e-05,1793256123503547392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.242485541,931,801,834,667,655.242485541,673.757514459,0.401411646302,0.00449777289796,0.0698019001621,0.99999994881,6.30417199194e-05,-0.000312720073084,2.47282532821e-05,1793256123520214016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,653.831216932,931,801,834,667,655.831216932,673.168783068,0.401325945968,0.00449578375597,0.0698024372353,0.999999949876,5.08195614018e-05,-0.000311656122112,2.3136588863e-05,1793256123536880896
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae97df38b17630f736dd81d4206575fb7c62cb4d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20439db20a5ff83b53814515a54129649ce9a4e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d0769ad5e03e5cd73c1f5228fb4b5d13ca66a984568cb7b80c2537eede8d963
+size 25812837
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..593b2436154c7b287dddf12f111f0fcd8d57e8ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400982181051,0.00449753824402,0.0698334199853,0.999999964218,4.31588885213e-05,-0.000263201297915,2.06694665721e-05,1793256124231466496
+1,0.016666667,BASELINE,789,751,729,707,696,654,931,801.408176062,834,667,656,673,0.40098257738,0.00449802151517,0.0698336469392,0.999999964237,4.3340066488e-05,-0.000263100109819,2.06608190015e-05,1793256124248133120
+2,0.033333333,BASELINE,789.178970006,751,729,707,696.178970006,654,931,801,833.821029994,667,656,673,0.400983090936,0.00449852382563,0.069833864878,0.999999964356,4.38988261241e-05,-0.000262559360437,2.05901343941e-05,1793256124264799488
+3,0.050000000,BASELINE,789.755719142,751,729,707,696.755719142,654,931,801,833.244280858,667,656,673,0.400983865042,0.00449906845302,0.0698340627797,0.999999964695,4.52967996477e-05,-0.000261041641149,2.03815661297e-05,1793256124281466368
+4,0.066666667,BASELINE,789.666668667,751,729,707,696.666668667,653.666668667,931,801.333331333,833.333331333,667,655.666668667,673,0.400983681117,0.00449863743846,0.0698339814121,0.999999964802,4.50435424697e-05,-0.00026068727765,2.02427577254e-05,1793256124298132736
+5,0.083333333,BASELINE,789.088422384,751,729,707,696.088422384,653.088422384,931,801.911577616,833.911577616,667,655.088422384,673,0.400982793281,0.00449748957164,0.0698336948516,0.999999964738,4.3577044666e-05,-0.000261187689052,2.01552053395e-05,1793256124314799360
+6,0.100000000,BASELINE,789,751,729,707,696,653.483468779,931,801.516531221,834,667,655.483468779,673,0.400982748646,0.00449681569576,0.0698340826909,0.999999964862,4.21761357916e-05,-0.000260919994698,2.04556894353e-05,1793256124331466240
+7,0.116666667,BASELINE,789,750.94349223,729,707.05650777,696,654,931,801,834,667,656,673,0.400982856127,0.0044963154149,0.0698345532392,0.999999964997,4.10237791778e-05,-0.00026056201962,2.07485495921e-05,1793256124348132608
+8,0.133333333,BASELINE,789,750.348586329,729,707.651413671,696,654,931,801,834,667,656,673,0.400982962664,0.00449665387913,0.0698346518875,0.999999964933,4.21267835479e-05,-0.000260664971387,2.03013638265e-05,1793256124364799232
+9,0.150000000,BASELINE,789,750.238468384,729,707.761531616,696,654,931,801,834,667,655.761531616,673,0.40098416987,0.00449666459489,0.0698353853181,0.999999965233,4.26831203403e-05,-0.000259424168347,2.02564165893e-05,1793256124381465856
+10,0.166666667,BASELINE,789,750.814412208,729,707.185587792,696,654,931,801,834,667,655.185587792,673,0.400986934719,0.00449621148786,0.0698370170791,0.999999966042,4.24658245821e-05,-0.000256281711758,2.07807088943e-05,1793256124398132480
+11,0.183333333,BASELINE,789,751,729,707,696,654,931,801.387834725,834,667,655,673,0.400986724762,0.00449661317831,0.06983688749,0.999999965955,4.38999157991e-05,-0.000256372952992,2.08550091401e-05,1793256124414799360
+12,0.200000000,BASELINE,789,751,729,707,696,654,931,801.960058581,834,667,655,673,0.400985100488,0.00449742126699,0.0698359204982,0.99999996544,4.61191296034e-05,-0.000258001598142,2.07153686999e-05,1793256124431466240
+13,0.216666667,BASELINE,788.448149976,751,729,707,696,654,931,801.448149976,834,667,655.551850024,673,0.400983460253,0.00449802124804,0.0698351377133,0.999999965041,4.58602351602e-05,-0.000259606044042,2.048954257e-05,1793256124448132864
+14,0.233333333,BASELINE,788.141596721,750.858403279,729,707,696,654,931,801,834,667,656,673,0.400982551927,0.00449838329316,0.0698348643009,0.999999964816,4.5511979578e-05,-0.000260539356211,2.03965123109e-05,1793256124464799488
+15,0.250000000,BASELINE,788.720494005,750.279505995,729,707,696,654,931,801,834,667,656,673,0.400983907691,0.00449805873611,0.0698361213213,0.999999965106,4.54620315176e-05,-0.000259405579387,2.07335754329e-05,1793256124481466112
+16,0.266666667,BASELINE,789,750.298750246,729,707,696,654,931,801,834,667,656,673,0.400983450795,0.00449814733964,0.0698358850478,0.999999965007,4.57615572102e-05,-0.000259732140001,2.07676475501e-05,1793256124498132480
+17,0.283333333,BASELINE,789,750.876407984,729,707,696,654,931,801,834,667,656,673,0.400981301634,0.00449862166197,0.0698342546636,0.999999964543,4.63873448917e-05,-0.000261422043677,2.05188530623e-05,1793256124514799104
+18,0.300000000,BASELINE,789.451735711,751,729,707,696,654,931,801,834,667,655.548264289,673,0.40098197218,0.0044973777647,0.0698344354091,0.99999996482,4.45761699176e-05,-0.000260684204533,2.04347716989e-05,1793256124531465728
+19,0.316666667,BASELINE,790,751,729.027059127,707,696.027059127,654,931,801.027059127,834,667,655,673,0.40098337242,0.00449581404674,0.06983509132,0.999999965275,4.22955264811e-05,-0.000259318933905,2.03860278561e-05,1793256124548132608
+20,0.333333333,BASELINE,790,751,729.615449636,707,696.615449636,654,931,801.615449636,834,667,655,673,0.400983988467,0.00449731764884,0.0698353778626,0.999999965379,4.40361794002e-05,-0.00025864601713,2.01402993711e-05,1793256124564799488
+21,0.350000000,BASELINE,789.798086497,751,729.798086497,707,696.798086497,653.798086497,931,801.798086497,834,667,655.201913503,673,0.400984376783,0.00449820184678,0.0698357701237,0.999999965488,4.45006372517e-05,-0.000258159175656,1.99341251785e-05,1793256124581466112
+22,0.366666667,BASELINE,789.215257364,751,729.215257364,707,696.215257364,653.215257364,931,801.215257364,834,667,655.784742636,673,0.400984335475,0.00449791752075,0.0698363618255,0.99999996561,4.25575161995e-05,-0.000258023370665,1.98025713244e-05,1793256124598132736
+23,0.383333333,BASELINE,789,751,729,707,696,653.362211111,931,801,834,667,656,673,0.40098399224,0.00449864727615,0.0698362519487,0.999999965485,4.34122443434e-05,-0.000258358405539,1.99219027343e-05,1793256124614799360
+24,0.400000000,BASELINE,789,751,729,707,696,653.936540333,931,801,834,667,656,673,0.40098347219,0.004499970898,0.0698357312134,0.99999996521,4.59054490472e-05,-0.000258969173691,2.01881575866e-05,1793256124631465984
+25,0.416666667,BASELINE,789,751,729,707,696,653.489685931,931,801,833.489685931,667,656,673,0.400983840074,0.0044991870164,0.0698362193082,0.99999996541,4.63609090267e-05,-0.000258115600385,2.01721515806e-05,1793256124648132608
+26,0.433333333,BASELINE,789.086745364,751,729,707,696.086745364,653.086745364,931,801,833.086745364,667,655.913254636,673,0.40098425138,0.00449825619498,0.0698367070726,0.999999965636,4.61699302205e-05,-0.000257275439572,2.01183752831e-05,1793256124664799232
+27,0.450000000,BASELINE,789.67906808,751,729,707,696.67906808,653.67906808,931,801,833.67906808,667,655.32093192,673,0.400984272916,0.00449799476412,0.0698364625353,0.999999965673,4.36866122378e-05,-0.00025757361039,2.004881507e-05,1793256124681466112
+28,0.466666667,BASELINE,789.735156413,751,729,707,697,653.735156413,931,801,834,667,655.264843587,673,0.400983681011,0.0044978677088,0.0698359814356,0.999999965471,4.25876449773e-05,-0.000258538438512,2.00411973998e-05,1793256124698132736
+29,0.483333333,BASELINE,789.157123311,751,729,707,697,653.157123311,931,801,834,667,655.842876689,673,0.400982363684,0.00449789955864,0.0698352205901,0.999999964992,4.31257351783e-05,-0.000260291619019,2.01068295908e-05,1793256124714799360
+30,0.500000000,BASELINE,789,751,729,707,696.581618421,653,931,801,834,667,656,673,0.40098266744,0.00449778781625,0.0698351646328,0.999999965092,4.24980662891e-05,-0.000260009469863,2.01419914881e-05,1793256124731465984
+31,0.516666667,BASELINE,789,751,729,707,696.007057311,653,931,801,834,667,656,673,0.400983576336,0.00449762247167,0.0698353718064,0.999999965406,4.14352259644e-05,-0.000258967543356,2.01657789918e-05,1793256124748132608
+32,0.533333333,BASELINE,789,751,729.582285582,707,696,653.582285582,931,801.582285582,834,667,656,673,0.400982695616,0.00449690866137,0.0698350720667,0.999999965175,4.09751361517e-05,-0.000259930505316,2.01805287885e-05,1793256124764799232
+33,0.550000000,BASELINE,789,750.831232093,729.831232093,707,696,654,931,801.831232093,834,667,655.831232093,673,0.400982053706,0.004496630565,0.0698348544212,0.999999964969,4.15730301947e-05,-0.000260628518571,2.01425357558e-05,1793256124781465856
+34,0.566666667,BASELINE,789,750.252151452,729.252151452,707,696,654,931,801.252151452,834,667,655.252151452,673,0.400982046508,0.00449742836961,0.0698348516911,0.999999964838,4.47248974104e-05,-0.000260621765998,1.99765862882e-05,1793256124798132480
+35,0.583333333,BASELINE,789,750.325168462,729,707,696,653.674831538,931,801,834,667,655.325168462,673,0.400982068624,0.00449792651897,0.0698351755376,0.999999964931,4.54684966892e-05,-0.000260127649405,2.01088407466e-05,1793256124814799360
+36,0.600000000,BASELINE,789,750.901130438,729,707,696,653.098869562,931,801,834,667,655.901130438,673,0.40098211335,0.00449819355256,0.0698357512638,0.9999999652,4.43546653097e-05,-0.000259257642314,2.04710916949e-05,1793256124831465984
+37,0.616666667,BASELINE,789.474697298,750.525302702,729,707.474697298,696,653.474697298,931,801.474697298,834,667,656,673,0.400981728061,0.00449826391792,0.069835209758,0.999999965037,4.42354798589e-05,-0.000259903738984,2.048523591e-05,1793256124848132864
+38,0.633333333,BASELINE,789.95064719,750,729,707.95064719,696.04935281,654,931,801.95064719,834,667,656,673,0.400981398602,0.00449823963389,0.0698345752754,0.999999964828,4.43072654155e-05,-0.000260697941484,2.04248394181e-05,1793256124864799488
+39,0.650000000,BASELINE,789.358561012,750,729,707.358561012,696.641438988,654,931,801.358561012,834,667,656,673,0.400982663076,0.00449762268653,0.0698354644396,0.999999965103,4.42124131798e-05,-0.00025966574184,2.03380356787e-05,1793256124881466112
+40,0.666666667,BASELINE,789,750.228095676,729,707,697,654,931.228095676,801,834,667,656,673,0.400982981816,0.00449794812221,0.0698359715227,0.999999965144,4.55123717516e-05,-0.000259286716772,2.0256640858e-05,1793256124898132736
+41,0.683333333,BASELINE,789,750.806415737,729,707,697,654,931.806415737,801,834,667,656,673,0.400981848452,0.0044997205188,0.069835891948,0.999999964821,4.8953961278e-05,-0.000259910594007,2.0183551045e-05,1793256124914799104
+42,0.700000000,BASELINE,789,751,729.383495144,707,697,654,931.616504856,801.383495144,834,667,656,673,0.400982787341,0.00449830080973,0.0698363666309,0.999999965348,4.57574106109e-05,-0.000258448442155,2.03496898214e-05,1793256124931465728
+43,0.716666667,BASELINE,789,751,729.959950284,707,697,654,931.040049716,801.959950284,834,667,656,673,0.400984768909,0.0044952749559,0.0698371201949,0.999999966266,3.92208031993e-05,-0.000255936680733,2.06361992175e-05,1793256124948132352
+44,0.733333333,BASELINE,789,751,729.45525448,707.54474552,696.45525448,654,931.54474552,802,834,667,656,673,0.400984792799,0.00449640837557,0.0698368554115,0.999999966052,3.98411278267e-05,-0.000256718309374,2.00926341005e-05,1793256124964799488
+45,0.750000000,BASELINE,789,751,729,708,696,654,931.871255651,801.871255651,834,667,656,673,0.400984618747,0.00449780526975,0.069836540261,0.999999965787,4.15975887407e-05,-0.000257502071666,1.96826466442e-05,1793256124981466112
+46,0.766666667,BASELINE,789,751,729,708,696,654,931.292220358,801.292220358,834,667,656,673,0.400984263604,0.00449903753373,0.0698363148786,0.999999965632,4.54588007178e-05,-0.000257433264546,1.9956619679e-05,1793256124998132992
+47,0.783333333,BASELINE,789,751,729,707.713306645,696,654,931,801.286693355,834,667,656,673,0.400984228146,0.00449897686732,0.0698362801123,0.999999965666,4.67033908848e-05,-0.000257060965546,2.01750129545e-05,1793256125014799360
+48,0.800000000,BASELINE,789,751,729,707.134516734,696,654,931,801.865483266,834,667,656,673,0.400984518398,0.00449759890332,0.0698364395547,0.999999965903,4.52820452347e-05,-0.000256379454866,2.03367790137e-05,1793256125031465984
+49,0.816666667,BASELINE,789,751,729,707,696.44174795,654,931,802,834,667,656,673,0.400983234479,0.00449692031624,0.069835862834,0.999999965522,4.47343138369e-05,-0.000257946184633,2.04781242185e-05,1793256125048132608
+50,0.833333333,BASELINE,789,751,729,707.017537919,696.982462081,654,931,801.982462081,834,667,656,673,0.400981517415,0.00449650423746,0.0698350726786,0.99999996496,4.44989844597e-05,-0.0002601468968,2.05991772106e-05,1793256125064798976
+51,0.850000000,BASELINE,789,751,729,707.602711049,696.397288951,654,931,801.397288951,834,667,656,673,0.400981207651,0.00449773078689,0.0698345887145,0.999999964728,4.58136599977e-05,-0.000260834872829,2.02635697641e-05,1793256125081465600
+52,0.866666667,BASELINE,789,751,729,707.812403347,696,654,931,801,834,667,656,673,0.400981729074,0.00449821056469,0.0698348158602,0.999999964858,4.62312099341e-05,-0.000260271695901,2.01457790381e-05,1793256125098132224
+53,0.883333333,BASELINE,789,751,729,707.228125759,696,654,931,801,834,667,656,673,0.400984008073,0.00449711126273,0.0698365466772,0.999999965748,4.47517503566e-05,-0.00025706290391,2.04885708562e-05,1793256125114799104
+54,0.900000000,BASELINE,789,751,729,707,696,654,931,801.349564917,834,667,655.650435083,673,0.400984804885,0.00449746783126,0.0698373735908,0.999999966162,4.41980458607e-05,-0.000255550097654,2.04280250955e-05,1793256125131465984
+55,0.916666667,BASELINE,789,751,729,707,696,654,931,801.923036462,834,667,655.076963538,673,0.400984652312,0.00449875692777,0.0698376215275,0.999999966275,4.42373148213e-05,-0.000255123620346,2.01091297216e-05,1793256125148132608
+56,0.933333333,BASELINE,789,751,729,707,696.495803267,654,931,802,834,667,655.495803267,673,0.400983568005,0.00449945478105,0.0698366220732,0.999999965661,4.51258694388e-05,-0.00025738567665,1.9838722582e-05,1793256125164799488
+57,0.950000000,BASELINE,789,751,729,707,697,654,931,802,834,667,656,673,0.400982476138,0.00449979329576,0.069835606775,0.999999965032,4.58301691522e-05,-0.000259710545459,1.96646486645e-05,1793256125181465856
+58,0.966666667,BASELINE,789,751,729,707,697,654,931,802,834,667,656,673,0.400982392273,0.00449816034093,0.0698358988207,0.999999965168,4.42079284168e-05,-0.000259428763855,2.01446898406e-05,1793256125198132480
+59,0.983333333,BASELINE,789,751,729.253466869,707,697,654,931,802,834,667,656,673,0.40098224675,0.00449700790374,0.0698358571838,0.999999965275,4.2642582073e-05,-0.000259270963617,2.02763105109e-05,1793256125214799104
+60,1.000000000,BASELINE,789,751,729.831823551,707,697,654,931,802,834,667,656,673,0.400982022195,0.00449647138621,0.069835387838,0.999999965343,4.11501618356e-05,-0.000259272080684,1.99613313705e-05,1793256125231465984
+61,1.016666667,BASELINE,789,751,729.592403399,707,697,653.592403399,931,802,834,667,656,673,0.40098254934,0.00449684200293,0.0698357826289,0.999999965362,4.22309787207e-05,-0.000259030354906,1.98780310706e-05,1793256125248132864
+62,1.033333333,BASELINE,789,751,729.017689689,707,697,653.017689689,931,802,834,667,656,673,0.400983384687,0.0044975845503,0.0698365317213,0.999999965358,4.43668387223e-05,-0.000258689062068,1.98897205373e-05,1793256125264799232
+63,1.050000000,BASELINE,789,751,729,707.556560115,696.443439885,653.556560115,931,802,834,667,655.443439885,673,0.400983740867,0.00449784275884,0.0698363976524,0.999999965592,4.24000592221e-05,-0.000258126470201,1.97067701622e-05,1793256125281466112
+64,1.066666667,BASELINE,789,751,729,707.864830678,696.135169322,654,931,802,834,667,655.135169322,673,0.400983922642,0.00449795544275,0.0698362271376,0.999999965758,4.12514882904e-05,-0.000257676760896,1.96434819537e-05,1793256125298132736
+65,1.083333333,BASELINE,789,751,729,707.271391702,696.728608298,654,931,802,834,667,655.728608298,673,0.400983564715,0.00449762689713,0.069836028148,0.999999965674,4.33186464835e-05,-0.000257633588603,2.00068455229e-05,1793256125314799360
+66,1.100000000,BASELINE,789,751,729,707,697,654,931,801.685950752,834,667,656,673,0.400983612029,0.00449767660164,0.0698360489777,0.999999965646,4.37260983705e-05,-0.000257663242817,2.01201092554e-05,1793256125331465984
+67,1.116666667,BASELINE,789,751,729,707,697,654,931,801.10724983,834,667,656,673,0.400984000842,0.00449804506039,0.0698362550508,0.999999965668,4.27349031098e-05,-0.000257754268484,2.00226119477e-05,1793256125348132608
+68,1.133333333,BASELINE,789,751,729,707.466470585,696.533529415,654,931,801.466470585,834,667,655.533529415,673,0.400983932037,0.00449731327853,0.0698364846541,0.999999965748,4.27222485629e-05,-0.000257442367366,2.00351865831e-05,1793256125364798976
+69,1.150000000,BASELINE,789,751,729,707.959782322,696.040217678,654,931,802,834,667.040217678,655.040217678,673,0.400983769717,0.0044964715907,0.0698366619367,0.999999965821,4.30181540244e-05,-0.000257106659445,2.00673130169e-05,1793256125381465600
+70,1.166666667,BASELINE,789,751,729,707.370194571,696.629805429,654,931,802,834,667.629805429,655.629805429,673,0.400983752055,0.00449754757053,0.0698360514038,0.999999965606,4.44881697484e-05,-0.000257697838837,2.00244692517e-05,1793256125398132736
+71,1.183333333,BASELINE,789,750.785391635,729,707,697,654,931,801.785391635,834,667.785391635,656,673,0.400983474569,0.00449802617833,0.0698358011045,0.999999965475,4.56204116516e-05,-0.000258004882977,2.00609146758e-05,1793256125414799872
+72,1.200000000,BASELINE,789,750.208662297,729,707,697,654,931,801.208662297,834,667.208662297,656,673,0.400982758666,0.00449749680632,0.0698361586483,0.99999996549,4.61827086964e-05,-0.000257832489542,2.02311492792e-05,1793256125431466240
+73,1.216666667,BASELINE,789,750,729,707.3698322,696.6301678,654,931,801.3698322,834,667,655.6301678,673,0.400984025942,0.00449788407564,0.0698374424446,0.999999965901,4.59427071297e-05,-0.000256291030129,2.00556938647e-05,1793256125448132864
+74,1.233333333,BASELINE,789,750,729,707.949327354,696.050672646,654,931,801.949327354,834,667,655.050672646,673,0.40098641751,0.00449879100155,0.0698392513461,0.999999966531,4.52478714242e-05,-0.000253973428416,1.96842620197e-05,1793256125464799744
+75,1.250000000,BASELINE,789,750.523087393,729,707.476912607,696.523087393,654,931,801.476912607,834,667,655.523087393,673,0.400985688725,0.00449895289568,0.0698386854768,0.999999966465,4.47196465457e-05,-0.000254331541157,1.96169465755e-05,1793256125481466112
+76,1.266666667,BASELINE,789,750.900866704,729,707,696.900866704,653.900866704,931,801,834,667,656,673,0.400984804871,0.00449904328566,0.0698380154917,0.999999966334,4.43630269179e-05,-0.000254909918551,1.96159603154e-05,1793256125498132736
+77,1.283333333,BASELINE,789,750.310778522,729,707,696.310778522,653.310778522,931,801,834,667,656,673,0.400984633825,0.00449913311117,0.0698379568331,0.99999996621,4.47772116829e-05,-0.000255309379319,1.97991478201e-05,1793256125514799616
+78,1.300000000,BASELINE,789,750.274222947,729,707.274222947,696,653.274222947,931,801.274222947,834,667,656,673,0.400984253554,0.00449878627936,0.0698376357781,0.999999966026,4.50200322829e-05,-0.000255975205564,1.99515878793e-05,1793256125531465984
+79,1.316666667,BASELINE,789,750.853564562,729,707.853564562,696,653.853564562,931,801.853564562,834,667,656,673,0.400983640487,0.0044979535936,0.0698370227633,0.999999965774,4.5072181702e-05,-0.000256937407705,2.00698162758e-05,1793256125548132608
+80,1.333333333,BASELINE,789,750.569765538,729,707.569765538,696,654,931,801.569765538,834,667,656,673,0.400983329752,0.00449831009505,0.0698371701553,0.999999965662,4.59002403983e-05,-0.00025721854925,2.01694984314e-05,1793256125564799232
+81,1.350000000,BASELINE,789,750.006099726,729,707,696,654,931,801,834,667,656,673,0.400983133096,0.00449904578724,0.0698375682555,0.9999999656,4.69559977881e-05,-0.00025726310887,2.02577500614e-05,1793256125581466112
+82,1.366666667,BASELINE,789,750.591370443,729,707,696,654,931,801,834,667,656,673,0.400984057895,0.0044975914108,0.0698373484033,0.999999965851,4.47111365168e-05,-0.000256718460522,1.98563375363e-05,1793256125598132992
+83,1.383333333,BASELINE,789,751,729,707.175747952,696,654,931,801,834,667,656,673,0.400984231784,0.0044965472101,0.0698369945735,0.999999965951,4.30694082183e-05,-0.000256624930216,1.9687667396e-05,1793256125614800128
+84,1.400000000,BASELINE,789,751,729,707.758059288,696,654,931,801,834,667,656,673,0.400982668569,0.00449645188184,0.0698363308089,0.99999996571,4.28229263641e-05,-0.000257574985673,2.0057407615e-05,1793256125631466496
+85,1.416666667,BASELINE,789,750.664472638,729,707.664472638,696.335527362,654,931,801.335527362,834,667,656,673,0.400983015668,0.00449675457218,0.0698365490728,0.999999965775,4.27397808988e-05,-0.000257337272597,2.00309030434e-05,1793256125648132864
+86,1.433333333,BASELINE,789,750.090447265,729,707.090447265,696.909552735,654,931,801.909552735,834,667,656,673,0.400984720649,0.00449734018025,0.0698373942963,0.999999966057,4.27727374671e-05,-0.000256255275313,1.97227415549e-05,1793256125664799232
+87,1.450000000,BASELINE,789,750.483645073,729,707,697,654,931,802,834,667,656,673,0.400984238904,0.00449730766694,0.0698374607106,0.999999965969,4.42274565047e-05,-0.000256332705917,1.99775919864e-05,1793256125681466368
+88,1.466666667,BASELINE,789,751,729,707,697,654,931,801.940398604,834,667,656,673,0.400983487163,0.00449739489085,0.0698373843442,0.999999965816,4.57669658307e-05,-0.000256639831136,2.02406087003e-05,1793256125698132992
+89,1.483333333,BASELINE,789,751,729,707,697,654,931,801.347887944,834,667,656,673,0.400983978287,0.00449958642349,0.0698373337808,0.999999965723,4.56869278827e-05,-0.000257061744358,1.9635092308e-05,1793256125714799616
+90,1.500000000,BASELINE,789,751,729.238454836,707,697,654,931,801,834,667,656,673,0.400984199652,0.00450024580714,0.0698372136095,0.999999965729,4.55319679717e-05,-0.000257085711612,1.93639378861e-05,1793256125731466752
+91,1.516666667,BASELINE,789,751,729.81602597,707,697,654,931,801,834,667,656,673,0.400984037384,0.00449872625935,0.069836994446,0.999999965876,4.52704585036e-05,-0.000256543743719,1.95682932432e-05,1793256125748133632
+92,1.533333333,BASELINE,789,751,729.610181297,707,697,654,931,801.389818703,834,667,656,673,0.400984156397,0.00449736748317,0.0698370819572,0.99999996589,4.42049028681e-05,-0.000256662021664,1.97748106783e-05,1793256125764800000
+93,1.550000000,BASELINE,789,751,729.038154603,707,697,654,931,801.961845397,834,667,656,673,0.400984406886,0.00449608385426,0.0698373128133,0.999999965839,4.27635221512e-05,-0.000257088909865,1.99823387239e-05,1793256125781466368
+94,1.566666667,BASELINE,789,751,729,707,696.45988271,654,931,802,834,667,656,673,0.400984760477,0.00449711930201,0.0698374791875,0.999999966008,4.37063862454e-05,-0.000256288747463,1.97349659608e-05,1793256125798133248
+95,1.583333333,BASELINE,789,750.878392458,729,707,696,654,931,801.878392458,834,667,656,673,0.400984869825,0.00449845642659,0.0698375304403,0.999999966072,4.50909554721e-05,-0.000255816219418,1.95077880913e-05,1793256125814799616
+96,1.600000000,BASELINE,789,750.286174535,729,707,696,654,931,801.286174535,834,667,656,673,0.400984005457,0.00450031961867,0.0698371540174,0.999999965669,4.7525465478e-05,-0.000256950976753,1.9484576135e-05,1793256125831466240
+97,1.616666667,BASELINE,788.700965264,750.299034736,729,707,696,654,931,801,834,667,656,673,0.400983368709,0.00450028447859,0.0698368535162,0.999999965528,4.73632547643e-05,-0.000257521783083,1.95992476053e-05,1793256125848132608
+98,1.633333333,BASELINE,788.122309664,750.877690336,729,707,696,654,931,801,834,667,656,673,0.400982944803,0.00449847424939,0.0698366240076,0.999999965631,4.47729069655e-05,-0.000257565251054,1.98428508633e-05,1793256125864799232
+99,1.650000000,BASELINE,788.906635866,751,729,707.453317933,696.453317933,654,931,801,834,667,655.546682067,673,0.400983609276,0.00449842234392,0.0698369506282,0.999999965844,4.56601805208e-05,-0.00025656704839,2.00210944376e-05,1793256125881466112
+100,1.666666667,BASELINE,789.971244895,750.971244895,729,707.971244895,697,654,931,801,834,667,655.028755105,673,0.400984505139,0.00449880020159,0.0698373951811,0.999999966069,4.72994255537e-05,-0.000255379198766,2.01663436708e-05,1793256125898132480
+101,1.683333333,BASELINE,789.383737953,750.383737953,729,707.383737953,697,654,931,801,834,667,655.616262047,673,0.400984228995,0.00449837161521,0.0698372350066,0.999999966017,4.54390908367e-05,-0.000255931259437,2.00108597685e-05,1793256125914799360
+102,1.700000000,BASELINE,789,750.200578765,729,707,696.799421235,654,931,801,834,667,656,673,0.400983976272,0.0044978621981,0.0698370982842,0.999999965935,4.39861137179e-05,-0.000256505549621,1.99815935411e-05,1793256125931465984
+103,1.716666667,BASELINE,789,750.778887583,729,707,696.221112417,654,931,801,834,667,656,673,0.400983767655,0.00449720056055,0.0698370057266,0.999999965803,4.33002728921e-05,-0.000257121702379,2.01900205354e-05,1793256125948132608
+104,1.733333333,BASELINE,789,751,729,707.357758782,696.357758782,653.642241218,931,801,834,667,656,673,0.400984323001,0.00449735103032,0.0698376710025,0.99999996608,4.35689409605e-05,-0.000256006077135,2.00686730486e-05,1793256125964799232
+105,1.750000000,BASELINE,789,751,729,707.936978164,696.936978164,653.063021836,931,801,834,667,656,673,0.400985351259,0.00449800421242,0.0698388053941,0.999999966606,4.44284710788e-05,-0.000253818443065,1.97431878844e-05,1793256125981465600
+106,1.766666667,BASELINE,789,751,729,707.489073751,696.489073751,653.510926249,931,801,834,667,656,673,0.400984362612,0.0044984030466,0.0698376890867,0.999999966176,4.46275100451e-05,-0.000255476541672,1.97173057388e-05,1793256125998132480
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931,801,834,667,656,673,0.40098663572,0.00449878001343,0.0698389126827,0.999999966704,4.43367247636e-05,-0.000253458727727,1.96142674656e-05,1793256126040668928
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,750.422544331,729,707,696,654,931,801.577455669,834,667,656,673,0.400986450194,0.00449965905344,0.0698385020158,0.999999966596,4.55950178799e-05,-0.000253662093074,1.96157753445e-05,1793256126057335808
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,750.155191368,729,707,696,654,931,802,834,667,656,673,0.400986197702,0.00449955589145,0.0698383611728,0.999999966554,4.5816057724e-05,-0.000253770907429,1.98231502428e-05,1793256126074002432
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,750.733691022,729,707,696,654,931,802,834,667,656,673,0.40098576255,0.00449677362285,0.069838956316,0.999999966693,4.32078302921e-05,-0.000253621819482,2.05920590452e-05,1793256126090669056
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,751,729,707.317639357,696.317639357,654,931,802,834.317639357,667,656,673,0.400984508343,0.00449628821675,0.0698382950194,0.999999966347,4.26959133554e-05,-0.000255070375894,2.05614300843e-05,1793256126107335680
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,751,729,707.906235561,696.906235561,654,931,802,834.906235561,667,656,673,0.400982555455,0.00449776211026,0.0698365619382,0.999999965585,4.39722185711e-05,-0.000257881775651,1.98487689937e-05,1793256126124002048
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,751,729,707.513080142,697,654,931,801.513080142,834.513080142,667,656,673,0.400982822927,0.00449839794654,0.0698369265319,0.999999965653,4.46246523573e-05,-0.000257508565595,1.97916950797e-05,1793256126140668928
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,750.934254484,729,707.065745516,697,654,931,801,834,667,656,673,0.400983666866,0.00449875074514,0.0698377536564,0.999999965886,4.50848552391e-05,-0.000256515698025,1.98685395897e-05,1793256126157335296
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,750.35821857,729,707.64178143,697,654,931,801,834,667,656,673,0.400985719572,0.00449813927126,0.0698390856554,0.999999966175,4.49705828349e-05,-0.000255396985905,2.00206160732e-05,1793256126174002176
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,750,729,707.782293132,696.782293132,654,931,801,834,667,656,673,0.400993392776,0.00449815530877,0.0698427729719,0.999999967529,4.5042361413e-05,-0.000250020830688,2.00759724034e-05,1793256126190669056
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,750,729,707.206549439,696.206549439,654,931,801,834,667,656,673,0.401010309351,0.00449920334037,0.0698503338017,0.999999970532,4.54201161184e-05,-0.000237642960709,1.9972264481e-05,1793256126207335680
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696,653.622099882,931,801,833.622099882,667,656,673,0.401041191411,0.00449888655776,0.0698626967823,0.999999975224,4.57533899502e-05,-0.000216941468012,1.98986934921e-05,1793256126224002304
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696,653.032779686,931,801,833.032779686,667,656,673,0.401079886604,0.00449780621601,0.0698777463759,0.99999998039,4.60617785172e-05,-0.000191583238387,1.9841982899e-05,1793256126240668928
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696.546704187,653.546704187,931,801.546704187,833.546704187,667,656,673,0.401137299625,0.00449810152643,0.0698950860525,0.999999984709,4.42642904381e-05,-0.00016805746845,1.94849828834e-05,1793256126257335552
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696.875371282,653.875371282,931,801.875371282,834,667,656,673,0.40119906585,0.00449840964127,0.0699107577977,0.999999988097,4.28171882703e-05,-0.000147002174307,1.90297990482e-05,1793256126274002176
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696.300983176,653.300983176,931,801.300983176,834,667,656,673,0.401272563352,0.00449847156384,0.0699199235598,0.999999989863,4.3082169623e-05,-0.000134472815109,1.82841177875e-05,1793256126290668800
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696.273835705,653.273835705,931,801.273835705,834,667,656,673,0.401354200861,0.00449850690549,0.0699251014189,0.999999990937,4.15948145195e-05,-0.000126920157361,1.69405998346e-05,1793256126307335424
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696.849128776,653.849128776,931,801.849128776,834,667,656,673,0.401444799452,0.00449851298502,0.0699258891168,0.999999991366,3.81783656995e-05,-0.000124846199068,1.49389417659e-05,1793256126324002304
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,750.436321157,729,707,697,654,931,802,834,667,656,673,0.4015461624,0.00449927705938,0.0699233566912,0.999999990859,3.55263763061e-05,-0.000129842713707,1.26418787828e-05,1793256126340669440
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,751,729,707.027161565,697,654,931,801.972838435,834,667,655.972838435,673,0.401653051383,0.00450032352213,0.0699199304364,0.999999990039,3.31196958021e-05,-0.000136825521824,1.01918883101e-05,1793256126357336064
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,751,729,707.606179886,697,654,931,801.393820114,834,667,655.393820114,673,0.401794471672,0.00450163290305,0.0699223229411,0.999999990664,3.01758773268e-05,-0.000133099339041,6.76830950717e-06,1793256126374002432
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,751,729,707.815857882,697,654,931,801,834,667,655.184142118,673,0.40194585937,0.00450245525479,0.0699247672211,0.999999991214,2.68468006523e-05,-0.000129769140221,3.39551075576e-06,1793256126390668544
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,751,729,707.240141476,697,654,931,801,834,667,655.759858524,673,0.402118442535,0.00450224194917,0.0699273216,0.999999991642,2.26984810033e-05,-0.000127280993338,1.30695139033e-07,1793256126407335424
+130,2.166666667,POSE1_TO_POSE2_PRESS,788.658096567,750.658096567,729.341903433,707.341903433,697,654,931,801.341903433,834,667,655.658096567,673,0.402311992013,0.00450397445445,0.0699303913231,0.999999992291,2.01178842026e-05,-0.000122459302293,-4.07668650547e-06,1793256126424002048
+131,2.183333333,POSE1_TO_POSE2_PRESS,788.071522845,750.071522845,729.928477155,707.928477155,697,654,931,801.928477155,834,667,655.071522845,673,0.402520545258,0.00450709940583,0.0699338298332,0.999999993062,1.86591686648e-05,-0.000115967698177,-8.95858029119e-06,1793256126440668672
+132,2.200000000,POSE1_TO_POSE2_PRESS,788.507977034,750,729.492022966,707.492022966,697,654,931,802,834,667,655,673,0.402759737906,0.0045086389614,0.0699360293204,0.999999993588,1.34746212221e-05,-0.000111530050258,-1.42966514089e-05,1793256126457335296
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696.913919443,654,931,802,834,667,655,673,0.403010042012,0.00451010997449,0.0699390539315,0.999999994209,8.01400783545e-06,-0.000105489998223,-1.97183591518e-05,1793256126474002176
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696.338170956,654,931,802,834,667,655,673,0.40329935044,0.00451244344458,0.0699477509951,0.999999995738,3.92615950162e-06,-8.87122019037e-05,-2.52554843798e-05,1793256126490668800
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,750.238988203,729,707,696.238988203,654,931,801.761011797,834,667,655.238988203,673,0.403605743994,0.00451399708981,0.0699564735759,0.999999996831,-1.2211454469e-06,-7.35109403402e-05,-3.05527251621e-05,1793256126507335424
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,750.818155298,729,707,696.818155298,654,931,801.181844702,834,667,655.818155298,673,0.403936456722,0.00451444072213,0.0699652324777,0.999999997505,-7.87649436478e-06,-6.05537397172e-05,-3.55085110016e-05,1793256126524002048
+137,2.283333333,POSE1_TO_POSE2_PRESS,788.597747247,751,729,707,696.597747247,654,931,801.402252753,834,667,656,673,0.404288181418,0.00451749585865,0.0699680812002,0.999999997635,2.63859884774e-06,-5.76855030743e-05,-3.73627084459e-05,1793256126540668928
+138,2.300000000,POSE1_TO_POSE2_PRESS,788.011393303,751,729,707,696.011393303,654,931,801.988606697,834,667,656,673,0.404649522766,0.00452174621641,0.0699682249788,0.999999997299,2.1012181285e-05,-5.94347374429e-05,-3.77973850235e-05,1793256126557335552
+139,2.316666667,POSE1_TO_POSE2_PRESS,788.565479477,751,729,707,696.565479477,654,931,801.434520523,834,667,655.434520523,673,0.405054765622,0.00452497505832,0.0699718330289,0.999999996773,5.11484857476e-05,-5.18534818249e-05,-3.39045095696e-05,1793256126574002176
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,751,729,707.142823067,697,654,931,801.142823067,834,667,655.142823067,673,0.405470105834,0.00452172621498,0.0699753443414,0.999999996167,6.87793572991e-05,-4.47567147855e-05,-3.05213862755e-05,1793256126590668800
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,751,729,707.722179806,697,654,931,801.722179806,834,667,655.722179806,673,0.405913649228,0.00449874042367,0.0699783501599,0.999999997665,4.74753838081e-05,-3.97058846729e-05,-2.89584070567e-05,1793256126607335424
+142,2.366666667,POSE1_TO_POSE2_PRESS,788.701067347,751,729,708,697,654,931,802,834,667,656,673,0.40636525354,0.00448705232934,0.0699690932841,0.999999997993,1.25094785311e-05,-5.53225417832e-05,-2.82471086313e-05,1793256126624002304
+143,2.383333333,POSE1_TO_POSE2_PRESS,788.126713524,751,729,708,697,654,931,802,834,667,656,673,0.406824284819,0.00448577334922,0.0699485381929,0.999999994937,-3.50438304361e-05,-8.99811578044e-05,-2.83205048339e-05,1793256126640668672
+144,2.400000000,POSE1_TO_POSE2_PRESS,788,751,729,707.538743355,697,654,931.461256645,802,834,667,656,673,0.407343319601,0.00450078802242,0.0699386681885,0.999999994046,-3.13192938967e-05,-0.0001001201702,-3.00546743158e-05,1793256126657335552
+145,2.416666667,POSE1_TO_POSE2_PRESS,788,751,729.051514479,707,697,654,932,802,834,667,656,673,0.407885749558,0.00451844637078,0.0699339578859,0.999999994396,-1.34566146706e-05,-9.99498417898e-05,-3.22153760874e-05,1793256126674001920
+146,2.433333333,POSE1_TO_POSE2_PRESS,788,751,729.625871469,707,697,654,932,802,834,667,656,673,0.408493237555,0.00451612488508,0.0699509173648,0.999999997273,5.78978101459e-07,-6.55903803373e-05,-3.39337392685e-05,1793256126690668800
+147,2.450000000,POSE1_TO_POSE2_PRESS,788,750.798425908,729.798425908,707,697,654,932,802,834,667,656,673,0.409103215065,0.00451870686588,0.0699621787853,0.999999998395,1.7506058728e-05,-4.04823454019e-05,-3.55501605573e-05,1793256126707335424
+148,2.466666667,POSE1_TO_POSE2_PRESS,788,750.220208994,729.220208994,707,697,654,932,802,834,667,656,673,0.409717844211,0.00453045101366,0.0699627933366,0.99999999799,3.98359069892e-05,-3.26606780261e-05,-3.69761025512e-05,1793256126724002048
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.364408076,750,729.364408076,707,697,654,932,802,834,667,656,673,0.410351779609,0.00453935282169,0.0699594745648,0.999999997381,4.88868768039e-05,-3.69619609329e-05,-3.85043697857e-05,1793256126740668928
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.952961831,750,729.952961831,707,697,654,932,802,834,667,656,673,0.410997590168,0.00454650631958,0.0699537364248,0.999999996771,4.97700706769e-05,-4.87200133258e-05,-4.00955767419e-05,1793256126757336064
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.468531931,750,729.468531931,707,697,654,932,801.468531931,834,667,656,673.531468069,0.411704738525,0.00455096394439,0.0699660490585,0.999999996942,5.97817779989e-05,-2.96022973769e-05,-4.08221666513e-05,1793256126774002688
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,750.109427741,729.109427741,707,697,654,932,801.109427741,834,667,656,673.890572259,0.41242903384,0.0045564847814,0.0699839849124,0.999999996737,6.93111159713e-05,-2.03855483921e-06,-4.14434263232e-05,1793256126790669056
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,750.688788105,729.688788105,707,697,654,932,801.688788105,834,667,656,673.311211895,0.413204084777,0.0045675771857,0.0700193358942,0.999999995166,7.33636974601e-05,5.02785816446e-05,-4.19348807109e-05,1793256126807335680
+154,2.566666667,POSE1_TO_POSE2_PRESS,788,750.733812558,729.733812558,707,697,654,932,801.733812558,834,667,656,673,0.413964862212,0.00457593854237,0.0700367744754,0.999999993233,7.90060285405e-05,7.41992422589e-05,-4.22789557215e-05,1793256126824002304
+155,2.583333333,POSE1_TO_POSE2_PRESS,788,750.158689106,729.158689106,707,697,654,932,801.158689106,834,667,656,673,0.414709073982,0.00458113025825,0.0700334240055,0.999999993235,8.64934169215e-05,6.5163080914e-05,-4.24519830177e-05,1793256126840668928
+156,2.600000000,POSE1_TO_POSE2_PRESS,788.4252496,750,729,707,697,654,932,801,834,667,656,673,0.415446427366,0.00458778514739,0.0699877025309,0.999999994183,9.74925743678e-05,-1.18753325848e-05,-4.45837777736e-05,1793256126857335808
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,750.012451643,729.012451643,707,697,654,932,801,834,667.012451643,656,673,0.41618366762,0.00459500401292,0.0699271895898,0.999999986533,0.000109578612745,-0.000112589870431,-4.743443027e-05,1793256126874002432
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,750.595264432,729.595264432,707,697,654,932,801,834,667.595264432,656,673,0.417035442157,0.00460251653085,0.0699287298372,0.999999986591,0.000110152005821,-0.000110825290024,-4.90225753493e-05,1793256126890669056
+159,2.650000000,POSE1_TO_POSE2_PRESS,788.824870373,750.824870373,730,706.824870373,697,654,932,801,834,668,656,673,0.417893331931,0.00460918457503,0.0699404536075,0.999999988201,0.000111957268057,-9.25071669204e-05,-5.00557095676e-05,1793256126907335680
+160,2.666666667,POSE1_TO_POSE2_PRESS,788.251704529,750.251704529,730,706.251704529,697,654,932,801,834,668,656,673,0.418765120419,0.0046139332911,0.0699753225814,0.999999991297,0.000116562333517,-3.65660005326e-05,-4.98274098297e-05,1793256126924002304
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,750,729.678605432,706.321394568,697,654,932,801,834,668,655.678605432,673,0.419650367437,0.00461559938952,0.0700038772693,0.999999991629,0.000118867416102,8.48158765089e-06,-5.03995499584e-05,1793256126940669184
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,750,729.105558624,706.894441376,697,654,932,801,834,668,655.105558624,673,0.420546152455,0.00461485179528,0.0700274878636,0.999999990532,0.000119371609867,4.49994914963e-05,-5.15984352798e-05,1793256126957335808
+163,2.716666667,POSE1_TO_POSE2_PRESS,788,750,729.485177181,707,697,654,932,801,834,667.514822819,655.485177181,673,0.421463211853,0.00459392028495,0.0700381480149,0.999999992374,9.64511591683e-05,5.7962818858e-05,-5.08964297516e-05,1793256126974002176
+164,2.733333333,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654,932,801,834,667,656,673,0.422371445723,0.00457093913381,0.0700360699532,0.999999994968,7.09699803073e-05,5.02102774336e-05,-5.00716210608e-05,1793256126990668800
+165,2.750000000,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654,932,801,834,667,656,673,0.423191869033,0.0045641156512,0.0699707625946,0.99999999509,6.30681797545e-05,-5.67430773278e-05,-5.12209845784e-05,1793256127007335680
+166,2.766666667,POSE1_TO_POSE2_PRESS,787.770006528,750,730,707,697,654,932,800.770006528,834,667.229993472,656,673.229993472,0.424037364778,0.00456447028738,0.069912627024,0.99999998628,6.29537710221e-05,-0.000143544309821,-5.35830917771e-05,1793256127024002048
+167,2.783333333,POSE1_TO_POSE2_PRESS,787.194614712,750,730,707,697,654,932,800.194614712,834,667.805385288,656,673.805385288,0.424920513792,0.0045756048387,0.0698652618525,0.999999975538,7.45342687365e-05,-0.000200081614532,-5.77664673421e-05,1793256127040668928
+168,2.800000000,POSE1_TO_POSE2_PRESS,787.38967477,750,730,707,697,654,932,800.38967477,834,667.61032523,656,673.61032523,0.42585986694,0.00458107557782,0.069890786062,0.999999982775,7.74264251171e-05,-0.000158177990036,-5.86101219501e-05,1793256127057335552
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.978511805,750,730,707,697,654,932,800.978511805,834,667.021488195,656,673.021488195,0.426827945895,0.00458365154929,0.0699535639415,0.999999993278,7.58779804907e-05,-6.59613315125e-05,-5.77468489619e-05,1793256127074002176
+170,2.833333333,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654.557898762,932,800.442101238,834,667.557898762,656,673,0.427834716905,0.00458549788177,0.0700064433006,0.999999995211,8.12026376044e-05,1.26482633699e-06,-5.46043676835e-05,1793256127090668800
+171,2.850000000,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654.864667422,932,800.135332578,834,668,656,673,0.428829956327,0.00458711292801,0.0700509469808,0.999999993033,8.58773055465e-05,6.15442467329e-05,-5.26383240891e-05,1793256127107335424
+172,2.866666667,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654.292384164,932,800.707615836,834,668,656,673,0.429783231927,0.00458807044143,0.0700696184151,0.999999989415,8.76128524462e-05,0.000102450619985,-5.4749383618e-05,1793256127124002048
+173,2.883333333,POSE1_TO_POSE2_PRESS,788,749.717323551,730,707,697,654,932,801,834,667.717323551,656,673.282676449,0.43067873653,0.00458905939538,0.0700465893376,0.999999992497,8.6403211076e-05,6.66047746159e-05,-5.57117451098e-05,1793256127140668928
+174,2.900000000,POSE1_TO_POSE2_PRESS,788,749.139361734,730,707,697,654,932,801,834,667.139361734,656,673.860638266,0.431513893175,0.00459008119219,0.0699799996757,0.999999993869,8.21170090287e-05,-4.94168623138e-05,-5.54741697178e-05,1793256127157335552
+175,2.916666667,POSE1_TO_POSE2_PRESS,788,749,730,707,697,654,932,800.55161351,834,667.44838649,656,673.55161351,0.432355912896,0.00458606397625,0.0699266244163,0.999999985821,8.16593281354e-05,-0.000135974302678,-5.65713948478e-05,1793256127174002176
+176,2.933333333,POSE1_TO_POSE2_PRESS,788,748.961661391,730,707,697,654,932.038338609,800.038338609,834,668,656,673.038338609,0.433211109686,0.00458075474159,0.069885181552,0.999999974948,8.18005603861e-05,-0.000200114163179,-5.8017457928e-05,1793256127190668544
+177,2.950000000,POSE1_TO_POSE2_PRESS,788,748.384439772,730,707,697,654,932.615560228,800.615560228,834,668,656,673.615560228,0.434220869392,0.00457979001842,0.0699524416351,0.999999992351,7.32613105141e-05,-8.07464772328e-05,-5.84053315361e-05,1793256127207335168
+178,2.966666667,POSE1_TO_POSE2_PRESS,787.806850385,748.193149615,730,707,697,654,932.806850385,800.806850385,834.193149615,668,656,674,0.435200279086,0.00457819232109,0.0700074754672,0.999999995988,6.6331815269e-05,1.49308232216e-05,-5.83118788006e-05,1793256127224002048
+179,2.983333333,POSE1_TO_POSE2_PRESS,787.228527499,748.771472501,730,707,697,654,932.228527499,800.228527499,834.771472501,668,656,674,0.436119165861,0.00457533236516,0.0700381280821,0.999999994393,6.26124453497e-05,6.33654748083e-05,-5.72585806228e-05,1793256127240668672
+180,3.000000000,POSE1_TO_POSE2_PRESS,787.354090914,749,730,707,697,653.645909086,932,800,835,668,656,673.645909086,0.436995729985,0.00457379185847,0.0700479328178,0.99999999274,6.45586675997e-05,8.41310549288e-05,-5.72201457591e-05,1793256127257335552
+181,3.016666667,POSE1_TO_POSE2_PRESS,787.939515636,749,730,707,697,653.060484364,932,800,835,668,656,673.060484364,0.437844643922,0.0045731133713,0.0700441172662,0.999999992094,7.02063209251e-05,8.68199422789e-05,-5.78447390305e-05,1793256127274002432
+182,3.033333333,POSE1_TO_POSE2_PRESS,788,748.478908213,730,707,697,653.521091787,932.521091787,800,835,668,656,673.521091787,0.438641126938,0.0045760111984,0.0699947879315,0.999999996082,6.2882685759e-05,1.81947881409e-05,-5.95854342735e-05,1793256127290669056
+183,3.050000000,POSE1_TO_POSE2_PRESS,787.898497087,747.898497087,730,707,696.898497087,653.898497087,933,800,834.898497087,668,656,673.898497087,0.439423769125,0.00457944716686,0.0699392681346,0.999999994478,5.7590645553e-05,-6.32313455474e-05,-6.10638526586e-05,1793256127307335680
+184,3.066666667,POSE1_TO_POSE2_PRESS,787.321466514,747.321466514,730,707,696.321466514,653.321466514,933,800,834.321466514,668,656,673.321466514,0.440169870893,0.00458347377248,0.0698793150478,0.999999981989,6.88182211861e-05,-0.000166133262485,-6.07110713747e-05,1793256127324002304
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+242,4.033333333,POSE1_TO_POSE2_PRESS,786.683124287,747,730,707,682,649,933,797,835.683124287,669,656,674,0.454769953436,0.00472933575245,0.069627978535,0.999999798253,0.000241789188622,-0.000583501657967,-6.751584969e-05,1793256128290669312
+243,4.050000000,POSE1_TO_POSE2_PRESS,786.111304664,747,730,707,682,649,933,797,835.111304664,669,656,674,0.454769669145,0.00472956507568,0.0696267817327,0.999999798214,0.000239799143901,-0.000584348136262,-6.78679869648e-05,1793256128307335680
+244,4.066666667,POSE1_TO_POSE2_PRESS,786.482368787,746.517631213,729.517631213,707,682,649,933,797,835,668.517631213,656,674,0.454770258835,0.0047293177962,0.0696268804418,0.999999798257,0.000240285555135,-0.000584097891574,-6.76602104966e-05,1793256128324002048
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,746,729.077868784,707,681.922131216,649,933,797,835,668.077868784,656,674,0.454770993896,0.00472909263241,0.069627308476,0.999999798314,0.000241145192282,-0.00058367681438,-6.74007346589e-05,1793256128340668928
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,746,729.651374526,707,681.348625474,649,933,797,835,668.651374526,656,674,0.454771309717,0.00472974144233,0.0696278396555,0.999999798329,0.000240570636678,-0.000583855584951,-6.76735636424e-05,1793256128357335552
+247,4.116666667,HOLD_POSE2,786,747,730,707,682,648,933,797,835,669,656,674,0.454771601135,0.00473033703068,0.0696282192011,0.999999797905,0.000242144246337,-0.000583968535965,-6.73586015352e-05,1793256128396486400
+248,4.133333333,HOLD_POSE2,786.593549734,747,730,707,682,648.593549734,933,797,835,669,656,674,0.454771382502,0.00472943903089,0.0696271968237,0.999999797777,0.000240351673857,-0.000584924411311,-6.73808767076e-05,1793256128413152768
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+250,4.166666667,HOLD_POSE2,787,747,730,707.760243228,682,649,933,797,835,669,656,674,0.454771770063,0.00472954930041,0.0696279516019,0.999999797755,0.000240498233706,-0.000584934811158,-6.71010478842e-05,1793256128446485760
+251,4.183333333,HOLD_POSE2,787,747,730,708,681.666015202,649,933,797,835,669,656,674,0.454772004009,0.00472864862076,0.0696282785392,0.999999798348,0.000239035059559,-0.000584551570798,-6.68259784346e-05,1793256128463152384
+252,4.200000000,HOLD_POSE2,787,747,730,708,681.095316327,649,933,797,835,669,656,674,0.454772114234,0.00472671877597,0.0696280531777,0.999999799318,0.000235794377432,-0.000584243838109,-6.65149679795e-05,1793256128479819008
+253,4.216666667,HOLD_POSE2,787,746.508889428,730,707.508889428,681,649,933,797,835,669,656,674,0.454772212475,0.00472921132259,0.0696275211617,0.999999798648,0.00023774782792,-0.000584534500596,-6.70746735031e-05,1793256128496485888
+254,4.233333333,HOLD_POSE2,787,746.079630468,730,707.079630468,681,648.920369532,933,797,835,669,656,674,0.454772317139,0.00473165642949,0.0696270145458,0.999999797853,0.000240137982452,-0.000584853587009,-6.76272435351e-05,1793256128513152512
+255,4.250000000,HOLD_POSE2,787,746.661461917,730,707.661461917,681,648.338538083,933,797,835,669,656,674,0.454772477463,0.00472821019174,0.0696270558859,0.999999798385,0.000238714239902,-0.000584595256182,-6.70337833016e-05,1793256128529819136
+256,4.266666667,HOLD_POSE2,787,747,730,707.758205748,681,648.241794252,933,797,835.241794252,669,655.758205748,674,0.45477231031,0.00472611852944,0.0696267818368,0.999999798476,0.000237808063537,-0.000584868939293,-6.65093347227e-05,1793256128546485760
+257,4.283333333,HOLD_POSE2,787,747,730,707.17995945,681,648.82004055,933,797,835.82004055,669,655.17995945,674,0.454771687483,0.00472591173307,0.0696260689298,0.999999797955,0.000237622070672,-0.00058588290958,-6.60809145823e-05,1793256128563152640
+258,4.300000000,HOLD_POSE2,787,747,730,707.393962204,681,649,933,797.393962204,835.606037796,669,655.393962204,674,0.454771994815,0.00472668023322,0.0696258295332,0.999999797703,0.000237295734911,-0.000586414282105,-6.63556817021e-05,1793256128579819264
+259,4.316666667,HOLD_POSE2,787,747,730,707.965929888,681,649,933,797.965929888,835.034070112,669,655.965929888,674,0.454772722425,0.00472788940538,0.0696258040846,0.999999797572,0.000236905987457,-0.000586727600689,-6.69481726281e-05,1793256128596485888
+260,4.333333333,HOLD_POSE2,787,746.443865432,730,707.443865432,681,649,933,797.443865432,835,669,655.443865432,674,0.454774009303,0.00472863248687,0.0696268126049,0.999999798123,0.00023840233281,-0.000585168602502,-6.70459150754e-05,1793256128613152256
+261,4.350000000,HOLD_POSE2,787,746.144070033,730,707.144070033,681,649,933,797.144070033,835,669,655,674,0.454775316477,0.00472933289662,0.0696279612961,0.999999798695,0.000239857086635,-0.000583591581611,-6.70738551812e-05,1793256128629818880
+262,4.366666667,HOLD_POSE2,787,746.721700539,730,707.721700539,681,649,933,797.721700539,835,669,655,674,0.454776578121,0.00472999373377,0.0696293347271,0.999999799211,0.000240827164698,-0.000582317209138,-6.69860389659e-05,1793256128646485760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,681,648,933,797,835,669,656,674,0.454773992875,0.00472704793082,0.0696276455091,0.99999979859,0.000235817109208,-0.000585461499688,-6.66750502346e-05,1793256128683354624
+264,4.400000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,681,648.569901215,933,797,835.569901215,669,655.430098785,674,0.454774521555,0.0047259261938,0.0696275724266,0.999999799098,0.000234199837385,-0.000585272328629,-6.64179555356e-05,1793256128700020736
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,746,730,707.14585586,681,648.85414414,933,797,835.85414414,669,655,674,0.454774836069,0.00472530902883,0.0696273833459,0.999999799317,0.000233574910918,-0.000585165111428,-6.62565160544e-05,1793256128716687104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,746,730,707.740433879,681,648.259566121,933,797,835.259566121,669,655,674,0.454774491704,0.00472624416777,0.0696268373989,0.999999798654,0.000236002911455,-0.000585310023326,-6.63893575633e-05,1793256128733354752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,746.325906733,729.674093267,707.674093267,680.674093267,648,933,797,835,669,655.325906733,674,0.454773677025,0.00472642061032,0.0696265721685,0.999999797916,0.000236863194527,-0.000586249542992,-6.61518819282e-05,1793256128750022144
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,746.9043249,729.0956751,707.0956751,680.0956751,648,933,797,835,669,655.9043249,674,0.45477249795,0.00472600921742,0.0696265244363,0.999999797121,0.000236508815264,-0.000587804722058,-6.56274858153e-05,1793256128766688768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,746.525716137,729,707,680.474283863,648,933,797,835,668.525716137,656,674,0.454773724564,0.00472663628813,0.0696269627021,0.999999797813,0.000236787531307,-0.000586462676795,-6.60872601977e-05,1793256128783355136
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,746,729.043742148,707,681,648.043742148,933,797,835.043742148,668,656,674,0.454775166347,0.00472741143632,0.0696273875693,0.999999798685,0.000237123395497,-0.000584768422108,-6.66885942105e-05,1793256128800021248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746,729.627722926,707,681,648.627722926,933,797,835.627722926,668,656,674,0.454773377045,0.00472747351259,0.0696264573521,0.999999798197,0.000236615405633,-0.000585815897828,-6.66292536529e-05,1793256128816687872
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,746.213826839,730,707,681,649,933,797,836,668.213826839,656,674,0.454769190478,0.00472699363917,0.0696243352229,0.999999796829,0.000235898032448,-0.000588454612877,-6.64514850537e-05,1793256128833354752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,746.803664185,730,707,681,649,933,797,836,668.803664185,656,674,0.454760788367,0.00472556075732,0.0696201171389,0.999999793896,0.000234812462647,-0.000593891492469,-6.60654629583e-05,1793256128850021376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787,746.61226274,730,707,681,649,933,797,835.61226274,669,656,674,0.454738239108,0.0047251708494,0.0696105297224,0.999999784319,0.000234599431051,-0.000609881666922,-6.61028667043e-05,1793256128866688000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787,746.031065669,730,707,681,649,933,797,835.031065669,669,656,674,0.45470863119,0.00472530132862,0.0695982633005,0.999999771061,0.000234821748391,-0.000631137361959,-6.63515368633e-05,1793256128883354624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,746.541920944,729.458079056,707,681,649,933,797,835,669,655.458079056,674,0.454656441512,0.00472477072513,0.0695801976421,0.999999753624,0.000235313162724,-0.000658060294708,-6.58554112962e-05,1793256128900020992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,746.885987777,729,707,681,649,933,797,835.114012223,669,655.114012223,674,0.454600510028,0.00472481634249,0.0695631035027,0.999999737446,0.000236363344084,-0.000681874581193,-6.54794606786e-05,1793256128916687616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,746.315624242,729,707,681,649,933,797,835.684375758,669,655.684375758,674,0.454534705487,0.00472731779469,0.0695512088005,0.999999729729,0.000239589252977,-0.000691965092567,-6.57528732814e-05,1793256128933353984
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,746,729.267518454,707,681,649,933,797,835.732481546,669,656,674,0.454461392533,0.00472749415167,0.0695424609103,0.999999723148,0.000240167754482,-0.000701266502685,-6.51767856011e-05,1793256128950020864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,787,746,729.866494607,707,681,649,933,797,835.133505393,669,656,674,0.454378776592,0.00472478969522,0.0695376119484,0.999999718027,0.000237466094942,-0.000709590208887,-6.35481596422e-05,1793256128966688000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,681,649,933,797,835,669,655.551926221,674,0.45428470576,0.0047251407662,0.0695383436013,0.999999718823,0.000239429339126,-0.000707935818819,-6.20768494903e-05,1793256128983354880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786.975433005,746,729.975433005,707,681,649,933,797,835,668.975433005,655,674,0.454186312579,0.00472617845525,0.0695409270906,0.999999721591,0.000242666846873,-0.000703035892289,-6.05941145989e-05,1793256129000021504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786.401092141,746,729.401092141,707,681,649,933,797,835,668.401092141,655,674,0.454064715502,0.00472296954062,0.0695491324204,0.999999730702,0.000244478510598,-0.000689550681254,-5.78459671542e-05,1793256129016688128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786.178195039,746,729.178195039,707.178195039,681.178195039,648.821804961,933,797,835,668.178195039,655,674,0.453934178181,0.0047212659794,0.0695557673356,0.999999737391,0.000247605349281,-0.000678867817658,-5.52160674995e-05,1793256129033354752
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,786.647527348,746,730,707.647527348,682,648.352472652,933,797,835,669,655,674,0.453609445848,0.0047198620395,0.0695596267892,0.999999739918,0.000253102915137,-0.000673478590497,-5.02849821652e-05,1793256129066687744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786.068613173,746,730,707.068613173,682,648.931386827,933,797,835,669,655,674,0.453421646505,0.0047134856139,0.0695591128775,0.999999740828,0.000248030923454,-0.000674212360778,-4.75694704448e-05,1793256129083353856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786.50689629,746,729.49310371,707,682,649,933,797,835,668.49310371,655.50689629,674,0.453197873108,0.0047012357422,0.0695544217013,0.999999739841,0.000240227441212,-0.000678746669854,-4.37247554177e-05,1793256129100020480
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.330243781,746,729.669756219,707,682,649,933,797,835,668.669756219,655.330243781,674,0.452694014939,0.0046817405212,0.0695464279778,0.999999733868,0.000233824214462,-0.000690237565143,-3.40945759356e-05,1793256129133354752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.252900325,746,730,707.252900325,682.252900325,649,933,797,835,669,655,674,0.452409632082,0.00467925150037,0.0695421609175,0.999999728321,0.000237620348516,-0.000697154298712,-2.94898027863e-05,1793256129150021632
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,787,746.139265076,730,707,684.139265076,650,933,797.139265076,835,668,656,674,0.450653791671,0.0046779236354,0.0695531520376,0.999999719041,0.000273903492548,-0.000697777732036,-3.10582402036e-07,1793256129233353728
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,787.378282373,746.621717627,730,707.378282373,687.621717627,650.621717627,933,798,835,669,656,674,0.447857142487,0.00466255108522,0.0696520608197,0.999999823015,0.000227490006964,-0.000549631393275,1.1085274515e-05,1793256129333353728
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,787,747,729.206753956,707,688.793246044,651,933,798,835,668.206753956,656,674,0.446631370191,0.00465236904586,0.0696132562183,0.999999793225,0.000194896757704,-0.000612712161205,1.2185310147e-05,1793256129366686720
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,787,749,730,707,694.755010548,653,932.755010548,799,835,668,656,674,0.437952077194,0.00458354220187,0.0697430000422,0.999999909636,0.000188183063087,-0.00038034817289,2.54959353881e-05,1793256129566686720
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,787,749,730,707,695.930422722,653,932,800,835,668,656,674,0.434528368339,0.00456619299329,0.0698249792355,0.99999995499,0.000115589916089,-0.000275164065916,3.07054103244e-05,1793256129633353472
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,787,749,730,707,695,653,932.224572995,800,835,668,656,674,0.432760143355,0.00455351229992,0.0698532832862,0.999999963776,0.000127713361836,-0.000234660860266,3.27489519157e-05,1793256129666686720
+323,5.383333333,POSE2_TO_POSE3_RETREAT,787,749,730,707,695,653,932.814898038,800,835,668,656,674,0.431841830197,0.00454801102773,0.0698555915419,0.999999970143,0.000106638059681,-0.000217524104867,3.2013252925e-05,1793256129683353344
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,787.304443253,750,729,707,695.304443253,653,933,800,834,668,656,674,0.426278479672,0.00451064077765,0.0698595577858,0.99999997386,6.73701053818e-05,-0.000215671149035,3.50426480775e-05,1793256129783353344
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,787.814534057,750,730,707,696,654,932,800.814534057,834,668,656,674,0.421493059854,0.00447656687515,0.0696929839081,0.999999865948,3.76138322103e-05,-0.000515207500213,3.53613252881e-05,1793256129866686464
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,653.092467168,932,801,834,668,656,673,0.417378252275,0.00443676528342,0.0698813797498,0.99999997842,-1.14811287872e-05,-0.000204052311796,3.72878540042e-05,1793256129950019840
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,788.11982487,751,730,707,696,654,931.11982487,802,834.11982487,667,656,673.88017513,0.405135174855,0.00447509033296,0.0698110156091,0.999999949873,3.47640790413e-05,-0.000313157764154,3.12747636888e-05,1793256130266686720
+359,5.983333333,POSE2_TO_POSE3_RETREAT,788.691136253,751,730,707,696,654,931.691136253,802,834.691136253,667,656,673.308863747,0.40477596951,0.00447617231555,0.0698307087502,0.999999960628,3.82005802309e-05,-0.000276286330267,3.08421758864e-05,1793256130283353344
+360,6.000000000,POSE2_TO_POSE3_RETREAT,789,751,729.727024496,707,696,654,932,802,834.727024496,667.272975504,656,673,0.404425993215,0.00447555671149,0.0698454633562,0.99999996792,3.63652751068e-05,-0.000248808200995,3.05275354175e-05,1793256130300019968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,789,751,729.132795468,707,696,654,932,802,834.132795468,667.867204532,656,673,0.404086878229,0.00447294328821,0.0698544060042,0.999999972137,2.8325800086e-05,-0.000232384663981,3.03517023198e-05,1793256130316686592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,932,801.55129265,834,667.55129265,656,673,0.403758173829,0.00447036664461,0.0698495080723,0.999999971483,1.55320158965e-05,-0.000236552479122,2.88929532319e-05,1793256130333353472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,932,801,834,667,656,673,0.403433715342,0.00446779768525,0.0698405737258,0.999999969083,1.41878199918e-06,-0.000247176916556,2.71147896119e-05,1793256130350019840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,932,801,834,667,656,673,0.403135211521,0.00446516849186,0.0698305336053,0.999999963452,-1.16813224566e-05,-0.000268821090235,2.63706637098e-05,1793256130366686464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,788.819467219,751,729,707,696,654,931.819467219,801.180532781,834,667,656,673,0.402854106274,0.00446371308978,0.0698208490992,0.999999958032,-2.13204013759e-05,-0.0002877669117,2.59079740308e-05,1793256130383353344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,788.233977145,751,729,707,696,654,931.233977145,801.766022855,834,667,656,673,0.402612028211,0.00446489064673,0.0698119622816,0.999999954193,-2.31959714183e-05,-0.00030065999375,2.60765806383e-05,1793256130400019968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,788.349914099,751,729.349914099,707,696,654,931,801.650085901,834,667,656,673,0.402389901179,0.00446632631791,0.0698063821197,0.999999951584,-2.362120229e-05,-0.000309145464004,2.65314742097e-05,1793256130416686592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,788.932741174,751,729.932741174,707,696,654,931,801.067258826,834,667,656,673,0.402181054108,0.00446793379752,0.0698030029629,0.999999949847,-2.30810455198e-05,-0.000314697101274,2.71769287085e-05,1793256130433353216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,789,751,729.492867814,707.507132186,696,654,931,801.507132186,834,667,656,673,0.402007561983,0.00447221911576,0.0698025224435,0.999999949767,-1.27530064849e-05,-0.000315422049336,2.84886965058e-05,1793256130450020096
+370,6.166666667,POSE2_TO_POSE3_RETREAT,789,751,729,707.919209908,696,654,931,802,834,667,656,673,0.401842386052,0.00447891608738,0.0698024496094,0.999999949822,8.31704552749e-06,-0.000315294187445,2.95953170074e-05,1793256130466686720
+371,6.183333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.343299996,696,654,931,802,834,667,656,673,0.401699909543,0.00449825189471,0.0698025578195,0.999999946528,8.73938734376e-05,-0.000313798812859,2.89119849288e-05,1793256130483353344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,931,801.760747843,834,667,656,673,0.401571415987,0.00451033472149,0.0698023600578,0.99999994266,0.00012525195098,-0.000313516946903,2.64544283978e-05,1793256130500019712
+373,6.216666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,931,801.168392701,834,667,656,673,0.401463559337,0.00451171315422,0.0698017107239,0.99999994492,0.000102276868291,-0.00031502605358,2.13783630033e-05,1793256130516686336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,789,751,729.414227116,707,696,654,931,801,834,667,656,673,0.401370901227,0.00450723316852,0.0698002321872,0.999999946615,8.10220226247e-05,-0.00031598844055,1.88881859514e-05,1793256130533353216
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,751,729.434196999,707,696,654,931,801.565803001,834,667,656,673,0.401218987108,0.00450427712703,0.0697995599799,0.999999948114,6.48775846198e-05,-0.000315031950677,1.78465367812e-05,1793256130566686720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.142740311,696.142740311,654,931,802,834,667,656,673,0.401159304403,0.00450646025252,0.0698011242806,0.999999948819,6.68358652013e-05,-0.000312341853368,1.83922934337e-05,1793256130583353088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.732799615,696.732799615,654,931,802,834,667,656,673,0.401116381575,0.00450300703258,0.0698039185355,0.999999950992,6.00953289949e-05,-0.000306648556073,1.92551067121e-05,1793256130600019712
+379,6.316666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.683708111,654,931,802,834,667,656,673,0.401081860555,0.00450135902809,0.0698077216201,0.999999953055,5.70771139903e-05,-0.000300393308904,1.98868067711e-05,1793256130616686592
+380,6.333333333,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.105650696,654,931,802,834,667,656,673,0.401054292928,0.004501205033,0.06981235962,0.999999955039,5.71395190333e-05,-0.000293672987206,2.03272359009e-05,1793256130633353216
+381,6.350000000,POSE2_TO_POSE3_RETREAT,789,751,729.472081265,708,696,654,931,801.527918735,834,667,656,673,0.401034274369,0.00450315942918,0.0698156735121,0.999999956251,6.0777618194e-05,-0.000288764928795,2.0475862206e-05,1793256130650019840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,789,751,729.950636518,708,696,654,931,801.049363482,834,667,656,673,0.401016515332,0.0045050726603,0.0698184700239,0.999999957247,6.42939685203e-05,-0.000284518216744,2.05553764604e-05,1793256130666686720
+383,6.383333333,POSE2_TO_POSE3_RETREAT,789,751,729.377354735,708,696,654,931,801.622645265,834,667,656,673,0.401004818938,0.00450154443564,0.0698189182808,0.999999958063,5.8030747667e-05,-0.000282989034677,2.05940050747e-05,1793256130683353344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,654,931,802,834,667,656,673,0.400994976507,0.00449964067801,0.0698194283105,0.99999995857,5.48562593772e-05,-0.000281820113938,2.0715258008e-05,1793256130700019968
+385,6.416666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,654,931,802,834,667,656,673,0.4009887048,0.00450086563748,0.069820057314,0.999999958541,5.76306578497e-05,-0.000281345055165,2.09956450429e-05,1793256130716686592
+386,6.433333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.624070645,696,654,931,802,834,667,656,673,0.400985894531,0.00449987797852,0.0698220445775,0.999999959419,5.64231848581e-05,-0.000278445801983,2.11238725604e-05,1793256130733353216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.045806049,696,654,931,802,834,667,656,673,0.4009849473,0.00449769942906,0.0698247628928,0.999999960763,5.30725619797e-05,-0.000274241782496,2.11702037438e-05,1793256130750019840
+388,6.466666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,931,802,834,667,656,673,0.40098256388,0.00449831400239,0.0698250002783,0.99999996056,5.35284196804e-05,-0.000274907569588,2.09801384618e-05,1793256130766686464
+389,6.483333333,POSE2_TO_POSE3_RETREAT,789,751,729,707,696.107721665,654,931,802,834,667,656,673,0.400980720604,0.00449921699225,0.0698253160205,0.999999960439,5.42791534415e-05,-0.000275214826047,2.08090770315e-05,1793256130783352832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,789,751,729,707,696.680115612,654,931,802,834,667,656,673,0.400981740269,0.00450032760288,0.0698268904167,0.999999961239,5.48893238663e-05,-0.000272168368055,2.08077160658e-05,1793256130800019712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696.73803382,654,931,802,834,667,656,673.26196618,0.400982630459,0.00450060087503,0.0698281610597,0.99999996184,5.47598096587e-05,-0.000269979270176,2.08208299648e-05,1793256130816686592
+392,6.533333333,POSE2_TO_POSE3_RETREAT,789,751,729,707,696.144203324,654,931,802,834,667,656,673.855796676,0.400983356628,0.00449981338918,0.0698290469017,0.999999962194,5.36932473471e-05,-0.000268876293869,2.08522809295e-05,1793256130833353216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.435675073,696.435675073,654,931,802,834,667,656,673.564324927,0.400983240772,0.00450014222969,0.0698292938116,0.999999962198,5.43450125309e-05,-0.000268721592753,2.09583252529e-05,1793256130850019840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.988879067,654,931,802,834,667,656,673,0.400982842439,0.00450078101544,0.0698293274327,0.999999962091,5.54775170898e-05,-0.000268878188416,2.10815839373e-05,1793256130866686720
+395,6.583333333,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.411284674,654,931,802,834,667,656,673,0.400981811127,0.00449897071289,0.0698289345972,0.999999962088,5.30261380691e-05,-0.000269399919583,2.08631008245e-05,1793256130883353344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,654,931,801.830720426,834,667,656,673,0.400981086744,0.00449866221349,0.0698289081419,0.999999962094,5.3070006608e-05,-0.000269387352746,2.06246198642e-05,1793256130900019968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,654,931,801.242811749,834,667,656,673,0.400981121399,0.00450206767971,0.0698297877464,0.99999996211,5.92846330701e-05,-0.000268053464646,2.03366841555e-05,1793256130916686592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.340172402,654,931,801,834,667,656,673,0.400981555464,0.00450244049347,0.0698304919424,0.99999996233,5.89298695042e-05,-0.000267298499065,2.0440216298e-05,1793256130933353216
+399,6.650000000,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.919691609,654,931,801,834,667,656,673,0.400982270557,0.0045006795194,0.0698310727201,0.999999962696,5.39528538063e-05,-0.000266950865985,2.08191869636e-05,1793256130950019840
+400,6.666666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696.502858478,654,931,801.497141522,834,667,656,673,0.400982835688,0.00450030129826,0.069831707385,0.999999963071,5.35487905987e-05,-0.000265639549446,2.06670718259e-05,1793256130966686464
+401,6.683333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.924826945,696,654,931,802,834,667,656,673,0.400983129604,0.00449985601278,0.0698321354734,0.999999963349,5.32788326033e-05,-0.000264657712999,2.04923057452e-05,1793256130983353088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.34060288,696,654,931,802,834,667,656,673,0.400981750303,0.00449745025451,0.0698311059806,0.999999962955,4.89353531771e-05,-0.000266956834087,2.07427036709e-05,1793256131000019712
+403,6.716666667,POSE2_TO_POSE3_RETREAT,789,751,729,707.241382395,696,654,931,801.758617605,834,667,656,673,0.400980796111,0.00449726225674,0.0698303216385,0.999999962634,4.88439474558e-05,-0.000268177773399,2.06740641262e-05,1793256131016686336
+404,6.733333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.820237739,696,654,931,801.179762261,834,667,656,673,0.400980436257,0.00450017487486,0.0698298800377,0.999999962418,5.46972987824e-05,-0.000267891323981,2.01593833255e-05,1793256131033352960
+405,6.750000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.60038213,696,654,931,801,834,667,655.60038213,673,0.40098032743,0.00450114918757,0.0698300506916,0.999999962418,5.75017420384e-05,-0.000267299435199,2.02040583795e-05,1793256131050019840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,789,751,729,707.020765654,696,654,931,801,834,667,655.020765654,673,0.400980331671,0.00450125043537,0.0698304971215,0.999999962524,5.89328749856e-05,-0.000266569968355,2.05006823417e-05,1793256131066686464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.555994628,696,654,931,801.555994628,834,667,655.555994628,673,0.400980409367,0.00450064736816,0.0698312876518,0.999999962756,5.63981307591e-05,-0.000266234266917,2.0651876182e-05,1793256131083353344
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22656871913f271b494070cca492bfe229f2c7d2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/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,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+1,0.016666667,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+2,0.033333333,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+3,0.050000000,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+4,0.066666667,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+5,0.083333333,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+6,0.100000000,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+7,0.116666667,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+8,0.133333333,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
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+16,0.266666667,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
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+18,0.300000000,pose1_baseline,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
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+384,6.400000000,pose2_to_pose3_retreat,0.575680271067,0.0101816562222,1.0600206868,0.546251419586,0.0188558962942,1.05969238268
+385,6.416666667,pose2_to_pose3_retreat,0.575675588764,0.0101816782263,1.06002060306,0.546246736801,0.0188559168751,1.05969230454
+386,6.433333333,pose2_to_pose3_retreat,0.575672319451,0.0101817122082,1.06002050445,0.546243467227,0.0188559501774,1.05969221147
+387,6.450000000,pose2_to_pose3_retreat,0.575670413531,0.0101817414321,1.06002036438,0.546241561662,0.0188559806298,1.05969207212
+388,6.466666667,pose2_to_pose3_retreat,0.57566948242,0.0101817557091,1.06002029594,0.546240630723,0.0188559955069,1.05969200404
+389,6.483333333,pose2_to_pose3_retreat,0.575669063933,0.0101817669241,1.06002028306,0.54624021203,0.0188560060128,1.05969199096
+390,6.500000000,pose2_to_pose3_retreat,0.575668879556,0.0101817773339,1.06002029775,0.546240027238,0.0188560149946,1.05969200515
+391,6.516666667,pose2_to_pose3_retreat,0.575668801097,0.0101817817636,1.060020304,0.546239948601,0.0188560188167,1.05969201119
+392,6.533333333,pose2_to_pose3_retreat,0.575668555152,0.0101817956494,1.0600203236,0.546239702102,0.0188560307977,1.05969203013
+393,6.550000000,pose2_to_pose3_retreat,0.575668546939,0.0101817961132,1.06002032425,0.54623969387,0.0188560311978,1.05969203076
+394,6.566666667,pose2_to_pose3_retreat,0.575668368004,0.0101818062156,1.06002033851,0.546239514533,0.0188560399144,1.05969204454
+395,6.583333333,pose2_to_pose3_retreat,0.575668108916,0.0101818208435,1.06002035915,0.54623925486,0.0188560525357,1.05969206449
+396,6.600000000,pose2_to_pose3_retreat,0.575667913569,0.0101818318726,1.06002037472,0.546239059074,0.0188560620519,1.05969207953
+397,6.616666667,pose2_to_pose3_retreat,0.575667847281,0.0101818356152,1.06002038,0.546238992637,0.018856065281,1.05969208463
+398,6.633333333,pose2_to_pose3_retreat,0.575667728523,0.0101818423202,1.06002038946,0.546238873611,0.0188560710662,1.05969209377
+399,6.650000000,pose2_to_pose3_retreat,0.575667505693,0.0101818391168,1.06002041299,0.546238650579,0.0188560671597,1.05969211673
+400,6.666666667,pose2_to_pose3_retreat,0.575667451309,0.0101818212553,1.06002042499,0.546238596473,0.0188560502333,1.05969212862
+401,6.683333333,pose2_to_pose3_retreat,0.575667385645,0.010181799689,1.06002043948,0.546238531143,0.0188560297959,1.05969214296
+402,6.700000000,pose2_to_pose3_retreat,0.575667227026,0.0101817475931,1.06002047447,0.546238373332,0.0188559804273,1.05969217762
+403,6.716666667,pose2_to_pose3_retreat,0.575667010128,0.0101816763562,1.06002052231,0.546238157538,0.0188559129196,1.05969222501
+404,6.733333333,pose2_to_pose3_retreat,0.575666881873,0.010181659333,1.06002044811,0.54623803035,0.0188558995281,1.05969215118
+405,6.750000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020493,1.05969211612
+406,6.766666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+407,6.783333333,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85f93b90c240bdbb8428a83085802bdc7355fc37
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b78830f6b158a14c2c4459fd2e830ae953faf61dd083d6f9de5db1ba37f5acb
+size 25810927
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c339bfb181d989b419e3f781b054f42fa26a5e9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+30,0.500000000,BASELINE,789,751,730,708,696.400756507,654,931.599243493,802,834,667,656,673,0.400982355466,0.00450179998649,0.069834089259,0.999999964255,5.64487997022e-05,-0.000260627639416,1.94034330802e-05,1793256131739634688
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+45,0.750000000,BASELINE,789,751,729,707,696,654,931.111272114,802,834,667,656,673.888727886,0.400984337326,0.00449999804086,0.0698358736533,0.999999965017,5.38843776717e-05,-0.000258211204911,1.97208756757e-05,1793256131989634816
+46,0.766666667,BASELINE,789,751,729,707,696,654,931.685409247,802,834,667,656,673.314590753,0.40098598925,0.00450143981903,0.0698372141917,0.999999965371,5.55743482301e-05,-0.000256483422451,1.96255284406e-05,1793256132006301440
+47,0.783333333,BASELINE,789,751,729.260781191,707.260781191,696,654,931.739218809,801.739218809,834,667,656,673,0.400985386301,0.00450245497479,0.0698369382027,0.999999965095,5.67737093803e-05,-0.00025729900048,1.96004082997e-05,1793256132022968064
+48,0.800000000,BASELINE,789,751,729.837649903,707.837649903,696,654,931.162350097,801.162350097,834,667,656,673,0.400982050267,0.00450295303047,0.0698347028542,0.999999964049,5.73784131778e-05,-0.000261197333236,1.96604089633e-05,1793256132039634688
+49,0.816666667,BASELINE,789,751,729.575612284,707.575612284,696,654,931.424387716,801.424387716,834,667,656,673,0.400982294039,0.00450279501033,0.069834494639,0.999999964178,5.69660109857e-05,-0.000260801775549,1.95331766265e-05,1793256132056301568
+50,0.833333333,BASELINE,789,751,729,707,696,654,931.985311818,802,834,667,656,673,0.400983896793,0.0045023386392,0.069835068848,0.999999964753,5.61329353322e-05,-0.000258783220658,1.93494844963e-05,1793256132072968192
+51,0.850000000,BASELINE,789,751,729,707,696,654,931.406631853,802,834,667,656,673,0.400983845304,0.00450029288239,0.0698352006597,0.999999964776,5.44430379134e-05,-0.000259020338518,1.98136281215e-05,1793256132089635072
+52,0.866666667,BASELINE,789,751,729.17046937,707.17046937,696.17046937,654,931,802,834,667,656,673,0.400983626832,0.00449917150413,0.069835175342,0.999999964742,5.34805086214e-05,-0.000259331205521,2.00586529647e-05,1793256132106301440
+53,0.883333333,BASELINE,789,751,729.743839238,707.743839238,696.743839238,654,931,802,834,667,656,673,0.400983013698,0.00450023487378,0.0698347786523,0.999999964581,5.4237097529e-05,-0.000259816376944,1.9785795501e-05,1793256132122968064
+54,0.900000000,BASELINE,789,751,730,707.681872646,696.681872646,654,931,802,834,667,656,673,0.400983239766,0.00450084691892,0.069835151345,0.99999996464,5.54738586121e-05,-0.000259320337425,1.9881494737e-05,1793256132139634944
+55,0.916666667,BASELINE,789,751,730,707.106843031,696.106843031,654,931,802,834,667,656,673,0.400984143527,0.00450109449901,0.0698361453489,0.999999964874,5.70983804599e-05,-0.000258031925562,2.02748202308e-05,1793256132156301568
+56,0.933333333,BASELINE,789,751.482362327,729.517637673,707,696,654,931,802,834,667,656,673.482362327,0.400983279091,0.00450033028773,0.0698355600039,0.999999964726,5.55625840628e-05,-0.000258954558064,2.00771034186e-05,1793256132172968192
+57,0.950000000,BASELINE,789,751.926938969,729,707,696,654,931,801.926938969,834,667,656,673.926938969,0.400982159033,0.00449949813243,0.0698347604474,0.999999964512,5.36470193855e-05,-0.0002602060238,1.97537530178e-05,1793256132189634816
+58,0.966666667,BASELINE,789,751.348292817,729,707,696,654,931,801.348292817,834,667,656,673.348292817,0.400982062386,0.00449979361814,0.0698349726394,0.999999964484,5.40942032095e-05,-0.000260241357447,1.94943845332e-05,1793256132206301440
+59,0.983333333,BASELINE,789,751,729,707,696,654,931.228378349,801.228378349,834,667,656,673,0.400982180449,0.00449982206864,0.069835066019,0.999999964483,5.40712732669e-05,-0.000260252702071,1.94454667095e-05,1793256132222968320
+60,1.000000000,BASELINE,789,751,729,707,696,654,931.802063435,801.802063435,834,667,656,673,0.400982623154,0.00449944676349,0.0698349797549,0.999999964524,5.33375341061e-05,-0.00026022777544,1.97147490242e-05,1793256132239634944
+61,1.016666667,BASELINE,789,751,729,707.385892853,696,654,931.614107147,802,834,667,656,673,0.400983316885,0.00449964669771,0.0698354667414,0.999999964908,5.28648722696e-05,-0.000258851450171,1.96297543063e-05,1793256132256301568
+62,1.033333333,BASELINE,789,751,729,707.975066059,696,654,931.024933941,802,834,667,656,673,0.40098414285,0.00450014965612,0.0698362557044,0.999999965469,5.25297405982e-05,-0.00025676323612,1.93581337768e-05,1793256132272968192
+63,1.050000000,BASELINE,789,751,729,707.445485077,696.554514923,654,931,801.445485077,834,667,656,673.554514923,0.400983926661,0.00450218964605,0.0698367950562,0.999999965174,5.65359627883e-05,-0.00025706749781,1.92958230931e-05,1793256132289635072
+64,1.066666667,BASELINE,789,751,729,707.133054367,697,654,931.133054367,801.133054367,834,667,656,673.866945633,0.400984083569,0.0045033600591,0.0698373018258,0.999999965013,5.91050985278e-05,-0.000257108699848,1.93694482221e-05,1793256132306301440
+65,1.083333333,BASELINE,789,751,729,707.709993455,697,654,931.709993455,801.709993455,834,667,656,673.290006545,0.400985638815,0.00450140286764,0.0698377366962,0.999999965474,5.62399273645e-05,-0.000255919595779,1.98657135817e-05,1793256132322968064
+66,1.100000000,BASELINE,789,750.713544671,729,707.713544671,697,654,931.713544671,801.713544671,834,667,656,673,0.400986164175,0.00450098134856,0.0698375499216,0.999999965519,5.59386338335e-05,-0.000255804647318,1.99357398744e-05,1793256132339634688
+67,1.116666667,BASELINE,789,750.137565158,729,707.137565158,697,654,931.137565158,801.137565158,834,667,656,673,0.400985648617,0.00450211195394,0.0698367348423,0.999999965146,5.82286854433e-05,-0.000256775362183,1.95749606858e-05,1793256132356301312
+68,1.133333333,BASELINE,789,750,729,707,697,654,931,801,834,667,656,673,0.400984426616,0.00450204083094,0.0698359957968,0.999999965078,5.6240282507e-05,-0.000257505037384,1.93009460246e-05,1793256132372968192
+69,1.150000000,BASELINE,789,750,729,707,696.96451668,654,931,801.03548332,834,667,656,673,0.400983187222,0.00450158306853,0.0698354312274,0.999999965122,5.33004922098e-05,-0.000257971842477,1.90982686551e-05,1793256132389634816
+70,1.166666667,BASELINE,789,750,729,707,696.382996408,654,931,801.617003592,834,667,656,673,0.400985091313,0.0045009781547,0.0698371844538,0.999999965564,5.63791883951e-05,-0.00025555734093,1.95744178616e-05,1793256132406301440
+71,1.183333333,BASELINE,789,750.19636026,729,707,696,653.80363974,931,802,834,667,656,673,0.400985675056,0.00450121949533,0.0698377499624,0.999999965547,5.86172233882e-05,-0.00025510285634,1.97959962678e-05,1793256132422968320
+72,1.200000000,BASELINE,789,750.771542959,729,707,696,653.228457041,931,802,834,667,656,673,0.400983711555,0.00450309344819,0.0698360241003,0.999999964662,5.9233437264e-05,-0.000258429678213,1.95264512929e-05,1793256132439634688
+73,1.216666667,BASELINE,789,751,729,707,696,653.345868217,931,801.654131783,834,667,656,673,0.400983325757,0.00450228534417,0.069835702207,0.999999964608,5.76926110801e-05,-0.000258981796504,1.95873762756e-05,1793256132456301056
+74,1.233333333,BASELINE,789,751,729,707,696,653.919628475,931,801.080371525,834,667,656,673,0.400983979504,0.00449971003684,0.0698363053867,0.999999965099,5.47305144508e-05,-0.000257705666634,1.98660474257e-05,1793256132472967936
+75,1.250000000,BASELINE,789,751,729,707,696.509990887,654,931,801.509990887,833.490009113,667,656,673,0.400983998664,0.00449998471376,0.0698371353653,0.999999965274,5.37670364883e-05,-0.00025721695172,1.99970526848e-05,1793256132489634816
+76,1.266666667,BASELINE,789,751,729,707,696.900027612,654,931,802,833.099972388,667,656,673,0.400983808122,0.00450058924219,0.069837632343,0.999999965307,5.35406044786e-05,-0.000257134181137,2.00339201082e-05,1793256132506301184
+77,1.283333333,BASELINE,789,751,729,707,696.324716052,654,931,802,833.675283948,667,656,673,0.400983112016,0.00450055472755,0.0698363703383,0.9999999649,5.5270624256e-05,-0.000258371681832,1.9737561143e-05,1793256132522967808
+78,1.300000000,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400983192422,0.00450076556733,0.0698361328424,0.999999964827,5.65290998942e-05,-0.000258393601305,1.95577546137e-05,1793256132539634432
+79,1.316666667,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400984279013,0.00450129433183,0.069837222882,0.999999965191,5.71765591377e-05,-0.000256840397951,1.95289741251e-05,1793256132556301312
+80,1.333333333,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400984686714,0.00450169807422,0.0698372326904,0.99999996526,5.65743849294e-05,-0.000256719943253,1.93596403297e-05,1793256132572967936
+81,1.350000000,BASELINE,789,750.997959265,729,707,696,654,931,802,834,667,656,673,0.400984697652,0.00450202645433,0.069836611926,0.999999965155,5.52465149129e-05,-0.000257434527662,1.91099301634e-05,1793256132589634560
+82,1.366666667,BASELINE,789,750.41838617,729,707,696,654,931,802,834,667,656,673,0.400985068871,0.00450177146631,0.069836775401,0.999999965292,5.58910244403e-05,-0.000256737691118,1.94348919639e-05,1793256132606301440
+83,1.383333333,BASELINE,789,750.159976866,729,707,696,654,931,801.840023134,834,667,656,673,0.400985017063,0.00450168958992,0.0698367601207,0.99999996525,5.67090334366e-05,-0.000256703697496,1.9671944385e-05,1793256132622968064
+84,1.400000000,BASELINE,789,750.735199129,729,707,696,654,931,801.264800871,834,667,656,673,0.400983867219,0.00450205705223,0.0698362808522,0.999999964743,5.79773880329e-05,-0.000258390217932,1.96808141029e-05,1793256132639634944
+85,1.416666667,BASELINE,789,751,729,707,696.310252218,654,931,801.310252218,834,667,656,673,0.400983650509,0.00450235475019,0.069836081542,0.999999964742,5.81264575916e-05,-0.000258372572904,1.95303589926e-05,1793256132656301824
+86,1.433333333,BASELINE,789,751,729,707,696.885160962,654,931,801.885160962,834,667,656,673,0.400984229797,0.00450259293658,0.0698361210465,0.999999965173,5.73207358684e-05,-0.000256901212104,1.92439939572e-05,1793256132672968448
+87,1.450000000,BASELINE,788.527595613,751,729,707.472404387,696.527595613,654,931,802,834,667,655.527595613,673,0.400984475241,0.00450138951474,0.0698363380868,0.999999965355,5.6775204887e-05,-0.000256292268135,1.95130731183e-05,1793256132689635072
+88,1.466666667,BASELINE,788.06161032,751,729,707.93838968,696,654,931,802,834,667,655.06161032,673,0.400984506675,0.00450006931183,0.0698365847462,0.999999965431,5.63746732721e-05,-0.000256057611511,1.98700004924e-05,1793256132706301696
+89,1.483333333,BASELINE,788.641426402,751,729,707.358573598,696,654,931,802,834,667,655.641426402,673,0.400983438975,0.00450079350873,0.0698367077969,0.999999965134,5.66474655414e-05,-0.000257160454853,1.97996692794e-05,1793256132722968320
+90,1.500000000,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.40098290536,0.00450094327578,0.0698365646853,0.999999964964,5.54059027771e-05,-0.000258099572005,1.96638233226e-05,1793256132739634944
+91,1.516666667,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400983237351,0.00450016204912,0.0698359901976,0.999999964993,5.17099847527e-05,-0.000258773333682,1.94217958957e-05,1793256132756302080
+92,1.533333333,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400984291231,0.00450014017986,0.0698364960224,0.999999965326,5.16169585659e-05,-0.000257499505063,1.94546978277e-05,1793256132772968448
+93,1.550000000,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.40098575613,0.00450055066282,0.0698376169405,0.99999996583,5.35752961721e-05,-0.000255116784793,1.96441351683e-05,1793256132789634816
+94,1.566666667,BASELINE,789,751,729,707,696.544007102,654,931.544007102,801.455992898,834,667,656,673,0.400985597549,0.00450103616055,0.0698375811969,0.99999996587,5.46804382995e-05,-0.000254721529381,1.96847515948e-05,1793256132806301440
+95,1.583333333,BASELINE,789,751,729,707.12271727,696.87728273,654,931.87728273,801.12271727,834.12271727,667,656,673,0.40098502634,0.00450154312611,0.0698371961056,0.999999965716,5.55466832548e-05,-0.000255138321849,1.96680484592e-05,1793256132822968064
+96,1.600000000,BASELINE,789,751,729,707.701306453,696.298693547,654,931.298693547,801.701306453,834.701306453,667,656,673,0.40098330738,0.00450211204752,0.0698357876079,0.99999996495,5.57278448154e-05,-0.000258100301797,1.94737135908e-05,1793256132839634688
+97,1.616666667,BASELINE,789,751,729,707.722324672,696,654,931,801.722324672,834.722324672,667,656,673,0.400982735418,0.00450248918262,0.0698352019942,0.999999964663,5.60654559383e-05,-0.000259144332168,1.93429858773e-05,1793256132856301824
+98,1.633333333,BASELINE,789,751,729,707.148325255,696,654,931,801.148325255,834.148325255,667,656,673,0.400983387488,0.00450266165097,0.0698354945298,0.999999964896,5.65700238129e-05,-0.00025814160271,1.92801372062e-05,1793256132872969472
+99,1.650000000,BASELINE,789,751,729.436593286,707,696,654,931,801,834,667,656,673,0.400983729524,0.00450149111126,0.0698357644641,0.999999965047,5.54771068022e-05,-0.000257778310641,1.94449841177e-05,1793256132889635840
+100,1.666666667,BASELINE,789,750.975087683,729.975087683,707,696.024912317,654,931,801.024912317,834,667,655.975087683,673,0.400983988013,0.00449996094796,0.0698360715899,0.999999965181,5.39703745799e-05,-0.000257563081406,1.96836143444e-05,1793256132906301696
+101,1.683333333,BASELINE,789,750.395764912,729.395764912,707,696.604235088,654,931,801.604235088,834,667,655.395764912,673,0.400984791359,0.00450084193832,0.0698373816556,0.999999965569,5.56421365174e-05,-0.000255684380157,1.97985826729e-05,1793256132922968576
+102,1.700000000,BASELINE,789,750.18280929,729,707,697,654,931,802,834,667,655.18280929,673,0.400984993741,0.00450139402521,0.0698378699033,0.999999965705,5.64941930018e-05,-0.000254964444501,1.97659137963e-05,1793256132939635456
+103,1.716666667,BASELINE,789,750.759769444,729,707,697,654,931,802,834,667,655.759769444,673,0.400983900395,0.00450123697081,0.0698365862485,0.999999965309,5.55789013874e-05,-0.000256742896667,1.94149277572e-05,1793256132956302336
+104,1.733333333,BASELINE,788.665979312,751,729,707,697,654,931,802,834,667,656,673,0.400984144287,0.00450128558286,0.0698365482015,0.999999965318,5.50748093486e-05,-0.000256820530511,1.93490569565e-05,1793256132972968960
+105,1.750000000,BASELINE,788.093660607,751,729,707,697,654,931,802,834,667,656,673,0.400985342195,0.00450148092204,0.0698373987994,0.999999965618,5.48640764207e-05,-0.000255684761752,1.94865938679e-05,1793256132989635584
+106,1.766666667,BASELINE,788.483251102,750.516748898,729,707,696.516748898,654,931.483251102,802,834,667,656,673,0.400985048783,0.00450128650742,0.0698375745834,0.999999965753,5.4692832117e-05,-0.000255188945388,1.95250917441e-05,1793256133006301952
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,751,729,708,697,654,931,802,834,667,656,673,0.400985227375,0.00449976454731,0.069838152724,0.999999965749,5.51785721893e-05,-0.000255062886913,2.00002177153e-05,1793256133049357824
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,751,729.575646632,708,697,654,931.575646632,802,834,667,656,673,0.400986034193,0.00449979224871,0.0698387186455,0.999999965934,5.56985922531e-05,-0.000254223434918,2.00085739882e-05,1793256133066024960
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,751,729.84521208,708,696.84521208,654,931.84521208,802,834,667,656,673.15478792,0.40098619419,0.00449998481233,0.0698385116645,0.999999965958,5.53192019196e-05,-0.00025422249915,1.98550209277e-05,1793256133082692096
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,751,729.256268704,708,696.256268704,654,931.256268704,802,834,667,656,673.743731296,0.400984539957,0.00450063978824,0.0698361368153,0.999999965526,5.24171088426e-05,-0.000256573467609,1.92473379855e-05,1793256133099358208
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931,802,834,667,656,673.673134401,0.400984328907,0.00450102940775,0.0698356861417,0.999999965437,5.21820027208e-05,-0.000256975788266,1.91286102454e-05,1793256133116024832
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931,802,834,667,656,673.094475024,0.400985229581,0.00450121461571,0.0698367177151,0.999999965617,5.40013519425e-05,-0.000255877010497,1.93865385056e-05,1793256133132691200
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,751,729,707.516464172,696,654,931.483535828,802,834,667,656,673,0.400984479037,0.0045004363156,0.069836309596,0.99999996539,5.27630921772e-05,-0.000257030995542,1.92588234605e-05,1793256133149357824
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,751,729.06082439,707,696.06082439,654,931.93917561,802,834,667,656,673,0.400983824025,0.00449974008337,0.069835929716,0.999999965146,5.15759777078e-05,-0.000258228814248,1.91312549926e-05,1793256133166024448
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,751,729.633103503,707,696.633103503,654,931.366896497,802,834,667,656,673,0.400986681497,0.00450131478749,0.0698381494292,0.999999965455,5.58356234359e-05,-0.000256099054259,1.96376534961e-05,1793256133182691072
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,751,729.787575515,707,696.787575515,654,931,802,834,667,656,673,0.400996957185,0.0045018468896,0.0698435049763,0.999999967265,5.79775160304e-05,-0.0002484052781,2.00655405073e-05,1793256133199357696
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,751,729.195674966,707,696.195674966,654,931,802,834,667,656,673,0.401020484807,0.00450051648257,0.069854462391,0.999999971578,5.63362443416e-05,-0.00023077191837,2.03531741742e-05,1793256133216024576
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,751,729,707,696.387785875,654,931,802,834,667,656,673,0.401059477644,0.00449961581108,0.0698696861921,0.999999977114,5.5177360998e-05,-0.000205707851183,2.02885966235e-05,1793256133232691200
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,751,729,707,696.967078839,654,931,802,834,667,656,673,0.401106107943,0.0044989273633,0.0698870169385,0.999999982667,5.42567037602e-05,-0.000176974145887,2.00500804524e-05,1793256133249357824
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,751,729,707.543443064,696.456556936,654,931.543443064,802,834,667,656,673,0.401170497798,0.00449959714638,0.0699038623065,0.999999985699,5.35080074899e-05,-0.000159203138954,1.98557809744e-05,1793256133266024448
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,751,729,707.881316212,696,654,931.881316212,802,834,667,656,673,0.401239042288,0.00450019190295,0.0699187029107,0.999999988273,5.22408366554e-05,-0.000142656003959,1.93355589238e-05,1793256133282690816
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,751,729,707.309689552,696,654,931.309689552,802,834,667,656,673,0.401319358617,0.0045001880007,0.0699260041865,0.999999990422,4.89554248683e-05,-0.000128258724758,1.75613234947e-05,1793256133299357440
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751,729,707,696.27190291,654,931,802,834,667,656,673,0.401405481447,0.00450082607834,0.0699289386562,0.999999991349,4.73344871025e-05,-0.000121724272084,1.56713233189e-05,1793256133316024320
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751,729,707,696.865277953,654,931,802,834,667,656,673,0.401498469324,0.00450222317192,0.0699267102295,0.999999991022,4.76814652805e-05,-0.000124486078376,1.36444540292e-05,1793256133332690944
+125,2.083333333,POSE1_TO_POSE2_PRESS,788.55476864,751,729.44523136,707,697,654,931,802,834,667,656,673,0.40160630327,0.00450306858968,0.0699240984959,0.999999990306,4.54661151773e-05,-0.000131116616063,1.13705928556e-05,1793256133349357824
+126,2.100000000,POSE1_TO_POSE2_PRESS,788.021299491,751,729.978700509,707,696.978700509,654,931,801.978700509,834,667,656,673,0.401719982566,0.00450375222688,0.069921558827,0.999999989472,4.24556743056e-05,-0.000138463656101,8.97028159204e-06,1793256133366024704
+127,2.116666667,POSE1_TO_POSE2_PRESS,788.598859522,751,729.401140478,707,696.401140478,654,931,801.401140478,834,667,656,673,0.401872432682,0.00450444279724,0.0699238416333,0.99999999016,3.83366685349e-05,-0.000134845153544,5.16230566876e-06,1793256133382691072
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,750.820475943,729,707,696,654,931,801.179524057,834,667,656,673,0.402034808408,0.00450530072392,0.0699265601745,0.999999990928,3.47844981777e-05,-0.000130127504381,1.32451286353e-06,1793256133399357440
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,750.23275251,729,707,696,654,931,801.76724749,834,667,656,673,0.402219752829,0.00450653918302,0.0699302694837,0.999999991914,3.25211910936e-05,-0.000122910631003,-2.58107664546e-06,1793256133416024320
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,750.351789279,729,707,696.351789279,654,931,801.648210721,834,667,655.648210721,673,0.402426360818,0.00450869404211,0.0699329200163,0.999999992679,2.99094638317e-05,-0.000117019649545,-7.31530177066e-06,1793256133432690944
+131,2.183333333,POSE1_TO_POSE2_PRESS,789,750.934244939,729,707,696.934244939,654,931,801.065755061,834,667,655.065755061,673,0.402647173513,0.00451144977998,0.0699348763151,0.999999993283,2.70692790661e-05,-0.00011199804773,-1.25928593003e-05,1793256133449357824
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,751,729,707,696.49072558,654,931,801.50927442,834,667,655.50927442,673,0.402897661497,0.00451272504992,0.0699385177701,0.999999994192,1.94306424764e-05,-0.000104521030265,-1.77349984636e-05,1793256133466024192
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,750.916383534,729,707.083616466,696.083616466,654,931,802,834,667,656,673,0.403159108484,0.00451352583804,0.0699431711445,0.999999995099,1.1164557203e-05,-9.56854612541e-05,-2.28611880034e-05,1793256133482690816
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,750.340524682,729,707.659475318,696.659475318,654,931,802,834,667,656,673,0.403462838529,0.00451264251061,0.069952519136,0.999999996349,2.79956791958e-06,-8.06917332099e-05,-2.79949364008e-05,1793256133499357696
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,750.240144397,729.240144397,707.759855603,696.759855603,654,931.240144397,802,834,667,656,673,0.403775092347,0.00451187303377,0.0699603741553,0.999999997147,-5.18677331486e-06,-6.76790080326e-05,-3.31398747887e-05,1793256133516024320
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,750.82777376,729.82777376,707.17222624,696.17222624,654,931.82777376,802,834,667,656,673,0.404099679905,0.0045112682969,0.0699660688678,0.999999997532,-1.26252165921e-05,-5.75327621069e-05,-3.8301004606e-05,1793256133532690944
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,751,729.589086681,707,696.410913319,654,932,802,834,667,656,673,0.404468518062,0.00449881631693,0.0699680755889,0.999999997112,-2.87249359659e-05,-5.8017923183e-05,-3.98096353737e-05,1793256133549357568
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,751,729.00780861,707,696.99219139,654,932,802,834,667,656,673,0.404855702519,0.0044814524674,0.0699685532678,0.999999996057,-4.84156221095e-05,-6.29108681618e-05,-3.98039390962e-05,1793256133566024192
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,750.431401247,729,707,697,654,931.431401247,802,834,667,656,673,0.405273263334,0.00447954336804,0.0699729610967,0.999999998206,5.27076414616e-06,-5.33604174516e-05,-2.67092237719e-05,1793256133582691072
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,750.144050488,729,707,697,654,931.144050488,801.855949512,834,667,655.855949512,673,0.405697320357,0.00448135915012,0.0699749649273,0.999999997441,4.95492822164e-05,-4.81746064678e-05,-1.85199258089e-05,1793256133599357696
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,750.71685517,729,707,697,654,931.71685517,801.28314483,834,667,655.28314483,673,0.406139481627,0.00449363537673,0.0699696541759,0.999999996101,6.28522206976e-05,-5.65651462583e-05,-2.54616678845e-05,1793256133616024064
+142,2.366666667,POSE1_TO_POSE2_PRESS,788.699918846,751,729,707,696.699918846,654,931.699918846,801.300081154,834,667,655.300081154,673,0.406603699675,0.00449937141253,0.0699572520204,0.999999995391,5.22033138991e-05,-7.51782389488e-05,-2.89920855875e-05,1793256133632690944
+143,2.383333333,POSE1_TO_POSE2_PRESS,788.106505886,751,729,707,696.106505886,654,931.106505886,801.893494114,834,667,655.893494114,673,0.407089478458,0.00449871435926,0.0699379179582,0.999999994024,1.81412820854e-05,-0.000103783962407,-2.91879063369e-05,1793256133649357568
+144,2.400000000,POSE1_TO_POSE2_PRESS,788,750.527301524,729,707,696,654,931,801.527301524,834,667,656,673.472698476,0.4076341196,0.00450859188605,0.0699349927334,0.999999994358,-1.24596876749e-05,-0.000100545058705,-3.1932157817e-05,1793256133666024192
+145,2.416666667,POSE1_TO_POSE2_PRESS,788,750,729,707,696.046741487,654,931.046741487,801.046741487,834,667,656,673.953258513,0.40819698619,0.00451989299071,0.069937250816,0.999999994797,-3.77487178915e-05,-8.80423226682e-05,-3.50515201479e-05,1793256133682691328
+146,2.433333333,POSE1_TO_POSE2_PRESS,788,750,729,707,696.598595164,654,931.598595164,801.598595164,834,667,656,673.401404836,0.408817667075,0.00452167624559,0.069956734945,0.999999997964,-1.38155575492e-05,-5.07046119377e-05,-3.62005128661e-05,1793256133699358976
+147,2.450000000,POSE1_TO_POSE2_PRESS,788,750,729.167292651,707,697,654,932,801.832707349,834.167292651,667,656,673,0.409437274854,0.00452538531839,0.0699693319758,0.999999998922,1.1145626694e-05,-2.52459033704e-05,-3.73295652693e-05,1793256133716026112
+148,2.466666667,POSE1_TO_POSE2_PRESS,788,750,729.780930206,707,697,654,932,801.219069794,834.780930206,667,656,673,0.410054019495,0.00453423256667,0.0699635538936,0.999999998012,3.88496270683e-05,-3.14809510785e-05,-3.84054160217e-05,1793256133732691712
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.373205938,750.373205938,729.626794062,707,697,654,932,801.373205938,834.626794062,667,656,673,0.410697745043,0.00454433626544,0.0699599207621,0.999999996924,5.49842127143e-05,-3.94251967669e-05,-3.96722914248e-05,1793256133749357824
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.953621253,750.953621253,729.046378747,707,697,654,932,801.953621253,834.046378747,667,656,673,0.411356450764,0.00455513756354,0.0699574785388,0.999999995898,6.46952897053e-05,-4.83184138909e-05,-4.10452264695e-05,1793256133766024448
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.472414435,751,729.527585565,707,696.472414435,654,932,802,834,667,656,673,0.412083862424,0.0045591980711,0.0699763745852,0.99999999648,7.14331904555e-05,-1.49716781489e-05,-4.13797952115e-05,1793256133782691072
+152,2.533333333,POSE1_TO_POSE2_PRESS,788.101431528,751,730,707,696.101431528,654,932,802,834,667,656,673,0.412822971001,0.00456366582472,0.069998605848,0.999999995999,7.59098740113e-05,2.22674073724e-05,-4.17598011813e-05,1793256133799357952
+153,2.550000000,POSE1_TO_POSE2_PRESS,788.677344426,751,730,707,696.677344426,654,932,802,834,667,656,673,0.413588883927,0.00457277706427,0.0700277700536,0.99999999473,7.10167785823e-05,6.05542922022e-05,-4.27741928844e-05,1793256133816024320
+154,2.566666667,POSE1_TO_POSE2_PRESS,788.738826927,750.738826927,730,707,697,654,932,801.738826927,834,667,656,673,0.414346373414,0.00458204802181,0.0700327917124,0.999999994174,7.74974142882e-05,6.09856848074e-05,-4.38867170224e-05,1793256133832691200
+155,2.583333333,POSE1_TO_POSE2_PRESS,788.144913353,750.144913353,730,707,697,654,932,801.144913353,834,667,656,673,0.415093131352,0.00459152246499,0.0700070552154,0.999999994047,9.84684442872e-05,1.31883150325e-05,-4.51242642557e-05,1793256133849357824
+156,2.600000000,POSE1_TO_POSE2_PRESS,788,750.431725343,729.568274657,707,697,654,932,801.431725343,834.431725343,667,656,673,0.41584578636,0.00459902667148,0.0699631150421,0.999999991035,0.000112828862959,-5.47726823295e-05,-4.68905193447e-05,1793256133866024448
+157,2.616666667,POSE1_TO_POSE2_PRESS,787.997170438,751,729.002829562,706.997170438,697,654,932,801.997170438,834.997170438,667,656,673,0.416600904054,0.00460587922419,0.069913644105,0.999999982716,0.000124951034085,-0.000128730503378,-4.88240949984e-05,1793256133882691072
+158,2.633333333,POSE1_TO_POSE2_PRESS,787.417717276,751,729.582282724,706.417717276,697,654,932,801.417717276,834.417717276,667,656,673,0.417470033942,0.00460951891448,0.0699343589231,0.99999998719,0.000115738273842,-9.85710011957e-05,-5.0081542942e-05,1793256133899357696
+159,2.650000000,POSE1_TO_POSE2_PRESS,787,750.835043726,729.835043726,706.164956274,697,654,932,801,834,667.164956274,656,673,0.41833850668,0.00461284734454,0.0699576886843,0.999999990481,0.000110705078864,-6.48849454005e-05,-5.0718496847e-05,1793256133916024576
+160,2.666666667,POSE1_TO_POSE2_PRESS,787,750.244052874,729.244052874,706.755947126,697,654,932,801,834,667.755947126,656,673,0.419205282139,0.00461537187879,0.0699877720896,0.999999991736,0.000116466498688,-2.20908185647e-05,-4.97528932155e-05,1793256133932691200
+161,2.683333333,POSE1_TO_POSE2_PRESS,787.34008976,750,729.34008976,707,697,654,932,801,834,667.65991024,656,673.34008976,0.42011953918,0.00461539535927,0.0700153361852,0.999999991428,0.000118634205469,2.23099901188e-05,-5.07186753364e-05,1793256133949357824
+162,2.700000000,POSE1_TO_POSE2_PRESS,787.919415003,750,729.919415003,707,697,654,932,801,834,667.080584997,656,673.919415003,0.421067197012,0.00461365947823,0.0700411280761,0.999999989298,0.000118273921449,6.78410141916e-05,-5.30430870245e-05,1793256133966024448
+163,2.716666667,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654,932,801,834,667.493833699,656,673.506166301,0.421957018488,0.00459177939827,0.0700369802005,0.999999992953,9.13398526929e-05,5.5224814578e-05,-5.19821200265e-05,1793256133982691328
+164,2.733333333,POSE1_TO_POSE2_PRESS,788,750,729.932223842,706.932223842,697,654,932,801,834,668,656,673,0.422828483476,0.00456929557994,0.0700187205772,0.999999996477,6.40786785556e-05,1.94123571031e-05,-5.06345248492e-05,1793256133999357696
+165,2.750000000,POSE1_TO_POSE2_PRESS,788,750,729.35590654,706.35590654,697,654,932,801,834,668,656,673,0.423632332815,0.00456670364839,0.069930874606,0.999999989276,6.65799643012e-05,-0.000119952369108,-5.12405612871e-05,1793256134016024320
+166,2.766666667,POSE1_TO_POSE2_PRESS,787.774170763,750,729.225829237,706.225829237,697,654,932,801,834,667.774170763,656,673,0.424484636228,0.00456810688285,0.0698764316493,0.999999976014,6.97206977506e-05,-0.000200761029798,-5.29669077637e-05,1793256134032691200
+167,2.783333333,POSE1_TO_POSE2_PRESS,787.183685451,750,729.816314549,706.816314549,697,654,932,801,834,667.183685451,656,673,0.425415180621,0.00457596128138,0.0698759259469,0.999999978186,7.38939766854e-05,-0.000187016746087,-5.65022679018e-05,1793256134049357824
+168,2.800000000,POSE1_TO_POSE2_PRESS,787.399149083,749.600850917,730,707,697,654,932,800.600850917,834,667.399149083,656,673,0.426403919847,0.004579585016,0.0699227365581,0.999999989037,7.45165808627e-05,-0.000115465594967,-5.51518501984e-05,1793256134066024448
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.978528969,749.021471031,730,707,697,654,932,800.021471031,834,667.978528969,656,673,0.42741893617,0.00458129844649,0.069990912262,0.999999995807,7.35359211869e-05,-1.78124720254e-05,-5.15953196493e-05,1793256134082691328
+170,2.833333333,POSE1_TO_POSE2_PRESS,787.451221194,749.548778806,730,707,697,654,932.548778806,800.548778806,834,668,656,673,0.428390039595,0.00458637285116,0.0700314520021,0.99999999413,8.62769446398e-05,3.98655791721e-05,-5.20219306883e-05,1793256134099357952
+171,2.850000000,POSE1_TO_POSE2_PRESS,787,749.876427947,730,707,697,654,933,800.876427947,834.123572053,668,656,673,0.42934982748,0.00458942587453,0.07006251222,0.999999990544,9.46539399935e-05,8.47184373518e-05,-5.26880164569e-05,1793256134116024576
+172,2.866666667,POSE1_TO_POSE2_PRESS,787,749.283024362,730,707,697,654,933,800.283024362,834.716975638,668,656,673,0.430273018113,0.00458430164609,0.070061574248,0.99999999124,8.44307338013e-05,8.66580687151e-05,-5.36817823473e-05,1793256134132691200
+173,2.883333333,POSE1_TO_POSE2_PRESS,787.302971682,749.302971682,730,707,697,654,933,800,834.697028318,668,656,673.302971682,0.431141967196,0.00457965876565,0.0700166389354,0.999999995613,7.5704307846e-05,1.11467134685e-05,-5.40241952005e-05,1793256134149357824
+174,2.900000000,POSE1_TO_POSE2_PRESS,787.882213005,749.882213005,730,707,697,654,933,800,834.117786995,668,656,673.882213005,0.431961455192,0.00457545481049,0.0699315839342,0.999999987108,6.83427445328e-05,-0.00013498958088,-5.37726602905e-05,1793256134166024448
+175,2.916666667,POSE1_TO_POSE2_PRESS,787.539668997,749.539668997,730,707,697,654,932.539668997,800.460331003,834,668,656,673.539668997,0.432888592104,0.00457275345146,0.0699117096897,0.999999983385,7.07397551531e-05,-0.000158731637186,-5.50421825346e-05,1793256134182690816
+176,2.933333333,POSE1_TO_POSE2_PRESS,787,749,730,707,697,654,932.037907174,801,834,668,656,673.037907174,0.43384393604,0.00457063899682,0.0699130564335,0.999999985181,7.43375804632e-05,-0.000144615744371,-5.65507401344e-05,1793256134199357696
+177,2.950000000,POSE1_TO_POSE2_PRESS,787,749,730,707,697,654,932.611875313,801,834,668,656,673.611875313,0.4348095945,0.00457140040144,0.0699792202077,0.999999995971,5.96918762379e-05,-3.69315878164e-05,-5.59491534655e-05,1793256134216024832
+178,2.966666667,POSE1_TO_POSE2_PRESS,787.19079805,748.80920195,730,707,697,654,933,800.80920195,834,668,656,673.80920195,0.435752193457,0.00457163795652,0.0700304675685,0.999999996019,5.2974798822e-05,4.58746630571e-05,-5.52359491284e-05,1793256134232691712
+179,2.983333333,POSE1_TO_POSE2_PRESS,787.780068322,748.219931678,730,707,697,654,933,800.219931678,834,668,656,673.219931678,0.436646633968,0.00457078147809,0.0700505627557,0.99999999361,6.28162619981e-05,7.67246665255e-05,-5.42896378568e-05,1793256134249358080
+180,3.000000000,POSE1_TO_POSE2_PRESS,787.637673335,748,730,707,697,654,933,800,834,668,656,673,0.437519529013,0.00457123233483,0.070043021751,0.999999993211,6.91957378672e-05,7.5863500721e-05,-5.50933171649e-05,1793256134266024704
+181,3.016666667,POSE1_TO_POSE2_PRESS,787.059590451,748,730,707,697,654,933,800,834,668,656,673,0.438379594232,0.00457246167612,0.0700190241031,0.999999994102,7.3513688673e-05,5.61191466586e-05,-5.69390709553e-05,1793256134282691328
+182,3.033333333,POSE1_TO_POSE2_PRESS,787,748,730,707,696.484516426,654,933,800,834.515483574,668,656,673.515483574,0.439154047311,0.00457449861242,0.0699534333726,0.999999995153,6.20366040401e-05,-4.94660215726e-05,-5.83002569085e-05,1793256134299357952
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,747.908313484,730,707,696,654,933,799.908313484,834.908313484,668,656,674,0.439916991326,0.00457632323593,0.0698901681941,0.999999985183,5.31610969866e-05,-0.000152627454487,-5.92624352117e-05,1793256134316024576
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,747.324189989,730,707,696,654,933,799.324189989,834.324189989,668,656,674,0.440670967888,0.00457650904452,0.0698650676854,0.999999977974,6.80082440684e-05,-0.000189783823905,-5.83807083043e-05,1793256134332691200
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,746.740672099,730,707,695.740672099,653.740672099,933,799.259327901,834.259327901,668,656,674,0.441465440253,0.00457909854712,0.0698756395638,0.999999980045,7.91325514108e-05,-0.000174102192463,-5.77623720946e-05,1793256134349357568
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,746.157909564,730,707,695.157909564,653.157909564,933,799.842090436,834.842090436,668,656,674,0.442310419065,0.00458468594498,0.0699307021657,0.999999990404,8.56137190785e-05,-9.25208244409e-05,-5.74725375291e-05,1793256134366024192
+187,3.116666667,POSE1_TO_POSE2_PRESS,787,746,730,707.421481033,695,653,933,800,835,668,656,674,0.443075705348,0.00459436222845,0.0699490860066,0.999999991871,8.55081855977e-05,-7.56118252212e-05,-5.68189631008e-05,1793256134382691072
+188,3.133333333,POSE1_TO_POSE2_PRESS,787,746,730,707.999618395,695,653,933,800,835,668,656,674,0.443811371532,0.00460555827188,0.0699538370677,0.999999991567,8.29545036729e-05,-8.27402849788e-05,-5.60301936817e-05,1793256134399357696
+189,3.150000000,POSE1_TO_POSE2_PRESS,787,746.554636061,729.445363939,707.445363939,694.445363939,653,933,799.445363939,834.445363939,668,656,674,0.444472459248,0.00461502087566,0.0699070745462,0.999999980415,0.000101490574049,-0.000159813146276,-5.76941590385e-05,1793256134416024320
+190,3.166666667,POSE1_TO_POSE2_PRESS,787,746.879146935,729,707,693.879146935,652.879146935,933,799,834.120853065,668,656,673.879146935,0.44512910432,0.00462339187611,0.0698615207772,0.99999996429,0.000120257865978,-0.000231272633792,-5.8912157915e-05,1793256134432690944
+191,3.183333333,POSE1_TO_POSE2_PRESS,787,746.267374722,729,707,693.267374722,652.267374722,933,799,834.732625278,668,656,673.267374722,0.445767903158,0.0046273333111,0.0698210152988,0.999999949385,0.000139907830374,-0.000279742312115,-5.83120103272e-05,1793256134449357568
+192,3.200000000,POSE1_TO_POSE2_PRESS,787,746,729.325967975,707,692.674032025,652.325967975,933,799,835,668,656,673.325967975,0.446381997986,0.0046330878418,0.0697946855425,0.999999935655,0.00015667495618,-0.000317533892489,-5.75816799619e-05,1793256134466026752
+193,3.216666667,POSE1_TO_POSE2_PRESS,787,746,729.905002792,707,692.094997208,652.905002792,933,799,835,668,656,673.905002792,0.446976913696,0.00464024997802,0.0697793611804,0.999999923517,0.000171203974978,-0.00034703547628,-5.67502816331e-05,1793256134482696960
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+195,3.250000000,POSE1_TO_POSE2_PRESS,787,746,730,707.054567928,691.945432072,652,933,798,835,668,655.945432072,674,0.448097601767,0.00465770342113,0.0697441017334,0.999999894504,0.00018825540439,-0.000414861573557,-5.86700286601e-05,1793256134516024320
+196,3.266666667,POSE1_TO_POSE2_PRESS,787,746,730,707.62894151,691.37105849,652,933,798,835,668,655.37105849,674,0.448669554018,0.00466077895542,0.0697510366486,0.999999899221,0.000190817942353,-0.000401939286077,-5.99259386247e-05,1793256134532690944
+197,3.283333333,POSE1_TO_POSE2_PRESS,787,746,730,707.803260721,690.803260721,651.803260721,933,798,835,668,655.196739279,674,0.449227997972,0.00466389912955,0.0697635774359,0.999999906277,0.000195819665634,-0.000381384190766,-6.0384202948e-05,1793256134549357824
+198,3.300000000,POSE1_TO_POSE2_PRESS,787,746,730,707.247464142,690.247464142,651.247464142,933,798,835,668,655.752535858,674,0.449761788663,0.00466710077288,0.0697863491699,0.999999916999,0.000205273002327,-0.000346898907523,-5.93867309034e-05,1793256134566024448
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+200,3.333333333,POSE1_TO_POSE2_PRESS,787,746,730,707,689.036413194,651,933,798,835,668.963586806,656,674,0.450670270545,0.00467742122888,0.0697781558069,0.999999906048,0.000229112566417,-0.000363284619493,-5.86113597893e-05,1793256134599357696
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+203,3.383333333,POSE1_TO_POSE2_PRESS,787,746,729.306979063,707.693020937,687.306979063,651,933,798.306979063,835.306979063,668.693020937,656,674,0.451788455215,0.0046834947504,0.0696807808598,0.999999844092,0.000245287995138,-0.000497978631364,-6.05592950199e-05,1793256134649357312
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+208,3.466666667,POSE1_TO_POSE2_PRESS,787,746,730,707.602640308,685.397359692,650,933,798,835,669,656,674,0.453337671998,0.00469323539256,0.0696689068277,0.999999858746,0.000137439783716,-0.000508811306045,-6.87638613207e-05,1793256134732690688
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+227,3.783333333,POSE1_TO_POSE2_PRESS,787,746.375888949,730,707,681,649,933,797.375888949,835.375888949,669,656,674,0.455211803495,0.00474763557255,0.0696234795171,0.999999783609,0.00026139996934,-0.000599588388267,-7.0319807778e-05,1793256135049357312
+228,3.800000000,POSE1_TO_POSE2_PRESS,787,746,730,707.204164057,681,649,933,797,835,669,656,674,0.455219550734,0.00474868856064,0.0696223860183,0.99999978239,0.000262890596705,-0.000600988587352,-7.01447915683e-05,1793256135066024192
+229,3.816666667,POSE1_TO_POSE2_PRESS,787,746,730,707.793243159,681,649,933,797,835,669,656,674,0.455225509775,0.00474794537269,0.0696215209984,0.999999782118,0.000261771996849,-0.000602001106913,-6.95247896788e-05,1793256135082690816
+230,3.833333333,POSE1_TO_POSE2_PRESS,787,746,730,707.62439743,681,649,933,797,835,669,656,674,0.455229061266,0.00474739110769,0.0696207011984,0.999999781376,0.000261372886028,-0.000603412825661,-6.94605852217e-05,1793256135099357696
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,746,730,707.045671992,681,649,933,797,835,669,656,674,0.455231310773,0.00474693901073,0.069619905853,0.999999780379,0.000261362869162,-0.000605040428105,-6.96969515926e-05,1793256135116024576
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,746.53040847,730,707,681,649,933,797,835,669,656,674,0.455232310781,0.0047472459875,0.069619580989,0.999999779642,0.000262506676772,-0.000605796895736,-6.93950995861e-05,1793256135132691200
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,747,730,707,681,649,933,797,835,669,656,674,0.455233009513,0.00474716419856,0.0696192189654,0.999999779091,0.000263166824942,-0.00060647405432,-6.89219842079e-05,1793256135149357824
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,747,730,707,681,649,933,797,835,669,656,674,0.455232849958,0.00474507697581,0.0696185145876,0.999999779265,0.000261252721193,-0.000607130574018,-6.78958147206e-05,1793256135166024448
+235,3.916666667,POSE1_TO_POSE2_PRESS,787,746.73624509,730,707.26375491,681,649,933,797,835,669,655.73624509,674,0.45523343381,0.00474554430192,0.0696182174745,0.999999779163,0.000261091168036,-0.000607380905508,-6.77739127422e-05,1793256135182690816
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,746.144930922,730,707.855069078,681,649,933,797,835,669,655.144930922,674,0.455234940903,0.00474918414169,0.0696184261467,0.999999778721,0.000263106120713,-0.000607126788818,-6.87750274178e-05,1793256135199357440
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+238,3.966666667,POSE1_TO_POSE2_PRESS,787,746.990738763,730.981477527,707,681,649,933,797.990738763,835,669,655.990738763,674,0.455234551541,0.0047477663166,0.0696168305464,0.999999776607,0.000267299559261,-0.000608887840524,-6.7774256094e-05,1793256135232690944
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,746.412757485,729.825514969,707,681,649,933,797.412757485,835,669,655.412757485,674,0.455235168492,0.00474720616706,0.0696170337962,0.999999777634,0.000264099147386,-0.000608566383987,-6.80477278933e-05,1793256135249357824
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,746.164447317,729.164447317,707,681,649,933,797,835,669,655.164447317,674,0.455235735899,0.00474702674716,0.0696171589249,0.99999977802,0.000262672836722,-0.000608531625937,-6.82030035442e-05,1793256135266024448
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,746.739712311,729.739712311,707,681,649,933,797,835,669,655.739712311,674,0.455236179533,0.00474779845544,0.0696170888935,0.999999776821,0.000265678536153,-0.000609213090038,-6.80630048763e-05,1793256135282691072
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,746.674969995,730,707,680.674969995,648.674969995,933,797.325030005,835,668.674969995,656,674,0.455237018939,0.00474873263319,0.0696173796365,0.99999977678,0.000267243686786,-0.000608592570621,-6.80866402939e-05,1793256135299357696
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+244,4.066666667,POSE1_TO_POSE2_PRESS,787,746,729.503474584,707,680,648.496525416,933,797.503474584,835,668.496525416,656,674,0.455237426556,0.00474825804193,0.0696175539509,0.999999777127,0.000266148874912,-0.000608492619409,-6.81719616485e-05,1793256135332690688
+245,4.083333333,HOLD_POSE2,787,746,730,707,681,649,933,797,835,669,656,674,0.455236227833,0.00474500838499,0.069616078942,0.999999776859,0.000262862203445,-0.00061053637264,-6.65657726986e-05,1793256135376232704
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+247,4.116666667,HOLD_POSE2,786.172744009,746,730,707,680,648,933,797,835,668,655.827255991,674,0.455239037372,0.00474606842817,0.0696167447147,0.999999777572,0.000263029301201,-0.000609195113336,-6.74714975506e-05,1793256135409566208
+248,4.133333333,HOLD_POSE2,786.756068505,746,730,707,680,648,933,797,835,668,655.243931495,674,0.455237614137,0.00474629050803,0.06961605243,0.99999977626,0.000265125535925,-0.000610477009562,-6.71325277879e-05,1793256135426233088
+249,4.150000000,HOLD_POSE2,787,746,730,707,680,648.333620138,933,797,835,668,655.333620138,673.666379862,0.455238034839,0.00474664862644,0.0696162420461,0.999999776307,0.000265464526388,-0.000610264759811,-6.70212059881e-05,1793256135442899712
+250,4.166666667,HOLD_POSE2,787,746,730,707,680,648.907022613,933,797,835,668,655.907022613,673.092977387,0.455239780831,0.00474710451961,0.0696170655095,0.999999777332,0.000264540535003,-0.000608978624526,-6.70735013125e-05,1793256135459566080
+251,4.183333333,HOLD_POSE2,787,746,729.510022114,707,680,649,933,797,835,668.489977886,656,673.489977886,0.455238112887,0.00474731160005,0.0696160250729,0.99999977618,0.000264671988967,-0.000610790682854,-6.72547216227e-05,1793256135476232704
+252,4.200000000,HOLD_POSE2,787,746,729.074086219,707,680,649,933,797,835,669,656,674,0.455236288138,0.00474760586291,0.0696148234046,0.999999774812,0.0002652241472,-0.000612769465432,-6.74282173483e-05,1793256135492899328
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+254,4.233333333,HOLD_POSE2,787,746,729.76651175,707,680,648.76651175,933,797,835,668.76651175,656,674,0.455238883493,0.00474910937009,0.0696154501186,0.999999775376,0.000267235993013,-0.000610981052921,-6.73442054875e-05,1793256135526232576
+255,4.250000000,HOLD_POSE2,787,746,729.18546859,707,680,648.18546859,933,797,835,668.18546859,656,674,0.455238931464,0.00474800974204,0.069616377803,0.999999776543,0.000264175766635,-0.000610402087899,-6.73314319396e-05,1793256135542899456
+256,4.266666667,HOLD_POSE2,787,746.39061029,729.39061029,707,680,648.39061029,933,797,835,668.39061029,656,674,0.455239693469,0.00474868891046,0.0696170328783,0.999999776949,0.000265447450877,-0.000609197574586,-6.72198416474e-05,1793256135559566336
+257,4.283333333,HOLD_POSE2,787,746.964361674,729.964361674,707,680,648.964361674,933,797,835,668.964361674,656,674,0.455240790254,0.00475020208326,0.0696175601386,0.999999776988,0.000268750189505,-0.00060769976736,-6.70619202476e-05,1793256135576232960
+258,4.300000000,HOLD_POSE2,787,746.447056817,730,707,680,649,933,797,835,668.447056817,656,674,0.455239933836,0.00474893465165,0.0696169476522,0.999999776941,0.000266438541891,-0.000608794144324,-6.70650697237e-05,1793256135592899584
+259,4.316666667,HOLD_POSE2,787,746.140165977,729.859834023,707,680,649,933,797,835,668.140165977,656,674,0.455239229063,0.00474785133147,0.0696163456634,0.999999776951,0.000264271814064,-0.000609724266561,-6.70356068547e-05,1793256135609566208
+260,4.333333333,HOLD_POSE2,787,746.720045338,729.279954662,707,680,649,933,797,835,668.720045338,656,674,0.455239405822,0.00474792329542,0.069616013405,0.999999777182,0.000263726180875,-0.000609600543921,-6.68703713349e-05,1793256135626232576
+261,4.350000000,HOLD_POSE2,787,746.702184266,729.297815734,707,680,649,933,797,835.297815734,669,656,674,0.455239766059,0.00474810360726,0.0696160598362,0.999999776925,0.000264247158925,-0.000609806583615,-6.67784268777e-05,1793256135642899200
+262,4.366666667,HOLD_POSE2,787,746.126382447,729.873617553,707,680,649,933,797,835.873617553,669,656,674,0.455240297556,0.00474838505281,0.0696164597425,0.999999776211,0.000265763729411,-0.000610320428883,-6.67548935093e-05,1793256135659565824
+263,4.383333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,680,649,933,797,835,669,656,674,0.455237613167,0.00474554794993,0.0696153654868,0.999999775163,0.000264176446853,-0.000612781877534,-6.61998963483e-05,1793256135692412160
+264,4.400000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,680,649,933,797,835,668.405355688,655.405355688,674,0.455240848042,0.00474696096868,0.0696172050216,0.999999776634,0.000265510815625,-0.000609781447428,-6.63499554739e-05,1793256135709078784
+265,4.416666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,680,649,933,797,835,668.183669702,655,674,0.455242356894,0.00474783829622,0.0696179849943,0.999999777225,0.000266270031482,-0.000608462659689,-6.65089801971e-05,1793256135725745664
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,680,649,933,797,835,668.760662454,655,674,0.455240169523,0.00474756845769,0.0696164959473,0.999999775947,0.000265797575221,-0.000610745057084,-6.66872045022e-05,1793256135742412032
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,746,730,707.337134262,680,649,933,797,835.337134262,668.662865738,655,674,0.455238740781,0.00474700388979,0.0696156007513,0.999999775265,0.000265155261773,-0.000612157893023,-6.65253476418e-05,1793256135759078656
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,746,730,707.91323678,680,649,933,797,835.91323678,668.08676322,655,674,0.455237849771,0.00474623041119,0.0696151264901,0.999999775006,0.000264392549803,-0.000612954364346,-6.61224336843e-05,1793256135775745024
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,746,730,707.500383079,680,648.500383079,933,797,835.500383079,668.499616921,655.499616921,674,0.455239058131,0.00474676218001,0.0696153118744,0.999999774973,0.000266207002543,-0.000612218435575,-6.61485625754e-05,1793256135792411904
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,746.086274465,730,707,680,648.086274465,933,797,835.086274465,669,656,674,0.455240227128,0.00474719888245,0.0696154250299,0.999999774977,0.000267669307506,-0.000611566976528,-6.6221009028e-05,1793256135809078528
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746.664129421,730,707,680,648.664129421,933,797,835.664129421,669,656,674,0.455239050911,0.00474577525543,0.0696144602154,0.999999774977,0.000264521485952,-0.000612944954362,-6.61239172279e-05,1793256135825745408
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,746.758133878,729.758133878,707,680.241866122,649,933,797,835.758133878,669,656,674,0.455235227169,0.00474524300742,0.0696127158978,0.999999774157,0.000262730091284,-0.000615053762528,-6.60864092878e-05,1793256135842412288
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,746.180561363,729.180561363,707,680.819438637,649,933,797,835.180561363,669,656,674,0.455227728704,0.00474594797964,0.0696098896423,0.999999772204,0.00026282139618,-0.000618176951655,-6.61316028222e-05,1793256135859079168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.604998167,746,729,707,680.604998167,649,933,797,835,668.604998167,656,674,0.455201532482,0.00474619886566,0.0695986011337,0.999999760556,0.000264252941655,-0.000636140415964,-6.62065884048e-05,1793256135875745536
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.030348763,746,729,707,680.030348763,649,933,797,835,668.030348763,656,674,0.455166832485,0.00474624323248,0.0695834639763,0.999999743983,0.000266294030921,-0.000660853265082,-6.62951234364e-05,1793256135892412160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786.558799764,746,729,707,680,649,933,797,835,668.558799764,655.441200236,674,0.45511474951,0.00474688286017,0.0695673516029,0.999999729029,0.000267192979128,-0.000682750431231,-6.6348637374e-05,1793256135909078784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,746,729,707,680,648.853786198,933,797,835,668.853786198,655.146213802,674,0.455057841081,0.00474734665573,0.0695523312391,0.999999715675,0.000268170603217,-0.000701673127212,-6.62453137992e-05,1793256135925745152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,746,729,707,680,648.273914121,933,797,835,668.273914121,655.726085879,674,0.454989495385,0.00474719050825,0.069540710956,0.999999707866,0.000269570451977,-0.000712239426389,-6.56826144702e-05,1793256135942411776
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,746,729.539708905,707,680,649,933,797,835,669,655.460291095,674,0.454726719937,0.00474599185964,0.0695286227437,0.999999697435,0.000272119419127,-0.000726145007696,-6.15981266698e-05,1793256135992412160
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787,746,729.044624993,707,680.044624993,649,933,797,835.044624993,668.955375007,656,674,0.454630311911,0.00474606213851,0.0695335512336,0.999999704783,0.000275467613288,-0.000714822043194,-5.98434576669e-05,1793256136009079040
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,681,649,933,797,835,668.891459604,656,674,0.4533962801,0.00474572299066,0.06955946041,0.999999725187,0.000303817254309,-0.000675149480983,-3.8651060457e-05,1793256136125745920
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,787,746,729,707,688.808020585,650.808020585,933,798,835,668,656,674,0.446992083418,0.00464323433272,0.0696288367027,0.99999980708,0.000181645721815,-0.000593891817475,1.16876768281e-05,1793256136375745536
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,788,750,729.854099957,707,696,654,932,801,834,667.145900043,656,673.854099957,0.415021378892,0.00442010030517,0.0697904775695,0.999999945618,-3.41523845174e-05,-0.000326313190135,3.34403969772e-05,1793256137009079296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,788,750,729.569586508,707,696,654,932,801,834,667,656,674,0.414195287923,0.00442165963612,0.0697657301909,0.999999927625,-2.97689574505e-05,-0.000377624778068,3.55494532817e-05,1793256137025745664
+344,5.733333333,POSE2_TO_POSE3_RETREAT,788,750,729.006153803,707,696,654,932,801,834,667,656,674,0.413381388672,0.00442588117942,0.0697416633996,0.999999905482,-2.23076722233e-05,-0.000432501154338,3.84890143127e-05,1793256137042412288
+345,5.750000000,POSE2_TO_POSE3_RETREAT,788,750,729.594969155,707,696,654,932,801,834,667,656,674,0.412744162032,0.0044599033546,0.0697876904639,0.999999941289,1.63070996748e-05,-0.000340510344666,3.47658505436e-05,1793256137059078912
+346,5.766666667,POSE2_TO_POSE3_RETREAT,788.181094933,750,729.818905067,707.181094933,696,654,932,801,834,667,656,674,0.412104343509,0.00448342814942,0.069833745919,0.999999966348,4.59649098672e-05,-0.000253197874594,3.28834084958e-05,1793256137075745536
+347,5.783333333,POSE2_TO_POSE3_RETREAT,788.761293445,750,729.238706555,707.761293445,696,654,932,801,834,667,656,674,0.411458812775,0.0044838184433,0.0698798639514,0.999999982302,5.58830506348e-05,-0.000176195686449,3.50576155244e-05,1793256137092412160
+348,5.800000000,POSE2_TO_POSE3_RETREAT,788.661987818,750.338012182,729,707.661987818,696,654,932,801,834,667.338012182,656,674,0.410778354836,0.00447576251944,0.0698861175311,0.999999983714,4.56024040518e-05,-0.000170955051134,3.55863637402e-05,1793256137109078784
+349,5.816666667,POSE2_TO_POSE3_RETREAT,788.087701516,750.912298484,729,707.087701516,696,654,932,801,834,667.912298484,656,674,0.410073482446,0.00446180259928,0.0698645054302,0.999999975863,2.12025891478e-05,-0.000215876511392,3.49649185973e-05,1793256137125745664
+350,5.833333333,POSE2_TO_POSE3_RETREAT,788,750.512279331,729,707,696,654,932,801,834,667.512279331,656,674,0.409404749492,0.00446279617434,0.0698218082886,0.99999995747,1.36672298466e-05,-0.000289423922129,3.32599199804e-05,1793256137142412800
+351,5.850000000,POSE2_TO_POSE3_RETREAT,788,750.065222728,729,707,696,654,931.934777272,801.065222728,834,667,656,674,0.408753576083,0.00446585679258,0.0697798960852,0.999999934936,1.02907350013e-05,-0.00035920797637,3.15054202429e-05,1793256137159079680
+352,5.866666667,POSE2_TO_POSE3_RETREAT,788,750.657888714,729,707,696,654,931.342111286,801.657888714,834,667,656,674,0.408191727954,0.00446383761673,0.0697750641546,0.999999935729,1.59652573859e-05,-0.000356834591779,3.09299563518e-05,1793256137175746304
+353,5.883333333,POSE2_TO_POSE3_RETREAT,788.24414186,750.75585814,729,707.24414186,696,654,931.24414186,801.75585814,834,667,656,674,0.407648171375,0.00446402190086,0.0697823858418,0.99999994124,2.24969402156e-05,-0.000340703533862,3.0564669991e-05,1793256137192412672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,788.821638767,750.178361233,729,707.821638767,696,654,931.821638767,801.178361233,834,667,656,674,0.407129590406,0.00446721482329,0.0698063022659,0.999999952326,3.01990026063e-05,-0.000305787537268,3.04863632803e-05,1793256137209079040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,789,750,729,707.602342024,696,654,932,801,834,667,656,673.602342024,0.406615378809,0.00447234927182,0.069812513279,0.999999952987,3.56140007456e-05,-0.000302946994612,3.13125931308e-05,1793256137225745664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,789,750,729,707.026983102,696,654,932,801,834,667,656,673.026983102,0.406103119704,0.00447835132807,0.0698108122983,0.999999949234,4.00069818853e-05,-0.000314439968865,3.25430321568e-05,1793256137242412288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,788.440282093,750,729.559717907,707.559717907,696,654,932,801,834,667,656,673,0.4056595901,0.00448259256561,0.0698064101558,0.999999945886,4.50018645773e-05,-0.000324396599327,3.11290757759e-05,1793256137259079168
+358,5.966666667,POSE2_TO_POSE3_RETREAT,788,750,729.854872535,708,696,654,931.854872535,801,834,667,656,673.145127465,0.405236609871,0.0044852307334,0.0698074041987,0.999999946267,4.73581386032e-05,-0.000323010051642,2.98087973824e-05,1793256137275745792
+359,5.983333333,POSE2_TO_POSE3_RETREAT,788,750,729.275003303,708,696,654,931.275003303,801,834,667,656,673.724996697,0.404865056271,0.00448332631262,0.0698249611257,0.99999995727,4.17215154216e-05,-0.000287870499209,2.91589209989e-05,1793256137292412416
+360,6.000000000,POSE2_TO_POSE3_RETREAT,788,750,729,708,696,653.698041328,931,801,834,667,656,673.698041328,0.404511780005,0.00448102915728,0.069842270765,0.999999966476,3.76126010133e-05,-0.00025450790801,2.93062061419e-05,1793256137309079296
+361,6.016666667,POSE2_TO_POSE3_RETREAT,788,750,729,708,696,653.123701869,931,801,834,667,656,673.123701869,0.404174990766,0.00447837773719,0.0698593573384,0.999999974128,3.48817514152e-05,-0.000222748220747,3.01725681508e-05,1793256137325745920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,788.449234908,750.449234908,729,707.550765092,696,653.449234908,931,801,834,667,656,673,0.403838213339,0.00447568972911,0.0698567186146,0.999999973943,2.11478598608e-05,-0.000225484940453,2.86954845859e-05,1793256137342412544
+363,6.050000000,POSE2_TO_POSE3_RETREAT,789,750.977355299,729,707,696,654,931.022644701,801,834,667,656,673,0.403503156792,0.00447301033899,0.0698486031792,0.999999971332,4.52080637597e-06,-0.000237924293017,2.66010202931e-05,1793256137359078912
+364,6.066666667,POSE2_TO_POSE3_RETREAT,789,750.382253676,729,707,696,654,931.617746324,801,834,667,656,673,0.403211521923,0.00447080271023,0.0698389194649,0.999999966809,-8.89018108447e-06,-0.000256259629573,2.51614251299e-05,1793256137375745536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,789,750.206669014,729,707,696,654,931.793330986,801.206669014,834,667,656,673,0.402931859926,0.00446946005067,0.0698289664217,0.999999961776,-1.82024667101e-05,-0.000274792370634,2.4602055414e-05,1793256137392412160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,789,750.784494896,729,707,696,654,931.215505104,801.784494896,834,667,656,673,0.402673700041,0.00446967078948,0.0698185296918,0.999999956345,-2.0153892577e-05,-0.000293679628588,2.56234826814e-05,1793256137409078784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,931,801.639474401,834,667,656,673,0.402441361324,0.0044685765777,0.0698095324904,0.99999995206,-2.12090120062e-05,-0.000307741648731,2.69294375781e-05,1793256137425745664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,789,751,729,707,696,654,931,801.064511399,834,667,656,673,0.402224380782,0.004466706193,0.0698013915066,0.999999948501,-2.17310165654e-05,-0.000318933662374,2.84046270644e-05,1793256137442412544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,788.47785723,751,729.52214277,707,696,654,931,801,834,667,656,673,0.402045807938,0.0044685375852,0.0698009557014,0.999999948392,-1.68259078053e-05,-0.000319446676829,2.97881398694e-05,1793256137459079168
+370,6.166666667,POSE2_TO_POSE3_RETREAT,788.108457952,750.891542048,729.891542048,707.108457952,696,654,931,801,834,667,656,673,0.401877844193,0.00447276266585,0.0698017177496,0.999999948852,1.13114134819e-06,-0.000318314904722,3.11423148216e-05,1793256137475746048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,788.686901669,750.313098331,729.313098331,707.686901669,696,654,931,801,834,667,656,673,0.401734819204,0.0044853331381,0.0698034507486,0.999999946936,7.26745850758e-05,-0.000315904085405,3.24195660512e-05,1793256137492412416
+372,6.200000000,POSE2_TO_POSE3_RETREAT,789,750,729,708,696,654,931.265229639,801.265229639,834,667,656,673,0.40160535338,0.00450018763514,0.0698040598787,0.99999994278,0.000122277817237,-0.000313800929933,3.18966789853e-05,1793256137509079040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,789,750,729,708,696,654,931.843420998,801.843420998,834,667,656,673,0.401491886904,0.004517737201,0.0698033428824,0.999999940224,0.000145992361338,-0.000312060808543,2.92496916023e-05,1793256137525745664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,789,750.420291395,729,708,696,654,931.579708605,802,834,667,656,673,0.401394839917,0.00451601991967,0.0698029988018,0.99999994388,0.000118388365398,-0.000312594980421,2.25699741473e-05,1793256137542412288
+375,6.250000000,POSE2_TO_POSE3_RETREAT,789,750.996671199,729,708,696,654,931.003328801,802,834,667,656,673,0.401303890825,0.00450714728918,0.0698027932151,0.999999948034,7.17256172429e-05,-0.000313973782,1.43925757526e-05,1793256137559078912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,750.416312462,729,707.416312462,696,654,931,801.416312462,834,667,656,673,0.401238508782,0.0045074461671,0.0698041451729,0.999999949274,7.17881325681e-05,-0.00030992233476,1.57140621905e-05,1793256137575746048
+377,6.283333333,POSE2_TO_POSE3_RETREAT,789,750,729,707,696,654,931,801,834,667,656,673,0.401179039238,0.0045085407498,0.0698062434979,0.999999950592,7.32251182483e-05,-0.000305237344905,1.68464145425e-05,1793256137592412928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,789,750,729,707,696,654,931,801,834,667,656,673,0.401133621807,0.00451144531052,0.0698101393463,0.999999952131,7.73512414237e-05,-0.000299084733031,1.73831539324e-05,1793256137609079040
+379,6.316666667,POSE2_TO_POSE3_RETREAT,789,750.326664276,729,707.326664276,696,654,931,801.326664276,834,667,656,673,0.401096671646,0.00450941481823,0.0698134134194,0.999999953841,7.51342531837e-05,-0.000293833496168,1.82952573558e-05,1793256137625745664
+380,6.333333333,POSE2_TO_POSE3_RETREAT,789,750.903467565,729,707.903467565,696,654,931,801.903467565,834,667,656,673,0.401066205183,0.00450360537222,0.0698162113762,0.999999955655,6.80601085327e-05,-0.000289272475089,1.94947910677e-05,1793256137642412032
+381,6.350000000,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,653.523305778,931,802,834,667,656,673,0.401041987425,0.00450644969639,0.0698183880116,0.999999956135,7.17432062586e-05,-0.000286703023079,1.96007377843e-05,1793256137659078912
+382,6.366666667,POSE2_TO_POSE3_RETREAT,789,750.949318012,729,707.949318012,696,653.050681988,931,801.949318012,834,667,656,673,0.401019902064,0.00451025273542,0.0698203076698,0.999999956393,7.64142968836e-05,-0.000284594130289,1.95324231741e-05,1793256137675745536
+383,6.383333333,POSE2_TO_POSE3_RETREAT,789,750.359588797,729,707.359588797,696,653.640411203,931,801.359588797,834,667,656,673,0.40100713833,0.00450575281056,0.0698208223926,0.999999957368,6.85970903035e-05,-0.000283126176757,1.99485203215e-05,1793256137692412160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,789,750.226673673,729,707,696,653.773326327,931,801.226673673,834,667,656,673,0.400997859231,0.00450370812521,0.0698218991655,0.999999958259,6.49378060433e-05,-0.000280816741111,2.01579296297e-05,1793256137709078784
+385,6.416666667,POSE2_TO_POSE3_RETREAT,789,750.807519404,729,707,696,653.192480596,931,801.807519404,834,667,656,673,0.40099402479,0.00450549969165,0.0698238541278,0.999999959085,6.77751739577e-05,-0.000277192510396,2.00443942322e-05,1793256137725745664
+386,6.433333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.38473741,696,653,931,801.61526259,834,667,656,673,0.400990156201,0.00450610107535,0.0698248980473,0.999999959636,6.88783433276e-05,-0.000274935315662,1.98684471372e-05,1793256137742412288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,789,751,729,707.960157435,696,653,931,801.039842565,834,667,656,673,0.400986270689,0.00450611258355,0.0698254904379,0.999999960056,6.91220133685e-05,-0.000273355648068,1.96615677127e-05,1793256137759079168
+388,6.466666667,POSE2_TO_POSE3_RETREAT,789,751,729,707.454781947,696,653,931,801,834,667,656,673,0.400985678275,0.00450499691529,0.0698267214891,0.999999960582,6.69656902511e-05,-0.000271954949675,1.98262587753e-05,1793256137775745792
+389,6.483333333,POSE2_TO_POSE3_RETREAT,789,750.869608981,729,707,696,653.130391019,931,801,834.130391019,667,656,673,0.400985418891,0.00450414910012,0.0698280749038,0.999999961102,6.53636240495e-05,-0.000270417972824,1.99303471672e-05,1793256137792412416
+390,6.500000000,POSE2_TO_POSE3_RETREAT,789,750.286535964,729,707,696,653.713464036,931,801,834.713464036,667,656,673,0.400985465193,0.0045045223116,0.0698296881852,0.999999961598,6.63056283377e-05,-0.000268361652695,1.97280748438e-05,1793256137809079040
+391,6.516666667,POSE2_TO_POSE3_RETREAT,789,750.29287516,729,707.29287516,696,654,931,801,834.70712484,667,656,673,0.400986034589,0.00450476139191,0.0698306795839,0.99999996197,6.69019489567e-05,-0.000266833780012,1.96106207641e-05,1793256137825745408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,789,750.868747961,729,707.868747961,696,654,931,801,834.131252039,667,656,673,0.400987109436,0.00450487086482,0.0698310700738,0.999999962224,6.716424456e-05,-0.000265816532094,1.95751243206e-05,1793256137842412032
+393,6.550000000,POSE2_TO_POSE3_RETREAT,789,750.557375148,729,707.557375148,696,653.557375148,931,801,834,667,656,673,0.400986915829,0.00450481123983,0.0698311896553,0.999999962474,6.71292512109e-05,-0.000264883239075,1.95404243023e-05,1793256137859078912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,789,750.016356608,729,707,696,653.016356608,931,801,834,667,656,673,0.400986363811,0.00450471183942,0.0698312521098,0.999999962718,6.69994879099e-05,-0.000263998303064,1.95086844654e-05,1793256137875745792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,789,750.605643778,729,707,696,653.605643778,931,801,834,667,656,673,0.400986373516,0.00450496769681,0.0698321147681,0.999999962757,6.66241727014e-05,-0.000263939086016,1.95723970871e-05,1793256137892412416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,789,750.808724945,729,707,696,654,931,801,834,667,656,673,0.400986003221,0.00450506068992,0.0698324319285,0.99999996265,6.65521496936e-05,-0.000264357769453,1.96476728358e-05,1793256137909079040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,789,750.230489775,729,707,696,654,931,801,834,667,656,673,0.400984864165,0.00450482419952,0.0698316455158,0.999999962245,6.70937037596e-05,-0.00026574327225,1.97463414314e-05,1793256137925745664
+398,6.633333333,POSE2_TO_POSE3_RETREAT,789,750.347734788,729,707.347734788,696,654,931,801,834,667,656,673,0.400985209269,0.00450493245694,0.0698320763858,0.999999962576,6.6811526551e-05,-0.000264573595437,1.96034565898e-05,1793256137942412032
+399,6.650000000,POSE2_TO_POSE3_RETREAT,789,750.925952299,729,707.925952299,696,654,931,801,834,667,656,673,0.400986538091,0.0045052692173,0.0698333140853,0.999999963391,6.59833705089e-05,-0.000261710315362,1.93004672749e-05,1793256137959078656
+400,6.666666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,654,931,801,834,667,656,673,0.400985697372,0.00450504627816,0.0698334876722,0.999999963204,6.5749327944e-05,-0.000262481368908,1.93043115321e-05,1793256137975745280
+401,6.683333333,POSE2_TO_POSE3_RETREAT,789,751,729,707.921447383,696,654,931,801,834,667,656,673,0.400984857586,0.00450481000259,0.0698336084628,0.999999962961,6.5703528896e-05,-0.00026341267656,1.93798049449e-05,1793256137992412416
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6eca886e041193464650134180b7dbe938e8251b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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+233,3.883333333,pose1_to_pose2_press,0.621825177193,0.0101818183393,1.06002051202,0.592396323173,0.0188560559577,1.0596922209
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+271,4.516666667,pose2_to_pose3_retreat,0.621825445611,0.0101818316713,1.06002059676,0.592396591917,0.0188560702984,1.05969230632
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+348,5.800000000,pose2_to_pose3_retreat,0.583963817816,0.0101817306919,1.06002051378,0.554534966815,0.01885597285,1.05969222089
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+379,6.316666667,pose2_to_pose3_retreat,0.575761473742,0.0101817152055,1.06002049181,0.546332620961,0.0188559508979,1.05969218847
+380,6.333333333,pose2_to_pose3_retreat,0.575735549856,0.0101817226475,1.06002048374,0.54630669819,0.0188559624902,1.05969219005
+381,6.350000000,pose2_to_pose3_retreat,0.575715148076,0.0101817275862,1.06002072987,0.546286298184,0.0188559733877,1.05969243466
+382,6.366666667,pose2_to_pose3_retreat,0.575699407445,0.0101817642303,1.06002080144,0.546270557115,0.0188560084446,1.05969250352
+383,6.383333333,pose2_to_pose3_retreat,0.575688102099,0.0101818145317,1.06002066053,0.546259249959,0.0188560526485,1.05969236373
+384,6.400000000,pose2_to_pose3_retreat,0.57568016934,0.0101818250605,1.06002067917,0.546251317294,0.0188560633417,1.0596923784
+385,6.416666667,pose2_to_pose3_retreat,0.575675095931,0.0101817900049,1.06002054933,0.546246242979,0.018856025497,1.05969225612
+386,6.433333333,pose2_to_pose3_retreat,0.57567199002,0.0101817858886,1.06002045781,0.546243137089,0.0188560215616,1.05969216744
+387,6.450000000,pose2_to_pose3_retreat,0.575670268865,0.0101817945218,1.06002039952,0.546241416309,0.0188560314831,1.05969210961
+388,6.466666667,pose2_to_pose3_retreat,0.575669163395,0.0101817515038,1.06002038286,0.546240311315,0.0188559900581,1.05969209245
+389,6.483333333,pose2_to_pose3_retreat,0.575668675782,0.0101817030134,1.06002038814,0.546239824054,0.0188559427358,1.05969209703
+390,6.500000000,pose2_to_pose3_retreat,0.575668576553,0.0101816931456,1.06002038922,0.546239724896,0.0188559331057,1.05969209796
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+392,6.533333333,pose2_to_pose3_retreat,0.575668318352,0.010181667469,1.06002039202,0.546239466882,0.0188559080475,1.05969210039
+393,6.550000000,pose2_to_pose3_retreat,0.575668210892,0.0101816567827,1.06002039318,0.546239359499,0.0188558976186,1.0596921014
+394,6.566666667,pose2_to_pose3_retreat,0.575668207181,0.0101816564137,1.06002039322,0.546239355791,0.0188558972585,1.05969210143
+395,6.583333333,pose2_to_pose3_retreat,0.575667941551,0.0101816299983,1.0600203961,0.546239090352,0.0188558714793,1.05969210393
+396,6.600000000,pose2_to_pose3_retreat,0.575667750363,0.0101816227979,1.06002040361,0.546238899222,0.0188558644534,1.059692111
+397,6.616666667,pose2_to_pose3_retreat,0.57566773532,0.0101816274506,1.0600204066,0.546238884147,0.0188558689946,1.05969211389
+398,6.633333333,pose2_to_pose3_retreat,0.575667676957,0.0101816455017,1.06002041822,0.546238825661,0.0188558866128,1.05969212509
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+400,6.666666667,pose2_to_pose3_retreat,0.575667470455,0.0101817093703,1.06002045932,0.546238618724,0.0188559489501,1.05969216473
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+402,6.700000000,pose2_to_pose3_retreat,0.575667264207,0.0101817731603,1.06002050038,0.546238412042,0.0188560112107,1.05969220433
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+404,6.733333333,pose2_to_pose3_retreat,0.57566707646,0.0101818123038,1.06002052393,0.546238224046,0.0188560494687,1.05969222673
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8bb145af203f0007d8d47afc3ff293a1a2bdb81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0af01ca80c1ccafc8bca49a48905c3464da37879cb70a3377d3a00c8c25786
+size 25936603
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b4460173decad1ba527489f1f7425e463f64fa3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+26,0.433333333,BASELINE,789,750.912667349,729,707,696,654,931,801.912667349,834,667,656,673,0.400988366711,0.00450345463402,0.0698395907069,0.99999996562,6.54392805416e-05,-0.000253201122817,1.91414865474e-05,1793256138681696256
+27,0.450000000,BASELINE,789,750.327378771,729,707,696,654,931,801.327378771,834,667,656,673,0.400987500586,0.004504848525,0.0698377603905,0.999999965034,6.58962212899e-05,-0.000255417393,1.87276192225e-05,1793256138698362880
+28,0.466666667,BASELINE,789,750.255263538,729,707,696,654,931,801,834,667,655.744736462,673,0.400986934286,0.00450500863276,0.0698369062707,0.999999964736,6.58511725448e-05,-0.000256598813408,1.86790837565e-05,1793256138715029248
+29,0.483333333,BASELINE,789,750.834546764,729,707,696,654,931,801,834,667,655.165453236,673,0.400986748569,0.0045036026333,0.0698372912897,0.999999964807,6.51689216113e-05,-0.000256466643413,1.90942836194e-05,1793256138731696128
+30,0.500000000,BASELINE,789,750.58633808,729,707.41366192,696,654,931,801.41366192,834,667,655.41366192,673,0.400987422609,0.00450352088439,0.0698379262078,0.999999965166,6.38520308951e-05,-0.000255394454673,1.90745329874e-05,1793256138748362496
+31,0.516666667,BASELINE,789,750.007290132,729,707.992709868,696,654,931,801.992709868,834,667,655.992709868,673,0.400988440388,0.00450396858367,0.0698386610379,0.999999965638,6.22814050866e-05,-0.000253946437372,1.88808849412e-05,1793256138765029120
+32,0.533333333,BASELINE,789,750,729,707.433991392,696,654,931,802,834,667,656,673,0.400987196549,0.00450361498843,0.0698373417333,0.999999965118,6.31409973421e-05,-0.000255741455506,1.93130056185e-05,1793256138781696000
+33,0.550000000,BASELINE,789,750,729,707,696,654,931,801.856970699,834,667,656,673,0.400986435678,0.0045032370067,0.0698365756788,0.99999996483,6.32124847019e-05,-0.000256833768274,1.94993427821e-05,1793256138798362880
+34,0.566666667,BASELINE,789,750,729,707,696,654,931,801.268120336,834,667,656,673,0.400987270094,0.00450281485828,0.0698376157377,0.99999996531,6.07308721574e-05,-0.000255606866875,1.88947050042e-05,1793256138815029504
+35,0.583333333,BASELINE,789,750,729,707,696,654,931.314864049,801.314864049,834,667,656,673,0.400987005319,0.00450302516162,0.0698376184753,0.999999965278,6.08886521488e-05,-0.000255720903069,1.85386594352e-05,1793256138831695872
+36,0.600000000,BASELINE,789,750,729,707,696,654,931.892944722,801.892944722,834,667,656,673,0.400985821654,0.00450376417504,0.0698367540445,0.999999964817,6.32528825329e-05,-0.000256955921551,1.83904292105e-05,1793256138848362752
+37,0.616666667,BASELINE,789.470228645,750,729,707.470228645,696,654,932,801.529771355,834,667,656,673,0.400986850701,0.00450451446249,0.069837538546,0.999999965078,6.36342688719e-05,-0.000255841305288,1.84129448655e-05,1793256138865029376
+38,0.633333333,BASELINE,789.952776989,750.047223011,729,708,696,654,931.952776989,801,834,667,656,673,0.400988255031,0.00450516924052,0.0698386523636,0.999999965471,6.36703999024e-05,-0.000254288563939,1.84891154255e-05,1793256138881696256
+39,0.650000000,BASELINE,789.376996281,750.623003719,729,708,696,654,931.376996281,801,834,667,656,673,0.400988230888,0.00450472632112,0.0698392574069,0.99999996551,6.48863428708e-05,-0.000253809244695,1.87314717323e-05,1793256138898362880
+40,0.666666667,BASELINE,789,751,729,707.796492144,696,654,931,801.203507856,834,667,656,673,0.400988060545,0.00450416943636,0.0698394378734,0.999999965493,6.52884923428e-05,-0.000253757088505,1.89362123425e-05,1793256138915029504
+41,0.683333333,BASELINE,789,751,729,707.207030022,696,654,931,801.792969978,834,667,656,673,0.400987612934,0.00450339641539,0.0698388131266,0.999999965372,6.41472759134e-05,-0.000254515050465,1.90696144705e-05,1793256138931696128
+42,0.700000000,BASELINE,789,751,729,707,696,654,931,801.624243067,834,667,656,673,0.400986869209,0.00450355728738,0.0698380746757,0.999999965098,6.45247985141e-05,-0.000255497817719,1.90029070364e-05,1793256138948362496
+43,0.716666667,BASELINE,789,751,729,707,696,654,931,801.045069738,834,667,656,673,0.400985965182,0.0045042237233,0.069837274671,0.999999964741,6.57244920592e-05,-0.00025660228352,1.88278700845e-05,1793256138965029120
+44,0.733333333,BASELINE,789,751,729,707,696,654,931,801,834,667,656,673,0.400987536216,0.00450361323243,0.0698383944411,0.999999965538,6.40042447711e-05,-0.000253914381611,1.88647681674e-05,1793256138981696000
+45,0.750000000,BASELINE,789,751,729,707.105269434,696,654,931,801.105269434,834,667,656,673,0.400988967349,0.00450308441379,0.0698394095803,0.999999966195,6.26271742036e-05,-0.000251654067482,1.89304329247e-05,1793256138998362880
+46,0.766666667,BASELINE,789,751,729,707.679475481,696,654,931,801.679475481,834,667,656,673,0.400988844902,0.00450339941085,0.0698392369854,0.999999965844,6.38764337067e-05,-0.000252724048527,1.90445764128e-05,1793256139015029504
+47,0.783333333,BASELINE,788.739070282,751,729,708,696,654,931,802,834,667,656,673,0.400988421156,0.00450278356208,0.0698390391752,0.999999965615,6.34760573951e-05,-0.000253718347385,1.91725078212e-05,1793256139031696128
+48,0.800000000,BASELINE,788.148457935,751,729,708,696,654,931,802,834,667,656,673,0.40098761672,0.00450099159702,0.0698388095056,0.999999965539,6.09913794913e-05,-0.000254617022547,1.93178601732e-05,1793256139048362752
+49,0.816666667,BASELINE,788.433156566,750.566843434,729,707.566843434,696,654,931,802,834,667,656,673,0.400986868576,0.00450166945145,0.0698382560424,0.999999965299,6.19930678086e-05,-0.000255322645498,1.92225631231e-05,1793256139065029632
+50,0.833333333,BASELINE,789,750,729,707,696,654,931,802,834,667,656,673,0.400986175991,0.0045031471367,0.0698376239271,0.999999965015,6.41345426765e-05,-0.000255915603843,1.90553905138e-05,1793256139081696512
+51,0.850000000,BASELINE,789,750,729,707,696,654,931,802,834,667,656,673,0.400987251827,0.00450320472983,0.0698384422104,0.999999965406,6.47902988809e-05,-0.000254200393,1.93187792838e-05,1793256139098362880
+52,0.866666667,BASELINE,789,750.158530168,729,707.158530168,696,654,931,801.841469832,834,667,656,673,0.400987971953,0.00450361844795,0.0698389298666,0.999999965662,6.53616350759e-05,-0.000253032409103,1.94639427345e-05,1793256139115029760
+53,0.883333333,BASELINE,789,750.724693142,729,707.724693142,696,654,931,801.275306858,834,667,656,673,0.400987777431,0.00450494787963,0.0698385673725,0.999999965581,6.57158998333e-05,-0.000253271524398,1.93051102865e-05,1793256139131696384
+54,0.900000000,BASELINE,789.309742211,751,729,708,696,654,931,801,834,667,656,673.309742211,0.400987868234,0.00450506122764,0.0698388296496,0.999999965685,6.48946619236e-05,-0.000253090762427,1.90754205921e-05,1793256139148363008
+55,0.916666667,BASELINE,789.912667682,751,729,708,696,654,931,801,834,667,656,673.912667682,0.400988229107,0.00450402350425,0.0698396832973,0.99999996596,6.29607641969e-05,-0.000252512569993,1.87786617187e-05,1793256139165029888
+56,0.933333333,BASELINE,790,751,729.494628579,708,696,654,931,801.494628579,834,667,656,673.505371421,0.400988593331,0.00450387087908,0.0698390479232,0.999999965862,6.28199508521e-05,-0.000252936472294,1.87733185599e-05,1793256139181696512
+57,0.950000000,BASELINE,789.927407029,750.927407029,729.927407029,708,696,654,931,802,834,667,656,673,0.400988705166,0.00450386634981,0.0698382201419,0.999999965675,6.30754681388e-05,-0.000253609051719,1.88180471787e-05,1793256139198363136
+58,0.966666667,BASELINE,789.3525253,750.3525253,729.3525253,708,696,654,931,802,834,667,656,673,0.400987066738,0.00450384919974,0.0698378061777,0.999999965307,6.39718045812e-05,-0.000254827836865,1.88676962887e-05,1793256139215029504
+59,0.983333333,BASELINE,789,750.227533835,729,708,696,654,931,802,834,667,656,673,0.400986408184,0.00450364917034,0.0698378524987,0.999999965145,6.45886307624e-05,-0.000255297624315,1.90125113747e-05,1793256139231696128
+60,1.000000000,BASELINE,789,750.81580135,729,708,696,654,931,802,834,667,656,673,0.400987303131,0.00450315920282,0.0698386285588,0.999999965311,6.47623196235e-05,-0.000254579945943,1.93082032501e-05,1793256139248363008
+61,1.016666667,BASELINE,789,750.604211753,729,707.604211753,696,654,931,801.604211753,834,667,656,673.395788247,0.400987459663,0.00450399449984,0.069839389953,0.999999965419,6.52288768536e-05,-0.000254048302576,1.91340689237e-05,1793256139265029376
+62,1.033333333,BASELINE,789,750.02799969,729,707.02799969,696,654,931,801.02799969,834,667,656,673.97200031,0.400987279583,0.00450543393125,0.0698401446614,0.999999965501,6.582894089e-05,-0.00025360146507,1.87457598605e-05,1793256139281696000
+63,1.050000000,BASELINE,789,750,729,707,696,654,931,801.548614112,834.548614112,667,656.548614112,674,0.400987911394,0.00450452631508,0.0698401006062,0.999999965817,6.30871367883e-05,-0.000253065847623,1.85473027299e-05,1793256139298362880
+64,1.066666667,BASELINE,789,750.12534228,729,707,696,654,931,802,834.87465772,667,656.87465772,673.87465772,0.400988676376,0.0045034472821,0.0698400521609,0.999999966077,6.08719666945e-05,-0.000252587140966,1.84531619544e-05,1793256139315029504
+65,1.083333333,BASELINE,789,750.702408635,729,707,696,654,931,802,834.297591365,667,656.297591365,673.297591365,0.400989771852,0.00450218249411,0.0698401349216,0.999999966119,6.11698792344e-05,-0.000252329878127,1.87000236198e-05,1793256139331696128
+66,1.100000000,BASELINE,789,750.713567001,729,707,696,654,931.286432999,802,834,667,656,673,0.400989408939,0.00450224426341,0.0698397914449,0.999999965859,6.27120447053e-05,-0.000252967165329,1.89090161733e-05,1793256139348362752
+67,1.116666667,BASELINE,789,750.122133627,729,707,696,654,931.877866373,802,834,667,656,673,0.400987493102,0.00450371858119,0.0698389941009,0.999999965268,6.5579118991e-05,-0.000254556989787,1.90776848187e-05,1793256139365029376
+68,1.133333333,BASELINE,789,750.458279679,729,707.458279679,696,654,931.541720321,802,834,667,656,673,0.400986568503,0.00450458743392,0.0698383114118,0.999999964974,6.69705784793e-05,-0.000255345040356,1.91448844438e-05,1793256139381696256
+69,1.150000000,BASELINE,789,750.964349952,729,707.964349952,696,654,931,802,834,667,656,673,0.40098599803,0.00450514127025,0.0698377389912,0.9999999648,6.76730289974e-05,-0.000255837330959,1.91936744313e-05,1793256139398362624
+70,1.166666667,BASELINE,789,750.389626516,729,707.389626516,696,654,931,802,834,667,656,673,0.400986881591,0.0045033143217,0.069838382775,0.999999965264,6.37637177772e-05,-0.000255012543149,1.93633938976e-05,1793256139415029504
+71,1.183333333,BASELINE,788.814810026,750,729,707.185189974,696,654,931,802,834,667,656,673,0.400987120878,0.00450273494237,0.0698383761759,0.999999965387,6.20885313207e-05,-0.000254953216103,1.92267032563e-05,1793256139431696384
+72,1.200000000,BASELINE,788.239797551,750,729,707.760202449,696,654,931,802,834,667,656,673,0.400986003976,0.00450478167977,0.0698370005293,0.999999964812,6.51161478609e-05,-0.000256505173911,1.84450233348e-05,1793256139448363008
+73,1.216666667,BASELINE,788.346793446,750,729,707.653206554,696,654,931,802,834,667,656,673,0.400986815058,0.00450486717095,0.0698375298065,0.999999965151,6.50373729992e-05,-0.000255214367139,1.82949288662e-05,1793256139465029376
+74,1.233333333,BASELINE,788.941667157,750,729,707.058332843,696,654,931,802,834,667,656,673,0.400989005332,0.00450354967562,0.0698394217796,0.999999966135,6.27364267724e-05,-0.000251889975733,1.85966419635e-05,1793256139481696000
+75,1.250000000,BASELINE,789,750.517218075,729,707,696,654,931,802,834,667,656,673,0.40098763542,0.00450385231443,0.0698388885009,0.999999965632,6.35982767903e-05,-0.000253655869657,1.87304583698e-05,1793256139498362880
+76,1.266666667,BASELINE,789,750.909278125,729,707.090721875,696,654,931,802,834,667,656,673,0.400986380969,0.00450426286331,0.0698383238655,0.999999965134,6.44286881854e-05,-0.000255393895095,1.88198177751e-05,1793256139515030016
+77,1.283333333,BASELINE,789,750.335488613,729,707.664511387,696,654,931,802,834,667,656,673,0.400987802316,0.00450431010048,0.0698389962524,0.999999965556,6.32607438493e-05,-0.000254036744329,1.87696525596e-05,1793256139531696896
+78,1.300000000,BASELINE,789.246141839,750.246141839,729,707.753858161,696.246141839,654,931.246141839,802,834,667,656,673,0.400987915281,0.00450449093989,0.0698390320252,0.999999965736,6.2662645975e-05,-0.000253480248419,1.8668189905e-05,1793256139548363520
+79,1.316666667,BASELINE,789.838811001,750.838811001,729,707.161188999,696.838811001,654,931.838811001,802,834,667,656,673,0.400986186256,0.00450485986933,0.0698381715497,0.999999965582,6.28667985154e-05,-0.000254050943291,1.84945088773e-05,1793256139565030144
+80,1.333333333,BASELINE,789.580272972,750.580272972,729,707.419727028,696.580272972,654,931.580272972,802,834,667,656,673,0.400987157641,0.00450342617054,0.0698388754661,0.999999965859,6.13552550669e-05,-0.000253304777248,1.88107977775e-05,1793256139581696768
+81,1.350000000,BASELINE,789.003747542,750.003747542,729,707.996252458,696.003747542,654,931.003747542,802,834,667,656,673,0.400989137824,0.00450131905976,0.0698401637961,0.999999966292,5.92027750932e-05,-0.000252066668456,1.93101258688e-05,1793256139598363392
+82,1.366666667,BASELINE,789,750.573996892,729,708,696,654,931.573996892,802,834,667,656,673,0.400989150935,0.0045026278822,0.0698410561081,0.99999996642,5.98874708248e-05,-0.000251431641522,1.88731431108e-05,1793256139615030016
+83,1.383333333,BASELINE,789,751,729,707.849334727,696,654,931.849334727,801.849334727,834,667,656,673,0.400988979084,0.00450328397255,0.0698413061687,0.999999966441,6.04261834824e-05,-0.000251235588875,1.86496530316e-05,1793256139631696640
+84,1.400000000,BASELINE,789,751,729,707.275709388,696,654,931.275709388,801.275709388,834,667,656,673,0.400988324121,0.00450204491782,0.0698397605217,0.999999966171,6.05029690993e-05,-0.000252260784141,1.90426947733e-05,1793256139648363264
+85,1.416666667,BASELINE,789,750.714801943,729,707.285198057,696,654,931,801,834,667,656,673,0.400988018493,0.00450180722561,0.069838901819,0.999999965889,6.13634570791e-05,-0.000253153735638,1.92246900869e-05,1793256139665029888
+86,1.433333333,BASELINE,789,750.165664436,729,707.834335564,696,654,931,801,834,667,656,673,0.400988036162,0.00450249625462,0.0698386788561,0.999999965595,6.29492303965e-05,-0.000253924300726,1.92113703084e-05,1793256139681696768
+87,1.450000000,BASELINE,789,750.434736152,729,707.565263848,696,654,931,801,834,667,656,673,0.4009874846,0.00450338982925,0.0698383235499,0.999999965469,6.44101292839e-05,-0.000254069128938,1.90078338902e-05,1793256139698363392
+88,1.466666667,BASELINE,789,750.946919546,729,707.053080454,696,654,931.053080454,801.053080454,834,667,656,673,0.400986851682,0.00450431317145,0.0698380480849,0.999999965456,6.56379824864e-05,-0.000253826270998,1.87347843074e-05,1793256139715029504
+89,1.483333333,BASELINE,789,750.370044899,729,707.629955101,696,654,931.629955101,801.629955101,834,667,656,673,0.400987842593,0.00450465826979,0.0698391246738,0.999999965849,6.50985034795e-05,-0.000252425301119,1.8586686757e-05,1793256139731696384
+90,1.500000000,BASELINE,788.788358998,750,729,707.788358998,696,654,931.788358998,802,834,667,656,673,0.400988149365,0.00450484921077,0.0698396603445,0.999999966022,6.47690805132e-05,-0.000251824589049,1.8557473912e-05,1793256139748363008
+91,1.516666667,BASELINE,788.198065213,750,729,707.198065213,696,654,931.198065213,802,834,667,656,673,0.400987232126,0.00450476434454,0.0698392282436,0.999999965806,6.48154746909e-05,-0.000252655640563,1.87409610052e-05,1793256139765029888
+92,1.533333333,BASELINE,788.385844363,750.385844363,729,707,696,654,931,802,834,667,656,673,0.400987084056,0.00450434234672,0.0698391589638,0.999999965695,6.51882243728e-05,-0.000252977145422,1.90490314094e-05,1793256139781696768
+93,1.550000000,BASELINE,788.966530132,750.966530132,729,707,696,654,931,802,834,667,656,673,0.400987324394,0.00450375010618,0.0698392728993,0.999999965637,6.57257751325e-05,-0.000253041342497,1.94200131744e-05,1793256139798363648
+94,1.566666667,BASELINE,789,750.457088864,729,707,696,654,931,801.457088864,834,667,656,673,0.400987058328,0.00450481938984,0.0698386942565,0.999999965654,6.44365787357e-05,-0.000253354706275,1.8739135057e-05,1793256139815030016
+95,1.583333333,BASELINE,789,750.118665477,729,707,696,654,931,801,833.881334523,667,656,673,0.400987021111,0.00450542018166,0.0698383452721,0.99999996569,6.32104903819e-05,-0.000253560867815,1.82250431826e-05,1793256139831696384
+96,1.600000000,BASELINE,789,750.693024604,729,707,696,654,931,801,833.306975396,667,656,673,0.400987981654,0.00450383163634,0.0698390408827,0.999999965785,6.26558104315e-05,-0.000253296832412,1.85984954927e-05,1793256139848363008
+97,1.616666667,BASELINE,789,751,729,707,696,654,931,801,833.275303193,667,656,673,0.400987256431,0.00450336318012,0.0698385282821,0.999999965398,6.34332056083e-05,-0.000254608286934,1.88135072982e-05,1793256139865029632
+98,1.633333333,BASELINE,789,751,729,707,696,654,931,801,833.866673848,667,656,673,0.400984595832,0.00450418066519,0.0698366285695,0.99999996445,6.57399169153e-05,-0.000257728514906,1.88466182188e-05,1793256139881696256
+99,1.650000000,BASELINE,789.448393388,751,729,707.448393388,696,654,931,801.448393388,834,667,656,673,0.400986151334,0.00450469705284,0.0698384702198,0.999999965189,6.62920860463e-05,-0.000254699358918,1.88755894644e-05,1793256139898363136
+100,1.666666667,BASELINE,789.945767992,751,729.027116004,707.972883996,696.027116004,653.972883996,931,801.972883996,834,667,656,673,0.400988757603,0.00450502096339,0.0698411924947,0.999999966325,6.62640624933e-05,-0.000250200676767,1.89174382473e-05,1793256139915030016
+101,1.683333333,BASELINE,788.795906834,751,729.602046583,707.397953417,696.602046583,653.397953417,931,801.397953417,834,667,656,673,0.400987799278,0.00450322693922,0.0698397045523,0.999999965917,6.48322376128e-05,-0.000252175262352,1.92437905897e-05,1793256139931696640
+102,1.700000000,BASELINE,788.181064107,751,729.818935893,707,696.818935893,653.181064107,931.181064107,801.181064107,834,667,656,673,0.400987471329,0.00450208582097,0.0698390459476,0.999999965753,6.37864449515e-05,-0.000253071294908,1.94901584788e-05,1793256139948363520
+103,1.716666667,BASELINE,788.769271518,751,729.230728482,707,696.230728482,653.769271518,931.769271518,801.769271518,834,667,656,673,0.400988560856,0.00450241283642,0.0698402522037,0.999999966149,6.36086899721e-05,-0.000251542077664,1.95566721555e-05,1793256139965030144
+104,1.733333333,BASELINE,788.647684737,751,729,707,696,654,932,802,834,667,656,673,0.400989284552,0.00450269119904,0.0698404432552,0.999999966275,6.31076461965e-05,-0.000251176623926,1.94257489291e-05,1793256139981696768
+105,1.750000000,BASELINE,788.067973734,751,729,707,696,654,932,802,834,667,656,673,0.400989772128,0.00450293815957,0.0698399790607,0.999999966228,6.23979412888e-05,-0.00025156230089,1.91673935039e-05,1793256139998363392
+106,1.766666667,BASELINE,788.509075341,751,729,707.509075341,696,654,931.490924659,801.490924659,834,667,656,673,0.400989436161,0.00450324837128,0.0698400300272,0.999999966306,6.32871470627e-05,-0.000251025375894,1.92134522882e-05,1793256140015029760
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696,653,931,802,834,667,656,673,0.400988305158,0.0045040079817,0.0698404006577,0.999999966015,6.68127872214e-05,-0.000251296431539,1.88583050495e-05,1793256140058285056
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,750.586638221,729,707.586638221,696,653.586638221,931.586638221,801.413361779,834,667,656,673,0.400987648851,0.00450371866853,0.0698397525286,0.999999965952,6.36737193732e-05,-0.000252369334292,1.87635587258e-05,1793256140074951680
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,751,729,707.827556534,696,654,931.827556534,801.172443466,834,667,656,673,0.400987431136,0.00450341623524,0.0698393157954,0.999999965968,6.14351467117e-05,-0.000252865026004,1.86698870672e-05,1793256140091618560
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,751,729,707.243738287,696,654,931.243738287,801.756261713,834,667,656,673,0.400988259713,0.00450308250299,0.06983938336,0.999999966198,6.13447615568e-05,-0.00025198374455,1.85787790714e-05,1793256140108285184
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931,801.665147757,834.334852243,667,656,673,0.400988308555,0.00450309008408,0.0698392385351,0.999999966175,6.12875977951e-05,-0.000252091878331,1.85265271541e-05,1793256140124951808
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931,801.090304012,834.909695988,667,656,673,0.400987798553,0.00450334228742,0.0698389414888,0.999999965971,6.12542440988e-05,-0.000252909134628,1.850212373e-05,1793256140141618432
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,751,729,707.484426953,696,654,931.484426953,801.484426953,834.515573047,667,656,673,0.400987421059,0.00450426597803,0.0698391261414,0.999999965687,6.37338416041e-05,-0.000253405945118,1.86779836084e-05,1793256140158285056
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,932,802,834,667,656,673,0.400987222941,0.00450529592645,0.0698394378057,0.999999965399,6.64111465365e-05,-0.000253842432544,1.88807889716e-05,1793256140174951680
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,932,802,834,667,656,673,0.400988373374,0.00450616120589,0.0698400741153,0.999999965266,6.67289920734e-05,-0.000254273677239,1.89931182224e-05,1793256140191618304
+116,1.933333333,POSE1_TO_POSE2_PRESS,788.760224576,751,729,707.760224576,696,654,931.760224576,802,834,667,656,673,0.400994779554,0.00450617478908,0.0698431892854,0.99999996632,6.69264861682e-05,-0.000250037896294,1.90385217566e-05,1793256140208284672
+117,1.950000000,POSE1_TO_POSE2_PRESS,788.184072156,751,729,707.184072156,696,654,931.184072156,802,834,667,656,673,0.401008558933,0.0045049935415,0.0698497820083,0.999999968957,6.69551411728e-05,-0.000239254821809,1.89900362931e-05,1793256140224951552
+118,1.966666667,POSE1_TO_POSE2_PRESS,788.391320721,751,729.391320721,707.391320721,696,654,931.391320721,802,834,667,656,673,0.401041790114,0.00450439501471,0.0698636860372,0.999999974394,6.52153432726e-05,-0.000215861775868,1.90464691474e-05,1793256140241618176
+119,1.983333333,POSE1_TO_POSE2_PRESS,788.966357063,751,729.966357063,707.966357063,696,654,931.966357063,802,834,667,656,673,0.401084153445,0.00450407006113,0.0698810225482,0.999999980454,6.26452994376e-05,-0.000186548652033,1.91521585984e-05,1793256140258284800
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,750.45965726,729.45965726,708,696.54034274,654,931.45965726,801.45965726,834,667,656,673,0.401142210642,0.00450364581738,0.0698973351215,0.999999983501,6.24047175186e-05,-0.000169516183013,1.91576329398e-05,1793256140274951424
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,750.118494615,729,708,696.881505385,654,931,801.118494615,834,667,656,673,0.401204322054,0.00450329611771,0.0699120855299,0.999999986181,6.16738619025e-05,-0.000153224597125,1.88718021867e-05,1793256140291618304
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,750.713669081,729,708,696.286330919,654,931,801.713669081,834,667,656,673,0.401278819583,0.00450327111444,0.0699208076362,0.99999998878,5.83884103874e-05,-0.000136843483901,1.74391620142e-05,1793256140308284672
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931,802,834,667,656,673,0.401361725504,0.00450290021459,0.0699266259593,0.999999990314,5.59991532741e-05,-0.000126419097428,1.59767935284e-05,1793256140324951552
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931,802,834,667,656,673,0.401452426894,0.00450220863176,0.0699297521652,0.99999999103,5.44407640894e-05,-0.000121517232494,1.44868638166e-05,1793256140341618176
+125,2.083333333,POSE1_TO_POSE2_PRESS,788.554573404,750.554573404,729,708,696,654,931,801.554573404,834,667,656,673,0.401555670739,0.0045036616502,0.0699272301468,0.999999990436,5.3450158384e-05,-0.0001269641387,1.22776118462e-05,1793256140358284800
+126,2.100000000,POSE1_TO_POSE2_PRESS,788.024282364,750,729,708,696.024282364,654,931,801,834.024282364,667,656,673,0.401664089098,0.00450566087337,0.0699232293677,0.999999989452,5.25354047369e-05,-0.000135054924496,9.8153641291e-06,1793256140374951936
+127,2.116666667,POSE1_TO_POSE2_PRESS,788.614853573,750,729,708,696.614853573,654,931,801,834.614853573,667,656,673,0.401805891994,0.00450547259336,0.0699240517358,0.999999989942,4.9438057166e-05,-0.000132780428965,6.45918995459e-06,1793256140391618304
+128,2.133333333,POSE1_TO_POSE2_PRESS,788.799587937,750,729,707.799587937,696.799587937,654,931,801,834.799587937,667,656,673,0.401959916399,0.00450630123748,0.0699261087007,0.99999999061,4.6595424927e-05,-0.000128843475555,2.92235643722e-06,1793256140408284672
+129,2.150000000,POSE1_TO_POSE2_PRESS,788.223427749,750,729,707.223427749,696.223427749,654,931,801,834.223427749,667,656,673,0.402136854624,0.00450903649008,0.0699304803838,0.999999991605,4.42303531545e-05,-0.00012178961705,-9.53190891792e-07,1793256140424951296
+130,2.166666667,POSE1_TO_POSE2_PRESS,788.354150973,750.354150973,729,707,696,654,931.354150973,801,834,667,656,673,0.402332318867,0.00450917047387,0.0699343713027,0.999999992672,3.81879262189e-05,-0.000114762227225,-5.22295663836e-06,1793256140441618176
+131,2.183333333,POSE1_TO_POSE2_PRESS,788.932628278,750.932628278,729,707,696,654,931.932628278,801,834,667,656,673,0.402539517879,0.00450765676207,0.0699379576963,0.999999993703,2.98161884912e-05,-0.000107751602492,-9.74242862115e-06,1793256140458284800
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931.492408045,801,834,667,656,673,0.402777923644,0.00449723669661,0.0699386916694,0.999999994381,1.03769865874e-05,-0.000104823057157,-1.19689373569e-05,1793256140474951424
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,750.915839864,729,707,696,654,931,801.084160136,834,667,656,673,0.403026882606,0.00448510921635,0.0699394849456,0.999999994669,-1.12452508765e-05,-0.000101675609662,-1.40660462399e-05,1793256140491618048
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,750.326869204,729,707,696,654,931,801.673130796,834,667,656,673,0.403314468113,0.00446978217642,0.0699428892259,0.999999994743,-3.72112264172e-05,-9.39876081956e-05,-1.71999389947e-05,1793256140508284928
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696.257497997,654,931,802,834,667,656,673,0.40362372253,0.0044672207956,0.0699507156157,0.999999995421,-4.76404112304e-05,-8.00066626269e-05,-2.20831254072e-05,1793256140524951808
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696.836124146,654,931,802,834,667,656,673,0.403960000428,0.00448057958811,0.0699640568594,0.999999997134,-3.86935179978e-05,-5.81777283181e-05,-2.91478720568e-05,1793256140541618432
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,750,729,707,696.586651753,654,931,802,834.413348247,667,656,673,0.404307398961,0.00448310134038,0.0699655495762,0.999999996772,-4.34755594536e-05,-5.77150360734e-05,-3.51455146663e-05,1793256140558284800
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696.00998164,654,931,802,834.99001836,667,656,673,0.404659191463,0.00448134116871,0.0699623607113,0.999999995572,-5.3682168003e-05,-6.56945586713e-05,-4.07215237199e-05,1793256140574951424
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,750.578241314,729,707,696.578241314,654,931,801.421758686,834.421758686,667,656,673,0.405076763593,0.00448496695616,0.0699704110602,0.999999997833,-1.67676180245e-05,-5.31288389285e-05,-3.50701553604e-05,1793256140591618048
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,750.836792353,729,707,697,654,931.163207647,801.163207647,834,667,656,673.163207647,0.405499511552,0.00449215241642,0.0699760498505,0.999999998205,2.7523736693e-05,-4.42628934598e-05,-2.9552455555e-05,1793256140608284416
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,750.260582047,729,707,697,654,931.739417953,801.739417953,834,667,656,673.739417953,0.40593242508,0.00450810568533,0.0699750851429,0.999999994742,8.8382025987e-05,-4.56751171292e-05,-2.48734452613e-05,1793256140624951296
+142,2.366666667,POSE1_TO_POSE2_PRESS,788.682361453,750,729,707,696.682361453,654,931.682361453,802,834,667,656,673.682361453,0.406383563133,0.00451240562415,0.0699652408938,0.999999991593,0.000111183864762,-6.18204509718e-05,-2.51048085117e-05,1793256140641617920
+143,2.383333333,POSE1_TO_POSE2_PRESS,788.102481104,750,729,707,696.102481104,654,931.102481104,802,834,667,656,673.102481104,0.406849747367,0.0045070845968,0.0699480657115,0.999999990247,0.000102566374664,-9.01294137496e-05,-2.93901666702e-05,1793256140658284288
+144,2.400000000,POSE1_TO_POSE2_PRESS,788,750,729,707,696.47114574,654,931,802,834,667,656,673,0.407365798527,0.00451383135411,0.0699390213892,0.999999994526,1.86392729298e-05,-9.80871080516e-05,-3.12933224941e-05,1793256140674951168
+145,2.416666667,POSE1_TO_POSE2_PRESS,788.044980818,750,729,707,696.955019182,654,931.044980818,801.955019182,834,667,656,673,0.407899520457,0.00452297384315,0.0699335434557,0.999999991978,-7.19861224584e-05,-9.89154029868e-05,-3.28235617715e-05,1793256140691618048
+146,2.433333333,POSE1_TO_POSE2_PRESS,788.637698752,750,729,707,696.362301248,654,931.637698752,801.362301248,834,667,656,673,0.408518069463,0.0045297441841,0.069950239751,0.999999996045,-4.73176479741e-05,-6.61264877302e-05,-3.60398490431e-05,1793256140708284672
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696,654,931.774944701,801.225055299,834,667,656,673,0.409138672791,0.00453551910987,0.0699621887291,0.999999998256,-2.03244618819e-05,-4.00880512616e-05,-3.83035123314e-05,1793256140724951296
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,750,729,707,696,654,931.196018295,801.803981705,834,667,656,673,0.409762506243,0.00453972887028,0.0699666731476,0.999999998879,1.03240388155e-05,-2.46638943909e-05,-3.90692942629e-05,1793256140741617920
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.61968138,750,729.38031862,707,696,654,931.38031862,801.61968138,834,667,656,673,0.410392342019,0.00454841896646,0.0699624968048,0.999999997855,4.0415943667e-05,-3.18411039383e-05,-4.05246833736e-05,1793256140758284544
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.044670096,750,729.955329904,707,696,654,931.955329904,801.044670096,834,667,656,673,0.411025250485,0.0045594026355,0.0699538868459,0.999999995359,7.02229150652e-05,-5.05884028431e-05,-4.23330960634e-05,1793256140774951168
+151,2.516666667,POSE1_TO_POSE2_PRESS,788,750,729.467148067,707,696.532851933,654,932,801,834,667,656,673,0.411730397967,0.00456411326873,0.0699661873503,0.999999995495,7.95870730906e-05,-2.88862308173e-05,-4.29141463914e-05,1793256140791617792
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,750,729.112393827,707,696.887606173,654,932,801,834,667,655.887606173,673,0.412454700457,0.00456910642285,0.0699842698822,0.99999999547,8.46856606791e-05,1.3331705961e-06,-4.34341965797e-05,1793256140808284672
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,750,729.699574764,707,696.300425236,654,932,801,834,667,655.300425236,673,0.413234216218,0.00457752504151,0.0700193373755,0.999999994491,7.90388809227e-05,5.31397176756e-05,-4.41332703991e-05,1793256140824951552
+154,2.566666667,POSE1_TO_POSE2_PRESS,787.716489451,750,729.716489451,707,696.283510549,654,932,801.283510549,834,667,655.283510549,673,0.414001610445,0.00458502472661,0.0700347498409,0.999999992781,8.30308348444e-05,7.43634997675e-05,-4.48749374697e-05,1793256140841618176
+155,2.583333333,POSE1_TO_POSE2_PRESS,787.135953439,750,729.135953439,707,696.864046561,654,932,801.864046561,834,667,655.864046561,673,0.414756305402,0.00459156167372,0.07002957033,0.999999992222,9.71209991443e-05,6.35466467203e-05,-4.56612283771e-05,1793256140858284800
+156,2.600000000,POSE1_TO_POSE2_PRESS,787.439372699,750,729.439372699,707,697,654,932,801.560627301,834,667,656,673,0.41549001912,0.00459912638171,0.0699840598537,0.999999992326,0.00011352418975,-1.53300838615e-05,-4.71764863558e-05,1793256140874951424
+157,2.616666667,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654,932,801,834,667,656,673,0.416219690228,0.0046069273064,0.0699276060166,0.999999984019,0.000129923608025,-0.000112651901501,-4.8910403301e-05,1793256140891617792
+158,2.633333333,POSE1_TO_POSE2_PRESS,788,750,730,707,697,654,932,801,834,667,656,673,0.417050894077,0.00461138848361,0.0699306067774,0.999999986103,0.00011590410669,-0.000108692103959,-5.04621396213e-05,1793256140908284672
+159,2.650000000,POSE1_TO_POSE2_PRESS,788,749.812724058,729.812724058,707,697,654,932,801,834,667,656,673,0.417906591058,0.00461558789148,0.0699440471238,0.999999988751,0.000110592909173,-8.74567511586e-05,-5.11766257567e-05,1793256140924951040
+160,2.666666667,POSE1_TO_POSE2_PRESS,788,749.233111432,729.233111432,707,697,654,932,801,834,667,656,673,0.418813600262,0.00461923890128,0.069979358044,0.999999990663,0.000123525310516,-3.00297018541e-05,-5.01371012408e-05,1793256140941617664
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,749,729,707,697,654,932,801,834,667,656,673,0.419720722116,0.00462271658869,0.070007354145,0.999999989844,0.00013239819345,1.32832051892e-05,-5.10466487508e-05,1793256140958284288
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,749,729,707,697,654,932,801,834,667,656,673,0.420627919719,0.00462607767196,0.0700304291422,0.999999987875,0.000138540002942,4.7100709454e-05,-5.32674499015e-05,1793256140974951168
+163,2.716666667,POSE1_TO_POSE2_PRESS,788,749,729,707,697,654,932,801,834,667,656,673,0.421530240113,0.00460516159824,0.0700388867647,0.999999991179,0.000107095104929,5.78978575818e-05,-5.31005760378e-05,1793256140991618048
+164,2.733333333,POSE1_TO_POSE2_PRESS,787.926273249,749.073726751,729.073726751,707,697,654,932,801,834,667,656,673,0.422419945632,0.00458183855736,0.0700357636168,0.999999994665,7.34289666697e-05,5.02522048473e-05,-5.24712922282e-05,1793256141008284672
+165,2.750000000,POSE1_TO_POSE2_PRESS,787.336797541,749.663202459,729.663202459,707,697,654,932,801,834,667,656,673,0.423226682515,0.00456795021803,0.0699674469392,0.999999994693,6.49001904267e-05,-6.14961096679e-05,-5.11911709308e-05,1793256141024951040
+166,2.766666667,POSE1_TO_POSE2_PRESS,787,749.75109375,730,707,697,654,932,801,834,667,655.75109375,673,0.424083302562,0.00456141020417,0.0699087062502,0.999999985675,6.05199597814e-05,-0.00014929705109,-5.193119781e-05,1793256141041617920
+167,2.783333333,POSE1_TO_POSE2_PRESS,787,749.17041751,730,707,697,654,932,801,834,667,655.17041751,673,0.42500641256,0.0045646648555,0.0698627294966,0.999999975517,6.16693725738e-05,-0.000205178281066,-5.53639037018e-05,1793256141058284544
+168,2.800000000,POSE1_TO_POSE2_PRESS,787,749,730,706.59329269,696.59329269,654,932,801,834,667,655.40670731,673,0.425977888816,0.00457017908655,0.0698963662268,0.99999998475,6.43098200795e-05,-0.000152611816749,-5.54487522651e-05,1793256141074950912
+169,2.816666667,POSE1_TO_POSE2_PRESS,787,749,730,706.01764313,696.01764313,654,932,801,834,667,655.98235687,673,0.426969455888,0.00457663192477,0.0699630736244,0.999999994739,6.75696283229e-05,-5.49972335456e-05,-5.41429329379e-05,1793256141091617792
+170,2.833333333,POSE1_TO_POSE2_PRESS,787,749,730,706.553491348,696,654,932.553491348,800.446508652,834,667,656,673,0.427946515226,0.00457983715268,0.0700111411246,0.999999995725,7.6612475689e-05,5.86780540198e-06,-5.14453116619e-05,1793256141108284928
+171,2.850000000,POSE1_TO_POSE2_PRESS,787,749,729.870836456,707,696.129163544,654,932.870836456,800,834,667.129163544,656,673,0.428919205314,0.00458190806026,0.0700516826085,0.999999993369,8.42425383302e-05,6.07309436298e-05,-4.9772026272e-05,1793256141124951296
+172,2.866666667,POSE1_TO_POSE2_PRESS,787,749,729.278375883,707,696.721624117,654,932.278375883,800,834,667.721624117,656,673,0.42987786862,0.00458027858677,0.0700673429768,0.999999990116,8.61492187737e-05,9.82336567465e-05,-5.19307803938e-05,1793256141141617920
+173,2.883333333,POSE1_TO_POSE2_PRESS,787,749,729.306895886,707,697,654,932,800.306895886,834,667.693104114,656,673,0.430783380106,0.00457611431066,0.070035657983,0.999999994476,7.74390717381e-05,4.76190794441e-05,-5.27576635048e-05,1793256141158284800
+174,2.900000000,POSE1_TO_POSE2_PRESS,787,749,729.885796126,707,697,654,932,800.885796126,834,667.114203874,656,673,0.431641782648,0.00456970341819,0.0699620104038,0.999999993579,5.93191419224e-05,-8.1094581566e-05,-5.24040976107e-05,1793256141174951424
+175,2.916666667,POSE1_TO_POSE2_PRESS,787.462690417,749,730,707,696.537309583,654,932,800.537309583,834,667,656,673,0.432518972722,0.00456365927057,0.0699166167737,0.999999985063,5.89198538488e-05,-0.00015350154377,-5.32885250098e-05,1793256141191617792
+176,2.933333333,POSE1_TO_POSE2_PRESS,788,748.960212167,730,707,696,654,932,800,834,667.039787833,656,673.039787833,0.433407357109,0.00455825111767,0.0698857756323,0.999999976748,6.19106945461e-05,-0.000199287908535,-5.43700017967e-05,1793256141208284416
+177,2.950000000,POSE1_TO_POSE2_PRESS,788,748.373547473,730,707,696,654,932,800,834,667.626452527,656,673.626452527,0.434386141488,0.00456034576877,0.0699595160602,0.999999994803,5.16391514937e-05,-6.93788852726e-05,-5.39780305514e-05,1793256141224951040
+178,2.966666667,POSE1_TO_POSE2_PRESS,787.789053229,748.210946771,730,707,696,654,932,800,834.210946771,667.789053229,656,673.789053229,0.435352669962,0.00456307435297,0.0700179034013,0.999999996916,4.85309998172e-05,3.04726508075e-05,-5.37079644647e-05,1793256141241617920
+179,2.983333333,POSE1_TO_POSE2_PRESS,787.208363211,748.791636789,730,707,696,654,932,800,834.791636789,667.208363211,656,673.208363211,0.436297716696,0.00456691408265,0.0700493801738,0.999999993866,5.79786956008e-05,7.76400492839e-05,-5.36515724472e-05,1793256141258284544
+180,3.000000000,POSE1_TO_POSE2_PRESS,787.369343579,749,730,707,696,654,932,800.369343579,835,667.369343579,656,673.369343579,0.437213694954,0.00456681412987,0.0700506115499,0.999999992689,6.27229270138e-05,8.79825386966e-05,-5.42883419756e-05,1793256141274951424
+181,3.016666667,POSE1_TO_POSE2_PRESS,787.945380847,749,730,707,696,654,932,800.945380847,835,667.945380847,656,673.945380847,0.438113405726,0.0045645094343,0.0700349168614,0.999999993348,6.4834984347e-05,7.77169066581e-05,-5.53130216837e-05,1793256141291618048
+182,3.033333333,POSE1_TO_POSE2_PRESS,787.47857174,748.47857174,730,707,696,654,932.52142826,799.957143481,835,668,656,674,0.438897934266,0.00456818015011,0.0699756933154,0.99999999684,5.45468920966e-05,-1.17979910931e-05,-5.66143530998e-05,1793256141308284672
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,747.900518054,730,707,696,654,933,799,834.900518054,668,656,674,0.439664461909,0.0045716048662,0.0699142388088,0.999999991487,4.74933434982e-05,-0.000107091553135,-5.74658914e-05,1793256141324951296
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,747.312619601,730,707,696,654,933,799,834.312619601,668,656,674,0.440401848972,0.00457074875019,0.0698642174738,0.999999978419,6.26973373642e-05,-0.000189999232325,-5.59668495625e-05,1793256141341617920
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,746.728444582,729.728444582,707,695.728444582,654,933,799,834,668,656,673.728444582,0.441201941378,0.00457082759679,0.06986150356,0.999999976585,7.25052275673e-05,-0.000196209063899,-5.54462343187e-05,1793256141358284544
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,746.14849811,729.14849811,707,695.14849811,654,933,799,834,668,656,673.14849811,0.442073244859,0.00457196823079,0.0699125141732,0.999999988879,7.61850486915e-05,-0.000115317221349,-5.60367663294e-05,1793256141374951168
+187,3.116666667,POSE1_TO_POSE2_PRESS,787,746,729.42729916,707,694.57270084,653.57270084,933,799,834.42729916,668,656,673,0.442877098352,0.00458058219828,0.0699400365599,0.999999992496,7.29396487741e-05,-8.15494384406e-05,-5.51057791999e-05,1793256141391617792
+188,3.133333333,POSE1_TO_POSE2_PRESS,787,746,730,707,694,653,933,799,835,668,656,673.001674289,0.443657445076,0.00459175941675,0.0699592991605,0.999999994225,6.73923999096e-05,-6.42656534291e-05,-5.36573270543e-05,1793256141408284672
+189,3.150000000,POSE1_TO_POSE2_PRESS,787,746,730,707,694,653,933,799,835,668,656,673.578077236,0.444337712537,0.00459986090204,0.0699183219531,0.999999984987,8.9893350356e-05,-0.000137809953691,-5.43437560657e-05,1793256141424951552
+190,3.166666667,POSE1_TO_POSE2_PRESS,787,746,730,707,693.840964573,652.840964573,933,799,835,668,656,674,0.445007689322,0.00460997063351,0.0698763944023,0.999999970747,0.000112732848321,-0.000206617776938,-5.57287373941e-05,1793256141441617920
+191,3.183333333,POSE1_TO_POSE2_PRESS,787,746,730,707,693.247564776,652.247564776,933,799,835,668,656,674,0.445649559927,0.00462556537479,0.0698318712237,0.999999954492,0.00013649700783,-0.000262489149232,-5.90216355216e-05,1793256141458284544
+192,3.200000000,POSE1_TO_POSE2_PRESS,787,746,730,707,692.664658841,652,933,799,835,668,656,674,0.446279670864,0.0046415336355,0.0698019271569,0.999999939276,0.000160156677331,-0.000303368266447,-6.13629822552e-05,1793256141474951168
+193,3.216666667,POSE1_TO_POSE2_PRESS,787,746,730,707,692.089264934,652,933,799,835,668,656,674,0.446901363647,0.00465776927779,0.0697824194967,0.999999925517,0.000183741546702,-0.000333515229256,-6.30231642307e-05,1793256141491617536
+194,3.233333333,POSE1_TO_POSE2_PRESS,787,746,730,707,691.514250695,652,933,798.514250695,835,668,655.514250695,674,0.447489276653,0.00466816568641,0.0697602581197,0.999999906764,0.00019991693814,-0.000377550094117,-6.29304407596e-05,1793256141508284160
+195,3.250000000,POSE1_TO_POSE2_PRESS,786.937737647,746,730,707,691,651.937737647,933,798,835,668.062262353,655.062262353,674,0.448070058881,0.00467636686327,0.0697406835297,0.999999888147,0.000212697858092,-0.000417778200745,-6.26706948158e-05,1793256141524951040
+196,3.266666667,POSE1_TO_POSE2_PRESS,786.347934673,746,730,707,691,651.347934673,933,798,835,668.652065327,655.652065327,674,0.448642978289,0.00467505293946,0.06974715515,0.99999989462,0.000208245701968,-0.000404145063496,-6.37229986508e-05,1793256141541617664
+197,3.283333333,POSE1_TO_POSE2_PRESS,786.23745968,746,730,706.76254032,690.76254032,651,933,798,835,668.76254032,656,674,0.449210375773,0.00467593329965,0.0697612846895,0.999999903645,0.000207666415317,-0.000381323162712,-6.46354362547e-05,1793256141558284544
+198,3.300000000,POSE1_TO_POSE2_PRESS,786.816512053,746,730,706.183487947,690.183487947,651,933,798,835,668.183487947,656,674,0.449769829758,0.00467997020166,0.0697864303689,0.999999915643,0.000212658364883,-0.000345282957814,-6.53466720598e-05,1793256141574951424
+199,3.316666667,POSE1_TO_POSE2_PRESS,787,746,730,706.393422297,689.606577703,651,933,798,835,668.393422297,656,674,0.450267626899,0.00468320381618,0.0697885945263,0.999999914217,0.00022237898313,-0.000343494294494,-6.42237880244e-05,1793256141591618048
+200,3.333333333,POSE1_TO_POSE2_PRESS,787,746,730,706.969338936,689.030661064,651,933,798,835,668.969338936,656,674,0.450736823716,0.00468606481512,0.0697800983909,0.999999906679,0.000234293059816,-0.000357593676502,-6.22501223554e-05,1793256141608284672
+201,3.350000000,POSE1_TO_POSE2_PRESS,787,746,730,707,687.88867001,650.444335005,933,798,835,668.444335005,656,674,0.451137068347,0.00468585746996,0.0697388533895,0.999999882025,0.000242965457547,-0.000416288386351,-6.01752400329e-05,1793256141624951552
+202,3.366666667,POSE1_TO_POSE2_PRESS,787,746.140842609,729.859157391,707,687,650,933,798,835,668,656,674,0.451529987809,0.00468656202636,0.0697001735357,0.999999856802,0.00024866798909,-0.000470112537759,-5.96204574386e-05,1793256141641617920
+203,3.383333333,POSE1_TO_POSE2_PRESS,787,746.720617055,729.279382945,707,687,650,933,798,835,668,656,674,0.451912162344,0.00469064621449,0.0696752270124,0.999999842312,0.000245683118553,-0.000500942567384,-6.3820758773e-05,1793256141658284544
+204,3.400000000,POSE1_TO_POSE2_PRESS,787,746.701886669,729.298113331,707.298113331,686.701886669,650,933,797.701886669,835,668.298113331,656,674,0.452285372131,0.00469273765809,0.0696622482265,0.999999836936,0.00024027224918,-0.000513698350717,-6.71618507989e-05,1793256141674951424
+205,3.416666667,POSE1_TO_POSE2_PRESS,787,746.12650927,729.87349073,707.87349073,686.12650927,650,933,797.12650927,835,668.87349073,656,674,0.452650244116,0.00469297572423,0.0696604001872,0.99999984065,0.00023260504927,-0.000509643951404,-6.97038241401e-05,1793256141691618560
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,746,730,707.551897029,685.551897029,650,933,797.448102971,835,668.551897029,656,674,0.452978205141,0.0046928567876,0.0696638784497,0.999999852203,0.000178305229565,-0.000508701361931,-7.08761508941e-05,1793256141708285184
+207,3.450000000,POSE1_TO_POSE2_PRESS,787,746.023181027,730,707,684.976818973,650,933,797.976818973,835,668.023181027,656,674,0.453294745763,0.00469274207493,0.0696688636033,0.999999861764,0.000114044710345,-0.000508267469685,-7.16290256036e-05,1793256141724951808
+208,3.466666667,POSE1_TO_POSE2_PRESS,787,746.614975174,730,707,684.385024826,650,933,797.385024826,835,668.614975174,656,674,0.453586330573,0.00469519905306,0.0696739891388,0.999999864868,0.000127842786617,-0.000498798593589,-7.15618945426e-05,1793256141741618176
+209,3.483333333,POSE1_TO_POSE2_PRESS,787,746.797529409,730,707,683.797529409,650,933,797,835,668.797529409,656,674,0.453859762787,0.00469706268499,0.0696773178894,0.999999864282,0.000152547227519,-0.000493692717109,-6.65840853371e-05,1793256141758284800
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+214,3.566666667,POSE1_TO_POSE2_PRESS,787,746,730,707,682.917015433,649,933.917015433,797.917015433,835,668.082984567,656,674,0.454809253697,0.00470226372971,0.069638119148,0.999999814696,0.000210863169815,-0.000568340157214,-5.59799612067e-05,1793256141841618176
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+241,4.016666667,POSE1_TO_POSE2_PRESS,787,746,730,707,680,649,933,797,835.230931024,669,656,674,0.45572486955,0.00470322250106,0.0696088346818,0.999999782918,0.000223030298392,-0.000617485960846,-5.59616634621e-05,1793256142291618048
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+247,4.116666667,HOLD_POSE2,787,746,729,707,679,648,933,797,835,669,656,674,0.455724371212,0.00470486008031,0.0696063296,0.999999780144,0.000226447270613,-0.00062078070121,-5.53606218708e-05,1793256142413393664
+248,4.133333333,HOLD_POSE2,786.421419695,746,729,707,679,648.578580305,933,797,835,669,655.421419695,674,0.455724454938,0.00470639557065,0.0696059617542,0.999999779577,0.000226281870631,-0.000621693796962,-5.60300733209e-05,1793256142430060032
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+250,4.166666667,HOLD_POSE2,786.74714183,746,729.74714183,707,679,648.25285817,933,797,835,668.25285817,655.74714183,674,0.455725528774,0.00470636088801,0.0696065978913,0.999999780225,0.000225855748117,-0.000620796403964,-5.61323207608e-05,1793256142463393536
+251,4.183333333,HOLD_POSE2,787,746.330769098,729.669230902,707,679,648.330769098,933,797,835,668,655.669230902,674,0.455726114592,0.00470645836208,0.0696071251189,0.999999780768,0.000225721122573,-0.00061998130722,-5.60059808325e-05,1793256142480059904
+252,4.200000000,HOLD_POSE2,787,746.911435774,729.088564226,707,679,648.911435774,933,797,835,668,655.088564226,674,0.455726541242,0.00470731455217,0.0696075135448,0.999999781092,0.000225666380534,-0.0006194786955,-5.60131414706e-05,1793256142496726016
+253,4.216666667,HOLD_POSE2,787,746.512640512,729.487359488,707,679,648.512640512,933,797,835,668.487359488,655.487359488,673.512640512,0.455725775174,0.00470622960426,0.0696069108359,0.999999780243,0.000224856737389,-0.000621155416594,-5.5845115113e-05,1793256142513392640
+254,4.233333333,HOLD_POSE2,787,746.06206181,730,707,679,648.06206181,933,797,835,669,656,673.06206181,0.455724829882,0.00470496311868,0.0696061032793,0.999999779219,0.000224021569668,-0.000623118855679,-5.56770335993e-05,1793256142530059520
+255,4.250000000,HOLD_POSE2,787,746.633744002,730,707,679,648.633744002,933,797,835,669,656,673.633744002,0.45572417552,0.00470507461342,0.0696050783471,0.999999778513,0.000224092424169,-0.000624215990416,-5.57673961688e-05,1793256142546726144
+256,4.266666667,HOLD_POSE2,787,746.786583573,730,707,679,648.786583573,933,797,835.213416427,669,656,674,0.455723949857,0.00470520648526,0.0696046068156,0.999999778187,0.000224764573418,-0.000624496193863,-5.57873772579e-05,1793256142563392768
+257,4.283333333,HOLD_POSE2,787,746.192665364,730,707,679,648.192665364,933,797,835.807334636,669,656,674,0.455724488524,0.00470537468757,0.0696051219466,0.999999778533,0.000226508775673,-0.000623319884134,-5.56818746573e-05,1793256142580059648
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,787,749,730,707,695,653.870319228,933,800.129680772,834.870319228,668,656,674,0.428087096405,0.00452410946529,0.0697334108286,0.999999911691,9.24149141881e-05,-0.000408803565469,3.09429176892e-05,1793256143795934464
+330,5.500000000,POSE2_TO_POSE3_RETREAT,787,749,730,707,695,653.281408456,933,800.718591544,834.281408456,668,656,674,0.427244877745,0.0045210580501,0.0698103263849,0.999999954169,7.59242463193e-05,-0.000291309748834,3.21998510786e-05,1793256143812600832
+331,5.516666667,POSE2_TO_POSE3_RETREAT,787,749.30363209,729.69636791,707,695,653.30363209,932.69636791,800.69636791,834,668,656,674,0.426359303524,0.00451659018527,0.0698551102872,0.999999970683,7.3882417743e-05,-0.000228138200825,3.36051675201e-05,1793256143829267456
+332,5.533333333,POSE2_TO_POSE3_RETREAT,787,749.885130795,729.114869205,707,695,653.885130795,932.114869205,800.114869205,834,668,656,674,0.425434052833,0.00451082606739,0.0698704891445,0.999999972721,8.5063336972e-05,-0.000214679275888,3.5146275824e-05,1793256143845934080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,787.461139996,750,729.461139996,707,695,654,932.461139996,800.461139996,834,668,656,674,0.424479705725,0.00450040044443,0.0698515247906,0.999999968267,6.14742469458e-05,-0.000241905699103,3.41712004173e-05,1793256143862600704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,788,750,730,707,695,654,932.964178465,801,834.035821535,668,656,674,0.423514824668,0.00448930460284,0.0698212755777,0.999999958267,3.22301241974e-05,-0.000285225521077,3.27534592517e-05,1793256143879267328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,788,750,730,707,695,654,932.389141152,801,834.610858848,668,656,674,0.42249919638,0.00448539340826,0.0697484168887,0.999999910116,4.67029076183e-05,-0.000420036036927,3.39961278374e-05,1793256143895934208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,788,750,729.809373123,707,695,654,932,801,834.809373123,667.809373123,656,674,0.421533670248,0.00447896583918,0.0696984183161,0.999999869376,4.6791693553e-05,-0.000507835319011,3.40734017102e-05,1793256143912601088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,788,750,729.219702059,707,695,654,932,801,834.219702059,667.219702059,656,674,0.420673024067,0.00446727067731,0.0696962734052,0.99999987574,1.67700884476e-05,-0.000497224803946,3.17111258932e-05,1793256143929267712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,788,750,729,707,695.36361373,654,932,801,834,667.36361373,656,674,0.419861633868,0.00445963057775,0.0697511213603,0.999999917977,3.1382091095e-06,-0.000403777664584,3.16290518004e-05,1793256143945934336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,695.943155472,654,932,801,834,667.943155472,656,674,0.419079493843,0.00445439853303,0.0698398139017,0.999999965362,-7.60810188431e-07,-0.000261138901339,3.29010500429e-05,1793256143962600704
+340,5.666666667,POSE2_TO_POSE3_RETREAT,788,750.516530925,729,707,695.483469075,654,932,801,834,668,656,674,0.418242537667,0.00444807234347,0.0698700473117,0.999999974666,5.97074865101e-07,-0.000222293806831,3.53892022713e-05,1793256143979267328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,788.089821766,750.910178234,729.089821766,707,695,654,932,800.910178234,834,668,656,674,0.41739876117,0.00444089938865,0.0698838973159,0.999999978117,-1.76808330188e-06,-0.000205876721217,3.71299874308e-05,1793256143995933696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,788.666287398,750.333712602,729.666287398,707,695,654,932,800.333712602,834,668,656,674,0.416550331066,0.00442978343658,0.0698434284834,0.999999967839,-2.74016627871e-05,-0.000249815985291,3.41050577674e-05,1793256144012600576
+343,5.716666667,POSE2_TO_POSE3_RETREAT,788.750231612,750,730,707.249768388,695.249768388,654,932,800.249768388,834,667.750231612,656,673.750231612,0.415711681668,0.00442312629281,0.0698096449366,0.999999955571,-3.89459237614e-05,-0.000293743500874,3.24945366686e-05,1793256144029267712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,788.157106661,750,730,707.842893339,695.842893339,654,932,800.842893339,834,667.157106661,656,673.157106661,0.414886477875,0.00442259867303,0.0697850516544,0.999999941971,-3.11215986942e-05,-0.000337654862508,3.28284031014e-05,1793256144045934080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,788,750.422953981,729.577046019,707.577046019,696,654,932,801,834,667.422953981,656,673,0.414070599441,0.00443222851313,0.0697614190083,0.999999924077,-1.54435217059e-05,-0.000387807999008,3.48192299287e-05,1793256144062600704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,788,750.998307322,729.001692678,707.001692678,696,654,932,801,834,667.998307322,656,673,0.413258081065,0.00444551830308,0.069738132498,0.999999902403,3.06443063564e-06,-0.000440210183111,3.74070949512e-05,1793256144079267328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,788,750.426943458,729.573056542,707,696,654,932,801,834,668,656,673.573056542,0.4126010947,0.00447656649014,0.0697937557506,0.999999943626,3.58591050895e-05,-0.000332079416745,3.44285765045e-05,1793256144095934208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,788,750,730,707.151701604,696,654,932,801,834,667.848298396,656,673.848298396,0.411951774641,0.00449483218109,0.0698450368734,0.999999970159,5.74002772642e-05,-0.000235194766793,3.27235581508e-05,1793256144112600832
+349,5.816666667,POSE2_TO_POSE3_RETREAT,788,750,730,707.741605401,696,654,932,801,834,667.258394599,656,673.258394599,0.411323273537,0.00447602326023,0.0698831028552,0.999999983504,4.63130495988e-05,-0.000172163664047,3.47445903107e-05,1793256144129267456
+350,5.833333333,POSE2_TO_POSE3_RETREAT,788.326062935,750,730,707.673937065,696,654,932,801,834,667,656,673.326062935,0.41065874404,0.00446584148238,0.0698849755624,0.999999983492,3.5361576446e-05,-0.000174719991025,3.51940150192e-05,1793256144145934080
+351,5.850000000,POSE2_TO_POSE3_RETREAT,788.906275349,750,730,707.093724651,696,654,932,801,834,667,656,673.906275349,0.409966132282,0.004462384125,0.0698586374501,0.999999973024,2.45159177118e-05,-0.000228398388438,3.44184515048e-05,1793256144162600448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,789,750.48056601,730,707,696,654,932,801,834,667,656,673.51943399,0.409304864668,0.00446535408743,0.0698180920263,0.999999955249,2.04871149201e-05,-0.000296591004733,3.33981583442e-05,1793256144179267328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,788.945973282,750.945973282,729.945973282,707,696,653.945973282,932,801,833.945973282,667,656,673,0.40865735398,0.00446912755369,0.0697791304059,0.99999993464,1.84412473783e-05,-0.000359633662124,3.23121800523e-05,1793256144195934208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,788.369506054,750.369506054,729.369506054,707,696,653.369506054,932,801,833.369506054,667,656,673,0.408084479499,0.00446869691155,0.0697819522821,0.999999939455,2.28707190433e-05,-0.000345836205571,3.10469536951e-05,1793256144212600832
+355,5.916666667,POSE2_TO_POSE3_RETREAT,788.213755857,750,729,707,695.786244143,653.213755857,932,801,833.213755857,667,656,673,0.407534315937,0.00446991262917,0.0697905189591,0.999999945212,3.02215105868e-05,-0.000328243494639,3.03223141051e-05,1793256144229267456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,788.809148851,750,729,707,695.190851149,653.809148851,932,801,833.809148851,667,656,673,0.407024700238,0.0044740677378,0.0698093423342,0.999999952448,4.27879910396e-05,-0.000303874783578,3.05628317601e-05,1793256144245933824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,789,750,729,707.390487009,695.390487009,654,932,801,834,667,656,673,0.406527896513,0.00447608336837,0.0698136633607,0.999999952474,4.54704007531e-05,-0.000303301289132,3.15144121613e-05,1793256144262600448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,789,750,729,707.965194551,695.965194551,654,932,801,834,667,656,673,0.406037137064,0.00447708965514,0.069811142598,0.999999949233,4.34897914472e-05,-0.000313953691002,3.2801451529e-05,1793256144279267328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,788.45937829,750.54062171,729,707.45937829,696,653.45937829,931.45937829,801,834,667,656,673,0.40559501372,0.00448206180583,0.0698104559248,0.99999994859,4.00953541158e-05,-0.000316621130344,3.10345506928e-05,1793256144295934208
+360,6.000000000,POSE2_TO_POSE3_RETREAT,788,750.880918301,729,707.119081699,696,653.119081699,931.119081699,801,834,667,656.119081699,673,0.405169822429,0.00448639644086,0.0698135470848,0.999999950281,3.84020384789e-05,-0.00031159045033,2.9576796465e-05,1793256144312600832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,788,750.290641073,729,707.709358927,696,653.709358927,931.709358927,801,834,667,656.709358927,673,0.404799223175,0.00448719684515,0.0698311189373,0.999999959907,4.38005558732e-05,-0.000278135868047,3.012132736e-05,1793256144329267456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,788,750,729,708,695.706417126,654,932,801,834,667,656.706417126,673,0.404442980092,0.00448539961278,0.0698448120108,0.999999967057,4.17625508683e-05,-0.00025146776423,3.01090104515e-05,1793256144345934336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,788,750,729,708,695.128064775,654,932,801,834,667,656.128064775,673,0.404100662229,0.0044810827251,0.0698547427457,0.999999972266,3.2511268534e-05,-0.000231382410052,2.95565623646e-05,1793256144362600960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,788.447426812,750,729,707.552573188,695.447426812,654,932,801.447426812,834,667,656,673,0.403772412778,0.00447619307275,0.0698513218987,0.999999971252,1.28944468638e-05,-0.000237843782125,2.75658547821e-05,1793256144379267840
+365,6.083333333,POSE2_TO_POSE3_RETREAT,789,750,729,707.022245323,696,654,931.977754677,802,834,667,656,673,0.403449327363,0.00447134896108,0.0698439703456,0.999999967878,-8.97158761683e-06,-0.000252043692503,2.52560226335e-05,1793256144395934208
+366,6.100000000,POSE2_TO_POSE3_RETREAT,789,750,729,707.600577365,696,654,931.399422635,802,834,667,656,673,0.403155311585,0.00447171538149,0.0698332833784,0.999999962885,-1.33687027682e-05,-0.000270955049002,2.51941519876e-05,1793256144412601088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,789,750,729,708,696,654,931.18281145,802,834,667,656,673,0.402875457407,0.00447211000106,0.0698241065772,0.999999958386,-1.65990886369e-05,-0.000286893848505,2.53798966734e-05,1793256144429267712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,789,750,729,708,696,654,931.77375693,802,834,667,656,673,0.402627219618,0.00447256757632,0.0698183012846,0.999999955644,-1.72247031558e-05,-0.000296196290769,2.61184527236e-05,1793256144445934336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,789,750.355982273,729,707.644017727,696,654,932,802,834,667,656,673,0.402401509046,0.00447208224826,0.0698120009178,0.999999952449,-1.72780454708e-05,-0.000306680346799,2.74019454558e-05,1793256144462600704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,789,750.932798138,729,707.067201862,696,654,932,802,834,667,656,673,0.402189773208,0.0044710119902,0.0698053934312,0.999999948905,-1.69763788019e-05,-0.000317897417776,2.90234897113e-05,1793256144479267584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,789,750.493247124,729,707,696,654,931.493247124,801.493247124,834,667,656,673,0.402013780577,0.00447669473717,0.0698032871014,0.999999947632,-4.26565074167e-06,-0.000322122144422,3.08952971845e-05,1793256144495934208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,789,750.082744541,729,707.082744541,696,654,931,801,834,667,656,673,0.401846740099,0.00448511052195,0.0698021086495,0.999999946556,2.20354625999e-05,-0.000324556560748,3.26336385235e-05,1793256144512601088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,789,750.673560329,729,707.673560329,696,654,931,801,834,667,656,673,0.401705726557,0.00450483989275,0.0698029829931,0.999999940301,0.000121737152112,-0.000321659759269,3.33498279574e-05,1793256144529267456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,789,751,729,708,695.740781084,653.740781084,931,801,834,667,656,673,0.401580645618,0.00451788216178,0.0698048073523,0.999999933546,0.00017784593341,-0.000316437549574,3.38653261106e-05,1793256144545934080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,789,751,729,708,695.161490409,653.161490409,931,801,834,667,656,673,0.401475237544,0.00452266749972,0.0698078047476,0.999999935656,0.000180128164439,-0.000308344034524,3.41330200488e-05,1793256144562600704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,750.585702866,729,708,695,653,931,801,834,667,656,673,0.401379920128,0.0045164360633,0.0698067540868,0.999999942936,0.000129441259743,-0.000311119280658,2.40433231873e-05,1793256144579267072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,789,750.011269385,729,708,695,653,931,801,834,667,656,673,0.401288503009,0.00450594636415,0.0698041387495,0.99999994766,5.8280440507e-05,-0.000318095577318,9.95023207291e-06,1793256144595933696
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,789,751,729.143639924,707,696,654,931,801.143639924,833.143639924,667,656,673,0.40116514266,0.00450854864581,0.0698037907004,0.999999948922,6.73715513801e-05,-0.000312189492962,1.2441410926e-05,1793256144629267456
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,789.313544212,751,729.686455788,707.313544212,696,654,931,802,834,667,656,673,0.40108561285,0.00451043002365,0.0698110867497,0.999999952012,7.13806581408e-05,-0.000301093100569,1.49384971126e-05,1793256144662600960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,789.885900673,751,729.114099327,707.885900673,696,654,931,802,834,667,656,673,0.401057733324,0.00450925119297,0.0698136427058,0.999999953807,7.02272408708e-05,-0.00029530229384,1.5816297437e-05,1793256144679267584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,789.534775194,750.534775194,729,707.534775194,696,653.534775194,931,801.534775194,834,666.534775194,656,673,0.401035236177,0.00450949433258,0.0698159331931,0.999999954649,7.14604594871e-05,-0.000292112247027,1.63233551862e-05,1793256144695934464
+384,6.400000000,POSE2_TO_POSE3_RETREAT,789,750,729,707.045913087,696,653,931,801,834,666.045913087,656,673,0.401014882769,0.00450989134399,0.0698180919924,0.999999955283,7.29079123958e-05,-0.000289550076507,1.67352351651e-05,1793256144712601088
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40d377157ec8743320507ca9f1223d084281f6df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+196,3.266666667,pose1_to_pose2_press,0.616743927091,0.0101816938785,1.06002078878,0.587315077097,0.0188559401192,1.05969248709
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+266,4.433333333,pose2_to_pose3_retreat,0.622827642316,0.0101818292143,1.06002062177,0.59339878963,0.018856072637,1.05969233238
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+269,4.483333333,pose2_to_pose3_retreat,0.622827321957,0.0101817223767,1.0600203918,0.593398469507,0.0188559664971,1.05969210136
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+276,4.600000000,pose2_to_pose3_retreat,0.622765580231,0.0101817699658,1.06002072415,0.59333672655,0.0188560096087,1.05969242536
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+286,4.766666667,pose2_to_pose3_retreat,0.621965118169,0.0101818194251,1.06002070768,0.592536265608,0.0188560619102,1.05969241509
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+288,4.800000000,pose2_to_pose3_retreat,0.621660203143,0.0101818520906,1.06002064934,0.592231348887,0.0188560884505,1.05969235506
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24f166218f4d031a78752d328bc138edc207a84d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6589600a8f5159e3a24eaa765b66ee30c736ce2fce27cc95fbd76786a5077c2
+size 26127717
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff1fcc9dd19b0ca7a0c3f9f6be9bd00fdf92ecc4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+7,0.116666667,BASELINE,789,750,729,707.938262223,696,654,931,801,834,667,656,673,0.400983445099,0.004512101545,0.0698340542463,0.999999962884,7.31597482295e-05,-0.000261943769704,1.62907515943e-05,1793256145402138880
+8,0.133333333,BASELINE,789,750,729,707.360841959,696,654,931,801,834,667,656,673,0.400983020915,0.00451011429422,0.0698349138741,0.999999963057,7.08652956308e-05,-0.000261886228181,1.67300863065e-05,1793256145418805760
+9,0.150000000,BASELINE,789,750.207086302,729,707,696,654,931,801,834,667,656,673,0.400982824599,0.00450907734701,0.0698352571528,0.999999963249,6.91911398639e-05,-0.000261585532632,1.69376612607e-05,1793256145435472384
+10,0.166666667,BASELINE,789,750.759199846,729,707,696,654,931,801,834,667,656,673,0.400983007932,0.00450962370422,0.06983474014,0.999999963481,6.8550463136e-05,-0.000260879717283,1.67591003947e-05,1793256145452139008
+11,0.183333333,BASELINE,789,750.652838475,729,707.347161525,696,654,931,801.347161525,834,667,656,673,0.400983986722,0.00450947337837,0.0698351510898,0.999999963615,6.88751923856e-05,-0.000260265307236,1.69672625502e-05,1793256145468805632
+12,0.200000000,BASELINE,789,750.037148283,729,707.962851717,696,654,931,801.962851717,834,667,656,673,0.400985580796,0.00450878416981,0.0698362798164,0.999999963673,6.99466609398e-05,-0.00025972159891,1.74745540821e-05,1793256145485472256
+13,0.216666667,BASELINE,789,750.544151971,729,707.455848029,696,654,931,802,834,667,656,673.544151971,0.400984633144,0.00451012634096,0.0698352870365,0.999999963546,6.84937042055e-05,-0.000260639325172,1.68699451155e-05,1793256145502138880
+14,0.233333333,BASELINE,789,751,729,707.12250263,696,654,931,802,834,667,656,673.87749737,0.40098403964,0.00451114562471,0.0698346226715,0.999999963527,6.74338678126e-05,-0.000261017709404,1.63626779722e-05,1793256145518805760
+15,0.250000000,BASELINE,789,751,729,707.698111171,696,654,931,802,834,667,656,673.301888829,0.400985359693,0.00451048818419,0.0698356768811,0.999999963969,6.84276261746e-05,-0.000259054119236,1.64795262505e-05,1793256145535472384
+16,0.266666667,BASELINE,789,750.723446276,729,708,696,654,931,801.723446276,834,667,656,673,0.400984646961,0.00450981695718,0.0698353656553,0.999999963678,6.90724569779e-05,-0.000259984318576,1.6743740686e-05,1793256145552139008
+17,0.283333333,BASELINE,789,750.141878089,729,708,696,654,931,801.141878089,834,667,656,673,0.400981692244,0.00450913052494,0.069833548474,0.999999962573,6.93324512767e-05,-0.000264106113642,1.71704870396e-05,1793256145568805632
+18,0.300000000,BASELINE,788.559310903,750,729,707.559310903,696,654,931,801.440689097,834,667,656,673,0.40098212637,0.0045089497802,0.0698340720335,0.999999962783,6.96428892001e-05,-0.000263224577939,1.7221540036e-05,1793256145585472256
+19,0.316666667,BASELINE,788.023462937,750.023462937,729,707,696,654,931,801.976537063,834,667,656,673,0.4009836444,0.00450896166869,0.0698353314803,0.999999963403,6.99446698735e-05,-0.000260782071995,1.7142232302e-05,1793256145602139136
+20,0.333333333,BASELINE,788.603492448,750.603492448,729,707,696,654,931,801.396507552,834,667,656,673,0.400984934744,0.0045096723631,0.0698361303367,0.999999963734,6.96549824485e-05,-0.000259608451227,1.68462810238e-05,1793256145618805760
+21,0.350000000,BASELINE,789,751,729,707,696,653.818145376,931,801,834,667,656,673,0.400985406054,0.00451018777405,0.0698366783668,0.999999963851,7.01650635402e-05,-0.000259025157695,1.67458811419e-05,1793256145635472128
+22,0.366666667,BASELINE,789,751,729,707,696,653.24338563,931,801,834,667,656,673,0.400984107807,0.0045102812662,0.0698366844756,0.999999963507,7.24030806458e-05,-0.000259717292952,1.70679789157e-05,1793256145652139008
+23,0.383333333,BASELINE,788.661352685,750.661352685,729,707.338647315,696,653.338647315,931,801,834,667,656,673,0.400983218558,0.00451063792176,0.0698360523113,0.999999963304,7.27759074614e-05,-0.000260394961701,1.70182260051e-05,1793256145668805632
+24,0.400000000,BASELINE,788.073977704,750.073977704,729,707.926022296,696,653.926022296,931,801,834,667,656,673,0.400982629705,0.00451118786402,0.0698349513519,0.999999963208,7.17788006338e-05,-0.00026106200525,1.66953584479e-05,1793256145685472256
+25,0.416666667,BASELINE,788.509075394,750,729,707.490924606,696,654,931,801,834,667,656,673,0.400983207809,0.00451084867477,0.0698353707491,0.999999963244,7.27677941317e-05,-0.000260630349331,1.69963291331e-05,1793256145702138880
+26,0.433333333,BASELINE,789,750,729,707.090259624,696,654,931,801.090259624,834,667,656,673,0.400983732247,0.00451051530054,0.0698357806087,0.999999963238,7.37174628334e-05,-0.000260369611671,1.72480442153e-05,1793256145718805504
+27,0.450000000,BASELINE,789,750,729,707.664758744,696,654,931,801.664758744,834,667,656,673,0.40098306664,0.00451090047683,0.0698349639707,0.999999962912,7.29207785089e-05,-0.000261875205954,1.67532397315e-05,1793256145735473152
+28,0.466666667,BASELINE,789,750.239942985,729,707.760057015,696,654,931,801.760057015,834,667,656,673,0.400982852641,0.00451099427147,0.0698346957007,0.999999962821,7.23307934842e-05,-0.000262401268277,1.64891798768e-05,1793256145752140032
+29,0.483333333,BASELINE,789,750.816087165,729,707.183912835,696,654,931,801.183912835,834,667,656,673,0.400983271422,0.00451067979052,0.0698351957882,0.999999963063,7.20304296085e-05,-0.000261554838562,1.65484327748e-05,1793256145768805888
+30,0.500000000,BASELINE,789,751,729,707.400569891,696,654,931.400569891,801,833.599430109,667,656,673,0.400983864828,0.00451015295669,0.0698356044653,0.999999963321,7.13896542788e-05,-0.000260737815998,1.66529452524e-05,1793256145785472512
+31,0.516666667,BASELINE,789,751,729,707.98896245,696,654,931.98896245,801,833.01103755,667,656,673,0.400984540114,0.00450952655302,0.0698359702811,0.999999963585,7.05892638967e-05,-0.000259934582135,1.67786794304e-05,1793256145802139904
+32,0.533333333,BASELINE,789,750.430084512,729.569915488,708,696,654,932,801.569915488,833.569915488,667,656,673,0.400985898939,0.00450940275136,0.0698376079715,0.999999964122,6.9036606051e-05,-0.000258267773128,1.69742545498e-05,1793256145818806528
+33,0.550000000,BASELINE,789,750.148927402,729.851072598,708,696,654,931.851072598,801.851072598,834,667,656,673,0.400986425255,0.00450963027451,0.0698384104554,0.999999964341,6.8314904664e-05,-0.000257609674094,1.70027315584e-05,1793256145835473152
+34,0.566666667,BASELINE,789,750.722806211,729.277193789,708,696,654,931.277193789,801.277193789,834,667,656,673,0.400984538787,0.0045108328556,0.0698367603693,0.999999963645,7.00053018027e-05,-0.000259876949652,1.65505987641e-05,1793256145852139264
+35,0.583333333,BASELINE,789.304322768,750.695677232,729,707.695677232,696,654,931,801,834,667,656,673,0.400984132114,0.00451110862718,0.0698362101663,0.999999963493,7.08424134183e-05,-0.000260240680923,1.64225517081e-05,1793256145868805888
+36,0.600000000,BASELINE,789.892975366,750.107024634,729,707.107024634,696,654,931,801,834,667,656,673,0.40098510802,0.00451051847751,0.0698366875877,0.999999963855,7.08822975708e-05,-0.000258825924344,1.65972990423e-05,1793256145885472512
+37,0.616666667,BASELINE,789.526355929,750,729,707,696,654,931,801.473644071,834,667,656,673,0.400984525934,0.00451041356305,0.0698367708947,0.9999999638,7.06939622857e-05,-0.000259078003307,1.67578334598e-05,1793256145902139392
+38,0.633333333,BASELINE,789,750,729.052285698,707.052285698,696,654,931,801.947714302,834,667,656,673,0.400983635448,0.00451034617787,0.0698366722099,0.999999963638,7.05689557867e-05,-0.000259728458131,1.69102860028e-05,1793256145918806016
+39,0.650000000,BASELINE,789,750,729.628393607,707.628393607,696,654,931,801.371606393,834,667,656,673,0.40098312373,0.00450957452554,0.0698356276422,0.999999963321,7.15864785891e-05,-0.000260659241166,1.70134121479e-05,1793256145935472896
+40,0.666666667,BASELINE,789,750.204255701,729.795744299,707.795744299,696,654,931,801.204255701,834,667,656,673,0.400983068256,0.00450919745686,0.0698351443477,0.999999963217,7.19100325185e-05,-0.000260970626677,1.69997750758e-05,1793256145952139520
+41,0.683333333,BASELINE,789,750.779671082,729.220328918,707.220328918,696,654,931,801.779671082,834,667,656,673,0.400983841837,0.00450953739902,0.0698356809613,0.9999999635,7.09725529671e-05,-0.000260156484736,1.67739637565e-05,1793256145968806144
+42,0.700000000,BASELINE,789,750.636256546,729,707.363743454,696,654,931.363743454,802,834,667,656,673,0.400984917936,0.00450933799601,0.0698364784257,0.999999963791,7.03600888009e-05,-0.000259202589442,1.67743226507e-05,1793256145985472768
+43,0.716666667,BASELINE,789,750.046812589,729,707.953187411,696,654,931.953187411,802,834,667,656,673,0.400986181745,0.00450880393272,0.0698374377464,0.999999964087,6.99492946523e-05,-0.00025816197811,1.69150187346e-05,1793256146002139136
+44,0.733333333,BASELINE,789,750,729,707.468135582,696,654,931.468135582,802,834,667,656.531864418,673,0.400984921674,0.00450928580539,0.0698365514289,0.999999963823,6.89598410331e-05,-0.000259450320223,1.68326840566e-05,1793256146018806016
+45,0.750000000,BASELINE,789,750,729,707,696,654,931,802,834,667,656.890448619,673,0.400983811321,0.00450968751807,0.0698358078931,0.999999963601,6.83209981962e-05,-0.000260480617134,1.6756377717e-05,1793256146035472640
+46,0.766666667,BASELINE,789,750,729,707,696,654,931,802,834,667,656.313023119,673,0.400984270288,0.00450937256851,0.069836354163,0.999999963768,6.93927531925e-05,-0.000259550765401,1.67879912098e-05,1793256146052139008
+47,0.783333333,BASELINE,789,750,729,707,696,654,931,802,834,667,656,673,0.400983591595,0.00450941004292,0.0698360903782,0.999999963541,7.06547186291e-05,-0.000260080567128,1.68653492629e-05,1793256146068805888
+48,0.800000000,BASELINE,789,750,729,707,696,654,931,802,834,667,656,673,0.400981566035,0.0045098647483,0.0698348675784,0.999999962843,7.21418723434e-05,-0.000262338437102,1.69968638236e-05,1793256146085472768
+49,0.816666667,BASELINE,789,750,729,707.429599451,696,654,931,801.570400549,834,667,656,673,0.400981866651,0.0045101864761,0.0698344290861,0.999999962763,7.14412141974e-05,-0.000262845930246,1.68133563368e-05,1793256146102139648
+50,0.833333333,BASELINE,789,750,729,708,696,654,931,801.014371686,834,667,656,673,0.40098300317,0.00451041499013,0.0698343269312,0.999999962923,6.99666809582e-05,-0.000262649314402,1.65249370029e-05,1793256146118806528
+51,0.850000000,BASELINE,789,750,729,708,696,654,931,801.591047584,834,667,656,673,0.40098392687,0.00450887823448,0.0698362853335,0.999999963755,6.91738731643e-05,-0.000259673838746,1.65897041454e-05,1793256146135472896
+52,0.866666667,BASELINE,789,750,729,707.836121344,696,654,931,802,834,667,656,673,0.400984534682,0.00450858297571,0.0698376046319,0.999999964202,6.94511319698e-05,-0.000257867856816,1.66244261752e-05,1793256146152139264
+53,0.883333333,BASELINE,789,750,729,707.272664969,696,654,931,802,834,667,656,673,0.400984372279,0.00451131480125,0.0698373656328,0.999999963728,7.23374845308e-05,-0.000258913397318,1.65858905978e-05,1793256146168805888
+54,0.900000000,BASELINE,789,750,729,707,696,654,931.310459467,802,834,667,656,673,0.400984829623,0.00451142980955,0.0698374396358,0.999999963843,7.27880466449e-05,-0.00025833480027,1.67227864289e-05,1793256146185472512
+55,0.916666667,BASELINE,789,750,729,707,696,654,931.912025924,802,834,667,656,673,0.400985868081,0.00450909111965,0.0698378071297,0.99999996451,7.09546530366e-05,-0.000256233306152,1.70241781617e-05,1793256146202139136
+56,0.933333333,BASELINE,789,750,729,707,696,654,931.505908398,802,834,667,656,673,0.400985692533,0.00451006098609,0.069837984109,0.999999964445,7.28312632193e-05,-0.000255961985806,1.69793585159e-05,1793256146218806272
+57,0.950000000,BASELINE,789,750,729,707,696,653.927586223,931,802,834,667,656.072413777,673,0.400985528632,0.00451126388752,0.06983815285,0.999999964323,7.4659116359e-05,-0.000255918562184,1.68846893059e-05,1793256146235473408
+58,0.966666667,BASELINE,789,750,729,707,696,653.352065497,931,802,834,667,656.647934503,673,0.400986890417,0.00451014839964,0.0698384910817,0.999999964701,7.17330283724e-05,-0.000255280440875,1.68557002593e-05,1793256146252139776
+59,0.983333333,BASELINE,789,750.224740274,729,707.224740274,696,653.224740274,931,802,834,667,656.775259726,673,0.40098696042,0.00450990325359,0.0698383248228,0.999999964656,7.02370505304e-05,-0.000255873134234,1.68619645382e-05,1793256146268806144
+60,1.000000000,BASELINE,789,750.803570789,729,707.803570789,696,653.803570789,931,802,834,667,656.196429211,673,0.400984995152,0.00451102937715,0.0698373637121,0.99999996395,7.0994286749e-05,-0.000258405041399,1.69237722998e-05,1793256146285472768
+61,1.016666667,BASELINE,789,750.611883274,729,708,696,654,931,802,834,667,656,673,0.400984661786,0.00451034355391,0.0698370198848,0.999999963732,7.13863070578e-05,-0.000259143973918,1.68901154272e-05,1793256146302139136
+62,1.033333333,BASELINE,789,750.024401514,729,708,696,654,931,802,834,667,656,673,0.400985166683,0.00450872698268,0.0698369931392,0.999999963766,7.15907258163e-05,-0.000258961903851,1.68074209581e-05,1793256146318805760
+63,1.050000000,BASELINE,789,750,729,707.445607484,696,654,931,801.445607484,834,667,656,673,0.400984871246,0.00450871004709,0.0698371601853,0.999999963888,7.03449082703e-05,-0.000258828479374,1.68220665062e-05,1793256146335472384
+64,1.066666667,BASELINE,789,750,729,707.13201836,696,654,931,801,834,666.86798164,656,673,0.400984713159,0.00450851397083,0.0698371956095,0.999999963994,6.93449575709e-05,-0.000258683993107,1.68839888345e-05,1793256146352139264
+65,1.083333333,BASELINE,789,750,729,707.706987853,696,654,931,801,834,666.293012147,656,673,0.400985132283,0.00450748424867,0.0698367612351,0.999999964037,6.93808113061e-05,-0.000258495318945,1.70903819825e-05,1793256146368805888
+66,1.100000000,BASELINE,789,750,729,708,696,654,931.282400519,801.282400519,834,666.282400519,656,673,0.400985827209,0.00450748777717,0.0698369052746,0.999999964198,6.96651320716e-05,-0.00025779351626,1.71143380412e-05,1793256146385472768
+67,1.116666667,BASELINE,789,750,729,708,696,654,931.858273698,801.858273698,834,666.858273698,656,673,0.400986808751,0.00450856506731,0.0698376504061,0.999999964481,7.02076615676e-05,-0.00025655846672,1.69487041458e-05,1793256146402139392
+68,1.133333333,BASELINE,789,750.448757164,729,708,696,654,931.551242836,802,834,667,656,673,0.400984848312,0.00450983325153,0.0698366105384,0.999999963853,7.10119782641e-05,-0.000258804214755,1.64721322169e-05,1793256146418805760
+69,1.150000000,BASELINE,789,750.95738038,729,708,696,654,931,802,834,667,656,673,0.400982277682,0.00451101113511,0.0698351891088,0.999999963032,7.18147461231e-05,-0.000261770614058,1.59807669806e-05,1793256146435472640
+70,1.166666667,BASELINE,789,750.380935089,729,708,696,654,931,802,834,667,656,673,0.400984093595,0.00451027742836,0.0698362871212,0.999999963626,7.15276986703e-05,-0.000259530879232,1.65754971991e-05,1793256146452139264
+71,1.183333333,BASELINE,789,750,729,707.805477803,696,654,931,802,833.805477803,667,656,673,0.400985267306,0.00450994716723,0.0698371321827,0.999999964007,7.16744120624e-05,-0.000258000781133,1.68604222696e-05,1793256146468805888
+72,1.200000000,BASELINE,789,750,729,707.231945457,696,654,931,802,833.231945457,667,656,673,0.400985189738,0.00451040298582,0.0698374843909,0.999999963979,7.26662719448e-05,-0.000257853350146,1.65417181595e-05,1793256146485472512
+73,1.216666667,BASELINE,789,750,729,707.342903304,696,654,931,802,833.342903304,667,656,673,0.400986511936,0.00451076672222,0.0698386192762,0.999999964379,7.3594433684e-05,-0.000256034799303,1.64777356003e-05,1793256146502139392
+74,1.233333333,BASELINE,789,750,729,707.918645909,696,654,931,802,833.918645909,667,656,673,0.400988784608,0.00451106793264,0.0698402856174,0.999999965064,7.44793428457e-05,-0.000253081519308,1.65867149037e-05,1793256146518805760
+75,1.250000000,BASELINE,789,750,729,707.490098647,696,654,931,801.490098647,834,667,656,673,0.400987174233,0.00451135797361,0.0698394400237,0.999999964685,7.43215248102e-05,-0.000254619675632,1.65899839402e-05,1793256146535472384
+76,1.266666667,BASELINE,789,750,729,707,696,654,931,801,834,667,656,673,0.400985516511,0.00451154111977,0.069838416253,0.999999964253,7.39079704973e-05,-0.000256427986487,1.66027811797e-05,1793256146552139008
+77,1.283333333,BASELINE,789,750,729,707,696,654,931,801,834,667,656,673,0.400986654639,0.00451122780031,0.0698385038426,0.999999964415,7.30967481357e-05,-0.000256020263779,1.67428097479e-05,1793256146568805888
+78,1.300000000,BASELINE,788.752608647,750,729,707,696,654,931,801.247391353,834,667,656,673,0.400986373491,0.00451096112227,0.0698381844631,0.999999964313,7.29275911722e-05,-0.000256460026189,1.68205831691e-05,1793256146585472512
+79,1.316666667,BASELINE,788.177276002,750,729,707,696,654,931,801.822723998,834,667,656,673,0.400984210956,0.004510756272,0.0698373256066,0.999999963861,7.36095543889e-05,-0.000258023212558,1.68158313287e-05,1793256146602139136
+80,1.333333333,BASELINE,788.41124667,750.41124667,729,707,696,654,931,801.58875333,834,667,656,673,0.400984052589,0.00451072581509,0.0698372688167,0.99999996398,7.26141380565e-05,-0.000257857023113,1.6617569407e-05,1793256146618806016
+81,1.350000000,BASELINE,788.994532889,750.994532889,729,707,696,654,931,801.005467111,834,667,656,673,0.400984778134,0.00451077753278,0.0698375592595,0.999999964345,7.08916166306e-05,-0.000256940510948,1.63356782785e-05,1793256146635472384
+82,1.366666667,BASELINE,788.418726301,750.418726301,729,707,696,654,931,801.581273699,834,667,656,673,0.400984600965,0.00451129952074,0.0698368095523,0.999999964022,7.12474233713e-05,-0.000258095966913,1.63199384052e-05,1793256146652139520
+83,1.383333333,BASELINE,788.155572961,750,729,707,696,654,931,801.844427039,834,667,656,673,0.400984754565,0.00451152116023,0.0698366179259,0.999999963925,7.16135712473e-05,-0.000258365688434,1.63653843788e-05,1793256146668806400
+84,1.400000000,BASELINE,788.725854295,750,729,707,696,654,931,801.274145705,834,667,656,673,0.400985789892,0.00451094216565,0.0698379139662,0.999999964432,7.20072854018e-05,-0.000256274321964,1.65739324893e-05,1793256146685473024
+85,1.416666667,BASELINE,789,750,729,707,696,653.690789199,931,801,833.690789199,667,656,673,0.400986095194,0.00451083178794,0.0698382412709,0.999999964577,7.22372429817e-05,-0.000255638544781,1.66102910794e-05,1793256146702139392
+86,1.433333333,BASELINE,789,750,729,707,696,653.095328467,931,801,833.095328467,667,656,673,0.400985724681,0.00451115522935,0.0698376717746,0.999999964392,7.23156039322e-05,-0.000256350270237,1.64872463053e-05,1793256146718806016
+87,1.450000000,BASELINE,788.514661025,750.485338975,729,707.485338975,696,653.485338975,931,801.485338975,833.485338975,667,656,673,0.400986823661,0.004510437865,0.0698382194543,0.99999996464,7.24709550083e-05,-0.000255322038708,1.67031355227e-05,1793256146735472640
+88,1.466666667,BASELINE,788.062925574,751,729,708,696,654,931,801.937074426,834,667,656,673,0.400987881851,0.00450960543817,0.0698387868023,0.999999964868,7.25827940228e-05,-0.000254380115237,1.69445410635e-05,1793256146752139264
+89,1.483333333,BASELINE,788.638385141,751,729,708,696,654,931,801.361614859,834,667,656,673,0.400986326397,0.00450945167501,0.0698377799286,0.999999964266,7.22206960942e-05,-0.000256842471257,1.68675821909e-05,1793256146768805888
+90,1.500000000,BASELINE,789,751,729,707.786408169,696,654,931,801.213591831,834,667,656,673,0.400985645796,0.0045092658467,0.0698376664407,0.999999964138,7.13196076361e-05,-0.000257589107008,1.68788104417e-05,1793256146785472256
+91,1.516666667,BASELINE,789,751,729,707.211629156,696,654,931,801.788370844,834,667,656,673,0.400986444588,0.00450902579577,0.0698390636824,0.999999964816,6.95070776635e-05,-0.000255434432267,1.70391645278e-05,1793256146802139136
+92,1.533333333,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.400986484017,0.00450926573273,0.0698387793048,0.999999964793,7.00507294935e-05,-0.000255374697886,1.70356347664e-05,1793256146818806016
+93,1.550000000,BASELINE,789,751,729,707,696,654,931,802,834,667,656,673,0.40098608092,0.00450978538741,0.0698375149469,0.999999964362,7.19674696639e-05,-0.000256535810749,1.6936600069e-05,1793256146835472896
+94,1.566666667,BASELINE,789,750.456610637,729,707,696,654,931,801.456610637,834,667,656,673,0.400985183765,0.00450916054777,0.0698372045119,0.999999964093,7.15779131306e-05,-0.000257675389662,1.71347563971e-05,1793256146852139520
+95,1.583333333,BASELINE,789,750,729,707.121038524,696,654,931,801,834,667,656,673,0.400984502335,0.00450882920612,0.0698371042488,0.99999996387,7.15189819123e-05,-0.000258548625751,1.72644387081e-05,1793256146868805888
+96,1.600000000,BASELINE,789,750,729,707.695789529,696,654,931,801,834,667,656,673,0.400984748953,0.00450987463072,0.0698375612798,0.999999963778,7.32567617079e-05,-0.000258428681154,1.70656242349e-05,1793256146885472768
+97,1.616666667,BASELINE,789,750,729,707.722836802,696,654,931,801,834,667,656,673,0.400984952751,0.00451074463045,0.0698377478894,0.999999963807,7.42775074323e-05,-0.00025803466653,1.69213457256e-05,1793256146902139392
+98,1.633333333,BASELINE,789,750,729,707.134016285,696,654,931,801,834,667,656,673,0.400985108398,0.00451141737288,0.0698376304225,0.999999963974,7.44919810903e-05,-0.000257332472725,1.6838390421e-05,1793256146918806016
+99,1.650000000,BASELINE,789,750,729,707,696,654,931,801,834,666.57039555,656,673,0.400986416911,0.00451106355036,0.0698383010711,0.999999964404,7.31181996041e-05,-0.000256068132834,1.65902388945e-05,1793256146935472640
+100,1.666666667,BASELINE,789,750,729,707,696,654,931,801,834,666.014200396,656,673,0.400988065136,0.00451040723194,0.0698392039522,0.999999964907,7.12764100723e-05,-0.000254638146466,1.62934093214e-05,1793256146952139520
+101,1.683333333,BASELINE,788.415695305,750,729,707.584304695,696,654,931,801,834,666.584304695,656,673,0.400986986881,0.00451095521161,0.0698383917064,0.99999996471,7.15619564298e-05,-0.000255314604008,1.65389913411e-05,1793256146968806144
+102,1.700000000,BASELINE,788.176575105,750,729,707.823424895,696,654,931,801,834,666.823424895,656,673,0.400985602001,0.00451138075426,0.0698375243373,0.999999964429,7.16738722831e-05,-0.000256380391598,1.65561887654e-05,1793256146985472768
+103,1.716666667,BASELINE,788.752248182,750,729,707.247751818,696,654,931,801,834,666.247751818,656,673,0.400983685539,0.00451145824628,0.0698366339447,0.999999963998,7.12673684888e-05,-0.000258201409413,1.60250668636e-05,1793256147002139136
+104,1.733333333,BASELINE,788.665147946,750,729,707.334852054,696,654,931,801.334852054,834,666.334852054,656,673,0.40098372256,0.00451063315962,0.0698373561169,0.999999964163,7.03720607662e-05,-0.000257802557063,1.61158604173e-05,1793256147018805760
+105,1.750000000,BASELINE,788.077307641,750,729,707.922692359,696,654,931,801.922692359,834,666.922692359,656,673,0.400985235482,0.00450912615451,0.0698392966181,0.999999964775,6.91074506493e-05,-0.000255726543114,1.66765250162e-05,1793256147035472384
+106,1.766666667,POSE1_TO_POSE2_PRESS,789,750,729,708,696,654,931,801,834,667,656,673,0.40098646244,0.00450961955906,0.0698389738081,0.999999964934,6.9207043794e-05,-0.000255054131963,1.70172014264e-05,1793256147066293504
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,750.575739437,729,708,696,654,931.575739437,801,834,666.424260563,656,673,0.400986555143,0.00451069382285,0.0698386888321,0.999999964844,7.19156726687e-05,-0.000254662354606,1.69263017284e-05,1793256147082960384
+108,1.800000000,POSE1_TO_POSE2_PRESS,789,751,729.15070061,708,696,654,932,801.15070061,834,666,656,673,0.400986802223,0.0045115870094,0.0698385616371,0.999999964808,7.41410501428e-05,-0.000254171227994,1.68616096008e-05,1793256147099627008
+109,1.816666667,POSE1_TO_POSE2_PRESS,789,751,729.723482162,708,696,654,932,801.723482162,834,666,656,673,0.400987481683,0.00451197303664,0.0698388763535,0.999999964938,7.50129419716e-05,-0.000253401844777,1.68703193853e-05,1793256147116293376
+110,1.833333333,POSE1_TO_POSE2_PRESS,789,750.693585284,729.693585284,708,696.306414716,654,931.693585284,802,834,666.306414716,656,673,0.400987228152,0.00451152627046,0.069838760661,0.99999996478,7.45967455468e-05,-0.000254143206098,1.69415457982e-05,1793256147132960000
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,750.101178326,729.101178326,708,696.898821674,654,931.101178326,802,834,666.898821674,656,673,0.400986103815,0.00451030221632,0.069838243246,0.999999964348,7.29783116106e-05,-0.000256294621212,1.70711221197e-05,1793256147149626880
+112,1.866666667,POSE1_TO_POSE2_PRESS,789.480578289,750,729,708,696.519421711,654,931,802,834,667,656,673,0.400986641332,0.00451115512704,0.0698382269106,0.999999964415,7.32960006234e-05,-0.000255966895034,1.67200977369e-05,1793256147166293248
+113,1.883333333,POSE1_TO_POSE2_PRESS,789.940467411,750.059532589,729.059532589,708,696,654,931,801.940467411,834,667,656,673,0.400987293644,0.00451226480001,0.0698382632336,0.999999964524,7.38821283163e-05,-0.000255393262791,1.63408932337e-05,1793256147182959872
+114,1.900000000,POSE1_TO_POSE2_PRESS,789.366769938,750.633230062,729.633230062,708,696,654,931,801.366769938,834,667,656,673,0.400985981131,0.0045118973384,0.069837862981,0.999999964121,7.33425108605e-05,-0.000257105958196,1.6573246012e-05,1793256147199626496
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,751,729.792901662,708,696,654,931.207098338,801.207098338,834,667,656,673,0.400986815615,0.00451163374372,0.0698386891428,0.999999964231,7.24034912051e-05,-0.000256934972795,1.67378098957e-05,1793256147216293376
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,751,729.218730708,708,696,654,931.781269292,801.781269292,834,667,656,673,0.400991455556,0.00451155424861,0.0698416890698,0.999999965244,7.07565489243e-05,-0.000253425246537,1.67822209455e-05,1793256147232960000
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931.6335864,802,834,667,656,673,0.401006545395,0.00451041473244,0.0698486312861,0.999999967765,7.12623200953e-05,-0.000243107238344,1.70439159086e-05,1793256147249626624
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931.041689256,802,834,667,656,673,0.401028065891,0.00450862290066,0.069857999508,0.999999971048,7.30928275625e-05,-0.000228599550298,1.7439323014e-05,1793256147266293248
+119,1.983333333,POSE1_TO_POSE2_PRESS,788.462395965,750.462395965,729.537604035,707.462395965,696,654,931,802,834,667,656,673,0.40107779769,0.00451033963003,0.0698772196997,0.999999978177,7.2169207299e-05,-0.000195333943767,1.67933776783e-05,1793256147282959872
+120,2.000000000,POSE1_TO_POSE2_PRESS,788.115053437,750.115053437,729.884946563,707,696,654,931,801.884946563,834,667,656,673,0.401131542451,0.00451183962379,0.0698958226219,0.999999983675,7.12193535302e-05,-0.000165272084668,1.62214055487e-05,1793256147299626496
+121,2.016666667,POSE1_TO_POSE2_PRESS,788.688957956,750.688957956,729.311042044,707,696,654,931,801.311042044,834,667,656,673,0.401192766584,0.00451141501641,0.0699089866884,0.999999985543,7.09971259631e-05,-0.000153655578399,1.62591285936e-05,1793256147316293120
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931,801.270155093,834,667,656,673,0.401263316303,0.00451063132241,0.0699188652231,0.999999987474,6.8804373868e-05,-0.000141691298346,1.55494750585e-05,1793256147332959744
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,751,729,707,696,654,931,801.859981466,834,667,656,673,0.401344900872,0.00450942272554,0.0699248560267,0.999999989475,6.4279923768e-05,-0.000129315502444,1.39554597861e-05,1793256147349626368
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,751,729,707.429817801,696,654,931,802,834,667,656,673,0.401438801614,0.00451003183014,0.0699265721392,0.999999990061,6.20387119833e-05,-0.000126040292838,1.19518283741e-05,1793256147366293248
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,751,729,707.993431522,696,654,931,802,834,667,656,673,0.401536536195,0.00451120675833,0.0699269576037,0.999999990234,6.05082385825e-05,-0.000125597961298,9.82068954985e-06,1793256147382960128
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,751,729,708,696,654,931.586850258,802,834,667,656,673,0.401650852976,0.00451123379671,0.0699231735113,0.999999989439,5.75080777335e-05,-0.000133274904855,7.23122002804e-06,1793256147399626752
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,751,729,707.825620977,696,654,931.825620977,802,834,667,656,673,0.401777042947,0.00451167202404,0.0699216093322,0.999999989106,5.49516758319e-05,-0.000136928809211,4.40414818085e-06,1793256147416293120
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,751,729,707.25236887,696,654,931.25236887,802,834,667,656,673,0.401929944279,0.00451308176248,0.0699252354259,0.999999989969,5.34499653357e-05,-0.000131161453136,1.04594931007e-06,1793256147432959744
+129,2.150000000,POSE1_TO_POSE2_PRESS,788.667304077,751,729,707.332695923,696,654,931,802,834,667,656,673,0.402103257366,0.00451404805111,0.0699287113935,0.999999990936,4.98952546035e-05,-0.000125026701908,-2.58698612088e-06,1793256147449626624
+130,2.166666667,POSE1_TO_POSE2_PRESS,788.072948757,751,729,707.927051243,696,654,931,802,834,667,656,673,0.402292623949,0.00451466557456,0.0699320692902,0.999999991946,4.47258957184e-05,-0.000118603000337,-6.43599730554e-06,1793256147466293248
+131,2.183333333,POSE1_TO_POSE2_PRESS,788.505533913,750.494466087,729,708,696,654,931,802,834,667,656,673,0.402504439148,0.00450665491827,0.0699329344444,0.999999992689,2.96243287578e-05,-0.000116898801822,-8.84198231443e-06,1793256147482960128
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,750,729,707.91863071,696,654,931,802,834,667,656,673,0.402725725417,0.00449583610583,0.0699339136631,0.999999993311,1.08783255653e-05,-0.000114630787976,-1.09669171389e-05,1793256147499626496
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,750,729,707.345373871,696,654,931,802,834,667,656,673,0.402985279453,0.00447533899585,0.0699376906763,0.999999994181,-2.14985022214e-05,-0.000104962876488,-1.26133219353e-05,1793256147516293376
+134,2.233333333,POSE1_TO_POSE2_PRESS,788.764789689,750,729,707,696,654,931,802,834,667,656,673,0.403261324338,0.0044679557143,0.0699438003214,0.999999994893,-3.80571516975e-05,-9.21692501472e-05,-1.64202970028e-05,1793256147532960256
+135,2.250000000,POSE1_TO_POSE2_PRESS,788.1731004,750,729,707,696,654,931,802,834,667,656,673,0.403562362333,0.00448044743059,0.069953445246,0.999999996469,-3.06421563414e-05,-7.46383677652e-05,-2.35017792736e-05,1793256147549626624
+136,2.266666667,POSE1_TO_POSE2_PRESS,788.409801578,750,729,707,696,654,931.409801578,802,834,667,656,673,0.403892906064,0.00448511276575,0.0699595774954,0.999999996888,-3.26999258959e-05,-6.52968468545e-05,-2.98526192661e-05,1793256147566293248
+137,2.283333333,POSE1_TO_POSE2_PRESS,788.989069697,750,729,707,696,654,931.989069697,802,834,667,656,673,0.404235651388,0.00448654163247,0.0699642571368,0.999999996847,-3.8674998047e-05,-5.93418989125e-05,-3.59013142723e-05,1793256147582959872
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,750,729,707,696,654,932,801.437900979,834,667,656,673,0.40461085243,0.00448662465659,0.0699691324048,0.999999996531,-4.68071270646e-05,-5.43484436544e-05,-4.2347830264e-05,1793256147599626496
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,750,729,707.135649767,696,654,932,801.135649767,834.135649767,667,656.135649767,673,0.404996433855,0.004489599752,0.069973449481,0.999999997544,-2.74413976877e-05,-4.89981262212e-05,-4.19422071777e-05,1793256147616293376
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,750,729,707.711280812,696,654,932,801.711280812,834.711280812,667,656.711280812,673,0.405413659506,0.00450203926023,0.0699759438526,0.999999995613,8.12484484996e-05,-4.24303463416e-05,-1.92867899428e-05,1793256147632960000
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,750.295110997,729,707.704889003,696,654,931.704889003,801.704889003,834.704889003,667,656.704889003,673,0.405842400912,0.00451227551318,0.0699746732255,0.999999990015,0.000134079079588,-4.27838513393e-05,-1.27098161742e-05,1793256147649626880
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,750.887192044,729,707.112807956,696,654,931.112807956,801.112807956,834.112807956,667,656.112807956,673,0.406282730668,0.00452029463292,0.0699696138822,0.999999989955,0.00013069862455,-5.01022414311e-05,-2.2312569419e-05,1793256147666293760
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,751,729.467748689,707,696,654,931.467748689,801,834,667,656,673,0.406760295922,0.00452229385068,0.0699517010747,0.999999987987,0.000130079437748,-7.93759017779e-05,-2.83852029895e-05,1793256147682960384
+144,2.400000000,POSE1_TO_POSE2_PRESS,788.954777405,750.954777405,729.954777405,707.045222595,696,654,932,801,834,667,656,673,0.407251935684,0.00452352930975,0.0699324559768,0.999999985979,0.000121322396234,-0.000110505068409,-3.33378255949e-05,1793256147699626752
+145,2.416666667,POSE1_TO_POSE2_PRESS,788.381624851,750.381624851,729.381624851,707.618375149,696,654,932,801,834,667,656,673,0.407805568146,0.0045323898238,0.0699329757947,0.99999999404,9.97651069086e-06,-0.000102967863788,-3.49153030027e-05,1793256147716293632
+146,2.433333333,POSE1_TO_POSE2_PRESS,788.188318268,750,729,707.811681732,696,654,932,801.188318268,834,667,656,673,0.408379707302,0.00454005592068,0.0699403568944,0.99999999423,-5.61613861829e-05,-8.38654777492e-05,-3.6782036006e-05,1793256147732960512
+147,2.450000000,POSE1_TO_POSE2_PRESS,788.751866455,750,729,707.248133545,696,654,932,801.751866455,834,667,656,673,0.408994706637,0.0045453421042,0.0699614093083,0.999999997841,-3.22209735035e-05,-4.17191157454e-05,-3.9225120221e-05,1793256147749627136
+148,2.466666667,POSE1_TO_POSE2_PRESS,788.661047999,750,729,707,696.338952001,654,932,801.661047999,834,667,656,673,0.409614009766,0.0045505434538,0.0699685097843,0.999999998892,-1.96042528768e-06,-2.34736214705e-05,-4.0752230391e-05,1793256147766293760
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.055445877,750,729,707,696.944554123,654,932,801.055445877,834,667,656,673,0.410236698617,0.00455567806515,0.0699646344104,0.999999998294,3.32721086774e-05,-2.40307008713e-05,-4.15587529135e-05,1793256147782960128
+150,2.500000000,POSE1_TO_POSE2_PRESS,788,750,729.526649309,707,696.473350691,654,932,801.526649309,834.526649309,667,656,673,0.410903471021,0.00456355274892,0.0699592438531,0.999999996424,6.27597442558e-05,-3.70901173502e-05,-4.28581896802e-05,1793256147799626496
+151,2.516666667,POSE1_TO_POSE2_PRESS,788,750,729.894601936,707.105398064,696.105398064,654,932,801.894601936,834.894601936,667,656,673.105398064,0.411586853602,0.0045714629007,0.0699590453276,0.99999999421,8.90359130946e-05,-4.131707847e-05,-4.40977609693e-05,1793256147816293120
+152,2.533333333,POSE1_TO_POSE2_PRESS,788,750,729.320202388,707.679797612,696.679797612,654,932,801.320202388,834.320202388,667,656,673.679797612,0.412324378376,0.00457830206008,0.0699826298658,0.999999993628,0.000103598016559,-6.34464981911e-07,-4.48498890303e-05,1793256147832960000
+153,2.550000000,POSE1_TO_POSE2_PRESS,788,750,729,707.75467378,697,654,932,801.24532622,834,667,656,673.75467378,0.413076077052,0.00458466853283,0.0700074271548,0.99999999295,0.00010309950835,3.74667819068e-05,-4.54642696061e-05,1793256147849626880
+154,2.566666667,POSE1_TO_POSE2_PRESS,788,750,729,707.200319481,697,654,932,801.799680519,834,667,656,673.200319481,0.41384563015,0.00459043958121,0.0700337521027,0.999999992835,8.36297242085e-05,7.23163852672e-05,-4.59051350622e-05,1793256147866293504
+155,2.583333333,POSE1_TO_POSE2_PRESS,788,750,729.395447623,707,697,654,932,802,834,667,656,673,0.414583903938,0.00459685667425,0.0700248009878,0.999999993403,9.20232573268e-05,5.04856612468e-05,-4.66499957936e-05,1793256147882960384
+156,2.600000000,POSE1_TO_POSE2_PRESS,788.01362973,750,729.98637027,706.98637027,696.98637027,654,932,802,834,667,656,673,0.415306039732,0.00460366755811,0.0699954066635,0.999999992129,0.000116019977088,-3.91581927864e-06,-4.76016170288e-05,1793256147899626752
+157,2.616666667,POSE1_TO_POSE2_PRESS,788.589831031,750,729.410168969,706.410168969,696.410168969,654,932,802,834,667,656,673,0.416092584187,0.00461164435208,0.0699460615401,0.999999986747,0.000133313811025,-7.89540106519e-05,-4.99877408714e-05,1793256147916293376
+158,2.633333333,POSE1_TO_POSE2_PRESS,788.834921071,750,729,706,696.165078929,654.165078929,932,802,834,667,656,673,0.416901097784,0.00461827152485,0.0699175841093,0.999999981442,0.000139044482617,-0.000122729535721,-5.21523682635e-05,1793256147932960000
+159,2.650000000,POSE1_TO_POSE2_PRESS,788.26202851,750,729,706,696.73797149,654.73797149,932,802,834,667,656,673,0.417763884254,0.00462156457129,0.069940658564,0.999999987817,0.000116209333184,-8.92732654541e-05,-5.37698077062e-05,1793256147949626880
+160,2.666666667,POSE1_TO_POSE2_PRESS,788,750,729,706,697,654.678904069,932,801.678904069,834,667,656,673,0.418629320725,0.00462488851797,0.0699674942709,0.999999990491,0.000116590103577,-5.03031141083e-05,-5.37914164971e-05,1793256147966294016
+161,2.683333333,POSE1_TO_POSE2_PRESS,788,750,729,706,697,654.087155167,932,801.087155167,834,667,656,673,0.419496990849,0.00462823851041,0.0699975003502,0.99999998928,0.000136539661425,-6.6852932731e-06,-5.24678934891e-05,1793256147982960896
+162,2.700000000,POSE1_TO_POSE2_PRESS,788,749.506489836,729,706,696.506489836,654,932,801,834,667,656,673,0.420417511366,0.00462783586032,0.0700211998644,0.999999988771,0.000135937620421,3.26209388371e-05,-5.39814708382e-05,1793256147999627776
+163,2.716666667,POSE1_TO_POSE2_PRESS,788,749.071841295,729.071841295,706,696.071841295,654,932,801,834,667,656,673,0.421344309314,0.00462362873633,0.0700396069706,0.999999988238,0.000128097094732,6.34389338212e-05,-5.55986996316e-05,1793256148016294656
+164,2.733333333,POSE1_TO_POSE2_PRESS,788,749.647229635,729.647229635,706,696.647229635,654,932,801,834,667,656,673,0.422251123186,0.00459729857301,0.0700285537555,0.999999993259,9.44015951335e-05,3.99813159069e-05,-5.45077129153e-05,1793256148032960768
+165,2.750000000,POSE1_TO_POSE2_PRESS,788,750,730,706.227024629,697,654,932,801,834,667.227024629,656,673.227024629,0.423113658175,0.00457748610779,0.0699880662517,0.999999995483,7.39429175275e-05,-2.73529489266e-05,-5.30915764922e-05,1793256148049627136
+166,2.766666667,POSE1_TO_POSE2_PRESS,788,750,730,706.813802696,697,654,932,801,834,667.813802696,656,673.813802696,0.423906026997,0.00456800187604,0.0699009358484,0.999999982436,7.44598974005e-05,-0.000164216125632,-5.11601924702e-05,1793256148066293504
+167,2.783333333,POSE1_TO_POSE2_PRESS,787.604830697,750,730,706.604830697,697,654.395169303,932,801,834,667.604830697,656,674,0.424808137473,0.00456524793593,0.0698750629307,0.999999977076,6.84025626287e-05,-0.000195841026921,-5.3056530824e-05,1793256148082960128
+168,2.800000000,POSE1_TO_POSE2_PRESS,787.025979469,750,730,706.025979469,697,654.974020531,932,801,834,667.025979469,656,674,0.42576125783,0.0045656223591,0.0698776636186,0.999999980693,5.92893664727e-05,-0.000178549244879,-5.6732064974e-05,1793256148099626496
+169,2.816666667,POSE1_TO_POSE2_PRESS,787.552835043,749.447164957,729.447164957,706,697,654.447164957,932,801,834,667,656,673.447164957,0.426763576003,0.00457137098528,0.0699440232708,0.999999992998,6.38860197156e-05,-8.44097822991e-05,-5.28840351151e-05,1793256148116293120
+170,2.833333333,POSE1_TO_POSE2_PRESS,788,749.130630303,729.130630303,706.130630303,697,654,932,801,834,667,656,673,0.427770101905,0.00457690350366,0.0700066460228,0.999999996245,7.07161121442e-05,4.41154464728e-06,-4.98892879843e-05,1793256148132960000
+171,2.850000000,POSE1_TO_POSE2_PRESS,788,749.704969326,729.704969326,706.704969326,697,654,932,801,834,667,656,673,0.428783067581,0.00458084419757,0.0700463991706,0.999999993282,8.29442455544e-05,6.29032319033e-05,-5.09937022859e-05,1793256148149627392
+172,2.866666667,POSE1_TO_POSE2_PRESS,788,749.720147744,730,706.720147744,697,654,932.279852256,801,834.279852256,667.279852256,656,673.279852256,0.429757997659,0.00458127496142,0.0700631736472,0.999999991232,8.43364633615e-05,8.78482226359e-05,-5.2018114377e-05,1793256148166294016
+173,2.883333333,POSE1_TO_POSE2_PRESS,788,749.144690328,730,706.144690328,697,654,932.855309672,801,834.855309672,667.855309672,656,673.855309672,0.430692751048,0.00457799822074,0.070055675979,0.999999992847,7.4282810508e-05,7.73581672426e-05,-5.29580209953e-05,1793256148182960384
+174,2.900000000,POSE1_TO_POSE2_PRESS,788,749,730,706.444968672,697,654,933,800.555031328,834.555031328,667.555031328,656,673.555031328,0.431523002839,0.00457229907109,0.0699851037076,0.999999995411,6.77110277003e-05,-4.25929385229e-05,-5.27113984572e-05,1793256148199626752
+175,2.916666667,POSE1_TO_POSE2_PRESS,787.961802664,748.961802664,730,707,696.961802664,654,933,800.038197336,834,667,656,673,0.432329161402,0.00456608497795,0.0699000966699,0.999999979186,6.27561780587e-05,-0.00018697364189,-5.22471422687e-05,1793256148216293120
+176,2.933333333,POSE1_TO_POSE2_PRESS,787.385487197,748.385487197,730,707,696.385487197,654,933,800.614512803,834,667,656,673,0.43329039533,0.00456407920308,0.0699102018179,0.999999984059,6.41043696164e-05,-0.000157548675105,-5.43315277387e-05,1793256148232959744
+177,2.950000000,POSE1_TO_POSE2_PRESS,787,748,730,707,696,654,933,800.810175695,834,667,656,673,0.434265645895,0.00456407442294,0.0699398551606,0.999999991431,6.22064192445e-05,-0.000101126766753,-5.51477932832e-05,1793256148249626368
+178,2.966666667,POSE1_TO_POSE2_PRESS,787,748,730,707,696,654,933,800.236892176,834,667,656,673,0.435269211283,0.00456811180061,0.0700089973121,0.999999997081,5.3751020545e-05,9.83097773866e-06,-5.34023622608e-05,1793256148266293248
+179,2.983333333,POSE1_TO_POSE2_PRESS,787.347252895,748,730,707,696,654,933,800,834,667,656,673.347252895,0.436219745841,0.00456950759839,0.070045492454,0.999999994492,5.76395086961e-05,6.9979412565e-05,-5.28903287489e-05,1793256148282960128
+180,3.000000000,POSE1_TO_POSE2_PRESS,787.93904681,748,730,707,696,654,933,800,834,667,656,673.93904681,0.437132935182,0.00456904315329,0.0700589970473,0.999999991666,7.02207593991e-05,9.43471157002e-05,-5.32468738114e-05,1793256148299627008
+181,3.016666667,POSE1_TO_POSE2_PRESS,788,748,730,707,696,654,933,800,834.518618288,667.518618288,656,673.481381712,0.437990065922,0.00456903253111,0.0700293834187,0.999999994275,6.48399107043e-05,6.4966018446e-05,-5.5009952837e-05,1793256148316293632
+182,3.033333333,POSE1_TO_POSE2_PRESS,787.903728342,748,730,707,696,654,933,800,835,668,656,673.096271658,0.438824295863,0.00456904210857,0.069988435059,0.999999996606,5.81375124916e-05,1.44428036949e-05,-5.65641368517e-05,1793256148332960000
+183,3.050000000,POSE1_TO_POSE2_PRESS,787.328634831,748,730,707,696,654,933,800,835,668,656,673.671365169,0.439576639894,0.00456889297646,0.0699157362414,0.999999990788,5.51202350631e-05,-0.000110538347855,-5.62760859131e-05,1793256148349626624
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,747.747925581,730,707,695.747925581,654,933,800,835,668,656,674,0.440358403257,0.00456855474302,0.0698690628453,0.999999979028,5.85304234338e-05,-0.000188035416134,-5.62250204845e-05,1793256148366293248
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,747.159728196,730,707,695.159728196,654,933,800,835,668,656,674,0.441179395106,0.00456796435668,0.0698570924679,0.999999975473,7.05111726462e-05,-0.000202215893576,-5.64899589843e-05,1793256148382959872
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,746.578440633,730,707,695,653.578440633,933,799.578440633,835,668,656,674,0.442026451176,0.00457199339181,0.0698953606229,0.999999985617,6.91334096194e-05,-0.000144475414497,-5.57935601532e-05,1793256148399626496
+187,3.116666667,POSE1_TO_POSE2_PRESS,787,746,730,707,695,653,933,799,835,668,656.000270108,674,0.442883165462,0.00457774572595,0.0699523269458,0.999999994732,6.27856854733e-05,-5.99742418362e-05,-5.47383547129e-05,1793256148416293376
+188,3.133333333,POSE1_TO_POSE2_PRESS,787,746,730,707,695,653,933,799,835,668,656.576905404,674,0.443615512627,0.00458612991347,0.0699449332338,0.999999992115,7.76347590452e-05,-8.341944908e-05,-5.27632437921e-05,1793256148432960256
+189,3.150000000,POSE1_TO_POSE2_PRESS,787,746,730,706.84715898,694.694317961,653,933,799,835,668,656.84715898,674,0.44433396936,0.00459463650034,0.0699258601695,0.999999986894,9.25233383195e-05,-0.000122252282518,-5.2014310991e-05,1793256148449627136
+190,3.166666667,POSE1_TO_POSE2_PRESS,787,746,730,706.273151266,693.546302532,653,933,799,835,668,656.273151266,674,0.445014149966,0.00460348037114,0.0698746036347,0.999999972023,0.000107520782106,-0.000203487060535,-5.46442178544e-05,1793256148466294272
+191,3.183333333,POSE1_TO_POSE2_PRESS,786.690691573,746,730,706.309308427,693,652.690691573,933,799,835,668,656,674,0.445683748416,0.0046114425279,0.0698322739415,0.999999955883,0.000123821623395,-0.000264155863665,-5.58978808045e-05,1793256148482961152
+192,3.200000000,POSE1_TO_POSE2_PRESS,786.10055826,746,730,706.89944174,693,652.10055826,933,799,835,668,656,674,0.446343739159,0.00461860416521,0.0697980490395,0.999999941589,0.000141305834564,-0.000306152563592,-5.59020351593e-05,1793256148499626752
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+250,4.166666667,HOLD_POSE2,787,746,729.156389685,707,679,648.156389685,933,797,835,669,655.156389685,674,0.456210637979,0.00470330488366,0.0696033419653,0.999999780616,0.000209500719995,-0.000625873132671,-5.62086495431e-05,1793256149483673088
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+252,4.200000000,HOLD_POSE2,787,746,729.687311975,707,678.687311975,648.687311975,933,797,835,669,656,674,0.456209064037,0.00470309901219,0.0696024001257,0.999999779555,0.000209883887935,-0.000627446783836,-5.61141333475e-05,1793256149517006336
+253,4.216666667,HOLD_POSE2,787,746,729.098979415,707,678.098979415,648.098979415,933,797,835,669,656,674,0.456209018583,0.00470258530507,0.0696013708419,0.99999977884,0.000210815213403,-0.000628263550216,-5.62241719831e-05,1793256149533672960
+254,4.233333333,HOLD_POSE2,786.518175596,746,729.481824404,707,678,648.481824404,933,797,835,669,656,674,0.45620947447,0.00470351610173,0.0696023357094,0.999999778659,0.000212548636913,-0.000627980989887,-5.6086631781e-05,1793256149550339328
+255,4.250000000,HOLD_POSE2,786.121419739,746,730,707,678,648.93929013,933,797,835,669,656,674,0.456209945905,0.00470456513685,0.0696035043892,0.999999778592,0.000214070282423,-0.00062758667319,-5.58947191216e-05,1793256149567006208
+256,4.266666667,HOLD_POSE2,787.272482228,746,730,707,678,648.363758886,933,797,835,669,656,674,0.456209689275,0.0047041391959,0.0696029809952,0.999999778616,0.000212420270329,-0.00062813024627,-5.56663786237e-05,1793256149583673088
+257,4.283333333,HOLD_POSE2,787.788117439,746,730,707,678,648,933,797,835,669,656,674,0.456209887161,0.00470392733522,0.069602679718,0.999999778725,0.000211657571486,-0.000628223698384,-5.55576395142e-05,1793256149600339968
+258,4.300000000,HOLD_POSE2,787.212286759,746,730,707,678,648,933,797,835,669,656,674,0.456210865763,0.00470408319766,0.0696027599681,0.999999778985,0.00021241900008,-0.000627543983087,-5.5654338291e-05,1793256149617006592
+259,4.316666667,HOLD_POSE2,787,746,730,707,678,648.371531972,933,797,835,668.628468028,656,674,0.456211444126,0.00470460475511,0.0696029668635,0.999999778776,0.000214115795802,-0.000627287616985,-5.57836854605e-05,1793256149633673216
+260,4.333333333,HOLD_POSE2,787,746,730,707,678,648.960015279,933,797,835,668.039984721,656,674,0.456211788774,0.00470533985548,0.0696032477117,0.999999778291,0.000216358787242,-0.000627278460153,-5.59320972491e-05,1793256149650339584
+261,4.350000000,HOLD_POSE2,787,746,729.459474085,707,678,648.459474085,933,797,835,668.540525915,656,674,0.456211392326,0.00470463761824,0.0696030661542,0.999999779046,0.000211996634677,-0.000627563297247,-5.59374628161e-05,1793256149667006464
+262,4.366666667,HOLD_POSE2,787,746,729,707,678,648.119681163,933,797,835,669,656,674,0.456210658208,0.00470395440857,0.0696024739835,0.999999779224,0.000208898408347,-0.000628327895297,-5.58350850819e-05,1793256149683672832
+263,4.383333333,HOLD_POSE2,787,746,729,707,678,648.69588344,933,797,835,669,656,674,0.456208842133,0.00470374345893,0.0696004441193,0.999999776918,0.000212458089152,-0.000630840780099,-5.53614997596e-05,1793256149700339456
+264,4.400000000,HOLD_POSE2,787,746,729,707,678,649,933,797,835,668.736283139,656,674,0.45620851305,0.00470385255957,0.0696002526321,0.999999776322,0.000214242550225,-0.000631193617113,-5.52299825879e-05,1793256149717006336
+265,4.416666667,HOLD_POSE2,787,746,729,707,678,649,933,797,835,668.177803817,656,674,0.456209846015,0.00470431938784,0.0696021159417,0.99999977765,0.000214042806767,-0.000629132118411,-5.54808029606e-05,1793256149733673216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,796,835,668,656,674,0.456211253639,0.00470231101272,0.0696025932849,0.999999779379,0.000209336912015,-0.000627956054815,-5.56004005149e-05,1793256149766358784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,796.577798538,835,668,656,674,0.456211113123,0.00470287922529,0.0696018936297,0.999999777686,0.000213213508756,-0.00062937180203,-5.5303793704e-05,1793256149783025408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,797,835,668,656,674,0.45621127211,0.00470301857432,0.0696018720287,0.999999777045,0.000215305805746,-0.000629710404105,-5.49465137621e-05,1793256149799692032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,797,835,668,656,674,0.456212243782,0.00470199423275,0.0696036902796,0.999999779285,0.000212556533209,-0.000627126249834,-5.44246015329e-05,1793256149816358656
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,797,835,668,656,674,0.456213471857,0.00470258011568,0.0696047122503,0.999999780431,0.000211928063881,-0.000625504622165,-5.44912791215e-05,1793256149833025024
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,797,835,668,656,674,0.456214926051,0.00470458604963,0.0696050319844,0.999999780618,0.00021316992312,-0.000624731843257,-5.50770318958e-05,1793256149849691904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648.482303567,933,797,835,668,656,674,0.456214247004,0.00470370605414,0.0696038152314,0.999999779857,0.000213448226649,-0.000625852850884,-5.50871638964e-05,1793256149866358784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786.937837393,746,730,707,678,649,933,797,835,668.062162607,656,674,0.456213112028,0.00470239593985,0.0696024765106,0.999999779008,0.00021353332532,-0.000627186493444,-5.49974560086e-05,1793256149883025408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.363845765,746,730,707,678,649,933,797,835,668.636154235,656,674,0.45621180179,0.00470238577823,0.0696027111473,0.999999779039,0.000213644089169,-0.000627093899852,-5.50513550226e-05,1793256149899692032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.21127774,746,730,707,678,649,933,797,835,668.78872226,656,674,0.456207497427,0.00470226371013,0.069600818532,0.999999777471,0.000213183593569,-0.000629739508622,-5.51316499594e-05,1793256149916358656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786.788360914,746,730,707,678,649,933,797,835,668.211639086,656,674,0.456198009045,0.0047019478876,0.069595242801,0.999999773093,0.000211734021627,-0.000637126029985,-5.52576466833e-05,1793256149933025280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,649,933.374811806,797,835,668.374811806,656,674,0.456173168461,0.00470230585973,0.0695840648534,0.999999761947,0.000212036387624,-0.000654293676605,-5.51942263666e-05,1793256149949691904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,649,933.966687866,797,835,668.966687866,656,674,0.456139436976,0.00470305404562,0.069569642501,0.999999746477,0.000213353350854,-0.000677125853533,-5.50211092042e-05,1793256149966358528
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,786.115019276,746,730,707,678,649,933,797,835,669,656,674,0.45602515119,0.00470383720348,0.0695352010847,0.99999971301,0.000214613087759,-0.000724512831802,-5.47925707602e-05,1793256149999691776
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786.693555879,746,730,707,678,649,933,797,835,669,656,674,0.45595400184,0.00470516194121,0.0695219336168,0.999999701943,0.000214815827316,-0.000739578303665,-5.46992457979e-05,1793256150016358400
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648.723013122,933,797,835,668.723013122,656,674,0.455874413701,0.0047053631198,0.0695129858626,0.999999692933,0.000216590351657,-0.000751204414107,-5.39822162208e-05,1793256150033025280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648.134069845,933,797,835,668.134069845,656,674,0.455785321382,0.00470429889011,0.0695089031855,0.999999686381,0.000220135098223,-0.000758956943842,-5.25627394967e-05,1793256150049692160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,678,648,933,797,835,668.445319452,656,674,0.455686728376,0.00470432830114,0.0695097267438,0.999999687383,0.000223444283477,-0.000756797880679,-5.06269027016e-05,1793256150066358528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,678.021987025,648.021987025,933,797,835,668.978012975,656,674,0.455584160341,0.00470462733072,0.0695120040429,0.9999996905,0.000226634840509,-0.000751851368209,-4.85300791933e-05,1793256150083025152
+286,4.766666667,POSE2_TO_POSE3_RETREAT,787,746,730,707,678.601042139,648.601042139,933,797,835,668.398957861,656,674,0.45545182758,0.00470359057974,0.0695144757279,0.999999691335,0.000228578891096,-0.000750297459332,-4.62104422109e-05,1793256150099692288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786.821490242,746,730,707,678.821490242,648.821490242,933,797,835,668.178509758,656,674,0.455310477406,0.00470285016374,0.069516365349,0.999999691475,0.000231185324038,-0.000749453740753,-4.38338501333e-05,1793256150116358912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786.247539378,746,730,707,678.247539378,648.247539378,933,797,835,668.752460622,656,674,0.455149151561,0.00470276619957,0.0695169655614,0.999999690085,0.000235259089454,-0.000750183260954,-4.13310894304e-05,1793256150133025280
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786.335238305,746,730,707,678.335238305,648,933,797,835,669,656,674,0.454967123779,0.00470297067954,0.0695155777802,0.999999687076,0.000239500181325,-0.000753002955831,-3.84030206397e-05,1793256150149692160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.924710011,746,730,707,678.924710011,648,933,797,835,669,656,674,0.454769396331,0.00470339390581,0.0695126823719,0.999999682813,0.000243868168344,-0.00075740776859,-3.51524123053e-05,1793256150166358784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,679,648.505515829,933,797,835,669,656,674,0.454555582651,0.00470061183267,0.0695176130307,0.999999689842,0.000246169127896,-0.000747494551194,-3.11133376303e-05,1793256150183025408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,787,746,729.915445539,707,679.084554461,648.915445539,933,797,835,669,656,674,0.45433485365,0.00469787417886,0.0695245231127,0.999999699227,0.000248753222865,-0.00073412819883,-2.69072450004e-05,1793256150199692288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,787,746,729.339303536,707,679.660696464,648.339303536,933,797,835,669,656,674,0.454087614161,0.0046981234573,0.0695362789141,0.999999713207,0.000254743097487,-0.000712874813125,-2.24013571569e-05,1793256150216358656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787,746,729.23644474,707,680,648.23644474,933,797,835,668.76355526,656,674,0.453824017109,0.00469768195597,0.0695475465881,0.999999725323,0.000260824741291,-0.000693555195012,-1.74762183985e-05,1793256150233025280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,787,746,729.811628913,707,680,648.811628913,933,797,835,668.188371087,656,674,0.453536985626,0.00469625081811,0.069558114952,0.999999735105,0.000267037856728,-0.000677005964995,-1.1950445637e-05,1793256150249691648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786.60062215,746,729.60062215,707,680.39937785,649,933,797,835,668.39937785,656,674,0.453207575291,0.00469568323341,0.0695628060758,0.999999739335,0.000273218201052,-0.000668311180507,-6.49502901545e-06,1793256150266358272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786.006754414,746,729.006754414,707,680.993245586,649,933,797,835,668.993245586,656,674,0.452857527219,0.00469553618372,0.0695646350881,0.999999740895,0.000279382586255,-0.00066344137134,-1.07387474058e-06,1793256150283024896
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,787,746,730,707,681.276611417,649,933,797,835,668,656,674,0.452065766929,0.00469341027211,0.069551154442,0.9999997206,0.000299376882525,-0.000684874074896,1.10272208702e-05,1793256150316358656
+300,5.000000000,POSE2_TO_POSE3_RETREAT,787,746,730,707,682.431489264,649,933,797,835,668,656,674,0.451626922388,0.0046906394201,0.069544066516,0.999999712319,0.000302748596303,-0.00069529667848,1.63334590995e-05,1793256150333025280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,787,746,729.699383088,707,683,649.300616912,933,797,835,668,656,674,0.451171388704,0.00469004797766,0.0695423921037,0.999999705314,0.000307391295993,-0.00070314936608,2.15194001096e-05,1793256150349692160
+302,5.033333333,POSE2_TO_POSE3_RETREAT,787,746,729.107303745,707,683,649.892696255,933,797,835,668,656,674,0.450699674047,0.00469156957638,0.0695459663501,0.999999699585,0.000313266277536,-0.000708510398856,2.65887078573e-05,1793256150366358528
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,787,746.014632969,730,707,692.029265938,652.014632969,933,799,834.985367031,668,656,674,0.441800647806,0.0046165741859,0.0697797613325,0.999999900785,0.000272998840762,-0.000351060774289,2.56397153693e-05,1793256150599691776
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,787,748.478030014,730,707,694,653,932.260984993,799.739015007,834.739015007,668,656,674,0.439344097192,0.00460294606504,0.0698172092159,0.999999928682,0.000261258976186,-0.0002715297996,2.55375376827e-05,1793256150649692160
+320,5.333333333,POSE2_TO_POSE3_RETREAT,787,748.676958659,729.676958659,707,694,653,932.323041341,799.676958659,834.676958659,668,656,674,0.438451381164,0.00459878296977,0.0697790581795,0.999999916842,0.000234342152186,-0.000332730698541,2.62618037641e-05,1793256150666358528
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,787,748,729,707,694,653,933,799.493749394,834,668,656,674,0.436645746903,0.00458882254872,0.0697154163423,0.999999893895,0.000175651971324,-0.000425046082552,2.63062230347e-05,1793256150699691776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,787,748.07218824,729.07218824,707,694.07218824,653,933,800,834.07218824,668,656,674,0.435759853701,0.00458413379883,0.0697325436681,0.99999991003,0.000145594609522,-0.000397566494466,2.61186794823e-05,1793256150716358144
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,787,749,729.185156612,707,695,653,933,800,834.185156612,668,656,674,0.433119223816,0.00456663652927,0.069851161685,0.999999959438,0.000150336294951,-0.000239872849799,3.13562332692e-05,1793256150766358528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,787,749,729,707,695,653,933,799.60275717,834,668,656,674,0.432201335541,0.00456000908601,0.0698554941435,0.999999963554,0.000140321849959,-0.000228449885856,3.18132509922e-05,1793256150783025152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,787,749,729,707,695,653,933,799.02294722,834,668,656,674,0.43126531554,0.0045546339047,0.0698546248556,0.999999967881,0.000116024519357,-0.000223033813385,3.21232279277e-05,1793256150799691776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,787.55399115,749,729.55399115,707,695,653,933,799.55399115,834.55399115,668,656,674,0.430217214883,0.00455131276717,0.0697734532438,0.999999929001,0.000113731773997,-0.00035784460128,3.17719333788e-05,1793256150816358400
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,787.295972952,749,730,707,694.295972952,653,933,800,834.295972952,668,656,674,0.428274827394,0.00453657711618,0.0697418291135,0.999999911702,0.000100227203208,-0.000406916052489,3.11379684927e-05,1793256150849691648
+332,5.533333333,POSE2_TO_POSE3_RETREAT,787.285900429,749,729.714099571,707,694.285900429,653,932.714099571,800,834,667.714099571,656,674,0.427385984668,0.0045293071066,0.0697891592102,0.999999940879,8.80445080952e-05,-0.000330909969848,3.14388976577e-05,1793256150866358272
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,788,749,729.456988994,707,695,653,932,800,834,667.456988994,656,674,0.425618548319,0.00451560720994,0.0698679124185,0.999999974043,7.21309455725e-05,-0.000213409152398,3.41696785662e-05,1793256150899691776
+335,5.583333333,POSE2_TO_POSE3_RETREAT,788,749.034978148,730,707,695,653.034978148,932,800,834,667.965021852,656,674,0.424689918812,0.00450531451685,0.0698609299356,0.999999970626,7.26352930531e-05,-0.000228421942032,3.59952388521e-05,1793256150916358656
+336,5.600000000,POSE2_TO_POSE3_RETREAT,788,749.610658601,730,707,695,653.610658601,932,800,834,667.389341399,656,674,0.423725932277,0.00449992828444,0.069825796326,0.999999957317,5.23769687081e-05,-0.000285380936874,3.43439231196e-05,1793256150933025280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,787.813211869,750,729.813211869,707,695,653.813211869,932,800,834,667.186788131,656,673.813211869,0.422737929105,0.00449475332346,0.0697774139488,0.999999931276,4.37790191754e-05,-0.0003666337824,3.33194704427e-05,1793256150949691648
+338,5.633333333,POSE2_TO_POSE3_RETREAT,787.236143921,750,729.236143921,707,695,653.236143921,932,800,834,667.763856079,656,673.236143921,0.42169974479,0.00449001979729,0.069701349257,0.999999873338,5.95445460402e-05,-0.000498646819016,3.36048007176e-05,1793256150966358528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,787.350228344,749.649771656,729,707,695,653.350228344,932,800.350228344,834,667.649771656,656,673.350228344,0.420794593126,0.00448026497,0.0696954811602,0.999999871481,4.22336212336e-05,-0.000504196890258,3.22340260483e-05,1793256150983025408
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,788.905879749,750,729.094120251,708,695,653.094120251,932,800.905879749,834,667.094120251,656,673,0.418422827327,0.00445757026091,0.0698793376993,0.999999978832,2.12454350874e-05,-0.000201426496662,3.62184216303e-05,1793256151033025024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,788.328119183,750,729.671880817,708,695,653.671880817,932,800.328119183,834,667.671880817,656,673,0.417562583297,0.00444857984184,0.0698719589595,0.999999973924,8.48804487157e-06,-0.000225213666585,3.68557781287e-05,1793256151049691648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,788,750,729.745889804,707.745889804,695,654,932,800,834,667.745889804,656,673.254110196,0.416709899538,0.0044406698423,0.0698513266248,0.999999967316,-7.22892593756e-06,-0.000253062604667,3.56969409347e-05,1793256151066358784
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,788,750.42444619,729,707,695,654,932,800.42444619,834,667,656,674,0.415014851752,0.00443085440505,0.0697805713264,0.999999939904,-2.57456130237e-05,-0.000344243056304,3.20377869862e-05,1793256151099692032
+347,5.783333333,POSE2_TO_POSE3_RETREAT,788,750.995504338,729,707,695.004495662,654,932,801,834,667,656,673.995504338,0.414159922594,0.00442891660631,0.0697501115356,0.999999914945,-1.68820550411e-05,-0.000410764617277,3.31377304289e-05,1793256151116358400
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,788,750.156310411,729,707.156310411,695.843689589,654,932,801,833.843689589,667.156310411,656,673,0.412704391803,0.00447911013471,0.0697754830045,0.999999930105,4.19012820763e-05,-0.000369911593382,3.46269566691e-05,1793256151149691648
+350,5.833333333,POSE2_TO_POSE3_RETREAT,788,750.731127544,729,707.731127544,695.268872456,654,932,801,833.268872456,667.731127544,656,673,0.412077552234,0.00449229484778,0.0698347882095,0.999999965551,5.29627359914e-05,-0.000254938410774,3.31418827727e-05,1793256151166358272
+351,5.850000000,POSE2_TO_POSE3_RETREAT,788,750.685937298,729,708,695,654,932,801,833.314062702,667.685937298,656,673,0.411430269558,0.00448862497319,0.0698729390685,0.999999980315,5.39404641731e-05,-0.000188080707339,3.29657275384e-05,1793256151183025408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,788,750.095867834,729,708,695,654,932,801,833.904132166,667.095867834,656,673,0.410765020966,0.00447014283226,0.069892498915,0.999999984996,4.60563424045e-05,-0.000163508191529,3.39398856288e-05,1793256151199692544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,788,750,729,707.514551065,695,654,932,801,833.514551065,667,656,673,0.410075285338,0.00446791272906,0.0698608987717,0.999999974314,3.58000219594e-05,-0.000221243886299,3.37859381054e-05,1793256151216359168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,695.064573902,654,932,801,833.064573902,667,656,673,0.409388607148,0.00446904466732,0.0698203125291,0.999999956248,2.54012619745e-05,-0.000292839365905,3.32381400305e-05,1793256151233025280
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,932,801.21489795,833.78510205,667,656,673,0.408171618742,0.00447407335944,0.0697717855698,0.999999930741,1.85007272902e-05,-0.000370535322684,2.96689409627e-05,1793256151266358272
+357,5.950000000,POSE2_TO_POSE3_RETREAT,788,750,729,707,696,654,932,801.78981121,833.21018879,667,656,673,0.407634658514,0.00447539827303,0.069786258148,0.999999941409,3.4349118849e-05,-0.000339395060257,2.85247438175e-05,1793256151283025152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,788.375330046,750,729,707,696,654,932,801.624669954,833,667,656,673,0.407114913328,0.00447819865458,0.0698018256651,0.999999948287,4.50160455094e-05,-0.000317124804624,2.88447780303e-05,1793256151299691776
+359,5.983333333,POSE2_TO_POSE3_RETREAT,788.966960874,750,729,707,696,654,932,801.033039126,833,667,656,673,0.406605089032,0.00448184934089,0.0698180241913,0.999999953171,5.2696921997e-05,-0.000299966285587,3.00086411708e-05,1793256151316358144
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,789,750.195992895,729,707,695,654,931.195992895,801.195992895,833.804007105,667,656,673.195992895,0.401610206531,0.00451857035232,0.0698048003101,0.99999993739,0.000157806154648,-0.000314992895352,3.31153769138e-05,1793256151599691520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,789,750.743774072,729,708,696,654,931,802,834,667,656,673,0.400983033724,0.00451264043152,0.069830673211,0.999999960785,7.44027046358e-05,-0.00026952844716,1.57701684359e-05,1793256151999691520
+401,6.683333333,POSE2_TO_POSE3_RETREAT,789,750.674276031,729,707.674276031,696,654,931,802,834,667,656,673,0.400983651481,0.00451301545621,0.0698312694825,0.999999961183,7.42708303338e-05,-0.000268098441201,1.55525577919e-05,1793256152016358400
+402,6.700000000,POSE2_TO_POSE3_RETREAT,789,750.087106555,729,707.087106555,696,654,931,802,834,667,656,673,0.400984167516,0.00451334007031,0.0698317305679,0.999999961603,7.28632638074e-05,-0.000266932038134,1.52153941475e-05,1793256152033025024
+403,6.716666667,POSE2_TO_POSE3_RETREAT,789,750,729,707,696,654,931,801.5057997,834,667,656,673,0.400982954065,0.00451344884188,0.0698309534135,0.999999961306,7.23141302992e-05,-0.000268196294493,1.51477456263e-05,1793256152049691648
+404,6.733333333,POSE2_TO_POSE3_RETREAT,789,750.073792038,729,707.073792038,696,653.926207962,931.073792038,801.073792038,834,667,656.073792038,673,0.400981970729,0.00451372558847,0.0698303662538,0.999999961013,7.2418429466e-05,-0.000269261076324,1.50987118152e-05,1793256152066358272
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,653.223260145,932,801.776739855,834,667,656.776739855,673,0.400986049561,0.00451595087524,0.0698336143659,0.999999961914,7.6739566302e-05,-0.000264701728701,1.46704318241e-05,1793256152099691520
+407,6.783333333,POSE2_TO_POSE3_RETREAT,789,751,729,708,696,653.79739164,932,801.20260836,834,667,656.20260836,673,0.400985662831,0.00451474312824,0.0698329861804,0.99999996181,7.32426892634e-05,-0.000266089552779,1.45693434124e-05,1793256152116358144
+408,6.800000000,POSE2_TO_POSE3_RETREAT,789,750.61689723,729,708,696,654,932,801,834,667,656,673,0.400985348684,0.00451493717073,0.0698328931676,0.999999961799,7.35641769973e-05,-0.000266047463933,1.44782449864e-05,1793256152133025024
+409,6.816666667,POSE2_TO_POSE3_RETREAT,789,750.024871238,729,708,696,654,932,801,834,667,656,673,0.40098507412,0.00451589567232,0.0698330920087,0.999999961839,7.59679914968e-05,-0.000265225578982,1.43925945562e-05,1793256152149691648
+410,6.833333333,POSE2_TO_POSE3_RETREAT,789,750,729.554933772,707.445066228,696,654,931.445066228,801.554933772,834,667,656,673,0.400984586866,0.0045142372408,0.0698332904571,0.999999962086,7.26394265844e-05,-0.000265205909229,1.47565027724e-05,1793256152166358272
+411,6.850000000,POSE2_TO_POSE3_RETREAT,789,750.132854645,729.867145355,707,696,654,931.132854645,802,834,667,656,673,0.400984137739,0.00451330484787,0.0698334972074,0.999999962184,7.06272379089e-05,-0.000265364083106,1.49904507582e-05,1793256152183024896
+412,6.866666667,POSE2_TO_POSE3_RETREAT,789,750.706304312,729.293695688,707,696,654,931.706304312,802,834,667,656,673,0.400983845988,0.00451516085159,0.0698337315473,0.99999996179,7.38143076092e-05,-0.000265995384673,1.47280226337e-05,1793256152199691776
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1dba2ee16cb8cd8050a3c629f7cc189b5e507415
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575673124155,0.0101818589031,1.0600205309,0.546244271233,0.0188560944817,1.05969223734
+391,6.516666667,pose2_to_pose3_retreat,0.5756712073,0.0101818419195,1.06002044427,0.546242355347,0.0188560806729,1.05969214768
+392,6.533333333,pose2_to_pose3_retreat,0.575670016844,0.0101818173393,1.06002038561,0.546241164843,0.0188560559205,1.05969208877
+393,6.550000000,pose2_to_pose3_retreat,0.575669264884,0.0101817964978,1.06002034671,0.546240412607,0.0188560341582,1.05969205034
+394,6.566666667,pose2_to_pose3_retreat,0.575668842862,0.010181784801,1.06002032488,0.546239990429,0.0188560219445,1.05969202878
+395,6.583333333,pose2_to_pose3_retreat,0.575668717068,0.0101817813144,1.06002031837,0.546239864589,0.018856018304,1.05969202235
+396,6.600000000,pose2_to_pose3_retreat,0.575668681119,0.0101817803181,1.06002031651,0.546239828626,0.0188560172636,1.05969202051
+397,6.616666667,pose2_to_pose3_retreat,0.575668674473,0.0101817801339,1.06002031617,0.546239821978,0.0188560170712,1.05969202017
+398,6.633333333,pose2_to_pose3_retreat,0.575668655335,0.0101817796034,1.06002031518,0.546239802834,0.0188560165174,1.05969201919
+399,6.650000000,pose2_to_pose3_retreat,0.575668597233,0.0101817779931,1.06002031217,0.54623974471,0.0188560148359,1.05969201622
+400,6.666666667,pose2_to_pose3_retreat,0.57566850028,0.0101817753059,1.06002030716,0.546239647721,0.0188560120299,1.05969201127
+401,6.683333333,pose2_to_pose3_retreat,0.57566845825,0.010181774141,1.06002030498,0.546239605676,0.0188560108136,1.05969200912
+402,6.700000000,pose2_to_pose3_retreat,0.575668416349,0.0101817729797,1.06002030282,0.54623956376,0.0188560096009,1.05969200698
+403,6.716666667,pose2_to_pose3_retreat,0.575668229626,0.0101817710413,1.06002031938,0.546239376893,0.0188560071573,1.05969202303
+404,6.733333333,pose2_to_pose3_retreat,0.57566796924,0.0101817733279,1.06002038292,0.546239116193,0.0188560083128,1.05969208488
+405,6.750000000,pose2_to_pose3_retreat,0.575667806878,0.0101817747536,1.06002042253,0.546238953634,0.0188560090334,1.05969212344
+406,6.766666667,pose2_to_pose3_retreat,0.575667546868,0.0101817770369,1.06002048597,0.546238693311,0.0188560101873,1.05969218519
+407,6.783333333,pose2_to_pose3_retreat,0.575667224882,0.010181768466,1.06002055886,0.54623837107,0.0188560006791,1.05969225617
+408,6.800000000,pose2_to_pose3_retreat,0.575667224302,0.0101817681807,1.06002055886,0.546238370493,0.0188560004031,1.05969225617
+409,6.816666667,pose2_to_pose3_retreat,0.575667099094,0.0101817066086,1.06002055822,0.546238245871,0.0188559408238,1.05969225566
+410,6.833333333,pose2_to_pose3_retreat,0.575666980107,0.0101816480954,1.06002055761,0.54623812744,0.0188558842043,1.05969225518
+411,6.850000000,pose2_to_pose3_retreat,0.575666894872,0.0101816486496,1.06002047427,0.546238043099,0.0188558879137,1.05969217513
+412,6.866666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebcda91232c3a8b05aea1e294f843b426e6c1848
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d365e9807a37153a87c1a51adb1803f3ad77d44e7a635ac484df4e24845b416b
+size 25864264
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4f9de68e6a943389e1f9df5a12016fe44b0fa4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,790,749,729,708,695,653,930,801,836,666,656,673,0.401051268542,0.00447123567815,0.0798712211054,0.999999984362,0.000102014089301,-0.000133303242356,5.56806977803e-05,1793256153472214528
+1,0.016666667,BASELINE,789.407473379,749,728.407473379,708,695,653,930,801,836,666,656,672.407473379,0.401052910272,0.00447033027969,0.0798724192407,0.999999984931,9.99472372948e-05,-0.000130539582863,5.57430770969e-05,1793256153488880896
+2,0.033333333,BASELINE,789.36100946,749,728,708,695,653.18050473,930.18050473,801,836.18050473,666,655.81949527,672,0.401053410162,0.00446957195053,0.0798727120761,0.999999985178,9.89520878405e-05,-0.000129425267017,5.56977219047e-05,1793256153505547520
+3,0.050000000,BASELINE,790.516934938,749,728,708,695,653.758467469,930.758467469,801,836.758467469,666,655.241532531,672,0.401051395809,0.00446913745687,0.0798710115086,0.999999984728,0.000100316747413,-0.00013194268285,5.54151433386e-05,1793256153522214400
+4,0.066666667,BASELINE,790.664761307,748.664761307,728.335238693,708,695,653.664761307,930.664761307,801,836.664761307,666,655.335238693,672.335238693,0.401050010605,0.00446952313665,0.0798699743889,0.999999984408,0.0001009309023,-0.00013400975014,5.51244022197e-05,1793256153538881280
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+6,0.100000000,BASELINE,789.504273533,748.495726467,728.504273533,708,695,653,930,801,836,666,656,672.504273533,0.401048521993,0.00447104530532,0.0798693998067,0.999999984092,0.000101526752728,-0.000135932854835,5.50555330789e-05,1793256153572214272
+7,0.116666667,BASELINE,789.078345375,749,728,708,695,653,930,801,836,666,656,672,0.401048298683,0.00447148414237,0.0798696083649,0.999999984057,0.000102123825192,-0.000135625927886,5.53469039322e-05,1793256153588880896
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+9,0.150000000,BASELINE,790,748.786626323,728.213373677,708,695,653.213373677,930,801,836,666,656,672,0.401050449521,0.00447143656951,0.079871111308,0.99999998439,0.000102087810343,-0.000133129457032,5.54554954973e-05,1793256153622214144
+10,0.166666667,BASELINE,790,748.188484344,728.811515656,708,695,653.811515656,930,801,836,666,656,672,0.401050052971,0.00447016027748,0.0798708870411,0.999999984655,9.93678188082e-05,-0.00013324548226,5.53256819792e-05,1793256153638880768
+11,0.183333333,BASELINE,790,748.392452694,728.607547306,707.607547306,695,654,930,801.392452694,836.392452694,666,656,672,0.401050114772,0.00446933003266,0.0798711384395,0.999999984866,9.77117038113e-05,-0.000132916329634,5.52611067964e-05,1793256153655547904
+12,0.200000000,BASELINE,790,748.965473751,728.034526249,707.034526249,695,654,930,801.965473751,836.965473751,666,656,672,0.40105038746,0.00446870501505,0.0798716086926,0.999999985052,9.65450805541e-05,-0.000132382349689,5.52265479065e-05,1793256153672214784
+13,0.216666667,BASELINE,790,749,728,707.55410955,695,654,930,801.44589045,836.44589045,665.44589045,656,672,0.401050243805,0.00446964532246,0.0798712758332,0.999999984718,9.86064514518e-05,-0.00013342783168,5.51246522225e-05,1793256153688881408
+14,0.233333333,BASELINE,790,749,728.141715544,708,695,653.858284456,930,801,836,665.141715544,656,672,0.40105017044,0.00447018887902,0.0798709340105,0.999999984447,0.000100382858487,-0.000134144112355,5.50851958359e-05,1793256153705548032
+15,0.250000000,BASELINE,790,749,728.723021795,708,695,653.276978205,930,801,836,665.723021795,656,672,0.401050397919,0.00446919042786,0.0798707241101,0.999999984496,0.00010063333514,-0.000133525107158,5.52528134994e-05,1793256153722214400
+16,0.266666667,BASELINE,790,749,728.697966459,708,695,653,930,801,836,666,655.697966459,672,0.401050481751,0.00446966280887,0.079870881105,0.999999984452,0.000101334514111,-0.000133351920564,5.51865327109e-05,1793256153738881024
+17,0.283333333,BASELINE,790,749,728.121043048,708,695,653,930,801,836,666,655.121043048,672,0.401050434845,0.00447147383885,0.0798713720222,0.999999984323,0.000102445890891,-0.000133584487014,5.49073738495e-05,1793256153755547648
+18,0.300000000,BASELINE,790.45215724,749,728,708,695,653.45215724,930,801,836,666,655.45215724,672,0.401051279483,0.0044710292901,0.0798723425952,0.999999984745,0.000100653047794,-0.000131813421364,5.48152554871e-05,1793256153772214272
+19,0.316666667,BASELINE,790.974856704,748.974856704,728,708,695,653.974856704,930,801.025143296,836.025143296,666,656,672,0.401052256286,0.00446999893057,0.0798733308438,0.999999985266,9.81822534103e-05,-0.000129721300871,5.47831646973e-05,1793256153788880896
+20,0.333333333,BASELINE,790.384463066,748.384463066,728,708,695,653.384463066,930,801.615536934,836.615536934,666,656,672,0.4010508826,0.00446926260352,0.0798718533524,0.999999984944,9.78058586043e-05,-0.000132371341644,5.4984102901e-05,1793256153805547520
+21,0.350000000,BASELINE,790,748.202012062,728,708,695,653,930,801.797987938,836.797987938,666,656,672,0.401050222387,0.00446867717321,0.0798711210074,0.999999984785,9.75315699434e-05,-0.000133693512769,5.51661001472e-05,1793256153822214656
+22,0.366666667,BASELINE,790,748.781171443,728,708,695,653,930,801.218828557,836.218828557,666,656,672,0.401050894194,0.00446837346034,0.0798717798171,0.999999984939,9.74479088475e-05,-0.000132536611449,5.53127354663e-05,1793256153838881536
+23,0.383333333,BASELINE,790,749,728.356064329,708,695,653,930,801,836,666,656,672,0.401050124537,0.00446938162273,0.0798716452932,0.999999984627,9.95825290736e-05,-0.000133324741751,5.52552955251e-05,1793256153855548160
+24,0.400000000,BASELINE,790,749,728.928366231,708,695,653,930,801,836,666,656,672,0.401048479479,0.00447118648586,0.0798710289786,0.99999998402,0.00010306430971,-0.000135294088043,5.50739208599e-05,1793256153872214784
+25,0.416666667,BASELINE,790,748.481340839,729,708,695,653,930,801,836,666,656,672,0.401049772866,0.0044699664003,0.0798719427127,0.999999984588,9.9504426114e-05,-0.000133854432438,5.48301174663e-05,1793256153888880896
+26,0.433333333,BASELINE,790,748.108952108,729,708,695,653.108952108,930,801,836,666,656,672,0.401050925457,0.00446861155093,0.0798726164801,0.999999985099,9.60893332492e-05,-0.00013260324241,5.46334068151e-05,1793256153905547520
+27,0.450000000,BASELINE,790,748.688135681,729,708,695,653.688135681,930,801,836,666,656,672,0.401049655861,0.00446854300327,0.0798713097438,0.999999984723,9.76474450954e-05,-0.000134270551414,5.46784961984e-05,1793256153922214144
+28,0.466666667,BASELINE,790,749,729,708,695,654,930,801.265773129,836.265773129,666,656,672.265773129,0.401049144209,0.00446952084886,0.0798707308162,0.999999984469,9.9162183516e-05,-0.000135103977951,5.45585989925e-05,1793256153938881024
+29,0.483333333,BASELINE,790,749,729,708,695,654,930,801.841606779,836.841606779,666,656,672.841606779,0.401049516802,0.00447171945454,0.0798710009764,0.999999984358,0.000100626320841,-0.000134964567024,5.42462224773e-05,1793256153955547904
+30,0.500000000,BASELINE,790,749,729,708,695,654,930,802,836.583853402,666,656.416146598,672.583853402,0.401049553102,0.00447126509188,0.079871296141,0.999999984246,0.000101256424572,-0.000135188834421,5.45829281224e-05,1793256153972214784
+31,0.516666667,BASELINE,790,749,729,708,695,654,930,802,836.009804525,666,656.990195475,672.009804525,0.401049461799,0.00446980408934,0.0798716007933,0.999999984133,0.000101570063341,-0.000135551095587,5.51659209054e-05,1793256153988881408
+32,0.533333333,BASELINE,790,749,728.419111151,708,695,654,930.580888849,802,836,665.419111151,656.419111151,672.580888849,0.401048107928,0.00446951334358,0.0798707701908,0.999999984168,0.000100744465093,-0.00013601774185,5.48961243665e-05,1793256154005548032
+33,0.550000000,BASELINE,790,749,728,708,695,653.831531689,930.831531689,802,836.168468311,665.168468311,656,673,0.401047418687,0.00446968022482,0.0798704375117,0.999999984199,0.000100558471457,-0.000135959605792,5.48157583831e-05,1793256154022214656
+34,0.566666667,BASELINE,790,749,728,708,695,653.252250906,930.252250906,802,836.747749094,665.747749094,656,673,0.401048403659,0.00447091344954,0.0798713671297,0.999999984214,0.000101980435661,-0.000134617357131,5.52334565276e-05,1793256154038881024
+35,0.583333333,BASELINE,790,749,728,707.675531805,695,653,930,801.675531805,836.675531805,666,656,673,0.401049214653,0.00447094252049,0.0798719692336,0.999999984386,0.000101692341029,-0.000133628692279,5.50480776236e-05,1793256154055547648
+36,0.600000000,BASELINE,790,749,728,707.10078857,695,653,930,801.10078857,836.10078857,666,656,673,0.401049891453,0.00447004278055,0.0798723187131,0.999999984679,0.000100085211118,-0.000132912760339,5.4397521791e-05,1793256154072214272
+37,0.616666667,BASELINE,790,749,728,707.484165747,695,653.484165747,930,801.484165747,836.484165747,665.515834253,656,672.515834253,0.401050178231,0.00446959358246,0.0798724727068,0.999999984701,9.9365725387e-05,-0.000133204785104,5.45917760678e-05,1793256154088880896
+38,0.633333333,BASELINE,790,749,728.070284555,708,695,653.929715445,930,801.929715445,836.929715445,665.070284555,656,672.070284555,0.401050218277,0.00446941761247,0.0798725019267,0.999999984647,9.90050593358e-05,-0.000133754598607,5.4903778508e-05,1793256154105547776
+39,0.650000000,BASELINE,790,749,728.649117865,708,695,653.350882135,930,801.350882135,836.350882135,665.649117865,656,672.649117865,0.401049073197,0.00447052536527,0.0798719291264,0.999999984452,9.98748608218e-05,-0.00013461874183,5.47678670864e-05,1793256154122214656
+40,0.666666667,BASELINE,790,749.228024491,729,708,695,653.228024491,930,801.228024491,836.228024491,666,656,672.771975509,0.401048188379,0.00447064895367,0.0798713960749,0.999999984308,0.00010046054028,-0.000135241800495,5.47827420785e-05,1793256154138881536
+41,0.683333333,BASELINE,790,749.807043939,729,708,695,653.807043939,930,801.807043939,836.807043939,666,656,672.192956061,0.401047704182,0.00446925763134,0.0798709242084,0.999999984246,0.000100608874563,-0.000135493760972,5.50297205263e-05,1793256154155548160
+42,0.700000000,BASELINE,790,749.617050012,728.617050012,708,695,653.617050012,930,801.617050012,836.617050012,666,656,672,0.401048590908,0.00446952999313,0.0798716769532,0.999999984475,0.000100758591899,-0.000133644219058,5.51003686171e-05,1793256154172214528
+43,0.716666667,BASELINE,790,749.042700069,728.042700069,708,695,653.042700069,930,801.042700069,836.042700069,666,656,672,0.401050162827,0.00447063387104,0.0798730417636,0.999999984845,0.000100909000485,-0.00013074433773,5.50828860734e-05,1793256154188881152
+44,0.733333333,BASELINE,790,749,728.535607382,708,695,653,930,801,836.535607382,666,656,672,0.401048927712,0.00447110950972,0.0798721574666,0.999999984451,0.000101980375125,-0.000132895797975,5.51029542554e-05,1793256154205547776
+45,0.750000000,BASELINE,790,749,729,708,695,653.116139277,930,801,837,666,656,672,0.401047889341,0.00447133049553,0.0798713691644,0.999999984121,0.000102690885267,-0.000134829488885,5.50748056815e-05,1793256154222214400
+46,0.766666667,BASELINE,790,749,729,708,695,653.704421929,930,801,837,666,656,672,0.401048567325,0.00447072136263,0.07987170547,0.999999984323,0.00010163365987,-0.000134228559069,5.48383798189e-05,1793256154238881280
+47,0.783333333,BASELINE,790,749,728.712725342,708,695,654,930,801.287274658,837,666,656,672.287274658,0.40104890717,0.00447045752459,0.0798715641958,0.999999984423,0.000100724536365,-0.000134235480825,5.46691840727e-05,1793256154255547904
+48,0.800000000,BASELINE,790,749,728.135355771,708,695,654,930,801.864644229,837,666,656,672.864644229,0.401048905555,0.00447054237118,0.0798709406535,0.999999984422,9.9964968582e-05,-0.000134856221529,5.45678784312e-05,1793256154272214784
+49,0.816666667,BASELINE,790,749,728.439567914,708,695,654,930,801.560432086,837,666,656,672.560432086,0.401049310536,0.00447003655757,0.0798719017565,0.999999984461,0.000100941260074,-0.000133737023007,5.48103739332e-05,1793256154288881408
+50,0.833333333,BASELINE,790,749,728.985876824,708,695,653.985876824,930,801.014123176,836.985876824,666,656,672.014123176,0.401049819476,0.00446940137522,0.0798732900913,0.999999984501,0.000102436128179,-0.000132154486792,5.51398664739e-05,1793256154305547776
+51,0.850000000,BASELINE,790,749,728.395800222,708,695,653.395800222,930,801.604199778,836.395800222,666,656,672.604199778,0.401049490318,0.00447086665561,0.0798723120601,0.999999984258,0.000103401369848,-0.000133405210939,5.47237437785e-05,1793256154322214400
+52,0.866666667,BASELINE,790,749,728,707.809244751,695,653,930,801.809244751,836,666,656,672.809244751,0.401049174104,0.00447172290103,0.0798716946951,0.999999984055,0.000104364207201,-0.000134243119991,5.45622575005e-05,1793256154338881024
+53,0.883333333,BASELINE,790,749,728,707.229862932,695,653,930,801.229862932,836,666,656,672.229862932,0.401048884259,0.00447133835659,0.0798718121175,0.999999983935,0.000105322146168,-0.000134239998827,5.49195432242e-05,1793256154355547648
+54,0.900000000,BASELINE,790,749,728.347991445,707.347991445,695,653,930,801,836,666,656,672,0.401047933836,0.004471055038,0.0798710910354,0.99999998384,0.000104624244428,-0.000135463895907,5.49868334719e-05,1793256154372214528
+55,0.916666667,BASELINE,790,749,728.924841269,707.924841269,695,653,930,801,836,666,656,672,0.401046548979,0.00447083829115,0.0798698185065,0.999999983755,0.000102837370416,-0.000137494747899,5.48634066756e-05,1793256154388881152
+56,0.933333333,BASELINE,790,749,729,708,695,653.498647644,930,801.498647644,836,666,656,672,0.401047178629,0.00447034423084,0.0798707964171,0.999999983991,0.000102311669209,-0.000136120634717,5.49659391453e-05,1793256154405548032
+57,0.950000000,BASELINE,790,748.925829579,728.925829579,708,695,653.925829579,930,801.925829579,836,666,656,672,0.401048147019,0.00446985312984,0.0798720771636,0.999999984281,0.000101872423504,-0.000134264129974,5.50812280708e-05,1793256154422214656
+58,0.966666667,BASELINE,790,748.335180164,728.335180164,708,695,653.335180164,930,801.335180164,836,666,656,672,0.401049372684,0.00446967192772,0.0798731190349,0.999999984621,0.000100719555449,-0.000132600574622,5.50496260635e-05,1793256154438881280
+59,0.983333333,BASELINE,790.250653005,748.250653005,728.250653005,708,695,653,930,801.250653005,836,666,656,672,0.401048938924,0.00447072926788,0.0798727701297,0.99999998434,0.000102575955702,-0.000133273667677,5.51016705558e-05,1793256154455547904
+60,1.000000000,BASELINE,790.830167256,748.830167256,728.830167256,708,695,653,930,801.830167256,836,666,656,672,0.401046327968,0.00447341159776,0.0798705965008,0.999999983214,0.000108380569865,-0.000137012485179,5.52634607519e-05,1793256154472214272
+61,1.016666667,BASELINE,790.59313028,749,729,708,695,653.40686972,930,801.59313028,836,666,656,672,0.401046559754,0.00447331479038,0.0798703566772,0.999999983379,0.000107047337969,-0.0001370377975,5.48094611884e-05,1793256154488880896
+62,1.033333333,BASELINE,790.01759347,749,729,708,695,653.98240653,930,801.01759347,836,666,656,672,0.401047969994,0.00447206589665,0.0798709185092,0.999999984074,0.000102755124865,-0.000135523682905,5.41001871109e-05,1793256154505547520
+63,1.050000000,BASELINE,790,749,729,708,695,654,930,801,836.55263365,666,656,672,0.401047241552,0.00447201648015,0.079870971719,0.999999983991,0.000103082732646,-0.000135916393823,5.40159059005e-05,1793256154522214400
+64,1.066666667,BASELINE,790,749,728.871210998,708,695,654,930.128789002,801.128789002,836.871210998,666,656,672,0.401046756072,0.00447183502025,0.0798710700892,0.99999998394,0.00010328485285,-0.000136128793348,5.40554117185e-05,1793256154538881280
+65,1.083333333,BASELINE,790,749,728.272829586,708,695,654,930.727170414,801.727170414,836.272829586,666,656,672,0.401047402385,0.00447103419171,0.0798713916026,0.999999984088,0.000102498254067,-0.00013546450131,5.44744130744e-05,1793256154555547904
+66,1.100000000,BASELINE,790,749,728,708,695,653.686586472,930.686586472,802,836,666,656,672,0.401047395367,0.00447147571836,0.0798709879801,0.999999984035,0.000102757351559,-0.000135619891441,5.45697664027e-05,1793256154572214528
+67,1.116666667,BASELINE,790,749,728,708,695,653.110515919,930.110515919,802,836,666,656,672,0.401046840823,0.00447295840405,0.0798699766555,0.999999983813,0.000103892797583,-0.000136462218387,5.43938856367e-05,1793256154588881152
+68,1.133333333,BASELINE,790,749,728.465084654,708,695,653.465084654,930,801.534915346,836.465084654,666,656,672,0.401046693229,0.00447203219977,0.0798703521457,0.999999983974,0.000102522505899,-0.000136271382398,5.45165463875e-05,1793256154605547776
+69,1.150000000,BASELINE,790,749,728.958357565,708,695,653.958357565,930,801,836.958357565,666,656,672,0.401046730684,0.0044706738451,0.0798710303799,0.999999984205,0.000100784811184,-0.000135803555025,5.46873267439e-05,1793256154622214400
+70,1.166666667,BASELINE,790,749,728.367709845,708,695,653.367709845,930,801,836.367709845,666,656,672,0.401047934182,0.0044711570721,0.0798713596955,0.999999984204,0.000102045413251,-0.000134917360342,5.45581779604e-05,1793256154638881024
+71,1.183333333,BASELINE,790,749,728.218517693,708,695,653.218517693,930,801.218517693,836,666,656,672,0.401048564384,0.00447150314006,0.0798715084479,0.999999984183,0.000102899761,-0.000134519534143,5.43150616727e-05,1793256154655547648
+72,1.200000000,BASELINE,790,749,728.797454752,708,695,653.797454752,930,801.797454752,836,666,656,672,0.401048249003,0.00447162298028,0.0798713593824,0.999999984132,0.00010308403999,-0.000134927214473,5.38839693017e-05,1793256154672214272
+73,1.216666667,BASELINE,790,749,729,708,695,654,930,802,836.373018917,666,656,672,0.401048713646,0.00447152612798,0.0798717537956,0.999999984263,0.000102688671116,-0.00013418234389,5.40719803556e-05,1793256154688881152
+74,1.233333333,BASELINE,790,749,729,708,695,654,930,802,836.946768016,666,656,672,0.401049598039,0.00447131266838,0.0798724406674,0.999999984489,0.000101981380195,-0.000132817258751,5.45931454296e-05,1793256154705548032
+75,1.250000000,BASELINE,790,749.533929223,729,708,695,654,930,801.466070777,837,666,656,672.533929223,0.401049690164,0.00446965866485,0.0798725264047,0.999999984699,9.9363046636e-05,-0.000133214559739,5.46127331279e-05,1793256154722214912
+76,1.266666667,BASELINE,790,749.879408152,729,708,695,654,930.120591848,801.120591848,837,666,656,673,0.401049837842,0.0044682590496,0.0798726133258,0.999999984869,9.72173770081e-05,-0.000133521595005,5.46078550417e-05,1793256154738881536
+77,1.283333333,BASELINE,790,749.299863246,729,708,695,654,930.700136754,801.700136754,837,666,656,673,0.401050505314,0.00446838827426,0.079872938722,0.999999984922,9.76143936263e-05,-0.000132799148944,5.47050848572e-05,1793256154755547904
+78,1.300000000,BASELINE,790.277627461,749,728.722372539,708,695,654,930.722372539,801.722372539,837,666,656,672.722372539,0.401049873901,0.00446961492435,0.0798727806239,0.999999984702,9.94796247951e-05,-0.000133071894751,5.46871751009e-05,1793256154772214528
+79,1.316666667,BASELINE,790.852915702,749,728.147084298,708,695,654,930.147084298,801.147084298,837,666,656,672.147084298,0.401047849876,0.00447201818898,0.0798721041431,0.999999984183,0.00010291901538,-0.00013441164452,5.454581741e-05,1793256154788881152
+80,1.333333333,BASELINE,790.571221353,749,728,708,695,654,930,801.428778647,837,666,656,672.428778647,0.401048025633,0.00447209922409,0.0798720247762,0.999999984127,0.000103521131044,-0.00013438226438,5.4498439097e-05,1793256154805547776
+81,1.350000000,BASELINE,790,749,728.004951895,708,695,653.995048105,930,802,836.995048105,666,656,673,0.401048947931,0.00447138051144,0.0798721465203,0.999999984235,0.000103125233627,-0.000133889279905,5.44815657602e-05,1793256154822214656
+82,1.366666667,BASELINE,790,749,728.594446347,708,695,653.405553653,930,802,836.405553653,666,656,673,0.401048800169,0.00447041600303,0.0798717969762,0.999999984529,9.99630874533e-05,-0.000134184809703,5.42550323622e-05,1793256154838881280
+83,1.383333333,BASELINE,790,749,728.819217387,708,695,653.180782613,930,801.819217387,836.180782613,666,656,672.819217387,0.401048809738,0.00446992300422,0.0798716967035,0.999999984738,9.8035999269e-05,-0.000134153425833,5.40050707749e-05,1793256154855548160
+84,1.400000000,BASELINE,790,749,728.239844194,708,695,653.760155806,930,801.239844194,836.760155806,666,656,672.239844194,0.401049166192,0.00447046959239,0.0798721460256,0.999999984776,9.88319736688e-05,-0.000133401260827,5.37034545334e-05,1793256154872214784
+85,1.416666667,BASELINE,790.336543517,749,728,708,695.336543517,653.663456483,930,801.336543517,837,666,656,672.336543517,0.40104890207,0.00447049090566,0.0798717807084,0.999999984521,0.000100611418856,-0.000133925047481,5.38478010144e-05,1793256154888881408
+86,1.433333333,BASELINE,790.91082224,749,728,708,695.91082224,653.08917776,930,801.91082224,837,666,656,672.91082224,0.401048199572,0.00447014116336,0.079870839928,0.999999984052,0.000103085590288,-0.000135350169716,5.43071767278e-05,1793256154905547776
+87,1.450000000,BASELINE,790.513942224,749,728,708,695.513942224,653.486057776,930,801.513942224,836.513942224,666,656,672.513942224,0.401048803841,0.00446975326012,0.0798718495842,0.999999984322,0.00010179677432,-0.000134190885843,5.46375128085e-05,1793256154922214400
+88,1.466666667,BASELINE,790,749,728.063178986,708,695,654,930,801,836.063178986,666,656,672.063178986,0.40104944678,0.00446948925317,0.079873015452,0.999999984632,0.000100310786651,-0.000132884078812,5.49126630841e-05,1793256154938880768
+89,1.483333333,BASELINE,790,749,728.654595639,708,695,654,930,801,836.654595639,666,656,672.654595639,0.40104840451,0.00447031979373,0.0798724895291,0.999999984171,0.00010296006052,-0.000134316133579,5.49247436894e-05,1793256154955547904
+90,1.500000000,BASELINE,790,749,728.760680591,708,695,654,930.239319409,801,836.760680591,666,656,673,0.401047888258,0.00447056608514,0.07987210257,0.999999984003,0.000103351154444,-0.000135301595989,5.4820855936e-05,1793256154972214784
+91,1.516666667,BASELINE,790,749,728.185353765,708,695,654,930.814646235,801,836.185353765,666,656,673,0.401048110543,0.00446999208341,0.0798719107177,0.999999984253,0.000100571735497,-0.00013566003707,5.45541471681e-05,1793256154988881408
+92,1.533333333,BASELINE,790,749,728.391223105,708,695,653.608776895,930.608776895,801,836,666,656,673,0.401048486258,0.00447110377116,0.0798717351933,0.999999984107,0.000102336012068,-0.000135496815033,5.43460991512e-05,1793256155005548032
+93,1.550000000,BASELINE,790,749,728.968394171,708,695,653.031605829,930.031605829,801,836,666,656,673,0.401048934899,0.00447301666542,0.0798715674296,0.999999983763,0.000106259902442,-0.000135085647056,5.41659325078e-05,1793256155022214656
+94,1.566666667,BASELINE,790,749,729,708,695,653,930,801,836,666,656,672.442685496,0.401051089603,0.00447163068548,0.0798732583542,0.999999984344,0.000104485244346,-0.000132048725413,5.43893264632e-05,1793256155038881024
+95,1.583333333,BASELINE,790,749,728.855777486,708,695,653.144222514,930,801.144222514,836.144222514,666,656,672,0.401052375289,0.00447057379703,0.0798744140162,0.999999984815,0.000102394521734,-0.000130048267557,5.45295206281e-05,1793256155055547648
+96,1.600000000,BASELINE,790,749,728.276983837,708,695,653.723016163,930,801.723016163,836.723016163,666,656,672,0.401050744638,0.00447108438255,0.0798736323704,0.999999984825,0.000100346180164,-0.000131629235937,5.43485712086e-05,1793256155072214272
+97,1.616666667,BASELINE,790,749,728,708,695,653.699867677,930.300132323,801.699867677,836.699867677,666,656,672,0.401049439134,0.00447178643257,0.079872844701,0.999999984479,0.000101509787749,-0.000133351110774,5.43572017359e-05,1793256155088881152
+98,1.633333333,BASELINE,790,749,728,708,695,653.124291056,930.875708944,801.124291056,836.124291056,666,656,672,0.401048432031,0.00447266419773,0.0798720515035,0.999999983795,0.000105621138878,-0.00013520230141,5.4539817917e-05,1793256155105547776
+99,1.650000000,BASELINE,790,749,728,708,695,653,930.548902947,801,836,666,656,672,0.401047398808,0.00447239117718,0.0798714582154,0.999999983808,0.00010442142957,-0.000136106452538,5.43705585485e-05,1793256155122214656
+100,1.666666667,BASELINE,790,749,728.027130647,708,695,653,930,801.027130647,836.027130647,666,656,672,0.401046458916,0.00447179605963,0.0798709750318,0.999999984009,0.000101872798845,-0.000136652396679,5.41325411881e-05,1793256155138881280
+101,1.683333333,BASELINE,790,749,728.617646448,708,695,653,930,801.617646448,836.617646448,666,656,672,0.401047606467,0.00447109394188,0.0798716349218,0.999999984209,0.000101687860632,-0.000135176233358,5.44791595205e-05,1793256155155547904
+102,1.700000000,BASELINE,790,749,728.79641848,708,695,653.20358152,930,802,836.79641848,666,656,672.20358152,0.401048166452,0.00447074208972,0.0798719382993,0.999999984311,0.000101454490679,-0.000134511671438,5.47016564626e-05,1793256155172214784
+103,1.716666667,BASELINE,790,749,728.218897379,708,695,653.781102621,930,802,836.218897379,666,656,672.781102621,0.401047647195,0.00447103360728,0.0798715868329,0.999999984232,0.00010113216108,-0.000135337863295,5.46961665603e-05,1793256155188881152
+104,1.733333333,BASELINE,790,749,728,708,695,654,930,801.641734021,836.358265979,666,656,672.641734021,0.401047791733,0.00447056776008,0.0798714459817,0.999999984337,0.000100038690893,-0.000135450987064,5.45157072571e-05,1793256155205547520
+105,1.750000000,BASELINE,790,749,728,708,695,654,930,801.064788967,836.935211033,666,656,672.064788967,0.401048341439,0.00446963963115,0.0798714336863,0.999999984551,9.84745304028e-05,-0.000135128867042,5.42284497945e-05,1793256155222213888
+106,1.766666667,POSE1_TO_POSE2_PRESS,790,749,729,708,695,653,930,801,837,666,656,673,0.401047067894,0.00446933187846,0.0798712207484,0.999999984247,0.000100780526112,-0.000135591776276,5.44482500326e-05,1793256155252516096
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,749,728.420269034,708,695,653.579730966,930.579730966,801.579730966,836.420269034,666,656,673,0.401046969802,0.00446957430459,0.0798711953566,0.999999984095,0.000101495836017,-0.000136110593563,5.460679944e-05,1793256155269182720
+108,1.800000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.840969447,802,836.159030553,666,656,673,0.401047002101,0.00447024398522,0.0798713217061,0.999999983931,0.000102761581401,-0.000136339318583,5.46687959767e-05,1793256155285849600
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.262806655,802,836.737193345,666,656,673,0.401047378052,0.00447203971454,0.0798718479767,0.999999983732,0.000105478024624,-0.000135803492381,5.44763230757e-05,1793256155302516224
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,749,728.313455879,708,695,654,930,802,837,666,656,673,0.40104796005,0.00447176814837,0.0798720958815,0.999999983941,0.000104451740167,-0.000135060419718,5.44702914334e-05,1793256155319182848
+111,1.850000000,POSE1_TO_POSE2_PRESS,790,749,728.888134772,708,695,654,930,802,837,666,656,673,0.40104871376,0.00446977377134,0.079872111806,0.99999998448,0.000100306399023,-0.00013414463523,5.46196333353e-05,1793256155335849216
+112,1.866666667,POSE1_TO_POSE2_PRESS,790,749,729,708,695.474008553,654,930,801.525991447,837,666,656,672.525991447,0.401050243951,0.00446984802101,0.0798729832459,0.999999984715,9.98058314326e-05,-0.000132803351926,5.45159012931e-05,1793256155352515840
+113,1.883333333,POSE1_TO_POSE2_PRESS,790,749,728.938432281,708,695.938432281,654,930,801.061567719,836.938432281,666,656,672,0.401051578572,0.00447036915159,0.079873849977,0.999999984811,0.000100234515989,-0.000131818232273,5.4369007872e-05,1793256155369182464
+114,1.900000000,POSE1_TO_POSE2_PRESS,790,749,728.359449322,708,695.359449322,654,930,801.640550678,836.359449322,666,656,672,0.401049692358,0.00447044385892,0.0798729393235,0.999999984344,0.000101068991642,-0.00013469063041,5.43734564348e-05,1793256155385849088
+115,1.916666667,POSE1_TO_POSE2_PRESS,790,749,728.218376432,708,695,654,930.218376432,802,836.218376432,666,656,672,0.401048100664,0.00447042360633,0.0798724340979,0.999999983852,0.000101369201738,-0.0001380445711,5.44501554791e-05,1793256155402515968
+116,1.933333333,POSE1_TO_POSE2_PRESS,790,749,728.794307399,708,695,654,930.794307399,802,836.794307399,666,656,672,0.401046991197,0.00447024787288,0.0798725926921,0.999999983319,0.000100794642111,-0.000142186956134,5.46451524876e-05,1793256155419182592
+117,1.950000000,POSE1_TO_POSE2_PRESS,790,749,728.629231921,708,695,653.629231921,930.629231921,802,836.629231921,666,656,672,0.401055700938,0.00446983699429,0.079876833903,0.999999983224,0.00010079320543,-0.000142758385997,5.48903834127e-05,1793256155435849216
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,749,728.052476897,708,695,653.052476897,930.052476897,802,836.052476897,666,656,672,0.401069865919,0.00446929547654,0.0798833432858,0.999999983378,0.000101110177567,-0.000141345907194,5.51635227216e-05,1793256155452516096
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.46476082,836,666,656,672,0.401106553546,0.00447058330012,0.0798948306379,0.999999984897,0.000101224239044,-0.000130175718733,5.48985880186e-05,1793256155469182464
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.122025556,930,801,836,666,656,672.122025556,0.401151169779,0.00447180705943,0.0799073183465,0.999999986587,0.000101345441811,-0.000116585352092,5.44390010167e-05,1793256155485848832
+121,2.016666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.701218589,930,801,836,666,656,672.701218589,0.401217044475,0.00447210480051,0.079921687147,0.999999988652,0.000101569490833,-9.75869479646e-05,5.34519287239e-05,1793256155502515712
+122,2.033333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,836,665.721652792,656,672.721652792,0.401293350416,0.00447227732848,0.0799341798755,0.999999990475,0.000100330624759,-7.93239037849e-05,5.18872830666e-05,1793256155519182592
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,836,665.146723859,656,672.146723859,0.401380770949,0.00447231644062,0.0799446736297,0.999999992096,9.75330080663e-05,-6.18443941039e-05,4.97072272969e-05,1793256155535849216
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,836,665.437110578,656,672,0.40147927045,0.00447404236757,0.0799502203923,0.999999992616,9.76423250696e-05,-5.50645148726e-05,4.69254566404e-05,1793256155552515840
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,836.023709191,666,656,672,0.401582679221,0.0044763498647,0.0799540947276,0.999999992831,9.86359692067e-05,-5.17988555266e-05,4.38842211667e-05,1793256155569182720
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,836.60356925,666,656,672,0.401712197674,0.0044787414682,0.0799585004249,0.9999999935,9.70087529059e-05,-4.49678611608e-05,3.95929963415e-05,1793256155585849344
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,749,728.182975929,708,695.182975929,653.817024071,930,801.182975929,836.817024071,666,656,672,0.401851107301,0.00448055868098,0.0799633997557,0.999999994284,9.38699453658e-05,-3.732265276e-05,3.50267452973e-05,1793256155602515968
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,749,728.761402683,708,695.761402683,653.238597317,930,801.761402683,836.238597317,666,656,672,0.402010313284,0.00448113451004,0.0799693659353,0.999999995339,8.74642602381e-05,-2.79177514305e-05,2.98661032676e-05,1793256155619182592
+129,2.150000000,POSE1_TO_POSE2_PRESS,790.336138604,749,728.663861396,708,695.663861396,653.336138604,930,801.663861396,836,666,656,672.336138604,0.40218349336,0.0044826162128,0.0799737280525,0.999999996055,8.23912030828e-05,-2.26526124136e-05,2.42674681601e-05,1793256155635849216
+130,2.166666667,POSE1_TO_POSE2_PRESS,790.908283218,749,728.091716782,708,695.091716782,653.908283218,930,801.091716782,836,666,656,672.908283218,0.402366484791,0.00448473393788,0.0799769639433,0.999999996564,7.82537956485e-05,-2.02940376814e-05,1.83613135531e-05,1793256155652515840
+131,2.183333333,POSE1_TO_POSE2_PRESS,790.503583243,749,728.496416757,708,695,653.503583243,930,801.496416757,836,666,656,673,0.402572091263,0.00448846969794,0.0799743261093,0.999999996887,7.31438277861e-05,-2.73048058773e-05,1.14428554753e-05,1793256155669182208
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,749,728.914611794,708,695,653.085388206,930,801.914611794,836,666,656,672.914611794,0.402785953329,0.00449245387831,0.0799700960675,0.999999997046,6.71361336262e-05,-3.71937204198e-05,4.13369415805e-06,1793256155685848832
+133,2.216666667,POSE1_TO_POSE2_PRESS,790,749,728.338370032,708,695,653.661629968,930,801.338370032,836,666,656,672.338370032,0.403022454407,0.00449609043146,0.0799631591986,0.999999996941,5.70351752259e-05,-5.33454967228e-05,-4.31049834796e-06,1793256155702515712
+134,2.233333333,POSE1_TO_POSE2_PRESS,790,749,728.239008048,708,695.239008048,653.760991952,930.239008048,801.239008048,836,666,656,672.239008048,0.40328252174,0.00449990349725,0.0799596918439,0.9999999968,4.86020819979e-05,-6.22887851084e-05,-1.25727684056e-05,1793256155719182592
+135,2.250000000,POSE1_TO_POSE2_PRESS,790,749,728.818002492,708,695.818002492,653.181997508,930.818002492,801.818002492,836,666,656,672.818002492,0.403576111808,0.00450396765016,0.0799611598366,0.999999997024,4.25415098044e-05,-6.09780754298e-05,-2.05762552177e-05,1793256155735848960
+136,2.266666667,POSE1_TO_POSE2_PRESS,790,749,728.60743064,708,696,653.39256936,931,802,836.39256936,666,656,672.60743064,0.403900145845,0.00451074696212,0.0799650828436,0.999999997065,4.57466879693e-05,-5.7311334616e-05,-2.21936646228e-05,1793256155752515840
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,749,728.034893547,708,696,653.965106453,931,802,836.965106453,666,656,672.034893547,0.404238136471,0.00451877099929,0.0799701313164,0.999999996985,5.31996152687e-05,-5.25645055066e-05,-2.08834691689e-05,1793256155769182464
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,749,728,707.443603274,695.443603274,653.443603274,930.443603274,801.443603274,836.443603274,666,656,672,0.404623489389,0.00452703712666,0.0799707325621,0.999999997337,4.91668361422e-05,-4.82921339669e-05,-2.39975652911e-05,1793256155785849088
+139,2.316666667,POSE1_TO_POSE2_PRESS,789.854922085,749,728.145077915,707.145077915,695,653,930,801,836,666,656,672,0.405021411915,0.00453493351213,0.0799708191841,0.999999997387,5.0663089577e-05,-4.39475158745e-05,-2.69734517628e-05,1793256155802515712
+140,2.333333333,POSE1_TO_POSE2_PRESS,789.277639667,749,728.722360333,707.722360333,695,653,930,801,836,666,656,672,0.405447623356,0.00454168158301,0.0799702325409,0.999999996307,7.0851727936e-05,-3.92959322338e-05,-2.86821685424e-05,1793256155819182592
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.297889177,748.702110823,729,708,695.297889177,653.297889177,930,801,836,666,656,672.297889177,0.405887982338,0.0045492724732,0.0799654496598,0.999999995185,8.07618214021e-05,-4.58013777255e-05,-3.17622936013e-05,1793256155835849216
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.871793281,748.128206719,729,708,695.871793281,653.871793281,930,801,836,666,656,672.871793281,0.406341450045,0.00455764429457,0.0799567786738,0.999999994093,8.1148134452e-05,-6.2644581843e-05,-3.61131234829e-05,1793256155852516096
+143,2.383333333,POSE1_TO_POSE2_PRESS,790,748.447638435,728.552361565,708,696,654,930,801.447638435,836.447638435,666,656,672.552361565,0.406824860695,0.00456688809027,0.079949850262,0.999999992338,9.31650083787e-05,-7.42617751207e-05,-3.36202714447e-05,1793256155869182976
+144,2.400000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695.975260616,654,930.024739384,801.975260616,836.975260616,666,656,672,0.407318773135,0.00457643199825,0.0799434289999,0.99999999009,0.000108541457962,-8.46690451551e-05,-2.94869047863e-05,1793256155885849344
+145,2.416666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695.382135073,654,930.617864927,801.382135073,836.382135073,666,656,672,0.407856076258,0.00458710824528,0.0799371430733,0.999999986558,0.000124239490128,-0.000101816277135,-3.28915938635e-05,1793256155902515968
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.795216845,749,728.204783155,708,695,653.795216845,930.795216845,801,836,666,656,672.204783155,0.408411951245,0.00459730784652,0.0799327525608,0.999999983804,0.000135658726474,-0.000112901356758,-3.52279197396e-05,1793256155919182336
+147,2.450000000,POSE1_TO_POSE2_PRESS,789.21954102,749,728.78045898,708,695,653.21954102,930.21954102,801,836,666,656,672.78045898,0.409001462604,0.00460664417086,0.0799317949245,0.999999983274,0.000139328428037,-0.000113006978258,-3.56292812e-05,1793256155935848960
+148,2.466666667,POSE1_TO_POSE2_PRESS,789.355460372,749,729,708,695.355460372,653.355460372,930.355460372,801,836.355460372,666,656,673,0.409643758643,0.0046139270977,0.0799513550051,0.999999984914,0.000149072347057,-8.1032787556e-05,-3.71863378017e-05,1793256155952515840
+149,2.483333333,POSE1_TO_POSE2_PRESS,789.930045984,749,729,708,695.930045984,653.930045984,930.930045984,801,836.930045984,666,656,673,0.410318594028,0.00461994419751,0.07998356333,0.99999998558,0.0001625607459,-2.92828435364e-05,-3.94558280807e-05,1793256155969182464
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,749,729,708,696,654,930.480958688,801,836.480958688,666,656,673,0.411000408911,0.00462033486751,0.0800058020093,0.99999998765,0.000151667662149,6.05179841496e-06,-4.07565771192e-05,1793256155985849088
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,749,729,708,696,653.891991871,930.108008129,801,836.108008129,666,656,673,0.411684619867,0.00461796800203,0.0800164946595,0.999999989229,0.000138780245145,2.27586988839e-05,-4.20024623497e-05,1793256156002515968
+152,2.533333333,POSE1_TO_POSE2_PRESS,790,749,729,708,696,653.311881044,930.688118956,801,836.688118956,666,656,673,0.412375074781,0.00460695716001,0.0799827605484,0.999999989832,0.000131948946128,-3.20096967991e-05,-4.35955217259e-05,1793256156019182848
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.7345727,749,729,708,696,653.2654273,930.7345727,801.2654273,836.7345727,666.2654273,656,673,0.413082020633,0.00460021643015,0.0799529546454,0.999999988146,0.000127276004219,-7.40159487836e-05,-4.50576922203e-05,1793256156035849472
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.160522835,749,729,708,696,653.839477165,930.160522835,801.839477165,836.160522835,666.839477165,656,673,0.413808141223,0.00459844072308,0.079927716217,0.999999985979,0.000125112666815,-0.000101183170949,-4.63676734623e-05,1793256156052515840
+155,2.583333333,POSE1_TO_POSE2_PRESS,789.413538724,749,729,707.586461276,695.586461276,653.586461276,930.413538724,801.586461276,836,666.586461276,656,673,0.414586575382,0.00459200581099,0.0799375319119,0.999999988535,0.000120553082091,-7.93746985043e-05,-4.57895148982e-05,1793256156069182464
+156,2.600000000,POSE1_TO_POSE2_PRESS,789.987604788,749,729,707.012395212,695.012395212,653.012395212,930.987604788,801.012395212,836,666.012395212,656,673,0.415385316563,0.00458376229018,0.0799609549074,0.999999991648,0.000115063322766,-3.85548536534e-05,-4.44784186446e-05,1793256156085849088
+157,2.616666667,POSE1_TO_POSE2_PRESS,789.416957744,748.416957744,729,707.583042256,695.583042256,653,931,801,836,666,656,673,0.416163763701,0.0045834036218,0.0799652014758,0.999999990706,0.000119190635327,-4.98079732011e-05,-4.36022529429e-05,1793256156102515712
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,748,729.17283716,708,696,653.17283716,931,801,836,666,656,673,0.416967875222,0.00458416243267,0.0799675601311,0.999999990717,0.00011729240464,-5.36492382192e-05,-4.39258756954e-05,1793256156119182592
+159,2.650000000,POSE1_TO_POSE2_PRESS,789,748,729.748385914,708,696,653.748385914,931,801,836,666,656,673,0.417832828373,0.00458711954043,0.0799665059823,0.999999993103,0.000100860116196,-3.75432646425e-05,-4.70226486469e-05,1793256156135849216
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.322911768,748,729.677088232,708,696,654,931,801,836,666.322911768,656,673,0.418720678791,0.00458899442427,0.0799847023705,0.999999993891,9.91282572543e-05,3.95630180371e-06,-4.87520621947e-05,1793256156152516096
+161,2.683333333,POSE1_TO_POSE2_PRESS,789.896643066,748,729.103356934,708,696,654,931,801,836,666.896643066,656,673,0.419626314466,0.00459002869788,0.0800178514831,0.999999990734,0.000108814857874,6.51801687963e-05,-4.94193883103e-05,1793256156169182720
+162,2.700000000,POSE1_TO_POSE2_PRESS,789.517494043,748,729,708,696,653.517494043,931,801,836,666.517494043,656,673,0.420466479266,0.00459252351514,0.080005229408,0.999999991369,0.000113142548515,4.48134730053e-05,-4.95152794671e-05,1793256156185849088
+163,2.716666667,POSE1_TO_POSE2_PRESS,789,748.07022751,729,708,696,653.07022751,931,801,836,666.07022751,656,673,0.421303454999,0.00459526200581,0.0799860183793,0.999999992056,0.000115224461576,1.19261353272e-05,-4.96820516482e-05,1793256156202515712
+164,2.733333333,POSE1_TO_POSE2_PRESS,789,748.652069292,729,708,696,653.652069292,931,801,836,666.652069292,656,673,0.422222002017,0.00459743767206,0.0799920757431,0.999999992518,0.000109524094601,1.84331706416e-05,-5.12799403224e-05,1793256156219182592
+165,2.750000000,POSE1_TO_POSE2_PRESS,789,748.768804364,729,708,696,654,931,801,836,666.768804364,656,673,0.423149655345,0.00459891133163,0.0800030055293,0.999999992148,0.000109591643923,3.23659837434e-05,-5.14468082366e-05,1793256156235849216
+166,2.766666667,POSE1_TO_POSE2_PRESS,789,748.19371701,729,708,696,654,931,801,836,666.19371701,656,673,0.42409085398,0.00459934079239,0.0800211827961,0.999999990141,0.000118238673698,5.73442635817e-05,-4.9485105964e-05,1793256156252515840
+167,2.783333333,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,801,836,666,656,673,0.424966892362,0.00460142374235,0.0799934823524,0.999999991166,0.000123906934014,-1.97244184019e-06,-4.80672884057e-05,1793256156269182464
+168,2.800000000,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,801,836,666,656,673,0.425809832552,0.00460434658174,0.0799424783355,0.99999998528,0.00012806212753,-0.000104106766385,-4.69257366687e-05,1793256156285849344
+169,2.816666667,POSE1_TO_POSE2_PRESS,789,748,729,707.453684962,696,654,931,801,836,666.546315038,656,673,0.426734504806,0.00460398910461,0.0799290425773,0.999999986238,0.000122573369948,-9.96440325025e-05,-5.06961756926e-05,1793256156302515968
+170,2.833333333,POSE1_TO_POSE2_PRESS,789,747.865028947,729,707.134971053,696,654,931,800.865028947,836,667,656,673,0.427662863792,0.00460326891311,0.0799224632761,0.999999987614,0.000117392919084,-9.00710812721e-05,-5.36466456014e-05,1793256156319182592
+171,2.850000000,POSE1_TO_POSE2_PRESS,789,747.288012698,729,707.711987302,696,654,931,800.288012698,836,667,656,673,0.428580809734,0.00460226332617,0.0799280032393,0.999999987572,0.000115875608929,-9.30903296762e-05,-5.25601579741e-05,1793256156335848960
+172,2.866666667,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931,800,836,667,656,673,0.429533535682,0.00460133737758,0.079950138495,0.999999989875,0.00011418828627,-6.73376810796e-05,-5.17347385971e-05,1793256156352515840
+173,2.883333333,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931,800,836,667,656,673,0.430520922335,0.00460049079434,0.0799888121438,0.999999992298,0.000112331533854,-1.29117833735e-05,-5.11694923133e-05,1793256156369182464
+174,2.900000000,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931,800,836,667,656,673,0.431465454181,0.00460010271176,0.0800279128344,0.999999991993,0.000106643389539,4.43889591321e-05,-5.16849054501e-05,1793256156385849088
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931,800,836,667,656.03556893,673.03556893,0.432390468272,0.00460003242035,0.0800610476472,0.99999998923,0.00010064208649,9.30797572811e-05,-5.24160871346e-05,1793256156402515456
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931,800,836,667,656.615458136,673.615458136,0.433217017017,0.00460268321788,0.0800008899159,0.999999992868,0.00010774899803,-3.4211448969e-06,-5.14003079912e-05,1793256156419182336
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,746.805898211,729,708,696,654,931.194101789,800,836.194101789,667,656.805898211,674,0.434064005768,0.00460504369472,0.0799510481959,0.999999989482,0.000110886709561,-7.78259044478e-05,-5.1805623583e-05,1793256156435849472
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,746.229706332,729,708,696,654,931.770293668,800,836.770293668,667,656.229706332,674,0.434951230892,0.00460683267467,0.0799215135715,0.999999986935,0.00010621103903,-0.000108734342738,-5.50083699941e-05,1793256156452516096
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,746,729.345192944,708,696,654,932,800,836.654807056,667,656,673.654807056,0.435853572122,0.00460663708207,0.0799335958605,0.999999989168,0.000102355959277,-8.98290180281e-05,-5.58411111237e-05,1793256156469182464
+180,3.000000000,POSE1_TO_POSE2_PRESS,789,746,729.919235242,708,696,654,932,800,836.080764758,667,656,673.080764758,0.436765934681,0.00460512579578,0.079973268529,0.999999992859,9.9044899059e-05,-3.78991245123e-05,-5.51026316239e-05,1793256156485849088
+181,3.016666667,POSE1_TO_POSE2_PRESS,789,746,729.491840425,708,696,654,932,800,836,667,656,673,0.437647591206,0.00460400727341,0.0800074502975,0.999999993484,9.8952517372e-05,1.57171305569e-05,-5.47070601642e-05,1793256156502515968
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,745.902731209,729,708,696,654,932,800,836,667,656,673.097268791,0.438513534934,0.00460313358303,0.0800348494328,0.999999991885,9.87808627399e-05,5.9236045815e-05,-5.44296689532e-05,1793256156519182592
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,745.324750446,729,708,696,654,932,800,836,667,656,673.675249554,0.43932667098,0.00460315206217,0.0800331712184,0.999999992621,9.56129631434e-05,5.14883499839e-05,-5.44588644932e-05,1793256156535849216
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,745,729,708,695.748333156,654,931.748333156,800,836,667,656,674,0.440083163998,0.00460743796756,0.0799934578316,0.999999993351,0.00010094977835,-1.2078610838e-05,-5.44238706041e-05,1793256156552516096
+185,3.083333333,POSE1_TO_POSE2_PRESS,789,745,729,708,695.173920958,654,931.173920958,800,836,667,656,674,0.44076701618,0.00461719655254,0.0799049669617,0.99999998082,0.00011719330218,-0.000147229925575,-5.43065574791e-05,1793256156569182976
+186,3.100000000,POSE1_TO_POSE2_PRESS,789,745,729,708,695,654,931.40063522,800,836,667,656,674,0.441446482307,0.00462702765949,0.0798181918105,0.999999951969,0.00012931155889,-0.000276126605164,-5.56246254056e-05,1793256156585849600
+187,3.116666667,POSE1_TO_POSE2_PRESS,789,745,729,708,695,654,931.975253975,800,836,667,656,674,0.442124043765,0.00463689026134,0.0797321617354,0.999999907668,0.000139638339468,-0.00040230709842,-5.75660346226e-05,1793256156602516224
+188,3.133333333,POSE1_TO_POSE2_PRESS,789,745,729,707.431918392,695,653.431918392,932,800,836,667,656,674,0.442885660662,0.00464616002235,0.0797722147657,0.999999930955,0.000147361262195,-0.00033640339494,-5.66388521364e-05,1793256156619182592
+189,3.150000000,POSE1_TO_POSE2_PRESS,788.84270095,745,729,707,694.84270095,653,932,799.84270095,836,667,656,673.84270095,0.443635838115,0.00465500449979,0.0798173138748,0.999999950682,0.000156040719166,-0.000266782842232,-5.58024522922e-05,1793256156635848960
+190,3.166666667,POSE1_TO_POSE2_PRESS,788.265313358,745,729,707,694.265313358,653,932,799.265313358,836,667,656,673.265313358,0.444345362762,0.0046627844534,0.0798607356668,0.999999962296,0.000167587684458,-0.000210321974505,-5.55532680039e-05,1793256156652515584
+191,3.183333333,POSE1_TO_POSE2_PRESS,788.310681264,745,729,707.310681264,693.689318736,652.689318736,932,799,836,667,656,673.310681264,0.445014880572,0.00466939685576,0.0798750033466,0.999999964062,0.000177027195427,-0.000193695891624,-5.49518058699e-05,1793256156669182208
+192,3.200000000,POSE1_TO_POSE2_PRESS,788.885491603,745,729,707.885491603,693.114508397,652.114508397,932,799,836,667,656,673.885491603,0.445650386089,0.00467501665119,0.0798644853364,0.99999995924,0.000184675030669,-0.00021093579046,-5.40508509869e-05,1793256156685849088
+193,3.216666667,POSE1_TO_POSE2_PRESS,789,745,729,707.529306561,692.529306561,652,932,799,836,667,656,674,0.446244774466,0.00468295026713,0.0798399101379,0.999999949902,0.000194966517761,-0.000243143186663,-5.53643483217e-05,1793256156702515968
+194,3.233333333,POSE1_TO_POSE2_PRESS,789,745,729,707.057758926,692,652,932,799,836,667.057758926,656,674,0.446825510866,0.00469296068437,0.079812454252,0.999999938291,0.000207089290486,-0.000277841990111,-5.77596133827e-05,1793256156719182848
+195,3.250000000,POSE1_TO_POSE2_PRESS,789,745,729,707.638294842,692,652,932,799,836,667.638294842,656,674,0.447375262521,0.00471655845921,0.0797905764277,0.99999992606,0.000229834607107,-0.000301389699357,-6.49599086487e-05,1793256156735849472
+196,3.266666667,POSE1_TO_POSE2_PRESS,788.783810833,745,729,708,691.783810833,652,932,799,836,667.783810833,656,674,0.447896264967,0.00473635334052,0.0797665718279,0.999999910826,0.000248435397227,-0.000334382318297,-6.94020516776e-05,1793256156752516352
+197,3.283333333,POSE1_TO_POSE2_PRESS,788.21028285,745,729,708,691.21028285,652,932,799,836,667.21028285,656,674,0.448369747826,0.00474986242131,0.0797390518853,0.999999890412,0.000260185702093,-0.000382986414827,-6.92852474158e-05,1793256156769182720
+198,3.300000000,POSE1_TO_POSE2_PRESS,788,745,729,708,690.636033515,651.636033515,932,799,836,667.363966485,656,674,0.448829909059,0.00475079780289,0.0797148262662,0.999999875675,0.000258474812076,-0.000420722572633,-6.95223768238e-05,1793256156785849344
+199,3.316666667,POSE1_TO_POSE2_PRESS,788,745,729,708,690.061366536,651.061366536,932,799,836,667.938633464,656,674,0.449282358436,0.00474445426104,0.0796925077311,0.999999864332,0.000248971226531,-0.000452167276501,-6.99643987175e-05,1793256156802515968
+200,3.333333333,POSE1_TO_POSE2_PRESS,788,745,729,707.483657079,689.483657079,651,932,798.483657079,836,667.483657079,656,674,0.449746567532,0.00474075589326,0.0796997513773,0.999999872032,0.000248235398665,-0.00043525886224,-6.9743463353e-05,1793256156819182592
+201,3.350000000,POSE1_TO_POSE2_PRESS,788.096722997,745,728.903277003,707.096722997,688.903277003,651,932,798.096722997,836,667,656,674,0.450204343523,0.00473793288444,0.0797128675963,0.999999882472,0.000247813875543,-0.000410871235678,-6.94861817306e-05,1793256156835848960
+202,3.366666667,POSE1_TO_POSE2_PRESS,788.68892055,745,728.31107945,707.68892055,688.31107945,651,932,798.68892055,836,667,656,674,0.450621963444,0.00473797403449,0.0797379621776,0.99999989655,0.000243632837049,-0.000377783053278,-6.94487226039e-05,1793256156852515840
+203,3.383333333,POSE1_TO_POSE2_PRESS,789,745,728.272794787,708,688,651,932,799,836,667.272794787,656,674,0.451007694478,0.00473569685318,0.0797522098609,0.99999990375,0.000239129673708,-0.000361324620332,-6.89979432626e-05,1793256156869182720
+204,3.400000000,POSE1_TO_POSE2_PRESS,789,745,728.847458581,708,688,651,932,799,836,667.847458581,656,674,0.451358137913,0.00473085425488,0.0797544545923,0.999999904259,0.00023427005422,-0.00036326832268,-6.80897924815e-05,1793256156885849600
+205,3.416666667,POSE1_TO_POSE2_PRESS,788.57654616,745,729,708,687.57654616,651,932,798.57654616,836,667.57654616,656,674,0.451651009762,0.00473135554365,0.079733524917,0.999999890152,0.000236049232486,-0.000399218127047,-6.78287866413e-05,1793256156902516224
+206,3.433333333,POSE1_TO_POSE2_PRESS,788.000069765,745,729,708,687.000069765,651,932,798.000069765,836,667.000069765,656,674,0.451923077089,0.00473378794088,0.079704220759,0.999999868738,0.000240227457676,-0.000447456638572,-6.7801637984e-05,1793256156919182848
+207,3.450000000,POSE1_TO_POSE2_PRESS,788.591292961,745,729,708,686.408707039,650.408707039,932,798,836.591292961,667,656,674,0.452164806739,0.00473512091974,0.0796730287942,0.99999984656,0.00024083799006,-0.000494081734559,-6.89982494827e-05,1793256156935848960
+208,3.466666667,POSE1_TO_POSE2_PRESS,788.821012277,745,728.821012277,708,686,650,932,798,836.821012277,667,656,674,0.452403344423,0.00473568312053,0.0796497732857,0.999999828647,0.000240205786675,-0.000529292382726,-6.96972615593e-05,1793256156952515584
+209,3.483333333,POSE1_TO_POSE2_PRESS,788.241528915,745,728.241528915,708,686,650,932,798,836.241528915,667,656,674,0.452634748078,0.00473452095728,0.0796442765838,0.999999824324,0.000236793855454,-0.000538962960004,-6.92825341312e-05,1793256156969182464
+210,3.500000000,POSE1_TO_POSE2_PRESS,788,745,728,708,685.665911082,650,932,798,836,667,656,674,0.452850893093,0.00473534945608,0.0796429891258,0.999999824204,0.000236006646661,-0.000539530376475,-6.92847146713e-05,1793256156985849088
+211,3.516666667,POSE1_TO_POSE2_PRESS,788,745,728,708,685.093055801,650,932,798,836,667,656,674,0.453056133099,0.00473760063929,0.0796447099257,0.999999827112,0.000237095271749,-0.000533591955308,-6.95848505763e-05,1793256157002515968
+212,3.533333333,POSE1_TO_POSE2_PRESS,788,745,728.482238466,708,684.517761534,650,932,797.517761534,836,667,656,674,0.453228022099,0.00473774602366,0.079641138327,0.999999823089,0.000237913896723,-0.000540727980053,-6.95211033256e-05,1793256157019182848
+213,3.550000000,POSE1_TO_POSE2_PRESS,788,745,728.940074344,708,684,650,932,797.059925656,836,667,656,674,0.45339023788,0.00473742283297,0.0796363435365,0.999999817548,0.000238931552529,-0.000550471116099,-6.92585668219e-05,1793256157035849728
+214,3.566666667,POSE1_TO_POSE2_PRESS,788,745,728.34524981,708,684,650,932,797.65475019,836,667,656,674,0.453523846845,0.00473656264152,0.0796297925848,0.999999811092,0.000242193185521,-0.000560851204004,-6.78515769494e-05,1793256157052516096
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+216,3.600000000,POSE1_TO_POSE2_PRESS,788.815585119,745,728.815585119,708,683.184414881,649.184414881,932,797.184414881,836,667.815585119,656,674,0.4537489045,0.00473533497209,0.0796145190018,0.999999797967,0.000245664219904,-0.000582442103896,-6.69047205884e-05,1793256157085849088
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+218,3.633333333,POSE1_TO_POSE2_PRESS,788.035422099,745,729,708,683,649.964577901,932,797,836.964577901,667.035422099,656,674,0.453913075585,0.00473456954645,0.0796029394946,0.999999787343,0.000244180725031,-0.000601070565597,-6.63556070994e-05,1793256157119182336
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+228,3.800000000,POSE1_TO_POSE2_PRESS,788,745,728.782065072,708,682,650,932,797.217934928,836.217934928,667.217934928,656,674,0.454225579989,0.00473331475496,0.0795830203329,0.999999768971,0.000241359200377,-0.000632047895353,-6.57252183232e-05,1793256157285849344
+229,3.816666667,POSE1_TO_POSE2_PRESS,788,745,729,708,682,650,932,797,836,667.356545766,656,674,0.454231300717,0.00473386260342,0.0795832629111,0.999999769026,0.000241834912144,-0.000631759138781,-6.59111545881e-05,1793256157302515968
+230,3.833333333,POSE1_TO_POSE2_PRESS,788,745,729,708,682,650,932,797,836,667.930420584,656,674,0.454236568807,0.00473607183669,0.0795843962385,0.999999769709,0.00024330377947,-0.000630066631716,-6.63405783836e-05,1793256157319182592
+231,3.850000000,POSE1_TO_POSE2_PRESS,788,745,728.479626402,708,682,649.479626402,932,797,836.520373598,667.479626402,656,674,0.45423872114,0.00473311828127,0.079584985295,0.999999770174,0.000239800160864,-0.000630733011719,-6.57595973984e-05,1793256157335848960
+232,3.866666667,POSE1_TO_POSE2_PRESS,788.109998219,745,728,708,682,649,932,797,836.890001781,667,656,674,0.454240248958,0.00473045778574,0.079585337236,0.99999977045,0.000236593173322,-0.000631558651646,-6.52474919871e-05,1793256157352515584
+233,3.883333333,POSE1_TO_POSE2_PRESS,788.688769297,745,728,708,682,649,932,797,836.311230703,667,656,674,0.454240947359,0.00473208189373,0.0795849987041,0.999999770119,0.000237574111719,-0.000631675989426,-6.56230212363e-05,1793256157369182464
+234,3.900000000,POSE1_TO_POSE2_PRESS,788.73441249,745,728.26558751,708,682,649,932,797,836,667,655.73441249,674,0.454241414544,0.00473297336286,0.0795845001426,0.999999769388,0.000238327877934,-0.000632535081569,-6.57575676687e-05,1793256157385849088
+235,3.916666667,POSE1_TO_POSE2_PRESS,788.159865978,745,728.840134022,708,682,649,932,797,836,667,655.159865978,674,0.454241612756,0.00473301255053,0.079583815418,0.99999976819,0.00023881737398,-0.000634257059514,-6.56117778843e-05,1793256157402515712
+236,3.933333333,POSE1_TO_POSE2_PRESS,788.413284691,745,729,708,682,649,932.413284691,797,836.413284691,667,655.413284691,674,0.454242215887,0.00473229533603,0.0795833268608,0.999999768221,0.000237891288588,-0.000634596133775,-6.52214406067e-05,1793256157419182336
+237,3.950000000,POSE1_TO_POSE2_PRESS,788.985897206,745,729,708,682,649,932.985897206,797,836.985897206,667,655.985897206,674,0.45424297512,0.00473128651644,0.0795829139292,0.999999768724,0.000236419474,-0.000634402076558,-6.47368263885e-05,1793256157435848960
+238,3.966666667,POSE1_TO_POSE2_PRESS,789,745,729,708,682,649,933,797.579907802,836.420092198,667.579907802,656,674,0.454243160805,0.00473272782955,0.0795826056278,0.999999768174,0.000238808198397,-0.000634349603946,-6.49932906842e-05,1793256157452515840
+239,3.983333333,POSE1_TO_POSE2_PRESS,789,745,728.831004931,708,681.831004931,649,932.831004931,797.831004931,836.168995069,667.831004931,655.831004931,674,0.454243122118,0.00473380354869,0.0795822108162,0.999999767426,0.000240734792245,-0.000634782928322,-6.51515120734e-05,1793256157469182464
+240,4.000000000,POSE1_TO_POSE2_PRESS,789,745,728.255074018,708,681.255074018,649,932.255074018,797.255074018,836.744925982,667.255074018,655.255074018,674,0.454242578026,0.00473384995088,0.0795816013281,0.999999766281,0.00024131385423,-0.000636377430749,-6.50281070831e-05,1793256157485849344
+241,4.016666667,POSE1_TO_POSE2_PRESS,788.679669846,745,728.640660308,708,681.320330154,649.320330154,932,797,837,667.320330154,655.320330154,674,0.454242080891,0.00473343637826,0.0795807895816,0.999999765518,0.000241094033108,-0.000637661911858,-6.49928229375e-05,1793256157502515968
+242,4.033333333,POSE1_TO_POSE2_PRESS,788.10468445,745,729.790631101,708,681.89531555,649.89531555,932,797,837,667.89531555,655.89531555,674,0.454241621088,0.00473265713602,0.0795798170442,0.999999765059,0.00024023911792,-0.000638699932939,-6.50275928806e-05,1793256157519182592
+243,4.050000000,POSE1_TO_POSE2_PRESS,788,745,729.529663974,708,682,649.529663974,932,797,836.529663974,667.529663974,656,674,0.454243053761,0.00473286691097,0.0795806578409,0.999999765845,0.000240362131204,-0.00063744363592,-6.48263932591e-05,1793256157535849216
+244,4.066666667,POSE1_TO_POSE2_PRESS,788,745,728.953113412,708,681.953113412,649,932,797.046886588,836.046886588,667,656,674,0.454244763864,0.00473331356108,0.0795817400871,0.99999976676,0.000240611799416,-0.000635929798501,-6.46476355741e-05,1793256157552515584
+245,4.083333333,POSE1_TO_POSE2_PRESS,788,745,728.358789566,708,681.358789566,649,932,797.641210434,836.641210434,667,656,674,0.454244794782,0.00473395554049,0.0795809287402,0.999999765992,0.000239798708999,-0.00063737171611,-6.53441699127e-05,1793256157569182464
+246,4.100000000,HOLD_POSE2,788,745,729,708,681,649,932,797,837,667,655,674,0.454242668225,0.0047356267403,0.0795793469679,0.999999763395,0.00024406189635,-0.000639784085153,-6.5725846952e-05,1793256157608237568
+247,4.116666667,HOLD_POSE2,788,745,728.424849417,708,681,649,932,797,836.424849417,667,655.575150583,674,0.454244540896,0.00473833271947,0.0795805801621,0.999999764083,0.000246894962295,-0.000637533363318,-6.65469052068e-05,1793256157624904192
+248,4.133333333,HOLD_POSE2,788,745,728.15460925,707.84539075,681,649,932,797,836.15460925,667,655.84539075,674,0.454246002286,0.00474315178312,0.0795816138803,0.999999764035,0.000250867680345,-0.000635911559725,-6.79072145602e-05,1793256157641570816
+249,4.150000000,HOLD_POSE2,788,745,728.746245518,707.253754482,681,649,932,797,836.746245518,667,655.253754482,674,0.454246301125,0.00475394380832,0.0795820837486,0.999999761905,0.000258061802432,-0.00063606749054,-7.07918009461e-05,1793256157658237440
+250,4.166666667,HOLD_POSE2,788,745,728.669530224,707,681,649,932,797,836.669530224,667,655.330469776,674,0.454246249445,0.00476399044153,0.0795824686634,0.999999759274,0.00026776061,-0.000635938473553,-7.30600277975e-05,1793256157674904064
+251,4.183333333,HOLD_POSE2,788,745,728.090872534,707,681,649,932,797,836.090872534,667,655.909127466,674,0.454245934521,0.00477347727316,0.0795827897767,0.999999756191,0.00027934047465,-0.000635595456301,-7.48653589269e-05,1793256157691570688
+252,4.200000000,HOLD_POSE2,788,745,728,707,681,649,932,797,836,667,656,674,0.454244836024,0.00476835489581,0.0795808096866,0.999999756439,0.000274457042319,-0.000637426754676,-7.40367894138e-05,1793256157708237568
+253,4.216666667,HOLD_POSE2,788,745.061194641,728,707.061194641,681,649,932,797,836,667,656,674,0.454243842217,0.00476171659215,0.0795787622432,0.999999757142,0.000267641063554,-0.000639346165775,-7.29467452432e-05,1793256157724904448
+254,4.233333333,HOLD_POSE2,788,745.629106188,728,707.629106188,681,649,932,797,836,667,656,674,0.454244924029,0.00476506209998,0.0795797069458,0.99999975684,0.000270219243859,-0.000638641066517,-7.37546636243e-05,1793256157741571328
+255,4.250000000,HOLD_POSE2,788,745.792452364,728,708,681,649,932,797,836,667,656,674,0.454246096905,0.00476657329712,0.0795806636498,0.999999757208,0.000271551458106,-0.000637462966337,-7.40547971318e-05,1793256157758237696
+256,4.266666667,HOLD_POSE2,788,745.194188022,728,708,681,649,932,797,836,667,656,674,0.45424744121,0.00476463133082,0.0795816429468,0.999999758848,0.000270538091246,-0.00063539442313,-7.33990052618e-05,1793256157774904320
+257,4.283333333,HOLD_POSE2,788.390296753,744.609703247,728,708,681,649,932,797,836.390296753,667.390296753,656,674,0.454247369368,0.00476451018393,0.079581520529,0.999999758688,0.000270140196881,-0.000635831910905,-7.32571548233e-05,1793256157791571200
+258,4.300000000,HOLD_POSE2,788.968159498,744.031840502,728,708,681,649,932,797,836.968159498,667.968159498,656,674,0.454246616965,0.00476526407309,0.0795808686572,0.999999757662,0.000270038081746,-0.000637473728741,-7.33622905829e-05,1793256157808238080
+259,4.316666667,HOLD_POSE2,788.457430016,744.542569984,728,708,681,649,932,797.542569984,836.457430016,667.457430016,656,674,0.454245282425,0.00476737767166,0.0795795341522,0.999999755628,0.00027269840046,-0.000639509461801,-7.3530786229e-05,1793256157824904448
+260,4.333333333,HOLD_POSE2,788,745,728.119650143,708,681,649,932,797.880349857,836,667,656,674,0.454244572204,0.0047686748355,0.0795786856959,0.999999754504,0.000274305320076,-0.000640568399528,-7.36314346138e-05,1793256157841571072
+261,4.350000000,HOLD_POSE2,788,745,728.70797628,708,681,649,932,797.29202372,836,667,656,674,0.454246440439,0.00476646340044,0.0795798970429,0.999999757202,0.000271155032295,-0.000637711201394,-7.34518492129e-05,1793256157858237696
+262,4.366666667,HOLD_POSE2,788.292150011,745,729,707.707849989,681,649,932,797,836,667,656,674,0.454247050418,0.00476545491033,0.0795803033771,0.999999758172,0.000269141775309,-0.000637032558247,-7.35352007152e-05,1793256157874904320
+263,4.383333333,HOLD_POSE2,788.872231263,745,729,707.127768737,681,649,932,797,836,667,656,674,0.454246420311,0.00476563199427,0.0795799163232,0.99999975745,0.000268249130109,-0.000638501011017,-7.38776922132e-05,1793256157891570944
+264,4.400000000,POSE2_TO_POSE3_RETREAT,788,745,728,708,681,649,932,797,837,668,655,674,0.454245935815,0.00476699856672,0.0795790936096,0.999999755473,0.000270174785758,-0.000640776771335,-7.39286518762e-05,1793256157924166912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,788,745,728,707.425928148,681,649,932,797,836.425928148,667.425928148,655.574071852,674,0.454248069118,0.00476492466913,0.0795804972626,0.999999757671,0.000269074849496,-0.000637862645187,-7.34017253605e-05,1793256157940833536
+266,4.433333333,POSE2_TO_POSE3_RETREAT,788,745,728.152701178,707.152701178,681,649,932,797,836,667,656,674,0.454249332871,0.0047641668644,0.0795812888008,0.999999758849,0.000269061428442,-0.00063604946457,-7.31372305628e-05,1793256157957499904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,788,745,728.74443384,707.74443384,681,649,932,797,836,667,656,674,0.454248096579,0.00476719296056,0.0795803204469,0.99999975711,0.00027217184932,-0.000637401614122,-7.36272536349e-05,1793256157974166272
+268,4.466666667,POSE2_TO_POSE3_RETREAT,788,745,728.671748434,708,681,649,932,797,836.328251566,667,656,674,0.454247968698,0.00476792984221,0.0795802058804,0.999999756841,0.000272949250668,-0.000637451627814,-7.39712359445e-05,1793256157990832640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,788,745,728.093947967,708,681,649,932,797,836.906052033,667,656,674,0.454248683471,0.00476692637873,0.0795807403944,0.999999757694,0.000271953004678,-0.000636511709911,-7.42041926724e-05,1793256158007499520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,788,745,728,707.516545577,681,649,932,797,836.516545577,667.483454423,656,674,0.454249820576,0.00476732264762,0.079582502014,0.999999759005,0.000271401309063,-0.000634735159418,-7.37716567108e-05,1793256158024166400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788.061704657,745,728,707.061704657,681,649,932,797,836.061704657,667.938295343,656,674,0.45425037917,0.00476787804836,0.0795838629238,0.99999975988,0.000271178337024,-0.000633507784906,-7.32761673045e-05,1793256158040833280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,788.647817352,745,728,707.647817352,681,649,932,797,836.647817352,667.352182648,656,674,0.454245324272,0.00476747607853,0.0795797934099,0.99999975631,0.000273015502109,-0.000638328257153,-7.33438255547e-05,1793256158057499648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,788.768797586,745,728,707.768797586,681,649,932,797,836.768797586,667.231202414,656,674,0.454235433822,0.00476633197732,0.0795740629666,0.999999750994,0.000273471976249,-0.000646430682323,-7.31572295869e-05,1793256158074166272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,788.189519037,745,728,707.189519037,681,649,932,797,836.189519037,667.810480963,656,674,0.454218263432,0.00476407059446,0.0795658319882,0.999999742961,0.000271849814607,-0.000659474099892,-7.25878528925e-05,1793256158090832896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.389702887,681,649,932.389702887,797.389702887,836,668,656,674,0.454180288661,0.00476533341244,0.0795490078824,0.999999723607,0.000272285314845,-0.000688031635603,-7.25206158936e-05,1793256158107499520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,788,745,728,707.968897329,681,649,932.968897329,797.968897329,836,668,656,674,0.454132197838,0.00476830985955,0.0795280054002,0.999999697712,0.000273721344962,-0.000724132853043,-7.2697542297e-05,1793256158124166144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,788,745.543762734,728,708,681,649,932.456237266,798,836,667.456237266,656,674,0.454065906305,0.00476659796265,0.0795083504524,0.999999673584,0.000273126803378,-0.000757002284749,-7.19840897223e-05,1793256158140833024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,788,745.881865821,728,708,681,649,932,797.881865821,836,667.118134179,656,674,0.453996531575,0.00476490694756,0.0794910795775,0.999999652689,0.000272635259106,-0.000784371911029,-7.1086170851e-05,1793256158157499904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,788,745.308451139,728,708,681,649,932,797.308451139,836,667.691548861,656,674,0.453919254896,0.00476432174759,0.0794827020346,0.999999647272,0.000272984744796,-0.000791252490921,-6.96720578469e-05,1793256158174166528
+280,4.666666667,POSE2_TO_POSE3_RETREAT,788,745,728.274064996,708,681,649,932,797.274064996,836,667.725935004,656,674,0.453836142918,0.00476468897405,0.0794786715864,0.999999644198,0.000275073975229,-0.000794569633518,-6.78043926032e-05,1793256158190832896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,788,745,728.867176339,708,681,649,932,797.867176339,836,667.132823661,656,674,0.45374623792,0.00476616494547,0.0794797017074,0.999999643877,0.000279188488757,-0.000793738483623,-6.54087352251e-05,1793256158207499520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,788,745,728.551493891,708,681,649,932,797.551493891,836,667.448506109,656,674,0.453638949151,0.00476375555905,0.0794824085206,0.999999645609,0.000280574327407,-0.000791332490037,-6.20669787742e-05,1793256158224166144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,788,745,728,708,681.02632144,649,932,797,836,668,656,674,0.453525333372,0.00476038014154,0.07948575521,0.999999648058,0.000281293682378,-0.000788250542853,-5.84641203406e-05,1793256158240832768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,788,745,728,708,681.601744748,649,932,797,836,668,656,674,0.453384375929,0.00476024144064,0.0794923570857,0.999999653374,0.000284535613985,-0.000780547665829,-5.51097331281e-05,1793256158257499392
+285,4.750000000,POSE2_TO_POSE3_RETREAT,788,745,728,707.819054429,682,649,932,797,836,667.819054429,655.819054429,674,0.45323203784,0.00476031542071,0.0794967218092,0.99999965693,0.000288023262393,-0.000774938634212,-5.15031859753e-05,1793256158274166016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,788,745,728,707.231362227,682,649,932,797,836,667.231362227,655.231362227,674,0.453054117276,0.00476086748529,0.0794960576487,0.999999656663,0.000292063255959,-0.000774036348203,-4.73298102321e-05,1793256158290832640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.352999009,682,649,932,797.352999009,836.352999009,667,655.352999009,674,0.452855260871,0.00475797152916,0.0794965827018,0.99999965701,0.000295273670746,-0.000772689094716,-4.17653111809e-05,1793256158307499520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,788,745,728,707.935197533,682,649,932,797.935197533,836.935197533,667,655.935197533,674,0.452642810969,0.00475283680002,0.079497879902,0.99999965773,0.000297945446866,-0.000771052927192,-3.52975661595e-05,1793256158324166400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,788,745,728,708,682.508443374,649,932,797.491556626,836.491556626,667,655.491556626,674,0.452407654587,0.00475232917414,0.079504763141,0.999999660437,0.000305663734819,-0.00076477604659,-2.85068286706e-05,1793256158340833024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,788.081262441,745,728,707.918737559,683,649,932,797,836,667,655.081262441,674,0.452163813096,0.00475221919757,0.0795123979562,0.999999663694,0.000314022041507,-0.000757320507562,-2.16038448085e-05,1793256158357499648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,788.658319161,745,728,707.341680839,683,649,932,797,836,667,655.658319161,674,0.451884333577,0.00475099952602,0.0795203496684,0.999999669496,0.000322428896848,-0.000746220008022,-1.42628417084e-05,1793256158374166272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,788.759620827,745,728,707,683,649,932,797.240379173,836,667,655.759620827,674,0.451591675493,0.00474859344466,0.079529408435,0.999999676511,0.000329896739967,-0.000733554974301,-6.57412266656e-06,1793256158390832896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,788.170297874,745,728,707,683,649,932,797.829702126,836,667,655.170297874,674,0.451279886907,0.00474446512462,0.0795400742449,0.999999685344,0.000336001475843,-0.000718618802465,1.61935395235e-06,1793256158407499264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,788.412189548,745,728,707.412189548,683.412189548,649.412189548,932,798,836,667,655.412189548,674,0.450946574085,0.00474201219176,0.0795535835755,0.999999702937,0.000338734886863,-0.000692328967416,8.12142697765e-06,1793256158424165888
+295,4.916666667,POSE2_TO_POSE3_RETREAT,788.991898898,745,728,707.991898898,683.991898898,649.991898898,932,798,836,667,655.991898898,674,0.450604513508,0.00474024016061,0.0795682485538,0.999999723328,0.000340098142233,-0.000661424839054,1.39360888815e-05,1793256158440832512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,789,745,728.560763243,708,684.560763243,650,932,798,836,667,656,674,0.450222273975,0.00473612952707,0.0795846554824,0.999999750764,0.00031077893686,-0.000633881302248,9.10573778826e-06,1793256158457499648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,788.868829526,745,728.868829526,708,685.131170474,650,932,798,836,667,656,674,0.449823758615,0.00473165945384,0.0795982076213,0.999999771919,0.000285111117289,-0.000612240703156,5.92033285226e-06,1793256158474166528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,788.292666789,745,728.292666789,708,685.707333211,650,932,798,836,667,656,674,0.449371959828,0.00472608243145,0.079601991208,0.99999977628,0.000273305736642,-0.000610464092103,8.82717337445e-06,1793256158490833152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,788,745,728.293503804,708,686.293503804,650,932,798,836.293503804,667,656,674,0.448884106895,0.0047217604684,0.0795965416311,0.999999770803,0.000263566988695,-0.000623523704938,1.20299042185e-05,1793256158507499520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,788,745,728.89000607,708,686.89000607,650,932,798,836.89000607,667,656,674,0.448359033434,0.00471873416435,0.0795815602042,0.999999754635,0.000255961726091,-0.000651899483327,1.55380975924e-05,1793256158524166144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,788.467222133,745,729,707.532777867,687.467222133,650.467222133,932,798,836.532777867,667,656,674,0.447821956057,0.00471386575122,0.0795664433316,0.999999731824,0.00029407144722,-0.000670534926571,1.60457642461e-05,1793256158540832768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,788.959883837,745,728.959883837,707.040116163,688.040116163,651,932,798.040116163,836,667,656,674,0.447282279932,0.00470834539456,0.0795538374168,0.999999709422,0.000337131668552,-0.000683551107886,1.60158428564e-05,1793256158557499392
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,788,745,728.193982728,708,689.193982728,651,932,798.806017272,836,667,656,674,0.446186856741,0.00469172027827,0.0796039978506,0.999999773854,0.000282624673778,-0.000609931681303,1.99485260877e-05,1793256158590833408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,788,745,728.789037225,708,689.789037225,651,932,798.210962775,836,667,656,674,0.445590020296,0.00468514321861,0.0796491019185,0.999999813908,0.000261913391512,-0.000550524463369,2.25545532928e-05,1793256158607499520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,788.373184708,745,729,708,690.373184708,651.373184708,932,798.373184708,836.373184708,667,656,674,0.444963246367,0.0046767243106,0.079679710598,0.999999839639,0.000246704777032,-0.000509173517579,2.45356281678e-05,1793256158624166400
+307,5.116666667,POSE2_TO_POSE3_RETREAT,788.951341483,745,729,708,690.951341483,651.951341483,932,798.951341483,836.951341483,667,656,674,0.444320029267,0.00466729376579,0.0797023576698,0.99999985804,0.000234518509064,-0.000477739999258,2.61734472872e-05,1793256158640833280
+308,5.133333333,POSE2_TO_POSE3_RETREAT,789,745,729,708,691,652,932,799,836.472465954,667,656,674,0.443629092849,0.00465594670518,0.0797043649016,0.999999857244,0.000235157763669,-0.000478945362908,2.86908481274e-05,1793256158657499904
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,789,745,729,708,691.689816333,652,932,799,836,667,656,674,0.442252094838,0.00463774930462,0.0797182792257,0.999999876843,0.00021721748874,-0.000445193054592,3.05662792441e-05,1793256158690832896
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,789,745,729,708,692.859613384,652,932,799,836,667,656,674,0.440719531538,0.004617869909,0.0797294171614,0.999999896088,0.000182461775171,-0.000416528423996,3.21919191837e-05,1793256158724165888
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,789,746,729,708,694,653,932,799.010050173,836,667.010050173,656,674,0.439056335662,0.00459771754719,0.0796583196382,0.999999841534,0.000188628999631,-0.000529137961812,3.69214181729e-05,1793256158757499392
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,789,747,729,708,694,654,931.080477649,799.919522351,836.919522351,667,656,674,0.435001245905,0.00454901668636,0.0798666819639,0.999999967654,0.000126281019452,-0.000216431235251,4.36076404652e-05,1793256158840833024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,789.494128718,747,729,708,694.494128718,653.505871282,931.494128718,800,836.505871282,667.494128718,656,674,0.434090409699,0.00453762554935,0.0798364810107,0.999999959596,0.000116887374565,-0.000255330857641,4.41856514593e-05,1793256158857499648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,789.932156634,747.067843366,729,708,695,653,931.932156634,800,836,667.932156634,656,674,0.433167970867,0.00452670389847,0.0797988311192,0.999999945565,0.000109008233201,-0.000308182445312,4.48515883501e-05,1793256158874166016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,789.358325778,747.641674222,729,708,695,653,931.358325778,800,836,667.358325778,656,674,0.43216163821,0.00452046568932,0.0797401608629,0.999999902356,0.000103974624215,-0.000426861657233,4.76142594983e-05,1793256158890832640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,789,748,729,708,695,653,931.223775627,800,836,667,656,673.776224373,0.431202462744,0.00451029273749,0.0797083165142,0.999999873546,9.53452915186e-05,-0.000491274299767,4.96705478412e-05,1793256158907499264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,789,748,729,708,695,653,931.819628783,800,836,667,656,673.180371217,0.4303216966,0.00449357738617,0.0797210762871,0.999999887138,8.07372570384e-05,-0.000465456539716,5.05523165341e-05,1793256158924166144
+325,5.416666667,POSE2_TO_POSE3_RETREAT,789.398347829,748,729,708,695,653,932,800,836,667,656,673,0.42946654151,0.00448129278585,0.0797809425518,0.999999930241,7.16750502026e-05,-0.000362927682293,5.16102827688e-05,1793256158940832768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,789.969628491,748,729,708,695,653,932,800,836,667,656,673,0.428622504877,0.00447093168721,0.0798612589314,0.999999970709,6.5020426698e-05,-0.000227096599799,5.27447399484e-05,1793256158957499392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,789.452040417,748,729,708.547959583,695,653,931.452040417,800,836,667,656,673,0.427693863504,0.00446343333563,0.07985800652,0.999999969989,5.60716470097e-05,-0.000232435288899,5.34060063548e-05,1793256158974166016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,789,748,729,708.871229268,695,653,931,800,836,667,656,673.128770732,0.426758529016,0.00445509340263,0.0798408300712,0.999999963934,4.59294153036e-05,-0.000259140823972,5.35508649476e-05,1793256158990832640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,789,748,729,708.282981409,695,653,931,800,836,667,656,673.717018591,0.425816262871,0.00444317700548,0.0797907131386,0.999999942427,3.19883659639e-05,-0.000333803779527,5.19478909676e-05,1793256159007499008
+330,5.500000000,POSE2_TO_POSE3_RETREAT,789,748.301230272,729,708,695,653,931,800,836,667,656,673.698769728,0.424854816647,0.00444037415821,0.0797558828793,0.999999923158,3.31134339161e-05,-0.000386979838186,5.32337698224e-05,1793256159024166144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,789,748.88170039,729,708,695,653,931,800,836,667,656,673.11829961,0.423875590582,0.00444601955373,0.0797352233377,0.999999908903,4.82047626876e-05,-0.000420237584152,5.71976095949e-05,1793256159040833024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,789,749,728.552076807,708,695,653,931,800.447923193,836,667,656,673,0.422976583296,0.00447021136718,0.0797420479749,0.999999913007,7.83014140318e-05,-0.000405812493898,5.63158998839e-05,1793256159057499648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,789.010961689,749,728.010961689,708,695,653.010961689,931,800.989038311,836,667,656,673,0.422099261963,0.00449846835236,0.0797569235034,0.999999921061,0.000111405739721,-0.00037752467934,5.42380630928e-05,1793256159074166272
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.812147257,931,800.187852743,836,667,656,673,0.420450461362,0.00448264156913,0.0798697274741,0.999999976929,9.01833098878e-05,-0.00018716083931,5.45836867729e-05,1793256159107499520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.217899422,931,800.782100578,836,667,656,673,0.41958506609,0.0044731016869,0.0798627840991,0.99999997533,8.00767342789e-05,-0.000199927100342,5.43745814043e-05,1793256159124166144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.364623255,931,801,836,667,656,673,0.418692198387,0.0044666369543,0.0798324800149,0.999999963999,7.05368437785e-05,-0.000253312955488,5.34665059726e-05,1793256159140832768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.940357228,931,801,836,667,656,673,0.41778342466,0.00446195268204,0.0797886504744,0.999999942238,6.13250546655e-05,-0.000330216868827,5.21537384144e-05,1793256159157499392
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,790,749,728.908192697,708,695,653,931,801,836,667,656,673,0.41609899321,0.00446703822714,0.0798120130992,0.999999946458,7.68284561055e-05,-0.000313322243132,5.48731179551e-05,1793256159190832896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,790,749,728.334327635,708,695,653,931,801,836,667,656,673,0.415273874095,0.00447795187763,0.0797862941445,0.999999931293,9.07739522375e-05,-0.000355107419246,5.54269881717e-05,1793256159207499776
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,790,749,728.844100343,708,695,653,930.155899657,801,836,667,656,673,0.413772035086,0.00447774722566,0.0797800112376,0.999999935272,7.74990424221e-05,-0.000347328080891,5.30450606252e-05,1793256159240833024
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,930.998576325,801.998576325,836,666.001423675,656,673,0.412341704477,0.00446522945442,0.0798113540771,0.999999949646,0.000104241400242,-0.000294658262952,5.49425816254e-05,1793256159274166016
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,790,749.845092396,728.845092396,708,695,653,931,801,836.845092396,666,656,673,0.410881487895,0.00447346476652,0.0797861323581,0.999999934148,9.51219392996e-05,-0.000345760577382,5.57273528832e-05,1793256159307499264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,790,749.254521236,728.254521236,708,695,653,931,801,836.254521236,666,656,673,0.410239964309,0.00448057065829,0.0797882321155,0.999999935013,9.92226195819e-05,-0.000342221637633,5.4889105939e-05,1793256159324166144
+349,5.816666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.328515763,931,801,836,666,656,673,0.409635012578,0.00448327836875,0.0798060464853,0.999999945036,0.000100428025367,-0.000311178846326,5.48683305287e-05,1793256159340832768
+350,5.833333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.905846419,931,801,836,666,656,673,0.409057760079,0.0044826549357,0.0798357629617,0.999999959898,9.9440575752e-05,-0.000259304884006,5.54667006637e-05,1793256159357499648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.521013618,931,801,836,666,656,673,0.408475231499,0.00448173709377,0.079840035327,0.999999961298,9.41557237741e-05,-0.000255736795725,5.60181607303e-05,1793256159374166272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,790,749,728.051830339,708,695,653,931,801,836,666,656,672.948169661,0.40789013731,0.00448096098318,0.0798356651955,0.999999958523,8.99247008725e-05,-0.000267742388201,5.64129816179e-05,1793256159390832896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790,749,728.629960727,708,695,653,931,801,836,666,656,672.370039273,0.407289430943,0.00448220659961,0.0797938829413,0.999999934382,0.000104897826695,-0.000342304758928,5.53100642605e-05,1793256159407499520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,790,749,728.786540531,708,695,653,930.786540531,801,836.213459469,666,656,672,0.406742109461,0.00448326520651,0.0797656757736,0.999999916766,0.000111408414884,-0.000388669468461,5.46921996779e-05,1793256159424166144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,790,749,728.193495547,708,695,653,930.193495547,801,836.806504453,666,656,672,0.406289720019,0.00448399126252,0.0797616085854,0.999999919129,0.000102870446634,-0.000384891521403,5.49368835342e-05,1793256159440832768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,837,666,656,672.388075539,0.405852824308,0.00448420244651,0.0797796663722,0.999999932357,0.000106366938205,-0.000347826683608,5.4662573304e-05,1793256159457499648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,837,666,656,672.964090047,0.405423431932,0.00448416428603,0.0798084389411,0.999999948436,0.000115691531118,-0.000294641519394,5.4136922172e-05,1793256159474166272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,790,749,728.540205353,708,695,653,930,801.540205353,836.459794647,666,656,673,0.405022173832,0.00448541802362,0.0798210164782,0.999999952924,0.000110842262401,-0.000280971927912,5.40399753427e-05,1793256159490833152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,930,801.883230861,836,666,656,673,0.404626930606,0.00448697141689,0.0798310878573,0.999999955606,0.000108301048918,-0.000272155479683,5.46920140223e-05,1793256159507499776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,930,801.304920738,836,666,656,673,0.404248068026,0.00448936972182,0.0798355094093,0.999999954244,0.000118607476636,-0.000272136987429,5.81918263263e-05,1793256159524166144
+361,6.016666667,POSE2_TO_POSE3_RETREAT,790,749,728.721074871,708,695,653,930,801.278925129,836,666,656,673,0.403892999013,0.00449079866249,0.0798361164612,0.999999952553,0.000120079864515,-0.000277841603768,5.72538835505e-05,1793256159540832768
+362,6.033333333,POSE2_TO_POSE3_RETREAT,790,749,728.131054832,708,695,653,930,801.868945168,836,666,656,673,0.403564467817,0.00449114643732,0.0798324690679,0.999999950413,0.000111699339457,-0.000289929402424,5.13663577589e-05,1793256159557499648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.552927443,836,666,656,672.552927443,0.403279570174,0.00449014837114,0.0798354230903,0.999999951546,0.000114691514667,-0.000284645139791,5.22621337135e-05,1793256159574166272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,789.978169316,749,728,708,695,653.021830684,930,801.021830684,836,666,656,672.021830684,0.403008071244,0.00448873333466,0.0798399950712,0.999999953414,0.000120421171782,-0.000275033804129,5.50132358497e-05,1793256159590832640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,789.402736054,749,728,708,695,653.597263946,930,801.597263946,836,666,656,672.597263946,0.40276039456,0.00448648973845,0.0798377952813,0.999999952423,0.000113219654735,-0.00028148524892,5.56948998829e-05,1793256159607499264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,789.177501882,749,728,708,695,653.822498118,930,802,836,666,656,673,0.402525078804,0.0044850869735,0.0798351302083,0.999999951682,0.000106892661354,-0.000286504746051,5.59065477971e-05,1793256159624166144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,789.768944406,749,728,708,695,653.231055594,930,802,836,666,656,673,0.402318589206,0.00448564505697,0.079831380079,0.999999951697,0.000102605089004,-0.000288184889921,5.50221014733e-05,1793256159640832768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.647763311,836,666,656,672.647763311,0.402139222741,0.00448898114485,0.0798343512639,0.999999952743,0.000108684623259,-0.000282233866669,5.51908409591e-05,1793256159657499392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.069696353,836,666,656,672.069696353,0.401977245767,0.00449409830076,0.0798416316992,0.999999954233,0.000121410842528,-0.000271390256857,5.60348116399e-05,1793256159674166016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.502614144,930,801,836.502614144,666,656,672,0.401837075793,0.00450040631103,0.0798461059214,0.999999952763,0.000146561890539,-0.000264378276482,5.56610620455e-05,1793256159690832640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.925211675,930,801.074788325,836.925211675,666,656,672,0.401702252504,0.00450694662155,0.0798495303284,0.999999950383,0.000170304525328,-0.000259237267359,5.50057338039e-05,1793256159707499264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.348656947,930,801.651343053,836.348656947,666,656,672,0.401583242626,0.00451395011527,0.0798484925434,0.999999948953,0.000173169449509,-0.000263124525797,5.358132039e-05,1793256159724165888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,790,749,728.234189294,708,695,653,930,801.765810706,836,666,656,672.234189294,0.401472015744,0.00451707736008,0.0798458615982,0.999999948122,0.000170225361583,-0.000268403220016,5.23446648545e-05,1793256159740832512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,790,749,728.826660777,708,695,653,930,801.173339223,836,666,656,672.826660777,0.401372695942,0.00451427439763,0.0798407933044,0.999999948099,0.000158394165313,-0.000275810647748,5.13952569619e-05,1793256159757499392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,790,749,728.591813105,708,695,653,930,801,836,665.591813105,656,672.591813105,0.40129238026,0.00451196111437,0.0798364862452,0.999999947492,0.000150667391223,-0.00028233804021,5.09874614028e-05,1793256159774166272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790,749,728.014813642,708,695,653,930,801,836,665.014813642,656,672.014813642,0.401219924054,0.00450985034625,0.0798324940075,0.999999946633,0.000144638070373,-0.000288501479069,5.08036587726e-05,1793256159790832896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,665.56195268,656,672.56195268,0.401166660828,0.00451146239424,0.0798295301208,0.999999945613,0.000146127265897,-0.000291252140864,5.09284066476e-05,1793256159807499520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.142055204,836,666,656,672.857944796,0.401118205524,0.00451191400198,0.0798276278025,0.999999945075,0.000146518184901,-0.00029284619272,5.12123925187e-05,1793256159824166400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.732712552,836,666,656,672.267287448,0.40108333629,0.00450839122291,0.0798289922853,0.99999994609,0.000142815178607,-0.000291071720677,5.19735676611e-05,1793256159840833024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.683407206,836,666,656,672,0.401055727798,0.00450008468985,0.0798301975758,0.999999947567,0.000134209905562,-0.00028974689191,5.38551735189e-05,1793256159857499392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.105128646,836,666,656,672,0.401034120807,0.00448782405399,0.079831271283,0.999999949306,0.000121552570722,-0.000288793724076,5.66628926688e-05,1793256159874166016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.471134157,0.401020196641,0.00447491223333,0.0798320711478,0.999999951611,0.000105069692399,-0.000286970742936,5.8184910883e-05,1793256159890832640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.953165261,0.401008237077,0.00446365149022,0.0798327536941,0.999999953551,8.99951886047e-05,-0.000285110323413,5.92456993965e-05,1793256159907499776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.378752271,0.400999178891,0.00447261943558,0.0798328000816,0.999999952649,0.000100360457268,-0.000285005215468,5.83288479428e-05,1793256159924166656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,665.798413419,656,672,0.400992336122,0.00447698564369,0.079833174347,0.999999952481,0.000105460280121,-0.000283850563436,5.78402323462e-05,1793256159940833280
+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,665.206603554,656,672,0.400989781868,0.00447244399135,0.0798341833052,0.999999953884,0.000100367461822,-0.000280664245758,5.81805787507e-05,1793256159957499904
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.753853252,836,665.376926626,656,672,0.400988136998,0.00447254041419,0.0798348732865,0.999999954068,0.000100589520434,-0.000279991473213,5.78918483959e-05,1793256159974166528
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802.912032038,836,665.956016019,656,672,0.400986979872,0.00447512444629,0.0798353921862,0.9999999536,0.000103662187651,-0.000280666828508,5.72657157633e-05,1793256159990832896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802.467545516,836,666,656,672,0.400988504663,0.00447482105058,0.0798374280838,0.999999954636,0.000103783576002,-0.000276858955034,5.7499789429e-05,1793256160007499520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.889404626,836,666,656,672,0.400989684724,0.00447416173498,0.0798391057181,0.999999955568,0.00010324665899,-0.000273625826555,5.77349154728e-05,1793256160024166400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.303002221,836,666,656,672,0.400988433267,0.00447299225039,0.079838705564,0.999999955583,0.000100921219888,-0.000274450790081,5.76703742668e-05,1793256160040833536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.27983713,0.400987858578,0.00447391078293,0.079838758803,0.999999955545,0.000101539857398,-0.000274415190286,5.74168444097e-05,1793256160057500416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.858867053,0.400988007467,0.00447706175559,0.0798392967953,0.999999955443,0.000105306205927,-0.000273459504178,5.69612540027e-05,1793256160074167296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,789.562557204,749,728,708,695,653,930,801,836,666,656,673,0.400987695489,0.0044749953872,0.0798392607212,0.999999955738,0.000102564488452,-0.000273393671003,5.70956419791e-05,1793256160090833408
+395,6.583333333,POSE2_TO_POSE3_RETREAT,789.015760739,749,728,708,695,653,930,801.015760739,836,665.984239261,656,672.984239261,0.400987241557,0.00447136539941,0.0798390369417,0.999999956128,9.79107185333e-05,-0.000273611015247,5.7403961968e-05,1793256160107499520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,789.590130872,749,728,708,695,653,930,801.590130872,836,665.409869128,656,672.409869128,0.40098702092,0.0044719146671,0.0798387179761,0.999999955929,9.98308770103e-05,-0.000273700068651,5.71375254285e-05,1793256160124166400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.835310777,836.164689223,665.164689223,656,672,0.400986717655,0.00447282908705,0.0798386313751,0.999999955746,0.00010145792749,-0.00027382483007,5.68698764267e-05,1793256160140833024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.260283498,836.739716502,665.739716502,656,672,0.400986208513,0.00447465331676,0.0798391237314,0.999999955611,0.000102354672836,-0.000274038561219,5.65992064825e-05,1793256160157499648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,790,749,728,707.675244669,695,653,930,801,836.675244669,666,656,672.324755331,0.400985861413,0.00447488817752,0.0798393368501,0.999999955706,0.0001015780521,-0.000273974522379,5.66399417496e-05,1793256160174166528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,790,749,728,707.081926624,695,653,930,801,836.081926624,666,656,672.918073376,0.400985648319,0.00447380867872,0.0798393190476,0.999999955987,9.94176088126e-05,-0.000273680776247,5.69381996042e-05,1793256160190833408
+401,6.683333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.496328317,695,653,930,801.496328317,836,666,656,672.503671683,0.400985506159,0.00447428969865,0.0798389305018,0.999999955747,0.000101675442549,-0.000273772152707,5.67168641311e-05,1793256160207500032
+402,6.700000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,666,656,672,0.400985563712,0.00447467899203,0.079838673174,0.99999995561,0.000103587101207,-0.000273611781297,5.6446032875e-05,1793256160224166400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,666,656,672,0.400986935747,0.0044726833906,0.0798397461208,0.999999956801,9.81429613388e-05,-0.000271263887697,5.64107050858e-05,1793256160240833024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,666,656,672,0.400987546591,0.00447197310881,0.0798406601892,0.999999957424,9.57501071976e-05,-0.000269834936196,5.63281699679e-05,1793256160257499648
+405,6.750000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,666,656,672,0.400986941199,0.00447331652355,0.0798413204,0.999999957182,9.82326276738e-05,-0.000269874279402,5.61702064949e-05,1793256160274166016
+406,6.766666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.599574492,836,666,656,672,0.40098611655,0.00447420449996,0.0798406136672,0.999999956571,9.95233194207e-05,-0.000271674455184,5.60844564996e-05,1793256160290832896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.022423728,836,666,656,672,0.400985195134,0.00447489147147,0.0798393036425,0.999999955794,0.000100288004973,-0.000274251763243,5.60305774737e-05,1793256160307499520
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4758367db6423f2a2893da77506d03544cf4a6cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/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,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+360,6.000000000,pose2_to_pose3_retreat,0.578389642353,0.0101820231025,1.07002040263,0.548960786987,0.018856250349,1.06969210702
+361,6.016666667,pose2_to_pose3_retreat,0.578098573274,0.0101816887153,1.07002052821,0.548669721728,0.0188559287149,1.0696922271
+362,6.033333333,pose2_to_pose3_retreat,0.577828360631,0.0101818379885,1.0700208478,0.548399507898,0.0188560735998,1.06969253739
+363,6.050000000,pose2_to_pose3_retreat,0.577580108168,0.010181744567,1.07002078619,0.548151256438,0.0188559837184,1.06969247946
+364,6.066666667,pose2_to_pose3_retreat,0.577351899233,0.0101817333533,1.07002055241,0.547923047107,0.018855971387,1.06969225166
+365,6.083333333,pose2_to_pose3_retreat,0.577144206614,0.0101818055968,1.07002044581,0.547715353663,0.0188560409891,1.06969214923
+366,6.100000000,pose2_to_pose3_retreat,0.576954292722,0.0101816979191,1.07002048134,0.547525441779,0.0188559403397,1.06969219052
+367,6.116666667,pose2_to_pose3_retreat,0.576782607434,0.0101816453049,1.07002037107,0.547353756811,0.0188558889028,1.06969208256
+368,6.133333333,pose2_to_pose3_retreat,0.576629017529,0.0101817623902,1.07002049035,0.547200166746,0.0188560053469,1.06969219928
+369,6.150000000,pose2_to_pose3_retreat,0.576492431054,0.0101817519118,1.07002060305,0.547063579536,0.0188559922543,1.06969230884
+370,6.166666667,pose2_to_pose3_retreat,0.576370428605,0.0101818108999,1.07002044318,0.546941575935,0.0188560474354,1.06969215174
+371,6.183333333,pose2_to_pose3_retreat,0.576259826882,0.0101818651034,1.07002029384,0.546830973637,0.0188560998154,1.06969200577
+372,6.200000000,pose2_to_pose3_retreat,0.576159772379,0.0101818337003,1.0700204443,0.546730919665,0.0188560701496,1.06969215455
+373,6.216666667,pose2_to_pose3_retreat,0.576069725566,0.010181815091,1.07002074978,0.546640873296,0.0188560528965,1.0696924561
+374,6.233333333,pose2_to_pose3_retreat,0.575990292023,0.0101817619371,1.0700206551,0.546561439387,0.0188559983999,1.06969235927
+375,6.250000000,pose2_to_pose3_retreat,0.575921961761,0.0101817823003,1.07002042909,0.546493109425,0.0188560199582,1.06969213793
+376,6.266666667,pose2_to_pose3_retreat,0.575864100121,0.0101816167142,1.07002037641,0.546435249383,0.0188558599471,1.06969208919
+377,6.283333333,pose2_to_pose3_retreat,0.575816933237,0.0101817391237,1.07002048428,0.546388080443,0.0188559750374,1.06969218793
+378,6.300000000,pose2_to_pose3_retreat,0.575778560272,0.0101817801003,1.07002054208,0.546349707494,0.0188560159322,1.06969224216
+379,6.316666667,pose2_to_pose3_retreat,0.575748632276,0.0101817566271,1.07002062332,0.546319780034,0.0188559944065,1.06969232675
+380,6.333333333,pose2_to_pose3_retreat,0.575725205954,0.0101818182324,1.07002073244,0.546296352618,0.0188560523969,1.0696924384
+381,6.350000000,pose2_to_pose3_retreat,0.575707741449,0.010181876801,1.07002063816,0.546278888426,0.0188561120363,1.06969234442
+382,6.366666667,pose2_to_pose3_retreat,0.575694796899,0.010181857865,1.07002077309,0.546265943437,0.0188560912612,1.06969247013
+383,6.383333333,pose2_to_pose3_retreat,0.575685128949,0.0101817949108,1.07002055883,0.546256276147,0.0188560307064,1.06969226012
+384,6.400000000,pose2_to_pose3_retreat,0.575678516441,0.0101817667808,1.07002039431,0.546249663864,0.0188560035657,1.06969210162
+385,6.416666667,pose2_to_pose3_retreat,0.575673896524,0.0101817852034,1.07002038352,0.546245043459,0.0188560204618,1.06969209428
+386,6.433333333,pose2_to_pose3_retreat,0.575671026408,0.0101818055198,1.0700205115,0.546242173977,0.0188560425685,1.06969221252
+387,6.450000000,pose2_to_pose3_retreat,0.575669613408,0.0101818310329,1.07002057302,0.546240760728,0.0188560671565,1.06969227192
+388,6.466666667,pose2_to_pose3_retreat,0.575669280536,0.0101818471949,1.07002058654,0.54624042743,0.0188560819183,1.06969228669
+389,6.483333333,pose2_to_pose3_retreat,0.575669111225,0.0101818554155,1.07002059341,0.546240257903,0.0188560894267,1.06969229421
+390,6.500000000,pose2_to_pose3_retreat,0.575669076271,0.0101818571127,1.07002059483,0.546240222903,0.0188560909768,1.06969229576
+391,6.516666667,pose2_to_pose3_retreat,0.575668947261,0.0101818633765,1.07002060007,0.546240093728,0.018856096698,1.06969230148
+392,6.533333333,pose2_to_pose3_retreat,0.575668845672,0.010181868309,1.07002060419,0.54623999201,0.0188561012031,1.06969230599
+393,6.550000000,pose2_to_pose3_retreat,0.575668538943,0.0101818832017,1.07002061665,0.546239684888,0.0188561148056,1.0696923196
+394,6.566666667,pose2_to_pose3_retreat,0.575668361629,0.0101818918109,1.07002062385,0.546239507347,0.0188561226689,1.06969232747
+395,6.583333333,pose2_to_pose3_retreat,0.575668218391,0.0101818987656,1.07002062967,0.546239363925,0.0188561290211,1.06969233383
+396,6.600000000,pose2_to_pose3_retreat,0.57566799254,0.0101819097314,1.07002063884,0.546239137785,0.0188561390368,1.06969234385
+397,6.616666667,pose2_to_pose3_retreat,0.575667784022,0.0101819042498,1.07002062918,0.546238929302,0.0188561337094,1.06969233511
+398,6.633333333,pose2_to_pose3_retreat,0.575667622787,0.0101818842366,1.0700206034,0.546238768401,0.0188561148577,1.06969231018
+399,6.650000000,pose2_to_pose3_retreat,0.575667469495,0.0101818652092,1.07002057889,0.546238615425,0.0188560969345,1.06969228647
+400,6.666666667,pose2_to_pose3_retreat,0.575667352717,0.0101818507141,1.07002056022,0.546238498888,0.0188560832807,1.06969226841
+401,6.683333333,pose2_to_pose3_retreat,0.575667279121,0.010181841579,1.07002054845,0.546238425444,0.0188560746758,1.06969225702
+402,6.700000000,pose2_to_pose3_retreat,0.575667108583,0.0101818204109,1.07002052118,0.546238255258,0.0188560547362,1.06969223065
+403,6.716666667,pose2_to_pose3_retreat,0.575666991216,0.01018180608,1.07002050926,0.546238138034,0.0188560408735,1.06969221821
+404,6.733333333,pose2_to_pose3_retreat,0.575666957672,0.0101818024137,1.07002051823,0.546238104353,0.0188560366584,1.069692225
+405,6.750000000,pose2_to_pose3_retreat,0.575666937417,0.0101818001998,1.07002052365,0.546238084015,0.0188560341131,1.06969222909
+406,6.766666667,pose2_to_pose3_retreat,0.575666841762,0.0101817897448,1.07002054924,0.546237987969,0.018856022093,1.06969224844
+407,6.783333333,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07cce5fb9a7ec159ecd2a98745604ef2f3d4fc47
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d235263c8b647d75795327ed3bc27c3948786111cb61ac10abd8e9cec97db2e
+size 25867482
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..411452d50cffb5491c83648f946a8f83e2470e7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+1,0.016666667,BASELINE,790,749,728,708,695,653,930,801.578610414,836.578610414,666,656,672,0.400987068093,0.00447356928615,0.0798414974495,0.999999956854,0.000103079698889,-0.000269218912524,5.6452130474e-05,1793256160468889344
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+21,0.350000000,BASELINE,790.200910059,749,728,708,695,653.799089941,930,801,837,666,656,672,0.40098788916,0.00447503460351,0.0798428022268,0.999999957495,0.000103638876028,-0.000266733860386,5.58746183363e-05,1793256160802222336
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+29,0.483333333,BASELINE,790,749,728.842739378,708,695,653.842739378,930,801,836,665.157260622,656,672.842739378,0.400988939129,0.00447507233904,0.079844200221,0.999999958442,9.99814592817e-05,-0.000264628019243,5.56105837955e-05,1793256160935555584
+30,0.500000000,BASELINE,790,749,728.581791775,708,695,654,930,801.418208225,836.418208225,665.418208225,656,673,0.400988391063,0.0044745322259,0.0798437894882,0.999999958205,0.000100173258632,-0.0002654455724,5.56291298113e-05,1793256160952222208
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+33,0.550000000,BASELINE,790,749,728,708,695,653.145051044,930,801.854948956,836.145051044,666,656,673,0.400986898867,0.00447494783955,0.0798430449378,0.999999957844,0.000100384846568,-0.000266773920905,5.53843842369e-05,1793256161002222080
+34,0.566666667,BASELINE,790,749,728,708,695,653.73879876,930,801.26120124,836.73879876,666,656,673,0.400988471381,0.00447389947921,0.0798443054379,0.999999958345,0.000100726714807,-0.000264713791271,5.56032013774e-05,1793256161018888704
+35,0.583333333,BASELINE,790,749,728,708,695,654,930,801,836.676912258,666,656,672.676912258,0.400988321129,0.00447368437546,0.0798438606533,0.999999958317,0.000100102882158,-0.000265057200812,5.55952902872e-05,1793256161035555584
+36,0.600000000,BASELINE,790,749,728,708,695,654,930,801,836.100052651,666,656,672.100052651,0.400986817716,0.00447412375967,0.0798420764391,0.99999995787,9.87205320138e-05,-0.000267288489311,5.54092937076e-05,1793256161052222208
+37,0.616666667,BASELINE,790,749,728,708,695,653.525274163,930,801.474725837,836,666,656,672,0.400985670856,0.00447414772445,0.0798414825365,0.999999957346,0.000100254997985,-0.000268678183698,5.54035323008e-05,1793256161068888832
+38,0.633333333,BASELINE,790,749,728,708,695,653,930,802,836.050439248,666,656,672,0.400984801641,0.00447414087562,0.0798412231218,0.999999956904,0.000102131436703,-0.000269609921262,5.54227926673e-05,1793256161085555456
+39,0.650000000,BASELINE,790,749,728,708,695,653,930,802,836.640836436,666,656,672,0.400986103714,0.00447473734068,0.0798418705826,0.999999957572,0.00010111654575,-0.000267529693951,5.5305042808e-05,1793256161102222080
+40,0.666666667,BASELINE,790,749,728,708,695,653,930,801.772824579,836.772824579,666,656,672,0.400987057865,0.00447455323869,0.0798424913029,0.999999957994,0.000100256940875,-0.000266277147378,5.52912792581e-05,1793256161118888960
+41,0.683333333,BASELINE,790,749,728,708,695,653,930,801.192789033,836.192789033,666,656,672,0.400987471609,0.0044731567212,0.0798430704884,0.999999958039,9.96385340975e-05,-0.00026631019569,5.54390324069e-05,1793256161135555584
+42,0.700000000,BASELINE,790,749,728.384022491,708,695,653.384022491,930,801,836,666,656,672.384022491,0.400987454444,0.00447245629503,0.0798434446169,0.99999995814,9.88299414482e-05,-0.00026620303357,5.5573260747e-05,1793256161152222208
+43,0.716666667,BASELINE,790,749,728.959228931,708,695,653.959228931,930,801,836,666,656,672.959228931,0.400987222754,0.00447210241497,0.0798437166588,0.999999958269,9.79266655969e-05,-0.000266026068288,5.57007558146e-05,1793256161168888832
+44,0.733333333,BASELINE,790,749,728.465178135,708,695,654,930,801.534821865,836.534821865,666,656,673,0.400987409761,0.00447169766008,0.0798441270534,0.999999958373,9.77081854167e-05,-0.000265676824879,5.58758076351e-05,1793256161185555712
+45,0.750000000,BASELINE,790,749,728,708,695,653.886167464,930,801.886167464,836.886167464,666,656,672.886167464,0.400987653275,0.00447167520936,0.0798445484379,0.99999995847,9.78733790682e-05,-0.000265236980395,5.59534767582e-05,1793256161202222080
+46,0.766666667,BASELINE,790,749,728,708,695,653.292886041,930,801.292886041,836.292886041,666,656,672.292886041,0.400988000254,0.00447327932456,0.0798449716558,0.999999958538,9.94345245394e-05,-0.000264470891006,5.56057009194e-05,1793256161218888960
+47,0.783333333,BASELINE,790,749,728,708,695,653,930,801,836,666,656,672,0.400988069311,0.0044740717141,0.0798450107717,0.999999958473,0.000100688078035,-0.000264287200679,5.53985113556e-05,1793256161235555584
+48,0.800000000,BASELINE,790,749,728,708,695,653,930,801,836,666,656,672,0.400987867395,0.00447407266964,0.0798446753874,0.999999958278,0.00010164172891,-0.000264671350536,5.53283936564e-05,1793256161252222208
+49,0.816666667,BASELINE,790,749,728,708,695,653,930,801.441487539,836.441487539,666,656,672,0.400987640691,0.0044739758991,0.0798448309898,0.999999958369,0.000100972155449,-0.000264566845469,5.54141497261e-05,1793256161268888832
+50,0.833333333,BASELINE,790.016679584,749,728,708,695,653,930,802,837,666,656,672.016679584,0.400987409406,0.00447387391708,0.079845086474,0.999999958524,9.98782167963e-05,-0.000264368712954,5.55412649734e-05,1793256161285555456
+51,0.850000000,BASELINE,790.604425153,749,728,708,695,653,930,802,837,666,656,672.604425153,0.400987277628,0.00447460403164,0.0798436846734,0.999999957974,0.00010103984884,-0.000266017891162,5.54726193859e-05,1793256161302222080
+52,0.866666667,BASELINE,790.809612907,749,728,708,695,653,930,802,836.809612907,666,656,672.809612907,0.400987258023,0.00447463123292,0.0798428633495,0.999999957691,0.000101925330019,-0.00026673394133,5.55173638122e-05,1793256161318888704
+53,0.883333333,BASELINE,790.227322519,749,728,708,695,653,930,802,836.227322519,666,656,672.227322519,0.400987469322,0.00447321151866,0.0798432369109,0.999999957964,0.000102242366956,-0.000265529189183,5.5795516501e-05,1793256161335555328
+54,0.900000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672,0.400987040841,0.00447286845438,0.0798432437125,0.999999957955,0.00010180874234,-0.000265707628086,5.58927825115e-05,1793256161352222464
+55,0.916666667,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672,0.400986202643,0.00447321488005,0.0798430156398,0.999999957766,0.000100894391779,-0.00026677186677,5.58742081347e-05,1793256161368890112
+56,0.933333333,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672,0.400985929739,0.00447361009517,0.0798430065718,0.999999957782,0.000100398817796,-0.000266962508477,5.55693478894e-05,1793256161385556480
+57,0.950000000,BASELINE,790,749,728,708,695,653.075408049,930,802,836.075408049,666,656,672.075408049,0.400985957512,0.00447403770489,0.0798431668029,0.999999957841,0.000100251629405,-0.000266854087444,5.52903708874e-05,1793256161402222848
+58,0.966666667,BASELINE,790,749,728,708,695,653.664251443,930,802,836.664251443,666,656,672.664251443,0.400987442303,0.00447463494121,0.0798442510927,0.999999957977,0.000102039276652,-0.00026562152989,5.54865338253e-05,1793256161418889472
+59,0.983333333,BASELINE,790,749,728.249720896,708,695,653.750279104,930,802,836.750279104,666,656,673,0.400987492979,0.00447490279894,0.0798443827088,0.999999957863,0.000102980831603,-0.000265666726458,5.5581023061e-05,1793256161435555840
+60,1.000000000,BASELINE,790,749,728.830714655,708,695,653.169285345,930,802,836.169285345,666,656,673,0.400985641198,0.00447473371219,0.0798432505346,0.99999995742,0.000102799984068,-0.000267406956274,5.55406347915e-05,1793256161452222464
+61,1.016666667,BASELINE,790,748.593535956,728.593535956,708,695,653.406464044,930,802,836,666,656,673,0.400985750968,0.00447415417676,0.0798431342724,0.999999957631,0.000101910997108,-0.000266950659952,5.55775196435e-05,1793256161468889088
+62,1.033333333,BASELINE,790,748.019942969,728.019942969,708,695,653.980057031,930,802,836,666,656,673,0.400986667282,0.004473405874,0.0798434357307,0.999999958109,0.000100730839033,-0.000265591201006,5.56461774808e-05,1793256161485555712
+63,1.050000000,BASELINE,790,748.533665668,728.533665668,708,695,653.466334332,930,802,836,666,656,673,0.400988092312,0.00447379290681,0.0798441814865,0.99999995853,0.000100479018062,-0.000264120159491,5.55450494667e-05,1793256161502222336
+64,1.066666667,BASELINE,790,749,728.903145624,708,695,653.096854376,930,802,836.096854376,666,656,672.903145624,0.400989014753,0.00447418156726,0.0798446735797,0.999999958766,0.000100494270452,-0.000263234924803,5.54608298198e-05,1793256161518889216
+65,1.083333333,BASELINE,790,749,728.284463453,708,695,653.715536547,930,802,836.715536547,666,656,672.284463453,0.40098713064,0.00447435866041,0.0798437127748,0.999999958029,0.000101768285033,-0.000265527529762,5.55006589907e-05,1793256161535556352
+66,1.100000000,BASELINE,790,749,728,708,695,653.688570592,930,801.688570592,836.688570592,666,656,672,0.400987128701,0.00447306594632,0.0798436539727,0.999999958109,0.000100918102598,-0.00026553214747,5.5589262535e-05,1793256161552222976
+67,1.116666667,BASELINE,790,749,728,708,695,653.112074417,930,801.112074417,836.112074417,666,656,672,0.400988728736,0.00447052223587,0.0798443628918,0.99999995888,9.82599532765e-05,-0.000263589391529,5.57193793868e-05,1793256161568889088
+68,1.133333333,BASELINE,790,749,728,708,695,653.462964114,930,801,836.462964114,666,656,672.462964114,0.400988073373,0.00447099751739,0.0798445713035,0.999999958956,9.76791308097e-05,-0.000263541780356,5.56187202223e-05,1793256161585555712
+69,1.150000000,BASELINE,790,748.961463214,728,708,695,654,930,801,836.961463214,666,656,672.961463214,0.400986936884,0.00447223630813,0.0798446304427,0.999999958823,9.7869714269e-05,-0.000264007066569,5.54673068405e-05,1793256161602222080
+70,1.166666667,BASELINE,790,748.373255056,728,708,695,654,930,801,836.373255056,666,656,672.373255056,0.400986701113,0.00447397382329,0.0798442832127,0.99999995809,0.000101912949703,-0.000265264840973,5.53863089113e-05,1793256161618888960
+71,1.183333333,BASELINE,790,748.212145065,728,708,695,653.787854935,930,801,836,666,656,672.212145065,0.400986421028,0.00447465019666,0.0798439642567,0.999999957778,0.000103291477703,-0.000265913875634,5.5357910731e-05,1793256161635555840
+72,1.200000000,BASELINE,790,748.792669268,728,708,695,653.207330732,930,801,836,666,656,672.792669268,0.400986063996,0.00447348395145,0.079843694397,0.999999958213,0.000100042877171,-0.000265505864843,5.54208493321e-05,1793256161652222976
+73,1.216666667,BASELINE,790,749,728,708,695,653,930,801,836.369961306,666,656,672.630038694,0.400986757232,0.00447317594087,0.0798438789523,0.999999958382,0.000100170815444,-0.000264806916003,5.54909245507e-05,1793256161668889600
+74,1.233333333,BASELINE,790,749,728,708,695,653,930,801,836.945457654,666,656,672.054542346,0.400988033953,0.00447334472966,0.0798443159615,0.999999958403,0.000102174617765,-0.000263946334167,5.55649645719e-05,1793256161685556224
+75,1.250000000,BASELINE,790,749,728,708,695,653.520694646,930,801,836.479305354,666,656.520694646,672.520694646,0.400988195251,0.00447286713524,0.0798447878332,0.999999958843,0.000100233155582,-0.00026306880551,5.53446026141e-05,1793256161702222592
+76,1.266666667,BASELINE,790,749,728,708,695,654,930,801,836,665.901119512,656.901119512,672.901119512,0.400988401799,0.00447258153397,0.0798453548952,0.999999959211,9.91133335002e-05,-0.000262123931371,5.5180824119e-05,1793256161718889216
+77,1.283333333,BASELINE,790,749,728,708,695,654,930,801,836,665.308060403,656.308060403,672.308060403,0.400989418129,0.00447359368273,0.0798463794521,0.999999959016,0.000104164204941,-0.000260851349678,5.54538801879e-05,1793256161735555840
+78,1.300000000,BASELINE,790,749,728,708,695,653.723063313,930,801.276936687,836,665.276936687,656,672,0.400989040777,0.0044741785397,0.0798462306756,0.999999958895,0.000104197809402,-0.000261306131842,5.54234352943e-05,1793256161752222464
+79,1.316666667,BASELINE,790,749,728,708,695,653.146780645,930,801.853219355,836,665.853219355,656,672,0.40098715697,0.00447430152899,0.0798448136214,0.999999958853,9.88081569929e-05,-0.000263628053581,5.50649305872e-05,1793256161768889088
+80,1.333333333,BASELINE,790,749,728,708,695,653,930,801.571284541,836,666,656,672.428715459,0.400986643498,0.00447406733764,0.0798442392902,0.999999958505,9.93808765958e-05,-0.000264694461066,5.5228377534e-05,1793256161785555968
+81,1.350000000,BASELINE,789.995958223,749,728,708,695,653.004041777,930,801,836,666,656,672.995958223,0.400986603713,0.00447371538918,0.079843955129,0.999999958059,0.000101968252761,-0.000265322727238,5.55678892715e-05,1793256161802222848
+82,1.366666667,BASELINE,789.406291394,749,728,708,695,653.593708606,930,801,836,666,656,672.406291394,0.400987343648,0.00447398764197,0.0798439857679,0.999999958316,0.000101228730201,-0.000264636197675,5.55726716588e-05,1793256161818889472
+83,1.383333333,BASELINE,789.180147663,749,728,708,695,653.819852337,930,801,836,666,656,672,0.40098775099,0.00447417492547,0.0798440607657,0.999999958508,0.000100515020852,-0.000264198868734,5.54985714057e-05,1793256161835556096
+84,1.400000000,BASELINE,789.759435292,749,728,708,695,653.240564708,930,801,836,666,656,672,0.400987421432,0.00447417394878,0.0798442340462,0.999999958557,9.9858503801e-05,-0.000264313675202,5.52496966714e-05,1793256161852222464
+85,1.416666667,BASELINE,790,749,728,708,695,653.336801578,930,801,836.336801578,666,656,672,0.40098747453,0.00447376853309,0.0798442697868,0.999999958564,0.000100198322456,-0.000264157720158,5.52532619345e-05,1793256161868889088
+86,1.433333333,BASELINE,790,749,728,708,695,653.912803271,930,801,836.912803271,666,656,672,0.400987799393,0.00447307588044,0.0798442078451,0.99999995854,0.000101245749519,-0.00026380946736,5.54361128224e-05,1793256161885555712
+87,1.450000000,BASELINE,790,749,728,708,695,653.514021612,930,801.485978388,836.514021612,666,656,672.485978388,0.400987691501,0.00447352130965,0.0798443217898,0.999999958578,0.000101356556111,-0.000263695102337,5.5106567249e-05,1793256161902222336
+88,1.466666667,BASELINE,790,749,728.060601261,708,695,653,930,802,836.060601261,666,656,672.939398739,0.400987781831,0.00447400516746,0.0798445923975,0.999999958687,0.000101184977951,-0.00026341668161,5.47574978571e-05,1793256161918889216
+89,1.483333333,BASELINE,790,749,728.652331955,708,695,653,930,802,836.652331955,666,656,672.347668045,0.400990286045,0.00447304649508,0.0798459610616,0.999999959337,0.000100002843642,-0.000261334751351,5.50384202231e-05,1793256161935556096
+90,1.500000000,BASELINE,790,749,729,708,695,653.239535778,930,801.760464222,836.760464222,666,656,672,0.40099105272,0.00447210347741,0.0798462087872,0.999999959641,9.84058859738e-05,-0.000260768051317,5.50787407212e-05,1793256161952222976
+91,1.516666667,BASELINE,790,749,729,708,695,653.820291011,930,801.179708989,836.179708989,666,656,672,0.400989344266,0.00447118276,0.0798448597325,0.999999959454,9.621801125e-05,-0.000262359801596,5.47763230923e-05,1793256161968889600
+92,1.533333333,BASELINE,790,749,729,707.604294307,695,653.604294307,930,801.395705693,836,666,656,672,0.400989057615,0.00447206634253,0.0798446546561,0.999999959252,9.77433918123e-05,-0.000262536624627,5.49332817237e-05,1793256161985555968
+93,1.550000000,BASELINE,790,749,729,707.031272678,695,653.031272678,930,801.968727322,836,666,656,672,0.400989408073,0.00447375843275,0.0798449621969,0.999999959035,0.000100932683887,-0.00026207941813,5.52960870792e-05,1793256162002222592
+94,1.566666667,BASELINE,790,749,728.453894212,707,695,653.546105788,930,801.453894212,836,666,656,672.546105788,0.400987517283,0.00447419264692,0.0798439210626,0.999999958397,0.000102255673099,-0.000264028891382,5.51169138929e-05,1793256162018889216
+95,1.583333333,BASELINE,790,749,728,707.126284309,695,653.873715691,930,801.126284309,836.126284309,666,656,672.873715691,0.40098668844,0.00447443234009,0.0798435660956,0.999999958134,0.000102824049282,-0.000264842371688,5.4939486629e-05,1793256162035555840
+96,1.600000000,BASELINE,790,749,728,707.715811748,695,653.284188252,930,801.715811748,836.715811748,666,656,672.284188252,0.400990229673,0.0044742248378,0.0798460137493,0.999999959336,0.000101019504821,-0.00026097912189,5.48832285888e-05,1793256162052222464
+97,1.616666667,BASELINE,789.700250521,749,728,708,695,653.299749479,930,801.700250521,836.700250521,666,656,672,0.400990356312,0.00447480501038,0.079846376562,0.999999959363,0.000101438749037,-0.000260714802046,5.48763617366e-05,1793256162068889088
+98,1.633333333,BASELINE,789.121515331,749,728,708,695,653.878484669,930,801.121515331,836.121515331,666,656,672,0.400987304888,0.00447611829528,0.0798447989514,0.999999958296,0.000103927739287,-0.000263800113034,5.49154647278e-05,1793256162085555968
+99,1.650000000,BASELINE,789.453656511,749,728.453656511,708,695,653.546343489,930,801.453656511,836,666,656,672,0.400989044835,0.00447532035111,0.0798459917559,0.999999958979,0.000102116629533,-0.000261864065536,5.51539045894e-05,1793256162102222592
+100,1.666666667,BASELINE,790,749,728.971416483,708,695,653.028583517,930,802,836,666,656,672,0.400991789066,0.00447395440808,0.0798477293222,0.999999960028,9.92314058705e-05,-0.00025889229975,5.54221399409e-05,1793256162118889216
+101,1.683333333,BASELINE,790,749,728.382729593,708,695,653.617270407,930,802,836,666,656,672,0.400989259824,0.00447245330638,0.0798457137665,0.999999959439,9.76928460417e-05,-0.00026177577899,5.52361111226e-05,1793256162135555584
+102,1.700000000,BASELINE,790,749,728,708,695,653.797269968,930,802,836,666,656,672.202730032,0.400987798885,0.00447218808204,0.0798444450737,0.999999958997,9.772787132e-05,-0.000263471836166,5.5116762352e-05,1793256162152222208
+103,1.716666667,BASELINE,790,749,728,708,695,653.217807619,930,802,836,666,656,672.782192381,0.400988323167,0.00447421948328,0.079844564273,0.999999958838,0.00010068708296,-0.000262961311891,5.51213248377e-05,1793256162168888832
+104,1.733333333,BASELINE,790,749,728.359676431,708,695,653.359676431,930,801.640323569,836,666,656,673,0.40098894834,0.00447438419793,0.079845217749,0.99999995908,0.000100818655149,-0.00026199815372,5.50745965005e-05,1793256162185555456
+105,1.750000000,BASELINE,790,749,728.935969102,708,695,653.935969102,930,801.064030898,836,666,656,673,0.400989634276,0.00447342469502,0.0798461929948,0.999999959564,9.92472730504e-05,-0.000260762395344,5.49969781073e-05,1793256162202222080
+106,1.766666667,BASELINE,790,749,728.491261463,708,695,653.491261463,930,801.508738537,836,666,656,673,0.400989776144,0.00447409939953,0.0798461872718,0.999999959552,9.92622087442e-05,-0.000260857574984,5.47435296268e-05,1793256162218888704
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801,837,666,656,672,0.400987262924,0.00447166382025,0.0798442684008,0.999999959027,9.60571124163e-05,-0.000263918971029,5.53691681023e-05,1793256162261323520
+108,1.800000000,POSE1_TO_POSE2_PRESS,790,749,728.578456907,708,695,653.421543093,930,801,836.421543093,666,656,672,0.4009882134,0.00447283129877,0.0798447211465,0.999999959128,9.7842460207e-05,-0.000262882229393,5.53493863914e-05,1793256162277990144
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,749,728.844399282,708,695,653.155600718,930,801.155600718,836.155600718,666,656,672,0.400988841228,0.00447399949208,0.0798449500141,0.999999959147,9.93902451335e-05,-0.000262263554075,5.5182948482e-05,1793256162294656512
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,749,728.270782926,708,695,653.729217074,930,801.729217074,836.729217074,666,656,672,0.400988602272,0.00447516960589,0.0798445774412,0.999999958955,0.000100299826512,-0.0002627679984,5.46225240564e-05,1793256162311323136
+111,1.850000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.697422615,930,801.697422615,836.697422615,666,656,672,0.400989495733,0.00447568139571,0.0798453197505,0.999999959159,0.000101360284984,-0.000261582375852,5.46153520107e-05,1793256162327989504
+112,1.866666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.124291283,930,801.124291283,836.124291283,666,656,672,0.40099140176,0.00447560453554,0.0798470589478,0.999999959712,0.000102555652335,-0.000258885555529,5.51028786169e-05,1793256162344656128
+113,1.883333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.466555466,836,666,656,672.466555466,0.400989969864,0.00447576198994,0.0798461680708,0.999999959114,0.000104030345375,-0.000260592901434,5.51529629471e-05,1793256162361322752
+114,1.900000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.939819028,836,666,656,672.939819028,0.400988114723,0.0044756959251,0.0798448286983,0.999999958376,0.000104965649901,-0.000263049156682,5.50894433791e-05,1793256162377989632
+115,1.916666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.364403091,836,666,656,672.364403091,0.40099054956,0.00447316070347,0.0798458849489,0.999999959235,0.000100620793644,-0.000261475740352,5.50904012123e-05,1793256162394656512
+116,1.933333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801,836,666,656,672,0.400996437377,0.00447192881174,0.0798483915666,0.999999960401,9.84765187925e-05,-0.000257810524266,5.50855289793e-05,1793256162411323392
+117,1.950000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801,836,666,656,672,0.401008288229,0.00447294767122,0.0798534028571,0.999999962087,0.000100132479995,-0.000250532930317,5.50705886676e-05,1793256162427989760
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.371510997,836,665.628489003,656,672,0.401037899909,0.00447427600563,0.0798649073485,0.999999966962,0.000100912122053,-0.000229991285135,5.47450610927e-05,1793256162444656384
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.962544828,836,665.037455172,656,672,0.401078006319,0.00447578720637,0.0798802486202,0.999999973087,0.000101173954335,-0.000201612018899,5.42360099888e-05,1793256162461323008
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,749,728,708.541201629,695,653.541201629,930,802,836,665.541201629,656,672.541201629,0.401146088146,0.00447513358197,0.0799007098648,0.999999980422,9.90212418003e-05,-0.000162910262243,5.30232978996e-05,1793256162477989632
+121,2.016666667,POSE1_TO_POSE2_PRESS,790,749,728,708.88117249,695,653.88117249,930,801.88117249,836,666,656,672.88117249,0.401218190468,0.00447467214084,0.0799199403591,0.999999985712,9.71442453151e-05,-0.000128329014266,5.16712567114e-05,1793256162494656256
+122,2.033333333,POSE1_TO_POSE2_PRESS,790,749,728,708.304292297,695,653.304292297,930,801.304292297,836,666,656,672.304292297,0.401298494514,0.0044755161384,0.0799330912404,0.999999987743,9.69598175923e-05,-0.000112323617477,4.99656584677e-05,1793256162511323136
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.270621646,836,666,656,672,0.401386012781,0.00447654390216,0.0799421979275,0.999999989359,9.58985850906e-05,-9.90712369989e-05,4.76576452116e-05,1793256162527990016
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,801.843340613,836,666,656,672,0.401481584342,0.0044777768057,0.0799467900445,0.999999990646,9.38585677401e-05,-8.88920737755e-05,4.46771508973e-05,1793256162544656896
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,672.431351288,0.401596917774,0.00447901640699,0.0799510009183,0.99999999165,9.08606706379e-05,-8.21765226474e-05,4.11164053382e-05,1793256162561323264
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,672.975546837,0.4017208839,0.00448033571455,0.0799550998171,0.999999992535,8.76601367409e-05,-7.65160813631e-05,3.72902489775e-05,1793256162577989888
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,672.397534964,0.401871828,0.00448340228418,0.0799599134927,0.999999993473,8.80371147075e-05,-6.52178120043e-05,3.24017547355e-05,1793256162594656768
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,749,728.179317437,708,695,653.179317437,930,802,836,666,656,672,0.40203086734,0.0044864215884,0.0799648032231,0.999999994344,8.69991091225e-05,-5.48040253996e-05,2.71891960522e-05,1793256162611323392
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,749,728.753615805,708,695,653.753615805,930,802,836,666,656,672,0.402207737971,0.0044893367811,0.079969860478,0.999999995269,8.28443317674e-05,-4.63384826316e-05,2.12628241464e-05,1793256162627990272
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,749,728.66382197,708,695,653.66382197,930.33617803,802,836,666,656,672,0.402400528168,0.00449206894677,0.0799721375903,0.999999995947,7.77862877829e-05,-4.28569376795e-05,1.47667700842e-05,1793256162644656640
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,749,728.075050487,708,695,653.075050487,930.924949513,802,836,666,656,672,0.402605279837,0.00449466359207,0.0799723257924,0.999999996444,7.20495576171e-05,-4.31202088881e-05,7.8426743907e-06,1793256162661323264
+132,2.200000000,POSE1_TO_POSE2_PRESS,789.492369435,749,728,708.507630565,695.507630565,653,930.492369435,801.492369435,836,666,656,672.507630565,0.402830884286,0.0044982116615,0.0799666347315,0.999999996369,6.51503692122e-05,-5.49311531398e-05,-1.36204894331e-07,1793256162677989888
+133,2.216666667,POSE1_TO_POSE2_PRESS,789.088101774,749,728.088101774,708.911898226,695.911898226,653,930,801.088101774,836,666,656.088101774,672.911898226,0.403066165334,0.00450164679876,0.0799606588832,0.999999996066,5.73671692223e-05,-6.71366233955e-05,-8.34362953334e-06,1793256162694656768
+134,2.233333333,POSE1_TO_POSE2_PRESS,789.661304652,749,728.661304652,708.338695348,695.338695348,653,930,801.661304652,836,666,656.661304652,672.338695348,0.403337953182,0.0045036931791,0.0799578442498,0.999999996206,4.56515561196e-05,-7.2225430537e-05,-1.69609897687e-05,1793256162711323392
+135,2.250000000,POSE1_TO_POSE2_PRESS,790,749,728.765297985,707.765297985,695,653,930.234702015,802,836,666,656.765297985,672,0.403632214132,0.00450821762654,0.0799590323519,0.99999999622,4.44148146098e-05,-7.08218120616e-05,-2.39286584984e-05,1793256162727989760
+136,2.266666667,POSE1_TO_POSE2_PRESS,790,749,728.191619766,707.191619766,695,653,930.808380234,802,836,666,656.191619766,672,0.403958932591,0.00451632110484,0.0799660015383,0.999999996091,5.83125332313e-05,-6.00412912762e-05,-2.85137047906e-05,1793256162744656384
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,749,728.395583618,707.395583618,695.395583618,653.395583618,930.604416382,801.604416382,836,666,656,672,0.404318063138,0.00452550390584,0.0799695667202,0.999999993726,9.56873225711e-05,-5.23793552112e-05,-2.54495419863e-05,1793256162761323264
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,749,728.98957047,707.98957047,695.98957047,653.98957047,930.01042953,801.01042953,836,666,656,672,0.404693449815,0.00453522803619,0.0799714246383,0.999999988268,0.00014483693355,-4.62815319086e-05,-1.85489515914e-05,1793256162777989632
+139,2.316666667,POSE1_TO_POSE2_PRESS,790,749,728.433170545,707.433170545,695.433170545,653.433170545,930,801,836,666,656,672.566829455,0.405110668526,0.00453971085411,0.0799723157879,0.999999996183,7.3475220422e-05,-4.11433149252e-05,-2.33087905469e-05,1793256162794656256
+140,2.333333333,POSE1_TO_POSE2_PRESS,790,749,728,707.142989669,695,653,930,801.142989669,836,666,656,673,0.405532442749,0.00454551569118,0.0799706494042,0.999999998391,2.67953102427e-05,-4.16418708241e-05,-2.76845161984e-05,1793256162811322880
+141,2.350000000,POSE1_TO_POSE2_PRESS,790,749,728,707.716740343,695,653,930,801.716740343,836,666,656,673,0.405965688241,0.00455558535031,0.0799613304203,0.999999995939,6.09585915825e-05,-5.90697226891e-05,-3.02752785924e-05,1793256162827989760
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.708497291,749,728,708,695,653.291502709,930,802,836,666,656,672.708497291,0.406425659425,0.00456574530374,0.0799540905896,0.999999992535,9.4224791339e-05,-7.18636054991e-05,-2.97882365715e-05,1793256162844656640
+143,2.383333333,POSE1_TO_POSE2_PRESS,789.132748347,749,728,708,695,653.867251653,930,802,836,666,656,672.132748347,0.406911691061,0.00457599330494,0.0799488781539,0.999999988427,0.000126616244915,-8.01388762738e-05,-2.63000072675e-05,1793256162861323264
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,749,728,708,695,653.561532577,930,802,836.438467423,666,656,672,0.407418481426,0.00458559591723,0.0799437166746,0.99999998652,0.000132571830494,-9.22956510251e-05,-2.94386678255e-05,1793256162877989632
+145,2.416666667,POSE1_TO_POSE2_PRESS,789.008726839,749,728.008726839,707.991273161,695.008726839,653,930,802,836.991273161,665.991273161,656,672.008726839,0.407932353227,0.00459500987342,0.0799384935629,0.999999985256,0.000130880513547,-0.000105684421297,-3.44779348918e-05,1793256162894656256
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.606107751,749,728.606107751,707.393892249,695.606107751,653,930,802,836.393892249,665.393892249,656,672.606107751,0.408504299816,0.00460474355452,0.0799280831457,0.999999980865,0.000147725177295,-0.000123719068896,-3.37709316553e-05,1793256162911322880
+147,2.450000000,POSE1_TO_POSE2_PRESS,790,749,729,707.196471963,695.803528037,653,930,802,836.196471963,665.196471963,656,673,0.409105914535,0.00461433207575,0.0799305082938,0.999999979278,0.000160471464704,-0.00012059030295,-3.39225567139e-05,1793256162927989504
+148,2.466666667,POSE1_TO_POSE2_PRESS,790,749,729,707.773253938,695.226746062,653,930,802,836.773253938,665.773253938,656,673,0.409764957703,0.004623639611,0.0799577791966,0.999999982776,0.000165284539945,-7.64955988221e-05,-3.57362252456e-05,1793256162944656640
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,749,729,708,695.360145142,653,930,801.639854858,836.639854858,666,656,673,0.410445522398,0.00463015445586,0.0799892912921,0.999999984393,0.000170827692961,-2.46707583788e-05,-3.77230999731e-05,1793256162961323520
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,749,729,708,695.953584872,653,930,801.046415128,836.046415128,666,656,673,0.411140028269,0.00463486025318,0.0800235507436,0.999999983053,0.000176843774802,3.21615031166e-05,-3.98221739624e-05,1793256162977990144
+151,2.516666667,POSE1_TO_POSE2_PRESS,789.468419329,749,728.468419329,708,696,653,930,801,836,666,656,672.468419329,0.411824234114,0.00462357362389,0.0800055566659,0.999999986567,0.000158693178464,-1.11239564268e-06,-4.09998126765e-05,1793256162994656768
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.107949721,749,728.107949721,708,696,653,930.107949721,801,836,666,656,672.107949721,0.412510588417,0.00461060489405,0.0799803337732,0.999999988407,0.00013978466529,-4.33281621851e-05,-4.20650068276e-05,1793256163011323392
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.682949996,749,728.682949996,708,696,653,930.682949996,801,836,666,656,672.682949996,0.413210019187,0.00459622942905,0.0799430177536,0.999999986925,0.00012646879441,-9.11526277255e-05,-4.29819703652e-05,1793256163027989760
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.742266236,749,728.742266236,708,696,653.257733764,930.742266236,801,836,666,656,673,0.413947468358,0.00458466371468,0.0799277716556,0.999999987014,0.000113592454387,-0.000105815939214,-4.32651486056e-05,1793256163044656384
+155,2.583333333,POSE1_TO_POSE2_PRESS,789.167748501,749,728.167748501,708,696,653.832251499,930.167748501,801,836,666,656,673,0.414731646543,0.00457655149996,0.0799396519845,0.999999990781,0.000101256345982,-7.97204451413e-05,-4.27693331697e-05,1793256163061323008
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,749,728,707.579362318,695.579362318,653.579362318,930,801,836,666,656,673,0.415525954325,0.00457739684778,0.079958049663,0.999999992042,0.000106743904123,-5.1913697301e-05,-4.27323433657e-05,1793256163077989888
+157,2.616666667,POSE1_TO_POSE2_PRESS,789.014288152,749,728,707.014288152,695.014288152,653,930.014288152,801,836,666,656,673,0.416324874564,0.00458203150257,0.079978216731,0.999999991693,0.000118981454763,-2.48274525573e-05,-4.29082368008e-05,1793256163094656256
+158,2.633333333,POSE1_TO_POSE2_PRESS,789.5900616,749,728,707.5900616,695.5900616,653,930.5900616,801,836,666,656,673,0.417140894569,0.00459041029956,0.0799622965747,0.999999991793,0.000107626910996,-5.37873315963e-05,-4.40141831651e-05,1793256163111322880
+159,2.650000000,POSE1_TO_POSE2_PRESS,789.834566622,748.834566622,728.165433378,708,696,653,931,801,836,666,656,673,0.417985153388,0.00459637971558,0.0799610949219,0.999999992222,0.000103268980287,-5.31681178642e-05,-4.54331822942e-05,1793256163127989760
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.260187795,748.260187795,728.739812205,708,696,653,931,801,836,666,656,673,0.418899217511,0.00459639322669,0.0799962768891,0.999999991902,0.000116206429787,2.05695674245e-05,-4.76260366331e-05,1793256163144656384
+161,2.683333333,POSE1_TO_POSE2_PRESS,789,748,729,708,696,653.323367899,931,801,836,666,656,673,0.419774397639,0.00459563375509,0.0800092542792,0.999999990644,0.000118583874759,4.78283323307e-05,-4.86067722886e-05,1793256163161323264
+162,2.700000000,POSE1_TO_POSE2_PRESS,789,748,729,708,696,653.914523108,931,801,836,666,656,673,0.420617377121,0.00459423416132,0.0800038436212,0.999999991854,0.000112216372267,3.65969866194e-05,-4.85837286969e-05,1793256163177989888
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.495410735,748,729,708,696,654,931,801,836,666.495410735,656,673,0.421500961357,0.00459431467532,0.0799925492983,0.999999992972,0.000106240677748,1.56594141108e-05,-5.0234253538e-05,1793256163194656256
+164,2.733333333,POSE1_TO_POSE2_PRESS,789.925605808,748.074394192,729,708,696,654,931,801,836.074394192,667,656,673,0.422399847261,0.00459490578365,0.0799850432546,0.999999993376,0.000102919084639,7.22026915392e-07,-5.15264315824e-05,1793256163211322880
+165,2.750000000,POSE1_TO_POSE2_PRESS,789.347763579,748.652236421,729,708,696,654,931,801,836.652236421,667,656,673,0.423355835785,0.00459725913557,0.0800099040031,0.999999991265,0.000117110411726,3.74927248752e-05,-4.847916397e-05,1793256163227989760
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.228857494,748.771142506,729,707.771142506,696,654,931,801,836.771142506,666.771142506,656,673,0.424270983773,0.00460126715995,0.0800112618186,0.999999990342,0.00012799718782,2.84408011597e-05,-4.6075964311e-05,1793256163244656384
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.803632879,748.196367121,729,707.196367121,696,654,931,801,836.196367121,666.196367121,656,673,0.425124401473,0.00460777622059,0.0799770949761,0.999999988797,0.000133889139964,-4.98719674076e-05,-4.46462721981e-05,1793256163261323008
+168,2.800000000,POSE1_TO_POSE2_PRESS,789.612744602,748,729,707,696,654,931,801,836,666.387255398,656,673,0.426015193096,0.00460907996614,0.0799487993173,0.999999986212,0.000134380156479,-8.55554940765e-05,-4.68895772273e-05,1793256163277989888
+169,2.816666667,POSE1_TO_POSE2_PRESS,789.024531081,748,729,707,696,654,931,801,836,666.975468919,656,673,0.426925379087,0.00460768252146,0.079923550389,0.999999985064,0.000132068469868,-9.91174591126e-05,-5.10389077851e-05,1793256163294656512
+170,2.833333333,POSE1_TO_POSE2_PRESS,789,748,729,707.556871921,696,654,931,801,836,666.443128079,656,673,0.427858723191,0.0046042226385,0.0799221093645,0.99999998583,0.000122327591296,-0.000103631327208,-5.13413511571e-05,1793256163311323136
+171,2.850000000,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,800.863845084,836,666.136154916,656,673,0.428801322085,0.00460086612485,0.0799287398701,0.999999987278,0.000114527913063,-9.84429238463e-05,-5.13391567538e-05,1793256163327989504
+172,2.866666667,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,800.290418796,836,666.709581204,656,673,0.429770406653,0.00459812984711,0.0799579651557,0.999999990199,0.000114000885251,-6.33595846289e-05,-5.08962580613e-05,1793256163344656384
+173,2.883333333,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,800.281508891,836,667,656,673,0.430737041642,0.00459938650931,0.0799957117317,0.999999992173,0.000113716503181,-1.06110060445e-05,-5.10861941748e-05,1793256163361323008
+174,2.900000000,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931,800.8518987,836,667,656,673,0.431701162845,0.00460474067691,0.0800422027476,0.999999990374,0.000113681120865,6.02654189905e-05,-5.19255373669e-05,1793256163377989632
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,748,729,707.556245048,696,654,931.443754952,800.556245048,836,667,656,673.443754952,0.432582864566,0.00460929357286,0.0800285721018,0.999999991288,0.000116180495995,3.54547568839e-05,-5.16588557141e-05,1793256163394656256
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,747.958633153,729,707,696,654,931.958633153,800,836,667,656.041366847,673.958633153,0.433436594729,0.00461344469928,0.0799923176189,0.999999991254,0.000119620996117,-2.3773055825e-05,-5.11719190454e-05,1793256163411323136
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,747.383881414,729,707,696,654,931.383881414,800,836,667,656.616118586,673.383881414,0.434302365404,0.00461603880896,0.0799362257484,0.999999986524,0.000123734011242,-9.40718642007e-05,-5.28465406721e-05,1793256163427989760
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,747,729,707.191042833,696,654,931.191042833,800,836,667,656.808957167,673.191042833,0.435189300532,0.00461649330953,0.0799099901539,0.999999983243,0.000121385019648,-0.000125759410667,-5.44389218075e-05,1793256163444656384
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,747,729,707.766314136,696,654,931.766314136,800,836,667,656.233685864,673.766314136,0.436118802111,0.00461264459371,0.0799438019798,0.999999989634,0.000106039536004,-7.97913688326e-05,-5.58659001806e-05,1793256163461323008
+180,3.000000000,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931.649047722,800,836,666.649047722,656,674,0.437025285144,0.00460700664427,0.0799814034543,0.999999993021,0.000100928594814,-2.76817118077e-05,-5.48146197113e-05,1793256163477989888
+181,3.016666667,POSE1_TO_POSE2_PRESS,789,747,729,708,696,654,931.058001561,800,836,666.058001561,656,674,0.437916020648,0.00460014464248,0.0800215975056,0.999999992949,0.000102819321546,2.86295514318e-05,-5.20679097452e-05,1793256163494656512
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,745.95550163,729,708,696,653.477750815,931.522249185,800,836,666.522249185,656,673.477750815,0.438772286351,0.0045978660432,0.0800352815036,0.999999992584,9.57556771879e-05,5.34510123024e-05,-5.2974029193e-05,1793256163511323136
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,745,729,708,695.89997535,653.10002465,932,800,836,667,656,673.10002465,0.439602648615,0.00459845938342,0.0800328809311,0.999999992882,9.22199095401e-05,5.30130253878e-05,-5.40509873142e-05,1793256163527990016
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,745,729,708,695.328332314,653.671667686,932,800,836,667,656,673.671667686,0.440328560313,0.00461024246507,0.0799682422477,0.99999999123,0.000109912197938,-5.0367956484e-05,-5.40593684779e-05,1793256163544656896
+185,3.083333333,POSE1_TO_POSE2_PRESS,788.753921169,745,729,708,695,654,932,799.753921169,836,667,656,673.753921169,0.441029839465,0.00462225037073,0.0798838019691,0.999999973738,0.000127552672375,-0.00018239587455,-5.4653691528e-05,1793256163561323520
+186,3.100000000,POSE1_TO_POSE2_PRESS,788.175774682,745,729,708,695,654,932,799.175774682,836,667,656,673.175774682,0.441697878513,0.00463456166108,0.0797726407084,0.999999925566,0.000145123224506,-0.000353080991761,-5.60387051968e-05,1793256163577990144
+187,3.116666667,POSE1_TO_POSE2_PRESS,788,745,729,708,695,653.588184713,932,799,836.411815287,667,656,673.411815287,0.44240320013,0.00464254830927,0.0797508537721,0.999999915253,0.00014989086017,-0.00037926616097,-5.64260967934e-05,1793256163594656512
+188,3.133333333,POSE1_TO_POSE2_PRESS,788.003445004,745,729.003445004,707.996554996,694.996554996,653,932,799.003445004,836.996554996,667,656,673.996554996,0.443125177172,0.00464865939363,0.0797683519981,0.99999992878,0.000149163567122,-0.000342068975578,-5.63755262035e-05,1793256163611322880
+189,3.150000000,POSE1_TO_POSE2_PRESS,788.580805134,745,729.580805134,707.419194866,694.419194866,653,932,799.580805134,836.419194866,667,656,673.419194866,0.443908561392,0.0046570428269,0.0798262170196,0.999999950571,0.000164758846721,-0.000261879082534,-5.59659529395e-05,1793256163627989504
+190,3.166666667,POSE1_TO_POSE2_PRESS,789,745,729.843205573,707,694,652.843205573,932,799.843205573,836,667,656,673.156794427,0.444658233484,0.00466477493886,0.0798681402588,0.999999961567,0.000178020993039,-0.000205256006097,-5.51820968529e-05,1793256163644656128
+191,3.183333333,POSE1_TO_POSE2_PRESS,789,745,729.270849368,707,694,652.270849368,932,799.270849368,836,667,656,673.729150632,0.44531855645,0.00467078081631,0.0798678120382,0.999999959163,0.000185099500629,-0.000211093479505,-5.34062570624e-05,1793256163661323008
+192,3.200000000,POSE1_TO_POSE2_PRESS,788.688600251,745,729,707,693.377200503,652,932,799,836,667,656,674,0.445955098035,0.00467899984901,0.079854485588,0.999999953387,0.000193685653812,-0.000229908867296,-5.34179075378e-05,1793256163677989632
+193,3.216666667,POSE1_TO_POSE2_PRESS,788.097464179,745,729,707,692.194928357,652,932,799,836,667,656,674,0.446570276311,0.00468920700087,0.0798294825808,0.999999943854,0.000203626153175,-0.000260382562194,-5.50352946248e-05,1793256163694656256
+194,3.233333333,POSE1_TO_POSE2_PRESS,788.483795326,745,729,707.483795326,692,652,932,799,836,667,656,673.516204674,0.447148922681,0.00469612271247,0.0798032204141,0.999999933548,0.000214112294797,-0.000289482843509,-5.70952831179e-05,1793256163711322880
+195,3.250000000,POSE1_TO_POSE2_PRESS,788.937516283,745,729,708,691.937516283,651.937516283,932,798.937516283,836,667,656,673.062483717,0.44771220688,0.00470340704035,0.0797765408055,0.999999921696,0.000224418715571,-0.000320487272268,-5.9430271246e-05,1793256163727989504
+196,3.266666667,POSE1_TO_POSE2_PRESS,788.363909458,745,729,708,691.363909458,651.363909458,932,798.363909458,836,667,656,673.636090542,0.44820882504,0.00471902227411,0.079748479987,0.999999902812,0.000232373805429,-0.000369285847596,-6.32999951144e-05,1793256163744656384
+197,3.283333333,POSE1_TO_POSE2_PRESS,788.211422528,745,729,708,690.788577472,651,932,798.211422528,836.211422528,667,656,674,0.448696331642,0.00473677043269,0.0797207921147,0.999999881571,0.000245055575662,-0.000415156809679,-6.67109248669e-05,1793256163761323008
+198,3.300000000,POSE1_TO_POSE2_PRESS,788.789748304,745,729,708,690.210251696,651,932,798.789748304,836.789748304,667,656,674,0.44916802597,0.00475822007336,0.0796937514573,0.999999858291,0.000265940039882,-0.000455947179203,-6.9325661752e-05,1793256163777989632
+199,3.316666667,POSE1_TO_POSE2_PRESS,789,745,728.624817028,708,689.624817028,651,932,799,836.624817028,667,656,674,0.44965058915,0.00476339699021,0.0796940413958,0.999999858665,0.000272846884094,-0.000450894378651,-7.01353124892e-05,1793256163794656000
+200,3.333333333,POSE1_TO_POSE2_PRESS,789,745,728.035321554,708,689.035321554,651,932,799,836.035321554,667,656,674,0.450139360894,0.00475927858278,0.07970994315,0.999999872572,0.000271769416132,-0.000419654987154,-6.9913859834e-05,1793256163811322624
+201,3.350000000,POSE1_TO_POSE2_PRESS,788.457158004,745,728.542841996,708,688.457158004,651,932,798.457158004,836,667,656,674,0.450593030646,0.00475710862985,0.0797357908913,0.999999886746,0.00027108447133,-0.000384865781563,-6.99954652027e-05,1793256163827989248
+202,3.366666667,POSE1_TO_POSE2_PRESS,788.119725736,745,729,708,687.880274264,650.880274264,932,798,836,667,656,673.880274264,0.45102741898,0.00475564634349,0.0797564960899,0.999999896338,0.000271907355421,-0.000358505382603,-6.97434984289e-05,1793256163844656384
+203,3.383333333,POSE1_TO_POSE2_PRESS,788.694490596,745,729,708,687.305509404,650.305509404,932,798,836,667,656,673.305509404,0.451397028245,0.00475640166674,0.0797552467742,0.999999892307,0.000278365927567,-0.00036504009052,-6.81503169206e-05,1793256163861323008
+204,3.400000000,POSE1_TO_POSE2_PRESS,788.731632745,745,728.731632745,708,687,650,932,798,836,667.268367255,656,673.268367255,0.451725932159,0.0047536205758,0.0797376988209,0.99999987959,0.000280664063144,-0.000396902163317,-6.71982365318e-05,1793256163877989632
+205,3.416666667,POSE1_TO_POSE2_PRESS,788.158763912,745,728.158763912,708,687,650,932,798,836,667.841236088,656,673.841236088,0.452008649923,0.00474682690997,0.0797016576991,0.999999854394,0.000278241578849,-0.000457501803842,-6.6973578272e-05,1793256163894656256
+206,3.433333333,POSE1_TO_POSE2_PRESS,788.430730827,745,728.430730827,708,686.138538346,650,932,798,836,667.569269173,656,674,0.452284988155,0.00473603319204,0.0796701582032,0.999999835455,0.000264393789105,-0.000504393978405,-6.90842120216e-05,1793256163911322880
+207,3.450000000,POSE1_TO_POSE2_PRESS,788.974275665,745,729,707.974275665,685,649.974275665,932,798,836,667,656,674,0.452558052226,0.00472396509514,0.0796415353566,0.999999819368,0.000244614890829,-0.000544282332185,-7.19978925535e-05,1793256163927989504
+208,3.466666667,POSE1_TO_POSE2_PRESS,788.39801758,745,729,707.39801758,685,649.39801758,932,798,836,667,656,674,0.452813389523,0.00471744427352,0.079637212217,0.999999829508,0.000191647855801,-0.000546750401465,-7.29366202992e-05,1793256163944656128
+209,3.483333333,POSE1_TO_POSE2_PRESS,788,745,728.822738125,707,684.822738125,649.177261875,932,798,836,667,656,674,0.453058700925,0.0047147533474,0.0796344026727,0.999999833695,0.000160787315333,-0.000548976851122,-7.33570541563e-05,1793256163961322752
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+212,3.533333333,POSE1_TO_POSE2_PRESS,788,745,728,707.9257663,683.0742337,650,932,798,836,667,656,674,0.453676010714,0.00472952880997,0.0796339956861,0.999999816299,0.000238020900063,-0.000554114738164,-6.08613035714e-05,1793256164011323136
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+214,3.566666667,POSE1_TO_POSE2_PRESS,788.914073591,745,728,708,683,650,932,797,836,667,656,674,0.453971298624,0.00472926123946,0.0796183919634,0.999999801478,0.000238846127548,-0.000579630165802,-6.34400296596e-05,1793256164044656128
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+216,3.600000000,POSE1_TO_POSE2_PRESS,788,745,728,708,682.76516535,649.76516535,932,797.23483465,836,667,656,674,0.454184193902,0.00472858433462,0.0795916906747,0.999999777155,0.000235938880645,-0.000620981982932,-6.63692319934e-05,1793256164077989888
+217,3.616666667,POSE1_TO_POSE2_PRESS,788,745,728,708,682.191355728,649.191355728,932,797.808644272,836,667,656,674,0.4542794749,0.0047284643589,0.0795886944586,0.99999977317,0.000236123651125,-0.000627245602185,-6.68404623881e-05,1793256164094656512
+218,3.633333333,POSE1_TO_POSE2_PRESS,788,745,728,708,682,649.394801267,932,797.605198733,836,667,656,674,0.454366068982,0.00473057189025,0.0795890104658,0.999999772736,0.000236596628144,-0.000627658109633,-6.77921862371e-05,1793256164111323136
+219,3.650000000,POSE1_TO_POSE2_PRESS,788,745,728,708,682,649.987136087,932,797.012863913,836,667,656,674,0.454448316678,0.00473379392507,0.0795909836999,0.999999774083,0.000237213805459,-0.000625143091068,-6.89843185696e-05,1793256164127989760
+220,3.666666667,POSE1_TO_POSE2_PRESS,788,745,728.566684499,708,682,649.433315501,932,797,836,667,656,674,0.454511610361,0.00473270827179,0.0795932662441,0.999999776968,0.000236771637593,-0.000620750126361,-6.83482151123e-05,1793256164144656640
+221,3.683333333,POSE1_TO_POSE2_PRESS,788,745,729,707.855424308,681.855424308,649,932,797,836,667,656,674,0.454568906224,0.00473151582592,0.0795950272851,0.999999779131,0.000236024726302,-0.000617600196512,-6.78311031954e-05,1793256164161323264
+222,3.700000000,POSE1_TO_POSE2_PRESS,788,745,729,707.281610681,681.281610681,649,932,797,836,667,656,674,0.454609644089,0.00473029023359,0.0795952196226,0.999999779095,0.000234442867561,-0.000618264548723,-6.77877683529e-05,1793256164177989888
+223,3.716666667,POSE1_TO_POSE2_PRESS,788,745,728.707730665,707.292269335,681,649,932,797.292269335,836,667,656,674,0.45464284356,0.00473006139857,0.0795945869279,0.999999777484,0.000235330348293,-0.000620549544661,-6.76033615596e-05,1793256164194656512
+224,3.733333333,POSE1_TO_POSE2_PRESS,788,745,728.1337866,707.8662134,681,649,932,797.8662134,836,667,656,674,0.454668777905,0.00473079318882,0.0795931591078,0.999999774337,0.000238597656086,-0.000624396436934,-6.72829965911e-05,1793256164211323136
+225,3.750000000,POSE1_TO_POSE2_PRESS,788,745,728,708,681,649,932.455312695,797.544687305,836,667,656,674,0.454692089187,0.00473290547251,0.0795943319427,0.999999775194,0.000240969450684,-0.000622098210384,-6.73762158623e-05,1793256164227989760
+226,3.766666667,POSE1_TO_POSE2_PRESS,788,745,728.047401211,708,681,649,932.952598789,797.047401211,836,667,656,674,0.454713341468,0.00473505956882,0.0795959000986,0.999999776912,0.0002427048531,-0.000618636132636,-6.75251763706e-05,1793256164244656384
+227,3.783333333,POSE1_TO_POSE2_PRESS,788,745,728.621519594,708,681,649,932.378480406,797.621519594,836,667,656,674,0.454720573696,0.00473301569733,0.0795930773652,0.999999774806,0.000240393311881,-0.000622996468643,-6.68966558388e-05,1793256164261323264
+228,3.800000000,POSE1_TO_POSE2_PRESS,788,745,728.803333062,708,681,649,932,797.803333062,836.196666938,667,656,674,0.45472711764,0.00473146188017,0.0795911931898,0.999999773531,0.000238382370381,-0.000625868197515,-6.63355069894e-05,1793256164277989888
+229,3.816666667,POSE1_TO_POSE2_PRESS,788,745,728.226195128,708,681,649,932,797.226195128,836.773804872,667,656,674,0.454732330033,0.00473085612011,0.079591124745,0.999999773904,0.000236952967931,-0.000625860073325,-6.59046951412e-05,1793256164294656512
+230,3.833333333,POSE1_TO_POSE2_PRESS,788,745,728.35879991,708,681,649,932,797,836.64120009,667,656,674,0.454734749806,0.0047306594739,0.0795896057365,0.999999772577,0.000236263786255,-0.000628263873217,-6.56521053365e-05,1793256164311323136
+231,3.850000000,POSE1_TO_POSE2_PRESS,788,745,728.94885911,708,681,649,932,797,836.05114089,667,656,674,0.454735369636,0.00473072651614,0.0795871517883,0.999999770141,0.000236051703219,-0.000632222243863,-6.55143859865e-05,1793256164327989760
+232,3.866666667,POSE1_TO_POSE2_PRESS,788.528789506,745,728.471210494,708,681,649,932,797.528789506,836,667,656,674,0.454736815667,0.00473030150392,0.0795871275156,0.999999770237,0.000234882985475,-0.000632519486166,-6.53886401663e-05,1793256164344656640
+233,3.883333333,POSE1_TO_POSE2_PRESS,788.892963263,745,728,708,681,649,932.107036737,797.892963263,836,667.107036737,656,674,0.454738189257,0.00473039710379,0.0795872350578,0.999999770239,0.000234628119548,-0.000632620372374,-6.52861569317e-05,1793256164361323008
+234,3.900000000,POSE1_TO_POSE2_PRESS,788.317873329,745,728,708,681,649,932.682126671,797.317873329,836,667.682126671,656,674,0.454738903236,0.00473297343427,0.0795869107815,0.999999768778,0.000238766336892,-0.000633381854173,-6.52804284561e-05,1793256164377989632
+235,3.916666667,POSE1_TO_POSE2_PRESS,788,745,728,708,681,649,932.742770187,797.257229813,836.257229813,667.742770187,656,674,0.454738926714,0.00473392407348,0.0795861941012,0.99999976798,0.000239581343742,-0.000634343543428,-6.51892387975e-05,1793256164394656512
+236,3.933333333,POSE1_TO_POSE2_PRESS,788,745,728,708,681,649,932.167650644,797.832349356,836.832349356,667.167650644,656,674,0.454738096858,0.0047328656514,0.0795849924799,0.999999768008,0.000236289461398,-0.000635552653156,-6.49924345057e-05,1793256164411323392
+237,3.950000000,POSE1_TO_POSE2_PRESS,788,745,728.418810423,707.581189577,681,649,932.418810423,797.581189577,836.581189577,667.418810423,656,674,0.454739616374,0.00473018470594,0.0795848622586,0.999999769228,0.000232760555368,-0.000634985234662,-6.45005170974e-05,1793256164427990016
+238,3.966666667,POSE1_TO_POSE2_PRESS,788,745,728.990273181,707,681,649,932.990273181,797,836,667.990273181,656,674,0.454742082636,0.00472691458825,0.0795851741505,0.999999770901,0.000229209905487,-0.000633700557456,-6.39036352947e-05,1793256164444656640
+239,3.983333333,POSE1_TO_POSE2_PRESS,788,745,728.411698781,707,681,649,932.411698781,797,836,667.411698781,656,674,0.454743385798,0.00472822978795,0.0795855616091,0.999999770982,0.000230090928498,-0.000633216102924,-6.42692623211e-05,1793256164461323008
+240,4.000000000,POSE1_TO_POSE2_PRESS,788,745.166254186,728,707.166254186,680.833745814,649,932,797,836,667,656,674,0.454744032801,0.00472895386113,0.0795858433253,0.999999770891,0.000230694465211,-0.000633129826625,-6.43836251875e-05,1793256164477989888
+241,4.016666667,POSE1_TO_POSE2_PRESS,788,745.742673984,728,707.742673984,680.257326016,649,932,797,836,667,656,674,0.454743060994,0.00472821956634,0.0795858641645,0.999999770374,0.000230613415581,-0.000634025895654,-6.38780943624e-05,1793256164494656512
+242,4.033333333,POSE1_TO_POSE2_PRESS,788.316350459,745.683649541,728,708,680.316350459,649,932,797,836,667,656,674,0.454742636482,0.0047291375648,0.0795856781527,0.99999976944,0.000232724021532,-0.000634746078927,-6.37013892086e-05,1793256164511322880
+243,4.050000000,POSE1_TO_POSE2_PRESS,788.887814616,745.112185384,728,708,680.887814616,649,932,797,836,667,656,674,0.454742653324,0.00473138801794,0.0795853253306,0.999999768157,0.000236602038736,-0.000635324423045,-6.37898581305e-05,1793256164527989760
+244,4.066666667,POSE1_TO_POSE2_PRESS,788.520110781,745,728,707.520110781,680.520110781,649,932,797,836.479889219,667,656,674,0.454742720062,0.00472964809814,0.0795852249465,0.999999768896,0.000233555996369,-0.000635319101804,-6.34701435256e-05,1793256164544656384
+245,4.083333333,POSE1_TO_POSE2_PRESS,788,745,728.074139402,707,680,649,932,797,836.925860598,667,656,674,0.454742972584,0.00472746949183,0.0795852459175,0.999999769954,0.000229733237723,-0.000635078894083,-6.31678357059e-05,1793256164561323008
+246,4.100000000,POSE1_TO_POSE2_PRESS,788,745,728.649078465,707,680,649,932,797,836.350921535,667,656,674,0.454744397717,0.00472891160795,0.0795856701077,0.999999769927,0.000232088347771,-0.000634215094024,-6.36565968328e-05,1793256164577989888
+247,4.116666667,HOLD_POSE2,789,745,728,708,680,649,932,797,836,667,656,674,0.454742958591,0.00472635173002,0.0795845829124,0.999999769344,0.000226783217936,-0.000637079971831,-6.33218916367e-05,1793256164619257856
+248,4.133333333,HOLD_POSE2,789,745,728.63966025,708,680,649,932,797,836,667,656,674,0.45474184123,0.00472764633876,0.0795832023066,0.999999767505,0.000229140629733,-0.000639110090107,-6.34309056792e-05,1793256164635924480
+249,4.150000000,HOLD_POSE2,788.74802896,745,728.74802896,708,680,649,932,797,836,667,656,674,0.454742222347,0.00472864213477,0.0795827898382,0.999999767214,0.00023074202285,-0.000638976708981,-6.35448702181e-05,1793256164652590848
+250,4.166666667,HOLD_POSE2,788.171000491,745,728.171000491,708,680,649,932,797,836,667,656,674,0.454744536588,0.00472925244499,0.0795836263238,0.999999768926,0.000231368107822,-0.000636052286928,-6.36652212033e-05,1793256164669257472
+251,4.183333333,HOLD_POSE2,788,745,728.405147678,708,680,649,932,797.405147678,836,667,656,674,0.454745673153,0.00472870805083,0.079584621356,0.999999770086,0.000230359332312,-0.000634603301572,-6.35684416048e-05,1793256164685924352
+252,4.200000000,HOLD_POSE2,788,745,728.98092507,708,680,649,932,797.98092507,836,667,656,674,0.454746313734,0.00472767734782,0.0795856831608,0.999999771012,0.000228662028132,-0.000633775703,-6.33802165055e-05,1793256164702590976
+253,4.216666667,HOLD_POSE2,788,745,728.43094398,708,680,649,932,797.43094398,836,667,656,674,0.454746333462,0.00472802303786,0.0795856791561,0.99999977053,0.000228671910185,-0.000634514298934,-6.35643875299e-05,1793256164719257600
+254,4.233333333,HOLD_POSE2,788,745,728,708,680,649,932,797,836.15513218,667,656,674,0.454746204808,0.00472832546031,0.079585266579,0.999999770012,0.00022860275245,-0.000635337236557,-6.37391163868e-05,1793256164735924224
+255,4.250000000,HOLD_POSE2,788,745,728,708,680,649,932,797,836.73443266,667,656,674,0.454745728605,0.00472838062967,0.0795838367192,0.99999976953,0.000228157541148,-0.000636244053413,-6.38531396823e-05,1793256164752590848
+256,4.266666667,HOLD_POSE2,788,745,728,708,680,649,932,797,836.688454967,667,655.688454967,674,0.454745669246,0.00472846493156,0.0795838164201,0.999999769526,0.000228150192989,-0.000636255680624,-6.38265572807e-05,1793256164769257472
+257,4.283333333,HOLD_POSE2,788,745,728,708,680,649,932,797,836.113194803,667,655.113194803,674,0.454745962733,0.0047285738934,0.0795849892793,0.999999769927,0.000228513485125,-0.000635509551993,-6.36809556436e-05,1793256164785924096
+258,4.300000000,HOLD_POSE2,788.468375882,745,728,707.531624118,680,649.468375882,932,797.468375882,836,667,655.468375882,674,0.454746404768,0.00473004403172,0.0795849006376,0.999999769449,0.000230370368838,-0.000635579890185,-6.3796507984e-05,1793256164802590720
+259,4.316666667,HOLD_POSE2,788.948507033,745,728,707.051492967,680,649.948507033,932,797.948507033,836,667,656,674,0.45474687887,0.00473166134311,0.0795846157289,0.999999768917,0.000232337838216,-0.000635682632958,-6.39707485235e-05,1793256164819257344
+260,4.333333333,HOLD_POSE2,788.365385483,745,728,707.634614517,680,649.365385483,932,797.365385483,836,667,656,674,0.454747308321,0.00473135542154,0.0795854950936,0.999999770098,0.000231669430433,-0.000634054920682,-6.40903921006e-05,1793256164835924224
+261,4.350000000,HOLD_POSE2,788,745,728,708,680,649,932,797,836,667,656,674,0.454747277949,0.00473069365474,0.0795855358066,0.999999770417,0.000230565081708,-0.000633943820251,-6.41891705168e-05,1793256164852591104
+262,4.366666667,HOLD_POSE2,788,745,728,708,680,649,932,797,836,667,656,674,0.454746475944,0.00472943473966,0.0795841691678,0.999999769289,0.000228729175007,-0.000636377764595,-6.42529348685e-05,1793256164869257728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,788,745,728,708,680,649,932,798,837,667,656,674,0.454746757551,0.00472899212812,0.07958450908,0.99999976917,0.000229779026933,-0.000636267421375,-6.34525425305e-05,1793256164904265472
+264,4.400000000,POSE2_TO_POSE3_RETREAT,788.578443215,745,728.578443215,708,680,649,932,797.421556785,837,667,656,674,0.454746648648,0.00473071528246,0.0795843308415,0.999999768267,0.000233196502717,-0.00063644976261,-6.33735525706e-05,1793256164920932352
+265,4.416666667,POSE2_TO_POSE3_RETREAT,788.839753247,745,728.839753247,708,680,649,932,797,836.839753247,667,656,674,0.454746866472,0.00473071439145,0.079584451463,0.999999768299,0.000233868305136,-0.000636163622633,-6.32718207049e-05,1793256164937599232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,788.248920327,745,728.248920327,708,680,649,932,797,836.248920327,667,656,674,0.454747962219,0.00472608095715,0.0795853751272,0.999999770837,0.000227162430153,-0.000634618664493,-6.31089808744e-05,1793256164954265600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,788,745,728,708,680,649,932,797,836,667,656,674,0.454748076718,0.00472511956898,0.079585229255,0.999999770923,0.000226734913989,-0.000634652761086,-6.29429705793e-05,1793256164970932480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,788,745,728,708,680,649,932,797,836,667,656,674,0.454747476844,0.00472683151577,0.0795843047353,0.999999769233,0.000230878188941,-0.000635836446214,-6.2774652123e-05,1793256164987599104
+269,4.483333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.512860085,680,649.487139915,932,797,836.487139915,667,656,674,0.454747586908,0.00472791236124,0.0795846809632,0.999999768934,0.000230931543552,-0.00063628563496,-6.27923912822e-05,1793256165004265728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,788,745,728.06543386,707.06543386,680,649.93456614,932,797,836.93456614,667,655.93456614,674,0.454747995691,0.00472883200907,0.0795853960289,0.999999769123,0.00023047554,-0.000636146865713,-6.28736851619e-05,1793256165020932608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788,745,728.653636565,707.653636565,680,649.346363435,932,797,836.346363435,667,655.346363435,674,0.454749744144,0.00472939443894,0.0795869000552,0.999999771135,0.000231981208071,-0.000632393842591,-6.31883709376e-05,1793256165037599232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,788,745,728.76194991,708,680,649,932,797,836,667,655.23805009,674,0.454749090662,0.00472937269551,0.0795865783284,0.999999771561,0.000231999192566,-0.000631698043896,-6.33398117495e-05,1793256165054265856
+273,4.550000000,POSE2_TO_POSE3_RETREAT,788,745,728.182963315,708,680,649,932,797,836,667,655.817036685,674,0.454744997118,0.00472851429617,0.0795836417486,0.999999769721,0.000229886509236,-0.000635380817307,-6.32574522993e-05,1793256165070932480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,788,745,728.395198647,708,680,649,932,797.395198647,836.395198647,667.395198647,656,674,0.454726956803,0.00472728485795,0.0795745021568,0.999999760405,0.000229389577829,-0.00065008527637,-6.29231474389e-05,1793256165087599104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,788,745,728.972979678,708,680,649,932,797.972979678,836.972979678,667.972979678,656,674,0.454702473058,0.00472588399913,0.0795624967637,0.999999747311,0.000229639126043,-0.000669881771316,-6.24724433826e-05,1793256165104265728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,788,745,728.453928698,708,680,649,932.546071302,797.453928698,837,667.453928698,656,674,0.454653399633,0.00472694342623,0.0795439416347,0.999999724688,0.00022860361614,-0.000703192029266,-6.23364546603e-05,1793256165120932352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,788,745,728.122631795,708,680,649,932.877368205,797,836.877368205,667.122631795,656,674,0.454598919134,0.00472779031544,0.0795251383959,0.999999701454,0.000228377868153,-0.000735587158369,-6.20242947637e-05,1793256165137598976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,788,745,728.713310098,708,680,649,932.286689902,797,836.286689902,667.713310098,656,674,0.454528405864,0.00472736533587,0.0795066146096,0.999999681057,0.000231483346494,-0.00076195914069,-6.09808164592e-05,1793256165154265856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,788,745,728.701969112,708,680,649,932,797,836,667.701969112,656,674,0.454452316565,0.00472666213381,0.0794935785819,0.999999667067,0.000233205931245,-0.000779698538096,-5.95930452653e-05,1793256165170932480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,788,745,728.122866856,708,680,649,932,797,836,667.122866856,656,674,0.454370968544,0.00472569654159,0.0794857180315,0.99999965954,0.000233624316209,-0.000789296588667,-5.78805733405e-05,1793256165187598848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,788,745,728,708,680,649,932,797,836,667,656,674,0.454274344003,0.00472483594375,0.0794826626089,0.999999654383,0.000235615953334,-0.000795403914769,-5.52446015696e-05,1793256165204265472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,788,745,728.030899139,708,680,649,932,797.030899139,836.030899139,667,656,674,0.454172188687,0.00472403090421,0.0794807518178,0.999999649866,0.000238043246646,-0.000800537727216,-5.23715288048e-05,1793256165220932096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,788,745,728.604929534,708,680,649,932,797.604929534,836.604929534,667,656,674,0.454045130912,0.00472370542741,0.079476214633,0.999999645721,0.000240680947344,-0.000805083727013,-4.9702406108e-05,1793256165237598976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,788,745,728.815960262,707.815960262,680,649,932,797.815960262,836.815960262,667,656,674,0.45390998583,0.00472347921369,0.0794729769002,0.999999642424,0.000243627711813,-0.000808465853141,-4.66879138086e-05,1793256165254265856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,788,745,728.357688321,707,680.357688321,649,932,797,836,667,655.642311679,674,0.453590656958,0.00472164767756,0.0794760976492,0.999999644448,0.000250466552055,-0.000804305824216,-3.8243635383e-05,1793256165287599104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,788,745,728.936681754,707,680.936681754,649,932,797,836,667,655.063318246,674,0.453416078093,0.00471869879688,0.079481975006,0.999999650733,0.000253416941279,-0.000795753443808,-3.30253693993e-05,1793256165304265728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,788,745,729,707.510921364,681,649,932,797,836,667,655.510921364,674,0.453209604322,0.00471794423662,0.079488897371,0.999999656445,0.000258953166246,-0.000786948781705,-2.76527333138e-05,1793256165320932352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,788,745.086793856,729,708,681,649,932.086793856,797,836.086793856,667,656,674,0.45299288343,0.00471762759357,0.0794956449507,0.999999661613,0.000265039279877,-0.000778485130945,-2.20984147487e-05,1793256165337599232
+290,4.833333333,POSE2_TO_POSE3_RETREAT,788,745.675484296,729,708,681,649,932.675484296,797,836.675484296,667,656,674,0.452739553568,0.00471828522506,0.0795006398251,0.999999664633,0.000272469171626,-0.00077217254687,-1.56030995107e-05,1793256165354265600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,788,745.740247306,728.740247306,708,681.259752694,649.259752694,932.740247306,797,836.740247306,667,656,674,0.45246942375,0.00471738922131,0.0795061909845,0.999999667308,0.000280325986113,-0.000765980210121,-8.65595567269e-06,1793256165370932480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,788,745.161411036,728.161411036,708,681.838588964,649.838588964,932.161411036,797,836.161411036,667,656,674,0.452178656664,0.00471458471183,0.0795124254912,0.999999669572,0.000288707237585,-0.000759935587137,-1.15378011608e-06,1793256165387599104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,788.417233327,745,728.417233327,708,682.417233327,650,932,797.417233327,836,667.417233327,656,674,0.451865195741,0.0047249173476,0.0795208565848,0.999999673044,0.000308071216741,-0.000747661774201,2.5408256192e-06,1793256165404265728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,788.995803469,745,728.995803469,708,682.995803469,650,932,797.995803469,836,667.995803469,656,674,0.451542959514,0.00474032988724,0.0795301370599,0.999999676353,0.000331682023818,-0.000732979242356,4.76311066139e-06,1793256165420932352
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,789,745,729,708,683.143221713,649.143221713,932,798,836,667,656,674,0.450834985351,0.00474497231482,0.0795576241602,0.999999706562,0.000342554252452,-0.00068509908722,1.31357160058e-05,1793256165454265856
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,789,745.320597186,729,708,684.320597186,650,932,798,836,667,656,674,0.450017335003,0.0047276332572,0.0795951458136,0.999999768813,0.00028417779388,-0.000617672055052,9.93472100439e-06,1793256165487599104
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,788,745,729,707.948896205,687,650.948896205,932,798,836,667,656,674,0.448551182804,0.00471948077746,0.0795953792494,0.999999772361,0.000251515951927,-0.000625932147016,1.50794006279e-05,1793256165537598976
+302,5.033333333,POSE2_TO_POSE3_RETREAT,788,745,729,707.374983209,687,650.374983209,932,798,836,667,656,674,0.447984191712,0.00471137076433,0.0795713306956,0.999999748882,0.000241332622906,-0.000666120644987,1.66590983526e-05,1793256165554265600
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,788.79983259,745,729,707,687.79983259,650.79983259,932,798,836,667,656,674,0.44684335737,0.00469721602629,0.0795651199046,0.999999730557,0.000309735317887,-0.000665333064943,1.67962322411e-05,1793256165587599104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,789,745,729,707.382801604,688.765603209,651,932,798.382801604,836,667,656,674,0.446265215274,0.00468925762314,0.0795978632084,0.999999763044,0.00030618982516,-0.000616297942172,1.83247150935e-05,1793256165604265984
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,789,745,729,708,690.700113926,652,932,799,836,667,656,673.299886074,0.443714728213,0.00465106492062,0.0797154729948,0.999999871355,0.000211700972522,-0.000460127856002,2.74824702345e-05,1793256165670932224
+310,5.166666667,POSE2_TO_POSE3_RETREAT,789,745,729,708,691.285969422,652,932,799,836,667,656,673.285969422,0.443000061091,0.00464102866464,0.0797202868748,0.999999877078,0.000208149055625,-0.000449100487693,2.87402082176e-05,1793256165687598848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,789,745,729,708,691.864115507,652,932,799,836,667,656,673.864115507,0.442256148341,0.00463207310694,0.0797215996546,0.999999880917,0.000215827763393,-0.000436698294445,2.96412700067e-05,1793256165704265472
+312,5.200000000,POSE2_TO_POSE3_RETREAT,789,745.439792826,728.560207174,707.560207174,692.439792826,652.439792826,932,799,836,667,656,674,0.441505777067,0.00462251364904,0.0797317793693,0.999999894667,0.000195939261437,-0.000413942541637,3.04332189112e-05,1793256165720932352
+313,5.216666667,POSE2_TO_POSE3_RETREAT,789,746,728.014689862,707.014689862,693.014689862,653,932,799,836,667,656,674,0.440750709985,0.00461278267675,0.0797431701492,0.999999908961,0.000168724792782,-0.000390682962894,3.12395858921e-05,1793256165737599232
+314,5.233333333,POSE2_TO_POSE3_RETREAT,789,746,728.588759717,707.588759717,693.588759717,653,932,799,836,667,656,674,0.43989239161,0.0046035860649,0.0796969357899,0.999999872145,0.000185074334621,-0.000469372973593,3.38715898047e-05,1793256165754265856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,789,746,729,708,694,653,932,799,836,667,656,674,0.439058098341,0.0045941630114,0.0796741184771,0.999999853051,0.000187689556822,-0.000507367425147,3.53268423806e-05,1793256165770932480
+316,5.266666667,POSE2_TO_POSE3_RETREAT,789,746,729,708,694,653,932,799,836,667,656,674,0.438284482617,0.00458416806039,0.0797104429551,0.999999889381,0.000155617561051,-0.000442581702303,3.38101072941e-05,1793256165787599104
+317,5.283333333,POSE2_TO_POSE3_RETREAT,789,746,729,708,694,653,932,799,836,667,656,674,0.437491326014,0.00457577664348,0.0797701584391,0.999999927248,0.000145168958039,-0.000350968964531,3.53552578832e-05,1793256165804265472
+318,5.300000000,POSE2_TO_POSE3_RETREAT,789,746,729,708,694,653,932,799,836,667,656,674,0.436681227828,0.00456877546518,0.0798501535443,0.999999959571,0.000153467486773,-0.000236097640662,3.9555013562e-05,1793256165820932096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,789,746.499517368,729,708,694.499517368,653,932,799.499517368,836,667,656,674,0.435825076842,0.00455761511427,0.0798705530311,0.999999968107,0.000139041385936,-0.000206717772676,4.1495136148e-05,1793256165837598976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,789,747.073722483,729,707.926277517,695,653,932,800,836,667,656,674,0.434954693389,0.00454573405081,0.0798762744685,0.999999972042,0.000122275701798,-0.000197790992189,4.29332628935e-05,1793256165854265856
+321,5.350000000,POSE2_TO_POSE3_RETREAT,789,747.648708653,729,707.351291347,695,653,932,800,836,667,656,674,0.434034285911,0.00453317448323,0.0798426887336,0.99999996364,0.000112669528682,-0.00024115168149,4.32518395943e-05,1793256165870932736
+322,5.366666667,POSE2_TO_POSE3_RETREAT,789,748,729,707.230463609,695,653,932,800,836,667,656,674,0.433084017005,0.0045229585978,0.079799451888,0.999999944749,0.000104557030933,-0.00031243014889,4.42314869052e-05,1793256165887599616
+323,5.383333333,POSE2_TO_POSE3_RETREAT,789,748,729,707.82284839,695,653,932,800,836,667,656,674,0.432086853423,0.00451642324026,0.0797410588863,0.999999902651,9.87902060448e-05,-0.00042755083523,4.62492824649e-05,1793256165904265728
+324,5.400000000,POSE2_TO_POSE3_RETREAT,789,748,729,708,695,653,932,800,836,667,656.405028715,674,0.431125355198,0.00450382327271,0.0797208373689,0.99999988581,8.85620326806e-05,-0.00046713335991,4.81978319167e-05,1793256165920932096
+325,5.416666667,POSE2_TO_POSE3_RETREAT,789,748,729,708,695,653,932,800,836,667,656.982855464,674,0.430179073,0.00448863595154,0.0797169010148,0.999999883253,7.64305079422e-05,-0.000474488915583,5.01168388372e-05,1793256165937598720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,789.557603469,748,729,708,695,653.557603469,932,800,836,667,656.442396531,674,0.429356390096,0.00447934725551,0.0797972212144,0.999999940647,6.69152878928e-05,-0.000334364531831,4.92851750148e-05,1793256165954265344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,790,748,729,708,695,654,932,800,836,667,656,674,0.428517750685,0.00447030854231,0.0798617746743,0.999999972365,5.73729963394e-05,-0.000222659081031,4.89981243052e-05,1793256165970932224
+328,5.466666667,POSE2_TO_POSE3_RETREAT,790,748,729,708,695,654,932,800,836,667,656,674,0.427613095286,0.00446150268855,0.0798649709325,0.99999997314,4.7472554163e-05,-0.000221098672214,5.08141351089e-05,1793256165987598848
+329,5.483333333,POSE2_TO_POSE3_RETREAT,789.692527363,748.307472637,728.692527363,708,694.692527363,653.692527363,931.692527363,800,836,667,656,674,0.426666374238,0.00445059292313,0.0798375066831,0.999999963106,3.63708059687e-05,-0.000264270955304,5.12456651213e-05,1793256166004265728
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,789.389636741,748.389636741,729,708,695,653,931,800,836,667,656,673.389636741,0.422823191991,0.00447235082153,0.0797409837313,0.999999912503,7.54466282847e-05,-0.000407957562408,5.35944821405e-05,1793256166070932480
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.630703897,931,801,836,667,656,673.630703897,0.420331971399,0.00449384340699,0.0798624130371,0.999999973959,0.000101765627469,-0.000197352748098,5.27030882151e-05,1793256166120932608
+337,5.616666667,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.04876815,931,801,836,667,656,673.04876815,0.419448985245,0.00447714761456,0.0798666656122,0.999999977039,8.01735092813e-05,-0.000191580685253,5.28351927973e-05,1793256166137599232
+338,5.633333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,931,801,836,667,656,673.526974896,0.41852317489,0.00446881031011,0.0798259118085,0.999999961427,6.75520698733e-05,-0.000264414250844,5.16532174896e-05,1793256166154266112
+339,5.650000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,931,801,836,667,656,674,0.417613929058,0.0044628354426,0.079791353426,0.999999943097,5.90109064302e-05,-0.000328234209318,5.0843457252e-05,1793256166170932736
+340,5.666666667,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,931,801,836,667,656,674,0.416799525806,0.00446425983304,0.0798045464733,0.999999946231,6.55643696444e-05,-0.000317021587702,5.23138738245e-05,1793256166187599360
+341,5.683333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,930.747397639,801,836,666.747397639,656,673.747397639,0.41597918315,0.0044706639167,0.0798025176086,0.99999994215,7.6909145916e-05,-0.000327028477548,5.32728456056e-05,1793256166204265728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,930.149644314,801,836,666.149644314,656,673.149644314,0.415150725074,0.00448387215644,0.0797796898176,0.999999927085,9.48006787537e-05,-0.000366029296651,5.35329889683e-05,1793256166220932352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,790,749,728.570107733,708,695,653,930,801,836,666,656,673,0.414387177612,0.00448821080109,0.0797734950248,0.999999926222,9.50081288003e-05,-0.000368537401485,5.20635128715e-05,1793256166237598976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930.003358256,801,836,666,656,673,0.413645412477,0.00448952604011,0.0797729891236,0.999999930422,8.93874374348e-05,-0.000358694909807,5.00378635402e-05,1793256166254265856
+345,5.750000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930.579001389,801,836,666,656,673,0.412921665015,0.00448037156484,0.0797953804802,0.999999942475,9.69551798208e-05,-0.000320906398306,5.16635853866e-05,1793256166270932480
+346,5.766666667,POSE2_TO_POSE3_RETREAT,790,749,728.158349879,708,695,653,930.841650121,801,836,666.158349879,656,673,0.412199606904,0.00447299064673,0.0798074339586,0.99999994794,9.97104996676e-05,-0.000302271227045,5.30061259895e-05,1793256166287599104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,790,749,728.747785831,708,695,653,930.252214169,801,836,666.747785831,656,673,0.411482147659,0.00447043799547,0.0797913439707,0.999999938198,8.93646536454e-05,-0.000335778419938,5.35777445583e-05,1793256166304265984
+348,5.800000000,POSE2_TO_POSE3_RETREAT,790,749,728.668450145,708.331549855,695,653,930,801,836,666.668450145,656,673,0.410796111217,0.00447325413644,0.0797838842455,0.999999932831,8.8455884471e-05,-0.000351563354077,5.40153202298e-05,1793256166320932608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,790,749,728.088928293,708.911071707,695,653,930,801,836,666.088928293,656,673,0.410133576489,0.0044800856922,0.0797828792474,0.999999931357,9.46052725871e-05,-0.000354093495781,5.43526428477e-05,1793256166337599232
+350,5.833333333,POSE2_TO_POSE3_RETREAT,790.485597783,749,728.485597783,708.514402217,695,653,930.485597783,801,836,666,656,673,0.409539659302,0.00448680383765,0.079807302805,0.999999944931,0.000106263737011,-0.000309640688203,5.44880994837e-05,1793256166354266112
+351,5.850000000,POSE2_TO_POSE3_RETREAT,790.941689788,749,729,708,695,653.058310212,931,801,836,666,656,673,0.408957879756,0.00449232942127,0.0798338656625,0.999999957485,0.000116028847801,-0.000261890550116,5.45971172416e-05,1793256166370932480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,790.376865412,749,729,708,695,653.623134588,931,801,836,666,656,673,0.408373490428,0.00448767433917,0.0798389723134,0.999999959767,0.000100672775012,-0.000259476486725,5.4794328165e-05,1793256166387599104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790,749,728.798249296,708,695,653.798249296,930.798249296,801,836,666,656,672.798249296,0.407784373998,0.0044840879284,0.0798270657386,0.999999953294,9.51657563042e-05,-0.000285260381568,5.46118180773e-05,1793256166404265728
+354,5.900000000,POSE2_TO_POSE3_RETREAT,790,749,728.191980254,708,695,653.191980254,930.191980254,801,836,666,656,672.191980254,0.407185779607,0.00448264424758,0.0797810469561,0.999999925017,0.000109406491726,-0.000367582324853,5.36679517133e-05,1793256166420932352
+355,5.916666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.393087677,0.406667051419,0.00448384485272,0.0797625169672,0.999999915373,0.000108162521624,-0.000393346954257,5.32202217422e-05,1793256166437601280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672.968331123,0.406185332963,0.00448627081273,0.0797567252071,0.999999916435,9.97429822372e-05,-0.000392903085018,5.30024000648e-05,1793256166454271232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,790.542460506,749,728.542460506,708,695,653,930,801,836,665.457539494,656,673,0.405768802773,0.00449001813566,0.0797824750954,0.999999933382,0.000113141722037,-0.000343079947814,5.22628959602e-05,1793256166470935296
+358,5.966666667,POSE2_TO_POSE3_RETREAT,790.879583541,749,728.879583541,708,695,653,930,801,836,665.120416459,656,673,0.405357654629,0.00449357479775,0.0798073382883,0.999999946526,0.00012393174787,-0.000298184702765,5.17145612506e-05,1793256166487599360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790.286347394,749,728.286347394,708,695,653,930,801,836,665.713652606,656,673,0.404952726588,0.00449608054697,0.079821504327,0.999999951198,0.000119487381458,-0.000283935079855,5.20362014904e-05,1793256166504265984
+360,6.000000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.298929228,836,665.701070772,656.298929228,672.701070772,0.404565886488,0.00449781707883,0.0798309253163,0.999999953494,0.000120030229147,-0.000275260175844,5.32578933135e-05,1793256166520932352
+361,6.016666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.876779055,836,665.123220945,656.876779055,672.123220945,0.404195923647,0.00449883588023,0.0798359188622,0.999999953695,0.000125226475362,-0.000271786851523,5.53193923531e-05,1793256166537598976
+362,6.033333333,POSE2_TO_POSE3_RETREAT,790,748.546899189,728,708,695,653,930,801.546899189,836,665.453100811,656.546899189,672.453100811,0.403854186921,0.00449910625292,0.0798366172631,0.999999952468,0.000124407765014,-0.000276996208062,5.34796290703e-05,1793256166554265600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,790,748.028806806,728,708,695,653,930,801.028806806,836,666,656,673,0.403522726129,0.00449902749182,0.0798362095964,0.999999950899,0.000121964391996,-0.000284153639211,5.08351895291e-05,1793256166570932480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,790,748.60071218,728,708,695,653,930,801.60071218,836,666,656,673,0.403240766621,0.00449619084887,0.0798368967806,0.999999951208,0.000119626767514,-0.00028367088974,5.29550789609e-05,1793256166587599360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.820531377,836,665.820531377,656,672.820531377,0.40296825675,0.00449347266729,0.0798372421134,0.999999951498,0.000115208326591,-0.000284196511108,5.44457768303e-05,1793256166604265728
+366,6.100000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.225927563,836,665.225927563,656,672.225927563,0.402717605207,0.00449102850324,0.0798367966973,0.9999999517,0.00010597667623,-0.000287054630616,5.44810692515e-05,1793256166620932608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,790,749,728.358709683,708,695,653,930,801.358709683,836,665.358709683,656,672,0.40249232688,0.00449020098639,0.0798345859144,0.999999951538,9.97479461314e-05,-0.000289782261418,5.47853763659e-05,1793256166637599488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,749,728.937239397,708,695,653,930,801.937239397,836,665.937239397,656,672,0.40228259743,0.00449036416306,0.0798312933011,0.999999951169,9.53594276037e-05,-0.000292429928028,5.52545377424e-05,1793256166654266112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,790,748.491166744,728.491166744,708,695,653,930,802,836,666,656,672,0.40211373317,0.00449064270262,0.0798354419808,0.999999953138,9.40406660137e-05,-0.000285998811454,5.55516884787e-05,1793256166670932480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,790,748.082537271,728.082537271,708,695,653,930,802,836,666,656,672.082537271,0.40195333766,0.00449116055398,0.0798408109415,0.999999955411,9.44234942993e-05,-0.000277764235028,5.5754928869e-05,1793256166687599104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,790,748.674473704,728.674473704,708,695,653,930,802,836,666,656,672.674473704,0.401814519314,0.00449306873996,0.0798481227599,0.999999957985,0.000103002717354,-0.00026521732287,5.55077584588e-05,1793256166704265984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,790,749,728.739125235,708,695,653,930,802,836,666,656,673,0.401683606888,0.00449969989218,0.0798512097258,0.999999956348,0.000129350779323,-0.000260118889502,5.39480824717e-05,1793256166720932608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,790,749,728.159487875,708,695,653,930,802,836,666,656,673,0.401562354706,0.00451210203165,0.0798491343485,0.999999948093,0.000177410565704,-0.000264121744703,5.07846572699e-05,1793256166737599232
+374,6.233333333,POSE2_TO_POSE3_RETREAT,790.416588016,749,728,708,695,653,930,802,836,666,656,673,0.401454910515,0.00452105940779,0.0798430726831,0.999999943851,0.000186450012059,-0.000274297410479,4.79177955186e-05,1793256166754266112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,790.991311967,749,728,708,695,653,930,802,836,666,656,673,0.401352707812,0.00452870915871,0.0798354978312,0.999999941526,0.000180677418284,-0.000286816262197,4.51635087219e-05,1793256166770932736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790.43493692,749,728,708,695,653,930,802,836.56506308,666,656,672.43493692,0.401277939538,0.00452306066098,0.079832211049,0.999999941843,0.000170162698345,-0.000291893951431,4.64348004794e-05,1793256166787599360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,790.14351491,749,728.14351491,708,695,653.14351491,930,802,837,666,656,672.14351491,0.401208747685,0.00451903490433,0.0798293689128,0.999999941822,0.000162775340688,-0.000295965700313,4.75835675e-05,1793256166804265728
+378,6.300000000,POSE2_TO_POSE3_RETREAT,790.736743434,749,728.736743434,708,695,653.736743434,930,802,837,666,656,672.736743434,0.401155710428,0.00452073372068,0.079827713863,0.999999940983,0.00016541586626,-0.000297243162994,4.81547772068e-05,1793256166820932352
+379,6.316666667,POSE2_TO_POSE3_RETREAT,790.677895506,749,729,708,695,654,930,802,836.677895506,666,656,672.677895506,0.401112296223,0.00452002041236,0.0798277985029,0.999999941388,0.00016437181175,-0.00029636028631,4.87415807434e-05,1793256166837598976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,790.098811163,749,729,708,695,654,930,802,836.098811163,666,656,672.098811163,0.401076559429,0.00451738267461,0.0798292710936,0.999999942775,0.000160388143681,-0.000293753858265,4.93408253347e-05,1793256166854265856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,790,749,728.524258691,708,695,653.524258691,930,802,836.475741309,665.524258691,656,672.475741309,0.401048865085,0.00451609222051,0.0798288078973,0.999999942934,0.00015756498776,-0.000294687724429,4.9647850337e-05,1793256166870932480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790.049368989,748.950631011,728,708,695,653,930,801.950631011,836.950631011,665.049368989,656,673,0.401023933337,0.00451485474103,0.0798280362227,0.999999942926,0.000154895015295,-0.000296072169056,4.997029805e-05,1793256166887599104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790.623077713,748.376922287,728,708,695,653,930,801.376922287,836.376922287,665.623077713,656,673,0.401010768898,0.00451123591283,0.0798282181883,0.999999943879,0.000151316113084,-0.000294506148882,5.10950841827e-05,1793256166904265984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790.795984478,748.204015522,728,708,695,653,930,801.204015522,836,666,656,673,0.40100058003,0.00450093863589,0.0798292176883,0.999999946165,0.00013988912307,-0.000292040443426,5.30350530455e-05,1793256166920932608
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790.201200206,748.798799794,728,708,695,653,930,801.798799794,836,666,656,673,0.400996090531,0.00447784954289,0.0798317830831,0.999999950539,0.000113430005093,-0.000287851492118,5.65364125066e-05,1793256166937599232
+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836.382273504,666,656,673,0.400992559747,0.00447367067297,0.079833354796,0.999999952144,0.000106907315062,-0.000284664344989,5.69988653577e-05,1793256166954265856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836.959965236,666,656,673,0.400989519056,0.0044791587104,0.0798344185385,0.999999952565,0.000110576128476,-0.000281989320382,5.59078289582e-05,1793256166970932480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695.532772931,653.532772931,930,802,836.467227069,666,656,672.467227069,0.40098674547,0.0044815886896,0.0798341866049,0.999999952061,0.000113015266041,-0.000282838058656,5.57593360378e-05,1793256166987599104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695.891354694,653.891354694,930,802,836,666,656,672.108645306,0.400984588055,0.00448225869055,0.0798341937449,0.999999951785,0.000113896199229,-0.000283451236586,5.58030583143e-05,1793256167004265728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695.300258524,653.300258524,930,802,836,666,656,672.699741476,0.400985078493,0.00447612448301,0.0798356909378,0.999999952829,0.000108264359525,-0.000281853236632,5.63886763188e-05,1793256167020932608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.285021667,930,802,836.285021667,665.714978333,656,672.714978333,0.400984967176,0.00447686223187,0.0798365384291,0.999999953144,0.000108900026775,-0.000280551575324,5.60604600136e-05,1793256167037599488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.864297558,930,802,836.864297558,665.135702442,656,672.135702442,0.400984234611,0.00448469453604,0.0798367151737,0.999999952695,0.000116006220345,-0.000279555851607,5.47888081155e-05,1793256167054266112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.560022519,930,801.560022519,836.560022519,665.439977481,656,672,0.400983742784,0.00448211369066,0.0798364496051,0.999999952914,0.000112987605411,-0.000279935690199,5.51447643117e-05,1793256167070932736
+394,6.566666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672,0.400983396336,0.0044765759036,0.0798361238124,0.999999953323,0.000107121750237,-0.000280617276495,5.5966763953e-05,1793256167087598848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801,836,666,656,672,0.400985809388,0.00447983833014,0.079838686868,0.999999954023,0.000110882806593,-0.00027671788895,5.55619172662e-05,1793256167104265472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.169731579,930,801.169731579,836.169731579,666,656,672.169731579,0.400987152125,0.00448228852471,0.079840205498,0.999999954367,0.000114112531174,-0.000274194534741,5.53411333142e-05,1793256167120932352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.761804302,930,801.761804302,836.761804302,666,656,672.761804302,0.40098583161,0.00448271765156,0.0798391252951,0.999999953887,0.000116020148762,-0.000275095148789,5.5578350587e-05,1793256167137598976
+398,6.633333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.655048386,930,802,837,666,656,673,0.400984496166,0.004482349643,0.0798383926859,0.999999953447,0.000116890110092,-0.000276320272206,5.55927901123e-05,1793256167154265600
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.502648517,836.502648517,666,656,672.502648517,0.400983722293,0.00448335380039,0.0798382828353,0.999999953313,0.000117385674926,-0.000276674532565,5.51881529303e-05,1793256167187599104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,694.925895682,653.074104318,930,801,836.074104318,666,656,672,0.400984398609,0.00448485841468,0.0798386372163,0.999999953686,0.000116942929173,-0.000275556256815,5.49662519859e-05,1793256167204265984
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,694.248211867,653.751788133,930,801.248211867,837,666,656,672,0.400983409084,0.00447821018566,0.0798379974768,0.999999954252,0.000108113376276,-0.000277023308216,5.53717303835e-05,1793256167237598976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,694.827522873,653.172477127,930,801.827522873,837,666,656,672,0.400983576982,0.0044786694898,0.0798396124268,0.999999954623,0.000109284941384,-0.000275211121342,5.53965398319e-05,1793256167254265600
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,790,749,728,707.01855907,695,653.98144093,930,802,836.01855907,665.01855907,656,672.98144093,0.400984700157,0.00448094332855,0.0798395859417,0.999999954636,0.000114020335997,-0.000273377105705,5.47018226533e-05,1793256167287598848
+407,6.783333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.555631943,695,653.444368057,930,801.444368057,836,665.555631943,656,673,0.400984716201,0.00448112955582,0.0798399724396,0.999999954592,0.000114091951535,-0.000273501604593,5.473759539e-05,1793256167304265728
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..030da08878115ca6054c005d0e1f24e89b831702
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+335,5.583333333,pose2_to_pose3_retreat,0.592744978883,0.0101817126291,1.07002051661,0.563316126926,0.0188559512537,1.06969221619
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+338,5.633333333,pose2_to_pose3_retreat,0.590531563301,0.0101817812052,1.0700204943,0.561102711921,0.0188560221918,1.06969220452
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+347,5.783333333,pose2_to_pose3_retreat,0.584560307628,0.0101818457773,1.07002042701,0.555131454573,0.0188560807427,1.06969212809
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+362,6.033333333,pose2_to_pose3_retreat,0.578093406576,0.0101818852164,1.07002053825,0.548664552772,0.0188561176952,1.06969224096
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+373,6.216666667,pose2_to_pose3_retreat,0.576152253623,0.0101817290874,1.07002027385,0.546723402118,0.018855969505,1.06969198054
+374,6.233333333,pose2_to_pose3_retreat,0.576062529027,0.0101818193087,1.07002030441,0.546633676187,0.0188560552566,1.06969201287
+375,6.250000000,pose2_to_pose3_retreat,0.575983221064,0.0101819036658,1.07002045268,0.546554366547,0.0188561337784,1.06969215767
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+377,6.283333333,pose2_to_pose3_retreat,0.575858846877,0.0101819527144,1.07002066591,0.546429991318,0.0188561790741,1.06969236496
+378,6.300000000,pose2_to_pose3_retreat,0.575813214664,0.010181718118,1.07002054479,0.546384362763,0.0188559570714,1.06969224872
+379,6.316666667,pose2_to_pose3_retreat,0.575775572764,0.0101817718277,1.07002051674,0.546346720287,0.0188560089273,1.06969222333
+380,6.333333333,pose2_to_pose3_retreat,0.575745563074,0.0101817470621,1.07002070645,0.546316711586,0.0188559872507,1.06969240591
+381,6.350000000,pose2_to_pose3_retreat,0.575722224445,0.0101817590744,1.07002064552,0.546293373112,0.0188559998787,1.06969234738
+382,6.366666667,pose2_to_pose3_retreat,0.575704427118,0.0101817803721,1.07002040573,0.546275575608,0.0188560208057,1.06969211375
+383,6.383333333,pose2_to_pose3_retreat,0.575691766954,0.0101817217108,1.07002028832,0.546262915877,0.0188559636496,1.06969199722
+384,6.400000000,pose2_to_pose3_retreat,0.575682921014,0.0101815861793,1.07002038207,0.546254069989,0.018855828287,1.06969209086
+385,6.416666667,pose2_to_pose3_retreat,0.575677823889,0.0101817895523,1.07002046855,0.546248969674,0.0188560207804,1.06969217579
+386,6.433333333,pose2_to_pose3_retreat,0.575674340414,0.0101819202678,1.07002053841,0.546245484569,0.0188561459109,1.06969224421
+387,6.450000000,pose2_to_pose3_retreat,0.575672170129,0.0101819334544,1.07002060536,0.546243315265,0.0188561623647,1.06969230951
+388,6.466666667,pose2_to_pose3_retreat,0.575670675676,0.0101819425346,1.07002065146,0.546241821487,0.0188561736948,1.06969235448
+389,6.483333333,pose2_to_pose3_retreat,0.57566965481,0.0101819010077,1.07002070849,0.546240801443,0.018856134859,1.06969240903
+390,6.500000000,pose2_to_pose3_retreat,0.575668944487,0.0101818710906,1.07002074872,0.5462400917,0.0188561068391,1.0696924475
+391,6.516666667,pose2_to_pose3_retreat,0.575668540873,0.0101818540913,1.07002077158,0.546239688415,0.0188560909178,1.06969246936
+392,6.533333333,pose2_to_pose3_retreat,0.575668380685,0.0101818473446,1.07002078065,0.546239528358,0.0188560845989,1.06969247804
+393,6.550000000,pose2_to_pose3_retreat,0.57566828244,0.0101818432067,1.07002078622,0.546239430193,0.0188560807235,1.06969248336
+394,6.566666667,pose2_to_pose3_retreat,0.575668019837,0.0101818410093,1.07002076759,0.54623916753,0.0188560783102,1.06969246441
+395,6.583333333,pose2_to_pose3_retreat,0.575667849457,0.0101818464565,1.07002072953,0.546238996899,0.0188560829059,1.06969242638
+396,6.600000000,pose2_to_pose3_retreat,0.575667769081,0.0101818490262,1.07002071158,0.546238916404,0.0188560850739,1.06969240845
+397,6.616666667,pose2_to_pose3_retreat,0.575667742872,0.0101818498642,1.07002070572,0.546238890156,0.0188560857809,1.0696924026
+398,6.633333333,pose2_to_pose3_retreat,0.575667520205,0.010181856983,1.07002065598,0.546238667161,0.018856091787,1.06969235291
+399,6.650000000,pose2_to_pose3_retreat,0.575667226439,0.010181866375,1.07002059036,0.546238372961,0.0188560997108,1.06969228735
+400,6.666666667,pose2_to_pose3_retreat,0.575667037471,0.0101818495066,1.07002053023,0.546238183727,0.0188560819866,1.06969222847
+401,6.683333333,pose2_to_pose3_retreat,0.575666964415,0.0101818245077,1.07002049254,0.546238110579,0.0188560567282,1.06969219223
+402,6.700000000,pose2_to_pose3_retreat,0.575666935766,0.0101818147041,1.07002047776,0.546238081893,0.0188560468229,1.06969217802
+403,6.716666667,pose2_to_pose3_retreat,0.575666912418,0.0101818067147,1.07002046571,0.546238058515,0.0188560387506,1.06969216644
+404,6.733333333,pose2_to_pose3_retreat,0.575666892153,0.0101817997802,1.07002045525,0.546238038225,0.0188560317441,1.06969215639
+405,6.750000000,pose2_to_pose3_retreat,0.575666825419,0.0101817769444,1.07002042082,0.546237971406,0.0188560086712,1.06969212328
+406,6.766666667,pose2_to_pose3_retreat,0.575666749053,0.010181766085,1.07002047924,0.546237895423,0.0188559991025,1.06969218153
+407,6.783333333,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d99deaf3bd01bc369833347171a5b4cb8dfd0e7e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bf8ec472c1e9b108733d3f6c493aff2ecd4c9a0e76c688a3ca721055d5918e
+size 25987721
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96b901f66c95caa39de2da5f7f2a3418b1200be7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+18,0.300000000,BASELINE,790,749,728,708,695,653.569305167,930.569305167,802,836,666,656,673,0.40098688963,0.00448038842214,0.079842830826,0.999999956165,0.000112314350561,-0.000268503740886,5.44100227474e-05,1793256167760314880
+19,0.316666667,BASELINE,790.022056706,749,728,708,695,653,930,802,836.022056706,666,656,673,0.400987780968,0.00448090011768,0.0798432695133,0.99999995669,0.000110867778176,-0.000267288368114,5.37220756209e-05,1793256167776982016
+20,0.333333333,BASELINE,790.599776478,749,728,708,695,653,930,802,836.599776478,666,656,673,0.400986154648,0.00448010331439,0.0798427947845,0.99999995607,0.000112320153133,-0.000268866079825,5.43655681536e-05,1793256167793648384
+21,0.350000000,BASELINE,790.823385221,749,728.176614779,708.176614779,695,653.176614779,930,802,836.823385221,666,656,672.823385221,0.400985478063,0.0044794589817,0.0798426904493,0.999999955825,0.000112534410644,-0.000269596006554,5.48037048458e-05,1793256167810314752
+22,0.366666667,BASELINE,790.248534562,749,728.751465438,708.751465438,695,653.751465438,930,802,836.248534562,666,656,672.248534562,0.400986942967,0.00447915844403,0.0798434212882,0.999999956431,0.000109956926561,-0.00026841432409,5.47787994321e-05,1793256167826981376
+23,0.383333333,BASELINE,790.328122289,749,729,708.671877711,695,654,930,802,836.328122289,666,656,672,0.400987508855,0.00447954335971,0.0798435336785,0.999999956605,0.00010941087227,-0.000268023187613,5.46128093281e-05,1793256167843647744
+24,0.400000000,BASELINE,790.906154864,749,729,708.093845136,695,654,930,802,836.906154864,666,656,672,0.400987390018,0.00448045034242,0.079843175035,0.999999956453,0.000110412031107,-0.000268234160594,5.43393638109e-05,1793256167860314368
+25,0.416666667,BASELINE,790.504431942,749,728.504431942,708,695,653.504431942,930,802,836.504431942,666,656,672,0.400986878154,0.00448029221908,0.0798428956041,0.999999956202,0.000111599536843,-0.000268651293403,5.44827653606e-05,1793256167876980992
+26,0.433333333,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672,0.400986465902,0.00448014720688,0.0798428267774,0.999999955979,0.000112991980686,-0.000268860159504,5.46737616191e-05,1793256167893648128
+27,0.450000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672,0.40098707071,0.00448127242915,0.0798438876023,0.999999956038,0.000115361157713,-0.000267632889635,5.46726834968e-05,1793256167910315008
+28,0.466666667,BASELINE,789.763880271,748.763880271,728,708,695,653,930,801.763880271,836,666,656,672,0.400986962636,0.00448154018678,0.0798438622692,0.999999955869,0.000116272654845,-0.000267865561303,5.467885272e-05,1793256167926981632
+29,0.483333333,BASELINE,789.188414802,748.188414802,728,708,695,653,930,801.188414802,836,666,656,672,0.400985830026,0.00448057561628,0.0798422759353,0.999999955378,0.000115089208465,-0.000270196426797,5.4695437658e-05,1793256167943648000
+30,0.500000000,BASELINE,789.396037136,748.396037136,728,708,695,653.396037136,930,801.396037136,836.396037136,666,656,672,0.400985153695,0.00448072072224,0.0798413785352,0.999999955275,0.000114091372055,-0.000271011344519,5.46459813515e-05,1793256167960314624
+31,0.516666667,BASELINE,789.984863638,748.984863638,728,708,695,653.984863638,930,801.984863638,836.984863638,666,656,672,0.400984699481,0.00448140601449,0.0798408165055,0.999999955362,0.000113183889905,-0.000271088304588,5.45643764191e-05,1793256167976981248
+32,0.533333333,BASELINE,790,749,728,707.434555668,695,653.434555668,930,802,836.434555668,666,656,672,0.400984418613,0.00448078446019,0.0798409419254,0.999999955453,0.000111640852641,-0.000271435216855,5.43500022931e-05,1793256167993648128
+33,0.550000000,BASELINE,790,748.855379739,728,707.144620261,695,653,930,802,836,666,656,672,0.400984351126,0.00448029332179,0.079841266858,0.999999955559,0.000110860626959,-0.000271392032804,5.42036590665e-05,1793256168010315008
+34,0.566666667,BASELINE,790,748.279742193,728,707.720257807,695,653,930,802,836,666,656,672,0.400984905958,0.0044802936294,0.0798421323486,0.999999955715,0.0001124038142,-0.000270165002368,5.42705111223e-05,1793256168026981376
+35,0.583333333,BASELINE,790,748.293763687,728,708,695,653,930,802,836.293763687,666,656,672.293763687,0.400984680571,0.00448006090285,0.079842139983,0.99999995569,0.000112329024,-0.000270248868185,5.44825299407e-05,1793256168043648000
+36,0.600000000,BASELINE,790,748.865254337,728,708,695,653,930,802,836.865254337,666,656,672.865254337,0.400983717556,0.00447960786361,0.0798413365921,0.999999955491,0.000110724582835,-0.000271572067548,5.48317907944e-05,1793256168060314624
+37,0.616666667,BASELINE,789.546187744,748.546187744,728,708,695,653,930,802,836.546187744,666,656,672.546187744,0.400983732571,0.00447967293017,0.0798418382687,0.999999955587,0.000111080042833,-0.000271084702613,5.47710955917e-05,1793256168076981248
+38,0.633333333,BASELINE,789.046311788,748.046311788,728,708,695,653,930,801.953688212,836,666,656,672,0.400984070828,0.00447992161083,0.0798426642322,0.999999955773,0.000111932531438,-0.000270085722787,5.45824103745e-05,1793256168093647872
+39,0.650000000,BASELINE,789.62363062,748.62363062,728,708,695,653,930,801.37636938,836,666,656,672,0.400984655593,0.00448044279975,0.0798425917752,0.999999955951,0.00011155077194,-0.000269625467796,5.43764190525e-05,1793256168110314496
+40,0.666666667,BASELINE,790,749,728,708,695,653,930,801.200673109,836,666,656,672,0.4009853085,0.00448056189596,0.0798427924967,0.999999956098,0.000111368315873,-0.000269174257262,5.42795424105e-05,1793256168126981120
+41,0.683333333,BASELINE,790,749,728,708,695,653,930,801.777197986,836,666,656,672,0.400986089034,0.00447992789045,0.0798435048692,0.999999956188,0.000111559146246,-0.000268739986618,5.43870327015e-05,1793256168143648000
+42,0.700000000,BASELINE,790,749,728,708,695,653.352431017,930,802,836,666,656,672,0.400985858892,0.00448001232802,0.0798431065555,0.999999955999,0.000111820080254,-0.000269370515566,5.41976519904e-05,1793256168160314624
+43,0.716666667,BASELINE,790,749,728,708,695,653.926850322,930,802,836,666,656,672,0.40098499215,0.00448054929659,0.0798420086459,0.999999955634,0.000112125170939,-0.000270671737592,5.3821278978e-05,1793256168176981248
+44,0.733333333,BASELINE,790,749,728,708,695,654,930,802,836,666,656,672.516725164,0.400985036164,0.00447886682664,0.0798420628003,0.999999955936,0.000110207336735,-0.000270265911406,5.42135250035e-05,1793256168193648128
+45,0.750000000,BASELINE,790,749,728,708,695,654,930,801.893839699,836,666,656,672.893839699,0.400985056106,0.0044776398327,0.0798423068983,0.999999956188,0.000108956349756,-0.00026975973171,5.46087707959e-05,1793256168210314752
+46,0.766666667,BASELINE,790,749,728,708,695,654,930,801.316369964,836,666,656,672.316369964,0.400984379131,0.00447987286952,0.0798426478868,0.999999955803,0.000112106056283,-0.000269913960682,5.45193722628e-05,1793256168226981376
+47,0.783333333,BASELINE,790,749,728,707.73941596,695,653.73941596,930,801,836,666,656,672,0.400984392374,0.00448048480299,0.0798427362114,0.999999955904,0.00011230257391,-0.00026949060752,5.43574612131e-05,1793256168243648000
+48,0.800000000,BASELINE,790,749,728,707.163086781,695,653.163086781,930,801,836,666,656,672,0.400985241945,0.00447913247407,0.0798425183878,0.999999956594,0.000108920764448,-0.000268367408176,5.41076879991e-05,1793256168260314624
+49,0.816666667,BASELINE,790,749,728,707.421440258,695,653,930,801.421440258,836.421440258,666,656,672,0.400985699746,0.00447950361752,0.079843208988,0.999999956744,0.000109770940123,-0.000267454686535,5.41379720144e-05,1793256168276980992
+50,0.833333333,BASELINE,790,749,728,708,695,653.009108743,930,802,836.990891257,666,656,672.009108743,0.400985965403,0.00448053136393,0.07984420143,0.999999956665,0.000112250798261,-0.000266691505967,5.427775761e-05,1793256168293647616
+51,0.850000000,BASELINE,790,749,728,708,695,653.590879054,930,802,836.409120946,666,656,672.590879054,0.40098387141,0.00448007739527,0.0798416311148,0.999999955751,0.000112185879875,-0.000270107612868,5.43531995069e-05,1793256168310314496
+52,0.866666667,BASELINE,790,748.83030457,728,708,695,653.83030457,930,802,836,666,656,673,0.400982602724,0.00448004586012,0.0798402016125,0.999999955231,0.000111966435866,-0.000272120786587,5.43218556479e-05,1793256168326981376
+53,0.883333333,BASELINE,790,748.258488062,728,708,695,653.258488062,930,802,836,666,656,673,0.400983289739,0.00448101535026,0.0798414754526,0.999999955668,0.000111380818124,-0.000270809480456,5.40374654706e-05,1793256168343648000
+54,0.900000000,BASELINE,790,748.315848681,728,708,695,653,930,801.684151319,836,666,656,672.684151319,0.400983657418,0.00448161166984,0.0798420796573,0.999999955909,0.000111064047792,-0.000270068003,5.39395445489e-05,1793256168360314880
+55,0.916666667,BASELINE,790,748.892264526,728,708,695,653,930,801.107735474,836,666,656,672.107735474,0.400983761654,0.0044819001331,0.0798421314296,0.99999995599,0.000110969069795,-0.000269796619838,5.39954560549e-05,1793256168376981504
+56,0.933333333,BASELINE,790,749,728,708,695,653,930,801.482798784,836,666,656,672,0.40098387984,0.0044802806934,0.0798421670283,0.999999956058,0.000110820339947,-0.000269560007043,5.42252395993e-05,1793256168393648128
+57,0.950000000,BASELINE,790,749,728,708,695,653,930,801.925824129,836,665.925824129,656,672.074175871,0.400983959119,0.00447858918277,0.0798421846287,0.999999956128,0.000110524289375,-0.000269381931574,5.44261704254e-05,1793256168410314240
+58,0.966666667,BASELINE,790,749,728,708,695,653,930,801.350673983,836,665.350673983,656,672.649326017,0.40098375396,0.00447937295603,0.0798421057794,0.999999956231,0.00010931670403,-0.000269545228394,5.41622952892e-05,1793256168426981120
+59,0.983333333,BASELINE,790,749,728,708,695,653.224094784,930,801.224094784,836,665.224094784,656,672.775905216,0.400984172092,0.00448011405736,0.0798425534412,0.999999956409,0.000109258213909,-0.000268932548079,5.40398023673e-05,1793256168443648000
+60,1.000000000,BASELINE,790,749,728,708,695,653.798267855,930,801.798267855,836,665.798267855,656,672.201732145,0.400985563921,0.00448078849721,0.0798438236124,0.999999956701,0.000110994826902,-0.000267107645256,5.41381750687e-05,1793256168460314880
+61,1.016666667,BASELINE,790,749,728,708,695,653.627050231,930,802,836,666,656,672,0.400985517789,0.00447992629387,0.0798438108665,0.999999956745,0.000110661662695,-0.000267045804188,5.43136969424e-05,1793256168476981504
+62,1.033333333,BASELINE,790,749,728,708,695,653.052092738,930,802,836,666,656,672,0.400984692788,0.00447823176984,0.0798431032302,0.999999956654,0.000109207406437,-0.000267938923179,5.45310065522e-05,1793256168493648128
+63,1.050000000,BASELINE,790,749,728,707.458655373,695,653,930,801.458655373,836,666,656,672.541344627,0.400983619182,0.00447913959555,0.0798425804794,0.999999956184,0.000110082850068,-0.000269381651181,5.42867118726e-05,1793256168510314752
+64,1.066666667,BASELINE,790,749,728,707.132034076,695,653,930,801,836,666,656,672.867965924,0.400983274586,0.00447988511677,0.0798424360049,0.999999955924,0.000111000048866,-0.00027001343494,5.40765143696e-05,1793256168526981376
+65,1.083333333,BASELINE,790,749,728,707.707317656,695,653,930,801,836,666,656,672.292682344,0.400985460487,0.00447921537446,0.0798434995986,0.999999956501,0.000111278221299,-0.000267738985862,5.41351742231e-05,1793256168543648256
+66,1.100000000,BASELINE,790,749,728,707.719442405,695,653,930,801,836,666,656,672,0.400986532197,0.0044794440065,0.0798441472286,0.999999956831,0.00011175186947,-0.000266293931393,5.42003594213e-05,1793256168560315136
+67,1.116666667,BASELINE,790,749,728,707.148319043,695,653,930,801,836,666,656,672,0.400986449968,0.00448060306013,0.0798443640567,0.999999956907,0.000112427966455,-0.000265707858196,5.42723027357e-05,1793256168576981760
+68,1.133333333,BASELINE,790,749,728,707.441404602,695,653.441404602,930,801,836,666,656,672,0.400986118043,0.00447895391021,0.0798440916441,0.999999956818,0.00011012877412,-0.000267005390468,5.42637423606e-05,1793256168593648128
+69,1.150000000,BASELINE,790,749,728,708,695,653.963429909,930,801.036570091,836.036570091,666,656,672,0.400985638744,0.00447664055937,0.0798435942343,0.999999956635,0.000107151084288,-0.000268904421267,5.42130104085e-05,1793256168610314752
+70,1.166666667,BASELINE,790,749,728,708,695,653.384333273,930,801.615666727,836.615666727,666,656,672,0.400984272573,0.00447908802483,0.0798423050315,0.99999995611,0.000109591662972,-0.000269924207295,5.39556083312e-05,1793256168626981632
+71,1.183333333,BASELINE,790,749,728,708,695,653.192841046,930,801.807158954,836.807158954,666,656,672,0.400983297587,0.00448019246014,0.0798414105218,0.999999955801,0.000110633777938,-0.000270669980922,5.38185274697e-05,1793256168643648512
+72,1.200000000,BASELINE,790,749,728,708,695,653.766222093,930,801.233777907,836.233777907,666,656,672,0.400983094538,0.00447864664737,0.0798412948736,0.999999955928,0.000108916255839,-0.00027087503645,5.39188806376e-05,1793256168660315904
+73,1.216666667,BASELINE,790,749,728,708,695,653.651356157,930,801.348643843,836,666,656,672,0.400983750376,0.00447843622679,0.0798417790272,0.999999956037,0.000109917399461,-0.000270039063134,5.40729203556e-05,1793256168676982272
+74,1.233333333,BASELINE,790,749,728,708,695,653.062710954,930,801.937289046,836,666,656,672,0.400984997461,0.00447914507089,0.0798426760759,0.999999956124,0.000112790033204,-0.000268486460661,5.42639171092e-05,1793256168693648384
+75,1.250000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672.517657372,0.400986029505,0.00448021701853,0.0798429797408,0.999999956413,0.000112315241291,-0.000267612771212,5.42395913891e-05,1793256168710315008
+76,1.266666667,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672.903257354,0.400986929051,0.00448113685923,0.07984324913,0.999999956721,0.000111456482228,-0.000266843937401,5.41298795112e-05,1793256168726981632
+77,1.283333333,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672.325644099,0.400987297448,0.00448108542949,0.0798436998353,0.999999957003,0.000110673130848,-0.000266193920809,5.37233636731e-05,1793256168743648512
+78,1.300000000,BASELINE,790,749,728,707.751222653,695,653,930,801.751222653,836,666,656,672,0.400986906727,0.00448153029606,0.0798437093551,0.999999956909,0.000111318141421,-0.000266327551204,5.34837360663e-05,1793256168760315136
+79,1.316666667,BASELINE,790,749,728,707.180926333,695,653,930,801.180926333,836,666,656,672,0.400985534925,0.00448261657425,0.0798431486884,0.999999956324,0.000113809162037,-0.000267473964269,5.34597942564e-05,1793256168776982016
+80,1.333333333,BASELINE,790,749,728,707.40523256,695,653.40523256,930,801.40523256,836,666,656,672.40523256,0.400984699571,0.0044808739496,0.079842674335,0.99999995617,0.000113051469551,-0.000268321602149,5.36837778333e-05,1793256168793648640
+81,1.350000000,BASELINE,790,749,728,707.998762277,695,653.998762277,930,801.998762277,836,666,656,672.998762277,0.400984113485,0.00447781683453,0.0798422400883,0.999999956216,0.000110784215861,-0.000269030409928,5.40229635164e-05,1793256168810315264
+82,1.366666667,BASELINE,790,749,728.577884755,708,695.577884755,654,930,802,836.577884755,666,656,672.422115245,0.400983907649,0.00447876874782,0.0798421465739,0.999999956201,0.000110520572898,-0.000269210650905,5.39385211588e-05,1793256168826981888
+83,1.383333333,BASELINE,790.156412248,749,729,708,695.843587752,654,930,802,836.843587752,665.843587752,656,672.156412248,0.400984295035,0.0044794690785,0.0798423721834,0.999999956302,0.000110925439484,-0.000268661518144,5.39680471862e-05,1793256168843648256
+84,1.400000000,BASELINE,790.7334209,749,729,708,695.2665791,654,930,802,836.2665791,665.2665791,656,672.7334209,0.400986275471,0.00447947036957,0.0798434540099,0.999999956709,0.000113116685829,-0.000266154051575,5.43064174955e-05,1793256168860314880
+85,1.416666667,BASELINE,790.691172087,749,728.691172087,708,695,654,930,802,836,665,655.691172087,672.691172087,0.400986739333,0.00448017870758,0.0798436697658,0.999999956778,0.000114031405761,-0.000265507803667,5.42761307522e-05,1793256168876981760
+86,1.433333333,BASELINE,790.117140506,749,728.117140506,708,695,654,930,802,836,665,655.117140506,672.117140506,0.400985900849,0.00448149421688,0.0798431417899,0.999999956564,0.000113849918012,-0.000266459863571,5.39292624913e-05,1793256168893648128
+87,1.450000000,BASELINE,790,749,728,707.530234046,695,654,930,802,836.469765954,665,655.469765954,672,0.400984913063,0.00448233652243,0.0798427680648,0.999999956383,0.000112967672691,-0.00026756474224,5.36798186529e-05,1793256168910315008
+88,1.466666667,BASELINE,790,749,728,707.058714688,695,653.941285312,930,801.941285312,836.941285312,665,656,672,0.400984179197,0.00448295970062,0.0798426225766,0.999999956267,0.000112297008775,-0.000268309114989,5.35320639025e-05,1793256168926981632
+89,1.483333333,BASELINE,790,749,728,707.636535407,695,653.363464593,930,801.363464593,836.363464593,665,656,672,0.400986028708,0.00448271817331,0.0798441453209,0.999999956666,0.00011508541273,-0.000265519794819,5.40625219003e-05,1793256168943648512
+90,1.500000000,BASELINE,790,749,728,708,695,653,930,801,836,665,656,672,0.400987164055,0.00448193743412,0.079845028133,0.999999957003,0.000115179236275,-0.000264153172187,5.43214063315e-05,1793256168960315392
+91,1.516666667,BASELINE,790,749,728,708,695,653,930,801,836,665,656,672,0.400987088456,0.00448024240151,0.0798448258691,0.999999957243,0.000110704100222,-0.000265198890973,5.41198076699e-05,1793256168976981760
+92,1.533333333,BASELINE,790,748.635312778,728,708,695,653,930,801.364687222,836,665,656,672,0.400987127493,0.00447980334271,0.0798446084194,0.999999957216,0.00011016219199,-0.000265563681927,5.39227222886e-05,1793256168993648128
+93,1.550000000,BASELINE,790,748.060946426,728,708,695,653,930,801.939053574,836,665,656,672,0.40098723244,0.00448008641352,0.0798443822384,0.999999957043,0.000111881716521,-0.000265536969396,5.37282318262e-05,1793256169010314752
+94,1.566666667,BASELINE,790,748.529486621,728,708,695,653,930,802,836.529486621,665.529486621,656,672,0.400984946332,0.00448050987567,0.0798430854697,0.999999956308,0.000112410226765,-0.00026804900045,5.38350037934e-05,1793256169026981632
+95,1.583333333,BASELINE,790,749,728,708,695,653,930,802,836.880877562,666,656,672,0.400983215616,0.00448053800077,0.0798421408152,0.999999955784,0.000112391029199,-0.000269979207821,5.39545839739e-05,1793256169043648256
+96,1.600000000,BASELINE,790,749,728,708,695,653,930,802,836.301686582,666,656,672,0.400984726117,0.00447897491138,0.0798430469023,0.999999956358,0.000110802539098,-0.000268498406052,5.3985513679e-05,1793256169060315136
+97,1.616666667,BASELINE,790,749,728,708,695,653.275003751,930,801.724996249,836.275003751,666,656,672,0.40098492972,0.00447898290322,0.0798429476795,0.999999956444,0.00011038828829,-0.000268346245085,5.39988751093e-05,1793256169076981760
+98,1.633333333,BASELINE,790,749,728,708,695,653.848975493,930,801.151024507,836.848975493,666,656,672,0.40098371254,0.00448069888276,0.0798417555426,0.999999956002,0.000111250601845,-0.000269638504766,5.39931373372e-05,1793256169093648384
+99,1.650000000,BASELINE,790,748.566602877,728,708,695,654,930,801.433397123,836.566602877,666,656,672.433397123,0.400982932477,0.00448134500866,0.0798412301564,0.999999955644,0.000111968569208,-0.000270679130496,5.39214515446e-05,1793256169110315008
+100,1.666666667,BASELINE,790,748.021211379,728.021211379,708,695,653.978788621,930,802,836,665.978788621,656,672.978788621,0.400982413273,0.00448154495538,0.0798410205171,0.999999955365,0.000112570244484,-0.000271477951113,5.38285027722e-05,1793256169126981376
+101,1.683333333,BASELINE,790,748.600118542,728.600118542,708,695,653.399881458,930,802,836,665.399881458,656,672.399881458,0.400984648832,0.00448005799893,0.079842852896,0.999999956353,0.000111469508461,-0.000268281591331,5.37956451634e-05,1793256169143648000
+102,1.700000000,BASELINE,790,749,729,708,695,653,930,802,836,665.17824405,656,672,0.400986079187,0.00447921866469,0.0798440315327,0.999999956932,0.000111062061107,-0.000266292711985,5.37452030599e-05,1793256169160314624
+103,1.716666667,BASELINE,790,749,729,708,695,653,930,802,836,665.754623535,656,672,0.400985710993,0.00447982589421,0.079843749936,0.999999956621,0.000112203180523,-0.000267000925903,5.36554832947e-05,1793256169176981248
+104,1.733333333,BASELINE,790,749,728.669620296,708,695,653.330379704,930,802,836,666,656,672.330379704,0.400985236706,0.00447970832931,0.0798435273588,0.999999956501,0.000111972693686,-0.000267537738999,5.37062894742e-05,1793256169193648128
+105,1.750000000,BASELINE,790,749,728.094326137,708,695,653.905673863,930,802,836,666,656,672.905673863,0.40098468377,0.00447905346564,0.0798433485334,0.999999956521,0.000110725418731,-0.000267947490675,5.38612692198e-05,1793256169210315008
+106,1.766666667,BASELINE,790,748.506894955,728.493105045,708,695,654,930,801.506894955,836,666,656,673,0.40098545788,0.00447989125578,0.0798436867082,0.999999956525,0.000112240297681,-0.000267290393917,5.39193208045e-05,1793256169226981632
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,672,0.400986405232,0.0044799034438,0.0798435076492,0.999999957123,0.000110003354716,-0.000266045477796,5.3609270511e-05,1793256169270062848
+108,1.800000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.575525436,930,802,836.575525436,665.424474564,656,672.575525436,0.400986166779,0.0044808079971,0.0798443779762,0.999999957002,0.00011212530939,-0.000265563593604,5.38470532161e-05,1793256169286728960
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836.84893777,665.15106223,656,672.84893777,0.40098596201,0.00448161868894,0.0798447368352,0.9999999568,0.000114176857504,-0.000265423146481,5.39774786623e-05,1793256169303395328
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836.273368926,665.726631074,656,672.273368926,0.400985851898,0.00448216561682,0.0798436583951,0.999999956378,0.00011603055353,-0.000266242186573,5.38062148111e-05,1793256169320061952
+111,1.850000000,POSE1_TO_POSE2_PRESS,790,749,728.311265254,708,695,653.688734746,930,801.688734746,836,666,656,672,0.400986184978,0.00448169301224,0.0798436417316,0.999999956474,0.000115188769546,-0.000266230348445,5.38960046203e-05,1793256169336728832
+112,1.866666667,POSE1_TO_POSE2_PRESS,790,749,728.904099868,708,695,653.095900132,930,801.095900132,836,666,656,672,0.400986918968,0.00448029814246,0.0798445855471,0.999999957032,0.000111908664521,-0.000265466900998,5.42219425842e-05,1793256169353395712
+113,1.883333333,POSE1_TO_POSE2_PRESS,790.482346902,749,728.517653098,708,695,653,930,801,836,666,656,672,0.400986574513,0.00447950237368,0.0798445619118,0.99999995719,0.000110175239636,-0.000265595547625,5.42184433935e-05,1793256169370062080
+114,1.900000000,POSE1_TO_POSE2_PRESS,791,749,728,708,695,653.057771353,930,801.057771353,836,666,656,672,0.400986249044,0.00447892698903,0.0798444239071,0.999999957272,0.000108919545932,-0.000265819273322,5.41447642448e-05,1793256169386728704
+115,1.916666667,POSE1_TO_POSE2_PRESS,791,749,728,708,695,653.633129347,930,801.633129347,836,666,656,672,0.40098795829,0.00447929024064,0.0798449339458,0.999999957365,0.000109269771183,-0.000265352418946,5.40119180162e-05,1793256169403395328
+116,1.933333333,POSE1_TO_POSE2_PRESS,790.787305457,749,728.212694543,708,695,653.787305457,930,802,836,666,656,672.212694543,0.400995777751,0.00447949724231,0.0798485428127,0.999999958768,0.000109872913792,-0.000259783864825,5.3899723125e-05,1793256169420061952
+117,1.950000000,POSE1_TO_POSE2_PRESS,790.200337002,749,728.799662998,708,695,653.200337002,930,802,836,666,656,672.799662998,0.40101434922,0.00447942929435,0.0798576046195,0.999999962329,0.000110921109468,-0.000245237961779,5.38238679443e-05,1793256169436728576
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,749,728.616090112,707.616090112,695,653.383909888,930,802,836,666,656,672.616090112,0.401052003788,0.00447961437471,0.0798711848684,0.999999968269,0.000111293480507,-0.000219654994334,5.31649700232e-05,1793256169453395456
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,749,728.033253376,707.033253376,695,653.966746624,930,802,836,666,656,672.033253376,0.401099546459,0.00447993056427,0.0798871063952,0.999999974703,0.000111315666087,-0.000188353057208,5.2203962476e-05,1793256169470062080
+120,2.000000000,POSE1_TO_POSE2_PRESS,789.457162432,749,728,707.542837568,695,653.457162432,930,802,836,666,656,672,0.401167221506,0.00448013220847,0.0799047599505,0.999999980461,0.00011109272402,-0.000155245487629,5.13384668726e-05,1793256169486728448
+121,2.016666667,POSE1_TO_POSE2_PRESS,789.117784706,749,728,708,695,653,930,802,836,666,656,672,0.401238799048,0.00448087927703,0.079921188942,0.999999984609,0.000110948242816,-0.00012631802004,5.01553902199e-05,1793256169503395328
+122,2.033333333,POSE1_TO_POSE2_PRESS,789.689894459,749,728,708,695,653,930,802,836,666,656,672,0.401320730845,0.00448375691738,0.0799324902545,0.999999986192,0.000111163615122,-0.000113935655601,4.7725032611e-05,1793256169520061952
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.271763685,930,802,836.271763685,665.728236315,656,672.271763685,0.40141211728,0.00448534754716,0.079940630029,0.999999987802,0.000109386283817,-0.000102007663699,4.49897894934e-05,1793256169536728576
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.865184089,930,802,836.865184089,665.134815911,656,672.865184089,0.401514694123,0.00448541488423,0.0799450278387,0.999999989478,0.000105250408886,-9.06174632297e-05,4.18936871534e-05,1793256169553395200
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.553116811,930,802,836.553116811,665.446883189,656,673,0.401636166682,0.00448703493573,0.0799502837618,0.999999990575,0.000103458978877,-8.1830164122e-05,3.80866460438e-05,1793256169570061824
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.025035336,930,801.974964664,836,666,656,673,0.401764490148,0.00448903360094,0.0799558306573,0.999999991495,0.000102183879761,-7.35461485626e-05,3.40405150516e-05,1793256169586728192
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.60095984,930,801.39904016,836,666,656,673,0.401921334413,0.00448931949269,0.079962229414,0.999999993085,9.71049715412e-05,-5.94993574408e-05,2.93321519627e-05,1793256169603394816
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801.180276374,836.180276374,666,656,673,0.402085822465,0.00449067381588,0.0799680496775,0.999999994291,9.23118825477e-05,-4.80788840452e-05,2.41983317165e-05,1793256169620061696
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,801.767245036,836.767245036,666,656,673,0.402267554403,0.0044944384539,0.0799725648956,0.999999995043,8.81635846801e-05,-4.25832220213e-05,1.81047072345e-05,1793256169636728576
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,748.650403072,728,708,695,654,930,802,836.650403072,666,656,672.650403072,0.402463341647,0.00449802611039,0.0799725363749,0.999999995568,8.29947694068e-05,-4.29584192746e-05,1.14444102028e-05,1793256169653395200
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,748.071084816,728,708,695,654,930,802,836.071084816,666,656,672.071084816,0.402668364696,0.0045014974721,0.0799695221487,0.9999999959,7.71553682702e-05,-4.71913775164e-05,4.41175011124e-06,1793256169670062080
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,748.504764045,728.504764045,708,695,653.495235955,930,802,836,666,656,672,0.402897637947,0.00450474205022,0.0799631641134,0.999999995843,6.89672509334e-05,-5.95346553251e-05,-3.53251332902e-06,1793256169686728704
+133,2.216666667,POSE1_TO_POSE2_PRESS,790,748.919805926,728.919805926,708,695.080194074,653,930,802,836.080194074,666,656,672.080194074,0.403137208528,0.00450837914603,0.0799572817912,0.999999995539,6.10739018636e-05,-7.10892976319e-05,-1.17330278935e-05,1793256169703395328
+134,2.233333333,POSE1_TO_POSE2_PRESS,790,748.343965139,728.343965139,708,695.656034861,653,930,802,836.656034861,666,656,672.656034861,0.403419459525,0.00451463827894,0.0799572302346,0.999999995655,5.70327560633e-05,-7.07586877011e-05,-2.07292869431e-05,1793256169720061952
+135,2.250000000,POSE1_TO_POSE2_PRESS,790,748.237411786,728,708,695.762588214,653,930,802,836.762588214,666,656,672.762588214,0.403724690376,0.00452012043034,0.0799598619505,0.999999995513,6.05739057502e-05,-6.76569999269e-05,-2.69698233749e-05,1793256169736728320
+136,2.266666667,POSE1_TO_POSE2_PRESS,790,748.827001003,728,708,695.172998997,653,930,802,836.172998997,666,656,672.172998997,0.404064009602,0.00452445000439,0.0799664740417,0.999999994909,7.53626579413e-05,-6.04446861064e-05,-2.91225111964e-05,1793256169753394944
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,749,728.409297096,707.590702904,695.409297096,653.409297096,930,801.590702904,836,666,656,672,0.40442967581,0.00453275500773,0.0799691577509,0.999999991551,0.000115592472457,-5.37488322126e-05,-2.54564298896e-05,1793256169770061824
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,749,728.988564531,707.011435469,695.988564531,653.988564531,930,801.011435469,836,666,656,672,0.40480628322,0.00454271090237,0.0799702101061,0.999999984853,0.000166387291634,-4.72674506297e-05,-1.93739664135e-05,1793256169786728960
+139,2.316666667,POSE1_TO_POSE2_PRESS,790,749,728.438031999,707.561968001,695.438031999,654,930,801.561968001,836.561968001,666,656,672.561968001,0.405221793174,0.00454849691412,0.0799681952975,0.999999995509,7.90099972074e-05,-4.65126867663e-05,-2.39831820691e-05,1793256169803395840
+140,2.333333333,POSE1_TO_POSE2_PRESS,790,749,728.138949678,708,695,653.861050322,930,801.861050322,836.861050322,666,656,672.861050322,0.40564378438,0.00455503072595,0.079964914928,0.999999998234,1.77661985423e-05,-4.91819592675e-05,-2.82375652543e-05,1793256169820062208
+141,2.350000000,POSE1_TO_POSE2_PRESS,790,749,728.727902085,708,695,653.272097915,930,801.272097915,836.272097915,666,656,672.272097915,0.406084228411,0.00456425833023,0.0799577359559,0.999999996315,5.01702284744e-05,-6.2566825167e-05,-3.06454579091e-05,1793256169836728576
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.691354478,749,728.691354478,708,695,653.308645522,930,801.308645522,836,666,656,672,0.406556507622,0.0045739002427,0.0799516954075,0.999999992863,8.81703258681e-05,-7.46458214823e-05,-3.04570774613e-05,1793256169853394944
+143,2.383333333,POSE1_TO_POSE2_PRESS,789.117660406,749,728.117660406,708,695,653.882339594,930,801.882339594,836,666,656,672,0.407056125262,0.00458389794229,0.0799466324767,0.999999987366,0.000130976035345,-8.56034070848e-05,-2.80391544083e-05,1793256169870061568
+144,2.400000000,POSE1_TO_POSE2_PRESS,789.462410028,749,728,708,695.462410028,653.537589972,930,801.537589972,836,666.462410028,656,672.462410028,0.407576209552,0.00459437575201,0.079940248096,0.999999984505,0.00014227043203,-9.90672648973e-05,-3.05760765094e-05,1793256169886728448
+145,2.416666667,POSE1_TO_POSE2_PRESS,789.956497962,749,728,707.956497962,695.956497962,653.043502038,930,801,836.043502038,666.956497962,656,673,0.408105271548,0.00460490195545,0.0799336722152,0.999999982434,0.000145825961826,-0.000112709949252,-3.41045271514e-05,1793256169903394816
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.383002659,749,728,707.383002659,695.383002659,653.616997341,930,801,836.616997341,666.383002659,656,673,0.408679376933,0.00461450859753,0.0799289170402,0.999999980258,0.000154148881727,-0.000120653204059,-3.41380894932e-05,1793256169920061696
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,749,728.196682588,707.196682588,695,653.803317412,930,801.196682588,836.803317412,666,656,673,0.409282460967,0.00462316842794,0.0799365440828,0.999999980147,0.000163258962229,-0.000108824514549,-3.47768141118e-05,1793256169936728576
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,749,728.788813242,707.788813242,695,653.211186758,930,801.788813242,836.211186758,666,656,673,0.409943809152,0.00462992460759,0.0799690666899,0.999999982561,0.000173951699293,-5.72425486061e-05,-3.66322719628e-05,1793256169953395712
+149,2.483333333,POSE1_TO_POSE2_PRESS,789.372790184,749,728.627209816,707.627209816,695,653.372790184,930,801.627209816,836,666,656,673,0.410640451832,0.0046334923149,0.0799973713154,0.999999983802,0.000175546076138,-1.10804654271e-05,-3.81579141064e-05,1793256169970061824
+150,2.500000000,POSE1_TO_POSE2_PRESS,789.952246871,749,728.047753129,707.047753129,695,653.952246871,930,801.047753129,836,666,656,673,0.411356660966,0.00463529240454,0.0800233375857,0.999999983897,0.000172096526037,3.20769547742e-05,-3.95007137499e-05,1793256169986728192
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,749,728.528881743,707,695.528881743,654,930,801.528881743,836.528881743,666,656,673,0.412024379954,0.00461818427846,0.0799995777641,0.999999987918,0.000149465544061,-1.15685099483e-05,-4.11057340473e-05,1793256170003395072
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.894736265,749,729,707.105263735,695.894736265,654,930.105263735,801.894736265,836.894736265,666,656,673,0.41269812018,0.0046002736884,0.0799705672215,0.999999989173,0.000127426153396,-6.02118594724e-05,-4.23300529787e-05,1793256170020061696
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.318351976,749,729,707.681648024,695.318351976,654,930.681648024,801.318351976,836.318351976,666,656,673,0.413418300206,0.00458637197314,0.0799380444762,0.99999998779,0.000115744726281,-9.63323259008e-05,-4.17450941016e-05,1793256170036728320
+154,2.566666667,POSE1_TO_POSE2_PRESS,789,749,729,708,695.263113102,654,931,801,836.263113102,666,656,673,0.414163271481,0.00457786668176,0.0799273422748,0.999999988019,0.000107502598597,-0.000103289274759,-4.16726442375e-05,1793256170053394944
+155,2.583333333,POSE1_TO_POSE2_PRESS,789,749,729,708,695.850846774,654,931,801,836.850846774,666,656,673,0.414938829504,0.00457601932452,0.0799435615615,0.999999990994,0.000103503767597,-7.42652088978e-05,-4.22325116325e-05,1793256170070061824
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,749,729,708,696,653.567084828,931,801,836.567084828,666,656,673,0.415750631291,0.00458232576559,0.0799584100044,0.99999999063,0.000116839553486,-5.76903346257e-05,-4.19592789303e-05,1793256170086728704
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,749,729,708,696,653.012875227,931,801.012875227,836,666,656,673,0.416574639592,0.00459126051151,0.0799723035697,0.999999988954,0.000135215560184,-4.57024912031e-05,-4.1465808445e-05,1793256170103395072
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,749,729,708,696,653.584945823,931,801.584945823,836,666,656,673,0.417393467385,0.00459391270599,0.0799649729426,0.99999999106,0.000116458796374,-4.90585534191e-05,-4.37122112181e-05,1793256170120061696
+159,2.650000000,POSE1_TO_POSE2_PRESS,789,749,729,707.841306114,696,654,931,801.841306114,836,666,656,673.158693886,0.418239692682,0.00459510031927,0.0799687769424,0.999999992868,0.000105027353823,-3.35536722177e-05,-4.59162820351e-05,1793256170136728320
+160,2.666666667,POSE1_TO_POSE2_PRESS,789,749,729,707.263123901,696,654,931,801.263123901,836,666,656,673.736876099,0.419158339957,0.00459241648699,0.0800020139982,0.999999991962,0.00011295952366,3.18078595347e-05,-4.80084531619e-05,1793256170153394944
+161,2.683333333,POSE1_TO_POSE2_PRESS,789,749,729,707.321671248,696,654,931,801.321671248,836,666.321671248,656,673.678328752,0.420034008694,0.0045897181528,0.0800084815169,0.999999991497,0.000111847955719,4.61100371667e-05,-4.8689534013e-05,1793256170170061568
+162,2.700000000,POSE1_TO_POSE2_PRESS,789,749,729,707.911989223,696,654,931,801.911989223,836,666.911989223,656,673.088010777,0.420873783458,0.00458700770734,0.0799925922066,0.999999993357,0.000103183426076,1.77695181919e-05,-4.81921297155e-05,1793256170186728448
+163,2.716666667,POSE1_TO_POSE2_PRESS,789,749,729,707.508520101,696,654,931,801.508520101,836,667,656,673,0.421788701634,0.00459061855232,0.0799908445164,0.999999993376,0.000102696910148,1.44012436851e-05,-4.99451956761e-05,1793256170203395072
+164,2.733333333,POSE1_TO_POSE2_PRESS,789.068985555,748.931014445,728.931014445,707,696,654,931,801,836,666.931014445,656,673,0.422717008809,0.0045955373031,0.0799944522188,0.99999999294,0.000105375257415,1.91007184636e-05,-5.14852184404e-05,1793256170220061696
+165,2.750000000,POSE1_TO_POSE2_PRESS,789.645843525,748.354156475,728.354156475,707,696,654,931,801,836,666.354156475,656,673,0.423646956448,0.00460193090678,0.0800192448163,0.999999990225,0.000120804374968,5.09828440007e-05,-4.85538861444e-05,1793256170236728576
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.773555572,748,728.226444428,707,696,654,931,801,836,666,656,673,0.424536061322,0.00460753231299,0.0800158905003,0.999999989482,0.000133536906511,3.26207427613e-05,-4.62682899444e-05,1793256170253395456
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.187002287,748,728.812997713,707,696,654,931,801,836,666,656,673,0.425360215126,0.00461187390856,0.0799677748625,0.999999986753,0.000141981127121,-6.56434791153e-05,-4.50095908618e-05,1793256170270061568
+168,2.800000000,POSE1_TO_POSE2_PRESS,789,748,729,707,696,654,931,801,836,666,656,673,0.426274214259,0.00461237759771,0.0799402880435,0.999999984568,0.000139702798937,-9.51468981152e-05,-4.78983252188e-05,1793256170286728192
+169,2.816666667,POSE1_TO_POSE2_PRESS,789,748,729,707,696,654,931,801,836,666,656,673,0.42723026374,0.00461108502743,0.0799224561539,0.999999985569,0.000132405985482,-9.24681244669e-05,-5.27281871852e-05,1793256170303394816
+170,2.833333333,POSE1_TO_POSE2_PRESS,789,748,729,707.54867297,696,654,931,801,836,666.54867297,656,673,0.428179287996,0.00460447779311,0.0799254258474,0.99999998608,0.000125272734758,-9.77203783568e-05,-5.09653068739e-05,1793256170320061952
+171,2.850000000,POSE1_TO_POSE2_PRESS,789.127213281,748,729,708,696,654,931,800.872786719,836,666.872786719,656,673,0.429131136816,0.00459915553198,0.0799362814049,0.999999987522,0.000119054663294,-9.1293504522e-05,-4.9478739873e-05,1793256170336728576
+172,2.866666667,POSE1_TO_POSE2_PRESS,789.701470931,748,729,708,696,654,931,800.298529069,836,666.298529069,656,673,0.430094310198,0.00459940698389,0.0799707073537,0.999999991113,0.000116020088293,-4.22455613881e-05,-5.02757853649e-05,1793256170353395456
+173,2.883333333,POSE1_TO_POSE2_PRESS,789.716662522,748,729,708,696,654,931.283337478,800.283337478,836,666.283337478,656.283337478,673.283337478,0.431052381076,0.00460155542447,0.0800098172673,0.999999992091,0.000114237230914,1.38852102837e-05,-5.07477635395e-05,1793256170370062080
+174,2.900000000,POSE1_TO_POSE2_PRESS,789.126557925,748,729,708,696,654,931.873442075,800.873442075,836,666.873442075,656.873442075,673.873442075,0.432004927451,0.00460575771881,0.0800539984682,0.999999989212,0.00011380959783,7.76844979922e-05,-5.08677939411e-05,1793256170386728960
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,747.543577738,729,708,696,654,932,801,836,667,656.543577738,674,0.432881251127,0.00461034008286,0.0800195349297,0.999999991118,0.000121044061978,2.30155302397e-05,-5.08186095703e-05,1793256170403395328
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,747,729,707.962999704,696,654,932,800.962999704,836,666.962999704,656,674,0.433740389212,0.00461481095108,0.0799649923001,0.999999988463,0.000129512754754,-6.09309189521e-05,-5.0871793634e-05,1793256170420061696
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,747,729,707.389054849,696,654,932,800.389054849,836,666.389054849,656,674,0.434652129048,0.00461615794204,0.0799306585014,0.999999985674,0.000125534824272,-0.000100371786175,-5.30809801878e-05,1793256170436728576
+178,2.966666667,POSE1_TO_POSE2_PRESS,789.185244682,747,729,707.185244682,696,654.185244682,931.814755318,800.185244682,836,666,656,673.814755318,0.435562320363,0.00461658497255,0.0799201082562,0.999999985117,0.000120655215203,-0.00011059811805,-5.45619598413e-05,1793256170453395456
+179,2.983333333,POSE1_TO_POSE2_PRESS,789.760290646,747,729,707.760290646,696,654.760290646,931.239709354,800.760290646,836,666,656,673.239709354,0.436469253376,0.00461507617572,0.0799596045673,0.999999990269,0.000113878247585,-5.93497461431e-05,-5.45106099606e-05,1793256170470061824
+180,3.000000000,POSE1_TO_POSE2_PRESS,789.653638476,747,729,708,696,654.653638476,931.346361524,800.653638476,836,666.346361524,656,673,0.437373408731,0.0046076807795,0.0799985817448,0.999999992799,0.000107260026417,-9.63086828074e-07,-5.3820338307e-05,1793256170486728448
+181,3.016666667,POSE1_TO_POSE2_PRESS,789.059686671,747,729,708,696,654.059686671,931.940313329,800.059686671,836,666.940313329,656,673,0.438275578475,0.0045960774541,0.0800371878267,0.999999991582,0.000100755282491,6.252624523e-05,-5.26733448646e-05,1793256170503395072
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,746.483356449,729,708,695.483356449,654,932,800,836,666.483356449,656,673.516643551,0.439116222192,0.00459568242265,0.0800359704565,0.999999992792,9.21474721899e-05,5.55409781233e-05,-5.32945756344e-05,1793256170520062208
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,745.90870127,729,708,695,654,932,800,836,666.09129873,656,674,0.439930657245,0.00459922659942,0.080016176124,0.999999994356,8.9269688219e-05,1.97760061321e-05,-5.41157761388e-05,1793256170536728576
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,745.332486736,729,708,695,654,932,800,836,666.667513264,656,674,0.440642397363,0.00461704251741,0.0799213436507,0.999999983451,0.0001180737327,-0.000127029704249,-5.49498742287e-05,1793256170553395200
+185,3.083333333,POSE1_TO_POSE2_PRESS,789,745,729,708,695,654,932,800,836,667,656,674,0.441337712727,0.00463029979433,0.0798298632242,0.99999995385,0.000136938590229,-0.000265358890183,-5.59738346048e-05,1793256170570061824
+186,3.100000000,POSE1_TO_POSE2_PRESS,789,745,729,708,695,654,932,800,836,667,656,674,0.442010621837,0.00463733829835,0.0797429555748,0.999999911363,0.000142244684172,-0.000392124625987,-5.72568004564e-05,1793256170586728448
+187,3.116666667,POSE1_TO_POSE2_PRESS,789,745,729,708,694.578360787,654,932,799.578360787,836,667,656,674,0.442777032692,0.00464513794969,0.079756222864,0.999999919505,0.000152554121109,-0.000366709467512,-5.69250242485e-05,1793256170603395328
+188,3.133333333,POSE1_TO_POSE2_PRESS,789,745,729,708,694.001869458,654,932,799.001869458,836,667,656,674,0.443577783253,0.0046532171422,0.0798062806078,0.999999944141,0.000164701096554,-0.000285404038985,-5.60002144152e-05,1793256170620061952
+189,3.150000000,POSE1_TO_POSE2_PRESS,789,745,729,707.427449945,694,653.427449945,932,799.572550055,836,667,656,674,0.44431460656,0.004662274148,0.0798479250609,0.999999955577,0.000180064844509,-0.000230932137543,-5.56213824306e-05,1793256170636728576
+190,3.166666667,POSE1_TO_POSE2_PRESS,789,745,729,707.150981969,693.849018031,653,932,799.849018031,836.150981969,667,656,673.849018031,0.445033411815,0.00467062431265,0.0798761008715,0.999999961474,0.000189537496721,-0.000195185083894,-5.50543444561e-05,1793256170653395712
+191,3.183333333,POSE1_TO_POSE2_PRESS,789,745,729,707.741103929,693.258896071,653,932,799.258896071,836.741103929,667,656,673.258896071,0.44570041559,0.00467690933746,0.0798651819592,0.999999959189,0.000181845114236,-0.000213646431825,-5.3934732187e-05,1793256170670063360
+192,3.200000000,POSE1_TO_POSE2_PRESS,789,745,729,708,692.675877071,652.675877071,932,799,836.675877071,667,656,673.324122929,0.44633858855,0.00468413695995,0.0798451727876,0.999999951642,0.000192212450453,-0.000238402940341,-5.41680060522e-05,1793256170686729728
+193,3.216666667,POSE1_TO_POSE2_PRESS,789,745,729,708,692.098409992,652.098409992,932,799,836.098409992,667,656,673.901590008,0.446954226446,0.00469210134452,0.0798180583989,0.99999993905,0.000216695801775,-0.000268079932814,-5.54587360904e-05,1793256170703395328
+194,3.233333333,POSE1_TO_POSE2_PRESS,788.545524275,745,729,707.545524275,691.545524275,652,932,799,836,667,656,674,0.447516367436,0.00469611202717,0.0797896443793,0.999999927313,0.000221807031384,-0.000304725975137,-5.7596141424e-05,1793256170720061952
+195,3.250000000,POSE1_TO_POSE2_PRESS,788.002556144,745,729,707,690.997443856,652,932,799,836,667,656,674,0.448067299857,0.00469933859054,0.0797609349975,0.999999914571,0.000222895855324,-0.000342911010269,-5.99000177959e-05,1793256170736728832
+196,3.266666667,POSE1_TO_POSE2_PRESS,788.608288925,745,729,707,690.391711075,652,932,799,836,667,656,674,0.448566556132,0.00470918825971,0.0797255271523,0.99999989271,0.000213861543805,-0.000406434897059,-6.04443525088e-05,1793256170753395200
+197,3.283333333,POSE1_TO_POSE2_PRESS,788.7905727,745,729,707.2094273,689.7905727,651.7905727,932,799,836,667,656,674,0.44906910718,0.00472425080278,0.0796995141886,0.999999872491,0.000220714905959,-0.00044981286381,-6.3026155148e-05,1793256170770061824
+198,3.300000000,POSE1_TO_POSE2_PRESS,788.197843257,745,729,707.802156743,689.197843257,651.197843257,932,799,836,667,656,674,0.4495776884,0.00474885415318,0.0796906961133,0.999999860549,0.00025664652017,-0.000456318964521,-6.93370125825e-05,1793256170786728448
+199,3.316666667,POSE1_TO_POSE2_PRESS,788.38449832,745,729,707.61550168,689,651,932,798.61550168,836,667,656,674,0.450080836533,0.00476042472127,0.0797066691844,0.999999866961,0.000275841935435,-0.000430115085631,-7.06459383212e-05,1793256170803395072
+200,3.333333333,POSE1_TO_POSE2_PRESS,788.961635489,745,729,707.038364511,689,651,932,798.038364511,836,667,656,674,0.450581262662,0.00476546569171,0.0797350629537,0.999999881417,0.00028665229202,-0.0003875230655,-6.94488292453e-05,1793256170820062208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,789,745,728.890366567,707.890366567,686.890366567,651,932,798,836,667,656,674,0.451445998485,0.00474989210629,0.0797612434825,0.999999897553,0.000272334385791,-0.000354864093679,-6.92837504331e-05,1793256170853395456
+203,3.383333333,POSE1_TO_POSE2_PRESS,789,745,728.313960511,707.313960511,686.313960511,651,932,798,836,667,656,674,0.451787308867,0.00475718393263,0.0797344466056,0.999999875664,0.000288685406366,-0.000400717347316,-6.89790085525e-05,1793256170870062080
+204,3.400000000,POSE1_TO_POSE2_PRESS,789,745,728.270189733,707.270189733,686,651,932,798,836,667,656,674,0.452111746942,0.00476040451705,0.079703988127,0.999999852011,0.000297007731927,-0.000450502097475,-6.93708015054e-05,1793256170886728704
+205,3.416666667,POSE1_TO_POSE2_PRESS,789,745,728.863604221,707.863604221,686,651,932,798,836,667,656,674,0.452416000857,0.0047587547229,0.0796691493197,0.999999826274,0.000295725424432,-0.000504990047219,-7.05958507902e-05,1793256170903395072
+206,3.433333333,POSE1_TO_POSE2_PRESS,789,745,729,708,685.556933001,650.556933001,932,798,836,667.443066999,656,674,0.45270530391,0.00475590268736,0.0796484269631,0.999999814196,0.000284451023054,-0.00053418027279,-7.31290008824e-05,1793256170920061696
+207,3.450000000,POSE1_TO_POSE2_PRESS,789,745,728.981572427,708,684.981572427,650,932,798,836,667.981572427,656,674,0.452989614133,0.00475262945491,0.0796324962737,0.999999806847,0.000269204147055,-0.000555041873257,-7.59183643997e-05,1793256170936728320
+208,3.466666667,POSE1_TO_POSE2_PRESS,789,745,728.404342386,708,684.404342386,650,932,798,836,667.404342386,656,674,0.453257828574,0.00474746423614,0.0796341129345,0.999999819629,0.000223925151419,-0.000552293023898,-7.46386659739e-05,1793256170953395200
+209,3.483333333,POSE1_TO_POSE2_PRESS,788.823681849,745,728.176318151,708,683.823681849,650,932,798,836,667,656,674,0.45351380698,0.00473876703606,0.0796350494385,0.999999826506,0.000195757348593,-0.000551004514556,-7.11457752213e-05,1793256170970061824
+210,3.500000000,POSE1_TO_POSE2_PRESS,788.234998292,745,728.765001708,708,683.234998292,650,932,798,836,667,656,674,0.453741168229,0.00472180938877,0.0796343952206,0.999999823521,0.000207608484298,-0.000553131389013,-6.24767646894e-05,1793256170986728448
+211,3.516666667,POSE1_TO_POSE2_PRESS,788,745,728.652012535,707.652012535,683,650,932,798,836,667,656,674,0.453936562483,0.00471602821554,0.0796254486397,0.999999813638,0.000215509766674,-0.000568023482461,-6.02393684504e-05,1793256171003395072
+212,3.533333333,POSE1_TO_POSE2_PRESS,788,745,728.072812498,707.072812498,683,650,932,798,836,667,656,674,0.454110716997,0.00471767300156,0.0796109923816,0.999999798812,0.00022078665749,-0.000591397143286,-6.22753151613e-05,1793256171020061440
+213,3.550000000,POSE1_TO_POSE2_PRESS,788.503265579,745,728.503265579,707.503265579,682.496734421,650,932,798,836,667.503265579,656,674,0.454262710678,0.00472386482044,0.0796002834718,0.99999978634,0.000227481292794,-0.000609403875464,-6.47985655415e-05,1793256171036728320
+214,3.566666667,POSE1_TO_POSE2_PRESS,789,745,729,707.921308058,682,649.921308058,932,797.921308058,836,667.921308058,656,674,0.454409275556,0.00472911181897,0.0795917640828,0.999999776243,0.000232824144843,-0.000623549873272,-6.7027190352e-05,1793256171053394688
+215,3.583333333,POSE1_TO_POSE2_PRESS,789,745,729,707.347158386,682,649.347158386,932,797.347158386,836,667.347158386,656,674,0.454541722358,0.0047242935795,0.0795936377541,0.999999780567,0.000228372441037,-0.000618246801232,-6.6959641292e-05,1793256171070061568
+216,3.600000000,POSE1_TO_POSE2_PRESS,788.765983671,745,729,707,681.765983671,649,932,797.234016329,836,667.234016329,656,674,0.454663601632,0.0047232255399,0.0795966759094,0.999999783847,0.000227476386052,-0.000613202933602,-6.74048232362e-05,1793256171086728448
+217,3.616666667,POSE1_TO_POSE2_PRESS,788.174064952,745,729,707,681.174064952,649,932,797.825935048,836,667.825935048,656,674,0.454769319019,0.00472789302127,0.0796014950158,0.999999785559,0.000232018307442,-0.000608555491111,-6.86341711958e-05,1793256171103395072
+218,3.633333333,POSE1_TO_POSE2_PRESS,788,745,729,707,681,649.408525364,932.408525364,797.591474636,836,667.591474636,656,674,0.454859634893,0.00472932147809,0.0796027395628,0.999999785987,0.000233097607747,-0.00060737454046,-6.91964886497e-05,1793256171120061696
+219,3.650000000,POSE1_TO_POSE2_PRESS,788,745,729,707,681,649.987229742,932.987229742,797.012770258,836,667.012770258,656,674,0.454943534971,0.00472940065749,0.079602495059,0.999999785892,0.000232734487236,-0.000607637623074,-6.94809418232e-05,1793256171136728320
+220,3.666666667,POSE1_TO_POSE2_PRESS,788,745,728.439293824,707.560706176,681,649.439293824,933,797.560706176,836.560706176,667,656,674,0.455002383466,0.00472900778146,0.0795997938659,0.999999783879,0.000232224870704,-0.000611133262549,-6.9502782195e-05,1793256171153395200
+221,3.683333333,POSE1_TO_POSE2_PRESS,788.134268858,745,728.134268858,708,680.865731142,649,932.865731142,797.865731142,836.865731142,667,656,674,0.455055566906,0.00472892891037,0.079596568213,0.999999781119,0.000232162521837,-0.000615666026545,-6.94168036057e-05,1793256171170061824
+222,3.700000000,POSE1_TO_POSE2_PRESS,788.708500584,745,728.708500584,708,680.291499416,649,932.291499416,797.291499416,836.291499416,667,656,674,0.455092039765,0.00472991385234,0.0795918056929,0.999999776053,0.000233576580487,-0.000623358154883,-6.89969486993e-05,1793256171186728448
+223,3.716666667,POSE1_TO_POSE2_PRESS,789,745,729,708,680,649,932,797,836,667,656,674,0.455124376768,0.00473068592584,0.0795883186102,0.999999772434,0.000233827960735,-0.000629057550192,-6.88642174577e-05,1793256171203395072
+224,3.733333333,POSE1_TO_POSE2_PRESS,789,745,729,708,680,649,932,797,836,667,656,674,0.455152449673,0.00473123853019,0.079586146514,0.999999770345,0.000232880609559,-0.000632702421272,-6.90275131782e-05,1793256171220061696
+225,3.750000000,POSE1_TO_POSE2_PRESS,789,745,728.533014137,707.533014137,680,649.466985863,932,797,836,667,656,674,0.455173182963,0.00473164454659,0.079585139889,0.999999769956,0.000233283640978,-0.000633174475761,-6.8974035515e-05,1793256171236728576
+226,3.766666667,POSE1_TO_POSE2_PRESS,788.957607316,745,728,707.042392684,680,649.957607316,932,797,836,667,656,674,0.45519160379,0.00473201415807,0.0795844642111,0.99999976983,0.0002341958405,-0.000633053648596,-6.88180037273e-05,1793256171253395200
+227,3.783333333,POSE1_TO_POSE2_PRESS,788.381369997,745,728,707.618630003,680,649.381369997,932,797,836,667,656,674,0.455202349966,0.00473235364749,0.0795845506767,0.999999768021,0.000237574197822,-0.00063473749112,-6.80039193387e-05,1793256171270061824
+228,3.800000000,POSE1_TO_POSE2_PRESS,788,745,728.199707246,708,680,649,932,797,836,667,656,674,0.455210661606,0.00473194385576,0.0795838247906,0.999999766123,0.000238784009982,-0.000637348755323,-6.72549490802e-05,1793256171286728192
+229,3.816666667,POSE1_TO_POSE2_PRESS,788,745,728.790256546,708,680,649,932,797,836,667,656,674,0.455214208676,0.00473006766459,0.0795815090713,0.999999764053,0.000235749816465,-0.000641775053186,-6.66334121058e-05,1793256171303394816
+230,3.833333333,POSE1_TO_POSE2_PRESS,788,745,729,707.627127113,680,649,932,797,836,667,656,674,0.455217438783,0.00473033942859,0.0795802491216,0.999999763018,0.000236166721483,-0.000643245111294,-6.65206366651e-05,1793256171320061696
+231,3.850000000,POSE1_TO_POSE2_PRESS,788,745,729,707.048880173,680,649,932,797,836,667,656,674,0.455220494311,0.0047317942614,0.0795795706776,0.999999762559,0.000238484451575,-0.000643086906751,-6.66880811865e-05,1793256171336728320
+232,3.866666667,POSE1_TO_POSE2_PRESS,788,745,728.472529454,707,680,649,932,797,836,667,656,674,0.455220816536,0.0047311627805,0.0795784786208,0.999999761592,0.000236633401195,-0.000645299903871,-6.64018686032e-05,1793256171353395200
+233,3.883333333,POSE1_TO_POSE2_PRESS,788.10266148,745,728.10266148,707,680,649,932,797,836,667.10266148,656,674,0.455220889072,0.00473030943172,0.0795773869759,0.999999760721,0.000234451373739,-0.000647477386047,-6.60633264393e-05,1793256171370061824
+234,3.900000000,POSE1_TO_POSE2_PRESS,788.67336297,745,728.67336297,707,680,649,932,797,836,667.67336297,656,674,0.4552209739,0.00472932285013,0.0795764713281,0.999999760539,0.000232515335098,-0.0006484947471,-6.56771867901e-05,1793256171386728704
+235,3.916666667,POSE1_TO_POSE2_PRESS,788.74508142,745,729,707.25491858,680,649,932.25491858,797,836.25491858,667.74508142,656,674,0.455221063697,0.0047291413245,0.0795759143189,0.999999759819,0.000232835980841,-0.000649509983999,-6.54697879812e-05,1793256171403395328
+236,3.933333333,POSE1_TO_POSE2_PRESS,788.14899941,745,729,707.85100059,680,649,932.85100059,797,836.85100059,667.14899941,656,674,0.455221160146,0.00473003722375,0.0795758372837,0.999999758375,0.000236176799211,-0.000650522378233,-6.55016021185e-05,1793256171420061696
+237,3.950000000,POSE1_TO_POSE2_PRESS,788.432481076,745,728.567518924,708,679.567518924,649,932.567518924,797,836.567518924,667,656,674,0.455222372603,0.00473058863109,0.0795760349725,0.999999758866,0.000236178088397,-0.000649781790275,-6.53505959164e-05,1793256171436728320
+238,3.966666667,POSE1_TO_POSE2_PRESS,788.990981491,745,728,708,679,649,932,797,836.009018509,667,656,674,0.455223928889,0.00473101367318,0.0795763068702,0.999999759973,0.000235078227272,-0.000648498372477,-6.51340337764e-05,1793256171453394944
+239,3.983333333,POSE1_TO_POSE2_PRESS,788.419233743,745,728,708,679,649,932,797,836.580766257,667,656,674,0.455223731555,0.00473071763771,0.0795754962765,0.999999759247,0.000234715647623,-0.000649797398576,-6.4628738942e-05,1793256171470061568
+240,4.000000000,POSE1_TO_POSE2_PRESS,788,745,728,707.841775066,679,649,932,797,836.841775066,667,656,674,0.455223649401,0.00473060399689,0.0795749309802,0.99999975881,0.000234089345926,-0.000650718654518,-6.44043549415e-05,1793256171486728448
+241,4.016666667,POSE1_TO_POSE2_PRESS,788,745,728,707.248618107,679,649,932,797,836.248618107,667,656,674,0.455223883859,0.00473099172636,0.0795750399623,0.999999759166,0.000232738119536,-0.000650601487833,-6.49521445807e-05,1793256171503395328
+242,4.033333333,POSE1_TO_POSE2_PRESS,788,745,728,707,679,648.663668323,932,797,836,667,656,674,0.455224081167,0.00473034744897,0.0795752546126,0.999999759498,0.00023175330382,-0.000650445361381,-6.49213165596e-05,1793256171520061952
+243,4.050000000,POSE1_TO_POSE2_PRESS,788,745,728,707,679,648.084640835,932,797,836,667,656,674,0.455224251668,0.00472895847886,0.0795755455126,0.999999759814,0.000231032888877,-0.000650261121697,-6.44729599486e-05,1793256171536728320
+244,4.066666667,POSE1_TO_POSE2_PRESS,788,744.526390207,728.473609793,707,679,648.473609793,932,797,836.473609793,667,656,674,0.455224232228,0.00473157426192,0.0795745977857,0.999999758883,0.000232752131709,-0.000651023727165,-6.50249402368e-05,1793256171553395200
+245,4.083333333,POSE1_TO_POSE2_PRESS,788,744.030437914,728.969562086,707,679,649,932,797,836.969562086,667,656,674,0.455224147379,0.00473464453276,0.0795735151647,0.99999975777,0.000234747308699,-0.000651948998964,-6.56983033983e-05,1793256171570061824
+246,4.100000000,POSE1_TO_POSE2_PRESS,788,744.626964305,728.373035695,707,679,649,932,797,836.373035695,667,656,674,0.455223450838,0.00473341600997,0.0795738676411,0.999999757326,0.000234106302385,-0.000652884738822,-6.5444017948e-05,1793256171586728704
+247,4.116666667,HOLD_POSE2,788,745,728,707,680,649,932,797,836,667,656,674,0.455222585686,0.00472832660862,0.0795712409688,0.999999757158,0.000227132969433,-0.000655665162351,-6.47974135256e-05,1793256171626167296
+248,4.133333333,HOLD_POSE2,788,745,728.595014913,707,679.404985087,649,932,797,836,667,656,674,0.455224745679,0.00473083735945,0.0795727317969,0.999999757745,0.000230442117417,-0.000653601403935,-6.48979249047e-05,1793256171642833920
+249,4.150000000,HOLD_POSE2,788,745,728.815974472,707.184025528,679,649,932,797,836,667,656,674,0.455226072192,0.00473152779849,0.0795738638395,0.999999758301,0.000232008357389,-0.000652211573625,-6.47339974047e-05,1793256171659500288
+250,4.166666667,HOLD_POSE2,788,745,728.239759904,707.760240096,679,649,932,797,836,667,656,674,0.455225622424,0.0047283388505,0.0795742312509,0.999999758813,0.000229860170814,-0.000652257995951,-6.40065066438e-05,1793256171676167168
+251,4.183333333,HOLD_POSE2,788.335566188,745,728,708,679,649,932,797,836,667,656,674,0.455225731862,0.0047278609191,0.0795737627241,0.999999758955,0.000228053463662,-0.000652670658814,-6.40566332033e-05,1793256171692834048
+252,4.200000000,HOLD_POSE2,788.91025911,745,728,708,679,649,932,797,836,667,656,674,0.455226239794,0.00472931487665,0.079572698502,0.999999758831,0.000226490097184,-0.000653344307157,-6.4660895168e-05,1793256171709500416
+253,4.216666667,HOLD_POSE2,788.500194054,745,728,707.500194054,679,649,932,797,836,667,656,674,0.45522569537,0.00473073931477,0.0795727129198,0.999999758093,0.000229109908832,-0.000653568986181,-6.45841627427e-05,1793256171726167040
+254,4.233333333,HOLD_POSE2,788,745,728,707,679,649,932,797,836,667,656,674,0.455225218261,0.0047315516264,0.0795729811214,0.999999757579,0.000231459951578,-0.000653549173646,-6.43540381813e-05,1793256171742833664
+255,4.250000000,HOLD_POSE2,788,745,728,707,679,649,932,797,836,667,656,674,0.45522616434,0.0047290692076,0.0795735435705,0.999999758952,0.000228140838917,-0.000652652763433,-6.39752514439e-05,1793256171759500032
+256,4.266666667,HOLD_POSE2,788.244011278,745,728,707,679,649,932.244011278,797,836,667,656,674,0.455226125432,0.00472860896259,0.0795733272814,0.999999759024,0.000227112761178,-0.00065289483631,-6.4039568938e-05,1793256171776166912
+257,4.283333333,HOLD_POSE2,788.819523161,745,728,707,679,649,932.819523161,797,836,667,656,674,0.455224748372,0.00473089593438,0.0795720530403,0.999999757336,0.000229197160587,-0.000654683591186,-6.47058640514e-05,1793256171792833536
+258,4.300000000,HOLD_POSE2,788.599223299,745,728,707,679,649,932.599223299,797,836,667,656,674,0.455224898253,0.00473038196227,0.0795724377609,0.999999757684,0.000228640183048,-0.000654357707327,-6.45909809646e-05,1793256171809500416
+259,4.316666667,HOLD_POSE2,788.015346558,745,728,707,679,649,932.015346558,797,836,667,656,674,0.455225745738,0.00472858834277,0.0795735803995,0.99999975896,0.000226876458327,-0.000653065723451,-6.41192065299e-05,1793256171826167040
+260,4.333333333,HOLD_POSE2,788.567942739,745,728,707,679,649,932,797,836,667,656,674,0.455227990712,0.00472999234724,0.0795744529979,0.999999759477,0.000230481310405,-0.000651026122289,-6.39429628751e-05,1793256171842833664
+261,4.350000000,HOLD_POSE2,788.850787396,745,728.149212604,707,679,649,932.149212604,797,836,667,655.850787396,674,0.455229120556,0.00473054838048,0.07957461948,0.99999975947,0.000232501938324,-0.000650336218237,-6.3762500098e-05,1793256171859500288
+262,4.366666667,HOLD_POSE2,788.275242046,745,728.724757954,707,679,649,932.724757954,797,836,667,655.275242046,674,0.455226956448,0.0047284349566,0.0795727892623,0.999999758056,0.000229582038684,-0.000653560351583,-6.35471892404e-05,1793256171876166656
+263,4.383333333,POSE2_TO_POSE3_RETREAT,788,745,729,708,679,649,932,797,836,667,656,674,0.455226013567,0.00472865845533,0.0795725329718,0.999999757832,0.000230110028741,-0.000653694477606,-6.37828096494e-05,1793256171913229056
+264,4.400000000,POSE2_TO_POSE3_RETREAT,788,745,728.407708648,708,679,649,932,797,836,667,656,674,0.455227724629,0.00472813842471,0.0795734558973,0.99999975927,0.000228819851219,-0.000651990564122,-6.3328505453e-05,1793256171929895680
+265,4.416666667,POSE2_TO_POSE3_RETREAT,788,745,728,707.819824593,679,649,932,797,836,667,656,674,0.455228568632,0.00472857958031,0.0795739350968,0.999999759775,0.00022859829084,-0.000651302371391,-6.32343500934e-05,1793256171946562560
+266,4.433333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.241675318,679,649,932,797,836,667,656,674,0.455227497462,0.00473114381688,0.0795734341882,0.999999758225,0.000230737106146,-0.000652857716015,-6.39356962479e-05,1793256171963229184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,788,745,728.334922346,707,679,649,932,797.334922346,836,667,656,674,0.455227539734,0.00473156496469,0.0795729258653,0.999999757569,0.000231161705505,-0.000653708813079,-6.3956540073e-05,1793256171979896064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,788,745,728.910405519,707,679,649,932,797.910405519,836,667,656,674,0.455228381744,0.00473044682058,0.079572412217,0.999999757559,0.000230355054538,-0.000654054078245,-6.34886072637e-05,1793256171996562688
+269,4.483333333,POSE2_TO_POSE3_RETREAT,788,745,728.513648251,707,679,649,932,797.513648251,836,667,656,674,0.455227968949,0.0047299162086,0.0795735148235,0.99999975859,0.000229368502642,-0.000652820457241,-6.35187963016e-05,1793256172013229312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,679,649,932,797,836,667,656,674,0.455227650913,0.00472948484809,0.079574809962,0.999999759837,0.00022844072216,-0.000651226493092,-6.3600443335e-05,1793256172029895680
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,679,649,932,797,836,667,656,674,0.455230018206,0.00472897868121,0.0795752364886,0.999999761299,0.000228269983538,-0.000649062691982,-6.33495116364e-05,1793256172046562048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,788.240730387,745,728.240730387,707.240730387,679,649,932,797,836,667,656,674,0.455228712255,0.00472888438794,0.079574147876,0.99999976051,0.000228491639708,-0.000650200333429,-6.33334803242e-05,1793256172063228928
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,789,745.393497627,728.606502373,707.606502373,679,649,932,797,836,667,656,674,0.455207810757,0.00472894722461,0.0795639107484,0.999999749959,0.000227104477667,-0.000666653907318,-6.38562210311e-05,1793256172096562432
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,788.461237952,745.461237952,728,707.538762048,679,649,932,797,836,667,656,674,0.455141669916,0.00472722473086,0.0795366617959,0.999999718664,0.000225771254545,-0.000712575805231,-6.27228897168e-05,1793256172129895936
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,788,744.877691144,728.122308856,707,679,649,932,797,836.877691144,667,656,674,0.454873134953,0.0047271404994,0.0794824375776,0.999999653546,0.000231827410137,-0.000797329266492,-5.85576158642e-05,1793256172196562176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,788,745,728.451170386,707.451170386,679,649,932,797,836.548829614,667,656,674,0.454781902642,0.00472613613123,0.0794812585546,0.999999651141,0.00023360960746,-0.000800005738942,-5.59926509186e-05,1793256172213229056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,788.02484738,745,728.97515262,707.97515262,679,649,932,797,836,667,656,674,0.45468587324,0.00472493551613,0.0794815679598,0.99999965001,0.000235776599191,-0.000800974143736,-5.31862652412e-05,1793256172229895424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,788.620435274,745,728.379564726,707.379564726,679,649,932,797,836,667,656,674,0.454568798618,0.00472432892778,0.0794857392691,0.999999653651,0.000238398481726,-0.000795817677738,-5.03888094279e-05,1793256172246562304
+284,4.733333333,POSE2_TO_POSE3_RETREAT,788.79128759,745,728.20871241,707.20871241,679.20871241,649,932,797,836,667,656,674,0.45443960557,0.0047236651718,0.0794872376547,0.999999654742,0.000240767799641,-0.000793915722484,-4.73717396199e-05,1793256172263229184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,788.215855923,745,728.784144077,707.784144077,679.784144077,649,932,797,836,667,656,674,0.454289119789,0.00472290096919,0.0794840395652,0.999999651395,0.000242693347274,-0.000797732123302,-4.39687961654e-05,1793256172279895808
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,788,745,729,707.066036488,680,649,932,797,836.933963512,667,656,674,0.453932884347,0.00471963456757,0.0794725728775,0.99999963908,0.00025050129842,-0.000811107707036,-3.45329029811e-05,1793256172313229056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,788,745,729,707,680,649,932,797.508856678,836.491143322,667,656,674,0.453721286321,0.00471748973852,0.0794708545936,0.999999633775,0.000254148681637,-0.000816727999868,-2.85276586647e-05,1793256172329895424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,788.086506565,745,728.913493435,707,680,649,932,797.913493435,836,667,656,674,0.453501680763,0.00471550029385,0.0794710211505,0.999999630443,0.000258257975891,-0.000819705449452,-2.23730147574e-05,1793256172346562304
+290,4.833333333,POSE2_TO_POSE3_RETREAT,788.680241526,745,728.319758474,707,680,649,932,797.319758474,836,667,656,674,0.45325574945,0.00471465864459,0.0794787381644,0.999999637755,0.000265618576761,-0.000808503645611,-1.60910575162e-05,1793256172363228928
+291,4.850000000,POSE2_TO_POSE3_RETREAT,788.734312622,745,728,707,680.265687378,649,932,797,836.265687378,667,656,674,0.452996810662,0.00471327802162,0.0794892518718,0.999999648518,0.000273698416466,-0.000792443637389,-9.28293149645e-06,1793256172379895296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,788.158541038,745,728,707,680.841458962,649,932,797,836.841458962,667,656,674,0.452722690845,0.00471126836152,0.0795030296047,0.999999663062,0.000282617680567,-0.000770713610782,-1.86071334626e-06,1793256172396562176
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,789,745,728.583425441,707,681.583425441,649,932,797,836,667,656,674,0.451729269168,0.0047050398468,0.0795286620546,0.999999684342,0.000299713220436,-0.000735623204388,1.86276175225e-05,1793256172446562304
+296,4.933333333,POSE2_TO_POSE3_RETREAT,789,745,728.827331493,707,682.172668507,649.172668507,932,797.172668507,836,667,656,674,0.451355737885,0.00470286750642,0.0795377444662,0.999999697048,0.000294080860561,-0.00072037750662,2.18186170499e-05,1793256172463228928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,789,745,728.248542346,707,682.751457654,649.751457654,932,797.751457654,836,667,656,674,0.450964551858,0.00470070398261,0.0795500276923,0.999999719428,0.000271523605428,-0.000697915595187,1.82314053488e-05,1793256172479895552
+298,4.966666667,POSE2_TO_POSE3_RETREAT,789,745,728,707.327071929,683.327071929,650,932,798,836.327071929,667,656,674,0.450557004572,0.00470790118219,0.0795683019448,0.999999744859,0.000260275521434,-0.000665106694933,1.31159454516e-05,1793256172496562176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,789,745,728,707.900296867,683.900296867,650,932,798,836.900296867,667,656,674,0.450137143827,0.00472214322409,0.0795910850206,0.999999771807,0.000257538671306,-0.00062451068988,6.8503317587e-06,1793256172513228800
+300,5.000000000,POSE2_TO_POSE3_RETREAT,789,745,728,708,684.946837443,650,932,798,836.526581278,667,656,674,0.449666516469,0.00472583766679,0.0796064369178,0.999999786912,0.000252817565463,-0.00060183582285,7.33441077426e-06,1793256172529895680
+301,5.016666667,POSE2_TO_POSE3_RETREAT,789,745,728.04835883,707.95164117,686.04835883,650,932,798.04835883,836,667,656,674,0.449177367181,0.00472596874195,0.0796177297433,0.999999797164,0.000246567443811,-0.000587184515866,9.54058785695e-06,1793256172546562560
+302,5.033333333,POSE2_TO_POSE3_RETREAT,789,745,728.644127235,707.355872765,686.644127235,650,932,798.644127235,836,667,656,674,0.448599553539,0.00471090304947,0.0796007867448,0.999999781353,0.0002277386186,-0.000620643765278,1.51529435035e-05,1793256172563229184
+303,5.050000000,POSE2_TO_POSE3_RETREAT,789,745,729,707.23315602,687,650.23315602,932,799,836,667,656,674,0.448014931695,0.00470264038948,0.0795813328358,0.999999756333,0.000249027965095,-0.000651925454545,1.76526466499e-05,1793256172579895552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,789,745,729,707.812186893,687,650.812186893,932,799,836,667,656,674,0.447420210268,0.00470446967596,0.0795581541224,0.999999714301,0.000329830537208,-0.000679976842176,1.55348909837e-05,1793256172596562176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,789,745,728.615734252,708,687.384265748,651,932,799,836,667,656,674,0.446840057224,0.00469852081833,0.0795712363056,0.999999727223,0.000332199185405,-0.000659495002323,1.62347803904e-05,1793256172613228800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,789,745,728.046992891,708,687.953007109,651,932,799,836,667,656,674,0.446266898083,0.00468883788362,0.079601726367,0.999999766202,0.000296913821457,-0.000615713669014,1.82873451949e-05,1793256172629895424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,789,745.531209242,728.531209242,707.468790758,689.062418484,651,932,799,836,667,656,674,0.445650937471,0.00467693156986,0.0796494429912,0.99999981448,0.000264204787347,-0.000548420706014,2.16913687685e-05,1793256172646562048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,789,745.886827843,728.886827843,707,690.113172157,651.113172157,932,799,836,667,656,674,0.445015404839,0.0046660223805,0.0796933191853,0.999999853203,0.000234356134119,-0.000487908849618,2.48372495448e-05,1793256172663228672
+309,5.150000000,POSE2_TO_POSE3_RETREAT,789,745.292498741,728.292498741,707,690.707501259,651.707501259,932,799,836,667,656,674,0.444313050897,0.00466020391359,0.0797142710414,0.999999868173,0.000215681992967,-0.000465230511591,2.63681104745e-05,1793256172679895808
+310,5.166666667,POSE2_TO_POSE3_RETREAT,789,745,728.29378033,707.29378033,691,652,932,799,836,667,656,674,0.44359460199,0.00465081822092,0.0797219342268,0.999999872023,0.000217150554103,-0.000456070711165,2.82639403916e-05,1793256172696562688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,789,745,728.872258318,707.872258318,691,652,932,799,836,667,656,674,0.442860555636,0.00463797558806,0.0797167195836,0.999999865374,0.000238139072732,-0.000460011499392,3.05134559058e-05,1793256172713229056
+312,5.200000000,POSE2_TO_POSE3_RETREAT,788.554995784,745,729,708,691.890008431,652.445004216,932,799,836,667,656,674,0.442125859309,0.00462606639787,0.0797261900169,0.999999880668,0.000216963245109,-0.000436602428824,3.11361489987e-05,1793256172729895680
+313,5.216666667,POSE2_TO_POSE3_RETREAT,788.016716394,745.016716394,729.016716394,708,693,653,932,799,836,667,656,674,0.441388712605,0.0046146253514,0.0797390026552,0.999999899696,0.000184290255912,-0.00040701787865,3.13157879257e-05,1793256172746562304
+314,5.233333333,POSE2_TO_POSE3_RETREAT,788.6087632,745.6087632,729.6087632,708,693,653,932,799,836,667,656,674,0.440573569181,0.00461019160368,0.0797236055258,0.999999892342,0.000167190824866,-0.000431662758813,3.21148749124e-05,1793256172763228928
+315,5.250000000,POSE2_TO_POSE3_RETREAT,789,746,729.803611213,708,693.196388787,653,932,799.196388787,836,667,656,674,0.439740780205,0.00460277043162,0.0797071653685,0.999999882728,0.000160624750632,-0.000455683008232,3.31310519661e-05,1793256172779895552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,789,746,729.22459949,708,693.77540051,653,932,799.77540051,836,667,656,674,0.438873612568,0.00458952888137,0.079688693088,0.999999869689,0.000174580744893,-0.000478486292763,3.45701841013e-05,1793256172796562176
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,789.329265005,747,729,708,694,653,932,800,836.329265005,667,656.329265005,674,0.434718797479,0.0045382377458,0.0798682122894,0.999999970132,0.00011456520342,-0.000211521367698,4.32377231554e-05,1793256172879895552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,789.256138117,747.256138117,728.743861883,708,694.256138117,653.256138117,932,800,836,667,656,674,0.433772088614,0.00452737117679,0.0798329613909,0.999999958046,0.000100921338068,-0.000267942179545,4.39300106315e-05,1793256172896562432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,789.833729347,747.833729347,728.166270653,708,694.833729347,653.833729347,932,800,836,667,656,674,0.432778646897,0.00451694650561,0.0797901229431,0.999999937225,0.000102169164656,-0.000336221345293,4.54687958331e-05,1793256172913228800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,789.591545999,748,728.408454001,707.591545999,694.591545999,653.591545999,932,800,836,667,656,674,0.431783962158,0.00450726825139,0.0797428032654,0.999999904086,9.08472780442e-05,-0.000425918544511,4.65546599387e-05,1793256172929895680
+325,5.416666667,POSE2_TO_POSE3_RETREAT,789.017980154,748,728.982019846,707.017980154,694.017980154,653.017980154,932,800,836,667,656,674,0.430788775006,0.00449789172646,0.0796936721154,0.999999858671,7.44442591069e-05,-0.00052427367838,4.74574365632e-05,1793256172946562560
+326,5.433333333,POSE2_TO_POSE3_RETREAT,789.571513735,748,729,707.571513735,694.571513735,653,932,800,836,667,656,674,0.429965959566,0.00448361812062,0.0797551720313,0.999999912545,6.78759014193e-05,-0.000409829888337,4.83994956135e-05,1793256172963229184
+327,5.450000000,POSE2_TO_POSE3_RETREAT,790,748,729,708,695,653,931.841376343,800,836,667,656,673.841376343,0.429127991732,0.00447100174347,0.0798159370009,0.999999951411,6.00641792494e-05,-0.000301858742844,4.95098228511e-05,1793256172979895552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,790,748,729,708,695,653,931.261958047,800,836,667,656,673.261958047,0.428235029621,0.004463202059,0.0798652545406,0.999999971244,4.81097653038e-05,-0.000229327126723,5.10631585421e-05,1793256172996562432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,790,748,729,707.685512255,695,653,931,800,836,667,656,673,0.427286301422,0.00445388896715,0.07986113796,0.999999970061,3.90125232468e-05,-0.000235960617601,5.17514391351e-05,1793256173013229312
+330,5.500000000,POSE2_TO_POSE3_RETREAT,790,748,729,707.111519308,695,653,931,800,836,667,656,673,0.426291556878,0.00444332706043,0.0798129292542,0.999999950735,3.22729283874e-05,-0.000307918619614,5.17259038811e-05,1793256173029895936
+331,5.516666667,POSE2_TO_POSE3_RETREAT,790,748,729,707.464635052,695,653,931,800.464635052,836,667,656,673.464635052,0.425325211122,0.00443637208002,0.079781201572,0.999999935883,2.66822573817e-05,-0.000353304112791,5.19444115213e-05,1793256173046562560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,790,748.042297691,729,708,694.957702309,653,931.042297691,801,836,667,656,673.957702309,0.424367656544,0.00443338643064,0.0797544565373,0.999999921652,2.48227399446e-05,-0.000391597307184,5.22589647844e-05,1793256173063228928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,790,748.632751854,729,708,694.367248146,653,931.632751854,801,836,667,656,673.367248146,0.423435285677,0.00447056962067,0.0797407807855,0.999999907671,6.77266776275e-05,-0.000421017167564,5.30555846143e-05,1793256173079895552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,789.78142855,748.78142855,729,708,694.21857145,653.21857145,931.78142855,801,836,667,656,673.21857145,0.422542251202,0.00449724120911,0.0797514474766,0.999999912649,0.000101319111059,-0.000402019253341,5.30744847016e-05,1793256173096562176
+335,5.583333333,POSE2_TO_POSE3_RETREAT,789.203234268,748.203234268,729,708,694.796765732,653.796765732,931.203234268,801,836,667,656,673.796765732,0.421713938043,0.00450661771782,0.0798021655919,0.999999945494,0.000119591025102,-0.000303357976984,5.18137767307e-05,1793256173113229056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,789.373725355,748,729,708,695,653.626274645,931,801,836,666.626274645,656,673.626274645,0.420864123933,0.00449880045443,0.0798442640711,0.999999966336,0.00010883474405,-0.000229797114306,5.17371753021e-05,1793256173129895936
+337,5.616666667,POSE2_TO_POSE3_RETREAT,789.95001574,748,729,708,695,653.04998426,931,801,836,666.04998426,656,673.04998426,0.420002656019,0.00448166389517,0.0798816905688,0.999999980819,8.23447229793e-05,-0.000169841077294,5.23023783536e-05,1793256173146562816
+338,5.633333333,POSE2_TO_POSE3_RETREAT,790,748,729,708,695,653,931,801,836,666.536388683,656,673.536388683,0.419108611492,0.00447528617049,0.0798456539878,0.999999968101,7.76415684169e-05,-0.000234611944995,5.22132558045e-05,1793256173163228928
+339,5.650000000,POSE2_TO_POSE3_RETREAT,790,748.122018507,729,708.122018507,695,653,931,801,836,667,656,674,0.41822186596,0.00447008884539,0.0798113871828,0.999999951911,7.36959237349e-05,-0.000296699800539,5.21139150928e-05,1793256173179895552
+340,5.666666667,POSE2_TO_POSE3_RETREAT,790,748.701275378,729,708.701275378,695,653,931,801,836,667,656,674,0.417374065476,0.00446548588991,0.0798098967731,0.999999950222,6.48352306577e-05,-0.000304344989769,5.22091507327e-05,1793256173196562176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,790,749,729,708.441997413,695,653,931,801,836,666.720998706,656,673.720998706,0.416528659541,0.00447025222974,0.079806494675,0.999999945807,7.15448980028e-05,-0.000316997176851,5.27281707482e-05,1793256173213229056
+342,5.700000000,POSE2_TO_POSE3_RETREAT,790,749,729,707.289806128,695,653,931,801,836,666.144903064,656,673.144903064,0.415685803493,0.00448499545797,0.0798010569167,0.999999937955,9.48346542057e-05,-0.000334981061735,5.36984572507e-05,1793256173229895680
+343,5.716666667,POSE2_TO_POSE3_RETREAT,790,749,729,707.430360767,695,653.430360767,931,801,836,666.430360767,656,673,0.414878521087,0.00449044077517,0.0797864460466,0.999999930087,0.0001013533019,-0.000355985012325,5.3185477947e-05,1793256173246562560
+344,5.733333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.994704119,931,801,836,667,656,673,0.414084063247,0.00449263129978,0.0797691083765,0.999999922207,0.000102030595865,-0.000377429939212,5.21780484329e-05,1793256173263229440
+345,5.750000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.425015605,931,801,836,667,656,673,0.413382327269,0.00448094481197,0.079789693549,0.999999938379,8.08188852386e-05,-0.000337710634629,5.15973441747e-05,1793256173279896064
+346,5.766666667,POSE2_TO_POSE3_RETREAT,790.152736963,749,729,708,695,653,931,801,836,666.847263037,656,673,0.412673941134,0.00447217720102,0.0798034454748,0.999999947467,6.9744482941e-05,-0.000312357152494,5.13379638144e-05,1793256173296562688
+347,5.783333333,POSE2_TO_POSE3_RETREAT,790.754180008,749,729,708,695,653,931,801,836,666.245819992,656,673,0.411946018197,0.00447198457639,0.0797971228983,0.999999940546,8.84511571453e-05,-0.000329207145993,5.20225592981e-05,1793256173313229056
+348,5.800000000,POSE2_TO_POSE3_RETREAT,790.660029162,749,728.660029162,708,695,653,931,801,836,666,656,673,0.411238949701,0.00447465303222,0.0797899514159,0.999999935036,9.35503589348e-05,-0.000344139708668,5.23900925858e-05,1793256173329895680
+349,5.816666667,POSE2_TO_POSE3_RETREAT,790.085057765,749,728.085057765,708,695,653,931,801,836,666,656,673,0.41054629662,0.0044792991739,0.0797821931384,0.999999930646,8.9243565703e-05,-0.000357746870472,5.25384605906e-05,1793256173346562304
+350,5.833333333,POSE2_TO_POSE3_RETREAT,790,749,728.488688244,708,695,653,931,801,836,666,656.488688244,673,0.40991927834,0.00448817574437,0.0797999198987,0.999999939728,0.000107044895517,-0.000325968346086,5.32069952542e-05,1793256173363228928
+351,5.850000000,POSE2_TO_POSE3_RETREAT,790,749,728.9356838,708,695,653,931,801.0643162,836,666.0643162,657,673,0.409308785111,0.00449622883457,0.0798216622167,0.999999949534,0.000124159170507,-0.000287428316792,5.38650020343e-05,1793256173379895552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,790,749,728.342842438,708,695,653,931,801.657157562,836,666.657157562,657,673,0.408740445511,0.00449147923784,0.0798400427092,0.99999995984,0.000104085329323,-0.000258077723333,5.36943617173e-05,1793256173396562176
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790.243481617,749,728,708,695,653,931,802,836,667,657,673,0.408162945615,0.00448767914889,0.0798402216083,0.999999959556,9.72566228842e-05,-0.000261797279876,5.37620962106e-05,1793256173413229056
+354,5.900000000,POSE2_TO_POSE3_RETREAT,790.82086795,749,728,708,695,653,931,802,836,667,657,673,0.407572883557,0.00448518119201,0.0798154392872,0.999999944318,0.000108591970809,-0.000310868430891,5.41567320597e-05,1793256173429895936
+355,5.916666667,POSE2_TO_POSE3_RETREAT,791,749,728.396558546,708.396558546,695,653,931,801.603441454,836,667,656.603441454,673,0.407019343277,0.00448548144482,0.0797869980856,0.999999928933,0.000109137812718,-0.000356805380881,5.39647777987e-05,1793256173446562560
+356,5.933333333,POSE2_TO_POSE3_RETREAT,791,749,728.971486462,708.971486462,695,653,931,801.028513538,836,667,656.028513538,673,0.406482230195,0.00448704031333,0.0797569111419,0.99999991254,0.000104830608182,-0.000401332592221,5.35089792301e-05,1793256173463229184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,790.440432817,749,728.440432817,708.440432817,695,653,931,801.559567183,836,667,656.559567183,673,0.406046327466,0.00448995581658,0.0797771559413,0.999999928652,0.000107837294273,-0.000358133867537,5.29858992892e-05,1793256173479895808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,790.145914045,749,728,708,695,653,931,802,836,666.854085955,656.854085955,673,0.40562151183,0.00449325333898,0.0797989938875,0.999999942444,0.000113077421567,-0.000315547237739,5.24930714516e-05,1793256173496562432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790.725074976,749,728,708,695,653,931,802,836,666.274925024,656.274925024,673,0.405213934135,0.00449747495167,0.0798177637301,0.999999949399,0.000123815842933,-0.000288370401023,5.21004927428e-05,1793256173513229312
+360,6.000000000,POSE2_TO_POSE3_RETREAT,791,749,728,708,695,653.301816176,931,802,836,666,656,673,0.404819877666,0.00449984972726,0.0798303772211,0.99999995256,0.000129214477473,-0.000274606025547,5.26803272736e-05,1793256173529896192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,791,749,728,708,695,653.876370735,931,802,836,666,656,673,0.404438039776,0.00450055559483,0.0798374274792,0.999999952858,0.000129787774239,-0.000272961919998,5.41388901529e-05,1793256173546562816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,791,749,728.451165298,708,695,654,931,802,836,666,656,673,0.404078781191,0.00450262960626,0.0798383381491,0.999999951266,0.000130258178273,-0.000278507291231,5.41668492028e-05,1793256173563229184
+363,6.050000000,POSE2_TO_POSE3_RETREAT,791,749,729,708,695,653.973190711,930.973190711,802,836,666,656,673,0.403728086095,0.00450484307477,0.0798376364147,0.999999949285,0.00013042838499,-0.000285529439734,5.37785686066e-05,1793256173579895552
+364,6.066666667,POSE2_TO_POSE3_RETREAT,791,749,729,708,695,653.381021262,930.381021262,802,836,666,656,673,0.403427432516,0.00450208722898,0.0798384292881,0.999999951009,0.000124862861414,-0.000282126695478,5.28838771046e-05,1793256173596562176
+365,6.083333333,POSE2_TO_POSE3_RETREAT,790.793599938,749,729,708,695,653,930,801.793599938,836.206400062,666,656,672.793599938,0.403138899878,0.00449952724801,0.0798375665589,0.999999951363,0.000119622099786,-0.000283175807344,5.26931873066e-05,1793256173613228800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,790.214746766,749,729,708,695,653,930,801.214746766,836.785253234,666,656,672.214746766,0.402872239754,0.00449732070941,0.079833716261,0.999999949238,0.000114967378302,-0.000292258384486,5.37728829977e-05,1793256173629895424
+367,6.116666667,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.361079145,930,801.361079145,836.638920855,666,656,672,0.402637342912,0.00449561333071,0.079833756792,0.999999949781,0.000107481677819,-0.000293153192113,5.42835081262e-05,1793256173646562304
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.935119658,930,801.935119658,836.064880342,666,656,672,0.402421179753,0.00449420035202,0.0798360921,0.999999951859,9.83262898649e-05,-0.000289218924682,5.44585004413e-05,1793256173663228928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,790,749,728.492515035,708,695,654,930,801.492515035,836,666,656,672.507484965,0.402235414953,0.00449395419418,0.0798374992842,0.999999953589,9.25512909522e-05,-0.000285147523443,5.42936423471e-05,1793256173679895552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,790,749,728,707.917047325,695,654,930.082952675,801.082952675,836,666,656,673,0.402057972633,0.00449381894398,0.0798395896317,0.999999955443,8.76487114011e-05,-0.000280172443563,5.41744161121e-05,1793256173696562432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.321072316,695,654,930.678927684,801.678927684,836,666,656,673,0.401908044736,0.00449345006802,0.0798466364409,0.999999958482,8.54776411318e-05,-0.000269716615901,5.46052266423e-05,1793256173713229056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,790.265764133,749,728,707.265764133,695,654,930.734235867,802,836,666,656,673,0.401768133194,0.0044967129516,0.0798501871248,0.999999957169,0.000113276402384,-0.000264224997847,5.49174306002e-05,1793256173729895936
+373,6.216666667,POSE2_TO_POSE3_RETREAT,790.841927174,749,728,707.841927174,695,654,930.158072826,802,836,666,656,673,0.401639920253,0.00450421754455,0.0798496545128,0.999999947992,0.000176078393309,-0.000264531322513,5.50911079719e-05,1793256173746562816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,790.582864574,749,728,708,695,654,930,802,836,666,656,673,0.40152532684,0.00451445357522,0.0798462126265,0.999999944293,0.000187703673437,-0.000271495768715,4.97082005081e-05,1793256173763229184
+375,6.250000000,POSE2_TO_POSE3_RETREAT,790.008017325,749,728,708,695,654,930,802,836,666,656,673,0.401415882742,0.00452572231594,0.079841670793,0.999999943438,0.000179979906771,-0.000280977537832,4.22244426912e-05,1793256173779895552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.4179321,930.5820679,802,836,666,656,673,0.40133121552,0.00452655683511,0.0798364249531,0.999999941513,0.000180725965943,-0.000287114077001,4.33258666583e-05,1793256173796562432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,790.168601393,749,728,708,695,653,930.831398607,802,836,666,656,672.831398607,0.401253141832,0.00452593768028,0.0798316660029,0.999999939992,0.000179554006267,-0.000292895250648,4.45931728704e-05,1793256173813229056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,790.746000547,749,728,708,695,653,930.253999453,802,836,666,656,672.253999453,0.401190205397,0.00452215172465,0.0798281117292,0.999999939522,0.000173441072142,-0.000297929512664,4.59682594508e-05,1793256173829895680
+379,6.316666667,POSE2_TO_POSE3_RETREAT,791,749,728,707.676681575,695,653,930,802,836.323318425,666,656,672.323318425,0.401139161299,0.00452128597526,0.0798270037557,0.999999939501,0.000171420430953,-0.000299014622497,4.69346231448e-05,1793256173846562048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,791,749,728,707.099427469,695,653,930,802,836.900572531,666,656,672.900572531,0.401097457486,0.004522713768,0.0798278171165,0.999999939866,0.000172613893578,-0.000296998051778,4.75799742755e-05,1793256173863228672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,790.524874106,749,728,707.475125894,695,653,930.475125894,802,836.524874106,666,656,672.524874106,0.401067268239,0.00452067849116,0.0798291344419,0.999999940873,0.000168641114156,-0.000295808724056,4.80698697254e-05,1793256173879895296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790.050644682,749,728,708,695,653.050644682,930.949355318,802,836,666,656,672.050644682,0.401040180191,0.00451702687122,0.079830291516,0.999999942046,0.000162706283646,-0.000295057815043,4.87442215759e-05,1793256173896561920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790.642485916,749,728,708,695,653.642485916,930.357514084,802,836,666,656,672.642485916,0.401020628182,0.0045038032592,0.0798286155048,0.999999943664,0.000147292351849,-0.00029715245263,5.17353737718e-05,1793256173913228800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790.770523268,749,728.229476732,708,695,653.770523268,930,802,836,666,656,673,0.401005246944,0.0044901510616,0.0798275659613,0.999999945538,0.000131005440494,-0.000298026573377,5.42323573856e-05,1793256173929895680
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790.190932794,749,728.809067206,708,695,653.190932794,930,802,836,666,656,673,0.400996229071,0.00447584496974,0.0798274722225,0.999999947889,0.000113386621015,-0.000297038545677,5.59753854689e-05,1793256173946562304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.387074068,930,802,836.387074068,666,656,673,0.400989808129,0.00447830142232,0.0798287494072,0.999999948091,0.000116586577222,-0.000295148011951,5.5794878678e-05,1793256173963228928
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.964302943,930,802,836.964302943,666,656,673,0.40098466296,0.00448899267757,0.0798307000748,0.999999947184,0.000130014008764,-0.000292814111261,5.46694121103e-05,1793256173979895808
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,749,728.460886252,708,695,654,930,802,837,666,656,673,0.400984945051,0.00448463210179,0.079832862145,0.999999949053,0.000125150837063,-0.000288420931599,5.51842967348e-05,1793256173996562688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,749,728.116753502,708,695,654,930,802,837,666,656,673,0.400984792749,0.00448094053459,0.0798343332658,0.999999950474,0.000120842974986,-0.000285244491568,5.55317535654e-05,1793256174013229568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,749,728.706499515,708,695,654,930,802,837,666,656,673,0.400981431285,0.00448397885378,0.0798329487517,0.999999949512,0.000123669296092,-0.000287547246592,5.47628697448e-05,1793256174029896192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,790,749,728.709064191,708,695,653.709064191,930.290935809,802,836.709064191,666,656,672.709064191,0.400980248402,0.00448546581533,0.0798330450117,0.999999949306,0.000125064003461,-0.000287696161102,5.45631513271e-05,1793256174046562560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,790,749,728.129888347,708,695,653.129888347,930.870111653,802,836.129888347,666,656,672.129888347,0.400981223914,0.0044854157943,0.0798346083249,0.999999949859,0.000125040362584,-0.000285711192586,5.49273244075e-05,1793256174063229184
+393,6.550000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930.555604929,802,836.444395071,666,656,672.444395071,0.400981667652,0.00448322961636,0.079835468026,0.999999950589,0.000122070015423,-0.000284422014767,5.50050080358e-05,1793256174079895808
+394,6.566666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.017754403,930,802,836.982245597,666,656,672.982245597,0.400981939095,0.00448059909609,0.0798360856491,0.999999951328,0.000118391883272,-0.000283381318461,5.49845341605e-05,1793256174096562176
+395,6.583333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.606894323,930,802,836.393105677,666,656,672.393105677,0.40098161322,0.00448354318412,0.0798354589314,0.999999951105,0.000119351387737,-0.000283863812282,5.44705754865e-05,1793256174113228800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,790.192835613,749,728.192835613,708,695,654,930,802,836.192835613,666,656,672.192835613,0.400981378444,0.00448465644557,0.0798351760596,0.999999951085,0.000119307214564,-0.000283982370438,5.43179303422e-05,1793256174129895424
+397,6.616666667,POSE2_TO_POSE3_RETREAT,790.772362684,749,728.772362684,708,695,654,930,802,836.772362684,666,656,672.772362684,0.40098132635,0.00448209836734,0.0798355826988,0.99999995147,0.000117250375906,-0.000283371131768,5.48898238875e-05,1793256174146562304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,790.652451251,749,729,708,695,654,930,802,836.652451251,666,656,673,0.40098200223,0.00448184438136,0.0798366653713,0.999999951917,0.000117836553936,-0.00028153024111,5.49612040278e-05,1793256174163228928
+399,6.650000000,POSE2_TO_POSE3_RETREAT,790.080073404,749,729,708,695,654,930,802,836.080073404,666,656,673,0.400983149035,0.00448308091151,0.0798381853694,0.999999952397,0.000120132498111,-0.000278893889267,5.47088022941e-05,1793256174179895552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,790,749,728.506679379,708,695,653.506679379,930,802,836,666,656,673,0.400982492533,0.00448418301065,0.0798383094123,0.999999952196,0.000121439803428,-0.000279086797143,5.44986056808e-05,1793256174196562176
+401,6.683333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.930531761,695,653.069468239,930,802,836,666,656,673,0.400981650907,0.00448495901409,0.079838218278,0.999999951965,0.000122351683444,-0.000279548392866,5.43475325059e-05,1793256174213228800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,790,749,728,707.334775516,695,653.665224484,930,802,836,666,656,673,0.400981628883,0.0044834301817,0.0798382171089,0.999999952333,0.000121486070285,-0.000278559256101,5.45923693299e-05,1793256174229895680
+403,6.716666667,POSE2_TO_POSE3_RETREAT,790,749,728,707.253487557,695,654,930,802,836.253487557,666,656,673,0.400981800132,0.00448299586744,0.079838091122,0.999999952485,0.000120450213114,-0.000278472339506,5.45466791832e-05,1793256174246562304
+404,6.733333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.832138772,695,654,930,802,836.832138772,666,656,673,0.400982219302,0.00448396555688,0.0798378050239,0.999999952359,0.000119195973645,-0.000279542754578,5.41283127394e-05,1793256174263228928
+405,6.750000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930.408047349,802,837,666,656,673,0.400982410472,0.00448395526942,0.079838377187,0.999999952598,0.000119901342416,-0.000278357295131,5.42686370072e-05,1793256174279895808
+406,6.766666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930.982835168,802,837,666,656,673,0.400982508474,0.00448354453374,0.0798393000617,0.99999995298,0.000121407466365,-0.000276250017163,5.46372591963e-05,1793256174296562432
+407,6.783333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930.442687,802,836.442687,666,656,672.442687,0.400982049231,0.00448448726242,0.0798386896758,0.999999952749,0.00012164263463,-0.000277064836175,5.42184472601e-05,1793256174313228800
+408,6.800000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.86411279,930,802,836,666,656,672,0.400981688611,0.00448484781412,0.0798383134967,0.999999952678,0.000121225819395,-0.000277579521024,5.38257553762e-05,1793256174329895680
+409,6.816666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.271745773,930,802,836,666,656,672,0.40098171691,0.0044831127297,0.0798388826246,0.999999953208,0.000118750248515,-0.000276783818932,5.36022321243e-05,1793256174346562304
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68eaa4abe332c524697d44a8e00294ad5bf92884
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/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,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+38,0.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+39,0.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+41,0.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+42,0.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..142e3af2aa04b5237fea1e965d0bdc46bc2ef414
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7e7a39577ae31383013cbbb9e636be8baa7ed0092f57df0eb97f5b151f0926
+size 26128304
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b6b3c4905f425d5750604ea55ee356b1283f2d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,673,0.400980365701,0.00448404256863,0.0798385717435,0.999999952866,0.000120487943398,-0.000277283916221,5.35188255716e-05,1793256174469138944
+1,0.016666667,BASELINE,790.574877248,749,728.574877248,708,695.574877248,653.574877248,930,802,836.574877248,666,656,673,0.400981915477,0.00448269556738,0.079839312955,0.999999953225,0.000119525153717,-0.000276308947088,5.40095351496e-05,1793256174485805568
+2,0.033333333,BASELINE,790.850077369,749,728.850077369,708,695.850077369,654,930,802,837,666,656,672.850077369,0.400982840249,0.00448177149958,0.0798397928337,0.9999999535,0.00011857993756,-0.000275666819468,5.42798810255e-05,1793256174502472448
+3,0.050000000,BASELINE,790.274554557,749,728.274554557,708,695.274554557,654,930,802,837,666,656,672.274554557,0.400981990759,0.00448204805445,0.0798395308417,0.999999953542,0.000117684608882,-0.000275969561698,5.39246588039e-05,1793256174519139072
+4,0.066666667,BASELINE,790,749,728,708,695,653.690644335,930,802,837,666,656,672.309355665,0.400981856747,0.00448210462648,0.0798395988419,0.999999953492,0.00011824796811,-0.000275918200366,5.38715036034e-05,1793256174535805696
+5,0.083333333,BASELINE,790,749,728,708,695,653.099082839,930,802,837,666,656,672.900917161,0.400982375423,0.0044819605219,0.0798399678735,0.999999953358,0.000120141997164,-0.000275543812474,5.40939052807e-05,1793256174552472064
+6,0.100000000,BASELINE,790.480204743,749,728,708,695,653.480204743,930,802,836.519795257,666,656,673,0.400983297443,0.00448180618003,0.0798402247632,0.999999953941,0.000118333785935,-0.000274265004821,5.37963443466e-05,1793256174569138944
+7,0.116666667,BASELINE,791,749,728.056818187,708,695,654,930.056818187,802,836.056818187,666,656,673,0.400984029461,0.00448170241658,0.0798404258207,0.999999954545,0.000116036312745,-0.000273103896169,5.34710338728e-05,1793256174585805568
+8,0.133333333,BASELINE,791,749,728.631565491,708,695,654,930.631565491,802,836.631565491,666,656,673,0.400982289781,0.0044820784783,0.0798403236024,0.999999954091,0.000116068771878,-0.000274674364191,5.38463707069e-05,1793256174602472192
+9,0.150000000,BASELINE,791,749,729,708.211706472,695,654,930.788293528,802,837,666,656,673,0.400981497099,0.00448249847657,0.0798402058098,0.999999953727,0.000116876327082,-0.000275622993428,5.40107375462e-05,1793256174619139840
+10,0.166666667,BASELINE,791,749,729,708.801479448,695,654,930.198520552,802,837,666,656,673,0.400982395571,0.00448299693692,0.0798400602046,0.999999953525,0.000119068052828,-0.000275461139607,5.37983530464e-05,1793256174635808768
+11,0.183333333,BASELINE,791,749,728.615587509,708.615587509,695,654,930.384412491,802,837,666,656,673,0.400982566794,0.00448360605849,0.0798397391073,0.999999953643,0.000118914211902,-0.000275154668121,5.3510434606e-05,1793256174652474624
+12,0.200000000,BASELINE,791,749,728.03612498,708.03612498,695,654,930.96387502,802,837,666,656,673,0.400982369012,0.00448427132935,0.0798393289657,0.999999953924,0.000117570235886,-0.000274774817942,5.31841903937e-05,1793256174669138688
+13,0.216666667,BASELINE,790.460277012,749.539722988,728,708,695,653.460277012,930.460277012,802,837,666,656,673,0.400981297204,0.00448273609669,0.0798393246459,0.999999953664,0.000118196964484,-0.000275352142067,5.36918054301e-05,1793256174685805568
+14,0.233333333,BASELINE,790,749.885155114,728,708,695,653,930.114844886,802,836.885155114,666,656,673,0.400980165417,0.00448188580084,0.079839172808,0.999999953318,0.000119031929065,-0.000276178734363,5.40377159903e-05,1793256174702472704
+15,0.250000000,BASELINE,790,749.311971634,728,708,695,653,930.688028366,802,836.311971634,666,656,673,0.400979026175,0.00448435293845,0.0798383245513,0.999999952775,0.000120175031649,-0.000277746157739,5.35170132168e-05,1793256174719139328
+16,0.266666667,BASELINE,790.27003978,749,728,708,695,653.27003978,930.72996022,802,836,666,656,673,0.400979079877,0.00448594671609,0.0798381919531,0.999999952623,0.000121471508295,-0.000277786136195,5.32355686126e-05,1793256174735805952
+17,0.283333333,BASELINE,790.862594573,749,728,708,695,653.862594573,930.137405427,802,836,666,656,673,0.400980558341,0.00448649741874,0.0798389140829,0.999999952936,0.000122951163207,-0.000276001850305,5.32398758331e-05,1793256174752472320
+18,0.300000000,BASELINE,790.55486294,749,728.44513706,708,695,653.55486294,930,802,836,666,656,673,0.400980395863,0.00448484766812,0.0798385442403,0.99999995296,0.000122205743521,-0.000276191651863,5.35200897422e-05,1793256174769138688
+19,0.316666667,BASELINE,790,749,729,708,695,653.024429682,930.024429682,802,836,666,656,672.975570318,0.400979763178,0.00448269711631,0.0798378903702,0.9999999529,0.000120860565768,-0.000276934863887,5.38586338178e-05,1793256174785805568
+20,0.333333333,BASELINE,790,749,729,708,695,653.598608851,930.598608851,802,836,666,656,672.401391149,0.400979697059,0.00448422575923,0.0798382633054,0.999999952938,0.000121134988653,-0.000276720593606,5.36354150268e-05,1793256174802472192
+21,0.350000000,BASELINE,790,749,728.828185879,708,695,654,931,802,836.171814121,666,656,672.171814121,0.400979651101,0.00448500820944,0.0798383977966,0.999999953,0.000120683510563,-0.000276739337668,5.33929076985e-05,1793256174819138560
+22,0.366666667,BASELINE,790,749,728.25724308,708,695,654,931,802,836.74275692,666,656,672.74275692,0.400979651976,0.00448405723432,0.0798379783761,0.999999953116,0.000118545745565,-0.000277299380146,5.31055926269e-05,1793256174835805696
+23,0.383333333,BASELINE,790,749,728.327971224,708,695,654,930.672028776,802,836.672028776,666,656,673,0.400980785205,0.00448355492617,0.0798388331481,0.99999995344,0.000118906976065,-0.000275973273342,5.31117412092e-05,1793256174852472576
+24,0.400000000,BASELINE,790,749,728.924888652,708,695,654,930.075111348,802,836.075111348,666,656,673,0.400982846999,0.00448342053825,0.0798407327961,0.999999953926,0.000121317457309,-0.000273100467828,5.33585387245e-05,1793256174869139200
+25,0.416666667,BASELINE,790.504408054,749,728.495591946,708,695,653.495591946,930,801.495591946,836,666,656,672.495591946,0.400983630027,0.00448312904453,0.0798415034556,0.999999954578,0.00011928928914,-0.000271601328485,5.33608140014e-05,1793256174885805824
+26,0.433333333,BASELINE,790.91862794,749,728,708,695,653.08137206,930,801.08137206,836,666,656,672.08137206,0.40098407469,0.00448303280986,0.0798419879696,0.999999955098,0.000117429032595,-0.000270500089447,5.33354840006e-05,1793256174902472704
+27,0.450000000,BASELINE,790.341974349,749,728,708,695,653.658025651,930,801.658025651,836,666,656,672.658025651,0.400983580228,0.00448426269106,0.0798417199734,0.999999954702,0.000120479666632,-0.000270617198212,5.33563664915e-05,1793256174919139072
+28,0.466666667,BASELINE,790,749,728.239290435,708,695,654,930,802,836,666,656,673,0.40098302439,0.00448421266736,0.0798414222049,0.999999954431,0.000121358887652,-0.000271205675037,5.34609941898e-05,1793256174935805440
+29,0.483333333,BASELINE,790,749,728.827274609,708,695,654,930,802,836,666,656,673,0.400982379117,0.00448229756772,0.0798410810522,0.999999954347,0.000119073928017,-0.000272481028833,5.36876553037e-05,1793256174952472320
+30,0.500000000,BASELINE,790,749,728.590904055,708,695,654,930.409095945,802,836,666,656,673,0.400982634556,0.00448054879548,0.0798409068695,0.999999954672,0.000115853694801,-0.000272645056212,5.38409632911e-05,1793256174969138944
+31,0.516666667,BASELINE,790,749,728.011646142,708,695,654,930.988353858,802,836,666,656,673,0.400983264643,0.00447886920655,0.0798408021372,0.999999955158,0.000112244438006,-0.000272346831386,5.39637603069e-05,1793256174985805824
+32,0.533333333,BASELINE,790,749,728,708,695,654,930.434649201,802,836.565350799,666,656,673,0.40098184097,0.00448077765671,0.0798408207319,0.999999954419,0.000116650719166,-0.000273180185631,5.40963030739e-05,1793256175002472448
+33,0.550000000,BASELINE,790,749,728,708,695,653.858328813,930,801.858328813,836.858328813,666,656,673,0.40098136266,0.00448252895361,0.0798411349078,0.99999995398,0.000120305449942,-0.000273205761296,5.40818657023e-05,1793256175019139072
+34,0.566666667,BASELINE,790,749,728,708,695,653.283933323,930,801.283933323,836.283933323,666,656,673,0.400983900599,0.00448357537416,0.0798423441862,0.999999954585,0.000121162289417,-0.0002706931199,5.36178774328e-05,1793256175035805696
+35,0.583333333,BASELINE,790,749,728,708,695,653.29832479,930.29832479,801.29832479,836,666,656,673,0.400984101047,0.00448383321938,0.0798420741627,0.999999954617,0.000120783404014,-0.000270784809865,5.34160815081e-05,1793256175052472320
+36,0.600000000,BASELINE,790,749,728,708,695,653.888268866,930.888268866,801.888268866,836,666,656,673,0.400982016545,0.00448332021435,0.0798403580879,0.999999954087,0.000119196569464,-0.000273422292824,5.34705845241e-05,1793256175069138944
+37,0.616666667,BASELINE,790,749,728.469523196,708,695.469523196,654,930.530476804,802,836.469523196,666,656,673,0.400980708435,0.00448294387737,0.0798396945158,0.999999953617,0.000119681005034,-0.000274899908431,5.35991978645e-05,1793256175085805312
+38,0.633333333,BASELINE,790,749,728.951772578,708,696,654,930.048227422,802,837,666,656,673,0.400979744249,0.00448264797863,0.0798393440188,0.99999995323,0.000120521464118,-0.000275912468829,5.37230334333e-05,1793256175102471936
+39,0.650000000,BASELINE,790,749,728.378724568,708,696,654,930.621275432,802,837,666,656,673,0.400980548708,0.0044828799393,0.0798397244268,0.999999953606,0.000119969933716,-0.000274813227062,5.36064471359e-05,1793256175119138560
+40,0.666666667,BASELINE,790,749,728.19538905,708,696,654,931,802,836.80461095,666,656,672.80461095,0.400981527515,0.0044828796938,0.0798404012192,0.999999953987,0.000119651316605,-0.000273574219676,5.35484460334e-05,1793256175135805440
+41,0.683333333,BASELINE,790,749,728.77157944,708,696,654,931,802,836.22842056,666,656,672.22842056,0.400982846116,0.00448242689261,0.0798416556465,0.99999995438,0.000119786633321,-0.000272062817689,5.36046239092e-05,1793256175152472576
+42,0.700000000,BASELINE,790,749,728.64283745,708,695.64283745,654,930.64283745,802,836,666,656,672.35716255,0.40098298044,0.00448216226009,0.0798417929289,0.999999954437,0.000119910045048,-0.000271802170712,5.35896522735e-05,1793256175169139200
+43,0.716666667,BASELINE,790,749,728.051085082,708,695.051085082,654,930.051085082,802,836,666,656,672.948914918,0.400982336912,0.00448202121964,0.0798411964534,0.999999954273,0.000120025637392,-0.00027236303879,5.35279485495e-05,1793256175185805568
+44,0.733333333,BASELINE,790,749,728,708,695,653.472410791,930,802,836.527589209,666,656,672.472410791,0.400982179247,0.0044825922223,0.0798410906046,0.999999954383,0.000118571889535,-0.000272640187704,5.33171347613e-05,1793256175202472448
+45,0.750000000,BASELINE,790.104379378,749,728,708,695,653.104379378,930,802,837,666,656,672.104379378,0.400982216839,0.00448328558045,0.0798411575022,0.999999954479,0.000117677849513,-0.000272701797736,5.31792411915e-05,1793256175219139072
+46,0.766666667,BASELINE,790.678252733,749,728,708,695,653.678252733,930,802,837,666,656,672.678252733,0.400982926204,0.00448422667651,0.079841792894,0.999999954408,0.000119968306684,-0.000271914501009,5.3432710087e-05,1793256175235805696
+47,0.783333333,BASELINE,790.747570029,749,728,708,695.252429971,653.747570029,930,802.252429971,837,666,656,673,0.400982933671,0.00448412056913,0.0798416857232,0.999999954343,0.000120299700853,-0.000271968056842,5.36200828168e-05,1793256175252472320
+48,0.800000000,BASELINE,790.173004918,749,728,708,695.826995082,653.173004918,930,802.826995082,837,666,656,673,0.400982045419,0.00448267808717,0.0798406309412,0.999999954289,0.000118131063221,-0.000273094655349,5.37231078411e-05,1793256175269138944
+49,0.816666667,BASELINE,790,749,728.415854206,708,695.584145794,653.415854206,930,802.584145794,837,666,656,673,0.400982690548,0.00448255151552,0.0798417171222,0.999999954603,0.000118513710138,-0.000271776266865,5.37243780148e-05,1793256175285805568
+50,0.833333333,BASELINE,790,749,728.989460939,708,695.010539061,653.989460939,930,802,836.989460939,666,656,673,0.400983987298,0.0044830027573,0.0798436875948,0.999999955062,0.000119977367236,-0.000269443057997,5.36805362403e-05,1793256175302472192
+51,0.850000000,BASELINE,790,749,728.412644375,708,695.587355625,653.412644375,930,802,836.412644375,666,656,673,0.400984799993,0.00448403845467,0.0798436107191,0.99999995508,0.00012046502982,-0.000269181605901,5.35683095256e-05,1793256175319138816
+52,0.866666667,BASELINE,790.163909609,749,728,708,695.836090391,653.163909609,930.163909609,802,836,666,656,672.836090391,0.400984787772,0.00448436744306,0.0798431158984,0.999999954931,0.00012046676838,-0.00026975430805,5.3466334065e-05,1793256175335805696
+53,0.883333333,BASELINE,790.739803567,749,728,708,695.260196433,653.739803567,930.739803567,802,836,666,656,672.260196433,0.400982702133,0.00448292012897,0.0798415705789,0.999999954357,0.000119247144144,-0.000272423644426,5.33901249848e-05,1793256175352472320
+54,0.900000000,BASELINE,791,749,728,708,695,654,931,802,836,666,656,672.322589551,0.400982251734,0.00448261157509,0.0798412604417,0.999999954406,0.000118248635613,-0.000272690495595,5.33368776959e-05,1793256175369138944
+55,0.916666667,BASELINE,791,749,728,708,695,654,931,802,836,666,656,672.911055882,0.400983149093,0.00448324158207,0.0798419683359,0.99999995497,0.00011743236966,-0.000270977229701,5.33025554107e-05,1793256175385805568
+56,0.933333333,BASELINE,791,749,728,708,695,653.507324795,931,802,836.492675205,666,656,673,0.400981747007,0.00448290113433,0.0798411179463,0.999999954463,0.000118290481921,-0.000272473558261,5.32957127666e-05,1793256175402472192
+57,0.950000000,BASELINE,791,749,728,708,695,653.072314857,931,802,836.927685143,666,656,672.927685143,0.400980473122,0.00448245686141,0.0798403208122,0.999999953983,0.000119035704456,-0.000273911698608,5.3258974289e-05,1793256175419139072
+58,0.966666667,BASELINE,791,749,728,708,695,653.646674439,931,802,836.353325561,666,656,672.353325561,0.400982931771,0.00448249142875,0.0798418197038,0.999999955046,0.000116927379459,-0.000270978270976,5.29807150316e-05,1793256175435805696
+59,0.983333333,BASELINE,790.778389171,749,728,708,695,654,931,802,836.221610829,666,656,672.221610829,0.400984202641,0.00448238201032,0.0798425916377,0.999999955526,0.000116568651952,-0.000269361471183,5.29547946391e-05,1793256175452472064
+60,1.000000000,BASELINE,790.202530656,749,728,708,695,654,931,802,836.797469344,666,656,672.797469344,0.400983574831,0.00448204242886,0.0798422015211,0.999999955087,0.000119006677612,-0.000269849317021,5.33322410382e-05,1793256175469138688
+61,1.016666667,BASELINE,790,749,728,708,695,654,930.615547768,802,836.615547768,666,656,673,0.400982296686,0.00448333407496,0.0798412700563,0.999999954374,0.000120697545364,-0.000271730014975,5.33638333582e-05,1793256175485805568
+62,1.033333333,BASELINE,790,749,728,708,695,654,930.022529934,802,836.022529934,666,656,673,0.400980665734,0.00448551066316,0.0798400449098,0.999999953506,0.000121983079285,-0.000274366336138,5.32077995778e-05,1793256175502472448
+63,1.050000000,BASELINE,790,749,728.554858846,708,695,654,930,802,836,666,656,673,0.400982129569,0.00448474279211,0.0798413098553,0.999999954232,0.000120387715155,-0.00027240983742,5.32417873485e-05,1793256175519139072
+64,1.066666667,BASELINE,790.132638263,749,729,708,695,653.867361737,930,802,836,666,656.132638263,673,0.400983324985,0.0044837762309,0.0798422590173,0.999999954819,0.000118906502782,-0.000270904864216,5.32342834308e-05,1793256175535805696
+65,1.083333333,BASELINE,790.713825996,749,729,708,695,653.286174004,930,802,836,666,656.713825996,673,0.400983199358,0.00448253099182,0.0798418077181,0.99999995474,0.000118196077008,-0.000271540224419,5.30610869597e-05,1793256175552472320
+66,1.100000000,BASELINE,791,749,729,708,695,653.29436483,930,802,836,666,656.70563517,673,0.400983119013,0.00448223371101,0.0798415683423,0.999999954654,0.000118109289757,-0.000271878500818,5.31489819439e-05,1793256175569138944
+67,1.116666667,BASELINE,791,749,729,708,695,653.874274172,930,802,836,666,656.125725828,673,0.400983082596,0.004482855984,0.0798415345398,0.999999954561,0.000118627454434,-0.000271928595165,5.34901450769e-05,1793256175585805824
+68,1.133333333,BASELINE,790.543774435,749,729,708,695,654,930.456225565,802,836,666,656,673,0.400983465762,0.00448279478505,0.0798420869332,0.999999954849,0.000118069187975,-0.000271165696256,5.31985009801e-05,1793256175602472448
+69,1.150000000,BASELINE,790.038168671,749,728.961831329,708,695.038168671,653.961831329,931,802,836.038168671,666,656,673,0.400983811385,0.00448257127915,0.0798426863228,0.999999955177,0.000117302955167,-0.000270370497076,5.2781823807e-05,1793256175619139072
+70,1.166666667,BASELINE,790.612060818,749,728.387939182,708,695.612060818,653.387939182,931,802,836.612060818,666,656,673,0.400981999857,0.0044827251911,0.0798416677768,0.999999954585,0.000117800052181,-0.000272280681355,5.30688806453e-05,1793256175635805696
+71,1.183333333,BASELINE,791,749,728,708,695.813479333,653,930.813479333,802,836.813479333,666,656,673,0.400981288256,0.00448256980525,0.079841141748,0.999999954322,0.000117965647545,-0.000273132560357,5.32779262909e-05,1793256175652472064
+72,1.200000000,BASELINE,791,749,728,708,695.237835027,653,930.237835027,802,836.237835027,666,656,673,0.400982871345,0.00448176915535,0.0798416432197,0.999999954751,0.000117439656756,-0.000271776579283,5.33242232733e-05,1793256175669138688
+73,1.216666667,BASELINE,791,749,728.345472186,708,695,653,930,802,836,666,656,673,0.400983105275,0.00448168007656,0.0798416232419,0.999999954801,0.000117379525464,-0.000271609091337,5.33625324367e-05,1793256175685805056
+74,1.233333333,BASELINE,791,749,728.934174443,708,695,653,930,802,836,666,656,673,0.400982389326,0.00448209198023,0.079841236137,0.999999954586,0.000117647383095,-0.000272278363362,5.33952177647e-05,1793256175702471680
+75,1.250000000,BASELINE,791,748.483116756,728.483116756,708,695,653.516883244,930,802,836,666,656,673,0.400982373607,0.0044823642824,0.0798414475402,0.999999954536,0.000118065154807,-0.000272269611855,5.34618172313e-05,1793256175719138560
+76,1.266666667,BASELINE,790.902683513,748.097316487,728,708,695,654,930,802,836,666,656,673,0.400982242701,0.00448275999429,0.0798414988565,0.999999954401,0.000118808177894,-0.000272441610202,5.34637455942e-05,1793256175735805440
+77,1.283333333,BASELINE,790.329685087,748.670314913,728,708,695,654,930,802,836,666,656,673,0.400981117877,0.00448384483606,0.0798403993747,0.999999953748,0.000121048775861,-0.000273914336825,5.31286930736e-05,1793256175752472320
+78,1.300000000,BASELINE,790,749,728,708,695,653.75646029,930,802,836,666,656,673,0.400981453214,0.00448435996853,0.0798405400521,0.999999953929,0.000121017987307,-0.000273319232253,5.28438787741e-05,1793256175769138944
+79,1.316666667,BASELINE,790,749,728,708,695,653.182928813,930,802,836,666,656,673,0.40098376704,0.0044841031554,0.0798423611223,0.999999955235,0.000117909512178,-0.000269922254839,5.26271363542e-05,1793256175785805568
+80,1.333333333,BASELINE,790,749,728,708,695,653.405413244,930,801.594586756,836.405413244,666,656,673,0.400983483491,0.0044837171278,0.0798421833195,0.999999954981,0.000118460104891,-0.000270564920868,5.29065795593e-05,1793256175802472192
+81,1.350000000,BASELINE,790.000669774,749,728.000669774,708,695,654,930.000669774,801.000669774,836.999330226,666,656,673,0.400981986279,0.00448327147584,0.0798410712805,0.999999953996,0.000120720694413,-0.000273094618982,5.34179313927e-05,1793256175819138816
+82,1.366666667,BASELINE,790.57723583,749,728.57723583,708,695,654,930.57723583,801.57723583,836.42276417,666,656,673,0.400982853417,0.00448359107433,0.0798415801276,0.999999954537,0.000119856073176,-0.00027146933218,5.35274633665e-05,1793256175835805440
+83,1.383333333,BASELINE,790.847294936,749,728.847294936,708,695,654,930.847294936,802,836,666,656,673,0.400983502538,0.00448385647977,0.0798418554764,0.999999954966,0.0001188630489,-0.000270323860882,5.35136557659e-05,1793256175852472064
+84,1.400000000,BASELINE,790.274840476,749,728.274840476,708,695,654,930.274840476,802,836,666,656,673,0.400983552383,0.00448397292164,0.0798414889951,0.999999955097,0.000117517075437,-0.000270497286342,5.31608174429e-05,1793256175869138944
+85,1.416666667,BASELINE,790.307785297,749,728.307785297,708,695,653.692214703,930.307785297,802,836,666,656,673,0.400982861575,0.0044836894445,0.0798413150689,0.999999954977,0.000117476689007,-0.00027097712767,5.30720742217e-05,1793256175885805568
+86,1.433333333,BASELINE,790.899804034,749,728.899804034,708,695,653.100195966,930.899804034,802,836,666,656,673,0.400981486788,0.0044830366503,0.0798413189634,0.999999954624,0.000118641985639,-0.000271739937786,5.32272174591e-05,1793256175902472192
+87,1.450000000,BASELINE,790.520134798,749,728.520134798,708,695,653.479865202,930.520134798,802,836,666,656,673,0.400981344106,0.00448150760472,0.07984112891,0.999999954771,0.000116359548725,-0.000272224945765,5.30252943498e-05,1793256175919139072
+88,1.466666667,BASELINE,790,749,728,708,695,654,930,802,836.057461132,666,656,673,0.400981537114,0.00448020747826,0.0798410029953,0.999999954997,0.000113852121526,-0.000272500388086,5.2801095899e-05,1793256175935805696
+89,1.483333333,BASELINE,790,749,728,708,695,654,930,802,836.634792927,666,656,673,0.400982496267,0.00448259353224,0.0798418148416,0.999999955078,0.000115663849777,-0.000271391851151,5.30334947096e-05,1793256175952472320
+90,1.500000000,BASELINE,790,749,728.209729771,708,695.209729771,654,930.209729771,802,836.790270229,666,656,672.790270229,0.400982730158,0.00448325475674,0.0798419980018,0.999999955089,0.000115935124975,-0.000271208958222,5.31658672806e-05,1793256175969138944
+91,1.516666667,BASELINE,790,749,728.780543259,708,695.780543259,654,930.780543259,802,836.219456741,666,656,672.219456741,0.400981715395,0.00448094640814,0.0798410987769,0.999999954981,0.000113554260954,-0.000272619711248,5.31260284812e-05,1793256175985805568
+92,1.533333333,BASELINE,790.365901636,749,729,708,695.634098364,654,930.634098364,802,836,666,656,672.365901636,0.400981838805,0.0044813831086,0.0798413029853,0.999999954849,0.000114745371073,-0.000272597159946,5.31661945684e-05,1793256176002472192
+93,1.550000000,BASELINE,790.960344782,749,729,708,695.039655218,654,930.039655218,802,836,666,656,672.960344782,0.400982673115,0.00448353436159,0.079842196396,0.999999954695,0.000118167529637,-0.000271679369456,5.32563315608e-05,1793256176019139072
+94,1.566666667,BASELINE,790.459962545,749,728.459962545,708,695,654,930,802,836,666,656,673,0.400984744232,0.0044828019454,0.079843494155,0.999999955455,0.000116964794622,-0.000269457485521,5.29250645853e-05,1793256176035805696
+95,1.583333333,BASELINE,790.117692844,749,728.117692844,708,695,654,930.117692844,802,836,666,656,673,0.400986062279,0.00448207293973,0.0798443530814,0.999999955985,0.000115859528907,-0.000268014726834,5.26730650212e-05,1793256176052472064
+96,1.600000000,BASELINE,790.691538695,749,728.691538695,708,695,654,930.691538695,802,836,666,656,673,0.400984118949,0.00448215602802,0.0798433991666,0.99999995539,0.000116413288496,-0.000269952973904,5.28450327993e-05,1793256176069138688
+97,1.616666667,BASELINE,791,749,728.735606935,708,695,654,931,802,836,666,656,673,0.400982754578,0.00448284846056,0.0798426448927,0.999999954872,0.000117781776058,-0.000271264253742,5.29097896727e-05,1793256176085805312
+98,1.633333333,BASELINE,791,749,728.163905015,708,695,654,931,802,836,666,656,673,0.400982063145,0.00448424914498,0.0798421226652,0.999999954441,0.000120097236686,-0.000271846798079,5.28499333573e-05,1793256176102471936
+99,1.650000000,BASELINE,790.574346298,749,728,708,695,653.574346298,930.574346298,802,836,666,656,673,0.400981147174,0.00448347998623,0.0798410384707,0.999999954154,0.000120069640973,-0.000272892813125,5.29547763881e-05,1793256176119138816
+100,1.666666667,BASELINE,790.021658732,749,728.021658732,708,695,653.021658732,930,802,836,666.021658732,656,673,0.400980250676,0.00448190991329,0.0798398268582,0.999999953958,0.000119079606758,-0.000274012846558,5.31103026927e-05,1793256176135805184
+101,1.683333333,BASELINE,790.598916402,749,728.598916402,708,695,653.598916402,930,802,836,666.598916402,656,673,0.400982168774,0.0044821664624,0.0798411407865,0.999999954632,0.000117558606934,-0.000272253050182,5.28678570717e-05,1793256176152472064
+102,1.700000000,BASELINE,790.824604889,749,729,708,695,654,930,802,836,666.824604889,656,672.824604889,0.400983584532,0.00448253388725,0.079842228576,0.999999955075,0.000116995884773,-0.000270885340793,5.27467787531e-05,1793256176169138944
+103,1.716666667,BASELINE,790.249899665,749,729,708,695,654,930,802,836,666.249899665,656,672.249899665,0.400983856646,0.00448315373534,0.0798428015303,0.999999955005,0.000118614808352,-0.000270410269403,5.29020091452e-05,1793256176185805824
+104,1.733333333,BASELINE,790,749,728.666953649,708,695,654,930,802,836,666,656,672,0.400983980774,0.00448305184163,0.0798426088566,0.999999954928,0.000118718698406,-0.000270597118728,5.3175946489e-05,1793256176202472192
+105,1.750000000,BASELINE,790,749,728.07766725,708,695,654,930,802,836,666,656,672,0.400983991043,0.00448239465243,0.0798418271221,0.999999954845,0.00011765694829,-0.000271293238245,5.35412149055e-05,1793256176219138816
+106,1.766666667,BASELINE,790,749,728.502568025,708,695,654,930.502568025,802,836.502568025,666,656,672.502568025,0.400984547284,0.00448343417103,0.0798427819975,0.999999955222,0.000118694280062,-0.000269473651376,5.33945719179e-05,1793256176235805184
+107,1.783333333,POSE1_TO_POSE2_PRESS,791,749,728,708,695,654,931,802,836,666,656,672,0.400980049529,0.0044832489167,0.0798402780069,0.999999954612,0.000116228296123,-0.000272943529174,5.26102954884e-05,1793256176279131136
+108,1.800000000,POSE1_TO_POSE2_PRESS,790.424392156,749,728.575607844,708,695,653.424392156,930.424392156,802,836,666,656,672,0.400981275441,0.00448223873819,0.0798415102821,0.999999954809,0.000116410434222,-0.000272088567775,5.29021863987e-05,1793256176295798016
+109,1.816666667,POSE1_TO_POSE2_PRESS,790.155376507,749,729,708,695,653.155376507,930,802,836.155376507,666,656,672.155376507,0.40098206359,0.0044818956071,0.0798423614851,0.999999954868,0.000117174699205,-0.000271494374676,5.31411526736e-05,1793256176312464896
+110,1.833333333,POSE1_TO_POSE2_PRESS,790.746822789,749,729,708,695,653.746822789,930,802,836.746822789,666,656,672.746822789,0.400981623144,0.00448342456847,0.0798421431949,0.999999954542,0.000119572724336,-0.000271632037021,5.32315841167e-05,1793256176329131264
+111,1.850000000,POSE1_TO_POSE2_PRESS,791,749,729,708,695,654,930,802,837,666,656,673,0.40098145946,0.00448390093742,0.0798416091717,0.999999954401,0.000120521197205,-0.000271759706701,5.30969015685e-05,1793256176345797632
+112,1.866666667,POSE1_TO_POSE2_PRESS,791,749,729,708,695,654,930,802,837,666,656,673,0.400981502918,0.00448358949446,0.0798408388384,0.999999954401,0.000120384753872,-0.000271879897374,5.2793732655e-05,1793256176362464256
+113,1.883333333,POSE1_TO_POSE2_PRESS,790.519084497,749,728.519084497,708,695,654,930.480915503,802,837,666,656,673,0.400980900112,0.00448377084214,0.0798406494982,0.999999954267,0.000119396424701,-0.000272812411548,5.27533890015e-05,1793256176379131136
+114,1.900000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,931,802,837,666,656,673,0.400980334029,0.00448392258455,0.079840669732,0.999999954151,0.000118273027399,-0.000273724883735,5.27705684816e-05,1793256176395797504
+115,1.916666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,931,802,837,666,656,673,0.400981243399,0.00448293508727,0.0798415075845,0.999999954436,0.000117472931452,-0.000273013602914,5.28281040034e-05,1793256176412464128
+116,1.933333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,931,802,836.782411992,666,656,672.782411992,0.40098585389,0.00448248821894,0.0798438792723,0.999999955415,0.000117322915541,-0.000269462352439,5.28669972851e-05,1793256176429130752
+117,1.950000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,931,802,836.18878575,666,656,672.18878575,0.400996860704,0.00448297567222,0.0798489017528,0.999999957544,0.000118296375909,-0.000261003032018,5.28736728131e-05,1793256176445797376
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.607718626,802,836,666,656,672.392281374,0.401025282894,0.00448338660637,0.0798601240464,0.999999962603,0.000118703477207,-0.000240696725063,5.26119835916e-05,1793256176462464256
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.032508037,802,836,666,656,672.967491963,0.401061826248,0.00448376185805,0.0798742374464,0.99999996849,0.000118846473149,-0.000214865913392,5.22251501052e-05,1793256176479131136
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836.543791998,666,656,672.456208002,0.401123946006,0.00448413146816,0.0798926069858,0.999999976072,0.000117051115271,-0.000177614771839,5.10653321877e-05,1793256176495797760
+121,2.016666667,POSE1_TO_POSE2_PRESS,790.123146517,748.876853483,728.123146517,708,695.123146517,653.876853483,930,802,836.876853483,666,656,672.123146517,0.40119077292,0.00448447376925,0.0799104295602,0.999999981762,0.000115611808361,-0.000143646160435,4.97531812677e-05,1793256176512464128
+122,2.033333333,POSE1_TO_POSE2_PRESS,790.71385057,748.28614943,728.71385057,708,695.71385057,653.28614943,930,802,836.28614943,666,656,672.71385057,0.401269655023,0.00448471366773,0.079925207485,0.999999984342,0.000115965174606,-0.000124737801961,4.8038456113e-05,1793256176529130752
+123,2.050000000,POSE1_TO_POSE2_PRESS,790.701438145,748.298561855,729,708,695.701438145,653,930.298561855,802,836,666,656,672.701438145,0.40135709543,0.00448596684686,0.0799364516508,0.99999998651,0.00011589013797,-0.000106958089425,4.59287075856e-05,1793256176545797376
+124,2.066666667,POSE1_TO_POSE2_PRESS,790.122357499,748.877642501,729,708,695.122357499,653,930.877642501,802,836,666,656,672.122357499,0.40145257693,0.00448817207078,0.0799443756132,0.999999988325,0.000115412588218,-9.02388162219e-05,4.34478083387e-05,1793256176562464000
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,729,708,695,653.453946454,930.546053546,802,836.453946454,666,656,672.453946454,0.401560918944,0.00448919744772,0.0799488123034,0.999999989258,0.000112902850969,-8.44121353658e-05,4.01417409059e-05,1793256176579130624
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728.969970974,708,695,654,930,802,836.969970974,666,656,672.969970974,0.401674368396,0.00448996893642,0.0799523474457,0.999999990004,0.000109880706001,-8.11284472925e-05,3.65695745924e-05,1793256176595797248
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,749,728.38421868,708,695,654,930,802,836.38421868,666,656,672.38421868,0.401818576477,0.00449189144241,0.0799564877938,0.999999991196,0.000107451154698,-7.09018727497e-05,3.21640017624e-05,1793256176612464128
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,672.199391664,0.401972972826,0.00449373980313,0.0799614777811,0.999999992424,0.000103653964958,-6.05439521081e-05,2.72599926117e-05,1793256176629131008
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,672.778918367,0.402146792829,0.00449544680762,0.0799680875827,0.999999993795,9.72494082701e-05,-4.99356247088e-05,2.14057280398e-05,1793256176645797632
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.643787899,930,802,836.356212101,666,656,673,0.402337982396,0.00449941834573,0.0799733338703,0.999999994665,9.35746827251e-05,-4.11080931684e-05,1.49501369969e-05,1793256176662464256
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.06787136,930,802,836.93212864,666,656,673,0.402539885176,0.00450478660265,0.0799777391705,0.999999995216,9.1583661337e-05,-3.337891956e-05,8.12365934987e-06,1793256176679130880
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.507630594,930,801.492369406,837,666,656,673,0.402754772661,0.00450664532448,0.0799706887566,0.999999995683,8.10615673955e-05,-4.54268959398e-05,5.79604315723e-07,1793256176695797504
+133,2.216666667,POSE1_TO_POSE2_PRESS,790.085118269,749,728.085118269,708,695.085118269,654,930.085118269,801.085118269,836.914881731,666,656,673,0.402978381107,0.00450853587454,0.079962817716,0.999999995766,7.02708281485e-05,-5.89731153394e-05,-7.23120845632e-06,1793256176712464128
+134,2.233333333,POSE1_TO_POSE2_PRESS,790.674703121,749,728.674703121,708,695.674703121,654,930.674703121,801.674703121,836.325296879,666,656,673,0.403243394988,0.00451339377136,0.079959153282,0.999999995621,6.46424825797e-05,-6.57401436089e-05,-1.60548559496e-05,1793256176729131008
+135,2.250000000,POSE1_TO_POSE2_PRESS,790.740265401,749,728.740265401,708,695.740265401,653.740265401,930.740265401,802,836.259734599,666,656.259734599,673,0.403529791993,0.00451827962752,0.0799575038684,0.999999995439,6.06956677283e-05,-6.95743463796e-05,-2.44618936243e-05,1793256176745797632
+136,2.266666667,POSE1_TO_POSE2_PRESS,790.160838442,749,728.160838442,708,695.160838442,653.160838442,930.160838442,802,836.839161558,666,656.839161558,673,0.403842508239,0.00452319989691,0.0799583346275,0.999999995311,5.88185525348e-05,-6.9798702758e-05,-3.23561497399e-05,1793256176762464256
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,749,728.416419565,708,695.416419565,653.416419565,930,801.583580435,836.583580435,666,656.583580435,673,0.404194066333,0.00452968798897,0.079965847848,0.999999992526,0.00010496822472,-5.75762865163e-05,-2.48045126778e-05,1793256176779130880
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,749,728.992844161,708,695.992844161,653.992844161,930,801.007155839,836.007155839,666,656.007155839,673,0.404560549011,0.004536778501,0.0799759287371,0.999999984736,0.000169571706761,-4.05713227903e-05,-1.13179461617e-05,1793256176795797504
+139,2.316666667,POSE1_TO_POSE2_PRESS,790,749,728.431214925,708,695.431214925,654,930,801.568785075,836,666,656,673,0.404960087782,0.00454803859771,0.0799723893715,0.999999995962,7.86030913227e-05,-3.92241175414e-05,-1.89680696234e-05,1793256176812464128
+140,2.333333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.147980066,802,836,666,656,673,0.405370233568,0.00455778010503,0.0799687171532,0.999999998762,1.55002547827e-05,-3.97810295138e-05,-2.55708359473e-05,1793256176829130752
+141,2.350000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.736889083,802,836,666,656,673,0.40581074637,0.00456284057259,0.0799651592264,0.999999997718,4.1254669636e-05,-4.54250876597e-05,-2.82611699965e-05,1793256176845797632
+142,2.366666667,POSE1_TO_POSE2_PRESS,790,749,728.320759751,708,695,654,930.679240249,802,836,666,656.320759751,673,0.406269127212,0.00457159621581,0.0799580577452,0.999999995005,7.4262323402e-05,-5.9631267157e-05,-3.03108603045e-05,1793256176862464256
+143,2.383333333,POSE1_TO_POSE2_PRESS,790,749,728.900561567,708,695,654,930.099438433,802,836,666,656.900561567,673,0.406741938135,0.00458333604299,0.0799480945279,0.999999989834,0.00011312761623,-8.07521226834e-05,-3.18431739976e-05,1793256176879130880
+144,2.400000000,POSE1_TO_POSE2_PRESS,790,749,729,708,695.477198302,654,930.477198302,802,836,666,656.522801698,673,0.407247547004,0.00459209706373,0.0799439478417,0.999999986413,0.000134867245977,-8.89421421363e-05,-3.27791359391e-05,1793256176895797760
+145,2.416666667,POSE1_TO_POSE2_PRESS,790,749,729,708,696,654,931,802,836,666,656,673,0.407762071718,0.00460038616621,0.0799401229758,0.999999983244,0.000152086171503,-9.62251199174e-05,-3.35033183623e-05,1793256176912464384
+146,2.433333333,POSE1_TO_POSE2_PRESS,790,749,729,708,696,654,931,802,836,666,656,673,0.408297501542,0.00461009793875,0.0799276249513,0.99999997938,0.000159714372025,-0.000120905997159,-3.33591369651e-05,1793256176929130752
+147,2.450000000,POSE1_TO_POSE2_PRESS,790,749,728.795297094,708,696,654,930.795297094,802,836.204702906,666,656,673,0.408872250411,0.00461968721589,0.0799259435814,0.999999977615,0.000165892987325,-0.000126890909633,-3.38812790447e-05,1793256176945797376
+148,2.466666667,POSE1_TO_POSE2_PRESS,790,749,728.202866572,708,696,654,930.202866572,802,836.797133428,666,656,673,0.40952147342,0.00462904447404,0.0799447500298,0.999999980279,0.000169325943979,-9.74638081561e-05,-3.56655039341e-05,1793256176962464000
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,749,728.379342591,708,695.620657409,654,930.379342591,802,837,666,656,673,0.410204187154,0.00463642818269,0.0799761640764,0.999999981872,0.000181271960691,-4.44226225511e-05,-3.77248356632e-05,1793256176979130624
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,749,728.956228934,708,695.043771066,654,930.956228934,802,837,666,656,673,0.410904341259,0.00464278415945,0.0800141435656,0.999999979451,0.000197651177326,2.09156649215e-05,-3.99274298888e-05,1793256176995797248
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,749,729,708,695,654,931,801.467117586,836.467117586,666,656,673,0.411575371899,0.00463507394409,0.080008742767,0.999999984393,0.000171781126458,4.32885626419e-06,-4.10760963119e-05,1793256177012464128
+152,2.533333333,POSE1_TO_POSE2_PRESS,790,749,729,707.888414394,695,654,931,801,836,666,656,673,0.412244722752,0.00462346593244,0.0799934807236,0.999999988208,0.0001454885419,-2.53065856385e-05,-4.21449905035e-05,1793256177029131008
+153,2.550000000,POSE1_TO_POSE2_PRESS,790,749,729,707.300887266,695,654,931,801,836,666,656,673,0.412917107622,0.00460015873891,0.0799513495298,0.999999986974,0.000132189282586,-8.19079667242e-05,-4.32427167565e-05,1793256177045797888
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.717364301,749,729,707,695.282635699,654,931,801,836,666,656,673,0.413647175216,0.0045834067548,0.0799286895698,0.999999986685,0.000114478697148,-0.00010801294458,-4.31109980607e-05,1793256177062464256
+155,2.583333333,POSE1_TO_POSE2_PRESS,789.138044455,749,729,707,695.861955545,654,931,801,836,666,656,673,0.414437792746,0.00457353580485,0.0799264686591,0.999999989674,9.21375186545e-05,-0.000102105698264,-4.16887249126e-05,1793256177079130880
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,749,729,707.43995882,696,654,931,801.43995882,836,666.43995882,656.43995882,673,0.415242524269,0.00457694367479,0.0799446910854,0.9999999913,0.000102448254252,-7.16502474945e-05,-4.20711454878e-05,1793256177095797504
+157,2.616666667,POSE1_TO_POSE2_PRESS,789.017431401,749,729,708,696,654,931,802,836,666.982568599,656.982568599,673,0.416051019838,0.00458451016553,0.0799681656866,0.999999990998,0.000122015972316,-3.56066068563e-05,-4.30009518535e-05,1793256177112463872
+158,2.633333333,POSE1_TO_POSE2_PRESS,789.591113169,749,729,708,696,654,931,802,836,666.408886831,656.408886831,673,0.416838735316,0.00459222343978,0.0799551622103,0.999999990698,0.000111027968596,-6.62960936387e-05,-4.3382608526e-05,1793256177129130496
+159,2.650000000,POSE1_TO_POSE2_PRESS,790,748.830451147,729,707.830451147,696,654,931,801.830451147,836,666,656,673,0.417656751468,0.00459776779342,0.0799541795463,0.999999990819,0.000107828749589,-6.93095034296e-05,-4.39416243958e-05,1793256177145797376
+160,2.666666667,POSE1_TO_POSE2_PRESS,790,748.240220152,729,707.240220152,696,654,931,801.240220152,836,666,656,673,0.418549949164,0.00459793065248,0.0799830227469,0.999999991301,0.000123954950186,-3.65343279653e-06,-4.49407012652e-05,1793256177162464000
+161,2.683333333,POSE1_TO_POSE2_PRESS,790,748.342949174,729,707,696,654,931,801,836,666.342949174,656,673.342949174,0.419448110916,0.00459576674068,0.0799975140477,0.999999990944,0.000123271345138,2.78505095284e-05,-4.62682606857e-05,1793256177179130880
+162,2.700000000,POSE1_TO_POSE2_PRESS,790,748.9212719,729,707,696,654,931,801,836,666.9212719,656,673.9212719,0.420349679573,0.00459200591493,0.0800021553232,0.999999992045,0.000111050800884,3.59150934408e-05,-4.78212649461e-05,1793256177195797504
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.501552382,749,729,707,696,654,931,801.498447618,836,667,656,673.501552382,0.421230432792,0.00459135468966,0.0799904048969,0.999999992988,0.000106786449386,1.3985623512e-05,-4.92490528635e-05,1793256177212463872
+164,2.733333333,POSE1_TO_POSE2_PRESS,789.076660132,749,729,707.076660132,696,654,931,801.923339868,836,667,656.076660132,673,0.422112133201,0.00459180386245,0.0799810922436,0.999999993161,0.000105500530207,-4.13893101008e-06,-5.0300820155e-05,1793256177229130496
+165,2.750000000,POSE1_TO_POSE2_PRESS,789.662966779,749,729,707.662966779,696,654,931,801.337033221,836,667,656.662966779,673,0.423021937299,0.0045963108868,0.0800051588095,0.999999991516,0.000115680402666,3.44550287706e-05,-4.89839344663e-05,1793256177245797376
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.752327018,748.752327018,729,708,696,654,931,801,836,666.752327018,656.752327018,673,0.423925902601,0.0046022639515,0.0800122099143,0.999999990194,0.000125997918238,3.84366730876e-05,-4.75233370923e-05,1793256177262464000
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.169784632,748.169784632,729,708,696,654,931,801,836,666.169784632,656.169784632,673,0.424821973614,0.00461017215409,0.0799962550521,0.999999989622,0.000136501537397,-4.37969834546e-06,-4.58684323377e-05,1793256177279130624
+168,2.800000000,POSE1_TO_POSE2_PRESS,789,748.407271617,729,707.592728383,696,654,931.407271617,801,836,666.407271617,656,673,0.425738291561,0.00461179725522,0.0799602794357,0.999999987365,0.000139408039638,-6.03240352177e-05,-4.68760507583e-05,1793256177295797248
+169,2.816666667,POSE1_TO_POSE2_PRESS,789,748.982071151,729,707.017928849,696,654,931.982071151,801,836,666.982071151,656,673,0.426662937869,0.00461083785241,0.0799160684434,0.999999981712,0.000139189527676,-0.000121668452782,-4.8978876734e-05,1793256177312463872
+170,2.833333333,POSE1_TO_POSE2_PRESS,789,748.443389314,729,707,696,654,931.443389314,801,836,666.443389314,656,673.556610686,0.427599533026,0.00460625319576,0.0799153070647,0.999999984028,0.000125145084459,-0.000117228285798,-5.04064083852e-05,1793256177329130752
+171,2.850000000,POSE1_TO_POSE2_PRESS,789,748,729,707.135130426,695.864869574,654,931,801,836,666.135130426,656,673.864869574,0.42853455097,0.00460196141467,0.0799197543991,0.999999986273,0.000114675338226,-0.000108000420251,-5.13734423849e-05,1793256177345797632
+172,2.866666667,POSE1_TO_POSE2_PRESS,789,748,729,707.727135474,695.272864526,654,931,801,836,666.727135474,656,673.272864526,0.429462935648,0.00459905446432,0.0799370827032,0.999999987742,0.000117796606998,-8.97462687796e-05,-5.08570464404e-05,1793256177362464000
+173,2.883333333,POSE1_TO_POSE2_PRESS,789,748,729,708,695.312079781,654,931,801,836,666.687920219,656,673.312079781,0.430433099033,0.0045996547594,0.0799743257691,0.999999991144,0.000116576767861,-3.91349024969e-05,-5.08876698261e-05,1793256177379130624
+174,2.900000000,POSE1_TO_POSE2_PRESS,789,748,729,708,695.890987139,654,931,801,836,666.109012861,656,673.890987139,0.431438983079,0.00460325374233,0.080028595915,0.999999991681,0.000111645289602,3.91418159172e-05,-5.1385993423e-05,1793256177395797248
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,747.533395785,729,707.533395785,696,654,931.466604215,800.533395785,836.466604215,666.466604215,656,674,0.432369372464,0.00460910938885,0.0800257046538,0.999999991402,0.000116473249746,3.15340793228e-05,-5.13382196327e-05,1793256177412463872
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,747,729,707.041514772,696,654,932,800.041514772,836.958485228,666.958485228,656,673.958485228,0.433278452743,0.00461511903104,0.0800059835033,0.999999991066,0.000123438438991,-3.85473058336e-07,-5.12920575342e-05,1793256177429130496
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,747,729,707.617155678,696,654,932,800.617155678,836.382844322,666.382844322,656,673.382844322,0.4341387089,0.00461637422371,0.0799403468689,0.999999986372,0.000128770865907,-8.87492316843e-05,-5.28966351186e-05,1793256177445797376
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,747,729.198024686,708,696,654,932,800.801975314,836,666.198024686,656,673.198024686,0.435015019316,0.00461621019274,0.0799050867276,0.999999981601,0.000126225235434,-0.000133706568522,-5.46519894457e-05,1793256177462464000
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,747,729.789275461,708,696,654,932,800.210724539,836,666.789275461,656,673.789275461,0.435923209518,0.00461322794893,0.0799301464762,0.999999988281,0.000108035811834,-9.24699335525e-05,-5.67067485026e-05,1793256177479130880
+180,3.000000000,POSE1_TO_POSE2_PRESS,789,747,729.62830346,708,696,654,932,800,836,667,656,674,0.436843259984,0.00460868509936,0.0799668586402,0.999999992127,0.000103685400397,-4.36276710629e-05,-5.55996340547e-05,1793256177495797760
+181,3.016666667,POSE1_TO_POSE2_PRESS,789,747,729.050772047,708,696,654,932,800,836,667,656,674,0.437769878269,0.00460327803132,0.0800100235759,0.99999999284,0.000106998637472,9.4263671478e-06,-5.27415646361e-05,1793256177512464128
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,746.475647337,729,708,695.475647337,654,932,800,836,667,656,674,0.438679999345,0.00459859999387,0.0800310985145,0.99999999274,9.61680696624e-05,4.87481666386e-05,-5.38044211306e-05,1793256177529130752
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,745.898900206,729.101099794,708,695,654,932,800,836,667,656,674,0.439557706251,0.00459643616791,0.0800358760357,0.999999992582,8.91207895476e-05,6.22665812475e-05,-5.49122890528e-05,1793256177545797376
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,745.313265663,729.686734337,708,695,654,932,800,836,667,656,674,0.440287684481,0.00460598527896,0.0799727502173,0.99999999196,0.000106739051462,-4.15378059333e-05,-5.44246416035e-05,1793256177562464000
+185,3.083333333,POSE1_TO_POSE2_PRESS,789,745,729.728989292,708,695,654,932,800,836,667,656,674,0.440988896988,0.00461781645143,0.0798854590642,0.99999997448,0.000124502445005,-0.000180331885946,-5.49467201713e-05,1793256177579130624
+186,3.100000000,POSE1_TO_POSE2_PRESS,789,745,729.146275066,708,695,654,932,800,836,667,656,674,0.441657024488,0.00463227234083,0.0797703741067,0.99999992368,0.000142432758999,-0.00035936942266,-5.66301364469e-05,1793256177595797760
+187,3.116666667,POSE1_TO_POSE2_PRESS,788.569022377,745,729,707.569022377,694.569022377,654,932,800,836,667,656,674,0.44241927737,0.00464149032326,0.0797503359825,0.999999914456,0.000150467405291,-0.000381014100226,-5.72295384988e-05,1793256177612464640
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+189,3.150000000,POSE1_TO_POSE2_PRESS,788.580611356,745,729,707,694,653.419388644,932,800,836,667,656,674,0.444006838561,0.00466142170012,0.0798207837996,0.999999945916,0.000180057542773,-0.00026935757878,-5.651761857e-05,1793256177645797888
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+192,3.200000000,POSE1_TO_POSE2_PRESS,789,745,729,707.664624317,692.664624317,653,932,799.664624317,836,667,656,674,0.446116257523,0.00468456897168,0.0798556311264,0.999999955679,0.000189867112762,-0.000222887000216,-5.39794950975e-05,1793256177695797504
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+196,3.266666667,POSE1_TO_POSE2_PRESS,789,744.365238004,729,707.634761996,690.730476007,652,932,799,836,667,656.365238004,674,0.448464396465,0.00470147859521,0.0797288574052,0.99999989813,0.00020232135643,-0.000399189096366,-5.87770901057e-05,1793256177762464256
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+198,3.300000000,POSE1_TO_POSE2_PRESS,789,744.807870862,729,708,689.192129138,652,932,799,836,667,656,674,0.449497531019,0.00471420839637,0.0796828418098,0.999999865701,0.000213579109276,-0.000467914994152,-6.35352223284e-05,1793256177795797760
+199,3.316666667,POSE1_TO_POSE2_PRESS,788.608510898,745,729,708,688.608510898,651.608510898,932,799,836.391489102,667,656,674,0.450021419393,0.00473413212626,0.0796971372871,0.999999869564,0.000243982747774,-0.000443609660718,-6.74906042204e-05,1793256177812464128
+200,3.333333333,POSE1_TO_POSE2_PRESS,788.029427622,745,729,708,688.029427622,651.029427622,932,799,836.970572378,667,656,674,0.450551493861,0.00476007147467,0.0797256853176,0.999999878819,0.000279722743743,-0.000398740637936,-7.1581602971e-05,1793256177829130752
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+206,3.433333333,POSE1_TO_POSE2_PRESS,789,745,729,707.453538125,684.546461875,650,932,798,836,667,656,674.453538125,0.452840632548,0.00476467398856,0.0796444314081,0.999999808114,0.000293250099384,-0.000540426128768,-7.55972408457e-05,1793256177929131264
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+208,3.466666667,POSE1_TO_POSE2_PRESS,789,745,728.397082945,707.397082945,684,650,932,798,836,667,656,674.397082945,0.453443384592,0.00476600101795,0.0796298419133,0.999999808766,0.000252827523388,-0.000559836749398,-7.16188553008e-05,1793256177962464256
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+214,3.566666667,POSE1_TO_POSE2_PRESS,788.913673059,745,728.913673059,708,681.913673059,650,932,798,836.086326941,667.913673059,656,674,0.454734806529,0.0047592428376,0.0795921209223,0.999999771629,0.000263368785035,-0.000618664635667,-6.80638522324e-05,1793256178062464256
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+243,4.050000000,POSE1_TO_POSE2_PRESS,788.926466969,745,728,707.926466969,678.073533031,649,932.926466969,797.926466969,836,668,656,674,0.455692747605,0.00472787626842,0.0795647314725,0.999999745171,0.000223787347483,-0.000674728249145,-6.57226607613e-05,1793256178545797632
+244,4.066666667,POSE1_TO_POSE2_PRESS,788.498366987,745,728,708,678.501633013,649,932.498366987,797.498366987,836,667.498366987,656,674,0.455693114034,0.0047288917921,0.0795647901766,0.999999745685,0.00022223297825,-0.000674446297534,-6.60711753621e-05,1793256178562464256
+245,4.083333333,POSE1_TO_POSE2_PRESS,788,745,728.07702582,707.92297418,679,649,932,797,836,667.07702582,656,674,0.455693706016,0.00473005314325,0.0795647931527,0.99999974628,0.00022090003065,-0.000673965711033,-6.64372903204e-05,1793256178579130880
+246,4.100000000,POSE1_TO_POSE2_PRESS,788,745,728.661501353,707.338498647,679,649,932,797,836,667.661501353,656,674,0.455695642596,0.00472958870614,0.0795654542668,0.999999747043,0.000221929569181,-0.000672516977296,-6.61907483237e-05,1793256178595797504
+247,4.116666667,POSE1_TO_POSE2_PRESS,788,745,729,707,678.756259981,649,932,797.243740019,836,668,656,674,0.455695821507,0.00472807180122,0.0795650753699,0.99999974698,0.000221541062593,-0.000672790334565,-6.56686329416e-05,1793256178612463872
+248,4.133333333,POSE1_TO_POSE2_PRESS,788,745,729,707,678.177099473,649,932,797.822900527,836,668,656,674,0.455693581617,0.00472510655275,0.079563265272,0.999999745773,0.000219201126966,-0.000675433530639,-6.4767289854e-05,1793256178629130752
+249,4.150000000,HOLD_POSE2,788,745,728,708,679,649,932,797,836,667,656,674,0.455690817988,0.00472979851877,0.0795614643424,0.999999742178,0.000223750248016,-0.00067916250235,-6.57175736089e-05,1793256178662990336
+250,4.166666667,HOLD_POSE2,788.576729738,745,728,707.423270262,679,649,932,797.576729738,836,667,656,674,0.455690952889,0.0047285187977,0.079561155219,0.999999742408,0.000222587225819,-0.000679243491625,-6.53217541137e-05,1793256178679656704
+251,4.183333333,HOLD_POSE2,789,744.845489241,728,707.154510759,678.845489241,649,932,797.845489241,836,667.154510759,656,674,0.455691580192,0.00472717574642,0.0795612778615,0.999999743105,0.000221473530469,-0.000678628706881,-6.48251262251e-05,1793256178696323072
+252,4.200000000,HOLD_POSE2,789,744.264808449,728,707.735191551,678.264808449,649,932,797.264808449,836,667.735191551,656,674,0.455693565629,0.00472565801811,0.0795625913962,0.999999745087,0.000220495887668,-0.000676094845199,-6.40504495426e-05,1793256178712989696
+253,4.216666667,HOLD_POSE2,788.680435297,744.319564703,728.319564703,707.680435297,678,649,932,797,836.319564703,667.680435297,656,674,0.455693927864,0.00472551030908,0.0795625640017,0.999999745252,0.000219632901678,-0.000676115533642,-6.42228457797e-05,1793256178729656320
+254,4.233333333,HOLD_POSE2,788.092966728,744.907033272,728.907033272,707.092966728,678,649,932,797,836.907033272,667.092966728,656,674,0.455692929303,0.0047265111421,0.0795614124526,0.999999743894,0.000218866037135,-0.000678277803734,-6.51892111548e-05,1793256178746322944
+255,4.250000000,HOLD_POSE2,788,745,729,707,678,649,932.483503577,797,836.516496423,667.483503577,656,674,0.45569309285,0.00472702939785,0.0795616523582,0.999999743666,0.000218966891544,-0.000678572679356,-6.52686874299e-05,1793256178762989824
+256,4.266666667,HOLD_POSE2,788,745,728.94222541,707,678,649,932.94222541,797,836,668,656,674,0.455693542088,0.00472726123676,0.0795621206736,0.999999743761,0.000219194254514,-0.000678373152624,-6.51273414209e-05,1793256178779656448
+257,4.283333333,HOLD_POSE2,788,745,728.369128271,707,678,649,932.369128271,797,836,668,656,674,0.45569459085,0.00472574759419,0.0795622929968,0.999999744825,0.000219094954878,-0.000676895182067,-6.45035693771e-05,1793256178796323328
+258,4.300000000,HOLD_POSE2,788,745,728.211582693,707.211582693,678,649,932,797,836,668,656,674,0.45569545579,0.00472517121365,0.0795626162699,0.999999745375,0.00021963728055,-0.000675936087837,-6.41925434194e-05,1793256178812989952
+259,4.316666667,HOLD_POSE2,788,745,728.80607255,707.80607255,678,649,932,797,836,668,656,674,0.455695988062,0.00472629102282,0.0795632127212,0.999999744996,0.000221340773641,-0.000675916018885,-6.44475029377e-05,1793256178829656576
+260,4.333333333,HOLD_POSE2,788.389684262,745,728.610315738,707.610315738,678,649,932,797,836,667.610315738,656,674,0.455696390109,0.00472650330015,0.0795632917459,0.999999745199,0.000220311158338,-0.000675912441495,-6.48570055919e-05,1793256178846323200
+261,4.350000000,HOLD_POSE2,788.968029504,745,728.031970496,707.031970496,678,649,932,797,836,667.031970496,656,674,0.455696729111,0.00472627620688,0.0795631202648,0.999999745681,0.000217958341412,-0.000675916848293,-6.53413284816e-05,1793256178862989568
+262,4.366666667,HOLD_POSE2,788.45821235,745,728.54178765,707,678,649,932,797,836.54178765,667,656,674,0.455695308778,0.00472866412081,0.0795623969643,0.99999974411,0.000221834515784,-0.000676997143433,-6.51471641849e-05,1793256178879656192
+263,4.383333333,HOLD_POSE2,788,745,728.884337666,707.115662334,678,649,932.115662334,797,836.884337666,667,656,674,0.455694434685,0.00473019817482,0.07956203544,0.999999743142,0.000224350065046,-0.00067761617783,-6.4949469721e-05,1793256178896323072
+264,4.400000000,HOLD_POSE2,788,745,728.308932699,707.691067301,678,649,932.691067301,797,836.308932699,667,656,674,0.455696141017,0.0047277300369,0.0795632402732,0.999999745102,0.000220008539386,-0.000676151526136,-6.48955491385e-05,1793256178912989952
+265,4.416666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932,797,836,668,656,674,0.45569534789,0.00472649370201,0.0795616436229,0.999999743985,0.000222318548568,-0.000677168183096,-6.3627677802e-05,1793256178951160064
+266,4.433333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932,797,836,667.399214475,655.399214475,674,0.455695048709,0.00472755597999,0.0795613217779,0.99999974332,0.000222373299999,-0.000678039448623,-6.45951293881e-05,1793256178967826688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,788.192580311,745,728,707.192580311,678,649,932,797,836,667.192580311,655.192580311,674,0.455695239504,0.00472757848254,0.0795613689439,0.999999743489,0.000220987435086,-0.000678191290766,-6.51348186371e-05,1793256178984493056
+268,4.466666667,POSE2_TO_POSE3_RETREAT,788.76656891,745,728,707.76656891,678,649,932,797,836,667.76656891,655.76656891,674,0.455696400704,0.00472554169396,0.0795621469419,0.9999997453,0.000216748407216,-0.00067691830391,-6.48273181295e-05,1793256179001159680
+269,4.483333333,POSE2_TO_POSE3_RETREAT,789,745,728.350055063,707.649944937,678,649,932.350055063,797,836,667.649944937,656,674,0.455696541677,0.00472595309175,0.0795621398563,0.999999745292,0.000216711141469,-0.000676961865045,-6.4620807438e-05,1793256179017826304
+270,4.500000000,POSE2_TO_POSE3_RETREAT,789,745,728.940051166,707.059948834,678,649,932.940051166,797,836,667.059948834,656,674,0.455695983347,0.00472804256962,0.0795615946448,0.999999744039,0.000219553923391,-0.000677907838277,-6.44835190221e-05,1793256179034492928
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788.479695484,745,728.479695484,707,678,649,932.479695484,797,836,667,656,674,0.4556957856,0.00472733374407,0.0795619359344,0.999999743794,0.000220304159328,-0.000678037418807,-6.43650149044e-05,1793256179051159552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932.098286647,797.098286647,836,667,656,674,0.455695571865,0.00472659689409,0.0795622354704,0.99999974374,0.000220577304716,-0.000678035259291,-6.4296212062e-05,1793256179067826176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,678,649,932.670628981,797.670628981,836,667,656,674,0.455695084319,0.00472725137317,0.0795618500272,0.999999744055,0.000219690849425,-0.00067784304042,-6.44568811944e-05,1793256179084493312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,788.245161887,745,728,707,678,649,932.754838113,797.754838113,836,667.245161887,656,674,0.455692621607,0.00472717580547,0.0795604486439,0.999999743295,0.000219095409081,-0.000679160922249,-6.44051613025e-05,1793256179101159936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,788.822664277,745,728,707,678,649,932.177335723,797.177335723,836,667.822664277,656,674,0.455687481371,0.00472611058916,0.0795576700563,0.99999974107,0.000218894467542,-0.000682525890734,-6.40655276598e-05,1793256179117826560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,788.589704365,745,728.410295635,707,678,649,932,797,836,668,656,674,0.455667777229,0.00472537946652,0.0795484166639,0.999999730872,0.00021816854456,-0.000697552377141,-6.38645533871e-05,1793256179134493184
+277,4.616666667,POSE2_TO_POSE3_RETREAT,788.002357098,745,729,707.002357098,678,649,932.002357098,797.002357098,836,668,656,674,0.455641518806,0.00472480741459,0.0795362747179,0.999999716763,0.000217225145704,-0.000717792361611,-6.37228862247e-05,1793256179151159552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,788.580102578,745,729,707.580102578,678,649,932.580102578,797.580102578,836,668,656,674,0.455590796431,0.00472692436997,0.0795194428174,0.999999693184,0.000219985429059,-0.000749173610121,-6.30587280618e-05,1793256179167825920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,789,745,728.844145368,707.844145368,678,649,932.844145368,798,836,668,656,674,0.455535327196,0.00472821322363,0.0795025813601,0.999999670513,0.000222392641628,-0.000778208145003,-6.25146980369e-05,1793256179184492800
+280,4.666666667,POSE2_TO_POSE3_RETREAT,789,745,728.273695977,707.273695977,678,649,932.273695977,798,836,668,656,674,0.455467230649,0.00472729921331,0.0794856412736,0.999999652203,0.00022386063837,-0.000801000107148,-6.2290225362e-05,1793256179201159680
+281,4.683333333,POSE2_TO_POSE3_RETREAT,789,745,728,707,678,649,932,798,836.300920967,667.699079033,656,674,0.455392550943,0.00472626850762,0.0794753315639,0.999999640523,0.000224747697484,-0.000815315554084,-6.08564543407e-05,1793256179217826560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,789,745,728,707,678,649,932,798,836.879381614,667.120618386,656,674,0.455311799587,0.00472513017374,0.0794711370576,0.999999635277,0.000225098957281,-0.000821813102285,-5.83073463969e-05,1793256179234493696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,788.532430087,745,728,707,678,649,932,797.532430087,836.532430087,667,656,674,0.455223374424,0.00472361759352,0.07947281841,0.999999638608,0.000224476430731,-0.000818073958691,-5.61228083227e-05,1793256179251160064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,678.057147763,649,932.057147763,797,836,667.057147763,656,674,0.455130232343,0.0047223280281,0.0794761422503,0.999999644028,0.000224218488729,-0.00081163853039,-5.39625347548e-05,1793256179267826432
+285,4.750000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,678.636015195,649,932.636015195,797,836,667.636015195,656,674,0.455012484436,0.00472397453886,0.079480328765,0.999999648147,0.00022963101906,-0.000805208289239,-5.11469472543e-05,1793256179284493056
+286,4.766666667,POSE2_TO_POSE3_RETREAT,788.213678856,745,728,707,678.786321144,649,932.786321144,797.213678856,836,667.786321144,656,674,0.45488175335,0.00472449771539,0.0794828470243,0.999999649951,0.000234322912476,-0.000801805860945,-4.79386808463e-05,1793256179301159424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,788.78930342,745,728,707,678.21069658,649,932.21069658,797.78930342,836,667.21069658,656,674,0.454729030367,0.00472311810169,0.0794825394635,0.999999647924,0.000237794135041,-0.000803532176039,-4.40652649459e-05,1793256179317826048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,788.627993404,745,728,707.372006596,678.372006596,649,932,797.627993404,836,667,656,674,0.45455723692,0.00472154665242,0.0794824744176,0.999999647371,0.000241456973601,-0.000803371134008,-3.93968449464e-05,1793256179334492672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,788.041203232,745,728,707.958796768,678.958796768,649,932,797.041203232,836,667,656,674,0.454374432841,0.00471986444387,0.0794825493915,0.999999647645,0.00024523044485,-0.000802120398229,-3.42694170612e-05,1793256179351159552
+290,4.833333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.459840252,679,649,932,797.540159748,836,667,656,673.459840252,0.454149392139,0.00471892461426,0.0794767344761,0.999999638826,0.000250093336346,-0.000811767364918,-2.88947299907e-05,1793256179367826176
+291,4.850000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,679.119772535,649,932,797.880227465,836,667.119772535,656,673.119772535,0.453916717347,0.00471780827112,0.0794720454161,0.999999631196,0.000255145195652,-0.000819738334433,-2.31936311915e-05,1793256179384493056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,679.694296549,649,932,797.305703451,836,667.694296549,656,673.694296549,0.453667168246,0.00471580887472,0.079473319844,0.999999631167,0.00026060215067,-0.000818221115903,-1.6324111644e-05,1793256179401159680
+293,4.883333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,680,649,932,797.269793518,836,667.730206482,656,674,0.453398920264,0.00471340459888,0.079477587946,0.999999634752,0.000267920110814,-0.00081156337963,-8.87598561725e-06,1793256179417826048
+294,4.900000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,680,649,932,797.8463969,836,667.1536031,656,674,0.453109407881,0.00471053989325,0.0794852604619,0.999999642289,0.000277354410284,-0.000799059833655,-7.6986726212e-07,1793256179434492672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,680.434845345,649,932,798,836,667,655.565154655,674,0.452794137811,0.00470839181652,0.0794974200433,0.999999655392,0.000284707890504,-0.000779816973786,6.55195662593e-06,1793256179451159552
+296,4.933333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,681.026903795,649,932,797.973096205,836,667,655.026903795,674,0.452467447922,0.00470644941184,0.0795109697921,0.999999669867,0.000291070821407,-0.000758525880121,1.35333940154e-05,1793256179467826176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,681.604805176,649,932,797.395194824,836,667,655.604805176,674,0.452098435578,0.00470338968958,0.0795196204501,0.999999679183,0.000292621988112,-0.000745406368318,1.93763861435e-05,1793256179484492800
+298,4.966666667,POSE2_TO_POSE3_RETREAT,788.18103814,745,728,707,682,649.18103814,932.18103814,797.18103814,836,667,656,674,0.451718945203,0.004701735625,0.0795277761563,0.999999689781,0.00028502134716,-0.000734010572409,2.07300693802e-05,1793256179501159424
+299,4.983333333,POSE2_TO_POSE3_RETREAT,788.753662237,745,728,707,682,649.753662237,932.753662237,797.753662237,836,667,656,674,0.451316790867,0.00470312200197,0.0795348612797,0.999999702951,0.000257625322654,-0.000726343179933,1.23733652731e-05,1793256179517826560
+300,5.000000000,POSE2_TO_POSE3_RETREAT,789,745,728.334061539,707,682.334061539,650,932.665938461,798,836,667,656,674,0.450899733368,0.00471212533935,0.0795507359336,0.999999724273,0.000256450719953,-0.000696842912299,9.80376913789e-06,1793256179534493184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,789,745,728.92033098,707,682.92033098,650,932.07966902,798,836,667,656,674,0.45047142432,0.00472687928685,0.0795732464586,0.999999750291,0.000275072615617,-0.000650859381495,1.16032903517e-05,1793256179551159552
+302,5.033333333,POSE2_TO_POSE3_RETREAT,789,745,728.495176722,707,684.009646557,650,932,798,836,667,656,674,0.449996703631,0.00472863817323,0.0795974908372,0.999999779862,0.0002579403353,-0.000611272273859,9.38340381652e-06,1793256179567826176
+303,5.050000000,POSE2_TO_POSE3_RETREAT,789,745,728,707,685.087541104,650,932,798,836,667,656,674,0.449503759374,0.00472615013103,0.0796177238708,0.999999803315,0.00023674658697,-0.000580742416717,7.70791421966e-06,1793256179584492800
+304,5.066666667,POSE2_TO_POSE3_RETREAT,789,745,728,707,685.66194469,650,932,798,836,667,656,674,0.448950056444,0.00471140837704,0.0796141312386,0.999999797773,0.000224236087501,-0.000594990296099,1.25755483685e-05,1793256179601159424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,789,745,728.236235148,707,686,650,932,798,836,667,656,674,0.448369208076,0.00470306758023,0.0795972134083,0.999999772575,0.000250674839771,-0.000625899287441,1.6178059641e-05,1793256179617826048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,789,745,728.810363761,707,686,650,932,798,836,667,656,674,0.447749532895,0.00470388224493,0.07956123619,0.999999712818,0.000332823750149,-0.000680639109044,1.7971031358e-05,1793256179634492928
+307,5.116666667,POSE2_TO_POSE3_RETREAT,789,745,728.605338039,707,686.789323923,650.394661961,932,798,836,667,656,674,0.447137391765,0.00469625470831,0.0795567425568,0.999999710091,0.000334657057945,-0.000683711603865,1.89992513064e-05,1793256179651159552
+308,5.133333333,POSE2_TO_POSE3_RETREAT,789,745,728.016024094,707,687.967951812,650.983975906,932,798,836,667,656,674,0.446528966536,0.00468446337736,0.0795677770041,0.999999737079,0.000296877751506,-0.000661301156848,1.9650286544e-05,1793256179667826176
+309,5.150000000,POSE2_TO_POSE3_RETREAT,789,745,728,707,688.566067269,651,932,798,836,667,656,674,0.445905765278,0.00467441900726,0.0796169155524,0.999999789448,0.00026597272458,-0.000591498771402,2.21550221107e-05,1793256179684492800
+310,5.166666667,POSE2_TO_POSE3_RETREAT,789,745,728.145928738,707,689.291857476,651,932,798.145928738,836,667,656,674,0.445268794329,0.00466550385377,0.0796635780551,0.999999832995,0.000238321579321,-0.000525939263895,2.45207034735e-05,1793256179701159680
+311,5.183333333,POSE2_TO_POSE3_RETREAT,789,745,728.719842268,707,690.439684536,651,932,798.719842268,836,667,656,674,0.444592650558,0.0046597572983,0.079699855095,0.999999861905,0.000219650012645,-0.000476708436437,2.63266027971e-05,1793256179717826304
+312,5.200000000,POSE2_TO_POSE3_RETREAT,789,745,728.705896107,707,691.294103893,651.294103893,932,799,836,667,656,673.705896107,0.443888817298,0.00464968538104,0.0797191148956,0.999999874276,0.000213863518251,-0.000452642902105,2.87092017824e-05,1793256179734493184
+313,5.216666667,POSE2_TO_POSE3_RETREAT,789,745,728.131302432,707,691.868697568,651.868697568,932,799,836,667,656,673.131302432,0.443158576219,0.00463548832294,0.0797221451914,0.999999872806,0.000220365642497,-0.000452577750949,3.16418051815e-05,1793256179751159552
+314,5.233333333,POSE2_TO_POSE3_RETREAT,789,745,728.455832997,707,692,652.455832997,932,799,836,667,656,673.455832997,0.44240136738,0.0046264650212,0.0797280144779,0.999999882614,0.00021154222466,-0.000434773083728,3.1544416876e-05,1793256179767826176
+315,5.250000000,POSE2_TO_POSE3_RETREAT,789,745.045698316,729,707.045698316,692.045698316,653,932,799.045698316,836,667,656,674,0.441632133761,0.00461883871208,0.0797337766423,0.999999894498,0.000196888329593,-0.000413880914093,3.0699490085e-05,1793256179784492544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,789,745.624082755,729,707.624082755,692.624082755,653,932,799.624082755,836,667,656,674,0.440815842464,0.00460963329257,0.0797284880427,0.99999989806,0.000167185002349,-0.000418247665395,3.16023748876e-05,1793256179801159424
+317,5.283333333,POSE2_TO_POSE3_RETREAT,789,746,729,708,693.201304033,653,932,800,836,667,656,674,0.43998186249,0.00459941976539,0.0797134185427,0.999999890653,0.000157683811683,-0.000439027738478,3.29431229223e-05,1793256179817826304
+318,5.300000000,POSE2_TO_POSE3_RETREAT,789,746,729,708,693.776365656,653,932,800,836,667,656,674,0.439115040316,0.00458733450331,0.0796801890205,0.999999861955,0.000185691567698,-0.000490282131376,3.50968436901e-05,1793256179834493184
+319,5.316666667,POSE2_TO_POSE3_RETREAT,789,746.359324294,729,708,694,653,932,800,836,667,656,674,0.438304510835,0.00457791772743,0.0797058116257,0.999999882443,0.000173406440187,-0.000451414824934,3.56101391089e-05,1793256179851159808
+320,5.333333333,POSE2_TO_POSE3_RETREAT,789,746.947308254,729,708,694,653,932,800,836,667,656,674,0.437529803815,0.00457019907034,0.0797688853816,0.999999927125,0.0001354805244,-0.000355197653937,3.50795328477e-05,1793256179867826176
+321,5.350000000,POSE2_TO_POSE3_RETREAT,789,747,729,708,694,653,932,800,836,667,656,674,0.436688784551,0.00456099040793,0.0798342832428,0.99999995711,0.000136970606505,-0.000255885462349,3.92626691966e-05,1793256179884492800
+322,5.366666667,POSE2_TO_POSE3_RETREAT,789,747.106846142,729,708,694,653,932,800,836,667,656,674,0.435827881807,0.00455100130422,0.0798844951913,0.999999973316,0.000137514741003,-0.000180549415702,4.31285867739e-05,1793256179901159424
+323,5.383333333,POSE2_TO_POSE3_RETREAT,789,747.685703334,729,708,694,653,932,800,836,667,656,674,0.43490797689,0.00453821240771,0.0798666101117,0.999999969664,0.00011673972948,-0.00021247800271,4.35433393385e-05,1793256179917826048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,789,748,729,708,694,653,932,800,836,667,656,674,0.433972800089,0.00452727553896,0.079839340785,0.999999960856,0.000102821232503,-0.000256526716926,4.37049012831e-05,1793256179934492928
+325,5.416666667,POSE2_TO_POSE3_RETREAT,789,748,729,708,694,653,932,800,836,667,656,674,0.433019480237,0.00451853886934,0.0798009230119,0.999999944737,9.7048241781e-05,-0.000314974092784,4.35656738884e-05,1793256179951159808
+326,5.433333333,POSE2_TO_POSE3_RETREAT,789,748,729,708,694,653.418181477,932,800,836,667,656,674,0.432020910521,0.00450947448512,0.0797462463998,0.999999907386,8.74056789417e-05,-0.00041901619104,4.48829131779e-05,1793256179967826688
+327,5.450000000,POSE2_TO_POSE3_RETREAT,789,748,729,708,694,654,932,800,836,667,656,674,0.43100583813,0.00450018443224,0.079686687536,0.999999851141,7.62126603833e-05,-0.000538257873126,4.67835110098e-05,1793256179984493312
+328,5.466666667,POSE2_TO_POSE3_RETREAT,789,748,729,708,694,654,932,800,836,667,656,674,0.430128273065,0.00448531649135,0.0797413996086,0.999999903904,6.81574362641e-05,-0.000430453920267,4.74896943135e-05,1793256180001159680
+329,5.483333333,POSE2_TO_POSE3_RETREAT,789.167239231,748,729,708,694.167239231,653.832760769,932,800,836,667,656,673.832760769,0.429251562601,0.00447218329418,0.0797970231693,0.999999943115,5.9245354663e-05,-0.000328482797376,4.85598447305e-05,1793256180017826304
+330,5.500000000,POSE2_TO_POSE3_RETREAT,789.744025538,748,729,708,694.744025538,653.255974462,932,800,836,667,656,673.255974462,0.428376944994,0.00446329825915,0.0798548788421,0.999999968569,4.82349426104e-05,-0.000240795529834,5.05213040416e-05,1793256180034492928
+331,5.516666667,POSE2_TO_POSE3_RETREAT,789.680255506,748,729.319744494,708,694.680255506,653.319744494,932,800,836,667,656,673.319744494,0.427448793926,0.00445255288542,0.0798585475507,0.999999970075,3.77226406761e-05,-0.000236137902145,5.16290459597e-05,1793256180051159296
+332,5.533333333,POSE2_TO_POSE3_RETREAT,789.105388211,748,729.894611789,708,694.105388211,653.894611789,932,800,836,667,656,673.894611789,0.426477928775,0.00444032315561,0.0798189807034,0.999999953943,2.7607779341e-05,-0.000297729282866,5.20556103044e-05,1793256180067825920
+333,5.550000000,POSE2_TO_POSE3_RETREAT,789.481932152,748,729.518067848,708,694,653.518067848,931.518067848,800,836,667,656,674,0.425521784995,0.00443482502169,0.0797838065204,0.999999937367,2.17170787278e-05,-0.000349550154577,5.10721456714e-05,1793256180084492800
+334,5.566666667,POSE2_TO_POSE3_RETREAT,790,748.070540287,729,708,694.070540287,653.070540287,931.070540287,800.070540287,836,667,656,674,0.424563564066,0.00443633665439,0.0797507536473,0.999999919035,2.35524836484e-05,-0.000398580731664,5.0077460813e-05,1793256180101159680
+335,5.583333333,POSE2_TO_POSE3_RETREAT,790,748.648306997,729,708,694.648306997,653.648306997,931.648306997,800.648306997,836,667,656,674,0.423566645395,0.00447738694174,0.0797258639027,0.999999897672,7.41247890457e-05,-0.00044331835707,5.12780771794e-05,1793256180117826816
+336,5.600000000,POSE2_TO_POSE3_RETREAT,790,748.774675093,729,708,695,654,931.774675093,801,836,667,656,674,0.422639190486,0.0045044518586,0.0797309520095,0.999999899165,0.000110109069974,-0.000432253653931,5.19937114587e-05,1793256180134493440
+337,5.616666667,POSE2_TO_POSE3_RETREAT,790,748.19882197,729,708,695,654,931.19882197,801,836,667,656,674,0.421819797196,0.00450976034563,0.0797826753599,0.999999935132,0.000123399399524,-0.000334379687449,5.19548802005e-05,1793256180151159808
+338,5.633333333,POSE2_TO_POSE3_RETREAT,790.384883461,748.384883461,729,708,695,654,931,801,836,666.615116539,656,674,0.421006647349,0.00449936653502,0.0798316133203,0.999999962026,0.000106903237893,-0.000248679142066,5.1759684689e-05,1793256180167826432
+339,5.650000000,POSE2_TO_POSE3_RETREAT,790.972729661,748.972729661,729,708,695,654,931,801,836,666.027270339,656,674,0.420196789941,0.00448069234409,0.0798790824425,0.999999981537,7.46995990723e-05,-0.000169398079953,5.14820326138e-05,1793256180184493056
+340,5.666666667,POSE2_TO_POSE3_RETREAT,790.447647492,749,729,707.447647492,695,654,931,801,836,666.552352508,656,674,0.419280287449,0.00447430258217,0.0798471586182,0.999999969349,7.58869174301e-05,-0.000229794893143,5.23121575387e-05,1793256180201159680
+341,5.683333333,POSE2_TO_POSE3_RETREAT,790,749,729,707.130982425,695,654,931,801,836,667,656,673.869017575,0.41836747059,0.00446953263702,0.0798164946434,0.999999954513,7.64582188372e-05,-0.000286964277788,5.27170172359e-05,1793256180217826304
+342,5.700000000,POSE2_TO_POSE3_RETREAT,790,749,729,707.707595184,695,654,931,801,836,667,656,673.292404816,0.417484843656,0.00446824049059,0.0798032570825,0.999999948205,6.94072429267e-05,-0.000310035511325,5.14916884428e-05,1793256180234493184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.717155934,931,801.282844066,836,667,656.282844066,673.282844066,0.416628529001,0.00447307418574,0.0797984069996,0.999999942726,7.58170768042e-05,-0.000325703313918,5.21319316991e-05,1793256180251160064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653.143310301,931,801.856689699,836,667,656.856689699,673.856689699,0.415799285554,0.00448421039786,0.0798021862987,0.999999938193,9.60759439706e-05,-0.000333754161903,5.46915520272e-05,1793256180267826944
+345,5.750000000,POSE2_TO_POSE3_RETREAT,790,749,729,708,695,653,931,801.556180865,836,667,656.556180865,673.556180865,0.415006853111,0.00449065055445,0.0797847843179,0.999999927988,0.000104815111023,-0.000360708445454,5.41052951008e-05,1793256180284493568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,790.034645205,749,729,707.965354795,695,653,931,801,836,667,656,673.034645205,0.41423015817,0.00449471173728,0.0797629043574,0.999999916886,0.000108278991124,-0.000389546749704,5.25114819903e-05,1793256180301160192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,790.614068955,749,729,707.385931045,695,653,931,801,836,667,656,673.614068955,0.413508254533,0.00448594455942,0.0797814762504,0.99999993378,8.90873557258e-05,-0.00034906704352,5.15403208441e-05,1793256180317826560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,790.80823183,749,729,707.19176817,695,653,931,801,836,667,656.19176817,673.80823183,0.412779846668,0.00447822667494,0.0797942165213,0.999999942863,7.99667661496e-05,-0.000324422950884,5.12723101174e-05,1793256180334493184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,790.233972187,749,729,707.766027813,695,653,931,801,836,667,656.766027813,673.233972187,0.412038465659,0.00447260165844,0.0797953253256,0.999999939591,9.09333920936e-05,-0.000331363797486,5.24067690461e-05,1793256180351159552
+350,5.833333333,POSE2_TO_POSE3_RETREAT,790,748.651770985,728.651770985,708,694.651770985,653.348229015,930.651770985,801,836,667,657,673,0.41133239107,0.00447389698025,0.0797902016336,0.999999935466,9.18596928418e-05,-0.000343313045943,5.25911619424e-05,1793256180367826176
+351,5.850000000,POSE2_TO_POSE3_RETREAT,790,748.064109424,728.064109424,708,694.064109424,653.935890576,930.064109424,801,836,667,657,673,0.410650592233,0.00447995053376,0.0797807926511,0.999999930619,8.58825457004e-05,-0.000358705931186,5.21223158912e-05,1793256180384493056
+352,5.866666667,POSE2_TO_POSE3_RETREAT,790,748,728.516185681,708,694.516185681,654,930.516185681,801,836,667,656.483814319,673,0.41002616307,0.00448798749886,0.0797929453188,0.99999993593,0.000105397072859,-0.000338025508531,5.26289675009e-05,1793256180401159936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790.095299379,748.095299379,728.904700621,708,695,653.904700621,931,801,836,666.904700621,656,673,0.409415162773,0.00449473920008,0.0798094031074,0.999999943101,0.000121412985456,-0.000310227206987,5.30740532505e-05,1793256180417826560
+354,5.900000000,POSE2_TO_POSE3_RETREAT,790.672998866,748.672998866,728.327001134,708,695,653.327001134,931,801,836,666.327001134,656,673,0.408836578662,0.00449375557059,0.0798342884124,0.999999957101,0.00010391836018,-0.000268758265944,5.26028442479e-05,1793256180434493184
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,790.177952757,749,728.822047243,708,695,653.822047243,931,801,836,666.822047243,656,673,0.407640777058,0.00448756455039,0.0798094915806,0.999999941812,0.000109766295786,-0.000318482827167,5.38206386366e-05,1793256180467826432
+357,5.950000000,POSE2_TO_POSE3_RETREAT,790.407275601,749,729,707.592724399,695,653.592724399,930.592724399,801.407275601,836,666.592724399,656,673,0.407087439311,0.00448637032163,0.0797827189787,0.99999992663,0.000111000105562,-0.000362671871705,5.37380573853e-05,1793256180484493056
+358,5.966666667,POSE2_TO_POSE3_RETREAT,790.997886734,749,729,707.002113266,695,653.002113266,930.002113266,801.997886734,836,666.002113266,656,673,0.406557594037,0.00448640722112,0.0797561008489,0.999999911255,0.000107844863681,-0.000403774337908,5.31522799371e-05,1793256180501159424
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790.42312648,749,728.42312648,707.57687352,695,653,930.57687352,801.42312648,836,666,656,673,0.406118533219,0.00448958916754,0.0797726408196,0.99999992553,0.00010766580735,-0.000366877208789,5.24260821072e-05,1793256180517826048
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,790.731024699,749,728,708,695,653.731024699,931,801.731024699,836.731024699,666,656,673,0.405278321241,0.00449776333054,0.0798103441255,0.999999945982,0.000124516274713,-0.000299840708195,5.1264238372e-05,1793256180551159808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,790.694407545,749,728,708,695,653.694407545,930.694407545,801.694407545,836.694407545,666,656,673,0.404880574156,0.0044996046008,0.0798251247457,0.999999951074,0.000130732976475,-0.000279420899666,5.18072303149e-05,1793256180567826688
+363,6.050000000,POSE2_TO_POSE3_RETREAT,790.121093751,749,728,708,695,653.121093751,930.121093751,801.121093751,836.121093751,666,656,673,0.404493016867,0.0044990274309,0.0798352507801,0.999999953962,0.000130679351316,-0.000268630328719,5.3261306599e-05,1793256180584493312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,801.466646379,836,666,656,673,0.404131040948,0.00450209408837,0.0798367272058,0.999999951803,0.000130026147523,-0.00027674609274,5.38401424719e-05,1793256180601159936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,790,748.942924611,728.057075389,708,695,653,930,802,836,666,656,673,0.403781050106,0.00450561457264,0.0798359330785,0.999999948612,0.000129030221468,-0.000288461603423,5.40102277534e-05,1793256180617826304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,790,748.363246488,728.636753512,708,695,653,930,802,836,666,656,673,0.403478077099,0.00450435632315,0.0798355565382,0.999999949511,0.000126366287165,-0.000286782101799,5.25836083521e-05,1793256180634492928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,790,748.214174065,728.785825935,708,695,653,930.214174065,802,836,666,656,673,0.403188903936,0.00450187312377,0.0798354859928,0.999999950088,0.000122405512242,-0.00028650052365,5.25116673752e-05,1793256180651159552
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,748.787805583,728.212194417,708,695,653,930.787805583,802,836,666,656,673,0.402922891669,0.00449733403896,0.0798359290117,0.999999950109,0.00011626819475,-0.000288565140154,5.47133410221e-05,1793256180667826176
+369,6.150000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930.629359694,802,836,666,656,673,0.402681280871,0.00449597351753,0.0798359216338,0.999999950748,0.000108340566863,-0.000289437377439,5.46931824644e-05,1793256180684492800
+370,6.166666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930.041121848,802,836,666,656,673,0.402453995796,0.00449647908406,0.0798356498345,0.999999951703,9.93618731596e-05,-0.000289609586388,5.33686187026e-05,1793256180701159680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,790,749,728.539002185,708,695,653.539002185,930.539002185,802,836.539002185,666,656,673,0.402266648593,0.00449308300362,0.0798380900003,0.999999954137,8.94208325069e-05,-0.000284431366372,5.31870323656e-05,1793256180717826304
+372,6.200000000,POSE2_TO_POSE3_RETREAT,790,749,728.882076942,708,695,654,930.882076942,802,836.882076942,666,656,673,0.402088678979,0.00448952992722,0.0798412467301,0.999999956427,8.14660830155e-05,-0.000278649832338,5.35052218918e-05,1793256180734492928
+373,6.216666667,POSE2_TO_POSE3_RETREAT,790,749,728.30546375,708,695,654,930.30546375,802,836.30546375,666,656,673,0.40193550957,0.00448650685096,0.0798463978462,0.999999958126,8.15188375964e-05,-0.000272085798343,5.54332522536e-05,1793256180751159552
+374,6.233333333,POSE2_TO_POSE3_RETREAT,790.270772433,749,728,708,695,654,930,802,836,666,656,673,0.401792953029,0.00448667828872,0.0798492985056,0.999999957911,9.61342284937e-05,-0.000267822250709,5.66264346931e-05,1793256180767826176
+375,6.250000000,POSE2_TO_POSE3_RETREAT,790.84658386,749,728,708,695,654,930,802,836,666,656,673,0.401662352436,0.00449044851009,0.0798496639103,0.999999954874,0.000127155174003,-0.000266150318841,5.69917732076e-05,1793256180784492800
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790.568025521,749,728,708,695,653.568025521,930,802,836,666,656.431974479,672.568025521,0.401543921373,0.00449860276382,0.0798447795637,0.999999949505,0.000153146088696,-0.00027343187762,5.26484385907e-05,1793256180801159680
+377,6.283333333,POSE2_TO_POSE3_RETREAT,790,748.979531853,728,708,695,653.020468147,930.020468147,802,836.020468147,666,656.979531853,672.020468147,0.401430870814,0.00450795736876,0.0798381025235,0.999999943141,0.000176037792734,-0.000283788186627,4.68365055503e-05,1793256180817826304
+378,6.300000000,POSE2_TO_POSE3_RETREAT,790,748.401288599,728,708,695,653.598711401,930.598711401,802,836.598711401,666,656.401288599,672.598711401,0.401343993773,0.00450663094356,0.0798345332513,0.999999943524,0.000164258820815,-0.00028931554955,4.76088157684e-05,1793256180834492928
+379,6.316666667,POSE2_TO_POSE3_RETREAT,790,748.176596515,728.176596515,708,695,654,930.823403485,801.823403485,836.823403485,666,656,672.823403485,0.401265354512,0.004500503086,0.0798317372164,0.999999944678,0.000149344011623,-0.00029315638731,4.89802634165e-05,1793256180851159552
+380,6.333333333,POSE2_TO_POSE3_RETREAT,790,748.753669378,728.753669378,708,695,654,930.246330622,801.246330622,836.246330622,666,656,672.246330622,0.40120539647,0.00448348679122,0.0798306946892,0.999999947583,0.000127317916143,-0.000293172610685,5.17104035143e-05,1793256180867826432
+381,6.350000000,POSE2_TO_POSE3_RETREAT,790,749,728.671776368,708,695,654,930,801.328223632,836,666,656,672,0.401152582053,0.00448229344702,0.0798294706966,0.999999947217,0.000124354624858,-0.000295521916795,5.26190640865e-05,1793256180884492800
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790,749,728.099097866,708,695,654,930,801.900902134,836,666,656,672,0.401105088067,0.00449288474089,0.079828111552,0.999999944564,0.000135588953993,-0.000299608859662,5.21711208132e-05,1793256180901159424
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.511344681,930,802,836,666,656,672.488655319,0.401072056723,0.00449078946571,0.0798280097082,0.99999994475,0.000133693538019,-0.000299609926414,5.34748896213e-05,1793256180917826048
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.078143172,930,802,836,666,656,673,0.401043787771,0.00448670921989,0.0798281563519,0.999999945531,0.00012953804856,-0.000298577574401,5.48636670924e-05,1793256180934492672
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.658506686,930,802,836,666,656,673,0.40102667627,0.0044869332376,0.0798282091258,0.999999946334,0.000128514762202,-0.000296398404384,5.444300081e-05,1793256180951159296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,749,728.236610394,708,695,654,930,802,836.236610394,666,656.236610394,673,0.401012522266,0.00448856039012,0.0798290470026,0.999999946895,0.000129666383464,-0.000294060565592,5.4076144203e-05,1793256180967825920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,749,728.811483404,708,695,654,930,802,836.811483404,666,656.811483404,673,0.401002596357,0.00449219349024,0.0798310072774,0.9999999471,0.000133927293144,-0.000291495891099,5.37862149331e-05,1793256180984492544
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,749,728.612999336,708,695,653.612999336,930,802,836.612999336,666,656.612999336,672.612999336,0.400994173896,0.00448887323443,0.0798312147222,0.999999947801,0.000129249816297,-0.000291155301064,5.4046723519e-05,1793256181001159424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,749,728.037167741,708,695,653.037167741,930,802,836.037167741,666,656.037167741,672.037167741,0.400986485021,0.00448216019708,0.079830566901,0.999999948683,0.000120210993185,-0.00029189991837,5.45758096665e-05,1793256181017826304
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836.555657462,666,656,672.555657462,0.400983148258,0.00448556693055,0.0798309631208,0.999999948651,0.00012261953428,-0.000291129260999,5.39118325317e-05,1793256181034492928
+391,6.516666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.144885428,930,802,837,666,656,673,0.400981653062,0.00448802732942,0.0798318995278,0.999999948983,0.000124504124916,-0.000289273930854,5.34087983479e-05,1793256181051159552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.719951253,930,802,837,666,656,673,0.400984734071,0.00448560474073,0.0798342259175,0.999999950588,0.000122487850569,-0.000284508522281,5.36280417627e-05,1793256181067825920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930,802,836.704886049,666,656,673,0.400985618996,0.00448489743891,0.0798356328922,0.999999951339,0.000121913776893,-0.000282085098454,5.37319734748e-05,1793256181084492800
+394,6.566666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930,802,836.129631325,666,656,673,0.40098441926,0.00448581839526,0.0798361671005,0.999999951298,0.000122708730809,-0.000281884833688,5.37264440736e-05,1793256181101159424
+395,6.583333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930,802,836,666,656,673,0.400981966456,0.00448610020369,0.0798354158606,0.999999950578,0.00012460596315,-0.00028359050416,5.38001099285e-05,1793256181117826304
+396,6.600000000,POSE2_TO_POSE3_RETREAT,790,749,728.04741498,708,695,654,930.04741498,802,836.04741498,666,656,672.95258502,0.400979521113,0.00448607115554,0.0798344615408,0.999999949815,0.000126345418284,-0.000285490286451,5.38725416889e-05,1793256181134493184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,790,749,728.626559952,708,695,654,930.626559952,802,836.626559952,666,656,672.373440048,0.400981247263,0.004484641103,0.0798354232597,0.999999950886,0.000122719589774,-0.00028334927389,5.36727789961e-05,1793256181151159808
+398,6.633333333,POSE2_TO_POSE3_RETREAT,790,749,728.796272843,708,695,653.796272843,930.796272843,802,836.796272843,666,656,672.203727157,0.400981342107,0.00448456245804,0.0798356639073,0.999999951233,0.000120950712299,-0.000282929636604,5.34313349456e-05,1793256181167826432
+399,6.650000000,POSE2_TO_POSE3_RETREAT,790,749,728.222696142,708,695,653.222696142,930.222696142,802,836.222696142,666,656,672.777303858,0.40097847545,0.00448693718015,0.0798345955106,0.999999950286,0.000122552973707,-0.000285635011708,5.31142219031e-05,1793256181184493056
+400,6.666666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.359985336,930,802,836,666,656,672.640014664,0.400978621968,0.00448630131035,0.0798348678132,0.999999950406,0.000123075736575,-0.000284941246547,5.3383921072e-05,1793256181201159424
+401,6.683333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.948445392,930,802,836,666,656,672.051554608,0.40098068088,0.00448375468447,0.079835991028,0.999999951199,0.000122913365566,-0.000282090122237,5.40260569669e-05,1793256181217825792
+402,6.700000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930,802,836.528454988,666,656,672,0.400980666266,0.00448579536239,0.0798354770466,0.999999950977,0.000123947521967,-0.000282506196333,5.36018592357e-05,1793256181234492416
+403,6.716666667,POSE2_TO_POSE3_RETREAT,790,748.892836927,728,708,695,654,930,802,836.892836927,666,656,672.107163073,0.400980621647,0.00448747339902,0.0798352459765,0.999999950852,0.000124607909014,-0.000282740073976,5.31663018703e-05,1793256181251159296
+404,6.733333333,POSE2_TO_POSE3_RETREAT,790,748.316275677,728,708,695,654,930,802,836.316275677,666,656,672.683724323,0.400981317722,0.00448563358012,0.0798369427213,0.999999951584,0.000123127847008,-0.00028080171725,5.31294833833e-05,1793256181267826176
+405,6.750000000,POSE2_TO_POSE3_RETREAT,790,748.258455101,728,708,695,653.741544899,930,802,836.258455101,666,656,673,0.40098171076,0.00448506665057,0.0798380222417,0.999999952079,0.000121891420947,-0.000279582795504,5.3082494742e-05,1793256181284493056
+406,6.766666667,POSE2_TO_POSE3_RETREAT,790,748.83096173,728,708,695,653.16903827,930,802,836.83096173,666,656,673,0.400981735575,0.0044860464221,0.0798383517664,0.999999952293,0.000120951039306,-0.000279238066558,5.30231482342e-05,1793256181301159680
+407,6.783333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.417279334,930,802,836.582720666,666,656,673,0.400980501578,0.00448607850773,0.0798378259102,0.999999951948,0.000121673673318,-0.000280162627268,5.29901152299e-05,1793256181317826048
+408,6.800000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.990822723,930,802,836,665.990822723,656,672.990822723,0.400978803044,0.00448570942711,0.0798369727581,0.999999951389,0.000123057454447,-0.000281553640753,5.29694267713e-05,1793256181334492672
+409,6.816666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.411712424,930,802,836,665.411712424,656,672.411712424,0.40098100819,0.0044850844176,0.0798380495663,0.999999952235,0.000122230714752,-0.00027888734051,5.30307239018e-05,1793256181351159296
+410,6.833333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,665.166606822,656,672.166606822,0.400982770469,0.00448460742782,0.0798390803472,0.999999952937,0.000121584689872,-0.000276628807163,5.30929021728e-05,1793256181367825920
+411,6.850000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653,930,802,836,665.742980452,656,672.742980452,0.400983443526,0.00448449449018,0.0798399979244,0.999999953305,0.000121383130238,-0.000275373170121,5.31572475926e-05,1793256181384492544
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9435c10a9bfbe714ea4757be81de4f6ed8bce87a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/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,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+268,4.466666667,pose2_to_pose3_retreat,0.623221693992,0.0101818421123,1.07002048219,0.593792839761,0.018856080532,1.0696921894
+269,4.483333333,pose2_to_pose3_retreat,0.623221630351,0.0101818439972,1.07002055029,0.593792776177,0.0188560825313,1.06969225553
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+271,4.516666667,pose2_to_pose3_retreat,0.623221487959,0.0101818482145,1.07002070266,0.593792633911,0.0188560870045,1.0696924035
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+375,6.250000000,pose2_to_pose3_retreat,0.57625532322,0.0101818320933,1.07002049731,0.546826470234,0.0188560676854,1.06969220929
+376,6.266666667,pose2_to_pose3_retreat,0.576153616914,0.0101818716985,1.07002048106,0.546724763778,0.01885610691,1.06969219648
+377,6.283333333,pose2_to_pose3_retreat,0.576063123575,0.0101818150545,1.07002049178,0.546634271343,0.0188560531822,1.06969220351
+378,6.300000000,pose2_to_pose3_retreat,0.575984959525,0.0101817408392,1.07002055559,0.546556108809,0.018855984027,1.0696922653
+379,6.316666667,pose2_to_pose3_retreat,0.575918172016,0.0101817399485,1.07002071213,0.546489321208,0.0188559828049,1.06969242121
+380,6.333333333,pose2_to_pose3_retreat,0.575862710717,0.0101817512014,1.07002076321,0.546433858443,0.0188559888732,1.06969246672
+381,6.350000000,pose2_to_pose3_retreat,0.575816607247,0.0101817762182,1.07002028354,0.546387755314,0.0188560152304,1.06969199191
+382,6.366666667,pose2_to_pose3_retreat,0.575779269645,0.0101818001455,1.07002035961,0.546350417513,0.0188560386435,1.06969207217
+383,6.383333333,pose2_to_pose3_retreat,0.575749361792,0.0101818284477,1.07002047194,0.546320510445,0.0188560694946,1.06969218149
+384,6.400000000,pose2_to_pose3_retreat,0.575726206479,0.0101817612179,1.07002061314,0.546297354179,0.0188559986889,1.0696923136
+385,6.416666667,pose2_to_pose3_retreat,0.575709358904,0.0101816230766,1.07002049391,0.546280507379,0.0188558631304,1.06969219325
+386,6.433333333,pose2_to_pose3_retreat,0.575696639585,0.0101815718511,1.07002036298,0.546267788575,0.0188558138006,1.06969206626
+387,6.450000000,pose2_to_pose3_retreat,0.575687447336,0.0101818100153,1.07002059966,0.546258592999,0.0188560407794,1.06969230562
+388,6.466666667,pose2_to_pose3_retreat,0.575680641707,0.0101817274129,1.07002049322,0.546251789458,0.0188559652518,1.0696921989
+389,6.483333333,pose2_to_pose3_retreat,0.575675921394,0.0101817144124,1.07002045405,0.546247069926,0.0188559549508,1.06969216108
+390,6.500000000,pose2_to_pose3_retreat,0.575673296033,0.0101818408121,1.07002055792,0.546244442809,0.0188560755373,1.06969226856
+391,6.516666667,pose2_to_pose3_retreat,0.575672038652,0.0101819013496,1.07002060767,0.546243184587,0.0188561332905,1.06969232003
+392,6.533333333,pose2_to_pose3_retreat,0.575671744122,0.0101819059866,1.07002061202,0.546242889991,0.0188561377117,1.0696923246
+393,6.550000000,pose2_to_pose3_retreat,0.575671585983,0.0101818972666,1.07002060578,0.54624273197,0.0188561293884,1.06969231826
+394,6.566666667,pose2_to_pose3_retreat,0.575671300702,0.0101818815358,1.07002059452,0.546242446903,0.0188561143733,1.06969230682
+395,6.583333333,pose2_to_pose3_retreat,0.575670834125,0.0101818558082,1.0700205761,0.546241980675,0.0188560898162,1.06969228811
+396,6.600000000,pose2_to_pose3_retreat,0.575670261826,0.0101818242509,1.0700205535,0.546241408804,0.0188560596946,1.06969226516
+397,6.616666667,pose2_to_pose3_retreat,0.575669466473,0.0101817803942,1.0700205221,0.546240614046,0.018856017833,1.06969223326
+398,6.633333333,pose2_to_pose3_retreat,0.57566901894,0.0101817557167,1.07002050443,0.546240166848,0.0188559942782,1.06969221531
+399,6.650000000,pose2_to_pose3_retreat,0.575668865283,0.0101817486896,1.07002049926,0.546240013292,0.0188559875886,1.06969221002
+400,6.666666667,pose2_to_pose3_retreat,0.575668793712,0.0101817505629,1.07002050003,0.546239941718,0.0188559894486,1.06969221066
+401,6.683333333,pose2_to_pose3_retreat,0.57566870496,0.0101817528858,1.07002050099,0.546239852963,0.0188559917549,1.06969221145
+402,6.700000000,pose2_to_pose3_retreat,0.575668354828,0.0101817620502,1.07002050477,0.546239502819,0.0188560008538,1.06969221457
+403,6.716666667,pose2_to_pose3_retreat,0.575667974328,0.0101817720093,1.07002050888,0.546239122306,0.0188560107418,1.06969221796
+404,6.733333333,pose2_to_pose3_retreat,0.575667844403,0.01018177541,1.07002051029,0.546238992376,0.0188560141182,1.06969221912
+405,6.750000000,pose2_to_pose3_retreat,0.575667824115,0.010181775941,1.0700205105,0.546238972088,0.0188560146454,1.0696922193
+406,6.766666667,pose2_to_pose3_retreat,0.575667600086,0.0101817818047,1.07002051292,0.546238748051,0.0188560204672,1.0696922213
+407,6.783333333,pose2_to_pose3_retreat,0.575667561956,0.0101817828027,1.07002051334,0.546238709919,0.0188560214581,1.06969222164
+408,6.800000000,pose2_to_pose3_retreat,0.575667431413,0.0101817862195,1.07002051475,0.546238579372,0.0188560248505,1.0696922228
+409,6.816666667,pose2_to_pose3_retreat,0.57566725147,0.0101817908894,1.07002048973,0.546238399145,0.0188560285162,1.06969219682
+410,6.833333333,pose2_to_pose3_retreat,0.575666953077,0.0101817986157,1.07002043628,0.546238100154,0.0188560341468,1.06969214151
+411,6.850000000,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..399c49c2ae0624de5d114007eed7f4ce77c85b33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ef8e8c700cbcd75c2de126cbe69511d9f5bb352e4198d24188c3cde1ef5a0a
+size 26119829
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..befabd4bcbc9e0f10be4dbfd5e40bf7e779ce15e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,790,749,728,708,695,654,931,802,837,666,656,673,0.400981834654,0.00448425263617,0.0798398563652,0.999999953055,0.000119792869941,-0.000276957407383,5.32392268831e-05,1793256181506921984
+1,0.016666667,BASELINE,790,749,728,708,695,653.413190799,930.413190799,802,836.413190799,666,656,673,0.400981148512,0.00448472424551,0.0798388445439,0.99999995281,0.000120734697677,-0.000277485831262,5.29670499934e-05,1793256181523588608
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+3,0.050000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,672.24967301,0.400981211558,0.00448611213151,0.0798384936886,0.999999952389,0.000123801478102,-0.000277640183033,5.30177622593e-05,1793256181556921856
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+13,0.216666667,BASELINE,790,749,728,708,695,654,930.46090083,802,836,666,656,673,0.400982356062,0.0044848640236,0.0798408995482,0.999999953557,0.000120183982507,-0.000275087866346,5.26176214414e-05,1793256181723588864
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+17,0.283333333,BASELINE,790,749,728.128349205,708,695,653.871650795,930.871650795,802,836,666,656.871650795,673,0.400981788142,0.00448580866497,0.079840150523,0.999999953363,0.000121016227095,-0.000275493934039,5.22620386091e-05,1793256181790255104
+18,0.300000000,BASELINE,790.448257133,749,728,708,695,654,930.551742867,802,836,666,656.551742867,673,0.400981300387,0.00448562105198,0.0798399674548,0.999999953335,0.000120073492317,-0.000275997806693,5.23219869568e-05,1793256181806921728
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+20,0.333333333,BASELINE,790.386700631,749,728,708,695,654,930.613299369,802,836,666,656,673,0.400981330573,0.00448614281467,0.0798399517416,0.999999953113,0.000121829884172,-0.000275996078512,5.25076048341e-05,1793256181840255232
+21,0.350000000,BASELINE,790,749,728,708,695,654,931,802,836,666,656.198313079,673,0.400981950912,0.00448601433091,0.0798403403201,0.999999953156,0.000122683240623,-0.000275442416936,5.26090078581e-05,1793256181856922112
+22,0.366666667,BASELINE,790,749,728,708,695,654,931,802,836,666,656.777872288,673,0.400982751247,0.00448464097926,0.0798409947934,0.99999995363,0.00012059920011,-0.000274622198255,5.27039825438e-05,1793256181873588736
+23,0.383333333,BASELINE,790,749,728,707.644986188,695,654,930.644986188,802,836.355013812,666,656.644986188,673,0.40098272199,0.00448466085671,0.0798407257564,0.999999953717,0.000120294924221,-0.000274451824313,5.26506017946e-05,1793256181890255360
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+26,0.433333333,BASELINE,790,748.082976349,728,708,695,653.082976349,930.082976349,802,836,666,656.082976349,673,0.400980609136,0.00448621898751,0.0798398116563,0.99999995281,0.000123876220055,-0.000276211072738,5.23627808214e-05,1793256181940254976
+27,0.450000000,BASELINE,790,748.674118474,728,708,695,653.674118474,930.674118474,802,836,666,656.674118474,673,0.400979867039,0.00448473724022,0.0798390297687,0.999999953159,0.000118823960444,-0.000277211831574,5.21270899156e-05,1793256181956921856
+28,0.466666667,BASELINE,790,749,728,708,695,654,930.740867369,802,836.259132631,666,656.740867369,673,0.400979499327,0.0044845894601,0.0798389411946,0.999999953175,0.00011786280931,-0.000277568623652,5.21049197959e-05,1793256181973588480
+29,0.483333333,BASELINE,790,749,728,708,695,654,930.163381662,802,836.836618338,666,656.163381662,673,0.400979591561,0.00448608050321,0.0798397043794,0.999999952795,0.000121927721639,-0.000277134281044,5.23450670954e-05,1793256181990255104
+30,0.500000000,BASELINE,790,749,728,708,695,654,930,802.41288604,837,666,656,673,0.40097938692,0.00448622533252,0.0798394867883,0.999999952637,0.000122549603334,-0.000277413481877,5.2431012332e-05,1793256182006921984
+31,0.516666667,BASELINE,790,749,728,708,695,654,930,802.988673173,837,666,656,673,0.400979065149,0.00448583902322,0.0798388822394,0.99999995257,0.000121813062992,-0.000277974205939,5.24561182941e-05,1793256182023588864
+32,0.533333333,BASELINE,790,749,728,708,695,654,930,802.436910826,836.436910826,666,656,673,0.400979565479,0.00448615596594,0.0798388029223,0.999999952638,0.000122098496861,-0.000277614787239,5.24060944085e-05,1793256182040255488
+33,0.550000000,BASELINE,790,749,728,707.858174273,695,654,930,802,836.141825727,666,656,673,0.400980367435,0.00448620170599,0.0798392068447,0.99999995288,0.000122184881957,-0.000276702034148,5.24106038024e-05,1793256182056922112
+34,0.566666667,BASELINE,790,749,728,707.265619466,695,654,930,802,836.734380534,666,656,673,0.400982075543,0.00448534070236,0.0798411130303,0.999999953664,0.000121573506128,-0.000274089437505,5.25932138694e-05,1793256182073588736
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+40,0.666666667,BASELINE,790,749,729,708,695,653.220994181,930,802,836,666,656,673,0.400983222808,0.00448447761335,0.0798420269051,0.999999953947,0.000121405252879,-0.000273137609096,5.25652917129e-05,1793256182173588736
+41,0.683333333,BASELINE,790,749,729,708,695,653.798260229,930,802,836,666,656,673,0.400982697711,0.00448337882259,0.0798415097214,0.999999953806,0.000121335941386,-0.000273660467262,5.26887963824e-05,1793256182190255360
+42,0.700000000,BASELINE,790.374367785,749,728.625632215,708,695,654,930,802,836,666,656,673,0.400982450187,0.00448330268805,0.0798414597309,0.999999954001,0.000120573344666,-0.000273312129731,5.25347777977e-05,1793256182206922240
+43,0.716666667,BASELINE,790.94985296,749,728.05014704,708,695,654,930,802,836,666,656,673,0.400982351781,0.00448377594364,0.0798416607253,0.999999954376,0.000119438302132,-0.000272495769528,5.22316685161e-05,1793256182223588608
+44,0.733333333,BASELINE,790.47534742,749,728,708,695,654,930,802,836,666,656,673,0.400982291781,0.00448503660014,0.0798414356751,0.999999954249,0.00012042506524,-0.000272525524174,5.2243610032e-05,1793256182240255232
+45,0.750000000,BASELINE,790,749,728,708,695,653.897998215,930,802,836,666,656,673,0.400981989539,0.00448618608674,0.0798411421415,0.999999953988,0.000121718784747,-0.000272899579215,5.22881460407e-05,1793256182256921856
+46,0.766666667,BASELINE,790,749,728,708,695,653.308142039,930,802,836,666,656,673,0.400980511168,0.00448644438103,0.0798407155767,0.999999953318,0.000123511904267,-0.000274534060837,5.23447384578e-05,1793256182273588480
+47,0.783333333,BASELINE,790,749,728,708,695,653,930,802,836,666,656,673,0.400980018476,0.00448619056982,0.0798404696045,0.999999953128,0.000123826173854,-0.000275080413492,5.23700500456e-05,1793256182290255360
+48,0.800000000,BASELINE,790,749,728,708,695,653,930,802,836,666,656,673,0.400980603931,0.00448537661186,0.0798404211663,0.999999953466,0.000122522860853,-0.00027443655856,5.23611463151e-05,1793256182306921984
+49,0.816666667,BASELINE,790,749,728,708,695,653.430056665,930,802,836,666,656,673,0.400981305572,0.0044853663008,0.0798406814937,0.999999953787,0.000121607455467,-0.00027368866854,5.22747948556e-05,1793256182323588864
+50,0.833333333,BASELINE,790,749,728,708,695,653.993988088,930,801.993988088,836,666,656.006011912,673,0.40098203735,0.00448563272389,0.0798410422544,0.999999954096,0.000120845206157,-0.000272917420856,5.2161690874e-05,1793256182340255744
+51,0.850000000,BASELINE,790,749,728,708,695,653.403824712,930,801.403824712,836,666,656.596175288,673,0.400981871396,0.00448632343794,0.0798409937759,0.999999953836,0.000122190340181,-0.000273302568744,5.19995785157e-05,1793256182356922112
+52,0.866666667,BASELINE,790.18295805,749,728.18295805,708,695,653,930,801.18295805,836.18295805,666,656.81704195,672.81704195,0.400981504416,0.00448689849766,0.0798408478688,0.999999953493,0.000123479805246,-0.000273990840271,5.192819856e-05,1793256182373588736
+53,0.883333333,BASELINE,790.76241446,749,728.76241446,708,695,653,930,801.76241446,836.76241446,666,656.23758554,672.23758554,0.400980701781,0.00448722291649,0.0798404908188,0.999999952972,0.000124648626997,-0.000275336027531,5.20534497493e-05,1793256182390255360
+54,0.900000000,BASELINE,790.659042402,749,728.659042402,708,695,653.340957598,930.340957598,802,836.659042402,666,656,672.340957598,0.400981136962,0.00448688063447,0.0798404682874,0.99999995334,0.000123641752702,-0.000274416653317,5.22281006246e-05,1793256182406921984
+55,0.916666667,BASELINE,790.081133973,749,728.081133973,708,695,653.918866027,930.918866027,802,836.081133973,666,656,672.918866027,0.40098243237,0.00448607502408,0.079840678232,0.999999954319,0.000121122863407,-0.000271923506454,5.24370821463e-05,1793256182423588864
+56,0.933333333,BASELINE,790.491907376,749,728,708,695,653.508092624,930.508092624,802,836.491907376,666,656,673,0.400981563649,0.00448568456768,0.0798407949126,0.999999954037,0.000121054322083,-0.000272984934064,5.24466884238e-05,1793256182440255488
+57,0.950000000,BASELINE,791,749,728,708,695,653.066269053,930.066269053,802,836.933730947,666,656,673,0.400980544691,0.0044853179124,0.0798409110111,0.999999953648,0.00012123424162,-0.000274332898151,5.24101763992e-05,1793256182456921856
+58,0.966666667,BASELINE,791,749,728,708,695,653.657382811,930.657382811,802,836.342617189,666,656,673,0.400981135157,0.00448460276188,0.0798411431345,0.999999954048,0.000120212443767,-0.000273352391961,5.22663019068e-05,1793256182473588480
+59,0.983333333,BASELINE,791,749,728,708,695,654,930.756518126,802,836.243481874,666,656,673,0.400981365539,0.00448465315584,0.0798412693551,0.999999954126,0.000120287472977,-0.000273048554119,5.21836373609e-05,1793256182490255360
+60,1.000000000,BASELINE,791,749,728,708,695,654,930.177333043,802,836.822666957,666,656,673,0.400981099451,0.00448575905227,0.079841249561,0.999999953762,0.000121874763947,-0.000273677679775,5.21853666548e-05,1793256182506921728
+61,1.016666667,BASELINE,790.600279175,749,728,708,695,654,930,801.600279175,836.600279175,666,656,673,0.400980732618,0.00448583351497,0.0798410569003,0.999999953677,0.000121986736849,-0.000273963663152,5.20429269816e-05,1793256182523588608
+62,1.033333333,BASELINE,790.024165824,749,728,708,695,654,930,801.024165824,836.024165824,666,656,673,0.400980321327,0.00448545281694,0.0798407879554,0.999999953717,0.000121447667565,-0.000274098221472,5.18368670845e-05,1793256182540255488
+63,1.050000000,BASELINE,790,749,728,708,695,654,930,801.560699256,836,666,656,673,0.400982247466,0.004485660616,0.0798418462902,0.99999995422,0.000121708199685,-0.000272107535903,5.20102046626e-05,1793256182556922112
+64,1.066666667,BASELINE,790,749,728,708,695,654,930,802,836,666,656.14438447,673,0.400983698595,0.00448586619341,0.0798426731462,0.999999954608,0.000122019699722,-0.000270512576854,5.2132219946e-05,1793256182573588992
+65,1.083333333,BASELINE,790,749,728,708,695,654,930,802,836,666,656.723364915,673,0.400983411905,0.00448598752798,0.0798426283368,0.999999954602,0.000122379236514,-0.000270388828478,5.20497563199e-05,1793256182590255616
+66,1.100000000,BASELINE,790,748.696539179,728,707.696539179,695,654,930,802,836,666,656.696539179,672.696539179,0.400982644424,0.00448646902512,0.0798420437572,0.9999999543,0.000123044653594,-0.000271201134116,5.20617142457e-05,1793256182606922240
+67,1.116666667,BASELINE,790,748.115422701,728,707.115422701,695,654,930,802,836,666,656.115422701,672.115422701,0.400981437038,0.00448728005796,0.0798409653075,0.999999953724,0.000123989940039,-0.000272869895274,5.21600644757e-05,1793256182623588864
+68,1.133333333,BASELINE,790,748.459872434,728,707,695,653.540127566,930,802,836,666,656,672.459872434,0.400981111289,0.00448597679769,0.0798407811147,0.999999953678,0.000123020703903,-0.000273463309733,5.22184995385e-05,1793256182640255488
+69,1.150000000,BASELINE,790,749,728,707.034363878,695,653.034363878,930,801.965636122,836,666,656,672.965636122,0.400981022724,0.00448435431433,0.079840829859,0.999999953764,0.000121697856266,-0.000273736641694,5.22504988158e-05,1793256182656921856
+70,1.166666667,BASELINE,790,749,728,707.61909087,695,653.61909087,930,801.38090913,836,666,656,672.38090913,0.40098123316,0.00448601196511,0.0798410594965,0.999999953861,0.000122311393472,-0.000273152223322,5.20175532728e-05,1793256182673588480
+71,1.183333333,BASELINE,790,749,728,708,695,653.796732606,930,801.203267394,836,666,656,672,0.400981131712,0.00448638877974,0.0798410421365,0.999999953944,0.000121852867196,-0.000273081498853,5.18678976138e-05,1793256182690255104
+72,1.200000000,BASELINE,790,749,728,708,695,653.213584737,930,801.786415263,836,666,656,672,0.40098044739,0.00448437187749,0.0798405631702,0.999999953997,0.000119390792997,-0.000273970801764,5.18738999378e-05,1793256182706921728
+73,1.216666667,BASELINE,790,749,728.364117219,708,695,653.364117219,930,802,836,666,656,672,0.400980858695,0.00448432690691,0.0798407371633,0.999999954037,0.00011926921471,-0.000273852869277,5.20228205595e-05,1793256182723588608
+74,1.233333333,BASELINE,790,749,728.938671738,708,695,653.938671738,930,802,836,666,656,672,0.400981903206,0.00448542159136,0.0798412885267,0.999999954068,0.000120500298891,-0.000273152816786,5.22543391442e-05,1793256182740255488
+75,1.250000000,BASELINE,789.485016553,749,728.485016553,707.485016553,695,654,930,802,836,665.485016553,656,672,0.400982489541,0.00448442367045,0.0798417910796,0.999999954495,0.000119392898209,-0.000272068349321,5.22843398028e-05,1793256182756921856
+76,1.266666667,BASELINE,789.093410882,748.906589118,728,707.093410882,695,654,930,802,836,665.093410882,656,672.093410882,0.400982638332,0.00448363745512,0.0798420175252,0.999999954762,0.000118566700113,-0.000271449717733,5.2279236838e-05,1793256182773588480
+77,1.283333333,BASELINE,789.6819396,748.3180604,728,707.6819396,695,654,930,802,836,665.6819396,656,672.6819396,0.400980758154,0.00448529878035,0.0798408113984,0.999999953938,0.000120712141245,-0.000273543696557,5.22157065719e-05,1793256182790255360
+78,1.300000000,BASELINE,790,748,728,708,695,653.733177904,930,802,836,666,656,673,0.400979979061,0.00448612135786,0.0798400604077,0.999999953507,0.000121823525726,-0.000274638642726,5.21337501957e-05,1793256182806921984
+79,1.316666667,BASELINE,790,748,728,708,695,653.152583264,930,802,836,666,656,673,0.400980494801,0.00448595760014,0.0798398446397,0.999999953547,0.000121718899132,-0.000274558764699,5.2030125426e-05,1793256182823588608
+80,1.333333333,BASELINE,790,748.423538589,728,708,695,653,930,802,836,666,656,673,0.400980707353,0.0044855582029,0.0798400918915,0.99999995369,0.000120903520055,-0.000274374056535,5.21575488547e-05,1793256182840255232
+81,1.350000000,BASELINE,790,748.998065969,728,708,695,653,930,802,836,666,656,673,0.400980811819,0.00448507480168,0.0798405042069,0.999999953869,0.000119834762268,-0.000274151977093,5.23673394764e-05,1793256182856921856
+82,1.366666667,BASELINE,790,749,728,707.427064127,695,653,930,802,836,666,656,673,0.400982833847,0.0044854843345,0.0798418235204,0.999999954545,0.00012080484613,-0.000271290705258,5.21234748228e-05,1793256182873588736
+83,1.383333333,BASELINE,790.152626756,748.847373244,728,707.152626756,695,653,930,802,836,666,656,673,0.400984112946,0.00448588010378,0.0798427293617,0.999999954907,0.000121905677025,-0.000269482614123,5.19991670742e-05,1793256182890255104
+84,1.400000000,BASELINE,790.746243864,748.253756136,728,707.746243864,695,653,930,802,836,666,656,673,0.400983226762,0.00448622739129,0.0798424316905,0.999999954376,0.000123364383044,-0.000270743274302,5.22247269587e-05,1793256182906921728
+85,1.416666667,BASELINE,790.668730318,748.331269682,728,708,695,653.331269682,930,801.668730318,836,666,656,673,0.400982926664,0.00448648438813,0.07984213294,0.99999995418,0.000123323042651,-0.000271503193619,5.21248645763e-05,1793256182923588608
+86,1.433333333,BASELINE,790.090119195,748.909880805,728,708,695,653.909880805,930,801.090119195,836,666,656,673,0.400983064167,0.0044866739697,0.0798418333838,0.999999954236,0.000122161697349,-0.000271889236307,5.17820266931e-05,1793256182940255232
+87,1.450000000,BASELINE,790,749,728.483076883,708,695,653.516923117,930,801.483076883,836,666,656,673,0.400982425091,0.00448574402856,0.0798417657893,0.999999954346,0.000120637444323,-0.000272128622992,5.19592039561e-05,1793256182956921600
+88,1.466666667,BASELINE,790,749,728.943000836,708,695,653.056999164,930.056999164,801.943000836,836,666,656,673,0.400981876021,0.0044848336798,0.0798417916367,0.999999954442,0.000119547937755,-0.000272207168548,5.22212107143e-05,1793256182973588480
+89,1.483333333,BASELINE,790,749,728.352944471,708,695,653.647055529,930.647055529,801.352944471,836,666,656,673,0.40098350852,0.00448603807456,0.0798422911493,0.999999954315,0.000123150313361,-0.000271034550983,5.23793610304e-05,1793256182990255360
+90,1.500000000,BASELINE,790,749,728,708,695,654,930.767464735,801.232535265,836,666,656,672.767464735,0.400984974719,0.00448617591045,0.0798429473187,0.999999954584,0.000124135932007,-0.000269576205513,5.24410229116e-05,1793256183006921984
+91,1.516666667,BASELINE,790,749,728,708,695,654,930.188797427,801.811202573,836,666,656,672.188797427,0.400986193378,0.00448472615822,0.079843836674,0.999999955452,0.000121226470468,-0.000267692550112,5.23590603753e-05,1793256183023588608
+92,1.533333333,BASELINE,790,749,728,708,695,654,930.388446468,802,836,666,656,672,0.400985264961,0.00448547734856,0.0798438574988,0.999999955349,0.000120817630535,-0.000268321758639,5.20372770757e-05,1793256183040255488
+93,1.550000000,BASELINE,790,749,728,708,695,654,930.965001116,802,836,666,656,672,0.400983296805,0.00448729436208,0.079843457731,0.999999954778,0.000121619735526,-0.00027016784062,5.15993587259e-05,1793256183056922112
+94,1.566666667,BASELINE,790.550491666,749,728,708,695,653.449508334,931,802,836.550491666,666,656,672.550491666,0.400982304486,0.00448664027588,0.0798424635042,0.999999954395,0.000122247008507,-0.000271246807503,5.18748563317e-05,1793256183073588736
+95,1.583333333,BASELINE,790.865056713,749,728,708,695,653.134943287,930.865056713,802,836.865056713,666,656,673,0.400981974673,0.00448603606502,0.0798419248698,0.999999954215,0.000122721426928,-0.000271649259533,5.21214133745e-05,1793256183090255360
+96,1.600000000,BASELINE,790.285925667,749,728,708,695,653.714074333,930.285925667,802,836.285925667,666,656,673,0.400983618015,0.00448612170088,0.0798430123498,0.999999954664,0.000122729891693,-0.000269988040747,5.2120943805e-05,1793256183106921984
+97,1.616666667,BASELINE,790,749,728,708,695,654,930,802,836,666,656,672.707006781,0.400983728211,0.00448625479631,0.0798427679625,0.999999954628,0.000122542370373,-0.000270230422433,5.19951747067e-05,1793256183123588608
+98,1.633333333,BASELINE,790,749,728,708,695,654,930,802,836,666,656,672.128294821,0.400982343328,0.00448643417299,0.0798412247756,0.999999954118,0.00012216372894,-0.000272329141814,5.17472170353e-05,1793256183140255488
+99,1.650000000,BASELINE,790,749,728,708,695,653.554310056,930,802,836.445689944,666,656,672.445689944,0.400981912891,0.00448535990025,0.0798412735379,0.999999954073,0.000121919628533,-0.00027255012964,5.20204805371e-05,1793256183156922112
+100,1.666666667,BASELINE,790.018867493,749,728,708,695,653.018867493,930,802,837,666,656,672.981132507,0.400981759888,0.0044839858563,0.0798417597595,0.99999995416,0.0001217255926,-0.000272239844061,5.24293075579e-05,1793256183173588480
+101,1.683333333,BASELINE,790.608354299,749,728,708,695,653.608354299,930,802,837,666,656,672.391645701,0.40098177545,0.00448434515043,0.0798417625579,0.999999954194,0.000121886688132,-0.000272037567886,5.24480294094e-05,1793256183190255104
+102,1.700000000,BASELINE,790.80562502,749,728,708,695,654,930,802,836.80562502,666,656,672.19437498,0.400981672003,0.00448510277607,0.0798416083418,0.999999954203,0.000121563324586,-0.000272174933942,5.23227724749e-05,1793256183206921984
+103,1.716666667,BASELINE,790.226465941,749,728,708,695,654,930,802,836.226465941,666,656,672.773534059,0.400981332969,0.00448664893751,0.0798411433005,0.999999954158,0.000120280927349,-0.000272984654712,5.19124955862e-05,1793256183223588608
+104,1.733333333,BASELINE,790,749,728.35160804,708,695,654,930,802,836.35160804,666,656,673,0.400981337622,0.00448685512883,0.0798411882237,0.999999954334,0.000119933709698,-0.000272536978647,5.16818369289e-05,1793256183240255488
+105,1.750000000,BASELINE,790,749,728.928985331,708,695,654,930,802,836.928985331,666,656,673,0.400981562959,0.00448620091891,0.0798415605977,0.999999954651,0.00012018697533,-0.000271281921973,5.15665119804e-05,1793256183256922368
+106,1.766666667,BASELINE,790,749,728.494612308,708,695,654,930,802,836.494612308,666,656.505387692,673,0.400981768509,0.00448535129617,0.0798417243686,0.999999954559,0.000120330697286,-0.000271454326496,5.21059976018e-05,1793256183273588736
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653,930,802,836,666,656,673,0.400982709905,0.00448610877989,0.0798422656629,0.999999953945,0.000124858091741,-0.000271633874763,5.23100878396e-05,1793256183316278272
+108,1.800000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,653.580502042,930.580502042,802,836,666,656.580502042,673,0.400982048074,0.00448520511704,0.0798419310852,0.999999954158,0.000121923443239,-0.000272249748338,5.19531701211e-05,1793256183332944896
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,749,728.159864178,708,695,653.840135822,930.840135822,802,836,666,656.840135822,673,0.400981710983,0.00448469351884,0.0798416973356,0.999999954383,0.00011989934191,-0.000272366582472,5.17148713344e-05,1793256183349611776
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,749,728.7362564,708,695,653.2637436,930.2637436,802,836,666,656.2637436,673,0.400982220009,0.00448520344957,0.0798417262947,0.999999954659,0.000120247681593,-0.000271183163468,5.17856355294e-05,1793256183366278144
+111,1.850000000,POSE1_TO_POSE2_PRESS,790,749,728.68770391,708,695,653.31229609,930,802,836,666,656.31229609,673,0.400982718391,0.00448536932521,0.0798420966242,0.999999954819,0.000120741720155,-0.000270347529091,5.19249464298e-05,1793256183382944768
+112,1.866666667,POSE1_TO_POSE2_PRESS,790,749,728.111961644,708,695,653.888038356,930,802,836,666,656.888038356,673,0.400983207793,0.00448524496344,0.0798427549261,0.99999995488,0.000121358667097,-0.000269805278315,5.21220818328e-05,1793256183399611648
+113,1.883333333,POSE1_TO_POSE2_PRESS,790.475848238,748.524151762,728,708,695,654,930,802,836,666,656.524151762,673,0.400982816517,0.00448533605608,0.0798427706773,0.999999954638,0.000121985000448,-0.000270410540298,5.2165096225e-05,1793256183416278016
+114,1.900000000,POSE1_TO_POSE2_PRESS,791,748.064981452,728,708,695,654,930,802,836,666,656,673,0.400982231614,0.0044854375525,0.0798425761399,0.999999954338,0.000122423198797,-0.000271316495412,5.21961577838e-05,1793256183432944640
+115,1.916666667,POSE1_TO_POSE2_PRESS,791,748.641596405,728,708,695,654,930,802,836,666,656,673,0.400981796135,0.00448521143734,0.0798419472194,0.999999954158,0.000121362269057,-0.000272408826316,5.24260546764e-05,1793256183449611520
+116,1.933333333,POSE1_TO_POSE2_PRESS,790.781692582,749,728,708,695,654,930,802,836,666,656,673,0.400985391969,0.00448520716491,0.0798435321872,0.99999995476,0.000120784323779,-0.000270426362833,5.25372622436e-05,1793256183466278400
+117,1.950000000,POSE1_TO_POSE2_PRESS,790.20482385,749,728,708,695,654,930,802,836,666,656,673,0.400995609076,0.0044855672604,0.0798487533793,0.999999956616,0.000120999661505,-0.000263393670867,5.2453527256e-05,1793256183482945024
+118,1.966666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656.378872018,673,0.401023719068,0.00448647839427,0.0798600797933,0.999999961709,0.000121846884428,-0.000242950195281,5.20539053609e-05,1793256183499611648
+119,1.983333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656.966326521,673,0.40106167973,0.00448769289433,0.0798747673491,0.999999967966,0.000123041982509,-0.00021512360683,5.14803764787e-05,1793256183516278016
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656.453821754,673,0.401125706278,0.00448760631625,0.0798940939129,0.999999975828,0.000121402186921,-0.000176332960682,5.01123499635e-05,1793256183532944640
+121,2.016666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,673,0.401193806584,0.0044876611797,0.0799122305882,0.999999981598,0.000119737192467,-0.00014176547976,4.86698865594e-05,1793256183549611520
+122,2.033333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,673,0.401270901769,0.00448851316654,0.0799250473302,0.999999984059,0.000118604134269,-0.000124870702754,4.71329983899e-05,1793256183566278144
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,673,0.401356970947,0.00448894257764,0.0799349962163,0.999999986312,0.000116080457706,-0.000108961683599,4.50343561379e-05,1793256183582944768
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930,802,836,666,656,673,0.401452825943,0.00448891118479,0.0799418178064,0.999999988398,0.000112040361107,-9.41275995164e-05,4.23231410352e-05,1793256183599611648
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,749,728,708,695,654,930.435317055,802,836,666,656,673,0.401562934825,0.00449157387301,0.0799466865702,0.999999989101,0.00011329765453,-8.63408288197e-05,3.88145741873e-05,1793256183616278272
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,749,728.024326763,707.975673237,695,654,930.975673237,802,836,666,656,673,0.401679391493,0.00449509814132,0.0799510122552,0.999999989388,0.000116115161192,-8.07356371995e-05,3.49840222086e-05,1793256183632944896
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,749,728.605276582,707.394723418,695,654,930.394723418,802,836,666,656,673,0.401825680298,0.00449652261626,0.0799587235329,0.999999990989,0.00011173964651,-6.79860062131e-05,3.02421692223e-05,1793256183649611520
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,749,729,707.184414797,695,654,930,802,836,666,656.184414797,673,0.401980043457,0.00449820719082,0.0799652341804,0.999999992271,0.000107775015795,-5.65571697434e-05,2.5354750735e-05,1793256183666278144
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,749,729,707.759713086,695,654,930,802,836,666,656.759713086,673,0.402151520905,0.00450044306938,0.079969199985,0.999999993169,0.000104681290619,-4.79278758515e-05,2.01587938905e-05,1793256183682944768
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,749,728.66506649,708,695,654,930.33493351,802,836,666,657,673,0.402341160606,0.00450290524421,0.0799733342286,0.999999994295,9.80169701841e-05,-4.01361250864e-05,1.38244008711e-05,1793256183699611392
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,749,728.089901854,708,695,654,930.910098146,802,836,666,657,673,0.402543827205,0.00450552973033,0.0799775892856,0.999999995493,8.87916392802e-05,-3.2945101398e-05,6.67346374844e-06,1793256183716278272
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,748.501669028,728,708,695,653.501669028,930.501669028,802,836.498330972,666,656.501669028,673,0.402761465758,0.00450785271242,0.0799720913812,0.999999995822,7.96705270122e-05,-4.48091017708e-05,-1.01600662823e-06,1793256183732944640
+133,2.216666667,POSE1_TO_POSE2_PRESS,790,748.086889471,728,708,695,653.086889471,930.086889471,802,836.913110529,666,656,673,0.402987753279,0.00451059945069,0.0799649560766,0.999999995655,7.11825424442e-05,-5.9532649429e-05,-8.9145791219e-06,1793256183749611264
+134,2.233333333,POSE1_TO_POSE2_PRESS,790,748.663635015,728,708,695,653.663635015,930.663635015,802,836.336364985,666,656,673,0.403247163462,0.00451605010643,0.079958776217,0.999999995176,6.61550808161e-05,-7.04751847701e-05,-1.74295300495e-05,1793256183766278144
+135,2.250000000,POSE1_TO_POSE2_PRESS,790,748.759816464,728,707.759816464,695,654,930.759816464,802,836,665.759816464,656,673,0.403531619816,0.0045211603156,0.0799574008254,0.999999995166,6.17098053272e-05,-7.20952923997e-05,-2.57517384361e-05,1793256183782944768
+136,2.266666667,POSE1_TO_POSE2_PRESS,790,748.183543675,728,707.183543675,695,654,930.183543675,802,836,665.183543675,656,673,0.403851123306,0.00452579413693,0.0799627483348,0.999999995902,5.80791842611e-05,-6.06705094725e-05,-3.38042413278e-05,1793256183799611392
+137,2.283333333,POSE1_TO_POSE2_PRESS,790.400638047,748.400638047,728,707.400638047,695,654,930,802,836.400638047,665.400638047,656,673,0.404199286657,0.00453246656734,0.0799685919094,0.999999992405,0.000109058900122,-5.14072734556e-05,-2.55604984509e-05,1793256183816278016
+138,2.300000000,POSE1_TO_POSE2_PRESS,790.988516027,748.988516027,728,707.988516027,695,654,930,802,836.988516027,665.988516027,656,673,0.40456084431,0.00454009175042,0.0799746673222,0.999999981805,0.000185560993787,-4.31542458357e-05,-9.70063394589e-06,1793256183832944896
+139,2.316666667,POSE1_TO_POSE2_PRESS,790.432203027,749,728.567796973,708,695,654,930,802,836.432203027,666,656,673,0.404968849997,0.00455218408184,0.0799743914821,0.999999995152,8.9204254272e-05,-3.75812052039e-05,-1.80542154714e-05,1793256183849611264
+140,2.333333333,POSE1_TO_POSE2_PRESS,789.853696667,749,728.853696667,707.853696667,695,653.853696667,930,802,836.146303333,666,656.146303333,673,0.405382950136,0.00456204898123,0.0799719431749,0.999999998787,2.0597393984e-05,-3.68559341554e-05,-2.53467398972e-05,1793256183866277888
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.276965333,749,728.276965333,707.276965333,695,653.276965333,930,802,836.723034667,666,656.723034667,673,0.405812257613,0.00456509887061,0.0799634757035,0.999999997386,4.37637392751e-05,-5.0235831116e-05,-2.80983025887e-05,1793256183882944512
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.298730404,749,728,707.298730404,695,653.298730404,930,802,836.701269596,666,656.701269596,673,0.406263870948,0.00457329375485,0.0799560351262,0.99999999454,7.65804332246e-05,-6.44259236271e-05,-3.00681580553e-05,1793256183899611392
+143,2.383333333,POSE1_TO_POSE2_PRESS,789.873469378,749,728,707.873469378,695,653.873469378,930,802,836.126530622,666,656.126530622,673,0.406736093578,0.00458624229911,0.0799495433351,0.999999989361,0.000118313460019,-7.93645886126e-05,-3.13157642802e-05,1793256183916278272
+144,2.400000000,POSE1_TO_POSE2_PRESS,790,748.540042999,728,707.540042999,695,654,930,802,836,666,656,673,0.407244251461,0.00459528518817,0.0799452443393,0.999999985247,0.000143355883744,-8.8887632159e-05,-3.24594097463e-05,1793256183932944896
+145,2.416666667,POSE1_TO_POSE2_PRESS,790,748.049000419,728.049000419,707.049000419,695.049000419,653.950999581,930,802,836,666,656,673,0.407765165811,0.00460329534552,0.0799409910676,0.999999981614,0.00016145083842,-9.7894558294e-05,-3.35061659367e-05,1793256183949611520
+146,2.433333333,POSE1_TO_POSE2_PRESS,790,748.629786616,728.629786616,707.629786616,695.629786616,653.370213384,930,802,836,666,656,673,0.408314425922,0.00461206353526,0.0799305158572,0.999999980422,0.000155282914526,-0.000117892317248,-3.38199240749e-05,1793256183966278144
+147,2.450000000,POSE1_TO_POSE2_PRESS,790,748.79194317,729,707.79194317,696,653.20805683,930,801.79194317,836.20805683,666,656,673,0.408893247889,0.00462129197012,0.0799294093945,0.999999979681,0.000156634606907,-0.000122094414001,-3.45889745033e-05,1793256183982944768
+148,2.466666667,POSE1_TO_POSE2_PRESS,790,748.218096405,729,707.218096405,696,653.781903595,930,801.218096405,836.781903595,666,656,673,0.409524043264,0.00463132957298,0.0799447743627,0.999999979837,0.000171206725841,-9.8525759279e-05,-3.61584857218e-05,1793256183999611392
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,748.356177593,729,707.356177593,696,654,930,801.356177593,836.643822407,666,656,673,0.410199127259,0.00463948760627,0.0799765008497,0.999999980573,0.000188300363083,-4.4195524589e-05,-3.80080788426e-05,1793256184016278016
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,748.930713489,729,707.930713489,696,654,930,801.930713489,836.069286511,666,656,673,0.41090136282,0.00464649334992,0.080018257932,0.999999977366,0.000206939841489,2.89934096085e-05,-4.0029378808e-05,1793256184032944640
+151,2.516666667,POSE1_TO_POSE2_PRESS,789.476972032,748.476972032,729,707.476972032,695.476972032,653.476972032,930,801.476972032,836,666,656,673,0.411583802459,0.00463837367918,0.0800099985372,0.999999983208,0.000178260812073,9.49303831515e-06,-4.14340299234e-05,1793256184049611264
+152,2.533333333,POSE1_TO_POSE2_PRESS,789,748,729,707,695.113596493,653.113596493,930,801.113596493,836,666,656,673,0.412264561538,0.00462537350584,0.0799902413307,0.999999987847,0.000147545427627,-2.69625759831e-05,-4.25474657954e-05,1793256184066278400
+153,2.550000000,POSE1_TO_POSE2_PRESS,789,748,729,707,695.687221081,653.687221081,930,801.687221081,836,666,656,673,0.412949508275,0.00460100873248,0.0799516981733,0.999999986741,0.000134861556123,-8.06068093081e-05,-4.28240288189e-05,1793256184082945024
+154,2.566666667,POSE1_TO_POSE2_PRESS,789,748,728.737762989,707.262237011,696,654,930.262237011,802,836.262237011,666,656,673,0.413674585785,0.00458337751526,0.0799304408059,0.999999986835,0.000115407088375,-0.000105733581776,-4.27946180952e-05,1793256184099611648
+155,2.583333333,POSE1_TO_POSE2_PRESS,789,748,728.16107863,707.83892137,696,654,930.83892137,802,836.83892137,666,656,673,0.414447784032,0.00457382047498,0.0799299107548,0.999999990572,8.78340244687e-05,-9.66651886445e-05,-4.23983156099e-05,1793256184116278528
+156,2.600000000,POSE1_TO_POSE2_PRESS,789.425827695,748.425827695,728.425827695,707.574172305,696,654,931,801.574172305,836.574172305,666,656.425827695,673,0.415238735455,0.00457825909758,0.0799491288254,0.999999991951,0.000100367614998,-6.47874799701e-05,-4.27453734053e-05,1793256184132944896
+157,2.616666667,POSE1_TO_POSE2_PRESS,790,748.983677665,729,707,696,654,931,801,836,666,656.983677665,673,0.416037025756,0.00458811520745,0.0799748772374,0.99999999061,0.000127348929263,-2.60709712101e-05,-4.33797236018e-05,1793256184149611264
+158,2.633333333,POSE1_TO_POSE2_PRESS,790,748.406025517,729,707,696,654,931,801,836,666,656.406025517,673,0.416851074715,0.00459773439477,0.0799619865561,0.999999990654,0.00011661668226,-5.61876952494e-05,-4.39860192298e-05,1793256184166278400
+159,2.650000000,POSE1_TO_POSE2_PRESS,789.828929317,748.171070683,729,707,695.828929317,654,931,801,836,666.171070683,656,673,0.417693159266,0.00460357942052,0.0799620128077,0.999999990921,0.000113481050448,-5.7344945606e-05,-4.46341910674e-05,1793256184182945536
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.253148385,748.746851615,729,707,695.253148385,654,931,801,836,666.746851615,656,673,0.418601568933,0.00460049572778,0.0799925972781,0.999999990688,0.000128317101898,1.00086439649e-05,-4.53814314119e-05,1793256184199612160
+161,2.683333333,POSE1_TO_POSE2_PRESS,789.329099911,748.670900089,729,707.329099911,695.329099911,654,931,801,836,666.670900089,656,673.329099911,0.419478628682,0.00459634562748,0.0800070576572,0.999999990093,0.000126006100846,4.22232615382e-05,-4.64143325281e-05,1793256184216278272
+162,2.700000000,POSE1_TO_POSE2_PRESS,789.91642269,748.08357731,729,707.91642269,695.91642269,654,931,801,836,666.08357731,656,673.91642269,0.420331090188,0.00459135878806,0.0800088665302,0.999999991689,0.000110240944828,4.68666557349e-05,-4.76713727793e-05,1793256184232944640
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.503094811,748,729,708,696,654,931.496905189,801,836,666.496905189,656,674,0.421212506479,0.00458808485413,0.0799944361418,0.999999993178,0.000104439412494,1.98187096113e-05,-4.84055125405e-05,1793256184249611264
+164,2.733333333,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931.92397401,801,836,666.92397401,656,674,0.422109001538,0.00458661196425,0.0799831920261,0.999999993546,0.000102540424382,-2.81726392835e-06,-4.88423747826e-05,1793256184266277888
+165,2.750000000,POSE1_TO_POSE2_PRESS,789,748,729,708,696,654,931.34634993,801,836,666.34634993,656,674,0.423073286609,0.00459514684386,0.0800107461816,0.99999999145,0.000115482753488,3.8346316762e-05,-4.78902709566e-05,1793256184282944512
+166,2.766666667,POSE1_TO_POSE2_PRESS,789,748,729,708,695.769844238,654,931,801,836,666,656,674,0.424001684868,0.00460341423257,0.0800184099669,0.999999989949,0.000127009961686,4.21532650821e-05,-4.68412654343e-05,1793256184299611392
+167,2.783333333,POSE1_TO_POSE2_PRESS,789,748,729,708,695.195013326,654,931,801,836,666,656,674,0.424876340134,0.00461128103529,0.0799962864666,0.999999989603,0.000136417924399,-9.9840796873e-06,-4.56471423793e-05,1793256184316278272
+168,2.800000000,POSE1_TO_POSE2_PRESS,788.611161723,748,729,707.611161723,695.388838277,654,931,801,836,666,656,673.611161723,0.425760909121,0.00461464740634,0.0799617317358,0.999999986899,0.000141599143429,-6.2862836837e-05,-4.68945240327e-05,1793256184332944896
+169,2.816666667,POSE1_TO_POSE2_PRESS,788.022678576,748,729,707.022678576,695.977321424,654,931,801,836,666,656,673.022678576,0.42665056815,0.00461570307823,0.0799207943235,0.999999981582,0.0001446101852,-0.000116122261028,-4.9395470261e-05,1793256184349611520
+170,2.833333333,POSE1_TO_POSE2_PRESS,788.556823924,748,729,707.556823924,696,654,931,801,836,666,656,673.556823924,0.427603309206,0.00460787648202,0.0799175693925,0.999999983932,0.000128077716614,-0.000114375221377,-5.14882968711e-05,1793256184366278144
+171,2.850000000,POSE1_TO_POSE2_PRESS,789,748,729,707.864474219,696,654,931,801,836,666.135525781,656,673.864474219,0.428564919439,0.00460141110663,0.0799223748522,0.999999986462,0.000115353775115,-0.000104725233502,-5.29307120783e-05,1793256184382944768
+172,2.866666667,POSE1_TO_POSE2_PRESS,789,748,729,707.287208772,696,654,931,801,836,666.712791228,656,673.287208772,0.429547196899,0.00460054299106,0.07994842802,0.999999988791,0.000117596810602,-7.65023081822e-05,-5.23064618792e-05,1793256184399611392
+173,2.883333333,POSE1_TO_POSE2_PRESS,789,748,729,707,696,654.288558218,931,801,836,667,656.288558218,673.288558218,0.430533142657,0.00460180290082,0.0799859484167,0.999999991519,0.000116815941074,-2.51926495839e-05,-5.17769132676e-05,1793256184416278016
+174,2.900000000,POSE1_TO_POSE2_PRESS,789,748,729,707,696,654.862841428,931,801,836,667,656.862841428,673.862841428,0.431522720635,0.00460516994183,0.0800348234492,0.999999991094,0.000113040856375,4.89770622785e-05,-5.13411362635e-05,1793256184432944640
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,748,729,707,696,654.550932615,931.449067385,801,836,667,657,673.550932615,0.432422142036,0.00461119432541,0.0800314214509,0.999999990842,0.000119013475689,3.93629111337e-05,-5.10147033962e-05,1793256184449611520
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,747.96169312,729,707,695.96169312,654,931.96169312,801,836,667,656.96169312,673,0.433293766923,0.00461776920144,0.0800085012104,0.99999999053,0.000127880319524,-8.54157862486e-08,-5.08640533555e-05,1793256184466278400
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,747.382809347,729,707,695.382809347,654,931.382809347,801,836,667,656.382809347,673,0.434172338364,0.00462034601631,0.0799416223117,0.999999985565,0.000134427794977,-8.9558915598e-05,-5.27098402284e-05,1793256184482944768
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,747,729,707.194873689,695,654,931.194873689,801,836,667,656,673.194873689,0.435076170971,0.00461958142745,0.0799065191215,0.999999980878,0.000131189961379,-0.000134500128059,-5.42470426838e-05,1793256184499611392
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,747,729,707.770212551,695,654,931.770212551,801,836,667,656,673.770212551,0.436029322831,0.00461229318904,0.0799334537986,0.999999988276,0.000108847605364,-9.2497940655e-05,-5.51817757047e-05,1793256184516278272
+180,3.000000000,POSE1_TO_POSE2_PRESS,789.350610007,746.649389993,729,708,695.350610007,654,932,800.649389993,836,667,656.350610007,674,0.43695293408,0.00460784718704,0.0799693526411,0.999999992189,0.000104278616854,-4.23415080534e-05,-5.43661093566e-05,1793256184532944896
+181,3.016666667,POSE1_TO_POSE2_PRESS,789.934371331,746.065628669,729,708,695.934371331,654,932,800.065628669,836,667,656.934371331,674,0.43785690113,0.00460529123754,0.080011212541,0.999999992321,0.000111528699003,1.32373942282e-05,-5.23864489515e-05,1793256184549611520
+182,3.033333333,POSE1_TO_POSE2_PRESS,789.48332395,746,729,708,695.48332395,654,932,800.51667605,836,667,656.48332395,674,0.438756446546,0.00460363343016,0.0800329540782,0.999999991944,0.000103130925043,5.09820318325e-05,-5.36335789282e-05,1793256184566277888
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,745.901903625,729,707.901903625,695,654,932,800.901903625,836,667,656,674,0.439631874621,0.00460375167983,0.0800375848255,0.999999991808,9.76163078164e-05,6.18897467713e-05,-5.49913551879e-05,1793256184582944512
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,745.323907288,729,707.323907288,695,654,932,800.323907288,836,667,656,674,0.440392057457,0.0046120020881,0.0799709738647,0.999999990651,0.000115902742629,-4.74410821424e-05,-5.48909281976e-05,1793256184599611392
+185,3.083333333,POSE1_TO_POSE2_PRESS,789,745,729,707.251952465,695,654,932,800,836,667,656,674,0.441122159453,0.00462163810504,0.0798827644397,0.999999972959,0.000128511668854,-0.000185718418972,-5.54542306657e-05,1793256184616278016
+186,3.100000000,POSE1_TO_POSE2_PRESS,789,745,729,707.825088502,695,654,932,800,836,667,656,674,0.441813914985,0.00463304046543,0.0797670217632,0.999999924298,0.000133883026767,-0.00036089612966,-5.6863640602e-05,1793256184632944896
+187,3.116666667,POSE1_TO_POSE2_PRESS,789,745,729,708,694.58995276,653.58995276,932,800,836,667,656,674,0.442580320613,0.00464293283449,0.0797513309035,0.999999916076,0.000148167803321,-0.000377630560318,-5.73470179181e-05,1793256184649611520
+188,3.133333333,POSE1_TO_POSE2_PRESS,789,745,729,708,693.999804707,653,932,799.999804707,836,667,656,674,0.443379509171,0.0046521632468,0.0797795941293,0.999999931776,0.000166368935705,-0.000324765360923,-5.74234924859e-05,1793256184666277888
+189,3.150000000,POSE1_TO_POSE2_PRESS,789,745,729,708,693.420334965,653,932,799.420334965,836,667,656,674,0.444162159313,0.00466517085211,0.0798330430504,0.999999948962,0.00018850768238,-0.000251576830851,-5.70154364198e-05,1793256184682944512
+190,3.166666667,POSE1_TO_POSE2_PRESS,789,745,729,708,693,653,932,799,836,667,656,674,0.444924225422,0.00467615566734,0.079871350966,0.999999958228,0.000200502156839,-0.000200460887459,-5.62000256331e-05,1793256184699611392
+191,3.183333333,POSE1_TO_POSE2_PRESS,789,745,729,708,693,653,932,799,836,667,656,674,0.445631921492,0.00468179753229,0.0798696657749,0.999999959724,0.000185701781631,-0.000207646975208,-5.43086377289e-05,1793256184716278016
+192,3.200000000,POSE1_TO_POSE2_PRESS,788.686453587,744.686453587,729,708,692.686453587,653,932,799.313546413,836,667,656,674,0.446317825405,0.00468914825198,0.0798546909369,0.999999954008,0.000196461524211,-0.000224631379523,-5.40989264004e-05,1793256184732944640
+193,3.216666667,POSE1_TO_POSE2_PRESS,788.112235625,744.112235625,729,708,692.112235625,653,932,799.887764375,836,667,656,674,0.446985612035,0.00469791965355,0.0798286675501,0.999999941182,0.000228471057607,-0.000249761761692,-5.52873023572e-05,1793256184749611264
+194,3.233333333,POSE1_TO_POSE2_PRESS,788.473121725,744.473121725,729,708,691.526878275,652.526878275,932,799.526878275,836,667,656,674,0.447579853046,0.00470375538688,0.0797973754869,0.999999926681,0.000240639671347,-0.00029223311086,-5.77174351152e-05,1793256184766278144
+195,3.250000000,POSE1_TO_POSE2_PRESS,789,745,729,708,690.939885991,652,932,799,836,667.060114009,656,674,0.448150522746,0.00470854284748,0.0797637537693,0.999999910062,0.000244092105233,-0.000341585868269,-6.01244942529e-05,1793256184782945024
+196,3.266666667,POSE1_TO_POSE2_PRESS,789,745,729,708,690.362118915,652,932,799,836,667.637881085,656,674,0.448672075307,0.00471044494808,0.0797210932006,0.999999889655,0.000213995725538,-0.000413917866803,-5.97350671251e-05,1793256184799611648
+197,3.283333333,POSE1_TO_POSE2_PRESS,789,745,729,708,689.78510324,652,932,799,836,668,656,674,0.449203085275,0.00471273706272,0.0796915293608,0.999999872276,0.000200349224539,-0.000459976833685,-6.10769849014e-05,1793256184816278272
+198,3.300000000,POSE1_TO_POSE2_PRESS,789,745,729,708,689.209349383,652,932,799,836,668,656,674,0.449749976173,0.0047156840932,0.0796839577022,0.999999868214,0.000214325552656,-0.000461917821673,-6.53261973623e-05,1793256184832944896
+199,3.316666667,POSE1_TO_POSE2_PRESS,789,745,728.625870631,707.625870631,688.625870631,651.625870631,932,799,836.374129369,667.625870631,656,674,0.450294542844,0.00473065703487,0.0797024973461,0.99999987519,0.000239828878394,-0.000432801007966,-6.91707930224e-05,1793256184849611520
+200,3.333333333,POSE1_TO_POSE2_PRESS,789,745,728.037978114,707.037978114,688.037978114,651.037978114,932,799,836.962021886,667.037978114,656,674,0.450837781593,0.00475250112041,0.0797359559841,0.999999885907,0.000271918288385,-0.000385938958754,-7.27842064126e-05,1793256184866278144
+201,3.350000000,POSE1_TO_POSE2_PRESS,789,745,728.54154793,707.54154793,687.45845207,651,932,798.45845207,836.45845207,667.54154793,656,674,0.451324130121,0.00475488618176,0.0797544140854,0.999999893534,0.000278913578762,-0.000360569956615,-7.16153002944e-05,1793256184882945024
+202,3.366666667,POSE1_TO_POSE2_PRESS,788.880017593,745,728.880017593,707.880017593,686.880017593,651,932,798.119982407,836,667.880017593,656,674.119982407,0.451781113606,0.00475489579335,0.0797605123386,0.999999894432,0.000282233391487,-0.00035568115788,-7.05052699659e-05,1793256184899611648
+203,3.383333333,POSE1_TO_POSE2_PRESS,788.303537669,745,728.303537669,707.303537669,686.303537669,651,932,798.696462331,836,667.303537669,656,674.696462331,0.452141320413,0.00475098057461,0.0797235265762,0.999999869309,0.000278162831019,-0.000423065947573,-7.08758460511e-05,1793256184916278784
+204,3.400000000,POSE1_TO_POSE2_PRESS,788,745,728.271800295,707.271800295,685.728199705,650.728199705,932,799,836,667,656,674.728199705,0.452493363527,0.00475310956978,0.0796870822071,0.999999842243,0.000279044882793,-0.000481956140445,-7.32559401329e-05,1793256184932945152
+205,3.416666667,POSE1_TO_POSE2_PRESS,788,745,728.845868257,707.845868257,685.154131743,650.154131743,932,799,836,667,656,674.154131743,0.45283632782,0.00476196030342,0.0796512399209,0.999999815039,0.000285434709194,-0.000531399533999,-7.78708086463e-05,1793256184949611776
+206,3.433333333,POSE1_TO_POSE2_PRESS,788,745,728.567981313,707.567981313,684.567981313,650,932,798.567981313,836,667,656,674,0.453170196839,0.00476300054594,0.079632313544,0.999999800205,0.000284835363047,-0.000559001954671,-7.730218263e-05,1793256184966278400
+207,3.450000000,POSE1_TO_POSE2_PRESS,788,745,728,707.022084552,683.977915448,650,932,798,836,667.022084552,656,674,0.45349955668,0.00476141585086,0.0796201280103,0.999999790896,0.000280967437824,-0.000577650315034,-7.47391007062e-05,1793256184982945280
+208,3.466666667,POSE1_TO_POSE2_PRESS,788,745,728,707.599102718,683.400897282,650,932,798,836,667.599102718,656,674,0.453799495094,0.00476590688886,0.0796213127634,0.999999799894,0.000259427194873,-0.00057273807951,-6.98661194929e-05,1793256184999611648
+209,3.483333333,POSE1_TO_POSE2_PRESS,788,745,728.175721751,708,682.824278249,650,932,798,836,667.824278249,656,674,0.454082287702,0.00476952223075,0.0796190347045,0.999999802006,0.000245968288949,-0.000575298853092,-6.72153505999e-05,1793256185016278528
+210,3.500000000,POSE1_TO_POSE2_PRESS,788,745,728.751432172,708,682.248567828,650,932,798,836,667.248567828,656,674,0.45432605193,0.00477114425862,0.0796088743793,0.999999789164,0.000250904623137,-0.000594870151268,-6.96229189483e-05,1793256185032945152
+211,3.516666667,POSE1_TO_POSE2_PRESS,788,745,729,707.671502431,681.671502431,650,932,797.671502431,836.328497569,667.328497569,656,674,0.454557260366,0.00477199050681,0.0796023697971,0.999999780854,0.00025638415044,-0.000606240394757,-7.09330288481e-05,1793256185049611776
+212,3.533333333,POSE1_TO_POSE2_PRESS,788,745,729,707.093407442,681.093407442,650,932,797.093407442,836.906592558,667.906592558,656,674,0.454778928748,0.00477224730605,0.0795986429027,0.999999776164,0.000262276404653,-0.000611379355052,-7.14092734895e-05,1793256185066278400
+213,3.550000000,POSE1_TO_POSE2_PRESS,788,744.502808442,729,707,681,650,932,797.497191558,836.502808442,667.502808442,656,674,0.454975579954,0.00477304330698,0.079600261827,0.99999977542,0.000272467842908,-0.000608359874243,-6.94215317886e-05,1793256185082945024
+214,3.566666667,POSE1_TO_POSE2_PRESS,788,744,728.912364444,707,680.912364444,649.912364444,932,797.912364444,836,667.087635556,656,674,0.455160710945,0.004774215897,0.0796015962417,0.999999774115,0.000282642090733,-0.000606082531426,-6.74291522147e-05,1793256185099611648
+215,3.583333333,POSE1_TO_POSE2_PRESS,788,744,728.336216963,707,680.336216963,649.336216963,932,797.336216963,836,667.663783037,656,674,0.455308499476,0.00477690848015,0.0795956018342,0.999999766019,0.000288102022474,-0.000616706518194,-6.80579111962e-05,1793256185116278016
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+220,3.666666667,POSE1_TO_POSE2_PRESS,788,745,728.445001003,708,679,649,932,797,836,667.445001003,656,674,0.455828179103,0.00477749447623,0.0795726516416,0.999999738332,0.00028664975182,-0.000660436381846,-7.06550848409e-05,1793256185199611648
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+223,3.716666667,POSE1_TO_POSE2_PRESS,787.299535459,744.299535459,728,708,678.700464541,649,932,797.299535459,836.299535459,668,656,674,0.455999313487,0.00477296923327,0.0795645852399,0.999999731202,0.00027691483882,-0.000675320923819,-6.9684116121e-05,1793256185249611520
+224,3.733333333,POSE1_TO_POSE2_PRESS,787.873829968,744.873829968,728,708,678.126170032,649,932,797.873829968,836.873829968,668,656,674,0.456034326996,0.00477161610929,0.0795582481309,0.999999726814,0.000269115312631,-0.000684856591563,-7.01507610403e-05,1793256185266278144
+225,3.750000000,POSE1_TO_POSE2_PRESS,788,745,728,707.539530234,678,649,932,797.539530234,836.539530234,668,656,674,0.456063267354,0.0047639418488,0.0795542346937,0.999999726018,0.000257433995991,-0.000690387583507,-7.11127304045e-05,1793256185282944512
+226,3.766666667,POSE1_TO_POSE2_PRESS,788,745,728,707.049545675,678,649,932,797,836,667.950454325,656,674,0.456089550671,0.00475322406974,0.0795508806967,0.999999726428,0.000243320154226,-0.000694807399558,-7.1979813902e-05,1793256185299611392
+227,3.783333333,POSE1_TO_POSE2_PRESS,788,745,728,707.627532606,678,649,932,797,836,667.372467394,656,674,0.45610573209,0.00472902698302,0.079547582236,0.999999729849,0.000214918458287,-0.000699401559445,-7.03474343378e-05,1793256185316278272
+228,3.800000000,POSE1_TO_POSE2_PRESS,788,744.795418379,728,708,678,649,932,797,836,667.204581621,656,674,0.456118993482,0.0047141219015,0.0795448479217,0.99999973081,0.000197433245251,-0.000703267335701,-6.93873030926e-05,1793256185332944896
+229,3.816666667,POSE1_TO_POSE2_PRESS,788,744.220069204,728,708,678,649,932,797,836,667.779930796,656,674,0.456126962848,0.00471605691698,0.0795431360217,0.999999728542,0.000199732204694,-0.000705813047639,-6.9645501734e-05,1793256185349611520
+230,3.833333333,POSE1_TO_POSE2_PRESS,788,744.355273873,728.355273873,707.644726127,678,649,932,797.355273873,836,668,656,674,0.456133300248,0.00471916187265,0.0795421242577,0.9999997265,0.000203189880995,-0.000707661795655,-7.02095710552e-05,1793256185366278144
+231,3.850000000,POSE1_TO_POSE2_PRESS,788,744.930613152,728.930613152,707.069386848,678,649,932,797.930613152,836,668,656,674,0.456138626767,0.00472299151808,0.0795415461753,0.999999724586,0.000207365295027,-0.000709078826913,-7.09631042143e-05,1793256185382945024
+232,3.866666667,POSE1_TO_POSE2_PRESS,788,745,728.479660257,707.520339743,678,649,932,797.479660257,836,668,656,674,0.456142973214,0.00471787568416,0.0795413421045,0.999999725898,0.00020254122213,-0.000708763491456,-6.9536533453e-05,1793256185399611648
+233,3.883333333,POSE1_TO_POSE2_PRESS,788,744.890382874,728,707.890382874,678,649,932,797,836,667.890382874,656,674,0.456146820718,0.00471358803065,0.0795415337735,0.999999727274,0.00019818233034,-0.00070817469218,-6.82958349218e-05,1793256185416278272
+234,3.900000000,POSE1_TO_POSE2_PRESS,788,744.311475938,728,707.311475938,678,649,932,797,836,667.311475938,656,674,0.456149107585,0.00471809807188,0.0795432000814,0.99999972716,0.000201098779864,-0.000707432262321,-6.91308803212e-05,1793256185432944896
+235,3.916666667,POSE1_TO_POSE2_PRESS,788.265337772,744.265337772,728,707,678,649,932,797,836,667.265337772,656,674.265337772,0.456150396929,0.00472004407493,0.0795432778229,0.999999726422,0.000202339603659,-0.000708106602695,-6.92803616254e-05,1793256185449611520
+236,3.933333333,POSE1_TO_POSE2_PRESS,788.839713586,744.839713586,728,707,678,649,932,797,836,667.839713586,656,674.839713586,0.456150524463,0.00471900375161,0.0795415053665,0.999999724962,0.000201628831994,-0.000710431050662,-6.86313687654e-05,1793256185466278400
+237,3.950000000,POSE1_TO_POSE2_PRESS,788.576268607,744.576268607,728,707,678,649,932,797.423731393,836,667.576268607,656,675,0.456149191184,0.00471899210407,0.0795401042581,0.999999723426,0.000202474766296,-0.000712331617929,-6.88138791991e-05,1793256185482944768
+238,3.966666667,POSE1_TO_POSE2_PRESS,788,744.011372863,728,707.011372863,678,649,932.011372863,798,836,667.011372863,656,674.988627137,0.456147358865,0.00471943441057,0.0795388781932,0.999999721892,0.000203907416698,-0.000714026237858,-6.93178446679e-05,1793256185499611904
+239,3.983333333,POSE1_TO_POSE2_PRESS,788,744.593566608,728,707.593566608,678,649,932.593566608,798,836,667.593566608,656,674.406433392,0.456148859938,0.00472267602265,0.0795392231882,0.999999722018,0.00020454422362,-0.000713619301098,-6.98015019969e-05,1793256185516278272
+240,4.000000000,POSE1_TO_POSE2_PRESS,788,744.826380604,728,707.826380604,678,649,932.826380604,798,836,668,656,674,0.456149476757,0.00472355554624,0.0795389502612,0.999999721927,0.000204009092974,-0.000713899595916,-6.98095328151e-05,1793256185532944896
+241,4.016666667,POSE1_TO_POSE2_PRESS,788,744.251278659,728,707.251278659,678,649,932.251278659,798,836,668,656,674,0.4561480488,0.00471897290743,0.0795372484333,0.999999721323,0.000200763939726,-0.000715769065063,-6.8717711008e-05,1793256185549611520
+242,4.033333333,POSE1_TO_POSE2_PRESS,788,744,728,707.322622208,677.677377792,649,932,797.677377792,836,668,656,674,0.456147319122,0.00471812013564,0.0795364812917,0.999999720352,0.000200300869342,-0.000717281797719,-6.84255987715e-05,1793256185566278144
+243,4.050000000,POSE1_TO_POSE2_PRESS,788,744,728,707.895591043,677.104408957,649,932,797.104408957,836,668,656,674,0.456147131291,0.00472016164597,0.079536439443,0.999999719101,0.000201996624636,-0.000718517711852,-6.87540408681e-05,1793256185582944512
+244,4.066666667,POSE1_TO_POSE2_PRESS,788,744,728,708,677,649,932,797,836,668,656,674,0.4561496041,0.00472122613148,0.079537792636,0.999999720415,0.000204007986713,-0.000716137864447,-6.85407999026e-05,1793256185599611392
+245,4.083333333,POSE1_TO_POSE2_PRESS,788,744,728,707.928010105,677,649,932,797,836,668,656,674,0.456152159697,0.00472182615254,0.0795391912457,0.999999721995,0.000205456611382,-0.000713538963845,-6.82654685744e-05,1793256185616278016
+246,4.100000000,POSE1_TO_POSE2_PRESS,788,744,728,707.346692398,677,649,932,797,836,668,656,674,0.45615110647,0.00472068038752,0.0795387118711,0.999999721495,0.000202426313979,-0.000715090573307,-6.84048209776e-05,1793256185632944640
+247,4.116666667,POSE1_TO_POSE2_PRESS,788,744.231376807,728,707,677,649,932,797,836,667.768623193,656,674,0.456150248619,0.0047202138003,0.0795380387716,0.999999720779,0.000200850248945,-0.000716517257042,-6.85933726388e-05,1793256185649611520
+248,4.133333333,POSE1_TO_POSE2_PRESS,788,744.80464597,728,707,677,649,932,797,836,667.19535403,656,674,0.456149679463,0.00472075079534,0.0795370794156,0.999999719755,0.000201423019977,-0.000717759345371,-6.88546232688e-05,1793256185666278400
+249,4.150000000,HOLD_POSE2,788,744,728,708,678,649,932,798,836,668,656,674,0.456153083072,0.00471997759059,0.0795388790519,0.999999722037,0.000202049663593,-0.000714462366691,-6.81564961894e-05,1793256185700938240
+250,4.166666667,HOLD_POSE2,788,744,728.592074778,707.407925222,678,649,932,797.407925222,836,668,656,674,0.45615137369,0.00472169449772,0.0795376426529,0.999999720251,0.000204371717868,-0.00071627710131,-6.83918764375e-05,1793256185717605120
+251,4.183333333,HOLD_POSE2,788,744.17957507,728.82042493,707.17957507,677.82042493,649,932,797,836,667.82042493,656,674,0.456150888923,0.00472241145563,0.0795373639772,0.999999719674,0.000205975645818,-0.000716629616981,-6.83198536871e-05,1793256185734272000
+252,4.200000000,HOLD_POSE2,788,744.75694214,728.24305786,707.75694214,677.24305786,649,932,797,836,667.24305786,656,674,0.456153116903,0.00472091334135,0.0795392068355,0.999999721787,0.000205988791557,-0.000713743047539,-6.75668764726e-05,1793256185750938624
+253,4.216666667,HOLD_POSE2,788,745,728,707.668219416,677,649,932,797.331780584,836,667.331780584,656,674,0.456152579399,0.00471962690623,0.0795383033911,0.999999721528,0.00020437707168,-0.000714581940043,-6.74354110222e-05,1793256185767605248
+254,4.233333333,HOLD_POSE2,788,745,728,707.095219433,677,649,932,797.904780567,836,667.904780567,656,674,0.456150031264,0.00471849437146,0.079535403261,0.999999719532,0.000201584001451,-0.000718129411028,-6.77558126091e-05,1793256185784271872
+255,4.250000000,HOLD_POSE2,788,745,728,707.494588797,677,649,932.494588797,798,836.494588797,668,656,674,0.456151035045,0.00472197036485,0.0795359671611,0.99999971957,0.000204790839795,-0.000717131942829,-6.8139963667e-05,1793256185800938496
+256,4.266666667,HOLD_POSE2,788,745,728.085736738,707.914263262,677.085736738,649,932.914263262,798,836.914263262,668,656,674,0.456152593199,0.00472521759253,0.0795371774698,0.999999720118,0.000207856881292,-0.000715456777691,-6.8411961943e-05,1793256185817605120
+257,4.283333333,HOLD_POSE2,788,745,728.665306775,707.334693225,677.665306775,649,932.334693225,798,836.334693225,668,656,674,0.45615326716,0.00472185694877,0.079538134594,0.99999972136,0.000203224552024,-0.000715095373348,-6.79647945813e-05,1793256185834271744
+258,4.300000000,HOLD_POSE2,788,744.75727925,728.75727925,707.24272075,678,649,932,797.75727925,836,668,656,674,0.456153495862,0.00471969668842,0.0795385362021,0.999999721988,0.000200082429122,-0.000715126440067,-6.77197076389e-05,1793256185850938368
+259,4.316666667,HOLD_POSE2,788,744.182812189,728.182812189,707.817187811,678,649,932,797.182812189,836,668,656,674,0.456153115992,0.0047191770906,0.079538178541,0.9999997218,0.000198977093588,-0.000715693929148,-6.775082058e-05,1793256185867604992
+260,4.333333333,HOLD_POSE2,788,744.390845284,728.390845284,708,677.609154716,649,932,797.390845284,836,668,656,674,0.456153193515,0.00471912395105,0.0795374359883,0.999999721205,0.000199710867489,-0.000716340828576,-6.754151949e-05,1793256185884271616
+261,4.350000000,HOLD_POSE2,788,744.964124918,728.964124918,708,677.035875082,649,932,797.964124918,836,668,656,674,0.456153484534,0.0047192885396,0.0795365137803,0.999999720417,0.000201303080035,-0.000717024794316,-6.72200006546e-05,1793256185900938240
+262,4.366666667,HOLD_POSE2,788,744.443482599,728.443482599,707.443482599,677,649,932.556517401,797.443482599,836,668,656,674,0.45615403435,0.00471946115253,0.0795374065943,0.999999721192,0.000200861763891,-0.000716031426428,-6.75964406722e-05,1793256185917604864
+263,4.383333333,HOLD_POSE2,788,744,728,707.146182959,677,649,932.853817041,797,836,668,656,674,0.456154197841,0.00471951466543,0.0795379444259,0.999999721602,0.000200314089495,-0.000715588316458,-6.78512865716e-05,1793256185934271488
+264,4.400000000,HOLD_POSE2,788,744,728,707.724028734,677,649,932.275971266,797,836,668,656,674,0.456153169544,0.0047192149068,0.0795370762479,0.999999720627,0.000199853207564,-0.000717100702337,-6.76094935769e-05,1793256185950938112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,788,745,729,707,677,649,933,797,836,668,656,674,0.45615506102,0.00472119789975,0.0795379763359,0.999999721579,0.000201715473246,-0.000715208852415,-6.80322934137e-05,1793256185987856640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,788,745,728.412132823,707,677,648.412132823,932.412132823,797,836,668,656,674,0.456153799915,0.00472142329641,0.0795372962005,0.999999720516,0.000202178413908,-0.000716593796062,-6.77148943235e-05,1793256186004523520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,648.172931092,932,797,836,668,656,674,0.456153084046,0.00472093448459,0.0795367949127,0.999999719881,0.000202353389174,-0.000717461300304,-6.73867572231e-05,1793256186021190144
+268,4.466666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,648.751420907,932,797,836,668,656,674,0.456153646864,0.0047187707081,0.079536713059,0.999999720254,0.000201853026878,-0.000717115303757,-6.7033437232e-05,1793256186037856512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,788,745,728,707.327879926,677,649,932,797,836,668,656,674,0.456154371273,0.00471780840506,0.0795373244705,0.999999721008,0.000201490283577,-0.000716161126075,-6.70721778299e-05,1793256186054523392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,788,745,728,707.90280876,677,649,932,797,836,668,656,674,0.456155217437,0.00471775138082,0.0795384582391,0.999999722048,0.000201231232603,-0.00071474869991,-6.74063257989e-05,1793256186071190272
+271,4.516666667,POSE2_TO_POSE3_RETREAT,788,745,728.477500962,707.522499038,677,649,932,797,836,668,656,674,0.456155182577,0.00471856261842,0.079538325779,0.999999721704,0.000202320566013,-0.000714941405844,-6.72079630209e-05,1793256186087856896
+272,4.533333333,POSE2_TO_POSE3_RETREAT,788,745,728.946221834,707.053778166,677,649,932,797,836,667.946221834,656,674,0.456154870283,0.00471936982461,0.0795379155623,0.99999972112,0.000203224544164,-0.000715527169739,-6.69376394579e-05,1793256186104523776
+273,4.550000000,POSE2_TO_POSE3_RETREAT,788,745,728.353580315,707.646419685,677,649,932,797,836,667.353580315,656,674,0.456153574028,0.00471836668537,0.0795373033986,0.999999720962,0.000199522562244,-0.000716779360048,-6.70317828953e-05,1793256186121190144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,788,745,728,708,677,649,932,797,836,667.23319438,656,674,0.456151388978,0.00471831900693,0.0795360077597,0.999999720053,0.000198233464987,-0.000718390510798,-6.71693541465e-05,1793256186137856768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,788,745,728,708,677,649,932,797,836,667.811291775,656,674,0.456147889369,0.00471968449005,0.0795337012357,0.999999718044,0.000200513112723,-0.000720532577062,-6.73711567145e-05,1793256186154523392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787.612294473,745,728,708,677,649,932,797,836,667.612294473,656,674,0.456131325148,0.0047205051254,0.0795252551689,0.999999708041,0.000202576458074,-0.000733725735884,-6.72866334054e-05,1793256186171190016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787.036696608,745,728,708,677,649,932,797,836,667.036696608,656,674,0.45610842947,0.00472106171325,0.0795138337173,0.999999693875,0.00020453497772,-0.000752274546019,-6.70633490125e-05,1793256186187856384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787.549401676,745,728,707.450598324,677,649,932,797,836,667,656,674,0.456064630181,0.00472055307148,0.0794985532444,0.999999671982,0.000203884798449,-0.000781038132929,-6.66779754175e-05,1793256186204523264
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,649,932,797,836,667,656,674,0.455952059264,0.00471986698676,0.0794689250738,0.999999632249,0.000205087851629,-0.000830181468724,-6.51072260245e-05,1793256186237857024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,649,932,797,836,667,656,674,0.45588370541,0.00471941941455,0.079460367084,0.999999621536,0.000206648323354,-0.000842722225427,-6.35822192446e-05,1793256186254523648
+282,4.700000000,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,649,932,797,836,667,656,674,0.455810313725,0.00471872555962,0.079457458095,0.999999618122,0.000208275164003,-0.000846514444606,-6.15730709522e-05,1793256186271190528
+283,4.716666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,677,649,932,797,836,667.448134827,656,674,0.455721238272,0.00471812431609,0.0794566984412,0.99999961732,0.00020948125165,-0.000847312527512,-5.94842551539e-05,1793256186287856896
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,788.774417433,744.774417433,729,707.225582567,677.774417433,649,932,797.774417433,836,668,656,674,0.455259657201,0.00471481049082,0.0794753862406,0.999999638327,0.000219433518346,-0.000820384443105,-4.65173072744e-05,1793256186354523648
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,788,745,728.080321488,707.919678512,678.080321488,649,932,797.080321488,836,667.080321488,656,674,0.454505020316,0.00471037352519,0.0794774523148,0.999999639847,0.000232988488891,-0.000815630248117,-2.77359589033e-05,1793256186421190144
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,788,745,728,707,682.469459747,649.469459747,932,798,835.469459747,667,656,674,0.450641372169,0.00472513667321,0.0795690509447,0.999999743472,0.000261383916755,-0.000666784933163,1.14853623258e-05,1793256186604523264
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,788,745,728,707,684.268939673,650,932,798,836,667,656,674,0.449659174976,0.00471072653818,0.0796123563727,0.999999801674,0.000215473155059,-0.00059173965276,8.25361473868e-06,1793256186637856768
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,789,746.658825305,729,707.658825305,693.341174695,653,932,800,835.341174695,667,656,674,0.439066474334,0.00458150194894,0.0796821349141,0.999999870374,0.000138355688682,-0.000488772657688,3.48022153337e-05,1793256186887856896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,789,746.080253416,729,707.080253416,693.919746584,653,932,800,835.919746584,667,656,674,0.438236282313,0.00457058482375,0.0796960863179,0.999999882774,0.000160381406296,-0.000455580479961,3.42868676869e-05,1793256186904523520
+321,5.350000000,POSE2_TO_POSE3_RETREAT,789,746.492304447,729,707.492304447,694,653,932,800,836,667,656,674,0.437437115081,0.00456294573625,0.0797717354415,0.999999929496,0.000139570243538,-0.000346644137488,3.69642629218e-05,1793256186921190400
+322,5.366666667,POSE2_TO_POSE3_RETREAT,789,747,729,708,694,653.066039331,932,800,836,667,656,674,0.436635603426,0.0045554380308,0.0798507090718,0.999999965006,0.000115985068413,-0.000234373206384,4.00507554844e-05,1793256186937857024
+323,5.383333333,POSE2_TO_POSE3_RETREAT,789,747,729,708,694,653.656822448,932,800,836,667,656,674,0.435775761804,0.00454477944441,0.0798771456438,0.999999972736,0.000125175293605,-0.000192534224468,4.23022208878e-05,1793256186954523648
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,789,747,729,707.176594451,694,653.176594451,932,800,836,667,656,674,0.433898204715,0.00451972019425,0.0798424311558,0.999999966978,9.01870729349e-05,-0.000236735279773,4.32158222259e-05,1793256186987856896
+326,5.433333333,POSE2_TO_POSE3_RETREAT,789,747.399215362,729,707.399215362,694.399215362,653.399215362,932,800,836,667,656,674,0.432890958278,0.0045112494847,0.0797900154031,0.999999939777,8.50599597938e-05,-0.000333461984554,4.48712254701e-05,1793256187004523520
+327,5.450000000,POSE2_TO_POSE3_RETREAT,789,747.973093405,729,707.973093405,694.973093405,653.973093405,932,800,836,667,656,674,0.431867892845,0.00450488969282,0.0797301039764,0.999999892941,9.01224366207e-05,-0.00045138795356,4.73724375853e-05,1793256187021190144
+328,5.466666667,POSE2_TO_POSE3_RETREAT,789,747.456044267,729,707.456044267,694.456044267,654,932,800,836,667,656,674,0.430926777099,0.00449055558477,0.07971871724,0.999999883889,7.33425221323e-05,-0.000473760098611,4.89228537945e-05,1793256187037857024
+329,5.483333333,POSE2_TO_POSE3_RETREAT,789.11984359,747.11984359,728.88015641,707.11984359,694.11984359,653.88015641,932,800,836,667,656,674,0.430011680201,0.00447658264627,0.0797282179602,0.999999892246,5.77119923032e-05,-0.000457924289812,4.98283754404e-05,1793256187054523648
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,789,748,728.546309449,707.546309449,694,653.546309449,932,801,836,667,656,674,0.426357472496,0.00444154781955,0.0798250387755,0.999999958187,2.28257505124e-05,-0.000283558613174,5.19635353145e-05,1793256187121190144
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,790,748.910157248,728.910157248,708,695,654,931,801,836,667,656,674,0.419129924667,0.00447411793951,0.0798572008498,0.999999973365,7.51075879915e-05,-0.000212011940687,5.1757717374e-05,1793256187254523648
+342,5.700000000,POSE2_TO_POSE3_RETREAT,790,748.318816388,728.318816388,708,695,654,931,801,836,667,656,674,0.418239240871,0.00447399667154,0.0798156346936,0.999999955356,7.10653019864e-05,-0.00028576107797,5.078020795e-05,1793256187271190272
+343,5.716666667,POSE2_TO_POSE3_RETREAT,790,748.265982541,728.265982541,708,695,653.734017459,931,801,835.734017459,667,656,674,0.417374219273,0.00447742889427,0.0797996078987,0.999999944387,7.55700404922e-05,-0.000320843659525,5.07349126509e-05,1793256187287856896
+344,5.733333333,POSE2_TO_POSE3_RETREAT,790,748.843128264,728.843128264,708,695,653.156871736,931,801,835.156871736,667,656,674,0.416539219001,0.00448501821492,0.0798134586653,0.999999946338,9.00736288754e-05,-0.000310691657491,5.17801806371e-05,1793256187304523520
+345,5.750000000,POSE2_TO_POSE3_RETREAT,789.581428166,748.581428166,728.581428166,707.581428166,695,653.418571834,931,801,835.418571834,667,656,674,0.415691089999,0.0044895567,0.0797991463739,0.999999936573,0.000101252555879,-0.000337424484456,5.24013448213e-05,1793256187321190400
+346,5.766666667,POSE2_TO_POSE3_RETREAT,789.006619894,748.006619894,728.006619894,707.006619894,695,653.993380106,931,801,835.993380106,667,656,674,0.414838060488,0.00449295642852,0.0797743219196,0.999999921007,0.000111190518327,-0.000377924969093,5.28642077129e-05,1793256187337857024
+347,5.783333333,POSE2_TO_POSE3_RETREAT,789.567941889,748.567941889,728.567941889,707.567941889,695,653.432058111,931,801,836,667,656,673.432058111,0.414103585648,0.00448793612433,0.0797783040846,0.999999929487,9.20172349258e-05,-0.000360443839057,5.13655139779e-05,1793256187354523904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,789.852445755,749,728.852445755,708,695,653,931,801,836,667,656,673,0.413378431283,0.00448290523065,0.0797855599914,0.99999993771,8.11657360119e-05,-0.000339758014795,5.05532778518e-05,1793256187371190272
+349,5.816666667,POSE2_TO_POSE3_RETREAT,789.257511362,749,728.257511362,708,695,653,931,801,836,667,656,673,0.412677348188,0.00447813966739,0.0798017241909,0.999999945504,9.65739976773e-05,-0.000311403855365,5.18916530138e-05,1793256187387856896
+350,5.833333333,POSE2_TO_POSE3_RETREAT,789.327636823,749,728,708,694.672363177,653,931,801.327636823,836,667,656,673,0.411960245947,0.00447768852477,0.0798040023183,0.999999945035,9.88480821677e-05,-0.000312065388212,5.26762893487e-05,1793256187404523776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,789.905316426,749,728,708,694.094683574,653,931,801.905316426,836,667,656,673,0.411230918409,0.00448053002128,0.0797956830034,0.999999938375,9.10985482998e-05,-0.000334870845129,5.30383284343e-05,1793256187421190400
+352,5.866666667,POSE2_TO_POSE3_RETREAT,790,749,728,707.520316458,694.479683542,653,931,802,836,666.520316458,656,673,0.410551539543,0.00448749481859,0.0797937553808,0.999999936219,0.000100897172204,-0.000338541378633,5.26368138088e-05,1793256187437857024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.055160193,695,653.055160193,931,801.944839807,836,666,656.055160193,673,0.409891089892,0.00449454231015,0.0797957900597,0.999999936562,0.000112980562323,-0.000333741212355,5.22226593652e-05,1793256187454523392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,790,749,728,707.647774696,695,653.647774696,931,801.352225304,836,666,656.647774696,673,0.409319672413,0.00449451978594,0.0798242229823,0.99999995208,0.000113807590481,-0.000282955472189,5.31437814609e-05,1793256187471189760
+355,5.916666667,POSE2_TO_POSE3_RETREAT,789.766627702,749,728,708,695,653.766627702,931,801,836,666,656.766627702,673,0.408744844756,0.00449310598136,0.0798412936951,0.999999960218,0.000107781243651,-0.000255052251139,5.38092553221e-05,1793256187487856640
+356,5.933333333,POSE2_TO_POSE3_RETREAT,789.19131152,749,728,708,695,653.19131152,931,801,836,666,656.19131152,673,0.408165020458,0.0044896536323,0.079841716165,0.999999960355,9.17131325794e-05,-0.000260677168298,5.41001460184e-05,1793256187504523520
+357,5.950000000,POSE2_TO_POSE3_RETREAT,789.384082598,748.615917402,728,708,695,653.384082598,931,801.384082598,836,666.384082598,656,673,0.407577727472,0.00448879319649,0.0798129936476,0.999999944076,0.000100056940726,-0.000314578610476,5.36368512861e-05,1793256187521190400
+358,5.966666667,POSE2_TO_POSE3_RETREAT,789.959515596,748.040484404,728,708,695,653.959515596,931,801.959515596,836,666.959515596,656,673,0.406986713525,0.00448922405459,0.0797697510635,0.999999914298,0.000120562793615,-0.000392531472748,5.27978202315e-05,1793256187537857280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790,748.534607401,728,708,695,653.465392599,931,802,836,666.465392599,656,673,0.406492993152,0.0044925819945,0.0797679266185,0.999999917589,0.00011447667378,-0.000385910005863,5.2833271517e-05,1793256187554523904
+360,6.000000000,POSE2_TO_POSE3_RETREAT,790,749,728.113373306,708,695,653,931,801.886626694,836,666.113373306,656,673,0.406021565788,0.00449608221591,0.0797731246145,0.999999925246,0.000110024707638,-0.00036692338426,5.26224528139e-05,1793256187571190528
+361,6.016666667,POSE2_TO_POSE3_RETREAT,790,749,728.707839795,708,695,653,931,801.292160205,836,666.707839795,656,673,0.405613492552,0.00449924619956,0.0797948209291,0.999999939325,0.000121046917113,-0.000322626106588,5.1085770298e-05,1793256187587857152
+362,6.033333333,POSE2_TO_POSE3_RETREAT,790,749,728.706584983,708,695,653,931,801.293415017,836,666.706584983,656.293415017,673,0.405211233201,0.00450194738871,0.0798126161201,0.999999946771,0.000130743068755,-0.000294586446897,5.08238811256e-05,1793256187604523520
+363,6.050000000,POSE2_TO_POSE3_RETREAT,790,749,728.129602653,708,695,653,931,801.870397347,836,666.129602653,656.870397347,673,0.404814592631,0.00450420131564,0.0798266411172,0.999999949141,0.000139157667716,-0.000282258764041,5.17940003683e-05,1793256187621189888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.444032335,931,802,836,666,656.555967665,673,0.404441657846,0.00450466278926,0.0798342827164,0.999999950323,0.000139119372272,-0.000277760376181,5.33664510732e-05,1793256187637856512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.983175723,931,802,836,666,656.016824277,673,0.404076382002,0.00450460441171,0.0798398496909,0.999999951142,0.000136461289611,-0.000275803145153,5.50098374107e-05,1793256187654523136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,653.406166386,931,802,836,666,656.593833614,673,0.403737461495,0.00450452637525,0.0798379116786,0.999999950352,0.000128108054368,-0.000282938007183,5.32052188491e-05,1793256187671190272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,790,748.824582201,728,708,695,653.175417799,930.824582201,802,836,666,656.824582201,673,0.403416072161,0.00450396224413,0.0798358634108,0.999999949306,0.000122753960111,-0.000289071160377,5.25048171613e-05,1793256187687857152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,748.232121739,728,708,695,653.767878261,930.232121739,802,836,666,656.232121739,673,0.403136361928,0.00450224245941,0.0798335530195,0.999999947892,0.000124530099858,-0.000292822824977,5.4429608553e-05,1793256187704524032
+369,6.150000000,POSE2_TO_POSE3_RETREAT,790.35022246,748.35022246,728,708,695,654,930.35022246,802,836,666,656,673,0.402881155303,0.00450055088213,0.0798344601989,0.99999994894,0.000117380877863,-0.00029226211883,5.40770516982e-05,1793256187721190400
+370,6.166666667,POSE2_TO_POSE3_RETREAT,790.926050056,748.926050056,728,708,695,654,930.926050056,802,836,666,656,673,0.402641733302,0.00449887747523,0.0798374400622,0.999999951438,0.000104482146269,-0.000288923484409,5.22574804272e-05,1793256187737857024
+371,6.183333333,POSE2_TO_POSE3_RETREAT,791,749,728,708,695,653.500197564,931,802,836,666,656.499802436,673,0.402434742694,0.00449544886503,0.0798383697406,0.999999953304,9.38572757385e-05,-0.000286134310764,5.20530147095e-05,1793256187754523392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,790.924076637,749,728,708,695,653.075923363,930.924076637,801.924076637,836,666,656.924076637,673,0.402236859711,0.00449200340427,0.0798394298031,0.999999955031,8.45526790654e-05,-0.000282940883174,5.22843636791e-05,1793256187771190272
+373,6.216666667,POSE2_TO_POSE3_RETREAT,790.32969321,749,728,708,695,653.67030679,930.32969321,801.32969321,836,666,656.32969321,673,0.402068537997,0.00449020894135,0.0798434430983,0.999999956981,8.19759342732e-05,-0.000276434052116,5.38666704902e-05,1793256187787856896
+374,6.233333333,POSE2_TO_POSE3_RETREAT,790,748.744000176,728,708,695,653.744000176,930.255999824,801.255999824,836.255999824,666,656,673,0.401913312886,0.00449018522778,0.0798477075726,0.999999958587,8.39774097867e-05,-0.000269669150717,5.52399324404e-05,1793256187804523520
+375,6.250000000,POSE2_TO_POSE3_RETREAT,790,748.169131766,728,708,695,653.169131766,930.830868234,801.830868234,836.830868234,666,656,673,0.401774400668,0.00449236712656,0.0798522849105,0.999999959735,9.16814309082e-05,-0.000262582802117,5.63528119309e-05,1793256187821190144
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790,748,728,708,695,653.406659415,930.593340585,802,837,666,656,673,0.401647712116,0.00449382620135,0.0798503381704,0.999999953665,0.000137385444473,-0.000265688659087,5.66158048111e-05,1793256187837857024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,790,748,728,708,695,653.982835239,930.017164761,802,837,666,656,673,0.401526119014,0.00449498396613,0.0798456718614,0.99999994134,0.000198929794638,-0.000273043147095,5.65245213432e-05,1793256187854523904
+378,6.300000000,POSE2_TO_POSE3_RETREAT,790,748.572789935,728,708,695,654,930,801.427210065,836.427210065,666,656.572789935,673,0.401423835935,0.00449708578804,0.0798393919017,0.999999944041,0.000169799818662,-0.000283785390486,5.05191159575e-05,1793256187871190272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,694.840024765,653.840024765,930,801.159975235,836,666,656.840024765,673,0.4013295697,0.00449651523472,0.0798333582972,0.999999945579,0.000144135332899,-0.000293066549743,4.66728952232e-05,1793256187887856640
+380,6.333333333,POSE2_TO_POSE3_RETREAT,790,749,728,708,694.26119821,653.26119821,930,801.73880179,836,666,656.26119821,673,0.401254740978,0.00448887190211,0.0798280994354,0.999999945235,0.000134833975558,-0.000298249903692,4.89553698715e-05,1793256187904523264
+381,6.350000000,POSE2_TO_POSE3_RETREAT,790,748.685111473,728,708,694.314888527,653,930,801.685111473,836,666,656,673,0.401191781719,0.00448624854344,0.0798249745719,0.999999944514,0.000130780729975,-0.0003022161729,5.03384278414e-05,1793256187921189888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,790,748.111277733,728,708,694.888722267,653,930,801.111277733,836,666,656,673,0.401138583179,0.00448775330583,0.0798236045783,0.999999943546,0.000131043211966,-0.000305181586071,5.09818603768e-05,1793256187937856512
+383,6.383333333,POSE2_TO_POSE3_RETREAT,790,748.464474455,728,708,695,653,930,801.464474455,836,666,656,673,0.401101381971,0.00448788501422,0.0798258388807,0.999999944971,0.00012979940512,-0.000300887555254,5.17347521456e-05,1793256187954523392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,790,748.958238586,728,707.958238586,695,653.041761414,930.041761414,802,836,666,656,673,0.401068699605,0.00448750734002,0.0798287395854,0.999999946825,0.000128089134887,-0.000295274675253,5.24970934287e-05,1793256187971190016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,790,748.366825359,728,707.366825359,695,653.633174641,930.633174641,802,836,666,656,673,0.401044840054,0.00448477286204,0.0798289988928,0.999999947182,0.000125008815524,-0.000295289281654,5.30372229619e-05,1793256187987856896
+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,748,728,707,695,653.780555274,930.780555274,802,836.219444726,666,656,673,0.40102482791,0.00448478952444,0.0798292289768,0.999999947187,0.000125428157318,-0.000295048471974,5.32992253381e-05,1793256188004523776
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,748,728,707,695,653.202685651,930.202685651,802,836.797314349,666,656,673,0.40101109984,0.00448929969762,0.0798294113297,0.999999946602,0.00013156358874,-0.000294390484428,5.31069552145e-05,1793256188021190400
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,748.373555862,728,707.373555862,695,653.373555862,930,802,837,666,656,673,0.401000255589,0.00448845678504,0.0798292843837,0.999999946752,0.000130604748706,-0.00029429145178,5.31985130096e-05,1793256188037857024
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,748.948917803,728,707.948917803,695,653.948917803,930,802,837,666,656,673,0.400990969264,0.00448472197485,0.0798289903452,0.999999947294,0.000125813370271,-0.000294494383351,5.34434031644e-05,1793256188054523392
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,748.475454136,728,708,695,654,930.524545864,802,836.475454136,666,656,673,0.400986003632,0.00448601898897,0.0798293596394,0.999999947268,0.000126430019342,-0.000294317154613,5.34424146525e-05,1793256188071190016
+391,6.516666667,POSE2_TO_POSE3_RETREAT,790,748,728,707.897069025,695,653.897069025,930.897069025,802,836,666,656.102930975,673,0.400982222699,0.00448729486725,0.0798299741777,0.999999947341,0.000127154465606,-0.000293765314751,5.34067922974e-05,1793256188087856896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,790,748,728,707.305724772,695,653.305724772,930.305724772,802,836,666,656.694275228,673,0.400982065664,0.00448614411345,0.0798314457373,0.999999948136,0.000125890146153,-0.000291611681873,5.33205063942e-05,1793256188104523776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,790,748.279175407,728,707,695,653.279175407,930.279175407,802,836,666,656.720824593,673,0.40098259,0.00448574834144,0.0798330379775,0.999999949087,0.000124938017759,-0.000288752675692,5.32729027834e-05,1793256188121190400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,790,748.857177973,728,707,695,653.857177973,930.857177973,802,836,666,656.142822027,673,0.40098384367,0.00448616069588,0.0798347593935,0.999999950202,0.000124320056059,-0.000285138643211,5.3266704383e-05,1793256188137857024
+395,6.583333333,POSE2_TO_POSE3_RETREAT,790,749,728,707.430134757,695,654,931,802,836,666,656,673,0.400983742923,0.00448585149913,0.079835769262,0.999999950699,0.000124280348187,-0.000283387928698,5.33580891115e-05,1793256188154523648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930.998554446,802,836,666,656,673,0.400983197558,0.00448530664632,0.0798365415696,0.999999950995,0.000124427802485,-0.000282253195903,5.34797965528e-05,1793256188171190272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,790,749,728,708,695,654,930.423264537,802,836,666,656,673,0.4009826082,0.00448521830873,0.0798357109013,0.999999950956,0.000123537130855,-0.000282888476182,5.29254151816e-05,1793256188187856896
+398,6.633333333,POSE2_TO_POSE3_RETREAT,790,748.842431991,728,708,695,654,930.157568009,802,836,666,656,673,0.400982001678,0.00448524998791,0.0798352291485,0.999999950878,0.00012309176732,-0.000283418965747,5.26005722578e-05,1793256188204523520
+399,6.650000000,POSE2_TO_POSE3_RETREAT,790,748.246167834,728,708,695,654,930.753832166,802,836,666,656,673,0.40098134737,0.00448561581419,0.0798357188361,0.999999950695,0.000123886217343,-0.000283657700086,5.29148034609e-05,1793256188221190400
+400,6.666666667,POSE2_TO_POSE3_RETREAT,790,748.338290567,728,708,695,653.661709433,930.661709433,802,836,666,656,673,0.400981560815,0.00448626687806,0.0798365306725,0.999999950821,0.000124600158903,-0.000282918906431,5.28234463533e-05,1793256188237857024
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ab7a32871f8281419620059e7659940c0bf5f5c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8907b18911765efd67c6bd2d3ef85be1f7a782ab
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65bda98fa63ba7e541a7a001c1cf9d2517a8f35a0e57c695b41cf147efaf6a3
+size 25877187
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42d7b0c4d569bbf2ce87ab2972233c63502bd3b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,769,745,721,684.849039417,666,643,887,788,818,654.849039417,632,656,0.400772951634,-0.00543667494501,0.059862155932,0.99999992966,-7.76879291696e-05,-0.000364899511339,-3.86263266365e-05,1793250437411911680
+18,0.300000000,BASELINE,769,745,721,685,666,643,887,788,818,654.565640673,632.434359327,656,0.400774108635,-0.00543796649924,0.0598629237009,0.999999929964,-7.9898702284e-05,-0.000363598186792,-3.8526496709e-05,1793250437428578560
+19,0.316666667,BASELINE,769,745,721,685,665.977309327,642.977309327,887,788.022690673,818,654,632.977309327,656.022690673,0.400775649073,-0.00543999611383,0.0598639670546,0.999999930338,-8.30150973407e-05,-0.000361898177268,-3.82292514126e-05,1793250437445245440
+20,0.333333333,BASELINE,769,745,721,685,665.398132028,642.398132028,887,788.601867972,818,654,632.398132028,656.601867972,0.400774163684,-0.00543956084767,0.0598638869645,0.999999930192,-8.0884487568e-05,-0.00036280978556,-3.79754579763e-05,1793250437461912064
+21,0.350000000,BASELINE,769,745,721,685,665.180000822,642,887,788.819999178,818,654,632,656.819999178,0.400773393165,-0.00543922390995,0.0598637605545,0.999999930058,-8.01590476512e-05,-0.000363345668267,-3.79395884463e-05,1793250437478578944
+22,0.366666667,BASELINE,769,745,721,685,665.755836774,642,887,788.244163226,818,654,632,656.244163226,0.400774194697,-0.00543910320377,0.0598635322836,0.999999929954,-8.25236805425e-05,-0.000363055302484,-3.83829497505e-05,1793250437495245312
+23,0.383333333,BASELINE,769,745.32991007,721,684.67008993,665.67008993,642.32991007,887,788,818,654,632,656,0.400774886745,-0.00543932594195,0.0598635905063,0.999999930093,-8.30702607972e-05,-0.00036254366039,-3.84096934172e-05,1793250437511911936
+24,0.400000000,BASELINE,769,745.902685835,721,684.097314165,665.097314165,642.902685835,887,788,818,654,632,656,0.400775498194,-0.00543980150916,0.0598638596335,0.999999930414,-8.22784686461e-05,-0.000361869124104,-3.81297410304e-05,1793250437528578816
+25,0.416666667,BASELINE,769,745.504950366,721,684,665.495049634,643,887,788,818.495049634,654,632,656.495049634,0.400775433251,-0.00543878865487,0.0598635454997,0.999999930395,-8.17826382493e-05,-0.000362027207017,-3.81760583498e-05,1793250437545245440
+26,0.433333333,BASELINE,769,745,721,684.088156322,666,643,887,788,818.911843678,654,632,656.911843678,0.400774895412,-0.00543785433681,0.0598630925056,0.999999930159,-8.15685265327e-05,-0.000362717186064,-3.82741916867e-05,1793250437561911808
+27,0.450000000,BASELINE,769,745,721,684.663222881,666,643,887,788,818.336777119,654,632,656.336777119,0.400772510281,-0.00543903639856,0.0598625319051,0.999999929098,-8.25758464257e-05,-0.00036540372104,-3.82896827944e-05,1793250437578578688
+28,0.466666667,BASELINE,769,745,721,685,665.762838793,643,887,788.237161207,818,654,632.237161207,656.237161207,0.40077242302,-0.00543940463395,0.059862853383,0.999999928964,-8.31960904478e-05,-0.000365628754739,-3.82939427903e-05,1793250437595245312
+29,0.483333333,BASELINE,769,745,721,685,665.190495043,643,887,788.809504957,818,654,632.809504957,656.809504957,0.400775583364,-0.00543862267952,0.0598644215119,0.999999930143,-8.32692758262e-05,-0.000362374921463,-3.82823297313e-05,1793250437611911936
+30,0.500000000,BASELINE,769,745.395196025,721,684.604803975,665.395196025,643,887,789,818,654,632.604803975,656.604803975,0.400774839983,-0.00543922563151,0.0598634948611,0.999999929784,-8.36329566783e-05,-0.000363275028573,-3.83237443347e-05,1793250437628578560
+31,0.516666667,BASELINE,769,745.987545729,721,684.012454271,665.987545729,643,887,789,818,654,632.012454271,656.012454271,0.400772149129,-0.00544051947963,0.0598613236254,0.999999928655,-8.41415586501e-05,-0.000366247435545,-3.83916131484e-05,1793250437645244928
+32,0.533333333,BASELINE,769,745.432478972,721,684.567521028,666,643,887.567521028,788.432478972,818.567521028,654,632,656,0.400773586633,-0.00543929883495,0.0598628186887,0.999999929635,-8.19726228019e-05,-0.000364046943201,-3.84778037396e-05,1793250437661911552
+33,0.550000000,BASELINE,769,745,721,685,666,643,887.854025154,788,819,654,632,656,0.400774458999,-0.00543851393113,0.0598638023538,0.999999930261,-8.06304590459e-05,-0.000362623495062,-3.84847107182e-05,1793250437678578432
+34,0.566666667,BASELINE,769,745,721,685,666,643,887.279260017,788,819,654,632,656,0.40077341087,-0.00543916761426,0.0598630525303,0.999999929737,-8.18857935697e-05,-0.000363808896537,-3.8257572092e-05,1793250437695245824
+35,0.583333333,BASELINE,769,745,721,685,665.704227062,643,887,788,818.704227062,654,632,656.295772938,0.400772291396,-0.00543920006793,0.059862107565,0.999999929171,-8.28854904153e-05,-0.000365136691612,-3.82473014969e-05,1793250437711912704
+36,0.600000000,BASELINE,769,745,721,685,665.128940946,643,887,788,818.128940946,654,632,656.871059054,0.400771104497,-0.00543864544354,0.0598609781855,0.999999928566,-8.36436031017e-05,-0.000366599052512,-3.84419768482e-05,1793250437728578816
+37,0.616666667,BASELINE,769,745,721,685,665.458463647,642.541536353,887,788,818,654,632,656.541536353,0.400771836033,-0.00543877996707,0.0598618920851,0.999999929226,-8.31657835373e-05,-0.000364908722296,-3.83813853936e-05,1793250437745245184
+38,0.633333333,BASELINE,769.048382635,745,721,684.951617365,666,642,887,788,818,654,632,656,0.40077298504,-0.0054389782223,0.059863144401,0.999999930095,-8.22941921936e-05,-0.000362729293973,-3.82891596452e-05,1793250437761911552
+39,0.650000000,BASELINE,769.627481947,745,721,684.372518053,666,642,887,788,818,654,632,656,0.400772634256,-0.00543769179696,0.0598616341409,0.999999929294,-8.10196638086e-05,-0.000365175081128,-3.86588187712e-05,1793250437778578432
+40,0.666666667,BASELINE,769.794704965,745,721,684,666,642,887,788,818,654,632.205295035,656,0.400772207003,-0.00543771315106,0.0598607658982,0.999999928685,-8.12261132076e-05,-0.000366791017134,-3.86867057634e-05,1793250437795245056
+41,0.683333333,BASELINE,769.219211301,745,721,684,666,642,887,788,818,654,632.780788699,656,0.40077164186,-0.00544009276082,0.0598610553748,0.999999928426,-8.41031384638e-05,-0.000366910522457,-3.80982915351e-05,1793250437811911936
+42,0.700000000,BASELINE,769,745,721,684,666,642,887,788.362652392,818,654,632.637347608,656,0.400771805515,-0.00543995111884,0.0598616369751,0.999999928635,-8.43746167938e-05,-0.000366261041975,-3.82575703014e-05,1793250437828578304
+43,0.716666667,BASELINE,769,745,721,684,666,642,887,788.948435376,818,654,632.051564624,656,0.400772417581,-0.0054382582161,0.0598623983114,0.999999929133,-8.30429697088e-05,-0.000365138424507,-3.88768851577e-05,1793250437845244928
+44,0.733333333,BASELINE,769.52833082,745,721,684.52833082,666,642.52833082,887,788.47166918,818,654,632,656,0.400771618924,-0.00543838882483,0.0598623917014,0.999999929048,-8.25700900635e-05,-0.000365502640473,-3.86624828919e-05,1793250437861911552
+45,0.750000000,BASELINE,770,745,721,685,665.892793452,643,887.107206548,788,818,654,632,656,0.400771089265,-0.00543886306453,0.0598624311319,0.999999928974,-8.26757881695e-05,-0.000365709484052,-3.8378588562e-05,1793250437878578432
+46,0.766666667,BASELINE,770,745,721,685,665.315895687,643,887.684104313,788,818,654,632,656,0.400772334707,-0.00544007167442,0.0598629970291,0.999999929198,-8.495317839e-05,-0.000364598088384,-3.81428050544e-05,1793250437895245056
+47,0.783333333,BASELINE,769.740539426,745,721,685,665.259460574,643,887.740539426,788,818,654,632,656,0.400772520385,-0.005440340988,0.0598625194158,0.999999929091,-8.49277878476e-05,-0.000364891131837,-3.82084547363e-05,1793250437911911680
+48,0.800000000,BASELINE,769.167048801,745,721,685,665.832951199,643,887.167048801,788,818,654,632,656,0.40077142341,-0.0054394734536,0.0598607788221,0.99999992858,-8.21152983835e-05,-0.000366883994445,-3.86389346923e-05,1793250437928578560
+49,0.816666667,BASELINE,769,745,720.582372455,685,666,642.582372455,887,788.417627545,818,654,632,656.417627545,0.400771241772,-0.00543786065729,0.0598607428625,0.999999928452,-8.0740907533e-05,-0.000367524699554,-3.87732729575e-05,1793250437945245184
+50,0.833333333,BASELINE,769,745,720.006812077,685,666,642.006812077,887,788.993187923,818,654,632,657,0.400771447436,-0.00543598866123,0.0598614094843,0.999999928489,-7.99853904337e-05,-0.000367587504328,-3.87805195755e-05,1793250437961911808
+51,0.850000000,BASELINE,769,745,720.588474109,685,666,642.588474109,887,788.411525891,818,654,632,657,0.400772589346,-0.00543809170995,0.0598622424964,0.99999992904,-8.15767478571e-05,-0.000365780331519,-3.83340576019e-05,1793250437978578688
+52,0.866666667,BASELINE,769,745.168292551,721,685,665.831707449,643,887,788,818,654,632,656.831707449,0.400772750495,-0.00543953419518,0.0598624780427,0.999999929206,-8.24174932951e-05,-0.000365160498653,-3.81226114972e-05,1793250437995245312
+53,0.883333333,BASELINE,769,745.743651677,721,685,665.256348323,643,887,788,818,654,632,656.256348323,0.400770539376,-0.00543937890713,0.0598612684372,0.999999928447,-8.14426559045e-05,-0.000367412607647,-3.84796225743e-05,1793250438011911680
+54,0.900000000,BASELINE,769.317346161,745.682653839,721,684.682653839,665,643,887.317346161,788,818,654,632,656.317346161,0.400770671858,-0.00543910432558,0.0598615557035,0.999999928602,-8.13450623298e-05,-0.00036700145307,-3.85877508413e-05,1793250438028578304
+55,0.916666667,BASELINE,769.889702956,745.110297044,721,684.110297044,665,643,887.889702956,788,818,654,632,656.889702956,0.400772687592,-0.00543873388306,0.0598630458149,0.999999929489,-8.19523977721e-05,-0.000364450173128,-3.84958837193e-05,1793250438045244928
+56,0.933333333,BASELINE,769.520120376,745,721,684,665.479879624,643,887.520120376,787.520120376,818,654,632,656.520120376,0.400772252203,-0.00543844898619,0.0598632113502,0.999999929305,-8.05826051855e-05,-0.000365271813729,-3.8388207059e-05,1793250438061911808
+57,0.950000000,BASELINE,769,745,721,684,665.927595316,642.927595316,887.072404684,787.072404684,818,654,632,656,0.400771349741,-0.00543820787988,0.0598629955295,0.999999928902,-7.91974762996e-05,-0.000366680283937,-3.83264765022e-05,1793250438078578432
+58,0.966666667,BASELINE,769,745,721,684,665.348406671,642.348406671,887.651593329,787.651593329,818,654,632,656,0.400771273397,-0.00543813034937,0.059862323563,0.99999992879,-8.10083708741e-05,-0.000366560722053,-3.86127521667e-05,1793250438095244800
+59,0.983333333,BASELINE,769.228667055,745,721,684,665,642.228667055,887.771332945,788,818,654,632,656,0.400771447368,-0.00543853869185,0.0598619625488,0.999999928812,-8.20478462678e-05,-0.000366261290835,-3.86764826234e-05,1793250438111911424
+60,1.000000000,BASELINE,769.802548018,745,721,684,665,642.802548018,887.197451982,788,818,654,632,656,0.400771999236,-0.00543968054667,0.0598620709727,0.999999929042,-8.19227264003e-05,-0.0003656903146,-3.840424124e-05,1793250438128578048
+61,1.016666667,BASELINE,769.614156266,745,721,684.385843734,665.385843734,642.614156266,887,788,818,654,632,656,0.400772795227,-0.00544090213447,0.0598624631801,0.999999929099,-8.5003388126e-05,-0.000364833165968,-3.83871580542e-05,1793250438145244928
+62,1.033333333,BASELINE,769.025922172,745,721,684.974077828,665.974077828,642.025922172,887,788,818,654,632,656,0.400773719271,-0.0054421655453,0.0598630042432,0.999999929045,-8.97656096005e-05,-0.000363825908577,-3.85039154905e-05,1793250438161911552
+63,1.050000000,BASELINE,769,745,721,684.446927638,666,642.553072362,887,788,818,654,631.446927638,656,0.400773852754,-0.00543993450827,0.0598633743929,0.999999929622,-8.42110121053e-05,-0.00036357736009,-3.84211205711e-05,1793250438178578432
+64,1.066666667,BASELINE,769,745,721,684.130554796,665.869445204,643,887,788,818,654,631.130554796,656.130554796,0.400773961781,-0.00543844165723,0.0598637115084,0.999999930034,-8.01695607485e-05,-0.000363368523993,-3.83174917449e-05,1793250438195245056
+65,1.083333333,BASELINE,769,745,721,684.704349622,665.295650378,643,887,788,818,654,631.704349622,656.704349622,0.400774111508,-0.00544000189818,0.059863963221,0.999999929888,-8.28799945886e-05,-0.000363175768456,-3.81743625821e-05,1793250438211911936
+66,1.100000000,BASELINE,769.278788598,745,721,684.721211402,665,643,887,788,818,654,632,656.721211402,0.400773653916,-0.00544004871553,0.0598637838745,0.999999929655,-8.34387634441e-05,-0.000363681405065,-3.8258832789e-05,1793250438228578560
+67,1.116666667,BASELINE,769.853912228,745,721,684.146087772,665,643,887,788,818,654,632,656.146087772,0.400772550781,-0.00543848685714,0.0598631463389,0.999999929331,-8.17104453568e-05,-0.000364929389332,-3.85852270555e-05,1793250438245245184
+68,1.133333333,BASELINE,769.555750615,745,721,684.444249385,665.444249385,643,887,788,818,654,632,656.444249385,0.400772790811,-0.00543804214977,0.0598634236342,0.999999929518,-8.184795003e-05,-0.000364382767939,-3.85892276805e-05,1793250438261911808
+69,1.150000000,BASELINE,769,745.0383909,721,685,666,643,887,788,818.0383909,654,632,656.9616091,0.400773421902,-0.00543805609519,0.0598639233367,0.999999929835,-8.24454368153e-05,-0.000363391112422,-3.8458871821e-05,1793250438278578176
+70,1.166666667,BASELINE,769,745.613303446,721,685,666,643,887,788,818.613303446,654,632,656.386696554,0.400773126577,-0.00543916374358,0.0598631779151,0.999999929521,-8.05925736599e-05,-0.000364719815114,-3.798499582e-05,1793250438295244800
+71,1.183333333,BASELINE,769,745.812000479,721,685,666,642.812000479,887,788.187999521,818.812000479,654,632,656,0.400772820151,-0.00543943987706,0.0598626151735,0.999999929353,-7.92308102852e-05,-0.000365499028378,-3.77795619807e-05,1793250438311911680
+72,1.200000000,BASELINE,769,745.237749047,721,685,666,642.237749047,887,788.762250953,818.237749047,654,632,656,0.400772490919,-0.00543800763282,0.0598624277546,0.999999929495,-7.88780290817e-05,-0.000365149295705,-3.81256523207e-05,1793250438328578304
+73,1.216666667,BASELINE,769.346755913,745,721,685,666,642.346755913,887.346755913,788.653244087,818.346755913,654,632,656,0.400772592448,-0.00543757147678,0.0598624066685,0.99999992947,-7.94703553574e-05,-0.000365084474863,-3.81801274783e-05,1793250438345245184
+74,1.233333333,BASELINE,769.938505263,745,721,685,666,642.938505263,887.938505263,788.061494737,818.938505263,654,632,656,0.400772998324,-0.00543783908695,0.0598625031016,0.999999929325,-8.07304283892e-05,-0.000365220952782,-3.80285677561e-05,1793250438361912064
+75,1.250000000,BASELINE,769.481404179,745,721,684.481404179,666,643,887.481404179,788,818.481404179,654,632,656,0.400771620384,-0.00543675874714,0.0598613487762,0.999999928768,-8.05357546247e-05,-0.000366721772517,-3.86472249637e-05,1793250438378578432
+76,1.266666667,BASELINE,769,745,721,684.096412462,666,643,887.096412462,788,818,654,632,656,0.400770521471,-0.00543635857075,0.0598604434465,0.999999928297,-8.09691470075e-05,-0.000367858926407,-3.91132406433e-05,1793250438395245056
+77,1.283333333,BASELINE,769,745,721,684.669669859,666,643,887.669669859,788,818,654,632,656,0.400771825768,-0.0054400955677,0.0598614870365,0.999999928492,-8.53433026112e-05,-0.000366414865381,-3.83825243073e-05,1793250438411911936
+78,1.300000000,BASELINE,769,745,721,684.7577173,666,643,887.7577173,788,818,654,632.2422827,656,0.40077293775,-0.00544189722265,0.0598626086182,0.999999928863,-8.75044252973e-05,-0.000364928342219,-3.80019247226e-05,1793250438428578304
+79,1.316666667,BASELINE,769,745,721,684.185980966,666,643,887.185980966,788,818,654,632.814019034,656,0.400773788227,-0.00544106721828,0.0598638362521,0.999999929496,-8.66562872273e-05,-0.000363384079584,-3.80974105145e-05,1793250438445245184
+80,1.333333333,BASELINE,769,745,721,684.402169384,665.597830616,643,886.597830616,788,818,654,632.597830616,656,0.400773199241,-0.00544007677688,0.0598635525679,0.999999929489,-8.52151739824e-05,-0.00036372846767,-3.82422921897e-05,1793250438461911808
+81,1.350000000,BASELINE,769,745,721,684.998233338,665.001766662,643,886.001766662,788,818,654,632.001766662,656,0.400771916258,-0.00543900898524,0.0598625402445,0.999999929171,-8.34881744888e-05,-0.000364983415029,-3.84109886981e-05,1793250438478578432
+82,1.366666667,BASELINE,769,745,721,684.422898938,665.577101062,643,886.577101062,788,818,654,632,656.577101062,0.400772378774,-0.00544036718764,0.0598629114539,0.999999929196,-8.41017405418e-05,-0.000364793860827,-3.82121033487e-05,1793250438495245056
+83,1.383333333,BASELINE,769.155341112,745,721,684,666.155341112,643,887,788,818,654,632,656.844658888,0.400772463187,-0.0054408355709,0.0598630711273,0.999999929102,-8.41674339877e-05,-0.000365047499129,-3.81127111083e-05,1793250438511911680
+84,1.400000000,BASELINE,769.732017489,745,721,684,666.732017489,643,887,788,818,654,632,656.267982511,0.400771507986,-0.00543887091702,0.0598626458915,0.999999928679,-8.2728248378e-05,-0.000366514865462,-3.82861400426e-05,1793250438528578304
+85,1.416666667,BASELINE,769.686558524,745,721,684.313441476,666.686558524,643,887,788,818,654,632,656.313441476,0.400770967033,-0.00543862491053,0.0598625531565,0.999999928522,-8.27203652017e-05,-0.000366934640093,-3.83780509404e-05,1793250438545244928
+86,1.433333333,BASELINE,769.101013091,745,721,684.898986909,666.101013091,643,887,788,818,654,632,656.898986909,0.400770785696,-0.00543987089161,0.0598627490713,0.999999928598,-8.39550204692e-05,-0.000366444982193,-3.83991946126e-05,1793250438561911552
+87,1.450000000,BASELINE,769,745,721,685,666,643,887,788,818,654,632,656.521731135,0.400770950139,-0.00544041752186,0.0598620248081,0.999999928314,-8.49966832699e-05,-0.000366975052008,-3.843773861e-05,1793250438578578432
+88,1.466666667,BASELINE,769,745.056206482,721,685,666,643,887.056206482,788,818,654,632,656,0.400771306728,-0.00544056145637,0.0598613039915,0.999999928079,-8.54201039407e-05,-0.000367510491744,-3.84787209305e-05,1793250438595245056
+89,1.483333333,BASELINE,769,745.633786469,721,685,666,643,887.633786469,788,818,654,632,656,0.400772776997,-0.00543832239269,0.0598623946098,0.999999928997,-8.04819006569e-05,-0.000366123766948,-3.85086720282e-05,1793250438611911680
+90,1.500000000,BASELINE,769,745.798154619,721,685,665.798154619,643,887.798154619,788,818,654,632,656.201845381,0.400772822199,-0.00543708685426,0.0598625863716,0.999999929174,-7.81179586391e-05,-0.000366146081511,-3.85596632329e-05,1793250438628578304
+91,1.516666667,BASELINE,769,745.24659198,721,685,665.24659198,643,887.24659198,788,818,654,632,656.75340802,0.400770398334,-0.00543759002369,0.0598612207747,0.999999928099,-8.02141815928e-05,-0.000368609697491,-3.86471085198e-05,1793250438645244928
+92,1.533333333,BASELINE,769,745,721,684.667099511,665.332900489,643,887,788,818,654,632.332900489,656.667099511,0.400770271242,-0.00543815512762,0.059861192228,0.999999928059,-8.1860046467e-05,-0.000368365453235,-3.85663434055e-05,1793250438661911808
+93,1.550000000,BASELINE,769,745,721,684.065023585,665.934976415,643,887,788,818,654,632.934976415,656.065023585,0.400772001266,-0.00543877031036,0.0598622447882,0.999999928855,-8.31417627097e-05,-0.0003659316977,-3.83495673608e-05,1793250438678578432
+94,1.566666667,BASELINE,769.527876536,745,721,684,666,643,887,788,818,654,633,656.527876536,0.400771868825,-0.00543955762399,0.0598621386765,0.999999928894,-8.43274334821e-05,-0.000365568855622,-3.82065137969e-05,1793250438695245312
+95,1.583333333,BASELINE,769.88337687,745,721,684.11662313,666,643,887,788,818.11662313,654,632.88337687,656.88337687,0.400771646355,-0.00544014416368,0.0598619338365,0.999999928873,-8.49808396081e-05,-0.000365482851735,-3.81489575073e-05,1793250438711911936
+96,1.600000000,BASELINE,769.3066341,745,721,684.6933659,666,643,887,788,818.6933659,654,632.3066341,656.3066341,0.400771958357,-0.00543985635509,0.0598618929572,0.999999928975,-8.35801524942e-05,-0.000365499831243,-3.83935022465e-05,1793250438728578560
+97,1.616666667,BASELINE,769,745,721,684.729779653,665.729779653,643,887,788,819,653.729779653,632.270220347,656,0.400771429452,-0.00543923059236,0.0598614017941,0.999999928675,-8.27799971522e-05,-0.000366478500295,-3.86052283046e-05,1793250438745245184
+98,1.633333333,BASELINE,769,745,721,684.152798462,665.152798462,643,887,788,819,653.152798462,632.847201538,656,0.40076994593,-0.00543822117571,0.0598603994578,0.999999927917,-8.26615804656e-05,-0.00036854890318,-3.87796977669e-05,1793250438761911808
+99,1.650000000,BASELINE,769,745.434092435,721,684.434092435,665,642.565907565,887,788.434092435,818.565907565,653.434092435,632.565907565,656,0.400770713592,-0.00543841744126,0.0598610780134,0.999999928384,-8.19895582947e-05,-0.000367447393853,-3.86378242742e-05,1793250438778578688
+100,1.666666667,BASELINE,769.024021324,745.975978676,721,685,665.024021324,642.024021324,887,788.975978676,818,654,632,656,0.400772232199,-0.00543899723219,0.0598623137509,0.999999929251,-8.11632900196e-05,-0.000365289345114,-3.83897666565e-05,1793250438795245568
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+102,1.700000000,BASELINE,769.822055062,745,721,684.822055062,665.822055062,642.822055062,887,788,818,654,632,656,0.400772406386,-0.00543813339737,0.0598625878011,0.999999929337,-8.17367732488e-05,-0.000364936912195,-3.82923981885e-05,1793250438828579328
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+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665,643,887,788,818,654,632,656,0.400769480154,-0.00544051956957,0.0598608953111,0.999999928124,-8.34943826039e-05,-0.000367885510885,-3.795546764e-05,1793250438938359552
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.574985674,642.425014326,887.574985674,788,818,654,632,656,0.400770613307,-0.00543851846865,0.0598611017614,0.999999928528,-8.05193236928e-05,-0.000367416402922,-3.82815740738e-05,1793250438955026432
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,684.847075084,666,642.152924916,887.847075084,788,818,654,632.152924916,656,0.40077127409,-0.00543741930781,0.0598612947487,0.99999992869,-7.89029937587e-05,-0.00036731147641,-3.84210311681e-05,1793250438971693312
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,684.260765385,666,642.739234615,887.260765385,788,818,654,632.739234615,656,0.400770596196,-0.00543887621857,0.0598614495824,0.999999928185,-8.11372617114e-05,-0.000368238629476,-3.80315295155e-05,1793250438988359936
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,684.323850066,666,643,887.323850066,788,818,654,632.676149934,656,0.400770405726,-0.00543923055528,0.0598614763042,0.999999927993,-8.18730503093e-05,-0.000368597810579,-3.80431862661e-05,1793250439005026304
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,684.907108366,666,643,887.907108366,788,818,654,632.092891634,656,0.40077060569,-0.00543870171533,0.0598614004066,0.999999928053,-8.14085367717e-05,-0.00036850203849,-3.83761762857e-05,1793250439021692672
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.486833132,721,684.513166868,666,642.513166868,887.513166868,788,818,654,632,656,0.400772833572,-0.00543862245972,0.0598629396122,0.999999928451,-8.13979292848e-05,-0.00036743561951,-3.82561419038e-05,1793250439038359296
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745.935062641,721,684.064937359,665.935062641,642.064937359,887,788,818,654,632,656,0.400776264881,-0.00543872613089,0.059864721754,0.999999928948,-8.16321526123e-05,-0.000366048876495,-3.80567532379e-05,1793250439055025920
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745.364366501,721,684.635633499,665.364366501,642.635633499,887,788,818,654,632,656,0.400786077007,-0.00543959120221,0.0598660130887,0.999999929726,-8.31035339197e-05,-0.000363599393419,-3.79077048925e-05,1793250439071692800
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745.213606769,721,685,665.213606769,643,887,788,817.786393231,654,632,656,0.400800231644,-0.00544056739198,0.0598675578214,0.99999993034,-8.44654839237e-05,-0.000361602134077,-3.7819938995e-05,1793250439088359680
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.804430976,721,685,665.804430976,643,887,788,817.195569024,654,632,656,0.400822054909,-0.00544173981054,0.0598695500403,0.999999930672,-8.56341842969e-05,-0.000360403476469,-3.78403944407e-05,1793250439105026304
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.386449005,745.613550995,721,684.613550995,665.613550995,643,887,788,817.386449005,654,632,656,0.400853388276,-0.00544168807492,0.0598697863832,0.999999930579,-8.5440050555e-05,-0.000360664492522,-3.8261262743e-05,1793250439121692672
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.964109862,745.035890138,721,684.035890138,665.035890138,643,887,788,817.964109862,654,632,656,0.400889427167,-0.00544103063779,0.0598691539331,0.999999930273,-8.45715975877e-05,-0.000361647743222,-3.88802520993e-05,1793250439138359296
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745,721,684.539502683,665.539502683,643,887.539502683,788,818.539502683,654,632,656.539502683,0.400939174667,-0.00544131433718,0.0598657293008,0.999999929126,-8.36673655939e-05,-0.000364917835446,-3.97797714733e-05,1793250439155026176
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.882606401,745,721,685,666,643,887.882606401,788,819,654,632,657,0.400994480921,-0.00544251456738,0.0598627980411,0.9999999282,-8.37169952604e-05,-0.000367347673803,-4.05873730131e-05,1793250439171692544
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.294086937,745,721,685,666,643,887.294086937,788,819,654,632,657,0.401068451113,-0.00544714282365,0.0598625891195,0.99999992842,-8.76041896701e-05,-0.000365797414526,-4.09515071537e-05,1793250439188359424
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,685,666,643,887,788,818.710366519,654,632,656.710366519,0.401156153099,-0.00544957096559,0.0598637939336,0.99999992984,-8.98087544675e-05,-0.000361275206032,-4.16382016631e-05,1793250439205025792
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,685,666,643,887,788,818.13143955,654,632,656.13143955,0.401257570755,-0.00544980157557,0.059866410824,0.999999932429,-9.03326646057e-05,-0.000353784537088,-4.26470778738e-05,1793250439221692416
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,685,666,643,887,788.446199347,818.446199347,654,632,656.446199347,0.401380695039,-0.00545119307109,0.059869547593,0.999999935103,-9.00524144097e-05,-0.000346040986774,-4.40535045164e-05,1793250439238359296
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.976577936,643,887,788.976577936,819,654,632,657,0.401511421149,-0.00545294512176,0.0598729463349,0.999999937868,-8.96742431273e-05,-0.000337856732057,-4.55667741684e-05,1793250439255026176
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665.400248214,643,887,788.400248214,819,654,632,657,0.401671088181,-0.00545515916321,0.0598789245374,0.999999943091,-9.25604241991e-05,-0.000321022520332,-4.68456659064e-05,1793250439271692544
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.179250176,721,685,665,643,887.179250176,788,818.820749824,654,632,656.820749824,0.401837246563,-0.00545807770788,0.0598826515477,0.999999946532,-9.58925711172e-05,-0.000308890145477,-4.8251111189e-05,1793250439288359168
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.765951134,721,685,665,643,887.765951134,788,818.234048866,654,632,656.234048866,0.402018160309,-0.00546259764753,0.0598812614075,0.999999946468,-0.000100238435711,-0.000307445445253,-4.9944223214e-05,1793250439305025536
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+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721,685,666,643,887,788,818,654,632,656,0.402699271898,-0.00546913697271,0.0598801144103,0.999999949813,-0.000105829111927,-0.000293157240553,-5.68600387535e-05,1793250439355025664
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+142,2.366666667,POSE1_TO_POSE2_PRESS,769.313547468,745,720.313547468,686,665.313547468,643,889,788.686452532,818,654,632,656.686452532,0.406413374541,-0.00547288048583,0.0598810070238,0.999999937918,-0.000200556681186,-0.000276346160701,-8.70243995028e-05,1793250439521692672
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+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694,665,641.093667466,892,788,824,654,632,657,0.446361068948,-0.00553880451539,0.0597277681907,0.999999879192,-0.000123351046555,-0.00046919001843,-7.91249550098e-05,1793250440371692288
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.519171707,747,722,694,664.519171707,641,891.519171707,787.519171707,824.480828293,654,632.480828293,657,0.446927337269,-0.00554000278847,0.0597184969639,0.999999876754,-0.00012364340028,-0.000474198993283,-7.96262212439e-05,1793250440388359168
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.055752104,747,722,694,664,640.944247896,891.055752104,787,825,654,632.944247896,656.944247896,0.447493477282,-0.00554194802065,0.0597155780439,0.999999879612,-0.000125100595661,-0.000467678016217,-8.00203720173e-05,1793250440405025792
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.643077166,747,722,694,664,640.356922834,891.643077166,787,825,654,632.356922834,656.356922834,0.448054296436,-0.00554671864216,0.0597345265822,0.999999892581,-0.000130690667248,-0.000437595617325,-7.91732960788e-05,1793250440421692672
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722,694,664,640,891.772664129,787,825,654,632,656.227335871,0.448572919615,-0.00554986003299,0.0597380858011,0.999999894952,-0.000132806606525,-0.000431616264458,-7.85217073278e-05,1793250440438359552
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722,694,664,640,891.193155662,787,825,654,632,656.806844338,0.449026175732,-0.00555047753482,0.0597178049768,0.999999881381,-0.000129540666123,-0.000462975642942,-7.81729535709e-05,1793250440455025920
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722,694,663.614967518,640,891,787,825,654,632,656.614967518,0.449445945027,-0.00555427067105,0.059688007559,0.999999858862,-0.000132908746507,-0.000508359202184,-7.86274385878e-05,1793250440471692544
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722,694,663.037439414,640,891,787,825,654,632,656.037439414,0.449848972747,-0.0055596514545,0.0596534523523,0.999999829875,-0.000139593481485,-0.000560754102639,-7.94834997913e-05,1793250440488359168
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,722,694,663,639,892,786,825,654.114524803,631.114524803,657,0.450615193944,-0.00555862211913,0.0596269923029,0.999999816155,-0.000133716405691,-0.000585926337156,-8.0625623431e-05,1793250440521694208
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,722,694,663,639,892,786,825,654.701626643,631.701626643,657,0.450992931822,-0.00556023024512,0.0596409177348,0.999999829916,-0.000134706777284,-0.000561828687664,-7.98191489027e-05,1793250440538360064
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,722,694.285351145,663,639,892,786,825.285351145,655,632,657,0.451346669071,-0.00556311277797,0.0596519961788,0.999999839986,-0.000136826487796,-0.000543238987633,-7.8724945457e-05,1793250440555026432
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,722,694.865585456,663,639,892,786,825.865585456,655,632,657,0.451675603939,-0.00556731228856,0.0596601325317,0.999999846563,-0.000140113262241,-0.000530341229135,-7.73334017199e-05,1793250440571693312
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,722,695,662.557112131,639,892,786,826,655,632,657,0.451973670687,-0.00557043977993,0.0596671084805,0.999999853804,-0.000142111286141,-0.000516090821412,-7.64603471573e-05,1793250440588360192
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722,694.980760729,662,638.980760729,892,785.980760729,826,654.980760729,631.980760729,656.980760729,0.452260281305,-0.00557311638057,0.0596731788608,0.999999860627,-0.000143566682127,-0.000502387534576,-7.57704100156e-05,1793250440605027328
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722,694.406343715,662,638.406343715,892,785.406343715,826,654.406343715,631.406343715,656.406343715,0.452484867925,-0.0055721086669,0.0596632134985,0.99999985399,-0.000140576162095,-0.00051624057815,-7.58536266516e-05,1793250440621693440
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,722,694,662,638,892,785,826,654,631,656.172675635,0.452701688258,-0.00557176770976,0.0596543118871,0.99999984754,-0.000138579634048,-0.000529138688051,-7.5684800563e-05,1793250440638359552
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722,694,662,638,892,785,826,654,631,656.762821771,0.452899732337,-0.00557303874156,0.0596479820624,0.999999841883,-0.000138986238424,-0.0005397280938,-7.49066215654e-05,1793250440655026176
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661.652140411,637.652140411,892,785,826,654.347859589,631,657,0.453077279428,-0.00557498466628,0.0596422104141,0.999999836082,-0.000139614867668,-0.000550269521278,-7.44794556209e-05,1793250440671693056
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661.070535091,637.070535091,892,785,826,654.929464909,631,657,0.453241053501,-0.00557738408831,0.0596368138344,0.999999830149,-0.000140392687503,-0.000560778710595,-7.42881543103e-05,1793250440688359680
+213,3.550000000,POSE1_TO_POSE2_PRESS,770.503365793,747,722,694,661,637,892,785,826,655,631,657,0.453378788127,-0.00557886250255,0.0596325749591,0.999999825042,-0.00014295523259,-0.000569194555637,-7.41465050875e-05,1793250440705026560
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.923492568,747,722,694,661.076507432,637,892,784.923492568,826,654.923492568,631,657,0.45350944527,-0.00557992554658,0.0596284339149,0.999999820141,-0.000144959985815,-0.000577262620453,-7.39722321924e-05,1793250440721693696
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.348368917,747,722,694,661.651631083,637,892,784.348368917,826,654.348368917,631,657,0.453617398664,-0.00557910995004,0.0596238891332,0.999999816171,-0.000141724175256,-0.00058494703041,-7.35406827787e-05,1793250440738360320
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661.765964656,637,892,784.234035344,826,654,631,657,0.453719829479,-0.00557909079982,0.0596211509774,0.999999814359,-0.000139989533732,-0.000588497190022,-7.31872069657e-05,1793250440755026688
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661.172375046,637,892,784.827624954,826,654,631,657,0.453813775812,-0.00558029524976,0.0596211883854,0.99999981594,-0.000140561175385,-0.000585695798573,-7.29536775803e-05,1793250440771693312
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,722,694.410815057,661,637,892,785,826,654,631,657,0.453891392278,-0.00558161143538,0.0596234797248,0.999999817939,-0.000142067832305,-0.000581935866921,-7.27297160822e-05,1793250440788359936
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,747,722,694.989749321,661,637,892,785,826,654,631,657,0.453962326015,-0.00558297334692,0.0596266934481,0.999999820092,-0.000143957128606,-0.000577783668748,-7.25096700871e-05,1793250440805026304
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,722,695,661,637,892,785,826,654.564117745,631,657,0.45401548844,-0.00558240048101,0.0596274017686,0.999999821059,-0.000142975857022,-0.000576366712792,-7.23942591515e-05,1793250440821692672
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,722,695,661,637,892,784.858505996,826,655,631,657,0.454063572575,-0.00558208960079,0.0596274840208,0.999999821447,-0.000142181746692,-0.000575916508333,-7.21821904397e-05,1793250440838359296
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,747,722,695,661,637,892,784.271397931,826,655,631,657,0.45409667223,-0.00558271363842,0.0596257367913,0.999999820083,-0.000142140028856,-0.000578355668466,-7.16597727241e-05,1793250440855026432
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,722,694.688448659,661,637,891.688448659,784.311551341,826,655,631.311551341,657,0.454125334328,-0.00558222972629,0.0596250352833,0.99999981965,-0.000141050973799,-0.000579424598576,-7.12184342964e-05,1793250440871693056
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,722,694.109074398,661,637,891.109074398,784.890925602,826,655,631.890925602,657,0.454150181716,-0.00558079337299,0.0596252327223,0.999999820018,-0.000139061582659,-0.000579315620354,-7.08467950501e-05,1793250440888359936
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,891.466623942,784.533376058,826,654.533376058,632,657,0.454163688729,-0.00558056745095,0.0596229682298,0.99999981785,-0.000138305472095,-0.000583226969758,-7.08335905239e-05,1793250440905026816
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,892,784,826,654,631.958530306,657,0.454174375056,-0.00558058367925,0.0596203163273,0.999999815283,-0.000137856560782,-0.000587712257472,-7.08748605331e-05,1793250440921693440
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,892,784,826,654,631.383684703,657,0.45418261037,-0.00558010370899,0.0596200255193,0.999999815404,-0.00013767993886,-0.00058758688062,-7.05475684244e-05,1793250440938359552
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660.803787419,637,892,784,826,654.196212581,631,657,0.454190264921,-0.0055802645168,0.0596203956015,0.999999815913,-0.000138573231363,-0.000586538753259,-7.03186333177e-05,1793250440955026176
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,722,694,660.213750795,637,892,784,826,654.786249205,631,657,0.454196753805,-0.00558171144916,0.059622092176,0.999999817186,-0.000141613980598,-0.000583638546202,-7.02871134624e-05,1793250440971693312
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660.370091529,636.629908471,892,784,826,655,631,657,0.454199665657,-0.00558111252045,0.0596224926078,0.9999998176,-0.000140128749122,-0.00058333486714,-6.98891406044e-05,1793250440988359680
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660.950415133,636.049584867,892,784,826,655,631,657,0.454200545562,-0.00557935143156,0.0596221567602,0.999999817518,-0.000136072514848,-0.000584506156997,-6.92830025518e-05,1793250441005026048
+232,3.866666667,POSE1_TO_POSE2_PRESS,770.525968513,747,722,694,661,636.525968513,892,784,826,654.474031487,631,657,0.454199392121,-0.00558009658869,0.0596195890176,0.999999815536,-0.000136472568346,-0.000587822889937,-6.90484894217e-05,1793250441021693440
+233,3.883333333,POSE1_TO_POSE2_PRESS,770.898716925,747,722,694,661,636.898716925,892,784,826,654.101283075,631,657,0.454198450194,-0.00558059593666,0.0596172946466,0.999999813728,-0.000136903949649,-0.000590793565878,-6.90295995975e-05,1793250441038360576
+234,3.900000000,POSE1_TO_POSE2_PRESS,770.322432463,747,722,694,661,636.322432463,892,784,826,654.677567537,631,657,0.454199391156,-0.00557884435814,0.0596172602575,0.999999813616,-0.000135529714647,-0.000591201255347,-6.98591197826e-05,1793250441055027200
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,722,694,660.740528675,636,892,784,826,654.740528675,631,657,0.454199990141,-0.00557829585907,0.059616712413,0.999999813499,-0.000135150530477,-0.000591480204116,-6.99162849676e-05,1793250441071693568
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660.151487367,636,892,784,826,654.151487367,631,657,0.454200154763,-0.00557927546261,0.0596155123983,0.999999813375,-0.00013603521945,-0.000591595631711,-6.89924361777e-05,1793250441088360192
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,722.430907913,694,660,636,892,784,826,654,631,656.569092087,0.454200133589,-0.00558032311306,0.0596156729951,0.999999812913,-0.000137563232232,-0.000592079111924,-6.85064721476e-05,1793250441105026816
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,722.989099631,694,660,636,892.010900369,784.010900369,826,654,631,656.010900369,0.454200088872,-0.00558134040309,0.0596163084953,0.999999812372,-0.000139207787637,-0.000592645064498,-6.81828982992e-05,1793250441121693440
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,722.414374767,694,660,636,892.585625233,784.585625233,826,654,631,656.585625233,0.45420215367,-0.00557956871087,0.0596171426408,0.999999813925,-0.000135359891926,-0.000590885830701,-6.84173500716e-05,1793250441138360320
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.835560426,784.835560426,826,654.164439574,631,657,0.454203067698,-0.00557877252759,0.0596172561954,0.999999814433,-0.000133299552025,-0.000590479729891,-6.85454155444e-05,1793250441155026944
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.246178142,784.246178142,826,654.753821858,631,657,0.454201007921,-0.00558049724251,0.0596155076076,0.999999812269,-0.000135858591959,-0.000593570378717,-6.83985588464e-05,1793250441171692800
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747.337034188,722,694,660,636,892,784,826,655,631,657,0.454200369247,-0.00558162115185,0.0596152030406,0.999999811596,-0.000137066746661,-0.000594489726075,-6.78390427138e-05,1793250441188359424
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747.915820822,722,694,660,636,892,784,826,655,631,657,0.454200749922,-0.00558231410715,0.0596159342606,0.999999812,-0.000137305919997,-0.000593851612779,-6.69835286398e-05,1793250441205025792
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+245,4.083333333,HOLD_POSE2,770,747,722,694,660,636,892,784,826,655,631,657,0.454202332256,-0.00557844014349,0.0596145136562,0.999999811974,-0.000134742764878,-0.000594278050275,-6.87790300292e-05,1793250441264867328
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+248,4.133333333,HOLD_POSE2,770,747,722,694.738118391,660,636,892,784,826,654,631,657,0.454201174064,-0.0055796516847,0.0596130255513,0.999999810105,-0.000136688199017,-0.000597057844497,-6.80352389573e-05,1793250441314867712
+249,4.150000000,HOLD_POSE2,770,747,722,694.685462157,660,636.314537843,892.314537843,784,826,654,631,657,0.454202497481,-0.00557962285558,0.0596139516325,0.999999811051,-0.000135902925529,-0.000595678419204,-6.77956860503e-05,1793250441331534336
+250,4.166666667,HOLD_POSE2,770,747,722,694.110792537,660,636.889207463,892.889207463,784,826,654,631,657,0.454204966445,-0.00557929701365,0.0596158292485,0.999999813275,-0.000134171736598,-0.000592338800889,-6.76988076021e-05,1793250441348200704
+251,4.183333333,HOLD_POSE2,770,747,722,694,660,636.525456265,892.525456265,784,826,654,631,657,0.454205525677,-0.00557963209219,0.059615678118,0.999999813546,-0.000133498076369,-0.000592041991862,-6.76256383021e-05,1793250441364867328
+252,4.200000000,HOLD_POSE2,770,747,722,694.06147878,660,636,892,784,826,654.06147878,631,657,0.454205488315,-0.00558014454604,0.0596150058536,0.999999813213,-0.000133271224064,-0.000592665163132,-6.75383779502e-05,1793250441381533696
+253,4.216666667,HOLD_POSE2,770,747,722,694.640427328,660,636,892,784,826,654.640427328,631,657,0.454204268583,-0.00558082130812,0.0596140256309,0.999999811705,-0.000134679193349,-0.000594914801103,-6.72848493408e-05,1793250441398200320
+254,4.233333333,HOLD_POSE2,770,747,722,694.78169424,660,636,892,784,826,655,631,657,0.454203489949,-0.00558116488687,0.0596135465713,0.999999810703,-0.000136113220815,-0.000596289422316,-6.71249412292e-05,1793250441414867200
+255,4.250000000,HOLD_POSE2,770,747,722,694.205569862,660,636,892,784,826,655,631,657,0.454203434305,-0.00558096235445,0.0596138889535,0.999999810537,-0.000137589959356,-0.000596229828803,-6.71184837775e-05,1793250441431534080
+256,4.266666667,HOLD_POSE2,770,747,722,694,660,636,892,784,826,654.630840668,631,657,0.454203733139,-0.00557961210235,0.0596140070515,0.99999981065,-0.000136585997108,-0.000596246013987,-6.73476108201e-05,1793250441448201216
+257,4.283333333,HOLD_POSE2,770,747,722,694,660,636,892,784,826,654.056885416,631,657,0.454204228624,-0.00557762513788,0.0596140007249,0.999999810913,-0.000134205834115,-0.000596304238378,-6.77074314101e-05,1793250441464869120
+258,4.300000000,HOLD_POSE2,770,747,722,694,660,636,892,784,826,654,631,657,0.45420393937,-0.00557708247607,0.0596139175031,0.999999811243,-0.000131703528417,-0.000596283614431,-6.79210780076e-05,1793250441481535488
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+262,4.366666667,HOLD_POSE2,770,747,722,694,659.147120562,636,892,783.852879438,826,654.147120562,631,657,0.454205141093,-0.00557901537367,0.059614457723,0.999999812166,-0.000131740590647,-0.000594758797315,-6.76291002678e-05,1793250441548201728
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,722.850727667,694,660,636,892,784,826,655,631,657,0.453979746642,-0.00557195577298,0.0595360416513,0.999999737517,-0.000127833514832,-0.00070976290791,-6.97278099574e-05,1793250441814986496
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,660,636.363694127,892,784,825.363694127,655,631,657,0.452886106683,-0.00553965026441,0.059520348206,0.99999972604,-0.000103845402415,-0.000730076998307,-6.42172628034e-05,1793250441964986624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,660,636.937577698,892,784,825.937577698,655,631,657,0.452696888782,-0.00553453911059,0.0595267593873,0.999999733646,-9.86646932114e-05,-0.000720478248315,-6.23252874876e-05,1793250441981652992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,660,636.490739769,892,784,826,655,631,657,0.452477251136,-0.0055285450502,0.0595339581643,0.999999741208,-9.32957326171e-05,-0.000710819209442,-6.01390783662e-05,1793250441998319872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,660.084212248,636.084212248,892.084212248,784,826,654.915787752,631,657,0.452246720937,-0.0055220159862,0.0595404355945,0.999999747917,-8.75987767091e-05,-0.000702231014382,-5.8007235555e-05,1793250442014986752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,660.680686825,636.680686825,892.680686825,784,826,654.319313175,631,657,0.451972515289,-0.00551288797683,0.0595419403627,0.999999750063,-8.0046385913e-05,-0.000700201507843,-5.64245439104e-05,1793250442031653632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,722.268444029,694,660.731555971,637,892.731555971,784,826,654.268444029,631,657,0.451678936015,-0.00550407679522,0.059543480139,0.999999751968,-7.28600820549e-05,-0.000698424842832,-5.43830781676e-05,1793250442048320768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,722.846158054,694,660.153841946,637,892.153841946,784,826,654.846158054,631,657,0.451363036718,-0.00549563062626,0.0595450602472,0.999999753611,-6.60955414516e-05,-0.000696939472563,-5.18130663529e-05,1793250442064988672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,747,722.579543197,694,660,637,891.579543197,784.420456803,825.579543197,655,631,657,0.451018114019,-0.00548658794463,0.0595424947106,0.999999750216,-5.75522539967e-05,-0.000702685970056,-4.98883194486e-05,1793250442081655040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,747,722.006484016,694,660,637,891.006484016,784.993515984,825.006484016,655,631,657,0.45066265745,-0.00547732876236,0.059538424536,0.999999744868,-4.83633807389e-05,-0.00071105723232,-4.81977677835e-05,1793250442098320384
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.91172932,654.08827068,632,656,0.40171158653,-0.00537370537012,0.059825931909,0.999999936096,0.000217919997803,-0.000282174493935,2.63882451044e-05,1793250443364986368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.316260639,654.683739361,632,656,0.401587917098,-0.005372299983,0.0598271846973,0.999999936025,0.000219664488876,-0.00028109683855,2.61171380789e-05,1793250443381652992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.730153838,632,656,0.401477071324,-0.00537085884098,0.0598281733241,0.999999934592,0.00022663887839,-0.000280652994135,2.61683238626e-05,1793250443398319616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.154651331,632,656,0.401380750991,-0.00536937719925,0.0598288627337,0.999999931498,0.000239537204725,-0.000280927071192,2.6584572634e-05,1793250443414986240
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.420509318,642,887,788,819,654,632,656.420509318,0.40130306519,-0.00536959635279,0.0598304564347,0.99999992608,0.000263681281474,-0.000278566176438,2.67178957612e-05,1793250443431652864
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.99554433,642,887,788,819,654,632,656.99554433,0.401232227073,-0.00537044050218,0.0598323824382,0.999999919145,0.000291957864019,-0.000275237001291,2.67472514115e-05,1793250443448319488
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.847751383,654.152248617,631.152248617,656,0.401118862381,-0.00536746820504,0.0598275815218,0.999999917461,0.000288421015085,-0.000285011932844,2.56801603628e-05,1793250443481653760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.256009309,654.743990691,631.743990691,656,0.401076224791,-0.00536897461104,0.0598266098332,0.999999918052,0.000284466890788,-0.000286900645725,2.57342480021e-05,1793250443498319616
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788.32600774,819,654.67399226,632,656.32600774,0.401043193861,-0.00536897025229,0.0598259894395,0.999999918452,0.000281608115458,-0.000288331392654,2.56559152904e-05,1793250443514986240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788.900609141,819,654.099390859,632,656.900609141,0.401017488383,-0.00536781387646,0.0598256369216,0.999999918712,0.000279584586165,-0.000289412922825,2.5476606885e-05,1793250443531653632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,721,684.524732159,665,642,887,788.524732159,819,654.475267841,632,656.524732159,0.401002783532,-0.00536861163396,0.0598267444222,0.999999920593,0.00027526205253,-0.000287085401186,2.50199181225e-05,1793250443548320512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,721,684.051568663,665,642,887,788,819,655,632,656,0.400990853367,-0.00536972549878,0.0598282817816,0.999999922628,0.000271126887391,-0.000283953106414,2.45965827598e-05,1793250443564987136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,721,684.644998674,665,642,887,788,819,655,632,656,0.400983902634,-0.00536986634211,0.0598311272732,0.999999922983,0.000274012961808,-0.00027985657378,2.51333010002e-05,1793250443581653760
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,655,632,656,0.400978174553,-0.00537046830595,0.0598329110977,0.999999923776,0.000273617020091,-0.000277383138543,2.53228669515e-05,1793250443598320128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,655,632,656,0.400974266907,-0.00537175684141,0.0598331141844,0.999999925231,0.000268334418014,-0.000277326366094,2.49955508071e-05,1793250443614986496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.384793507,642,887,788,819,655,632,656,0.400971508156,-0.00537135377368,0.0598335899889,0.999999925334,0.000268382391477,-0.000276935651821,2.46930549307e-05,1793250443631653376
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.958816128,642,887,788,819,655,632,656,0.400969314394,-0.00537011882969,0.0598341999072,0.999999924775,0.00027105177129,-0.000276380715664,2.44027648763e-05,1793250443648320000
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,666,642,887.532940053,788.532940053,819,655,632,656,0.4009697739,-0.00537184557843,0.059834884508,0.999999925936,0.000268645681844,-0.000274505910977,2.456331641e-05,1793250443664986880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745,721,684.889204142,665.889204142,642,887.889204142,788.889204142,819,654.889204142,632,656.110795858,0.400970212108,-0.00537345262214,0.0598355707367,0.999999927059,0.00026624938454,-0.000272732695229,2.46897619024e-05,1793250443681653760
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,721,684.295103759,665.295103759,642,887.295103759,788.295103759,819,654.295103759,632,656.704896241,0.400969662858,-0.00537353895045,0.0598362388864,0.999999927475,0.000265607018849,-0.000271847622278,2.45154296046e-05,1793250443698320384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,721,684,665,642.290335936,887,788,819,654.290335936,632,656.709664064,0.400969658438,-0.00537283901718,0.059837022721,0.999999927729,0.000265868244572,-0.000270679943517,2.42755218531e-05,1793250443714986752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,721,684,665,642.86722777,887,788,819,654.86722777,632,656.13277223,0.400970191755,-0.00537136305911,0.0598379207343,0.999999927819,0.000267021297296,-0.000269233338236,2.39708923888e-05,1793250443731653376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,721,684.442533936,665,643,887,788,819,654.557466064,632,656,0.400970353658,-0.00537194334957,0.0598382045658,0.999999928037,0.000266633424322,-0.000268804479794,2.4028263803e-05,1793250443748320256
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.01775592,745,721,685,665.01775592,643,887,788,819,654,632,656,0.400970379988,-0.00537309388887,0.0598382888677,0.999999928288,0.000265778337493,-0.000268701426185,2.41897850268e-05,1793250443764986880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.605494006,745,721,685,665.605494006,643,887,788,819,654,632,656,0.400969618665,-0.00537281661064,0.0598378622414,0.999999928412,0.000264713153359,-0.00026928993264,2.42205743493e-05,1793250443781653248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.809329622,745,721,685,665.809329622,642.809329622,887,788,819,654.190670378,632,656,0.400969257924,-0.005372839485,0.0598379419836,0.999999928486,0.000264434800594,-0.000269274450123,2.43583955844e-05,1793250443798320128
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.229383326,745,721,685,665.229383326,642.229383326,887,788,819,654.770616674,632,656,0.400969715019,-0.00537347515608,0.0598390555365,0.999999928461,0.000265762856328,-0.000268025853315,2.47147350082e-05,1793250443814987008
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.348432662,745,721,684.651567338,665,642,887.348432662,788.348432662,819,654.651567338,632,656.348432662,0.400969749326,-0.00537348163251,0.05983958631,0.999999928628,0.000265818877966,-0.00026734991759,2.46653099359e-05,1793250443831653888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.924854707,745,721,684.075145293,665,642,887.924854707,788.924854707,819,654.075145293,632,656.924854707,0.40096950699,-0.00537307640898,0.0598397357542,0.999999928922,0.000265042571532,-0.000267048690318,2.43503816211e-05,1793250443848320512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,745,721,684.498857859,665.498857859,642,887.501142141,788.501142141,819,654.498857859,632,657,0.40097136848,-0.00537291105673,0.0598402461923,0.999999929395,0.000264766010358,-0.000265545604606,2.4387573488e-05,1793250443864987136
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.925288096,745,721,684.925288096,666,642,887,788,819,655,632,656.925288096,0.400972833503,-0.00537303863098,0.0598406096763,0.999999929753,0.000264452397574,-0.000264501391854,2.44529947448e-05,1793250443881654016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.334133579,745,721,684.334133579,666,642,887,788,819,655,632,656.334133579,0.40096937791,-0.00537494248426,0.0598395832736,0.999999929145,0.000263364815903,-0.000267874520944,2.43486725557e-05,1793250443898320384
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,721,684.250704337,666,642,887,788,819,655,632,656,0.400968435263,-0.00537505662699,0.0598394555364,0.999999928821,0.000263762876298,-0.000268693991683,2.43078764031e-05,1793250443914986752
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745,721,684.827330596,666,642,887,788,819,655,632,656,0.400970759509,-0.00537284410139,0.0598404960867,0.999999928871,0.000266092308463,-0.000266193643032,2.43496656759e-05,1793250443931653120
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.595618543,642.404381457,887,788,819,654.595618543,632,656,0.400970176406,-0.00537299626997,0.059840044066,0.999999928382,0.000267815570784,-0.00026629719245,2.44430684219e-05,1793250443948320256
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.018386224,642.981613776,887,788,819,654.018386224,632,656,0.40096835057,-0.00537415921557,0.0598389540532,0.999999927661,0.000269279728651,-0.000267513765428,2.45585330905e-05,1793250443964987392
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dafb44de739bed3f53b72d90c8f811a596007269
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/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,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+396,6.600000000,pose2_to_pose3_retreat,0.57566556266,0.000150078560688,1.05003377751,0.546236242635,0.00882271714236,1.04970516421
+397,6.616666667,pose2_to_pose3_retreat,0.575665471076,0.000150074079011,1.0500337866,0.546236151189,0.00882271310609,1.04970517269
+398,6.633333333,pose2_to_pose3_retreat,0.57566528779,0.00015007188393,1.05003378676,0.546235968193,0.00882271193659,1.04970517395
+399,6.650000000,pose2_to_pose3_retreat,0.575664913712,0.000150078205635,1.05003375833,0.546235594728,0.00882272056541,1.04970515152
+400,6.666666667,pose2_to_pose3_retreat,0.575664878443,0.000150078801651,1.05003375564,0.546235559517,0.00882272137894,1.04970514941
+401,6.683333333,pose2_to_pose3_retreat,0.575664740966,0.000150081124945,1.05003374519,0.546235422264,0.00882272455012,1.04970514116
+402,6.700000000,pose2_to_pose3_retreat,0.575664609927,0.000150083339427,1.05003373523,0.54623529144,0.00882272757279,1.0497051333
+403,6.716666667,pose2_to_pose3_retreat,0.575664485211,0.000150085447041,1.05003372575,0.546235166929,0.00882273044958,1.04970512583
+404,6.733333333,pose2_to_pose3_retreat,0.57566429735,0.000150178889513,1.05003360274,0.546234977271,0.00882281786599,1.04970500467
+405,6.750000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511737,1.04970501047
+406,6.766666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511735,1.04970501047
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eedc1867cb274d24b6b5a104e41a0296852ccd19
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:517a55350ddabd8d2ddf90a76bb5c82371f87c029156664f28c44779cc2a0820
+size 25950222
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aabe65cd0d228fd281fee6813ebdb4a8c98b0190
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+22,0.366666667,BASELINE,769,745.751614762,721,684.751614762,665.751614762,642.248385238,888,788,819,654,632,656,0.400967360609,-0.00537451060172,0.0598413385409,0.999999930866,0.000260394611568,-0.000264415843622,2.34029064935e-05,1793250444475392256
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+27,0.450000000,BASELINE,769.662209996,745,721,684,665.662209996,642.662209996,887,788.337790004,819,655,632,656.337790004,0.400967381712,-0.00537368693702,0.0598412061268,0.999999930457,0.000261546633678,-0.000264849154338,2.30987805886e-05,1793250444558725376
+28,0.466666667,BASELINE,769.763392675,745,721,684,665.763392675,643,887.236607325,788,819,655,632.236607325,656,0.400965934132,-0.00537396737946,0.059840167557,0.999999930025,0.000261149873823,-0.000266876752644,2.29798805103e-05,1793250444575392256
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+38,0.633333333,BASELINE,769,745,721,684.955155436,665,642.044844564,887,788,819,655,632,656.044844564,0.400968000322,-0.00537606885601,0.0598419847329,0.999999930787,0.000262052473857,-0.000263035687567,2.38204749653e-05,1793250444742058496
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+50,0.833333333,BASELINE,769.978001363,745.989000682,721,684.010999318,665.989000682,642.010999318,887,788.989000682,819,654,632,656.989000682,0.400968937788,-0.00537507300034,0.0598432266438,0.999999930873,0.000263569905854,-0.000261223975073,2.33916353488e-05,1793250444942058240
+51,0.850000000,BASELINE,768.822139657,745.411069828,721,684.588930172,665.411069828,642.588930172,887,788.411069828,819,654,632,656.411069828,0.400969378794,-0.00537554031613,0.0598434685069,0.999999931,0.000263342430858,-0.000260932772782,2.37479695781e-05,1793250444958724864
+52,0.866666667,BASELINE,768,745,721,685,665,642.833460331,887,788,819,654.166539669,632,656,0.400969765983,-0.00537575754527,0.0598435832079,0.999999931023,0.000263367687193,-0.000260802782519,2.39448906945e-05,1793250444975391488
+53,0.883333333,BASELINE,768,745,721,685,665,642.256642544,887,788,819,654.743357456,632,656,0.400970020594,-0.00537535867443,0.0598433846391,0.999999930787,0.00026401555878,-0.000261069945501,2.37490902686e-05,1793250444992058112
+54,0.900000000,BASELINE,768.325348931,745,721,684.674651069,665,642,887.325348931,788,818.674651069,654.674651069,632,656,0.400969325573,-0.00537545789636,0.0598432670761,0.999999930882,0.000263255648493,-0.000261479505831,2.36724600332e-05,1793250445008724736
+55,0.916666667,BASELINE,768.911487447,745,721,684.088512553,665,642,887.911487447,788,818.088512553,654.088512553,632,656,0.400967869355,-0.00537595637399,0.0598432144447,0.99999993124,0.000261367304005,-0.000262003207432,2.36913529256e-05,1793250445025391360
+56,0.933333333,BASELINE,769,745,721,684.491764126,665,642,887.508235874,788,818.491764126,654.491764126,632,656,0.400968965835,-0.0053760353544,0.0598435515107,0.999999931565,0.000261596093048,-0.000260530314573,2.36881628976e-05,1793250445042058240
+57,0.950000000,BASELINE,769,745,721,685,665,642,887,788,819,654.929117332,632,656,0.400970424436,-0.0053761159343,0.05984400698,0.999999931942,0.000261849630955,-0.000258826529279,2.3671912327e-05,1793250445058724864
+58,0.966666667,BASELINE,769,745,721,685,665,642,887,788,819,654.35082583,632,656,0.400971224993,-0.00537674209647,0.0598448138412,0.999999932745,0.000259584653428,-0.000258012116579,2.35902862157e-05,1793250445075391744
+59,0.983333333,BASELINE,769,745,721,684.773604036,665.226395964,642,887,788,819,654.226395964,632,656.226395964,0.400971007202,-0.00537651632932,0.0598449462798,0.999999932833,0.000259087942305,-0.000258174812867,2.35037437935e-05,1793250445092058112
+60,1.000000000,BASELINE,769,745,721,684.198031993,665.801968007,642,887,788,819,654.801968007,632,656.801968007,0.400969218786,-0.00537497661068,0.0598440385397,0.999999931823,0.000261318471736,-0.000259844528326,2.34096188114e-05,1793250445108724992
+61,1.016666667,BASELINE,769,745,721,684,665.6154275,642,887,788,819,655,632,656.6154275,0.400968456527,-0.00537539116376,0.0598437441694,0.999999931615,0.000261401155651,-0.000260562443911,2.3389770051e-05,1793250445125391616
+62,1.033333333,BASELINE,769,745,721,684,665.029134294,642,887,788,819,655,632,656.029134294,0.400968232521,-0.00537683079559,0.0598437715315,0.99999993183,0.00026035722505,-0.0002607811096,2.34088815752e-05,1793250445142058240
+63,1.050000000,BASELINE,769.550729038,745,721,684.550729038,665.550729038,642,887,788,819,655,632,656.550729038,0.400968641344,-0.00537700280057,0.059843778626,0.999999932024,0.00025972062891,-0.000260658727768,2.35385111479e-05,1793250445158724864
+64,1.066666667,BASELINE,770,745,721.129756489,684.870243511,665.870243511,642.129756489,887,788.129756489,819,654.870243511,632,657,0.400968991983,-0.00537692178225,0.0598438046217,0.999999932068,0.000259586913103,-0.000260610524477,2.3667554874e-05,1793250445175391488
+65,1.083333333,BASELINE,770,745,721.707060528,684.292939472,665.292939472,642.707060528,887,788.707060528,819,654.292939472,632,657,0.400969027802,-0.0053761966793,0.0598438994657,0.999999931598,0.000261114233056,-0.000260879683606,2.37746451099e-05,1793250445192058368
+66,1.100000000,BASELINE,770,745,721.717400263,684.282599737,665,643,887,788.717400263,819,654,632,657,0.400968369292,-0.00537562757688,0.0598433341071,0.999999931101,0.00026208822586,-0.000261825985017,2.35642235722e-05,1793250445208724992
+67,1.116666667,BASELINE,770,745,721.143679136,684.856320864,665,643,887,788.143679136,819,654,632,657,0.400966995516,-0.00537521917914,0.0598420886379,0.999999930576,0.000262492206118,-0.000263469847574,2.3026715847e-05,1793250445225391616
+68,1.133333333,BASELINE,769.557543246,745,721,684.557543246,665,642.557543246,887,788.442456754,819,654,632,657,0.400967561691,-0.00537439068823,0.0598421933424,0.999999930232,0.000264078700397,-0.000263188276548,2.30408330218e-05,1793250445242058240
+69,1.150000000,BASELINE,769,745,721,684.032114754,665.032114754,642,887,788.967885246,819,654,632,657,0.40096869814,-0.00537348271931,0.0598427306391,0.999999929985,0.00026587499205,-0.00026229984977,2.3227050606e-05,1793250445258725120
+70,1.166666667,BASELINE,769,745,721,684.611116394,665.611116394,642,887,788.388883606,819,654,632,657,0.400968508461,-0.0053736114383,0.0598429527677,0.999999930416,0.000264516012322,-0.000262031984152,2.32055093862e-05,1793250445275391744
+71,1.183333333,BASELINE,769,745,721,685,665.811303825,642.188696175,887,788.188696175,819,654,632,656.811303825,0.400968272642,-0.00537392674026,0.0598431329342,0.999999930828,0.000263172213476,-0.000261817357643,2.31441435934e-05,1793250445292058368
+72,1.200000000,BASELINE,769,745,721,685,665.236632328,642.763367672,887,788.763367672,819,654,632,656.236632328,0.40096794244,-0.00537462369501,0.0598432272677,0.999999931204,0.000261859466656,-0.000261711630922,2.30013172034e-05,1793250445308724992
+73,1.216666667,BASELINE,769,745,721,684.661939465,665,643,887,788.661939465,818.661939465,654.338060535,632,656,0.40096818051,-0.00537528321205,0.0598434333032,0.999999931453,0.00026133375633,-0.000261269869459,2.31825511198e-05,1793250445325391616
+74,1.233333333,BASELINE,769,745,721,684.08723168,665,643,887,788.08723168,818.08723168,654.91276832,632,656,0.400968816378,-0.0053759165221,0.0598437175317,0.999999931613,0.00026135898298,-0.000260592878837,2.35906319329e-05,1793250445342058240
+75,1.250000000,BASELINE,769,745,721,684.505127443,665,643,887,788,818.505127443,654.494872557,632,656.505127443,0.400969198901,-0.00537564155168,0.0598436488874,0.999999931687,0.000261084231717,-0.000260588817628,2.35474929142e-05,1793250445358725120
+76,1.266666667,BASELINE,769.097253647,745.097253647,721,684.902746353,665.097253647,642.902746353,887,788,819,654,632,656.902746353,0.400969567558,-0.00537527103535,0.0598436312115,0.999999931783,0.000260813937457,-0.000260502513413,2.34146917023e-05,1793250445375391744
+77,1.283333333,BASELINE,769.672703597,745.672703597,721,684.327296403,665.672703597,642.327296403,887,788,819,654,632,656.327296403,0.400970090954,-0.00537522989337,0.0598441746307,0.999999932065,0.00026082950151,-0.000259419726125,2.32380386488e-05,1793250445392058368
+78,1.300000000,BASELINE,769.752383324,745.752383324,721,684,665.752383324,642.247616676,887,788,819,654.247616676,632,656,0.400970584841,-0.00537506582551,0.0598443041584,0.99999993199,0.000261516499373,-0.000259024099329,2.31636879434e-05,1793250445408724992
+79,1.316666667,BASELINE,769.178178384,745.178178384,721,684,665.178178384,642.821821616,887,788,819,654.821821616,632,656,0.400971039809,-0.00537473962744,0.0598438877934,0.999999931443,0.000263089069262,-0.000259534786983,2.32242665572e-05,1793250445425391616
+80,1.333333333,BASELINE,769,745,721,684,665,642.59236975,887,788,819,654.59236975,632,656.40763025,0.400970772347,-0.00537436311594,0.0598439014677,0.999999931335,0.000263569768751,-0.000259466336855,2.32052880164e-05,1793250445442058240
+81,1.350000000,BASELINE,769,745,721,684,665,642.001340384,887,788,819,654.001340384,632,656.998659616,0.400970179854,-0.00537396396764,0.0598441086232,0.999999931424,0.000263559219102,-0.000259137323784,2.31505154939e-05,1793250445458725120
+82,1.366666667,BASELINE,769.577378434,745,721,684.577378434,665,642,887,788,819,654.577378434,632,656.422621566,0.400969308452,-0.00537514544436,0.0598435761139,0.999999931221,0.000262879200057,-0.000260568308007,2.3584291646e-05,1793250445475391744
+83,1.383333333,BASELINE,769.844933811,745,721,685,665.155066189,642,887,788,819,654.844933811,632,656,0.400969002432,-0.00537603745822,0.0598433634624,0.999999931319,0.000261794714866,-0.000261262378637,2.38099346736e-05,1793250445492058368
+84,1.400000000,BASELINE,769.269962181,745,721,685,665.730037819,642,887,788,819,654.269962181,632,656,0.400970229127,-0.00537613590362,0.0598440215104,0.999999932237,0.000259619091887,-0.000259950120052,2.34689647131e-05,1793250445508724992
+85,1.416666667,BASELINE,769,745.311742014,721,684.688257986,665.688257986,642,887,788,819,654.311742014,632,656.311742014,0.400970456412,-0.00537617867137,0.0598441525623,0.999999932388,0.000259388646094,-0.000259614676188,2.3269196675e-05,1793250445525391616
+86,1.433333333,BASELINE,769,745.899405129,721,684.100594871,665.100594871,642,887,788,819,654.899405129,632,656.899405129,0.400969799124,-0.00537617215913,0.0598438171731,0.999999931864,0.000260879865807,-0.000260143805614,2.31944056841e-05,1793250445542058496
+87,1.450000000,BASELINE,769,745.520345325,721,684,665.479654675,642.479654675,887,788,819,654.520345325,632,656.520345325,0.400970253633,-0.00537617665053,0.0598444572744,0.999999932194,0.000260266390233,-0.000259491321154,2.31905070899e-05,1793250445558725120
+88,1.466666667,BASELINE,769,745.058110086,721,684,665.941889914,643,887,788.058110086,819,654.058110086,631.941889914,656.058110086,0.400970829013,-0.0053761302158,0.0598451628679,0.999999932609,0.00025943765222,-0.000258718739064,2.31994852888e-05,1793250445575391744
+89,1.483333333,BASELINE,769,745.634221107,721,684,665.365778893,643,887,788.634221107,819,654.634221107,631.365778893,656.634221107,0.400970434982,-0.00537560956065,0.0598446563424,0.99999993223,0.000260564881037,-0.000259050998469,2.31927326255e-05,1793250445592058624
+90,1.500000000,BASELINE,769,745.78956836,721,684,665,642.78956836,887,788.78956836,819,655,631.21043164,656.78956836,0.400970568861,-0.00537527755972,0.0598446805636,0.999999932107,0.000261325750447,-0.000258766286917,2.31407281454e-05,1793250445608725504
+91,1.516666667,BASELINE,769,745.213184828,721,684,665,642.213184828,887,788.213184828,819,655,631.786815172,656.213184828,0.400971620803,-0.00537527363862,0.0598456277817,0.999999932428,0.000261449501111,-0.000257408629799,2.30100283331e-05,1793250445625392896
+92,1.533333333,BASELINE,769,745,721,684,665.370230608,642.370230608,887,788.370230608,819,654.629769392,632,656,0.400971793284,-0.00537570444045,0.0598456893357,0.999999932267,0.000261968878206,-0.000257487248038,2.32109683236e-05,1793250445642059520
+93,1.550000000,BASELINE,769,745,721,684,665.957773581,642.957773581,887,788.957773581,819,654.042226419,632,656,0.400971449553,-0.00537639040937,0.0598452310361,0.999999931823,0.000262720474134,-0.000258408909339,2.3606569219e-05,1793250445658725632
+94,1.566666667,BASELINE,769,745,721,684,666,643,887,788.461484036,819,654.538515964,632,656.538515964,0.400970542411,-0.00537679543167,0.0598445522003,0.99999993232,0.000259921396511,-0.000259336941618,2.33605435006e-05,1793250445675392256
+95,1.583333333,BASELINE,769,745,721,684,665.882310704,643,887,788.117689296,819,654.882310704,632,656.882310704,0.400969926909,-0.00537691154439,0.0598440566798,0.999999932735,0.000257683246369,-0.000259990548543,2.31293047487e-05,1793250445692058880
+96,1.600000000,BASELINE,769,745,721,684,665.307188979,643,887,788.692811021,819,654.307188979,632,656.307188979,0.400970614522,-0.00537598928614,0.05984434004,0.999999932581,0.000258693949176,-0.00025957560722,2.3148651006e-05,1793250445708725504
+97,1.616666667,BASELINE,769,745,721,684.265932174,665.265932174,642.734067826,887,788.734067826,818.734067826,654,632,656.265932174,0.400970386247,-0.00537568263156,0.0598439563898,0.999999932181,0.000259749057204,-0.000260060944101,2.31469685289e-05,1793250445725392128
+98,1.633333333,BASELINE,769,745,721,684.836759605,665.836759605,642.163240395,887,788.163240395,818.163240395,654,632,656.836759605,0.400969107894,-0.00537608177592,0.0598428080021,0.999999931498,0.000260855076424,-0.000261578463578,2.31211762889e-05,1793250445742059008
+99,1.650000000,BASELINE,769,745,721,684.574874538,665.574874538,642,887,788,818.425125462,654,632,656.574874538,0.400970347936,-0.00537691229154,0.0598440806104,0.999999932381,0.000259846832294,-0.000259176643372,2.33608949319e-05,1793250445758725888
+100,1.666666667,BASELINE,769.019963662,745.019963662,721,684.019963662,665.019963662,642,887.019963662,788,819,654,632.019963662,656,0.40097245316,-0.00537786629767,0.059846207614,0.999999933796,0.000258068446329,-0.000255436052476,2.36926789405e-05,1793250445775392256
+101,1.683333333,BASELINE,769.599337928,745.599337928,721,684.599337928,665.599337928,642,887.599337928,788,819,654,632.599337928,656,0.400970538872,-0.00537743953243,0.05984510587,0.999999933001,0.000258437339803,-0.000258166788133,2.36245157401e-05,1793250445792058624
+102,1.700000000,BASELINE,769.822710272,746,721,684.822710272,665.822710272,642,887.822710272,788,819,654,632.822710272,656,0.400969570572,-0.00537664029419,0.0598444993997,0.999999932272,0.000259638207263,-0.000259791346853,2.34843519584e-05,1793250445808725248
+103,1.716666667,BASELINE,769.247947632,746,721,684.247947632,665.247947632,642,887.247947632,788,819,654,632.247947632,656,0.400970723124,-0.00537500599391,0.0598450033035,0.999999931701,0.000262704310323,-0.000258935923028,2.31827672117e-05,1793250445825391872
+104,1.733333333,BASELINE,769,746,721,684,665.327135413,642,887,788,819,654.327135413,632,656,0.40096969527,-0.00537498078465,0.0598444282006,0.999999931297,0.000263267943318,-0.000259927828065,2.31007511226e-05,1793250445842058752
+105,1.750000000,BASELINE,769,746,721,684,665.902461604,642,887,788,819,654.902461604,632,656,0.400967013189,-0.00537617635882,0.0598430344779,0.999999931021,0.00026193300508,-0.000262321262679,2.31853171373e-05,1793250445858725376
+106,1.766666667,BASELINE,769,745.507179192,721,684,666,642.492820808,887,788.492820808,819,655,632,656,0.400967696819,-0.00537680153609,0.0598437547485,0.999999931868,0.000259798023509,-0.000261186491981,2.34543528554e-05,1793250445875392256
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745,721,684,666,643,888,788,819,655,632,657,0.400971970711,-0.00537853084871,0.059845542171,0.99999993364,0.000257502854487,-0.000256635805375,2.34622971443e-05,1793250445918548224
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.429106328,745.570893672,721,684,666,643,887.429106328,788,819,654.429106328,632,657,0.400968781029,-0.00537782344557,0.0598433421502,0.99999993277,0.000256999680055,-0.000260538888471,2.30492610187e-05,1793250445935214592
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745.856495493,721.143504507,684.143504507,666,643,887,788,819,654.143504507,632,657,0.400966785647,-0.0053769840936,0.059841973721,0.999999932024,0.000257390397539,-0.000263025513116,2.28007138192e-05,1793250445951881216
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745.278687681,721.721312319,684.721312319,666,643,887,788,819,654.721312319,632,657,0.400968404707,-0.00537574541036,0.0598431220279,0.999999931688,0.000260486397281,-0.00026122535637,2.30499772566e-05,1793250445968548096
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721.692771276,685,665.692771276,643,887,788,819.307228724,654.692771276,632,656.692771276,0.400969793757,-0.00537573137551,0.0598441240656,0.999999931971,0.000260995996219,-0.000259612517759,2.32495540184e-05,1793250445985214720
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721.099300201,685,665.099300201,643,887,788,819.900699799,654.099300201,632,656.099300201,0.400970968509,-0.00537685833507,0.0598449898254,0.999999932834,0.00025909586766,-0.000258174201951,2.34028381182e-05,1793250446001881344
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,721,684.518891138,665.481108862,642.518891138,887,788.481108862,819.518891138,654.481108862,632,656,0.40097040757,-0.00537579970979,0.0598445865222,0.999999932073,0.000261179596072,-0.000259034904277,2.32257928031e-05,1793250446018548224
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.058484101,745.058484101,721,684.058484101,666,642,887,788.941515899,819,655,632,656,0.400969819283,-0.005374555571,0.0598441319864,0.999999931168,0.000263536344984,-0.00026016032021,2.30207460767e-05,1793250446035215104
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.632254867,745.632254867,721,684.632254867,666,642,887,788.367745133,819,655,632,656,0.400972063,-0.00537554639814,0.0598454728702,0.999999931925,0.000261245373312,-0.000259547751552,2.31538191855e-05,1793250446051881472
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.787604132,745.787604132,721,685,665.787604132,642,887,788,819,654.787604132,632,656,0.400979402138,-0.00537608418787,0.0598489301525,0.999999933334,0.000260385689387,-0.00025491907908,2.34128454506e-05,1793250446068547840
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.196092653,745.196092653,721,685,665.196092653,642,887,788,819,654.196092653,632,656,0.400995836338,-0.00537581332924,0.0598561650962,0.999999935817,0.000262080780092,-0.000243121869594,2.3896691552e-05,1793250446085214464
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642.387357443,887,788,819,654.387357443,632,656.387357443,0.401034332438,-0.0053765351848,0.0598700221753,0.99999994143,0.000262770635267,-0.000217911821746,2.46082391103e-05,1793250446101880832
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642.966809859,887,788,819,654.966809859,632,656.966809859,0.401083769289,-0.00537774933862,0.0598871632476,0.999999947795,0.000262961982619,-0.000186050193146,2.54327064417e-05,1793250446118547200
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.540530612,643,887,788,819,655,632,656.459469388,0.401148977443,-0.00538024207141,0.0599029957494,0.999999952434,0.000260058584706,-0.000163746503518,2.62255572526e-05,1793250446135214080
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665.886283142,642.886283142,887,788,819,654.886283142,632,656,0.401218414805,-0.00538294105732,0.0599174733269,0.999999956349,0.000257234050272,-0.000142856633271,2.69179688614e-05,1793250446151880960
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665.313848067,642.313848067,887,788,819,654.313848067,632,656,0.401301046813,-0.00538615867141,0.0599268060504,0.99999995914,0.000255486136836,-0.000125327336439,2.72129717291e-05,1793250446168548096
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721.268893273,684.731106727,665.268893273,642,887.268893273,788,819,654.268893273,632,656,0.401391431689,-0.00538879004358,0.0599337082017,0.999999960985,0.000254038884926,-0.000112979890004,2.70029964801e-05,1793250446185215232
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721.864143335,684.135856665,665.864143335,642,887.864143335,788,819,654.864143335,632,656,0.401491226248,-0.00539070989149,0.0599376603576,0.999999961948,0.000252956547223,-0.000106921676176,2.61801273608e-05,1793250446201881856
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721.555053339,684.444946661,666,642.444946661,887.555053339,788,819,655,632,656.444946661,0.40161229336,-0.00539452425454,0.0599414872701,0.99999996355,0.000250862977,-9.65834551778e-05,2.52706621991e-05,1793250446218548224
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.978531183,642.978531183,887.021468817,788,819,655,632,657,0.401740293341,-0.00539890193315,0.0599451185514,0.999999965211,0.00024836971731,-8.54308607101e-05,2.43224394359e-05,1793250446235214336
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665.402236932,642.402236932,887.597763068,788,819,655,632,657,0.401884882899,-0.00540335842372,0.0599446512711,0.99999996645,0.000243275660818,-8.59427831028e-05,2.30344153871e-05,1793250446251880960
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.177729674,745.177729674,721,685,665.177729674,642.177729674,887.822270326,788.177729674,819,654.822270326,632,656.822270326,0.402041345732,-0.00540707066857,0.0599448292772,0.999999967581,0.000239476097498,-8.38308721365e-05,2.15039064145e-05,1793250446268547328
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.766182811,745.766182811,721,685,665.766182811,642.766182811,887.233817189,788.766182811,819,654.233817189,632,656.233817189,0.402225247031,-0.00540906300201,0.0599464985047,0.999999968468,0.000238668037137,-7.56554270656e-05,1.9413028349e-05,1793250446285214208
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.650565815,745.650565815,721,685,666,643,887,788.650565815,819,654.349434185,632,656.349434185,0.402430138997,-0.00541387195952,0.0599475257805,0.999999969808,0.000235405376299,-6.83539207099e-05,1.71966346162e-05,1793250446301880832
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.07074399,745.07074399,721,685,666,643,887,788.07074399,819,654.92925601,632,656.92925601,0.40264887047,-0.00542053796326,0.0599481298073,0.999999971419,0.000230524357366,-6.16286155443e-05,1.48974861544e-05,1793250446318547456
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721.505785304,685,666,643,887.505785304,788.505785304,819,655,632.505785304,657,0.402896971624,-0.0054282730199,0.0599478479436,0.999999973367,0.000222682805341,-5.92570550971e-05,1.28885190639e-05,1793250446335213824
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721.91847837,685,666,643,887.91847837,789,819,654.91847837,632.91847837,656.91847837,0.403153957862,-0.0054359311228,0.0599474258596,0.999999975323,0.000214354937224,-5.73565787464e-05,1.07496740802e-05,1793250446351880704
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,721.34476692,685,666,643,887.34476692,789,819,654.34476692,632.34476692,656.34476692,0.403439946887,-0.00544222767611,0.0599469004577,0.999999977348,0.000205574819934,-5.46474706113e-05,7.58322179479e-06,1793250446368547328
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,721,685,666,642.762898586,887,788.762898586,819,654,632,656,0.403740243141,-0.00544900929054,0.0599425573008,0.999999978709,0.000197361102948,-6.00952846814e-05,4.37742736181e-06,1793250446385213952
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,721,685,666,642.168746857,887,788.168746857,819,654,632,656,0.404062084593,-0.00545652135669,0.059932464998,0.999999978921,0.000190000326994,-7.78265838076e-05,1.11238789507e-06,1793250446401880576
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665.588212807,642,887,788.411787193,819,654.411787193,632,656,0.404398219742,-0.00546476095852,0.0599188833981,0.999999978706,0.000178941606147,-0.000102765606414,-2.76310620848e-06,1793250446418547200
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.013080543,642,887,788.986919457,819,654.986919457,632,656,0.404740024814,-0.0054732891543,0.0599039176868,0.999999977606,0.000166416008568,-0.000130563741491,-6.88075141518e-06,1793250446435213568
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,721,685.562276023,665.562276023,642.562276023,887,788.437723977,819,654.437723977,632,656,0.405144651705,-0.00547929783738,0.0598996978339,0.999999977775,0.000157061855683,-0.000140212732669,-1.10417589724e-05,1793250446451880704
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.141206523,745,721,686,666,643,887.141206523,788.141206523,819,654.141206523,632,656.141206523,0.405567273131,-0.00548609375402,0.0599016510622,0.999999982319,0.000125801188302,-0.000138992457335,-1.47299802039e-05,1793250446468547072
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.731486343,745,721,686,666,643,887.731486343,788.731486343,819,654.731486343,632,656.731486343,0.40604247208,-0.00549557975442,0.0599224409472,0.999999994088,2.46374044589e-05,-0.000104548382886,-1.6911408222e-05,1793250446485213952
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.684260809,745,721,686,666,642.684260809,888,788.684260809,819,654.684260809,632,656.684260809,0.406564524736,-0.00550191207878,0.0599510775202,0.999999998082,-1.92249136256e-05,-5.59274789648e-05,-1.84165306664e-05,1793250446501880832
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.105037402,745,721,686,666,642.105037402,888,788.105037402,819,654.105037402,632,656.105037402,0.407125676842,-0.00550561266291,0.0599862621532,0.999999999686,-1.52691947437e-05,4.52398624559e-06,-1.93572767154e-05,1793250446518547200
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,721,686,666,642,888,788,819,654,632,656.469771931,0.407666558794,-0.0054963153459,0.059998765167,0.999999999575,4.41950929019e-06,1.83635164599e-05,-2.22170199758e-05,1793250446535214080
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,721.043708585,686.043708585,666,642.043708585,888,788.043708585,819.043708585,654.043708585,632,657,0.408204339897,-0.0054854995788,0.0600046362659,0.999999999192,2.4667769022e-05,1.89057432159e-05,-2.55160118543e-05,1793250446551880704
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,721.618923581,686.618923581,666,642.618923581,888,788.618923581,819.618923581,654.618923581,632,657,0.408759014552,-0.00549123056162,0.0599909575211,0.999999999397,9.34162383249e-06,-1.66952512956e-05,-2.89873129576e-05,1793250446568547840
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,721.800445129,686.800445129,666,643,888.199554871,789,819.800445129,654.800445129,632,657,0.409333719501,-0.00549909593504,0.0599809425067,0.999999998524,-9.34572305535e-06,-4.27713464442e-05,-3.21678676224e-05,1793250446585214976
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,721.209182181,686.209182181,666,643,888.790817819,789,819.209182181,654.209182181,632,657,0.409947742065,-0.00551115092288,0.0599781190625,0.999999997538,-3.46308024611e-05,-5.0150927688e-05,-3.47777133019e-05,1793250446601881856
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.372276175,721.372276175,686.372276175,666.372276175,643,888.627723825,789,819,654,632,656.627723825,0.410622928663,-0.00551558832954,0.0599832543686,0.999999998934,-1.73480325429e-05,-3.1552881895e-05,-2.88879399547e-05,1793250446618548480
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.94836668,721.94836668,686.94836668,666.94836668,643,888.05163332,789,819,654,632,656.05163332,0.411331601421,-0.00551585525079,0.0599927469435,0.999999999561,2.32398495018e-05,1.26743519185e-06,-1.8344782036e-05,1793250446635214848
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.47511003,722,687.52488997,666.47511003,643,888.52488997,789,819,654,632,656.52488997,0.412024621522,-0.00551354531939,0.0599871894663,0.999999999456,2.15715730899e-05,-1.17355652305e-05,-2.20432031729e-05,1793250446651881728
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.103443321,722,688,666,643,889,789,819,654,632,656.896556679,0.412708108123,-0.00551064213797,0.0599742086474,0.999999998656,1.70532007611e-05,-4.07669373863e-05,-2.7106385902e-05,1793250446668548608
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.691303572,722,688,666,643,889,789,819,654,632,656.308696428,0.413354166353,-0.00550614884155,0.0599334035544,0.999999991659,1.86697568137e-05,-0.000123731609588,-3.19947267139e-05,1793250446685214720
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.27531473,746,722,688.27531473,666.27531473,643,889.27531473,789,819.27531473,654,632.27531473,656,0.414076857358,-0.00550656246094,0.0599164975742,0.999999987216,1.40103004448e-06,-0.000156051824347,-3.48375126147e-05,1793250446701881344
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.855069673,746,722,688.855069673,666.855069673,643,889.855069673,789,819.855069673,654,632.855069673,656,0.414884288184,-0.0055124020971,0.0599260189837,0.999999989937,-3.67508491716e-05,-0.000132369926678,-3.54183455573e-05,1793250446718547712
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.568735949,746,722,689,667,643,889.568735949,789,819.568735949,654.431264051,632.568735949,656.431264051,0.41575555483,-0.00551981548264,0.0599703707245,0.999999997371,-3.77456247323e-05,-5.18045549455e-05,-3.38976688591e-05,1793250446735214592
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722,689,667,643,889.006307231,788.993692769,819.006307231,654.993692769,632,656.993692769,0.416647373316,-0.00552766025976,0.0600257172711,0.999999998067,-2.63722505641e-05,4.65247885291e-05,-3.17069722185e-05,1793250446751881472
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722,689,667,643,889.584578829,788.415421171,819.584578829,654.415421171,632,656.415421171,0.417473439831,-0.00552705778679,0.0600253473316,0.99999999868,-1.65035912965e-05,3.64221319822e-05,-3.22757167472e-05,1793250446768548352
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.164996754,746,722,689,667,643,890.164996754,788.164996754,820,654,632,656.164996754,0.418297618729,-0.00552680218162,0.0600188295419,0.999999999127,-1.31895602795e-05,2.11768451735e-05,-3.35203959368e-05,1793250446785215232
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.75088979,746,722,689,667,643,890.75088979,788.75088979,820,654,632,656.75088979,0.419116982383,-0.00552743141429,0.0599966289752,0.999999998955,-2.65959718362e-05,-7.18696547607e-06,-3.64893416413e-05,1793250446801881856
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,722,689.335566796,667,643,890.664433204,789,820.335566796,654,632,657,0.419957316287,-0.0055260759705,0.0599684350206,0.999999997541,-3.31240301497e-05,-4.7514748296e-05,-3.95438524226e-05,1793250446818548224
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,722,689.919344308,667,643,890.080655692,789,820.919344308,654,632,657,0.420813161346,-0.00552325250906,0.0599358079016,0.999999993818,-3.45643347878e-05,-9.66919932487e-05,-4.26616534533e-05,1793250446835214592
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746,722,690,667,643.492900861,890.492900861,789,821,654,632,657,0.421653510041,-0.00552196745308,0.0598983061053,0.999999983664,-3.0154175463e-05,-0.000172542379143,-4.46230357998e-05,1793250446851880960
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.934719194,746,722,690.130561612,667,643.934719194,891,789.065280806,821,654,632,656.934719194,0.422508656816,-0.00552139301474,0.0598701721654,0.99999997166,-2.62489538422e-05,-0.000232103760462,-4.60284746803e-05,1793250446868547840
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.358725828,746,722,691.282548345,667,643.358725828,891,789.641274172,821,654,632,656.358725828,0.42349900815,-0.00552444855903,0.0599214395998,0.999999989891,-3.36314420601e-05,-0.000130778644101,-4.45349251145e-05,1793250446885214976
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.223490866,746,722,691.776509134,667.223490866,643.223490866,891,789.776509134,821.223490866,654.223490866,632.223490866,656.223490866,0.424474390155,-0.00552742638125,0.0599730180325,0.999999997561,-3.81233279037e-05,-4.01338785171e-05,-4.25874417203e-05,1793250446901881600
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.815982857,746,722,691.184017143,667.815982857,643.815982857,891,789.184017143,821.815982857,654.815982857,632.815982857,656.815982857,0.425425056772,-0.00553027587864,0.0600251099561,0.999999997948,-3.78426017376e-05,3.2876796507e-05,-3.989047783e-05,1793250446918548224
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746,722,691.398636554,667.601363446,643.601363446,891,789,822,654.601363446,632.601363446,657,0.426374507103,-0.00553156163107,0.0600391560552,0.999999996426,-3.98890112175e-05,6.21109996685e-05,-4.12295250641e-05,1793250446935214592
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,746,722,691.976858082,667.023141918,643.023141918,891,789,822,654.023141918,632.023141918,657,0.427323409443,-0.00553214291934,0.0600360625828,0.999999995526,-4.29837907502e-05,7.16239850314e-05,-4.43867875017e-05,1793250446951880960
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,722,691.448531607,667,643.551468393,891,789,822.551468393,654,632,657,0.4282434431,-0.0055325501756,0.0600050914404,0.999999997119,-5.31953659912e-05,2.70803730976e-05,-4.68896747553e-05,1793250446968547584
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746,722,691.128951089,667,644,891,788.871048911,822.871048911,654.128951089,632.128951089,657,0.42914233899,-0.00553229951968,0.0599706046243,0.999999996716,-5.89550861893e-05,-2.5835938339e-05,-4.92391154444e-05,1793250446985214464
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746,722,691.717200879,667,644,891,788.282799121,822.282799121,654.717200879,632.717200879,657,0.429970233093,-0.0055297313515,0.0599277353817,0.999999992495,-4.78013495273e-05,-0.000100546994851,-5.11391813442e-05,1793250447001880832
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.699505509,746.300494491,722,692,667,643.699505509,891,788.300494491,822.300494491,654.699505509,633,657,0.430866892722,-0.00552938782576,0.0599165444152,0.999999991052,-4.43897968332e-05,-0.000114705613981,-5.26103194522e-05,1793250447018547712
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.120800568,746.879199432,722,692,667,643.120800568,891,788.879199432,822.879199432,654.120800568,633,657,0.431827218324,-0.00553110396779,0.0599346825329,0.99999999475,-4.81462847442e-05,-7.28022334376e-05,-5.36843381784e-05,1793250447035214592
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.544426715,722,692.455573285,667.455573285,643,890.544426715,789,823,654,632.544426715,657,0.432796475967,-0.00553450180748,0.0599784073821,0.999999996671,-6.29621571957e-05,-3.18295134206e-06,-5.18006891696e-05,1793250447051881216
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.031144035,746,722,693,667.93771193,643,890.06228807,789,823.031144035,654,632,656.968855965,0.433764371772,-0.00553817982817,0.0600252483125,0.999999993351,-7.90421795171e-05,6.79366966571e-05,-4.93457497375e-05,1793250447068548096
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.603445014,746,722,693,666.793109973,643,891.206890027,789,823.603445014,654,632,656.396554986,0.434667658808,-0.00553901738744,0.0600089450004,0.999999995795,-6.63920011123e-05,3.80774251693e-05,-5.05219936089e-05,1793250447085214720
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,746,722,693,666.364305868,643.182152934,891.817847066,789,824,654,632,656.182152934,0.435548032971,-0.00553972237053,0.059986735896,0.999999996906,-5.88697532885e-05,-3.22225100104e-06,-5.20753047118e-05,1793250447101881344
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746,722,693,667.55063531,643.775317655,891.224682345,789,824,654,632,656.775317655,0.436376706466,-0.00554012820749,0.059951200897,0.999999994063,-6.29182192172e-05,-7.03361819252e-05,-5.44794344447e-05,1793250447118547968
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746.3597031,722,693,667.6402969,643.6402969,891,789,824,654,632.3597031,657,0.437189469706,-0.00553959973667,0.0599222710625,0.999999988285,-6.95493287783e-05,-0.000124264629015,-5.61284442985e-05,1793250447135214336
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746.938735341,722,693,667.061264659,643.061264659,891,789,824,654,632.938735341,657,0.43799253161,-0.00553850157119,0.0598973687323,0.999999980858,-7.77552063203e-05,-0.000170153216802,-5.73170192974e-05,1793250447151880960
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,721.486181801,693.513818199,667,643,891,789,824,654,633,657,0.438830200542,-0.00553804495863,0.059896136848,0.999999980425,-7.34396112196e-05,-0.000174384448467,-5.78530236943e-05,1793250447168547840
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.911634998,721.088365002,694,667,643,891,789,824,654.088365002,633,656.911634998,0.439678323623,-0.00553826646369,0.0599053218062,0.999999982925,-6.91144390338e-05,-0.000161304835614,-5.79110239651e-05,1793250447185214976
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746.337466155,721.662533845,694,667,643,891,789,824,654.662533845,633,656.337466155,0.4405614081,-0.00554179871429,0.0599563774615,0.999999992577,-7.28819925129e-05,-8.01541178766e-05,-5.57656085089e-05,1793250447201881344
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746.245527329,722,694,667,643,891,789,824,654.754472671,632.754472671,656.245527329,0.441375968448,-0.00554444663655,0.0599735068781,0.999999994121,-7.621758106e-05,-5.39235927157e-05,-5.51476587884e-05,1793250447218547968
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.841102021,722,694,667,643,891,789,824,654.158897979,632.158897979,656.841102021,0.442092834134,-0.00554583377502,0.059942267783,0.999999989659,-7.89373189586e-05,-0.000105992580735,-5.67074115428e-05,1793250447235214592
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722,693.577889104,666.577889104,643,891.844221793,788.577889104,824,654,632.422110896,657,0.442770245442,-0.00554345096048,0.0598874629782,0.999999977286,-7.98446178788e-05,-0.000188259519388,-6.00968831203e-05,1793250447251881216
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722,693.002180393,666.002180393,643,892.995639214,788.002180393,824,654,632.997819607,657,0.443433300138,-0.00553969633465,0.0598240830747,0.99999995511,-8.00924057381e-05,-0.000281514898497,-6.41521529329e-05,1793250447268547840
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,747,722,693.567946634,666,642.432053366,891.864106732,788,824.567946634,654,632.432053366,657,0.444104446056,-0.00554196570151,0.0598056467734,0.99999994571,-8.90754732314e-05,-0.00031072221494,-6.40171174663e-05,1793250447285214208
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,722,694,666,642,891,788,825,654,632,657,0.444769372365,-0.0055436071301,0.0597899932221,0.999999936509,-9.43032164192e-05,-0.000337645913358,-6.39104132631e-05,1793250447301880832
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,722,694,666,642,891,788,825,654,632,657,0.445414737475,-0.00554321166941,0.0597825139148,0.999999929964,-8.76742420761e-05,-0.000358184775569,-6.39422318096e-05,1793250447318547968
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,694.324903202,665.675096798,642,891.324903202,788,825,654,632,657,0.446025299692,-0.00554310810677,0.0597627698015,0.999999916918,-8.40829306706e-05,-0.000393533607962,-6.49997734303e-05,1793250447335214848
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694.903996725,665.096003275,642,891.903996725,788,825,654,632,657,0.446608633579,-0.00554323291266,0.0597334302307,0.999999897325,-8.28681566492e-05,-0.000440469123594,-6.68597966649e-05,1793250447351881472
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,695,664.520245805,641.520245805,892,787.520245805,825,654,632,657,0.447195992716,-0.00554497407608,0.0597307670515,0.999999899104,-8.64513636831e-05,-0.000435417080838,-6.87754252702e-05,1793250447368548096
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722,694.944008053,664,640.944008053,892,787,825,654,632,657,0.447781815806,-0.00554694009267,0.0597347606666,0.99999990554,-9.08200776069e-05,-0.000419159054905,-7.05491676555e-05,1793250447385214720
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,722,694.356926453,664,640.356926453,892,787,825,654,632,657,0.448345481956,-0.00554799211119,0.0597516110056,0.999999915252,-9.35954504385e-05,-0.000394605065564,-7.08722906186e-05,1793250447401881600
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.226945144,694,664,640,892,787,825.226945144,654.226945144,632,657,0.44886543406,-0.00554982118661,0.0597495074417,0.99999991277,-9.70792890082e-05,-0.000399813364933,-7.20124290648e-05,1793250447418547968
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.805838587,694,664,640,892,787,825.805838587,654.805838587,632,657,0.449317594027,-0.00555285532783,0.0597180100157,0.999999890283,-0.00010166182141,-0.000451177255807,-7.44196013905e-05,1793250447435214336
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722.614910998,694,663.614910998,640,891.614910998,786.614910998,826,654.614910998,632,657,0.449744267334,-0.00555789415533,0.0596825858493,0.999999863958,-0.00010773415213,-0.00050447137319,-7.73646826848e-05,1793250447451880960
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722.035480379,694,663.035480379,640,891.035480379,786.035480379,826,654.035480379,632,657,0.450158078412,-0.00556394468164,0.0596451799846,0.999999834097,-0.000114558334769,-0.000558739615525,-8.05812288444e-05,1793250447468547840
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+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,722.446183527,694.446183527,662,638,892,785,826,655,631.553816473,657,0.452366868672,-0.00557628398438,0.0596823155302,0.99999987593,-0.000100457566283,-0.000484300687705,-5.91669765576e-05,1793250447568548096
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722.977086338,694.977086338,662,638,892,785,826,654.977086338,631,657,0.45264467916,-0.00556489251613,0.0596743340742,0.999999863977,-0.000159148815132,-0.000492851824743,-6.17672067748e-05,1793250447585214208
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+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661.235374295,637.235374295,892.764625705,784.235374295,826,654.764625705,630.235374295,657,0.45330198118,-0.00556055913357,0.0596482325379,0.999999842418,-0.000139955230766,-0.000539627723748,-6.61681557974e-05,1793250447635214848
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+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,892.071538293,784.928461707,826,655,630.928461707,657,0.453650106689,-0.00557112616628,0.0596292753674,0.999999822108,-0.000143276309599,-0.000575052229547,-6.76061537122e-05,1793250447668547840
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+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636.466338787,892,784,826.466338787,655,631,657,0.454653509111,-0.00557963070542,0.0596246251026,0.999999823028,-0.000136568468406,-0.00057515574146,-6.69998779053e-05,1793250447885214208
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,722,694.043052598,660,636.956947402,892.043052598,784,826.956947402,655,631,657,0.454669362051,-0.00557908068083,0.0596245355506,0.999999823135,-0.000135115215354,-0.000575390678982,-6.63348283938e-05,1793250447901880832
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,722,694.617684409,660,636.382315591,892.617684409,784,826.382315591,655,631,657,0.454678306009,-0.00557760128895,0.0596229191223,0.999999822337,-0.000132468960877,-0.000577321698309,-6.69141124461e-05,1793250447918547712
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,722,694.802888237,660,636,892.802888237,784,826.197111763,655,631,657,0.454685041719,-0.00557670771976,0.0596210551486,0.999999821191,-0.000131310704963,-0.000579527252063,-6.72597323076e-05,1793250447935214592
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,722,694.213927603,660,636,892.213927603,784,826.786072397,655,631,657,0.454687387532,-0.00557697873849,0.0596186990664,0.999999819363,-0.000133110520046,-0.000582278567176,-6.71408387636e-05,1793250447951881472
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892,784,826.631161417,655,631,657,0.454689746086,-0.00557736198376,0.059616949403,0.999999818328,-0.000133951071776,-0.00058390999094,-6.67148998723e-05,1793250447968547840
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892,784,826.051928709,655,631,657,0.454692111907,-0.00557780924565,0.0596155456553,0.999999817748,-0.000134244437272,-0.000584902602485,-6.61138151629e-05,1793250447985214208
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,722,694.52332199,660,636,892,784,826.52332199,655,631,656.47667801,0.454694175554,-0.00557670058486,0.059616072372,0.999999818165,-0.000133295827057,-0.000584366095534,-6.64727272297e-05,1793250448001880832
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.9020273,747,722,695,660,636,892,784,826.9020273,655,630.9020273,656.0979727,0.454695707057,-0.00557531076997,0.0596164718149,0.999999818418,-0.000132199431874,-0.000584141095442,-6.68297643754e-05,1793250448018547456
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.328385871,747,722,695,660,636,892,784,826.328385871,655,630.328385871,656.671614129,0.454694799415,-0.00557329985333,0.0596153303153,0.999999817405,-0.000130979349849,-0.000586159614633,-6.67186951619e-05,1793250448035214080
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.254767361,747,722,694.745232639,660,636,892,784,826.254767361,655,630.254767361,657,0.454694430173,-0.00557214917844,0.0596145685559,0.999999816778,-0.000129867728212,-0.00058749463216,-6.65505757331e-05,1793250448051880704
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.850656541,747,722,694.149343459,660,636,892,784,826.850656541,655,630.850656541,657,0.454694781825,-0.00557215032753,0.0596143152511,0.999999816672,-0.000128901329891,-0.000587914472572,-6.63060686654e-05,1793250448068547840
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.431376656,784,826.568623344,655,631,657,0.454695207072,-0.00557217945854,0.0596139917431,0.999999816674,-0.000128248598637,-0.000588058076844,-6.62700861432e-05,1793250448085214720
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.992984068,747,722,694.007015932,660,636,893,784,826.007015932,655,631,656.992984068,0.454695663464,-0.00557223390364,0.0596136491631,0.99999981671,-0.000127752184677,-0.000588100759034,-6.63025292611e-05,1793250448101881088
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.417963301,747,722,694.582036699,660,636,893,784,826.582036699,655,631,656.417963301,0.454696648573,-0.00557358011715,0.059613663358,0.999999816621,-0.000131418207372,-0.000587452273597,-6.62286212218e-05,1793250448118547456
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.161356807,747,722,694.838643193,660,636,892.838643193,784,826.838643193,654.838643193,631,656.161356807,0.454697330445,-0.00557430686994,0.0596136413357,0.999999816484,-0.000133627193253,-0.000587191734195,-6.61985489268e-05,1793250448135214080
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.752118341,747,722,694.247881659,660,636,892.247881659,784,826.247881659,654.247881659,631,656.752118341,0.454697205339,-0.00557338510614,0.0596135229317,0.999999816246,-0.000131958694569,-0.000587963601621,-6.62851328618e-05,1793250448151880704
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.335912705,784,826.335912705,654,631,657,0.454697228067,-0.00557133374755,0.0596135090691,0.999999816672,-0.000127827370387,-0.000588154139161,-6.62663690113e-05,1793250448168547328
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.914670196,784,826.914670196,654,631,657,0.454697357669,-0.00556846575956,0.0596135707837,0.999999817551,-0.000121915570802,-0.00058792440993,-6.61714450097e-05,1793250448185213952
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.490015552,747.490015552,722,694,660,636,892.509984448,784,826.509984448,654,631,657,0.454697347513,-0.00556917869912,0.0596127935611,0.999999816592,-0.000124017256457,-0.000589137954825,-6.59668723831e-05,1793250448201880832
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.935558297,747.935558297,722,694,660,636,892,784,826.064441703,654.064441703,631,657,0.454697292699,-0.00557029586118,0.0596119644803,0.999999815427,-0.000127112824219,-0.000590473998083,-6.57967641261e-05,1793250448218547712
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.36372396,747.36372396,722,694,660,636,892,784,826.63627604,654.63627604,631,657,0.454697076557,-0.00556971989145,0.0596118693959,0.999999815211,-0.000127122605667,-0.000590809368196,-6.60473162654e-05,1793250448235214592
+247,4.116666667,HOLD_POSE2,770,747,722,694,660,635,892,784,826,654,631,657,0.454696365878,-0.005569887294,0.0596122409962,0.999999814107,-0.000128125486497,-0.000592482162051,-6.58396934203e-05,1793250448273845248
+248,4.133333333,HOLD_POSE2,770,747,722,694,660,635.577095023,892,784,826,654.577095023,631,657,0.454696746731,-0.00557130180107,0.0596111649512,0.999999814099,-0.000128159625426,-0.000592498468426,-6.57401167251e-05,1793250448290511616
+249,4.150000000,HOLD_POSE2,770,747,722,694,660,636,892,784,826,655,631,657,0.454697027263,-0.0055722250557,0.0596105618618,0.999999814016,-0.000128520941651,-0.000592578200924,-6.55854536926e-05,1793250448307177984
+250,4.166666667,HOLD_POSE2,770,747,722,694,660,636,892,784,826,655,631,657,0.454697032643,-0.00557180092691,0.0596112559724,0.999999813723,-0.000129779624168,-0.000592831895573,-6.52797024584e-05,1793250448323844608
+251,4.183333333,HOLD_POSE2,770,747,722,694,660,636,892,784,826,655,631,657,0.454697613012,-0.00557123132044,0.0596120888154,0.999999814073,-0.000129840134768,-0.000592206859004,-6.54653671633e-05,1793250448340511232
+252,4.200000000,HOLD_POSE2,770,747,722,694,660,636,892,784,826,655,631,657,0.454698691451,-0.00557053569684,0.0596130418324,0.99999981498,-0.000128862752777,-0.000590820639038,-6.60767111365e-05,1793250448357178112
+253,4.216666667,HOLD_POSE2,770.479615676,747.479615676,722,694,660,636,892,784,826,654.520384324,631,657,0.454697829607,-0.00556986945525,0.0596124492142,0.999999814615,-0.000128312658319,-0.000591559982934,-6.60530568766e-05,1793250448373845248
+254,4.233333333,HOLD_POSE2,770.941359845,747.941359845,722,694,660,636,892,784,826,654.058640155,630.941359845,657,0.454696776497,-0.00556923632376,0.0596115512755,0.999999814048,-0.000127807537228,-0.000592639764981,-6.59273785883e-05,1793250448390512128
+255,4.250000000,HOLD_POSE2,770.361390865,747.361390865,722,694,660,636,892,784,826,654.638609135,630.361390865,657,0.454697594473,-0.00556884346757,0.059610784001,0.999999814038,-0.000126915733571,-0.000592833613914,-6.60635188328e-05,1793250448407178496
+256,4.266666667,HOLD_POSE2,770,747,722,694,660,636,892.216170157,784,826.216170157,655,630.216170157,657,0.454698288334,-0.00556964337478,0.0596104904252,0.999999814062,-0.000127472817704,-0.000592687842385,-6.59359931026e-05,1793250448423844864
+257,4.283333333,HOLD_POSE2,770,747,722,694,660,636,892.789749874,784,826.789749874,655,630.789749874,657,0.454698776988,-0.00557241536293,0.0596109800493,0.999999814137,-0.000130425451584,-0.000591980552071,-6.53725295717e-05,1793250448440511488
+258,4.300000000,HOLD_POSE2,770,747,722,694,660,636,893,783.625614964,827,654.625614964,630.625614964,657,0.454698504328,-0.00557182009697,0.0596104765805,0.999999813918,-0.000128905610924,-0.000592689786709,-6.53192738618e-05,1793250448457178368
+259,4.316666667,HOLD_POSE2,770,747,722,694,660,636,893,783.034582223,827,654.034582223,630.034582223,657,0.454697791115,-0.0055692762815,0.0596093984326,0.999999813516,-0.000124797656046,-0.000594218730525,-6.55612632124e-05,1793250448473844992
+260,4.333333333,HOLD_POSE2,770,747,722,694,660,636,892.455955598,783.544044402,827,654.544044402,630.544044402,657,0.4546973272,-0.00556846516433,0.0596093754722,0.999999813111,-0.000125772303011,-0.00059466307809,-6.58374711994e-05,1793250448490511616
+261,4.350000000,HOLD_POSE2,770,747,722,694,660,636,892.121057996,784,827,655,631,656.878942004,0.45469733895,-0.00556857814045,0.0596096922229,0.999999812997,-0.000127495462002,-0.000594477324926,-6.59358270821e-05,1793250448507178496
+262,4.366666667,HOLD_POSE2,770,747,722,694,660,636,892.694922262,784,827,655,631,656.305077738,0.454699071925,-0.00557174482183,0.0596110343445,0.999999813962,-0.000130836867884,-0.000592186861741,-6.53609892363e-05,1793250448523845376
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,660,636,892,784,826,655,630,657,0.454696727414,-0.00556905035397,0.0596091186333,0.999999812738,-0.000126771359838,-0.000595112918161,-6.55198164528e-05,1793250448563796480
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.35924408,636,892.64075592,784,826,655,630.64075592,657,0.454698821179,-0.00557063799281,0.0596106240315,0.999999813989,-0.000127577054604,-0.000592906819193,-6.48665088463e-05,1793250448580463360
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.254334626,636,893,784.254334626,826.254334626,655,631,657,0.454699262656,-0.00557126152724,0.0596106826835,0.99999981386,-0.000128320986154,-0.00059298071821,-6.47187924176e-05,1793250448597130240
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.833231911,636,893,784.833231911,826.833231911,655,631,657,0.454697595608,-0.00557065474462,0.0596088951075,0.999999811968,-0.000128986100261,-0.000595964178299,-6.52162732072e-05,1793250448613796608
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.594903384,636,892.594903384,784.594903384,827,655,630.594903384,657,0.454697827959,-0.00557102556572,0.0596087155851,0.999999812053,-0.00012959164428,-0.000595663769457,-6.54630287294e-05,1793250448630463232
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.025884445,636,892.025884445,784.025884445,827,655,630.025884445,657,0.454698828902,-0.00557179197416,0.0596091867617,0.999999812937,-0.000130173083226,-0.000594034543063,-6.56083282569e-05,1793250448647130112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.564897772,659,636,892.564897772,784,827,655,630.564897772,657,0.454698320103,-0.00557042291305,0.0596096703814,0.99999981305,-0.000128724254282,-0.000594189111265,-6.53412034242e-05,1793250448663796992
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.846385476,659,636,892.846385476,784,827,655,631,657,0.454697641906,-0.00556936194884,0.0596097403495,0.999999812955,-0.000127352714709,-0.000594664340399,-6.51579191699e-05,1793250448680463616
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.266282801,659,636,892.266282801,784,827,655,631,657,0.454696693162,-0.00556943892323,0.0596086602279,0.999999812389,-0.00012646439089,-0.000595793816277,-6.52619755379e-05,1793250448697130240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.311182468,659,636,892,784,827,655,631,657,0.454691123795,-0.00556844156293,0.0596056811618,0.999999810038,-0.000125206475858,-0.000599950854103,-6.56215522356e-05,1793250448713796352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.886409812,659,636,892,784,827,655,631,657,0.454681633732,-0.00556653260701,0.0596010908012,0.999999806138,-0.000123634954938,-0.000606676841921,-6.61979433065e-05,1793250448730462976
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.539156477,659,635.539156477,892,784,827,655,631,657,0.454653649507,-0.00556818698415,0.0595891308206,0.999999793409,-0.000125901230507,-0.000626842462999,-6.63258075599e-05,1793250448747129856
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.036177871,659.036177871,635.036177871,892,784,827,655,631,657,0.454619639154,-0.00557034234679,0.0595749208058,0.999999777629,-0.000128648045679,-0.000650985827627,-6.64058538266e-05,1793250448763796224
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.628354131,659.628354131,635.628354131,892,784,827,655,631,657,0.454562953228,-0.00556672214007,0.059553999869,0.999999755091,-0.000124267170651,-0.000685438255405,-6.74471408853e-05,1793250448780463104
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.784614047,659.784614047,635.784614047,892,784,826.784614047,654.784614047,630.784614047,657,0.454503740241,-0.00556350240158,0.059536090175,0.999999737849,-0.00012124472689,-0.000710575498891,-6.84339604041e-05,1793250448797129728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.206251726,659.206251726,635.206251726,892,784,826.206251726,654.206251726,630.206251726,657,0.454440268549,-0.00556095754639,0.0595232551355,0.999999731125,-0.000120511561199,-0.000720014456166,-6.93289894869e-05,1793250448813796608
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.477247499,659.477247499,636,892,784,826.522752501,655,631,657,0.454192117935,-0.0055542835271,0.0595186106884,0.999999722963,-0.000117145319005,-0.000731960574816,-6.77108871929e-05,1793250448863796736
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745.268861795,721,686,666,642,887.268861795,788.268861795,819,654.268861795,632,656.731138205,0.408152825409,-0.00537755035213,0.0598498676973,0.999999936887,0.000247688706244,-0.000252664024779,3.21940824594e-05,1793250450047130624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745,721,685.690764412,666,642,887.309235588,788,819.309235588,654,632,656.690764412,0.407589175769,-0.00537720579149,0.0598385135967,0.999999934519,0.000239061858834,-0.000269836573939,3.1625878259e-05,1793250450063797248
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745,721,685.998801287,666,642,888,788,820,654,632,656,0.406073132874,-0.00536906966963,0.0598187878112,0.999999928176,0.000242840821507,-0.000289642236769,2.79942047497e-05,1793250450113797120
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.213096493,745,721,685,665.786903507,642.213096493,888,788,819,654.213096493,632,656.213096493,0.405185861659,-0.00536351988973,0.059818767619,0.999999926695,0.000253130834624,-0.000285958766864,2.75944414899e-05,1793250450147130880
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,745,721,684.052671412,665,642,887.947328588,788,819,654.947328588,632,656.947328588,0.401316421495,-0.00536815060753,0.0598335647585,0.999999945823,0.000183900383159,-0.00027210012135,2.22800845699e-05,1793250450430463232
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.413120827,745,721.413120827,684,665.586879173,642,887,788,819,655,631.413120827,656,0.400967175014,-0.00536987412432,0.059837890423,0.999999919915,0.000294618046697,-0.000269945571005,2.23521529066e-05,1793250450813796352
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a63e3599364c6ede69188f00055f8833bffcb213
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575679895902,0.000150037774851,1.05003346813,0.5462505763,0.00882267846708,1.04970487245
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+389,6.483333333,pose2_to_pose3_retreat,0.575667590464,0.000150040288359,1.05003360104,0.546238270679,0.00882267991502,1.04970499384
+390,6.500000000,pose2_to_pose3_retreat,0.575666879059,0.000150044719357,1.05003352532,0.546237559239,0.00882268423023,1.04970491816
+391,6.516666667,pose2_to_pose3_retreat,0.5756666089,0.000150046402044,1.05003349657,0.546237289067,0.00882268586895,1.04970488942
+392,6.533333333,pose2_to_pose3_retreat,0.575666520915,0.000150046950057,1.0500334872,0.546237201078,0.00882268640264,1.04970488006
+393,6.550000000,pose2_to_pose3_retreat,0.575666311949,0.000150048251605,1.05003346496,0.546236992102,0.00882268767018,1.04970485782
+394,6.566666667,pose2_to_pose3_retreat,0.575666012064,0.000150050119439,1.05003343304,0.546236692203,0.0088226894892,1.04970482592
+395,6.583333333,pose2_to_pose3_retreat,0.575665694077,0.000150053949179,1.05003340697,0.546236374188,0.00882269322922,1.04970479995
+396,6.600000000,pose2_to_pose3_retreat,0.575665437278,0.000150075549704,1.0500334637,0.546236117245,0.00882271437727,1.04970485766
+397,6.616666667,pose2_to_pose3_retreat,0.575665163174,0.000150098605856,1.05003352425,0.546235842986,0.00882273695047,1.04970491926
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+400,6.666666667,pose2_to_pose3_retreat,0.575665010605,0.00015011143915,1.05003355796,0.546235690331,0.00882274951494,1.04970495354
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+403,6.716666667,pose2_to_pose3_retreat,0.575664430962,0.000150038313268,1.05003371699,0.546235111334,0.00882267861454,1.04970511347
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f9bc583621f49d72b73b735cf51ae0d7e30255fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af844bcde711a7753f058fed3c906022cc685756605314632425757f4d2c633
+size 26075154
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8603b2c4cf3040f709b799770e711d1a45e98589
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+16,0.266666667,BASELINE,769.711636251,745,721,684,665,642.711636251,887.288363749,788,819.288363749,655,631.288363749,656,0.400966601056,-0.00537474876479,0.0598406421112,0.999999923044,0.000287260021456,-0.000266252860417,2.24501815913e-05,1793250451384402688
+17,0.283333333,BASELINE,769.129177145,745,721,684,665,642.129177145,887.870822855,788,819.870822855,655,631.870822855,656,0.40096572213,-0.0053748000258,0.0598396762621,0.999999923421,0.00028488814818,-0.000267426589253,2.18924424818e-05,1793250451401069312
+18,0.300000000,BASELINE,769,745,721,684.448603784,665,642.448603784,887.551396216,788,819.551396216,655,632,656,0.400966002168,-0.00537517445544,0.0598399327168,0.999999923565,0.000284587738208,-0.000267200605114,2.19736397065e-05,1793250451417736192
+19,0.316666667,BASELINE,769,745,721,685,665.024943356,642.975056644,887,788,819,655,632,656,0.400966551856,-0.00537554865632,0.0598404821465,0.99999992361,0.000284936905121,-0.000266639811128,2.22122797083e-05,1793250451434402816
+20,0.333333333,BASELINE,769,745,721,685,665.598902448,642.401097552,887,788,819,655,632,656,0.400965766961,-0.00537389071659,0.0598398130868,0.999999922918,0.000286590136567,-0.000267489515433,2.19085260538e-05,1793250451451069184
+21,0.350000000,BASELINE,769,745,721,685,666,642,887,788,819,655,632,656,0.400965421681,-0.0053723175496,0.0598393984086,0.999999922217,0.000288685447224,-0.000267871412749,2.16993799952e-05,1793250451467735552
+22,0.366666667,BASELINE,769,745,721,685,666,642,887,788,819,655,632,656,0.400966096454,-0.00537094108437,0.0598395739818,0.999999921499,0.000291806531542,-0.000267167838871,2.17097557284e-05,1793250451484401920
+23,0.383333333,BASELINE,769.351370071,745,721.351370071,685,666,642.351370071,887,788.351370071,819,655,632,656,0.400966706567,-0.00537112683533,0.0598398977153,0.999999922147,0.000290545614454,-0.000266106852882,2.18354217354e-05,1793250451501068544
+24,0.400000000,BASELINE,769.930195279,745,721.930195279,685,666,642.930195279,887,788.930195279,819,655,632,656,0.400967274821,-0.00537232386777,0.0598403173584,0.999999923668,0.000286448062406,-0.000264814500443,2.20357194985e-05,1793250451517735168
+25,0.416666667,BASELINE,769.500572426,745,721.500572426,685,666,642.500572426,887,788.500572426,819.499427574,655,632,656,0.40096714365,-0.00537217311965,0.059840506673,0.999999923507,0.000286612134283,-0.000265250046204,2.19380962452e-05,1793250451534402048
+26,0.433333333,BASELINE,769,745,721,685,666,642.070434765,887.070434765,788,819.929565235,655,632,656,0.400966989285,-0.00537175140946,0.0598406803422,0.999999923126,0.000287478448929,-0.000265761082447,2.17849487419e-05,1793250451551068416
+27,0.450000000,BASELINE,769,745,721,685,666,642.664413468,887.664413468,788,819.335586532,655,632,656,0.400967375465,-0.00537068946474,0.0598409725005,0.999999922813,0.000289220548631,-0.000265071940588,2.15227679675e-05,1793250451567735296
+28,0.466666667,BASELINE,769,745,721,685,665.748005675,642.748005675,887.748005675,788,819,655,632,656,0.400966887372,-0.00537109338551,0.0598409739625,0.999999922802,0.000289060612007,-0.000265286465409,2.15286049643e-05,1793250451584401920
+29,0.483333333,BASELINE,769,745,721,685,665.168734047,642.168734047,887.168734047,788,819,655,632,656,0.400965263816,-0.00537340109727,0.0598405978831,0.999999923182,0.000286430408068,-0.000266674626197,2.18825297094e-05,1793250451601068544
+30,0.500000000,BASELINE,769,745,721,685,665,642,887,788,819,655,631.589650431,656,0.400965393547,-0.00537407500356,0.0598402280537,0.99999992351,0.000285532538478,-0.000266384541851,2.21404932961e-05,1793250451617735424
+31,0.516666667,BASELINE,769,745,721,685,665,642,887,788,819,655,631.010644105,656,0.400966243891,-0.00537407740347,0.0598398607933,0.999999923819,0.000285346671394,-0.000265404686104,2.23590161167e-05,1793250451634402048
+32,0.533333333,BASELINE,768.436319338,745,721,684.436319338,665,642,887,788,819,655,631.563680662,656,0.400967790443,-0.00537345779342,0.0598413946518,0.99999992406,0.000286512585821,-0.000263244541084,2.21926391358e-05,1793250451651068672
+33,0.550000000,BASELINE,768.275997056,745,721,684.137998528,665,642,887,788,819.137998528,654.862001472,632,656,0.400968251419,-0.00537311696821,0.0598421186051,0.999999924075,0.000287227768947,-0.000262422022289,2.20380020036e-05,1793250451667735552
+34,0.566666667,BASELINE,769.425143639,745,721,684.71257182,665,642,887,788,819.71257182,654.28742818,632,656,0.400965236797,-0.00537369496454,0.0598401676907,0.999999923384,0.000286436920424,-0.00026590117252,2.19433095638e-05,1793250451684402944
+35,0.583333333,BASELINE,769.70447498,745,721,684.70447498,665,642,887,788,819.70447498,654.29552502,632,656,0.400964660208,-0.00537334804273,0.0598394463444,0.999999923225,0.000286070709345,-0.000266905471552,2.1779444862e-05,1793250451701070080
+36,0.600000000,BASELINE,769.113133538,745,721,684.113133538,665,642,887,788,819.113133538,654.886866462,632,656,0.400966524056,-0.00537207529084,0.0598399557786,0.999999923606,0.00028612955433,-0.000265432479492,2.15463396803e-05,1793250451717736960
+37,0.616666667,BASELINE,769,745,721,684.465974185,665,642,887,788,819,655,632,656,0.400966527169,-0.00537274442618,0.0598399334295,0.999999923809,0.000285406443864,-0.000265422868434,2.18307703531e-05,1793250451734403328
+38,0.633333333,BASELINE,769.042894404,745,721,684.957105596,665,642,887,788,819,655,631.957105596,656.042894404,0.400966300701,-0.00537385346058,0.0598399205783,0.999999923971,0.000284691161443,-0.000265546518721,2.22099965746e-05,1793250451751070208
+39,0.650000000,BASELINE,769.628761093,745,721,684.371238907,665,642,887,788,819,655,631.371238907,656.628761093,0.40096874044,-0.00537471554398,0.0598416204802,0.999999924158,0.000286416681318,-0.000262974667605,2.22393195229e-05,1793250451767736832
+40,0.666666667,BASELINE,769.787957342,745.212042658,721,684.212042658,665,642,887,788,819,654.787957342,631.212042658,656.787957342,0.400969218227,-0.00537502831467,0.0598420346412,0.999999924286,0.000286542114449,-0.000262354306375,2.21833007766e-05,1793250451784403456
+41,0.683333333,BASELINE,769.209147265,745.790852735,721,684.790852735,665,642,887,788,819,654.209147265,631.790852735,656.209147265,0.40096630245,-0.00537439094629,0.0598402248729,0.999999924317,0.000283899898312,-0.000265109411897,2.19796676131e-05,1793250451801070080
+42,0.700000000,BASELINE,769,745.6299282,721,685,665.3700718,642.3700718,887,788,819,654,632,656,0.400965909149,-0.00537377458359,0.0598402966673,0.99999992419,0.000284252738025,-0.000265213588136,2.19598948952e-05,1793250451817736192
+43,0.716666667,BASELINE,769,745.050477758,721,685,665.949522242,642.949522242,887,788,819,654,632,656,0.400966943009,-0.00537317010548,0.0598414330094,0.999999923973,0.000286300115819,-0.000263817925676,2.2044146458e-05,1793250451834402560
+44,0.733333333,BASELINE,769,745,721,685,665.473954802,642.473954802,887,788,819,654.526045198,632,656.526045198,0.400966939329,-0.00537330237734,0.0598406492848,0.999999924038,0.000285399823571,-0.000264566827453,2.18009008205e-05,1793250451851069184
+45,0.750000000,BASELINE,769.101762246,745,721.101762246,685,665,642,887,787.898237754,819.101762246,654.898237754,632,656.898237754,0.400966613344,-0.00537329008813,0.0598397174187,0.999999923931,0.00028486191359,-0.000265564815768,2.16049953788e-05,1793250451867735808
+46,0.766666667,BASELINE,769.675039356,745,721.675039356,685,665,642,887,787.324960644,819.675039356,654.324960644,632,656.324960644,0.40096525271,-0.00537228221751,0.0598389481087,0.999999922908,0.000287306430397,-0.000266768713111,2.17732454352e-05,1793250451884402688
+47,0.783333333,BASELINE,770,745,721.742374512,685,665.257625488,642,887,787.515250977,819.742374512,654.257625488,632,656.257625488,0.400965246828,-0.00537214186978,0.0598393474516,0.999999922903,0.000287546282087,-0.000266516779519,2.18924132621e-05,1793250451901069824
+48,0.800000000,BASELINE,770,745,721.147605996,685,665.852394004,642,887,788.704788009,819.147605996,654.852394004,632,656.852394004,0.400967013849,-0.00537313681056,0.0598412761584,0.999999924232,0.000284900986853,-0.000264359664848,2.19473493799e-05,1793250451917736448
+49,0.816666667,BASELINE,769.566434852,745,721,684.566434852,665.566434852,642,887,788.566434852,819,654.566434852,632,656.566434852,0.400966902332,-0.00537239811872,0.0598417606884,0.999999923974,0.000286066943823,-0.000264077446762,2.19278640014e-05,1793250451934403072
+50,0.833333333,BASELINE,768.989753741,745.010246259,721,684,665.010246259,642,887,788,819,654,632,656,0.400966182048,-0.00537113269325,0.0598417676209,0.999999923225,0.000288374489324,-0.000264406735103,2.18805391476e-05,1793250451951069696
+51,0.850000000,BASELINE,768.413159759,745.586840241,721,684,665.586840241,642,887,788,819,654,632,656,0.400966087953,-0.00537238383631,0.0598417257833,0.999999924434,0.000284243454248,-0.000264327714558,2.1652285335e-05,1793250451967736064
+52,0.866666667,BASELINE,768.166568065,745.833431935,721,684.166568065,665.833431935,642,887,788,819,654.166568065,632,656,0.400966120798,-0.00537325960831,0.059841722212,0.999999924999,0.00028237379008,-0.000264199212618,2.15817820931e-05,1793250451984402688
+53,0.883333333,BASELINE,768.754218167,745.245781833,721,684.754218167,665.245781833,642,887,788,819,654.754218167,632,656,0.400966474548,-0.00537318644673,0.0598418153775,0.999999923965,0.000286220844262,-0.000263945622332,2.19100703856e-05,1793250452001069312
+54,0.900000000,BASELINE,769,745,721,685,665,642,887,788,819,654.663291179,632,656,0.400967400173,-0.00537273818105,0.0598418548607,0.999999923639,0.000287855916329,-0.000263397971283,2.19705810641e-05,1793250452017735936
+55,0.916666667,BASELINE,769,745,721,685,665,642,887,788,819,654.084509871,632,656,0.400968736939,-0.00537202023908,0.0598418557496,0.999999923829,0.000287900712064,-0.000262638909032,2.18385764477e-05,1793250452034402816
+56,0.933333333,BASELINE,768.509261469,745,721,684.509261469,665,642,887,788,819,654,632,656,0.400967125919,-0.00537207130856,0.0598410425712,0.999999923476,0.000287783798737,-0.000264121189103,2.16639088015e-05,1793250452051069440
+57,0.950000000,BASELINE,768.065323166,745,721,684,665,642,887,788,819,654,632,656,0.400965230145,-0.00537237541649,0.059840227198,0.999999923109,0.000287588105517,-0.000265724787676,2.15505887139e-05,1793250452067736064
+58,0.966666667,BASELINE,768.63944236,745,721,684,665,642,887,788,819,654,632,656,0.40096504212,-0.00537362629619,0.0598404788529,0.999999923387,0.000286994157095,-0.000265288445538,2.19719150512e-05,1793250452084402688
+59,0.983333333,BASELINE,769,745,721,684,665,642.221511175,887,788,819,654.221511175,632,656,0.400965887223,-0.00537355932929,0.0598412391044,0.99999992356,0.000287455020298,-0.000264120097232,2.21397053676e-05,1793250452101068800
+60,1.000000000,BASELINE,769,745,721,684,665,642.817001494,887,788,819,654.817001494,632,656,0.400968476565,-0.00537126743128,0.0598428580241,0.999999923551,0.000289696730567,-0.000261715896803,2.18794487968e-05,1793250452117735424
+61,1.016666667,BASELINE,769.398739321,745,721,684,665,642.601260679,887,788,819,654.601260679,632,656,0.400968861342,-0.00537174864319,0.0598430439732,0.999999924317,0.000287281997157,-0.00026145751169,2.17737071038e-05,1793250452134402560
+62,1.033333333,BASELINE,769.974375938,745,721,684,665,642.025624062,887,788,819,654.025624062,632,656,0.400968268084,-0.00537346012176,0.059842594197,0.999999925414,0.000282801472126,-0.00026215109936,2.17365146324e-05,1793250452151069184
+63,1.050000000,BASELINE,769.449163766,745,721,684.550836234,665.550836234,642,887,788,819,654,632,656,0.400967900246,-0.00537407595512,0.0598421597119,0.99999992479,0.000284452400702,-0.000262717014239,2.20427564019e-05,1793250452167736320
+64,1.066666667,BASELINE,769,745,721,684.870112158,665.870112158,642,887,788,819,654.129887842,632,656,0.400967487255,-0.00537429849877,0.0598418206468,0.999999924306,0.000285769672284,-0.00026311705161,2.2226826836e-05,1793250452184403456
+65,1.083333333,BASELINE,769,745,721,684.28205529,665.28205529,642,887,788,819,654.71794471,632,656,0.400966877939,-0.00537331379819,0.0598418156549,0.999999924603,0.00028490237699,-0.000262952950486,2.19235089975e-05,1793250452201069824
+66,1.100000000,BASELINE,769.301392138,745,721,684.301392138,665,642,887,788,819,654.698607862,631.698607862,656,0.400966655238,-0.00537223688726,0.0598417055404,0.999999924278,0.000285860404811,-0.000263179465388,2.15677629722e-05,1793250452217736192
+67,1.116666667,BASELINE,769.880590806,745,721,684.880590806,665,642,887,788,819,654.119409194,631.119409194,656,0.400966788897,-0.00537107498199,0.0598414985297,0.999999923373,0.000288500914135,-0.000263766028452,2.11636915734e-05,1793250452234403328
+68,1.133333333,BASELINE,770,745,721,684.544953652,665,642,887.455046348,788,819,654,631.455046348,656,0.400966516202,-0.00537099084125,0.0598415627071,0.999999923201,0.000288952799408,-0.000263925841822,2.11578484637e-05,1793250452251069696
+69,1.150000000,BASELINE,769.971503204,745,721,684.028496796,665.028496796,642,887.971503204,788,819,654.028496796,632,656,0.400966195223,-0.00537131721956,0.0598416773162,0.999999923283,0.000288634992465,-0.000263952355505,2.12691944126e-05,1793250452267736320
+70,1.166666667,BASELINE,769.393683273,745,721,684.606316727,665.606316727,642,887.393683273,788,819,654.606316727,632,656,0.400966977769,-0.00537416150019,0.0598414064517,0.999999924585,0.000284436838414,-0.000263545702045,2.16459327343e-05,1793250452284402688
+71,1.183333333,BASELINE,769.187879221,745,721,684.812120779,666,642,887,788,819,655,632,656.187879221,0.400967132704,-0.00537509198054,0.0598410547104,0.999999924889,0.000283171813773,-0.000263741248432,2.18428086778e-05,1793250452301069312
+72,1.200000000,BASELINE,769.777443404,745,721,684.222556596,666,642,887,788,819,655,632,656.777443404,0.400965945811,-0.00537193076467,0.0598405300552,0.99999992307,0.000288177806352,-0.000265224295411,2.16551397053e-05,1793250452317736192
+73,1.216666667,BASELINE,769.639702946,745,721,684,666,642,887,788,819,655,631.639702946,656.639702946,0.400966166083,-0.00537210319967,0.05984118659,0.999999923345,0.000288253932711,-0.000264090862288,2.17969226503e-05,1793250452334402816
+74,1.233333333,BASELINE,769.060918658,745,721,684,666,642,887,788,819,655,631.060918658,656.060918658,0.400967239671,-0.00537429718944,0.0598425594086,0.999999924888,0.000285340545462,-0.000261370773023,2.21384880848e-05,1793250452351069696
+75,1.250000000,BASELINE,769.516051831,745,721,684,665.483948169,642.516051831,887,788,819,654.483948169,631.516051831,656,0.40096767115,-0.00537373226779,0.0598423390291,0.999999924988,0.000284560502417,-0.000261867942365,2.18042887995e-05,1793250452367736320
+76,1.266666667,BASELINE,769.907960002,745,721,684,665.092039998,642.907960002,887,788,819,654.092039998,631.907960002,656,0.400967551868,-0.00537296828388,0.0598418065536,0.999999924788,0.000284248713499,-0.000262994960869,2.14667815532e-05,1793250452384402688
+77,1.283333333,BASELINE,769.335981537,745,721,684,665.664018463,642.335981537,887,788,819,654.664018463,631.335981537,656,0.400964954538,-0.00537285860886,0.059840623931,0.999999923909,0.000285070026268,-0.000265432840444,2.15265376736e-05,1793250452401069312
+78,1.300000000,BASELINE,769,745,721,684.244527968,665.755472032,642,887,788,819,654.755472032,631.244527968,656,0.40096387235,-0.00537325440721,0.0598402510121,0.999999923775,0.000284735117067,-0.000266292117868,2.15607655684e-05,1793250452417735936
+79,1.316666667,BASELINE,769,745,721,684.837182798,665.162817202,642,887,788,819,654.162817202,631.837182798,656,0.400964947223,-0.00537436983229,0.0598410308434,0.999999924706,0.000282754130532,-0.00026490398829,2.15586497172e-05,1793250452434402560
+80,1.333333333,BASELINE,769,745,721.419799721,685,665,642,887,788.419799721,819,654.419799721,632,656,0.400965677386,-0.00537368520126,0.0598414330055,0.999999924375,0.0002846284548,-0.000264134981837,2.16509768594e-05,1793250452451069440
+81,1.350000000,BASELINE,769,745,721.998614456,685,665,642,887,788.998614456,819,654.998614456,632,656,0.400966276976,-0.00537231873103,0.0598416921112,0.999999923559,0.000287963123608,-0.000263600491556,2.17790778553e-05,1793250452467736064
+82,1.366666667,BASELINE,769,745,721.427283558,685,665.572716442,642,887,788.427283558,819,655,632,656,0.40096591103,-0.00537360670213,0.05984129389,0.999999923785,0.000286515673143,-0.000264311887305,2.18543982848e-05,1793250452484402688
+83,1.383333333,BASELINE,769,745,721,685,665.8529788,642.1470212,887.1470212,788,819,655,632,656.1470212,0.40096581992,-0.0053744300415,0.0598411045817,0.999999924026,0.00028536022737,-0.000264651372641,2.1834300433e-05,1793250452501069312
+84,1.400000000,BASELINE,769,745,721,685,665.278050824,642.721949176,887.721949176,788,819,655,632,656.721949176,0.400966535467,-0.00537388252748,0.0598415279071,0.999999924309,0.000285088061312,-0.000263899707912,2.15368552781e-05,1793250452517735936
+85,1.416666667,BASELINE,769,745,721,685,665,642.694271118,888,788,819,654.694271118,631.694271118,656.694271118,0.40096653924,-0.00537388041029,0.0598415058671,0.999999924411,0.000284788495617,-0.000263843013099,2.14457699234e-05,1793250452534402560
+86,1.433333333,BASELINE,769,745,721,685,665,642.102201044,888,788,819,654.102201044,631.102201044,656.102201044,0.400965876378,-0.00537438910383,0.0598410667043,0.999999924345,0.000284463267842,-0.000264437216969,2.15479581524e-05,1793250452551068928
+87,1.450000000,BASELINE,769,745,721,685,665,642,887.521472517,788,819,654.478527483,631.478527483,656,0.400966323315,-0.00537462794781,0.0598412504359,0.999999924218,0.000285268170889,-0.000264049659638,2.15328683141e-05,1793250452567735552
+88,1.466666667,BASELINE,769,745,721,685,665,642,887,788,819,654.943601689,632,656,0.400967020623,-0.00537470203961,0.0598415696163,0.999999924145,0.000286129588225,-0.000263397936088,2.1500261732e-05,1793250452584402432
+89,1.483333333,BASELINE,769,745,721,685,665,642,887,788,819,654.370236279,632,656,0.400967890566,-0.00537378200643,0.0598419391645,0.999999924681,0.000285347806377,-0.000262202262114,2.15313695821e-05,1793250452601069312
+90,1.500000000,BASELINE,769,745,721,685,665,642,887,788,819,654,632.209857861,656,0.400968588533,-0.00537351688608,0.0598423876434,0.999999925098,0.000284632463569,-0.000261383624171,2.16204186374e-05,1793250452617735936
+91,1.516666667,BASELINE,769,745,721,685,665,642,887,788,819,654,632.802216154,656,0.400968973044,-0.00537444545205,0.0598429799861,0.999999925297,0.000284038216912,-0.000261252196476,2.18150750563e-05,1793250452634402560
+92,1.533333333,BASELINE,769,745,721,685,665,642,887.385356254,788,819,654.385356254,632.614643746,656,0.400967970372,-0.00537415584437,0.0598428182811,0.999999925074,0.00028407995122,-0.000262068919914,2.17033628596e-05,1793250452651069184
+93,1.550000000,BASELINE,769,745,721,685,665,642,887.963875707,788,819,654.963875707,632.036124293,656,0.400966272362,-0.00537325561657,0.059842278603,0.999999924638,0.000284440476502,-0.0002633609124,2.14380807277e-05,1793250452667735808
+94,1.566666667,BASELINE,769.535349436,745,721,684.464650564,665.535349436,642.535349436,887.464650564,788,819,655,632,656.535349436,0.400966606674,-0.00537329109943,0.059842120165,0.999999924968,0.000283968680484,-0.000262625127211,2.13160992226e-05,1793250452684402688
+95,1.583333333,BASELINE,770,745,721,684.109634973,665.890365027,642.890365027,887,788,819,655,632,656.890365027,0.400967123168,-0.00537351503932,0.0598420496671,0.999999925233,0.00028367556655,-0.000261935667035,2.12765948272e-05,1793250452701069312
+96,1.600000000,BASELINE,770,745,721,684.698255368,665.301744632,642.301744632,887,788,819,655,632,656.301744632,0.400967844241,-0.0053742900621,0.0598422524397,0.999999924992,0.000284405283821,-0.000262038630479,2.15557285346e-05,1793250452717735936
+97,1.616666667,BASELINE,770,745,721,684.716598792,665.283401208,642,887.283401208,788,819,655,632,656,0.400967486243,-0.00537476091127,0.0598422463624,0.999999924677,0.000284996658304,-0.000262581618517,2.1782959285e-05,1793250452734402560
+98,1.633333333,BASELINE,770,745,721,684.135107628,665.864892372,642,887.864892372,788,819,655,632,656,0.400965993247,-0.0053749118214,0.0598420206106,0.999999924281,0.00028544251962,-0.000263587437715,2.19555969203e-05,1793250452751069184
+99,1.650000000,BASELINE,769.556199911,745,721,684.443800089,666,642.443800089,888,788,819,655,632,656,0.400966312907,-0.00537422140046,0.0598421947304,0.999999924616,0.000284927123354,-0.00026290678727,2.15456861888e-05,1793250452767736064
+100,1.666666667,BASELINE,769,745,721,684.978158529,666,642.978158529,888,788,819,654.978158529,632,656,0.400967136498,-0.0053733383011,0.0598424772591,0.999999925148,0.000284127686731,-0.000261789554015,2.09935332215e-05,1793250452784402944
+101,1.683333333,BASELINE,769,745,721,684.402257865,666,642.402257865,888,788,819,654.402257865,632,656,0.400966825967,-0.00537402717793,0.059842439634,0.999999925121,0.000283503411875,-0.000262546042813,2.13058627223e-05,1793250452801069568
+102,1.700000000,BASELINE,769,745.177007198,721,684,665.822992802,642,888,788,819.177007198,654,632,656,0.400966538583,-0.00537435470845,0.0598422785549,0.999999925046,0.000283150822907,-0.000263192274825,2.15315660395e-05,1793250452817736192
+103,1.716666667,BASELINE,769,745.764066086,721,684,665.235933914,642,888,788,819.764066086,654,632,656,0.400966304817,-0.00537384515056,0.0598418314842,0.999999924864,0.000283427616666,-0.000263583087844,2.15565926553e-05,1793250452834402816
+104,1.733333333,BASELINE,769,745.651973137,721,684,665,642,888,788,819.651973137,654,632,656,0.400966377243,-0.00537357649727,0.0598418005539,0.999999924523,0.000284807525777,-0.000263384815434,2.16295633545e-05,1793250452851069184
+105,1.750000000,BASELINE,769,745.070094039,721,684,665,642,888,788,819.070094039,654,632,656,0.400966655411,-0.00537346971673,0.0598420492438,0.99999992407,0.000286928659285,-0.000262790714581,2.17347494746e-05,1793250452867735808
+106,1.766666667,BASELINE,769,745,721,684.498609934,665,642,887.501390066,788,819,654,632,656,0.400966915054,-0.00537355554822,0.0598422795152,0.999999924403,0.000286294749259,-0.000262228234041,2.15841127678e-05,1793250452884402432
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745,721,685,665,642,888,788,819,654,632,656,0.400963313603,-0.00537460346115,0.0598399578608,0.999999924497,0.000281418442109,-0.000267112755711,2.14695029636e-05,1793250452927848960
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.409667116,745,721,685,665,642,887.409667116,788,819,654.590332884,632,656,0.400964724045,-0.00537451298106,0.0598409949262,0.99999992442,0.000283650287355,-0.000265021515819,2.1580795191e-05,1793250452944515328
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,684.822303614,665,642,887,788,819,655,632,656,0.400965812553,-0.00537440148894,0.0598416834324,0.999999924457,0.000284751130522,-0.000263694583029,2.16492681576e-05,1793250452961181696
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,684.241673194,665,642,887,788,819,655,632,656,0.400966171061,-0.00537424235114,0.0598415815658,0.999999924766,0.000283287379311,-0.000264100748364,2.16206466701e-05,1793250452977848064
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642,887,788,819,655,632,656,0.400966512292,-0.00537376140024,0.0598419867172,0.999999924909,0.000283177995123,-0.000263672326405,2.16555765446e-05,1793250452994514432
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642,887,788,819,655,632,656,0.400966841205,-0.00537305099979,0.0598427533673,0.999999924934,0.00028403426135,-0.000262648851916,2.17358179151e-05,1793250453011181312
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642.48259446,887.48259446,788,819,655,632,656,0.400968272063,-0.00537448706898,0.0598435112549,0.999999925743,0.000282605004595,-0.000261090280462,2.193134641e-05,1793250453027847936
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.058552613,745,721,684,665,642.941447387,887.941447387,788,819,655,632,656,0.400969776878,-0.00537601632874,0.0598441573127,0.999999926475,0.000281184169215,-0.000259800369585,2.20979295222e-05,1793250453044514304
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.653695631,745,721,684,665,642.346304369,887.346304369,788,819,655,632,656,0.400970049587,-0.00537467939262,0.0598437937226,0.999999925195,0.000283801730687,-0.000261899948663,2.17994368369e-05,1793250453061181440
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.760189748,745,721,684,665,642,887,788.239810252,819,654.760189748,632,656,0.400979482459,-0.00537445131774,0.0598477667703,0.999999926336,0.00028517627982,-0.000255976412755,2.18812523592e-05,1793250453077848064
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.186639836,745,721,684,665,642,887,788.813360164,819,654.186639836,632,656,0.401001663366,-0.00537576642543,0.0598577750397,0.999999930652,0.000284820950536,-0.000238887250319,2.24923360645e-05,1793250453094514176
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665.388281053,642.388281053,887.388281053,788.611718947,819,654.388281053,632,656,0.401043378191,-0.00537714613068,0.0598734795119,0.99999993745,0.000283690163039,-0.000209940983478,2.33220584643e-05,1793250453111181056
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665.963863334,642.963863334,887.963863334,788.036136666,819,654.963863334,632,656,0.4010945159,-0.00537855699697,0.0598919317518,0.999999944531,0.000282185305298,-0.000175275017312,2.42572490768e-05,1793250453127847680
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.554520525,745,721,684,665.445479475,642.445479475,887.445479475,788,819,654.445479475,632,656,0.401159393677,-0.00538041965883,0.0599076720434,0.999999947932,0.000281043720605,-0.000156569292364,2.52471031264e-05,1793250453144514560
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.857585899,745,721,684,665.142414101,642.142414101,887,788,819,654.142414101,632,656,0.401228875389,-0.00538238110946,0.0599212546048,0.999999950794,0.000279825424528,-0.000139426895995,2.58706185975e-05,1793250453161181184
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.281191105,745,721,684,665.718808895,642.718808895,887,788,819,654.718808895,632,656,0.401309581923,-0.00538455137373,0.0599288154897,0.999999953291,0.000278299207738,-0.000123790404213,2.53666263775e-05,1793250453177847552
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,684,665.704833223,643,887.295166777,788,819,655,632,656,0.401399753118,-0.00538697140462,0.0599337549164,0.999999955004,0.000276470524496,-0.000113740758876,2.48993750564e-05,1793250453194514176
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665.128510536,643,887.871489464,788,819,655,632,656,0.401498939705,-0.00538962934617,0.059936197319,0.999999956124,0.000274353732302,-0.000109012766603,2.4467120665e-05,1793250453211181056
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665.445315881,642.554684119,887.554684119,788,819,655,632,656.445315881,0.40161968144,-0.00539253735622,0.0599416834099,0.999999957964,0.000272008409485,-9.76363734438e-05,2.34501456278e-05,1793250453227847680
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.019098572,721,684.019098572,666,642.019098572,887,788,819,654.980901428,632,656.980901428,0.401747383677,-0.00539556468053,0.0599477967646,0.999999959834,0.000269546814949,-8.47385059409e-05,2.22548059259e-05,1793250453244514560
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.613130292,721,684.613130292,666,642.613130292,887,788,819,654.386869708,632,656.386869708,0.401898408081,-0.00540002345753,0.0599464987647,0.99999996104,0.000265559296418,-8.34739716796e-05,2.07414250324e-05,1793250453261181184
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.799327625,721,684.799327625,665.799327625,642.799327625,887,788,819,654,631.799327625,656,0.402059289948,-0.00540409314418,0.0599456612897,0.999999962327,0.000261647740428,-8.07493862707e-05,1.91351388261e-05,1793250453277847552
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.223904839,721,684.223904839,665.223904839,642.223904839,887,788,819,654,631.223904839,656,0.402238580353,-0.00540743621426,0.0599456838333,0.999999963764,0.000257878042945,-7.52981936667e-05,1.73553545472e-05,1793250453294514176
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,721,684.351556717,665.351556717,642,887,788.351556717,819,654.351556717,631.351556717,656,0.402441529691,-0.00541262727279,0.0599466820793,0.999999965701,0.000251842042471,-7.01877369785e-05,1.57115138495e-05,1793250453311181056
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,721,684.927043024,665.927043024,642,887,788.927043024,819,654.927043024,631.927043024,656,0.402659548978,-0.00541899543702,0.0599483018144,0.999999967912,0.000244362484214,-6.52943168621e-05,1.41542643825e-05,1793250453327847680
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721,685,666,642.517721273,887.517721273,788.482278727,819,655,632,656.517721273,0.402908520141,-0.00542498792992,0.0599490313296,0.999999969788,0.000238516778684,-5.83098597636e-05,1.15615183096e-05,1793250453344514560
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721.108009679,684.891990321,666,642.891990321,887.891990321,788,819,654.891990321,632,657,0.403170655811,-0.00543110473088,0.0599499642868,0.999999971748,0.000231915878616,-5.141049834e-05,8.75736264179e-06,1793250453361181184
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,721.68698137,684.31301863,666,642.31301863,887.31301863,788,819,654.31301863,632,657,0.40347060001,-0.00543800137635,0.0599523478671,0.999999974499,0.0002209877622,-4.62058853874e-05,5.68688927295e-06,1793250453377847808
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,721.736234794,684.263765206,666,642,887,788,819,654.263765206,632,656.736234794,0.403773149153,-0.00544527303627,0.0599463322287,0.999999976142,0.000211196275363,-5.57435279665e-05,2.33024860293e-06,1793250453394514432
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,721.162026032,684.837973968,666,642,887,788,819,654.837973968,632,656.162026032,0.404078764218,-0.00545298607627,0.0599304309674,0.999999976033,0.000202742567237,-8.26323534046e-05,-1.36320201993e-06,1793250453411180800
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665.5887169,642.4112831,887,788.4112831,819,654.5887169,632,656,0.404415125441,-0.00546041399753,0.0599170347777,0.999999975442,0.000194838438853,-0.000105476625921,-5.30895491977e-06,1793250453427847680
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.015761421,642.984238579,887,788.984238579,819,654.015761421,632,656,0.404763572747,-0.0054677298405,0.0599046233138,0.999999974413,0.000187150346398,-0.000126731013588,-9.35388591151e-06,1793250453444514304
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665.577733611,643,887.577733611,789,819,654.577733611,632,656,0.405160549945,-0.00547377519767,0.0598984312025,0.9999999744,0.000177095825082,-0.000140179436955,-1.36667922115e-05,1793250453461180928
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,721,685.167054137,665.832945863,643,888,789,819,655,632,656,0.405588031258,-0.00548107987106,0.0599010210419,0.999999976752,0.000164440126856,-0.000138398670128,-1.73697952227e-05,1793250453477847296
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,721,685.744686685,665.255313315,643,888,789,819,655,632,656,0.406087110266,-0.00549156796418,0.0599247623922,0.999999984242,0.000145555891238,-9.97309512521e-05,-1.95551733054e-05,1793250453494514432
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,721,686,665,643,888,789,819,654.678920956,632,656,0.406611573783,-0.00549592465381,0.0599539422493,0.999999995717,7.45835824203e-05,-5.06248441326e-05,-2.10014237726e-05,1793250453511181568
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,721,686,665,643,888,789,819,654.103510903,632,656,0.407156144763,-0.00549542457781,0.0599874300228,0.99999999903,-3.764838929e-05,6.74965482264e-06,-2.18622013628e-05,1793250453527848448
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,721,686,665.470568974,643,888,789,819,654,632,656,0.407692662319,-0.00548332365824,0.0599977518059,0.999999998951,-3.42049141231e-05,1.66596593049e-05,-2.54903530505e-05,1793250453544515072
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.953952856,745,721,686,666,643,888.046047144,789,819,654.046047144,632,656.046047144,0.408228833486,-0.00547028221536,0.0600015707689,0.999999999441,-7.33467867669e-06,1.34919604261e-05,-2.97064728728e-05,1793250453561181696
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.358302175,745,721,686,666,643,888.641697825,789,819,654.641697825,632,656.641697825,0.40878195524,-0.00547638697798,0.0599884247475,0.999999999194,-3.69846812223e-06,-2.15008211585e-05,-3.36951692142e-05,1793250453577848320
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.229657961,745.229657961,721.229657961,686.229657961,666,643,889,789,819,655,632,657,0.40937107248,-0.00548574791096,0.0599802248526,0.999999998312,-9.23805920079e-06,-4.34131570886e-05,-3.75071012341e-05,1793250453594514944
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.806008391,745.806008391,721.806008391,686.806008391,666,643,889,789,819,655,632,657,0.4100145286,-0.0055000243698,0.0599794916484,0.999999997709,-2.86294729944e-05,-4.55792040717e-05,-4.10521890132e-05,1793250453611181568
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.38104287,745.61895713,721.61895713,687,666,643,889,789,819,654.61895713,632,657,0.410686411407,-0.00551006858123,0.0599852667596,0.999999997099,-5.48204986084e-05,-2.82717657771e-05,-4.47013794247e-05,1793250453627848192
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.955409677,745.044590323,721.044590323,687,666,643,889,789,819,654.044590323,632,657,0.41137271661,-0.00551796554111,0.059994343896,0.999999995261,-8.44613394047e-05,-1.08436074111e-06,-4.84033866463e-05,1793250453644514560
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.455628734,745.544371266,721,687,666,643,889,789,819,654,632,656.455628734,0.412053727397,-0.00551711849565,0.059989027561,0.999999999561,-4.50470519695e-06,-1.0275752093e-05,-2.74415848289e-05,1793250453661180672
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.131969478,746,721,687,666,643,889,788.868030522,819,654,632,656,0.412731636768,-0.00551419855097,0.0599739430511,0.99999999711,6.35123984771e-05,-4.0138055679e-05,-1.16315100643e-05,1793250453677847296
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.710791671,746,721,687,666,643,889,788.289208329,819,654,632,656,0.413400553386,-0.005506751713,0.0599298852843,0.999999989601,5.98670164413e-05,-0.000129624888807,-2.02944356235e-05,1793250453694513920
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.712347851,745.712347851,721.287652149,687.287652149,666,643,889,788.287652149,819,654.287652149,632,656.287652149,0.414146764976,-0.00550757971547,0.0599139797766,0.999999986591,3.01887098402e-05,-0.000158740929099,-2.65891205584e-05,1793250453711180800
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.137446271,745.137446271,721.862553729,687.862553729,666,643,889,788.862553729,819,654.862553729,632,656.862553729,0.414970163404,-0.00551667097254,0.0599261871091,0.999999991072,-2.54860749428e-05,-0.000127570707962,-3.05188815465e-05,1793250453727847424
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.43920393,745.43920393,722,688.43920393,666.43920393,643,889.87840786,789,819.43920393,654.56079607,632.43920393,656.56079607,0.41582496617,-0.00552624845843,0.0599673295399,0.999999997499,-3.45732589712e-05,-5.35242430874e-05,-3.0682721071e-05,1793250453744514048
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.983281055,746.016718945,722,689,667,643,890.983281055,789,820,654,632.983281055,656.016718945,0.416688004018,-0.00553570653483,0.060016174379,0.999999998654,-2.88390592326e-05,3.13034973545e-05,-2.96881213586e-05,1793250453761180672
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.394981853,746.605018147,722,689,667,643,890.394981853,789,820,654,632.394981853,656.605018147,0.417495249421,-0.00553585945095,0.0600175377345,0.99999999913,-1.68214336647e-05,2.4159104628e-05,-2.95411881986e-05,1793250453777847296
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.809704724,722,689,667,643,890,789,820.190295276,654.190295276,632,657,0.41831907882,-0.00553453773836,0.060011167371,0.999999999373,-1.44725513027e-05,1.04341031707e-05,-3.05805538676e-05,1793250453794513664
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.230602268,722,689,667,643,890,789,820.769397732,654.769397732,632,657,0.419176792233,-0.00553020309633,0.0599889956405,0.999999998772,-3.18786361609e-05,-1.67362549552e-05,-3.40437395835e-05,1793250453811180288
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,721.654717352,689.345282648,667,643,890,789,821,654.654717352,632,656.654717352,0.420032907853,-0.00552909039818,0.0599604829024,0.99999999688,-3.65104369761e-05,-5.94644565609e-05,-3.70293878114e-05,1793250453827846912
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721.080961504,689.919038496,667,643,890,789,821,654.080961504,632,656.080961504,0.420887966181,-0.00553010965739,0.0599277743264,0.999999992351,-3.268950541e-05,-0.000112487267244,-3.96990497334e-05,1793250453844513536
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721.496090878,690,666.503909122,643,890,789,821,654,632,656.496090878,0.421721570975,-0.0055299858656,0.0598901667085,0.999999981481,-2.66921816941e-05,-0.000186155078362,-4.08923927671e-05,1793250453861180672
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722,690.075151624,666.075151624,643,890,788.924848376,821,654,632,657,0.422570384814,-0.00553010237062,0.0598636230791,0.999999970072,-2.30470004209e-05,-0.000239980241355,-4.16482935213e-05,1793250453877847296
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722,690.664242921,666.664242921,643,890,788.335757079,821,654,632,657,0.423547312203,-0.00553314645231,0.05991824705,0.999999989337,-3.7932680542e-05,-0.000134912003656,-4.10713529144e-05,1793250453894513920
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.24875782,746,721.75124218,691,667,643,890.24875782,788.24875782,821,654,632,656.75124218,0.424527692616,-0.00553589515455,0.0599736838795,0.999999997431,-4.4757253596e-05,-3.96702677991e-05,-3.95095094118e-05,1793250453911180800
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.827207459,746,721.172792541,691,667,643,890.827207459,788.827207459,821,654,632,656.172792541,0.425512649642,-0.00553825237529,0.0600301980408,0.999999997587,-4.08980198903e-05,4.2547902001e-05,-3.6642322516e-05,1793250453927847424
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.597053777,746,721.402946223,691,667,643,891,789,821.402946223,654,632,656.402946223,0.426481513762,-0.00553862221519,0.0600403677049,0.999999996076,-4.14937162469e-05,6.82051920695e-05,-3.8405638935e-05,1793250453944514048
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.022469764,746,721.977530236,691,667,643,891,789,821.977530236,654,632,656.977530236,0.427443522937,-0.00553814551605,0.0600307965998,0.999999995711,-4.39870218308e-05,6.97699711673e-05,-4.21413511818e-05,1793250453961180928
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,722,691.552580195,667,643.552580195,891,789,822,654,632,657,0.428340975675,-0.00553853514892,0.060000801771,0.999999997098,-5.69492754111e-05,2.45256247981e-05,-4.42721685092e-05,1793250453977847296
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.131940316,746,722,692,667,643.868059684,891,789,822,654,632,656.868059684,0.429223169526,-0.00553839767088,0.0599678974091,0.999999996491,-6.37806140389e-05,-2.8868121918e-05,-4.60136778552e-05,1793250453994513920
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.726341386,746,722,692,667,643.273658614,891,789,822,654,632,656.273658614,0.430061088653,-0.00553628904848,0.0599277083279,0.999999992356,-4.76292544165e-05,-0.000104148881547,-4.66195691318e-05,1793250454011180544
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.691814446,746,722,692.308185554,667,643,891,788.691814446,822.308185554,654,632,656,0.430973010296,-0.00553681698371,0.0599216222687,0.999999991893,-4.24069453453e-05,-0.000110244704378,-4.75630566764e-05,1793250454027847424
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.120683902,746,722,692.879316098,667,643,891,788.120683902,822.879316098,654,632,656,0.431948071101,-0.00553959443922,0.059944633029,0.999999996086,-4.65093412677e-05,-5.73116938692e-05,-4.87945825746e-05,1793250454044514048
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,722,692.547145754,667,643,891,788.452854246,823.452854246,654,632,656.452854246,0.432925582957,-0.00554110404274,0.0599819688541,0.999999996956,-6.17002749109e-05,2.17795097621e-06,-4.77101877595e-05,1793250454061181184
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,722,692,666.9719423,643,891,789,823.9719423,654,632,656.9719423,0.433899489114,-0.00554225257567,0.0600204020671,0.999999994111,-7.84409847091e-05,5.91187153776e-05,-4.61498078763e-05,1793250454077848320
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,722,692,666.376093192,643,891,789,823.376093192,654,632,656.376093192,0.434787137731,-0.00554296830718,0.0600033750756,0.999999996247,-6.64240831262e-05,2.89301074673e-05,-4.75135690244e-05,1793250454094514944
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,722,692.213246149,666.213246149,643.213246149,891,789,823,654,632,656.213246149,0.435658860154,-0.00554458718591,0.0599803829903,0.999999996833,-6.11264531188e-05,-1.30078103088e-05,-4.92759832894e-05,1793250454111181568
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,722,692.791444683,666.791444683,643.791444683,891,789,823,654,632,656.791444683,0.436503326413,-0.00554775172333,0.0599471821587,0.999999993579,-6.73282746788e-05,-7.50536631196e-05,-5.17206581322e-05,1793250454127847936
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.367056455,746,722,693,667,643.632943545,891,789,823.367056455,654,632,657,0.437328180497,-0.00554844916559,0.0599194989846,0.999999987792,-7.3988683095e-05,-0.000126937339443,-5.31835527712e-05,1793250454144514560
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.941208723,746,722,693,667,643.058791277,891,789,823.941208723,654,632,657,0.438141969204,-0.00554775465537,0.0598949289134,0.999999980284,-8.09078290157e-05,-0.000173087441104,-5.40925200072e-05,1793250454161181184
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.471011803,746,722,693,666.471011803,643,891,789,824,654,632,656.471011803,0.43900059555,-0.0055468814733,0.0599000334511,0.999999981814,-7.97506708028e-05,-0.000164510749804,-5.42877543369e-05,1793250454177847552
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.116089996,746.116089996,722,693.116089996,666.116089996,643,891,789,824,654,632,656.116089996,0.439865339504,-0.00554719286627,0.0599163492442,0.999999985875,-7.82404018036e-05,-0.000138653479643,-5.38837118462e-05,1793250454194514176
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.694305787,746.694305787,722,693.694305787,666.694305787,643,891,789,824,654,632,656.694305787,0.44073407464,-0.00555230089957,0.0599638185812,0.999999993187,-7.8992063831e-05,-6.88587745731e-05,-5.14182127065e-05,1793250454211181056
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746.729498242,722,693.729498242,666.729498242,643,891.270501758,788.729498242,824,654,632.270501758,657,0.441532259187,-0.00555399783116,0.0599708840129,0.999999993904,-7.76733286557e-05,-5.94375243455e-05,-5.12495533462e-05,1793250454227847680
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.155567992,722,693.155567992,666.155567992,643,891.844432008,788.155567992,824,654,632.844432008,657,0.442251305342,-0.0055518684455,0.0599326273848,0.999999988889,-7.40321779716e-05,-0.000117738671835,-5.365731605e-05,1793250454244514304
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.580138773,746.419861227,722,693,666,642.580138773,892,788,824,654,632.580138773,656.580138773,0.442946983493,-0.00555055261184,0.0598793963768,0.999999975319,-8.37574980991e-05,-0.000197814607324,-5.67070313248e-05,1793250454261181184
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.004152115,746.995847885,722,693,666,642.004152115,892,788,824,654,632.004152115,656.004152115,0.443633972308,-0.00554953929738,0.0598205971413,0.999999952459,-9.84531406656e-05,-0.000285987503056,-5.99954565656e-05,1793250454277847808
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.58732001,746.41267999,722,693,665.41267999,642,892,788,824.58732001,654.58732001,632,656.58732001,0.444325103037,-0.00554908824447,0.0598036486088,0.999999945732,-9.44655073477e-05,-0.000309849676666,-6.00445674198e-05,1793250454294514432
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746.174267929,722,693.174267929,665,642,892,787.825732071,825,654.825732071,632,657,0.444999053141,-0.00554929222912,0.0597884775847,0.99999993749,-9.03251536407e-05,-0.000336525892841,-6.00939851844e-05,1793250454311180800
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746.75052059,722,693.75052059,665,642,892,787.24947941,825,654.24947941,632,657,0.445633303372,-0.00555099777485,0.0597767057841,0.999999925742,-8.61454459934e-05,-0.00037077042595,-6.0198366471e-05,1793250454327847424
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,694.328449218,664.671550782,641.671550782,892,787.328449218,825,654.328449218,632,657,0.44624729161,-0.00555217753635,0.0597558994054,0.999999912032,-8.6355797996e-05,-0.000405735699138,-6.21106289419e-05,1793250454344514048
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694.907657353,664.092342647,641.092342647,892,787.907657353,825,654.907657353,632,657,0.446845810523,-0.00555295588078,0.0597281954589,0.999999896467,-8.99177995386e-05,-0.0004412512287,-6.54031422745e-05,1793250454361180672
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,695,664,640.505570623,892,787.505570623,825,655,632,657,0.447462170813,-0.00555158533315,0.0597344535796,0.999999902895,-9.07865533421e-05,-0.000426006548529,-6.69854860235e-05,1793250454377847808
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722,695,664,640,892,787,825,654.918595647,632,657,0.448072679044,-0.00555025396458,0.059746032005,0.999999912087,-9.15662620483e-05,-0.000403468635393,-6.82304420227e-05,1793250454394514688
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,722,695,664,640,892,787,825,654.339156098,632,657,0.448626681108,-0.00555165585801,0.0597507508731,0.99999991499,-9.49264197769e-05,-0.000395212300459,-6.93957177078e-05,1793250454411181568
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722,694.521867806,664,640,892,786.760933903,825,654.239066097,631.760933903,657,0.449138814492,-0.00555497230813,0.0597371999051,0.999999905509,-0.000101563116689,-0.00041656724402,-7.16828749914e-05,1793250454427848192
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722,693.368860061,664,640,892,786.18443003,825,654.81556997,631.18443003,657,0.449591850893,-0.00556099112271,0.0596978613703,0.999999875716,-0.000112824593,-0.000479718008798,-7.55535489872e-05,1793250454444514816
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722,693.783031757,663.608484122,639.608484122,892,786,825.391515878,655,631.391515878,657,0.450031868861,-0.0055672292439,0.0596668968115,0.999999852047,-0.000121029162988,-0.000524537892802,-7.82229434677e-05,1793250454461181440
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722,694.934398748,663.032800626,639.032800626,892,786,825.967199374,655,631.967199374,657,0.450465763047,-0.00557357052665,0.0596398713366,0.999999831396,-0.000127795776586,-0.000560735004093,-8.03272608704e-05,1793250454477848064
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.140559781,746.140559781,722,694,663,638.859440219,891.281119562,786,826,654.140559781,631,656.140559781,0.451325673727,-0.00558795674063,0.0596542207324,0.999999847032,-0.00013823816731,-0.000529387198071,-8.10926565915e-05,1793250454511181568
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.720158453,746.720158453,722,694,663,638.279841547,892.440316906,786,826,654.720158453,631,656.720158453,0.451723900681,-0.00559045733024,0.0596713883452,0.999999860417,-0.0001394065772,-0.000503176807361,-8.08983815303e-05,1793250454527848448
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,722,694,662.405326557,638,892.702663279,785.702663279,826,655,631,656.702663279,0.452095001076,-0.00559425260001,0.059682646658,0.999999873787,-0.000116509929242,-0.000483711911557,-6.98148238888e-05,1793250454544515072
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661.255489277,638,892.127744639,785.127744639,826,655,631,656.127744639,0.452440777156,-0.00559925653234,0.0596883882788,0.999999885584,-7.11470854958e-05,-0.000470544346437,-4.85654583953e-05,1793250454561181696
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661.445207418,638,892,785,826,654.554792582,631,656,0.452730124305,-0.00558632970714,0.0596814130765,0.999999878046,-9.14505221284e-05,-0.000483109965855,-4.63717287315e-05,1793250454577848064
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661.981747103,637.981747103,892,785,826.018252897,654,631,656.018252897,0.453002240714,-0.00556858012603,0.0596706242673,0.999999863807,-0.00012899302392,-0.000503269787674,-4.96521404455e-05,1793250454594514688
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661.388044622,637.388044622,892,785,826.611955378,654,631,656.611955378,0.453239343017,-0.00556027401955,0.0596541361163,0.999999850484,-0.000118618891709,-0.000531089883547,-5.38940837314e-05,1793250454611181312
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,722.200689545,694.200689545,661,637,892.200689545,785,826.799310455,654,631,657,0.453468421261,-0.00555802768178,0.0596404473387,0.999999838547,-0.000113916230853,-0.000553796039596,-5.69167288293e-05,1793250454627848192
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722.780049204,694.780049204,661,637,892.780049204,785,826.219950796,654,631,657,0.453682359321,-0.00556721519076,0.0596320405475,0.999999830488,-0.000119914760124,-0.000566852980082,-5.76387465172e-05,1793250454644514560
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,722.643152163,694.643152163,661,637,892.643152163,785,826,654.356847837,631,657,0.453882014362,-0.00557199084988,0.0596302364961,0.999999828899,-0.000124147018736,-0.000568609052226,-5.89267599582e-05,1793250454661180672
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,722.067920768,694.067920768,661,637,892.067920768,785,826,654.932079232,631,657,0.454072928509,-0.00557406654826,0.0596324731853,0.999999831326,-0.000127298356517,-0.000563449226022,-6.05611512645e-05,1793250454677847296
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769.078912762,747,722,694.078912762,660,636,892.921087238,784,827,654.078912762,631,657,0.454395217296,-0.00557861727748,0.0596420200874,0.999999839969,-0.000128211852693,-0.000547584103663,-6.14375506509e-05,1793250454711180288
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+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,722,695,660,636,892,784.260549018,827,654.739450982,631,657,0.454644211406,-0.00558189583577,0.0596395517314,0.99999984052,-0.000128066621182,-0.000546519936965,-6.22411215877e-05,1793250454744513792
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+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,722,694.585847378,660,636,892,784.585847378,826.585847378,654,631,657,0.454821440562,-0.00558238675774,0.0596283993946,0.999999832142,-0.00012737519353,-0.00056168913913,-6.32231503161e-05,1793250454777847296
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+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.562777827,784,826.562777827,654.562777827,631,657,0.454950743613,-0.00558202379362,0.0596200277228,0.999999825954,-0.000125052430234,-0.000573066796776,-6.3628487187e-05,1793250454811180544
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.857535836,747,722,694.142464164,660,636,892.857535836,784,826.857535836,655,630.857535836,657,0.455003086516,-0.0055830654844,0.0596179087078,0.999999823848,-0.000125331668043,-0.000576717854624,-6.3183716353e-05,1793250454827847680
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+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,722,694.9529966,660.905993201,636,892.0470034,783.0470034,826.0470034,655,630.9529966,657,0.455153711377,-0.00558095047025,0.0596204450219,0.999999826073,-0.000123505095236,-0.000573237315938,-6.32488673407e-05,1793250454911180544
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,722,694.360623737,659.721247475,636,892.639376263,783.639376263,826.639376263,655,630.360623737,657,0.45516095017,-0.00558108973074,0.0596172969202,0.99999982335,-0.000122884582661,-0.000578124631097,-6.30185896092e-05,1793250454927847168
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,722,694,659,636,893,783.774104281,827,655,630.225895719,657,0.455167183414,-0.005580797249,0.0596147636969,0.999999821128,-0.000121423311451,-0.000582289276545,-6.27602113368e-05,1793250454944513792
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,722,694,659,636,893,783.19669332,827,655,630.80330668,657,0.455171851929,-0.00557983293523,0.0596131872832,0.999999819705,-0.000118653739809,-0.000585329378841,-6.24581059629e-05,1793250454961180416
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+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,722,694,659,636,892.045979951,783.954020049,827,654.045979951,631,657,0.4551762502,-0.00557806103385,0.0596108505504,0.999999818199,-0.000118881038319,-0.000587834982477,-6.26012645465e-05,1793250454994514944
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,722,694,659,635.458372393,892,783.458372393,827,654.541627607,631,657,0.455176706648,-0.00557632430802,0.0596087470018,0.999999817089,-0.000116353065963,-0.000590196928546,-6.28593422585e-05,1793250455011181312
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,722,694,659.128189083,635,892,783.128189083,826.871810917,655,630.871810917,656.871810917,0.455177326278,-0.00557513104465,0.059607222988,0.999999816161,-0.000114107893807,-0.000592198376655,-6.29088235212e-05,1793250455027847936
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,722,694,659.707197461,635,892,783.707197461,826.292802539,655,630.292802539,656.292802539,0.455178897569,-0.00557611405044,0.059608048597,0.999999816069,-0.000113845781516,-0.000592480777145,-6.21911446008e-05,1793250455044514304
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,722,694.284098539,659.715901461,635.284098539,892,783.715901461,826.284098539,655,630,656,0.455179905999,-0.00557648922319,0.0596080453445,0.999999816061,-0.000113860258247,-0.000592507954281,-6.20368775117e-05,1793250455061180928
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,722,694.858843816,659.141156184,635.858843816,892,783.141156184,826.858843816,655,630,656,0.455180338593,-0.00557624255304,0.0596071941258,0.999999816139,-0.00011415769908,-0.000592274025443,-6.245900827e-05,1793250455077847552
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,746.56470721,722,694.56470721,659,636,892.43529279,783.43529279,827,655,630.43529279,656.43529279,0.455180205527,-0.00557594986919,0.0596065980042,0.999999815819,-0.000114171390595,-0.000592796070558,-6.2614151426e-05,1793250455094514176
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,746.012554438,722,694,659,636,892.987445562,783.987445562,827,655,631,657,0.455179898483,-0.00557563743736,0.0596060889054,0.999999815374,-0.000114115474338,-0.000593548684685,-6.26819247943e-05,1793250455111181056
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,746.601667662,722,694,659,636,892.398332338,783.398332338,827,655,631,657,0.455180058736,-0.00557510603168,0.0596057623648,0.999999815235,-0.00011510515486,-0.000593587608338,-6.2728977091e-05,1793250455127847936
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,722,694,659,636,892,783.187641733,827,655,631,657,0.45518007132,-0.00557482183821,0.0596052758175,0.999999814902,-0.000115436725284,-0.000594094288278,-6.26321369586e-05,1793250455144514560
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722,694,659,636,892,783.76706152,827,655,631,657,0.455179775585,-0.00557505380026,0.0596044551915,0.999999814164,-0.000114394224498,-0.000595577598753,-6.22348631464e-05,1793250455161181184
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,694.344500921,659,636,892.344500921,784,827,654.655499079,631,657,0.455179907196,-0.00557641286251,0.0596042544071,0.999999813602,-0.000116058886292,-0.000596237400546,-6.18719588921e-05,1793250455177847552
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+250,4.166666667,HOLD_POSE2,770,747,722,694,659.739641647,636,892,784,827,655,630,657,0.455182345779,-0.00557418621832,0.0596038012338,0.999999813587,-0.000112947556049,-0.000596836660878,-6.20950268089e-05,1793250455332844032
+251,4.183333333,HOLD_POSE2,770,747,722,694,659.676852629,635.676852629,892,784,827,655,630,657,0.455182519059,-0.0055747753589,0.0596041716002,0.999999813558,-0.000113581674933,-0.000596787756755,-6.18672081068e-05,1793250455349510400
+252,4.200000000,HOLD_POSE2,770,747,722,694,659.097644696,635.097644696,892,784,827,655,630,657,0.455183346952,-0.00557534436821,0.0596054318875,0.999999814103,-0.000114958366817,-0.000595651273957,-6.14703180552e-05,1793250455366177280
+253,4.216666667,HOLD_POSE2,770,747,722,694,659,635.479481907,892.479481907,784,826.520518093,654.520518093,630,657,0.455183139869,-0.005574175688,0.0596045043853,0.999999813928,-0.000112602175104,-0.000596431225086,-6.11063221844e-05,1793250455382843904
+254,4.233333333,HOLD_POSE2,770,747,722,694,659,636,892.943984883,784,826.056015117,654,630.056015117,657,0.455182825076,-0.0055730442388,0.0596033590083,0.999999813652,-0.000110119494656,-0.000597390352817,-6.07767177046e-05,1793250455399510528
+255,4.250000000,HOLD_POSE2,770,747,722,694,659,636,892.369039231,784,826.630960769,654,630.630960769,657,0.455183456601,-0.00557552186227,0.0596043048633,0.999999813867,-0.000113477037609,-0.000596409470907,-6.07039290137e-05,1793250455416177152
+256,4.266666667,HOLD_POSE2,770,747,722,694,659,635.788798148,892,784,827,654.211201852,630.788798148,657,0.455183700035,-0.0055770709086,0.059604771207,0.999999813854,-0.000115526261216,-0.000596040736336,-6.06710193598e-05,1793250455432844032
+257,4.283333333,HOLD_POSE2,770,747,722,694,659,635.199066304,892,784,827,654.800933696,630.199066304,657,0.455183247911,-0.00557695569701,0.0596043781383,0.999999813451,-0.00011523062761,-0.000596769133013,-6.07095835745e-05,1793250455449510656
+258,4.300000000,HOLD_POSE2,770,747,722,694,659,635,892.383380319,783.616619681,827,654.616619681,630.383380319,657,0.455183882437,-0.00557560461395,0.0596043161533,0.999999813725,-0.000114110087668,-0.00059648707366,-6.10878178038e-05,1793250455466177792
+259,4.316666667,HOLD_POSE2,770,747,722,694,659,635,892.962114759,783.037885241,827,654.037885241,630.962114759,657,0.455185070673,-0.00557362378394,0.0596044228742,0.999999814341,-0.00011256921091,-0.000595690129436,-6.16391332666e-05,1793250455482845440
+260,4.333333333,HOLD_POSE2,770,747,722,694.537377204,659.537377204,635.537377204,892.462622796,783,827,654.537377204,630.462622796,657,0.455184958516,-0.0055732430827,0.0596046352564,0.999999814241,-0.000112704350471,-0.000595849599352,-6.14768173212e-05,1793250455499512064
+261,4.350000000,HOLD_POSE2,769.887149991,747,722,694.887149991,660,636,892.112850009,783.112850009,827,654.887149991,630,657,0.45518461247,-0.00557306314872,0.0596047756774,0.999999814056,-0.000112875464441,-0.000596146254951,-6.12888488961e-05,1793250455516178688
+262,4.366666667,HOLD_POSE2,769.309810141,747,722,694.309810141,660,636,892.690189859,783.690189859,827,654.309810141,630,657,0.455183678666,-0.00557324822887,0.0596045894429,0.999999813731,-0.000112711426872,-0.000596731816598,-6.12010462069e-05,1793250455532845312
+263,4.383333333,HOLD_POSE2,769.272799415,747,722,694,659.727200585,635.727200585,892.727200585,784,827,654,630.272799415,657,0.455183674682,-0.00557309285369,0.0596045360311,0.999999813853,-0.000112144631066,-0.000596627583119,-6.12603306207e-05,1793250455549511936
+264,4.400000000,HOLD_POSE2,769.861511466,747,722,694,659.138488534,635.138488534,892.138488534,784,827,654,630.861511466,657,0.455184747464,-0.00557254321762,0.0596046364333,0.999999814493,-0.000111111425114,-0.00059572453925,-6.148994779e-05,1793250455566178560
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,893,783,827,654,631,657,0.455182774541,-0.0055715033298,0.0596035149753,0.999999812387,-0.000111670069774,-0.000599124423155,-6.16955469421e-05,1793250455598816256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,893,783,826.426598358,654.573401642,631,657,0.455182942312,-0.00557161445726,0.0596031730775,0.999999812746,-0.000111435315965,-0.000598563423738,-6.17414696219e-05,1793250455615483136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892.853435812,783.146564188,826.146564188,655,630.853435812,656.853435812,0.45518317251,-0.00557216863781,0.0596030601687,0.99999981299,-0.000111756759359,-0.000598104848998,-6.1658824765e-05,1793250455632149760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892.280967922,783.719032078,826.719032078,655,630.280967922,656.280967922,0.455183584119,-0.00557401029487,0.0596036126833,0.999999812895,-0.000113694466881,-0.000597943911964,-6.12025730333e-05,1793250455648815872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635.304596217,892.304596217,784,827,655,630,656.304596217,0.455183792861,-0.00557491631111,0.0596037980336,0.999999812858,-0.000113649527568,-0.000598047279878,-6.08920350841e-05,1793250455665481984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635.902783394,892.902783394,784,827,655,630,656.902783394,0.455183806068,-0.00557492049173,0.0596036294855,0.999999812874,-0.000111693575609,-0.000598405403243,-6.07219462123e-05,1793250455682148096
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,636,893,784,826.517700915,655,630.482299085,657,0.455183628475,-0.00557467361952,0.059603196379,0.999999812877,-0.000111817151437,-0.000598378321669,-6.07157258468e-05,1793250455698815744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,636,892.942195384,783.942195384,826.057804616,655,631,657,0.455183055091,-0.00557436202806,0.0596026001814,0.999999812739,-0.000112135842233,-0.000598545346034,-6.07590578112e-05,1793250455715483136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,636,892.370131321,783.370131321,826.629868679,655,631,657,0.455179289948,-0.0055739080853,0.0596010097812,0.999999811363,-0.000110600224536,-0.000601104264012,-6.09603257922e-05,1793250455732149504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.790879209,747,722,694,659.209120791,635.790879209,892.209120791,783,826.790879209,655,630.790879209,656.790879209,0.455169347204,-0.00557316738349,0.0595966142126,0.999999807245,-0.000109874913257,-0.000608003630429,-6.13922953497e-05,1793250455748815872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769.198451874,747,722,694,659.801548126,635.198451874,892.801548126,783,826.198451874,655,630.198451874,656.198451874,0.455148081269,-0.00557190106869,0.0595870769298,0.999999797966,-0.000110634847824,-0.000622858792214,-6.22471277775e-05,1793250455765481984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.383645962,722,694,659.616354038,635,892.616354038,783.383645962,826.383645962,655,630,656.383645962,0.455107727764,-0.0055701263904,0.059570220179,0.999999780563,-0.000109210533726,-0.000650391112758,-6.27575350402e-05,1793250455782148608
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747.960540711,722,694,659.039459289,635,892.039459289,783.960540711,826.960540711,655,630,656.960540711,0.455057759533,-0.00556809564094,0.0595496764908,0.999999758179,-0.000106685977583,-0.000684309127666,-6.30944496977e-05,1793250455798814976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.538118505,747.461881495,722.538118505,694,659.538118505,635,892,783.461881495,827,655,630.538118505,657,0.454996411569,-0.00556653609361,0.0595336605451,0.999999745854,-0.000106392565628,-0.000702046704396,-6.40619314686e-05,1793250455815481600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,722.88249259,694,659.88249259,635,892,783,827,654.88249259,630.88249259,657,0.4549309028,-0.0055647185564,0.059519732146,0.999999734548,-0.00010592309672,-0.000717964604147,-6.4894701768e-05,1793250455832148224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,722.296076465,694,659.296076465,635,892,783,827,654.296076465,630.296076465,657,0.454852124582,-0.00556173346491,0.0595128074527,0.999999725024,-0.000104097386795,-0.000731361791812,-6.50051646016e-05,1793250455848815360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,722.2867342,694.2867342,659,635.2867342,892,783.2867342,827,654.2867342,630,657,0.454767547119,-0.00555912485316,0.059509351579,0.999999720419,-0.000102421331814,-0.000737893691634,-6.46888568718e-05,1793250455865482496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,722.865868129,694.865868129,659,635.865868129,892,783.865868129,827,654.865868129,630,657,0.45467705583,-0.00555690016014,0.059509433065,0.999999720968,-0.000100897888907,-0.000737424652952,-6.39373460996e-05,1793250455882149632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,722.556889686,694.556889686,659,636,892.443110314,784,827,655,630.443110314,657,0.45456818133,-0.00555528423231,0.0595109180242,0.999999721779,-9.85602734508e-05,-0.000736743866127,-6.27419733379e-05,1793250455898815744
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,636,892.980234841,784,827,654.980234841,630.980234841,657,0.454452623549,-0.00555368379879,0.0595127278714,0.999999722525,-9.58994636888e-05,-0.000736192627251,-6.14252731176e-05,1793250455915481856
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,636,892.40406206,784,827,654.40406206,630.40406206,657,0.454304910553,-0.00554735404185,0.0595117748515,0.999999719424,-9.1048859261e-05,-0.000741085011583,-6.04593547262e-05,1793250455932148480
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.17569375,659,635.82430625,892.17569375,783.82430625,827,654.17569375,630.17569375,657,0.454149248386,-0.00554137970749,0.0595119823654,0.999999718121,-8.61419882417e-05,-0.000743508463742,-5.94287265395e-05,1793250455948815104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.763861306,659,635.236138694,892.763861306,783.236138694,827,654.763861306,630.763861306,657,0.453974924082,-0.00553623979473,0.0595149144485,0.999999721114,-8.11030216075e-05,-0.000740135637104,-5.82461801952e-05,1793250455965481728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.65352003,659,635.34647997,892.65352003,783,826.65352003,655,630.65352003,657,0.453777742339,-0.00553125513172,0.0595144040512,0.999999718855,-7.72499879219e-05,-0.000743717250502,-5.66299525877e-05,1793250455982148608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.07462347,659,635.92537653,892.07462347,783,826.07462347,655,630.07462347,657,0.453565227953,-0.00552637460874,0.0595115844599,0.999999713026,-7.41924701108e-05,-0.000751963858282,-5.47228141878e-05,1793250455998815488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.499255863,747,722,694,659,636,892,783.500744137,826,655,630.500744137,657,0.453323470612,-0.00552030629441,0.0595079326648,0.99999971007,-6.90651244138e-05,-0.000756461325364,-5.34373079909e-05,1793250456015482112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769.072726495,747,722,694,659.072726495,636,892,784,826,655,631,657,0.453074452355,-0.00551372431752,0.0595057178366,0.999999709407,-6.32644457697e-05,-0.000757937092964,-5.2098101688e-05,1793250456032148992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.625799299,747,722,694,659.625799299,636,892,784,826,655,631,657,0.452806058853,-0.00550491062768,0.059513807326,0.999999721132,-5.50395590397e-05,-0.000743119446454,-4.97966325704e-05,1793250456048815360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.806940837,636,892,784,826,655,631,656.806940837,0.452528394559,-0.00549643294745,0.0595223471752,0.999999733054,-4.68140519805e-05,-0.000727616240321,-4.76923493611e-05,1793250456065481984
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659.210001659,636,892,784,826,655,631,656.210001659,0.452231335773,-0.00548865820027,0.0595318291774,0.999999745665,-3.85872477009e-05,-0.000710678843684,-4.60005794732e-05,1793250456082148352
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.38745323,659.38745323,636,892,784,826,655,631,656.38745323,0.451889485119,-0.00548071678077,0.0595398421489,0.999999754217,-3.02575915195e-05,-0.000699101566571,-4.36675710662e-05,1793250456098814720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.985187989,659.985187989,636,892,784,826,655,631,656.985187989,0.451523324695,-0.00547268490387,0.0595470578369,0.999999760572,-2.18721150493e-05,-0.000690433374385,-4.09865449241e-05,1793250456115481344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.438509423,660,636.561490577,892.561490577,784.561490577,826,655,630.438509423,657,0.451113354682,-0.00546783983059,0.0595469921002,0.999999757483,-1.7363572709e-05,-0.000695217528696,-3.74854393297e-05,1793250456132148480
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,660,637.709442221,892.290557779,785,826,655,630.709442221,657,0.450244820016,-0.00545150043565,0.0595366679771,0.999999745054,4.58629251063e-07,-0.000713332989485,-3.23738489216e-05,1793250456165481728
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,660.291669761,638,892,785,825.708330239,655,631,657,0.449764938567,-0.0054442521834,0.0595274698014,0.999999736199,7.4433007661e-06,-0.000725666819208,-3.08948086262e-05,1793250456182148096
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,660.883517867,638,892,785,825.116482133,655,631,657,0.449252786802,-0.00544010784957,0.0595172264073,0.999999726532,9.59636802681e-06,-0.000738883694623,-2.99124047322e-05,1793250456198814720
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.980332772,745,721,685,665.980332772,642,887.980332772,788.980332772,819,654,631.019667228,656.980332772,0.403234124904,-0.00535023728336,0.0597916781641,0.999999907214,0.000288025997635,-0.000318874929052,3.05400258315e-05,1793250457265481216
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.405321105,745,721,685,665.405321105,642,887.405321105,788.405321105,819,654,631.594678895,656.405321105,0.40299511746,-0.00535930134858,0.0598094549215,0.999999919024,0.000276042797039,-0.000290969160338,3.29907995495e-05,1793250457282147840
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.826626164,745,721.173373836,685,665.173373836,642,887.173373836,788,819,654.173373836,632,656.173373836,0.402762832143,-0.00536880630424,0.0598257817512,0.999999929412,0.00026337908767,-0.000265620182287,3.53990939358e-05,1793250457298814464
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.239133477,745,721.760866523,685,665.760866523,642,887.760866523,788,819,654.760866523,632,656.760866523,0.402546603261,-0.00537936436468,0.0598386452969,0.999999937915,0.000249089924601,-0.00024637833096,3.77059223524e-05,1793250457315481344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.68810068,745.34405034,721.65594966,685,665.65594966,642,888,788,819,654.65594966,632,656.65594966,0.402335796209,-0.0053805899617,0.0598400179851,0.999999938977,0.000243584768142,-0.000247502100631,3.81580254862e-05,1793250457332147968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.848552725,745.924276363,721.075723637,685,665.075723637,642,888,788,819,654.075723637,632,656.075723637,0.402128710986,-0.00537540922714,0.0598335026977,0.999999935027,0.000244109451014,-0.000262605986669,3.73369401411e-05,1793250457348814848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.498970804,745.498970804,721,685,665,642,888,788,819,654,632,656,0.401954150055,-0.00537310507068,0.059828322837,0.999999942625,0.000195446158865,-0.000275671114159,2.3591748415e-05,1793250457365481472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,888,788,819,654.077208451,632,656.077208451,0.401789673599,-0.00537267743128,0.0598240987945,0.999999948178,0.00014579350251,-0.000286845371203,1.04118250552e-05,1793250457382148096
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,888,788,819,654.653050412,632,656.653050412,0.401658797664,-0.00538158041839,0.0598247531796,0.999999949056,0.00013743206768,-0.000287784165514,1.34106595608e-05,1793250457398814720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887.767096766,788,819,654.767096766,632,657,0.401539550395,-0.00538441268814,0.0598262564811,0.999999949528,0.000136694629581,-0.000286393833148,1.53707975595e-05,1793250457415481856
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887.181164409,788,819,654.181164409,632,657,0.401437929584,-0.00537804310998,0.0598290465496,0.999999949382,0.0001475134629,-0.000281473066515,1.57565041896e-05,1793250457432149760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745.401943215,721,685,665,642,887,788,819,654,632,657,0.401353830597,-0.00537649335969,0.0598322312058,0.999999950177,0.000152471264054,-0.000275880006719,1.6986036022e-05,1793250457448816384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745.98378654,721,685,665,642,887,788,819,654,632,657,0.40127757396,-0.00537710084855,0.0598355924699,0.999999951398,0.000154805807953,-0.000269986044813,1.85932436998e-05,1793250457465482752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745.440583867,721,685,665,642,887,788,819.559416133,654.559416133,631.440583867,656.440583867,0.401213351138,-0.00537618109051,0.0598347018904,0.999999950263,0.000157043665241,-0.000272849873948,1.90598417898e-05,1793250457482149632
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.134827953,642,887,788,819.865172047,654.865172047,631.134827953,656,0.401153103934,-0.00537512131901,0.0598330546841,0.999999948742,0.000159756131566,-0.000276796792797,1.94537916827e-05,1793250457498816000
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.710110098,642,887,788,819.289889902,654.289889902,631.710110098,656,0.401104717387,-0.00537374716589,0.0598293338847,0.999999946178,0.000164028097827,-0.000283461849552,1.9717222671e-05,1793250457515482368
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.706340349,642,887,788,819.293659651,654,632.293659651,656.293659651,0.401064827202,-0.00537319778899,0.059827358816,0.999999944417,0.000168009325078,-0.000287298954982,1.99514120579e-05,1793250457532148736
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.114393025,642,887,788,819.885606975,654,632.885606975,656.885606975,0.401033567276,-0.00537348618645,0.0598271569899,0.999999943509,0.000171695231847,-0.000288263541913,2.01558990337e-05,1793250457548815104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.466066375,642.466066375,887,788,819.533933625,654,632.533933625,656.533933625,0.401014973447,-0.00537246173489,0.05982857321,0.999999931557,0.000234880645274,-0.000285153061082,2.01309742875e-05,1793250457565481728
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.956537204,642.956537204,887.043462796,788.043462796,819,654,632,656,0.40099998068,-0.0053713924703,0.0598304757849,0.999999913414,0.000306219584544,-0.00028106504299,2.00851433218e-05,1793250457582148352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.382935832,642.382935832,887.617064168,788.617064168,819,654,632,656,0.400991904315,-0.00537361246142,0.0598335831023,0.999999915482,0.000303166565752,-0.000276959983191,2.045460157e-05,1793250457598815232
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887.81137676,788.81137676,819,654.18862324,632,656,0.400984627344,-0.00537466893283,0.0598360034243,0.999999916786,0.000301662569841,-0.000273861151809,2.06748064424e-05,1793250457615481856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887.243919511,788.243919511,819,654.756080489,632,656,0.40097895589,-0.00537338857206,0.0598370439734,0.999999916596,0.000303269657091,-0.000272783246347,2.05952483647e-05,1793250457632148480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.656541427,632,656.343458573,0.400975270904,-0.00537253169792,0.059837088145,0.999999916652,0.000303254359437,-0.00027261322087,2.03796953477e-05,1793250457648815360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.054144783,632,656.945855217,0.400973083542,-0.00537199409615,0.0598363811341,0.999999916893,0.000302015923744,-0.000273127658466,2.00616139067e-05,1793250457665481728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.522874286,632,656.477125714,0.400972499267,-0.00537307522659,0.0598371363858,0.999999917341,0.000301442712167,-0.00027209682984,2.03322455705e-05,1793250457682148608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642.097489623,887,788,819,655,632,656,0.400972200722,-0.00537358049046,0.0598380267882,0.999999917725,0.000301408194566,-0.000270706373014,2.05124980478e-05,1793250457698815488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642.672607101,887,788,819,655,632,656,0.400972526406,-0.00537048121071,0.0598388718192,0.999999917694,0.000303691017191,-0.000268301673296,1.99651116228e-05,1793250457715481856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642.745269421,887,787.745269421,819.254730579,654.745269421,632,656,0.400972234253,-0.00536941898803,0.0598392220989,0.999999917783,0.000304029768914,-0.000267598466161,1.97579914937e-05,1793250457732148480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642.153886727,887,787.153886727,819.846113273,654.153886727,632,656,0.400971125567,-0.00537104894097,0.0598389185148,0.999999918039,0.000301799235485,-0.000269143952496,2.00005674655e-05,1793250457748814848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.425334092,642,887.425334092,787.425334092,819.574665908,654,632,656,0.400970555285,-0.00537171214719,0.059838810022,0.999999918585,0.000300247315694,-0.000268847530948,2.00670954024e-05,1793250457765481472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.999722091,642,887.999722091,788,819,654.000277909,631.999722091,656.000277909,0.40097017513,-0.00537203576263,0.0598387710422,0.999999919232,0.00029893416258,-0.000267902678972,2.00717745311e-05,1793250457782148096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665.422908941,642,887.422908941,788,819,654.577091059,631.422908941,656.577091059,0.40097134143,-0.00537330725703,0.0598405801017,0.999999920135,0.000297762279588,-0.000265817194481,2.02322331604e-05,1793250457798814976
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788.157354842,819,654.842645158,631,656.842645158,0.400972561843,-0.00537406499147,0.0598420705069,0.999999920759,0.000297333296759,-0.000263928157696,2.03982654349e-05,1793250457815481856
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788.747100486,819,654.252899514,631,656.252899514,0.400973930955,-0.00537341097974,0.0598426852911,0.99999992063,0.000298945707802,-0.000262578933989,2.05796133572e-05,1793250457832148480
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,721.330753514,685,665,642,887.330753514,788.669246486,819,654,631.330753514,656,0.400973625325,-0.00537307805041,0.059842458552,0.999999920414,0.000299340407455,-0.00026294921903,2.06090674707e-05,1793250457848814848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745,721.909832264,685,665,642,887.909832264,788.090167736,819,654,631.909832264,656,0.400972062322,-0.00537298618542,0.0598416000086,0.999999920133,0.000298820865907,-0.000264610487888,2.05244817727e-05,1793250457865481472
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,745,721.514930414,684.514930414,665.485069586,642,888,788,819,654,631.514930414,656,0.400972062556,-0.00537426518529,0.0598418691294,0.999999920632,0.000297542598112,-0.000264182477671,2.030372899e-05,1793250457882148096
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745.059427827,721,684,665.940572173,642,887.940572173,788.059427827,819,654.059427827,631.059427827,656.059427827,0.40097233148,-0.00537545369936,0.0598423489195,0.999999921159,0.000296548413911,-0.000263319630416,2.0107824616e-05,1793250457898814976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745.632311541,721,684,665.367688459,642,887.367688459,788.632311541,819,654.632311541,631.632311541,656.632311541,0.40097243097,-0.00537367603044,0.0598428520305,0.999999920698,0.000299217691962,-0.000262028928167,2.03435839564e-05,1793250457915481600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,745.787320272,721,684.212679728,665.212679728,642,887,788.787320272,819,654.787320272,632,656.787320272,0.400972648869,-0.00537281693056,0.059843237168,0.999999920718,0.000299980686652,-0.000261072364886,2.0431901884e-05,1793250457932148224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745.193540594,721,684.806459406,665.806459406,642,887,788.193540594,819,654.193540594,632,656.193540594,0.400973078946,-0.00537360381056,0.0598434109094,0.999999921607,0.000297327820287,-0.000260714543666,2.02560201752e-05,1793250457948814848
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.391490323,745,721,685,665.608509677,642.391490323,887,788,819,654,632,656,0.400972811397,-0.0053738913422,0.0598432989092,0.999999921578,0.000297202201729,-0.000260981988765,2.00853209195e-05,1793250457965481728
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769.972290632,745,721,685,665.027709368,642.972290632,887,788,819,654,632,656,0.400972206503,-0.00537393740774,0.059843048735,0.999999921106,0.00029829866526,-0.000261551789145,1.99171277139e-05,1793250457982148352
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769.453960923,745,721,685,665,642.453960923,887.546039077,788,819.546039077,654.546039077,632,656,0.40097066367,-0.0053734133797,0.0598416447327,0.999999920574,0.000298089845441,-0.000263802076697,2.00606629937e-05,1793250457998814976
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f6d8406898238be10ef3babbddbaf9b08fe39d2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/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,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+378,6.300000000,pose2_to_pose3_retreat,0.575858049575,0.000150139150215,1.05003350422,0.546428728151,0.00882277334416,1.04970490014
+379,6.316666667,pose2_to_pose3_retreat,0.575812354535,0.00015009294892,1.05003353797,0.546383032803,0.00882272570937,1.04970492364
+380,6.333333333,pose2_to_pose3_retreat,0.57577393735,0.000150183614558,1.05003337442,0.546344614512,0.00882281315502,1.04970477411
+381,6.350000000,pose2_to_pose3_retreat,0.575742914655,0.000150033722684,1.05003338268,0.546313593813,0.00882266982716,1.04970477687
+382,6.366666667,pose2_to_pose3_retreat,0.575719265671,0.000150007166022,1.05003358643,0.546289944843,0.00882264322596,1.04970497817
+383,6.383333333,pose2_to_pose3_retreat,0.57570200041,0.000150069728605,1.05003357482,0.546272678209,0.00882270104898,1.04970496453
+384,6.400000000,pose2_to_pose3_retreat,0.575689904358,0.000150107345146,1.05003353073,0.546260581814,0.00882273754251,1.04970492152
+385,6.416666667,pose2_to_pose3_retreat,0.575681796904,0.000150104338578,1.05003353669,0.546252474902,0.00882273647747,1.04970493016
+386,6.433333333,pose2_to_pose3_retreat,0.575676036733,0.000150055572673,1.05003369798,0.546246714899,0.0088226882919,1.04970509186
+387,6.450000000,pose2_to_pose3_retreat,0.575672249256,0.000150018837846,1.05003371084,0.546242928402,0.00882265493677,1.04970510612
+388,6.466666667,pose2_to_pose3_retreat,0.575669618472,0.000149989060766,1.05003363473,0.546240299094,0.00882263024288,1.04970503201
+389,6.483333333,pose2_to_pose3_retreat,0.575668028917,0.000150042524554,1.05003361309,0.546238708894,0.00882268152352,1.04970501062
+390,6.500000000,pose2_to_pose3_retreat,0.575667254648,0.000150106899288,1.05003361561,0.546237933485,0.00882274201605,1.04970501274
+391,6.516666667,pose2_to_pose3_retreat,0.57566688896,0.000150137303531,1.0500336168,0.546237567259,0.00882277058673,1.04970501374
+392,6.533333333,pose2_to_pose3_retreat,0.575666653171,0.000150156907612,1.05003361757,0.546237331124,0.00882278900856,1.04970501439
+393,6.550000000,pose2_to_pose3_retreat,0.575666419068,0.000150176371588,1.05003361833,0.546237096676,0.00882280729873,1.04970501503
+394,6.566666667,pose2_to_pose3_retreat,0.575666175136,0.000150196652678,1.05003361913,0.546236852385,0.00882282635674,1.0497050157
+395,6.583333333,pose2_to_pose3_retreat,0.575666038602,0.00015019467368,1.05003360672,0.54623671591,0.00882282457959,1.04970500334
+396,6.600000000,pose2_to_pose3_retreat,0.575666002337,0.000150190802108,1.05003360019,0.546236679726,0.00882282098411,1.04970499685
+397,6.616666667,pose2_to_pose3_retreat,0.575665691778,0.000150157647064,1.05003354434,0.546236369859,0.00882279019348,1.04970494133
+398,6.633333333,pose2_to_pose3_retreat,0.575665351921,0.00015012136427,1.05003348322,0.54623603076,0.00882275649815,1.04970488058
+399,6.650000000,pose2_to_pose3_retreat,0.575665143006,0.000150099060783,1.05003344565,0.546235822312,0.00882273578521,1.04970484323
+400,6.666666667,pose2_to_pose3_retreat,0.575665063177,0.000150090538267,1.05003343129,0.546235742661,0.00882272787047,1.04970482896
+401,6.683333333,pose2_to_pose3_retreat,0.575665037676,0.000150087815757,1.0500334267,0.546235717216,0.00882272534211,1.0497048244
+402,6.700000000,pose2_to_pose3_retreat,0.575664871626,0.000150070088416,1.05003339684,0.546235551536,0.00882270887898,1.04970479472
+403,6.716666667,pose2_to_pose3_retreat,0.575664776209,0.000150066430344,1.05003340145,0.546235456267,0.00882270571142,1.0497047991
+404,6.733333333,pose2_to_pose3_retreat,0.575664711125,0.000150083919267,1.05003347125,0.546235391082,0.00882272281274,1.04970486771
+405,6.750000000,pose2_to_pose3_retreat,0.575664663185,0.000150096801534,1.05003352266,0.546235343067,0.0088227354095,1.04970491825
+406,6.766666667,pose2_to_pose3_retreat,0.575664655184,0.000150098951506,1.05003353124,0.546235335054,0.00882273751183,1.04970492669
+407,6.783333333,pose2_to_pose3_retreat,0.575664542042,0.000150129354264,1.05003365258,0.546235221737,0.00882276724077,1.04970504596
+408,6.800000000,pose2_to_pose3_retreat,0.575664417701,0.000150157143775,1.05003373995,0.546235097343,0.00882279483019,1.04970513283
+409,6.816666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511737,1.04970501047
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e5ee816111e5778e40fabfc612fa884576404
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bea309ffcc628e3acf8e852f12411ea82104c342114775328413c67c5d137b
+size 26203167
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49eca39dd1385056c845e18ed56be05cabad85c3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+21,0.350000000,BASELINE,769,745.806313299,721,684.193686701,665,642,887.193686701,788.193686701,819.193686701,654.193686701,632,656.193686701,0.400974466693,-0.00537551331228,0.05984660311,0.999999923909,0.000294182527526,-0.000255418689041,1.99749557296e-05,1793250458476873728
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+27,0.450000000,BASELINE,769,745.66914898,721,684.33085102,665,642,888,788,819,655,632,656.66914898,0.40097137142,-0.00537497356359,0.059843898743,0.999999922649,0.000294889440752,-0.000259518579642,1.98056124397e-05,1793250458576873472
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+37,0.616666667,BASELINE,769.531409605,745,721,685,665.531409605,642,887.531409605,788,819.468590395,654,631.468590395,656,0.400971069626,-0.00537484066527,0.0598437978768,0.999999922415,0.000295475802873,-0.000259750375559,1.98415107763e-05,1793250458743540224
+38,0.633333333,BASELINE,769,745,721,685,665,642,887.044281483,788,819.955718517,654.044281483,632,656,0.400971416077,-0.00537491382186,0.0598434247018,0.999999922517,0.000294970243898,-0.000259923847085,1.99706324948e-05,1793250458760206848
+39,0.650000000,BASELINE,769,745,721,685,665,642,887.634700317,788,819.365299683,654.634700317,632,656,0.400972229591,-0.00537613961667,0.0598440525463,0.999999923366,0.000293065647185,-0.000258820301912,1.98229635654e-05,1793250458776873728
+40,0.666666667,BASELINE,769,745,721,685,665,642,887.779999928,788,819,654.779999928,632,656,0.400972678229,-0.00537687368417,0.0598445528422,0.999999923848,0.000291844588572,-0.000258335450073,1.98246857187e-05,1793250458793540608
+41,0.683333333,BASELINE,769,745,721,685,665,642,887.203006912,788,819,654.203006912,632,656,0.400972534786,-0.00537680982831,0.0598448461653,0.999999923742,0.000291732703706,-0.000258854548683,2.00688239949e-05,1793250458810207744
+42,0.700000000,BASELINE,769,745,721,685,665.373513245,642,887.373513245,788,819,654,632,656.373513245,0.400972281373,-0.00537590920826,0.0598446352649,0.999999923438,0.000292794579355,-0.000258827713886,2.01031778602e-05,1793250458826874112
+43,0.716666667,BASELINE,769,745,721,685,665.949776704,642,887.949776704,788,819,654,632,656.949776704,0.400971968267,-0.00537455437643,0.0598441506623,0.999999923024,0.000294493594922,-0.000258504535857,2.00236566811e-05,1793250458843540224
+44,0.733333333,BASELINE,769,745,721,685,665.474780806,642,888,788,819,654,632,656.474780806,0.400971321458,-0.00537477974518,0.0598439700378,0.999999922748,0.000295028382536,-0.000258955685498,2.00883065219e-05,1793250458860206592
+45,0.750000000,BASELINE,769,745.1035679,721,685,665,642,887.8964321,788.1035679,819,654.1035679,632,656.1035679,0.400970872984,-0.00537510914837,0.0598438674448,0.999999922693,0.000294854725402,-0.000259364937163,2.01104686305e-05,1793250458876873216
+46,0.766666667,BASELINE,769,745.696004543,721,685,665,642,887.303995457,788.696004543,819,654.696004543,632,656.696004543,0.400971511098,-0.00537521748197,0.0598439961901,0.999999923612,0.000291861691907,-0.000259227456752,1.98671042572e-05,1793250458893539840
+47,0.783333333,BASELINE,769,745.719061055,721,684.719061055,665,642,887,788.719061055,819,655,631.719061055,656.719061055,0.400972506076,-0.00537496108372,0.0598446520487,0.999999924007,0.00029155057958,-0.000258067428997,1.96557860651e-05,1793250458910206464
+48,0.800000000,BASELINE,769,745.142033385,721,684.142033385,665,642,887,788.142033385,819,655,631.142033385,656.142033385,0.400973877161,-0.00537432028527,0.0598458634454,0.999999923848,0.000294066012065,-0.000255829712478,1.94782421315e-05,1793250458926873344
+49,0.816666667,BASELINE,768.569449616,745,721,684,665,642,887,788,819,655,631,656,0.400974321053,-0.00537468425116,0.0598462137515,0.999999923972,0.000294031961202,-0.000255392025058,1.94142716743e-05,1793250458943539968
+50,0.833333333,BASELINE,768.001746998,745,721,684,665,642,887,788,819,654.998253002,631,656,0.400974462962,-0.00537537707817,0.0598462828186,0.99999992419,0.000293161769176,-0.000255541064218,1.93878279479e-05,1793250458960206336
+51,0.850000000,BASELINE,768.594560688,745,721,684,665,642,887,788,819,654.405439312,631,656,0.400974862076,-0.00537633641191,0.0598463256502,0.999999924856,0.000291043305921,-0.000255346701402,1.95112539789e-05,1793250458976873216
+52,0.866666667,BASELINE,769,745,721,684,665,642.182977936,887,788,819,654.182977936,631.182977936,656,0.400974468524,-0.00537717538284,0.0598460532884,0.999999925164,0.000289357808045,-0.000256039931165,1.96682718416e-05,1793250458993540096
+53,0.883333333,BASELINE,769,745,721,684,665,642.761882163,887,788,819,654.761882163,631.761882163,656,0.400972359806,-0.00537775391355,0.0598450989131,0.999999924704,0.000288609157542,-0.000258653727126,1.98979754509e-05,1793250459010206464
+54,0.900000000,BASELINE,769,745,721,684.33946224,665,642.66053776,887.33946224,788,819,655,632,656,0.400972116093,-0.00537708529344,0.0598450851702,0.999999924136,0.000290326322784,-0.000258918930179,1.99683635626e-05,1793250459026873088
+55,0.916666667,BASELINE,769,745,721,684.916117068,665,642.083882932,887.916117068,788,819,655,632,656,0.400973175514,-0.00537554525111,0.0598457286757,0.999999923488,0.000293766428492,-0.000257543099845,1.9927433082e-05,1793250459043539968
+56,0.933333333,BASELINE,769,745,721,684.514974908,665,642,887.514974908,788,819,655,632,656,0.400973080986,-0.00537469093993,0.0598451861524,0.99999992282,0.000295912637243,-0.000257672486043,2.00115021798e-05,1793250459060206848
+57,0.950000000,BASELINE,769,745,721,684.055395988,665,642,887.055395988,788,819,654.944604012,632,656.055395988,0.400972887861,-0.00537409635805,0.0598446170782,0.999999922311,0.000297430200926,-0.000257891892961,2.01109469775e-05,1793250459076873728
+58,0.966666667,BASELINE,769,745,721,684.652991845,665,642,887.652991845,788,819,654.347008155,632,656.652991845,0.400973652339,-0.00537490141479,0.0598457642108,0.999999923407,0.00029495056753,-0.00025648451058,2.01526191066e-05,1793250459093539840
+59,0.983333333,BASELINE,769,745,721,685,665,642,887.757151241,788,819,654.242848759,632,656.757151241,0.400973647211,-0.0053758071557,0.0598461032171,0.999999924219,0.000292412725332,-0.000256232644333,2.00476581677e-05,1793250459110206208
+60,1.000000000,BASELINE,769,745,721,685,665,642,887.178010959,788,819,654.821989041,632,656.178010959,0.40097257635,-0.00537685232187,0.0598453231482,0.999999924641,0.000289794276533,-0.000257580910758,1.97396430453e-05,1793250459126872832
+61,1.016666667,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400972086499,-0.00537605097584,0.059844996627,0.99999992412,0.000291523185962,-0.0002576544081,1.97176036242e-05,1793250459143539456
+62,1.033333333,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400971854484,-0.0053744301949,0.0598448713787,0.999999923171,0.000295181341826,-0.000257162195475,1.98224729162e-05,1793250459160206336
+63,1.050000000,BASELINE,769,745,721,685,665,642,887.55881093,788,819,654.44118907,632,656,0.400973920432,-0.00537417816273,0.0598456730221,0.999999923951,0.000293564101096,-0.000256005098891,1.9460184863e-05,1793250459176872704
+64,1.066666667,BASELINE,769,745,721,685,665,642,888,788,819,654,632,656,0.400974674027,-0.00537388492127,0.0598458399887,0.999999924198,0.000292829650873,-0.00025590503425,1.91770415102e-05,1793250459193539584
+65,1.083333333,BASELINE,769,745,721,685,665,642,888,788,819,654,632,656,0.400971022671,-0.00537328290258,0.0598439008927,0.99999992255,0.000295548627536,-0.000259197008234,1.92027456736e-05,1793250459210206208
+66,1.100000000,BASELINE,769,745,721,684.698056879,665,642,887.698056879,788,819,654,631.698056879,656,0.400970082646,-0.0053737910305,0.0598434892868,0.999999922142,0.000296187042628,-0.000260019357996,1.94500196469e-05,1793250459226873088
+67,1.116666667,BASELINE,769,745,721,684.120042326,665,642,887.120042326,788,819,654,631.120042326,656,0.400971621635,-0.0053753141833,0.0598444742897,0.999999922879,0.000294923166796,-0.000258583690586,1.98998784462e-05,1793250459243540480
+68,1.133333333,BASELINE,769,745,721,684.455362551,665.455362551,642,887,788,819,654.455362551,631.455362551,656,0.400972765421,-0.00537503778406,0.0598448092203,0.999999922995,0.000295171086036,-0.000257852147389,1.98906985635e-05,1793250459260207360
+69,1.150000000,BASELINE,769,745,721,684.96921593,665.96921593,642,887,788,819,655,632,656,0.40097378288,-0.00537439002581,0.0598450369482,0.999999923019,0.000295632657789,-0.000257240039275,1.97737327159e-05,1793250459276874240
+70,1.166666667,BASELINE,769,745,721,684.381109869,665.381109869,642,887,788,819,655,632,656,0.400974388688,-0.00537555874315,0.0598464087241,0.999999924313,0.000292788128754,-0.000255448841662,1.98837198483e-05,1793250459293540352
+71,1.183333333,BASELINE,769,745,721,684,665,642,887,788,819,655,632,656,0.40097449838,-0.00537581164211,0.0598470667592,0.999999925035,0.000290947927403,-0.000254731916608,1.97818757734e-05,1793250459310206720
+72,1.200000000,BASELINE,769,745,721,684,665,642,887,788,819,655,632,656,0.400973694649,-0.00537437838698,0.0598464106942,0.99999992472,0.000290956838302,-0.000255992882627,1.92900197851e-05,1793250459326873344
+73,1.216666667,BASELINE,769,745,721,684,665.358565453,642,887,788,819,654.641434547,632,656,0.400974067683,-0.00537532003435,0.0598462795985,0.999999925074,0.000290074866969,-0.000255596625253,1.94766565038e-05,1793250459343539968
+74,1.233333333,BASELINE,769,745,721,684,665.931367876,642,887,788,819,654.068632124,632,656,0.400975143815,-0.00537768064706,0.0598464621635,0.999999925825,0.000288660608131,-0.000254210204038,2.00686815032e-05,1793250459360206592
+75,1.250000000,BASELINE,769,745,721,684.508026394,665.491973606,642,887,788,819,654.508026394,632,656,0.40097415085,-0.00537655569408,0.0598460913536,0.999999925255,0.000290259964579,-0.000254636161705,2.0002180402e-05,1793250459376873216
+76,1.266666667,BASELINE,769,745,721,685,665,642,887,788,819,654.912746781,632,656,0.400973166952,-0.00537515884935,0.0598458044309,0.999999924644,0.000291941056271,-0.000255126459241,1.98131882266e-05,1793250459393540352
+77,1.283333333,BASELINE,769,745,721,685,665,642,887,788,819,654.321722146,632,656,0.400973861638,-0.0053749317176,0.0598464367777,0.999999924858,0.000291725469504,-0.000254563770827,1.94345501579e-05,1793250459410207488
+78,1.300000000,BASELINE,769,745,721,684.736391643,665,642,887.263608357,788,819,654.263608357,632,656.263608357,0.400973574717,-0.00537516378249,0.0598464331661,0.999999924692,0.000291723458079,-0.000255218097218,1.94075166704e-05,1793250459426874624
+79,1.316666667,BASELINE,769,745,721,684.157863675,665,642,887.842136325,788,819,654.842136325,632,656.842136325,0.400972115117,-0.00537594442647,0.059845669807,0.99999992407,0.000291976594357,-0.00025732632986,1.98005274708e-05,1793250459443540992
+80,1.333333333,BASELINE,769,745,721,684.418925097,665,642,888,788,819,655,632,657,0.400972632519,-0.00537554900096,0.0598458865718,0.999999924082,0.00029227142611,-0.000256945089579,1.98192942321e-05,1793250459460207616
+81,1.350000000,BASELINE,769,745,721,684.995061246,665,642,888,788,819,655,632,657,0.400973891834,-0.00537471222902,0.0598464711502,0.999999924331,0.000292581905045,-0.00025562961885,1.96976175451e-05,1793250459476873984
+82,1.366666667,BASELINE,769,745,721,685,665,642,888,788,819,655,632,656.43133133,0.400973897562,-0.00537449311684,0.0598467303064,0.999999924322,0.000292588808788,-0.00025565232489,1.97156278852e-05,1793250459493540608
+83,1.383333333,BASELINE,769,745,721,684.852280375,665,642,888.147719625,788,819,655,632,656.147719625,0.400973843586,-0.00537410350349,0.0598468658067,0.99999992418,0.00029309812582,-0.000255634218923,1.96277412299e-05,1793250459510207232
+84,1.400000000,BASELINE,769,745,721,684.256657559,665,642,888.743342441,788,819,655,632,656.743342441,0.400973641449,-0.00537318071764,0.059846634899,0.999999923633,0.00029513877746,-0.000255457283672,1.92151003712e-05,1793250459526873856
+85,1.416666667,BASELINE,769,745,721,684.328013543,665.328013543,642,888.343972915,788,819,654.671986457,632,656.671986457,0.400973493463,-0.00537297617487,0.0598462476204,0.999999923537,0.000295089993776,-0.000255904029046,1.90066481185e-05,1793250459543540480
+86,1.433333333,BASELINE,769,745,721,684.904392196,665.904392196,642,887.191215609,788,819,654.095607804,632,656.095607804,0.400973386479,-0.00537331547105,0.0598457419411,0.999999923782,0.000293459132502,-0.000256823012577,1.8952803305e-05,1793250459560207360
+87,1.450000000,BASELINE,769,745,721,685,665.521667628,642,887.478332372,788.478332372,819,654.478332372,632,656,0.400972956738,-0.00537398896478,0.0598457322233,0.999999923523,0.000294020927689,-0.000257156590122,1.93818725674e-05,1793250459576874496
+88,1.466666667,BASELINE,769,745,721,684.946611399,665,642,887.946611399,788.946611399,819,655,632,656,0.40097249626,-0.00537457331938,0.0598458084728,0.999999923202,0.000294907854919,-0.000257356920576,1.98229564676e-05,1793250459593541376
+89,1.483333333,BASELINE,769,745,721,684.355428169,665,642,887.355428169,788.355428169,819,655,632,656,0.400972372722,-0.00537359029388,0.0598457571807,0.99999992327,0.000294677588243,-0.000257387707114,1.94176955131e-05,1793250459610207488
+90,1.500000000,BASELINE,769,745,721,684.230928172,665,642,887,788,818.769071828,654.769071828,632,656,0.400972310425,-0.00537372759507,0.0598457288734,0.999999923543,0.000293795028842,-0.000257339665588,1.93779170457e-05,1793250459626874112
+91,1.516666667,BASELINE,769,745,721,684.810007364,665,642,887,788,818.189992636,654.189992636,632,656,0.400972340457,-0.00537555391884,0.0598457352182,0.999999924122,0.000291929062474,-0.000257172781603,1.9889145881e-05,1793250459643541248
+92,1.533333333,BASELINE,769,745,721,685,665.384076278,642,887.384076278,788,818.384076278,654.384076278,632,656,0.400973783256,-0.00537477339885,0.0598467762561,0.999999924149,0.000293303694565,-0.00025549509564,1.99331256843e-05,1793250459660207872
+93,1.550000000,BASELINE,769,745,721,685,665.955698703,642,887.955698703,788,818.955698703,654.955698703,632,656,0.400975915915,-0.00537271994568,0.0598483225392,0.999999923895,0.000296260725063,-0.000253079678362,1.97489457619e-05,1793250459676874240
+94,1.566666667,BASELINE,769,745,721,685,665.467120984,642,887.467120984,788,819,655,632,656,0.400973440571,-0.00537355190756,0.0598467089326,0.999999923405,0.000295594944934,-0.000255791093044,1.96321335631e-05,1793250459693540864
+95,1.583333333,BASELINE,768.886612212,745,721,684.886612212,665,642,887.113387788,788,819,654.886612212,631.886612212,656,0.400971053136,-0.00537431883366,0.0598450942273,0.999999922935,0.00029486342189,-0.000258465492709,1.95344986997e-05,1793250459710207488
+96,1.600000000,BASELINE,768.294009473,745,721,684.294009473,665,642,887.705990527,788,819,654.294009473,631.294009473,656,0.400970673364,-0.00537378639307,0.0598445968383,0.999999922673,0.000295140372671,-0.000259163107408,1.94939938932e-05,1793250459726873856
+97,1.616666667,BASELINE,768.291555185,745,721,684.291555185,665,642,887.708444815,788.291555185,819,654,631.291555185,656,0.40097077085,-0.00537391374365,0.0598447148527,0.999999922967,0.000294311288481,-0.000258969735554,1.95311650058e-05,1793250459743540224
+98,1.633333333,BASELINE,768.870189771,745,721,684.870189771,665,642,887.129810229,788.870189771,819,654,631.870189771,656,0.400971338265,-0.00537469075671,0.0598454388232,0.999999923804,0.000292393148505,-0.000257899055013,1.96448196044e-05,1793250459760206592
+99,1.650000000,BASELINE,769,745,721,684.555130168,665,642,887,788.555130168,819,654,632,656,0.40097246296,-0.00537501776387,0.0598461513239,0.999999924014,0.000292644376766,-0.000256791512684,1.97076055222e-05,1793250459776873472
+100,1.666666667,BASELINE,769,745,721,684.018866713,665,642,887.018866713,788,819,654,632,656,0.400973709707,-0.00537522476023,0.0598468391985,0.999999924056,0.000293451487024,-0.000255702317003,1.97562871029e-05,1793250459793540352
+101,1.683333333,BASELINE,769,745,721,684.6067543,665,642,887.6067543,788,819,654,632,656,0.400973776405,-0.00537573761413,0.0598468843967,0.999999924505,0.000292100685241,-0.000255488000826,1.9823307341e-05,1793250459810207488
+102,1.700000000,BASELINE,769.191811563,745,721,684.808188437,665,642,888,788,819,654,632,656,0.400973609947,-0.00537630446867,0.0598469168777,0.999999924865,0.000290943381443,-0.000255393009516,1.99312412179e-05,1793250459826874112
+103,1.716666667,BASELINE,769.7711505,745,721,684.2288495,665,642,888,788,819,654,632,656,0.400972972432,-0.00537698042361,0.0598469236654,0.999999925046,0.000290177012347,-0.00025553909677,2.01218351447e-05,1793250459843540480
+104,1.733333333,BASELINE,769.652016736,745,721,684.347983264,665,642,887.652016736,788,819,654,632,656.347983264,0.400972326665,-0.00537688222476,0.0598465583867,0.999999924433,0.00029168838572,-0.000256203317458,2.02975982643e-05,1793250459860207616
+105,1.750000000,BASELINE,769.076820301,745,721,684.923179699,665,642,887.076820301,788,819,654,632,656.923179699,0.40097167551,-0.00537627854783,0.0598459501701,0.999999923293,0.000294686994589,-0.000257205849659,2.04636777337e-05,1793250459876874496
+106,1.766666667,BASELINE,769,745,721,685,665,642,887,788,819,654.500608967,632,657,0.400973052972,-0.00537547509072,0.0598465043483,0.999999924088,0.000293493595219,-0.000255501975136,2.01112901379e-05,1793250459893540608
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,685,666,642,887,789,819,654,632,657,0.400972600465,-0.00537278122962,0.0598464103453,0.999999923952,0.000294329835457,-0.000255128800719,1.93833246332e-05,1793250459936287744
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,721.421580875,685,665.421580875,642,887,788.421580875,819,654,632,656.421580875,0.400972654372,-0.00537383660214,0.0598463870953,0.999999923764,0.000294336990479,-0.00025583955783,1.96153889455e-05,1793250459952955392
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887,788,819,654,632,656,0.400973079098,-0.00537497755583,0.0598467224437,0.99999992395,0.000293678423704,-0.00025584665358,1.98646156737e-05,1793250459969622784
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887,788,819,654,632,656,0.400974500586,-0.00537634855182,0.0598480217039,0.999999925141,0.000291230397641,-0.000253962308706,2.01599750043e-05,1793250459986289152
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,684.687680697,665,642,887.312319303,788.312319303,819,654,632,656,0.400974617953,-0.00537620327507,0.0598480796096,0.999999925324,0.000290994271333,-0.000253516306053,2.00956022637e-05,1793250460002955776
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,684.0992647,665,642,887.9007353,788.9007353,819,654,632,656,0.40097358245,-0.00537471758191,0.0598470401323,0.99999992462,0.000292713510107,-0.000254341827655,1.9713218947e-05,1793250460019622144
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,721,684.480746451,665,642,887.519253549,788.519253549,819,654,632,656,0.400972763428,-0.0053750318353,0.0598465899635,0.999999924271,0.00029295733026,-0.000255450323724,1.94773944487e-05,1793250460036288768
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887,788,819,654,631.940760094,656,0.400972005929,-0.00537561745699,0.0598463207882,0.999999923992,0.000292923287139,-0.000256589069869,1.9330838805e-05,1793250460052955648
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887,788,819,654,631.360614207,656,0.400971403123,-0.00537537740648,0.0598465915442,0.999999923708,0.000293078711364,-0.000257488865073,1.97077162869e-05,1793250460069622272
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,721,684.78289882,665,642,887,788,818.78289882,654.21710118,631.21710118,656,0.40097391984,-0.00537515849724,0.0598478408188,0.999999923985,0.000293348911387,-0.000256085166976,1.99383427236e-05,1793250460086288640
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,721,684.209175956,665,642,887,788,818.209175956,654.790824044,631.790824044,656,0.40098156085,-0.00537497431577,0.0598506974589,0.999999925165,0.000293807648085,-0.000250897630934,1.99287295525e-05,1793250460102955008
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665.372986241,642.372986241,887,788,818.372986241,654.627013759,632,656,0.401005155476,-0.00537527062376,0.0598601828728,0.999999929103,0.000293984473147,-0.000234430010494,2.02492263845e-05,1793250460119622144
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665.959990957,642.959990957,887,788,818.959990957,654.040009043,632,656,0.401037904244,-0.00537584263525,0.0598734718589,0.999999934203,0.000293999538012,-0.000211489908175,2.07591394156e-05,1793250460136289536
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,721,684.543245991,665.456754009,642.456754009,887.543245991,788,819,654.543245991,632,656.543245991,0.401094545975,-0.00537881945357,0.0598907168945,0.999999940768,0.000291456003226,-0.000181779449594,2.1755639696e-05,1793250460152955904
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887.875438401,788,819,654.875438401,632,656.875438401,0.401156461946,-0.0053818060729,0.0599074633832,0.999999946053,0.000289184472199,-0.000154113595375,2.27022616688e-05,1793250460169622016
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887.300148056,788,819,654.300148056,632,656.300148056,0.40123113912,-0.00538419167718,0.0599213588253,0.999999948891,0.000288574378027,-0.000135638089702,2.33396130475e-05,1793250460186288384
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887.280573691,788.280573691,819,654,632,656,0.401311316548,-0.00538628276211,0.0599303713673,0.999999951039,0.000287372294724,-0.00012162017123,2.34068998737e-05,1793250460202954752
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887.867220426,788.867220426,819,654,632,656,0.401397494106,-0.00538805256078,0.0599340572361,0.999999952653,0.000285524420699,-0.000112464959572,2.28523129918e-05,1793250460219621632
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642,887.5515703,788.5515703,819,654,632,656,0.401506914318,-0.00539005003091,0.0599390457248,0.99999995407,0.000284092060404,-0.000103241789443,2.22219723444e-05,1793250460236288000
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.027932058,721,685,665.027932058,642,887,788,819,654,632,656,0.401624000197,-0.00539219341346,0.0599442109988,0.999999955395,0.000282616365663,-9.41990517289e-05,2.1530673287e-05,1793250460252954368
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.605149924,721,685,665.605149924,642,887,788,819,654,632,656,0.401758115868,-0.00539589636969,0.0599453587355,0.999999957216,0.000277898025953,-8.90954953527e-05,2.00764378341e-05,1793250460269621504
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.818190365,721,684.818190365,665.818190365,642,887,788,819,654.181809635,632,656,0.401899770628,-0.00539955835834,0.0599457486558,0.999999958766,0.000273644277159,-8.50829357555e-05,1.86366633182e-05,1793250460286288640
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.242739208,721,684.242739208,665.242739208,642,887,788,819,654.757260792,632,656,0.402057748477,-0.00540313164638,0.0599444978047,0.999999959814,0.0002703964288,-8.34325268531e-05,1.72281988038e-05,1793250460302955520
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,721,684.332115735,665,642.332115735,887,788.332115735,819,655,632,656,0.402237346732,-0.00540842006856,0.0599436836123,0.999999962176,0.000262754645009,-7.98158616886e-05,1.53867174365e-05,1793250460319622144
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,721,684.906535753,665,642.906535753,887,788.906535753,819,655,632,656,0.402432718773,-0.00541495981499,0.0599431879962,0.999999965389,0.000251907142907,-7.47646593362e-05,1.32293164188e-05,1793250460336289024
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665,642.503998117,887,788.503998117,819,655,632,656,0.402669431886,-0.00542072363162,0.0599462640393,0.999999967698,0.000245613638745,-6.44374700516e-05,1.11927374441e-05,1793250460352955648
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721,684.914087249,665,642.085912751,887,788.085912751,819,655,632,656,0.402917913513,-0.00542645308177,0.0599498593591,0.999999969709,0.000240015506181,-5.37660947309e-05,9.14899738353e-06,1793250460369622016
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,721,684.33831205,665,642.66168795,887,788.66168795,819,655,632,656,0.403187689932,-0.0054328463455,0.0599524579684,0.99999997165,0.000233336254066,-4.69782385293e-05,6.93054890895e-06,1793250460386288640
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,721,684.237597451,665,643,887,788.762402549,819,655,632,656,0.403467171555,-0.00543919024779,0.0599504423595,0.999999973236,0.000226014865114,-4.92883312767e-05,4.04097442513e-06,1793250460402955008
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,721,684.813698256,665,643,887,788.186301744,819,655,632,656,0.403760480093,-0.00544546382483,0.0599418529073,0.999999974202,0.000217778628868,-6.45602059056e-05,1.95251745801e-07,1793250460419621120
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.398829661,721,685.398829661,665.398829661,643,887,788,819,654.601170339,632,656,0.404075272695,-0.00545246497635,0.0599315118273,0.999999974663,0.000209690980648,-8.18014239804e-05,-3.41205956365e-06,1793250460436287232
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.988277163,721,685.988277163,665.988277163,643,887,788,819,654.011722837,632,656,0.404400333444,-0.00545981386682,0.0599203335694,0.999999974641,0.000201674349218,-9.99838754859e-05,-6.90542371951e-06,1793250460452953600
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.432316549,721,685.432316549,666,642.432316549,887.567683451,788,819,654.567683451,632,656.567683451,0.404772582926,-0.00546681054901,0.0599051319534,0.999999973154,0.000193261231787,-0.000127311772683,-1.15854835179e-05,1793250460469620736
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,721,685.146222937,666,642,888,788,819.146222937,655,632,656.853777063,0.405163531938,-0.00547405588014,0.0598954649138,0.999999972202,0.00018488262281,-0.000145464983006,-1.59250383403e-05,1793250460486287104
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,721,685.722810815,666,642,888,788,819.722810815,655,632,656.277189185,0.405606699347,-0.00548205407078,0.0599023275848,0.99999997496,0.000176629260278,-0.0001360689673,-1.91915427282e-05,1793250460502953728
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,721,685.702881254,666,642.297118746,888,788.297118746,819.702881254,655,632,656.297118746,0.406085976691,-0.00549004172653,0.0599219924473,0.9999999877,0.000116161502954,-0.000103097625728,-2.18647631215e-05,1793250460519620608
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,721,685.130684076,666,642.869315924,888,788.869315924,819.130684076,655,632,656.869315924,0.406598685379,-0.0054980196298,0.0599535098336,0.999999998519,7.35262008396e-06,-4.82997771843e-05,-2.39887095561e-05,1793250460536288256
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,721.456581933,685.456581933,666,643,888,789,819,654.543418067,632,656.543418067,0.40713619137,-0.00549298806899,0.0599812056033,0.999999998906,-3.91428880749e-05,-3.13637150192e-06,-2.53982312519e-05,1793250460552955136
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,721.952763894,686,666,643,888.047236106,789,819,654.047236106,632,656.047236106,0.407681427257,-0.00548350546525,0.0600051116138,0.999999997139,-6.21913170876e-05,3.35814898356e-05,-2.69393026475e-05,1793250460569621760
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,721.374169128,686,666,643,888.625830872,789,819,654.625830872,632,656.625830872,0.408231051865,-0.00546726948122,0.0599991111403,0.99999999903,-2.89626610941e-05,7.37439849809e-06,-3.23389289477e-05,1793250460586288896
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,721,686,666,643,889,789,819.20314777,654.79685223,632,656.79685223,0.408790293411,-0.0054617921997,0.059989890762,0.999999999013,-1.12882343263e-05,-2.11383308911e-05,-3.74016322845e-05,1793250460602955776
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,721,686,666,643,889,789,819.778125693,654.221874307,632,656.221874307,0.409367137222,-0.00547600703791,0.0599747768533,0.999999997429,-2.2083388459e-05,-5.38711677859e-05,-4.18476506786e-05,1793250460619622400
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,721.35260225,686.35260225,666,643,889,789,819.64739775,654,632,656,0.409996658293,-0.00548795871639,0.0599736327579,0.999999996958,-3.25448811443e-05,-5.36013993485e-05,-4.63895736794e-05,1793250460636288768
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,721.92676375,686.92676375,666,643,889,789,819.07323625,654,632,656,0.410659279342,-0.00549848832749,0.0599812666596,0.999999997253,-4.27967157134e-05,-3.25942904865e-05,-5.0991758616e-05,1793250460652954880
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745,721.483556668,687,666,643,888.483556668,789,819,654,632,656.516443332,0.411345777156,-0.00550024148368,0.0599870666214,0.999999995992,-6.82381841897e-05,-1.67201393057e-05,-5.55013553708e-05,1793250460669622016
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.105641751,721.105641751,687.105641751,666,643,888.211283502,789,819.105641751,654.105641751,632,656.894358249,0.412037194163,-0.00549832871842,0.0599868757776,0.999999996151,-6.76091530352e-05,-1.29114616182e-05,-5.44021716939e-05,1793250460686289408
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+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,688,666,643,889.164509915,789,820,655,632,656.835490085,0.414142157161,-0.00547068066585,0.0599055443171,0.999999979265,0.000110066431352,-0.000169329899132,-2.61321943152e-05,1793250460736289024
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722,688.420197669,666.420197669,643,889.420197669,789,820,655,632,657,0.414945638171,-0.00548001877648,0.0599298966914,0.999999989768,6.52701619342e-05,-0.000123560382523,-3.06077384678e-05,1793250460752955392
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722,689,667,643,889.991855254,789.008144746,820,655,632,657,0.41578831714,-0.00549537183139,0.0599751954472,0.999999998723,8.48245420969e-06,-3.68933001207e-05,-3.34657743783e-05,1793250460769621760
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722,689,667,643,889.412833922,789.587166078,820,655,632,657,0.416642742697,-0.0055123650607,0.060005941438,0.999999999432,-4.9322166011e-07,1.0841978068e-05,-3.18998162766e-05,1793250460786287872
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722,689,666.834520546,643,889.165479454,789.834520546,820.165479454,655,632,657,0.417498529078,-0.0055275661994,0.0600240996107,0.999999998709,-9.79393036513e-06,3.94049788994e-05,-3.05505388693e-05,1793250460802954240
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,722,689,666.257965873,643,889.742034127,789.257965873,820.742034127,655,632,657,0.418357695897,-0.00553831552135,0.0600109877964,0.999999999153,-1.99020677375e-05,2.03412297785e-05,-2.9739528311e-05,1793250460819620864
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,722,689,666.325227172,643,890,789,821,654.674772828,632,656.674772828,0.419199755613,-0.00554098678541,0.0599910727944,0.999999998933,-3.12573012307e-05,-1.35111575261e-05,-3.12265962333e-05,1793250460836287744
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,722,689,666.913795372,643,890,789,821,654.086204628,632,656.086204628,0.420027963425,-0.00553711713154,0.059965649156,0.99999999669,-4.36223255046e-05,-5.93381127978e-05,-3.45744507057e-05,1793250460852954368
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,689.494175053,667,643,890,789,821,654,632,656.494175053,0.42085124644,-0.0055343538683,0.0599272360689,0.999999991338,-3.42504884881e-05,-0.000121581350726,-3.701071981e-05,1793250460869621248
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721.927092696,690,667,643.072907304,890,789,821.072907304,654,632,656.927092696,0.421683541207,-0.00553205893344,0.0598904953036,0.999999982639,-2.29048688136e-05,-0.000180736663751,-3.91277303155e-05,1793250460886288128
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721.350036176,690,667,643.649963824,890,789,821.649963824,654,632,656.350036176,0.42258399496,-0.00553168962823,0.0598807316964,0.999999979102,-2.37034101373e-05,-0.000199059762095,-4.01187660221e-05,1793250460902955008
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,690.226362028,667,643.773637972,890.226362028,789,821.773637972,654,632,656.226362028,0.423537406584,-0.00553349912999,0.0599036027748,0.999999985628,-3.0634517878e-05,-0.000161915761941,-3.98704725193e-05,1793250460919621376
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,690.801745282,667,643.198254718,890.801745282,789,821.198254718,654,632,656.801745282,0.424572472592,-0.00553866807273,0.0599767923529,0.999999997413,-4.70212566775e-05,-3.92486077224e-05,-3.77112919978e-05,1793250460936288000
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.385615888,746,721.385615888,691,667,643.385615888,891,789,821.385615888,654,632,657,0.425542084847,-0.00554027078191,0.0600173053073,0.999999997812,-4.699060718e-05,2.80813875108e-05,-3.71426840883e-05,1793250460952954368
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.97394822,746,721.97394822,691,667,643.97394822,891,789,821.97394822,654,632,657,0.426477288312,-0.00553999873871,0.0600406403112,0.999999996366,-3.83294137673e-05,6.6320893381e-05,-3.74102329387e-05,1793250460969620992
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.445874404,746,722,691.554125596,667,644,891.554125596,789,822,654,632,656.445874404,0.427415944078,-0.00554284475034,0.0600243761958,0.999999996368,-5.13795613054e-05,5.49099502163e-05,-4.0118027512e-05,1793250460986287360
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.132898242,721.867101758,692,667,643.867101758,891.867101758,789,822,654,632,656.132898242,0.428341549622,-0.00554518577401,0.0600028806197,0.999999996696,-6.17543427288e-05,3.16321186781e-05,-4.23639010462e-05,1793250461002953984
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.708252044,721.291747956,692,667,643.291747956,891.291747956,789,822,654,632,656.708252044,0.429223174731,-0.00554536458027,0.0599700763425,0.99999999702,-5.98730300529e-05,-2.34951646249e-05,-4.26954933415e-05,1793250461019620864
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.716776564,721.283223436,692,666.716776564,643,891,789,822,654,632,656.716776564,0.430120481701,-0.00554323344177,0.0599396098233,0.999999994691,-5.27249091679e-05,-7.66654780623e-05,-4.42880564688e-05,1793250461036287488
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.142198598,721.857801402,692,666.142198598,643,891,789,822,654,632,656.142198598,0.431033920689,-0.00553872604204,0.0599115481791,0.999999989911,-4.01587748162e-05,-0.000127822635313,-4.71777917734e-05,1793250461052953856
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.443989762,746.443989762,721.556010238,692.443989762,666.443989762,643,891,789,822.443989762,654,632,656.443989762,0.432007591881,-0.00553941676375,0.0599450993495,0.999999995334,-5.3549135748e-05,-6.50075876838e-05,-4.73186412038e-05,1793250461069620992
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,746.966674954,721.033325046,693,667,643,891.033325046,789,823,654,632,657,0.432996911152,-0.00554180060756,0.0599963865571,0.999999995722,-7.40717296593e-05,3.00217989323e-05,-4.65540427044e-05,1793250461086288384
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746.388321765,721.611678235,693,667,643,891.611678235,789,823,654,632,657,0.433918180222,-0.00554391609544,0.0600063472319,0.999999995631,-7.16287470728e-05,3.88896833721e-05,-4.57664051328e-05,1793250461102955008
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.810332618,746,722,693,667,643.189667382,891.810332618,789,823.189667382,654,632,656.810332618,0.434829543514,-0.00554596226488,0.0600033624238,0.999999996249,-6.77173319893e-05,2.83397753739e-05,-4.5974734674e-05,1793250461119621376
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.233087269,746,722,693,667,643.766912731,891.233087269,789,823.766912731,654,632,656.233087269,0.435720664901,-0.00554786678514,0.0599739240238,0.999999996749,-6.08052312857e-05,-2.18896395826e-05,-4.82182843096e-05,1793250461136287744
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.34066987,722,692.65933013,667,644,891,789,824,654,632.34066987,656.34066987,0.436591919669,-0.00554912569819,0.0599482013336,0.999999994325,-6.69688112434e-05,-6.5671835286e-05,-5.05135161227e-05,1793250461152954112
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.91206452,722,692.08793548,667,644,891,789,824,654,632.91206452,656.91206452,0.437449719361,-0.00554994736207,0.0599249951762,0.999999989721,-8.19881308977e-05,-0.000105087533037,-5.28437504716e-05,1793250461169620736
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.495489947,722,692.504510053,667,643.495489947,891,789,824,654,632.495489947,656.495489947,0.438262174906,-0.00554828394569,0.0598983594384,0.999999982051,-8.02648799192e-05,-0.000163222279808,-5.30542897938e-05,1793250461186287616
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.097564024,746,722,693,667,643,891.097564024,789,824,654,632,656.097564024,0.439083462686,-0.00554718480008,0.0598837338271,0.999999975597,-7.70809126333e-05,-0.000200206843483,-5.27477555185e-05,1793250461202954496
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.674785108,746,722,693,667,643,891.674785108,789,824,654,632,656.674785108,0.439988720394,-0.00555108201058,0.059931220783,0.99999998854,-8.16871602939e-05,-0.00011647111208,-5.17945951927e-05,1793250461219621120
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746,722,693,666.75079038,643,891.75079038,788.75079038,824,654,632,656.75079038,0.440848076554,-0.00555470341096,0.0599618296331,0.999999993175,-8.20206925378e-05,-6.57355975529e-05,-5.10037147232e-05,1793250461236287488
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746,722,693,666.179974898,643,891.179974898,788.179974898,824,654,632,656.179974898,0.441648196542,-0.00555796887715,0.0599706572267,0.999999994118,-7.68402712558e-05,-5.75869821275e-05,-5.04222573958e-05,1793250461252954112
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746,722,693.40654891,666,643,891.40654891,788,824,654,632,656.40654891,0.442389380367,-0.00555725969252,0.059931384765,0.99999998825,-8.05437957439e-05,-0.000119243307082,-5.28566046503e-05,1793250461269620736
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.000296711,722,693.999703289,665.999703289,642.999703289,892,788,824,654,632,657,0.44310341486,-0.00555472100848,0.0598699735231,0.999999971802,-8.83366290081e-05,-0.000213025764254,-5.66777776478e-05,1793250461286287616
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746.575720213,722,693.424279787,665.424279787,642.424279787,892,788,824,654,632,657,0.443797336532,-0.00555364458177,0.0598287515372,0.999999956963,-9.30573957943e-05,-0.000272371779965,-5.68224526608e-05,1793250461302954240
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,722,693.151305401,665,642,891.848694599,788,824.151305401,654,632,656.848694599,0.444486346685,-0.00555290808358,0.0597972289713,0.999999942731,-9.39840311936e-05,-0.000320058922165,-5.71666737653e-05,1793250461319620864
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,722,693.727344595,665,642,891.272655405,788,824.727344595,654,632,656.272655405,0.445161569727,-0.00555312580836,0.0597929339199,0.999999938645,-8.42600518582e-05,-0.000335018117193,-5.8071047021e-05,1793250461336287744
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,694,665,642,891.303021774,787.696978226,825,654,632,656.303021774,0.44580369314,-0.0055540545042,0.0597740223718,0.999999925649,-8.02237817855e-05,-0.000372451722385,-5.95507484774e-05,1793250461352954624
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694,665,642,891.878373571,787.121626429,825,654,632,656.878373571,0.4464160694,-0.00555562215993,0.0597419747682,0.999999902315,-8.12991381517e-05,-0.000430083401188,-6.15475054626e-05,1793250461369621248
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,694,664.531990674,641.531990674,892,787,825,654,632,657,0.447050800636,-0.00555886489826,0.0597327064666,0.999999899365,-8.9621565662e-05,-0.000434919148997,-6.38932024607e-05,1793250461386287616
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,721.940159495,694,664,640.940159495,892,787,825,654,631.940159495,656.940159495,0.447688329901,-0.00556188690351,0.0597318428954,0.999999903245,-9.88299865898e-05,-0.000423515521413,-6.61610473197e-05,1793250461402954240
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,721.362464935,694,664,640.362464935,892,787,825,654,631.362464935,656.362464935,0.448298214439,-0.00555911288087,0.0597508700674,0.99999991523,-9.88940915957e-05,-0.000394052885254,-6.69457026253e-05,1793250461419620864
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,721.213660697,694,664,640,892,786.786339303,825,654,631,656.213660697,0.448863307349,-0.0055573917934,0.0597517904001,0.999999915157,-0.000100130712153,-0.000393626855433,-6.8688026995e-05,1793250461436287744
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,721.787144061,694,664,640,892,786.212855939,825,654,631,656.787144061,0.449352967311,-0.00555744393802,0.0597222172835,0.999999894338,-0.000103341947922,-0.00044210092699,-7.20431468785e-05,1793250461452954368
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722,694,663.639343769,639.639343769,892,786.360656231,825.360656231,654.360656231,631.360656231,657,0.449823524124,-0.00556304897279,0.0596881339161,0.999999868974,-0.000111944808,-0.00049384386712,-7.50902513132e-05,1793250461469620992
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722,694,663.065814542,639.065814542,892,786.934185458,825.934185458,654.934185458,631.934185458,657,0.450282805579,-0.00557193153409,0.0596513884247,0.99999983942,-0.000123730009522,-0.00054751622142,-7.79555535451e-05,1793250461486287872
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,746.118691592,722,694,663.762616815,638.881308408,893,786,826,654,631.881308408,657,0.451199743884,-0.00558871353136,0.059644905452,0.99999983899,-0.000140646539939,-0.000543950638631,-7.97313925936e-05,1793250461519620864
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,746.693802938,722,694,662.612394123,638.306197062,893,786,826,654,631.306197062,657,0.451629415891,-0.00559304897636,0.0596605059921,0.99999985239,-0.000144214007464,-0.000517846184294,-7.91085846805e-05,1793250461536287488
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.268689477,747,722,694,662,638,893,785.731310523,826,654,631,657,0.452039273998,-0.00559606482262,0.0596753102571,0.999999866738,-0.000135822827127,-0.000492417547388,-7.48387502325e-05,1793250461552954112
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.843320004,747,722,694,662,638,893,785.156679996,826,654,631,657,0.452426571147,-0.00559757811841,0.0596892078491,0.999999881919,-0.000113815031015,-0.000467758425864,-6.64162591889e-05,1793250461569620736
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661.570121231,638,892.570121231,785,826.429878769,654.429878769,631,657,0.452760316021,-0.00559063514623,0.0596849893689,0.999999882627,-7.62639389384e-05,-0.000475157831401,-5.6162060954e-05,1793250461586287360
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661,638,892.020354756,785,826.979645244,655,631,657,0.453072090448,-0.00558063894298,0.0596737209204,0.999999875741,-3.64133510561e-05,-0.000495077909861,-4.57098597621e-05,1793250461602953984
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661,638,892.595714518,785,826.404285482,655,631,657,0.453332196528,-0.00557382824691,0.0596553993764,0.999999854755,-9.27409487938e-05,-0.000528704177236,-4.85817993901e-05,1793250461619620608
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.998370488,745,721,684.001629512,665,642,887,788,819,655,632,656.001629512,0.400971546191,-0.00537181441609,0.0598304813595,0.999999918895,0.000287644297795,-0.000281476790243,1.55668150883e-05,1793250464676172544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.423781206,745,721,684.576218794,665,642,887,788,819,655,632,656.576218794,0.400969243379,-0.0053724842876,0.0598306662781,0.999999919038,0.000287442577199,-0.000281162077296,1.57656304256e-05,1793250464692839168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.845037103,632,656.845037103,0.400967820836,-0.00537279524703,0.059831091097,0.999999919171,0.000287987130506,-0.000280118517235,1.59462479055e-05,1793250464709506048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819,654.254617767,632,656.254617767,0.400968871908,-0.00537209763864,0.0598321900525,0.999999919266,0.000290628765041,-0.000277026846511,1.60757281163e-05,1793250464726172672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.329333382,654,632,656,0.400967736882,-0.00537170867865,0.0598325930444,0.999999919301,0.000290826194054,-0.000276694610173,1.60869590428e-05,1793250464742839552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,642,887,788,819.908380163,654,632,656,0.40096494427,-0.00537155374781,0.0598324683297,0.999999919294,0.000289170331521,-0.000278454684142,1.600852877e-05,1793250464759506688
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.646881787,745,721,684,665,642,888,788,819,654.646881787,632,656,0.400969254877,-0.00537230163609,0.0598376328013,0.999999921412,0.000289902986964,-0.000269909210438,1.67492853622e-05,1793250464809506304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,745.23068301,721,684.23068301,665,642,887.76931699,788,819,655,632,656,0.400970362997,-0.00537235132625,0.0598385363797,0.999999921666,0.00029086605306,-0.000267920377868,1.68139851283e-05,1793250464826172928
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,745.809570165,721,684.809570165,665,642,887.190429835,788,819,655,632,656,0.400969304319,-0.00537003502662,0.0598377445942,0.999999920412,0.000293921365829,-0.000269282919278,1.65189417139e-05,1793250464842839296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.612438733,745.612438733,721,684.612438733,665,642,887.387561267,788,819,654.612438733,632,656,0.40096769254,-0.00537006055026,0.059837142467,0.999999920524,0.000292350742679,-0.000270591053641,1.6232686957e-05,1793250464859505920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.034886913,745.034886913,721,684.034886913,665,642,887.965113087,788,819,654.034886913,632,656,0.400965809621,-0.00537123408419,0.0598366333141,0.999999921296,0.000288512389915,-0.000271872516504,1.59507405905e-05,1793250464876172800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.540636146,745,721,684.540636146,665,642,887.459363854,788,819,654.540636146,632,656,0.400965719657,-0.00537243586375,0.0598365209616,0.9999999217,0.000287144303685,-0.000271813736374,1.63095934384e-05,1793250464892839424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.881411276,745,721,685,665,642,887,788,819,654.881411276,631.881411276,656,0.40096598919,-0.00537324400782,0.0598364921014,0.999999922002,0.000286410595352,-0.000271458248045,1.65747952489e-05,1793250464909506048
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.293323891,745,721,685,665,642,887,788,819,654.293323891,631.293323891,656,0.40096722565,-0.00537248654006,0.0598366927979,0.999999921999,0.000287559688955,-0.00027026919575,1.63061316816e-05,1793250464926172672
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.29039494,745.29039494,721,685,665,642,887,788,819,654.29039494,631,656.29039494,0.400968417972,-0.00537154453307,0.0598375393586,0.999999922171,0.000288141682344,-0.00026902505413,1.60802081601e-05,1793250464942839552
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.567812065,745.567812065,721,685,665,642,887,788,819,654.567812065,631.432187935,657,0.40096832628,-0.00537114536836,0.0598387727932,0.999999922385,0.000287906272095,-0.000268464379506,1.63122065387e-05,1793250464976172288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769.010305761,745.010305761,721,685,665,642,887,788,819,654.010305761,631.989694239,657,0.400966393613,-0.00537240889602,0.0598380109415,0.999999922113,0.000287574695676,-0.000269793393306,1.690122184e-05,1793250464992838912
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,745,721,684.416281005,665,642,887.583718995,788,819,654.583718995,632,656.416281005,0.400967462196,-0.00537323210026,0.0598385445738,0.99999992265,0.000287174324756,-0.000268225913784,1.69142591063e-05,1793250465009506048
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,745,721,684,665,642,888,788,819,655,632,656,0.400968428398,-0.00537327489238,0.0598391964939,0.999999922977,0.000287384865585,-0.00026678171856,1.68223880014e-05,1793250465026172928
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,745,721,684,665,642,888,788,819,655,632,656,0.400969023874,-0.00537151632933,0.0598400674576,0.999999922784,0.000289023687051,-0.000265752414386,1.65110733393e-05,1793250465042839808
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9792cf36e0ca528f9110963cbd9912a45a14c027
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b887c3002e53cf989cfe1cb0e649797e70df50ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26188152
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0df83fe4e6d1fcc9018a192a42e7499a38057c9
--- /dev/null
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,769,745,721,684.575409198,665,642,887,788,819,655,632,656.424590802,0.400967267228,-0.0053726843788,0.0598390526968,0.999999922534,0.000288458335948,-0.000267274096018,1.69544360295e-05,1793250465180857344
+2,0.033333333,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400967865764,-0.00537131239305,0.059839428092,0.999999922051,0.000290667581675,-0.000266689127072,1.69413573952e-05,1793250465197524480
+3,0.050000000,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400968447726,-0.00537112708348,0.0598400744472,0.999999922472,0.00028990779309,-0.000265964332139,1.65166289828e-05,1793250465214190848
+4,0.066666667,BASELINE,769.305766913,745,721,685,665,642,887,788,819,655,632,656,0.400967856792,-0.00537137132518,0.0598400194684,0.99999992229,0.000290176451033,-0.000266357578999,1.64404601127e-05,1793250465230857216
+5,0.083333333,BASELINE,769.898776771,745,721,685,665,642,887,788,819,655,632,656,0.400966164019,-0.00537201909509,0.0598393056436,0.999999921542,0.000291411250209,-0.000267801134497,1.66917343792e-05,1793250465247523840
+6,0.100000000,BASELINE,769.520211226,745,721.479788774,685,665.479788774,642.479788774,887,788,819,655,632,656,0.40096533327,-0.00537168095135,0.0598384979318,0.999999921925,0.000289163021294,-0.000268824538017,1.6345852019e-05,1793250465264190208
+7,0.116666667,BASELINE,769.058044861,745,721.941955139,684.941955139,665.941955139,642.941955139,887,788,819,654.941955139,632,656,0.400964945988,-0.0053713629664,0.0598378729963,0.999999922555,0.000286388331021,-0.000269477416025,1.59472883442e-05,1793250465280856832
+8,0.133333333,BASELINE,769.633746557,745,721.366253443,684.366253443,665.366253443,642.366253443,887,788,819,654.366253443,632,656,0.400966931297,-0.00537303452007,0.0598390504404,0.999999923364,0.000285312041774,-0.000267597103457,1.6175050882e-05,1793250465297523456
+9,0.150000000,BASELINE,769.786870836,745,721,684.213129164,665,642,887.213129164,788,819,654.213129164,632,656,0.400967805528,-0.00537407074167,0.05983973692,0.999999923811,0.000284880007743,-0.000266366674599,1.64420311959e-05,1793250465314190080
+10,0.166666667,BASELINE,769.201051634,745,721,684.798948366,665,642,887.798948366,788,819,654.798948366,632,656,0.400966736864,-0.00537399598452,0.0598395648708,0.999999923632,0.000285574555921,-0.000266272670343,1.67775899675e-05,1793250465330857216
+11,0.183333333,BASELINE,769,745,721,685,665,642,888,788,819,654.61949478,632,656.38050522,0.400966462054,-0.00537370810905,0.0598395100958,0.999999923152,0.000286964157686,-0.000266588287624,1.67003106037e-05,1793250465347524096
+12,0.200000000,BASELINE,769,745,721,685,665,642,888,788,819,654.040165067,632,656.959834933,0.400966602055,-0.00537330887337,0.0598395166,0.999999922511,0.000288716944223,-0.000267117943468,1.64073119346e-05,1793250465364190976
+13,0.216666667,BASELINE,769,745,721,685,665,642.538522867,888,788,819.538522867,654,632,657,0.400968376429,-0.00537334905179,0.0598407638309,0.999999923489,0.000287492872239,-0.000264755642469,1.65419607599e-05,1793250465380856832
+14,0.233333333,BASELINE,769,745,721,685,665.116274196,642.883725804,888,788,819.883725804,654.116274196,632,656.883725804,0.40096959899,-0.00537348856371,0.0598416733194,0.999999924206,0.000286564190735,-0.000263042341164,1.66746230492e-05,1793250465397522944
+15,0.250000000,BASELINE,769,745,721,685,665.690524935,642.309475065,888,788,819.309475065,654.690524935,632,656.309475065,0.400968168538,-0.0053738903947,0.0598408884686,0.999999923441,0.00028767244636,-0.000264733847985,1.66739813536e-05,1793250465414189824
+16,0.266666667,BASELINE,769.2712557,745,721,684.7287443,665.7287443,642,888,788,819,654.7287443,632,656,0.400967361948,-0.00537346180645,0.0598403150565,0.999999923064,0.000288135221543,-0.000265664087808,1.64994415399e-05,1793250465430856448
+17,0.283333333,BASELINE,769.859560411,745,721,684.140439589,665.140439589,642,888,788,819,654.140439589,632,656,0.400967284539,-0.00537206260778,0.059839988778,0.999999923144,0.000287843546391,-0.000265704543651,1.61216461768e-05,1793250465447523328
+18,0.300000000,BASELINE,769.559628375,745,721,684.440371625,665,642,888,788.440371625,819.440371625,654,632,656,0.400967787066,-0.00537216202285,0.0598406101457,0.999999923582,0.000287227040709,-0.000264715399182,1.62064660816e-05,1793250465464189952
+19,0.316666667,BASELINE,769,745.018605534,721,685,665,642,887.981394466,788.981394466,819.981394466,654.018605534,632,656,0.400968464149,-0.00537269746577,0.0598414859435,0.999999924114,0.000286513413453,-0.000263460911926,1.64308640757e-05,1793250465480857088
+20,0.333333333,BASELINE,769,745.590078749,721,685,665,642,887.409921251,788.409921251,819.409921251,654.590078749,632,656,0.400968924404,-0.00537222553599,0.0598410920488,0.999999924157,0.000285940557697,-0.00026391548882,1.64922211109e-05,1793250465497523200
+21,0.350000000,BASELINE,769,746,721,685,665,642,887.164241728,788.164241728,819,654.835758272,632,656,0.400968731012,-0.00537206870835,0.059840629029,0.999999923973,0.000285827476102,-0.000264730899894,1.65325005503e-05,1793250465514189568
+22,0.366666667,BASELINE,769,746,721,685,665,642,887.745229613,788.745229613,819,654.254770387,632,656,0.40096687906,-0.00537271141942,0.0598399906113,0.999999923212,0.0002868810233,-0.000266461889779,1.65192977921e-05,1793250465530856192
+23,0.383333333,BASELINE,769,745.669353577,721,685,665,642,887.669353577,788.669353577,819,654.330646423,632,656,0.400966552133,-0.0053726693216,0.0598400539665,0.999999923135,0.000286995142733,-0.000266629127821,1.65404909272e-05,1793250465547522560
+24,0.400000000,BASELINE,769,745.080477789,721,685,665,642,887.080477789,788.080477789,819,654.919522211,632,656,0.400967416224,-0.00537209239948,0.0598406653947,0.999999923592,0.000286375584794,-0.000265575101826,1.65885466822e-05,1793250465564189184
+25,0.416666667,BASELINE,769,745,721,685,665,642,887,788,819,655,632,656,0.400967119273,-0.00537248695892,0.0598407528831,0.999999923494,0.000286557674151,-0.000265759682057,1.64100130321e-05,1793250465580855808
+26,0.433333333,BASELINE,769,745,721,685,665,642,887.082651034,788,819,654.917348966,632,656,0.40096682945,-0.00537307667928,0.0598408333942,0.9999999234,0.000286737149389,-0.000265927797543,1.62289382973e-05,1793250465597522432
+27,0.450000000,BASELINE,769,745,721,685,665,642,887.657902243,788,819,654.342097757,632,656,0.400967677491,-0.0053739130156,0.0598413666309,0.999999923861,0.000286144731183,-0.00026482922136,1.62464941799e-05,1793250465614189056
+28,0.466666667,BASELINE,769,745.23137398,721,684.76862602,665,642,888,788,819,654.23137398,632,656,0.400968377074,-0.00537351466472,0.0598415159123,0.999999923855,0.000286923201182,-0.000264012839556,1.6209413141e-05,1793250465630855680
+29,0.483333333,BASELINE,769,745.802234728,721,684.197765272,665,642,888,788,819,654.802234728,632,656,0.400968858832,-0.00537130470141,0.05984110183,0.999999923158,0.000289713126457,-0.000263610511537,1.60921653001e-05,1793250465647522560
+30,0.500000000,BASELINE,769.389642473,745.610357527,721,684.389642473,665,642,887.610357527,788,819.389642473,655,632,656,0.400968743946,-0.00537096678287,0.0598404396191,0.999999923177,0.000289377827207,-0.000263917570333,1.59085257168e-05,1793250465664189184
+31,0.516666667,BASELINE,769.985821201,745.014178799,721,684.985821201,665,642,887.014178799,788,819.985821201,655,632,656,0.400968312798,-0.00537162117181,0.0598396458836,0.999999923575,0.000287385952375,-0.000264600651023,1.5689694127e-05,1793250465680855808
+32,0.533333333,BASELINE,769.437567902,745,721.562432098,684.437567902,665.562432098,642,887,788.562432098,819.437567902,654.437567902,632,656,0.400967813126,-0.00537188755621,0.0598401135485,0.999999923967,0.00028606241706,-0.000264514719554,1.62981033148e-05,1793250465697522688
+33,0.550000000,BASELINE,769,745.138159484,721.861840516,684.138159484,666,642,887,788.861840516,819,654.138159484,632,656.138159484,0.400967896631,-0.00537220881361,0.0598407522475,0.999999924401,0.000285030070837,-0.000263964287406,1.67236638074e-05,1793250465714189312
+34,0.566666667,BASELINE,769,745.712602171,721.287397829,684.712602171,666,642,887,788.287397829,819,654.712602171,632,656.712602171,0.400969826984,-0.00537273319995,0.0598418340004,0.999999924966,0.00028486583212,-0.000262006205597,1.65081794611e-05,1793250465730855936
+35,0.583333333,BASELINE,769,745.71244874,721.28755126,684.71244874,665.71244874,642,887,788.28755126,819,654.71244874,632,656.71244874,0.400969663979,-0.00537301186946,0.0598418509458,0.999999924726,0.000285416820474,-0.00026232798862,1.64204059405e-05,1793250465747522560
+36,0.600000000,BASELINE,769,745.136992556,721.863007444,684.136992556,665.136992556,642,887,788.863007444,819,654.136992556,632,656.136992556,0.400967405042,-0.00537304452,0.0598408017744,0.999999923676,0.000286683915548,-0.00026493244028,1.64605002933e-05,1793250465764189440
+37,0.616666667,BASELINE,769,745,721.547401047,684.452598953,665,642,887,788.547401047,819,654,632,656,0.400967632189,-0.00537314099554,0.0598408929757,0.999999924031,0.000285665361439,-0.000264698892582,1.63756187226e-05,1793250465780856064
+38,0.633333333,BASELINE,769,745,721.045151093,684.954848907,665,642,887,788.045151093,819,654,632,656,0.40096854398,-0.00537325942283,0.0598413020294,0.999999924738,0.00028415232922,-0.000263659492187,1.62685946772e-05,1793250465797522688
+39,0.650000000,BASELINE,769,745,721.620605469,684.379394531,665,642,887,788.620605469,819,654,632,656,0.400968374011,-0.00537340146271,0.0598412595686,0.999999924457,0.000285219041842,-0.000263569624636,1.63601177609e-05,1793250465814189312
+40,0.666666667,BASELINE,769.194876248,745,721.805123752,684.194876248,665.194876248,642,887,789,819,654,632,656,0.40096796485,-0.00537302845541,0.0598409813585,0.999999924022,0.000286415185169,-0.000263924486249,1.63221344088e-05,1793250465830855680
+41,0.683333333,BASELINE,769.766856617,745,721.233143383,684.766856617,665.766856617,642,887,789,819,654,632,656,0.400967092827,-0.00537165878272,0.0598402469509,0.99999992329,0.000287861789186,-0.000265139941206,1.60335437487e-05,1793250465847522560
+42,0.700000000,BASELINE,769.648062639,745,721,684.648062639,665.648062639,642,887,788.648062639,819,654,632,656,0.400967559013,-0.00537149463523,0.0598403337831,0.999999923512,0.000287376993253,-0.000264829792222,1.59926970294e-05,1793250465864189440
+43,0.716666667,BASELINE,769.053967952,745,721,684.053967952,665.053967952,642,887,788.053967952,819,654,632,656,0.400968945978,-0.00537215997279,0.0598409856854,0.999999924389,0.000285563260067,-0.000263469921809,1.61223153454e-05,1793250465880856320
+44,0.733333333,BASELINE,769.526337847,745,721,684.526337847,665.526337847,642,887.526337847,788,819.526337847,654.526337847,631.473662153,656,0.400968141202,-0.0053726722962,0.0598408483251,0.999999924578,0.0002844634867,-0.000263941664819,1.61256984763e-05,1793250465897522944
+45,0.750000000,BASELINE,769.895518753,745.104481247,721,684.895518753,665.895518753,642.104481247,887.895518753,788,819.895518753,654.895518753,631.104481247,656,0.400967453926,-0.00537324414306,0.0598408596208,0.999999924783,0.000283515664797,-0.0002641811399,1.61475620194e-05,1793250465914189568
+46,0.766666667,BASELINE,769.320906199,745.679093801,721,684.320906199,665.320906199,642.679093801,887.320906199,788,819.320906199,654.320906199,631.679093801,656,0.400968280758,-0.00537415262012,0.0598418946676,0.999999925375,0.000282930582409,-0.000262552001848,1.63093360099e-05,1793250465930855936
+47,0.783333333,BASELINE,769.259463089,745.740536911,721,684,665.259463089,642.740536911,887,788,819,654,632,656,0.400968765058,-0.00537444519726,0.0598420621826,0.999999925155,0.000284018917908,-0.000262203360503,1.65057795819e-05,1793250465947522560
+48,0.800000000,BASELINE,769.847113994,745.152886006,721,684,665.847113994,642.152886006,887,788,819,654,632,656,0.4009688161,-0.00537395873946,0.0598411323804,0.999999923902,0.000287223914166,-0.000263474384445,1.67460757878e-05,1793250465964189440
+49,0.816666667,BASELINE,769.575241247,745.424758753,721.424758753,684,665.575241247,642,887,788,819,654.424758753,632,656,0.400968331621,-0.00537356121618,0.0598409154581,0.99999992405,0.000286449414875,-0.000263769443689,1.65025907502e-05,1793250465980856832
+50,0.833333333,BASELINE,769.001115205,745.998884795,721.998884795,684,665.001115205,642,887,788,819,654.998884795,632,656,0.400967658825,-0.00537319496693,0.0598409492215,0.99999992469,0.000284275517591,-0.000263721302861,1.60889830282e-05,1793250465997524224
+51,0.850000000,BASELINE,769,745.417260099,721.417260099,684.582739901,665,642.582739901,887.582739901,788.582739901,819,654.417260099,632,656.582739901,0.400967721972,-0.00537427921902,0.0598413301413,0.999999924625,0.00028466590976,-0.000263526170893,1.64231978145e-05,1793250466014190336
+52,0.866666667,BASELINE,769,745,721,684.83643672,665,642.83643672,887.83643672,788.83643672,819,654,632,656.83643672,0.400968311205,-0.00537494858039,0.0598418315904,0.999999924822,0.000284522475844,-0.000262921704911,1.6589628714e-05,1793250466030856704
+53,0.883333333,BASELINE,769,745,721,684.263253313,665,642.263253313,887.263253313,788.263253313,819,654,632,656.263253313,0.400970214356,-0.00537457183922,0.0598426331955,0.999999925677,0.000283029654749,-0.000261292838675,1.63322246744e-05,1793250466047523328
+54,0.900000000,BASELINE,769,745,721,684,665,642.318111317,887,788,819,654.318111317,632,656,0.400970315575,-0.00537369578986,0.0598424933642,0.999999925227,0.000284676437317,-0.000261225302602,1.63087662354e-05,1793250466064190208
+55,0.916666667,BASELINE,769,745,721,684,665,642.906425014,887,788,819,654.906425014,632,656,0.40096888624,-0.0053723956303,0.0598415538809,0.999999923658,0.000288989985762,-0.000262483953714,1.64840201933e-05,1793250466080857088
+56,0.933333333,BASELINE,769,745,721.488890211,684.488890211,665,642.511109789,887,788,819,655,632,656,0.40096895181,-0.00537258841696,0.059841553734,0.999999923972,0.00028776023187,-0.000262643838841,1.6403749687e-05,1793250466097523456
+57,0.950000000,BASELINE,769,745,721.930539419,684.930539419,665,642,887,788,819,654.930539419,632,656,0.400969342077,-0.00537301414742,0.059841782778,0.999999924559,0.000285885436929,-0.000262461111087,1.63167980696e-05,1793250466114189824
+58,0.966666667,BASELINE,769,745,721.355707238,684.355707238,665,642,887,788,819,654.355707238,632,656,0.400970037556,-0.00537308022442,0.0598423866974,0.999999924556,0.000286945792646,-0.000261297682198,1.65328693426e-05,1793250466130856448
+59,0.983333333,BASELINE,769,745,721,684,665,642,887,788,819,654.218826668,632,656,0.400970205351,-0.00537272817142,0.0598426262484,0.999999924352,0.000288081913386,-0.000260826723278,1.6555449163e-05,1793250466147523072
+60,1.000000000,BASELINE,769,745,721,684,665,642,887,788,819,654.792876474,632,656,0.400969516551,-0.00537169736456,0.0598422743173,0.999999923823,0.000289341024281,-0.000261479856398,1.62639327437e-05,1793250466164189696
+61,1.016666667,BASELINE,769,745,721,684,665,642.379613876,887.379613876,788,819,655,632,656,0.400968961719,-0.00537212552566,0.0598422329411,0.999999923704,0.000289316748622,-0.000261957924319,1.63237790843e-05,1793250466180856576
+62,1.033333333,BASELINE,769,745,721,684,665,642.973513171,887.973513171,788,819,655,632,656,0.40096848251,-0.00537337724881,0.0598423668678,0.999999923816,0.000288568023537,-0.000262337170945,1.65819635986e-05,1793250466197522944
+63,1.050000000,BASELINE,769,745,721,684,665,642.449360267,887.449360267,788,819,654.449360267,632,656,0.400968634538,-0.00537289930549,0.0598416919759,0.999999924181,0.000286668072927,-0.0002630431317,1.63595883149e-05,1793250466214190080
+64,1.066666667,BASELINE,769,745,721,684.126564571,665,642,887,788.126564571,819,654,632,656,0.400969128556,-0.00537296158452,0.0598412590241,0.999999924682,0.000284698708417,-0.00026328290843,1.62593213169e-05,1793250466230856960
+65,1.083333333,BASELINE,769,745,721,684.701007461,665,642,887,788.701007461,819,654,632,656,0.400970728511,-0.00537522128709,0.059841815841,0.999999925634,0.000282673875555,-0.000261819014676,1.66705458412e-05,1793250466247523840
+66,1.100000000,BASELINE,769,745,721,684.718391951,665,642,887.281608049,788.718391951,819,654.281608049,632,656,0.400971560303,-0.00537547297328,0.0598424105987,0.99999992593,0.00028273740278,-0.000260608783068,1.68177348205e-05,1793250466264190464
+67,1.116666667,BASELINE,769,745,721,684.131107417,665,642,887.868892583,788.131107417,819,654.868892583,632,656,0.400971558279,-0.00537354502208,0.05984304654,0.999999925514,0.000285067777875,-0.000259673893658,1.66783216773e-05,1793250466280856832
+68,1.133333333,BASELINE,769,745,721,684,665,642,887.547582995,788,819,654.547582995,632,656,0.400970544233,-0.00537350975806,0.0598427425219,0.999999925234,0.000285407422342,-0.000260391263987,1.64634803596e-05,1793250466297523200
+69,1.150000000,BASELINE,769.034475702,745,721,684,665.034475702,642,887,788,819,654,632,656,0.400969322521,-0.00537397447806,0.0598421892391,0.999999925011,0.000285188198106,-0.000261499710679,1.62486056394e-05,1793250466314189824
+70,1.166666667,BASELINE,769.610485432,745,721,684,665.610485432,642,887,788,819,654,632,656,0.400969407578,-0.00537374832481,0.059841963996,0.999999925066,0.00028517751746,-0.000261291996007,1.63737244657e-05,1793250466330856192
+71,1.183333333,BASELINE,769.814179581,745,721,684,665.814179581,642,887,788,819,654,631.814179581,656,0.400969293831,-0.00537378394587,0.0598418129416,0.999999925143,0.00028491967843,-0.000261273379426,1.64481221422e-05,1793250466347523072
+72,1.200000000,BASELINE,769.240253758,745,721,684,665.240253758,642,887,788,819,654,631.240253758,656,0.400968764859,-0.00537436630993,0.0598418168376,0.999999925266,0.000284145623229,-0.000261649713969,1.64165834091e-05,1793250466364189696
+73,1.216666667,BASELINE,769,744.656391863,721,684.343608137,665,642,887,788.343608137,819,654.343608137,631.343608137,656,0.400969014247,-0.00537427919286,0.0598421763199,0.99999992532,0.000283996546393,-0.000261610406499,1.6310980817e-05,1793250466380856320
+74,1.233333333,BASELINE,769,744.065375736,721,684.934624264,665,642,887,788.934624264,819,654.934624264,631.934624264,656,0.400969824075,-0.00537371002961,0.0598427918348,0.999999925326,0.000284297472452,-0.000261271824503,1.61520500645e-05,1793250466397522944
+75,1.250000000,BASELINE,769,744.514687071,721.514687071,685,665,642,887,788.485312929,819,655,632,656,0.400968560238,-0.00537165315704,0.0598418389322,0.999999923592,0.000288819667324,-0.000262939652324,1.62008303938e-05,1793250466414189312
+76,1.266666667,BASELINE,769,745,721.907190205,684.907190205,665.092809795,642,887,788,819,654.907190205,632,656,0.400967409489,-0.00537044889317,0.0598409519198,0.999999922354,0.000291755509351,-0.000264394237878,1.63131435553e-05,1793250466430855936
+77,1.283333333,BASELINE,769,745,721.332070082,684.332070082,665.667929918,642,887,788,819,654.332070082,632,656,0.400968186733,-0.00537463699819,0.0598414210531,0.999999924912,0.000283719082385,-0.000263443832651,1.66213698158e-05,1793250466447522560
+78,1.300000000,BASELINE,769.242228598,745,721,684,665.757771402,642,887,788.242228598,819.242228598,654.242228598,632,656,0.400969200516,-0.00537629620363,0.0598423785405,0.999999926503,0.000279760371101,-0.000261634115451,1.66139854924e-05,1793250466464189440
+79,1.316666667,BASELINE,769.815404923,745,721,684,665.184595077,642,887,788.815404923,819.815404923,654.815404923,632,656,0.400970537475,-0.00537450026932,0.0598440032476,0.999999926834,0.000281372888469,-0.000258650353056,1.6175394398e-05,1793250466480856064
+80,1.333333333,BASELINE,769.598067862,745,721,684,665.401932138,642.401932138,887,788.598067862,819.598067862,654.598067862,632,656,0.400970922205,-0.00537421271673,0.0598443314977,0.999999926337,0.000283359057431,-0.000258387672013,1.64166153642e-05,1793250466497522688
+81,1.350000000,BASELINE,769.005198269,745,721,684,665.994801731,642.994801731,887,788.005198269,819.005198269,654.005198269,632,656,0.40097085458,-0.00537464171919,0.0598440438674,0.999999925445,0.000285522729348,-0.000259417637644,1.69807803218e-05,1793250466514189312
+82,1.366666667,BASELINE,769,745,721,684,665.426584582,642.426584582,887,788,819,654,632,656,0.400970896947,-0.00537378823944,0.059843843802,0.999999926024,0.000283369182776,-0.000259591073398,1.62940157605e-05,1793250466530855936
+83,1.383333333,BASELINE,769,745,721,684,665,642,887,788,819,654.150971801,632,656,0.400970782694,-0.00537314049066,0.0598435360562,0.999999926306,0.000282259323466,-0.000259737888195,1.59029166165e-05,1793250466547522816
+84,1.400000000,BASELINE,769,745,721,684,665,642,887,788,819,654.725913243,632,656,0.400970225873,-0.00537310234757,0.0598429237395,0.999999925729,0.000284187662285,-0.00025983122095,1.63731996741e-05,1793250466564189440
+85,1.416666667,BASELINE,769,745,721,684.30756233,665.30756233,642,887,788,819,654.69243767,631.69243767,656,0.4009697495,-0.00537387346519,0.059842735451,0.999999925436,0.000284805738728,-0.000260268777834,1.65494667044e-05,1793250466580856064
+86,1.433333333,BASELINE,769,745,721,684.895322227,665.895322227,642,887,788,819,654.104677773,631.104677773,656,0.400969346417,-0.00537538184111,0.0598429334637,0.999999925405,0.000284230130732,-0.000261019932168,1.64578771853e-05,1793250466597522688
+87,1.450000000,BASELINE,769.469437566,745,721,684.530562434,665.530562434,642.469437566,887,788,819,654.469437566,631.469437566,656,0.400969012547,-0.00537477284324,0.0598424809126,0.999999925,0.000284788299655,-0.000261960589999,1.64918071389e-05,1793250466614189312
+88,1.466666667,BASELINE,769.958457259,745,721,684,665,642.958457259,887.041542741,788,819,655,632,656,0.400968793776,-0.00537388394297,0.0598420007311,0.999999924633,0.000285349818461,-0.000262746247238,1.65688086862e-05,1793250466630855936
+89,1.483333333,BASELINE,769.373982786,745,721,684,665,642.373982786,887.626017214,788,819,655,632,656,0.40096988325,-0.00537533320235,0.0598430017955,0.999999925833,0.000282744332943,-0.000260969503839,1.68532596702e-05,1793250466647522816
+90,1.500000000,BASELINE,769,745,721,684,665.206927975,642,888,788,819,654.793072025,632,656.206927975,0.400969984973,-0.00537550175391,0.059843354308,0.999999926268,0.000281731185766,-0.000260398347381,1.68614922413e-05,1793250466664189440
+91,1.516666667,BASELINE,769,745,721,684,665.781506991,642,888,788,819,654.218493009,632,656.781506991,0.400968331747,-0.00537339485866,0.0598425545315,0.999999925352,0.000283547162625,-0.00026196916972,1.63789647138e-05,1793250466680856064
+92,1.533333333,BASELINE,769,745,721,684.365286921,665.634713079,642.365286921,887.634713079,788,819,654,632,656.634713079,0.400968511671,-0.00537291824031,0.0598426067834,0.99999992519,0.000284462725695,-0.000261599056457,1.63195923688e-05,1793250466697523456
+93,1.550000000,BASELINE,769,745,721,684.954712555,665.045287445,642.954712555,887.045287445,788,819,654,632,656.045287445,0.400969816411,-0.00537344195367,0.0598431818369,0.999999925491,0.000284825798352,-0.000260037992396,1.65198664416e-05,1793250466714190848
+94,1.566666667,BASELINE,769.535850524,745,721,684.464149476,665,642.464149476,887,788,819,654.535850524,632,656,0.400970395718,-0.0053747000008,0.0598431765015,0.99999992618,0.00028294348078,-0.00025945013591,1.63978980352e-05,1793250466730857216
+95,1.583333333,BASELINE,769.884917604,745,721,684,665,642,887,788.115082396,819.115082396,654.884917604,632,656,0.400970642492,-0.00537575522324,0.0598429800371,0.99999992664,0.000281474132407,-0.000259281813354,1.62988341879e-05,1793250466747523072
+96,1.600000000,BASELINE,769.310539949,745,721,684,665,642,887,788.689460051,819.689460051,654.310539949,632,656,0.400969803087,-0.00537575705149,0.0598422135585,0.99999992607,0.000282398784844,-0.000260464591852,1.63982198057e-05,1793250466764189696
+97,1.616666667,BASELINE,769.270806535,745,721,684,665,642,887.270806535,788.729193465,819.729193465,654,632,656.270806535,0.400969353245,-0.00537581300437,0.0598420292461,0.999999925868,0.000282448066283,-0.000261177419903,1.65214310404e-05,1793250466780856576
+98,1.633333333,BASELINE,769.860355376,745,721,684,665,642,887.860355376,788.139644624,819.139644624,654,632,656.860355376,0.400969361923,-0.00537593266252,0.05984253015,0.999999926101,0.000281467026261,-0.000261337110977,1.66726852856e-05,1793250466797523968
+99,1.650000000,BASELINE,769.557930194,745,721,684,665,642,887.557930194,788,819,654,632,657,0.400969044448,-0.00537443424705,0.0598418283301,0.999999925425,0.000282872905468,-0.00026242008216,1.63978781627e-05,1793250466814190592
+100,1.666666667,BASELINE,769,745,721,684.021179077,665,642,887,788,819,654,632,656.978820923,0.400968631126,-0.00537250989869,0.0598408245843,0.999999924497,0.000284969637288,-0.000263709099302,1.60117287825e-05,1793250466830857472
+101,1.683333333,BASELINE,769,745,721,684.595756276,665,642,887,788,819,654,632,656.404243724,0.400968358536,-0.00537257914658,0.0598416860721,0.999999924483,0.000285759447925,-0.000262893947184,1.61717334267e-05,1793250466847523584
+102,1.700000000,BASELINE,769.170799517,745.170799517,721,684.829200483,665.170799517,642,887.170799517,788,819,654,632,656,0.400968093573,-0.00537254314926,0.0598423927904,0.999999924543,0.000286123588998,-0.00026226140089,1.62938855217e-05,1793250466864189952
+103,1.716666667,BASELINE,769.746948711,745.746948711,721,684.253051289,665.746948711,642,887.746948711,788,819,654,632,656,0.400967846714,-0.00537225737889,0.059842732202,0.99999992478,0.000285477510363,-0.000262062223689,1.63262040931e-05,1793250466880856320
+104,1.733333333,BASELINE,769.668789434,745.668789434,721,684,666,642,887.668789434,788,819,654.331210566,632,656,0.40096828572,-0.00537277707789,0.0598425962335,0.999999925154,0.000284464781065,-0.000261729687564,1.64007228477e-05,1793250466897522688
+105,1.750000000,BASELINE,769.078173655,745.078173655,721,684,666,642,887.078173655,788,819,654.921826345,632,656,0.400969261899,-0.00537392762314,0.0598420879458,0.999999925636,0.000283164889683,-0.000261292704265,1.6508292929e-05,1793250466914189312
+106,1.766666667,BASELINE,769,745,721,684,665.497614475,642,887,788,819,655,632,656,0.400969458857,-0.00537531527238,0.0598428631764,0.999999926068,0.000282665655166,-0.000260163856127,1.66958082652e-05,1793250466930856192
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,721,685,666,643,887,788,819,655,632,656,0.400968328942,-0.00537454405798,0.0598426288357,0.999999925378,0.000283703241465,-0.000261700176069,1.63954588615e-05,1793250466974174464
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,721,684.412949031,665.412949031,642.412949031,887,788.587050969,819,654.412949031,632,656,0.400969114478,-0.00537324051639,0.0598429761471,0.999999925332,0.00028445535982,-0.000261066950447,1.63059483375e-05,1793250466990841088
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642.171874803,887,788.828125197,819,654,631.828125197,656,0.400969833178,-0.00537300365946,0.059843111161,0.999999925512,0.000284337194531,-0.000260507363142,1.62835652996e-05,1793250467007507968
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642.751416257,887,788.248583743,819,654,631.248583743,656,0.400970393353,-0.00537529685179,0.0598427426304,0.999999926228,0.000282154819782,-0.000260122437063,1.64204006807e-05,1793250467024174848
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642.670375669,887,788,819,654,631.329624331,656,0.400969948268,-0.00537526800766,0.0598427433738,0.999999926192,0.000282104717139,-0.000260313241239,1.64438356881e-05,1793250467040841472
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,642.093169138,887,788,819,654,631.906830862,656,0.400968748127,-0.0053734950722,0.0598430214806,0.999999925591,0.000283656173038,-0.000260936478816,1.6382095197e-05,1793250467057507840
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,721,684.482456258,665,642,887.482456258,788,819,654,632,656.482456258,0.400967981567,-0.00537460250921,0.0598426196817,0.999999925864,0.00028180872678,-0.000261898535059,1.62951346846e-05,1793250467074174208
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,721,684.940889543,665,642,887.940889543,788,819,654,632,656.940889543,0.400967533021,-0.00537595104018,0.0598422194455,0.999999926199,0.000279878599031,-0.000262687750517,1.62551183447e-05,1793250467090840832
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,721,684.352293587,665,642,887.352293587,788,819,654,632,656.352293587,0.400969185526,-0.00537449290086,0.0598430054888,0.999999925647,0.000283068170034,-0.000261344549464,1.66790911541e-05,1793250467107507456
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,721,684.232492829,665,642.232492829,887.232492829,788,819,654.232492829,632,656,0.400972951587,-0.00537385790476,0.0598447857152,0.999999925806,0.000284686036267,-0.000258946878222,1.69570323725e-05,1793250467124174592
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,721,684.811599707,665,642.811599707,887.811599707,788,819,654.811599707,632,656,0.400979868664,-0.00537445009937,0.0598480481287,0.999999927032,0.000283960711864,-0.000254977140628,1.70172610273e-05,1793250467140841216
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721.389159255,684.610840745,665.389159255,642.610840745,888,788,819,655,632,656,0.401006043503,-0.00537506293331,0.0598585598573,0.999999931676,0.000283661007449,-0.000236387942916,1.74592289899e-05,1793250467157507840
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721.965972724,684.034027276,665.965972724,642.034027276,888,788,819,655,632,656,0.401041504516,-0.00537568571968,0.0598725672363,0.999999937424,0.000283566538547,-0.000210749180119,1.80852732339e-05,1793250467174174464
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.539647746,745,722,684.539647746,665.460352254,642,888,788,819,655,632,656,0.401100131087,-0.00537725513275,0.0598917248474,0.999999943418,0.000284679681529,-0.000178229042585,1.88440581122e-05,1793250467190840832
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.883446864,745,721.883446864,684.883446864,665,642.116553136,887.883446864,788,819,654.883446864,632,656,0.401162964241,-0.00537910667259,0.0599099943442,0.999999948119,0.000285190243337,-0.000148467542702,1.96244560527e-05,1793250467207507712
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.292595072,745,721.292595072,684.292595072,665,642.707404928,887.292595072,788,819,654.292595072,632,656,0.40123700583,-0.00538186479982,0.059923335903,0.999999951092,0.000282940603488,-0.000131687473017,2.04589426214e-05,1793250467224174336
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,684.292486228,665.292486228,643,887,788,819.292486228,654.292486228,632,656,0.401318158726,-0.00538468044973,0.059932168726,0.999999953374,0.000280680629894,-0.000118493480881,2.07110810991e-05,1793250467240840960
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,684.871906539,665.871906539,643,887,788,819.871906539,654.871906539,632,656,0.401406287932,-0.0053875525302,0.0599365784,0.999999955115,0.000278410518889,-0.000108817494295,2.03919259105e-05,1793250467257507584
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.446782527,721,685,665.553217473,642.553217473,887,788,819.553217473,655,632,656,0.401511174533,-0.00539098641845,0.0599394269651,0.999999956619,0.000275423079683,-0.000102529446896,1.97994745567e-05,1793250467274174464
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.979112366,721,684.979112366,665,642,887,788,819,655,632,656,0.401621580699,-0.00539458421272,0.059941869909,0.999999958078,0.000272115855981,-9.71191692004e-05,1.91036631517e-05,1793250467290841344
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.39091456,721,684.39091456,665,642,887,788,819,655,632,656,0.401752725309,-0.00539830304445,0.0599453298765,0.999999960558,0.000265652742319,-8.94334369519e-05,1.77072725305e-05,1793250467307507968
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,721,684.193121734,665,642,887,788,819,654.806878266,632,656,0.401894478117,-0.00540149063476,0.0599465728573,0.999999962238,0.000261132013972,-8.41282024717e-05,1.60420917892e-05,1793250467324174336
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,721,684.768911971,665,642,887,788,819,654.231088029,632,656,0.402057250932,-0.00540362557587,0.059943422904,0.999999962495,0.000260460100667,-8.35398979541e-05,1.38443066755e-05,1793250467340840960
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,721.348325364,684.651674636,665,642.348325364,887.348325364,788.348325364,819,654.348325364,632,656,0.402242752817,-0.00540720219485,0.0599446684193,0.999999964018,0.000256697165744,-7.69451901941e-05,1.22478614878e-05,1793250467357507584
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,721.930167776,684.069832224,665,642.930167776,887.930167776,788.930167776,819,654.930167776,632,656,0.402443492269,-0.00541174531376,0.059948860653,0.999999966274,0.000250862012282,-6.63237943953e-05,1.10545538882e-05,1793250467374174208
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721.499690563,684,665,642.499690563,887.499690563,788.499690563,819,655,632,656,0.402669259991,-0.00541850812784,0.0599480088076,0.999999968314,0.000243645852521,-6.26848474087e-05,8.85386144526e-06,1793250467390841088
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721,684.071928858,665,642,887.071928858,788.071928858,819,655,632,656,0.402902895733,-0.00542528516658,0.0599467876384,0.999999970289,0.000236249127248,-5.97203067445e-05,6.44189727684e-06,1793250467407507968
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,721,684.665854094,665,642,887.665854094,788.665854094,819,655,632,656,0.403168858099,-0.0054299684142,0.059947878803,0.999999972296,0.000228908914355,-5.47388778886e-05,3.49380370617e-06,1793250467424174592
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,721,685,665.252734502,642.252734502,888,788.747265498,819,654.747265498,632,656.252734502,0.403453003805,-0.00543622955504,0.0599465962012,0.999999973993,0.000221454194924,-5.45121383777e-05,4.9899105716e-07,1793250467440841216
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,721,685,665.830553337,642.830553337,888,788.169446663,819,654.169446663,632,656.830553337,0.403760538145,-0.00544452028935,0.0599422602993,0.999999975306,0.000213852189829,-6.0401204512e-05,-2.55591467609e-06,1793250467457507840
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.407616415,745,721,685,665.592383585,643,888,788.407616415,819,654.407616415,632,656.592383585,0.404080958764,-0.00545267689606,0.059932571277,0.9999999761,0.000204079291392,-7.81856601107e-05,-6.2154523577e-06,1793250467474174464
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.984365891,745,721,685,665.015634109,643,888,788.984365891,819,654.984365891,632,656.015634109,0.404406726305,-0.00546077784874,0.0599206610743,0.999999976155,0.0001934056201,-0.000100905892284,-1.01258710539e-05,1793250467490841088
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.439521282,745,721,685,665.560478718,642.439521282,888,789,819,654.439521282,632,656,0.404770623621,-0.00546661782911,0.0599058208814,0.999999974447,0.000187618406175,-0.000125228671298,-1.49251182737e-05,1793250467507507712
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.140625311,721,685.140625311,666,642,888,789,819,654.140625311,632,656,0.405151734703,-0.0054727454638,0.0598955810069,0.999999973104,0.000181845496692,-0.000142645850062,-1.94021558126e-05,1793250467524174336
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.733810321,721,685.733810321,666,642,888,789,819,654.733810321,632,656,0.405584823978,-0.00548000156004,0.0599004085819,0.999999974829,0.000175680468455,-0.000137695759048,-2.27625600622e-05,1793250467540841216
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.3179594,745.6820406,721.3179594,685.6820406,665.6820406,642.3179594,888,789,819,654.6820406,632,656.3179594,0.406069869552,-0.00548755852306,0.0599208497096,0.999999979924,0.000168735140229,-0.000105144651328,-2.49831983678e-05,1793250467557508096
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.894752867,745.105247133,721.894752867,685.105247133,665.105247133,642.894752867,888,789,819,654.105247133,632,656.894752867,0.406597210071,-0.00549536040674,0.0599540010121,0.999999985413,0.000161154609643,-5.01250030122e-05,-2.62760133166e-05,1793250467574174464
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.531860178,745,721.531860178,685.468139822,665.468139822,642.531860178,888.468139822,789,819,654.468139822,632,656.531860178,0.40713995033,-0.00548729537196,0.0599802260651,0.999999999013,3.32198822475e-05,-7.51620013111e-06,-2.85326128543e-05,1793250467590841088
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.040904232,721,686,666,642.040904232,889,789,819,655,632,656.040904232,0.40768525535,-0.00547550671441,0.0600027981808,0.999999993292,-0.000107988113492,2.793954216e-05,-3.12019926516e-05,1793250467607507712
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.61546661,721,686,666,642.61546661,889,789,819,655,632,656.61546661,0.408219179097,-0.00546134104602,0.0599978809204,0.999999996731,-7.19033893266e-05,6.21222450422e-06,-3.64502588088e-05,1793250467624174336
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.197160723,746,721,686,666,643,889,789,819.197160723,655,632,657,0.40876758196,-0.00545816341854,0.0599903128298,0.999999997643,-5.21472026989e-05,-1.73449962686e-05,-4.11503163983e-05,1793250467640840960
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.793286234,746,721,686,666,643,889,789,819.793286234,655,632,657,0.409345284023,-0.00547722065352,0.0599773806493,0.999999995864,-6.54326476105e-05,-4.46051180827e-05,-4.47410457405e-05,1793250467657507584
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.622770236,746,721.377229764,686.377229764,666.377229764,643,889,789,820,655,632,657,0.4099884835,-0.0054878945029,0.0599768917017,0.999999995473,-6.8621540945e-05,-4.36919747887e-05,-4.93642385549e-05,1793250467674174208
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.045293359,746,721.954706641,686.954706641,666.954706641,643,889,789,820,655,632,657,0.41066645134,-0.00549411814935,0.0599830080696,0.999999995918,-6.64508214792e-05,-2.78234491429e-05,-5.45354999701e-05,1793250467690841088
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.527958109,745.472041891,722,687.527958109,666.472041891,643,888.472041891,789,819.472041891,655,632,657,0.411354378602,-0.00549551210803,0.0599860740531,0.999999995428,-7.28618848167e-05,-1.69871973233e-05,-5.95550791652e-05,1793250467707507968
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.896067476,745,721.896067476,687.896067476,666,643,888.103932524,788.896067476,819,654.896067476,632,657,0.412039235982,-0.00549446157493,0.0599848633436,0.9999999966,-5.62801091492e-05,-1.55966085959e-05,-5.82197501251e-05,1793250467724174848
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.305664872,745,721.305664872,687.305664872,666,643,888.694335128,788.305664872,819,654.305664872,632,657,0.412705756699,-0.00548389323427,0.0599648501564,0.999999995494,7.13413834163e-05,-5.64130465931e-05,-2.71998451972e-05,1793250467740841472
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.279414822,721.279414822,687.279414822,666,643,889.279414822,788.279414822,819.279414822,654,632,657,0.413393863648,-0.00547228488494,0.0599384063313,0.999999984991,0.000134793349292,-0.000107710845184,-1.5698656401e-05,1793250467757508096
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.858780462,721.858780462,687.858780462,666,643,889.858780462,788.858780462,819.858780462,654,632,657,0.414105143424,-0.00545956008868,0.0599050592368,0.999999976822,0.00012935957307,-0.000170260352932,-2.51507364904e-05,1793250467774174464
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722,688,666.435919612,643,890,789,820,654.435919612,632,656.564080388,0.414945430795,-0.00546793427045,0.0599310684854,0.999999988679,8.47109097178e-05,-0.000120643358882,-3.01953154165e-05,1793250467790841088
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722,688.012534242,667,643,890,789,820,654.987465758,632,656.012534242,0.415826006529,-0.0054829792226,0.0599758662587,0.999999998381,2.85806535618e-05,-3.57762855757e-05,-3.37942535076e-05,1793250467807507712
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722,688.597976767,667,643,890,789,820,654.402023233,632,656.597976767,0.416647518299,-0.00549209717784,0.0600049998193,0.99999999899,2.53711425796e-05,7.84106947018e-06,-3.62481310059e-05,1793250467824174336
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722,689.181510733,667,643.181510733,890,789,820.181510733,654,632,657,0.417473882161,-0.00549906676165,0.0600208938366,0.999999998461,2.41917217789e-05,3.20632655413e-05,-3.82842987902e-05,1793250467840841216
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,722,689.760861436,667,643.760861436,890,789,820.760861436,654,632,657,0.418310880915,-0.00550132748826,0.060007769075,0.999999998752,2.74619059844e-05,1.37746425583e-05,-3.94049194772e-05,1793250467857507840
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.339838382,746,721.660161618,689.660161618,667,643.660161618,890,789,821,654,632.339838382,657,0.419160667749,-0.0054981181127,0.0599883460438,0.99999999879,1.87662667368e-05,-1.78793369281e-05,-4.18195970843e-05,1793250467874174464
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.918552586,746,721.081447414,689.081447414,667,643.081447414,890,789,821,654,632.918552586,657,0.42001944342,-0.0054910637471,0.0599644958962,0.999999997243,1.65972945325e-06,-5.89279593749e-05,-4.51438802336e-05,1793250467890841344
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.507252657,746,721.492747343,689.492747343,667,643,890,789,821,654,632.507252657,657,0.420866162064,-0.00548870011426,0.0599265997629,0.999999991474,1.22119343877e-05,-0.00012096175899,-4.76555635819e-05,1793250467907507968
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643,890.067954453,789,821,654,632,657,0.421714658228,-0.0054874393271,0.0598900223842,0.999999982065,2.50297233288e-05,-0.000180981101262,-4.98842332904e-05,1793250467924174592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643,890.656590003,789,821,654,632,657,0.42259190517,-0.00548874193025,0.0598811772282,0.999999978645,2.04953164165e-05,-0.000199228945946,-5.09642020124e-05,1793250467940841216
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721.75890141,690.24109859,667,643,890.75890141,789.24109859,821.24109859,654.24109859,632,656.75890141,0.423525779179,-0.00549169869119,0.0599057697581,0.999999985913,1.07702600169e-05,-0.000159720695084,-5.04692356525e-05,1793250467957507840
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721.180172074,690.819827926,667,643,890.180172074,789.819827926,821.819827926,654.819827926,632,656.180172074,0.424538952988,-0.00549697190935,0.0599771879062,0.999999998066,-6.22370264844e-06,-3.93316998124e-05,-4.77687541425e-05,1793250467974174464
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.397684086,746,721.397684086,691,666.602315914,643,890.397684086,789.602315914,822,654.602315914,632,656.397684086,0.425524227896,-0.00549769152262,0.0600192210873,0.999999998345,-4.26498831186e-06,3.23240094137e-05,-4.74049781605e-05,1793250467990841088
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+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721.882707175,691.882707175,666.117292825,643,891,789,822,654.882707175,633,656.117292825,0.431026231056,-0.00549493421702,0.0599059490066,0.999999988823,5.46903243006e-06,-0.000137310363239,-5.89113039469e-05,1793250468090841344
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.458229352,746,722,692.458229352,666.458229352,643.458229352,891,789,822.458229352,654.541770648,632.541770648,656.458229352,0.432022661603,-0.0054981428986,0.0599438805671,0.999999996052,-1.16693220682e-05,-6.60309912845e-05,-5.83145305627e-05,1793250468107507968
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,746,722,692.967908687,667,643.967908687,891,789,823,654,632,657,0.433040662328,-0.00550225347112,0.0599967058329,0.999999997268,-3.43346445172e-05,3.21154981028e-05,-5.7049334925e-05,1793250468124174848
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746,722,692.395921178,667,643.395921178,891,789,823,654,632,657,0.433987999727,-0.00550096678933,0.0600070951152,0.999999997206,-2.81098060014e-05,3.95886348123e-05,-5.68371932195e-05,1793250468140841216
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,746,722,692,667,643.183568589,891,789,823.183568589,654,632,657,0.434915701843,-0.0055007075077,0.0600055978234,0.999999997652,-2.19431772071e-05,3.02182541847e-05,-5.74514123552e-05,1793250468157507840
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746,722,692,667,643.779928833,891,789,823.779928833,654,632,657,0.435799250178,-0.00550275854599,0.0599773711317,0.999999997933,-1.59074436762e-05,-1.70282313736e-05,-5.99238733598e-05,1793250468174174464
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746,722,692,667,643.635224842,891,789,824,654,632,657,0.436658274004,-0.00550380656883,0.0599515708791,0.999999996052,-2.0370648794e-05,-6.07879094648e-05,-6.15312977423e-05,1793250468190841600
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746,722,692,667,643.057112422,891,789,824,654,632,657,0.437502954718,-0.00550426798206,0.0599271897212,0.999999992305,-3.09741156724e-05,-0.00010250833955,-6.26328088015e-05,1793250468207509248
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.513871557,722,692.513871557,667,643,891.513871557,789,824,654.513871557,632.513871557,656.486128443,0.438324482301,-0.00550487530225,0.059900601144,0.999999984922,-3.43660933674e-05,-0.0001580679273,-6.3167551027e-05,1793250468224176128
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,722,693.087349464,667,643,892,789,824,654.912650536,633,656.087349464,0.439159452508,-0.00550578039752,0.0598846477153,0.999999978381,-3.64921815859e-05,-0.000194606241421,-6.35156411608e-05,1793250468240842752
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,722,693.679765919,667,643,892,789,824,654.320234081,633,656.679765919,0.440086825309,-0.00550831478843,0.0599315873814,0.999999991047,-3.58696685069e-05,-0.000112389002216,-6.31437255455e-05,1793250468257509120
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,722,694,666.734016506,643,892,789,824.265983494,654.265983494,632.734016506,657,0.440961718974,-0.00551012377358,0.0599602277606,0.999999995299,-3.22586865416e-05,-6.63374678727e-05,-6.29402651854e-05,1793250468274175744
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,747,722,694,666.155092216,643,892,789,824.844907784,654.844907784,632.155092216,657,0.441774868656,-0.00551107928808,0.0599673382539,0.99999999573,-2.51316451974e-05,-6.28364164829e-05,-6.29349999455e-05,1793250468290842624
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722,693.579129026,666,643,892,788.579129026,825,654.579129026,632,657,0.442511521786,-0.00551021224481,0.0599257089354,0.999999989304,-3.28754528566e-05,-0.00012681737062,-6.50348000365e-05,1793250468307508992
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722,693.004249338,666,643,892,788.004249338,825,654.004249338,632,657,0.443220182709,-0.00550867827567,0.059866244328,0.999999973415,-4.60609281852e-05,-0.000215491917243,-6.79049032172e-05,1793250468324175360
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,747,722,693.582782422,666,643,892,788,825,654,632,657,0.443934569381,-0.00550784259853,0.0598272415081,0.99999995957,-4.51556197924e-05,-0.00027231020518,-6.83218948702e-05,1793250468340841984
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,722,694,665.832428832,642.832428832,892,788,825,654.167571168,632,657,0.444639624767,-0.00550728312929,0.0597958855819,0.999999945303,-4.20256066054e-05,-0.000320723861795,-6.90227451062e-05,1793250468357508608
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,722,694,665.253370122,642.253370122,892,788,825,654.746629878,632,657,0.445321661702,-0.0055073891465,0.059782933181,0.999999936021,-3.36902783731e-05,-0.000349081660389,-7.04654967309e-05,1793250468374175488
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,694,665,642,891.674622552,787.674622552,825,654.674622552,632,657,0.445975526038,-0.00550740545086,0.0597615547422,0.999999921258,-3.30799761946e-05,-0.000388712134348,-7.2745682131e-05,1793250468390842112
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694,665,642,891.09611707,787.09611707,825,654.09611707,632,657,0.446607473405,-0.00550735196293,0.0597336212514,0.999999900863,-3.8479373889e-05,-0.000437112206342,-7.56773506198e-05,1793250468407508736
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,694,664.52057748,641.52057748,891,787,825,654,632,657,0.447252422735,-0.00551228976573,0.0597339746856,0.999999904119,-4.99196050291e-05,-0.000428177799563,-7.70352509473e-05,1793250468424175104
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.945629458,747,722,694,664,640.945629458,891.054370542,786.945629458,825,654.054370542,631.945629458,657,0.447896480147,-0.00551743160456,0.0597405531181,0.999999911909,-6.1121376894e-05,-0.00040784609408,-7.81515202184e-05,1793250468440841472
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.370687217,747,722,694,664,640.370687217,891.629312783,786.370687217,825,654.629312783,631.370687217,657,0.448507193456,-0.0055150048754,0.059752768637,0.999999919908,-5.85156413728e-05,-0.000387770375321,-7.99566388303e-05,1793250468457507840
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.210499486,747,722,694,664,640,892,786.210499486,825.210499486,655,631.210499486,657,0.449079862613,-0.00551452511792,0.0597467383894,0.999999915733,-5.84635703335e-05,-0.000397982412991,-8.20105520363e-05,1793250468474174464
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.803018734,747,722,694,664,640,892,786.803018734,825.803018734,655,631.803018734,657,0.449583488217,-0.00551757877387,0.0597075952645,0.999999887182,-6.30459539871e-05,-0.000463161434241,-8.45159835481e-05,1793250468490841344
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722,694,663.614430556,639.614430556,892,786.614430556,826,655,631.614430556,657,0.45007441398,-0.00552379357062,0.0596751024593,0.999999863972,-7.34601517348e-05,-0.000508955628689,-8.73139988954e-05,1793250468507507968
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722,694,663.036844209,639.036844209,892,786.036844209,826,655,631.036844209,657,0.450559015157,-0.00553158264297,0.0596459215671,0.999999843597,-8.67786435111e-05,-0.000545096018457,-9.02577237491e-05,1793250468524174592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.117348473,747,722,694,662,638.882651527,892,786,826,655,631,657,0.451487110169,-0.00554109969703,0.0596523856519,0.999999852176,-9.96369211413e-05,-0.00052679956091,-9.0567022625e-05,1793250468557507840
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.705015601,747,722,694,662,638.294984399,892,786,826,655,631,657,0.451946919167,-0.00554380162459,0.0596752629188,0.999999871773,-9.60742726158e-05,-0.000489184887327,-8.90103703784e-05,1793250468574174464
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,722,694,662,638,892.578138949,785.710930526,826.289069474,655,631,657,0.452370929347,-0.0055459326856,0.0596893459453,0.999999885964,-6.80714553464e-05,-0.000465978791343,-7.93836346971e-05,1793250468590841088
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,722,694,662,638,893.738963285,785.130518357,826.869481643,655,631,657,0.452758859165,-0.00554748839065,0.0596945655728,0.999999893423,-1.54362739333e-05,-0.000457294582529,-6.1623353084e-05,1793250468607507712
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661.554090072,638,893.108180144,785,827,655,631,656.554090072,0.453083415794,-0.0055422370103,0.0596825597727,0.999999882559,8.77137861906e-06,-0.000481142878266,-5.75025778494e-05,1793250468624174592
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637.978782756,892.021217244,785,827,655,631,656.021217244,0.453388185471,-0.00553504001404,0.0596652651545,0.99999986562,2.41964224762e-05,-0.000514653732014,-5.75055970537e-05,1793250468640840960
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637.402565134,892.597434866,785,827,655,631,656.597434866,0.453656286859,-0.00552860637173,0.0596403438515,0.999999844278,2.5613360335e-05,-0.00055403909963,-6.18730099158e-05,1793250468657507584
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,893,784.823159193,827,655,631,657,0.453926270682,-0.0055247867399,0.0596240447093,0.999999830589,2.36602955761e-05,-0.000577913690732,-6.54038344298e-05,1793250468674174464
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,893,784.236362099,827,655,631,657,0.454200618368,-0.00552702696611,0.0596277336554,0.999999837577,1.38948157589e-05,-0.000565830851285,-6.69952608241e-05,1793250468690841088
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,892.653244043,784.346755957,827,655,631,657,0.454453674184,-0.00552990096636,0.0596355343292,0.999999845291,-3.69640385701e-05,-0.000550896748804,-6.75626416471e-05,1793250468707507968
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,722,694,661,637,892.072607372,784.927392628,827,655,631,657,0.454692369042,-0.00553320243613,0.0596461082905,0.999999848452,-0.000115539642486,-0.000534039516221,-6.7439321802e-05,1793250468724174848
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,722,694,660.496056551,637,892,784.496056551,827,655,631,657,0.454893205712,-0.00553677067449,0.0596467435179,0.999999848886,-0.000126269632268,-0.000530667875956,-6.83783702602e-05,1793250468740841472
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636.918207879,892,784.081792121,827,654.918207879,631,656.918207879,0.455082249402,-0.00553990614065,0.05964504341,0.999999848553,-0.000127097936585,-0.00053095531497,-6.94797887713e-05,1793250468757508096
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636.328677375,892,784.671322625,827,654.328677375,631,656.328677375,0.455231673959,-0.00554011842541,0.0596376639372,0.999999842606,-0.000126652341765,-0.00054199271478,-7.06466161411e-05,1793250468774174464
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,722.25619152,694,660,636.25619152,892.25619152,784.74380848,827,654.25619152,631,656,0.455370593714,-0.00554016665416,0.0596306350022,0.99999983737,-0.000124851368393,-0.000551848138863,-7.16682516487e-05,1793250468790841088
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+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,722,694,660,636,892.156615842,783.843384158,827,655,630.156615842,657,0.455868800523,-0.00554373305027,0.0596085211335,0.999999822264,-0.000118261273662,-0.000579633611403,-7.42304905977e-05,1793250468874174464
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+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,722.314474622,694,660,636,892.685525378,783.314474622,827,655,630.685525378,657,0.455980030646,-0.00554162430852,0.0595987218971,0.999999816815,-0.000109608511469,-0.000590495797612,-7.53100999368e-05,1793250468907507968
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,722.893831401,694,660,636,892.106168599,783.893831401,827,655,630.106168599,657,0.456023393151,-0.00554244111575,0.0595951236272,0.999999814018,-0.000109381659577,-0.000595229337473,-7.5506213157e-05,1793250468924174592
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+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,722.525539258,693.948921485,659,635,892.474460742,783.474460742,827,655,630.525539258,657,0.456145423006,-0.00553994438315,0.0595813031533,0.999999803026,-0.000102499124003,-0.000614691527171,-7.48114454577e-05,1793250469057508608
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,722.896571082,693.103428918,659,635,892.103428918,783.103428918,827,655,631,657,0.456148366166,-0.00553973988157,0.0595799303968,0.999999802799,-0.000100660561471,-0.000615393219734,-7.45747510521e-05,1793250469074174976
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,722.308988421,693.691011579,659,635,892.691011579,783.691011579,827,655,631,657,0.456149165009,-0.00553868779127,0.0595792250316,0.999999802411,-9.67976137145e-05,-0.000616687629563,-7.41954671514e-05,1793250469090841600
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.723788051,747,722.276211949,694,659,635,892.723788051,784,827,655,631,657,0.45614957202,-0.00553802731997,0.0595786518432,0.999999802122,-9.48662855975e-05,-0.000617483761916,-7.3957743537e-05,1793250469107508224
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.141229803,747,722.858770197,694,659,635,892.141229803,784,827,655,631,657,0.456149544452,-0.00553780119265,0.0595782252519,0.999999801958,-9.50773137308e-05,-0.000617727255565,-7.38770241984e-05,1793250469124175104
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.434222508,747,722.565777492,694,659,635.434222508,892.434222508,784,827.434222508,655,630.565777492,657,0.456150551295,-0.00553909969978,0.0595784100993,0.999999801836,-9.63247512578e-05,-0.000617746918247,-7.37460501905e-05,1793250469140841472
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,722.007431288,694.007431288,659,636,893,783.992568712,827.992568712,655,630.007431288,657,0.45615187499,-0.00554086253796,0.0595787763414,0.999999801714,-9.7907312743e-05,-0.000617712290199,-7.36006246906e-05,1793250469157508096
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,722.58297014,694.58297014,659,636,893,783.41702986,827.41702986,655,630.58297014,657,0.456152115305,-0.0055408236408,0.0595780514946,0.999999800735,-9.97545381588e-05,-0.000619003085121,-7.35798499441e-05,1793250469174174720
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,722.836723304,694.836723304,659,635.836723304,892.836723304,783,827,655,631,657,0.456152265699,-0.00554035079096,0.0595776280506,0.999999800134,-9.98483589169e-05,-0.000619954512308,-7.36182105611e-05,1793250469190841344
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722.243873169,694.243873169,659,635.243873169,892.243873169,783,827,655,631,657,0.456152179512,-0.0055387362317,0.0595779975833,0.999999800524,-9.53290529764e-05,-0.000620013078596,-7.38121535866e-05,1793250469207508224
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,694.339907919,659,635,892.339907919,783.339907919,827,655,630.660092081,657,0.456152143432,-0.00553834234496,0.0595771757482,0.999999800289,-9.38853749033e-05,-0.000620630125736,-7.36621092508e-05,1793250469224174592
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,722,694.917351324,659,635,892.917351324,783.917351324,827,655,630.082648676,657,0.456152142368,-0.00553880149236,0.0595755213576,0.999999799625,-9.45910166424e-05,-0.000621637452166,-7.32716786135e-05,1793250469240841216
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,722,694.50781813,659,635,893,783.50781813,827.49218187,655,630,657,0.456151657204,-0.00553971256626,0.0595758963999,0.999999799341,-9.57729610216e-05,-0.000621933338238,-7.31114773132e-05,1793250469257508096
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,722,694,659,635,892.93177377,783,827.93177377,655,630.06822623,657,0.456151334337,-0.00554050066072,0.0595764971732,0.999999799145,-9.69097917689e-05,-0.000622082828466,-7.3019512326e-05,1793250469274174720
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,722,694,659,635,892.343142149,783,827.343142149,655,630.656857851,657,0.456152866195,-0.00553977491476,0.059576234055,0.999999799155,-9.70956570907e-05,-0.000622022104671,-7.31546960416e-05,1793250469290841344
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747,722,694,659,635,892.241612527,783,827,655,630.758387473,657,0.456153456346,-0.00553896256974,0.0595759748125,0.999999799234,-9.63471523216e-05,-0.000622000411916,-7.3242267071e-05,1793250469307508224
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,747,722,694,659,635,892.82094814,783,827,655,630.17905186,657,0.456152730193,-0.0055380291775,0.0595757209871,0.999999799408,-9.4292596294e-05,-0.000622033276269,-7.3263285679e-05,1793250469324174848
+249,4.150000000,HOLD_POSE2,769,747,722,694,659,635,892,783,827,655,630,657,0.456153295625,-0.00553748271039,0.0595763054467,0.999999799094,-9.50920744253e-05,-0.000622489854421,-7.26291314214e-05,1793250469358285568
+250,4.166666667,HOLD_POSE2,769.574571905,747,722.574571905,694,659,635,892,783.574571905,827,655,630.574571905,657,0.456153368594,-0.00553625776012,0.0595758309967,0.999999799227,-9.13942600787e-05,-0.000622822228607,-7.27080769507e-05,1793250469374952192
+251,4.183333333,HOLD_POSE2,770,747,722.846585541,694.153414459,659.153414459,635,892.153414459,783.846585541,827,655,630.846585541,657,0.456153228949,-0.00553595974317,0.059575343095,0.999999799081,-8.96383126816e-05,-0.000623310604851,-7.27130178662e-05,1793250469391618816
+252,4.200000000,HOLD_POSE2,770,747,722.255560953,694.744439047,659.744439047,635,892.744439047,783.255560953,827,655,630.255560953,657,0.456152482832,-0.00553830577535,0.0595748168225,0.999999798167,-9.3421481454e-05,-0.000624243972363,-7.25068628677e-05,1793250469408285440
+253,4.216666667,HOLD_POSE2,770,747,722,694.671477283,659.671477283,635,893,783,827,655,630.328522717,657,0.456152567652,-0.00553839222956,0.0595748003447,0.999999798111,-9.38590296886e-05,-0.000624276652397,-7.24350150697e-05,1793250469424952064
+254,4.233333333,HOLD_POSE2,770,747,722,694.092681337,659.092681337,635,893,783,827,655,630.907318663,657,0.456153285491,-0.00553675730534,0.0595751722356,0.999999798713,-9.17478368853e-05,-0.00062362317598,-7.24654844e-05,1793250469441618688
+255,4.250000000,HOLD_POSE2,770,747,722.484110511,694,659,635,892.515889489,783,827,655,631,657,0.456153304993,-0.00553608371542,0.0595747477229,0.999999798591,-9.0563518338e-05,-0.00062397832707,-7.25700779622e-05,1793250469458285312
+256,4.266666667,HOLD_POSE2,770,747,723,694,659,635,892,783,827,655,631,657,0.456153143436,-0.00553584716238,0.059574208282,0.999999798296,-8.99915367744e-05,-0.000624524019956,-7.2654921085e-05,1793250469474952192
+257,4.283333333,HOLD_POSE2,770,747,723,694,659,635,892,783,827,655,631,657,0.45615257342,-0.00553777364818,0.0595739834888,0.999999797692,-9.31328999483e-05,-0.000625054706104,-7.24509391872e-05,1793250469491618816
+258,4.300000000,HOLD_POSE2,770,747,722.770638417,694,659,635,892,783,827,655,631,657,0.456152044734,-0.00553809226777,0.0595737171034,0.999999797139,-9.40283649505e-05,-0.000625806775996,-7.24335294944e-05,1793250469508285440
+259,4.316666667,HOLD_POSE2,770,747,722.191480485,694,659,635,892,783,827,655,631,657,0.456151579077,-0.00553595875145,0.0595733872864,0.999999796672,-9.14986397523e-05,-0.000626896475297,-7.2700658649e-05,1793250469524952064
+260,4.333333333,HOLD_POSE2,770.3872698,747,722,694.3872698,658.6127302,635,892.3872698,783,827,655,630.6127302,657,0.456151244231,-0.005536457169,0.0595734336916,0.999999796123,-9.15639529178e-05,-0.000627755736643,-7.27506234034e-05,1793250469541618688
+261,4.350000000,HOLD_POSE2,770.965818794,747,722,694.965818794,658.034181206,635,892.965818794,783,827,655,630.034181206,657,0.456150973995,-0.00553825554362,0.0595736659194,0.999999795535,-9.29109997914e-05,-0.000628501180833,-7.26933269619e-05,1793250469558285312
+262,4.366666667,HOLD_POSE2,770.46000067,747,722,694.46000067,658.53999933,635,892.46000067,783,827,655,630.53999933,657,0.456152715673,-0.00553717184637,0.0595739000992,0.999999796538,-9.19532476726e-05,-0.000627093346143,-7.22604016068e-05,1793250469574952192
+263,4.383333333,HOLD_POSE2,770,747,722,694,659,635,892,783,827,655,631,657,0.456154041792,-0.00553637392298,0.05957397905,0.999999797264,-9.14633839245e-05,-0.000626036254055,-7.20119439437e-05,1793250469591618816
+264,4.400000000,HOLD_POSE2,770,747,722,694,659,635,892,783,827,655,631,657,0.45615317953,-0.00553746090501,0.059573430623,0.99999979647,-9.34475015065e-05,-0.00062694163506,-7.2603698504e-05,1793250469608285440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,723,694,659,635,893,784,827,655,630,657,0.456153198645,-0.0055353619834,0.0595742539397,0.999999797155,-8.94406892496e-05,-0.00062644085973,-7.25370363528e-05,1793250469645263104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,723,694,659,635,893,783.425766078,827,655,630.574233922,657,0.456154371587,-0.0055373130578,0.0595748095174,0.999999797353,-9.1323959139e-05,-0.000625872620681,-7.23641656815e-05,1793250469661929728
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770.148861796,747,722.851138204,694,658.851138204,635,893,783,827,655,630.851138204,657,0.456155267635,-0.00553872364549,0.0595751278637,0.999999797622,-9.25164718234e-05,-0.000625285078028,-7.22153809576e-05,1793250469678596352
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770.724619551,747,722.275380449,694,658.275380449,635,893,783,827,655,630.275380449,657,0.456155369621,-0.00553858426177,0.0595747658936,0.999999798102,-9.17280773714e-05,-0.00062464217766,-7.21356682723e-05,1793250469695262976
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.382510363,747,722,694.308744819,658.308744819,635,892.691255181,783,827,655,630,657,0.456155771112,-0.00553831780829,0.0595749333769,0.999999798488,-9.19800714344e-05,-0.000623997310317,-7.20446495917e-05,1793250469711929600
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.198917531,747,722,694.900541235,658.900541235,635,892.099458765,783,827,655,630,657,0.456156447184,-0.0055379348596,0.0595755862534,0.999999798787,-9.31858746887e-05,-0.000623350639727,-7.19432657863e-05,1793250469728596224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.477527154,747,722,694.522472846,658.522472846,635,892.477527154,783,827,655,630,657,0.456156232428,-0.00553806800165,0.0595752441418,0.9999997985,-9.25045801931e-05,-0.00062394481159,-7.16615039014e-05,1793250469745262848
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,658.051814326,635,892.948185674,783,827,655,630,657,0.456155746743,-0.00553829778474,0.0595746318982,0.999999798026,-9.16682766056e-05,-0.000624856073196,-7.1414259647e-05,1793250469761929472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,658.629074555,635,892.370925445,783,827,655,630,657,0.45615433855,-0.00553845033264,0.0595733185977,0.999999796866,-9.31259526387e-05,-0.000626440926771,-7.18865799335e-05,1793250469778596096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.794141175,747,722,694,658.794141175,635,892.205858825,783,827,654.794141175,630,657,0.45615156801,-0.00553806542432,0.0595716102522,0.999999795543,-9.34906324301e-05,-0.000628446921368,-7.22976489696e-05,1793250469795262976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769.218212596,747,722,694,658.218212596,635,892.781787404,783,827,654.218212596,630,657,0.456146348394,-0.00553671433787,0.0595691917395,0.99999979393,-9.1890446812e-05,-0.000631209995574,-7.25986073717e-05,1793250469811929600
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.368098117,747,722,694,658.368098117,635,892.631901883,783,827,654.368098117,630,657,0.456128798896,-0.00553511025358,0.0595611040326,0.999999785986,-8.99330178131e-05,-0.000643900842686,-7.30213362565e-05,1793250469828596224
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.960742157,747,722,694,658.960742157,635,892.039257843,783,827,654.960742157,630,657,0.456103727967,-0.00553335183629,0.0595495580233,0.999999773896,-8.77576642777e-05,-0.000662647795146,-7.3518347153e-05,1793250469845262848
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630,657,0.456053127921,-0.00553286116875,0.0595295670859,0.999999750757,-8.89845155327e-05,-0.00069647182272,-7.41305674394e-05,1793250469861929472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630.115045585,657,0.455998516715,-0.00553230094978,0.0595098810738,0.999999728507,-9.01778686125e-05,-0.000727499427418,-7.48166768016e-05,1793250469878596096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630.686647112,657,0.455935174453,-0.00553110780981,0.0594937826311,0.999999716893,-9.02804685621e-05,-0.000743184876791,-7.57635791482e-05,1793250469895262976
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630.732342238,657,0.455864632726,-0.00552874033814,0.0594824860497,0.999999706901,-8.85630482865e-05,-0.000756668060743,-7.62079484664e-05,1793250469911929600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630.139914811,657,0.45578535534,-0.00552494795995,0.0594770159352,0.999999699015,-8.46372580731e-05,-0.000767479066537,-7.60425559232e-05,1793250469928596224
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,630.44203426,656.55796574,0.455695865758,-0.00552207086872,0.0594781661524,0.999999699085,-8.23855862783e-05,-0.00076769643947,-7.53945430266e-05,1793250469945262848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,631,656.020613653,0.455602425436,-0.00551947659486,0.0594814669568,0.999999701721,-8.05970018443e-05,-0.000764528445797,-7.4551912865e-05,1793250469961929728
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,659,635,892,783,827,655,631,656.595701389,0.455487649879,-0.00551687734002,0.0594875547406,0.999999706793,-7.73413158604e-05,-0.000758405279284,-7.24882761365e-05,1793250469978597120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747,722.174312646,694,659,635,892,783,827,654.825687354,630.825687354,657,0.455364068417,-0.0055133779833,0.0594921028414,0.999999710343,-7.3765973134e-05,-0.000754219911264,-7.08899952364e-05,1793250469995264000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,722.761264833,694,659,635,892,783,827,654.238735167,630.238735167,657,0.455219641302,-0.00550774787147,0.0594930061448,0.999999710385,-6.94339272506e-05,-0.000754621774647,-7.03933226924e-05,1793250470011930112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,722.656854118,694,659,635,892,783,827,654.343145882,630,657,0.455054825455,-0.00550322195032,0.0594958424058,0.999999711571,-6.50190318776e-05,-0.000753563936143,-6.90751006122e-05,1793250470028596736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,722.078449747,694,659,635,892,783,827,654.921550253,630,657,0.454876031217,-0.00549945305425,0.0595000038894,0.999999713529,-6.05473350176e-05,-0.000751505335964,-6.71936296934e-05,1793250470045263616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770.500501765,747,722,694,659,635,892,783.500501765,827,655,630.500501765,657,0.454668768574,-0.00549414720599,0.0595018515308,0.999999713106,-5.66413452803e-05,-0.000752516747152,-6.55668396873e-05,1793250470061930496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.921062519,747,722,694.078937481,659,635.078937481,892,784,827,655,631,657,0.454451791897,-0.0054881501372,0.0595032917586,0.999999711801,-5.21819264174e-05,-0.000754710832505,-6.3918435262e-05,1793250470078597120
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,721.521754749,684.478245251,665,642,887,788,820,654.478245251,632,656,0.40097354242,-0.00537321923776,0.0598327359186,0.999999948394,0.000161884674135,-0.000277155950893,1.37536929441e-05,1793250471728596992
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed1343a9b633ab2fae3c26b99832bee03d6fb168
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+227,3.783333333,pose1_to_pose2_press,0.621695165891,0.000150153069444,1.05003373481,0.59226584107,0.00882278572418,1.04970513091
+228,3.800000000,pose1_to_pose2_press,0.621707790352,0.000150085233724,1.05003358366,0.592278465494,0.00882271762465,1.049704975
+229,3.816666667,pose1_to_pose2_press,0.62171678983,0.000150072113675,1.05003349415,0.592287465841,0.00882270770898,1.04970489303
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+248,4.133333333,pose1_to_pose2_press,0.621736744231,0.000150285566351,1.05003362646,0.592307418618,0.0088229155268,1.04970502114
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+266,4.433333333,pose2_to_pose3_retreat,0.621736744185,0.000150153970366,1.05003350737,0.592307419287,0.00882278637655,1.04970490304
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+268,4.466666667,pose2_to_pose3_retreat,0.621736231143,0.000150193078605,1.05003359052,0.592306907102,0.00882282846709,1.0497049892
+269,4.483333333,pose2_to_pose3_retreat,0.62173602365,0.000150189262269,1.05003354713,0.592306699358,0.00882282378288,1.04970494534
+270,4.500000000,pose2_to_pose3_retreat,0.621735970227,0.000150188279682,1.05003353596,0.592306645871,0.00882282257685,1.04970493405
+271,4.516666667,pose2_to_pose3_retreat,0.621735855257,0.000150186165093,1.05003351193,0.592306530762,0.00882281998138,1.04970490975
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+275,4.583333333,pose2_to_pose3_retreat,0.62172297211,0.000150077813986,1.05003356839,0.592293648551,0.00882271483517,1.04970496869
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f00a468a822ed7b5c881d607abdfdf5cc72600f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba0ea703f595b85c4a2ca8f66cb0e9b8cc31bc4de116324a6f746d6e7e94c5d
+size 25876673
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a622980a3f7b6ae3b6093d87271faef25b2b776
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+20,0.333333333,BASELINE,768.593742913,746,721,684,666,642,887.406257087,789,818.593742913,655.406257087,632,657,0.400938992845,-0.00543972908061,0.0499274929317,0.999999975579,5.39717207037e-05,-0.000212327285787,-2.91017460833e-05,1793250473684065536
+21,0.350000000,BASELINE,769,746,721,683.818165825,666,642,887,789.181834175,819,655.181834175,632,657,0.400936826651,-0.00543907138221,0.0499259632782,0.999999975045,5.39981061405e-05,-0.000214777842004,-2.93993562972e-05,1793250473700732416
+22,0.366666667,BASELINE,769,746,721,683.241780799,666,642,887,789.758219201,819,655.758219201,632,657,0.400936109657,-0.0054392448541,0.0499258021219,0.999999974988,5.2373093447e-05,-0.000215451132592,-2.93459008255e-05,1793250473717399808
+23,0.383333333,BASELINE,769.332351123,746,721.332351123,683.332351123,666,642.332351123,887.332351123,789.667648877,819,655.667648877,632,656.667648877,0.400937376264,-0.00543881575658,0.0499265691964,0.999999975187,5.32700394947e-05,-0.000214307956623,-2.93320723238e-05,1793250473734066944
+24,0.400000000,BASELINE,769.904855038,746,721.904855038,683.904855038,666,642.904855038,887.904855038,789.095144962,819,655.095144962,632,656.095144962,0.400940076197,-0.0054379512499,0.049928006999,0.999999975561,5.59893214306e-05,-0.000211852224553,-2.93468777728e-05,1793250473750733568
+25,0.416666667,BASELINE,769.505820369,746,721.505820369,684,666,643,887.505820369,789,818.505820369,655,632,656.494179631,0.400940118856,-0.00543945530713,0.0499275584197,0.999999975676,5.44482556288e-05,-0.000211731000471,-2.92177890721e-05,1793250473767399424
+26,0.433333333,BASELINE,769,746,721,684,666.084864954,642.915135046,887,789,818,655.084864954,632,657,0.400939829422,-0.00544093544451,0.0499269094997,0.999999975749,5.25386247042e-05,-0.000211877081981,-2.91374133476e-05,1793250473784065536
+27,0.450000000,BASELINE,769,746,721,684,666.663950524,642.336049476,887,789,818,655.663950524,632,657,0.400940690396,-0.00543952700699,0.0499272834619,0.999999975904,5.34277484275e-05,-0.000210870101954,-2.95077460855e-05,1793250473800732672
+28,0.466666667,BASELINE,769,745.758503798,721,683.758503798,666.758503798,642,887,789,818,655.758503798,631.758503798,657,0.400940319452,-0.00543839173519,0.0499271255808,0.999999975736,5.46514737512e-05,-0.00021134956326,-2.95481105482e-05,1793250473817399296
+29,0.483333333,BASELINE,769,745.183087383,721,683.183087383,666.183087383,642,887,789,818,655.183087383,631.183087383,657,0.400938245118,-0.00543763417357,0.0499262323123,0.999999975115,5.63378573833e-05,-0.000213884348063,-2.91322231913e-05,1793250473834065920
+30,0.500000000,BASELINE,769,745.399545444,721,683.399545444,666.399545444,642,887.399545444,789,818,655,631.399545444,657,0.40093774022,-0.00543851182342,0.0499262374054,0.999999975078,5.51730753754e-05,-0.000214359648617,-2.91467118262e-05,1793250473850732800
+31,0.516666667,BASELINE,769,745.985545923,721,683.985545923,666.985545923,642,887.985545923,789,818,655,631.985545923,657,0.400937967728,-0.00544015257401,0.049926661735,0.99999997531,5.26777458252e-05,-0.000213873853901,-2.93620431348e-05,1793250473867399424
+32,0.533333333,BASELINE,769,746,721,683.43579508,666.43579508,642,888.56420492,789,818.56420492,655,632,657,0.400938341724,-0.00544018778686,0.0499268359206,0.999999975418,5.20917411478e-05,-0.000213524993102,-2.92763486378e-05,1793250473884066304
+33,0.550000000,BASELINE,769,746,721,683.142658455,666,642,888.71468309,789,818.857341545,655,632,656.857341545,0.400938792541,-0.00544029250608,0.0499270033543,0.99999997555,5.16789257329e-05,-0.000213028375545,-2.91237670384e-05,1793250473900732672
+34,0.566666667,BASELINE,769,746,721,683.721051405,666,642,887.557897191,789,818.278948595,655,632,656.278948595,0.400939466683,-0.00544073354259,0.0499271694872,0.999999975765,5.16476145037e-05,-0.000212069874068,-2.87901385492e-05,1793250473917398784
+35,0.583333333,BASELINE,769,746,721,683.701857306,666,642,887,789.298142694,818,655.298142694,632,656,0.40093882207,-0.00544065331279,0.0499265038379,0.999999975571,5.21387120405e-05,-0.000212867160311,-2.87589121154e-05,1793250473934065152
+36,0.600000000,BASELINE,769,746,721,683.125978516,666,642,887,789.874021484,818,655.874021484,632,656,0.400936948965,-0.00544008749517,0.0499250633382,0.999999974991,5.3116461683e-05,-0.000215300057963,-2.90093895647e-05,1793250473950731776
+37,0.616666667,BASELINE,769,746,721.458140697,683,666,642,887,789.541859303,818.458140697,655.541859303,632,656,0.400938472298,-0.00544036893394,0.0499257076666,0.999999975304,5.24600799967e-05,-0.000214003511213,-2.90321371757e-05,1793250473967398400
+38,0.633333333,BASELINE,769,746,721.955732971,683,666,642,887.044267029,789,818.955732971,655,631.955732971,656.044267029,0.400940632803,-0.00544076737167,0.0499268151592,0.999999975793,5.15211746023e-05,-0.000211937507314,-2.90050542674e-05,1793250473984065024
+39,0.650000000,BASELINE,769,746,721.373257484,683,666,642,887.626742516,789,818.373257484,655,631.373257484,656.626742516,0.400938977088,-0.00543970384465,0.0499264561594,0.999999975456,5.27106438902e-05,-0.000213213075891,-2.91474216489e-05,1793250474000732416
+40,0.666666667,BASELINE,769,745.793324017,721,683.206675983,666,642,887.793324017,789,818.206675983,655,631.206675983,657,0.40093827108,-0.00543868293175,0.0499262517483,0.999999975243,5.43692021033e-05,-0.000213781570768,-2.9233494766e-05,1793250474017399296
+41,0.683333333,BASELINE,769,745.2179257,721,683.7820743,666,642,887.2179257,789,818.7820743,655,631.7820743,657,0.400939259406,-0.00543773804507,0.0499263231328,0.999999975253,5.6864642985e-05,-0.000213088603736,-2.92191355352e-05,1793250474034065152
+42,0.700000000,BASELINE,769,745,721,683.64249137,666,642,887,789,818.64249137,655,632,656.64249137,0.400941075428,-0.00543893916522,0.0499275008318,0.999999975828,5.50427038439e-05,-0.000210885190961,-2.89958680119e-05,1793250474050731520
+43,0.716666667,BASELINE,769,745,721,683.067035106,666,642,887,789,818.067035106,655,632,656.067035106,0.400943396037,-0.00544144855341,0.0499293529722,0.999999976728,5.05887644882e-05,-0.000207760966662,-2.86452439326e-05,1793250474067398144
+44,0.733333333,BASELINE,769,745,721.52131168,683.52131168,666,642,887.52131168,789,818.52131168,655,632,656,0.400941189239,-0.0054422419939,0.0499281364076,0.999999976253,4.94828583048e-05,-0.000210295561994,-2.86706318701e-05,1793250474084064768
+45,0.750000000,BASELINE,769,745.109242496,721.890757504,684,666,642,888,789,819,655.109242496,631.890757504,656,0.400938586622,-0.00544241082714,0.0499265831177,0.999999975607,4.95035208896e-05,-0.000213323935712,-2.87732950229e-05,1793250474100731392
+46,0.766666667,BASELINE,769,745.688079022,721.311920978,684,666,642,888,789,819,655.688079022,631.311920978,656,0.400936848534,-0.00544086725321,0.0499253216293,0.999999975033,5.24693189575e-05,-0.000215267613635,-2.89950226951e-05,1793250474117398016
+47,0.783333333,BASELINE,769,745.735872788,721.264127212,684,666,642.264127212,888,789,819,655.735872788,631.264127212,656,0.400937065307,-0.00543977564403,0.049925256766,0.99999997499,5.38677766039e-05,-0.000215103066322,-2.91311967665e-05,1793250474134065152
+48,0.800000000,BASELINE,769,745.163083007,721.836916993,684,666,642.836916993,888,789,819,655.163083007,631.836916993,656,0.400939566556,-0.00543921220667,0.0499265902946,0.999999975574,5.34346198073e-05,-0.000212474819257,-2.9167391793e-05,1793250474150732544
+49,0.816666667,BASELINE,768.578894292,745.421105708,721.578894292,684,666,642.578894292,887.578894292,789,818.578894292,655,632,656.421105708,0.400939397963,-0.00543930088032,0.0499265031816,0.999999975631,5.31226841947e-05,-0.000212271413885,-2.92603550117e-05,1793250474167399936
+50,0.833333333,BASELINE,768.00967519,745.99032481,721,684,666,642,887,789,818.00967519,655.00967519,631.99032481,656.99032481,0.400938185742,-0.0054396553328,0.0499258609689,0.999999975483,5.28463398895e-05,-0.000213023330342,-2.9371258808e-05,1793250474184066560
+51,0.850000000,BASELINE,768.589028606,745.410971394,721,684,666,642,887,789,818.589028606,655.589028606,631.410971394,656.410971394,0.40093809808,-0.00544037527266,0.0499258301636,0.999999975505,5.1824537126e-05,-0.000213193404339,-2.92080225176e-05,1793250474200732672
+52,0.866666667,BASELINE,768.831765863,745,721,684,666,642.168234137,887,789,819,655.831765863,631.168234137,656,0.400938064993,-0.00544132185678,0.049925680311,0.999999975499,5.10675471983e-05,-0.000213437527041,-2.89646825496e-05,1793250474217398784
+53,0.883333333,BASELINE,768.25292131,745,721,684,666,642.74707869,887,789,819,655.25292131,631.74707869,656,0.400938165106,-0.00544282161333,0.0499252398981,0.999999975426,5.09568881554e-05,-0.000213862381007,-2.85258328998e-05,1793250474234065408
+54,0.900000000,BASELINE,768.323037303,745.323037303,721,684,666,642.676962697,887.323037303,789,819,655,632,656,0.40093858077,-0.00544255450248,0.0499251424885,0.999999975388,5.17959516743e-05,-0.000213831162517,-2.85758086295e-05,1793250474250731776
+55,0.916666667,BASELINE,768.896756355,745.896756355,721,684,666,642.103243645,887.896756355,789,819,655,632,656,0.400939241306,-0.0054409162762,0.0499253112545,0.999999975375,5.33720140283e-05,-0.000213446025001,-2.90051201429e-05,1793250474267398144
+56,0.933333333,BASELINE,769,746,721,683.51774833,666,642.48225167,888,789,819,655.48225167,632,656,0.400938745662,-0.00544076640086,0.0499250774242,0.999999975275,5.38581638338e-05,-0.000213820429158,-2.88115558186e-05,1793250474284065024
+57,0.950000000,BASELINE,769.06945135,745.93054865,721,683,666,642.93054865,887.93054865,789,818.93054865,655.93054865,632,656.06945135,0.400938165661,-0.00544091685644,0.0499248628267,0.999999975187,5.39238659053e-05,-0.000214247807807,-2.85663359597e-05,1793250474300731904
+58,0.966666667,BASELINE,769.650173417,745.349826583,721,683,666,642.349826583,887.349826583,789,818.349826583,655.349826583,632,656.650173417,0.400938832413,-0.00544087384413,0.0499254401934,0.999999975331,5.26551257885e-05,-0.000213838151025,-2.89470826069e-05,1793250474317398272
+59,0.983333333,BASELINE,769.77096006,745,721,683.22903994,666,642.22903994,887.22903994,789,818.22903994,655,632,656.77096006,0.400939723878,-0.00544031109851,0.0499259872945,0.999999975555,5.20767842631e-05,-0.00021289693909,-2.92006053266e-05,1793250474334064640
+60,1.000000000,BASELINE,769.194904759,745,721,683.805095241,666,642.805095241,887.805095241,789,818.805095241,655,632,656.194904759,0.400940955802,-0.00543896091185,0.0499264885411,0.999999975899,5.25444562502e-05,-0.000211150374966,-2.92613728267e-05,1793250474350731264
+61,1.016666667,BASELINE,768.620778477,745,721,684,666,643,887.620778477,789,819,655,632,656,0.400940529083,-0.00543935592245,0.0499263048752,0.999999975916,5.19381962411e-05,-0.000211237386498,-2.91302745212e-05,1793250474367398144
+62,1.033333333,BASELINE,768.047638651,745,721,684,666,643,887.047638651,789,819,655,632,656,0.400939254201,-0.00544064335529,0.0499257709732,0.999999975765,5.07827715138e-05,-0.000212262013377,-2.89010639236e-05,1793250474384064768
+63,1.050000000,BASELINE,768.544558795,745.544558795,721,684,666.544558795,642.455441205,887,789,819,655,632,656,0.400938899439,-0.00544124522849,0.049925490958,0.999999975597,5.23231087966e-05,-0.000212699857382,-2.87683029562e-05,1793250474400731136
+64,1.066666667,BASELINE,769,746,721,684,666.865389136,642.134610864,887.134610864,789,819,655,632,656.134610864,0.400938709758,-0.00544166362554,0.0499253603418,0.999999975492,5.330842837e-05,-0.000212965655491,-2.86418486121e-05,1793250474417397760
+65,1.083333333,BASELINE,769,746,721,684,666.288074559,642.711925441,887.711925441,789,819,655,632,656.711925441,0.400938788666,-0.00544168300445,0.0499256453707,0.999999975608,5.1664712321e-05,-0.000212840577654,-2.85073798877e-05,1793250474434064384
+66,1.100000000,BASELINE,769,746,721.28861582,683.71138418,666,642.71138418,888,789,818.71138418,655,632,657,0.400938206562,-0.00544237660715,0.0499254599111,0.99999997557,5.04921902199e-05,-0.000213333719139,-2.82786449577e-05,1793250474450731008
+67,1.116666667,BASELINE,769,746,721.864684481,683.135315519,666,642.135315519,888,789,818.135315519,655,632,657,0.400936966109,-0.00544374171686,0.0499248058586,0.999999975377,4.97889634867e-05,-0.000214442588837,-2.79560236764e-05,1793250474467397632
+68,1.133333333,BASELINE,769,746,722,683.44947192,666.44947192,642,888,789,818,655,632,657,0.40093840524,-0.00544293756772,0.0499251900564,0.999999975564,5.03250944415e-05,-0.000213401089785,-2.82600354622e-05,1793250474484064512
+69,1.150000000,BASELINE,769,745.963595205,721.963595205,683.963595205,666.963595205,642,887.963595205,789,818,655,632,656.963595205,0.400940513663,-0.00544165735004,0.049925861362,0.999999975855,5.10446368431e-05,-0.000211800321051,-2.87293258095e-05,1793250474500730880
+70,1.166666667,BASELINE,769,745.38458218,721.38458218,683.38458218,666.38458218,642,887.38458218,789,818,655,632,656.38458218,0.400940336184,-0.00544320779148,0.049926061001,0.999999975984,4.88266774599e-05,-0.000211703670762,-2.87946357109e-05,1793250474517397760
+71,1.183333333,BASELINE,769,745.193045198,721,683,666,642.193045198,887.193045198,789,818,655,632,656,0.400940162232,-0.00544335475168,0.0499261694515,0.999999975952,4.91687322555e-05,-0.000211772814231,-2.88391388207e-05,1793250474534064640
+72,1.200000000,BASELINE,769,745.767931885,721,683,666,642.767931885,887.767931885,789,818,655,632,656,0.400939995257,-0.00544072564018,0.0499260975323,0.999999975587,5.45744693369e-05,-0.000212169896086,-2.88424863139e-05,1793250474550731264
+73,1.216666667,BASELINE,769.347674113,746,721.347674113,683,666,642.652325887,888,789,818.347674113,655,632,656,0.400939784508,-0.00544039762636,0.0499261970086,0.999999975599,5.48775029381e-05,-0.000212049718109,-2.87426823455e-05,1793250474567397632
+74,1.233333333,BASELINE,769.930703221,746,721.930703221,683,666,642.069296779,888,789,818.930703221,655,632,656,0.400939544127,-0.00544162732096,0.0499264125095,0.999999975871,5.17263050411e-05,-0.000211579385522,-2.85730508833e-05,1793250474584064512
+75,1.250000000,BASELINE,769.486883938,746,721.486883938,683.513116062,666,642,887.486883938,789,819,655.513116062,632,656.513116062,0.400939692321,-0.00544184261498,0.0499268290482,0.999999975943,5.18573721787e-05,-0.000211206974576,-2.85826978588e-05,1793250474600731136
+76,1.266666667,BASELINE,769,746,721,684,666,642,887.095022578,789,818.904977422,656,632,656.904977422,0.400939676669,-0.00544179888307,0.0499270084547,0.99999997593,5.24230242687e-05,-0.000211124112897,-2.86053590796e-05,1793250474617397760
+77,1.283333333,BASELINE,769,746,721,684,666,642,887.674770288,789,818.325229712,656,632,656.325229712,0.400938557833,-0.00544113181747,0.04992583988,0.999999975622,5.29470707853e-05,-0.000212450908782,-2.85710484185e-05,1793250474634064384
+78,1.300000000,BASELINE,769,746,721.255215477,684,666.255215477,642.255215477,888,789,818.255215477,656,632,656.255215477,0.400938173839,-0.00544056004485,0.0499251820313,0.999999975403,5.3233336348e-05,-0.000213396790524,-2.8685839423e-05,1793250474650731264
+79,1.316666667,BASELINE,769,746,721.836551879,684,666.836551879,642.836551879,888,789,818.836551879,656,632,656.836551879,0.400938728843,-0.00544011004011,0.0499251768016,0.999999975297,5.32157592291e-05,-0.00021385593024,-2.89911563879e-05,1793250474667397888
+80,1.333333333,BASELINE,769,746,721.590982473,684,667,642.590982473,888,789.409017527,819,655.590982473,632,656.590982473,0.400939590187,-0.00544063550784,0.0499256320752,0.999999975614,5.18081179592e-05,-0.000212713843473,-2.89913847206e-05,1793250474684064512
+81,1.350000000,BASELINE,769,746,721.021986384,684,667,642.021986384,888,789.978013616,819,655.021986384,632,656.021986384,0.400940571351,-0.00544154251099,0.0499262674649,0.999999976091,4.98567824725e-05,-0.000210945470842,-2.88722841079e-05,1793250474700731136
+82,1.366666667,BASELINE,769,746,721.570305519,684,666.429694481,642.570305519,888,789.429694481,819,655,631.429694481,656.570305519,0.400940604478,-0.0054403960461,0.0499260574821,0.999999975961,5.05815929348e-05,-0.000211369220738,-2.90183437198e-05,1793250474717397760
+83,1.383333333,BASELINE,769,746,722,684,666,642.841154199,887.841154199,789,819,655.158845801,631.158845801,657,0.400940590713,-0.00543977873652,0.0499259516826,0.999999975857,5.14428336701e-05,-0.000211646541943,-2.90738704446e-05,1793250474734064384
+84,1.400000000,BASELINE,769,746,722,684,666,642.264931702,887.264931702,789,819,655.735068298,631.735068298,657,0.400940553859,-0.00544076868325,0.049926208912,0.999999975886,5.23799213602e-05,-0.000211307599894,-2.88635127399e-05,1793250474750731264
+85,1.416666667,BASELINE,769,746,722,684,666.310511211,642.310511211,887.310511211,789,819,655.689488789,632,657,0.400940495345,-0.00544073094869,0.0499264462366,0.999999975909,5.28381347898e-05,-0.00021109220222,-2.88066134385e-05,1793250474767397888
+86,1.433333333,BASELINE,769,746,722,684,666.885290605,642.885290605,887.885290605,789,819,655.114709395,632,657,0.400940418395,-0.0054398185807,0.0499266666209,0.999999975928,5.28887904759e-05,-0.000210981950037,-2.88803186885e-05,1793250474784064512
+87,1.450000000,BASELINE,769.472355205,746,721.527644795,684,666.527644795,642.527644795,887.527644795,789,819,655,632,656.527644795,0.400940385933,-0.00543915420136,0.0499264929495,0.999999975884,5.34162064851e-05,-0.000211004452402,-2.9253788191e-05,1793250474800731136
+88,1.466666667,BASELINE,769.938684732,746,721,683.938684732,666,642,887.061315268,789,818.938684732,655,632,656.061315268,0.400940353519,-0.00543884997075,0.0499262278413,0.999999975851,5.36561608429e-05,-0.000211051166582,-2.96049104707e-05,1793250474817397504
+89,1.483333333,BASELINE,769.35958467,746,721,683.35958467,666,642,887.64041533,789,818.35958467,655,632,656.64041533,0.400940227848,-0.00544106492247,0.0499260202691,0.999999976037,5.04647877401e-05,-0.000211022825584,-2.91361643836e-05,1793250474834064128
+90,1.500000000,BASELINE,769,746,721,683,666,642,887.782123505,789,818,655,632,657,0.40093992116,-0.00544218423442,0.0499258371279,0.999999976061,4.91311214072e-05,-0.000211263524361,-2.88247363698e-05,1793250474850731008
+91,1.516666667,BASELINE,769,746,721,683,666,642,887.20734705,789,818,655,632,657,0.40093931795,-0.00544150879637,0.0499256940068,0.999999975833,5.08405347912e-05,-0.000211944932851,-2.87710085927e-05,1793250474867397632
+92,1.533333333,BASELINE,769,746,721,683.375034822,666.375034822,642,887.375034822,789,818.375034822,655.375034822,632,657,0.400940623527,-0.00544089062851,0.0499263236121,0.999999976095,5.14806964811e-05,-0.000210528630427,-2.8922923822e-05,1793250474884064512
+93,1.550000000,BASELINE,769,746,721,683.961708623,666.961708623,642,887.961708623,789,818.961708623,655.961708623,632,657,0.400943006268,-0.00544030477919,0.049927389281,0.99999997663,5.15174601303e-05,-0.000207928551601,-2.91908871391e-05,1793250474900731392
+94,1.566666667,BASELINE,769,746,721,683.458356973,666.458356973,642,888,789,819,655.458356973,632,657,0.40094160385,-0.00544062559933,0.0499267421827,0.9999999763,5.06423739567e-05,-0.000209739079749,-2.90748719158e-05,1793250474917398016
+95,1.583333333,BASELINE,769,745.878934182,721,683,666,642,888,789,819,655,632,657,0.400940311049,-0.00544116279951,0.0499262210739,0.999999976034,4.97302460739e-05,-0.000211238161117,-2.89463610109e-05,1793250474934064640
+96,1.600000000,BASELINE,769,745.299666505,721,683,666,642,888,789,819,655,632,657,0.400940433432,-0.00544227933241,0.0499266294396,0.999999976254,4.89189021942e-05,-0.000210392895785,-2.88720323937e-05,1793250474950731264
+97,1.616666667,BASELINE,769,745,721.276843138,683,666.276843138,642,887.723156862,789,818.723156862,655,632,656.723156862,0.400939957098,-0.00544214397081,0.0499266106469,0.999999976189,4.96086481108e-05,-0.000210556264566,-2.87585243756e-05,1793250474967397888
+98,1.633333333,BASELINE,769,745,721.850396784,683,666.850396784,642,887.149603216,789,818.149603216,655,632,656.149603216,0.400938839079,-0.00544066687369,0.0499261340412,0.999999975814,5.19072080831e-05,-0.000211800651132,-2.86030252899e-05,1793250474984064512
+99,1.650000000,BASELINE,769,745.435002763,721.564997237,683,666.564997237,642,887.435002763,789,818.435002763,655,632,656.435002763,0.40093975623,-0.00544054307544,0.049926296727,0.999999975841,5.27287741283e-05,-0.000211486390146,-2.84906492528e-05,1793250475000731136
+100,1.666666667,BASELINE,769,746,721,683.023123603,666,642,888,789,819,655,632,657,0.40094128628,-0.00544086905024,0.0499266452791,0.999999976,5.29917096019e-05,-0.000210675866872,-2.84021775413e-05,1793250475017397760
+101,1.683333333,BASELINE,769,746,721,683.601985285,666,642,888,789,819,655,632,657,0.4009402863,-0.00544052743258,0.0499260390721,0.999999975929,5.23550668058e-05,-0.000211157178688,-2.85224862143e-05,1793250475034064384
+102,1.700000000,BASELINE,769,746,721.180058206,683.819941794,666,642.180058206,888,789,819,655.180058206,632,657,0.400939522567,-0.00544027921003,0.0499255078257,0.999999975772,5.27069416348e-05,-0.00021179988361,-2.86056117061e-05,1793250475050731008
+103,1.716666667,BASELINE,769,746,721.756395118,683.243604882,666,642.756395118,888,789,819,655.756395118,632,657,0.400939278778,-0.00544023653496,0.0499251415551,0.999999975424,5.52343824021e-05,-0.00021279778834,-2.86069030727e-05,1793250475067397632
+104,1.733333333,BASELINE,769,745.667798365,721.667798365,683.332201635,666.332201635,643,887.667798365,789,819,655.667798365,632,656.667798365,0.400939099663,-0.0054399420786,0.0499250395945,0.999999975317,5.58583675189e-05,-0.00021313201882,-2.86388047692e-05,1793250475084064512
+105,1.750000000,BASELINE,769,745.092380108,721.092380108,683.907619892,666.907619892,643,887.092380108,789,819,655.092380108,632,656.092380108,0.400938967901,-0.00543946328423,0.0499251311444,0.999999975391,5.508876538e-05,-0.000212980349904,-2.86931173762e-05,1793250475100731136
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,722,684,667,643,887,789,819,655,632,657,0.400940186355,-0.00543743184927,0.0499265251599,0.999999975913,5.72478963436e-05,-0.000209871427267,-2.91608904387e-05,1793250475131704576
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,721.42123053,684,667,642.42123053,887,789,819,655,632,656.42123053,0.400939829877,-0.00543969373576,0.0499261718115,0.999999975926,5.29437894369e-05,-0.000210943579722,-2.91237446394e-05,1793250475148371200
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,721,684,666.843303088,642.156696912,887,789,819,655,631.843303088,656,0.400939427361,-0.00544119170468,0.0499257591969,0.99999997584,5.02702411864e-05,-0.000212008791296,-2.90690977502e-05,1793250475165037824
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,721,684,666.26762695,642.73237305,887,789,819,655,631.26762695,656,0.400938901749,-0.00544064709659,0.0499251881149,0.999999975534,5.19565111924e-05,-0.000213055444457,-2.89676561023e-05,1793250475181704448
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.313933811,745.686066189,721.313933811,683.686066189,666.313933811,642.686066189,887,789,819,655.313933811,631.313933811,656,0.400939623458,-0.00544074616471,0.0499256564565,0.999999975754,5.20719810197e-05,-0.00021201312839,-2.88272532002e-05,1793250475198371328
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.900606978,745.099393022,721.900606978,683.099393022,666.900606978,642.099393022,887,789,819,655.900606978,631.900606978,656,0.400941428815,-0.00544140444575,0.0499270278283,0.999999976425,5.08227712674e-05,-0.000209155957974,-2.86530015532e-05,1793250475215037952
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.518897002,745.481102998,721.518897002,683.481102998,666.518897002,642,887,789,819,656,632,656.481102998,0.400942751566,-0.00544213563132,0.0499269273156,0.999999976507,5.04970967613e-05,-0.000208842682116,-2.86390151004e-05,1793250475231704576
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746,721.060276709,683.939723291,666,642.060276709,887,789,819,655.939723291,632,657,0.400944793614,-0.00544273698439,0.0499269035871,0.999999976625,5.03774405371e-05,-0.000208304020029,-2.86503654881e-05,1793250475248371200
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,721.63891447,683.36108553,666,642.63891447,887,789,819,655.36108553,632,657,0.400953867951,-0.00544209393464,0.0499301220448,0.999999978047,5.04094835063e-05,-0.00020136480254,-2.85984800247e-05,1793250475265037824
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,721.783786463,683,666,642.783786463,887.216213537,789,819,655,632,657,0.400968666513,-0.00544208706524,0.0499340223128,0.999999980075,5.05752181364e-05,-0.000190991974997,-2.85174635346e-05,1793250475281704448
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,721.208709368,683,666,642.208709368,887.791290632,789,819,655,632,657,0.40099296594,-0.0054431361055,0.0499390542253,0.999999983,5.09628494338e-05,-0.000174920163966,-2.83880964016e-05,1793250475298371328
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.375924847,745.624075153,721,683.375924847,666,642.375924847,887.624075153,789,818.624075153,655,632,656.624075153,0.401026095549,-0.00544334992405,0.0499455017334,0.999999986402,5.20469684664e-05,-0.000153888348192,-2.83923293034e-05,1793250475315037696
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.966003537,745.033996463,721,683.966003537,666,642.966003537,887.033996463,789,818.033996463,655,632,656.033996463,0.401064255469,-0.00544308794031,0.0499527556669,0.999999989708,5.35278570499e-05,-0.000130030955225,-2.84726703765e-05,1793250475331704320
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.454206067,745.545793933,721,684,666,642.454206067,887,789,818,655.545793933,632,656.545793933,0.401115508008,-0.00544688751702,0.049958224598,0.999999992796,4.91253524201e-05,-0.00010582461853,-2.8227157216e-05,1793250475348370944
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,721.123559386,683.876440614,666.123559386,642,887.123559386,789,818,655.876440614,632,657,0.401168566006,-0.0054501179066,0.0499627566975,0.999999994842,4.59175458955e-05,-8.61731488256e-05,-2.79560784465e-05,1793250475365037824
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,721.696250757,683.303749243,666.696250757,642,887.696250757,789,818,655.303749243,632,657,0.401225277262,-0.00545037675114,0.0499642801363,0.999999994991,4.8359841192e-05,-8.3155922743e-05,-2.76644829507e-05,1793250475381705216
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,722,683.273311108,667,642,888,789.273311108,818.273311108,655.273311108,632,657,0.401289741771,-0.00545112749732,0.0499658888711,0.999999995231,4.96853577563e-05,-7.95272695411e-05,-2.72749249269e-05,1793250475398372096
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,722,683.855305847,667,642,888,789.855305847,818.855305847,655.855305847,632,657,0.401362962972,-0.00545243380812,0.0499675939413,0.999999995576,4.97495594839e-05,-7.52080571591e-05,-2.67747258669e-05,1793250475415038464
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,721.559931387,684,666.559931387,642,888,789.559931387,819,656,631.559931387,657,0.401457465562,-0.00545600256004,0.0499680470575,0.999999995838,4.5915087428e-05,-7.42979330616e-05,-2.6382817589e-05,1793250475431704832
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.025421262,887.974578738,789,819,656,631.025421262,656.974578738,0.40155985929,-0.00546035165582,0.0499680497314,0.999999996036,4.09528813327e-05,-7.46623254785e-05,-2.59900470219e-05,1793250475448371200
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.603684499,887.396315501,789,819,656,631.603684499,656.396315501,0.401680728308,-0.00546539115489,0.0499672652589,0.999999995853,3.95193859037e-05,-7.82130420177e-05,-2.47992927861e-05,1793250475465038080
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,721.180265287,684,666,642.819734713,887.180265287,789,819,656,632,656.180265287,0.401813660103,-0.00547066759657,0.0499681182261,0.999999995989,3.76027097049e-05,-7.78071520477e-05,-2.35220227718e-05,1793250475481704704
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,721.753181317,684,666,642.246818683,887.753181317,789,819,656,632,656.753181317,0.401972866816,-0.00547646014189,0.0499725378365,0.999999996791,3.46335776595e-05,-6.87830494456e-05,-2.20563057329e-05,1793250475498372096
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,722,684,666,642,888,789,819,655.664553334,632,656.664553334,0.402142875227,-0.00548246397296,0.0499729078752,0.999999997024,3.07073679258e-05,-6.76077302552e-05,-2.09133025401e-05,1793250475515038976
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,722,684,666,642,888,789,819,655.07521155,632,656.07521155,0.402321059317,-0.005488627724,0.0499702128473,0.999999996841,2.60567585095e-05,-7.23730498666e-05,-2.00145570099e-05,1793250475531705600
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+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.917304245,888,789,819,655,632,657,0.402769621841,-0.00550339050124,0.0499704209185,0.99999999699,2.25977681727e-05,-7.2354299344e-05,-1.65804677664e-05,1793250475565038592
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.338736875,888,789,819,655,632,657,0.403034276162,-0.00550947089516,0.0499739431501,0.999999997421,1.95985139484e-05,-6.74165260748e-05,-1.5121327754e-05,1793250475581705216
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.238096832,888.238096832,789,819,655,632,657,0.403318270052,-0.00551793371825,0.0499790913724,0.999999998174,1.45939150033e-05,-5.71411160277e-05,-1.32076061713e-05,1793250475598371840
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,721,684,666,642.812481875,888.812481875,789,819,655,632,657,0.403629579154,-0.0055297614864,0.0499865361454,0.999999999147,6.75696527548e-06,-3.93268225534e-05,-1.06518331927e-05,1793250475615038464
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.601575831,721,684.398424169,666,643,888.601575831,789.398424169,819,655,632,657,0.403965326924,-0.0055404758082,0.0499945411637,0.999999999741,3.09258106839e-06,-2.11223908069e-05,-7.88640962634e-06,1793250475631705344
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.010031643,721,684.989968357,666,643,888.010031643,789.989968357,819,655,632,657,0.404312920341,-0.00555065043151,0.0500028177379,0.999999999983,1.45067965209e-06,-2.72885581036e-06,-5.01936648073e-06,1793250475648372480
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.569079959,721.569079959,685,666.569079959,643,888,789.430920041,819,655.569079959,632,656.430920041,0.404712568973,-0.00555820709813,0.0500080494698,0.999999999948,3.121196001e-06,9.55588528038e-06,-1.85762404063e-06,1793250475665039104
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.853120409,745.853120409,722,684.853120409,667,642.853120409,888,789.146879591,819,655.853120409,632,656.146879591,0.405116175623,-0.00556369839612,0.0500099859386,0.999999999857,7.30531166501e-06,1.51902028025e-05,1.29395557719e-06,1793250475681705472
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.278516869,745.278516869,722,684.278516869,667,642.278516869,888,789.721483131,819,655.278516869,632,656.721483131,0.405528693188,-0.00556330670619,0.0500024793234,0.999999999815,1.8642806667e-05,1.76488705118e-06,4.40113524606e-06,1793250475698371840
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.302677257,745.302677257,721.697322743,684,667,642.302677257,888.302677257,790,819,655.302677257,632,656.697322743,0.405943373144,-0.00555665913448,0.0499872125791,0.999999998909,3.70257308099e-05,-2.77515994284e-05,6.32710041914e-06,1793250475715038208
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.890070952,745.890070952,721.109929048,684,667,642.890070952,888.890070952,790,819,655.890070952,632,656.109929048,0.406360087224,-0.00554412690394,0.0499646461898,0.999999995429,6.20360107422e-05,-7.24044107239e-05,7.14194452196e-06,1793250475731704832
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,721,684.470542511,667,643,889,790,819,656,632,656.470542511,0.406840570175,-0.00554279251083,0.0499477273305,0.999999992195,7.47780524886e-05,-9.96964515509e-05,8.8914653384e-06,1793250475748371712
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,721,685,667,642.950763156,889,789.950763156,819,655.950763156,632.049236844,657,0.407344181368,-0.00554454492123,0.0499349236645,0.999999989417,8.44805683996e-05,-0.000117923260298,1.11344476463e-05,1793250475765038336
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,721,685,667,642.374034396,889,789.374034396,819,655.374034396,632.625965604,657,0.40793828242,-0.00555174689605,0.0499522773882,0.999999992295,9.18802695049e-05,-8.18529040391e-05,1.63585971474e-05,1793250475781705216
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.798279928,746,721,685,667.201720072,642,889,789.201720072,819,655,632.798279928,656.798279928,0.408543721128,-0.00555673264764,0.0499733908753,0.99999999374,0.000101591229454,-4.15477048511e-05,2.17383468485e-05,1793250475798372096
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.224323366,746,721,685,667.775676634,642,889,789.775676634,819,655,632.224323366,656.224323366,0.409170081314,-0.00555762877525,0.0500014422981,0.999999992925,0.000115567182891,6.57209900024e-06,2.74052271699e-05,1793250475815039232
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.359449762,746,721,685,667.640550238,642.359449762,889,790,819,655,632,656.359449762,0.409789608598,-0.00555725010323,0.0500141372417,0.999999991544,0.000124094620845,2.36606346105e-05,3.08505356226e-05,1793250475831705856
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.949521141,746,721,685,667.050478859,642.949521141,889,790,819,655,632,656.949521141,0.410404751893,-0.00555605352452,0.050016979525,0.999999990906,0.000129126311335,2.08396233005e-05,3.2870491727e-05,1793250475848371968
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,721.52951627,685,667,643,889,789.47048373,819,655,632,657,0.411024799906,-0.00555513062193,0.0499871013533,0.999999991658,0.000118322948456,-4.28669329592e-05,2.90745682791e-05,1793250475865038592
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.891823647,746,722,685,667,643,889,789.108176353,819,655,632,657,0.411666937805,-0.00555488901502,0.0499590739912,0.999999988964,0.00010838229854,-9.83095102089e-05,2.57053714526e-05,1793250475881704960
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.314864252,746,722,685,667,643,889,789.685135748,819,655,632,657,0.412402813839,-0.00555748886016,0.0499523319908,0.999999989402,0.000108599749482,-9.32570864237e-05,2.65431538403e-05,1793250475898371584
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.261892545,746,722,685.261892545,667.261892545,643,889.261892545,790,819,655,632,657,0.413163731291,-0.00555892405245,0.0499617909061,0.999999991163,0.000110514982484,-6.82248873165e-05,2.83871372089e-05,1793250475915038464
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.838406029,746,722,685.838406029,667.838406029,643,889.838406029,790,819,655,632,657,0.413954731998,-0.00555896010572,0.0499907125635,0.99999999277,0.000114469822016,-1.91902642176e-05,3.14399060927e-05,1793250475931705344
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,721.577399899,685.577399899,668,643,890,790,819.422600101,655,632,657,0.414705105957,-0.00555839567284,0.0499871203477,0.999999992562,0.000115139820356,-2.48369559915e-05,3.16593728804e-05,1793250475948371968
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.009684927,746,721,685.019369854,667.990315073,643,890,790,820,655,632,657,0.415440687124,-0.00555763294111,0.0499707409764,0.999999991628,0.000114455877315,-5.19392415629e-05,3.0771655177e-05,1793250475965038592
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.590840756,746,721,686.181681513,667.409159244,643,890,790,820,655,632,657,0.416237026229,-0.00555896880167,0.049947024234,0.999999989667,0.00010936819502,-8.84522761387e-05,2.96638034006e-05,1793250475981704960
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.830291517,746,721,687,667,643,890,789.830291517,820.169708483,655,632,657,0.417058311365,-0.00556108642139,0.0499380934764,0.999999989033,0.000105026461428,-0.000100135225904,2.96158907504e-05,1793250475998371584
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.256866946,746,721,687,667,643,890,789.256866946,820.743133054,655,632,657,0.41793894006,-0.00556506375214,0.0499643368011,0.999999992845,0.000102459250605,-5.27503857576e-05,3.20894460095e-05,1793250476015038208
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,721.325448237,687,667,643,890.325448237,789.325448237,821,655,632,656.674551763,0.418785215874,-0.00556594726579,0.0499752402716,0.999999993373,0.000102472055291,-4.0333509385e-05,3.35802746542e-05,1793250476031704576
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,721.914977574,687,667,643,890.914977574,789.914977574,821,655,632,656.085022426,0.419603616411,-0.00556432033819,0.0499736963988,0.99999999236,0.000104578383105,-5.62909734853e-05,3.42736813977e-05,1793250476048371200
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721.504926667,687.495073333,667,643,891,789.504926667,821,655,632,656.495073333,0.420472504381,-0.00556274051421,0.0499647198632,0.999999992276,0.000104292100672,-5.85828088053e-05,3.3745342717e-05,1793250476065038336
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721.072989271,688.072989271,667,643,891,789,821.072989271,655,632,657,0.421358356914,-0.00556158309372,0.0499593671581,0.999999992732,0.000103570740381,-5.19831709209e-05,3.32689972765e-05,1793250476081705216
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721.646856007,688.646856007,667,643,891,789,821.646856007,655,632,657,0.422302237879,-0.00556326987746,0.0499874781689,0.999999994136,0.000102630736886,-1.71239932892e-07,3.45623740976e-05,1793250476098372096
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.221730111,721.778269889,689,667.221730111,643,891,789,822,655,632,656.778269889,0.423233312532,-0.00556513471577,0.0499993740983,0.99999999405,0.000101124800803,2.01295147488e-05,3.5628589411e-05,1793250476115038720
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.798216037,721.201783963,689,667.798216037,643,891,789,822,655,632,656.201783963,0.424143897949,-0.00556728443174,0.0499853268056,0.999999994418,9.87134042795e-05,-9.98584772511e-06,3.63313592767e-05,1793250476131705088
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.615885063,721,689,667.615885063,643,891,789,822,655,632,656.384114937,0.425062886731,-0.00557051935875,0.0499856833149,0.999999994713,9.54812824466e-05,-8.50749991631e-06,3.72178485169e-05,1793250476148371712
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746.024917135,721,689,667.024917135,643,891,789,822,655,632,656.975082865,0.425986400824,-0.00557433869182,0.0499937965385,0.999999995006,9.18071850223e-05,9.98464631645e-06,3.82032739933e-05,1793250476165038336
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,721.555303323,689.555303323,667,643,891,789,822.555303323,655,632,657,0.426902480916,-0.00557420041262,0.05000331286,0.999999994966,9.18472248501e-05,5.36453353133e-06,4.00449971881e-05,1793250476181704960
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643.133965679,891,789.133965679,823,655,632,657,0.427806715511,-0.0055728448501,0.0500004666665,0.999999994736,9.2874455686e-05,-1.51531125897e-05,4.08935674328e-05,1793250476198371584
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643.709055281,891,789.709055281,823,655,632,657,0.428673022591,-0.00556805464609,0.0499567096475,0.999999991013,9.66139678648e-05,-8.46683054315e-05,3.83477526178e-05,1793250476215038464
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.283304369,722,690.283304369,667,644,891,790,823,655,632,657,0.429598390659,-0.00556675275986,0.0499420985472,0.99999998949,9.70278673434e-05,-0.000101021978799,3.74074315903e-05,1793250476231705088
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.856692793,722,690.856692793,667,644,891,790,823,655,632,657,0.430584233037,-0.00556902266978,0.0499573308521,0.999999992871,9.40365697295e-05,-6.29419334126e-05,3.81110252849e-05,1793250476248371456
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.446953408,747,722,691,667,643.553046592,891.446953408,789.553046592,823.446953408,655,632,657,0.431493355964,-0.00556989239546,0.0499522558681,0.999999992505,9.11478208685e-05,-7.2349496035e-05,3.80555449158e-05,1793250476265038080
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,722,691.041466529,667.041466529,643,892,789,824,655,632,657,0.432378566663,-0.00557049365557,0.0499413629487,0.999999990876,8.84099046298e-05,-9.48898737043e-05,3.77958298551e-05,1793250476281704448
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,722,691.618298106,667.618298106,643,892,789,824,655,632,657,0.433285097725,-0.00557365240207,0.0499427178353,0.999999992053,8.71781935166e-05,-8.26936082558e-05,3.81648196673e-05,1793250476298371072
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746.803395527,722,691.803395527,668,643,892,789,824,655,632,657,0.434192047793,-0.0055760932512,0.0499524016789,0.999999993532,8.54916817998e-05,-6.40649922091e-05,3.90175006917e-05,1793250476315037440
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,746.222204151,722,691.222204151,668,643,892,789,824,655,632,657,0.435099817659,-0.00557712978938,0.0499783781723,0.99999999519,8.29155137966e-05,-3.28537620186e-05,4.08163520242e-05,1793250476331704320
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.642442284,746.357557716,721.642442284,691,667.642442284,643,892,789.357557716,824,655,632,657,0.435949691057,-0.00557654834082,0.0499713071938,0.999999993616,8.48166011832e-05,-6.17918826544e-05,4.19111901315e-05,1793250476348371456
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.063565282,746.936434718,721.063565282,691,667.063565282,643,892,789.936434718,824,655,632,657,0.436763727933,-0.00557496539887,0.0499437806548,0.999999986903,8.94889975978e-05,-0.000127960949193,4.2570261416e-05,1793250476365038080
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,721.518411976,691.518411976,667.518411976,643,892,790,824,655,632.518411976,657,0.437653012435,-0.00557707196723,0.049952215402,0.999999991005,8.4705391921e-05,-9.51227575602e-05,4.20423627129e-05,1793250476381704704
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.099554673,747,722,692,667.900445327,643,892,790,824.099554673,655,632.900445327,657,0.438539002496,-0.00557909992412,0.0499648729555,0.999999994373,8.0127325613e-05,-5.56574165662e-05,4.16718374565e-05,1793250476398371328
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.674881366,747,722,692,667.325118634,643,892,790,824.674881366,655,632.325118634,657,0.439364889573,-0.00557857721326,0.0499765119667,0.999999994796,8.21058899906e-05,-4.28861497813e-05,4.27531248638e-05,1793250476415037952
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892,789.75060151,825,655,632,656.75060151,0.440166500241,-0.00557843346646,0.0499737721512,0.999999994551,8.19303981797e-05,-4.84581124674e-05,4.28642501638e-05,1793250476431704576
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892,789.177136379,825,655,632,656.177136379,0.440936566249,-0.00557878214294,0.0499523485887,0.999999992981,7.89559407293e-05,-7.78651393745e-05,4.17147535472e-05,1793250476448371200
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.590523699,722,692,667,643,892,789,825,655,632,656.409476301,0.441707461642,-0.00558125048715,0.0499507888401,0.999999993268,7.60126804802e-05,-7.69442706222e-05,4.20266138534e-05,1793250476465037824
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.998083584,746.001916416,722,692,666.998083584,643,892.001916416,789,825.001916416,655,632,657,0.442478484979,-0.00558465822037,0.0499580464185,0.999999994447,7.30885975086e-05,-6.25713890218e-05,4.2987211826e-05,1793250476481704448
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.420313789,746.579686211,722,692,666.420313789,643,892.579686211,789,825.579686211,655,632,657,0.443176547274,-0.00558566747687,0.0499470744931,0.99999999339,7.17372966947e-05,-7.90974600395e-05,4.26239552526e-05,1793250476498371072
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,722,692,666,642.84346071,893,789,826,655,632,657,0.443843193737,-0.00558453559643,0.04992202888,0.999999989147,7.30270805761e-05,-0.000121025878763,4.15449011032e-05,1793250476515037696
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,722,692,666,642.26905459,893,789,826,655,632,657,0.444425978763,-0.00557768815363,0.0498594148859,0.999999969321,8.13669895187e-05,-0.000230763465728,3.85550926288e-05,1793250476531704576
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.3062992,746.6937008,722,692.3062992,666,642,893,789,826,655,632,657,0.445039819811,-0.00557424751177,0.0498198867133,0.999999954965,8.48854757132e-05,-0.000285534361078,3.65360963786e-05,1793250476548371200
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.882487977,746.117512023,722,692.882487977,666,642,893,789,826,655,632,657,0.445681025234,-0.00557380870662,0.0498007001666,0.999999953239,8.4155659282e-05,-0.000291872421799,3.53725128916e-05,1793250476565037568
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746.470833854,722,693,666,642,893,788.529166146,826,655,632,656.529166146,0.446309940638,-0.0055699218588,0.0498046906749,0.999999957811,8.68657513829e-05,-0.000274990404336,3.48332810761e-05,1793250476581704192
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,692.939260088,666,641.939260088,893,788.060739912,826.060739912,655,632,656.060739912,0.446924456408,-0.00556594160378,0.0498108959361,0.99999996187,8.96437224323e-05,-0.000258925065684,3.43654758686e-05,1793250476598371072
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722,692.362558363,666,641.362558363,893,788.637441637,826.637441637,655,632,656.637441637,0.447443399745,-0.00556867186969,0.0497854744076,0.999999950695,8.55120225034e-05,-0.000300330974473,3.3145634641e-05,1793250476615038720
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,722.213591516,692,666,641,893,788.786408484,827,655,632,657,0.447949223441,-0.0055732748442,0.0497602459414,0.999999938326,7.94519687065e-05,-0.00034057791161,3.22884445833e-05,1793250476631705856
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.788807029,692,666,641,893,788.211192971,827,655,632,657,0.448432834699,-0.00558104843297,0.0497353443443,0.999999925259,7.01270899301e-05,-0.000378862632342,3.20452461464e-05,1793250476648372480
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.627545378,692.372454622,665.627545378,640.627545378,893,788,827,655,631.627545378,657,0.448918898554,-0.00558502065041,0.0497311592184,0.99999992354,6.49369353456e-05,-0.000384232128649,3.26794173165e-05,1793250476665039104
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722.039005735,692.960994265,665.039005735,640.039005735,893,788,827,655,631.039005735,657,0.449406385365,-0.00558678744716,0.0497389930553,0.99999992886,6.2145600896e-05,-0.000370505377713,3.3822607346e-05,1793250476681705984
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722,693,665,639.458763733,893,788,827,655,631,657,0.44986060694,-0.0055822320484,0.049755304725,0.999999935942,6.8204530801e-05,-0.000349719023194,3.40732907176e-05,1793250476698372608
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747.696614733,722,693,665,639,893,788,827,655.696614733,631,657,0.450694485007,-0.00558413384583,0.0497757249941,0.999999943387,6.56518808531e-05,-0.000328083290274,3.57431874875e-05,1793250476731705344
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747.727153345,722.272846655,693,665,639,893.272846655,788,827,655.727153345,631,657,0.451055678777,-0.0055883843696,0.0497745527158,0.999999940814,6.03557239483e-05,-0.000336736568507,3.6572851613e-05,1793250476748371968
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747.151111817,722.848888183,693,665,639,893.848888183,788,827,655.151111817,631,657,0.451380339415,-0.00559196798763,0.0497656100253,0.999999933141,5.63876893137e-05,-0.000359407922594,3.69253682295e-05,1793250476765038592
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664.565871358,638.565871358,893.565871358,788,827,655.434128642,631,657,0.451670093382,-0.00559220111799,0.0497466340908,0.999999919421,5.42500522519e-05,-0.000396130239915,3.59956820318e-05,1793250476781705216
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,892.97774318,788,827,656,631,657,0.451946870063,-0.00559135553977,0.0497245538657,0.999999902653,5.27606409668e-05,-0.000436704066043,3.46496113541e-05,1793250476798372096
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,892.399201592,788,827,656,631,657,0.452209552483,-0.00559332873667,0.0497140630975,0.999999897456,5.12039237714e-05,-0.000448653935834,3.42929846444e-05,1793250476815038976
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,892,787.821610149,827,655.821610149,631,657,0.452467668548,-0.00559522276901,0.0497097081237,0.999999896546,4.91088513122e-05,-0.000450914778941,3.42364218209e-05,1793250476831705856
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,892,787.246133757,827,655.246133757,631,657,0.45271562011,-0.00559694058488,0.0497190111108,0.9999999052,4.58154282175e-05,-0.000431608350484,3.48477856656e-05,1793250476848372224
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.664213511,892.335786489,787,827,655,630.664213511,656.664213511,0.452936841453,-0.00559686586465,0.0497261963354,0.999999910704,4.44475902271e-05,-0.00041879955235,3.49716663594e-05,1793250476865038336
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.077477399,892.922522601,787,827,655,630.077477399,656.077477399,0.453138086025,-0.00559545149494,0.0497317988538,0.999999914008,4.45188355823e-05,-0.000410846748372,3.47312271835e-05,1793250476881704704
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.494166867,637,893,787,827,655,630,656.505833133,0.453309359289,-0.00559314886311,0.0497286897484,0.999999911302,4.71080979602e-05,-0.000417102164238,3.46757465441e-05,1793250476898371328
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.087087033,636.912912967,892.912912967,787,827,655.087087033,630.087087033,657,0.453469800948,-0.00559102768214,0.0497234163576,0.99999990734,4.95852752885e-05,-0.000426229414052,3.45059838238e-05,1793250476915038208
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.65977923,636.34022077,892.34022077,787,827,655.65977923,630.65977923,657,0.453595270315,-0.0055906718287,0.0497134650711,0.999999901722,4.93013404721e-05,-0.000439316970966,3.35420674591e-05,1793250476931704832
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,892.234218469,787,827,655.765781531,630.765781531,657,0.453710161412,-0.00559206876672,0.0497031398763,0.999999895897,4.74982476023e-05,-0.000452616274896,3.29848488039e-05,1793250476948371200
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,892.811214462,787,827,655.188785538,630.188785538,657,0.453809571255,-0.00559603090603,0.049692267469,0.999999889827,4.3471874768e-05,-0.000466225468736,3.30228302113e-05,1793250476965037824
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+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,893,787,827,655,630.989988237,657,0.45397414063,-0.00559438413402,0.0496796833875,0.99999988198,4.21831225924e-05,-0.000482961371588,3.17575984042e-05,1793250476998371328
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+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723,693.143489374,664,636,892.143489374,787,827,655.143489374,630.856510626,657,0.454112506689,-0.00559438628527,0.0496856340907,0.999999887414,4.02806095059e-05,-0.000471757563797,3.15432967079e-05,1793250477031704576
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,723,693.720873726,664,636,892.720873726,787,827,655.720873726,630.279126274,657,0.454156080368,-0.00559269734659,0.0496830776083,0.999999885512,4.32252614616e-05,-0.000475532546268,3.12322208607e-05,1793250477048371200
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,747,723,694,663.705362311,636,893,787,827,656,630.294637689,657,0.454191054643,-0.00559219157009,0.0496795562728,0.999999882927,4.32601807138e-05,-0.000480957662658,3.08835223531e-05,1793250477065038080
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,723,694,663.13498644,636,893,787,827,656,630.86501356,657,0.454217981126,-0.00559279306176,0.0496751319743,0.999999879675,4.05720121332e-05,-0.000487927065711,3.04996144501e-05,1793250477081704448
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,723,693.544787232,663.455212768,636,893,787,827,655.544787232,631,657,0.45423780469,-0.00559502250365,0.0496720820605,0.999999876843,3.9307536767e-05,-0.000493756207151,3.11919744616e-05,1793250477098371072
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+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747.62643368,723,693,663.37356632,636,893,787,827,655.62643368,630.37356632,657,0.454268102528,-0.00559553629359,0.0496688271829,0.999999873903,3.91293080835e-05,-0.000499677177512,3.13803215819e-05,1793250477131704320
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+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747.248210958,723,693.751789042,663.751789042,636,893,787,827,655.248210958,630,657,0.454283594444,-0.00559175047861,0.0496663883313,0.999999871965,4.12152935595e-05,-0.000503461313277,2.99718772058e-05,1793250477165038080
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+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747.684776014,723,693,663,636,893,786.684776014,827,655.684776014,630.315223986,657,0.454292272957,-0.00558995487101,0.0496626304842,0.999999869221,4.51631527285e-05,-0.000508580421195,2.94143992634e-05,1793250477248371200
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747.73988211,723,693,663.26011789,635.73988211,893,787,827,655.73988211,630,657,0.454292584664,-0.00558947107582,0.0496619341457,0.999999868814,4.51292084425e-05,-0.000509397572095,2.91436744934e-05,1793250477265037824
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+238,3.966666667,POSE1_TO_POSE2_PRESS,770,746.590104569,723,693.590104569,663,635.409895431,893,787,827,655,630,657,0.454293999281,-0.00558892349319,0.0496605754218,0.999999867197,4.36823131422e-05,-0.000512713816161,2.86776158282e-05,1793250477331704576
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693.831696309,663.168303691,635,893,787,827,655,630,657,0.454293750253,-0.00558910158636,0.0496602966187,0.999999866831,4.39254944047e-05,-0.000513407725738,2.86673533518e-05,1793250477348371200
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693.255723599,663.744276401,635,893,787,827,655,630,657,0.454293234543,-0.00558845337453,0.0496588568215,0.999999866231,4.38954124865e-05,-0.000514592285763,2.8403617602e-05,1793250477365037824
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+250,4.166666667,HOLD_POSE2,769.335234891,747,722.335234891,693,663,635,892,786.335234891,826.335234891,655,630,657,0.45429408122,-0.00558841157148,0.0496560959024,0.999999864301,4.29065865786e-05,-0.000518422123079,2.81982713084e-05,1793250477554220800
+251,4.183333333,HOLD_POSE2,769.910244772,747,722.910244772,693,663,635,892,786.910244772,826.910244772,655,630,657,0.454293619386,-0.00558960602302,0.0496564241816,0.999999863884,4.24926378557e-05,-0.000519244941712,2.84650171985e-05,1793250477570887424
+252,4.200000000,HOLD_POSE2,770,747,723,693,663,635,892.491906531,787,827,655.491906531,630,657,0.454293315863,-0.00558931338577,0.0496556622551,0.999999863297,4.22387864463e-05,-0.000520396211296,2.84498271058e-05,1793250477587554048
+253,4.216666667,HOLD_POSE2,770.074755556,747.074755556,722.925244444,693,663.074755556,635,892.925244444,787,827,655.925244444,630,657,0.454293199436,-0.00558880814935,0.0496549708604,0.999999862849,4.20815753818e-05,-0.000521272872654,2.84022718056e-05,1793250477604220416
+254,4.233333333,HOLD_POSE2,770.657311815,747.657311815,722.342688185,693,663.657311815,635,892.342688185,787,827,655.342688185,630,657,0.454294155015,-0.00558872719573,0.049656128348,0.999999863563,4.2379672555e-05,-0.000519871493892,2.84890997262e-05,1793250477620887040
+255,4.250000000,HOLD_POSE2,770.761804978,747.761804978,722,693,663.761804978,635,892.238195022,787,827,655,630,657,0.454294565776,-0.00558818736161,0.0496565763533,0.999999863938,4.26986946358e-05,-0.000519135284354,2.82854910732e-05,1793250477637553920
+256,4.266666667,HOLD_POSE2,770.183312031,747.183312031,722,693,663.183312031,635,892.816687969,787,827,655,630,657,0.454294198182,-0.00558699194671,0.049656010755,0.999999863829,4.30476111135e-05,-0.000519349370649,2.76669494605e-05,1793250477654220544
+257,4.283333333,HOLD_POSE2,770,747,722.391863536,693,663,635,893,786.608136464,827,655,630,657,0.454293643868,-0.00558679493345,0.0496550706345,0.999999862981,4.17301873503e-05,-0.000521112316848,2.71800927133e-05,1793250477670887936
+258,4.300000000,HOLD_POSE2,770,747,722.965500325,693,663,635,893,786.034499675,827,655,630,657,0.454293002941,-0.00558706104742,0.0496539567848,0.999999861781,3.96398004317e-05,-0.000523593730788,2.67543204072e-05,1793250477687555840
+259,4.316666667,HOLD_POSE2,770,747,723,693,663,635,893,786.541433808,827,655,630,657,0.454292470662,-0.00558733652128,0.0496538845024,0.999999861585,4.08814603056e-05,-0.00052383746203,2.74424330582e-05,1793250477704221952
+260,4.333333333,HOLD_POSE2,770,747.120712493,723,693,663,635,893,787,827,655,630.120712493,657,0.454292381521,-0.00558737463975,0.0496541909677,0.999999861702,4.20123427246e-05,-0.000523498553853,2.79403754663e-05,1793250477720888320
+261,4.350000000,HOLD_POSE2,770,747.712471564,723,693,663,635,893,787,827,655,630.712471564,657,0.454293994472,-0.00558648420836,0.0496557153046,0.999999862795,4.18789186253e-05,-0.000521444819889,2.74180894198e-05,1793250477737554944
+262,4.366666667,POSE2_TO_POSE3_RETREAT,769,747,723,693,663,635,893,787,828,655,630,657,0.454294133625,-0.00558750012526,0.0496545997415,0.999999862901,4.32126633694e-05,-0.000521096256128,2.80810388377e-05,1793250477774825472
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769.57645518,747,723,693,663,635,893,786.42354482,827.42354482,655,630,657,0.454292106385,-0.0055851561787,0.0496532450508,0.999999861316,4.56433103451e-05,-0.000523943814356,2.77055254325e-05,1793250477791492352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,786,827,655,630,657,0.454291062385,-0.00558403906673,0.0496525884212,0.999999860449,4.65738992725e-05,-0.000525522973882,2.75485467884e-05,1793250477808159488
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,786,827,655,630,657,0.454292741851,-0.00558632015164,0.0496538653445,0.999999861596,4.33494922301e-05,-0.000523588808568,2.79968854161e-05,1793250477824826368
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,723,693.335417664,663,635,893,786,827,655,630,657,0.454293555165,-0.00558687261213,0.0496543532124,0.999999862008,4.24170459364e-05,-0.000522886753298,2.78254556121e-05,1793250477841492992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,723,693.914662133,663,635,893,786,827,655,630,657,0.45429373884,-0.00558616847505,0.0496542674882,0.999999861892,4.31507060967e-05,-0.000523080361939,2.72034944776e-05,1793250477858159360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,723,693.510308374,663,635,893,786.489691626,827,655,630,657,0.454294240149,-0.00558735425576,0.0496552277739,0.999999862391,4.20627888861e-05,-0.000522209418241,2.73110106309e-05,1793250477874825984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723,693.063964887,663.063964887,635,892.936035113,786.936035113,827,655,630,657,0.454294492164,-0.00558866642921,0.0496560180242,0.999999862791,4.07544791504e-05,-0.000521533628133,2.75462922806e-05,1793250477891492352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,723,693.638015173,663.638015173,635,892.361984827,786.361984827,827,655,630,657,0.454292318553,-0.00558838251584,0.0496540111013,0.99999986158,4.0198496916e-05,-0.000523880863204,2.77953330725e-05,1793250477908158720
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,723,693.780918619,663.780918619,635,892,786.219081381,827,655,630,657,0.454288765605,-0.00558819518018,0.0496516693775,0.99999986005,4.03635958815e-05,-0.0005267746781,2.79267520918e-05,1793250477924825344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,723,693.187876652,663.187876652,635,892,786.812123348,827,655,630,657,0.454282858203,-0.00558817269772,0.0496487561662,0.999999857971,4.17595432151e-05,-0.00053060147624,2.78573968036e-05,1793250477941491968
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,892.396420378,786.603579622,827,655.396420378,630,657,0.454260821917,-0.00558605424284,0.0496386635316,0.999999849251,4.26369619854e-05,-0.0005467739045,2.68062052126e-05,1793250477958158336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,892.976662399,786.023337601,827,655.976662399,630,657,0.454231306606,-0.00558296387753,0.0496252417707,0.99999983705,4.32739371858e-05,-0.000568671048724,2.52997323608e-05,1793250477974825216
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,892.44851091,786.55148909,827,655.44851091,630,657,0.454173467314,-0.00558347312965,0.0496019800298,0.999999813996,4.44419826428e-05,-0.000607786449673,2.50592864629e-05,1793250477991492352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,892,787,827,655,630,657,0.454112103272,-0.0055830709965,0.0495795145496,0.999999791959,4.52563756357e-05,-0.000642997664111,2.42618662977e-05,1793250478008159232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,892,787,827,655,630,657,0.454042423391,-0.0055788903994,0.049561348229,0.999999779813,4.47336274499e-05,-0.000661754679236,2.12945124064e-05,1793250478024825600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,723,693.293608674,663,635,892.293608674,786.706391326,827,655,630.293608674,656.706391326,0.453965438432,-0.00557533736528,0.049548626673,0.99999976952,4.60762538545e-05,-0.000677093448732,1.95078376541e-05,1793250478041491712
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,723,693.880685828,663,635,892.880685828,786.119314172,827,655,630.880685828,656.119314172,0.453881151888,-0.00557241159475,0.0495413472828,0.999999761236,4.92833641973e-05,-0.00068901560374,1.8901278464e-05,1793250478058158080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747.457590829,723,693.542409171,663,635,893,786.915181658,827,655,630.542409171,656.457590829,0.45378648492,-0.00556967065965,0.0495408636887,0.999999759596,4.90690594505e-05,-0.000691415948765,1.85729933085e-05,1793250478074824960
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747.967989597,722.967989597,693,663,635,893,787.967989597,827,655,630,656.967989597,0.453687701872,-0.00556675406613,0.0495421453981,0.999999759679,4.84768914556e-05,-0.000691344808407,1.82996291691e-05,1793250478091491584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747.391712782,722.391712782,693,663,635,893,787.391712782,827,655,630,656.391712782,0.45356395356,-0.00556004916173,0.0495439690309,0.99999975983,5.62985706464e-05,-0.000690547320547,1.77532093348e-05,1793250478108158464
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770.189010813,747,722.189010813,693,663,635,893,787,827,655,630,656.189010813,0.453430396784,-0.00555377193614,0.0495460877206,0.999999759934,6.27651369046e-05,-0.000689852319904,1.72409298906e-05,1793250478124825088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.779172038,747,722.779172038,693,663,635,893,787,827,655,630,656.779172038,0.453276022855,-0.005548402403,0.0495488326293,0.999999760038,6.63556545033e-05,-0.000689374834975,1.68011089729e-05,1793250478141492224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770.637814573,747,723,693,663,635.362185427,893,787,827,655,630.362185427,657.362185427,0.453103882289,-0.00554257801308,0.0495527676662,0.999999761135,7.08064043004e-05,-0.000687353204443,1.62133377647e-05,1793250478158159104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.059074887,747,723,693,663,635.940925113,893,787,827,655,630.940925113,657.940925113,0.452921118858,-0.00553648165926,0.0495574142929,0.999999762801,7.57714958004e-05,-0.000684408313885,1.55371055683e-05,1793250478174825984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,722.484227466,692.484227466,663.515772534,636,893,787,827,655.515772534,631,657.484227466,0.452710970512,-0.0055304606951,0.0495635032882,0.999999766317,7.94349397436e-05,-0.000678829581219,1.56819705958e-05,1793250478191492352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,722,692.092300131,663.907699869,636,892.907699869,786.907699869,827,655.907699869,630.907699869,656.907699869,0.4524914376,-0.00552408907416,0.0495686881106,0.999999768531,8.32110772579e-05,-0.000675105954732,1.56828866434e-05,1793250478208158720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,722,692.680225953,663.319774047,636,892.319774047,786.319774047,827,655.319774047,630.319774047,656.319774047,0.452238228524,-0.00551578850325,0.0495681373262,0.999999762779,8.83869048254e-05,-0.000682951482036,1.44096204629e-05,1793250478224825088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,722.26409496,693,663.26409496,636,892,786.26409496,827,655,630.26409496,656.26409496,0.451960716563,-0.00550617782377,0.0495672948198,0.999999758014,9.47621456503e-05,-0.000689073618371,1.30120786684e-05,1793250478241491456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,722.843126135,693,663.843126135,636,892,786.843126135,827,655,630.843126135,656.843126135,0.451654223156,-0.00549500482557,0.0495661044315,0.999999754452,0.000102567699989,-0.000693140591099,1.14663368806e-05,1793250478258158080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,664,636.421592194,892.421592194,787,826.578407806,655,631,657,0.451328266349,-0.00548403205883,0.0495632635838,0.999999754203,0.000110316077092,-0.000692344747427,9.15884138631e-06,1793250478274824960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,664,636.999848242,892.999848242,787,826.000151758,655,631,657,0.450995076942,-0.00547313369843,0.0495598094247,0.999999755139,0.000118043206926,-0.000689741878801,6.56827789504e-06,1793250478291491840
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769.427223846,746.427223846,723,693,664,637,892.427223846,787,826.572776154,655,631,657,0.450647563027,-0.00546490818959,0.0495717684037,0.999999773469,0.000121093424466,-0.000662097178451,5.01502575786e-06,1793250478308158208
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769.150037841,746.150037841,722.849962159,692.849962159,664,637,892,787,826.849962159,655,630.849962159,657,0.450291198965,-0.00545725524957,0.0495855450081,0.999999791655,0.000123973830445,-0.00063348872332,3.50915130865e-06,1793250478324824832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.74001086,746.74001086,722.25998914,692.25998914,664,637,892,787,826.25998914,655,630.25998914,657,0.449908895931,-0.00545127911791,0.0496046393181,0.999999810768,0.000126359921034,-0.000602073664476,2.14139773444e-06,1793250478341491456
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.676410967,746.676410967,722,692,663.676410967,637.323589033,892.323589033,787.323589033,826,655.323589033,630.647178067,656.676410967,0.449477451709,-0.00544891536443,0.0496154776013,0.999999821488,0.000122305776229,-0.00058486390884,-2.55618018226e-07,1793250478358158336
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,747,722,692,664.382311926,640,892,788,825,655,631,657,0.445702665169,-0.00543161233494,0.0496035634147,0.999999818882,8.14548291349e-05,-0.000595941338153,-2.13099619001e-05,1793250478474824704
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.394994935,745.394994935,721.394994935,684,667,642,887.605005065,789,819,655,632,656.605005065,0.40305816885,-0.00540993219408,0.0498393970208,0.999999951147,5.85800208682e-05,-0.00030376070625,-4.47550119766e-05,1793250479458158080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745.184258921,721.184258921,684,666.815741079,642,888,789,819,655,632,657,0.402780515484,-0.00540929642898,0.0498293172639,0.999999944754,6.1082027159e-05,-0.000323596780425,-4.52300495047e-05,1793250479474825216
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745.77239221,721.77239221,684,666.22760779,642,888,789,819,655,632,657,0.402527887984,-0.00540562957553,0.0498187601446,0.9999999382,6.83709204478e-05,-0.000341750461654,-4.6174916939e-05,1793250479491492352
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745.065902597,722,684,666,642,888,789,819,655,631.065902597,656.065902597,0.402104283606,-0.00540216600865,0.0498072819794,0.999999932399,8.23432978688e-05,-0.000355578756512,-4.45670456679e-05,1793250479524824832
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,721,683.793821109,666,642,887,789,819,655,631.793821109,656,0.401558366754,-0.00541014298303,0.0498285651755,0.99999994907,8.52508184891e-05,-0.000304759931891,-4.14012222007e-05,1793250479591491328
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.417563083,746,721,683,666.417563083,642,887.417563083,789,819,655,631.417563083,656,0.401364769473,-0.00542163159597,0.0498321274658,0.999999952404,7.16927972044e-05,-0.000297189743295,-4.15966621833e-05,1793250479624825088
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.197674543,745.802325457,721,684,666,642,887,788.197674543,819,655,631.802325457,656,0.400988142063,-0.0054254115309,0.0498369838944,0.99999995762,6.60087901233e-05,-0.000280456764221,-4.1806062648e-05,1793250479808157952
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,721.96389276,684,666,642,887.96389276,788.96389276,819,655,631.03610724,656,0.400983848489,-0.00542449206578,0.0498408424713,0.999999959089,7.00808926972e-05,-0.000274238325509,-4.12719839326e-05,1793250479841491456
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.287021052,746,721.287021052,683.287021052,666,642,887.712978948,789,819,655,632,656.712978948,0.400981715302,-0.00542802299557,0.0498423126634,0.999999960494,6.41047098122e-05,-0.000270665387724,-4.05235433628e-05,1793250479908157952
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.559386055,746,721.559386055,683.559386055,666.440613945,642,887.440613945,789,819,655,632,656,0.400980718734,-0.00542818099738,0.0498424234174,0.999999960457,6.25605438004e-05,-0.000271132219949,-4.07413264808e-05,1793250479941491200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.013027052,746,721.013027052,683.013027052,667,642,888,789,819,655,632,656.013027052,0.400981322803,-0.00542816171942,0.0498429700023,0.999999960854,6.11216639032e-05,-0.000269993310859,-4.07511029578e-05,1793250479958158080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.590017706,746,721.590017706,683.590017706,667,642,888,789,819,655,632,656.590017706,0.400980791871,-0.0054283124169,0.0498428043566,0.999999960672,6.48994340308e-05,-0.000269857163214,-4.02670022582e-05,1793250479974824704
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,745.828638194,721.828638194,684,666.828638194,642,887.828638194,789,819,655,632,657,0.400980915227,-0.00542862071297,0.0498430298805,0.9999999608,6.68442766948e-05,-0.000268951909384,-3.99639035948e-05,1793250479991491328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,745.236607029,721.236607029,684,666.236607029,642,887.236607029,789,819,655,632,657,0.400982644766,-0.00542931589162,0.0498442156711,0.999999961709,6.42895375579e-05,-0.000266158607027,-4.01051397441e-05,1793250480008157952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.652332889,745.347667111,721,683.652332889,666,642.347667111,887.347667111,789,819,655,632,656.652332889,0.400982077833,-0.00542871250759,0.0498441609741,0.999999961659,6.32332244373e-05,-0.000266556958429,-4.03879050261e-05,1793250480024824576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.073222651,745.926777349,721,683.073222651,666,642.926777349,887.926777349,789,819,655,632,656.073222651,0.40097998213,-0.00542724466612,0.0498432804803,0.999999960972,6.31744184985e-05,-0.000269080004249,-4.07648867072e-05,1793250480041491200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,746,721.499134856,683.499134856,666,642.500865144,888,789,819,655,632,656.499134856,0.400980460786,-0.00542782243233,0.0498439025747,0.999999961227,6.46088348863e-05,-0.000267833230594,-4.04538041073e-05,1793250480058158848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745.927095594,722,683.927095594,666,642,887.927095594,789,819,655,632,656.927095594,0.400981060843,-0.00542858266446,0.0498445796934,0.999999961519,6.60516148897e-05,-0.000266441822151,-4.00975456964e-05,1793250480074826240
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745.336354231,722,683.336354231,666,642,887.336354231,789,819,655,632,656.336354231,0.400979876537,-0.00542853587732,0.0498441028536,0.999999961131,6.60186351432e-05,-0.000267898789437,-4.01277968638e-05,1793250480091492352
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.249326984,745.249326984,722,683,666,642,887.249326984,789,819,655.249326984,632,656,0.400980064904,-0.00542816821184,0.0498443415511,0.999999961135,6.62542296406e-05,-0.000267811825653,-4.0204694114e-05,1793250480108158720
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.828317682,745.828317682,722,683,666,642,887.828317682,789,819,655.828317682,632,656,0.40098206824,-0.00542737627641,0.049845526342,0.999999961658,6.68449368497e-05,-0.000265683454272,-4.03432674879e-05,1793250480124825344
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,746,721.593895626,683,666,642,888,789,819,655.593895626,632,656.406104374,0.400983109942,-0.00542756980048,0.0498459631456,0.999999962179,6.65284387022e-05,-0.00026379760768,-4.03419950714e-05,1793250480141491712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,746,721.016616462,683,666,642,888,789,819,655.016616462,632,656.983383538,0.400983746311,-0.00542817870014,0.0498460846691,0.999999962696,6.58295494485e-05,-0.000262013986486,-4.02817770273e-05,1793250480158158592
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,745.44177022,721,683.55822978,666,642,887.44177022,788.44177022,819,655,631.44177022,657,0.400980807258,-0.00542924801011,0.0498444049714,0.999999961779,6.58770685789e-05,-0.000265522167646,-4.00110951943e-05,1793250480174825216
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac7057a516424e3fb1819bb812e7901c2d4d4f04
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/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
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+378,6.300000000,pose2_to_pose3_retreat,0.57574500654,0.000150113781777,1.04003360492,0.546315685096,0.00882274818095,1.03970500803
+379,6.316666667,pose2_to_pose3_retreat,0.575724510438,0.000149856691416,1.04003364992,0.546295191558,0.00882249940931,1.0397050429
+380,6.333333333,pose2_to_pose3_retreat,0.57570747681,0.000150123902968,1.04003346064,0.546278153967,0.00882275327686,1.03970485648
+381,6.350000000,pose2_to_pose3_retreat,0.575693882779,0.000150126980679,1.04003346381,0.546264560887,0.00882275951034,1.03970485775
+382,6.366666667,pose2_to_pose3_retreat,0.575684152504,0.000150061439025,1.04003356528,0.546254831996,0.00882269855322,1.03970495628
+383,6.383333333,pose2_to_pose3_retreat,0.575677046925,0.000150184219139,1.0400336431,0.546247723032,0.00882280987942,1.03970503507
+384,6.400000000,pose2_to_pose3_retreat,0.575672403124,0.000150030343821,1.04003364108,0.546243082273,0.00882266642626,1.03970503567
+385,6.416666667,pose2_to_pose3_retreat,0.575669678587,0.000149965703365,1.04003359833,0.546240359087,0.0088226064078,1.03970499396
+386,6.433333333,pose2_to_pose3_retreat,0.575668406924,0.00015001161447,1.04003351689,0.546239086581,0.00882264943474,1.0397049119
+387,6.450000000,pose2_to_pose3_retreat,0.575667702017,0.000150037063839,1.04003347175,0.546238381207,0.00882267328536,1.03970486642
+388,6.466666667,pose2_to_pose3_retreat,0.57566722793,0.000150054179912,1.04003344139,0.546237906806,0.00882268932619,1.03970483583
+389,6.483333333,pose2_to_pose3_retreat,0.575666798857,0.000150069670815,1.04003341391,0.546237477448,0.00882270384394,1.03970480814
+390,6.500000000,pose2_to_pose3_retreat,0.57566645564,0.000150074488441,1.0400334339,0.546237134327,0.00882270899406,1.03970482839
+391,6.516666667,pose2_to_pose3_retreat,0.575666225054,0.00015007480062,1.04003346354,0.546236903929,0.0088227099586,1.03970485837
+392,6.533333333,pose2_to_pose3_retreat,0.575666012234,0.000150075088746,1.0400334909,0.546236691283,0.00882271084882,1.03970488603
+393,6.550000000,pose2_to_pose3_retreat,0.575665921016,0.000150075212243,1.04003350263,0.546236600139,0.00882271123039,1.03970489789
+394,6.566666667,pose2_to_pose3_retreat,0.575665677703,0.000150075541651,1.0400335339,0.546236357026,0.00882271224816,1.03970492952
+395,6.583333333,pose2_to_pose3_retreat,0.575665522749,0.000150075751436,1.04003355382,0.546236202198,0.00882271289633,1.03970494967
+396,6.600000000,pose2_to_pose3_retreat,0.575665369896,0.000150075958377,1.04003357347,0.54623604947,0.00882271353572,1.03970496954
+397,6.616666667,pose2_to_pose3_retreat,0.575665332148,0.000150076009481,1.04003357832,0.546236011753,0.00882271369362,1.03970497445
+398,6.633333333,pose2_to_pose3_retreat,0.575665315546,0.000150076031958,1.04003358046,0.546235995165,0.00882271376306,1.0397049766
+399,6.650000000,pose2_to_pose3_retreat,0.575664999933,0.00015007645925,1.04003362103,0.54623567981,0.00882271508326,1.03970501763
+400,6.666666667,pose2_to_pose3_retreat,0.575664834196,0.000150077687577,1.04003361588,0.546235513947,0.00882271585661,1.0397050118
+401,6.683333333,pose2_to_pose3_retreat,0.575664702738,0.000150079540587,1.04003358864,0.546235382158,0.00882271654009,1.03970498321
+402,6.700000000,pose2_to_pose3_retreat,0.575664535798,0.000150081893729,1.04003355406,0.5462352148,0.00882271740804,1.0397049469
+403,6.716666667,pose2_to_pose3_retreat,0.575664405814,0.000150088582868,1.04003357938,0.546235084333,0.00882272240791,1.0397049709
+404,6.733333333,pose2_to_pose3_retreat,0.57566437927,0.000150092930574,1.04003361664,0.546235057594,0.00882272608352,1.03970500789
+405,6.750000000,pose2_to_pose3_retreat,0.575664358099,0.000150096398356,1.04003364635,0.546235036267,0.00882272901523,1.03970503739
+406,6.766666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04d3d66f22a29e7c1763662526cab300707ce0c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f983324163beeed126326163c0dcbf886a847da40af8d76c8dda30555c12021
+size 25926783
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..845bf565f0feb48f47d3c514d2d579e311bf3c3c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+0,0.000000000,BASELINE,769,746,721,683,666,642,888,789,819,655,632,656,0.400980858438,-0.00542855129879,0.0498451449885,0.999999961961,6.5850701483e-05,-0.000264870296921,-3.98095244882e-05,1793250480302641664
+1,0.016666667,BASELINE,769.591016288,745.408983712,721,683.591016288,666,642,888,789,819,655,632,656,0.400983616864,-0.00542795391146,0.0498474397718,0.999999962887,6.74410382579e-05,-0.000260948950681,-3.97961976239e-05,1793250480319309056
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+7,0.116666667,BASELINE,769,746,721,683.94164597,666,642.94164597,887,789,819,655.05835403,631.94164597,657,0.400983112626,-0.00542769858477,0.0498482760526,0.999999963122,6.76477616413e-05,-0.000259960771627,-3.99937333921e-05,1793250480419308288
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+9,0.150000000,BASELINE,769,745.757628969,721.242371031,683,666.242371031,642,887,789,819,655.757628969,631,656.757628969,0.400983273302,-0.0054283914345,0.0498480531144,0.999999963333,6.66635948288e-05,-0.000259435282602,-3.97829174483e-05,1793250480452641536
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+20,0.333333333,BASELINE,769.618599951,746,721.381400049,683.381400049,666,642,887.381400049,789.618599951,819,655,632,656.381400049,0.400981982403,-0.00543018547615,0.0498475335095,0.999999963065,6.38035035905e-05,-0.000261264959311,-3.92462578338e-05,1793250480635974656
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+39,0.650000000,BASELINE,770,746,721.64752769,684,666,642,888,789,819,655.64752769,632,657,0.400981211562,-0.00543055361431,0.0498479935967,0.999999963308,6.28997119172e-05,-0.000260596973637,-3.89577142108e-05,1793250480952641536
+40,0.666666667,BASELINE,769.77431937,745.77431937,722,684,666,642,888,789,819,655.77431937,632,656.77431937,0.400981723414,-0.00543160865926,0.0498483377644,0.999999963398,6.24218903076e-05,-0.000260390801378,-3.87783731313e-05,1793250480969308160
+41,0.683333333,BASELINE,769.197756101,745.197756101,722,684,666,642,888,789,819,655.197756101,632,656.197756101,0.40098162679,-0.00543198753162,0.0498475861037,0.999999963166,6.33157500102e-05,-0.000261050925067,-3.88686493737e-05,1793250480985974784
+42,0.700000000,BASELINE,769.379236241,745.379236241,721.620763759,683.620763759,666,642,888,788.620763759,819,655.379236241,632,656.379236241,0.400981487534,-0.00543136191778,0.0498473618964,0.99999996313,6.37161279909e-05,-0.000261035981218,-3.92486894261e-05,1793250481002641408
+43,0.716666667,BASELINE,769.956452562,745.956452562,721.043547438,683.043547438,666,642,888,788.043547438,819,655.956452562,632,656.956452562,0.400981326022,-0.00543021191243,0.0498474130459,0.999999963196,6.38588840703e-05,-0.000260668618696,-3.97800005202e-05,1793250481019308032
+44,0.733333333,BASELINE,770,746,721,683,666.525049653,642,887.474950347,788.525049653,819,655.474950347,632,656.474950347,0.400981287707,-0.00543001881519,0.049847942768,0.99999996328,6.50750326243e-05,-0.000260082864701,-3.95153485124e-05,1793250481035974656
+45,0.750000000,BASELINE,770,746,721.097975513,683.097975513,666.902024487,642,887,789,819,655,632,656.097975513,0.400981339121,-0.00543003939,0.0498483881277,0.999999963382,6.59116343719e-05,-0.000259523655726,-3.92297448748e-05,1793250481052641280
+46,0.766666667,BASELINE,770,746,721.696615713,683.696615713,666.303384287,642,887,789,819,655,632,656.696615713,0.400981797689,-0.00543075283439,0.0498482028301,0.999999963572,6.43611252053e-05,-0.000259191160564,-3.91689808742e-05,1793250481069307904
+47,0.783333333,BASELINE,769.715419136,746,721.715419136,683.715419136,666,642,887,789,819,655,632,656.715419136,0.400981492741,-0.00543102442644,0.0498479084469,0.999999963493,6.36421956211e-05,-0.000259670646542,-3.9172886024e-05,1793250481085974528
+48,0.800000000,BASELINE,769.138422849,746,721.138422849,683.138422849,666,642,887,789,819,655,632,656.138422849,0.400980403257,-0.00543084200196,0.0498475019749,0.99999996314,6.37777389573e-05,-0.000260984467596,-3.92432406694e-05,1793250481102641408
+49,0.816666667,BASELINE,769,746,721,683.444476053,666,642,887.444476053,789,819,655.444476053,632,656.444476053,0.400980512281,-0.00543060387229,0.0498473310974,0.999999963027,6.42459941456e-05,-0.000261325449747,-3.90818584518e-05,1793250481119308032
+50,0.833333333,BASELINE,769,746,721.029132374,684,666,642,887.970867626,789,819,655.970867626,631.970867626,657,0.400980998394,-0.00543038302449,0.0498472498098,0.999999963006,6.47854956064e-05,-0.000261302929727,-3.88765218365e-05,1793250481135974400
+51,0.850000000,BASELINE,769,746,721.611783592,684,666,642,887.388216408,789,819,655.388216408,631.388216408,657,0.400981462014,-0.00543082458901,0.0498474579218,0.999999963285,6.46834684851e-05,-0.000260207774777,-3.92257331329e-05,1793250481152641024
+52,0.866666667,BASELINE,769,746,721.807704137,683.807704137,666,642,887,789,819,655.192295863,631.192295863,656.807704137,0.400981963568,-0.00543100533134,0.0498478806645,0.999999963554,6.48252409395e-05,-0.000259126296318,-3.92809147265e-05,1793250481169307904
+53,0.883333333,BASELINE,769,746,721.231462609,683.231462609,666,642,887,789,819,655.768537391,631.768537391,656.231462609,0.400982540866,-0.00543066530556,0.0498487319478,0.999999963807,6.54537934546e-05,-0.000258072124956,-3.87490247488e-05,1793250481185974528
+54,0.900000000,BASELINE,769,746,721.342715838,683,666,642.342715838,887,789,819,655.657284162,632,656.342715838,0.400982886751,-0.00543107052184,0.0498489577164,0.999999963934,6.45916263101e-05,-0.000257796647899,-3.87390268205e-05,1793250481202641152
+55,0.916666667,BASELINE,769,746,721.91550924,683,666,642.91550924,887,789,819,655.08449076,632,656.91550924,0.40098307728,-0.00543197604615,0.0498487635542,0.999999963976,6.27286849993e-05,-0.000258043936595,-3.90793939629e-05,1793250481219307776
+56,0.933333333,BASELINE,769,746,721.495313107,683.504686893,666,643,887.504686893,789,819,655,632,656.495313107,0.400982176113,-0.00543099039789,0.0498485714371,0.999999963694,6.37501279335e-05,-0.00025883983375,-3.93733588446e-05,1793250481235974656
+57,0.950000000,BASELINE,769,745.905386129,721,684,666,642.905386129,887.905386129,789,819,655,632,656.094613871,0.400981497737,-0.0054298710643,0.0498485120249,0.999999963453,6.53452571756e-05,-0.000259346364953,-3.95404026739e-05,1793250481252641280
+58,0.966666667,BASELINE,769,745.32614237,721,684,666,642.32614237,887.32614237,789,819,655,632,656.67385763,0.400982928093,-0.00542974309602,0.0498491305401,0.999999963717,6.7322515108e-05,-0.000257884483642,-3.90984589314e-05,1793250481269307904
+59,0.983333333,BASELINE,769.251982699,745.251982699,721,684,666.251982699,642,887.251982699,789,819,655,632,657,0.40098307805,-0.00542964523652,0.0498489360894,0.999999963688,6.79687668994e-05,-0.000257846453849,-3.89923053843e-05,1793250481285974528
+60,1.000000000,BASELINE,769.828666319,745.828666319,721,684,666.828666319,642,887.828666319,789,819,655,632,657,0.400981578103,-0.0054295861747,0.049847694064,0.999999963282,6.68999054929e-05,-0.000259643176411,-3.93188457138e-05,1793250481302641152
+61,1.016666667,BASELINE,769.597013302,746,721.402986698,683.597013302,667,642,888,789,819,655,631.597013302,657,0.400981640592,-0.00543031707363,0.0498477689799,0.999999963471,6.4292975662e-05,-0.000259586826249,-3.92230800543e-05,1793250481319308032
+62,1.033333333,BASELINE,769.023691856,746,721.976308144,683.023691856,667,642,888,789,819,655,631.023691856,657,0.400982363492,-0.00543138187384,0.0498484005418,0.999999963904,6.10359338682e-05,-0.000258747217673,-3.89488137322e-05,1793250481335974912
+63,1.050000000,BASELINE,769,746,722,683.566348359,666.433651641,642,887.433651641,789,819,655,631.566348359,656.433651641,0.400982907892,-0.00542990233925,0.0498483286284,0.999999963657,6.59910500516e-05,-0.000258465757867,-3.90757154362e-05,1793250481352641536
+64,1.066666667,BASELINE,769.153624472,746,722,684,666.153624472,642.153624472,887,789,819,655,632,656.153624472,0.400983292065,-0.00542938219029,0.0498483355445,0.999999963544,6.86442518616e-05,-0.000258203643329,-3.91292711483e-05,1793250481369308160
+65,1.083333333,BASELINE,769.731281931,746,722,684,666.731281931,642.731281931,887,789,819,655,632,656.731281931,0.400983255215,-0.00543181285063,0.0498486437435,0.999999963933,6.39666589017e-05,-0.000257928517808,-3.89326475194e-05,1793250481385974784
+66,1.100000000,BASELINE,770,746,722,684,666.691962753,642.691962753,887.308037247,789,819,655,632,656.691962753,0.400983126262,-0.00543163963007,0.049848739344,0.999999963901,6.3606603014e-05,-0.000258130577395,-3.89859329859e-05,1793250481402641408
+67,1.116666667,BASELINE,770,746,722,684,666.115992158,642.115992158,887.884007842,789,819,655,632,656.115992158,0.400982917196,-0.00542920153221,0.0498486500246,0.99999996351,6.70019768701e-05,-0.000258747696557,-3.92565914633e-05,1793250481419308288
+68,1.133333333,BASELINE,770,746,722,684,666.46862719,642.46862719,888,789,819,655.46862719,632,656,0.400982439976,-0.00542944321566,0.0498484442802,0.999999963489,6.58676601683e-05,-0.000259130702318,-3.91732334787e-05,1793250481435974912
+69,1.150000000,BASELINE,770,746,722,683.945335682,666.945335682,642.945335682,888,789.054664318,819,655.945335682,632,656.054664318,0.400982132244,-0.00543039581402,0.0498483370076,0.999999963623,6.37526548622e-05,-0.000259171499367,-3.89939760413e-05,1793250481452641536
+70,1.166666667,BASELINE,770,746,722,683.366615288,666.366615288,642.366615288,888,789.633384712,819,655.366615288,632,656.633384712,0.400984097614,-0.00543168546437,0.0498494552201,0.999999964357,6.31864713572e-05,-0.000256497575713,-3.87511813619e-05,1793250481469308160
+71,1.183333333,BASELINE,770,745.787801758,722,683,666,642,887.787801758,789.787801758,819,655.212198242,632,656.787801758,0.400984320708,-0.00543183603096,0.0498496447722,0.999999964496,6.30442092783e-05,-0.000255979606111,-3.88197104423e-05,1793250481485974784
+72,1.200000000,BASELINE,770,745.208827151,722,683,666,642,887.208827151,789.208827151,819,655.791172849,632,656.208827151,0.400981532348,-0.00543001773599,0.0498482291715,0.999999963609,6.36346787176e-05,-0.000259188118357,-3.94263504299e-05,1793250481502641408
+73,1.216666667,BASELINE,769.6314631,745.3685369,722,683.3685369,666,642,887.3685369,789,819,655.6314631,632,656,0.400981414515,-0.00543052139423,0.0498478863078,0.999999963503,6.37770254596e-05,-0.000259561587897,-3.94248817864e-05,1793250481519308032
+74,1.233333333,BASELINE,769.055007715,745.944992285,722,683.944992285,666,642,887.944992285,789,819,655.055007715,632,656,0.400982803321,-0.00543233503535,0.0498481486532,0.999999963841,6.36665535423e-05,-0.000258335603343,-3.90803347749e-05,1793250481535974400
+75,1.250000000,BASELINE,769.52981771,746,721.47018229,683.47018229,666,642.52981771,888,789,819,655,632,656,0.400982901031,-0.00543083612871,0.0498487125337,0.999999964009,6.32654569244e-05,-0.000257762788532,-3.92043747063e-05,1793250481552641280
+76,1.266666667,BASELINE,769.885816917,746,721,683.114183083,666,642.885816917,888,789,819,655,632,656.114183083,0.400982878337,-0.00542927151929,0.0498491680934,0.999999964064,6.33077189998e-05,-0.000257520494993,-3.93257958142e-05,1793250481569307648
+77,1.283333333,BASELINE,769.306917516,746,721,683.693082484,666,642.306917516,888,789,819,655,632,656.693082484,0.400982919922,-0.00542886170637,0.0498490533357,0.999999963729,6.52791928216e-05,-0.000258342967082,-3.92353764624e-05,1793250481585974272
+78,1.300000000,BASELINE,769,745.727998949,721,684,666,642,887.727998949,789,819,655.272001051,632,657,0.400982644392,-0.00542913564557,0.0498489908957,0.999999963628,6.59403608675e-05,-0.000258570179007,-3.92110739778e-05,1793250481602641152
+79,1.316666667,BASELINE,769,745.149058793,721,684,666,642,887.149058793,789,819,655.850941207,632,657,0.400982011015,-0.00543018116368,0.0498489874936,0.999999963794,6.51229165468e-05,-0.000258125670602,-3.92613809611e-05,1793250481619307776
+80,1.333333333,BASELINE,769.426558885,745.426558885,721,683.573441115,666,642,887,789,819,655.573441115,632,656.573441115,0.400981514826,-0.00543151207474,0.0498486347794,0.999999963663,6.35136805738e-05,-0.000259059732852,-3.90807040002e-05,1793250481635974656
+81,1.350000000,BASELINE,770,746,721.00104716,683.00104716,666.00104716,642,887.00104716,789,819,655,632,656.00104716,0.400981069995,-0.00543293625743,0.0498481646686,0.999999963426,6.16363544368e-05,-0.000260463856514,-3.88203971659e-05,1793250481652641280
+82,1.366666667,BASELINE,770,746,721.588184677,683.588184677,666.588184677,642,887.588184677,789,819,655,632,656.588184677,0.400982745464,-0.00543117757925,0.049849779601,0.999999964106,6.33741058598e-05,-0.000257418496507,-3.8818921247e-05,1793250481669307904
+83,1.383333333,BASELINE,769.827422747,746,721.827422747,683.827422747,666.827422747,642,888,789,819,655,632,657,0.400983891549,-0.00543032817898,0.0498506403473,0.999999964532,6.42817868605e-05,-0.000255541396801,-3.87534444628e-05,1793250481685974528
+84,1.400000000,BASELINE,769.249477665,746,721.249477665,683.249477665,666.249477665,642,888,789,819,655,632,657,0.400983794162,-0.00543161458716,0.0498497295815,0.999999964385,6.32397104137e-05,-0.000256408430689,-3.85376356318e-05,1793250481702641152
+85,1.416666667,BASELINE,769.327214501,746,721,683.327214501,666.327214501,642.327214501,888,789,819,655,632,657,0.40098398881,-0.00543179068924,0.0498494296197,0.999999964391,6.3916030761e-05,-0.000256232059736,-3.84508125625e-05,1793250481719308032
+86,1.433333333,BASELINE,769.902955017,746,721,683.902955017,666.902955017,642.902955017,888,789,819,655,632,657,0.400984405265,-0.00543112349136,0.0498495935761,0.999999964509,6.58975082039e-05,-0.000255263201702,-3.84619567941e-05,1793250481735974656
+87,1.450000000,BASELINE,769.50903733,746,721,683.50903733,666.50903733,643,888,789,819,655,632,656.50903733,0.400984301117,-0.00543120433285,0.0498498421552,0.999999964519,6.39925068346e-05,-0.000255645231782,-3.89005591861e-05,1793250481752641280
+88,1.466666667,BASELINE,769.079896845,746,721.079896845,683.079896845,666,643,888,789,819,655,632,656.079896845,0.400984050458,-0.00543151067073,0.0498500094822,0.999999964466,6.1664841742e-05,-0.000256359166685,-3.93236433802e-05,1793250481769308160
+89,1.483333333,BASELINE,769.659080061,746,721.659080061,683.659080061,666,643,888,789,819,655,632,656.659080061,0.400983543767,-0.00543227849413,0.049849561848,0.9999999642,6.16195760406e-05,-0.000257435814004,-3.91082161423e-05,1793250481785974528
+90,1.500000000,BASELINE,769.763932402,746,722,684,666,642.763932402,888,789,819,655,631.763932402,656.763932402,0.400983388575,-0.0054319901633,0.0498495610008,0.999999964135,6.23455014305e-05,-0.000257528474386,-3.9022438285e-05,1793250481802641408
+91,1.516666667,BASELINE,769.19008661,746,722,684,666,642.19008661,888,789,819,655,631.19008661,656.19008661,0.400983736325,-0.00543019063024,0.0498501994405,0.999999964353,6.41748884413e-05,-0.000256213193342,-3.91221697407e-05,1793250481819308800
+92,1.533333333,BASELINE,769.385186112,746,722,683.614813888,666,642,888,789,819,655,631.385186112,656,0.400983693024,-0.00543065429223,0.0498499525781,0.999999964358,6.30556596051e-05,-0.000256459857997,-3.91925623504e-05,1793250481835975424
+93,1.550000000,BASELINE,769.961165684,746,722,683.038834316,666,642,888,789,819,655,631.961165684,656,0.400983456024,-0.0054322389779,0.0498492672009,0.999999964253,6.04758989947e-05,-0.000257480197946,-3.92484226173e-05,1793250481852641536
+94,1.566666667,BASELINE,769.448610669,746,722,683.551389331,666.551389331,642,888,789,819,655,632,656,0.400983710308,-0.00543159080916,0.0498496363133,0.999999964336,6.28906899502e-05,-0.000256622568243,-3.89536615931e-05,1793250481869308672
+95,1.583333333,BASELINE,769,746,721.860625671,684,666.860625671,642.139374329,888,789,819,655,632,656.139374329,0.400983905103,-0.00543097940954,0.0498498806418,0.999999964357,6.52154752608e-05,-0.000255997986455,-3.86916362298e-05,1793250481885975296
+96,1.600000000,BASELINE,769,746,721.282919822,684,666.282919822,642.717080178,888,789,819,655,632,656.717080178,0.400983801095,-0.00543099134494,0.0498494927602,0.999999964164,6.6121554917e-05,-0.000256533343315,-3.86122869866e-05,1793250481902641920
+97,1.616666667,BASELINE,769.294647261,745.705352739,721,683.705352739,666.294647261,642.705352739,887.705352739,788.705352739,819,655.294647261,632,657,0.40098368773,-0.00543140117295,0.0498492887916,0.999999964098,6.55803473984e-05,-0.000256921433086,-3.86544511645e-05,1793250481919308544
+98,1.633333333,BASELINE,769.872081128,745.127918872,721,683.127918872,666.872081128,642.127918872,887.127918872,788.127918872,819,655.872081128,632,657,0.400983565384,-0.0054321928769,0.0498492613327,0.999999964153,6.36501113699e-05,-0.000257168183789,-3.8813237399e-05,1793250481935975168
+99,1.650000000,BASELINE,770,745,721,683.44835587,666.55164413,642,887.44835587,788,819,656,631.55164413,656.55164413,0.400982919929,-0.00543132004198,0.0498492369983,0.999999964067,6.3995383944e-05,-0.000257419408335,-3.88152473146e-05,1793250481952642048
+100,1.666666667,BASELINE,770,745.024956322,721.024956322,683.975043678,666,642,887.975043678,788,819,655.975043678,631.024956322,656,0.400982148705,-0.00543009335554,0.0498491962323,0.999999963944,6.49229859184e-05,-0.000257670458921,-3.87712574828e-05,1793250481969309184
+101,1.683333333,BASELINE,770,745.616438692,721.616438692,683.383561308,666,642,887.383561308,788,819,655.383561308,631.616438692,656,0.40098190174,-0.00543158684285,0.0498487622735,0.999999963926,6.4370183316e-05,-0.000257888659674,-3.86958095865e-05,1793250481985975552
+102,1.700000000,BASELINE,770,746,721.79663228,683,666,642,887.20336772,788.20336772,819,655,632,656,0.400981838571,-0.00543219783303,0.0498485228738,0.99999996394,6.35249447832e-05,-0.000258045249878,-3.87016469474e-05,1793250482002641920
+103,1.716666667,BASELINE,770,746,721.218103067,683,666,642,887.781896933,788.781896933,819,655,632,656,0.400982114458,-0.00543118084127,0.049848642386,0.99999996401,6.21402367252e-05,-0.000258088184331,-3.88574348512e-05,1793250482019308288
+104,1.733333333,BASELINE,769.643489937,746,721.356510063,683.356510063,666.356510063,642,887.643489937,789,819,655,632,656.356510063,0.400982838868,-0.00543085366105,0.049849149411,0.999999964112,6.26929273731e-05,-0.000257572992863,-3.87579980409e-05,1793250482035974912
+105,1.750000000,BASELINE,769.071246473,746,721.928753527,683.928753527,666.928753527,642,887.071246473,789,819,655,632,656.928753527,0.400983834691,-0.00543094390343,0.0498498909301,0.999999964231,6.4417987634e-05,-0.000256720065061,-3.85041182119e-05,1793250482052641536
+106,1.766666667,BASELINE,769,746,721.483494544,683.483494544,666.483494544,642.516505456,887.516505456,789,819,655,632,656.483494544,0.400983454288,-0.00543149479806,0.0498492328145,0.999999964068,6.42751960753e-05,-0.000257403946025,-3.84155679484e-05,1793250482069308416
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,721,683,666,642,888,789,819,656,632,657,0.400983793951,-0.00543233026264,0.049850396254,0.9999999647,6.16808480389e-05,-0.000255550864286,-3.85983837402e-05,1793250482111760896
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,721.575442217,683.575442217,666,642,888,789,819,656,632,656.424557783,0.400983222673,-0.00543090860123,0.0498498788724,0.999999964249,6.50567972424e-05,-0.000256437944673,-3.88429567339e-05,1793250482128427776
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.849430981,721.849430981,683.849430981,666.150569019,642,888,789,819,655.849430981,632,656.150569019,0.40098284464,-0.00542980697503,0.0498494301983,0.999999963881,6.76824573392e-05,-0.000257168310587,-3.89960617394e-05,1793250482145094656
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745.275191559,721.275191559,683.275191559,666.724808441,642,888,789,819,655.275191559,632,656.724808441,0.400983010359,-0.00542960586211,0.0498491748529,0.999999963776,6.81969582213e-05,-0.000257457714255,-3.88917946037e-05,1793250482161761024
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.692066302,745,721,683,666.692066302,642,888,789,818.692066302,655,632,657,0.400982601244,-0.00542941613527,0.0498491608241,0.999999963775,6.77088152542e-05,-0.000257596263866,-3.88647906059e-05,1793250482178427392
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.100764107,745,721,683,666.100764107,642,888,789,818.100764107,655,632,657,0.400981663152,-0.00542923688621,0.0498493688612,0.999999963867,6.62980136377e-05,-0.000257595993685,-3.89088861378e-05,1793250482195093760
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.480068475,721,683,666,642,888,789,818.480068475,655,632,656.519931525,0.400982680099,-0.00543096073539,0.0498500342439,0.999999964327,6.40061246518e-05,-0.000256439670952,-3.85616332233e-05,1793250482211760384
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,721,683.058399841,666,642,887.941600159,789,819,655.058399841,632,656,0.400983714296,-0.00543276782922,0.0498505269097,0.999999964711,6.17880126586e-05,-0.000255535535791,-3.82305542851e-05,1793250482228427520
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,721,683.633628521,666,642,887.366371479,789,819,655.633628521,632,656,0.4009813471,-0.00543185199645,0.049848659655,0.999999963807,6.1824536737e-05,-0.000258964797741,-3.87540417258e-05,1793250482245094400
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,721,683.786876699,666,642.213123301,887,789,819,655.786876699,632,656.213123301,0.40098384546,-0.00543114134107,0.0498495571167,0.999999964184,6.24245901263e-05,-0.00025733511979,-3.88962128197e-05,1793250482261761024
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,721,683.199898507,666,642.800101493,887,789,819,655.199898507,632,656.800101493,0.400994878841,-0.00543079060217,0.0498553043662,0.999999966752,6.40131707489e-05,-0.000246831191616,-3.83694894636e-05,1793250482278427648
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.381902356,746,721,683,666,642.618097644,887.381902356,789,819,655,632,656.618097644,0.401021412971,-0.00543142812326,0.0498652625475,0.999999971377,6.47849013207e-05,-0.000227208562826,-3.77624761365e-05,1793250482295094016
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.961029558,746,721,683,666,642.038970442,887.961029558,789,819,655,632,656.038970442,0.401055952114,-0.00543257600887,0.04987739537,0.999999976611,6.51347882499e-05,-0.000202876786014,-3.71139988025e-05,1793250482311760384
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.460030472,745.460030472,721,683.539969528,666,642,888.539969528,788.460030472,819,655,632,656.539969528,0.401117959241,-0.00543556896227,0.0498964243596,0.999999984029,6.40702214032e-05,-0.000162975734192,-3.57214185348e-05,1793250482328427008
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,721,683.881898306,666.118101694,642,888.881898306,788,819,655,632,656.881898306,0.401183098524,-0.00543842793993,0.049914561696,0.999999989204,6.3336471369e-05,-0.000128099646633,-3.42089743808e-05,1793250482345093888
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,721,683.306839247,666.693160753,642,888.306839247,788,819,655,632,656.306839247,0.401252689071,-0.00544025349384,0.0499273240133,0.999999990562,6.42775554099e-05,-0.000117012204457,-3.24404694927e-05,1793250482361760256
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.27348714,721,683,666.72651286,642.27348714,888,788.27348714,819,655,632,656,0.401329098335,-0.0054430213155,0.0499363755964,0.999999991913,6.28107041713e-05,-0.000106143403499,-3.10178763041e-05,1793250482378426880
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745.859839234,721,683,666.140160766,642.859839234,888,788.859839234,819,655,632,656,0.4014133081,-0.00544686707644,0.0499411821578,0.999999993271,5.85892130841e-05,-9.5524725293e-05,-2.99910007235e-05,1793250482395093760
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.556636977,721,683.443363023,666,642.556636977,888,789,819,655,632,656,0.401514529637,-0.00545064498652,0.0499416456849,0.999999993456,5.6746440926e-05,-9.49080792965e-05,-2.93286811779e-05,1793250482411760640
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.025633586,721,683.974366414,666,642.025633586,888,789,819,655,632,656.025633586,0.401622129296,-0.00545438864929,0.0499408135186,0.999999993306,5.563439168e-05,-9.72848725587e-05,-2.87816319791e-05,1793250482428427008
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.600094276,721,683.399905724,666,642.600094276,888,789,819,655,632,656.600094276,0.401751873079,-0.00545785540045,0.0499414494927,0.999999993479,5.41691324785e-05,-9.64828624855e-05,-2.82507139737e-05,1793250482445093632
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,721.174781587,683,666,642.825218413,887.825218413,789,819,655,632,656.825218413,0.401892366609,-0.00546209792452,0.0499435082763,0.999999993837,5.23143013768e-05,-9.40477828196e-05,-2.72653777025e-05,1793250482461760256
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,721.749988007,683,666,642.250011993,887.250011993,789,819,655,632,656.250011993,0.402057487809,-0.00546811774482,0.0499488267182,0.999999994592,4.95669607641e-05,-8.7871338781e-05,-2.52389686877e-05,1793250482478426880
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,722,683.333967973,666.333967973,642,887.333967973,789,819,655,632,656,0.402231894585,-0.0054740093293,0.0499477045135,0.99999999438,4.69117082283e-05,-9.19999659343e-05,-2.40001379931e-05,1793250482495093504
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,722,683.924693172,666.924693172,642,887.924693172,789,819,655,632,656,0.402413440204,-0.00547980232571,0.0499416306892,0.999999993331,4.43272534403e-05,-0.000104051212864,-2.33668035386e-05,1793250482511760128
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.503806289,746,721.496193711,684,666.496193711,642.503806289,888,789,819,655,632,656.503806289,0.402639282726,-0.00548726898569,0.0499412921343,0.999999993198,4.14034246329e-05,-0.000106857941479,-2.16862521691e-05,1793250482528427264
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.918990931,746,721,684,666,643,888,789,818.918990931,655,632,657,0.40287830864,-0.00549528618688,0.0499430349733,0.999999993498,3.80685304917e-05,-0.000105668475694,-1.97388538064e-05,1793250482545094400
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.343093516,746,721,684,666,643,888,789,818.343093516,655,632,657,0.403158334017,-0.00550517279265,0.0499523739521,0.999999995425,3.25253360273e-05,-8.83175535888e-05,-1.70960001912e-05,1793250482561760768
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,721,684.237496459,666.237496459,643,888,789,818.237496459,655,631.762503541,657,0.403451703678,-0.00551487539688,0.0499611634949,0.999999996993,2.79068704904e-05,-7.08724354893e-05,-1.45767951758e-05,1793250482578427136
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,721,684.825002034,666.825002034,643,888,789,818.825002034,655,631.174997966,657,0.403764739385,-0.00552430682925,0.0499691433085,0.999999998201,2.46512195227e-05,-5.3288497613e-05,-1.22398167738e-05,1793250482595093504
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,721,684.593589758,667,642.593589758,888,789,819,655,631.406410242,657,0.404113881189,-0.00553400393444,0.049976484599,0.999999998968,2.09033415471e-05,-3.91865748374e-05,-9.59953485171e-06,1793250482611760128
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,721,684.014768248,667,642.014768248,888,789,819,655,631.985231752,657,0.404478340262,-0.00554381374568,0.0499835550088,0.99999999948,1.69466463706e-05,-2.65618264922e-05,-6.83058264785e-06,1793250482628426752
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.436863055,721,684,666.436863055,642,888,789,818.436863055,655,632,656.436863055,0.404890882434,-0.00555260894036,0.0499892190961,0.999999999777,1.80484155432e-05,-1.04733275925e-05,-3.18849685638e-06,1793250482645093376
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.859852567,745.140147433,721.140147433,684,666.140147433,642,888,789,818,655,632,656.140147433,0.405302781485,-0.00555687480181,0.0499895955561,0.99999999969,2.4180845116e-05,-5.86576928995e-06,5.0824581918e-08,1793250482661760256
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.285539594,745.714460406,721.714460406,684,666.714460406,642,888,789,818,655,632,656.714460406,0.405708788063,-0.00554719144585,0.0499737054361,0.999999998275,4.5487561675e-05,-3.71061979174e-05,1.9715929287e-06,1793250482678427136
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.296104653,746,721.703895347,684,666.703895347,642,888,789,818.296104653,655,632,657,0.406130244859,-0.00553503499502,0.0499553624079,0.999999994916,7.11841495074e-05,-7.13483132384e-05,3.04509588494e-06,1793250482695094016
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.884998148,746,721.115001852,684,666.115001852,642,888,789,818.884998148,655,632,657,0.406566978909,-0.00552043314215,0.0499345939376,0.999999988979,0.000101221452845,-0.000108558505707,3.28082144657e-06,1793250482711760384
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,721,684.468863469,666.468863469,642,888.468863469,789,819,655,632,657,0.407065557892,-0.00552051175569,0.0499223779185,0.999999985094,0.000111626881908,-0.000131607561403,5.50068556947e-06,1793250482728427008
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,721,684.949203945,667,642.050796055,888.949203945,789.050796055,819,655,632,657,0.407587921669,-0.00552456382245,0.0499154258876,0.999999982589,0.000117254538217,-0.000144918094195,8.47627221881e-06,1793250482745093376
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+153,2.550000000,POSE1_TO_POSE2_PRESS,768.319536407,745.680463593,721.680463593,685.680463593,667,643,889.680463593,789.680463593,819,655,631.680463593,657,0.412746241978,-0.0055211331254,0.0499493381015,0.999999986768,0.00013241677656,-9.33792942074e-05,1.45088448721e-05,1793250482878426624
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.255663334,746,721.744336666,686,667.255663334,643,890,789.744336666,819,655,632,657,0.413521913467,-0.00552177230711,0.0499651213434,0.999999992767,0.000104915528671,-5.82302294057e-05,8.2999364922e-06,1793250482895093248
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.82946738,746,721.17053262,686,667.82946738,643,890,789.17053262,819,655,632,657,0.414300822815,-0.00552247707252,0.049985959852,0.999999992154,0.0001211576625,-2.86172632798e-05,1.39505560845e-05,1793250482911759872
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.417659107,746,721,686,667.582340893,643,890,789.417659107,819.417659107,655,632,657,0.415053477433,-0.00552526414847,0.0499724865985,0.999999990178,0.000129258501961,-5.13747007033e-05,1.72333700494e-05,1793250482928426752
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,721,686,667,643,890,789.988421346,820.011578654,655,632,657,0.415796613988,-0.00552886474631,0.0499449347501,0.999999986286,0.000133892121034,-9.55035694518e-05,1.94833597055e-05,1793250482945093632
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,721,686,667,643,890,789.411887001,820.588112999,655,632,657,0.416617057993,-0.0055291947144,0.0499384088775,0.999999985181,0.000137331002442,-0.000101837568648,2.01942786228e-05,1793250482961760512
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.83567097,746.16432903,721.16432903,686.16432903,667.16432903,643,890.16432903,789,821,655,632,657,0.417458750808,-0.0055300981136,0.0499425656995,0.999999986087,0.000138147679161,-9.10643148538e-05,2.11687629202e-05,1793250482978427392
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.260251278,746.739748722,721.739748722,686.739748722,667.739748722,643,890.739748722,789,821,655,632,657,0.418353600266,-0.00553243602606,0.049973446686,0.999999990272,0.000132404565811,-3.74950190535e-05,2.28025905722e-05,1793250482995094016
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.677293375,722,687.322706625,667.677293375,643,891,789,821,655,632,656.677293375,0.419201706987,-0.00553236419351,0.0499792139048,0.999999990527,0.000131213273529,-3.41598015322e-05,2.37084597826e-05,1793250483011760384
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.088110803,722,687.911889197,667.088110803,643,891,789,821,655,632,656.088110803,0.42001121571,-0.00553030250679,0.0499642433542,0.999999988149,0.0001337806613,-7.23055251656e-05,2.40132150924e-05,1793250483028426496
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,688,667,643,891,789.492234638,821.492234638,655,632,656.492234638,0.420910097066,-0.00553007311077,0.0499652571734,0.999999989385,0.000133684695975,-5.28434975608e-05,2.38040728807e-05,1793250483045093376
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.070858774,746,721.929141226,688.070858774,667.070858774,643,891,789.929141226,822,655,632,657,0.421827277362,-0.00553066223347,0.0499709524921,0.99999999065,0.000132723415165,-2.28321117563e-05,2.37184702768e-05,1793250483061759744
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.648286294,746,721.351713706,688.648286294,667.648286294,643,891,789.351713706,822,655,632,657,0.422762924745,-0.0055347995445,0.0499900216635,0.999999991321,0.000128924135614,1.01771304882e-05,2.51620782191e-05,1793250483078426624
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746.222256004,721.222256004,688.777743996,667.777743996,643,891,789.222256004,822,655,632,657,0.423688314263,-0.00553737417622,0.0499956613628,0.999999991524,0.000126130593002,1.91027812371e-05,2.60277323731e-05,1793250483095093504
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746.79083774,721.79083774,688.20916226,667.20916226,643,891,789.79083774,822,655,632,657,0.424597719825,-0.00553751379647,0.0499803748734,0.999999991817,0.000124904218298,-9.49931175346e-06,2.59928024606e-05,1793250483111760384
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746.623878174,721.623878174,688.376121826,667,643,891,789.623878174,822.376121826,655,632,657,0.425523153737,-0.00554073833302,0.0499847635347,0.999999992216,0.000121572040278,-5.99899808924e-06,2.74315821188e-05,1793250483128427264
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,746.028874279,721.028874279,688.971125721,667,643,891,789.028874279,822.971125721,655,632,657,0.426457915208,-0.00554575811997,0.0500006020447,0.999999992581,0.000117014401438,1.61831397241e-05,2.97279791134e-05,1793250483145094144
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,721.550676781,689.550676781,667.550676781,643,891.550676781,789.550676781,823,655,632,657,0.427341347396,-0.00554406373725,0.0499893600959,0.999999992206,0.000118064620104,-2.70120863797e-05,3.03059153782e-05,1793250483161760512
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.871490351,746,721.871490351,690.128509649,668,643,891.871490351,789.871490351,823,654.871490351,632,657,0.428229625182,-0.00554208542974,0.049973717631,0.99999999,0.000119411123639,-6.94478562771e-05,3.02912497062e-05,1793250483178426880
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.296885994,746,721.296885994,690.703114006,668,643,891.296885994,789.296885994,823,654.296885994,632,657,0.429143811075,-0.00554031025432,0.0499475941758,0.999999987528,0.000120793269702,-9.76725149489e-05,2.8523735883e-05,1793250483195093504
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,721.284090293,691,668,643,891.284090293,789.284090293,823,654.284090293,632,657,0.430078178702,-0.00554053883972,0.0499395391231,0.999999987481,0.000120446938914,-9.8755019191e-05,2.78990178024e-05,1793250483211759872
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721.871878251,691,668,643,891.871878251,789.871878251,823,654.871878251,632,657,0.431034120909,-0.00554290948181,0.0499507995214,0.999999990094,0.000118252835012,-7.0822067341e-05,2.84959691678e-05,1793250483228426752
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.455291426,722,691,667.544708574,643,892,790,823.455291426,655,632,657,0.43195138022,-0.00554404522927,0.0499418120837,0.99999998927,0.000114572973648,-8.68103760594e-05,2.82472401339e-05,1793250483245093632
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.963026718,722,691,667,643,891.963026718,790,824,655,632,657,0.432858998715,-0.00554502695337,0.0499293918594,0.999999987382,0.000110413311549,-0.000110759124818,2.78764304186e-05,1793250483261760512
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.388784723,722,691,667,643,891.388784723,790,824,655,632,657,0.433783199025,-0.00554877217671,0.0499490980805,0.999999991404,0.000105299258068,-7.24902362923e-05,2.91568669956e-05,1793250483278427392
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.185674849,746,722,691,667.185674849,643.185674849,891,789.814325151,824,655,632,657,0.434695070554,-0.00555074958356,0.0499661385971,0.999999993307,0.000102345506469,-4.46796743142e-05,3.02573464312e-05,1793250483295094016
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.760590647,746,722,691,667.760590647,643.760590647,891,789.239409353,824,655,632,657,0.435581096713,-0.00554902101492,0.0499775908465,0.999999993368,0.000103920520273,-3.87935016937e-05,3.09805715919e-05,1793250483311760384
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746,722,691,667.654723295,643.654723295,891.345276705,789,824.345276705,655,632,657,0.436435794072,-0.00554700845003,0.0499642616415,0.999999990987,0.000107304109771,-7.43483198098e-05,3.13673938821e-05,1793250483328426752
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746,722,691,667.063065451,643.063065451,891.936934549,789,824.936934549,655,632,657,0.437268135901,-0.00554479323237,0.0499332489869,0.999999983507,0.000111978254867,-0.000139474430809,3.15141670386e-05,1793250483345093376
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.484323541,746.515676459,722,691.515676459,667,643,892,789,825,655,632,657,0.438168676075,-0.00554761606345,0.0499545016476,0.999999989825,0.00010888085663,-8.63384972133e-05,3.22448102867e-05,1793250483361760256
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.092654715,747,722,692,667,643,892,789.092654715,825,655,632.092654715,657,0.439060365354,-0.00555075870477,0.0499766886056,0.99999999342,0.000105094335247,-3.21285396899e-05,3.29081646031e-05,1793250483378426880
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.668471773,747,722,692,667,643,892,789.668471773,825,655,632.668471773,657,0.439863470548,-0.0055524346164,0.0499712306562,0.999999993149,0.000102549354112,-4.58948296307e-05,3.28573753166e-05,1793250483395093760
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746.75039069,722,692,667,643,892,789.75039069,825,655,632.75039069,657,0.440658411688,-0.00555178135258,0.0499618943074,0.999999992329,0.000101533502089,-6.32677984245e-05,3.20828417705e-05,1793250483411760640
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.162032694,722,692,667,643,892,789.162032694,825,655,632.162032694,657,0.441442273197,-0.00554796712831,0.0499472945229,0.999999990619,0.000102592855218,-8.55354461941e-05,3.03261036041e-05,1793250483428427264
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.580201599,746.419798401,722,692,667,643,892,789,825,655,632.419798401,657,0.442214685212,-0.00554881447719,0.0499481362671,0.999999991545,0.000100659428636,-7.65916312538e-05,3.01860803794e-05,1793250483445093632
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.000851124,746.999148876,722,692,667,643,892,789,825,655,632.999148876,657,0.442982745704,-0.00555143354206,0.0499548468461,0.999999993212,9.75885413435e-05,-5.57853297874e-05,3.06605191411e-05,1793250483461760000
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.575203929,747,722,692,667,643,892.575203929,789,825.575203929,655,632.424796071,657,0.443640355307,-0.00555214858909,0.0499228620177,0.999999987289,0.00010194414533,-0.000118415724387,3.17395641918e-05,1793250483478426624
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,722,692,666.848832278,642.848832278,892.848832278,789,826,655,632,657,0.444285014426,-0.00555153455173,0.0498846097262,0.999999976309,0.00010609772846,-0.000187376142204,3.18687151907e-05,1793250483495093248
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,722,692,666.273111039,642.273111039,892.273111039,789,826,655,632,657,0.444893758739,-0.00554719565751,0.0498289151906,0.999999956083,0.000109653252411,-0.000273769639234,2.93275973532e-05,1793250483511759872
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,692.309371485,666,642,892,788.690628515,826,655,632,657,0.445532654513,-0.0055438654074,0.0498017994971,0.999999946959,0.000113147706416,-0.000304139257196,2.79012300243e-05,1793250483528427008
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,692.897956154,666,642,892,788.102043846,826,655,632,657,0.446198762472,-0.00554144547651,0.0498004767122,0.999999952513,0.000116587044025,-0.000283946339504,2.74809448351e-05,1793250483545094144
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,746.521327646,722,692.521327646,666,642,892.478672354,788,826.478672354,655,632,657,0.446804373918,-0.00553765016545,0.0497973729856,0.999999951333,0.000124300966667,-0.000284797397254,2.77977618885e-05,1793250483561760768
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,746.057353719,722,692.057353719,666,641.942646281,893,788,827,655,632,657,0.447389871759,-0.00553469502944,0.0497910940908,0.999999947729,0.000131248358939,-0.000294140872937,2.82361024254e-05,1793250483578427136
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,746.632562904,722,692.632562904,666,641.367437096,893,788,827,655,632,657,0.447908323964,-0.00554193053917,0.0497595187136,0.999999934105,0.000123179788227,-0.000340312401483,2.83758357686e-05,1793250483595093760
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.207572939,693,665.792427061,640.792427061,893,788,827,655,632,657,0.44841986473,-0.00554820363759,0.0497361561669,0.999999922314,0.000117719267769,-0.00037509489498,2.86080625161e-05,1793250483611760128
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.782230724,693,665.217769276,640.217769276,893,788,827,655,632,657,0.448919182826,-0.00555277474746,0.0497273177019,0.999999916803,0.000116870986201,-0.000389736309388,2.90038604019e-05,1793250483628426752
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,723,693,665,640,893,788,827,655,632,657,0.44941603216,-0.0055537773312,0.0497336715303,0.999999919904,0.00011821460207,-0.000381179732296,3.03317710684e-05,1793250483645093632
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,723,693,665,640,893,788,827,655,632,657,0.449911375131,-0.00555260244113,0.0497492955234,0.999999927923,0.00012089568884,-0.000358468004498,3.22284464373e-05,1793250483661760256
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,722.108684723,693,665,639,893,787.108684723,827,655,631,657,0.450794216313,-0.00554915850079,0.0497729802584,0.999999939303,0.000111254481863,-0.000328848881826,2.95859612371e-05,1793250483695093504
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,722.688082025,693,665,639,893,787.688082025,827,655,631,657,0.451166389733,-0.00555514924329,0.0497684953061,0.999999937365,6.31581911547e-05,-0.000347762925859,1.84927860779e-05,1793250483711760384
+204,3.400000000,POSE1_TO_POSE2_PRESS,770.271439009,747,723,693,664.728560991,638.728560991,893,788,827,655.271439009,631,657,0.451508357353,-0.00555986080506,0.0497562490599,0.999999928028,3.77424720464e-05,-0.000377294038942,1.29846499199e-05,1793250483728427008
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+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.979866858,893,787,827,655,631,657,0.45241674439,-0.00556843016093,0.0496981478569,0.999999887742,4.17047377686e-05,-0.000471775243964,1.43051822802e-05,1793250483778426368
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.402299221,893,787,827,655,631,657,0.452701734332,-0.00556967643931,0.0497077625501,0.999999897548,4.449806227e-05,-0.00045017401581,1.63416333982e-05,1793250483795093248
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,722.825875581,693,664,637,893,787,827,655.174124419,631,657,0.452973405913,-0.00557010182671,0.0497166207098,0.999999905386,4.77150309677e-05,-0.000431994150616,1.82094572231e-05,1793250483811759872
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722.252077876,693,664,637,893,787,827,655.747922124,631,657,0.453214507399,-0.00556864299692,0.049723742373,0.999999909557,5.19044032447e-05,-0.000421667451426,1.96902252211e-05,1793250483828426752
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.330747207,747,722.330747207,693,664,637,893,787,827,655.669252793,631,657,0.45342729161,-0.0055643683718,0.0497238872885,0.999999909088,5.84629705746e-05,-0.000421903720615,2.00953513888e-05,1793250483845093376
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.920645596,747,722.920645596,693,664,637,893,787,827,655.079354404,631,657,0.453617888341,-0.0055578874794,0.0497185656963,0.999999904941,6.6877879644e-05,-0.000430416417575,1.9657677395e-05,1793250483861760000
+213,3.550000000,POSE1_TO_POSE2_PRESS,771,747,723,693,664,637,893,787,827.503307276,655,631,657,0.453783749223,-0.0055551065854,0.0497076931677,0.999999898847,6.97266529912e-05,-0.000443927981855,1.93150609376e-05,1793250483878426624
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.916346439,747,723,693.083653561,664,636.916346439,893,787,827.916346439,655,631,657,0.453940999919,-0.00555331685336,0.0496965883721,0.999999892715,7.13828941579e-05,-0.000457289578481,1.90181942853e-05,1793250483895093248
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.34296981,747,723,693.65703019,664,636.34296981,893,787,827.34296981,655,631,657,0.454070352774,-0.00555396285304,0.0496891747552,0.999999889075,7.11225846592e-05,-0.000465224666075,1.89026602332e-05,1793250483911759872
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,723,693.7681343,663.7681343,636,893,787,827,655,630.7681343,657,0.454188673893,-0.00555652574943,0.0496828142643,0.999999885003,6.91110921549e-05,-0.00047418683554,1.91055986966e-05,1793250483928426752
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,723,693.191127221,663.191127221,636,893,787,827,655,630.191127221,657,0.454290573826,-0.0055619420233,0.0496780213939,0.999999880268,6.44928936289e-05,-0.00048467785702,1.97825962604e-05,1793250483945093376
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.395885595,636,893,787,827,655,630,657.395885595,0.454378136546,-0.00556294049921,0.0496741930229,0.999999877524,6.3641152334e-05,-0.000490431143153,1.94744900357e-05,1793250483961760000
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.987854259,636,893,787,827,655,630,657.987854259,0.454458598009,-0.00556175082922,0.0496708423707,0.999999875798,6.4654946327e-05,-0.000493837817504,1.86784595618e-05,1793250483978426624
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635.437142148,893,786.437142148,827,655.562857852,630,657.437142148,0.454519902017,-0.00556210405663,0.0496678631703,0.999999873597,6.36909669055e-05,-0.000498400690332,1.86237039858e-05,1793250483995094272
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.862359134,635,892.862359134,786.137640866,827,656,630,657,0.454575079683,-0.00556262582099,0.0496638443667,0.999999870465,6.24303283084e-05,-0.0005048047042,1.8569197386e-05,1793250484011761408
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+223,3.716666667,POSE1_TO_POSE2_PRESS,770.294190952,747,723,693,663.294190952,635,892,787,827,656,630,657,0.454644397682,-0.00556407627739,0.049650906066,0.999999859859,6.00085647132e-05,-0.000525688163056,1.82192243358e-05,1793250484045094144
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.881637442,747,723,693,663.881637442,635,892,787,827,656,630,657,0.454672116493,-0.00556411422199,0.0496470694184,0.999999857017,6.13756627531e-05,-0.000530925709809,1.78289721483e-05,1793250484061760512
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+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,723,693.047113593,663.047113593,635,893,786.952886407,827,655,630.047113593,657,0.454711925713,-0.00555714693038,0.0496432197737,0.999999854174,6.59525695017e-05,-0.000535751835951,1.64900928829e-05,1793250484095093248
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,723,693.622388847,663.622388847,635,893,786.377611153,827,655,630.622388847,657,0.454723777131,-0.00555603063233,0.0496415939763,0.99999985274,6.86955900631e-05,-0.00053806906019,1.6812420153e-05,1793250484111759872
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,723,693.802716524,664,635,892.802716524,786.197283476,827,655.197283476,630.802716524,657,0.454732211605,-0.0055564955292,0.0496393745955,0.999999850806,6.91808536617e-05,-0.00054157885191,1.71319448438e-05,1793250484128426752
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,723,693.228549066,664,635,892.228549066,786.771450934,827,655.771450934,630.228549066,657,0.454734118461,-0.00555998108988,0.049636021252,0.999999847907,6.53529710869e-05,-0.000547366885898,1.7446115558e-05,1793250484145093376
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,892.356403426,787,827,655.643596574,630,657,0.454735346292,-0.00555967061667,0.0496331514517,0.999999845611,6.44370488569e-05,-0.00055166614338,1.70203456621e-05,1793250484161760000
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,892.948487775,787,827,655.051512225,630,657,0.454736125099,-0.00555684991837,0.0496306014069,0.999999843727,6.54467353781e-05,-0.000554980908924,1.61052710132e-05,1793250484178426880
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,893,787.527849679,827,655,630,657,0.454738649476,-0.00555587492647,0.049629585572,0.999999843417,6.7504401312e-05,-0.000555287994898,1.62333910137e-05,1793250484195093504
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,723,693.105118141,663.894881859,635,892.894881859,787.894881859,827,655,630,657,0.454740948785,-0.0055550448489,0.049628883445,0.999999843212,6.91685797544e-05,-0.00055544639509,1.64544056107e-05,1793250484211759872
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,723,693.67846179,663.32153821,635,892.32153821,787.32153821,827,655,630,657,0.454741504661,-0.00555407683672,0.0496289274541,0.999999842816,6.86352320042e-05,-0.000556219139079,1.6646406932e-05,1793250484228426496
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,723,694,663,635,892.258893628,787,827.258893628,655.258893628,630,657,0.454741913868,-0.00555388866732,0.0496288207157,0.999999842429,6.7818836377e-05,-0.000557015108679,1.66218796336e-05,1793250484245092864
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,723,694,663,635,892.848376675,787,827.848376675,655.848376675,630,657,0.45474213579,-0.00555469630354,0.0496285214828,0.999999842053,6.66410079366e-05,-0.000557840735896,1.63208601538e-05,1793250484261759488
+237,3.950000000,POSE1_TO_POSE2_PRESS,770.430092838,747,723,694,663,635,893,787,827.569907162,655.569907162,630,657,0.454742497872,-0.00555356659152,0.0496284106245,0.999999842025,6.79895438326e-05,-0.000557735165872,1.60597570142e-05,1793250484278426624
+238,3.966666667,POSE1_TO_POSE2_PRESS,770.990917953,747,723,693.990917953,663,635,893,787,827,655,630,657,0.454742886347,-0.00555179893078,0.0496283452429,0.999999842087,7.01866487042e-05,-0.000557359232308,1.58226333323e-05,1793250484295093248
+239,3.983333333,POSE1_TO_POSE2_PRESS,770.414264681,747,723,693.414264681,663,635,893,787,827,655,630,657,0.454741891175,-0.00555208867033,0.0496270453464,0.999999840432,7.07421924098e-05,-0.000560238854494,1.62202648329e-05,1793250484311760128
+240,4.000000000,POSE1_TO_POSE2_PRESS,770.162347907,747,723,693,663,635,893,787,827,655,630,657,0.45474131572,-0.00555200582922,0.0496260262757,0.999999839369,7.12693276341e-05,-0.000562061396468,1.63937741167e-05,1793250484328426752
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.73885667,747,723,693,663,635,893,787,827,655,630,657,0.454741810994,-0.00555097250874,0.0496257236118,0.999999839834,7.17239908052e-05,-0.000561187252778,1.59955319374e-05,1793250484345093376
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.678603771,747,723,693,663,635,892.678603771,787,827,655.321396229,630,657,0.454741925725,-0.00555129595159,0.0496255014948,0.999999839912,7.12194707523e-05,-0.000561110341824,1.60674093061e-05,1793250484361760000
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.091070346,747,723,693,663,635,892.091070346,787,827,655.908929654,630,657,0.454741725341,-0.00555274288367,0.049625346076,0.999999839669,6.99206839419e-05,-0.000561693592003,1.65285765707e-05,1793250484378426624
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,635,892.489295438,786.510704562,827,655.510704562,630,657,0.454742265901,-0.0055503753344,0.0496251057654,0.999999839749,7.1079630748e-05,-0.000561420691913,1.60079639685e-05,1793250484395093248
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,635,893,786,827,655,630.067828703,657,0.454743130426,-0.00554783748302,0.049625118306,0.999999840013,7.2471085115e-05,-0.000560787238954,1.54493866079e-05,1793250484411759616
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,635,893,786,827,655,630.642493264,657,0.454745400096,-0.00554925561302,0.0496271365865,0.999999841229,7.22310763087e-05,-0.000558633159053,1.5952856002e-05,1793250484428426496
+247,4.116666667,HOLD_POSE2,770,747,723,693,663,635,893,786,827,655,630,657,0.454744827396,-0.00555223087361,0.049625801282,0.999999840219,6.86275204255e-05,-0.000560888827465,1.59965367972e-05,1793250484467724544
+248,4.133333333,HOLD_POSE2,770,747,723,693,663,635,893,786.590369666,827,655,630,657,0.45474363763,-0.00555009786004,0.0496247158973,0.999999838984,7.13166910597e-05,-0.000562769810768,1.53500445662e-05,1793250484484391168
+249,4.150000000,HOLD_POSE2,770,747,723,693,663,635,893,787,827,655,630,657,0.454743199787,-0.00554881759276,0.0496240555464,0.999999838308,7.30522457047e-05,-0.000563756131193,1.50694650933e-05,1793250484501057792
+250,4.166666667,HOLD_POSE2,770,747,723,693,663,635,893,787,827,655,630,657,0.454744466114,-0.00554947000258,0.0496243584985,0.999999838917,7.26265106772e-05,-0.000562714774052,1.56181958952e-05,1793250484517724416
+251,4.183333333,HOLD_POSE2,770,747,723,693,663,635,893,787,827,655,630,657,0.454744103545,-0.0055497278346,0.0496239230612,0.99999983861,7.25429785313e-05,-0.000563262147162,1.59217004549e-05,1793250484534391296
+252,4.200000000,HOLD_POSE2,770,747,723,693,663,635,893,787,827,655,630,657,0.45474256027,-0.00554969965712,0.0496229524028,0.999999837638,7.27074919616e-05,-0.000564961110488,1.60474528893e-05,1793250484551057920
+253,4.216666667,HOLD_POSE2,770,747,723,693,663,635,893,787,827,655.483536098,630,657,0.45474270891,-0.00554965662852,0.0496233425299,0.999999837413,7.28704872202e-05,-0.000565336875223,1.60488314266e-05,1793250484567724544
+254,4.233333333,HOLD_POSE2,770.060157816,747,722.939842184,693,663.060157816,635,892.939842184,786.939842184,827,656,630,657,0.454743227561,-0.0055494909859,0.0496239773459,0.999999837393,7.31689531486e-05,-0.000565336384363,1.59706462772e-05,1793250484584391168
+255,4.250000000,HOLD_POSE2,770.650934197,747,722.349065803,693,663.650934197,635,892.349065803,786.349065803,827,656,630,657,0.45474418649,-0.00554826861626,0.0496244996129,0.999999837919,7.46648638043e-05,-0.000564225242693,1.53982233594e-05,1793250484601058048
+256,4.266666667,HOLD_POSE2,770.763958744,747,722.236041256,693,664,635,892.236041256,786.236041256,827,656,630,657,0.454744208098,-0.00554890805079,0.0496242892974,0.999999837967,7.38745168518e-05,-0.000564246606262,1.52745259295e-05,1793250484617724928
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+258,4.300000000,HOLD_POSE2,770,747,723,693.390388964,663.609611036,635,893,786.609611036,827,655.609611036,630,657,0.454742989777,-0.00555247867237,0.0496229529168,0.999999837376,6.89309297736e-05,-0.000565898322713,1.59866852173e-05,1793250484651058176
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+261,4.350000000,HOLD_POSE2,770,747,723,693.856472368,663,635,893.143527632,786,827,655.143527632,630,657,0.454743152204,-0.00555136085354,0.0496220882381,0.999999836862,7.08799095479e-05,-0.000566566236145,1.59363488869e-05,1793250484701058048
+262,4.366666667,HOLD_POSE2,770,747,723,693.277577517,663,635,893.722422483,786,827,655.722422483,630,657,0.454743042688,-0.005549692189,0.0496227601602,0.999999836926,7.14000535441e-05,-0.000566408113196,1.52476618043e-05,1793250484717724672
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb5333204f749b6bcec389df5054856504958c7d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b7edddb26a5f4677263883e52677c2472a26938
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08515ce75c32bbb8be9da3582fc3d2d83df137ef237278bde9967e8d783f54f8
+size 26056665
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b10abb767f0c5f0fc1716df17e9539c1a182286
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,746,721,683,666,642,887,789,819,655,632,656,0.400987328598,-0.00540180042375,0.0498502276441,0.999999961393,0.00010233573895,-0.000254524468226,-4.42541285592e-05,1793250487310959872
+1,0.016666667,BASELINE,769.57503029,746,721.57503029,683.57503029,666,641.42496971,887.57503029,788.42496971,819,655,632,656.57503029,0.400987165001,-0.00540317146028,0.0498499019124,0.999999961321,0.000102971965111,-0.000254593347667,-4.40010003686e-05,1793250487327626496
+2,0.033333333,BASELINE,769.849381202,746,722,683.849381202,666,641.150618798,887.849381202,788,819,655.150618798,632,657,0.400987502731,-0.00540401683692,0.0498501060289,0.999999961434,0.000103257506098,-0.00025405971616,-4.38672658885e-05,1793250487344293376
+3,0.050000000,BASELINE,769.272211696,746,722,683.272211696,666,641.727788304,887.272211696,788,819,655.727788304,632,657,0.40098926021,-0.00540337355108,0.0498518106696,0.999999962064,0.000102549910842,-0.000251819780568,-4.40716529703e-05,1793250487360960000
+4,0.066666667,BASELINE,769.311111222,745.688888778,722,683.311111222,666,642,887,788.311111222,819,655.688888778,632,656.688888778,0.400990505291,-0.00540315889856,0.0498527066835,0.999999962527,0.000102451954424,-0.000250007362607,-4.41127035787e-05,1793250487377626624
+5,0.083333333,BASELINE,769.899926767,745.100073233,722,683.899926767,666,642,887,788.899926767,819,655.100073233,632,656.100073233,0.400991292994,-0.00540332685304,0.0498528809004,0.999999962842,0.000102898174309,-0.000248576555877,-4.40079566541e-05,1793250487394293248
+6,0.100000000,BASELINE,769.519313773,745,721.519313773,683.519313773,666,642,887,789,819,655,632,656,0.400989273864,-0.00540353045446,0.0498514755483,0.999999962039,0.00010353861073,-0.000251529406078,-4.39869280344e-05,1793250487410959616
+7,0.116666667,BASELINE,769,745.059369237,721,683,666,642,887,789,819,655,631.940630763,656.059369237,0.400987101412,-0.00540383498041,0.049850054121,0.999999961181,0.000103932043299,-0.000254760405203,-4.39800274925e-05,1793250487427625984
+8,0.133333333,BASELINE,769,745.634344642,721,683,666,642,887,789,819,655,631.365655358,656.634344642,0.400988588664,-0.00540495261984,0.0498513019652,0.999999961943,0.000101834945611,-0.000252611784156,-4.39469528889e-05,1793250487444292608
+9,0.150000000,BASELINE,769,746,721,683,666,642,887,788.790693661,819,655.209306339,631.209306339,656.790693661,0.400989674585,-0.00540534184545,0.0498520526387,0.999999962307,0.000101363584667,-0.000251371747043,-4.38541955297e-05,1793250487460959232
+10,0.166666667,BASELINE,769,746,721,683,666,642,887,788.215755967,819,655.784244033,631.784244033,656.215755967,0.400990059432,-0.00540445862531,0.0498519348184,0.999999961986,0.000103732177716,-0.000251718889865,-4.36571800481e-05,1793250487477626112
+11,0.183333333,BASELINE,769,746,721,683,666,642,887,788.368924018,818.631075982,655.631075982,632,656,0.400989201318,-0.00540385346341,0.0498513917113,0.999999961857,0.000102682464712,-0.000252598913228,-4.40003277641e-05,1793250487494292736
+12,0.200000000,BASELINE,769,746,721,683,666,642,887,788.959456133,818.040543867,655.040543867,632,656,0.400987596573,-0.00540341532757,0.0498505931398,0.999999961837,9.95794177505e-05,-0.000253799031373,-4.46679448151e-05,1793250487510959360
+13,0.216666667,BASELINE,769.54002969,745.45997031,721,683.54002969,666,642,887,789,818,655,631.45997031,656,0.400988138843,-0.00540379082717,0.0498515415446,0.999999962017,0.000100620880036,-0.000252808569901,-4.39230862305e-05,1793250487527625984
+14,0.233333333,BASELINE,769.881404521,745,721,684,666,642,887,789,818.118595479,655,631.118595479,656,0.400988370929,-0.00540403028098,0.0498520565752,0.999999962019,0.000101970759324,-0.000252359044604,-4.33462315438e-05,1793250487544292864
+15,0.250000000,BASELINE,769.307725892,745,721,684,666,642,887,789,818.692274108,655,631.692274108,656,0.400986805416,-0.00540351753317,0.0498504144562,0.99999996129,0.000103331741479,-0.000254604898335,-4.38136071957e-05,1793250487560959744
+16,0.266666667,BASELINE,769.267378578,745.267378578,721,683.732621422,666,642,887,789,819,655,632,656,0.400987234717,-0.00540353451708,0.0498504557806,0.999999961459,0.000103393064039,-0.000253859663667,-4.41348304269e-05,1793250487577626624
+17,0.283333333,BASELINE,769.844132809,745.844132809,721,683.155867191,666,642,887,789,819,655,632,656,0.400989972157,-0.00540416443754,0.0498524449666,0.999999962659,0.00010195058976,-0.000249653531066,-4.42869450901e-05,1793250487594293248
+18,0.300000000,BASELINE,770,746,721,683,666,642,887,789,819,655,632,656,0.400990902212,-0.0054046846959,0.0498526149673,0.99999996281,0.000101773649377,-0.00024917694104,-4.39747302166e-05,1793250487610959616
+19,0.316666667,BASELINE,770,745.973518422,721.026481578,683,666,642,887,789,819,655,632,656.026481578,0.400991111645,-0.0054051287637,0.0498521402747,0.999999962585,0.000101998380325,-0.000250065655177,-4.35186834179e-05,1793250487627625984
+20,0.333333333,BASELINE,770,745.398075405,721.601924595,683,666,642,887,789,819,655,632,656.601924595,0.400990257811,-0.00540483527367,0.0498522668735,0.999999962557,0.000100834327511,-0.000250625630785,-4.36456313924e-05,1793250487644292864
+21,0.350000000,BASELINE,769.823139295,745.176860705,721.823139295,683,666,642,887,789,819,655,631.823139295,656.823139295,0.400989642638,-0.0054045379272,0.0498522791744,0.999999962517,0.000100154181224,-0.000251040998218,-4.3750924238e-05,1793250487660959488
+22,0.366666667,BASELINE,769.249340938,745.750659062,721.249340938,683,666,642,887,789,819,655,631.249340938,656.249340938,0.400989563104,-0.00540423192556,0.0498520349508,0.999999962451,0.000100560091603,-0.000251131813947,-4.38076153378e-05,1793250487677626624
+23,0.383333333,BASELINE,769,745.665318721,721,683,666,642,887.334681279,789,819,655,631.334681279,656,0.400989479527,-0.00540452932671,0.0498519025319,0.99999996251,0.000100175536829,-0.00025107420269,-4.36625440702e-05,1793250487694292992
+24,0.400000000,BASELINE,769,745.073439549,721,683,666,642,887.926560451,789,819,655,631.926560451,656,0.400989392841,-0.00540529043445,0.0498518560334,0.999999962665,9.91835206556e-05,-0.000250902527378,-4.33624212446e-05,1793250487710959616
+25,0.416666667,BASELINE,769.507216268,745,721.507216268,683.507216268,666,642,887.492783732,789,819,655,632,656,0.400988663999,-0.00540448745742,0.0498513190836,0.999999962386,0.00010024394499,-0.000251533353671,-4.3712700958e-05,1793250487727626496
+26,0.433333333,BASELINE,769.914500768,745.085499232,721.914500768,683.914500768,666,642,887,789,818.914500768,655,632,656,0.400988167227,-0.00540366340384,0.0498510500889,0.999999962171,0.000101452446546,-0.000251846168735,-4.40376659816e-05,1793250487744293120
+27,0.450000000,BASELINE,769.34068957,745.65931043,721.34068957,683.34068957,666,642,887,789,818.34068957,655,632,656,0.40098951541,-0.00540398437362,0.0498527082581,0.999999962686,0.000101846167524,-0.000249693474449,-4.36918533336e-05,1793250487760959488
+28,0.466666667,BASELINE,769.233634601,746,721,683,666.233634601,642,887.233634601,789,818.233634601,655,632,656,0.400990482257,-0.00540423639688,0.0498535551004,0.999999963032,0.000101946876648,-0.000248298647797,-4.34780473909e-05,1793250487777626112
+29,0.483333333,BASELINE,769.808708407,746,721,683,666.808708407,642,887.808708407,789,818.808708407,655,632,656,0.400990891808,-0.00540438766002,0.0498532162501,0.999999963138,0.000101619371201,-0.000248011387208,-4.34571592329e-05,1793250487794292480
+30,0.500000000,BASELINE,769.605163655,745.605163655,721,683,666.605163655,642,888,789,818.605163655,655,631.605163655,656,0.400990512205,-0.00540441683072,0.0498526574003,0.999999962912,0.000102008868013,-0.000248732661313,-4.36097986027e-05,1793250487810959104
+31,0.516666667,BASELINE,769.013525938,745.013525938,721,683,666.013525938,642,888,789,818.013525938,655,631.013525938,656,0.400989739259,-0.00540438514592,0.0498519888944,0.99999996252,0.000102755745887,-0.000249956627277,-4.3848930658e-05,1793250487827625728
+32,0.533333333,BASELINE,769,745,721,683,666,642,887.436622269,789,818.563377731,655,631,656.563377731,0.400988927001,-0.00540458002541,0.0498516434245,0.999999962422,0.000101715658338,-0.000250820227744,-4.35898439684e-05,1793250487844292864
+33,0.550000000,BASELINE,769,745.139933018,721.139933018,683,666,642,887,788.860066982,818.860066982,655,631,656.860066982,0.400988519274,-0.00540463508456,0.0498514225355,0.99999996239,0.000100986032471,-0.000251262525024,-4.34640726182e-05,1793250487860959488
+34,0.566666667,BASELINE,769,745.716476796,721.716476796,683,666,642,887,788.283523204,818.283523204,655,631,656.283523204,0.400989376612,-0.00540423734499,0.0498515667744,0.99999996255,0.000101355541628,-0.000250416603856,-4.37906345393e-05,1793250487877626368
+35,0.583333333,BASELINE,769,745.701082762,721.701082762,683,666,642,887,788,818.298917238,655,631.298917238,656,0.400989598861,-0.00540342246983,0.0498520737677,0.999999962591,0.000102777627124,-0.000249637502833,-4.39927038293e-05,1793250487894292736
+36,0.600000000,BASELINE,769,745.112936709,721.112936709,683,666,642,887,788,818.887063291,655,631.887063291,656,0.400989206603,-0.00540220397913,0.0498529317579,0.999999962512,0.000105218173187,-0.000248923056094,-4.40743155479e-05,1793250487910959360
+37,0.616666667,BASELINE,769,745.467647526,721,683,666,642,887,788.467647526,819,655,632,656,0.400989135549,-0.00540326225439,0.0498530228045,0.99999996252,0.000104985312262,-0.000249060630006,-4.36730850227e-05,1793250487927626496
+38,0.633333333,BASELINE,769,745.953761699,721,683,666,642,887,789,819,655,632,656,0.400989055127,-0.00540469254898,0.0498528729788,0.99999996252,0.000104267945796,-0.000249441250116,-4.32138091226e-05,1793250487944293120
+39,0.650000000,BASELINE,769,745.377421459,721,683,666,642,887,789,819,655,632,656,0.400987992159,-0.005404184537,0.0498520512977,0.999999962194,0.000105279981442,-0.000250286847267,-4.34046348502e-05,1793250487960959744
+40,0.666666667,BASELINE,769.198293109,745,721.198293109,683,666,642,887.198293109,789,819,655,632,656.198293109,0.400987571206,-0.00540387835185,0.0498515643796,0.999999962101,0.00010481681852,-0.000250806101067,-4.36683686768e-05,1793250487977626880
+41,0.683333333,BASELINE,769.772820514,745,721.772820514,683,666,642,887.772820514,789,819,655,632,656.772820514,0.400988368388,-0.00540395510577,0.0498517126294,0.999999962445,0.000101554666217,-0.000250706162539,-4.40704357269e-05,1793250487994294016
+42,0.700000000,BASELINE,769.642920406,745.357079594,721.642920406,683,666,642,888,789,819,655,632,656.642920406,0.400988267552,-0.00540439200689,0.0498517294114,0.999999962526,0.00010043711775,-0.00025081881212,-4.4163902214e-05,1793250488010960640
+43,0.716666667,BASELINE,769.052296443,745.947703557,721.052296443,683,666,642,888,789,819,655,632,656.052296443,0.400987579376,-0.00540506445872,0.0498516602083,0.999999962439,0.000100722226293,-0.000251070502852,-4.40555315458e-05,1793250488027626752
+44,0.733333333,BASELINE,769.527279497,745.472720503,721,683.527279497,666,642,888,789,819,655,631.472720503,656,0.40098777613,-0.00540557831537,0.0498517522617,0.999999962428,0.000100754663756,-0.000251147508604,-4.3792880828e-05,1793250488044293120
+45,0.750000000,BASELINE,770,745.105533446,721.105533446,683.894466554,666,642,887.894466554,789,819,655,631.105533446,656,0.400988057468,-0.0054056989112,0.0498518054633,0.999999962397,0.000101077626813,-0.000251169889405,-4.36165888776e-05,1793250488060959488
+46,0.766666667,BASELINE,770,745.682675751,721.682675751,683.317324249,666,642,887.317324249,789,819,655,631.682675751,656,0.400988332628,-0.0054041309498,0.0498516150379,0.999999962245,0.000102808584864,-0.00025102399726,-4.38931951102e-05,1793250488077625856
+47,0.783333333,BASELINE,770,746,722,683.257813741,666,642,887,789,819,655,632,656.257813741,0.400988835593,-0.00540395798301,0.0498519701669,0.99999996236,0.000103494580234,-0.000250301904185,-4.37984843074e-05,1793250488094292480
+48,0.800000000,BASELINE,770,746,722,683.830503872,666,642,887,789,819,655,632,656.830503872,0.400989616785,-0.00540548876874,0.0498529915993,0.9999999628,0.000102904328589,-0.000248876077968,-4.32502718503e-05,1793250488110959360
+49,0.816666667,BASELINE,769.580878425,746,721.580878425,684,666,642,887.419121575,789,819,655,632,657,0.400989021714,-0.00540559919967,0.0498524497195,0.999999962661,0.000102174235127,-0.000249727676798,-4.32841809679e-05,1793250488127626240
+50,0.833333333,BASELINE,769.013929249,745.986070751,721.013929249,683.986070751,666,642,887.986070751,789,819,655,631.986070751,656.986070751,0.40098789512,-0.00540509009878,0.0498512944296,0.99999996229,0.000101419157572,-0.000251467373409,-4.35616655854e-05,1793250488144293376
+51,0.850000000,BASELINE,769.588387657,745.411612343,721.588387657,683.411612343,666,642,887.411612343,789,819,655,631.411612343,656.411612343,0.400988661275,-0.00540367806431,0.0498519009254,0.999999962482,0.000102024354438,-0.000250418593159,-4.37933227679e-05,1793250488160959744
+52,0.866666667,BASELINE,770,745,721.836785318,683.163214682,666.163214682,642,887,789,819,655,631,656,0.400989276242,-0.00540277548232,0.0498525875345,0.99999996268,0.000102679397835,-0.000249349420225,-4.38452765361e-05,1793250488177626368
+53,0.883333333,BASELINE,770,745,721.261026603,683.738973397,666.738973397,642,887,789,819,655,631,656,0.40098950906,-0.00540316060066,0.0498534766388,0.999999962896,0.000103460434085,-0.000248228702485,-4.34430090759e-05,1793250488194292992
+54,0.900000000,BASELINE,770,745,721,683.676833978,666.676833978,642,887.323166022,789,819,655.323166022,631.323166022,656,0.400989203831,-0.00540362615751,0.0498534230773,0.99999996292,0.000102533182594,-0.000248523991911,-4.34018525516e-05,1793250488210959360
+55,0.916666667,BASELINE,770,745,721,683.085646623,666.085646623,642,887.914353377,789,819,655.914353377,631.914353377,656,0.400988452366,-0.00540415842693,0.0498525877055,0.99999996278,0.000100189143642,-0.00024999366267,-4.3660187415e-05,1793250488227625728
+56,0.933333333,BASELINE,769.506298517,745.493701483,721,683.493701483,666,642,887.506298517,789,819,655.506298517,632,656,0.400988436536,-0.0054056254934,0.0498526819389,0.999999962948,0.000100317837581,-0.000249293839036,-4.35067408434e-05,1793250488244292352
+57,0.950000000,BASELINE,769.07086367,746,721,683.92913633,666,642,887.07086367,789,819,655,632,656,0.400988517288,-0.005406843455,0.0498528568653,0.999999963102,0.000100869012526,-0.00024848281878,-4.33437730398e-05,1793250488260958976
+58,0.966666667,BASELINE,769.646741624,746,721,683.353258376,666,642,887.646741624,789,819,655,632,656,0.400988398175,-0.00540515752514,0.0498524844937,0.999999962779,0.000101445563524,-0.000249498694172,-4.36101170821e-05,1793250488277626112
+59,0.983333333,BASELINE,770,746,721,683,666,642,887.772845533,789,819,655,632,656,0.400988668743,-0.00540414851589,0.0498525404138,0.999999962643,0.000102055995823,-0.000249786439916,-4.36604113218e-05,1793250488294292736
+60,1.000000000,BASELINE,770,746,721,683,666,642,887.185236521,789,819,655,632,656,0.400989557665,-0.0054042136614,0.0498532759579,0.999999962804,0.000102720191928,-0.000248918770988,-4.33678722258e-05,1793250488310959360
+61,1.016666667,BASELINE,769.603715146,746,721.396284854,683,666,642,887,789,819,655,632,656,0.400990332915,-0.00540415001523,0.0498539039596,0.999999963103,0.000103007222178,-0.000247600947856,-4.33192444851e-05,1793250488327625984
+62,1.033333333,BASELINE,769.024996314,746,721.975003686,683,666,642,887,789,819,655,632,656,0.400991055835,-0.00540402707843,0.0498544824528,0.999999963465,0.000103120620047,-0.000246075891465,-4.33829039671e-05,1793250488344292608
+63,1.050000000,BASELINE,769,745.447253187,721.447253187,683,666,642,887.552746813,789,819,655,632,656.552746813,0.400990971286,-0.00540475867352,0.0498548126818,0.999999963489,0.000102255334655,-0.000246344155006,-4.33610744276e-05,1793250488360959232
+64,1.066666667,BASELINE,769,745.129802136,721.129802136,683.129802136,666,642,888,789,819,655,631.870197864,657,0.400990780153,-0.00540527882333,0.0498547934201,0.999999963482,0.000101350827157,-0.00024674084057,-4.33846453077e-05,1793250488377625600
+65,1.083333333,BASELINE,769,745.704650203,721.704650203,683.704650203,666,642,888,789,819,655,631.295349797,657,0.400990348559,-0.00540494173953,0.049853614303,0.999999963425,0.000100463318669,-0.000247300275211,-4.35771100264e-05,1793250488394292480
+66,1.100000000,BASELINE,769.287601277,745.712398723,721.712398723,683.712398723,666,642,888,789,819,655,631.287601277,656.712398723,0.400990140538,-0.0054052917243,0.0498533308834,0.999999963365,0.000100096994593,-0.000247723454976,-4.33964811045e-05,1793250488410959104
+67,1.116666667,BASELINE,769.879114876,745.120885124,721.120885124,683.120885124,666,642,888,789,819,655,631.879114876,656.120885124,0.400990168768,-0.00540636774415,0.0498539939601,0.999999963302,0.00010028141349,-0.000248002652257,-4.28215988614e-05,1793250488427625728
+68,1.133333333,BASELINE,769.539783487,745,721,683,666,642,887.539783487,789,819,655,632,656,0.400989803738,-0.00540584666684,0.0498539676093,0.999999963196,0.000100607978502,-0.000248269259066,-4.29828612064e-05,1793250488444292608
+69,1.150000000,BASELINE,769,745.038387583,721,683.038387583,666,642,887,789,819,655,632,656,0.400989316825,-0.00540494099236,0.049853755384,0.999999963062,0.000101065125173,-0.000248570890076,-4.32972067822e-05,1793250488460959232
+70,1.166666667,BASELINE,769,745.612979931,721,683.612979931,666,642,887,789,819,655,632,656,0.400988538395,-0.00540439334391,0.0498534203953,0.999999962681,0.00010283626063,-0.000249406917953,-4.3108668419e-05,1793250488477625856
+71,1.183333333,BASELINE,769,746,721,684,666,642,887,789,819,655,632,656,0.400987853923,-0.00540384911911,0.0498529269278,0.999999962367,0.000103845056503,-0.000250241108757,-4.31551170111e-05,1793250488494292480
+72,1.200000000,BASELINE,769,746,721,684,666,642,887,789,819,655,632,656,0.40098736332,-0.00540331195823,0.049852106469,0.999999962194,0.000103280908119,-0.000251071509258,-4.36864170276e-05,1793250488510959104
+73,1.216666667,BASELINE,769,746,721,684,666,642,887,789,819,655,632,656,0.40098758728,-0.00540322612717,0.049851875493,0.999999962229,0.000103349435556,-0.000250878384385,-4.38391434656e-05,1793250488527625728
+74,1.233333333,BASELINE,769,746,721,684,666,642,887,789,819,655,632,656,0.400988240153,-0.00540341120438,0.0498519983507,0.999999962388,0.000103797723181,-0.000250070894034,-4.37646331809e-05,1793250488544292608
+75,1.250000000,BASELINE,769.519749678,745.480250322,721.519749678,683.480250322,666,642,887.519749678,789,819,655,632,656,0.400987688808,-0.00540397687929,0.049851876574,0.999999962198,0.00010401034063,-0.000250737571692,-4.37771800906e-05,1793250488560959232
+76,1.266666667,BASELINE,770,745.097462873,721.902537127,683,666,642,888,789,819,655,632,656,0.400987204923,-0.00540435405728,0.0498517944666,0.999999962031,0.000104084674819,-0.000251376857575,-4.3756090086e-05,1793250488577626368
+77,1.283333333,BASELINE,770,745.67061352,721.32938648,683,666,642,888,789,819,655,632,656,0.400987716324,-0.00540360073418,0.0498520412777,0.999999962168,0.000103614434385,-0.000251067112681,-4.35226781546e-05,1793250488594292992
+78,1.300000000,BASELINE,770,746,721,683,666,642,887.749458495,789,819,655,632,656.250541505,0.400988392675,-0.00540374353733,0.049852345366,0.999999962432,0.000102730888786,-0.000250407262994,-4.3343831026e-05,1793250488610959616
+79,1.316666667,BASELINE,770,746,721,683,666,642,887.160372674,789,819,655,632,656.839627326,0.400989291913,-0.00540509723152,0.0498527268502,0.999999962867,0.000101288864443,-0.000249274334078,-4.32387146292e-05,1793250488627625984
+80,1.333333333,BASELINE,770,746,721,683,666,642,887,789,819,655,632,656.578777763,0.400989316288,-0.00540543148696,0.0498531700566,0.999999962919,0.000101348973926,-0.000249017468014,-4.33729148884e-05,1793250488644292608
+81,1.350000000,BASELINE,770,745.99998504,721.00001496,683,666,642,887,788.99998504,819,655,631.99998504,656.00001496,0.400989013384,-0.00540538435915,0.0498536363163,0.999999962828,0.000101971013824,-0.000249088340122,-4.35966285234e-05,1793250488660959232
+82,1.366666667,BASELINE,770,745.422832543,721.577167457,683,666,642,887,788.422832543,819,655,631.422832543,656.577167457,0.400988291723,-0.00540408691045,0.0498527233054,0.999999962496,0.000103107565176,-0.000249979737904,-4.34335036811e-05,1793250488677626112
+83,1.383333333,BASELINE,769.847022803,745.152977197,722,683.152977197,666.152977197,642,887,788.152977197,819,655,631.152977197,657,0.400988266671,-0.00540322192469,0.0498522701205,0.999999962416,0.000103695385095,-0.000250062920315,-4.34016194385e-05,1793250488694292736
+84,1.400000000,BASELINE,769.274892055,745.725107945,722,683.725107945,666.725107945,642,887,788.725107945,819,655,631.725107945,657,0.400990150308,-0.00540354187585,0.049853076847,0.999999963027,0.000102779695383,-0.000247931613787,-4.37293309963e-05,1793250488710959616
+85,1.416666667,BASELINE,769.307217445,746,721.692782555,684,667,642,887.307217445,788.692782555,819,655,632,656.692782555,0.400990183503,-0.00540414462162,0.0498531532801,0.999999963056,0.000102497930629,-0.00024793702478,-4.36916153543e-05,1793250488727626496
+86,1.433333333,BASELINE,769.898555452,746,721.101444548,684,667,642,887.898555452,788.101444548,819,655,632,656.101444548,0.400988505374,-0.00540500890122,0.0498525543241,0.999999962548,0.000102802431842,-0.000249918513082,-4.33159456373e-05,1793250488744293120
+87,1.450000000,BASELINE,769.51896097,746,721.48103903,683.51896097,666.51896097,642,888,788.48103903,819,655.48103903,632,656.48103903,0.40098956553,-0.00540491546984,0.0498534856669,0.999999962991,0.000102310548475,-0.00024831774164,-4.34545012443e-05,1793250488760959744
+88,1.466666667,BASELINE,769,746,722,683,666.061167593,642,887.938832407,789,819,655.938832407,632,657,0.400990853509,-0.00540469815425,0.0498544596309,0.99999996351,0.000101627138072,-0.000246465530656,-4.36751371485e-05,1793250488777626368
+89,1.483333333,BASELINE,769,746,722,683,666.636909163,642,887.363090837,789,819,655.363090837,632,657,0.400989287912,-0.00540510701253,0.0498531263339,0.999999963038,0.000100719820451,-0.00024873845115,-4.36904841691e-05,1793250488794292736
+90,1.500000000,BASELINE,769,746,722,683,666.787728105,642,887.212271895,789,819,655,632,656.787728105,0.40098821196,-0.00540513055508,0.0498523664369,0.99999996268,0.000100890757931,-0.000250124006977,-4.35847636752e-05,1793250488810959104
+91,1.516666667,BASELINE,769,746,722,683,666.213012279,642,887.786987721,789,819,655,632,656.213012279,0.400987972051,-0.00540449618972,0.049852585593,0.999999962521,0.000102902763613,-0.000249994430591,-4.32723262907e-05,1793250488827625728
+92,1.533333333,BASELINE,769.370523582,746,721.629476418,683.370523582,666,642,888,789,819,655,631.629476418,656,0.400988378912,-0.00540526409834,0.0498531544068,0.999999962765,0.000102007943614,-0.000249412063358,-4.30995734872e-05,1793250488844292608
+93,1.550000000,BASELINE,769.959253739,746,721.040746261,683.959253739,666,642,888,789,819,655,631.040746261,656,0.400989166665,-0.00540685782587,0.049853929139,0.999999963243,9.94012530593e-05,-0.000248563041179,-4.30090828786e-05,1793250488860959744
+94,1.566666667,BASELINE,769.460568458,746,721.539431542,684,666,642,888,788.460568458,819,655,631.539431542,656,0.400989182162,-0.00540615109034,0.049853825564,0.999999963215,9.94041104046e-05,-0.000248604158376,-4.34185127199e-05,1793250488877626368
+95,1.583333333,BASELINE,769.118115519,746,721.881884481,684,666,642,888,788,819,655,632,656.118115519,0.400989172267,-0.00540569826227,0.0498537755925,0.999999963195,9.95731276074e-05,-0.000248570056103,-4.36747575663e-05,1793250488894293248
+96,1.600000000,BASELINE,769.693478573,746,721.306521427,684,666,642,888,788,819,655,632,656.693478573,0.40098928637,-0.0054068905432,0.0498541859507,0.999999963354,9.96342259894e-05,-0.000247988539541,-4.31940929466e-05,1793250488910959616
+97,1.616666667,BASELINE,770,746,721.27534289,684,666,642,887.72465711,788.27534289,819,655,632,656.72465711,0.400989542396,-0.00540692318301,0.0498543128216,0.999999963513,9.96341952325e-05,-0.000247356907454,-4.31419593862e-05,1793250488927625984
+98,1.633333333,BASELINE,770,746,721.864619628,684,666,642,887.135380372,788.864619628,819,655,632,656.135380372,0.400989960237,-0.00540563365096,0.0498541164728,0.999999963671,9.95644677174e-05,-0.000246668135889,-4.35784181116e-05,1793250488944292608
+99,1.650000000,BASELINE,770,746,722,683.554236723,666,642,887.445763277,789,819,655,632,656,0.400988909499,-0.00540564701161,0.0498531209699,0.999999963112,0.000100270744752,-0.000248693535294,-4.327677297e-05,1793250488960959232
+100,1.666666667,BASELINE,769.975670979,746,721.975670979,683,666,642,888,789,819,655,632,656,0.400987542126,-0.00540601762926,0.049852004036,0.999999962386,0.000101198154677,-0.000251307977964,-4.27886208062e-05,1793250488977625856
+101,1.683333333,BASELINE,769.400548653,746,721.400548653,683,666,642,888,789,819,655,632,656,0.400988922882,-0.00540567856348,0.0498535342478,0.999999962899,0.000101891918869,-0.000248930607333,-4.30620983742e-05,1793250488994292736
+102,1.700000000,BASELINE,769.174665201,746,721,683,666,642.174665201,887.825334799,788.825334799,818.825334799,655,632,656,0.400989653024,-0.00540519684377,0.0498543183421,0.999999963141,0.000102691835481,-0.000247592086307,-4.32430681015e-05,1793250489010959616
+103,1.716666667,BASELINE,769.750088981,746,721,683,666,642.750088981,887.249911019,788.249911019,818.249911019,655,632,656,0.400988890372,-0.00540438781343,0.0498533905151,0.999999962776,0.000103735312209,-0.000248637142247,-4.32117842312e-05,1793250489027626496
+104,1.733333333,BASELINE,770,746,721,683,666,642.665814953,887,788.334185047,818.334185047,655,632,656.334185047,0.400988520877,-0.0054052127187,0.0498529624687,0.999999962875,0.000102165650045,-0.000248907436454,-4.30885441208e-05,1793250489044293120
+105,1.750000000,BASELINE,770,746,721,683,666,642.075060712,887,788.924939288,818.924939288,655,632,656.924939288,0.400988453227,-0.00540729207121,0.0498529181267,0.999999963323,9.85897613739e-05,-0.000248582910641,-4.28947049823e-05,1793250489060960000
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+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,722,683,666,642,887,788,819,655,631,656,0.400988236276,-0.00540518807034,0.0498528126165,0.999999962847,0.000100529028263,-0.000249602768327,-4.35619765949e-05,1793250489121016832
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.576900501,746,721.423099499,683,666,642,887,788.576900501,819,655,631.576900501,656,0.400989021631,-0.00540335010642,0.04985314605,0.999999962943,0.000102191582789,-0.00024850828434,-4.37603205627e-05,1793250489137683200
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746,721,683,666.158830667,642,887,788.841169333,819,655,632,656,0.400989495917,-0.00540237574613,0.049853347739,0.999999963005,0.000103012100723,-0.000247906902653,-4.38363231103e-05,1793250489154349568
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746,721,683,666.754597347,642,887,788.245402653,819,655,632,656,0.400989114469,-0.00540377712014,0.0498531870046,0.999999962981,0.000101516214275,-0.000248662022946,-4.35757699642e-05,1793250489171016192
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746,721.33796533,683.33796533,666.66203467,642,887,788.33796533,819,655,632,656.33796533,0.400988773506,-0.00540468544019,0.0498531337594,0.999999962932,0.000101286179297,-0.000249000575285,-4.33083018323e-05,1793250489187682816
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746,721.912648958,683.912648958,666.087351042,642,887,788.912648958,819,655,632,656.912648958,0.400988460899,-0.00540524841439,0.0498531558019,0.999999962865,0.000101942774431,-0.000249047354283,-4.30359903089e-05,1793250489204349440
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.512854349,745.512854349,722,684,666,642,887.487145651,788.512854349,818.512854349,655,632,656.512854349,0.400989036231,-0.00540576294424,0.0498536417971,0.999999963134,0.000101158626275,-0.000248310064834,-4.29096888907e-05,1793250489221016064
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+116,1.933333333,POSE1_TO_POSE2_PRESS,769.761906357,745.238093643,721.238093643,683.238093643,666.761906357,642,888,789,818.238093643,655,632,656.761906357,0.400998325157,-0.00540584939501,0.0498571758877,0.999999964848,0.000100636046644,-0.000241428490441,-4.34588378806e-05,1793250489271015680
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.180320033,745.819679967,721.819679967,683.819679967,666.180320033,642,888,789,818.819679967,655,632,656.180320033,0.40101205202,-0.0054059179628,0.0498620211026,0.999999966888,0.000100599328283,-0.000232976654991,-4.27325675449e-05,1793250489287682560
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+119,1.983333333,POSE1_TO_POSE2_PRESS,769.970281022,746,721.029718978,683.029718978,666,642,887.029718978,789,819,655,632,656.970281022,0.401088763099,-0.00540945178012,0.0498894149291,0.999999978464,9.87944969871e-05,-0.000177826144071,-4.11035005636e-05,1793250489321016320
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,721.544172905,683,666,642,887,789,819,655,631.455827095,656.455827095,0.40115510732,-0.00541219741885,0.0499087131975,0.999999984002,9.86486211034e-05,-0.000143976738269,-3.91749859966e-05,1793250489337682944
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.877792895,746,721.877792895,683,666,642,887,788.877792895,819,655,631.122207105,656,0.401224146209,-0.00541466776019,0.0499261874096,0.999999987869,9.86843006242e-05,-0.000114574725367,-3.73642879098e-05,1793250489354349824
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.283710045,746,721.283710045,683,666,642,887,788.283710045,819,655,631.716289955,656,0.401298643001,-0.00541593448368,0.0499357800963,0.999999989123,9.92280780073e-05,-0.000102928265778,-3.62399007145e-05,1793250489371016192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.30187638,746,721,683.30187638,666,642,887,788.30187638,818.69812362,655,631.69812362,656.30187638,0.401381057995,-0.00541911470232,0.0499406360563,0.999999989989,9.70273982109e-05,-9.67431570844e-05,-3.53375733919e-05,1793250489387682560
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.879696237,746,721,683.879696237,666,642,887,788.879696237,818.120303763,655,631.120303763,656.879696237,0.401470710968,-0.0054240440359,0.0499411622007,0.999999990574,9.2318025736e-05,-9.55502387994e-05,-3.46382298028e-05,1793250489404349184
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,721,683.545301863,666,642,887,788.545301863,818,655,631.454698137,656.545301863,0.401575062844,-0.00542667502158,0.0499396688971,0.99999999018,9.24453985244e-05,-9.9588008349e-05,-3.42797329897e-05,1793250489421015552
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.97030916,746,721.02969084,683.02969084,666,642,887.02969084,788.02969084,818,655,632,656,0.401684832019,-0.00542879538782,0.0499378663984,0.999999989581,9.3615158342e-05,-0.000104503559527,-3.39660245411e-05,1793250489437682176
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.381536756,746,721.618463244,683.618463244,666,642,887.618463244,788.618463244,818,655,632,656,0.401823829793,-0.00543268071252,0.0499402407612,0.999999990365,9.04646499496e-05,-0.000100048750753,-3.28080264782e-05,1793250489454349312
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.203709866,746,721.796290134,683.796290134,666,642,887.796290134,788.796290134,818,655,632,656,0.40197410257,-0.0054374661929,0.0499425136148,0.999999991002,8.74880918618e-05,-9.66904484275e-05,-3.15075979595e-05,1793250489471016448
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.782465186,746,721.217534814,683.217534814,666,642,887.217534814,788.217534814,818,655,632,656,0.402145133477,-0.00544390892835,0.0499445995818,0.999999991408,8.48317899517e-05,-9.53508989006e-05,-2.99449441982e-05,1793250489487682816
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.640743401,745.640743401,721.359256599,683,666,642,887,788.359256599,818.359256599,655,632,656,0.402339015849,-0.00545140235531,0.0499451045967,0.999999991678,8.18034972034e-05,-9.56720200656e-05,-2.82706745286e-05,1793250489504349184
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.065134643,745.065134643,721.934865357,683,666,642,887,788.934865357,818.934865357,655,632,656,0.402546659888,-0.00545952853224,0.049944657528,0.999999991859,7.85511832021e-05,-9.6993233217e-05,-2.65291871738e-05,1793250489521015808
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.511386829,722,683,666,642,887.511386829,789,819,655,631.488613171,656,0.402781031422,-0.00546612957002,0.0499460835784,0.999999992025,7.48807082897e-05,-9.85307366117e-05,-2.51961724205e-05,1793250489537682432
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.910074669,721.910074669,683,666.089925331,642,888,789,819,655,631.089925331,656,0.403025338041,-0.00547303138436,0.0499481770934,0.999999992372,7.10753258625e-05,-9.81880794406e-05,-2.37527811574e-05,1793250489554348800
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.32098612,721.32098612,683,666.67901388,642,888,789,819,655,631.67901388,656,0.403305862767,-0.00548268298107,0.0499526489404,0.999999993732,6.68172596255e-05,-8.725571679e-05,-2.14073955958e-05,1793250489571015424
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.263632327,745,721.263632327,683.263632327,666.736367673,642,888,789.263632327,818.736367673,655,632,656,0.403614031439,-0.00549258714084,0.0499606462287,0.999999995312,6.3418092099e-05,-7.07391733234e-05,-1.87114650159e-05,1793250489587682304
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.842898902,745,721.842898902,683.842898902,666.157101098,642,888,789.842898902,818.157101098,655,632,656,0.403955296855,-0.00550279368156,0.0499728643573,0.999999996885,6.10472427406e-05,-4.75369605949e-05,-1.55958439572e-05,1793250489604349440
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.581166984,745,721.581166984,684,666,642,888,790,818.418833016,655,632,656,0.404324439906,-0.00551172081657,0.0499808945109,0.999999997649,5.95533456031e-05,-3.15487628548e-05,-1.26617757528e-05,1793250489621016064
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.006472997,745,721.006472997,684,666,642,888,790,818.993527003,655,632,656,0.404703957095,-0.00552017184413,0.0499873661868,0.999999998081,5.838579009e-05,-1.82451280795e-05,-9.79526915949e-06,1793250489637682944
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.567149782,745.567149782,721.567149782,684,666,642,888,789.432850218,819,655,632,656,0.40511084015,-0.00552595561355,0.0499879446389,0.999999997933,6.23318251143e-05,-1.47475973621e-05,-5.65809763967e-06,1793250489654349312
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.854415718,746,722,684.145584282,666.145584282,642.145584282,888.145584282,789.145584282,819,655,632,656.145584282,0.405516708069,-0.00552624013541,0.0499824363158,0.999999997071,7.27739131491e-05,-2.35803093739e-05,-2.58203885407e-06,1793250489671015936
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.261147346,746,722,684.738852654,666.738852654,642.738852654,888.738852654,789.738852654,819,655,632,656.738852654,0.405918495644,-0.0055097074359,0.0499584170818,0.999999992241,0.000103012786385,-6.99860585316e-05,-2.81350495033e-06,1793250489687682560
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,722,684.677066639,667,643,889,789.677066639,819,655,631.677066639,657,0.406358890177,-0.00549903301,0.049939073449,0.999999986435,0.000127149610137,-0.000104687185055,-1.80284500565e-06,1793250489704349184
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,722,684.100210147,667,643,889,789.100210147,819,655,631.100210147,657,0.406829641478,-0.00549296495431,0.049923406248,0.999999980796,0.000146488383809,-0.000130184949001,1.84501040299e-07,1793250489721015552
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,722,684.474584551,667,642.525415449,889,789,819,655,631.474584551,656.525415449,0.407364537732,-0.00549860703636,0.0499214251058,0.999999980121,0.000150668410565,-0.000130553297275,3.71213863367e-06,1793250489737681920
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.949727002,721.949727002,685,667,642,889,789,819,655,632,656.050272998,0.407917468539,-0.00550658316554,0.0499245048163,0.999999981002,0.000152057373598,-0.000121714606593,7.70541834607e-06,1793250489754348800
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.359790882,721.359790882,685,667,642,889,789,819,655,632,656.640209118,0.40851922861,-0.00551318641708,0.0499510235874,0.999999984975,0.000157696312457,-7.07549681807e-05,1.32209941989e-05,1793250489771015424
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.774055376,745.225944624,721.225944624,685,667,642.225944624,889,789.225944624,819,655,632,657,0.409136157741,-0.00551670906369,0.0499752045035,0.999999985411,0.000167580407827,-2.73793094308e-05,1.85783246009e-05,1793250489787681792
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.194886812,745.805113188,721.805113188,685,667,642.805113188,889,789.805113188,819,655,632,657,0.409776800941,-0.00551541573598,0.0499957306006,0.999999982764,0.000184101044904,4.14015257289e-06,2.36882662905e-05,1793250489804348672
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.383031422,746,722,685,667,642.616968578,889.383031422,789.616968578,819,655,632,657,0.41040915652,-0.00551293195026,0.0499956260707,0.999999979552,0.000200225779216,-5.47841326678e-06,2.7845177176e-05,1793250489821015296
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.960315539,746,722,685,667,642.039684461,889.960315539,789.039684461,819,655,632,657,0.411037309048,-0.00550984442904,0.0499850588088,0.999999975496,0.000216149732567,-3.59599493785e-05,3.1518762522e-05,1793250489837682176
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,722,685,667,642.535524639,890,789,819.535524639,655,632,657,0.411702117555,-0.00551007391999,0.0499544428685,0.999999968683,0.000229501922501,-9.37915686034e-05,3.41529816049e-05,1793250489854348800
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.113847309,746,722,685.113847309,667,643,890,789.113847309,819.886152691,655,632,657,0.412390906351,-0.00551055002968,0.0499339421202,0.999999961656,0.000242039996508,-0.000129366110035,3.69904058458e-05,1793250489871015424
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.705891234,746,722,685.705891234,667,643,890,789.705891234,819.294108766,655,632,657,0.413169054626,-0.00551103354849,0.0499621448419,0.999999965436,0.000251955911406,-6.29733399507e-05,4.10036246251e-05,1793250489887682048
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746,722,686,667.290716255,643,889.709283745,790,819.290716255,655,632,657,0.413934788868,-0.00551441643548,0.0499760823393,0.999999978132,0.0002036061732,-3.64164648341e-05,3.09054349106e-05,1793250489904348928
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746,722,686,667.868415156,643,889.131584844,790,819.868415156,655,632,657,0.414688268599,-0.00552066145471,0.0499759378212,0.99999999399,9.77390758871e-05,-4.91838722828e-05,6.87706696245e-06,1793250489921015552
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.558114537,746,721.558114537,686,667.558114537,643,889.441885463,790,820,655,632,657,0.415456067906,-0.00552554961287,0.0499563117555,0.999999993477,8.0862179026e-05,-8.05774251436e-05,3.72361802241e-06,1793250489937682176
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,721,686,667.014218539,643,890,790,820,655,632,657,0.416230305008,-0.00552996997034,0.0499318231613,0.999999989162,9.04144475459e-05,-0.000115995257768,6.81030819806e-06,1793250489954348800
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,721,686,667.590905451,643,890,790,820,655,632,657,0.417092132063,-0.00553171680135,0.0499422928966,0.999999989826,0.000107119241733,-9.32756581575e-05,1.31771355786e-05,1793250489971016192
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,721.172559586,686.172559586,667.827440414,643,890.172559586,790,820.172559586,655,632,657,0.417953703615,-0.00553251560983,0.0499559965445,0.999999990284,0.000121187578213,-6.63725709704e-05,1.84684359727e-05,1793250489987683072
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,721.766338721,686.766338721,667.233661279,643,890.766338721,790,820.766338721,655,632,657,0.418814651429,-0.0055310002864,0.0499775942027,0.999999991051,0.000128820296086,-2.92575533133e-05,2.11343646566e-05,1793250490004349440
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.349890965,746.349890965,722,687.349890965,667,643,891,789.650109035,821,655,632,657,0.419654880352,-0.0055282423013,0.049971517861,0.999999989693,0.000134973043585,-4.36626312723e-05,2.2145777283e-05,1793250490021016576
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.926807501,746.926807501,722,687.926807501,667,643,891,789.073192499,821,655,632,657,0.420481665857,-0.00552467801942,0.0499474853371,0.999999985747,0.00014016551684,-9.14963507894e-05,2.20836626184e-05,1793250490037683712
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746.499488713,722,688.500511287,667,643,891,789,821.500511287,655,632,657,0.421419577687,-0.00552727233075,0.0499666337144,0.999999989628,0.00013617286945,-4.11511091622e-05,2.25189227372e-05,1793250490054350336
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.924373514,746,721.924373514,689,667.075626486,643,891,789,822,655,632,657,0.422367646706,-0.00553071977726,0.0499890014764,0.999999991017,0.000131175122225,1.49531065864e-05,2.31352575194e-05,1793250490071016704
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.336537521,746,721.336537521,689,667.663462479,643,891,789,822,655,632,657,0.423275147239,-0.00553388462026,0.0499906786044,0.999999991365,0.000128409206627,1.34423810046e-05,2.44885145229e-05,1793250490087683072
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+168,2.800000000,POSE1_TO_POSE2_PRESS,769.594620811,746.405379189,722,688.405379189,668,643,891,789,822.405379189,655,632,657,0.426040680291,-0.00553951206856,0.0499836605657,0.99999999237,0.000120578456511,-6.10887227884e-06,2.61616496366e-05,1793250490137682944
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+176,2.933333333,POSE1_TO_POSE2_PRESS,769.037249108,746.037249108,722,691,667,643,891.037249108,789,824,655,632,657,0.433404229598,-0.00554420179375,0.0499290448924,0.999999988456,0.000110735844835,-0.000100451364082,2.71216441547e-05,1793250490271015936
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.610678783,746.610678783,722,691,667,643,891.610678783,789,824,655,632,657,0.434336049237,-0.00554781001703,0.0499547857155,0.999999991963,0.000106080143129,-6.30097961662e-05,2.91806245768e-05,1793250490287682304
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.808585978,747,722,691,667.191414022,643.191414022,892,789,824,655,632,657,0.435248961595,-0.00554947804528,0.0499696578444,0.999999992929,0.000104420030905,-4.78041509283e-05,3.08739868325e-05,1793250490304349184
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.212402068,747,722,691,667.787597932,643.787597932,892,789,824,655,632,657,0.43612189222,-0.00554704327904,0.0499615467082,0.999999990374,0.000109094482265,-7.96192544472e-05,3.17942022768e-05,1793250490321016064
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.630025931,722,691.369974069,667.630025931,643.630025931,892,789,824,655,632,657,0.436989448756,-0.00554559570339,0.049949227566,0.999999988225,0.000110566820947,-0.00010171483872,3.12994728472e-05,1793250490337682688
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.055291668,722,691.944708332,667.055291668,643.055291668,892,789,824,655,632,657,0.43785403098,-0.00554469448329,0.0499345795257,0.999999986457,0.000110266967029,-0.000118431204545,3.00216496066e-05,1793250490354349312
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.520516639,746.520516639,722,692,667,643,892,789,824.520516639,655,632,657,0.438733101257,-0.00554879913187,0.0499522005545,0.999999991132,0.00010229677002,-7.97660622914e-05,3.01453936107e-05,1793250490371015936
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892,789,825,655,632,657,0.43960269778,-0.00555257933062,0.049967794926,0.999999993979,9.46748523205e-05,-4.64823735315e-05,3.03020377237e-05,1793250490387682816
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892,789,825,655,632,657,0.440417524561,-0.00555209716813,0.0499562353714,0.999999992845,9.28438848771e-05,-6.92639366599e-05,2.98805102917e-05,1793250490404349440
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892.274608223,789,825,655.274608223,632,657,0.441222634601,-0.00555232136055,0.0499507110782,0.999999992134,9.27044812372e-05,-7.89400571615e-05,3.00931723467e-05,1793250490421015808
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+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,893,789,825.42943209,655.57056791,632.42943209,657,0.442774101436,-0.00555337744347,0.0499517565972,0.99999999229,9.64622988355e-05,-7.15320878343e-05,3.15955308661e-05,1793250490454349312
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722,692.003894974,667,642.996105026,893,789,826,655,632.996105026,657,0.443517757251,-0.00555307439482,0.0499507798751,0.999999992137,9.86181847464e-05,-7.05167337602e-05,3.20585624994e-05,1793250490471015936
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,747,722,692.574878281,667,642.425121719,893,789,826,655,632.425121719,657,0.444128702143,-0.00554874996527,0.0498891415263,0.999999977782,0.000106382798423,-0.000179366003565,3.07771506778e-05,1793250490487682816
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.152124265,747,722,693,666.847875735,642,893,788.847875735,826,655,632,656.847875735,0.444754647615,-0.00554482372858,0.0498342034548,0.999999956956,0.000112899846073,-0.000269226865762,2.92943112903e-05,1793250490504349696
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.747623307,747,722,693,666.252376693,642,893,788.252376693,826,655,632,656.252376693,0.445424313272,-0.00554205804647,0.0497987937066,0.999999946796,0.000115780796906,-0.000303744970379,2.72244004733e-05,1793250490521016320
+192,3.200000000,POSE1_TO_POSE2_PRESS,770.66644473,747,722,693,666,641.66644473,892.66644473,788.33355527,826,655,632,656.33355527,0.446091201274,-0.00553992909056,0.0497898871609,0.99999994699,0.000119738013381,-0.000301602978516,2.68149509839e-05,1793250490537682944
+193,3.216666667,POSE1_TO_POSE2_PRESS,770.087549672,747,722,693,666,641.087549672,892.087549672,788.912450328,826,655,632,656.912450328,0.446756046187,-0.0055382684658,0.0498004745085,0.999999954743,0.000124486854955,-0.00027249639703,2.76268201387e-05,1793250490554349056
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.512593299,747,722,692.512593299,666,641.487406701,892.487406701,788.512593299,826,655,632,657,0.447328638572,-0.00553864012068,0.0497800325537,0.99999994541,0.000127224849426,-0.000303644992352,2.81866409003e-05,1793250490571015680
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.063468139,747,722,692.063468139,665.936531861,641.873063721,893,788,826,655,631.936531861,657,0.44788126828,-0.00553993023121,0.0497545138042,0.999999931901,0.000129143187433,-0.000344519777376,2.87570495444e-05,1793250490587682304
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.654550228,747,722,692.654550228,665.345449772,640.690899544,893,788,826,655,631.345449772,657,0.448404596229,-0.00554584519871,0.0497327535262,0.9999999204,0.00012722624584,-0.000376995953,2.978882264e-05,1793250490604349184
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722,693,665,640,893,788,826.240271788,655,631,657,0.448932164721,-0.00555016600857,0.049723939904,0.999999915455,0.000126372992968,-0.000390070610975,3.10597640159e-05,1793250490621016064
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722,693,665,640,893,788,826.818454417,655,631,657,0.449465696937,-0.00555224484376,0.0497333340616,0.999999920765,0.000127015679431,-0.000375859569988,3.26670642357e-05,1793250490637682944
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,722.394147244,693,665,639.605852756,893,788,827,655,631,657,0.449971908501,-0.00555251533362,0.0497499677241,0.999999928176,0.000132121223494,-0.000353470908133,3.53570364276e-05,1793250490654349568
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722.96870051,693,665,639.03129949,893,788,827,655,631,657,0.450465615115,-0.00555195812186,0.0497699149973,0.999999935984,0.000139269472128,-0.000327339247591,3.85425609638e-05,1793250490671016448
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,723,693,665,638,893,787.877385639,827,655,631,657,0.451290247247,-0.00555274534614,0.0497613766421,0.999999925019,0.000141924522054,-0.000357986315261,4.0800895257e-05,1793250490704349440
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,723,693,665,638,893,787.285644322,827,655,631,657,0.451635186818,-0.00555582825476,0.0497426517991,0.999999909045,0.000138559183778,-0.000401260145469,4.12603495591e-05,1793250490721016064
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664.701762433,638,893,787.298237567,827,655,631,657,0.451972271525,-0.00555858945693,0.0497217897627,0.999999895843,0.00012044647603,-0.000438746415379,3.61813002046e-05,1793250490737682432
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664.125214861,638,893,787.874785139,827,655,631,657,0.452302026191,-0.00556105044815,0.0496989333363,0.9999998849,8.85717848966e-05,-0.000470831833929,2.59338174601e-05,1793250490754349056
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.550565476,893,787.550565476,827,655,631,657,0.452623011504,-0.00556619248315,0.0496986367944,0.999999890163,4.85621460408e-05,-0.000465891595187,1.61619925028e-05,1793250490771015936
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.975768899,747,723,693,664,637,893,787,827,655,631,657,0.452939835664,-0.00557183033447,0.049704724707,0.999999898422,8.286038883e-06,-0.000450597908482,7.00103600173e-06,1793250490787682816
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.385224203,747,723,693,664,637,893,787,827,655,631,657,0.453216268627,-0.00557167220213,0.0497137477038,0.999999905934,1.45291830964e-05,-0.000433404458268,9.03273431406e-06,1793250490804348928
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.201415986,747,723,693.201415986,664,637,892.798584014,787,827,655,630.798584014,657,0.453478826309,-0.00556961181286,0.0497190540967,0.999999910137,2.14042177185e-05,-0.000423275457923,1.03189166692e-05,1793250490821015040
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.780730435,747,723,693.780730435,664,637,892.219269565,787,827,655,630.219269565,657,0.453715351035,-0.00556398239226,0.0497173873637,0.999999908605,2.94648100481e-05,-0.000426400843381,1.02063551319e-05,1793250490837681664
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.35690997,747.35690997,723,693.64309003,664,636.64309003,892.35690997,787,827,655,630,657,0.453923459602,-0.00556187452048,0.0497096377126,0.999999903997,3.499732116e-05,-0.000436648125693,1.09658123994e-05,1793250490854348800
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+214,3.566666667,POSE1_TO_POSE2_PRESS,770.915185011,747,723,693,663.084814989,635.084814989,893,786.084814989,827,655,630,657,0.454420007817,-0.00555584066483,0.0496777310321,0.999999881951,4.93583961329e-05,-0.000483223434317,1.24956955042e-05,1793250490904349184
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+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.417011487,635,893,787,827,655,630,657,0.454832314252,-0.00556165573578,0.0496441190671,0.999999857094,4.71921850776e-05,-0.000532368302741,1.29827274031e-05,1793250490971016448
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+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.701902158,634,893,787,827,655.701902158,630,657,0.455203061855,-0.00555096449163,0.0496132268753,0.99999982697,6.16391116354e-05,-0.000584896249734,1.25165903197e-05,1793250491237681920
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,634.287256559,893,787,827,656,630,657,0.455203078829,-0.00555116194216,0.0496123771202,0.999999826325,6.09125515328e-05,-0.000586071009562,1.26590373586e-05,1793250491254348544
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,634.86620667,893,787,827,656,630,657,0.455203446702,-0.00554902678752,0.049612057355,0.999999825696,6.3431710609e-05,-0.000586869035106,1.2988582559e-05,1793250491271015168
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.559174505,634.559174505,893,787,827,655.559174505,630,657,0.455203866569,-0.00554914826935,0.049611459072,0.999999825497,6.24967837656e-05,-0.000587308158694,1.30213845283e-05,1793250491287682816
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,723,692.985487241,663,634.014512759,893,786.985487241,827,655.014512759,629.985487241,657,0.455204276588,-0.00554990863552,0.0496107629227,0.999999825406,6.06320453071e-05,-0.000587659105248,1.29600255992e-05,1793250491304350720
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,723,692.397160585,663,634.602839415,893,786.397160585,827,655.602839415,629.397160585,657,0.455203679385,-0.00554911295644,0.049609507024,0.999999824596,6.30503279643e-05,-0.000588788651438,1.27020116287e-05,1793250491321016320
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,723,692.188168513,663,634.811831487,893,786.188168513,827,655.811831487,629.188168513,657,0.455203690032,-0.00554803857517,0.0496092177546,0.999999824208,6.52461457871e-05,-0.000589213940677,1.24298996028e-05,1793250491337682176
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,723,692.767269943,663,634.232730057,893,786.767269943,827,655.232730057,629.767269943,657,0.455204963527,-0.00554638517114,0.0496109367236,0.999999824708,6.69797775995e-05,-0.000588176088,1.21284979208e-05,1793250491354349056
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,723.344843195,693.344843195,663,634.344843195,893,787,827,655.344843195,630,657,0.455205445748,-0.00554523115933,0.0496109903086,0.999999824325,6.83224960856e-05,-0.000588677437313,1.18578337678e-05,1793250491371015936
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,723.921389625,693.921389625,663,634.921389625,893,787,827,655.921389625,630,657,0.455205396305,-0.00554441269369,0.049609924907,0.999999823349,6.94025563313e-05,-0.000590212990287,1.16078224483e-05,1793250491387682816
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,723.504507421,693.504507421,663,634.504507421,893,786.504507421,827,656,630,657,0.455205551129,-0.00554571591518,0.0496093999721,0.999999823315,6.72836189464e-05,-0.000590504493163,1.21119944975e-05,1793250491404349184
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747.071261264,723,693,663,634,893,786,827,655.928738736,630,657,0.455205758455,-0.00554682215474,0.0496090621307,0.999999823395,6.52372988219e-05,-0.000590589146019,1.26070661803e-05,1793250491421015552
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747.661984054,723,693,663,634,893,786,827,655.338015946,630,657,0.455206113424,-0.00554405081363,0.0496094661349,0.999999823252,6.74017860822e-05,-0.000590597631884,1.21678732771e-05,1793250491437682176
+247,4.116666667,HOLD_POSE2,770,747,723,693,663,634,893,786,827,655,630,657,0.455205208869,-0.00554406089943,0.0496083869322,0.999999821991,7.06281882805e-05,-0.000592355010977,1.20802754733e-05,1793250491476028416
+248,4.133333333,HOLD_POSE2,770,747,723,693,663,634,893,786,827,655.576694336,630,657,0.455204629456,-0.00554404403988,0.0496075551526,0.999999821536,7.00621866594e-05,-0.000593191987337,1.19185385584e-05,1793250491492695296
+249,4.150000000,HOLD_POSE2,770,747,723,692.84696656,663,634,893,786.15303344,827,655.84696656,630,657,0.455204092269,-0.00554402434196,0.0496069712801,0.999999821143,6.95910038849e-05,-0.000593912447771,1.18043060479e-05,1793250491509362432
+250,4.166666667,HOLD_POSE2,770,747,723,692.271607658,663,634,893,786.728392342,827,655.271607658,630,657,0.455203671611,-0.00554399681101,0.0496070715551,0.99999982092,6.93814919825e-05,-0.000594311360092,1.18211711193e-05,1793250491526029312
+251,4.183333333,HOLD_POSE2,770,747,723,692.310930777,663.310930777,634.310930777,893,786.689069223,827,655,630,657,0.455204018685,-0.00554339962607,0.049607035718,0.999999820914,7.03654823642e-05,-0.000594206178857,1.18061902052e-05,1793250491542695680
+252,4.200000000,HOLD_POSE2,770,747,723,692.899888955,663.899888955,634.899888955,893,786.100111045,827,655,630,657,0.455205052248,-0.00554229306919,0.0496068781725,0.999999821098,7.24166760196e-05,-0.000593650248323,1.17627333163e-05,1793250491559362048
+253,4.216666667,HOLD_POSE2,769.519158018,747,723,693,663.519158018,634.519158018,893,786.480841982,827.480841982,655.480841982,630,657,0.455205165506,-0.00554320644698,0.0496068952681,0.999999821319,6.84169980079e-05,-0.000593755019836,1.16526005975e-05,1793250491576028672
+254,4.233333333,HOLD_POSE2,769.059623296,747,723,693,663,634,893,786.940376704,827.940376704,655.940376704,630,657,0.455205140588,-0.00554455032132,0.049607023304,0.999999821492,6.39407437392e-05,-0.000593962968522,1.16292741926e-05,1793250491592695296
+255,4.250000000,HOLD_POSE2,769.633810437,747,723,693,663,634,893,786.366189563,827.366189563,655.366189563,630,657,0.455205549709,-0.00554603947697,0.0496078001244,0.999999821386,6.60457632603e-05,-0.000593893644277,1.24729499581e-05,1793250491609361920
+256,4.266666667,HOLD_POSE2,770,747,723,693,663.208215378,634,893,786,827,655.208215378,630,657,0.455206164825,-0.00554600365914,0.0496083579925,0.999999821413,6.83199119709e-05,-0.000593586443235,1.27345443301e-05,1793250491626028544
+257,4.283333333,HOLD_POSE2,770,747,723,693,663.783003707,634,893,786,827,655.783003707,630,657,0.455207142603,-0.00554328305374,0.049608530385,0.999999821674,7.08918203394e-05,-0.000592860448931,1.19713569854e-05,1793250491642695424
+258,4.300000000,HOLD_POSE2,770,747,723,693,663.63006114,634,893.36993886,786.36993886,827,655.63006114,630,657,0.455207199873,-0.00554240343289,0.0496081064889,0.999999821572,7.14723787358e-05,-0.000592969731292,1.16334239284e-05,1793250491659362048
+259,4.316666667,HOLD_POSE2,770,747,723,693,663.035759038,634,893.964240962,786.964240962,827,655.035759038,630,657,0.455206698866,-0.00554264034566,0.0496073209512,0.999999821252,7.08452087886e-05,-0.000593585598327,1.15534021487e-05,1793250491676028416
+260,4.333333333,HOLD_POSE2,770,747,723,693,663,634,893.463589895,787,827,655.536410105,630,657,0.455204989603,-0.00554199980448,0.0496068132753,0.999999820165,7.21945217747e-05,-0.00059524662314,1.18479256576e-05,1793250491692695296
+261,4.350000000,HOLD_POSE2,770,747,723,693,663,634,893.108716648,786.891283352,827,655.891283352,630,657,0.455203655186,-0.00554181113013,0.0496063181764,0.999999819294,7.27976468634e-05,-0.000596630037145,1.20688907444e-05,1793250491709361920
+262,4.366666667,HOLD_POSE2,770,747,723,693,663,634,893.687747777,786.312252223,827,655.312252223,630,657,0.455204277014,-0.00554382027964,0.0496058005284,0.999999819586,6.96253083123e-05,-0.000596523021528,1.18679028433e-05,1793250491726028544
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786,827,655,629,657,0.455205188964,-0.00554746568091,0.0496064394498,0.999999820341,6.35435170124e-05,-0.000595927528021,1.23026819023e-05,1793250491763320576
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.580312208,827,655,629,657,0.455203175806,-0.00554525988349,0.049605012414,0.999999819097,6.55572971545e-05,-0.000597802260579,1.18804206299e-05,1793250491779987456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.158285153,634,893,786.841714847,827,655.158285153,629.158285153,657,0.455202003698,-0.00554308656339,0.0496038768447,0.999999817989,6.80853543625e-05,-0.000599377850953,1.15010831961e-05,1793250491796654336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.730146076,634,893,786.269853924,827,655.730146076,629.730146076,657,0.455203029129,-0.00554099810121,0.0496035028339,0.999999817245,7.1957142165e-05,-0.000600171827307,1.1233899334e-05,1793250491813320960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.695506918,634,893,786,827,656,630,656.695506918,0.455204082337,-0.00554107930528,0.0496038188075,0.999999817683,7.17001444088e-05,-0.000599475808946,1.10150631794e-05,1793250491829987584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.118938542,634,893,786,827,656,630,656.118938542,0.455205160364,-0.00554309918267,0.0496047513066,0.999999819174,6.77539311048e-05,-0.000597448427774,1.08394274203e-05,1793250491846654208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786,827,655.546139603,630,656.453860397,0.45520538433,-0.00554366982218,0.0496053910424,0.99999981961,6.69030130042e-05,-0.00059680563889,1.12374137975e-05,1793250491863320832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,892.972995299,786,827,655,629.972995299,657,0.455205306184,-0.00554389990918,0.0496058545411,0.999999819732,6.69118839093e-05,-0.000596590873283,1.17608244519e-05,1793250491879987456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,892.371670576,786,827,655,629.371670576,657,0.455203523635,-0.00554489788043,0.0496041881589,0.999999818914,6.80972268844e-05,-0.000597825823528,1.17810312635e-05,1793250491896654080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.219661036,892,786,827,655,629.219661036,657,0.455199616097,-0.0055444997969,0.0496019185731,0.999999816972,6.87920255314e-05,-0.000600991423456,1.14876169189e-05,1793250491913320960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.794819816,892,786,827,655,629.794819816,657,0.455192269492,-0.00554184234891,0.0495986727673,0.999999813188,6.86929308669e-05,-0.000607281571946,1.0686640488e-05,1793250491929987584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.621952148,892.378047852,786,827,655,630,657,0.455173092181,-0.00554038183907,0.0495901739661,0.999999804356,6.87165426498e-05,-0.000621667349184,9.75684144672e-06,1793250491946654976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.034249066,892.965750934,786,827,655,630,657,0.455147353876,-0.00553958511888,0.0495787619938,0.999999792447,6.88082041191e-05,-0.00064054274608,8.75560075264e-06,1793250491963322880
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.545357477,827,655,629.454642523,657,0.455092499819,-0.00553932814709,0.0495566857162,0.999999768521,6.92465926901e-05,-0.000676827110289,8.27372146962e-06,1793250491979988736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,723,692.876121485,663,634,892.876121485,787,827,655,629.123878515,657,0.455033508926,-0.00553828658324,0.0495348684296,0.999999745169,7.02169829428e-05,-0.000710405787821,7.45781708083e-06,1793250491996654592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,723,692.299735262,663,634,892.299735262,787,827,655,629.700264738,657,0.454965988344,-0.00553425702641,0.0495164078134,0.999999730747,7.30523113356e-05,-0.000730165822411,5.30437452361e-06,1793250492013321216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,723,692.274757103,663,634,892.274757103,786.725242897,827,655.274757103,630,657,0.454892017854,-0.00553084889675,0.0495020859947,0.999999718317,7.41780016159e-05,-0.000746893566318,3.78539641502e-06,1793250492029987584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,723,692.84719755,663,634,892.84719755,786.15280245,827,655.84719755,630,657,0.454811059266,-0.00552811404753,0.0494922483233,0.999999708243,7.34513982618e-05,-0.000760335998556,2.95382377232e-06,1793250492046654464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.434574192,892.565425808,786.434574192,827,656,630,657,0.454724505286,-0.00552532412691,0.0494912194806,0.999999708949,7.55211185133e-05,-0.000759206379098,2.10814730501e-06,1793250492063321088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.973364704,892.026635296,787,827,656,629.973364704,657,0.454634656774,-0.00552238768089,0.0494936299006,0.99999971355,7.87127013587e-05,-0.000752796864007,1.31921394718e-06,1793250492079987712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.396873868,892.603126132,787,827,656,629.396873868,657,0.454518857106,-0.00551684035632,0.0495008237297,0.999999717516,8.40438055889e-05,-0.000746928504433,1.80769648476e-06,1793250492096654336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.178010878,893,787,827,655.821989122,629.178010878,657,0.454396258037,-0.00551158654156,0.0495081911819,0.999999723092,8.83707572852e-05,-0.00073892003646,1.96170746725e-06,1793250492113320960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.7493468,893,787,827,655.2506532,629.7493468,657,0.454258635327,-0.005506981254,0.049515942263,0.999999732235,9.04789767958e-05,-0.000726182879444,1.37668467923e-06,1793250492129987328
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,787,827,655.333024093,630,657,0.454103924296,-0.005501273732,0.0495252212977,0.999999740875,9.52619949555e-05,-0.000713564022538,1.05957248872e-06,1793250492146653696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,787,827,655.926347757,630,657,0.453935856612,-0.0054947046768,0.049535694618,0.999999749057,0.000102135699727,-0.000701037630412,9.51865545717e-07,1793250492163320576
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.507457437,635,893,786.492542563,827,655.492542563,630,657,0.453725100565,-0.00548768452327,0.0495401577847,0.999999749038,0.000105995742687,-0.000700491165613,1.46165361117e-07,1793250492179987200
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.913914282,635,893,786.086085718,826.913914282,655,630,657,0.453502216906,-0.0054805362958,0.0495437382063,0.999999747874,0.00010996443097,-0.000701541297359,-6.45251937171e-07,1793250492196653824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.339541715,635,893,786.660458285,826.339541715,655,630,657,0.45324486122,-0.00547302425433,0.0495471431622,0.999999746745,0.000116972045191,-0.000702016843398,-7.94540104281e-07,1793250492213320448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.236236523,635,893,787,826.236236523,655,630,657,0.452973825053,-0.00546555132458,0.0495498438886,0.999999746579,0.000122369624636,-0.000701330624182,-1.4616683488e-06,1793250492229987584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663.814047186,635,893,787,826.814047186,655,630,657,0.452683008311,-0.00545813494688,0.04955152637,0.999999747853,0.000125439256091,-0.00069896460982,-2.87754100295e-06,1793250492246654464
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69436619f0bb2425a1c7f8e10dc4dd977fcb7d0b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+227,3.783333333,pose1_to_pose2_press,0.619542798712,0.000150035736002,1.04003338414,0.590113475419,0.00882267140238,1.03970478585
+228,3.800000000,pose1_to_pose2_press,0.61954945211,0.000149986884463,1.04003338527,0.590120129159,0.00882262346598,1.03970478327
+229,3.816666667,pose1_to_pose2_press,0.619553846998,0.000150053287293,1.04003350149,0.590124524223,0.0088226905378,1.03970489921
+230,3.833333333,pose1_to_pose2_press,0.619556784585,0.000150157933478,1.04003360991,0.590127461407,0.00882279397675,1.03970500815
+231,3.850000000,pose1_to_pose2_press,0.619558416305,0.0001502395993,1.04003347965,0.590129089912,0.00882286458494,1.03970487362
+232,3.866666667,pose1_to_pose2_press,0.619559384357,0.000150260392308,1.04003341146,0.590130057131,0.00882288249925,1.03970480417
+233,3.883333333,pose1_to_pose2_press,0.619559821924,0.000150211965481,1.04003339964,0.590130496571,0.00882284046846,1.03970479443
+234,3.900000000,pose1_to_pose2_press,0.619559938023,0.000150199116545,1.04003339651,0.590130613166,0.00882282931657,1.03970479184
+235,3.916666667,pose1_to_pose2_press,0.61956002408,0.000150189592272,1.04003339418,0.590130699593,0.00882282105023,1.03970478993
+236,3.933333333,pose1_to_pose2_press,0.61956011842,0.000150179151417,1.04003339163,0.590130794336,0.00882281198837,1.03970478783
+237,3.950000000,pose1_to_pose2_press,0.619560184163,0.000150171875482,1.04003338986,0.59013086036,0.00882280567341,1.03970478636
+238,3.966666667,pose1_to_pose2_press,0.619560249232,0.000150164674093,1.0400333881,0.590130925708,0.00882279942315,1.03970478492
+239,3.983333333,pose1_to_pose2_press,0.619560410714,0.000150146802377,1.04003338374,0.590131087881,0.00882278391187,1.03970478132
+240,4.000000000,pose1_to_pose2_press,0.619560553844,0.000150180950416,1.04003340782,0.590131230434,0.00882281613106,1.03970480611
+241,4.016666667,pose1_to_pose2_press,0.619560648826,0.000150218892584,1.04003343235,0.59013132467,0.00882285156402,1.03970483112
+242,4.033333333,pose1_to_pose2_press,0.619560807599,0.00015028231756,1.04003347335,0.590131482196,0.00882291079456,1.03970487292
+243,4.050000000,pose1_to_pose2_press,0.619560978402,0.000150319544452,1.04003351507,0.590131652334,0.00882294572125,1.03970491337
+244,4.066666667,pose1_to_pose2_press,0.619561065827,0.000150287085948,1.04003353246,0.590131740543,0.00882291576074,1.03970492659
+245,4.083333333,pose1_to_pose2_press,0.619561114998,0.000150265753695,1.04003353927,0.590131790198,0.00882289598731,1.03970493121
+246,4.100000000,pose1_to_pose2_press,0.61956108147,0.000150108033868,1.04003336847,0.590131758781,0.00882274582009,1.0397047703
+247,4.116666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582151,1.0397047703
+248,4.133333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.590131758784,0.00882274582137,1.03970477029
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+263,4.383333333,pose2_to_pose3_retreat,0.619561053796,0.000150143058239,1.04003353459,0.590131730445,0.00882277829004,1.03970492855
+264,4.400000000,pose2_to_pose3_retreat,0.619560924742,0.000150310820177,1.04003337741,0.590131597896,0.00882293446014,1.03970477843
+265,4.416666667,pose2_to_pose3_retreat,0.619560848275,0.000150321974467,1.04003338122,0.59013152159,0.0088229461385,1.03970478162
+266,4.433333333,pose2_to_pose3_retreat,0.619560846298,0.000150322262742,1.04003338132,0.590131519618,0.00882294644032,1.0397047817
+267,4.450000000,pose2_to_pose3_retreat,0.61956069369,0.000150344523646,1.04003338892,0.590131367333,0.00882296974713,1.03970478806
+268,4.466666667,pose2_to_pose3_retreat,0.619560412861,0.000150362675648,1.04003341333,0.590131086678,0.00882298844415,1.03970481125
+269,4.483333333,pose2_to_pose3_retreat,0.619560363021,0.000150363153632,1.04003341892,0.590131036818,0.00882298885294,1.03970481675
+270,4.500000000,pose2_to_pose3_retreat,0.619559912883,0.000150367470652,1.0400334694,0.590130586503,0.00882299254503,1.03970486639
+271,4.516666667,pose2_to_pose3_retreat,0.619558445951,0.000150260510228,1.04003356268,0.590129121157,0.00882289094498,1.03970495894
+272,4.533333333,pose2_to_pose3_retreat,0.619554241198,0.000150222124238,1.04003343004,0.59012491665,0.00882285344993,1.03970482899
+273,4.550000000,pose2_to_pose3_retreat,0.619546068349,0.000150227546414,1.04003336825,0.590116743212,0.00882285680865,1.03970476426
+274,4.566666667,pose2_to_pose3_retreat,0.619529639274,0.000149994263415,1.04003327998,0.590100317068,0.00882263347706,1.03970468172
+275,4.583333333,pose2_to_pose3_retreat,0.619504365141,0.000150108655119,1.04003352181,0.590075041726,0.0088227438162,1.03970492536
+276,4.600000000,pose2_to_pose3_retreat,0.619469363318,0.00015004932336,1.04003334787,0.590040039937,0.00882268485509,1.03970475473
+277,4.616666667,pose2_to_pose3_retreat,0.619425467804,0.000150102412965,1.04003336837,0.589996143741,0.00882273529653,1.03970476949
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+281,4.683333333,pose2_to_pose3_retreat,0.619179612966,0.000149905596456,1.04003342573,0.589750291847,0.00882254831968,1.03970482363
+282,4.700000000,pose2_to_pose3_retreat,0.619100427573,0.000149887131023,1.04003329079,0.589671106373,0.00882252930866,1.03970469236
+283,4.716666667,pose2_to_pose3_retreat,0.619012060443,0.000150104711658,1.04003347461,0.589582737226,0.00882273988005,1.03970487618
+284,4.733333333,pose2_to_pose3_retreat,0.618912585842,0.000150106107001,1.040033616,0.589483262711,0.00882274113137,1.03970500893
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+286,4.766666667,pose2_to_pose3_retreat,0.618672778641,0.000150140490991,1.04003350495,0.589243454254,0.00882277074085,1.03970489306
+287,4.783333333,pose2_to_pose3_retreat,0.61852891242,0.000150129486308,1.04003346152,0.589099589341,0.00882276401001,1.0397048506
+288,4.800000000,pose2_to_pose3_retreat,0.618365749769,0.000150151551207,1.04003365928,0.588936425504,0.0088227818824,1.03970504979
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+291,4.850000000,pose2_to_pose3_retreat,0.617762021772,0.000150051760947,1.04003368089,0.588332699049,0.00882268634592,1.03970506608
+292,4.866666667,pose2_to_pose3_retreat,0.617524958718,0.000150052929797,1.04003359119,0.588095636336,0.00882268863926,1.0397049839
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+296,4.933333333,pose2_to_pose3_retreat,0.616396247606,0.000150338930258,1.04003364516,0.586966922639,0.00882296445872,1.03970503892
+297,4.950000000,pose2_to_pose3_retreat,0.616073523042,0.000150048308988,1.04003346375,0.586644200811,0.00882268278291,1.0397048588
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+331,5.516666667,pose2_to_pose3_retreat,0.59527986609,0.000150155115986,1.04003351149,0.565850545124,0.00882279090845,1.0397049084
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+337,5.616666667,pose2_to_pose3_retreat,0.590867518486,0.000150088623139,1.04003355468,0.561438197389,0.00882272377819,1.03970494619
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+342,5.700000000,pose2_to_pose3_retreat,0.587474497829,0.00015017120775,1.04003353896,0.558045175365,0.00882280170649,1.03970492992
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+382,6.366666667,pose2_to_pose3_retreat,0.575711098401,0.000150222517391,1.04003351842,0.546281777106,0.00882285716377,1.03970491482
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+387,6.450000000,pose2_to_pose3_retreat,0.575670591754,0.000150152421166,1.04003360125,0.546241269298,0.00882278295201,1.03970499318
+388,6.466666667,pose2_to_pose3_retreat,0.575668231784,0.000150028993107,1.04003357001,0.5462389096,0.00882266018716,1.03970495522
+389,6.483333333,pose2_to_pose3_retreat,0.57566678218,0.000150047850253,1.04003356462,0.546237460331,0.008822680183,1.03970494968
+390,6.500000000,pose2_to_pose3_retreat,0.575666112223,0.000150058655097,1.04003356243,0.546236790534,0.00882269153025,1.03970494752
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+392,6.533333333,pose2_to_pose3_retreat,0.5756656811,0.000150065608118,1.04003356102,0.546236359513,0.00882269883232,1.03970494612
+393,6.550000000,pose2_to_pose3_retreat,0.57566563027,0.000150068164032,1.04003355992,0.546236308668,0.00882270134837,1.03970494529
+394,6.566666667,pose2_to_pose3_retreat,0.575665581237,0.000150071705165,1.04003355829,0.546236259605,0.00882270480087,1.03970494408
+395,6.583333333,pose2_to_pose3_retreat,0.575665446867,0.000150081409423,1.04003355382,0.54623612515,0.00882271426221,1.03970494075
+396,6.600000000,pose2_to_pose3_retreat,0.575665371179,0.000150086875627,1.0400335513,0.546236049414,0.00882271959159,1.03970493888
+397,6.616666667,pose2_to_pose3_retreat,0.575665309004,0.000150091365892,1.04003354923,0.546235987201,0.00882272396946,1.03970493734
+398,6.633333333,pose2_to_pose3_retreat,0.575665199075,0.000150099304993,1.04003354557,0.546235877203,0.00882273170984,1.03970493461
+399,6.650000000,pose2_to_pose3_retreat,0.575665056476,0.000150109603533,1.04003354082,0.546235734514,0.00882274175059,1.03970493108
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+404,6.733333333,pose2_to_pose3_retreat,0.575664336136,0.000150101282696,1.04003351027,0.546235015772,0.00882273908532,1.0397049067
+405,6.750000000,pose2_to_pose3_retreat,0.575664312126,0.000150098777096,1.04003350901,0.546234991891,0.00882273702515,1.03970490564
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+408,6.800000000,pose2_to_pose3_retreat,0.575664312936,0.000150096813084,1.04003356962,0.546234992097,0.00882273292723,1.03970496404
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d450252f68695247821729b3b43a8d6c3a5763f8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a298c883a13a458b2b2b4f337dfa8746b3d522b20d9ed835ce5942b102249c0
+size 26063284
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e711eb4f87ecfc098304c73b0abcae1a7d29e58
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+20,0.333333333,BASELINE,769.405029399,746,722,683.405029399,666.594970601,642,887,789,818.405029399,655.594970601,632,656,0.400991230498,-0.00539911902228,0.0498529271665,0.999999960026,0.000128343508471,-0.000248836864052,-3.94579094564e-05,1793250494653468416
+21,0.350000000,BASELINE,769.173996848,745.826003152,721.826003152,683,667.173996848,642,887,789,818.173996848,655.826003152,631.826003152,656,0.400991175919,-0.00540005924482,0.049852975116,0.999999960288,0.000127485858653,-0.000248256862538,-3.92356821579e-05,1793250494670135040
+22,0.366666667,BASELINE,769.773957481,745.226042519,721.226042519,683,667.773957481,642,887,789,818.773957481,655.226042519,631.226042519,656,0.400989816394,-0.0054002690298,0.0498528077757,0.999999959944,0.000128318131488,-0.000249219680474,-3.91934550973e-05,1793250494686801664
+23,0.383333333,BASELINE,769.641364148,745,721,683,667.282728295,642,887.358635852,789,818.641364148,654.641364148,631.358635852,656,0.40098987626,-0.00540051474828,0.0498531982224,0.999999959926,0.000128498830167,-0.000249209145129,-3.91304067477e-05,1793250494703468544
+24,0.400000000,BASELINE,769.065924216,745,721,683,666.131848431,642,887.934075784,789,818.065924216,654.065924216,631.934075784,656,0.400990794183,-0.00540078218945,0.0498539258649,0.999999960105,0.00012828563653,-0.00024861019419,-3.90547714195e-05,1793250494720135424
+25,0.416666667,BASELINE,769.504693126,745,721,683,666,642,888,789,818.504693126,655.009386252,631.495306874,656,0.400989897366,-0.00540043948569,0.049853570406,0.999999960182,0.000127154711374,-0.00024886184006,-3.9191148625e-05,1793250494736802048
+26,0.433333333,BASELINE,770,745,721,683,666,642,888,789,819,655.925627658,631.074372342,656.074372342,0.400989108901,-0.00540000735353,0.0498533009417,0.999999960254,0.000126259048063,-0.000249009885128,-3.93085634424e-05,1793250494753468672
+27,0.450000000,BASELINE,770,745,721,683,666,642,888,789,819,655.358031562,631.641968438,656.641968438,0.400990596168,-0.0053995056921,0.0498545311491,0.999999960392,0.00012771107045,-0.000247741001932,-3.91183028283e-05,1793250494770135296
+28,0.466666667,BASELINE,770,745.223482871,721,683,666,642,888,789,819,655,632,656.776517129,0.400990834869,-0.00539915390606,0.0498547742877,0.999999960358,0.000128458584282,-0.000247485069906,-3.91581048233e-05,1793250494786801664
+29,0.483333333,BASELINE,770,745.828776117,721,683,666,642,888,789,819,655,632,656.171223883,0.400988940451,-0.00539905817536,0.0498533310637,0.999999960033,0.00012800247703,-0.000248959719211,-3.95909583907e-05,1793250494803468544
+30,0.500000000,BASELINE,769.587065414,745.587065414,721.412934586,683,666.412934586,642,887.587065414,789,819,655,632,656,0.400988799864,-0.00539932527161,0.0498528658169,0.999999959855,0.000127994529356,-0.00024968199014,-3.95696429286e-05,1793250494820135168
+31,0.516666667,BASELINE,769.011243826,745.011243826,721.988756174,683,666.988756174,642,887.011243826,789,819,655,632,656,0.400989351096,-0.00539973548932,0.0498527863449,0.999999959735,0.000128163363614,-0.000250107476355,-3.93691750325e-05,1793250494836801792
+32,0.533333333,BASELINE,769.565006849,745.565006849,721.434993151,683.565006849,667,642,887.565006849,789,819,655,632,656.565006849,0.400988169579,-0.00540007041239,0.0498526425504,0.999999959613,0.000127382475379,-0.00025096870355,-3.95175617226e-05,1793250494853468416
+33,0.550000000,BASELINE,769.854018898,745.854018898,721.145981102,684,666.854018898,642,888.145981102,789,819,655,632,656.854018898,0.400988081607,-0.00540026170602,0.0498528871837,0.999999959737,0.000126919647778,-0.000250703308996,-3.95621316502e-05,1793250494870135040
+34,0.566666667,BASELINE,769.258526005,745.258526005,721.741473995,684,666.258526005,642,888.741473995,789,819,655,632,656.258526005,0.400991467188,-0.00540001534652,0.0498543318268,0.999999960611,0.00012749444877,-0.000246942046603,-3.92656307782e-05,1793250494886801664
+35,0.583333333,BASELINE,769.325062464,745.325062464,722,683.674937536,666,642,888.349875071,789,819,655,631.674937536,656,0.400991941715,-0.00539977895592,0.049854324096,0.999999960688,0.000127772620968,-0.00024648355899,-3.92888039696e-05,1793250494903468288
+36,0.600000000,BASELINE,769.899517744,745.899517744,722,683.100482256,666,642,887.200964513,789,819,655,631.100482256,656,0.400990182837,-0.00539955021358,0.0498532020822,0.999999960157,0.000127823215151,-0.000248559009503,-3.95572358828e-05,1793250494920134912
+37,0.616666667,BASELINE,769.525256257,746,722,683,666.474743743,642,887.474743743,789,819,655,631.474743743,656.474743743,0.400990431017,-0.00540097466446,0.0498537860846,0.999999960637,0.000125446999217,-0.000247885610681,-3.92653449263e-05,1793250494936801792
+38,0.633333333,BASELINE,769,746,722,683,667,642,888,789,819,655,632,657,0.400991069327,-0.00540246508315,0.0498547003155,0.999999961246,0.000123074358275,-0.000246670024365,-3.89147573584e-05,1793250494953468160
+39,0.650000000,BASELINE,769,746,722,683,667,642,888,789,819,655,632,657,0.400991337089,-0.00540097463465,0.0498552850715,0.999999961049,0.000126129537228,-0.000245879482075,-3.91937655121e-05,1793250494970134784
+40,0.666666667,BASELINE,769,746,722,683,666.775696176,642,888,789,819,655.224303824,632,657,0.400991172243,-0.00539986608519,0.049855138325,0.999999960741,0.000128285282238,-0.00024600806985,-3.92442535574e-05,1793250494986801664
+41,0.683333333,BASELINE,769,746,722,683,666.194450008,642,888,789,819,655.805549992,632,657,0.400990318974,-0.0053993652648,0.0498538275132,0.999999960268,0.000129009727077,-0.000247599300775,-3.8931089724e-05,1793250495003468032
+42,0.700000000,BASELINE,769.383142303,746,722,683.383142303,666.383142303,642,888,789,818.616857697,655.616857697,632,657,0.400989280757,-0.00539984535577,0.0498531634261,0.999999959963,0.000128861964576,-0.000248901129672,-3.89489962632e-05,1793250495020134912
+43,0.716666667,BASELINE,769.958897731,746,722,683.958897731,666.958897731,642,888,789,818.041102269,655.041102269,632,657,0.400988149563,-0.00540081857008,0.0498528244601,0.999999959743,0.000128275726377,-0.000250057470467,-3.91333383595e-05,1793250495036801792
+44,0.733333333,BASELINE,770,746,722,684,666.467173168,642,887.467173168,789,818.532826832,655,632,656.467173168,0.400989280138,-0.00540207473252,0.0498539171109,0.999999960292,0.000127020887676,-0.000248563756223,-3.86914224922e-05,1793250495053468416
+45,0.750000000,BASELINE,770,746,722,683.889833669,666.110166331,642,887.110166331,789,819,655,632,656,0.400990315696,-0.00540278497345,0.0498548268283,0.99999996078,0.00012593487716,-0.00024719730274,-3.83960485613e-05,1793250495070134784
+46,0.766666667,BASELINE,770,746,722,683.296935266,666.703064734,642,887.703064734,789,819,655,632,656,0.400990173001,-0.00540100775499,0.049854452703,0.999999960753,0.00012581387193,-0.000247281187589,-3.8953761177e-05,1793250495086801408
+47,0.783333333,BASELINE,770,746,722,683.28806591,666.71193409,642,888,789,819,655,631.71193409,656,0.400990020874,-0.00540007546391,0.0498543112951,0.999999960601,0.000126728372112,-0.000247383838879,-3.92374148058e-05,1793250495103468288
+48,0.800000000,BASELINE,770,746,722,683.865143988,666.134856012,642,888,789,819,655,631.134856012,656,0.400989859284,-0.00539999087547,0.0498544033692,0.999999960321,0.000128681779188,-0.000247505318264,-3.92461092676e-05,1793250495120134656
+49,0.816666667,BASELINE,769.560445973,746,722,683.560445973,666,642,887.560445973,789,819,655,631.439554027,656,0.400991516108,-0.00540113574626,0.0498553160812,0.99999996075,0.000128397191245,-0.000245968562545,-3.89066880577e-05,1793250495136802304
+50,0.833333333,BASELINE,769.013522865,746,721.986477135,683,666,642,887,789,819,655,632,656.013522865,0.400993644752,-0.00540258467077,0.0498564323786,0.999999961366,0.000127469197008,-0.000244004782566,-3.84818211427e-05,1793250495153470208
+51,0.850000000,BASELINE,769.603365116,746,721.396634884,683,666,642,887,789,819,655,632,656.603365116,0.40099224856,-0.0054010132106,0.0498555597437,0.999999960915,0.000128206387956,-0.000245393170177,-3.89396804184e-05,1793250495170136320
+52,0.866666667,BASELINE,769.810354614,746,721.189645386,683,666.189645386,642.189645386,887.189645386,789,819,655,632,656.810354614,0.400991199053,-0.00539976679035,0.049854785507,0.99999996049,0.000129304267803,-0.000246503263156,-3.92098403521e-05,1793250495186802688
+53,0.883333333,BASELINE,769.231386759,746,721.768613241,683,666.768613241,642.768613241,887.768613241,789,819,655,632,656.231386759,0.400990861254,-0.0053991876437,0.0498542132719,0.999999960122,0.000131142604816,-0.000247042045798,-3.90946728191e-05,1793250495203469568
+54,0.900000000,BASELINE,769,746,721.65382073,683,666.65382073,642.65382073,887.65382073,789,819,655,632,656,0.400991102547,-0.00539936121621,0.049854594414,0.999999960266,0.000130866450256,-0.000246610939534,-3.90409248155e-05,1793250495220135680
+55,0.916666667,BASELINE,769,746,721.077187927,683,666.077187927,642.077187927,887.077187927,789,819,655,632,656,0.400991729344,-0.0054000358782,0.0498556102249,0.999999960751,0.000129182666416,-0.000245534172619,-3.90280641506e-05,1793250495236802304
+56,0.933333333,BASELINE,769.49695267,746,721.49695267,683.49695267,666,642,887,789,819,655,632,656.49695267,0.400992183422,-0.00540009732658,0.0498555704621,0.999999960973,0.00012802413123,-0.000245224727242,-3.9107681374e-05,1793250495253468672
+57,0.950000000,BASELINE,770,745.927130226,722,683.927130226,666,642,887,789,819,655,631.927130226,656.927130226,0.400992572539,-0.00540011894044,0.0498554893474,0.99999996116,0.000127066956895,-0.000244947408624,-3.9184274486e-05,1793250495270134784
+58,0.966666667,BASELINE,770,745.335834373,722,683.335834373,666,642,887,789,819,655,631.335834373,656.335834373,0.400992689406,-0.00540053139265,0.0498562746567,0.999999961393,0.000126964829609,-0.00024405497161,-3.91376719122e-05,1793250495286801408
+59,0.983333333,BASELINE,769.74977899,745.25022101,722,683.25022101,666,642,887.25022101,789,819,655,631,656,0.400992561581,-0.00540077830795,0.0498562383459,0.999999961379,0.000126805836289,-0.000244199360502,-3.90908208769e-05,1793250495303468032
+60,1.000000000,BASELINE,769.170612746,745.829387254,722,683.829387254,666,642,887.829387254,789,819,655,631,656,0.400992112078,-0.00540080760537,0.0498551219179,0.999999961042,0.000126572085796,-0.000245706780056,-3.90436432029e-05,1793250495320134912
+61,1.016666667,BASELINE,769.404560277,746,722,683.595439723,666,642,888,788.595439723,819,655,631.404560277,656,0.400991068353,-0.00540072144017,0.0498540157236,0.999999960615,0.00012677992537,-0.000247300375127,-3.92393728522e-05,1793250495336801792
+62,1.033333333,BASELINE,769.978065688,746,722,683.021934312,666,642,888,788.021934312,819,655,631.978065688,656,0.40098977648,-0.00540058705755,0.0498529138029,0.999999960149,0.000127172173801,-0.000248929957165,-3.95365410611e-05,1793250495353468416
+63,1.050000000,BASELINE,770,746,721.447766685,683.552233315,666,642,887.447766685,788.552233315,819,655,632,656.552233315,0.400990939547,-0.00540047242882,0.0498544882612,0.999999960723,0.000126957092452,-0.000246756783727,-3.93300436354e-05,1793250495370135040
+64,1.066666667,BASELINE,770,746,721.130757804,684,666.130757804,642,887.130757804,789,819,655,632,656.869242196,0.400991563229,-0.00540017685637,0.049855506971,0.999999961055,0.000127191110619,-0.000245318974606,-3.91262422901e-05,1793250495386801664
+65,1.083333333,BASELINE,770,746,721.724619664,684,666.724619664,642,887.724619664,789,819,655,632,656.275380336,0.40098993081,-0.00539923765458,0.0498541804428,0.999999960396,0.000129101239407,-0.000247021189856,-3.90029271332e-05,1793250495403468288
+66,1.100000000,BASELINE,769.691245079,746,721.691245079,683.691245079,666.691245079,642,888,789,819,655,631.691245079,656,0.40098966912,-0.00539985386411,0.0498541050923,0.999999960413,0.000128390307603,-0.000247334151414,-3.89342207848e-05,1793250495420135168
+67,1.116666667,BASELINE,769.11552012,746,721.11552012,683.11552012,666.11552012,642,888,789,819,655,631.11552012,656,0.400990592653,-0.00540181498575,0.0498551115934,0.999999961011,0.000125413032415,-0.000246445871757,-3.89127328496e-05,1793250495436802304
+68,1.133333333,BASELINE,769,746,721.458429378,683,666,642,888,789,819,655,631.458429378,656,0.400992310695,-0.00540112077572,0.0498565543647,0.999999961601,0.000126067220445,-0.000243663923552,-3.91562816136e-05,1793250495453468928
+69,1.150000000,BASELINE,769.03229355,746,722,683,666,642,887.96770645,789,819,655,632,656,0.400994066526,-0.00539990546599,0.0498579462218,0.999999962128,0.000127501742748,-0.000240691449539,-3.94367477918e-05,1793250495470135552
+70,1.166666667,BASELINE,769.612268296,746,722,683,666,642,887.387731704,789,819,655,632,656,0.400993080915,-0.0054011567215,0.0498566173346,0.999999961788,0.00012671064433,-0.000242549387277,-3.92150132328e-05,1793250495486802176
+71,1.183333333,BASELINE,769.804085398,746,721.804085398,683,666.195914602,642,887,789,818.804085398,655,631.804085398,656,0.400992277543,-0.00540205320347,0.04985563054,0.999999961516,0.000125876051413,-0.000244112327559,-3.91353712406e-05,1793250495503468800
+72,1.200000000,BASELINE,769.213033877,746,721.213033877,683,666.786966123,642,887,789,818.213033877,655,631.213033877,656,0.400991841726,-0.00540223414879,0.0498553337061,0.999999961387,0.000124953735016,-0.000245080292687,-3.93423133539e-05,1793250495520135936
+73,1.216666667,BASELINE,769.368334319,745.631665681,721,683.368334319,666.631665681,642,887,789,818.368334319,655,631.368334319,656,0.400990811214,-0.00540159534839,0.0498550263386,0.999999961029,0.000125733245916,-0.000246126994699,-3.94280458021e-05,1793250495536802560
+74,1.233333333,BASELINE,769.94424539,745.05575461,721,683.94424539,666.05575461,642,887,789,818.94424539,655,631.94424539,656,0.400989445559,-0.00540049457593,0.0498547130349,0.999999960539,0.000127471830646,-0.000247218069241,-3.94454698901e-05,1793250495553468928
+75,1.250000000,BASELINE,769.481510376,745.518489624,721,684,666,642,887.518489624,789,818.481510376,655,632,656.518489624,0.400988793909,-0.00539972486998,0.0498539505552,0.999999960281,0.000127511977371,-0.00024823240634,-3.9487320512e-05,1793250495570135552
+76,1.266666667,BASELINE,769.095328305,745.904671695,721,684,666.095328305,642,887.904671695,789,818.095328305,655,632,656.904671695,0.400988508809,-0.00539930223434,0.0498534602402,0.999999960169,0.000127259719954,-0.000248809124689,-3.94999594454e-05,1793250495586802432
+77,1.283333333,BASELINE,769.686593854,745.313406146,721,684,666.686593854,642,887.313406146,789,818.686593854,655,632,656.313406146,0.400989732502,-0.00540050058691,0.0498546363157,0.999999960691,0.000126433367331,-0.000247151961045,-3.93470059617e-05,1793250495603469312
+78,1.300000000,BASELINE,770,745,721.272117189,684,666.727882811,642,887,789,818.727882811,655,632,656,0.40099024493,-0.00540075376946,0.0498551942699,0.9999999609,0.000126681537225,-0.000246195290517,-3.92506202891e-05,1793250495620135936
+79,1.316666667,BASELINE,770,745,721.851163668,684,666.148836332,642,887,789,818.148836332,655,632,656,0.4009899551,-0.00539994086577,0.0498550550261,0.999999960756,0.00012814169394,-0.000246028727682,-3.92180391887e-05,1793250495636802560
+80,1.333333333,BASELINE,770,745.427750487,721.572249513,684,666.427750487,642,887,789,818.427750487,655,632,656,0.400989132509,-0.00539982007117,0.0498542218297,0.999999960331,0.000128607619964,-0.000247474630691,-3.94193477199e-05,1793250495653469184
+81,1.350000000,BASELINE,770,745.996450301,721,683.996450301,666.996450301,642,887.003549699,789,819,655,631.996450301,656,0.400988141005,-0.00539993534096,0.0498531612773,0.999999959814,0.000128725362222,-0.000249451004261,-3.9698656113e-05,1793250495670135552
+82,1.366666667,BASELINE,770,745.410261896,721,683.410261896,666.410261896,642,887.589738104,789,819,655,631.410261896,656,0.40098967764,-0.00539949598904,0.0498541894222,0.999999960521,0.000128150803902,-0.000246933064382,-3.94991641279e-05,1793250495686802176
+83,1.383333333,BASELINE,770,745.174895998,721.174895998,683,666,642,887.825104002,789,819,655,631.174895998,656,0.400991009416,-0.00539906788171,0.0498550388163,0.999999960984,0.000128016164539,-0.000245145436457,-3.93432076927e-05,1793250495703468544
+84,1.400000000,BASELINE,770,745.757650851,721.757650851,683,666,642,887.242349149,789,819,655,631.757650851,656,0.400991863464,-0.00539866599678,0.0498554713627,0.999999960892,0.000128907419562,-0.000245060901294,-3.92887764657e-05,1793250495720135424
+85,1.416666667,BASELINE,770,746,721.664134386,683.335865614,666,642,887,789,819,655,632,656,0.400991601909,-0.00539922817344,0.0498548447191,0.999999960827,0.000128114116895,-0.000245711451219,-3.94822960113e-05,1793250495736802048
+86,1.433333333,BASELINE,770,746,721.08915194,683.91084806,666,642,887,789,819,655,632,656,0.40099054611,-0.00540047670605,0.0498534639936,0.999999960776,0.000126121506826,-0.000246885339086,-3.98523421258e-05,1793250495753468928
+87,1.450000000,BASELINE,770,746,721,684,666,642,887.48512091,789,819,655,632,656,0.400990903903,-0.00540021928205,0.0498544488204,0.999999960829,0.000126822707047,-0.00024633091473,-3.97450915782e-05,1793250495770135296
+88,1.466666667,BASELINE,770,746,721.061136315,683.938863685,666,642,888,789,819,655,632,656.061136315,0.400991369726,-0.00539982861412,0.0498556589866,0.999999960881,0.000127840358814,-0.000245628864186,-3.95257608405e-05,1793250495786801920
+89,1.483333333,BASELINE,770,746,721.653422264,683.346577736,666,642,888,789,819,655,632,656.653422264,0.400990520445,-0.00540068123995,0.0498550555484,0.999999960775,0.000127312649374,-0.000246399651316,-3.90936251571e-05,1793250495803468288
+90,1.500000000,BASELINE,770,746,722,683,666,642,888,789,819,655.239847358,632,656.760152642,0.400989764556,-0.00540149380815,0.0498546954188,0.999999960752,0.000126281499343,-0.000247062816479,-3.8841859958e-05,1793250495820134656
+91,1.516666667,BASELINE,770,746,722,683,666,642,888,789,819,655.818005517,632,656.181994483,0.400989140396,-0.00540224987396,0.0498546784824,0.999999960844,0.000124540233598,-0.000247574178052,-3.88445119528e-05,1793250495836801280
+92,1.533333333,BASELINE,769.605833909,746,721.605833909,683,666,642,888,789,819,655.605833909,632,656,0.400989544145,-0.0054024741111,0.0498544965255,0.999999960855,0.000124373728986,-0.000247606987047,-3.88858200175e-05,1793250495853467904
+93,1.550000000,BASELINE,769.030590959,746,721.030590959,683,666,642,888,789,819,655.030590959,632,656,0.400990420106,-0.0054024540303,0.0498542387594,0.999999960829,0.000124930657329,-0.000247419952729,-3.89448863825e-05,1793250495870134784
+94,1.566666667,BASELINE,769.555997944,746,721.555997944,683.555997944,666.555997944,642,888,789,819,655,632,656,0.400990923239,-0.00540111161218,0.049854713266,0.999999961198,0.000124947091877,-0.000245851469371,-3.93666155397e-05,1793250495886801408
+95,1.583333333,BASELINE,770,746,721.858752316,683.858752316,666.858752316,642.141247684,888,789,819,655,632,656,0.400991428486,-0.00540010989671,0.0498551885682,0.999999961446,0.000125241987779,-0.000244641838754,-3.96561182698e-05,1793250495903468288
+96,1.600000000,BASELINE,770,746,721.27962944,683.27962944,666.27962944,642.72037056,888,789,819,655,632,656,0.400992005199,-0.00540039461925,0.0498555388354,0.999999961261,0.000126494237953,-0.000244785204722,-3.94725662629e-05,1793250495920135168
+97,1.616666667,BASELINE,769.701895371,746,721,683.298104629,666.298104629,642.701895371,888,789,819,655,632,656.298104629,0.400992162344,-0.00539988527831,0.0498558282362,0.999999961099,0.00012768088833,-0.000244831036609,-3.94649402416e-05,1793250495936801536
+98,1.633333333,BASELINE,769.12545803,746,721,683.87454197,666.87454197,642.12545803,888,789,819,655,632,656.87454197,0.40099192775,-0.00539863454046,0.0498560608074,0.999999960959,0.00012880628977,-0.00024478580339,-3.96215718507e-05,1793250495953468160
+99,1.650000000,BASELINE,769,746,721.451727746,683.548272254,666.548272254,642,887.548272254,789.451727746,819,655,632,656.548272254,0.400991535039,-0.00540054933601,0.0498552210515,0.999999961217,0.000126461145995,-0.000245018894907,-3.92381232819e-05,1793250495970134784
+100,1.666666667,BASELINE,769.029613962,745.970386038,722,683.029613962,666.029613962,642,887,789.940772076,819,655,632,656,0.400991036497,-0.00540311418261,0.0498541293866,0.999999961508,0.000123527807725,-0.00024540339536,-3.8747610465e-05,1793250495986801408
+101,1.683333333,BASELINE,769.616767557,745.383232443,722,683.616767557,666.616767557,642,887,788.766464885,819,655,632,656,0.400989373605,-0.00540133811945,0.0498539113262,0.999999960534,0.000127697435827,-0.000247180743729,-3.90700583564e-05,1793250496003468032
+102,1.700000000,BASELINE,769.79879143,745.20120857,722,683.79879143,667,642,887,788.20120857,818.79879143,655,632,656.20120857,0.400988979667,-0.00540036448701,0.0498539896298,0.999999960154,0.000129708881239,-0.000247640231293,-3.92750002213e-05,1793250496020134656
+103,1.716666667,BASELINE,769.219448285,745.780551715,722,683.219448285,667,642,887,788.780551715,818.219448285,655,632,656.780551715,0.400990970492,-0.00540089887603,0.0498546248952,0.999999960915,0.000127664417959,-0.000245623041179,-3.92591110421e-05,1793250496036801280
+104,1.733333333,BASELINE,769,746,722,683,666.644932139,642,887,789,818.355067861,655,631.644932139,656.644932139,0.400990509221,-0.00540033214101,0.04985428682,0.999999960798,0.000127354596639,-0.000246265262152,-3.92256601892e-05,1793250496053468672
+105,1.750000000,BASELINE,769,746,722,683,666.073359232,642,887,789,818.926640768,655,631.073359232,656.073359232,0.400988552767,-0.00539909398817,0.0498533552438,0.999999960144,0.000128102484866,-0.000248529076941,-3.91815009848e-05,1793250496070136320
+106,1.766666667,BASELINE,769.500180481,746,722,683,666.500180481,642,887.500180481,789,819,655,631.500180481,656.500180481,0.400989918029,-0.00540108035417,0.0498545800492,0.999999960845,0.00012547923894,-0.000247081230729,-3.89248135163e-05,1793250496086802688
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,722,683,666,642,888,789,819,655,632,656,0.400994597755,-0.00540049692735,0.0498564969636,0.999999961445,0.000128320926337,-0.000243106000123,-3.9274262688e-05,1793250496129308672
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.420993211,746,722,683.579006789,666,642,888,789,818.420993211,655,632,656,0.400993795566,-0.00540003272194,0.0498568654754,0.999999961343,0.000128853794906,-0.000243217120476,-3.94514104347e-05,1793250496145975552
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.156705295,746,722,683.843294705,666,642,888,789,818.156705295,655,632,656.156705295,0.400992589526,-0.00539982578027,0.0498567613742,0.999999961132,0.000129079894589,-0.000243953875278,-3.95076786165e-05,1793250496162642432
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.730918285,746,722,683.269081715,666,642,888,789,818.730918285,655,632,656.730918285,0.400990307516,-0.00540030426265,0.049855398097,0.999999960629,0.000128488674395,-0.000246357499103,-3.92418891248e-05,1793250496179308288
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746,722,683,666,642.31221808,888,789,819,655,632,657,0.400990326357,-0.00540049669998,0.0498551900438,0.999999960697,0.000128351070067,-0.000246173527197,-3.91311334817e-05,1793250496195974912
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746,722,683,666,642.899767376,888,789,819,655,632,657,0.400992374219,-0.0054004368869,0.0498560007313,0.999999961266,0.000128613489403,-0.000243707669737,-3.91570952995e-05,1793250496212642048
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746,721.516610405,683.483389595,666,642.516610405,887.516610405,788.516610405,819,655,631.516610405,656.516610405,0.400991884654,-0.00540152986338,0.049855665761,0.999999961439,0.00012570679317,-0.000244511255884,-3.91720410022e-05,1793250496229308928
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.935089201,746,721.064910799,683.935089201,666.064910799,642,887,788,819,655,631.064910799,656,0.40099118696,-0.00540256409585,0.0498552929223,0.999999961527,0.000122898217633,-0.000245574400037,-3.9174588981e-05,1793250496245975552
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.363659856,746,721.636340144,683.363659856,666.636340144,642,887,788,819,655,631.636340144,656,0.400992937749,-0.00540128969876,0.0498564633707,0.999999961679,0.000125941751777,-0.000243415482325,-3.9098074696e-05,1793250496262641664
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,722,683.210287856,666.789712144,642,887.210287856,788.210287856,819,655,631.789712144,656,0.400997505048,-0.0054004098677,0.0498586526353,0.999999962293,0.000128080653835,-0.000239769180785,-3.8980751241e-05,1793250496279308032
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,722,683.788643413,666.211356587,642,887.788643413,788.788643413,819,655,631.211356587,656,0.401007002095,-0.00540022064732,0.049862625138,0.999999963708,0.000128636174297,-0.000233519505417,-3.87919993348e-05,1793250496295974656
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.375365061,745.624634939,721.624634939,684,666,642,888,789,819,655,631,656,0.401034539686,-0.0054019943803,0.0498722585896,0.999999968229,0.000127300217624,-0.000214189680853,-3.81980171388e-05,1793250496312641280
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.966904841,745.033095159,721.033095159,684,666,642,888,789,819,655,631,656,0.401072466921,-0.00540489858847,0.0498851522119,0.999999973959,0.000124874949275,-0.000187326928685,-3.73706606424e-05,1793250496329308160
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745.545398445,721,683.454601555,666,642,887.454601555,789,819,655,631.545398445,656,0.401137083498,-0.00540653715815,0.0499052964785,0.999999980408,0.000126717411003,-0.00014790263238,-3.53784512786e-05,1793250496345975040
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.877503886,746,721,683,666,642,887.122496114,789,819,655,631.877503886,656.122496114,0.401204931934,-0.00540842637144,0.0499238769072,0.999999984789,0.000127478880716,-0.000114227113431,-3.35027877075e-05,1793250496362641664
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.302705586,746,721,683,666,642,887.697294414,789,819,655,631.302705586,656.697294414,0.40127887343,-0.00541151800598,0.0499350964584,0.999999986412,0.000123315045782,-0.000104526994405,-3.23123503655e-05,1793250496379308288
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.278471055,746,721.278471055,683,666.278471055,642,887.721528945,789.278471055,819,655.278471055,631,656.721528945,0.401357465036,-0.00541452197203,0.0499418282897,0.999999987512,0.000120996360795,-9.66810477154e-05,-3.14562308903e-05,1793250496395974656
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.866743622,746,721.866743622,683,666.866743622,642,887.133256378,789.866743622,819,655.866743622,631,656.133256378,0.401441229925,-0.00541742840591,0.0499435674922,0.999999988101,0.000120730421702,-9.08978847408e-05,-3.09720430729e-05,1793250496412641280
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.552303384,746,721.552303384,683,666.552303384,642,887,789.552303384,818.552303384,656,631.447696616,656,0.401539472471,-0.00542070896745,0.049942383435,0.99999998819,0.000118300393913,-9.32302393671e-05,-3.05522867249e-05,1793250496429308160
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,721.02640545,683,666.02640545,642,887,789,818.02640545,655.97359455,632,656,0.401643375418,-0.00542408468063,0.0499404449258,0.999999988111,0.00011543352865,-9.77076111188e-05,-3.01129043607e-05,1793250496445974528
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,721.603019425,683,666.603019425,642,887,789,818.603019425,655.396980575,632,656,0.401776876469,-0.00542716001662,0.0499406246137,0.999999988038,0.000116670269707,-9.73570807903e-05,-2.8871394579e-05,1793250496462641408
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,721.821316682,683,667,642,887.178683318,789,819,655.178683318,632,656,0.401922053979,-0.00543137004825,0.049941575394,0.999999988194,0.000116334595085,-9.65214202374e-05,-2.76126152471e-05,1793250496479308032
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,721.2477525,683,667,642,887.7522475,789,819,655.7522475,632,656,0.40209303584,-0.00543808769794,0.0499442302485,0.999999988847,0.000112523963206,-9.46136470983e-05,-2.63156712697e-05,1793250496495974912
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,721,683,667,642,887.664438202,789,819,656,632,656.335561798,0.402276380582,-0.0054448267577,0.0499451635269,0.999999989321,0.000108172111655,-9.50832891882e-05,-2.47992299715e-05,1793250496512641536
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,721,683,667,642,887.073709696,789,819,656,632,656.926290304,0.402469126279,-0.00545158209875,0.0499447876908,0.999999989647,0.00010340870736,-9.73607567128e-05,-2.31158791631e-05,1793250496529307904
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,721.50680981,683.50680981,666.49319019,642.50680981,887.50680981,789,818.49319019,655.49319019,632,656.49319019,0.402692673882,-0.00545946796319,0.0499443339066,0.999999989748,0.000100310757206,-9.99419892476e-05,-2.12852734081e-05,1793250496545974528
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,722,684,666.086365154,642.913634846,888,789,818,655.086365154,631.913634846,656.086365154,0.402928030789,-0.0054676415607,0.0499446634552,0.999999990017,9.70506312148e-05,-0.000100843065985,-1.94321220849e-05,1793250496562641152
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,722,684,666.668742376,642.331257624,888,789,818,655.668742376,631.331257624,656.668742376,0.403205990676,-0.00547654200894,0.0499495556609,0.999999991442,9.14954409244e-05,-9.18459591421e-05,-1.75700570995e-05,1793250496579307776
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+136,2.266666667,POSE1_TO_POSE2_PRESS,769.812060599,745.187939401,722,684,666.187939401,642,887.187939401,789,818.812060599,655.187939401,631,657,0.403845956949,-0.00549706937157,0.0499694284906,0.999999994831,8.53197949971e-05,-5.3979770791e-05,-1.2041255563e-05,1793250496612641024
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,745.395541221,722,684,666.395541221,642.395541221,887.395541221,789,819,655,631.395541221,657,0.404198046006,-0.00550610501835,0.0499778160518,0.999999995861,8.24852200211e-05,-3.72489922813e-05,-9.28244433523e-06,1793250496629307648
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745.986986559,722,684,666.986986559,642.986986559,887.986986559,789,819,655,631.986986559,657,0.404557764649,-0.00551426410349,0.0499844435917,0.999999996556,7.92903970298e-05,-2.35647812173e-05,-6.70401750263e-06,1793250496645974272
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746,721.434754514,684.565245486,666.434754514,643,888.565245486,789,819,655,632,657,0.404964674222,-0.00552034075196,0.0499892291833,0.999999996364,8.48327236884e-05,-8.17093299336e-06,-2.9474104387e-06,1793250496662640896
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.857062725,746,721,684.857062725,666.142937275,642.857062725,888.857062725,789,819,655,632,656.857062725,0.40537230891,-0.0055214228439,0.0499880034937,0.999999995409,9.5612407298e-05,-6.29885991093e-06,2.41264452584e-07,1793250496679307776
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.280192156,746,721,684.280192156,666.719807844,642.280192156,888.280192156,789,819,655,632,656.280192156,0.405778921735,-0.00550748453855,0.0499686543785,0.999999991554,0.0001216950733,-4.5593370123e-05,1.62532390967e-06,1793250496695974400
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.698392334,721,684,666.698392334,642,888,789,819,655,632,656,0.406209701814,-0.00549662923065,0.0499491474536,0.999999986065,0.000144621332016,-8.33447831954e-05,2.73848709641e-06,1793250496712640768
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.111937106,721,684,666.111937106,642,888,789,819,655,632,656,0.406663306238,-0.00548868559877,0.0499294914862,0.999999979296,0.000164566585611,-0.000119638852412,3.59580766977e-06,1793250496729307392
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.468479133,721.468479133,684,666.936958266,642,888.468479133,789,819,655,631.531520867,656,0.407171442757,-0.0054966257342,0.0499225699015,0.99999997724,0.000167195938914,-0.000132342579494,7.11519995378e-06,1793250496745974272
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,722,684.047400546,667.952599454,642,889,789.047400546,819,655,631,656.047400546,0.407699409501,-0.00550780028322,0.0499209442089,0.999999977072,0.000166216971419,-0.000134540372933,1.12578346334e-05,1793250496762640896
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,722,684.625535801,667.374464199,642,889,789.625535801,819,655,631,656.625535801,0.40830537694,-0.00551323637059,0.0499449804427,0.999999982021,0.00017057257879,-8.14141102021e-05,1.53475038598e-05,1793250496779307776
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,722,685,667,642,889,789.797240661,818.797240661,655,631,657,0.40892124335,-0.00551609438929,0.0499684495506,0.999999983147,0.000179016689271,-3.5545721462e-05,1.99031595929e-05,1793250496795974400
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,722,685,667,642,889,789.221693417,818.221693417,655,631,657,0.409555309706,-0.00551421243951,0.0499908759544,0.999999980667,0.000194977812663,-3.02146940916e-06,2.53155654736e-05,1793250496812641024
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.353330514,746,722,685,667,642.353330514,889,789.353330514,818.353330514,655,631.353330514,656.646669486,0.410193332144,-0.00551049478599,0.0499952908262,0.999999976964,0.000212605268734,-3.16895700284e-06,2.93369525455e-05,1793250496829307648
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.928026563,746,722,685,667,642.928026563,889,789.928026563,818.928026563,655,631.928026563,656.071973437,0.410833833086,-0.00550562704355,0.0499884212702,0.999999972445,0.000231276700322,-2.37856575456e-05,3.24868505093e-05,1793250496845974272
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.480423549,746,721.480423549,685,667,642.480423549,889.519576451,790,819,655,632,656.519576451,0.411455351862,-0.00550576120011,0.049954964019,0.999999965495,0.000242043175597,-9.57279907443e-05,3.55149678722e-05,1793250496862641152
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,721.109672654,685.109672654,667,642.109672654,889.890327346,790,819,655,632,656.890327346,0.4121042327,-0.00550703899823,0.0499298163873,0.999999956917,0.000251266736698,-0.000146751232128,3.86543229401e-05,1793250496879307776
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,721.683407763,685.683407763,667,642.683407763,889.316592237,790,819,655,632,656.316592237,0.412880390788,-0.00551012583509,0.0499559361569,0.999999962573,0.000258750444277,-7.81660889618e-05,4.2338135988e-05,1793250496895974400
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,686,667.26411411,643,889.26411411,790,819.528228221,655,632,656.26411411,0.413658476576,-0.00551277631199,0.0499751603038,0.999999975985,0.000213653755841,-3.63900181703e-05,3.25121117139e-05,1793250496912641024
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,686,667.853403468,643,889.853403468,790,820.706806935,655,632,656.853403468,0.414438935838,-0.00551488954631,0.049985894617,0.999999994211,0.000103820491037,-2.7621060393e-05,6.05288069504e-06,1793250496929307648
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.4352708,746,722,686,668,643,890,790,820.5647292,655,632.4352708,657,0.415206200377,-0.00552213667552,0.0499678437902,0.99999999521,7.86422359108e-05,-5.82285888658e-05,2.39886013022e-06,1793250496945974528
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,722,686,668,643,890.01465471,789.98534529,820,655,632.98534529,656.98534529,0.415970866944,-0.00553087848444,0.0499410400065,0.999999991571,8.1954485866e-05,-0.000100504932877,6.34953281981e-06,1793250496962641152
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,722,686,668,643,890.593053701,789.406946299,820,655,632.406946299,656.406946299,0.416803679338,-0.00553171905584,0.0499442094218,0.999999990579,0.000102855584013,-9.00564399354e-05,1.23317147709e-05,1793250496979307776
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.829666789,746.170333211,722,686.170333211,667.829666789,643,890.829666789,789,820.170333211,655.170333211,632,656.170333211,0.417649229627,-0.00553166914149,0.0499555876244,0.99999999037,0.000120532423463,-6.64905460416e-05,1.76322487842e-05,1793250496995974400
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.255044423,746.744955577,722,686.744955577,667.255044423,643,890.255044423,789,820.744955577,655.744955577,632,656.744955577,0.418525013503,-0.00552950564206,0.0499864495418,0.999999991181,0.000130556421507,-1.17902492132e-05,2.13148779278e-05,1793250497012641024
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.326807156,746.673192844,722,687.326807156,667,643,890.326807156,789,821.326807156,655.673192844,632,657,0.419371119706,-0.00552706644318,0.0499843922997,0.999999990168,0.000136655989744,-2.16622393207e-05,2.28025957788e-05,1793250497029307648
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.914428101,746.085571899,722,687.914428101,667,643,890.914428101,789,821.914428101,655.085571899,632,657,0.420193541115,-0.00552440721797,0.0499560633832,0.999999986549,0.000139623602041,-8.30672001045e-05,2.25386286246e-05,1793250497045974272
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.505338605,746,722,688,667,643,891,789,822,655,631.505338605,657,0.421118468112,-0.00552689350413,0.0499656632986,0.999999989256,0.000136887754143,-4.73402740356e-05,2.25596627685e-05,1793250497062640896
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.073373906,746,722,688.073373906,667.073373906,643,891,789,822,655,631.073373906,657,0.42205745932,-0.00553004767008,0.0499807479234,0.999999990883,0.000133102866132,-1.75053707517e-07,2.27397673631e-05,1793250497079307520
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.650290901,746,722,688.650290901,667.650290901,643,891,789,822,655,631.650290901,657,0.422973066205,-0.00553176651156,0.0499891065338,0.999999991356,0.0001287901568,1.18711047171e-05,2.3678154716e-05,1793250497095974400
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.773793184,746.226206816,722,689,667.773793184,643,891,789,822,655,632,657,0.42388944707,-0.00553376859926,0.0499913807935,0.999999991641,0.00012603026539,1.54079588703e-05,2.44367495465e-05,1793250497112641024
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.199418004,746.800581996,722,689,667.199418004,643,891,789,822,655,632,657,0.424807019355,-0.00553620664832,0.0499842902684,0.999999991777,0.00012566040776,5.84763856325e-06,2.49186151591e-05,1793250497129307648
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.385016554,746.614983446,722,689.385016554,667,643,891,789,822,655,632,657,0.425750489668,-0.00553863604678,0.049991823394,0.999999992001,0.000123191690568,1.15893837927e-05,2.62358865852e-05,1793250497145974528
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.974801078,746.025198922,722,689.974801078,667,643,891,789,822,655,632,657,0.426707733584,-0.00554106084432,0.0500071339916,0.999999992131,0.00011960671174,2.5469410535e-05,2.79974618667e-05,1793250497162641152
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746.554419667,722,689.445580333,667.554419667,643,891,789.554419667,822.554419667,655,632,657,0.427594825596,-0.00553970276123,0.0499894390704,0.999999991618,0.000122683628535,-2.92503773236e-05,2.92655067348e-05,1793250497179307776
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.867309327,746.867309327,722,689.132690673,668,643.132690673,891.132690673,789.867309327,823,655,632,657,0.428491706863,-0.00553879531242,0.0499704866599,0.999999988891,0.000124864111091,-7.56866315473e-05,2.99713765784e-05,1793250497195974400
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.29201985,746.29201985,722,689.70798015,668,643.70798015,891.70798015,789.29201985,823,655,632,657,0.42943168469,-0.00553995416179,0.0499522535081,0.999999988459,0.000123062686752,-8.42797878362e-05,2.88755478178e-05,1793250497212641024
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.283196416,746.283196416,722,690,668,643.716803584,892,789,823,655,632,657,0.4303756177,-0.00554223013079,0.0499491106804,0.999999989486,0.000119298553336,-7.72142261517e-05,2.8885212689e-05,1793250497229307648
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.858337175,746.858337175,722,690,668,643.141662825,892,789,823,655,632,657,0.431323628011,-0.00554565772714,0.0499615243173,0.999999991648,0.000113511082913,-5.40062487996e-05,3.00345199007e-05,1793250497245974272
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,722,690,667.555494054,643,891.555494054,789,823.444505946,655,632,657,0.432249720795,-0.0055433258295,0.0499510164702,0.999999990504,0.000115218233554,-6.99106581639e-05,2.87970014948e-05,1793250497262641152
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,722,690.033721156,667,643,891.033721156,789.033721156,824,655,632.033721156,657,0.433170292915,-0.00553968658797,0.0499355278903,0.999999988138,0.000118639635137,-9.44473091839e-05,2.69999354294e-05,1793250497279308032
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,722,690.613900037,667,643,891.613900037,789.613900037,824,655,632.613900037,657,0.434117474334,-0.00554536352855,0.0499607164072,0.999999992181,0.000110149733647,-5.17342002226e-05,2.87757805306e-05,1793250497295974656
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747,722,691,667,643,892,790,824.192513225,655,632.807486775,657,0.435038386206,-0.00554882373003,0.0499765215219,0.999999993493,0.000105432688311,-3.11164690397e-05,3.04791313948e-05,1793250497312641280
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,747,722,691,667,643,892,790,824.768011733,655,632.231988267,657,0.435907037683,-0.00554787395784,0.0499736593263,0.999999992148,0.000108221351478,-5.44552144812e-05,3.20382628206e-05,1793250497329307904
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,722,691,667,643,892.349602562,790,825,655,632,657,0.436763870861,-0.00554606876441,0.0499625453917,0.999999990035,0.000111090329265,-8.09089327968e-05,3.2279450426e-05,1793250497345974528
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,722,691,667,643,892.935307778,790,825,655,632,657,0.437612722547,-0.00554368586582,0.0499458586794,0.999999987009,0.000114013546986,-0.000109466333827,3.16305699738e-05,1793250497362641152
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.48224739,722,691.51775261,667,643,893,789.48224739,825,655,632,657,0.43854413757,-0.00554758498998,0.0499672552334,0.999999991934,0.000106575959311,-6.1369874032e-05,3.17273596489e-05,1793250497379307776
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.098743638,722,692,667,643,892.901256362,789,825,655,632,656.901256362,0.439463410772,-0.00555137139833,0.049986049563,0.999999994428,9.89827618383e-05,-1.83422510766e-05,3.17740015445e-05,1793250497395974400
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746.674665496,722,692,667,643,892.325334504,789,825,655,632,656.325334504,0.440274467939,-0.0055508436881,0.049969417444,0.999999993776,9.6854405473e-05,-4.58045947942e-05,3.11308783834e-05,1793250497412641280
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.749956865,747,722,692,667,643,892.250043135,789,825.250043135,655,632,656.250043135,0.441082351501,-0.00555073057977,0.0499602398463,0.999999993039,9.64333159279e-05,-6.05022246012e-05,3.10113011058e-05,1793250497429307648
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.175285824,747,722,692,667,643,892.824714176,789,825.824714176,655,632,656.824714176,0.441886114747,-0.005551155744,0.0499607403627,0.999999992959,9.82287499985e-05,-5.86275822718e-05,3.1571437041e-05,1793250497445974272
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.410483004,747,722.410483004,692,666.589516996,643,892.589516996,789,826,655.410483004,632.410483004,657,0.442653691723,-0.00555171918432,0.0499606403936,0.999999993045,9.91696803281e-05,-5.50801165103e-05,3.22595059805e-05,1793250497462641152
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.998906982,722.998906982,692,666,642.998906982,892,789,826,655.998906982,632.998906982,657,0.44340520745,-0.00555233315232,0.0499601688281,0.99999999318,9.9747847465e-05,-5.10054837013e-05,3.29993491628e-05,1793250497479307776
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+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746.151718947,722,692,666,642,892.151718947,788.848281053,826,655.151718947,632,656.848281053,0.444721257118,-0.00554362212782,0.0498505069418,0.999999963445,0.000113178901849,-0.000243739958617,2.98472714856e-05,1793250497512642816
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746.728538306,722,692,666,642,892.728538306,788.271461694,826,655.728538306,632,656.271461694,0.445384568279,-0.00554168426698,0.0498114083409,0.999999951907,0.000117875580833,-0.000285480327146,2.8147188703e-05,1793250497529309440
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,692,666,641.688399671,893,788,826,655.688399671,632,656.311600329,0.446051200908,-0.00554002505178,0.0497987804817,0.99999995068,0.000121586056839,-0.000288253637793,2.76889666504e-05,1793250497545975808
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,692,666,641.09978798,893,788,826,655.09978798,632,656.90021202,0.446720786266,-0.00553861355148,0.0498096850012,0.999999958992,0.000124419802369,-0.000256385397959,2.83347535968e-05,1793250497562641920
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.480634853,746.519365147,722,692,666,641,893,788,826.480634853,655,632,657,0.447312687304,-0.00553672348756,0.0497882017581,0.99999994912,0.000129394605584,-0.000290187836002,2.84322471328e-05,1793250497579308544
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.940778161,746.059221839,722,692,665.940778161,640.940778161,893,788,827,655,632,657,0.447887744575,-0.00553587058947,0.049760550961,0.999999934247,0.000133549492324,-0.000335942518844,2.85246895336e-05,1793250497595975168
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.363627017,746.636372983,722,692,665.363627017,640.363627017,893,788,827,655,632,657,0.448454184264,-0.00554494269383,0.0497367836482,0.999999923461,0.000126711276714,-0.000368983749083,2.95518330545e-05,1793250497612641792
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.213546021,692,665,640,892.786453979,787.786453979,826.786453979,655,631.786453979,656.786453979,0.449010484131,-0.00555136438304,0.0497261610426,0.999999918008,0.000123469507375,-0.000384412023879,3.10939615807e-05,1793250497629308416
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.790756285,692,665,640,892.209243715,787.209243715,826.209243715,655,631.209243715,656.209243715,0.449549516046,-0.00555327247183,0.0497379235908,0.999999923063,0.00012635240892,-0.000369845814656,3.35130983403e-05,1793250497645974784
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,723,692.373723992,665,639.626276008,892.373723992,787.373723992,826.373723992,655,631,656,0.45006482795,-0.00555294747192,0.0497549898854,0.999999930531,0.00012956336467,-0.000347659647657,3.58224112273e-05,1793250497662641408
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,723,692.959965718,665,639.040034282,892.959965718,787.959965718,826.959965718,655,631,656,0.450566651547,-0.00555135262879,0.0497750721505,0.99999993887,0.000132960868286,-0.000321140398582,3.80692731009e-05,1793250497679308288
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,747,723,692.461082076,665,639,893,788,827,655,631,656.538917924,0.451010513669,-0.00555142923358,0.0497733045242,0.999999934468,0.00013654842871,-0.000332980823754,3.92789289265e-05,1793250497695976192
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,723,692.117062028,665,638.882937972,893,787.882937972,827,655,631,657,0.451435455065,-0.00555208064746,0.0497647478893,0.9999999259,0.000139083056564,-0.000356707903947,4.01938438058e-05,1793250497712643328
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,723,692.694130315,665,638.305869685,893,787.305869685,827,655,631,657,0.451802739861,-0.00555450941795,0.0497358064034,0.999999903179,0.000137425347512,-0.000416096377766,4.02492823954e-05,1793250497729308928
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664.730326089,637.730326089,893,787,827,655,631,657,0.452162303083,-0.00555731777416,0.0497137545292,0.999999887463,0.000133133589519,-0.000453643640526,3.94603074899e-05,1793250497745975040
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664.156502144,637.156502144,893,787,827,655,631,657,0.452513157554,-0.00556055424359,0.0496994730623,0.999999882529,0.000125871036385,-0.000466557427534,3.77189662126e-05,1793250497762641664
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.43244572,892.56755428,787,827,655,631,657,0.452857415407,-0.0055631990128,0.0497033424297,0.999999893937,7.47690168815e-05,-0.000453892547487,2.27325132599e-05,1793250497779308288
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.973761814,892.026238186,787,827,655.026238186,630.973761814,657,0.453197074284,-0.00556565863826,0.0497137773678,0.999999906504,1.03298649123e-05,-0.000432284522212,3.80517426743e-06,1793250497795974912
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.397313268,892.602686732,787,827,655.602686732,630.397313268,657,0.453492169433,-0.00556888896905,0.0497191528463,0.999999909908,1.09673556182e-05,-0.000424291223315,6.39782846713e-06,1793250497812641536
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636.821809693,893,787.178190307,827,656,630.178190307,657,0.453772277218,-0.00556990260897,0.0497200747233,0.999999910853,1.34822682985e-05,-0.000421956107849,8.13760258427e-06,1793250497829308416
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636.248402094,893,787.751597906,827,656,630.751597906,657,0.454019143729,-0.00556599973769,0.0497111187312,0.999999906379,2.01612100224e-05,-0.0004321705646,7.98573049587e-06,1793250497845975040
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,893,787.671503511,827,655.671503511,631,657,0.454234063879,-0.00556444393266,0.0496998490644,0.99999989944,2.44706640701e-05,-0.000447721998416,8.19685968347e-06,1793250497862641664
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,893,787.091936704,827,655.091936704,631,657,0.454424567407,-0.00556468199317,0.0496868110518,0.999999890389,2.6969116133e-05,-0.000467352492114,8.68543122707e-06,1793250497879308032
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,636,893,787,827,655,630.507250476,657,0.454595793513,-0.00556470021739,0.0496762558684,0.99999988269,2.92899660849e-05,-0.000483403509993,9.15835367963e-06,1793250497895974656
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747.07751656,723,693,664,636,893,786.92248344,827,655,630,657,0.454758293074,-0.00556438723759,0.0496652927183,0.999999874496,3.18098988329e-05,-0.000499905302085,9.53224691048e-06,1793250497912641280
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747.656561852,723,693,664,636,893,786.343438148,827,655,630,657,0.45488784756,-0.00556219954558,0.0496486614039,0.999999862189,3.58345341577e-05,-0.000523689947138,9.28451490244e-06,1793250497929308160
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747.765974373,723,693,663.765974373,635.765974373,893,786.234025627,827,655,630,657,0.455007852182,-0.00556074415639,0.0496344014029,0.999999850353,3.8426616166e-05,-0.000545647926947,9.23390783405e-06,1793250497945974784
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747.190815964,723,693,663.190815964,635.190815964,893,786.809184036,827,655,630,657,0.45511393622,-0.00556035622522,0.049623598002,0.999999839617,3.89305040091e-05,-0.000564943225386,9.47064443802e-06,1793250497962641664
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.395097886,635,893,787,827,655,630,657,0.455208151274,-0.00555959331089,0.049617856268,0.999999833133,4.04861843151e-05,-0.000576194726922,9.76887623293e-06,1793250497979308544
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.986351513,635,893,787,827,655,630,657,0.455296473684,-0.00555864422727,0.0496146275192,0.999999828835,4.25640519931e-05,-0.000583452693636,1.00976387716e-05,1793250497995975680
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.434258181,635,893,786.434258181,827,655,630,657,0.455378036649,-0.00555629079165,0.0496192416518,0.99999983486,4.70972037064e-05,-0.000572674152302,1.02943828712e-05,1793250498012642048
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.143836829,635,893,786.143836829,827,655,630,657,0.455452179892,-0.00555462992098,0.0496229143456,0.999999839061,5.13375591754e-05,-0.00056491582442,1.06119761358e-05,1793250498029308160
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.718888904,635,893,786.718888904,827,655,630,657,0.455504558016,-0.00555514480808,0.0496232090657,0.999999837427,5.45261942033e-05,-0.000567489642795,1.13012209681e-05,1793250498045974784
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.706062098,634.706062098,893,786.706062098,827,655,630,657,0.455548420534,-0.00555512470993,0.0496221736551,0.999999834942,5.65750701478e-05,-0.000571642676204,1.17972987315e-05,1793250498062641408
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.131015976,634.131015976,893,786.131015976,827,655,630,657,0.455584139138,-0.00555459297739,0.0496198661707,0.99999983163,5.75339351203e-05,-0.000577305996008,1.21086407839e-05,1793250498079308032
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655,630,657,0.455610896922,-0.00555461479348,0.0496184470873,0.999999830485,5.60230467851e-05,-0.000579431246862,1.22850710459e-05,1793250498095974656
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655.047363146,630,657,0.45563422195,-0.00555477518315,0.049617261036,0.999999829925,5.40153477669e-05,-0.000580584434116,1.24069388509e-05,1793250498112641536
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655.622966001,630,657,0.455648749892,-0.00555465945872,0.0496157504293,0.999999828757,5.45942122617e-05,-0.000582539325884,1.23642419044e-05,1793250498129308416
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.19878615,634.19878615,893,786.19878615,827.19878615,656,630,656.80121385,0.455660810264,-0.00555349130806,0.0496139279906,0.999999827361,5.65576919378e-05,-0.000584749971185,1.21419739359e-05,1793250498145975040
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.775018852,634.775018852,893,786.775018852,827.775018852,656,630,656.224981148,0.455668185318,-0.00555032485595,0.0496115134591,0.999999825517,6.11502190676e-05,-0.000587446230121,1.15787442709e-05,1793250498162641408
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663.648911018,634.648911018,893,787,827.648911018,655.648911018,630,656.351088982,0.455673365654,-0.00554920970217,0.049610171535,0.999999823873,6.21296975273e-05,-0.000590137400475,1.14332503408e-05,1793250498179308032
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.072945041,634.072945041,893,787,827.072945041,655.072945041,630,656.927054959,0.455677140245,-0.0055494084314,0.0496095166297,0.999999822364,6.0794971803e-05,-0.000592825311428,1.15553215275e-05,1793250498195974656
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.518032863,634,893,786.481967137,827,655,630,657,0.455678639175,-0.00554741137887,0.0496079189429,0.99999982096,6.12459030445e-05,-0.000595145318317,1.14716112038e-05,1793250498212641280
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,723.107806497,693,663.892193503,634.107806497,893,786.107806497,827,655.107806497,630,657,0.455679936752,-0.00554572652648,0.0496066507035,0.999999819948,6.17547321334e-05,-0.000596792226704,1.13706152442e-05,1793250498229308160
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,723.68292338,693,663.31707662,634.68292338,893,786.68292338,827,655.68292338,630,657,0.455681791983,-0.00554677522841,0.0496074031523,0.999999820591,6.13920784471e-05,-0.00059575270687,1.13240440387e-05,1793250498245975040
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,723.741545516,693,663,634.741545516,893,786.741545516,827,655.741545516,630,656.741545516,0.455682402998,-0.00554673106317,0.0496069594695,0.999999820396,6.13992142104e-05,-0.000596082117184,1.11839614981e-05,1793250498262641664
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,723.165505347,693,663,634.165505347,893,786.165505347,827,655.165505347,630,656.165505347,0.455681485135,-0.00554534399636,0.0496050459951,0.999999819169,6.18607426453e-05,-0.00059809365186,1.09289733748e-05,1793250498279308032
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655.420668509,630,656.420668509,0.45568191329,-0.00554471748416,0.049604916754,0.999999818763,6.42999397348e-05,-0.000598513652814,1.10245925127e-05,1793250498295974400
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655.989298964,630,657,0.455682876114,-0.00554439846818,0.0496055019066,0.999999818684,6.74384744726e-05,-0.00059829494031,1.12543829695e-05,1793250498312641024
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655.411282005,630,657,0.455683416342,-0.00554412620513,0.0496058266417,0.999999818861,6.53841450947e-05,-0.000598230316036,1.11038183161e-05,1793250498329307648
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,892.834046411,786.165953589,827,655,630,657,0.455683627715,-0.00554380246619,0.0496057785705,0.999999818733,6.42723515902e-05,-0.000598565614955,1.10511892211e-05,1793250498345974528
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,892.258738227,786.741261773,827,655,630,657,0.455683027907,-0.00554335175265,0.0496048109048,0.99999981786,6.54854937013e-05,-0.000599887396888,1.12401359327e-05,1793250498362640896
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,892.63153618,787,827,655,630,657,0.455682723924,-0.00554374804361,0.0496039290413,0.999999817121,6.57572651796e-05,-0.000601088044523,1.1308462978e-05,1793250498379307520
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893.779237999,787,827,655,630,657,0.455682661724,-0.00554483660626,0.0496031173054,0.999999816491,6.52596378079e-05,-0.000602189686898,1.12782054372e-05,1793250498395974400
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693.478935353,663.957870706,634,893.521064647,787,827,655,630,657,0.455683532171,-0.00554528359346,0.0496030399865,0.999999816971,6.27955476127e-05,-0.000601657993757,1.10616666887e-05,1793250498412640768
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693.929861517,664.859723034,634,893,786.929861517,827,655,630,657,0.455684411303,-0.00554542462175,0.0496030843727,0.999999817543,6.05468324141e-05,-0.000600940644477,1.08497506771e-05,1793250498429307648
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,723,693.351671788,663.703343576,634,893,786.351671788,827,655,630,657,0.455683744389,-0.0055444562293,0.0496027433641,0.99999981692,6.32506177124e-05,-0.000601696216929,1.09926806686e-05,1793250498445974272
+247,4.116666667,HOLD_POSE2,770,747,723,693,664,634,893,786,828,655,630,657,0.455680114926,-0.00554159973771,0.0495998615147,0.999999813929,6.76542794102e-05,-0.000606172744564,1.09169376373e-05,1793250498485114624
+248,4.133333333,HOLD_POSE2,770,747,723,693,663.412332768,634,893,786,828,655,630,657,0.455681392289,-0.00554270271905,0.0496010928701,0.99999981446,6.62604924292e-05,-0.000605443066336,1.13533373504e-05,1793250498501780992
+249,4.150000000,HOLD_POSE2,770,747,723,693,663,634,893,786,827.827111779,655,629.827111779,657,0.455682023546,-0.00554308738766,0.0496016781727,0.99999981458,6.58569742383e-05,-0.000605285434642,1.15022945282e-05,1793250498518447616
+250,4.166666667,HOLD_POSE2,770,747,723,693,663,634,893,786,827.247643488,655,629.247643488,657,0.45568113536,-0.00554178280525,0.0496007441577,0.999999813738,6.77822642517e-05,-0.000606473080806,1.09752751082e-05,1793250498535113728
+251,4.183333333,HOLD_POSE2,770,747,723,693,663,634,893,786,827,655,629,656.670367012,0.455681703808,-0.00554151664835,0.0496006364302,0.999999813765,6.8413406637e-05,-0.000606358519058,1.09057992854e-05,1793250498551780352
+252,4.200000000,HOLD_POSE2,770,747,723,693,663,634,893,786,827,655,629,656.094726339,0.455683359355,-0.00554202547662,0.0496011453677,0.999999814443,6.80787163829e-05,-0.000605272109262,1.1177791869e-05,1793250498568447488
+253,4.216666667,HOLD_POSE2,770,747,723,693,663,634,893,786,827,655.479700753,629.479700753,656.479700753,0.455683661583,-0.00554223149064,0.0496012302398,0.999999814807,6.64852827416e-05,-0.000604842591456,1.14346713836e-05,1793250498585114368
+254,4.233333333,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,630,657,0.455683726181,-0.00554236054801,0.049601289143,0.999999815099,6.48066750855e-05,-0.000604538731918,1.1609768538e-05,1793250498601781248
+255,4.250000000,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,630,657,0.455684070141,-0.00554232246756,0.049601903788,0.999999815318,6.46995464903e-05,-0.000604198852992,1.10239942386e-05,1793250498618447616
+256,4.266666667,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,630,657,0.455683600133,-0.00554280055973,0.0496014851431,0.999999814858,6.4401114412e-05,-0.000604997603632,1.0708001885e-05,1793250498635113728
+257,4.283333333,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,630,657,0.455681923215,-0.00554404400387,0.0495995343935,0.999999813387,6.38190282069e-05,-0.000607484650721,1.07920272079e-05,1793250498651780352
+258,4.300000000,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,629.609689307,657,0.455681411016,-0.00554366843762,0.0495987323547,0.999999812884,6.41954572057e-05,-0.000608267806606,1.09843999276e-05,1793250498668446976
+259,4.316666667,HOLD_POSE2,770,747,723,693,663,634,893,786,827,656,629.034728863,657,0.455681449825,-0.00554252694353,0.0495984737524,0.999999812842,6.50253443749e-05,-0.000608244879019,1.12280300765e-05,1793250498685113600
+260,4.333333333,HOLD_POSE2,770,747,723,693,663.538413058,634,893,786,827.538413058,656,629,657,0.455682503508,-0.00554184377061,0.0495993684379,0.999999813332,6.6198894863e-05,-0.00060731491703,1.10460661105e-05,1793250498701780736
+261,4.350000000,HOLD_POSE2,770,747,723,693,663.884888671,634,893,786,827.884888671,655.884888671,629.115111329,657,0.455683427339,-0.00554121755697,0.0496001644559,0.999999813668,6.72839299277e-05,-0.000606645638973,1.08733626156e-05,1793250498718447872
+262,4.366666667,HOLD_POSE2,770,747,723,693,663.292975257,634,893,786,827.292975257,655.292975257,629.707024743,657,0.455683543072,-0.00554070523442,0.0496002446921,0.99999981323,6.79108170382e-05,-0.000607297659027,1.08523419577e-05,1793250498735114240
+263,4.383333333,HOLD_POSE2,770,747,723,693,663,634,893.292201989,786,827,655,630,657,0.455683217432,-0.00554068783464,0.0496000195405,0.99999981282,6.80566460131e-05,-0.000607953420379,1.10081777388e-05,1793250498751780864
+264,4.400000000,HOLD_POSE2,770,747,723,693,663,634,893.870777399,786,827,655,630,657,0.455682459223,-0.00554115548543,0.0495994950928,0.999999812437,6.77310125076e-05,-0.000608612848364,1.13373421951e-05,1793250498768447232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786,827,655,629,657,0.455683747445,-0.00553967881756,0.0496005221664,0.999999813199,7.06072002948e-05,-0.00060704431902,1.06301428828e-05,1793250498801180160
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.590679035,827,655.590679035,629,657,0.455684504503,-0.00553911768844,0.0496005324742,0.999999813327,7.04727737123e-05,-0.000606848832493,1.07250274681e-05,1793250498817847040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.822538461,827,656,629,657,0.455684857404,-0.00553921240261,0.0496003781652,0.999999813326,6.96564496712e-05,-0.000606940790323,1.08784830723e-05,1793250498834513920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.244550227,827,656,629,657,0.455684298135,-0.00554078734024,0.0495998523195,0.999999813035,6.73010984021e-05,-0.000607681503546,1.11641321652e-05,1793250498851180800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723,692.6683165,663,634,893,786,827,655.6683165,629,657,0.455683636863,-0.00554127414873,0.0495994130845,0.999999812442,6.66260603996e-05,-0.000608731781041,1.1065360642e-05,1793250498867847168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,723,692.093369598,663,634,893,786,827,655.093369598,629,657,0.45568290078,-0.00554096290119,0.0495990373716,0.999999811631,6.71833983446e-05,-0.000610009099201,1.06846472305e-05,1793250498884513536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.507493376,747,723,692.492506624,663,634,893,786.492506624,827.492506624,655,629,657,0.455683040135,-0.00554166997358,0.0495990005268,0.999999811664,6.66643936028e-05,-0.000610007840876,1.09147943092e-05,1793250498901180160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.079339852,747,723,693,663,634,893,786.920660148,827.920660148,655,629.079339852,657,0.455683053587,-0.00554238727337,0.049598962085,0.999999811785,6.59640888199e-05,-0.000609879996876,1.11736022586e-05,1793250498917846784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.65884768,747,723,693,663,634,893,786.34115232,827.34115232,655,629.65884768,657,0.455681203317,-0.00554192439514,0.0495984993903,0.999999811435,6.54364184992e-05,-0.000610516895784,1.08664608019e-05,1793250498934513408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786,827,655,629.762360152,657,0.455673154418,-0.00554174176102,0.0495946862091,0.999999807926,6.5641536187e-05,-0.000616218958507,1.06218385752e-05,1793250498951180032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786,827,655,629.18459234,657,0.455656233575,-0.00554196023331,0.0495860775604,0.99999979978,6.68954750381e-05,-0.000629170663225,1.04666985818e-05,1793250498967846656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.609012167,747,723,692.609012167,663,634,893,786,827,655,629.390987833,657,0.455623203966,-0.00553990790049,0.0495711689501,0.999999784228,6.76346863803e-05,-0.000653359416381,9.53057236588e-06,1793250498984513280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.03445902,747,723,692.03445902,663,634,893,786,827,655,629.96554098,657,0.455582611432,-0.00553678944486,0.0495533025632,0.999999764521,6.81322377943e-05,-0.000682823864657,8.22778003611e-06,1793250499001180160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.553147278,747,723,692.553147278,663,634,893,786,827.553147278,655.553147278,629.446852722,657,0.455523332682,-0.0055351983298,0.0495328784355,0.999999743434,6.78095280801e-05,-0.000713082304581,6.94870991324e-06,1793250499017846528
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747.025121299,723,693,663,634,893,787,827,655,629.025121299,657,0.455006966665,-0.0055162564283,0.0494869229305,0.99999969919,8.0997502311e-05,-0.000771400068827,9.69319126247e-07,1793250499117846016
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747.801667273,723,693,663,634,893,786.801667273,827,655.198332727,630,657,0.45473960966,-0.00550560728267,0.0494890544379,0.999999701913,8.90256293807e-05,-0.000766973369209,-8.25692357064e-08,1793250499151179264
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747.222084081,723,693,663,634,893,786.222084081,827,655.777915919,630,657,0.454581758493,-0.00550037221396,0.0494922608088,0.999999705847,9.48189909584e-05,-0.000761126830406,-9.5817947473e-07,1793250499167846144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.355323884,827,655.644676116,630,657,0.454402551319,-0.00549436992219,0.049498024046,0.99999970977,9.98856918869e-05,-0.000755302254172,-1.3957349712e-06,1793250499184512768
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634,893,786.931380619,827,655.068619381,630,657,0.454210077438,-0.00548789101874,0.0495053756496,0.99999971367,0.00010450098022,-0.000749491320854,-1.56116397646e-06,1793250499201179392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,634.505165271,893,786.494834729,827,655.505165271,630,657,0.454000117582,-0.00548295594593,0.0495200494935,0.999999728869,0.000105313619231,-0.000728813295989,-1.61864186711e-06,1793250499217846016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,786.081142906,827,655.918857094,630,657,0.453781509041,-0.00547747138887,0.0495346980686,0.999999743658,0.000106949935243,-0.00070798520024,-1.74017162427e-06,1793250499234512640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,635,893,786.672852732,827,655.327147268,630,657,0.453523359603,-0.00546721575913,0.0495429573331,0.999999748947,0.000117004571817,-0.000698862878743,-2.35658123889e-06,1793250499251179264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,747,723,692.741125349,663.258874651,635,893,787,826.741125349,655,630,657,0.453241215728,-0.0054582720341,0.0495486860016,0.999999751397,0.000124021407771,-0.00069412823582,-3.10479761013e-06,1793250499267845888
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,747,723,692.162136898,663.837863102,635,893,787,826.162136898,655,630,657,0.45292940133,-0.00545095055735,0.049551285438,0.999999750505,0.00012728182322,-0.000694819217315,-4.01600078564e-06,1793250499284512256
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,747,723,692.414201508,663.585798492,635,893,787,826.414201508,655,630,656.585798492,0.452583552933,-0.00544467515538,0.0495542131635,0.999999748952,0.000128844321234,-0.000696753513186,-5.42018588868e-06,1793250499301179136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,747,723,692.98950915,663.01049085,635,893,787,826.98950915,655,630,656.01049085,0.452224466818,-0.00543880663059,0.0495572685789,0.999999747138,0.000129746404108,-0.000699171403539,-7.01611921637e-06,1793250499317845760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,747,722.42403039,693,663,635.57596961,893,787,826.42403039,655,630,656.57596961,0.451841824809,-0.00543277770157,0.0495588588701,0.999999745186,0.000131245931908,-0.000701657309028,-8.94300076262e-06,1793250499334512384
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,747,722.161354489,693,663,636,893,787,826,655,630,657,0.451443608915,-0.00542923587347,0.0495581743935,0.999999743501,0.000129769807913,-0.000704297824672,-1.10342223191e-05,1793250499351179008
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,747,723,692.102307761,663.897692239,636.897692239,892.102307761,787,826,655,630,657,0.45013553425,-0.00543737239755,0.0495827084489,0.999999791958,9.93164563809e-05,-0.000637124615642,-1.70783339678e-05,1793250499401180672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,747,722.527007279,692,663.527007279,637,892.472992721,787,826,655,630,657,0.449641345344,-0.005432433146,0.0496022200134,0.999999812527,9.80280402054e-05,-0.000604117119301,-1.94821369182e-05,1793250499417847296
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,747,722,692,663.049163473,637.049163473,893,787,826,655,630.049163473,657,0.449130655638,-0.00542611109244,0.0496195922339,0.999999828521,9.8444914219e-05,-0.000576872609975,-2.20342480193e-05,1793250499434513920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,747,722,692,663.635950134,637.635950134,893,787,826,655,630.635950134,657,0.448580577118,-0.00542222768153,0.04961893892,0.999999825752,9.46283751886e-05,-0.000582199092146,-2.42209578048e-05,1793250499451180288
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,747,722,692,664,638.803123099,893,787.803123099,825.196876901,655,631,657,0.447386741762,-0.00541570575357,0.0495974036146,0.999999810016,8.12933057355e-05,-0.000610176740473,-3.23072665086e-05,1793250499484513792
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,746,722,683.987760084,666.987760084,642,887,789,818.012239916,655,631,656.987760084,0.400991716087,-0.00539575669804,0.0498493803796,0.999999956627,0.000140271817224,-0.000256133804077,-3.82720978377e-05,1793250500984513024
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,746,722,683.40087757,666.40087757,642,887,789,818.59912243,655,631,656.40087757,0.40099042336,-0.00539554858126,0.0498497865723,0.999999956157,0.000141499730069,-0.000257287253838,-3.82921282592e-05,1793250501001179648
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,746,722,683.183431465,666.183431465,642,887,789,819,655,631.183431465,656.183431465,0.40098984306,-0.00539551786957,0.0498502471256,0.99999995608,0.000141875036706,-0.000257364100272,-3.83952073798e-05,1793250501017846272
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,746,722,683.660142531,667,642,887,789,819,655,632,656.660142531,0.400990445015,-0.00539628430037,0.0498502401423,0.999999956744,0.00014022001985,-0.000255643410473,-3.86897816379e-05,1793250501051180032
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.821755898,746,722,683.178244102,666.178244102,642,887.178244102,789,818.178244102,655,632,656,0.40098993913,-0.00539609609338,0.0498501911759,0.999999956867,0.000138588346087,-0.000256026547811,-3.88542917688e-05,1793250501151179520
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,746,721.600939154,683,666.399060846,642,887.399060846,788.600939154,818.399060846,655,632,656.399060846,0.400989367265,-0.00539500897925,0.0498500877192,0.999999956612,0.00013910381946,-0.000256719231737,-3.90055079201e-05,1793250501167846400
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,746,721,683,666.449038724,642,888,788.550961276,819,655,632,656.449038724,0.40099045312,-0.0053958438342,0.0498509060601,0.999999956954,0.000140192918522,-0.000254857287371,-3.85559814471e-05,1793250501201180416
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f54f6a2e501159ed612648a4a5b2fc57b3ebc84d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.575671906671,0.000150077737454,1.04003350985,0.546242586591,0.00882271611749,1.03970489615
+389,6.483333333,pose2_to_pose3_retreat,0.575669036831,0.000150049380111,1.04003344853,0.546239716894,0.00882268815947,1.03970483255
+390,6.500000000,pose2_to_pose3_retreat,0.575667185988,0.000150035368042,1.04003350453,0.546237865873,0.00882267366722,1.03970489189
+391,6.516666667,pose2_to_pose3_retreat,0.575666099679,0.000150027224886,1.04003354496,0.546236779448,0.00882266522123,1.03970493468
+392,6.533333333,pose2_to_pose3_retreat,0.575665780932,0.000150012179451,1.04003355859,0.54623646119,0.00882265192102,1.03970495056
+393,6.550000000,pose2_to_pose3_retreat,0.575665746779,0.000150010567374,1.04003356005,0.54623642709,0.00882265049593,1.03970495226
+394,6.566666667,pose2_to_pose3_retreat,0.575665612173,0.000150004213704,1.04003356581,0.54623629269,0.00882264487927,1.03970495896
+395,6.583333333,pose2_to_pose3_retreat,0.575665579589,0.000150002675667,1.0400335672,0.546236260156,0.00882264351964,1.03970496059
+396,6.600000000,pose2_to_pose3_retreat,0.575665417469,0.000149995023314,1.04003357413,0.546236098285,0.00882263675493,1.03970496866
+397,6.616666667,pose2_to_pose3_retreat,0.575665261384,0.000149987655831,1.0400335808,0.54623594244,0.00882263024205,1.03970497644
+398,6.633333333,pose2_to_pose3_retreat,0.575665064347,0.0001499783553,1.04003358923,0.546235745704,0.00882262202035,1.03970498625
+399,6.650000000,pose2_to_pose3_retreat,0.575664753021,0.000149963660121,1.04003360254,0.546235434856,0.00882260902976,1.03970500176
+400,6.666666667,pose2_to_pose3_retreat,0.575664703112,0.000149961304346,1.04003360468,0.546235385024,0.00882260694725,1.03970500425
+401,6.683333333,pose2_to_pose3_retreat,0.575664600339,0.000149984906014,1.04003358793,0.54623528192,0.0088226294159,1.03970498719
+402,6.700000000,pose2_to_pose3_retreat,0.57566455052,0.000150002596072,1.04003357517,0.546235231834,0.00882264618429,1.03970497404
+403,6.716666667,pose2_to_pose3_retreat,0.575664497202,0.000150021528628,1.04003356152,0.54623517823,0.00882266413044,1.03970495998
+404,6.733333333,pose2_to_pose3_retreat,0.575664444061,0.000150040398521,1.04003354791,0.546235124803,0.00882268201719,1.03970494596
+405,6.750000000,pose2_to_pose3_retreat,0.575664398636,0.000150056528247,1.04003353627,0.546235079135,0.00882269730654,1.03970493398
+406,6.766666667,pose2_to_pose3_retreat,0.57566429924,0.000150096466836,1.04003353688,0.546234978791,0.00882273395529,1.03970493258
+407,6.783333333,pose2_to_pose3_retreat,0.575664330385,0.000150097254178,1.04003361133,0.546235009048,0.00882273161746,1.03970500412
+408,6.800000000,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015513,1.03970504886
+409,6.816666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015507,1.03970504886
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31e8d33233a07d681a79a2336e36419239eae29a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522e52da553c8e0f3ca426ba86b501a74ca80cb61b57cb7498f7eb0f47d76714
+size 26190448
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6165d059e9d0c812be49cda6aea2e00342ed4cfc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+21,0.350000000,BASELINE,770,746,721.174740176,683,666,642,887.174740176,789,819,655,632,656.825259824,0.400991469537,-0.00539473509705,0.0498532199827,0.999999958246,0.000140114079418,-0.000249710791215,-3.89949588146e-05,1793250501707303680
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+44,0.733333333,BASELINE,769.474152074,746,722,683,667,642,888,789,819,655,631.525847926,656,0.400992540489,-0.0053981493603,0.0498542704094,0.999999959356,0.000134768084266,-0.000248241784217,-3.87462313138e-05,1793250502090637824
+45,0.750000000,BASELINE,769.105303846,746,721.894696154,683,667,642,887.894696154,789,819,655,632,656,0.400995020511,-0.00539876086412,0.0498562560576,0.999999960252,0.000133551181758,-0.00024532508111,-3.8413171309e-05,1793250502107303936
+46,0.766666667,BASELINE,769.688450797,746,721.311549203,683,667,642,887.311549203,789,819,655,632,656,0.400994055469,-0.00539781742568,0.0498556846753,0.999999959765,0.000135628988712,-0.000246174250364,-3.8385952581e-05,1793250502123970560
+47,0.783333333,BASELINE,769.728639443,746,721.271360557,683,667,642.271360557,887.271360557,789,819,655,632,656,0.400992572649,-0.0053975631631,0.0498550667531,0.999999959368,0.000136227037834,-0.000247447641541,-3.84183121425e-05,1793250502140637184
+48,0.800000000,BASELINE,769.146001689,746,721.853998311,683,667,642.853998311,887.853998311,789,819,655,632,656,0.400990495888,-0.00539809945278,0.0498543954449,0.999999959076,0.00013512765973,-0.000249207657019,-3.8519013847e-05,1793250502157303552
+49,0.816666667,BASELINE,769,746,722,683,667,642.566566389,887.566566389,789,819,655,632,656,0.400991208522,-0.00539816600818,0.0498548672764,0.999999959245,0.000135276028499,-0.000248465741564,-3.83974282804e-05,1793250502173969920
+50,0.833333333,BASELINE,769.01167943,746,722,683,667,642,887.01167943,789,819,655,631.98832057,656,0.400992823678,-0.00539805353836,0.0498556896762,0.999999959558,0.000135840530137,-0.000246923493474,-3.82178025617e-05,1793250502190636544
+51,0.850000000,BASELINE,769.58422917,746,722,683,667,642,887.58422917,789,819,655,631.41577083,656,0.400992989025,-0.00539688668535,0.0498549910736,0.999999959416,0.000136352843603,-0.000247122479346,-3.88203557367e-05,1793250502207303424
+52,0.866666667,BASELINE,769.838397174,745.838397174,722,683,667,642,888,789,819,655,631.161602826,656,0.400993215719,-0.00539619579722,0.0498546440994,0.999999959366,0.000136706263351,-0.000247078440708,-3.91264508187e-05,1793250502223970048
+53,0.883333333,BASELINE,769.24823074,745.24823074,722,683,667,642,888,789,819,655,631.75176926,656,0.400993605103,-0.00539676714716,0.0498552296283,0.999999959564,0.000136638303898,-0.00024638991171,-3.86463520024e-05,1793250502240636672
+54,0.900000000,BASELINE,769,745.335249082,721.664750918,683.335249082,667,642,887.664750918,789,819,655,631.664750918,656,0.400992882647,-0.00539714670392,0.0498550605235,0.999999959547,0.000135686911499,-0.000246993755781,-3.85891916005e-05,1793250502257303296
+55,0.916666667,BASELINE,769,745.913874682,721.086125318,683.913874682,667,642,887.086125318,789,819,655,631.086125318,656,0.400991353042,-0.00539738702701,0.0498543435867,0.99999995937,0.000134094184506,-0.000248535807548,-3.883906645e-05,1793250502273969920
+56,0.933333333,BASELINE,769,745.50843028,721.49156972,683.50843028,667,642,887,789,819,655,631,656,0.400990994246,-0.00539811119497,0.0498545024854,0.999999959314,0.000134601844616,-0.000248503326521,-3.87462092762e-05,1793250502290636544
+57,0.950000000,BASELINE,769.068884247,745,722,683.068884247,666.931115753,642,887,789,819,655,631.068884247,656,0.400990791391,-0.00539872094606,0.0498547015616,0.999999959261,0.000135276236455,-0.000248367670097,-3.86172826905e-05,1793250502307303168
+58,0.966666667,BASELINE,769.644596119,745,722,683.644596119,666.355403881,642,887,789,819,655,631.644596119,656,0.400990229467,-0.00539786630989,0.049854069345,0.999999959086,0.000134474895249,-0.000249498775844,-3.86639498354e-05,1793250502323969792
+59,0.983333333,BASELINE,769.775090925,745.224909075,721.775090925,683.775090925,666.224909075,642,887.224909075,788.775090925,819,655,632,656.224909075,0.400990194104,-0.00539768806344,0.0498537351147,0.999999959044,0.000133816593442,-0.000250013094202,-3.87097131597e-05,1793250502340636416
+60,1.000000000,BASELINE,769.187355347,745.812644653,721.187355347,683.187355347,666.812644653,642,887.812644653,788.187355347,819,655,632,656.812644653,0.400991008196,-0.00539860097833,0.0498538816002,0.99999995922,0.000133389044688,-0.000249532402591,-3.8754018435e-05,1793250502357303040
+61,1.016666667,BASELINE,769.394353707,745.605646293,721,683,667,642,888,788.394353707,819,655,631.605646293,656.605646293,0.400991894782,-0.00539823573961,0.0498545340239,0.999999959354,0.000134906857128,-0.000248189633044,-3.86590997695e-05,1793250502373969920
+62,1.033333333,BASELINE,769.973242652,745.026757348,721,683,667,642,888,788.973242652,819,655,631.026757348,656.026757348,0.400992815289,-0.0053972723972,0.049855423198,0.999999959461,0.000137334988641,-0.000246443459793,-3.84990321684e-05,1793250502390636544
+63,1.050000000,BASELINE,770,745.548987937,721.548987937,683.548987937,667,642,888,789,819,655,631.548987937,656,0.400994218823,-0.00539826583724,0.049856467957,0.99999996024,0.000135091657845,-0.000244522388819,-3.84482715586e-05,1793250502407303168
+64,1.066666667,BASELINE,770,746,722,683.875827304,667,642,887.875827304,789,819,655.124172696,632,656.124172696,0.400995135591,-0.00539910710255,0.0498572038439,0.999999960812,0.000133472717954,-0.000243081946341,-3.83579446134e-05,1793250502423969792
+65,1.083333333,BASELINE,770,746,722,683.302120273,667,642,887.302120273,789,819,655.697879727,632,656.697879727,0.400994205409,-0.00539905415483,0.0498567942442,0.999999960546,0.00013493379757,-0.000243412176716,-3.81052010426e-05,1793250502440636416
+66,1.100000000,BASELINE,770,746,722,683.279996579,667,642.279996579,887.279996579,789,819,655.720003421,632,656.720003421,0.400993635383,-0.00539910720589,0.0498567129484,0.999999960406,0.00013519961183,-0.000243849547212,-3.80251658394e-05,1793250502457303296
+67,1.116666667,BASELINE,770,746,722,683.871468699,667,642.871468699,887.871468699,789,819,655.128531301,632,656.128531301,0.400993466003,-0.00539927817277,0.0498569968665,0.999999960409,0.000134135781447,-0.00024440610317,-3.81372559726e-05,1793250502473970176
+68,1.133333333,BASELINE,770,746,722,684,667,642.544231459,888,789,819,655,632,656,0.400993130846,-0.0053985224887,0.0498566579682,0.999999960125,0.000134969696123,-0.000245121102244,-3.80621460067e-05,1793250502490636544
+69,1.150000000,BASELINE,770,745.962643347,721.962643347,683.962643347,666.962643347,642,888,789,819,655.037356653,632,656.037356653,0.400992755578,-0.00539750008768,0.049856144131,0.999999959769,0.000136277029931,-0.000245861744451,-3.79826918459e-05,1793250502507303168
+70,1.166666667,BASELINE,770,745.391352645,721.391352645,683.391352645,666.391352645,642,888,789,819,655.608647355,632,656.608647355,0.400992464841,-0.00539634275218,0.0498556014293,0.999999959554,0.000136820086416,-0.000246340152207,-3.85840105343e-05,1793250502523969792
+71,1.183333333,BASELINE,770,745.181281042,721.181281042,683,666.181281042,642,888,789,819,655.818718958,632,656.818718958,0.400992112744,-0.00539588072565,0.0498551118507,0.999999959327,0.000137232024234,-0.00024697078599,-3.89691901173e-05,1793250502540636672
+72,1.200000000,BASELINE,770,745.756835733,721.756835733,683,666.756835733,642,888,789,819,655.243164267,632,656.243164267,0.400991627196,-0.00539693094751,0.0498547378107,0.999999959075,0.000137358788176,-0.000247932500879,-3.88842823024e-05,1793250502557303296
+73,1.216666667,BASELINE,770,745.65772713,722,683.34227287,667,642,888,789,819,655.34227287,631.65772713,656,0.400992069288,-0.00539755658086,0.0498546873347,0.999999959336,0.000136297712487,-0.000247499540613,-3.86729213974e-05,1793250502573969920
+74,1.233333333,BASELINE,770,745.065060407,722,683.934939593,667,642,888,789,819,655.934939593,631.065060407,656,0.400993190004,-0.00539787160129,0.0498548735656,0.999999959967,0.000134367658356,-0.000246046288826,-3.83690522116e-05,1793250502590636544
+75,1.250000000,BASELINE,770,745.490031052,722,683.509968948,667,642,888,789,818.509968948,655.509968948,631.490031052,656,0.400993015455,-0.00539807671409,0.0498550074688,0.999999959975,0.000133591513627,-0.000246405094014,-3.85626564734e-05,1793250502607303168
+76,1.266666667,BASELINE,770,746,722,683,667,642,887.955551413,789,818.044448587,655,632,656,0.400992593275,-0.0053983684146,0.0498551021882,0.999999959905,0.000132953049951,-0.000247002063915,-3.87829211951e-05,1793250502623970048
+77,1.283333333,BASELINE,770,746,722,683,667,642,887.351262102,789,818.648737898,655,632,656,0.400991063884,-0.00539992141127,0.0498547846513,0.999999959812,0.000132256518421,-0.000247784380334,-3.85663301366e-05,1793250502640636672
+78,1.300000000,BASELINE,770,746,722,683,667,642,887.24717591,789,819,655,631.75282409,656.24717591,0.400991608581,-0.00540011301659,0.0498553510861,0.99999995998,0.000132522441606,-0.000246972386609,-3.84947602004e-05,1793250502657303296
+79,1.316666667,BASELINE,770,746,722,683,667,642,887.837490874,789,819,655,631.162509126,656.837490874,0.400995032604,-0.00539841468623,0.0498571446844,0.999999960504,0.000134124481308,-0.000243947110475,-3.86245141527e-05,1793250502673969920
+80,1.333333333,BASELINE,769.581661037,746,722,683,666.581661037,642.418338963,888,788.581661037,819,655,631.418338963,656.581661037,0.40099524722,-0.00539821198854,0.0498575168611,0.999999960563,0.000134448302291,-0.000243538596262,-3.85546412139e-05,1793250502690636800
+81,1.350000000,BASELINE,769.004409051,746,722,683,666.004409051,642.995590949,888,788.004409051,819,655,631.995590949,656.004409051,0.400994242688,-0.0053985774317,0.0498573490873,0.999999960448,0.000134286570735,-0.000244124102405,-3.84089366858e-05,1793250502707303680
+82,1.366666667,BASELINE,769,746,721.428296039,683.571703961,666.571703961,642.428296039,887.428296039,788.571703961,819,655.571703961,632,656.571703961,0.400993577029,-0.00539954366271,0.0498567659466,0.999999960481,0.00013184304271,-0.000245328174626,-3.83354446832e-05,1793250502723970304
+83,1.383333333,BASELINE,769,746,721.146775974,683.853224026,667,642,887,789.146775974,819,655.853224026,632,657,0.400992856702,-0.00539970045249,0.0498561227306,0.999999960353,0.000130747217957,-0.000246425715565,-3.83951567497e-05,1793250502740636672
+84,1.400000000,BASELINE,769,746,721.718857075,683.281142925,667,642,887,789.718857075,819,655.281142925,632,657,0.400991970409,-0.00539749836749,0.0498553147013,0.999999959766,0.000133607452473,-0.00024720077099,-3.88392367977e-05,1793250502757303296
+85,1.416666667,BASELINE,769,745.697772144,722,683,667,642,887.302227856,789.697772144,819,655.302227856,632,657,0.400991126517,-0.00539718962211,0.0498548205947,0.999999959554,0.000134087204061,-0.000247762694797,-3.90586568611e-05,1793250502773970176
+86,1.433333333,BASELINE,769,745.103491819,722,683,667,642,887.896508181,789.103491819,819,655.896508181,632,657,0.4009903236,-0.00539871047165,0.0498546298417,0.999999959708,0.000132266618488,-0.000248118662641,-3.90609807507e-05,1793250502790636800
+87,1.450000000,BASELINE,769.47689852,745.47689852,722,683,667,642,887.52310148,789,819,655.52310148,632,657,0.400991566809,-0.00540021539274,0.049855420501,0.999999960073,0.000131507048934,-0.000247114967882,-3.86416637571e-05,1793250502807303424
+88,1.466666667,BASELINE,769.945891261,745.945891261,722,683,667,642,887.054108739,789,819,655,632,657,0.400993041918,-0.00540139753991,0.0498562511556,0.999999960385,0.000131260432426,-0.000246047870786,-3.82242096917e-05,1793250502823970304
+89,1.483333333,BASELINE,769.371097891,745.371097891,722,683,667,642,887.628902109,789,819,655,632,657,0.400992596647,-0.00539950597777,0.0498554752282,0.999999959765,0.000133796942726,-0.000247129647397,-3.86802645332e-05,1793250502840636928
+90,1.500000000,BASELINE,769,745,721.796921918,683,667,642,888,789,819,655,632,656.796921918,0.400992405535,-0.00539858875049,0.0498551327836,0.999999959502,0.00013497183209,-0.0002475323785,-3.88059019596e-05,1793250502857303296
+91,1.516666667,BASELINE,769,745,721.223870795,683,667,642,888,789,819,655,632,656.223870795,0.400992677458,-0.00539944659254,0.0498555800698,0.999999959902,0.000133666084009,-0.000246698006356,-3.83295761182e-05,1793250502873969920
+92,1.533333333,BASELINE,769.364534387,745,721.364534387,683,666.635465613,642,888,789,819,655,631.635465613,656.364534387,0.400991449907,-0.00539952515671,0.0498551653381,0.999999959804,0.000133557785195,-0.000247153968147,-3.83206679614e-05,1793250502890636544
+93,1.550000000,BASELINE,769.962783611,745,721.962783611,683,666.037216389,642,888,789,819,655,631.037216389,656.962783611,0.400989260996,-0.00539910410059,0.0498541979387,0.999999959387,0.000134217209873,-0.000248437204856,-3.86114364188e-05,1793250502907303424
+94,1.566666667,BASELINE,770,745.539098402,722,683.539098402,666.539098402,642.539098402,888,789,819,655,631.539098402,656.460901598,0.400990259861,-0.00539906228149,0.0498548924102,0.999999959567,0.000133797757133,-0.000247963486124,-3.84475248139e-05,1793250502923970048
+95,1.583333333,BASELINE,770,746,722,684,667,642.886706362,887.886706362,789,819,655,632,656,0.400991078119,-0.00539899251844,0.0498554721593,0.999999959699,0.00013343571218,-0.000247637648851,-3.83641200191e-05,1793250502940636672
+96,1.600000000,BASELINE,770,746,722,684,667,642.315198604,887.315198604,789,819,655,632,656,0.400990310658,-0.00539870799009,0.0498551420487,0.99999995948,0.000133595306835,-0.000248381293724,-3.87283108925e-05,1793250502957303296
+97,1.616666667,BASELINE,770,746,722,683.733225443,667,642,887.266774557,789,819,655,632,656,0.400990471256,-0.00539854398677,0.049854929457,0.999999959525,0.000133798521997,-0.000248084314515,-3.87493849244e-05,1793250502973970176
+98,1.633333333,BASELINE,770,746,722,683.13838239,667,642,887.86161761,789,819,655,632,656,0.400991773141,-0.00539852820024,0.0498548613852,0.999999959896,0.000134055379875,-0.000246507618103,-3.83485078026e-05,1793250502990637056
+99,1.650000000,BASELINE,770,746,722,683,667,642,887.558142357,789,819,655,632,656,0.400991919945,-0.00539817806467,0.0498545677786,0.999999959712,0.000134149331607,-0.000247199832495,-3.83690584111e-05,1793250503007303680
+100,1.666666667,BASELINE,770,746,722,683,666.982348353,642,887.017651647,789,819,655,631.982348353,656,0.400991746556,-0.00539776872996,0.0498542537993,0.999999959395,0.000134135910903,-0.000248461717595,-3.85152649141e-05,1793250503023970048
+101,1.683333333,BASELINE,770,746,722,683,666.407151715,642,887.592848285,789,819,655,631.407151715,656,0.400992520296,-0.00539869116866,0.0498554559849,0.999999960249,0.000132290970184,-0.000245990734171,-3.85949584717e-05,1793250503040636672
+102,1.700000000,BASELINE,770,746,722,683,666,642,887.832212985,789,819,655,631,656,0.400993050969,-0.00539940773759,0.0498563035478,0.999999960767,0.000131336583941,-0.000244377344798,-3.86819570657e-05,1793250503057303296
+103,1.716666667,BASELINE,770,746,722,683,666,642,887.25789922,789,819,655,631,656,0.400992992722,-0.00539962550993,0.0498562919044,0.999999960491,0.000132539899005,-0.000244841797877,-3.87866548302e-05,1793250503073969920
+104,1.733333333,BASELINE,769.67249738,746,722,683,666,642,887.32750262,789,819,655,631.32750262,656,0.400993028229,-0.00539954716626,0.0498563155696,0.999999960226,0.00013376179154,-0.000245284805761,-3.86122729565e-05,1793250503090636544
+105,1.750000000,BASELINE,769.078057945,746,722,683,666,642,887.921942055,789,819,655,631.921942055,656,0.400993140151,-0.005399227468,0.0498563680136,0.999999959971,0.000134998826103,-0.00024571033441,-3.82104222881e-05,1793250503107303424
+106,1.766666667,BASELINE,769,746,722,683,666.501707084,642,888,788.498292916,819,655,632,656,0.400992801023,-0.00539872887881,0.0498561165556,0.99999995997,0.000135021628946,-0.000245671842203,-3.84031857888e-05,1793250503123970048
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,722,683,667,643,888,789,818,655,631,656,0.400990590205,-0.00539671650222,0.0498542171687,0.999999959496,0.000134445303841,-0.000247781450931,-3.91997135437e-05,1793250503167366400
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.411127562,745.411127562,721.411127562,683,666.411127562,642.411127562,887.411127562,789,818.588872438,655.588872438,631.588872438,656.588872438,0.400992705061,-0.00539785538174,0.0498558865762,0.999999960185,0.000134284541542,-0.00024513884297,-3.87876872649e-05,1793250503184033024
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.174711318,745.174711318,721,683,666.174711318,642,887.174711318,789,819,655.825288682,632,656.825288682,0.400993965213,-0.00539878552545,0.0498569151936,0.999999960667,0.00013371877002,-0.00024352339016,-3.848529543e-05,1793250503200699648
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.753533632,745.753533632,721,683,666.753533632,642,887.753533632,789,819,655.246466368,632,656.246466368,0.400993248416,-0.00539923285906,0.04985646165,0.999999960683,0.000132216203524,-0.00024428376853,-3.84364903143e-05,1793250503217366016
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.667986479,746,721,683,667,642,888,789,819,655,632,656,0.400992762669,-0.00539892833929,0.0498560319433,0.999999960465,0.00013246149141,-0.000245019919994,-3.85989684832e-05,1793250503234032640
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.089760558,746,721,683,667,642,888,789,819,655,632,656,0.400992448262,-0.005398066265,0.0498556199133,0.999999960071,0.000134002941727,-0.00024573810538,-3.89181287219e-05,1793250503250699520
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.515476827,721.484523173,683,667,642,888,789,819,655,632,656,0.400993205306,-0.00539745960196,0.0498562025299,0.999999960099,0.000135013379396,-0.00024507809477,-3.88482033251e-05,1793250503267366144
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745.059679247,722,683,667,642,887.940320753,788.940320753,819,655,632,656,0.40099388075,-0.00539688641164,0.0498567594378,0.999999960131,0.000135726025812,-0.000244567290357,-3.87623121674e-05,1793250503284032768
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745.649006451,722,683,667,642,887.350993549,788.350993549,819,655,632,656,0.40099208461,-0.00539619374959,0.0498554660583,0.999999959506,0.000134661807071,-0.000247628317327,-3.91692691252e-05,1793250503300699136
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,721.764825751,683,666.764825751,642,887.235174249,788.235174249,818.764825751,655,632,656,0.400995891372,-0.00539653111305,0.0498567623689,0.999999960116,0.000133830742826,-0.000245623978798,-3.90791259052e-05,1793250503317365760
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,721.183310855,683,666.183310855,642,887.816689145,788.816689145,818.183310855,655,632,656,0.401007949516,-0.00539838539308,0.0498618725113,0.999999962492,0.00013334304483,-0.000236159886328,-3.82569042087e-05,1793250503334032384
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,721.392213294,683,666.392213294,642,887.607786706,788.607786706,818.392213294,655,631.607786706,656,0.401039074588,-0.00540061844404,0.0498733973736,0.999999967708,0.000132925123112,-0.000213356173372,-3.73372178992e-05,1793250503350699008
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,721.964979689,683,666.964979689,642,887.035020311,788.035020311,818.964979689,655,631.035020311,656,0.40107897701,-0.00540302586014,0.0498878752153,0.999999973551,0.000132539322365,-0.000184411642984,-3.63726642264e-05,1793250503367365888
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745.463247843,721.463247843,683,666.463247843,642,887.536752157,788.536752157,819,655,631.536752157,656.536752157,0.40114412598,-0.00540569762697,0.0499072112432,0.999999980053,0.000131442879345,-0.000146263415862,-3.4989376824e-05,1793250503384032512
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745.11265161,721.11265161,683,666.11265161,642,888,789,819,655,631.88734839,656.88734839,0.401212125074,-0.00540811718298,0.0499253419821,0.999999984573,0.000130427998536,-0.000112786535006,-3.34987158225e-05,1793250503400699392
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745.706454665,721.706454665,683,666.706454665,642,888,789,819,655,631.293545335,656.293545335,0.401285275027,-0.00540938598017,0.0499369734329,0.99999998587,0.000129959150993,-0.000101821699155,-3.16659192264e-05,1793250503417366016
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.294043982,745.705956018,721.705956018,683.294043982,667,642,888,789,818.705956018,655,631,656,0.401367260044,-0.00541219318484,0.0499452226203,0.999999987091,0.000128621437812,-9.13581265985e-05,-3.04558196235e-05,1793250503434032384
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.875558437,745.124441563,721.124441563,683.875558437,667,642,888,789,818.124441563,655,631,656,0.401457882607,-0.00541650440501,0.0499501651559,0.99999998825,0.000126434282978,-8.13846119861e-05,-2.98544964019e-05,1793250503450699008
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.548428934,745.451571066,721,683.548428934,667,642,887.548428934,788.548428934,818.451571066,655,631.451571066,656,0.401561356956,-0.00542108529511,0.0499489039179,0.999999988338,0.000123739996731,-8.47375741398e-05,-2.88341438167e-05,1793250503467365888
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.026725165,746,721,683,667,642,887,788.026725165,819,655,632,656,0.401669170061,-0.00542564297655,0.0499460872349,0.999999988129,0.000120965351499,-9.13177748076e-05,-2.77410708804e-05,1793250503484032512
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.615321889,746,721,683,667,642,887,788.615321889,819,655,632,656,0.401794638349,-0.00542816913899,0.0499460789329,0.999999988491,0.00011940403344,-8.94674142273e-05,-2.75176280192e-05,1793250503500699136
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.799491275,746,721,683.200508725,666.799491275,642,887.200508725,789,819,655,631.799491275,656.200508725,0.401936854482,-0.00543210116278,0.0499470754309,0.999999988869,0.000117453848391,-8.80264999932e-05,-2.67765719917e-05,1793250503517366016
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.220737019,746,721,683.779262981,666.220737019,642,887.779262981,789,819,655,631.220737019,656.779262981,0.402110664224,-0.00543868524432,0.0499499674131,0.999999989284,0.000114770093437,-8.73579775469e-05,-2.50590753542e-05,1793250503534032896
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,721.35665386,684,666.35665386,642,887.64334614,789,819,655,631.35665386,656.64334614,0.402296906963,-0.00544564630835,0.0499488346735,0.99999998921,0.000112239948652,-9.18406428366e-05,-2.34105752079e-05,1793250503550699520
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,721.9332042,684,666.9332042,642,887.0667958,789,819,655,631.9332042,656.0667958,0.402490815336,-0.00545283980321,0.0499452204743,0.999999988784,0.000109804512613,-9.94992951303e-05,-2.18046149789e-05,1793250503567366400
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.508110731,746,722,684,667,642,887.508110731,789,819,655,632,656,0.402722138954,-0.00545856607851,0.049944173351,0.99999998862,0.000108080971697,-0.000103220750068,-2.05681282738e-05,1793250503584032768
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746,722,683.914994286,667,642,888,789,819,655,631.914994286,656,0.402965079262,-0.00546480038444,0.0499448081777,0.999999988866,0.000105784565494,-0.000103492314746,-1.91521586305e-05,1793250503600699136
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,722,683.32500696,667,642,888,789,819,655,631.32500696,656,0.403247904439,-0.00547519479663,0.0499534364598,0.999999991186,9.95308622254e-05,-8.63344018587e-05,-1.63823526082e-05,1793250503617365760
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,745.740154242,722,683,666.740154242,642,888,789,819,655,631.259845758,656,0.403548882612,-0.00548512028121,0.0499618214096,0.999999993013,9.43624443491e-05,-6.98646846842e-05,-1.37166697297e-05,1793250503634032384
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,745.161599318,722,683,666.161599318,642,888,789,819,655,631.838400682,656,0.403872126001,-0.00549447061039,0.0499699079041,0.999999994369,9.05251642387e-05,-5.42390626879e-05,-1.11786973984e-05,1793250503650699008
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.585591869,745,722,683.414408131,666,642,888,789,819,654.585591869,631.585591869,656.414408131,0.404229484868,-0.00550421152737,0.0499783029686,0.999999995328,8.84777648936e-05,-3.80853197374e-05,-8.09465921332e-06,1793250503667365888
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.010571756,745,722,683.989428244,666,642,888,789,819,654.010571756,631.010571756,656.989428244,0.40460006585,-0.00551410382408,0.0499868176254,0.999999995957,8.71240689395e-05,-2.17268935334e-05,-4.7989825781e-06,1793250503684032512
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.565432076,745.565432076,721.434567924,684,666.565432076,642.565432076,888,789,819,654.565432076,631.565432076,657,0.405018912659,-0.00551836865387,0.0499916973937,0.999999995685,9.26151137202e-05,-7.08139878253e-06,-1.5408884917e-06,1793250503700699136
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.854989506,746,721.145010494,684,667,642.854989506,888,789,818.854989506,655,631.854989506,656.854989506,0.405432918848,-0.00551811895599,0.0499898248176,0.999999994654,0.000103181871846,-6.59911577636e-06,1.18915337714e-06,1793250503717366016
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.26448616,746,721.73551384,684,667,642.26448616,888,789,818.26448616,655,631.26448616,656.26448616,0.405829276704,-0.00550432378686,0.0499674172272,0.999999990457,0.000128948100471,-4.95296745255e-05,2.29910562885e-06,1793250503734032640
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.31949456,746,722,684,667,642,888,789,818.31949456,655,631,656.31949456,0.406257771234,-0.00549489471631,0.049946709249,0.999999984658,0.000151414368834,-8.80144527998e-05,3.41015868738e-06,1793250503750699264
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.898183768,746,722,684,667,642,888,789,818.898183768,655,631,656.898183768,0.406712337155,-0.00548900770578,0.0499273801037,0.999999977783,0.000171203498848,-0.000122892531107,4.52210491197e-06,1793250503767366144
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.525964909,745.525964909,722,684.474035091,667,642,888.474035091,789,818.525964909,655,631.474035091,657,0.40721952641,-0.00549477309059,0.0499187452779,0.999999974949,0.000175677012444,-0.000138497310521,7.65479013811e-06,1793250503784032768
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+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,722,684.803776542,667.803776542,642.196223458,889,789,819,655,631.803776542,656.803776542,0.409626642975,-0.00551302524345,0.0499908125801,0.999999978648,0.000204828813546,-4.23249299081e-06,2.70368573269e-05,1793250503850699520
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,722,685,667.622444259,642,889,789.377555741,819,655,632,657,0.410251821131,-0.00550984303937,0.0499939813146,0.999999975085,0.000220981666176,-5.79927184619e-06,3.10364178659e-05,1793250503867366144
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722,685,667.052654645,642,889,789.947345355,819,655,632,657,0.410868226575,-0.00550677971248,0.0499875748431,0.999999971033,0.000236940971446,-2.45743204993e-05,3.44716514343e-05,1793250503884032768
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+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,721.830134048,686.169865952,667.169865952,643,891,789,821,655,632,656.830134048,0.417721148547,-0.00553157579658,0.0499501502843,0.999999990161,0.000115899651813,-7.73746840009e-05,1.60827433934e-05,1793250504034032896
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+162,2.700000000,POSE1_TO_POSE2_PRESS,769.078541818,746,721.921458182,687,668,643,891,789,821,655,632,656.921458182,0.420293259199,-0.00552635082907,0.0499548993568,0.999999986461,0.000138420218787,-8.58792553587e-05,2.32971536305e-05,1793250504084032512
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,687.495822198,667.504177802,643,891,789,821,655,632,657,0.421218290928,-0.00552879933139,0.0499682421259,0.999999989835,0.000134302542738,-4.21067732605e-05,2.27831086083e-05,1793250504100699392
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.071496685,746,722,688,667.071496685,643,891,789.071496685,821.071496685,655,632,657,0.422157001456,-0.00553140607756,0.0499858052614,0.999999991228,0.000130139420124,1.03255165284e-05,2.23824958086e-05,1793250504117366016
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.65859197,746,722,688,667.65859197,643,891,789.65859197,821.65859197,655,632,657,0.423087799898,-0.00553401425717,0.0499967151155,0.999999991119,0.00012869176006,2.44835281926e-05,2.45240830108e-05,1793250504134032640
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746,722,688,668,643,891,789.756772283,822,655,632,656.756772283,0.424012183191,-0.00553621250942,0.0499959916312,0.999999991488,0.000126155568114,2.13631917825e-05,2.5559992969e-05,1793250504150699264
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746,722,688,668,643,891,789.175554234,822,655,632,656.175554234,0.424927652098,-0.00553784112515,0.0499791024091,0.999999992214,0.000122106747117,-5.76721290916e-06,2.50594491481e-05,1793250504167365888
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746,722,688.40231631,668,643,891,789.40231631,822.40231631,655,632,656.40231631,0.425869387468,-0.00553972945724,0.0499868882286,0.999999992482,0.00011969809031,-2.09381012986e-06,2.65386875536e-05,1793250504184032768
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,746,722,688.97873816,668,643,891,789.97873816,822.97873816,655,632,656.97873816,0.426822489802,-0.00554173018352,0.050005352367,0.99999999251,0.000117999227668,1.49101837342e-05,2.88746922851e-05,1793250504200699392
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.445062628,746.554937372,722,689,667.445062628,643,891,789.445062628,823,655,632,656.445062628,0.427699844671,-0.0055389305503,0.0499813564512,0.999999990996,0.000122906548136,-4.51877151075e-05,2.9310471037e-05,1793250504217366016
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.865757995,722,689.134242005,667.134242005,643,891,789,823,655,632,656,0.428595131423,-0.0055369251063,0.0499584125028,0.999999987184,0.000126168248975,-9.41157077012e-05,2.9255738117e-05,1793250504234032640
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.275884319,722,689.724115681,667.724115681,643,891,789,823,655,632,656,0.429561127222,-0.00553823922143,0.0499445584044,0.999999987528,0.000122985808464,-9.51094122687e-05,2.77831659881e-05,1793250504250699264
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.307543543,746,722,690.307543543,668,643,891.307543543,789.307543543,823.307543543,655,632,656,0.430518764936,-0.00554053319576,0.049942250245,0.999999988573,0.000119512464699,-8.8289757581e-05,2.7843622527e-05,1793250504267366144
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.88530781,746,722,690.88530781,668,643,891.88530781,789.88530781,823.88530781,655,632,656,0.431469058835,-0.00554368811564,0.049950086835,0.999999990086,0.00011578352122,-7.46049559664e-05,2.92510627612e-05,1793250504284032768
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.538908838,746,722,691,667.538908838,643.461091162,891.538908838,789.538908838,824,655,632,656.461091162,0.432393875363,-0.00554438253122,0.0499410009478,0.999999989355,0.000112757851627,-8.81596760087e-05,2.83577090831e-05,1793250504300699392
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.037174428,722,691,667,643.962825572,891.037174428,789,824,655,632,657,0.433313082083,-0.00554467201863,0.049930207684,0.999999988138,0.000109876836218,-0.000104481240847,2.71219974731e-05,1793250504317366016
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.624966324,722,691,667,643.375033676,891.624966324,789,824,655,632,657,0.434242661099,-0.00554799023084,0.0499562056914,0.999999991982,0.000106558428038,-6.18557895891e-05,2.92558850241e-05,1793250504334032640
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.202555545,746.797444455,722,691,667,643,891.797444455,789.202555545,824,655,632,656.797444455,0.43515525462,-0.0055497768362,0.049971030039,0.999999993017,0.000104973799842,-4.45098669128e-05,3.10784773997e-05,1793250504350699264
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.762160375,746.237839625,722,691,667,643,891.237839625,789.762160375,824,655,632,656.237839625,0.436037907575,-0.00554886364377,0.0499661583259,0.999999991239,0.000106445344897,-7.1724739617e-05,3.23523430772e-05,1793250504367366144
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.656676457,746.343323543,722,691.343323543,667,643,891.343323543,789.656676457,824.343323543,655,632,656.343323543,0.436931911843,-0.00554790897688,0.0499569274981,0.999999989509,0.000107313643287,-9.16953684912e-05,3.25367268979e-05,1793250504384032768
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.059578019,746.940421981,722,691.940421981,667,643,891.940421981,789.059578019,824.940421981,655,632,656.940421981,0.437834306624,-0.00554692365333,0.0499444745383,0.999999988036,0.000107736039018,-0.000106311258921,3.19157969744e-05,1793250504400699392
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.518849233,747,722,691.481150767,667,643,892,789,825,655,632,657,0.438741587705,-0.00554842038978,0.04996257623,0.99999999203,0.000102389648059,-6.69932583522e-05,3.11328223897e-05,1793250504417365760
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.902881138,722,691.097118862,667,643,892,789,825.097118862,655,632,657,0.439632443221,-0.00555011532294,0.0499780611734,0.999999994276,9.70553061127e-05,-3.32027507001e-05,3.04307782447e-05,1793250504434032384
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746.314949462,722,691.685050538,667,643,892,789,825.685050538,655,632,657,0.440437551243,-0.00555142156651,0.0499632066178,0.999999993373,9.50132365701e-05,-5.75577227726e-05,3.0228504361e-05,1793250504450699264
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746.269737997,722,692,667,643,892,789,826,655,632,656.730262003,0.441259933834,-0.00555216985176,0.0499560085524,0.999999992626,9.54855655979e-05,-6.84619028429e-05,3.07098751441e-05,1793250504467365888
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.850682443,722,692,667,643,892,789,826,655,632,656.149317557,0.442102246664,-0.00555227440029,0.0499576440566,0.999999992564,9.88588470766e-05,-6.38474176923e-05,3.19799914504e-05,1793250504484032512
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892.426242183,789,826,655,632,656.426242183,0.442880040117,-0.00555171331489,0.0499536935267,0.999999992006,0.000101814907548,-6.75908803829e-05,3.24594904932e-05,1793250504500699136
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722,692,667,643,892.999939177,789,826,655,632,656.999939177,0.443635513715,-0.00555092195919,0.0499478105566,0.999999991238,0.000104626634274,-7.42257027516e-05,3.2665482406e-05,1793250504517365760
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.42242519,747,722,692,666.42242519,642.42242519,893,789,826,655,632,656.42242519,0.444278720335,-0.00554741333614,0.0498827714103,0.999999975523,0.00010855160019,-0.000190290935582,3.0966780185e-05,1793250504534032640
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.158890675,747,722,692,666,642,893,789,826,655,632,656.158890675,0.444931353737,-0.00554428271649,0.0498270277854,0.99999995393,0.000112517507928,-0.000280407817002,2.91858345968e-05,1793250504550699264
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.750221731,747,722,692,666,642,893,789,826,655,632,656.750221731,0.44560967582,-0.0055421816626,0.0497966001141,0.999999947872,0.000116594526881,-0.000299871543328,2.71816038872e-05,1793250504567365888
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,692,666,641.666957433,893,788.666957433,826,655,632,656.666957433,0.446297954909,-0.00554119174938,0.0497879928989,0.999999947961,0.00012106849455,-0.000297766219972,2.74974074646e-05,1793250504584032512
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,692,666,641.090360174,893,788.090360174,826,655,632,656.090360174,0.446993515535,-0.00554101441566,0.0497953430284,0.999999952479,0.000125832751354,-0.000279887406482,2.95098568506e-05,1793250504600699136
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,692,666,640.515132762,893,788,826.484867238,655,631.515132762,656.484867238,0.447591295561,-0.00554223466836,0.0497718586422,0.999999941718,0.000126651658376,-0.000315678135939,2.95011836264e-05,1793250504617365760
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722,692,666,640,893,788,827,655,631,657,0.448167899962,-0.00554390312435,0.0497440321674,0.999999927041,0.000126662006132,-0.000359193651394,2.92365584463e-05,1793250504634032896
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,722,692,666,640,893,788,827,655,631,657,0.44871864012,-0.00554719412548,0.0497281548194,0.999999918131,0.000126023510585,-0.000383349304893,3.00018933666e-05,1793250504650699264
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.232625317,692.232625317,665.767374683,640,893,788,827,655,631,657,0.449274777972,-0.00555011203081,0.0497256052355,0.999999916056,0.000125205787361,-0.000388892462429,3.12107822568e-05,1793250504667365632
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.814506386,692.814506386,665.185493614,640,893,788,827,655,631,657,0.44983901969,-0.00555246978246,0.0497430655056,0.999999924592,0.000124118977891,-0.000366491448453,3.30856079586e-05,1793250504684032256
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.392396306,747,722.607603694,692.607603694,665,639.607603694,892.607603694,788,827,655,631,657,0.450381104981,-0.00555409648834,0.0497599316552,0.999999932308,0.000124944172899,-0.00034425337297,3.5546220947e-05,1793250504700699392
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.968418577,747,722.031581423,692.031581423,665,639.031581423,892.031581423,788,827,655,631,657,0.45091282199,-0.00555538109388,0.0497765197813,0.999999939374,0.000126664110324,-0.000322091544202,3.82809593941e-05,1793250504717366272
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.462473963,747,722,692.537526037,665,638.462473963,892.537526037,787.462473963,827,655,631,657,0.451339701939,-0.00555376006905,0.0497660821887,0.999999928509,0.000129882833882,-0.000353001406041,3.87594551612e-05,1793250504734032896
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,722.111506126,693,664.888493874,638,893,787,827,655,631,657,0.451749241992,-0.00555290289756,0.0497499571825,0.999999913844,0.000131702722939,-0.000391738044286,3.88268274355e-05,1793250504750699264
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,722.708445189,693,664.291554811,638,893,787,827,655,631,657,0.452109768753,-0.0055561048559,0.049715897257,0.999999889453,0.000127054412822,-0.00045114578654,3.76741739189e-05,1793250504767365888
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,893,787,827,655,631,657,0.452482756469,-0.00555892233205,0.0496973828122,0.999999880152,0.000108154008986,-0.00047642563809,3.18840763028e-05,1793250504784032768
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,638,893,787,827,655,631,657,0.452867640818,-0.00556137273729,0.0496937098653,0.999999886866,7.56469250842e-05,-0.000469123094633,2.16665436858e-05,1793250504800699392
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,637.549987323,893,787,827,655,631,657,0.453233981117,-0.00556534135603,0.0497036124468,0.999999897472,3.92306517841e-05,-0.00045094534088,1.28490793074e-05,1793250504817366016
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,747,722.975532431,693,664,636.975532431,893,787,827,655,630.975532431,657,0.453592084146,-0.00556947199466,0.0497165122609,0.999999907231,3.55283581616e-06,-0.000430700697856,4.80705365142e-06,1793250504834032640
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722.390761693,693,664,636.390761693,893,787,827,655,630.390761693,657,0.453878560303,-0.00556773357681,0.0497123923451,0.999999906738,9.45089024479e-06,-0.000431742632992,5.68860156874e-06,1793250504850699008
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747,722.193038065,693,664.193038065,636,893,787,827,655,629.806961935,657,0.454151001842,-0.00556622558031,0.0497058780407,0.999999903763,1.49225742052e-05,-0.000438415914519,6.52787588352e-06,1793250504867365632
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,747,722.774882061,693,664.774882061,636,893,787,827,655,629.225117939,657,0.454395175643,-0.00556518168517,0.0496945410998,0.999999895618,1.95354870962e-05,-0.000456431522992,7.28200508338e-06,1793250504884032512
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664.645752107,635.645752107,893,786.645752107,827,655,629.354247893,656.645752107,0.454611857155,-0.00556349741475,0.0496802171216,0.999999885506,2.50332573083e-05,-0.000477809619024,7.71993803903e-06,1793250504900699392
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664.067950104,635.067950104,893,786.067950104,827,655,629.932049896,656.067950104,0.454811189217,-0.00556140902459,0.049664008122,0.999999873829,3.10894321047e-05,-0.000501309671167,7.95833009139e-06,1793250504917366272
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,893,786,827.506766879,655,630,656.506766879,0.454981326848,-0.00556128893322,0.0496447354621,0.999999857917,3.50244153939e-05,-0.000531858463328,8.1728360243e-06,1793250504934032896
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,893,786,827.916778621,655,630,657,0.45514415224,-0.00556109989244,0.0496267652231,0.999999842199,3.85510944668e-05,-0.00056039877821,8.34000240053e-06,1793250504950699264
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,635,893,786,827.327251703,655,630,657,0.455286162605,-0.00555889544079,0.0496192027695,0.99999983609,4.13136199401e-05,-0.000571004603675,8.23852994525e-06,1793250504967365888
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.742547359,634.742547359,893,786,827,655,629.742547359,657,0.455421811737,-0.00555768550149,0.0496165921633,0.999999833666,4.34874226035e-05,-0.000575066658768,8.72165862843e-06,1793250504984032512
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.163860376,634.163860376,893,786,827,655,629.163860376,657,0.455549523689,-0.00555771645663,0.049620160183,0.999999835942,4.49266512282e-05,-0.000570963779477,9.93421841507e-06,1793250505000698880
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655,629.411698112,657,0.455659936077,-0.00555534786038,0.0496234730563,0.999999837724,4.83331597286e-05,-0.000567542382164,1.05511146269e-05,1793250505017365760
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655,629.986020802,657,0.455763514975,-0.00555203141903,0.0496266851444,0.999999839293,5.25167620157e-05,-0.000564390176647,1.09327181654e-05,1793250505034032384
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,892.438560737,786,827,655,630,657,0.455842205076,-0.00555170404592,0.0496250438148,0.999999839222,5.52094824312e-05,-0.000564255101785,1.11323017023e-05,1793250505050699264
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,723,692.859387867,663,634,892.140612133,786.140612133,827,655,630,656.859387867,0.455912956998,-0.00555175782725,0.0496222672205,0.999999837156,5.7516060497e-05,-0.000567668629497,1.1504801677e-05,1793250505067366144
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,747,723,692.268274087,663,634,892.731725913,786.731725913,827,655,630,656.268274087,0.455960265409,-0.00555279386263,0.0496162413231,0.999999828715,5.87046557565e-05,-0.000582210229795,1.24458503205e-05,1793250505084032512
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,723,692.315547334,663.315547334,634,893,786.684452666,827,655,629.684452666,656.315547334,0.456002807072,-0.00555312954952,0.0496113450494,0.999999823122,5.86581571197e-05,-0.000591736719199,1.27687573552e-05,1793250505100699136
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,723,692.893308997,663.893308997,634,893,786.106691003,827,655,629.106691003,656.893308997,0.456041387656,-0.00555288325916,0.0496073874728,0.999999820001,5.75853171403e-05,-0.000597095740608,1.25779996024e-05,1793250505117366016
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,723,693,664,634,893,786,827,655,629,657,0.456071715969,-0.00555129497451,0.049606682095,0.999999819614,5.91899520731e-05,-0.00059759293785,1.23337548993e-05,1793250505134032384
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,723,693,664,634,893,786.043860749,827,655,629,657,0.456099281221,-0.00554959212125,0.0496065568497,0.999999819721,6.11214462898e-05,-0.000597222923807,1.20904554513e-05,1793250505150699008
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747,723,693,664,634,893,786.620130883,827,655,629,657,0.456115994137,-0.00555018801444,0.0496045325682,0.999999818333,5.96595660858e-05,-0.000599692435715,1.20056779434e-05,1793250505167365632
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663.798296572,634,893,787,827,655,629,657,0.456130653453,-0.0055496459321,0.0496031604779,0.99999981706,6.0522307438e-05,-0.000601724914853,1.2014818902e-05,1793250505184032512
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663.206468403,634,893,787,827,655,629,657,0.456141340798,-0.00554690283409,0.0496030498233,0.999999816004,6.58812162903e-05,-0.000602912106789,1.2205612293e-05,1793250505200699392
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786.624114314,827,655,629,657,0.456148146592,-0.00554615069424,0.0496018282983,0.999999814602,6.60915419664e-05,-0.000605212354231,1.20528112337e-05,1793250505217366016
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786.046836275,827,655,629,657,0.456152872725,-0.00554646527176,0.0496000115903,0.999999813014,6.35433551896e-05,-0.000608108955459,1.17159188408e-05,1793250505234032896
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827,655,629,657,0.456154743508,-0.00554682765601,0.0495982646535,0.999999811632,6.32385545426e-05,-0.000610409812674,1.16924787467e-05,1793250505250699264
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633.893343704,893,786.106656296,827.106656296,655,629,657,0.456156405399,-0.00554704627244,0.0495970019728,0.999999810666,6.32084189439e-05,-0.000611992710769,1.17427241217e-05,1793250505267366144
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633.302230344,893,786.697769656,827.697769656,655,629,657,0.456158263629,-0.00554659268914,0.049597910911,0.999999811522,6.35261333637e-05,-0.000610553406532,1.20019512329e-05,1793250505284032768
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633.283044847,893,786.716955153,827.716955153,655,629,657,0.456158507075,-0.005545836347,0.0495970205788,0.999999810766,6.45692149252e-05,-0.000611685355917,1.18387035458e-05,1793250505300699136
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633.862212198,893,786.137787802,827.137787802,655,629,657,0.456157061127,-0.00554476325747,0.0495942478438,0.99999980831,6.63711781519e-05,-0.000615507359601,1.12334612872e-05,1793250505317366016
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,723,693,663,634,893,786,827.435439183,655,629.435439183,657,0.456157686587,-0.00554442544926,0.0495937300042,0.999999808122,6.61590990122e-05,-0.000615829131941,1.15265755157e-05,1793250505334032640
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,722.993135553,693,663.006864447,634,893,786,827.993135553,655,629.993135553,657,0.456158948841,-0.0055443202001,0.0495939137331,0.999999808638,6.5321120016e-05,-0.000615070074624,1.20923261939e-05,1793250505350699264
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,722.417338374,693,663.582661626,634,893,786,827.417338374,655,629.417338374,657,0.456159394947,-0.00554446544797,0.0495939023404,0.99999980854,6.47180602177e-05,-0.000615293666514,1.20109215454e-05,1793250505367365888
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.836425999,747,722,693,663.836425999,633.836425999,893,786,827,655,629,657,0.456159518823,-0.00554439492166,0.049593811938,0.99999980829,6.39934959889e-05,-0.000615781703598,1.17154389884e-05,1793250505384032512
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.242041591,747,722,693,663.242041591,633.242041591,893,786,827,655,629,657,0.456158794029,-0.00554375610357,0.049593513445,0.999999807636,6.2948921448e-05,-0.000616966218962,1.08561321727e-05,1793250505400698880
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.342393717,747,722,693.342393717,663,633,893,786,827,655,629,657,0.456159103583,-0.00554361326972,0.049593465681,0.999999807387,6.30305461451e-05,-0.000617364704219,1.06914698733e-05,1793250505417365760
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.919994476,747,722,693.919994476,663,633,893,786,827,655,629,657,0.45616012368,-0.00554381115181,0.0495935901549,0.999999807416,6.388581239e-05,-0.000617223226786,1.10039930051e-05,1793250505434032384
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.493987014,747,722.493987014,693.506012986,663,633.493987014,893,786,827,655,629.493987014,657,0.456160858854,-0.00554408926747,0.0495932840623,0.999999807575,6.58852108686e-05,-0.000616747526854,1.15102445139e-05,1793250505450699008
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.930673815,747,723,693,663,633.930673815,893,786,827,655,630,657,0.456161264392,-0.00554436599425,0.0495927694382,0.999999807577,6.76045426747e-05,-0.000616548845389,1.19766630676e-05,1793250505467365632
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.340869324,747,723,693,663,633.340869324,893,786,827,655,630,657,0.456159539068,-0.00554453544236,0.049591208972,0.999999806284,6.58401238131e-05,-0.000618833373617,1.19101758778e-05,1793250505484032512
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633,893,786,827,655,629.755685505,657,0.456158367234,-0.0055438399866,0.0495904728398,0.999999805312,6.60649932681e-05,-0.000620380380281,1.1809830846e-05,1793250505500699136
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,747,723,693,663,633,893,786,827,655,629.176828734,657,0.456157953302,-0.00554196020934,0.0495908654763,0.999999804781,6.90138148136e-05,-0.000620917491635,1.1663123924e-05,1793250505517365760
+249,4.150000000,HOLD_POSE2,770,747,723,693,663,633,893,786,828,656,629,657,0.456159431044,-0.00554278454033,0.0495912922688,0.999999805438,6.60347603524e-05,-0.000620181220068,1.18136542725e-05,1793250505551659008
+250,4.166666667,HOLD_POSE2,770,747,723,693,663,633,893,786,828,655.417275261,629.582724739,657,0.456160516603,-0.00554382597681,0.049592011226,0.999999805974,6.4172700928e-05,-0.000619515768473,1.15912858063e-05,1793250505568325632
+251,4.183333333,HOLD_POSE2,770,747,723,693,663.166758555,633.166758555,892.833241445,786,827.833241445,655,629.833241445,657,0.456161051409,-0.00554451529089,0.0495921955376,0.999999806151,6.34422756352e-05,-0.000619306817843,1.14513527365e-05,1793250505584992256
+252,4.200000000,HOLD_POSE2,770,747,723,693,663.754094084,633.754094084,892.245905916,786,827.245905916,655,629.245905916,657,0.456160197175,-0.00554431652741,0.049591031435,0.99999980543,6.55659119612e-05,-0.000620249195077,1.15193275707e-05,1793250505601658880
+253,4.216666667,HOLD_POSE2,770,747,723,693,663.663761462,633.663761462,892.336238538,786,827.336238538,655,629,657.336238538,0.456159600203,-0.00554441968675,0.0495903276617,0.999999804787,6.52577569503e-05,-0.000621318451084,1.14167495132e-05,1793250505618325504
+254,4.233333333,HOLD_POSE2,770,747,723,693,663.085355781,633.085355781,892.914644219,786,827.914644219,655,629,657.914644219,0.456159188517,-0.00554474029823,0.0495899554289,0.9999998042,6.31981667606e-05,-0.000622479088202,1.11913351261e-05,1793250505634992128
+255,4.250000000,HOLD_POSE2,770.49108166,747,723,693,663,633,893,786,828,655,629.49108166,657.50891834,0.456158900601,-0.00554220790613,0.04958954216,0.999999803499,6.5915436272e-05,-0.000623325540365,1.10215719226e-05,1793250505651659008
+256,4.266666667,HOLD_POSE2,770.931874155,747,723,693,663,633,893,786,827.931874155,655,629.931874155,657,0.456158669381,-0.00553972837703,0.0495891431663,0.999999802824,6.89813570141e-05,-0.000624077716672,1.0942229924e-05,1793250505668325888
+257,4.283333333,HOLD_POSE2,770.347652194,747,723,693,663,633,893,786,827.347652194,655,629.347652194,657,0.456158705347,-0.0055413909675,0.049588906134,0.999999802576,6.84237874449e-05,-0.00062452774056,1.14749001481e-05,1793250505684992512
+258,4.300000000,HOLD_POSE2,770,747,723,693,663,633,893,786,827,655,629,657,0.456158807116,-0.00554190772449,0.0495888605639,0.999999802514,6.81751397466e-05,-0.000624648892731,1.17616666415e-05,1793250505701658880
+259,4.316666667,HOLD_POSE2,770,747,723,693,663,633,893,786,827,655,629,657,0.456159005589,-0.00554074061672,0.049589096358,0.999999802727,6.83804695913e-05,-0.000624286749985,1.16870641794e-05,1793250505718325504
+260,4.333333333,HOLD_POSE2,770,747,723,693,663,633.396901015,893,786,827,655,629,657,0.456159533723,-0.00554105795329,0.0495890891071,0.999999803082,6.71769724971e-05,-0.00062385393878,1.1358214895e-05,1793250505734992128
+261,4.350000000,HOLD_POSE2,770,747,723,693,663,633.976199054,893,786,827,655,629,657,0.456160213355,-0.00554205747052,0.0495889701641,0.9999998035,6.53260448755e-05,-0.000623388651645,1.09125257325e-05,1793250505751658752
+262,4.366666667,HOLD_POSE2,770,747,723,693,663,633.449715721,893,786,827,655.550284279,629,657,0.456160256054,-0.00554012185717,0.0495892813554,0.999999803236,6.90502290201e-05,-0.000623413486202,1.07620362217e-05,1793250505768325632
+263,4.383333333,HOLD_POSE2,770,747,723,693,663,633,892.872892166,786,827,655.872892166,629.127107834,657,0.456159836398,-0.0055387660756,0.0495891742858,0.999999802696,7.19178976126e-05,-0.000623954337774,1.07622510594e-05,1793250505784992256
+264,4.400000000,HOLD_POSE2,770,747,723,693,663,633,892.285339852,786,827,655.285339852,629.714660148,657,0.45615784073,-0.00553996627659,0.0495874853173,0.99999980131,7.08175558064e-05,-0.000626288374843,1.12625703438e-05,1793250505801659136
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,894,786,828,655,629,657,0.456159455267,-0.0055403659764,0.0495885062078,0.999999802907,6.9413652678e-05,-0.000623886706146,1.15143985127e-05,1793250505838661888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893.418788438,786,828,655,629,657,0.456159139593,-0.00554081189131,0.0495878162355,0.999999802247,6.78627112736e-05,-0.000625120995763,1.11427258408e-05,1793250505855328768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.160287721,893,786.160287721,827.839712279,655,629.160287721,657,0.456159048371,-0.00554104000126,0.0495875289186,0.999999801914,6.67518666347e-05,-0.000625778506756,1.08194182379e-05,1793250505871995904
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.73385812,893,786.73385812,827.26614188,655,629.73385812,657,0.456159535874,-0.00554070652729,0.0495882797999,0.999999802434,6.67757584312e-05,-0.000624948863462,1.06208140898e-05,1793250505888662272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.682699223,893,786.682699223,827,655.317300777,629.682699223,657,0.456159947763,-0.00554057179522,0.0495886138171,0.999999802792,6.69303867922e-05,-0.000624357484122,1.06352944096e-05,1793250505905328640
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.090710157,893,786.090710157,827,655.909289843,629.090710157,657,0.456160294193,-0.00554060911466,0.0495885869535,0.999999803013,6.71981942103e-05,-0.000623972370695,1.0834242641e-05,1793250505921995520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786.488991759,827,656,629,657,0.456160408607,-0.00554076536051,0.0495884785676,0.999999802958,6.81141848986e-05,-0.000623959393927,1.09529387737e-05,1793250505938662144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786.933592372,827,655.933592372,629,657,0.456160268729,-0.00554091069333,0.0495882379479,0.999999802777,6.89555519923e-05,-0.000624155985458,1.10104757455e-05,1793250505955329024
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786.356657718,827,655.356657718,629,657,0.456158496687,-0.00554080668349,0.0495870941547,0.999999802017,6.83215025603e-05,-0.000625445989481,1.07094782891e-05,1793250505971995648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786,827,655,629.223962522,657,0.456155371422,-0.00554067562858,0.0495856583405,0.999999800553,6.85306921744e-05,-0.00062776385307,1.05262767121e-05,1793250505988662272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786,827,655,629.810550159,657,0.45615005511,-0.00554050078411,0.0495837497054,0.999999797936,7.01051980309e-05,-0.000631745957888,1.05338023619e-05,1793250506005328896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786,827,655.392052311,629.607947689,657,0.456129864519,-0.00553970010176,0.0495735754427,0.999999787787,6.95697923779e-05,-0.000647677960772,9.98335876478e-06,1793250506021995520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633,893,786,827,655.971128545,629.028871455,657,0.456102578327,-0.00553860087083,0.0495594581597,0.999999773656,6.80278784774e-05,-0.000669310521461,9.1667425268e-06,1793250506038661888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,723,692.453863351,663,633.546136649,893.546136649,786,827,655.453863351,629.546136649,657,0.456050660533,-0.00553800251674,0.0495389661403,0.999999749595,6.6829142017e-05,-0.000704466849817,8.33396241075e-06,1793250506055328768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,723,692.120329361,663,633.879670639,893.879670639,786,827,655.120329361,630,657,0.455994695619,-0.00553689498745,0.0495185857424,0.999999725835,6.65304933892e-05,-0.000737462810899,7.28822905298e-06,1793250506071995648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,723,692.692263187,663,633.307736813,893.307736813,786,827,655.692263187,630,657,0.455928392481,-0.00553377784604,0.0494998796942,0.999999709005,6.95423520488e-05,-0.000759687423847,5.44645044827e-06,1793250506088662272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.274547159,893,786,827.274547159,655.725452841,629.725452841,657,0.45585655471,-0.00553024560104,0.0494856273012,0.999999695238,7.24898915616e-05,-0.000777337703595,3.90883955232e-06,1793250506105328896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,723,693,663,633.868886949,893,786,827.868886949,655.131113051,629.131113051,657,0.455778270202,-0.00552622984343,0.0494765625286,0.999999685375,7.53625119508e-05,-0.00078965979726,2.72552342854e-06,1793250506121995264
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,722,685.519899619,668,641.519899619,889,789,819.519899619,655,631,656,0.419887790028,-0.00536148217424,0.0497996625934,0.999999943791,8.88610285284e-05,-0.000319403711394,-5.00300502877e-05,1793250507088662016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,721.900736738,685.900736738,668,641.900736738,889.099263262,789,819.900736738,655,631.099263262,656.099263262,0.419004351115,-0.0053613548192,0.0498070803484,0.999999943404,9.00840571045e-05,-0.000320403643638,-4.91793596881e-05,1793250507105328384
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.484877833,745.515122167,721.484877833,685,668,642,889,789.484877833,819,655,631.484877833,656.515122167,0.410532616528,-0.00536123323909,0.0498030226272,0.99999993969,0.00010187029111,-0.000327906623078,-5.21566421311e-05,1793250507288662016
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,746,721.755219182,684,667.755219182,642,888,789.244780818,819,655,632,657,0.403124310387,-0.00538251037348,0.0498385663788,0.99999995096,6.93072458978e-05,-0.000300168001858,-5.63592140915e-05,1793250507555329024
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.660803418,746,722,684,667.660803418,642,888,789,819,655,632,656.660803418,0.402846225214,-0.00538126690883,0.049824487124,0.999999942831,6.91739481051e-05,-0.000325912205285,-5.77485663577e-05,1793250507571995392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.071661291,746,722,684,667.071661291,642,888,789,819,655,632,656.071661291,0.402584826691,-0.00537999796625,0.0498086819491,0.999999933764,6.97073387457e-05,-0.000352291549117,-5.91917823888e-05,1793250507588662016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.507904525,746,722,683.492095475,667,642,888,789,819,655,631.492095475,656,0.402364562063,-0.00537943455875,0.0498030048455,0.999999930716,7.09104476637e-05,-0.000360482564276,-5.99293215361e-05,1793250507605328640
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,745.809316939,722,683,667.809316939,642,888,789,819,655,631.190683061,656.190683061,0.401706743304,-0.00537621988187,0.0498242411822,0.999999944777,8.0626096332e-05,-0.000317121077445,-5.81283291612e-05,1793250507671995392
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746,722,683,667.602927467,642,888,789,819,655,631.397072533,656,0.401594966842,-0.00537367262171,0.0498315704262,0.999999945007,0.000125928002345,-0.000302965107665,-4.83806228804e-05,1793250507688662016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,746,722,683,667.00720327,642,888,789,819,655,631.99279673,656,0.401492736375,-0.00537128700204,0.0498384683138,0.999999939751,0.000190311166589,-0.000288291886742,-3.41762677079e-05,1793250507705328896
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746,722,683.373192202,667,642,887.373192202,788.373192202,819,655,631.373192202,656.373192202,0.401011221238,-0.00539225868772,0.0498445809033,0.99999995322,0.000148885124169,-0.000264463768572,-3.80999925431e-05,1793250507888662016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,746,722,683.953267392,667,642,887.953267392,788.953267392,819,655,631.953267392,656.953267392,0.40100382581,-0.00539201512608,0.0498448646949,0.999999953253,0.000149450601465,-0.000264011051898,-3.8165946501e-05,1793250507905328640
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78bbe0abfe8d6cae575679ac6e335b2323e83f92
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d87effbefda4e935232cfc5bfdf81db54cdf46c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced3111ccbffd361b8e6ae25904a647310f885b198b8a22d47e90739663adbeb
+size 25968790
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95e19964a26532fc5662348ac03a692f31bd91f6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,410 @@
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+6,0.100000000,BASELINE,770,746,722,686,667,642,888,788,819,655,631.480341648,656,0.401018116556,-0.00549945117046,0.0698471611912,0.999999985447,3.85033033833e-05,-0.000165414444009,1.6165268849e-05,1793250509931468544
+7,0.116666667,BASELINE,770,746,722.055811705,686,667,642,888.055811705,788.055811705,819,655,632,656,0.401018315034,-0.00549954363543,0.0698475891516,0.999999985529,3.7910881689e-05,-0.000165047066154,1.62547339808e-05,1793250509948134912
+8,0.133333333,BASELINE,770,746,722.63101954,686,667,642,888.63101954,788.63101954,819,655,632,656,0.40101798923,-0.00549937605294,0.0698473942972,0.999999985506,3.7512537748e-05,-0.000165330620298,1.56718302221e-05,1793250509964801536
+9,0.150000000,BASELINE,769.786879141,746,722.786879141,686,667,642,888.786879141,789,819.213120859,655,632,656,0.401017655843,-0.00549870267478,0.0698472033139,0.999999985423,3.85410305959e-05,-0.000165635596225,1.52726370291e-05,1793250509981468160
+10,0.166666667,BASELINE,769.192444115,746,722.192444115,686,667,642,888.192444115,789,819.807555885,655,632,656,0.401017308887,-0.00549712433097,0.0698470192567,0.999999985223,4.21224086502e-05,-0.000165978899807,1.52021373982e-05,1793250509998134784
+11,0.183333333,BASELINE,769.388235126,746,722,686,667,642,888,789,820,655,632,656,0.401017424507,-0.00549670552886,0.0698469395712,0.999999985153,4.32831268524e-05,-0.000166075574337,1.54666215147e-05,1793250510014801408
+12,0.200000000,BASELINE,769.962329145,746,722,686,667,642,888,789,820,655,632,656,0.401017761575,-0.0054968418313,0.0698469098512,0.99999998515,4.32850085454e-05,-0.00016605418075,1.58914716105e-05,1793250510031468288
+13,0.216666667,BASELINE,770,746,722,685.463344196,667.536655804,642,888.536655804,788.463344196,819.463344196,655,632,656,0.401016380349,-0.00549776274799,0.069846599543,0.999999985057,4.22282533715e-05,-0.000166895305604,1.57706884484e-05,1793250510048134912
+14,0.233333333,BASELINE,770,745.885566998,722,685.114433002,667.885566998,642,888.885566998,788.114433002,819,655,632,656.114433002,0.401015472755,-0.00549844179528,0.0698465403584,0.999999985034,4.12748170527e-05,-0.000167292926208,1.55487822069e-05,1793250510064801536
+15,0.250000000,BASELINE,770,745.293454168,722,685.706545832,667.293454168,642,888.293454168,788.706545832,819,655,632,656.706545832,0.401017045955,-0.00549788119656,0.0698476116962,0.999999985334,4.10630010854e-05,-0.000165586375386,1.50647060038e-05,1793250510081468160
+16,0.266666667,BASELINE,770,745.290874789,722.290874789,685.709125211,667,642,888,789,819.290874789,655,632,657,0.401016596919,-0.00549725382095,0.0698474376807,0.999999985238,4.12677806597e-05,-0.000166123714726,1.49906169933e-05,1793250510098135040
+17,0.283333333,BASELINE,770,745.867555482,722.867555482,685.132444518,667,642,888,789,819.867555482,655,632,657,0.401014160889,-0.00549656083215,0.0698460400139,0.999999984748,4.18818960492e-05,-0.000168865841522,1.53193706252e-05,1793250510114801920
+18,0.300000000,BASELINE,770,746,722.557500776,685.442499224,667,642,888,789,819.557500776,655,632,657,0.401014943866,-0.00549683027827,0.069846632262,0.999999984913,4.16423353451e-05,-0.000167923256483,1.55226496385e-05,1793250510131468544
+19,0.316666667,BASELINE,770,746,722.017317347,686,667,642,888,789,819.017317347,655,632,656.982682653,0.401016703072,-0.00549737326888,0.069847829765,0.999999985274,4.11859175213e-05,-0.000165862406574,1.56827415083e-05,1793250510148134912
+20,0.333333333,BASELINE,770,746,722.605055688,686,667,642,888,789,819.605055688,655,632,656.394944312,0.401019006239,-0.00549747501398,0.0698494219406,0.999999985687,4.19699192833e-05,-0.000163152475906,1.56525051365e-05,1793250510164801792
+21,0.350000000,BASELINE,770,746,723,686,667,642,888,788.809466719,819.809466719,655,632,656,0.401019950809,-0.00549771817401,0.06984991131,0.999999985846,4.20414880853e-05,-0.000162154261505,1.56747214315e-05,1793250510181468416
+22,0.366666667,BASELINE,770,746,723,686,667,642,888,788.228620407,819.228620407,655,632,656,0.401018112252,-0.00549825102664,0.0698481415479,0.999999985492,4.06536169148e-05,-0.000164662548567,1.58043885612e-05,1793250510198135040
+23,0.383333333,BASELINE,770,746,722.648696337,686,667,642,888,788.351303663,819,655,632,656,0.401017961164,-0.00549858193549,0.0698481063244,0.999999985512,4.009297408e-05,-0.000164665361195,1.59173036613e-05,1793250510214801664
+24,0.400000000,BASELINE,770,746,722.069370812,686,667,642,888,788.930629188,819,655,632,656,0.401018905367,-0.00549878176804,0.0698491969433,0.999999985778,4.00692630126e-05,-0.000163041937272,1.60193454776e-05,1793250510231468288
+25,0.416666667,BASELINE,770,746,722,686,666.494998027,642,888,788.494998027,819,655,632,656.505001973,0.401017062536,-0.00549753933632,0.069847566555,0.999999985287,4.22293162363e-05,-0.000165511225901,1.57434422018e-05,1793250510248134912
+26,0.433333333,BASELINE,769.918835501,746,722,685.918835501,666.081164499,642,888,788.081164499,819,655,632,656.918835501,0.401015140881,-0.00549646718217,0.0698459281988,0.999999984773,4.41741567182e-05,-0.000168115816938,1.54967332302e-05,1793250510264801280
+27,0.450000000,BASELINE,769.32717842,746,722,685.32717842,666.67282158,642,888,788.67282158,819,655,632,656.32717842,0.401015108024,-0.0054977000008,0.0698465678088,0.999999984832,4.28969763809e-05,-0.000168069701465,1.57570128611e-05,1793250510281468160
+28,0.466666667,BASELINE,769.257555189,746,722,685.257555189,667,642,888,788.742444811,819.257555189,655,632,656.257555189,0.401015075514,-0.00549743701905,0.0698469234807,0.9999999848,4.30107379078e-05,-0.00016823101374,1.57712023581e-05,1793250510298134784
+29,0.483333333,BASELINE,769.833723947,746,722,685.833723947,667,642,888,788.166276053,819.833723947,655,632,656.833723947,0.401015043434,-0.00549532362878,0.0698469279015,0.999999984653,4.48451907304e-05,-0.000168648928476,1.54809613354e-05,1793250510314801664
+30,0.500000000,BASELINE,770,746,722,685.588317597,667,642,888,788,819.588317597,655,632,657,0.401013052871,-0.0054947313423,0.0698455672381,0.999999984298,4.50265800685e-05,-0.00017071408538,1.53016989967e-05,1793250510331468032
+31,0.516666667,BASELINE,770,746,722,685.009633151,667,642,888,788,819.009633151,655,632,657,0.401010267834,-0.00549475610298,0.069843652818,0.999999983851,4.45373918054e-05,-0.000173447458368,1.51674559976e-05,1793250510348134656
+32,0.533333333,BASELINE,770,746,722.575734353,685.575734353,667,642,888,788,819,655,632,657,0.401013094792,-0.00549697308169,0.0698459142028,0.999999984585,4.16738386941e-05,-0.000169866679181,1.54546942988e-05,1793250510364801536
+33,0.550000000,BASELINE,770,746,722.840517143,686,667,642,888,788.159482857,819,654.840517143,632,656.840517143,0.401015644893,-0.00549864811704,0.069847835445,0.999999985188,3.99105261885e-05,-0.000166688820479,1.56946643643e-05,1793250510381468160
+34,0.566666667,BASELINE,770,746,722.261327149,686,667,642,888,788.738672851,819,654.261327149,632,656.261327149,0.401017216383,-0.00549879926921,0.0698486755087,0.999999985441,4.1148468794e-05,-0.00016485261489,1.57914626616e-05,1793250510398134784
+35,0.583333333,BASELINE,770,745.683372262,722,686,667,642,888,788.683372262,819.316627738,654.316627738,632,656,0.401016910276,-0.00549744910233,0.0698483802842,0.999999985298,4.33108765613e-05,-0.000165179426919,1.56353760574e-05,1793250510414801408
+36,0.600000000,BASELINE,770,745.106432739,722,686,667,642,888,788.106432739,819.893567261,654.893567261,632,656,0.401015060526,-0.00549486464359,0.0698471516958,0.999999984823,4.62333226617e-05,-0.00016728453833,1.52713831056e-05,1793250510431468032
+37,0.616666667,BASELINE,770,745.469720741,722,686,667,642,888.469720741,788,819.530279259,655,632,656.469720741,0.40101541901,-0.0054936616632,0.0698477811446,0.999999984785,4.80070875033e-05,-0.000167020531521,1.51439642348e-05,1793250510448134656
+38,0.633333333,BASELINE,770,746,722,685.953350162,667,642,888.953350162,788,819,655,632,657,0.401016170431,-0.00549301568346,0.0698486778928,0.999999984845,4.90998625334e-05,-0.000166346170504,1.50721036422e-05,1793250510464801536
+39,0.650000000,BASELINE,770,746,722,685.365356681,667,642,888.365356681,788,819,655,632,657,0.401015684987,-0.00549520695927,0.0698477991135,0.999999984895,4.53054654305e-05,-0.000167128869689,1.50239526158e-05,1793250510481468160
+40,0.666666667,BASELINE,770,746,722,685.219072803,667,642,887.780927197,788.219072803,819,655,631.780927197,656.780927197,0.401015198761,-0.00549675393798,0.069847254715,0.999999984889,4.25632153303e-05,-0.000167873636021,1.51401724994e-05,1793250510498134784
+41,0.683333333,BASELINE,770,746,722,685.797653575,667,642,887.202346425,788.797653575,819,655,631.202346425,656.202346425,0.401014711251,-0.00549724359709,0.0698472590499,0.999999984811,4.15475843206e-05,-0.000168556152853,1.55261321779e-05,1793250510514801408
+42,0.700000000,BASELINE,769.624761573,746,722,686,667,642,887.375238427,789,819.375238427,655,631.375238427,656.375238427,0.401014679137,-0.00549755835251,0.0698470364321,0.999999984744,4.19159299199e-05,-0.000168864235823,1.54595616971e-05,1793250510531468032
+43,0.716666667,BASELINE,769.047712366,746,722,686,667,642,887.952287634,789,819.952287634,655,631.952287634,656.952287634,0.401014891943,-0.0054977790412,0.0698466917545,0.999999984684,4.30286060352e-05,-0.0001689709407,1.51496113732e-05,1793250510548134656
+44,0.733333333,BASELINE,769.529101681,746,722,685.470898319,667,642.529101681,888,789,819.470898319,655,632,656.470898319,0.401014576596,-0.00549608079344,0.0698468898961,0.999999984576,4.54056621237e-05,-0.000168971867604,1.53080983496e-05,1793250510564801280
+45,0.750000000,BASELINE,770,746,722.107836365,685.107836365,667,642.892163635,887.892163635,788.892163635,819,655,631.892163635,656.107836365,0.401014421118,-0.00549470510312,0.0698471943008,0.999999984548,4.70826257626e-05,-0.000168664769772,1.54756932714e-05,1793250510581468160
+46,0.766666667,BASELINE,770,746,722.695205944,685.695205944,667,642.304794056,887.304794056,788.304794056,819,655,631.304794056,656.695205944,0.401015188247,-0.00549553293433,0.0698477536682,0.999999984912,4.51395834371e-05,-0.000167030327293,1.54960295981e-05,1793250510598134784
+47,0.783333333,BASELINE,770,746,722.722210168,686,667,642,887.277789832,788.277789832,819,655,631.277789832,657,0.401015668859,-0.00549627456104,0.0698477135903,0.999999985003,4.39836888825e-05,-0.000166791285757,1.55059670803e-05,1793250510614801408
+48,0.800000000,BASELINE,770,746,722.144788189,686,667,642,887.855211811,788.855211811,819,655,631.855211811,657,0.401015840424,-0.00549692320518,0.0698470269334,0.999999984804,4.36768344343e-05,-0.000168057363828,1.55046880708e-05,1793250510631467776
+49,0.816666667,BASELINE,770,746,722.433311532,686,667,642.433311532,888,789,819.433311532,655,632,657,0.401016401054,-0.00549809982293,0.0698476649541,0.999999984999,4.18678071342e-05,-0.000167363355963,1.54314652196e-05,1793250510648134400
+50,0.833333333,BASELINE,770,746,723,686,667,642.988456369,888,789,819.988456369,655,632,656.988456369,0.401017072322,-0.00549937219822,0.0698487293658,0.999999985312,3.96492337448e-05,-0.000166038707532,1.53315574098e-05,1793250510664801280
+51,0.850000000,BASELINE,770,746,723,686,667,642.414821041,888,789,819.414821041,655,632,656.414821041,0.401016790795,-0.00549670349324,0.0698489691896,0.999999985236,4.19679153168e-05,-0.000165947698274,1.51046711742e-05,1793250510681468160
+52,0.866666667,BASELINE,770,745.836408482,722.836408482,685.836408482,667.163591518,642,888,789,819,655,632,656,0.401016663127,-0.00549497841694,0.0698490848389,0.99999998516,4.37765353565e-05,-0.000165943734597,1.50265316144e-05,1793250510698134784
+53,0.883333333,BASELINE,770,745.245517888,722.245517888,685.245517888,667.754482112,642,888,789,819,655,632,656,0.401016937337,-0.00549571808752,0.0698488761459,0.999999985097,4.42528806776e-05,-0.000166167132936,1.53369165941e-05,1793250510714801408
+54,0.900000000,BASELINE,770,745.338932757,722.338932757,685.338932757,667.661067243,642,888,788.661067243,819.338932757,655,632,656,0.401016398654,-0.00549608551193,0.069848450431,0.999999984996,4.44933560342e-05,-0.000166702161449,1.54710981363e-05,1793250510731468288
+55,0.916666667,BASELINE,770,745.918805359,722.918805359,685.918805359,667.081194641,642,888,788.081194641,819.918805359,655,632,656,0.401015282103,-0.00549618831467,0.0698478704399,0.999999984866,4.45661565989e-05,-0.000167458720993,1.54800205157e-05,1793250510748135168
+56,0.933333333,BASELINE,770,746,722.508938194,686,667,642,888,788.491061806,819.508938194,655,632,656,0.401014812392,-0.00549477638668,0.069847676346,0.999999984738,4.52953017278e-05,-0.000168056028358,1.51434296915e-05,1793250510764801536
+57,0.950000000,BASELINE,770,745.937057613,722.062942387,686,667,642,888,789,819.062942387,655,632,656.062942387,0.40101445104,-0.00549353931357,0.06984750314,0.999999984621,4.58418424707e-05,-0.000168634405831,1.48108339766e-05,1793250510781468416
+58,0.966666667,BASELINE,770,745.358092398,722.641907602,686,667,642,888,789,819.641907602,655,632,656.641907602,0.401014114625,-0.00549575770078,0.069846986066,0.999999984593,4.40152082487e-05,-0.000169270167325,1.49722004903e-05,1793250510798135040
+59,0.983333333,BASELINE,770,745.226467007,722.773532993,686,667,642,888,789,820,655,632,657,0.401014335525,-0.00549719756221,0.069847250433,0.999999984736,4.22635807862e-05,-0.000168863162268,1.50954264906e-05,1793250510814801664
+60,1.000000000,BASELINE,770,745.820096146,722.179903854,686,667,642,888,789,820,655,632,657,0.401015459979,-0.00549737523049,0.0698487817198,0.999999985154,4.06335585726e-05,-0.000166765560538,1.51568167885e-05,1793250510831468032
+61,1.016666667,BASELINE,770,746,722,685.598763902,667,642,888,789,819.598763902,655,632,656.598763902,0.401015868841,-0.00549726318094,0.0698488349498,0.99999998518,4.11065691808e-05,-0.000166495834282,1.5131752057e-05,1793250510848134656
+62,1.033333333,BASELINE,770,746,722,685.023054768,667,642,888,789,819.023054768,655,632,656.023054768,0.401015966537,-0.00549702515081,0.0698482454632,0.999999985036,4.24940602173e-05,-0.000167020939384,1.5069093318e-05,1793250510864801280
+63,1.050000000,BASELINE,770,746,722,685.548755179,667,642.548755179,888,789,819,655,632,656,0.401016873353,-0.00549559044114,0.0698495944439,0.999999985382,4.38783642784e-05,-0.000164576915268,1.50031636911e-05,1793250510881467904
+64,1.066666667,BASELINE,770,745.875101575,722.124898425,686,666.875101575,642.875101575,888,789,819,655,632,656.124898425,0.401017188975,-0.0054945514217,0.0698504690872,0.99999998553,4.52012933108e-05,-0.000163310418992,1.5024464344e-05,1793250510898134784
+65,1.083333333,BASELINE,770,745.282108385,722.717891615,686,666.282108385,642.282108385,888,789,819,655,632,656.717891615,0.401015162418,-0.00549518246648,0.0698492629373,0.999999984879,4.62946989883e-05,-0.000166921274413,1.53731983435e-05,1793250510914801408
+66,1.100000000,BASELINE,770,745.302927711,723,686,666.302927711,642.302927711,888,788.697072289,819,655,632,656.697072289,0.401014414214,-0.00549620924218,0.06984845666,0.999999984655,4.57883067168e-05,-0.00016837731135,1.55590157848e-05,1793250510931468288
+67,1.116666667,BASELINE,770,745.880743216,723,686,666.880743216,642.880743216,888,788.119256784,819,655,632,656.119256784,0.401014826035,-0.0054975951187,0.069848013242,0.999999984826,4.38301986428e-05,-0.000167877986215,1.55969967053e-05,1793250510948134912
+68,1.133333333,BASELINE,770,746,722.543569447,686,667,643,888.456430553,788,819.456430553,655,632,656.456430553,0.401015226632,-0.00549775202,0.0698478643942,0.999999984742,4.41451977813e-05,-0.000168290258496,1.56414139816e-05,1793250510964801536
+69,1.150000000,BASELINE,770,746,722.032235652,685.967764348,667,642.967764348,888.967764348,788.032235652,819.967764348,655,632,656.967764348,0.401015595629,-0.00549755654471,0.0698477904976,0.999999984608,4.49533596488e-05,-0.000168870425938,1.56672996683e-05,1793250510981468416
+70,1.166666667,BASELINE,770,746,722.619599227,685.380400773,667,642.380400773,888.380400773,788.619599227,819.380400773,655,632,656.380400773,0.401015470742,-0.00549679693665,0.0698476880615,0.999999984755,4.40738454214e-05,-0.000168259199983,1.53452280517e-05,1793250510998135040
+71,1.183333333,BASELINE,770,746,722.794773472,685,667,642,888,789,819,655,632,656,0.401015103354,-0.00549631057106,0.0698476140413,0.999999984813,4.41050966311e-05,-0.000167924760649,1.518600789e-05,1793250511014801664
+72,1.200000000,BASELINE,770,746,722.212337373,685,667,642,888,789,819,655,632,656,0.401014290244,-0.00549632642928,0.0698475922503,0.999999984705,4.58103488285e-05,-0.000168099059358,1.53261111983e-05,1793250511031468288
+73,1.216666667,BASELINE,770,746,722.364816158,685.364816158,667,642,888.364816158,788.635183842,819,655,632,656,0.401014906748,-0.00549600703338,0.0698481418038,0.999999984853,4.52275850333e-05,-0.000167395265703,1.50847675958e-05,1793250511048135168
+74,1.233333333,BASELINE,770,746,722.938938877,685.938938877,667,642,888.938938877,788.061061123,819,655,632,656,0.401016343466,-0.00549549529159,0.0698490191555,0.999999985145,4.33321140347e-05,-0.00016618768269,1.46245758343e-05,1793250511064801792
+75,1.250000000,BASELINE,770,746,722.48591673,685.48591673,667,642,889,788.51408327,819,655,632,656,0.401015458045,-0.00549623718433,0.0698484330099,0.999999984978,4.30938863519e-05,-0.000167230334954,1.48647122352e-05,1793250511081468416
+76,1.266666667,BASELINE,770,746,722,685.091893166,667,642,888.908106834,789,819,655,631.908106834,656.091893166,0.401014588035,-0.00549687987118,0.0698478839384,0.9999999848,4.34289086392e-05,-0.00016817741471,1.51801094399e-05,1793250511098135040
+77,1.283333333,BASELINE,770,746,722,685.683537841,667,642,888.316462159,789,819,655,631.316462159,656.683537841,0.401015304821,-0.00549617163302,0.0698484837268,0.999999984862,4.58088555797e-05,-0.000167148288146,1.5451523495e-05,1793250511114801664
+78,1.300000000,BASELINE,770,746,722.268578444,686,667,642,888,789,819,655,631.268578444,657,0.401015685958,-0.00549657672504,0.0698488375397,0.999999984978,4.53887424003e-05,-0.000166564386124,1.55236540128e-05,1793250511131468032
+79,1.316666667,BASELINE,770,746,722.84602427,686,667,642,888,789,819,655,631.84602427,657,0.401015681096,-0.00549826215584,0.0698489084788,0.999999985151,4.17485372889e-05,-0.000166492495996,1.53666068333e-05,1793250511148134656
+80,1.333333333,BASELINE,770,746,722.578610596,686,667,642,888,789,819,655,632,657,0.401015246601,-0.00549779328534,0.0698484493057,0.999999985014,4.25330215588e-05,-0.000167126340012,1.52290742609e-05,1793250511164801536
+81,1.350000000,BASELINE,770,746,722.004001965,686,667,642,888,789,819,655,632,657,0.401014655889,-0.00549654110061,0.0698477973812,0.999999984762,4.49263440144e-05,-0.000168016792376,1.50986372813e-05,1793250511181468160
+82,1.366666667,BASELINE,770.572131792,746,722,685.427868208,667,642.572131792,888,789,819.572131792,655,632,657,0.401013878248,-0.00549592394545,0.0698476635362,0.999999984504,4.65993343808e-05,-0.000169071250023,1.53154113049e-05,1793250511198134784
+83,1.383333333,BASELINE,770.847608963,746,722,685.152391037,667,642.847608963,888,789,820,655,632,657,0.401013687539,-0.00549548951198,0.0698476714489,0.999999984412,4.71783240996e-05,-0.000169446703416,1.54219746134e-05,1793250511214801408
+84,1.400000000,BASELINE,770.255475875,746,722,685.744524125,667,642.255475875,888,789,820,655,632,657,0.401015194278,-0.00549556949111,0.0698480779351,0.999999984801,4.46150265017e-05,-0.00016785949216,1.5203485167e-05,1793250511231468288
+85,1.416666667,BASELINE,770,746,722,686,667,642.326885983,888.326885983,789,819.673114017,655,632,657,0.401014900948,-0.00549563059433,0.0698480656472,0.999999984748,4.44002166326e-05,-0.000168227278465,1.52265164396e-05,1793250511248134656
+86,1.433333333,BASELINE,770,746,722,686,667,642.901832805,888.901832805,789,819.098167195,655,632,657,0.401013241617,-0.00549567737336,0.0698477355683,0.999999984361,4.59675813384e-05,-0.000170078635168,1.54328282433e-05,1793250511264801280
+87,1.450000000,BASELINE,770,746,722,686,667,643,888.521742382,789,819.478257618,655,632,656.521742382,0.401014246579,-0.00549606088201,0.0698480004652,0.999999984587,4.56118814504e-05,-0.000168846311958,1.54086446291e-05,1793250511281468160
+88,1.466666667,BASELINE,770,746,722.056167821,685.943832179,667,642.943832179,888,788.943832179,819.943832179,655,632,656,0.40101560791,-0.00549640493223,0.0698483621775,0.999999984899,4.48864920267e-05,-0.000167187937966,1.53271994226e-05,1793250511298134784
+89,1.483333333,BASELINE,770,746,722.645284715,685.354715285,667,642.354715285,888,788.354715285,819.354715285,655,632,656,0.401015145566,-0.00549571672879,0.0698484801501,0.999999984869,4.44102944738e-05,-0.000167511407858,1.51527343185e-05,1793250511314801408
+90,1.500000000,BASELINE,770,746,723,685.229972619,667,642,888,788,819,655,632,656,0.401015176317,-0.00549559522924,0.0698486967347,0.999999984929,4.35865302441e-05,-0.000167380732972,1.5012291033e-05,1793250511331468032
+91,1.516666667,BASELINE,770,746,723,685.807958167,667,642,888,788,819,655,632,656,0.40101595326,-0.00549633131134,0.0698490625467,0.999999985125,4.22368004112e-05,-0.00016656280992,1.49233322955e-05,1793250511348134912
+92,1.533333333,BASELINE,770,746,722.613043496,686,667,642,888.386956504,788.386956504,819,655,632,656,0.401015738931,-0.00549645419132,0.0698491528829,0.999999985054,4.27940834034e-05,-0.000166835026827,1.50761777964e-05,1793250511364801792
+93,1.550000000,BASELINE,770,746,722.033541154,686,667,642,888.966458846,788.966458846,819,655,632,656,0.401015031354,-0.00549627194788,0.069849106145,0.999999984848,4.43002775336e-05,-0.000167649686831,1.53493427551e-05,1793250511381468416
+94,1.566666667,BASELINE,770,746,722.538876703,685.461123297,667,642.538876703,888.461123297,789,819.538876703,655,632,656.538876703,0.401014742561,-0.00549687264013,0.069848182423,0.999999984698,4.34166605504e-05,-0.000168791908868,1.51070189653e-05,1793250511398135040
+95,1.583333333,BASELINE,770,746,722.885586092,685.114413908,667,642.885586092,888,788.885586092,819.885586092,655,632,657,0.401014466762,-0.00549726654299,0.0698474774094,0.999999984598,4.27312494057e-05,-0.000169575464846,1.49333295564e-05,1793250511414801408
+96,1.600000000,BASELINE,770,746,722.295263287,685.704736713,667,642.295263287,888,788.295263287,819.295263287,655,632,657,0.401014138001,-0.00549660022543,0.0698479062272,0.999999984696,4.3480978121e-05,-0.000168783430743,1.51768560243e-05,1793250511431468288
+97,1.616666667,BASELINE,770,746,722,686,666.710488939,642,887.710488939,788,819,655,631.710488939,656.710488939,0.401014249546,-0.00549579051645,0.0698482126543,0.999999984777,4.40780698868e-05,-0.000168145104282,1.51932706521e-05,1793250511448134912
+98,1.633333333,BASELINE,770,746,722,686,666.131266915,642,887.131266915,788,819,655,631.131266915,656.131266915,0.401014801701,-0.00549483731707,0.0698483966062,0.999999984842,4.45224192655e-05,-0.000167660591641,1.49824166092e-05,1793250511464801536
+99,1.650000000,BASELINE,770,746,722,685.559423512,666.440576488,642,887.440576488,788.440576488,819.440576488,655,631,656,0.401015286631,-0.00549593237255,0.069848666439,0.999999985034,4.36369518469e-05,-0.000166731521663,1.51309765745e-05,1793250511481468160
+100,1.666666667,BASELINE,770,746,722,685,667,642,887.989335406,788.989335406,819.989335406,655,631.010664594,656.010664594,0.401015732588,-0.00549759425978,0.0698489589369,0.999999985253,4.2415189151e-05,-0.000165703732761,1.53803412253e-05,1793250511498134784
+101,1.683333333,BASELINE,770,746,722,685,667,642,887.397055414,788.397055414,819.397055414,655,631.602944586,656.602944586,0.401015127433,-0.00549743567944,0.0698491150401,0.999999985065,4.41050894028e-05,-0.000166396713244,1.53833889815e-05,1793250511514801408
+102,1.700000000,BASELINE,770,746,722,685.192072311,667,642,887.192072311,788.192072311,819.192072311,655,632,656.807927689,0.401014866431,-0.00549710148995,0.0698492341798,0.999999984958,4.50429118895e-05,-0.000166785634199,1.54473848549e-05,1793250511531468032
+103,1.716666667,BASELINE,770,746,722,685.774788757,667,642,887.774788757,788.774788757,819.774788757,655,632,656.225211243,0.40101530538,-0.00549641013975,0.0698492781418,0.999999985019,4.44511291618e-05,-0.000166556146972,1.56353393789e-05,1793250511548134656
+104,1.733333333,BASELINE,770,746,722.352677336,686,667,642,888,788.647322664,819.647322664,655,632,656.352677336,0.401014585209,-0.00549675928514,0.069848350492,0.999999984877,4.29884018016e-05,-0.000167800590844,1.55461829754e-05,1793250511564801536
+105,1.750000000,BASELINE,770,746,722.927524644,686,667,642,888,788.072475356,819.072475356,655,632,656.927524644,0.401013134849,-0.00549776389326,0.0698468107728,0.999999984598,4.0977020627e-05,-0.000169973541287,1.5282459866e-05,1793250511581467904
+106,1.766666667,BASELINE,769.497517077,746,722.497517077,685.497517077,667,642,888,788,819,655,632,656.497517077,0.401013704436,-0.00549594858273,0.0698474764259,0.999999984636,4.38556740434e-05,-0.00016901992037,1.53964909082e-05,1793250511598134528
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745,723,686,667,642,888,788,819,655,632,657,0.401014584897,-0.0054968552965,0.069847580939,0.999999984801,4.40718844297e-05,-0.000168005226503,1.51858486688e-05,1793250511640785920
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745,723,686,667,642,888,788,819,655,631.42210702,657,0.401013365069,-0.0054978623723,0.0698471747516,0.999999984691,4.2422330702e-05,-0.000169071978319,1.52639955095e-05,1793250511657452544
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.155819379,723,686,667,642,888,788.155819379,819,655,631.155819379,656.844180621,0.401012416332,-0.00549790081176,0.0698467726605,0.999999984516,4.27302166506e-05,-0.000170022689587,1.53090276294e-05,1793250511674119168
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745.733836458,723,686,667,642,888,788.733836458,819,655,631.733836458,656.266163542,0.401012202127,-0.00549531469964,0.0698463816682,0.999999984153,4.83418490237e-05,-0.000170658985436,1.52643343477e-05,1793250511690785792
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745.690968973,722.690968973,686,667,642,888,789,819.309031027,655,631.690968973,656,0.401012106362,-0.00549550791026,0.0698463355439,0.999999984163,4.81092876849e-05,-0.000170654821589,1.53499692816e-05,1793250511707452160
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745.118183421,722.118183421,686,667,642,888,789,819.881816579,655,631.118183421,656,0.401012111684,-0.00549807324194,0.0698465837606,0.999999984492,4.28887720126e-05,-0.000170104032512,1.55468378932e-05,1793250511724118528
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,745.469440835,722.469440835,685.530559165,667,642.469440835,888,789,820,655,631.469440835,656.469440835,0.401013185349,-0.00549782185518,0.069847628179,0.999999984657,4.31727915497e-05,-0.000169061346762,1.55161897156e-05,1793250511740785152
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.940484387,746,722.940484387,685.059515613,667,642.940484387,888,788.940484387,819.940484387,655,632,656.940484387,0.40101440253,-0.00549690642684,0.0698487012621,0.999999984706,4.47019260242e-05,-0.000168377940669,1.54505717223e-05,1793250511757452032
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.362663709,746,722.362663709,685.637336291,667,642.362663709,888,788.362663709,819.362663709,655,632,656.362663709,0.401014450803,-0.00549658514106,0.0698482213642,0.999999984102,4.46120636094e-05,-0.000171937064243,1.55955130521e-05,1793250511774118656
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.214647243,745.785352757,722,685.785352757,667,642.214647243,888,788.214647243,819,655,632,656,0.401017845753,-0.00549613102839,0.0698496027058,0.999999983654,4.45303446967e-05,-0.000174529632613,1.57606144529e-05,1793250511790785280
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.791098954,745.208901046,722,685.208901046,667,642.791098954,888,788.791098954,819,655,632,656,0.401026881785,-0.00549545302578,0.0698541213102,0.999999983485,4.44623522942e-05,-0.000175492997353,1.59596971923e-05,1793250511807451904
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,745.366565667,722,685.366565667,667,643,888,789,819,655,632,656.366565667,0.401048810574,-0.00549580795425,0.0698635961428,0.999999984405,4.54593737508e-05,-0.000169864341038,1.64329252658e-05,1793250511824118784
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745.941472601,722,685.941472601,667,643,888,789,819,655,632,656.941472601,0.401078067092,-0.00549674995936,0.0698758878977,0.999999985869,4.70617064876e-05,-0.000160489043632,1.70619666024e-05,1793250511840785408
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,722,685.47339623,667,642.47339623,888,789,819,655,632,656.47339623,0.40112785201,-0.00549854477762,0.0698895257169,0.999999988419,4.53535796459e-05,-0.000144219224981,1.74965247239e-05,1793250511857452288
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,722,685.110836267,667,642,888,788.889163733,819,655,632,656,0.40118441395,-0.00550041369472,0.0699027260754,0.999999990803,4.33684280205e-05,-0.000127282598159,1.76828739383e-05,1793250511874118656
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,722,685.686441229,667,642,888,788.313558771,819,655,632,656,0.401259637292,-0.00550218800942,0.0699134522872,0.999999992842,4.17950097475e-05,-0.000110826640764,1.69208442371e-05,1793250511890785024
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.736311337,746,722.263688663,685.736311337,667,642,888.263688663,788,819,654.736311337,632,656,0.401340898059,-0.0055038127358,0.069919102964,0.999999993789,4.05002545478e-05,-0.000102629284493,1.57655691132e-05,1793250511907451648
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.157098593,746,722.842901407,685.157098593,667,642,888.842901407,788,819,654.157098593,632,656,0.401429383071,-0.00550525846797,0.0699186803662,0.999999993678,3.9538941586e-05,-0.000104313990551,1.4139745175e-05,1793250511924118528
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.432092331,746,723,685.432092331,667,642.432092331,888.567907669,788.432092331,819,654.432092331,631.567907669,656.432092331,0.401526888235,-0.00550750344772,0.0699166421018,0.999999993164,3.75863460797e-05,-0.000110061727755,1.20729506453e-05,1793250511940785408
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,722.975639272,686,667,642.975639272,888.024360728,789,819.024360728,655,631.024360728,657,0.401629180146,-0.00550994840861,0.0699141160805,0.999999992466,3.53816751333e-05,-0.00011713227856,9.80850707044e-06,1793250511957452288
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746,722.39782262,686,667,642.39782262,888.60217738,789,819.60217738,655,631.60217738,657,0.401763953942,-0.00551017880595,0.0699141697592,0.999999992147,3.58317640511e-05,-0.000119901448739,6.7822283359e-06,1793250511974118656
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,745.820727958,722.179272042,686,667,642.179272042,888.820727958,788.820727958,819.820727958,655,632,657,0.401909534443,-0.0055111223797,0.0699148818715,0.999999991983,3.50197290354e-05,-0.000121636101598,3.54461082638e-06,1793250511990785280
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,745.245229112,722.754770888,686,667,642.754770888,888.245229112,788.245229112,819.245229112,655,632,657,0.402078999887,-0.00551364221488,0.069917049253,0.999999992176,3.14181494965e-05,-0.00012108426543,-1.60106931651e-07,1793250512007451904
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,745.32962948,723,686,667,642.67037052,888.32962948,788,819,655,632,657,0.402270434678,-0.00551564740636,0.0699198660198,0.999999992416,2.8044355528e-05,-0.00011985273879,-4.1808600855e-06,1793250512024118272
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,745.904012737,723,686,667,642.095987263,888.904012737,788,819,655,632,657,0.402478181985,-0.00551727046909,0.0699231649633,0.99999999268,2.48396946541e-05,-0.000118116533902,-8.43627363438e-06,1793250512040784896
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746,722.507826362,686.492173638,666.507826362,642.492173638,888.507826362,788,819,655,632,657,0.402712797589,-0.00551881083954,0.0699274397253,0.999999993655,1.9206498675e-05,-0.000110208385168,-1.32341915824e-05,1793250512057451776
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746,722,687,666.080961039,643,888,788.080961039,819,655,632.080961039,656.919038961,0.402958053518,-0.00552032177532,0.0699317457507,0.999999994577,1.33361457518e-05,-0.000101687923973,-1.81246768856e-05,1793250512074118656
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,722,687,666.65668375,643,888,788.65668375,819,655,632.65668375,656.34331625,0.403235388979,-0.00552175422706,0.0699350463254,0.999999994993,8.99426358663e-06,-9.6993322843e-05,-2.2915657897e-05,1793250512090785536
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,722,687,667,642.767378894,888,789,819,655,632.767378894,656.232621106,0.403533955405,-0.00552436276115,0.0699411206637,0.999999995784,-8.06425927925e-06,-8.74249464717e-05,-2.69007432115e-05,1793250512107452160
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,722,687,667,642.191124495,888,789,819,655,632.191124495,656.808875505,0.40386388469,-0.00552870863127,0.0699512924698,0.999999996099,-4.39080984964e-05,-7.0656916452e-05,-2.96953403948e-05,1793250512124119040
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746,722,687,667,642.380499402,888,789,819.380499402,655,631.619500598,657,0.404214984243,-0.00553000533189,0.0699560242843,0.999999996558,-4.19284933439e-05,-6.49983026646e-05,-3.00161021997e-05,1793250512140785664
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746,722,687,667,642.949825351,888,789,819.949825351,655,631.050174649,657,0.404576589738,-0.00552978885221,0.0699580564494,0.999999997249,-2.11786333503e-05,-6.48528457263e-05,-2.91091989517e-05,1793250512157452032
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746,722.546893184,687.546893184,667,642.453106816,888,789,819.453106816,654.453106816,631.546893184,657,0.404976732932,-0.00553141472791,0.0699618942835,0.999999997775,-1.89119766395e-05,-5.61382492487e-05,-3.06584957558e-05,1793250512174118400
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746,722.858913974,688,667.141086026,642.141086026,888.141086026,789,819.141086026,654.141086026,632,657,0.405388804423,-0.00553364156753,0.0699656997049,0.999999998068,-2.33332600386e-05,-4.77814708354e-05,-3.2209492843e-05,1793250512190785024
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,722.28188916,688,667.71811084,642.71811084,888.71811084,789,819.71811084,654.71811084,632,657,0.405826224357,-0.00553717513208,0.0699688657496,0.999999997606,-4.28998513874e-05,-4.30893021393e-05,-3.30322507862e-05,1793250512207451904
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,722.292466353,688,667.707533647,643,889,788.707533647,820,655,632,657,0.406273528432,-0.00553881520585,0.0699630557058,0.999999996885,-4.68534847171e-05,-5.43787734432e-05,-3.28435661547e-05,1793250512224118784
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746,722.864272439,688,667.135727561,643,889,788.135727561,820,655,632,657,0.406730273074,-0.00553864677384,0.0699486724434,0.999999995579,-3.58949108572e-05,-8.09325882592e-05,-3.16888351031e-05,1793250512240785664
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746,722.545970433,688.454029567,667,642.545970433,889,788.454029567,820,655,632,657,0.407241237559,-0.00553488667521,0.0699357218035,0.999999994072,-3.4742268635e-05,-9.76623613287e-05,-3.33314488568e-05,1793250512257452032
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746,722.04774423,689,667,642.04774423,889,789,820,655,632,656.95225577,0.407775376195,-0.00553086350443,0.0699255385859,0.99999999289,-3.69886298727e-05,-0.000107589814924,-3.57373831604e-05,1793250512274118656
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746,722.623438841,689,667,642.623438841,889,789,820,655,632,656.376561159,0.408379162867,-0.00553629281913,0.069941026522,0.999999995493,-4.3071521599e-05,-7.61095893993e-05,-3.69563548753e-05,1793250512290785280
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,723,689,667,643,889.198984372,789,820,655,632,656.198984372,0.408987637946,-0.00554123784152,0.0699538184053,0.999999996959,-4.75732012033e-05,-4.86235081352e-05,-3.81355197659e-05,1793250512307451904
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746,723,689,667,643,889.774247956,789,820,655,632,656.774247956,0.409604978758,-0.0055452670674,0.0699615120554,0.999999997614,-4.90848102481e-05,-2.86903509352e-05,-3.92394099759e-05,1793250512324118528
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,723,689.358061671,667,643,890,789,820,654.641938329,632,657,0.410234375856,-0.00554673437497,0.0699582230444,0.999999997349,-5.16815101447e-05,-3.19375236755e-05,-4.01399146194e-05,1793250512340785152
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,723,689.947397954,667,643,890,789,820,654.052602046,632,657,0.410871560171,-0.00554654692089,0.0699478402532,0.999999996394,-5.49790779731e-05,-5.0157039229e-05,-4.09090510142e-05,1793250512357451776
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746,723,690,667,643,889.471781096,789,820.528218904,654,631.471781096,657,0.411569081195,-0.00554405453933,0.0699556738038,0.99999999696,-5.20432268851e-05,-4.0642700749e-05,-4.14690198934e-05,1793250512374118656
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746,723,690,667,643,889,789,821,654.106962661,631.106962661,657,0.412284861489,-0.00554194104662,0.0699703358789,0.99999999774,-4.91899514581e-05,-1.89647941891e-05,-4.17203976129e-05,1793250512390785792
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746,723,690,667,643,889,789,821,654.680288205,631.680288205,657,0.413054470968,-0.00554246443073,0.070006986798,0.999999996989,-4.93602647476e-05,4.38961751453e-05,-4.07156789965e-05,1793250512407452416
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746,723,690.255130543,667,643,889.255130543,789,821,654.744869457,632,657,0.413815217776,-0.00554365992289,0.0700290242852,0.999999994825,-5.01238253029e-05,7.89008015732e-05,-4.01563887542e-05,1793250512424118784
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746,723,690.831885068,667,643,889.831885068,789,821,654.168114932,632,657,0.414564792183,-0.00554570269143,0.0700326397175,0.999999994757,-5.16352485046e-05,7.87890298951e-05,-4.015861675e-05,1793250512440785408
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746.420167749,723,691,667,643,890,789,821,654,632,657,0.415301209439,-0.00554669549903,0.0699892571413,0.999999997449,-5.70574728704e-05,1.82705638423e-07,-4.2963748541e-05,1793250512457452032
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746.987183256,723,691.012816744,667,643,890,789.012816744,821,654.012816744,632,657,0.416034515582,-0.0055471983616,0.0699277933151,0.999999990976,-6.40196074292e-05,-0.000108398288404,-4.68896389915e-05,1793250512474118400
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746.41107471,723,691.58892529,667,643,890,789.58892529,821,654.58892529,632,657,0.416868985283,-0.00554515260313,0.0699214334315,0.999999989848,-6.79492953284e-05,-0.000115099609305,-4.93933438235e-05,1793250512490785024
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746.163789124,723,691.836210876,667,643,890.163789124,789.836210876,821,654.836210876,632,657,0.417711934026,-0.00554337714133,0.0699261086022,0.999999990757,-6.98344024841e-05,-0.000105022628667,-5.07942029502e-05,1793250512507451648
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746.73555253,723,691.26444747,667,643,890.73555253,789.26444747,821,654.26444747,632,657,0.418576002749,-0.00554227494833,0.0699582704476,0.999999995145,-6.66267635796e-05,-5.31534005369e-05,-4.94480376664e-05,1793250512524118784
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746.681070203,723,691.318929797,667.318929797,643,891,789,821.318929797,654.318929797,632,657,0.419455786298,-0.00554352310268,0.0699878975851,0.999999996559,-6.69890528058e-05,-8.08591999607e-06,-4.82579855925e-05,1793250512540785664
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746.087699159,723,691.912300841,667.912300841,643,891,789,821.912300841,654.912300841,632,657,0.420349092519,-0.00554679374686,0.0700153435877,0.999999995922,-7.04232895179e-05,3.11286080411e-05,-4.72022700859e-05,1793250512557452032
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746.493308997,723,692,667.506691003,643,890.506691003,789.493308997,822,654.506691003,632,657,0.421273546846,-0.00555018606834,0.0700293593672,0.999999994511,-7.91004416868e-05,5.00306178352e-05,-4.70876843919e-05,1793250512574118400
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746.92828463,723,692,667,643,890.07171537,789.92828463,822,654,632,657,0.422190549747,-0.00555269273305,0.0700326526346,0.999999993682,-8.72659035866e-05,5.25342873148e-05,-4.7553388516e-05,1793250512590785024
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746.353091649,723,692,667,643,890.646908351,789.353091649,822,654,632,657,0.423017314413,-0.00554883349358,0.0699770207797,0.999999994426,-8.54554145664e-05,-3.53546194445e-05,-5.09471229559e-05,1793250512607451904
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.777313192,746,723,692.222686808,667,643.222686808,891,789,822,654.222686808,632,657,0.423856029077,-0.00554492722974,0.0699181568098,0.999999987159,-8.4975562564e-05,-0.000123775486066,-5.60357248426e-05,1793250512624118528
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.20060387,746,723,692.79939613,667,643.79939613,891,789,822,654.79939613,632,657,0.42471374171,-0.00554094620702,0.0698541544868,0.999999971519,-8.66111276757e-05,-0.000213042064201,-6.38187898921e-05,1793250512640785152
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.383796767,746,723,692.616203233,667.383796767,643.616203233,891,789,822,655,632,657,0.425639777553,-0.00554335224049,0.0698683743266,0.999999977107,-8.6274335172e-05,-0.00018563028439,-6.2318441586e-05,1793250512657452032
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.972299696,746,723,692.027700304,667.972299696,643.027700304,891,789,822,655,632,657,0.42660225498,-0.00554916494635,0.069924315623,0.99999999023,-8.48855433978e-05,-9.59856169823e-05,-5.58665867967e-05,1793250512674118912
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,723,692.55118265,668,643.55118265,891,789,822.55118265,655,632,657,0.427602396289,-0.00554936042036,0.0699803537174,0.999999993742,-9.42311922582e-05,-2.61700971634e-05,-5.43253435789e-05,1793250512690785280
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746.129262244,722.870737756,693,667.870737756,643.870737756,891,789,823,654.870737756,632,656.870737756,0.428596122499,-0.00555014480737,0.0700290539436,0.99999999268,-0.000101715675037,3.80838757502e-05,-5.33312876321e-05,1793250512707451904
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746.706205167,722.293794833,693,667.293794833,643.293794833,891,789,823,654.293794833,632,656.293794833,0.429561187788,-0.00555392974144,0.0700523239853,0.999999989744,-0.000100917955435,8.64684003183e-05,-5.3392281556e-05,1793250512724118784
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,747,722,693,667,643,891.282817755,789,823,654.282817755,632,656,0.430468329133,-0.00555508684561,0.0700389075,0.999999991358,-9.94817237117e-05,6.64865009749e-05,-5.44625742435e-05,1793250512740785408
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,722,693,667,643,891.85908755,789,823,654.85908755,632,656,0.431315368463,-0.00555351731012,0.0699874250287,0.999999993359,-9.73829706644e-05,-2.44324851712e-05,-5.65801162997e-05,1793250512757452032
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,722,693,667,643.444202194,892,789,823,654.555797806,632,656,0.432132631301,-0.00555104173937,0.0699241046426,0.99999998529,-9.50925216441e-05,-0.000129656103674,-5.97151465235e-05,1793250512774118912
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,746.968226149,722,693.031773851,667,643.968226149,891.968226149,789,823.063547702,654,632,656,0.432951335546,-0.00554867613356,0.0698639723199,0.999999967871,-9.32856688159e-05,-0.00022714361959,-6.29351770639e-05,1793250512790785280
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746.387664232,722,693.612335768,667,643.387664232,891.387664232,789,824.224671535,654,632,656,0.433961394955,-0.00555327485757,0.0699250813065,0.999999986826,-0.000100903001395,-0.000111047677437,-6.1935204667e-05,1793250512807451904
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.810291837,746.189708163,722,694,667,643.189708163,891.189708163,789,824.810291837,654,632,656,0.43493746615,-0.00555715348004,0.0699797328704,0.999999992604,-0.000104983355381,-1.30009891855e-05,-6.00156209587e-05,1793250512824118528
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.239329284,746.760670716,722,694,667,643.760670716,891.760670716,789,824.239329284,654,632,656,0.435845231791,-0.00555958492326,0.0700214070345,0.999999992031,-0.000101955486116,4.87723323429e-05,-5.62479056609e-05,1793250512840785152
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.334389908,746.665610092,722.334389908,694,667.334389908,643.665610092,892,789,824,654.334389908,632,656,0.436731574731,-0.00556257183972,0.0700373890781,0.999999989945,-0.000105574853621,7.64600687072e-05,-5.58426586547e-05,1793250512857451776
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.910098445,746.089901555,722.910098445,694,667.910098445,643.089901555,892,789,824,654.910098445,632,656,0.437602457529,-0.00556595962351,0.0700348299278,0.999999988665,-0.000113991322196,7.9549311927e-05,-5.78639990771e-05,1793250512874118400
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.50182242,722.49817758,693.49817758,668,643,892,789,824,654.49817758,632,656.50182242,0.438391558271,-0.00556543022964,0.0699923636375,0.999999991073,-0.00011659183335,2.48063987826e-05,-6.03810988615e-05,1793250512890785536
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,722,693.09364683,667.90635317,643,892,788.90635317,824,654,632,656.90635317,0.439152899021,-0.00556362302527,0.0699367157767,0.999999989827,-0.000115865793472,-5.45081205057e-05,-6.28428328594e-05,1793250512907452416
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,722,693.670691008,667.329308992,643,892,788.329308992,824,654,632,656.329308992,0.439849066816,-0.00555896172986,0.069851146801,0.999999971461,-0.000103524029711,-0.000205415418986,-6.45452019447e-05,1793250512924118784
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+187,3.116666667,POSE1_TO_POSE2_PRESS,769.601384866,747,722.601384866,694.398615134,666,643,892,788,825,654,632,656.601384866,0.44210894869,-0.00555476349967,0.0698325149085,0.999999964868,-9.87383458276e-05,-0.000237253478042,-6.50032768509e-05,1793250512974118912
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+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,722,694.303780874,665,641,892,787,825.303780874,654,632,657,0.445461644532,-0.005558893544,0.0697399602535,0.999999914793,-9.69955498158e-05,-0.000395974620766,-6.48882750478e-05,1793250513057452032
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,722,694.874798284,665,641,892,787,825.874798284,654,632,657,0.446053306608,-0.00555911781437,0.0697153964541,0.999999904073,-9.1372718888e-05,-0.00042338252347,-6.52141358084e-05,1793250513074118912
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,695,665,641,892.46537578,787,825.53462422,654.46537578,632,657,0.446609208797,-0.00555826188466,0.0697033635332,0.999999893009,-9.09119662883e-05,-0.000448680603714,-6.63594475905e-05,1793250513090785536
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722.059097368,695,665,641,892.940902632,786.940902632,825,655,632,657,0.447151610509,-0.00555719979307,0.0696936032895,0.99999988096,-9.17442479087e-05,-0.000474443303728,-6.75695364895e-05,1793250513107451904
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,722.632380201,695,665,641,892.367619799,786.367619799,825,655,632,657,0.447663927489,-0.00555698339313,0.0696729980158,0.999999863827,-9.12133957525e-05,-0.000509403783589,-6.73409266142e-05,1793250513124118784
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,747,722.793082085,695,664.58616417,640.793082085,892.206917915,786,825.206917915,654.793082085,631.793082085,657,0.448180313149,-0.00555786763895,0.0696632334311,0.999999854907,-9.24446403547e-05,-0.000526461726422,-6.69240168457e-05,1793250513140785664
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,722.216301353,695,663.432602706,640.216301353,892.783698647,786,825.783698647,654.216301353,631.216301353,657,0.448703971462,-0.00556071927338,0.0696728464256,0.999999862297,-9.68256079492e-05,-0.000511519137104,-6.61705238415e-05,1793250513157452032
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.630329233,747,722,695,663.369670767,640,892.630329233,786,826,654.369670767,631,657,0.44919941456,-0.00556400288351,0.0696891726524,0.999999874892,-9.89084563175e-05,-0.000486065836076,-6.46051794164e-05,1793250513174118656
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+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,893,783,826,654.262804182,631,657,0.454152698812,-0.00558075486705,0.0695529644758,0.999999761086,-0.000118463739509,-0.000678427681967,-5.94203997241e-05,1793250513874118912
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,892.686454919,783,826.313545081,654,631,657,0.454152892679,-0.00557997260292,0.0695529436602,0.999999761457,-0.000116275699849,-0.000678253552707,-5.94845112501e-05,1793250513890785536
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,892.109633784,783,826.890366216,654,631,657,0.454153734895,-0.00557949681157,0.0695532093611,0.999999761876,-0.000114234635733,-0.000677953774099,-5.98041912552e-05,1793250513907451904
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,892,782.519068157,827,654.480931843,631,657,0.454153854317,-0.00558077930908,0.0695534892997,0.999999761756,-0.00011649341527,-0.000677798286009,-5.92186578875e-05,1793250513924118528
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,892.072253849,782,827,655,631,657,0.454153777463,-0.00558217347725,0.0695536336662,0.999999761451,-0.000119041657712,-0.0006778636896,-5.85489848066e-05,1793250513940785152
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,892.646424388,782,827,655,631,657,0.454153515415,-0.00558147712213,0.0695528130601,0.999999760801,-0.000116591341714,-0.0006792283204,-5.87704507966e-05,1793250513957451776
+247,4.116666667,HOLD_POSE2,770,748,722,694,659,637,893,783,827,655,631,657,0.454152806325,-0.00558088811982,0.0695524818524,0.999999759352,-0.00011630583537,-0.000681361215205,-5.92906293125e-05,1793250513996751872
+248,4.133333333,HOLD_POSE2,770,747.407586647,722,694.592413353,659,637,893,783,827,654.407586647,631,657,0.454152165646,-0.00558065578365,0.069550475734,0.999999758151,-0.000117394394082,-0.00068291826454,-5.94951455812e-05,1793250514013418496
+249,4.150000000,HOLD_POSE2,770,747,722,695,659,637,892.819521441,782.819521441,826.819521441,654.180478559,631,657,0.454152150625,-0.00558043377978,0.069549426349,0.999999757765,-0.000117529987607,-0.000683466090665,-5.94205163629e-05,1793250514030085376
+250,4.166666667,HOLD_POSE2,770,747,722,695,659,637,892.241044818,782.241044818,826.241044818,654.758955182,631,657,0.454153515329,-0.005580234561,0.0695504867874,0.99999975918,-0.000115564066892,-0.000681788340355,-5.87303051241e-05,1793250514046751744
+251,4.183333333,HOLD_POSE2,770,747,722,694.66516481,659,637,892,782,826,655,631,657,0.45415304096,-0.0055798322403,0.0695503680262,0.999999758682,-0.000115775794621,-0.00068247953563,-5.87681090585e-05,1793250514063418624
+252,4.200000000,HOLD_POSE2,770,747,722,694.091139733,659,637,892,782,826,655,631,657,0.454151252849,-0.00557928483352,0.0695494069023,0.999999756813,-0.000117543128038,-0.000684862989899,-5.93259714773e-05,1793250514080085760
+253,4.216666667,HOLD_POSE2,769.517209734,747.482790266,722,694.482790266,659,637,892.482790266,782.482790266,826.482790266,654.517209734,631,657,0.45415190865,-0.00557992137875,0.0695500984829,0.999999757364,-0.000118077853831,-0.000684000200003,-5.8930033014e-05,1793250514096752384
+254,4.233333333,HOLD_POSE2,769.058541226,747.941458774,722,694.941458774,659,637,893,782.941458774,827,654.058541226,631,657,0.45415297118,-0.00558085908388,0.0695510631066,0.999999758284,-0.000118468744634,-0.000682629723396,-5.84227851687e-05,1793250514113418752
+255,4.250000000,HOLD_POSE2,769.651065767,747.348934233,722,694.348934233,659,637,893,782.348934233,827,654.651065767,631,657,0.454153536272,-0.00558250553731,0.0695516730119,0.999999758416,-0.000119669690078,-0.000682217086381,-5.85422832582e-05,1793250514130085632
+256,4.266666667,HOLD_POSE2,770,747,722,694.238143417,658.761856583,637,892.761856583,782,827,655,631,657,0.4541544432,-0.00558324099602,0.0695520461031,0.999999758786,-0.000119966883757,-0.000681628148476,-5.84678213005e-05,1793250514146752768
+257,4.283333333,HOLD_POSE2,770,747,722,694.817418543,658.182581457,637,892.182581457,782,827,655,631,657,0.454155839796,-0.00558267148807,0.0695520799667,0.999999759499,-0.000118969486084,-0.000680786666047,-5.81155186806e-05,1793250514163419392
+258,4.300000000,HOLD_POSE2,770,747,722,695,658.391757464,637,892.391757464,782,827,654.608242536,630.608242536,657,0.454155794655,-0.00558189416884,0.0695517733507,0.999999759285,-0.000117650844922,-0.000681321231874,-5.82241187349e-05,1793250514180086016
+259,4.316666667,HOLD_POSE2,770,747,722,695,658.963824506,637,892.963824506,782,827,654.036175494,630.036175494,657,0.454155085942,-0.0055810212027,0.0695513100261,0.999999758641,-0.000116184348726,-0.000682489135096,-5.85448529859e-05,1793250514196752640
+260,4.333333333,HOLD_POSE2,770,747,722,695,658.457024338,636.457024338,892.457024338,782.542975662,826.457024338,654,630.542975662,657,0.454155418525,-0.00558132649524,0.0695515802995,0.999999758439,-0.000117194160488,-0.00068263285501,-5.83026671364e-05,1793250514213419008
+261,4.350000000,HOLD_POSE2,770,747,722,695,658,636.124649102,892,782.875350898,826.124649102,654.124649102,631,657,0.454155900225,-0.00558174345943,0.0695519219107,0.999999758493,-0.000118265528596,-0.000682389978583,-5.80676860958e-05,1793250514230085376
+262,4.366666667,HOLD_POSE2,770,747,722,695,658,636.71394221,892,782.28605779,826.71394221,654.71394221,631,657,0.454156675753,-0.00558228020323,0.0695523448436,0.999999759388,-0.000118943233026,-0.000680963738419,-5.8001211386e-05,1793250514246752000
+263,4.383333333,HOLD_POSE2,770.297912567,747,722,695.297912567,658,637,892.297912567,782,827,655,631,657,0.454156606558,-0.00558240623186,0.0695519471395,0.999999759388,-0.000118718624103,-0.000681017644262,-5.7836422184e-05,1793250514263418880
+264,4.400000000,HOLD_POSE2,770.876861657,747,722,695.876861657,658,637,892.876861657,782,827,655,631,657,0.454155740489,-0.00558214481135,0.0695507752854,0.999999758541,-0.000117642815707,-0.000682467849423,-5.75788877771e-05,1793250514280086016
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,658,636,892,782,827,655,631,657,0.45415574659,-0.00558068048428,0.0695509051541,0.999999758425,-0.000117958583849,-0.000682531021908,-5.8204195094e-05,1793250514312755200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,658,636,892.588910911,782,827,655,631,657,0.454153689922,-0.00558052896939,0.0695491010118,0.99999975648,-0.000118109554755,-0.0006853132356,-5.86135032787e-05,1793250514329421568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,722.175910578,694.175910578,658.175910578,636,893,782,827,655,631,657,0.454152418369,-0.00558024694471,0.0695479416013,0.999999755279,-0.000117478824963,-0.000687162040211,-5.87256847331e-05,1793250514346087936
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,722.758491939,694.758491939,658.758491939,636,893,782,827,655,631,657,0.45415296185,-0.00557966320697,0.0695482726843,0.999999755808,-0.000115040956383,-0.000686852986515,-5.81509674984e-05,1793250514362754560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,722.662019049,695,658.662019049,636.337980951,893,782,827,655,631,657,0.454153663878,-0.00557926775263,0.0695492217916,0.999999756577,-0.000113868378193,-0.00068594053659,-5.80186695823e-05,1793250514379421440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,722.084719709,695,658.084719709,636.915280291,893,782,827,655,631,657,0.454154478171,-0.00557900561851,0.069550608511,0.999999757516,-0.000113591730102,-0.000684600832387,-5.8199641067e-05,1793250514396088320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,658,636.51374316,893,782,827,655,631,657,0.454154387017,-0.00558042653352,0.0695503341565,0.999999757353,-0.000114904900048,-0.0006846640606,-5.7662709269e-05,1793250514412754944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.058540754,636.058540754,892.941459246,782,827,654.941459246,631,657,0.454153823584,-0.00558180514558,0.0695496197319,0.999999756896,-0.000116224063175,-0.000685152881838,-5.71462460054e-05,1793250514429421568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.65273775,636.65273775,892.34726225,782,827,654.34726225,631,657,0.454150363681,-0.00558014798046,0.0695474927204,0.999999755488,-0.000115096087985,-0.000687328074421,-5.79468733409e-05,1793250514446088192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.760081177,636.760081177,892.239918823,782,827,654,631,657,0.454140512827,-0.00557851088569,0.0695432631077,0.999999750826,-0.000114102086906,-0.000694183860591,-5.86258537519e-05,1793250514462755072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.182766585,636.182766585,892.817233415,782,827,654,631,657,0.454121674433,-0.00557690201583,0.0695360766254,0.999999741469,-0.000113296492545,-0.000707621924831,-5.91337630688e-05,1793250514479421696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.393392404,636.393392404,893,782,827,654.393392404,631,657,0.454084488796,-0.0055770517717,0.0695226371187,0.999999724663,-0.00011432411004,-0.000730834123556,-5.90436547819e-05,1793250514496088320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.969016132,636.969016132,893,782,827,654.969016132,631,657,0.454038804156,-0.00557801617636,0.0695063010205,0.99999970381,-0.000116200926876,-0.000758573999358,-5.86765265645e-05,1793250514512754944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.443509806,636.443509806,893,782,827,655,631,657,0.453981821363,-0.00557593228551,0.0694930562208,0.99999969254,-0.000113670634932,-0.000773625052326,-5.91859006019e-05,1793250514529422592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.858064815,747,722,694.858064815,658,636,893,782,827,654.858064815,631,657,0.453919697772,-0.00557366265918,0.0694812659566,0.999999681999,-0.000111456378166,-0.000787433504658,-5.93902970109e-05,1793250514546089728
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.280908659,747,722,694.280908659,658,636,893,782,827,654.280908659,631,657,0.453843781605,-0.00557135524945,0.0694733965383,0.999999672414,-0.000110979966637,-0.000799645167304,-5.85066326881e-05,1793250514562755840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.2974925,747,722,694.2974925,658,636.2974925,892.7025075,782.2974925,826.7025075,654,631,657,0.453761746754,-0.00556949502459,0.0694707993715,0.999999669852,-0.000108685390647,-0.000803250786241,-5.71947035451e-05,1793250514579422208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.877074166,747,722,694.877074166,658,636.877074166,892.122925834,782.877074166,826.122925834,654,631,657,0.453673910033,-0.00556805883075,0.0694732014741,0.999999674026,-0.000104666789731,-0.000798695957794,-5.54766840001e-05,1793250514596088832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,658.452566408,637,892.452566408,782.547433592,826,654,631,657,0.453559697532,-0.00556405493344,0.0694739924912,0.999999674282,-0.000101410509871,-0.000798922477015,-5.3612194856e-05,1793250514612755456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.972249459,747,722,695,659,637,892.972249459,782,826,654.027750541,630.972249459,657,0.453437276492,-0.00555948462697,0.0694741586827,0.999999673309,-9.83805598899e-05,-0.000800643076463,-5.17053760842e-05,1793250514629422080
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.380967528,747,722,695,659,637,892.380967528,782,826,654.619032472,630.380967528,657,0.453292344659,-0.00555744829993,0.0694704433386,0.999999668901,-9.57795532545e-05,-0.000806567302681,-4.97396276145e-05,1793250514646088704
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.20508912,747,722,695,659,637,892,782,826.20508912,655,630.20508912,657,0.453134980662,-0.00555444538321,0.069466178424,0.99999966411,-9.286901427e-05,-0.000812953712437,-4.75545011023e-05,1793250514662755328
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.781680529,747,722,695,659,637,892,782,826.781680529,655,630.781680529,657,0.452955096826,-0.00554969156804,0.0694609180076,0.999999658647,-8.93977828529e-05,-0.000820177329518,-4.49719892938e-05,1793250514679421696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.643831886,659,637,892,782.356168114,826.643831886,654.643831886,631,657,0.452751115401,-0.00554573249726,0.0694562011094,0.999999651887,-8.50171600702e-05,-0.000829008925812,-4.17330620239e-05,1793250514696088576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,722,694.070626247,659,637,892,782.929373753,826.070626247,654.070626247,631,657,0.452532449655,-0.00554225771797,0.0694518154133,0.999999644258,-8.00823827634e-05,-0.000838820374142,-3.80941357911e-05,1793250514712755200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.518196037,659,637.518196037,892.518196037,783,826.518196037,654.518196037,630.481803963,657,0.452288478045,-0.00553522753642,0.0694494823497,0.999999640418,-7.13984055308e-05,-0.000844327367764,-3.43206843691e-05,1793250514729422080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,722,695,659,637.893054786,893,782.893054786,826.893054786,654.893054786,630.106945214,657,0.452034140734,-0.00552806939895,0.069448049314,0.999999637835,-6.22633039027e-05,-0.000848253471661,-3.03263645966e-05,1793250514746088448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,659,637.314309514,893,782.314309514,826.314309514,654.314309514,630.685690486,657,0.451749762386,-0.0055225509469,0.0694493143116,0.999999638802,-5.34623407288e-05,-0.000847873871651,-2.54410588146e-05,1793250514762755328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,659,637,892.73535329,782.26464671,826,654,631,657,0.451448116242,-0.00551630448286,0.0694518704679,0.999999640131,-4.38228921503e-05,-0.000847000176586,-2.02168151585e-05,1793250514779421952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,747,722,695,659,637,892.156146363,782.843853637,826,654,631,657,0.451125945537,-0.00550919270098,0.069455961301,0.999999641875,-3.3186816746e-05,-0.000845539198025,-1.45897087823e-05,1793250514796088576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769.580330812,747,722,694.580330812,659.419669188,637,892.419669188,783,826,654,631,657,0.45077684624,-0.00550295104074,0.0694646899408,0.999999650173,-2.11756956045e-05,-0.000836146563347,-8.08580394755e-06,1793250514812755456
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.005766989,747,722,694.005766989,659.994233011,637,892.994233011,783,826,654,631,657,0.450417807945,-0.00549703053166,0.0694751303368,0.999999660617,-8.65706255121e-06,-0.000823826453643,-1.2582839172e-06,1793250514829422080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.581328131,747,722,694.581328131,660,637.581328131,892.418671869,783,826,654,631,657,0.450020185883,-0.00548883519882,0.0694849225975,0.999999666086,2.96215187227e-06,-0.000817192691483,3.8777508138e-06,1793250514846088704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,660,638,892,783.165790851,826,654.165790851,631,657,0.449615691124,-0.00548113684889,0.0694971536609,0.999999676684,2.88659245602e-05,-0.000803565074768,9.05946595793e-06,1793250514862755328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,660,638,892,783.743399116,826,654.743399116,631,657,0.449195096654,-0.00547473027523,0.0695154589275,0.999999697504,9.02745815643e-05,-0.00077242181123,1.4397247996e-05,1793250514879422208
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745,722,686.029224816,666,642,888,788.970775184,819,654,631,656,0.405322247312,-0.00536895641059,0.0697956911334,0.99999992097,0.000198326931049,-0.000343792459403,2.30716185502e-05,1793250515862755584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.556304698,745,721.443695302,686,666,642,887.443695302,788.443695302,819,654,631.556304698,656,0.404952432178,-0.00536926751646,0.0698121876885,0.999999930745,0.000200690346795,-0.000312560716184,2.32331822922e-05,1793250515879422464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.859639586,745.140360414,721.140360414,686,666,642,887.140360414,788,819,654,632,656.140360414,0.40459408294,-0.00536941093466,0.0698294378938,0.999999939818,0.00020385529815,-0.000279737381386,2.35462371441e-05,1793250515896089088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.281486661,745.718513339,721.718513339,686,666,642,887.718513339,788,819,654,632,656.718513339,0.404255741604,-0.0053691294852,0.0698450703406,0.999999946857,0.00020845974492,-0.000249482834225,2.42506737054e-05,1793250515912755968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.29569507,745.70430493,722,685.70430493,666,642,888,788,819.29569507,654,632,656.70430493,0.403919892575,-0.00537007687089,0.0698484441672,0.999999948753,0.000207348554087,-0.000242718124369,2.42508868294e-05,1793250515929422592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.871955267,745.128044733,722,685.128044733,666,642,888,788,819.871955267,654,632,656.128044733,0.40358640835,-0.00537219021545,0.0698401866141,0.999999946214,0.000200814179679,-0.000258241340264,2.35829097542e-05,1793250515946089216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.551248941,745,722,685.448751059,666,642,888,788,819.551248941,654.448751059,632,656,0.403277988021,-0.00536998416528,0.0698312184222,0.999999941735,0.000203667476273,-0.00027304376522,2.229760294e-05,1793250515962755584
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745.026217908,722,686,666,642,887.973782092,788,819.026217908,654.973782092,632,656,0.402978909953,-0.00536663917746,0.0698221052432,0.999999936536,0.000209101217998,-0.000287697611535,2.08547361437e-05,1793250515979421952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745.61479684,722,686,666,642,887.38520316,788,819.61479684,654.38520316,632,656,0.402726636511,-0.00536533216925,0.0698142366879,0.999999931174,0.000212360108909,-0.000303581261034,1.98150501904e-05,1793250515996088576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.199595288,745.800404712,722,686,666,642,887.199595288,788,819.800404712,654,632,656,0.402488484449,-0.00536431973511,0.0698074612855,0.999999927021,0.000213068877578,-0.000316535574098,1.91004066856e-05,1793250516012755200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.777233262,745.222766738,722,686,666,642,887.777233262,788,819.222766738,654,632,656,0.402277078961,-0.005363865238,0.0698027563659,0.999999925521,0.000208947596779,-0.000323941587107,1.90014087e-05,1793250516029421568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.645291383,745.354708617,722,686,666,642,888,788,819,654,632,656,0.402087065297,-0.00536278374167,0.0698008131434,0.99999992527,0.000206043114273,-0.000326565851961,1.9004146457e-05,1793250516046088448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.067918052,745.932081948,722,686,666,642,888,788,819,654,632,656,0.401910480114,-0.00536130865293,0.0698006035475,0.999999925831,0.000203902464077,-0.00032618842396,1.90707477786e-05,1793250516062755328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745.493581353,722,686,666,642,888,788,819,654,632,656,0.401762159473,-0.00535988921313,0.0698009569319,0.999999926012,0.000206150037828,-0.000324240154288,1.86023894191e-05,1793250516079422208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.082724895,745,722,685.917275105,666,642,888,788,819.082724895,654.082724895,632,656,0.401621900553,-0.00535876008002,0.0698010285895,0.999999925753,0.000209821168383,-0.000322710279859,1.8065211859e-05,1793250516096089088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.673616844,745,722,685.326383156,666,642,888,788,819.673616844,654.673616844,632,656,0.401508016732,-0.00535936868541,0.0697989085963,0.999999923119,0.000218643333346,-0.000325036963145,1.75433848892e-05,1793250516112755712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.740280511,745,722,685,666,642,888,788,819.740280511,654.740280511,632,656.259719489,0.401405887059,-0.00535958172557,0.0697983350355,0.999999921962,0.000223084462912,-0.000325625825884,1.66736982575e-05,1793250516129422336
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.160087527,745,722,685,666,642,888,788,819.160087527,654.160087527,632,656.839912473,0.40131826109,-0.00535930666922,0.0697996696513,0.999999922702,0.000222119737635,-0.000324070354147,1.53747800981e-05,1793250516146088960
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.989078594,665.010921406,642,888,788,819,654,631.010921406,656.010921406,0.401178841581,-0.00536165803757,0.0698002965884,0.999999926276,0.000211149343262,-0.000320388633718,1.46479737865e-05,1793250516179422720
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,745,722,686,665.67838994,642,888,788,819,654.67838994,631.32161006,656.32161006,0.401032114129,-0.00536169099192,0.0698089640733,0.999999931031,0.0002109050856,-0.000305280082237,1.61665937338e-05,1793250516246088448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,745,722,686,665.102726348,642,888,788,819,654.102726348,631.897273652,656.897273652,0.401011928403,-0.00535961581554,0.069811224113,0.999999931422,0.000214524401623,-0.000301446987443,1.62832485693e-05,1793250516262755072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.52747517,745.47252483,722,686,665.47252483,642,888,788.47252483,819,654,632,656.52747517,0.400997242516,-0.00535949591601,0.0698121664527,0.999999931588,0.000215053171431,-0.000300506859044,1.64930861084e-05,1793250516279421696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.048990608,745.951009392,722,686,666,642,887.951009392,789,819,654.048990608,632,656,0.400984408007,-0.00535986385895,0.0698129076406,0.999999931824,0.000214761668265,-0.000299920055198,1.66695528256e-05,1793250516296088320
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.639882767,745.360117233,722,686,666,642,887.360117233,789,819,654.639882767,632,656,0.400978838155,-0.00536093019546,0.0698145897591,0.999999933327,0.000212822272445,-0.000296290780611,1.62530108065e-05,1793250516312754944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769.774736566,745,722,685.774736566,666,642,887.225263434,789,819,655,632,656.225263434,0.400974891416,-0.00536170675622,0.0698160807459,0.99999993444,0.000211598071697,-0.000293409781511,1.60351364744e-05,1793250516329421824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769.197956447,745,722,685.197956447,666,642,887.802043553,789,819,655,632,656.802043553,0.400973477495,-0.00536203113077,0.0698172734776,0.999999934963,0.000211489911062,-0.000291696443599,1.61272770042e-05,1793250516346088448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,722,685.379134744,666,642,888,788.620865256,819,654.620865256,631.620865256,657,0.40097234595,-0.00536116888279,0.0698181071019,0.999999935405,0.000212044858683,-0.000289772409246,1.60992625804e-05,1793250516362755072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.95638847,666,642,888,788.04361153,819,654.04361153,631.04361153,657,0.400971361963,-0.00535968655857,0.0698187530724,0.999999935802,0.000212946317234,-0.000287738274341,1.60084605103e-05,1793250516379421440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,722,686,666,642,888,788,819,654,631.533343794,656.466656206,0.400970118402,-0.00536064161816,0.069818779184,0.999999935097,0.000215044577193,-0.000288621902787,1.61188406381e-05,1793250516396088320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,722,686,666,642,888,788.112590449,819,654.112590449,632,656,0.400969508145,-0.00536168753196,0.0698191536998,0.999999934781,0.000216336689135,-0.000288746151018,1.62062623617e-05,1793250516412754944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,722,686,666,642,888,788.701636504,819,654.701636504,632,656,0.400971667648,-0.00536227497994,0.0698212169488,0.999999936502,0.000213803477885,-0.000284647813274,1.6126953283e-05,1793250516429421568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.285837189,745.285837189,722,685.714162811,666,642,888,788.714162811,819,655,632,656,0.400972016762,-0.00536266873351,0.0698217824082,0.999999937077,0.000212940200089,-0.000283280824221,1.59798371682e-05,1793250516446088448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.865064542,745.865064542,722,685.134935458,666,642,888,788.134935458,819,655,632,656,0.400970507647,-0.00536286367457,0.0698208105005,0.99999993649,0.000213790981837,-0.000284717356638,1.57631222719e-05,1793250516462755072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.560086741,745.560086741,722,685,666,642,888,788,819,654.560086741,632,656,0.400969670836,-0.005361882083,0.0698207289478,0.99999993661,0.000213010092389,-0.000284900318351,1.54514698769e-05,1793250516479421696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.013760569,745,722,685,666,642,888,788,819,654.013760569,631.986239431,656,0.400969114072,-0.0053606130345,0.0698209677418,0.999999936955,0.000211770758999,-0.000284630455014,1.51255354161e-05,1793250516496088320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.601303853,745,722,685,666,642,888,788,819,654.601303853,631.398696147,656,0.400971720606,-0.0053622572538,0.0698232888249,0.999999937813,0.000212078791984,-0.000281354014197,1.54063547624e-05,1793250516512754944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.81400612,745,721.81400612,685.18599388,666,642,888,788,819,654.81400612,631.18599388,656,0.400972928146,-0.0053629377463,0.0698244679026,0.999999938071,0.000213011514016,-0.000279714250632,1.56032010273e-05,1793250516529421568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.235339952,745,721.235339952,685.764660048,666,642,888,788,819,654.235339952,631.764660048,656,0.400971182116,-0.00536158360828,0.069823235966,0.999999937079,0.000215263086285,-0.000281529857949,1.56227624001e-05,1793250516546088192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745.343288265,721.343288265,686,666,642,887.656711735,788,819,654,632.343288265,656,0.400971038345,-0.00536140458287,0.0698236289155,0.999999937195,0.000215150355667,-0.000281194550916,1.57800210203e-05,1793250516562754816
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745.921890443,721.921890443,686,666,642,887.078109557,788,819,654,632.921890443,656,0.400971992876,-0.00536203106233,0.0698251356762,0.99999993807,0.000213416965515,-0.000279384855877,1.6031667015e-05,1793250516579421440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.497236587,745.502763413,722,686,666,642,887.497236587,788,819,654.497236587,632.502763413,656,0.400971311789,-0.00536232855979,0.0698250894569,0.999999937997,0.000213163572345,-0.000279838543338,1.60222793823e-05,1793250516596088064
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.926306155,745,722,685.926306155,666,642,888,788,819,654.926306155,632,656,0.40097049907,-0.00536241569082,0.0698248050282,0.999999937808,0.000213139019469,-0.000280541115087,1.59160590614e-05,1793250516612754944
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.338553808,745,722,685.338553808,666,642,888,788,819,654.338553808,632,656,0.400970548759,-0.00536139353628,0.0698245495957,0.999999937831,0.000213099567058,-0.000280515773938,1.54185470025e-05,1793250516629421568
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,745,722,685,666,642,888,788,819,654,632,656,0.400970861788,-0.00536174111591,0.0698247928644,0.999999938202,0.000212480519939,-0.000279665313809,1.53240676373e-05,1793250516646088192
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745,722,685,666,642,888,788,819,654,632,656,0.400971532585,-0.00536394957644,0.0698257136542,0.999999939042,0.000211074052291,-0.000277693871008,1.57771367066e-05,1793250516662755072
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.4062781,666,642,888,788,819,654.4062781,632,656,0.400971160244,-0.00536383308247,0.0698257276339,0.999999938987,0.000211032191081,-0.000277926816659,1.57739987786e-05,1793250516679421696
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,745,722,685.981411838,666,642,888,788,819,654.981411838,632,656,0.400970354359,-0.0053627503003,0.0698253647288,0.999999938559,0.000211557482084,-0.000279075941314,1.55812539426e-05,1793250516696088320
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb8209d668f5a93de86e64a139b346d32e7a6787
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/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,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+1,0.016666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+2,0.033333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+3,0.050000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+4,0.066666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+5,0.083333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+6,0.100000000,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+7,0.116666667,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
+8,0.133333333,pose1_baseline,0.575664257532,0.000150156827693,1.06003348742,0.546234937219,0.00882279485909,1.05970488537
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+368,6.133333333,pose2_to_pose3_retreat,0.576704740943,0.000150077301315,1.06003348416,0.54727542078,0.00882271597268,1.0597048847
+369,6.150000000,pose2_to_pose3_retreat,0.576551665514,0.000150232799695,1.06003360969,0.547122342767,0.00882286241518,1.05970500291
+370,6.166666667,pose2_to_pose3_retreat,0.576414127079,0.000150053712103,1.0600337263,0.546984805405,0.00882268694571,1.05970511883
+371,6.183333333,pose2_to_pose3_retreat,0.576292335217,0.000150057967982,1.06003370343,0.54686301447,0.00882269402151,1.05970508737
+372,6.200000000,pose2_to_pose3_retreat,0.576184620246,0.00015015398641,1.0600336492,0.546755299198,0.00882278917581,1.05970503728
+373,6.216666667,pose2_to_pose3_retreat,0.5760911687,0.000150208472251,1.06003370576,0.546661846052,0.00882283816516,1.05970509241
+374,6.233333333,pose2_to_pose3_retreat,0.576009815959,0.0001501717773,1.06003361673,0.546580492839,0.00882279975633,1.05970500072
+375,6.250000000,pose2_to_pose3_retreat,0.575940079645,0.000150117730015,1.0600331575,0.546510758573,0.00882275338782,1.05970456057
+376,6.266666667,pose2_to_pose3_retreat,0.575880802327,0.000150282889146,1.06003350857,0.546451476678,0.00882290262554,1.05970490133
+377,6.283333333,pose2_to_pose3_retreat,0.575830620885,0.000150106329449,1.06003341101,0.546401298664,0.00882273759508,1.05970480103
+378,6.300000000,pose2_to_pose3_retreat,0.575789939342,0.000150137693637,1.06003366177,0.546360616491,0.00882276686549,1.05970505298
+379,6.316666667,pose2_to_pose3_retreat,0.575757021431,0.000150108357161,1.06003357927,0.546327700625,0.00882274476492,1.05970497819
+380,6.333333333,pose2_to_pose3_retreat,0.575731528209,0.000150147971101,1.06003347538,0.546302207336,0.00882278418456,1.05970487532
+381,6.350000000,pose2_to_pose3_retreat,0.575711638641,0.000150235557749,1.06003352854,0.546282315476,0.00882286373669,1.05970492167
+382,6.366666667,pose2_to_pose3_retreat,0.575696647433,0.000150212535145,1.06003364633,0.546267323983,0.00882283951764,1.05970503338
+383,6.383333333,pose2_to_pose3_retreat,0.575685467095,0.000150040917435,1.06003365051,0.546256145832,0.00882267532964,1.05970503783
+384,6.400000000,pose2_to_pose3_retreat,0.575677290239,0.00015007684605,1.06003367467,0.546247968678,0.00882271003725,1.0597050564
+385,6.416666667,pose2_to_pose3_retreat,0.575671964563,0.000150099270592,1.06003367025,0.546242643446,0.00882273400719,1.0597050531
+386,6.433333333,pose2_to_pose3_retreat,0.575668664829,0.000150097575201,1.06003364187,0.546239344091,0.00882273368894,1.05970502716
+387,6.450000000,pose2_to_pose3_retreat,0.575667103281,0.000150118589289,1.0600336003,0.546237780998,0.00882274925735,1.05970498019
+388,6.466666667,pose2_to_pose3_retreat,0.575666068809,0.000150112949575,1.06003356929,0.546236745796,0.00882274109482,1.05970494805
+389,6.483333333,pose2_to_pose3_retreat,0.575665454134,0.000150058401933,1.0600335418,0.546236131452,0.00882268788729,1.05970492628
+390,6.500000000,pose2_to_pose3_retreat,0.575665247482,0.000150040063104,1.06003353256,0.546235924911,0.008822669999,1.05970491896
+391,6.516666667,pose2_to_pose3_retreat,0.575665209894,0.000150036727506,1.06003353088,0.546235887344,0.00882266674535,1.05970491763
+392,6.533333333,pose2_to_pose3_retreat,0.575665112346,0.000150028070888,1.06003352652,0.546235789849,0.00882265830141,1.05970491418
+393,6.550000000,pose2_to_pose3_retreat,0.575665061242,0.000150023535788,1.06003352423,0.546235738772,0.00882265387772,1.05970491237
+394,6.566666667,pose2_to_pose3_retreat,0.575665016246,0.000150019542723,1.06003352222,0.5462356938,0.00882264998276,1.05970491077
+395,6.583333333,pose2_to_pose3_retreat,0.575665010199,0.00015001900611,1.06003352195,0.546235687756,0.00882264945933,1.05970491056
+396,6.600000000,pose2_to_pose3_retreat,0.575664906135,0.000150009771232,1.06003351729,0.546235583748,0.00882264045133,1.05970490687
+397,6.616666667,pose2_to_pose3_retreat,0.575664829122,0.000150002936969,1.06003351385,0.546235506777,0.00882263378497,1.05970490414
+398,6.633333333,pose2_to_pose3_retreat,0.575664722058,0.000150027262465,1.06003349598,0.546235399812,0.0088226584208,1.05970488566
+399,6.650000000,pose2_to_pose3_retreat,0.575664523183,0.000150099093796,1.06003345249,0.546235201151,0.00882273088916,1.05970483974
+400,6.666666667,pose2_to_pose3_retreat,0.57566449494,0.000150109294515,1.06003344632,0.546235172939,0.00882274118034,1.05970483321
+401,6.683333333,pose2_to_pose3_retreat,0.575664340251,0.000150152742852,1.06003344273,0.546235018882,0.00882278687483,1.05970483227
+402,6.700000000,pose2_to_pose3_retreat,0.575664307334,0.000150154368347,1.06003346051,0.546234986386,0.00882279005206,1.0597048534
+403,6.716666667,pose2_to_pose3_retreat,0.575664298158,0.000150154821476,1.06003346547,0.546234977327,0.00882279093775,1.05970485929
+404,6.733333333,pose2_to_pose3_retreat,0.575664274236,0.000150156002801,1.0600334784,0.54623495371,0.0088227932468,1.05970487465
+405,6.750000000,pose2_to_pose3_retreat,0.57566426636,0.000150156391738,1.06003348265,0.546234945934,0.00882279400702,1.0597048797
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+407,6.783333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537
+408,6.800000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485909,1.05970488537
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..724e85dc6fcd7fc25dbcafef686d8fda2b55276b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88dc5ca548e592369803ad265e844af52cfac7c35ab9e6abff576713eb1a61e
+size 25892653
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8864711c81b381c844fd758cf58b9b1c040b6dfe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+34,0.566666667,BASELINE,769.722137782,745.722137782,722,686,666,642,888,788.722137782,819,654,632.277862218,656,0.400971161908,-0.00536323303554,0.0698276036338,0.999999939615,0.000210307532881,-0.000276239944063,1.52588653534e-05,1793250517406691584
+35,0.583333333,BASELINE,769.703542554,746,722,686,666,642,888,788.703542554,819,654,632,656,0.400970765679,-0.00536307604718,0.0698271080266,0.999999939684,0.000209693730954,-0.000276470875925,1.49994065752e-05,1793250517423358208
+36,0.600000000,BASELINE,769.128681862,746,722,686,666,642,888,788.128681862,819,654,632,656,0.400971018837,-0.00536254740901,0.0698273243564,0.999999939787,0.000210373074445,-0.00027560819332,1.4494404256e-05,1793250517440024576
+37,0.616666667,BASELINE,769,746,722.459340258,686,666,642,888,788,819,654.459340258,632,656,0.400971853417,-0.00536279022494,0.0698278964321,0.999999939721,0.00021202244596,-0.000274571725678,1.46873893309e-05,1793250517456690944
+38,0.633333333,BASELINE,769,745.949959529,722.949959529,685.949959529,666,642,887.949959529,788,819,654.949959529,631.949959529,656,0.400972602493,-0.00536328234313,0.0698284076128,0.999999939583,0.000213638758267,-0.000273799245791,1.50629294055e-05,1793250517473357568
+39,0.650000000,BASELINE,769,745.371072017,722.371072017,685.371072017,666,642,887.371072017,788,819,654.371072017,631.371072017,656,0.400970675756,-0.00536405778075,0.0698271909124,0.999999939239,0.000211949029734,-0.00027634638914,1.52403056802e-05,1793250517490024192
+40,0.666666667,BASELINE,769,745,722,685.20624709,666,642,887.20624709,788,819,654,631,656.20624709,0.400969787888,-0.0053641572961,0.069826699703,0.999999939203,0.000210504524707,-0.000277582550885,1.51598128548e-05,1793250517506690816
+41,0.683333333,BASELINE,769,745,722,685.780765642,666,642,887.780765642,788,819,654,631,656.780765642,0.400970755006,-0.00536304989555,0.0698275039186,0.999999939728,0.000209497886907,-0.000276477844965,1.46188731309e-05,1793250517523357440
+42,0.700000000,BASELINE,769,745,722,686,666,642,888,788,819,654,631.362938162,656.637061838,0.400971145683,-0.00536368847723,0.0698280344462,0.999999940234,0.000208567188169,-0.000275345165903,1.4718797567e-05,1793250517540024320
+43,0.716666667,BASELINE,769,745,722,686,666,642,888,788,819,654,631.949833675,656.050166325,0.400971180656,-0.00536540444788,0.0698283960897,0.999999940727,0.000207683349,-0.000274195225566,1.52141784809e-05,1793250517556691200
+44,0.733333333,BASELINE,769.531258862,745,722,685.468741138,666,642,888,788,819,654,632,656,0.400970099715,-0.00536437891028,0.0698272898454,0.999999939924,0.000208602931385,-0.000276432932523,1.48745864723e-05,1793250517573357568
+45,0.750000000,BASELINE,769.888806666,745.111193334,722,685.111193334,666,642,888,788.111193334,819,654,632,656,0.400969363113,-0.00536382604194,0.0698264761421,0.999999939425,0.000208881133458,-0.00027803888494,1.45962211138e-05,1793250517590024448
+46,0.766666667,BASELINE,769.312965104,745.687034896,722,685.687034896,666,642,888,788.687034896,819,654,632,656,0.40097050127,-0.00536631909678,0.0698274582099,0.999999940717,0.000205774804122,-0.000275681772807,1.4899824405e-05,1793250517606691072
+47,0.783333333,BASELINE,769,745.736991568,722,685.736991568,666,642.263008432,888,789,819,654,632,656,0.400970394473,-0.00536605784721,0.069827594188,0.999999940463,0.000207228560908,-0.000275505481448,1.50559644287e-05,1793250517623357440
+48,0.800000000,BASELINE,769,745.160860836,722,685.160860836,666,642.839139164,888,789,819,654,632,656,0.40096880551,-0.00536251748586,0.0698267228617,0.999999938344,0.000214111286367,-0.000277925546124,1.5036543439e-05,1793250517640024064
+49,0.816666667,BASELINE,769.424348647,745.424348647,722.424348647,685.424348647,666,642.575651353,888,789,819,654.424348647,632,656,0.400969407782,-0.00536290857985,0.0698267283658,0.999999938574,0.000213793757833,-0.000277340829623,1.50492917847e-05,1793250517656690432
+50,0.833333333,BASELINE,770,745.987159583,722.987159583,685.987159583,666,642,888,788.987159583,819.012840417,654.987159583,632,656,0.400970860738,-0.00536480667035,0.0698271093491,0.999999939709,0.000210749433362,-0.00027557000222,1.50839505319e-05,1793250517673357056
+51,0.850000000,BASELINE,770,745.408990574,722.408990574,685.408990574,666,642,888,788.408990574,819.591009426,654.408990574,632,656,0.400972396335,-0.00536600429538,0.069829067668,0.999999940519,0.000210449197954,-0.000272823296964,1.55346293324e-05,1793250517690024192
+52,0.866666667,BASELINE,770,745,722,685,666,642,888,788.169028801,819.830971199,654,632,656,0.400973089334,-0.00536630659127,0.0698300727054,0.999999940945,0.00021031752124,-0.00027134849273,1.57059720249e-05,1793250517706691072
+53,0.883333333,BASELINE,770,745,722,685,666,642,888,788.7466864,819.2533136,654,632,656,0.400971745346,-0.00536444442004,0.0698287731748,0.999999940459,0.000210593336858,-0.000272948521958,1.52020168882e-05,1793250517723357952
+54,0.900000000,BASELINE,769.67926395,745,722,685,666,642,887.67926395,788.67926395,819,654,632,656,0.400972012994,-0.00536370170789,0.0698284737161,0.999999940384,0.000211137525963,-0.000272818437035,1.49580507158e-05,1793250517740024832
+55,0.916666667,BASELINE,769.108032145,745,722,685,666,642,887.108032145,788.108032145,819,654,632,656,0.400973539333,-0.00536383329651,0.0698289553163,0.999999940628,0.000211891315499,-0.000271337128029,1.49171366777e-05,1793250517756691200
+56,0.933333333,BASELINE,769.480930418,745.480930418,722,685,666,642,887,788,819,654,632,656,0.400973447317,-0.00536454266608,0.0698288974874,0.999999940741,0.00021094196809,-0.000271649865891,1.51174651698e-05,1793250517773357568
+57,0.950000000,BASELINE,769.927740067,745.927740067,722,685,666,642,887,788,819,654,632,656.072259933,0.400973016812,-0.00536526223624,0.0698287675443,0.999999940785,0.000209914198077,-0.000272268517525,1.5332273679e-05,1793250517790023936
+58,0.966666667,BASELINE,769.348810449,745.348810449,722,685,666,642,887,788,819,654,632,656.651189551,0.400972859494,-0.00536510845296,0.069829014112,0.999999940579,0.000211121782001,-0.000272098260207,1.52540952742e-05,1793250517806690816
+59,0.983333333,BASELINE,769,745,722,685.22656784,666,642,887.22656784,788,819,654.22656784,632,657,0.400973237474,-0.00536435011654,0.0698293727848,0.999999940412,0.000212486578468,-0.000271655134125,1.51263112872e-05,1793250517823357440
+60,1.000000000,BASELINE,769,745,722,685.796563174,666,642,887.796563174,788,819,654.796563174,632,657,0.40097442685,-0.0053626754092,0.0698299013847,0.999999940306,0.000214089675087,-0.000270798398409,1.49233360314e-05,1793250517840024064
+61,1.016666667,BASELINE,769.381031392,745,722,686,666,642,888,788.381031392,819,655,632,656.618968608,0.400973988213,-0.00536315251474,0.0698297769633,0.999999940384,0.000213380679061,-0.000271058275743,1.51130927774e-05,1793250517856690688
+62,1.033333333,BASELINE,769.973531899,745,722,686,666,642,888,788.973531899,819,655,632,656.026468101,0.400972646044,-0.00536482385787,0.0698292901207,0.999999940562,0.000211388491586,-0.00027193786368,1.55208123884e-05,1793250517873357312
+63,1.050000000,BASELINE,769.447622007,745,722,685.447622007,666,642,887.447622007,788.447622007,819,654.447622007,632,656,0.400972625474,-0.00536419347876,0.0698294482695,0.999999940649,0.000210809596057,-0.000272084054595,1.52053879536e-05,1793250517890023936
+64,1.066666667,BASELINE,769,745.130639269,722,685.130639269,666,642,887.130639269,788,819,654,632,656,0.400972563931,-0.00536389470665,0.0698294017379,0.999999940728,0.000210180758296,-0.000272292976174,1.49672500648e-05,1793250517906690560
+65,1.083333333,BASELINE,769,745.709084497,722,685.709084497,666,642,887.709084497,788,819,654,632,656,0.400972150105,-0.00536510155429,0.069828550218,0.999999940794,0.000209154196349,-0.000272834480062,1.51099458219e-05,1793250517923357184
+66,1.100000000,BASELINE,769,745.714082986,722,686,666,642,887.714082986,788,819,654,632,656,0.400972249107,-0.00536573544217,0.0698286443461,0.999999941137,0.000207875554539,-0.000272546878276,1.52156574199e-05,1793250517940023552
+67,1.116666667,BASELINE,769,745.138882203,722,686,666,642,887.138882203,788,819,654,632,656,0.400972866978,-0.00536578962344,0.0698296952576,0.99999994176,0.000206341864615,-0.000271420407831,1.52839493514e-05,1793250517956690176
+68,1.133333333,BASELINE,769,745,722,686,666,642.446250586,887,788,819,654,632,656.446250586,0.400972093011,-0.0053647012654,0.0698291907044,0.999999940922,0.000208884023189,-0.000272566996072,1.51740667715e-05,1793250517973357056
+69,1.150000000,BASELINE,769.033944347,745,722,685.966055653,666,642.966055653,887,788,819,654.033944347,632,656.966055653,0.400970945726,-0.00536336129844,0.0698282387711,0.9999999397,0.000212414454867,-0.000274325903884,1.50212176299e-05,1793250517990023424
+70,1.166666667,BASELINE,769.612012508,745,722,685.387987492,666,642.387987492,887,788,819,654.612012508,632,656.387987492,0.400970915907,-0.00536381774695,0.0698280519664,0.999999940007,0.000210990235679,-0.000274302199757,1.50887347001e-05,1793250518006690304
+71,1.183333333,BASELINE,769.810030006,745,722,685.189969994,666,642,887.189969994,788,819,655,632,656.189969994,0.40097107018,-0.00536414407845,0.0698280846825,0.999999940369,0.000209783901901,-0.000273910671376,1.50506588058e-05,1793250518023357440
+72,1.200000000,BASELINE,769.232298325,745,722,685.767701675,666,642,887.767701675,788,819,655,632,656.767701675,0.400971600215,-0.00536420481866,0.0698285654787,0.999999940844,0.000209022309754,-0.000272768349927,1.47970493786e-05,1793250518040024064
+73,1.216666667,BASELINE,769,745.342346402,722,685.657653598,666,642,887.657653598,788,819,654.657653598,632,657,0.400972004602,-0.00536468468071,0.0698288112675,0.999999940911,0.000209245404236,-0.000272344410741,1.49319561634e-05,1793250518056690688
+74,1.233333333,BASELINE,769,745.914915167,722,685.085084833,666,642,887.085084833,788,819,654.085084833,632,657,0.400972324491,-0.00536544639535,0.0698288990176,0.999999940703,0.000210130684438,-0.000272403571961,1.53281337698e-05,1793250518073357056
+75,1.250000000,BASELINE,769,745.493240839,722,685.506759161,666,642,887.506759161,788,819,654,632,656.493240839,0.400972211015,-0.0053640064659,0.0698289785997,0.999999940009,0.000212818245733,-0.000272874323829,1.51735384402e-05,1793250518090023680
+76,1.266666667,BASELINE,769,745,722,685.901636112,666,642,887.901636112,788,819,654,632,656,0.400972092996,-0.0053624672216,0.0698290393139,0.999999939425,0.000215115382187,-0.000273223558719,1.49685847847e-05,1793250518106690560
+77,1.283333333,BASELINE,769,745,722,685.327462581,666,642,887.327462581,788,819,654,632,656,0.400972318889,-0.0053623063841,0.0698290156553,0.999999939824,0.000214002300295,-0.000272637486864,1.49850455436e-05,1793250518123357440
+78,1.300000000,BASELINE,769.248114457,745,722.248114457,685.248114457,666,642,887.248114457,788,819,654,632,656.248114457,0.400972683191,-0.00536321128161,0.0698291701001,0.999999940311,0.000212317534589,-0.000272167278432,1.49838709991e-05,1793250518140024320
+79,1.316666667,BASELINE,769.825554341,745,722.825554341,685.825554341,666,642,887.825554341,788,819,654,632,656.825554341,0.400973231207,-0.00536553074255,0.0698295609436,0.999999940913,0.000209873965884,-0.000271850857019,1.49592888939e-05,1793250518156691200
+80,1.333333333,BASELINE,769.58868901,745,722.58868901,685.58868901,666,642.41131099,888,788,819,654,632,656.58868901,0.400973105518,-0.00536589588755,0.0698295315519,0.999999941096,0.000209150356875,-0.000271745231493,1.4803798102e-05,1793250518173358336
+81,1.350000000,BASELINE,769,745,722,685.000655301,666,642.999344699,888,788,819,654.000655301,631.999344699,656,0.400972688485,-0.00536541536953,0.0698293204066,0.999999941098,0.000209171579953,-0.000271731318364,1.45921930511e-05,1793250518190025728
+82,1.366666667,BASELINE,769,745,722,685.578981116,666,642.421018884,888,788,819,654.578981116,631.421018884,656,0.400972524081,-0.0053652074762,0.0698292462905,0.999999940926,0.000209463011516,-0.000272126763831,1.4867817243e-05,1793250518206691584
+83,1.383333333,BASELINE,769.155529722,745,722,685.844470278,666.155529722,642,887.844470278,788,819,654.844470278,631.155529722,656,0.40097227396,-0.00536448421163,0.0698291278025,0.999999940653,0.000210278087791,-0.000272492051328,1.49950842075e-05,1793250518223357440
+84,1.400000000,BASELINE,769.727321899,745,722,685.272678101,666.727321899,642,887.272678101,788,819,654.272678101,631.727321899,656,0.400971794422,-0.00536238159844,0.0698288905568,0.999999940111,0.000212494655948,-0.000272776623591,1.47252853666e-05,1793250518240024064
+85,1.416666667,BASELINE,769.696974817,745.303025183,722,685.303025183,666.696974817,642,887.303025183,788,819,654,632,656,0.400971323615,-0.00536168099583,0.0698285008544,0.999999939793,0.00021314577745,-0.000273443055558,1.45612741962e-05,1793250518256690432
+86,1.433333333,BASELINE,769.117706128,745.882293872,722,685.882293872,666.117706128,642,887.882293872,788,819,654,632,656,0.400970860765,-0.00536225849278,0.0698279721694,0.999999939681,0.000212369807953,-0.000274457598057,1.44937010893e-05,1793250518273357312
+87,1.450000000,BASELINE,769,745.529049514,722,685.529049514,666,642.470950486,888,788,819,654,631.529049514,656,0.400971630695,-0.00536327405664,0.0698285288955,0.999999940232,0.000211139393402,-0.000273395231151,1.45058956936e-05,1793250518290024448
+88,1.466666667,BASELINE,769,745,722,685.060443751,666.060443751,642.939556249,888,788.060443751,819,654.060443751,631.060443751,656,0.40097256914,-0.00536431958361,0.0698292885221,0.999999940886,0.000209879437356,-0.000271968857668,1.45619405259e-05,1793250518306691584
+89,1.483333333,BASELINE,769,745,722,685.636647707,666.636647707,642.363352293,888,788.636647707,819,654.636647707,631.636647707,656,0.40097226295,-0.00536466753604,0.0698294175908,0.999999940995,0.000209356292895,-0.000271955871647,1.48185778193e-05,1793250518323357952
+90,1.500000000,BASELINE,769,745,722,686,666.788012057,642,888,788.788012057,819,655,632,656,0.400972016478,-0.00536480328129,0.0698295021417,0.999999941025,0.000209027363835,-0.000272087328731,1.50104243819e-05,1793250518340024320
+91,1.516666667,BASELINE,769,745,722,686,666.214146309,642,888,788.214146309,819,655,632,656,0.400971871951,-0.00536457677444,0.0698295106976,0.999999940921,0.0002090299737,-0.000272465360002,1.50916687437e-05,1793250518356690688
+92,1.533333333,BASELINE,769,745,722,686,666,642,888,788,819,654.629632418,632,656.370367582,0.400972284287,-0.00536405934579,0.0698296856882,0.999999940858,0.000209890261974,-0.000272046207507,1.48463817065e-05,1793250518373357312
+93,1.550000000,BASELINE,769,745,722,686,666,642,888,788,819,654.038779474,632,656.961220526,0.400973028132,-0.00536336872702,0.0698299597598,0.999999940819,0.000211261139037,-0.000271152479624,1.44067056497e-05,1793250518390024192
+94,1.566666667,BASELINE,769.540771221,745,722,685.459228779,666,642,888,788.540771221,819,654.540771221,632,656.459228779,0.400970383976,-0.0053639472889,0.0698284638523,0.999999940324,0.000210092568195,-0.000273870215137,1.4452591382e-05,1793250518406690560
+95,1.583333333,BASELINE,770,745,722,685,666,642,888,789,819,654.881245149,632,656,0.400968519357,-0.00536426068339,0.0698273732048,0.999999939943,0.00020934701867,-0.000275819877277,1.45468495826e-05,1793250518423357184
+96,1.600000000,BASELINE,770,745,722,685,666,642,888,789,819,654.306231841,632,656,0.40097056407,-0.00536321277809,0.0698283172494,0.999999940155,0.000210912061506,-0.000273843939328,1.46959141982e-05,1793250518440024320
+97,1.616666667,BASELINE,770,745.270553248,722,685.270553248,666,642,888,788.729446752,819,654,632,656,0.400971736115,-0.00536311168698,0.0698290741703,0.999999940483,0.000211016116732,-0.000272555205159,1.48158038885e-05,1793250518456691200
+98,1.633333333,BASELINE,770,745.849356953,722,685.849356953,666,642,888,788.150643047,819,654,632,656,0.400971913898,-0.00536408933332,0.0698296178947,0.999999940948,0.000209455619315,-0.000272049425594,1.49024535917e-05,1793250518473357824
+99,1.650000000,BASELINE,769.576858733,745.576858733,722,685.576858733,666,642,888,788,819,654,632,656.423141267,0.400971937144,-0.00536424234739,0.0698291864936,0.999999940533,0.000210787290261,-0.000272537121411,1.50405987676e-05,1793250518490024448
+100,1.666666667,BASELINE,769.004840442,745.004840442,722,685.004840442,666,642,888,788,819,654,632,656.995159558,0.400971906017,-0.00536410522477,0.0698284120066,0.999999939804,0.000213136534923,-0.000273374359269,1.51968619871e-05,1793250518506690816
+101,1.683333333,BASELINE,769.568927011,745,722,685.568927011,666,642,888,788,819,654,632,657,0.400970870602,-0.00536571868622,0.0698289711393,0.999999940739,0.000209032487808,-0.00027312936204,1.50952280068e-05,1793250518523357440
+102,1.700000000,BASELINE,770,745,722,685.851559055,666,642,887.851559055,788.148440945,819,654.148440945,632,656.851559055,0.400970477699,-0.00536676677684,0.0698294065527,0.999999941431,0.00020620150659,-0.000272752371713,1.50280692688e-05,1793250518540024320
+103,1.716666667,BASELINE,770,745,722,685.254732302,666,642,887.254732302,788.745267698,819,654.745267698,632,656.254732302,0.400972051477,-0.00536606196054,0.0698294338761,0.999999941389,0.000207382351222,-0.000272004577365,1.50716959485e-05,1793250518556690944
+104,1.733333333,BASELINE,770,745,722,685,666,642,887,788.670216158,819,654.670216158,632,656,0.400972246604,-0.00536553121004,0.0698292000723,0.99999994111,0.000208313277654,-0.000272328157398,1.49620075876e-05,1793250518573357568
+105,1.750000000,BASELINE,770,745,722,685,666,642,887,788.09486675,819,654.09486675,632,656,0.400971415153,-0.00536513007336,0.0698287718265,0.999999940651,0.000209058108662,-0.000273449510391,1.4738156892e-05,1793250518590024448
+106,1.766666667,BASELINE,770,745,722,685.495008245,666,642,887.495008245,788.495008245,819,654,632,656,0.40097148243,-0.00536469606863,0.0698289167591,0.999999940662,0.000209317450923,-0.000273213848335,1.46852432104e-05,1793250518606691072
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745,722,686,666,642,888,789,819,654,632,656,0.400970706256,-0.00536552713895,0.0698286745134,0.999999941209,0.000206483960093,-0.000273360202177,1.48189598338e-05,1793250518649752832
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745,721.425880331,686,666,642,887.425880331,789,819,654.574119669,632,656,0.400971384476,-0.00536499804587,0.0698292177958,0.999999941018,0.000208072656913,-0.000272851772454,1.48972141695e-05,1793250518666419200
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745,721.152155304,685.847844696,666,642,887.152155304,789,819,654.847844696,632,656,0.400971696783,-0.00536436869985,0.0698294274026,0.999999940759,0.000209499967568,-0.000272707707814,1.48807866649e-05,1793250518683085568
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745,721.741441348,685.258558652,666,642,887.741441348,789,819,654.258558652,632,656,0.400970957851,-0.00536345133457,0.0698286783846,0.999999940315,0.000210463628294,-0.000273610436534,1.45923453744e-05,1793250518699752192
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.675190004,745.324809996,722,685,666,642,887.675190004,788.675190004,819,654.324809996,632,656,0.400971336955,-0.0053637333318,0.0698290213095,0.999999940629,0.000209680061986,-0.000273065340639,1.45488235916e-05,1793250518716418816
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.09644754,745.90355246,722,685,666,642,887.09644754,788.09644754,819,654.90355246,632,656,0.400972590124,-0.00536495297598,0.0698302179021,0.999999941532,0.000207530534969,-0.000271388353172,1.4696776891e-05,1793250518733085440
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.520110747,722,685.479889253,666,642,887.479889253,788,819,654.520110747,632,656,0.400972845111,-0.00536570216163,0.0698302555908,0.999999941653,0.000206580386748,-0.000271663120318,1.47375704855e-05,1793250518749752576
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,685.944295031,666,642.055704969,887.944295031,788.055704969,819,654,632,656,0.400972923786,-0.00536621041839,0.0698300456624,0.999999941565,0.000206139064229,-0.000272320195582,1.47755930733e-05,1793250518766419456
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,685.368852491,666,642.631147509,887.368852491,788.631147509,819,654,632,656,0.400973219852,-0.00536534855327,0.0698296877223,0.999999940975,0.000208207359479,-0.000272902662211,1.49877018731e-05,1793250518783085568
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.211952952,745,722,685,666,642.788047048,887,789,819,654,632,656,0.400980075565,-0.00536491167579,0.0698325533529,0.999999941863,0.000209297834499,-0.000268771728691,1.51487079716e-05,1793250518799751936
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.802333429,745,722,685,666,642.197666571,887,789,819,654,632,656,0.40099864308,-0.00536523358481,0.069841174449,0.999999945293,0.000208642478008,-0.000256225340874,1.52184736612e-05,1793250518816418304
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.614720208,745.385279792,722,685.385279792,666,642,887,788.614720208,819,654,632,656,0.401035212904,-0.00536572184427,0.0698553207959,0.999999951223,0.000208248629558,-0.000232259008207,1.5565074841e-05,1793250518833085184
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.035515642,745.964484358,722,685.964484358,666,642,887,788.035515642,819,654,632,656,0.401080843921,-0.00536629383375,0.0698722481953,0.99999995773,0.000207986407037,-0.000202544617189,1.60510169868e-05,1793250518849751808
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745.453173088,722,686,666,642,888.093653824,788,819,654,632,656,0.401138313035,-0.00536878780132,0.0698847151233,0.999999960491,0.000207250427158,-0.000189194279666,1.64429601552e-05,1793250518866418432
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.125822115,745,722,686,666,642,888.748355769,788,819,654,632,656,0.401201010204,-0.00537107830727,0.0698956762305,0.999999962981,0.000206352664015,-0.000176603126763,1.63974952939e-05,1793250518883085568
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.692374348,745,722,686,666,642,887.615251305,788,819,654,632,656,0.401279311501,-0.00537221635002,0.0699023833712,0.999999965605,0.000204996608662,-0.000162926900306,1.4841384663e-05,1793250518899752192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.727893756,745.272106244,722,685.727893756,666,642,887.272106244,788,819,654.272106244,632,656,0.40136421055,-0.00537327146783,0.0699062318002,0.999999966795,0.000205184832623,-0.000155340764072,1.33362322179e-05,1793250518916419328
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.132503392,745.867496608,722,685.132503392,666,642,887.867496608,788,819,654.867496608,632,656,0.401456948256,-0.00537422806406,0.0699066838494,0.999999966451,0.000207207784829,-0.000154990146077,1.18916222949e-05,1793250518933086208
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.446474858,745.553525142,722,685,666,642,888,788,819,654.553525142,632,656,0.401562780902,-0.00537592635185,0.0699044309002,0.999999966421,0.000204323944629,-0.000159139336526,9.15835916437e-06,1793250518949752832
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.979215735,745,722,685,666,642,887.979215735,788.020784265,819,654.020784265,632,656,0.401673792151,-0.00537790949593,0.0699016167062,0.999999966483,0.000200012750672,-0.00016429059863,6.06700916324e-06,1793250518966419456
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.404127503,745,722,685,666,642,887.404127503,788.595872497,819,654.595872497,632,656,0.401822943873,-0.00538182734281,0.0699044850295,0.999999967872,0.000195094472619,-0.000161813935247,3.26357201844e-06,1793250518983085568
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.17584005,745,722,685.17584005,666,642,887.17584005,788.82415995,819,654.82415995,632,656.17584005,0.401982337136,-0.00538508755413,0.0699074816116,0.999999969291,0.000191197448099,-0.000157673609379,1.42495180836e-08,1793250518999751936
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.767341558,745,722,685.767341558,666,642,887.767341558,788.232658442,819,654.232658442,632,656.767341558,0.402165939954,-0.00538679320573,0.069910781379,0.999999970805,0.000189714525797,-0.00014960061682,-4.28908363704e-06,1793250519016418816
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,745.351339859,722,686,666,642.351339859,888,788,819,654.351339859,632,656.648660141,0.402369565526,-0.0053904301566,0.0699146339315,0.999999973294,0.000182395452726,-0.000141659806784,-8.74483978926e-06,1793250519033085696
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,745.93047346,722,686,666,642.93047346,888,788,819,654.93047346,632,656.06952654,0.402586173011,-0.0053953192795,0.0699188448864,0.999999976289,0.00017129246887,-0.000133804697428,-1.32994209201e-05,1793250519049752576
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.495003628,745.495003628,722,686,666.504996372,642.495003628,888,788,819,654.495003628,632,656,0.402831824233,-0.00539980152288,0.0699223862749,0.999999977946,0.000165474429733,-0.000128061028907,-1.80918067042e-05,1793250519066418944
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,722,686,666.92078156,642.07921844,888,788,819,654.07921844,632,656,0.403088669121,-0.00540429869318,0.0699264247209,0.999999979631,0.000159938017259,-0.000120962641758,-2.29420715872e-05,1793250519083085312
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,722,686,666.344499908,642.655500092,888,788,819,654.655500092,632,656,0.403390886817,-0.00540923783602,0.0699341551853,0.999999982749,0.000151644503073,-0.000103556444012,-2.79519328571e-05,1793250519099751936
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.237921222,745,722,685.762078778,666,642.762078778,887.762078778,788,819,654.762078778,632,656,0.403708872583,-0.00541490109959,0.0699424968692,0.999999985641,0.000141585463752,-8.71358210943e-05,-3.28550397416e-05,1793250519116418560
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.829467495,745,722,685.170532505,666,642.170532505,887.170532505,788,819,654.170532505,632,656,0.404050294595,-0.00542164063185,0.0699517470154,0.99999998838,0.000128902304622,-7.2180070454e-05,-3.75994760579e-05,1793250519133085184
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.588338927,745,722,685.411661073,666,642,887.411661073,788.411661073,819,654,632,656,0.404407871943,-0.00542720004121,0.0699533258584,0.999999990942,0.000108816967386,-7.23180985126e-05,-3.23206761371e-05,1793250519149752064
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.009933693,745,722,685.990066307,666,642,887.990066307,788.990066307,819,654,632,656,0.404771993034,-0.00543228143921,0.0699517974241,0.999999992974,8.57333629928e-05,-7.85698929052e-05,-2.29819437014e-05,1793250519166418688
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.562808742,722,686.562808742,666,642,888,788.437191258,819,654,632,656,0.405183631754,-0.00543657730641,0.0699571019246,0.999999993741,8.41544361823e-05,-6.79810842383e-05,-2.85540053552e-05,1793250519183085568
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.865363141,722,687,666,642,888,788.134636859,819,654,632,656,0.405603777145,-0.00544204827883,0.0699612307739,0.999999994473,8.01141236294e-05,-5.93025265762e-05,-3.34419607387e-05,1793250519199752192
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.296166842,722,687,666,642,888,788.703833158,819,654,632,656,0.406048698895,-0.0054513563729,0.0699611796575,0.999999995472,6.69164553781e-05,-5.77394032601e-05,-3.52808810306e-05,1793250519216418816
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.287832423,722,687.287832423,666.287832423,642.287832423,888,788.712167577,819,654.287832423,632,656,0.406510169563,-0.0054635009051,0.0699516467401,0.999999995241,5.22666581121e-05,-7.45524982316e-05,-3.50514962902e-05,1793250519233085184
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.887889178,722,687.887889178,666.887889178,642.887889178,888,788.112110822,819,654.887889178,632,656,0.406989591616,-0.00547872224615,0.0699318285015,0.999999992626,3.6041671711e-05,-0.000111299075236,-3.25785314201e-05,1793250519249751808
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.467587592,745.532412408,722,688.467587592,666.532412408,643,888,788,819,654.532412408,632,656.467587592,0.407525706521,-0.00549905715974,0.06992699942,0.999999993112,5.50162666998e-06,-0.000112465356584,-3.31167633978e-05,1793250519266418432
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.957369029,745.042630971,722,689,666,642.957369029,888.042630971,788.042630971,819,654,632,656.957369029,0.408079407215,-0.00551887395341,0.0699269247166,0.999999993734,-2.52856502042e-05,-0.000103503929534,-3.43430956288e-05,1793250519283084800
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.382043891,745.617956109,722,689,666,642.382043891,888.617956109,788.617956109,819,654,632,656.382043891,0.408690087685,-0.00551753570056,0.0699432248079,0.999999996746,-1.80641389167e-05,-7.01419225035e-05,-3.55225139281e-05,1793250519299751936
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,722,689,666,642,889,789,819,654,632,656,0.40930483217,-0.00551911774505,0.0699527718991,0.999999998013,-1.76014490561e-05,-4.81480500146e-05,-3.66935086472e-05,1793250519316419072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,722,689,666,642,889,789,819,654,632,656,0.40992760964,-0.00552647211192,0.0699489708643,0.999999997637,-3.04983909733e-05,-4.86246780711e-05,-3.78478531306e-05,1793250519333085440
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.371583024,746,722,689.371583024,666,642,889,789,819,654,632,656.371583024,0.410568155878,-0.00553544659277,0.0699456509356,0.999999996886,-4.16476513402e-05,-5.47864333802e-05,-3.86242775356e-05,1793250519349752064
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.948286419,746,722,689.948286419,666,642,889,789,819,654,632,656.948286419,0.411218510767,-0.00554531540481,0.069942596586,0.999999995835,-5.18321602878e-05,-6.40864790116e-05,-3.91920833613e-05,1793250519366418688
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.475541504,746,722,690.524458496,666.524458496,642,889,789,819,654.524458496,632,657,0.411939357456,-0.00553954163171,0.0699576490673,0.999999997363,-4.95100551247e-05,-3.54530009685e-05,-3.95811745098e-05,1793250519383085312
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722,691,667,642.100152467,889,789,819.100152467,654.899847533,632,656.899847533,0.412673346538,-0.00552951118409,0.0699771540232,0.999999998372,-4.07512659698e-05,-7.45605478056e-07,-3.99334368826e-05,1793250519399751680
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+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.743349617,722.256650383,691,667,643,889.256650383,789,820,654,632,656.256650383,0.414196463529,-0.00549620911419,0.0700202213303,0.999999997608,5.79652201839e-06,5.58243497609e-05,-4.04320622566e-05,1793250519433084928
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.148492558,722.851507442,691,667,643,889.851507442,789,820,654,632,656.851507442,0.414951703067,-0.00550217114926,0.070003254732,0.999999998933,-7.62405096807e-06,2.05840046835e-05,-4.06375522131e-05,1793250519449751552
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745.431494135,722.568505865,691,667,643,890,789,820,654,632,656.568505865,0.415699908978,-0.00551113901955,0.0699582058635,0.999999997315,-2.17795071459e-05,-5.38176260442e-05,-4.47107136234e-05,1793250519466418432
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.006517385,746,722.006517385,691.006517385,667,643,890,789,820.006517385,654.006517385,632,656,0.416447005763,-0.00552103056574,0.0699045921782,0.999999988297,-3.61108907728e-05,-0.000140007703491,-5.00022193013e-05,1793250519483085056
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.580107702,746,722.580107702,691.580107702,667,643,890,789,820.580107702,654.580107702,632,656,0.417301193915,-0.00552428522514,0.0699186141719,0.999999990789,-4.44781446477e-05,-0.00011836070225,-4.93494661955e-05,1793250519499751936
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,722.841038988,691.841038988,667,643,890,789.158961012,821,655,632,656.158961012,0.418159790079,-0.00552645835025,0.0699377243202,0.999999993542,-5.09109553856e-05,-8.92041992955e-05,-4.86568612731e-05,1793250519516418560
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,722.247807586,691.247807586,667,643,890,789.752192414,821,655,632,656.752192414,0.419030428574,-0.00552567679892,0.069970734951,0.999999996718,-5.20590019405e-05,-3.95322629699e-05,-4.78553839943e-05,1793250519533084928
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.663399951,746,722,691.336600049,667,643,890.336600049,789.663399951,821.336600049,654.663399951,632,657,0.419940582205,-0.00552322756345,0.0699993022933,0.999999997672,-4.87670630408e-05,6.28938551656e-06,-4.73020091996e-05,1793250519549751296
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.085322527,746,722,691.914677473,667,643,890.914677473,789.085322527,821.914677473,654.085322527,632,657,0.420879084015,-0.00551958192893,0.0700246820123,0.999999996787,-4.22898719121e-05,4.93488296079e-05,-4.69266235192e-05,1793250519566417920
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.487123875,746,722,692.487123875,667,643,890.512876125,789,821.512876125,654,632,657,0.421767073872,-0.005519471996,0.0700264135681,0.999999996687,-4.69350833415e-05,4.66091876065e-05,-4.74499888282e-05,1793250519583084800
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746.059126616,722,692.940873384,667.059126616,643,890.059126616,789,821.059126616,654.059126616,632,657,0.422638818538,-0.00552019557812,0.0700158296978,0.999999997117,-5.34385457685e-05,2.34694143082e-05,-4.85702959066e-05,1793250519599751424
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746.635780048,722,692.364219952,667.635780048,643,890.635780048,789,821.635780048,654.635780048,632,657,0.423444926395,-0.0055228561132,0.0699332916558,0.999999990884,-5.93499734485e-05,-0.000108817010645,-5.35534073223e-05,1793250519616418304
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.781364493,746.781364493,722.218635507,692,667.781364493,643.218635507,891,789,822,655,632,657,0.424288544893,-0.00552430724351,0.0698732352694,0.999999976576,-6.33013299297e-05,-0.000198599879505,-5.82971514644e-05,1793250519633085184
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.187875483,746.187875483,722.812124517,692,667.187875483,643.812124517,891,789,822,655,632,657,0.425196476021,-0.00552368483361,0.069851723969,0.999999972775,-6.38921205288e-05,-0.000215509857073,-6.26304993396e-05,1793250519649751808
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746.395245472,722.604754528,692.395245472,667,643.604754528,891,789,822,654.604754528,632,657,0.426174315468,-0.00552481067936,0.0698905764456,0.999999984444,-6.10181580396e-05,-0.00015423786665,-6.00036763188e-05,1793250519666418432
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.973564028,722.026435972,692.973564028,667,643.026435972,891,789,822,654.026435972,632,657,0.427184535578,-0.00552674629673,0.0699573887198,0.999999995325,-5.65393618777e-05,-5.67528998033e-05,-5.41529827177e-05,1793250519683084800
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.452176918,722,693,667,643.547823082,891.547823082,789,822,654.547823082,632,656.452176918,0.428161873429,-0.00552913246512,0.0700034636302,0.999999996112,-7.00571717719e-05,7.32211415172e-06,-5.30437320614e-05,1793250519699751424
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.12500442,746,722,693,667,643.87499558,892,789.12500442,822.12500442,654.87499558,632,656.12500442,0.429127472437,-0.005532300657,0.0700408259475,0.999999993406,-8.16529396142e-05,6.13346933447e-05,-5.25338624241e-05,1793250519716418048
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.713748164,746,722,693,667,643.286251836,892,789.713748164,822.713748164,654.286251836,632,656.713748164,0.430055366133,-0.00553828992187,0.0700495515411,0.999999991612,-8.29202794312e-05,8.39548973663e-05,-5.34049939776e-05,1793250519733084672
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.701882119,746,722.298117881,693.298117881,667,643.298117881,892,789.701882119,823,654,632.298117881,657,0.430928363594,-0.00553963285529,0.0700136877081,0.999999994865,-8.17862683859e-05,2.31455358961e-05,-5.51777597317e-05,1793250519749751552
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.121651632,746,722.878348368,693.878348368,667,643.878348368,892,789.121651632,823,654,632.878348368,657,0.431749412021,-0.00553657890795,0.0699356283535,0.999999988458,-7.83798283116e-05,-0.000116614248432,-5.78037521472e-05,1793250519766418432
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.452918704,746,722.547081296,694.452918704,667,643.547081296,892,789,823,654.452918704,632.547081296,656.547081296,0.432639809912,-0.00553419762639,0.0698963783989,0.999999980277,-7.94908162124e-05,-0.000171494512812,-6.09601062959e-05,1793250519783085312
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.973869245,746.026130755,722,694.973869245,667,643,891.973869245,789,823,655,632,656.026130755,0.43355154557,-0.00553230869582,0.0698719950003,0.999999975198,-8.17106158536e-05,-0.000197074068788,-6.39489865303e-05,1793250519799751936
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.397642703,746.602357297,722,694.397642703,667,643,891.397642703,789,823,655,632,656.602357297,0.434525187794,-0.00553702802118,0.0699438432573,0.99999999162,-8.20448123397e-05,-7.98411989525e-05,-6.04504084813e-05,1793250519816418560
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.183945791,747,722,694,667.183945791,643,891.183945791,789,823.183945791,654.816054209,632.183945791,657,0.435476457,-0.00554131821537,0.0700019752107,0.99999999474,-8.34910710351e-05,1.50047578554e-05,-5.76559920738e-05,1793250519833085184
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.777473563,747,722,694,667.777473563,643,891.777473563,789,823.777473563,654.222526437,632.777473563,657,0.436377909627,-0.00554465288769,0.0700295658386,0.999999992787,-8.74134995979e-05,6.00030268593e-05,-5.64294944894e-05,1793250519849751552
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,722,694,667.639769486,643,891.639769486,788.639769486,824,654.360230514,632.639769486,657,0.437254954752,-0.00554738600175,0.0700300148994,0.999999991689,-9.2557954928e-05,6.89784083943e-05,-5.74126044774e-05,1793250519866418176
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,722,694,667.063472905,643,891.063472905,788.063472905,824,654.936527095,632.063472905,657,0.438117360216,-0.00554975830127,0.0700141844613,0.999999991784,-9.84353810799e-05,5.63472787592e-05,-5.97210360097e-05,1793250519883084800
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.487020427,746.487020427,722.512979573,694.512979573,667,643,891.512979573,788.512979573,824,655,632.512979573,657,0.438885730755,-0.0055482730436,0.0699475808266,0.999999992296,-9.62037926985e-05,-4.8469616902e-05,-6.16669349692e-05,1793250519899751936
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.091270317,746.091270317,722.908729683,695,667,643,892,788.908729683,824,654.908729683,632.908729683,657,0.439633811711,-0.00554603402162,0.0698763601544,0.999999980547,-9.15875767583e-05,-0.000162746346529,-6.34982217972e-05,1793250519916418816
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.67946449,746.67946449,722.32053551,695,667,643,892,788.32053551,824,654.32053551,632.32053551,657,0.440334793407,-0.00554229062714,0.0698142167767,0.999999959248,-7.94526711934e-05,-0.000266405551874,-6.49498054321e-05,1793250519933085440
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,722,695,666.736983357,642.736983357,892,788.263016643,824.263016643,654.263016643,632,657,0.441087469555,-0.00553988065982,0.0697963535196,0.999999950932,-7.57229241968e-05,-0.000296830881492,-6.55291296738e-05,1793250519949752064
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,747,722,695,666.158990312,642.158990312,892,788.841009688,824.841009688,654.841009688,632,657,0.441902052505,-0.00553906754263,0.0698315180636,0.999999965823,-8.20588025544e-05,-0.000239554749287,-6.50638773504e-05,1793250519966418432
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722.418805389,695,666,642,892,788.581194611,825,654.581194611,632,657,0.442666564833,-0.00554107850284,0.0698552826469,0.999999972339,-8.53374359752e-05,-0.000209591615615,-6.41210271628e-05,1793250519983085056
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722.996526257,695,666,642,892,788.003473743,825,654.003473743,632,657,0.443412077957,-0.00554416105763,0.0698747215242,0.999999976143,-8.74560000229e-05,-0.000189992379817,-6.29969527159e-05,1793250519999751936
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,747,722.427477192,695,666,642,892,788,825,654,632,657,0.444084532895,-0.00554635411539,0.0698367404271,0.99999996041,-8.5540031481e-05,-0.000260667839603,-6.25704708119e-05,1793250520016418304
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,722.151492005,695,665.848507995,642,892,787.848507995,825,654.151492005,632,656.848507995,0.444740407016,-0.00554768944882,0.0697970630386,0.999999940732,-8.37783535573e-05,-0.000328020386882,-6.26031061092e-05,1793250520033084928
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,722.739048006,695,665.260951994,642,892,787.260951994,825,654.739048006,632,656.260951994,0.445349826159,-0.00554657134408,0.0697535027515,0.999999920731,-8.25310468135e-05,-0.00038423617388,-6.39451466652e-05,1793250520049751552
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.677918965,747,722.677918965,694.677918965,664.677918965,642,892,787,825,654.677918965,631.677918965,656.322081035,0.445953831508,-0.0055456405302,0.0697253250393,0.999999906324,-8.01738440412e-05,-0.00042029852384,-6.53736047013e-05,1793250520066418176
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.098499762,747,722.098499762,694.098499762,664.098499762,642,892,787,825,654.098499762,631.098499762,656.901500238,0.446553511274,-0.00554485935913,0.0697094377883,0.999999897891,-7.69298503215e-05,-0.000440258561367,-6.68711090917e-05,1793250520083085056
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.479139421,747,722,694.479139421,664.479139421,641.520860579,892,787,825,654.479139421,631.479139421,657,0.447107849347,-0.00554558141952,0.0696927044782,0.999999881148,-7.83143514578e-05,-0.000476503853737,-6.71988330222e-05,1793250520099751680
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.944226536,747,722,694.944226536,664.944226536,641,892,786.944226536,825.055773464,654.944226536,631.944226536,657,0.44765260601,-0.00554700964609,0.069676669098,0.999999862765,-8.07835823256e-05,-0.000513256276934,-6.71729768204e-05,1793250520116418048
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.373506671,747,722,694.373506671,664.373506671,641,892,786.373506671,825.626493329,654.373506671,631.373506671,657,0.448194641522,-0.00555211513042,0.0696686774989,0.999999857011,-8.45153303455e-05,-0.000523895133085,-6.60946634368e-05,1793250520133084928
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.205096798,747,722,694,663.794903202,640.794903202,892,786,826,654.205096798,631.205096798,657,0.448729085437,-0.0055563511444,0.0696714196552,0.999999859794,-8.71023718059e-05,-0.000518289110197,-6.48182407875e-05,1793250520149751808
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.798631144,747,722,694,663.201368856,640.201368856,892,786,826,654.798631144,631.798631144,657,0.449249151393,-0.00555894044787,0.0696944907192,0.999999878053,-8.75214266748e-05,-0.000481916535327,-6.31666145165e-05,1793250520166418176
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.618283766,747,722,694,663,639.618283766,892,786,826,654.618283766,631.618283766,656.618283766,0.449734866386,-0.00556112020743,0.0697095061008,0.999999889732,-9.51194561433e-05,-0.000455587451778,-6.2674772149e-05,1793250520183085312
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.0405641,747,722,694,663,639.0405641,892,786,826,654.0405641,631.0405641,656.0405641,0.450202942914,-0.00556308967487,0.0697203850573,0.99999989801,-0.000106403741401,-0.000434415491078,-6.2778454803e-05,1793250520199752448
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+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747,722,694.40974023,661,638,893,784,826.59025977,654.40974023,631,657,0.452776230854,-0.00556850688643,0.0695903437914,0.999999800308,-0.000111368093171,-0.000618022245957,-7.09267078531e-05,1793250520333085184
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+211,3.516666667,POSE1_TO_POSE2_PRESS,769,747,722,694,660,638,893,783.654783441,826.345216559,654,631,657,0.453421859174,-0.0055738900117,0.0695792774393,0.99999978625,-0.000135190710256,-0.000636625300591,-6.27008709097e-05,1793250520383085312
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,747,722,694,660,638,893,783.071717869,826.928282131,654,631,657,0.453606740246,-0.00557747840581,0.0695796095067,0.999999789471,-0.000114316838415,-0.000636223049295,-5.66533200127e-05,1793250520399751680
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+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,722,694.921133755,660,637,893,783,826.078866245,654.078866245,631,657,0.453912134583,-0.00557829776532,0.0695851423813,0.999999793734,-0.000111073604784,-0.000629868405793,-5.8829377051e-05,1793250520433085184
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,722,694.346944523,660,637,893,783,826.653055477,654.653055477,631,657,0.45403379432,-0.00558080718349,0.0695870382236,0.999999793374,-0.000114250054586,-0.000629805769068,-5.95223692711e-05,1793250520449751808
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.766245786,747.233754214,722,694.233754214,659.766245786,637,893,783,827,655,631,657,0.45414113278,-0.00558134074961,0.069584708954,0.999999789779,-0.000115975789419,-0.000635091721639,-6.04187414768e-05,1793250520466418688
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+221,3.683333333,POSE1_TO_POSE2_PRESS,770,747,722,694.859106692,659.859106692,636.859106692,892.859106692,783,827,654,631,657,0.454460535806,-0.00558097277879,0.0695521847851,0.99999975353,-0.00011866066763,-0.00068917491033,-6.24313828057e-05,1793250520549752320
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+223,3.716666667,POSE1_TO_POSE2_PRESS,770,747,722,694.309782695,659,636.309782695,892.309782695,782.690217305,827,654.309782695,631,657,0.45453143182,-0.00557810208794,0.0695531700944,0.999999753758,-0.000114247587004,-0.00068959443401,-6.23839137829e-05,1793250520583085056
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+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,722,695,659,637,893,782.955336306,827,654,631,657,0.454594618258,-0.00558242341463,0.0695543048709,0.99999975328,-0.000121037665748,-0.000689335861544,-6.00408106721e-05,1793250520633085440
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+233,3.883333333,POSE1_TO_POSE2_PRESS,769.896948808,747,722,694.896948808,659,636.896948808,892.103051192,782,826.103051192,654.103051192,631,657,0.45461949918,-0.00557643552938,0.0695480517197,0.999999747467,-0.000114351679875,-0.000698945929357,-5.88595693755e-05,1793250520749751552
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769.990821249,747,722,695,658,636.990821249,892,782.009178751,827,654.009178751,630.009178751,656,0.454619340478,-0.00557655767751,0.0695449957901,0.999999743341,-0.00011648507607,-0.000704524838039,-5.82524345331e-05,1793250520833085696
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.415096848,747,722,695,658,636.415096848,892,782.584903152,827,654.584903152,630.584903152,656,0.454619198561,-0.00557540316832,0.0695438570145,0.999999742751,-0.000114619513391,-0.000705679537632,-5.81165097066e-05,1793250520849752064
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+241,4.016666667,POSE1_TO_POSE2_PRESS,769.732375433,747.732375433,722,695,658,636,892.732375433,782.267624567,827,654.267624567,631,656.732375433,0.454618538658,-0.00557388810318,0.0695430155317,0.999999741816,-0.000112646319985,-0.000707326152545,-5.80442695463e-05,1793250520883085312
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747.684217263,722,695,658,636,892.684217263,782,826.684217263,654,631,657,0.454618722715,-0.00557393948635,0.0695433250404,0.999999741756,-0.000113303138384,-0.000707291173548,-5.82263941752e-05,1793250520899751680
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+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,722,695,658,636,892.488240362,782,826.488240362,654.488240362,631,657,0.454619348828,-0.00557571967813,0.0695435347003,0.999999741759,-0.000114755731192,-0.000707058718046,-5.81540106628e-05,1793250520933085440
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,722,695,658,636.065120857,893,782,827,654.934879143,631,657,0.454619253151,-0.0055768745244,0.0695431393286,0.999999741597,-0.000114360653078,-0.000707386698409,-5.77187676291e-05,1793250520949752320
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+247,4.116666667,HOLD_POSE2,770,747,722,695,659,637,893,782,826,655,631,657,0.454623036416,-0.0055762763223,0.0695438572996,0.999999743706,-0.000114647458768,-0.000704370351721,-5.75050080501e-05,1793250521005181952
+248,4.133333333,HOLD_POSE2,770,747,722.581040588,695,658.418959412,636.418959412,893,782,826,654.418959412,631,657,0.454621762703,-0.00557598998224,0.0695434692041,0.999999742476,-0.000114451189066,-0.000706141924338,-5.75475434258e-05,1793250521021847808
+249,4.150000000,HOLD_POSE2,770,747,722.839688932,695,658.160311068,636.160311068,892.839688932,782,826.160311068,654,631,657,0.454620996048,-0.00557530265309,0.0695431755537,0.999999741695,-0.000114259360701,-0.000707271064914,-5.76328467148e-05,1793250521038514176
+250,4.166666667,HOLD_POSE2,770,747,722.264993835,695,658.735006165,636.735006165,892.264993835,782,826.735006165,654,631,657,0.454621540076,-0.00557357881732,0.0695431260318,0.99999974208,-0.000114079012595,-0.000706739599523,-5.78286997119e-05,1793250521055180544
+251,4.183333333,HOLD_POSE2,770,747,722,695,658.690728271,636.690728271,892.309271729,782,827,654.309271729,631,657,0.454622243436,-0.00557397696497,0.0695434568315,0.999999742361,-0.000115235856417,-0.000706157869346,-5.77986120186e-05,1793250521071846912
+252,4.200000000,HOLD_POSE2,770,747,722,695,658.116830269,636.116830269,892.883169731,782,827,654.883169731,631,657,0.454623083128,-0.00557619077356,0.0695441130507,0.999999742547,-0.000117536859523,-0.000705533130471,-5.75751996821e-05,1793250521088513536
+253,4.216666667,HOLD_POSE2,770,747,722,695,658,636.47108012,892.52891988,782,826.52891988,654.52891988,631,657,0.454622265036,-0.00557616601622,0.0695439771603,0.999999742195,-0.000116530063718,-0.000706218006818,-5.73302854244e-05,1793250521105180416
+254,4.233333333,HOLD_POSE2,770,747,722,695,658,637,892.061343947,782.061343947,826.061343947,654.061343947,631,657,0.454621342119,-0.00557558749879,0.0695438070674,0.999999741925,-0.000114680966186,-0.000706924856723,-5.70552944743e-05,1793250521121847040
+255,4.250000000,HOLD_POSE2,770,747,722,695,658,637,892.641225532,782.641225532,826.641225532,654.641225532,631,657,0.45462311501,-0.00557516481796,0.0695450593305,0.999999743527,-0.000112858908325,-0.000704987834883,-5.65725245887e-05,1793250521138513664
+256,4.266666667,HOLD_POSE2,770,747,722,695,658,637,893,782.781034838,827,655,631,657,0.454623185035,-0.00557443748375,0.0695445869767,0.999999743366,-0.000111315566655,-0.000705476085759,-5.63989394249e-05,1793250521155180032
+257,4.283333333,HOLD_POSE2,770,747,722,695,658,637,893,782.206770862,827,655,631,657,0.454620491945,-0.00557321581072,0.0695413162126,0.999999740338,-0.000110224477619,-0.000709899650165,-5.67270458306e-05,1793250521171846912
+258,4.300000000,HOLD_POSE2,770,747,722,695,658.37796091,637,893,782,827,655,631,657,0.454620803689,-0.00557375081934,0.0695410502644,0.999999740124,-0.000111620512406,-0.000709979585945,-5.6764588887e-05,1793250521188513536
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbb0dbe024f6d3121672305e1391b3bbb84dea79
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31caccbb6260480450ddc0efb3690c5d49769536
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f5d6d70520fb776d2afb5e4356f7e6801dbc7f4116eb384530e3b8b6f02a2f
+size 26021701
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c896d9e807cf89788d134d76c0d4f091f8a49b0e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+4,0.066666667,BASELINE,769,745,722,685,666,642,887,788,819,654,632,656.687369911,0.400974505302,-0.00535298939033,0.0698288791964,0.999999936917,0.000226458641655,-0.000273281724761,1.40933981974e-05,1793250523915725568
+5,0.083333333,BASELINE,769,745,722,685,666,642,887,788,819,654,632,656.094777932,0.400974186877,-0.00535287962523,0.0698284274962,0.999999936232,0.000228569194432,-0.000274043514943,1.38387689455e-05,1793250523932392192
+6,0.100000000,BASELINE,769.484559242,745,722,685.484559242,666,642,887,788,819,654,632,656,0.400974827019,-0.0053538908438,0.0698292887977,0.99999993705,0.000226496580071,-0.000272773918386,1.38850105859e-05,1793250523949059072
+7,0.116666667,BASELINE,769.938553383,745,722,685.938553383,666.061446617,642,887.061446617,788,819,654.061446617,632,656.061446617,0.400975533252,-0.00535514167261,0.0698302424679,0.999999938036,0.000223787556066,-0.000271388164004,1.40132730886e-05,1793250523965725696
+8,0.133333333,BASELINE,769.361046526,745,722,685.361046526,666.638953474,642,887.638953474,788,819,654.638953474,632,656.638953474,0.400975261816,-0.00535661244297,0.0698298724368,0.999999938094,0.000222422429509,-0.000272274999373,1.43493029578e-05,1793250523982391808
+9,0.150000000,BASELINE,769,745,722,685,666.779962126,642,887.779962126,788,819,654.779962126,632,656.779962126,0.400974937813,-0.00535750189616,0.0698296125736,0.999999938013,0.000222082400835,-0.000272839183041,1.45348148287e-05,1793250523999058176
+10,0.166666667,BASELINE,769,745,722,685,666.192910599,642,887.192910599,788,819,654.192910599,632,656.192910599,0.400974526128,-0.0053574217373,0.0698295364659,0.999999937702,0.000223452191214,-0.000272865197541,1.44692691578e-05,1793250524015725056
+11,0.183333333,BASELINE,769.387107943,745,722,685,666,642,887.387107943,788,819,654,632,656.387107943,0.400974526668,-0.00535727825506,0.0698292903884,0.999999937755,0.000222890310379,-0.000273142860579,1.4234856877e-05,1793250524032391680
+12,0.200000000,BASELINE,769.963684271,745,722,685,666,642,887.963684271,788,819,654,632,656.963684271,0.400974728969,-0.00535710377945,0.06982896112,0.999999937985,0.000221382981156,-0.000273543691957,1.39177935246e-05,1793250524049058560
+13,0.216666667,BASELINE,770,745.541559706,722,685,666.541559706,642,888,788.541559706,819.541559706,654,632,656.458440294,0.400975308374,-0.00535624602027,0.0698295054035,0.999999938135,0.000222081771601,-0.000272434886904,1.37538376342e-05,1793250524065725184
+14,0.233333333,BASELINE,770,746,722,685,666.881956222,642,888,788.881956222,819.881956222,654,632,656.118043778,0.400975731775,-0.00535576605407,0.0698299620094,0.999999938308,0.000222340079689,-0.000271591262808,1.37017860596e-05,1793250524082391808
+15,0.250000000,BASELINE,770,746,722,685,666.311143634,642,888,788.311143634,819.311143634,654,632,656.688856366,0.400975459582,-0.00535691131817,0.0698298570959,0.999999938593,0.000220340080945,-0.000272153988522,1.40394798065e-05,1793250524099058432
+16,0.266666667,BASELINE,769.728405687,745.728405687,722,685,666.271594313,642,888,788,819,654,632,657,0.400974610438,-0.00535652130534,0.0698292974614,0.99999993813,0.000221166862128,-0.000273180756034,1.4082025661e-05,1793250524115725056
+17,0.283333333,BASELINE,769.131378432,745.131378432,722,685,666.868621568,642,888,788,819,654,632,657,0.400973069972,-0.0053542916748,0.0698281929657,0.999999936759,0.000225380781037,-0.000274763553152,1.37709159039e-05,1793250524132391680
+18,0.300000000,BASELINE,769,745,722,685,666.55033451,642,887.55033451,788,819,654,632,657,0.400973871286,-0.00535559571922,0.0698285002191,0.999999937499,0.000222906109603,-0.000274092173269,1.37206270691e-05,1793250524149058304
+19,0.316666667,BASELINE,769.026026194,745,722,685,666,642.026026194,887,788,819,654,632,656.973973806,0.40097522318,-0.00535771149732,0.0698291703921,0.999999938718,0.000218898410101,-0.000272871919903,1.37435622335e-05,1793250524165724928
+20,0.333333333,BASELINE,769.598739099,745,722,685,666,642.598739099,887,788,819,654,632,656.401260901,0.400974261772,-0.00535593585547,0.0698290971479,0.999999937794,0.000222328557576,-0.00027348167165,1.37588479534e-05,1793250524182391552
+21,0.350000000,BASELINE,769.826576713,745.173423287,722,685,666,642.826576713,887,788.173423287,819,654,632,656,0.400974289066,-0.0053548991909,0.0698295332044,0.999999937493,0.00022412717133,-0.00027311133608,1.37963404089e-05,1793250524199058176
+22,0.366666667,BASELINE,769.247279077,745.752720923,722,685,666,642.247279077,887,788.752720923,819,654,632,656,0.400976630283,-0.00535559200552,0.069831161212,0.999999938667,0.000222107394936,-0.000270447235223,1.38858048004e-05,1793250524215724800
+23,0.383333333,BASELINE,769.339600304,745.660399696,722,685,666,642,887.339600304,788.660399696,819,654,632,656.339600304,0.400977012856,-0.00535678650727,0.0698313196973,0.999999938969,0.000221313052577,-0.000269965831836,1.41542381376e-05,1793250524232391424
+24,0.400000000,BASELINE,769.932126441,745.067873559,722,685,666,642,887.932126441,788.067873559,819,654,632,656.932126441,0.400975936678,-0.00535835465315,0.0698303837191,0.999999938628,0.000221431382695,-0.000271110046777,1.45559630888e-05,1793250524249058560
+25,0.416666667,BASELINE,770,745.511388936,722,685,666,642,887.488611064,788,819,654.511388936,632,657,0.400975043029,-0.0053584103844,0.0698294711926,0.999999938128,0.000222144975227,-0.00027235438353,1.4759773415e-05,1793250524265724928
+26,0.433333333,BASELINE,770,746,722,685,666,642,887,788,819,655,632,656.915273208,0.400974336794,-0.00535783864886,0.0698288722228,0.999999937656,0.000223175085288,-0.000273242846692,1.48178532366e-05,1793250524282391296
+27,0.450000000,BASELINE,770,746,722,685,666,642,887,788,819,655,632,656.365057921,0.400974530479,-0.00535489456351,0.0698299792635,0.999999937449,0.000225521058204,-0.000272104981354,1.42159584601e-05,1793250524299058176
+28,0.466666667,BASELINE,770,745.792894974,722,685,666,642,887,788,819,654.792894974,631.792894974,656.207105026,0.400974546183,-0.00535388132902,0.0698302746124,0.999999937543,0.000225532695669,-0.000271767081559,1.38250338458e-05,1793250524315725056
+29,0.483333333,BASELINE,770,745.17745986,722,685,666,642,887,788,819,654.17745986,631.17745986,656.82254014,0.40097421098,-0.00535667497724,0.0698289696225,0.99999993823,0.000220941936739,-0.000273006400916,1.38500598905e-05,1793250524332391680
+30,0.500000000,BASELINE,769.58734887,745,722,685,666,642,887,788,819,654,631.41265113,657,0.400973849138,-0.00535611668883,0.0698283942166,0.999999937831,0.000221654452153,-0.000273896092028,1.37337580756e-05,1793250524349058304
+31,0.516666667,BASELINE,769.007498784,745,722,685,666,642,887,788,819,654,631.992501216,657,0.400973476504,-0.00535420025475,0.0698281144253,0.99999993699,0.000224515760879,-0.000274644119912,1.35601927048e-05,1793250524365725184
+32,0.533333333,BASELINE,769,745.569375795,722,685.569375795,666.569375795,642,887,788,819.569375795,654.569375795,632,656.430624205,0.400974545845,-0.00535579208672,0.0698291863231,0.99999993818,0.000222017571897,-0.000272327883757,1.3646826074e-05,1793250524382391808
+33,0.550000000,BASELINE,769.145702793,745.854297207,722,686,667,642,887.145702793,788,819.854297207,654.854297207,632,656.145702793,0.400975039006,-0.0053570548237,0.0698298567868,0.99999993894,0.000220076480295,-0.000271102655896,1.37563325498e-05,1793250524399058432
+34,0.566666667,BASELINE,769.720531761,745.279468239,722,686,667,642,887.720531761,788,819.279468239,654.279468239,632,656.720531761,0.400973779549,-0.00535721292984,0.069829292782,0.999999938385,0.000219982970166,-0.000273208925313,1.39231648585e-05,1793250524415725312
+35,0.583333333,BASELINE,769.697081044,745,722,685.697081044,666.697081044,642,888,788,819,654,632,656.697081044,0.400973496014,-0.00535628007024,0.0698291739187,0.999999937972,0.000221177295137,-0.000273759995085,1.38294172233e-05,1793250524432391936
+36,0.600000000,BASELINE,769.10754224,745,722,685.10754224,666.10754224,642,888,788,819,654,632,656.10754224,0.400974135887,-0.00535431494633,0.0698294762452,0.999999937692,0.000223590160875,-0.000272839545817,1.34891106441e-05,1793250524449058304
+37,0.616666667,BASELINE,769.472892854,745.472892854,722,685,666.472892854,642,887.527107146,788,819,654,632,656.472892854,0.400974956587,-0.00535437164299,0.0698304064521,0.999999938029,0.000223681537605,-0.000271520786198,1.35860284807e-05,1793250524465725184
+38,0.633333333,BASELINE,769.949190177,745.949190177,722.050809823,685,666.949190177,642.050809823,887.050809823,788,819,654,632,656.949190177,0.400975727141,-0.00535483949389,0.069831366893,0.99999993845,0.000223397182151,-0.000270193251349,1.37892446434e-05,1793250524482391808
+39,0.650000000,BASELINE,769.376276235,745.376276235,722.623723765,685,666.376276235,642.623723765,887.623723765,788,819,654,632,656.376276235,0.400975567826,-0.00535489682393,0.0698311984759,0.999999938318,0.00022457437805,-0.000269688744898,1.40823273897e-05,1793250524499058432
+40,0.666666667,BASELINE,769,745,722.7990153,685,666,642.7990153,887.7990153,788,819.2009847,654.2009847,632,656.2009847,0.400975186509,-0.00535527801679,0.0698309618338,0.99999993845,0.000223999517389,-0.000269671191894,1.41772950478e-05,1793250524515725056
+41,0.683333333,BASELINE,769,745,722.213436209,685,666,642.213436209,887.213436209,788,819.786563791,654.786563791,632,656.786563791,0.400974380381,-0.00535627893753,0.0698305946397,0.999999939079,0.000220072007813,-0.000270585448968,1.38931594467e-05,1793250524532391680
+42,0.700000000,BASELINE,769.370317226,745.370317226,722,685,666.370317226,642,887,788,819.629682774,654.629682774,632,656.629682774,0.400974529855,-0.00535542043395,0.0698306772608,0.999999938852,0.000220812360852,-0.000270833460643,1.37039776982e-05,1793250524549058304
+43,0.716666667,BASELINE,769.953023568,745.953023568,722,685,666.953023568,642,887,788,819.046976432,654.046976432,632,656.046976432,0.400975227399,-0.00535349548929,0.0698310178658,0.999999938129,0.000224229886838,-0.000270699358624,1.35692551186e-05,1793250524565725184
+44,0.733333333,BASELINE,769.46769656,745.46769656,722,684.46769656,666.46769656,642,887,788,819,654,632,656.53230344,0.400975179001,-0.00535406686867,0.0698306002621,0.999999938042,0.00022415722371,-0.000271071024841,1.37536319938e-05,1793250524582391552
+45,0.750000000,BASELINE,769,745,722,684.110155278,666.110155278,642,887.110155278,788,819,654,632,656.889844722,0.400975223162,-0.00535508511227,0.0698302149738,0.999999938205,0.000223220432736,-0.000271237836399,1.39024527931e-05,1793250524599058176
+46,0.766666667,BASELINE,769,745,722,684.683268,666.683268,642,887.683268,788,819,654,632,656.316732,0.400975931227,-0.00535706145972,0.0698302449206,0.999999939172,0.000219938140774,-0.000270357301053,1.37842425517e-05,1793250524615725056
+47,0.783333333,BASELINE,769,745.264636069,722,685,666.735363931,642,887.735363931,788,819,654,632,656,0.400976461557,-0.00535733296266,0.0698303802798,0.99999993939,0.000219614522919,-0.000269818826959,1.36962818047e-05,1793250524632391680
+48,0.800000000,BASELINE,769,745.856202849,722,685,666.143797151,642,887.143797151,788,819,654,632,656,0.400976772314,-0.0053554983054,0.0698306458652,0.999999938685,0.000222946042926,-0.000269702934331,1.36456911886e-05,1793250524649058560
+49,0.816666667,BASELINE,769,745.562316316,722,685,666.437683684,642,887.437683684,788,819,654,632,656,0.400975182493,-0.00535680989633,0.0698296483443,0.999999938251,0.000222700021704,-0.000271497539087,1.38731657709e-05,1793250524665725184
+50,0.833333333,BASELINE,769,745,722,685,666.984185495,642,887.984185495,788.015814505,819,654,632,656,0.400973062989,-0.0053590182765,0.0698283129769,0.999999937911,0.000221373221619,-0.0002738078956,1.41758991368e-05,1793250524682391808
+51,0.850000000,BASELINE,769,745,722,685,666.40997284,642,887.40997284,788.59002716,819,654,632,656,0.400973791938,-0.00535721553915,0.0698293711766,0.999999937987,0.000222451543446,-0.000272665468126,1.39829151308e-05,1793250524699058432
+52,0.866666667,BASELINE,769,745,722,685,666,642,887,788.831515814,819,654,632.168484186,656,0.400974463954,-0.00535554417742,0.0698300993684,0.999999937927,0.000223895736153,-0.000271709731349,1.38096707555e-05,1793250524715725056
+53,0.883333333,BASELINE,769,745,722,685,666,642,887,788.24246409,819,654,632.75753591,656,0.40097499386,-0.00535420075351,0.0698300037995,0.999999937531,0.000226253209856,-0.00027122000898,1.3685700143e-05,1793250524732391680
+54,0.900000000,BASELINE,769,745,722,685,666,642,887.3400142,788.3400142,818.6599858,654,632.6599858,656,0.400976012754,-0.0053545036602,0.0698310345811,0.999999938011,0.000226291793414,-0.000269404869468,1.38199012547e-05,1793250524749058304
+55,0.916666667,BASELINE,769,745,722,685,666,642,887.917893855,788.917893855,818.082106145,654,632.082106145,656,0.400977373731,-0.00535595829876,0.0698328533294,0.999999939099,0.000224708139156,-0.000266662501194,1.41347128716e-05,1793250524765725184
+56,0.933333333,BASELINE,769,745,722,685,666,642,888,788.50549826,818.49450174,654,632,656,0.40097530471,-0.00535555379502,0.0698313853648,0.99999993813,0.000225385184498,-0.000269720010092,1.38823915397e-05,1793250524782391808
+57,0.950000000,BASELINE,769,745,722,685,666,642.070767835,887.929232165,788.070767835,819,654,632,656,0.400973030144,-0.00535501324705,0.0698295870636,0.999999937057,0.00022604949266,-0.000273136441943,1.35692828807e-05,1793250524799058688
+58,0.966666667,BASELINE,769,745,722,685,666,642.646098415,887.353901585,788.646098415,819,654,632,656,0.400973340178,-0.00535569797838,0.0698293144272,0.999999937768,0.000223953581323,-0.000272263511594,1.34924342887e-05,1793250524815725312
+59,0.983333333,BASELINE,769,745.227169109,722,685,666,642.772830891,887.227169109,788.772830891,819,654,632,656,0.400973612401,-0.00535666159704,0.0698293181992,0.999999938234,0.00022269873506,-0.000271573111246,1.36217852798e-05,1793250524832391936
+60,1.000000000,BASELINE,769,745.817414102,722,685,666,642.182585898,887.817414102,788.182585898,819,654,632,656,0.400973824191,-0.00535807095102,0.0698297637444,0.999999938316,0.000222788131304,-0.00027117444163,1.40806973351e-05,1793250524849058560
+61,1.016666667,BASELINE,769.40081507,745.59918493,722,685,666,642,887.59918493,788,819.40081507,654,632,656.40081507,0.400974992262,-0.00535794145416,0.0698306468254,0.99999993882,0.000222143834878,-0.000269845895235,1.39996351683e-05,1793250524865725184
+62,1.033333333,BASELINE,769.981150642,745.018849358,722,685,666,642,887.018849358,788,819.981150642,654,632,656.981150642,0.400976588641,-0.00535712272346,0.0698317258735,0.999999939509,0.000221170925858,-0.00026810086765,1.36767246729e-05,1793250524882391808
+63,1.050000000,BASELINE,770,745,722,685,666,642.556014564,887.556014564,788,819.443985436,654,632,657,0.400975217921,-0.00535663960621,0.0698310214364,0.999999938953,0.000222258204884,-0.000269271751917,1.37189561557e-05,1793250524899058432
+64,1.066666667,BASELINE,769.86940658,745.13059342,722,685,666,642.86940658,888,788,819,654.13059342,632,657,0.400974223482,-0.00535622836147,0.0698304956839,0.99999993848,0.000223409651473,-0.000270068163628,1.37968713362e-05,1793250524915725056
+65,1.083333333,BASELINE,769.295172158,745.704827842,722,685,666,642.295172158,888,788,819,654.704827842,632,657,0.400974845692,-0.0053560230017,0.0698307803375,0.999999938442,0.000224544133051,-0.000269259909802,1.39543663645e-05,1793250524932391680
+66,1.100000000,BASELINE,769,745.71331529,722,685,666,642,888,788.28668471,819,654.71331529,632,657,0.400975660999,-0.00535588247088,0.0698313470135,0.999999938582,0.000224817627238,-0.000268508778386,1.40064815447e-05,1793250524949058560
+67,1.116666667,BASELINE,769,745.12339598,722,685,666,642,888,788.87660402,819,654.12339598,632,657,0.400976680552,-0.0053558105115,0.0698322119927,0.999999938911,0.000224180430414,-0.000267818067024,1.39471334415e-05,1793250524965725184
+68,1.133333333,BASELINE,769.456495659,745,722,685,666,642,888,788.543504341,819,654,632,656.543504341,0.400975426255,-0.0053564515887,0.0698307388425,0.99999993892,0.000221471762241,-0.000270041635469,1.37367534398e-05,1793250524982391808
+69,1.150000000,BASELINE,770,745,722,685,666,642.033649935,888,788,819,654,631.966350065,656,0.400973726809,-0.00535722533955,0.0698288701666,0.999999938856,0.000218466733656,-0.000272724782687,1.35021023952e-05,1793250524999058432
+70,1.166666667,BASELINE,770,745,722,685,666,642.609433567,888,788,819,654,631.390566433,656,0.40097454528,-0.00535709807624,0.0698305928303,0.999999939259,0.000219514367576,-0.000270393353436,1.35200248317e-05,1793250525015725056
+71,1.183333333,BASELINE,770,745,722,685,666,642.81443497,887.81443497,788,819,654,631.18556503,656,0.400975039013,-0.00535685493741,0.0698314945197,0.99999993939,0.000220505916911,-0.000269096586007,1.35582531636e-05,1793250525032391936
+72,1.200000000,BASELINE,770,745,722,685,666,642.237569932,887.237569932,788,819,654,631.762430068,656,0.400974847972,-0.00535636745249,0.0698306650255,0.999999938958,0.000221379201166,-0.000269981604112,1.36393004345e-05,1793250525049058560
+73,1.216666667,BASELINE,769.651173528,745.348826472,722,685.348826472,666,642,887,788,819,654,632,656,0.400975290653,-0.0053571476717,0.0698306403096,0.999999938903,0.000221891266669,-0.000269751615438,1.38506086832e-05,1793250525065725184
+74,1.233333333,BASELINE,769.058103424,745.941896576,722,685.941896576,666,642,887,788,819,654,632,656,0.400976177058,-0.00535881552045,0.0698311790888,0.999999939114,0.000222150411574,-0.000268740913872,1.4153123922e-05,1793250525082391808
+75,1.250000000,BASELINE,769.521309549,746,722,685.478690451,666,642,887,788,819,654.521309549,632,656,0.400976217206,-0.00535716602266,0.0698316367957,0.999999939065,0.000222999222292,-0.000268216673926,1.41613057617e-05,1793250525099058432
+76,1.266666667,BASELINE,769.901583124,745.901583124,722,685.098416876,666,642,887.098416876,788,819,655,632,656.098416876,0.400976359046,-0.00535557058739,0.0698319546945,0.999999939094,0.00022345444583,-0.000267732707624,1.41044974949e-05,1793250525115725056
+77,1.283333333,BASELINE,769.328442391,745.328442391,722,685.671557609,666,642,887.671557609,788,819,655,632,656.671557609,0.400977434767,-0.00535597387842,0.0698316406885,0.999999939633,0.000221702236824,-0.000267188149257,1.38884033958e-05,1793250525132391936
+78,1.300000000,BASELINE,769.251720548,745,722,685.748279452,666,642,887.748279452,788,819,654.748279452,632,657,0.400977275341,-0.00535622735542,0.0698312089515,0.999999939736,0.000220639552014,-0.000267693781006,1.36148470915e-05,1793250525149058816
+79,1.316666667,BASELINE,769.841308883,745,722,685.158691117,666,642,887.158691117,788,819,654.158691117,632,657,0.400975458061,-0.00535627974693,0.0698306191922,0.999999939257,0.000220502369914,-0.000269609013296,1.32641630999e-05,1793250525165725440
+80,1.333333333,BASELINE,769.576509578,745,722,685,666,642,887,788,819,654,632,657,0.400975344291,-0.00535605435337,0.0698310555473,0.999999938884,0.00022258230299,-0.000269267724119,1.35702155106e-05,1793250525182391808
+81,1.350000000,BASELINE,769.002911816,745.002911816,722,685,666,642.002911816,887,788,819,654,632,656.997088184,0.40097585303,-0.00535572688369,0.069831861687,0.999999938543,0.000225456419156,-0.000268111342132,1.41142738886e-05,1793250525199058688
+82,1.366666667,BASELINE,769.575986643,745.575986643,722,685,666,642.575986643,887,788,819,654,632,656.424013357,0.400975410021,-0.00535544382368,0.0698310791204,0.999999938354,0.000223956565381,-0.000270076276806,1.39030141794e-05,1793250525215725568
+83,1.383333333,BASELINE,770,745.850055241,722,685.149944759,666,642.850055241,887.149944759,788,819,654,632,656.149944759,0.400975165011,-0.0053554763135,0.0698304894974,0.999999938297,0.000222845973968,-0.000271215060398,1.37378023621e-05,1793250525232392192
+84,1.400000000,BASELINE,770,745.273584429,722,685.726415571,666,642.273584429,887.726415571,788,819,654,632,656.726415571,0.400975483218,-0.00535640640196,0.0698304487129,0.999999938626,0.00022284266025,-0.000270003812598,1.37035762386e-05,1793250525249058816
+85,1.416666667,BASELINE,770,745.310924615,722,685.689075385,666,642.310924615,888,788,819,654,632,656.689075385,0.400974905567,-0.00535675250384,0.0698302050772,0.999999938584,0.00022282962859,-0.000270169373184,1.36991220344e-05,1793250525265725440
+86,1.433333333,BASELINE,770,745.902694219,722,685.097305781,666,642.902694219,888,788,819,654,632,656.097305781,0.400973518726,-0.00535657111539,0.0698297782148,0.999999938207,0.000222807819126,-0.000271578546334,1.37215595414e-05,1793250525282391808
+87,1.450000000,BASELINE,769.516719919,745.516719919,721.516719919,685.483280081,666.483280081,642.516719919,888,788,819,654,632,656.483280081,0.400974819985,-0.00535625308786,0.0698305246247,0.999999938474,0.00022338474469,-0.000270109529967,1.38365575136e-05,1793250525299058432
+88,1.466666667,BASELINE,769.06112043,745,721.06112043,685.93887957,666.93887957,642,887.93887957,788,819,654,632,656.93887957,0.400976371627,-0.00535594614861,0.0698313780621,0.999999938813,0.000224059342143,-0.000268283541787,1.39576405541e-05,1793250525315725056
+89,1.483333333,BASELINE,769.634396855,745,721.634396855,685.365603145,666.365603145,642,887.365603145,788,819,654,632,656.365603145,0.400975588668,-0.00535595744076,0.06983119361,0.999999938719,0.000224565064454,-0.000268212450794,1.39770811982e-05,1793250525332391680
+90,1.500000000,BASELINE,769.786657752,745.213342248,722,685,666,642,887.213342248,788,819,654,632,656,0.400975636676,-0.00535576306862,0.0698313342809,0.999999938717,0.000224814893746,-0.000268013689669,1.38541794705e-05,1793250525349058304
+91,1.516666667,BASELINE,769.197732357,745.802267643,722,685,666,642,887.802267643,788,819,654,632,656,0.400977147578,-0.0053552066302,0.0698320473219,0.999999938881,0.000224614230379,-0.000267590168804,1.3480687919e-05,1793250525365725184
+92,1.533333333,BASELINE,769,745.615567984,722,685,666,642,888,788,819,654,632,656,0.400976768718,-0.00535447002619,0.0698316420461,0.999999938487,0.000225285757458,-0.00026850056305,1.3410585575e-05,1793250525382391808
+93,1.550000000,BASELINE,769,745.036820983,722,685,666,642,888,788,819,654,632,656,0.400975434659,-0.00535364235564,0.0698306715059,0.999999937808,0.000226398141852,-0.000270085197911,1.34938342883e-05,1793250525399058688
+94,1.566666667,BASELINE,769,745,722,685,666,642,887.458470382,788,819,654,632,656,0.400975403517,-0.00535557120094,0.0698316349139,0.999999938783,0.000223572027473,-0.000268800877214,1.39568642549e-05,1793250525415725312
+95,1.583333333,BASELINE,769,745,722,685,666,642,887,788,819,654,632,656,0.400975703099,-0.00535720010343,0.069832367079,0.999999939568,0.000221428941477,-0.000267638018744,1.42699218541e-05,1793250525432391680
+96,1.600000000,BASELINE,769,745,722,685,666,642,887,788,819,654,632,656,0.400976929148,-0.00535696520996,0.0698317120339,0.999999939228,0.000222922259772,-0.000267685444762,1.39105880341e-05,1793250525449058304
+97,1.616666667,BASELINE,769,745,722,685.275858053,666.275858053,642,887,788,819,654,632,656,0.400976895337,-0.00535601569551,0.069831631693,0.999999938871,0.00022431736673,-0.0002678645723,1.370853757e-05,1793250525465725184
+98,1.633333333,BASELINE,769,745,722,685.867793169,666.867793169,642,887,788,819,654,632,656,0.400975417982,-0.00535424737119,0.0698322098462,0.999999938494,0.000225599943438,-0.000268194602918,1.36867017721e-05,1793250525482392064
+99,1.650000000,BASELINE,769,745.44423743,722,685.55576257,667,642.44423743,887.44423743,788,819,654,632,656.44423743,0.40097531878,-0.00535499910092,0.0698322052174,0.999999938761,0.00022429719906,-0.000268296503643,1.36636083216e-05,1793250525499058432
+100,1.666666667,BASELINE,769.016394564,745.983605436,722,685.016394564,667,642.983605436,887.983605436,788,819,654,632,656.983605436,0.400975643618,-0.00535641696618,0.0698320473366,0.999999939192,0.000222355883794,-0.00026830626803,1.36398030756e-05,1793250525515725312
+101,1.683333333,BASELINE,769.594294663,745.405705337,722,685.594294663,667,642.405705337,887.405705337,788,819,654,632,656.405705337,0.400976917745,-0.00535582878483,0.0698323806631,0.999999939064,0.00022400752657,-0.000267407336832,1.3604006222e-05,1793250525532392192
+102,1.700000000,BASELINE,770,745,722,685.823767226,666.823767226,642,887,788,819,654,632,656,0.400977262874,-0.00535560978624,0.069832351911,0.999999938968,0.000224654472084,-0.000267225378927,1.36005896106e-05,1793250525549058816
+103,1.716666667,BASELINE,770,745,722,685.232315298,666.232315298,642,887,788,819,654,632,656,0.400975419204,-0.0053562606132,0.0698314700711,0.999999938948,0.000222934266602,-0.000268732670177,1.36734635624e-05,1793250525565725184
+104,1.733333333,BASELINE,770,745,722,685,666,642,887.350975959,788,819,654,632,656,0.400975048623,-0.00535616112167,0.0698312966797,0.999999938898,0.000222609359717,-0.00026919052705,1.36455744998e-05,1793250525582391552
+105,1.750000000,BASELINE,770,745,722,685,666,642,887.928988368,788,819,654,632,656,0.400975630942,-0.00535557627033,0.0698315815634,0.99999993883,0.000223187031972,-0.000268969534572,1.35525046924e-05,1793250525599057920
+106,1.766666667,BASELINE,769.488579372,745.511420628,722,685,666,642,887.488579372,788,819,654,632,656.511420628,0.400976881693,-0.00535620656797,0.0698330016204,0.999999939168,0.000224081847513,-0.000266947358886,1.38144789167e-05,1793250525615724800
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642,887,788,819,654,632,656,0.400975973642,-0.00535718766541,0.069831161272,0.999999939107,0.000222231233052,-0.000268728181617,1.35564288563e-05,1793250525658991360
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.589014017,745,722,685,666.410985983,642,887,787.410985983,819,654,632,656,0.400975652183,-0.0053569101871,0.0698313802205,0.999999939363,0.00022066582885,-0.000269065100607,1.35817100879e-05,1793250525675657984
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745,722,685,666,642,887.17498089,787.17498089,819,654,632,656.17498089,0.400975683598,-0.0053566657104,0.0698318719027,0.999999939601,0.000219863884159,-0.000268835088842,1.36049185187e-05,1793250525692324608
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745,722,685,666,642,887.753913404,787.753913404,819,654,632,656.753913404,0.400976529635,-0.00535649741941,0.0698329932036,0.999999939802,0.000220824421388,-0.000267296290804,1.36233417961e-05,1793250525708991232
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745,722,685.329957738,666,642,887.670042262,788,819,654,632,656.670042262,0.400976726231,-0.00535761486037,0.0698329579543,0.999999940096,0.000219816505135,-0.000267027588388,1.36232563529e-05,1793250525725657856
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745,722,685.903866689,666,642,887.096133311,788,819,654,632,656.096133311,0.400976442667,-0.00535968289538,0.0698320676203,0.999999940455,0.000217353230891,-0.000267697919553,1.36094866567e-05,1793250525742324480
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.517892958,745,722,685.517892958,666,642,887.482107042,788,819.482107042,654,632,656,0.400975738156,-0.0053578762572,0.0698321383441,0.999999939771,0.000219613606394,-0.00026840876301,1.35961719884e-05,1793250525758991104
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,685.06210274,666.06210274,642,888,788,819.93789726,654,632.06210274,656,0.400975015988,-0.00535574168213,0.0698322642799,0.999999938934,0.000222340684564,-0.000269278726038,1.3587039594e-05,1793250525775657728
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,685.649575326,666.649575326,642,888,788,819.350424674,654,632.649575326,656,0.400974860981,-0.00535742823588,0.0698312214022,0.999999938656,0.000220975442299,-0.000271425832151,1.3612513398e-05,1793250525792324608
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.234903397,745,722,685.765096603,666.765096603,642,888,788,819,654.234903397,632.765096603,656,0.400980114789,-0.00535866879113,0.0698333996503,0.999999939596,0.000220611385709,-0.000268227571764,1.39080392097e-05,1793250525808991232
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.817061208,745,722,685.182938792,666.182938792,642,888,788,819,654.817061208,632.182938792,656,0.400993364372,-0.00535925003289,0.0698403396436,0.999999942255,0.00022172736804,-0.000257127330435,1.46027791343e-05,1793250525825658112
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.607695502,745,722,685,666,642,887.607695502,788,819,655,632,656,0.401022601635,-0.00535944577148,0.0698518247732,0.999999947261,0.000220627214557,-0.000237870899477,1.4781151937e-05,1793250525842324480
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.035620684,745,722,685,666,642,887.035620684,788,819,655,632,656,0.401059165122,-0.00535946485646,0.0698653926748,0.999999952932,0.000218511535011,-0.000214876960408,1.47229037936e-05,1793250525858991104
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722,685,666,642,887,788,819,654.44626971,632,656,0.40111409641,-0.00535978311013,0.0698802751164,0.999999956086,0.000221777034764,-0.000195994287043,1.51672347717e-05,1793250525875657728
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,722,685,666.14120004,642,887.14120004,788,819,654,632,656,0.401173910326,-0.00536079984822,0.0698933255725,0.999999958862,0.000223424778927,-0.000179224040509,1.53699771116e-05,1793250525892324352
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,722,685,666.719299601,642,887.719299601,788,819,654,632,656,0.401245058274,-0.00536391636305,0.0699004374451,0.999999961783,0.000218961294239,-0.000168145356565,1.47219415091e-05,1793250525908990976
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.297296888,745,722,685.297296888,667,642,887.702703112,788,819,654,632,656.297296888,0.401325745136,-0.00536573619612,0.0699048139313,0.999999963621,0.000216930054094,-0.000159755721027,1.335207135e-05,1793250525925657344
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.875197607,745,722,685.875197607,667,642,887.124802393,788,819,654,632,656.875197607,0.401415435302,-0.00536633215522,0.0699066086211,0.999999964506,0.000217194489588,-0.000153904145993,1.13008972855e-05,1793250525942324224
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,745,722,685.55106228,666.55106228,642,887.44893772,788,819,654,632,656.55106228,0.401517692582,-0.00536744474282,0.0699050437315,0.99999996419,0.000216115938798,-0.000157585732557,8.95888358197e-06,1793250525958990848
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,745,722,685,666,642,887.977783344,788,819,654,632,656.022216656,0.401624754268,-0.00536876813239,0.0699027324221,0.999999963584,0.000214596892003,-0.000163515164772,6.50312319882e-06,1793250525975657472
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,745,722,685,666,642,887.386977393,788,819,654,632,656.613022607,0.401766184536,-0.00537184465595,0.0699050009704,0.999999964914,0.000211271472164,-0.000159770748823,3.18648814039e-06,1793250525992324096
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.800666659,745,722,685,666,642,887,788,819,654,632,657,0.40191910441,-0.00537475609528,0.0699079558325,0.999999966556,0.000206970237781,-0.000155085488979,-1.83093687436e-07,1793250526008990976
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.222890355,745,722,685,666,642,887,788,819,654,632,657,0.402093837782,-0.00537735411474,0.069912213691,0.999999968787,0.000200816377694,-0.000148613996759,-3.65319686749e-06,1793250526025657600
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.355400172,745.355400172,722,685.355400172,666,642.355400172,887.355400172,788,819,654,632,656.644599828,0.402286931028,-0.00538047489434,0.069915461575,0.999999970728,0.000195307849212,-0.000142622136003,-7.65857413682e-06,1793250526042324224
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.93401372,745.93401372,722,685.93401372,666,642.93401372,887.93401372,788,819,654,632,656.06598628,0.402491555433,-0.00538392400003,0.0699180751328,0.999999972464,0.000190204628443,-0.00013693151295,-1.2000137109e-05,1793250526058990848
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.479781525,746,722,685.479781525,666,642.479781525,887.479781525,788,819,654,632,656.520218475,0.402731540667,-0.00538816182543,0.0699202051753,0.999999974769,0.000180993027163,-0.000131907210908,-1.74407805082e-05,1793250526075657472
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.894210627,722,685,666,642,887.105789373,788,819,654,632,657,0.402983907812,-0.00539274004279,0.0699232109572,0.999999977177,0.000171797945316,-0.000124932055422,-2.2864072167e-05,1793250526092324096
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.315836284,722,685,666,642,887.684163716,788,819,654,632,657,0.403271254312,-0.0053983853324,0.0699304069007,0.999999980076,0.000165039094588,-0.000108858842452,-2.75778483324e-05,1793250526108990976
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722,685.261657683,666,642,888,788,819,654,632,657,0.403577882558,-0.00540461516821,0.0699393075202,0.999999982809,0.00015728807846,-9.26762275153e-05,-3.24736644932e-05,1793250526125657600
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,722,685.838092512,666,642,888,788,819,654,632,657,0.403907706945,-0.00541154821936,0.0699502588839,0.999999985375,0.000148343476566,-7.63620017464e-05,-3.75884765409e-05,1793250526142323968
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,722,686,666,642,887.586278608,788,819,654,632,656.586278608,0.40425353523,-0.00541580968756,0.0699516612954,0.999999993119,7.86895159362e-05,-7.55500086459e-05,-4.31517330402e-05,1793250526158990592
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,722,686,666,642,887.010964531,788,819,654,632,656.010964531,0.404605614364,-0.00541902767981,0.069949334045,0.999999995433,-1.46765093313e-05,-8.07929292162e-05,-4.88901440314e-05,1793250526175657216
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722,686,666.578266258,642,887,788,819,654,632,656.578266258,0.40501712056,-0.00542519031571,0.0699573377737,0.999999995953,4.85662815293e-05,-6.73718929276e-05,-3.45749601455e-05,1793250526192323840
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722,686,667,642,887.165466288,788.165466288,819,654,632,657,0.405437355623,-0.00543030281911,0.069963006172,0.999999993429,9.56064884525e-05,-5.76238427425e-05,-2.60995773528e-05,1793250526208990464
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,722,686,667,642,887.74688162,788.74688162,819,654,632,657,0.405876630842,-0.00543263168382,0.0699622994556,0.99999999332,9.42679223912e-05,-5.80204863264e-05,-3.32836956216e-05,1793250526225657344
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.323415295,722,686.323415295,666.676584705,642,888.323415295,788.676584705,819,654,632,656.676584705,0.406325251059,-0.00543977881596,0.0699527376492,0.999999992869,8.52156082673e-05,-7.49843733465e-05,-3.71224982139e-05,1793250526242324480
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.896185252,722,686.896185252,666.103814748,642,888.896185252,788.103814748,819,654,632,656.103814748,0.40678107636,-0.00545064085445,0.0699363485282,0.999999991315,7.02159590941e-05,-0.000104721680378,-3.83820479394e-05,1793250526258991360
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,722,687.469028212,666.469028212,642.469028212,888.530971788,788,819,654,632,656.469028212,0.407290883206,-0.00547119935505,0.0699259209438,0.999999991955,3.99663977342e-05,-0.000114598468792,-3.68768373073e-05,1793250526275657728
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.956716034,722,688.043283966,667,643,888,788,819,654.043283966,632.043283966,656.956716034,0.407819371467,-0.0054937015776,0.0699186256535,0.999999992465,7.06985005672e-06,-0.000117464771752,-3.49617742456e-05,1793250526292324096
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.364755801,722,688.635244199,667,643,888,788,819,654.635244199,632.635244199,656.364755801,0.40843318716,-0.00551363273071,0.0699343067524,0.999999995427,-1.65863305461e-05,-8.71971106764e-05,-3.56097761936e-05,1793250526308990976
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722,689,667,642.777666446,888,788,819,654.777666446,632.777666446,656,0.409050203774,-0.00552449549083,0.0699462187754,0.99999999698,-2.95808069965e-05,-6.19750776223e-05,-3.63743549171e-05,1793250526325657856
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,722,689,667,642.198396871,888,788,819,654.198396871,632.198396871,656,0.409672359139,-0.00552079978097,0.0699520798937,0.999999997973,-2.54588991013e-05,-4.48533370894e-05,-3.73260869265e-05,1793250526342324480
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,722,689,667,642,888,788.379041324,819,654.379041324,631.620958676,656.379041324,0.410300177869,-0.0055283287837,0.0699472822439,0.999999997343,-3.37192324595e-05,-5.17578076716e-05,-3.86987929607e-05,1793250526358990848
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,722,689,667,642,888,788.955525535,819,654.955525535,631.044474465,656.955525535,0.410930946631,-0.00554170474705,0.0699369324344,0.999999995482,-4.84294839248e-05,-7.11775486758e-05,-4.02907846098e-05,1793250526375657472
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.538142619,745.538142619,722,689.538142619,667,642,888,789,819,654.461857381,631.538142619,656.461857381,0.411615842325,-0.00554912644866,0.0699484020201,0.999999995953,-5.97428459716e-05,-5.35753392947e-05,-4.066481518e-05,1793250526392324352
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746,722,690,667,642.121670455,888.121670455,789,819,654,632,656.121670455,0.412328495972,-0.00555535608278,0.0699662494564,0.999999996427,-6.96809469661e-05,-2.53154934721e-05,-4.06068950919e-05,1793250526408991232
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746,722,690,667,642.706714134,888.706714134,789,819,654,632,656.706714134,0.413129631044,-0.00555894149074,0.070001439759,0.999999995877,-7.54629415133e-05,3.1746384454e-05,-3.92916883015e-05,1793250526425657856
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,745.713369314,722,690.286630686,667,643,889.286630686,788.713369314,819.286630686,654,632,656.713369314,0.413904751096,-0.00554559936469,0.0700182602563,0.999999995683,-6.11033894926e-05,5.77420545251e-05,-3.95829390542e-05,1793250526442324480
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,745.138606675,722,690.861393325,667,643,889.861393325,788.138606675,819.861393325,654,632,656.138606675,0.414653719965,-0.00551524104474,0.0700166147379,0.99999999741,-2.64967975458e-05,5.25088100322e-05,-4.14890613e-05,1793250526458991104
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,745.435160471,722,691,667,643,890,788.435160471,820,654,632,656.435160471,0.415381044612,-0.00549986076099,0.069971299109,0.999999998565,-9.87045180183e-06,-2.79272406463e-05,-4.4648389433e-05,1793250526475657728
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.991105059,745.991105059,722,691,666.991105059,643,889.991105059,789,820.008894941,654,632,657,0.416103143404,-0.00548962413909,0.069912961656,0.999999990298,5.3551320186e-07,-0.000130698124876,-4.81760802889e-05,1793250526492324608
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.398760555,745.398760555,722,691,666.398760555,643,889.398760555,789,820.601239445,654,632,657,0.416933637829,-0.00550456017474,0.0699107829175,0.99999998995,-2.22756886871e-05,-0.000130882533571,-4.97428646818e-05,1793250526508991232
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.188937627,745.188937627,722,691.188937627,666.188937627,643,889.188937627,789,820.811062373,654,632,657,0.417786790216,-0.00551684694612,0.0699208514188,0.999999991615,-3.95454426405e-05,-0.000112625379058,-5.0216872485e-05,1793250526525658112
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.767064887,745.767064887,722,691.767064887,666.767064887,643,889.767064887,789,820.232935113,654,632,657,0.418686615332,-0.005523676539,0.0699561478159,0.999999996207,-4.54004541164e-05,-5.63807396771e-05,-4.84398868989e-05,1793250526542324992
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,722,691.657092981,667,643,890,789,820.342907019,654,632,657,0.419589379802,-0.0055270102237,0.069987359606,0.999999997613,-4.93646942028e-05,-9.81338981655e-06,-4.73464618492e-05,1793250526558991616
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,722,691.082792871,667,643,890,789,820.917207129,654,632,657,0.420494127706,-0.00552798487505,0.0700158151087,0.999999997097,-5.20530446498e-05,3.02237387434e-05,-4.67143024041e-05,1793250526575658496
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746,722.503974288,691.503974288,667,643,890.503974288,789.503974288,821,654,632,657,0.421381544274,-0.00552490414367,0.070028417345,0.999999996556,-5.02724198867e-05,4.63738877579e-05,-4.70205433812e-05,1793250526592325120
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746,722.908752611,692.091247389,667.091247389,643.091247389,891,789.908752611,821,654,632,656.908752611,0.422258690515,-0.00552074601488,0.0700273186958,0.999999996842,-4.78106202237e-05,4.1578442363e-05,-4.79732352641e-05,1793250526608991488
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746,722.329996527,692.670003473,667.670003473,643.670003473,891,789.329996527,821,654,632,656.329996527,0.423096562581,-0.00551448135826,0.0699672874936,0.999999996189,-4.5731413648e-05,-5.36259153425e-05,-5.15352027712e-05,1793250526625658112
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746,722.248922072,693,667.751077928,643.751077928,891,789,821.248922072,654,632,656,0.423960240581,-0.00551232983653,0.0699069241346,0.99999998697,-4.90775597598e-05,-0.00014299466436,-5.65976824366e-05,1793250526642324736
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746,722.828056337,693,667.171943663,643.171943663,891,789,821.828056337,654,632,656,0.424858152039,-0.00551563466932,0.0698461201384,0.999999970969,-5.96208080684e-05,-0.000224622091745,-6.36506950734e-05,1793250526658991104
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.596641949,746.403358051,723,693,667.403358051,643,891,789,822,654,632,656.403358051,0.425813886347,-0.0055215205844,0.0698705056734,0.999999978972,-6.31795852198e-05,-0.000185193673449,-6.13892737666e-05,1793250526675657984
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.022958635,746.977041365,723,693,667.977041365,643,891,789,822,654,632,656.977041365,0.426794037348,-0.00552849640816,0.0699308640391,0.999999991963,-6.37890416078e-05,-9.46472197945e-05,-5.51946628144e-05,1793250526692325120
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.564634747,747,723,693,667.435365253,643,891,789,822.564634747,654,632,656.435365253,0.427757303107,-0.00552563890083,0.0699852712129,0.999999996129,-6.55944979093e-05,-2.44525538348e-05,-5.32976158902e-05,1793250526708991744
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746.849786384,722.849786384,692.849786384,667,643,891,789,823,654,632.150213616,656.150213616,0.4287257284,-0.00552384682863,0.0700318277956,0.999999995544,-6.74980345497e-05,4.01485725646e-05,-5.23833052309e-05,1793250526725658112
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746.271599237,722.271599237,692.271599237,667,643,891,789,823,654,632.728400763,656.728400763,0.429710859187,-0.00552625822528,0.0700567241036,0.999999991976,-6.95389593957e-05,9.12303952954e-05,-5.37584722863e-05,1793250526742324736
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,722,692.304879509,667,643,891,789,823,654,632.695120491,657,0.4306291331,-0.00552913138474,0.0700335877107,0.999999994377,-7.23242587331e-05,5.43028156821e-05,-5.53739960628e-05,1793250526758991104
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,746,722,692.879844792,667,643,891,789,823,654,632.120155208,657,0.431488179989,-0.00553241360917,0.0699679002469,0.999999993658,-7.5768981668e-05,-6.05902807603e-05,-5.72024458155e-05,1793250526775657728
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746.456045855,722,693,667,643,891.456045855,789,823,654,632.456045855,657,0.432345304568,-0.00553395601482,0.0699116412309,0.999999983658,-7.91541768906e-05,-0.000151018462615,-6.01026685353e-05,1793250526792324352
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,722.033505251,693.033505251,667,643,891.966494749,789,823,654.033505251,632.966494749,656.966494749,0.433208469226,-0.00553496909645,0.0698644444564,0.999999969592,-8.22069854336e-05,-0.000223802941241,-6.30109936389e-05,1793250526808990720
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,722.626525273,693.626525273,667,643,891.373474727,789,823,654.626525273,632.373474727,656.373474727,0.43418097875,-0.00553481847868,0.0699269849993,0.999999988885,-7.997178592e-05,-0.000109882712102,-6.13262249227e-05,1793250526825657600
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.788161915,747,722.788161915,694,667,643.211838085,891,788.788161915,823.211838085,654.788161915,632,656.211838085,0.4351390067,-0.0055358085394,0.069981195999,0.999999995004,-7.89838211856e-05,-1.51094160725e-05,-5.93676615284e-05,1793250526842324480
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.215959964,747,722.215959964,694,667,643.784040036,891,788.215959964,823.784040036,654.215959964,632,656.784040036,0.436072399787,-0.00553873904111,0.0700212373832,0.99999999406,-8.01175643233e-05,4.70924972836e-05,-5.69433387905e-05,1793250526858991104
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722,694,667,643.639594021,891,788.360405979,824,654,632,656.639594021,0.436993386384,-0.00554342106314,0.0700362604985,0.99999999197,-8.50680534414e-05,7.52075871484e-05,-5.6285795097e-05,1793250526875657728
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722,694,667,643.060703829,891,788.939296171,824,654,632,656.060703829,0.4379068519,-0.0055491648863,0.0700361171129,0.999999990714,-9.23323187082e-05,8.26586633364e-05,-5.66993030322e-05,1793250526892324352
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.528797063,747,722,694,667,643,891.528797063,789,824,654,632,656.528797063,0.438682849817,-0.00554646702318,0.0699798710729,0.999999993924,-9.26844700802e-05,2.50132292009e-06,-5.96291020354e-05,1793250526908990976
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+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.271965682,722.271965682,694,666.728034318,643.728034318,891,788,824,654,632.728034318,657,0.440885668986,-0.00553317810361,0.069796530732,0.999999950741,-7.06848868665e-05,-0.000298637196058,-6.58563239962e-05,1793250526958990848
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+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,722,694,666,641.25057285,892,787,825.74942715,654,632,656.25057285,0.445261741034,-0.00554135237159,0.069766439609,0.999999928278,-7.91104956067e-05,-0.000364763377327,-6.42845891966e-05,1793250527058991104
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.674266384,722,694,665.348532767,641.325733616,892,787,825.674266384,654,632,656.325733616,0.445888141004,-0.00554095574247,0.0697344500342,0.999999911175,-7.77258556809e-05,-0.000409009361556,-6.57223028812e-05,1793250527075657728
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769.349920494,747,722,694.650079506,663.349920494,640.349920494,892.349920494,786,826,654,631.650079506,657,0.448209863502,-0.00554906170962,0.0696686857907,0.999999857336,-8.36733409678e-05,-0.000523352334046,-6.65443614414e-05,1793250527142324480
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,722,695,663.815275233,640,892.815275233,786,826.815275233,654,631.184724767,657,0.44929906727,-0.00555787440366,0.0696909779571,0.999999876271,-8.64805914148e-05,-0.000485707304395,-6.37830460232e-05,1793250527175658240
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,722,694.608736055,663.608736055,640,892.608736055,785.608736055,827,654,631.391263945,657,0.449808071303,-0.00556246755341,0.0697055121105,0.999999887563,-9.64780288285e-05,-0.000459963540928,-6.32404024729e-05,1793250527192324864
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+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,722,694.010475533,658,636,892.010475533,782,827,654,631,657,0.455091875873,-0.00557162159505,0.0695366908763,0.999999731651,-0.0001078811633,-0.000722308729143,-5.77066982793e-05,1793250527842324992
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,722,694.599496253,658,636,892.599496253,782,827,654,631,657,0.45509211871,-0.00557055346775,0.0695366419746,0.999999731271,-0.000107106746116,-0.000722954709404,-5.76440773635e-05,1793250527858991360
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,722,694.814621184,658,636.185378816,892.814621184,782,827,654,630.814621184,657,0.455092264925,-0.0055698114952,0.0695365949419,0.999999730999,-0.0001068663337,-0.000723367267495,-5.76365676886e-05,1793250527875657984
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722,694.235405662,658,636.764594338,892.235405662,782,827,654,630.235405662,657,0.455092205864,-0.00556976243744,0.0695365518798,0.999999730957,-0.000107760412768,-0.000723283920884,-5.77461416746e-05,1793250527892324352
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,694.340810889,658,636.659189111,892.340810889,782,826.659189111,654,630.340810889,657,0.455092752898,-0.00557062239799,0.0695370203036,0.999999731326,-0.000109558277835,-0.000722518023702,-5.75600323797e-05,1793250527908991232
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,722,694.914974031,658,636.085025969,892.914974031,782,826.085025969,654,630.914974031,657,0.455093714923,-0.00557210476081,0.0695378389405,0.999999731971,-0.000111974962581,-0.000721284786077,-5.71714695739e-05,1793250527925657856
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.510683842,747,722,694.510683842,658,636,892.510683842,782,826.489316158,654,631,657,0.455094315813,-0.00557122941564,0.0695377834368,0.999999732101,-0.000110515984642,-0.000721319227879,-5.72992338475e-05,1793250527942324480
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.066019909,747,722,694.066019909,658,636.066019909,892.066019909,781.933980091,827,654,631,657,0.455094543129,-0.00557021382805,0.0695374669457,0.999999731867,-0.000108807529582,-0.000721887303713,-5.7486259687e-05,1793250527958991104
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.66141018,747,722,694.66141018,658,636.66141018,892.66141018,781.33858982,827,654,631,657,0.45509227837,-0.00557135994161,0.0695362761603,0.999999729457,-0.000110500645171,-0.000724967328266,-5.74287998046e-05,1793250527975657728
+247,4.116666667,HOLD_POSE2,769,747,722,694,658,636,892,782,826,654,631,657,0.455092219049,-0.00556981406273,0.0695346986209,0.999999728703,-0.000108555037332,-0.000726332513598,-5.70075819928e-05,1793250528014065152
+248,4.133333333,HOLD_POSE2,769.576098908,747,722,694,658,636,892.576098908,782,826.576098908,654.576098908,631,657,0.455093267624,-0.0055710185799,0.0695355644662,0.999999729406,-0.000109240964643,-0.000725281537612,-5.67524889139e-05,1793250528030731776
+249,4.150000000,HOLD_POSE2,769.844565942,747,722,694.155434058,658,636,893,782,827,655,631,657,0.45509363219,-0.00557177767992,0.0695359068291,0.999999729567,-0.000110025000399,-0.000724946591499,-5.66876249016e-05,1793250528047398400
+250,4.166666667,HOLD_POSE2,769.256217085,747,722,694.743782915,658,636,893,782,827,655,631,657,0.455092091657,-0.00557129620473,0.0695347911894,0.999999728219,-0.000111082287862,-0.000726605930917,-5.7152586659e-05,1793250528064064768
+251,4.183333333,HOLD_POSE2,769,747,722,694.673040283,658,636,893,781.673040283,826.673040283,654.673040283,631,657,0.455092550529,-0.00557117684291,0.0695350778826,0.999999728421,-0.000111664035646,-0.00072623673074,-5.71759907992e-05,1793250528080731392
+252,4.200000000,HOLD_POSE2,769,747,722,694.093853403,658,636,893,781.093853403,826.093853403,654.093853403,631,657,0.455094551807,-0.00557133682694,0.0695364463802,0.999999729818,-0.000111878936877,-0.000724302650273,-5.68587632719e-05,1793250528097398016
+253,4.216666667,HOLD_POSE2,769,747,722,694,658,636,892.51738179,781,826,654,631,657,0.455092884588,-0.00557007933934,0.0695346736783,0.999999728,-0.000110834191739,-0.000726959916527,-5.69701503909e-05,1793250528114064896
+254,4.233333333,HOLD_POSE2,769,747,722,694,658,636.058255015,892.058255015,781.058255015,826.058255015,654,631,657,0.455090810879,-0.00556877285161,0.0695325758501,0.999999725863,-0.000109565387128,-0.000730076832981,-5.70793410822e-05,1793250528130731520
+255,4.250000000,HOLD_POSE2,769,747,722,694,658,636.631155552,892.631155552,781.631155552,826.631155552,654,631,657,0.455091413278,-0.00556945506035,0.069532972104,0.999999726505,-0.000108469116939,-0.000729410694881,-5.64368907767e-05,1793250528147398144
+256,4.266666667,HOLD_POSE2,769,747,722,694,658,636.789550827,892.789550827,782,826.789550827,654.210449173,631,657,0.455092043301,-0.00556963682852,0.069533474455,0.999999727205,-0.000107840898241,-0.000728561595198,-5.62001565679e-05,1793250528164064768
+257,4.283333333,HOLD_POSE2,769,747,722,694,658,636.19870136,892.19870136,782,826.19870136,654.80129864,631,657,0.455092723253,-0.00556891401836,0.0695341685829,0.999999728012,-0.000108058712565,-0.000727381780872,-5.66967801362e-05,1793250528180731392
+258,4.300000000,HOLD_POSE2,769.383488707,747,722,694,658,636,892.383488707,781.616511293,826.383488707,654.616511293,631,657,0.455091928901,-0.0055695348756,0.0695335428755,0.999999726954,-0.000109286907034,-0.00072863643133,-5.69005805794e-05,1793250528197398272
+259,4.316666667,HOLD_POSE2,769.961291111,747,722,694,658,636,892.961291111,781.038708889,826.961291111,654.038708889,631,657,0.455090387517,-0.00557083656893,0.0695322484077,0.999999724943,-0.000111027061057,-0.000731124624783,-5.69560076137e-05,1793250528214064896
+260,4.333333333,HOLD_POSE2,770,747,722,694.537242357,658,636,892.462757643,781,827,654.537242357,630.462757643,657,0.455091625523,-0.00557083361669,0.0695332119217,0.999999726005,-0.000109971516355,-0.000729861594385,-5.65534077635e-05,1793250528230731264
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+262,4.366666667,HOLD_POSE2,770,747.688248134,722,694.311751866,658,636,892,781,827,655,630.688248134,657,0.455093108521,-0.00557032132183,0.0695338208642,0.999999726911,-0.00010841736041,-0.000728886644264,-5.61092722335e-05,1793250528264064512
+263,4.383333333,HOLD_POSE2,770,747.733690406,722,694,657.733690406,636,892.266309594,781,826.733690406,655,631,657,0.45509321277,-0.00557006460962,0.069533676194,0.999999726889,-0.000108041995426,-0.000728969501132,-5.6151024808e-05,1793250528280731392
+264,4.400000000,HOLD_POSE2,770,747.152351706,722,694,657.152351706,636,892.847648294,781,826.152351706,655,631,657,0.455093116325,-0.00556993398903,0.0695336527589,0.999999726962,-0.000107761032572,-0.000728896695523,-5.63352681083e-05,1793250528297398272
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,722,695,658,636,893,782,827,655,631,657,0.455094080948,-0.00556927423493,0.069533862775,0.999999727947,-0.000105728977057,-0.000727872708173,-5.59353431285e-05,1793250528330191360
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747.577952578,722,695,658,636.577952578,893,781.422047422,827,655,631,657,0.455094084576,-0.00557131447238,0.0695342012767,0.99999972747,-0.00010953240156,-0.000727939191669,-5.62788735954e-05,1793250528346857984
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.158785041,747.841214959,722,694.841214959,657.841214959,636.841214959,893,781.158785041,827,654.841214959,630.841214959,657,0.455094078349,-0.00557214714092,0.0695341586244,0.999999727101,-0.000111164838822,-0.000728175134701,-5.65812115106e-05,1793250528363524352
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.74741371,747.25258629,722,694.25258629,657.25258629,636.25258629,893,781.74741371,827,654.25258629,630.25258629,657,0.455094045444,-0.00556971082559,0.0695330841581,0.999999727047,-0.000106920243254,-0.000728869818093,-5.67720380178e-05,1793250528380191232
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,722,694,657.330349903,636,893,781.669650097,827,654.330349903,630.330349903,657,0.455093496376,-0.00556823811162,0.0695324978254,0.999999726609,-0.000105553736556,-0.000729644380429,-5.70973429257e-05,1793250528396857856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,657.909007311,636,893,781.090992689,827,654.909007311,630.909007311,657,0.455092559334,-0.00556748968874,0.0695322783984,0.99999972589,-0.000106350545616,-0.000730478983738,-5.75237285128e-05,1793250528413524224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.514551311,747,722,694,658,636,893,781,826.514551311,654.514551311,631,657,0.455094195095,-0.0055688856516,0.0695337105285,0.999999727285,-0.00010709109438,-0.000728520751547,-5.67319963766e-05,1793250528430191104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.060896884,747,722,694.060896884,657.939103116,636,893,781.060896884,826.060896884,654.060896884,631,657,0.455095829957,-0.00557041549395,0.0695350622641,0.999999728729,-0.000107879842933,-0.000726487489613,-5.5862515123e-05,1793250528446857984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.631493106,747,722,694.631493106,657.368506894,636,893,781.631493106,826.631493106,654.631493106,631,657,0.455093439295,-0.00556971695341,0.0695331618334,0.999999727332,-0.000109159880761,-0.000728187875018,-5.62446465426e-05,1793250528463524864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,657.197147376,636,893,781.802852624,827,655,631,657,0.455086132916,-0.00556875396694,0.0695296836444,0.999999723686,-0.000110083048191,-0.000732999738359,-5.67574517163e-05,1793250528480191744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,695,657.75379001,636,893,781.24620999,827,655,631,657,0.455069862802,-0.00556730876738,0.0695233284375,0.999999715872,-0.000110355467698,-0.000743485334428,-5.7508538459e-05,1793250528496858112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,695,657.654578115,636,892.654578115,781,826.654578115,655,631,657,0.455039540405,-0.00556597535445,0.0695108158922,0.999999700379,-0.000108349557887,-0.000764307841033,-5.77641332917e-05,1793250528513524736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,722,695,657.035195547,636,892.035195547,781,826.035195547,655,631,657,0.454998072873,-0.00556473060147,0.0694934198437,0.99999967819,-0.000104536661609,-0.000793328749181,-5.76267440872e-05,1793250528530191360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,722.543626664,694.456373336,657.543626664,636,892.543626664,781.543626664,826,655,631,657,0.454939127603,-0.00556601675007,0.0694759675288,0.999999660061,-0.000108589693839,-0.000815299804394,-5.807471247e-05,1793250528546857728
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747,722.885857508,694.114142492,658,636,893,781.885857508,826.114142492,654.885857508,630.885857508,657,0.454876423951,-0.00556624806087,0.0694602312628,0.999999643356,-0.000111126343683,-0.000835185253819,-5.83481671839e-05,1793250528563524352
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,722.337637203,694.662362797,658,636,893,781.337637203,826.662362797,654.337637203,630.337637203,657,0.454803431796,-0.00556188800919,0.069451033926,0.999999632508,-0.000106094060854,-0.000848754499335,-5.78238409474e-05,1793250528580191232
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,722,694.760202286,658,636,893,781.239797714,827,654,630.239797714,657,0.454724713894,-0.00555872707722,0.0694449034614,0.999999626594,-0.000101867071332,-0.000856253396027,-5.71479941493e-05,1793250528596857856
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,722,694.135926331,658,636,893,781.864073669,827,654,630.864073669,657,0.454636815653,-0.005557488747,0.0694436902488,0.999999628851,-9.89312443894e-05,-0.000854019434351,-5.6229207804e-05,1793250528613524480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747.450069146,722,694.450069146,658,636,893,782,827,654,631,657,0.454535789553,-0.00555498985879,0.0694456344601,0.999999631682,-9.69656842469e-05,-0.00085104767184,-5.43304362111e-05,1793250528630191360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,748,722,695,658,636.025368511,893,782,827,654.025368511,631,657,0.454429787134,-0.00555212801624,0.0694483359956,0.999999634633,-9.51320896397e-05,-0.000847917577109,-5.21536004109e-05,1793250528646858240
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,748,722,695,658,636.599776477,893,782,827,654.599776477,631,657,0.454295165969,-0.00554900445013,0.069448407801,0.999999636986,-9.03097280678e-05,-0.000845805242367,-4.98621249367e-05,1793250528663524864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,748,722,694.820956849,658,637,893,781.820956849,827,654.820956849,631,657,0.454150994727,-0.0055452881108,0.0694483958798,0.999999638928,-8.58557197184e-05,-0.000844099097392,-4.76291419244e-05,1793250528680191232
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,748,722,694.230526406,658,637,893,781.230526406,827,654.230526406,631,657,0.453984880299,-0.00554020975739,0.0694481915798,0.999999639981,-8.22480769153e-05,-0.000843326254623,-4.55305573088e-05,1793250528696858112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747.646434305,722,694,658,636.646434305,893,781.353565695,827,654.353565695,631,657,0.453801313867,-0.00553533521658,0.0694516243959,0.999999644201,-7.80157834075e-05,-0.000838876974558,-4.23793944729e-05,1793250528713524736
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,722,694,658,636.086607506,893,782,826,654.086607506,631,657,0.453145879746,-0.00552546887322,0.0694659637712,0.999999658852,-6.08365246336e-05,-0.000823259693902,-2.89678575716e-05,1793250528763524608
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747,722,694,658,636.660266922,893,782,826,654.660266922,631,657,0.452869025348,-0.00551976590115,0.0694630972883,0.999999658387,-5.12274491043e-05,-0.000824619100577,-2.45963111494e-05,1793250528780191488
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..560b3727324206c916347a46c1e5ff68421f8c27
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+368,6.133333333,pose2_to_pose3_retreat,0.576981186818,0.000150188288078,1.0600337404,0.547551864814,0.00882282046136,1.0597051344
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+378,6.300000000,pose2_to_pose3_retreat,0.575856367725,0.000150093429684,1.06003348748,0.546427047034,0.0088227301541,1.05970488464
+379,6.316666667,pose2_to_pose3_retreat,0.575811531539,0.000150107904017,1.06003358961,0.546382210972,0.00882274485682,1.05970498165
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+381,6.350000000,pose2_to_pose3_retreat,0.575746462173,0.000150067068079,1.06003340385,0.546317140716,0.00882270083061,1.05970479135
+382,6.366666667,pose2_to_pose3_retreat,0.575723922517,0.000149997915903,1.06003340027,0.546294601809,0.00882263421379,1.05970478763
+383,6.383333333,pose2_to_pose3_retreat,0.57570719157,0.00015011512168,1.06003339019,0.54627787132,0.00882275317555,1.0597047829
+384,6.400000000,pose2_to_pose3_retreat,0.575694854789,0.000150092774873,1.06003338984,0.546265535283,0.00882273339166,1.05970478368
+385,6.416666667,pose2_to_pose3_retreat,0.575686122595,0.000150078338519,1.06003344611,0.546256803029,0.00882271871226,1.05970483885
+386,6.433333333,pose2_to_pose3_retreat,0.575679961923,0.000150122740107,1.0600335977,0.546250640929,0.00882275814212,1.0597049872
+387,6.450000000,pose2_to_pose3_retreat,0.575675861641,0.000150132853649,1.06003358173,0.546246540304,0.00882276705752,1.05970497032
+388,6.466666667,pose2_to_pose3_retreat,0.575672857422,0.000150124229977,1.06003347363,0.546243536336,0.00882275929712,1.0597048626
+389,6.483333333,pose2_to_pose3_retreat,0.57567076579,0.000150118564262,1.06003343054,0.546241444843,0.00882275410067,1.05970481938
+390,6.500000000,pose2_to_pose3_retreat,0.5756694242,0.000150116139207,1.06003351787,0.546240103217,0.00882275150578,1.05970490525
+391,6.516666667,pose2_to_pose3_retreat,0.575668644714,0.000150114730211,1.06003356861,0.546239323711,0.00882274999811,1.05970495515
+392,6.533333333,pose2_to_pose3_retreat,0.575668338809,0.000150114177259,1.06003358852,0.546239017798,0.00882274940643,1.05970497473
+393,6.550000000,pose2_to_pose3_retreat,0.575668052251,0.000150113659277,1.06003360718,0.546238731233,0.00882274885218,1.05970499307
+394,6.566666667,pose2_to_pose3_retreat,0.575667705366,0.00015011303225,1.06003362976,0.546238384339,0.00882274818124,1.05970501527
+395,6.583333333,pose2_to_pose3_retreat,0.575667269896,0.000150112245095,1.06003365811,0.546237948857,0.00882274733896,1.05970504314
+396,6.600000000,pose2_to_pose3_retreat,0.575666813213,0.000150103164831,1.0600336324,0.54623749221,0.00882273841811,1.05970501857
+397,6.616666667,pose2_to_pose3_retreat,0.57566628983,0.000150091336219,1.0600335934,0.546236968874,0.00882272680962,1.05970498114
+398,6.633333333,pose2_to_pose3_retreat,0.575665966418,0.000150084027021,1.0600335693,0.546236645492,0.00882271963645,1.05970495801
+399,6.650000000,pose2_to_pose3_retreat,0.575665914844,0.000150082861438,1.06003356545,0.546236593923,0.00882271849255,1.05970495432
+400,6.666666667,pose2_to_pose3_retreat,0.57566572411,0.000150078550802,1.06003355124,0.546236403207,0.00882271426214,1.05970494068
+401,6.683333333,pose2_to_pose3_retreat,0.57566543009,0.000150071905878,1.06003352933,0.546236109215,0.00882270774087,1.05970491965
+402,6.700000000,pose2_to_pose3_retreat,0.575665218084,0.000150067114474,1.06003351353,0.546235897228,0.00882270303863,1.05970490449
+403,6.716666667,pose2_to_pose3_retreat,0.575665211391,0.000150066975514,1.06003351294,0.546235890534,0.0088227028955,1.05970490391
+404,6.733333333,pose2_to_pose3_retreat,0.575665079666,0.00015006546853,1.06003349192,0.546235758585,0.0088227006084,1.05970488236
+405,6.750000000,pose2_to_pose3_retreat,0.575664989732,0.000150064439649,1.06003347757,0.546235668498,0.00882269904691,1.05970486765
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+408,6.800000000,pose2_to_pose3_retreat,0.575664421778,0.000150028977794,1.06003348816,0.54623510033,0.00882266291522,1.05970487973
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d061f5dce7fd9744848a4b8a6452f23827e3b60d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34cebed06909a4358c47f1ed89e93bfac1ae08b484887e229ce451c74767b19
+size 26091239
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c64625d028f4aa9cffbea60308a786df6e626d6d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+28,0.466666667,BASELINE,769.764951687,745,722,685.235048313,666,642,887.235048313,788,819,654,632,656,0.400975577714,-0.00535651281237,0.0698308968262,0.999999938366,0.000223531849781,-0.000270402473098,1.35748214024e-05,1793250531352991232
+29,0.483333333,BASELINE,769.189712802,745,722,685.810287198,666,642,887.810287198,788,819,654,632,656,0.400972422491,-0.00535532598227,0.0698292547294,0.999999936857,0.000226337721743,-0.000273597986059,1.41653298542e-05,1793250531369658112
+30,0.500000000,BASELINE,769,745,722,686,666,642,887.605302536,788,819,654,632,656,0.400972304779,-0.00535519476051,0.0698291284668,0.999999937064,0.000225095952804,-0.000273875195128,1.39869305966e-05,1793250531386324736
+31,0.516666667,BASELINE,769,745,722,686,666,642,887.01637916,788,819,654,632,656,0.400973681791,-0.00535558299106,0.0698297481282,0.999999938111,0.000221862387985,-0.000272716341575,1.34301610116e-05,1793250531402991360
+32,0.533333333,BASELINE,769,745.563634898,721.436365102,686,666,642,887,788,819,654,632,656.563634898,0.400974388312,-0.00535643620472,0.0698303938471,0.999999938017,0.000223328037574,-0.000271851013993,1.36629614714e-05,1793250531419658240
+33,0.550000000,BASELINE,769,745.857939717,721.142060283,685.857939717,666,642,887,788,819,654.142060283,632,656.857939717,0.400974496338,-0.00535712468653,0.0698304575918,0.99999993777,0.000224470256041,-0.000271812935334,1.38324923718e-05,1793250531436325120
+34,0.566666667,BASELINE,769,745.283573345,721.716426655,685.283573345,666,642,887,788,819,654.716426655,632,656.283573345,0.400972841448,-0.00535727139005,0.0698287480523,0.999999937157,0.000224219138181,-0.000274266718895,1.37407493253e-05,1793250531452991744
+35,0.583333333,BASELINE,769,745,722,685,666,642,887.289103315,788,819,654.710896685,632,656.289103315,0.400972753774,-0.00535726545292,0.0698285618544,0.999999937126,0.00022437577185,-0.000274254355758,1.37006465259e-05,1793250531469658368
+36,0.600000000,BASELINE,769,745,722,685,666,642,887.860132282,788,819,654.139867718,632,656.860132282,0.400974194407,-0.00535711066479,0.0698298611775,0.999999937662,0.000224930033638,-0.000271837074046,1.37109018735e-05,1793250531486324736
+37,0.616666667,BASELINE,769,745,722,685.450441923,666,642,887.549558077,788,819,654,632,656.549558077,0.400974009752,-0.00535695647955,0.0698301590821,0.999999937957,0.000223664703208,-0.000271806070222,1.34621186971e-05,1793250531502991360
+38,0.633333333,BASELINE,769,745.045580034,722,686,666,642,887.045580034,788,819,654,632,656,0.400973446394,-0.00535690279589,0.0698301789631,0.999999938149,0.00022205479717,-0.000272430048309,1.32178753392e-05,1793250531519657984
+39,0.650000000,BASELINE,769,745.624045333,722,686,666,642,887.624045333,788,819,654,632,656,0.400974619608,-0.0053580218095,0.0698307463941,0.999999938067,0.000223317369792,-0.000271661357814,1.40091367049e-05,1793250531536324864
+40,0.666666667,BASELINE,769,745.799667566,722,686,666,642,888,788,819,654,632,656.200332434,0.400975018772,-0.00535882861337,0.0698308509992,0.999999937898,0.000224088706413,-0.000271624718465,1.44459923015e-05,1793250531552991488
+41,0.683333333,BASELINE,769,745.227424254,722,686,666,642,888,788,819,654,632,656.772575746,0.400973980935,-0.00535905580959,0.0698300963827,0.999999937572,0.000223948078741,-0.000272947109143,1.42249046629e-05,1793250531569658112
+42,0.700000000,BASELINE,769.346024309,745,722,685.653975691,666,642,887.653975691,788,819.346024309,654,632,657,0.400973733416,-0.00535830568194,0.0698298621437,0.999999937512,0.000224013139193,-0.000273126240855,1.40273522151e-05,1793250531586324736
+43,0.716666667,BASELINE,769.920267767,745,722,685.079732233,666,642,887.079732233,788,819.920267767,654,632,657,0.400974007149,-0.00535691096367,0.069829971118,0.999999937626,0.000224213860549,-0.000272551339971,1.38453223307e-05,1793250531602991360
+44,0.733333333,BASELINE,770,745,722,685,666,642.511896636,887.511896636,788,819.488103364,654.511896636,632,656.488103364,0.400974468327,-0.00535715699866,0.0698302076006,0.999999937761,0.000224134407192,-0.000272112107418,1.40257168427e-05,1793250531619658240
+45,0.750000000,BASELINE,770,745,722,685.103233615,666,642.896766385,887.896766385,788,819.103233615,654.896766385,632,656.103233615,0.400974560481,-0.00535767123504,0.0698301608353,0.999999937823,0.000223918146634,-0.000272055026995,1.41535144259e-05,1793250531636325120
+46,0.766666667,BASELINE,770,745,722,685.68036269,666,642.31963731,887.31963731,788,819.68036269,654.31963731,632,656.68036269,0.400972819889,-0.00535820225175,0.0698287194404,0.999999937535,0.00022328124165,-0.000273651807009,1.37716168702e-05,1793250531652991744
+47,0.783333333,BASELINE,769.744009126,745.255990874,722,686,666.255990874,642,887.255990874,788.255990874,819.744009126,654.255990874,632,656.744009126,0.400972597761,-0.00535776243876,0.0698284705231,0.999999937451,0.000223321990894,-0.000273937944691,1.35328426164e-05,1793250531669658368
+48,0.800000000,BASELINE,769.170243995,745.829756005,722,686,666.829756005,642,887.829756005,788.829756005,819.170243995,654.829756005,632,656.170243995,0.400974260576,-0.00535611748647,0.0698297018876,0.999999937621,0.000224203946087,-0.000272597116801,1.34717344143e-05,1793250531686325248
+49,0.816666667,BASELINE,769,745.598109192,721.598109192,686,667,642,887.598109192,788.598109192,819,654.598109192,632,656.401890808,0.400974455502,-0.00535672526615,0.0698305529005,0.99999993776,0.00022446074497,-0.000271859178814,1.37559255377e-05,1793250531702991616
+50,0.833333333,BASELINE,769,745.026662252,721.026662252,686,667,642,887.026662252,788.026662252,819,654.026662252,632,656.973337748,0.400974031131,-0.00535828346458,0.0698312434445,0.999999937887,0.000224453792842,-0.000271375597755,1.41857970745e-05,1793250531719658240
+51,0.850000000,BASELINE,769.569985381,745,721.569985381,685.430014619,666.430014619,642,887,788,819,654,632,656.430014619,0.400975316524,-0.00535731725545,0.0698312061568,0.999999937846,0.000225343795452,-0.000270801976034,1.39476386992e-05,1793250531736324864
+52,0.866666667,BASELINE,769.837779185,745,722,685,666.162220815,642,887,788,819,654,632,656.162220815,0.400975946545,-0.00535683686891,0.0698309705866,0.999999937856,0.000225444743764,-0.000270689269452,1.38043212877e-05,1793250531752991488
+53,0.883333333,BASELINE,769.26000568,745,722,685,666.73999432,642,887,788,819,654,632,656.73999432,0.400974683382,-0.00535791747251,0.0698303183338,0.999999938017,0.000223411961691,-0.000271768553773,1.39877035864e-05,1793250531769658112
+54,0.900000000,BASELINE,769,745,722,685,666.685463572,642,887,788,819.314536428,654,632,656.685463572,0.40097384005,-0.00535783432904,0.0698299755649,0.99999993795,0.000223006732386,-0.000272353055411,1.38650565515e-05,1793250531786324736
+55,0.916666667,BASELINE,769,745,722,685,666.113565503,642,887,788,819.886434497,654,632,656.113565503,0.400973340233,-0.0053567989783,0.0698298860236,0.999999937699,0.000223933207914,-0.000272532713324,1.34920085868e-05,1793250531802991616
+56,0.933333333,BASELINE,769.475760725,745,721.524239275,685.475760725,666,642,887.475760725,788,819.524239275,654,632,656,0.400974352038,-0.00535617129726,0.0698306392273,0.999999938144,0.000223826629708,-0.000270989376622,1.33626644513e-05,1793250531819658240
+57,0.950000000,BASELINE,769.932659078,745.067340922,721.067340922,686,666,642,887.932659078,788,819,654,632,656.067340922,0.400975422388,-0.00535572375075,0.0698314200621,0.999999938601,0.000223736043072,-0.000269373931199,1.33336831413e-05,1793250531836324864
+58,0.966666667,BASELINE,769.356672062,745.643327938,721.643327938,686,666,642,887.356672062,788,819,654,632,656.643327938,0.400974105871,-0.00535587383858,0.0698308323594,0.999999937869,0.000225699661657,-0.00027043850572,1.36066673827e-05,1793250531852991488
+59,0.983333333,BASELINE,769,745.779582545,722,685.779582545,666,642.220417455,887.220417455,788,819,654,632,656.779582545,0.400974134294,-0.00535657938638,0.0698307054999,0.999999937871,0.000225603090023,-0.000270500534082,1.37990662219e-05,1793250531869658112
+60,1.000000000,BASELINE,769,745.200699939,722,685.200699939,666,642.799300061,887.799300061,788,819,654,632,656.200699939,0.400976349992,-0.00535818827937,0.0698313281099,0.999999939065,0.000222156029075,-0.000268932120689,1.38604089752e-05,1793250531886324736
+61,1.016666667,BASELINE,769.383766355,745,722,685.383766355,666,643,888,788,819,654,632,656.383766355,0.400976905694,-0.00535814165134,0.0698312158476,0.999999939115,0.000222092219908,-0.000268799317712,1.38265030468e-05,1793250531902991360
+62,1.033333333,BASELINE,769.971195852,745,722,685.971195852,666,643,888,788,819,654,632,656.971195852,0.400976580442,-0.00535721644539,0.0698307135918,0.999999938561,0.000223823888018,-0.000269428387062,1.37420490517e-05,1793250531919657984
+63,1.050000000,BASELINE,769.449418346,745,722,686,666,642.449418346,888,788,819,654,632,657,0.400976099578,-0.00535613941307,0.0698311985165,0.999999938188,0.000225791104114,-0.000269177221349,1.36232120431e-05,1793250531936324608
+64,1.066666667,BASELINE,769,745,722,685.870661529,666,642,888,788,819,654,632,656.870661529,0.400975726144,-0.00535573828272,0.0698316174264,0.99999993807,0.000226639100795,-0.000268907907261,1.35234031718e-05,1793250531952991488
+65,1.083333333,BASELINE,769,745,722,685.292647913,666,642,888,788,819,654,632,656.292647913,0.400975753219,-0.00535770901358,0.0698316307531,0.99999993881,0.000223562392715,-0.000268733084555,1.34957530198e-05,1793250531969658112
+66,1.100000000,BASELINE,769.282487295,745,722,685,666,642.282487295,887.717512705,788,819.282487295,654,632,656,0.400975604509,-0.00535786775462,0.0698315770594,0.999999938738,0.000223175348161,-0.000269323457286,1.35010010073e-05,1793250531986324992
+67,1.116666667,BASELINE,769.854670604,745,722,685,666,642.854670604,887.145329396,788,819.854670604,654,632,656,0.400975275528,-0.00535616826603,0.0698314546352,0.999999937834,0.00022554660415,-0.000270698552288,1.3539986655e-05,1793250532002992384
+68,1.133333333,BASELINE,770,745,722,685.430971098,666.430971098,642.569028902,887.430971098,788,819.569028902,654,632,656,0.400974685203,-0.00535725975998,0.0698307391345,0.999999938002,0.000223657167778,-0.000271640196205,1.36223813173e-05,1793250532019658752
+69,1.150000000,BASELINE,769.991069765,745,722,686,667,642,887.991069765,788,819,654,632,656,0.400974027012,-0.00535927497024,0.0698298495517,0.999999938525,0.000220367702888,-0.000272394705524,1.37199255232e-05,1793250532036324608
+70,1.166666667,BASELINE,769.396260855,745,722,686,667,642,887.396260855,788,819,654,632,656,0.400974753944,-0.00535955033538,0.0698307864749,0.999999939017,0.000220397528051,-0.000270553889723,1.38417589045e-05,1793250532052991488
+71,1.183333333,BASELINE,769,745,722,686,666.808346722,642,887.191653278,787.808346722,819,654,632,656.191653278,0.400975394753,-0.00535957645445,0.0698315726384,0.999999939339,0.000220731268771,-0.000269080843671,1.39575235623e-05,1793250532069658112
+72,1.200000000,BASELINE,769,745,722,686,666.234193035,642,887.765806965,787.234193035,819,654,632,656.765806965,0.400975863677,-0.00535910512982,0.069832057917,0.999999939328,0.000221671562255,-0.000268341789848,1.40611763217e-05,1793250532086324736
+73,1.216666667,BASELINE,768.651991458,745,722,685.651991458,666,642,887.651991458,787.348008542,819,654,632,657,0.400975507677,-0.00535865461868,0.0698318239257,0.99999993896,0.000222848428075,-0.000268738963619,1.40371678593e-05,1793250532102991360
+74,1.233333333,BASELINE,768.064245862,745,722,685.064245862,666,642,887.064245862,787.935754138,819,654,632,657,0.4009745834,-0.00535821844563,0.069831094442,0.999999938345,0.000224188264419,-0.000269918864932,1.39252157874e-05,1793250532119657984
+75,1.250000000,BASELINE,769.031956636,745,722,685.515978318,666,642,887,788,819,654,632,656.484021682,0.400975662038,-0.00535871679746,0.0698315836365,0.999999939055,0.000222284409781,-0.000268858171241,1.39540615578e-05,1793250532136324608
+76,1.266666667,BASELINE,769.905356774,745,722,686,666,642,887.094643226,788,819,654,632,656,0.400976637907,-0.00535899807533,0.0698320080152,0.999999939642,0.000220786701175,-0.000267905509426,1.39701392081e-05,1793250532152991232
+77,1.283333333,BASELINE,769.32992387,745,722,686,666,642,887.67007613,788,819,654,632,656,0.400975843007,-0.00535759399297,0.0698313433559,0.999999938803,0.000223374468455,-0.00026889852735,1.38335755917e-05,1793250532169657856
+78,1.300000000,BASELINE,769.246379674,745.246379674,722,685.753620326,666,642,888,788,819,654.246379674,632,656.246379674,0.400975268618,-0.00535777265421,0.0698310239895,0.99999993858,0.000223859041052,-0.000269322596643,1.38910843219e-05,1793250532186324736
+79,1.316666667,BASELINE,769.823853171,745.823853171,722,685.176146829,666,642,888,788,819,654.823853171,632,656.823853171,0.400974990561,-0.00536007826305,0.0698311686401,0.999999939188,0.000221517265173,-0.000268982092329,1.42093944262e-05,1793250532202991360
+80,1.333333333,BASELINE,770,745.592483832,722,685,666,642,887.592483832,788.407516168,819,655,632,657,0.400974896302,-0.00535884029722,0.0698312075133,0.99999993885,0.000223024968732,-0.000269001511724,1.40411033979e-05,1793250532219658496
+81,1.350000000,BASELINE,770,745.006104142,722,685,666,642,887.006104142,788.993895858,819,655,632,657,0.400974882716,-0.005356047016,0.0698311999596,0.99999993809,0.000226222252784,-0.000269178905732,1.36592375762e-05,1793250532236326400
+82,1.366666667,BASELINE,770,745,722,685,666,642,887,788.425973712,819,654.425973712,632,656.425973712,0.400973065136,-0.0053578000749,0.0698303887808,0.999999938025,0.000223094170936,-0.000272018351552,1.35742244388e-05,1793250532252992512
+83,1.383333333,BASELINE,770,745,722,685,666,642,887,788,819,654,631.846813774,656,0.400972358561,-0.00535864197949,0.0698300773399,0.999999938042,0.000221540027045,-0.000273228007326,1.35261885404e-05,1793250532269658880
+84,1.400000000,BASELINE,770,745,722,685,666,642,887,788,819,654,631.270154835,656,0.400974775739,-0.00535683285347,0.0698311707594,0.999999938292,0.000224520867254,-0.00026985480929,1.35717411308e-05,1793250532286324992
+85,1.416666667,BASELINE,770,745,722,685.306437498,666.306437498,642,887.306437498,788,819,654,631.306437498,656,0.400976043417,-0.00535614779733,0.0698318933885,0.999999938574,0.000225469249402,-0.00026801286409,1.36253183228e-05,1793250532302991360
+86,1.433333333,BASELINE,770,745,722,685.88297109,666.88297109,642,887.88297109,788,819,654,631.88297109,656,0.400976297919,-0.00535645350413,0.0698322892002,0.999999938894,0.000224626209022,-0.000267520575754,1.36859684505e-05,1793250532319657984
+87,1.450000000,BASELINE,769.531804324,745.468195676,722,685.531804324,666.531804324,642,888,788,819,654.468195676,632,656.468195676,0.400975191641,-0.0053572031932,0.069831342611,0.999999938764,0.000223249913158,-0.000269151687785,1.37627741073e-05,1793250532336324608
+88,1.466666667,BASELINE,769.054827667,745.945172333,722,685.054827667,666,642,887.945172333,788,819,654.945172333,632,656.945172333,0.400973919941,-0.00535798653898,0.069830256394,0.99999993856,0.000221809861718,-0.000271087924166,1.3813461322e-05,1793250532352991232
+89,1.483333333,BASELINE,769.633754556,745.366245444,722,685.633754556,666,642,887.366245444,788,819,654.366245444,632,656.366245444,0.400974379835,-0.00535801071774,0.0698311036007,0.999999938816,0.000221058600769,-0.000270771349283,1.35751503291e-05,1793250532369657856
+90,1.500000000,BASELINE,769.788774987,745,722,686,666.211225013,642,887,788,819,654,632,656.211225013,0.40097501168,-0.00535819687326,0.0698317876927,0.999999939048,0.000221156079728,-0.000269838934258,1.34629977814e-05,1793250532386324736
+91,1.516666667,BASELINE,769.21381262,745,722,686,666.78618738,642,887,788,819,654,632,656.78618738,0.400975939632,-0.00535866195881,0.0698321908951,0.999999939236,0.000222715120554,-0.000267846019559,1.35680948087e-05,1793250532402991360
+92,1.533333333,BASELINE,769,745.362511196,722,685.637488804,667,642,887.362511196,788,819,654,632,657,0.400976005576,-0.00535773050658,0.0698324109023,0.999999939031,0.000224057172046,-0.000267483582051,1.37575558961e-05,1793250532419657984
+93,1.550000000,BASELINE,769,745.939641091,722,685.060358909,667,642,887.939641091,788,819,654,632,657,0.400975561183,-0.00535597225751,0.0698325224518,0.999999938593,0.000225270758776,-0.000268086441133,1.3996963326e-05,1793250532436324608
+94,1.566666667,BASELINE,769.52711419,745.47288581,722,685.52711419,666.47288581,642,888,788,819,654,632,656.47288581,0.400975112296,-0.00535703016418,0.0698315182261,0.999999938199,0.000225729771272,-0.000269165878604,1.40841527352e-05,1793250532452991232
+95,1.583333333,BASELINE,769.885766937,745,722,685.885766937,666,642,888,787.885766937,819,654,632,656,0.400974935561,-0.00535805096558,0.0698308209067,0.99999993794,0.000226127346454,-0.000269791771109,1.41296809012e-05,1793250532469657856
+96,1.600000000,BASELINE,769.305028075,745,722,685.305028075,666,642,888,787.305028075,819,654,632,656,0.400975872382,-0.00535757696097,0.0698319091464,0.999999938217,0.00022663394732,-0.000268338151067,1.40776789471e-05,1793250532486324480
+97,1.616666667,BASELINE,769,745,722,685.272434237,666,642,887.727565763,787.272434237,819,654,632,656.272434237,0.400976056241,-0.00535669985234,0.0698322366439,0.99999993819,0.000227145572569,-0.000268016125239,1.38450503074e-05,1793250532502991360
+98,1.633333333,BASELINE,769,745,722,685.846271558,666,642,887.153728442,787.846271558,819,654,632,656.846271558,0.400975407071,-0.00535537677634,0.0698317225071,0.999999937829,0.000227662756429,-0.000268946019924,1.34125883433e-05,1793250532519657984
+99,1.650000000,BASELINE,769,745,722,685.57187791,666.42812209,642,887,787.57187791,819,654,632,656.57187791,0.400974769645,-0.00535618532359,0.069831540961,0.999999937944,0.000226382737295,-0.000269590662546,1.35507058519e-05,1793250532536324608
+100,1.666666667,BASELINE,769,745,722,685.012877208,666.987122792,642,887.012877208,787.012877208,819,654,632,656,0.400974164687,-0.00535774901117,0.0698314812872,0.999999938228,0.000224486899264,-0.000270105908508,1.38940912489e-05,1793250532552991232
+101,1.683333333,BASELINE,769,745,722,685.596407556,666.403592444,642,887.596407556,787.596407556,819,654,632,656,0.400974808091,-0.0053582103911,0.069831429111,0.999999938395,0.000224444446451,-0.000269512583515,1.40814199316e-05,1793250532569657856
+102,1.700000000,BASELINE,769,745,722,686,666,642,887.822596616,788,819,654,632,656.177403384,0.400975794053,-0.00535866910454,0.0698317246274,0.999999938851,0.000223916507391,-0.000268255293343,1.40679722043e-05,1793250532586324480
+103,1.716666667,BASELINE,769,745,722,686,666,642,887.247285677,788,819,654,632,656.752714323,0.400977548356,-0.00535912183712,0.0698328000022,0.999999939951,0.000222299645217,-0.000265508760175,1.36041922841e-05,1793250532602991104
+104,1.733333333,BASELINE,769,745,722,685.672666245,666,642,887,788,819,654,632,656.672666245,0.400977497476,-0.00535893308788,0.0698327466566,0.999999939996,0.000221856234921,-0.000265713931965,1.35340804748e-05,1793250532619657984
+105,1.750000000,BASELINE,769,745,722,685.098568053,666,642,887,788,819,654,632,656.098568053,0.400976085737,-0.00535826075,0.0698318424117,0.999999939247,0.000222297445084,-0.000268144281295,1.37607399959e-05,1793250532636324864
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,722,686,666,642,887,788,819,654,631,656,0.400974606829,-0.00535681394602,0.0698303325146,0.999999938286,0.000224126411416,-0.000270220556266,1.32371395914e-05,1793250532667384064
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,686,666,642,887,788,819,654,631.579352973,656,0.400975207235,-0.00535765432357,0.0698309537878,0.999999938602,0.000223603468029,-0.000269469775049,1.35553476423e-05,1793250532684050688
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.157390771,745,722,685.842609229,666,642,887,788,819,654,632,656.157390771,0.400975468823,-0.00535838611772,0.0698313544139,0.999999938768,0.000223348217793,-0.000269047313087,1.39035529731e-05,1793250532700717312
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.731942848,745,722,685.268057152,666,642,887,788,819,654,632,656.731942848,0.400974832381,-0.00535883011377,0.0698311702194,0.99999993854,0.000223802483151,-0.000269495055033,1.43312656052e-05,1793250532717384192
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.693017023,745,722,685,666,642,887,788,819,654,632,656.693017023,0.400975138516,-0.00535839118999,0.0698315645203,0.999999938607,0.000224120644966,-0.000268979320593,1.4338662943e-05,1793250532734050816
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.117550084,745,722,685,666,642,887,788,819,654,632,656.117550084,0.400976269019,-0.00535718007414,0.069832464767,0.999999938932,0.000224319772079,-0.000267620940194,1.3978457086e-05,1793250532750717440
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.472560495,745.472560495,722,685.472560495,666,642,887.472560495,788,819.472560495,654,632,656.472560495,0.400975303971,-0.00535675977446,0.0698314405616,0.999999938494,0.000224900807435,-0.000268784437085,1.3650931668e-05,1793250532767384064
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.935559171,745.935559171,722,686,666,642,887.935559171,788,819.935559171,654,632,656.935559171,0.400973957502,-0.00535662567457,0.0698301846516,0.99999993796,0.000225405709495,-0.000270358688516,1.33949751611e-05,1793250532784050688
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.359473818,745.359473818,722,686,666,642,887.359473818,788,819.359473818,654,632,656.359473818,0.400973853776,-0.00535715210198,0.0698310114526,0.999999938236,0.00022452773224,-0.000270054179746,1.3640649625e-05,1793250532800717056
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,685.783811297,666.216188703,642,887,788,819,654,632,656.216188703,0.40097555973,-0.00535759724543,0.0698320956224,0.999999938681,0.000223660423575,-0.000269117415524,1.37959285504e-05,1793250532817383936
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722,685.208850536,666.791149464,642,887,788,819,654,632,656.791149464,0.400980268907,-0.00535790749548,0.069833606904,0.999999939403,0.000222810819869,-0.000267131403216,1.38011931681e-05,1793250532834050560
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722,685.37522642,666.62477358,642,887.37522642,788,819,654,632,656.62477358,0.400995704359,-0.00535901246802,0.0698401979632,0.999999942461,0.000220889787387,-0.00025708192497,1.39133950412e-05,1793250532850716928
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722,685.964503838,666.035496162,642,887.964503838,788,819,654,632,656.035496162,0.401017258704,-0.00536057079657,0.0698496868233,0.999999946674,0.000218357549424,-0.000242432575981,1.408660015e-05,1793250532867383808
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722,685.455605304,666,642,888,788,819,654,632,656,0.401068107834,-0.0053612980613,0.0698673318086,0.999999953408,0.000219152622048,-0.00021198672776,1.47715183747e-05,1793250532884050688
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.122529226,745,722,685.122529226,666,642,887.877470774,788.122529226,819,654,632,656,0.401122498604,-0.00536182848711,0.0698839703133,0.999999958378,0.00022067773213,-0.000185228445378,1.53373746818e-05,1793250532900717824
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.696410545,745,722,685.696410545,666,642,887.303589455,788.696410545,819,654,632,656,0.401183018605,-0.00536183005628,0.0698949755607,0.999999959321,0.000224106410124,-0.00017578352613,1.53438295714e-05,1793250532917385472
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,745.276873269,722,685.723126731,666,642,887,788.723126731,819,654,632,656.276873269,0.401253204814,-0.00536321720444,0.0699027534608,0.999999961301,0.000223174240128,-0.000165465136087,1.45972064194e-05,1793250532934052352
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,745.864728135,722,685.135271865,666,642,887,788.135271865,819,654,632,656.864728135,0.401334248016,-0.00536616062265,0.0699069064323,0.999999964413,0.000217344004179,-0.000154165671964,1.3004732697e-05,1793250532950718464
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.554239001,745.554239001,722,685.445760999,666,642,887,788,819,654,632,656.554239001,0.401423263221,-0.00536763278011,0.0699064436938,0.999999964762,0.000215879733388,-0.000154117583983,1.08964658739e-05,1793250532967384832
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722,686,666.024733158,642,887.024733158,788,819,654,632,656,0.4015160349,-0.00536869061807,0.0699046154439,0.999999964309,0.000215663257139,-0.000157473233383,8.6138081951e-06,1793250532984051456
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722,686,666.603219966,642,887.603219966,788,819,654,632,656,0.40163956332,-0.00537031766518,0.0699031022398,0.999999963968,0.000214167414103,-0.000161743035798,5.87830251821e-06,1793250533000717824
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722,686,666.819344805,642,887.819344805,788,819,654,632,656,0.401773520776,-0.00537263293526,0.0699033620456,0.999999964356,0.000211997311611,-0.000162285931158,3.03847962792e-06,1793250533017384192
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,686,666.244205913,642,887.244205913,788,819,654,632,656,0.401930251349,-0.00537645102792,0.0699074934451,0.99999996633,0.000208354877644,-0.00015469064825,-2.91328671022e-08,1793250533034050560
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.336909064,722,686,666,642,887.336909064,788,819,654.336909064,631.663090936,656.336909064,0.402106002818,-0.00537963960376,0.069911452112,0.999999968408,0.000203403728991,-0.000147638243336,-3.69936990107e-06,1793250533050717184
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745.922434044,722,686,666,642,887.922434044,788,819,654.922434044,631.077565956,656.922434044,0.402295790428,-0.00538236363953,0.0699152833143,0.99999997053,0.000197486837752,-0.000140986444567,-7.81430307177e-06,1793250533067384064
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745.496002506,722,686,666,642,887.496002506,788,819,654.496002506,631.503997494,656.496002506,0.402516004769,-0.00538606637288,0.0699194000751,0.99999997308,0.000189268149235,-0.000133639764435,-1.25742893381e-05,1793250533084050688
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721.915362168,686,666,642,887.084637832,788,819,654,632,656,0.40274660013,-0.00538997268711,0.0699235339306,0.999999975553,0.000180934064544,-0.000125891435353,-1.75290904161e-05,1793250533100717312
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721.336579252,686,666,642,887.663420748,788,819,654,632,656,0.403010677462,-0.0053941950477,0.0699275130104,0.999999977824,0.000173978358076,-0.000116417639633,-2.30462105887e-05,1793250533117384192
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.24376579,745,721.24376579,686.24376579,666.24376579,642,888,788,819,654,631.75623421,656.24376579,0.403288789878,-0.00539850042839,0.0699328543187,0.99999998017,0.000167047208838,-0.000104612356803,-2.84826791552e-05,1793250533134050816
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.826281612,745,721.826281612,686.826281612,666.826281612,642,888,788,819,654,631.173718388,656.826281612,0.403586406185,-0.00540292117801,0.0699400886525,0.999999982593,0.000160150186053,-8.95671148582e-05,-3.38070695866e-05,1793250533150717440
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.59444677,745,722,686.59444677,666.59444677,642,888,788,819.40555323,654.40555323,631.40555323,657,0.403919603062,-0.00540913751087,0.0699455936136,0.999999985046,0.000147611081678,-8.11297277974e-05,-3.92016706601e-05,1793250533167384064
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.01655379,745,722,686.01655379,666.01655379,642,888,788,819.98344621,654.98344621,631.98344621,657,0.404267919887,-0.0054161168763,0.069950363678,0.999999987353,0.000132674376214,-7.55003474816e-05,-4.46261075875e-05,1793250533184050944
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,722,686,666.563863562,642,888.563863562,788.563863562,819.436136438,655,632,657,0.404645512766,-0.00542167621495,0.069952836351,0.999999995064,4.19845262997e-05,-7.46339626417e-05,-5.03893844375e-05,1793250533200717312
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722,686.143755164,666.856244836,642.143755164,888.856244836,789,819,654.856244836,632,656.856244836,0.405034991384,-0.00542663224386,0.0699551728598,0.999999996068,-6.62849685119e-06,-7.26868848698e-05,-5.03688529628e-05,1793250533217384192
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722,686.721833311,666.278166689,642.721833311,888.278166689,789,819,654.278166689,632,656.278166689,0.405457771547,-0.00542989203054,0.0699573026696,0.999999994121,7.86332519597e-05,-6.70503777882e-05,-3.28436925222e-05,1793250533234050816
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.296987058,745,722,687,666,642.703012942,888,788.703012942,819,654,632,656.296987058,0.405891103342,-0.00544200597137,0.0699563437854,0.999999992101,0.000103186241437,-6.70882000355e-05,-2.55064709012e-05,1793250533250717440
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.869428502,745,722,687,666,642.130571498,888,788.130571498,819,654,632,656.869428502,0.406334221787,-0.00546233210748,0.0699525201492,0.999999994447,7.14320936332e-05,-7.23889411848e-05,-2.76185225926e-05,1793250533267384064
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.544093728,745,722,687.455906272,666.455906272,642,888,788,819,654,632,656.544093728,0.4068152803,-0.00548832939759,0.0699372627425,0.99999999463,2.66499119109e-05,-9.58138965334e-05,-2.91287733285e-05,1793250533284050688
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722,688.045629282,666.954370718,642,888.045629282,788.045629282,819,654,632,656.045629282,0.407313361057,-0.00551312637071,0.069920245551,0.999999992021,-1.72887642068e-05,-0.000121320558784,-3.06672125639e-05,1793250533300717312
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,722,688.624800316,666.375199684,642,888.624800316,788.624800316,819,654,632,656.624800316,0.407879390568,-0.00550429287675,0.0699221577028,0.99999999349,-6.34935918581e-06,-0.000108545000162,-3.46146299042e-05,1793250533317383936
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,722,689,666,642,889,788.797330403,819,654.202669597,632,657,0.408466425509,-0.00550358826604,0.0699301426259,0.99999999551,-4.59767506666e-06,-8.70883984325e-05,-3.70749435005e-05,1793250533334050560
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722,689,666,642,889,788.221855695,819,654.778144305,632,657,0.40909209932,-0.00551783651144,0.0699492982433,0.999999997895,-1.97465497168e-05,-4.96632590667e-05,-3.67997706888e-05,1793250533350717184
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.360375467,745.360375467,722,689.360375467,666.360375467,642,889,788.360375467,819,654.639624533,632,657,0.409699549815,-0.00552680487381,0.0699519958982,0.999999997769,-3.57759739916e-05,-4.14467515065e-05,-3.82709703557e-05,1793250533367384064
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.946845511,745.946845511,722,689.946845511,666.946845511,642,889,788.946845511,819,654.053154489,632,657,0.41029556723,-0.00553246071013,0.0699443680544,0.999999996466,-5.23578423464e-05,-5.15553365669e-05,-4.08378199614e-05,1793250533384050944
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.470302737,745.470302737,722,689.470302737,667,642,889,789,819,654,632,656.470302737,0.410974318456,-0.00553892457767,0.0699432365043,0.99999999637,-4.85713157611e-05,-5.72768059436e-05,-4.02499657259e-05,1793250533400717312
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.110561057,745.110561057,722,689.221122113,667,642.110561057,889,789,819,654,632,656.110561057,0.411671417395,-0.00554646446215,0.0699473700681,0.999999996594,-4.8678522172e-05,-5.35365032555e-05,-3.97125086116e-05,1793250533417383936
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.684602796,745.684602796,722,690.369205591,667,642.684602796,889,789,819,654,632,656.684602796,0.41241086369,-0.00555817748432,0.0699708611497,0.99999999639,-7.36188093251e-05,-1.19647106439e-05,-4.07044063988e-05,1793250533434050816
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.740636795,746,722,690.740636795,667.259363205,643,889.259363205,788.740636795,819.259363205,654,632,656.740636795,0.413163473463,-0.0055670545294,0.0699950212356,0.99999999489,-8.87665980911e-05,2.54866583642e-05,-4.11135925362e-05,1793250533450717440
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.164999945,746,722,690.164999945,667.835000055,643,889.835000055,788.164999945,819.835000055,654,632,656.164999945,0.413932135192,-0.00557247331831,0.0700199971243,0.999999993261,-9.19731854609e-05,5.79134906031e-05,-4.08122064558e-05,1793250533467384064
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.578187514,722,690.421812486,667.578187514,643,889.578187514,788.421812486,820,654,632,656.421812486,0.4146631533,-0.00555217596982,0.0700042485426,0.999999996217,-7.21524442607e-05,2.51046780693e-05,-4.16000341406e-05,1793250533484050944
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745.012839088,722,691,667,643,889.012839088,788.987160912,820,654,632,657,0.415380882399,-0.00552176563576,0.0699718323938,0.999999997571,-4.30507447647e-05,-3.41324884381e-05,-4.28995138512e-05,1793250533500717312
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,745.591684862,722,691,667,643,889.591684862,788.408315138,820,654,632,657,0.416179585941,-0.0055010598568,0.0699260198827,0.999999993501,-1.27040624523e-05,-0.000102879441636,-4.74608226935e-05,1793250533517383936
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.169332777,746,722,691.169332777,667,643,890,788.169332777,820.169332777,654,632,657,0.416997823905,-0.00549144061509,0.0699013078535,0.999999988919,2.53364983727e-07,-0.000140048028946,-5.04819463379e-05,1793250533534050560
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.744112528,746,722,691.744112528,667,643,890,788.744112528,820.744112528,654,632,657,0.417862834644,-0.00550836675509,0.0699271183939,0.999999993193,-2.84256895169e-05,-0.000101606012895,-4.98152819153e-05,1793250533550717184
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,722.325560768,692,667,643,890,789,821,654,632,656.674439232,0.418728478337,-0.00551966687465,0.0699557049018,0.999999996043,-4.50264371555e-05,-5.92847191036e-05,-4.87043518015e-05,1793250533567384064
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,722.912359948,692,667,643,890,789,821,654,632,656.087640052,0.419594629889,-0.00552645252853,0.0699865189169,0.99999999744,-5.19352363586e-05,-1.38505939932e-05,-4.723693138e-05,1793250533584050688
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.507413114,746,722.507413114,692,667,643,890,788.507413114,821,654,632,656,0.420515373023,-0.00553048093848,0.0700121971931,0.999999996955,-5.66555138574e-05,2.7252202877e-05,-4.62359012619e-05,1793250533600717312
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,692,667.071615616,643.071615616,890,788.071615616,821,654,632,656.071615616,0.421442181892,-0.00553304422454,0.0700314126041,0.999999995446,-6.05649529956e-05,5.79026477124e-05,-4.56851606427e-05,1793250533617384192
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722,692,667.650330484,643.650330484,890,788.650330484,821,654,632,656.650330484,0.422344071357,-0.00552866105768,0.0700112503059,0.999999996773,-6.14537870117e-05,1.99263671458e-05,-4.77430251822e-05,1793250533634050816
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722,692.227260866,667.772739134,643.772739134,890,789,821,654,632,657,0.423208104044,-0.00552134507501,0.0699645595213,0.999999995434,-5.73519167787e-05,-5.64228479987e-05,-5.15652471264e-05,1793250533650717440
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,722,692.801467072,667.198532928,643.198532928,890,789,821,654,632,657,0.42401434323,-0.00550955174019,0.0698773693073,0.999999978964,-4.56310414356e-05,-0.00019135369354,-5.80810059496e-05,1793250533667384064
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.383924804,746.383924804,722,693,667.383924804,643,890.383924804,789,821.383924804,654,632,657,0.424903734947,-0.0055091702239,0.0698545984876,0.999999973049,-4.53143529212e-05,-0.00021944193302,-6.076909726e-05,1793250533684050944
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.970743205,746.970743205,722,693,667.970743205,643,890.970743205,789,821.970743205,654,632,657,0.425837070418,-0.00551481953751,0.069865871534,0.999999978558,-5.10244613799e-05,-0.000191066815679,-6.1434372552e-05,1793250533700717568
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,747,722,693,667.445714318,643,891,789,822,654,632,657,0.426840418225,-0.00552552879796,0.0699295751699,0.999999991472,-6.0894913321e-05,-0.000100791126766,-5.64670635523e-05,1793250533717384192
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.864657223,746.864657223,722,693,667,643.135342777,891,789,822.135342777,654,632,657,0.427848605586,-0.00553374855635,0.0699905041668,0.999999996138,-6.92329800816e-05,-1.37403141886e-05,-5.23655851994e-05,1793250533734050816
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.291090944,746.291090944,722,693,667,643.708909056,891,789,822.708909056,654,632,657,0.428860567657,-0.00553304792122,0.0700335412366,0.999999994691,-7.19025260981e-05,5.23517992976e-05,-5.20245414838e-05,1793250533750717440
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,722,693,667,643.716281463,891,789,823,654,632,656.716281463,0.429830520084,-0.0055325114803,0.0700500941145,0.999999992689,-7.53395435564e-05,7.86173618682e-05,-5.25818735936e-05,1793250533767384064
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722,693,667,643.140190899,891,789,823,654,632,656.140190899,0.4307571815,-0.00553214424161,0.0700393550229,0.999999993335,-7.95674406078e-05,6.38416492675e-05,-5.40649824186e-05,1793250533784050688
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.44740024,746.44740024,722,693.44740024,667,643.44740024,891,789,823,654,632,656.44740024,0.431579421519,-0.0055302054405,0.0699696218934,0.999999994239,-7.28591202263e-05,-5.50729933733e-05,-5.638904547e-05,1793250533800717312
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,722,694,667,644,891,789,823,654,632,657,0.432379315388,-0.00552810580894,0.0698874242097,0.999999977135,-6.39126385934e-05,-0.000195379219625,-5.89195471275e-05,1793250533817384192
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,722,694,667,644,891,789,823,654,632,657,0.433339704509,-0.00553092805561,0.0698981881505,0.999999982226,-7.32346994531e-05,-0.000162852861714,-6.05356404214e-05,1793250533834050816
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,722,694,667,643.807977544,891.192022456,789,823,654,632,657,0.434309236454,-0.00553381586156,0.0699262676383,0.99999998911,-7.96768403349e-05,-0.000108339280011,-6.07818133968e-05,1793250533850717440
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747,722,694,667,643.2337658,891.7662342,789,823,654,632,657,0.435296965865,-0.00553683415303,0.0699888108917,0.999999995019,-8.03869728726e-05,-1.00637193343e-05,-5.83013840642e-05,1793250533867384064
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.660659109,747,722,694,667,643,891.660659109,788.660659109,823.339340891,654,632,657,0.436240271642,-0.00554035381287,0.070023779522,0.999999993851,-8.29001703856e-05,4.66912876115e-05,-5.69772878474e-05,1793250533884050688
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.088311232,747,722,694,667,643,891.088311232,788.088311232,823.911688768,654,632,657,0.437153074061,-0.00554421773501,0.0700398141503,0.999999991845,-8.66514351039e-05,7.49363764689e-05,-5.64471832447e-05,1793250533900717312
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.495714955,722,694,667,643,891,788.504285045,824,654,632,657,0.438000480166,-0.00554906763153,0.0700161065908,0.999999992409,-9.40116401232e-05,5.43862414165e-05,-5.81956251061e-05,1793250533917383936
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.097144696,722.097144696,694.097144696,667,643,891.194289391,788.902855304,824,654,632,657,0.438816240106,-0.00555186733141,0.0699751177453,0.99999999329,-9.87876121771e-05,3.76499848345e-06,-6.0394957495e-05,1793250533934050560
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.673094218,722.673094218,694.673094218,667,643,892.346188435,788.326905782,824,654,632,657,0.439534830249,-0.00554367543244,0.0698846911336,0.999999982765,-8.75811526631e-05,-0.000151191348634,-6.27676621683e-05,1793250533950717184
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,722.751531664,694.751531664,666.751531664,643,892.751531664,788.248468336,824.248468336,654,632,657,0.440289793822,-0.00553718488845,0.0698221785997,0.999999962317,-7.78510329178e-05,-0.000255188437664,-6.46915628309e-05,1793250533967384320
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,722.176912889,694.176912889,666.176912889,643,892.176912889,788.823087111,824.823087111,654,632,657,0.441092502701,-0.00553292761826,0.0697963073163,0.999999952648,-7.00588244433e-05,-0.00029229416106,-6.60263449774e-05,1793250533984051712
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,722.40808879,694,666,642.59191121,892,788.59191121,825,654,632,657,0.441902838911,-0.00553539918412,0.0698216552242,0.999999962573,-7.40793516223e-05,-0.000255308207828,-6.4690196913e-05,1793250534000718592
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,722.997709183,694,666,642.002290817,892,788.002290817,825,654,632,657,0.442716568084,-0.00554086396194,0.0698697871469,0.999999977414,-8.33545795197e-05,-0.000185363789921,-6.21659292292e-05,1793250534017385216
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.5765288,747,722.4234712,694.5765288,666,642,892,788,825,654,632,657,0.443442741219,-0.00554583317975,0.0698652089976,0.999999974003,-8.20412065371e-05,-0.000203538540999,-6.19218393308e-05,1793250534034051584
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.84541495,747,722,694.84541495,665.84541495,642,892,787.84541495,825,654.15458505,632,657,0.444153972198,-0.00554836224363,0.0698487008383,0.99999996652,-8.10004271762e-05,-0.000237775766342,-6.21396222307e-05,1793250534050718208
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.269325162,747,722,694.269325162,665.269325162,642,892,787.269325162,825,654.730674838,632,657,0.444825391958,-0.00554424304787,0.0698002238776,0.99999994514,-8.08155355225e-05,-0.000314873142708,-6.35925365044e-05,1793250534067384832
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,722,694,665,641.687638127,892,787,825,654.687638127,632,656.687638127,0.445481778115,-0.00554040342744,0.0697594328437,0.999999925656,-7.80480887292e-05,-0.000371973558325,-6.50624063875e-05,1793250534084051200
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,722,694,665,641.101037003,892,787,825,654.101037003,632,656.101037003,0.446124965426,-0.00553680926145,0.0697253897003,0.999999910447,-7.30132784118e-05,-0.000411517565191,-6.65471625889e-05,1793250534100717568
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.478034394,747,722,694.478034394,664.521965606,641,892.478034394,787,825.478034394,654,632,656.478034394,0.446729401008,-0.00553803931323,0.0697078457582,0.999999895107,-7.25482703319e-05,-0.000447172237067,-6.75285693714e-05,1793250534117383936
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,722,695,663.944157809,641,893,786.944157809,826.055842191,654,632,657,0.447323147934,-0.00554062123586,0.0696932069571,0.999999878905,-7.3815408668e-05,-0.000481755861935,-6.82023896579e-05,1793250534134050560
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,722,695,663.363500458,641,893,786.363500458,826.636499542,654,632,657,0.447892223434,-0.00554647409717,0.0696736055322,0.999999862324,-8.24249183064e-05,-0.000513879540062,-6.69698012122e-05,1793250534150717440
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.78532611,747,722,694.78532611,663,640.78532611,892.78532611,786,826.78532611,654,632,657,0.448464384051,-0.00555141496853,0.069667352327,0.999999857006,-8.82445370957e-05,-0.000523325911099,-6.58132292247e-05,1793250534167384064
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.211308136,747,722,694.211308136,663,640.211308136,892.211308136,786,826.211308136,654,632,657,0.449041708808,-0.00555482925311,0.0696834427995,0.999999871486,-8.93941378225e-05,-0.000494812580757,-6.47839018913e-05,1793250534184050688
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.37260099,747,722,694,663,639.62739901,892.37260099,786,826.37260099,654.37260099,632,657,0.449595684316,-0.00556002547913,0.0697027327575,0.999999886045,-9.81346570951e-05,-0.000462753021622,-6.43401332343e-05,1793250534200717312
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.962272577,747,722,694,663,639.037727423,892.962272577,786,826.962272577,654.962272577,632,657,0.450136057028,-0.00556625983232,0.0697238866792,0.999999899882,-0.000111297508207,-0.000428627490696,-6.42375003211e-05,1793250534217383936
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,722.542973163,694,662.457026837,639,893,785.457026837,827,654.457026837,632,657,0.450573406639,-0.00556760384262,0.0697010589777,0.99999988228,-0.000111329976461,-0.000467869960683,-6.4370034794e-05,1793250534234050816
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,747.121984163,722.878015837,694,662,639,893,785,827,654.121984163,632,657,0.450993522628,-0.00556762074899,0.0696724646074,0.999999859915,-0.000109603055199,-0.000513825577779,-6.43453298259e-05,1793250534250717440
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747.696997808,722.303002192,694,662,639,893,785,827,654.696997808,632,657,0.451375788733,-0.00556395044195,0.0696336186899,0.999999832266,-0.00010467525355,-0.000566087950189,-6.36769649714e-05,1793250534267384064
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747.722386632,722,694.277613368,661.722386632,638.722386632,893,784.722386632,827,655,631.722386632,657,0.451756579975,-0.00556094246068,0.0696058222548,0.999999812308,-0.000101399379078,-0.000600763940487,-6.46869172302e-05,1793250534284050688
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,747.135530955,722,694.864469045,661.135530955,638.135530955,893,784.135530955,827,655,631.135530955,657,0.452135728296,-0.00555867226526,0.0695903341898,0.999999803085,-9.99636390412e-05,-0.000615849901824,-6.75664001631e-05,1793250534300717312
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.554839832,747,722,695,661,638,893,784,826.554839832,654.554839832,631,657,0.452484810828,-0.00555727894501,0.0695840989401,0.999999798792,-0.000100826235734,-0.000622308089918,-7.05887508871e-05,1793250534317383936
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747,722,694.975995606,660.975995606,637.975995606,893,783.975995606,826.024004394,654.024004394,631,657,0.452823528119,-0.00555627567971,0.0695810092359,0.999999796161,-0.000102832542799,-0.000625855292098,-7.35453913481e-05,1793250534334050816
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747,722,694.397051966,660.397051966,637.397051966,893,783.397051966,826.602948034,654.602948034,631,657,0.45313134551,-0.00555820225644,0.0695864030729,0.999999797169,-0.000115323648186,-0.000622002321523,-7.39910948095e-05,1793250534350717440
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.180451704,747,722,694,660,637,892.819548296,783,826.819548296,654.819548296,630.819548296,657,0.453424508366,-0.0055604660665,0.0695901378377,0.999999797774,-0.000125943056548,-0.000618981574312,-7.38329830247e-05,1793250534367383808
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.754811979,747,722,694,660,637,892.245188021,783,826.245188021,654.245188021,630.245188021,657,0.453685681755,-0.00556346602398,0.0695902510085,0.999999797783,-0.000132476730185,-0.00061777749069,-7.23568010681e-05,1793250534384050688
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.670416303,747,722,694.329583697,660,637.329583697,892,783,826.329583697,654,630.329583697,657,0.453924862408,-0.00556708904746,0.0695894379567,0.999999798115,-0.00012158922037,-0.000620288123406,-6.50266992459e-05,1793250534400717568
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.095338057,747,722,694.904661943,660,637.904661943,892,783,826.904661943,654,630.904661943,657,0.454147661524,-0.00557117616977,0.0695879349966,0.999999798136,-9.77253242087e-05,-0.000625565708703,-5.33362316107e-05,1793250534417383936
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+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,722,694,659,637,892,782.340661376,827,654.340661376,631,657,0.454659137898,-0.00557118027133,0.0695642807576,0.999999767549,-0.000105571350378,-0.000671128497755,-5.78231046612e-05,1793250534467387392
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,722,694,658.764334553,636.764334553,892.235665447,782,826.764334553,654.235665447,631,657,0.454793216625,-0.0055721039805,0.0695564398901,0.999999756457,-0.000107642820726,-0.00068702598844,-5.91139666998e-05,1793250534484054784
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+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,722,694,658.988880133,636,892.011119867,782,826.988880133,654.011119867,631,657,0.455122148675,-0.00557257270994,0.0695421807366,0.99999973855,-0.00010923770519,-0.000712165558528,-6.15367138334e-05,1793250534534050816
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+221,3.683333333,POSE1_TO_POSE2_PRESS,769,747,722,694,659,636.281486178,893,782,827,655,631,657,0.455348173064,-0.00557357482388,0.0695472202509,0.999999741819,-0.000108999268695,-0.000707622531559,-6.12516031736e-05,1793250534584051456
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+224,3.733333333,POSE1_TO_POSE2_PRESS,769.531867212,747,722,694,658,636.531867212,892,782,827,654,631,657,0.455478971128,-0.00557633758536,0.0695433717751,0.999999737284,-0.000113152463001,-0.000713405447033,-6.06803901399e-05,1793250534634051072
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769.625412707,747,722,694.625412707,658,636.625412707,892.625412707,782,827,654.625412707,631,657,0.455524813295,-0.00557372571857,0.0695381505392,0.999999731984,-0.000112729753705,-0.000720843119147,-6.089462481e-05,1793250534667385344
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+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,722,694.221876642,658,636.221876642,893,781.221876642,827,654.221876642,631,657,0.455551380145,-0.00557147161249,0.0695350959839,0.999999728754,-0.000110305188042,-0.00072571418609,-6.05299622353e-05,1793250534700718080
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+231,3.850000000,POSE1_TO_POSE2_PRESS,769,747,722,694.473655325,658,636,892.473655325,782,827,654.526344675,630.473655325,657,0.455567458817,-0.00557126193462,0.0695315557824,0.999999724846,-0.000112522570636,-0.000730769597776,-6.01892700955e-05,1793250534750717952
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,747,722,694,658,636,892.104948838,782,827,654.895051162,630.104948838,657,0.455569964873,-0.00556993181788,0.0695306094263,0.99999972381,-0.000110409809577,-0.000732497647396,-6.03120178734e-05,1793250534767384576
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,747,722,694,658,636,892.677484475,782,827,654.322515525,630.677484475,657,0.455570418336,-0.00557103087831,0.0695297946227,0.999999722774,-0.000110994522168,-0.000733882053954,-5.95695412551e-05,1793250534784051712
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+235,3.916666667,POSE1_TO_POSE2_PRESS,769.832859793,747,722,694,658,636,892.167140207,781.167140207,826.167140207,654,631,657,0.455572618605,-0.00557196778285,0.0695294551821,0.99999972256,-0.000113789219683,-0.000733781477428,-5.91315540731e-05,1793250534817385472
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.581209088,747,722,694.418790912,658,636,892.418790912,781,826,654.418790912,630.581209088,657,0.455572467641,-0.00557137672691,0.069528439853,0.999999722085,-0.000112539967644,-0.000734615263226,-5.92083932461e-05,1793250534834051584
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.007141326,747,722,694.992858674,658,636,893,781,826.007141326,654.992858674,630.007141326,657,0.455571729408,-0.00557047465878,0.0695270070773,0.999999721318,-0.000110140917927,-0.000736013390215,-5.93136173134e-05,1793250534850717184
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.587315299,747,722,694.412684701,658,636,893,781,826.587315299,654.412684701,630.587315299,657,0.455572780447,-0.00557102091365,0.0695277886259,0.999999721411,-0.000111872798404,-0.000735669510076,-5.87519303683e-05,1793250534867384064
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,722,694,657.834718214,636,892.834718214,781.165281786,826.834718214,654,630.834718214,657,0.45557369731,-0.00557157158774,0.0695282391548,0.999999721441,-0.000113596275286,-0.00073539062267,-5.8439058082e-05,1793250534884050944
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,722,694,657.262190891,636,892.262190891,781.737809109,826.262190891,654,630.262190891,657,0.455574283571,-0.00557213315049,0.0695278740686,0.999999721316,-0.000115299046054,-0.000735271873923,-5.87392519262e-05,1793250534900717568
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,722,694,657.320902929,636,892.320902929,781.679097071,826,654,630.320902929,657,0.455575120621,-0.00557174817401,0.0695281612915,0.999999721617,-0.000114884648574,-0.000734926789747,-5.87429510427e-05,1793250534917384192
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,722,694,657.912923931,636,892.912923931,781.087076069,826,654,630.912923931,657,0.455576169553,-0.00557056350428,0.0695289996241,0.999999722276,-0.000112681540082,-0.000734390483809,-5.84961535861e-05,1793250534934050816
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.506597421,747,722,694.493402579,658,636,893,781.493402579,826.493402579,654.493402579,631,657,0.455577235117,-0.00556947746296,0.0695296118214,0.999999722764,-0.000110719428644,-0.000734066783772,-5.79609019918e-05,1793250534950717440
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+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,722,694.351483993,658,636,893,781.351483993,827,655,630.351483993,657,0.455575581545,-0.00556935579239,0.069527029558,0.999999720436,-0.000110337881733,-0.000737262916933,-5.82748297781e-05,1793250534984050944
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+248,4.133333333,HOLD_POSE2,769,747,722,694,657,636,893,781,827,654,631,657,0.455578202287,-0.00556860832007,0.069527999553,0.99999972188,-0.000109157592418,-0.000735526368278,-5.76633107257e-05,1793250535051482112
+249,4.150000000,HOLD_POSE2,769.575968326,747,722.575968326,694,657,636,892.424031674,781.575968326,826.424031674,654,631,657,0.455577101897,-0.005568955467,0.0695272699391,0.999999720338,-0.000110819546215,-0.00073736329003,-5.7775103634e-05,1793250535068150016
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+251,4.183333333,HOLD_POSE2,770,747,722.26877814,694,657.73122186,636,892.73122186,781.26877814,826.73122186,654.73122186,631,657,0.455576551586,-0.00557085261221,0.0695268562884,0.999999719681,-0.000112971136725,-0.000737952104109,-5.74607799784e-05,1793250535101483776
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+253,4.216666667,HOLD_POSE2,770,747,722,694,658,635.120340201,892.120340201,781,827,654.120340201,631,657,0.455578409711,-0.00557117484234,0.0695271293908,0.999999721038,-0.000113174518587,-0.000736038859221,-5.79805990243e-05,1793250535134816768
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a648e82893b0c804ba646d85279e817562c28247
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+405,6.750000000,pose2_to_pose3_retreat,0.575664970907,0.000149987681406,1.06003348254,0.54623565055,0.00882262528309,1.05970487311
+406,6.766666667,pose2_to_pose3_retreat,0.575664731139,0.000149995584794,1.06003341939,0.546235410231,0.00882263131622,1.05970480988
+407,6.783333333,pose2_to_pose3_retreat,0.575664673387,0.000149997488442,1.06003340418,0.546235352346,0.00882263276939,1.05970479464
+408,6.800000000,pose2_to_pose3_retreat,0.575664506801,0.000149998162635,1.0600334697,0.546235185836,0.0088226337803,1.05970486228
+409,6.816666667,pose2_to_pose3_retreat,0.575664327878,0.000149996217964,1.06003360068,0.546235007249,0.00882263310377,1.05970499673
+410,6.833333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb2215d3d4af4f5e166dcc85505679c9fd2fdf4b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8335733393d80bec1f11d3cbc898ad5a15ad1885c64f57a70bd8e145954432a0
+size 26209448
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a858bed88dd5fbc8f7e1719efa069f37761f4425
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+54,0.900000000,BASELINE,769.339859474,746,722,686,666.339859474,642,888,788.339859474,819,654,632,656,0.400974010187,-0.00536091809222,0.0698316327922,0.999999939259,0.000218915087392,-0.00027085339354,1.40401350759e-05,1793250538824335104
+55,0.916666667,BASELINE,769.916104943,746,722,686,666.916104943,642,888,788.916104943,819,654,632,656,0.400974731652,-0.00536269787102,0.0698323852021,0.999999940269,0.000215091989758,-0.000270179746671,1.41688276698e-05,1793250538841001728
+56,0.933333333,BASELINE,770,746,722,685.507582902,666.507582902,642,887.507582902,788.507582902,819.492417098,654,632,656.492417098,0.400976318106,-0.00536120558296,0.0698336923843,0.999999940265,0.000218195088449,-0.00026770692775,1.3920652083e-05,1793250538857668096
+57,0.950000000,BASELINE,770,746,722,685,666.070260837,642.070260837,887.070260837,788,819.929739163,654,632,657,0.400977662566,-0.00535948318534,0.0698347754539,0.999999940109,0.000221553409274,-0.000265538646869,1.36348215276e-05,1793250538874334720
+58,0.966666667,BASELINE,770,746,722,685,666.659329627,642.659329627,887.659329627,788,819.340670373,654,632,657,0.4009761318,-0.00536017862197,0.0698335056452,0.999999940248,0.000218081640641,-0.000267882832699,1.35451275762e-05,1793250538891001344
+59,0.983333333,BASELINE,769.756139186,746,722,685.243860814,667,642.756139186,888,788,819,654.243860814,632,657,0.400974744933,-0.00536106637753,0.0698322626558,0.999999940162,0.000215972019081,-0.000269901171102,1.36251543236e-05,1793250538907668224
+60,1.000000000,BASELINE,769.177831089,746,722,685.822168911,667,642.177831089,888,788,819,654.822168911,632,657,0.40097355542,-0.00536221789242,0.0698310564479,0.999999939784,0.000215730538031,-0.000271472620555,1.39379475505e-05,1793250538924335104
+61,1.016666667,BASELINE,769,745.600321941,722,685.600321941,667,642,887.600321941,788,819,654.600321941,632,657,0.400973674454,-0.00536251772736,0.0698310697265,0.999999939677,0.00021618134141,-0.00027151260404,1.38896111406e-05,1793250538941001984
+62,1.033333333,BASELINE,769,745.0231676,722,685.0231676,667,642,887.0231676,788,819,654.0231676,632,657,0.400974374548,-0.00536243937535,0.0698316245157,0.999999939689,0.00021693955239,-0.000270872542876,1.36809157823e-05,1793250538957668864
+63,1.050000000,BASELINE,769.55214636,745.55214636,722,685,667,642.55214636,887,788,819,654.55214636,632,657,0.400974955918,-0.00536280016623,0.0698319200418,0.999999940018,0.000215911884097,-0.000270473800764,1.37938580528e-05,1793250538974335232
+64,1.066666667,BASELINE,769.869723805,745.869723805,722,685,666.869723805,642.869723805,887.130276195,787.869723805,819,655,632,656.869723805,0.400975498267,-0.00536266126641,0.0698320382354,0.999999940251,0.000215424689919,-0.000269997458095,1.38210971151e-05,1793250538991001600
+65,1.083333333,BASELINE,769.281423372,745.281423372,722,685,666.281423372,642.281423372,887.718576628,787.281423372,819,655,632,656.281423372,0.400975920881,-0.0053607009901,0.0698315710841,0.999999940105,0.000217100268629,-0.000269212806822,1.34997310795e-05,1793250539007668224
+66,1.100000000,BASELINE,769,745,722,685,666,642,888,787.302888438,819,654.697111562,632,656.302888438,0.400974794836,-0.00536024696541,0.069831114374,0.99999993961,0.000218469312969,-0.000269946934304,1.34409417551e-05,1793250539024335104
+67,1.116666667,BASELINE,769,745,722,685,666,642,888,787.883542425,819,654.116457575,632,656.883542425,0.400972248582,-0.00536117425735,0.0698306672389,0.999999938792,0.000219557248143,-0.000272073866446,1.36229499019e-05,1793250539041001728
+68,1.133333333,BASELINE,769,745,722,685,666.458024899,642.458024899,888,788,819,654,632,656.541975101,0.400972797898,-0.00536142203347,0.0698307601334,0.999999938804,0.00021953852582,-0.00027202943201,1.39589580728e-05,1793250539057668864
+69,1.150000000,BASELINE,769.031902252,745,722,685,667,643,888,788,819,654,632,656,0.400974073953,-0.00536150002814,0.0698309843698,0.999999939032,0.000219164248141,-0.000271474899806,1.42804383609e-05,1793250539074336256
+70,1.166666667,BASELINE,769.622290468,745,722,685,667,643,888,788,819,654,632,656,0.400974476834,-0.00536159019728,0.069831136119,0.999999939406,0.000217425940301,-0.000271527037154,1.36712310862e-05,1793250539091002368
+71,1.183333333,BASELINE,769.791500006,745,722,685,667,642.791500006,888,788,819,654,632,656.208499994,0.400974457144,-0.00536182919357,0.069830975974,0.999999939673,0.000216086935714,-0.000271630985268,1.33354445265e-05,1793250539107668992
+72,1.200000000,BASELINE,769.212711583,745,722,685,667,642.212711583,888,788,819,654,632,656.787288417,0.400973686985,-0.00536233250148,0.0698302619163,0.999999939753,0.000215457078941,-0.000271826947437,1.34852431415e-05,1793250539124335616
+73,1.216666667,BASELINE,769,745,722,685.365319516,666.634680484,642.365319516,888,788,819,654,632,656.634680484,0.400973028242,-0.00536296642677,0.0698300670529,0.999999939636,0.00021511208631,-0.000272528846723,1.35230182047e-05,1793250539141001984
+74,1.233333333,BASELINE,769,745,722,685.942910532,666.057089468,642.942910532,888,788,819,654,632,656.057089468,0.400972434238,-0.0053636762482,0.0698301738711,0.999999939403,0.00021493261605,-0.000273524724351,1.34957011785e-05,1793250539157668352
+75,1.250000000,BASELINE,769.519363322,745,722,685.480636678,666,643,887.480636678,788,819,654,632,656,0.40097310466,-0.00536307403985,0.0698303447893,0.999999939826,0.000214006527454,-0.000272711468322,1.33175338995e-05,1793250539174334976
+76,1.266666667,BASELINE,769.902614849,745,722,685,666.097385151,642.902614849,887.097385151,788.097385151,819,654,632,656,0.400974059042,-0.00536222343893,0.0698307821392,0.999999940265,0.000213557784866,-0.000271457575767,1.3190528964e-05,1793250539191001344
+77,1.283333333,BASELINE,769.316085027,745,722,685,666.683914973,642.316085027,887.683914973,788.683914973,819,654,632,656,0.400975743116,-0.00536084802238,0.0698325224059,0.999999940423,0.000215917966147,-0.000268987125733,1.34036059913e-05,1793250539207668224
+78,1.300000000,BASELINE,769,745,722,685.267295581,667,642,887.732704419,788.732704419,819,654,632,656,0.40097662614,-0.00536018914948,0.0698335285193,0.999999940329,0.000217940627511,-0.000267691853438,1.36077300999e-05,1793250539224335104
+79,1.316666667,BASELINE,769,745,722,685.846995474,667,642,887.153004526,788.153004526,819,654,632,656,0.40097657293,-0.00536036774404,0.0698336765838,0.999999939949,0.000219568809021,-0.000267770081743,1.38013903829e-05,1793250539241001984
+80,1.333333333,BASELINE,769,745.425306432,722,685.574693568,667,642,887.425306432,788,819,654,632,656,0.400975328611,-0.00536144527702,0.0698323576706,0.999999939836,0.000218015780644,-0.000269457249524,1.37709323976e-05,1793250539257668608
+81,1.350000000,BASELINE,769,745.996898696,722,685,666.996898696,642,888,788,819,654,632,656.003101304,0.400973669394,-0.00536283386328,0.0698305273273,0.999999939811,0.000215338181209,-0.000271700198791,1.36598455789e-05,1793250539274334976
+82,1.366666667,BASELINE,769,745.422436249,722,685,666.422436249,642,888,788,819,654,632,656.577563751,0.400974259777,-0.00536214276249,0.069831386637,0.999999940197,0.000215635598043,-0.000270046151773,1.35000398422e-05,1793250539291001600
+83,1.383333333,BASELINE,769,745.156717335,722,685.156717335,666.156717335,642.156717335,887.843282665,788,819,654,632,656.843282665,0.400974622717,-0.00536164674235,0.069832027518,0.999999940301,0.000216448250091,-0.00026901114354,1.34784924254e-05,1793250539307668224
+84,1.400000000,BASELINE,769,745.748906345,722,685.748906345,666.748906345,642.748906345,887.251093655,788,819,654,632,656.251093655,0.40097435366,-0.00536169279419,0.06983206145,0.999999939623,0.000218692590301,-0.00026969626282,1.38411244401e-05,1793250539324334848
+85,1.416666667,BASELINE,769.331585584,745.668414416,721.668414416,685.668414416,666.668414416,642.668414416,887.331585584,788,819,654,632,656.331585584,0.400974785998,-0.00536158578395,0.0698322083075,0.999999939733,0.000218868490365,-0.000269144218947,1.38770811612e-05,1793250539341001728
+86,1.433333333,BASELINE,769.907264273,745.092735727,721.092735727,685.092735727,666.092735727,642.092735727,887.907264273,788,819,654,632,656.907264273,0.400975734662,-0.00536136609871,0.0698324382939,0.999999940422,0.000217521730682,-0.000267681450897,1.36725594123e-05,1793250539357668608
+87,1.450000000,BASELINE,769.516116039,745,721.483883961,685,666,642,888,788,819,654,632,657,0.400974879888,-0.00536146302785,0.0698318176309,0.999999939951,0.000217190732165,-0.000269705032165,1.36226992812e-05,1793250539374335744
+88,1.466666667,BASELINE,769,745.06191336,722,685.06191336,666,642.06191336,888,788,819,654.06191336,632,656.93808664,0.400973681636,-0.00536154200497,0.06983105128,0.999999939248,0.000217288099527,-0.000272221021038,1.35923811333e-05,1793250539391002624
+89,1.483333333,BASELINE,769,745.650395488,722,685.650395488,666,642.650395488,888,788,819,654.650395488,632,656.349604512,0.400972507389,-0.00536095122759,0.0698304350879,0.99999993852,0.000219369813911,-0.000273231224577,1.34756829471e-05,1793250539407669248
+90,1.500000000,BASELINE,769,745.7650059,722,685.7650059,666.2349941,642.7650059,887.7650059,788,819,654.7650059,632,656,0.400972266224,-0.00536133123108,0.0698301939553,0.999999938539,0.000219062983488,-0.000273405306624,1.34901543105e-05,1793250539424335872
+91,1.516666667,BASELINE,769,745.186090981,722,685.186090981,666.813909019,642.186090981,887.186090981,788,819,654.186090981,632,656,0.400973390652,-0.00536313200115,0.0698305017333,0.999999939649,0.000215260446883,-0.000272355700037,1.3696596201e-05,1793250539441001984
+92,1.533333333,BASELINE,769,745,722,685,667,642,887,788,819,654,632,656.39156394,0.40097370186,-0.00536347816053,0.0698311734862,0.999999940037,0.000214142558524,-0.000271810426397,1.36957898903e-05,1793250539457668352
+93,1.550000000,BASELINE,769,745,722,685,667,642,887,788,819,654,632,656.968622018,0.400973627825,-0.00536313523271,0.0698320176635,0.999999940089,0.000214296458325,-0.000271504068448,1.35968046734e-05,1793250539474334976
+94,1.566666667,BASELINE,769.541574167,745.541574167,722,685,667,642.541574167,887.541574167,788,819,654,632,656.458425833,0.400973903804,-0.0053627673108,0.0698321842359,0.99999993993,0.000215917245015,-0.000270804930307,1.35698791567e-05,1793250539491001600
+95,1.583333333,BASELINE,769.882021102,745.882021102,722,685,667,642.882021102,888,788,819,654,632,656,0.400974082554,-0.0053626098708,0.0698323336489,0.999999939848,0.000217027034564,-0.000270218605879,1.3643213618e-05,1793250539507668224
+96,1.600000000,BASELINE,769.290820641,745.290820641,722,685,667,642.290820641,888,788,819,654,632,656,0.400973790584,-0.00536330245312,0.0698325705217,0.999999940129,0.000215748847042,-0.000270175378306,1.41020774917e-05,1793250539524334848
+97,1.616666667,BASELINE,769,745,722,685,667,642,888,788,819.294213697,654,632,656,0.400974250988,-0.00536269767322,0.0698327760983,0.999999940103,0.000216653258961,-0.000269556087653,1.39901837082e-05,1793250539541001472
+98,1.633333333,BASELINE,769,745,722,685,667,642,888,788,819.873278107,654,632,656,0.400975439821,-0.00536083681801,0.0698329513748,0.99999993977,0.000219670811876,-0.000268379066414,1.33256958934e-05,1793250539557668352
+99,1.650000000,BASELINE,769,745,722,685,667,642,887.5497494,788,819.5497494,654,632,656.4502506,0.400973897188,-0.00536049535324,0.0698316811562,0.999999939123,0.00021990866691,-0.000270591994359,1.31661697504e-05,1793250539574334976
+100,1.666666667,BASELINE,769,745,722,685,667,642,887.026491123,788,819,654,632,656.973508877,0.400971711689,-0.00536062381039,0.0698301062475,0.999999938437,0.00021932711654,-0.000273585886823,1.31603311482e-05,1793250539591001600
+101,1.683333333,BASELINE,769,745,722,685,667,642,887.599720069,788,819,654,632,656.400279931,0.400972051198,-0.00536166595465,0.069830600542,0.999999938877,0.000217905898045,-0.000273097734612,1.34067904768e-05,1793250539607668224
+102,1.700000000,BASELINE,769.178211687,745,722,685,666.821788313,642,888,788,819,654,632,656,0.400972778805,-0.00536231868018,0.0698312502968,0.999999939377,0.000217034051829,-0.000271950735195,1.36024776567e-05,1793250539624334848
+103,1.716666667,BASELINE,769.768883353,745,722,685,666.231116647,642,888,788,819,654,632,656,0.400974404644,-0.00536207011988,0.069832259855,0.999999940012,0.000217433694142,-0.00026927887454,1.36806557899e-05,1793250539641001472
+104,1.733333333,BASELINE,769.649435306,745,721.649435306,685,666,642,887.649435306,788,819,654,632,656.350564694,0.400974835079,-0.00536141142369,0.0698323507096,0.999999939849,0.000218969289017,-0.000268633821428,1.37883567714e-05,1793250539657667840
+105,1.750000000,BASELINE,769.073532756,745,721.073532756,685,666,642,887.073532756,788,819,654,632,656.926467244,0.400974497125,-0.00536048909814,0.0698318510353,0.999999939172,0.000221235057616,-0.000269291570279,1.39150346155e-05,1793250539674334464
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,722,685,666,642,887,788,819,654,632,656,0.40097309116,-0.00536170694041,0.0698317553095,0.999999939241,0.000219390813226,-0.000270557885643,1.35657919198e-05,1793250539705839872
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745.401563592,722,685,666.598436408,642,887,788,819,654,632,656,0.400975029578,-0.00536206900694,0.0698333713075,0.99999994015,0.000217755680088,-0.000268512391961,1.35343100415e-05,1793250539722506496
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642.191482055,887.191482055,788,819,654,632,656.191482055,0.400976417617,-0.00536181986787,0.0698341794888,0.999999940579,0.000217479018931,-0.000267138251666,1.34897184882e-05,1793250539739173120
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642.773532215,887.773532215,788,819,654,632,656.773532215,0.400976683043,-0.00536032404591,0.0698333399576,0.999999940036,0.000219973248088,-0.000267133478076,1.34183869775e-05,1793250539755839744
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722,685,666.648425108,642.648425108,887.648425108,788,819,654,632,656.648425108,0.400976701641,-0.0053608748617,0.0698327741379,0.999999940106,0.000219556490693,-0.000267209632551,1.34597929384e-05,1793250539772506368
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722,685,666.072934801,642.072934801,887.072934801,788,819,654,632,656.072934801,0.400976563036,-0.00536272916583,0.069832382643,0.999999940567,0.000217285747622,-0.000267337329504,1.35730005545e-05,1793250539789172992
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,685,666,642,887,788,819,654,632,656,0.400973964647,-0.00536259065398,0.0698309828762,0.999999939505,0.000217968069905,-0.000270723054845,1.37108330439e-05,1793250539805839616
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.076563067,722,685,666,642,887.076563067,788,819,654,632,656,0.400971586469,-0.00536216955913,0.0698297973834,0.999999938474,0.000218805008609,-0.000273835765937,1.37866919403e-05,1793250539822506496
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745.668753094,722,685,666,642,887.668753094,788,819,654,632,656,0.400973095496,-0.00536179311587,0.0698310404283,0.99999993922,0.000217796946801,-0.000271925457983,1.34211111059e-05,1793250539839173120
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745.745462808,722,685,666.254537192,642,888,788,819,654,632,656,0.400975016021,-0.00536177818313,0.0698324462976,0.999999939864,0.000217256768817,-0.000269990000471,1.33234539951e-05,1793250539855839744
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745.16781058,722,685,666.83218942,642,888,788,819,654,632,656,0.40097745891,-0.00536222215971,0.0698340588598,0.999999940378,0.000217310532788,-0.00026802261771,1.35659051003e-05,1793250539872506368
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642,887.592020681,788,819,654,632,656,0.40099144002,-0.00536249981518,0.0698399936605,0.999999942715,0.000217326972169,-0.000259121741318,1.39814114022e-05,1793250539889172992
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642,887.016993267,788,819,654,632,656,0.401010145483,-0.00536270937011,0.069847698212,0.999999945681,0.000217328128888,-0.000247381929421,1.4467775581e-05,1793250539905839360
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745.570745807,722,685,667,642,887,787.429254193,819,654,632.570745807,656,0.401058431751,-0.00536175458708,0.0698648709446,0.999999952598,0.000218783334604,-0.000216172253474,1.44342207981e-05,1793250539922505984
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.156297304,745.843702696,722,685,667,642,887,787.156297304,819,654,632.843702696,656,0.40111037182,-0.00536183769643,0.0698810886501,0.999999957839,0.000219150177526,-0.000189963963379,1.4464167444e-05,1793250539939172864
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.734892453,745.265107547,722,685,667,642,887,787.734892453,819,654,632.265107547,656,0.401169750216,-0.00536482087406,0.0698939469601,0.999999960468,0.000216456750498,-0.000178870792758,1.47084657414e-05,1793250539955839488
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.686908461,745,722,685,667,642,887.313091539,788,819,654,632,656,0.401237755627,-0.00536672146542,0.0699018729232,0.999999962719,0.000214707391636,-0.000168119437029,1.41156013801e-05,1793250539972506112
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.109044349,745,722,685,667,642,887.890955651,788,819,654,632,656,0.401313056655,-0.00536770654433,0.0699056277404,0.999999964644,0.000213756404425,-0.000157657145059,1.28147724493e-05,1793250539989172992
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,722,685,667,642,887.533822455,788,819,654,631.533822455,656.466177545,0.401402470106,-0.00537001249962,0.069907184081,0.9999999654,0.000212263460456,-0.000154980200556,1.11606705431e-05,1793250540005839872
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.957968404,745,722,685,667,642,887,788,819,654,631.042031596,657,0.401496910771,-0.00537256225947,0.069907998366,0.999999965875,0.000210545005737,-0.000154381103411,9.32792219047e-06,1793250540022506240
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.365796304,745,722,685,667,642,887,788,819,654,631.634203696,657,0.401614188124,-0.00537428189947,0.0699057930196,0.999999966079,0.000207524807519,-0.000157277058563,6.23240487293e-06,1793250540039172864
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.4421919,745,722,685,667,642,887,788,819,654,632,656.77890405,0.401743432565,-0.00537638556472,0.0699054024458,0.999999966649,0.000204198306754,-0.000158096410531,3.14554366746e-06,1793250540055839488
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.598913089,745,722,685,667,642,887,788,819,654,632,656.200543455,0.40189201438,-0.00537910976871,0.0699079443281,0.999999967825,0.000200376857959,-0.000155560219522,7.26700053829e-08,1793250540072506368
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.625175164,745,722,685,667,642,887,788,818.625175164,654,632,656.374824836,0.40206268241,-0.00538164599849,0.0699109653611,0.999999969447,0.000196582574301,-0.000149830764069,-3.51904947142e-06,1793250540089172736
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.051395119,745,722,685,667,642,887,788,818.051395119,654,632,656.948604881,0.402245073708,-0.00538408245271,0.0699142407252,0.999999971246,0.000192802709405,-0.000142406339065,-7.3861700768e-06,1793250540105839360
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,721.464734486,685,666.464734486,642.535265514,887.535265514,788,818.535265514,654,632,656.464734486,0.402453791281,-0.00538819664358,0.0699186903109,0.99999997345,0.000187077127645,-0.000134040666165,-1.16426558485e-05,1793250540122506240
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.121382874,721.121382874,685.121382874,666,643,888,788,819,654.121382874,632,656,0.402674888251,-0.0053924184745,0.0699223040494,0.999999975576,0.000180136331753,-0.000127021141171,-1.62903156141e-05,1793250540139173120
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.700670342,721.700670342,685.700670342,666,643,888,788,819,654.700670342,632,656,0.402932914325,-0.00539642367684,0.0699223288286,0.999999977549,0.000169333413781,-0.000125429164021,-2.22691282037e-05,1793250540155839744
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.721337977,722,686,666,642.721337977,888,788,818.721337977,654.721337977,632,656,0.403211012987,-0.00540174713252,0.0699268372897,0.999999980072,0.0001601154474,-0.000116020714113,-2.75220173697e-05,1793250540172506112
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.144731782,722,686,666,642.144731782,888,788,818.144731782,654.144731782,632,656,0.403510573155,-0.00540848005846,0.0699361396832,0.999999983019,0.000152592104706,-9.82549270056e-05,-3.19987521352e-05,1793250540189172992
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,721.568819325,686,666.431180675,642.431180675,887.568819325,788,818.431180675,654,632,656.431180675,0.40383796841,-0.00541399638517,0.0699456740824,0.999999985709,0.000142544104237,-8.29150211616e-05,-3.72697575158e-05,1793250540205839616
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,721.007001072,686,667,643,887.007001072,788,819,654,631.992998928,656.992998928,0.404174934221,-0.00541913510562,0.0699551579678,0.999999988209,0.000130545525167,-6.8610702101e-05,-4.28092697991e-05,1793250540222506240
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,721.5944655,686,667,643,887.5944655,788,819,654,631.4055345,656.4055345,0.404531992455,-0.00542676995753,0.0699540073732,0.999999995811,2.69718492204e-05,-7.27634339766e-05,-4.85417414096e-05,1793250540239172864
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.179505049,722,686.179505049,667,643,888,788,819.179505049,654,631.179505049,656.179505049,0.404911197985,-0.00543317066606,0.0699547866565,0.999999996201,-1.42136277587e-05,-7.26628883228e-05,-4.60053656252e-05,1793250540255839744
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.759139299,722,686.759139299,667,643,888,788,819.759139299,654,631.759139299,656.759139299,0.405339771325,-0.00543682038237,0.0699598677721,0.999999994197,8.36685311499e-05,-6.30814925725e-05,-2.50371555394e-05,1793250540272506368
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.662702425,722,687,667.337297575,643,888.337297575,788.337297575,819.662702425,654,632,657,0.405777620582,-0.00544598782558,0.0699607266362,0.999999991945,0.000110012442012,-6.02502042286e-05,-1.94347010377e-05,1793250540289172992
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.085593474,722,687,667.914406526,643,888.914406526,788.914406526,819.085593474,654,632,657,0.406222064861,-0.00545907825519,0.0699585835701,0.999999994103,8.54941963053e-05,-6.22180974397e-05,-2.47569686561e-05,1793250540305839360
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,722,687,667.50945001,643,888.01890002,788.50945001,819,654,632,656.50945001,0.406688707549,-0.00548191145319,0.0699432248654,0.999999994671,4.2652449386e-05,-9.00568943086e-05,-2.70052335188e-05,1793250540322506240
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.067953413,722,687.067953413,667,642.932046587,887.067953413,788,819,654,632,656.067953413,0.407167082407,-0.00550347410878,0.0699271281506,0.999999992608,1.17606588305e-06,-0.00011805142056,-2.91041499619e-05,1793250540339172864
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.656293444,722,687.656293444,667,642.343706556,887.656293444,788,819,654,632,656.656293444,0.407705699057,-0.0055023142372,0.069923003832,0.999999993047,-5.40858908424e-06,-0.000112737681653,-3.41587802845e-05,1793250540355839488
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.759614704,722,688,667,642,888,788,819,654,632,657,0.408283927188,-0.00550606443917,0.0699286490522,0.999999994798,-1.21670826131e-05,-9.42030696439e-05,-3.71727670819e-05,1793250540372506368
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.181491515,722,688,667,642,888,788,819,654,632,657,0.408917808846,-0.00551671322408,0.0699480203346,0.99999999749,-1.9169816422e-05,-5.70933208574e-05,-3.73196786711e-05,1793250540389173248
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.39494328,745,722,688.39494328,667,642,888,788,819.39494328,654,632,657,0.409535538342,-0.00552480353535,0.0699521136822,0.999999997704,-3.35404057493e-05,-4.49929552989e-05,-3.79806982089e-05,1793250540405839872
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.97060548,745,722,688.97060548,667,642,888,788,819.97060548,654,632,657,0.410145876883,-0.00553172313494,0.0699492161219,0.999999996946,-5.12823926601e-05,-4.43364333804e-05,-3.8876964272e-05,1793250540422506496
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.453882578,745.546117422,722.546117422,689.546117422,667,642.546117422,888.546117422,788.546117422,819.453882578,654,632,657,0.41079155609,-0.00553687047678,0.0699427818872,0.999999996263,-4.83913581148e-05,-5.93494635413e-05,-4.01147790821e-05,1793250540439173120
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,722.875156211,690,667,643,889,789,819.124843789,654,632,657,0.411455014044,-0.0055435667282,0.0699419836074,0.999999995857,-5.07326089851e-05,-6.33440105504e-05,-4.12359221006e-05,1793250540455839744
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722.284403793,690,667,643,889,789,819.715596207,654,632,657,0.412177724031,-0.00555639929968,0.0699629285492,0.999999995913,-7.67438045464e-05,-2.30716446436e-05,-4.18530656342e-05,1793250540472506368
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643,889.29976327,788.70023673,820,654,632,657,0.412936382689,-0.00556609400361,0.0699887219754,0.999999994873,-9.02975791005e-05,1.92428777776e-05,-4.16012604254e-05,1793250540489172992
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,690,667,643,889.877816775,788.122183225,820,654,632,657,0.413728414981,-0.00557287561731,0.0700190165755,0.999999992907,-9.22863019058e-05,6.34532749123e-05,-4.05427522212e-05,1793250540505839616
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,690.453720958,667,643,890,788,820,654,632,656.546279042,0.414472601008,-0.00555994266487,0.0700093932772,0.999999994902,-8.36236205223e-05,3.92877550607e-05,-4.07343303759e-05,1793250540522506240
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.029658385,746,722,691.029658385,667,643,890,788.029658385,820,654,632,656.029658385,0.415203808398,-0.00554102926297,0.0699873098938,0.999999996646,-7.0379851325e-05,-5.5585480486e-06,-4.15157034361e-05,1793250540539173120
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.617054813,746,722,691.617054813,667,643,890,788.617054813,820,654,632,656.617054813,0.415932105774,-0.00550901761431,0.0699321061435,0.999999994105,-2.46727057835e-05,-9.46829716053e-05,-4.70876498202e-05,1793250540555839744
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,722,692,667.201597711,643,890.201597711,788.798402289,820.201597711,654,632,657,0.416712032887,-0.00549138035272,0.0699027291071,0.999999988589,-1.15314967707e-06,-0.000142368587555,-5.05148276042e-05,1793250540572506368
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,722,692,667.780795802,643,890.780795802,788.219204198,820.780795802,654,632,657,0.417588664469,-0.00550066688093,0.0699217265169,0.999999992248,-1.9191817471e-05,-0.000112437695922,-4.99247704693e-05,1793250540589172992
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,722,692,667.641612932,643,890.641612932,788.358387068,821,654.358387068,632,657,0.418484277878,-0.00551130400111,0.069950075577,0.999999995846,-3.43287485019e-05,-6.90049933029e-05,-4.8659355917e-05,1793250540605839616
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,722,692,667.065000099,643,890.065000099,788.934999901,821,654.934999901,632,657,0.419391449495,-0.00552276351103,0.0699841189576,0.999999997608,-4.76987798883e-05,-1.73508928078e-05,-4.69827088578e-05,1793250540622506240
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,722,692,667,643,890.509930311,789,821,654.490069689,632,657,0.420301959519,-0.00552791146789,0.0700060908401,0.999999997389,-5.19527688243e-05,1.85464775936e-05,-4.6684983931e-05,1793250540639173120
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.912676873,746,722.087323127,692,667,643,891,789,821,654,632,657,0.421208756575,-0.00553197074984,0.0700234661424,0.99999999627,-5.61114542318e-05,4.62417505511e-05,-4.66253730972e-05,1793250540655839744
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.319790492,746,722.680209508,692,667,643,891,789,821,654,632,657,0.422091601185,-0.00553436960604,0.0700231085463,0.999999995969,-6.64237807069e-05,3.80404438613e-05,-4.69300586543e-05,1793250540672506368
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.265313807,746,722.734686193,692,667,643.265313807,891,789,821.265313807,654,632,657,0.422943787778,-0.00552814160497,0.069984457431,0.999999996407,-6.31081523122e-05,-2.69814168031e-05,-4.97544983994e-05,1793250540689172992
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.841305502,746,722.158694498,692,667,643.841305502,891,789,821.841305502,654,632,657,0.423760074476,-0.00551181170329,0.0699009652657,0.99999998493,-4.38344245583e-05,-0.000158539166189,-5.55295262121e-05,1793250540705839872
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.581256211,746,722,692.418743789,667.418743789,643.581256211,890.581256211,789,822,654,632.418743789,656.581256211,0.424679863444,-0.00550948613011,0.0698666538271,0.999999976809,-4.4667008267e-05,-0.000202065730473,-5.96376673053e-05,1793250540722506496
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.003267831,746,722,692.996732169,667.996732169,643.003267831,890.003267831,789,822,654,632.996732169,656.003267831,0.425639013369,-0.00551248628121,0.0698510453926,0.9999999741,-5.31458471783e-05,-0.000212114800171,-6.31119058929e-05,1793250540739173120
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,722,693,667.417298657,643.582701343,890.582701343,789,822.582701343,654,632.417298657,656,0.42660950208,-0.00552277398415,0.0699171764781,0.999999989731,-5.99968032192e-05,-0.000116681089741,-5.76477035127e-05,1793250540755839488
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,722,693,667,644,891,789,823,654,632,656.166835441,0.427586612113,-0.00553175064775,0.0699776503978,0.999999995794,-6.8341941856e-05,-2.98883596585e-05,-5.33748091788e-05,1793250540772506368
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,722,693,667,644,891,789,823,654,632,656.746318426,0.42857993967,-0.00553738212288,0.0700229824447,0.999999994827,-8.04056570903e-05,3.40484711015e-05,-5.2174180239e-05,1793250540789172992
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.324454859,746.324454859,722,693,667,644,891,789,823,654,632,657,0.429557049858,-0.00553807084135,0.0700460236515,0.9999999926,-8.3561418711e-05,7.12767669742e-05,-5.23101639818e-05,1793250540805839616
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.901542788,746.901542788,722,693,667,644,891,789,823,654,632,657,0.430521532528,-0.00553491093853,0.070051708348,0.999999991541,-7.97811035997e-05,8.77087643028e-05,-5.34868860924e-05,1793250540822506496
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.523840872,747,722,693,667.476159128,644,891,789,823,654.476159128,632,657,0.431374942013,-0.00552943148485,0.0699769779806,0.999999995169,-6.88188366408e-05,-4.21138132224e-05,-5.61395807826e-05,1793250540839172864
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+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,722,693.641503377,667.358496623,643.358496623,891,789,823,654.358496623,632,656.358496623,0.433130520883,-0.00552804423774,0.0698837541322,0.999999977853,-7.07381466098e-05,-0.00018830695286,-6.18980043598e-05,1793250540872506112
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.227150765,746.772849235,722,694,667,643,891,788.772849235,823.227150765,654,632,656.227150765,0.434076006597,-0.00553270477643,0.0699051810602,0.999999984635,-7.888249173e-05,-0.000143602165296,-6.23358593053e-05,1793250540889172992
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769.077445397,747,722,694,665,642,892.922554603,787,826,654.077445397,631,656.077445397,0.446127682538,-0.00554229913387,0.0697299550924,0.999999913259,-7.690880599e-05,-0.000404046272831,-6.56803823472e-05,1793250541139173120
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+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747.709446514,722,694,658,636,893,781,827.709446514,655,631,657,0.456062199741,-0.00557473391351,0.0695328395418,0.999999725848,-0.000119434092821,-0.00072833776641,-5.97024596651e-05,1793250541822506496
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+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747.125805889,722,694,657.125805889,636,892.125805889,781,827.125805889,654.125805889,631,657,0.456062243722,-0.00557174864118,0.0695314527102,0.999999723682,-0.000116740393604,-0.000731743609231,-5.96631084355e-05,1793250541855840000
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.548604138,747,722,694,657.451395862,636,892.451395862,781,827.451395862,654.451395862,631,657,0.456063895631,-0.00557130050999,0.0695313811815,0.999999723614,-0.00011708092156,-0.000731801281484,-5.94282583617e-05,1793250541872507136
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,747.596645649,722,694.596645649,658,636,892.403354351,781.596645649,828,654.403354351,631,657,0.456063433376,-0.00557157620109,0.0695299960034,0.999999721391,-0.000118361079689,-0.000734647714904,-5.91733002306e-05,1793250541905840384
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.173678564,747.826321436,722,694.826321436,657.826321436,636,892.173678564,781.826321436,827.826321436,654,631,657,0.456062353616,-0.00557122443589,0.0695290625325,0.999999720018,-0.00011823773258,-0.000736526910711,-5.92566272263e-05,1793250541922506752
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+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747.840869407,722.159130593,694,657,636,892,781.159130593,827,655,630.159130593,657,0.456066309756,-0.00557159771482,0.0695280250881,0.999999719133,-0.00011772643619,-0.000737827972192,-5.90240672655e-05,1793250542055839744
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746,722,689.00243539,667,642,888.00243539,788,819,654,631,656,0.413602979396,-0.005386156228,0.0697254936572,0.999999877741,0.000181423327583,-0.000459186730231,2.73948756912e-05,1793250543784450304
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b59350c8d1e2d0fa78835407ba468d2574633972
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d24f299b50a0d076a1b492fb0fcecb3eace2753
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405b6b219cac3f03b0d5526613b943f03b61f164e0a505360841b7ad65f91a63
+size 25861642
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e379c08d154552fe0f28bf47459d32cb5e114ab4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+18,0.300000000,BASELINE,769,745.435742099,722.564257901,686.564257901,668.128515803,642.435742099,887.564257901,789,820,654,632,656,0.401031560028,-0.00549598535243,0.0798634310783,0.999999979154,0.000131336327188,-0.000148974550571,4.74342619835e-05,1793250546410700544
+19,0.316666667,BASELINE,769,745.973432704,722.026567296,686.026567296,667.026567296,642.973432704,887.026567296,789.026567296,819.973432704,654.026567296,632,656,0.401030632689,-0.00549618273262,0.0798624424859,0.999999978984,0.000130525367029,-0.00015093873867,4.70280010322e-05,1793250546427367168
+20,0.333333333,BASELINE,769,745.397574582,722.602425418,686.602425418,667.602425418,642.397574582,887.602425418,789.602425418,819.397574582,654.602425418,632,656,0.401031593986,-0.00549485555707,0.0798638375377,0.999999979009,0.000132275885044,-0.000149149731198,4.73152634074e-05,1793250546444033792
+21,0.350000000,BASELINE,769,745.178250316,722.821749684,687,668,642.178250316,887.821749684,789.821749684,819,654.821749684,632,656,0.401032145216,-0.00549407939175,0.0798646486579,0.999999979081,0.000133143466572,-0.000147846050331,4.74495726898e-05,1793250546460700416
+22,0.366666667,BASELINE,769,745.75400105,722.24599895,687,668,642.75400105,887.24599895,789.24599895,819,654.24599895,632,656,0.401031781992,-0.00549453198623,0.0798641576034,0.99999997927,0.000132042088542,-0.000147624654059,4.72427946397e-05,1793250546477367040
+23,0.383333333,BASELINE,769,746,722.337419875,687,667.662580125,642.662580125,887.337419875,789,819.337419875,654.337419875,632,656.337419875,0.401030980415,-0.00549539728456,0.0798633181974,0.999999979198,0.000131239389204,-0.000148847180481,4.71598914179e-05,1793250546494033408
+24,0.400000000,BASELINE,769,746,722.926559253,687,667.073440747,642.073440747,887.926559253,789,819.926559253,654.926559253,632,656.926559253,0.401029851823,-0.00549657046525,0.0798622189168,0.999999978929,0.000130659507839,-0.000151146891512,4.7169400366e-05,1793250546510700032
+25,0.416666667,BASELINE,769,745.492996796,722.492996796,687,667.507003204,642.507003204,887.492996796,789,819.492996796,654.492996796,632,656.492996796,0.401031611664,-0.00549610417411,0.0798635297214,0.999999979177,0.000131014135922,-0.000149104278372,4.74229111284e-05,1793250546527366656
+26,0.433333333,BASELINE,769.08536767,745.08536767,722,687,667.91463233,642.91463233,887.08536767,789,819.08536767,654,632,656,0.401033356772,-0.00549555423086,0.0798649296931,0.999999979452,0.000131312871817,-0.000146910199467,4.76419660154e-05,1793250546544033792
+27,0.450000000,BASELINE,769.658922042,745.658922042,722,687,667.341077958,642.341077958,887.658922042,789,819.658922042,654,632,656,0.401032665313,-0.00549586108448,0.0798648768246,0.999999979493,0.000130530923551,-0.000147386296821,4.74652672032e-05,1793250546560701184
+28,0.466666667,BASELINE,769.766236002,746,722.233763998,687,667,642.233763998,888,789,819.766236002,654,632,656.233763998,0.401032764502,-0.00549594117287,0.0798649769746,0.999999979512,0.000130545320606,-0.000147282083976,4.73555402049e-05,1793250546577368064
+29,0.483333333,BASELINE,769.189505002,746,722.810494998,687,667,642.810494998,888,789,819.189505002,654,632,656.810494998,0.40103402369,-0.00549568856248,0.079865301626,0.999999979497,0.000131728076266,-0.000146326468617,4.73440709575e-05,1793250546594034176
+30,0.500000000,BASELINE,768.601230427,745.601230427,722.601230427,687,667.398769573,642.601230427,887.601230427,789,819,654,632,657,0.401033798279,-0.00549463875068,0.0798650981395,0.999999979293,0.00013295781615,-0.00014666669537,4.71733996089e-05,1793250546610700544
+31,0.516666667,BASELINE,768.007306546,745.007306546,722.007306546,687,667.992693454,642.007306546,887.007306546,789,819,654,632,657,0.401032846318,-0.00549319879554,0.0798646361869,0.999999978994,0.000134210549665,-0.000147641095839,4.69248161579e-05,1793250546627366912
+32,0.533333333,BASELINE,768.569086658,745,722,686.430913342,667.430913342,642.569086658,887.569086658,789,819.569086658,654,632,656.430913342,0.401033862164,-0.00549621012631,0.0798660034606,0.999999979765,0.000130203109265,-0.000145866690905,4.73260448615e-05,1793250546644033536
+33,0.550000000,BASELINE,769,745.144623966,722,686.144623966,667.144623966,642.855376034,888,789,820,654,632,656.144623966,0.401034042041,-0.00549835688505,0.079866531566,0.999999980217,0.000127250761903,-0.000145299850584,4.75456653119e-05,1793250546660700416
+34,0.566666667,BASELINE,769,745.718269916,722,686.718269916,667.718269916,642.281730084,888,789,820,654,632,656.718269916,0.401031669341,-0.005497774452,0.0798645027202,0.999999979728,0.000127622667643,-0.000148416773359,4.72025415288e-05,1793250546677367040
+35,0.583333333,BASELINE,769,746,722,687,668,642,888,789,819.699328748,654,632,657,0.401030385418,-0.00549753341864,0.079863276941,0.99999997945,0.000127827603691,-0.000150148656514,4.7063955143e-05,1793250546694033664
+36,0.600000000,BASELINE,769,746,722,687,668,642,888,789,819.108477459,654,632,657,0.401030152283,-0.00549762187258,0.0798628262071,0.999999979382,0.000127871396105,-0.00015054382811,4.71227692639e-05,1793250546710700544
+37,0.616666667,BASELINE,769,745.52751227,722,687,667.52751227,642.47248773,888,789,819,654.47248773,632,657,0.401029812687,-0.00549658258117,0.0798626183011,0.999999979119,0.000129031176287,-0.000151358402316,4.69415547752e-05,1793250546727366912
+38,0.633333333,BASELINE,768.948964985,745.051035015,722,687,667.051035015,642.948964985,888,788.948964985,819,654.948964985,632,657,0.401029681843,-0.00549538348591,0.0798626276778,0.999999978866,0.00013042879664,-0.000151891913526,4.6754648935e-05,1793250546744033536
+39,0.650000000,BASELINE,768.372422045,745.627577955,722,687,667.627577955,642.372422045,888,788.372422045,819,654.372422045,632,657,0.401031947036,-0.00549515031497,0.0798643121182,0.999999979186,0.000131691259361,-0.000148560141687,4.70649534489e-05,1793250546760700416
+40,0.666666667,BASELINE,768.202026727,746,722.202026727,687,667.797973273,642.202026727,888,788,819,654.202026727,632,656.797973273,0.401032929351,-0.00549468863901,0.079865175662,0.999999979249,0.000132990734504,-0.000146924273718,4.71993775436e-05,1793250546777367296
+41,0.683333333,BASELINE,768.772654616,746,722.772654616,687,667.227345384,642.772654616,888,788,819,654.772654616,632,656.227345384,0.401031571034,-0.0054938100518,0.0798645414659,0.99999997886,0.000134357739359,-0.000148382611101,4.70129048357e-05,1793250546794033920
+42,0.700000000,BASELINE,769,745.642909194,723,686.642909194,667.357090806,642.642909194,888,788.357090806,819,654.642909194,632,656.357090806,0.40103161653,-0.0054941628392,0.0798647667217,0.999999978932,0.000133970122264,-0.00014825486352,4.69947579087e-05,1793250546810700800
+43,0.716666667,BASELINE,769,745.049328217,723,686.049328217,667.950671783,642.049328217,888,788.950671783,819,654.049328217,632,656.950671783,0.401032591727,-0.00549533112786,0.079865561166,0.999999979308,0.000132420473388,-0.000147076700973,4.70880879358e-05,1793250546827367424
+44,0.733333333,BASELINE,768.469571432,745,722.469571432,686.530428568,668,642,888,789,819,654,632,657,0.401033466946,-0.00549564490499,0.0798659473417,0.999999979687,0.000130662686076,-0.000146082035957,4.70529240792e-05,1793250546844034048
+45,0.750000000,BASELINE,768.108503962,745.108503962,722.108503962,687,668,642.108503962,888,789,819.108503962,654.108503962,632,657,0.401033793831,-0.00549599410003,0.0798658919968,0.999999979921,0.000129061164598,-0.000145900607098,4.70593051747e-05,1793250546860700416
+46,0.766666667,BASELINE,768.684732336,745.684732336,722.684732336,687,668,642.684732336,888,789,819.684732336,654.684732336,632,657,0.401031796092,-0.00549682982418,0.0798640929129,0.999999979539,0.000128214572446,-0.000149153076724,4.72949747996e-05,1793250546877367040
+47,0.783333333,BASELINE,769,745.734772367,722.734772367,687,668,643,888,788.734772367,819.734772367,655,632,656.734772367,0.4010309585,-0.00549681850654,0.0798633700865,0.99999997925,0.000129003103757,-0.000150394046908,4.73240146533e-05,1793250546894033664
+48,0.800000000,BASELINE,769,745.149122108,722.149122108,687,668,643,888,788.149122108,819.149122108,655,632,656.149122108,0.401031522487,-0.0054957838742,0.0798639474909,0.999999979078,0.00013176703454,-0.000149204916526,4.71034242362e-05,1793250546910700544
+49,0.816666667,BASELINE,769,745.4323622,722,687,668,643,887.5676378,788.864724399,819,654.5676378,632,656.4323622,0.401032165016,-0.00549486636411,0.0798649836523,0.999999979155,0.000132902612819,-0.000147716204238,4.69838044801e-05,1793250546927366912
+50,0.833333333,BASELINE,769,745.987661791,722,687,667.987661791,643,887,789.987661791,819.012338209,654,632,657,0.401032829101,-0.0054940241455,0.0798661528626,0.999999979317,0.000133446183628,-0.000146143797841,4.69055762579e-05,1793250546944033536
+51,0.850000000,BASELINE,769,745.411575687,722,687,667.411575687,643,887,789.411575687,819.588424313,654,632,657,0.401033252206,-0.00549479397607,0.0798662407033,0.999999979556,0.00013235643214,-0.000145423339993,4.71425720228e-05,1793250546960700416
+52,0.866666667,BASELINE,769,745.164371526,722,687,667,642.835628474,887,789,820,654,632,657,0.401033500695,-0.00549540039048,0.0798661403904,0.999999979649,0.000131801986005,-0.00014522196477,4.73323412101e-05,1793250546977367040
+53,0.883333333,BASELINE,769,745.739971225,722,687,667,642.260028775,887,789,820,654,632,657,0.401033312324,-0.00549559796685,0.0798655693508,0.999999979382,0.000132586778229,-0.000146319241519,4.74039579296e-05,1793250546994033920
+54,0.900000000,BASELINE,768.675956688,746,722,687,667.324043312,642,887,788.675956688,819.675956688,654,631.675956688,656.675956688,0.401032994264,-0.0054958157584,0.0798652401836,0.999999979438,0.000131412095933,-0.000147024369262,4.73179244994e-05,1793250547010700544
+55,0.916666667,BASELINE,768.084903428,746,722,687,667.915096572,642,887,788.084903428,819.084903428,654,631.084903428,656.084903428,0.401032569341,-0.00549605020713,0.079865110318,0.999999979754,0.000128622817119,-0.000147406368279,4.71019881891e-05,1793250547027367168
+56,0.933333333,BASELINE,768.495659083,746,722,687,667.504340917,642,887.495659083,788.495659083,819,654,631.495659083,656,0.40103254658,-0.00549542100221,0.0798651929866,0.999999979407,0.000131469209037,-0.000147279905413,4.70181008092e-05,1793250547044033792
+57,0.950000000,BASELINE,769,745.925811106,722,687,667,642.074188894,887.925811106,789,819,654,632,656.074188894,0.401032648364,-0.0054947054244,0.0798653210756,0.999999979034,0.000134502010158,-0.000147089502259,4.69645045657e-05,1793250547060700672
+58,0.966666667,BASELINE,769,745.349130259,722,687,667,642.650869741,887.349130259,789,819,654,632,656.650869741,0.401033136801,-0.0054943860726,0.0798655153316,0.999999979322,0.000132394408402,-0.000147043712393,4.69660469148e-05,1793250547077367296
+59,0.983333333,BASELINE,769,745.225552811,722,686.774447189,667,642.774447189,887.225552811,789,819,654.225552811,632,656.774447189,0.40103406509,-0.00549435011397,0.0798659813274,0.999999979496,0.000131921108785,-0.000146278164232,4.69945189174e-05,1793250547094033664
+60,1.000000000,BASELINE,769,745.797170786,722,686.202829214,667,642.202829214,887.797170786,789,819,654.797170786,632,656.202829214,0.401035668245,-0.00549474896478,0.0798668642532,0.999999979494,0.000133955314885,-0.00014440829256,4.7064309026e-05,1793250547110700288
+61,1.016666667,BASELINE,769,745.617774392,722,686.382225608,667.382225608,642.382225608,888,788.617774392,819,655,632,656.382225608,0.401034353642,-0.00549536373782,0.0798663594676,0.999999979485,0.000132810188121,-0.00014554784945,4.6990282212e-05,1793250547127367168
+62,1.033333333,BASELINE,769,745.025329508,722,686.974670492,667.974670492,642.974670492,888,788.025329508,819,655,632,656.974670492,0.401031434309,-0.00549609726535,0.0798650914581,0.999999979461,0.000129916468147,-0.000148342554308,4.6837157895e-05,1793250547144033792
+63,1.050000000,BASELINE,769,745,722.553611946,687,668,642.446388054,887.446388054,788.553611946,819.553611946,654.446388054,632,657,0.401031380977,-0.00549621139698,0.0798654335608,0.999999979399,0.000131144217138,-0.000147602940872,4.70858704363e-05,1793250547160700416
+64,1.066666667,BASELINE,769,745,722.869248765,687.130751235,667.869248765,642.130751235,887,789,819.869248765,654.130751235,632,657,0.401031431757,-0.00549603133631,0.0798656301817,0.99999997931,0.000132302471021,-0.000147113469083,4.72559585069e-05,1793250547177367040
+65,1.083333333,BASELINE,769,745,722.296165893,687.703834107,667.296165893,642.703834107,887,789,819.296165893,654.703834107,632,657,0.401031401701,-0.00549494961185,0.0798650913534,0.999999979146,0.00013260287874,-0.000148004253913,4.70993432739e-05,1793250547194033664
+66,1.100000000,BASELINE,769,745.282422482,722,687.717577518,667,643,887.282422482,789,819.282422482,655,632,657,0.401031964422,-0.00549416701733,0.0798653609028,0.999999979149,0.000133079521692,-0.000147607940852,4.69498621736e-05,1793250547210700288
+67,1.116666667,BASELINE,769,745.866899019,722,687.133100981,667,643,887.866899019,789,819.866899019,655,632,657,0.401033161126,-0.00549370434575,0.0798664950213,0.999999979327,0.000133744650205,-0.000145835061905,4.68080111192e-05,1793250547227367168
+68,1.133333333,BASELINE,769,746,722,686.547302401,667.452697599,642.547302401,888,789,819.547302401,654.547302401,632,657,0.401033291888,-0.00549482850354,0.0798664539318,0.999999979441,0.000133125189759,-0.000145616949018,4.68156553187e-05,1793250547244033792
+69,1.150000000,BASELINE,769,745.962130872,722,686.037869128,668,642,888,789,819,654.037869128,632,657,0.401033106316,-0.0054963317386,0.0798660680688,0.999999979517,0.000132247593105,-0.000145870642794,4.68768254251e-05,1793250547260700672
+70,1.166666667,BASELINE,769,745.391272241,722,686.608727759,668,642,888,789,819,654.608727759,632,657,0.401032892433,-0.00549658452565,0.0798657071218,0.999999979335,0.000133068250036,-0.00014631208277,4.70709005226e-05,1793250547277367296
+71,1.183333333,BASELINE,769,745,722,687,667.818833063,642,888,788.818833063,819.181166937,654.818833063,631.818833063,657,0.401032771905,-0.00549618890077,0.079865375862,0.999999979182,0.000133657032733,-0.000146796628499,4.7149456042e-05,1793250547294033920
+72,1.200000000,BASELINE,769,745,722,687,667.242950174,642,888,788.242950174,819.757049826,654.242950174,631.242950174,657,0.401032854772,-0.00549438055385,0.0798651092827,0.999999979094,0.000133740621533,-0.000147375090611,4.69763242814e-05,1793250547310700288
+73,1.216666667,BASELINE,768.656390238,745.343609762,722.343609762,687,667,642,888,788.343609762,820,654,631.343609762,657,0.401032495856,-0.00549336479495,0.0798648290055,0.999999978898,0.000134064730367,-0.000148475303537,4.67538168546e-05,1793250547327366912
+74,1.233333333,BASELINE,768.062039003,745.937960997,722.937960997,687,667,642,888,788.937960997,820,654,631.937960997,657,0.401031814558,-0.0054929274094,0.0798645387325,0.999999978622,0.000134564353264,-0.00014995625232,4.64952786591e-05,1793250547344033536
+75,1.250000000,BASELINE,768.520573923,745.479426077,722.479426077,687,667.520573923,642,888,789,820,654,632,657,0.401032681809,-0.00549402016386,0.0798655873308,0.999999979096,0.000132908615755,-0.000148220504822,4.66192992707e-05,1793250547360700160
+76,1.266666667,BASELINE,769,745,722,687,668,642.101573011,888,789,819.898426989,654.101573011,632,657,0.401033397311,-0.00549520433948,0.079866379225,0.999999979517,0.00013143617303,-0.000146633196397,4.6795514341e-05,1793250547377366784
+77,1.283333333,BASELINE,769,745,722,687,668,642.681414792,888,789,819.318585208,654.681414792,632,657,0.401032548483,-0.00549597928446,0.0798652276618,0.999999979302,0.000132009597697,-0.000147510064622,4.70075556951e-05,1793250547394033408
+78,1.300000000,BASELINE,769,745.256080365,722.256080365,687,668,642.743919635,888,789,819.256080365,655,632,657,0.401032282842,-0.00549598708954,0.0798649530802,0.999999979211,0.000132581263786,-0.000147557289522,4.71937828257e-05,1793250547410700288
+79,1.316666667,BASELINE,769,745.82443385,722.82443385,687,668,642.17556615,888,789,819.82443385,655,632,657,0.401032728359,-0.00549505941806,0.0798657479198,0.99999997927,0.000133150785365,-0.000146592819026,4.73485311977e-05,1793250547427367168
+80,1.333333333,BASELINE,769,746,722.589748194,687,667.589748194,642,888,789,819.589748194,654.589748194,632,657,0.401032467194,-0.00549633538922,0.0798659815639,0.999999979364,0.000132305529381,-0.000146665056422,4.75025875899e-05,1793250547444033792
+81,1.350000000,BASELINE,769,745.996237257,722.003762743,687,667.003762743,642.003762743,888,789,819.003762743,654,632,656.996237257,0.401031900216,-0.00549856771798,0.0798659676491,0.999999979473,0.000130836771704,-0.000147189054774,4.76521051491e-05,1793250547460700416
+82,1.366666667,BASELINE,769,745.419958535,722.580041465,687,667.580041465,642.580041465,888,789,819.580041465,654,632,656.419958535,0.401032863478,-0.00549644601976,0.0798664530621,0.999999979695,0.000130717428105,-0.000145944769103,4.71580803785e-05,1793250547477367040
+83,1.383333333,BASELINE,769,745,722.844364706,687,668,642.844364706,888,788.844364706,820,654,632,656.155635294,0.401033482069,-0.00549479408993,0.0798666935683,0.999999979777,0.000131006458901,-0.000145218277394,4.68504222043e-05,1793250547494033920
+84,1.400000000,BASELINE,769,745,722.270610734,687,668,642.270610734,888,788.270610734,820,654,632,656.729389266,0.401033174688,-0.00549440420587,0.0798662761257,0.999999979489,0.000132392599178,-0.00014588285373,4.70434431217e-05,1793250547510700544
+85,1.416666667,BASELINE,769,745,722,687,667.687820817,642.312179183,887.687820817,788.312179183,819.687820817,654,631.687820817,656.687820817,0.401032866948,-0.00549384282775,0.079865949332,0.999999979051,0.000134655807597,-0.000146779132903,4.7143074112e-05,1793250547527367168
+86,1.433333333,BASELINE,769,745,722,687,667.096964703,642.903035297,887.096964703,788.903035297,819.096964703,654,631.096964703,656.096964703,0.401032558886,-0.00549312835988,0.079865703459,0.999999978473,0.000137701959418,-0.000147882249133,4.71593375257e-05,1793250547544033792
+87,1.450000000,BASELINE,768.516352145,745.483647855,722,687,667,643,887.483647855,789,819.483647855,654.483647855,631.483647855,656.483647855,0.401032751988,-0.00549478357292,0.0798658599682,0.999999978923,0.000135306611948,-0.000147039729119,4.71847003775e-05,1793250547560700416
+88,1.466666667,BASELINE,768.061889619,745.938110381,722,687,667.061889619,643,888,788.938110381,820,655,632,656.938110381,0.401032976564,-0.00549665109806,0.0798660244044,0.999999979485,0.00013220342665,-0.000146034808606,4.71808137406e-05,1793250547577367040
+89,1.483333333,BASELINE,768.637147744,745.362852256,722,687,667.637147744,643,888,788.362852256,820,655,632,656.362852256,0.401032646069,-0.00549642065458,0.0798655993053,0.999999979393,0.000132090394699,-0.000146851302637,4.69194867493e-05,1793250547594033664
+90,1.500000000,BASELINE,769,745,722,687,668,642.783467968,888,788.216532032,819.783467968,655,632,656.216532032,0.401032668695,-0.00549588871568,0.0798656664101,0.999999979386,0.000132121823131,-0.000146909692514,4.6783455465e-05,1793250547610700288
+91,1.516666667,BASELINE,769,745,722,687,668,642.197035026,888,788.802964974,819.197035026,655,632,656.802964974,0.401033294553,-0.00549484173325,0.0798665743451,0.999999979527,0.000132400032738,-0.00014567301564,4.68614664238e-05,1793250547627366912
+92,1.533333333,BASELINE,768.615544625,745,722,686.615544625,668,642,888,789,819,655,632,657,0.4010330211,-0.00549425224618,0.079866452097,0.999999979378,0.00013275672263,-0.000146340895583,4.69481390785e-05,1793250547644033792
+93,1.550000000,BASELINE,768.036555094,745,722,686.036555094,668,642,888,789,819,655,632,657,0.401032292595,-0.00549389425135,0.0798658085771,0.999999979081,0.00013315312352,-0.000147972479854,4.70391945526e-05,1793250547660700416
+94,1.566666667,BASELINE,768.542009032,745.542009032,722.542009032,686.542009032,668,642,887.457990968,789,819,654.457990968,632,657,0.401033003408,-0.00549508947628,0.0798659776559,0.999999979459,0.000131555960947,-0.000146869242676,4.69525229613e-05,1793250547677367040
+95,1.583333333,BASELINE,769,745.880999478,723,687,668,642.119000522,887.119000522,789,819,654.119000522,632,656.880999478,0.401033576088,-0.00549573480986,0.0798661478305,0.999999979721,0.000130689857211,-0.000145881333477,4.68795185645e-05,1793250547694033664
+96,1.600000000,BASELINE,769,745.309873905,723,687,668,642.690126095,887.690126095,789,819,654.690126095,632,656.309873905,0.401033255425,-0.00549389322347,0.07986611411,0.999999979378,0.000133111738925,-0.000146031823456,4.69039461471e-05,1793250547710700288
+97,1.616666667,BASELINE,769,745,722.730983261,687,667.730983261,642.730983261,888,789,819.269016739,654.730983261,632,656.269016739,0.401032712293,-0.00549332615108,0.0798658014367,0.999999979217,0.00013345551559,-0.000146833543318,4.68667656028e-05,1793250547727367168
+98,1.633333333,BASELINE,769,745,722.142882403,687,667.142882403,642.142882403,888,789,819.857117597,654.142882403,632,656.857117597,0.401031905286,-0.0054942707958,0.079865157894,0.99999997927,0.000131334425716,-0.00014840769508,4.6756510887e-05,1793250547744033792
+99,1.650000000,BASELINE,768.55768447,745,722,687,667,642,888,789,820,654,632,657,0.401032790875,-0.00549548826922,0.0798657485544,0.999999979433,0.000131025268426,-0.000147464261505,4.71277664555e-05,1793250547760700416
+100,1.666666667,BASELINE,768.026143539,745.026143539,722,687,667.026143539,642,887.973856461,789,819.973856461,654,632,657,0.401034188438,-0.0054967536456,0.0798667193165,0.99999997964,0.000131196013614,-0.000145737745781,4.76178671176e-05,1793250547777367296
+101,1.683333333,BASELINE,768.600776306,745.600776306,722,687,667.600776306,642,887.399223694,789,819.399223694,654,632,657,0.401034930925,-0.00549718706367,0.0798673546772,0.999999980083,0.000129235310558,-0.000144533161731,4.73593139997e-05,1793250547794033920
+102,1.700000000,BASELINE,768.824803685,746,722,686.824803685,667.824803685,642,887.175196315,789,819.175196315,654.175196315,632,656.824803685,0.401035116976,-0.0054973370928,0.0798674725145,0.999999980295,0.000128126659508,-0.00014412848099,4.7123311939e-05,1793250547810700544
+103,1.716666667,BASELINE,768.25086798,746,722,686.25086798,667.25086798,642,887.74913202,789,819.74913202,654.74913202,632,656.25086798,0.401034036605,-0.00549684214062,0.0798664124905,0.999999979992,0.000128957242988,-0.000145544346452,4.6938635165e-05,1793250547827367168
+104,1.733333333,BASELINE,768,745.666139547,722,686.333860453,667.333860453,642,888,789,819.666139547,655,631.666139547,656.333860453,0.401033541833,-0.00549546232323,0.0798660716295,0.9999999795,0.000132101622148,-0.000146099340353,4.69473976131e-05,1793250547844033536
+105,1.750000000,BASELINE,768,745.073030299,722,686.926969701,667.926969701,642,888,789,819.073030299,655,631.073030299,656.926969701,0.401033501791,-0.00549339539167,0.0798662892118,0.999999978844,0.000137042706378,-0.000145985851773,4.71063691615e-05,1793250547860700160
+106,1.766666667,BASELINE,768,745,722,687,667.492151948,642.507848052,888,789,819,654.492151948,631.507848052,656.492151948,0.401032178464,-0.00549502449496,0.079864915807,0.999999978872,0.000134797518427,-0.000147886252789,4.7076615885e-05,1793250547877366784
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,687,668,643,888,789,819,654,632,656,0.401032165128,-0.00549388409383,0.0798651999733,0.99999997887,0.000134684846906,-0.000148021091347,4.70154750696e-05,1793250547920824832
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.425398758,745,722,687,667.425398758,643,888,788.425398758,819,654,632,656,0.401030167465,-0.00549375707917,0.0798642630691,0.999999978555,0.000135037497571,-0.000149827282821,4.69660654352e-05,1793250547937491200
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.155067233,745,722,687,667,643,888,788.155067233,819,654,632,656,0.40102954816,-0.00549399384558,0.0798640689347,0.999999978592,0.000134405388086,-0.00015017126296,4.69071168638e-05,1793250547954157568
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.752254645,745,722,687,667,643,888,788.752254645,819,654,632,656,0.401032858756,-0.00549526780695,0.0798659925493,0.999999979619,0.000130965578274,-0.000146346257426,4.68209713258e-05,1793250547970823680
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745.33815301,722,687,667.33815301,642.66184699,888,789,819,654,632,656.33815301,0.401032775888,-0.00549653390318,0.0798659251108,0.999999979747,0.00012940301758,-0.000146861945167,4.68180865983e-05,1793250547987490048
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745.916047698,722,687,667.916047698,642.083952302,888,789,819,654,632,656.916047698,0.401030287141,-0.00549779442316,0.0798644460674,0.99999997924,0.000129171377834,-0.000150455071635,4.68742316225e-05,1793250548004156672
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746,722,687,667.510037866,642.489962134,888,789,819.489962134,654,632,657,0.401030792794,-0.0054959512092,0.0798649942706,0.999999979277,0.000129655570976,-0.000149905273948,4.6512999235e-05,1793250548020823296
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745.934654534,722,687,667,643,887.934654534,789,819.934654534,654.065345466,632,656.934654534,0.401031651575,-0.00549400006841,0.0798657927589,0.999999979283,0.000130437132553,-0.000149285437787,4.62055515791e-05,1793250548037490176
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745.341957397,722,687,667,643,887.341957397,789,819.341957397,654.658042603,632,656.341957397,0.401031252925,-0.00549543515114,0.0798658304407,0.999999978279,0.000132636652667,-0.000153782990379,4.69046509346e-05,1793250548054157056
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.755680079,745.244319921,722,686.755680079,667,642.755680079,887,789,819,655,632,656,0.401035515639,-0.00549585990579,0.0798673899552,0.999999977492,0.000134250835397,-0.00015733130622,4.73345632669e-05,1793250548070823424
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.178158118,745.821841882,722,686.178158118,667,642.178158118,887,789,819,655,632,656,0.401046135493,-0.00549490678096,0.079871024936,0.999999977022,0.000135066738351,-0.000159585058323,4.73973598998e-05,1793250548087490304
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745.601122685,722.398877315,686.398877315,667,642,887,789,819,654.601122685,632,656.398877315,0.401074914626,-0.00549559524,0.0798803620506,0.999999978337,0.000133964106179,-0.000152090556844,4.74120312677e-05,1793250548104156928
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745.024304244,722.975695756,686.975695756,667,642,887,789,819,654.024304244,632,656.975695756,0.401111794703,-0.00549701601756,0.0798922429154,0.999999980329,0.000132005606141,-0.000140247311845,4.74052337187e-05,1793250548120823296
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.547902066,745.547902066,723,687,667.547902066,642.547902066,887.547902066,788.452097934,819.547902066,654,632,657,0.401174318564,-0.00549846428618,0.079903967686,0.999999982692,0.000130630210796,-0.000123997852706,4.66582716405e-05,1793250548137489920
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.875666578,745.875666578,722.875666578,687,667.875666578,642.875666578,887.875666578,788.124333422,819.875666578,654,632,657,0.401242770269,-0.00549962783888,0.0799152365164,0.999999984747,0.000129790956183,-0.000107585792126,4.56719504072e-05,1793250548154156544
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.282539769,745.282539769,722.282539769,687,667.282539769,642.282539769,887.282539769,788.717460231,819.282539769,654,632,657,0.401329319469,-0.00549971332427,0.079924812138,0.999999986305,0.00013087648332,-9.12914446361e-05,4.3905897453e-05,1793250548170823168
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.301948429,745.301948429,722,687,667.301948429,642,887.603896859,789,819.301948429,654.301948429,632,657,0.401421986887,-0.00550002096994,0.07993096992,0.999999987338,0.00013004293701,-8.18830090908e-05,4.13301543293e-05,1793250548187490048
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.878578085,745.878578085,722,687,667.878578085,642,888.75715617,789,819.878578085,654.878578085,632,657,0.401520220017,-0.00550053071387,0.079934018507,0.999999988054,0.00012746361755,-7.8738659904e-05,3.80178395496e-05,1793250548204156928
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.544421896,722,687,667.544421896,642,888.544421896,789,820,655,632,657,0.401640979796,-0.00550221072539,0.0799389940176,0.999999988913,0.000125043413855,-7.31535764221e-05,3.44349993821e-05,1793250548220823808
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.033271888,722,687,667.033271888,642.033271888,888,789,820,654.966728112,632,657,0.401769661721,-0.00550421396982,0.079944615906,0.9999999898,0.000122587192125,-6.65303154608e-05,3.07552518998e-05,1793250548237490176
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.620878544,722,687,667.620878544,642.620878544,888,789,820,654.379121456,632,657,0.401930222316,-0.00550640175299,0.0799524435285,0.999999991156,0.000118823758757,-5.34570574701e-05,2.66631918182e-05,1793250548254156800
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.794599761,746,722,687,668,642.794599761,888,789,820,654,632,657,0.402099688301,-0.00550846534136,0.0799596912669,0.999999992321,0.000114631376744,-4.17020346665e-05,2.18992378863e-05,1793250548270823424
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.215687999,746,722,687,668,642.215687999,888,789,820,654,632,657,0.402285348341,-0.00551030308656,0.0799658845101,0.999999993338,0.000109658970459,-3.23441674289e-05,1.59134742676e-05,1793250548287489792
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.361846082,745.638153918,722,687,668,642.361846082,888,789,819.638153918,654.361846082,632,656.638153918,0.402482881714,-0.00551292829187,0.0799660092226,0.999999994154,0.000101808478186,-3.51944542201e-05,9.42754268542e-06,1793250548304156416
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.938562129,745.061437871,722,687,668,642.938562129,888,789,819.061437871,654.938562129,632,656.061437871,0.402687465679,-0.0055160211037,0.0799625303455,0.999999994716,9.22489321324e-05,-4.52941363792e-05,2.64460282831e-06,1793250548320823296
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.512059085,722.512059085,687.512059085,668,643,888,789,819,654.487940915,631.487940915,656,0.402914055659,-0.00551825672103,0.079954833179,0.999999995175,7.55975390848e-05,-6.24646180144e-05,-5.82502980299e-06,1793250548337490432
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,688,667.912136759,642.912136759,888,789,819.087863241,654,631.087863241,656.087863241,0.403153074571,-0.00552040502318,0.0799479869286,0.999999995488,5.31404039087e-05,-7.74041854033e-05,-1.44416292408e-05,1793250548354157312
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,688,667.32091585,642.32091585,888,789,819.67908415,654,631.67908415,656.67908415,0.403448265794,-0.00552263863035,0.0799488968471,0.999999996946,2.26709453167e-06,-7.47332915851e-05,-2.27480611983e-05,1793250548370823680
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.735044559,745.735044559,722.735044559,688,667,642.264955441,888,789,819.735044559,654,632,657,0.403764325715,-0.00552448522421,0.0799517505852,0.999999997091,-1.49491936338e-05,-7.01092679067e-05,-2.60756354192e-05,1793250548387490048
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.15552456,745.15552456,722.15552456,688,667,642.84447544,888,789,819.15552456,654,632,657,0.404105161683,-0.00552587234191,0.0799569120953,0.999999997699,7.79333819923e-06,-6.31664190539e-05,-2.34921315665e-05,1793250548404156672
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.420274061,745.420274061,722.420274061,688,667.420274061,643,888,789,819.420274061,654,632,657,0.404469114587,-0.00552665832094,0.0799564389492,0.999999997658,1.23763868724e-05,-6.25540844503e-05,-2.48500363779e-05,1793250548420823552
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.99470764,745.99470764,722.99470764,688,667.99470764,643,888,789,819.99470764,654,632,657,0.40484154694,-0.00552722379799,0.0799538989709,0.9999999975,1.02984072836e-05,-6.42638277223e-05,-2.76536780193e-05,1793250548437490176
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.43146135,746,723,688.56853865,667.43146135,643,888.56853865,789,819.43146135,654,632,657,0.405262462164,-0.00553037145318,0.0799551676243,0.999999997883,-9.47719179501e-06,-5.63819953768e-05,-3.10665748615e-05,1793250548454156800
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.146827163,746,723,689,667.146827163,643,888.853172837,789,819.146827163,654,632,656.853172837,0.4056938053,-0.00553540164282,0.079953977141,0.999999997635,-2.52008180028e-05,-5.46632033627e-05,-3.32762203567e-05,1793250548470823680
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.738641854,746,723,689,667.738641854,643,888.261358146,789,819.738641854,654,632,656.261358146,0.40615538578,-0.00554606443838,0.0799452264432,0.999999996513,-2.81454161143e-05,-7.18929831729e-05,-3.18220141331e-05,1793250548487490816
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.67661393,746.32338607,722.67661393,689.32338607,667.67661393,643,888.32338607,789,819.67661393,654.32338607,632,656.32338607,0.406630627912,-0.00555564318281,0.0799357026981,0.999999994776,-3.82072077824e-05,-8.94393596105e-05,-3.14481052181e-05,1793250548504157952
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.097461694,746.902538306,722.097461694,689.902538306,667.097461694,643,888.902538306,789,819.097461694,654.902538306,632,656.902538306,0.4071166751,-0.00556436455192,0.0799255675486,0.999999992288,-5.38979908816e-05,-0.00010723613427,-3.19286036959e-05,1793250548520824576
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.47606495,746.52393505,722.47606495,690,667,643,888.52393505,789,819.47606495,654.52393505,632,656.52393505,0.407636287564,-0.00556454812373,0.07992092583,0.999999991219,-5.09063431769e-05,-0.000117838281787,-3.29468865805e-05,1793250548537490688
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,690.050224212,667,643,888.050224212,789,820,654,632,656.050224212,0.408166878895,-0.00556309144927,0.0799174184552,0.999999990414,-4.4670750586e-05,-0.000126550011641,-3.40748988829e-05,1793250548554157312
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,690.64353252,667,643,888.64353252,789,820,654,632,656.64353252,0.408742751024,-0.00556257799082,0.0799141580934,0.999999989879,-4.42323188262e-05,-0.000130561143417,-3.52128396712e-05,1793250548570823936
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,722.769052362,691,667.230947638,643,889,789,820,654,632,657,0.409363460206,-0.00556206985837,0.0799243695697,0.999999991961,-4.32844745567e-05,-0.00011372654308,-3.56406123709e-05,1793250548587490560
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,722.190507078,691,667.809492922,643,889,789,820,654,632,657,0.410051653283,-0.00556156974207,0.0799548574136,0.999999996377,-4.1569917102e-05,-6.55171793308e-05,-3.49995160118e-05,1793250548604157184
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,722.385973792,691,668,643,889,789,820,654.385973792,632,657,0.410742768195,-0.00556026071223,0.0799818810771,0.99999999828,-4.13011625211e-05,-2.25049375998e-05,-3.50414118772e-05,1793250548620824064
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722.961441123,691,668,643,889,789,820,654.961441123,632,657,0.41143531756,-0.00555855454692,0.080007204003,0.99999999834,-4.17422237839e-05,1.79557796181e-05,-3.54186222516e-05,1793250548637490944
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.535386701,746,723,691.535386701,668,643,889.535386701,789,820,654.464613299,632,657,0.412100219938,-0.00555435961605,0.0799800214135,0.999999998201,-3.72632618056e-05,-2.9261819099e-05,-3.67871900738e-05,1793250548654157568
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746,723,692,667.887504402,643,889.887504402,789.112495598,820,654,632,657,0.412772188407,-0.00554988859283,0.0799491600424,0.999999995588,-3.35576346549e-05,-7.85791694195e-05,-3.90224132159e-05,1793250548670824192
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746,723,692,667.296474638,643,889.296474638,789.703525362,820,654,632,657,0.413482660421,-0.00554500342916,0.0799186899441,0.999999992349,-3.46446572328e-05,-0.000110043306268,-4.46413647637e-05,1793250548687490816
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.711246275,746,723,692,667.288753725,643,889,790,820.288753725,654,632,657,0.414247463184,-0.00554308058776,0.0799135351904,0.999999992278,-3.72838403078e-05,-0.000108612602844,-4.75175463216e-05,1793250548704157184
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.13185705,746,723,692,667.86814295,643,889,790,820.86814295,654,632,657,0.415066950849,-0.00554413937314,0.0799338607548,0.999999995262,-4.14852992575e-05,-7.40726910005e-05,-4.76330842394e-05,1793250548720823552
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723,692.444474064,667.555525936,643,889,790,821,654,632,657,0.415862594727,-0.00554465219483,0.0799452301281,0.999999995816,-4.08245128462e-05,-6.71490864656e-05,-4.68256646534e-05,1793250548737490176
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722.979608763,693,667.020391237,643,889.020391237,790,821,654,632,657,0.416651970912,-0.00554500242272,0.0799534701176,0.999999995859,-3.90411609063e-05,-6.82402094408e-05,-4.58353264545e-05,1793250548754156800
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722.390096275,693,667.609903725,643,889.609903725,790,821,654,632,657,0.41746248858,-0.00554530420695,0.0799480171988,0.999999995653,-4.59100677532e-05,-6.5928957551e-05,-4.73293661024e-05,1793250548770823680
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722,692.804573571,668,643,890,789.804573571,821,654,632,657,0.418309142724,-0.00554621984776,0.079954652676,0.999999996581,-5.0960695359e-05,-4.33383047457e-05,-4.86022608691e-05,1793250548787490560
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,722,692.226855682,668,643,890,789.226855682,821,654,632,657,0.419226486678,-0.00554833630937,0.0799849353674,0.999999997223,-5.2454420583e-05,1.89227336183e-05,-4.94425537553e-05,1793250548804157440
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,722.349966713,692.699933427,668,643,890.349966713,789,821.349966713,654,632,657,0.420116606317,-0.00554979404587,0.0799846633297,0.999999996885,-5.65748169463e-05,2.20557053785e-05,-5.04228667987e-05,1793250548820824320
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,722.926210089,693.852420179,668,643,890.926210089,789,821.926210089,654,632,657,0.420989123598,-0.00555082587286,0.0799646356344,0.999999996643,-6.23935301763e-05,-1.30415370895e-05,-5.1493712152e-05,1793250548837490944
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,694,668,643,891,789.491392358,822,654,632,657,0.421870249935,-0.00555134538619,0.0799676529834,0.999999996505,-6.49612989629e-05,-1.04801811276e-05,-5.15824895275e-05,1793250548854157056
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,694,667.941160768,643.058839232,891,789.941160768,822.058839232,654,632,657,0.422757214004,-0.00555168436174,0.079976049962,0.999999996469,-6.64326181819e-05,3.52016546026e-07,-5.14685199722e-05,1793250548870823424
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,694,667.337718212,643.662281788,891,789.337718212,822.662281788,654,632,657,0.423686508053,-0.00555104870448,0.0800029145702,0.999999996108,-6.21744335388e-05,3.65481192646e-05,-5.08128905238e-05,1793250548887490048
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,694,667.254871767,643.745128233,891,789,823,654.254871767,632,657,0.424581810885,-0.00554974658004,0.0799957446206,0.99999999687,-5.93825324186e-05,1.30683693466e-05,-5.06195371751e-05,1793250548904156672
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,694,667.833668914,643.166331086,891,789,823,654.833668914,632,657,0.425433913225,-0.00554759741922,0.0799453189736,0.99999999327,-5.84541810215e-05,-8.62554892356e-05,-5.10137061927e-05,1793250548920823552
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.406795601,746.406795601,723,694,667.593204399,643,891,789,823,654.593204399,632,657,0.426358073801,-0.00554691256141,0.0799175365135,0.999999989871,-6.2599198424e-05,-0.000115740696478,-5.42501677603e-05,1793250548937490176
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.977635585,746.977635585,723,694,667.022364415,643,891,789,823,654.022364415,632,657,0.427311292528,-0.00554681819852,0.0798988851472,0.999999989063,-6.87901025751e-05,-0.000117062765678,-5.86328122396e-05,1793250548954156800
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.432615902,747,723,694.567384098,667.567384098,643,891,789,823,654,632,657,0.42821085112,-0.00554850266715,0.0799047447103,0.999999989118,-6.47249242685e-05,-0.000119733687327,-5.69150811052e-05,1793250548970823680
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.845127509,722.845127509,694.845127509,668,643.154872491,891,789.154872491,823.154872491,654,632.154872491,657,0.429124598888,-0.00555044850055,0.0799190775003,0.999999990633,-6.3392048281e-05,-0.000108083572344,-5.50685364502e-05,1793250548987490816
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.265943669,722.265943669,694.265943669,668,643.734056331,891,789.734056331,823.734056331,654,632.734056331,657,0.430083215976,-0.00555291168524,0.0799538865501,0.99999999444,-7.06907438605e-05,-5.70467616894e-05,-5.35505775416e-05,1793250549004156928
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.312782925,722,694.312782925,668.312782925,644,891,789.687217075,824,654,633,657,0.431046792575,-0.00555536982475,0.0799923688057,0.999999995833,-7.50903030913e-05,-2.78317082755e-07,-5.19129399157e-05,1793250549020823296
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.891121283,722,694.891121283,668.891121283,644,891,789.108878717,824,654,633,657,0.432014579792,-0.00555782368073,0.0800339696434,0.999999993892,-7.7028469782e-05,6.13563321494e-05,-5.01736940256e-05,1793250549037490176
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.466615116,747,722,694.533384884,668.066769769,643.533384884,891.466615116,789.466615116,824,654,632.533384884,657,0.432887366892,-0.00555650501118,0.0799972704534,0.999999995821,-7.51935840047e-05,2.81373489326e-07,-5.1999567168e-05,1793250549054157056
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.957721482,747,722,694,667.042278518,643,891.957721482,789.957721482,824,654,632,657,0.433738505157,-0.00555445417478,0.07994380133,0.999999992152,-7.32608909528e-05,-8.56248599025e-05,-5.47395257203e-05,1793250549070823680
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.371387113,747,722,694,667.628612887,643,891.371387113,789.371387113,824,654,632,657,0.434594583062,-0.00555424056402,0.0799082152093,0.999999987182,-8.13301800259e-05,-0.000124844985557,-5.86022591279e-05,1793250549087490816
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.213604941,747,722.213604941,694.213604941,668,643,891.213604941,789.213604941,824,654,632,657,0.435467496384,-0.00555465889917,0.0798994570572,0.999999985832,-8.67371197265e-05,-0.000130892859148,-6.0667988062e-05,1793250549104157440
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.796277832,747,722.796277832,694.796277832,668,643,891.796277832,789.796277832,824,654,632,657,0.436369498185,-0.00555616911435,0.0799370524308,0.99999999122,-8.75440369163e-05,-7.96255150256e-05,-5.96288421079e-05,1793250549120823808
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.625616241,747,722.625616241,694.625616241,667.625616241,643,891.625616241,789.625616241,824,654,632,657,0.437254892107,-0.00555820558548,0.0799654793989,0.999999993544,-8.95478135779e-05,-4.0259225991e-05,-5.72127153964e-05,1793250549137490432
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.049965528,747,722.049965528,694.049965528,667.049965528,643,891.049965528,789.049965528,824,654,632,657,0.438131357656,-0.00556052496925,0.0799889774728,0.999999994262,-9.2195016237e-05,-7.29089149815e-06,-5.40563303486e-05,1793250549154157056
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,722,694,667,643,891,789,824.525202478,654,632,657,0.438945191889,-0.00556200249148,0.0799695939355,0.999999993006,-9.47854966899e-05,-4.25385475756e-05,-5.65173688574e-05,1793250549170823680
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,722,694,667,643,891.103062668,789,825,654,632,657,0.439729190737,-0.00556272765554,0.0799349142572,0.999999988515,-9.70621744678e-05,-0.00010002607222,-5.95263158649e-05,1793250549187490304
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,722,694,667,643,891.693881038,789,825,654,632,657,0.440400163503,-0.00556027089191,0.0798471331827,0.99999996632,-9.78792604612e-05,-0.000232080873756,-6.26014313956e-05,1793250549204156928
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,722,694,666.721280832,642.721280832,891.721280832,788.721280832,825,654,632,657,0.441058770118,-0.00555645246872,0.0797553693512,0.999999924455,-9.38675846654e-05,-0.000371265585581,-6.66457259711e-05,1793250549220823808
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,722,694,666.142872909,642.142872909,891.142872909,788.142872909,825,654,632,657,0.441704080164,-0.00555116994095,0.0796593231235,0.999999859621,-8.46638523473e-05,-0.000518116620125,-7.1732115957e-05,1793250549237490944
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,722,694,666,642,891,788,825,654,632,657,0.442446044768,-0.00555183006411,0.0796663091704,0.999999867952,-9.16744090243e-05,-0.000500662647827,-7.0909172316e-05,1793250549254157312
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,722,694.006063429,666,642,891.006063429,788,825,654,632,657,0.443219271163,-0.00555444083604,0.0797072254266,0.999999900152,-0.000103663691009,-0.000429308546406,-6.81540766963e-05,1793250549270823680
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.410586925,745,722,686.410586925,667,642.589413075,888,788.410586925,819,654.589413075,632,656.410586925,0.400975624223,-0.00538947564659,0.0798373632687,0.999999926545,0.000254989540286,-0.000282483107314,4.57505173646e-05,1793250552762903552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.168008067,745,722,686,667,642.831991933,888,788,819.168008067,655,632,656.168008067,0.400976216384,-0.00539025855957,0.0798377541136,0.999999926764,0.00025505301915,-0.000281649531846,4.57577224597e-05,1793250552779569920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.743797871,745,722,686,667,642.256202129,888,788,819.743797871,655,632,656.743797871,0.400974199653,-0.00539129281392,0.079836757838,0.999999926821,0.000252739914064,-0.000283453053946,4.61965463266e-05,1793250552796236544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,745,722,686.318802141,667,642,888,788,819.681197859,654.681197859,632,657,0.400973170341,-0.00539179945543,0.0798364189551,0.999999927174,0.000250668570564,-0.000284067992747,4.60670445991e-05,1793250552812902912
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.516945597,745,722,686.516945597,667,642,888,788,819.483054403,654,632,657,0.400973827632,-0.00539235249086,0.0798370850612,0.999999928321,0.000248242714837,-0.000282230389798,4.56087593948e-05,1793250552846235904
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,768.793241717,745,722,686,667,642,887,788,819.793241717,654,632,656.793241717,0.400975427763,-0.00538953610635,0.0798387777166,0.999999927866,0.000252460232515,-0.000280117598271,4.5448314849e-05,1793250552912902656
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745.975125964,722,686.975125964,667,642.975125964,887,788,819.024874036,654,632,656.024874036,0.400975531621,-0.00539049333311,0.0798398407004,0.999999928667,0.000250714044062,-0.000278807138981,4.55587349802e-05,1793250552946235904
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af16fb86d5dfba267953609bdede244102d2f84a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.575666498801,0.000150155275253,1.0700335484,0.546237176733,0.00882278718332,1.06970494194
+390,6.500000000,pose2_to_pose3_retreat,0.575666264576,0.000150153962407,1.07003355333,0.546236942524,0.00882278599525,1.06970494867
+391,6.516666667,pose2_to_pose3_retreat,0.575666003105,0.000150152496851,1.07003355884,0.546236681072,0.00882278466898,1.06970495618
+392,6.533333333,pose2_to_pose3_retreat,0.575665778151,0.000150151235972,1.07003356359,0.546236456135,0.00882278352793,1.06970496264
+393,6.550000000,pose2_to_pose3_retreat,0.5756655112,0.000150149739694,1.07003356921,0.546236189202,0.00882278217386,1.06970497031
+394,6.566666667,pose2_to_pose3_retreat,0.575665359765,0.000150149089668,1.07003357286,0.546236037776,0.00882278159375,1.06970497505
+395,6.583333333,pose2_to_pose3_retreat,0.575665358871,0.000150149168637,1.07003357307,0.546236036881,0.00882278166865,1.06970497524
+396,6.600000000,pose2_to_pose3_retreat,0.575665325556,0.000150152110007,1.0700335809,0.546236003528,0.00882278445857,1.06970498241
+397,6.616666667,pose2_to_pose3_retreat,0.575665230717,0.000150160483145,1.0700336032,0.546235908584,0.00882279240057,1.0697050028
+398,6.633333333,pose2_to_pose3_retreat,0.575665064418,0.000150175165405,1.0700336423,0.546235742099,0.00882280632682,1.06970503857
+399,6.650000000,pose2_to_pose3_retreat,0.575664947097,0.00015018552351,1.07003366988,0.546235624647,0.00882281615157,1.0697050638
+400,6.666666667,pose2_to_pose3_retreat,0.575664794314,0.000150199012485,1.0700337058,0.546235471693,0.00882282894599,1.06970509666
+401,6.683333333,pose2_to_pose3_retreat,0.575664525052,0.000150220056771,1.07003376654,0.546235202172,0.00882284891892,1.06970515236
+402,6.700000000,pose2_to_pose3_retreat,0.575664390057,0.000150164189127,1.07003373433,0.546235068044,0.00882279623214,1.06970512643
+403,6.716666667,pose2_to_pose3_retreat,0.575664315056,0.000150142107395,1.07003369913,0.54623499344,0.00882277566071,1.06970509555
+404,6.733333333,pose2_to_pose3_retreat,0.575664302261,0.000150167767085,1.07003363628,0.546234980434,0.00882280073402,1.06970503615
+405,6.750000000,pose2_to_pose3_retreat,0.575664295265,0.00015018179712,1.07003360191,0.546234973322,0.00882281444344,1.06970500367
+406,6.766666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650646,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3960854254b3bfedea2c980e9191c6d496f78a59
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9b649b6babb002c707bbf8c7d25015e4ee4df7c0ae8203becdb8c13b16e2da1
+size 25973018
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b753ee98fdfd423ab625f55e9936668b479eeb3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+46,0.766666667,BASELINE,768.68167609,745,722.68167609,686.31832391,667,642.68167609,887,788,819,654.68167609,632,657,0.40097707021,-0.00539035943304,0.0798425721321,0.999999929766,0.000252381665671,-0.000273524760021,4.42240627095e-05,1793250553857488128
+47,0.783333333,BASELINE,769,745,722.732892124,686,667,642.732892124,887,788,819,654.732892124,632,656.732892124,0.40097682569,-0.00539012409175,0.0798424494874,0.999999929758,0.000252195911032,-0.000273730634263,4.41893006973e-05,1793250553874154752
+48,0.800000000,BASELINE,769,745,722.141461373,686,667,642.141461373,887,788,819,654.141461373,632,656.141461373,0.400976971392,-0.00539134747276,0.0798424965201,0.99999993015,0.000250995913949,-0.000273327071522,4.46509731125e-05,1793250553890821120
+49,0.816666667,BASELINE,769,745,722,686,667,642,887.437161332,788,819,654,632,656.437161332,0.400976673882,-0.0053905562023,0.0798425779539,0.999999929898,0.000251804088108,-0.000273511079741,4.4606526454e-05,1793250553907488000
+50,0.833333333,BASELINE,769,745,722,686.01179615,667,642,887.98820385,788,819,654,632,656.98820385,0.400976242282,-0.00538917910117,0.0798426658673,0.999999929457,0.000253192578483,-0.000273873791243,4.44083884995e-05,1793250553924154624
+51,0.850000000,BASELINE,769,745,722,686.588285605,667,642,887.411714395,788,819,654,632,656.411714395,0.40097606186,-0.00539007756532,0.0798425462489,0.9999999297,0.000252139046986,-0.000273948450822,4.44698264536e-05,1793250553940821504
+52,0.866666667,BASELINE,769,745,722,687,667.168732802,642,887,788.168732802,819.168732802,654,632,656,0.400976075347,-0.0053907369723,0.0798423673591,0.999999930002,0.000250946952429,-0.000273940119442,4.4481987128e-05,1793250553957488128
+53,0.883333333,BASELINE,769,745,722,687,667.759068954,642,887,788.759068954,819.759068954,654,632,656,0.400976573343,-0.00539079906023,0.0798420403711,0.999999930451,0.000249408638057,-0.000273724423119,4.43710213774e-05,1793250553974154496
+54,0.900000000,BASELINE,769,745,722,686.657205031,667.657205031,642,887,788.657205031,819.657205031,654,632,656.342794969,0.400976296842,-0.00539014788853,0.0798418432515,0.999999929916,0.000251060651261,-0.000274165362683,4.43795407821e-05,1793250553990820864
+55,0.916666667,BASELINE,769,745,722,686.078037036,667.078037036,642,887,788.078037036,819.078037036,654,632,656.921962964,0.40097548629,-0.00538900489124,0.0798417356821,0.999999928692,0.000254912543318,-0.000275059083141,4.44704507461e-05,1793250554007487744
+56,0.933333333,BASELINE,769,745,722,686.49397798,667,642,887,788.49397798,819,654,631.50602202,656.50602202,0.400974134829,-0.00539045328861,0.0798408684799,0.999999928908,0.000252564409888,-0.000276418226897,4.45870213485e-05,1793250554024154368
+57,0.950000000,BASELINE,769,745,722,686.934470006,667,642,887,788.934470006,819,654,631.065529994,656,0.400972976021,-0.00539206531884,0.0798400828489,0.999999929325,0.000249622754797,-0.000277570300786,4.46510643718e-05,1793250554040820992
+58,0.966666667,BASELINE,769,745,722,686.357841852,667,642,887,788.357841852,819,654,631.642158148,656,0.400973976764,-0.00539180622879,0.0798408560372,0.999999929637,0.000249582168638,-0.000276542064395,4.42742549002e-05,1793250554057487616
+59,0.983333333,BASELINE,769,745,722,686.224981688,667,642.224981688,887.224981688,788,819,654,632,656,0.400975082875,-0.00539192397775,0.0798415752119,0.999999930046,0.000249290950873,-0.00027534611795,4.41142248932e-05,1793250554074154240
+60,1.000000000,BASELINE,769,745,722,686.817938352,667,642.817938352,887.817938352,788,819,654,632,656,0.400976361325,-0.00539265807605,0.0798422060435,0.999999930616,0.000248589805698,-0.000273875868562,4.43087544298e-05,1793250554090820864
+61,1.016666667,BASELINE,768.600559422,745,722,687,667,642.600559422,887.600559422,788,819,654,632,656,0.400976848812,-0.00539106139153,0.0798420334503,0.999999929902,0.000251439134145,-0.000273873394655,4.43679193294e-05,1793250554107487744
+62,1.033333333,BASELINE,768.024132528,745,722,687,667,642.024132528,887.024132528,788,819,654,632,656,0.400976985835,-0.00538843197097,0.0798415048711,0.999999928602,0.000255861625909,-0.000274521270823,4.43671061128e-05,1793250554124154368
+63,1.050000000,BASELINE,768.546430476,745,722.546430476,687,667,642,887,788,819,654,632,656,0.400976701079,-0.00538934616308,0.0798421461929,0.999999929233,0.000254149498016,-0.000273818752471,4.43286431495e-05,1793250554140820992
+64,1.066666667,BASELINE,768.878297315,745,723,687,667,642.121702685,887,788,819,654,632,656,0.400976414949,-0.00539003374169,0.0798426834376,0.999999929701,0.000253019334614,-0.00027316068007,4.43096249142e-05,1793250554157487616
+65,1.083333333,BASELINE,768.283732525,745,723,687,667,642.716267475,887,788,819,654,632,656,0.400976195083,-0.00538923923208,0.0798426176857,0.999999929216,0.000255191816777,-0.000272904556896,4.4372548867e-05,1793250554174154240
+66,1.100000000,BASELINE,768.302676882,745,722.697323118,687,667,642.697323118,887,788,819,654,632,656.302676882,0.400976479807,-0.00539032375949,0.0798426193736,0.99999992946,0.000254502180114,-0.00027262521095,4.45482173343e-05,1793250554190820608
+67,1.116666667,BASELINE,768.881641895,745,722.118358105,687,667,642.118358105,887,788,819,654,632,656.881641895,0.400977225128,-0.00539312350096,0.0798426826218,0.999999930364,0.000251199957065,-0.000272324666914,4.48268007323e-05,1793250554207487232
+68,1.133333333,BASELINE,769,745,722,686.541386923,667.458613077,642,887,788.458613077,819.458613077,654,632,656.541386923,0.400976007512,-0.00539184583421,0.079842026389,0.999999929625,0.000252454529467,-0.000273898918314,4.46749944285e-05,1793250554224154112
+69,1.150000000,BASELINE,768.964952943,745,722.035047057,686.035047057,667.964952943,642,887.035047057,789,819.964952943,654,631.964952943,656,0.40097444207,-0.0053897563326,0.0798412814918,0.999999928586,0.000254572407693,-0.000275762673338,4.44413446845e-05,1793250554240820992
+70,1.166666667,BASELINE,768.388903455,745,722.611096545,686.611096545,667.388903455,642,887.611096545,789,819.388903455,654,631.388903455,656,0.400975293571,-0.00539130830714,0.0798420218014,0.999999929547,0.000251941815454,-0.000274658827681,4.46514936429e-05,1793250554257487616
+71,1.183333333,BASELINE,768,745,722.808865835,687,667,642,888,789,819.191134165,654,631.191134165,656,0.40097570157,-0.00539234922205,0.0798420481439,0.999999930108,0.000249915941946,-0.000274459115541,4.47016395706e-05,1793250554274154240
+72,1.200000000,BASELINE,768,745,722.220540467,687,667,642,888,789,819.779459533,654,631.779459533,656,0.400975187938,-0.00539232811679,0.079840590809,0.99999992985,0.000249146719063,-0.000276138260801,4.44192871783e-05,1793250554290820864
+73,1.216666667,BASELINE,768,745.361902393,722,686.638097607,667,642,888,789,819.638097607,654,632,656.361902393,0.400975662484,-0.00539221185665,0.0798410926665,0.999999930067,0.000248846521554,-0.000275634285004,4.43618809348e-05,1793250554307487488
+74,1.233333333,BASELINE,768,745.9408178,722,686.0591822,667,642,888,789,819.0591822,654,632,656.9408178,0.400976729586,-0.00539203853736,0.0798427693441,0.999999930566,0.000248827572881,-0.000273821211159,4.44393625747e-05,1793250554324154112
+75,1.250000000,BASELINE,768.512958342,745.487041658,722,686,667.512958342,642,887.487041658,789,819,654,632,657,0.400977083608,-0.00539096477455,0.0798430300581,0.999999930287,0.000251061060158,-0.000272813501771,4.43585443264e-05,1793250554340820736
+76,1.266666667,BASELINE,769,745,722.087727017,686.087727017,667.912272983,642.087727017,887,789,819,654,632,657,0.400977187397,-0.00538995126875,0.0798430814725,0.999999929897,0.000253276257851,-0.000272207011578,4.42757723041e-05,1793250554357487360
+77,1.283333333,BASELINE,769,745,722.682130355,686.682130355,667.317869645,642.682130355,887,789,819,654,632,657,0.400976314917,-0.00538987797796,0.0798428552924,0.999999929415,0.000253904463089,-0.000273388139856,4.42858251161e-05,1793250554374153984
+78,1.300000000,BASELINE,769,745,722.730507397,687,667.269492603,642.730507397,887.269492603,788.730507397,819,654.269492603,632,656.730507397,0.400975777292,-0.00538964241125,0.0798423519794,0.999999929061,0.0002545164156,-0.000274092364,4.44057974776e-05,1793250554390820608
+79,1.316666667,BASELINE,769,745,722.151238774,687,667.848761226,642.151238774,887.848761226,788.151238774,819,654.848761226,632,656.151238774,0.400975624577,-0.00538922031182,0.0798415301083,0.999999928857,0.000255109685901,-0.000274248396896,4.46521200242e-05,1793250554407487232
+80,1.333333333,BASELINE,769,745.425688873,722,687,667.574311127,642,887.574311127,788,819,654.574311127,632,656.425688873,0.400976138706,-0.0053902038764,0.0798421570679,0.999999929394,0.000253411473353,-0.000273861183341,4.4670069785e-05,1793250554424153856
+81,1.350000000,BASELINE,769,745.998218216,722,686.998218216,667,642,887.001781784,788,819,654,632,657,0.400976886034,-0.00539167827691,0.0798432919348,0.999999930184,0.000250916329651,-0.000273280948411,4.46072490767e-05,1793250554440820480
+82,1.366666667,BASELINE,769,745.424574378,722,686.424574378,667,642,887.575425622,788,819,654,632,657,0.400976856328,-0.00539127920727,0.079843137112,0.99999993004,0.000252508372341,-0.00027235657025,4.45194221653e-05,1793250554457487104
+83,1.383333333,BASELINE,769,745,722,686,667,642,887.846284836,788,819,654,632,657,0.400976997152,-0.00539108544367,0.0798430133359,0.999999929931,0.000253531106377,-0.000271815590788,4.4446052584e-05,1793250554474153728
+84,1.400000000,BASELINE,769,745,722,686,667,642,887.254763427,788,819,654,632,657,0.400977623676,-0.00539147642562,0.0798429779858,0.999999929935,0.000252932355445,-0.00027236659411,4.44138598533e-05,1793250554490820352
+85,1.416666667,BASELINE,768.670490141,745,722.329509859,686.329509859,667,642.329509859,887.329509859,788,819,654.329509859,632,656.670490141,0.400977611554,-0.00539153998598,0.0798432530206,0.999999930175,0.000252147378073,-0.000272210500801,4.44286649518e-05,1793250554507488000
+86,1.433333333,BASELINE,768.091700225,745,722.908299775,686.908299775,667,642.908299775,887.908299775,788,819,654.908299775,632,656.091700225,0.400977116283,-0.00539135584607,0.0798437628672,0.999999930593,0.000251221517129,-0.000271519476303,4.44790247443e-05,1793250554524155648
+87,1.450000000,BASELINE,768.483452813,745,722.516547187,687.483452813,667,642.516547187,888,788,819,654.516547187,632,656,0.400976121345,-0.00539118305175,0.0798427980458,0.99999993038,0.000249983063827,-0.000273429796721,4.45516724673e-05,1793250554540822272
+88,1.466666667,BASELINE,769,745,722,687.881498262,667,642,887.940749131,788,819,654.059250869,632,656,0.400975303921,-0.00539116537853,0.0798418344126,0.999999930168,0.000248802881832,-0.000275261802083,4.46300653941e-05,1793250554557488896
+89,1.483333333,BASELINE,769,745,722,686.706185252,667,642,887.353092626,788,819,654.646907374,632,656,0.400976908497,-0.00539251204357,0.0798433572499,0.999999931083,0.000248667192195,-0.000272027893436,4.47222746632e-05,1793250554574154752
+90,1.500000000,BASELINE,769,745,722,686,667,642.231122676,887,788.231122676,819,654.768877324,632,656,0.400977006645,-0.00539258767696,0.0798436183879,0.999999931014,0.000249884041926,-0.000271172177989,4.46679348399e-05,1793250554590821120
+91,1.516666667,BASELINE,769,745,722,686,667,642.810157828,887,788.810157828,819,654.189842172,632,656,0.400974837142,-0.00539075000695,0.0798419802705,0.999999929466,0.000253136889741,-0.000273896393211,4.43929924319e-05,1793250554607488000
+92,1.533333333,BASELINE,769,745,722.38911397,686,667.38911397,642.61088603,887,788.61088603,819,654.38911397,632,656.38911397,0.400976029924,-0.00539108424227,0.0798425832774,0.999999929334,0.000254507251185,-0.000273060331216,4.46670557433e-05,1793250554624154624
+93,1.550000000,BASELINE,769,745,722.968031624,686,667.968031624,642.031968376,887,788.031968376,819,654.968031624,632,656.968031624,0.400978862777,-0.00539247789873,0.0798442794693,0.999999929894,0.000254959365632,-0.000270487622153,4.52089153977e-05,1793250554640821248
+94,1.566666667,BASELINE,769,745,722.457703987,686.542296013,668,642,887,788,819,654.457703987,632,656.457703987,0.400976812629,-0.00539091192268,0.0798432962108,0.999999929426,0.000254506343002,-0.000272722371998,4.46903574958e-05,1793250554657488384
+95,1.583333333,BASELINE,769,745,722,687,668,642,887.11916096,788,819,654,632,656,0.400975192712,-0.00538980499693,0.0798424621602,0.999999929155,0.000253732136219,-0.000274504540178,4.42352513265e-05,1793250554674155264
+96,1.600000000,BASELINE,769,745,722,687,668,642,887.707332189,788,819,654,632,656,0.400976389495,-0.00539118572752,0.0798428317902,0.999999929919,0.000251901994673,-0.000273399420242,4.42738359975e-05,1793250554690821632
+97,1.616666667,BASELINE,769,745,722,686.709040861,667.709040861,642,887.709040861,788.290959139,819,654,632,656.290959139,0.400977162766,-0.00539159393468,0.0798432112953,0.999999930181,0.000251645682186,-0.000272660786624,4.43689561883e-05,1793250554707488000
+98,1.633333333,BASELINE,769,745,722,686.129914619,667.129914619,642,887.129914619,788.870085381,819,654,632,656.870085381,0.400977516587,-0.00539103895063,0.0798436005806,0.999999929948,0.000252948096441,-0.000272285122597,4.45200693829e-05,1793250554724154624
+99,1.650000000,BASELINE,769,745,722,686.446977839,667,642,887,788.106044322,819,654,631.553022161,656.553022161,0.400977495958,-0.00538963730317,0.0798433988487,0.999999929864,0.00025397630083,-0.000271674205299,4.42837263442e-05,1793250554740821248
+100,1.666666667,BASELINE,769,745,722,687,667,642,887.023230081,787.023230081,819,654,631.023230081,656,0.400977337422,-0.00538812462575,0.0798430352277,0.999999929826,0.000254806810239,-0.000271090683369,4.39500802554e-05,1793250554757487872
+101,1.683333333,BASELINE,769,745,722,687,667,642,887.599620813,787.599620813,819,654,631.599620813,656,0.400976473717,-0.00538979874291,0.0798428867881,0.999999929871,0.000252818141917,-0.000272779612182,4.39677017538e-05,1793250554774154496
+102,1.700000000,BASELINE,769,745,722,686.820394904,667,642,888,788,819,654,632,656,0.400975944013,-0.00539124561057,0.0798427400963,0.999999929927,0.000251431152418,-0.000273839132471,4.40572338274e-05,1793250554790821120
+103,1.716666667,BASELINE,769,745,722,686.232236335,667,642,888,788,819,654,632,656,0.400976174067,-0.00539217554627,0.0798425973805,0.999999930022,0.000251412821304,-0.000273466916779,4.43103431905e-05,1793250554807487488
+104,1.733333333,BASELINE,769,745,722,686,667,642,888,788,819,654,632,656,0.400977020386,-0.00539180580636,0.0798432285416,0.999999930483,0.000251126343719,-0.000272039191057,4.43220702219e-05,1793250554824154112
+105,1.750000000,BASELINE,769,745,722,686,667,642,888,788,819,654,632,656,0.400978268814,-0.00539058803867,0.0798443646513,0.999999931179,0.000250664902717,-0.000269922753495,4.41762972489e-05,1793250554840820736
+106,1.766666667,BASELINE,768.491251616,745,722,686,667,642,887.491251616,788,819,654,632,656,0.400978156429,-0.00539067534396,0.0798441256715,0.999999930892,0.000251413260903,-0.000270255747489,4.4373368401e-05,1793250554857487360
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,722,687,667,642,887,788,819,654,632,656,0.400979933471,-0.00538960606192,0.0798458029192,0.99999993111,0.000253037517133,-0.000267892032213,4.45559215458e-05,1793250554900886784
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.592106919,745,722,687,667,642,887.592106919,788,819,654,632,656.592106919,0.400977699015,-0.00539125610393,0.0798433613733,0.999999930516,0.000252225810861,-0.000270887872123,4.4390844386e-05,1793250554917553408
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722,686.819135517,667,642,888,788,819,654,632.180864483,656.819135517,0.400976803436,-0.00539213316161,0.079842319384,0.999999930194,0.00025191524427,-0.000272366779631,4.43547180235e-05,1793250554934220032
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722,686.237794107,667,642,888,788,819,654,632.762205893,656.237794107,0.400978872452,-0.0053912986487,0.0798443763451,0.999999930491,0.000252714319822,-0.000270486839049,4.46041193266e-05,1793250554950886656
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722,686.33948153,667.33948153,642,888,788,819,654,632.66051847,656.33948153,0.400978172327,-0.0053902360551,0.0798441474147,0.999999929846,0.000254293170842,-0.000271401479099,4.45419591173e-05,1793250554967553536
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,686.913942912,667.913942912,642,888,788,819,654,632.086057088,656.913942912,0.400975555479,-0.0053890155903,0.0798423362525,0.99999992854,0.000256411761115,-0.000274250451736,4.42641445133e-05,1793250554984220160
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.511463756,745,722,686.511463756,667.511463756,642,887.511463756,788.488536244,819,654,632,656.511463756,0.400974336008,-0.00538915500626,0.0798415294401,0.999999928339,0.000255964292665,-0.000275399047493,4.42723035861e-05,1793250555000887040
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.065140124,745,722,686.065140124,667,642,887,789,819,654,631.934859876,656.065140124,0.400973659003,-0.00538966334059,0.0798410428585,0.999999928464,0.000254813356866,-0.000276006933055,4.43086281903e-05,1793250555017554176
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.657838799,745,722,686.657838799,667,642,887,789,819,654,631.342161201,656.657838799,0.400975381254,-0.00539121890729,0.0798417165456,0.999999929647,0.000251626971476,-0.000274662167977,4.41649711423e-05,1793250555034221312
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642.244167914,887,789,819,654,631.244167914,657,0.400981480834,-0.00539190987347,0.0798441124095,0.999999931137,0.000250151676476,-0.000270578678176,4.40075276136e-05,1793250555050887680
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642.82179802,887,789,819,654,631.82179802,657,0.400993558569,-0.00539142004725,0.0798488602649,0.999999933016,0.000251013232382,-0.000262754888898,4.38312557818e-05,1793250555067554048
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642.604882247,887,788.604882247,819,654,632,657,0.401024905097,-0.00539161791013,0.079859994183,0.99999993829,0.000250764850744,-0.000242116556443,4.37837013341e-05,1793250555084220416
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642.033485505,887,788.033485505,819,654,632,657,0.401064848261,-0.0053921225806,0.0798739771982,0.999999944509,0.00025002127826,-0.000215761105461,4.37935731957e-05,1793250555100887040
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.442811195,745,722,686.442811195,667,642,887,788,819,654.557188805,632,656.442811195,0.401132057639,-0.00539254275419,0.0798904935291,0.999999951431,0.000250668795613,-0.000180054294743,4.33993375263e-05,1793250555117553920
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,722,686.14597516,667,642,887,788,819,654.85402484,632,656,0.401202396772,-0.00539327481163,0.0799049977469,0.999999956243,0.000250694575762,-0.000151127869192,4.27500080927e-05,1793250555134220544
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745,722,686.725588345,667,642,887,788,819,654.274411655,632,656,0.401276991067,-0.00539494898586,0.0799130562549,0.999999957859,0.000248616159711,-0.000144072739707,4.14176192152e-05,1793250555150887424
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.302475644,745,722,687,667,642,887.302475644,788,819,654,632,656.302475644,0.401362689853,-0.005395427582,0.0799186339484,0.999999959204,0.000248145639526,-0.000135948400415,3.91701247608e-05,1793250555167553792
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.87691202,745,722,687,667,642,887.87691202,788,819,654,632,656.87691202,0.40145837286,-0.00539483121448,0.0799219811009,0.999999960271,0.000249120804577,-0.00012686271775,3.60998441943e-05,1793250555184220416
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.538293858,745,722,687,667,642,887.538293858,788,819,654,632,656.538293858,0.401571192986,-0.00539697831831,0.0799261730766,0.999999961892,0.000247116470298,-0.000118629222239,3.28085793518e-05,1793250555200887040
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.04857613,745,722,687,667,642,887,788,819,654,632,656,0.401691920289,-0.00539975589235,0.0799308510648,0.999999963708,0.000244154710637,-0.000110051167635,2.9339267288e-05,1793250555217553920
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.627274245,745,722,687,667,642,887,788,819,654,632,656,0.401847937522,-0.00540124891023,0.0799383186836,0.999999966462,0.000239611831353,-9.51766155302e-05,2.45845714968e-05,1793250555234220544
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.794543511,745,722,687,667,642,887.205456489,788,819,654,632,656.205456489,0.402011609666,-0.00540327592984,0.0799452143595,0.999999968802,0.000234911397385,-8.2629901067e-05,1.96334614862e-05,1793250555250887424
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.217294843,745,722,687,667,642,887.782705157,788,819,654,632,656.782705157,0.402189134047,-0.00540626927395,0.0799510750518,0.999999970705,0.000229925854471,-7.42956218993e-05,1.43269226288e-05,1793250555267554304
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.359948404,745.359948404,722,687.359948404,667.359948404,642,887.640051596,788,819,654,632,656.640051596,0.402382166193,-0.00540755880116,0.0799532167389,0.999999972308,0.00022406065706,-7.15369559102e-05,8.00513493747e-06,1793250555284220928
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.937188435,745.937188435,722,687.937188435,667.937188435,642,887.062811565,788,819,654,632,656.062811565,0.402584559997,-0.00540781977805,0.0799531133583,0.999999973708,0.000217664434288,-7.21441438944e-05,1.07046703439e-06,1793250555300887296
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.477157863,722,687.477157863,667.477157863,642.522842137,887.522842137,788,819,654,632,656,0.402805714577,-0.0054106554536,0.0799488280948,0.999999975119,0.000207664122097,-8.12197809848e-05,-6.46637830292e-06,1793250555317553920
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.891508579,745,722,687.108491421,667,643,887.891508579,788,819,654.108491421,632,656.108491421,0.403040379558,-0.00541368739739,0.0799447943145,0.999999976548,0.000196748091554,-8.93867079012e-05,-1.43147585997e-05,1793250555334220800
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.310354005,745,722,687.689645995,667,643,887.310354005,788,819,654.689645995,632,656.689645995,0.4033239254,-0.00541620481002,0.0799440807191,0.999999978879,0.000183759755741,-8.90898793476e-05,-2.32000732196e-05,1793250555350887424
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745.267358322,722,687.732641678,667,642.732641678,887,788,819,654.732641678,632,656.732641678,0.403628341862,-0.00541929463014,0.0799470190173,0.999999984295,0.000153910744861,-8.37881239033e-05,-2.64841553976e-05,1793250555367554048
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745.841125592,722,687.158874408,667,642.158874408,887,788,819,654.158874408,632,656.158874408,0.403956677312,-0.00542304046404,0.0799541426081,0.999999991596,0.000104738372297,-7.27504167992e-05,-2.33488829233e-05,1793250555384220928
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.583193579,722,687.416806421,667,642,887.416806421,788,819,654,632,656.416806421,0.404312643979,-0.00542278922834,0.0799564624031,0.999999991005,0.000113378736349,-6.78091159614e-05,-2.31665137808e-05,1793250555400887296
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745.006780007,722,687.993219993,667,642,887.993219993,788,819,654,632,656.993219993,0.404679191426,-0.00542100739978,0.0799569426866,0.999999987193,0.00014415725897,-6.52023044384e-05,-2.41148962109e-05,1793250555417553664
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,745,722,688,667,642.582495237,888,788,819,654.582495237,632,656.417504763,0.40508305126,-0.00542618276494,0.0799553450599,0.999999989077,0.00012993959727,-6.40860046358e-05,-2.92387675929e-05,1793250555434220288
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745,722,688.16945857,667.16945857,643,888,788.16945857,819,654.83054143,632,656.16945857,0.405502897045,-0.0054304392323,0.0799523320719,0.999999990544,0.000115632912106,-6.62899912771e-05,-3.38655538652e-05,1793250555450886656
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745,722,688.750435742,667.750435742,643,888,788.750435742,819,654.249564258,632,656.750435742,0.405960485083,-0.00543226312622,0.0799459420357,0.999999991138,0.000102410619073,-7.65139857156e-05,-3.71645129898e-05,1793250555467553280
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.327663209,745,722,689,667.672336791,643,888,788.672336791,819,654,632,656.672336791,0.406430608341,-0.00543443420902,0.0799383447905,0.999999990204,0.000100757811309,-8.95580865737e-05,-3.76687990821e-05,1793250555484219904
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.902067092,745,722,689,667.097932908,643,888,788.097932908,819,654,632,656.097932908,0.406910171062,-0.00543686673612,0.0799298384786,0.999999988054,0.000107817187463,-0.000104725817095,-3.60686090621e-05,1793250555500886784
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.524788428,745,722,689,667,642.524788428,888,788,819,654,632,656,0.407419813091,-0.00544183153925,0.0799266081148,0.999999987782,0.000101243815789,-0.000113161610471,-3.71583380005e-05,1793250555517553408
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745,722,689.049984973,667,642.049984973,888,788.099969947,819,654,632,656,0.407938747826,-0.00544793979774,0.0799237713944,0.999999987703,9.18250212291e-05,-0.000121147519466,-3.85523820537e-05,1793250555534220288
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,745,722,689.645356337,667,642.645356337,888,789.290712675,819,654,632,656,0.408491619044,-0.00546084535898,0.079913397736,0.999999986245,8.19329584642e-05,-0.000139321965429,-3.72343269787e-05,1793250555550886912
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745,722.232205854,690.232205854,667,643,888.232205854,789.767794146,819,654,632,656.232205854,0.409091379407,-0.00547857955169,0.0799169620301,0.999999988407,6.3033228262e-05,-0.00013392731939,-3.5723807393e-05,1793250555567553536
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,745,722.806500824,690.806500824,667,643,888.806500824,789.193499176,819,654,632,656.806500824,0.409760217522,-0.00550342735524,0.0799410599237,0.999999994548,3.08632690396e-05,-9.38103354954e-05,-3.39297462605e-05,1793250555584220160
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.381900178,745.381900178,723,691,667,643,888.618099822,789,819,654,632,657,0.410446845271,-0.00551046757002,0.0799702628656,0.999999998192,1.94950280472e-05,-4.61365798044e-05,-3.32814470363e-05,1793250555600887040
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.957860702,745.957860702,723,691,667,643,888.042139298,789,819,654,632,657,0.411142512697,-0.00550845896182,0.0800020599073,0.999999999259,1.86970596302e-05,5.37710415545e-06,-3.3215360045e-05,1793250555617553920
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.453077932,745.453077932,723,691,667,643,888,789,819,654,632,657,0.411797412648,-0.00550863655404,0.0799872709852,0.999999998966,1.8892477365e-05,-2.3110150175e-05,-3.42979032978e-05,1793250555634220544
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745.134509485,722.865490515,691.134509485,667,643,888.134509485,789,819.134509485,654,632,657,0.412462988048,-0.00551060672283,0.0799648670161,0.999999997426,1.46139380078e-05,-6.00081918091e-05,-3.6522061082e-05,1793250555650887168
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745.713803154,722.286196846,691.713803154,667,643,888.713803154,789,819.713803154,654,632,657,0.413174505419,-0.00551793376619,0.0799294425438,0.999999993707,-4.7179929632e-06,-0.000103835757779,-4.2221384422e-05,1793250555667554048
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.290588554,746,722,692,667.290588554,643,889,788.709411446,820,654,632,657,0.413927809739,-0.00552195012839,0.0799151835202,0.99999999197,-1.48199381859e-05,-0.00011728642449,-4.56494970973e-05,1793250555684220928
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.864924801,746,722,692,667.864924801,643,889,788.135075199,820,654,632,657,0.414721917367,-0.00552273374839,0.0799215916768,0.999999993667,-1.59091867547e-05,-0.000101075312052,-4.68598673278e-05,1793250555700887552
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.56312202,746.43687798,722,692,667.56312202,643,889,788.873755959,820,654,632,657,0.415519570687,-0.00552907763903,0.0799410125412,0.999999995978,-2.27398358665e-05,-7.35509197202e-05,-4.60025342274e-05,1793250555717553920
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.008442508,746.991557492,722,692,667.008442508,643,889.008442508,789.991557492,820.008442508,654,632,657,0.416318130008,-0.00553705691099,0.0799638606406,0.999999997577,-3.12733599581e-05,-4.34052905863e-05,-4.45490772768e-05,1793250555734220544
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.603940678,746.396059322,722,692,667.603940678,643,889.603940678,789.396059322,820.603940678,654,632,657,0.417103876008,-0.00553986049444,0.0799467783504,0.999999995663,-3.54513868843e-05,-7.28974640693e-05,-4.5856624889e-05,1793250555750886912
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.8059303,746,722,692,667.8059303,643,889.8059303,789,821.1940697,654,632,657,0.41793521292,-0.00554330732378,0.0799458232123,0.999999995626,-4.16752021555e-05,-6.92408572695e-05,-4.70866731583e-05,1793250555767553536
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.226463736,746,722,692,667.226463736,643,889.226463736,789,821.773536264,654,632,657,0.418857087333,-0.00554803155456,0.0799768944754,0.99999999749,-5.1961683333e-05,2.4486354923e-07,-4.81628177741e-05,1793250555784220160
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.349037449,746,722,692.349037449,667.349037449,643,889.349037449,789,821.650962551,654,632,656.650962551,0.419752728643,-0.00555042079381,0.079984444226,0.999999997026,-5.68858483395e-05,1.87548333482e-05,-4.8585441937e-05,1793250555800887040
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.921994682,746,722,692.921994682,667.921994682,643,889.921994682,789,821.078005318,654,632,656.078005318,0.420631540459,-0.00555131205378,0.0799769040989,0.999999997106,-5.83698988848e-05,4.5620656912e-06,-4.85888098317e-05,1793250555817553664
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,693,667.491441483,643,890,789,821.508558517,654,632,656.508558517,0.421503582958,-0.00553152023538,0.079970025011,0.99999999799,-3.74876447841e-05,-8.55685805782e-06,-5.04033634653e-05,1793250555834220544
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722,693.095738264,667.095738264,643.095738264,890,789,822,654,632,657,0.422384737352,-0.00551140692301,0.0799690792106,0.99999999846,-1.52744009663e-05,-1.26849579491e-05,-5.18201704511e-05,1793250555850887424
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722,693.675194971,667.675194971,643.675194971,890,789,822,654,632,657,0.423317319677,-0.00550613888383,0.0799975850264,0.999999998367,-4.14627160668e-06,2.77580800598e-05,-4.97851390151e-05,1793250555867554048
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,722,694,668,643.746777413,890,789,822.253222587,654,632,657,0.424217794447,-0.00550983633875,0.0799988885305,0.999999998681,-6.04089654455e-06,1.63086574954e-05,-4.83182563697e-05,1793250555884220416
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,722,694,668,643.170572506,890,789,822.829427494,654,632,657,0.425077316549,-0.00552496917125,0.0799654958218,0.999999996686,-2.45458841307e-05,-6.13289597895e-05,-4.75760401592e-05,1793250555900886784
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,722,694,668,643.404406426,890,789,823.404406426,654,632,657,0.425997121865,-0.00553091110781,0.0799326588851,0.999999993002,-3.63722281654e-05,-0.000100494821479,-5.07327096332e-05,1793250555917553664
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,722,694,668,643.978869789,890,789,823.978869789,654,632,657,0.426942276824,-0.00553298818002,0.079900055658,0.999999989804,-4.53901348791e-05,-0.000123482921551,-5.55288995373e-05,1793250555934220288
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,722,694,668.572085897,644,890.572085897,789,823.427914103,654,632,657,0.427854771065,-0.00553615031185,0.0798999822359,0.999999989132,-4.73555593212e-05,-0.000128182073202,-5.53353214698e-05,1793250555950886912
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,722,694,668.839024457,643.839024457,890.839024457,789.160975543,823,654,632,657,0.428775740719,-0.005537845293,0.0799088844324,0.999999989983,-4.86222801182e-05,-0.000121198060795,-5.46013407574e-05,1793250555967553280
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,722,694,668.263132151,643.263132151,890.263132151,789.736867849,823,654,632,657,0.429721770546,-0.00553565187198,0.0799377195739,0.999999993718,-4.87822431819e-05,-8.5900668543e-05,-5.29655968703e-05,1793250555984220160
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722.312254379,694,668,643,890.312254379,789.687745621,823.312254379,654,632.312254379,657,0.430688956509,-0.00553384925231,0.0799779407357,0.999999997293,-4.61740797194e-05,-2.61794563469e-05,-5.09612292374e-05,1793250556000887296
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,722.887215358,694,668,643,890.887215358,789.112784642,823.887215358,654,632.887215358,657,0.431673941556,-0.00553237542268,0.08002774121,0.999999996504,-4.12370292284e-05,5.40900607642e-05,-4.864673006e-05,1793250556017554176
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,722.525409413,694.474590587,668,643,891,789,824,654,633,657,0.432563981885,-0.00552991822412,0.0800114255424,0.999999997775,-3.85284570921e-05,2.25723049086e-05,-4.9561907586e-05,1793250556034220544
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,722.06375819,694.93624181,668,643,891,789,824,654,632.93624181,657,0.433430166014,-0.00552780233372,0.0799756803841,0.999999997208,-3.77335687147e-05,-3.85515059513e-05,-5.17025262084e-05,1793250556050886912
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,722.642925198,694.357074802,668,643,891,789,824,654,632.357074802,657,0.434290796915,-0.00553038539267,0.0799132974548,0.999999990182,-4.80124401578e-05,-0.000118483605816,-5.73782317436e-05,1793250556067553792
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.220430306,722.779569694,694.220430306,668,643,890.779569694,789,824,654,632,657,0.435167998178,-0.0055345296895,0.079887448125,0.999999985515,-5.6680894885e-05,-0.000148778673272,-6.01780719229e-05,1793250556084220416
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.795263538,722.204736462,694.795263538,668,643,890.204736462,789,824,654,632,657,0.436071841033,-0.00554118411012,0.0799203366911,0.999999991401,-6.27601594989e-05,-9.92684414239e-05,-5.83541612594e-05,1793250556100887040
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.62997586,722,694.62997586,668,643,890.37002414,789,824.37002414,654,632,657,0.436968284484,-0.00554657562205,0.0799537060814,0.999999994584,-6.67370083109e-05,-5.74187478788e-05,-5.55028783649e-05,1793250556117553664
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.055255471,722,694.055255471,668,643,890.944744529,789,824.944744529,654,632,657,0.437860634552,-0.00555126849624,0.0799873414602,0.999999996029,-6.9550806594e-05,-1.98068442332e-05,-5.20832563161e-05,1793250556134220288
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.534693791,746.534693791,722,694.534693791,667.465306209,643,891,788.465306209,824.465306209,654,632,657,0.438699968989,-0.00555000978208,0.0799824448829,0.9999999956,-7.12626683295e-05,-2.78946629754e-05,-5.42628468346e-05,1793250556150886912
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.876424451,746.876424451,722,695,667,643,891,788,824.123575549,654,632,657,0.439508620745,-0.00554636478636,0.0799584406992,0.999999993773,-7.11921948354e-05,-6.42313129337e-05,-5.70989790656e-05,1793250556167553536
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.297446359,746.297446359,722,695,667,643,891,788,824.702553641,654,632,657,0.440224982105,-0.00553625882922,0.0798791252505,0.99999997864,-6.4985386034e-05,-0.00018675687455,-6.0159737879e-05,1793250556184219904
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.279163215,722,694.720836785,666.720836785,642.720836785,891,788,825,654,632,657,0.440904297395,-0.00552959697096,0.0797862592285,0.999999941398,-5.89793888153e-05,-0.000331019948643,-6.44300075887e-05,1793250556200886528
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.853270346,722,694.146729654,666.146729654,642.146729654,891,788,825,654,632,657,0.44154447241,-0.00552657390225,0.0796790766436,0.999999872011,-5.31855546739e-05,-0.000498249314752,-6.99781593558e-05,1793250556217553408
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,722,694.437714131,666,642,891.437714131,787.562285869,825,654,632,657,0.442288000217,-0.00553105299841,0.0796660146473,0.999999865379,-6.27858725391e-05,-0.000510280563898,-7.01015477825e-05,1793250556234219776
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,722,695,666,642,892,787,825,654,632,657,0.443065981881,-0.00553806379075,0.0796870231483,0.999999885622,-7.66777531063e-05,-0.000467128071851,-6.83266613878e-05,1793250556250886400
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,722,695,666,642,892,787,825,654,632,657,0.443821437143,-0.00554411238577,0.0797464512542,0.999999922349,-6.88355753507e-05,-0.000382411461403,-6.57684018594e-05,1793250556267553024
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,722,694.816827082,665.816827082,642,892,787,825.183172918,654,632,657.183172918,0.444547658656,-0.00554914695184,0.0797872382496,0.999999942221,-7.21814365246e-05,-0.000326002060559,-6.37957933469e-05,1793250556284219904
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,722,694.239159258,665.239159258,642,892,787,825.760840742,654,632,657.760840742,0.445210920322,-0.00555199763041,0.0797878783655,0.999999938414,-9.96226951582e-05,-0.000330557173923,-6.30844870442e-05,1793250556300886784
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,722,694,665,641.664038632,892,786.664038632,826,654,632,657.664038632,0.445837631401,-0.00555518766794,0.0797727140696,0.999999930814,-0.000103280026958,-0.000351713188155,-6.32663634067e-05,1793250556317553664
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,722,694,665,641.090717659,892,786.090717659,826,654,632,657.090717659,0.446438519136,-0.00555861746534,0.0797463838204,0.999999919927,-9.01338075424e-05,-0.000384597881585,-6.40792810324e-05,1793250556334220800
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,722,694,664.503223117,640.503223117,892,786,826,654,632,656.503223117,0.447018336134,-0.0055596496701,0.0797212150223,0.999999908396,-9.18102348168e-05,-0.000412883348155,-6.56166479639e-05,1793250556350887680
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.914675884,747,722,694.085324116,664,640,892,786,826.085324116,654,631.914675884,656.085324116,0.44758417707,-0.0055595179254,0.0796961150173,0.999999895161,-9.58686889135e-05,-0.000442668916405,-6.73111903213e-05,1793250556367554048
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.335457282,747,722,694.664542718,664,640,892,786,826.664542718,654,631.335457282,656.664542718,0.448092045061,-0.00555525750704,0.0796701494564,0.999999874682,-9.75870493021e-05,-0.000486142113287,-6.91272706983e-05,1793250556384220416
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.242838171,747,722,694.757161829,664,640,892,785.757161829,826.757161829,654,631.242838171,657,0.448585434793,-0.00555024246497,0.0796454610777,0.999999854841,-9.61598208579e-05,-0.000525448638528,-7.0535140671e-05,1793250556400887040
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.819863164,747,722,694.180136836,664,640,892,785.180136836,826.180136836,654,631.819863164,657,0.449058899925,-0.00554418893206,0.0796225303219,0.999999837114,-9.04037245974e-05,-0.000559021108533,-7.13812433017e-05,1793250556417553920
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,722,694,663.60717791,640,892,785,826.39282209,654,631.60717791,657,0.449531051032,-0.0055446154849,0.0796235133729,0.999999840528,-8.54946484631e-05,-0.000553770174412,-7.05255610521e-05,1793250556434220288
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,722,694,663.036064412,640,892,785,826.963935588,654,631.036064412,657,0.450002605779,-0.00554798317426,0.0796353502572,0.999999853422,-8.09700115274e-05,-0.000530898341646,-6.88974843696e-05,1793250556450886912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747,722,694,662,639.855142604,892.144857396,784,826.855142604,654,631.855142604,657,0.450899035227,-0.00556587130013,0.0796779673866,0.99999987977,-0.00011321714686,-0.000472377382683,-6.70977836443e-05,1793250556484220160
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747,722,694,662,639.277174113,892.722825887,784,826.277174113,654,631.277174113,657,0.451271923385,-0.00556528525927,0.0796768901682,0.999999875435,-0.000117566483909,-0.000480376465873,-6.7426674483e-05,1793250556500887040
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+206,3.433333333,POSE1_TO_POSE2_PRESS,769,746.460812599,722,694.460812599,661,638.539187401,892,783,827,654.539187401,631,657,0.452154072991,-0.00557111102472,0.0795970923607,0.999999804741,-0.000116210856849,-0.000610005011509,-7.00448024052e-05,1793250556550886912
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747,722,694.951969589,660.951969589,638,892.048030411,783,827,654,631,657,0.452410787385,-0.00557391388283,0.0795690402098,0.999999777049,-0.000117521556625,-0.000653435703206,-7.15065800175e-05,1793250556567553536
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747,722,694.372397839,660.372397839,638,892.627602161,783,827,654,631,657,0.45267530116,-0.00557463706044,0.079563798805,0.999999775168,-0.000121489324621,-0.000655395495976,-7.32134941662e-05,1793250556584220160
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747,721.793917357,694,660,638,892.793917357,782.793917357,827,654,631,657,0.452925179981,-0.00557619819913,0.0795601103888,0.999999772936,-0.000126641770592,-0.000657705816436,-7.42459867503e-05,1793250556600886784
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747,722,694.070675976,658,637,892.929324024,781.929324024,827,654,630.929324024,657,0.45456640339,-0.00558364769918,0.0795185258814,0.999999722033,-0.000133461131332,-0.000730430279168,-6.77835083059e-05,1793250556884220928
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747.822074565,722,694,658,637,892,781,827,654,630.822074565,656.822074565,0.453543316678,-0.0055628063349,0.0794065557236,0.999999573124,-0.000114219924547,-0.000915726048777,-4.63939526144e-05,1793250557921920256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747.228994633,722,694,658,637,892,781,827,654,630.228994633,656.228994633,0.453367359449,-0.00555742285305,0.0794093498102,0.999999578793,-0.000107690182579,-0.000910505201277,-4.23789191286e-05,1793250557938586880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,721.646399287,694,658,637,892,781,826.646399287,654,630.353600713,656.353600713,0.453168918212,-0.00555335253807,0.0794124066416,0.999999582703,-0.000100141153962,-0.000907306843765,-3.68750862138e-05,1793250557955253504
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,721.504888796,694.504888796,658,637,892,781,826.504888796,654,631,657,0.452716817573,-0.00554660367968,0.0794208912124,0.999999592268,-8.26692078828e-05,-0.000898922652625,-2.38085708332e-05,1793250557988586752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,722,694.917877043,658.082122957,637.082122957,892.082122957,781.082122957,827,654,631,657,0.452468740563,-0.00554277571526,0.0794264201863,0.999999599426,-7.32250634511e-05,-0.000891904216021,-1.70854338738e-05,1793250558005253632
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,722,694.327989031,658.672010969,637.672010969,892.672010969,781.672010969,827,654,631,657,0.452190930707,-0.0055371714983,0.0794318402992,0.999999606024,-6.37171588495e-05,-0.000885321201004,-9.92366042502e-06,1793250558021920512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,722,694,659,637.744053873,892.744053873,782,826.744053873,654,631,657,0.451894049724,-0.00553172408777,0.0794404543397,0.999999616004,-5.18041975789e-05,-0.000874816287569,-2.2081908449e-06,1793250558038587136
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.014017324,747,722,694,659.985982676,637.985982676,892,782,826.985982676,654,631,657,0.45088938186,-0.00551569965066,0.0794789645578,0.999999666024,1.18343520062e-05,-0.000816929379031,2.09402888429e-05,1793250558088587264
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.267433123,747,722,694,659.732566877,637.732566877,892.732566877,783,826,654.732566877,631,657,0.449682569789,-0.00550246125536,0.0795301021959,0.999999738124,1.5689147806e-05,-0.000723455783581,1.08043096963e-05,1793250558138587136
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.634260419,747,722,694,661,639,891.365739581,784,826,654,631,656.634260419,0.447032781316,-0.00546786354828,0.0794887144735,0.999999685703,6.42026814672e-05,-0.000790022962502,1.83095548482e-05,1793250558221921024
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.923229523,722,694.076770477,666,642,890.923229523,788,823.076770477,654,631.076770477,656,0.435439584712,-0.00544171360601,0.0798924546729,0.999999975634,0.000135956773783,-0.000168304898774,4.38395025611e-05,1793250558488587264
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.096173275,746,722,692,667,642,888.096173275,788,819,654,631,656.096173275,0.416394945558,-0.00540793121179,0.0798012336026,0.999999924507,0.000206083093894,-0.000325837338391,4.84243808035e-05,1793250558838587392
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.684434983,746,722,692,667,642,888.684434983,788,819,654,631,656.684434983,0.415557622552,-0.00542571561749,0.0797864880517,0.999999919266,0.000181696722109,-0.000355119316611,4.84243223156e-05,1793250558855254016
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.731443521,746,722,692,667,642,888.731443521,788,819,654,631,656.731443521,0.414758631864,-0.0054311032877,0.0797765436984,0.999999915145,0.000176346827752,-0.000369182912279,4.81296796498e-05,1793250558871920640
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.152113123,746,722,692,667,642,888.152113123,788,819,654,631,656.152113123,0.414003999443,-0.00542214543775,0.0797721552984,0.999999913398,0.000193025972508,-0.000365635773586,4.74941438305e-05,1793250558888587264
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.424154902,745.575845098,722,691.575845098,667,642,888,788,819,654,631,656,0.413289044724,-0.0054183355505,0.0797887023211,0.999999923319,0.000198544601791,-0.000334149999388,4.78140032374e-05,1793250558905254144
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.999332598,745.000667402,722,691.000667402,667,642,888,788,819,654,631,656,0.412588217418,-0.00541635862428,0.0798127035212,0.999999935966,0.000200089466377,-0.000292716512447,4.84740364938e-05,1793250558921921024
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.42607392,745,722,690.42607392,667,642.57392608,888,788.57392608,819,654,631,656.57392608,0.411854113004,-0.00541457448634,0.0798007377834,0.99999992563,0.000206346729137,-0.000322162148391,4.87183187632e-05,1793250558938587648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745,722,690.152875964,667,642.847124036,888,788.847124036,819,654,631,656.847124036,0.411134736494,-0.00541169835427,0.0797908601543,0.999999916437,0.000212896275376,-0.000345573007659,4.88000673551e-05,1793250558955254272
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745,722,690.744325667,667,642.255674333,888,788.255674333,819,654,631,656.255674333,0.410457722429,-0.00540568884391,0.0797870927979,0.999999912815,0.000220268627541,-0.000351434964908,4.84169216876e-05,1793250558971920896
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745,722,690.671198384,667,642,888,788,819.328801616,654,631,656,0.40982986357,-0.00540452019838,0.0798004672713,0.999999921017,0.000222117784389,-0.00032589849544,4.91857694065e-05,1793250558988587520
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745,722,690.092032598,667,642,888,788,819.907967402,654,631,656,0.409239433711,-0.00540703760295,0.0798268942964,0.999999936347,0.000219761333865,-0.000276453866722,5.08317960459e-05,1793250559005254144
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,722,690,667,642,888,788,820,654,631,656,0.408661226347,-0.00540397435233,0.079839364254,0.999999939092,0.000226167295778,-0.000260654434337,5.21940613611e-05,1793250559021920512
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,722,689.885184133,667.057407933,642,888,788,819.942592067,654,631,656.057407933,0.408083236025,-0.00540000677718,0.0798443328065,0.999999937632,0.000234053956818,-0.000259084738202,5.31893271061e-05,1793250559038587392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745,722,688.733342845,667.633328577,642,888,788,819.366671423,654,631,656.633328577,0.407486349518,-0.00539739411908,0.0798053644857,0.999999915797,0.000240362199929,-0.0003286268296,5.13540363777e-05,1793250559055254016
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,722,688.21451472,667.78548528,642.21451472,887.78548528,788,819,654,631.21451472,656.78548528,0.406923556068,-0.00539535113865,0.0797753080889,0.999999898066,0.000242664601146,-0.000377578433478,4.91639231567e-05,1793250559071920640
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,745,722,688.804927636,667.195072364,642.804927636,887.195072364,788,819,654,631.804927636,656.195072364,0.406420504585,-0.0053943064154,0.0797608682287,0.999999894391,0.000237947490956,-0.000390448932233,4.63520483257e-05,1793250559088587264
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,745,722,688.612000874,667,642.612000874,887,788.387999126,819,654,632,656,0.405971303053,-0.00539338815398,0.0797727089377,0.99999990543,0.000237220502842,-0.00036157326912,4.61546794837e-05,1793250559105253888
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,745,722,688.032551803,667,642.032551803,887,788.967448197,819,654,632,656,0.405548672592,-0.00539253229238,0.0797975172355,0.999999921749,0.000238462355017,-0.000312098847519,4.72473828742e-05,1793250559121920512
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.458484141,745,722,688,667,642,887.541515859,788.458484141,819,654,632,656,0.405148612439,-0.0053907199602,0.0798132884631,0.999999925881,0.000243292873284,-0.00029443844176,4.8495086776e-05,1793250559138587136
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.236249753,745,722,687.881875124,667,642,888,788,819.118124876,654,631.881875124,656.118124876,0.404754456998,-0.00538965740917,0.0798267564885,0.999999928872,0.000246793283037,-0.000280858520701,4.9667205172e-05,1793250559155253760
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.412233894,745,722,687.293883053,667,642,888,788,819.706116947,654,631.293883053,656.706116947,0.404378445025,-0.00539180372519,0.0798332026252,0.999999930838,0.000244153258472,-0.000275977409123,5.0501968834e-05,1793250559171920640
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.709731672,745,722,687.290268328,667,642,887.709731672,788,819.709731672,654,631,657,0.404017542082,-0.00539257183281,0.0798353671817,0.999999929002,0.000247855025504,-0.000279009822827,5.21288846489e-05,1793250559188587264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.129418064,745,722,687.870581936,667,642,887.129418064,788,819.129418064,654,631,657,0.403671736581,-0.00539196279098,0.0798332534478,0.999999923222,0.000257893711067,-0.000289949681117,5.45473438496e-05,1793250559205253888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.448166252,745,722,688,667,642.448166252,887.448166252,788,819,654,631,657,0.403373106717,-0.00539140129768,0.0798359421897,0.999999926264,0.000249789484641,-0.0002872008574,5.09170993466e-05,1793250559221920512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.975231931,745,722,687.975231931,667,642.975231931,887.975231931,788.024768069,819,654,631.024768069,657,0.403089533894,-0.00539088151368,0.0798397661052,0.999999931293,0.000237332607349,-0.000281036847262,4.58919551782e-05,1793250559238587392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.403031094,745,722,687.403031094,667,642.403031094,887.403031094,788.596968906,819,654,631.596968906,657,0.402839478699,-0.00539098195896,0.0798382135245,0.999999928153,0.000243769027572,-0.000286229041068,4.84087189461e-05,1793250559255254272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.174794715,745,722,687.174794715,667,642,887.174794715,788.825205285,819,654,632,656.825205285,0.402599115861,-0.00539052974463,0.0798359246279,0.999999925386,0.000248764180023,-0.000291220844375,5.03394596469e-05,1793250559271920896
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.766021413,745,722,687.766021413,667,642,887.766021413,788.233978587,819,654,632,656.233978587,0.40238184419,-0.00538876087071,0.0798318815278,0.999999923645,0.000250325646567,-0.00029573523545,5.08740551099e-05,1793250559288587264
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.649608932,745,722,687.649608932,667,642,888,788,819,654,632,656,0.402191952815,-0.0053882128364,0.0798324121477,0.999999924873,0.00024867536384,-0.000292883211606,5.13198254081e-05,1793250559305253632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.069730217,745,722,687.069730217,667,642,888,788,819,654,632,656,0.402019994067,-0.00538846438739,0.0798359383123,0.999999927998,0.000244921555095,-0.000285206575434,5.17074199651e-05,1793250559321920256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,888,788,819,654,631.49358554,656,0.401875255997,-0.00538966275389,0.0798430778265,0.999999930183,0.000247285987514,-0.000274998155518,5.34849416503e-05,1793250559338587392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,887.916167753,788,819,654,631.083832247,656.083832247,0.40173711397,-0.0053906285023,0.0798493074922,0.999999930885,0.000253397209297,-0.000266435741621,5.50654115357e-05,1793250559355254016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,887.3280206,788,819,654,631.6719794,656.6719794,0.401616269332,-0.00538941633679,0.0798470925744,0.999999923744,0.000277017374557,-0.000269857118015,5.43175682801e-05,1793250559371920896
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.256064947,745,722,687,667,642,887.256064947,788.256064947,819,654,632,656.743935053,0.401501616392,-0.00538964731669,0.0798436326536,0.99999992049,0.000284098792836,-0.000275001083897,5.17975793319e-05,1793250559388587776
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.835028759,745,722,687,667,642,887.835028759,788.835028759,819,654,632,656.164971241,0.401394771213,-0.00539169810847,0.0798386027797,0.999999922504,0.000270324787434,-0.000282317241524,4.70429080414e-05,1793250559405254656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.174936053,745,722,687,666.587468026,642,887.587468026,788.174936053,819,654,631.587468026,656,0.401310049123,-0.00539204635972,0.0798353483933,0.99999992433,0.000257932532774,-0.000287851305831,4.4195594806e-05,1793250559421920768
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.021093714,745,722,687,666.010546857,642,887.010546857,787.021093714,819,654,631.010546857,656,0.401234142829,-0.0053917161683,0.0798328015182,0.999999926004,0.000246090890031,-0.000292675226471,4.21083416909e-05,1793250559438587392
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.127982165,745,722.563991082,687,666.563991082,642,887,787.563991082,819.563991082,654,631,656,0.401178366127,-0.00539120166209,0.0798312176317,0.999999925513,0.000246446368278,-0.000293946846332,4.28301140457e-05,1793250559455253760
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.857865455,745,722.857865455,687,667,642,887.142134545,788,819.857865455,654.142134545,631,656,0.401127250153,-0.00539079441295,0.0798299886176,0.999999925151,0.000246736626255,-0.000294835764656,4.34818591298e-05,1793250559471920384
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.268230647,745,722.268230647,687,667,642,887.731769353,788,819.268230647,654.731769353,631,656,0.401089627974,-0.00539073566123,0.0798298204347,0.999999925327,0.000246106436719,-0.000294728043005,4.3748437692e-05,1793250559488587008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745,722,686.683765113,667,642,887.683765113,787.683765113,819,654.683765113,631.316234887,656,0.401056941012,-0.00539118542412,0.0798293337703,0.999999924971,0.00024591512005,-0.000296045607496,4.40613572311e-05,1793250559505253888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.103613577,667,642,887.103613577,787.103613577,819,654.103613577,631.896386423,656,0.401028372773,-0.00539205957243,0.0798285813142,0.999999924167,0.000246090068579,-0.00029855265725,4.44129510753e-05,1793250559521921024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,745,722,686.471005278,667,642,887.471005278,787.471005278,819,654,631.528994722,656.471005278,0.401011759386,-0.00539113153719,0.0798292113701,0.999999924043,0.00024766364032,-0.000297628422436,4.46501583824e-05,1793250559538587904
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,888,787.95471596,819,654,631.04528404,656.95471596,0.400998122187,-0.00539005637502,0.0798300588994,0.999999924106,0.00024927173961,-0.000296038974602,4.48533031895e-05,1793250559555254528
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,888,787.370161074,819,654,631.629838926,656.370161074,0.400988972688,-0.00539189551024,0.0798299165134,0.999999924686,0.000247669572981,-0.000295412346135,4.49469905648e-05,1793250559571920896
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,887.793539811,787.206460189,819,654,632,656,0.400982911576,-0.0053928750111,0.0798309444532,0.999999925579,0.000246748955525,-0.000293150988706,4.49390384874e-05,1793250559588587264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,745,722,687,667,642,887.230616361,787.769383639,819,654,632,656,0.40098218271,-0.00539237031257,0.0798339930155,0.999999927001,0.000247005064985,-0.000288067194583,4.47556010909e-05,1793250559605253632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.354063883,745,722,687,667,642,887.354063883,788,819,654,632,656.354063883,0.400980243344,-0.00539182484312,0.0798353052282,0.999999927612,0.000247173987126,-0.000285824728842,4.45475522977e-05,1793250559621920512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.953843003,745,722,687,667,642,887.953843003,788,819,654,632,656.953843003,0.400977463909,-0.00539125107927,0.0798354124393,0.999999927673,0.000247282402517,-0.000285554104312,4.43224235576e-05,1793250559638587392
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.470135871,745,722,686.470135871,667,642,888,788,819,654,632,657,0.400976239933,-0.00539196852705,0.0798348320321,0.999999927596,0.000246846358929,-0.000286202383879,4.43033867185e-05,1793250559655254016
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.106790036,745,722,686.106790036,667,642,887.893209964,788,819,654,632,657,0.400975451426,-0.00539277056269,0.0798345610075,0.99999992767,0.000246313612136,-0.00028640769413,4.42646486235e-05,1793250559671920640
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.696771994,745,722,686.696771994,667,642,887.303228006,788,819,654,632,657,0.400976046506,-0.00539346824063,0.0798359492381,0.99999992848,0.00024554870284,-0.000284262061238,4.40590231642e-05,1793250559688587776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.718660642,745,722,686.718660642,667,642,887,788,819,654,632,656.718660642,0.400976055527,-0.00539382335818,0.0798365219942,0.999999928644,0.000246135281731,-0.000283155854945,4.41907985811e-05,1793250559705254400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.139818869,745,722,686.139818869,667,642,887,788,819,654,632,656.139818869,0.40097544482,-0.0053938162352,0.0798362324265,0.999999928126,0.000248150992244,-0.00028314879045,4.46793586614e-05,1793250559721920768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.436853365,745,722,686,667,642,887,788.436853365,819,654,632,656,0.400975543186,-0.00539347522756,0.0798363666955,0.999999928762,0.000246671239241,-0.000282260195976,4.42571779903e-05,1793250559738587648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745,722,686.013064494,667.013064494,642,887,788.986935506,819,654,632,656,0.400975859993,-0.00539306677045,0.0798366419343,0.999999929738,0.000244126599949,-0.000281117869227,4.35684272323e-05,1793250559755254528
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,745,722,686.599362169,667.599362169,642,887,788.400637831,819,654,632,656,0.400975852864,-0.00539436448695,0.0798371798898,0.999999929815,0.000243702968239,-0.000281160885501,4.39099217546e-05,1793250559771920896
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b7d353e25280abcbf4667aa7abae43b993d762b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
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+226,3.766666667,pose1_to_pose2_press,0.619560433561,0.000150172446655,1.07003361834,0.590131110344,0.00882280748801,1.06970501934
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+268,4.466666667,pose2_to_pose3_retreat,0.619586145698,0.000150350709954,1.07003356211,0.590156817941,0.00882297004,1.06970495506
+269,4.483333333,pose2_to_pose3_retreat,0.619585976849,0.000150262991726,1.07003359731,0.590156649862,0.00882288503199,1.06970499274
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+271,4.516666667,pose2_to_pose3_retreat,0.619585644744,0.000150263926363,1.07003355687,0.590156318705,0.0088228892304,1.06970495369
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+336,5.600000000,pose2_to_pose3_retreat,0.591815386886,0.000150259961054,1.07003351712,0.562386064679,0.00882289156423,1.06970491431
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+380,6.333333333,pose2_to_pose3_retreat,0.575755577374,0.000150209831051,1.07003349873,0.546326254342,0.00882283847223,1.06970489214
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+382,6.366666667,pose2_to_pose3_retreat,0.57570937282,0.000150248311196,1.07003364169,0.54628005068,0.00882287970161,1.06970502774
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+384,6.400000000,pose2_to_pose3_retreat,0.575682931239,0.000150167760538,1.07003338553,0.546253608552,0.00882279769365,1.06970478227
+385,6.416666667,pose2_to_pose3_retreat,0.575676219924,0.000150169401695,1.07003334497,0.546246897406,0.00882280002014,1.06970474463
+386,6.433333333,pose2_to_pose3_retreat,0.575671771949,0.000150202341557,1.07003340266,0.546242448834,0.00882283091078,1.06970480163
+387,6.450000000,pose2_to_pose3_retreat,0.575668965644,0.00015027767283,1.07003358859,0.546239640688,0.00882289971854,1.06970498006
+388,6.466666667,pose2_to_pose3_retreat,0.575667311244,0.000150261600694,1.07003362622,0.54623798713,0.0088228865166,1.06970501811
+389,6.483333333,pose2_to_pose3_retreat,0.575666379511,0.00015022097546,1.07003360984,0.546237056878,0.00882285101379,1.06970500448
+390,6.500000000,pose2_to_pose3_retreat,0.575665628258,0.00015019219756,1.0700336003,0.546236306676,0.00882282585622,1.06970499649
+391,6.516666667,pose2_to_pose3_retreat,0.575665208571,0.000150201077353,1.07003361795,0.546235886679,0.00882283355992,1.06970501082
+392,6.533333333,pose2_to_pose3_retreat,0.575665006225,0.000150205358604,1.07003362646,0.546235684184,0.00882283727414,1.06970501772
+393,6.550000000,pose2_to_pose3_retreat,0.5756649364,0.000150206835977,1.0700336294,0.546235614307,0.00882283855584,1.06970502011
+394,6.566666667,pose2_to_pose3_retreat,0.575664895455,0.000150207702298,1.07003363112,0.546235573332,0.00882283930742,1.06970502151
+395,6.583333333,pose2_to_pose3_retreat,0.575664876048,0.000150208112894,1.07003363193,0.546235553911,0.00882283966364,1.06970502217
+396,6.600000000,pose2_to_pose3_retreat,0.575664828894,0.000150209110585,1.07003363392,0.546235506722,0.00882284052919,1.06970502378
+397,6.616666667,pose2_to_pose3_retreat,0.575664759714,0.000150210574313,1.07003363683,0.546235437491,0.00882284179905,1.06970502614
+398,6.633333333,pose2_to_pose3_retreat,0.575664639112,0.000150207855757,1.07003364001,0.546235316842,0.00882283890018,1.06970502872
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+400,6.666666667,pose2_to_pose3_retreat,0.575664449591,0.000150108233862,1.0700336109,0.546235128019,0.0088227418472,1.069705005
+401,6.683333333,pose2_to_pose3_retreat,0.575664430398,0.000150098144926,1.07003360795,0.546235108896,0.00882273201842,1.0697050026
+402,6.700000000,pose2_to_pose3_retreat,0.575664414759,0.000150089923951,1.07003360555,0.546235093314,0.00882272400943,1.06970500064
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+404,6.733333333,pose2_to_pose3_retreat,0.575664309622,0.000150145667937,1.0700335799,0.546234987872,0.00882277894586,1.06970498108
+405,6.750000000,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650639,1.0697049751
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+407,6.783333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650646,1.0697049751
+408,6.800000000,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650647,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..243a20929cf9cb0efc99ba8ba9fc2b0cc20f2786
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd46e9b1963cde31805271b641c5a32db858e583a40773ce2e637d88fee4905
+size 26049558
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e81dda3cf8cd4599ac7370fb4186151698e7094a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+18,0.300000000,BASELINE,768,744.490168731,722,686,667.509831269,642,887.490168731,787.490168731,819,654,632,656.490168731,0.400975279177,-0.00539449165849,0.0798402711347,0.999999930978,0.000244480561413,-0.000276421208253,4.31729858497e-05,1793250560401210368
+19,0.316666667,BASELINE,768,745,722,686.065463151,667,642,887.934536849,788,819,654,632,656.934536849,0.400975452389,-0.00539563080746,0.0798408245864,0.999999931365,0.000243654792996,-0.000275781872664,4.2980860489e-05,1793250560417877504
+20,0.333333333,BASELINE,768,745,722,686.66216459,667,642,887.33783541,788,819,654,632,656.33783541,0.400974415039,-0.0053957804034,0.0798396956356,0.999999930959,0.000243773633049,-0.000277149172151,4.29415145045e-05,1793250560434544128
+21,0.350000000,BASELINE,768,745,722,687,667,642,887.249521721,788.249521721,819,654,632,656,0.400974476485,-0.00539523430664,0.0798396363911,0.999999930693,0.000244789351852,-0.000277221463216,4.28922800988e-05,1793250560451211008
+22,0.366666667,BASELINE,768,745,722,687,667,642,887.824683935,788.824683935,819,654,632,656,0.400975971925,-0.00539378029008,0.0798409731761,0.999999930606,0.000246975550059,-0.000275603692164,4.2830140726e-05,1793250560467877376
+23,0.383333333,BASELINE,768.401375582,745,722,687,667,642,888,788.598624418,819,654.401375582,632,656,0.40097613166,-0.0053932958678,0.0798412218171,0.999999930818,0.000246613983285,-0.000275175149277,4.27118163385e-05,1793250560484543744
+24,0.400000000,BASELINE,768.978737872,745,722,687,667,642,888,788.021262128,819,654.978737872,632,656,0.400975705743,-0.00539323657269,0.0798409933518,0.999999931162,0.000245135326391,-0.000275268033961,4.25688571242e-05,1793250560501210112
+25,0.416666667,BASELINE,768.436372567,745,722,686.436372567,667,642,887.436372567,788,819,654.436372567,631.436372567,656,0.40097477444,-0.00539380530311,0.0798402756935,0.999999930773,0.000245284768207,-0.000276483144441,4.2980651437e-05,1793250560517876736
+26,0.433333333,BASELINE,768,745.148087005,722,686,667.148087005,642,887.148087005,788,819,654,631.148087005,656.148087005,0.400974063837,-0.00539409412056,0.0798397967609,0.999999930521,0.00024532445585,-0.00027731671926,4.32346576392e-05,1793250560534543360
+27,0.450000000,BASELINE,768,745.730441781,722,686,667.730441781,642,887.730441781,788,819,654,631.730441781,656.730441781,0.400974057105,-0.00539349167234,0.0798400727451,0.999999930761,0.000244859740318,-0.000276905607047,4.29637469273e-05,1793250560551209984
+28,0.466666667,BASELINE,768,745.692086146,722,686.307913854,667.692086146,642,887.692086146,788,819,654,632,656.692086146,0.400974691802,-0.00539371810238,0.0798407291684,0.999999931006,0.000245332989018,-0.000275608620435,4.28823033262e-05,1793250560567877376
+29,0.483333333,BASELINE,768,745.118821868,722,686.881178132,667.118821868,642,887.118821868,788,819,654,632,656.118821868,0.400975879261,-0.00539465883351,0.0798417134421,0.999999931253,0.000246614545664,-0.000273548215297,4.2964136507e-05,1793250560584544768
+30,0.500000000,BASELINE,768,745,722,687,667,642.46666536,887,788,819,654,632,656,0.400975710772,-0.00539323498986,0.0798411257947,0.999999930446,0.00024944732095,-0.000273910022751,4.30978486602e-05,1793250560601211392
+31,0.516666667,BASELINE,768.054441204,745,722,686.945558796,667,643,887.054441204,788,819,654,632,656.054441204,0.400975220646,-0.0053914792902,0.0798402204117,0.999999929527,0.000251985913819,-0.000274924006062,4.31845448431e-05,1793250560617877504
+32,0.533333333,BASELINE,768.633474551,745,722,686.366525449,667,643,887.633474551,788,819,654,632,656.633474551,0.40097504752,-0.00539248335413,0.0798402137766,0.99999993027,0.000247781512726,-0.000276119591002,4.26874897659e-05,1793250560634543872
+33,0.550000000,BASELINE,768.787515733,745,722,686.212484267,667,642.787515733,887.787515733,788,819,654,632,656.787515733,0.400974917717,-0.00539370545488,0.0798403308833,0.999999930942,0.000244527320367,-0.000276625243346,4.24465114522e-05,1793250560651210496
+34,0.566666667,BASELINE,768.208546838,745,722,686.791453162,667,642.208546838,887.208546838,788,819,654,632,656.208546838,0.400974862639,-0.00539530361699,0.0798406614151,0.999999931516,0.000242912011649,-0.000275940926568,4.26472044682e-05,1793250560667876864
+35,0.583333333,BASELINE,768,745,722,687,667,642,887,788,819,654,632,656,0.400974362989,-0.0053946447599,0.0798403941108,0.999999930834,0.000245200508765,-0.000276366471072,4.27719415468e-05,1793250560684543744
+36,0.600000000,BASELINE,768,745,722,687,667,642,887,788,819,654,632,656,0.400973613046,-0.00539271520557,0.0798397902259,0.99999992943,0.000249686840766,-0.000277416865235,4.28539155996e-05,1793250560701210624
+37,0.616666667,BASELINE,767.473710977,745,722,687,667,642.526289023,887,788,819,654,632,656,0.400973682267,-0.00539382975246,0.0798401969638,0.999999930367,0.000246234736973,-0.000277147724363,4.26961567882e-05,1793250560717877248
+38,0.633333333,BASELINE,767.227754213,745,722,687,667,642.886122894,887,788,819,654,632,656,0.400974097837,-0.00539515029545,0.0798407642489,0.999999931383,0.00024282747339,-0.00027649587396,4.26454464391e-05,1793250560734543872
+39,0.650000000,BASELINE,768.386491737,745,722,687,667,642.306754131,887,788,819,654,632,656,0.400975526358,-0.00539581602067,0.0798414908494,0.999999931628,0.000243507030062,-0.000274928483211,4.31501971862e-05,1793250560751210496
+40,0.666666667,BASELINE,768.728849071,745,722,687,667,642,887.271150929,788,819,654,632,656,0.400975663206,-0.00539585190028,0.0798414661085,0.99999993158,0.000243883082209,-0.000274753572886,4.32685920208e-05,1793250560767877120
+41,0.683333333,BASELINE,768.152591045,745,722,687,667,642,887.847408955,788,819,654,632,656,0.400974346624,-0.00539517905885,0.079840595936,0.999999931201,0.000243917621987,-0.000276145523072,4.29522476529e-05,1793250560784544000
+42,0.700000000,BASELINE,768,745,722.430659768,687,667,642.430659768,887.569340232,788,819,654,631.569340232,656,0.400974525039,-0.00539401556953,0.0798409117944,0.999999930962,0.000245243916972,-0.000275891512839,4.26171477658e-05,1793250560801210624
+43,0.716666667,BASELINE,768,745.016227469,722.983772531,687,667.016227469,642.983772531,887,788.016227469,819,654,631.016227469,656,0.400975223328,-0.0053927257301,0.0798416289235,0.999999930776,0.00024696876519,-0.000275073141829,4.22925849994e-05,1793250560817876992
+44,0.733333333,BASELINE,768,745.594806253,722.405193747,687,667.594806253,642.405193747,887,788.594806253,819,654,631.594806253,656,0.400975277891,-0.00539318126178,0.0798414485404,0.999999930863,0.000246382350268,-0.000275241050264,4.25672724489e-05,1793250560834543616
+45,0.750000000,BASELINE,768.173488444,745.826511556,722,687,667.826511556,642,887,788.826511556,819,654,632,656,0.400975485546,-0.00539342958523,0.0798414128119,0.999999931063,0.000246002954661,-0.000274826603758,4.27414577459e-05,1793250560851210496
+46,0.766666667,BASELINE,768.75241221,745.24758779,722,687,667.24758779,642,887,788.24758779,819,654,632,656,0.40097605097,-0.00539319367151,0.0798417151355,0.999999931526,0.000246107354716,-0.000273051217798,4.26807736275e-05,1793250560867877376
+47,0.783333333,BASELINE,768.669369304,745,722,687,667,642,887.330630696,788,819,654,632,656,0.400976245903,-0.0053932672322,0.0798418290908,0.999999931695,0.000246039807635,-0.000272490602859,4.27063954364e-05,1793250560884544256
+48,0.800000000,BASELINE,768.091677772,745,722,687,667,642,887.908322228,788,819,654,632,656,0.40097616399,-0.00539357204486,0.0798418022896,0.999999931644,0.0002458437746,-0.000272837714529,4.27965085726e-05,1793250560901210624
+49,0.816666667,BASELINE,768,745,722,686.51894196,667,642.48105804,888,788,819,654,632,656,0.400975333967,-0.00539365069709,0.0798409467007,0.999999931109,0.00024604767788,-0.000274606809252,4.28277345622e-05,1793250560917877248
+50,0.833333333,BASELINE,768.054727061,745,722,686.054727061,667,642.945272939,888,788,819,654,632,656,0.400974382616,-0.00539362311914,0.0798399324536,0.999999930479,0.000246371977193,-0.000276601940763,4.28244461758e-05,1793250560934543872
+51,0.850000000,BASELINE,768.646735656,745,722,686.646735656,667,642.353264344,888,788,819,654,632,656,0.400973625536,-0.00539297145344,0.0798388954078,0.999999929862,0.000247137623497,-0.000278182827288,4.25913663333e-05,1793250560951210496
+52,0.866666667,BASELINE,769,745,722,686.766628661,667.233371339,642,888,788,819,654,631.766628661,656.233371339,0.40097375147,-0.00539248234319,0.0798391048289,0.999999929854,0.000247473332621,-0.000277949048157,4.23440701893e-05,1793250560967877120
+53,0.883333333,BASELINE,769,745,722,686.187943185,667.812056815,642,888,788,819,654,631.187943185,656.812056815,0.40097518398,-0.00539223376253,0.079841158618,0.999999930747,0.000247172873669,-0.000275030150409,4.20757385286e-05,1793250560984544256
+54,0.900000000,BASELINE,768.612682195,745,722,686,667.612682195,642,887.612682195,788,819,654,631.387317805,657,0.400975882547,-0.00539389594006,0.0798419302882,0.999999931545,0.000244969152552,-0.000274070150191,4.22671815764e-05,1793250561001210880
+55,0.916666667,BASELINE,768.039068367,745,722,686,667.039068367,642,887.039068367,788,819,654,631.960931633,657,0.400976228094,-0.00539647717336,0.0798420852718,0.999999932291,0.00024184998121,-0.000274052360345,4.26797717081e-05,1793250561017878016
+56,0.933333333,BASELINE,768,745,722,686,667,642,887.552005178,788,819,654,632,656.447994822,0.400976779006,-0.00539623803196,0.0798423622103,0.999999932239,0.0002433043627,-0.000272931078243,4.28212850045e-05,1793250561034544384
+57,0.950000000,BASELINE,768,745,722,686.141136163,667,642,887.858863837,788,819,654,632,656,0.400976959304,-0.00539541235842,0.0798423854213,0.999999931907,0.000245285972921,-0.000272359635767,4.29170580177e-05,1793250561051210752
+58,0.966666667,BASELINE,768,745,722,686.720278216,667,642,887.279721784,788,819,654,632,656,0.40097594285,-0.00539340614354,0.0798415935453,0.999999930891,0.000247866423657,-0.000273744875749,4.29323651172e-05,1793250561067877120
+59,0.983333333,BASELINE,768,745,722,687,667,642,887,788,819,654,631.702575979,656,0.400975141539,-0.0053926583938,0.0798410663985,0.999999930457,0.000248551922354,-0.000274712647115,4.28994619463e-05,1793250561084543744
+60,1.000000000,BASELINE,768,745,722,687,667,642,887,788,819,654,631.127295026,656,0.400974541218,-0.0053930863164,0.0798407865647,0.999999930571,0.000247467135414,-0.000275290414671,4.28215201896e-05,1793250561101210368
+61,1.016666667,BASELINE,768,745,722,687,667,642.447190099,887,788,819,654,631.447190099,656.447190099,0.400975119356,-0.00539435253056,0.0798411003759,0.99999993113,0.000245426570895,-0.000275110075573,4.26654982354e-05,1793250561117876992
+62,1.033333333,BASELINE,768,745,722,687,667.022075501,642.977924499,887,788,819,654,632,656.977924499,0.400975978772,-0.00539574692708,0.0798415507035,0.999999931773,0.000243265035528,-0.000274720657268,4.24867721497e-05,1793250561134543872
+63,1.050000000,BASELINE,768,745,722,687,667.613106418,642.386893582,887,788,819,654,632,656.386893582,0.400975457264,-0.00539430581823,0.0798411719722,0.999999931423,0.000244985268826,-0.000274494550098,4.22947036876e-05,1793250561151210752
+64,1.066666667,BASELINE,768,745,722,687,667.800491177,642,887.199508823,788,819,654,632,656,0.400975136776,-0.0053935925797,0.0798410550109,0.999999931197,0.00024623715304,-0.000274203451148,4.22565193567e-05,1793250561167877376
+65,1.083333333,BASELINE,768,745,722,687,667.222861047,642,887.777138953,788,819,654,632,656,0.400975197274,-0.00539425884555,0.0798414341723,0.99999993121,0.000246601393362,-0.000273789175824,4.25099856437e-05,1793250561184543744
+66,1.100000000,BASELINE,768,745,722,687,667,642,887.646465137,788,819,654,632,656.353534863,0.400975187429,-0.00539434427355,0.079841383251,0.999999931394,0.00024600255105,-0.000273639282355,4.26073433772e-05,1793250561201210624
+67,1.116666667,BASELINE,768,745,722,687,667,642,887.070844569,788,819,654,632,656.929155431,0.400975133397,-0.00539406482722,0.0798410621579,0.999999931685,0.000244798713553,-0.000273655469922,4.26066358702e-05,1793250561217877248
+68,1.133333333,BASELINE,768,745,722,686.484302238,667,642.515697762,887.515697762,788,819,654,632,656.484302238,0.400975491798,-0.00539364155032,0.0798414550187,0.999999931919,0.000244367599976,-0.000273208661996,4.24676990226e-05,1793250561234543872
+69,1.150000000,BASELINE,768,745,722,686.102174104,667,643,887.897825896,788,819,654,632,656,0.400975950194,-0.00539339093041,0.079841970486,0.999999932091,0.000244237474057,-0.000272707788812,4.23778376064e-05,1793250561251210240
+70,1.166666667,BASELINE,768,745,722,686.681188557,667,643,887.318811443,788,819,654,632,656,0.400976605119,-0.00539404029915,0.0798425905111,0.999999932016,0.000245005906714,-0.000272257857668,4.26075482559e-05,1793250561267877120
+71,1.183333333,BASELINE,768,745,722,686.740860122,667,642.740860122,887,788,819,654,631.740860122,656,0.400976805134,-0.00539408625672,0.0798426964092,0.999999932013,0.000245612943532,-0.000271692800377,4.27938597856e-05,1793250561284543744
+72,1.200000000,BASELINE,768,745,722,686.164211319,667,642.164211319,887,788,819,654,631.164211319,656,0.400976447774,-0.00539339289001,0.0798421723775,0.999999932098,0.000246022231576,-0.000270986685696,4.29269969444e-05,1793250561301210624
+73,1.216666667,BASELINE,768,745,722,686.411933104,667.411933104,642.411933104,887,788,819,654,631.411933104,656,0.400976081825,-0.00539366893076,0.0798421251504,0.99999993199,0.000245935442285,-0.000271470467966,4.28875475207e-05,1793250561317877504
+74,1.233333333,BASELINE,768,745,722,686.987876675,667.987876675,642.987876675,887,788,819,654,631.987876675,656,0.400975712457,-0.0053943309395,0.0798422677623,0.999999931804,0.000245651140622,-0.000272428005729,4.27793830341e-05,1793250561334544128
+75,1.250000000,BASELINE,768,745,722,687,667.424606134,642.424606134,887,788,819,654,632,656,0.400976491972,-0.00539411744129,0.079842417326,0.999999931597,0.000246466999086,-0.000272420031007,4.29919056958e-05,1793250561351210752
+76,1.266666667,BASELINE,768.160735511,745,722,687,667,642,887,788,819,654,632,656,0.400976671878,-0.00539378863996,0.0798423288811,0.999999931274,0.000247281065286,-0.000272847623446,4.30961412519e-05,1793250561367877632
+77,1.283333333,BASELINE,768.739767872,745,722,687,667,642,887,788,819,654,632,656,0.400975227079,-0.00539320876535,0.0798416206554,0.999999930656,0.000248028905688,-0.000274462759609,4.29006266019e-05,1793250561384544256
+78,1.300000000,BASELINE,768.682410248,745,722,687,667,642,887.317589752,788.317589752,819,654,632,656,0.40097443207,-0.0053931060872,0.0798410640941,0.99999993059,0.000247569558559,-0.000275144461779,4.27255857206e-05,1793250561401210624
+79,1.316666667,BASELINE,768.105576495,745,722,687,667,642,887.894423505,788.894423505,819,654,632,656,0.400974167476,-0.00539339293776,0.0798406313343,0.999999930975,0.000246124801371,-0.00027506421497,4.25672572952e-05,1793250561417877248
+80,1.333333333,BASELINE,768,745,722,687,667.46973229,642.46973229,887.53026771,788.53026771,819,654,632,656,0.400973837117,-0.00539367758447,0.0798406509927,0.999999930685,0.000246871223668,-0.000275427839083,4.27168873713e-05,1793250561434543872
+81,1.350000000,BASELINE,768,745,722,686.954249897,668,642.954249897,887,788.045750103,819,654,632,656.045750103,0.400973599465,-0.00539393543829,0.0798407544772,0.999999930302,0.000247976304346,-0.000275795526539,4.29100785263e-05,1793250561451210496
+82,1.366666667,BASELINE,768,745,722,686.365768564,668,642.365768564,887,788.634231436,819,654,632,656.634231436,0.40097463637,-0.0053938813062,0.079840650006,0.999999930632,0.000247512687088,-0.000275031752042,4.2801578724e-05,1793250561467877376
+83,1.383333333,BASELINE,768.219510077,745,722,686.219510077,668,642,887,788.780489923,819,654,632,656.780489923,0.40097554651,-0.00539374215919,0.0798410281311,0.999999931131,0.000246951420711,-0.000273719951699,4.27741307921e-05,1793250561484544000
+84,1.400000000,BASELINE,768.799528925,745,722,686.799528925,668,642,887,788.200471075,819,654,632,656.200471075,0.400976248458,-0.00539346338934,0.0798421988401,0.999999931908,0.000246229781831,-0.000271508109984,4.28797970509e-05,1793250561501210624
+85,1.416666667,BASELINE,769,745,722,687,667.623378828,642,887,788,819,654,631.623378828,656,0.400975477147,-0.00539293859475,0.0798419365017,0.999999931426,0.000247430210757,-0.00027220109419,4.28197636513e-05,1793250561517876992
+86,1.433333333,BASELINE,769,745,722,687,667.047832399,642,887,788,819,654,631.047832399,656,0.400973927684,-0.00539228385388,0.0798409172506,0.999999930273,0.000249645845083,-0.000274428360943,4.26722103458e-05,1793250561534543616
+87,1.450000000,BASELINE,768.461047797,745,722,687,667.538952203,642,887,788,819,654.538952203,631.538952203,656.538952203,0.400975052124,-0.00539358097413,0.0798412070983,0.999999931351,0.000246228987308,-0.00027360858377,4.2511709715e-05,1793250561551210240
+88,1.466666667,BASELINE,768.124798776,745,722,686.875201224,668,642,887,788,819,654.875201224,632,656.875201224,0.400976135197,-0.00539482485765,0.0798416532764,0.999999932385,0.000243051103198,-0.000272686118745,4.24004860249e-05,1793250561567877376
+89,1.483333333,BASELINE,768.703528338,745,722,686.296471662,668,642,887,788,819,654.296471662,632,656.296471662,0.400976186258,-0.00539523159831,0.0798422364815,0.999999932571,0.000242599402332,-0.000272394720212,4.24727660131e-05,1793250561584544256
+90,1.500000000,BASELINE,768.718874922,745,722,686.281125078,668,642,887,788,819,654,632,656,0.400976319,-0.00539531474617,0.079842330536,0.999999932559,0.000242481416244,-0.000272534413021,4.25498917856e-05,1793250561601210880
+91,1.516666667,BASELINE,768.142468088,745,722,686.857531912,668,642,887,788,819,654,632,656,0.400976537536,-0.005395058006,0.0798419108074,0.999999932337,0.000242713949912,-0.000273126905752,4.26321073579e-05,1793250561617877504
+92,1.533333333,BASELINE,768.432131828,745,722,687,668,642.432131828,887,788.432131828,819,654,632,656,0.400976432403,-0.0053949181451,0.0798417177092,0.999999932276,0.000242886068191,-0.000273227170443,4.24372223291e-05,1793250561634543872
+93,1.550000000,BASELINE,768.993678406,745,722,687,668,643,887.006321594,788.993678406,819,654,631.993678406,656.006321594,0.400976230621,-0.00539479688018,0.0798416098493,0.999999932262,0.000243076648026,-0.000273154105044,4.21543059945e-05,1793250561651210240
+94,1.566666667,BASELINE,768.402555905,745,722,687,668,643,887.597444095,788.402555905,819,654,631.402555905,656.597444095,0.400976918518,-0.0053928460678,0.0798425040752,0.999999931663,0.000246810001105,-0.000271996394838,4.21437969436e-05,1793250561667876864
+95,1.583333333,BASELINE,768.184753123,745,722,687,667.815246877,642.815246877,888,788,819,654,631.184753123,656.815246877,0.400977135735,-0.00539201483599,0.0798430229591,0.999999931347,0.000248789372947,-0.000271347752549,4.2183921494e-05,1793250561684543488
+96,1.600000000,BASELINE,768.763921178,745,722,687,667.236078822,642.236078822,888,788,819,654,631.763921178,656.236078822,0.400976348136,-0.00539357370839,0.0798427405547,0.99999993166,0.000247024308714,-0.000271785879161,4.23321397418e-05,1793250561701210112
+97,1.616666667,BASELINE,768.658187001,745,722,687,667,642.341812999,887.658187001,788,819,654,632,656.341812999,0.40097538916,-0.00539378184471,0.0798417380163,0.999999931499,0.000246034385246,-0.000273281356398,4.22765107105e-05,1793250561717876992
+98,1.633333333,BASELINE,768.08117339,745,722,687,667,642.91882661,887.08117339,788,819,654,632,656.91882661,0.40097431226,-0.00539306054304,0.0798402399556,0.999999931009,0.000245577834176,-0.000275504393752,4.20806149011e-05,1793250561734544128
+99,1.650000000,BASELINE,768.492184345,745,722,687,667.492184345,642.507815655,887,788,819,654,632,657,0.400974106639,-0.00539292177745,0.0798405013059,0.999999931169,0.000245225788062,-0.000275249107627,4.19999844797e-05,1793250561751210752
+100,1.666666667,BASELINE,768.932531419,745,722,687,667.932531419,642,887,788,819,654,632,656.932531419,0.400974082509,-0.00539295658684,0.0798410361114,0.9999999314,0.000245016753369,-0.000274602664741,4.19650294637e-05,1793250561767877376
+101,1.683333333,BASELINE,768.33750335,745,722,687,667.33750335,642,887,788,819,654,632,656.33750335,0.400974362189,-0.00539360293641,0.0798414569445,0.999999931348,0.000245792196833,-0.000274070122281,4.21396752699e-05,1793250561784543744
+102,1.700000000,BASELINE,768.249005598,745,722,687,667.249005598,642,887.249005598,788,819,654,632,656,0.400974645434,-0.00539465637914,0.0798414086125,0.999999931487,0.000245362439615,-0.0002739287024,4.2267229982e-05,1793250561801209856
+103,1.716666667,BASELINE,768.824349624,745,722,687,667.824349624,642,887.824349624,788,819,654,632,656,0.400974933351,-0.00539624334455,0.0798407454084,0.999999931873,0.000243353186542,-0.000274299874763,4.23330686639e-05,1793250561817876480
+104,1.733333333,BASELINE,769,745,722,686.601478952,667.601478952,642.398521048,887.601478952,788,819,654,632,656,0.400974497488,-0.00539593430496,0.0798402560312,0.999999931711,0.000242988352711,-0.000275207470011,4.23655337756e-05,1793250561834543104
+105,1.750000000,BASELINE,769,745,722,686.027822794,667.027822794,642.972177206,887.027822794,788,819,654,632,656,0.40097374355,-0.00539479204214,0.0798398430445,0.999999931308,0.000243346179521,-0.000276350803106,4.23833324558e-05,1793250561851209728
+106,1.766666667,BASELINE,768.436800912,745,722,686.563199088,667.563199088,642.436800912,887.563199088,788,819,654,632,656.563199088,0.400976624401,-0.00539402161599,0.0798426656363,0.999999932184,0.000244655476456,-0.000271991340549,4.23815467416e-05,1793250561867876608
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,723,686,667,643,887,788,819,654,632,656,0.400975763707,-0.00539476061393,0.0798425081215,0.999999931581,0.000247123659972,-0.000271924722647,4.27182592478e-05,1793250561909106688
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,722.42298937,687.15402126,667.57701063,643,887,787.42298937,819,654,632,656,0.400975928225,-0.00539371434133,0.0798429630769,0.999999931394,0.000248219978476,-0.000271554323557,4.30950346376e-05,1793250561925773312
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,722,687.846254005,667.846254005,643,887,787.153745995,819,654,631.846254005,656,0.400975774031,-0.00539304584406,0.0798428847181,0.999999931257,0.00024843921727,-0.000271845781774,4.3169344942e-05,1793250561942439936
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,722,687.270274473,667.270274473,643,887,787.729725527,819,654,631.270274473,656,0.400974744555,-0.00539341483317,0.0798413417152,0.999999931255,0.000246249727098,-0.000273954902553,4.24129936713e-05,1793250561959106560
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.313653798,745,722,687,667,643,887.313653798,788,819,654,631.313653798,656,0.400974667121,-0.00539367296623,0.0798408660035,0.999999931257,0.00024573592227,-0.000274443360796,4.21902760583e-05,1793250561975773184
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.904609529,745,722,687,667,643,887.904609529,788,819,654,631.904609529,656,0.400975431389,-0.00539383309124,0.0798413338863,0.999999931267,0.000246703594253,-0.000273498988004,4.24393450488e-05,1793250561992439296
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.515730233,745,722,687,667.484269767,642.515730233,887.515730233,788,819,654,632,656,0.400975184757,-0.00539353994699,0.0798415749692,0.999999931047,0.000247756560321,-0.000273336727363,4.25350670718e-05,1793250562009106176
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,887.061565915,788.061565915,819,654,632,656.061565915,0.400975046099,-0.00539321605374,0.0798418924359,0.999999930878,0.000248619930878,-0.000273163071014,4.25914747775e-05,1793250562025772800
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,887.637276699,788.637276699,819,654,632,656.637276699,0.40097743416,-0.00539336399901,0.0798432123728,0.999999931508,0.000247762855268,-0.000271637007221,4.25660678687e-05,1793250562042439424
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,722,687.217398259,668,642,887.782601741,788.782601741,819,654.217398259,632,657,0.400984676894,-0.00539413193655,0.0798461482142,0.999999933047,0.000246696674684,-0.000266873773362,4.27174079222e-05,1793250562059106304
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,722,687.805031428,668,642,887.194968572,788.194968572,819,654.805031428,632,657,0.40100018726,-0.00539595573709,0.0798518359831,0.999999936067,0.000245274382938,-0.000256597554535,4.31697526648e-05,1793250562075772928
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745,722,687.613023061,667.613023061,642.386976939,887.386976939,788,819,654.613023061,632,656.613023061,0.401036545165,-0.00539665620172,0.079864783305,0.999999942044,0.000245336149909,-0.000232069350637,4.3201259432e-05,1793250562092439296
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745,722,687.033901574,667.033901574,642.966098426,887.966098426,788,819,654.033901574,632,656.033901574,0.401083254439,-0.00539679889975,0.0798813351925,0.99999994869,0.00024613479197,-0.000200464648397,4.30238087335e-05,1793250562109106176
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.544007262,745,722,687,667,642.455992738,887.455992738,788,819,654,632,656,0.401149574819,-0.00539828916474,0.0798951554565,0.999999954933,0.000243252504443,-0.000170788073127,4.23624002297e-05,1793250562125772544
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642,887.1205456,788,819,654,632,656,0.401219215321,-0.00539963599764,0.0799075170749,0.999999959479,0.000240930599604,-0.000145880022735,4.13985572954e-05,1793250562142439168
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,722,687,667,642,887.692237161,788,819,654,632,656,0.401296717826,-0.00540013244005,0.0799150553417,0.999999960474,0.000241562532406,-0.000138369635947,3.9415464764e-05,1793250562159106304
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.727218605,745,722,687,667.272781395,642,887.727218605,788,819,654,632,656,0.40138230801,-0.00540067392736,0.0799207017062,0.999999961672,0.000241176675862,-0.000130826194078,3.70625496198e-05,1793250562175773184
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.136351452,745,722,687,667.863648548,642,887.136351452,788,819,654,632,656,0.401477329096,-0.00540126794074,0.079924141955,0.999999963113,0.000239603992393,-0.000123244207691,3.42783907194e-05,1793250562192440064
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,722,687,667.554523648,642.445476352,887.445476352,788,819,654,632,656.445476352,0.401596144845,-0.00540291902853,0.0799278323905,0.99999996456,0.000236810848958,-0.000117749454118,3.05916060327e-05,1793250562209106688
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,722,687,667.02451009,643,887.97548991,788.02451009,819,654,632,656.97548991,0.401723356358,-0.00540483812653,0.0799316980168,0.999999966007,0.000233716715723,-0.000112490984696,2.66030598709e-05,1793250562225773312
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,722,687,667.601687677,643,887.398312323,788.601687677,819,654,632,656.398312323,0.40187892354,-0.00540564998819,0.0799378215798,0.999999967981,0.000232091382869,-9.84414857939e-05,2.1915952902e-05,1793250562242439680
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745,722.17832193,687,667.82167807,642.82167807,887,788.82167807,819.17832193,654,632,656.17832193,0.40204268022,-0.0054068279555,0.0799440879092,0.999999970056,0.000228584737995,-8.5723779374e-05,1.69665593159e-05,1793250562259106048
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745,722.753746167,687,667.246253833,642.246253833,887,788.246253833,819.753746167,654,632,656.753746167,0.402224673944,-0.00540882119764,0.0799506721616,0.999999972653,0.000220888629217,-7.59718226254e-05,1.14330844136e-05,1793250562275772672
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745,722.661575751,687,667.338424249,642.338424249,887.338424249,788.338424249,819.661575751,654,632.338424249,656.661575751,0.402419576122,-0.00541079505202,0.0799538725537,0.999999974602,0.000214036282742,-7.0417718184e-05,5.1434644377e-06,1793250562292439296
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,745,722.069974764,687,667.930025236,642.930025236,887.930025236,788.930025236,819.069974764,654,632.930025236,656.069974764,0.402624135192,-0.00541275440253,0.0799545414648,0.999999976093,0.000207815157927,-6.80040453437e-05,-1.71183172619e-06,1793250562309105920
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,745,722,687.509107415,667.490892585,642.490892585,887.490892585,788.490892585,819,654,632.490892585,656,0.40285452016,-0.00541586106917,0.0799472585165,0.999999977127,0.000196561407871,-8.36858908433e-05,-1.0323409839e-05,1793250562325773056
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745,722,687.913814243,667.086185757,642,887,788,819,654,632,656,0.40309589412,-0.00541884357748,0.0799404569115,0.999999977816,0.000185371614503,-9.82043857391e-05,-1.900494529e-05,1793250562342439936
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745,722,687.338576852,667.661423148,642,887,788,819,654,632,656,0.403379965223,-0.0054202482222,0.0799424396226,0.999999979469,0.000178375588133,-9.23471959286e-05,-2.67465601591e-05,1793250562359106304
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.241979673,745,722,687.241979673,667.758020327,642.241979673,887.241979673,788,819,654,632,656,0.403682140989,-0.00542261467404,0.0799468432867,0.999999986263,0.000139206776725,-8.402473947e-05,-3.21620638073e-05,1793250562375772672
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.830145948,745,722,687.830145948,667.169854052,642.830145948,887.830145948,788,819,654,632,656,0.404010218053,-0.00542635712871,0.0799547104706,0.99999999535,5.40101850415e-05,-7.21753656687e-05,-3.42497313603e-05,1793250562392439296
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.176061789,745,722,688,667,643,887.588030895,788,819,654,631.588030895,656,0.404370146768,-0.00542608028293,0.079956700071,0.999999994704,7.11616854028e-05,-6.78659824192e-05,-3.03571729359e-05,1793250562409105920
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.017566701,745,722,688,667,643,887.00878335,788,819,654,631.00878335,656,0.404743008712,-0.00542417141588,0.0799563031014,0.999999989059,0.000129871228905,-6.66181829682e-05,-2.40363671416e-05,1793250562425772544
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.567444137,745.567444137,722,688,667.567444137,643,887.567444137,788.567444137,819,654,631.567444137,656.567444137,0.40516864349,-0.00542912744321,0.0799536537318,0.999999989797,0.000124016754052,-6.44399316516e-05,-2.95516420046e-05,1793250562442439168
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.142676707,746,722,688.142676707,668,643,888,789,819,654,632,657,0.405598446537,-0.00543393572195,0.0799499542413,0.999999990449,0.000116131864834,-6.69126661035e-05,-3.37501979334e-05,1793250562459106304
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.715052824,746,722,688.715052824,668,643,888,789,819,654,632,657,0.406038355968,-0.0054379806955,0.0799431965473,0.999999990435,0.000105125856008,-8.34359195562e-05,-3.34343435068e-05,1793250562475772928
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.703131412,722,689.296868588,667.703131412,643,888,789,819,654,632,656.703131412,0.406499452522,-0.00544264788293,0.0799372713472,0.999999990145,9.79395466013e-05,-9.47328198341e-05,-3.38218817184e-05,1793250562492439808
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.111957436,722,689.888042564,667.111957436,643,888,789,819,654,632,656.111957436,0.406981553319,-0.00544793191245,0.0799321714521,0.999999989837,9.45399555678e-05,-0.000100848493915,-3.49067393599e-05,1793250562509106688
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.532022493,745,722,690,667,642.532022493,888,789,819.467977507,654.467977507,632,656,0.407497148756,-0.00546858443661,0.0799271638104,0.999999990534,7.31787560306e-05,-0.000111785095859,-3.28859098041e-05,1793250562525773056
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.045171151,745,722,690,667.045171151,642.045171151,888,789,819.954828849,654.954828849,632,656.045171151,0.40802508832,-0.00549158613771,0.0799219497094,0.999999990671,4.84453039987e-05,-0.000124013791551,-3.05112251525e-05,1793250562542439168
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.621007541,745,722,690,667.621007541,642.621007541,888,789,819.378992459,654.378992459,632,656.621007541,0.408606115892,-0.00550000518223,0.0799140569465,0.999999989366,3.33926257678e-05,-0.000138190292661,-3.25033915146e-05,1793250562559105792
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722,690.196836287,667.803163713,643,888,789,819.196836287,654,632,657,0.409214660632,-0.00550446686188,0.0799186847901,0.999999990403,2.60556473063e-05,-0.000131819694559,-3.37353475058e-05,1793250562575772672
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,722,690.772650281,667.227349719,643,888,789,819.772650281,654,632,657,0.409876185373,-0.00550130924944,0.0799474191182,0.999999995187,3.3574051637e-05,-8.58888462674e-05,-3.35036363183e-05,1793250562592439552
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,722,691,667,643,888,789,820,654,632,657,0.410552203376,-0.00550582414096,0.0799758847923,0.99999999832,2.74190808704e-05,-3.88085820989e-05,-3.31848549593e-05,1793250562609106432
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,722,691,667,643,888,789,820,654,632,657,0.411237677241,-0.00551534482969,0.0800041751866,0.999999999345,1.2343144543e-05,9.02159748291e-06,-3.28092660959e-05,1793250562625773568
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.473017819,745,722.526982181,691,667.526982181,643,888.526982181,789,820,654,632,657,0.411907586527,-0.00551529955073,0.0799826179692,0.999999998933,1.0216761564e-05,-2.85283908678e-05,-3.48605904562e-05,1793250562642439936
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.102944201,745,722.897055799,691.102944201,668,643,889,789,819.897055799,654,632,657,0.412587130684,-0.00551531105266,0.079954970059,0.999999996585,7.6853165111e-06,-7.32000997132e-05,-3.75958439431e-05,1793250562659106560
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.680071557,745,722.319928443,691.680071557,668,643,889,789,819.319928443,654,632,657,0.413317684011,-0.00551965832659,0.079920497635,0.999999992563,-2.22725591313e-06,-0.000114311835273,-4.24477788552e-05,1793250562675773184
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.262142065,722,692,668,643,889,789,819.262142065,654,632,657,0.414067404202,-0.00552580742172,0.0799079460653,0.999999990993,-1.42355897797e-05,-0.000125505215545,-4.53769944655e-05,1793250562692439808
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.850361413,722,692,668,643,889,789,819.850361413,654,632,657,0.414840966064,-0.00553419779436,0.0799226617386,0.999999993581,-2.88508327965e-05,-9.9483299851e-05,-4.59145492666e-05,1793250562709106176
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.56566965,746,722,692.43433035,668,643,889,789,820,654,632,657,0.415638699978,-0.00553619698475,0.0799404458662,0.9999999956,-2.94613143727e-05,-7.69748860226e-05,-4.47964443092e-05,1793250562725772800
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,722,693,667.983385762,643,889.016614238,789,820.016614238,654,632,657,0.416444889302,-0.0055361683489,0.0799583380477,0.999999997123,-2.5601211251e-05,-5.68548452797e-05,-4.32074936433e-05,1793250562742439424
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,722,693,667.408985581,643,889.591014419,789,820.591014419,654,632,657,0.417258069814,-0.0055412686187,0.0799447099162,0.999999995544,-3.20705969787e-05,-7.66731821299e-05,-4.47759206627e-05,1793250562759106048
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,722,693,667.165681597,643,890,789,821,654,632,657,0.418106791007,-0.00554729295835,0.0799443190486,0.999999995447,-4.27649933527e-05,-7.14743339733e-05,-4.65687677653e-05,1793250562775772928
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,722,693,667.741008885,643,890,789,821,654,632,657,0.419043386045,-0.00555560204894,0.0799766571524,0.999999996752,-6.39056756277e-05,-4.42080506034e-06,-4.891649054e-05,1793250562792439808
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.325024335,746,722.325024335,693,668,643,890,789,821.325024335,654,632,657,0.419929009777,-0.0055611701905,0.0799841013401,0.999999995888,-7.44905078378e-05,1.36044928787e-05,-4.98953156035e-05,1793250562809106432
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.916152937,746,722.916152937,693,668,643,890,789,821.916152937,654,632,657,0.420772902182,-0.00556449425896,0.079971164353,0.999999995805,-7.64330424774e-05,-8.51065746253e-06,-4.97533952993e-05,1793250562825772800
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722.506226054,693.493773946,668,643,890,789,822,654,632,657.493773946,0.421656973304,-0.00556438716534,0.0799676624993,0.999999995448,-7.98937142794e-05,-1.43283647954e-05,-5.01580107088e-05,1793250562842439680
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722.069349806,694,668,643,890.069349806,789,822,654,632,657.930650194,0.422553402854,-0.00556007244213,0.0799692754566,0.999999995581,-7.82625086264e-05,-1.2847060406e-05,-5.0472080171e-05,1793250562859106304
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722.646297617,694,668,643,890.646297617,789,822,654,632,657.353702383,0.423491679853,-0.00552911147252,0.0799969110697,0.999999997823,-3.75252423052e-05,2.23418896802e-05,-4.94622098408e-05,1793250562875772928
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.772323942,746,722.772323942,693.772323942,668,643,890.772323942,789,822.227676058,654,632,657,0.424398173736,-0.00550942254805,0.0799969434347,0.999999998739,-9.52275828422e-06,7.9741080469e-06,-4.86570298891e-05,1793250562892439552
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.18392567,746,722.18392567,693.18392567,668,643,890.18392567,789,822.81607433,654,632,657,0.425254311674,-0.00550759266423,0.0799532421553,0.999999995233,-1.69682450986e-06,-8.49096707002e-05,-4.81761541529e-05,1793250562909106176
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.397987145,746,722,693.397987145,668,643,890,789,823.397987145,654.397987145,632,657,0.426172661459,-0.00551828871638,0.0799226058128,0.999999991496,-1.96526577224e-05,-0.000118362410793,-5.11059822648e-05,1793250562925773056
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.976950796,746,722,693.976950796,668,643,890,789,823.976950796,654.976950796,632,657,0.427119300755,-0.00553468068157,0.0798979104855,0.999999989452,-4.93322221218e-05,-0.000124790097373,-5.55867582409e-05,1793250562942440192
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.555317441,722,694,668,643,890,789,823.444682559,654.444682559,632,656.444682559,0.428039432704,-0.00553454230537,0.0798998472173,0.999999988789,-4.51994001548e-05,-0.000132024900695,-5.42942057037e-05,1793250562959106560
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,722,694,668.131831653,643.131831653,890,789,823.131831653,654,632,656.131831653,0.428968911366,-0.00553429459379,0.0799098386022,0.999999989751,-4.17535694234e-05,-0.000126296465356,-5.29422155334e-05,1793250562975772928
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,722,694,668.702265177,643.702265177,890,789,823.702265177,654,632,656.702265177,0.429933142842,-0.00553596336521,0.0799429539944,0.999999994624,-4.5257520292e-05,-7.73281991906e-05,-5.21888658598e-05,1793250562992439296
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.716344253,722,694.283655747,668.716344253,643.716344253,890.283655747,789.283655747,823.716344253,654,632,657,0.430909983676,-0.00553517305562,0.0799838108476,0.99999999761,-4.41726958113e-05,-1.68590953753e-05,-5.04371658732e-05,1793250563009106176
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.122990721,722,694.877009279,668.122990721,643.122990721,890.877009279,789.877009279,823.122990721,654,632,657,0.431900591451,-0.00553169790013,0.0800331198923,0.999999996565,-3.80778066278e-05,5.61667186694e-05,-4.75954583804e-05,1793250563025772800
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.458925154,722.458925154,695,668,643,891,789.541074846,823.458925154,654,632,657,0.432780499484,-0.00552583437671,0.0800022849877,0.999999998259,-3.19298194269e-05,3.945144957e-06,-4.94719136748e-05,1793250563042439424
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.962398744,747,722.962398744,694.962398744,668,643,890.962398744,789,823.962398744,654,632.037601256,657,0.433633219686,-0.00552030751114,0.0799511560147,0.99999999515,-2.72607274617e-05,-7.86508787879e-05,-5.26369999633e-05,1793250563059106304
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.387283449,747,722.387283449,694.387283449,668,643,890.387283449,789,823.387283449,654,632.612716551,657,0.43451106971,-0.00552852067617,0.0799094906666,0.999999989332,-4.39310874468e-05,-0.000127291576945,-5.65872204863e-05,1793250563075772928
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.186864421,747,722.186864421,694,668,643,890.186864421,789,823.186864421,654,632.813135579,657,0.435398220633,-0.00553611508452,0.0798922012754,0.999999985873,-5.77944044281e-05,-0.000146405487905,-5.89908330138e-05,1793250563092439808
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.759017696,747,722.759017696,694,668,643,890.759017696,789,823.759017696,654,632.240982304,657,0.436304548899,-0.00554243370284,0.0799251717627,0.999999990662,-6.58699862075e-05,-0.000104639215054,-5.82055524916e-05,1793250563109106176
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.654747216,694,668,643,891,788.654747216,824,654,632,657,0.437216005469,-0.00554650130923,0.0799577678014,0.999999994188,-6.89857875707e-05,-6.10597644191e-05,-5.60145934735e-05,1793250563125772544
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.058265288,694,668,643,891,788.058265288,824,654,632,657,0.438131193684,-0.00554893092758,0.079990091364,0.99999999613,-6.84925186368e-05,-1.61609261823e-05,-5.28007682642e-05,1793250563142439424
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.479595605,746.479595605,722,694,667.479595605,643,891,788,824.520404395,654,632,657,0.438957972667,-0.00554885837653,0.0799753570618,0.999999995217,-6.99322300677e-05,-4.1669857112e-05,-5.42102635131e-05,1793250563159106048
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.095700327,746,722.095700327,694,667,643,891,788,825,654,632,657,0.439752161283,-0.00554668271929,0.0799431087497,0.999999991579,-7.00270344333e-05,-9.34854142117e-05,-5.65499905693e-05,1793250563175772416
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.663860184,746,722.663860184,694,667,643,891,788,825,654,632,657,0.44043270563,-0.00553546158704,0.079849546044,0.999999967975,-6.24491405275e-05,-0.000237544051946,-6.10112294631e-05,1793250563192439296
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.243766231,723,694,667,642.756233769,891,788.243766231,825.243766231,654,632,656.756233769,0.441118288486,-0.00552690673471,0.0797547846547,0.999999923367,-5.35580887829e-05,-0.000382235391167,-6.55279618935e-05,1793250563209106176
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.84068956,723,694,667,642.15931044,891,788.84068956,825.84068956,654,632,656.15931044,0.441811170837,-0.00552221466484,0.0796582866766,0.999999857318,-4.27645967548e-05,-0.000527843347273,-7.01250908896e-05,1793250563225773056
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.575699223,747,722.575699223,694,666.575699223,642,891.424300777,788.151398445,826,654,632,656.424300777,0.442584100476,-0.00552683774413,0.0796656920192,0.999999866039,-5.20148124189e-05,-0.000510291125895,-6.94147562801e-05,1793250563242439424
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,722,694,666,642,891.996954301,787.003045699,826,654,631.996954301,657,0.443385872982,-0.0055348402459,0.0797109510935,0.999999901519,-6.84505503836e-05,-0.000433379720515,-6.67758292667e-05,1793250563259106048
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,722,694,666,642,891.421992469,787.578007531,826,654,631.421992469,657,0.44413169674,-0.00554064492617,0.0797615289926,0.999999929726,-6.39912983777e-05,-0.000363667906398,-6.48052525652e-05,1793250563275772672
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,722,694.156280493,665.843719507,641.843719507,891.156280493,787.843719507,826,654,631,657,0.444850835277,-0.00554591078102,0.0797959387097,0.999999945408,-6.64509300133e-05,-0.000317417987564,-6.33511395485e-05,1793250563292439296
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,722,694.743687914,665.256312086,641.256312086,891.743687914,787.256312086,826,654,631,657,0.445496358164,-0.00554969019351,0.0797857456955,0.999999937712,-8.79975055434e-05,-0.000335891776821,-6.33217817337e-05,1793250563309105920
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.326327907,746.673672093,722,694.673672093,665,641,892,787,826.326327907,654,631.326327907,657,0.446132417179,-0.00555450962285,0.0797636061114,0.99999992678,-9.61947057979e-05,-0.000364832922902,-6.39035623864e-05,1793250563325772544
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.905277239,746.094722761,722,694.094722761,665,641,892,787,826.905277239,654,631.905277239,657,0.446761149855,-0.00556013416403,0.0797322182858,0.999999912714,-9.40577036445e-05,-0.000401877201134,-6.49584458735e-05,1793250563342439168
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.516371097,746.483628903,722,694.483628903,664.516371097,641,892,786.516371097,827,654,631.516371097,657,0.447343944237,-0.00556254436819,0.0797082264003,0.99999990181,-9.67353320527e-05,-0.000427272059813,-6.67876141329e-05,1793250563359106048
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.122874508,747,722,694.938562746,663.938562746,640.938562746,892,785.938562746,827,654,631,656.938562746,0.447909243637,-0.00556445092878,0.0796845626679,0.999999889264,-0.000100976090012,-0.000454492811807,-6.86453860975e-05,1793250563375773184
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.27137303,747,722,694.364313485,663.364313485,640.364313485,892,785.364313485,827,654,631,656.364313485,0.448403521683,-0.00556740197451,0.0796515619368,0.999999858377,-0.000110402856623,-0.000515975289212,-6.94776614511e-05,1793250563392440064
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.784905331,747,722,694,663,639.784905331,892,784.784905331,827,654,631,656.215094669,0.448896518411,-0.00556624876236,0.0796266486936,0.999999835305,-0.000112824676173,-0.000558342636028,-7.00960667113e-05,1793250563409106688
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.196544718,747,722,694,663,639.196544718,892,784.196544718,827,654,631,656.803455282,0.449387291544,-0.00555797319908,0.0796157701292,0.999999831162,-0.000103090414525,-0.000567538412056,-7.03433313892e-05,1793250563425773056
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+259,4.316666667,HOLD_POSE2,768,747,721.797641885,694.202358115,658,637,892,780.202358115,827,654,630.202358115,657,0.455077589269,-0.00557817270667,0.0794936431377,0.9999996915,-0.000133696437164,-0.000771184729118,-6.63262066802e-05,1793250564459759872
+260,4.333333333,HOLD_POSE2,768.382984162,747,722,694.382984162,658,637,891.617015838,780.382984162,827,654,630,657,0.455078939626,-0.00557716120287,0.0794943936168,0.999999692515,-0.000132554367738,-0.000770056069782,-6.64313175738e-05,1793250564476426496
+261,4.350000000,HOLD_POSE2,768.965840119,747,722,694.965840119,658,637,891.034159881,780.965840119,827,654,630,657,0.45508059913,-0.00557421987128,0.079495337627,0.999999693947,-0.000128614968116,-0.000768837134552,-6.67404790614e-05,1793250564493092352
+262,4.366666667,HOLD_POSE2,768.459110037,747,722,694.459110037,658,637,891.540889963,780.459110037,827,654,630,657,0.455080532291,-0.0055751669127,0.0794945082437,0.999999693356,-0.000130025147889,-0.000769371774262,-6.66911050467e-05,1793250564509758720
+263,4.383333333,HOLD_POSE2,768,747,722,694,658,637,892,780.114858397,827,654,630,657,0.455080406963,-0.00557589098398,0.0794938680891,0.99999969273,-0.000131372212586,-0.00076996587934,-6.65920105462e-05,1793250564526425344
+264,4.400000000,HOLD_POSE2,768,747,722,694,658,637,892,780.686459237,827,654,630,657,0.455080476435,-0.00557476576556,0.0794944194497,0.999999692468,-0.000131143915848,-0.000770362325153,-6.63839606709e-05,1793250564543092224
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,722,694,658,636,892,781,827,654,631,657,0.455077317857,-0.00557987699306,0.0794928608022,0.999999689388,-0.000134480506101,-0.000773865830896,-6.53467630585e-05,1793250564580269824
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,722,694.578589725,657.421410275,636.578589725,892,780.421410275,827,654,631,657,0.45508034887,-0.00557804220636,0.0794947258271,0.999999692158,-0.000133489801926,-0.000770411096709,-6.581542064e-05,1793250564596936448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,721.843397843,695,657,636.843397843,892.156602157,780,827,654,631,657,0.45508233464,-0.00557664231213,0.0794959579902,0.999999694062,-0.000131906341502,-0.000768194612229,-6.59799228785e-05,1793250564613603072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,721.266933053,695,657,636.266933053,892.733066947,780,827,654,631,657,0.455081518035,-0.00557640839821,0.0794954934017,0.99999969367,-0.000128733654984,-0.000769297971339,-6.53289609514e-05,1793250564630269184
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.691617737,747,721.308382263,694.691617737,657.308382263,636.308382263,892.691617737,780.308382263,827,654,631,657,0.45508021408,-0.00557681342679,0.0794948501954,0.999999692292,-0.000128834244304,-0.00077108048276,-6.52181890449e-05,1793250564646935552
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.117293736,747,721.882706264,694.117293736,657.882706264,636.882706264,892.117293736,780.882706264,827,654,631,657,0.455078489845,-0.00557776946464,0.0794940529533,0.999999690059,-0.000131757631275,-0.000773448679375,-6.55732645708e-05,1793250564663602176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,780.530103069,827,654,631,657,0.455079089193,-0.00557768311486,0.0794942630171,0.999999690737,-0.000131734182748,-0.00077257464869,-6.55786564225e-05,1793250564680268800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,780.059190008,827,654,631,657,0.455080130624,-0.00557724175121,0.0794946439612,0.999999691996,-0.000131037048477,-0.000771064260556,-6.55471222946e-05,1793250564696935424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,780.637951826,827,654,631,657,0.455079818062,-0.00557603237885,0.0794942556169,0.999999691804,-0.00013106497715,-0.000771272069682,-6.59792260825e-05,1793250564713602048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747,722,694.214584481,657.785415519,636.785415519,892,780.785415519,827,654,631,657,0.455078276865,-0.00557573599673,0.0794932818063,0.999999691125,-0.000131260467651,-0.00077209513658,-6.62607805019e-05,1793250564730268928
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747,722,694.787660038,657.212339962,636.212339962,892,780.212339962,827,654,631,657,0.455074683078,-0.00557696488276,0.0794913298986,0.999999689629,-0.000131735891812,-0.00077394607098,-6.62908227249e-05,1793250564746935552
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.362868614,747,722,694.637131386,657.362868614,636.362868614,892,780.362868614,827,654,630.637131386,657,0.455056633052,-0.00557667810525,0.0794841657871,0.999999680097,-0.000130700544505,-0.000786338911551,-6.62949904949e-05,1793250564763601920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.939332806,747,722,694.060667194,657.939332806,636.939332806,892,780.939332806,827,654,630.060667194,657,0.455030073641,-0.00557549916189,0.0794739336125,0.99999966555,-0.000128775910857,-0.000804937040862,-6.62839277535e-05,1793250564780268544
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.468115189,747,722,694.531884811,658,637,892,780.468115189,827,654.531884811,630.531884811,657,0.454977671311,-0.00557418046318,0.0794564697862,0.999999639597,-0.000126936103088,-0.000836873766427,-6.5841492319e-05,1793250564796935168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.122328721,747,722,694.877671279,657.877671279,637,892,780.122328721,827,654.877671279,631,657,0.454919864304,-0.00557279584808,0.0794395652465,0.999999614771,-0.0001256134036,-0.000866255817053,-6.54289681471e-05,1793250564813601792
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.697949527,747,722,694.302050473,657.302050473,637,892,780.697949527,827,654.302050473,631,657,0.45485329344,-0.00557122788848,0.0794278849787,0.999999602392,-0.000126169891152,-0.00088035800586,-6.53152894583e-05,1793250564830268416
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,722,694,657,637,892,781,827,654,631,657,0.454778863802,-0.00556929915906,0.0794201976155,0.999999593256,-0.000125497749395,-0.000890838803992,-6.43817815829e-05,1793250564846935552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,722,694,657,637,892,781,827,654,631,657,0.454695757255,-0.00556697210188,0.0794169188396,0.999999587829,-0.000123469071562,-0.000897321204972,-6.2543096022e-05,1793250564863602176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.565696833,747,722,694,657,637,892,781,827,654,631,657,0.454602038893,-0.00556556417643,0.0794187634005,0.999999589305,-0.000121234668569,-0.000896157334543,-5.99437929031e-05,1793250564880268800
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,657.023826688,637,892,781,827,654,631,656.976173312,0.454503101251,-0.00556444045485,0.0794222796419,0.999999593021,-0.000118907122003,-0.000892503981858,-5.70584977674e-05,1793250564896935424
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,657.60287096,637,892,781,827,654,631,656.39712904,0.45437117633,-0.00556226238514,0.0794219577596,0.999999591558,-0.000116127411639,-0.000894704639806,-5.38619059186e-05,1793250564913602048
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747.338544179,721.338544179,694.338544179,658,637,892,781,827,654,630.338544179,657,0.453885297503,-0.00555348358752,0.0794065348471,0.999999573534,-0.000105470362805,-0.000916504933434,-4.27322043587e-05,1793250564963602176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747.924281213,721.924281213,694.924281213,658,637,892,781,827,654,630.924281213,657,0.453697528977,-0.00555150890345,0.0794000336428,0.99999956747,-9.9764634828e-05,-0.00092392467544,-3.83431218331e-05,1793250564980268544
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.495586848,747.495586848,722,694.495586848,658,637,892,781,827,654,631,657,0.453485253937,-0.00554682600523,0.0794046913755,0.999999573536,-9.26962972499e-05,-0.000918295800465,-3.26756909359e-05,1793250564996935424
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,631,657,0.453262797599,-0.00554182547,0.0794113452665,0.999999581703,-8.46702213675e-05,-0.000910337360395,-2.66479074385e-05,1793250565013602048
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,631,657,0.453001606168,-0.00553732477842,0.0794200088499,0.999999592153,-7.21718714528e-05,-0.000900056296118,-1.96103617965e-05,1793250565030268672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.237662539,747,722,694.237662539,658,637.237662539,892,781.237662539,826.762337461,654,631,657,0.452725922259,-0.00553264460033,0.0794271641703,0.999999600682,-6.06142898447e-05,-0.000891520395152,-1.23406571124e-05,1793250565046935296
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.813856535,747,722,694.813856535,658,637.813856535,892,781.813856535,826.186143465,654,631,657,0.452429594977,-0.00552770875819,0.079432171089,0.99999960669,-5.03967589132e-05,-0.000885470341857,-4.74026069478e-06,1793250565063601920
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.613051052,747,722,695,658,637.613051052,892,782,826,654.386948948,630.613051052,657,0.452112020726,-0.00552292974155,0.0794414534614,0.999999618029,-3.46523918529e-05,-0.000873344960776,3.04966362282e-06,1793250565080268800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.041438822,747,722,695,658,637.041438822,892,782,826,654.958561178,630.041438822,657,0.451784306812,-0.00551822556674,0.0794527762043,0.999999631451,-1.62704582528e-05,-0.000858320256492,1.09300359432e-05,1793250565096935424
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,722,694.447966476,658.552033524,637,892,782.552033524,826.552033524,654.447966476,630.552033524,656.447966476,0.451423000505,-0.00551225118248,0.0794621525267,0.999999643782,3.95228083071e-05,-0.000842948420852,1.76571733817e-05,1793250565113602048
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.142968548,747,722,694,659,637.142968548,892,782.857031452,827,654,631,656.142968548,0.4510490543,-0.00550587846337,0.0794732418502,0.999999658361,7.4523806191e-05,-0.000822996096391,2.00538370217e-05,1793250565130268672
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.720983302,747,722,694,659,637.720983302,892,782.279016698,827,654,631,656.720983302,0.450644635183,-0.00549859573847,0.0794900066854,0.999999687848,3.73570494878e-05,-0.000789188142674,9.54736734169e-06,1793250565146935296
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,722,694,659.869388032,638,891.130611968,782.869388032,826.130611968,654.869388032,631,657,0.449782843118,-0.00549836132918,0.0795281646098,0.999999737534,1.04420394871e-05,-0.000724344542345,1.21698547916e-05,1793250565180269312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.544880741,747,722,694,660,638,891,783,826,654.544880741,630.544880741,657,0.449298606016,-0.00549234371309,0.0795335672572,0.999999741584,2.77922909365e-05,-0.000718159755571,1.75210090338e-05,1793250565196936448
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.376244012,747,722,694,660,638.623755988,891.623755988,783,826,654.623755988,630,657,0.448207555349,-0.00547270957069,0.0795099868444,0.999999705784,5.51221971299e-05,-0.000764856239918,1.97085373203e-05,1793250565230269696
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,722,694.416060365,664.583939635,641,891.416060365,786.583939635,825,654,631.583939635,656,0.440088137165,-0.00541754698003,0.0796434762165,0.999999835317,0.00013600258777,-0.000556967470997,2.56028848901e-05,1793250565430269440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.840287561,746.159712439,722,694,665,641.159712439,891,787,824.840287561,654,631.840287561,656,0.439253505247,-0.00541957731828,0.079622798899,0.99999981979,0.000127990674659,-0.000585940641839,2.66674666332e-05,1793250565446936320
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.324945841,747,722,694,665,642,890.675054159,787.324945841,823.675054159,654,631,656,0.437659538913,-0.00543780797767,0.0797089694248,0.999999895928,0.000119407168499,-0.000439257988055,3.06238608057e-05,1793250565480269312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.910674415,747,722,694,665,642,890.089325585,787.910674415,823.089325585,654,631,656,0.436892396176,-0.0054420284712,0.0798037261829,0.99999994825,0.000103009728044,-0.000302829205461,3.44120735389e-05,1793250565496935936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.509042688,722,694,665,642,890.490957312,788,823,654,631,656,0.436055594815,-0.00543648340448,0.0798526472751,0.999999964816,0.000130245863095,-0.000227587902505,4.00875568075e-05,1793250565513602560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.07017223,746,722,694,665.07017223,642,890.92982777,787.92982777,823,654,631,656,0.435197070274,-0.00542932177128,0.0798843856164,0.999999970327,0.00016127941544,-0.000176884030527,4.52409763415e-05,1793250565530269184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.6487489,746,722,694,665.6487489,642,890.3512511,787.3512511,823,654,631,656,0.434271975267,-0.00542317955655,0.0798513903232,0.999999960621,0.000162939476164,-0.000224184638638,4.41515132724e-05,1793250565546935808
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.199447509,746,722,694,666,642,889.199447509,787.800552491,822.199447509,654,631,656,0.432301809391,-0.0054128557697,0.0797485555918,0.999999902184,0.000165240379709,-0.000408348275263,3.97317713667e-05,1793250565580269312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,666,642,889.383305582,788,821.616694418,654,631,656,0.431326158701,-0.0054121216642,0.0797120815495,0.999999871249,0.000172664843141,-0.000475486223079,4.00125224554e-05,1793250565596935936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,666,642,889.970319339,788,821.029680661,654,631,656,0.430369416001,-0.00541351363807,0.0796878163001,0.999999847602,0.000183541679298,-0.00051899495212,4.1876440124e-05,1793250565613602560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,666.549795499,642,889.450204501,788,820.450204501,654,631,656,0.429536159724,-0.00543046927473,0.0797691616033,0.99999991445,0.000161081832251,-0.000378281746835,4.53430673726e-05,1793250565630269184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,666.8714365,642,889.1285635,788,820,654,631.1285635,656,0.428689952925,-0.00544360384266,0.0798405242161,0.999999955747,0.000143622081783,-0.000255979414713,4.85148477282e-05,1793250565646935808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,666.293740137,642,889.706259863,788,820,654,631.706259863,656,0.427775529973,-0.00544049408923,0.079857364366,0.999999960533,0.000149832129238,-0.000232268370954,5.03584173357e-05,1793250565663602432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.717943448,746,722,693.717943448,666.282056552,642,889.717943448,788,820,654,632,656,0.42682912768,-0.00543361545766,0.0798391314833,0.999999951722,0.000160700586367,-0.000261194710946,5.00938449938e-05,1793250565680269056
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.144111921,746,722,693.144111921,666.855888079,642,889.144111921,788,820,654,632,656,0.425849644234,-0.00542283808927,0.0797846171052,0.999999923943,0.000176387960218,-0.000344572086546,4.76484930866e-05,1793250565696935680
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,788.970465811,820,654,631,656,0.423895081804,-0.00541109159351,0.0797270840297,0.999999886401,0.000198113960237,-0.000430960548431,4.71458231971e-05,1793250565730269184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,788.388929814,820,654,631,656,0.422971669277,-0.00540286756411,0.0797243950945,0.999999881704,0.000205851078881,-0.000438224073844,4.66578683682e-05,1793250565746936064
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.234873034,746,721.234873034,693.234873034,666.234873034,642,889,788.765126966,819.234873034,654,631,656.765126966,0.421301046296,-0.00539719325037,0.079816821217,0.999999937657,0.000216530831274,-0.000274529197642,4.93421146417e-05,1793250565780269568
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,745.405889513,722,691.594110487,667,642,887.594110487,788.594110487,819,654,631,656,0.414499916128,-0.00542668717753,0.0797754685325,0.999999913796,0.000185162468147,-0.000368515172554,4.8169041732e-05,1793250565913602560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745.997194659,722,691.002805341,667,642,887.002805341,788.002805341,819,654,631,656,0.413744141409,-0.00543452405244,0.079775862546,0.999999921661,0.000169633944184,-0.000354664932707,4.59986781448e-05,1793250565930268928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745.423662338,722,691,667,642,887.576337662,788,819.576337662,654,631.576337662,656,0.413033761862,-0.00542291095402,0.0797971856912,0.999999930035,0.00019011176696,-0.000318668343078,4.72986741556e-05,1793250565946935808
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.265633191,745,722,690.265633191,666.265633191,642,888,788,820,654,632,656,0.411622154266,-0.00541737100773,0.0797968851568,0.999999923442,0.000206777321764,-0.000328501272031,4.9463060572e-05,1793250565980269312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.306013867,745.306013867,722,690,666.306013867,642,887.693986133,788,819.693986133,654,632,656,0.410930190821,-0.0054150067956,0.0797891431601,0.999999916856,0.000210433751738,-0.000345779343032,4.94288393668e-05,1793250565996935680
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745.539175507,722,690,667,642,887,788,819,654,632,656,0.409628462524,-0.00540659224788,0.0798064603817,0.999999924175,0.000222481460208,-0.000315647312365,5.01948178511e-05,1793250566030269440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.944051133,745,722,690,667,642,887.055948867,788,819,654,632,656,0.409031234384,-0.00540593291944,0.0798325453019,0.999999936453,0.000228291852939,-0.00026877246446,5.2328847175e-05,1793250566046936064
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.20854465,745,722,689.79145535,667,642.20854465,888,788,819,654,632,656,0.407889242106,-0.00540335303676,0.0798281817254,0.999999931228,0.000231317210601,-0.000285266795239,5.1575462012e-05,1793250566080269056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.756610837,745,722,689.243389163,667,642.756610837,888,788,819,654,632,656,0.407285484384,-0.00539612151288,0.0797895772194,0.999999906795,0.000242784988565,-0.000353523974903,4.98561453936e-05,1793250566096935680
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,745,722,689,667,642.044854091,887.044854091,788,819.955145909,654,632,656,0.406267511666,-0.005399098712,0.0797615061677,0.99999989738,0.000230581447613,-0.000387190872175,4.64313757571e-05,1793250566130269184
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,722,688.305181888,667,642.305181888,887.694818112,788,819,654,632,656,0.405006674276,-0.00539762176574,0.0798193900474,0.999999929749,0.000235987920186,-0.00028702030898,4.93105494173e-05,1793250566180269056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745,722,688,667,642,888,788,819,654,632,656,0.404620647506,-0.00539755512736,0.0798293077336,0.99999993167,0.000237368642111,-0.000278909838007,5.02565978131e-05,1793250566196935936
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.315203263,745,722,687,667.315203263,642.315203263,887,788,819.684796737,654,632,656,0.400977409088,-0.00539803385525,0.0798384085129,0.999999930639,0.000242916958035,-0.000279010999169,4.3197809495e-05,1793250566830269184
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,745,722,687,667.067125778,642.932874222,887.932874222,788,819,654,632,657,0.400978120521,-0.00539744622298,0.0798392437255,0.999999930685,0.000244409919932,-0.000277519023774,4.33210926554e-05,1793250566880269056
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,745,722,686.610583806,667,642,887.389416194,788,819,654,632,656.610583806,0.40097643098,-0.00539679569892,0.0798390037512,0.999999930616,0.00024364227691,-0.000278521838649,4.28041803768e-05,1793250566946936576
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,745,722,686.03119808,667,642,887.96880192,788,819,654,632,656.03119808,0.40097892525,-0.00539774114534,0.0798408810171,0.999999931234,0.000245000149643,-0.000274993651256,4.3421809034e-05,1793250566963602944
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,745,722,686,667,642,888,788,819.547316897,654,632,656,0.400976560305,-0.00539650351524,0.079839755673,0.999999931027,0.000243112307411,-0.00027748116095,4.29667939121e-05,1793250566980269568
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b81701c980f289c455da45a394a5145e7c587eb9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575665123725,0.000150165226569,1.07003352072,0.54623580122,0.00882279572881,1.06970491618
+399,6.650000000,pose2_to_pose3_retreat,0.57566510436,0.000150164396687,1.07003351804,0.546235781828,0.00882279481269,1.06970491367
+400,6.666666667,pose2_to_pose3_retreat,0.575664993024,0.000150159625288,1.07003350264,0.546235670335,0.00882278954552,1.06970489926
+401,6.683333333,pose2_to_pose3_retreat,0.575664866675,0.000150154210532,1.07003348516,0.546235543808,0.00882278356813,1.0697048829
+402,6.700000000,pose2_to_pose3_retreat,0.575664732666,0.000150150374651,1.07003346865,0.546235409614,0.00882277914908,1.06970486754
+403,6.716666667,pose2_to_pose3_retreat,0.575664603892,0.000150192566641,1.0700335014,0.546235280767,0.00882282110701,1.06970490064
+404,6.733333333,pose2_to_pose3_retreat,0.575664436151,0.000150247525844,1.07003354405,0.546235112931,0.00882287576132,1.06970494376
+405,6.750000000,pose2_to_pose3_retreat,0.575664340242,0.000150278949694,1.07003356844,0.546235016968,0.00882290701084,1.06970496841
+406,6.766666667,pose2_to_pose3_retreat,0.57566429083,0.000150286238379,1.07003358015,0.546234967638,0.008822914595,1.06970498055
+407,6.783333333,pose2_to_pose3_retreat,0.575664290559,0.000150271717732,1.07003357881,0.546234967548,0.00882290070625,1.06970497969
+408,6.800000000,pose2_to_pose3_retreat,0.575664289904,0.000150236696801,1.07003357559,0.54623496733,0.00882286720933,1.06970497761
+409,6.816666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650641,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1eea60808d44bd548cd5d6a1e5208cdda9e3659f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84176bb32caf3c8453b374a185d92cf3d851ad29244f1b1ab527adf867090d43
+size 26166902
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f1531a8ff2b0e7bbcfcf8dfa2592e2428c5dac8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+0,0.000000000,BASELINE,768,745,722,687,668,643,887,788,819,654,631,657,0.400977832437,-0.00539719929286,0.0798398677163,0.999999931915,0.000242127106489,-0.000275270660231,4.20727732164e-05,1793250567137208832
+1,0.016666667,BASELINE,768,745,722,686.423423512,667.423423512,643,887,788,819,654,631.576576488,656.423423512,0.400977602508,-0.00539585668593,0.0798404783424,0.999999931245,0.00024502756911,-0.000275117057375,4.22245334449e-05,1793250567153874944
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+20,0.333333333,BASELINE,768,745.38529988,722,686,667,642.61470012,887,788,819.38529988,654,632,656.38529988,0.400977264902,-0.00539736936048,0.0798402766713,0.99999993139,0.00024374007348,-0.000275685395737,4.25143789156e-05,1793250567470541312
+21,0.350000000,BASELINE,768,745,722,686,667.199388716,643,887,788,819,654,631.800611284,656,0.400977915807,-0.00539678660735,0.0798408946047,0.999999931344,0.000244951129023,-0.000274784549821,4.24862748458e-05,1793250567487208192
+22,0.366666667,BASELINE,768,745,722,686,667.778584849,643,887,788,819,654,631.221415151,656,0.400975528838,-0.00539604529422,0.0798399349955,0.999999930719,0.000245136330897,-0.000276908727486,4.23174303135e-05,1793250567503874560
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+24,0.400000000,BASELINE,768,745,722,686.933572157,667.066427843,642.066427843,887.933572157,788,819,654,631.933572157,656,0.400974554336,-0.00539829307797,0.0798391691704,0.999999930743,0.000244285613029,-0.000277546397021,4.24963970305e-05,1793250567537208064
+25,0.416666667,BASELINE,767.491764004,745,722,686.491764004,667,642,887.491764004,788,819,654,632,656,0.400974433971,-0.00539723894218,0.0798393778924,0.999999930783,0.000244799187418,-0.00027696500654,4.24074980226e-05,1793250567553874688
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+27,0.450000000,BASELINE,767.674078881,745,722,686.674078881,667.674078881,642,887,788,819,654,631.325921119,656,0.40097609838,-0.00539685389536,0.0798409745715,0.99999993158,0.000243892887763,-0.000274847704207,4.25988746575e-05,1793250567587207680
+28,0.466666667,BASELINE,768,745,722,687,668,642,887.259658561,788,819.259658561,654,631.259658561,656,0.400977126827,-0.00539720616167,0.079841535244,0.999999932091,0.000242729880792,-0.000274020466732,4.25812341905e-05,1793250567603874560
+29,0.483333333,BASELINE,768,745,722,687,668,642,887.84058651,788,819.84058651,654,631.84058651,656,0.400977505931,-0.00539711894702,0.0798413106168,0.999999932395,0.000241714467309,-0.000273864528316,4.22235641923e-05,1793250567620541184
+30,0.500000000,BASELINE,768,745,722,687,667.582728639,642,887.582728639,788,819.582728639,654,632,656.417271361,0.400977277937,-0.00539675898011,0.0798411398173,0.999999931909,0.000243210614513,-0.000274297714847,4.23177474951e-05,1793250567637208320
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+39,0.650000000,BASELINE,768,745,722,687,667,642,887,788,819,654,631.635832059,656,0.40097752763,-0.00539816757425,0.0798420884031,0.999999932455,0.000242851643464,-0.000272639219696,4.22003947789e-05,1793250567787207936
+40,0.666666667,BASELINE,768,745,722,687.220641659,667,642.220641659,887,788,819.220641659,654,632,656,0.400976475838,-0.00539721038294,0.0798413696862,0.999999931718,0.000244612527302,-0.000273799666774,4.19792465636e-05,1793250567803874560
+41,0.683333333,BASELINE,768,745,722,687.801284303,667,642.801284303,887,788,819.801284303,654,632,656,0.400975423246,-0.00539820462997,0.0798408856712,0.999999931317,0.000244475923818,-0.000275383021614,4.19787749327e-05,1793250567820541184
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+50,0.833333333,BASELINE,768,745,722,686.012270521,667.012270521,642,887,788,819,654.012270521,631.012270521,656,0.400977605821,-0.00540094391762,0.0798423914541,0.999999933736,0.000238206836045,-0.000272003954866,4.24281291613e-05,1793250567970541568
+51,0.850000000,BASELINE,768,745,722,686.583267072,667.583267072,642,887,788,819,654.583267072,631.583267072,656,0.400976857041,-0.00539903936223,0.0798417876909,0.999999932565,0.00024109194172,-0.000273803126304,4.21603492102e-05,1793250567987208192
+52,0.866666667,BASELINE,767.839215625,745.160784375,722,687,667.839215625,642.160784375,887,787.839215625,819,654.839215625,631.839215625,656,0.400976592974,-0.00539800276826,0.0798414833698,0.99999993194,0.000242624093041,-0.000274756793818,4.19899625082e-05,1793250568003874816
+53,0.883333333,BASELINE,767.244082977,745.755917023,722,687,667.244082977,642.755917023,887,787.244082977,819,654.244082977,631.244082977,656,0.400977638323,-0.00539931091437,0.0798419879716,0.999999932813,0.000240501328188,-0.000273426388739,4.2082677194e-05,1793250568020541440
+54,0.900000000,BASELINE,767.340890333,745.659109667,722,686.659109667,667,643,887,787.340890333,819,654,631.340890333,656,0.400977315195,-0.0053991561435,0.0798418066708,0.999999932824,0.000240555249856,-0.000273349591432,4.20107537397e-05,1793250568037208064
+55,0.916666667,BASELINE,767.918799884,745.081200116,722,686.081200116,667,643,887,787.918799884,819,654,631.918799884,656,0.400976040571,-0.00539798421426,0.0798411484655,0.999999932236,0.000242122610068,-0.000274144420933,4.18243582664e-05,1793250568053874432
+56,0.933333333,BASELINE,768,745,722,686.492668706,667.492668706,642.507331294,887,788,819,654,632,656,0.400977200664,-0.00539752334433,0.0798416776751,0.999999932231,0.000243581546971,-0.000272889927755,4.16820101929e-05,1793250568070541312
+57,0.950000000,BASELINE,768,745,722.063507252,687,667.936492748,642.063507252,887,788,819.063507252,654.063507252,631.936492748,656,0.400978404161,-0.00539731388835,0.0798423044681,0.999999932307,0.000244652008566,-0.000271659077578,4.16188755126e-05,1793250568087207936
+58,0.966666667,BASELINE,768,745,722.616095879,687,667.383904121,642.616095879,887,788,819.616095879,654.616095879,631.383904121,656,0.400976876716,-0.00539814542354,0.0798421878602,0.999999932305,0.000242867248121,-0.000273190323412,4.21103243146e-05,1793250568103874816
+59,0.983333333,BASELINE,768,745,722.818718862,687,667.181281138,642.818718862,887,788,819.818718862,654.818718862,631.181281138,656,0.400976308082,-0.00539873464407,0.0798422411231,0.999999932435,0.000241702635364,-0.000273694808635,4.24493167969e-05,1793250568120541696
+60,1.000000000,BASELINE,768,745,722.224865176,687,667.775134824,642.224865176,887,788,819.224865176,654.224865176,631.775134824,656,0.400977921577,-0.00539877238774,0.07984268099,0.999999932875,0.00024194939861,-0.000271862519112,4.24413384074e-05,1793250568137208064
+61,1.016666667,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.400977864603,-0.0053984238018,0.0798421877566,0.999999932505,0.000242739861101,-0.000272554725223,4.22160123471e-05,1793250568153874432
+62,1.033333333,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.40097678963,-0.00539783978287,0.0798411258828,0.999999931636,0.000243861659115,-0.000274785383318,4.185823253e-05,1793250568170541056
+63,1.050000000,BASELINE,768,745,722,687,668,642,887.549164832,788,819,654,632,656,0.400977865383,-0.00539911081065,0.0798421647416,0.99999993276,0.000241900216565,-0.000272404636381,4.19544203597e-05,1793250568187207680
+64,1.066666667,BASELINE,768,745,722,687,668,642,887.872437733,788,819,654,632,656,0.40097843755,-0.0053996319239,0.0798428719656,0.999999933472,0.000240737390617,-0.000270811006657,4.19849616685e-05,1793250568203874304
+65,1.083333333,BASELINE,768,745,722,687,668,642,887.27853065,788,819,654,632,656,0.400976810899,-0.00539710287681,0.0798420173125,0.999999932377,0.000243007094444,-0.000272862093643,4.16999886313e-05,1793250568220541184
+66,1.100000000,BASELINE,768,745,722,687,667.692507829,642,887,788,819,654,631.692507829,656.307492171,0.400976275834,-0.0053962870728,0.0798417452129,0.999999931855,0.000244078507939,-0.000273827679767,4.16483849079e-05,1793250568237207808
+67,1.116666667,BASELINE,768,745,722,687,667.113448173,642,887,788,819,654,631.113448173,656.886551827,0.400976704823,-0.00539698435172,0.0798419876063,0.999999931843,0.00024409162871,-0.000273834585314,4.18028856908e-05,1793250568253874944
+68,1.133333333,BASELINE,768,745,722,687,667,642.461000831,887.461000831,788,819,654,631.461000831,656.538999169,0.400977103635,-0.00539743809057,0.0798421215782,0.999999932034,0.000243500813508,-0.000273642738107,4.19362343722e-05,1793250568270541824
+69,1.150000000,BASELINE,768,745,722.035202654,687,667.035202654,643,887.964797346,788,819.035202654,654,632,656,0.400977455736,-0.0053977752351,0.07984221332,0.999999932228,0.000242943286739,-0.000273410557766,4.20555506745e-05,1793250568287208448
+70,1.166666667,BASELINE,768,745,722.623162386,687,667.623162386,643,887.376837614,788,819.623162386,654,632,656,0.400977189812,-0.00539721335661,0.0798420567684,0.999999931702,0.00024521905448,-0.000273305467726,4.20354540763e-05,1793250568303875072
+71,1.183333333,BASELINE,768,745.208069475,722.791930525,686.791930525,668,643,887,788,819.791930525,654,632,656,0.40097654644,-0.00539670813508,0.0798415642436,0.999999931207,0.000246549736669,-0.000273926032539,4.19966196333e-05,1793250568320541440
+72,1.200000000,BASELINE,768,745.787527915,722.212472085,686.212472085,668,643,887,788,819.212472085,654,632,656,0.400975229351,-0.00539630404205,0.0798404720308,0.999999930771,0.000246193509887,-0.000275841838761,4.19243394892e-05,1793250568337208064
+73,1.216666667,BASELINE,768,745.633498657,722,686.366501343,668,642.633498657,887,788,819,654,632,656.366501343,0.400975130019,-0.0053968141322,0.0798402490111,0.999999931064,0.000244925116543,-0.000275918753263,4.18651446116e-05,1793250568353874688
+74,1.233333333,BASELINE,768,745.054806068,722,686.945193932,668,642.054806068,887,788,819,654,632,656.945193932,0.400975735726,-0.00539785350193,0.0798405292234,0.999999931777,0.000243128611218,-0.000274931014732,4.18135256422e-05,1793250568370541568
+75,1.250000000,BASELINE,768,745.519675515,722,687,668,642.519675515,886.480324485,788,819,654,632,656.480324485,0.400976342582,-0.00539751146811,0.079841458142,0.999999931957,0.000244129368299,-0.000273352737294,4.20033606996e-05,1793250568387208192
+76,1.266666667,BASELINE,768,745.904012736,722,687,667.904012736,643,886.191974528,788,819,654,631.904012736,656,0.400977073802,-0.00539715062799,0.0798424313897,0.999999932227,0.000244766017479,-0.000271774143601,4.21247605554e-05,1793250568403875072
+77,1.283333333,BASELINE,768,745.316063015,722,687,667.316063015,643,887.36787397,788,819,654,631.316063015,656,0.400978441808,-0.00539743407964,0.0798432840141,0.999999933249,0.000242036675219,-0.000270510563588,4.17659476609e-05,1793250568420541696
+78,1.300000000,BASELINE,768,745,722,687,667,642.730621304,887.730621304,788,819,654.269378696,631,656,0.400979113585,-0.00539751986914,0.0798436026545,0.999999933615,0.000241207248416,-0.000269918011394,4.16299113097e-05,1793250568437208320
+79,1.316666667,BASELINE,768,745,722,687,667,642.148095145,887.148095145,788,819,654.851904855,631,656,0.400978976009,-0.00539737588025,0.0798433005488,0.999999933226,0.000242586436339,-0.000270105515999,4.17528483555e-05,1793250568453874944
+80,1.333333333,BASELINE,768,745,722.427939705,687,667,642,887,788,819,654.572060295,631.427939705,656,0.400979208198,-0.00539788166224,0.0798435316012,0.999999933107,0.000242964052524,-0.00027017185323,4.19713326731e-05,1793250568470541312
+81,1.350000000,BASELINE,768,745,722.998233895,687,667.001766105,642,887,788,819,654,632,656,0.400979564126,-0.00539860560529,0.0798439439629,0.99999993308,0.00024300444862,-0.000270194702019,4.22220323541e-05,1793250568487208192
+82,1.366666667,BASELINE,768,745,722.422992871,687,667.577007129,642,887,788,819,654,632,656,0.400979169583,-0.00539824425876,0.0798442129863,0.999999932917,0.000244411948599,-0.00026950865515,4.23570708491e-05,1793250568503874816
+83,1.383333333,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656.156637815,0.400978312293,-0.00539784663436,0.079843897894,0.999999932599,0.000245311027578,-0.000269867986418,4.23688681463e-05,1793250568520541184
+84,1.400000000,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656.748464485,0.400976169348,-0.00539734821858,0.0798419599452,0.999999931853,0.000244797554273,-0.000273131705053,4.20382628693e-05,1793250568537208064
+85,1.416666667,BASELINE,768.33211112,745,722,687,668,642.33211112,887,788,819.33211112,654,631.66788888,656.66788888,0.400976532161,-0.00539741834333,0.0798419900798,0.999999932019,0.000244290159049,-0.000272983490785,4.19999451217e-05,1793250568553874944
+86,1.433333333,BASELINE,768.909711223,745,722,687,668,642.909711223,887,788,819.909711223,654,631.090288777,656.090288777,0.400978747174,-0.00539790872032,0.0798434749768,0.99999993286,0.000243787256634,-0.000270313253151,4.21776796856e-05,1793250568570541568
+87,1.450000000,BASELINE,768.523692254,745,722,687,668,643,887.476307746,788,819.523692254,654,631.476307746,656,0.400978110815,-0.00539756395561,0.0798430084995,0.999999932741,0.000243177565628,-0.000271350440433,4.18544446859e-05,1793250568587207936
+88,1.466666667,BASELINE,768,745,722,686.956662943,667.956662943,643,887.956662943,788,819,654,632,656,0.400977165783,-0.00539710429571,0.0798423293439,0.99999993248,0.000242720710463,-0.000272773546527,4.14875594378e-05,1793250568603874560
+89,1.483333333,BASELINE,768,745,722,686.357960953,667.357960953,643,887.357960953,788,819,654,632,656,0.400979035285,-0.00539715517827,0.0798435579768,0.999999932702,0.000244476002896,-0.000270339451181,4.17507770325e-05,1793250568620541184
+90,1.500000000,BASELINE,768,745,722,686.232930432,667,642.767069568,887,788,819,654,632,656,0.400980115564,-0.00539757683474,0.0798440686823,0.999999933124,0.000244329180606,-0.000268890203801,4.18605666249e-05,1793250568637207808
+91,1.516666667,BASELINE,768,745,722,686.812208074,667,642.187791926,887,788,819,654,632,656,0.400980022339,-0.00539854979964,0.079843511892,0.999999933848,0.000241354079678,-0.00026890533956,4.17422221536e-05,1793250568653874688
+92,1.533333333,BASELINE,768,745,722,686.614221127,667.385778873,642,887,788,819,654,632,656,0.400978741138,-0.00539849382638,0.0798427883146,0.999999933554,0.000241179698707,-0.00027013487777,4.18441406442e-05,1793250568670541568
+93,1.550000000,BASELINE,768,745,722,686.043387796,667.956612204,642,887,788,819,654,632,656,0.400976890077,-0.00539794428134,0.0798419847308,0.999999932772,0.000242348796212,-0.000271946953291,4.20517171732e-05,1793250568687208192
+94,1.566666667,BASELINE,768,745,722,686.536753794,668,642.536753794,887,788,819,654,632,656,0.400976610088,-0.00539769876251,0.0798420965057,0.999999932692,0.000242089342701,-0.000272505264169,4.18357267568e-05,1793250568703875072
+95,1.583333333,BASELINE,768,745,722.11931022,687,668,643,887,788.11931022,819.11931022,654,632,656,0.400976540942,-0.00539743732212,0.0798421301978,0.999999932609,0.000242047926454,-0.000272872622416,4.1648043882e-05,1793250568720541440
+96,1.600000000,BASELINE,768,745,722.708359668,687,668,643,887,788.708359668,819.708359668,654,632,656,0.400976793087,-0.00539701473182,0.0798415600123,0.99999993229,0.000243327613172,-0.00027289423175,4.17089913904e-05,1793250568737207808
+97,1.616666667,BASELINE,768,745,723,687,667.706773404,642.706773404,887,788.706773404,819.706773404,654.293226596,632,656,0.400976975843,-0.00539722115278,0.079841419592,0.999999932221,0.000243690857303,-0.000272822098243,4.17236651174e-05,1793250568753874432
+98,1.633333333,BASELINE,768,745,723,687,667.126007905,642.126007905,887,788.126007905,819.126007905,654.873992095,632,656,0.400977090557,-0.00539804438413,0.0798417006007,0.999999932397,0.00024315543493,-0.000272658040218,4.16929626283e-05,1793250568770541312
+99,1.650000000,BASELINE,768,745,722.546218127,687.453781873,667,642.453781873,887,788,819,654.546218127,632,656,0.400977224763,-0.00539750222122,0.0798419538552,0.99999993245,0.000243277298365,-0.000272392085684,4.14462379783e-05,1793250568787207936
+100,1.666666667,BASELINE,767.966487341,745,722,687.966487341,667.033512659,642.966487341,887,788,819.033512659,654,631.966487341,656,0.40097730636,-0.00539662235753,0.0798421419283,0.999999932428,0.000243652876178,-0.000272178260307,4.11800212783e-05,1793250568803874304
+101,1.683333333,BASELINE,767.383289535,745,722,687.383289535,667.616710465,642.383289535,887,788,819.616710465,654,631.383289535,656,0.400976436481,-0.0053964089804,0.0798413870155,0.999999931732,0.000245202668152,-0.000273282581594,4.15758857924e-05,1793250568820541440
+102,1.700000000,BASELINE,767.198594555,745,722,687,667.801405445,642,887,788,819.801405445,654,631.198594555,656,0.400975825816,-0.00539639896363,0.0798410742706,0.999999931457,0.000245663300926,-0.000273833605122,4.18300965665e-05,1793250568837208576
+103,1.716666667,BASELINE,767.777959753,745,722,687,667.222040247,642,887,788,819.222040247,654,631.777959753,656,0.400975712149,-0.00539677885514,0.0798416093059,0.999999931996,0.000244035659509,-0.00027332377596,4.18127107979e-05,1793250568853875200
+104,1.733333333,BASELINE,768,745,722,687,667.355517243,642,887,788.355517243,819,654,632,656.355517243,0.40097583298,-0.00539700240889,0.079842056523,0.999999932108,0.000244219711213,-0.000272736132023,4.19010031898e-05,1793250568870541824
+105,1.750000000,BASELINE,768,745,722,687,667.931951489,642,887,788.931951489,819,654,632,656.931951489,0.400976099529,-0.00539712881502,0.0798424491702,0.999999931954,0.000245529541664,-0.000272100134246,4.20549635691e-05,1793250568887208448
+106,1.766666667,BASELINE,768,745,722,687,667.492903693,642,887,788.492903693,819,654,632,656.492903693,0.400977386301,-0.00539629658229,0.0798431188586,0.999999932216,0.000245807938198,-0.000270899148506,4.19537110561e-05,1793250568903874816
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,888,788,819,654,631,656,0.400976681466,-0.00539861502199,0.0798422964077,0.999999933074,0.000241333797447,-0.000271741192297,4.20299720111e-05,1793250568946505472
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.582608976,887.417391024,788,819,654,631.582608976,656,0.400976624876,-0.00539686666447,0.0798425839737,0.999999932391,0.000243473225152,-0.000272403020473,4.16459922781e-05,1793250568963171840
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.837979117,887,788,819.162020883,654,632,656,0.400976547266,-0.00539600297529,0.0798426856149,0.999999932023,0.00024459318679,-0.000272779182733,4.14639296187e-05,1793250568979838208
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.266643861,887,788,819.733356139,654,632,656,0.400976416553,-0.0053973742289,0.0798423175531,0.999999932459,0.000243137665355,-0.000272433665542,4.17919712499e-05,1793250568996504832
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.306336088,887,788,820,654,632,656,0.400976222246,-0.00539778466749,0.0798422093211,0.999999932555,0.000242915068523,-0.000272264780749,4.18916785204e-05,1793250569013171456
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642.880755319,887,788,820,654,632,656,0.400975972287,-0.00539735427032,0.0798423284733,0.999999932354,0.00024377143804,-0.000272250471853,4.1791564087e-05,1793250569029837824
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745,722,687,668,643,887,788,819.53066913,654,632,656,0.400976596181,-0.0053971236455,0.079842367158,0.999999932201,0.000244704553898,-0.000271979152167,4.17697079868e-05,1793250569046504448
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,722.060256339,687,668,643,887,788,819,654,632,656.060256339,0.400977597864,-0.00539702653533,0.0798425102151,0.999999932143,0.000245423433819,-0.000271543980616,4.17719214114e-05,1793250569063171072
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,722.639479893,687,668,643,887,788,819,654,632,656.639479893,0.400979881635,-0.00539762859324,0.0798437337555,0.999999932803,0.000244124009738,-0.000270277504319,4.18048625722e-05,1793250569079837696
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745.216749283,723,687,668,643,887.216749283,788,819.216749283,654,632,656.783250717,0.400987353495,-0.00539840620201,0.0798469559564,0.99999993445,0.000242836622109,-0.000265282307851,4.18948928718e-05,1793250569096504576
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745.79079729,723,687,668,643,887.79079729,788,819.79079729,654,632,656.20920271,0.40100337762,-0.00539947319621,0.0798534728341,0.999999937643,0.000241569075987,-0.000254140530799,4.20790313257e-05,1793250569113171200
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745.635819565,722.635819565,687,668,642.635819565,887.635819565,788,819.635819565,654,632,656.364180435,0.401037251247,-0.00540013138599,0.079864676713,0.999999943069,0.000240935376084,-0.000232474771278,4.20345010539e-05,1793250569129838080
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745.062817597,722.062817597,687,668,642.062817597,887.062817597,788,819.062817597,654,632,656.937182403,0.401081359804,-0.00540055516689,0.079878568125,0.999999949198,0.000240665124162,-0.000204774545413,4.18588518325e-05,1793250569146504704
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,745,722,687.532079769,668.532079769,642,887,788,819,654,632,657,0.401147435001,-0.00540078796387,0.0798932386117,0.999999954766,0.000241531442344,-0.00017446447715,4.11364506494e-05,1793250569163171328
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,722.124513047,687.875486953,668.875486953,642,887,788,819,654.124513047,631.875486953,656.875486953,0.401218367247,-0.00540107138754,0.0799063135575,0.999999958774,0.000242067171488,-0.000149161703892,4.00841020751e-05,1793250569179837696
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745,722.698326794,687.301673206,668.301673206,642,887,788,819,654.698326794,631.301673206,656.301673206,0.401297066208,-0.00540162234996,0.0799132849145,0.99999996002,0.00024090500511,-0.000143087113573,3.80840724497e-05,1793250569196504320
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,745,723,687,668.271622216,642.271622216,887,788.271622216,819,654.728377784,631,656.271622216,0.401384880951,-0.00540282909607,0.0799189416192,0.999999961462,0.000239667345785,-0.000135463342206,3.58579580338e-05,1793250569213170944
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,745,723,687,668.844343032,642.844343032,887,788.844343032,819,654.155656968,631,656.844343032,0.401482800714,-0.00540476279135,0.0799231410054,0.999999963085,0.000238346001096,-0.000126122273361,3.33812242737e-05,1793250569229837568
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,722.56715206,687,668.56715206,642.56715206,887.43284794,788.56715206,819,654,631.43284794,656.56715206,0.401598199642,-0.00540672160676,0.0799264210128,0.999999964501,0.000235806559761,-0.000120414033918,2.98863150227e-05,1793250569246504192
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,887.973455441,788,819,654,632,656,0.40172183572,-0.00540861478066,0.0799296849379,0.999999965913,0.000232785146892,-0.000115372768526,2.59820692682e-05,1793250569263171072
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,722,687,668,642,887.394315173,788,819,654,632,656,0.401881144125,-0.00540894627916,0.0799397572645,0.999999968897,0.000229194320945,-9.59907540289e-05,2.14671966652e-05,1793250569279837952
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.816753532,745.183246468,722,687,668,642.183246468,887,788.183246468,819,654,632,656.183246468,0.402047872649,-0.00541007960152,0.0799478020707,0.999999971383,0.000224530625167,-8.09008780995e-05,1.66122077832e-05,1793250569296504576
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.242559889,745.757440111,722,687,668,642.757440111,887,788.757440111,819,654,632,656.757440111,0.402230431605,-0.00541292357494,0.0799515212623,0.999999973459,0.00021757801586,-7.4968067733e-05,1.10315984187e-05,1793250569313171200
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.330521132,746,722,687.330521132,667.669478868,642.669478868,887,788.669478868,819,654,632,656.669478868,0.402427294774,-0.00541457782757,0.0799536222686,0.999999975162,0.000211027509874,-7.15828219358e-05,4.49249910298e-06,1793250569329838080
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.90278843,746,722,687.90278843,667.09721157,642.09721157,887,788.09721157,819,654,632,656.09721157,0.402634620194,-0.00541536190788,0.07995453972,0.999999976576,0.000204771105191,-7.00608874498e-05,-2.74764907226e-06,1793250569346504448
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.493917865,745.506082135,722,688,667.493917865,642.493917865,887.493917865,788,819.493917865,654,632,656.493917865,0.402859109596,-0.00541890551166,0.0799497950968,0.999999978001,0.000193771835408,-7.96340161202e-05,-1.04077956742e-05,1793250569363171072
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.913972176,745,722,688,668,643,888,788,820,654,632,657,0.403095284426,-0.00542263578784,0.0799445797258,0.99999997911,0.000182744132798,-8.97280400391e-05,-1.82408106528e-05,1793250569379837440
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.338251553,745,722,688,668,643,888,788,820,654,632,657,0.403377982927,-0.00542421431026,0.0799432800205,0.999999979931,0.000177079154638,-8.98634078818e-05,-2.65686187709e-05,1793250569396504320
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745.237990138,722,688,668,643,887.762009862,788,819.762009862,654,632,657,0.403683763587,-0.00542630651656,0.0799444518499,0.999999986462,0.000134868729059,-8.81025751027e-05,-3.35389925083e-05,1793250569413171200
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745.814974006,722,688,668,643,887.185025994,788,819.185025994,654,632,657,0.404022422514,-0.00542913041534,0.0799491441393,0.999999994934,4.06028788388e-05,-8.36407889954e-05,-3.85758327229e-05,1793250569429838080
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.60052186,722.39947814,688.39947814,668,642.60052186,887.39947814,788,819,654,632,656.60052186,0.404380622882,-0.00542968370369,0.0799519123984,0.999999994833,5.73782512521e-05,-7.73028074491e-05,-3.2641728776e-05,1793250569446504704
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745.012467758,722.987532242,688.987532242,668,642.012467758,887.987532242,788,819,654,632,656.012467758,0.404748047891,-0.00542916513719,0.0799537724076,0.999999989303,0.000126571276451,-7.00791570433e-05,-2.15287271202e-05,1793250569463171072
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,745,723,688.433285506,668,642.566714494,887.433285506,788,819.566714494,654.566714494,631.433285506,656.566714494,0.405160480504,-0.00543527169747,0.0799502207422,0.999999989838,0.000121530411368,-6.90327725945e-05,-2.80875581313e-05,1793250569479837696
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.145567863,745,722.854432137,688.145567863,668,642.854432137,887.145567863,788.145567863,819.854432137,654.854432137,631.145567863,656.854432137,0.405582939772,-0.00544136158414,0.0799458961331,0.999999990608,0.000111927111745,-7.18005688474e-05,-3.31709568292e-05,1793250569496504576
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.724014591,745,722.275985409,688.724014591,668,642.275985409,887.724014591,788.724014591,819.275985409,654.275985409,631.724014591,656.275985409,0.406032316371,-0.0054469751375,0.0799396215882,0.999999991434,9.35380706445e-05,-8.55127905941e-05,-3.27285140936e-05,1793250569513171200
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722.299995718,689,668,642.299995718,888,788.700004282,819.299995718,654,632,656.299995718,0.406506539538,-0.00545636903253,0.0799325320779,0.999999991391,7.94199516975e-05,-9.92991131842e-05,-3.24086485355e-05,1793250569529837824
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,722.873727134,689,668,642.873727134,888,788.126272866,819.873727134,654,632,656.873727134,0.407003434388,-0.00546921235901,0.0799246989392,0.999999990686,6.91988991455e-05,-0.00011315305181,-3.22006303587e-05,1793250569546504704
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722.541008404,689.458991596,668,643,887.541008404,788.458991596,819.541008404,654,632,657,0.407512100578,-0.00548597522165,0.0799204350042,0.999999990741,5.04304559074e-05,-0.000122391689858,-3.15372966124e-05,1793250569563171328
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.953127364,745.046872636,722,690,668.046872636,643,887.046872636,788.953127364,819,654,632,656.953127364,0.40802858347,-0.00550221921266,0.0799167608816,0.999999990478,3.1259520853e-05,-0.000130793543617,-3.09856390672e-05,1793250569579838208
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.372511426,745.627488574,722,690,668.627488574,643,887.627488574,788.372511426,819,654,632,656.372511426,0.408596249784,-0.00549995957774,0.0799083335835,0.999999988399,3.49718894291e-05,-0.000144497853682,-3.31687784903e-05,1793250569596504576
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.206111825,745.793888175,722,690.206111825,668.793888175,643,888,788.206111825,819.206111825,654,632,656.206111825,0.409199263307,-0.00550041132813,0.0799133231871,0.999999989455,3.48184286322e-05,-0.000136691918056,-3.45283559442e-05,1793250569613171200
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.781168091,745.218831909,722,690.781168091,668.218831909,643,888,788.781168091,819.781168091,654,632,656.781168091,0.40986554903,-0.00550571651459,0.0799423293235,0.999999994938,2.7745052802e-05,-9.03821954553e-05,-3.44137402179e-05,1793250569629837568
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.635226111,745.364773889,722,691,668,643,888,788.635226111,820,654,632,657,0.410549934012,-0.00551203774578,0.0799693006252,0.999999998148,1.81436040964e-05,-4.71147480492e-05,-3.39725947826e-05,1793250569646504192
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.046368278,745.953631722,722,691,668,643,888,788.046368278,820,654,632,657,0.41124543751,-0.00551898314234,0.0799950219082,0.999999999404,6.98913730893e-06,-5.7161998783e-06,-3.333085914e-05,1793250569663170816
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,745.466894911,722,691,668,643,888,788,820,654,632,657,0.411917025911,-0.00551723066423,0.0799721672873,0.999999998327,7.20959017946e-06,-4.52604339513e-05,-3.5284018545e-05,1793250569679837440
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745,722,691.110726714,668,643,888.110726714,788.110726714,820,654,632,657,0.412593820021,-0.00551649440246,0.0799443177527,0.999999995256,5.55436537295e-06,-8.95117577449e-05,-3.80137437854e-05,1793250569696504064
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745,722,691.683963856,668,643,888.683963856,788.683963856,820,654,632,657,0.413300896712,-0.0055231082818,0.0799129470634,0.999999991288,-7.99678062374e-06,-0.00012452619094,-4.30607762752e-05,1793250569713171200
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,745.259644952,722.259644952,692.259644952,668,643,889,789,820.259644952,654,632,657,0.414049591907,-0.00552769641468,0.0799039225866,0.999999990352,-1.77239443255e-05,-0.000129829610426,-4.61141469189e-05,1793250569729838080
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,745.838329137,722.838329137,692.838329137,668,643,889,789,820.838329137,654,632,657,0.414849426011,-0.00552979540862,0.079922356057,0.999999993786,-2.27523842726e-05,-9.86255696703e-05,-4.67178024525e-05,1793250569746504704
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,722.575855009,692.575855009,668.424144991,643,889,789,821,654,632,657,0.415654604337,-0.00553420505945,0.0799401654512,0.999999995626,-2.93372986346e-05,-7.60793514741e-05,-4.58091472979e-05,1793250569763171328
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,722.012519073,692.012519073,668.987480927,643,889,789.012519073,821.012519073,654,632,657,0.416462081662,-0.00553955952093,0.0799571111071,0.999999996684,-3.65569992332e-05,-5.76776677856e-05,-4.4374417884e-05,1793250569779837952
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,722.591544469,692.591544469,668.408455531,643,889,789.591544469,821.591544469,654,632,657,0.417279838362,-0.00554713121873,0.0799459198278,0.999999995128,-4.51958293043e-05,-7.49342933748e-05,-4.56651677029e-05,1793250569796504576
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,722.834383592,693,668,643,889,789.834383592,822,654,632,657,0.418117666927,-0.005553821365,0.0799452856384,0.999999994985,-5.40712104827e-05,-6.9962364888e-05,-4.70330196645e-05,1793250569813170944
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,722.272173497,693,668,643,889,789.272173497,822,654,632,657,0.419003560579,-0.00555840050152,0.0799699320075,0.999999996734,-6.3513048686e-05,-1.17607801742e-05,-4.85855042913e-05,1793250569829837824
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.303614967,746,722,693,668,643,889.303614967,789,822.303614967,654,632,657,0.419889296833,-0.00556270657594,0.0799771245219,0.999999996344,-6.95469744501e-05,6.36491344682e-06,-4.93501280474e-05,1793250569846504448
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.892145487,746,722,693,668,643,889.892145487,789,822.892145487,654,632,657,0.420774885331,-0.0055667564057,0.0799679381499,0.999999996075,-7.23828781214e-05,-1.31170436112e-05,-4.9375414702e-05,1793250569863170816
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,693.482467426,668,643.482467426,889.517532574,789,823,654,632,656.517532574,0.421681362797,-0.00556319382266,0.0799666335906,0.9999999959,-7.40604432889e-05,-1.5886567853e-05,-4.96295585613e-05,1793250569879837440
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.930981323,746,722.069018677,694,668,643.930981323,889.069018677,789,823,654,632,656.069018677,0.422595866655,-0.00555540056812,0.0799701898444,0.999999996188,-7.08808778047e-05,-1.08685346621e-05,-4.98137276312e-05,1793250569896504064
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.373934971,746,722.626065029,694,668,643.373934971,889.626065029,789,823,654,632,656.626065029,0.423533982124,-0.00552977019561,0.0799956114919,0.999999997916,-3.51945829759e-05,2.26992175338e-05,-4.91400064504e-05,1793250569913170944
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.197199305,746,722.802800695,694,668,643.197199305,890,789,823,654,632,657,0.424440047863,-0.00551188438449,0.0799950503248,0.999999998719,-9.57101959398e-06,9.85399365101e-06,-4.87250380496e-05,1793250569929837568
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.797102883,746,722.202897117,694,668,643.797102883,890,789,823,654,632,657,0.425280664442,-0.00550981387785,0.0799414291859,0.999999994018,-4.49673600798e-06,-9.77720040179e-05,-4.88384730931e-05,1793250569946504192
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.620574528,746.379425472,722,694,668,643.620574528,890,789,823,654,632,656.620574528,0.426193168326,-0.00551811000741,0.0799108741295,0.999999989481,-2.01945111974e-05,-0.000133951569375,-5.18351268029e-05,1793250569963170816
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.047237048,746.952762952,722,694,668,643.047237048,890,789,823,654,632,656.047237048,0.427142411421,-0.00553170418744,0.0798921074002,0.999999988407,-4.65082098291e-05,-0.000133617182656,-5.63052998847e-05,1793250569979837440
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.545720421,746.454279579,722,694,668,643,890,789,823,654,632,656.545720421,0.428086946247,-0.00553389166841,0.0798974341654,0.999999988492,-4.39954245535e-05,-0.000134399550981,-5.49296136196e-05,1793250569996504064
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.863997443,746,722,694,668.136002557,643,890,789,823.136002557,654.136002557,632,657,0.429038835728,-0.00553513413797,0.0799120386968,0.999999990325,-4.07358025958e-05,-0.000121958042029,-5.30724637099e-05,1793250570013170688
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.288067545,746,722,694,668.711932455,643,890,789,823.711932455,654.711932455,632,657,0.430015882706,-0.00553663267706,0.0799496564311,0.999999995532,-4.34325897615e-05,-6.6416925364e-05,-5.13557620926e-05,1793250570029837312
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746.28701684,722,694,668.71298316,643.28701684,890.28701684,789,824,654.71298316,632,657,0.430989452987,-0.00553654464816,0.0799901876216,0.99999999783,-4.3129385266e-05,-5.84667600028e-06,-4.94487891918e-05,1793250570046503936
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746.861255076,722,694,668.138744924,643.861255076,890.861255076,789,824,654.138744924,632,657,0.431959544033,-0.00553486892044,0.0800336343426,0.999999996301,-3.98240508319e-05,5.97562869058e-05,-4.73514094619e-05,1793250570063170816
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.445590135,747,722,694.445590135,668,643.554409865,891,789,824,654,632,657,0.43284124202,-0.00552777894841,0.0799985544761,0.999999998249,-3.25048142569e-05,1.46663012653e-06,-4.9422601305e-05,1793250570079837440
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.193258776,722.806741224,694.806741224,668.193258776,643.193258776,891,789,825,654,632.193258776,657,0.435502471883,-0.00553602342219,0.079888006493,0.999999984981,-5.69045635908e-05,-0.000152746019909,-5.89003181894e-05,1793250570129837568
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.769408746,722.230591254,694.230591254,668.769408746,643.769408746,891,789,825,654,632.769408746,657,0.436420621404,-0.00554296727347,0.0799234675726,0.999999990462,-6.83096900347e-05,-0.000104401311051,-5.92447185689e-05,1793250570146504192
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722,694,668.65613843,643.65613843,891,789,825.34386157,654.34386157,632.65613843,657,0.437323607169,-0.00554573295187,0.0799540205465,0.999999993884,-7.17654523602e-05,-6.16412471401e-05,-5.72859456323e-05,1793250570163171072
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722,694,668.082818148,643.082818148,891,789,825.917181852,654.917181852,632.082818148,657,0.438216474109,-0.00554571053645,0.079981298341,0.999999995854,-6.99166059136e-05,-2.26078179011e-05,-5.37902658702e-05,1793250570179838208
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.492245596,722,694,668,643,891,788.492245596,825.492245596,654.492245596,632,657,0.439064101395,-0.00554812340225,0.0799693251715,0.999999994773,-7.14558226192e-05,-4.86812125938e-05,-5.45751500442e-05,1793250570196504832
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.098237787,722,694,667.901762213,643,891.098237787,788,825,654,632,656.901762213,0.439877791594,-0.00554871834622,0.0799360149012,0.999999990084,-7.20544008736e-05,-0.000106846988123,-5.6771458778e-05,1793250570213171200
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746.674124422,722,694,667.325875578,643,891.674124422,788,825,654,632,656.325875578,0.440563613225,-0.00553847500952,0.0798311829492,0.999999960121,-6.52980159043e-05,-0.000267602174443,-6.23162401766e-05,1793250570229837824
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768.411271676,746.411271676,722.588728324,694,667,642.588728324,891,787.588728324,826,654,632,656.588728324,0.442730109426,-0.00552727740307,0.0796682456289,0.999999870079,-5.24145873545e-05,-0.00050234127891,-6.89098258037e-05,1793250570279837696
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,722.000335233,694.000335233,666.999664767,642,891,787,826,654,632,656.000335233,0.443533469493,-0.00553017503198,0.0797210279965,0.999999908433,-6.36537527456e-05,-0.000417895638494,-6.66749355962e-05,1793250570296504832
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,722.579502162,694.579502162,666.420497838,642,891,787,826,654,632,656.579502162,0.444304281973,-0.0055359122787,0.0797657949321,0.999999932829,-6.06013568481e-05,-0.000355682745897,-6.44845471189e-05,1793250570313171456
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.841678327,747,722.841678327,694.841678327,666,641.841678327,891,786.841678327,826,654,632,657,0.445048168015,-0.00554170300162,0.0797950213181,0.999999946054,-6.3485111e-05,-0.000316051474917,-6.30381487598e-05,1793250570329838080
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.263779396,747,722.263779396,694.263779396,666,641.263779396,891,786.263779396,826,654,632,657,0.445720694949,-0.0055476354461,0.0797830628213,0.999999938073,-8.21005933482e-05,-0.000336265031153,-6.35634409262e-05,1793250570346504448
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.309791906,747,722,694,665.690208094,641,891.309791906,786,826.309791906,654,631.690208094,657,0.446361477085,-0.00555241505611,0.079760560154,0.999999927598,-9.0660822718e-05,-0.00036386799584,-6.46845148809e-05,1793250570363171072
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768.63811761,746.36188239,722.36188239,694.63811761,664.36188239,640,892,784.36188239,826,654,631,657,0.448630515193,-0.00556984901485,0.0796388434803,0.999999848464,-0.000111843766877,-0.000534503467586,-6.97718092191e-05,1793250570429837824
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.784176437,746.215823563,722,695,663.784176437,639.784176437,892,784,826.215823563,654.215823563,631,656.784176437,0.449153872039,-0.00557173797925,0.0796166747674,0.99999982791,-0.000119038766625,-0.000570144299421,-7.03291337239e-05,1793250570446504960
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.20721856,746.79278144,722,695,663.20721856,639.20721856,892,784,826.79278144,654.79278144,631,656.20721856,0.449681476736,-0.00557226316967,0.079618331961,0.999999833984,-0.000116404461609,-0.000559983963186,-7.00059328956e-05,1793250570463171840
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747,722,694.954717134,658.954717134,637,892.954717134,781,827.045282866,655,631,657,0.455504444342,-0.00557982797644,0.0794947509592,0.99999968978,-0.000133607080865,-0.000773173581696,-6.92257190863e-05,1793250570929838080
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,747,722,694.373570768,658.373570768,637,892.373570768,781,827.626429232,655,631,657,0.455517912396,-0.00557781693522,0.0794938772141,0.99999968781,-0.000132222764967,-0.000775961265633,-6.91528398537e-05,1793250570946504960
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,747,722,694,658.205803158,637,892.205803158,780.794196842,827.794196842,654.794196842,631,657,0.455528511269,-0.00557632591251,0.0794931843819,0.999999686169,-0.000132107719888,-0.000778098185443,-6.90773141252e-05,1793250570963171584
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,747,722,694,658.781987213,637,892.781987213,780.218012787,827.218012787,654.218012787,631,657,0.455533946517,-0.00557577075954,0.0794928171362,0.999999685134,-0.000134276962808,-0.000779063934521,-6.89970255426e-05,1793250570979837696
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+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747,722,694.837141779,658.162858221,637,892,780,827.162858221,654.162858221,630.162858221,657,0.455544085194,-0.00557694068535,0.0794891594498,0.999999679286,-0.000132233346266,-0.000787092491461,-6.65330909446e-05,1793250571096504832
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747,722,694,658,636.743287318,892,780.743287318,827,654,630.256712682,657,0.455545757313,-0.00557352331577,0.0794866105578,0.999999676868,-0.000130873970271,-0.00079031838468,-6.73230866317e-05,1793250571179838208
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,747,722,694.316276712,658,637,892,781,827,654,630,656.683723288,0.455545099315,-0.00557341663188,0.0794862049168,0.99999967578,-0.000129873577512,-0.000791889169196,-6.69636068482e-05,1793250571196504832
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+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747,722,694.523449052,658,637,892,780.523449052,827,654,630.476550948,656.476550948,0.4555464189,-0.00557636681092,0.0794862001074,0.999999675563,-0.000134178465993,-0.000791500038101,-6.63184545688e-05,1793250571229838080
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.839232693,780,827,654,630.160767307,656.160767307,0.455549142867,-0.00557308643005,0.079483788232,0.999999672969,-0.00013196533958,-0.000795120716831,-6.65632604383e-05,1793250571651535872
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.289854536,780,827,654,630.710145464,656.710145464,0.455549266459,-0.00557245039599,0.0794841857366,0.99999967343,-0.000129250418153,-0.000795015586955,-6.62192909863e-05,1793250571668202496
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.197175176,780,827,654,630.802824824,657,0.454813501637,-0.00555990185603,0.0794245457415,0.999999595342,-0.000118528444252,-0.000890254583608,-5.20964063164e-05,1793250571968202496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.776348363,780,827,654,630.223651637,657,0.454663589354,-0.00555914037565,0.0794209773139,0.999999591267,-0.000116464113345,-0.000895270185583,-4.89154353567e-05,1793250571984868864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.352377291,747,722,694,658,636,892,780,827,654,630,656.647622709,0.454493991517,-0.00555591781717,0.0794202278615,0.999999589941,-0.000112016720439,-0.000897535272383,-4.47308545718e-05,1793250572001535488
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.926428283,747,722,694,658,636,892,780,827,654,630,656.073571717,0.454312009864,-0.00555114704225,0.0794212517713,0.999999590313,-0.000106070189369,-0.00089807006404,-3.99149220503e-05,1793250572018202112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.498563635,747,722,694,658,636.501436365,892,780.501436365,827,654,630.501436365,656.501436365,0.454097625289,-0.0055463731675,0.0794166516074,0.999999583755,-9.83824090976e-05,-0.000906411021896,-3.50691801823e-05,1793250572034868992
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,631,656.921300228,0.45387505182,-0.0055417691468,0.0794115675536,0.999999576429,-9.03905426502e-05,-0.000915458659859,-3.01048145426e-05,1793250572051535872
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,631,656.330270463,0.453630177948,-0.00553827382839,0.0794087155121,0.999999571626,-8.20854269461e-05,-0.000921636426191,-2.43967411582e-05,1793250572068202752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,630.744364235,656.255635765,0.453368544392,-0.00553411689868,0.0794088087633,0.9999995732,-7.16848123999e-05,-0.000920949585695,-1.76909571303e-05,1793250572084869632
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781,827,654,630.164947369,656.835052631,0.453085683504,-0.00552912199083,0.07941263244,0.999999582756,-5.86300981931e-05,-0.000911568225963,-9.72150108232e-06,1793250572101536256
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,637,892,781.98328484,827,654,630.98328484,656.01671516,0.452454203603,-0.00551760900797,0.0794348789725,0.999999613646,-2.68269978946e-05,-0.000878602960559,6.66451210881e-06,1793250572134869248
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,659,637,892,781.136112429,827,654,630,656.863887571,0.451739408024,-0.0055077370594,0.0794607036249,0.999999641849,6.35872661859e-05,-0.000843777927154,1.72693064074e-05,1793250572168202752
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,659,637,892,781.726882961,827,654,630,656.273117039,0.451353295868,-0.00550037300632,0.0794729816245,0.999999655384,5.41205200345e-05,-0.000828249251982,1.75046099039e-05,1793250572184869376
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,659.893861723,637,892,782,827,654,630,656.893861723,0.450514408754,-0.00549198518622,0.0795003053825,0.999999699361,9.21000501094e-06,-0.000775345909764,5.72644010131e-06,1793250572218202880
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,660.468613752,637.468613752,892,782.468613752,827,654,630.468613752,657,0.450046615822,-0.00548768438508,0.0795224739696,0.999999727643,2.33207832085e-05,-0.000737604952547,1.04084728399e-05,1793250572234869504
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.631608389,747,722,694,661,638,892,783,826.368391611,654,630.368391611,656.368391611,0.449035958954,-0.00547507387874,0.0795392517484,0.999999744452,5.44470682202e-05,-0.000712567875049,1.94708570978e-05,1793250572268202496
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.78343658,747,722,694,661,638,891.78343658,783,826,654,630.21656342,656,0.44847657212,-0.00546550504605,0.0795277672939,0.999999727332,6.24331317812e-05,-0.0007355679935,1.94286592463e-05,1793250572284869120
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.204558271,747,722,694,661,638,891.204558271,783,826,654,630.795441729,656,0.44786861517,-0.0054530306687,0.0795055591434,0.999999694124,6.87077288267e-05,-0.000778958302249,1.59597704931e-05,1793250572301535744
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,661,638.373780005,891,783.373780005,825.626219995,654,631,656,0.447262181478,-0.00543900305041,0.0794946868096,0.999999683672,8.81706622287e-05,-0.000790400571565,1.21700981303e-05,1793250572318202624
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,722.91575093,694,666,642,890.08424907,787.91575093,824.08424907,654,631,656,0.437774902284,-0.00543879251431,0.0797153840855,0.999999896,0.000119474942821,-0.000438892613613,3.31522524522e-05,1793250572534869504
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,722.508437887,694.491562113,666,642,890,787.508437887,824,654,631,656,0.436986440896,-0.00543460509853,0.0798002673145,0.99999994434,0.00012386360048,-0.000307455831346,3.80605920023e-05,1793250572551536384
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722,694.931384398,666.068615602,642,890,787.068615602,824,654,631,656,0.4361824554,-0.005428812166,0.0798777434668,0.999999972686,0.000131382243503,-0.000188513660963,4.27789032881e-05,1793250572568203008
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,722,694.34302661,666.65697339,642,890,787.65697339,824,654,631,656,0.43528142008,-0.00542202677203,0.0798796264702,0.999999968936,0.000152242058679,-0.000192371408868,4.40795973356e-05,1793250572584869376
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.400792707,694.400792707,666.400792707,642,890,788,822.599207293,654,631,656,0.432389375273,-0.00541318456455,0.0797673687574,0.999999913661,0.000171512280413,-0.000376063290196,4.28692667573e-05,1793250572634869248
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.974414714,694.974414714,666.974414714,642,890,788,822.025585286,654,631,656,0.431362565268,-0.0054126616364,0.0797021223067,0.999999858303,0.000163988116338,-0.000504917423636,3.94938848808e-05,1793250572651535872
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.450479158,694.450479158,667,642,889.450479158,788,822,654,631,656.549520842,0.430468776262,-0.00542133737589,0.0797222734257,0.999999880251,0.00016368718735,-0.00045930009443,4.18009767141e-05,1793250572668202752
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746.127427092,722,694,667.127427092,642,889,788,820.127427092,654,631.127427092,656.127427092,0.426869075436,-0.00543140230697,0.0798393494456,0.999999950311,0.00016815232265,-0.000261590458439,5.17103021507e-05,1793250572734869248
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,745.738413532,722,692,667,642,887.738413532,788,819.738413532,654,631.261586468,656,0.41695337443,-0.00538529095787,0.0797948430936,0.999999919398,0.000227048472184,-0.000327874364864,4.63880887844e-05,1793250572918202624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,745.158093707,722,692,667,642,887.158093707,788,819.158093707,654,631.841906293,656,0.41611568808,-0.00538630730565,0.0798016237932,0.99999991764,0.000228433228613,-0.000332141601795,4.71142501845e-05,1793250572934869248
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,745,722,692,667,642,887,788,819.418291668,654,632,656,0.415298869624,-0.00540231878952,0.0797881239974,0.999999913609,0.000212650664496,-0.000353917632829,4.79976880115e-05,1793250572951535872
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745,722,692,667,642,887,788,819.993203916,654,632,656,0.414489864646,-0.00542394488909,0.079767030594,0.999999907611,0.000190440155521,-0.000382249466198,4.8940014719e-05,1793250572968202752
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745,722,691.418129048,667,642,887.581870952,788,819.418129048,654,632,656,0.413787836253,-0.00542604872551,0.079784662509,0.999999923342,0.000184428620329,-0.000342270143949,4.63932535644e-05,1793250572984869376
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745,722,691,667,642.167843334,887.832156666,788,819,654,632,656,0.413075267477,-0.00542461947544,0.0798002144056,0.999999933513,0.000185816091938,-0.000310495274286,4.51634590667e-05,1793250573001536000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745,722,691,667,642.74681235,887.25318765,788,819,654,632,656,0.41233374571,-0.00541510810312,0.0798095366666,0.999999932655,0.000204852483998,-0.000300818512497,4.72617585203e-05,1793250573018202624
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745,722,690.672229098,667,642.672229098,887.327770902,788,819,654,631.672229098,656,0.411620104811,-0.00541238046116,0.0798068793514,0.999999928331,0.000210669708928,-0.000310819212932,4.84521615252e-05,1793250573034868992
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745,722,690.089724372,667,642.089724372,887.910275628,788,819,654,631.089724372,656,0.410928132141,-0.00541492493382,0.0797949118645,0.999999921055,0.000206213388034,-0.000336112653892,4.8936974199e-05,1793250573051535616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,722,690.481879896,667,642,887.518120104,788,819,654,631.481879896,656,0.410269568861,-0.00541101943596,0.0797995287852,0.999999921426,0.000215040337287,-0.000329283622583,4.97851714498e-05,1793250573068202240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,722,690.946808889,667,642,887,788,819,654,632,656,0.409625011991,-0.00540653397209,0.0798087822899,0.999999924104,0.000225480091471,-0.000313647880057,5.07608714258e-05,1793250573084869120
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745,722,690.358478177,667,642,887,788,819,654,632,656,0.40906016902,-0.00540802889283,0.0798343032484,0.9999999367,0.000227813099399,-0.000268253387377,5.23536790274e-05,1793250573101535744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,722,689.773773123,667,642,887,788,819,654,632,656,0.408479001386,-0.00540696180369,0.0798437474147,0.999999939921,0.000230703532605,-0.000253258255085,5.28638804863e-05,1793250573118202368
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,745,722,689.194722701,667,642,887,788,819,654,632,656,0.407872373854,-0.00540189900257,0.0798281182055,0.999999930373,0.000234463326742,-0.000285673984449,5.16856488385e-05,1793250573134869248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,745,722,689,667,642,887,788,819,654,632,656,0.407294608261,-0.00539827948162,0.0797974700297,0.999999913486,0.000235765982372,-0.000339082143791,4.96478971468e-05,1793250573151538944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,745,722,689,667,642,887,788,819,654,632,656,0.406731465748,-0.00539539120979,0.0797592123714,0.999999889825,0.000235823708487,-0.000403126289773,4.7174662402e-05,1793250573168210176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,745,722,689,667,642.534383143,887,788,819.534383143,654,631.465616857,656,0.406276372145,-0.00539631053457,0.0797707864268,0.999999902,0.000232315808813,-0.00037399063996,4.64852053009e-05,1793250573184872960
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,745,722,689,667.113796545,642.886203455,887,788,819.886203455,654,631.113796545,656,0.405837845188,-0.00539704731375,0.0797872709822,0.999999915371,0.000230457523642,-0.000337640406437,4.63369384468e-05,1793250573201536000
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,722,689,667.706260461,642.293739539,887,788,819.293739539,654,631.706260461,656,0.405433343722,-0.00539575962311,0.0798079648382,0.999999925327,0.00023671484658,-0.000301695260955,4.7876403817e-05,1793250573218202368
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745,722,688.713169025,667.713169025,642,887.286830975,788,819.286830975,654,631.713169025,656.286830975,0.405032599845,-0.00539486606881,0.0798223866178,0.999999931031,0.000237910297473,-0.000281028997274,4.85831197207e-05,1793250573234868992
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745,722,688.144293479,667.144293479,642,887.855706521,788,819.855706521,654,631.144293479,656.855706521,0.404635550877,-0.0053943600739,0.0798306409831,0.999999933498,0.000234128344631,-0.000275386656106,4.84709823661e-05,1793250573251535872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745,722,688,667.433415534,642,887.566584466,788,820,654,631,656.566584466,0.40426426301,-0.00539328229587,0.0798350231613,0.999999931434,0.000240154345799,-0.000277447748125,4.98155522575e-05,1793250573268202496
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,722,687.985624616,668,642,887,787.985624616,820,654,631.014375384,656,0.40390310707,-0.00539210279684,0.0798381158169,0.999999927826,0.000249394291732,-0.000281930027696,5.16379267853e-05,1793250573284869120
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,722,687.394685583,668,642,887,787.394685583,820,654,631.605314417,656,0.403597181607,-0.00539463720989,0.0798422686614,0.999999927601,0.000253850543905,-0.000278518680448,5.2768252723e-05,1793250573301536000
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.808072392,745,722,687,668,642.191927608,887,787.191927608,819.808072392,654,632,656,0.403300823979,-0.00539594614241,0.0798442947754,0.999999927894,0.000253175674297,-0.000278169646908,5.23028474158e-05,1793250573318202624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.230158973,745,722,687,668,642.769841027,887,787.769841027,819.230158973,654,632,656,0.40302370827,-0.00539479050946,0.0798420438191,0.99999992917,0.000242181599861,-0.000283979236006,4.86282652252e-05,1793250573334869248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.345319771,745,722,686.654680229,667.654680229,642.654680229,887,788,819,654,632,656,0.402767516737,-0.0053929987962,0.0798386197026,0.999999928227,0.000240015463528,-0.000289150048011,4.82885829692e-05,1793250573351535872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.919187199,745,722,686.080812801,667.080812801,642.080812801,887,788,819,654,632,656,0.402525173706,-0.0053907860972,0.0798344191372,0.999999925861,0.000243692039842,-0.000293898090123,5.01560822988e-05,1793250573368202240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.505333754,745,722,686.989332492,667,642,887,787.505333754,819,654,632,656,0.402325205374,-0.00539220178312,0.0798344238315,0.999999926224,0.000242802817183,-0.000293160524401,5.15344656852e-05,1793250573384869120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.0725186,745.0725186,722,687.8549628,667,642,887.0725186,787.0725186,819,654,632,656,0.402137281212,-0.00539391207157,0.0798358785067,0.999999927439,0.000241040023188,-0.000290234902592,5.27814155868e-05,1793250573401536256
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.66550883,745.66550883,722,686.668982341,667,642,887.66550883,787.66550883,819,654,632,656,0.40198595185,-0.00539346853273,0.079842792993,0.99999993149,0.000238378469818,-0.000278058369924,5.36604243128e-05,1793250573418202624
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,745.747607785,722,686.252392215,667.252392215,642.252392215,887.747607785,788,819.252392215,654,632,656,0.401842532034,-0.00539326093514,0.0798486574658,0.999999934288,0.000237444888546,-0.000268457086344,5.45431072939e-05,1793250573434869248
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,745.168626536,722,686.831373464,667.831373464,642.831373464,887.168626536,788,819.831373464,654,632,656,0.401709346979,-0.00539335863949,0.0798531632476,0.999999935592,0.000238747258923,-0.000262188109622,5.54305446203e-05,1793250573451535872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745.413046868,722.413046868,687,667.586953132,642.586953132,887,788,819.586953132,654,631.586953132,656,0.401587321258,-0.00539436971807,0.0798504210321,0.999999927449,0.000264809831948,-0.000268483753696,5.37940089321e-05,1793250573468202496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745.99582654,722.99582654,687,667.00417346,642.00417346,887,788,819.00417346,654,631.00417346,656,0.401469881232,-0.00539575612832,0.0798447004066,0.999999914195,0.000301047082029,-0.000279942560642,5.11203002545e-05,1793250573484869120
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745.438733715,722.438733715,686.438733715,667.561266285,642.561266285,887,787.438733715,819.561266285,654,631,656,0.401378063947,-0.00539717731019,0.0798408466271,0.99999992264,0.000269013227082,-0.000283575875069,4.40159653277e-05,1793250573501535744
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,722,686,668,642.866996857,887,787.133003143,819.866996857,654,631.133003143,656,0.401291234618,-0.00539800688841,0.0798366693307,0.999999928031,0.000243783177038,-0.00028810628395,3.87670501257e-05,1793250573518202624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,745,722,686,668,642.273000627,887,787.726999373,819.273000627,654,631.726999373,656,0.401221053146,-0.0053967850801,0.0798313240432,0.999999925677,0.000243842137004,-0.000295941690578,4.00598469598e-05,1793250573534869248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745,722,686.312849702,668,642,887,787.687150298,819.312849702,654,632,656,0.40116349943,-0.00539545098052,0.0798290771459,0.999999924403,0.000245076499627,-0.000299085228193,4.09741470318e-05,1793250573551535872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.891772162,668,642,887,787.108227838,819.891772162,654,632,656,0.401116685373,-0.00539402137919,0.0798294653705,0.999999924082,0.000247310520003,-0.000298238420796,4.15665429084e-05,1793250573568202496
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,745,722,687,668,642,887,787,819.534081793,654,631.534081793,656,0.4010799687,-0.00539416573283,0.0798290819938,0.999999923864,0.000247942667728,-0.000298389798082,4.19576024204e-05,1793250573584869376
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745,722,686.959923064,668,642,887,787.040076936,819,654,631.040076936,656,0.401046393298,-0.00539463377858,0.0798285002538,0.99999992367,0.000248113464145,-0.000298849690849,4.22992549712e-05,1793250573601535744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.37053693,668,642,887,787.62946307,819,654,631.62946307,656,0.401024051021,-0.00539457809363,0.079827631401,0.999999923468,0.000247009167816,-0.000300392396637,4.25982364369e-05,1793250573618202368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,722.214980321,686,667.785019679,642,887,788,819,654,632,656,0.401006089907,-0.00539489478427,0.0798274567059,0.99999992352,0.000246472020645,-0.000300624428965,4.28582620298e-05,1793250573634868736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,745,722.793947069,686,667.206052931,642,887,788,819,654,632,656,0.40099554661,-0.00539584194962,0.0798284572996,0.999999924003,0.000246895122345,-0.000298637340168,4.30523308283e-05,1793250573651535616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,745,722.628335083,686,667.371664917,642,887,788,819,654.371664917,632,656,0.400987381026,-0.00539622393076,0.0798289103338,0.999999924537,0.000245893323967,-0.000297682510863,4.29741032538e-05,1793250573668202496
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768,745,722.051307333,686,667.948692667,642,887,788,819,654.948692667,632,656,0.400980529245,-0.00539629362027,0.0798290608147,0.9999999251,0.000244104199401,-0.000297298054895,4.27454187634e-05,1793250573684869120
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768,745,722.52462232,686,668,642,887,787.47537768,819,654.47537768,632,656,0.400979846769,-0.00539849728218,0.0798313358101,0.999999926705,0.00024270903414,-0.000292962856701,4.30693897583e-05,1793250573701535744
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745,723,686,667.897331862,642,887,787.102668138,819,654,632,656,0.400979420701,-0.00540012029573,0.07983328208,0.999999927914,0.000242133860505,-0.000289248765242,4.3333389827e-05,1793250573718202624
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,745,723,686,667.308763808,642,887,787.691236192,819,654,632,656,0.400977358619,-0.00539800960629,0.0798326912967,0.999999926861,0.000245257516341,-0.000290298998232,4.3058299583e-05,1793250573734869248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,745,723,686.275223694,667.275223694,642,887,788,819,654,631.724776306,656,0.400975675523,-0.0053964484362,0.0798326258778,0.999999926429,0.000246981542772,-0.000290358086203,4.28201017937e-05,1793250573751535616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,745,723,686.85415663,667.85415663,642,887,788,819,654,631.14584337,656,0.400974410638,-0.00539549366024,0.0798331401981,0.999999926693,0.000247161079073,-0.000289323446148,4.26226147801e-05,1793250573768202496
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.430716784,745,722.569283216,686.569283216,667.569283216,642,887,788,819,654.430716784,631.430716784,656,0.400974984169,-0.00539647967241,0.0798343620016,0.999999927554,0.000245531321788,-0.000287723399398,4.26793273415e-05,1793250573784869120
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.993532311,745,722,686.006467689,667.006467689,642,887,788,819,654.993532311,632,656,0.400976158145,-0.00539808894186,0.0798358011113,0.999999928595,0.000243326746549,-0.000285954005446,4.28168346302e-05,1793250573801535488
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.418675704,745,722,686.581324296,667.581324296,642,887,788,819,654.418675704,632,656,0.400975693725,-0.0053970349604,0.0798354000285,0.999999928383,0.000244150863487,-0.000286034864076,4.25318754177e-05,1793250573818202368
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,745,722,687,668,642.160439099,887,788,819,654.160439099,632,656,0.400975455166,-0.00539625527135,0.0798352459079,0.999999928215,0.00024511068643,-0.000285823950121,4.23699160704e-05,1793250573834869248
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,745,722,687,668,642.750968856,887,788,819,654.750968856,632,656,0.400975822073,-0.00539621088066,0.0798357538213,0.999999928166,0.000246434297735,-0.000284830878552,4.25376836785e-05,1793250573851535872
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.665318024,668,642.665318024,887,787.665318024,819.334681976,654.665318024,632,656,0.400975072604,-0.00539539082957,0.0798355100407,0.999999927736,0.000247956356168,-0.000285017556781,4.25609771683e-05,1793250573868202496
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7147d70d1d483384132c70afde37faad3f1696a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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+266,4.433333333,pose2_to_pose3_retreat,0.621586355997,0.000150174808633,1.070033873,0.59215703051,0.0088228046859,1.06970526216
+267,4.450000000,pose2_to_pose3_retreat,0.621586226669,0.000150175224409,1.07003375131,0.592156900985,0.00882280455529,1.0697051441
+268,4.466666667,pose2_to_pose3_retreat,0.62158606775,0.000150175735317,1.07003360177,0.592156741823,0.00882280439481,1.06970499903
+269,4.483333333,pose2_to_pose3_retreat,0.621586036707,0.000150174980398,1.07003359644,0.592156710801,0.00882280370544,1.06970499358
+270,4.500000000,pose2_to_pose3_retreat,0.621585844371,0.000150169606698,1.07003358286,0.592156518649,0.00882279889818,1.06970497839
+271,4.516666667,pose2_to_pose3_retreat,0.62158562844,0.000150163573752,1.07003356761,0.592156302924,0.00882279350116,1.06970496135
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+274,4.566666667,pose2_to_pose3_retreat,0.621583508952,0.000150193290541,1.07003366757,0.59215418373,0.00882282389752,1.06970505306
+275,4.583333333,pose2_to_pose3_retreat,0.621578678181,0.000150175336743,1.07003361243,0.592149354153,0.00882281047455,1.06970501098
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+277,4.616666667,pose2_to_pose3_retreat,0.621547236921,0.000150167609802,1.07003335355,0.59211791056,0.00882279474939,1.06970475185
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+395,6.583333333,pose2_to_pose3_retreat,0.575667331569,0.00015023840016,1.07003347455,0.546238007616,0.00882286403546,1.06970487131
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+397,6.616666667,pose2_to_pose3_retreat,0.575667118906,0.000150233334157,1.07003347495,0.546237794969,0.00882285901838,1.06970487151
+398,6.633333333,pose2_to_pose3_retreat,0.57566710738,0.000150233059605,1.07003347497,0.546237783444,0.00882285874648,1.06970487152
+399,6.650000000,pose2_to_pose3_retreat,0.575666762135,0.000150224835289,1.07003347563,0.546237438226,0.0088228506016,1.06970487184
+400,6.666666667,pose2_to_pose3_retreat,0.575666540332,0.000150219551563,1.07003347605,0.54623721644,0.0088228453689,1.06970487205
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3d71a679b229486e0093158c8e122ba9c2351a3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0bf0f58ae670436ed74a45be68bde3324c497bc28579450c181cdfaf9ca990
+size 26227803
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53c2de42d1ad0739977345d386b4e7ab1a50af05
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+16,0.266666667,BASELINE,767.288076239,745,722,686,668,642,887,788,819,654,631.711923761,656,0.400975271458,-0.00539575352916,0.0798398406951,0.999999930152,0.00024720014547,-0.000277208880433,4.17602791917e-05,1793250574470052608
+17,0.283333333,BASELINE,767.867268573,745,722,686,668,642,887,788,819,654,631.132731427,656,0.400975714226,-0.00539644959292,0.0798400065811,0.999999930127,0.0002471384386,-0.000277319341526,4.19905627046e-05,1793250574486719232
+18,0.300000000,BASELINE,767.555014503,745,722,686,667.555014503,642,887,788,819,654,631.444985497,656,0.400975631071,-0.00539720728296,0.0798401244104,0.999999930667,0.000244965754561,-0.000277288084847,4.20622701975e-05,1793250574503386112
+19,0.316666667,BASELINE,767.022229015,745,722,686.022229015,667.04445803,642,887.022229015,788,819,654,632,656,0.400975398875,-0.00539793801166,0.0798402051393,0.999999931316,0.00024233409371,-0.000277255702342,4.20868056308e-05,1793250574520052736
+20,0.333333333,BASELINE,767.598605954,745,722,686.598605954,668.197211908,642,887.598605954,788,819,654,632,656,0.400975349024,-0.00539753988792,0.079839717152,0.999999930658,0.000243905718675,-0.000278245570456,4.2110645404e-05,1793250574536719360
+21,0.350000000,BASELINE,768,745.178220495,722.178220495,686.821779505,668.821779505,642,887.821779505,788,819,654,632,656,0.400975124852,-0.00539745957217,0.0798394313054,0.999999930186,0.000244982478216,-0.000278984418474,4.21759133027e-05,1793250574553385984
+22,0.366666667,BASELINE,768,745.765261703,722.765261703,686.234738297,668.234738297,642,887.234738297,788,819,654,632,656,0.400974500803,-0.00539810827751,0.0798396091499,0.999999930148,0.000244924063741,-0.000279147450342,4.2336213343e-05,1793250574570052864
+23,0.383333333,BASELINE,768,745.650556261,722.650556261,686.349443739,668,642,887,788,819,654.349443739,632,656,0.400974500787,-0.00539881571008,0.0798397132849,0.999999930477,0.000244039493929,-0.000278730478888,4.24214409469e-05,1793250574586719488
+24,0.400000000,BASELINE,768,745.068279225,722.068279225,686.931720775,668,642,887,788,819,654.931720775,632,656,0.400974916561,-0.00539956227247,0.0798397683076,0.999999931049,0.000242604459332,-0.000277927053003,4.24566480315e-05,1793250574603385856
+25,0.416666667,BASELINE,768,745,722.507519623,686.492480377,668.507519623,642,887,788,819,654.492480377,632,656,0.400974052291,-0.00539993195057,0.079839137592,0.999999930868,0.000241880056526,-0.000279211378791,4.24205005383e-05,1793250574620052736
+26,0.433333333,BASELINE,768,745,722.91761664,686,668.91761664,642.08238336,887,788,819,654,632,656,0.400973366682,-0.00539996445693,0.0798386557506,0.999999930614,0.000241660036152,-0.000280321010504,4.23439036424e-05,1793250574636719104
+27,0.450000000,BASELINE,768,745,722.343197929,686,668.343197929,642.656802071,887,788,819,654,632,656,0.400974763704,-0.00539828221659,0.0798396071169,0.999999930528,0.00024388863931,-0.000278730889581,4.20823339792e-05,1793250574653385728
+28,0.466666667,BASELINE,768,745,722,686,668,642.761832976,887,787.761832976,819,654,632,656,0.400975005319,-0.00539717399283,0.0798398787779,0.999999930283,0.000245342052472,-0.00027837107591,4.1849937508e-05,1793250574670052352
+29,0.483333333,BASELINE,768,745,722,686,668,642.170157846,887,787.170157846,819,654,632,656,0.400973531979,-0.00539691777426,0.0798391415617,0.999999929807,0.000245644861425,-0.000279837390828,4.16608424293e-05,1793250574686719232
+30,0.500000000,BASELINE,768,745,722,686,668,642,887,787,819,654,631.588661994,656,0.40097320544,-0.00539716866611,0.0798389481893,0.999999929711,0.000245826192226,-0.000280008308367,4.17503893664e-05,1793250574703385856
+31,0.516666667,BASELINE,768,745,722,686,668,642,887,787,819,654,631.011275322,656,0.400973341841,-0.00539762426798,0.0798389743554,0.999999929768,0.000245958484796,-0.000279656300671,4.19524183414e-05,1793250574720052480
+32,0.533333333,BASELINE,768,745,722,686.563776596,668,642,887,787.563776596,819,654,631,656,0.40097362965,-0.00539680269066,0.0798388948984,0.999999929834,0.000245612984758,-0.000279740775621,4.18589525368e-05,1793250574736719616
+33,0.550000000,BASELINE,768,745,722,687,668,642.141918458,887,788,819,654,631.141918458,656,0.400973931452,-0.00539627646778,0.0798388743529,0.99999992994,0.000245212152082,-0.000279730045388,4.17397534373e-05,1793250574753386240
+34,0.566666667,BASELINE,768,745,722,687,668,642.729918764,887,788,819,654,631.729918764,656,0.40097426776,-0.00539675856759,0.0798390455919,0.999999930175,0.000244667308241,-0.000279392738086,4.15581679683e-05,1793250574770052864
+35,0.583333333,BASELINE,768,745,722,686.685587684,668,643,887,788,819,654,632,656,0.400974624218,-0.00539699400153,0.0798396675481,0.999999930484,0.000244716687968,-0.000278212137183,4.17670306725e-05,1793250574786719232
+36,0.600000000,BASELINE,768,745,722,686.104073153,668,643,887,788,819,654,632,656,0.400974997793,-0.00539701988584,0.0798406724014,0.999999930851,0.000245270877477,-0.000276315134318,4.23075901958e-05,1793250574803386112
+37,0.616666667,BASELINE,768,745,722,686.475695791,668,642.524304209,887.475695791,788,819.475695791,654,632,656,0.400974914679,-0.00539687554095,0.0798403137987,0.999999930531,0.000245951782732,-0.000276901002297,4.20856201306e-05,1793250574820052736
+38,0.633333333,BASELINE,768,745,722,687,668,642,887.945578767,788,819.945578767,654.054421233,632,656,0.400974744605,-0.00539668819347,0.0798397450169,0.999999930094,0.000246623397696,-0.000277933548333,4.17468770796e-05,1793250574836719360
+39,0.650000000,BASELINE,768,745,722,687,668,642,887.37316353,788,819.37316353,654.62683647,632,656,0.400974694353,-0.00539644472772,0.0798400045925,0.999999929972,0.000246943676845,-0.000278066235232,4.18787531687e-05,1793250574853385984
+40,0.666666667,BASELINE,768.20534557,745,722,687,668,642,887,788,819.20534557,654.79465443,632,656,0.400975030528,-0.00539630860972,0.0798403656136,0.99999992993,0.000247248340341,-0.000277939704043,4.19306895825e-05,1793250574870052608
+41,0.683333333,BASELINE,768.795267371,745,722,687,668,642,887,788,819.795267371,654.204732629,632,656,0.400976090413,-0.0053963735352,0.0798409166243,0.999999930036,0.000247523758438,-0.000277327702842,4.18329129986e-05,1793250574886719232
+42,0.700000000,BASELINE,768.622719841,745,722,687,668,642.377280159,887,788,819.622719841,654,632,656.377280159,0.400975737694,-0.00539723972949,0.079840362644,0.999999930397,0.000245899611002,-0.000277477505491,4.1781824961e-05,1793250574903385856
+43,0.716666667,BASELINE,768.044910807,745,722,687,668,642.955089193,887,788,819.044910807,654,632,656.955089193,0.400974634158,-0.00539853180764,0.0798392213478,0.999999930888,0.000243265821961,-0.000278032215935,4.17555524418e-05,1793250574920052480
+44,0.733333333,BASELINE,768,745.530699415,722,687,668,643,887,788,819,654,632,656.469300585,0.400974452937,-0.00539772198769,0.0798393461422,0.999999930502,0.000244480572039,-0.000278327851031,4.19371586348e-05,1793250574936719360
+45,0.750000000,BASELINE,768,745.891604932,722,687,668,643,887,788,819,654,632,656,0.400974497259,-0.00539717631804,0.0798396465637,0.99999993034,0.000245169674961,-0.000278274398354,4.21280226288e-05,1793250574953385984
+46,0.766666667,BASELINE,768,745.30386784,722,687,668,643,887,788,819,654,632,656,0.40097519524,-0.00539858211472,0.0798402517855,0.999999931498,0.000242099978469,-0.000276773771814,4.22823527934e-05,1793250574970052608
+47,0.783333333,BASELINE,768,745,722,687,668,642.720521383,887,788,819,654,632,656,0.400974759666,-0.00539859441188,0.0798400419996,0.999999931506,0.000241842203386,-0.00027698224925,4.22050143596e-05,1793250574986719232
+48,0.800000000,BASELINE,768,745,722,687,668,642.141874809,887,788,819,654,632,656,0.40097311068,-0.00539711503729,0.0798389597889,0.999999930284,0.000244594449918,-0.000279020237289,4.18796862345e-05,1793250575003386112
+49,0.816666667,BASELINE,768,745,722,687,668,642,887,788,819.436878152,654.436878152,632,656,0.400974264404,-0.00539700611245,0.0798396830124,0.999999930377,0.000245386511043,-0.000278013903581,4.17103084865e-05,1793250575020052736
+50,0.833333333,BASELINE,768,745,722,686.984431392,668,642,887,788,819.984431392,654.984431392,632,656.015568608,0.400976285775,-0.00539735746599,0.0798409800806,0.999999930912,0.000245473437124,-0.000276020760399,4.16054964204e-05,1793250575036719360
+51,0.850000000,BASELINE,768,745,722,686.409228704,668,642,887,788,819.409228704,654.409228704,632,656.590771296,0.400976770587,-0.00539825235454,0.0798418239651,0.999999932003,0.000243101063062,-0.000274101851749,4.20006595955e-05,1793250575053385984
+52,0.866666667,BASELINE,768,745.169216026,722,686.169216026,668,642,887,788,819.169216026,654,632,656.830783974,0.400976656592,-0.00539901066036,0.0798420141859,0.999999932411,0.000242050324457,-0.00027350465046,4.2246933043e-05,1793250575070052608
+53,0.883333333,BASELINE,768,745.755654359,722,686.755654359,668,642,887,788,819.755654359,654,632,656.244345641,0.400975066165,-0.00539943220512,0.0798405927204,0.999999931148,0.000244258235963,-0.000276166276545,4.21261010723e-05,1793250575086719232
+54,0.900000000,BASELINE,768,745.662318143,722,687,668,642.337681857,887.337681857,788,819.662318143,654,632,656.337681857,0.400974080424,-0.0053990365102,0.0798396183696,0.999999930597,0.000244543233766,-0.00027794219198,4.18753763234e-05,1793250575103386112
+55,0.916666667,BASELINE,768,745.083441187,722,687,668,642.916558813,887.916558813,788,819.083441187,654,632,656.916558813,0.40097352659,-0.00539805708773,0.0798389633782,0.999999930558,0.000243454757147,-0.000279085473172,4.15318734193e-05,1793250575120052480
+56,0.933333333,BASELINE,768.494317779,745,722.494317779,687,668,642.505682221,887.505682221,788,819.494317779,654,632,657,0.400974139534,-0.0053970544589,0.0798386856671,0.999999930437,0.000243970189769,-0.000279049787378,4.16741560518e-05,1793250575136719360
+57,0.950000000,BASELINE,768.928595427,745.071404573,723,687,668,642,887,788,819.928595427,654,632,656.928595427,0.400974727233,-0.00539641734147,0.0798385667718,0.999999930369,0.000244469591568,-0.00027882489063,4.18776878073e-05,1793250575153385984
+58,0.966666667,BASELINE,768.354912651,745.645087349,723,687,668,642,887,788,819.354912651,654,632,656.354912651,0.400973755056,-0.00539837881884,0.0798391180599,0.99999993078,0.000242956063484,-0.000278665767235,4.19365474564e-05,1793250575170052608
+59,0.983333333,BASELINE,768,745.775211666,722.775211666,686.775211666,668,642.224788334,887,788,819.224788334,654,632,656,0.400973757515,-0.00539916423533,0.0798397405791,0.99999993092,0.000243150573159,-0.000277988504237,4.19540909676e-05,1793250575186719232
+60,1.000000000,BASELINE,768,745.185747195,722.185747195,686.185747195,668,642.814252805,887,788,819.814252805,654,632,656,0.400975341135,-0.00539804171799,0.0798404786572,0.999999930617,0.000246116047625,-0.000276470658675,4.19046069459e-05,1793250575203385856
+61,1.016666667,BASELINE,768,745,722,686,668,642.602445897,887,788,820,654,632,656,0.400975230429,-0.00539675319953,0.0798402572111,0.999999930224,0.000247574348014,-0.000276595479457,4.18755341275e-05,1793250575220052480
+62,1.033333333,BASELINE,768,745,722,686,668,642.021980261,887,788,820,654,632,656,0.400974340177,-0.00539538830532,0.0798395942956,0.999999929791,0.000248339209228,-0.000277476078261,4.18558523471e-05,1793250575236719104
+63,1.050000000,BASELINE,768,745,722,686.554504671,668,642.554504671,887,788,819.445495329,654,632,656,0.400973165356,-0.00539676016538,0.0798391873662,0.999999930131,0.000246325897949,-0.00027805354814,4.18146440822e-05,1793250575253385984
+64,1.066666667,BASELINE,767.869746778,745,722,687,668,643,887,788,819,654,632,656,0.400972381404,-0.00539769150717,0.0798388943073,0.99999993035,0.000244976691791,-0.00027845593503,4.18227692034e-05,1793250575270052352
+65,1.083333333,BASELINE,767.295972219,745,722,687,668,643,887,788,819,654,632,656,0.400972966524,-0.00539675609257,0.0798389546799,0.999999930069,0.000246261121528,-0.000278302775295,4.20017627895e-05,1793250575286719232
+66,1.100000000,BASELINE,767.287062154,745,722,687,668,642.712937846,887,788,819,654.287062154,632,656,0.400974085226,-0.00539677148435,0.0798396748293,0.999999930315,0.000246664547332,-0.00027706107031,4.19939346724e-05,1793250575303386112
+67,1.116666667,BASELINE,767.879961949,745,722,687,668,642.120038051,887,788,819,654.879961949,632,656,0.400975772411,-0.00539779987072,0.0798410979084,0.999999931118,0.000246129346482,-0.000274659623072,4.17870656446e-05,1793250575320052992
+68,1.133333333,BASELINE,768,745,722,686.539822417,668,642,887,788,819,654.539822417,631.539822417,656,0.400975587788,-0.00539817707056,0.0798411506091,0.999999930865,0.000246604897229,-0.000275096687733,4.217211072e-05,1793250575336719360
+69,1.150000000,BASELINE,768,745,722,686.037005132,668,642,887,788,819,654,631.037005132,656,0.400974995917,-0.00539842659012,0.0798408770805,0.999999930428,0.000247099201347,-0.000276166246068,4.2648585709e-05,1793250575353385984
+70,1.166666667,BASELINE,768,745,722,686.61139013,668,642,887,788,819,654,631.61139013,656,0.400975390341,-0.00539922250976,0.0798409179073,0.999999931228,0.000244139787165,-0.000275956796199,4.22707430626e-05,1793250575370052608
+71,1.183333333,BASELINE,768,745,722.190736713,686.809263287,668,642.190736713,887,788,819.190736713,654,632,656,0.400975052183,-0.00539937026215,0.0798404111417,0.999999931549,0.000242134556595,-0.000276613112487,4.19229551715e-05,1793250575386719488
+72,1.200000000,BASELINE,768,745,722.780462192,686.219537808,668,642.780462192,887,788,819.780462192,654,632,656,0.400973181587,-0.00539816215905,0.0798387589059,0.999999930878,0.00024212531533,-0.000279080464304,4.16380366478e-05,1793250575403386112
+73,1.216666667,BASELINE,768,745,722.636459702,686.363540298,668,642.636459702,887,788,819.636459702,654,632,656,0.400973561632,-0.00539783265001,0.0798390851345,0.999999930804,0.000242875102334,-0.000278683300964,4.1696076711e-05,1793250575420052736
+74,1.233333333,BASELINE,768,745,722.057323822,686.942676178,668,642.057323822,887,788,819.057323822,654,632,656,0.400975276406,-0.00539802418644,0.0798405846807,0.999999931083,0.000244075026895,-0.000276587352443,4.19575065035e-05,1793250575436719360
+75,1.250000000,BASELINE,768,745,722,686.481670494,668,642,886.481670494,788,819,654,632,656,0.400976037039,-0.00539714755441,0.0798409225349,0.999999930968,0.000245435366201,-0.000275826195547,4.1787110733e-05,1793250575453385984
+76,1.266666667,BASELINE,768,745,722,686.095463739,668,642,886.095463739,788,819,654,632,656,0.400976530225,-0.00539648066457,0.079841133027,0.999999930908,0.00024630038271,-0.000275299969871,4.15821325544e-05,1793250575470052864
+77,1.283333333,BASELINE,768,745,722,686.682187506,668,642,886.682187506,788,819,654,632,656,0.400976186508,-0.00539749697245,0.0798413448367,0.99999993137,0.000244525763658,-0.00027522812537,4.14433114332e-05,1793250575486719232
+78,1.300000000,BASELINE,768,745,722,687,668,642,887,788,819,654,631.7346238,656.2653762,0.40097572145,-0.00539781025505,0.0798410173289,0.99999993139,0.000243876476731,-0.000275741101197,4.13545511143e-05,1793250575503385856
+79,1.316666667,BASELINE,768,745,722,687,668,642,887,788,819,654,631.155613068,656.844386932,0.400975112986,-0.00539729266802,0.0798400524292,0.999999930893,0.000244557162298,-0.000276945246208,4.13249551023e-05,1793250575520052480
+80,1.333333333,BASELINE,768,745,722,687,668,642,887,788,819,654,631.423773913,656.576226087,0.400975539055,-0.00539680138138,0.079840085138,0.999999930633,0.000245932514278,-0.000276634475448,4.15184656199e-05,1793250575536719104
+81,1.350000000,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.400976337172,-0.00539632507708,0.0798404848127,0.99999993046,0.000247555614377,-0.000275771582189,4.17932230299e-05,1793250575553385984
+82,1.366666667,BASELINE,768,745,722,687,668,642,887,788,819,654,632,656,0.400975706923,-0.00539677725726,0.0798409387469,0.999999930393,0.000247857346908,-0.000275722709794,4.19365732683e-05,1793250575570052608
+83,1.383333333,BASELINE,768,745,722,686.845938121,668,642,887,788,819,654,632,656,0.400975141795,-0.0053974487385,0.0798411526665,0.999999930533,0.000247185763564,-0.000275807432783,4.19989630252e-05,1793250575586719232
+84,1.400000000,BASELINE,768,745,722,686.258442845,668,642,887,788,819,654,632,656,0.40097475988,-0.00539873719537,0.0798406913358,0.99999993125,0.000243775880535,-0.000276268009291,4.18335808523e-05,1793250575603385600
+85,1.416666667,BASELINE,768.325866128,745,722.325866128,686,668,642,887,788,819,654,632,656,0.400975494553,-0.00539840291937,0.079840909329,0.999999931478,0.000243603143709,-0.000275613806654,4.16882549672e-05,1793250575620052480
+86,1.433333333,BASELINE,768.907672493,745,722.907672493,686,668,642,887,788,819,654,632,656,0.400977106213,-0.00539679412409,0.0798416608738,0.999999931324,0.000245972911196,-0.000274084039411,4.15586816066e-05,1793250575636719104
+87,1.450000000,BASELINE,768.515524531,745,722.515524531,686,668,642,887,788,819,654,632,656,0.40097722824,-0.00539643882075,0.0798418511917,0.999999931139,0.000247573429993,-0.000273296100042,4.16859161454e-05,1793250575653385984
+88,1.466666667,BASELINE,768,745,722.059738553,686.059738553,668,642,887,788,819,654,632,656,0.400976850914,-0.00539654522566,0.079841798938,0.999999930957,0.000248571329151,-0.000273031281133,4.18537509916e-05,1793250575670052352
+89,1.483333333,BASELINE,768,745,722.629908043,686.629908043,668,642,887,788,819,654,632,656,0.400974607717,-0.00539857642628,0.079840578571,0.999999930846,0.000245659981147,-0.000276040629151,4.19545989142e-05,1793250575686719232
+90,1.500000000,BASELINE,768.208844709,745,722.791155291,687,668,642,887,788,819,654,632,656,0.400973735201,-0.00539942221267,0.0798402932198,0.999999930838,0.000244373834413,-0.000277205534417,4.19845191666e-05,1793250575703385856
+91,1.516666667,BASELINE,768.803998325,745,722.196001675,687,668,642,887,788,819,654,632,656,0.400975398094,-0.0053980752879,0.0798417374071,0.999999931041,0.000246093891667,-0.000274958695433,4.18832414915e-05,1793250575720052480
+92,1.533333333,BASELINE,768.61186189,745,722,687.38813811,668,642,887,788,819,654,632,656,0.400975023781,-0.0053979802652,0.0798411576963,0.999999931032,0.000245452543305,-0.000275571507579,4.18299080547e-05,1793250575736719360
+93,1.550000000,BASELINE,768.033130343,745,722,687.966869657,668,642,887,788,819,654,632,656,0.400973649107,-0.00539849998316,0.0798395841598,0.999999930916,0.00024365163771,-0.000277588538078,4.18001174067e-05,1793250575753385984
+94,1.566666667,BASELINE,768,745.542335509,722,686.915328983,668,642.542335509,887,788,819,654,632,656,0.400974865419,-0.00539683086605,0.0798410534762,0.999999930793,0.000246277058468,-0.000275732298004,4.16426305129e-05,1793250575770052608
+95,1.583333333,BASELINE,768,745.880164847,722.119835153,686.119835153,668,642.880164847,887,788,819,654,632,656,0.400976066028,-0.00539548822165,0.079842279238,0.999999930694,0.000248461142425,-0.000274142737379,4.15392052802e-05,1793250575786719232
+96,1.600000000,BASELINE,768,745.293978607,722.706021393,686.706021393,668,642.293978607,887,788,819,654,632,656,0.400976593256,-0.00539593331997,0.0798418381294,0.999999930732,0.000247881740101,-0.000274506274076,4.1676342346e-05,1793250575803385856
+97,1.616666667,BASELINE,767.711426837,745,723,687,668,642,887,788,819,654.288573163,631.711426837,656,0.400976363755,-0.0053965117865,0.0798414823888,0.999999930737,0.000247356367869,-0.000274945574259,4.17809772111e-05,1793250575820052736
+98,1.633333333,BASELINE,767.132531598,745,723,687,668,642,887,788,819,654.867468402,631.132531598,656,0.400975372937,-0.00539722442952,0.0798412125336,0.999999930709,0.000246885353218,-0.000275461097075,4.18529128858e-05,1793250575836719360
+99,1.650000000,BASELINE,767.444626817,745,722.555373183,687,668,642.444626817,886.555373183,788,819,654.555373183,631.444626817,656,0.400975422672,-0.0053980953856,0.0798411087238,0.999999930986,0.000245834032562,-0.000275386632543,4.18974598035e-05,1793250575853385728
+100,1.666666667,BASELINE,768,745,722,686.978797195,668,642.978797195,886.021202805,788,819,654,632,656,0.40097574734,-0.00539896948199,0.0798410377854,0.99999993133,0.000244665426823,-0.000275172928415,4.19253624429e-05,1793250575870052608
+101,1.683333333,BASELINE,768,745,722,686.403963641,668,642.403963641,886.596036359,788,819,654,632,656,0.40097518366,-0.00539869820962,0.079840537842,0.999999931073,0.000244933351215,-0.000275897553394,4.17310020039e-05,1793250575886719232
+102,1.700000000,BASELINE,768,745,722,686,668,642.175198509,887,788,819,654,632,656,0.400975333984,-0.0053980251943,0.0798406031942,0.999999930947,0.000245657044494,-0.00027573080633,4.1596482907e-05,1793250575903385600
+103,1.716666667,BASELINE,768,745,722,686,668,642.764594064,887,788,819,654,632,656,0.40097717233,-0.00539640239497,0.0798420049951,0.999999931127,0.000247458247623,-0.000273456714356,4.16034382549e-05,1793250575920052480
+104,1.733333333,BASELINE,768.347861091,745,722,686.347861091,668,643,887,788,819,654,632,656,0.400977859636,-0.00539650985073,0.0798423970953,0.999999931262,0.000247408185402,-0.000272999659336,4.16712266209e-05,1793250575936719360
+105,1.750000000,BASELINE,768.927052654,745,722,686.927052654,668,643,887,788,819,654,632,656,0.40097778149,-0.00539776794011,0.0798421177363,0.999999931368,0.000246127016748,-0.000273750948537,4.17794694427e-05,1793250575953385984
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,722,686,668,643,887,788,819,654,632,656,0.40097555411,-0.00539756910666,0.0798403657586,0.999999931064,0.000244960305825,-0.000275918530891,4.16645236567e-05,1793250575984679168
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745.419071733,722.580928267,686.580928267,668,642.419071733,887,788,819,654,632,656,0.400973221745,-0.00539816407363,0.0798392681816,0.999999930424,0.000245285089626,-0.0002779178836,4.18273624243e-05,1793250576001346048
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.164999721,722.835000279,686.835000279,668,642,887,788,819,654,631.835000279,656,0.400972335218,-0.00539858856408,0.0798388797549,0.999999930155,0.000245385244119,-0.000278773279347,4.19688098144e-05,1793250576018012928
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+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745.660281369,722.339718631,686.339718631,668,642.339718631,887,788,819,654,631.339718631,656,0.400975773078,-0.00539862956572,0.0798411303767,0.999999931277,0.000244201412466,-0.000275756898851,4.20769203951e-05,1793250576051345920
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745.084512669,722.915487331,686.915487331,668,642.915487331,887,788,819,654,631.915487331,656,0.400974772436,-0.00539873944204,0.0798414853426,0.999999931508,0.000243345508691,-0.00027567844677,4.2054490353e-05,1793250576068012544
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+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745,722.933603394,687,668,642.066396606,887,788,819,654,632,656,0.400974754827,-0.00539928759127,0.0798408024651,0.999999931448,0.000242802855303,-0.000276393142496,4.19192575994e-05,1793250576101346048
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,722.343167945,687,668,642.656832055,887,788,819,654,632,656,0.400974491261,-0.00539897442658,0.079840389086,0.999999930982,0.000243614690685,-0.000277386115109,4.17748174116e-05,1793250576118012672
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.24253643,745,722,687,668,643,887,788,819,654,631.75746357,656,0.400976483319,-0.0053992355712,0.0798411008057,0.999999931507,0.000243270893886,-0.000275801331513,4.16960732813e-05,1793250576134679552
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.821674781,745,722,687,668,643,887,788,819,654,631.178325219,656,0.400981605823,-0.00540029376566,0.0798433739834,0.999999933389,0.000241323263677,-0.000270639032935,4.17085048219e-05,1793250576151346176
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.601453718,745.398546282,722,686.601453718,668,642.601453718,887,788,819.398546282,654,631.398546282,656,0.400999714087,-0.00540023294673,0.0798506484403,0.999999936695,0.000241819757811,-0.00025763067803,4.1939338226e-05,1793250576168012544
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.025590707,745.974409293,722,686.025590707,668,642.025590707,887,788,819.974409293,654,631.974409293,656,0.401023599829,-0.00539967426904,0.0798601480103,0.999999940412,0.000243403664031,-0.000241131543495,4.22673405221e-05,1793250576184679168
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745.452686081,722.547313919,686.547313919,668,642,887,788,819.452686081,654.547313919,632,656,0.401075322748,-0.00539977610874,0.0798760136309,0.999999947179,0.000245106221288,-0.000209253316897,4.21691510565e-05,1793250576201346048
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,745,722.875762083,687,668,642.124237917,886.875762083,788,819.124237917,654.875762083,632,656,0.401131683952,-0.00539997183343,0.0798915791514,0.999999952818,0.000246553299575,-0.000178393739861,4.1836499981e-05,1793250576218012928
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,722.283166866,687,668,642.716833134,886.283166866,788,819.716833134,654.283166866,632,656,0.4012006504,-0.00540040568878,0.07990489726,0.999999956795,0.000247016462068,-0.000154070541354,4.06946851111e-05,1793250576234679552
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.302483146,745,722,686.697516854,668,642.697516854,886.302483146,788,819.697516854,654,632,656,0.401275964459,-0.00540121881808,0.0799138531058,0.999999959107,0.000246590153806,-0.000139431732805,3.92095252034e-05,1793250576251346176
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.881777365,745,722,686.118222635,668,642.118222635,886.881777365,788,819.118222635,654,632,656,0.401357087395,-0.00540237903192,0.0799188169182,0.99999996027,0.000245349865201,-0.000133655391036,3.74101604081e-05,1793250576268012800
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.541980788,745,722,686.458019212,668,642.458019212,886.541980788,788,819,654,632,656,0.401457259216,-0.00540407196498,0.0799221785392,0.999999962132,0.000241167444365,-0.00012804352909,3.43458116437e-05,1793250576284679424
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,722,686.966513714,668,642.966513714,886.033486286,788,819,654,631.966513714,656,0.401563780245,-0.00540587161868,0.0799252826838,0.999999964103,0.000236393536586,-0.000122293021579,3.09265790426e-05,1793250576301346048
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,722,686.390918945,668,642.390918945,886.609081055,788,819,654,631.390918945,656,0.401694016742,-0.00540718765876,0.0799308692287,0.999999965743,0.000234256819834,-0.000113615230379,2.70130755544e-05,1793250576318012672
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745.190259181,722,686.190259181,668,642.190259181,887,788,819,654,631.190259181,656,0.401832863554,-0.00540862489959,0.07993667088,0.99999996747,0.000231941192479,-0.00010365496452,2.27991783217e-05,1793250576334679296
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745.783255993,722,686.783255993,668,642.783255993,887,788,819,654,631.783255993,656,0.401989936531,-0.00541031869607,0.0799429278645,0.999999969423,0.000229246850267,-9.09799776479e-05,1.79494128493e-05,1793250576351346176
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,722.366703991,687,668,643,887,788,819.366703991,654.366703991,632,656,0.402171454829,-0.00541159559004,0.0799511842051,0.999999971785,0.000224714409595,-7.59611528229e-05,1.27938362092e-05,1793250576368012800
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,722.944651357,687,668,643,887,788,819.944651357,654.944651357,632,656,0.402367055106,-0.00541263232345,0.0799605922947,0.999999974189,0.000219123114252,-5.95921362896e-05,7.46209363057e-06,1793250576384679424
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.518682109,745.481317891,722.481317891,687,668,642.481317891,887,788,819.481317891,654.481317891,632,656,0.402576879111,-0.00541480009629,0.0799574677074,0.999999975736,0.000210504797802,-6.49215957262e-05,-1.97988060057e-07,1793250576401346304
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.094325504,722.094325504,687.094325504,668,642.094325504,887,788,819,654,632,656,0.40279167057,-0.00541721439498,0.0799525405764,0.999999976992,0.000201350628664,-7.35298524537e-05,-8.21721806819e-06,1793250576418012928
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+136,2.266666667,POSE1_TO_POSE2_PRESS,768.424834301,745,722,687.424834301,668.424834301,642.575165699,887,787.424834301,819,655,632,656,0.403909279222,-0.00542833844191,0.079948159016,0.999999988711,0.000120735459658,-8.37935582636e-05,-3.12856527312e-05,1793250576484679424
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+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722.15277379,688.15277379,668,643,887,788,819.84722621,654.15277379,632,656,0.405044138119,-0.0054288478054,0.0799570960861,0.999999988108,0.00013910288062,-6.19047087018e-05,-2.45258356244e-05,1793250576534679296
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722.744374903,688.744374903,668,643,887,788,819.255625097,654.744374903,632,656,0.405457657723,-0.00543554215709,0.079951745144,0.999999989972,0.000122021756693,-6.45710579691e-05,-3.15870642385e-05,1793250576551346176
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,722.671850395,689,668,643,887.328149605,788,819.328149605,654.671850395,632,656,0.405891578781,-0.00544338651518,0.0799440452825,0.999999990842,0.000106329496685,-7.71054630945e-05,-3.26250774789e-05,1793250576568012800
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722.094030303,689,668,643,887.905969697,788,819.905969697,654.094030303,632,656,0.406341022196,-0.00545210584886,0.0799345582604,0.999999990654,9.16939428938e-05,-9.71479144021e-05,-2.90803673313e-05,1793250576584679424
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,722,689.485734154,668,643,888,788,819.514265846,654.485734154,632,656,0.40682796569,-0.0054674538684,0.0799282702561,0.999999991276,7.23409723254e-05,-0.000106244447003,-3.04377813732e-05,1793250576601346048
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722,690,668,643,887.933926492,788,819.066073508,655,632,656,0.407326345941,-0.00548362093153,0.0799226036719,0.999999991606,5.22935135033e-05,-0.000114030490097,-3.24131124049e-05,1793250576618012672
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,722,690,668,643,887.35204906,788,819.64795094,655,632,656,0.407857109209,-0.00549612424602,0.0799169343754,0.999999990701,3.39821964849e-05,-0.000128194305303,-3.17742829543e-05,1793250576634680064
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.771366531,745.228633469,722,690.228633469,668,643,887.228633469,788.228633469,819.771366531,654.771366531,632,656,0.408410714864,-0.0055024640048,0.0799126475439,0.999999989533,2.66817569967e-05,-0.000138599749898,-3.18302657525e-05,1793250576651347200
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.192514379,745.807485621,722,690.807485621,668,643,887.807485621,788.807485621,819.192514379,654.192514379,632,656,0.408999310249,-0.00549936248387,0.0799104783599,0.99999998854,3.62476813571e-05,-0.000143248155572,-3.29505557337e-05,1793250576668013568
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.386849602,745.613150398,722,691,668,643,888,788.613150398,819.386849602,654,632,656,0.409650321039,-0.00550314015125,0.0799334911582,0.999999993484,3.1053033099e-05,-0.000104612641429,-3.3517907408e-05,1793250576684680448
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.966468612,745.033531388,722,691,668,643,888,788.033531388,819.966468612,654,632,656,0.410332433771,-0.00551034575829,0.0799690522849,0.999999998271,1.85031052039e-05,-4.44084976258e-05,-3.38097265679e-05,1793250576701347072
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.459350454,745,722,690.459350454,668,643,888,788.540649546,820,654,632,656,0.411017787102,-0.0055134260601,0.0799861987521,0.999999999074,1.87133085574e-05,-1.96000516806e-05,-3.3441192082e-05,1793250576718013184
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.117262911,745.117262911,722.117262911,690.117262911,668,643,888,788.882737089,820.117262911,654,632,656,0.411701100535,-0.00551623091763,0.0799926750572,0.999999999207,1.77661962285e-05,-1.15812536009e-05,-3.37212822002e-05,1793250576734679808
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.704974469,745.704974469,722.704974469,690.704974469,668,643,888,788.295025531,820.704974469,654,632,656,0.412375431595,-0.00551894695708,0.0799608799199,0.999999997349,9.03266051998e-06,-6.22015820027e-05,-3.67662718617e-05,1793250576751346432
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.711878453,746,722.711878453,691,668.288121547,643,888,788.288121547,821,654,632,656,0.413080659688,-0.00552299675697,0.079932861059,0.999999994195,-3.38905239174e-06,-9.96770197319e-05,-4.07797137775e-05,1793250576768013312
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.133332271,746,722.133332271,691,668.866667729,643,888,788.866667729,821,654,632,656,0.413817031868,-0.00552839097897,0.0799086486563,0.999999991086,-1.95284248428e-05,-0.000123902499808,-4.57693496482e-05,1793250576784680192
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.44410506,746,722,691.44410506,668.55589494,643,888.44410506,789,821,654,632,656.44410506,0.41460045243,-0.00553186288883,0.079919409312,0.999999993585,-2.66371162852e-05,-9.99326329806e-05,-4.6187115524e-05,1793250576801346816
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.978894623,746,722,692.021105377,668.021105377,643,889,789,821.021105377,654,632,657,0.415397791017,-0.00553481997213,0.0799400623417,0.999999996492,-3.0995071385e-05,-6.33125390728e-05,-4.52337681651e-05,1793250576818012928
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.404643646,746,722,692.595356354,668.595356354,643,889,789,821.595356354,654,632,657,0.41619062345,-0.00553937227708,0.079945479559,0.999999995743,-3.41412485924e-05,-7.34297486756e-05,-4.42297427778e-05,1793250576834679552
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,722,693,669,643,889,789,822,654,632,656.82458763,0.417002577385,-0.00554446446934,0.0799488326019,0.999999995332,-3.93173140233e-05,-7.64379035044e-05,-4.41321188891e-05,1793250576851346432
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,722,693,669,643,889,789,822,654,632,656.230682176,0.417860150724,-0.00555084470679,0.0799472610047,0.999999995764,-4.93362200558e-05,-6.24855078634e-05,-4.61969580488e-05,1793250576868013056
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,722,693,668.647247992,643,889,789,822,654,632,656.352752008,0.418751903104,-0.00555651262138,0.0799649392141,0.999999996798,-6.00182083992e-05,-2.31284255392e-05,-4.76130001756e-05,1793250576884679680
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,722,693,668.070464106,643,889,789,822,654,632,656.929535894,0.41966536247,-0.00556172814135,0.0799948429253,0.999999995765,-7.11213180575e-05,3.23631063838e-05,-4.86169928088e-05,1793250576901346304
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,722,693,668.502722141,643,889,789,822,654,632,656.497277859,0.420522202919,-0.00556600145712,0.0799805028433,0.999999995892,-7.56070019981e-05,8.35771363503e-06,-4.92917025844e-05,1793250576918012928
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,722.077851993,693,669,643,889,789,822.077851993,654,632,656,0.421382593517,-0.00556730597432,0.079963977692,0.999999995641,-7.64315416397e-05,-2.01429302845e-05,-4.97026537168e-05,1793250576934679808
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,722.669100482,693,669,643,889,789,822.669100482,654,632,656,0.4223183575,-0.00554989740075,0.0799736479794,0.99999999705,-5.91857600007e-05,-5.32897184525e-06,-4.86764438785e-05,1793250576951346432
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.254430782,746,722.745569218,693,668.745569218,643,889.254430782,789.254430782,823,654,632,656.254430782,0.423247784036,-0.0055317985453,0.0799852968296,0.999999998128,-3.68344136816e-05,9.36393424396e-06,-4.79556349203e-05,1793250576968013056
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.832239236,746,722.167760764,693,668.167760764,643,889.832239236,789.832239236,823,654,632,656.832239236,0.424169155903,-0.00551282234966,0.0799994604044,0.999999998548,-7.99396963123e-06,2.39029866427e-05,-4.76229857042e-05,1793250576984679424
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.589948743,746,722,693.410051257,668,643,890,789.589948743,823,654.410051257,632,656.589948743,0.425049331521,-0.00551389086133,0.0799664009846,0.999999997713,-1.22121627786e-05,-4.52154463334e-05,-4.87944747362e-05,1793250577001346304
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.012135296,746,722,693.987864704,668,643,890,789.012135296,823,654.987864704,632,656.012135296,0.425912652672,-0.0055231601635,0.0799140214598,0.999999987237,-2.99554699779e-05,-0.000148560242122,-5.05813437893e-05,1793250577018012928
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,722,694,668.559613814,643,890,788.440386186,823.559613814,654.440386186,632,656.559613814,0.42686021263,-0.00552949085893,0.0799045442001,0.999999988755,-3.6567045437e-05,-0.000135213389655,-5.35685107093e-05,1793250577034679552
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.135965012,746,722.135965012,694,669,643,890,788.135965012,824,654,632,657,0.427810233484,-0.00553436363939,0.0799008623825,0.999999990094,-4.19387502675e-05,-0.000122430413702,-5.53604871414e-05,1793250577051346432
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.728196262,746,722.728196262,694,669,643,890,788.728196262,824,654,632,657,0.428762448117,-0.00553455555397,0.0799135401567,0.999999990434,-4.3951117195e-05,-0.000119940305327,-5.30552790383e-05,1793250577068013312
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,722.686157498,694,669,643,890,788.686157498,824,654,632,657,0.429739173512,-0.00553486757761,0.0799429703988,0.999999994311,-4.44745265522e-05,-8.22451138639e-05,-5.13385341712e-05,1793250577084679936
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722.106097045,694,669,643,890,788.106097045,824,654,632,657,0.430736690194,-0.00553528148416,0.0799866109773,0.99999999768,-4.37349224186e-05,-1.4687092896e-05,-5.01209551455e-05,1793250577101346304
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.529967817,746,722,694,669,643,890.470032183,788.470032183,824.470032183,654,632,657,0.431701074604,-0.00553230601208,0.0800177725456,0.999999997587,-3.89397861244e-05,3.07622283644e-05,-4.86203866813e-05,1793250577118012928
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,722,694,669,643,891,789,825,654,632,657,0.432648374249,-0.00552868159089,0.0800379419263,0.999999996556,-3.36668758233e-05,5.91215540654e-05,-4.7533587579e-05,1793250577134679552
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,722,694,669,643,891,789,825,654,632,657,0.433482519168,-0.00552634185545,0.0799621542137,0.999999996596,-3.34273306268e-05,-5.46151324566e-05,-5.20308987192e-05,1793250577151346176
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.201716487,746.201716487,722,694,669,643.201716487,891,788.798283513,825.201716487,654,632,656.798283513,0.434354748438,-0.00552760350718,0.0799095055321,0.999999989249,-3.93449375214e-05,-0.000129865475406,-5.55847694769e-05,1793250577168013056
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.79472408,746.79472408,722,694,669,643.79472408,891,788.20527592,825.79472408,654,632,656.20527592,0.435300854155,-0.00553585115551,0.0799017420977,0.999999988212,-5.72062334578e-05,-0.000130459750622,-5.73085495949e-05,1793250577184679680
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.624951881,746.624951881,722.375048119,694,669,643.624951881,891,788.375048119,825.624951881,654,632,656,0.436222797146,-0.00554077769699,0.0799233554033,0.999999991007,-6.48002684514e-05,-0.000102836269786,-5.66632535443e-05,1793250577201346304
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.051342904,746.051342904,722.948657096,694,669,643.051342904,891,788.948657096,825.051342904,654,632,656,0.437131947664,-0.00554394595204,0.079960521569,0.999999994442,-6.6958530053e-05,-6.02735273999e-05,-5.47637027913e-05,1793250577218012928
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746.524602388,722.475397612,694,669,643,891,788.475397612,825.524602388,654,632,656,0.43803272368,-0.00554592247039,0.0799810237632,0.99999999593,-6.68215888662e-05,-2.76121754204e-05,-5.3965851705e-05,1793250577234679552
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,722.103345253,694,668.896654747,643,891,788,826,654,632,656.103345253,0.438912225325,-0.00554673973333,0.0799889811452,0.999999996155,-6.77086853883e-05,-1.48096876861e-05,-5.37317825578e-05,1793250577251346176
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,722.694201639,694,668.305798361,643,891,788,826,654,632,656.694201639,0.439695252896,-0.00554264110058,0.0799454887081,0.999999991528,-7.44908777943e-05,-9.10957752353e-05,-5.56463334182e-05,1793250577268012800
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.279050281,747,722.720949719,693.720949719,668,643,891,788,826,654,632,657,0.440436449043,-0.00553822305888,0.0798638047884,0.99999997126,-7.17103865073e-05,-0.00022085087296,-5.96948777283e-05,1793250577284679424
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.85745403,747,722.14254597,693.14254597,668,643,891,788,826,654,632,657,0.441132770138,-0.00553346236889,0.0797411506468,0.999999912881,-5.86714461989e-05,-0.000407965278837,-6.60326795574e-05,1793250577301346048
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.567059349,747,722,693.865881301,667.567059349,642.567059349,891,787.567059349,826,654,632,656.567059349,0.441869773209,-0.00553210138081,0.0796821692412,0.999999875454,-5.86666552864e-05,-0.000490743615401,-6.94300163696e-05,1793250577318012928
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,722,694.992514482,667,642,891,787,826,654,632,656.007485518,0.442621015373,-0.00553184516283,0.0796453760969,0.999999851039,-6.27671167191e-05,-0.000537428400745,-7.17789172313e-05,1793250577334679552
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,722,694.417040952,667,642,891,787,826,654,632,656.582959048,0.443443136648,-0.00553105080754,0.079712102774,0.999999901783,-5.49146713417e-05,-0.000434575254808,-6.75441428635e-05,1793250577351346176
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,722,694,666.837316013,641.837316013,891,786.837316013,826.162683987,654,631.837316013,656.837316013,0.444237968228,-0.00553119051681,0.0797669516419,0.99999993477,-5.22848379829e-05,-0.000351565826352,-6.42427375334e-05,1793250577368012800
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,722,694,666.246399992,641.246399992,891,786.246399992,826.753600008,654,631.246399992,656.246399992,0.4449609655,-0.00553378895819,0.0797905346416,0.999999944527,-6.3402452873e-05,-0.000320790878045,-6.33982342985e-05,1793250577384679424
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.336717218,747,722,694,666,641,891.336717218,786,826.663282782,654,631.336717218,656,0.445663821403,-0.00553818387775,0.0797887761738,0.999999942816,-6.86439248149e-05,-0.000325134193788,-6.27929706137e-05,1793250577401346048
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.914256635,747,722,694,666,641,891.914256635,786,826.085743365,654,631.914256635,656,0.446352272033,-0.00554386364926,0.0797688933331,0.999999932759,-6.96827429485e-05,-0.000354594307092,-6.235881255e-05,1793250577418012672
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.512224629,747,722,694,665.512224629,640.512224629,892,785.512224629,826.487775371,654,631.512224629,656.487775371,0.446975460937,-0.00554922476219,0.0797378262904,0.999999918566,-7.76090980538e-05,-0.000390807759261,-6.41440784673e-05,1793250577434679296
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,722,694,664.937507716,640,891.937507716,785,826.937507716,654,631,657,0.447580282677,-0.00555477278648,0.0797049837238,0.999999901682,-8.71049582927e-05,-0.000429713533263,-6.63019258665e-05,1793250577451345920
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,722,694,664.34673611,640,891.34673611,785,826.34673611,654,631,657,0.448126023243,-0.00556237052282,0.0796736155569,0.999999876808,-9.97174685458e-05,-0.00048142549377,-6.83383025899e-05,1793250577468013056
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,722,694,664,639.761018211,891,785,826.238981789,654,631,657,0.448666735941,-0.00556727139418,0.0796438747868,0.999999852002,-0.000109497775059,-0.000528299444496,-7.00475243989e-05,1793250577484679936
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747,722,694,664,639.182480886,891,785,826.817519114,654,631,657,0.449200304784,-0.00556834044391,0.0796164462945,0.999999829335,-0.000115253964603,-0.000568299340756,-7.12919104917e-05,1793250577501346560
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+259,4.316666667,HOLD_POSE2,768,747,722,694,658,636,892,779,827,654,630,657,0.456015130761,-0.00557023737416,0.0794674415583,0.999999650396,-0.000135223945018,-0.000822225027232,-6.9771852127e-05,1793250578548129280
+260,4.333333333,HOLD_POSE2,768,747,722,694,658,636,892,779,827,654,630,657,0.456014436357,-0.00556995872069,0.0794670814522,0.999999649478,-0.000135465062523,-0.000823304623838,-6.97271552714e-05,1793250578564796160
+261,4.350000000,HOLD_POSE2,768,747,722,694,658,636,892,779.41484326,827,654,630.41484326,657,0.45601561551,-0.00557065510877,0.079468111463,0.999999651091,-0.000135512805413,-0.00082136574792,-6.93669758092e-05,1793250578581462784
+262,4.366666667,HOLD_POSE2,768,747,722,694,658,636,892,779.988324552,827,654,630.988324552,657,0.456017511118,-0.00557172435734,0.0794696730611,0.999999653664,-0.000135486600953,-0.000818272593861,-6.8886154296e-05,1793250578598129664
+263,4.383333333,HOLD_POSE2,768,747,722,694,658,636,892,780,827,654,631,656.422374045,0.456017244139,-0.00556994101493,0.0794692711317,0.999999652425,-0.000134669411399,-0.000819905871743,-6.90532713969e-05,1793250578614796032
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,892,779,827,654,630,657,0.456016953667,-0.00556950405297,0.0794689160365,0.999999651308,-0.000135020794849,-0.000821115790863,-7.01648688171e-05,1793250578685819136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.600911571,747,722,694,658,636,892,779.600911571,827,654,630.600911571,656.399088429,0.456017420898,-0.00556942439756,0.0794683130088,0.999999652011,-0.000134436115346,-0.000820416369135,-6.94342360643e-05,1793250578702486272
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.800976265,747,722,694,658,636,892,779.800976265,827,654.199023735,631,656,0.456017354372,-0.00556971930205,0.0794679866973,0.999999652181,-0.00013499559725,-0.00082015634186,-6.89823844401e-05,1793250578719153152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.208399589,747,722,694,658,636,892,779.208399589,827,654.791600411,631,656,0.456016232386,-0.00557075486767,0.0794682075694,0.999999651289,-0.000137817563405,-0.000820765180576,-6.90817992629e-05,1793250578735819520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.624802844,779,827,654.624802844,631,656.375197156,0.456016072241,-0.00557087601901,0.0794679087964,0.999999650701,-0.000138300378487,-0.000821386465092,-6.92463372431e-05,1793250578752486144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.046077361,779,827,654.046077361,631,656.953922639,0.456016433853,-0.00557050113986,0.0794673281384,0.99999965028,-0.000137514304502,-0.000822014500884,-6.94462017305e-05,1793250578769153024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891,779,827,654,631,656.470736902,0.456015042803,-0.00556804988554,0.0794665888224,0.99999964933,-0.000135899166795,-0.000823386280352,-7.00491158634e-05,1793250578785819392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.104553719,747,722,694,658,636,891.104553719,779.104553719,827,654,631,656,0.456013960691,-0.00556593461115,0.0794660569161,0.999999648749,-0.000134325432406,-0.000824311478863,-7.0496117618e-05,1793250578802485760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.680940884,747,722,694,658,636,891.680940884,779.680940884,827,654,631,656,0.456014956982,-0.00556614615001,0.0794665229535,0.999999650057,-0.000133262200842,-0.000822930983608,-7.00821671348e-05,1793250578819152384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.736969269,747,722,694,658,636,891.736969269,779.736969269,827,654,631,656,0.456014868405,-0.00556664033939,0.0794662685664,0.999999650353,-0.000132783920714,-0.00082267205914,-6.98035765028e-05,1793250578835819008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.147808752,747,722,694,658,636,891.147808752,779.147808752,827,654,631,656,0.456013434709,-0.00556748498494,0.0794651209303,0.999999649396,-0.000133030917466,-0.000823803761795,-6.96928175433e-05,1793250578852485632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.433210934,779,827,654,630.566789066,656,0.456000631534,-0.00556831488835,0.0794598198042,0.999999641957,-0.000134352954484,-0.000832577939006,-6.96377161102e-05,1793250578869152512
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,635.413533721,892,779,827,654,630.586466279,656,0.455940269386,-0.00556616347557,0.0794371108907,0.999999607877,-0.000131937341186,-0.000872913479511,-6.97183475675e-05,1793250578902485760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,657.834933251,635.165066749,891.834933251,779.165066749,827,654,630.834933251,656,0.455892588912,-0.00556431968494,0.0794219845366,0.999999584561,-0.000129862728282,-0.000899530404485,-6.96964731456e-05,1793250578919151872
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,657.247182003,635.752817997,891.247182003,779.752817997,827,654,630.247182003,656,0.455833491515,-0.00556518623193,0.0794086725459,0.999999564746,-0.000132679878799,-0.000920922652511,-6.93264158026e-05,1793250578935818752
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,657.335193101,636,891.335193101,779.664806899,827,654,630,656,0.455765970393,-0.00556395990296,0.0794003925482,0.999999553574,-0.000131719039825,-0.000933170533767,-6.85178957918e-05,1793250578952485632
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,892,779,827,654.490646436,630.490646436,656,0.455607283697,-0.00555974129639,0.0794005163834,0.99999955447,-0.000126962758094,-0.000933135185835,-6.48036258946e-05,1793250578985819392
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658,636,891.356620484,779.643379516,827,654.356620484,631,656.643379516,0.455411988501,-0.00555634997938,0.0794130036698,0.999999571163,-0.000122977178419,-0.000916029576425,-5.86451872795e-05,1793250579019152640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,722,694.224166438,658,636,891.224166438,780,827,654,630.775833562,657,0.455295763036,-0.00555434795089,0.0794187404905,0.999999579501,-0.000119757074787,-0.000907526953673,-5.52429047206e-05,1793250579035819008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747,722,694.812588184,658,636,891.812588184,780,827,654,630.187411816,657,0.455162962229,-0.00555242059462,0.0794238509017,0.999999586627,-0.000116347053302,-0.000900303073566,-5.16182212747e-05,1793250579052485632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.396728421,747,722,694.603271579,658.396728421,636,892,779.603271579,827,654,630.396728421,656.603271579,0.45500077117,-0.00555031734765,0.0794235592954,0.999999588453,-0.000112754335058,-0.000898960124374,-4.74515632005e-05,1793250579069152256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.978867749,747,722,694.021132251,658.978867749,636,892,779.021132251,827,654,630.978867749,656.021132251,0.454824844575,-0.00554813189805,0.0794207430583,0.999999587796,-0.000109076233238,-0.000900365625809,-4.30316131301e-05,1793250579085818880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,722,694,658.447212229,636,892,779.552787771,827,654.552787771,631,656.552787771,0.454611331436,-0.00554416651718,0.0794187374783,0.99999958333,-0.000102138707086,-0.00090635785119,-3.77260029678e-05,1793250579102485760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.873826131,747,722,694,658.126173869,636,892,780,827,654.873826131,631,656.873826131,0.454390359392,-0.00553981907527,0.0794166211684,0.999999579681,-9.44862715692e-05,-0.000911407714947,-3.23404191132e-05,1793250579119152384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.301233529,747,722,694,658.698766471,636,892,780,827,654.301233529,631,656.301233529,0.454148006129,-0.00553435707439,0.0794140050412,0.999999579712,-8.4738798019e-05,-0.000912512090765,-2.67899138293e-05,1793250579135819520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.282126347,747,722,694,659,636,892,780,827,654,631,656.282126347,0.453889281633,-0.00552844420448,0.0794132457701,0.999999581495,-7.3466815249e-05,-0.000911692742938,-2.07205703921e-05,1793250579152486144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.877438854,747,722,694,659,636,892,780,827,654,631,656.877438854,0.453612383578,-0.00552203082887,0.0794145477801,0.999999585168,-6.05024877963e-05,-0.000908737885054,-1.40752692804e-05,1793250579169152512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.542103606,747,722,694,658.542103606,636,891.542103606,780.457896394,827,654,630.542103606,656.542103606,0.453302424817,-0.00551773863096,0.0794182208626,0.999999590848,-4.75766844217e-05,-0.000903328136497,-6.18958907796e-06,1793250579185819392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,658.034415728,636.034415728,891.034415728,781,826.965584272,654,630.034415728,656,0.45298111884,-0.00551370032812,0.0794227307698,0.999999597268,-3.20636753821e-05,-0.000896901887195,1.93286680956e-06,1793250579202486016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,658.609567526,636.609567526,891.609567526,781,826.390432474,654,630.609567526,656,0.452616193403,-0.00550501096252,0.0794307306392,0.999999608494,2.42561434701e-05,-0.000884504044335,8.72305776159e-06,1793250579219152384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,722,694,659.189105957,637,891.810894043,781,826.189105957,654,631,656,0.452245502192,-0.00549797866258,0.0794405015133,0.999999619337,6.28497828479e-05,-0.000870156940404,1.42412946287e-05,1793250579235819008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,722,694,659.777916129,637,891.222083871,781,826.777916129,654,631,656,0.451862624188,-0.00549444882417,0.0794540156745,0.99999963512,6.39764376534e-05,-0.000851689783252,1.70710621842e-05,1793250579252485888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,660,637,891,781.360993246,827,654,631,656.360993246,0.451452533438,-0.00549000237276,0.0794679195985,0.999999652248,5.09012822241e-05,-0.00083227339243,1.52738566586e-05,1793250579269152768
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722,694,660.092313743,637.092313743,891.907686257,782,826.092313743,654.092313743,631,656.092313743,0.450101525657,-0.00547341960909,0.0795201275438,0.99999972701,4.39667002991e-05,-0.000737545477949,8.55054153019e-06,1793250579319152384
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.942945541,722,694,664,640,891,785.114108918,824.942945541,654,631,656,0.442393150462,-0.00541494500998,0.0796518117103,0.99999983323,0.000132726837158,-0.00056153037667,2.4629739154e-05,1793250579519152384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746.367589817,722,694,664,640,891,786.264820366,824.367589817,654,631,656,0.44162255447,-0.00542080261913,0.0796680078078,0.999999852659,0.000130564399414,-0.000526354800005,2.42177696007e-05,1793250579535819008
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,664.803759231,640.803759231,890.196240769,787,824.803759231,654,631,656,0.439938764759,-0.00543044997003,0.0796332412099,0.99999982889,0.000118940608916,-0.000572125766568,2.72965526924e-05,1793250579569152000
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.38554442,722,694,665.38554442,641,890,787,825,654,631,656,0.439094551222,-0.00542995886144,0.0796304365149,0.999999829943,0.000124527749882,-0.000569048665904,2.80973463283e-05,1793250579585818624
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.962983044,722,694,665.962983044,641,890,787,825,654,631,656,0.438265840934,-0.00542706401826,0.0796427329518,0.999999844749,0.000136641059053,-0.000539484808054,2.80746337522e-05,1793250579602484992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.461682281,722,694.538317719,666.538317719,641.538317719,890,787,824.461682281,654,631,656,0.437493746336,-0.00542682638734,0.0797353126512,0.999999909217,0.000132016679586,-0.000403777517397,3.31811201059e-05,1793250579619151872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746,722,695,667,642,890,787.116129258,824,654,631,656,0.436707250338,-0.00542656457502,0.0798236251921,0.999999953034,0.000132589855885,-0.000273607412157,3.86233916107e-05,1793250579635818496
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.86721195,746,722,694.13278805,667,642,890,788,823.13278805,654,631.86721195,656,0.434005547445,-0.00542165715506,0.079849531857,0.999999959638,0.000165711831685,-0.000226349778726,4.50542794942e-05,1793250579685818368
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.02196067,722,694,667,642,889.02196067,788,823,654,631,656,0.431980081942,-0.00541866428529,0.0797351839602,0.999999892197,0.000157473857823,-0.000435057363236,3.91563014159e-05,1793250579719154432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.593585193,722,694,667,642,889.593585193,788,823,654,631,656,0.431020418245,-0.00541858082423,0.0797065822624,0.999999866326,0.000169857922005,-0.000486598409719,4.14499640611e-05,1793250579735819776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746.828768647,722,694,667.171231353,642,889.828768647,788,822.828768647,654,631,656,0.430091875509,-0.00541925604615,0.079710307878,0.999999867841,0.000176742930653,-0.000480792675604,4.37915631586e-05,1793250579752485632
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746.236309337,722,694,667.763690663,642,889.236309337,788,822.236309337,654,631,656,0.429239890184,-0.00542179762302,0.0797935584652,0.999999928714,0.000170100298012,-0.000333914245185,4.62510851132e-05,1793250579769152256
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,667.652991802,642,889.347008198,788,821.652991802,654,631,656,0.42834977107,-0.00542486773573,0.0798420276884,0.999999952525,0.000168097197946,-0.000253593289258,4.88295907082e-05,1793250579785818624
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,667.075739955,642,889.924260045,788,821.075739955,654,631,656,0.427434349813,-0.0054282885375,0.0798674191014,0.999999960726,0.000169172479104,-0.000217433937492,5.14870435425e-05,1793250579802485248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889.499923416,788,820.499923416,654,631,656,0.426456794239,-0.00542807512153,0.0798223904396,0.999999943423,0.000168571423187,-0.000286947304101,4.8977684818e-05,1793250579819152128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,788,820,654,631.075453585,656,0.425472032925,-0.00542604638061,0.0797705268528,0.999999917345,0.000170113113747,-0.000366393336147,4.6124317938e-05,1793250579835818752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,788,820,654,631.649358677,656,0.42450165998,-0.00541565122963,0.0797437672975,0.99999989893,0.000187482371145,-0.000406028719847,4.61531853166e-05,1793250579852485632
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,787.768664037,820,654,631.768664037,656,0.423545396453,-0.00540674373191,0.0797279018457,0.999999886509,0.000200067759097,-0.000429930509183,4.5992216634e-05,1793250579869152000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,667,642,889,787.174009074,820,654,631.174009074,656,0.422611291974,-0.00540017262978,0.0797291458558,0.999999885849,0.000205139961843,-0.00042912229649,4.55331057142e-05,1793250579885818880
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,722,691.045418731,667,642,887.045418731,788.954581269,819,654,631.045418731,656,0.41490987057,-0.00538506952325,0.0797732346062,0.999999898217,0.000239265842341,-0.000379355767255,4.90594259236e-05,1793250580035818752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,722,691.621000217,667,642,887.621000217,788.378999783,819,654,631.621000217,656,0.414168568111,-0.005409779029,0.0797743279028,0.999999911797,0.000202909574608,-0.000364731952693,4.69447066502e-05,1793250580052485632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.798183831,722,692,667,642,887.596367661,787.798183831,819,654,631.798183831,656,0.413443200537,-0.00542649323841,0.0797827506878,0.999999924227,0.000180026834361,-0.000342104857308,4.58376201087e-05,1793250580069152256
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745,722,691.624292737,667,642,886.375707263,787,819.375707263,654,631,656,0.412017480417,-0.00542211911978,0.0798061396579,0.999999932065,0.000195546355086,-0.000308798602919,4.76957834647e-05,1793250580102485504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,722,691.045591186,667,642,886.954408814,787,819.954408814,654,631,656,0.411266724319,-0.00541267756874,0.0797952405215,0.999999919445,0.000213014615254,-0.000336678399562,4.881940519e-05,1793250580119152384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,722,691,667.529093,642,887,787,820,654,631.529093,656,0.410598472493,-0.00541408979321,0.0797909304857,0.999999917079,0.000211645373082,-0.000344513884939,4.85648051361e-05,1793250580135819264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745.103278046,722,690.896721954,668,642.103278046,887,787.103278046,820,654,631.896721954,656,0.409951478096,-0.00541494072685,0.0797927328484,0.999999918508,0.00021091748898,-0.000340796169809,4.85394061849e-05,1793250580152486144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745.676754765,722,690.323245235,668,642.676754765,887,787.676754765,820,654,631.323245235,656,0.40936914057,-0.00540901035795,0.0798197979586,0.999999931733,0.000220443875306,-0.000292283868878,5.00941084117e-05,1793250580169152768
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.849376166,745.150623834,722,690,668,642.150623834,887,788,820,654,631.849376166,656,0.408223259474,-0.00540575747301,0.0798461390362,0.999999939725,0.000229729657604,-0.000255108331943,5.19020297879e-05,1793250580202485504
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,722.828124913,689,668,642,887,787.171875087,819.828124913,654,632,656,0.406085672002,-0.00539618310778,0.079767958953,0.9999999007,0.000233870730981,-0.000376644823449,4.52001969234e-05,1793250580269152000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745,722.24455951,689,668,642,887,787.75544049,819.24455951,654,632,656,0.405668875668,-0.00539647496332,0.0797931381152,0.999999918431,0.000234986676526,-0.000325230866338,4.629896476e-05,1793250580285818880
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746,722,687.51151246,668,642,887,787.48848754,820,655,631.48848754,656.48848754,0.404474485782,-0.00539836892386,0.079835052256,0.999999933295,0.000233551544957,-0.000276499322061,4.91074231639e-05,1793250580335818752
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,745,722,687,667.696315923,642,887,787.696315923,820,654,631.696315923,656,0.402074978406,-0.00539463892755,0.0798419368184,0.999999931771,0.000235837424412,-0.000279468523599,5.23069440059e-05,1793250580485818880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,745,722,687,668,642.279602523,887,787.720397477,819.720397477,654,631.720397477,656,0.401923789075,-0.00539411855535,0.0798482775804,0.999999934994,0.000233854791028,-0.000269248593331,5.3185572376e-05,1793250580502485248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745,722,687,668,642.873878886,887,787.126121114,819.126121114,654,631.126121114,656,0.401785525765,-0.00539300737732,0.0798535870563,0.999999936383,0.000235343066273,-0.000262475955114,5.43430195547e-05,1793250580519151872
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,745,722.036747371,687,668,642.963252629,887,787,819,654,632,656,0.400973690903,-0.00539693849471,0.0798340511629,0.999999927292,0.000245521505708,-0.000288671946108,4.24667071931e-05,1793250580952485376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.462073586,668,642.462073586,886.462073586,787.537926414,819,654,632,656,0.400974570058,-0.00539728418246,0.0798354783259,0.999999927994,0.00024513758655,-0.000286588092373,4.22721312242e-05,1793250580969152000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,745,722.10947077,686.10947077,668,642,886.10947077,788,819.10947077,654,632,656,0.400975349658,-0.00539763988704,0.0798366080493,0.999999928708,0.00024441458057,-0.000284735933162,4.20834900179e-05,1793250580985818624
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,768,745,723,687,668.249142876,642,887,788,819.750857124,654,632,656.249142876,0.40097512006,-0.00539830642769,0.0798356744116,0.999999929418,0.000241712642368,-0.000284552937402,4.20529526766e-05,1793250581019152128
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,745,723,687,668.857407447,642,887,788,819.142592553,654,632,656.857407447,0.400974819327,-0.00539930636878,0.0798358737661,0.999999929512,0.000241575670769,-0.000284327905172,4.21332780494e-05,1793250581035818752
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,745,722.557769875,687,668.557769875,642,887.442230125,787.557769875,819,654.442230125,632,656.557769875,0.400974154354,-0.00539797553396,0.0798359095024,0.999999928994,0.000243367870959,-0.000284647860286,4.19460516201e-05,1793250581052485376
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.980394002,668,642,887.960788005,787.019605998,819,654.980394002,631.980394002,656.019605998,0.400973442799,-0.00539602326058,0.0798359247811,0.999999928325,0.000245662007397,-0.000285063588739,4.16937136696e-05,1793250581069152000
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768,745,722,686.410558218,668,642,886.821116436,787.589441782,819,654.410558218,631.410558218,656.589441782,0.400974554033,-0.00539666031272,0.0798367719891,0.999999928814,0.000245464262403,-0.000283483767731,4.19132778499e-05,1793250581085818624
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,768,745,722,686.754421585,668,642,886,787.245578415,819,654,631.754421585,656.245578415,0.400975401216,-0.00539756243027,0.0798375076334,0.999999929297,0.000244857415587,-0.000282311849057,4.18403108592e-05,1793250581119151872
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e98c033577dbc591cd09ab0527984290936243a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.575665762501,0.000150180538458,1.07003359448,0.5462364407,0.0088228135467,1.06970499309
+398,6.633333333,pose2_to_pose3_retreat,0.575665604747,0.000150171479681,1.07003359216,0.546236283106,0.00882280503871,1.069704991
+399,6.650000000,pose2_to_pose3_retreat,0.575665403316,0.000150159912791,1.0700335892,0.546236081879,0.00882279417509,1.06970498834
+400,6.666666667,pose2_to_pose3_retreat,0.57566512287,0.000150159984944,1.07003357881,0.546235801426,0.00882279422633,1.069704978
+401,6.683333333,pose2_to_pose3_retreat,0.575665117461,0.000150161145695,1.07003357816,0.546235795996,0.008822795315,1.06970497732
+402,6.700000000,pose2_to_pose3_retreat,0.575664971826,0.000150192399336,1.07003356067,0.546235649797,0.00882282462793,1.06970495912
+403,6.716666667,pose2_to_pose3_retreat,0.575664902915,0.000150207187878,1.07003355239,0.546235580619,0.00882283849816,1.06970495051
+404,6.733333333,pose2_to_pose3_retreat,0.575664827853,0.000150223296499,1.07003354337,0.546235505266,0.00882285360651,1.06970494114
+405,6.750000000,pose2_to_pose3_retreat,0.575664713558,0.000150247824495,1.07003352965,0.546235390529,0.00882287661142,1.06970492686
+406,6.766666667,pose2_to_pose3_retreat,0.575664671452,0.000150256860448,1.07003352459,0.54623534826,0.00882288508628,1.0697049216
+407,6.783333333,pose2_to_pose3_retreat,0.575664478312,0.000150298308902,1.07003350139,0.546235154372,0.00882292396096,1.06970489746
+408,6.800000000,pose2_to_pose3_retreat,0.575664420472,0.000150296653965,1.07003350886,0.546235096623,0.00882292261486,1.06970490489
+409,6.816666667,pose2_to_pose3_retreat,0.575664406219,0.000150290428488,1.07003351666,0.546235082523,0.00882291691196,1.06970491278
+410,6.833333333,pose2_to_pose3_retreat,0.575664372336,0.000150275628792,1.0700335352,0.546235049004,0.00882290335457,1.06970493154
+411,6.850000000,pose2_to_pose3_retreat,0.575664299732,0.000150243916251,1.07003357493,0.546234977178,0.00882287430403,1.06970497174
+412,6.866666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..604c96b5f4f6407e2cc7b737298d108f19340ba7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5ddd15f0909b10299218646ea8aac1b6c88a6b014b230484b3a640b3a281bc
+size 25840272
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b95dde9c24616f15e850a532e2fa830e9f0cd69
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+47,0.783333333,BASELINE,769,745.719615216,722,685,668,643,887.719615216,789.719615216,819,655,632,656.280384784,0.400920250246,-0.0154331644694,0.0599222663487,0.999999971087,-9.8602696115e-05,-0.000214912644342,-4.37626213957e-05,1793250583517964800
+48,0.800000000,BASELINE,769,745.140663878,722,685,668,643,887.140663878,789.140663878,819,655,632,656.859336122,0.400920660008,-0.0154322136493,0.059922928907,0.999999971383,-9.68294723674e-05,-0.000214284716428,-4.40411021971e-05,1793250583534631168
+49,0.816666667,BASELINE,768.565196685,745,722,684.565196685,668,643,887.434803315,789.434803315,819.434803315,655,632,657,0.400920203254,-0.0154317896145,0.0599230544407,0.999999971245,-9.668674393e-05,-0.000214982789194,-4.40949608835e-05,1793250583551298048
+50,0.833333333,BASELINE,768.009140944,745,722.009140944,684,668,643,887.990859056,789.990859056,820,655,632,656.990859056,0.40091947209,-0.0154315455485,0.0599229958827,0.999999970968,-9.70640437798e-05,-0.000216102841183,-4.40785279415e-05,1793250583567964672
+51,0.850000000,BASELINE,768.582778898,745,722.582778898,684,668,643,887.417221102,789.417221102,820,655,632,656.417221102,0.400918968704,-0.0154319747575,0.0599222123804,0.999999970752,-9.72398694285e-05,-0.000217001374532,-4.41731635349e-05,1793250583584631552
+52,0.866666667,BASELINE,769,745.161613162,722.838386838,684,668,643,887.161613162,789,820,655,632,656,0.400918832051,-0.0154325120042,0.0599216576738,0.999999970593,-9.76513948269e-05,-0.000217554264129,-4.41485375284e-05,1793250583601298176
+53,0.883333333,BASELINE,769,745.754307853,722.245692147,684,668,643,887.754307853,789,820,655,632,656,0.400919673605,-0.015433337427,0.0599217132494,0.999999970586,-9.86916178254e-05,-0.000217185195112,-4.38057971229e-05,1793250583617964544
+54,0.900000000,BASELINE,769,745.66092935,722,684.33907065,668,643,887.66092935,789,820,654.66092935,632,656,0.400919776805,-0.0154330886127,0.0599216463018,0.99999997064,-9.84407662709e-05,-0.000217058029055,-4.37729276196e-05,1793250583634631168
+55,0.916666667,BASELINE,769,745.081782688,722,684.918217312,668,643,887.081782688,789,820,654.081782688,632,656,0.40091935722,-0.0154320791942,0.0599214926027,0.999999970736,-9.72757806102e-05,-0.000217102140291,-4.39594595168e-05,1793250583651297792
+56,0.933333333,BASELINE,769,745.492286648,722,685,668,643,887.492286648,789.492286648,820,654.492286648,632,656.492286648,0.400918147338,-0.0154312425584,0.0599207563419,0.999999970612,-9.6067091994e-05,-0.000218188206927,-4.40511002897e-05,1793250583667964672
+57,0.950000000,BASELINE,768.934899549,745.934899549,722,685,668.065100451,643,888,790,820,655,632,656.934899549,0.400917112487,-0.0154307857567,0.0599201400144,0.999999970484,-9.5190367092e-05,-0.000219156671585,-4.40644200576e-05,1793250583684631296
+58,0.966666667,BASELINE,768.365345678,745.365345678,722,685,668.634654322,643,888,790,820,655,632,656.365345678,0.400918440892,-0.0154330520792,0.0599211953089,0.999999970614,-9.69416634138e-05,-0.000217886237428,-4.35917488342e-05,1793250583701297920
+59,0.983333333,BASELINE,768.214612884,745,722.214612884,684.785387116,668.785387116,643,887.785387116,790,819.785387116,655,632,656,0.40091947471,-0.0154342254251,0.0599219495854,0.999999970781,-9.80797306658e-05,-0.000216660616508,-4.33219457481e-05,1793250583717964544
+60,1.000000000,BASELINE,768.813186414,745,722.813186414,684.186813586,668.186813586,643,887.186813586,790,819.186813586,655,632,656,0.40091998149,-0.0154334433436,0.0599221653152,0.99999997102,-9.81206794143e-05,-0.000215515170057,-4.34150908806e-05,1793250583734631424
+61,1.016666667,BASELINE,769,745,722.603220751,684,668,643,887,790,819,655,632,656,0.400920145322,-0.0154327832296,0.0599216059227,0.99999997103,-9.68166300811e-05,-0.000216018724159,-4.36128017718e-05,1793250583751298048
+62,1.033333333,BASELINE,769,745,722.026424624,684,668,643,887,790,819,655,632,656,0.40092015356,-0.0154321784515,0.059920694861,0.999999970932,-9.49023614418e-05,-0.000217270422125,-4.38579536503e-05,1793250583767964672
+63,1.050000000,BASELINE,769,745,722,684.54449459,668.54449459,643,887,790,819.54449459,655,632,656.54449459,0.400919417891,-0.0154327294448,0.059920604015,0.999999970773,-9.67448079985e-05,-0.000217198412759,-4.38096846007e-05,1793250583784631296
+64,1.066666667,BASELINE,769,745,722,684.885741744,668.885741744,643,887,790,819.885741744,655,632,657,0.400918833254,-0.0154330909562,0.0599206419611,0.999999970702,-9.79820049212e-05,-0.000216976413916,-4.37737938585e-05,1793250583801297920
+65,1.083333333,BASELINE,769,745,722,684.319433547,668.319433547,643,887,790,819.319433547,655,632,657,0.400918987468,-0.0154324832587,0.059921033654,0.999999971003,-9.61109912021e-05,-0.000216412443963,-4.38426133972e-05,1793250583817964544
+66,1.100000000,BASELINE,769,745,722,684,668,643,887,790,819.264958174,655,632,656.735041826,0.40091901341,-0.0154324356817,0.0599210783422,0.999999971013,-9.62693393516e-05,-0.000216276412832,-4.39481528556e-05,1793250583834631424
+67,1.116666667,BASELINE,769,745,722,684,668,643,887,790,819.872748297,655,632,656.127251703,0.400918873379,-0.01543311285,0.0599206740376,0.999999970644,-9.90534986476e-05,-0.000216694095934,-4.41012045687e-05,1793250583851298048
+68,1.133333333,BASELINE,769,745.4561093,722,684.4561093,668,643,887,789.5438907,819.5438907,655,632,656.4561093,0.400919416556,-0.0154327084241,0.0599213301158,0.999999970833,-9.82426651456e-05,-0.000216184811559,-4.41249640292e-05,1793250583867964672
+69,1.150000000,BASELINE,769,745.967185515,722,684.967185515,668,643,887.032814485,789,819,655,632,657,0.400920048556,-0.0154320746243,0.0599221471225,0.999999971145,-9.65376361143e-05,-0.000215515584155,-4.40946259307e-05,1793250583884631296
+70,1.166666667,BASELINE,769,745.393558439,722,684.393558439,668,643,887.606441561,789,819,655,632,657,0.400919162687,-0.015432380961,0.059920988525,0.999999971073,-9.5785155386e-05,-0.000216255934594,-4.37369837166e-05,1793250583901297920
+71,1.183333333,BASELINE,769,745,722,684.186284417,668,643,887.813715583,789.186284417,819,655,632,657,0.400918911989,-0.0154328647087,0.0599206007135,0.999999971071,-9.57824727682e-05,-0.000216318647589,-4.34693935286e-05,1793250583917964544
+72,1.200000000,BASELINE,769,745,722,684.779712611,668,643,887.220287389,789.779712611,819,655,632,657,0.400920049521,-0.0154337362063,0.059921897534,0.999999971222,-9.74185509863e-05,-0.000214900314306,-4.33986212479e-05,1793250583934631168
+73,1.216666667,BASELINE,769,745,722.363240976,685,668.363240976,643,887,790,819.363240976,655,632,657,0.400920469561,-0.0154345328633,0.0599223886473,0.999999971224,-9.84381105804e-05,-0.000214445250559,-4.33003046766e-05,1793250583951298048
+74,1.233333333,BASELINE,769,745,722.940924844,685,668.940924844,643,887,790,819.940924844,655,632,657,0.400920466021,-0.0154352853373,0.0599224041032,0.99999997114,-9.90937022271e-05,-0.000214558862568,-4.31857270658e-05,1793250583967964672
+75,1.250000000,BASELINE,769,745,723,684.48310068,668.48310068,643,887,789.48310068,819.48310068,655,632,657,0.40091969961,-0.0154324266667,0.0599217771294,0.999999971147,-9.66317473849e-05,-0.000215544800213,-4.36966530651e-05,1793250583984631552
+76,1.266666667,BASELINE,769,745,722.905518109,684,668.094481891,643,887,789,819,655,632,656.905518109,0.400918926713,-0.0154301473848,0.0599212114605,0.999999971118,-9.47402126089e-05,-0.000216432783129,-4.40964950462e-05,1793250584001297920
+77,1.283333333,BASELINE,769,745,722.318538175,684,668.681461825,643,887,789,819,655,632,656.318538175,0.400918572981,-0.0154330324385,0.0599213468092,0.999999970891,-9.76731773731e-05,-0.000216292201326,-4.35458907805e-05,1793250584017964544
+78,1.300000000,BASELINE,769,745.264869011,722,684,668.735130989,643,887,789.264869011,819,655,632,656,0.400919081713,-0.015433974055,0.0599217425046,0.999999970916,-9.84197505056e-05,-0.000215884731039,-4.32975576956e-05,1793250584034631424
+79,1.316666667,BASELINE,769,745.844036664,722,684,668.155963336,643,887,789.844036664,819,655,632,656,0.400920613863,-0.0154326095515,0.0599224471323,0.999999971248,-9.65719092491e-05,-0.000215160565776,-4.34079054222e-05,1793250584051298048
+80,1.333333333,BASELINE,768.578640803,745.578640803,722,684,668,643,887,790,819,655,632,656,0.400920486328,-0.0154322969567,0.0599225730689,0.999999971375,-9.55430927714e-05,-0.000215030800491,-4.33910605963e-05,1793250584067964672
+81,1.350000000,BASELINE,768.001998205,745.001998205,722,684,668,643,887,790,819,655,632,656,0.400919747151,-0.0154323720213,0.0599224857405,0.999999971428,-9.48161111434e-05,-0.000215120089226,-4.3327341539e-05,1793250584084631552
+82,1.366666667,BASELINE,768.569761815,745,722,684,668.569761815,643,887,789.430238185,819,655,632,656,0.400920793083,-0.0154333020331,0.0599225511346,0.999999971519,-9.5426356107e-05,-0.000214415900641,-4.33887688047e-05,1793250584101298176
+83,1.383333333,BASELINE,768.852554138,745,722,684,668.852554138,643,887,789.147445862,819,655,632,656,0.400921718151,-0.0154341929994,0.0599227761956,0.999999971624,-9.60790899766e-05,-0.000213657962182,-4.32625527709e-05,1793250584117964800
+84,1.400000000,BASELINE,768.256806624,745,722,684,668.256806624,643,887,789.743193376,819,655,632,656,0.400922256864,-0.0154349562112,0.0599234851008,0.999999971774,-9.68468714965e-05,-0.000212744988846,-4.2564493724e-05,1793250584134631168
+85,1.416666667,BASELINE,768.329445654,745,722,684,668.329445654,643,887.329445654,789.670554346,819.329445654,655,632,656.329445654,0.40092145999,-0.0154348135124,0.0599230008515,0.999999971565,-9.73515893281e-05,-0.000213488401543,-4.25984142535e-05,1793250584151297792
+86,1.433333333,BASELINE,768.908503605,745,722,684,668.908503605,643,887.908503605,789.091496395,819.908503605,655,632,656.908503605,0.400919651179,-0.015433984429,0.0599216125805,0.999999971082,-9.76569906833e-05,-0.000215486814377,-4.31869364764e-05,1793250584167964416
+87,1.450000000,BASELINE,768.516611463,745,722,684,668.516611463,643,888,789,819.516611463,655,632,657,0.400919675811,-0.0154335582568,0.0599219830996,0.999999970992,-9.79776378686e-05,-0.000215743807802,-4.32644158706e-05,1793250584184631552
+88,1.466666667,BASELINE,768.058828682,745,722.058828682,684,668,643,887.941171318,789,819.058828682,655,632,657,0.400919839684,-0.0154333118515,0.059922478819,0.999999970945,-9.82051410816e-05,-0.000215854467259,-4.32668042414e-05,1793250584201298944
+89,1.483333333,BASELINE,768.646295139,745,722.646295139,684,668,643,887.353704861,789,819.646295139,655,632,657,0.400918162988,-0.0154340013973,0.0599211336876,0.999999970624,-9.75699378806e-05,-0.000217586776405,-4.34562094478e-05,1793250584217965312
+90,1.500000000,BASELINE,768.769678688,745,722.769678688,684.230321312,668,643,887,789.230321312,819.769678688,655,632,656.769678688,0.40091810238,-0.0154344809172,0.0599206828754,0.999999970571,-9.78305581856e-05,-0.000217695250207,-4.35375401463e-05,1793250584234631680
+91,1.516666667,BASELINE,768.190858063,745,722.190858063,684.809141937,668,643,887,789.809141937,819.190858063,655,632,656.190858063,0.400920487075,-0.0154346426467,0.0599215852581,0.999999970924,-9.94466496261e-05,-0.000215346697626,-4.34553432257e-05,1793250584251298048
+92,1.533333333,BASELINE,768.386904774,745,722,684.613095226,668,643,887,789.613095226,819,655,632,656,0.400920560399,-0.0154346022691,0.0599218525683,0.999999971172,-9.81971747373e-05,-0.000214788173775,-4.33405414922e-05,1793250584267964928
+93,1.550000000,BASELINE,768.964147284,745,722,684.035852716,668,643,887,789.035852716,819,655,632,656,0.400919496645,-0.0154344624649,0.0599218074546,0.999999971366,-9.55379851337e-05,-0.000215110254035,-4.32096998191e-05,1793250584284632064
+94,1.566666667,BASELINE,769,745,722.538866502,684.538866502,668,643,887,789,819,655,632,656.538866502,0.400917377678,-0.0154334551478,0.0599205747353,0.99999997077,-9.65387603979e-05,-0.000217366756271,-4.34991673027e-05,1793250584301298944
+95,1.583333333,BASELINE,769,745,722.883663249,684.883663249,668.116336751,643,887,789,819.116336751,655,632,656.883663249,0.400916234285,-0.0154327304712,0.0599198447071,0.999999970378,-9.75666404747e-05,-0.000218667679843,-4.37008755488e-05,1793250584317965568
+96,1.600000000,BASELINE,769,745,722.294328383,684.294328383,668.705671617,643,887,789,819.705671617,655,632,656.294328383,0.400919341465,-0.0154333885222,0.0599214782651,0.999999971049,-9.77192800386e-05,-0.000215562602392,-4.34326073678e-05,1793250584334631936
+97,1.616666667,BASELINE,769,745,722,684,668.710349212,643,887,789,819.710349212,655,632,656,0.400921013379,-0.0154337635775,0.059922722908,0.999999971444,-9.78466635344e-05,-0.000213698837828,-4.32541956988e-05,1793250584351298048
+98,1.633333333,BASELINE,769,745,722,684,668.131713461,643,887,789,819.131713461,655,632,656,0.400921253327,-0.0154338562876,0.0599235795297,0.999999971571,-9.79488490098e-05,-0.000213073532918,-4.31654340039e-05,1793250584367964672
+99,1.650000000,BASELINE,769,745,722,684,668.445183146,643,887,789,819,655,632,656,0.400920771351,-0.0154335251015,0.0599229859553,0.999999971516,-9.66462538157e-05,-0.000213914633225,-4.32271162648e-05,1793250584384631552
+100,1.666666667,BASELINE,769,744.979300543,722.020699457,684,668.979300543,643,887,789,819.020699457,655,632,656,0.4009200631,-0.015433129393,0.0599219618918,0.999999971384,-9.51255165184e-05,-0.000215186250092,-4.33302899564e-05,1793250584401298176
+101,1.683333333,BASELINE,769,744.42610687,722.57389313,684,668.42610687,643,887,789,819.57389313,655,632,656,0.400919007137,-0.0154342876039,0.059920858118,0.999999970777,-9.86433846037e-05,-0.000216415395972,-4.33602440283e-05,1793250584417965056
+102,1.700000000,BASELINE,768.85904155,744.14095845,722.85904155,684,668,643,887,789.14095845,819.85904155,655,632,656,0.400918660068,-0.0154348789896,0.0599202983192,0.999999970476,-0.000100582611545,-0.000216915673739,-4.33535195336e-05,1793250584434631680
+103,1.716666667,BASELINE,768.245466376,744.754533624,722.245466376,684,668,643,887,789.754533624,819.245466376,655,632,656,0.400920689837,-0.0154335698784,0.0599215624034,0.999999971233,-9.72288439704e-05,-0.000214972144179,-4.3223816213e-05,1793250584451298304
+104,1.733333333,BASELINE,768.348769597,745,722,684.348769597,668,643,887,789.651230403,819,655,632,656,0.400920591199,-0.0154331216993,0.0599217884436,0.999999971287,-9.66719381006e-05,-0.000214955251781,-4.33096021757e-05,1793250584467964928
+105,1.750000000,BASELINE,768.930109649,745,722,684.930109649,668,643,887,789.069890351,819,655,632,656,0.400919073273,-0.0154332476163,0.0599213222838,0.999999970876,-9.7980066588e-05,-0.000216223100992,-4.35390831067e-05,1793250584484631552
+106,1.766666667,BASELINE,769,745,722,685,668,643,887.502972928,789,819,655,632,656.502972928,0.400919057258,-0.0154333417101,0.0599212320952,0.999999970995,-9.65973370901e-05,-0.000216333841563,-4.33479178338e-05,1793250584501298176
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,789,819,655,632,656,0.400919161073,-0.0154325660636,0.059921109544,0.999999971009,-9.77025311328e-05,-0.000215678864812,-4.38035176386e-05,1793250584544845312
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,722.596968698,685,668.403031302,643,887,789,819.596968698,655,632,656.596968698,0.400920400168,-0.0154332124958,0.059921296348,0.999999971014,-9.83829401563e-05,-0.000215357073634,-4.37405960219e-05,1793250584561511936
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722.812366392,685,668,643,887,789,820,655,632,657,0.400921145809,-0.0154335099624,0.0599213739724,0.9999999711,-9.78810577498e-05,-0.000215223890116,-4.35749100922e-05,1793250584578178816
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722.234801602,685,668,643,887,789,820,655,632,657,0.400920865977,-0.0154330822256,0.059921224705,0.999999971346,-9.49221940188e-05,-0.000215482661945,-4.3195664275e-05,1793250584594846208
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722,684.659458626,668,643,887,789,819.659458626,655,632,656.659458626,0.40092078967,-0.0154338039884,0.0599209778679,0.999999971308,-9.51775044092e-05,-0.000215563856856,-4.31003042898e-05,1793250584611512832
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,684.085637684,668,643,887,789,819.085637684,655,632,656.085637684,0.400920852781,-0.015435313188,0.0599206641932,0.999999971075,-9.76346066237e-05,-0.000215523407009,-4.31994133977e-05,1793250584628178944
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,684,668,643,887,789,819,655,632,656,0.400926408075,-0.0154343975097,0.0599223636875,0.999999972098,-9.64687308166e-05,-0.000211241432395,-4.32922299864e-05,1793250584644845568
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.91007483,745,722,684,668,643,887,789,819,655,632,656,0.400934274977,-0.0154332161154,0.0599248193844,0.999999973482,-9.46338864752e-05,-0.000205439857247,-4.32994525511e-05,1793250584661512192
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.331192801,745,722,684,668,643,887,789,819,655,632,656,0.400949472348,-0.0154329028467,0.059929466617,0.999999975698,-9.26173171796e-05,-0.000195421341022,-4.28472703243e-05,1793250584678178816
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.246793759,745,722,684,668,643,887,789,819,655,632,656.246793759,0.400970018532,-0.015434226002,0.0599342987745,0.999999978034,-9.34308100232e-05,-0.000182776320465,-4.23813293584e-05,1793250584694845696
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.823582915,745,722,684,668,643,887,789,819,655,632,656.823582915,0.400997716772,-0.0154377372694,0.0599393782003,0.999999980437,-9.80284646737e-05,-0.000166619322343,-4.18969911986e-05,1793250584711512320
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722,684,668,643,887,789,819,655,632,657,0.401038489779,-0.0154391834669,0.059944963037,0.999999983546,-9.8941558136e-05,-0.000146147247554,-4.19533457902e-05,1793250584728179200
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722,684,668,643,887,789,819,655,632,657,0.401085023962,-0.0154397197269,0.059950770575,0.999999986623,-9.82311128169e-05,-0.000123773806264,-4.22479473793e-05,1793250584744846080
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722,684,668,643,887,789,819,654.455747116,632,656.455747116,0.401133014646,-0.0154414334934,0.0599515208625,0.999999987152,-9.86262934898e-05,-0.000118982072218,-4.25790745805e-05,1793250584761512448
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.878546425,745,722.121453575,684,668,643,887,789,819,654.121453575,632,656,0.401185874786,-0.0154434204035,0.0599527134424,0.999999987661,-9.90091468889e-05,-0.000114154563071,-4.29427025619e-05,1793250584778179072
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.279713223,745,722.720286777,684,668,643,887,789,819,654.720286777,632,656,0.40125758592,-0.0154462475378,0.0599566468211,0.999999988558,-9.91244127283e-05,-0.000105701748474,-4.34268372917e-05,1793250584794845696
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.306746392,745,722.693253608,684.306746392,668.306746392,643,887,789.306746392,819,655,632,656,0.401339993752,-0.0154510312572,0.0599595688516,0.999999989162,-0.00010096181388,-9.77674390536e-05,-4.38683416296e-05,1793250584811512832
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.882360344,745,722.117639656,684.882360344,668.882360344,643,887,789.882360344,819,655,632,656,0.401431777387,-0.015457529951,0.0599616044207,0.999999989504,-0.000104308691042,-9.02876072782e-05,-4.42724797952e-05,1793250584828179456
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722,684.531680538,668.531680538,643,887,789.531680538,819,655,632,656,0.401543569899,-0.0154640847798,0.0599648143063,0.999999989865,-0.00010658152585,-8.34010631958e-05,-4.42193380229e-05,1793250584844846080
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722,684.055995445,668.055995445,643,887,789,819,655,632,656,0.401662679764,-0.0154706339849,0.0599678749744,0.999999990152,-0.000108802171347,-7.68407730964e-05,-4.4207034071e-05,1793250584861512192
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722,684.634888955,668.634888955,643,887,789,819,655,632,656,0.401802125335,-0.0154769960249,0.0599667253753,0.999999989975,-0.000113111773072,-7.19039929568e-05,-4.56729628794e-05,1793250584878179072
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,684.787184363,668.787184363,643,887,789,819,655,632,656,0.401951424768,-0.0154838186524,0.0599648222299,0.999999989726,-0.000116385217342,-6.93663887442e-05,-4.68107309658e-05,1793250584894845696
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,684.210908949,668.210908949,643,887,789,819,655,632,656,0.402117553225,-0.0154914278993,0.0599616321314,0.999999989413,-0.000117889047045,-7.0926246884e-05,-4.73880456171e-05,1793250584911512320
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722,684.363522384,668,643,887.363522384,789,819,655,632,656,0.40231310523,-0.0155004498151,0.0599615822471,0.999999989331,-0.000121341778016,-6.5620735341e-05,-4.8045527472e-05,1793250584928178944
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722,684.936889268,668,643,887.936889268,789,819,655,632,656,0.40252564209,-0.0155102871995,0.0599633450614,0.999999989296,-0.000125919518835,-5.63521665408e-05,-4.87492861614e-05,1793250584944845568
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,722,685,668,643,887.473750559,789,819.526249441,655,632,656,0.402769695243,-0.0155204365667,0.0599643094571,0.999999987267,-0.000144133464837,-4.79392124532e-05,-4.89138218593e-05,1793250584961512192
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.115145435,745,722.115145435,685,668,643,887,789.115145435,820,655,632,656,0.403024432655,-0.015530218012,0.0599654125081,0.999999984701,-0.000163143470595,-3.97090386118e-05,-4.90385256366e-05,1793250584978178816
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.694201792,745,722.694201792,685,668,643,887,789.694201792,820,655,632,656,0.403306511091,-0.0155383616694,0.0599674720525,0.999999982338,-0.000178565629827,-3.17889034614e-05,-4.92714523881e-05,1793250584994845440
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.728244724,745,722.728244724,685,668,643,887,789.728244724,819.728244724,655,632,656,0.403596795838,-0.0155438241704,0.0599625696085,0.999999981752,-0.000180664831323,-3.72233087779e-05,-4.9708304266e-05,1793250585011512064
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.152373112,745,722.152373112,685,668,643,887,789.152373112,819.152373112,655,632,656,0.403896264099,-0.0155462862379,0.059949876131,0.999999982985,-0.000167854554638,-5.76025354409e-05,-5.03733649837e-05,1793250585028178944
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,722,685,668,643,887.42208091,789,819.42208091,655,632,656,0.404222296121,-0.0155409932289,0.0599368584866,0.999999984038,-0.000150468447462,-8.12040785748e-05,-5.18482576343e-05,1793250585044845824
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,722,685,668,643,887.996024876,789,819.996024876,655,632,656,0.404557885674,-0.0155329099736,0.0599237242085,0.999999984311,-0.000131435974585,-0.000105964998042,-5.36145245878e-05,1793250585061512192
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.413182263,745,722,685,668.586817737,643,887.413182263,789,819.413182263,655,632,656,0.404957519038,-0.015532922312,0.0599197862003,0.999999981231,-0.000147978575459,-0.000112904666738,-5.37844316694e-05,1793250585078178816
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+141,2.350000000,POSE1_TO_POSE2_PRESS,768.749507303,745,722.749507303,685,668.250492697,643,887.749507303,789,819,654.250492697,632,656.749507303,0.405849577396,-0.0155419565804,0.0599431197907,0.999999984478,-0.000151310081351,-7.38839439549e-05,-5.18770033246e-05,1793250585111511808
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722.675922043,685.648155915,668,643,888.324077957,789.324077957,819.324077957,654.324077957,632,656.675922043,0.406346982467,-0.0155465694274,0.0599670459123,0.999999987094,-0.000149031147611,-3.28303267079e-05,-5.02378483467e-05,1793250585128178688
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+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,722,686.074809603,668.074809603,643,888.074809603,790,820,654,632,657,0.407933093515,-0.0155499913908,0.0600075188628,0.999999989181,-0.000137991411562,1.96372260134e-05,-4.70083936604e-05,1793250585178178560
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,722,686.653996014,668.653996014,643,888.653996014,790,820,654,632,657,0.408481808448,-0.0155473795297,0.0599943640012,0.999999987563,-0.000149304090649,-1.35801754293e-05,-4.89582093815e-05,1793250585194845184
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+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.804583194,722,687,669,643,889,790.804583194,820,654.804583194,632,657,0.409663256401,-0.0155505620781,0.0599825993307,0.999999987202,-0.000145947169708,-4.15789501448e-05,-5.0655945729e-05,1793250585228178688
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+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.039785447,722,687.960214553,669,643,889,790.039785447,820,655,632,657,0.410999112196,-0.0155555836748,0.0599977568603,0.99999998914,-0.000137969465264,7.07714988867e-06,-5.13341142319e-05,1793250585261511936
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+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722.388425536,690,669.388425536,643,890,790.611574464,823,655,632.611574464,656.611574464,0.41706920719,-0.0155708966891,0.0600219813746,0.999999987601,-0.000145753156219,3.44289808522e-05,-4.86628878411e-05,1793250585394845952
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722,689.801285187,669.198714813,643,890,790.801285187,823.198714813,655,632.801285187,657,0.417902923314,-0.0155723479546,0.060016580395,0.999999987249,-0.000150271388216,2.1425838026e-05,-4.96035200664e-05,1793250585411512576
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+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,722,689.924658836,669.075341164,643,890,790.924658836,824,655,632.924658836,656.075341164,0.420411206453,-0.015569712109,0.0599435317391,0.999999983834,-0.000146977178759,-8.46133165642e-05,-5.97475530508e-05,1793250585461513216
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+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747,723,692.227278998,667,638,892,781.227278998,828,655,629,656.772721002,0.454279277356,-0.0157134106927,0.0596513396065,0.999999799019,-0.000331839376668,-0.000535436291526,-7.17783222273e-05,1793250586778178816
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,769.467319035,745,722,685,669,643,887,789.467319035,820,655,632,656,0.401016279704,-0.015381339244,0.0598294977841,0.999999939571,0.000203737325021,-0.000280711477385,2.34504133494e-05,1793250589153392896
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.812435237,745.187564763,722.187564763,685,669,643,887,789,819,655,632,656,0.40098437234,-0.01538276819,0.0598303242079,0.999999940101,0.000203887441059,-0.000278784428255,2.25343040392e-05,1793250589203392768
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9247efae4823675bd3b4dc71c15bdd7fee357b9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575686475668,-0.00984993666144,1.0500335058,0.546257152744,-0.00117730758325,1.0497049011
+383,6.383333333,pose2_to_pose3_retreat,0.575679338612,-0.00984999090895,1.05003353358,0.546250018042,-0.00117735403722,1.04970492382
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+385,6.416666667,pose2_to_pose3_retreat,0.575671849529,-0.00984985972586,1.05003375654,0.546242528109,-0.00117722582439,1.04970514453
+386,6.433333333,pose2_to_pose3_retreat,0.575670192688,-0.0098498632448,1.05003374714,0.546240871087,-0.00117722988401,1.04970513709
+387,6.450000000,pose2_to_pose3_retreat,0.575669253536,-0.00984988495379,1.05003371012,0.546239931925,-0.00117725154921,1.0497051022
+388,6.466666667,pose2_to_pose3_retreat,0.575668104077,-0.00984991152416,1.05003366481,0.546238782452,-0.00117727806597,1.04970505951
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+390,6.500000000,pose2_to_pose3_retreat,0.575666345554,-0.00985003630258,1.0500335787,0.546237024743,-0.00117740003152,1.04970497484
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+393,6.550000000,pose2_to_pose3_retreat,0.575665849428,-0.00985010162009,1.0500335484,0.546236529145,-0.00117746357793,1.04970494403
+394,6.566666667,pose2_to_pose3_retreat,0.575665790714,-0.00985010935015,1.05003354481,0.546236470493,-0.00117747109839,1.04970494039
+395,6.583333333,pose2_to_pose3_retreat,0.575665635477,-0.00985012978793,1.05003353533,0.54623631542,-0.00117749098199,1.04970493075
+396,6.600000000,pose2_to_pose3_retreat,0.575665369564,-0.00985016479667,1.05003351908,0.546236049791,-0.00117752504145,1.04970491423
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89b1f3a9bcb3000c1e2d3bec2a056a79c1971bca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3a4ea6d35c46b3b54439b4f4246fd71c279e93a4a8b37fd889a8a410d066d7
+size 25902184
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6e54dc1e629f613ce9c88f208ad91571269731b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+24,0.400000000,BASELINE,769,745,722.930848726,684.930848726,669,643,887,789.930848726,819,655,632,656.930848726,0.400972318529,-0.0153908492053,0.059838742938,0.999999943291,0.000205177679386,-0.000266138961377,2.21409192783e-05,1793250590114770432
+25,0.416666667,BASELINE,769,745,722.494442745,684.494442745,669,643,887,789.494442745,819.505557255,655,632,656.494442745,0.400972562973,-0.0153913805246,0.059838701552,0.999999943813,0.000202479363393,-0.000266249795561,2.20544742952e-05,1793250590131437568
+26,0.433333333,BASELINE,769,745,722,684.079595852,669,643,887,789.079595852,819.920404148,655,632,656,0.400973067094,-0.0153916803564,0.0598388255207,0.999999944342,0.000200207793905,-0.000265987356319,2.19939045519e-05,1793250590148104192
+27,0.450000000,BASELINE,769,745,722,684.649713711,669,643,887,789.649713711,819.350286289,655,632,656,0.400974807521,-0.015390891916,0.0598399311404,0.999999944287,0.000203651476696,-0.000263539286356,2.23356566235e-05,1793250590164770816
+28,0.466666667,BASELINE,769,744.768812853,722,685,669,643,887,790,819,655,632,656,0.400975411108,-0.0153904790551,0.0598402034934,0.999999944168,0.000205374381203,-0.000262649980631,2.23757539039e-05,1793250590181437184
+29,0.483333333,BASELINE,769,744.169245132,722,685,669,643,887,790,819,655,632,656,0.40097420322,-0.015390664654,0.0598391480941,0.999999943966,0.00020435534548,-0.000264244457018,2.19351853196e-05,1793250590198103808
+30,0.500000000,BASELINE,769.413250651,744.826501301,722,685,668.586749349,643,887,790,819,655,632,656,0.4009738389,-0.0153897675028,0.0598391855946,0.999999943667,0.000205285148218,-0.000264669647231,2.17555685356e-05,1793250590214770688
+31,0.516666667,BASELINE,769.989032055,745.978064111,722,685,668.010967945,643,887,790,819,655,632,656,0.400973806354,-0.0153884445079,0.0598396529308,0.999999943329,0.00020698142572,-0.000264634959209,2.16785836462e-05,1793250590231437312
+32,0.533333333,BASELINE,769.439620623,745.439620623,722.560379377,684.439620623,668.560379377,643,886.439620623,789.439620623,819.560379377,655,632,656,0.400972907945,-0.015390595904,0.0598395970043,0.999999943916,0.000203746015881,-0.000264910536683,2.1843560735e-05,1793250590248103936
+33,0.550000000,BASELINE,769,745,722.863416123,684,669,643,886.273167753,789,819.863416123,655,632,656.136583877,0.400972429421,-0.0153919793019,0.0598395707381,0.999999944211,0.000202062525961,-0.00026507545259,2.19947291699e-05,1793250590264770304
+34,0.566666667,BASELINE,769,745,722.270703396,684,669,643,887.458593208,789,819.270703396,655,632,656.729296604,0.400973409277,-0.0153905726171,0.0598396774577,0.99999994349,0.000205881571481,-0.000264850687833,2.20840916887e-05,1793250590281436928
+35,0.583333333,BASELINE,769,745,722.314365213,684.314365213,669,643,887.685634787,789,819,655,632,656.685634787,0.400973435962,-0.0153901166683,0.059839384345,0.99999994343,0.000205908233856,-0.000265068181642,2.19074818615e-05,1793250590298104064
+36,0.600000000,BASELINE,769,745,722.893007709,684.893007709,669,643,887.106992291,789,819,655,632,656.106992291,0.400972661345,-0.0153904599741,0.0598387551056,0.999999943929,0.00020274675537,-0.000265657468763,2.15072771739e-05,1793250590314770944
+37,0.616666667,BASELINE,769,745,723,685,669,643,887,789,819,655,632,656,0.400972185292,-0.0153905584299,0.0598384936636,0.999999943737,0.000203032673259,-0.000266159546829,2.15044755702e-05,1793250590331437568
+38,0.633333333,BASELINE,769,745,722.95316358,685,669,643,887,789.04683642,819,655,632,656,0.400971982341,-0.0153906862619,0.0598384567314,0.999999943483,0.000203963871652,-0.000266394215822,2.16091895808e-05,1793250590348104192
+39,0.650000000,BASELINE,769,745,722.363756644,685,669,643,887,789.636243356,819,655,632,656,0.400974158505,-0.0153917978335,0.0598400540778,0.999999944307,0.000203310908175,-0.000263760293578,2.19150782934e-05,1793250590364770816
+40,0.666666667,BASELINE,769,745,722,685,669,643,887,789.7783624,819,655,632,656.2216376,0.400974738974,-0.0153918881223,0.0598405619902,0.999999944562,0.000203215229483,-0.000262860370682,2.19781996262e-05,1793250590381437184
+41,0.683333333,BASELINE,769,745,722,685,669,643,887,789.199436798,819,655,632,656.800563202,0.400972747126,-0.0153903320653,0.0598393136947,0.999999943906,0.000204017914495,-0.000264755718976,2.16499709524e-05,1793250590398103808
+42,0.700000000,BASELINE,769,745,722,685,669,643,886.622140361,789.377859639,819,655,632,657,0.400972366566,-0.0153901062476,0.05983942573,0.999999943705,0.000204468446248,-0.000265156588402,2.1786234122e-05,1793250590414770432
+43,0.716666667,BASELINE,769,745,722,685,669,643,886.045700134,789.954299866,819,655,632,657,0.400972832805,-0.0153905795248,0.0598402526744,0.999999943744,0.000204733907135,-0.000264772048424,2.21666066312e-05,1793250590431437312
+44,0.733333333,BASELINE,769,745,722,685,669,643,886.528401796,789.471598204,819,655,632,657,0.400973319341,-0.0153915646617,0.0598395674915,0.999999944354,0.000202284951254,-0.000264387587841,2.17366301109e-05,1793250590448104192
+45,0.750000000,BASELINE,769,745,722,685,669,643,887.105297231,789,819,655,632,657,0.400973743185,-0.0153925809993,0.0598389463536,0.999999944866,0.000200090704305,-0.000264146235637,2.13943683385e-05,1793250590464771072
+46,0.766666667,BASELINE,769,745,722,685,669,643,887.695998269,789,819,655,632,657,0.400973869975,-0.0153935379905,0.0598392206725,0.999999944736,0.000200148079615,-0.000264564559352,2.17781157011e-05,1793250590481437952
+47,0.783333333,BASELINE,769,745,722,685.27986365,669,643,887.72013635,789.27986365,819,655,631.72013635,656.72013635,0.400974292095,-0.0153938654949,0.059839795353,0.999999944757,0.000200712313704,-0.000264027213614,2.21212019459e-05,1793250590498104320
+48,0.800000000,BASELINE,769,745,722,685.856480912,669,643,887.143519088,789.856480912,819,655,631.143519088,656.143519088,0.400975027367,-0.0153935255228,0.0598406885224,0.999999944937,0.00020181399585,-0.000262476523173,2.24211731941e-05,1793250590514770944
+49,0.816666667,BASELINE,769,745,722,685.568496737,669,643,887,790,819,655,631.431503263,656,0.400974306797,-0.0153926988104,0.0598400556342,0.999999944581,0.000202108726218,-0.00026363051929,2.21010224512e-05,1793250590531437824
+50,0.833333333,BASELINE,769,745,722,685,669,643,887,789.993844454,819,655,632,656.006155546,0.400973132238,-0.0153917316533,0.0598389478968,0.999999944061,0.000202123109257,-0.000265627558485,2.15847137693e-05,1793250590548104448
+51,0.850000000,BASELINE,769,745,722,685,669,643,887,789.404168382,819,655,632,656.595831618,0.400974654097,-0.0153927410068,0.0598407648197,0.999999945103,0.000200910692783,-0.000262578642404,2.19534807368e-05,1793250590564770816
+52,0.866666667,BASELINE,769,745,722,685,669,643,887,789.182157566,819.182157566,655,632,656.817842434,0.400975130369,-0.0153931083701,0.0598414775666,0.999999945553,0.000200175236408,-0.000261409679894,2.21203088501e-05,1793250590581437184
+53,0.883333333,BASELINE,769,745,722,685,669,643,887,789.761184517,819.761184517,655,632,656.238815483,0.400973328607,-0.0153920770198,0.0598397846292,0.999999944729,0.000200478940131,-0.000264336600225,2.1847169773e-05,1793250590598104064
+54,0.900000000,BASELINE,769,745,722,685,669,643,886.65914984,789.65914984,819.65914984,655,632,656,0.400973237893,-0.0153921202299,0.0598400538143,0.999999944659,0.000200776646153,-0.000264372920375,2.18404810141e-05,1793250590614770944
+55,0.916666667,BASELINE,769,745,722,685,669,643,886.079035884,789.079035884,819.079035884,655,632,656,0.40097434827,-0.0153929177403,0.0598417003345,0.999999945121,0.000201070142006,-0.000262380149455,2.20208302151e-05,1793250590631437568
+56,0.933333333,BASELINE,769,745,722,684.503373847,669,643,886.496626153,789.496626153,819,655,632,656,0.400973685645,-0.0153930663237,0.059840624834,0.999999945037,0.000200535826337,-0.000263119679867,2.19166804933e-05,1793250590648104192
+57,0.950000000,BASELINE,769,745,722,684,669,643,886.926659795,790,819.073340205,655,632,656,0.400972747314,-0.0153929746517,0.0598392204235,0.999999944806,0.00020012114527,-0.000264321811683,2.1745270548e-05,1793250590664770560
+58,0.966666667,BASELINE,769,745,722,684,669,643,886.337610783,790,819.662389217,655,632,656,0.400971836787,-0.0153919133103,0.0598385222735,0.999999944166,0.000201465851446,-0.000265746363242,2.14164501695e-05,1793250590681436928
+59,0.983333333,BASELINE,769.247116462,745,722,684,668.752883538,643,886.247116462,790,820,655,632,656.247116462,0.400971959221,-0.015391258261,0.0598387119564,0.999999944053,0.000202522773154,-0.000265377082758,2.12780186738e-05,1793250590698103808
+60,1.000000000,BASELINE,769.826040872,745,722,684,668.173959128,643,886.826040872,790,820,655,632,656.826040872,0.400973468632,-0.0153911487475,0.0598400937495,0.999999944648,0.0002031932814,-0.000262599190249,2.13952258872e-05,1793250590714770432
+61,1.016666667,BASELINE,769.598757384,745,722,684.401242616,668.401242616,643,887,789.598757384,819.598757384,655,632,657,0.4009753947,-0.0153917157883,0.0598412863983,0.999999945227,0.000202885630855,-0.000260593664144,2.17854281756e-05,1793250590731437056
+62,1.033333333,BASELINE,769.025154803,745,722,684.974845197,668.974845197,643,887,789.025154803,819.025154803,655,632,657,0.400977499751,-0.0153925734536,0.0598423977972,0.999999945798,0.00020215779705,-0.000258919920129,2.22928997095e-05,1793250590748103680
+63,1.050000000,BASELINE,769,745,722.552132736,684.447867264,669,643,886.447867264,789.552132736,819,655.552132736,632,656.447867264,0.400976086612,-0.0153909786276,0.0598414800778,0.99999994519,0.000203456820041,-0.000260297951056,2.16786619792e-05,1793250590764770304
+64,1.066666667,BASELINE,769,744.867710318,722.867710318,684.132289682,669,643,886,789.867710318,819,655.867710318,632,656,0.40097440563,-0.0153898180873,0.0598404545504,0.999999944642,0.000204085223028,-0.000261948594413,2.11632718998e-05,1793250590781436672
+65,1.083333333,BASELINE,769,744.278220697,722.278220697,684.721779303,669,643,886,789.278220697,819,655.278220697,632,656,0.400972356649,-0.0153905472135,0.0598393780755,0.999999944496,0.0002020746449,-0.000264057653206,2.11673103035e-05,1793250590798103296
+66,1.100000000,BASELINE,769,744.305691146,722,685,669,643,886.305691146,789.305691146,819,655,632,656.305691146,0.400971832734,-0.01539114426,0.0598389191187,0.999999944381,0.000201778068279,-0.000264712758153,2.12353096391e-05,1793250590814769920
+67,1.116666667,BASELINE,769,744.884617386,722,685,669,643,886.884617386,789.884617386,819,655,632,656.884617386,0.400972671964,-0.0153916232501,0.0598390121165,0.999999944299,0.000203013513123,-0.000264068279333,2.13604790022e-05,1793250590831436544
+68,1.133333333,BASELINE,769,745,722,685,669,643,886.540501961,790,819,655,632,656.540501961,0.400972535182,-0.0153912413013,0.0598390311758,0.999999944348,0.000202759342474,-0.000264081783336,2.13139695613e-05,1793250590848103936
+69,1.150000000,BASELINE,769,745.034186687,722,685,669,643,886,789.965813313,819,655,632,656,0.400972254709,-0.0153906862846,0.0598390851444,0.999999944452,0.000202157204028,-0.000264154931095,2.12401123234e-05,1793250590864771072
+70,1.166666667,BASELINE,769,745.622074703,722,685,669,643,886,789.377925297,819,655,632,656,0.400973581753,-0.0153907990794,0.0598400026017,0.99999994492,0.000201924647628,-0.000262541425098,2.14154449993e-05,1793250590881437184
+71,1.183333333,BASELINE,769,746,722,685.206883255,669,643,886.206883255,789.206883255,819.206883255,655,632,656.206883255,0.4009740132,-0.0153908607587,0.0598404547552,0.999999945021,0.000202206186463,-0.000261935229777,2.14522701242e-05,1793250590898103808
+72,1.200000000,BASELINE,769,746,722,685.786148978,669,643,886.786148978,789.786148978,819.786148978,655,632,656.786148978,0.400972832604,-0.015390830432,0.0598400693785,0.999999944464,0.000203413078324,-0.000263142157424,2.1239786634e-05,1793250590914770176
+73,1.216666667,BASELINE,769,745.635009694,722,685.635009694,669,643,887,790,819.635009694,655,632,656.635009694,0.400972595873,-0.0153915287481,0.0598395494504,0.999999944612,0.000202171669239,-0.000263553287261,2.10510775845e-05,1793250590931436800
+74,1.233333333,BASELINE,769,745.05641677,722,685.05641677,669,643,887,790,819.05641677,655,632,656.05641677,0.400972911519,-0.0153926534865,0.059838950779,0.999999945167,0.000199497445334,-0.000263498693705,2.08762820208e-05,1793250590948103680
+75,1.250000000,BASELINE,769,745,722,685,669,643,887,790,819,655,632,656.516992323,0.400972502763,-0.0153918183474,0.0598390050328,0.999999944564,0.000201801149113,-0.000264011778745,2.11432376026e-05,1793250590964770304
+76,1.266666667,BASELINE,769,745,722,684.907633215,668.907633215,643,887,790,819,655,632,656.907633215,0.400972484227,-0.0153910231705,0.0598393969381,0.99999994416,0.000203728716917,-0.000264039586411,2.13863606567e-05,1793250590981436928
+77,1.283333333,BASELINE,769,745,722,684.318681425,668.318681425,643,887,790,819,655,632,656.318681425,0.400974984372,-0.0153915812485,0.0598412248797,0.999999945531,0.00020074262913,-0.000261128691824,2.12447604883e-05,1793250590998103552
+78,1.300000000,BASELINE,769,745,722,684.264668416,668.264668416,643,886.735331584,789.735331584,819,655,632,656,0.400975639032,-0.0153922309468,0.0598417718384,0.999999945977,0.000199592381616,-0.000260305311333,2.12145466851e-05,1793250591014770176
+79,1.316666667,BASELINE,769,745,722,684.841412842,668.841412842,643,886.158587158,789.158587158,819,655,632,656,0.400974117641,-0.0153929886765,0.0598408083635,0.999999945344,0.000200606811606,-0.000261943362157,2.13156708624e-05,1793250591031437056
+80,1.333333333,BASELINE,769,745,722,685,669,643,886,789,819.420308268,655,632,656,0.400973874189,-0.0153918436866,0.0598405837107,0.999999945175,0.000201273816652,-0.00026207441987,2.13378770218e-05,1793250591048103680
+81,1.350000000,BASELINE,769,745,722,685,669,643,886.000019179,789,819.999980821,655,632,656,0.400974115376,-0.0153899772114,0.0598406392462,0.999999945183,0.000201808990265,-0.000261633986203,2.13301585144e-05,1793250591064770048
+82,1.366666667,BASELINE,769,745,722,685,669,643,886.569790638,789,819.430209362,655,632,656,0.400973704747,-0.0153918541188,0.0598403468045,0.999999945297,0.00020027275667,-0.000262365461623,2.14764289766e-05,1793250591081436928
+83,1.383333333,BASELINE,769,745,722.146257369,685,668.853742631,643,887,789,819,655,632,656,0.400973586147,-0.0153929651853,0.0598402551351,0.999999945384,0.000199632162378,-0.000262514673124,2.1584696605e-05,1793250591098103552
+84,1.400000000,BASELINE,769,745,722.743362859,685,668.256637141,643,887,789,819,655,632,656,0.400974367745,-0.015391715497,0.0598407823593,0.999999945389,0.000201752435777,-0.000260869017328,2.15758179919e-05,1793250591114770176
+85,1.416666667,BASELINE,769,745,722.670484243,685,668.329515757,642.670484243,886.670484243,789.329515757,819,655,632,656,0.400975037041,-0.0153916828774,0.0598413183265,0.999999945416,0.000202748308043,-0.00025998809453,2.16090536211e-05,1793250591131436800
+86,1.433333333,BASELINE,769,745,722.092587191,685,668.907412809,642.092587191,886.092587191,789.907412809,819,655,632,656,0.400975621688,-0.0153925676561,0.059841860884,0.999999945464,0.000202896632825,-0.000259683609741,2.16740339854e-05,1793250591148103424
+87,1.450000000,BASELINE,769,745,722,685,669,642.482675784,886.482675784,790,819,655,632,656.482675784,0.400974547045,-0.0153924058267,0.0598407121899,0.999999945426,0.000200991887225,-0.000261327753818,2.13964457835e-05,1793250591164770048
+88,1.466666667,BASELINE,769,745.058717257,722,684.941282743,669,643,887,790,819,655,632.058717257,657,0.400973439332,-0.0153920785763,0.0598395079974,0.999999945402,0.000199058321236,-0.000262918187651,2.11021710568e-05,1793250591181436928
+89,1.483333333,BASELINE,769,745.646296879,722,684.353703121,669,643,887,790,819,655,632.646296879,657,0.400974884983,-0.0153920598167,0.0598407100779,0.99999994572,0.000200393041525,-0.000260676453277,2.12462506336e-05,1793250591198103552
+90,1.500000000,BASELINE,769,745.769960744,722,684.230039256,669,643,887,789.769960744,819,655,632.769960744,657,0.400975372416,-0.0153920607619,0.059841139142,0.999999945869,0.00020058267974,-0.000259957723081,2.12318829223e-05,1793250591214770688
+91,1.516666667,BASELINE,769,745.192021674,722,684.807978326,669,643,887,789.192021674,819,655,632.192021674,657,0.400974410689,-0.0153920915074,0.0598403991348,0.999999945769,0.000199040553242,-0.00026154230809,2.09778874801e-05,1793250591231438080
+92,1.533333333,BASELINE,769,745,722,685,669,643,887,789,819,655,632,656.613894849,0.400973402057,-0.0153922599974,0.0598398246039,0.999999945282,0.000199818337162,-0.000262787165549,2.12479396473e-05,1793250591248104704
+93,1.550000000,BASELINE,769,745,722,685,669,643,887,789,819,655,632,656.03567455,0.400972370087,-0.0153924970252,0.0598393324093,0.999999944599,0.000201750443622,-0.000263862984202,2.17787432566e-05,1793250591264771072
+94,1.566666667,BASELINE,769,745,722,685,669,643,887,789.539534238,819,655,632,656,0.400973112846,-0.0153914893667,0.059839702778,0.999999944562,0.00020320531012,-0.000262924591094,2.13302858263e-05,1793250591281437440
+95,1.583333333,BASELINE,769,745,722.117818112,685,669,643,886.882181888,790,819.117818112,655.117818112,632,656,0.400973603606,-0.0153910637233,0.0598399634195,0.999999944586,0.000203899303286,-0.000262319802507,2.10222854961e-05,1793250591298103808
+96,1.600000000,BASELINE,769,745,722.709259902,685,669,643,886.290740098,790,819.709259902,655.709259902,632,656,0.40097261223,-0.0153933067609,0.0598395549631,0.999999944695,0.000201660767212,-0.000263588502186,2.15377627315e-05,1793250591314770432
+97,1.616666667,BASELINE,769,745,722.706049921,685,669,643,886.293950079,790,820,655.706049921,632,656,0.400972999535,-0.0153936818897,0.0598398851163,0.999999944926,0.000200965334332,-0.00026323935861,2.15650823281e-05,1793250591331437568
+98,1.633333333,BASELINE,769,745,722.127887725,685,669,643,886.872112275,790,820,655.127887725,632,656,0.400974719848,-0.0153922509893,0.0598409294103,0.999999945277,0.000201761884936,-0.00026132596753,2.11204159162e-05,1793250591348104448
+99,1.650000000,BASELINE,769,745,722,685.447451555,669,643,887,790,819.552548445,655,632,656.447451555,0.400975078803,-0.0153918817809,0.0598411381529,0.99999994542,0.000202205469987,-0.000260428582053,2.1233007037e-05,1793250591364771328
+100,1.666666667,BASELINE,769,745,722,685.955450038,669,643,886.977725019,789.977725019,819.022274981,655,632,657,0.400974990358,-0.0153918189498,0.0598410727241,0.999999945488,0.000202479712891,-0.000259931830944,2.14832712048e-05,1793250591381438208
+101,1.683333333,BASELINE,769,745,722,684.791433569,669,643,886.395716785,789.395716785,819.604283215,655,632,657,0.40097337552,-0.0153918775807,0.0598400811515,0.999999945183,0.000201017782117,-0.000262251130031,2.12158869102e-05,1793250591398104576
+102,1.700000000,BASELINE,769,745,722,684.187068115,669,643,886.187068115,789.187068115,819.812931885,655,631.812931885,656.812931885,0.400972145998,-0.0153921082326,0.0598392632491,0.9999999448,0.000200546256227,-0.000264072895291,2.1120671182e-05,1793250591414770944
+103,1.716666667,BASELINE,769,745,722,684.771502719,669,643,886.771502719,789.771502719,819.228497281,655,631.228497281,656.228497281,0.400971734961,-0.0153927042882,0.0598388142538,0.999999944264,0.000202178529515,-0.000264837808483,2.13911726414e-05,1793250591431437312
+104,1.733333333,BASELINE,769,745,722,685,669,643,887,790,819.351707853,655,631.351707853,656,0.400971873965,-0.0153927417812,0.0598390955155,0.999999944313,0.000202900296758,-0.000264098931393,2.13827731532e-05,1793250591448103936
+105,1.750000000,BASELINE,769,745,722,685,669,643,887,790,819.929197897,655,631.929197897,656,0.400972366074,-0.0153924206997,0.0598398455727,0.999999944738,0.000203037556175,-0.000262394681952,2.11953305845e-05,1793250591464770560
+106,1.766666667,BASELINE,769,745,722,685,669,643,887,789.494951076,820,655,632,656,0.400974639856,-0.0153931187555,0.0598417640008,0.999999945822,0.000200949144519,-0.000259826495534,2.1563250804e-05,1793250591481437696
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,790,819,655,632,656,0.400974102227,-0.0153921893963,0.0598402161358,0.999999945101,0.000202722794404,-0.000261221838114,2.15424828472e-05,1793250591523995392
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.421625496,790,819,655,632,656,0.400973808704,-0.0153918080432,0.0598409690378,0.99999994474,0.000204071370546,-0.00026155316285,2.15663479625e-05,1793250591540662016
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.155573945,790,819,655,632,656.155573945,0.40097383806,-0.0153913528228,0.0598416712906,0.999999944617,0.000204733603516,-0.00026150610577,2.15436947869e-05,1793250591557328640
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.729612818,790,819,655,632,656.729612818,0.4009747359,-0.0153906989132,0.059842237307,0.99999994514,0.000203549701529,-0.000260441272174,2.13959160815e-05,1793250591573995264
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.303624552,745,722,684.696375448,669,643,887,790,819.303624552,655,632,656.696375448,0.400974586494,-0.01539078788,0.0598420935638,0.999999945084,0.000203761949732,-0.000260493803607,2.13683199716e-05,1793250591590661632
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.877612088,745,722,684.122387912,669,643,887,790,819.877612088,655,632,656.122387912,0.400973504565,-0.0153915383426,0.0598413178141,0.999999944511,0.000205217402246,-0.000261541294635,2.14477406609e-05,1793250591607328256
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,745,722,684.466657238,669,643,887,790,820,655,632,656.466657238,0.400973750255,-0.0153929495618,0.0598413303364,0.99999994496,0.000202819205157,-0.000261686464058,2.15729545826e-05,1793250591623995136
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.941711098,745,722,685,669,643,887,789.941711098,819.941711098,655,632,657,0.400974502916,-0.0153941769898,0.0598416382921,0.999999945599,0.000199950631626,-0.000261443651245,2.16691079363e-05,1793250591640661760
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.36341,745,722,685,669,643,887,789.36341,819.36341,655,632,657,0.400976568542,-0.0153921672138,0.0598426760459,0.999999945549,0.000202202880657,-0.000259921130573,2.13952866504e-05,1793250591657328896
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722.21351598,684.78648402,669,643,887,789,819,655,632,657,0.400984176516,-0.0153917925394,0.0598460335263,0.999999946698,0.000203043528525,-0.000254776605474,2.15869255528e-05,1793250591673995520
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722.78811639,684.21188361,669,643,887,789,819,655,632,657,0.401001157352,-0.0153941830433,0.0598533139782,0.999999949797,0.000201496967473,-0.000243506780663,2.25657206756e-05,1793250591690661888
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722.628884535,684.371115465,668.628884535,643,886.628884535,789.371115465,819,655,632,656.628884535,0.401038638251,-0.015396870283,0.0598675233488,0.999999955694,0.000201039633861,-0.000218199769081,2.41483959797e-05,1793250591707328256
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722.040979266,684.959020734,668.040979266,643,886.040979266,789.959020734,819,655,632,656.040979266,0.401088094414,-0.0153997308635,0.0598857802985,0.99999996236,0.000201218580081,-0.000184692831209,2.60838323681e-05,1793250591723994880
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722,684.461155437,668.538844563,643,886.538844563,790,819,655,632,656,0.401153224559,-0.0154031267215,0.0599027133822,0.999999966324,0.000200218476805,-0.000162837879252,2.73735583865e-05,1793250591740661760
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,722,684.117556305,668.882443695,643,887,789.882443695,819,655,632.117556305,656.117556305,0.401223141037,-0.0154068260323,0.0599185461625,0.999999969749,0.000198866165663,-0.000141926671798,2.8493531869e-05,1793250591757328384
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,722,684.694289535,668.305710465,643,887,789.305710465,819,655,632.694289535,656.694289535,0.401307165811,-0.0154115539794,0.0599304685918,0.999999972917,0.000196483190168,-0.000121291620265,2.91394258186e-05,1793250591773995264
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,722,685,668.269314971,643,887,789.269314971,819,655,632.730685029,656.730685029,0.401398804657,-0.015415868867,0.0599388945528,0.999999974785,0.000196178020394,-0.000105270701972,2.93550401534e-05,1793250591790661888
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,722,685,668.842414002,643,887,789.842414002,819,655,632.157585998,656.157585998,0.40149903208,-0.0154197178283,0.0599433765387,0.999999975471,0.000198216590769,-9.44544719435e-05,2.90853042094e-05,1793250591807328768
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,790,819,655,632,656.428400214,0.40160772596,-0.0154260815121,0.0599416072449,0.999999975968,0.000195330134266,-9.55026532533e-05,2.80836759733e-05,1793250591823995136
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,790,819,655,632,656.981108353,0.401720835439,-0.0154333686287,0.059937627382,0.9999999764,0.000190636326296,-0.000100699518457,2.67927442745e-05,1793250591840661760
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,790,819,655,632,656.401955004,0.401869670505,-0.0154397573919,0.0599384005531,0.999999977502,0.000187736642356,-9.54877970431e-05,2.51539819107e-05,1793250591857328384
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.82515914,789.82515914,819,655,631.82515914,656,0.402028863267,-0.0154467507993,0.0599399726183,0.999999978828,0.000183999672982,-8.90685236466e-05,2.35534561188e-05,1793250591873995008
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.25371105,789.25371105,819,655,631.25371105,656,0.402211551302,-0.0154551157745,0.0599433568871,0.999999980658,0.00017836341423,-7.99100523112e-05,2.20396660013e-05,1793250591890661376
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722.321391685,685,669,643,886.642783371,789.321391685,819.321391685,655,631.321391685,656,0.402416129019,-0.0154660550307,0.0599455966424,0.999999982622,0.00017096629472,-7.14510513219e-05,2.05447880368e-05,1793250591907328256
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722.899412694,685,669,643,887.798825387,789.899412694,819.899412694,655,631.899412694,656,0.402638185533,-0.0154790498356,0.0599469225109,0.99999998465,0.000162163137898,-6.35505721947e-05,1.90650111481e-05,1793250591923995136
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,722.509027685,685,669,643,887.509027685,790,820,655,632,656,0.402885436558,-0.0154889304286,0.0599474622482,0.99999998591,0.000156498462157,-5.83482684667e-05,1.68720933831e-05,1793250591940661760
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,722.082837012,685,668.917162988,643,887,790,820,655,632,656,0.403141561316,-0.0154978231035,0.0599467408251,0.999999986862,0.000151462379502,-5.59335371641e-05,1.43562572857e-05,1793250591957328640
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,722.659516043,685,668.340483957,643,887,790,820,655,632,656,0.403418943312,-0.0155047376867,0.0599394882441,0.999999987022,0.000146231752754,-6.67482855209e-05,1.08110201688e-05,1793250591973995008
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722.764497659,685,668.235502341,643,887,790,819.764497659,655,632,656,0.403711425486,-0.0155093117153,0.0599323857136,0.999999989844,0.000119591529208,-7.71452993596e-05,7.58431022461e-06,1793250591990661632
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,722.189509996,685,668.810490004,643,887,790,819.189509996,655,632,656,0.404025675105,-0.0155105117478,0.0599254994866,0.999999994282,6.20885811839e-05,-8.69401326488e-05,4.81676915766e-06,1793250592007328512
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.3949654,745,722,685.3949654,668.6050346,643,887,790,819,655,632,656,0.404349719095,-0.0155020167161,0.059913357439,0.999999992179,5.7648623046e-05,-0.000110988646876,-2.17389506836e-09,1793250592023994880
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.984105174,745,722,685.984105174,668.015894826,643,887,790,819,655,632,656,0.40467857822,-0.0154887553606,0.0598986315054,0.999999986751,7.92956930296e-05,-0.000142044608956,-5.8296348139e-06,1793250592040661504
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.436752246,745,722,686,668.563247754,643,887.563247754,790,819,655,632,656.563247754,0.405110769141,-0.0154960562579,0.0599007492861,0.999999987587,7.42801588371e-05,-0.000138660696742,-9.07411569707e-06,1793250592057328128
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+141,2.350000000,POSE1_TO_POSE2_PRESS,769.716901216,745,722,686,669,643,887.283098784,790,819.716901216,655,632,657,0.406049521697,-0.015516394765,0.0599385783745,0.999999996219,3.8915670802e-05,-7.68281963511e-05,-1.20379090593e-05,1793250592090662144
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.707935061,745,722,686,669,643,887,790,820,655,632,657,0.406561020873,-0.015522918374,0.0599665804694,0.999999999298,1.84019924933e-05,-2.98717350722e-05,-1.31901759712e-05,1793250592107328768
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.133185542,745,722,686,669,643,887,790,820,655,632,657,0.407093167494,-0.0155245659396,0.0599938037893,0.99999999974,2.14110887509e-06,1.70268872569e-05,-1.50148477874e-05,1793250592123994880
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722,686.453637226,669,643,887,790,819.546362774,655,632,657,0.407623496477,-0.0155234994708,0.0599982785509,0.99999999971,3.28208227577e-07,1.52578191087e-05,-1.86103908432e-05,1793250592140661504
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,722,687,669,643,887.623627742,790,819,655,632,656.376372258,0.40871351501,-0.0155225081262,0.059979113303,0.999999998204,-3.70069242701e-05,-3.78230222763e-05,-2.81537145548e-05,1793250592173994752
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722,687.202283747,669,643,888,790,819.202283747,655,632,656.202283747,0.409299635535,-0.0155242167135,0.0599705583045,0.999999996172,-5.80246351335e-05,-5.68388292194e-05,-3.25269435164e-05,1793250592190661632
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,722,687.777930424,669,643,888,790,819.777930424,655,632,656.777930424,0.409937435662,-0.0155277857576,0.0599753356772,0.999999997094,-4.96694968185e-05,-4.5927954438e-05,-3.51445362244e-05,1793250592207328768
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,722,688,669,643,888.351550504,790,820,655,632,656.648449496,0.410602648063,-0.0155312738622,0.0599836847907,0.999999998929,-2.64955550707e-05,-2.46328634317e-05,-2.88571064927e-05,1793250592223995392
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,722,688,669,643,888.923897727,790,820,655,632,656.076102273,0.411285077141,-0.0155347111314,0.0599942771909,0.999999999833,5.98556457854e-06,3.18419444839e-06,-1.69767398564e-05,1793250592240662016
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.516014005,722,688,668.483985995,643,889,790,820,655,632,656.516014005,0.411973616165,-0.0155327689715,0.0599799953291,0.999999999482,2.48547280115e-07,-2.3926788269e-05,-2.15240279725e-05,1793250592257328896
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.892485494,722,688.107514506,668.107514506,643,888.892485494,790,820,655,632,656.892485494,0.412659318172,-0.0155298310539,0.0599580843524,0.999999997275,-1.02012520917e-05,-6.73322526225e-05,-2.85041497232e-05,1793250592273995264
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.316865881,722,688.683134119,668.683134119,643,888.316865881,790,820,655,632,656.316865881,0.413328588362,-0.0155261495445,0.0599195655509,0.999999988748,-1.56518865196e-05,-0.000145006747119,-3.51078758216e-05,1793250592290661632
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.25821876,722,689,669,643,888.25821876,790,820.25821876,655,632,656,0.414065751783,-0.0155271244417,0.0599105072846,0.999999985763,-2.30769823914e-05,-0.000162791798682,-3.7953199141e-05,1793250592307328512
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.832648361,722,689,669,643,888.832648361,790,820.832648361,655,632,656,0.414886056329,-0.0155338015043,0.0599375259447,0.999999993053,-3.29199750511e-05,-0.000107237143301,-3.61960395236e-05,1793250592323994880
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745.583741562,722,689,669,643,889,790,821.416258438,655,632,656.416258438,0.415720344971,-0.0155415512216,0.059978107057,0.999999998128,-3.84594988039e-05,-3.41921085979e-05,-3.30939787813e-05,1793250592340661504
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,745.003611185,722,689,669,643,889.003611185,790,822.003611185,655,632,656.996388815,0.416560439217,-0.015549696944,0.0600239357002,0.999999997641,-4.22448836351e-05,4.54397228924e-05,-2.94697619116e-05,1793250592357328128
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,745.585927099,722,689,669,643,889.585927099,790,822.585927099,655,632,656.414072901,0.417409624447,-0.0155506364538,0.0600171926797,0.999999997952,-4.84400841589e-05,2.83466721902e-05,-3.07715581643e-05,1793250592373995264
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722.166106395,689.166106395,669,643,890,790.166106395,823,655,632,656.166106395,0.418256717848,-0.0155514978554,0.060006447994,0.999999997991,-5.37836480074e-05,7.64040733535e-06,-3.26767986984e-05,1793250592390662144
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,722.741027097,689.741027097,669,643,890,790.741027097,823,655,632,656.741027097,0.419098662872,-0.0155521670202,0.0599858545728,0.999999997482,-5.70311979193e-05,-2.19585522912e-05,-3.60672116947e-05,1793250592407328512
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.315265646,746,723,689.684734354,669,643,890,790.684734354,823.315265646,655,632,656.684734354,0.419932104734,-0.0155517506876,0.059957934514,0.999999995495,-5.83534160958e-05,-6.3495986596e-05,-3.96554110948e-05,1793250592423994880
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.888945025,746,723,689.111054975,669,643,890,790.111054975,823.888945025,655,632,656.111054975,0.420758576768,-0.0155504446053,0.0599240090326,0.999999990779,-5.8097497716e-05,-0.000114819026684,-4.34057298131e-05,1793250592440661504
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.5219735,746,723,689.4780265,668.5219735,643,890,790,824,654.5219735,632,656,0.421582351029,-0.0155481458717,0.059891592937,0.999999980785,-5.62364773138e-05,-0.000181995535287,-4.63163338659e-05,1793250592457328128
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722.930935793,690.069064207,668.069064207,643,890,790,824,654.069064207,632,656,0.422429916832,-0.015546440065,0.0598704343556,0.999999970617,-5.50208815993e-05,-0.000231100849441,-4.82825666537e-05,1793250592473994752
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722.352733769,690.647266231,668.647266231,643,890,790,824,654.647266231,632,656,0.423457646383,-0.0155508619496,0.0599295945007,0.99999999004,-6.14038240618e-05,-0.000118930825424,-4.47729582192e-05,1793250592490661632
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,722,690.77544297,669,643,890,790,824.22455703,655,632,656,0.424457822389,-0.0155556060322,0.0599833763228,0.999999996722,-6.53394432094e-05,-2.37710648932e-05,-4.15029804189e-05,1793250592507328000
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,722,690.199577651,669,643,890,790,824.800422349,655,632,656,0.425414892402,-0.0155608541779,0.0600287440357,0.999999996111,-6.54463486725e-05,4.47770013125e-05,-3.86078928378e-05,1793250592523994368
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,722,690.383789937,669,643,890,790.383789937,825,655,632,656,0.426341328876,-0.015563339267,0.0600352607325,0.999999994436,-7.24378490847e-05,6.54832277383e-05,-3.99122810721e-05,1793250592540660992
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,722,690.971136586,669,643,890,790.971136586,825,655,632,656,0.427251517699,-0.0155643588701,0.0600211714013,0.999999993756,-8.30808406407e-05,6.0814820136e-05,-4.34440116644e-05,1793250592557327616
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.550499054,746,722,691,669,643,890.550499054,790.449500946,825,655,632,656.550499054,0.428156540367,-0.0155661220938,0.0599939298751,0.999999995294,-8.37640023432e-05,1.72803453531e-05,-4.57935153963e-05,1793250592573994240
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.870736025,746,722,691.129263975,669,643,891,790,825.129263975,654.870736025,632.129263975,656.870736025,0.429054467756,-0.0155660002052,0.0599627813214,0.999999994673,-8.41018926582e-05,-3.52462068227e-05,-4.83501916401e-05,1793250592590660864
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.292613217,746,722,691.707386783,669,643,891,790,825.707386783,654.292613217,632.707386783,656.292613217,0.429928684436,-0.0155591989634,0.059920426233,0.999999988767,-8.50282558039e-05,-0.000112022088325,-5.1838421378e-05,1793250592607327488
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.716541108,746,722,691.716541108,669,643,891,790,826,654.283458892,632.716541108,656.283458892,0.430853744384,-0.0155575975709,0.0599141957163,0.99999998783,-8.60332711089e-05,-0.000118839554993,-5.30529989513e-05,1793250592623994624
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.142570755,746,722,691.142570755,669,643,891,790,826,654.857429245,632.142570755,656.857429245,0.431830912549,-0.0155613254023,0.0599449885675,0.999999993401,-8.71188955318e-05,-5.39580093881e-05,-5.19373548574e-05,1793250592640662016
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.88473935,746.442369675,722,691.442369675,669,643,891.442369675,790,826,655,632,657,0.432770099109,-0.0155644750823,0.0599816432585,0.999999994896,-8.80903495229e-05,5.36364208942e-06,-4.91811249884e-05,1793250592657328640
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.969562172,746.969562172,722.030437828,691.969562172,669,643,892,790,826,655,632.030437828,656.969562172,0.43369504161,-0.0155672132357,0.0600171096144,0.999999993283,-8.91633563878e-05,5.78440757941e-05,-4.62280175136e-05,1793250592673995008
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.390466421,746.390466421,722.609533579,691.390466421,669,643,892,790,826,655,632.609533579,656.390466421,0.434589488311,-0.0155659775339,0.0599962356759,0.999999994271,-9.27470397812e-05,2.01290007768e-05,-4.94993130664e-05,1793250592690661632
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,723,691.187326016,669.187326016,643,892,790,826.187326016,655,632.812673984,656.187326016,0.435472179326,-0.0155653136383,0.0599707473434,0.999999993666,-9.58378628019e-05,-2.59048296646e-05,-5.30248491296e-05,1793250592707328000
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,723,691.762420673,669.762420673,643,892,790,826.762420673,655,632.237579327,656.762420673,0.436330535998,-0.0155658333929,0.0599357071179,0.999999989603,-9.79084555245e-05,-8.91586589551e-05,-5.70766687803e-05,1793250592723994368
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746,723,692,669.663508042,643,892,790,826.663508042,654.663508042,632,657,0.43715357297,-0.0155640645601,0.0599090467621,0.999999983507,-9.7271831733e-05,-0.000141403540639,-5.94092542613e-05,1793250592740660992
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,723,692,669.09015715,643,892,790,826.09015715,654.09015715,632,657,0.437951748119,-0.0155606847753,0.0598882850545,0.999999976402,-9.47295800905e-05,-0.000185899146854,-6.05316591178e-05,1793250592757327616
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.499651156,746.499651156,723,692.499651156,669,643,892,790,826.499651156,654.499651156,632,657,0.438791356847,-0.0155643057474,0.0598971294541,0.999999978464,-9.96995764725e-05,-0.000172044910906,-5.94409873422e-05,1793250592773994496
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.90970242,746.90970242,723,693,669.09029758,643,892,790,827,654.90970242,632,656.90970242,0.439644161482,-0.0155692619975,0.0599181077754,0.99999998328,-0.00010601305804,-0.000137421333047,-5.75923908445e-05,1793250592790661120
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.331128597,746.331128597,723,693,669.668871403,643,892,790,827,654.331128597,632,656.331128597,0.440526517553,-0.015574375253,0.0599748282199,0.999999991057,-0.000112011857523,-4.93612586023e-05,-5.38782597738e-05,1793250592807328256
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746,723,692.754089058,669.754089058,643,892,790,827,654.245910942,632,656.245910942,0.441353157939,-0.015578684126,0.0599957715945,0.999999991281,-0.000119770178985,-1.60930444161e-05,-5.3233040589e-05,1793250592823995136
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746,723,692.179102729,669.179102729,643,892,790,827,654.820897271,632,656.820897271,0.442105240122,-0.0155819165823,0.059968838473,0.999999988382,-0.000129883074205,-5.61467178762e-05,-5.66946070778e-05,1793250592840661504
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746,723,692.404145073,669,643,892.404145073,789.595854927,827,655,632,657,0.442797029877,-0.0155876918126,0.0599227530489,0.999999979681,-0.000146281552051,-0.000124570599234,-6.10007179443e-05,1793250592857328128
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746,723,692.991130521,669,643,892.991130521,789.008869479,827,655,632,657,0.443461542637,-0.0155946174264,0.0598680028768,0.999999962961,-0.000165523707573,-0.00020582952657,-6.5688911409e-05,1793250592873994752
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,746.573562362,723,693.573562362,669,643,892.426437638,788.426437638,827,655,632,657,0.444136619704,-0.0156007080469,0.059846874968,0.999999956429,-0.000162783498064,-0.000237409140999,-6.5421341427e-05,1793250592890661632
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,693.846573916,668.846573916,642.846573916,892,788,827,655,632,657,0.444795563211,-0.015606407034,0.0598259760046,0.999999946896,-0.000164516313497,-0.000273616286084,-6.53999102393e-05,1793250592907328768
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,693.273542555,668.273542555,642.273542555,892,788,827,655,632,657,0.445409939896,-0.0156110699794,0.0598042924243,0.999999929041,-0.000179404769934,-0.00032456377331,-6.62595831973e-05,1793250592923995392
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.698580529,723,693,668,642,892.301419471,788,827,655,631.698580529,656.698580529,0.446021205035,-0.0156165168138,0.0597786217288,0.999999911363,-0.000192096550604,-0.000368329393543,-6.86086687987e-05,1793250592940661760
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,746.121855136,723,693,668,642,892.878144864,788,827,655,631.121855136,656.121855136,0.44662962816,-0.0156226796245,0.0597493093441,0.999999894595,-0.000202781964291,-0.000405535346767,-7.23181314092e-05,1793250592957328640
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,746.465976111,723,693,668.465976111,641.534023889,893,787.534023889,827,655,631,656,0.447223769449,-0.0156298936082,0.0597525590029,0.999999895949,-0.000213786752211,-0.000396277546546,-7.32218867848e-05,1793250592973995520
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,693.055628961,668.944371039,641.055628961,893,787,827,655,631,656.055628961,0.447809841427,-0.0156375025201,0.0597638786925,0.999999901258,-0.000225708681472,-0.000375695099128,-7.34392500221e-05,1793250592990662400
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,693.634433109,668.365566891,641.634433109,893,787,827,655,631,656.634433109,0.448356005893,-0.0156461772661,0.0597690569944,0.999999900262,-0.000245451434614,-0.000365669662886,-7.42700689517e-05,1793250593007328768
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,693.214469388,668,640.428938775,893.785530612,786.214469388,827.785530612,655,631,657,0.449312829999,-0.0156599301259,0.059720938515,0.99999986184,-0.000272621600197,-0.000442279328569,-7.99135126842e-05,1793250593040661760
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.632754393,747,723,693,668,640,893.632754393,785.632754393,828,655,631,657,0.449743958845,-0.0156643993547,0.059686528295,0.999999835004,-0.000282316923867,-0.000493279897748,-8.34529498472e-05,1793250593057328384
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93a6fb9678ab62fd5a8a4b345e66a00f01b45742
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77b9ae22322bb58438a68632dca23638b8c967f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25965047
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..350296723c1ca3e77bb2a5321c0e44dba1c9c335
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/franka_data.csv
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,745,722,685,669,643,886,789,820,655,632,657,0.400969947236,-0.0153734917977,0.0598358378002,0.999999939383,0.000218987554235,-0.000270191939001,1.65668284424e-05,1793250596724070400
+1,0.016666667,BASELINE,769.596086828,745,722,685,669,643,886.596086828,789,819.403913172,655,632,656.403913172,0.400969579238,-0.015373938934,0.0598355013892,0.999999939435,0.000218643792254,-0.000270288296214,1.64076879146e-05,1793250596740737536
+2,0.033333333,BASELINE,769.814110607,745,722,685,669,643,887,789,819.185889393,655,632,656.185889393,0.400970345786,-0.0153742107761,0.0598358721096,0.999999939824,0.000218363010935,-0.000269074484732,1.63627377101e-05,1793250596757404160
+3,0.050000000,BASELINE,769.237516286,745,722,685,669,643,887,789,819.762483714,655,632,656.762483714,0.40097349694,-0.0153741141823,0.0598377290884,0.999999940913,0.00021821460319,-0.000265106942357,1.65577942962e-05,1793250596774070272
+4,0.066666667,BASELINE,769,745,722,685,669,643,886.662521039,789,819.662521039,655,632,657,0.400973618575,-0.0153741839234,0.0598381670112,0.999999940936,0.000218562286344,-0.000264710709541,1.69321806567e-05,1793250596790736896
+5,0.083333333,BASELINE,769,745,722,685,669,643,886.088645939,789,819.088645939,655,632,657,0.400971618101,-0.0153743701783,0.0598376109183,0.999999940216,0.00021925746961,-0.000266816095985,1.74321833281e-05,1793250596807403776
+6,0.100000000,BASELINE,769,745.499861132,722,685,669,643,886.499861132,789,819,655,632,657,0.400972137768,-0.0153750076461,0.0598376778794,0.999999940265,0.000219255764969,-0.000266644136823,1.72292969998e-05,1793250596824070144
+7,0.116666667,BASELINE,769,745.910949152,722.089050848,685,669,643,886.910949152,789,819.089050848,655,632,657,0.40097307455,-0.0153754751455,0.0598380378749,0.999999940529,0.000219064926234,-0.000265828294209,1.6947026482e-05,1793250596840736768
+8,0.133333333,BASELINE,769,745.332694061,722.667305939,685,669,643,886.332694061,789,819.667305939,655,632,657,0.400973773547,-0.0153745560757,0.0598393823639,0.999999941193,0.000218534474373,-0.000263760815437,1.69340808944e-05,1793250596857403392
+9,0.150000000,BASELINE,769,745,722.755219807,685,669,643,886,789,819.755219807,655,632,657,0.400973331637,-0.0153744104666,0.0598397073123,0.999999941292,0.000218207866564,-0.00026365748449,1.68957517142e-05,1793250596874070016
+10,0.166666667,BASELINE,769,745,722.178803504,685,669,643,886,789,819.178803504,655,632,657,0.400971343992,-0.0153753127671,0.0598386509543,0.999999940627,0.000218157433303,-0.000266215244607,1.68230320242e-05,1793250596890736640
+11,0.183333333,BASELINE,769,745,722,685,669,643,886.38269176,789,819,655,632,656.61730824,0.400971405808,-0.0153757862557,0.0598378751666,0.999999940574,0.000217463399487,-0.000266988423114,1.66849106371e-05,1793250596907403776
+12,0.200000000,BASELINE,769,745,722,685,669,643,886.937477192,789,819,655,632,656.062522808,0.400972389251,-0.0153760669107,0.0598372255491,0.999999940798,0.000216479943225,-0.000266959088606,1.65173785811e-05,1793250596924070912
+13,0.216666667,BASELINE,769.543362988,745,722,685,669,643,886.456637012,789.543362988,819.543362988,655.543362988,632,656,0.400972113394,-0.0153748449733,0.0598374816733,0.999999940907,0.000216598324903,-0.000266469823687,1.62538960411e-05,1793250596940737536
+14,0.233333333,BASELINE,769.853002897,745,722,685.146997103,669,643,886.146997103,789.853002897,820,655.853002897,632,656.146997103,0.400971903079,-0.0153738620636,0.0598378566917,0.999999940943,0.000216979748976,-0.000266033748667,1.61435759569e-05,1793250596957403904
+15,0.250000000,BASELINE,769.275000732,745,722,685.724999268,669,643,886.724999268,789.275000732,820,655.275000732,632,656.724999268,0.400972353905,-0.0153741395705,0.0598382430129,0.999999940804,0.000217722100842,-0.000265924910024,1.65180704998e-05,1793250596974070272
+16,0.266666667,BASELINE,769,745.301528454,722,685.698471546,669,643,886.698471546,789.301528454,819.698471546,655,632,656.698471546,0.4009730893,-0.0153746473472,0.0598387580263,0.999999940959,0.000218100404111,-0.000265012415458,1.67970494274e-05,1793250596990736896
+17,0.283333333,BASELINE,769,745.876720745,722,685.123279255,669,643,886.123279255,789.876720745,819.123279255,655,632,656.123279255,0.400974082965,-0.0153753641141,0.0598393898392,0.999999941379,0.000218148300921,-0.00026337053181,1.6989339433e-05,1793250597007403520
+18,0.300000000,BASELINE,769,745.538469265,722,685,669,643,886.461530735,789.538469265,819,655,632,656,0.400974673438,-0.0153747885555,0.0598399199547,0.99999994141,0.000218971561751,-0.000262571039183,1.69727697448e-05,1793250597024070144
+19,0.316666667,BASELINE,769,745,722.048436534,685,669,643,887,789,819.048436534,655,632,656.048436534,0.400974924111,-0.0153740394491,0.0598402418341,0.999999941318,0.000219761019656,-0.000262265562487,1.6887485332e-05,1793250597040736768
+20,0.333333333,BASELINE,769,745,722.62953764,685,669,643,887,789,819.62953764,655,632,656.62953764,0.400972647513,-0.0153752587371,0.0598385787957,0.999999941054,0.00021785267804,-0.000264865718785,1.66731050571e-05,1793250597057403648
+21,0.350000000,BASELINE,769,745.20855059,723,685,669,643,887,789,820,655,632,657,0.400971587808,-0.0153761627339,0.059837694087,0.999999940989,0.000216689322089,-0.000266063596086,1.66827878646e-05,1793250597074070528
+22,0.366666667,BASELINE,769,745.783890922,723,685,669,643,887,789,820,655,632,657,0.400972668323,-0.01537651221,0.0598381782711,0.999999941287,0.000216836214849,-0.000264795205582,1.70865431346e-05,1793250597090737408
+23,0.383333333,BASELINE,769,746,723,685,669,643,886.641319078,789,819.641319078,655,632,657,0.400972490923,-0.015376374389,0.0598381518925,0.99999994144,0.000216493384426,-0.000264504578179,1.69867636947e-05,1793250597107403776
+24,0.400000000,BASELINE,769,746,723,685,669,643,886.066860096,789,819.066860096,655,632,657,0.400971556777,-0.0153759434161,0.0598378183657,0.999999941505,0.000215855942534,-0.000264802160989,1.65840639643e-05,1793250597124069888
+25,0.416666667,BASELINE,769,746,722.47672972,685,669,643,886,789.52327028,819.52327028,655,632,656.47672972,0.400972588524,-0.015375971652,0.059838494841,0.999999941797,0.000215436854248,-0.000264046182179,1.65033345028e-05,1793250597140736512
+26,0.433333333,BASELINE,769,745.887352519,722,685,669,643,886,789.887352519,819.887352519,655.112647481,632,656.112647481,0.400973612803,-0.0153758834217,0.0598392360047,0.999999941935,0.000215554636981,-0.000263426664467,1.65148979797e-05,1793250597157403136
+27,0.450000000,BASELINE,769,745.309607519,722,685,669,643,886,789.309607519,819.309607519,655.690392481,632,656.690392481,0.400973537119,-0.0153750645929,0.0598396949764,0.999999941315,0.000217770297168,-0.000263943531316,1.67324199847e-05,1793250597174069760
+28,0.466666667,BASELINE,769,745,722,685,669,643,886,789,819,655.732589995,632,656.732589995,0.400973714641,-0.0153754922817,0.0598400441294,0.999999941396,0.000217566215895,-0.000263800552156,1.68223783514e-05,1793250597190736640
+29,0.483333333,BASELINE,769,745,722,685,669,643,886,789,819,655.156412493,632,656.156412493,0.400974184531,-0.0153773592742,0.0598402664793,0.999999942283,0.000214568157067,-0.000262895675514,1.67650441404e-05,1793250597207403520
+30,0.500000000,BASELINE,769,745,722,685,669.427271562,643,886.427271562,789,819.427271562,655,632,656,0.400972674512,-0.0153766967591,0.0598390274777,0.999999941884,0.000214654686467,-0.000264351523673,1.65256500395e-05,1793250597224070144
+31,0.516666667,BASELINE,769,745,722.013577327,685,669.986422673,643,887,789.013577327,819.986422673,655,632,656,0.400970526256,-0.0153751723402,0.0598373258347,0.999999941049,0.000215808776347,-0.000266578437235,1.62331591969e-05,1793250597240736768
+32,0.533333333,BASELINE,769,745,722.592580159,685,669.407419841,643,887,789.592580159,819.407419841,655,632,656,0.400972522339,-0.0153770061214,0.0598390343298,0.999999942137,0.00021355564351,-0.000264283310079,1.65546072145e-05,1793250597257403136
+33,0.550000000,BASELINE,769,745,722.829082442,685.170917558,669,643,886.829082442,790,819,655,632,656.170917558,0.400973566892,-0.0153777792985,0.0598398851038,0.999999942464,0.000213331123167,-0.000263210499591,1.68074792389e-05,1793250597274070016
+34,0.566666667,BASELINE,769,745,722.252325182,685.747674818,669,643,886.252325182,790,819,655,632,656.747674818,0.400972352058,-0.0153760340962,0.0598386992389,0.999999940989,0.000217923495568,-0.000265040051468,1.68975191426e-05,1793250597290736640
+35,0.583333333,BASELINE,769,745,722,685.67589148,669,643,886.32410852,790,819,655,632,656.67589148,0.400972051864,-0.0153762900797,0.0598384481278,0.999999940921,0.000217895311609,-0.000265304403966,1.71023866908e-05,1793250597307403008
+36,0.600000000,BASELINE,769,745,722,685.099709362,669,643,886.900290638,790,819,655,632,656.099709362,0.400972463027,-0.0153781024744,0.0598389240163,0.999999941951,0.000214273516128,-0.000264351431546,1.73965608105e-05,1793250597324069376
+37,0.616666667,BASELINE,769,745,722,685,669,643,886.513629931,789.513629931,819,655,632,656.486370069,0.400971181535,-0.0153778244289,0.0598379531339,0.999999941704,0.000214319410798,-0.000265290404877,1.67572871502e-05,1793250597340736256
+38,0.633333333,BASELINE,769,745,722,684.926239991,669,643,886.073760009,789,819.073760009,655,632,657,0.400970012099,-0.0153770614549,0.0598370230447,0.999999941241,0.000215348977608,-0.000266244213667,1.60343119741e-05,1793250597357403136
+39,0.650000000,BASELINE,769,745,722,684.34409257,669,643,886.65590743,789,819.65590743,655,632,657,0.400972056408,-0.0153759712874,0.0598384608752,0.999999941138,0.000217868353517,-0.000264571421372,1.60807892238e-05,1793250597374070272
+40,0.666666667,BASELINE,769,745,722,684.234698092,669,643,886.765301908,789,820,655,632,656.765301908,0.400972870163,-0.0153756467077,0.0598390263251,0.999999941182,0.000218311432023,-0.000264029706913,1.62394794331e-05,1793250597390736896
+41,0.683333333,BASELINE,769,745,722,684.808636746,669,643,886.191363254,789,820,655,632,656.191363254,0.400971905233,-0.0153764287345,0.0598383308067,0.999999941443,0.000215753359864,-0.000265122890733,1.65603660484e-05,1793250597407403520
+42,0.700000000,BASELINE,769,745,722,685,669,643,886,789,820,655,632,656,0.400970742532,-0.015376474505,0.0598377140058,0.999999941146,0.000215761101385,-0.000266234512149,1.65785783313e-05,1793250597424069888
+43,0.716666667,BASELINE,769,745,722,685,669,643,886,789,820,655,632,656,0.400969480907,-0.015376152002,0.0598371365791,0.999999940569,0.000217052256421,-0.000267355355971,1.6445393678e-05,1793250597440736512
+44,0.733333333,BASELINE,769,745,722,684.449383791,669,643,886.550616209,789,820,655,632,656,0.40097221585,-0.0153750843776,0.0598387225614,0.999999941142,0.00021760961369,-0.000264757770877,1.62608858341e-05,1793250597457402880
+45,0.750000000,BASELINE,769,745,722,684.138379351,669,643,886.861620649,789,819.861620649,655,632,656,0.400974184906,-0.0153744893097,0.0598398991729,0.999999941662,0.000217688858858,-0.000262730972233,1.61260729442e-05,1793250597474069504
+46,0.766666667,BASELINE,769,745,722,684.715119027,669,643,886.284880973,789,819.284880973,655,632,656,0.400972793639,-0.0153755653747,0.0598392733097,0.999999941765,0.000216425046594,-0.000263381445679,1.61606805632e-05,1793250597490736384
+47,0.783333333,BASELINE,769,745,722,685,669,643,886.290565746,789,819.290565746,655,632,656,0.400972361493,-0.0153765712664,0.059839035788,0.999999941948,0.000215051044047,-0.000263803151154,1.62757287013e-05,1793250597507403520
+48,0.800000000,BASELINE,769,745,722,685,669,643,886.864750488,789,819.864750488,655,632,656,0.400972865539,-0.0153775086624,0.0598391773234,0.99999994221,0.000213569485462,-0.000264001558044,1.64692942171e-05,1793250597524070912
+49,0.816666667,BASELINE,769,745,722,684.549664257,669,643,886.549664257,789,819.549664257,655,632,656,0.400972900107,-0.0153774018568,0.0598394067996,0.999999942237,0.000214010537786,-0.000263531787245,1.66162311934e-05,1793250597540737280
+50,0.833333333,BASELINE,769,745,722,684.03876618,669,643,886,789.03876618,819,655,632,656,0.400972693168,-0.0153769155864,0.0598395850114,0.999999942149,0.000215030948228,-0.000263029868528,1.67188849853e-05,1793250597557403392
+51,0.850000000,BASELINE,769,745,722,684.617890565,669,643,886,789.617890565,819,655,632,656,0.400971136274,-0.0153756248455,0.0598386709499,0.999999941466,0.000215869349103,-0.000264949671074,1.6404549643e-05,1793250597574069760
+52,0.866666667,BASELINE,769,745,722,685,669,643,886.196556142,789.803443858,819,655,632,656.196556142,0.400970846417,-0.0153758092727,0.0598386929087,0.999999941477,0.000215554747147,-0.000265167162611,1.63975345713e-05,1793250597590736640
+53,0.883333333,BASELINE,769,745,722,685,669,643,886.774331831,789.225668169,819,655,632,656.774331831,0.400973013969,-0.0153788547805,0.0598405302739,0.999999942827,0.000213003902559,-0.000262083031287,1.69865654759e-05,1793250597607403264
+54,0.900000000,BASELINE,769,745.350352443,722,685,669,643,886.649647557,789.350352443,819.350352443,655,632,656.649647557,0.400973490644,-0.0153782596784,0.0598403262457,0.999999942611,0.000213971529566,-0.000262129005135,1.67903043988e-05,1793250597624069888
+55,0.916666667,BASELINE,769,745.925248193,722,685,669,643,886.074751807,789.925248193,819.925248193,655,632,656.074751807,0.400972883625,-0.0153753312841,0.0598388138743,0.999999941388,0.000217194169471,-0.000264181085175,1.60907442316e-05,1793250597640736768
+56,0.933333333,BASELINE,769,745.488852806,722,685,669,643,886.511147194,789.488852806,819.488852806,655,632,656,0.400972838259,-0.0153747397163,0.059839181791,0.9999999415,0.000217138187981,-0.000263792278498,1.62576194388e-05,1793250597657403392
+57,0.950000000,BASELINE,769,745,722,684.902669486,669,643,887,789.097330514,819,655,632,656.097330514,0.400972735277,-0.0153746057902,0.0598395585764,0.999999941662,0.000216789657614,-0.000263448937149,1.6506068157e-05,1793250597674070528
+58,0.966666667,BASELINE,769,745,722,684.323224121,669,643,887,789.676775879,819,655,632,656.676775879,0.400971931094,-0.0153750087032,0.0598385872491,0.999999941079,0.000217419299765,-0.000265137876453,1.65171289519e-05,1793250597690736896
+59,0.983333333,BASELINE,769,745.254466238,722,684.254466238,669,643,886.745533762,790,819,655,632,656.745533762,0.400971570437,-0.0153751934288,0.0598381051439,0.999999940725,0.000218039321901,-0.000265968728465,1.64337053219e-05,1793250597707403520
+60,1.000000000,BASELINE,769,745.82994273,722,684.82994273,669,643,886.17005727,790,819,655,632,656.17005727,0.400971769291,-0.01537510291,0.0598382401945,0.999999940662,0.000218647208433,-0.000265717099904,1.62310891858e-05,1793250597724069888
+61,1.016666667,BASELINE,769,745.595842909,722,685,669,643,886.404157091,790,819,655,632,656.404157091,0.400972205917,-0.015375469832,0.0598389538555,0.999999940929,0.000218574094097,-0.000264771685217,1.61978952444e-05,1793250597740736512
+62,1.033333333,BASELINE,769,745.022157996,722,685,669,643,886.977842004,790,819,655,632,656.977842004,0.400972742279,-0.0153760286322,0.0598399102205,0.999999941334,0.000218215326951,-0.000263535254865,1.62357671865e-05,1793250597757403136
+63,1.050000000,BASELINE,769,745,722,685,669,643,886.430831336,789.430831336,819,655,631.430831336,656.430831336,0.400971547225,-0.0153770300016,0.0598393095863,0.999999941396,0.000216943226346,-0.000264341710452,1.63540135654e-05,1793250597774069760
+64,1.066666667,BASELINE,769.157594373,745,722,685,669,643,886.157594373,789,819,655,631.157594373,656,0.400971059774,-0.0153776426896,0.0598390496633,0.999999941638,0.000215623895219,-0.000264504436567,1.63892652705e-05,1793250597790736640
+65,1.083333333,BASELINE,769.736372772,745,722,685,669,643,886.736372772,789,819,655,631.736372772,656,0.400972649355,-0.0153771690743,0.0598398674992,0.999999942399,0.000214276403991,-0.000262727391529,1.61940767815e-05,1793250597807403776
+66,1.100000000,BASELINE,769.687067856,745,722,685.312932144,669,643,887,789,819,655,632,656,0.400973094073,-0.0153771795238,0.0598399721555,0.999999942479,0.000214200747786,-0.00026247866256,1.62957560598e-05,1793250597824070400
+67,1.116666667,BASELINE,769.112364753,745,722,685.887635247,669,643,887,789,819,655,632,656,0.400972581101,-0.0153775948985,0.0598394802298,0.99999994199,0.000215188994738,-0.000263508385805,1.66457682915e-05,1793250597840736768
+68,1.133333333,BASELINE,769,745,722,685.524714618,669,643,887,789.475285382,819,655,632,656.475285382,0.40097287754,-0.0153772339351,0.0598393994916,0.999999941754,0.000216227188877,-0.000263560766397,1.65191790377e-05,1793250597857403136
+69,1.150000000,BASELINE,769,745,722,685,669.064657221,643,887,789.935342779,819,655,632,656.935342779,0.400973316071,-0.0153768064848,0.0598395010696,0.999999941602,0.000217235755015,-0.000263321411565,1.63384812745e-05,1793250597874069504
+70,1.166666667,BASELINE,769,745,722,685,669.642714616,643,887,789.357285384,819,655,632,656.357285384,0.400973320864,-0.015377349272,0.0598402567957,0.999999941626,0.000217912676807,-0.000262651641243,1.66478827052e-05,1793250597890736384
+71,1.183333333,BASELINE,769,745,722,685,669.780281449,643,887,789,819.219718551,655,632,656.219718551,0.400972597221,-0.0153778673541,0.0598401566013,0.99999994157,0.000217622633655,-0.000263094312582,1.67654924588e-05,1793250597907403008
+72,1.200000000,BASELINE,769,745,722,685,669.204982286,643,887,789,819.795017714,655,632,656.795017714,0.400970694717,-0.015378345455,0.0598386712315,0.999999941383,0.000215767706877,-0.000265337299193,1.65727169901e-05,1793250597924069376
+73,1.216666667,BASELINE,769,745.369931793,722.369931793,685,669,643,887,789.369931793,820,655,632,657,0.400971380107,-0.0153777227072,0.0598389002174,0.999999941389,0.000216372373423,-0.000264815328235,1.66632360937e-05,1793250597940736512
+74,1.233333333,BASELINE,769,745.944632682,722.944632682,685,669,643,887,789.944632682,820,655,632,657,0.400973497979,-0.0153764906043,0.059840078154,0.999999941499,0.000218338503764,-0.000262762864569,1.69105678282e-05,1793250597957403392
+75,1.250000000,BASELINE,769,745.465684797,722.465684797,685,669,643,887,789.465684797,819.465684797,655,632,657,0.400973622876,-0.0153775018725,0.0598402707724,0.999999942111,0.000216547511913,-0.000261913089075,1.69112685921e-05,1793250597974070016
+76,1.266666667,BASELINE,769,745,722,685,669,643,886.877308157,789.122691843,819.122691843,655,632,657,0.400973769653,-0.0153780841437,0.059840420602,0.999999942547,0.000215467911409,-0.000261142528953,1.68618779722e-05,1793250597990736896
+77,1.283333333,BASELINE,769,745,722,685,669,643,886.299695762,789.700304238,819.700304238,655,632,657,0.400974785377,-0.0153761889616,0.0598408012744,0.999999942137,0.00021851122036,-0.000260190263243,1.67242502495e-05,1793250598007403776
+78,1.300000000,BASELINE,769,745,722,685,669,643,886.2770543,790,820,655,632,656.7229457,0.400974121386,-0.0153758760059,0.0598403166436,0.999999941888,0.000218312890404,-0.00026133133268,1.64408739995e-05,1793250598024070144
+79,1.316666667,BASELINE,769,745,722,685,669,643,886.852874416,790,820,655,632,656.147125584,0.400971646049,-0.0153772692685,0.0598388988996,0.9999999418,0.000214618888488,-0.000264729782708,1.60003275657e-05,1793250598040736768
+80,1.333333333,BASELINE,769,745,722,685,669,643,886.560350501,789.560350501,820,655,632,656,0.400972083065,-0.0153767015943,0.0598395154419,0.999999942086,0.00021489338313,-0.000263427458937,1.59911909628e-05,1793250598057403136
+81,1.350000000,BASELINE,769.029542586,745,722,685,668.970457414,643,886.029542586,789.029542586,819.970457414,655,632,656,0.400973374803,-0.0153755526945,0.0598407160227,0.99999994245,0.000216422414974,-0.000260770412833,1.61307052053e-05,1793250598074069760
+82,1.366666667,BASELINE,769.607522482,745,722,685,668.392477518,643,886.607522482,789.607522482,819.392477518,655,632,656,0.400971978816,-0.0153761072012,0.0598397980936,0.999999941987,0.00021595710462,-0.000262913302294,1.62812350412e-05,1793250598090736640
+83,1.383333333,BASELINE,769.815233173,745,722,685,668.184766827,643,887,789.815233173,819.184766827,655,632,656,0.40097106811,-0.0153765930258,0.0598389954342,0.999999941574,0.000216084650781,-0.000264374394357,1.6326504426e-05,1793250598107403520
+84,1.400000000,BASELINE,769.239544964,745,722,685,668.760455036,643,887,789.239544964,819.760455036,655,632,656,0.40097118414,-0.0153769335358,0.0598384366567,0.999999941272,0.000217466536125,-0.000264392970413,1.61490684894e-05,1793250598124070400
+85,1.416666667,BASELINE,769,745,722,685,669,643,887,789.334357792,819.665642208,655,632.334357792,656.334357792,0.400971300317,-0.0153770873685,0.0598384414984,0.999999941193,0.00021767984928,-0.000264509879137,1.62409083957e-05,1793250598140736768
+86,1.433333333,BASELINE,769,745,722,685,669,643,887,789.906988151,819.093011849,655,632.906988151,656.906988151,0.400971416598,-0.0153771081699,0.0598388479905,0.999999941274,0.000217060405644,-0.000264696862425,1.65246416908e-05,1793250598157402880
+87,1.450000000,BASELINE,769,745,722,685,669,643,886.503108669,789.503108669,819,655,632.006217337,656.503108669,0.400971997017,-0.0153770354139,0.0598396619231,0.999999941654,0.000216563341566,-0.000263680758412,1.62955746549e-05,1793250598174069504
+88,1.466666667,BASELINE,769.087808385,745,722,685,669,643,886,789,819.087808385,655,631.087808385,656.087808385,0.40097250159,-0.0153769346612,0.0598402986691,0.999999941988,0.000216195835032,-0.000262727101654,1.60471989493e-05,1793250598190736384
+89,1.483333333,BASELINE,769.665688847,745,722,685,669,643,886,789,819.665688847,655,631.665688847,656.665688847,0.400972080495,-0.0153767789156,0.0598395055175,0.999999941753,0.000216418951951,-0.00026342412991,1.62460862288e-05,1793250598207403008
+90,1.500000000,BASELINE,769.75764848,745,722,685,669,643,886.24235152,789,820,655,632,656.75764848,0.400972623216,-0.0153767447806,0.0598395274176,0.999999941732,0.000216812219188,-0.000263171303089,1.64288642035e-05,1793250598224069888
+91,1.516666667,BASELINE,769.182657331,745,722,685,669,643,886.817342669,789,820,655,632,656.182657331,0.400974488825,-0.0153768775623,0.0598406680171,0.999999942001,0.000217439026262,-0.000261614752424,1.65895313322e-05,1793250598240737024
+92,1.533333333,BASELINE,769,745.400330715,722,685,669,643,887,789,819.599669285,655,632,656.400330715,0.400974115633,-0.0153773665797,0.0598401355226,0.999999941884,0.00021703526816,-0.000262392839232,1.66349636699e-05,1793250598257403904
+93,1.550000000,BASELINE,769,745.987041897,722,685,669,643,887,789,819.012958103,655,632,656.987041897,0.400972700132,-0.0153780214485,0.0598388240922,0.999999941585,0.000216151713755,-0.000264257854302,1.66267465928e-05,1793250598274070784
+94,1.566666667,BASELINE,769,745.433258712,722,685,669,643,887,789.566741288,819.566741288,655,632,656.433258712,0.400972659555,-0.0153788018196,0.0598397758539,0.999999941937,0.000215427328759,-0.00026352271488,1.65187601515e-05,1793250598290736896
+95,1.583333333,BASELINE,769,745,722.146641444,685,669,643,887,789.853358556,819.853358556,655,632,656,0.400972460141,-0.0153790366254,0.0598404331229,0.999999941985,0.000215832768758,-0.000263013247976,1.64546860782e-05,1793250598307403264
+96,1.600000000,BASELINE,769,745,722.727605391,685,669,643,887,789.272394609,819.272394609,655,632,656,0.400971698309,-0.0153776471817,0.0598400667751,0.999999941081,0.000219573876183,-0.000263346106219,1.65273453323e-05,1793250598324069632
+97,1.616666667,BASELINE,769,745,722.695395202,684.695395202,669,643,887,789.304604798,819.304604798,655,632,656.304604798,0.400971252973,-0.0153773947221,0.0598395490918,0.999999941028,0.000219100920922,-0.000263943179136,1.64899206958e-05,1793250598340736000
+98,1.633333333,BASELINE,769,745,722.121895592,684.121895592,669,643,887,789.878104408,819.878104408,655,632,656.878104408,0.400971087029,-0.0153781459537,0.0598388978147,0.999999941721,0.00021490793345,-0.000264773491808,1.63553177206e-05,1793250598357402880
+99,1.650000000,BASELINE,769,745.451112725,722,684.451112725,669,643,886.548887275,790,820,655,632,656.548887275,0.400973159799,-0.0153782234433,0.0598399120308,0.999999942522,0.000213987033045,-0.000262483198069,1.64038669597e-05,1793250598374070016
+100,1.666666667,BASELINE,769,745.975104716,722,685,669,643,886,789.975104716,820,655,632,656,0.400975676913,-0.0153781210779,0.0598412925067,0.999999943294,0.00021399252598,-0.000259514523257,1.64965456296e-05,1793250598390736896
+101,1.683333333,BASELINE,769,745.380572036,722,685,669,643,886,789.380572036,820,655,632,656,0.40097453475,-0.0153780644629,0.0598407673081,0.999999942878,0.000214986526672,-0.000260296638313,1.64678053938e-05,1793250598407403520
+102,1.700000000,BASELINE,769.207234636,745,722,685,669,643,886.207234636,789,819.792765364,655,632,656.207234636,0.400973799404,-0.0153780137662,0.0598403831426,0.999999942721,0.000215125197282,-0.000260785131,1.64577359253e-05,1793250598424070144
+103,1.716666667,BASELINE,769.783077691,745,722,685,669,643,886.783077691,789,819.216922309,655,632,656.783077691,0.400973787667,-0.0153779735964,0.059840249833,0.999999943026,0.000213742491465,-0.000260751357256,1.64808761691e-05,1793250598440736512
+104,1.733333333,BASELINE,769.641884715,745,722,685,669,643,887,789.358115285,819.358115285,655,632.358115285,657,0.400974043376,-0.0153776492685,0.0598405878927,0.999999943009,0.000214388797995,-0.000260272520631,1.66439221798e-05,1793250598457403392
+105,1.750000000,BASELINE,769.067333865,745,722,685,669,643,887,789.932666135,819.932666135,655,632.932666135,657,0.400974460721,-0.0153771532027,0.0598412108357,0.999999942796,0.000216261386682,-0.000259524699573,1.68915235997e-05,1793250598474070016
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,745,723,685,669,643,887,790,819,655,632,656,0.40097260418,-0.0153777777593,0.059839887063,0.999999942556,0.000214202086413,-0.000262166443535,1.65478220166e-05,1793250598504202240
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.423067508,745,723,685,669,643,887,789.423067508,819,655,632,656,0.400972036751,-0.0153780368052,0.0598396516867,0.999999942456,0.000213618367241,-0.000263028157595,1.64869336751e-05,1793250598520869632
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,723,685,669,643,886.846316272,789,819,655,632,656.153683728,0.400971632718,-0.0153778754518,0.0598394059044,0.999999942164,0.000214105681544,-0.000263741314965,1.64675418493e-05,1793250598537536768
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,723,685,669,643,886.270063293,789,819,655,632,656.729936707,0.400971677958,-0.0153765581673,0.0598391315097,0.999999941341,0.000217537912658,-0.00026404600059,1.65622489571e-05,1793250598554202368
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722.695218542,685,669,643,886,789.304781458,819.304781458,655,632,656.695218542,0.400972081705,-0.0153760423381,0.0598393141234,0.999999941132,0.000219282197915,-0.000263397551166,1.65516941309e-05,1793250598570868736
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722.121615902,685,669,643,886,789.878384098,819.878384098,655,632,656.121615902,0.400972801659,-0.0153762334029,0.0598398998243,0.999999941468,0.00021953769292,-0.000261908424302,1.64482969137e-05,1793250598587535104
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.469239742,789.530760258,820,655,632,656.469239742,0.400972431858,-0.0153762123227,0.0598399559373,0.999999941858,0.00021763739895,-0.000262015815747,1.63222439161e-05,1793250598604201728
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.937518342,789.062481658,820,655,632,656.937518342,0.400971984635,-0.0153762988514,0.0598399599765,0.999999942261,0.00021531614552,-0.000262396668541,1.62500383058e-05,1793250598620868608
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.362772386,789.637227614,820,655,632,656.362772386,0.400973306654,-0.0153777356176,0.0598407053554,0.999999942708,0.000214299277279,-0.000261497606003,1.66692864836e-05,1793250598637536000
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.787726721,745,722,685,669,643,886,790,819.787726721,655,632,656,0.400975521786,-0.0153785469176,0.0598416360982,0.999999942992,0.000214237334234,-0.000260449454842,1.68575729534e-05,1793250598654203136
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.212168193,745,722,685,669,643,886,790,819.212168193,655,632,656,0.400979265393,-0.0153782877926,0.0598428840734,0.999999942996,0.00021580965369,-0.000259146152973,1.66505906872e-05,1793250598670869504
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.372485018,745,722,685,669,643,886,790,819,655,632,656,0.400997292398,-0.0153791177751,0.0598505597707,0.999999946205,0.000215744740952,-0.000246464415598,1.73003890408e-05,1793250598687535872
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.962448284,745,722,685,669,643,886,790,819,655,632,656,0.401023658875,-0.0153805836414,0.0598619883432,0.99999995098,0.000214723917661,-0.000227139290738,1.84504253394e-05,1793250598704202752
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.541734526,790,819,655,632,656.541734526,0.4010790602,-0.0153841531222,0.0598821648477,0.999999958767,0.00021306065694,-0.000191462622825,2.03194726258e-05,1793250598720869632
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745.119679843,722,685,669,643,886.880320157,789.880320157,819,655,632,656.880320157,0.401139183488,-0.0153878145103,0.0599017241224,0.999999964803,0.000211557566696,-0.00015858978832,2.20570429563e-05,1793250598737536256
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745.695282002,722,685,669,643,886.304717998,789.304717998,819,655,632,656.304717998,0.401209776251,-0.0153912812645,0.0599166666696,0.999999967619,0.00021083101611,-0.000140632629542,2.31075534368e-05,1793250598754203136
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745.729429579,722,685,669,643,886.270570421,789.270570421,819,655,632,656,0.401289347211,-0.0153951599996,0.0599298308674,0.999999970321,0.000210109974092,-0.000120968209569,2.40486902408e-05,1793250598770869504
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.154494121,722,685,669,643,886.845505879,789.845505879,819,655,632,656,0.401379017753,-0.0153995021722,0.0599409945965,0.999999972829,0.000209395128702,-9.93832902143e-05,2.48667923821e-05,1793250598787535872
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.434398027,745,722,685,669,643,887,789.565601973,819,655,632,656.434398027,0.401475897688,-0.0154040855026,0.0599443260559,0.999999973658,0.000208587702646,-9.26357910097e-05,2.43643470989e-05,1793250598804202496
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.972393334,745,722,685,669,643,886.972393334,789,819.027606666,655,632,656.972393334,0.401576410666,-0.0154088818849,0.0599445904185,0.999999973982,0.000207638999223,-9.15208760195e-05,2.33524930478e-05,1793250598820869120
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.395345181,745,722,685,669,643,886.395345181,789,819.604654819,655,632,656.395345181,0.401696505741,-0.0154161548706,0.0599410917305,0.999999974422,0.000204555594368,-9.39977634172e-05,2.18597078519e-05,1793250598837536000
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.180396929,789.180396929,819.819603071,655,632,656,0.401828094366,-0.0154229837099,0.0599394726357,0.99999997505,0.000202069943559,-9.30089592013e-05,2.04345851015e-05,1793250598854202624
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.753297302,789.753297302,819.246702698,655,632,656,0.401984690376,-0.0154288461846,0.0599419431165,0.999999976071,0.000200884872507,-8.44795833792e-05,1.91566809222e-05,1793250598870869504
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887.336303877,790,819,655,632,656,0.402164116874,-0.0154379640772,0.0599452174796,0.999999977844,0.000196189136056,-7.41749045529e-05,1.78579634795e-05,1793250598887536128
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887.926953816,790,819,655,632,656,0.402360810048,-0.0154495440374,0.0599490998178,0.999999980078,0.000188838289076,-6.25275661195e-05,1.65435048638e-05,1793250598904202240
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887.493214487,789.493214487,819,655,632,656.506785513,0.402581037853,-0.0154593824082,0.0599503031214,0.999999981749,0.000181372035184,-5.81910561332e-05,1.48154190689e-05,1793250598920869120
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,722.084916558,685,669,643,887,789.084916558,819,655,632,656.915083442,0.402809260338,-0.0154687106222,0.0599506529757,0.999999983161,0.000174463650505,-5.544334633e-05,1.28819876889e-05,1793250598937535744
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,722.662039617,685,669,643,887,789.662039617,819,655,632,656.337960383,0.403064571506,-0.0154765064169,0.0599482473952,0.999999983785,0.000170883273967,-5.59246026715e-05,1.00966481256e-05,1793250598954202368
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,722.763622657,685,669,643,887,790,819,655,632,656.236377343,0.403331755337,-0.01548416771,0.0599439645393,0.999999984211,0.00016711678462,-5.99951912134e-05,7.16912801285e-06,1793250598970868736
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722.193220917,685,669,643,887,790,819,655,632,656.806779083,0.403615716392,-0.015491638939,0.0599370289092,0.999999984303,0.0001630872998,-6.91378585987e-05,4.04069298824e-06,1793250598987535104
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.392613031,745,722,685.392613031,669,643,887,789.607386969,819,655,632,656.607386969,0.403926578327,-0.0154866707676,0.0599275696806,0.999999983844,0.000157778575648,-8.61235538589e-05,6.53587745572e-08,1793250599004201984
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.986352518,745,722,685.986352518,669,643,887,789.013647482,819,655,632,656.013647482,0.404251220943,-0.0154753301826,0.0599168176718,0.999999982729,0.000151814527222,-0.000107127048225,-4.3438219548e-06,1793250599020868608
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.433922085,745,722,686,669,643,887,789,819,655,632,656,0.404613302196,-0.0154718095663,0.0599068551487,0.999999986769,0.00010466798503,-0.000124202679555,-8.9712589232e-06,1793250599037535488
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722,686,669,643,887.144838605,789.144838605,819.144838605,655,632,656.144838605,0.404994443855,-0.0154724766325,0.05990141992,0.99999998863,6.85611155965e-05,-0.000133679047284,-1.3035834048e-05,1793250599054201856
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722,686,669,643,887.721705081,789.721705081,819.721705081,655,632,656.721705081,0.405429812,-0.0154850860466,0.059909433407,0.999999990259,6.82736274126e-05,-0.00012076379539,-1.54061751762e-05,1793250599070868480
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,722.302239935,686,669,643,887.697760065,790,819.697760065,655,632,656.697760065,0.405892943561,-0.0154945523438,0.0599287724004,0.999999994037,6.04743203576e-05,-8.93086082275e-05,-1.71317183827e-05,1793250599087535104
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722.886194108,686,669,643,887.113805892,790,819.113805892,655,632,656.113805892,0.406381953122,-0.0155010889806,0.0599586677641,0.999999997967,4.56733363865e-05,-4.05725668741e-05,-1.82562533814e-05,1793250599104201728
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.468606419,722.531393581,686.468606419,669,643,887,790,819.468606419,655,632,656,0.406921643592,-0.0155028578947,0.0599820668818,0.999999999317,3.06911434442e-05,-3.79431072667e-06,-2.02595730215e-05,1793250599120868352
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.950107784,722,687,669,643,887.049892216,790,820,655,632,656.049892216,0.407470785772,-0.0155033557575,0.0600014313866,0.999999999298,1.64926947144e-05,2.48880864347e-05,-2.2644333235e-05,1793250599137535232
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.376725376,722,687,669,643,887.623274624,790,820,655,632,656.623274624,0.407990378474,-0.0155026264474,0.0599949624426,0.99999999958,1.0977852104e-05,-1.00385197832e-06,-2.67993619378e-05,1793250599154202112
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,722.197739667,687,669,643,888,790,820,655,632,656.802260333,0.408528952442,-0.0155029417071,0.0599864465224,0.999999999147,-2.90327857511e-06,-2.66586385896e-05,-3.14135868067e-05,1793250599170868736
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722.774278624,687,669,643,888,790,820,655,632,656.225721376,0.40910388777,-0.0155052579933,0.0599740093199,0.999999997436,-3.28112588603e-05,-5.18591246291e-05,-3.69074689268e-05,1793250599187535360
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.359435243,745.359435243,722.640564757,687.359435243,669.359435243,643.359435243,888,790,820,655,632,656.359435243,0.409723782582,-0.0155094220081,0.0599758740394,0.999999997078,-4.49807415711e-05,-4.60484496895e-05,-4.12314166308e-05,1793250599204201984
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.950136574,745.950136574,722.049863426,687.950136574,669.950136574,643.950136574,888,790,820,655,632,656.950136574,0.410372604986,-0.0155147748793,0.0599869408329,0.999999997745,-4.57370047156e-05,-2.02847224058e-05,-4.48026105776e-05,1793250599220868608
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,745.470304674,722,688,669.470304674,643.470304674,888,790,820,655,632,657,0.411073844858,-0.0155188310674,0.059991541779,0.999999995874,-7.6227399523e-05,-7.42723869068e-06,-4.88554053867e-05,1793250599237535232
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.892670291,745,722,688,669,643,888,790,820,655,632,656.892670291,0.411771557443,-0.0155213079893,0.0599897692193,0.999999995107,-8.57830279598e-05,-7.88118251445e-06,-4.86336569036e-05,1793250599254201856
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.318934293,745,722,688,669,643,888,790,820,655,632,656.318934293,0.412432941055,-0.0155174416446,0.0599628907973,0.999999997671,7.54718694108e-06,-6.10097446438e-05,-2.9643727664e-05,1793250599270868480
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.255527799,722,688.255527799,669,643,888.255527799,790,820.255527799,655,632,656,0.413113516394,-0.0155105688173,0.0599360850189,0.999999992075,5.20890292984e-05,-0.000112202929904,-2.3400513306e-05,1793250599287535616
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.830898818,722,688.830898818,669,643,888.830898818,790,820.830898818,655,632,656,0.413818114038,-0.0154999327863,0.0599093701649,0.999999985863,3.55626555466e-05,-0.000160973618764,-3.31123134124e-05,1793250599304203008
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.420340905,745.579659095,722,689,669,643,889,790,821,655,632,656.420340905,0.41461882885,-0.0155069720383,0.0599304851627,0.999999992135,1.73036568187e-05,-0.000119115402886,-3.52531753828e-05,1793250599320869376
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.984783645,745,722,689,669,643,889,790,821.030432709,655,632,656.984783645,0.415459316992,-0.0155212285155,0.0599713440061,0.999999998604,-1.70241501681e-06,-4.01995637106e-05,-3.42403988081e-05,1793250599337535232
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.405600153,745,722,689,669,643,889,790,822.188799694,655,632,656.405600153,0.416291156605,-0.0155303059707,0.0600061129621,0.999999999117,-2.16686426018e-05,1.40793436597e-05,-3.3138804137e-05,1793250599354202112
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,745,722,689,669,643,889.17170382,790,823,655,632,656.17170382,0.41712968917,-0.0155360233416,0.0600258551564,0.99999999786,-3.42995175742e-05,4.48992902815e-05,-3.29708867122e-05,1793250599370868736
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,745,722,689,669,643,889.744616014,790,823,655,632,656.744616014,0.417983860639,-0.0155338894366,0.0600104853594,0.999999998726,-2.97903831459e-05,2.09043115251e-05,-3.49846282528e-05,1793250599387535104
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,745.326141796,722.326141796,689,669,643,890,790,823,655,632,656.673858204,0.418826282708,-0.0155333498066,0.0599932243679,0.9999999988,-3.06237573137e-05,-7.37776869048e-06,-3.7515448991e-05,1793250599404201984
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,745.914595348,722.914595348,689,669,643,890,790,823,655,632,656.085404652,0.41965925484,-0.0155340924321,0.0599744423132,0.999999997778,-3.5754044371e-05,-3.91079096982e-05,-4.04621499308e-05,1793250599420868864
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,689.494496467,669,643,889.505503533,790.494496467,823.494496467,655,632,656,0.420485483306,-0.0155313093685,0.0599365937545,0.999999993628,-3.50101633584e-05,-9.74727649029e-05,-4.49169408852e-05,1793250599437535488
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,690.07270907,669,643,889.07270907,790.92729093,824,655,632,656.07270907,0.421319683513,-0.015528229963,0.0598988125998,0.999999985931,-3.32118338882e-05,-0.000156900709504,-4.91579421253e-05,1793250599454201856
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,690.649282248,669,643,889.649282248,790.350717752,824,655,632,656.649282248,0.422217060417,-0.0155272449615,0.0598839305256,0.999999979761,-3.10173455153e-05,-0.000192359647008,-5.01431228942e-05,1793250599470868736
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,691,669,643,890,790,824.224559759,655,632,656.775440241,0.423155667099,-0.0155310246685,0.0599025340051,0.999999984286,-3.4652330073e-05,-0.000166879021692,-4.87793652535e-05,1793250599487535616
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,691,669,643,890,790,824.797825393,655,632,656.202174607,0.424158297257,-0.0155422032157,0.0599731352637,0.999999996828,-4.73395657504e-05,-4.67688736859e-05,-4.37680765835e-05,1793250599504202240
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,691,669,643,890,790,825,655,632,656.382709788,0.425123096507,-0.0155483491619,0.0600208203447,0.999999997373,-4.93065931739e-05,3.42926018135e-05,-4.05828865435e-05,1793250599520868608
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,691,669,643,890,790,825,655,632,656.973924181,0.426067284991,-0.0155517532896,0.0600560204295,0.999999993805,-4.54331297068e-05,9.40799131867e-05,-3.83925760212e-05,1793250599537535232
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,691,669,643,890.552110261,790.552110261,825,655,632,656.447889739,0.427001947705,-0.0155508543774,0.06003511594,0.999999994767,-5.40368155209e-05,7.57641582118e-05,-4.24910399928e-05,1793250599554202112
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.129201291,746,722.870798709,691,669,643,891,790.870798709,825,655,632,656.129201291,0.427928193488,-0.0155498883525,0.0600089242168,0.999999995997,-6.12192829441e-05,4.57916142633e-05,-4.64936061142e-05,1793250599570868736
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.704586597,746,722.295413403,691,669,643,891,790.295413403,825,655,632,656.704586597,0.428826890034,-0.0155493762152,0.0599734133634,0.999999996828,-6.15055777676e-05,-1.19914126379e-05,-4.91629324678e-05,1793250599587535360
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.714272135,746,722.285727865,691.285727865,669,643,891,790.285727865,825.285727865,655,632,657,0.429703691517,-0.0155473394334,0.0599392682104,0.999999994059,-6.22285472351e-05,-7.27769090998e-05,-5.20906862631e-05,1793250599604202240
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.127057477,746,722.872942523,691.872942523,669,643,891,790.872942523,825.872942523,655,632,657,0.430557390287,-0.0155436939176,0.0599065640833,0.999999987113,-6.34122754922e-05,-0.000136730468423,-5.52911205166e-05,1793250599620868864
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,722.545615937,692,669,643,891.454384063,790.545615937,826,655,632,656.545615937,0.431532036828,-0.0155456653005,0.0599385787866,0.999999993455,-6.8352319201e-05,-7.41390811429e-05,-5.40419471256e-05,1793250599637535488
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,722,692,669,643,891.965860853,790.034139147,826,655,632,656.034139147,0.432535775414,-0.015549060944,0.0599866133282,0.999999995772,-7.37411825544e-05,1.89022889598e-05,-5.15868246078e-05,1793250599654201600
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,722,692,669,643,891.387579183,790.612420817,826,655,632,656.612420817,0.433470915373,-0.0155504376947,0.0600051580706,0.999999995528,-6.97521201591e-05,4.03568977325e-05,-4.94929787576e-05,1793250599670868480
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,722.189436924,692,669.189436924,643,891,790.810563076,826,655,632,657,0.434393952346,-0.0155521456647,0.0600071028586,0.999999995628,-7.00775895405e-05,3.70547673135e-05,-4.96030282233e-05,1793250599687535360
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,722.763881037,692,669.763881037,643,891,790.236118963,826,655,632,657,0.435292391665,-0.0155545267974,0.0599753102895,0.99999999526,-7.91718119119e-05,-1.656237882e-05,-5.41922227105e-05,1793250599704201984
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,723,692,669.65241768,643,891.34758232,790,826,655,632,656.65241768,0.436152624993,-0.0155556215327,0.0599497458086,0.999999993014,-8.32533308128e-05,-6.11659092761e-05,-5.74448694672e-05,1793250599720868864
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+242,4.033333333,POSE1_TO_POSE2_PRESS,769.088646203,747,723.088646203,693,667,638,895,780,828,655,628,657,0.455252810352,-0.015716998012,0.0596325160174,0.999999795945,-0.000319124626182,-0.000549527167198,-6.54979940294e-05,1793250600770868992
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747,723,693,667,638,895,780,828,655,628.49151676,656.50848324,0.455253130087,-0.015718070827,0.0596324145916,0.999999795692,-0.000319657752008,-0.000549676317331,-6.54972924152e-05,1793250600787535616
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,693,667,638,895,780,828,655,628.930644022,656.069355978,0.455252774271,-0.01571871045,0.0596319922465,0.999999795287,-0.000319638654364,-0.000550415068108,-6.55758449603e-05,1793250600804202496
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,723,693,667,638,895,780,828,655,628.353942522,656.646057478,0.45525121856,-0.0157173569804,0.0596313363273,0.999999795495,-0.000316980079678,-0.000551612620621,-6.52432326253e-05,1793250600820868864
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,723,693,666.779568049,638,895,780,828,655.220431951,628.220431951,657,0.455250797853,-0.0157159447034,0.0596310430283,0.999999795737,-0.000315307299025,-0.000552141053375,-6.51695863929e-05,1793250600837535232
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,723,693,666.208890908,638,895,780,828,655.791109092,628.791109092,657,0.455252180558,-0.015714438987,0.0596313258977,0.999999796044,-0.000315200849962,-0.000551606319319,-6.55074123643e-05,1793250600854202112
+248,4.133333333,HOLD_POSE2,770,747,723,693,667,638,895,779,828,655,628,657,0.455250695154,-0.0157162230722,0.0596304767358,0.999999793923,-0.000318007385035,-0.000553843047953,-6.54423221092e-05,1793250600888326400
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+251,4.183333333,HOLD_POSE2,769,747,723,693,667,638,895,779.729473097,828,655,629,656.729473097,0.455252845104,-0.0157146496872,0.0596301501719,0.999999795353,-0.000313915990907,-0.000553620326377,-6.52395952649e-05,1793250600938327040
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+253,4.216666667,HOLD_POSE2,769,747,723,693,667,638,894.095886081,779.095886081,827.095886081,655,629,657,0.455252171897,-0.0157139082466,0.0596297050758,0.999999795073,-0.00031405491964,-0.000554053690705,-6.51789433142e-05,1793250600971660288
+254,4.233333333,HOLD_POSE2,769,747,723,693,667,638,894,779.484892592,827.484892592,655,629,657,0.455252563435,-0.0157142130708,0.0596297373963,0.999999794772,-0.0003153248476,-0.000553910370667,-6.48828593441e-05,1793250600988326656
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+256,4.266666667,HOLD_POSE2,769,747,723,693.638556879,666.361443121,637.361443121,894,780,828,655,628.361443121,657,0.4552521448,-0.0157145248408,0.0596289900534,0.999999793616,-0.000317329495061,-0.000554840005956,-6.49874029679e-05,1793250601021660160
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+262,4.366666667,HOLD_POSE2,769,747,723,693,666.878999539,638,894.878999539,779.121000461,828,655,628,656.878999539,0.455252649071,-0.0157160648604,0.0596293684998,0.999999793944,-0.000316215957426,-0.000554998713163,-6.39965954379e-05,1793250601121659904
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.42162943,747.57837057,723,693,666.57837057,638,895,779,828,655,629,657,0.4552519408,-0.0157132501476,0.0596282258515,0.999999794218,-0.000311711378475,-0.00055702342087,-6.42190024608e-05,1793250601192148736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.156582461,747.843417539,723,693,667,638,895,779.156582461,828,655,629,657,0.455252213174,-0.0157137436856,0.0596281829897,0.99999979385,-0.000312898735752,-0.000557011427314,-6.42803067938e-05,1793250601208815616
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,723,693,667,638,895,779.689723572,828,655,629,657,0.455254891203,-0.0157140815623,0.0596301905858,0.999999794589,-0.000315008566128,-0.000554496966144,-6.42303368288e-05,1793250601242148864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723,693,667,638,895,779.115411563,828,655,629,657,0.455254319735,-0.0157141817499,0.059629900967,0.999999794726,-0.000314024913001,-0.000554826105753,-6.40697959337e-05,1793250601258815488
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.941012563,747,723,692.941012563,667,638,894.941012563,779,828.058987437,655,629,657,0.455251213863,-0.0157164486395,0.0596272836501,0.999999791288,-0.000318751110835,-0.000558285239493,-6.43402825143e-05,1793250601292148480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.361623312,747,723,692.361623312,667,638,894.361623312,779,828.638376688,655,629,657,0.455251469871,-0.0157138509772,0.059628154756,0.999999792571,-0.000315933264657,-0.000557604427322,-6.41948678492e-05,1793250601308815104
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,723,692.788377106,667,638,894,779.788377106,828.211622894,655,629,657,0.455237885434,-0.0157132669088,0.0596204496857,0.999999786709,-0.000316826739471,-0.0005674107891,-6.51766971965e-05,1793250601342148608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723,693,667,638,894,779.636879524,828,655,629,657,0.455213704496,-0.0157114292044,0.0596093952457,0.999999777022,-0.000315923988736,-0.000584624766163,-6.603740115e-05,1793250601358815232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,723,693,667,638,894,779.061120556,828,655,629,657,0.455181213295,-0.0157080738934,0.0595953782864,0.999999764093,-0.00031336376951,-0.000607564411095,-6.69456099267e-05,1793250601375482112
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.529252802,747,723,693,666.470747198,638,894.529252802,779.529252802,828,655,629,656.470747198,0.455123820409,-0.0157054892735,0.0595736936266,0.99999974336,-0.000312017877241,-0.000641259166919,-6.86453244246e-05,1793250601392148736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.881256857,747,723,693,666,638,895,779.881256857,828,655,628.881256857,656.118743143,0.455061648458,-0.0157028742955,0.059553095037,0.999999723542,-0.00031058344947,-0.000671957957405,-7.01891192977e-05,1793250601408815360
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.925168047,747,723,693,667,638,894.074831953,780,828,655,629,656.925168047,0.453858207295,-0.0156381474956,0.0595377333226,0.999999706287,-0.000278476350469,-0.000711123014207,-6.46597618581e-05,1793250601575481600
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.533712959,745,722,686,669,643,886,788.466287041,819,655,632,656.533712959,0.405851606411,-0.0153569567293,0.0598190066722,0.999999932116,0.000225723576124,-0.000290483848368,2.08911056725e-05,1793250602742148608
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.150106276,745,722,685.150106276,669,642,887,789,819.849893724,655,631.150106276,656.150106276,0.404180027877,-0.015352051422,0.0597812422303,0.999999908382,0.000247136243735,-0.000348915224481,2.04398079864e-05,1793250602808815360
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.944223995,745,722,685,669,643,886.944223995,789,819.055776005,655,632,656.944223995,0.400983269169,-0.015366355958,0.0598338175524,0.999999938806,0.000218603138332,-0.000272784415039,1.3731142936e-05,1793250603242149888
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.89097654,745,722,685,669,643,886.10902346,789,819.89097654,655,632,656,0.400982465261,-0.0153659032931,0.0598360156821,0.999999939554,0.000219952258777,-0.000268933538926,1.37229087955e-05,1793250603275483136
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.58558688,745,722,685,669,642.58558688,886,789,819.41441312,655,632,656.41441312,0.400979501262,-0.0153675772796,0.0598379781084,0.999999940309,0.000219463535928,-0.000266494988601,1.40794944281e-05,1793250603342150144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.010439071,745,722,685,669,642.010439071,886,789,819.989560929,655,632,656.989560929,0.400979076741,-0.0153661895511,0.0598376069154,0.999999939961,0.000220736310312,-0.000266775702792,1.35727550571e-05,1793250603358816512
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,744.419388086,722,685,669,642.580611914,886.580611914,789,820,655,632,657,0.400979412967,-0.01536612282,0.0598388664397,0.999999940155,0.000222774536154,-0.000264319094713,1.40394667311e-05,1793250603375482880
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,744.167982273,722,685,669,643,887,789,819.832017727,655,632,657,0.400979842159,-0.0153665720894,0.0598399671238,0.999999940582,0.000223100783676,-0.000262409444467,1.42634625296e-05,1793250603392149248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,744.745658873,722,685,669,643,887,789,819.254341127,655,632,657,0.400980463789,-0.0153682202825,0.0598406068889,0.999999941565,0.000219217152582,-0.000261957190187,1.38516069216e-05,1793250603408815872
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,722,685,669.898627343,643,886.101372657,789,819,655,632,656.101372657,0.400979242963,-0.0153690181396,0.0598401457416,0.999999941229,0.000219639622478,-0.000262873078863,1.41102043242e-05,1793250603442149120
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..842126834aa64f4801521cde617f319008b80d1d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+373,6.216666667,pose2_to_pose3_retreat,0.576221762064,-0.00984999250053,1.0500336342,0.546792440605,-0.00117735848626,1.04970502821
+374,6.233333333,pose2_to_pose3_retreat,0.576125313817,-0.00984987362475,1.05003353345,0.546695992487,-0.00117723919294,1.04970492692
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+376,6.266666667,pose2_to_pose3_retreat,0.575971957591,-0.00984987664358,1.05003339361,0.546542635317,-0.00117724533408,1.04970478965
+377,6.283333333,pose2_to_pose3_retreat,0.575911265824,-0.00984984107696,1.05003351836,0.54648194265,-0.00117721296729,1.04970491046
+378,6.300000000,pose2_to_pose3_retreat,0.575858962416,-0.00984983627252,1.05003354858,0.546429638989,-0.00117720893229,1.04970494306
+379,6.316666667,pose2_to_pose3_retreat,0.575814880069,-0.00984985170077,1.05003373126,0.546385557769,-0.00117722042691,1.04970512858
+380,6.333333333,pose2_to_pose3_retreat,0.575778073906,-0.00984987520462,1.05003366629,0.546348752012,-0.00117724283596,1.04970505614
+381,6.350000000,pose2_to_pose3_retreat,0.575748071241,-0.00984982449949,1.05003355992,0.546318749217,-0.00117719249983,1.04970495163
+382,6.366666667,pose2_to_pose3_retreat,0.575724435535,-0.00984980100917,1.0500335858,0.546295113251,-0.00117716987242,1.049704978
+383,6.383333333,pose2_to_pose3_retreat,0.575706241311,-0.0098498052057,1.05003359843,0.546276918765,-0.00117717499092,1.04970498986
+384,6.400000000,pose2_to_pose3_retreat,0.575693099442,-0.00984984979298,1.05003350777,0.546263777139,-0.00117721874799,1.04970489939
+385,6.416666667,pose2_to_pose3_retreat,0.575683463737,-0.0098500794717,1.05003341497,0.546254144175,-0.00117743907723,1.04970480784
+386,6.433333333,pose2_to_pose3_retreat,0.57567692933,-0.00984999212394,1.05003338065,0.546247610063,-0.00117735056532,1.04970477784
+387,6.450000000,pose2_to_pose3_retreat,0.575672710546,-0.00984991265562,1.05003339754,0.546243390854,-0.00117727251399,1.04970479555
+388,6.466666667,pose2_to_pose3_retreat,0.575670339906,-0.00984992229622,1.05003347556,0.546241019356,-0.00117728525386,1.04970486853
+389,6.483333333,pose2_to_pose3_retreat,0.575668818585,-0.00984992848292,1.05003352562,0.546239497485,-0.00117729342947,1.04970491537
+390,6.500000000,pose2_to_pose3_retreat,0.575668011269,-0.00984990601727,1.05003348607,0.54623868959,-0.0011772727883,1.04970487954
+391,6.516666667,pose2_to_pose3_retreat,0.575667645332,-0.00984989252869,1.05003345965,0.546238323354,-0.00117726022545,1.0497048555
+392,6.533333333,pose2_to_pose3_retreat,0.575667264834,-0.0098498785034,1.05003343218,0.546237942545,-0.00117724716271,1.04970483052
+393,6.550000000,pose2_to_pose3_retreat,0.575666845472,-0.00984986304554,1.0500334019,0.54623752284,-0.00117723276573,1.04970480298
+394,6.566666667,pose2_to_pose3_retreat,0.575666428582,-0.0098498476788,1.05003337181,0.546237105609,-0.00117721845361,1.0497047756
+395,6.583333333,pose2_to_pose3_retreat,0.575666146673,-0.00984983728751,1.05003335145,0.54623682347,-0.00117720877548,1.04970475709
+396,6.600000000,pose2_to_pose3_retreat,0.575666127929,-0.00984983659661,1.0500333501,0.54623680471,-0.00117720813199,1.04970475585
+397,6.616666667,pose2_to_pose3_retreat,0.57566604131,-0.00984983340378,1.05003334385,0.54623671802,-0.00117720515828,1.04970475017
+398,6.633333333,pose2_to_pose3_retreat,0.575666020738,-0.0098498326455,1.05003334236,0.546236697432,-0.00117720445205,1.04970474881
+399,6.650000000,pose2_to_pose3_retreat,0.57566592825,-0.00984983496055,1.05003335283,0.546236604974,-0.00117720666483,1.04970475924
+400,6.666666667,pose2_to_pose3_retreat,0.575665746149,-0.00984986158651,1.05003343951,0.546236423342,-0.0011772317932,1.04970484341
+401,6.683333333,pose2_to_pose3_retreat,0.575665441834,-0.00984990608191,1.05003358438,0.546236119812,-0.00117727378592,1.04970498405
+402,6.700000000,pose2_to_pose3_retreat,0.575665107785,-0.00984995492489,1.05003374339,0.546235786624,-0.0011773198817,1.04970513844
+403,6.716666667,pose2_to_pose3_retreat,0.575664818894,-0.00984999716525,1.05003388092,0.546235498477,-0.00117735974622,1.04970527195
+404,6.733333333,pose2_to_pose3_retreat,0.575664588543,-0.00984998048273,1.05003382742,0.546235268207,-0.00117734284285,1.049705217
+405,6.750000000,pose2_to_pose3_retreat,0.575664391424,-0.00984998170593,1.05003371923,0.5462350716,-0.00117734244021,1.04970510599
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+407,6.783333333,pose2_to_pose3_retreat,0.575664383111,-0.00984999162759,1.0500336924,0.546235063545,-0.00117735152137,1.04970507821
+408,6.800000000,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850584,1.04970505684
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fed6306c208df1b72b51efc5c3df34e7ee4b052e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aca59ce8498fcd2e6b9120dc51253057eadc0445616160b2cf93ac570263977
+size 26094833
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e01819e4ee86cd4943a5cb09d6c016866bf20bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+37,0.616666667,BASELINE,769,745.47242126,722.52757874,685,669,643,887,789,819,655,632,656.47242126,0.400977821764,-0.0153716463065,0.0598414172474,0.999999943248,0.0002149209344,-0.000259088223046,1.36152516251e-05,1793250604348844800
+38,0.633333333,BASELINE,769,745.951494271,722,685,669,643,886.951494271,789,819.048505729,655,632,656.951494271,0.400979063686,-0.0153723973503,0.0598425961371,0.999999944109,0.000212902982043,-0.00025741562059,1.38138637158e-05,1793250604365511168
+39,0.650000000,BASELINE,769,745.36371873,722,685,669,643,886.36371873,789,819.63628127,655,632,656.36371873,0.400977395429,-0.0153709949177,0.0598422242179,0.99999994272,0.000217654565907,-0.000258833894243,1.3851056042e-05,1793250604382177792
+40,0.666666667,BASELINE,769,745,722,685,669.22049677,643,886.22049677,789,819.77950323,655,632,656,0.400976979682,-0.0153702573496,0.0598421003158,0.999999942204,0.000219830802205,-0.000258992621383,1.37349358855e-05,1793250604398844416
+41,0.683333333,BASELINE,769,745,722,685,669.798933104,643,886.798933104,789,819.201066896,655,632,656,0.400978597174,-0.0153705990777,0.0598423790281,0.999999943135,0.000217826392907,-0.000257106685701,1.33699385965e-05,1793250604415511040
+42,0.700000000,BASELINE,769,745,722,684.62271988,669.62271988,642.62271988,886.62271988,789,819,655,631.62271988,656,0.400978704289,-0.0153712388505,0.0598423955714,0.999999943318,0.000216737298068,-0.000257304351527,1.35687386593e-05,1793250604432178176
+43,0.716666667,BASELINE,769,745,722,684.044420472,669.044420472,642.044420472,886.044420472,789,819,655,631.044420472,656,0.400978006656,-0.0153720374251,0.059842272428,0.999999943104,0.000216135893605,-0.000258612184816,1.40679365967e-05,1793250604448845056
+44,0.733333333,BASELINE,769.526554006,745,722,684.526554006,669,642.526554006,886,789,819,655,631.526554006,656,0.400977978339,-0.0153725988446,0.0598419865028,0.999999943277,0.000214567882461,-0.000259263190569,1.37459269523e-05,1793250604465511680
+45,0.750000000,BASELINE,769.901747484,745,722,684.901747484,669,643,886,789.098252516,819.098252516,655,632,656,0.400977899294,-0.0153728203556,0.059841744485,0.999999943343,0.000213700702244,-0.000259742376963,1.3405204068e-05,1793250604482178560
+46,0.766666667,BASELINE,769.323535109,745,722,684.323535109,669,643,886,789.676464891,819.676464891,655,632,656,0.40097730041,-0.0153714778172,0.0598417831148,0.999999942734,0.000216649927659,-0.00025964919621,1.33068434191e-05,1793250604498844928
+47,0.783333333,BASELINE,769.261560515,745,722,684.261560515,669,643,886,789.738439485,819.738439485,655.261560515,632,656.261560515,0.400977046964,-0.0153711489478,0.0598418251055,0.9999999425,0.000217853518964,-0.000259536923493,1.34035568449e-05,1793250604515511296
+48,0.800000000,BASELINE,769.85540051,745,722,684.85540051,669,643,886,789.14459949,819.14459949,655.85540051,632,656.85540051,0.400977232353,-0.0153721078162,0.0598418713657,0.999999942752,0.000216839503793,-0.000259400396846,1.37480871439e-05,1793250604532177920
+49,0.816666667,BASELINE,770,745,722,685,669,643,886.436860006,789,819.436860006,655.563139994,632,657,0.400977290149,-0.0153722270133,0.0598419230299,0.999999943014,0.000215715363152,-0.000259327025005,1.37096461613e-05,1793250604548844800
+50,0.833333333,BASELINE,770,745,722,685,669,643,886.985856531,789,819.985856531,655,632,657,0.4009773154,-0.0153720787461,0.0598419722138,0.999999943269,0.000214613439532,-0.000259266817522,1.35565200395e-05,1793250604565511424
+51,0.850000000,BASELINE,770,745,722,685,669,643,886.416077358,789,819.416077358,655,632,657,0.400977675502,-0.0153720406866,0.0598418556226,0.999999943105,0.000215776870692,-0.000258925182144,1.37406183917e-05,1793250604582178560
+52,0.866666667,BASELINE,769.839453245,745.160546755,722,685,669,643,886.160546755,789.160546755,819.160546755,655,632.160546755,656.839453245,0.400977742548,-0.0153721011585,0.0598418858378,0.999999943105,0.000216052641317,-0.000258692786299,1.37876021946e-05,1793250604598845184
+53,0.883333333,BASELINE,769.244299621,745.755700379,722,685,669,643,886.755700379,789.755700379,819.755700379,655,632.755700379,656.244299621,0.400977016283,-0.0153724283594,0.0598423134643,0.99999994355,0.000213925477196,-0.000258756106515,1.34634110927e-05,1793250604615512064
+54,0.900000000,BASELINE,769,745.659329613,722,685,669,643,886.659329613,789.659329613,819.659329613,655,632.659329613,656,0.400976022718,-0.0153731126603,0.0598415539144,0.999999943567,0.000212280464405,-0.000260047513647,1.33366369556e-05,1793250604632178432
+55,0.916666667,BASELINE,769,745.081450479,722,685,669,643,886.081450479,789.081450479,819.081450479,655,632.081450479,656,0.400974843031,-0.0153740456097,0.0598399677335,0.999999943284,0.000210971173613,-0.000262194037537,1.33473242391e-05,1793250604648844800
+56,0.933333333,BASELINE,769,745.494079741,722,685.494079741,669,643,886,789,819,655,632,656.494079741,0.400976608295,-0.0153723441323,0.059840650673,0.999999942907,0.000214670119129,-0.000260624844579,1.33202126357e-05,1793250604665511424
+57,0.950000000,BASELINE,769.070633877,745.929366123,722,685.929366123,669,643,886,789,819.070633877,655,632,656.929366123,0.400978589854,-0.0153705612142,0.0598416805426,0.999999942622,0.000218348855899,-0.000258656191126,1.33144782173e-05,1793250604682178048
+58,0.966666667,BASELINE,769.657487502,745.342512498,722,685.342512498,669,643,886,789,819.657487502,655,632,656.342512498,0.400978620862,-0.0153713420602,0.0598425249908,0.999999943268,0.000215874479874,-0.000258223673222,1.35103015261e-05,1793250604698844672
+59,0.983333333,BASELINE,770,745,722,684.758723884,669,643,886,789,819.758723884,655,632,656,0.400978326071,-0.0153719647965,0.059842772789,0.999999943422,0.000215089667946,-0.000258273605099,1.36807040162e-05,1793250604715511552
+60,1.000000000,BASELINE,770,745,722,684.179231657,669,643,886,789,819.179231657,655,632,656,0.400977574582,-0.015372365898,0.0598421842152,0.99999994289,0.000216673253375,-0.000258999825526,1.38154721313e-05,1793250604732178176
+61,1.016666667,BASELINE,769.599872807,745,722,684.400127193,669,643,886.800254386,789,819.400127193,655,632,656.400127193,0.400976565751,-0.0153722019882,0.0598414539891,0.999999942511,0.00021724955424,-0.000259984668151,1.3745321391e-05,1793250604748845056
+62,1.033333333,BASELINE,769.020573715,745,722,684.979426285,669,643,887.958852569,789,819.979426285,655,632,656.979426285,0.400975441686,-0.0153717850736,0.0598406603329,0.999999942199,0.000217374805716,-0.000261085318484,1.358341057e-05,1793250604765512192
+63,1.050000000,BASELINE,769,745,722,685,669,643,887.44821852,789,820,655,632,657,0.400976953554,-0.0153708884816,0.0598414049369,0.999999942507,0.000217601784587,-0.00025971704859,1.34876379339e-05,1793250604782178304
+64,1.066666667,BASELINE,769,745,722,685,669,643,886.875834664,789,819.875834664,655,632,657,0.400977985463,-0.0153702895023,0.0598419138395,0.999999942699,0.000217828479012,-0.000258788703787,1.34291619534e-05,1793250604798844416
+65,1.083333333,BASELINE,769,745,722,685,669,643,886.302422009,789,819.302422009,655,632,657,0.400976929629,-0.0153708312336,0.0598413650001,0.999999942395,0.000218040591199,-0.000259781001031,1.34968188856e-05,1793250604815511040
+66,1.100000000,BASELINE,769,745,722,685,669,643,886,789,819,655,632,657,0.40097637236,-0.0153715936051,0.0598408609122,0.99999994248,0.000216626937564,-0.000260641960506,1.33260912785e-05,1793250604832177920
+67,1.116666667,BASELINE,769,745,722,685,669,643,886,789,819,655,632,657,0.400976371482,-0.0153726022079,0.0598404067663,0.999999942994,0.000213398950794,-0.000261356348705,1.28893296789e-05,1793250604848844544
+68,1.133333333,BASELINE,769,745,722,685.461073422,669,643,886,789.461073422,819,655,632.461073422,657,0.400976014568,-0.0153733594895,0.0598407605765,0.999999943289,0.000212293237275,-0.000261119940136,1.30549226161e-05,1793250604865511424
+69,1.150000000,BASELINE,769,745.038016385,722,685.961983615,669,643,886.038016385,789.961983615,819,655,632.961983615,657,0.400975642075,-0.015373970889,0.0598413368922,0.999999943523,0.000211814975777,-0.000260594904031,1.33554996497e-05,1793250604882178048
+70,1.166666667,BASELINE,769,745.622692444,722,685.377307556,669,643,886.622692444,789.377307556,819,655,632.377307556,657,0.400976326185,-0.015373388534,0.0598422066281,0.999999943655,0.000212725668437,-0.000259339418941,1.3430499397e-05,1793250604898845184
+71,1.183333333,BASELINE,769.205440454,745.794559546,722,684.794559546,669,643,887,789.205440454,819,655,632,657,0.400977003909,-0.0153727358791,0.05984271784,0.99999994361,0.000213865965997,-0.000258575996104,1.3434185232e-05,1793250604915512320
+72,1.200000000,BASELINE,769.784680469,745.215319531,722,684.215319531,669,643,887,789.784680469,819,655,632,657,0.400977670016,-0.0153719553131,0.0598425767164,0.999999943243,0.000215424030557,-0.000258707881895,1.33081151887e-05,1793250604932178688
+73,1.216666667,BASELINE,770,745,722,684.363237218,669,643,887,789.636762782,819,655,632,656.636762782,0.40097768983,-0.0153719301565,0.0598426002291,0.999999943498,0.000214859469893,-0.000258195107065,1.32433094666e-05,1793250604948845056
+74,1.233333333,BASELINE,770,745,722,684.941389666,669,643,887,789.058610334,819,655,632,656.058610334,0.400977327254,-0.0153723519502,0.0598427211515,0.999999944118,0.000213039023262,-0.000257300908244,1.32147517877e-05,1793250604965511680
+75,1.250000000,BASELINE,770,745,722,685,669,643,887,789,819.517974146,655,632,656,0.400976694796,-0.0153724029043,0.0598415768235,0.999999943469,0.000213994755608,-0.000259017624317,1.33094929167e-05,1793250604982178560
+76,1.266666667,BASELINE,769.904057623,745,722,685,669,643,887,789,819.904057623,655.095942377,632,656,0.400976434912,-0.0153721555642,0.0598408319379,0.999999942829,0.000215448858758,-0.000260280343635,1.33667379189e-05,1793250604998845184
+77,1.283333333,BASELINE,769.318118943,745,722,685,669,643,887,789,819.318118943,655.681881057,632,656,0.400978233337,-0.0153705984363,0.059842856056,0.999999942975,0.000217848741854,-0.000257720134222,1.31614442951e-05,1793250605015512064
+78,1.300000000,BASELINE,769.265933052,745,722.265933052,685,669,643,886.734066948,789,819,655.734066948,632,656.265933052,0.400979076748,-0.0153706465592,0.0598436685194,0.999999943347,0.000217641123095,-0.000256440962951,1.32790859402e-05,1793250605032178944
+79,1.316666667,BASELINE,769.847743981,745,722.847743981,685,669,643,886.152256019,789,819,655.152256019,632,656.847743981,0.400978785784,-0.0153726014148,0.0598430417674,0.999999943992,0.000214336287987,-0.000256683421486,1.3780313267e-05,1793250605048845568
+80,1.333333333,BASELINE,769.574748324,745,722.574748324,685,669,643,886.425251676,789,819,655.425251676,632,656.574748324,0.40097861789,-0.0153730993691,0.0598428853441,0.999999943946,0.000214181904005,-0.000256993528003,1.37002202426e-05,1793250605065512192
+81,1.350000000,BASELINE,769,745,722,685,669,643,886.998769009,789,819,655.998769009,632,656,0.400978491863,-0.0153730787051,0.0598428948902,0.999999943658,0.000215142702186,-0.000257328258262,1.34144500076e-05,1793250605082178560
+82,1.366666667,BASELINE,769,745,722,685,669,643,886.424253611,789,819,655.424253611,632,656,0.400977548279,-0.0153720247644,0.0598425602769,0.999999943439,0.000215406156324,-0.000257963763644,1.33020128471e-05,1793250605098845184
+83,1.383333333,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400976520179,-0.0153716042528,0.0598421135107,0.999999943223,0.000215343128611,-0.000258858023684,1.32049211379e-05,1793250605115511552
+84,1.400000000,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400975253456,-0.0153729721842,0.0598413500886,0.999999943013,0.000214358302076,-0.000260482859715,1.3151156221e-05,1793250605132178176
+85,1.416666667,BASELINE,769,745,722,685,669.329162051,643,886.329162051,789,819,655,632,656,0.400975217804,-0.015373732978,0.0598413168523,0.999999943194,0.000213405528122,-0.000260561533855,1.33423212795e-05,1793250605148844800
+86,1.433333333,BASELINE,769,745,722,685,669.908267144,643,886.908267144,789,819,655,632,656,0.400976116941,-0.0153740327531,0.059841838069,0.999999943671,0.000212477092753,-0.000259466158809,1.37194693337e-05,1793250605165511680
+87,1.450000000,BASELINE,769,745,722,685,669.515799106,643,887,789,819,655,632,656.484200894,0.400976428663,-0.0153731813084,0.0598418051656,0.999999943251,0.000214626727342,-0.000259330397743,1.34409479398e-05,1793250605182178304
+88,1.466666667,BASELINE,769,745,722,685,669,643,887,789.060293938,819.060293938,655.060293938,632,656.939706062,0.400976691163,-0.0153721947792,0.0598418014804,0.999999942754,0.000217028298946,-0.000259268265453,1.30864430981e-05,1793250605198845184
+89,1.483333333,BASELINE,769,745,722,685,669,643,887,789.642938277,819.642938277,655.642938277,632,656.357061723,0.400977485093,-0.0153719151592,0.0598429544832,0.999999943103,0.000216593343004,-0.000258279244105,1.31428102171e-05,1793250605215511808
+90,1.500000000,BASELINE,769,745,722,685,669.2265835,643,887,789.7734165,819.7734165,655.7734165,632,656,0.400978040742,-0.0153720702281,0.0598434537701,0.999999943598,0.000214980884378,-0.000257709165407,1.31420730629e-05,1793250605232178432
+91,1.516666667,BASELINE,769,745,722,685,669.811812909,643,887,789.188187091,819.188187091,655.188187091,632,656,0.400978219228,-0.0153729133409,0.0598429183276,0.999999944317,0.000211504624941,-0.000257802206879,1.30509488538e-05,1793250605248844800
+92,1.533333333,BASELINE,769,745,722,685,670,643,886.608990069,789.391009931,819.391009931,655,632,656.391009931,0.400978315777,-0.0153738685472,0.0598430966303,0.99999994444,0.000211293119194,-0.000257481540053,1.33580153175e-05,1793250605265511168
+93,1.550000000,BASELINE,769,745,722,685,670,643,886.03265218,789.96734782,819.96734782,655,632,656.96734782,0.400978373489,-0.0153748768828,0.0598436132285,0.999999944283,0.00021262901663,-0.000256964786878,1.38538132039e-05,1793250605282177792
+94,1.566666667,BASELINE,769,745,722,685,669.459703441,643,886,789.459703441,819.459703441,655,632,656.459703441,0.400978363058,-0.0153743574565,0.0598427695558,0.999999944248,0.00021177408792,-0.000257831086366,1.33391788957e-05,1793250605298844672
+95,1.583333333,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400978148428,-0.0153737767336,0.0598421225992,0.999999944093,0.000211578846534,-0.000258614114619,1.29432125161e-05,1793250605315511552
+96,1.600000000,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400977120038,-0.0153733198669,0.0598426078448,0.999999943417,0.000214601406845,-0.00025872072016,1.32766096657e-05,1793250605332178176
+97,1.616666667,BASELINE,769,745,722,685,669,643,886.293113029,789,819.293113029,655,632,656,0.400977119614,-0.0153729321515,0.0598429554142,0.999999943068,0.000216445672297,-0.000258519473898,1.35049631707e-05,1793250605348845056
+98,1.633333333,BASELINE,769,745,722,685,669,643,886.871896534,789,819.871896534,655,632,656,0.400978121054,-0.0153726118316,0.0598431688033,0.999999943045,0.000217141561282,-0.000258018192623,1.36309402175e-05,1793250605365511680
+99,1.650000000,BASELINE,769.447630388,745,722,685,669,643,887,789,819.552369612,655,632,656.447630388,0.400977300673,-0.0153728982551,0.0598424780497,0.999999942856,0.000216764592103,-0.00025906904405,1.35720089041e-05,1793250605382178304
+100,1.666666667,BASELINE,769.977464618,745,722,685,669,643,887,789,819,655,632,656.977464618,0.400976064137,-0.0153733127447,0.059841603537,0.999999942649,0.000216120334835,-0.00026040973961,1.3460609006e-05,1793250605398844672
+101,1.683333333,BASELINE,769.401626731,745,722,685,669,643,887,789,819,655,632,656.401626731,0.400977324323,-0.0153726371574,0.0598425272283,0.999999943205,0.000216400883095,-0.000258034605381,1.33514349784e-05,1793250605415511296
+102,1.700000000,BASELINE,769,745,722,685,669,643,887,789,819.178461395,655,632,656.178461395,0.400977906352,-0.0153720224702,0.0598430170934,0.999999943529,0.000216319949165,-0.00025685159008,1.32516846058e-05,1793250605432177920
+103,1.716666667,BASELINE,769,745,722,685,669,643,887,789,819.768347946,655,632,656.768347946,0.400976924958,-0.0153715481822,0.059842506815,0.999999943324,0.000215405653631,-0.000258416887795,1.31736595558e-05,1793250605448844800
+104,1.733333333,BASELINE,769,745,722,685,669,643,886.648715384,789,819.648715384,655,632,656.648715384,0.400976800195,-0.0153716856113,0.0598423260087,0.999999943344,0.000214900220063,-0.000258765909723,1.30705286122e-05,1793250605465511680
+105,1.750000000,BASELINE,769,745,722,685,669,643,886.070272791,789,819.070272791,655,632,656.070272791,0.400977229371,-0.015372218607,0.0598423582554,0.99999994351,0.00021465917674,-0.000258328427834,1.29511629506e-05,1793250605482178560
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,745,722,685,670,643,887,790,819,655,632,656,0.400977151293,-0.0153716062555,0.0598425901844,0.999999943229,0.000215075628932,-0.000259053581488,1.32536531225e-05,1793250605514436352
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.386590942,745,722,685,669.386590942,643,887,790,819,655,632,656,0.40097722814,-0.0153722126492,0.0598432522834,0.99999994341,0.000215265840738,-0.000258207841869,1.30493842245e-05,1793250605531103488
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,789.784565659,819,655,632,656,0.400978041714,-0.0153728027424,0.0598439642294,0.999999943707,0.000215528831315,-0.000256829686125,1.30769520638e-05,1793250605547770624
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,887,789.201942895,819,655,632,656,0.400980110975,-0.0153733650526,0.0598447611349,0.999999944203,0.000215915866778,-0.000254544074929,1.34996646993e-05,1793250605564437248
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.375894221,745,722,685,669,643,887,789,819.375894221,655,632,656.375894221,0.400979569978,-0.0153736934076,0.0598442124905,0.999999944128,0.00021526211589,-0.000255390377794,1.3515004442e-05,1793250605581103872
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.951192614,745,722,685,669,643,887,789,819.951192614,655,632,656.951192614,0.400977644293,-0.0153738976539,0.0598429500594,0.999999943746,0.000214056249169,-0.000257898096952,1.33142411969e-05,1793250605597770752
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.466574148,745,722,685,669,643,886.466574148,789,820,655,632,656.466574148,0.400977859983,-0.015373442681,0.0598428970745,0.999999943805,0.000213935274979,-0.000257763849101,1.34062018803e-05,1793250605614437376
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.116228782,789,820,655,632,656,0.400978199359,-0.0153731666691,0.0598430213811,0.999999943923,0.000213800265107,-0.000257413300262,1.3478740275e-05,1793250605631103744
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.698738068,789,820,655,632,656,0.400978238556,-0.0153738537687,0.0598434071411,0.999999944112,0.000213205474247,-0.000257177558541,1.33644968249e-05,1793250605647770368
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.720862097,789,819.720862097,655,632,656.279137903,0.400979193898,-0.0153742559226,0.0598442647614,0.999999944248,0.00021318149098,-0.00025666523713,1.34293934675e-05,1793250605664436992
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.142721868,789,819.142721868,655,632,656.857278132,0.400981130583,-0.0153743528532,0.0598456278212,0.999999944326,0.000213768935997,-0.000255856653674,1.36861784422e-05,1793250605681103872
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.433537613,722,685,669,643,886,789,819.433537613,655,632,657,0.400995758333,-0.0153750087098,0.0598511260786,0.999999946827,0.000212734822074,-0.000246755182013,1.41824438825e-05,1793250605697770240
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745.990636059,722,685,669,643,886,789,820,655,632,656.990636059,0.401015084373,-0.0153758817244,0.0598581825487,0.999999950081,0.000211205271452,-0.000234546609055,1.47794581111e-05,1793250605714436608
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745.403501354,722,685,669,643,886,789,820,655,632,656.403501354,0.401067630549,-0.0153788496735,0.0598777504433,0.999999957738,0.000211901896417,-0.000198345398926,1.67494328999e-05,1793250605731103232
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.180988015,789.180988015,820,655.180988015,632,656.180988015,0.401125608179,-0.0153818158156,0.0598962795217,0.999999963196,0.000212324008256,-0.000167876896839,1.85419291454e-05,1793250605747769856
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.759664846,789.759664846,820,655.759664846,632,656.759664846,0.401195520469,-0.0153847779876,0.0599125259908,0.999999966048,0.000212142927168,-0.000150004989574,1.99444484272e-05,1793250605764436992
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,722.338276714,685,669.338276714,643,887,789.661723286,819.661723286,655.661723286,632,657,0.401276302799,-0.0153890858209,0.0599260335295,0.999999969307,0.000210665029443,-0.000128734455085,2.08472779246e-05,1793250605781103872
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,722.916842403,685,669.916842403,643,887,789.083157597,819.083157597,655.083157597,632,657,0.401364806469,-0.0153943495211,0.0599375955156,0.999999972566,0.00020826596055,-0.000105049765958,2.13951613937e-05,1793250605797770240
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,722.508803104,685,669.508803104,643,886.508803104,789,819,655,632,656.508803104,0.401463751815,-0.0153992942175,0.0599423706193,0.999999973724,0.000207133112707,-9.58949783552e-05,2.12580051175e-05,1793250605814436352
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.06696197,789,819.06696197,655,632,656,0.401565875488,-0.0154042830732,0.0599449971078,0.999999974447,0.000206067635238,-9.0600754067e-05,2.08405619609e-05,1793250605831102720
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.659341725,789,819.659341725,655,632,656,0.401679185317,-0.0154100385819,0.0599397033984,0.999999974385,0.000203863053239,-9.64612943563e-05,1.91261037718e-05,1793250605847769344
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.245436004,722,685,669,643,886.754563996,789,819.754563996,655,632,656,0.401810064625,-0.0154165929605,0.0599372883659,0.999999974874,0.00020108241972,-9.75438453428e-05,1.74210483406e-05,1793250605864435968
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.823024011,722,685,669,643,886.176975989,789,819.176975989,655,632,656,0.401964720949,-0.0154242284605,0.0599387690881,0.999999976122,0.00019752220774,-9.21602755654e-05,1.57287179337e-05,1793250605881102592
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.60149247,722,685,669,643,886.39850753,789,819,655,632,656,0.402142078757,-0.0154330478848,0.0599408678015,0.999999977833,0.000192340730116,-8.44858553689e-05,1.41901766508e-05,1793250605897769472
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745.02693859,722,685,669,643,886.97306141,789,819,655,632,656,0.40232946528,-0.0154423903249,0.0599432395213,0.999999979666,0.000186443035086,-7.57994190519e-05,1.2719573746e-05,1793250605914436352
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722.546936183,685,669,643,887,789,819.546936183,655,632,656,0.402549785943,-0.015453368564,0.0599454189415,0.999999981972,0.000176813046671,-6.84006512524e-05,1.07426473896e-05,1793250605931103232
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,723,685,669,643,887.124924274,789,819.875075726,655,632,656,0.402778316316,-0.015463542234,0.0599476721404,0.999999983815,0.000169047944851,-6.09651062839e-05,8.77759544899e-06,1793250605947770112
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,723,685,669,643,887.718467836,789,819.281532164,655,632,656,0.403031565817,-0.0154703959281,0.0599502375859,0.999999984288,0.000168967181954,-5.31539831965e-05,6.95051964953e-06,1793250605964436736
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,722.696345153,685,669,643,887.696345153,789.303654847,819.303654847,655.303654847,632,656,0.403302199644,-0.0154774829448,0.0599465729233,0.999999984378,0.000167142694705,-5.7362445299e-05,4.12606346278e-06,1793250605981103104
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722.118698405,685,669,643,887.118698405,789.881301595,819.881301595,655.881301595,632,656,0.40358851957,-0.0154847804912,0.0599372867494,0.999999983972,0.000163744821226,-7.2416343109e-05,4.01657491871e-07,1793250605997769472
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.456715193,745,722.456715193,685.456715193,669,643,887,789.543284807,820,656,632.456715193,656.456715193,0.403894363377,-0.0154802609431,0.059925957992,0.999999981211,0.00017023441026,-9.26595542051e-05,-3.47582221685e-06,1793250606014436096
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.967713352,745,722.967713352,685.967713352,669,643,887,789,819.967713352,655.967713352,632.967713352,657,0.40420719593,-0.0154726973272,0.0599142139184,0.999999978177,0.000174912298643,-0.000113999077556,-7.43867744804e-06,1793250606031102720
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.37947849,745,722.37947849,685.37947849,669,643,887,789,819.37947849,655.37947849,632.37947849,657,0.40455342093,-0.01546534383,0.059904414912,0.999999985886,0.000104361366392,-0.000131106028804,-1.21899265503e-05,1793250606047769856
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722,685.205142945,669,643,887,789,819,655,632,656.794857055,0.404928499195,-0.015464117086,0.0598997736143,0.999999988223,6.09128671743e-05,-0.000139922926196,-1.62693290059e-05,1793250606064436992
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722,685.783195809,669,643,887,789,819,655,632,656.216804191,0.405356027037,-0.0154740275866,0.0599045080273,0.999999988657,6.67313208524e-05,-0.000133670119534,-1.91274446955e-05,1793250606081103872
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,722,686,669,643,887,789.36090325,819.36090325,655,632,656.36090325,0.405833671631,-0.0154835785006,0.0599247506471,0.999999992726,6.32451763338e-05,-0.000100542702326,-2.09592334732e-05,1793250606097770496
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722,686,669,643,887,789.938403438,819.938403438,655,632,656.938403438,0.406341393953,-0.0154929136088,0.0599543005543,0.999999996972,5.4174855618e-05,-5.12864231893e-05,-2.21750699583e-05,1793250606114437120
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.515281451,745,722,686,669.515281451,643,887.515281451,790,820,655,632,656.484718549,0.406873269589,-0.015496159474,0.0599798359756,0.999999999138,3.28502116751e-05,-9.51384147589e-06,-2.35445606374e-05,1793250606131103488
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.906280229,745.093719771,722.093719771,686,669.906280229,643,888,790,820,655,632,656,0.407403488018,-0.0154978787134,0.0600001991912,0.999999999347,1.3846787646e-05,2.16114669045e-05,-2.54315774384e-05,1793250606147769856
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.31923751,745.68076249,722.68076249,686,669.31923751,643,888,790,820,655,632,656,0.407909803674,-0.0154953890243,0.0599958599195,0.999999999442,1.47633483086e-05,1.39489716421e-06,-2.99461856552e-05,1793250606164436480
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.736360774,722.736360774,686.263639226,669,643,888,790,820,655,632,656,0.408446363918,-0.0154935174673,0.059987823983,0.999999999173,7.79794377422e-07,-2.09436220359e-05,-3.4862306848e-05,1793250606181103360
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.158450135,722.158450135,686.841549865,669,643,888,790,820,655,632,656,0.409018977224,-0.0154923827553,0.0599753814339,0.999999997661,-3.09654566397e-05,-4.58116120569e-05,-4.02570517006e-05,1793250606197769984
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.418797668,745.418797668,722.418797668,687.418797668,669,643,888,790,820,655,632,656,0.409655250398,-0.0154971027344,0.0599764062725,0.999999997213,-4.08613445894e-05,-4.33067317292e-05,-4.50395441915e-05,1793250606214436864
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.995795074,745.995795074,722.995795074,687.995795074,669,643,888,790,820,655,632,656,0.41031557091,-0.015504034308,0.0599825183822,0.999999997403,-4.25036913532e-05,-3.04618197633e-05,-4.95907598212e-05,1793250606231103744
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,723,688,669,643,888,790,820,655,632,656,0.411000171501,-0.0155081919608,0.0599905877599,0.999999995543,-7.70856713432e-05,-1.06322229516e-05,-5.34680756318e-05,1793250606247770112
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.851053963,745.851053963,722.851053963,688,669,643,888,790,820,655,632,656.148946037,0.411679201753,-0.0155113809786,0.0599916473144,0.999999994949,-8.54066195028e-05,-6.30062254783e-06,-5.26137120605e-05,1793250606264436224
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.258100231,745.258100231,722.258100231,688,669,643,888,790,820,655,632,656.741899769,0.412341095371,-0.0155117432013,0.0599717677733,0.999999998015,-1.47226591827e-05,-4.83213584821e-05,-3.76689730602e-05,1793250606281102848
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.326208845,722,688.326208845,669.326208845,643,888,790,820.326208845,655,632,656.673791155,0.413014402955,-0.0155042772883,0.0599414323494,0.999999993003,3.67358370875e-05,-0.000108235555779,-3.04878704205e-05,1793250606297769472
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.903854806,722,688.903854806,669.903854806,643,888,790,820.903854806,655,632,656.096145194,0.41369650833,-0.0154907775601,0.0599030376783,0.999999980328,7.33756277114e-05,-0.000181941781623,-2.92908661449e-05,1793250606314435840
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,689.479687471,670,643,888.479687471,790,821,655,632,656.479687471,0.414523803134,-0.0154944008664,0.0599252266641,0.999999988725,5.71942489428e-05,-0.000135122860493,-3.19617223605e-05,1793250606331102720
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722.056354327,690,669.943645673,643,889.056354327,790,821.056354327,655,632,656.943645673,0.415377802244,-0.0155017423671,0.0599600498466,0.999999996826,3.06070423046e-05,-6.4687755164e-05,-3.5031595164e-05,1793250606347769600
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722.644306074,690,669.355693926,643,889.644306074,790,821.644306074,655,632,656.355693926,0.416210229722,-0.0155119053024,0.0599999382879,0.999999999387,5.35372885101e-06,1.50194507222e-06,-3.45799844566e-05,1793250606364436480
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,722.770172567,689.770172567,669,643,890,790,822.229827433,655,632,656,0.417041850337,-0.0155188084639,0.0600208179557,0.999999998735,-1.02258477127e-05,3.48207413702e-05,-3.48361388346e-05,1793250606381103104
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722.18837329,689.18837329,669,643,890,790,822.81162671,655,632,656,0.417872235223,-0.0155207194071,0.0600125864178,0.999999999127,-1.09904680169e-05,1.77990128874e-05,-3.61762083604e-05,1793250606397769472
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.385179532,746,722,689,669,643,890,790,823,655,632,656,0.418708489715,-0.0155212073855,0.0599946866243,0.999999999097,-1.28562347201e-05,-1.16824653701e-05,-3.87886617512e-05,1793250606414436096
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+162,2.700000000,POSE1_TO_POSE2_PRESS,769.46623599,746,722,689.53376401,669,643,890,790,823,655,632,656.53376401,0.420405044429,-0.0155191405009,0.0599362759512,0.999999993719,-1.70665806305e-05,-0.000100314934035,-4.69819911462e-05,1793250606447769344
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.115740297,746,722,690.115740297,669,643,890,790,823.115740297,655,632,657,0.421260289109,-0.0155169059321,0.0599011465488,0.999999986402,-1.78579167943e-05,-0.000155617304779,-5.15849404595e-05,1793250606464435968
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.706699165,746,722,690.706699165,669,643,890,790,823.706699165,655,632,657,0.422099791905,-0.0155137838863,0.0598738333619,0.999999975677,-1.46403487068e-05,-0.000213332513332,-5.40544569588e-05,1793250606481102592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.709569041,746,722.290430959,691,669,643,890.290430959,790,824,655,632,657,0.423021918604,-0.0155162341329,0.0598936297563,0.999999981546,-1.8827687792e-05,-0.000183754772808,-5.27937507136e-05,1793250606497769728
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.132958463,746,722.867041537,691,669,643,890.867041537,790,824,655,632,657,0.424025459854,-0.0155241751042,0.0599598461371,0.999999996072,-3.03115402555e-05,-6.81618856369e-05,-4.78574247307e-05,1793250606514436864
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+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,722,691,669,643,891,790,825.1931675,655,632,656.1931675,0.427846258891,-0.0155349110475,0.0600082096125,0.999999997089,-4.28666701173e-05,3.97481687701e-05,-4.90367501393e-05,1793250606581102592
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769.166620513,746,723,692.833379487,669,643,891.833379487,790,826,655,632,656.166620513,0.435249673717,-0.0155345574498,0.0599775207083,0.999999996699,-5.61895097481e-05,-1.14685468584e-05,-5.75629527904e-05,1793250606714435584
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+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.559745894,723,693,669.559745894,643,892,790,826,655,632,656.440254106,0.43777365198,-0.0155335430641,0.0598969204939,0.999999981964,-5.89397357714e-05,-0.000168457093715,-6.49713311457e-05,1793250606764435712
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.863000649,723,693.136999351,670,643,892.136999351,790,826.136999351,655,632,656.136999351,0.438610885296,-0.0155282774944,0.0598840582533,0.999999976897,-5.60005332992e-05,-0.000196786711172,-6.59210033242e-05,1793250606781102592
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,722,690.380887559,669,642,889,789,821.380887559,655,631,656,0.42401445433,-0.0153765856758,0.0598119644022,0.999999936383,0.000188645469635,-0.0003021664687,1.85110006129e-05,1793250609351203072
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,745,722,690,669.370092663,642,888,789.629907337,821,655,631,656,0.421330081826,-0.0153742412265,0.0598258893559,0.999999940823,0.000195207983101,-0.00028241414018,2.21161168257e-05,1793250609401202432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,745,722,690,669.948143688,642,888,789.051856312,821,655,631,656,0.420328913612,-0.0153697036346,0.0597819960931,0.999999915931,0.000186912997222,-0.000364506674771,1.83205780453e-05,1793250609417869056
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.065508025,745,721,687,669,642.065508025,886.934491975,789,819.934491975,655.065508025,631.065508025,656,0.409606490385,-0.0153589272704,0.0597975295003,0.999999917388,0.000228390769836,-0.000335711971059,1.89653113093e-05,1793250609651202816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.639308994,745,721,687,669,642.639308994,886.360691006,789,819.360691006,655.639308994,631.639308994,656,0.409039845296,-0.0153628624368,0.059833876021,0.999999936477,0.00021912302867,-0.00028015059318,2.3396786392e-05,1793250609667869440
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.129131738,669,642,887,789,819.129131738,655,631.870868262,656,0.404580387177,-0.0153529861558,0.059802773941,0.999999920738,0.000250238500807,-0.000308949925747,2.12991439942e-05,1793250609817869824
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.395661004,745.604338996,722,685.395661004,669,642,886.395661004,789,820,655,632,656.395661004,0.403511767075,-0.0153470615198,0.0597638275236,0.999999891578,0.000273315468517,-0.000376445833063,2.07748912607e-05,1793250609867869696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,722,685,670.167655124,642.416172438,886.416172438,788.416172438,819,655,632,656.416172438,0.401545432876,-0.0153562680158,0.0598178717036,0.999999937219,0.000186718404942,-0.000301157831469,1.57530284756e-06,1793250610034536192
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.279370122,745,722,685,669.279370122,643,886,788.279370122,819,655,632,656,0.401219626911,-0.0153691102496,0.0598277926515,0.999999938957,0.000204686217299,-0.000283092925175,6.88082675676e-06,1793250610101202944
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae16956e85afefa0e45a6761b10506c3f926e714
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce2fe669544fa38570394f79d79d25ee7e6209f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788dc4760ccd60f5053cadc0f42c1ea03cf2cc21f47f255fd9f54c7dfdf32ea7
+size 26228655
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05de65b7f7cb68638df1718df6a7bef9ad9605b4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+9,0.150000000,BASELINE,769,745,722,684,669,643,886.789486363,789,819.210513637,655,632,656.210513637,0.400974166059,-0.0153681378941,0.0598386874884,0.999999942198,0.000210989251243,-0.000266423618403,1.0329872758e-05,1793250610919400448
+10,0.166666667,BASELINE,769,745,722,684,669,643,886.218027712,789,819.781972288,655,632,656.781972288,0.400972618104,-0.0153695058216,0.0598377534608,0.999999941827,0.000209614557535,-0.000268874185346,1.06788458602e-05,1793250610936067328
+11,0.183333333,BASELINE,769,745,722,684.368384797,669,642.631615203,886,789,819.631615203,655,632,657,0.400971986793,-0.0153695133669,0.0598373660468,0.999999941565,0.000210199474828,-0.000269394035471,1.06576469933e-05,1793250610952733952
+12,0.200000000,BASELINE,769,745,722,684.964022237,669,642.035977763,886,789,819.035977763,655,632,657,0.40097192095,-0.0153686817071,0.0598373158329,0.999999941369,0.00021199325506,-0.000268722847274,1.04080930305e-05,1793250610969400576
+13,0.216666667,BASELINE,769,745,722,685,669.541374725,642.541374725,886,789,819,655,632,656.458625275,0.400972494439,-0.0153695147574,0.0598374107965,0.999999942436,0.000208066195283,-0.000267819437454,1.04475422178e-05,1793250610986066944
+14,0.233333333,BASELINE,769.118905568,745,722,684.881094432,669.881094432,643,886,789,819,655,632,656,0.400972568633,-0.0153700298,0.0598373490532,0.999999943111,0.000205234198572,-0.000267484992673,1.04257546659e-05,1793250611002733824
+15,0.250000000,BASELINE,769.701718418,745,722,684.298281582,669.298281582,643,886,789,819,655,632,656,0.400970534487,-0.0153688866225,0.0598366395094,0.999999941998,0.000208109388458,-0.000269428594109,1.00925695054e-05,1793250611019401216
+16,0.266666667,BASELINE,769.723901555,745,722,684.276098445,669.276098445,643,886.276098445,789,819,655,632,656,0.400970412709,-0.0153687352127,0.059837182308,0.999999941963,0.000208690825512,-0.000269109629055,1.01053496443e-05,1793250611036068352
+17,0.283333333,BASELINE,769.158361909,745,722,684.841638091,669.841638091,643,886.841638091,789,819,655,632,656,0.400972295718,-0.0153696234991,0.0598390379697,0.999999943058,0.000206867661484,-0.000266418756431,1.04808142481e-05,1793250611052735232
+18,0.300000000,BASELINE,769.428106737,745,722,684.571893263,669.571893263,643,886.571893263,789,819,655,631.571893263,656,0.400971910214,-0.0153695212986,0.0598384592884,0.999999942728,0.000207077883633,-0.000267493501665,1.04844800102e-05,1793250611069401856
+19,0.316666667,BASELINE,770,745,722,684,669,643,886,789,819,655,631.022029416,656,0.400970771503,-0.0153691209433,0.0598370241758,0.999999941897,0.000208042961179,-0.000269846113214,1.03585416006e-05,1793250611086068224
+20,0.333333333,BASELINE,770,745,722,684,669,643,886,789,819,655,631.598686385,656,0.400972882473,-0.0153709127458,0.0598378637047,0.999999942513,0.000208102160794,-0.000267498757208,1.06102023074e-05,1793250611102734592
+21,0.350000000,BASELINE,769.825373053,745,722,684.174626947,669,643,886,789,819,655,632,656.174626947,0.400974271689,-0.0153720708219,0.0598385437382,0.999999943044,0.000207684878543,-0.000265823925944,1.07636261582e-05,1793250611119401216
+22,0.366666667,BASELINE,769.251072231,745,722,684.748927769,669,643,886,789,819,655,632,656.748927769,0.400974009004,-0.0153717784691,0.0598388587295,0.999999943393,0.000206177058101,-0.000265688322335,1.06922123669e-05,1793250611136067584
+23,0.383333333,BASELINE,769,745,722,684.667163573,669,643,886,789,819.332836427,655.332836427,632,656.667163573,0.400972502142,-0.0153713662813,0.0598384086839,0.999999943025,0.000206044403006,-0.000267173960708,1.06752888682e-05,1793250611152733952
+24,0.400000000,BASELINE,769,745,722,684.075791833,669,643,886,789,819.924208167,655.924208167,632,656.075791833,0.40097002885,-0.01537086101,0.0598373643854,0.999999942094,0.000206979926508,-0.000269918921266,1.07006914526e-05,1793250611169400576
+25,0.416666667,BASELINE,769,745,722,684.504121687,669,643,886,789,819.495878313,655.495878313,632,656,0.400971082453,-0.0153707586385,0.0598378441881,0.999999942594,0.000206202543034,-0.00026867061044,1.04655186597e-05,1793250611186067456
+26,0.433333333,BASELINE,769,745.081902635,722,685,669,643,886,789,819,655,632,656,0.400972801581,-0.0153708255657,0.0598386154418,0.999999943297,0.000205293201194,-0.000266748824477,1.02614468546e-05,1793250611202734592
+27,0.450000000,BASELINE,769,745.656985107,722,685,669,643,886,789,819,655,632,656,0.400975406234,-0.0153715552906,0.0598397925683,0.999999943982,0.000205105505536,-0.000264306463998,1.04753080405e-05,1793250611219401728
+28,0.466666667,BASELINE,769,745.762685483,722,685,669,643,886,789,819.237314517,655,632,656.237314517,0.400976387749,-0.0153713525914,0.0598403398791,0.999999944125,0.000205818456519,-0.000263208366735,1.05188903518e-05,1793250611236068352
+29,0.483333333,BASELINE,769,745.174600707,722,685,669,643,886,789,819.825399293,655,632,656.825399293,0.400974970134,-0.0153697716933,0.0598399562706,0.99999994347,0.000207862636887,-0.000264097200566,1.0310786551e-05,1793250611252734720
+30,0.500000000,BASELINE,769,745,722,684.592872315,669,643,886.407127685,789,819.592872315,655,631.592872315,656.592872315,0.400973692027,-0.0153706007747,0.0598394820937,0.999999943051,0.000208259970167,-0.000265359645202,1.04568518325e-05,1793250611269401344
+31,0.516666667,BASELINE,769,745,722,684.013828029,669,643,886.986171971,789,819.013828029,655,631.013828029,656.013828029,0.40097247283,-0.0153724475111,0.0598389696728,0.999999942732,0.000207961894161,-0.000266779853342,1.07524710475e-05,1793250611286067712
+32,0.533333333,BASELINE,769,745,722,684.563040336,669,643,886.436959664,789,819,655,631.563040336,656,0.400971926111,-0.0153719711867,0.0598384511114,0.999999943,0.000206177830067,-0.000267167335436,1.06038856615e-05,1793250611302734336
+33,0.550000000,BASELINE,768.86016913,745,722,685,669,643,886,789,819,655,632,656,0.400971476422,-0.0153713496943,0.0598379633788,0.999999943068,0.000205411274561,-0.000267507524277,1.04841025261e-05,1793250611319400704
+34,0.566666667,BASELINE,768.283455557,745,722,685,669,643,886,789,819,655,632,656,0.40097127849,-0.0153704522132,0.0598375724359,0.999999942473,0.00020793737329,-0.000267778890821,1.04882621341e-05,1793250611336067584
+35,0.583333333,BASELINE,768.298475706,745,722,685,669.298475706,643,886,789,819,655,632,656,0.400971855212,-0.0153700498722,0.0598380603055,0.999999942531,0.000208693070922,-0.00026697189646,1.05536021094e-05,1793250611352734464
+36,0.600000000,BASELINE,768.885450321,745,722,685,669.885450321,643,886,789,819,655,632,656,0.400973180695,-0.0153701261207,0.0598393976124,0.999999943221,0.000207737544866,-0.000265122586325,1.06780774482e-05,1793250611369401344
+37,0.616666667,BASELINE,769,745,722,685,669.534166464,643,886.465833536,789,819,655,632,656.465833536,0.400972059613,-0.0153706413037,0.0598387706925,0.999999943044,0.00020703084128,-0.000266344481451,1.0514223046e-05,1793250611386068224
+38,0.633333333,BASELINE,769,745,722,685,668.955381449,643,887,789,819.044618551,655,632,656.955381449,0.400970626243,-0.0153712358522,0.0598378233859,0.999999942705,0.000206494853326,-0.000268035395374,1.03190403935e-05,1793250611402734592
+39,0.650000000,BASELINE,769,745,722,685,668.376595639,643,887,789,819.623404361,655,632,656.376595639,0.400972556174,-0.0153715063986,0.0598387422855,0.99999994297,0.000207280357898,-0.000266426127762,1.0585774639e-05,1793250611419400704
+40,0.666666667,BASELINE,769,745,722,685,668.199891688,643,887,789,819.800108312,655,632,656,0.400973624831,-0.0153716795948,0.0598392956631,0.999999943278,0.000207032428722,-0.000265458972753,1.0677824219e-05,1793250611436067072
+41,0.683333333,BASELINE,769,745,722,685,668.772097868,643,887,789,819.227902132,655,632,656,0.400973089293,-0.0153716714683,0.0598391682266,0.999999943667,0.000204859645273,-0.000265687804673,1.04445094168e-05,1793250611452733696
+42,0.700000000,BASELINE,769,745,722,685,669,643,887,789,819,655,632,656.355077323,0.400972769858,-0.0153719947019,0.0598389202735,0.99999994357,0.000205058846203,-0.000265895468213,1.05030672699e-05,1793250611469400576
+43,0.716666667,BASELINE,769,745,722,685,669,643,887,789,819,655,632,656.945187813,0.400972593467,-0.0153725372697,0.059838592548,0.999999943152,0.000206828113692,-0.000266089119947,1.07548217967e-05,1793250611486067200
+44,0.733333333,BASELINE,769,745,722,685,669,643,887,789,819.527038941,655,632,656.472961059,0.400972514295,-0.0153714664857,0.0598386012117,0.999999943081,0.000206761381155,-0.000266408620153,1.07309493088e-05,1793250611502734336
+45,0.750000000,BASELINE,769.104600723,745,722,685,669,643,887,789,819.895399277,655,632,656,0.400972629164,-0.0153706525762,0.0598387525647,0.999999943151,0.000206351299897,-0.000266463318548,1.06628111466e-05,1793250611519401472
+46,0.766666667,BASELINE,769.66708797,745,722,685,669,643,887,789,819.33291203,655,632,656,0.400973549858,-0.0153716862862,0.0598393777548,0.999999943686,0.000205261176963,-0.000265302445351,1.05244466387e-05,1793250611536067840
+47,0.783333333,BASELINE,770,745,722,685,669,643,887,789,819,655,632.245722681,656,0.400973957678,-0.0153717871349,0.0598398084625,0.9999999439,0.000205104270184,-0.000264618640493,1.04761846912e-05,1793250611552734464
+48,0.800000000,BASELINE,770,745,722,685,669,643,887,789,819,655,632.84777327,656,0.400973621766,-0.015370535221,0.0598399571473,0.999999943651,0.000206300640685,-0.000264626642843,1.05585824445e-05,1793250611569400832
+49,0.816666667,BASELINE,769.568380256,745,722,685,669,643,886.568380256,789,819.431619744,655,632.568380256,656,0.400972792037,-0.0153702614572,0.0598394175641,0.999999943055,0.000207903736614,-0.000265626831903,1.03666850547e-05,1793250611586067200
+50,0.833333333,BASELINE,769,745,722,685,669,643,886,789,819.990673793,655,632,656,0.400971809585,-0.0153703417746,0.0598386567859,0.999999942356,0.000209591450282,-0.000266942554663,1.00942299953e-05,1793250611602734080
+51,0.850000000,BASELINE,769,745,722,685,669,643,886,789,819.411711937,655,632,656,0.400971706263,-0.0153718306654,0.0598386121343,0.999999942653,0.000208040523697,-0.000267022271535,1.05710712944e-05,1793250611619400704
+52,0.866666667,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400971887345,-0.0153728568004,0.0598387119804,0.999999943002,0.00020670017434,-0.000266742748595,1.08876534062e-05,1793250611636067584
+53,0.883333333,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400972768534,-0.0153727437893,0.0598391675306,0.999999943483,0.000205878193943,-0.000265578900522,1.08097323678e-05,1793250611652734976
+54,0.900000000,BASELINE,769,745,722,685,669,643,886,789,819.322180167,655,632,656,0.400973396863,-0.0153724806513,0.0598393257176,0.999999943783,0.000205157214258,-0.000265010941129,1.06222612735e-05,1793250611669401600
+55,0.916666667,BASELINE,769,745,722,685,669,643,886,789,819.91089872,655,632,656,0.400973816001,-0.0153720933138,0.0598392378973,0.999999943937,0.000204519792105,-0.000264935958161,1.03441598523e-05,1793250611686067968
+56,0.933333333,BASELINE,769.491493367,745,722,685,669,642.508506633,886.491493367,789,819.508506633,655,632,656,0.400973442455,-0.0153717416792,0.0598397572878,0.999999943505,0.000206827854203,-0.000264768828793,1.04598685249e-05,1793250611702734336
+57,0.950000000,BASELINE,769.92976622,745,722,684.92976622,669,642.07023378,886.92976622,789,819,655,632,656,0.400972913781,-0.0153715969956,0.0598402043056,0.999999943111,0.000208753805883,-0.000264738311625,1.06112951318e-05,1793250611719400704
+58,0.966666667,BASELINE,769.353944592,745,722,684.353944592,669,642.646055408,886.353944592,789,819,655,632,656,0.400972286042,-0.0153728962435,0.0598393508009,0.999999943779,0.000204147669849,-0.00026580951437,1.05142692131e-05,1793250611736067328
+59,0.983333333,BASELINE,769,745,722.224439244,684.224439244,669.224439244,643,886,789,819,655,632,656,0.400971537303,-0.0153734956274,0.0598387013178,0.999999943996,0.00020199204039,-0.00026663791355,1.05405617428e-05,1793250611752733952
+60,1.000000000,BASELINE,769,745,722.806910476,684.806910476,669.806910476,643,886,789,819,655,632,656,0.400970595543,-0.0153729785683,0.0598383772955,0.99999994352,0.000203745529355,-0.000267078985617,1.07635754222e-05,1793250611769400576
+61,1.016666667,BASELINE,769,745,722.610994101,685,670,643,886,789,819,655,632,656.389005899,0.400972399378,-0.0153719560557,0.0598396544611,0.999999943622,0.000205881774794,-0.000265049970562,1.0849559303e-05,1793250611786067456
+62,1.033333333,BASELINE,769,745,722.029085071,685,670,643,886,789,819,655,632,656.970914929,0.400975564721,-0.0153706828952,0.0598417256357,0.999999943997,0.000208207824245,-0.000261796070359,1.08675918175e-05,1793250611802734592
+63,1.050000000,BASELINE,769,745,722,685,669.451695685,643,886,789.548304315,819,655.548304315,632,656.451695685,0.40097360258,-0.015371753293,0.0598404226567,0.999999943932,0.000205645695863,-0.000264074807261,1.04840570499e-05,1793250611819401216
+64,1.066666667,BASELINE,769,745,722,685,669,643,886,789.874529639,819,655.874529639,632,656,0.400971898974,-0.0153728322564,0.059839261871,0.999999943844,0.000203552113227,-0.000266033426756,1.02536631773e-05,1793250611836067584
+65,1.083333333,BASELINE,769,745,722,685,669,643,886,789.297311614,819,655.297311614,632,656,0.40097209748,-0.0153734981305,0.0598392521934,0.999999943798,0.00020407144313,-0.00026579146316,1.06507099173e-05,1793250611852733952
+66,1.100000000,BASELINE,769,745,722.284360489,684.715639511,669,643,886,789,819,655,632,656,0.400972700899,-0.0153729156299,0.0598395982085,0.999999943781,0.000205023139245,-0.000265119086888,1.0708504174e-05,1793250611869400576
+67,1.116666667,BASELINE,769,745,722.870763595,684.129236405,669,643,886,789,819,655,632,656,0.400973734407,-0.015371007128,0.059840322034,0.999999943793,0.000206434086974,-0.000263989533995,1.04059504943e-05,1793250611886067456
+68,1.133333333,BASELINE,769.450487993,745,722.549512007,684.450487993,669.450487993,643,886.450487993,789,819.450487993,655,632,656,0.400975598921,-0.0153713515155,0.0598414833069,0.99999994422,0.000206688088444,-0.000262163367049,1.0463752249e-05,1793250611902733824
+69,1.150000000,BASELINE,769.971761466,745,722,685,669.971761466,643,886.971761466,789,820,655,632,656,0.400977518618,-0.0153723070532,0.059842655298,0.999999944723,0.00020657967217,-0.00026032129598,1.06135886191e-05,1793250611919400448
+70,1.166666667,BASELINE,769.395677413,745,722,685,669.395677413,643,886.395677413,789,820,655,632,656,0.40097595134,-0.0153727636248,0.0598416361093,0.999999944451,0.000205785235325,-0.000261991162669,1.05726345752e-05,1793250611936067840
+71,1.183333333,BASELINE,769,745,722,685,669,643,886,789,819.819196165,655,632,656,0.400974393905,-0.0153733734281,0.0598407189198,0.999999944189,0.000205053267557,-0.00026355532655,1.0628479257e-05,1793250611952734976
+72,1.200000000,BASELINE,769,745,722,685,669,643,886,789,819.241843655,655,632,656,0.400972858061,-0.0153743193075,0.0598400254404,0.999999943956,0.000204458310171,-0.000264887657675,1.08966280908e-05,1793250611969401344
+73,1.216666667,BASELINE,769,745,722,684.656411652,669,643,886,789,819,655,632,656.343588348,0.400972369376,-0.0153740215253,0.0598398471507,0.999999943659,0.000205293876585,-0.00026536643566,1.078075167e-05,1793250611986067456
+74,1.233333333,BASELINE,769,745,722,684.065155774,669,643,886,789,819,655,632,656.934844226,0.400972635512,-0.015372827279,0.0598400402235,0.999999943315,0.000207160602267,-0.000265229949979,1.03880597145e-05,1793250612002733824
+75,1.250000000,BASELINE,769,745,722.515345622,684.515345622,669.515345622,643,886,789,819,655,632,656.484654378,0.400972346974,-0.0153728168477,0.0598393515743,0.999999943325,0.000206604684643,-0.000265628248362,1.02669093052e-05,1793250612019400448
+76,1.266666667,BASELINE,769,745.09362643,722.90637357,685,669.90637357,643,886,789.09362643,819,655,632,656,0.400971868552,-0.0153729483169,0.0598386937283,0.99999994338,0.000205714955883,-0.000266113563301,1.02145990468e-05,1793250612036067328
+77,1.283333333,BASELINE,769,745.667350247,722.332649753,685,669.332649753,643,886,789.667350247,819,655,632,656,0.400970768694,-0.0153730556287,0.0598387537813,0.999999943439,0.000204652037303,-0.000266705461057,1.03428417284e-05,1793250612052733952
+78,1.300000000,BASELINE,769,745.753122917,722,685,669,643,886,789.753122917,819,655,632,656,0.400971051508,-0.0153728616809,0.0598392177172,0.999999943659,0.000204199283265,-0.000266226781397,1.03860036834e-05,1793250612069400832
+79,1.316666667,BASELINE,769,745.165588747,722,685,669,643,886,789.165588747,819,655,632,656,0.400973242225,-0.0153722520354,0.0598402389569,0.999999944099,0.000204588474117,-0.000264270849198,1.03117656966e-05,1793250612086067712
+80,1.333333333,BASELINE,769,745,722,684.584659628,669,643,886,789,819,655,632,656,0.400973145347,-0.0153716776673,0.0598404044161,0.999999943812,0.000205962769237,-0.000264284947279,1.04537307448e-05,1793250612102734848
+81,1.350000000,BASELINE,769,745,722,684.006322554,669,643,886,789,819,655,632,656,0.400972150724,-0.0153711171434,0.0598402340318,0.999999943237,0.000207723659956,-0.000265072166375,1.06805427797e-05,1793250612119401472
+82,1.366666667,BASELINE,769,745,722,684,669,643,886,789,819,655,632,656,0.400971742198,-0.0153722728945,0.0598393255136,0.999999943265,0.000206294730991,-0.000266084279902,1.05579865617e-05,1793250612136067840
+83,1.383333333,BASELINE,769,745,722,684.1517697,669.1517697,642.8482303,886,789,819,655,632,656,0.400971427933,-0.0153732749656,0.0598386790168,0.999999943214,0.000205368227035,-0.000266996472771,1.04405711533e-05,1793250612152733952
+84,1.400000000,BASELINE,769,745,722,684.724711235,669.724711235,642.275288765,886,789,819,655,632,656,0.400971357267,-0.0153737979204,0.0598387822883,0.999999942931,0.000205933830416,-0.000267624480621,1.03481380912e-05,1793250612169400576
+85,1.416666667,BASELINE,769.305889359,745,722,685,669.694110641,642,886.305889359,789,819,655,632,656,0.400972655094,-0.0153739859006,0.0598397626105,0.999999943407,0.000206036424937,-0.000265751142209,1.05273893473e-05,1793250612186067456
+86,1.433333333,BASELINE,769.894685184,745,722,685,669.105314816,642,886.894685184,789,819,655,632,656,0.400975218594,-0.0153738640745,0.0598415540865,0.999999944574,0.000205710798575,-0.000261564395289,1.09579120185e-05,1793250612202734080
+87,1.450000000,BASELINE,769.524428306,745,722,685,669,642.475571694,887,789,819,655,632,656,0.400974662292,-0.0153731019318,0.0598409066248,0.999999944429,0.00020524006848,-0.000262495665638,1.06877728787e-05,1793250612219400960
+88,1.466666667,BASELINE,769,745,722,685,669,643,886.945457915,789,819.054542085,655,632,656.054542085,0.40097342952,-0.0153723604342,0.0598398143222,0.999999944021,0.000204741796573,-0.000264447475565,1.03102715538e-05,1793250612236067840
+89,1.483333333,BASELINE,769,745,722,685,669,643,886.368339187,789,819.631660813,655,632,656.631660813,0.400972226489,-0.0153731531004,0.0598395500584,0.999999943837,0.000204282477599,-0.000265495796062,1.03664164832e-05,1793250612252734720
+90,1.500000000,BASELINE,769,745,722,685,669,643,886,789,819.792448152,655,632,656.792448152,0.40097123309,-0.0153737460884,0.0598391332336,0.999999943559,0.000204335405931,-0.000266496336842,1.04317606508e-05,1793250612269401600
+91,1.516666667,BASELINE,769,745,722,685,669,643,886,789,819.218723135,655,632,656.218723135,0.400970609536,-0.0153739867943,0.0598384472534,0.999999943118,0.00020529206618,-0.000267412582187,1.05133345607e-05,1793250612286067712
+92,1.533333333,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400970949076,-0.0153733832965,0.059838915804,0.999999943209,0.000205497713002,-0.000266911750908,1.04894948784e-05,1793250612302734080
+93,1.550000000,BASELINE,769,745,722,685,669,643,886,789,819,655,632,656,0.400971881996,-0.0153722596691,0.0598400956822,0.999999943629,0.00020524064673,-0.000265537832742,1.04007079506e-05,1793250612319400448
+94,1.566666667,BASELINE,769,745,722,684.461520207,669,643,886,789,819,655,632,656,0.400973396912,-0.0153733425301,0.0598408323307,0.999999944244,0.000204671788696,-0.000263654973476,1.03574220496e-05,1793250612336067072
+95,1.583333333,BASELINE,769.115002676,745.115002676,722.115002676,684.115002676,669,643,886,789,819,655,632,656,0.400974813421,-0.0153739203805,0.0598414008825,0.999999944718,0.000204590560044,-0.000261917808853,1.02981409253e-05,1793250612352733952
+96,1.600000000,BASELINE,769.689387001,745.689387001,722.689387001,684.689387001,669,643,886,789,819,655,632,656,0.40097567028,-0.0153718494949,0.0598414248113,0.999999944581,0.000206546410518,-0.000260908274853,1.01619448326e-05,1793250612369400576
+97,1.616666667,BASELINE,769.729404517,745.729404517,722.729404517,685,669,643,886,789,819.270595483,655,632,656,0.400975104987,-0.0153719081394,0.0598410878792,0.999999944444,0.000206227826518,-0.000261685564084,1.01578879842e-05,1793250612386067200
+98,1.633333333,BASELINE,769.140160051,745.140160051,722.140160051,685,669,643,886,789,819.859839949,655,632,656,0.400972864992,-0.0153744744851,0.0598403260028,0.999999944298,0.000203230904146,-0.0002645669883,1.03094362393e-05,1793250612402733824
+99,1.650000000,BASELINE,769,745,722,685,669,643,886,789,819.55892272,655,632,656,0.400973574792,-0.0153735204875,0.0598410785964,0.999999944022,0.000205803565757,-0.000263605928479,1.06137080229e-05,1793250612419400704
+100,1.666666667,BASELINE,769.019771041,745,722,685,669,643,886,789,819,655,632,656,0.400975068738,-0.0153715840547,0.0598421924121,0.999999943706,0.000209819134573,-0.00026161938144,1.09424751924e-05,1793250612436068096
+101,1.683333333,BASELINE,769.597209089,745,722,685,669,643,886,789,819,655,632,656,0.400972712797,-0.0153729271719,0.0598401627392,0.999999943839,0.000205503425614,-0.00026453392241,1.06177063984e-05,1793250612452734464
+102,1.700000000,BASELINE,769.826167745,745,722,684.826167745,669,643,886,789,819.173832255,655,632,656,0.400971467554,-0.0153736062752,0.0598390286727,0.999999943896,0.000203262031587,-0.000266052207984,1.04132872564e-05,1793250612469400832
+103,1.716666667,BASELINE,769.251424034,745,722,684.251424034,669,643,886,789,819.748575966,655,632,656,0.400972783928,-0.0153727539548,0.0598399601543,0.999999943827,0.00020580465607,-0.000264350292271,1.04864320344e-05,1793250612486067456
+104,1.733333333,BASELINE,769,745,722.331288182,684.331288182,669,643,886.331288182,789,819.668711818,655,632,656,0.400973859823,-0.015372692604,0.0598405562659,0.999999943893,0.000206627619951,-0.00026344542393,1.07149212698e-05,1793250612502734080
+105,1.750000000,BASELINE,769,745,722.920197034,684.920197034,669,643,886.920197034,789,819.079802966,655,632,656,0.400974748715,-0.0153732463371,0.0598408915827,0.999999944071,0.000206113319037,-0.000263160365858,1.1064211511e-05,1793250612519400960
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,723,685,669,643,886,789,819,655,632,656,0.40097476743,-0.0153714203098,0.0598405849725,0.99999994357,0.000208279572762,-0.000263386945805,1.03887206818e-05,1793250612550505984
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722.423327593,684.423327593,669,643,886,789,819.576672407,655,631.423327593,656.576672407,0.400974427881,-0.01537242337,0.0598412681662,0.999999944382,0.000205249073557,-0.000262681426347,1.03679736811e-05,1793250612567172864
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,722,684.152506174,669,643,886,788.847493826,819.847493826,655,631.152506174,656.847493826,0.40097391023,-0.0153734581885,0.0598416045024,0.999999944856,0.000203197993694,-0.00026246844747,1.04416453241e-05,1793250612583839488
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722,684.726024902,669,643,886,788.273975098,819.273975098,655,631.726024902,656.273975098,0.400972900908,-0.0153745806803,0.0598409832953,0.999999944418,0.000203850723941,-0.000263615188919,1.07759715523e-05,1793250612600506112
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.309096109,745,722,684.690903891,669,643,886.309096109,788.309096109,819,655,632,656,0.400972702076,-0.0153737363182,0.0598405394298,0.999999943964,0.000205537546126,-0.000264032765612,1.06270857517e-05,1793250612617172736
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.900904377,745,722,684.099095623,669,643,886.900904377,788.900904377,819,655,632,656,0.400973244552,-0.0153710929897,0.0598402577685,0.999999943491,0.000208170191774,-0.000263783417819,1.00362341087e-05,1793250612633839104
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.517146946,745,722,684.482853054,669,642.517146946,886.517146946,789,819,655,632,656.482853054,0.400972302267,-0.0153721738643,0.0598397406375,0.999999943676,0.000205844523119,-0.000264896829774,1.02361492204e-05,1793250612650505984
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.062311638,886,789.062311638,819,655,632,656.937688362,0.400971315858,-0.0153737540645,0.0598393243107,0.999999943978,0.000202929725658,-0.000265992755178,1.05598796952e-05,1793250612667172608
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.637595556,886,789.637595556,819,655,632,656.362404444,0.400972424542,-0.0153732786785,0.0598401277118,0.999999944233,0.000203374557162,-0.000264688383674,1.05936195955e-05,1793250612683838976
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886,789.782156368,819,655,632,656,0.400973549122,-0.0153732201662,0.0598405285959,0.9999999444,0.000203311794445,-0.000264111434788,1.04910365977e-05,1793250612700505600
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886,789.193457402,819,655,632,656,0.400974700763,-0.0153738713363,0.0598402442382,0.999999944416,0.000202384907163,-0.000264772844735,1.01563785378e-05,1793250612717172480
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.387586739,789,819,655,632,656.387586739,0.400991425647,-0.0153750958913,0.0598476325149,0.999999947627,0.000202176397649,-0.000252489225315,1.0968498557e-05,1793250612733839360
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.964884154,789,819,655,632,656.964884154,0.401015773111,-0.0153766010989,0.059858776288,0.99999995211,0.000202319509756,-0.000233869449285,1.23419278522e-05,1793250612750506240
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.458054656,789,819,655,632,657,0.401070002762,-0.0153789367155,0.0598783353413,0.999999959772,0.00020270150765,-0.000197905773693,1.41971979225e-05,1793250612767172608
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.118364424,789,819,655,632.118364424,656.881635576,0.401128929926,-0.0153817017612,0.0598979505694,0.99999996578,0.000202947545384,-0.000164296660896,1.60850100566e-05,1793250612783838976
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,643,886.692370774,789,819,655,632.692370774,656.307629226,0.401198489815,-0.0153859128485,0.0599156839315,0.999999968934,0.000202610648156,-0.000144075607949,1.79779593629e-05,1793250612800505600
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669.274332543,643,886.725667457,789,819,655,632.725667457,656,0.401276424401,-0.0153892462617,0.0599302854853,0.999999971843,0.000202261984275,-0.000122664888838,1.89122191805e-05,1793250612817172480
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669.865481699,643,886.134518301,789,819,655,632.134518301,656,0.401364030613,-0.0153915660811,0.0599412702271,0.999999974455,0.000201899731535,-9.98802690317e-05,1.87393234797e-05,1793250612833839104
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,722,685,670,643,886,789,819,655,632.44756436,656.44756436,0.401462863534,-0.0153982252285,0.0599450468442,0.999999975905,0.00019875586517,-9.13762443916e-05,1.83308174999e-05,1793250612850505472
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669.973325381,643,886,789,819.026674619,655,632.973325381,656.973325381,0.401565634376,-0.015405991295,0.0599464320923,0.99999997701,0.000194964822581,-8.74759736918e-05,1.78003800668e-05,1793250612867172352
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669.400389612,643,886,789,819.599610388,655,632.400389612,656.400389612,0.401681320298,-0.0154102473572,0.0599423303501,0.99999997671,0.00019470135081,-9.17027014255e-05,1.61943338316e-05,1793250612883838976
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.826418332,886.173581668,789,819.826418332,655,632,656,0.401807000597,-0.0154153113521,0.0599392058722,0.999999976718,0.000193742401783,-9.38902209293e-05,1.45948194287e-05,1793250612900505856
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.250044248,886.749955752,789,819.250044248,655,632,656,0.401955872611,-0.0154222501363,0.0599383491153,0.99999997747,0.000191169613236,-9.13458023428e-05,1.30104622221e-05,1793250612917172480
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.334420605,887,789,819.334420605,655,632,656,0.402126819109,-0.015430318791,0.0599407539746,0.999999979018,0.000186753815149,-8.33796140028e-05,1.16415102883e-05,1793250612933839104
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669,642.925084924,887,789,819.925084924,655,632,656,0.402314679797,-0.0154392531891,0.0599456579878,0.99999998104,0.000180925844178,-7.12590927784e-05,1.0437608563e-05,1793250612950505728
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722,684.493932462,669,643,887,789,819.493932462,655,632,656,0.402540618183,-0.0154507745785,0.0599480170545,0.999999983076,0.000172857258509,-6.23888149898e-05,8.74425010743e-06,1793250612967172608
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,722,684.084841169,669,643,886.915158831,789,819,655,632,656,0.402775044273,-0.0154623515139,0.0599498866867,0.999999984916,0.000164727530428,-5.46458844345e-05,6.89290621966e-06,1793250612983839232
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,722,684.658985817,669,643,886.341014183,789,819,655,632,656,0.403026522791,-0.0154720816126,0.0599510655798,0.999999986204,0.000158122195582,-5.06818717062e-05,4.54044499717e-06,1793250613000505856
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,722.239965713,685,669,643,886.239965713,789,819,655,632,656,0.40328734128,-0.0154799507215,0.0599488590565,0.999999986688,0.000154233912766,-5.32161298629e-05,1.98891740008e-06,1793250613017172224
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722.830943908,685,669,643,886.830943908,789,819,655,632,656,0.403561821902,-0.0154850976466,0.0599417004782,0.999999985963,0.000154320028045,-6.52558053683e-05,-8.53796581774e-07,1793250613033838848
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.413347522,745,722.586652478,685.413347522,669,643,886.586652478,789,819,655,632,656,0.403869047214,-0.0154797776336,0.0599320276531,0.9999999833,0.000164102797386,-8.02782498953e-05,-4.97234826599e-06,1793250613050505728
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.992315451,745,722.007684549,685.992315451,669,643,886.007684549,789,819,655,632,656,0.404189392689,-0.0154702637195,0.0599213474178,0.999999979497,0.000177770829592,-9.64958323251e-05,-9.60210352731e-06,1793250613067172352
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.446399757,745,722,685.446399757,669.553600243,643,886.553600243,789,819.553600243,655.553600243,632,656.553600243,0.404537584294,-0.0154649022701,0.0599087360589,0.999999986961,0.00010542483903,-0.000121456917416,-1.45470851984e-05,1793250613083839488
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669.87716351,643,887.12283649,789,819.87716351,655.87716351,632,656.87716351,0.404902351387,-0.0154629240008,0.0599002428999,0.999999988988,4.75528421964e-05,-0.000139294945851,-1.89449909861e-05,1793250613100506368
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669.276040798,643,887.723959202,789,819.276040798,655.276040798,632,656.276040798,0.405330199626,-0.0154739012731,0.0599078858477,0.999999990185,5.05430103921e-05,-0.000128940109611,-2.11962463226e-05,1793250613117172992
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.312712207,722,685.312712207,669,643,887.687287793,789,819,655,632,656.312712207,0.405792113019,-0.0154822494512,0.059925435452,0.999999993309,5.32386262736e-05,-0.000100085648256,-2.30130737054e-05,1793250613133839616
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.890961635,722,685.890961635,669,643,887.109038365,789,819,655,632,656.890961635,0.406282952627,-0.0154883651549,0.05995139722,0.999999996609,5.56841255259e-05,-5.55223679678e-05,-2.44610100729e-05,1793250613150506240
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.530743757,722,686,669,643,887.469256243,789,819,655,632,656.530743757,0.406817098907,-0.0154906695277,0.059980641712,0.999999999014,3.55281544214e-05,-7.94019864547e-06,-2.54221844705e-05,1793250613167172608
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722,686.047396887,669,643,888,789,819,655,632,656,0.407360512278,-0.0154920430203,0.0600076533315,0.999999998978,1.21703315765e-05,3.44909242671e-05,-2.65698446033e-05,1793250613183838976
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,722,686.62370269,669,643,888,789,819,655,632,656,0.407895034456,-0.0154929123653,0.0600012351364,0.999999999382,1.16935129063e-05,1.16120945272e-05,-3.10608170918e-05,1793250613200505856
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.203029693,745,722.203029693,687,669,643,888,789,819.203029693,655,632,656,0.408434458731,-0.0154935914672,0.0599918073953,0.999999999252,-1.55198355423e-06,-1.36580227153e-05,-3.61445254094e-05,1793250613217172480
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.788040768,745,722.788040768,687,669,643,888,789,819.788040768,655,632,656,0.408983105809,-0.0154939126446,0.0599767174754,0.999999997407,-3.88205532661e-05,-4.34271224009e-05,-4.23434104677e-05,1793250613233839104
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.628237102,745,722.628237102,687.371762898,669,643,888,789.371762898,820,655,632,656,0.409594646152,-0.0154967015985,0.0599757824157,0.999999996656,-4.92065414107e-05,-4.52558416035e-05,-4.71032430594e-05,1793250613250505728
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.045247339,745,722.045247339,687.954752661,669,643,888,789.954752661,820,655,632,656,0.410241920937,-0.0155008926845,0.0599828898126,0.999999997228,-4.43184828513e-05,-3.12094980963e-05,-5.10454399785e-05,1793250613267172608
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,722,688,669,643,888,790,820,655,632,656,0.410926753331,-0.0155061039532,0.0599915812653,0.999999995229,-7.99517478686e-05,-1.03487983954e-05,-5.51560579089e-05,1793250613283839488
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.095870769,722,688,669,643,888,790,820,655,632,656,0.411612654837,-0.0155107186736,0.0599952438817,0.999999993894,-9.58622082728e-05,6.18251971186e-08,-5.49745201933e-05,1793250613300506112
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.653456524,722,688,669,643,888,790,820,655,632,656,0.412288485347,-0.0155120469936,0.0599740456338,0.999999998512,-3.66706697219e-07,-4.2616686245e-05,-3.40536484993e-05,1793250613317172480
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722,688.232882819,669,643,888,789.767117181,820,655,632,656.232882819,0.412968135532,-0.0155062258053,0.0599460763424,0.999999992805,6.6395842568e-05,-9.73216530515e-05,-2.25926878823e-05,1793250613333839104
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,688.848172628,669,643,888,789.151827372,820,655,632,656.848172628,0.413654057948,-0.0154886647133,0.0599069886048,0.999999981195,8.59772459963e-05,-0.000171774758758,-2.66654426264e-05,1793250613350505728
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.563885369,722,689.436114631,669,643,888.436114631,789.436114631,820.436114631,655,632,656.563885369,0.414452484454,-0.0154875142222,0.0599225775882,0.999999987146,7.39023401349e-05,-0.000139011749116,-3.0379429499e-05,1793250613367172352
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.015027871,745,722,689.984972129,669,643,889.015027871,789.984972129,821.030055742,655,632,656,0.415288284252,-0.0154920317962,0.0599562387204,0.999999995583,5.12019446738e-05,-7.11715585697e-05,-3.38815383981e-05,1793250613383839232
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.591335667,745,722,689.408664333,669,643,889.591335667,789.408664333,822.182671333,655,632,656,0.416143420289,-0.0155074574517,0.0599958907373,0.999999999234,1.89743696537e-05,-5.05461140769e-06,-3.38598352769e-05,1793250613400505856
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.8341955,745,722,689,669.1658045,643,890,789.1658045,823,655,632,656,0.416995891774,-0.0155182457999,0.060021954337,0.99999999866,-4.14854474426e-06,3.83926776708e-05,-3.44816739796e-05,1793250613417172224
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.264209537,745,722,689,669.735790463,643,890,789.735790463,823,655,632,656,0.417841867828,-0.0155177297877,0.0600148934633,0.999999998961,-5.07703499028e-06,2.65781600991e-05,-3.66722743168e-05,1793250613433839104
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,745.31867819,722,689,669.68132181,643,890,790,823,655,632,656.31867819,0.418683487363,-0.0155173031388,0.0599992482605,0.999999999202,-6.62676698166e-06,1.68940330946e-06,-3.93478062911e-05,1793250613450505728
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,745.912713799,722,689,669.087286201,643,890,790,823,655,632,656.912713799,0.419521342555,-0.0155169537051,0.0599761856735,0.999999998466,-8.71328972913e-06,-3.44962940622e-05,-4.24423486672e-05,1793250613467172096
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,722.492648972,689.492648972,669.492648972,643,890.492648972,790,823,655,632,656.507351028,0.420347335585,-0.0155154454777,0.0599416205943,0.999999994886,-9.26785355456e-06,-8.91577492859e-05,-4.68349718567e-05,1793250613483838720
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,690,669.929979782,643,890.859959563,790,823,655,632,656,0.421175800543,-0.0155136490775,0.0599060144787,0.999999987822,-9.54970817962e-06,-0.000147115182305,-5.11987135849e-05,1793250613500505600
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,690,669.353586323,643,889.707172647,790,823,655,632,656,0.422036917829,-0.0155112121297,0.0598772079973,0.999999977312,-9.76768085728e-06,-0.000205893969805,-5.3736620695e-05,1793250613517172480
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.772944069,746,722.772944069,690.227055931,669,643,889.227055931,790,823.227055931,655,632,656,0.422959444143,-0.0155125333921,0.0598867861471,0.999999979726,-1.38533536725e-05,-0.000193637036197,-5.34949546742e-05,1793250613533838848
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.185559048,746,722.185559048,690.814440952,669,643,889.814440952,790,823.814440952,655,632,656,0.423979424375,-0.0155198187902,0.059957279236,0.999999996161,-2.40769188438e-05,-6.86491338598e-05,-4.88422122918e-05,1793250613550505728
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.39616634,746,722.39616634,691,669,643,890,790,824.39616634,655,632,656,0.424964529712,-0.0155260719413,0.0600056437751,0.999999998532,-2.65028516888e-05,1.15318454817e-05,-4.58430107823e-05,1793250613567172608
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.975278134,746,722.975278134,691,669,643,890,790,824.975278134,655,632,656,0.425933530128,-0.0155318484111,0.0600437895782,0.999999996206,-2.53279192925e-05,7.10214509228e-05,-4.36073974422e-05,1793250613583839232
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.552454183,746,722.447545817,691,669,643,890.552454183,789.447545817,825,655,632,656,0.42687657985,-0.0155331691267,0.0600307797559,0.999999996191,-3.42800647137e-05,6.54698138232e-05,-4.64426247419e-05,1793250613600505600
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.870897203,746,722,691,669,643,891,789.129102797,825,655,632,656,0.427808807257,-0.0155331551832,0.0600114953654,0.999999996829,-4.04124024907e-05,4.74788573671e-05,-4.95450933909e-05,1793250613617172224
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.295772575,746,722,691,669,643,891,789.704227425,825,655,632,656,0.428707643826,-0.015529216733,0.0599784146915,0.99999999798,-3.52427581125e-05,-3.46704426713e-06,-5.2789614624e-05,1793250613633839104
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,722.287622222,691.287622222,669,643,891,790,825,655,632,656,0.429596113266,-0.0155246735324,0.0599409271059,0.999999995544,-3.21460232342e-05,-6.87110280222e-05,-5.61844742843e-05,1793250613650505728
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722.879773276,691.879773276,669,643,891,790,825,655,632,656,0.430473606133,-0.015519490034,0.0598987735699,0.999999986613,-3.12440449952e-05,-0.000149093540498,-5.97385089971e-05,1793250613667172608
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,723,692.457315578,669.457315578,643,891.457315578,789.542684422,825.457315578,655,632,656,0.431459689208,-0.0155234006249,0.059927853043,0.999999993458,-3.79509598005e-05,-9.06951979613e-05,-5.84675248367e-05,1793250613683839232
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,693,669.968585118,643,891.968585118,789,825.968585118,654.968585118,632,656,0.432469625207,-0.0155292409028,0.0599737810423,0.999999997378,-4.58834410138e-05,-4.44597336208e-07,-5.60177371055e-05,1793250613700505856
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.389628893,643,891.389628893,789,825.389628893,654.389628893,632,656,0.43341313044,-0.015528334103,0.0599970736995,0.999999997248,-4.13911579757e-05,2.87448709122e-05,-5.44465890542e-05,1793250613717172224
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.192384986,746,723,692.807615014,669,643,891.192384986,789,825.192384986,654.192384986,632,656,0.434344943879,-0.0155285262325,0.0600034315465,0.999999997105,-4.1763852395e-05,3.25709170599e-05,-5.4629078621e-05,1793250613733838848
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.780691519,746,723,692.219308481,669,643,891.780691519,789,825.780691519,654.780691519,632,656,0.435252696191,-0.0155309799199,0.0599749381528,0.999999996809,-5.21484987649e-05,-1.58000635273e-05,-5.84204925344e-05,1793250613750505472
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.636967101,746,723,692,669.363032899,643.363032899,892,789.363032899,826,655,632,656,0.43613447065,-0.0155332848687,0.0599495519698,0.999999994706,-5.76527927743e-05,-5.8883956041e-05,-6.16187422785e-05,1793250613767172352
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.058171054,746,723,692,669.941828946,643.941828946,892,789.941828946,826,655,632,656,0.43700080551,-0.0155355014167,0.0599260125126,0.999999991223,-6.02565220652e-05,-9.88255442783e-05,-6.44644535658e-05,1793250613783838976
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,723,692.518365816,670,643.481634184,892.518365816,789.481634184,826,655,632,656,0.437825241626,-0.015530868595,0.0598977267156,0.999999983656,-5.62694170967e-05,-0.000158665416934,-6.59259121344e-05,1793250613800505600
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,723,693.093587855,669.906412145,643,893,789.093587855,826,655,632,656.093587855,0.438658989659,-0.0155268638203,0.0598800526653,0.999999976514,-5.34487524611e-05,-0.000199157863138,-6.67238111433e-05,1793250613817172480
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,723,693.663403753,669.336596247,643,893,789.663403753,826,655,632,656.663403753,0.439563943988,-0.0155299491924,0.0599190757825,0.999999987638,-6.03108923559e-05,-0.000129886242125,-6.49321766272e-05,1793250613833839360
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,723,693.756412442,669.243587558,643,893,789.756412442,826,655,632,657,0.440460022522,-0.0155351979243,0.0599579300274,0.999999993664,-6.68387740122e-05,-6.52922062191e-05,-6.27861061672e-05,1793250613850505984
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746,723,693.161265116,669.838734884,643,893,789.161265116,826,655,632,657,0.441343290912,-0.0155435689429,0.0599965405426,0.999999995508,-7.28842342808e-05,-7.44914034369e-06,-6.012849345e-05,1793250613867172352
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.423477778,746,722.576522222,693,669.576522222,643,893,789,826.423477778,655,632,657,0.442127543112,-0.015549791901,0.0599739014417,0.999999993408,-8.65828075698e-05,-4.35553947302e-05,-6.15638722093e-05,1793250613883838976
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.995691433,746.004308567,722.004308567,693,669,642.995691433,893.004308567,788.995691433,827,655,632,656.995691433,0.442874696475,-0.0155552238473,0.0599284794478,0.999999986045,-0.000103041918117,-0.000114576560981,-6.45265112922e-05,1793250613900505344
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+247,4.116666667,POSE1_TO_POSE2_PRESS,769.187659663,747,723,693.187659663,667,637.812340337,895,778,828,655,628,657,0.456195262472,-0.0157322035424,0.0595880906524,0.999999760039,-0.000333056294285,-0.000603970932994,-6.49173924582e-05,1793250614900505344
+248,4.133333333,HOLD_POSE2,769,747,723,693,667,638,895,778,829,655,628,657,0.456194997118,-0.0157329922508,0.0595873866733,0.999999759436,-0.000331821893934,-0.000605764462197,-6.3816027817e-05,1793250614934427136
+249,4.150000000,HOLD_POSE2,769,747,723,693.574915759,667,638,895.574915759,778,828.425084241,655,628,657,0.456194061672,-0.0157311909293,0.0595860318045,0.999999758893,-0.000330791198406,-0.000607165803615,-6.4356292955e-05,1793250614951093760
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+251,4.183333333,HOLD_POSE2,769.721220175,747,723.721220175,693.278779825,667,638,895.278779825,778,828,655,628,657,0.45619205919,-0.0157295761657,0.0595838697918,0.999999757396,-0.000330033260256,-0.000609948873267,-6.51727023086e-05,1793250614984427008
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+256,4.266666667,HOLD_POSE2,769,747,723.367918671,693,667,637.367918671,895,778,828,655,628,656.367918671,0.456194609051,-0.0157313839514,0.0595853739333,0.999999757368,-0.000331392087689,-0.000609354898413,-6.42606522138e-05,1793250615067760384
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,693,666.259131641,638,895,777.740868359,828,655,628,657,0.45619605074,-0.0157283132464,0.0595838732685,0.999999756389,-0.000332066870261,-0.000610556051843,-6.46176067881e-05,1793250615300487936
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.237069772,747,723.237069772,694,667,638,895.762930228,778,828,655,628,657,0.455150191625,-0.0156746448498,0.0595130416348,0.999999689664,-0.000303494864872,-0.00072426327097,-6.32920505288e-05,1793250615617153792
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.308157583,669,642.691842417,886.308157583,788.308157583,819.691842417,655.308157583,632,656,0.405286897299,-0.0153572342412,0.0598219483161,0.999999929025,0.000244347437849,-0.000285900163001,2.24903657376e-05,1793250616850487040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745,722,685,669,643,886.863687123,788.863687123,819.136312877,655,632,656,0.404463356427,-0.0153546483683,0.0597938582241,0.999999914904,0.000250445407552,-0.000327093130498,2.18812800818e-05,1793250616883820544
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.44425337,669,643,887,789,819.44425337,655,632,656,0.404078027827,-0.0153512428086,0.0597745347471,0.999999900158,0.000261412277737,-0.000361827723555,2.0677166223e-05,1793250616900487680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,722,685.978104696,669,643,887,789,819.978104696,655,632,656,0.403702940134,-0.0153477430665,0.0597564866611,0.999999883359,0.00027617050047,-0.000395769967858,1.94630435591e-05,1793250616917154816
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.046188183,745.046188183,722,685,669.046188183,642,886,789,819,655,631.953811817,656,0.400978870167,-0.015365679736,0.0598311513056,0.99999993956,0.000204339496742,-0.000281170682746,8.27695126759e-06,1793250617317154048
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,722,685,669,643,886,789,820,655,632,656.900876831,0.40097501467,-0.0153672019823,0.0598317344616,0.999999939843,0.000205234468684,-0.000279502817684,8.41763252542e-06,1793250617350487552
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,745,722,685,669.27593464,642.72406536,886,789,819.72406536,655,632,656,0.400974327587,-0.015366832102,0.0598329470686,0.999999940753,0.000204227224562,-0.000276966898367,8.6784936489e-06,1793250617383820288
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,722,685,669,642.752208764,886,789,819,655,631.247791236,656,0.40097314262,-0.0153708969627,0.0598339201985,0.999999942824,0.000198712187256,-0.000273471675096,8.88087692588e-06,1793250617483820288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.334618568,745,722.334618568,685,669,643,886,788.665381432,819,655,631.334618568,656,0.400972531299,-0.0153705518352,0.0598344919666,0.999999942619,0.000199815646752,-0.00027340915509,9.0654484329e-06,1793250617500487168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.913167502,745,722.913167502,685,669,643,886,788.086832498,819,655,631.913167502,656,0.400971293168,-0.0153692077018,0.0598355420669,0.999999942052,0.000202425477963,-0.000273560471296,9.24556748537e-06,1793250617517153792
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,745,722,685,669.811171434,643,886.811171434,789,819,655,632,656,0.400970497489,-0.0153691281163,0.0598360861193,0.999999942245,0.000202192055695,-0.00027303363161,8.97467217044e-06,1793250617600487424
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21ea453da327a56c2d808c8e83a4de68336ed0a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+375,6.250000000,pose2_to_pose3_retreat,0.576324848559,-0.00984986659452,1.05003343702,0.546895527148,-0.00117723225524,1.04970483522
+376,6.266666667,pose2_to_pose3_retreat,0.576214573631,-0.00984994105695,1.05003341127,0.546785252627,-0.0011773052214,1.04970481247
+377,6.283333333,pose2_to_pose3_retreat,0.576118317526,-0.00984992073334,1.05003351818,0.546688996003,-0.00117728694369,1.04970491217
+378,6.300000000,pose2_to_pose3_retreat,0.576034920519,-0.00984979485379,1.05003350324,0.546605596533,-0.00117716936388,1.04970489905
+379,6.316666667,pose2_to_pose3_retreat,0.575963868244,-0.0098498587866,1.05003346376,0.54653454605,-0.0011772268711,1.04970486856
+380,6.333333333,pose2_to_pose3_retreat,0.575903109993,-0.00984979701534,1.05003346083,0.546473787986,-0.00117716444378,1.04970486616
+381,6.350000000,pose2_to_pose3_retreat,0.575852154518,-0.00984990839272,1.05003347017,0.546422833867,-0.00117727129068,1.04970487364
+382,6.366666667,pose2_to_pose3_retreat,0.575809240991,-0.0098499479809,1.0500335698,0.546379920293,-0.00117731141904,1.04970496315
+383,6.383333333,pose2_to_pose3_retreat,0.575773536773,-0.00984991883388,1.05003361844,0.546344215676,-0.00117728382274,1.04970500665
+384,6.400000000,pose2_to_pose3_retreat,0.575743847212,-0.0098499118918,1.05003350562,0.546314526924,-0.00117727381309,1.04970490239
+385,6.416666667,pose2_to_pose3_retreat,0.575719991732,-0.00984976682442,1.05003356006,0.546290669747,-0.00117713492477,1.04970494564
+386,6.433333333,pose2_to_pose3_retreat,0.575702268746,-0.00984991264246,1.05003352877,0.54627294756,-0.00117727782632,1.04970491984
+387,6.450000000,pose2_to_pose3_retreat,0.57568914592,-0.00984996529124,1.05003339504,0.54625982511,-0.00117732888377,1.04970479444
+388,6.466666667,pose2_to_pose3_retreat,0.575680366189,-0.00984994136001,1.05003339982,0.546251045203,-0.00117730579161,1.04970479289
+389,6.483333333,pose2_to_pose3_retreat,0.575674567343,-0.00984993456545,1.05003340636,0.546245246515,-0.00117729852902,1.04970479762
+390,6.500000000,pose2_to_pose3_retreat,0.575671006435,-0.00984996560487,1.0500333681,0.546241686229,-0.00117732718266,1.04970476667
+391,6.516666667,pose2_to_pose3_retreat,0.575668694501,-0.00984998372815,1.05003341333,0.546239374629,-0.00117734411504,1.04970481344
+392,6.533333333,pose2_to_pose3_retreat,0.575667290048,-0.00984999413463,1.05003346162,0.546237970358,-0.00117735390448,1.04970486172
+393,6.550000000,pose2_to_pose3_retreat,0.575666651954,-0.00984999752383,1.05003347207,0.546237332214,-0.00117735745901,1.04970487222
+394,6.566666667,pose2_to_pose3_retreat,0.575666225183,-0.00984999537313,1.05003344115,0.546236904975,-0.00117735688934,1.04970484156
+395,6.583333333,pose2_to_pose3_retreat,0.575665837339,-0.0098499934186,1.05003341304,0.546236516705,-0.00117735637163,1.04970481369
+396,6.600000000,pose2_to_pose3_retreat,0.57566556929,-0.00984999206778,1.05003339362,0.546236248362,-0.00117735601383,1.04970479443
+397,6.616666667,pose2_to_pose3_retreat,0.575665407522,-0.00984999125255,1.0500333819,0.546236086416,-0.0011773557979,1.0497047828
+398,6.633333333,pose2_to_pose3_retreat,0.575665315011,-0.00984999078634,1.0500333752,0.546235993803,-0.00117735567441,1.04970477616
+399,6.650000000,pose2_to_pose3_retreat,0.575665276794,-0.00984999059375,1.05003337243,0.546235955545,-0.0011773556234,1.04970477341
+400,6.666666667,pose2_to_pose3_retreat,0.575665244669,-0.00984999043186,1.0500333701,0.546235923384,-0.00117735558052,1.0497047711
+401,6.683333333,pose2_to_pose3_retreat,0.575665044502,-0.00984999315095,1.05003340835,0.546235723199,-0.00117735846545,1.04970480659
+402,6.700000000,pose2_to_pose3_retreat,0.575664783372,-0.00985000425068,1.05003356511,0.546235462455,-0.00117736861513,1.0497049539
+403,6.716666667,pose2_to_pose3_retreat,0.575664625165,-0.00985001097551,1.05003366009,0.546235304481,-0.00117737476436,1.04970504316
+404,6.733333333,pose2_to_pose3_retreat,0.57566455003,-0.00985001073721,1.05003364419,0.546235229538,-0.00117737387024,1.0497050274
+405,6.750000000,pose2_to_pose3_retreat,0.575664479136,-0.0098500072189,1.05003357064,0.546235158903,-0.0011773693661,1.04970495672
+406,6.766666667,pose2_to_pose3_retreat,0.575664446727,-0.00985000561052,1.05003353702,0.546235126612,-0.00117736730704,1.04970492442
+407,6.783333333,pose2_to_pose3_retreat,0.575664440197,-0.00985000528642,1.05003353025,0.546235120105,-0.00117736689213,1.04970491791
+408,6.800000000,pose2_to_pose3_retreat,0.575664427168,-0.00985000463981,1.05003351673,0.546235107124,-0.00117736606434,1.04970490492
+409,6.816666667,pose2_to_pose3_retreat,0.575664367341,-0.00985000167074,1.05003345466,0.546235047515,-0.00117736226333,1.04970484528
+410,6.833333333,pose2_to_pose3_retreat,0.575664357754,-0.00985000119496,1.05003344471,0.546235037963,-0.00117736165424,1.04970483572
+411,6.850000000,pose2_to_pose3_retreat,0.575664324232,-0.00984999917408,1.05003343568,0.546235004624,-0.00117735898402,1.0497048274
+412,6.866666667,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850587,1.04970505684
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f7aefed263cd2678080ab916042aaee1da9116f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799592ccd2d104b994478938658caf074b897f124903d85470dd6021e9f7efb7
+size 25916262
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da4af61b579feab5ee239dd50f6478c21a10d7ff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+35,0.583333333,BASELINE,769,745,722,683,669.677808798,643,886.322191202,788,819.677808798,655.322191202,632,656,0.400938560107,-0.0154418194863,0.0499328100539,0.999999975756,4.51577988544e-05,-0.000212997289501,-3.28783268761e-05,1793250619510894592
+36,0.600000000,BASELINE,769,745,722,683,669.102141548,643,886.897858452,788,819.102141548,655.897858452,632,656,0.400938083979,-0.0154423423731,0.0499321277251,0.999999975505,4.54283274338e-05,-0.000214130467774,-3.27684270456e-05,1793250619527561216
+37,0.616666667,BASELINE,769,745,722,683,669.482069034,643,886.517930966,788,819,655.517930966,632,656,0.400937544161,-0.0154426242898,0.0499317145722,0.999999975411,4.48012015566e-05,-0.000214701430327,-3.27665591534e-05,1793250619544227840
+38,0.633333333,BASELINE,769,745.067267878,722,683,669.932732122,643,886.067267878,788,819,655.067267878,632,656,0.400937053493,-0.0154428071584,0.0499314691562,0.999999975369,4.41698633905e-05,-0.000215027903773,-3.2763208786e-05,1793250619560894464
+39,0.650000000,BASELINE,769,745.645969764,722,683,669.354030236,643,886.645969764,788,819,655.645969764,632,656,0.400937040968,-0.0154426321584,0.0499320575898,0.999999975471,4.49786418227e-05,-0.000214417567308,-3.25714161334e-05,1793250619577561600
+40,0.666666667,BASELINE,769,745.775732566,722.224267434,683,669.224267434,643,887,788,819,655.775732566,632,656,0.40093720204,-0.0154424641443,0.0499322572346,0.999999975491,4.53937662893e-05,-0.000214250962944,-3.24492996456e-05,1793250619594228224
+41,0.683333333,BASELINE,769,745.198071884,722.801928116,683,669.801928116,643,887,788,819,655.198071884,632,656,0.400937636659,-0.0154423071384,0.0499318442391,0.999999975387,4.51885837315e-05,-0.000214783577066,-3.2436976579e-05,1793250619610894848
+42,0.700000000,BASELINE,769,745.377767217,722.622232783,682.622232783,670,643,886.622232783,788,819.377767217,655.377767217,632,656,0.400937747213,-0.0154425026297,0.0499314794855,0.999999975405,4.41365776342e-05,-0.000214891540175,-3.26021117425e-05,1793250619627561728
+43,0.716666667,BASELINE,769,745.952655789,722.047344211,682.047344211,670,643,886.047344211,788,819.952655789,655.952655789,632,656,0.400937688668,-0.0154428820562,0.0499311399048,0.999999975486,4.26426935966e-05,-0.000214777917647,-3.28598457475e-05,1793250619644228096
+44,0.733333333,BASELINE,769,746,722.539882517,682.539882517,670,642.460117483,886.539882517,788,819.460117483,656,632,656,0.40093745599,-0.0154415956166,0.0499311434063,0.999999975313,4.47931183621e-05,-0.000215153282273,-3.28229058792e-05,1793250619660894976
+45,0.750000000,BASELINE,769,746,722.873172894,683,670,642.126827106,887,788,819,656,632,656,0.400937183279,-0.0154406595929,0.0499311355839,0.999999975141,4.67812881971e-05,-0.000215532322179,-3.27772532649e-05,1793250619677561344
+46,0.766666667,BASELINE,769,746,722.291214516,683,670,642.708785484,887,788,819,656,632,656,0.400936822983,-0.0154415175738,0.049930976632,0.999999975079,4.70135155292e-05,-0.000215767069438,-3.27952358683e-05,1793250619694227968
+47,0.783333333,BASELINE,769,745.713280585,722,683,669.713280585,643,886.713280585,788,819,656,631.713280585,656,0.400936868543,-0.0154421575381,0.0499310854562,0.999999975135,4.63397241725e-05,-0.000215673655303,-3.26807845213e-05,1793250619710894848
+48,0.800000000,BASELINE,769,745.139377549,722,683,669.139377549,643,886.139377549,788,819,656,631.139377549,656,0.400937320618,-0.015442579133,0.04993146249,0.999999975306,4.47584472836e-05,-0.000215251548497,-3.24336848115e-05,1793250619727561472
+49,0.816666667,BASELINE,769,745.436077809,722,683,669.436077809,643,886,788,819,656,631.436077809,656,0.400937462926,-0.0154430892571,0.0499320219269,0.999999975555,4.43035295638e-05,-0.000214218149066,-3.22241720825e-05,1793250619744228096
+50,0.833333333,BASELINE,769,746,722.0123395,682.9876605,670,643,886,788,819,656,632,656,0.400937493024,-0.0154435813095,0.0499326014276,0.999999975812,4.42575144837e-05,-0.000213052880339,-3.20421874441e-05,1793250619760894720
+51,0.850000000,BASELINE,769,746,722.603058815,682.396941185,670,643,886,788,819,656,632,656,0.400936920789,-0.015441895298,0.0499313789991,0.9999999753,4.6443266933e-05,-0.000214897167543,-3.25853982178e-05,1793250619777561088
+52,0.866666667,BASELINE,769,746,723,682.189918485,670,643,886.189918485,788,819,655.810081515,632,656,0.400936947557,-0.015441013434,0.0499309280196,0.99999997507,4.79106593149e-05,-0.000215599129475,-3.28835069247e-05,1793250619794227968
+53,0.883333333,BASELINE,769,746,723,682.768871899,670,643,886.768871899,788,819,655.231128101,632,656,0.400938201341,-0.0154417788105,0.0499320573002,0.999999975429,4.79065404646e-05,-0.000213961116686,-3.26795409033e-05,1793250619810895104
+54,0.900000000,BASELINE,769,746,723,683,670,643,887,788.344721694,819,655,632,656,0.400937901964,-0.015443074534,0.0499318031672,0.999999975453,4.61336416988e-05,-0.000214263723511,-3.24926624646e-05,1793250619827561728
+55,0.916666667,BASELINE,769,746,723,683,670,643,887,788.918509127,819,655,632,656,0.400936570522,-0.0154447226702,0.0499306297631,0.999999975248,4.31853980519e-05,-0.000215855861851,-3.23171386419e-05,1793250619844228096
+56,0.933333333,BASELINE,769.504261404,745.495738596,722.495738596,682.495738596,670,643,886.495738596,788.495738596,819,655.504261404,631.495738596,656,0.400935779827,-0.0154429487156,0.0499301829485,0.999999974984,4.43595790961e-05,-0.000216783724868,-3.27053181563e-05,1793250619860894976
+57,0.950000000,BASELINE,769.909508401,745.090491599,722.090491599,682.090491599,670,643,886,788,819,656,631.090491599,656,0.400935291415,-0.0154411232367,0.0499299642608,0.999999974769,4.5950460582e-05,-0.000217382627877,-3.30846991843e-05,1793250619877561600
+58,0.966666667,BASELINE,769.331375892,745.668624108,722.668624108,682.668624108,670,643,886,788,819,656,631.668624108,656,0.400935949583,-0.0154420726748,0.0499303267714,0.999999974894,4.61095750961e-05,-0.000216801377809,-3.29138327599e-05,1793250619894228224
+59,0.983333333,BASELINE,769,746,723,683,670,643,886,788,819.247433967,655.752566033,632,656,0.40093706978,-0.0154419027754,0.0499313514646,0.999999975234,4.68371385585e-05,-0.000215092932028,-3.27641744143e-05,1793250619910894848
+60,1.000000000,BASELINE,769,746,723,683,670,643,886,788,819.82715354,655.17284646,632,656,0.40093881045,-0.0154402296883,0.0499332654202,0.999999975855,4.83280871415e-05,-0.000211870745284,-3.26429969332e-05,1793250619927561472
+61,1.016666667,BASELINE,769,746,723,683,670,643,886,788,819.597257412,655.402742588,632,656,0.400939334511,-0.0154416386634,0.0499334204788,0.999999976019,4.68566983963e-05,-0.000211472770345,-3.23422181232e-05,1793250619944228096
+62,1.033333333,BASELINE,769,746,723,683,670,643,886,788,819.023423114,655.976576886,632,656,0.400939341735,-0.0154443569495,0.0499328283286,0.999999975985,4.41268596909e-05,-0.000212274567464,-3.19651417065e-05,1793250619960894464
+63,1.050000000,BASELINE,769.564165811,746,723,683,670,643,886.564165811,788,819.564165811,656,632,656,0.400939138973,-0.0154432905322,0.0499323967927,0.999999975945,4.45686369227e-05,-0.000212344555687,-3.21483509492e-05,1793250619977561344
+64,1.066666667,BASELINE,770,746,722.84959011,682.84959011,669.84959011,643,886.84959011,788,819.84959011,656,631.84959011,656,0.400938748371,-0.0154427155977,0.0499320020307,0.999999975843,4.4766481542e-05,-0.000212759037688,-3.22965385242e-05,1793250619994227712
+65,1.083333333,BASELINE,770,746,722.268868179,682.268868179,669.268868179,643,886.268868179,788,819.268868179,656,631.268868179,656,0.40093784594,-0.0154440075438,0.0499316929217,0.999999975565,4.38803119546e-05,-0.000214248188805,-3.22763175038e-05,1793250620010894592
+66,1.100000000,BASELINE,770,746,722.307373288,682.307373288,669.307373288,643,886,788,819,656,631.307373288,656,0.400938410261,-0.0154443421848,0.0499319446137,0.999999975696,4.42622865501e-05,-0.00021357836598,-3.21430858616e-05,1793250620027561472
+67,1.116666667,BASELINE,770,746,722.879751842,682.879751842,669.879751842,643,886,788,819,656,631.879751842,656,0.400940239158,-0.0154438514748,0.0499326798064,0.999999976174,4.57376056723e-05,-0.000211047159904,-3.19124208675e-05,1793250620044228096
+68,1.133333333,BASELINE,769.544030953,745.544030953,722.544030953,683,670,643,886.455969047,788,819,656,632,656,0.400940022662,-0.015443526719,0.0499328352293,0.999999976235,4.45258287518e-05,-0.000210972367105,-3.22052590459e-05,1793250620060894976
+69,1.150000000,BASELINE,769,745.034046244,722,683,670,643,886.965953756,788,819,656,632,656,0.400939228395,-0.0154432934437,0.0499327922338,0.999999976171,4.26694242881e-05,-0.000211601227188,-3.25959294234e-05,1793250620077561344
+70,1.166666667,BASELINE,769,745.625869132,722,683,670,643,886.374130868,788,819,656,632,656,0.400937880712,-0.0154438357914,0.0499320247297,0.999999975902,4.19603157772e-05,-0.000213054927088,-3.2308376303e-05,1793250620094227968
+71,1.183333333,BASELINE,769.21263634,746,722.21263634,683,670,643,886.21263634,788,819,656,632,656,0.400937371958,-0.0154436156538,0.0499315935029,0.999999975736,4.24260682857e-05,-0.000213741531049,-3.23015464127e-05,1793250620110894592
+72,1.200000000,BASELINE,769.790714827,746,722.790714827,683,670,643,886.790714827,788,819,656,632,656,0.400938305008,-0.0154420850898,0.0499317402105,0.999999975746,4.49109662949e-05,-0.000213109784928,-3.27771744599e-05,1793250620127561216
+73,1.216666667,BASELINE,769.634882235,746,722.634882235,682.634882235,670,643,886.634882235,788,819.365117765,656,632,656,0.400938114015,-0.0154411824646,0.0499313385497,0.999999975599,4.65425395043e-05,-0.000213435871467,-3.2882453442e-05,1793250620144228096
+74,1.233333333,BASELINE,769.062565156,746,722.062565156,682.062565156,670,643,886.062565156,788,819.937434844,656,632,656,0.400937285143,-0.0154406361861,0.0499306256974,0.999999975362,4.76898624669e-05,-0.000214305514918,-3.27775643904e-05,1793250620160895232
+75,1.250000000,BASELINE,769.526553831,745.473446169,722,682,670,643,886,788,819.473446169,656,631.473446169,656,0.400938423798,-0.0154421822248,0.0499312135169,0.99999997569,4.60821804486e-05,-0.000213147067313,-3.26261710116e-05,1793250620177561856
+76,1.266666667,BASELINE,769.884621533,745,722.115378467,682.115378467,670,643,886,788,819,656,631.115378467,656,0.400939285592,-0.0154433988191,0.0499318782663,0.999999975969,4.46951743489e-05,-0.000212142206706,-3.25564545841e-05,1793250620194228480
+77,1.283333333,BASELINE,769.305273308,745,722.694726692,682.694726692,670,643,886,788,819,656,631.694726692,656,0.400938062959,-0.0154422579427,0.049932210415,0.999999975791,4.55553251116e-05,-0.000212755944746,-3.2838137106e-05,1793250620210895104
+78,1.300000000,BASELINE,769,745,723,683,670,643,886,788,819,656,632,656,0.400937406887,-0.0154423259309,0.0499321979423,0.999999975669,4.50267149378e-05,-0.000213440234229,-3.28204261355e-05,1793250620227561728
+79,1.316666667,BASELINE,769,745,723,683,670,643,886,788,819,656,632,656,0.40093738187,-0.0154437403908,0.0499318016195,0.999999975609,4.29512590691e-05,-0.000214203106086,-3.24692412519e-05,1793250620244228096
+80,1.333333333,BASELINE,769.423006224,745.423006224,723,683,670,643,886,788.423006224,819,656,632.423006224,656,0.400937695985,-0.0154437830017,0.0499314294043,0.999999975693,4.17894062098e-05,-0.000214023823715,-3.25916913169e-05,1793250620260894464
+81,1.350000000,BASELINE,769.994826003,745.994826003,723,683,670,643,886,788.994826003,819,656,632.994826003,656,0.400938129408,-0.0154433429965,0.0499310656701,0.999999975827,4.0948958648e-05,-0.000213513091621,-3.28807660907e-05,1793250620277561088
+82,1.366666667,BASELINE,770,745.413890139,722.413890139,683,670,643,886.586109861,788.413890139,819.586109861,656,632.413890139,656,0.400938015183,-0.015442472951,0.0499309586593,0.999999975649,4.35005301219e-05,-0.000213870791322,-3.26887026928e-05,1793250620294227968
+83,1.383333333,BASELINE,769.826120235,745.173879765,722.173879765,683,670,643.173879765,886.826120235,788,820,655.826120235,632,656,0.400937384858,-0.0154420270567,0.0499308383894,0.99999997547,4.49412408841e-05,-0.000214420988439,-3.26292947164e-05,1793250620310894848
+84,1.400000000,BASELINE,769.246954917,745.753045083,722.753045083,683,670,643.753045083,886.246954917,788,820,655.246954917,632,656,0.400935563242,-0.0154425789426,0.0499306817507,0.999999975305,4.37205245756e-05,-0.000215401383351,-3.2889324906e-05,1793250620327561472
+85,1.416666667,BASELINE,769,745.669341017,723,683,670,643.669341017,886,788.330658983,819.669341017,655.330658983,632,656,0.400935442013,-0.0154433132425,0.0499307098292,0.99999997546,4.1617313428e-05,-0.000215088266073,-3.29527198164e-05,1793250620344227840
+86,1.433333333,BASELINE,769,745.092880429,723,683,670,643.092880429,886,788.907119571,819.092880429,655.907119571,632,656,0.400936584799,-0.0154441831432,0.0499308752207,0.999999975847,3.88580831317e-05,-0.000213813591996,-3.28699421592e-05,1793250620360894464
+87,1.450000000,BASELINE,769,745.478888367,723,683,670,643,886,789,819,656,632,656,0.400937150702,-0.0154429568173,0.0499310422049,0.999999975817,4.02064450543e-05,-0.000213669327256,-3.30926826544e-05,1793250620377561088
+88,1.466666667,BASELINE,769,746,722.947921858,683.052078142,670,643,886,788.947921858,819,656,632,656,0.400937638552,-0.0154415560926,0.049931292278,0.999999975742,4.22318028289e-05,-0.000213596948131,-3.33060903618e-05,1793250620394227712
+89,1.483333333,BASELINE,769,746,722.350411669,683.649588331,670,643,886,788.350411669,819,656,632,656,0.400938469377,-0.0154425455917,0.049932409366,0.999999976061,4.30847490951e-05,-0.000212003523764,-3.28071733283e-05,1793250620410894336
+90,1.500000000,BASELINE,769,746,722,683.762043484,670,643,886.237956516,788,819.237956516,656,632,656,0.400938996259,-0.0154431889625,0.049932784144,0.999999976198,4.36017114069e-05,-0.000211297489303,-3.25002135771e-05,1793250620427560960
+91,1.516666667,BASELINE,769,746,722,683.186639669,670,643,886.813360331,788,819.813360331,656,632,656,0.400939092119,-0.015443341487,0.0499321062486,0.99999997608,4.36422131596e-05,-0.000211849866935,-3.24654694276e-05,1793250620444227584
+92,1.533333333,BASELINE,769,746,722,683,669.611824388,643,886.611824388,788,820,656,632,656,0.400939141184,-0.0154424792146,0.0499318828397,0.999999975974,4.45522011735e-05,-0.000212151719063,-3.2551873909e-05,1793250620460894720
+93,1.550000000,BASELINE,769,746,722,683,669.037291601,643,886.037291601,788,820,656,632,656,0.400939167784,-0.0154411297536,0.0499318776229,0.99999997587,4.58796162466e-05,-0.000212333297773,-3.2696439992e-05,1793250620477561600
+94,1.566666667,BASELINE,769,746,722.551580666,682.448419334,669.551580666,643,886.551580666,788,820,655.448419334,632,656.551580666,0.400938773604,-0.0154404343475,0.0499320033198,0.999999975881,4.57043019701e-05,-0.000212275983375,-3.29826404523e-05,1793250620494227968
+95,1.583333333,BASELINE,769.139066199,746,723,682.139066199,670,643,886.860933801,788,819.860933801,655.139066199,632,656.860933801,0.400938785055,-0.0154403248405,0.0499322637788,0.999999975952,4.50796600877e-05,-0.000212057703194,-3.30979878496e-05,1793250620510894592
+96,1.600000000,BASELINE,769.7190002,746,723,682.7190002,670,643,886.2809998,788,819.2809998,655.7190002,632,656.2809998,0.400940175033,-0.015441928824,0.0499329226534,0.999999976186,4.33612403535e-05,-0.000211381698407,-3.26405296127e-05,1793250620527561216
+97,1.616666667,BASELINE,769.406376212,745.703188106,722.703188106,683,670,643,886,788,819,656,632,656,0.400940390575,-0.0154421330915,0.0499328514351,0.999999976186,4.34400381883e-05,-0.000211392053434,-3.24682286792e-05,1793250620544227840
+98,1.633333333,BASELINE,768.254742852,745.127371426,722.127371426,683,670,643,886,788,819,656,632,656,0.400939502141,-0.0154410216183,0.0499320939257,0.999999975966,4.52082303603e-05,-0.000212047590438,-3.25639771804e-05,1793250620560894464
+99,1.650000000,BASELINE,768.895910579,745.447955289,722.447955289,683,670,643,886,788,819,656,632,656,0.400938482933,-0.0154420145748,0.0499313754652,0.999999975893,4.30015269554e-05,-0.000212831137743,-3.26678236433e-05,1793250620577561088
+100,1.666666667,BASELINE,769.976273452,746,723,683,670,643,886,788,819.023726548,656,632,656,0.400937522827,-0.015443534824,0.0499307208013,0.999999975861,3.98982314024e-05,-0.000213569600212,-3.27608302171e-05,1793250620594227968
+101,1.683333333,BASELINE,769.386578367,746,723,683,670,643,886,788,819.613421633,656,632,656,0.400938858544,-0.0154433751378,0.0499313233656,0.999999976025,4.23383975908e-05,-0.000212365326198,-3.25403991086e-05,1793250620610894848
+102,1.700000000,BASELINE,769,746,722.800343269,683,670,643,886,788,819.800343269,655.800343269,632,656,0.400939209583,-0.0154430697437,0.0499313735252,0.999999976001,4.37733029067e-05,-0.000212207739007,-3.240119534e-05,1793250620627561472
+103,1.716666667,BASELINE,769,746,722.220693396,683,670,643,886,788,819.220693396,655.220693396,632,656,0.400937686548,-0.0154424870339,0.0499303723303,0.99999997563,4.3294962974e-05,-0.000214042240135,-3.24165860948e-05,1793250620644227840
+104,1.733333333,BASELINE,769.356013231,745.643986769,722,683,670,643,886,788,819,655.356013231,632,656,0.400937731636,-0.0154420007154,0.0499306172183,0.999999975591,4.41302172894e-05,-0.00021404767214,-3.24629467672e-05,1793250620660894720
+105,1.750000000,BASELINE,769.930910349,745.069089651,722,683,670,643,886,788,819,655.930910349,632,656,0.400938740835,-0.0154415736601,0.0499316282222,0.999999975754,4.5773094954e-05,-0.000212928556906,-3.25283483514e-05,1793250620677561088
+106,1.766666667,BASELINE,770,745.515958961,722,682.484041039,670,643,886,788,819.515958961,656,632,656,0.400939030912,-0.0154410667929,0.0499312852293,0.999999975686,4.61376219646e-05,-0.00021313240014,-3.27573675785e-05,1793250620694227712
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,722,683,669,643,887,788,820,656,632,656,0.400936355596,-0.0154431457733,0.0499301960857,0.999999975474,4.6789526391e-05,-0.000214143945156,-3.17180128525e-05,1793250620736792832
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,722.577546797,683,669.577546797,643,887,788,820,655.422453203,632,656,0.400936835581,-0.0154429025031,0.0499304050945,0.99999997555,4.40077056752e-05,-0.000214308505916,-3.21675195656e-05,1793250620753459968
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,722.84548416,683,669.84548416,643,886.84548416,788,819.84548416,655.15451584,632,656,0.400937611662,-0.0154430010653,0.0499308350905,0.999999975725,4.19847933667e-05,-0.000213856329401,-3.24554962586e-05,1793250620770127104
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,722.270088709,683,669.270088709,643,886.270088709,788,819.270088709,655.729911291,632,656,0.400939194267,-0.0154440307312,0.0499318670249,0.999999976181,4.20290411633e-05,-0.000211724246553,-3.23034877915e-05,1793250620786793472
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,722,683,669.312258148,643,886.312258148,788.312258148,819,656,632,656,0.400940251281,-0.0154440631921,0.0499323468951,0.99999997635,4.27137027985e-05,-0.000210805377468,-3.22068325672e-05,1793250620803459840
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746,722,683,669.90075451,643,886.90075451,788.90075451,819,656,632,656,0.400940843333,-0.0154432134787,0.0499323383833,0.999999976264,4.39649045724e-05,-0.00021095977435,-3.21591454287e-05,1793250620820126208
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746,722.483955345,682.516044655,670,643,886.516044655,788.516044655,819.483955345,656,632.483955345,656,0.400945547845,-0.0154438821711,0.0499343814258,0.999999977139,4.36012964149e-05,-0.000206890657986,-3.18812316473e-05,1793250620836792832
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,722.934807996,682.130384008,670,643,886.065192004,788.065192004,819.934807996,656,632.934807996,656,0.400952051513,-0.0154447043159,0.0499369405204,0.999999978287,4.31845167795e-05,-0.000201405520224,-3.15791581914e-05,1793250620853459456
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,722.360521219,683.278957562,670,643,886.639478781,788.639478781,819.360521219,656,632.360521219,656,0.400966090526,-0.0154443194836,0.049940279675,0.999999980151,4.49105381868e-05,-0.000191552925946,-3.14531207385e-05,1793250620870126080
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745.781285961,722,683.781285961,670,643,886.781285961,788.781285961,819,655.781285961,632,656,0.400984314774,-0.0154446781254,0.04994473775,0.999999982455,4.5030462973e-05,-0.000179139331497,-3.11551818726e-05,1793250620886792960
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.19370502,722,683.19370502,670,643,886.19370502,788.19370502,819,655.19370502,632,656,0.401009597529,-0.0154462906559,0.0499510829132,0.999999985444,4.24416639519e-05,-0.00016240654479,-3.05673268243e-05,1793250620903460096
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745.387333629,722.387333629,683,670,643,885.612666371,788,819,655,632,655.612666371,0.401043886308,-0.0154478887208,0.0499561993164,0.999999988482,4.18233513739e-05,-0.000142761562508,-3.01077406372e-05,1793250620920126464
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745.965154883,722.965154883,683,670,643,885.034845117,788,819,655,632,655.034845117,0.401082604181,-0.0154494796717,0.0499607114256,0.999999991266,4.21741082481e-05,-0.000121684383868,-2.97112360038e-05,1793250620936793088
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723,683,670,643,885.543333399,788,819,655.543333399,632,655.543333399,0.401135442792,-0.0154522340669,0.0499644759175,0.999999993726,4.15277698063e-05,-9.97551688491e-05,-2.95349999957e-05,1793250620953459712
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745.879413751,722.879413751,683,670,643,886.120586249,788,819,656,632,656,0.401190920649,-0.0154551370901,0.0499674249256,0.999999995321,4.11059406976e-05,-8.25117089825e-05,-2.93263811742e-05,1793250620970126080
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745.305725071,722.305725071,683,670,643,886.694274929,788,819,656,632,656,0.401252910482,-0.0154583180363,0.0499674900337,0.999999995258,4.17681388509e-05,-8.30804080715e-05,-2.89429696186e-05,1793250620986792704
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.275615522,722,682.724384478,670,643,886.724384478,788,819,656,632,656,0.401324933394,-0.015462333924,0.0499685769269,0.999999995578,4.00301755738e-05,-8.01487778766e-05,-2.85842718192e-05,1793250621003459072
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745.865686302,722,682.134313698,670,643,886.134313698,788,819,656,632,656,0.401408403245,-0.0154673024129,0.0499708295952,0.999999996288,3.55538201157e-05,-7.32235520152e-05,-2.82537704594e-05,1793250621020125952
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.552758682,722,682.447241318,670,643,886.447241318,788,819.447241318,656,631.552758682,656,0.401510315004,-0.0154736536998,0.0499726271331,0.999999996635,3.22829870684e-05,-7.02574121552e-05,-2.73993384737e-05,1793250621036792832
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.026156436,745.026156436,722.026156436,683,670,643,886.973843564,788,819.973843564,656,631.026156436,656,0.401618942295,-0.0154804898006,0.0499742347155,0.999999996868,2.93916185678e-05,-6.85902718263e-05,-2.63813669837e-05,1793250621053459712
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.602332525,745.602332525,722.602332525,683,670,643,886.397667475,788,819.397667475,656,631.602332525,656,0.401754498574,-0.0154889513125,0.049974668376,0.999999996889,2.70089515158e-05,-6.97038582783e-05,-2.51713089129e-05,1793250621070126336
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.82334231,746,722.82334231,683,670,643,886,788,819.17665769,656,632,656,0.401895652181,-0.0154975650703,0.0499731652563,0.999999996715,2.36433021337e-05,-7.36735877821e-05,-2.41664881688e-05,1793250621086792960
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.25314056,746,722.25314056,683,670,643,886,788,819.74685944,656,632,656,0.402049275054,-0.0155065179885,0.0499673475308,0.999999996029,1.80878426142e-05,-8.40060072023e-05,-2.36188791029e-05,1793250621103459328
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.330319091,746,722,683,670,643,886.330319091,788,820,656,632,656,0.40222458415,-0.0155166140467,0.0499646145456,0.999999995842,1.12032179691e-05,-8.75966739904e-05,-2.27243804084e-05,1793250621120125952
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.924363868,746,722,683,670,643,886.924363868,788,820,656,632,656,0.402417207473,-0.0155276227853,0.0499643444064,0.999999996081,3.25739161709e-06,-8.58047485475e-05,-2.15529261057e-05,1793250621136792576
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.493421579,746,722.506578421,683,670,643,887,788,819.493421579,656,632,656,0.402652659261,-0.0155389699193,0.049968530217,0.999999996743,-2.30483574677e-06,-7.83522863119e-05,-1.92243206569e-05,1793250621153459712
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,683,670,643,887,788,819,655.913850943,632,656,0.40290116773,-0.0155498652967,0.0499736908624,0.999999997468,-6.2660562904e-06,-6.88960511612e-05,-1.66530661532e-05,1793250621170126848
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,683,670,643,887,788,819,655.33948184,632,656,0.403188258189,-0.0155579207044,0.0499806916865,0.99999999851,-3.12498342893e-06,-5.27644868791e-05,-1.36634612332e-05,1793250621186793728
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,722.764787624,683,669.764787624,643,887,788,819.235212376,655.235212376,632,656,0.403489462283,-0.0155609883332,0.0499874904963,0.999999999227,5.35370081347e-06,-3.73902580477e-05,-1.08973448038e-05,1793250621203460352
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,722.189623559,683,669.189623559,643,887,788,819.810376441,655.810376441,632,656,0.403811064749,-0.0155568471405,0.0499939973349,0.999999999465,2.15468173929e-05,-2.31106046729e-05,-8.45423574955e-06,1793250621220126976
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,722.398208601,683.398208601,669.398208601,643,887,788,819.601791399,656,632,656,0.404156598617,-0.0155502944826,0.0499998652547,0.999999999142,3.98164017946e-05,-9.25893656822e-06,-6.63106171897e-06,1793250621236793344
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,722.992271398,683.992271398,669.992271398,643,887,788,819.007728602,656,632,656,0.404513902852,-0.0155425557742,0.0500054189296,0.99999999823,5.91072718655e-05,4.382231619e-06,-5.11279547434e-06,1793250621253459456
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.569421966,745.430578034,723,683.430578034,670,643,887,788,819,655.430578034,632,656,0.404914304843,-0.0155490836807,0.050005571309,0.9999999994,3.37146524503e-05,7.68119086243e-06,-1.86107656479e-06,1793250621270126080
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745.145178584,722.854821416,683.290357169,670,643,887.145178584,788,819,655.145178584,632,656,0.405316897677,-0.015554496059,0.0499997269408,0.999999999846,1.74818157038e-05,-1.17850238312e-06,7.4416536348e-07,1793250621286792704
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745.717489802,722.282510198,684.434979604,670,643,887.717489802,788,819,655.717489802,632,656,0.405724264793,-0.0155560731502,0.0499764488953,0.99999999852,2.99310100561e-05,-4.54093171631e-05,1.38017010806e-06,1793250621303459328
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.701312573,746,722,685,670,643,887.701312573,788,819.298687427,656,632,656,0.406154428355,-0.0155561360908,0.0499572431256,0.999999995795,4.59856355789e-05,-7.93126800954e-05,2.1640653019e-06,1793250621320125952
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.111452035,746,722,685,670,643,887.111452035,788,819.888547965,656,632,656,0.406606814903,-0.0155547229737,0.0499420071797,0.999999992527,6.55549890844e-05,-0.000103148412328,3.09213042431e-06,1793250621336793088
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,722,685,669.529994085,643,887.470005915,788.470005915,820,656,632,656,0.407117744422,-0.0155550290864,0.0499406528815,0.999999990885,8.66240876302e-05,-0.000103379059692,6.25797080186e-06,1793250621353460224
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,722.048932881,685,669.048932881,643,888,788.951067119,820,656,632,656,0.407648863595,-0.015555589296,0.0499444253304,0.999999989654,0.000108118441882,-9.43529157182e-05,1.0001043273e-05,1793250621370127104
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,722.621720791,685,669.621720791,643,888,788.378279209,820,656,632,656,0.408250118001,-0.0155545819727,0.0499684615292,0.999999990375,0.000130425031766,-4.50989054139e-05,1.43426746024e-05,1793250621386793472
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,685,670,643,888,788.195577515,820,656,632.195577515,656,0.408864558995,-0.0155509343674,0.0499900322978,0.999999988073,0.000153300449179,-4.78057303124e-06,1.81664257681e-05,1793250621403459840
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,685,670,643,888,788.771512826,820,656,632.771512826,656,0.409504645139,-0.0155421519603,0.0500068083131,0.9999999839,0.000177282117622,1.81597116385e-05,2.09830069726e-05,1793250621420125952
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,685.357871554,670,643,888,789,820,656,632.642128446,656,0.410123306315,-0.0155331132297,0.0500048244384,0.999999981849,0.000189232968539,7.23164473613e-06,2.09738794243e-05,1793250621436792576
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,685.951084854,670,643,888,789,820,656,632.048915146,656,0.410727878082,-0.0155239059374,0.0499905037754,0.999999980803,0.000193272170844,-2.5968763382e-05,1.91065229376e-05,1793250621453459456
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,888,789,820.529699836,655.470300164,632,656,0.411359076082,-0.0155276195512,0.0499588366696,0.999999979983,0.000178810355533,-8.85751209476e-05,1.46655608795e-05,1793250621470126592
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.893499073,723,686,669.893499073,643,888,789,820.893499073,655,632,656,0.412018067628,-0.0155330929045,0.0499357972717,0.999999977457,0.00016650135383,-0.000131259562619,1.15562625478e-05,1793250621486793472
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+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.850530785,722.149469215,686.850530785,669.850530785,643,888.850530785,788.149469215,820.850530785,655,632,656,0.414332157903,-0.0155492270274,0.0499876883451,0.999999983485,0.000178946799848,-2.37207160266e-05,2.10976259276e-05,1793250621536792832
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,893,788,826,655,632,656,0.43469677883,-0.0155462606091,0.0499735414746,0.999999975608,0.000215178038717,-3.88706014579e-05,3.11765665683e-05,1793250621920126464
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,893,788,826,655,632,656,0.435543441536,-0.0155429186336,0.0499725756062,0.999999974336,0.000217806981132,-5.39445189812e-05,3.12752243289e-05,1793250621936793344
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+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,723,690.934824831,670,643,893.934824831,788,826.934824831,655,632,656,0.437238615987,-0.0155385168242,0.0499349729541,0.999999967081,0.000219070510282,-0.000130423252069,2.89080634696e-05,1793250621970126080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.516710203,723,691.516710203,670,643,894,788,827,655,632,656,0.438130631467,-0.0155444314102,0.0499579370314,0.999999973824,0.0002128510977,-7.80990625171e-05,3.07803539917e-05,1793250621986792704
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+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,724,692.508030129,668.508030129,639,895.491969871,783,828.491969871,655.491969871,629,656.491969871,0.453420962526,-0.0157220842089,0.0497236449931,0.999999909341,-8.2783930048e-06,-0.000424171452258,3.64500976266e-05,1793250622503459328
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,724,692.916275743,669,639,895.083724257,783,828,655,628.916275743,656,0.45356867393,-0.0157207623221,0.0497154174862,0.999999904946,-7.19684504984e-06,-0.000434455404178,3.61153176122e-05,1793250622520126208
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,724,692.341818741,669,639,895.658181259,783,828,655,628.341818741,656,0.453695390064,-0.0157214904318,0.0497091624146,0.999999902214,-8.10477266516e-06,-0.000440735495661,3.54677855054e-05,1793250622536792832
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,724,692,668.761233823,639.238766177,896,783,828,655,628,656,0.453811541571,-0.0157231281185,0.0497059263131,0.999999900782,-9.46503921997e-06,-0.00044394815616,3.54382606695e-05,1793250622553459200
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,724,692,668.171645107,639.828354893,896,783,828,655,628,656,0.453912170311,-0.0157261022597,0.0497071260276,0.999999901303,-1.14899337595e-05,-0.000442653796322,3.63167827486e-05,1793250622570125824
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,747,723.58945997,692,668,639.58945997,896,782.58945997,828,655,628,656,0.453996397403,-0.0157267228422,0.0497065164473,0.999999900476,-1.23465793083e-05,-0.000444543663016,3.57366608099e-05,1793250622586792704
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,747,723.010315421,692,668,639.010315421,896,782.010315421,828,655,628,656,0.454073888506,-0.0157263768425,0.0497051638085,0.999999899086,-1.27234371009e-05,-0.000447741258449,3.4557488927e-05,1793250622603459584
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723.566970476,692,668,639,896,782.566970476,828,655,628,656.566970476,0.454132251429,-0.0157274690691,0.0497017749619,0.999999897457,-1.55477416488e-05,-0.000451283324676,3.44652086714e-05,1793250622620126208
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.856699698,747,724,692,668,639,896,783,828.143300302,655.143300302,628,656.856699698,0.454184622003,-0.0157282841496,0.04969822491,0.999999895432,-1.77426119489e-05,-0.000455667109833,3.44745778449e-05,1793250622636792576
+222,3.700000000,POSE1_TO_POSE2_PRESS,769.283139385,747,724,692,668,639,896,783,828.716860615,655.716860615,628,656.283139385,0.454220042017,-0.0157281887873,0.0496943017077,0.999999892256,-1.79143408789e-05,-0.000462559404408,3.47299700084e-05,1793250622653459200
+223,3.716666667,POSE1_TO_POSE2_PRESS,769.298263907,747,724,692,668,639,895.701736093,783,828.701736093,655.701736093,628,656.298263907,0.454248778296,-0.0157292584964,0.0496905217316,0.999999888984,-1.9126533771e-05,-0.0004695272912,3.47758125442e-05,1793250622670125824
+224,3.733333333,POSE1_TO_POSE2_PRESS,769.887313605,747,724,692,668,639,895.112686395,783,828.112686395,655.112686395,628,656.887313605,0.454270998418,-0.015731464066,0.0496868813901,0.999999885614,-2.13531039838e-05,-0.000476568875762,3.46173593406e-05,1793250622686792704
+225,3.750000000,POSE1_TO_POSE2_PRESS,769.530841866,747,724,692,668,639,895,782.530841866,828,655,628,656.530841866,0.454289175018,-0.0157295341191,0.0496846518425,0.999999884551,-2.07957373362e-05,-0.000478880628938,3.37436567597e-05,1793250622703459328
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.048595802,747,724,692.048595802,668,639,895.048595802,782.048595802,828,655.048595802,628,656.048595802,0.454305796425,-0.015726719185,0.0496828179539,0.999999884029,-1.95690607513e-05,-0.000480090481361,3.2742661653e-05,1793250622720125952
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.620470048,747,724,692.620470048,668,639,895.620470048,782.620470048,828,655.620470048,628,656.620470048,0.454315971327,-0.0157249088178,0.0496816509026,0.999999883403,-1.82265828339e-05,-0.000481483037326,3.21928838709e-05,1793250622736792576
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.806220957,747,724,692.806220957,668,639,896,782.806220957,828,655.806220957,628,656.806220957,0.45432357886,-0.0157241784887,0.0496802451901,0.999999882249,-1.80024378056e-05,-0.000483887419407,3.21107339356e-05,1793250622753459200
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.230080979,747,724,692.230080979,668,639,896,782.230080979,828,655.230080979,628,656.230080979,0.454326120511,-0.0157255792692,0.0496783685561,0.999999880045,-1.99849649618e-05,-0.000488288316466,3.29512979535e-05,1793250622770126080
+230,3.833333333,POSE1_TO_POSE2_PRESS,769.356355164,747,724,692,668,639,895.643644836,782,828,655.356355164,628,656.356355164,0.45432860239,-0.0157256809507,0.049677229134,0.999999878895,-2.17021324067e-05,-0.000490557567361,3.30567569211e-05,1793250622786792960
+231,3.850000000,POSE1_TO_POSE2_PRESS,769.949636798,747,724,692,668,639,895.050363202,782,828,655.949636798,628,656.949636798,0.454331044528,-0.0157249189126,0.0496765798551,0.999999878454,-2.32428725842e-05,-0.000491409570765,3.26734735495e-05,1793250622803460096
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,724,692.529827207,668,639,895.529827207,782,828,655.470172793,628,656.470172793,0.454331052902,-0.0157223119691,0.0496752690125,0.999999877492,-2.10942485674e-05,-0.00049349135009,3.21969089236e-05,1793250622820126464
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,724,692.892003238,668.107996762,638.892003238,896,782,828,655,628,656,0.454331232029,-0.0157199407492,0.0496742122372,0.999999876766,-1.88730280053e-05,-0.000495075749587,3.18014036096e-05,1793250622836792832
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,724,692.317318821,668.682681179,638.317318821,896,782,828,655,628,656,0.454333124638,-0.0157193277168,0.0496745185613,0.999999877309,-1.78170198573e-05,-0.000494017845495,3.17935738356e-05,1793250622853459456
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,724,692,668.737088263,638,896,782,828.262911737,655,628,656,0.454334188664,-0.0157193905027,0.0496746910047,0.999999877602,-1.82262640771e-05,-0.000493419521155,3.16387989788e-05,1793250622870125824
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,724,692,668.150019511,638,896,782,828.849980489,655,628,656,0.454334231089,-0.0157202865389,0.0496746983799,0.999999877585,-2.04420909941e-05,-0.000493387835503,3.13028481878e-05,1793250622886792448
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,724,692,668.431729892,638.431729892,896,782.431729892,829,655.431729892,628,656.431729892,0.454333729365,-0.0157211824854,0.0496736783839,0.999999876645,-2.21364295416e-05,-0.000495205556412,3.14827161907e-05,1793250622903459328
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.988490501,747,724,692,668.988490501,639,896,783,828.988490501,656,628,657,0.454333051453,-0.0157220295397,0.0496723365175,0.999999875407,-2.35809079309e-05,-0.000497611135609,3.18229220544e-05,1793250622920125952
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.415726449,747,724,692,668.415726449,639,896,783,828.415726449,656,628,657,0.454332890167,-0.0157204938954,0.0496724956305,0.99999987541,-2.15701133811e-05,-0.000497726719027,3.13478005909e-05,1793250622936792832
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747,724,692.158511546,668,639,896,783,828.158511546,656,628,656.841488454,0.454333081264,-0.015719035462,0.0496725721256,0.999999875514,-1.99342154503e-05,-0.000497612330293,3.09335460126e-05,1793250622953459456
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747,724,692.73665148,668,639,896,783,828.73665148,656,628,656.26334852,0.454334205225,-0.0157177814296,0.0496724299057,0.999999875894,-1.92907832873e-05,-0.000496889135157,3.06804246654e-05,1793250622970126080
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.322314144,747,724,692.677685856,668.322314144,639,895.677685856,782.677685856,828.677685856,655.677685856,628,656.322314144,0.454335056581,-0.0157182154391,0.0496724686596,0.999999876011,-2.00044725209e-05,-0.00049661480105,3.0852695149e-05,1793250622986792704
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.914270151,747,724,692.085729849,668.914270151,639,895.085729849,782.085729849,828.085729849,655.085729849,628,656.914270151,0.454335679883,-0.0157200616324,0.0496726588127,0.999999875905,-2.18535036565e-05,-0.000496715975552,3.13808403359e-05,1793250623003459328
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,724,692,668.504422772,639,895.495577228,782.495577228,828,655,628,656.504422772,0.454334088985,-0.0157186990834,0.0496713819841,0.9999998747,-1.99118236219e-05,-0.000499251490525,3.08325141653e-05,1793250623020125952
+245,4.083333333,HOLD_POSE2,770,747,724,693,669,638,896,782,829,655,627,656,0.45433520156,-0.0157183080824,0.0496720256601,0.999999875803,-1.94231179579e-05,-0.000497029976837,3.12838491794e-05,1793250623063931392
+246,4.100000000,HOLD_POSE2,770,747,724,692.406484656,668.406484656,638.593515344,896,782.593515344,828.406484656,655.593515344,627.593515344,656.593515344,0.454334218694,-0.0157193143353,0.0496706717635,0.999999874546,-2.08356715459e-05,-0.000499501596025,3.11780421242e-05,1793250623080598528
+247,4.116666667,HOLD_POSE2,770,747,724,692.182335828,668.182335828,639,896,782.817664172,828,656,628,656.817664172,0.454333671909,-0.0157197270527,0.0496696875712,0.999999873677,-2.15877771436e-05,-0.000501219178467,3.09867661228e-05,1793250623097265664
+248,4.133333333,HOLD_POSE2,770,747,724,692.760952811,668.760952811,639,896,782.239047189,828,656,628,656.239047189,0.454334072882,-0.0157188498048,0.0496695068785,0.999999873663,-2.09044926404e-05,-0.000501297969084,3.06097354258e-05,1793250623113932800
+249,4.150000000,HOLD_POSE2,770,747,724,693,669,639,896,782,828,656,628,656.337366815,0.454333368484,-0.0157186111719,0.0496692185836,0.999999873327,-2.12366544775e-05,-0.000501950637663,3.06653736945e-05,1793250623130599424
+250,4.166666667,HOLD_POSE2,770,747,724,693,669,639,896,782,828,656,628,656.91222995,0.454331885936,-0.0157188221052,0.04966885454,0.999999872762,-2.22836607313e-05,-0.000503007299454,3.10255982199e-05,1793250623147265280
+251,4.183333333,HOLD_POSE2,769.511109077,747.488890923,724,693,669,639,896,782,828.488890923,655.511109077,628,656.511109077,0.454332312306,-0.0157185782836,0.0496692496712,0.999999872644,-2.25630491485e-05,-0.000503246546948,3.07571799853e-05,1793250623163932416
+252,4.200000000,HOLD_POSE2,769.067213015,747.932786985,724,692.932786985,669,639,896,782.067213015,828.932786985,655.067213015,628,656.067213015,0.454333095348,-0.015718160816,0.0496697886718,0.999999872701,-2.24488361347e-05,-0.000503156007806,3.04562074755e-05,1793250623180599808
+253,4.216666667,HOLD_POSE2,769.655909741,747.344090259,724,692.344090259,669,639,896,782.655909741,828.344090259,655.655909741,628,656.655909741,0.454333976936,-0.0157170318537,0.0496703825464,0.999999873493,-2.03539646312e-05,-0.000501649545999,3.07815291034e-05,1793250623197265408
+254,4.233333333,HOLD_POSE2,770,747,724,692,669,638.759273388,896,783,828,656,627.759273388,657,0.454333879838,-0.0157167118837,0.049670076796,0.99999987341,-1.9769939563e-05,-0.000501829662822,3.09061316852e-05,1793250623213931776
+255,4.250000000,HOLD_POSE2,770,747,724,692,669,638.179914393,896,783,828,656,627.179914393,657,0.454332406015,-0.0157175299309,0.0496685055348,0.999999872099,-2.13112365182e-05,-0.000504382305748,3.07483808755e-05,1793250623230598912
+256,4.266666667,HOLD_POSE2,770,747,724,692,669.39766539,638,896,783,828,656,627.39766539,656.60233461,0.454332853173,-0.01571774876,0.049668462996,0.999999872205,-2.24044757491e-05,-0.000504128949255,3.06807648882e-05,1793250623247265536
+257,4.283333333,HOLD_POSE2,770,747,724,692,669.974443847,638,896,783,828,656,627.974443847,656.025556153,0.454334165564,-0.0157176976944,0.0496691090113,0.99999987295,-2.32959047602e-05,-0.000502611738564,3.06537466483e-05,1793250623263931904
+258,4.300000000,HOLD_POSE2,770,747,724,692,668.904468326,638.547765837,896,782.452234163,828.547765837,656,628,656,0.454333909172,-0.0157182264024,0.0496692921131,0.999999872928,-2.38697920885e-05,-0.000502625903787,3.06875702434e-05,1793250623280598528
+259,4.316666667,HOLD_POSE2,770,747,724,692,668.12447878,638.87552122,896.12447878,782,829,655.87552122,628,656.12447878,0.454333820048,-0.015718274476,0.0496694475853,0.999999872917,-2.39281226643e-05,-0.000502651225352,3.05808664479e-05,1793250623297264896
+260,4.333333333,HOLD_POSE2,770,747,724,692,668.714472371,638.285527629,896.714472371,782,829,655.285527629,628,656.714472371,0.454334628454,-0.0157164245923,0.0496695799927,0.999999873078,-2.21134759123e-05,-0.000502452753682,2.99380817208e-05,1793250623313931520
+261,4.350000000,HOLD_POSE2,769.70289618,747,724,692,668.70289618,638.29710382,896.405792359,782,829,655.29710382,628,656.70289618,0.45433590475,-0.0157157786232,0.0496698209574,0.999999873449,-2.09905714829e-05,-0.000501761418544,2.99590911759e-05,1793250623330597888
+262,4.366666667,HOLD_POSE2,769.127168969,747,724,692,668.127168969,638.872831031,895.254337938,782,829,655.872831031,628,656.127168969,0.454337619832,-0.0157162616829,0.049670163727,0.999999874017,-2.05163817807e-05,-0.000500607877007,3.06026055756e-05,1793250623347264512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,670,639,896,782,829,656,628,656,0.454333689329,-0.0157162655443,0.0496683238188,0.999999872194,-2.12936282414e-05,-0.000504224812667,3.02568592693e-05,1793250623379831808
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769.57298739,747,724,692.57298739,669.42701261,638.42701261,896,782,828.42701261,656,628,656.57298739,0.454332935284,-0.0157164312115,0.0496671801476,0.999999871438,-2.22161995334e-05,-0.000505705481991,2.98634487615e-05,1793250623396497920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,724,692.847470978,669,638,896,782.152529022,828,656,628,656.847470978,0.45433277212,-0.0157165912134,0.0496666951835,0.99999987111,-2.28270997825e-05,-0.000506337811571,2.96781932086e-05,1793250623413164288
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,692.248756413,669,638,896,782.751243587,828,656,628,656.248756413,0.454334337428,-0.0157167346429,0.0496681371016,0.999999872039,-2.25262844903e-05,-0.000504488535558,3.01018428719e-05,1793250623429830912
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.484089609,747,724,692,668,638.484089609,895.484089609,782,828.515910391,655,627,656,0.454334385822,-0.0157155415995,0.049668424874,0.999999872271,-1.99100330499e-05,-0.000504161762962,2.9706373725e-05,1793250623479831040
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.346975401,747,724,692,668,639,895.346975401,782,828,655.653024599,627.653024599,656,0.454332197273,-0.015714840955,0.0496681712608,0.999999872094,-2.05265878898e-05,-0.000504492684237,2.96217947553e-05,1793250623513164288
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1881ac201a5477624c04ed0b6765d8dfa985ed7a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a20fc4717742881011db2185dd3d6723e5c9fed6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47dac2068a5851c586a9991e71f6f44a86137fd6e7098dc20fcb02890db3ea78
+size 25847001
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89d05971401b44b084b4022459aabfcb5eb39a75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/franka_data.csv
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+3,0.050000000,BASELINE,769.737664634,746,722.262335366,683.737664634,670,643,886,788,819,656,632.737664634,656.737664634,0.40097166096,-0.0154455411214,0.0498432994782,0.999999952106,-0.000131562351119,-0.000277041438541,-4.15699859698e-05,1793250625957118208
+4,0.066666667,BASELINE,769.687865403,746,722,683.687865403,670,643,886,788,819,656,632.687865403,656.687865403,0.400971801519,-0.0154456889313,0.0498430620506,0.999999952082,-0.000131704488912,-0.000277046744627,-4.16539904953e-05,1793250625973784832
+5,0.083333333,BASELINE,769.11320044,746,722,683.11320044,670,643,886,788,819,656,632.11320044,656.11320044,0.400970686012,-0.0154452799284,0.049842259477,0.999999951666,-0.000132062812591,-0.000278310223416,-4.20809330458e-05,1793250625990451200
+6,0.100000000,BASELINE,769,745.523845115,722,683,670,642.523845115,886,788,819,656,632,656,0.400969015106,-0.0154443227304,0.049841239615,0.999999951377,-0.000131006251631,-0.000279826850774,-4.21983280463e-05,1793250626007117824
+7,0.116666667,BASELINE,769,745.067090828,722,683,670,642.067090828,886,788,819,655.932909172,632,656,0.400967688571,-0.0154431812688,0.049840522954,0.999999951252,-0.000129638709322,-0.00028089997804,-4.22576476448e-05,1793250626023784704
+8,0.133333333,BASELINE,769,745.64269335,722,683,670,642.64269335,886,788,819,655.35730665,632,656,0.400970004815,-0.0154416624443,0.0498425083914,0.999999952156,-0.000128544782433,-0.000278140940776,-4.24523268033e-05,1793250626040451584
+9,0.150000000,BASELINE,769,746,722,683,670,643,886,788,819,655.218386896,632,656,0.400971703709,-0.0154416267846,0.0498437797103,0.999999952755,-0.000128473194197,-0.000276020349035,-4.24037164378e-05,1793250626057118208
+10,0.166666667,BASELINE,769,746,722,683,670,643,886,788,819,655.794229374,632,656,0.400972392123,-0.0154440187688,0.0498438821598,0.999999952863,-0.000130074969554,-0.000274944764938,-4.19568898616e-05,1793250626073784832
+11,0.183333333,BASELINE,769,745.621385024,722,683,670,643,886,788,819.378614976,656,632,656,0.400972332261,-0.0154449112954,0.0498437631993,0.999999952942,-0.000128917420065,-0.000275250520338,-4.16235412247e-05,1793250626090451200
+12,0.200000000,BASELINE,769,745.032249144,722,683,670,643,886,788,819.967750856,656,632,656,0.400971856336,-0.0154449700804,0.0498435211283,0.999999953001,-0.000126225606111,-0.000276324340447,-4.13532895704e-05,1793250626107117568
+13,0.216666667,BASELINE,769,745.547530817,722,683,670,643,886,788,819.452469183,656,632,656,0.400971150421,-0.0154437208783,0.0498429678881,0.999999952786,-0.000127042983095,-0.00027669060091,-4.1592361856e-05,1793250626123784448
+14,0.233333333,BASELINE,769.125675178,745.874324822,722,683,670,643,886,788,819,655.874324822,632,656,0.400970939938,-0.0154429133347,0.0498427979362,0.999999952661,-0.000128156861744,-0.000276591422906,-4.18450918768e-05,1793250626140451072
+15,0.250000000,BASELINE,769.699915649,745.300084351,722,683,670,643,886,788,819,655.300084351,632,656,0.400972545308,-0.0154439525302,0.0498440603505,0.999999952911,-0.000129603699215,-0.000274977230038,-4.20412956434e-05,1793250626157117952
+16,0.266666667,BASELINE,769.724555098,745.275444902,722,683,669.724555098,643,886.275444902,787.724555098,819,655.275444902,632,656,0.400972318854,-0.0154447789789,0.0498442650838,0.999999952768,-0.000130168201476,-0.000275219914232,-4.21321500504e-05,1793250626173784832
+17,0.283333333,BASELINE,769.147615211,745.852384789,722,683,669.147615211,643,886.852384789,787.147615211,819,655.852384789,632,656,0.400970087331,-0.0154453725603,0.0498433121061,0.999999952192,-0.000129766921971,-0.000277495088935,-4.2107691716e-05,1793250626190451968
+18,0.300000000,BASELINE,769,746,722,683,669.424248642,643,886.575751358,787.424248642,819,656,632,656,0.400970755764,-0.015443666333,0.0498438284995,0.999999952619,-0.000127897203082,-0.000276836666876,-4.20282342792e-05,1793250626207118592
+19,0.316666667,BASELINE,769,746,722,683,669.994367183,643,886.005632817,787.994367183,819,656,632,656,0.400972421291,-0.0154411693597,0.0498448501086,0.999999953384,-0.00012552258899,-0.000275169582811,-4.19298664378e-05,1793250626223784448
+20,0.333333333,BASELINE,769,745.406639781,722,683,670,643,886,788,819,656,632,656,0.400972294048,-0.0154436245157,0.0498448041724,0.999999953262,-0.000128184193796,-0.000274410634721,-4.17520015643e-05,1793250626240451328
+21,0.350000000,BASELINE,769,745,722,683,670,643,886,788,819,656,632,655.815217112,0.400972121844,-0.0154454247498,0.0498445460771,0.999999953066,-0.000130146428342,-0.000274216689187,-4.16463846767e-05,1793250626257117952
+22,0.366666667,BASELINE,769,745,722,683,670,643,886,788,819,656,632,655.240382731,0.400971892498,-0.0154457382232,0.0498438626292,0.999999952746,-0.000130526306281,-0.000275196258523,-4.16949479588e-05,1793250626273784576
+23,0.383333333,BASELINE,769,745,722.341137768,683,670,643,886.341137768,788,819,656,632,655.341137768,0.400971161147,-0.0154462085753,0.049843344475,0.999999952469,-0.000131029606666,-0.000275983997564,-4.15550028092e-05,1793250626290451456
+24,0.400000000,BASELINE,769,745,722.927463885,683,670,643,886.927463885,788,819,656,632,655.927463885,0.400970068986,-0.015446791682,0.0498429451233,0.999999952223,-0.000131621615373,-0.000276633861168,-4.1279569672e-05,1793250626307118080
+25,0.416666667,BASELINE,769,745.51042643,722.48957357,683,670,643,886.48957357,788,819,656,632,656,0.40096929381,-0.0154454877463,0.049842306115,0.999999951881,-0.000130960255544,-0.000278128131361,-4.16252778283e-05,1793250626323784704
+26,0.433333333,BASELINE,769.091829859,746,722,683,670,643,886,788,819,656,632,656,0.400968722985,-0.0154443002376,0.0498418027595,0.999999951631,-0.000130345928426,-0.000279264047188,-4.19528224756e-05,1793250626340451584
+27,0.450000000,BASELINE,769.667520473,746,722,683,670,643,886,788,819,656,632,656,0.400968993111,-0.0154451299345,0.0498421924484,0.999999951951,-0.000130911781667,-0.000277883618027,-4.17226049643e-05,1793250626357117952
+28,0.466666667,BASELINE,769.757671835,746,722,683,670,643,886,788,819,656,632,655.757671835,0.400969730321,-0.0154451809065,0.049842671366,0.999999952249,-0.000130695911653,-0.000276923972788,-4.16307735655e-05,1793250626373784576
+29,0.483333333,BASELINE,769.184071169,746,722,683,670,643,886,788,819,656,632,655.184071169,0.400971106055,-0.0154441673297,0.0498432722628,0.999999952519,-0.000129411393983,-0.00027653955644,-4.1728121649e-05,1793250626390450944
+30,0.500000000,BASELINE,769,746,722.401345288,683,670,643,886,788,819,656,632,655.401345288,0.400971126245,-0.0154446178151,0.0498434733673,0.999999952619,-0.000129483533171,-0.00027612817202,-4.18188941842e-05,1793250626407117568
+31,0.516666667,BASELINE,769,746,722.99234525,683,670,643,886,788,819,656,632,655.99234525,0.400970505875,-0.0154457601393,0.049843485551,0.99999995264,-0.000130196757072,-0.000275704043918,-4.19065594581e-05,1793250626423783936
+32,0.533333333,BASELINE,769.570274825,746,722.429725175,683,670,642.429725175,886,788,819,656,632,656,0.400968466254,-0.015446386955,0.0498417617202,0.999999951401,-0.000132525783957,-0.000279063005273,-4.1945740606e-05,1793250626440451072
+33,0.550000000,BASELINE,769.852352305,746,722,683,670,642.147647695,886.147647695,788,819,656,632,656,0.400967558292,-0.0154466048258,0.0498408850122,0.999999950761,-0.000133820343594,-0.000280726069281,-4.19897790919e-05,1793250626457117952
+34,0.566666667,BASELINE,769.276097711,746,722,683,670,642.723902289,886.723902289,788,819,656,632,656,0.400969989492,-0.0154456552065,0.0498425335487,0.999999951944,-0.000132050395281,-0.000277322000876,-4.20497648267e-05,1793250626473784832
+35,0.583333333,BASELINE,768.694324875,745.694324875,722,683,670,643,887,788,819,656,632,656,0.400971832427,-0.015445284923,0.0498440228992,0.999999952721,-0.000131625633086,-0.00027471495264,-4.20150553427e-05,1793250626490451456
+36,0.600000000,BASELINE,768.107476044,745.107476044,722,683,670,643,887,788,819,656,632,656,0.400973134248,-0.0154454475386,0.0498453658235,0.999999953131,-0.000132438233285,-0.000272841038956,-4.18932409517e-05,1793250626507117824
+37,0.616666667,BASELINE,768.472110893,745,722,683,670,643,886.527889107,788,819,656,632,656,0.400972969476,-0.0154453926118,0.0498454152441,0.999999953318,-0.000131108880378,-0.00027284589522,-4.1576416601e-05,1793250626523784704
+38,0.633333333,BASELINE,769,745.050145091,722,683,670,643,886.050145091,788,819,656,632,656.050145091,0.400972440646,-0.0154453304467,0.0498451405782,0.999999953393,-0.0001296415903,-0.000273318577769,-4.12905981103e-05,1793250626540451072
+39,0.650000000,BASELINE,769,745.6289745,722,683,670,643,886.6289745,788,819,656,632,656.6289745,0.400971540217,-0.0154457061892,0.0498445065915,0.999999952828,-0.000131783111834,-0.000274282605155,-4.17926368642e-05,1793250626557117696
+40,0.666666667,BASELINE,769,745.793420811,722,683,670,643,886.793420811,788,819.206579189,656,632,656.793420811,0.400971283937,-0.0154461301695,0.0498440999876,0.99999995254,-0.00013303837176,-0.000274697919546,-4.19726248832e-05,1793250626573784064
+41,0.683333333,BASELINE,769,745.218002847,722,683,670,643,886.218002847,788,819.781997153,656,632,656.218002847,0.400972177755,-0.0154466402763,0.0498440993663,0.999999952755,-0.000132711247348,-0.000274133529054,-4.15776043283e-05,1793250626590450944
+42,0.700000000,BASELINE,769,745.364856655,722,683,670,643,886.364856655,787.635143345,819.635143345,656,632,656,0.400972360211,-0.0154459829263,0.0498444472835,0.999999952849,-0.000132088652224,-0.000274075972987,-4.16881603983e-05,1793250626607117824
+43,0.716666667,BASELINE,769,745.952255049,722,683,670,643,886.952255049,787.047744951,819.047744951,656,632,656,0.400972108775,-0.0154446134941,0.0498450077891,0.999999952868,-0.000131285836841,-0.000274327557018,-4.21070893739e-05,1793250626623784448
+44,0.733333333,BASELINE,769.535271527,745.464728473,722,683,670,643,886.464728473,787.535271527,819.535271527,656,632,656,0.400972241696,-0.0154442994396,0.0498451273905,0.99999995321,-0.000129316459951,-0.000274020940065,-4.20654794644e-05,1793250626640450816
+45,0.750000000,BASELINE,769.883774073,745.116225927,722,683,670,643,886,788,819.883774073,656,632,656,0.400972159712,-0.0154443976111,0.0498450471992,0.999999953455,-0.000127743147785,-0.000273888293741,-4.19210879412e-05,1793250626657117184
+46,0.766666667,BASELINE,769.309419795,745.690580205,722,683,670,643,886,788,819.309419795,656,632,656,0.400971096601,-0.0154457526075,0.0498443332436,0.999999953215,-0.00012813782842,-0.000274636053179,-4.15321680476e-05,1793250626673783808
+47,0.783333333,BASELINE,769,745.734123313,722,683,670,643,886,788,819,656,632,656,0.400970956201,-0.0154463970476,0.0498441230251,0.999999953141,-0.000129018626548,-0.000274537455151,-4.12543108485e-05,1793250626690450688
+48,0.800000000,BASELINE,769,745.157726346,722,683,670,643,886,788,819,656,632,656,0.400971893446,-0.0154462116214,0.0498445011266,0.999999953257,-0.000130467166641,-0.000273450387114,-4.11061649296e-05,1793250626707117312
+49,0.816666667,BASELINE,769.428564601,745.428564601,722,683,670,643,886,788,819,656,632,656,0.400971707029,-0.0154458226162,0.0498448526409,0.99999995317,-0.00013126134287,-0.000273362690618,-4.12682982917e-05,1793250626723783936
+50,0.833333333,BASELINE,770,745.981834877,722,683,670,643,886,788,819,656,632,656,0.400971139429,-0.015445393876,0.0498451747371,0.999999953018,-0.000131770258168,-0.000273634161512,-4.15370510207e-05,1793250626740450816
+51,0.850000000,BASELINE,770,745.40508079,722,683,670,643,886,788,819,656,632,656,0.400971867527,-0.0154461016702,0.0498449002154,0.999999953181,-0.000131087847502,-0.000273372810834,-4.14899164662e-05,1793250626757118208
+52,0.866666667,BASELINE,769.829168714,745.170831286,722,683,670,643,886,788,819.170831286,656,632,656,0.400972437422,-0.0154465898089,0.0498448153872,0.999999953281,-0.000130876099877,-0.00027310410966,-4.15065447493e-05,1793250626773785088
+53,0.883333333,BASELINE,769.255243479,745.744756521,722,683,670,643,886,788,819.744756521,656,632,656,0.40097263402,-0.0154465596477,0.0498451781602,0.999999953234,-0.000131774930031,-0.000272818064254,-4.16736279925e-05,1793250626790451456
+54,0.900000000,BASELINE,769,745.672789988,722,683,670,642.672789988,886,788,820,656,632,656,0.400972175198,-0.0154467773761,0.0498451065671,0.999999953168,-0.000131573866823,-0.000273164504708,-4.16406444588e-05,1793250626807118080
+55,0.916666667,BASELINE,769,745.083505943,722,683,670,642.083505943,886,788,820,656,632,656,0.400971191428,-0.0154471936479,0.0498446870748,0.999999953084,-0.000130491860211,-0.000274017525394,-4.14474203837e-05,1793250626823784704
+56,0.933333333,BASELINE,769,745,722,683,669.502505907,642.497494093,886,788,820,656,632,656,0.400970492505,-0.0154461654986,0.0498441403975,0.999999952858,-0.000130413830998,-0.000274858578516,-4.15694385524e-05,1793250626840451328
+57,0.950000000,BASELINE,769.076992656,745,722.076992656,683,669,643,886,788,819.923007344,656,632.076992656,656,0.400969928186,-0.0154450805359,0.0498436497038,0.999999952634,-0.000130499345797,-0.000275602266794,-4.17683614087e-05,1793250626857117696
+58,0.966666667,BASELINE,769.655619523,745,722.655619523,683,669,643,886,788,819.344380477,656,632.655619523,656,0.400969934441,-0.0154451791936,0.0498436605774,0.999999952576,-0.000130570418728,-0.00027572446215,-4.21292360119e-05,1793250626873784576
+59,0.983333333,BASELINE,769.768481337,745,722.768481337,683,669.231518663,643,886,788,819.231518663,656,632.768481337,656,0.400970487308,-0.0154449858936,0.0498439029616,0.999999952745,-0.000130233856855,-0.000275265354886,-4.21653237115e-05,1793250626890451456
+60,1.000000000,BASELINE,769.196592315,745,722.196592315,683,669.803407685,643,886,788,819.803407685,656,632.196592315,656,0.400971843783,-0.0154443633677,0.0498444857043,0.999999953246,-0.000129298005062,-0.000273951637566,-4.17239215139e-05,1793250626907118336
+61,1.016666667,BASELINE,769.377684543,745,722,683,670,643,886,788,819.622315457,656,632,655.622315457,0.400971272403,-0.01544551721,0.0498440650555,0.999999953029,-0.000130061923526,-0.000274405482384,-4.15699534737e-05,1793250626923784960
+62,1.033333333,BASELINE,769.95321219,745,722,683,670,643,886,788,819.04678781,656,632,655.04678781,0.400969691151,-0.0154476015701,0.0498431187984,0.999999952433,-0.000131716235444,-0.00027578523221,-4.15665525586e-05,1793250626940451840
+63,1.050000000,BASELINE,770,745.545460627,722,683,670,643,886,788,819,656,632,655.545460627,0.400969734889,-0.0154468977946,0.0498433670816,0.99999995245,-0.000131653214383,-0.000275740433824,-4.16547169815e-05,1793250626957118208
+64,1.066666667,BASELINE,769.864604805,746,722,683,670,643,886.135395195,788,819,656,632,656,0.400970317826,-0.0154465409467,0.049843830914,0.999999952591,-0.000131694711612,-0.000275216488872,-4.15989069086e-05,1793250626973784576
+65,1.083333333,BASELINE,769.287058383,746,722,683,670,643,886.712941617,788,819,656,632,656,0.400972192012,-0.0154481227354,0.0498446534608,0.999999952958,-0.000132573791388,-0.000273539483259,-4.10464687716e-05,1793250626990451200
+66,1.100000000,BASELINE,769,745.71206354,722,683,669.71206354,642.71206354,886.71206354,787.71206354,819,656,631.71206354,656,0.400972693754,-0.0154477876594,0.0498447304904,0.99999995315,-0.000131638078564,-0.000273295610854,-4.1002182216e-05,1793250627007117824
+67,1.116666667,BASELINE,769,745.139590183,722,683,669.139590183,642.139590183,886.139590183,787.139590183,819,656,631.139590183,656,0.400971839256,-0.0154455583505,0.0498440708049,0.999999953165,-0.0001289089997,-0.000274467951257,-4.14600477079e-05,1793250627023784704
+68,1.133333333,BASELINE,769.446391615,745.446391615,722,683,669.446391615,642.446391615,886,787.446391615,819.446391615,656,631.446391615,656,0.40097218519,-0.0154456053341,0.0498445776408,0.999999953364,-0.000129102762703,-0.000273663420026,-4.13955904553e-05,1793250627040451328
+69,1.150000000,BASELINE,769.963761293,745.963761293,722,683,670,643,886,788,819.963761293,656,632,656,0.400972850767,-0.0154462935971,0.0498454032895,0.999999953611,-0.000130116670234,-0.000272306250141,-4.11930310399e-05,1793250627057118208
+70,1.166666667,BASELINE,769.381311353,745.381311353,722,683,670,643,886,788,819.381311353,656,632,656,0.4009724996,-0.0154455839076,0.0498453645103,0.99999995373,-0.000129286096306,-0.000272227774202,-4.14476124142e-05,1793250627073785088
+71,1.183333333,BASELINE,769.198445709,745,722,683,670,643,886,788.198445709,819,656,632,656,0.400972062501,-0.0154449539657,0.0498453768082,0.999999953798,-0.0001286301079,-0.000272254066156,-4.16653065719e-05,1793250627090451712
+72,1.200000000,BASELINE,769.773097807,745,722,683,670,643,886,788.773097807,819,656,632,656,0.400971462496,-0.0154444752064,0.0498454859365,0.999999953772,-0.000128305092442,-0.000272478973379,-4.18130712865e-05,1793250627107118080
+73,1.216666667,BASELINE,770,745.355436576,722,683,670,643,886,788.644563424,819,656,632,656,0.40097076915,-0.015445308739,0.0498450473409,0.999999953356,-0.00012949366232,-0.000273457204724,-4.17212905755e-05,1793250627123784448
+74,1.233333333,BASELINE,770,745.94279076,722,683,670,643,886,788.05720924,819,656,632,656,0.400970014899,-0.0154469985245,0.0498442513629,0.999999952679,-0.000131669826386,-0.000274926969956,-4.14732096721e-05,1793250627140451072
+75,1.250000000,BASELINE,769.477303579,746,722,683,670,643,886.522696421,788,819,656,632,656,0.400970944059,-0.015447040251,0.0498451309617,0.999999953237,-0.000131021918729,-0.00027320037782,-4.14712942667e-05,1793250627157117696
+76,1.266666667,BASELINE,769,746,722,683,670,643,886.898933504,788,819,656,632,656.101066496,0.400971730644,-0.0154467099479,0.0498459015466,0.999999953766,-0.000130020881976,-0.000271728230366,-4.15434943615e-05,1793250627173784576
+77,1.283333333,BASELINE,769,746,722,683,670,643,886.323994635,788,819,656,632,656.676005365,0.400970996978,-0.0154454691729,0.0498453132021,0.999999953548,-0.000128793020994,-0.000273066367063,-4.18386485574e-05,1793250627190451456
+78,1.300000000,BASELINE,769,746,722,683,670,643,886,788,819,656,632,656.74894953,0.400969868622,-0.0154452448112,0.049844540829,0.999999953185,-0.000128426869767,-0.000274561500574,-4.18723122215e-05,1793250627207118592
+79,1.316666667,BASELINE,769,746,722,683,670,643,886,788,819,656,632,656.173767308,0.400968230681,-0.0154463327424,0.0498435308565,0.999999952634,-0.000129173273785,-0.000276259332876,-4.15683649253e-05,1793250627223785728
+80,1.333333333,BASELINE,769,745.587910157,722,683,670,643,886,788,819,656,632,655.587910157,0.400968760587,-0.0154461292248,0.049843447612,0.999999952929,-0.000128355969234,-0.000275578590158,-4.15044410619e-05,1793250627240452352
+81,1.350000000,BASELINE,769,745,722,683,670,642.997481159,886,788,819,656,632,655.002518841,0.400970225857,-0.0154453755519,0.049843768872,0.999999953584,-0.000126880142722,-0.000273873977289,-4.15431714921e-05,1793250627257118464
+82,1.366666667,BASELINE,769,745,722,683,670,642.418325461,886,788,819,656,632,655.581674539,0.400970988409,-0.015446658483,0.0498448538339,0.999999953348,-0.000129613715333,-0.000273493553103,-4.12960286668e-05,1793250627273784832
+83,1.383333333,BASELINE,769,745.15973998,722,682.84026002,670,642.15973998,886,788,819,656,632.15973998,655.84026002,0.400971754531,-0.0154472568191,0.0498456159928,0.999999953303,-0.000131207638786,-0.000272908069969,-4.12192887553e-05,1793250627290451200
+84,1.400000000,BASELINE,769,745.734969747,722,682.265030253,670,642.734969747,886,788,819,656,632.734969747,655.265030253,0.40097252994,-0.0154460744978,0.0498455385292,0.999999953772,-0.000129837291867,-0.000271789220602,-4.15857732757e-05,1793250627307117824
+85,1.416666667,BASELINE,769,746,722,682.310664568,670,643,886.310664568,788,819,655.689335432,632.689335432,655.310664568,0.400971830173,-0.0154455127156,0.0498447683473,0.999999953607,-0.000129209059272,-0.000272663347865,-4.17824211743e-05,1793250627323784704
+86,1.433333333,BASELINE,769,746,722,682.886756691,670,643,886.886756691,788,819,655.113243309,632.113243309,655.886756691,0.400969870036,-0.0154454811135,0.0498434063164,0.999999952898,-0.000129214879081,-0.000275240247148,-4.18339629657e-05,1793250627340451584
+87,1.450000000,BASELINE,769,745.523430683,722,683,669.523430683,643,886.523430683,788,819,655.476569317,632,656,0.40097070509,-0.0154461854245,0.0498441083589,0.999999953083,-0.000129832719821,-0.000274333864314,-4.14555922131e-05,1793250627357118208
+88,1.466666667,BASELINE,769.067554263,745.067554263,722,683,669,643,886,788,819,656,632,656,0.400971932881,-0.0154468029595,0.0498451235987,0.999999953451,-0.00013029916264,-0.000272823669155,-4.1088142554e-05,1793250627373784832
+89,1.483333333,BASELINE,769.642142416,745.642142416,722,683,669,643,886,788,819,656,632,656,0.400970975415,-0.0154454177905,0.0498446991854,0.999999953565,-0.000128505386141,-0.0002731780695,-4.15921358404e-05,1793250627390451200
+90,1.500000000,BASELINE,769.782697821,746,722,683,669.217302179,643,886,788,819,656,632,656,0.400970668397,-0.0154447846922,0.0498446570296,0.999999953704,-0.000127154908592,-0.000273277346956,-4.1745909462e-05,1793250627407117824
+91,1.516666667,BASELINE,769.206594293,746,722,683,669.793405707,643,886,788,819,656,632,656,0.400971435375,-0.0154453933853,0.0498452460431,0.999999953888,-0.000126536390109,-0.000272955374872,-4.13214132316e-05,1793250627423784448
+92,1.533333333,BASELINE,769.377888012,745.622111988,722,683,670,643,886.377888012,788,819,656,632,656,0.400970857407,-0.015445814792,0.0498448952127,0.999999953385,-0.000128198137172,-0.000274041911217,-4.11945538295e-05,1793250627440451072
+93,1.550000000,BASELINE,769.967054985,745.032945015,722,683,670,643,886.967054985,788,819,656,632,656,0.400969527473,-0.0154461314862,0.0498440189112,0.999999952487,-0.000131134791337,-0.0002759159512,-4.12341045344e-05,1793250627457117696
+94,1.566666667,BASELINE,769.452942857,745,722.547057143,683,670,642.452942857,886.452942857,788,819,655.452942857,632,656,0.400970010461,-0.0154468396963,0.0498446715107,0.999999952791,-0.000130802452079,-0.000274950911377,-4.13710820144e-05,1793250627473784832
+95,1.583333333,BASELINE,769,745.125319224,722.874680776,682.874680776,670,642,886,787.874680776,819,655.125319224,632,656,0.400970609,-0.0154473769247,0.0498452298057,0.999999953144,-0.000130251717883,-0.00027391388387,-4.14338156165e-05,1793250627490451968
+96,1.600000000,BASELINE,769,745.699295191,722.300704809,682.300704809,670,642,886,787.300704809,819,655.699295191,632,656,0.400971236792,-0.0154472189984,0.049845126277,0.999999953426,-0.000129612295151,-0.000273221158745,-4.12100885895e-05,1793250627507118336
+97,1.616666667,BASELINE,769,746,722,682.273878795,670,642.273878795,886,787.273878795,819,656,632,655.726121205,0.400971032335,-0.0154468285434,0.049844734326,0.999999953427,-0.000128943661959,-0.000273556294471,-4.10753268553e-05,1793250627523784960
+98,1.633333333,BASELINE,769,746,722,682.849131002,670,642.849131002,886,787.849131002,819,656,632,655.150868998,0.40096991208,-0.0154461822162,0.049844024998,0.999999953116,-0.000128242885919,-0.000275022477759,-4.10384616284e-05,1793250627540451584
+99,1.650000000,BASELINE,769,745.563246381,722,682.563246381,669.563246381,643,886,788,819,656,632,655.436753619,0.400969936432,-0.0154472085294,0.0498444252689,0.99999995273,-0.000131504932725,-0.000274855969426,-4.12380984421e-05,1793250627557117952
+100,1.666666667,BASELINE,769.028154913,745.028154913,722.028154913,682,669.028154913,643,886.028154913,788,819.028154913,656,632,656,0.400970318018,-0.0154487369056,0.0498451475577,0.999999952337,-0.000135815947149,-0.000274149371274,-4.14948527387e-05,1793250627573784576
+101,1.683333333,BASELINE,769.607439044,745.607439044,722.607439044,682,669.607439044,643,886.607439044,788,819.607439044,656,632,656,0.400969727182,-0.0154484533605,0.0498444517115,0.999999952693,-0.000133083467741,-0.000274232326008,-4.1223879572e-05,1793250627590451200
+102,1.700000000,BASELINE,769.814594502,746,722.814594502,682.185405498,670,643,886.814594502,788,819.814594502,656,632,656,0.400970100104,-0.0154475096151,0.0498445591345,0.999999953164,-0.000130777230531,-0.000273644227801,-4.1094358547e-05,1793250627607117824
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+104,1.733333333,BASELINE,769.340695392,746,722,683,670,643,886,788,819.340695392,656,632,656,0.400972068949,-0.0154452598566,0.0498461448006,0.999999953596,-0.000130336018841,-0.000272241795588,-4.12922964125e-05,1793250627640450816
+105,1.750000000,BASELINE,769.92428084,746,722,683,670,643,886,788,819.92428084,656,632,656,0.400969621585,-0.0154470626129,0.0498445036397,0.999999952579,-0.000133000991372,-0.00027468856087,-4.1224137545e-05,1793250627657117696
+106,1.766666667,BASELINE,770,745.493249645,722.506750355,683,670,643,886.506750355,788,819.493249645,656,632,656,0.4009702524,-0.0154470086023,0.0498445071841,0.999999952925,-0.000131324364459,-0.000274225610931,-4.12840672337e-05,1793250627673784320
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,683,670,643,886,788,819,656,633,656,0.400969938487,-0.0154446794895,0.0498442210918,0.999999953216,-0.000127284011108,-0.000275046834741,-4.14362556086e-05,1793250627716737536
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.426917626,723,683,670,643,886,788,819,656,632.426917626,656,0.400970127037,-0.0154431643852,0.0498441794685,0.999999953652,-0.000124736974982,-0.000274591617677,-4.16677906986e-05,1793250627733404160
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722.849453347,683,670,642.849453347,886,788,819,656,632,656,0.400970370505,-0.0154424492761,0.0498444255191,0.999999953956,-0.000123755994991,-0.00027391183837,-4.17753560664e-05,1793250627750070784
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+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722,683,670,642.324734465,886,788,819,655.675265535,632,655.675265535,0.400970683819,-0.0154450743834,0.0498455951404,0.999999953796,-0.000128169247408,-0.000272503843569,-4.15005565647e-05,1793250627783404032
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,683,670,642.903697011,886,788,819,655.096302989,632,655.096302989,0.40097020618,-0.0154455942153,0.0498448932809,0.999999953711,-0.000126818377109,-0.000273420593185,-4.16636724432e-05,1793250627800070656
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886,788,819,655,632,655.479901987,0.400971056401,-0.0154460970122,0.0498456752364,0.999999953961,-0.000126983719248,-0.000272504489224,-4.11749230996e-05,1793250627816737280
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886,788,819,655.055185425,632,656,0.400972391454,-0.0154465897381,0.0498467451707,0.99999995431,-0.000127414763466,-0.000271099273196,-4.06263190528e-05,1793250627833404160
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886,788,819,655.626992634,632,656,0.40097578503,-0.0154470200033,0.0498477394587,0.999999954986,-0.000127501102989,-0.000268538740523,-4.07349824501e-05,1793250627850070784
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,722,683,670,642.793838528,886,788,819,656,632,656,0.400984449471,-0.0154472616507,0.0498507402932,0.999999956591,-0.000127430980162,-0.000262546648971,-4.05936916188e-05,1793250627866737664
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,722,683,670,642.200857159,886,788,819,656,632,656,0.401003003611,-0.0154471493951,0.0498575060025,0.999999959849,-0.000127067287673,-0.000250115938317,-3.99834127133e-05,1793250627883404288
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.383463416,745,722,683,670,642.383463416,886,788,819,656,632,656,0.40104172646,-0.0154499217253,0.0498711922761,0.999999966429,-0.000128131316361,-0.000221940079665,-3.82955803788e-05,1793250627900070912
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+121,2.016666667,POSE1_TO_POSE2_PRESS,769.88456125,745.11543875,722,683,670,643,886.88456125,788,819,656,632,656,0.401236730828,-0.0154626335549,0.0499242395023,0.999999983564,-0.000132512063034,-0.00011957117483,-3.18633590186e-05,1793250627950070784
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+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,819,656,632,656,0.401492600964,-0.0154754132463,0.0499420167527,0.99999998617,-0.000131385441505,-9.79849685123e-05,-2.82298934616e-05,1793250628000070912
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+126,2.100000000,POSE1_TO_POSE2_PRESS,768.020178085,745.979821915,722,683,670,643,886,788,819,656,632,656,0.401726835017,-0.0154895400835,0.0499472586012,0.999999985736,-0.00013721593315,-9.47702794915e-05,-2.6794058194e-05,1793250628033404416
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.596680288,745.403319712,722,683,670,643,886,788,819,656,632,656,0.401871542775,-0.0154989309556,0.0499450116822,0.999999984811,-0.000140368720737,-0.000100172640454,-2.5303261316e-05,1793250628050071040
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886.176740284,788,819,656,632,655.823259716,0.402024899687,-0.0155086348163,0.0499435073492,0.999999983995,-0.000143393892968,-0.000104294939837,-2.38889967221e-05,1793250628066737408
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886.765085839,788,819,656,632,655.234914161,0.402198399345,-0.0155190675856,0.0499437324037,0.999999983509,-0.000146121865106,-0.000105436140544,-2.26529661333e-05,1793250628083404288
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886.651526961,788,819,655.651526961,632,655.348473039,0.40239346092,-0.015529382565,0.0499454380648,0.999999983374,-0.000147700808444,-0.000104827718587,-2.11629820553e-05,1793250628100070912
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886.071435356,788,819,655.071435356,632,655.928564644,0.402602854009,-0.0155396192543,0.0499481278366,0.999999983471,-0.000148516030412,-0.000103056380116,-1.95042033243e-05,1793250628116737792
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.502844529,745,722,683,669.497155471,643,885.497155471,788,819,655.502844529,632,656,0.402855938943,-0.0155490929778,0.0499528343948,0.999999984887,-0.000146143069131,-9.2559195037e-05,-1.73330040322e-05,1793250628133404160
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.921734556,745,722,683,669,643,885.156530887,788,819,656,632,656,0.403121373546,-0.0155581081463,0.0499585987317,0.999999986615,-0.000142282847868,-7.94170614929e-05,-1.47954244964e-05,1793250628150070784
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.333561874,745,722,683,669,643,886.332876253,788,819,656,632,656,0.403427290582,-0.0155648338822,0.0499694092931,0.999999989655,-0.000131650089845,-5.70267622253e-05,-1.03396925943e-05,1793250628166738176
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.25070409,722,683.25070409,669.25070409,643,887,788,819,655.74929591,632,656,0.403746207165,-0.0155617709587,0.0499775153637,0.999999993009,-0.000110472298155,-4.14851492401e-05,-7.57838084978e-06,1793250628183405568
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.829851885,722,683.829851885,669.829851885,643,887,788,819,655.170148115,632,656,0.404082154245,-0.0155458840575,0.0499820783207,0.999999996517,-7.54796151313e-05,-3.49158997465e-05,-7.03690404742e-06,1793250628200072192
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,722,684,669.593491454,643,886.593491454,788,819.406508546,655.406508546,632,656,0.404449329544,-0.0155344090518,0.0499866486686,0.999999998737,-4.43958487302e-05,-2.21463331321e-05,-7.9884703465e-06,1793250628216738560
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,722,684,669.017871145,643,886.017871145,788,819.982128855,655.982128855,632,656,0.404829496097,-0.0155247694409,0.0499912220912,0.99999999982,-1.49382329643e-05,-6.79737055711e-06,-9.56115804151e-06,1793250628233405184
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,722,684,669,643,886,788,819.441043355,656,632,656,0.405229742698,-0.0155161296027,0.0499809596996,0.999999999531,1.31411717821e-05,-2.60710983948e-05,-9.25164453557e-06,1793250628250071808
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,722,684,669,643,886.138274961,788,819,656,632,656,0.405635984399,-0.0155095786827,0.0499677739462,0.999999997859,3.96531914616e-05,-5.1313897393e-05,-8.75691849322e-06,1793250628266738432
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,722,684,669,643,886.725554735,788,819,656,632,656,0.40605960401,-0.0155097068539,0.0499466390808,0.999999993832,6.12190071916e-05,-9.23370740754e-05,-7.85660607947e-06,1793250628283404800
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.308808813,746,722,684,669.308808813,643,887,788,819,656,632,656,0.406518906248,-0.0155144531136,0.0499322424496,0.999999989778,7.82761507364e-05,-0.000119516409566,-5.68022363918e-06,1793250628300071424
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.88853127,746,722,684,669.88853127,643,887,788,819,656,632,656,0.4070095124,-0.0155232507576,0.0499237571747,0.99999998677,9.13779018584e-05,-0.000134550741923,-2.38436275571e-06,1793250628316738048
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.534426528,746,722,684,670,643,887,788,819,656,632,656,0.407561761698,-0.0155255747595,0.0499360052871,0.999999987721,0.000115427578233,-0.000105969905618,2.32875314071e-06,1793250628333404672
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.041799293,746,722,684,670,643,887,788,819,656,632,656,0.408132521522,-0.0155266158081,0.0499538948918,0.99999998768,0.000141987801868,-6.65108285788e-05,7.51136318857e-06,1793250628350071296
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.615755079,746,722,684,670,643,887,788,819,656,632,656,0.408752122036,-0.0155309429167,0.0499807710824,0.999999985682,0.000167330586473,-2.07425926014e-05,1.43759485834e-05,1793250628366738688
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.804728462,745.804728462,722,684.195271538,670,643,887.195271538,788,819,656,632,656,0.409373216251,-0.0155336390085,0.0499993764547,0.999999981094,0.000193224879943,8.23810565472e-06,2.02233960679e-05,1793250628383405568
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.213949317,745.213949317,722,684.786050683,670,643,887.786050683,788,819,656,632,656,0.409997335803,-0.0155330315999,0.0500012299138,0.999999975455,0.000220236211735,3.21692388028e-06,2.40107079453e-05,1793250628400071936
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,722,685,670,643,888,788.370705806,819.370705806,656,632,656,0.410616534251,-0.0155315343395,0.0499829654812,0.999999969176,0.000243796901748,-3.91506033152e-05,2.60619168628e-05,1793250628416738560
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,722,685,670,643,888,788.951883927,819.951883927,656,632,656,0.411232938666,-0.0155295318558,0.0499532788935,0.999999959138,0.00026539845003,-0.000102721930331,2.71274339318e-05,1793250628433405184
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.526805862,722,685.526805862,669.473194138,643,888,789,820.526805862,656,632,656,0.41192333912,-0.0155322875068,0.0499425843113,0.999999977349,0.000180180466777,-0.000109718394052,2.82693727588e-05,1793250628450071808
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.899160567,722.100839433,686.100839433,669,643,888,789,821,655.899160567,632,656,0.412636718496,-0.0155367580338,0.0499405629795,0.999999990088,9.35106842342e-05,-0.000101657595535,2.72933202208e-05,1793250628466738432
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+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745,723,687,669.255588359,643,888.255588359,788.744411641,821.255588359,655.255588359,632,656,0.414201477477,-0.0155540520687,0.0499806157005,0.999999998886,3.4499063119e-05,-3.00548823981e-05,1.15907683639e-05,1793250628500071424
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745,723,687,669.850717281,643,888.850717281,788.149282719,821.850717281,655.850717281,632,656,0.414957371859,-0.0155559850846,0.0499622328795,0.999999995169,7.39425291128e-05,-6.30177235152e-05,1.49444147827e-05,1793250628516738304
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745.432099115,723,687,669.567900885,643,889,788.432099115,822,655.567900885,632,656,0.415735197306,-0.0155534992325,0.0499426534107,0.999999990022,0.000104136412168,-9.41508695524e-05,1.57271459221e-05,1793250628533405184
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.008842797,643,889,789,822.008842797,655.008842797,632,656,0.416521438381,-0.0155496477979,0.0499234122276,0.999999983678,0.00013101261789,-0.000123418789577,1.57207623102e-05,1793250628550071808
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669.583336154,643,889,789,822.583336154,655.583336154,632,656,0.4173762843,-0.0155530878308,0.0499514402657,0.999999986826,0.000143775252258,-7.25619920621e-05,2.0301161156e-05,1793250628566738432
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,722.838040856,687.161959144,670,643,889.161959144,789,823,655.838040856,632,656,0.418230093585,-0.0155550018338,0.0499725004313,0.999999987353,0.000152617267101,-3.79475657591e-05,2.3707085093e-05,1793250628583404800
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,722.248515829,687.751484171,670,643,889.751484171,789,823,655.248515829,632,656,0.419081166144,-0.0155528871763,0.0499751656816,0.999999987227,0.000151108998022,-4.62123753697e-05,2.40124405045e-05,1793250628600071168
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,722,688,670,643,890,788.66526405,823.33473595,655.33473595,632,656,0.419946076087,-0.0155509021035,0.0499692317081,0.999999987846,0.000145432429668,-5.10559104945e-05,2.34615228152e-05,1793250628616737792
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,722,688,670,643,890,788.086584025,823.913415975,655.913415975,632,656,0.420821070205,-0.0155490114677,0.0499570309154,0.99999998898,0.000136718147868,-5.34061377863e-05,2.22865826528e-05,1793250628633404416
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,688.49058,670,643,890,788.49058,824,655.50942,632,656,0.421755326145,-0.0155548471715,0.0499777507874,0.999999989701,0.000140934628546,-1.07567800527e-05,2.48893871514e-05,1793250628650071552
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,722.066947891,689,670,643,890.066947891,788.933052109,824.066947891,655,631.933052109,656,0.422691506465,-0.0155610323269,0.0499991994005,0.999999988204,0.000148090173245,2.99258397828e-05,2.76835942064e-05,1793250628666738688
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722.639318819,689,670,643,890.639318819,788.360681181,824.639318819,655,631.360681181,656,0.423563495105,-0.0155595925314,0.0499824201151,0.999999986789,0.00016025785459,-4.01376423092e-06,2.69047007611e-05,1793250628683405056
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669.781212373,643,891.218787627,788,825,655.218787627,631.218787627,656,0.424465807574,-0.0155597471407,0.0499749509072,0.999999985891,0.000164683397921,-1.91924307062e-05,2.69976850504e-05,1793250628700071936
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669.18964996,643,891.81035004,788,825,655.81035004,631.81035004,656,0.425419786538,-0.0155626183288,0.0499833443951,0.999999987434,0.000155917732039,-2.40583762744e-06,2.85761921849e-05,1793250628716738560
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669.394118664,643,891.605881336,788,825,655.605881336,631.605881336,655.605881336,0.426354300922,-0.0155632577091,0.0499922448384,0.999999987908,0.000152499286503,2.32238437207e-07,3.04641137004e-05,1793250628733404928
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669.974209608,643,891.025790392,788,825,655.025790392,631.025790392,655.025790392,0.427279630522,-0.0155628439689,0.0500013844976,0.999999987973,0.000151604027664,-3.80592948003e-06,3.24980380998e-05,1793250628750071552
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,689.549610658,670,643,891.549610658,788,825,655,631.549610658,655.549610658,0.428149698613,-0.0155560134471,0.0499616575501,0.99999998295,0.000167693006288,-7.15840965309e-05,2.92322968626e-05,1793250628766738176
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,723,690,669.872318796,643,892,788,825.127681204,655,632,656,0.429035490107,-0.0155501981506,0.0499314363555,0.999999975902,0.000182472948813,-0.000119110848188,2.6682300777e-05,1793250628783404800
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,723,690,669.283826319,643,892,788,825.716173681,655,632,656,0.42998730818,-0.0155491244018,0.0499437279553,0.999999978199,0.000189676446599,-8.28453072197e-05,2.7605417379e-05,1793250628800071680
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+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,723,690,669.879622691,643,892.879622691,788,826,655,631.120377309,656,0.431852513202,-0.0155474938879,0.0499328181699,0.999999977906,0.000180093011998,-0.000104771869996,2.78902567174e-05,1793250628833405440
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,893.455926697,788,826,655,631.455926697,656,0.432776154576,-0.0155482013321,0.0499353673625,0.999999978942,0.000180442283451,-9.37003538501e-05,2.78548012531e-05,1793250628850071808
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.031964177,746,723,690.031964177,670,643.031964177,894,788.031964177,826,655,632,656,0.433697632189,-0.0155493750898,0.0499426417269,0.999999980195,0.000183322106807,-7.22352170152e-05,2.80300727071e-05,1793250628866738432
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+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747,724,692.314372484,669,638.685627516,896.314372484,782.314372484,828,656,627.685627516,656,0.454786403569,-0.0157261991346,0.0496417411974,0.999999851754,-4.40872941518e-05,-0.000541840950423,3.09196425128e-05,1793250629966738176
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747,724,692.910646981,669,638.089353019,896.910646981,782.910646981,828,656,627.089353019,656,0.4547863446,-0.0157232451025,0.0496412084296,0.999999851257,-4.18579563972e-05,-0.000542964911985,3.03708395785e-05,1793250629983405056
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.489192379,747,724,693,669,638,897,782.510807621,828,656,627,656,0.454787073569,-0.0157238401283,0.049641157211,0.999999851426,-4.16991035606e-05,-0.00054265638366,3.0536966445e-05,1793250630000071680
+245,4.083333333,HOLD_POSE2,769,747,724,693,668,638,896,782,828,656,627,656,0.454783768282,-0.0157236475968,0.0496403537841,0.999999849977,-4.16934040681e-05,-0.000545309642671,3.0755244345e-05,1793250630043832064
+246,4.100000000,HOLD_POSE2,769,746.408067308,724,693,668,638,896,782,828,655.408067308,627,656.591932692,0.454784548797,-0.0157230347243,0.0496399222789,0.999999849915,-4.15506330074e-05,-0.000545463096561,3.02184254664e-05,1793250630060498432
+247,4.116666667,HOLD_POSE2,769,746.179387502,724,693,668.179387502,638,896.179387502,782,828,655.179387502,627,656.820612498,0.454785078764,-0.0157225347348,0.0496395415539,0.999999849784,-4.17605089201e-05,-0.000545705624822,2.9905832398e-05,1793250630077164544
+248,4.133333333,HOLD_POSE2,769,746.7569043,724,693,668.7569043,638,896.7569043,782,828,655.7569043,627,656.2430957,0.454785052669,-0.0157222852758,0.0496392735298,0.999999849496,-4.27530429605e-05,-0.000546145843125,3.0090881832e-05,1793250630093831168
+249,4.150000000,HOLD_POSE2,769,747,724,693,669,638,896.667234406,782,828,655.667234406,627,656,0.45478579943,-0.0157225794414,0.0496397127185,0.999999849798,-4.36444528791e-05,-0.00054551089897,3.02912881807e-05,1793250630110498048
+250,4.166666667,HOLD_POSE2,769,747,724,693,669,638,896.092576556,782,828,655.092576556,627,656,0.454787107989,-0.0157232687757,0.0496406659905,0.999999850527,-4.44623541111e-05,-0.000544094403219,3.05028576879e-05,1793250630127165184
+251,4.183333333,HOLD_POSE2,769.493354737,747,724,692.506645263,668.506645263,638,896,781.506645263,828,655.493354737,627,656,0.454788255593,-0.0157226245675,0.0496411123863,0.999999851092,-4.29587138839e-05,-0.000543174866495,3.05110956465e-05,1793250630143832064
+252,4.200000000,HOLD_POSE2,769.919709618,747,724,692,668,638,896,781.080290382,828,656,627,656,0.454789191692,-0.0157218595726,0.0496413426116,0.999999851521,-4.13423962468e-05,-0.000542512443941,3.04745803306e-05,1793250630160498944
+253,4.216666667,HOLD_POSE2,769.339992842,747,724,692,668,638,896,781.660007158,828,656,627,656,0.454789004436,-0.0157219361798,0.0496408336688,0.999999851318,-4.17982942758e-05,-0.000542855715224,3.04025693408e-05,1793250630177165056
+254,4.233333333,HOLD_POSE2,769.238209519,747,724,692,668,638,896,782,828,655.761790481,627,656,0.454788041775,-0.0157220583657,0.0496401580473,0.999999850701,-4.25903784593e-05,-0.000543935423021,3.03015289022e-05,1793250630193831424
+255,4.250000000,HOLD_POSE2,769.814263984,747,724,692,668,638,896,782,828,655.185736016,627,656,0.454785979382,-0.0157222451944,0.0496392460306,0.999999849493,-4.38592646799e-05,-0.000546059595152,3.01593169308e-05,1793250630210498048
+256,4.266666667,HOLD_POSE2,770,747,724,692.386755975,668.386755975,638,896,782,828,655.386755975,627,656,0.454787125033,-0.0157215759723,0.0496399149485,0.999999849975,-4.31347701831e-05,-0.0005452195625,3.03982313972e-05,1793250630227164672
+257,4.283333333,HOLD_POSE2,770,747,724,692.957552787,668.957552787,638,896,782,828,655.957552787,627,656,0.454789797258,-0.0157204993917,0.0496413361662,0.999999851258,-4.14617100926e-05,-0.000542968990153,3.08185078285e-05,1793250630243831296
+258,4.300000000,HOLD_POSE2,769.450777854,747,723.450777854,692.450777854,669,638,896.549222146,782,828,655.450777854,627,656,0.454787366534,-0.0157214466804,0.0496398340455,0.999999849674,-4.22711962199e-05,-0.000545820077874,3.07546305548e-05,1793250630260498176
+259,4.316666667,HOLD_POSE2,769,747,723.139544187,692.139544187,669,638,897,782,828.139544187,655.139544187,627,656.139544187,0.454785365853,-0.0157221145891,0.0496385144436,0.999999848337,-4.27465211806e-05,-0.000548236128701,3.05948299614e-05,1793250630277164800
+260,4.333333333,HOLD_POSE2,769,747,723.720304337,692.720304337,669,638,897,782,828.720304337,655.720304337,627,656.720304337,0.454786021147,-0.0157213850417,0.0496385145209,0.999999848538,-4.15346678246e-05,-0.000547980742886,3.02547199886e-05,1793250630293831680
+261,4.350000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,668,638,897,782,828,655,627,656,0.454786301981,-0.0157220355038,0.0496383847739,0.999999848586,-4.28103224761e-05,-0.000547834420686,2.95337429698e-05,1793250630331130624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.420515026,668.579484974,638.579484974,896.420515026,782,828.579484974,655,627,656,0.454788244728,-0.0157220130954,0.0496396637291,0.999999849431,-4.35183221369e-05,-0.000546213986867,2.99195241452e-05,1793250630347797760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,724,692.16301878,669,638.83698122,896.16301878,782,829,655.16301878,627,656,0.454789304893,-0.0157219903182,0.0496404519633,0.999999849777,-4.45335313628e-05,-0.000545486385842,3.01159421188e-05,1793250630364464896
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.757262887,669,638.242737113,896.757262887,782,829,655.757262887,627,656,0.454788030411,-0.0157219665657,0.0496399421184,0.99999984881,-4.63613866512e-05,-0.000547120549847,2.98114472865e-05,1793250630381131520
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.340658052,747,724,693,669,638,896.659341948,782,828.659341948,655.659341948,627.340658052,656,0.454788878143,-0.0157213297401,0.0496403605114,0.999999849485,-4.59387955892e-05,-0.00054592152607,2.98066462037e-05,1793250630397797888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.916561322,747,724,693,669,638,896.083438678,782,828.083438678,655.083438678,627.916561322,656,0.454791191392,-0.0157202695502,0.0496414199093,0.999999851286,-4.39621335736e-05,-0.000542766012749,3.00088020023e-05,1793250630414464768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.50880787,747,723.50880787,692.50880787,669,638,896,782,828.49119213,655.49119213,628,656,0.454789436367,-0.0157192432784,0.0496401277213,0.999999850163,-4.25203559392e-05,-0.000544957520694,2.98006299888e-05,1793250630431131136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723.065897372,692.065897372,669,638,896,782,828.934102628,655.934102628,628,656,0.454787131016,-0.0157185570275,0.0496385355007,0.999999848673,-4.16002032326e-05,-0.000547765612342,2.95883338999e-05,1793250630447797760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723.642851898,692.642851898,669,638,896,782,828.357148102,655.357148102,628,656,0.454785903387,-0.0157204631897,0.0496377063939,0.999999848252,-4.40225986689e-05,-0.00054832956594,2.98832229401e-05,1793250630464464384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.774027275,669,638,896,782,828,655.225972725,627.774027275,656,0.454782673782,-0.0157215800983,0.0496359828836,0.999999846841,-4.56172996992e-05,-0.00055075895733,3.00213062095e-05,1793250630481131264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.180887316,669,638,896,782,828,655.819112684,627.180887316,656,0.454776191306,-0.0157214146039,0.0496328061197,0.999999843811,-4.58671378976e-05,-0.000556219367704,2.99046067492e-05,1793250630497797888
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.398984201,747,724,692.398984201,669,638,896,782,828,656,627,656.398984201,0.454755788908,-0.0157193614432,0.0496228268789,0.999999834815,-4.4885226196e-05,-0.000572298575462,2.88198104128e-05,1793250630514464256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.973033868,747,724,692.973033868,669,638,896,782,828,656,627,656.973033868,0.454729278755,-0.0157164800161,0.049609862861,0.99999982284,-4.33628498133e-05,-0.00059303707755,2.73102345006e-05,1793250630531130880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.45043756,747,724,693,669,638,896,782,828.54956244,656,627,656.45043756,0.454679264546,-0.0157126901142,0.0495905451011,0.999999803323,-4.24900978773e-05,-0.000625232320486,2.51557688572e-05,1793250630547797504
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723.871002871,693,669,638,896,782,828.871002871,655.871002871,627,656,0.454625003588,-0.0157092513576,0.0495711010049,0.999999784047,-4.16473287384e-05,-0.00065546821815,2.30629977348e-05,1793250630564464128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,723.281632556,693,669,638,896,782,828.281632556,655.281632556,627,656,0.454559721187,-0.0157072256009,0.0495523237246,0.999999769982,-4.07972874087e-05,-0.00067669611423,2.13038491506e-05,1793250630581131008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.302522096,747,723.302522096,693,668.697477904,638,896,782,828,655,627,656,0.454487024708,-0.015703440432,0.0495389924839,0.999999758252,-3.94619632392e-05,-0.000693937162399,1.97489938917e-05,1793250630597797632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.881903492,747,723.881903492,693,668.118096508,638,896,782,828,655,627,656,0.454407543089,-0.0156980451009,0.0495306452992,0.999999748822,-3.76825225849e-05,-0.000707529563782,1.83811019679e-05,1793250630614464256
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.542797701,747,724,693,668,638,896.457202299,782,828,655,627,656,0.454320045053,-0.0156926559469,0.0495314648462,0.999999749568,-3.44530867404e-05,-0.00070665273063,1.78333730376e-05,1793250630631130880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.031542367,747.031542367,724,692.968457633,668,638,896.968457633,782,828,655.031542367,627,656,0.454229397799,-0.0156871406625,0.0495348495893,0.999999753137,-3.07480290112e-05,-0.000701764652395,1.75238495547e-05,1793250630647797504
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.607374664,747.607374664,724,692.392625336,668,638,896.392625336,782,828,655.607374664,627,656,0.454119822885,-0.015679421603,0.0495420023547,0.999999760383,-2.52414733032e-05,-0.000691581043818,1.7701462571e-05,1793250630664463872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.812147919,747.812147919,724,692.187852081,668,638,896,782,828,655.812147919,627,656,0.454002251885,-0.0156721865625,0.0495494754038,0.999999768031,-2.11316139239e-05,-0.000680566050842,1.79167069022e-05,1793250630681130496
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.221715761,747.221715761,724,692.778284239,668,638,896,782,828,655.221715761,627,656,0.453867544734,-0.0156659888096,0.0495576348421,0.999999776676,-2.00149726559e-05,-0.000667769344662,1.82125977386e-05,1793250630697797376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,668.361943051,638,896,782,828,655.361943051,627.361943051,656,0.453702960336,-0.0156559318347,0.0495603788421,0.999999777937,-1.67938142799e-05,-0.00066599268382,1.72650158373e-05,1793250630714464256
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,668.941528984,638,896,782,828,655.941528984,627.941528984,656,0.453520410196,-0.0156435542393,0.0495598664421,0.999999774788,-1.23071717116e-05,-0.000670842573746,1.55697113859e-05,1793250630731130880
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.48416616,669,638,896,782,828,655.48416616,628,656,0.453304410407,-0.0156315505158,0.0495610598002,0.999999773326,-6.15802051511e-06,-0.000673122534123,1.46849774634e-05,1793250630747797504
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,692.091892918,669,638,896,782,828,655.091892918,628,656,0.453081050496,-0.0156197621381,0.0495630712496,0.999999772472,-7.68971572205e-07,-0.000674436362007,1.3799382408e-05,1793250630764464128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.680641003,669,638,896,782,828,655.680641003,628,656,0.452838188117,-0.0156089112903,0.0495684711941,0.999999774073,-4.98311328423e-07,-0.000672085523562,1.24173794766e-05,1793250630781130752
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.734463079,668.734463079,638.265536921,896,782.265536921,828,655.734463079,628,656,0.452578729943,-0.0156002832895,0.0495755378009,0.999999778246,-2.33698807175e-06,-0.000665861860859,1.1429470347e-05,1793250630797797376
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,724,692.154133912,668.154133912,638.845866088,896,782.845866088,828,655.154133912,628,656,0.45229959758,-0.0155942904594,0.0495845802244,0.999999785375,-6.67626972951e-06,-0.000655046990966,1.09087568668e-05,1793250630814464000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,668.420964449,639,895.579035551,783,828,655,628,656,0.451986837178,-0.015588749981,0.049590716063,0.999999788272,-1.11493399256e-05,-0.000650569240737,9.57686800571e-06,1793250630831130624
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,668.994171073,639,895.005828927,783,828,655,628,656,0.451661915172,-0.015583373096,0.0495958007322,0.999999789645,-1.56707947736e-05,-0.000648383315816,7.95161684478e-06,1793250630847796992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,669,639,895.569853381,783.569853381,828,655,628.569853381,656,0.451277711003,-0.0155790646016,0.0495898215055,0.99999978448,-2.45070368366e-05,-0.000656057079528,5.37732108099e-06,1793250630864463872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747,723.850459584,692.149540416,669,639,896,783.850459584,828,655,629,656,0.450891899532,-0.0155737552932,0.0495856446079,0.999999782949,-3.20376478239e-05,-0.000658079756165,2.6414575428e-06,1793250630881130752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747,723.25901347,692.74098653,669,639,896,783.25901347,828,655,629,656,0.450503138152,-0.0155654560529,0.049587129649,0.999999792576,-3.55790046034e-05,-0.000643103618772,-5.4304114239e-07,1793250630897797376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,723.325457602,692.674542398,669,639,895.674542398,783.325457602,828,655.325457602,629,656,0.450098760135,-0.015557944809,0.0496015775937,0.999999811478,-4.03194323963e-05,-0.000612709841556,-2.34975102014e-06,1793250630914464000
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747,723.904494163,692.095505837,669,639,895.095505837,783.904494163,828,655.904494163,629,656,0.449682214438,-0.0155510475284,0.049626125532,0.999999836314,-4.59941117863e-05,-0.000570303471004,-3.08296272706e-06,1793250630931130624
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.174379057,746,722,682.174379057,670,643,886,788,819,656,632,656.651241886,0.400967955465,-0.0154513628994,0.0498386130613,0.999999954177,-9.80987756251e-05,-0.000283771376626,-3.86878146554e-05,1793250632547796736
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.658813036,745,722,683,670,643,886.658813036,787.658813036,819,656,632,656,0.400968415752,-0.0154504196526,0.0498398369108,0.999999954556,-9.73668257656e-05,-0.000282729834757,-3.83650480664e-05,1793250632647796736
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.441018693,746,722,683,670,643,886,787.441018693,819,656.558981307,632,656,0.400968761038,-0.0154501784392,0.0498403032128,0.999999955374,-9.51588449091e-05,-0.00028056996015,-3.84232985044e-05,1793250632731131648
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e399b8e0af1d9baae84036328965bef7872f6122
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575714200421,-0.00985000418777,1.04003333937,0.546284880622,-0.00117736442703,1.03970473674
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+381,6.350000000,pose2_to_pose3_retreat,0.575687076465,-0.0098499892471,1.04003349069,0.546257756975,-0.00117734843314,1.03970488821
+382,6.366666667,pose2_to_pose3_retreat,0.575678983676,-0.00984986501636,1.04003339584,0.546249662479,-0.00117722990355,1.03970479579
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+384,6.400000000,pose2_to_pose3_retreat,0.575670599676,-0.00984992275852,1.04003379884,0.546241277981,-0.00117728991314,1.0397051831
+385,6.416666667,pose2_to_pose3_retreat,0.575668878662,-0.00984982329158,1.04003379217,0.546239556102,-0.00117719330668,1.03970517877
+386,6.433333333,pose2_to_pose3_retreat,0.57566773765,-0.00984975734614,1.04003378774,0.546238414516,-0.00117712925771,1.0397051759
+387,6.450000000,pose2_to_pose3_retreat,0.575666949295,-0.00984974546873,1.04003376618,0.54623762617,-0.00117711731871,1.03970515517
+388,6.466666667,pose2_to_pose3_retreat,0.57566645677,-0.0098497735047,1.04003373324,0.546237134079,-0.00117714387219,1.03970512249
+389,6.483333333,pose2_to_pose3_retreat,0.57566600732,-0.00984979908869,1.04003370318,0.546236685026,-0.00117716810334,1.03970509266
+390,6.500000000,pose2_to_pose3_retreat,0.575665691529,-0.00984981706446,1.04003368206,0.546236369513,-0.00117718512859,1.0397050717
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+393,6.550000000,pose2_to_pose3_retreat,0.575665458012,-0.00984983035697,1.04003366645,0.546236136201,-0.00117719771822,1.03970505621
+394,6.566666667,pose2_to_pose3_retreat,0.575665441294,-0.00984983130857,1.04003366533,0.546236119499,-0.0011771986195,1.0397050551
+395,6.583333333,pose2_to_pose3_retreat,0.575665323037,-0.00984983804011,1.04003365742,0.546236001346,-0.00117720499509,1.03970504725
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43285bfe2bd9eb6312007bfea1beb8049edf2ce4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa05edefe7d71fc5e559f582cac14d86aec693f2a9337e42283e1b1a8a17adb
+size 25979533
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30770fd0c6704618e1ba438ef97ff1092be24584
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+39,0.650000000,BASELINE,769,745.378085186,722,683,670,642.621914814,886.621914814,788,819.621914814,656,632,656,0.400970147992,-0.0154535923234,0.0498432145629,0.999999956844,-9.88497459378e-05,-0.000274100168774,-3.75469104828e-05,1793250633537097984
+40,0.666666667,BASELINE,769.197574999,745.197574999,722.197574999,683,670,643,886.802425001,788.197574999,819.802425001,656,632,656,0.40097073971,-0.0154532715871,0.049843667611,0.999999957154,-9.8145516495e-05,-0.000273245647318,-3.73557945933e-05,1793250633553764608
+41,0.683333333,BASELINE,769.775081577,745.775081577,722.775081577,683,670,643,886.224918423,788.775081577,819.224918423,656,632,656,0.400971052622,-0.0154528274045,0.0498438651448,0.999999957446,-9.67175024743e-05,-0.000272709144955,-3.72078159812e-05,1793250633570431232
+42,0.700000000,BASELINE,769.641114233,746,722.641114233,683,670,643,886,788.641114233,819.358885767,656,632,656,0.400970020543,-0.0154520458794,0.0498436821411,0.999999957453,-9.49873384545e-05,-0.000273260109887,-3.7429513881e-05,1793250633587098112
+43,0.716666667,BASELINE,769.053292774,746,722.053292774,683,670,643,886,788.053292774,819.946707226,656,632,656,0.400968130484,-0.0154510491612,0.0498432563898,0.999999957275,-9.30644309328e-05,-0.000274504777683,-3.78870309681e-05,1793250633603764736
+44,0.733333333,BASELINE,769.52663831,746,722,683.52663831,670,643,886.52663831,788,819.47336169,656,632,656,0.400969554513,-0.0154517961413,0.04984325833,0.999999957179,-9.48050832614e-05,-0.000274284129518,-3.7701661689e-05,1793250633620431104
+45,0.750000000,BASELINE,770,746,722,683.894546858,670,643,886.894546858,788,819.105453142,656,632,656,0.400970528891,-0.015452666719,0.0498431027586,0.999999956966,-9.66420912901e-05,-0.000274450122716,-3.74864363082e-05,1793250633637097984
+46,0.766666667,BASELINE,770,746,722,683.317207008,670,643,886.317207008,788,819.682792992,656,632,656,0.400968012583,-0.015453312436,0.0498420515343,0.999999956204,-9.7275798711e-05,-0.00027700001972,-3.74244297147e-05,1793250633653764608
+47,0.783333333,BASELINE,769.742214238,745.742214238,722,683,670,643,886,788,819.742214238,656,632,656,0.400967755887,-0.0154536313896,0.0498422904363,0.999999956211,-9.78629152355e-05,-0.000276770590298,-3.7405977451e-05,1793250633670431488
+48,0.800000000,BASELINE,769.170083432,745.170083432,722,683,670,643,886,788,819.170083432,656,632,656,0.400970254569,-0.0154535518868,0.0498441025235,0.999999957152,-9.83932187089e-05,-0.000273152038858,-3.74406355121e-05,1793250633687098368
+49,0.816666667,BASELINE,769.417689949,745.417689949,722,683,670,643,886.417689949,788,819,656,632,656,0.400971775956,-0.015453280963,0.0498452021096,0.999999957675,-9.85383645528e-05,-0.000271195727393,-3.73136589837e-05,1793250633703764480
+50,0.833333333,BASELINE,769.98824981,746,722,683,670,643,886.98824981,788,819,656,632,656,0.400972802621,-0.0154529247236,0.049845946581,0.999999957997,-9.85205111468e-05,-0.000270039687757,-3.71317153254e-05,1793250633720431104
+51,0.850000000,BASELINE,769.410124421,746,722,683,670,643,886.410124421,788,819,656,632,656,0.400969911358,-0.0154523594701,0.0498441028378,0.999999957024,-9.84997216855e-05,-0.000273562667156,-3.75962137466e-05,1793250633737097728
+52,0.866666667,BASELINE,769.166939236,746,722.166939236,682.833060764,670,643,886,788,819,656,632,656,0.400968195699,-0.0154523476535,0.0498430227202,0.999999956486,-9.8337738675e-05,-0.000275559174737,-3.77585380086e-05,1793250633753764096
+53,0.883333333,BASELINE,769.741410955,746,722.741410955,682.258589045,670,643,886,788,819,656,632,656,0.400969349929,-0.0154536868886,0.0498438067674,0.999999957032,-9.78310736217e-05,-0.000273829255286,-3.71831939273e-05,1793250633770430720
+54,0.900000000,BASELINE,769.677068981,746,722.677068981,682.322931019,670,642.677068981,886,788,819,656,632,656,0.400969772032,-0.0154537336934,0.0498439605269,0.999999957221,-9.751001357e-05,-0.000273265365866,-3.70930756411e-05,1793250633787097856
+55,0.916666667,BASELINE,769.089779005,746,722.089779005,682.910220995,670,642.089779005,886,788,819,656,632,656,0.4009695948,-0.0154527224839,0.0498435983179,0.999999957119,-9.73408941808e-05,-0.000273656016251,-3.74001746776e-05,1793250633803764992
+56,0.933333333,BASELINE,769,745.507547682,722,682.507547682,670.492452318,642.492452318,886.492452318,788,819,656,632,656,0.400970408373,-0.0154526780496,0.0498441289321,0.999999957296,-9.75654747019e-05,-0.000272910194178,-3.75497555619e-05,1793250633820431616
+57,0.950000000,BASELINE,769.072932902,745.072932902,722,682.072932902,670.927067098,643,886.927067098,788,819.072932902,656,632,656.072932902,0.400971113086,-0.0154530590414,0.0498445995317,0.999999957422,-9.81146873722e-05,-0.000272242059622,-3.76018180409e-05,1793250633837098240
+58,0.966666667,BASELINE,769.647648589,745.647648589,722,682.647648589,670.352351411,643,886.352351411,788,819.647648589,656,632,656.647648589,0.400969838696,-0.0154551666911,0.0498435487422,0.999999956862,-0.000100408590435,-0.000273519408304,-3.71785146659e-05,1793250633853764608
+59,0.983333333,BASELINE,769.777429372,746,722.222570628,683,670,643,886,788,819.777429372,656,632,656.777429372,0.400969031973,-0.0154556295601,0.0498428943876,0.999999956585,-0.000100708361135,-0.000274442817158,-3.7010385292e-05,1793250633870431232
+60,1.000000000,BASELINE,769.202180268,746,722.797819732,683,670,643,886,788,819.202180268,656,632,656.202180268,0.400968966299,-0.0154534861611,0.0498428682115,0.99999995676,-9.78482922249e-05,-0.000274805384197,-3.72465966193e-05,1793250633887097856
+61,1.016666667,BASELINE,769.383743704,745.616256296,722.616256296,683,670,643,886,788,819,656,632,656,0.400969863816,-0.0154534516686,0.049843757545,0.999999957156,-9.72999694664e-05,-0.000273568444653,-3.71536246912e-05,1793250633903764480
+62,1.033333333,BASELINE,769.97545276,745.02454724,722.02454724,683,670,643,886,788,819,656,632,656,0.400971283323,-0.0154545600731,0.049845143028,0.999999957671,-9.80044702985e-05,-0.000271464671459,-3.68822557864e-05,1793250633920431104
+63,1.050000000,BASELINE,770,745.551998231,722,683,670.551998231,643,886,788,819.551998231,656,632,656,0.400970903288,-0.0154547611665,0.0498445344604,0.999999957433,-9.76954629125e-05,-0.000272458233811,-3.68128179967e-05,1793250633937097472
+64,1.066666667,BASELINE,770,746,722,683,670.871661001,643,885.871661001,788,820,656,632,656,0.400970490752,-0.015454781017,0.0498440293954,0.999999957235,-9.75532528568e-05,-0.000273239120571,-3.67884123304e-05,1793250633953764096
+65,1.083333333,BASELINE,770,746,722,683,670.293738299,643,885.293738299,788,820,656,632,656,0.400970237207,-0.0154543035201,0.0498441892419,0.999999957292,-9.81490146816e-05,-0.000272805376067,-3.68911423029e-05,1793250633970430976
+66,1.100000000,BASELINE,769.711459761,746,722.288540239,683,670,643,885.288540239,788,819.711459761,656,632,656,0.400970094012,-0.0154538021089,0.0498442656625,0.999999957387,-9.7558772273e-05,-0.000272632520907,-3.71366841097e-05,1793250633987097856
+67,1.116666667,BASELINE,769.124678988,746,722.875321012,683,670,643,885.875321012,788,819.124678988,656,632,656,0.400970064875,-0.0154532759792,0.0498442558527,0.999999957522,-9.57426538869e-05,-0.000272729325829,-3.75298388668e-05,1793250634003764480
+68,1.133333333,BASELINE,769,746,722.544190504,683,670,643,886,788,819.455809496,656,632,656,0.400969646844,-0.015452771614,0.0498441167923,0.999999957398,-9.61978940216e-05,-0.000273010287573,-3.76225811123e-05,1793250634020431104
+69,1.150000000,BASELINE,769.034467085,746,722,683,670,643,886,788,819.965532915,656,632,656,0.400969077082,-0.0154522860117,0.0498439061396,0.999999957197,-9.71358914422e-05,-0.000273411406421,-3.76359036405e-05,1793250634037097472
+70,1.166666667,BASELINE,769.611029312,746,722,683,670,643,886,788,819.388970688,656,632,656,0.4009677712,-0.0154520031551,0.0498431179675,0.999999956889,-9.60280871238e-05,-0.000274920871012,-3.76749276203e-05,1793250634053764096
+71,1.183333333,BASELINE,769.813307857,745.813307857,722,683,670,643,886,788,819,656,632,656,0.40096726318,-0.0154519055276,0.0498429056559,0.999999956799,-9.58066177798e-05,-0.000275324676948,-3.76845587201e-05,1793250634070430720
+72,1.200000000,BASELINE,769.239509816,745.239509816,722,683,670,643,886,788,819,656,632,656,0.400968409525,-0.0154521919724,0.0498438873904,0.999999957163,-9.74229625596e-05,-0.000273435901492,-3.76332437317e-05,1793250634087097344
+73,1.216666667,BASELINE,769,745.343731551,722,683,670,643,886,788.343731551,819.343731551,656,632,656,0.40096937743,-0.0154520621439,0.0498439879034,0.999999957293,-9.77507113904e-05,-0.000272838904364,-3.76533964585e-05,1793250634103764480
+74,1.233333333,BASELINE,769,745.933738808,722,683,670,643,886,788.933738808,819.933738808,656,632,656,0.400970217488,-0.0154516340652,0.0498434570415,0.999999957259,-9.71552109313e-05,-0.000273167436644,-3.77247541536e-05,1793250634120431360
+75,1.250000000,BASELINE,769.514503922,745.485496078,722.514503922,683,670,643,886,788.485496078,820,656,632,656,0.400970075443,-0.0154522012974,0.0498435401652,0.999999957301,-9.69095531319e-05,-0.000273105163934,-3.76907535312e-05,1793250634137098496
+76,1.266666667,BASELINE,769.906518979,745.093481021,722.906518979,682.906518979,670,643,886,787.906518979,819.906518979,656,632,656,0.400969898834,-0.0154528409,0.049843696439,0.999999957327,-9.68497442843e-05,-0.000273036010629,-3.76387345382e-05,1793250634153765376
+77,1.283333333,BASELINE,769.330734287,745.669265713,722.330734287,682.330734287,670,643,886,787.330734287,819.330734287,656,632,656,0.400970184952,-0.0154532042164,0.0498438293529,0.999999957224,-9.75204460745e-05,-0.00027318644908,-3.75625228652e-05,1793250634170431744
+78,1.300000000,BASELINE,769,746,722,682.244340606,669.755659394,643,886,787.244340606,819,655.755659394,632,656,0.40097031978,-0.0154534838441,0.0498441040885,0.999999957257,-9.74805833723e-05,-0.000273101910513,-3.74137275291e-05,1793250634187098112
+79,1.316666667,BASELINE,769,746,722,682.818457466,669.181542534,643,886,787.818457466,819,655.181542534,632,656,0.400970250418,-0.0154536505208,0.0498445702349,0.999999957472,-9.64817015608e-05,-0.000272700233321,-3.71669690772e-05,1793250634203764736
+80,1.333333333,BASELINE,769,746,722.404084353,683,669.404084353,643,886.404084353,788,819,655.404084353,632,656,0.40097016087,-0.0154526638497,0.0498445171998,0.999999957551,-9.53041569985e-05,-0.000272815300344,-3.72427923335e-05,1793250634220431616
+81,1.350000000,BASELINE,769,746,722.995034002,683,669.995034002,643,886.995034002,788,819,655.995034002,632,656,0.400970061988,-0.0154511438229,0.0498442240739,0.999999957565,-9.40439913128e-05,-0.000273169331202,-3.74677906741e-05,1793250634237098496
+82,1.366666667,BASELINE,769,746,722.425740544,682.425740544,670.574259456,643,886.425740544,788,819.574259456,656,632,656,0.400968108391,-0.0154526766404,0.0498430571344,0.999999956796,-9.73608618833e-05,-0.000274807846167,-3.75337425228e-05,1793250634253765120
+83,1.383333333,BASELINE,769.152275102,746,722,682,670.847724898,643,886,788,820,656,632,656,0.400966932301,-0.0154541785144,0.049842405789,0.999999956319,-9.95212064778e-05,-0.000275782677169,-3.74409813338e-05,1793250634270431744
+84,1.400000000,BASELINE,769.72720869,746,722,682,670.27279131,643,886,788,820,656,632,656,0.400967957904,-0.0154555226909,0.0498432060931,0.9999999567,-9.83638072274e-05,-0.000274885157002,-3.69114335387e-05,1793250634287098368
+85,1.416666667,BASELINE,769.699536806,746,722.300463194,682.300463194,670,643,886,788,820,656,632,656.300463194,0.400969589986,-0.0154551858268,0.0498440750712,0.999999957176,-9.76940043163e-05,-0.000273389034236,-3.68982949169e-05,1793250634303764736
+86,1.433333333,BASELINE,769.12779831,746,722.87220169,682.87220169,670,643,886,788,820,656,632,656.87220169,0.400971769633,-0.0154533312234,0.0498450060521,0.999999957737,-9.74644312493e-05,-0.000271352458968,-3.73513999713e-05,1793250634320431104
+87,1.450000000,BASELINE,769,745.535598599,722.535598599,683,670,643,886,788,820,656,632,656.535598599,0.400969898245,-0.0154534037451,0.0498440006784,0.999999957301,-9.72653516063e-05,-0.000273023794409,-3.73562079621e-05,1793250634337097472
+88,1.466666667,BASELINE,769.06024857,745.06024857,722,683,670,643,886,788,819.93975143,656,632,655.93975143,0.400967240525,-0.0154540582161,0.049842637315,0.999999956653,-9.71931698004e-05,-0.00027542874853,-3.72230678925e-05,1793250634353764352
+89,1.483333333,BASELINE,769.636873537,745.636873537,722,683,670,643,886,788,819.363126463,656,632,655.363126463,0.400967838406,-0.0154549456628,0.0498429832543,0.999999956695,-9.81333635207e-05,-0.000274972884009,-3.70136863566e-05,1793250634370431232
+90,1.500000000,BASELINE,770,746,722,683,670,643,886.211475745,788,819.211475745,656,632,655.211475745,0.400968448959,-0.0154550999569,0.0498432945161,0.99999995684,-9.87368365155e-05,-0.000274228856411,-3.7013509192e-05,1793250634387097856
+91,1.516666667,BASELINE,770,746,722,683,670,643,886.782637508,788,819.782637508,656,632,655.782637508,0.400969081063,-0.0154540072771,0.0498435467973,0.999999957161,-9.87676019564e-05,-0.000272994710107,-3.73691548261e-05,1793250634403764480
+92,1.533333333,BASELINE,769.63330378,746,722,683,670,643,886.63330378,788,819.63330378,656,632,656,0.40096908223,-0.0154539422983,0.0498436822885,0.999999957114,-9.88122978353e-05,-0.000273150704193,-3.73688830893e-05,1793250634420431360
+93,1.550000000,BASELINE,769.041321554,746,722,683,670,643,886.041321554,788,819.041321554,656,632,656,0.40096869577,-0.0154545087048,0.0498437460276,0.999999956841,-9.88655521166e-05,-0.000274160754351,-3.7149947548e-05,1793250634437098496
+94,1.566666667,BASELINE,769,745.46075195,722,683.53924805,670,643,886,788,819,656,632,656,0.400969031359,-0.0154539633271,0.0498438939954,0.999999957024,-9.72711903165e-05,-0.000274036435803,-3.73513450823e-05,1793250634453764864
+95,1.583333333,BASELINE,769.118030014,745.118030014,722.118030014,683.881969986,670,643,885.881969986,788,819.118030014,656,632,656,0.400969173134,-0.0154534470811,0.0498439665422,0.999999957172,-9.58744328987e-05,-0.000273967754553,-3.74971183287e-05,1793250634470431232
+96,1.600000000,BASELINE,769.693205348,745.693205348,722.693205348,683.306794652,670,643,885.306794652,788,819.693205348,656,632,656,0.40096835439,-0.0154533667943,0.0498437224944,0.999999957063,-9.57218840553e-05,-0.00027444425579,-3.73052863409e-05,1793250634487097856
+97,1.616666667,BASELINE,769.73198463,746,722.73198463,683,670,642.73198463,885.26801537,788,819.73198463,656,632,656,0.400968783123,-0.0154527852773,0.0498439196849,0.999999957187,-9.59539337235e-05,-0.000273893947369,-3.74234705245e-05,1793250634503764480
+98,1.633333333,BASELINE,769.157592243,746,722.157592243,683,670,642.157592243,885.842407757,788,819.157592243,656,632,656,0.400970637887,-0.0154516307881,0.0498446212693,0.999999957575,-9.66256303688e-05,-0.000272169859669,-3.78960442083e-05,1793250634520431104
+99,1.650000000,BASELINE,769,746,722,683,670,642.427529945,886.427529945,788,819.427529945,656,632,656,0.400971656046,-0.0154515630269,0.0498450208604,0.999999957931,-9.53592503127e-05,-0.000271322704424,-3.78004645395e-05,1793250634537097984
+100,1.666666667,BASELINE,769,746,722,683,670,642.983571357,886.983571357,788,819.983571357,656,632,656,0.400972298426,-0.0154519394311,0.0498452802064,0.999999958247,-9.34626160057e-05,-0.000270859047871,-3.74901540632e-05,1793250634553764096
+101,1.683333333,BASELINE,769,746,722,683,670,642.404280098,886.404280098,788,819.404280098,656,632,656,0.400970903712,-0.015453455812,0.0498446466652,0.999999957749,-9.50788707821e-05,-0.000272174577788,-3.71828625568e-05,1793250634570430464
+102,1.700000000,BASELINE,769.174303007,746,722,683,670,642.174303007,886,788,819.174303007,656,632,656,0.400970036159,-0.0154544925555,0.0498443469488,0.999999957453,-9.62478689359e-05,-0.000272882354012,-3.69452647226e-05,1793250634587097088
+103,1.716666667,BASELINE,769.751250178,746,722,683,670,642.751250178,886,788,819.751250178,656,632,656,0.400970386363,-0.015454421325,0.0498448183758,0.999999957633,-9.63836932405e-05,-0.00027218620431,-3.68686610014e-05,1793250634603763712
+104,1.733333333,BASELINE,769.664136595,746,722.335863405,683,670,643,886,788,820,656,632,656,0.400970334466,-0.0154547262282,0.0498451845257,0.999999957707,-9.65805996523e-05,-0.000271849835059,-3.68151071911e-05,1793250634620430336
+105,1.750000000,BASELINE,769.073712992,746,722.926287008,683,670,643,886,788,820,656,632,656,0.400969977805,-0.0154553162136,0.0498454708831,0.999999957702,-9.68238019034e-05,-0.000271786153328,-3.67790235404e-05,1793250634637096960
+106,1.766666667,BASELINE,769,746,723,683,670,643,886,788,819.493703626,656,632,656,0.400970808178,-0.0154541799136,0.0498455011772,0.99999995795,-9.55436702069e-05,-0.000271315560545,-3.68590124393e-05,1793250634653763584
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,722,683,670,643,886,788,819,656,632,656,0.400969591743,-0.0154531464042,0.0498440657726,0.999999957392,-9.56214775927e-05,-0.000273256259229,-3.74752816528e-05,1793250634697007616
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.588063149,722,683,670,643,886,788,819,656,632,656,0.400969830133,-0.0154539817564,0.0498440139929,0.999999957213,-9.60615384204e-05,-0.000273774568262,-3.73260576776e-05,1793250634713674240
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.173376199,746,722,683,670,643,886,788,819.173376199,656,632,656,0.400969835827,-0.0154543145199,0.0498438681301,0.999999957024,-9.66559163431e-05,-0.000274264527912,-3.72759478353e-05,1793250634730340864
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.752257237,746,722,683,670,643,886,788,819.752257237,656,632,656,0.400969297271,-0.0154534717928,0.0498435022189,0.999999956808,-9.76112223782e-05,-0.000274688182077,-3.74576532916e-05,1793250634747007232
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.668880276,746,722,683,670.331119724,643,886.331119724,788,820,656,632,656,0.400970281398,-0.0154536136836,0.0498440284048,0.999999957213,-9.82937523729e-05,-0.000272974892213,-3.73855658982e-05,1793250634763674112
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.090031703,746,722,683,670.909968297,643,886.909968297,788,820,656,632,656,0.400972404728,-0.0154544922211,0.0498452220174,0.999999958074,-9.87722035726e-05,-0.000269662837135,-3.71236021247e-05,1793250634780340736
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746,722,683,670.515585639,643,886.515585639,788,820,656,632,656,0.400971436735,-0.0154545721606,0.0498447344563,0.999999957588,-9.86061885775e-05,-0.00027152533479,-3.70684546609e-05,1793250634797007360
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,819.940506404,656,632,655.940506404,0.400970323994,-0.0154545223843,0.0498441798979,0.99999995702,-9.8355091682e-05,-0.000273706211116,-3.70279937211e-05,1793250634813673984
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,819.35260146,656,632,655.35260146,0.400972982656,-0.0154546269066,0.049845780479,0.999999957965,-9.84025814997e-05,-0.000270249926806,-3.67796493588e-05,1793250634830340864
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,819.231802039,656,632,655.231802039,0.400982724152,-0.015454737635,0.0498498641761,0.999999960162,-9.79230448337e-05,-0.000262221786443,-3.64337846251e-05,1793250634847007488
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,819.810958582,656,632,655.810958582,0.401003079248,-0.0154548576632,0.0498576688133,0.999999964094,-9.6653760898e-05,-0.000247342736837,-3.594178599e-05,1793250634863674368
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.387757566,746,722,683,670,643,886,788,819.612242434,656,632,656,0.401043431394,-0.0154574234404,0.0498719053997,0.999999970921,-9.66217546916e-05,-0.000218276103848,-3.43327567433e-05,1793250634880340736
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.963414179,746,722,683,670,643,886,788,819.036585821,656,632,656,0.401093473684,-0.0154611743754,0.0498892587721,0.999999978136,-9.71893066734e-05,-0.000182334468996,-3.21824382072e-05,1793250634897007360
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.462252864,746,722,683,670,643,886.537747136,788.537747136,819,656,632,656,0.401162472242,-0.0154657838674,0.0499070744755,0.999999983663,-9.93119872988e-05,-0.000148067775728,-2.97864952861e-05,1793250634913674752
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.884864846,788.884864846,819,656,632,656,0.401233509362,-0.0154701630511,0.049922760583,0.999999987378,-0.000101021609337,-0.000119489799242,-2.75995276427e-05,1793250634930341888
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.294495724,788.294495724,819,656,632,656,0.401307650611,-0.0154733511002,0.0499295270223,0.999999988104,-0.000100590639151,-0.000113923455577,-2.6343937414e-05,1793250634947008000
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.291641746,788,819,656,632,656,0.401394038855,-0.0154783801616,0.0499359584033,0.999999988802,-0.000102327754359,-0.000106266687055,-2.51371598032e-05,1793250634963674368
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.873567232,788,819,656,632,656,0.401492617064,-0.0154852416624,0.0499420562858,0.999999989412,-0.000106222859479,-9.65292278912e-05,-2.39789675925e-05,1793250634980340992
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.550424001,788,819.449575999,656,632,656,0.401606889988,-0.01549153382,0.0499453422177,0.999999989801,-0.000105828030492,-9.31838592866e-05,-2.27020215371e-05,1793250634997008128
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.976020468,722,683,670,643,886,788.023979532,819.976020468,656,632,656,0.401726680914,-0.0154977839897,0.0499477354754,0.999999990108,-0.000104471248223,-9.17112652144e-05,-2.14251164057e-05,1793250635013674752
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.400764012,722,683,670,643,886,788.599235988,819.400764012,656,632,656,0.401873175611,-0.0155067020144,0.0499475504463,0.99999998963,-0.000108374901749,-9.25031055215e-05,-2.09069523615e-05,1793250635030341376
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.179448074,722,683,670,643,886,788.820551926,819,656,632,656,0.402025574158,-0.0155159031636,0.0499466300999,0.999999989021,-0.000111310114011,-9.57225833786e-05,-2.01228203915e-05,1793250635047008000
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.771041879,722,683,670,643,886,788.228958121,819,656,632,656,0.402191532301,-0.015525754575,0.0499440209201,0.999999988088,-0.000112021067077,-0.000104517715563,-1.87278290806e-05,1793250635063674624
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.354010798,788,819,655.645989202,632,656,0.402382725607,-0.015536606078,0.0499425820442,0.999999987487,-0.000114167745994,-0.000108161984082,-1.71105605571e-05,1793250635080341504
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886.93153426,788,819,655.06846574,632,656,0.402589851716,-0.0155480890124,0.0499418820655,0.99999998712,-0.000117220902727,-0.000108554140069,-1.53529521901e-05,1793250635097008128
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.505613492,746,722.505613492,683,670,643,887,788,819,655.505613492,632,656,0.402844634921,-0.0155579899876,0.049949647471,0.999999988778,-0.000115218202699,-9.48898940694e-05,-1.28070995529e-05,1793250635113674752
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.918704389,746,723,683,670,643,886.918704389,788,819,655.918704389,632,656,0.40311142255,-0.01556692895,0.0499585905743,0.999999990618,-0.000111539047839,-7.88753700407e-05,-1.00442291861e-05,1793250635130341376
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.330129579,746,723,683,670,643,886.330129579,788,819,655.330129579,632,656,0.403413121359,-0.0155711926644,0.0499677779472,0.999999993013,-0.000101642003192,-5.99919573109e-05,-6.58870770583e-06,1793250635147008512
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.745108472,722.745108472,683,670,643,886.254891528,788,819,655.254891528,632,656,0.403731183282,-0.0155673907738,0.0499752986359,0.999999995704,-8.1102638572e-05,-4.4705683676e-05,-4.08586965668e-06,1793250635163675136
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.164626784,722.164626784,683,670,643,886.835373216,788,819,655.835373216,632,656,0.404070146895,-0.0155532861409,0.0499806903559,0.999999998315,-4.69691205841e-05,-3.40142798202e-05,-2.79995869017e-06,1793250635180341504
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.412150651,745.412150651,722,683,670,643,887.412150651,788,819.412150651,656,632,656,0.404434799199,-0.0155354921272,0.0499861991015,0.999999999711,-1.05415695426e-05,-2.10043809485e-05,-4.99308510461e-06,1793250635197008128
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.987461649,745.987461649,722,683,670,643,887.987461649,788,819.987461649,656,632,656,0.404809621018,-0.0155162375782,0.0499917541746,0.999999999579,2.67941321898e-05,-7.07664692281e-06,-8.5634772279e-06,1793250635213674752
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.437869329,746,722,683.562130671,670,643,887.437869329,788,819.437869329,656,632,656,0.405209131005,-0.0155087370282,0.0499815826171,0.999999998141,5.46060351887e-05,-2.60533671403e-05,-7.63779207511e-06,1793250635230341120
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,722,683.85931525,670,643,887,788,819.14068475,656,632,656,0.405614223421,-0.0155047261906,0.0499679768672,0.999999995507,7.91802142262e-05,-5.17080332677e-05,-6.55314438082e-06,1793250635247007744
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,722,683.268278884,670,643,887,788,819.731721116,656,632,656,0.406035425135,-0.0155110481161,0.0499444994126,0.999999990916,9.40692179796e-05,-9.63929870573e-05,-5.2802963322e-06,1793250635263674368
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,722.316184722,683.316184722,670,643,887,788,820,656,632,656,0.406492694348,-0.0155181395996,0.0499282802188,0.999999986197,0.0001088904811,-0.000125453561711,-3.0693148172e-06,1793250635280341504
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,722.895185054,683.895185054,670,643,887,788,820,656,632,656,0.40697994324,-0.0155258707474,0.0499180941545,0.99999998234,0.000123655439318,-0.00014152701563,-7.85481160184e-08,1793250635297009152
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.47061997,746,722.52938003,684,670,643,887,788,819.52938003,656,632,656,0.407528398294,-0.0155281871716,0.049929587021,0.999999982478,0.000147501618549,-0.000115191669191,4.34021366776e-06,1793250635313675776
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,745.953503902,722,684.046496098,670.046496098,643,887,788,819.046496098,656,632,656,0.408095803486,-0.0155293995634,0.0499470239864,0.999999981822,0.000173675007509,-7.8150697124e-05,9.28521343911e-06,1793250635330342400
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,745.36325084,722,684.63674916,670.63674916,643,887,788,819.63674916,656,632,656,0.408726605936,-0.0155316978017,0.0499779348965,0.99999997881,0.0002035892816,-2.55383013497e-05,1.66930101974e-05,1793250635347008512
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.777247177,745.222752823,722.222752823,685,670.777247177,643,887,788,820,655.777247177,632,656,0.409353033036,-0.0155330126517,0.0499975832441,0.999999972793,0.000232109080968,5.09108243014e-06,2.26430910019e-05,1793250635363674880
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.198043471,745.801956529,722.801956529,685,670.198043471,643,887,788,820,655.198043471,632,656,0.40997245863,-0.0155327538756,0.0499992091453,0.99999996627,0.000258397429602,5.43067950719e-07,2.62605224817e-05,1793250635380340992
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+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722.047521414,685.952478586,670,643,888.904957171,788,820,655.952478586,632,656,0.411187234419,-0.0155294039721,0.0499496981535,0.99999994586,0.000309400279349,-0.000108224040978,2.8963000513e-05,1793250635413674752
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+158,2.633333333,POSE1_TO_POSE2_PRESS,770,745.589671002,722.589671002,686.589671002,670,643,889,788.410328998,822.589671002,655.410328998,632,656,0.417305293081,-0.0155619885975,0.0499482148227,0.99999999249,9.3509702151e-05,-7.8136282095e-05,1.30764352228e-05,1793250635547007488
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,722.829251367,687.170748633,670,643,889,788,823.170748633,655.170748633,632,656,0.41815244404,-0.0155592856524,0.0499697365456,0.999999990262,0.000131592894731,-4.22479213097e-05,1.93277443723e-05,1793250635563673856
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,722.241513834,687.758486166,670,643,889,788,823.758486166,655.758486166,632,656,0.419031120096,-0.0155555846818,0.0499738211255,0.999999985603,0.000161306575006,-4.71548882643e-05,2.34528435277e-05,1793250635580340480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.65983546,746,722.34016454,688,669.65983546,643,889.34016454,788,824,655.65983546,632,655.65983546,0.419905519211,-0.0155534940396,0.049967070471,0.999999986316,0.000154747509237,-5.31621739861e-05,2.43957620029e-05,1793250635597007616
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.082383772,746,722.917616228,688,669.082383772,643,889.917616228,788,824,655.082383772,632,655.082383772,0.420776934841,-0.0155525267075,0.0499527615274,0.999999990386,0.000122885815327,-5.99370042135e-05,2.31188999078e-05,1793250635613674240
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+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,688.069387852,669.069387852,643,890.069387852,788.930612148,824.069387852,656,632,656,0.422647494906,-0.0155648236952,0.0499948352533,0.999999988985,0.000143512327547,2.5228127595e-05,2.82293459077e-05,1793250635647007488
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+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.226626484,723,689,670,643,891,788,824.773373516,655.773373516,632,656,0.424436899411,-0.0155629946056,0.0499724338257,0.999999985655,0.00016532928758,-2.45702791695e-05,2.74319876005e-05,1793250635680340992
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+168,2.800000000,POSE1_TO_POSE2_PRESS,769.399390467,746.600609533,723,689,670,643,891.399390467,788,824.399390467,655,632,656,0.426334923493,-0.0155678704777,0.0499946380776,0.999999987657,0.000153767832219,3.93537749908e-06,3.20199790785e-05,1793250635713674240
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+170,2.833333333,POSE1_TO_POSE2_PRESS,769.447658884,746,723,689.552341116,670,643,892,788,825,655.552341116,632,656,0.428134679907,-0.0155601630162,0.0499668159435,0.999999983972,0.000164011891571,-6.46882657061e-05,3.11631018902e-05,1793250635747007488
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+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,892.71792309,788,825,655.28207691,632,656,0.429974500298,-0.0155535252095,0.049944640181,0.999999977356,0.000193169184594,-8.43582989437e-05,2.92793566124e-05,1793250635780340992
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+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,893,788.885306362,825,655,632,656,0.431856694728,-0.0155509114936,0.0499330061924,0.999999980716,0.000162373719236,-0.000106484422364,2.93867773017e-05,1793250635813673984
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,893,788.537900773,825.462099227,655,632,656,0.432785716094,-0.0155511659872,0.0499347018845,0.99999998077,0.000168353536784,-9.62971740975e-05,2.9063478684e-05,1793250635830340608
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.037207733,723,690.037207733,670,643,893.037207733,788,826,655,632,656,0.433712226691,-0.0155519760154,0.0499410016822,0.999999980197,0.000181383747408,-7.65993637933e-05,2.89662733828e-05,1793250635847007232
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+179,2.983333333,POSE1_TO_POSE2_PRESS,768.219334314,747,723,691,670,643,894,788.780665686,826,655.780665686,632,656,0.43634602627,-0.0155477090726,0.0499532652751,0.999999972251,0.000209616419682,-0.000102294878805,3.3096681627e-05,1793250635897007360
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+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,724,693,669,639,896,783,828,655.652972844,628,656.347027156,0.454613898885,-0.0156764135841,0.0496743926047,0.999999880334,-1.79480090615e-06,-0.000489123090505,9.33571771557e-06,1793250636497008384
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.764797998,747,724,693,669,639,896,782.764797998,828,655.764797998,628,656.235202002,0.454723265133,-0.0156772034358,0.0496661193325,0.999999873739,2.21172806844e-09,-0.00050242657215,9.5143261246e-06,1793250636513675008
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.169682456,747,724,693,669,639,896,782.169682456,828,655.169682456,628,656.830317544,0.454816139955,-0.0156777835449,0.049659000374,0.999999867287,5.29536260507e-07,-0.000515109614174,9.32905623081e-06,1793250636530341632
+218,3.633333333,POSE1_TO_POSE2_PRESS,769.411967499,747,724,693,669,639,896.411967499,782.411967499,828,655,628,656.588032501,0.454897095589,-0.0156784833546,0.0496550540231,0.999999864259,2.64117019644e-07,-0.000520953209234,9.48411880496e-06,1793250636547008256
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.988246739,747,724,693,669,639,896.988246739,782.988246739,828,655,628,656.011753261,0.454973297296,-0.0156792309065,0.0496523730555,0.999999862628,-3.17485211257e-07,-0.000524068915404,9.77492175378e-06,1793250636563674880
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,724,693,669,638.437677717,897,782.437677717,828,655.562322283,628,656,0.455033025011,-0.0156813868186,0.0496523315402,0.999999860942,-3.64809478831e-07,-0.000527262596109,1.05151559432e-05,1793250636580341504
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.859665133,747,724,693,669,638,897,782.140334867,828,655.859665133,627.859665133,656,0.455089449462,-0.0156830667628,0.0496528221042,0.999999860067,-2.74752698707e-07,-0.000528904006334,1.12064308433e-05,1793250636597008128
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+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747,724,692.955172741,669,638,897,782,828.044827259,655.044827259,627.955172741,656,0.455231930826,-0.0156820970118,0.0496453498674,0.999999854152,-2.85038959657e-06,-0.000539968343134,1.10918495662e-05,1793250636680341760
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+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747.795668093,724,692,669,638,897,782.795668093,828.204331907,656,627.795668093,656,0.455255546414,-0.0156805711243,0.04964257657,0.999999851492,-2.29429376398e-06,-0.000544860794674,1.17528047044e-05,1793250636730341376
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+231,3.850000000,POSE1_TO_POSE2_PRESS,769.048380143,747.048380143,724,692,669,638,896.048380143,782.048380143,828,655.048380143,627.048380143,656,0.455260117926,-0.0156779809129,0.0496401120221,0.999999849355,-3.91987979228e-06,-0.000548774684772,1.09583631633e-05,1793250636763674880
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.527975565,747,724,692.527975565,669,638,896.527975565,782.527975565,828,655,627,656,0.455262951264,-0.0156774935285,0.0496401961466,0.9999998496,-3.14299155235e-06,-0.000548330247801,1.11391060641e-05,1793250636780341248
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.893911462,747,724,692.893911462,669,638,896.893911462,782.893911462,828.106088538,655.106088538,627.106088538,656.106088538,0.455265457531,-0.0156771303118,0.0496404072248,0.999999849879,-2.50661181779e-06,-0.000547821595902,1.13126290058e-05,1793250636797007616
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+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747,724,692.277299748,669,638,896,782,829,655.722700252,627.722700252,657,0.455265018099,-0.0156769111201,0.0496393378024,0.999999848629,-3.72212685366e-06,-0.000550101073955,1.08502666779e-05,1793250636830340864
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747,724,692.85957831,669,638,896,782,829,655.14042169,627.14042169,657,0.455262881937,-0.0156766256351,0.0496368858624,0.999999846926,-3.0463393465e-06,-0.000553201882597,1.03591899369e-05,1793250636847007488
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,747,724,693,669,638,896.435395063,782.435395063,829,655.435395063,627,656.564604937,0.45526416759,-0.0156766719317,0.0496373561714,0.999999847035,-3.18984259482e-06,-0.00055299813935,1.06571431655e-05,1793250636863674112
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.009182752,747,724,692.990817248,669,638,896.990817248,782.990817248,828.990817248,656,627,656,0.4552665084,-0.0156768088598,0.0496387397505,0.999999847712,-3.57816729021e-06,-0.000551759633961,1.11960609522e-05,1793250636880340736
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+240,4.000000000,POSE1_TO_POSE2_PRESS,769.835614244,747.164385756,724,692.328771512,669,638,896.164385756,782,828,656,627,656.164385756,0.455266707099,-0.0156757825936,0.049638848639,0.999999847599,-3.22586503359e-06,-0.000551969938792,1.10303143253e-05,1793250636913674240
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.24374032,747.75625968,724,693.512519359,669,638,896.75625968,782,828,656,627,656.75625968,0.455265252305,-0.015676899488,0.0496365551658,0.999999846185,-5.49342029563e-06,-0.000554511727167,1.08337306456e-05,1793250636930340864
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747.659628386,724,693.659628386,669,638,896.659628386,782,828,656,627,656.659628386,0.455264886528,-0.0156760269103,0.0496359176054,0.999999845807,-4.94525709902e-06,-0.000555201848774,1.06229739716e-05,1793250636947007744
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747.080950912,724,693.080950912,669,638,896.080950912,782,828,656,627,656.080950912,0.455265283209,-0.0156737614349,0.0496364394065,0.999999846155,-2.42571258078e-06,-0.000554595554754,1.04022943056e-05,1793250636963674368
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.492912479,747,723.507087521,693,669,638,896.492912479,782,828,655.507087521,627,656,0.455266392479,-0.0156745081571,0.0496370239111,0.99999984643,-5.01678366998e-06,-0.000554072841488,1.0853594687e-05,1793250636980340992
+245,4.083333333,HOLD_POSE2,769,747,724,693,668,638,896,782,828,656,627,656,0.455268715743,-0.0156733905085,0.0496371728648,0.999999846734,-6.17302911172e-06,-0.000553526529644,1.0091801702e-05,1793250637023402752
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+247,4.116666667,HOLD_POSE2,769.842334504,747,724,692.842334504,669,638,896,782,828,655.842334504,627,656,0.455268036731,-0.0156752272724,0.0496362106225,0.99999984596,-5.04121856346e-06,-0.000554916833684,1.10452678257e-05,1793250637056736256
+248,4.133333333,HOLD_POSE2,769.264338232,747,724,692.264338232,669,638,896,782,828,655.264338232,627,656,0.455268000788,-0.0156747610115,0.0496358344827,0.999999845799,-4.78852341773e-06,-0.000555210308663,1.09704919653e-05,1793250637073402880
+249,4.150000000,HOLD_POSE2,769,747,724,692.311443296,668.688556704,638,896,782,828,655.311443296,627,656,0.455268422137,-0.0156745528973,0.0496360509885,0.999999845929,-5.33001984137e-06,-0.000554975390355,1.07613288125e-05,1793250637090069504
+250,4.166666667,HOLD_POSE2,769,747,724,692.885358294,668.114641706,638,896,782,828,655.885358294,627,656,0.455269228872,-0.0156745623385,0.0496367669518,0.999999846303,-6.54082852737e-06,-0.000554295163727,1.04389095381e-05,1793250637106736128
+251,4.183333333,HOLD_POSE2,769,747.470587166,724,692.529412834,668.470587166,638,896,782,828.470587166,656,627,656.470587166,0.455267282869,-0.0156745062786,0.0496351376649,0.99999984507,-7.68365627014e-06,-0.000556504377361,1.02313312257e-05,1793250637123402752
+252,4.200000000,HOLD_POSE2,769.058061502,748,724,692,669,638,896.058061502,782,829,656,627.058061502,656.941938498,0.455265069474,-0.0156743179537,0.0496332479431,0.999999843665,-8.52297114852e-06,-0.000559013497492,1.00908007516e-05,1793250637140069376
+253,4.216666667,HOLD_POSE2,769.640311693,748,724,692,669,638,896.640311693,782,829,656,627.640311693,656.359688307,0.455266645509,-0.0156730831304,0.049634292155,0.999999844399,-6.77532232842e-06,-0.000557718670011,1.02967870428e-05,1793250637156736000
+254,4.233333333,HOLD_POSE2,770,747.780575556,724,692.219424444,669,638,897,782,829,656,627.780575556,656,0.455267593731,-0.0156729641833,0.049634936348,0.999999844784,-6.58586397748e-06,-0.000557025973387,1.05347211888e-05,1793250637173402880
+255,4.250000000,HOLD_POSE2,770,747.206533362,724,692.793466638,669,638,897,782,829,656,627.206533362,656,0.455267527325,-0.0156746486342,0.0496349340593,0.999999844606,-8.91463935227e-06,-0.000557306396773,1.08242871031e-05,1793250637190069504
+256,4.266666667,HOLD_POSE2,769.631310245,747,724,693,669,638,897,782,828.631310245,655.631310245,627,656.368689755,0.455268237759,-0.0156741290212,0.0496352902728,0.999999845118,-8.28437676206e-06,-0.000556405760482,1.04372632404e-05,1793250637206736128
+257,4.283333333,HOLD_POSE2,769.055423416,747,724,693,669,638,897,782,828.055423416,655.055423416,627,656.944576584,0.455269384764,-0.0156723707639,0.0496358479582,0.999999846011,-5.99118776798e-06,-0.000554841389718,9.67000800338e-06,1793250637223402752
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+259,4.316666667,HOLD_POSE2,769.877301843,747,724,693,669,638,896.122698157,782,828.122698157,655.877301843,627,656.122698157,0.4552667377,-0.0156749276265,0.0496345238605,0.999999844058,-9.7106691011e-06,-0.000558273956535,1.09388974546e-05,1793250637256736256
+260,4.333333333,HOLD_POSE2,769.299316836,747,724,693,669,638,896.700683164,782,828.700683164,655.299316836,627,656.700683164,0.455268116295,-0.0156740938026,0.0496347369288,0.999999844879,-7.85504759521e-06,-0.000556834115471,1.0795122064e-05,1793250637273402880
+261,4.350000000,HOLD_POSE2,769.27621179,747,724,692.72378821,668.72378821,638,896.72378821,782,829,655.27621179,627,656.72378821,0.455267409991,-0.015674114989,0.0496338195302,0.999999844084,-8.23828994414e-06,-0.000558257499698,1.05866523418e-05,1793250637290069504
+262,4.366666667,HOLD_POSE2,769.849101988,747,724,692.150898012,668.150898012,638,896.150898012,782,829,655.849101988,627,656.150898012,0.455264464303,-0.01567505454,0.0496316878998,0.999999841539,-1.10262905919e-05,-0.000562756267285,1.0308694605e-05,1793250637306736128
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..901ba38b701ea8ce064df15500acffd5949626d3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95b7caa461eb17b2125bd8d45a64302aff629880
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32d48898f555cc393e61bdb474ab35c02bf60e7c9041185685743058404462b
+size 26166910
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d812a552b930c0cb7498aabd447ed61567663f98
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+4,0.066666667,BASELINE,770,746,722.330870952,683,670,643,886,788,819,656,632,656,0.400973533302,-0.0154050370889,0.0498424291324,0.999999961139,-1.51712121652e-05,-0.00027478665925,-4.45452522956e-05,1793250639962832128
+5,0.083333333,BASELINE,770,746,722.909312968,683,670,643,886,788,819,656,632,656,0.400971267603,-0.015403088883,0.0498417134226,0.999999960576,-1.5482362736e-05,-0.000276707204251,-4.51754499163e-05,1793250639979498496
+6,0.100000000,BASELINE,769.509541804,746,723,683,670,643,886,787.509541804,819,656,632,656,0.400972594412,-0.0154031196942,0.0498427172542,0.999999961002,-1.55701659127e-05,-0.000275177984797,-4.5070736077e-05,1793250639996165888
+7,0.116666667,BASELINE,769,745.928162999,722.928162999,683,670,643,886.071837001,787.071837001,819,656,632,656,0.400974236988,-0.0154035567249,0.0498438370205,0.99999996151,-1.58040255621e-05,-0.000273345209168,-4.48715232252e-05,1793250640012833792
+8,0.133333333,BASELINE,769,745.348685252,722.348685252,683,670,643,886.651314748,787.651314748,819,656,632,656,0.40097339087,-0.0154042641636,0.0498435167965,0.999999961328,-1.73634515816e-05,-0.000273899869745,-4.49701037665e-05,1793250640029500416
+9,0.150000000,BASELINE,769,745.230796468,722,683,670,643,886.769203532,788,819,655.769203532,632,656,0.400973145313,-0.0154050850406,0.0498435614479,0.999999961307,-1.90029964584e-05,-0.000273874839263,-4.49229154139e-05,1793250640046166784
+10,0.166666667,BASELINE,769,745.810284142,722,683,670,643,886.189715858,788,819,655.189715858,632,656,0.400973807097,-0.015406077302,0.0498441573592,0.99999996153,-2.07635861179e-05,-0.000272974001677,-4.46554969439e-05,1793250640062832896
+11,0.183333333,BASELINE,769,746,722.388973008,683,670,643,886,787.611026992,819,655.388973008,632,656,0.400973661691,-0.0154051117469,0.0498438040587,0.999999961439,-1.93242133923e-05,-0.000273383918811,-4.48223372722e-05,1793250640079499520
+12,0.200000000,BASELINE,769,746,722.967273118,683,670,643,886,787.032726882,819,655.967273118,632,656,0.400973123397,-0.0154031932523,0.0498429887428,0.999999961189,-1.6327304464e-05,-0.000274431827152,-4.52005468945e-05,1793250640096166144
+13,0.216666667,BASELINE,769,746,722.449746637,683,670,642.449746637,886,787.550253363,819,656,632,656,0.400971870242,-0.0154032661992,0.049842422292,0.999999960878,-1.66552497405e-05,-0.000275550430737,-4.51413391169e-05,1793250640112832512
+14,0.233333333,BASELINE,769,746,722,683,670,642,886.132297544,787.867702456,819,656,632,656,0.400970801126,-0.0154038935763,0.0498419717489,0.999999960598,-1.75542041324e-05,-0.00027653186503,-4.50113352636e-05,1793250640129499136
+15,0.250000000,BASELINE,769,746,722,683,670,642,886.710243027,787.289756973,819,656,632,656,0.400970496398,-0.0154059861656,0.0498418613575,0.999999960431,-1.97047810804e-05,-0.00027703695601,-4.47312397161e-05,1793250640146165760
+16,0.266666667,BASELINE,769,746,722.2902554,683,670,642.2902554,886.7097446,787.2902554,819.2902554,656,632,656,0.400970589739,-0.0154060496693,0.049841993532,0.999999960486,-1.92630677903e-05,-0.000276868421915,-4.47338521116e-05,1793250640162832640
+17,0.283333333,BASELINE,769,746,722.872345877,683,670,642.872345877,886.127654123,787.872345877,819.872345877,656,632,656,0.400971083317,-0.0154040730442,0.0498423695926,0.999999960761,-1.62149559311e-05,-0.000276022596598,-4.50207110679e-05,1793250640179499776
+18,0.300000000,BASELINE,769,746,722.550514331,683,670,643,886,787.550514331,819.550514331,656,632,656,0.400971042743,-0.0154051372978,0.0498422541584,0.999999960784,-1.74031731661e-05,-0.000275900180154,-4.4802341596e-05,1793250640196166400
+19,0.316666667,BASELINE,769.025698516,746,722,683,670,643,886,787.025698516,819,656,632,656,0.400970903679,-0.0154069578096,0.0498420503105,0.99999996075,-1.96361454783e-05,-0.000275931503318,-4.4454539815e-05,1793250640212832768
+20,0.333333333,BASELINE,769.612028229,746,722,683,670,643,886,787.612028229,819,656,632,656,0.40097188934,-0.0154066415921,0.0498429296223,0.99999996106,-1.8700228827e-05,-0.000274883589681,-4.43792081549e-05,1793250640229499392
+21,0.350000000,BASELINE,769.803720491,746,722,683,670.196279509,643,886,787.803720491,819,656,632,656,0.400972375317,-0.0154063338173,0.0498434354597,0.999999961226,-1.83174967414e-05,-0.000274291480317,-4.4456286454e-05,1793250640246166016
+22,0.366666667,BASELINE,769.223534522,746,722,683,670.776465478,643,886,787.223534522,819,656,632,656,0.400971883956,-0.0154060425559,0.0498432108122,0.999999961114,-1.9016747954e-05,-0.000274590886478,-4.48314660175e-05,1793250640262832384
+23,0.383333333,BASELINE,769.354102556,746,722,683,671,643,885.645897444,787.354102556,819,656,632,656,0.400972370978,-0.0154046542661,0.0498433031281,0.999999961358,-1.78760861784e-05,-0.000273723271522,-4.51666776597e-05,1793250640279499008
+24,0.400000000,BASELINE,769.930142148,746,722,683,671,643,885.069857852,787.930142148,819,656,632,656,0.40097347121,-0.0154025784037,0.0498435941038,0.999999961819,-1.55822420678e-05,-0.000272124215366,-4.54768390754e-05,1793250640296165632
+25,0.416666667,BASELINE,770,746,722,683,670.494250328,643,885.505749672,787.494250328,819,656,632,655.494250328,0.400972230554,-0.0154030932559,0.0498433648862,0.999999961453,-1.54464692605e-05,-0.000273510010081,-4.5253054582e-05,1793250640312832768
+26,0.433333333,BASELINE,769.916869734,746,722,683,670,643,886,787,819.083130266,656,632,655,0.400970728516,-0.0154038336741,0.0498429450979,0.999999960982,-1.55433229968e-05,-0.000275265357348,-4.49749313877e-05,1793250640329499904
+27,0.450000000,BASELINE,769.328346945,746,722,683,670,643,886,787,819.671653055,656,632,655,0.400969601478,-0.0154037717341,0.0498418031897,0.999999960581,-1.52437453226e-05,-0.00027676302467,-4.48144521528e-05,1793250640346166784
+28,0.466666667,BASELINE,769,746,722,683,670,643,886,787,819.744633473,656,632,655.255366527,0.400969600857,-0.0154043001005,0.0498416725988,0.99999996056,-1.5638077899e-05,-0.000276826959904,-4.47384037665e-05,1793250640362833408
+29,0.483333333,BASELINE,769,746,722,683,670,643,886,787,819.166989489,656,632,655.833010511,0.400971021799,-0.0154055734446,0.0498428183096,0.99999996102,-1.69081385485e-05,-0.000275081497633,-4.47689087414e-05,1793250640379499264
+30,0.500000000,BASELINE,769,745.589597846,722,683,670,643,886,787.410402154,819,656,632,656,0.40097194918,-0.0154053510162,0.0498431955086,0.999999961364,-1.62702435463e-05,-0.000273873243077,-4.47259703828e-05,1793250640396165376
+31,0.516666667,BASELINE,769,745.012308829,722,683,670,643,886,787.987691171,819,656,632,656,0.400972675859,-0.0154045203435,0.0498432601982,0.99999996166,-1.48564931039e-05,-0.000272883439925,-4.465316686e-05,1793250640412832256
+32,0.533333333,BASELINE,769,745,722,683,670,643,886,788.560186107,819.560186107,655.439813893,632,655.439813893,0.400972384984,-0.0154055090524,0.0498437951149,0.999999961737,-1.69926601736e-05,-0.000272521396302,-4.43723735306e-05,1793250640429498880
+33,0.550000000,BASELINE,769.137694339,745.137694339,722,683,670,642.862305661,886,788.862305661,819.862305661,655.137694339,632,655.137694339,0.400972152654,-0.0154058935031,0.0498440790472,0.99999996176,-1.83125765145e-05,-0.0002723627992,-4.42962172955e-05,1793250640446165504
+34,0.566666667,BASELINE,769.732180209,745.732180209,722,683,670,642.267819791,886,788.267819791,819.267819791,655.732180209,632,655.732180209,0.400972188087,-0.0154041418736,0.0498434963705,0.999999961633,-1.66680678186e-05,-0.000272833751005,-4.49139630247e-05,1793250640462832384
+35,0.583333333,BASELINE,769.683782585,746,722,683,670,642,886,788,819,656,631.683782585,655.683782585,0.400971665895,-0.0154039525632,0.0498432263275,0.999999961384,-1.64451223569e-05,-0.000273730629124,-4.50852618148e-05,1793250640479499264
+36,0.600000000,BASELINE,769.108311737,746,722,683,670,642,886,788,819,656,631.108311737,655.108311737,0.400970686531,-0.0154050441328,0.0498432125997,0.999999961035,-1.73876569552e-05,-0.000274976706467,-4.48905374996e-05,1793250640496165888
+37,0.616666667,BASELINE,769.467879708,745.532120292,722,683,670,642.467879708,886.467879708,788,819,656,631.467879708,655.467879708,0.400971247933,-0.0154061531984,0.0498430960552,0.999999961185,-1.75589598738e-05,-0.000274469399918,-4.45941675749e-05,1793250640512832256
+38,0.633333333,BASELINE,770,745.045327584,722,683,670,643,886.954672416,788,819.045327584,656,632,656,0.400972079557,-0.0154071638499,0.0498429508886,0.999999961423,-1.75556300149e-05,-0.000273647723747,-4.43058743449e-05,1793250640529498880
+39,0.650000000,BASELINE,770,745.635879305,722,683,670,643,886.364120695,788,819.635879305,656,632,656,0.400971864597,-0.0154069419317,0.0498427481781,0.999999961339,-1.76025645857e-05,-0.000273934545514,-4.43982046997e-05,1793250640546165504
+40,0.666666667,BASELINE,769.778073805,745.778073805,722,683,670,643,886,788,819.778073805,656,632,656,0.400971935586,-0.015406190947,0.0498428337494,0.999999961387,-1.75998335482e-05,-0.000273721228297,-4.46468951004e-05,1793250640562832128
+41,0.683333333,BASELINE,769.199271104,745.199271104,722,683,670,643,886,788,819.199271104,656,632,656,0.400972466405,-0.0154045891776,0.0498433829027,0.999999961644,-1.75172359169e-05,-0.000272703644349,-4.51470259646e-05,1793250640579499008
+42,0.700000000,BASELINE,769,745,722,683,670,643,886,788,819,656,632,656,0.400971507744,-0.0154044980358,0.0498431909986,0.999999961474,-1.82449634196e-05,-0.000273254521076,-4.5288276446e-05,1793250640596165632
+43,0.716666667,BASELINE,769,745,722,683,670,643,886,788,819,656,632,656,0.400969767038,-0.0154052000412,0.0498426100062,0.999999961078,-1.93981479132e-05,-0.000274628909937,-4.52410986369e-05,1793250640612832256
+44,0.733333333,BASELINE,769,745,722,683,670,643,886,788,819,656,632,656,0.400970290475,-0.0154051789612,0.0498424904049,0.999999961078,-1.97451554581e-05,-0.000274608208067,-4.52246070996e-05,1793250640629499136
+45,0.750000000,BASELINE,769,745.103787528,722,683,670,642.896212472,886,788,819,656,632,656,0.400970997595,-0.0154052534961,0.0498425647185,0.999999961169,-1.97650017301e-05,-0.000274282958465,-4.51683513879e-05,1793250640646165504
+46,0.766666667,BASELINE,769,745.695472693,722,683,670,642.304527307,886,788,819,656,632,656,0.400971552321,-0.0154061019401,0.0498433435973,0.999999961512,-1.86085988405e-05,-0.000273151995976,-4.49113989863e-05,1793250640662832128
+47,0.783333333,BASELINE,769,746,722,682.718934705,670,642.281065295,886,787.718934705,819,656,632,656,0.400971982228,-0.015405973728,0.0498436290813,0.999999961654,-1.77883411104e-05,-0.00027267853225,-4.49572657048e-05,1793250640679499008
+48,0.800000000,BASELINE,769,746,722,682.139803116,670,642.860196884,886,787.139803116,819,656,632,656,0.400972279763,-0.0154048097841,0.0498433913261,0.999999961585,-1.73245610502e-05,-0.000272902337748,-4.53242683494e-05,1793250640696165632
+49,0.816666667,BASELINE,769,746,722,682.437028898,670,643,885.562971102,787,819,656,632,656,0.400971783425,-0.0154046101943,0.0498429159305,0.999999961425,-1.70046259517e-05,-0.000273502628344,-4.53533644041e-05,1793250640712832256
+50,0.833333333,BASELINE,769,745.986894075,722,683,670.013105925,643,885.013105925,787.013105925,819,656,632,656,0.400971040093,-0.0154047421767,0.0498423911534,0.99999996124,-1.67483253018e-05,-0.00027420868965,-4.52678442255e-05,1793250640729498880
+51,0.850000000,BASELINE,769,745.411810967,722,683,670.588189033,643,885.588189033,787.588189033,819,656,632,656,0.400970538301,-0.0154059330903,0.0498429915542,0.99999996122,-1.72578584392e-05,-0.000274312963604,-4.48784105696e-05,1793250640746165504
+52,0.866666667,BASELINE,769,745.1672192,722,683,670.8327808,643,886,788,819,656,632,656,0.400970310322,-0.0154061809473,0.0498433486457,0.999999961221,-1.74855696361e-05,-0.000274317026435,-4.47522502216e-05,1793250640762832128
+53,0.883333333,BASELINE,769,745.756204748,722,683,670.243795252,643,886,788,819,656,632,656,0.400970772966,-0.0154040501923,0.0498430920538,0.999999961273,-1.70024592535e-05,-0.000274068333121,-4.529012741e-05,1793250640779498752
+54,0.900000000,BASELINE,769,746,722,683,670,642.659746412,885.659746412,788,819,656,632,655.659746412,0.400971362337,-0.0154040132879,0.0498435005392,0.999999961475,-1.75153989084e-05,-0.000273295526247,-4.53030615062e-05,1793250640796165632
+55,0.916666667,BASELINE,769,746,722,683,670,642.079184212,885.079184212,788,819,656,632,655.079184212,0.40097204121,-0.0154054551934,0.0498443787444,0.999999961781,-1.87318121396e-05,-0.00027215255723,-4.4945247555e-05,1793250640812832000
+56,0.933333333,BASELINE,769,745.50439983,722,683,670,642,885.49560017,788,819,656,632,655.49560017,0.400973562182,-0.0154057771657,0.0498453521258,0.999999962349,-1.77594781886e-05,-0.000270164003898,-4.46989105631e-05,1793250640829498880
+57,0.950000000,BASELINE,769,745.069558276,722,683,670,642.069558276,886,787.930441724,819,656,632,656,0.400974747723,-0.015405674222,0.0498461020321,0.999999962825,-1.65575096764e-05,-0.000268496149085,-4.45666686787e-05,1793250640846165248
+58,0.966666667,BASELINE,769,745.644142185,722,683,670,642.644142185,886,787.355857815,819,656,632,656,0.400972532276,-0.015403770382,0.0498451202688,0.999999962366,-1.61980552925e-05,-0.000270126321708,-4.51349836428e-05,1793250640862832128
+59,0.983333333,BASELINE,769.224800991,745.775199009,722,682.775199009,670,642.775199009,886,787.224800991,819,656,632,656,0.400971192275,-0.01540375426,0.0498443347855,0.999999961961,-1.65850624697e-05,-0.000271569176093,-4.53171331542e-05,1793250640879498496
+60,1.000000000,BASELINE,769.815343484,745.184656516,722,682.184656516,670,642.184656516,886,787.815343484,819,656,632,656,0.400971276587,-0.0154068093731,0.0498438686414,0.999999961643,-1.81865303029e-05,-0.000272707272055,-4.4871008246e-05,1793250640896165376
+61,1.016666667,BASELINE,769.601689361,745,722,682.796621278,670.398310639,642,886,788,819,656,632,656,0.400971978642,-0.0154078364559,0.0498446085411,0.999999961852,-1.91778332248e-05,-0.00027194647637,-4.44323941681e-05,1793250640912832256
+62,1.033333333,BASELINE,769.022168617,745,722,683.955662767,670.977831383,642,886,788,819,656,632,656,0.400972961738,-0.0154079408929,0.0498458971265,0.999999962297,-1.98915435458e-05,-0.000270321786153,-4.39971971441e-05,1793250640929498880
+63,1.050000000,BASELINE,769.552576293,745.552576293,722,683.447423707,670.447423707,642.552576293,886,788,819,656,632,656,0.400971366152,-0.0154062638062,0.0498443343973,0.999999961713,-1.77270184232e-05,-0.000272521429227,-4.46352330188e-05,1793250640946165760
+64,1.066666667,BASELINE,769.869460829,746,722,683,670,643,886.130539171,788,819,656,632,656,0.400969998892,-0.0154047802808,0.0498431050673,0.999999961218,-1.63461006285e-05,-0.00027432077507,-4.52146947927e-05,1793250640962832384
+65,1.083333333,BASELINE,769.279504176,746,722,683,670,643,886.720495824,788,819,656,632,656,0.400969796167,-0.0154042273552,0.049843448233,0.999999961217,-1.81259024242e-05,-0.00027417597908,-4.54377773106e-05,1793250640979499008
+66,1.100000000,BASELINE,769.305256903,746,722,682.694743097,670,642.694743097,886.694743097,788,819,656,632,655.694743097,0.400969860316,-0.0154050437963,0.0498433185802,0.999999961281,-1.87495973836e-05,-0.000273919812855,-4.53270326861e-05,1793250640996165632
+67,1.116666667,BASELINE,769.88534031,746,722,682.11465969,670,642.11465969,886.11465969,788,819,656,632,655.11465969,0.400970164734,-0.0154070930948,0.0498427632431,0.999999961405,-1.83324351904e-05,-0.000273563378659,-4.49157394096e-05,1793250641012832256
+68,1.133333333,BASELINE,769.538676758,746,722,682.461323242,670,642.461323242,886,788,819,656,632,655,0.400970909982,-0.0154062506578,0.0498431885789,0.999999961589,-1.71807826412e-05,-0.000272971538311,-4.48683497982e-05,1793250641029498880
+69,1.150000000,BASELINE,769.036969041,746,722,683,670,643,885.963030959,788,819.036969041,656,632,655.036969041,0.400971725781,-0.0154047809785,0.0498438557073,0.999999961777,-1.60283087099e-05,-0.000272347808762,-4.4902648217e-05,1793250641046165504
+70,1.166666667,BASELINE,769.62260294,746,722,683,670,643,885.37739706,788,819.62260294,656,632,655.62260294,0.400971976888,-0.0154045750664,0.0498445257816,0.999999961819,-1.75490974439e-05,-0.000272111500468,-4.48187863551e-05,1793250641062832384
+71,1.183333333,BASELINE,770,746,722,682.79289725,670,643,885.20710275,787.79289725,819.79289725,656,632,655.79289725,0.400971827741,-0.0154050311566,0.0498446559216,0.999999961743,-1.94796859805e-05,-0.000272250991898,-4.48695402609e-05,1793250641079498752
+72,1.200000000,BASELINE,770,746,722,682.210452703,670,643,885.789547297,787.210452703,819.210452703,656,632,655.210452703,0.400970953194,-0.0154066870241,0.0498438075143,0.999999961451,-2.21529737169e-05,-0.000273071562333,-4.51642644712e-05,1793250641096165376
+73,1.216666667,BASELINE,769.632499189,746,722,682,670,643,886,787.367500811,819,656,632,655.367500811,0.400970721854,-0.0154065510647,0.0498436849764,0.999999961434,-2.07181707637e-05,-0.000273260093352,-4.50783704127e-05,1793250641112832256
+74,1.233333333,BASELINE,769.057086489,746,722,682,670,643,886,787.942913511,819,656,632,655.942913511,0.400970854405,-0.0154054013875,0.0498439730959,0.999999961564,-1.69592343002e-05,-0.000273091050935,-4.47771433071e-05,1793250641129499136
+75,1.250000000,BASELINE,769,746,722,682.518696383,670,643,886,788,819,656,632,656,0.400970647403,-0.0154047579288,0.0498437423869,0.999999961508,-1.65169232507e-05,-0.000273291333406,-4.49800583455e-05,1793250641146165504
+76,1.266666667,BASELINE,769,745.903233376,722,683,670,643,886,788,819,656,632,656,0.400970659967,-0.0154046351627,0.0498436326252,0.999999961493,-1.67224129629e-05,-0.000273310712859,-4.51189619649e-05,1793250641162832128
+77,1.283333333,BASELINE,769,745.313723279,722,683,670,643,886,788,819,656,632,656,0.400971981007,-0.0154068799064,0.0498444297077,0.999999961788,-1.83665182637e-05,-0.000272201793793,-4.46491799862e-05,1793250641179498752
+78,1.300000000,BASELINE,769,745.269824659,722,683,670.539649318,643,886,788,819,656,632,656,0.400972202014,-0.015407452492,0.0498446919611,0.999999961853,-1.939717463e-05,-0.000271902068346,-4.45788431279e-05,1793250641196165376
+79,1.316666667,BASELINE,769,745.846590262,722,683,671.693180523,643,886,788,819,656,632,656,0.40097117167,-0.0154061229022,0.0498443458157,0.99999996166,-1.97299977228e-05,-0.000272522846886,-4.49628979158e-05,1793250641212832256
+80,1.333333333,BASELINE,769.422786467,745.577213533,722,682.577213533,671.154427065,643,886.422786467,788,819,656,632,655.577213533,0.400972027111,-0.0154066434753,0.049845200786,0.999999962047,-2.09915029024e-05,-0.000271010874157,-4.4921106114e-05,1793250641229498624
+81,1.350000000,BASELINE,769.99877639,745.00122361,722,682.00122361,670.00244722,643,886.99877639,788,819,656,632,655.00122361,0.400973565897,-0.0154078344845,0.0498464909996,0.999999962638,-2.25895309539e-05,-0.00026872606486,-4.47250020037e-05,1793250641246165248
+82,1.366666667,BASELINE,769.429297912,745.570702088,722,682.570702088,670,643,886.429297912,788,819,656,632,655.570702088,0.400970429061,-0.0154063784289,0.0498445405943,0.999999961581,-2.14093004317e-05,-0.000272651753043,-4.51839787428e-05,1793250641262831872
+83,1.383333333,BASELINE,769,746,722,683,670,643,886,788,819,656,632,656,0.400968439681,-0.0154051583496,0.0498433134496,0.99999996092,-1.94900552699e-05,-0.000275161235637,-4.54549589408e-05,1793250641279498496
+84,1.400000000,BASELINE,769,746,722,683,670,643,886,788,819,656,632,656,0.400969934224,-0.0154046655451,0.0498442841586,0.999999961497,-1.53641043507e-05,-0.000273367998996,-4.51558527486e-05,1793250641296165376
+85,1.416666667,BASELINE,769,745.671836445,722,683,670,643,886,788,819,656,632,656,0.400969788441,-0.0154052232568,0.0498441857182,0.99999996147,-1.63740667049e-05,-0.000273430387419,-4.50368749068e-05,1793250641312832256
+86,1.433333333,BASELINE,769,745.094883236,722,683,670,643,886,788,819,656,632,656,0.400968399081,-0.0154065773933,0.0498432767267,0.999999960974,-2.12777038487e-05,-0.000274899575419,-4.50544572492e-05,1793250641329498880
+87,1.450000000,BASELINE,769,745,722,683,670,643,886,788,819,656,632,656,0.400969203824,-0.0154057330979,0.0498443554234,0.999999961434,-2.08120811117e-05,-0.00027327856307,-4.49200742375e-05,1793250641346165248
+88,1.466666667,BASELINE,769.058664262,745.058664262,722.058664262,683,670,642.941335738,886,788,819,656,632,656,0.400970263412,-0.0154045747433,0.0498455283621,0.999999961969,-1.95091355818e-05,-0.000271421949912,-4.48420008419e-05,1793250641362831872
+89,1.483333333,BASELINE,769.633148139,745.633148139,722.633148139,683,670,642.366851861,886,788,819,656,632,656,0.40096976662,-0.015404459614,0.0498440899984,0.99999996154,-2.0136018032e-05,-0.000272841746252,-4.55220387126e-05,1793250641379498752
+90,1.500000000,BASELINE,770,746,722.786158845,683,670,642.213841155,886,788,819,656,632,656,0.400970046432,-0.015405309956,0.0498439443331,0.999999961478,-2.18228416151e-05,-0.000272919404186,-4.56277511214e-05,1793250641396165632
+91,1.516666667,BASELINE,770,746,722.194495357,683,670,642.805504643,886,788,819,656,632,656,0.400971698377,-0.0154078661276,0.0498460826545,0.999999962059,-2.53824076846e-05,-0.000270625723008,-4.47187243383e-05,1793250641412832256
+92,1.533333333,BASELINE,769.611358418,746,722,682.611358418,670,643,886,788,819,656,632,655.611358418,0.400971585856,-0.0154078483531,0.0498457859242,0.999999962002,-2.38518770208e-05,-0.0002709953678,-4.4600504925e-05,1793250641429498880
+93,1.550000000,BASELINE,769.032396925,746,722,682.032396925,670,643,886,788,819,656,632,655.032396925,0.400970609267,-0.0154065701032,0.049844296736,0.999999961623,-1.98286984115e-05,-0.000272669257707,-4.48695481324e-05,1793250641446165248
+94,1.566666667,BASELINE,769.540597731,746,722,682.540597731,670.540597731,643,886,788,819,656,632,655.540597731,0.400970498866,-0.0154052760272,0.0498448758666,0.99999996193,-1.87075659552e-05,-0.000271573814957,-4.51325076448e-05,1793250641462831872
+95,1.583333333,BASELINE,770,746,722.116526283,683,670.883473717,643,886,788,819.116526283,656,632,656,0.400970482033,-0.0154043664946,0.0498453635083,0.999999962144,-1.78899487642e-05,-0.000270807010606,-4.53315866982e-05,1793250641479498496
+96,1.600000000,BASELINE,770,746,722.705792493,683,670.294207507,643,886,788,819.705792493,656,632,656,0.400970636504,-0.0154050208362,0.0498449826168,0.999999961817,-1.76058192449e-05,-0.000272039412649,-4.52729697022e-05,1793250641496165376
+97,1.616666667,BASELINE,769.708901135,745.708901135,722.708901135,683,670,643,886,788,819.708901135,656,632,656,0.400970623514,-0.0154056246178,0.0498447706987,0.999999961665,-1.76477354958e-05,-0.000272637220416,-4.50353183533e-05,1793250641512832256
+98,1.633333333,BASELINE,769.127543213,745.127543213,722.127543213,683,670,643,886,788,819.127543213,656,632,656,0.400970443548,-0.0154061779852,0.0498447272665,0.999999961686,-1.80147569072e-05,-0.000272602264606,-4.46191491605e-05,1793250641529498880
+99,1.650000000,BASELINE,769,745,722,683,670,643,885.550698564,788,819,656,632,656,0.400969342478,-0.015406235422,0.0498439776609,0.999999961385,-1.80883037551e-05,-0.000273688128396,-4.46992220489e-05,1793250641546165504
+100,1.666666667,BASELINE,769.02472883,745.02472883,722,683,670,643,885.02472883,788,819,655.97527117,632,656,0.400968009269,-0.0154061394683,0.0498430582674,0.999999960998,-1.8097390797e-05,-0.000275064624509,-4.49097366614e-05,1793250641562832128
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+102,1.700000000,BASELINE,770,745.824625564,722.175374436,683,670,643,886,788,819,655.175374436,632,656,0.40096765873,-0.0154059812407,0.0498430609798,0.999999960849,-1.93226678399e-05,-0.000275535985185,-4.4822630183e-05,1793250641596166400
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+104,1.733333333,BASELINE,769.646902357,745,722.646902357,683,670,643,886,788,819,656,632,656,0.400972028275,-0.0154083423483,0.0498454637105,0.99999996207,-2.2066563166e-05,-0.000270910062811,-4.45157768512e-05,1793250641629499392
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+106,1.766666667,POSE1_TO_POSE2_PRESS,770,746,723,683,670,643,886,788,819,656,632,656,0.400971167686,-0.0154059608795,0.0498450562951,0.999999961951,-1.89175446752e-05,-0.000271570787323,-4.45961492153e-05,1793250641677270272
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.409511173,746,722.409511173,683,670,643,886,788,819,656,632,656,0.400970144789,-0.0154061666421,0.049844004568,0.999999961642,-2.03260600071e-05,-0.000272554507437,-4.49064628018e-05,1793250641693937408
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.174431196,746,722,683,670,643,886,788,819,656,632,656,0.400969569951,-0.0154065906697,0.0498435854628,0.999999961481,-2.12247688237e-05,-0.000273050989444,-4.50731232642e-05,1793250641710604288
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+111,1.850000000,POSE1_TO_POSE2_PRESS,769.090304072,745.090304072,722.909695928,683,670,643,886,788,819,656,632,656,0.400965988865,-0.0154055303211,0.0498428546113,0.999999960634,-1.65369508425e-05,-0.000276407663551,-4.53649653001e-05,1793250641760603136
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+113,1.883333333,POSE1_TO_POSE2_PRESS,769.947922453,746,722,682.052077547,670,643,886,787.947922453,819,656,632,655.052077547,0.400971483674,-0.015404229128,0.0498466168303,0.999999962196,-1.75604299136e-05,-0.000270699598255,-4.49501052924e-05,1793250641793936384
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.348840393,746,722,682.651159607,670,643,886,787.348840393,819,656,632,655.651159607,0.400970114643,-0.0154062218834,0.0498454818693,0.999999961608,-1.93794805481e-05,-0.000272771495813,-4.47569585715e-05,1793250641810603264
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.241604399,746,722,682.758395601,670,643,886,787.241604399,819,656,632,656,0.400972642771,-0.0154073454912,0.0498461873065,0.999999962084,-2.04631637987e-05,-0.000270971254873,-4.45784713863e-05,1793250641827270144
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.820008669,746,722,682.179991331,670,643,886,787.820008669,819,656,632,656,0.40098060359,-0.0154072574948,0.0498494582845,0.999999964015,-2.05217345967e-05,-0.000263773199152,-4.44204198113e-05,1793250641843936768
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+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,722.964993217,682.964993217,670,643,886,788,819,656,632,656,0.401023945598,-0.0154092668924,0.0498636481522,0.999999971772,-1.90714862491e-05,-0.000232914641326,-4.29369353737e-05,1793250641877269760
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+125,2.083333333,POSE1_TO_POSE2_PRESS,769.975498946,746,722,683,670,643,886,787.975498946,819,656,632,655.975498946,0.401562255364,-0.0154413579613,0.0499400294366,0.999999994121,-2.57484559955e-05,-0.000100559954325,-3.13619678486e-05,1793250641993936384
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.384869054,746,722,683,670,643,886,787.384869054,819,656,632,655.384869054,0.401688837882,-0.0154492635452,0.0499435002284,0.999999994371,-2.92089975409e-05,-9.75324565775e-05,-2.98760172215e-05,1793250642010602752
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.20146575,745.79853425,722,683,670,643,886.20146575,787.20146575,819,656.20146575,632,655.20146575,0.401822368916,-0.0154572661645,0.0499450409095,0.999999994308,-3.1793603934e-05,-9.77502460259e-05,-2.86019549773e-05,1793250642027269376
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.779766663,745.220233337,722,683,670,643,886.779766663,787.779766663,819,656.779766663,632,655.779766663,0.401968896906,-0.0154654502843,0.0499429713811,0.999999993668,-3.27398015947e-05,-0.00010403824045,-2.77242232609e-05,1793250642043936000
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.642494358,745.357505642,722,683,670.357505642,643,886.642494358,788,819,656.642494358,632,656,0.402137949129,-0.015475379615,0.0499424592804,0.999999993382,-3.61892033996e-05,-0.00010595034427,-2.64896920511e-05,1793250642060602880
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.065100944,745.934899056,722,683,670.934899056,643,886.065100944,788,819,656.065100944,632,656,0.402320855141,-0.0154863823576,0.0499429050926,0.999999993308,-4.11782284888e-05,-0.000105171009138,-2.50357073102e-05,1793250642077269760
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,722.509355519,683.509355519,670.490644481,643,886,788,819,656,632,656,0.40254012298,-0.0154961949004,0.0499480656286,0.999999994166,-3.92996099113e-05,-9.79705818233e-05,-2.2920538484e-05,1793250642093936384
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.085715782,746,722.914284218,683.914284218,670,643,886.085715782,788,819,656,632,655.914284218,0.402770369823,-0.0155061121708,0.0499539502454,0.999999995129,-3.69397223467e-05,-8.9158458421e-05,-2.06721918133e-05,1793250642110603264
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.675465844,746,722.324534156,683.324534156,670,643,886.675465844,788,819,656,632,655.324534156,0.403038005017,-0.0155175346556,0.0499605695762,0.999999996293,-3.68817072907e-05,-7.56672703188e-05,-1.8134791776e-05,1793250642127269632
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745.739041185,722.260958815,683,670,643,886.739041185,788,819,656,632,655.260958815,0.403324828692,-0.015524228445,0.0499670917541,0.999999997516,-3.04036129106e-05,-6.18024653478e-05,-1.49360453691e-05,1793250642143936000
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,745.158757481,722.841242519,683,670,643,886.158757481,788,819,656,632,655.841242519,0.40363513253,-0.0155251359178,0.0499734950494,0.999999998684,-1.6069523621e-05,-4.74804811238e-05,-1.0928035948e-05,1793250642160602880
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.584942829,745.415057171,722.584942829,683.415057171,670.415057171,643,886.415057171,788,819,656,632,656,0.403964266758,-0.0155138906731,0.0499777281239,0.999999999081,1.35705639158e-05,-3.95115725571e-05,-9.59593422857e-06,1793250642177269248
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.013564599,745.986435401,722.013564599,683.986435401,670.986435401,643,886.986435401,788,819,656,632,656,0.404300492981,-0.0154980684067,0.049981143838,0.999999998182,4.89752782801e-05,-3.39353937084e-05,-9.27164730317e-06,1793250642193935872
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.562021372,745.437978628,722.562021372,683.437978628,670.437978628,643,887,788,819,656,632,656,0.404692247622,-0.0155034597217,0.0499869589847,0.999999997977,6.08112517283e-05,-1.77501254839e-05,-5.7538318954e-06,1793250642210603008
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,745.142467482,723,683,670,643,887,788,819,656,632,656,0.405088000704,-0.0155101564758,0.0499878646947,0.999999997344,7.18599759635e-05,-1.19374475172e-05,-2.45164419963e-06,1793250642227269888
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745.738045472,723,683,670,643,887,788,819,656,632,656,0.405492175958,-0.0155193644448,0.049972970619,0.999999995822,8.22277073723e-05,-3.99347742554e-05,-8.22387354315e-08,1793250642243936512
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.677814361,746,722.677814361,683.322185639,670,643,887,788,819,656,632,656,0.405913800988,-0.0155234903923,0.0499552767103,0.999999992369,9.99132894449e-05,-7.26480455903e-05,1.24681489849e-06,1793250642260602880
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.102654887,746,722.102654887,683.897345113,670,643,887,788,819,656,632,656,0.406349127283,-0.0155236260373,0.0499353844261,0.999999986444,0.000123344705158,-0.000109064186933,1.75900495884e-06,1793250642277269248
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,722,684.453066705,670,643,887,788,819,656,632,656,0.406827901188,-0.0155222214348,0.0499237712385,0.999999980262,0.000148796097316,-0.000131605066124,3.86172420914e-06,1793250642293935872
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.005115084,745.994884916,722,685,670,643,887,788,819,656,632,656,0.407317032358,-0.0155205249967,0.0499142458244,0.999999973395,0.000174673499121,-0.000150529306138,6.3371044893e-06,1793250642310602752
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.623035597,745.376964403,722,685,670,643,887,788,819,656,632,656,0.407916143317,-0.0155239553801,0.0499393534607,0.999999975389,0.0001990123211,-9.7314854773e-05,1.20600874394e-05,1793250642327269376
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,745.225495213,722.225495213,685,670,643,887,788,819.225495213,656,632,656,0.408526872034,-0.015528013871,0.0499655467919,0.999999973802,0.000223409855061,-4.64387722994e-05,1.80854867765e-05,1793250642343936256
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,745.803766957,722.803766957,685,670,643,887,788,819.803766957,656,632,656,0.409155776146,-0.0155330550059,0.0499934386394,0.99999996897,0.000247899240103,7.79039835644e-07,2.45840018371e-05,1793250642360603136
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.61985826,745.61985826,723,685,670,643,887.38014174,788.38014174,820,656,632,656,0.409776193413,-0.0155364983523,0.0500004643443,0.999999962564,0.000271900834899,9.040111116e-06,2.93253064281e-05,1793250642377269760
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.044457862,745.044457862,723,685,670,643,887.955542138,788.955542138,820,656,632,656,0.410392251419,-0.0155391209993,0.0499967722173,0.999999955741,0.000295651877045,-2.70883135037e-06,3.31640249765e-05,1793250642393936384
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.541251193,722.458748807,685,670,643,888,788.458748807,819.458748807,656,632,656,0.410988570213,-0.0155333797047,0.0499640052606,0.999999942604,0.000328681456511,-7.52057238258e-05,3.32472779371e-05,1793250642410603264
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,722,685.126166098,670.126166098,643,888,788,819.252332197,656,631.873833902,656,0.411618758389,-0.015529344163,0.0499377550945,0.999999935786,0.000332466406997,-0.000129374610196,3.39995355388e-05,1793250642427269888
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722,685.705132821,670.705132821,643,888,788,820.410265643,656,631.294867179,656,0.412376433006,-0.015533943927,0.049943630615,0.999999968209,0.000228506248352,-9.95100070939e-05,3.82813727403e-05,1793250642443936256
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722,686,670.715125438,643,888.284874562,788.284874562,821,656,631.284874562,656,0.413146781096,-0.0155395237056,0.0499579171824,0.999999984321,0.000158139302602,-6.69862604357e-05,4.31613198801e-05,1793250642460602624
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,686,670.134579234,643,888.865420766,788.865420766,821,656,631.865420766,656,0.413930283092,-0.0155461206432,0.0499809335858,0.999999990793,0.000122638780699,-3.17025826282e-05,4.86620468292e-05,1793250642477269248
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722.440588337,686.440588337,670.440588337,643,889,788.559411663,821.440588337,656,632,656,0.414683354636,-0.0155536407122,0.0499674734585,0.999999996841,4.77422958555e-05,-5.64294571439e-05,2.92466592362e-05,1793250642493936128
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.0145231,746,722.9854769,686.9854769,670.9854769,643,889,788,822,656,632,656,0.415428288105,-0.0155613316108,0.0499433126081,0.999999994493,-3.60427061675e-05,-9.85188876749e-05,3.06372512201e-06,1793250642510603008
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.603908317,746,722.396091683,686.396091683,670.396091683,643,889,788,822,656,632,656,0.416214583517,-0.0155647577661,0.0499312949171,0.999999993812,-1.08075225652e-06,-0.000111048191967,6.62220041716e-06,1793250642527269632
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,722,686.190061996,670,643,889,788,822.190061996,656,632,656,0.417036247541,-0.0155658422127,0.0499327648103,0.999999993872,3.77411586213e-05,-0.000103445769447,1.14522791673e-05,1793250642543935744
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,722,686.769593662,670,643,889,788,822.769593662,656,632,656,0.417930387879,-0.0155621280957,0.0499618730807,0.999999994764,8.44727820691e-05,-5.45899804372e-05,1.88880915564e-05,1793250642560602368
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.653798017,746,722,687.346201983,670,643,889,788,823,655.653798017,632,656,0.418786906557,-0.0155588870209,0.0499702307224,0.999999991401,0.000119624002521,-4.85738857645e-05,2.29800408534e-05,1793250642577268992
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.079118991,746,722,687.920881009,670,643,889,788,823,655.079118991,632,656,0.419618596672,-0.0155559581317,0.0499648939228,0.999999986358,0.000147132699289,-7.08299787171e-05,2.48651973325e-05,1793250642593935616
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.494675096,746,722.494675096,688,670,643,889.494675096,788,823,655.494675096,632,656,0.4205109895,-0.0155550042605,0.0499632215428,0.999999988104,0.000141989320308,-5.48445419965e-05,2.49430849187e-05,1793250642610602496
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.929437232,746,723,688,670,643,890,788,823.070562768,655.929437232,632,656,0.421415289086,-0.015555252582,0.0499646294621,0.999999990231,0.000133935252885,-3.11687283362e-05,2.5061326389e-05,1793250642627269120
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.337021689,746,723,688,670,643,890,788,823.662978311,655.337021689,632,656,0.422335971077,-0.0155620598234,0.049984491237,0.999999989398,0.000142908795117,4.22831970074e-06,2.76119358392e-05,1793250642643935744
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,722.750769327,688.249230673,670,643,890.498461347,788.249230673,824,655.249230673,632,656,0.423258724632,-0.0155672821924,0.0499894294003,0.999999988189,0.00015051724846,1.14892563906e-05,2.88807523787e-05,1793250642660602368
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,722.172649913,688.827350087,670,643,891.654700173,788.827350087,824,655.827350087,632,656,0.424184211985,-0.0155704131397,0.0499746741323,0.999999987208,0.000156324310256,-1.83786596844e-05,2.84580950875e-05,1793250642677268992
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,722.403447498,689,670,643,892,788.596552502,824,655.596552502,632,656,0.4251282484,-0.0155713533827,0.0499829675727,0.999999989171,0.000143920996014,-6.13890139712e-06,3.01165436498e-05,1793250642693935616
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,722.978683901,689,670,643,892,788.021316099,824,655.021316099,632,656,0.426080182995,-0.0155713608185,0.050001075209,0.999999991519,0.000123763659813,2.40304067148e-05,3.26611320399e-05,1793250642710602240
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.565072038,746,723,689,670,643.565072038,892.565072038,788.565072038,824.565072038,655.565072038,632,656,0.426956914539,-0.0155669382036,0.0499957969606,0.999999989632,0.00013984495087,-8.97778665596e-06,3.31462926312e-05,1793250642727268864
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,723,689.301477213,670,643.849261393,892.849261393,788.849261393,825,655.849261393,632,656,0.42784139686,-0.0155615615872,0.049982147947,0.999999985743,0.000158606598634,-4.79524821886e-05,3.2549223214e-05,1793250642743935488
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746,723,690.466220272,670,643.266889864,892.266889864,788.266889864,825,655.266889864,632,656,0.428756359902,-0.0155539413894,0.0499471065807,0.999999978478,0.000181050110378,-9.7050312222e-05,2.9080171722e-05,1793250642760602368
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746,722.692367585,690.692367585,670,643,892.307632415,788,825.307632415,655,632,656,0.429705453282,-0.0155521060347,0.0499369578509,0.999999975869,0.000191538975506,-0.000103791208707,2.83268002597e-05,1793250642777268992
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,722.12448561,690.12448561,670,643,892.87551439,788,825.87551439,655,632,656,0.430683420053,-0.0155551645172,0.0499478676895,0.999999978348,0.000191914498713,-7.46991647122e-05,2.98708284234e-05,1793250642793935616
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.544737134,746,722.455262866,690,670,643,893.455262866,788,826,655,632,656,0.431613333588,-0.0155546877758,0.0499396463359,0.999999979955,0.000176302606578,-9.01879716385e-05,2.95436873847e-05,1793250642810603008
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,894,788,826,655,632,656,0.432530345821,-0.015553543639,0.0499281208838,0.999999980517,0.000158524874684,-0.000114020127895,2.88982196785e-05,1793250642827270400
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,894,788,826,655,632,656,0.433455737321,-0.0155570186907,0.0499459622874,0.999999981333,0.00017374571559,-7.85675290618e-05,3.11937778821e-05,1793250642843937024
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.213174302,723,690,670,643,894.213174302,787.786825698,826.213174302,655.213174302,632,656,0.434378447543,-0.0155589152809,0.0499627611222,0.999999980432,0.000188265433214,-5.08498853441e-05,3.32621508376e-05,1793250642860603904
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.791930326,723,690,670,643,894.791930326,787.208069674,826.791930326,655.791930326,632,656,0.435296559675,-0.0155581049005,0.0499777720142,0.999999978409,0.000201582767347,-3.6397241161e-05,3.49409145302e-05,1793250642877270272
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,690.7371395,670,643,895,787.36856975,827,656,632,656,0.436179465903,-0.0155534005521,0.0499635605481,0.999999978165,0.000192599105461,-7.37132232781e-05,3.37896098488e-05,1793250642893936640
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,691.888042143,670,643,895,787.944021071,827,656,632,656,0.437042610679,-0.0155465104838,0.0499329463041,0.999999975069,0.000171097688988,-0.000140087409444,3.10497616717e-05,1793250642910603264
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.482143983,723,691.482143983,670,643,895,787.482143983,827,655.482143983,632,655.482143983,0.437957966453,-0.0155523160397,0.0499531458071,0.999999981027,0.000171579339172,-8.61384207951e-05,3.29622823109e-05,1793250642927269888
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.094287396,723,691.094287396,670,643,895,787.094287396,827,655,632,655.094287396,0.438862023118,-0.0155586425525,0.0499738532146,0.999999983468,0.000175493822197,-3.24021688848e-05,3.48646236256e-05,1793250642943936512
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.685315385,723,691.685315385,670,643,895,787.685315385,827,655,632,655.685315385,0.439676910411,-0.0155605060315,0.0499683882076,0.999999981148,0.000185013391785,-4.80971853137e-05,3.40720704049e-05,1793250642960603648
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,693,670,642.093817524,896,786.093817524,827.093817524,655,632,656,0.446328016436,-0.0155997767796,0.0498310567632,0.999999964073,0.00014392281137,-0.000224306886135,2.87570594925e-05,1793250643110603264
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,693,670,642,896,785.516344977,827.483655023,655,631.516344977,656,0.446954092764,-0.015605022486,0.0498119968118,0.999999956424,0.000145972998561,-0.000255056040524,2.81224898486e-05,1793250643127269888
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746.235686291,723.235686291,693,669,641,896,785.764313709,828,655,631,656,0.448653181633,-0.0156197835835,0.0497396508781,0.999999921113,0.000150526972797,-0.000366658810686,2.60188991309e-05,1793250643177269760
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746.815376929,723.815376929,693,669,641,896,785.184623071,828,655,631,656,0.449210608946,-0.0156293050107,0.0497466326176,0.999999925862,0.000147016390435,-0.000354738321532,2.87005283801e-05,1793250643193936384
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,724,693,669,641,896.39219591,784.60780409,828,655,631,656,0.449752054643,-0.0156376834661,0.0497615581629,0.999999932798,0.000146172450116,-0.00033464943703,3.23721689834e-05,1793250643210603008
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,724,693,669,641,896.967672957,784.032327043,828,655,631,656,0.450286031855,-0.0156455277885,0.0497801960111,0.999999940311,0.000146574685567,-0.000310743293796,3.65064622801e-05,1793250643227269632
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,724,693,669.552754229,640.447245771,897,784,828,655,630.447245771,656,0.450742501188,-0.0156490682497,0.0497793373199,0.999999936014,0.000145639414708,-0.000324511353576,3.81202373516e-05,1793250643243936512
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769.798210143,747,724,693,669.798210143,639,896.798210143,783,828,655.201789857,628,656,0.453636996994,-0.0156802012292,0.0497309316755,0.999999916913,-6.03244950339e-05,-0.000403122425038,5.26542151482e-06,1793250643377270528
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+240,4.000000000,POSE1_TO_POSE2_PRESS,769.232709042,747.232709042,724,693,669,638,896,781.767290958,828,655.767290958,627,656,0.455745104094,-0.0157418144375,0.049630215571,0.999999838067,-5.91277200084e-05,-0.00056518276635,3.0627928537e-05,1793250643910602752
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747,724,693,669,638,896.342205692,781.657794308,828.342205692,656,627,656,0.455745701874,-0.0157422350509,0.0496302999304,0.999999838111,-5.95785541693e-05,-0.000565050836775,3.07633757636e-05,1793250643927269376
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747,724,693,669,638,896.913163844,781.086836156,828.913163844,656,627,656,0.455746284564,-0.0157426975894,0.04962956923,0.999999837866,-5.97528417241e-05,-0.000565462285016,3.08368921373e-05,1793250643943936256
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.490202766,747,724,693,669,638,897,781.490202766,828.509797234,655.509797234,627,656,0.455746605604,-0.0157415655594,0.0496293981429,0.999999837632,-5.94685755475e-05,-0.000565915539053,3.06589348526e-05,1793250643960603136
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.929875053,747,724,692.929875053,669,638,896.929875053,782,828,655,627,656,0.455746749622,-0.015740084888,0.0496292813997,0.999999837366,-5.89657854636e-05,-0.000566450868567,3.0420319786e-05,1793250643977270016
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.336579691,747,724,692.336579691,669,638,896.336579691,782,828,655,627,656,0.455745923083,-0.0157381369902,0.0496288212265,0.999999836846,-5.74463179195e-05,-0.000567542581814,3.0065683116e-05,1793250643993936640
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.249800532,747,724,692,669,638,896.249800532,781.750199468,828.249800532,655.249800532,627,656,0.455745315051,-0.0157375716757,0.0496279683887,0.999999836254,-5.70619123448e-05,-0.000568628815375,2.99535175709e-05,1793250644010603264
+247,4.116666667,POSE1_TO_POSE2_PRESS,769.827114405,747,724,692,669,638,896.827114405,781.172885595,828.827114405,655.827114405,627,656,0.4557449935,-0.0157388190652,0.0496266007283,0.99999983557,-5.81656856809e-05,-0.000569707864676,3.01592557346e-05,1793250644027270144
+248,4.133333333,HOLD_POSE2,770,747,724,692,669,638,896,781,828,655,626,656,0.455747213735,-0.0157414285669,0.0496283790082,0.999999836723,-6.01550462042e-05,-0.000567461170356,3.03848752891e-05,1793250644061178624
+249,4.150000000,HOLD_POSE2,769.412869143,747,724,692.587130857,669,638,896.587130857,781.587130857,828,655.587130857,626.587130857,656,0.455745566726,-0.0157387163883,0.0496269650589,0.999999835769,-5.79171248767e-05,-0.000569397875603,2.990209951e-05,1793250644077844992
+250,4.166666667,HOLD_POSE2,769,747,724,693,669,638,897,782,828,655.828223261,627,656,0.455744806433,-0.0157376275544,0.0496261085027,0.999999835232,-5.73636771085e-05,-0.000570403357406,2.9751394379e-05,1793250644094511616
+251,4.183333333,HOLD_POSE2,769,747,724,693,669,638,897,782,828,655.249464784,627,656,0.455746146991,-0.0157403848269,0.0496265725489,0.999999835694,-6.08011649017e-05,-0.0005692025401,3.03874469484e-05,1793250644111178240
+252,4.200000000,HOLD_POSE2,769,747,723.671667592,693,668.671667592,638,897,782,828,655.328332408,627,656.328332408,0.455746401921,-0.0157404228434,0.0496267125388,0.999999835768,-6.16839127946e-05,-0.000568981839195,3.03222310524e-05,1793250644127845376
+253,4.216666667,HOLD_POSE2,769,747,723.09459868,693,668.09459868,638,897,782,828,655.90540132,627,656.90540132,0.455745834405,-0.0157384008187,0.0496266070317,0.999999835553,-6.06312527727e-05,-0.000569503650291,2.97257514883e-05,1793250644144512768
+254,4.233333333,HOLD_POSE2,769.48127684,747.48127684,723.48127684,693,668.48127684,638,896.51872316,782,828,656,627,656.51872316,0.455746268273,-0.0157378904669,0.0496264522301,0.99999983546,-5.88201260623e-05,-0.000569854777418,2.97481417068e-05,1793250644161179136
+255,4.250000000,HOLD_POSE2,769.94188771,747.94188771,724,693,669,638,896.05811229,781.94188771,828,656,627,656,0.455746784515,-0.0157375728076,0.0496263603503,0.999999835406,-5.69510859097e-05,-0.000570135546861,2.98479289636e-05,1793250644177845248
+256,4.266666667,HOLD_POSE2,769.354171483,747.354171483,724,693,669,638,896.645828517,781.354171483,828,656,627,656,0.455746262102,-0.0157363100493,0.04962692999,0.999999835505,-5.59095503064e-05,-0.000570080107937,2.95472188175e-05,1793250644194511616
+257,4.283333333,HOLD_POSE2,769,747.230179044,724,692.769820956,669,638,897,781,828.230179044,655.769820956,627,656,0.455746144091,-0.0157360365659,0.0496269069269,0.999999835561,-5.5543363846e-05,-0.000570019931529,2.9494663408e-05,1793250644211178240
+258,4.300000000,HOLD_POSE2,769,747.80942542,724,692.19057458,669,638,897,781,828.80942542,655.19057458,627,656,0.455746639356,-0.0157372633215,0.049625985028,0.999999835553,-5.62013468403e-05,-0.000569952570716,2.981843556e-05,1793250644227844608
+259,4.316666667,HOLD_POSE2,769.387951316,747.612048684,724,692.387951316,668.612048684,638,897,781,828.612048684,655.387951316,626.612048684,656,0.455746460637,-0.0157372893189,0.049625501211,0.999999834988,-5.73939751142e-05,-0.000570833577227,2.96434787233e-05,1793250644244511232
+260,4.333333333,HOLD_POSE2,769.966123996,747.033876004,724,692.966123996,668.033876004,638,897,781,828.033876004,655.966123996,626.033876004,656,0.455745951448,-0.0157367265574,0.0496252321957,0.999999834147,-5.88487522001e-05,-0.000572179589823,2.92239837369e-05,1793250644261177856
+261,4.350000000,HOLD_POSE2,769.460622906,747,724,693,668.539377094,638,897,781.539377094,828,655.460622906,626,656,0.45574615238,-0.0157376612691,0.049625644484,0.999999834292,-5.78308693781e-05,-0.000572005853595,2.96876589869e-05,1793250644277845248
+262,4.366666667,HOLD_POSE2,769,747,724,692.883852457,669,638,896.883852457,782,828.116147543,655.116147543,626.116147543,656,0.455746380252,-0.0157384973191,0.0496260258875,0.999999834463,-5.70811109361e-05,-0.000571761657827,3.00834422235e-05,1793250644294512128
+263,4.383333333,HOLD_POSE2,769,747,724,692.291402104,669,638,896.291402104,782,828.708597896,655.708597896,626.708597896,656,0.45574653736,-0.0157385465752,0.049626106749,0.999999834492,-5.80619819699e-05,-0.000571616402092,2.99754007056e-05,1793250644311178496
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,670,638,897,781,828,655,626,656,0.455751508552,-0.0157379826049,0.0496285292474,0.999999837088,-6.20458573216e-05,-0.000566666014485,2.94009836539e-05,1793250644348247040
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,668.85299491,638,897,781.573502545,828,655,626.573502545,656,0.45574990667,-0.0157372613852,0.0496282719248,0.99999983663,-5.80662182751e-05,-0.00056786878801,2.99000201189e-05,1793250644364914432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.848929805,747,724,692,668,638,897,782,828.151070195,655,626.848929805,656.151070195,0.455748465401,-0.0157368342109,0.0496276973278,0.999999836039,-5.5537682183e-05,-0.00056914345502,3.02301395959e-05,1793250644381581824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.259568159,747,724,692,668,638,897,782,828.740431841,655,626.259568159,656.740431841,0.455747490109,-0.0157372601337,0.0496262022405,0.999999835103,-5.72191484442e-05,-0.000570626702853,3.00701898457e-05,1793250644398247936
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.32357424,668.32357424,638,896.67642576,782,829,655.32357424,626,656.67642576,0.455747752014,-0.0157383194535,0.0496259713425,0.999999834948,-5.86520782874e-05,-0.000570753715832,3.00672404284e-05,1793250644414914560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,724,692.901821667,668.901821667,638,896.098178333,782,829,655.901821667,626,656.098178333,0.455748987671,-0.0157398772965,0.0496267354406,0.999999835407,-5.98893943062e-05,-0.000569813286974,3.01878601136e-05,1793250644431581440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.519209219,668.519209219,638,896,781.519209219,828.519209219,655.519209219,626,656,0.455747467801,-0.0157384897644,0.0496257322474,0.999999834548,-6.01991566882e-05,-0.000571301605466,2.99066302626e-05,1793250644448248064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,668,638,896.059275851,781,828,655,626,656,0.455745549297,-0.0157366937862,0.0496245482837,0.999999833574,-6.02674509938e-05,-0.000573013792268,2.95802081983e-05,1793250644464914688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,668,638,896.632286669,781,828,655,626,656,0.455745059927,-0.0157365783871,0.049624930038,0.999999833971,-5.9887017055e-05,-0.000572361386729,2.9574368907e-05,1793250644481581056
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.210973575,747,724,692,668.210973575,638,896.789026425,781.210973575,828.210973575,655,626.210973575,656,0.455742248888,-0.0157363362289,0.0496237247968,0.999999833217,-5.91777816331e-05,-0.000573755000004,2.94814089977e-05,1793250644498247680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.799826997,747,724,692,668.799826997,638,896.200173003,781.799826997,828.799826997,655,626.799826997,656,0.455735279454,-0.0157358670292,0.0496196770498,0.999999830385,-5.78796220042e-05,-0.000578813286856,2.92324052532e-05,1793250644514914304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,668.615818221,638,896,782,828.615818221,655,626.615818221,656,0.45571141564,-0.0157349988412,0.0496078493942,0.999999818693,-5.81267718056e-05,-0.00059869992637,2.81871430589e-05,1793250644531580672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,668.033780216,638,896,782,828.033780216,655,626.033780216,656,0.455678851106,-0.0157339251713,0.0495920150325,0.999999801814,-5.91697663073e-05,-0.000626223268328,2.67318023136e-05,1793250644548247296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.458978929,747,724,692.541021071,668.541021071,638,896,781.458978929,828,655,626.541021071,656,0.455624906933,-0.0157294705586,0.0495705736822,0.999999779041,-5.64196169248e-05,-0.000661910876461,2.46926774135e-05,1793250644564914176
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,692.885585762,669,638,896,781,828,655,626.885585762,656,0.455567576167,-0.0157246951266,0.0495498099952,0.999999757365,-5.36900370674e-05,-0.000694175861223,2.25137716614e-05,1793250644581580544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.31602031,669,638,896,781,828,655,626.31602031,656,0.455502013451,-0.0157194721306,0.0495331164176,0.999999745815,-5.19720050245e-05,-0.000710824216061,1.99218920373e-05,1793250644598247424
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,669,637.733970665,896,781,828,655,626,656,0.455430218695,-0.0157150860062,0.0495214102054,0.999999736026,-5.04720387938e-05,-0.000724613944706,1.83047486964e-05,1793250644614914304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,669,637.13636068,896,781,828,655,626,656,0.455350656286,-0.0157117429642,0.0495159202779,0.999999728632,-4.92438712885e-05,-0.000734840662665,1.79025230029e-05,1793250644631580672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.428315303,747,723.571684697,692.428315303,668.571684697,637,896,781,828,655,626,656,0.455259264985,-0.0157079572322,0.0495155197296,0.999999727679,-4.84791621589e-05,-0.000736186805241,1.7886002797e-05,1793250644648247296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.983254887,747,723.016745113,692.983254887,668.016745113,637,896,781,828,655,626,656,0.45516437667,-0.0157040406264,0.0495166237715,0.999999728649,-4.78514667958e-05,-0.000734907553557,1.79835099971e-05,1793250644664913920
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.420758974,747,723.579241026,693,668.579241026,637,896.579241026,781,828,655,626.579241026,656,0.45504840992,-0.0156948847134,0.0495184077104,0.999999731944,-4.07120165585e-05,-0.000730858258603,1.73390773656e-05,1793250644681580544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.174241547,747,724,692.825758453,668.825758453,637.174241547,896.825758453,781,828.174241547,655,627,656,0.454922003791,-0.0156854411555,0.0495197820977,0.999999734504,-3.49291923592e-05,-0.000727669029793,1.64000742711e-05,1793250644698247424
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.763848007,747,724,692.236151993,668.236151993,637.763848007,896.236151993,781,828.763848007,655,627,656,0.454772275196,-0.015675700496,0.0495201297496,0.999999735278,-3.28633313754e-05,-0.000726735519897,1.48138903379e-05,1793250644714914048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.652933351,747,724,692,668.347066649,638,896,781,828.652933351,655,627,656,0.45460427951,-0.0156662894706,0.0495185812134,0.999999734245,-2.955508307e-05,-0.00072831931984,1.3711392281e-05,1793250644731580672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.073982516,747,724,692,668.926017484,638,896,781,828.073982516,655,627,656,0.454424079095,-0.0156570986814,0.0495157657851,0.999999731985,-2.54167635224e-05,-0.000731584999349,1.29320570828e-05,1793250644748247808
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,668.347660825,638,896,781.652339175,828,655,627.652339175,656,0.453773466854,-0.0156252174762,0.0495362154396,0.999999749325,-1.34704300982e-05,-0.000707849331187,1.08155291446e-05,1793250644798247424
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,769.823073755,747,724,692.823073755,668.823073755,638,896,782,828,655,627.176926245,656,0.45324236587,-0.0156061550647,0.049566047818,0.999999777051,-1.47395146385e-05,-0.000667531056221,9.06944588407e-06,1793250644831580416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769.592574591,747,724,692.592574591,669,638,896,782.407425409,828,655,627.407425409,656,0.452924956757,-0.0156034713791,0.0495743933098,0.999999780793,-2.40787208137e-05,-0.000661641924678,8.03847237198e-06,1793250644848247552
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df525b67157547077c4f9e0d966392d79c07840a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3d15b4929f7d4d2f7209be4a799d9fc84d15efa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baa9b79565d9b72b6ccac815b2b2d7f9ce9829b96b6f2fc2f0d68d1e9b65a128
+size 26295624
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f70b5541902a64d3b7be12a8293d3d0b212464d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+28,0.466666667,BASELINE,769.768642995,746,722,683,670,642.768642995,886.231357005,787,819,656,632,656,0.400978182523,-0.0154074593024,0.0498466727362,0.999999955855,-0.000122292965156,-0.000267147169824,-4.43505044495e-05,1793250647400063488
+29,0.483333333,BASELINE,769.193764393,746,722,683,670,642.193764393,886.806235607,787,819,656,632,656,0.400979677015,-0.0154067395774,0.0498473291901,0.999999956584,-0.000119938008092,-0.000265574442285,-4.37953827876e-05,1793250647416730368
+30,0.500000000,BASELINE,769,746,722,683,670.394007936,642.394007936,886.605992064,787.394007936,819,655.605992064,632,655.605992064,0.40097931467,-0.0154069286293,0.0498471386831,0.999999956486,-0.000120392046064,-0.000265733643673,-4.38179160277e-05,1793250647433396736
+31,0.516666667,BASELINE,769,746,722,683,670.988335618,642.988335618,886.011664382,787.988335618,819,655.011664382,632,655.011664382,0.40097800828,-0.0154075797176,0.049846517568,0.999999955967,-0.000122274220752,-0.000266773384639,-4.41341379965e-05,1793250647450063360
+32,0.533333333,BASELINE,769,746,722,683,670.437891876,643,886.562108124,788,819,655.562108124,632,655.562108124,0.400977415348,-0.0154081409724,0.0498459999663,0.999999955594,-0.000122811352899,-0.000267923659373,-4.41257917082e-05,1793250647466729984
+33,0.550000000,BASELINE,769.136368809,746,722,683,670,643,886.863631191,788,819,656,632,656,0.40097655016,-0.0154083690755,0.0498455050759,0.999999955234,-0.000123169546923,-0.000269104315364,-4.40953107573e-05,1793250647483396608
+34,0.566666667,BASELINE,769.713537496,746,722,683,670,643,886.286462504,788,819,656,632,656,0.400974758767,-0.0154075261092,0.0498450768997,0.999999954911,-0.000123036377026,-0.000270376023184,-4.40142842763e-05,1793250647500063232
+35,0.583333333,BASELINE,769.702903287,746,722,683,670,643,886,788,819,656,632,656,0.400974510004,-0.0154071836665,0.049845304331,0.99999995494,-0.000123137296128,-0.000270227225087,-4.39733242286e-05,1793250647516729856
+36,0.600000000,BASELINE,769.113046757,746,722,683,670,643,886,788,819,656,632,656,0.400975781354,-0.015407334441,0.0498461777994,0.999999955317,-0.000123468887078,-0.00026867865719,-4.39718457311e-05,1793250647533396224
+37,0.616666667,BASELINE,769.468971218,746,722,683,670,642.531028782,886,787.531028782,819,656,632,656,0.400977417508,-0.0154091549527,0.0498470104705,0.999999955684,-0.000124018941715,-0.000267148310447,-4.3388732417e-05,1793250647550062848
+38,0.633333333,BASELINE,770,746,722,683,670,642.048638675,886,787,819,656,632,656,0.400979021942,-0.0154109599818,0.0498477760367,0.999999956066,-0.000124363188544,-0.000265649698328,-4.28100947466e-05,1793250647566729472
+39,0.650000000,BASELINE,770,746,722,683,670,642.622987945,886,787,819,656,632,656,0.400979348691,-0.01540831883,0.0498479208483,0.999999956643,-0.000121923132995,-0.000264447395219,-4.37703190466e-05,1793250647583396352
+40,0.666666667,BASELINE,770,746,722,683,670,643,886,787.20246296,819,656,632,656,0.40097912972,-0.0154067048254,0.0498476461557,0.999999956812,-0.000120765303348,-0.000264250507797,-4.43093497101e-05,1793250647600062976
+41,0.683333333,BASELINE,770,746,722,683,670,643,886,787.791730655,819,656,632,656,0.400977868151,-0.0154070531818,0.0498465700022,0.99999995621,-0.000122057161689,-0.000265974463397,-4.40436914332e-05,1793250647616729600
+42,0.700000000,BASELINE,769.626072574,745.626072574,722,683,670,643,886,787.626072574,819,656,632,656,0.400978021498,-0.0154073987735,0.0498466124785,0.999999956087,-0.000123087149809,-0.000266000277943,-4.3815641477e-05,1793250647633396224
+43,0.716666667,BASELINE,769.047741079,745.047741079,722,683,670,643,886,787.047741079,819,656,632,656,0.400978948295,-0.015407742854,0.0498472664437,0.999999956226,-0.000123973988883,-0.000265097818883,-4.36081497802e-05,1793250647650063104
+44,0.733333333,BASELINE,769,745,722,683,670,643,886.528693683,787,819,656,632,656,0.400978544337,-0.0154072004951,0.0498471294299,0.999999956106,-0.000122927256308,-0.00026597242189,-4.39912621103e-05,1793250647666729728
+45,0.750000000,BASELINE,769,745.104703342,722.104703342,683,670,643,886.895296658,787,819,656,632,656,0.400977907199,-0.0154067886235,0.0498468925156,0.999999955913,-0.000122044067616,-0.000267052364497,-4.43065187803e-05,1793250647683396608
+46,0.766666667,BASELINE,769,745.679570279,722.679570279,683,670,643,886.320429721,787,819,656,632,656,0.400976760661,-0.0154073208513,0.0498465265892,0.999999955502,-0.000122676497284,-0.000268336371943,-4.40784479006e-05,1793250647700063232
+47,0.783333333,BASELINE,769,746,723,683,670,643,886.261053375,787,819,656,632,656,0.400977145819,-0.0154074141153,0.0498467026704,0.999999955699,-0.000122416797638,-0.000267733063501,-4.39809073689e-05,1793250647716729600
+48,0.800000000,BASELINE,769,746,723,683,670,643,886.85086872,787,819,656,632,656,0.400979459943,-0.0154069545628,0.0498475613379,0.999999956658,-0.000121033579982,-0.000264752932145,-4.40477524005e-05,1793250647733396224
+49,0.816666667,BASELINE,769.432422559,746,723,683,670,643,886.567577441,787.432422559,819,656,632,656,0.400978878393,-0.0154070091012,0.0498477328891,0.999999956625,-0.000120333889334,-0.000265204072921,-4.39955790191e-05,1793250647750062848
+50,0.833333333,BASELINE,770,746,723,683,670,643,886,788,819.011166453,656,632,656,0.40097734591,-0.0154072260486,0.0498476608816,0.999999956258,-0.000119910172263,-0.000266791517337,-4.39063910225e-05,1793250647766729728
+51,0.850000000,BASELINE,770,746,723,683,670,643,886,788,819.589192293,656,632,656,0.400977284968,-0.0154068559661,0.0498470288125,0.999999955945,-0.000121753705735,-0.000267116536165,-4.3982808706e-05,1793250647783396352
+52,0.866666667,BASELINE,769.83421729,746,723,683,670.16578271,643,886,787.83421729,819.668434581,656,632,656,0.400977467723,-0.0154067373599,0.0498466802777,0.999999955771,-0.000123265550198,-0.000267055458155,-4.40943487901e-05,1793250647800062720
+53,0.883333333,BASELINE,769.261153335,746,723,683,670.738846665,643,886,787.261153335,818.52230667,656,632,656,0.400978249174,-0.01540723656,0.049847028306,0.999999955946,-0.000123962528436,-0.000266045849354,-4.42921746783e-05,1793250647816729344
+54,0.900000000,BASELINE,769.320909606,746,722.679090394,683,670.679090394,643,886,787.320909606,818.320909606,656,632,656,0.400978873335,-0.0154074203916,0.0498472988048,0.999999956005,-0.000124556315918,-0.000265527418726,-4.43842528907e-05,1793250647833396224
+55,0.916666667,BASELINE,769.910507098,746,722.089492902,683,670.089492902,643,886,787.910507098,818.910507098,656,632,656,0.400979365802,-0.0154073401747,0.0498475043906,0.99999995597,-0.000125063704873,-0.000265420236743,-4.438779177e-05,1793250647850062848
+56,0.933333333,BASELINE,769.508424446,746,722,683,670,643,886,787.508424446,819,656,632,656,0.400979528173,-0.0154079556436,0.0498480852563,0.999999956269,-0.000124757478396,-0.000264480961493,-4.41371943129e-05,1793250647866729472
+57,0.950000000,BASELINE,769,746,722,683,670,642.929234342,886,787,819,656,632,656,0.400979426211,-0.0154085346991,0.0498485032393,0.999999956502,-0.000124343307544,-0.000263835480337,-4.38815460247e-05,1793250647883396096
+58,0.966666667,BASELINE,769,746,722,683,670,642.352561676,886,787,819,656,632,656,0.400977856812,-0.015407963436,0.0498472766665,0.999999955851,-0.000124198304135,-0.000266354852969,-4.39149084921e-05,1793250647900062720
+59,0.983333333,BASELINE,769,746,722.221294507,683,670,642.221294507,886,787,819,656,632,656,0.400976699883,-0.0154083337985,0.049846429343,0.999999955291,-0.000125277452286,-0.000267949082725,-4.38850101202e-05,1793250647916729344
+60,1.000000000,BASELINE,769,746,722.790720007,683,670,642.790720007,886,787,819,656,632,656,0.400976191836,-0.0154101854856,0.0498461786382,0.999999954879,-0.000128282382968,-0.000268087917917,-4.37555925238e-05,1793250647933396224
+61,1.016666667,BASELINE,769,746,723,683,670,643,886,787.377905713,819,656,632,656,0.400977526426,-0.0154097588852,0.0498472102927,0.999999955735,-0.000125805569141,-0.000266089390239,-4.35831442507e-05,1793250647950064640
+62,1.033333333,BASELINE,769,746,723,683,670,643,886,787.97541181,819,656,632,656,0.400979931769,-0.0154080083756,0.049848987124,0.999999957297,-0.000120143322452,-0.000262848844514,-4.33856909289e-05,1793250647966734080
+63,1.050000000,BASELINE,769,746,722.446106756,683,670,643,886,788,819.553893244,656,632,656,0.400979510142,-0.0154073283912,0.0498480339177,0.999999956716,-0.000121238849979,-0.000264485412157,-4.37765343537e-05,1793250647983398144
+64,1.066666667,BASELINE,769,746,722.130531538,682.869468462,670,643,886.130531538,788,820,656,632,656,0.400978688128,-0.0154067807603,0.0498471181699,0.999999956075,-0.000122609209102,-0.000266215538777,-4.41124633525e-05,1793250648000062720
+65,1.083333333,BASELINE,769,746,722.703688492,682.296311508,670,643,886.703688492,788,820,656,632,656,0.40097691983,-0.0154065261385,0.0498467267471,0.999999955553,-0.000123928042709,-0.000267553148331,-4.41765651468e-05,1793250648016729344
+66,1.100000000,BASELINE,769,746,722.715107316,682.284892684,670.284892684,643,886.715107316,787.715107316,819.715107316,656,632,656,0.400976948258,-0.0154063622443,0.0498469286092,0.999999955781,-0.000123335906311,-0.000266954244342,-4.42804503555e-05,1793250648033395968
+67,1.116666667,BASELINE,769,746,722.125290093,682.874709907,670.874709907,643,886.125290093,787.125290093,819.125290093,656,632,656,0.400978899746,-0.0154062954572,0.0498477654722,0.999999956806,-0.000120698432468,-0.000264282663312,-4.44269162931e-05,1793250648050062592
+68,1.133333333,BASELINE,769.453699594,746,722.453699594,683,670.546300406,643,886,787.453699594,819,656,632,656,0.400979494632,-0.0154073200159,0.049848404276,0.999999956701,-0.000122902586377,-0.000263694852073,-4.42579894675e-05,1793250648066729728
+69,1.150000000,BASELINE,769.969997063,745.969997063,722.969997063,683,670,643,886,787.969997063,819,656,631.969997063,656,0.400979625432,-0.0154085656624,0.04984888299,0.999999956285,-0.000126212297281,-0.000263749849421,-4.40141621512e-05,1793250648083396096
+70,1.166666667,BASELINE,769.389400159,745.389400159,722.389400159,683,670,643,886,787.389400159,819,656,631.389400159,656,0.400977954294,-0.0154084667972,0.0498474041611,0.999999955927,-0.000125846152213,-0.00026528733957,-4.39568907559e-05,1793250648100062976
+71,1.183333333,BASELINE,769,745,722,683,670,643,886,787.188651566,819,656,631.188651566,656,0.400976642848,-0.0154082592668,0.0498464382753,0.999999955637,-0.000125138619998,-0.000266710365155,-4.39486340708e-05,1793250648116729600
+72,1.200000000,BASELINE,769,745,722,683,670,643,886,787.761519763,819,656,631.761519763,656,0.40097606397,-0.0154078304239,0.0498465170731,0.99999995549,-0.000123735802639,-0.000267900267122,-4.40402030338e-05,1793250648133396480
+73,1.216666667,BASELINE,769,745.344411067,722,683,670,643,886,788,819,655.655588933,632,656,0.400976635943,-0.0154084200676,0.049847149065,0.999999955631,-0.000123781803162,-0.000267372768137,-4.38987546057e-05,1793250648150062848
+74,1.233333333,BASELINE,769,745.934450658,722,683,670,643,886,788,819,655.065549342,632,656,0.400978028685,-0.0154097360799,0.0498481755862,0.999999955978,-0.000124861077756,-0.000265620445898,-4.35911218561e-05,1793250648166729472
+75,1.250000000,BASELINE,769.511663595,745.488336405,722,683,670,643,886,787.488336405,819,655.511663595,632,656,0.400979446852,-0.0154099431707,0.0498488542003,0.999999956315,-0.00012513278102,-0.000264233029575,-4.34947697651e-05,1793250648183396352
+76,1.266666667,BASELINE,769.912401694,745,722,683,670,642.912401694,886,787.087598306,819,656,632,656,0.400980571706,-0.0154097747986,0.0498492828673,0.999999956595,-0.000124991371685,-0.000263244277502,-4.34605379869e-05,1793250648200062976
+77,1.283333333,BASELINE,769.334649499,745,722,683,670,642.334649499,886,787.665350501,819,656,632,656,0.400980037556,-0.0154082810102,0.0498485562555,0.999999956562,-0.000123103142267,-0.000264231059065,-4.36261487254e-05,1793250648216729600
+78,1.300000000,BASELINE,769.248723847,745.248723847,722,683,670,642,886,788,819,656,632,656,0.400979040812,-0.0154074641814,0.0498478374923,0.999999956492,-0.000121912508504,-0.000265013094494,-4.38304172715e-05,1793250648233396224
+79,1.316666667,BASELINE,769.83983509,745.83983509,722,683,670,642,886,788,819,656,632,656,0.400977407271,-0.0154075792391,0.0498471295334,0.999999956376,-0.000121682168662,-0.000265513281131,-4.40879012321e-05,1793250648250062848
+80,1.333333333,BASELINE,769.577838802,745.577838802,722,683,670,642.422161198,886,788,819,656,632,656,0.400978316237,-0.0154076869315,0.0498473441149,0.999999956503,-0.000122261111686,-0.000264774918852,-4.40564356698e-05,1793250648266729472
+81,1.350000000,BASELINE,769,745.001213809,722,683,670,643,886,788,819,656,632,656,0.400980163157,-0.015407792284,0.0498479002561,0.999999956717,-0.000123137211646,-0.000263580377804,-4.39175855222e-05,1793250648283396096
+82,1.366666667,BASELINE,769,745.576260785,722,683,670,643,886,788,819,656,632,656,0.400978705261,-0.0154080855088,0.0498478368674,0.999999956624,-0.000122301907672,-0.000264342416072,-4.37815725175e-05,1793250648300062976
+83,1.383333333,BASELINE,768.848275926,746,722,683,670,643,886,787.848275926,819,656,632,656,0.40097739827,-0.0154079540793,0.049847633749,0.999999956462,-0.000121361110951,-0.000265401395811,-4.37004681681e-05,1793250648316729600
+84,1.400000000,BASELINE,768.271646615,746,722,683,670,643,886,787.271646615,819,656,632,656,0.400976513888,-0.0154066333999,0.0498470393157,0.999999956104,-0.000120124880231,-0.000267291964167,-4.377313619e-05,1793250648333396224
+85,1.416666667,BASELINE,768.622859849,746,722,683,670,642.688570076,886,787.311429924,819,655.688570076,632,656,0.400976697296,-0.0154067060204,0.049847277742,0.999999956089,-0.000120867528131,-0.000267031338022,-4.36809135579e-05,1793250648350062592
+86,1.433333333,BASELINE,769.800497887,746,722,683,670,642.099751057,886,787.900248943,819,655.099751057,632,656,0.400977831778,-0.0154080196463,0.0498482579923,0.999999956372,-0.00012337275351,-0.000264854653453,-4.34418236309e-05,1793250648366729216
+87,1.450000000,BASELINE,769.517748783,746,722,683,670,642,886.482251217,787.517748783,819,655.482251217,632,656,0.400977390059,-0.0154078580294,0.0498485361201,0.999999956524,-0.000123129998451,-0.000264375479923,-4.35405319939e-05,1793250648383396352
+88,1.466666667,BASELINE,769,746,722,683,670,642,886.940747826,787,819.059252174,656,632,656,0.400976773038,-0.0154075144705,0.0498486150505,0.999999956633,-0.000122382685384,-0.000264287882716,-4.36881518158e-05,1793250648400063232
+89,1.483333333,BASELINE,769,746,722,683,670,642,886.393487195,787,819.606512805,656,632,656,0.40097736,-0.0154081506054,0.0498482328293,0.999999956593,-0.000122095972151,-0.000264573788511,-4.36711610899e-05,1793250648416729856
+90,1.500000000,BASELINE,769,745.830038691,722,683,670,642.169961309,886,787.169961309,819.830038691,656,632,656,0.400977895711,-0.0154085123004,0.0498479932153,0.999999956559,-0.000121589953803,-0.000264930545463,-4.37092439303e-05,1793250648433396224
+91,1.516666667,BASELINE,769,745.225167513,722,683,670,642.774832487,886,787.774832487,819.225167513,656,632,656,0.400978300274,-0.0154081717378,0.0498481185155,0.999999956537,-0.000120522760965,-0.000265468601675,-4.38882531859e-05,1793250648450062848
+92,1.533333333,BASELINE,769,745.372217556,722,683,670,643,886.372217556,788,819,656,632,656,0.400978846901,-0.0154077827269,0.0498488373499,0.999999956603,-0.000121569571322,-0.000264733995897,-4.39514483863e-05,1793250648466729728
+93,1.550000000,BASELINE,769,745.965163356,722,683,670,643,886.965163356,788,819,656,632,656,0.400979477773,-0.0154073649857,0.0498499081553,0.999999956714,-0.000123870003835,-0.000263244690554,-4.39459648628e-05,1793250648483396352
+94,1.566666667,BASELINE,769.542424675,746,722,683,670,643,886.457575325,788,819,656,632,656,0.400978330172,-0.0154079162658,0.0498484606312,0.999999956471,-0.000123572614272,-0.000264329928113,-4.37898476325e-05,1793250648500062976
+95,1.583333333,BASELINE,769.881961962,745.881961962,722,683,670,643,886,788,819,656,632,656,0.40097780183,-0.0154084871681,0.0498475272329,0.99999995641,-0.000123095670517,-0.000264812816076,-4.36070594167e-05,1793250648516729856
+96,1.600000000,BASELINE,769.308926995,745.308926995,722,683,670,643,886,788,819,656,632,656,0.40098008843,-0.0154089005568,0.0498491815376,0.999999957136,-0.000122551653164,-0.00026235440287,-4.33577066156e-05,1793250648533396224
+97,1.616666667,BASELINE,769.272553678,745.272553678,722,683,670,643,885.727446322,788,819,656,632,656,0.400980433739,-0.0154091856169,0.0498496699231,0.999999957199,-0.000122545211122,-0.000262133897228,-4.32479538748e-05,1793250648550062848
+98,1.633333333,BASELINE,769.863913254,745.863913254,722,683,670,643,885.136086746,788,819,656,632,656,0.40097850832,-0.0154093205711,0.0498487945333,0.999999956489,-0.000123167570683,-0.00026453107108,-4.33014912692e-05,1793250648566729728
+99,1.650000000,BASELINE,769.554103252,746,722.445896748,683,670,643,885.891793496,788,819,656,632,655.554103252,0.400979098842,-0.0154087354929,0.049848897911,0.999999956665,-0.000122412310721,-0.00026421085806,-4.33269739808e-05,1793250648583396352
+100,1.666666667,BASELINE,769,745.975153634,722.975153634,682.975153634,670,642.975153634,886.975153634,787.975153634,819,656,632,655.024846366,0.400980347828,-0.015408070692,0.049849289025,0.999999957075,-0.000121440766906,-0.000263106708924,-4.33312947677e-05,1793250648600062976
+101,1.683333333,BASELINE,769,745.401313369,722.401313369,682.401313369,670,642.401313369,886.401313369,787.401313369,819,656,632,655.598686631,0.400979529089,-0.0154103999241,0.0498495734267,0.9999999568,-0.000124788986245,-0.000262628411774,-4.30533222957e-05,1793250648616729600
+102,1.700000000,BASELINE,769.17665978,745.17665978,722,682.17665978,670,642.17665978,886,787,819,656,632,656,0.400978362844,-0.0154118092529,0.0498491263346,0.999999956405,-0.000126978233496,-0.000263092042621,-4.29939403381e-05,1793250648633396736
+103,1.716666667,BASELINE,769.764246314,745.764246314,722,682.764246314,670,642.764246314,886,787,819,656,632,656,0.400976388267,-0.0154110788022,0.0498469777208,0.999999955748,-0.000126471605541,-0.000265746683936,-4.34430198854e-05,1793250648650064128
+104,1.733333333,BASELINE,770,746,722,683,670,643,886,787,819,656,632,656,0.400976547144,-0.0154104052768,0.0498468880357,0.999999955734,-0.000126103866455,-0.000265977074606,-4.34394865396e-05,1793250648666730752
+105,1.750000000,BASELINE,770,746,722,683,670,643,886,787,819,656,632,656,0.400978135591,-0.0154097698955,0.0498481779833,0.999999956151,-0.000125829193019,-0.000264583040278,-4.31326694924e-05,1793250648683397376
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670,643,886,788,820,656,632,656,0.400977468433,-0.0154069694461,0.0498477785787,0.999999956583,-0.00012142967916,-0.000264868676122,-4.39773456744e-05,1793250648714412544
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,722,682.424819406,670,642.424819406,886.575180594,787.424819406,819.424819406,656,632,656,0.400978051075,-0.0154075486474,0.0498479179616,0.99999995677,-0.000121149746042,-0.000264310123555,-4.38573596837e-05,1793250648731078656
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.153813659,746,722,682.153813659,670,642.153813659,886.846186341,787,819,656,632,656,0.400978522709,-0.0154082706941,0.0498481090305,0.99999995686,-0.00012143771374,-0.000263871359169,-4.36414411659e-05,1793250648747744768
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.742201211,746,722,682.742201211,670,642.742201211,886.257798789,787,819,656,632,656,0.400978680707,-0.0154093963256,0.0498484461292,0.999999956676,-0.000123330186923,-0.000263771035444,-4.31544818547e-05,1793250648764411392
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.674802492,746,722.325197508,683,670.325197508,643,886,787.325197508,819,656,632,656,0.400978953693,-0.015409450483,0.0498486232922,0.999999956491,-0.000124594415558,-0.000263857918878,-4.32769132519e-05,1793250648781078016
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.096010425,746,722.903989575,683,670.903989575,643,886,787.903989575,819,656,632,656,0.400979316347,-0.0154086690867,0.0498486757346,0.999999956307,-0.000125368728272,-0.000264090789653,-4.38745579398e-05,1793250648797744640
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.480467505,746,723,683,670.519532495,643,886,788,819,656,632,656,0.400978790576,-0.0154083099587,0.0498483698012,0.999999956323,-0.000124461003496,-0.000264445310864,-4.39547755583e-05,1793250648814412032
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.943543541,746,723,682.943543541,670.056456459,643,886,788,819,656,632,656,0.40097815014,-0.01540802342,0.0498480361748,0.999999956362,-0.000123328425371,-0.000264826142699,-4.39633199985e-05,1793250648831079424
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.367819135,746,723,682.367819135,670.632180865,643,886,788,819,656,632,656,0.400978080104,-0.0154076321477,0.0498481033536,0.999999956258,-0.000123204392026,-0.000265226456079,-4.42590815687e-05,1793250648847745280
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,722.786028484,682.213971516,671,643,886,788,819,656,632,656,0.400979131031,-0.0154069857358,0.0498486137182,0.999999956478,-0.000122423872884,-0.000264745140267,-4.43356863284e-05,1793250648864411136
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,722.193505697,682.806494303,671,643,886,788,819,656,632,656,0.400982165128,-0.0154058879392,0.0498499081522,0.999999957266,-0.000120481920978,-0.000262704075451,-4.40245661367e-05,1793250648881077760
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,722,683,670.610479655,643,886,788,819,656,632.389520345,656,0.401001555728,-0.0154066624822,0.049857365226,0.99999996117,-0.000119903248644,-0.000247848037551,-4.30575871147e-05,1793250648897744640
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,722,683,670.032059065,643,886,788,819,656,632.967940935,656,0.401028878514,-0.0154083450275,0.0498678109093,0.999999966215,-0.000119985706762,-0.000226777300721,-4.17725453449e-05,1793250648914411264
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.541598468,746,722.541598468,683,670,643,886,787.458401532,819,656,632.458401532,656,0.40108115012,-0.0154126764616,0.0498848255295,0.999999973529,-0.000122193547918,-0.000190814047485,-4.00198108302e-05,1793250648931078144
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,722.881879967,683,670,643,886,787,819,656,632,655.881879967,0.401138236402,-0.0154170508287,0.0499017304443,0.99999997925,-0.000124172952355,-0.000156925402129,-3.81487934773e-05,1793250648947744768
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,722.292825293,683,670,643,886,787,819,656,632,655.292825293,0.401208681841,-0.0154209766813,0.0499166612286,0.99999998249,-0.000124744384109,-0.000134792015806,-3.59156049165e-05,1793250648964411136
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,722.291192672,683,670,643,886,787.291192672,819,656,632,655.291192672,0.401285531101,-0.0154261103638,0.0499282855105,0.999999984682,-0.000126112042765,-0.000116530613942,-3.3957231013e-05,1793250648981077760
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,722.870231773,683,670,643,886,787.870231773,819,656,632,655.870231773,0.401368710588,-0.015432437996,0.0499366412858,0.999999986041,-0.000128266778462,-0.000102096702941,-3.22705138728e-05,1793250648997744640
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,723,683,670.448707362,643,886,788,819,656,632,656,0.401463213215,-0.0154375662868,0.049939895513,0.999999986313,-0.000128839534663,-9.89834376877e-05,-3.12658713502e-05,1793250649014411520
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.973205994,746,723,683,671,643,886,788,819,656,632,656,0.401562173394,-0.0154425108024,0.0499416768005,0.999999986293,-0.000129086041942,-9.91254068525e-05,-3.04245973595e-05,1793250649031078144
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.399733872,746,723,683,671,643,886,788,819,656,632,656,0.401685351061,-0.0154507737587,0.0499434703486,0.999999985973,-0.000131999077364,-9.89686405404e-05,-2.88969017804e-05,1793250649047744768
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.178489421,746,722.821510579,683,670.821510579,643,886,788,819,656,632,656,0.401815291966,-0.0154590821335,0.0499434217155,0.999999985344,-0.000135331669569,-0.000101124635819,-2.77681537244e-05,1793250649064411648
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.767644044,746,722.232355956,683,670.232355956,643,886,788,819,656,632,656,0.40196079359,-0.0154674950054,0.0499391346254,0.999999983975,-0.000139629569954,-0.000108601790778,-2.75572970588e-05,1793250649081078272
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.649355623,746,722,683,670,643,886,787.649355623,819,656,632,656,0.402132213545,-0.0154766553999,0.0499400544877,0.999999983864,-0.000141641919832,-0.000107315762446,-2.63143973633e-05,1793250649097744896
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.070363055,746,722,683,670,643,886,787.070363055,819,656,632,656,0.402320512166,-0.0154863026002,0.0499443652444,0.999999984564,-0.000142165863762,-0.000100322935647,-2.43994059931e-05,1793250649114411264
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+132,2.200000000,POSE1_TO_POSE2_PRESS,769.084638876,746,722,683,670.084638876,643,886.915361124,788,819,656,632,656,0.402759623562,-0.0155053844939,0.049952745039,0.999999985639,-0.000140676586304,-9.23077381484e-05,-2.02882869786e-05,1793250649147744768
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+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,722,683,670.760023894,643,886.239976106,788,819,656,632,656,0.40330292472,-0.0155194432497,0.0499619901633,0.999999989496,-0.000125954031762,-7.0026029403e-05,-1.54886447194e-05,1793250649181078016
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,722,683,670.171519614,643,886.828480386,788,819,656,632,656,0.403617832113,-0.0155194188901,0.0499716784697,0.999999992849,-0.000108538887173,-4.88581419694e-05,-1.15674706685e-05,1793250649197744640
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,722,683,670,643,887,788,819,656,632.411259614,656,0.403952601541,-0.0155108189947,0.0499776561091,0.999999996043,-7.99175417478e-05,-3.78887318903e-05,-9.54692116321e-06,1793250649214411264
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746,722,683,670,643,887,788,819,656,632.991683924,656,0.404295540874,-0.0154986916974,0.0499821074279,0.999999998392,-4.66867152301e-05,-3.11142937315e-05,-8.30816155619e-06,1793250649231077888
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745.433491518,722,683.566508482,670,643,887,788,819,656,632.433491518,656,0.404679940742,-0.0155025916254,0.0499845588185,0.999999999224,-3.22360024528e-05,-2.20261287178e-05,-5.32635002782e-06,1793250649247744512
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.856167906,745.143832094,722,684,670,643,887,788,819,656,632,656,0.405065053211,-0.0155081017053,0.0499830678074,0.999999999564,-1.99093636724e-05,-2.16395298961e-05,-2.55455670113e-06,1793250649264411392
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+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,722,683.1045347,670,643,887,788,819,656,632,656,0.40632198492,-0.0155225570817,0.0499323687606,0.999999993017,2.8104423874e-05,-0.000114762772058,2.38335035513e-06,1793250649314411264
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+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.529497481,722.470502519,685.529497481,670,643,887.529497481,788,819.529497481,656,631.529497481,656,0.410968235007,-0.015533989801,0.0499610574319,0.999999970873,0.000225054594555,-8.02926871727e-05,3.40316367503e-05,1793250649447745792
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.89497552,722.10502448,686.10502448,670,643,888,788.10502448,820.10502448,655.89497552,632,656,0.411597737523,-0.0155330876821,0.0499321696112,0.99999995735,0.000254286963604,-0.000139262144542,3.52592864491e-05,1793250649464412160
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.321006511,722.678993489,686.678993489,670,643,888,788.678993489,820.678993489,655.321006511,632,656,0.412334982409,-0.015535832923,0.0499406717345,0.999999953919,0.000282101342387,-0.000104790936227,3.99984147851e-05,1793250649481078784
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.25245479,722.74754521,686.74754521,670,643,888,789,821,655.25245479,632,656,0.413087199508,-0.0155393964914,0.0499549758509,0.999999961714,0.000263964829995,-6.98274334214e-05,4.4930522134e-05,1793250649497745408
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.825271895,722.174728105,686.174728105,670,643,888,789,821,655.825271895,632,656,0.413858416278,-0.0155439985088,0.0499766426329,0.999999980577,0.000187517151943,-3.42392094819e-05,5.0107518201e-05,1793250649514412032
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722.411826624,686.411826624,670,643,888.411826624,788.588173376,821,656,631.588173376,656,0.414622806426,-0.0155519337968,0.049968387112,0.999999994641,8.39350325943e-05,-5.23166324453e-05,3.05860173431e-05,1793250649531078656
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.00430853,746,722.99569147,687,670,643,889,788,821.00430853,655.99569147,631.00430853,656,0.415384528292,-0.015561288462,0.0499470650146,0.999999995144,-3.04325093265e-05,-9.37343889474e-05,4.75786105562e-07,1793250649547745280
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.583127245,746,722.416872755,687,670,643,889,788,821.583127245,655.416872755,631.583127245,656,0.416189998173,-0.0155648224671,0.0499346549049,0.999999994302,5.12280483813e-06,-0.000106558417603,3.94959404279e-06,1793250649564413440
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.834653882,746,722,687.165346118,670,643,889,788,822.165346118,655.165346118,632,656,0.417007714362,-0.015566248745,0.049933259873,0.999999993781,4.30931441333e-05,-0.00010251445984,8.4849894659e-06,1793250649581080832
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.24368254,746,722,687.75631746,670,643,889,788,822.75631746,655.75631746,632,656,0.417856954299,-0.0155622494232,0.0499602192723,0.999999994552,8.72801111276e-05,-5.50498233662e-05,1.57530670031e-05,1793250649597746176
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.340474094,746,722.340474094,688,670,643,889,788,823,656,632,656,0.418704977469,-0.0155584636068,0.0499695857186,0.999999991065,0.000123485686988,-4.66432759917e-05,2.11013056202e-05,1793250649614412288
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.91984902,746,722.91984902,688,670,643,889,788,823,656,632,656,0.419552146834,-0.0155548276011,0.0499666076972,0.999999985658,0.000154090949612,-6.56426628217e-05,2.51024484691e-05,1793250649631078656
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.504909555,746,723,688,670,643,889.495090445,788,823.495090445,655.504909555,632,656,0.420463018745,-0.0155551516721,0.0499628075766,0.999999988583,0.000138694255511,-5.46375126647e-05,2.47492070657e-05,1793250649647745280
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,688,670,643,890.071157375,788,824,655.071157375,632,656,0.421383287164,-0.0155564879765,0.049961871279,0.999999991839,0.000120076577932,-3.634793748e-05,2.41187173541e-05,1793250649664411904
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,688,670,643,890.658016331,788,824,655.658016331,632,656,0.422297532507,-0.0155605524583,0.0499826466474,0.999999990983,0.000131641785279,-1.78012377679e-07,2.65455405305e-05,1793250649681078528
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.241404508,746,723,688,670.241404508,643,891,788,824,655.758595492,632,656,0.423203103703,-0.0155635943524,0.0499858276406,0.999999989312,0.000143524188531,5.2255597611e-06,2.73848134851e-05,1793250649697745408
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.819945609,746,723,688,670.819945609,643,891,788,824,655.180054391,632,656,0.424096561042,-0.015565208139,0.0499644369843,0.999999986994,0.000155849577553,-3.23380117182e-05,2.6006972972e-05,1793250649714412032
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746,723,688.799723641,670.60013818,643,891,788,824.39986182,655,632,656,0.425042925981,-0.0155689893575,0.0499700811706,0.999999989118,0.000143060437575,-2.29000127467e-05,2.78015965515e-05,1793250649731078912
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746,723,689.960798669,670.019600666,643,891,788,824.980399334,655,632,656,0.426013196918,-0.0155737499198,0.0499879409253,0.999999992417,0.000118923414276,7.77542827236e-06,3.10296832523e-05,1793250649747745536
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.446155557,746,723,690,670,643,891.553844443,788.553844443,825,655.553844443,632,655.446155557,0.426941038197,-0.0155673089808,0.0499871214778,0.999999989637,0.000138664723431,-2.13188782365e-05,3.23156519624e-05,1793250649764411904
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,892.13017909,788.86982091,825,656,632,655.13017909,0.427858826218,-0.0155607473633,0.049978856439,0.999999985291,0.00015919839902,-5.49364875645e-05,3.2489928267e-05,1793250649781078272
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,723,690,670,643,892.717531763,788.282468237,825,656,632,655.717531763,0.428746515086,-0.0155551365269,0.0499467355766,0.999999979177,0.000177130252833,-9.71047711137e-05,2.89983987213e-05,1793250649797745152
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.300956235,746.300956235,723,690,670.300956235,643,893,788,825.300956235,656,632,656,0.429675923703,-0.0155538056027,0.0499334809665,0.999999976183,0.00018842544351,-0.000106554154878,2.78558234679e-05,1793250649814411520
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.88074129,746.88074129,723,690,670.88074129,643,893,788,825.88074129,656,632,656,0.43064398463,-0.0155564399159,0.0499377054939,0.999999977176,0.000193571922261,-8.56902511e-05,2.88894989288e-05,1793250649831078144
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,723,690,670.541816245,643,893.458183755,788,826,655.541816245,632,656,0.431574438989,-0.0155543862873,0.0499305049721,0.999999978864,0.00017636605179,-0.000101791570405,2.83867570951e-05,1793250649847745536
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.965060692,747,723,690,670,643,894,787.965060692,826,655,632,656,0.432498681007,-0.0155513872831,0.049922181207,0.999999979849,0.000156001453146,-0.000123287965723,2.76552361184e-05,1793250649864412928
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.389547776,747,723,690,670,643,894,787.389547776,826,655,632,656,0.433477480455,-0.0155525443464,0.0499422544903,0.999999980807,0.000176322667724,-8.01508856473e-05,2.95399060469e-05,1793250649881079552
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.809294689,723,690.190705311,670,643,894,787.190705311,826,655,632,656,0.434429717356,-0.0155534582184,0.0499601755664,0.99999997957,0.000193841895075,-4.78339499945e-05,3.158669639e-05,1793250649897745664
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.219112086,723,690.780887914,670,643,894,787.780887914,826,655,632,656,0.435326312918,-0.0155538626691,0.0499735883402,0.999999977581,0.000205491703201,-3.81823533116e-05,3.39730866754e-05,1793250649914412032
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,894.362613525,788,826,655,632,656,0.436189555738,-0.0155523544162,0.0499580544819,0.999999978243,0.000190858903938,-7.7313678557e-05,3.3302761356e-05,1793250649931078656
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,894.939345364,788,826,655,632,656,0.437033104168,-0.0155497167379,0.0499254280338,0.999999976063,0.000160706583973,-0.000145250650324,3.0827487109e-05,1793250649947745280
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.516466502,746.516466502,723,691,670,643,895,788,826.516466502,655,632,656,0.437962602195,-0.0155542128918,0.0499452091678,0.999999980778,0.000168274974151,-9.52596775138e-05,3.24422528235e-05,1793250649964411904
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.904872639,723,691.095127361,670.095127361,643,895.095127361,788,827,655,632,656,0.438885798278,-0.015558730754,0.0499655223392,0.999999982323,0.000179409536515,-4.49201629979e-05,3.38974240468e-05,1793250649981078528
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.31849678,723,691.68150322,670.68150322,643,895.68150322,788,827,655,632,656,0.439724284216,-0.0155590309189,0.0499567748006,0.999999980105,0.000186066045977,-6.43558228708e-05,3.20460265191e-05,1793250649997745152
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+185,3.083333333,POSE1_TO_POSE2_PRESS,769.156805623,746.843194377,723.843194377,692,671,643,896,787.156805623,827,655,632,656,0.441408252915,-0.0155642815002,0.0499591078546,0.999999982598,0.000173655741506,-5.94636902834e-05,3.33352531496e-05,1793250650031078400
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+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,723,693,670,642.675286456,896,786,827.675286456,655,631.675286456,656,0.445777221049,-0.0155909593886,0.0498250015976,0.999999957537,0.000154619393022,-0.000245549032572,2.69117517047e-05,1793250650131078656
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,747,723,693,670,642.093750818,896,786,827.093750818,655,631.093750818,656,0.446483621013,-0.0156023608917,0.0498234705549,0.99999996183,0.000149717031929,-0.0002305126302,2.80952427225e-05,1793250650147745536
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+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,723.633814073,693,669.633814073,641.366185927,896,785.366185927,827.633814073,655.633814073,631,656,0.448274887421,-0.0156158213854,0.0497484592939,0.999999927751,0.000151223254359,-0.000347791806416,2.58896246578e-05,1793250650197745408
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723.612316214,693,669.612316214,641,897,784.612316214,827,655,630,656,0.449977196283,-0.0156415126558,0.0497611907675,0.999999932173,0.000139891989232,-0.000339137596268,3.26976835667e-05,1793250650247744512
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747,724,692,669,639,897,783.640681945,828,655.179659027,628,656,0.453973612474,-0.0156844583826,0.0497207941534,0.999999911798,-6.7525680618e-05,-0.000414515099378,4.66741819476e-06,1793250650414412288
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747,724,692,669,639,897,782.460738705,828,655.769630647,628,656,0.454244615602,-0.0156866820515,0.0497136839084,0.999999907062,-5.9882291394e-05,-0.000426915345783,5.81473533068e-06,1793250650431078912
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.351935054,747,724,692,669,639,897,782,828,655.648064946,628,656,0.454478545007,-0.0156883816653,0.0496989604,0.999999897567,-5.26911964167e-05,-0.00044949571923,6.52940955432e-06,1793250650447745792
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.929327727,747,724,692,669,639,897,782,828,655.070672273,628,656,0.454688724165,-0.0156897455577,0.0496793596609,0.999999884399,-4.57898506594e-05,-0.00047859771508,6.96692297405e-06,1793250650464412672
+212,3.533333333,POSE1_TO_POSE2_PRESS,769.495506454,747,724,692.504493546,669,639,897,782,828,655,627.495506454,656,0.454870254192,-0.0156903886239,0.0496610498632,0.999999870227,-4.09443861746e-05,-0.000507759615333,7.0419465255e-06,1793250650481079552
+213,3.550000000,POSE1_TO_POSE2_PRESS,769.081022201,747,724,692.918977799,669,639,897,782.081022201,828,655.081022201,627.081022201,656.081022201,0.455045791112,-0.0156909818382,0.0496450898278,0.999999856961,-3.65985999178e-05,-0.000533559890412,7.2242755708e-06,1793250650497746176
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.668001034,747,724,692.331998966,669,639,897,782.668001034,828,655.668001034,627.668001034,656.668001034,0.455208854922,-0.0156918915434,0.0496426789302,0.999999854509,-3.35825795944e-05,-0.000538315778604,8.39239984155e-06,1793250650514412800
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747.252102817,724,692.252102817,669,638.747897183,897,782.747897183,828,655.747897183,627.747897183,657,0.455365472506,-0.0156977191326,0.0496435824069,0.9999998546,-3.3395008547e-05,-0.000538082855168,1.23481503862e-05,1793250650531078912
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747.832458476,724,692.832458476,669,638.167541524,897,782.167541524,828,655.167541524,627.167541524,657,0.455513696709,-0.015709950099,0.0496488013961,0.999999857952,-3.68902466312e-05,-0.000531354202375,1.99335558393e-05,1793250650547745280
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.588313344,747.588313344,723.588313344,693,669,638,897,782,828,655.411686656,627,656.588313344,0.455639349191,-0.0157321854595,0.0496526665063,0.99999986013,-5.34125874665e-05,-0.000525510403284,2.69518565286e-05,1793250650564411648
+218,3.633333333,POSE1_TO_POSE2_PRESS,769.009542769,747.009542769,723.009542769,693,669,638,897,782,828,655.990457231,627,656.009542769,0.455755840887,-0.0157584811247,0.0496559821418,0.999999861388,-7.52220060241e-05,-0.000520025723915,3.37399963262e-05,1793250650581078016
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,747,723.564424357,692.435575643,669,638,897,782,828,656,627,656,0.455838281076,-0.0157579199217,0.0496510634233,0.999999856311,-7.41609700973e-05,-0.000529905552068,3.28386226775e-05,1793250650597744640
+220,3.666666667,POSE1_TO_POSE2_PRESS,769.141750365,747,724,692.141750365,669,638,897,782,828,655.858249635,627,656,0.455915301072,-0.0157552685983,0.0496464842746,0.999999851842,-7.05117172792e-05,-0.000538822912848,3.18498692497e-05,1793250650614411520
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.729907813,747,724,692.729907813,669,638,897,782,828,655.270092187,627,656,0.455977049277,-0.0157474528832,0.0496434092518,0.999999849812,-5.99189796765e-05,-0.000543898049471,3.09919055227e-05,1793250650631078144
+222,3.700000000,POSE1_TO_POSE2_PRESS,769.686805615,747,724,693,669,638,897,782,828,655,627,656.313194385,0.456030707396,-0.015747705783,0.0496389651153,0.999999846447,-5.87080554374e-05,-0.000550186418856,3.09046788158e-05,1793250650647744768
+223,3.716666667,POSE1_TO_POSE2_PRESS,769.107655189,747,724,693,669,638,897,782,828,655,627,656.892344811,0.456077495643,-0.0157548103272,0.0496333583647,0.999999841956,-6.54639073504e-05,-0.000557505032631,3.14719406484e-05,1793250650664411136
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747,724,693,669,638,897,782,828.469554089,655.469554089,627,656.530445911,0.456114584975,-0.0157541728079,0.0496334159778,0.99999984164,-6.42130458776e-05,-0.000558209272942,3.16128205599e-05,1793250650681077760
+225,3.750000000,POSE1_TO_POSE2_PRESS,769.046198076,747,724,693,669,638,897,782,828.953801924,656,627,656,0.456148486175,-0.0157520443248,0.0496346277598,0.99999984218,-6.15293983856e-05,-0.000557539126342,3.1677072752e-05,1793250650697744640
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.62144452,747,724,693,669,638,897,782,828.37855548,656,627,656,0.456171237933,-0.015753085223,0.0496342459263,0.999999841561,-6.3373359851e-05,-0.000558424749545,3.19786837442e-05,1793250650714411264
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.798915911,747,724,693,669,638,897,782,828.201084089,655.798915911,627,656.201084089,0.456191308358,-0.0157537156341,0.0496338264082,0.999999841356,-6.41444869253e-05,-0.000558698183495,3.21039947948e-05,1793250650731077888
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.210821278,747,724,693,669,638,897,782,828.789178722,655.210821278,627,656.789178722,0.456206218235,-0.015753556013,0.0496333343618,0.99999984195,-6.28508149126e-05,-0.000557793385458,3.18899953601e-05,1793250650747744512
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.371998501,747,724,693,669,638,897,782.371998501,828.628001499,655.371998501,627,657,0.456214881171,-0.0157520714151,0.0496320470782,0.999999841018,-6.19173527444e-05,-0.000559595916706,3.13378611296e-05,1793250650764411648
+230,3.833333333,POSE1_TO_POSE2_PRESS,769.951870658,747,724,693,669,638,897,782.951870658,828.048129342,655.951870658,627,657,0.4562200533,-0.015749846417,0.0496303154143,0.999999839226,-6.11851767471e-05,-0.000562911310098,3.05967763686e-05,1793250650781079040
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,724,693,669,638,897,781.942259043,828,656,626.471129521,657,0.456223711534,-0.0157518917555,0.0496291096087,0.999999838118,-6.27780964883e-05,-0.000564655338561,3.141863599e-05,1793250650797745664
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,747,724,693,669,637.894811128,897,781.105188872,828.105188872,656,626,656.894811128,0.456227041822,-0.0157537011921,0.0496283165417,0.999999837309,-6.43281349004e-05,-0.000565871571356,3.21519226274e-05,1793250650814412288
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,724,693,669,637.320372975,897,781.679627025,828.679627025,656,626,656.320372975,0.456229520412,-0.0157527339997,0.0496291523783,0.999999837576,-6.4748057147e-05,-0.000565367780371,3.18590016873e-05,1793250650831078656
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,724,693,669,637.26161826,897,782,828.73838174,656,626,656,0.4562311979,-0.0157509857793,0.0496292785848,0.999999837451,-6.34926232081e-05,-0.000565749700903,3.15318788194e-05,1793250650847745536
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,724,693,669,637.853133917,897,782,828.146866083,656,626,656,0.45623186521,-0.015748252692,0.0496285099565,0.999999836822,-6.01245858605e-05,-0.000567248492651,3.11616277027e-05,1793250650864412160
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.570314522,747,724,692.570314522,669,638,897,781.570314522,828.429685478,656,626,656,0.45623228807,-0.0157475755051,0.0496282373946,0.999999836606,-5.99104424989e-05,-0.000567662012946,3.09583606171e-05,1793250650881078784
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.001302491,747.001302491,724,692.001302491,669.001302491,638,897,781,828.998697509,656,626.001302491,656,0.456232632187,-0.0157475767441,0.0496281287757,0.99999983653,-6.07377789378e-05,-0.00056771609354,3.08106534889e-05,1793250650897745408
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.576475542,747.576475542,724,692.576475542,669.576475542,638,897,781,828.423524458,656,626.576475542,656,0.456233857183,-0.0157473003242,0.0496280616286,0.999999836699,-6.14596033544e-05,-0.000567339001299,3.08417180283e-05,1793250650914412288
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747.843379762,724,693,669.843379762,638,897.156620238,781.156620238,828,656,627,656.156620238,0.456234664232,-0.0157468698088,0.0496278965168,0.999999836722,-6.14574617272e-05,-0.000567299582845,3.08329928172e-05,1793250650931078912
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747.249350286,724,693,669.249350286,638,897.750649714,781.750649714,828,656,627,656.750649714,0.456234304042,-0.015746008935,0.049627457809,0.999999836335,-5.94334265888e-05,-0.000568203220285,3.07131427289e-05,1793250650947745792
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.664252282,747.335747718,724,693,669,638,897.664252282,782,828,655.664252282,626.664252282,656.664252282,0.456234883904,-0.0157461069622,0.0496274539464,0.999999836466,-5.92762600031e-05,-0.000567978155921,3.08910840969e-05,1793250650964412416
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.085615572,747.914384428,724,693,669,638,897.085615572,782,828,655.085615572,626.085615572,656.085615572,0.456236143825,-0.0157468986846,0.0496277646627,0.999999836974,-6.04696367742e-05,-0.000566936558065,3.12844558742e-05,1793250650981079296
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.492464204,748,724,692.507535796,669,638,897,781.507535796,828.492464204,655.492464204,626.492464204,656,0.456235638117,-0.0157468567338,0.0496264713188,0.999999835913,-5.94253014053e-05,-0.00056892682055,3.10657468526e-05,1793250650997745920
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.930370587,747.930370587,724,692.069629413,668.930370587,638,896.930370587,781,828.930370587,656,627,656,0.456234938063,-0.0157469130305,0.0496251727152,0.999999834794,-5.82654510753e-05,-0.000571020130043,3.08699537699e-05,1793250651014412288
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.35909788,747.35909788,724,692.64090212,668.35909788,638,896.35909788,781,828.35909788,656,627,656,0.456235046818,-0.0157487201507,0.0496258430466,0.99999983527,-5.90729623432e-05,-0.000570062699335,3.16050279809e-05,1793250651031078912
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,724,693,668.220819319,638,896.220819319,781,828.220819319,656,626.779180681,656,0.456235633739,-0.0157488435751,0.049626623859,0.999999835902,-5.94959363251e-05,-0.00056889923052,3.1765252613e-05,1793250651047745536
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,724,693,668.815367093,638,896.815367093,781,828.815367093,656,626.184632907,656,0.456237029935,-0.0157461174075,0.0496275916565,0.999999836801,-5.92680954369e-05,-0.000567387049745,3.09525659127e-05,1793250651064412160
+248,4.133333333,HOLD_POSE2,769,747,724,693,669,638,897,781,828,656,627,656,0.456236385255,-0.0157422644643,0.0496260029237,0.999999835158,-5.62674963404e-05,-0.000570644325107,2.97011007959e-05,1793250651098423808
+249,4.150000000,HOLD_POSE2,769.575473709,747,724,693,669.575473709,638,897,781,828.575473709,656,626.424526291,656,0.456234489486,-0.0157445852994,0.0496247388699,0.999999833406,-6.05921660824e-05,-0.000573242958494,3.01517687012e-05,1793250651115090688
+250,4.166666667,HOLD_POSE2,770,747,724,693,669.846173976,638,897,781,829,656,626,656,0.456233729828,-0.0157462903303,0.0496241134568,0.999999832542,-6.3644238311e-05,-0.000574397121287,3.0561527318e-05,1793250651131757568
+251,4.183333333,HOLD_POSE2,770,747,724,693,669.259725702,638,897,781,829,656,626,656,0.45623616538,-0.0157462634665,0.0496252841644,0.999999834232,-6.31172422444e-05,-0.0005714888374,3.08562322411e-05,1793250651148423936
+252,4.200000000,HOLD_POSE2,770,747,724,693,669,638,897,781,828.677507026,656,626,656.322492974,0.456237510092,-0.0157456610576,0.049625930906,0.999999834974,-6.27380136413e-05,-0.000570234133345,3.08057231223e-05,1793250651165090560
+253,4.216666667,HOLD_POSE2,770,747,724,693,669,638,897,781,828.098650672,656,626,656.901349328,0.456237987648,-0.0157446011235,0.0496261611246,0.999999834966,-6.24762517106e-05,-0.000570293930399,3.04807886632e-05,1793250651181757440
+254,4.233333333,HOLD_POSE2,770,747,724,693,669,638,897,781,828.47946977,655.52053023,626,657,0.456237575632,-0.0157437952887,0.0496262079327,0.999999834725,-6.07751664556e-05,-0.000570903934712,3.04193322121e-05,1793250651198424320
+255,4.250000000,HOLD_POSE2,770,747,724,693,669,638,897,781,829,655.057173134,626,656.942826866,0.456236903323,-0.0157431824755,0.0496260147323,0.99999983429,-5.91258081157e-05,-0.000571839331034,3.04093121733e-05,1793250651215090944
+256,4.266666667,HOLD_POSE2,770,747,724,693,669,638,897,781,829,655.632466901,626,656.367533099,0.456235528292,-0.015743845825,0.0496239879577,0.999999832561,-6.06248152e-05,-0.000574699205042,3.03749056187e-05,1793250651231757568
+257,4.283333333,HOLD_POSE2,770,747,724,693.212208183,669,638,897,781.212208183,829,656,626,656,0.456235185916,-0.0157437086583,0.0496231652103,0.999999831977,-6.06113932014e-05,-0.000575725372998,3.02052569648e-05,1793250651248424192
+258,4.300000000,HOLD_POSE2,770,747,724,693.799817153,669,638,897,781.799817153,829,656,626,656,0.45623667033,-0.0157421553614,0.0496244724131,0.999999833423,-5.79224518345e-05,-0.000573507675651,2.97963621654e-05,1793250651265091072
+259,4.316666667,HOLD_POSE2,770,747,724,693.61680754,669,638,897,781.61680754,828.61680754,656,626,656,0.456236720252,-0.0157424088869,0.0496246571285,0.999999833586,-5.81458811535e-05,-0.000573188268583,3.0041457887e-05,1793250651281757696
+260,4.333333333,HOLD_POSE2,770,747,724,693.035619711,669,638,897,781.035619711,828.035619711,656,626,656,0.456236028973,-0.0157435959965,0.0496242618554,0.999999833087,-5.98741308338e-05,-0.000573849707033,3.06244701756e-05,1793250651298423808
+261,4.350000000,HOLD_POSE2,769.460451694,747,724,693,669,637.460451694,897,781,828.539548306,656,626,656.539548306,0.456235027833,-0.0157447494507,0.0496234411278,0.999999832233,-6.06757227761e-05,-0.000575244260333,3.075695565e-05,1793250651315089920
+262,4.366666667,HOLD_POSE2,769,747,724,693,669,637,897,781,829,656,626.114256858,656.885743142,0.456234547816,-0.015745604231,0.0496229904772,0.999999831777,-6.10823371721e-05,-0.00057599109873,3.07953239732e-05,1793250651331756544
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747,724,692.150236986,668.150236986,637,897,781,828,656,626,656,0.456238016124,-0.0157449452681,0.0496251771394,0.999999833117,-6.30897041775e-05,-0.000573450539518,3.06518990708e-05,1793250651447719936
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..babbd68929d540aaba349c8ecb4d70e5f0fe9a91
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57d1af2c072fec5243a344c5d25ca1cea78841a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20e18bc0d8de6a99ff3f57675e508f96d992aadf681f89f123e3ce0babdcc74
+size 25947198
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33d9e41b555b5087acc02f73d16f581ea0bf4fe2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+49,0.816666667,BASELINE,769.476663188,745.476663188,723,686,670,642.523336812,887.523336812,788.523336812,819,655.523336812,632,656,0.400987733856,-0.0155045885842,0.069827710878,0.999999979223,4.74084195864e-05,-0.000198023549145,9.60065509196e-06,1793250656196427008
+50,0.833333333,BASELINE,770,746,723,686,669.946665266,642.053334734,887,788.053334734,819,655,632,656,0.400989290451,-0.0155056636055,0.0698284496982,0.999999979598,4.53677264928e-05,-0.000196599591585,9.70504330655e-06,1793250656213093376
+51,0.850000000,BASELINE,770,746,723,686,669.357309164,642.642690836,887,788.642690836,819,655,632,656,0.400987763564,-0.015505459685,0.0698271726791,0.999999979127,4.69775681579e-05,-0.000198609082368,9.63528532559e-06,1793250656229761024
+52,0.866666667,BASELINE,770,746,723,685.772548217,669.227451783,642.772548217,887,789,819.227451783,655.227451783,632,656,0.400986861751,-0.0155051930652,0.0698265115245,0.999999978847,4.84449454863e-05,-0.000199666280483,9.62863116178e-06,1793250656246428160
+53,0.883333333,BASELINE,770,746,723,685.194862987,669.805137013,642.194862987,887,789,819.805137013,655.805137013,632,656,0.400986922438,-0.0155048299001,0.069826798687,0.999999978866,4.9692954135e-05,-0.000199257124875,9.71914514486e-06,1793250656263093760
+54,0.900000000,BASELINE,770,745.620538322,723,685.379461678,670,642,887,788.620538322,820,655.620538322,632,656,0.400987862201,-0.0155049503617,0.0698274649984,0.999999979125,4.84723693755e-05,-0.000198261532616,9.6844090998e-06,1793250656279760128
+55,0.916666667,BASELINE,770,745.047924257,723,685.952075743,670,642,887,788.047924257,820,655.047924257,632,656,0.400989249428,-0.0155053169972,0.0698283243031,0.999999979498,4.59952289539e-05,-0.000196967434235,9.58591867797e-06,1793250656296426752
+56,0.933333333,BASELINE,769.468539495,745,723,686,670,642.531460505,887.531460505,788,819.468539495,655.531460505,632,656,0.400988068937,-0.01550602668,0.0698276519294,0.999999979172,4.5269790101e-05,-0.000198789505962,9.50662220605e-06,1793250656313093376
+57,0.950000000,BASELINE,769.113115867,745.113115867,723,686,670,642.886884133,887.886884133,788.113115867,819,656,632,656,0.400987115869,-0.0155065199891,0.0698270811826,0.99999997889,4.50781498403e-05,-0.000200244329123,9.48912932384e-06,1793250656329760000
+58,0.966666667,BASELINE,769.701716015,745.701716015,723,686,670,642.298283985,887.298283985,788.701716015,819,656,632,656,0.400988104631,-0.0155059720583,0.0698275257012,0.999999979081,4.64577888329e-05,-0.000198958988768,9.72405943883e-06,1793250656346426880
+59,0.983333333,BASELINE,769.713031837,746,723,685.713031837,670,642.286968163,887.286968163,788.713031837,819,656,632,656,0.400988813007,-0.01550542839,0.0698281893145,0.999999979341,4.70628593748e-05,-0.000197507915288,9.71527791545e-06,1793250656363093504
+60,1.000000000,BASELINE,769.131219507,746,723,685.131219507,670,642.868780493,887.868780493,788.131219507,819,656,632,656,0.400989233302,-0.015504889101,0.0698290780358,0.999999979671,4.68721031607e-05,-0.000195886559885,9.45609597725e-06,1793250656379760128
+61,1.016666667,BASELINE,769.443711041,746,723,685.443711041,670,643,887.556288959,788.443711041,819.443711041,656,632,656,0.400988714559,-0.0155058397014,0.069828729327,0.999999979519,4.54366685213e-05,-0.000196989575029,9.62815259606e-06,1793250656396427008
+62,1.033333333,BASELINE,769.983313422,745.983313422,723,686,670,643,887,788.983313422,820,655.983313422,632,656,0.400987947089,-0.0155071187624,0.0698280342535,0.999999979223,4.38022060539e-05,-0.000198838911051,9.9136245394e-06,1793250656413093632
+63,1.050000000,BASELINE,769.408696034,745.408696034,723,686,670,643,887,788.408696034,820,655.408696034,632,656,0.400988006638,-0.0155048730833,0.0698278070717,0.999999978994,4.7632554791e-05,-0.000199114844271,9.79225156177e-06,1793250656429760000
+64,1.066666667,BASELINE,769.171474345,745.171474345,723,686,670,643,887,788.171474345,819.828525655,655,631.828525655,656,0.400988574924,-0.0155030331546,0.0698279515029,0.99999997897,5.06113944064e-05,-0.000198508319554,9.66280559111e-06,1793250656446426624
+65,1.083333333,BASELINE,769.765322769,745.765322769,723,686,670,643,887,788.765322769,819.234677231,655,631.234677231,656,0.400990396327,-0.0155021926666,0.0698290112881,0.999999979474,5.14928041107e-05,-0.000195728132294,9.51347430343e-06,1793250656463093248
+66,1.100000000,BASELINE,769.651330372,746,723,686,670,643,887.348669628,789,819.348669628,655,631.348669628,656,0.400990227502,-0.0155025531823,0.069829087193,0.999999979524,5.13080106242e-05,-0.000195520257663,9.58253901393e-06,1793250656479759872
+67,1.116666667,BASELINE,769.074845104,746,723,686,670,643,887.925154896,789,819.925154896,655,631.925154896,656,0.400988758291,-0.0155036984163,0.0698285202448,0.999999979277,5.04265755196e-05,-0.000196993094622,9.7943004838e-06,1793250656496426752
+68,1.133333333,BASELINE,769.500199627,746,723,686,670,643,887.499800373,789,820,655.500199627,632,656,0.400989161883,-0.0155051442188,0.069828454037,0.999999979364,4.78594673954e-05,-0.000197195438045,9.77150702868e-06,1793250656513093120
+69,1.150000000,BASELINE,770,746,723,686,670,643,887,789,819.923136641,656,632,656,0.400989807847,-0.0155062868889,0.0698285213944,0.999999979482,4.57376765151e-05,-0.000197102267023,9.73436239972e-06,1793250656529760000
+70,1.166666667,BASELINE,770,746,723,686,670,643,887,789,819.33425665,656,632,656,0.400990206989,-0.0155051115458,0.0698289808039,0.99999997952,4.82576815707e-05,-0.000196303283222,9.83473950826e-06,1793250656546426624
+71,1.183333333,BASELINE,770,746,723,686,670,643,887.250324541,789,819,656,632,656,0.400989418094,-0.0155053473927,0.0698284872915,0.999999979411,4.81506133039e-05,-0.000196878373422,9.88049902256e-06,1793250656563093248
+72,1.200000000,BASELINE,770,746,723,686,670,643,887.829262565,789,819,656,632,656,0.400987069604,-0.0155074357787,0.069826742831,0.999999979105,4.45948554913e-05,-0.000199257278837,9.85455931658e-06,1793250656579759872
+73,1.216666667,BASELINE,769.594033875,746,723,686,670,643,888,789,819.405966125,656,632,656,0.400987143297,-0.0155069027404,0.0698268967264,0.999999979072,4.51672011471e-05,-0.000199303820209,9.65537946038e-06,1793250656596426496
+74,1.233333333,BASELINE,769.018264957,746,723,686,670,643,888,789,819.981735043,656,632,656,0.400988230113,-0.0155052732429,0.0698278446443,0.999999979153,4.74662021708e-05,-0.000198374807308,9.38373872859e-06,1793250656613093120
+75,1.250000000,BASELINE,769,746,723,686.556057414,670,643,887.443942586,789,819.443942586,655.443942586,632,656,0.400988801634,-0.0155045947238,0.0698282685423,0.999999979251,4.81086434145e-05,-0.000197725973528,9.40386815445e-06,1793250656629760256
+76,1.266666667,BASELINE,769.134003182,746,723,686.865996818,670,643,887.134003182,789,819,655.134003182,632,656,0.400989074827,-0.0155042464053,0.0698284486081,0.999999979264,4.85120002585e-05,-0.000197556938222,9.51546433268e-06,1793250656646426880
+77,1.283333333,BASELINE,769.724452477,746,723,686.275547523,670,643,887.724452477,789,819,655.724452477,632,656,0.400988389349,-0.0155049167026,0.0698278566027,0.999999978986,4.82858437429e-05,-0.000198990941926,9.90605749937e-06,1793250656663093248
+78,1.300000000,BASELINE,769.69076791,746,723,686,670,643,887.69076791,789,819.30923209,656,632,656,0.400987201342,-0.0155048433881,0.0698272231197,0.999999978725,4.8474035603e-05,-0.000200255125553,9.86121802255e-06,1793250656679759872
+79,1.316666667,BASELINE,769.110949454,746,723,686,670,643,887.110949454,789,819.889050546,656,632,656,0.400985573611,-0.0155041193934,0.0698265533428,0.999999978479,4.90247934096e-05,-0.000201370711985,9.43536329104e-06,1793250656696426496
+80,1.333333333,BASELINE,769.465517957,746,723,685.534482043,669.534482043,643,887.465517957,789,819.534482043,656,632,656,0.400985354293,-0.0155049494853,0.069826176246,0.999999978415,4.79868589964e-05,-0.000201936910892,9.39123025094e-06,1793250656713093120
+81,1.350000000,BASELINE,770,746,723,685.041013085,669.041013085,643,887.958986915,789,819,656,632,656,0.400985599718,-0.0155059821333,0.0698259979186,0.999999978427,4.67298234881e-05,-0.000202169284073,9.44670040255e-06,1793250656729760000
+82,1.366666667,BASELINE,770,746,723,685.614180973,669.614180973,643,887.385819027,789,819,656,632,656,0.40098755097,-0.0155048713903,0.0698275000399,0.999999978874,4.75077549567e-05,-0.000199757003491,9.62252353991e-06,1793250656746426624
+83,1.383333333,BASELINE,769.805510709,746,723,686,670,642.805510709,887,789,819,656,632,656,0.400988853709,-0.0155039640036,0.0698285148091,0.999999979204,4.85743651924e-05,-0.000197838219773,9.65210456084e-06,1793250656763093248
+84,1.400000000,BASELINE,769.21049756,746,723,686,670,642.21049756,887,789,819,656,632,656,0.400988820928,-0.0155034754007,0.0698285259444,0.999999979302,5.02354696614e-05,-0.00019693572431,9.38052015323e-06,1793250656779760128
+85,1.416666667,BASELINE,769.372384871,746,723,686,669.627615129,642.372384871,887.372384871,789,819,655.627615129,632,656,0.40098822844,-0.0155038421453,0.0698279945176,0.999999979092,5.0856644209e-05,-0.000197835934282,9.48697835211e-06,1793250656796427008
+86,1.433333333,BASELINE,769.94862648,746,723,686,669.05137352,642.94862648,887.94862648,789,819,655.05137352,632,656,0.400987329549,-0.0155046771376,0.069827166073,0.999999978711,5.09085239926e-05,-0.000199723009446,9.80039054969e-06,1793250656813093888
+87,1.450000000,BASELINE,770,746,723,686,669.521718409,643,887.478281591,789,819.521718409,655.521718409,632,656,0.400986574112,-0.0155042122857,0.0698269084462,0.999999978738,4.96147622135e-05,-0.000199933815937,9.45377835699e-06,1793250656829760256
+88,1.466666667,BASELINE,770,746,723,686,670,642.902334852,887.097665148,789,820,656,632,656,0.40098625115,-0.0155035824417,0.0698269304773,0.999999978849,4.87090681847e-05,-0.000199611323892,9.1912588178e-06,1793250656846426624
+89,1.483333333,BASELINE,770,746,723,686,670,642.310379469,887.689620531,789,820,656,632,656,0.400988045917,-0.0155027614681,0.0698280851094,0.999999979194,5.04340059239e-05,-0.00019742014697,9.68129586376e-06,1793250656863093248
+90,1.500000000,BASELINE,770,745.724621699,723,686,670,642.275378301,888,789,820,655.724621699,632,656,0.400988296975,-0.0155029399515,0.0698280851372,0.999999979187,5.11291349494e-05,-0.000197266242316,9.84592136982e-06,1793250656879759616
+91,1.516666667,BASELINE,770,745.14569556,723,686,670,642.85430444,888,789,820,655.14569556,632,656,0.40098684641,-0.0155042201304,0.0698268124515,0.999999978797,5.06891119314e-05,-0.000199358010733,9.65184766718e-06,1793250656896426496
+92,1.533333333,BASELINE,770,745,723,685.569732715,670,643,887.569732715,789,820,655,632,656,0.400987852757,-0.0155042084572,0.0698276016655,0.99999997898,5.09994761949e-05,-0.000198356498782,9.67744025909e-06,1793250656913093120
+93,1.550000000,BASELINE,770,745.005225371,723.005225371,685.005225371,670,643,887.005225371,789,819.994774629,655.005225371,632,656,0.400989660782,-0.0155037617817,0.0698290644489,0.999999979348,5.15646421424e-05,-0.000196342398447,9.77617947613e-06,1793250656929759488
+94,1.566666667,BASELINE,770,745.579285538,723.579285538,685.579285538,670,643,887.579285538,789,819.420714462,655.579285538,632,656,0.400988792899,-0.0155032550249,0.069828366559,0.999999979107,5.23961013851e-05,-0.000197341851914,9.79575379093e-06,1793250656946426112
+95,1.583333333,BASELINE,769.841816085,746,723.841816085,686,670,643,888,789,819,656,632,656,0.400988167282,-0.0155032975677,0.0698279901859,0.999999978991,5.18751627705e-05,-0.000198067687055,9.81157792155e-06,1793250656963092480
+96,1.600000000,BASELINE,769.249643613,746,723.249643613,686,670,643,888,789,819,656,632,656,0.400988206342,-0.0155048471522,0.069828495916,0.999999979206,4.76438268767e-05,-0.000198042831539,9.8171131657e-06,1793250656979759360
+97,1.616666667,BASELINE,769,746,723,686,670,643,888,789,819,656,632,656,0.400987557715,-0.0155047757193,0.0698281408528,0.999999978995,4.78587360953e-05,-0.000199062554078,9.72700841987e-06,1793250656996425984
+98,1.633333333,BASELINE,769,746,723,686,670,643,888,789,819,656,632,656,0.400986407884,-0.0155035228483,0.0698271584221,0.999999978469,5.13141799171e-05,-0.000200843591161,9.56719886323e-06,1793250657013092352
+99,1.650000000,BASELINE,769,746,723,686,670,643,887.510858768,789,819,656,632,656,0.400986412867,-0.0155048175639,0.0698268062556,0.999999978726,4.78575645187e-05,-0.000200424321125,9.32896107085e-06,1793250657029759232
+100,1.666666667,BASELINE,769,746,723,686,670,643,887,789,819.063296044,656,632,656,0.400986676769,-0.0155060794277,0.0698266900369,0.999999979069,4.414747776e-05,-0.000199575233764,9.14078419025e-06,1793250657046426112
+101,1.683333333,BASELINE,769,746,723,686,670,643,887,789,819.640232157,656,632,656,0.400987419616,-0.0155034961228,0.0698276031769,0.999999979132,4.8089832684e-05,-0.000198328988209,9.46901352855e-06,1793250657063092736
+102,1.700000000,BASELINE,769,746,723,686.223286075,670,643,887.223286075,788.776713925,820,656,632,656,0.400987484558,-0.0155024640231,0.0698279043975,0.999999979019,5.00971417394e-05,-0.000198396128641,9.58605293472e-06,1793250657079759360
+103,1.716666667,BASELINE,769,746,723,686.816474884,670,643,887.816474884,788.183525116,820,656,632,656,0.400986426462,-0.0155040016989,0.0698271918933,0.999999978633,4.88987925524e-05,-0.000200639065742,9.35322842411e-06,1793250657096425984
+104,1.733333333,BASELINE,769.396992144,745.603007856,723,686.603007856,670,643,887.603007856,788.396992144,820,656,632,656,0.400985992257,-0.0155047678449,0.0698269178267,0.999999978527,4.82427179576e-05,-0.000201318184064,9.51061304795e-06,1793250657113092864
+105,1.750000000,BASELINE,769.971832731,745.028167269,723,686.028167269,670,643,887.028167269,788.971832731,820,656,632,656,0.400985837549,-0.0155051883536,0.0698268401756,0.999999978548,4.78295767601e-05,-0.000201296727677,9.84280737467e-06,1793250657129759488
+106,1.766666667,BASELINE,769.455868324,745.544131676,723,686,670,643,888.088263353,789,819.455868324,655.455868324,632,656,0.40098705422,-0.0155055733319,0.0698274310248,0.999999978689,4.858934935e-05,-0.000200404033576,9.94562087928e-06,1793250657146425856
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,887,789,820,656,632,656,0.400987474704,-0.0155044366801,0.0698280022841,0.999999978971,4.81700436259e-05,-0.000199124441601,9.30539319931e-06,1793250657187942656
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,887,789,820,655.419375284,632,656,0.400986717872,-0.0155047456724,0.0698274640447,0.999999978798,4.6884256716e-05,-0.00020029826206,9.34402611085e-06,1793250657204610048
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.160175411,745.839824589,723,686,670,643,887,789,820,655.160175411,632,656,0.400985764754,-0.0155050293905,0.069826873524,0.999999978579,4.62026963932e-05,-0.000201542479627,9.35550426292e-06,1793250657221276928
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.73693293,745.26306707,723,686,670,643,887,789,820,655.73693293,632,656,0.400984301137,-0.0155052473758,0.0698261470304,0.99999997825,4.70926003771e-05,-0.000202969785323,9.29635868109e-06,1793250657237942528
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745.318885479,723,686,670,643,887,789,820,655.681114521,632,656,0.400984959003,-0.0155051704618,0.06982634053,0.99999997835,4.68593719649e-05,-0.00020253877653,9.11592675587e-06,1793250657254608640
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745.905194648,723,686,670,643,887,789,820,655.094805352,632,656,0.400987395988,-0.0155048462394,0.0698273055544,0.999999978807,4.56842623848e-05,-0.000200549348246,8.83378169983e-06,1793250657271275264
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.514654969,745.514654969,723,686,670,643,887,789,819.514654969,655,632,656,0.400985629572,-0.0155046415547,0.0698261899325,0.999999978293,4.68543931654e-05,-0.000202824750067,8.96198837197e-06,1793250657287942144
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.063658809,745,723,686,669.936341191,643,887.063658809,788.936341191,819,655.063658809,632,655.936341191,0.400983645257,-0.0155044388935,0.069825092036,0.999999977714,4.8379385971e-05,-0.000205297439544,9.19041902806e-06,1793250657304608768
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.636781449,745,723,686,669.363218551,643,887.636781449,788.363218551,819,655.636781449,632,655.363218551,0.400986405842,-0.0155040678976,0.0698273478747,0.999999978191,4.91240228215e-05,-0.000202765443169,9.58748908027e-06,1793250657321275648
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,745.211336487,723,686,669.211336487,643,887.788663513,788.211336487,819,656,632,655.211336487,0.400990007609,-0.0155046966351,0.0698297526683,0.999999978282,4.88655488183e-05,-0.000202359246396,9.91598641722e-06,1793250657337942272
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,745.788370091,723,686,669.788370091,643,887.211629909,788.788370091,819,656,632,655.788370091,0.400995064961,-0.0155070553136,0.0698324152135,0.999999977708,4.68712895396e-05,-0.000205631538132,1.01258253377e-05,1793250657354609408
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,723,686,670,643,887,789,819,655.626223609,632,656,0.401012379313,-0.0155069199069,0.0698399453685,0.999999978271,4.78967617899e-05,-0.000202619112321,1.04678126815e-05,1793250657371276032
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,723,686,670,643,887,789,819,655.035968059,632,656,0.401036792522,-0.0155053400072,0.0698502946854,0.999999979455,5.06711643685e-05,-0.000195966782334,1.08863361237e-05,1793250657387942656
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.452928852,746,723,685.452928852,670,642.452928852,887,788.452928852,819.547071148,655.547071148,631.452928852,656,0.401090608508,-0.0155085176288,0.0698682217252,0.999999983635,5.10032107764e-05,-0.00017313054208,1.24471139212e-05,1793250657404609280
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723,685.254597755,669.872701123,642,887,788.127298877,819.872701123,656,631.127298877,656,0.401149584111,-0.0155121154632,0.0698858321831,0.999999987374,5.05279670488e-05,-0.000150029024575,1.3782934434e-05,1793250657421275904
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,723,686.398680671,669.300659664,642,887,788.699340336,819.300659664,656,631.699340336,656,0.401219919984,-0.0155161028248,0.0699006186801,0.999999990352,4.77860041405e-05,-0.000129669720248,1.40738670659e-05,1793250657437942528
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.279912176,746,723,686.720087824,669.279912176,642.279912176,887,788.720087824,819,656,632,656,0.401295287079,-0.0155187533782,0.0699111313085,0.999999992079,4.69986277431e-05,-0.000115971173135,1.35666767881e-05,1793250657454609152
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.86993466,746,723,686.13006534,669.86993466,642.86993466,887,788.13006534,819,656,632,656,0.401376228179,-0.0155199229026,0.0699169089842,0.999999992744,4.83767072447e-05,-0.000109651975659,1.21752586517e-05,1793250657471276032
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,723,686,670,643,887,788.451081774,819.451081774,655.548918226,632,656,0.401476457994,-0.0155235175773,0.0699199102018,0.999999993017,4.75564642927e-05,-0.000107653418956,1.0766771658e-05,1793250657487942912
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.970362287,746,723,686,670,643,887,789,820,655,632,656,0.401583490806,-0.0155276564568,0.0699219926391,0.999999993158,4.63514227754e-05,-0.000107003797512,9.26998300795e-06,1793250657504609792
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.393310098,746,723,686,670,643,887,789,820,655,632,656,0.401715432377,-0.0155291804736,0.0699216063224,0.999999992846,4.95208010722e-05,-0.000108702792033,6.231394564e-06,1793250657521276672
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.182693014,746,723,686.182693014,670,642.817306986,887,789,820,655.182693014,632,656,0.401857479481,-0.0155313824651,0.0699222371493,0.999999992797,5.12025846625e-05,-0.000108510123949,3.1753439366e-06,1793250657537943552
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.756450442,746,723,686.756450442,670,642.243549558,887,789,820,655.756450442,632,656,0.402021158017,-0.0155350356983,0.0699250452279,0.999999993329,4.97000898006e-05,-0.000104268248111,8.19149383502e-08,1793250657554609664
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746,723,687,670,642.33961724,887,789,819.66038276,656,632,656,0.402196835608,-0.0155366335952,0.0699251030295,0.999999993188,4.98414027281e-05,-0.000105472006479,-3.90209095664e-06,1793250657571275776
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746,723,687,670,642.929724115,887,789,819.070275885,656,632,656,0.402381363296,-0.0155367155492,0.0699231323245,0.999999992527,5.11951298438e-05,-0.000110692271123,-8.5429551187e-06,1793250657587942400
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,745.489566661,723,687,669.489566661,643,887,789,819.510433339,656,632,656,0.402608872415,-0.0155354508844,0.0699256554613,0.999999993138,4.44621910703e-05,-0.000107573904278,-1.32333536584e-05,1793250657604609024
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,745.088533047,723,687,669.088533047,643,887.088533047,789,820,655.911466953,632,656,0.402849981413,-0.0155331501924,0.0699297528994,0.999999994051,3.5530858424e-05,-0.000101563345662,-1.79262099676e-05,1793250657621275904
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745.659338676,723,687,669.659338676,643,887.659338676,789,820,655.340661324,632,656,0.403133521314,-0.0155261975632,0.0699391167475,0.99999999584,2.05793113335e-05,-8.5938752612e-05,-2.2595977895e-05,1793250657637942528
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,723,687.233627712,670,643,888,789,819.766372288,655,632,656,0.403429486018,-0.0155230945952,0.0699481517251,0.999999997083,9.86473640674e-06,-7.09259699518e-05,-2.6579866375e-05,1793250657654609408
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,723,687.813072882,670,643,888,789,819.186927118,655,632,656,0.40374384199,-0.0155256899241,0.0699566999058,0.999999997935,5.42175972144e-06,-5.68187945005e-05,-2.95485107854e-05,1793250657671276288
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746,723,688,670,643,888,789,819,655,632,656,0.404071943589,-0.0155282605317,0.0699580643067,0.99999999794,5.83493219548e-06,-5.69582218572e-05,-2.90083363509e-05,1793250657687942656
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746,723,688,670,643,888,789,819,655,632,656,0.404406591197,-0.0155308193663,0.0699560076082,0.999999997564,8.56072682034e-06,-6.38822450531e-05,-2.67971728508e-05,1793250657704609280
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746,723,688,670,643,888,789,819,655,632,656,0.404806888141,-0.0155325198392,0.0699632580203,0.999999998343,9.34308436089e-08,-5.00358552057e-05,-2.84570404707e-05,1793250657721275904
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746,723,688,670,643,888.297660975,789,819.148830488,655,632,656,0.40521611939,-0.0155336658815,0.0699685207953,0.99999999869,-8.0465806111e-06,-4.04481861762e-05,-3.03296733323e-05,1793250657737942528
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,723,688,670,643,889.448391134,789,819.724195567,655,632,656,0.405648036796,-0.0155332611373,0.069967673402,0.999999998391,-1.47509939041e-05,-4.3989048161e-05,-3.26399710666e-05,1793250657754609152
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,723,688.305349238,670,643,889.389301525,789,820,655,632,656.305349238,0.406083971081,-0.0155315763822,0.0699605084194,0.99999999766,-1.30551962261e-05,-5.75590253659e-05,-3.45895659775e-05,1793250657771275776
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746,723,688.891832511,670,643,888.216334978,789,820,655,632,656.891832511,0.406523603741,-0.0155287131253,0.0699475268533,0.999999996109,-3.62535278388e-06,-8.03627762556e-05,-3.62070632406e-05,1793250657787942656
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,745.527901951,723,689,670,643,888.472098049,789.472098049,820.472098049,655.472098049,632,656.527901951,0.407023084129,-0.0155270314533,0.0699366231369,0.999999995049,-2.72038244561e-06,-9.17532121958e-05,-3.8410146487e-05,1793250657804609536
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,745.050767866,723,689.050767866,670,643,889,790,820.949232134,655.949232134,632,656,0.407542996731,-0.0155258311066,0.0699282866246,0.999999994428,-3.58017835869e-06,-9.73693746227e-05,-4.06333926646e-05,1793250657821276160
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,745.627473596,723,689.627473596,670,643,889,790,820.372526404,655.372526404,632,656,0.408134371696,-0.015526848956,0.0699416775687,0.999999996684,-2.75063355218e-06,-6.99046719635e-05,-4.16936348593e-05,1793250657837942784
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,723,690,670,643,888.7961071,790,820.2038929,655,632,656,0.408738985092,-0.015528286265,0.0699533394666,0.999999998098,-6.07109597789e-06,-4.43082117882e-05,-4.24767388294e-05,1793250657854609664
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746,723,690,670,643,888.220210415,790,820.779789585,655,632,656,0.409367752047,-0.0155304888802,0.0699618467084,0.999999998698,-1.69632708047e-05,-2.21203726012e-05,-4.27542024621e-05,1793250657871276032
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.63627022,745.63627022,723,690,669.63627022,643,888.36372978,789.63627022,821,655,632,656,0.40998068114,-0.0155285869337,0.069957407396,0.999999998569,-1.13988743294e-05,-2.83535359364e-05,-4.39166786831e-05,1793250657887942400
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.047350194,745.047350194,723,690,669.047350194,643,888.952649806,789.047350194,821,655,632,656,0.410583804765,-0.0155241437948,0.0699449526886,0.999999997588,4.354018339e-06,-5.21825442648e-05,-4.56270786726e-05,1793250657904609024
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745,723.530751009,690.530751009,669,643,889.530751009,789,821,655,632,656,0.411267404863,-0.0155214708099,0.0699538500836,0.999999998159,4.44214902349e-06,-3.92933791633e-05,-4.60238117413e-05,1793250657921275904
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.108291916,723.891708084,691,669.216583832,643,889.891708084,789.108291916,821.108291916,655,632,656,0.411972798146,-0.0155206034713,0.0699694389243,0.999999998841,-1.59837049625e-07,-1.51210537308e-05,-4.57030212749e-05,1793250657937942784
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.687509546,723.312490454,691,670.375019092,643,889.312490454,789.687509546,821.687509546,655,632,656,0.412742364611,-0.0155269152616,0.0700060083601,0.999999997926,-1.92016878841e-05,4.41573775301e-05,-4.27614276474e-05,1793250657954609152
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.263997842,746,723,691,670.472004315,643,889.263997842,790,822.263997842,655,632,656,0.413510080638,-0.0155308843928,0.0700279845541,0.999999995554,-3.15982379487e-05,7.87279729934e-05,-4.118075631e-05,1793250657971275520
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.837288598,746,723,691,669.325422804,643,889.837288598,790,822.837288598,655,632,656,0.414275628839,-0.0155321089272,0.0700328636952,0.999999994938,-3.62093313528e-05,8.43515272186e-05,-4.11945054187e-05,1793250657987942144
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.576675972,746,723,691,669.423324028,643,890,790,822.576675972,655,632,656,0.414989941421,-0.0155263404479,0.0699919970187,0.999999998599,-2.36123310969e-05,9.77111802026e-06,-4.63550087867e-05,1793250658004608768
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723,691,669.985886638,643,890,790,822.014113362,655.014113362,632,656,0.415686969934,-0.0155180375641,0.0699340746077,0.999999994099,-4.86704745476e-06,-9.44502362836e-05,-5.34524528457e-05,1793250658021275136
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,691,669.406972383,643,890,790,822.593027617,655.593027617,632,656,0.416504875466,-0.0155192153931,0.0699191003003,0.999999991951,-1.29837565151e-05,-0.000112885303724,-5.64398730753e-05,1793250658037942016
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723.170741461,691,669.170741461,643,890.170741461,790,823,655.829258539,632,656,0.417338699103,-0.0155209828679,0.0699188638275,0.999999992159,-1.82849463541e-05,-0.000109666771306,-5.76251789493e-05,1793250658054608896
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,723.745613995,691,669.745613995,643,890.745613995,790,823,655.254386005,632,656,0.418210199541,-0.015524145986,0.0699535106045,0.999999996846,-1.69220319677e-05,-5.5195937822e-05,-5.45450272936e-05,1793250658071275776
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.324736487,745.675263513,723.675263513,691.324736487,670,643,891,790,823,655,632,656,0.419094082109,-0.0155259977881,0.0699832704647,0.999999998377,-2.03980977169e-05,-8.81398575428e-06,-5.2468981831e-05,1793250658087942400
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.907232351,745.092767649,723.092767649,691.907232351,670,643,891,790,823,655,632,656,0.419987792944,-0.0155268087339,0.0700091513361,0.999999997821,-2.77151009086e-05,3.11474192443e-05,-5.11899451844e-05,1793250658104609280
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.506652976,745.493347024,723,692,669.506652976,643,891,789.506652976,823.493347024,655,632,656,0.420907445436,-0.0155286548928,0.070029107842,0.999999996261,-3.73034117155e-05,5.95205599038e-05,-5.04409843852e-05,1793250658121275648
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.077837963,746,723,692.077837963,669,643,891,789,824,655.077837963,632,656,0.421817172273,-0.0155297203412,0.0700386688066,0.999999995191,-4.49982383978e-05,7.09457460782e-05,-5.0602929464e-05,1793250658137942272
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.647730759,746,723,692.647730759,669,643,891,789,824,655.647730759,632,656,0.422633089111,-0.0155246108728,0.0699896082918,0.999999997657,-3.8003532856e-05,-1.08894816357e-05,-5.58884433092e-05,1793250658154609152
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.779295626,746,723,693,669,643,891,789.220704374,824,655.779295626,632,656,0.423461750475,-0.0155201805698,0.0699310940087,0.999999992051,-4.09116458009e-05,-0.000101194798249,-6.31190181323e-05,1793250658171275776
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.201334971,746,723,693,669,643,891,789.798665029,824,655.201334971,632,656,0.424311041651,-0.0155168496376,0.0698572768128,0.999999974452,-5.98495446496e-05,-0.000205210741275,-7.34980826211e-05,1793250658187942400
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.514306923,667,639,896,777,828,655,630,656.485693077,0.452624109539,-0.015653869991,0.0694852820088,0.999999649119,-0.000280256115508,-0.000788102140026,-4.59791921995e-05,1793250660247571712
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.19793765,668,640,895,782.80206235,828,654.19793765,631,656,0.446152456785,-0.0155364887124,0.0695500289397,0.999999738677,-5.96745855614e-05,-0.000720450217367,6.06494241428e-06,1793250660514238720
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.973587054,722.973587054,687.026412946,669.973587054,642,886,788,820,655.026412946,632,656,0.405861199395,-0.015369346062,0.0698030414175,0.999999921086,0.000223503088971,-0.000327953976151,1.79142705398e-05,1793250661380905472
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be893582e7d82d69816a932500eda42bfbef71dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.57566532417,-0.00984978717059,1.06003360132,0.546236000852,-0.00117715931161,1.05970499996
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91555da3f5f6518abdc7530b033bd46fcbd6b4e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8446ede64376e1f37d594554f291b1c1dc8b8511f1d199771e72c15bcd300e46
+size 26085679
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdda684f2637fa4cfd2f0ac831cb495a2cfcc7e8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,411 @@
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+21,0.350000000,BASELINE,769,745.181831839,723,685.181831839,669.181831839,643,886,788,819.818168161,655,632,656,0.400950393929,-0.0153677169212,0.0698089231565,0.999999928738,0.000224721202212,-0.000303251641456,7.92960660106e-06,1793250662708174848
+22,0.366666667,BASELINE,769,745.759927289,723,685.759927289,669.759927289,643,886,788,819.240072711,655,632,656,0.400949933184,-0.0153675292629,0.0698090438541,0.99999992847,0.000225932326567,-0.000303231210035,8.09745241534e-06,1793250662724841472
+23,0.383333333,BASELINE,769,745.665361439,722.665361439,685.665361439,670,643,886.334638561,788,819,655,632,656,0.400949949398,-0.015368364943,0.0698087616723,0.999999928568,0.000225524424421,-0.000303206168089,8.29121886441e-06,1793250662741508096
+24,0.400000000,BASELINE,769,745.093053641,722.093053641,685.093053641,670,643,886.906946359,788,819,655,632,656,0.400950304361,-0.0153699274252,0.0698081933547,0.999999928925,0.000223966646571,-0.000303177851626,8.50339485726e-06,1793250662758174720
+25,0.416666667,BASELINE,769,745,722.473754145,685,670,643,887,788.473754145,819.473754145,655,632,656,0.400949115788,-0.0153692984247,0.0698075172801,0.999999928459,0.000224561678311,-0.00030427478072,8.39161693704e-06,1793250662774841344
+26,0.433333333,BASELINE,769,745,723,685.042364702,670,643,886.957635298,789,819.957635298,655,632,656,0.400947816761,-0.0153683482366,0.0698069163252,0.999999927903,0.000225433652924,-0.000305460770313,8.23813940637e-06,1793250662791508224
+27,0.450000000,BASELINE,769,745,723,685.649226621,670,643,886.350773379,789,819.350773379,655,632,656,0.400949039366,-0.0153687880566,0.069807595103,0.999999928293,0.000224426124404,-0.000304922263415,8.36715081697e-06,1793250662808175104
+28,0.466666667,BASELINE,769.243295771,745,723,686,670,643,886.243295771,788.756704229,819.243295771,655,632,656,0.400949657213,-0.0153695836698,0.0698079915609,0.999999928758,0.000223106085235,-0.000304360574575,8.46813314307e-06,1793250662824841728
+29,0.483333333,BASELINE,769.819842187,745,723,686,670,643,886.819842187,788.180157813,819.819842187,655,632,656,0.400949446702,-0.0153708666253,0.0698080013154,0.999999929327,0.00022135798946,-0.00030376713266,8.53072305348e-06,1793250662841508608
+30,0.500000000,BASELINE,769.607814785,745.392185215,723,686,670,643,886.607814785,788.392185215,819.607814785,655,632,656,0.400949029086,-0.0153703238875,0.069807745197,0.999999929144,0.000221955359789,-0.000303940074468,8.28699893437e-06,1793250662858175232
+31,0.516666667,BASELINE,769.037382203,745.962617797,723,686,670,643,886.037382203,788.962617797,819.037382203,655,632,656,0.400948517341,-0.0153689513759,0.06980736824,0.999999928618,0.000223618739641,-0.000304461336102,7.90405572298e-06,1793250662874841600
+32,0.533333333,BASELINE,769,746,723,685.443888404,670,643,886.556111596,788.443888404,819,655.556111596,632.556111596,656,0.40094844403,-0.0153697128753,0.069807341765,0.999999928875,0.000222312349932,-0.000304574616678,7.83906821607e-06,1793250662891508224
+33,0.550000000,BASELINE,769,746,723,685.146833458,670,643,887,788.146833458,819,656,632.853166542,656,0.400948585294,-0.0153701643839,0.0698076416082,0.999999929008,0.000222151027492,-0.000304254440725,7.90135839988e-06,1793250662908175104
+34,0.566666667,BASELINE,769,746,723,685.724671479,670,643,887,788.724671479,819,656,632.275328521,656,0.400949266151,-0.0153692666783,0.0698088271556,0.999999928609,0.000225962185685,-0.000302745910467,8.27179896336e-06,1793250662924841728
+35,0.583333333,BASELINE,769.301436723,746,723,686,670,643,887,789,819.301436723,656,632,656,0.40094926845,-0.0153689693197,0.0698090321973,0.999999928682,0.000225751213508,-0.000302661331049,8.3343868866e-06,1793250662941508608
+36,0.600000000,BASELINE,769.877225647,746,723,686,670,643,887,789,819.877225647,656,632,656,0.400948653161,-0.0153692183659,0.0698083448331,0.999999929182,0.000221879505597,-0.000303872758267,8.11678321452e-06,1793250662958175744
+37,0.616666667,BASELINE,769.537997724,745.537997724,723,685.537997724,670,643,887,789,820,655.537997724,632,656,0.40094855637,-0.015369617866,0.0698081166471,0.999999929269,0.000221019099042,-0.00030421531923,8.06611743357e-06,1793250662974841856
+38,0.633333333,BASELINE,769,745.048534971,722.951465029,685,670,643,886.951465029,788.951465029,819.951465029,655,632,656,0.400948461454,-0.0153701327231,0.0698079730513,0.999999929227,0.000220888964443,-0.000304448295331,8.07992984533e-06,1793250662991508224
+39,0.650000000,BASELINE,769,745.627637301,722.372362699,685,670,643,886.372362699,788.372362699,819.372362699,655,632,656,0.400946850916,-0.0153714628804,0.0698073937804,0.999999928969,0.000219820457694,-0.000306057479933,8.30401579302e-06,1793250663008174848
+40,0.666666667,BASELINE,768.795116757,745.795116757,722.204883243,685,670,643,886,788,819,655,632,656,0.400946368202,-0.0153720289718,0.0698074597599,0.999999929003,0.000219346592217,-0.000306282514988,8.45815137824e-06,1793250663024841216
+41,0.683333333,BASELINE,768.221214427,745.221214427,722.778785573,685,670,643,886,788,819,655,632,656,0.400947916832,-0.0153712188895,0.0698086879122,0.999999929564,0.000219943746454,-0.000304014532004,8.48629802846e-06,1793250663041507840
+42,0.700000000,BASELINE,768.355441788,745.355441788,722.644558212,685,670,643,886,788,819.355441788,655.355441788,632,656,0.400949002084,-0.0153704985101,0.0698090705024,0.99999992968,0.000220936063098,-0.000302915843923,8.37351354343e-06,1793250663058174720
+43,0.716666667,BASELINE,768.933825283,745.933825283,722.066174717,685,670,643,886,788,819.933825283,655.933825283,632,656,0.400949796693,-0.0153698343946,0.0698089227357,0.999999929517,0.000222176235161,-0.000302550566044,8.17233363192e-06,1793250663074841344
+44,0.733333333,BASELINE,769,745.479894961,722,685.520105039,670,643,886.520105039,788,819.479894961,655.479894961,632,655.479894961,0.400950023958,-0.0153682961713,0.0698086715656,0.999999929006,0.000223985564616,-0.000302916349441,7.74561214815e-06,1793250663091508224
+45,0.750000000,BASELINE,769.106279542,745,722.106279542,686,670,643,887,788,819,655.106279542,632,655.106279542,0.400950064907,-0.0153672151104,0.0698084795658,0.999999928541,0.000225467289143,-0.000303360602722,7.45690584213e-06,1793250663108175104
+46,0.766666667,BASELINE,769.687425442,745,722.687425442,686,670,643,887,788,819,655.687425442,632,655.687425442,0.400949600885,-0.0153686812741,0.0698086116339,0.999999928494,0.000225156697146,-0.000303733458318,7.91505838229e-06,1793250663124841728
+47,0.783333333,BASELINE,769.733798776,745,722.733798776,685.733798776,670,643,886.733798776,788,819.266201224,656,632,656,0.400949000141,-0.0153696580408,0.0698085092106,0.999999928495,0.000224804269103,-0.000303982132936,8.18159640925e-06,1793250663141508352
+48,0.800000000,BASELINE,769.157781362,745,722.157781362,685.157781362,670,643,886.157781362,788,819.842218638,656,632,656,0.400948240274,-0.0153700652266,0.0698081338764,0.999999928554,0.000224403150464,-0.000304086280551,8.22512545918e-06,1793250663158174720
+49,0.816666667,BASELINE,769,745.426366383,722.426366383,685.426366383,670,643,886.426366383,788,820,655.573633617,632,656,0.400949043659,-0.0153695265327,0.0698087038626,0.999999928797,0.000224776105735,-0.000303007002596,8.21918642008e-06,1793250663174841344
+50,0.833333333,BASELINE,769,745.98660449,723,686,670,643,886.98660449,788,820,655,632,656,0.400950384049,-0.0153686725839,0.069809610289,0.999999929112,0.000225343715699,-0.000301544698387,8.19337508379e-06,1793250663191508224
+51,0.850000000,BASELINE,769,745.407422326,723,686,670,643,886.407422326,788,820,655,632,656,0.400949496841,-0.0153695749498,0.0698096641275,0.999999929537,0.000221798789917,-0.000302761323639,8.11644646434e-06,1793250663208174848
+52,0.866666667,BASELINE,769,745,723,685.829366108,670,643,886,788.170633892,819.829366108,655,632,656,0.400949070929,-0.0153704400303,0.0698095915971,0.999999929877,0.000219133633374,-0.00030358179532,8.01790423389e-06,1793250663224841472
+53,0.883333333,BASELINE,769,745,723,685.253980723,670,643,886,788.746019277,819.253980723,655,632,656,0.400949739231,-0.0153712166678,0.0698092193138,0.999999930041,0.000218555330431,-0.00030346257232,7.86809352194e-06,1793250663241508608
+54,0.900000000,BASELINE,769,745,723,685.321866615,670,643,886.321866615,788.678133385,819,655,632,656,0.400950138163,-0.0153714852741,0.069809564395,0.999999930241,0.000219115705956,-0.000302396406239,7.91034394199e-06,1793250663258175232
+55,0.916666667,BASELINE,769,745,723,685.898078973,670,643,886.898078973,788.101921027,819,655,632,656,0.400950324235,-0.0153713524235,0.0698104763528,0.999999930466,0.000220575889084,-0.000300581945908,8.10436509871e-06,1793250663274841856
+56,0.933333333,BASELINE,769,745,723,686,670,643,886.515842662,788.484157338,819.484157338,655.484157338,632,656,0.400949681476,-0.0153708810449,0.0698100339125,0.999999930331,0.000220608829785,-0.000301004560155,8.16249634254e-06,1793250663291508224
+57,0.950000000,BASELINE,769.07158596,745,723,686,670,643,886.07158596,788.92841404,820,655.92841404,632,656,0.40094898468,-0.015370344123,0.0698093705818,0.999999930095,0.000220530706301,-0.000301843807632,8.1544494942e-06,1793250663308174848
+58,0.966666667,BASELINE,769.653525745,745,723,686,670,643,886.653525745,788.346474255,820,655.346474255,632,656,0.400949172411,-0.0153698585548,0.0698092074226,0.99999992969,0.00022184733154,-0.000302226110082,7.88278777518e-06,1793250663324841472
+59,0.983333333,BASELINE,769.767489658,745,723,685.767489658,670,643,887,788,820,655.232510342,632,656,0.400949825973,-0.0153697655916,0.0698096804769,0.999999929606,0.000222972254569,-0.00030167587962,7.88488418008e-06,1793250663341508352
+60,1.000000000,BASELINE,769.19285337,745,723,685.19285337,670,643,887,788,820,655.80714663,632,656,0.400951164977,-0.0153702503244,0.0698110896838,0.999999929993,0.000223815098726,-0.000299753479256,8.2898002929e-06,1793250663358174976
+61,1.016666667,BASELINE,769.389683096,745,723,685.389683096,670,643,886.610316904,788,819.610316904,656,632,656,0.400950468711,-0.0153700059118,0.0698104878287,0.999999929791,0.000223838828344,-0.0003004085211,8.33403954884e-06,1793250663374842112
+62,1.033333333,BASELINE,769.976210213,745,723,685.976210213,670,643,886.023789787,788,819.023789787,656,632,656,0.400948744352,-0.0153693931796,0.0698088701082,0.999999929289,0.000223448791439,-0.000302365528928,8.19608693304e-06,1793250663391509504
+63,1.050000000,BASELINE,769.443604744,745,723,685.443604744,670,643,886.556395256,788,819.556395256,656,632,656,0.400948310272,-0.0153693050386,0.0698079229183,0.999999929111,0.0002223507837,-0.000303769068425,7.86906685359e-06,1793250663408175616
+64,1.066666667,BASELINE,769,745.135764672,723,685.135764672,670,643,886.864235328,788.135764672,820,655.864235328,632,656,0.40094846861,-0.0153695615472,0.0698076111439,0.99999992912,0.000221657538947,-0.000304250908029,7.69725900952e-06,1793250663424841728
+65,1.083333333,BASELINE,769,745.713352265,723,685.713352265,670,643,886.286647735,788.713352265,820,655.286647735,632,656,0.400950377358,-0.0153708674876,0.0698092749711,0.999999929697,0.000222378926816,-0.000301809377395,8.05657423579e-06,1793250663441508096
+66,1.100000000,BASELINE,769,745.710263998,722.710263998,685.710263998,670,643,886.289736002,788.710263998,819.710263998,655,632,656,0.400950593863,-0.0153715579224,0.0698096082047,0.999999929856,0.000222343489761,-0.000301306070317,8.17638423162e-06,1793250663458174720
+67,1.116666667,BASELINE,769,745.135066392,722.135066392,685.135066392,670,643,886.864933608,788.135066392,819.135066392,655,632,656,0.400949143093,-0.0153716419319,0.0698086304747,0.999999929605,0.000221562392972,-0.000302712392854,8.0602223317e-06,1793250663474841344
+68,1.133333333,BASELINE,769,745,722.449130673,685.449130673,670,643,887,788,819,655.449130673,632,656,0.400948618157,-0.0153722508958,0.0698083673055,0.999999929777,0.00022011187125,-0.000303199509735,8.17548915286e-06,1793250663491507968
+69,1.150000000,BASELINE,769,745.035583227,723,686,670,643,887,788,819.035583227,655.964416773,632,656,0.400948456031,-0.0153728319951,0.0698084131155,0.999999930059,0.000218694340007,-0.000303291559971,8.33285175901e-06,1793250663508174592
+70,1.166666667,BASELINE,769,745.6143078,723,686,670,643,887,788,819.6143078,655.3856922,632,656,0.400949495032,-0.0153705287942,0.0698098280502,0.999999930067,0.000220916076756,-0.000301659039839,8.04871147539e-06,1793250663524841728
+71,1.183333333,BASELINE,769,746,723,686,670,643,887,788,820,655,632,656,0.400950252449,-0.0153694386233,0.0698106616857,0.999999930121,0.000221810788648,-0.000300824085544,7.91867131668e-06,1793250663541508864
+72,1.200000000,BASELINE,769,746,723,686,670,643,887,788,820,655,632,656,0.400950447239,-0.0153707721715,0.0698103338445,0.999999930279,0.000220054011645,-0.000301582723782,8.0965340301e-06,1793250663558175744
+73,1.216666667,BASELINE,769,745.652705688,723,685.652705688,670,643,886.652705688,788,820,655,632,656,0.400950414537,-0.0153708276425,0.0698100642729,0.999999930326,0.00022020097031,-0.000301319924732,8.13489247364e-06,1793250663574841856
+74,1.233333333,BASELINE,769,745.077675333,723,685.077675333,670,643,886.077675333,788,820,655,632,656,0.400950232658,-0.0153700450222,0.0698098329113,0.999999930299,0.000221596291676,-0.000300387324611,8.0817718661e-06,1793250663591507968
+75,1.250000000,BASELINE,769,745.508249336,723,685.508249336,670,643,886.508249336,788,819.491750664,655,632,656,0.400949397984,-0.0153712175438,0.0698088163975,0.99999993006,0.000220686046089,-0.000301847120879,8.06231206093e-06,1793250663608174848
+76,1.266666667,BASELINE,769,746,723,686,670,642.90557287,887,788.09442713,819.09442713,655,632,656,0.400948499281,-0.0153724140763,0.0698079485289,0.999999929847,0.000219589499216,-0.000303350245352,8.04762455301e-06,1793250663624841216
+77,1.283333333,BASELINE,769,746,723,686,670,642.326823573,887,788.673176427,819.673176427,655,632,656,0.400947795079,-0.0153721676154,0.0698084720081,0.99999992995,0.000219384253618,-0.000303159197588,8.03045078437e-06,1793250663641507840
+78,1.300000000,BASELINE,769,745.749169281,722.749169281,685.749169281,670,642.250830719,887,789,820,655,632,656,0.400947690241,-0.0153715428974,0.0698087658722,0.999999929943,0.000219747483409,-0.000302921453098,7.96094844256e-06,1793250663658174720
+79,1.316666667,BASELINE,769,745.172935588,722.172935588,685.172935588,670,642.827064412,887,789,820,655,632,656,0.400948362959,-0.0153704274659,0.0698087618565,0.999999929792,0.000220848196983,-0.000302623128908,7.82356018493e-06,1793250663674841600
+80,1.333333333,BASELINE,769.399777683,745.399777683,722.399777683,685,669.600222317,643,886.600222317,788.600222317,819.600222317,655.399777683,632,656,0.400949466862,-0.0153707954536,0.0698094225777,0.99999993,0.000221132658635,-0.000301723226302,7.93752308283e-06,1793250663691508480
+81,1.350000000,BASELINE,769.970981433,745.970981433,722.970981433,685,669.029018567,643,886.029018567,788.029018567,819.029018567,655.970981433,632,656,0.400950755658,-0.0153717995366,0.0698103683403,0.999999930362,0.000221067108706,-0.000300565364743,8.15926622286e-06,1793250663708175104
+82,1.366666667,BASELINE,770,746,723,685.562674989,669.562674989,643,886.562674989,788.562674989,819.562674989,655.437325011,632,656,0.400949375004,-0.0153703347333,0.0698097912948,0.999999929937,0.000221118823082,-0.000301944723864,7.81362931644e-06,1793250663724841472
+83,1.383333333,BASELINE,769.847296552,745.847296552,723,686,670,643,887,789,820,655,632,656,0.400948495559,-0.0153694054845,0.0698095027304,0.999999929746,0.000221100776848,-0.000302595841864,7.64449725335e-06,1793250663741507840
+84,1.400000000,BASELINE,769.265036766,745.265036766,723,686,670,643,887,789,820,655,632,656,0.400949427921,-0.0153703544621,0.0698102549347,0.999999930331,0.000220868838415,-0.000300816415467,8.05729777618e-06,1793250663758174720
+85,1.416666667,BASELINE,769.312857374,745,723,686,670,643,886.687142626,788.687142626,819.687142626,655.312857374,632.312857374,656,0.400950291442,-0.0153704133193,0.0698107267635,0.999999930711,0.00022100250912,-0.000299447333918,8.13998678836e-06,1793250663774841344
+86,1.433333333,BASELINE,769.887104023,745,723,686,670,643,886.112895977,788.112895977,819.112895977,655.887104023,632.887104023,656,0.400951097444,-0.0153697284897,0.0698109643413,0.999999930923,0.000221441642695,-0.000298421091583,7.94687083779e-06,1793250663791507968
+87,1.450000000,BASELINE,769.527128352,745.472871648,723,686,670,643,886,788,819,655.527128352,632.527128352,656,0.400951038002,-0.0153690352263,0.0698105196801,0.99999993037,0.000222635583577,-0.000299390673264,7.63152398976e-06,1793250663808174848
+88,1.466666667,BASELINE,769,745.939540235,722.939540235,686,670,642.939540235,886.060459765,788,819.060459765,655,632,656,0.40095080782,-0.015368533111,0.0698099867161,0.999999929751,0.000223728954994,-0.00030064653228,7.35032419815e-06,1793250663824841472
+89,1.483333333,BASELINE,769,745.360518575,722.360518575,686,670,642.360518575,886.639481425,788,819.639481425,655,632,656,0.400950929654,-0.0153696881675,0.069810128299,0.999999930195,0.000222375517217,-0.000300168849199,7.61854718467e-06,1793250663841508096
+90,1.500000000,BASELINE,769,745,722.216916326,685.783083674,670,642.216916326,887,788,820,655.216916326,632,656,0.400950675159,-0.0153708125743,0.0698101262774,0.999999930321,0.000221606170695,-0.000300312511433,7.75615461968e-06,1793250663858174720
+91,1.516666667,BASELINE,769,745,722.791733103,685.208266897,670,642.791733103,887,788,820,655.791733103,632,656,0.40094979974,-0.0153718864103,0.0698098873162,0.999999929927,0.000221800543945,-0.000301481360576,7.67825328582e-06,1793250663874841344
+92,1.533333333,BASELINE,769,745.367954199,723,685.367954199,670,643,886.632045801,788,819.632045801,655.632045801,632,656,0.400949220653,-0.0153713532323,0.069809729879,0.999999929705,0.000221989893652,-0.000302083688025,7.49776089916e-06,1793250663891508224
+93,1.550000000,BASELINE,769,745.944973259,723,685.944973259,670,643,886.055026741,788,819.055026741,655.055026741,632,656,0.400948809937,-0.0153699069784,0.0698096187622,0.99999992958,0.000222176389091,-0.000302364128295,7.2589781413e-06,1793250663908175104
+94,1.566666667,BASELINE,769,745.467424874,723,685.467424874,670,643,886.532575126,788.532575126,819.532575126,655,632,656,0.400950091815,-0.0153706884442,0.0698098468857,0.999999930325,0.000220417360442,-0.00030118541893,7.32229619089e-06,1793250663924841472
+95,1.583333333,BASELINE,769,745,722.880388955,685.119611045,670,643,886.880388955,788.880388955,819.880388955,655,632,656,0.400951054983,-0.01537141561,0.0698100326758,0.999999930866,0.000219265235194,-0.000300224339226,7.45276155187e-06,1793250663941507840
+96,1.600000000,BASELINE,769,745,722.299833065,685.700166935,670,643,886.299833065,788.299833065,819.299833065,655,632,656,0.40095010233,-0.0153710285218,0.0698099175111,0.999999930287,0.000221242290004,-0.000300694709445,7.7192656482e-06,1793250663958174720
+97,1.616666667,BASELINE,769.276766511,745,722.276766511,686,670,643,886,788,819.276766511,655,632,656,0.400949509199,-0.0153710862888,0.0698099614529,0.999999930161,0.000221473382012,-0.000300939449365,7.9707732278e-06,1793250663974841856
+98,1.633333333,BASELINE,769.849140412,745,722.849140412,686,670,643,886,788,819.849140412,655,632,656,0.400949300067,-0.0153716191946,0.0698101753323,0.999999930518,0.000219839654693,-0.000300943199177,8.20626338689e-06,1793250663991508736
+99,1.650000000,BASELINE,770,745,723,686,670.423983187,642.576016813,886.423983187,788.423983187,820,655,632,656,0.400949511187,-0.0153715575743,0.0698100789403,0.999999930684,0.000219107383195,-0.000300932693858,7.98678401605e-06,1793250664008175360
+100,1.666666667,BASELINE,770,745,723,686,670.999709558,642.000290442,886.999709558,788.999709558,820,655,632,656,0.400949872714,-0.0153712831735,0.0698098715023,0.999999930781,0.000218697741919,-0.00030091708664,7.60447147419e-06,1793250664024841728
+101,1.683333333,BASELINE,768.811732706,745,723,685.405866353,670.405866353,642.594133647,887,788.405866353,820,655,632,656.594133647,0.400949080442,-0.0153702598715,0.0698099451511,0.999999930365,0.00022019117485,-0.000301207933431,7.69745478888e-06,1793250664041508096
+102,1.700000000,BASELINE,768,745.183330006,723,685,670.183330006,643,886.816669994,788.183330006,819.816669994,655.183330006,632,656.816669994,0.400948551087,-0.0153695294235,0.069809853633,0.999999929986,0.000221397376408,-0.000301581476374,7.69255986146e-06,1793250664058174464
+103,1.716666667,BASELINE,768,745.761253965,723,685,670.761253965,643,886.238746035,788.761253965,819.238746035,655.761253965,632,656.238746035,0.400948588879,-0.015369430119,0.0698094063094,0.999999929692,0.000221983282212,-0.00030213267905,7.4764784073e-06,1793250664074841344
+104,1.733333333,BASELINE,768.336933095,745.663066905,723,685.336933095,670.663066905,643,886,788.663066905,819,655.663066905,632,656,0.400949612531,-0.0153700142373,0.069810009617,0.9999999301,0.000221338545208,-0.000301252562753,7.55288540486e-06,1793250664091508480
+105,1.750000000,BASELINE,768.911032157,745.088967843,723,685.911032157,670.088967843,643,886,788.088967843,819,655.088967843,632,656,0.400951330125,-0.0153710794143,0.06981135246,0.999999930998,0.000219827563318,-0.000299364946345,7.83517392615e-06,1793250664108175360
+106,1.766666667,BASELINE,769,745,723,685.502284485,670,643,886,788,819,655,632,656,0.400950607395,-0.0153704725686,0.0698110714654,0.999999930872,0.000219824985799,-0.000299787795101,7.78161148913e-06,1793250664124842496
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,685,670,643,886,788,819,656,632,655,0.400949362741,-0.0153699617971,0.0698098612352,0.999999930087,0.000221726050609,-0.000301006449737,7.60503087025e-06,1793250664167820544
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.42360995,723,685,669.42360995,643,886,788.57639005,819,655.42360995,632,655.57639005,0.40094936836,-0.0153707834129,0.0698096578752,0.999999930501,0.000220328247441,-0.000300657082325,7.66888162642e-06,1793250664184487168
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,722.849373724,685,669.150626276,643,886,788.849373724,819.150626276,655,632,656,0.400949253356,-0.0153712774565,0.069809673869,0.999999930698,0.000219546508456,-0.000300573613887,7.69610913532e-06,1793250664201153792
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,722.281109225,685,669.718890775,643,886,788.281109225,819.718890775,655,632,656,0.400948803901,-0.0153708632477,0.0698102980605,0.999999930298,0.000220472917012,-0.000301227397711,7.62179217214e-06,1793250664217820160
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,722,685,669.698564167,643,886,788.301435833,820,655,632,656,0.400949155633,-0.0153700972462,0.0698107087049,0.999999929999,0.000221950661284,-0.000301136205298,7.58488780233e-06,1793250664234487040
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,722,685,669.102039263,643,886,788.897960737,820,655,632,656,0.400950291682,-0.0153689868588,0.0698109102984,0.999999929796,0.000223968132784,-0.000300315722158,7.5846083043e-06,1793250664251153664
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,722,685,669.479264986,642.520735014,886,788.520735014,819.520735014,655,632,656,0.400950552605,-0.015370833233,0.0698108655666,0.999999930454,0.000221499177562,-0.000299947975251,7.81478973275e-06,1793250664267820288
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.057110487,745.057110487,722.057110487,685.057110487,669.942889513,642,886,788,819,655,632,656,0.400950471119,-0.0153728294111,0.0698107031391,0.999999931063,0.00021876450903,-0.000299918043764,8.04408496344e-06,1793250664284486912
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.632073455,745.632073455,722.632073455,685.632073455,669.367926545,642,886,788,819,655,632,656,0.400948922302,-0.0153706514611,0.0698099344058,0.99999992969,0.000222015155319,-0.000302104144075,7.83412234504e-06,1793250664301153280
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.788508102,745.788508102,723,685.788508102,669.211491898,642.211491898,886,788,819,655,632,656,0.400950722518,-0.0153700148363,0.0698108181635,0.999999929707,0.000222610406971,-0.000301608722325,7.89697616424e-06,1793250664317819904
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+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,723,685,669.619207416,642.619207416,886,788,819,655,631.619207416,656,0.400982901743,-0.0153740121341,0.0698256794138,0.999999937477,0.000217042999585,-0.00027901662486,9.39464359616e-06,1793250664351153152
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,723,685,669.040041373,642.040041373,886,788,819,655,631.040041373,656,0.401016016288,-0.0153757987717,0.0698404817173,0.999999943787,0.000216995383627,-0.000255397177235,1.05542154361e-05,1793250664367819520
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722.464565136,685.535434864,669,642.535434864,886,788,819,655,631.535434864,656,0.401073206442,-0.0153791741143,0.0698589988567,0.999999950715,0.000217471036283,-0.00022614289965,1.16347611351e-05,1793250664384486144
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.111030081,745.111030081,722.111030081,686,669,643,886,788.111030081,819.111030081,655,632,656,0.40113420766,-0.0153821714398,0.0698764922211,0.999999956271,0.000218050800336,-0.00019938884612,1.24902478016e-05,1793250664401153024
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.68827579,745.68827579,722.68827579,686,669,643,886,788.68827579,819.68827579,655,632,656,0.401203703234,-0.0153830860111,0.0698885282316,0.999999958871,0.000218904540356,-0.000184890535341,1.24253567664e-05,1793250664417819904
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.72956903,745.72956903,723,685.72956903,669.27043097,643,886,788.72956903,820,655,632,656,0.401279205442,-0.015386093198,0.0698977315627,0.999999961239,0.00021773462076,-0.000173108625474,1.2090408157e-05,1793250664434486784
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.141650129,745.141650129,723,685.141650129,669.858349871,643,886,788.141650129,820,655,632,656,0.401361759477,-0.0153915571308,0.069903609307,0.999999963463,0.000214188910003,-0.000164515790975,1.14384099926e-05,1793250664451153408
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,723,685.442157164,670,643,886.442157164,788,819.557842836,655.442157164,632,656,0.401461116795,-0.0153959048229,0.0699053107808,0.999999964212,0.000212075695202,-0.000162837409361,9.1356277466e-06,1793250664467819520
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.024244897,722.975755103,686,670,643,887,788,819,656,632,656,0.401567128738,-0.0153999751913,0.0699057720202,0.999999964545,0.000210332323468,-0.00016318630871,6.32007434924e-06,1793250664484485888
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.596956188,722.403043812,686,670,643,887,788,819,656,632,656,0.40170302648,-0.0154057870438,0.0699081641577,0.999999965877,0.000206669585669,-0.000159747508192,3.75797751773e-06,1793250664501152768
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,722.171252408,685.828747592,670,643,887,788.171252408,819.171252408,655.828747592,632,656,0.401848118251,-0.0154116836335,0.0699112722849,0.999999967479,0.000202560118649,-0.000154949862444,1.06597755977e-06,1793250664517819392
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,722.749313532,685.250686468,670,643,887,788.749313532,819.749313532,655.250686468,632,656,0.402015050346,-0.015417781515,0.0699160812393,0.999999969723,0.000197389450483,-0.000146924291292,-1.93460586336e-06,1793250664534486016
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+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.014848592,723,687,670.985151408,643,887,788.014848592,819.014848592,655,632,656,0.404422231469,-0.0154940751465,0.0699559083197,0.999999996103,2.46320693096e-05,-7.54733873538e-05,-3.86208580551e-05,1793250664684486144
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.561697926,723,687,670.438302074,643,887,788,819,655,632,656,0.404819580753,-0.0154863703176,0.0699611926741,0.999999996412,4.52966123985e-05,-6.42484377056e-05,-3.15707566942e-05,1793250664701153024
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.138089448,745.861910552,723,687.138089448,670,643,887.138089448,788,819.138089448,655,632,656,0.405227868129,-0.0154783784123,0.0699652851,0.999999996113,6.30719686627e-05,-5.53456099578e-05,-2.70749748854e-05,1793250664717819904
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.714189053,745.285810947,723,687.714189053,670,643,887.714189053,788,819.714189053,655,632,656,0.405666515238,-0.0154707738809,0.0699653169453,0.999999995583,6.96015678933e-05,-5.47442062825e-05,-3.1505801875e-05,1793250664734486528
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.70195844,745,723,688,670,643,888,788.29804156,819.70195844,655,632.29804156,656,0.406103952919,-0.0154703672546,0.0699564615037,0.999999994586,6.75155357236e-05,-7.11045713128e-05,-3.48286182966e-05,1793250664751153152
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.110472551,745,723,688,670,643,888,788.889527449,819.110472551,655,632.889527449,656,0.406540199879,-0.0154770475063,0.0699388558599,0.999999992267,5.6946767202e-05,-0.00010416507315,-3.70605154815e-05,1793250664767820032
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.469410167,723,688,669.530589833,643,888,789,819.469410167,655.469410167,632.530589833,656,0.40704064655,-0.0154836599781,0.0699282477382,0.999999991701,4.54169753053e-05,-0.00011384364528,-3.9678179451e-05,1793250664784486656
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,688.046366997,669.046366997,643,888,789,819.953633003,655.953633003,632,656,0.407562069919,-0.0154897479529,0.0699211818062,0.999999991842,3.49227274666e-05,-0.000115409181506,-4.21619815552e-05,1793250664801153280
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,688.620353935,669.620353935,643,888,789,819.379646065,655.379646065,632,656,0.408154411067,-0.0154900447068,0.0699361357234,0.999999994686,3.87237068048e-05,-8.57615986593e-05,-4.21143716484e-05,1793250664817820160
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,689.199506069,670,643,888,789,819.199506069,655,632,656,0.408755013785,-0.0154895544744,0.0699485309484,0.999999996606,3.84772429828e-05,-5.90707214363e-05,-4.26389743804e-05,1793250664834487040
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,689.78874841,670,643,888,789,819.78874841,655,632,656,0.409371755496,-0.0154875268599,0.0699559277525,0.999999997832,3.03240750844e-05,-3.81557878216e-05,-4.42813978995e-05,1793250664851153920
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.628298202,723,690,670,643,888,788.628298202,820,655,632,656,0.409991138029,-0.0154846590506,0.069951310008,0.99999999734,3.48276973504e-05,-4.49140962155e-05,-4.57112891599e-05,1793250664867820544
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.048859606,723,690,670,643,888,788.048859606,820,655,632,656,0.410611996447,-0.0154813216731,0.0699399775691,0.999999995564,4.6404950088e-05,-6.71384340543e-05,-4.70224002656e-05,1793250664884487168
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745,723,690,670,643,888,788.525413501,820,655,632,656,0.411294271055,-0.0154842733324,0.0699502606391,0.999999996641,4.01145741023e-05,-5.38457075451e-05,-4.70005754647e-05,1793250664901153536
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745,723,690.099484877,670,643,888.099484877,789,820.099484877,655,632,656,0.411995564069,-0.0154877824888,0.0699664352594,0.99999999796,3.14564659431e-05,-3.0258359425e-05,-4.66363347857e-05,1793250664917820160
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745,723,690.674866522,670,643,888.674866522,789,820.674866522,655,632,656,0.412760779056,-0.01549118811,0.070001270906,0.999999998428,1.93429209116e-05,2.69288140379e-05,-4.52212817461e-05,1793250664934486528
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.257140553,745.257140553,723,691,670,643,889,789,821,655,632,656,0.413521958649,-0.0154938365503,0.0700222904507,0.999999997144,1.07037843535e-05,6.01485725038e-05,-4.45011314325e-05,1793250664951152896
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.848369558,745.848369558,723,691,670,643,889,789,821,655,632,656,0.414277895383,-0.0154955012279,0.0700253595058,0.999999997044,6.57875230119e-06,6.22288067507e-05,-4.46838296275e-05,1793250664967819520
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.56985782,745.56985782,723,691,670,643,889,789,821,655,632,656.43014218,0.4150035514,-0.0154949784642,0.0699826672267,0.999999998667,1.05894016238e-05,-1.3170023298e-05,-4.87905076429e-05,1793250664984486144
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.008627324,745.008627324,723,691,669.991372676,643,889.008627324,789,821.008627324,655,632,656.982745352,0.415720353839,-0.0154937499715,0.0699249087937,0.999999991889,1.72064571062e-05,-0.000113959261105,-5.42160547796e-05,1793250665001153024
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.585422688,745.585422688,723,691,669.414577312,643,889.585422688,789,821.585422688,655,632,655.829154624,0.416541945934,-0.0154957342167,0.0699144533017,0.99999999025,1.06634424777e-05,-0.000126869932431,-5.73612522256e-05,1793250665017819904
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.83860075,746,723,691,669,643,890,789,822,655,632,655.3227985,0.417376996669,-0.0154977003067,0.0699162208825,0.99999999092,5.31630683849e-06,-0.000121104783169,-5.88635986843e-05,1793250665034486784
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.264716818,746,723,691,669,643,890,789,822,655,632,656.470566364,0.418246443317,-0.0154996199976,0.0699492267151,0.999999996132,3.02545447179e-06,-6.7610229391e-05,-5.6167345011e-05,1793250665051153408
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,691.317788768,669.317788768,643,890,789,822.317788768,655,632,656.682211232,0.4191365032,-0.0155031166727,0.0699802502159,0.999999998308,-5.99131761839e-06,-2.07167777301e-05,-5.40283999102e-05,1793250665067819776
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,691.907676405,669.907676405,643,890,789,822.907676405,655,632,656.092323595,0.420044212616,-0.0155079636019,0.0700095763919,0.999999998203,-2.07669940223e-05,2.05246387137e-05,-5.23666368167e-05,1793250665084486400
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,692,670,643,890,789,823,655,632,656,0.420951632231,-0.015511473359,0.0700254029627,0.999999997432,-2.69038202487e-05,4.11667683876e-05,-5.21224750206e-05,1793250665101152768
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,692,669.93358266,643,890.06641734,789,823.06641734,655,632,656,0.421849186128,-0.015513599715,0.0700308267133,0.999999997094,-3.0180907718e-05,4.5965751693e-05,-5.27964734902e-05,1793250665117819392
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,692,669.359181093,643,890.640818907,789,823.640818907,655,632,656,0.422671694178,-0.0155070429744,0.0699758440127,0.999999997158,-2.38456013917e-05,-4.1175723012e-05,-5.84810907663e-05,1793250665134486016
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,722.783857526,692,669.216142474,643,891,789,824,655,632,656,0.423508144465,-0.0155013318141,0.0699164484829,0.99999998896,-2.48456042262e-05,-0.000131017260735,-6.55477763676e-05,1793250665151152896
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,722.206995144,692,669.793004856,643,891,789,824,655,632,656,0.424367863068,-0.0154970318407,0.0698496883789,0.999999971073,-3.80874946213e-05,-0.000225364944192,-7.49209952348e-05,1793250665167819264
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,722.380616534,692.380616534,669.619383466,643.380616534,891,789,824,655,632,656.380616534,0.425312303592,-0.0154982735682,0.0698607538731,0.99999997604,-3.52129190258e-05,-0.000203283978001,-7.31794164076e-05,1793250665184485888
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,722.974243988,692.974243988,669.025756012,643.974243988,891,789,824,655,632,656.974243988,0.426304158437,-0.0155026166924,0.0699153742377,0.999999990868,-2.33188098988e-05,-0.00011604405535,-6.52174730719e-05,1793250665201152256
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.550453647,643.449546353,891.550453647,789,824,655,632,656.449546353,0.427280666594,-0.0155045852311,0.0699679115729,0.999999996464,-2.67944717081e-05,-4.98377194024e-05,-6.22100796484e-05,1793250665217818880
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,723,693.12615754,669.87384246,643,892.12615754,788.87384246,824.12615754,655,632,656,0.428256806363,-0.0155071162963,0.070016176178,0.999999997627,-3.09826449003e-05,1.49397772564e-05,-5.9692085992e-05,1793250665234485760
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,723,693.702876486,669.297123514,643,892.702876486,788.297123514,824.702876486,655,632,656,0.429234116316,-0.0155120410223,0.0700495184871,0.999999994647,-3.52258534691e-05,7.80213695377e-05,-5.81193918975e-05,1793250665251152384
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,723,694,669.285570759,643.285570759,893,788.285570759,825.285570759,655,632,656,0.430157714578,-0.0155126682383,0.0700416161779,0.999999995196,-3.84540242786e-05,6.77875800427e-05,-5.94528746057e-05,1793250665267819008
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,723,694,669.87461492,643.87461492,893,788.87461492,825.87461492,655,632,656,0.431024233859,-0.0155087285301,0.0699898835924,0.999999996928,-4.06035234871e-05,-2.03577909624e-05,-6.38747244375e-05,1793250665284485632
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,694.455730653,670,643.544269347,893,788.544269347,826,655,632,656,0.431860711088,-0.0155051699071,0.0699209042462,0.999999987673,-4.06427968542e-05,-0.000134662500765,-6.97758735149e-05,1793250665301152256
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.034361894,723,695,670,643,893,788,826,655,632,656,0.432698152795,-0.0155021543461,0.0698550060263,0.999999966967,-4.04021793994e-05,-0.000242356755867,-7.54785418239e-05,1793250665317818880
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.607652926,723,695,670,643,893,788,826,655,632,656,0.433678138433,-0.0155060398219,0.0699105811635,0.999999987253,-4.47219407488e-05,-0.000135422773766,-7.17940681991e-05,1793250665334486784
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.814132924,723,695,670,643,893.185867076,788,826,655,632,656.185867076,0.434637739871,-0.0155095786252,0.0699626374462,0.999999995698,-4.78874529774e-05,-4.12059908222e-05,-6.79151440139e-05,1793250665351153920
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.225243695,723,695,670,643,893.774756305,788,826,655,632,656.774756305,0.43555314171,-0.015512365727,0.0700070636832,0.999999996475,-4.85501676404e-05,2.54356572607e-05,-6.36145863962e-05,1793250665367819776
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,894.357581231,788,826,655,632,656.642418769,0.436471007677,-0.0155153388412,0.0700256635165,0.999999994879,-5.26803074013e-05,5.95636282632e-05,-6.26041435331e-05,1793250665384486144
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,894.936649866,788,826,655,632,656.063350134,0.437390399881,-0.015518427172,0.0700282663581,0.999999993532,-5.89581857179e-05,7.35524792943e-05,-6.3631612733e-05,1793250665401153024
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,895,788,826,655,632,656,0.438200548589,-0.0155186675909,0.0699848422591,0.999999995587,-6.35082679329e-05,1.52053918088e-05,-6.7536533082e-05,1793250665417819648
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,895,788,826.092753299,655,632,656,0.438983386294,-0.0155182295601,0.0699324459355,0.999999993315,-6.72392530598e-05,-6.08014530045e-05,-7.17752298585e-05,1793250665434486528
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,895,788,826.666047452,655,632,656,0.439694253253,-0.015516089018,0.0698628577926,0.999999978208,-6.78262039669e-05,-0.000182265649734,-7.59119390946e-05,1793250665451153152
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.24576889,723,695,670,643,895,788,827,655,632,656.24576889,0.440439056386,-0.0155183679753,0.0698263012353,0.999999964404,-7.21775577393e-05,-0.000244669580986,-7.82294058824e-05,1793250665467820032
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.834458248,723,695,670,643,895,788,827,655,632,656.834458248,0.441231210484,-0.0155268134448,0.0698358335393,0.999999968376,-8.17813706524e-05,-0.000224666924125,-7.8008490942e-05,1793250665484486656
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643,895,787.582068768,827,655,632,656.582068768,0.442037507943,-0.0155399104108,0.0698679655784,0.999999975936,-0.000100101437125,-0.000179941610165,-7.56830175853e-05,1793250665501153024
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643,895,787.000636459,827,655,632,656.000636459,0.442849338567,-0.0155548271139,0.0699089389794,0.999999982067,-0.000121831435522,-0.000125544413292,-7.2534208627e-05,1793250665517819648
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,746.425224319,723,695,669.425224319,643,895,787,827,654.425224319,631.425224319,656.574775681,0.443530252726,-0.0155641713724,0.0698838000648,0.999999973137,-0.000137137522708,-0.000172016014125,-7.30045403801e-05,1793250665534486272
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.850074375,746,723,695,669,642.850074375,895.149925625,786.850074375,827,654,631,657,0.44419890837,-0.0155728316555,0.0698520934757,0.999999960306,-0.000150263216675,-0.000226640382554,-7.37742228538e-05,1793250665551153152
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.275648002,746,723,695,669,642.275648002,895.724351998,786.275648002,827,654,631,657,0.444833261506,-0.0155795726169,0.0698019962401,0.999999938579,-0.000157235261576,-0.000304035608006,-7.53802605212e-05,1793250665567820032
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.30790593,746.30790593,723,695,669.30790593,642,896,786,827,654.30790593,631.30790593,657,0.445450294749,-0.0155943267562,0.0697623722306,0.999999916974,-0.000173777823003,-0.000360962666253,-7.45572360967e-05,1793250665584486912
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.899880761,746.899880761,723,695,669.899880761,642,896,786,827,654.899880761,631.899880761,657,0.446051348906,-0.01561647372,0.0697324106486,0.999999898011,-0.000199149984147,-0.000399006129178,-7.14931993864e-05,1793250665601153792
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669.520649056,642,896,785.041298111,827.479350944,655,632,656.520649056,0.446633177186,-0.0156392969373,0.0697143819564,0.999999876694,-0.000225501105514,-0.000436751421685,-7.07780860543e-05,1793250665617820416
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,695,668.943840338,641.943840338,896,784,828,655,631.943840338,656,0.447207436392,-0.015660130889,0.0696986146722,0.999999854185,-0.000250139628079,-0.000473349474648,-7.07131888789e-05,1793250665634487040
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+258,4.300000000,HOLD_POSE2,769,747,723,695.38835164,667,638.61164836,896.61164836,775,828,655,630,656.61164836,0.454671154437,-0.0157269690254,0.069566533728,0.999999718628,-0.000323958091118,-0.000673685851986,-6.27881724379e-05,1793250666707235328
+259,4.316666667,HOLD_POSE2,769,747,723,695.959787329,667,638.040212671,896.040212671,775,828,655,630,656.040212671,0.454672242998,-0.0157304629986,0.0695673418911,0.999999718308,-0.000326500572141,-0.000672975176919,-6.23408295384e-05,1793250666723901952
+260,4.333333333,HOLD_POSE2,768.446603284,747,723.553396716,695.446603284,667,638.553396716,896.553396716,775,828,655,630,656.553396716,0.454672459268,-0.0157300643698,0.069566608197,0.999999717622,-0.000327835489489,-0.000673306553766,-6.27568528884e-05,1793250666740568576
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+262,4.366666667,HOLD_POSE2,768.720277931,747,724,695,667,638.279722069,897,775.720277931,828,655,630,657,0.454674738724,-0.015728763497,0.0695671540333,0.999999718284,-0.000328285355005,-0.000672102663154,-6.27611687614e-05,1793250666773902080
+263,4.383333333,HOLD_POSE2,769,747,723.703000341,695,667,638.296999659,897,775.703000341,828,655,630,657,0.454675373878,-0.0157283685007,0.0695678450966,0.999999719124,-0.000327278670163,-0.000671341855773,-6.27722345417e-05,1793250666790568704
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,667,638,896,775,828,655,630,656,0.454678279504,-0.015726652113,0.069571332189,0.999999722806,-0.00032502867451,-0.000666914593286,-6.3006249846e-05,1793250666839323136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723.580478104,695,666.419521896,638,896,775,828,655,630,656.580478104,0.454675437779,-0.0157267769149,0.0695687428184,0.999999720317,-0.000325250196551,-0.000670539574378,-6.28826624227e-05,1793250666855990016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723.840012668,695,666.159987332,638,896.159987332,775,828,655,630,657,0.454673537981,-0.0157268195371,0.0695668385235,0.999999718598,-0.000325220100172,-0.000673119665984,-6.28195619634e-05,1793250666872656896
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723.263028625,695,666.736971375,638,896.736971375,775,828,655,630,657,0.454674093254,-0.0157266479632,0.0695667198338,0.999999718911,-0.000324534176593,-0.00067297632103,-6.29141168672e-05,1793250666889323264
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,667,638,897,775,828,654.937614144,629.062385856,656.062385856,0.454675133113,-0.0157297502458,0.0695677042763,0.999999719724,-0.000325079955761,-0.000671607486103,-6.17945007446e-05,1793250666955989248
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747.218431762,723,695,667,638,896.781568238,775,828,654.218431762,630,656.781568238,0.454661840993,-0.0157242460952,0.0695602409326,0.999999713761,-0.00032451315288,-0.000680535004831,-6.35746119464e-05,1793250666989322496
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747.057220979,723,695,666.057220979,638,896.942779021,775,828,655,630,656.942779021,0.454557742766,-0.0157214147553,0.0695155846974,0.999999661307,-0.000325199400269,-0.000753122995791,-6.66032424356e-05,1793250667039322880
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.185189449,667,638,896.814810551,775.185189449,827.814810551,655,629.814810551,657,0.453700783711,-0.0156786944046,0.0694844991315,0.999999645698,-0.000298974954907,-0.00078492294437,-5.58030923115e-05,1793250667189323264
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,694.759987194,667,638,896.240012806,775.759987194,827.240012806,655,629.240012806,657,0.453533136044,-0.0156702659508,0.0694914971664,0.999999656684,-0.000292099207078,-0.000773677219762,-5.22791363966e-05,1793250667205990912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.665577248,747,723,694.665577248,667,638.334422752,896.334422752,776,827.334422752,654.665577248,629.334422752,656.665577248,0.453345694611,-0.0156610400997,0.0694954446758,0.999999662636,-0.000284707473441,-0.000768941766215,-4.89728938681e-05,1793250667222657536
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.334472102,747,723,694,667,638.665527898,896,776.665527898,827.665527898,655,630,657,0.452369495281,-0.0156185274304,0.0694837792757,0.999999655363,-0.000246203248818,-0.000792104188802,-3.50418816245e-05,1793250667289322752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.234617711,667,638.765382289,896,777,828,654.765382289,630,656.765382289,0.452062772814,-0.0156096641344,0.0694777705853,0.999999650901,-0.000232151949315,-0.000802102401852,-3.05864438037e-05,1793250667305989376
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.790923887,667,638.209076113,896,777,828,654.209076113,630,656.209076113,0.451738711164,-0.0156019464957,0.0694723121574,0.99999964761,-0.00021323107511,-0.000811563342286,-2.60202465347e-05,1793250667322656000
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.37071374,747,723,694.62928626,667,638.37071374,896,777.37071374,827.62928626,654.37071374,630,656.37071374,0.451385355797,-0.0155940638895,0.0694707559511,0.999999651545,-0.000173518775523,-0.000816299550135,-2.13754201977e-05,1793250667339322880
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.964643695,747,723,694.035356305,667,638.964643695,896,777.964643695,827.035356305,654.964643695,630,656.964643695,0.451014361945,-0.0155860819526,0.0694715493724,0.999999657787,-0.000121287427765,-0.000818190873758,-1.66832494109e-05,1793250667355989760
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.424429875,746.575570125,723,694,669,641.424429875,891,786.424429875,826,655,631,656,0.440602670104,-0.0154353359057,0.0697676616405,0.999999931927,7.60302712754e-05,-0.000360809481136,1.3508791078e-05,1793250667655989248
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.984218995,746,723,694,669,642,891,787,825.984218995,655,631,655.984218995,0.439850630374,-0.0154026689282,0.0697995214544,0.999999948628,0.000123574904102,-0.000295417996559,1.42205470871e-05,1793250667672655872
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.404694186,746,723,694,669,642,891,787,825.404694186,655,631,655.404694186,0.438986432785,-0.015387768381,0.0697804720187,0.999999934588,0.000143923538777,-0.000331587107681,1.26864504323e-05,1793250667689322496
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,723,694,669,642,891,787,825.173751948,655,631.173751948,655,0.438119587491,-0.0153792826145,0.0697557237811,0.999999918558,0.000153253227991,-0.000373214450778,1.04073525764e-05,1793250667705989376
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,669,642,891,787,825.749701151,655,631.749701151,655,0.437246613399,-0.0153856456446,0.0697177840812,0.999999899216,0.000137076499231,-0.000427476389559,6.40374214407e-06,1793250667722656000
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,694,669,642,891,787.324503593,825.675496407,655,631.675496407,655.324503593,0.436389281547,-0.0153921277827,0.069719885968,0.999999902213,0.000130330128531,-0.000422536964556,7.14972868076e-06,1793250667739322624
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,694,669,642,891,787.898424594,825.101575406,655,631.101575406,655.898424594,0.435543972551,-0.0153987014683,0.0697527643068,0.999999922148,0.000130832046407,-0.000372094649015,1.1546313373e-05,1793250667755989248
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,745.925089578,723,694.925089578,669,642,890.925089578,787.074910422,824.925089578,655,631.925089578,655.925089578,0.433824239043,-0.0154008915508,0.0698403812548,0.999999956255,0.000144963091091,-0.000256923299262,2.15876259567e-05,1793250667789323264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,745.345809338,723,694.345809338,669,642,890.345809338,787.654190662,824.345809338,655,631.345809338,655.345809338,0.432924235572,-0.0153962905596,0.0698446882053,0.999999957263,0.000153745845079,-0.000247688581961,2.20780763231e-05,1793250667805989888
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.808198467,745,722.191801533,694,669,642,890.808198467,788,824,655,631,655,0.431066706028,-0.0153918920651,0.0698229439235,0.999999947136,0.00016562438363,-0.000278988122373,2.15038149913e-05,1793250667839322880
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.618944897,745.381055103,722,694,669.381055103,642,890.618944897,788,824,655,631,655,0.430081602784,-0.0153887229214,0.0697686570809,0.999999919886,0.000164809584857,-0.000364401139261,1.6658481771e-05,1793250667855989504
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.047675063,745.952324937,722,694,669.952324937,642,890.047675063,788,824,655,631,655,0.429074485264,-0.0153845595177,0.0696959224273,0.999999872066,0.00016122722425,-0.000479353268728,9.70294010706e-06,1793250667872656128
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.545069478,694,670,642,890,788,823.454930522,655,631,655,0.428174971353,-0.0153895515085,0.0697267276083,0.999999895932,0.000155767182621,-0.000428622842432,1.24187816178e-05,1793250667889322752
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,745.864178775,723,693.864178775,670,642,890,788,823,655,631,655.135821225,0.427290956509,-0.0153934806904,0.0697732463052,0.999999925098,0.00015478936044,-0.000354348095611,1.67696978148e-05,1793250667905989632
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.286277715,723,693.286277715,670,642,890,788,823,655,631,655.713722285,0.426425498989,-0.0153912372204,0.0698402246491,0.99999995356,0.000168957042642,-0.00025254250453,2.35762887794e-05,1793250667922656512
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,745.29049429,722.70950571,693,670,642,889.70950571,788.29049429,822.70950571,655,631,656,0.425529452518,-0.0153888118248,0.0698659537711,0.999999960791,0.000176189413059,-0.000216061279551,2.63278595462e-05,1793250667939323136
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,745,722,693,670.925648481,642,888.962824241,788.037175759,820.962824241,655,631,656,0.422683002447,-0.0153875787294,0.0697750033429,0.999999916518,0.000175678646954,-0.000368431350786,1.89583305619e-05,1793250667989323008
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,745,722,693,669.76781619,642,888.383908095,788.616091905,820.383908095,655,631,656,0.421686225202,-0.0153822046744,0.0697057110858,0.999999863408,0.000182256917297,-0.000489649022384,1.44831324186e-05,1793250668005989632
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.806052566,745,722,693,669.193947434,642,888,788.806052566,820,655,631.193947434,655.806052566,0.42075194632,-0.0153805372171,0.0696763435451,0.999999837587,0.000183000633062,-0.000539627635723,1.17757411229e-05,1793250668022656000
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.744066816,745,722,690.255933184,670,642,887.744066816,788,819.255933184,655,631.744066816,655.744066816,0.415005824779,-0.0153782803207,0.069780029081,0.99999991992,0.000209615559875,-0.000340356177226,1.94733899621e-05,1793250668139322880
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.170468169,745,722,690.829531831,670,642,887.170468169,788,819.829531831,655,631.170468169,655.170468169,0.414165399163,-0.0153736557619,0.0697484458993,0.999999894945,0.000211396895362,-0.00040637239932,1.68317124755e-05,1793250668155989248
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,745.581219411,722,690,670,642,887.581219411,788.418780589,820,655,631.581219411,656,0.412041118768,-0.0153800396501,0.0698062673206,0.999999934672,0.00019694906765,-0.000302367204563,2.09993197999e-05,1793250668205989632
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,745.840224215,722,689.68044843,670,642,887.840224215,788,819.840224215,655,632,656,0.411400124561,-0.0153814887983,0.0698574468382,0.999999959311,0.000192674721133,-0.000208898259989,2.48274334495e-05,1793250668222656512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745.262115049,722,688.524230098,670,642,887.262115049,788,819.262115049,655,632,656,0.410744496766,-0.015378296095,0.0698760797892,0.999999961829,0.000204917479872,-0.000183382336121,2.68555073849e-05,1793250668239323392
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745.887467869,722.887467869,688.887467869,670,642,886.112532131,788,819.887467869,655.887467869,632,656,0.409395878364,-0.0153720229365,0.0698240588538,0.999999935381,0.000220183483373,-0.000283371283343,2.14214709419e-05,1793250668272656640
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745,722,688,669.938654028,642,886.061345972,788,819,655,632,656,0.408154522184,-0.0153699462091,0.0697549533129,0.999999897397,0.000213867371207,-0.000399100629972,1.36238369439e-05,1793250668305989632
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc50f496301cef1da90c08883fc6c7512986e42b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,411 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.575666341191,-0.00984994469892,1.0600336301,0.546237020726,-0.00117730728066,1.05970502538
+398,6.633333333,pose2_to_pose3_retreat,0.575666145414,-0.00984994788716,1.06003361843,0.546236825067,-0.00117731004589,1.05970501442
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+401,6.683333333,pose2_to_pose3_retreat,0.575665692159,-0.0098499308399,1.06003357334,0.546236371718,-0.00117729327296,1.05970497052
+402,6.700000000,pose2_to_pose3_retreat,0.57566547664,-0.00984991946044,1.06003354947,0.546236156104,-0.00117728219194,1.05970494717
+403,6.716666667,pose2_to_pose3_retreat,0.575665184701,-0.00984990404606,1.06003351714,0.546235864039,-0.00117726718183,1.05970491554
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+405,6.750000000,pose2_to_pose3_retreat,0.575664850992,-0.00984988626339,1.0600334808,0.546235530186,-0.00117724985908,1.05970487993
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9bfd3420f92462c7609c10d22552e8c3a0b43c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e39f304e7183a77c6d9f613ee02e4182fedcc9f1b622b8c818ba6f9f82db1a
+size 26072894
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d66f9b9115e1fbce3a9b9da2cec77323e4d8e015
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+49,0.816666667,BASELINE,769,745,722.433504867,685.433504867,669.433504867,643,886.433504867,788,819.433504867,655,632.433504867,656,0.400954069853,-0.0153667561356,0.0698118184437,0.999999929336,0.000227504461411,-0.000299188930124,7.43688143414e-06,1793250670183746048
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+51,0.850000000,BASELINE,769,745.583727684,723,686,670,643,886.416272316,788,819.416272316,655,632.416272316,656,0.400952381028,-0.0153680499028,0.0698102842944,0.999999929068,0.000226486539563,-0.000300854667429,7.41098819963e-06,1793250670217079296
+52,0.866666667,BASELINE,769,745.842545813,722.842545813,685.842545813,669.842545813,643,886,788,819,655,632,656,0.400951992568,-0.0153690429905,0.0698100371784,0.999999929221,0.000225736619873,-0.000300904721184,7.53079890356e-06,1793250670233745152
+53,0.883333333,BASELINE,769,745.263212349,722.263212349,685.263212349,669.263212349,643,886,788,819,655,632,656,0.400952848057,-0.0153678502558,0.0698116590948,0.999999929882,0.000224669167151,-0.000299507483084,7.40276356328e-06,1793250670250411776
+54,0.900000000,BASELINE,769,745,722,685,669.321830187,643,886.321830187,788,819.321830187,655,632,656,0.400954002107,-0.0153672424428,0.0698129201555,0.999999930152,0.000225190156189,-0.000298209321582,7.55300765679e-06,1793250670267078400
+55,0.916666667,BASELINE,769,745,722,685,669.911626246,643,886.911626246,788,819.911626246,655,632,656,0.400955404751,-0.0153671216541,0.0698138807565,0.999999930094,0.000227033731529,-0.000296993654423,7.93495591013e-06,1793250670283745024
+56,0.933333333,BASELINE,769,745,722,685,670,643,887,788,820,655,632,656,0.400954127868,-0.0153674867098,0.0698128175525,0.99999992965,0.000227037927651,-0.00029848433717,7.78579110588e-06,1793250670300411904
+57,0.950000000,BASELINE,769,745,722.073630721,685.073630721,670,643,886.926369279,788.073630721,819.926369279,655,632,656,0.400952989362,-0.0153679059779,0.0698118521804,0.999999929412,0.000226509805611,-0.000299686156337,7.55302625918e-06,1793250670317079040
+58,0.966666667,BASELINE,769,745,722.648178145,685.648178145,670,643,886.351821855,788.648178145,819.351821855,655,632,656,0.400956005048,-0.015368111521,0.0698139789499,0.999999931045,0.000224565724219,-0.000295677843246,7.38833731646e-06,1793250670333745920
+59,0.983333333,BASELINE,769,745,722.777532485,686,670,643,886,788.777532485,819,655.222467515,632,656,0.400957096722,-0.0153678244253,0.0698146673128,0.999999931628,0.000223882985193,-0.000294221980137,7.36129550529e-06,1793250670350412800
+60,1.000000000,BASELINE,769,745,722.203650653,686,670,643,886,788.203650653,819,655.796349347,632,656,0.400955149184,-0.0153667591474,0.0698130835389,0.999999930571,0.000225192688532,-0.000296798019548,7.55168394366e-06,1793250670367078912
+61,1.016666667,BASELINE,769,745,722.382883331,685.617116669,670,643,886.382883331,788,819,655.617116669,632,656,0.400954653301,-0.0153663256478,0.0698125445339,0.999999930164,0.000225712995747,-0.000297776376328,7.38113855269e-06,1793250670383745280
+62,1.033333333,BASELINE,769,745,722.976376764,685.023623236,670,643,886.976376764,788,819,655.023623236,632,656,0.400954955919,-0.0153662396663,0.0698125802182,0.999999930118,0.000225799084976,-0.000297875906231,7.01205666408e-06,1793250670400412160
+63,1.050000000,BASELINE,769,745.553774393,723,685.553774393,670,643,886.446225607,788,819,655,632,656,0.400954256504,-0.0153669624542,0.0698130354913,0.999999929767,0.000227062024538,-0.00029808035741,7.49929677411e-06,1793250670417078784
+64,1.066666667,BASELINE,769,745.870136526,723,686,670,643,886,788.129863474,819,655,632,656,0.400953334242,-0.0153672246064,0.0698130270053,0.999999929401,0.000227869419981,-0.000298686764381,7.7538517943e-06,1793250670433745408
+65,1.083333333,BASELINE,769,745.296240283,723,686,670,643,886,788.703759717,819,655,632,656,0.400951792046,-0.0153657971054,0.0698113733489,0.999999929025,0.000226952399966,-0.000300652678159,7.09142871043e-06,1793250670450412032
+66,1.100000000,BASELINE,769,745,723,686,670,643,886.285399652,788.714600348,819.285399652,655,632,656,0.400951872381,-0.0153653500834,0.0698110120093,0.999999929026,0.000226765872371,-0.000300794380246,6.86179391797e-06,1793250670467078656
+67,1.116666667,BASELINE,769,745,723,686,670,643,886.875301549,788.124698451,819.875301549,655,632,656,0.400953683849,-0.0153659491668,0.0698120294848,0.999999929431,0.000227358731145,-0.000298989770957,7.09391518288e-06,1793250670483745024
+68,1.133333333,BASELINE,769,745,723,686,670,642.545068631,886.545068631,788,820,655.454931369,632,656,0.400953717535,-0.0153669909456,0.0698118761602,0.999999929471,0.000226820079157,-0.000299259509638,7.32406478259e-06,1793250670500411648
+69,1.150000000,BASELINE,769,745.031944068,723,685.968055932,670,642,886,788,819.968055932,655.968055932,632,656,0.40095335778,-0.0153680458552,0.0698114773457,0.999999929422,0.00022610611725,-0.000299958803671,7.5462410044e-06,1793250670517078528
+70,1.166666667,BASELINE,769,745.611292107,723,685.388707893,670,642,886,788,819.388707893,655.388707893,632,656,0.400954421994,-0.0153672922938,0.06981224971,0.999999929525,0.000227585489041,-0.000298490752453,7.64083920336e-06,1793250670533745152
+71,1.183333333,BASELINE,769,746,723,685.180865433,670,642.180865433,886,788,819.180865433,655,632.180865433,656,0.400955419008,-0.0153668801182,0.069813007678,0.999999929709,0.000228477877312,-0.000297185871301,7.73787125417e-06,1793250670550412032
+72,1.200000000,BASELINE,769,746,723,685.730508598,670,642.730508598,886,788,819.730508598,655,632.730508598,656,0.400956279003,-0.0153671640153,0.0698137362929,0.999999930066,0.000228173428807,-0.000296213687427,7.83986585348e-06,1793250670567078912
+73,1.216666667,BASELINE,769,745.683133343,723,686,670,643,886,788,820,655,632.683133343,656,0.400955928933,-0.0153675593413,0.0698137468337,0.999999930236,0.000227798019933,-0.000295930561691,7.82749270771e-06,1793250670583745536
+74,1.233333333,BASELINE,769,745.061457508,723,686,670,643,886,788,820,655,632.061457508,656,0.400954414843,-0.0153680618562,0.0698130666249,0.999999930225,0.000227354350905,-0.000296310273961,7.70510375667e-06,1793250670600411904
+75,1.250000000,BASELINE,769,745,723,686,670.51581362,643,886.51581362,788,820,655,632,656,0.400954419617,-0.0153676461772,0.0698127849268,0.999999929813,0.000227847160859,-0.000297322329402,7.64369913149e-06,1793250670617078784
+76,1.266666667,BASELINE,769,745,722.911109562,686,670.822219124,643,886.911109562,788,820,655,632,656,0.400954578343,-0.015367255982,0.0698125422808,0.999999929424,0.000228271261501,-0.000298305839016,7.59485216984e-06,1793250670633745408
+77,1.283333333,BASELINE,769,745,722.334316788,686,669.668633576,643,886.334316788,788,820,655,632,656,0.400954667525,-0.0153675585403,0.0698122740258,0.999999929409,0.000227754341203,-0.000298751908736,7.57821085043e-06,1793250670650412032
+78,1.300000000,BASELINE,769,745,722,686,669.248561161,643,886.248561161,788,819.751438839,655,632,656,0.400954910947,-0.015367650723,0.0698124363609,0.999999929468,0.00022786616369,-0.000298466215132,7.64780977781e-06,1793250670667078400
+79,1.316666667,BASELINE,769,745,722,686,669.839829073,643,886.839829073,788,819.160170927,655,632,656,0.40095536703,-0.0153674528476,0.0698131923775,0.999999929629,0.000228844873049,-0.000297171593833,7.83631350482e-06,1793250670683745024
+80,1.333333333,BASELINE,769,745,722,686,670,643,886.594114602,788,819.405885398,655,632,656,0.400955436757,-0.0153681303835,0.0698134326649,0.999999930257,0.000226436491387,-0.000296904658092,7.70546655342e-06,1793250670700411904
+81,1.350000000,BASELINE,769,745,722,686,670,643,886.037425412,788,819.962574588,655,632,656,0.400955362937,-0.015369133172,0.0698134813369,0.999999931049,0.000222769660565,-0.000297019551397,7.45596717652e-06,1793250670717078272
+82,1.366666667,BASELINE,769,745,722,686,669.441867294,643,886,788,820,655,632,656,0.400954172039,-0.0153675832024,0.0698125315168,0.99999993028,0.000225933125251,-0.000297218596883,7.42626263718e-06,1793250670733745152
+83,1.383333333,BASELINE,769,745,722.150040843,686,669.150040843,643,886,788,819.849959157,655.150040843,632,656,0.400953306081,-0.0153664562105,0.0698118217354,0.999999929675,0.000228179575359,-0.000297540270676,7.37940795485e-06,1793250670750411776
+84,1.400000000,BASELINE,769,745,722.723733058,686,669.723733058,643,886,788,819.276266942,655.723733058,632,656,0.400953584944,-0.0153670430288,0.0698119929201,0.999999929876,0.000226446760504,-0.000298191069089,7.23939896152e-06,1793250670767078400
+85,1.416666667,BASELINE,769,745,723,685.692525068,670,643,886,788,819,655.692525068,632,656,0.400952986711,-0.0153681636384,0.06981191743,0.999999930244,0.000223894855887,-0.000298883502461,7.20001088963e-06,1793250670783745280
+86,1.433333333,BASELINE,769,745,723,685.099448485,670,643,886,788,819,655.099448485,632,656,0.400951573778,-0.0153697800661,0.0698116128132,0.999999930761,0.000220582130365,-0.000299614608904,7.25408573376e-06,1793250670800411648
+87,1.450000000,BASELINE,768.523279717,745,722.523279717,685,670,643,886,788,819,655,632,656,0.400953411722,-0.0153688378749,0.0698127453826,0.999999930623,0.000223452527719,-0.000297940462934,7.38555340125e-06,1793250670817078272
+88,1.466666667,BASELINE,768.100030706,745.050015353,722,685,670,643,886.050015353,788,819,655.050015353,632,656,0.400955612424,-0.0153674850638,0.0698140092593,0.999999930334,0.000227257651965,-0.000296023486872,7.5395768006e-06,1793250670833745408
+89,1.483333333,BASELINE,769.257885932,745.628942966,722,685,670,643,886.628942966,788,819,655.628942966,632,656,0.400954723335,-0.0153672410473,0.0698135998059,0.999999930025,0.000227774457587,-0.0002966629385,7.76724273864e-06,1793250670850411776
+90,1.500000000,BASELINE,770,745.788677037,722.211322963,685,670,643,886.788677037,788,819,655.788677037,632,656,0.400954054083,-0.0153671533948,0.0698132807235,0.999999930021,0.000227371933928,-0.00029698355761,7.76478688887e-06,1793250670867078656
+91,1.516666667,BASELINE,770,745.200134463,722.799865537,685,670,643,886.200134463,788,819,655.200134463,632,656,0.400953777247,-0.015367344858,0.0698131229568,0.999999930561,0.000225328372122,-0.000296735048351,7.3515547802e-06,1793250670883745536
+92,1.533333333,BASELINE,769.617945938,745,722.617945938,685.382054062,670,643,886.382054062,788,819,655,632,656,0.400953929182,-0.0153677802405,0.069812636642,0.999999930468,0.000224707573502,-0.000297520091658,7.19736759768e-06,1793250670900412160
+93,1.550000000,BASELINE,769.039031401,745,722.039031401,685.960968599,670,643,886.960968599,788,819,655,632,656,0.40095430205,-0.015368341307,0.0698119810366,0.99999993005,0.00022481987994,-0.000298837692163,7.17665810291e-06,1793250670917079040
+94,1.566666667,BASELINE,769,745,722.539656266,685.460343734,670.539656266,643,886.460343734,788,819,655,632,656,0.400954451022,-0.0153674239606,0.0698124799065,0.999999929628,0.000227498588425,-0.000298217546841,7.3719079276e-06,1793250670933745920
+95,1.583333333,BASELINE,769,745,723,685,670.881984837,643,886.118015163,788,819.118015163,655,632,656,0.400954483959,-0.015366558409,0.0698129163492,0.999999929288,0.000229804113937,-0.000297587620246,7.5071225148e-06,1793250670950412288
+96,1.600000000,BASELINE,769,745,723,685,670.304841013,643,886.695158987,788,819.695158987,655,632,656,0.40095412844,-0.0153663101815,0.0698127852141,0.999999929295,0.000229935970213,-0.000297464654331,7.34803368145e-06,1793250670967078656
+97,1.616666667,BASELINE,769,745.275990319,723,685,670,643,886.724009681,788,820,655,632,656,0.40095411005,-0.0153665671559,0.0698128016708,0.999999929524,0.000228959813185,-0.000297447507895,7.41396008573e-06,1793250670983745280
+98,1.633333333,BASELINE,769,745.860949755,723,685,670,643,886.139050245,788,820,655,632,656,0.400954469074,-0.0153673897001,0.0698129833555,0.999999929996,0.000226743243467,-0.000297548825587,7.73178939031e-06,1793250671000411904
+99,1.650000000,BASELINE,769,745.557696836,723,685.442303164,670,643,886,788,819.557696836,655.442303164,632,656,0.400954406938,-0.0153675700388,0.069812703543,0.999999930045,0.000226531142769,-0.000297545482536,7.7558728653e-06,1793250671017078528
+100,1.666666667,BASELINE,769.022433208,745,723,686,669.977566792,643,886,788,819,656,632,656,0.400954157725,-0.0153675479292,0.0698122816876,0.999999929943,0.000226976181232,-0.000297549832093,7.69057619322e-06,1793250671033745152
+101,1.683333333,BASELINE,769.600116135,745,723,686,669.399883865,643,886,788,819,656,632,656,0.400952528742,-0.0153674717136,0.069811906072,0.999999929363,0.000228215112886,-0.000298552387441,7.68023180605e-06,1793250671050411520
+102,1.700000000,BASELINE,770,745,723,685.822870708,669.177129292,643,886.177129292,788,819,656,632,656,0.400952285176,-0.0153673319643,0.0698120582326,0.999999929427,0.000228055908183,-0.000298458311813,7.63800424516e-06,1793250671067078400
+103,1.716666667,BASELINE,770,745,723,685.247363992,669.752636008,643,886.752636008,788,819,656,632,656,0.40095515752,-0.0153670493226,0.0698133974023,0.999999930937,0.000224752186936,-0.000295897828503,7.52406897181e-06,1793250671083745792
+104,1.733333333,BASELINE,769.663671649,745,722.663671649,685,670,643,887.336328351,788,819,655.663671649,632,656,0.400955458406,-0.0153673100756,0.0698134269817,0.999999931016,0.000224377064024,-0.000295918222375,7.40517751335e-06,1793250671100412672
+105,1.750000000,BASELINE,769.073808669,745,722.073808669,685,670,643,887.926191331,788,819,655.073808669,632,656,0.400953820847,-0.015367980456,0.0698124693518,0.999999930021,0.000226209608044,-0.000297884160383,7.28254991855e-06,1793250671117079040
+106,1.766666667,BASELINE,769,745,722,685,670,642.496674492,887.496674492,788,819.503325508,655,632,656,0.400953138588,-0.0153668315159,0.0698120661956,0.999999929822,0.000226510076654,-0.000298325566882,7.12700750509e-06,1793250671133745408
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,722,685,670,643,886,788,819,655,632,656,0.40095396053,-0.0153678858375,0.0698130002897,0.999999930064,0.000226702940896,-0.000297349996744,7.73563974741e-06,1793250671177007872
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.587474423,745.587474423,722,685.587474423,670,643,886.587474423,788,819.587474423,655,632,656,0.400953805021,-0.0153685984782,0.0698132761061,0.999999929863,0.000227011426952,-0.000297794239724,7.69711068383e-06,1793250671193674752
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,722.172422139,686,670,642.827577861,887,788,819.827577861,655,632,656,0.400953585997,-0.0153689832421,0.069813414935,0.999999929795,0.000226878940596,-0.000298122272008,7.63680957868e-06,1793250671210341632
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,722.751412052,686,670,642.248587948,887,788,819.248587948,655,632,656,0.400953217207,-0.0153685948797,0.0698132307504,0.999999930045,0.000225706650637,-0.00029817628201,7.52517045002e-06,1793250671227008000
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.670019197,745.670019197,723,685.670019197,670,642.329980803,887,788.329980803,819,655,632,656,0.400954187403,-0.0153683260591,0.0698134235325,0.999999930458,0.000225369653965,-0.000297047080449,7.51048230521e-06,1793250671243674624
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.091767357,745.091767357,723,685.091767357,670,642.908232643,887,788.908232643,819,655,632,656,0.400956165026,-0.0153681471795,0.0698138999369,0.999999930989,0.000225661115537,-0.000295027653873,7.56873817251e-06,1793250671260341504
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.483258804,745,723,685.483258804,670,642.516741196,886.516741196,789,819.483258804,655,632,656,0.400956438177,-0.0153679404135,0.0698146539756,0.999999930871,0.000226642399486,-0.000294674327823,7.66615913129e-06,1793250671277007872
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,722.940597167,685.940597167,670,642.059402833,886,789,819.940597167,655,632,656,0.400956149361,-0.0153676913196,0.069815192561,0.999999930508,0.000227795204295,-0.000295015352424,7.76382244177e-06,1793250671293674240
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,722.348986304,685.348986304,670,642.651013696,886,789,819.348986304,655,632,656,0.400953706298,-0.0153671101258,0.0698133316262,0.999999929047,0.000229318898617,-0.000298761521593,7.79746701952e-06,1793250671310340864
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.234386581,745,722,685.234386581,670,643,886,788.765613419,819,655,632,656,0.400956895272,-0.0153675728468,0.069814415483,0.999999929527,0.000228802029466,-0.000297542641098,7.93773060264e-06,1793250671327007488
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.805910076,745,722,685.805910076,670,643,886,788.194089924,819,655,632,656,0.400968185253,-0.0153695371135,0.0698197350682,0.999999932762,0.000225350054984,-0.000289182133348,8.2313528014e-06,1793250671343673856
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.616463979,745,722.383536021,686,670,643,886.383536021,788.383536021,819.383536021,655,632,656,0.40099745777,-0.0153716152789,0.0698316565126,0.999999938619,0.000223915642173,-0.000269338235214,9.03157120061e-06,1793250671360340480
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.035699882,745,722.964300118,686,670,643,886.964300118,788.964300118,819.964300118,655,632,656,0.401035977558,-0.0153737520152,0.0698469728718,0.999999945301,0.000223518732019,-0.000243589162056,1.00922996867e-05,1793250671377007360
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,722.447496874,686,670,643,886.447496874,788.447496874,820,655,632,656.552503126,0.401093002661,-0.0153758371152,0.0698647403076,0.999999950431,0.000224740166337,-0.000220221805845,1.14684098117e-05,1793250671393673728
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.861084057,745,722,685.861084057,670,643,886.138915943,788,819.861084057,655.138915943,632.138915943,656.861084057,0.401153978883,-0.0153782076196,0.0698803958855,0.999999954628,0.000225270782441,-0.000199609707719,1.2392239194e-05,1793250671410340352
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.281889112,745,722,685.281889112,670,643,886.718110888,788,819.281889112,655.718110888,632.718110888,656.281889112,0.401223636344,-0.0153814934016,0.0698888493581,0.999999957475,0.000223275982547,-0.000187235687883,1.18171458726e-05,1793250671427006720
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.296669524,745,722,685,669.703330476,642.703330476,887,788,819,655.703330476,632.703330476,656,0.401304820032,-0.0153849592039,0.0698960025297,0.999999959576,0.000222788595948,-0.000176333858815,1.09314903135e-05,1793250671443673344
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.874624813,745,722,685,669.125375187,642.125375187,887,788,819,655.125375187,632.125375187,656,0.401396932253,-0.0153885956914,0.0699019228269,0.999999961009,0.000223730456048,-0.000166827881002,9.75137671653e-06,1793250671460339968
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,722.449989536,685.449989536,669.449989536,642.449989536,886.550010464,788,819,655,632,656,0.401505399206,-0.0153927505373,0.0699044397393,0.999999961846,0.000222402317198,-0.000163673907166,7.43037782778e-06,1793250671477006592
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,722.974801086,685.974801086,670,643,886.025198914,788,819.025198914,655,632,656,0.40161929062,-0.0153971408014,0.0699059756231,0.999999962569,0.000220217953715,-0.000162308764063,4.78705227454e-06,1793250671493673216
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,722.387038162,685.387038162,670,643,886.612961838,788,819.612961838,655,632,656,0.401753136551,-0.0154035809613,0.0699066584269,0.999999964266,0.00021295729627,-0.000161595023595,2.00363756325e-06,1793250671510340096
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,722,685.19773907,670,643,887,788,820,655.19773907,632,656,0.401899884627,-0.0154097379424,0.0699088262208,0.999999966156,0.000206755366464,-0.000157919844038,-9.74121898466e-07,1793250671527006720
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,722,685.776759216,670,643,887,788,820,655.776759216,632,656,0.402071510642,-0.0154153488965,0.0699138573771,0.999999968437,0.000202594879356,-0.000148534408716,-4.32661717656e-06,1793250671543673344
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,722.354178022,685.645821978,670,643,887,788,820,655.645821978,632,656,0.40226322181,-0.0154235240915,0.069917168064,0.999999971124,0.000194127253083,-0.00014142789143,-8.09300617647e-06,1793250671560339968
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,722.930592093,685.069407907,670,643,887,788,820,655.069407907,632,656,0.402467535824,-0.0154333082711,0.0699193992087,0.999999973976,0.0001829570262,-0.000135751325688,-1.21191013557e-05,1793250671577006592
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,723,685.505909987,670,643,887.505909987,788,820,655,632,655.494090013,0.402712409938,-0.015443492327,0.069924927336,0.99999997738,0.000172010368878,-0.000123974424075,-1.6826013976e-05,1793250671593673216
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,723,686.083070559,669.916929441,643,887.916929441,788.083070559,820,655,632,655.083070559,0.402966971384,-0.0154537324796,0.0699311152487,0.999999982361,0.000149908044223,-0.000111076188672,-2.16026010195e-05,1793250671610339840
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,723,686.67237519,669.32762481,643,887.32762481,788.67237519,820,655,632,655.67237519,0.403246730228,-0.0154639808911,0.0699385733806,0.999999993228,5.96362834621e-05,-9.64337602686e-05,-2.62358108894e-05,1793250671627006720
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,722.742241991,687,669.257758009,643,887,789,819.742241991,655.257758009,632,656,0.403543115324,-0.0154729987551,0.0699448048261,0.999999995814,1.14954606192e-05,-8.52991302333e-05,-3.10613297349e-05,1793250671643673344
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,722.161769341,687,669.838230659,643,887,789,819.161769341,655.838230659,632,656,0.403860316577,-0.0154804759652,0.0699495004522,0.999999996132,1.61028419011e-05,-7.85562873839e-05,-3.61276205629e-05,1793250671660339968
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,722,687,670,643,887.414088114,789,819,655.585911886,632,656,0.404204613698,-0.0154863127356,0.0699519146304,0.99999999608,1.15398568132e-05,-7.75382101757e-05,-4.11592617273e-05,1793250671677007360
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,722,687,670,643,887.988162438,789,819,655.011837562,632,656,0.404559379515,-0.0154915157089,0.0699534473533,0.999999995829,3.43382822329e-06,-7.87319414891e-05,-4.61775156009e-05,1793250671693675008
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.560345712,722.560345712,687,670,643,887.439654288,788.439654288,819,655,632,656,0.404973464528,-0.0154840391207,0.0699613005823,0.999999996391,4.849813541e-05,-6.20744795124e-05,-3.18131048822e-05,1793250671710341632
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.862658439,723,687.137341561,670,643,887,788.137341561,819,655,632,656,0.405390363975,-0.0154756410682,0.0699663014252,0.999999994901,8.43512074988e-05,-5.08768452391e-05,-2.22171091634e-05,1793250671727008000
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.269560463,723,687.730439537,670,643,887,788.730439537,819,655,632,656,0.405812458327,-0.0154650711017,0.0699613952659,0.999999994122,8.5922695051e-05,-5.90444081668e-05,-2.97989147901e-05,1793250671743674368
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.683078074,745,723,688,670,643,887,788.683078074,819,655,632,656,0.40625357943,-0.0154658865884,0.0699499169083,0.999999993488,7.45629812305e-05,-7.88284117905e-05,-3.53545803366e-05,1793250671760340992
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.102107504,745,723,688,670,643,887,788.102107504,819,655,632,656,0.406710553026,-0.015476188049,0.0699329628166,0.999999991993,5.24294273136e-05,-0.000108290842246,-3.92221352069e-05,1793250671777007872
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.471677243,745.471677243,722.528322757,688.471677243,670,643,887,788.471677243,819.471677243,655,632,656,0.407227603839,-0.0154816838216,0.0699251543089,0.999999991681,4.26393286742e-05,-0.000114315468815,-4.18490273344e-05,1793250671793674496
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.954614446,722.045385554,689,670,643,887,789,819.954614446,655,632,656.045385554,0.407763435174,-0.0154857019758,0.0699211573803,0.999999992036,3.63517828295e-05,-0.000112552428682,-4.40206256312e-05,1793250671810341376
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.363397585,722.636602415,689,670,643,887,789,819.363397585,655,632,656.636602415,0.408371069177,-0.0154842732371,0.0699395475579,0.999999995232,4.05341771108e-05,-7.7234773565e-05,-4.38981803801e-05,1793250671827008000
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,723,689,670,643,887.223003118,789,819.223003118,655,632,656.776996882,0.408979507498,-0.0154818453982,0.0699509783025,0.999999996703,4.24432948338e-05,-5.30246169172e-05,-4.45051431763e-05,1793250671843674624
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,723,689,670,643,887.801721467,789,819.801721467,655,632,656.198278533,0.409589228759,-0.0154778238813,0.0699513079623,0.999999997017,4.07262787744e-05,-4.65321806756e-05,-4.62755945027e-05,1793250671860340992
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.379297518,723,689.379297518,670,643,888,789,820,655,632,656,0.410213462537,-0.0154765715692,0.0699475729592,0.999999996629,4.25032654927e-05,-5.18175220948e-05,-4.74465409585e-05,1793250671877007616
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.956278205,723,689.956278205,670,643,888,789,820,655,632,656,0.410845259963,-0.0154767625178,0.0699417195255,0.999999995771,4.6101264811e-05,-6.32412334562e-05,-4.83050360015e-05,1793250671893673984
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.471657747,723,690,670,643,888,789,820,655,632,656,0.41154755191,-0.015482156387,0.0699548343632,0.999999997261,3.73164284296e-05,-4.18308815337e-05,-4.83242627441e-05,1793250671910340352
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.103519884,723,690.103519884,670,643,888,789,820,655,632,656,0.412267133036,-0.0154878412115,0.069973042763,0.999999998397,2.75720166817e-05,-1.23540074573e-05,-4.78948299842e-05,1793250671927006976
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.695283577,723,690.695283577,670,643,888,789,820,655,632,656,0.413040996919,-0.01549288634,0.0700079395558,0.999999997891,1.80902703523e-05,4.24711155343e-05,-4.56738722735e-05,1793250671943674112
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.718877231,723,691,670,643,888,789,820.281122769,655,632,656,0.413800816159,-0.015495536668,0.070022243085,0.999999997006,1.26163389567e-05,6.17357008537e-05,-4.49280167868e-05,1793250671960340736
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.139327151,723,691,670,643,888,789,820.860672849,655,632,656,0.414545726331,-0.0154956447839,0.0700146857343,0.999999997953,1.13969228364e-05,4.32508226988e-05,-4.57480634261e-05,1793250671977007616
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745,723,691,670,643,888.436213662,789.436213662,821.436213662,655,632,656,0.415269058993,-0.0154915892989,0.0699662242693,0.999999997815,1.3514689831e-05,-3.92308959685e-05,-5.14594701176e-05,1793250671993674240
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,745.01072695,723,691,670,643,889.01072695,789.98927305,822.01072695,655,632,656,0.415988107127,-0.0154863726704,0.0699060774736,0.999999988365,1.65438451499e-05,-0.000139867267427,-5.8596497896e-05,1793250672010340864
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,745.598220487,723,691,670,643,889.598220487,789.401779513,822.598220487,655,632,656,0.416843974924,-0.0154895763066,0.0699137053032,0.99999999004,1.17871801189e-05,-0.000127599159224,-5.91493330021e-05,1793250672027007488
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,745.815806043,723,691.184193957,670,643,890,789,823,655,632,656,0.417706450315,-0.0154927630729,0.0699281467213,0.999999992809,7.50968814935e-06,-0.000104279716551,-5.87495808501e-05,1793250672043673856
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,745.233121168,723,691.766878832,670,643,890,789,823,655,632,656,0.418583220731,-0.0154959133422,0.0699573288676,0.999999996779,4.26885431792e-06,-5.70514747332e-05,-5.62889717775e-05,1793250672060340480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,745.345371751,722.654628249,692,670,643,890,789.345371751,823.345371751,655.345371751,632,656.345371751,0.419480565788,-0.0154993427532,0.0699867641811,0.999999998444,-4.71957071519e-06,-1.15404786929e-05,-5.43740666685e-05,1793250672077007360
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,745.921069067,722.078930933,692,670,643,890,789.921069067,823.921069067,655.921069067,632,656.921069067,0.420391631866,-0.0155029583216,0.0700163683286,0.999999997912,-1.75410166521e-05,3.28252984354e-05,-5.28230870832e-05,1793250672093674496
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,722,692,670,643,890,789.504470285,823.504470285,655.504470285,632,656.504470285,0.42128198887,-0.0155054524916,0.0700234425951,0.999999997543,-2.01920968245e-05,4.11569536063e-05,-5.30368998e-05,1793250672110340864
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,745.928202604,722.071797396,692.071797396,670,643,890.071797396,789,823.071797396,655,632,656,0.422161889725,-0.0155067901418,0.0700176622989,0.999999997894,-2.06824633868e-05,2.88656617297e-05,-5.4318613577e-05,1793250672127007488
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,745.337453724,722.662546276,692.662546276,670,643,890.662546276,789,823.662546276,655,632,656,0.422989996502,-0.0155010563389,0.0699448437415,0.999999993823,-1.72353778102e-05,-9.11047825409e-05,-6.12923336377e-05,1793250672143674112
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,745.246164275,723,693,669.753835725,643,891,789,824,655,632,656,0.423841644493,-0.01549647379,0.0698840079187,0.999999980934,-1.92647566932e-05,-0.000181881106411,-6.84078778485e-05,1793250672160340736
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,745.820282204,723,693,669.179717796,643,891,789,824,655,632,656,0.424724655509,-0.0154934250042,0.0698391361471,0.999999969402,-2.85901839613e-05,-0.000233763427528,-7.57123698129e-05,1793250672177007360
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,692.603288147,669.396711853,643,891.396711853,789,824,655,632,656,0.425682109667,-0.0154940353318,0.069870373417,0.999999980187,-2.24043214265e-05,-0.000184166682198,-7.21596907423e-05,1793250672193673984
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,692.025805141,669.974194859,643,891.974194859,789,824,655,632,656,0.426673485553,-0.0154963130211,0.0699362915772,0.999999994031,-9.15037157163e-06,-8.83285921738e-05,-6.36596835736e-05,1793250672210340608
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.550210373,746,723,693.100420746,669.449789627,643,892.550210373,789,824.550210373,655,632,656,0.427651265856,-0.0155018987923,0.069985302241,0.999999997544,-2.23089144244e-05,-2.47724454493e-05,-6.16470181782e-05,1793250672227007488
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+230,3.833333333,POSE1_TO_POSE2_PRESS,769,747,723,695,667,638,897.625148783,775.625148783,828,655,630,657,0.455143386312,-0.0157325542885,0.0695697820458,0.999999718074,-0.000327587196219,-0.000672425108634,-6.62021070396e-05,1793250673227006976
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,747,723,695,667,638,897.047983714,775.047983714,828,655,630,657,0.45514730595,-0.0157338410761,0.0695691100282,0.999999718277,-0.00032614147049,-0.000672917226002,-6.52767538522e-05,1793250673243673344
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,747,723,695,667,638,897,775,828,655,629.475109195,657,0.455149283971,-0.0157334739718,0.069568033004,0.999999716967,-0.000326621122984,-0.000674648604247,-6.5075157233e-05,1793250673260340224
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,747.100580493,723,695,667,638,897,775,828,655,629.100580493,656.899419507,0.455150564611,-0.0157327254403,0.0695669621273,0.999999715556,-0.000327003343911,-0.0006765516055,-6.50773672117e-05,1793250673277007616
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,747.691903702,723,695,667,638,897,775,828,655,629.691903702,656.308096298,0.455149301652,-0.0157308475925,0.0695661004264,0.999999714335,-0.000326058370466,-0.000678743705657,-6.57537704341e-05,1793250673293673728
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.721831693,747.721831693,723,695,667,638,897,775,828,655,630,656.278168307,0.455149112547,-0.0157306277614,0.0695657865884,0.999999713516,-0.000326678775232,-0.000679642698612,-6.58414118624e-05,1793250673310340352
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.141069802,747.141069802,723,695,667,638,897,775,828,655,630,656.858930198,0.45515009159,-0.0157322115331,0.0695660687197,0.999999713135,-0.000329002010114,-0.000679135040068,-6.52885938528e-05,1793250673327007232
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.434732046,747,723,695,667,638.434732046,897,775,828,655,629.565267954,657,0.455150396774,-0.0157326574452,0.0695657891077,0.999999712942,-0.000328356117785,-0.000679751990297,-6.50875042569e-05,1793250673343673856
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,747,723,695,667,638.991040407,897,775,828,655,629.008959593,656.991040407,0.455150505424,-0.0157327060582,0.0695653455742,0.99999971283,-0.000326768116093,-0.000680688554564,-6.50035274456e-05,1793250673360340224
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,747,723,695,667,638.415731712,897,775,828,655,629.584268288,656.415731712,0.455151857137,-0.0157307173172,0.0695659328262,0.999999714254,-0.000325843740397,-0.000679020628865,-6.51891502071e-05,1793250673377006848
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747.164477529,723,695,667,638,897,775,828,655,630,656,0.455152524668,-0.0157294391622,0.0695659343178,0.999999714829,-0.000325293746943,-0.000678428092078,-6.52753352876e-05,1793250673393673472
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747.757453693,723,695,667,638,897,775,828,655,630,656,0.455151409761,-0.0157300122338,0.0695644097802,0.999999713201,-0.000325719098205,-0.000680637170199,-6.5102464237e-05,1793250673410340352
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.659386467,747.659386467,723,695,667,638,897,775,828.340613533,655,630,656,0.455151512295,-0.0157305983568,0.0695638152995,0.999999712635,-0.000325869060111,-0.000681424115784,-6.48103683705e-05,1793250673427006976
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.083020914,747.083020914,723,695,667,638,897,775,828.916979086,655,630,656,0.45515245747,-0.0157311935132,0.069563864548,0.999999712807,-0.000325828414198,-0.000681226747432,-6.44357523283e-05,1793250673443673600
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747.489993609,723,695,667,638,897,775,828.510006391,654.510006391,630,656,0.45515262213,-0.0157312119059,0.0695642041986,0.999999712409,-0.000326629360995,-0.000681419164492,-6.45240112694e-05,1793250673460340224
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.06459111,748,723,695,667,638,897,775.06459111,828,654.06459111,630,656,0.45515276068,-0.0157310284493,0.069564598554,0.999999712091,-0.000327307634734,-0.000681551967559,-6.46168708562e-05,1793250673477007104
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.65672281,748,723,695,667,638,897,775.65672281,828,654.65672281,630,656,0.455153758729,-0.0157299891284,0.0695650405694,0.999999713213,-0.000325827285724,-0.000680662150119,-6.41111198458e-05,1793250673493673472
+247,4.116666667,HOLD_POSE2,769,747,723,695,667,638,897,775,828,655,630,657,0.455150382294,-0.0157272249585,0.0695618679304,0.999999710916,-0.000321287126113,-0.000686132675333,-6.45304907149e-05,1793250673532124160
+248,4.133333333,HOLD_POSE2,769,747,723,695,667,638,897,775,828,655,630,657,0.45515204343,-0.0157293130431,0.0695627697978,0.999999711611,-0.000323037520309,-0.000684328216964,-6.41814808474e-05,1793250673548791296
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+251,4.183333333,HOLD_POSE2,769,748,723,695,667,638,897,775,828,655,630,657,0.455153670385,-0.0157291735373,0.0695633368235,0.999999712393,-0.000324947615148,-0.000682287082835,-6.40843146402e-05,1793250673598791424
+252,4.200000000,HOLD_POSE2,769,748,723,695,667,638,897,775,828,655,630,657,0.455153368847,-0.0157292102507,0.0695630964891,0.9999997122,-0.000325343786095,-0.000682375400222,-6.41503945068e-05,1793250673615458048
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+256,4.266666667,HOLD_POSE2,769,747,723,695,667,638,897,775,828,655,630,657,0.455155269337,-0.0157282372083,0.0695623453003,0.999999712274,-0.000323344693794,-0.000683207024364,-6.42530690959e-05,1793250673682124800
+257,4.283333333,HOLD_POSE2,769,747,723,695,667,638,897,775,828,655,630,657,0.455155735951,-0.015727768035,0.0695628685637,0.999999713191,-0.00032255904324,-0.000682224752688,-6.43591568343e-05,1793250673698791424
+258,4.300000000,HOLD_POSE2,769,747,723,695,666.632747335,638.367252665,897,774.632747335,828,655,630,656.632747335,0.455155164773,-0.0157276263533,0.069562681251,0.999999712948,-0.000321893058036,-0.000682921045766,-6.40862117281e-05,1793250673715458304
+259,4.316666667,HOLD_POSE2,769,747,723,695,666.039357383,638.960642617,897,774.039357383,828,655,630,656.039357383,0.45515395457,-0.0157276863257,0.0695620563983,0.999999711988,-0.00032130075717,-0.000684650921662,-6.35798756537e-05,1793250673732125184
+260,4.333333333,HOLD_POSE2,769,747,723,695,666.539097806,638.460902194,897,774.539097806,828,655,630,656.539097806,0.455154656985,-0.0157281466293,0.0695623154157,0.999999711509,-0.0003239325313,-0.000684096185077,-6.3731164573e-05,1793250673748791552
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+262,4.366666667,HOLD_POSE2,769,747,723,695,667,638,897,774.313475331,828,655,630,657,0.455153885391,-0.0157284768706,0.069561912454,0.999999711353,-0.000323276260382,-0.000684636557379,-6.37157191946e-05,1793250673782124800
+263,4.383333333,HOLD_POSE2,769,747,723.268423574,695,666.731576426,638,897,774.268423574,828,655,630,657,0.455154010887,-0.0157279698784,0.0695620223109,0.999999711808,-0.000322006241934,-0.000684588426381,-6.35217074233e-05,1793250673798791168
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,667,638,897,775,828,655,630,657,0.455154959153,-0.0157261927042,0.0695617212666,0.999999711779,-0.000319684570193,-0.000685699309889,-6.37265513595e-05,1793250673848151296
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747.575847591,723.424152409,695,667,638,897,775,828,655,630,657,0.455156004523,-0.0157259632359,0.0695629106187,0.999999712959,-0.000319908198456,-0.000683827327082,-6.41918110116e-05,1793250673864818176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.848418401,748,723,695,667,638,897,775,828.151581599,655,630,657,0.455156357549,-0.0157260519142,0.0695632679063,0.9999997133,-0.000320159764104,-0.000683192645336,-6.43864527778e-05,1793250673881484800
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.273001853,748,723,695,667,638,897,775,828.726998147,655,630,657,0.455154774725,-0.0157270301569,0.0695612986712,0.999999711296,-0.000320489445092,-0.000686017561418,-6.38244241881e-05,1793250673898151168
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.310530178,747.689469822,723,694.689469822,667,638,897,774.689469822,828.689469822,655,630,657,0.455154523263,-0.0157274995997,0.0695608426379,0.999999711065,-0.000320388553096,-0.000686444835641,-6.33616624066e-05,1793250673914817536
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747,723,694,667,638,897,774.481480222,828,655,629.518519778,657,0.455156051412,-0.0157270699432,0.0695622617419,0.999999712809,-0.000320199685577,-0.000684007736832,-6.31478395091e-05,1793250673948150784
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747,723,694.058584565,667,638,897,774.941415435,828,655,629.058584565,657,0.455156236647,-0.015726753349,0.0695625256808,0.999999712812,-0.000320739938866,-0.000683730804336,-6.3351979372e-05,1793250673964817408
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.628439155,667,638,897,774.371560845,828,655,629.628439155,657,0.455153648011,-0.0157282984245,0.0695613508665,0.999999711336,-0.00032198892616,-0.000685331947304,-6.30162837819e-05,1793250673981484288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,666.798537832,638,897,774,828,655,630,656.798537832,0.455145858644,-0.0157284752938,0.0695576465398,0.999999707458,-0.000322471294197,-0.000690731322029,-6.31400380253e-05,1793250673998150912
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,666.219577927,638,897,774,828,655,630,656.219577927,0.455128324199,-0.0157260884318,0.0695492024389,0.999999698979,-0.000321517178786,-0.000703247784088,-6.41247046703e-05,1793250674014817536
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.629759749,747,723,694.629759749,666.370240251,638,897,774,828,655,629.629759749,656.370240251,0.455094028466,-0.0157236978779,0.0695337772405,0.999999681642,-0.000320408806214,-0.000727849359687,-6.54895969127e-05,1793250674031484416
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.033307243,747,723,694.033307243,666.966692757,638,897,774,828,655,629.033307243,656.966692757,0.455049491791,-0.0157213050681,0.0695140866762,0.999999658129,-0.000319206184072,-0.000759834792166,-6.70868023787e-05,1793250674048151040
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,667,638,897,774,828,655,630,656.677576576,0.454852480101,-0.0157091655102,0.0694731171962,0.999999618621,-0.000311685214918,-0.000812990031607,-6.82500488107e-05,1793250674098150656
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,666.334351494,639,897,775.334351494,828,655,630,656.334351494,0.453854115703,-0.0156627424428,0.0694791225968,0.999999640962,-0.000285837907181,-0.000796039367367,-5.19055177282e-05,1793250674231484416
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.082198825,723,695,667,638,896,775.082198825,828,655,630,656,0.453201446881,-0.015633032999,0.0694956788287,0.999999664646,-0.000257103085544,-0.000776578632347,-3.912675464e-05,1793250674281484032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.658044427,723,695,667,638,896,775.658044427,828,655,630,656,0.45292108525,-0.0156236913226,0.0694949766157,0.999999666447,-0.000247679893208,-0.00077750850038,-3.52187266386e-05,1793250674298150912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747.761716995,723,695,667,638,896,776.238283005,828,655,630,656,0.452624405147,-0.0156143278872,0.0694906749014,0.999999664893,-0.000237374280282,-0.000782862002978,-3.15213735982e-05,1793250674314818048
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.00905689,747,723,694.00905689,667,638.99094311,896.99094311,777,828,655,630,656,0.451599801653,-0.0155874471774,0.0694689366897,0.999999663395,-0.000112281927439,-0.000812559987055,-1.87052394121e-05,1793250674364817408
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,747,723.284014063,694,667,639,896,778.715985937,827.715985937,655,630,657,0.450342243239,-0.0155907749297,0.069486389978,0.999999670387,-0.000123141440188,-0.000802533962834,-5.85731251454e-07,1793250674414817536
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.529642383,747,723,694.529642383,667,639,895,780.470357617,827.529642383,655,630,656,0.448954802242,-0.0155671120994,0.069539743075,0.999999726394,-0.000101678804178,-0.000732707860527,3.52334938107e-06,1793250674464818176
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.623199329,747,723.623199329,694.623199329,667,639.623199329,895,781,827.623199329,655,630,656,0.447904575344,-0.0155580683911,0.0695791724068,0.999999768909,-0.000106420108536,-0.000671453840629,-2.48586413825e-06,1793250674498151424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.797802961,747,723.797802961,694.797802961,667.202197039,640,895,781.202197039,827.797802961,655,630.202197039,656,0.447325073124,-0.0155528853301,0.0695855428382,0.999999775581,-9.17105294126e-05,-0.000663647175176,-2.19302609977e-07,1793250674514817792
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,668,640,894.628243121,782.371756879,827,655,631,656,0.446049725807,-0.0155292429693,0.0695574737826,0.999999750301,-6.06604754327e-05,-0.000704054548073,5.08643254003e-06,1793250674548151040
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.892447607,747,723,694,668.107552393,640.107552393,892.892447607,785,826.892447607,655,631,656,0.444121818752,-0.0155107426353,0.0696175647387,0.999999825852,-3.0606221704e-05,-0.000589284598296,1.01494203246e-05,1793250674598150912
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,694,669,642,891,787.072982933,825,655,631.927017067,655.072982933,0.434459076826,-0.0154017808231,0.0698115100823,0.999999947908,0.000136256427495,-0.000291991496427,1.89523227703e-05,1793250674798150400
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745.52052777,723,688.47947223,670,642,887,788,820,655,631.52052777,656,0.409194310961,-0.015368953344,0.0698162867233,0.999999931024,0.000218799984238,-0.000299451504413,2.01763811592e-05,1793250675298150912
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,722,685.01342166,669.98657834,642,886.01342166,788,819,655,632,656,0.401268685881,-0.0153690001074,0.0697969018975,0.999999921523,0.000223449620223,-0.000327134642165,2.5942837437e-06,1793250675714817792
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745.952243831,723,685.047756169,669.952243831,643,886,788,819.047756169,655.047756169,632,656,0.400988594382,-0.0153564908762,0.0697997994375,0.999999920031,0.000238301097362,-0.000321099664065,6.69768334425e-06,1793250675831484672
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,722.64507524,686,670,643,886,788,820,655,631.64507524,656,0.400959714027,-0.0153586046688,0.0698047592339,0.999999923236,0.000236035441429,-0.00031266262501,7.53993698779e-06,1793250675898151168
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.527478194,745,722,686,670,643,886.527478194,788,820,655.527478194,631.527478194,656,0.400958048904,-0.0153590069249,0.0698076159274,0.999999925096,0.000234322647018,-0.000307973917536,7.24396797588e-06,1793250675931484416
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1080f149afe2033ca11bb5c38e3ed197e82a2cb2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.575669681944,-0.00984976004283,1.06003349655,0.546240357328,-0.00117713672059,1.05970489153
+389,6.483333333,pose2_to_pose3_retreat,0.575668438898,-0.00984977240859,1.0600335437,0.546239115081,-0.00117714637229,1.05970493884
+390,6.500000000,pose2_to_pose3_retreat,0.575667560652,-0.00984978110595,1.0600335793,0.546238237434,-0.00117715303184,1.05970497459
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+396,6.600000000,pose2_to_pose3_retreat,0.575665806983,-0.00984980961023,1.06003356406,0.546236485169,-0.00117717669871,1.05970496133
+397,6.616666667,pose2_to_pose3_retreat,0.575665760206,-0.00984981086362,1.06003355983,0.546236438438,-0.00117717778905,1.05970495723
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9b678ae1822ed6cd280dd0ae315c708512ec070
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a4531b11ec3e6941ea0670713773567543d1d8631f24936e5b81975baf2957
+size 26141497
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44901431edf7c684489ead1aabe5a11e6fc04c82
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+21,0.350000000,BASELINE,769.203109289,746,722.203109289,686,670,642.796890711,886.796890711,788,819.796890711,655.796890711,632,656,0.400953402854,-0.0153634120733,0.0698130785504,0.999999928098,0.000232117439544,-0.000299792621604,7.08798637648e-06,1793250676755119872
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+23,0.383333333,BASELINE,769.644405659,746,723,686,670,642.355594341,886.355594341,788,819,655,632,656,0.400953524967,-0.0153622597963,0.0698130770109,0.999999928058,0.00023339789546,-0.000298942100844,6.61246421404e-06,1793250676788453120
+24,0.400000000,BASELINE,769.070391698,746,723,686,670,642.929608302,886.929608302,788,819,655,632,656,0.40095411233,-0.0153634115941,0.0698141146476,0.999999928563,0.000232640586614,-0.000297842215888,6.55186803847e-06,1793250676805119744
+25,0.416666667,BASELINE,769,745.483274434,723,685.483274434,670,642.483274434,886.483274434,788,819.516725566,655,632,656,0.400954067482,-0.01536380421,0.0698131010518,0.999999928456,0.00023146166885,-0.000299114101298,6.62025082315e-06,1793250676821786880
+26,0.433333333,BASELINE,769,745,723,685.103898321,670,642.103898321,886,788,819.896101679,655,632,656,0.400954036126,-0.015363810964,0.0698122858097,0.999999928228,0.000231023066286,-0.000300212558134,6.7153554675e-06,1793250676838453504
+27,0.450000000,BASELINE,769,745,723,685.682949326,670,642.682949326,886,788,819.317050674,655,632,656,0.40095447059,-0.0153625383502,0.0698136888487,0.999999927841,0.000234239602743,-0.000299001832764,6.85022161642e-06,1793250676855120128
+28,0.466666667,BASELINE,769,745,722.738842019,685.738842019,670,642.738842019,886,788,819.261157981,655,632,656,0.400954439626,-0.015361819416,0.0698142290591,0.999999927637,0.000235766443391,-0.000298484205884,6.89950133865e-06,1793250676871786496
+29,0.483333333,BASELINE,769,745,722.161652739,685.161652739,670,642.161652739,886,788,819.838347261,655,632,656,0.400953845441,-0.0153617704979,0.0698137251473,0.999999927663,0.000235248556899,-0.000298805308243,6.84521159857e-06,1793250676888453120
+30,0.500000000,BASELINE,768.585746559,745,722,685,670,642,886.414253441,788,819.585746559,655,632,656,0.400954164337,-0.0153624772802,0.0698137359313,0.999999927883,0.000234875070962,-0.000298361115062,6.98344502995e-06,1793250676905119744
+31,0.516666667,BASELINE,768.010339546,745,722,685,670,642,886.989660454,788,819.010339546,655,632,656,0.40095483844,-0.0153634780462,0.0698139469432,0.999999928177,0.000234557759983,-0.000297619205312,7.19657415096e-06,1793250676921786368
+32,0.533333333,BASELINE,768.58069085,745.58069085,722,685.58069085,669.41930915,642,886.41930915,788.58069085,819.58069085,655,632,656,0.400955200462,-0.0153635584998,0.0698144364103,0.999999928681,0.000233293848601,-0.00029691692199,7.20614529302e-06,1793250676938453248
+33,0.550000000,BASELINE,768.831659533,746,722,686,669.168340467,642.168340467,886.168340467,788.831659533,820,655.168340467,632,656,0.400955898587,-0.0153637403323,0.0698150050097,0.999999929243,0.000231870873096,-0.000296138737587,7.22426756454e-06,1793250676955119872
+34,0.566666667,BASELINE,768.252948363,746,722,686,669.747051637,642.747051637,886.747051637,788.252948363,820,655.747051637,632,656,0.400957429963,-0.0153642103514,0.0698157540928,0.999999929936,0.000230102364056,-0.000295173758446,7.27231510391e-06,1793250676971786240
+35,0.583333333,BASELINE,768.322686178,745.677313822,722,686,670,643,887,788,820,655.677313822,632,656,0.400956855646,-0.0153645732902,0.0698151527389,0.999999929926,0.000229314975832,-0.000295825099031,7.11468261855e-06,1793250676988452864
+36,0.600000000,BASELINE,768.895931838,745.104068162,722,686,670,643,887,788,820,655.104068162,632,656,0.4009546463,-0.0153648530833,0.0698135027973,0.999999929368,0.000229289408474,-0.000297731480047,6.79734363725e-06,1793250677005119744
+37,0.616666667,BASELINE,769,745.481211012,722,685.518788988,669.518788988,643,887,788,819.518788988,655,632,656,0.400955291879,-0.015364704561,0.0698135577413,0.999999929542,0.000229352480555,-0.000297100575176,6.6923563069e-06,1793250677021786368
+38,0.633333333,BASELINE,769,745.93190967,722,685.06809033,669.06809033,643,887,788,819,655,632,656,0.400956227291,-0.0153644780168,0.06981386713,0.999999929768,0.000229505768769,-0.000296219850316,6.66365948438e-06,1793250677038452736
+39,0.650000000,BASELINE,769,745.353049059,722,685.646950941,669.646950941,643,887,788,819,655,632,656,0.400954586607,-0.0153643788653,0.0698132484829,0.999999929174,0.000230188315964,-0.000297686862823,6.85391866328e-06,1793250677055119360
+40,0.666666667,BASELINE,768.774533748,745,722,686,670,643,887,788,819,655,632,656,0.400953686355,-0.0153642576859,0.0698130237304,0.999999928739,0.00023115637544,-0.000298396490706,7.00365777085e-06,1793250677071786240
+41,0.683333333,BASELINE,768.196558337,745,722,686,670,643,887,788,819,655,632,656,0.400953943746,-0.0153641020663,0.0698134148195,0.999999928552,0.000232570824052,-0.00029792197225,7.09004505197e-06,1793250677088453120
+42,0.700000000,BASELINE,768.378985272,745,722.378985272,686,670,643,886.621014728,788.378985272,819,655.378985272,632,656,0.400953981848,-0.0153628262543,0.0698133755879,0.999999928397,0.000232405495989,-0.000298574154042,6.80236389939e-06,1793250677105120000
+43,0.716666667,BASELINE,768.953275666,745,722.953275666,686,670,643,886.046724334,788.953275666,819,655.953275666,632,656,0.400953906942,-0.0153609731656,0.0698131145962,0.999999928259,0.000231426050559,-0.000299806966136,6.32191145182e-06,1793250677121787136
+44,0.733333333,BASELINE,769,745,723,686,670,643,886.543825903,788.456174097,819,656,632,656,0.400954717418,-0.015362895945,0.0698140136178,0.99999992879,0.000231418063737,-0.000298027077515,6.74550398576e-06,1793250677138453760
+45,0.750000000,BASELINE,768.867808927,745,723,685.867808927,670,643,887.132191073,788,819.132191073,655.867808927,632,656,0.40095514717,-0.0153644997223,0.0698144625735,0.9999999291,0.000231714258273,-0.000296745904837,7.0894994305e-06,1793250677155120384
+46,0.766666667,BASELINE,768.291619837,745,723,685.291619837,670,643,887.708380163,788,819.708380163,655.291619837,632,656,0.40095403479,-0.0153639088355,0.0698130547947,0.999999928479,0.000232743143673,-0.000298035991728,6.89721978643e-06,1793250677171786752
+47,0.783333333,BASELINE,768.283794529,745.283794529,722.716205471,685.283794529,670,643,887.432410941,788,820,655.283794529,632,656,0.400952989437,-0.0153624955491,0.0698125559686,0.999999927799,0.000234135590189,-0.000299227723507,6.67447931602e-06,1793250677188453120
+48,0.800000000,BASELINE,768.858415047,745.858415047,722.141584953,685.858415047,670,643,886.283169906,788,820,655.858415047,632,656,0.400952012769,-0.0153602394866,0.0698129886157,0.999999927059,0.000235900605745,-0.000300318663428,6.42052328069e-06,1793250677205119744
+49,0.816666667,BASELINE,769,745.555774881,722.444225119,686,670,643,886,788,819.555774881,655.555774881,632,656,0.40095300515,-0.0153622340801,0.0698137030504,0.999999928052,0.000233566659024,-0.000298826462474,6.73937681932e-06,1793250677221786368
+50,0.833333333,BASELINE,769,745.033082788,722.966917212,686,670,643,886,788,819.033082788,655,632,656,0.400954548554,-0.0153653336212,0.0698144661053,0.99999992948,0.00023021404814,-0.000296629865413,7.20349965731e-06,1793250677238452736
+51,0.850000000,BASELINE,769,745.611863835,722.388136165,686,670,643,886,788,819.611863835,655,632,656,0.400954561635,-0.0153637346948,0.0698145114196,0.999999928996,0.000232165034592,-0.000296745616085,6.97457127133e-06,1793250677255120128
+52,0.866666667,BASELINE,769,745.80944979,722.19055021,686,670,643,886.19055021,788,820,655,632,656,0.400954958033,-0.0153625372802,0.0698146873419,0.999999928701,0.00023390782444,-0.00029637533454,6.81388639355e-06,1793250677271787264
+53,0.883333333,BASELINE,769,745.230956195,722.769043805,686,670,643,886.769043805,788,820,655,632,656,0.400956134833,-0.0153621573083,0.0698151291704,0.999999928794,0.000235226744287,-0.000295015534355,6.79213928067e-06,1793250677288453632
+54,0.900000000,BASELINE,769,745.344948577,722.655051423,685.655051423,670,643,887,788,819.655051423,655,632,656,0.400955494407,-0.0153625191709,0.0698145935634,0.999999928601,0.000235059185551,-0.000295799211777,6.93254107767e-06,1793250677305120000
+55,0.916666667,BASELINE,769,745.919132923,722.080867077,685.080867077,670,643,887,788,819.080867077,655,632,656,0.400953646341,-0.01536337402,0.0698134084009,0.999999928215,0.000233903786592,-0.000298007338491,7.18069902384e-06,1793250677321786368
+56,0.933333333,BASELINE,769,745.49485835,722.50514165,685.50514165,670,643,886.49485835,788,819.50514165,655.50514165,632,656,0.400954881094,-0.0153635999235,0.0698147680762,0.999999929001,0.000232794031968,-0.000296234657231,7.07944312551e-06,1793250677338452992
+57,0.950000000,BASELINE,769,745,722.908327396,686,670,643,886,788,820,656,632,656,0.400956319645,-0.0153638044549,0.0698161802817,0.999999929845,0.0002316694604,-0.000294264008082,6.96319764985e-06,1793250677355119616
+58,0.966666667,BASELINE,769,745,722.329324549,686,670,643,886,788,820,656,632,656,0.400956155148,-0.0153644434503,0.0698156541054,0.99999993,0.000230426347047,-0.000294709934638,7.07175525837e-06,1793250677371786240
+59,0.983333333,BASELINE,769,745,722.248284743,686,670,643,886,788,819.751715257,655.751715257,632,656,0.400956291528,-0.0153643630388,0.069815325081,0.999999929808,0.000230892282677,-0.000294994851149,7.09257065627e-06,1793250677388452864
+60,1.000000000,BASELINE,769,745,722.824056023,686,670,643,886,788,819.175943977,655.175943977,632,656,0.400956824763,-0.0153633337327,0.0698152560989,0.999999929156,0.000233612446596,-0.000295067396144,6.99765446043e-06,1793250677405119744
+61,1.016666667,BASELINE,769,745,723,686,670,643,886,788,819,655,632,656,0.400955552159,-0.0153633911374,0.0698147472828,0.999999929017,0.000233117598452,-0.000295927217948,7.01503255696e-06,1793250677421786880
+62,1.033333333,BASELINE,769,745,723,686,670,643,886,788,819,655,632,656,0.400953484896,-0.015363926749,0.0698140449178,0.999999929102,0.000231207984587,-0.000297133480783,7.08182574503e-06,1793250677438454272
+63,1.050000000,BASELINE,769,745.563078138,722.436921862,686,670,642.436921862,886.563078138,788.563078138,819.563078138,655,632,656,0.400954214059,-0.0153655752368,0.0698141002384,0.99999992962,0.000229414416251,-0.000296781566809,7.1003846064e-06,1793250677455120384
+64,1.066666667,BASELINE,769,745.849002078,722.150997922,686,670,642.150997922,887,788.849002078,819.849002078,655,632,656,0.400954675843,-0.0153671843844,0.0698140937315,0.999999930092,0.000227768031394,-0.000296455609585,7.13612062633e-06,1793250677471786240
+65,1.083333333,BASELINE,769,745.26672349,722.73327651,686,670,642.73327651,887,788.26672349,819.26672349,655,632,656,0.400953993548,-0.0153685297869,0.0698138075669,0.999999930386,0.000226526247131,-0.000296415744543,7.22747927154e-06,1793250677488452864
+66,1.100000000,BASELINE,769,745,723,685.689003052,670,643,886.689003052,788,819.310996948,655,632,656,0.400954713551,-0.0153674925047,0.0698143280976,0.999999930256,0.000227963002605,-0.000295750911995,7.2183952176e-06,1793250677505119744
+67,1.116666667,BASELINE,769,745,723,685.115135427,670,643,886.115135427,788,819.884864573,655,632,656,0.40095661885,-0.0153644412544,0.0698155304887,0.999999929758,0.000231663798218,-0.000294557824641,7.12441180387e-06,1793250677521786624
+68,1.133333333,BASELINE,769,745.458738956,723,685,670.458738956,643,886.458738956,788,820,655,632.458738956,656,0.400956537881,-0.0153641362983,0.0698151509686,0.999999929623,0.000231424556805,-0.000295206793924,7.06219984357e-06,1793250677538452992
+69,1.150000000,BASELINE,769,746,722.966276396,685.033723604,670.966276396,643,886.966276396,788.033723604,819.966276396,655.033723604,632.966276396,656,0.400955867971,-0.0153644793068,0.0698143888879,0.999999929525,0.000230402358347,-0.000296338498916,7.00436423883e-06,1793250677555119360
+70,1.166666667,BASELINE,769,746,722.372895297,685.627104703,670.372895297,643,886.372895297,788.627104703,819.372895297,655.627104703,632.372895297,656,0.400953697577,-0.01536413664,0.0698138670617,0.999999928534,0.000232797784205,-0.000297808832317,6.88682103739e-06,1793250677571785984
+71,1.183333333,BASELINE,768.785562172,745.785562172,722,686,669.785562172,643,886,788.785562172,819,655.785562172,632,656,0.400952377906,-0.0153639175527,0.0698135698018,0.999999928334,0.000232817450075,-0.000298466297199,6.70495500384e-06,1793250677588452864
+72,1.200000000,BASELINE,768.208457558,745.208457558,722,686,669.208457558,643,886,788.208457558,819,655.208457558,632,656,0.400952497016,-0.0153639074685,0.0698136523381,0.999999929473,0.000228819125425,-0.000297749002944,6.41430331811e-06,1793250677605120256
+73,1.216666667,BASELINE,768.367670127,745.367670127,722.367670127,686,669.367670127,642.632329873,886.367670127,788,819.367670127,655,632,656,0.400953300111,-0.0153641557125,0.0698137954465,0.999999929594,0.000228715253512,-0.000297420649415,6.52205894928e-06,1793250677621786880
+74,1.233333333,BASELINE,768.943245356,745.943245356,722.943245356,686,669.943245356,642.056754644,886.943245356,788,819.943245356,655,632,656,0.400954489977,-0.0153645500323,0.0698139728063,0.999999929142,0.000230813564004,-0.000297312228841,6.85510054855e-06,1793250677638452992
+75,1.250000000,BASELINE,769,746,723,686,670.529475448,642.529475448,887,788,820,655,632.529475448,656,0.400954739816,-0.0153650113911,0.0698143837821,0.999999929397,0.000231140491418,-0.000296196066513,6.96984492606e-06,1793250677655120128
+76,1.266666667,BASELINE,769,746,722.884828126,686,670.884828126,642.884828126,886.884828126,788.115171874,820,655,633,656,0.40095505479,-0.0153653893388,0.0698148976985,0.999999929763,0.000231164196574,-0.000294936024995,7.03698093062e-06,1793250677671787264
+77,1.283333333,BASELINE,769,746,722.305972797,686,670.305972797,642.305972797,886.305972797,788.694027203,820,655,633,656,0.400956045997,-0.0153654019479,0.0698157231672,0.99999993027,0.000230747263757,-0.00029354054583,7.0085857726e-06,1793250677688454144
+78,1.300000000,BASELINE,769,745.728163251,722,686,670,642.271836749,886,789,820,655,632.728163251,656,0.400956199258,-0.0153651867719,0.0698158463082,0.999999930274,0.000230542303859,-0.000293690544721,6.94960238041e-06,1793250677705120768
+79,1.316666667,BASELINE,769,745.151526338,722,686,670,642.848473662,886,789,820,655,632.151526338,656,0.40095541296,-0.0153647161889,0.0698151819559,0.999999929712,0.000230575021123,-0.000295573429214,6.85632157157e-06,1793250677721787392
+80,1.333333333,BASELINE,768.57657989,745.42342011,722.42342011,686,670,643,886,788.57657989,819.57657989,655.42342011,632,656,0.400954074609,-0.0153640734343,0.0698144406139,0.999999929389,0.000230142125343,-0.00029700522099,6.61098358549e-06,1793250677738454272
+81,1.350000000,BASELINE,768.002235944,745.997764056,722.997764056,686,670,643,886,788.002235944,819.002235944,655.997764056,632,656,0.400952539483,-0.0153633693107,0.0698136718295,0.999999929151,0.000229543266482,-0.000298276225459,6.31144634153e-06,1793250677755121152
+82,1.366666667,BASELINE,768.591002091,745.408997909,723,686,669.408997909,642.408997909,886,788,819.591002091,655.408997909,632,656,0.400953260821,-0.0153634875962,0.0698137643177,0.999999929018,0.000230656127929,-0.000297864998582,6.1844799463e-06,1793250677771787776
+83,1.383333333,BASELINE,769,745,722.821065794,685.821065794,669.178934206,642.178934206,886,788,819.821065794,655.178934206,632,656,0.400953641863,-0.0153635989048,0.0698136774646,0.999999928748,0.000231877018926,-0.000297823307206,6.2381616959e-06,1793250677788454400
+84,1.400000000,BASELINE,769,745,722.245071412,685.245071412,669.754928588,642.754928588,886,788,819.245071412,655.754928588,632,656,0.400953248209,-0.0153636875992,0.0698131851783,0.999999928172,0.000233322785887,-0.00029861621491,6.69121024969e-06,1793250677805121024
+85,1.416666667,BASELINE,768.669922226,745,722,685.330077774,670,643,886.330077774,788,819,656,632,656,0.400953380754,-0.0153641863858,0.0698136424904,0.999999928305,0.000233200391388,-0.000298259729836,7.02966255284e-06,1793250677821787904
+86,1.433333333,BASELINE,768.095399,745,722,685.904601,670,643,886.904601,788,819,656,632,656,0.400953902987,-0.0153649888739,0.0698148030458,0.999999928961,0.000231916664634,-0.00029705203976,7.28324836871e-06,1793250677838454784
+87,1.450000000,BASELINE,768.983954477,745,722.491977238,686,670,643,886.508022762,788,819.491977238,655.508022762,632,656,0.400952920449,-0.0153648082518,0.0698139683888,0.999999928984,0.000230786229484,-0.000297861891291,6.95057627542e-06,1793250677855121408
+88,1.466666667,BASELINE,769.919568667,745,723,685.919568667,670,643,886,788,820,655.080431333,632,656,0.400951939942,-0.0153646244468,0.0698129443758,0.999999928938,0.000229721642734,-0.000298846692178,6.59685492221e-06,1793250677871787776
+89,1.483333333,BASELINE,769.34030173,745,723,685.34030173,670,643,886,788,820,655.65969827,632,656,0.400952830258,-0.0153656349331,0.0698132098411,0.999999929256,0.000228876150065,-0.000298425090417,6.83654927502e-06,1793250677888454144
+90,1.500000000,BASELINE,768.762017531,745,723,685.237982469,670,643,886,788,820,655.762017531,632,656,0.40095360232,-0.0153666988283,0.0698137934584,0.999999929684,0.000227962826603,-0.000297683410822,7.00233417563e-06,1793250677905120256
+91,1.516666667,BASELINE,768.185132866,745,723,685.814867134,670,643,886,788,820,655.185132866,632,656,0.400954205983,-0.0153678387812,0.0698148301442,0.999999930269,0.00022695290784,-0.000296485920034,7.06286728713e-06,1793250677921786880
+92,1.533333333,BASELINE,768.389623381,745,722.610376619,685.610376619,670,643,886,788,820,655,632,656,0.400954391811,-0.0153670247917,0.0698153466204,0.999999930412,0.00022710059419,-0.000295895197775,6.95261961654e-06,1793250677938453248
+93,1.550000000,BASELINE,768.963373837,745,722.036626163,685.036626163,670,643,886,788,820,655,632,656,0.400954380179,-0.0153652874139,0.0698156172574,0.999999930345,0.000227795338079,-0.000295591220301,6.76166487024e-06,1793250677955119616
+94,1.566666667,BASELINE,769,745.552319146,722.552319146,685.552319146,670,643,886,788,819.447680854,655,632,656,0.400954996978,-0.015365835454,0.0698157215756,0.999999930337,0.000227968119555,-0.000295483183111,6.77323347864e-06,1793250677971786752
+95,1.583333333,BASELINE,769,745.860292338,722.860292338,686,670,642.860292338,886,788,819.139707662,655,632.139707662,656,0.400955267258,-0.0153659323877,0.0698155222079,0.999999930155,0.000228499095535,-0.000295690014525,6.70553895184e-06,1793250677988453376
+96,1.600000000,BASELINE,769,745.281061059,722.281061059,686,670,642.281061059,886,788,819.718938941,655,632.718938941,656,0.400954312568,-0.0153641198504,0.0698144031172,0.999999929409,0.000230268934113,-0.000296845395843,6.34503433626e-06,1793250678005120256
+97,1.616666667,BASELINE,769,745,722.294340852,686,670.294340852,642.294340852,886,788,819.705659148,655,632.705659148,656,0.400954031378,-0.0153637982759,0.0698139513812,0.999999929168,0.000230880020132,-0.000297183689131,6.30600499517e-06,1793250678021786880
+98,1.633333333,BASELINE,769,745,722.866133093,686,670.866133093,642.866133093,886,788,819.133866907,655,632.133866907,656,0.400954385041,-0.0153648821121,0.069814128707,0.999999929406,0.000230398843434,-0.000296751779346,6.57000449738e-06,1793250678038453504
+99,1.650000000,BASELINE,769,745,723,685.559062722,670.559062722,643,886,788,819.440937278,655,632,656,0.400954330708,-0.0153649745549,0.0698147699006,0.999999929678,0.00022984874399,-0.000296261851983,6.5617006433e-06,1793250678055120128
+100,1.666666667,BASELINE,769,745.017192755,723,685.017192755,670,643,886,788,819.982807245,655.017192755,632,656,0.400954175105,-0.0153647680782,0.0698155132502,0.999999929961,0.000229237694668,-0.000295781295508,6.46946410165e-06,1793250678071786752
+101,1.683333333,BASELINE,769,745.611251281,723,685.611251281,670,643,886,788,819.388748719,655.611251281,632,656,0.400954806286,-0.0153647003052,0.069814926527,0.99999993028,0.000227288514966,-0.000296210220402,6.35394781557e-06,1793250678088453376
+102,1.700000000,BASELINE,769,745.79993555,722.79993555,686,670,643,886,788,819.20006445,655.79993555,632,656,0.400955254672,-0.0153646001825,0.0698146485606,0.999999930359,0.000226871785979,-0.000296260060986,6.40783866363e-06,1793250678105119744
+103,1.716666667,BASELINE,769,745.221054391,722.221054391,686,670,643,886,788,819.778945609,655.221054391,632,656,0.400955356942,-0.0153644388064,0.0698149552172,0.999999929987,0.000229356711825,-0.000295592115478,6.78249742127e-06,1793250678121786624
+104,1.733333333,BASELINE,769.354883782,745.354883782,722.354883782,686,670,643,886,788,820,655,632,656.354883782,0.400955343562,-0.0153652134614,0.0698151014427,0.999999930058,0.000229358035081,-0.000295344542595,7.06854457879e-06,1793250678138453504
+105,1.750000000,BASELINE,769.929003926,745.929003926,722.929003926,686,670,643,886,788,820,655,632,656.929003926,0.400955258737,-0.0153665663677,0.0698151485588,0.999999930403,0.000227825064759,-0.000295356663016,7.29985023264e-06,1793250678155120384
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,886,789,820,656,632,656,0.400955834269,-0.0153640098492,0.0698156570665,0.999999929256,0.000233724079856,-0.000294638471271,6.98872157553e-06,1793250678185515008
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745.421225385,723,686,670,643,886,789,819.421225385,656,632,656,0.400954527399,-0.0153648319403,0.0698142811445,0.999999929189,0.000231810284804,-0.000296376819262,6.81116461928e-06,1793250678202181888
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.15702912,723,686,670.15702912,643,886,788.84297088,819.15702912,655.84297088,632,656.15702912,0.400953981917,-0.015365492704,0.0698136579136,0.999999929311,0.000230127343891,-0.000297280100297,6.67312795166e-06,1793250678218848768
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+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745.69077416,723,686,670.69077416,643,886.30922584,788.30922584,819.69077416,655,632,656.69077416,0.400955032566,-0.0153662228758,0.0698149458455,0.999999930079,0.000228027214922,-0.000296314724943,6.51769343439e-06,1793250678252181248
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745.116752898,723,686,670.116752898,643,886.883247102,788.883247102,819.116752898,655,632,656.116752898,0.400952940597,-0.0153669559271,0.0698135683376,0.999999929771,0.000227019637029,-0.000298128759693,6.31697862944e-06,1793250678268847872
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,723,686,670,643,886.530068158,789,819.469931842,655.469931842,632,656,0.400954276281,-0.0153672649804,0.0698146078691,0.999999929931,0.000228125842754,-0.000296733343588,6.74748743156e-06,1793250678285514496
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,723,685.941085041,670,643,886.058914959,789,820,655.941085041,632,656,0.40095623027,-0.0153673420236,0.0698160939515,0.999999930201,0.000229468801929,-0.000294770806877,7.22423375201e-06,1793250678302181120
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,723,685.360382372,670,643,886.639617628,789,820,655.360382372,632,656,0.400955909288,-0.0153663230418,0.0698160692352,0.999999930431,0.00022812862629,-0.000295043136838,6.6830808624e-06,1793250678318847744
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,723,685.217689913,670,643,887,788.782310087,820,655,632,656,0.400956713126,-0.0153661236509,0.0698164877496,0.99999993073,0.000227026582033,-0.000294886421383,6.46538198569e-06,1793250678335514624
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,723,685.791459567,670,643,887,788.208540433,820,655,632,656,0.400959356856,-0.0153672648816,0.0698176312656,0.999999931142,0.00022631405417,-0.00029402790774,6.77676335802e-06,1793250678352181248
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.375314022,723,685.624685978,670,643,886.624685978,788.375314022,820,655.375314022,632,656,0.400974962151,-0.0153671344944,0.0698244141847,0.999999933891,0.000228011740632,-0.000283148138282,7.53367286848e-06,1793250678368847616
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745.964926802,723,685.035073198,670,643,886.035073198,788.964926802,820,655.964926802,632,656,0.400997968308,-0.0153662780322,0.0698344171196,0.99999993774,0.000231085623722,-0.000266546379751,8.54497238716e-06,1793250678385514240
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,685.544623541,670,643,886,788.455376459,820,655.455376459,632,656,0.401049454072,-0.0153679832013,0.0698539499293,0.999999945559,0.000233095711988,-0.000233350319235,9.83666520415e-06,1793250678402181120
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,886,788,819.877307491,655,632,656,0.401104649934,-0.0153703557317,0.0698722701267,0.999999951733,0.000233851490553,-0.000204273022295,1.09108122644e-05,1793250678418848000
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,886,788,819.302922097,655,632,656,0.401166873196,-0.0153745886909,0.069883907104,0.999999954572,0.000230237225039,-0.000194222868679,1.11187759461e-05,1793250678435514880
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+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,722.151902622,686,669.151902622,643,886,788,819.848097378,655,632,656,0.401320587364,-0.0153845880639,0.06989923585,0.999999959797,0.000225259595245,-0.00017192317143,1.02891596606e-05,1793250678468848384
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745.565037482,722.434962518,686,669.869925036,643,886.434962518,788,819.565037482,655.434962518,632,656,0.401415613091,-0.0153880771295,0.0699032977173,0.999999961287,0.000223733356631,-0.000165215854831,8.53544433427e-06,1793250678485515008
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.974756237,745.025243763,723,686,670.974756237,643,886.974756237,788.025243763,819.025243763,655.974756237,632,656,0.4015162419,-0.0153910550441,0.0699064841743,0.999999962402,0.000222328036281,-0.00016039509081,6.37467931955e-06,1793250678502181376
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.395615728,745.604384272,723,686,670.395615728,643,886.395615728,788.604384272,819.604384272,655.395615728,632,656,0.401638190451,-0.0153968503984,0.069907597354,0.99999996334,0.000219177639627,-0.000158951462837,4.05407858621e-06,1793250678518848000
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.182354182,746,723,686,670,643,886.182354182,788.817645818,820,655,632,656,0.401770688019,-0.0154024953024,0.0699087204009,0.999999964357,0.00021591508283,-0.000157050137042,1.35537018943e-06,1793250678535514624
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.757800611,746,723,686,670,643,886.757800611,788.242199389,820,655,632,656,0.401925925584,-0.0154078158872,0.0699098647179,0.999999965556,0.000212410748154,-0.000154162173983,-2.15840663448e-06,1793250678552181248
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.666904287,722.666904287,686,669.666904287,643,886.666904287,788,820,655,632,656,0.402101945733,-0.0154146247764,0.0699125045007,0.999999967828,0.000205367241843,-0.000148765279274,-6.06134380436e-06,1793250678568848128
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+140,2.333333333,POSE1_TO_POSE2_PRESS,769.27674057,745.27674057,723,687,670.27674057,643,887,788.72325943,819.27674057,656,632,656,0.40542629324,-0.0154637778105,0.0699596852653,0.999999994543,7.71306935995e-05,-6.31629614303e-05,-3.12276496974e-05,1793250678752181504
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.701945114,745,723,687.298054886,670,643,887,789,819,655.701945114,632,656,0.405854904862,-0.0154604733245,0.0699555768412,0.999999992119,0.000100664367848,-7.00246639853e-05,-2.69399323752e-05,1793250678768848128
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.128213856,745,723,687.871786144,670,643,887,789,819,655.128213856,632,656,0.40630270233,-0.0154631383283,0.0699488703871,0.999999992052,9.05467260256e-05,-8.06217207997e-05,-3.46011742492e-05,1793250678785514752
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.459332998,745,723,688.459332998,670,643,887,789,819.459332998,655,632,656,0.406784135047,-0.0154699418429,0.0699340983191,0.999999991895,6.66226210993e-05,-0.000101092953875,-3.93814978281e-05,1793250678802181376
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.04968848,722.95031152,689,670,643,887,789,820,655,632,656,0.407282377255,-0.0154774461633,0.0699193320269,0.999999990963,4.14327569969e-05,-0.000120418543586,-4.30828112914e-05,1793250678818847744
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.627634223,722.372365777,689,670,643,887,789,820,655,632,656,0.407856418631,-0.0154797389696,0.0699293044196,0.999999993274,4.50279110318e-05,-9.73536671732e-05,-4.41271224005e-05,1793250678835514624
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.794707757,722.205292243,689,670,643,887.205292243,789,820,655,632.205292243,656,0.408442525216,-0.0154809636631,0.069939882557,0.999999995344,4.41347949972e-05,-7.3075276758e-05,-4.4992302342e-05,1793250678852181504
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.217570922,722.782429078,689,670,643,887.782429078,789,820,655,632.782429078,656,0.409050485405,-0.0154802536903,0.0699515578755,0.999999997261,3.5112102503e-05,-4.65988572351e-05,-4.55330230397e-05,1793250678868848128
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.361462102,745,723,689.361462102,670,643,888,788.638537898,820,655.361462102,633,656,0.409658815676,-0.0154790087054,0.0699505305661,0.999999997201,3.70894104029e-05,-4.48745693768e-05,-4.70003147704e-05,1793250678885514752
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.941642477,745,723,689.941642477,670,643,888,788.058357523,820,655.941642477,633,656,0.410267369858,-0.0154774399882,0.0699418169819,0.999999996063,4.57227444765e-05,-5.81276299501e-05,-4.90282683522e-05,1793250678902181632
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.473056568,745,723,690,670,643,888,788.526943432,820.526943432,656,632.473056568,656,0.410934956978,-0.0154776078227,0.0699414922818,0.999999995977,4.02897972772e-05,-6.29721972752e-05,-4.95656935218e-05,1793250678918848512
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.11115696,723,690,670.11115696,643,888,789,820.88884304,655.88884304,632,656.11115696,0.411624282321,-0.0154790249621,0.0699479302225,0.99999999671,3.25007375122e-05,-5.54337975614e-05,-4.95095989773e-05,1793250678935514880
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.688409387,723,690,670.688409387,643,888,789,820.311590613,655.311590613,632,656.688409387,0.412377076083,-0.0154848662697,0.0699787909524,0.999999998634,2.14283572231e-05,8.49500791542e-08,-4.76637594098e-05,1793250678952181504
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723,690,670.734964459,643,888.265035541,789,820.265035541,655,632,656.734964459,0.4131310975,-0.0154888596636,0.0700048017195,0.999999997984,1.48323878973e-05,4.07861802337e-05,-4.63595681543e-05,1793250678968848128
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,690,670.159072775,643,888.840927225,789,820.840927225,655,632,656.159072775,0.413886558913,-0.0154906856685,0.0700251240433,0.99999999681,1.3486731312e-05,6.41081774167e-05,-4.56906678194e-05,1793250678985514752
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.57428365,723,690.42571635,670,643,889,789,821,655,632,656,0.414617467295,-0.0154881545407,0.0699981454142,0.99999999856,1.74429731752e-05,1.32151551608e-05,-4.90083832877e-05,1793250679002181632
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,745,723,691,670,643,889,789,821.013683452,655,632,656,0.415340618033,-0.015484046336,0.0699533166098,0.999999996144,2.31441509966e-05,-6.53929263589e-05,-5.38483920329e-05,1793250679018848256
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,745,723,691,670,643,889,789,821.592662524,655,632,656,0.416130393316,-0.0154834809937,0.0699168135389,0.999999991059,1.73417077669e-05,-0.000118883057303,-5.87239642951e-05,1793250679035515136
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,745.169419201,723,691.169419201,670,643,889.169419201,789,822,655,632,656,0.41694049726,-0.01548430863,0.0699000636355,0.99999998772,1.22585382024e-05,-0.000143582387418,-6.15922938305e-05,1793250679052181760
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,745.740901684,723,691.740901684,670,643,889.740901684,789,822,655,632,656,0.41779884485,-0.0154884420639,0.0699301916758,0.999999993183,8.88233929416e-06,-9.99557881086e-05,-5.96970629174e-05,1793250679068848384
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.315644176,745.684355824,723,692,670,643,890,789,822.315644176,655,632.315644176,656,0.418672653845,-0.0154928425441,0.0699586125893,0.999999996706,4.88024524583e-06,-5.70646416562e-05,-5.75078172916e-05,1793250679085515008
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.893090562,745.106909438,723,692,670,643,890,789,822.893090562,655,632.893090562,656,0.419559286828,-0.0154974645183,0.069985617573,0.999999998374,3.59020195244e-07,-1.47834981311e-05,-5.50747094888e-05,1793250679102181376
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.517599454,745.482400546,723,692,670,643,890.482400546,789,823.482400546,655,632.517599454,656,0.420490263859,-0.015501341179,0.0700126757697,0.9999999982,-8.33091647478e-06,2.57814965136e-05,-5.35360587462e-05,1793250679118848256
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,692,670,643,891,789,824,655,632,656,0.421421972786,-0.0155046506436,0.0700330417784,0.999999996952,-1.69014177289e-05,5.5072826012e-05,-5.27066520874e-05,1793250679135515136
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,692,670,643,891,789,824,655,632,656,0.422288684689,-0.0155051924583,0.0700067700352,0.999999998265,-1.80522220832e-05,8.65230587904e-06,-5.53973096451e-05,1793250679152181760
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,692.229742614,670.229742614,643,891.229742614,789,824,655,632,656,0.423134847177,-0.0155015290235,0.0699549751662,0.999999995252,-1.89775559713e-05,-7.30826142948e-05,-6.16094703402e-05,1793250679168848640
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,692.80534857,670.80534857,643,891.80534857,789,824,655,632,656,0.423950073918,-0.0154915348449,0.0698647568009,0.999999975507,-1.95634579512e-05,-0.000207981193375,-7.31230367338e-05,1793250679185515520
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,693,670.612183744,643,892,789,824.387816256,655,632,656,0.424852812383,-0.0154907377107,0.0698510210222,0.999999972477,-2.20429929351e-05,-0.000221169324587,-7.51235577865e-05,1793250679202181888
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,693,670.026210042,643,892,789,824.973789958,655,632,656,0.425800265528,-0.0154946398717,0.0698763645648,0.999999982243,-2.54900930742e-05,-0.000172168638984,-7.22633210161e-05,1793250679218848256
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.556265634,723,693.556265634,670,643,892,789,825,655,632,656,0.426817869806,-0.0154997114269,0.0699411926001,0.999999993814,-2.54783930832e-05,-8.61682074206e-05,-6.55611051089e-05,1793250679235514624
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.863285918,723,693.863285918,670,643,892,789,825,655,632,656,0.427829959159,-0.0155041926259,0.070000545798,0.999999997856,-2.56980129604e-05,-5.21102566345e-06,-6.00029255977e-05,1793250679252180992
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.288804358,723,693.288804358,670,643,892,789,825,655,632,656,0.428813871436,-0.0155066081367,0.0700364482291,0.999999996448,-2.71769183024e-05,5.40499001407e-05,-5.86840616498e-05,1793250679268847872
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.292299676,723,693.292299676,670,643,892.292299676,789,825.292299676,655,632,656,0.42975397525,-0.0155072567455,0.0700450825061,0.999999995247,-3.12532988856e-05,7.08472976453e-05,-5.9247263263e-05,1793250679285514496
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.880098642,723,693.880098642,670,643,892.880098642,789,825.880098642,655,632,656,0.430649790998,-0.015506119111,0.0700261501402,0.999999996376,-3.7955587537e-05,4.47163429697e-05,-6.17131323798e-05,1793250679302181376
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.539504177,723,694,670,643,893.460495823,789,826,655,632,656.460495823,0.431483345091,-0.0155014631932,0.0699501933321,0.999999993701,-3.53673985825e-05,-8.2138748136e-05,-6.78312268793e-05,1793250679318848512
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.039045427,723,694.039045427,670,643,894,789,826,655,632.039045427,656.960954573,0.43231313082,-0.0154966401809,0.0698677135269,0.999999972455,-3.10396010816e-05,-0.000220459785872,-7.43273731787e-05,1793250679335515392
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.618274692,723,694.618274692,670,643,894,789,826,655,632.618274692,656.381725308,0.433311513348,-0.0155019785928,0.0698971546536,0.999999983844,-3.55816646538e-05,-0.000160318771132,-7.31057969581e-05,1793250679352181760
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643.195969207,894.195969207,789,826,655,632.804030793,656.195969207,0.434296604169,-0.0155070053121,0.0699350333263,0.999999992537,-4.17277426998e-05,-9.04724520163e-05,-7.07130524004e-05,1793250679368847872
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643.770697539,894.770697539,789,826,655,632.229302461,656.770697539,0.435256005645,-0.0155114296088,0.0699892196556,0.999999996517,-5.09739775683e-05,-1.86821341941e-06,-6.60567342225e-05,1793250679385514752
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.647291299,722.647291299,695,670,643.647291299,895,788.647291299,826,654.647291299,632.352708701,657,0.436175909375,-0.0155149272925,0.0700182338828,0.999999995331,-5.53976152395e-05,4.66013267444e-05,-6.40103513369e-05,1793250679402181376
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.060445645,722.060445645,695,670,643.060445645,895,788.060445645,826,654.060445645,632.939554355,657,0.437069593446,-0.0155178098665,0.0700305382289,0.999999994027,-5.66198905732e-05,6.84284340315e-05,-6.3696509985e-05,1793250679418848000
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.519471172,722.519471172,694.480528828,670,643,895,788.519471172,826.519471172,654.519471172,632.480528828,656.480528828,0.437928225627,-0.0155161685037,0.0700036372992,0.999999995091,-6.05936210187e-05,4.12706312794e-05,-6.66578963168e-05,1793250679435514368
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694.098466174,670,643,895,788.901533826,827,655,632,656,0.438764759889,-0.015513829272,0.0699634399161,0.999999995455,-6.35263958236e-05,-1.06101097292e-05,-7.03020678843e-05,1793250679452181248
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,694.676846143,670,643,895,788.323153857,827,655,632,656,0.439513208388,-0.0155106205735,0.0698803786922,0.999999983262,-5.9845778499e-05,-0.000155572895952,-7.54410441185e-05,1793250679468848384
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,694.746660974,670,643,895.253339026,788,827,655,632.253339026,656,0.440290057551,-0.0155126788129,0.0698326740229,0.999999967095,-6.38412701709e-05,-0.000235639646975,-7.87935341108e-05,1793250679485515008
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694.172557462,670,643,895.827442538,788,827,655,632.827442538,656,0.441102866078,-0.015521405771,0.0698297359605,0.999999966532,-7.75558468576e-05,-0.000233538460822,-7.98840708276e-05,1793250679502181376
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.588526163,723,694,670,643,896,787.588526163,827,655,632.588526163,656.411473837,0.441905885597,-0.0155337109831,0.0698598370466,0.999999974435,-9.26224625384e-05,-0.000191260467513,-7.726434873e-05,1793250679518848000
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746.000228518,723,694,670,643,896,787.000228518,827,655,632.000228518,656.999771482,0.442704698528,-0.015547553889,0.0699041361384,0.999999982796,-0.000108270094615,-0.000131717181234,-7.30502065393e-05,1793250679535514624
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746.578875272,723,694.578875272,669.421124728,642.421124728,896,787,827,655,632,656.421124728,0.443426154385,-0.0155621983914,0.0698884627365,0.999999975483,-0.000129589990147,-0.000164312731356,-7.23955882696e-05,1793250679552181248
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.843260709,669,642,895.843260709,786.843260709,827,655,632,656,0.444139177454,-0.015579743493,0.0698627624576,0.999999963794,-0.000152335212752,-0.000210114167122,-7.11159879867e-05,1793250679568847872
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,694.268691973,669,642,895.268691973,786.268691973,827,655,632,656,0.444829801016,-0.0156050200709,0.0698103950454,0.999999939331,-0.000178874144921,-0.000291023895209,-6.81666477058e-05,1793250679585514496
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,694.307259912,669,642,895.307259912,785.692740088,827,655,632,656,0.445492550702,-0.0156267509254,0.0697682777191,0.99999991467,-0.000205700483328,-0.000351745492258,-6.79911357092e-05,1793250679602181632
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,694.884426766,669,642,895.884426766,785.115573234,827,655,632,656,0.44613081504,-0.0156453671014,0.0697351643995,0.999999892532,-0.000232779287455,-0.000394733184747,-7.02522436206e-05,1793250679618848512
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668.526553361,642,896,784.526553361,827,655,631.526553361,656,0.446721325058,-0.0156475279877,0.069714488962,0.999999873518,-0.000236210832434,-0.000438183152408,-7.1866574293e-05,1793250679635515136
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641.936273292,896,784,827,655,631.063726708,656.063726708,0.447300548404,-0.0156458706193,0.0696971829147,0.999999854934,-0.000234358182905,-0.000479412178066,-7.32887368193e-05,1793250679652181504
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641.359733936,896,784,827,655,631.640266064,656.640266064,0.447885163283,-0.0156466418558,0.0696819305467,0.999999843073,-0.000237628106681,-0.000501837758906,-7.44676466044e-05,1793250679668848640
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641,896,783.782866737,827.217133263,655,631.782866737,657,0.448474882189,-0.01565122851,0.0696803915461,0.999999841346,-0.000243048630381,-0.000502755213042,-7.39732659413e-05,1793250679685515520
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641,896,783.20545562,827.79454438,655,631.20545562,657,0.449073069882,-0.015662145887,0.0697016064197,0.999999856234,-0.000252037531536,-0.000467985356536,-7.07024819323e-05,1793250679702182656
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641,896.377561631,782.622438369,828,655,631,656.622438369,0.449616846494,-0.0156709895108,0.0697168839395,0.999999867683,-0.000256702494049,-0.000440481627449,-6.86513231622e-05,1793250679718848768
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668,641,896.963675577,782.036324423,828,655,631,656.036324423,0.450130568316,-0.0156786876642,0.0697288818673,0.999999877261,-0.000258979059498,-0.000416991458922,-6.72738439476e-05,1793250679735514624
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.815798412,747,723,694.184201588,667,639,896.815798412,778,827.184201588,655,630.815798412,657,0.453464742416,-0.0157195305888,0.0696161344626,0.999999778627,-0.000324201844915,-0.000575840582717,-7.77628318879e-05,1793250679885513984
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.240970395,747,723,694.759029605,667,639,896.240970395,778,827.759029605,655,630.240970395,657,0.453729216184,-0.0157218951646,0.0696180048362,0.999999780404,-0.000320310016834,-0.000575353252092,-7.45846401154e-05,1793250679902180608
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747,723,695,667,639,897.336369667,776,828,655,630,657,0.45469381496,-0.0157250345749,0.0695858625514,0.999999742257,-0.000317282074082,-0.000640808334292,-6.46730571373e-05,1793250679985514240
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+221,3.683333333,POSE1_TO_POSE2_PRESS,768.277229561,748,723,694.277229561,667,638.277229561,897.277229561,775,828,655,630,656.277229561,0.455409100735,-0.0157382696918,0.0695736467714,0.999999723347,-0.000328709538425,-0.000663778093456,-6.82212892331e-05,1793250680102180864
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+260,4.333333333,HOLD_POSE2,769,747.926038339,723.926038339,694.926038339,667,638,897.073961661,774,828,655,630,656.073961661,0.455642593458,-0.0157270378984,0.0695548307503,0.999999707097,-0.000321900305518,-0.000691268325004,-6.58290827711e-05,1793250680769576192
+261,4.350000000,HOLD_POSE2,769,748,723.474764753,695,667,638,897,773.474764753,828,655,630,656.525235247,0.455642400616,-0.0157289812858,0.0695544257713,0.999999706322,-0.000323433486088,-0.000691734516298,-6.5188813859e-05,1793250680786243072
+262,4.366666667,HOLD_POSE2,769,747.876092025,723,694.876092025,667,638,897,773.123907975,828,655,630,657,0.455641757952,-0.0157311901029,0.069553842018,0.999999705311,-0.000324924308057,-0.000692554977271,-6.45722589185e-05,1793250680802909440
+263,4.383333333,HOLD_POSE2,769,747.298866628,723,694.298866628,667,638,897,773.701133372,828,655,630,657,0.455640383366,-0.0157317668748,0.0695530550694,0.999999704859,-0.000323582119315,-0.000693831943973,-6.46052591864e-05,1793250680819576064
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,667,638,897,774,828,655,630,657,0.455640515732,-0.0157299103893,0.069552537697,0.999999705201,-0.000321696819309,-0.000694201441508,-6.47610692919e-05,1793250680885509120
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.421362687,747,723,694.421362687,667,638,897,774,828,655,629.421362687,657,0.455640870098,-0.0157285941256,0.0695534576813,0.999999705178,-0.000321540287572,-0.000694258480506,-6.52706752578e-05,1793250680902175744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.15635809,747.15635809,723,694.15635809,667,638,897,773.84364191,828,655,629.15635809,657,0.455641435596,-0.0157282658911,0.0695544117453,0.999999705107,-0.0003223470389,-0.000693975054881,-6.54014022397e-05,1793250680918842368
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.731623456,747.731623456,723,694.731623456,667,638,897,773.268376544,828,655,629.731623456,657,0.455642566746,-0.015730584738,0.0695554571145,0.999999704896,-0.000325734573097,-0.000692779472377,-6.4517054492e-05,1793250680935508992
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.11677624,723,695,667,638,897,773,828,655,630,657,0.455641438036,-0.015730534209,0.0695554823968,0.999999705683,-0.000323352127139,-0.000692770620105,-6.4395865449e-05,1793250680968842240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,667,638,897,773,828,655,630,657,0.455641712033,-0.015729984109,0.0695549931036,0.999999706585,-0.000321220808126,-0.000692470608098,-6.42720662809e-05,1793250680985508864
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,723.638814047,695,667,638,897,773.638814047,828,655,630,656.361185953,0.45563770763,-0.0157287361632,0.0695523368915,0.999999703553,-0.000322555337344,-0.000696183011278,-6.46643620287e-05,1793250681018842368
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.915592843,747,723,695,667,638,896,775,828,655,630,656.084407157,0.453657803399,-0.0156349027422,0.0694857053964,0.999999654232,-0.000257828451142,-0.000789578924645,-4.0328478273e-05,1793250681318842624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.339405107,747,723,695,667,638,896,775,828,655,630,656.660594893,0.453395535788,-0.0156253201254,0.0694960636117,0.999999666478,-0.000250070356879,-0.000776704027516,-3.52098897114e-05,1793250681335508992
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,667,638.607027267,896.607027267,776,828,655,630,657,0.452447160068,-0.0156019807347,0.0694936644286,0.999999680524,-0.000186555289103,-0.000776962236552,-2.18959755225e-05,1793250681385508864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747,724,694,667,638.013466795,896.013466795,776,828,655,630,657,0.452067973749,-0.0155978759209,0.0694814482709,0.999999674512,-0.000129056899469,-0.000796245558212,-1.76985640401e-05,1793250681402175488
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.435512171,747,723.435512171,694,667,638.564487829,896,777.128975658,828,655,630,656.435512171,0.451661978613,-0.0155968164399,0.0694745338157,0.999999664702,-0.000129918071693,-0.000808430684762,-1.25697228318e-05,1793250681418842368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.142085577,667,639,896,778,828,655,630,656.142085577,0.4512464791,-0.0155949011702,0.069470347713,0.999999657099,-0.000129462239492,-0.000817917859464,-7.21269629176e-06,1793250681435508992
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6a1ba6cbbd362347e8375d826d501356f98954c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575664960457,-0.00984980364592,1.06003371479,0.546235638979,-0.00117716981863,1.05970510611
+401,6.683333333,pose2_to_pose3_retreat,0.575664821476,-0.00984983384331,1.06003368303,0.546235500234,-0.00117719914292,1.05970507625
+402,6.700000000,pose2_to_pose3_retreat,0.575664582028,-0.00984988586961,1.06003362831,0.546235261193,-0.00117724966498,1.0597050248
+403,6.716666667,pose2_to_pose3_retreat,0.575664461554,-0.00984990805344,1.0600336023,0.546235140919,-0.00117727110966,1.05970500034
+404,6.733333333,pose2_to_pose3_retreat,0.575664449442,-0.00984990079213,1.06003360331,0.546235128818,-0.0011772638161,1.05970500125
+405,6.750000000,pose2_to_pose3_retreat,0.575664424561,-0.00984988587521,1.06003360536,0.546235103958,-0.00117724883293,1.05970500313
+406,6.766666667,pose2_to_pose3_retreat,0.575664395716,-0.00984986858151,1.06003360775,0.546235075138,-0.00117723146242,1.0597050053
+407,6.783333333,pose2_to_pose3_retreat,0.575664375557,-0.00984985649539,1.06003360942,0.546235054996,-0.00117721932262,1.05970500682
+408,6.800000000,pose2_to_pose3_retreat,0.575664314674,-0.00984981999461,1.06003361445,0.546234994167,-0.00117718265972,1.05970501141
+409,6.816666667,pose2_to_pose3_retreat,0.575664295796,-0.00984981250073,1.06003362093,0.546234975466,-0.00117717462033,1.05970501642
+410,6.833333333,pose2_to_pose3_retreat,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8ccae7e1804fb81923834c50e99112fbe354e7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef952fb16904fc97738ccd19178727ae3e77849642ab288a7bcf8925740ac89e
+size 26328613
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a773f0da3447d95e15df2bc6c516adbb611a8984
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,415 @@
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+50,0.833333333,BASELINE,769,745.011541952,722.011541952,686,670,643,886.011541952,788,819.988458048,655,632,656,0.400956212813,-0.0153654362016,0.0698175772813,0.999999930371,0.000228869312531,-0.000294671455576,6.77150503861e-06,1793250684275686656
+51,0.850000000,BASELINE,769,745.581988181,722.581988181,686,670,643,886.581988181,788,819.418011819,655,632,656,0.400955642518,-0.0153643711455,0.0698172041017,0.999999930452,0.000228455114397,-0.000294726932473,6.28681895864e-06,1793250684292353280
+52,0.866666667,BASELINE,769,746,723,686,670,643,886.841171611,788,819.158828389,655,632,656,0.400955653494,-0.0153632905899,0.0698171525729,0.999999930443,0.000228811357482,-0.000294490254651,5.90634905307e-06,1793250684309019904
+53,0.883333333,BASELINE,769,746,723,686,670,643,886.246797611,788,819.753202389,655,632,656,0.400957258451,-0.0153621675311,0.0698179830877,0.999999930181,0.00023128033556,-0.000293452418379,5.81166497145e-06,1793250684325686528
+54,0.900000000,BASELINE,769,745.660254914,723,686,670,643,886,788,820,655,632,656,0.400957449857,-0.0153617979306,0.0698178830444,0.999999930141,0.000231972219319,-0.000293040144728,5.86345107918e-06,1793250684342353152
+55,0.916666667,BASELINE,769,745.079272882,723,686,670,643,886,788,820,655,632,656,0.400956637567,-0.0153619633254,0.0698171222559,0.999999930263,0.00023140227219,-0.000293072053607,6.01923875777e-06,1793250684359019520
+56,0.933333333,BASELINE,769,745.49336156,723,686,670,643,886,788.49336156,820,655.49336156,632,656,0.40095522088,-0.0153626536326,0.0698164656947,0.999999929999,0.000229577574938,-0.000295398685109,5.92610080944e-06,1793250684375686400
+57,0.950000000,BASELINE,769,746,723,686,670,643,886.066687171,788.933312829,820,655.933312829,632,656,0.400954007849,-0.0153633243521,0.0698159187723,0.999999929722,0.00022784825247,-0.000297670385545,5.79516566294e-06,1793250684392353280
+58,0.966666667,BASELINE,769,746,723,686,670,643,886.655758584,788.344241416,820,655.344241416,632,656,0.400955138205,-0.0153631919415,0.0698161016866,0.999999929889,0.000228419057736,-0.000296671579091,5.67625054286e-06,1793250684409019904
+59,0.983333333,BASELINE,769,745.76001611,723,686,670,643,886.76001611,788,820,655,632,656.23998389,0.400955559367,-0.0153629935467,0.0698160890943,0.99999992975,0.000229566695921,-0.000296254582802,5.6625222372e-06,1793250684425686272
+60,1.000000000,BASELINE,769,745.182604553,723,686,670,643,886.182604553,788,820,655,632,656.817395447,0.400954983373,-0.0153627023752,0.0698158016112,0.999999929179,0.000231525386067,-0.000296655636473,5.79669109726e-06,1793250684442352896
+61,1.016666667,BASELINE,769,745.396351037,723,686,670,643,886,788,819.603648963,655.396351037,632,656.603648963,0.400955166923,-0.015362797903,0.0698161751959,0.999999929274,0.000232010438143,-0.000295956970157,5.67715244463e-06,1793250684459019776
+62,1.033333333,BASELINE,769,745.976020733,723,686,670,643,886,788,819.023979267,655.976020733,632,656.023979267,0.400955701775,-0.0153630722855,0.0698168545351,0.999999929678,0.000231813909055,-0.000294749665834,5.44027002387e-06,1793250684475686400
+63,1.050000000,BASELINE,769,746,723,686,670,643,886.550967384,788,819.550967384,656,632,656,0.400958016047,-0.0153641593438,0.0698183456591,0.99999993073,0.00023048181492,-0.000292206481459,5.74964937873e-06,1793250684492353536
+64,1.066666667,BASELINE,769,745.870681017,723,686,670,643,887,788,820,656,632,656,0.400959756358,-0.015364975868,0.0698193020656,0.99999993155,0.000229194019389,-0.000290404011172,6.00169163985e-06,1793250684509019904
+65,1.083333333,BASELINE,769,745.279439087,723,686,670,643,887,788,820,656,632,656,0.400959172227,-0.0153647007894,0.0698182233519,0.999999931463,0.000228239490959,-0.000291453256336,5.96472796284e-06,1793250684525686016
+66,1.100000000,BASELINE,769,745.305157394,723,686,670,643,886.694842606,788,820,656,632,656,0.400958712215,-0.0153634804988,0.0698177937281,0.999999930979,0.000229407467173,-0.000292197645433,5.95324957388e-06,1793250684542352640
+67,1.116666667,BASELINE,769,745.883798162,723,686,670,643,886.116201838,788,820,656,632,656,0.400958363438,-0.0153614131052,0.0698179458216,0.999999930132,0.000232477641266,-0.000292668821147,5.96461121209e-06,1793250684559019520
+68,1.133333333,BASELINE,769,745.540879294,722.540879294,686,670,643,886.459120706,788,820,656,632,656,0.40095746592,-0.0153620463646,0.0698172923273,0.999999930226,0.000231091977007,-0.000293446049114,5.87900915499e-06,1793250684575686144
+69,1.150000000,BASELINE,769,745,722.034366832,686,670,643,886.965633168,788,819.965633168,655.965633168,632,656,0.400956488461,-0.0153632570689,0.0698165071528,0.99999993051,0.000228837496511,-0.000294243762375,5.78232924092e-06,1793250684592352768
+70,1.166666667,BASELINE,769,745,722.621800919,686,670,643,886.378199081,788,819.378199081,655.378199081,632,656,0.400956443544,-0.0153628395357,0.0698168605333,0.999999930133,0.000230619938866,-0.000294133510403,5.89948138154e-06,1793250684609019648
+71,1.183333333,BASELINE,769,745.206279871,722.793720129,686,670,643,886.206279871,788,819,655.206279871,632,656,0.400955893617,-0.0153623671431,0.0698169642939,0.999999929683,0.000232106967468,-0.000294492404791,5.91392320637e-06,1793250684625686528
+72,1.200000000,BASELINE,769,745.785417417,722.214582583,686,670,643,886.785417417,788,819,655.785417417,632,656,0.400954430867,-0.0153617955904,0.0698166168581,0.999999929106,0.000233060026263,-0.000295699296694,5.74271276538e-06,1793250684642352896
+73,1.216666667,BASELINE,769,745.637225855,722,685.637225855,670,643,886.637225855,788,819.362774145,656,632,656,0.400955652412,-0.0153618004267,0.0698176619619,0.99999992938,0.000234176081081,-0.000293881844401,5.90715400092e-06,1793250684659019264
+74,1.233333333,BASELINE,769,745.060917376,722,685.060917376,670,643,886.060917376,788,819.939082624,656,632,656,0.400958453974,-0.0153621445343,0.0698195267354,0.999999930144,0.000235388077755,-0.000290284217426,6.26916488561e-06,1793250684675685888
+75,1.250000000,BASELINE,769,745,722.516623275,685.516623275,670,643,886,788,820,655.483376725,632,656,0.400957881457,-0.0153622157632,0.0698188369411,0.99999993035,0.000232653020548,-0.000291779196735,6.08451435543e-06,1793250684692352256
+76,1.266666667,BASELINE,769,745,723,685.904198099,670,643,886,788,820,655,632,656,0.400956909254,-0.0153622566314,0.0698178844894,0.999999930451,0.000229932003206,-0.000293588807948,5.85468930132e-06,1793250684709018368
+77,1.283333333,BASELINE,769,745,723,685.317370628,670,643,886,788,820,655,632,656,0.400955932534,-0.0153623072007,0.0698171333815,0.999999930412,0.000229674098955,-0.000293925905419,5.72449685366e-06,1793250684725684992
+78,1.300000000,BASELINE,769,745,723,685.265709472,670,643,886.265709472,788,819.734290528,655.265709472,632,656,0.40095547496,-0.0153627894425,0.0698167319287,0.999999930318,0.000229705661392,-0.000294222624169,5.72901654445e-06,1793250684742351616
+79,1.316666667,BASELINE,769,745,723,685.844375815,670,643,886.844375815,788,819.155624185,655.844375815,632,656,0.400955628844,-0.015363780115,0.0698167423055,0.999999930158,0.000230078162348,-0.000294471784192,5.89220235883e-06,1793250684759018496
+80,1.333333333,BASELINE,769,745.421422779,722.578577221,686,670,643,886.578577221,788,819,655.578577221,632,656,0.400956259496,-0.0153642516139,0.0698168955399,0.999999930473,0.000229444524859,-0.00029389045626,6.06124481782e-06,1793250684775685120
+81,1.350000000,BASELINE,769,745.997874071,722.002125929,686,670,643,886.002125929,788,819,655.002125929,632,656,0.400957065535,-0.0153645321249,0.0698171013273,0.999999930962,0.000228440759929,-0.000293003617304,6.23244177009e-06,1793250684792351744
+82,1.366666667,BASELINE,769,745.424647412,722.575352588,686,670,643,886,788,819,655,632,656,0.400956906186,-0.0153638403784,0.0698178852238,0.999999930976,0.000228537919688,-0.000292887625225,5.87593035104e-06,1793250684809018368
+83,1.383333333,BASELINE,769,745,722.844647078,686,670,643,886,788,819.155352922,655,632,656,0.400956775512,-0.015363311789,0.0698181837434,0.999999930923,0.000228679678396,-0.000292963036124,5.61405671001e-06,1793250684825684992
+84,1.400000000,BASELINE,769,745,722.257650384,686,670,643,886,788,819.742349616,655,632,656,0.400956734441,-0.0153632465264,0.0698171277113,0.999999930689,0.000228934031252,-0.000293562326822,5.62055880937e-06,1793250684842351616
+85,1.416666667,BASELINE,769,745,722.324515031,686,670,643,886,788,819.675484969,655.324515031,632,656,0.400956900392,-0.0153635868505,0.0698172015372,0.99999993059,0.000229464982899,-0.000293482783464,5.83047418453e-06,1793250684859018496
+86,1.433333333,BASELINE,769,745,722.902900861,686,670,643,886,788,819.097099139,655.902900861,632,656,0.400957228298,-0.0153642444683,0.0698181592604,0.999999930595,0.000230212320056,-0.000292872182564,6.19952145059e-06,1793250684875685888
+87,1.450000000,BASELINE,769,745.480325252,723,686,670,642.519674748,886.480325252,788,819.480325252,655.519674748,632,656,0.40095800804,-0.0153623890788,0.0698186034657,0.99999993059,0.000231359053725,-0.000291988140996,5.92694287258e-06,1793250684892352768
+88,1.466666667,BASELINE,768.942638382,745.942638382,723,686,669.942638382,642.057361618,887,788,820,655.057361618,632,656,0.400958731808,-0.0153603231733,0.0698188854827,0.999999930556,0.000232534169427,-0.000291178221547,5.58204900724e-06,1793250684909019648
+89,1.483333333,BASELINE,768.367354127,745.367354127,723,686,669.367354127,642.632645873,887,788,820,655.632645873,632,656,0.400958127107,-0.0153609342174,0.0698186385161,0.999999930287,0.000233238004789,-0.000291535658414,5.75300565572e-06,1793250684925686272
+90,1.500000000,BASELINE,768,745.213919372,723,686,669.213919372,643,887,788,819.786080628,655.786080628,632,656,0.400957335117,-0.0153615439864,0.0698180719978,0.99999992992,0.000233842059573,-0.000292307759052,5.82432365876e-06,1793250684942352640
+91,1.516666667,BASELINE,768,745.805774121,723,686,669.805774121,643,887,788,819.194225879,655.194225879,632,656,0.40095621224,-0.0153621515023,0.0698169409214,0.99999992938,0.000234269830062,-0.000293812453928,5.71960817585e-06,1793250684959019264
+92,1.533333333,BASELINE,768.388655777,745.611344223,723,686,669.611344223,643,887,788,819.388655777,655.388655777,632,656,0.400956215178,-0.0153627696932,0.0698173089228,0.999999929689,0.000233432167463,-0.000293424371572,5.76406723427e-06,1793250684975685888
+93,1.550000000,BASELINE,768.967154487,745.032845513,723,686,669.032845513,643,887,788,819.967154487,655.967154487,632,656,0.400956768034,-0.0153633930985,0.0698184091642,0.999999930412,0.000231976391029,-0.000292111742739,5.88139213042e-06,1793250684992352768
+94,1.566666667,BASELINE,769,745.540847554,722.459152446,686,669.540847554,643,886.459152446,788,820,655.459152446,632,656,0.400957232437,-0.0153633734942,0.069818454086,0.999999930944,0.000230050432928,-0.000291812196952,5.8638585996e-06,1793250685009019648
+95,1.583333333,BASELINE,769,745.882702618,722.117297382,686,670,643,886,788,819.882702618,655,632.117297382,656,0.400957715642,-0.0153632315433,0.0698184772176,0.999999931317,0.000228794083984,-0.000291520488423,5.84479966713e-06,1793250685025686784
+96,1.600000000,BASELINE,769,745.294011221,722.705988779,686,670,643,886,788,819.294011221,655,632.705988779,656,0.400958295809,-0.0153627534571,0.0698186680722,0.999999931109,0.000230342497683,-0.000291015200514,5.85223414942e-06,1793250685042352896
+97,1.616666667,BASELINE,769,745,723,686,670,643,886,788,819.29061111,655.29061111,632.70938889,656,0.400958698639,-0.0153630353438,0.0698189786651,0.999999931249,0.000230398013636,-0.000290489527437,5.90094053939e-06,1793250685059019520
+98,1.633333333,BASELINE,769,745,723,686,670,643,886,788,819.871173578,655.871173578,632.128826422,656,0.400958924535,-0.015364075478,0.0698194087245,0.999999931736,0.000228964020958,-0.000289943515501,5.99082514027e-06,1793250685075686400
+99,1.650000000,BASELINE,769,745,723,686,670,643,886,788,819.551465632,655.551465632,632,656,0.400957815004,-0.0153630828596,0.0698186670204,0.999999931229,0.000229633253053,-0.000291162491121,5.9009746137e-06,1793250685092353024
+100,1.666666667,BASELINE,769,745.024830582,723,685.975169418,670.024830582,643,886.024830582,788.024830582,819.024830582,655,632,656,0.400956423576,-0.0153615834667,0.0698176712173,0.99999993047,0.000230889122805,-0.000292775259301,5.76563753368e-06,1793250685109019904
+101,1.683333333,BASELINE,769,745.597782285,723,685.402217715,670.597782285,643,886.597782285,788.597782285,819.597782285,655,632,656,0.400957216198,-0.0153616939074,0.069818442811,0.999999930482,0.000231854459135,-0.000291969819629,5.75767971414e-06,1793250685125686016
+102,1.700000000,BASELINE,769,746,723,685.176799591,670.823200409,643,886.823200409,789,819.823200409,655.176799591,632,656,0.400957524663,-0.0153626128688,0.0698186426922,0.999999930508,0.000231967513555,-0.000291787440261,5.91937980057e-06,1793250685142352128
+103,1.716666667,BASELINE,769,746,723,685.770106252,670.229893748,643,886.229893748,789,819.229893748,655.770106252,632,656,0.400956692543,-0.0153654365552,0.0698174957248,0.999999930566,0.000230072749605,-0.000293072875607,6.48076247249e-06,1793250685159019008
+104,1.733333333,BASELINE,769,745.64697524,723,686,670,643,886.35302476,788.64697524,819.35302476,656,632,656,0.400956414114,-0.0153648637868,0.0698169836876,0.999999930234,0.00023089870605,-0.000293561930903,6.29976267096e-06,1793250685175685632
+105,1.750000000,BASELINE,769,745.070628183,723,686,670,643,886.929371817,788.070628183,819.929371817,656,632,656,0.400956485947,-0.0153621424326,0.0698168733052,0.999999929651,0.000233445781034,-0.000293547198934,5.64913422702e-06,1793250685192352256
+106,1.766666667,BASELINE,769,745,723,686,670,643,886.493916061,788,820,656,632.506083939,656,0.400955731779,-0.0153629562905,0.0698172920634,0.999999930255,0.000230682604396,-0.000293673225593,5.60823009784e-06,1793250685209018624
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,887,788,820,655,632,656,0.40095713023,-0.0153619984237,0.0698181777461,0.999999930154,0.000233704621331,-0.000291619689435,5.64921003053e-06,1793250685251642112
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.422009822,723,686,670,643,887,788,819.422009822,655.577990178,632,656,0.40095697426,-0.0153622697285,0.0698181206002,0.999999930386,0.000232098404474,-0.000292103418785,5.78780764031e-06,1793250685268309504
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745.155649823,723,686,670,643,886.844350177,788,819,655.844350177,632,656,0.400957054759,-0.0153627463901,0.0698182364174,0.999999930749,0.000230341273573,-0.000292249582005,5.91986621238e-06,1793250685284976640
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745.732415326,723,686,670,643,886.267584674,788,819,655.267584674,632,656,0.400957775038,-0.0153637786514,0.0698188201917,0.999999931469,0.000228175839441,-0.00029148244914,6.03423323512e-06,1793250685301643264
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745.691602418,722.691602418,686,670,643,886,788,819,655.308397582,632,656,0.400957920871,-0.015364435903,0.0698191306897,0.999999931606,0.000228294948371,-0.000290911657794,6.25356202163e-06,1793250685318309632
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745.116298067,722.116298067,686,670,643,886,788,819,655.883701933,632,656,0.400957569543,-0.0153647685976,0.0698192046771,0.99999993124,0.00023039124546,-0.00029051079286,6.56373134876e-06,1793250685334975744
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.47012953,722.47012953,686,670,643,886.47012953,788,819.47012953,655.52987047,632,656,0.400955520867,-0.0153648983492,0.069817719929,0.999999930584,0.000229773567465,-0.000293249420186,6.45834084656e-06,1793250685351642368
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745.941835957,723,686,670,643,887,788,820,655,632,656,0.400953516598,-0.0153648262768,0.0698161220861,0.999999929908,0.000228761522897,-0.000296331609261,6.23778923016e-06,1793250685368308992
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745.364611774,723,686,670,643,887,788,820,655,632,656,0.400955746466,-0.0153634119837,0.0698170394116,0.999999929823,0.000230366651639,-0.000295381108652,5.92914770431e-06,1793250685384975360
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,723,685.787498452,670,643,887,788,820,655,632.212501548,656,0.400963309573,-0.0153628484638,0.0698206302086,0.999999931041,0.000231656755079,-0.000290199384179,6.05647629787e-06,1793250685401641728
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,723,685.210575306,670,643,887,788,820,655,632.789424694,656,0.40098001872,-0.0153637439456,0.0698288057757,0.999999934394,0.000232406617449,-0.000277761480345,6.93145560542e-06,1793250685418308096
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745.365447536,723,685.365447536,670,643,887,788,819.634552464,655,632.634552464,656,0.401014489684,-0.0153654719344,0.0698427317673,0.9999999405,0.000232816377372,-0.000254424026083,8.01760252445e-06,1793250685434974720
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745.94095294,723,685.94095294,670,643,887,788,819.05904706,655,632.05904706,656,0.401059170075,-0.015367678445,0.0698599630821,0.999999947533,0.000233030647606,-0.000224821549904,9.2251278694e-06,1793250685451641344
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745.470247378,723,686,670,643,886.470247378,788.529752622,819.529752622,655.529752622,632,656,0.401116539745,-0.0153704063349,0.0698745689928,0.999999951386,0.000232374441056,-0.000207676673562,9.98479348218e-06,1793250685468307968
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.117664377,745.117664377,723,686,670,643,886,789,820,656,632.117664377,656,0.401178293431,-0.0153734119106,0.0698873914261,0.999999954631,0.000231418000523,-0.00019255014154,1.04247395923e-05,1793250685484974592
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.69614618,745.69614618,723,686,670,643,886,789,820,656,632.69614618,656,0.401251534797,-0.0153772715537,0.0698944046584,0.999999957421,0.000229675498136,-0.00017975015615,9.81307993081e-06,1793250685501641472
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.726658969,746,723,686,670,643,886.273341031,788.726658969,820,656,632.726658969,656,0.401334009986,-0.0153818036465,0.0698996566142,0.999999959515,0.00022725009567,-0.000171034357179,8.68624080749e-06,1793250685518308352
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.150888062,746,723,686,670,643,886.849111938,788.150888062,820,656,632.150888062,656,0.401426701652,-0.0153870797507,0.0699029598589,0.999999960955,0.000224069119297,-0.000166837382941,6.98939706327e-06,1793250685534974976
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,686,670,643,886.56526771,788,820,655.56526771,632.43473229,656,0.401536493445,-0.0153912932613,0.0699049343627,0.999999961898,0.000222419193264,-0.000163437339925,4.62750140301e-06,1793250685551641600
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,686.023364399,670,643,886,788,820,655.023364399,632.976635601,656,0.401653439475,-0.0153952582576,0.0699063876686,0.999999962683,0.000221100127458,-0.000160450984011,2.01080019858e-06,1793250685568308224
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,686.600476852,670,643,886,788,820,655.600476852,632.399523148,656,0.40179601748,-0.0154022769009,0.069906671973,0.999999964054,0.000214736181607,-0.000160561666802,-1.0473612952e-06,1793250685584974848
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,723,686.822067381,670,643,886.177932619,788.177932619,820,656,632.177932619,656,0.401948967686,-0.0154091385,0.0699080403301,0.999999965952,0.000207795239244,-0.000157792228839,-4.29796879153e-06,1793250685601641472
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,723,686.243839339,670,643,886.756160661,788.756160661,820,656,632.756160661,656,0.40212525224,-0.0154156467954,0.0699118474831,0.999999969024,0.000199556227348,-0.000148543376542,-7.98152209153e-06,1793250685618308096
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745.668007293,723,686,670,643,886.668007293,789,820,655.668007293,632.668007293,656,0.402320857116,-0.0154230386541,0.069915130487,0.99999997161,0.000191319184083,-0.000141524763844,-1.21914947805e-05,1793250685634974976
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745.09392237,723,686,670,643,886.09392237,789,820,655.09392237,632.09392237,656,0.402530550574,-0.0154310748163,0.0699180312767,0.999999973833,0.000183083575505,-0.000136132461949,-1.67853378387e-05,1793250685651641600
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.493203719,722.506796281,686,670,643,886.493203719,788.506796281,820,655,632,656,0.402774509895,-0.0154413343771,0.0699235121401,0.999999976912,0.000173359424603,-0.000125188053501,-2.12189907236e-05,1793250685668308224
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.918635214,722.081364786,686,670,643,886.918635214,788,819.918635214,655.081364786,632,656,0.403031511317,-0.0154517011479,0.0699299759926,0.999999981969,0.000151159431625,-0.000112054935832,-2.56308560019e-05,1793250685684974848
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.33974354,722.66025646,686,670,643,886.33974354,788,819.33974354,655.66025646,632,656,0.403327277503,-0.015460064121,0.0699393646207,0.999999993816,5.44529567845e-05,-9.2179133479e-05,-3.01010973977e-05,1793250685701641472
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.238060621,723,686.238060621,670,643,886.238060621,788,819,656,632,656,0.403631327673,-0.015468443681,0.0699445691863,0.999999996047,-4.54923750859e-07,-8.16453287261e-05,-3.52225713979e-05,1793250685718308096
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.814319783,723,686.814319783,670,643,886.814319783,788,819,656,632,656,0.403947146386,-0.0154768468045,0.0699438297027,0.99999999558,4.01797429877e-06,-8.43831454881e-05,-4.12692128238e-05,1793250685734974720
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.600809055,723,687,670,643,887,788,819.399190945,656,632,656,0.404299142007,-0.0154791661137,0.0699469820987,0.999999995601,2.86129479252e-06,-8.11920062583e-05,-4.68855470086e-05,1793250685751641600
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.011843785,723,687,670,643,887,788,819.988156215,656,632,656,0.404668336026,-0.0154785931933,0.069951984684,0.999999995806,-9.71671182096e-07,-7.51822568862e-05,-5.22973140897e-05,1793250685768308224
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,722.436541625,687,670,643,887,788,820,656,632,656,0.405070698628,-0.0154715233204,0.069955110598,0.999999996004,2.95140019598e-05,-7.17333858446e-05,-4.44421820522e-05,1793250685784974848
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,722.139498018,687.139498018,670,643,887,788,820,655.860501982,632,656,0.405482396367,-0.0154649796694,0.0699567146086,0.999999995051,6.08476179013e-05,-6.9531750934e-05,-3.68887710088e-05,1793250685801641472
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,722.718746287,687.718746287,670,643,887,788,820,655.281253713,632,656,0.405921376101,-0.0154605151808,0.0699536424154,0.999999992697,9.26340663052e-05,-7.10962020737e-05,-3.11447832599e-05,1793250685818308096
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,722.703125039,688.296874961,670,643,887.296874961,788,820,655,632,656,0.40637384454,-0.0154607922444,0.0699435206791,0.999999991285,9.50744328628e-05,-8.56572554599e-05,-3.24513536197e-05,1793250685834974720
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,722.126052995,688.873947005,670,643,887.873947005,788,820,655,632,656,0.406839043964,-0.0154655444883,0.0699267454295,0.99999999042,6.98173290364e-05,-0.000112484786525,-4.04123942881e-05,1793250685851641344
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,722.459498006,689,670,643,887.540501994,788.459498006,820,655,632,656,0.407370560024,-0.0154724982867,0.0699233076221,0.999999991144,5.64648685196e-05,-0.000112354456888,-4.35950504565e-05,1793250685868307968
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,723,689,670,642.953286736,887.046713264,788.953286736,820,655,632,656,0.407925536199,-0.0154794388113,0.0699250094558,0.999999992647,4.6755633681e-05,-0.000102301625852,-4.53184543099e-05,1793250685884974848
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,723,689,670,642.374112482,887.625887518,788.374112482,820,655,632,656,0.408536657451,-0.0154792145316,0.0699428062851,0.999999996018,4.06489789286e-05,-6.50270407736e-05,-4.56311107832e-05,1793250685901641472
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.203889263,723,689,669.796110737,642.203889263,888,788.203889263,820,655,632.203889263,656,0.409145522929,-0.0154778126418,0.0699527284766,0.999999997294,3.91507721524e-05,-4.16045589205e-05,-4.63476620202e-05,1793250685918308096
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.779751862,723,689,669.220248138,642.779751862,888,788.779751862,820,655,632.779751862,656,0.409750272958,-0.0154742623333,0.0699482842643,0.999999996853,4.60601677583e-05,-4.34537045968e-05,-4.78010745109e-05,1793250685934974976
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.360083185,745.639916815,723,689.360083185,669.360083185,643,888.360083185,789,820,655.360083185,632.639916815,656,0.410365370008,-0.0154742852204,0.0699439312251,0.999999996303,4.72586913828e-05,-5.30372786132e-05,-4.84462429112e-05,1793250685951641600
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.943182171,745.056817829,723,689.943182171,669.943182171,643,888.943182171,789,820,655.943182171,632.056817829,656,0.410986875413,-0.0154765211494,0.0699396346537,0.999999995538,4.49202134667e-05,-6.74111337928e-05,-4.85908291343e-05,1793250685968308224
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,745,723,690,670,643,889,789,820,655.475292528,632,656.524707472,0.411725193702,-0.015479371914,0.0699579987251,0.999999997524,3.86558883093e-05,-3.24899666669e-05,-4.90116797815e-05,1793250685984975104
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.894293727,745,723,690.105706273,670,643,889,789,820.105706273,655.105706273,632.105706273,656.894293727,0.41247892368,-0.0154825773887,0.069980366337,0.99999999826,3.19531227182e-05,8.12783898906e-06,-4.89269668734e-05,1793250686001641728
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.314893121,745,723,690.685106879,670,643,889,789,820.685106879,655.685106879,632.685106879,656.314893121,0.413245202924,-0.015487074944,0.0700097115582,0.999999997333,2.51849238235e-05,5.04247486516e-05,-4.64430502834e-05,1793250686018308352
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,745.262582057,722.737417943,691,670,643,889,789,821,655.737417943,633,656,0.41399279814,-0.0154895718935,0.070015957808,0.999999997309,1.97821970526e-05,5.33764053209e-05,-4.62836541055e-05,1793250686034974976
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,745.837765113,722.162234887,691,670,643,889,789,821,655.162234887,633,656,0.41471815033,-0.0154896871447,0.0699947049948,0.999999998632,1.60050486752e-05,9.48798447661e-06,-4.88915731338e-05,1793250686051641856
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722.410800193,691,670,643,889.410800193,789,821.410800193,655,632.589199807,656,0.415452263298,-0.0154882203678,0.0699498158086,0.999999996336,1.16835491066e-05,-6.4752258415e-05,-5.47603960297e-05,1793250686068308224
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722.982991365,691,670,643,889.982991365,789,821.982991365,655,632.017008635,656,0.416189818067,-0.0154861320599,0.0698956406073,0.99999998667,7.14819056764e-06,-0.000150916811662,-6.19103289987e-05,1793250686084974848
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,889.42305919,789.57694081,822.57694081,655.57694081,632,656,0.417064334307,-0.015489724472,0.069910915711,0.999999989899,7.18284659679e-06,-0.00012816952387,-6.10106942346e-05,1793250686101641728
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,889.166641068,789.833358932,823,655.833358932,632,656,0.417942927039,-0.0154935474128,0.0699327133199,0.999999993636,6.31023852765e-06,-9.57761708741e-05,-5.9294416696e-05,1793250686118308608
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,889.744218993,789.255781007,823,655.255781007,632,656,0.418821225099,-0.0154975096665,0.0699653485481,0.999999997275,2.85505883917e-06,-4.7823766275e-05,-5.61724321934e-05,1793250686134974976
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,691.32099284,670,643,890,789.32099284,823,655,632,656,0.419722199078,-0.0155018238697,0.0699940063401,0.999999998524,-7.9445844092e-06,-2.06946868667e-06,-5.37128266811e-05,1793250686151641600
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,691.897127534,670,643,890,789.897127534,823,655,632,656,0.420641197019,-0.0155064178205,0.0700195026568,0.999999997478,-2.45819902815e-05,4.19376564588e-05,-5.17797146758e-05,1793250686168308224
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.516049152,746,723,692,670,643,890.483950848,789.516049152,823.483950848,655,632,656.483950848,0.421526896716,-0.0155085492631,0.0700236801952,0.999999997468,-2.43338985021e-05,4.14789171698e-05,-5.24499701068e-05,1793250686184974848
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.071801686,746,723,692,670,643,891.071801686,789,824,655,632.071801686,657,0.422399809136,-0.0155089079948,0.0700125917323,0.999999998168,-2.05722043673e-05,1.59143815395e-05,-5.465179105e-05,1793250686201641728
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.650503874,746,723,692,670,643,891.650503874,789,824,655,632.650503874,657,0.423233544715,-0.0155005307457,0.0699264444823,0.999999990773,-1.79173281484e-05,-0.000118654515031,-6.36710120929e-05,1793250686218308352
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.225985236,746.225985236,723,692.225985236,670,643,892,789,824.225985236,655,633,657,0.424100163843,-0.0154966070297,0.0698676187727,0.999999976261,-2.07985439718e-05,-0.000205132445156,-7.04649626508e-05,1793250686234975232
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.796555531,746.796555531,723,692.796555531,670,643,892,789,824.796555531,655,633,657,0.425016924337,-0.0154994741144,0.0698504532702,0.999999972933,-3.21212608202e-05,-0.000218280703224,-7.3865796276e-05,1793250686251641856
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,747,723,693.373219386,670,643,892,789,825,655,632.626780614,657,0.425987436377,-0.0155063303979,0.0698875140137,0.999999984099,-3.54713615054e-05,-0.000160536758363,-6.90810311793e-05,1793250686268308224
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4dbfad8f1759cd0985bb7248d835394784308ad5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2b7114affe7f93c0e11cc1deaaa181fa1bccd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d2b8ea772c853f835b475b6ef2e84917caa3e9ec97e1f2a01160aa9bb3ee95
+size 25891747
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3db3ccd94893e291eccf78a7fc9f1dd9d06cc676
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+9,0.150000000,BASELINE,768.768281436,745,723.768281436,688,669.231718564,642.231718564,887,788,819.231718564,655.231718564,632,656,0.401035785428,-0.0154926583001,0.0798646912056,0.999999979974,0.000128987340535,-0.000146669984353,4.36069364156e-05,1793250691807529984
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+11,0.183333333,BASELINE,768.383732725,745.383732725,723,688.383732725,670,642.616267275,887,788,819.616267275,655.616267275,632,656,0.401036896478,-0.0154911905707,0.0798650799497,0.999999979885,0.000131301776952,-0.000145203174833,4.36612824388e-05,1793250691840863232
+12,0.200000000,BASELINE,768.964115196,745.964115196,723,688.964115196,670,642.035884804,887,788,819.035884804,655.035884804,632,656,0.401038152425,-0.0154902067956,0.0798661703708,0.999999979869,0.00013330544718,-0.000143479769599,4.36542905716e-05,1793250691857529856
+13,0.216666667,BASELINE,769,745.462311909,723,688.462311909,670,642.537688091,887,788,819.537688091,655,632,656,0.401038137773,-0.0154912140889,0.0798661615911,0.999999979733,0.000133419509283,-0.000144253464951,4.3868006446e-05,1793250691874196736
+14,0.233333333,BASELINE,768.885452105,745.114547895,723,688.114547895,670,643,887.114547895,788,820,655.114547895,632,656,0.401037777434,-0.0154919795588,0.0798659230437,0.999999979601,0.000133210876139,-0.000145323004857,4.39762291612e-05,1793250691890863360
+15,0.250000000,BASELINE,768.293006701,745.706993299,723,688.706993299,670,643,887.706993299,788,820,655.706993299,632,656,0.401036324242,-0.0154911886788,0.0798650281288,0.999999979519,0.000132175505929,-0.000146940226844,4.35836463068e-05,1793250691907529728
+16,0.266666667,BASELINE,768,746,723,689,670,643,887.707818224,788,819.707818224,655.707818224,632,656,0.401035938921,-0.0154911470439,0.0798647414098,0.999999979657,0.000130653914354,-0.00014744670851,4.32984447384e-05,1793250691924196608
+17,0.283333333,BASELINE,768,746,723,689,670,643,887.129730829,788,819.129730829,655.129730829,632,656,0.401036598533,-0.0154918385601,0.0798650498226,0.999999980009,0.000128656545665,-0.000146866308807,4.31183178956e-05,1793250691940863232
+18,0.300000000,BASELINE,768.444400088,745.555599912,723,689,670,643,887,788,819.444400088,655,632,656,0.401036711123,-0.0154929516432,0.0798655862141,0.999999980217,0.000127881249735,-0.000146069569607,4.33145089569e-05,1793250691957529856
+19,0.316666667,BASELINE,768.98248809,745.01751191,723,688.98248809,670,643,887,788,820,655,632,656,0.401036658582,-0.0154941283092,0.0798661557665,0.999999980372,0.00012749505845,-0.000145253978405,4.36110186064e-05,1793250691974196224
+20,0.333333333,BASELINE,768.40535899,745.59464101,723,688.40535899,670,643,887,788,820,655,632,656,0.401036387108,-0.0154934388343,0.0798656770189,0.999999980191,0.000128243350603,-0.000145836327454,4.36337249673e-05,1793250691990863104
+21,0.350000000,BASELINE,768,746,723,688.175996631,670,643,886.824003369,788,819.824003369,655.175996631,632,656,0.401036538002,-0.0154926585789,0.0798655153026,0.99999998012,0.0001286339544,-0.000146021594691,4.3481114609e-05,1793250692007529984
+22,0.366666667,BASELINE,768,746,723,688.767326302,670,643,886.232673698,788,819.232673698,655.767326302,632,656,0.401037685641,-0.0154916640912,0.0798661017457,0.999999980312,0.000128180452202,-0.000145269791658,4.29147757236e-05,1793250692024196864
+23,0.383333333,BASELINE,768.350423863,746,723,689,670,642.649576137,886.350423863,788,819.350423863,655.649576137,632,656,0.40103772323,-0.0154909626577,0.0798663041346,0.999999980293,0.00012867103895,-0.000145004549048,4.27959396618e-05,1793250692040864000
+24,0.400000000,BASELINE,768.928180999,746,723,689,670,642.071819001,886.928180999,788,819.928180999,655.071819001,632,656,0.401037040689,-0.0154904513396,0.0798662573729,0.999999980136,0.000129774092019,-0.0001450549566,4.29674156278e-05,1793250692057531136
+25,0.416666667,BASELINE,769,746,723,689,670,642.504022506,887,788,819.495977494,655,632,656,0.401035669671,-0.01549078756,0.0798653593419,0.999999979711,0.000131052014541,-0.000146827912822,4.29529988086e-05,1793250692074198016
+26,0.433333333,BASELINE,769,745.918313603,723,688.918313603,670,643,887,788,819,655.081686397,632,656,0.401034474776,-0.0154913761723,0.0798644814942,0.999999979368,0.000131766629665,-0.000148516064075,4.29517341841e-05,1793250692090864384
+27,0.450000000,BASELINE,769,745.327598768,723,688.327598768,670,643,887,788,819,655.672401232,632,656,0.401034986399,-0.0154927878533,0.0798644824291,0.999999979796,0.000128816312676,-0.000148152032352,4.31968633434e-05,1793250692107530496
+28,0.466666667,BASELINE,769.25734231,745.25734231,723,688,670,643,886.74265769,788,819.25734231,655.74265769,632,656,0.401035526359,-0.015493008906,0.0798647283424,0.999999979936,0.0001281739994,-0.000147730105616,4.3315140951e-05,1793250692124196864
+29,0.483333333,BASELINE,769.835094605,745.835094605,723,688,670,643,886.164905395,788,819.835094605,655.164905395,632,656,0.401036101599,-0.0154917475395,0.0798652792716,0.999999979722,0.000130405319606,-0.000147236095378,4.32754790915e-05,1793250692140863744
+30,0.500000000,BASELINE,769.178449506,745.589224753,723,688,669.589224753,643,886.821550494,788.410775247,819.589224753,655,632,656,0.401036982649,-0.015491919581,0.079866110715,0.999999979966,0.000130128703949,-0.000145786296391,4.33692528324e-05,1793250692157530368
+31,0.516666667,BASELINE,768.028743231,745.014371616,723,688,669.014371616,643,887.971256769,788.985628384,819.014371616,655,632,656,0.401037985851,-0.0154926641755,0.0798670542055,0.99999998039,0.000128850331613,-0.000143954722218,4.3516325384e-05,1793250692174196992
+32,0.533333333,BASELINE,768.57314605,745.57314605,723,688,669.57314605,643,886.853707899,788.42685395,819.57314605,655.57314605,632,656,0.401036217887,-0.0154927661856,0.0798669368148,0.999999980273,0.000128485257918,-0.000145134194582,4.33741266818e-05,1793250692190863360
+33,0.550000000,BASELINE,769,746,723,688.158042179,669.841957821,643,886.158042179,788,820,656,632,656,0.401035220905,-0.015492574879,0.0798666662816,0.99999998015,0.0001284588075,-0.000146061820075,4.31872620166e-05,1793250692207529984
+34,0.566666667,BASELINE,769,746,723,688.735126292,669.264873708,643,886.735126292,788,820,656,632,656,0.401036456554,-0.0154916495439,0.0798660618243,0.99999998005,0.000129268109111,-0.000146116971003,4.29016343424e-05,1793250692224196608
+35,0.583333333,BASELINE,769,745.686502503,723,689,669.313497497,643,887,788,820,655.686502503,632,656,0.401037367284,-0.0154915493086,0.0798659671055,0.999999980055,0.000129605605183,-0.000145767978329,4.29505678047e-05,1793250692240863232
+36,0.600000000,BASELINE,769,745.107039289,723,689,669.892960711,643,887,788,820,655.107039289,632,656,0.401038002358,-0.015492149073,0.0798663048396,0.999999980149,0.000129542829887,-0.000145076117392,4.32833369717e-05,1793250692257529856
+37,0.616666667,BASELINE,769,745.469381556,723,689,670,643,887,788,819.530618444,655,632,656,0.401038415453,-0.0154935800969,0.0798669124203,0.999999980402,0.000128544963899,-0.000144159843665,4.34691473655e-05,1793250692274196480
+38,0.633333333,BASELINE,769,745.953953315,723,688.953953315,670,643,887,788,819.046046685,655.046046685,632,656,0.40103863397,-0.0154949198322,0.0798674446622,0.999999980621,0.000127630139413,-0.000143412048541,4.35973165571e-05,1793250692290863104
+39,0.650000000,BASELINE,769,745.366306679,723,688.366306679,670,643,887,788,819.633693321,655.633693321,632,656,0.401037155433,-0.0154929705557,0.0798663716387,0.999999980035,0.000130184030437,-0.000145243946097,4.3439151543e-05,1793250692307529984
+40,0.666666667,BASELINE,769,745.218981073,723,688.218981073,670,643,887,788,820,655.781018927,632,656,0.401035946737,-0.0154915712798,0.0798655756384,0.999999979695,0.000131383569328,-0.000146571751212,4.31751662956e-05,1793250692324196608
+41,0.683333333,BASELINE,769,745.800364953,723,688.800364953,670,643,887,788,820,655.199635047,632,656,0.401035184617,-0.0154910822275,0.0798652380978,0.999999979778,0.000130341722503,-0.000147065308249,4.27360538244e-05,1793250692340863232
+42,0.700000000,BASELINE,768.62284383,746,723,688.62284383,670,642.62284383,887,788,820,655,632,656,0.401034888305,-0.0154914919622,0.0798654436038,0.999999979905,0.000129637427853,-0.000146734488203,4.30415078362e-05,1793250692357529856
+43,0.716666667,BASELINE,768.048454358,746,723,688.048454358,670,642.048454358,887,788,820,655,632,656,0.401034835587,-0.0154923717162,0.0798659330952,0.999999980055,0.000129109655683,-0.000145972561276,4.3736331882e-05,1793250692374196736
+44,0.733333333,BASELINE,768.526475157,746,723,688.526475157,669.473524843,642.526475157,887,788,819.473524843,655,632,656,0.401035654464,-0.0154916829971,0.0798660452705,0.999999979855,0.000130662646266,-0.000146045451985,4.3461761889e-05,1793250692390863360
+45,0.750000000,BASELINE,769,745.895497344,723,689,669.104502656,643,887,788,819,655,632,656,0.401036594805,-0.0154910965688,0.0798662713264,0.999999979748,0.000131752607446,-0.000145879342579,4.31679904599e-05,1793250692407529728
+46,0.766666667,BASELINE,769,745.303242824,723,689,669.696757176,643,887,788,819,655,632,656,0.401037727275,-0.0154916620187,0.0798671911516,0.999999980242,0.000129786705794,-0.000144238758018,4.32014421712e-05,1793250692424196352
+47,0.783333333,BASELINE,769,745,723,689,670,643,887,788,819.279469763,655,632.279469763,656,0.401038154412,-0.0154914677821,0.0798674399436,0.999999980232,0.000130464498971,-0.00014367418325,4.32668826537e-05,1793250692440862976
+48,0.800000000,BASELINE,769,745,723,689,670,643,887,788,819.852170639,655,632.852170639,656,0.401037841485,-0.0154904764516,0.07986698466,0.999999979691,0.000133916164705,-0.000144238601786,4.33658870677e-05,1793250692457529600
+49,0.816666667,BASELINE,768.571215645,745.428784355,723,689,670,643,887,788,820,655,632.571215645,656,0.401036440143,-0.015491378485,0.0798660963976,0.999999979667,0.000132259631259,-0.000145967472968,4.32185040309e-05,1793250692474196480
+50,0.833333333,BASELINE,768,745.993314975,723,688.993314975,670,643,887,788,820,655.006685025,632,656,0.40103468959,-0.0154929263429,0.0798650770042,0.99999997981,0.000128876425749,-0.000148062673745,4.29922832936e-05,1793250692490863104
+51,0.850000000,BASELINE,768,745.42170492,723,688.42170492,670,643,887,788,820,655.57829508,632,656,0.401035431241,-0.0154933797967,0.0798657070974,0.999999979853,0.000129775085909,-0.000146876611336,4.33483162991e-05,1793250692507529984
+52,0.866666667,BASELINE,768,745,723,688,670,642.844379987,887,788,820,655.844379987,632.155620013,656,0.401035839742,-0.0154935669823,0.0798660989088,0.999999979924,0.000130070137682,-0.000146090953132,4.34862768628e-05,1793250692524196864
+53,0.883333333,BASELINE,768,745,723,688,670,642.250978303,887,788,820,655.250978303,632.749021697,656,0.401035311044,-0.0154930051164,0.079865820399,0.999999980076,0.000128667151451,-0.000146431690113,4.30107679933e-05,1793250692540863488
+54,0.900000000,BASELINE,768.333105306,745,723,688,670,642.333105306,887,788,820,655,632.666894694,656,0.40103436537,-0.0154928890346,0.0798652019517,0.999999979875,0.000128780021333,-0.000147713787514,4.29668690543e-05,1793250692557530112
+55,0.916666667,BASELINE,768.910359232,745,723,688,670,642.910359232,887,788,820,655,632.089640768,656,0.401033114074,-0.0154930996893,0.0798643343483,0.999999979412,0.000130003933852,-0.000149685852437,4.32393174492e-05,1793250692574196736
+56,0.933333333,BASELINE,769,745.486632656,723,688.486632656,670,642.513367344,887,788,820,655,632,656,0.401034934727,-0.0154924965221,0.079865406675,0.999999979633,0.000130676646295,-0.000147601970332,4.32542635624e-05,1793250692590863360
+57,0.950000000,BASELINE,769,745.935587367,723,689,669.935587367,642,887,788,820,655,632,656,0.401037122428,-0.0154917405026,0.0798668400223,0.999999979984,0.000131056333326,-0.000144881600286,4.31921551984e-05,1793250692607530240
+58,0.966666667,BASELINE,769,745.344002402,723,689,669.344002402,642,887,788,820,655,632,656,0.401037692212,-0.0154909579436,0.0798683093134,0.999999980415,0.000129867129874,-0.000143054469934,4.28868394657e-05,1793250692624196864
+59,0.983333333,BASELINE,769,745.242370431,723,688.757629569,669.242370431,642,887,788,820,655,632.242370431,656,0.401037292562,-0.0154908614052,0.0798683623885,0.999999980429,0.000129637779264,-0.000143164758079,4.28927416482e-05,1793250692640863488
+60,1.000000000,BASELINE,769,745.821501376,723,688.178498624,669.821501376,642,887,788,820,655,632.821501376,656,0.401035545937,-0.0154917180547,0.0798664477089,0.999999979861,0.000130742091737,-0.000145966983456,4.33310641321e-05,1793250692657529856
+61,1.016666667,BASELINE,768.601322489,745.601322489,723,688,669.601322489,642.398677511,887,788,820,655,632.601322489,656,0.401034626458,-0.0154921659983,0.0798655881827,0.999999979615,0.000131287132454,-0.000147110889567,4.34944048103e-05,1793250692674196480
+62,1.033333333,BASELINE,768.025017338,745.025017338,723,688,669.025017338,642.974982662,887,788,820,655,632.025017338,656,0.401034075508,-0.0154924318461,0.0798651987719,0.999999979515,0.000131582993959,-0.000147515944361,4.35352294747e-05,1793250692690863104
+63,1.050000000,BASELINE,768.548931757,745,723,688.548931757,669.548931757,643,887,788,820,655.548931757,632,656,0.40103489508,-0.0154914756428,0.0798661654162,0.999999979789,0.000130712879718,-0.000146608687253,4.29189088605e-05,1793250692707529984
+64,1.066666667,BASELINE,769,745.126360561,723,689,670,643,887,788,820,655.873639439,632.126360561,656,0.401035823599,-0.0154908865617,0.0798670950065,0.999999980047,0.000129914866493,-0.000145673691536,4.25123927845e-05,1793250692724196608
+65,1.083333333,BASELINE,769,745.71696651,723,689,670,643,887,788,820,655.28303349,632.71696651,656,0.401036923887,-0.015491850023,0.0798676623738,0.99999998019,0.000129576146976,-0.000144855579156,4.2986255163e-05,1793250692740863488
+66,1.100000000,BASELINE,769,746,723,689,670,643,887,788,820,655,632.697166614,656.302833386,0.401037347562,-0.0154924799719,0.0798678700109,0.999999980332,0.000129076170515,-0.000144252942042,4.32034025583e-05,1793250692757530112
+67,1.116666667,BASELINE,769,746,723,689,670,643,887,788,820,655,632.115660747,656.884339253,0.401037148605,-0.0154928030169,0.079867746618,0.999999980474,0.000128427802662,-0.000143848589014,4.31843163927e-05,1793250692774196736
+68,1.133333333,BASELINE,769,746,723,688.539218028,670,643,887,788,820,655,632,656.539218028,0.401036340559,-0.0154926766461,0.0798668860883,0.999999980198,0.000128927385648,-0.000145317648644,4.31760265748e-05,1793250692790863360
+69,1.150000000,BASELINE,769,746,723,688.036740876,669.963259124,642.963259124,887,788,820,655.036740876,632.036740876,656,0.401035410676,-0.0154922920217,0.0798658893145,0.99999997981,0.000129867600407,-0.000147144370982,4.31606433824e-05,1793250692807529728
+70,1.166666667,BASELINE,769,746,723,688.624291823,669.375708177,642.375708177,887,788,820,655.624291823,632.624291823,656,0.401034921391,-0.0154897085286,0.0798655937547,0.999999979355,0.000133140782069,-0.000147359911389,4.29987321947e-05,1793250692824196352
+71,1.183333333,BASELINE,768.791540889,746,723,689,669.208459111,642.208459111,887,788,820,655.791540889,632.791540889,656,0.401034899724,-0.0154890862328,0.0798656798852,0.999999979272,0.000134088168792,-0.000147070537074,4.29828498521e-05,1793250692840862976
+72,1.200000000,BASELINE,768.213374508,746,723,689,669.786625492,642.786625492,887,788,820,655.213374508,632.213374508,656,0.401035707389,-0.0154919421677,0.0798664429526,0.999999979856,0.000130910702515,-0.00014588568433,4.32259531694e-05,1793250692857529600
+73,1.216666667,BASELINE,768.3630326,746,723,688.6369674,670,643,887.3630326,788.3630326,820,655,632,656,0.401036390715,-0.0154930847631,0.0798670850876,0.999999980094,0.000130097486962,-0.000144908580268,4.34586774396e-05,1793250692874196480
+74,1.233333333,BASELINE,768.938410635,746,723,688.061589365,670,643,887.938410635,788.938410635,820,655,632,656,0.401037001312,-0.01549322519,0.0798676564867,0.999999980133,0.000130667171788,-0.000144052992872,4.36853307718e-05,1793250692890863360
+75,1.250000000,BASELINE,769,746,723,688.514185121,670,643,887.485814879,788.485814879,820,655,632,656,0.401035707353,-0.0154924035672,0.0798670447115,0.999999979879,0.000131246861364,-0.000145446893443,4.31334995221e-05,1793250692907529728
+76,1.266666667,BASELINE,769,746,723,689,670,643,887,788.092182848,820,655.092182848,632,656,0.401034624864,-0.0154915047083,0.0798664679701,0.999999979644,0.000131866643036,-0.000146674065366,4.25526599408e-05,1793250692924196608
+77,1.283333333,BASELINE,769,746,723,689,670,643,887,788.681924026,820,655.681924026,632,656,0.401035916072,-0.0154908114289,0.0798668458562,0.999999979709,0.000132696349175,-0.000145545861921,4.23189395121e-05,1793250692940863232
+78,1.300000000,BASELINE,769,745.733050737,723,689,670,642.733050737,887,788.733050737,819.733050737,655.733050737,632,656,0.401036012167,-0.0154910793164,0.0798667534093,0.999999979762,0.000132271729172,-0.000145529847112,4.24420310928e-05,1793250692957529856
+79,1.316666667,BASELINE,769,745.153547146,723,689,670,642.153547146,887,788.153547146,819.153547146,655.153547146,632,656,0.401034708979,-0.0154924725747,0.0798661102786,0.999999979799,0.000130378496457,-0.000146816025048,4.29828917326e-05,1793250692974196736
+80,1.333333333,BASELINE,769,745.422213802,723,689,670,642.422213802,887,788,819,655,632,656,0.401034950726,-0.0154924513302,0.0798662130722,0.999999979853,0.000130497919245,-0.000146329656021,4.30240104114e-05,1793250692990863360
+81,1.350000000,BASELINE,769,745.996625664,723,689,670,642.996625664,887,788,819,655,632,656,0.401035749386,-0.0154919201911,0.0798665847538,0.999999979913,0.000131342856442,-0.000145204325968,4.28849840128e-05,1793250693007529728
+82,1.366666667,BASELINE,769,746,723,689,670,643,887.586195807,788,819.586195807,655.586195807,632,656,0.401035994749,-0.0154906750567,0.0798663767129,0.999999979697,0.000132588686387,-0.000145611573536,4.26926487624e-05,1793250693024196608
+83,1.383333333,BASELINE,769,745.827308941,723,689,670,643,887.827308941,788,820,655.827308941,632,656,0.40103614242,-0.0154902526439,0.0798664080686,0.999999979619,0.000132773982965,-0.000145980652073,4.26981964667e-05,1793250693040863232
+84,1.400000000,BASELINE,769,745.248259847,723,689,670,643,887.248259847,788,820,655.248259847,632,656,0.401036067905,-0.0154917760987,0.0798670108078,0.999999979866,0.00013045817237,-0.000146238605347,4.31701222755e-05,1793250693057529600
+85,1.416666667,BASELINE,769,745.329644423,723,688.670355577,670,643,887,788,819.670355577,655.329644423,632,656,0.401036105852,-0.0154918138715,0.0798667757083,0.999999979857,0.000130477890412,-0.000146257011382,4.32400880689e-05,1793250693074196224
+86,1.433333333,BASELINE,769,745.906689459,723,688.093310541,670,643,887,788,819.093310541,655.906689459,632,656,0.401036228203,-0.0154907366287,0.0798659118047,0.999999979658,0.000132250440368,-0.000146095635401,4.30083798249e-05,1793250693090862848
+87,1.450000000,BASELINE,768.517225243,745.517225243,723,688.482774757,670,643,887,788,819.482774757,655.517225243,632,656,0.401035777282,-0.0154900366298,0.0798655866725,0.999999979526,0.000132400023685,-0.000146949456018,4.27169835581e-05,1793250693107529728
+88,1.466666667,BASELINE,768.059829003,745,723,689.059829003,669.940170997,643,887,788,820,655,632,656,0.40103530949,-0.0154895922249,0.079865466045,0.99999997941,0.000132395135365,-0.000147812531711,4.24707454223e-05,1793250693124196352
+89,1.483333333,BASELINE,768.647056577,745,723,689.647056577,669.352943423,643,887,788,820,655,632,656,0.401035667778,-0.0154907594413,0.0798662320187,0.999999979329,0.00013378825509,-0.000147030952619,4.27240741156e-05,1793250693140862976
+90,1.500000000,BASELINE,768.769132258,745.230867742,723,689.769132258,669.230867742,643,887,788,820,655,632.230867742,656,0.401035681212,-0.0154912657087,0.0798666791268,0.999999979346,0.000134364565815,-0.000146337712342,4.2890122218e-05,1793250693157529600
+91,1.516666667,BASELINE,768.190467884,745.809532116,723,689.190467884,669.809532116,643,887,788,820,655,632.809532116,656,0.401035175132,-0.0154907762723,0.0798666458715,0.999999979514,0.000133710373542,-0.00014577755241,4.29246842122e-05,1793250693174196480
+92,1.533333333,BASELINE,768.386614999,746,723,688.613385001,670,643,887,788,820,655,632.613385001,656,0.401034911999,-0.0154918207668,0.0798668079916,0.999999979611,0.000132842676763,-0.000145792225756,4.33079415145e-05,1793250693190863360
+93,1.550000000,BASELINE,768.962921977,746,723,688.037078023,670,643,887,788,820,655,632.037078023,656,0.401034768067,-0.0154936178818,0.0798670659724,0.999999979672,0.00013187022431,-0.000146088940005,4.38622855694e-05,1793250693207530240
+94,1.566666667,BASELINE,768.462192303,746,723,689.075615394,670,643,887,788,819.462192303,655,632,656,0.401035321612,-0.0154927462153,0.0798665981679,0.999999979681,0.000131744002968,-0.000146279331409,4.34130913143e-05,1793250693224196608
+95,1.583333333,BASELINE,768,745.883905392,723,689.883905392,670,642.883905392,887,788,819.116094608,655.116094608,632,656,0.401035924236,-0.0154917124029,0.0798662971647,0.999999979671,0.000131858447826,-0.000146371163277,4.29718255801e-05,1793250693240863488
+96,1.600000000,BASELINE,768,745.29125564,723,689.29125564,670,642.29125564,887,788,819.70874436,655.70874436,632,656,0.401036531458,-0.0154907662813,0.0798668857194,0.999999979604,0.000132721945491,-0.000146088429885,4.28463609127e-05,1793250693257530112
+97,1.616666667,BASELINE,768.293702408,745.293702408,723,689,670,642.293702408,887.293702408,788,820,655.706297592,632,656,0.401036891578,-0.0154905413037,0.0798675901004,0.999999979646,0.000132986558888,-0.000145498246199,4.30537687662e-05,1793250693274196480
+98,1.633333333,BASELINE,768.871227456,745.871227456,723,689,670,642.871227456,887.871227456,788,820,655.128772544,632,656,0.401037012908,-0.0154910132116,0.0798684064114,0.999999979793,0.000132672433654,-0.000144610954464,4.35828517489e-05,1793250693290863104
+99,1.650000000,BASELINE,769,745.554421348,723,689,670,643,887.554421348,788,820,655.445578652,632,656.445578652,0.401035811662,-0.0154907593163,0.0798671876391,0.999999979506,0.000133114669572,-0.000146231128077,4.34056392364e-05,1793250693307529728
+100,1.666666667,BASELINE,769,745,723,689,670,643,887,788,820,655.980487235,632,656.980487235,0.40103431889,-0.0154903241867,0.0798654854435,0.999999979122,0.000133699844304,-0.000148420065271,4.30294710081e-05,1793250693324196608
+101,1.683333333,BASELINE,769,745,723,689,670,643,887,788,820,655.392161861,632,656.392161861,0.401035391318,-0.0154906772917,0.0798667145814,0.999999979668,0.000132124826002,-0.000146213925447,4.27617586856e-05,1793250693340863488
+102,1.700000000,BASELINE,768.806740784,745,723,689,670,642.806740784,887,788,820,655,632,656,0.401035919649,-0.0154904089596,0.079867381993,0.999999979874,0.000131705247258,-0.000145208035698,4.26666221546e-05,1793250693357530368
+103,1.716666667,BASELINE,768.227125926,745,723,689,670,642.227125926,887,788,820,655,632,656,0.401035360246,-0.0154888982764,0.079866926425,0.999999979409,0.000133595574542,-0.000146601635344,4.2916491871e-05,1793250693374196992
+104,1.733333333,BASELINE,768.351581269,745.351581269,723,688.648418731,670,642.351581269,887,788,820,655,632,656,0.401034800243,-0.0154887303898,0.0798662373471,0.999999979213,0.00013382685625,-0.000147763915119,4.27695398007e-05,1793250693390863616
+105,1.750000000,BASELINE,768.929703671,745.929703671,723,688.070296329,670,642.929703671,887,788,820,655,632,656,0.401034239854,-0.0154894277332,0.0798653978073,0.999999979192,0.000132989133351,-0.000148777144245,4.23668959295e-05,1793250693407529984
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,723,688,670,643,887,788,820,655,632,656,0.401034025965,-0.0154905441028,0.0798658321929,0.99999997937,0.000132598567882,-0.000147760350821,4.29523031536e-05,1793250693438592256
+107,1.783333333,POSE1_TO_POSE2_PRESS,768.412128863,745.587871137,723,688,670,643,886.412128863,788.587871137,820,655,632.587871137,656.587871137,0.401035462393,-0.0154892644771,0.0798668572517,0.999999979342,0.000134443650837,-0.000146254510077,4.30171260079e-05,1793250693455258880
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.173762038,746,723,688.173762038,670,643,886.173762038,788.826237962,819.826237962,655,633,657,0.401036743218,-0.0154891131841,0.0798677629611,0.999999979473,0.00013479697351,-0.000144987479909,4.31488166214e-05,1793250693471925760
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.755009255,746,723,688.755009255,670,643,886.755009255,788.244990745,819.244990745,655,633,657,0.401037659141,-0.0154916079167,0.0798683887875,0.999999979982,0.000131652005391,-0.000144280478375,4.34373172226e-05,1793250693488592128
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,723,689,670,643,887,788,819.333614869,655,632.666385131,656.666385131,0.401037164864,-0.0154921285704,0.0798679004809,0.999999980036,0.000130856037066,-0.000144685317579,4.32471460786e-05,1793250693505258752
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,723,689,670,643,887,788,819.910295821,655,632.089704179,656.089704179,0.401035643141,-0.0154912109438,0.079866600436,0.999999979763,0.000131771509973,-0.000145900224956,4.27082228772e-05,1793250693521925120
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745.514995781,723,688.514995781,670,643,887,788,820,655.485004219,632.485004219,656,0.401034309011,-0.0154911276098,0.0798658866548,0.999999979438,0.000132115835357,-0.000147774492705,4.28021831565e-05,1793250693538591744
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.938974515,745.061025485,723,688.061025485,670,643,887,788,820,655.938974515,633,656,0.401033069533,-0.0154912012887,0.0798653149903,0.999999979148,0.000132095694214,-0.00014970112269,4.29411998921e-05,1793250693555258368
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.348407993,745.651592007,723,688.651592007,670,643,887,788,820,655.348407993,633,656,0.401032351519,-0.0154913038713,0.0798650394269,0.999999979266,0.000129825877865,-0.000151028180095,4.2459570372e-05,1793250693571924992
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,746,723,688.762535167,670,643,886.762535167,788,820,655,632.762535167,656,0.401032799884,-0.0154908424778,0.0798652950299,0.999999978962,0.000130028708001,-0.000152891806973,4.23339732615e-05,1793250693588591872
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746,723,688.183415491,670,643,886.183415491,788,820,655,632.183415491,656,0.401034926387,-0.0154895696583,0.0798663148536,0.999999978043,0.000133789082559,-0.000155527428293,4.27206212906e-05,1793250693605258496
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.391780386,746,723,688.391780386,670,643,886.391780386,788,820,655,632,656,0.40104637888,-0.0154902487294,0.0798709103102,0.999999978114,0.000133727236945,-0.000155130549693,4.27072011309e-05,1793250693621925120
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.965157567,746,723,688.965157567,670,643,886.965157567,788,820,655,632,656,0.401062154125,-0.0154918325345,0.0798771631327,0.999999978644,0.000131893728362,-0.000153328056636,4.25083426748e-05,1793250693638592000
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,689,670,642.447449413,887,788,819.447449413,655.552550587,632,656.552550587,0.401103828864,-0.0154946481871,0.0798895017857,0.999999980424,0.000132077871815,-0.000140817481831,4.33369491336e-05,1793250693655258880
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723,689,670,642,887,788.13945001,819.13945001,655.86054999,632,656.86054999,0.401153651886,-0.0154974491487,0.0799026356539,0.999999982402,0.000132126227626,-0.000125722958411,4.39503179961e-05,1793250693671925248
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723,689,670,642,887,788.721900826,819.721900826,655.278099174,632,656.278099174,0.401224036962,-0.0154999502565,0.0799170449058,0.99999998495,0.000131328523974,-0.000104620677504,4.36687489159e-05,1793250693688592128
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.699862782,745.699862782,723,689,670,642.300137218,886.699862782,788.699862782,820,655.300137218,632,656,0.401302772649,-0.0155020057416,0.0799287686223,0.999999986623,0.000131492274274,-8.73968682341e-05,4.27289200897e-05,1793250693705258752
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.125477323,745.125477323,723,689,670,642.874522677,886.125477323,788.125477323,820,655.874522677,632,656,0.401389138643,-0.0155036540419,0.079938038449,0.999999987652,0.000132534546322,-7.37169860114e-05,4.11876111444e-05,1793250693721925120
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.44748081,745.44748081,723,689,670,643,886.44748081,788,820,655.55251919,632,656,0.401487397262,-0.0155072456633,0.079941827447,0.999999988408,0.000130285447944,-6.87817353558e-05,3.84667662307e-05,1793250693738592256
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.979231406,723,689,670,643,887,788,820,655,632,656,0.401589925023,-0.0155112998463,0.079944097042,0.999999989093,0.000127190742525,-6.62293602907e-05,3.53703332682e-05,1793250693755259136
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.385854905,723,689,670,643,887,788,820,655,632,656,0.401718506034,-0.0155131310165,0.0799467134845,0.999999989642,0.000126146920829,-6.19842711818e-05,3.10087264822e-05,1793250693771925760
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,723,688.797741918,670,643,887,788,820,655,632,656,0.401857905267,-0.0155145455465,0.0799504654588,0.999999990182,0.000125540576853,-5.6259973292e-05,2.66534825544e-05,1793250693788592384
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,723,688.219415702,670,643,887,788,820,655,632,656,0.402017419327,-0.0155151853974,0.0799563287816,0.999999990703,0.00012574765626,-4.77853121652e-05,2.23100698804e-05,1793250693805259008
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,723,688.355320655,670,642.644679345,887,788,820,655,632,656,0.402188585384,-0.0155169441094,0.0799580349736,0.999999991425,0.000121341341086,-4.62640589367e-05,1.69144792095e-05,1793250693821925632
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,723,688.927862449,670,642.072137551,887,788,820,655,632,656,0.40236687477,-0.0155193868242,0.0799571997528,0.99999999223,0.000114114680956,-4.89936897059e-05,1.08756513717e-05,1793250693838592256
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,723,689,670,642.515955385,887,788,820,655,632,656,0.402570053033,-0.0155216412624,0.0799508949916,0.999999995268,7.26777677253e-05,-6.459638924e-05,3.11146379563e-06,1793250693855258624
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.896035225,745,723,689,669.896035225,643,887,788,820,655,632,656,0.402785029168,-0.0155228014044,0.0799449241693,0.999999996285,3.36089331146e-05,-7.92211283129e-05,-4.99815873103e-06,1793250693871924992
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.318615387,745,723,689,669.318615387,643,887,788,820,655,632,656,0.403037393339,-0.0155191017304,0.0799440648384,0.999999996247,2.77832414394e-05,-8.09411116243e-05,-1.35481988879e-05,1793250693888591872
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745,723,689.258457159,669.258457159,643,887,788.258457159,820,655.258457159,632,656,0.403312216617,-0.0155136789976,0.0799446581917,0.9999999963,2.21637376494e-05,-8.0374885271e-05,-2.11644834954e-05,1793250693905258752
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745,723,689.835102117,669.835102117,643,887,788.835102117,820,655.835102117,632,656,0.403614689388,-0.0155061349992,0.0799470399511,0.999999996513,1.67980730655e-05,-7.69940955676e-05,-2.7631216832e-05,1793250693921925632
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.409584304,745,723,690,670,643,887,788.590415696,820,655.590415696,632,656,0.403944070384,-0.0155031566389,0.0799508201571,0.999999996888,2.37026401914e-05,-7.01072208384e-05,-2.73220003692e-05,1793250693938592256
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.983200324,745,723,690,670,643,887,788.016799676,820,655.016799676,632,656,0.404284227671,-0.0155020067411,0.0799551604177,0.999999997163,3.55212315811e-05,-6.18162173197e-05,-2.42991283187e-05,1793250693955258880
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.57412382,723,690.57412382,670,643,887,788.57412382,820,655.57412382,632,656,0.404675669364,-0.0155100590548,0.0799541467892,0.999999997727,1.44647754465e-05,-5.92456082381e-05,-2.87513619605e-05,1793250693971925504
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.83857708,745.83857708,723,691,670,643,887.16142292,788.83857708,820,655.83857708,632,656.16142292,0.405075110842,-0.0155163804789,0.0799513897636,0.99999999761,-4.89534985072e-06,-6.02707640848e-05,-3.35281116554e-05,1793250693988592128
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.261943858,745.261943858,723,691,670,643,887.738056142,788.261943858,820,655.261943858,632,656.738056142,0.405491149275,-0.0155175355848,0.0799445638811,0.999999996649,-1.73409070313e-05,-7.01009749164e-05,-3.85594689071e-05,1793250694005258752
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.314843431,745,723,691,670,643,887.685156569,788,820,655,632,656.685156569,0.405931979698,-0.0155167688849,0.079936604746,0.999999995775,-6.190950223e-06,-8.37110016818e-05,-3.74671721779e-05,1793250694021925632
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.891759029,745,723,691,670,643,887.108240971,788,820,655,632,656.108240971,0.406393446745,-0.0155144024954,0.0799277023034,0.999999994161,2.45996483373e-05,-0.000100467306157,-3.12776145831e-05,1793250694038592256
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.532742354,745.467257646,723,691.467257646,670,643,887.934515292,788.467257646,820,655.467257646,632.467257646,656.467257646,0.406882688944,-0.0155110459308,0.0799262169275,0.999999993632,2.43368454131e-05,-0.000104579297926,-3.47367745784e-05,1793250694055258624
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.043619151,746,723,692,670,643,888.956380849,789,820,655.956380849,632.956380849,656.956380849,0.407381370091,-0.0155078362223,0.0799256743771,0.999999993295,1.70003249124e-05,-0.000107291558142,-4.0114735115e-05,1793250694071925504
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.634924655,746,723,692,670,643,888.365075345,789,820,655.365075345,632.365075345,656.365075345,0.407918024321,-0.0155093418053,0.0799154616852,0.999999990742,1.08955896623e-05,-0.000129095212787,-4.16055525715e-05,1793250694088592128
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,692,669.777359962,643,888.222640038,789,820,655,632,656,0.408484263145,-0.0155106362946,0.0799127775118,0.99999998978,5.57505043298e-06,-0.00013628374586,-4.28459554697e-05,1793250694105258752
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,692,669.195438112,643,888.804561888,789,820,655,632,656,0.409098243602,-0.0155115901347,0.0799222423658,0.999999991858,1.51999539958e-06,-0.000119887358296,-4.36822557973e-05,1793250694121925120
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,692.380223886,669.380223886,642.619776114,889,788.619776114,820.380223886,655,632,656,0.409759511841,-0.0155141928135,0.0799518053339,0.999999996641,-4.52555624648e-07,-7.01403785013e-05,-4.24124735036e-05,1793250694138591744
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,692.952720368,669.952720368,642.047279632,889,788.047279632,820.952720368,655,632,656,0.410444692669,-0.0155176292813,0.0799915315681,0.99999999919,-1.37202052121e-06,-3.52858536409e-06,-4.00776817345e-05,1793250694155258624
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,693,670,642.527453399,888.472546601,788.527453399,821,655,632,656,0.411099377063,-0.0155198795246,0.0799906031527,0.999999999045,-6.81430862849e-06,-1.2360322927e-05,-4.13536148371e-05,1793250694171925248
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,693,670,643,888.105690454,789,821,655,632,656,0.411757020187,-0.0155209595937,0.0799797422513,0.999999998361,-1.16526061298e-05,-3.53738142448e-05,-4.34926682456e-05,1793250694188591616
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723,693,670,643,888.699170123,789,821,655,632,656,0.412440988549,-0.0155171318327,0.0799399308029,0.999999994495,-1.18242628773e-05,-9.24958598417e-05,-4.81151271702e-05,1793250694205258752
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.28453052,723.28453052,693.28453052,670,643,889,789,821.28453052,655.28453052,632,656,0.413158947249,-0.0155135137916,0.0799156027168,0.999999991258,-1.21796634828e-05,-0.000120803545809,-5.23626320373e-05,1793250694221925376
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.861544765,723.861544765,693.861544765,670,643,889,789,821.861544765,655.861544765,632,656,0.413911846472,-0.015510111332,0.0799071907796,0.999999991199,-1.27239440116e-05,-0.000119491459428,-5.6224702805e-05,1793250694238592000
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.563892519,723.563892519,694,670,643,889.436107481,789,822.436107481,655.563892519,632.436107481,656,0.414703414911,-0.0155122423059,0.0799294249214,0.999999995119,-1.31169967167e-05,-8.13700943566e-05,-5.44917875661e-05,1793250694255258624
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723,694,670,643,890,789.010187438,823,655,632.989812562,656.010187438,0.415506398083,-0.0155160434199,0.0799605963895,0.999999998057,-1.35149583301e-05,-3.30810882255e-05,-5.10745900722e-05,1793250694271925248
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723,694,670,643,890,789.600862203,823,655,632.399137797,656.600862203,0.41626417956,-0.0155154688808,0.0799497280994,0.999999996203,-1.69130860525e-05,-6.75979246957e-05,-5.23344948777e-05,1793250694288591872
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,694,670,643,890,789.819299889,823,655,632,656.819299889,0.417060096924,-0.0155152465461,0.0799462105822,0.99999999532,-2.01131884053e-05,-7.80523863475e-05,-5.3515524668e-05,1793250694305258240
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,694,670,643,890,789.262044597,823,655,632,656.262044597,0.4179354844,-0.0155157581591,0.0799580111064,0.999999997515,-2.29006318366e-05,-3.83640327362e-05,-5.45321893159e-05,1793250694321925120
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.686018857,746,723,694,670,643,890.313981143,789,823.313981143,655,632,656,0.418819982344,-0.0155165274941,0.0799706705171,0.999999998234,-2.18232745702e-05,-5.10128275776e-06,-5.50393403654e-05,1793250694338592000
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.093331506,746,723,694,670,643,890.906668494,789,823.906668494,655,632,656,0.419712567173,-0.0155175255967,0.0799840923201,0.99999999808,-1.73153164298e-05,2.24577607344e-05,-5.50942202681e-05,1793250694355258624
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,723,694,670,643,891,789,824,655.484743083,632,656,0.420575761422,-0.0155204124825,0.0799700445133,0.999999998027,-2.75483785989e-05,-1.45153898798e-06,-5.64324484749e-05,1793250694371925504
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.062227277,746,723,694.062227277,669.937772723,643,891,789,824,655.937772723,632,656.062227277,0.421439568751,-0.0155236542532,0.0799553968273,0.999999997232,-3.83354389627e-05,-2.75770872342e-05,-5.75036900399e-05,1793250694388592128
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.658068887,746,723,694.658068887,669.341931113,643,891,789,824,655.341931113,632,656.658068887,0.422355738505,-0.0155269120074,0.0799796318597,0.999999998024,-3.02470454325e-05,9.78320908515e-06,-5.42285724988e-05,1793250694405258752
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723.246409994,695,669,643,891.246409994,789,824,655,632,656.753590006,0.423276414529,-0.0155284314917,0.0799952031949,0.999999997908,-2.42907483898e-05,2.93440239263e-05,-5.22766205512e-05,1793250694421925120
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723.824650554,695,669,643,891.824650554,789,824,655,632,656.175349446,0.424203159097,-0.0155276101175,0.0799991074762,0.999999998107,-2.12056600464e-05,2.49349881675e-05,-5.21065228609e-05,1793250694438592000
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723.602676501,695,669,643,892,789,824.397323499,655,632,656,0.425075682982,-0.0155257291758,0.0799630777273,0.999999997375,-2.03643039021e-05,-4.13779140451e-05,-5.58833086165e-05,1793250694455258880
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723.032426773,695,669,643,892,789,824.967573227,655,632,656,0.425924608465,-0.0155233870809,0.0799096675784,0.999999988843,-2.04994824074e-05,-0.000134633098958,-6.13778873461e-05,1793250694471925504
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,695.561308983,669,643,892,789,825,655,632,656.561308983,0.426849495318,-0.0155299839109,0.0799041661705,0.999999989999,-2.95260088376e-05,-0.000124117534043,-6.10295455499e-05,1793250694488592128
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.152167595,723,695.847832405,669,643,892.152167595,788.847832405,825,655,632,657,0.427776954407,-0.0155386615446,0.0799047162306,0.999999991077,-4.06460356555e-05,-0.000112399767836,-5.96646401257e-05,1793250694505258496
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.730988788,723,695.269011212,669,643,892.730988788,788.269011212,825,655,632,657,0.428698784246,-0.0155516622849,0.0799141346207,0.999999990236,-5.61328113885e-05,-0.000114853766888,-5.64372042084e-05,1793250694521925376
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723.308933935,695,669.308933935,643,893.308933935,788.308933935,825,655,632,656.691066065,0.42966702076,-0.0155625777517,0.0799457452478,0.999999993778,-6.34432627516e-05,-7.52252849765e-05,-5.25347508638e-05,1793250694538592000
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,723.886118373,695,669.886118373,643,893.886118373,788.886118373,825,655,632,656.113881627,0.430675552617,-0.0155716825536,0.0799966256212,0.999999996819,-6.36541267844e-05,9.43846973798e-07,-4.80461729072e-05,1793250694555258624
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.540372897,747,723.540372897,695.459627103,670,643,893.540372897,789,825.459627103,655,632,656.459627103,0.431611648442,-0.0155713696646,0.0800218151171,0.999999996333,-5.95086018779e-05,4.04573550283e-05,-4.64225309224e-05,1793250694571924992
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.033267309,747,723,695.966732691,670,643.033267309,893.033267309,788.966732691,826,655,632,657,0.432523126053,-0.0155684713215,0.0800353822485,0.999999995473,-5.50571722288e-05,6.25358795894e-05,-4.59544186051e-05,1793250694588591872
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.624258113,747,723,695.375741887,670,643.624258113,893.624258113,788.375741887,826,655,632,657,0.433320380556,-0.0155610372491,0.0799599704754,0.999999994978,-6.342943993e-05,-5.66281547671e-05,-5.30526017243e-05,1793250694605258496
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670,644,894.210876613,788,826.210876613,655,632.210876613,657,0.434158230656,-0.0155579085612,0.079909257226,0.999999987087,-7.23208934322e-05,-0.000131090384493,-5.83995035616e-05,1793250694621925120
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670,644,894.789862845,788,826.789862845,655,632.789862845,657,0.435066945219,-0.0155622954207,0.079901658106,0.999999986656,-8.21186487302e-05,-0.00012752044333,-6.06893427793e-05,1793250694638592000
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670,644,895,788.365677726,826.634322274,655,633,656.634322274,0.435979048366,-0.0155640716854,0.0799248103622,0.99999999024,-8.49031432933e-05,-9.39195326578e-05,-5.90799831308e-05,1793250694655258880
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670,644,895,788.939685821,826.060314179,655,633,656.060314179,0.436893081969,-0.015564360667,0.0799654819948,0.999999994038,-8.36921101893e-05,-4.32096692355e-05,-5.52492094516e-05,1793250694671925504
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670,644,895,788.485991578,826,655,632.485991578,656.514008422,0.437765548367,-0.0155696797009,0.0799891281113,0.999999994771,-8.69804229668e-05,-5.72529569189e-06,-5.34691244074e-05,1793250694688591872
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643.908818989,895,788,826.091181011,655,632,657,0.438617227928,-0.0155759433976,0.0800030899242,0.999999994224,-9.22499369135e-05,1.65907279588e-05,-5.25924676449e-05,1793250694705258496
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670,643.316175595,895,788,826.683824405,655,632,657,0.439381428499,-0.0155841543544,0.079974785426,0.999999992254,-0.000105509987511,-3.59735986378e-05,-5.5360152911e-05,1793250694721924864
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.730083339,747,723,695,670,643,895,787.730083339,827,655,632,657,0.440099721965,-0.0155896706969,0.0799111009082,0.999999981598,-0.000119165150685,-0.000137390568627,-6.10479619448e-05,1793250694738591744
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.151483169,747,723,695,670,643,895,787.151483169,827,655,632,657,0.440765514853,-0.0155921054097,0.0798069549087,0.999999945247,-0.000133272171824,-0.000294676649705,-7.00752971205e-05,1793250694755258368
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.423299197,747,723,695,669.576700803,643,895.423299197,787,827,655,632,657,0.441466056666,-0.0155969106038,0.079738424778,0.999999909816,-0.000145036160098,-0.000392039528769,-7.5083771832e-05,1793250694771925248
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.99672757,747,723,695,669.00327243,643,895.99672757,787,827,655,632,657,0.442178922741,-0.0156025565236,0.0796825263214,0.99999987516,-0.000155969159096,-0.00046814979128,-7.86669003774e-05,1793250694788592128
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.429614587,895.429614587,786.429614587,827,655,632,657,0.442945234253,-0.0156167961571,0.0797375757884,0.999999907442,-0.000172980628827,-0.000386717926774,-7.51232742564e-05,1793250694805258752
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642,895,786,827,655,632,657,0.443691274497,-0.0156300364152,0.0797860010322,0.99999992969,-0.000187383821429,-0.000316805391714,-7.17012736731e-05,1793250694821925632
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+249,4.150000000,HOLD_POSE2,768,747,723,695,667,639,896,775,828,654.746259103,630,657,0.454177378011,-0.0157551081429,0.0795474065167,0.999999701505,-0.000358191982328,-0.000680372364027,-7.6039718509e-05,1793250695843728128
+250,4.166666667,HOLD_POSE2,768,747,723,695,666.670291562,638.670291562,896,775,828,655,630,657,0.45417811841,-0.0157544789373,0.0795477164347,0.999999701894,-0.000357406613964,-0.00068022508818,-7.59350948734e-05,1793250695860394752
+251,4.183333333,HOLD_POSE2,768,747,723,695,666.091846535,638.091846535,896,775,828,655,630,657,0.454178158632,-0.015754238835,0.0795475045743,0.99999970151,-0.000356129595729,-0.000681492445482,-7.56275497879e-05,1793250695877061376
+252,4.200000000,HOLD_POSE2,768.483910731,747.483910731,723,695,666,638,896,774.516089269,828,654.516089269,630,656.516089269,0.454177934194,-0.0157529866397,0.0795476012185,0.999999701798,-0.000354686667824,-0.000681787086009,-7.59418123694e-05,1793250695893728256
+253,4.216666667,HOLD_POSE2,768.939779443,747.939779443,723,695,666.060220557,638,896,774.060220557,828,654.060220557,630,656.060220557,0.454177708602,-0.0157517647973,0.0795476158944,0.999999702117,-0.000353453585536,-0.000681918785268,-7.63054351693e-05,1793250695910394624
+254,4.233333333,HOLD_POSE2,768.354223703,747.354223703,723,695,666.645776297,638,896,774.645776297,828,654.645776297,630,656.645776297,0.454177908734,-0.0157524742345,0.0795464075398,0.999999701614,-0.000354324279564,-0.000682230722576,-7.60757946123e-05,1793250695927061248
+255,4.250000000,HOLD_POSE2,768,747,723,695,666.770899619,638.229100381,896.229100381,775,828,655,630,657,0.454178345535,-0.0157530759859,0.0795462129952,0.999999701871,-0.00035475745549,-0.00068164447381,-7.59276956263e-05,1793250695943727872
+256,4.266666667,HOLD_POSE2,768,747,723,695,666.190992778,638.809007222,896.809007222,775,828,655,630,657,0.454179144732,-0.0157535128452,0.0795475708317,0.999999703292,-0.000354520688422,-0.000679682891308,-7.59044559466e-05,1793250695960394752
+257,4.283333333,HOLD_POSE2,767.612364887,747,723,695,666.387635113,638.612364887,896.612364887,774.612364887,828,655,630,657,0.454179332437,-0.0157532439997,0.0795476631425,0.999999703387,-0.000354001891108,-0.000679803063022,-7.60050930328e-05,1793250695977061376
+258,4.300000000,HOLD_POSE2,767.034365027,747,723,695,666.965634973,638.034365027,896.034365027,774.034365027,828,655,630,657,0.454179219842,-0.0157526285878,0.0795471339632,0.99999970283,-0.000353344590795,-0.000680945568717,-7.61665650839e-05,1793250695993728000
+259,4.316666667,HOLD_POSE2,767.541793173,747,723,695,666.458206827,638,896,774.541793173,828,654.458206827,630,656.458206827,0.454180112129,-0.0157516238772,0.0795477254234,0.999999703701,-0.000351775389628,-0.000680502149701,-7.59556758113e-05,1793250696010394624
+260,4.333333333,HOLD_POSE2,768,747,723,695,666.117849938,638.117849938,895.882150062,775,828,654,630,656,0.454180521754,-0.0157511632104,0.0795480619343,0.999999704163,-0.000350630690117,-0.000680446359469,-7.56589649314e-05,1793250696027061504
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+262,4.366666667,HOLD_POSE2,768.277687221,747,723,695,666.722312779,639,895.277687221,774.722312779,828,654.277687221,630,656.277687221,0.45417820172,-0.0157534026259,0.079546722119,0.99999970188,-0.000352341364081,-0.000682989714186,-7.4967327793e-05,1793250696060394496
+263,4.383333333,HOLD_POSE2,768.870028826,747,723,695,666.129971174,639,895.870028826,774.129971174,828,654.870028826,630,656.870028826,0.454178851933,-0.0157524617895,0.079546902829,0.999999701815,-0.000353605597794,-0.000682400675113,-7.52521709435e-05,1793250696077061120
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,896,774,828,655,630,656,0.454180168301,-0.0157496386351,0.0795475547471,0.999999704507,-0.000348099842638,-0.000681249746493,-7.55708869796e-05,1793250696109668608
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638.424864819,896,774,828,654.424864819,630,656.575135181,0.454180273647,-0.0157531114161,0.0795476476068,0.999999702727,-0.000353540928151,-0.00068112354547,-7.50091555536e-05,1793250696126335232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.845861455,638,896,774.154138545,828,654,630,656.845861455,0.454180677881,-0.0157550610528,0.0795477876513,0.999999701853,-0.000356806281264,-0.000680741992469,-7.46561837086e-05,1793250696143001856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.255921306,638,896,774.744078694,828,654,630,656.255921306,0.454181927172,-0.0157527042479,0.0795480611033,0.999999703611,-0.000353920107004,-0.000679638473397,-7.48934454209e-05,1793250696159668736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.327393505,638,896,775,828,654.327393505,630,656.327393505,0.454181837657,-0.0157510522625,0.0795475945302,0.999999704037,-0.000351869832664,-0.000680023899192,-7.53706346732e-05,1793250696176335360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.905632025,638,896,775,828,654.905632025,630,656.905632025,0.454180722365,-0.0157499403014,0.0795465609587,0.999999703443,-0.000350460015088,-0.000681550136925,-7.60316535426e-05,1793250696193001728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.518108686,638,896,774.518108686,827.518108686,654.518108686,630.481891314,657,0.45418050254,-0.0157504859379,0.0795467219489,0.999999703101,-0.000351278772897,-0.000681655653089,-7.58045827727e-05,1793250696209668352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.94227258,666.05772742,638.05772742,896,774,827.05772742,654,631,657,0.454180029842,-0.0157513079924,0.0795468602817,0.999999702636,-0.000352344480265,-0.0006818303529,-7.54295360073e-05,1793250696226334976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.366769913,666.633230087,638.633230087,896,774,827.633230087,654,631,657,0.454175722641,-0.0157517097567,0.0795447057944,0.999999700622,-0.000351726795597,-0.000685110795088,-7.5280746811e-05,1793250696243001856
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.803042705,666.196957295,638.196957295,896,774.803042705,828,654,630.196957295,657,0.454145962502,-0.015749200877,0.0795306656824,0.999999685721,-0.000351054394595,-0.000706784637528,-7.59830928548e-05,1793250696276335104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638,896,775,827.614322065,654.385677935,630,656.614322065,0.454108167337,-0.0157468870879,0.0795161630502,0.999999666925,-0.000350788447885,-0.000732899403834,-7.71676518781e-05,1793250696293001728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638,896,775,827.035034577,654.964965423,630,656.035034577,0.454061351068,-0.0157444303403,0.0794990464857,0.999999642941,-0.000350491683098,-0.000764909557094,-7.86531910871e-05,1793250696309668352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.540648579,723,695,666.540648579,638.540648579,896,774.459351421,827.540648579,655,630,656.540648579,0.45399419059,-0.0157434459296,0.0794829492271,0.999999619832,-0.000350691338497,-0.000794479736845,-7.84381510192e-05,1793250696326334720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.881831927,723,695,667,638.881831927,896,774.118168073,828,655,630.118168073,656.881831927,0.453923228879,-0.0157418604438,0.0794682411254,0.999999599256,-0.000350112681897,-0.000820268775405,-7.78938666812e-05,1793250696343001600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.296128754,723,695,667,638.296128754,896,774.703871246,828,655,630.703871246,656.296128754,0.453842408914,-0.0157375218005,0.0794587696493,0.999999591225,-0.000346328181584,-0.000831719074331,-7.64800376424e-05,1793250696359668224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,895.712252278,775,828,654.712252278,630.712252278,656,0.453753817936,-0.015733774342,0.0794536380861,0.999999586803,-0.000344524167461,-0.00083789777138,-7.49906113906e-05,1793250696376334848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,895.130243881,775,828,654.130243881,630.130243881,656,0.453657280061,-0.0157306314496,0.0794529446669,0.999999586183,-0.000344745466611,-0.000838685547209,-7.3423876933e-05,1793250696393001472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,895,775,828,654.446074084,630,656.446074084,0.453547696335,-0.0157249263013,0.0794552399458,0.999999589343,-0.000340892803379,-0.000836748940439,-7.03999723636e-05,1793250696409668096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.979239148,666.979239148,638.020760852,895.020760852,775,828,655,630,656.979239148,0.453433237652,-0.0157185110397,0.0794583626788,0.99999959355,-0.000335881968166,-0.000834027066889,-6.69443330449e-05,1793250696426334720
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.404302381,666.404302381,638.595697619,895.595697619,775,828,655,630,656.404302381,0.453289047029,-0.0157128588348,0.0794605728044,0.999999597584,-0.000331307644856,-0.000831309831257,-6.31781943916e-05,1793250696443001344
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.175283364,666,639,896,775,827.824716636,655,630,656,0.453134352593,-0.0157063568767,0.0794628125295,0.99999960173,-0.000325383053855,-0.000828958342484,-5.91026625455e-05,1793250696459668224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.765884346,666,639,896,775,827.234115654,655,630,656,0.452954770371,-0.0156978415086,0.0794651223874,0.99999960616,-0.000316259129866,-0.000827473457249,-5.42940528562e-05,1793250696476334848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638.650588691,896,775.349411309,827.349411309,655,630,656,0.452755781962,-0.0156874263538,0.0794666537654,0.999999611304,-0.000304562662717,-0.000825952868224,-4.93560191007e-05,1793250696493001728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638.071707412,896,775.928292588,827.928292588,655,630,656,0.45254404885,-0.0156757635454,0.0794676738902,0.9999996168,-0.000291176720397,-0.000824408831094,-4.43329877944e-05,1793250696509668352
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.923618957,639,895,776,828,654.076381043,630,656.076381043,0.45205272329,-0.0156582587923,0.0794732609933,0.999999626756,-0.000268685683877,-0.000820560224132,-3.12489553799e-05,1793250696543001856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.347536676,639,895,776,828,654.652463324,630,656.652463324,0.451769331823,-0.0156449369082,0.0794784404827,0.999999643103,-0.000225826103011,-0.000813761934253,-2.42289633178e-05,1793250696559668480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.232623639,639,895,776.232623639,827.767376361,654.767376361,630,657,0.45147083184,-0.0156329960479,0.0794832294332,0.999999656687,-0.000184506974492,-0.000807649212681,-1.69085280247e-05,1793250696576335104
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.044907259,747,723,694.044907259,668,640,893,783.910185482,827,655,631,656,0.444172664874,-0.0155406918446,0.079658182567,0.99999985181,-1.68692251778e-05,-0.000543728201959,2.1349146848e-05,1793250696826334720
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,722.476295572,694.523704428,668,640.523704428,893,784,826.476295572,654.476295572,631,656,0.443490559842,-0.0155277339797,0.079663226792,0.999999852938,-2.64300685498e-06,-0.000541844889523,2.28279253301e-05,1793250696843001600
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.093103065,746.906896935,722.093103065,695,668.093103065,641,892.906896935,784.093103065,826.093103065,654.093103065,631,656,0.442802563022,-0.0155147749387,0.0796678454193,0.999999855094,1.12726080526e-05,-0.000537694023099,2.38771516784e-05,1793250696859668224
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.671541281,746.328458719,722.671541281,695,668.671541281,641,892.328458719,784.671541281,826.671541281,654.671541281,631,656,0.442098256886,-0.0155041777571,0.0796789268112,0.99999987057,2.4397380798e-05,-0.00050764924472,2.35964178092e-05,1793250696876335104
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,669,642,891.160018418,787,826,655,632,656,0.43740181412,-0.0154012403057,0.0797389212261,0.99999990623,0.000177745347413,-0.000394164706045,2.40873503406e-05,1793250696976334592
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,722.65283682,695,669,642,890.34716318,788,824.34716318,655,631.65283682,655.34716318,0.432080168506,-0.0153959857317,0.0797357127686,0.999999886406,0.000210532257225,-0.00042653589191,3.05189043246e-05,1793250697076334848
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745.553648657,722.553648657,690,669.446351343,642.553648657,886.553648657,788,819.553648657,655,631.553648657,656,0.403236873536,-0.0153562480233,0.0798281358564,0.999999913878,0.000285475330678,-0.000297903719727,4.47296124944e-05,1793250697759668224
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,722.596893952,689.403106048,669.403106048,642,886.596893952,788,819,655,631.596893952,656,0.402719627117,-0.0153557539016,0.0798321817083,0.999999918978,0.000271252958296,-0.00029463669579,4.06836149272e-05,1793250697793001472
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,745,723,689,669.584629432,643,886,787.415370568,819.584629432,655,632,656,0.400978957992,-0.0153599680416,0.0798333476508,0.999999916217,0.000288896887432,-0.000287147382976,4.06436404659e-05,1793250698309668352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,745,723,689,669.836522153,643,886,787.163477847,819.836522153,655,632,656,0.400979245919,-0.0153588242797,0.0798342315634,0.999999915475,0.000292054124139,-0.000286486049116,4.0986893764e-05,1793250698326335232
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,746,722.182195278,689,670,642,886,788,819.182195278,655,631.817804722,656,0.400977639533,-0.0153589657051,0.0798345021721,0.999999916818,0.000289943110576,-0.000284040847102,4.02335137504e-05,1793250698459668224
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beec28193b64954c4283900b09b0dfc7f23f23eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.57569352514,-0.00984981958692,1.07003332668,0.546264202718,-0.00117718879638,1.06970472223
+383,6.383333333,pose2_to_pose3_retreat,0.575683793585,-0.0098498805958,1.07003351654,0.54625447229,-0.00117724619125,1.06970490655
+384,6.400000000,pose2_to_pose3_retreat,0.575677355973,-0.00984991128911,1.07003361675,0.546248034477,-0.00117727772162,1.06970500271
+385,6.416666667,pose2_to_pose3_retreat,0.575672886483,-0.00984989021556,1.07003358051,0.54624356455,-0.00117725799826,1.0697049699
+386,6.433333333,pose2_to_pose3_retreat,0.575670063735,-0.00984985191406,1.07003349522,0.546240741353,-0.00117722100297,1.06970489046
+387,6.450000000,pose2_to_pose3_retreat,0.575668375342,-0.00984983149621,1.07003348626,0.546239052974,-0.00117720055053,1.06970488112
+388,6.466666667,pose2_to_pose3_retreat,0.575667566737,-0.00984982221756,1.0700334904,0.546238244433,-0.00117719109165,1.0697048843
+389,6.483333333,pose2_to_pose3_retreat,0.575667017582,-0.00984981591607,1.07003349322,0.546237695322,-0.00117718466775,1.06970488647
+390,6.500000000,pose2_to_pose3_retreat,0.575666630263,-0.00984981147162,1.0700334952,0.546237308033,-0.00117718013697,1.06970488799
+391,6.516666667,pose2_to_pose3_retreat,0.575666387382,-0.0098498086846,1.07003349645,0.546237065172,-0.00117717729581,1.06970488895
+392,6.533333333,pose2_to_pose3_retreat,0.575666073887,-0.00984980443012,1.07003351881,0.546236751285,-0.00117717436592,1.06970491134
+393,6.550000000,pose2_to_pose3_retreat,0.57566572047,-0.00984979941889,1.0700335508,0.546236397292,-0.00117717130415,1.0697049435
+394,6.566666667,pose2_to_pose3_retreat,0.575665577027,-0.00984979738495,1.07003356378,0.546236253615,-0.00117717006146,1.06970495656
+395,6.583333333,pose2_to_pose3_retreat,0.575665561429,-0.00984979716378,1.07003356519,0.546236237991,-0.00117716992632,1.06970495798
+396,6.600000000,pose2_to_pose3_retreat,0.575665443734,-0.00984979549494,1.07003357585,0.546236120104,-0.00117716890669,1.06970496869
+397,6.616666667,pose2_to_pose3_retreat,0.575665323368,-0.00984979378822,1.07003358674,0.546235999542,-0.00117716786392,1.06970497964
+398,6.633333333,pose2_to_pose3_retreat,0.575665242109,-0.00984979263602,1.0700335941,0.546235918151,-0.00117716715995,1.06970498704
+399,6.650000000,pose2_to_pose3_retreat,0.575665142235,-0.00984979121986,1.07003360314,0.546235818113,-0.0011771662947,1.06970499613
+400,6.666666667,pose2_to_pose3_retreat,0.575664884412,-0.00984979116029,1.07003358303,0.546235560301,-0.00117716615535,1.0697049771
+401,6.683333333,pose2_to_pose3_retreat,0.575664678589,-0.0098497996644,1.07003346364,0.546235355516,-0.0011771710242,1.06970486087
+402,6.700000000,pose2_to_pose3_retreat,0.575664497063,-0.00984980716464,1.07003335835,0.546235174904,-0.0011771753183,1.06970475837
+403,6.716666667,pose2_to_pose3_retreat,0.575664383129,-0.00984991009115,1.0700333506,0.546235062192,-0.00117727415543,1.0697047491
+404,6.733333333,pose2_to_pose3_retreat,0.575664360923,-0.00984993670146,1.07003335298,0.546235040267,-0.0011772998302,1.06970475097
+405,6.750000000,pose2_to_pose3_retreat,0.575664320189,-0.00984997465789,1.0700333731,0.546234999937,-0.00117733647376,1.0697047696
+406,6.766666667,pose2_to_pose3_retreat,0.575664342835,-0.00984987581281,1.07003347474,0.546235021552,-0.00117724124623,1.06970486815
+407,6.783333333,pose2_to_pose3_retreat,0.575664349293,-0.00984984762644,1.07003350373,0.546235027715,-0.00117721409144,1.06970489625
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80c7f6ce8aea89429cc063ec6494c1c14a8316f1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb27657587fa05921698b2aa2cd0d9a45f9d6456bffbbae3d0d0c1311e493090
+size 25898971
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebace42ebcdb988c2afef2edd2f291490cf1349a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+42,0.700000000,BASELINE,768.381157126,745,723,689,670,642.381157126,886,788,819.618842874,655,632,656,0.4009787903,-0.0153625552384,0.0798372654446,0.999999919463,0.000286044558386,-0.000278804433939,3.90007459984e-05,1793250699337893888
+43,0.716666667,BASELINE,768.95633371,745,723,689,670,642.95633371,886,788,819.04366629,655,632,656,0.40097848066,-0.015363699985,0.0798383585439,0.999999919378,0.000286189022586,-0.000278887649276,3.95085810307e-05,1793250699354560768
+44,0.733333333,BASELINE,768.453627227,745,723,689,669.453627227,642.453627227,886,788,819.546372773,655,632,656,0.400978749293,-0.0153646361649,0.0798380629025,0.999999920249,0.000283159209662,-0.000278871585322,3.9411329239e-05,1793250699371227392
+45,0.750000000,BASELINE,768.134405396,745,723,688.865594604,669,642.134405396,886.134405396,788,820,655,632,656,0.4009785032,-0.0153652403612,0.0798374354114,0.999999920817,0.000280771083567,-0.000279268231392,3.92746841637e-05,1793250699387894016
+46,0.766666667,BASELINE,768.71180041,745,723,688.28819959,669,642.71180041,886.71180041,788,820,655,632,656,0.40097640403,-0.0153648068407,0.0798360902087,0.999999920157,0.00028135742812,-0.000281052019782,3.91720454293e-05,1793250699404560384
+47,0.783333333,BASELINE,768.711668798,745,723,688.288331202,669.288331202,643,886.711668798,788,820,655,632,656,0.400976286691,-0.0153648602584,0.0798363024313,0.999999920063,0.000281964988948,-0.000280772336637,3.91981674302e-05,1793250699421227008
+48,0.800000000,BASELINE,768.135999181,745,723,688.864000819,669.864000819,643,886.135999181,788,820,655,632,656,0.400978144358,-0.0153653989377,0.0798380667164,0.999999920533,0.00028259369307,-0.00027843628716,3.93526068021e-05,1793250699437893888
+49,0.816666667,BASELINE,768,745,723,689,669.562693126,643,886.437306874,787.562693126,819.562693126,655,632,656,0.400979245926,-0.015365502168,0.0798386355467,0.999999921041,0.0002813395614,-0.000277876327818,3.93687148585e-05,1793250699454560512
+50,0.833333333,BASELINE,768,745,723,689,669.0102552,643,887,787.0102552,819.0102552,655,632,656,0.400980062321,-0.0153654717946,0.0798388122491,0.99999992154,0.000279554055467,-0.000277887224464,3.93424370111e-05,1793250699471227136
+51,0.850000000,BASELINE,768,745,723,689,669.604466065,643,887,787.604466065,819.604466065,655,632,656,0.400977957838,-0.0153655034724,0.0798377163457,0.999999920883,0.000280674079272,-0.000279120929853,3.93390977434e-05,1793250699487893504
+52,0.866666667,BASELINE,768,745,723,689.193240608,670,643,887,788,819.806759392,655,632,656,0.400976823739,-0.0153652487761,0.0798371345303,0.99999992042,0.00028176468491,-0.000279683855218,3.93127448617e-05,1793250699504560128
+53,0.883333333,BASELINE,768,745,723,689.771192269,670,643,887,788,819.228807731,655,632,656,0.40097762152,-0.0153644239546,0.0798375761814,0.999999920347,0.000282796723631,-0.000278911365081,3.92405755664e-05,1793250699521227008
+54,0.900000000,BASELINE,768.347283295,745,723,689.652716705,670,643,887,788,819.347283295,655,632,656,0.400978672918,-0.0153645620217,0.0798381012371,0.999999920646,0.000282458739029,-0.000278178514045,3.92587301412e-05,1793250699537894144
+55,0.916666667,BASELINE,768.922154952,745,723,689.077845048,670,643,887,788,819.922154952,655,632,656,0.400979890521,-0.0153653311074,0.0798386809511,0.999999921188,0.000281222924377,-0.0002774716401,3.93360774928e-05,1793250699554560768
+56,0.933333333,BASELINE,768.489057856,745,723,689,670,643,887,788,819.489057856,655,632,656,0.400979800876,-0.015364761222,0.0798391885914,0.99999992136,0.000281152540673,-0.000276933518189,3.92575391928e-05,1793250699571227392
+57,0.950000000,BASELINE,768.099695316,745,723,689,670,643,887,788.099695316,819.099695316,655,632,656,0.400979244549,-0.0153642034145,0.0798392825677,0.999999921279,0.000281360772219,-0.000277028293125,3.91650966195e-05,1793250699587893760
+58,0.966666667,BASELINE,768.677825799,745,723,689,670,643,887,788.677825799,819.677825799,655,632,656,0.400977431179,-0.0153647099698,0.0798374455541,0.999999920255,0.00028203010694,-0.000280033485544,3.91230949849e-05,1793250699604560384
+59,0.983333333,BASELINE,768.745039026,745.254960974,723,689,669.745039026,643,887,788.745039026,820,655,632,656,0.400977064874,-0.0153644871743,0.0798367220226,0.99999991976,0.000282938741007,-0.000280886403485,3.90953524865e-05,1793250699621227008
+60,1.000000000,BASELINE,768.169156575,745.830843425,723,689,669.169156575,643,887,788.169156575,820,655,632,656,0.400978520004,-0.0153633463387,0.0798374000399,0.999999919937,0.000284148583226,-0.000279030236227,3.90855580749e-05,1793250699637893632
+61,1.016666667,BASELINE,768,745.59500454,723,688.59500454,669.40499546,642.59500454,886.59500454,788,819.59500454,655,632,656,0.400979985859,-0.0153631201261,0.0798385628522,0.999999920514,0.000284072194697,-0.000277031226779,3.90916416464e-05,1793250699654560768
+62,1.033333333,BASELINE,768,745.021572215,723,688.021572215,669.978427785,642.021572215,886.021572215,788,819.021572215,655,632,656,0.400981456173,-0.0153632743034,0.0798399272898,0.999999921255,0.000283460865102,-0.000274972809637,3.91043288422e-05,1793250699671227648
+63,1.050000000,BASELINE,768.569280089,745,723,688.569280089,669.430719911,642,886.569280089,788,819.569280089,655,632,656,0.400979706808,-0.015364437987,0.0798392685436,0.999999921021,0.000282070779971,-0.000277221318387,3.92688681852e-05,1793250699687894272
+64,1.066666667,BASELINE,768.842822564,745,723,689,669.314354871,642.157177436,887,788,820,655,632,656,0.40097849915,-0.0153654192064,0.0798388121884,0.999999920825,0.000281348970139,-0.000278633554073,3.94550360506e-05,1793250699704560896
+65,1.083333333,BASELINE,768.264663598,745,723,689,670.470672804,642.735336402,887,788,820,655,632,656,0.400979079486,-0.0153658060235,0.0798391097372,0.999999920847,0.000282498592452,-0.000277355002494,3.96832347721e-05,1793250699721227520
+66,1.100000000,BASELINE,768,745,723,689,670.687648817,642.687648817,886.687648817,788,820,655,632,656,0.400979874985,-0.015365325781,0.0798396478788,0.999999921196,0.000282555181369,-0.000276051929215,3.95763385236e-05,1793250699737894400
+67,1.116666667,BASELINE,768,745,723,689,670.111600027,642.111600027,886.111600027,788,820,655,632,656,0.400980852132,-0.0153641135369,0.0798403891372,0.99999992182,0.000281688993856,-0.000274728153938,3.91865435687e-05,1793250699754561024
+68,1.133333333,BASELINE,768,745,723,689,670,642.464528027,886,788,819.535471973,655,632,656,0.400979576669,-0.015364747801,0.0798393345495,0.999999921265,0.000282049966731,-0.000276359550877,3.92949430008e-05,1793250699771227392
+69,1.150000000,BASELINE,768,745,723,689,670,643,886,788.041605955,819,655,632,656,0.400977862261,-0.0153658056744,0.0798379680274,0.999999920479,0.000282599040572,-0.000278600799234,3.95096839995e-05,1793250699787893760
+70,1.166666667,BASELINE,768,745,723,689,670,643,886,788.6309373,819,655,632,656,0.400977494892,-0.0153665992205,0.079838175731,0.999999920462,0.000281742567896,-0.000279522533897,3.95484533709e-05,1793250699804560640
+71,1.183333333,BASELINE,768,745.216453104,723,689.216453104,670,643,886.216453104,789,819.216453104,655,632,656,0.400977410289,-0.0153668138225,0.0798379778794,0.999999920516,0.000281133619732,-0.000279956854634,3.94397574093e-05,1793250699821227264
+72,1.200000000,BASELINE,768,745.79557602,723,689.79557602,670,643,886.79557602,789,819.79557602,655,632,656,0.400977799463,-0.0153660583968,0.0798371005153,0.999999920692,0.000280939401769,-0.000279574507552,3.90839814929e-05,1793250699837894144
+73,1.216666667,BASELINE,768,745.627862488,723,689.627862488,670,643,887,788.627862488,820,655,632,656,0.400978925851,-0.0153654267414,0.0798377068799,0.999999921209,0.000280748998664,-0.000277924590109,3.89822241269e-05,1793250699854560768
+74,1.233333333,BASELINE,768,745.052698463,723,689.052698463,670,643,887,788.052698463,820,655,632,656,0.400980454441,-0.0153648626113,0.0798391227202,0.999999921909,0.000280560676836,-0.000275583126195,3.90190513078e-05,1793250699871227648
+75,1.250000000,BASELINE,768,745,723,689,670,642.468428997,886.468428997,788,819.468428997,655,632,656,0.400980195025,-0.0153653297565,0.0798396458762,0.999999921615,0.000281625777647,-0.00027555000953,3.90916322427e-05,1793250699887894016
+76,1.266666667,BASELINE,768.115778775,745.115778775,723,689.115778775,670,642.115778775,886.115778775,788,819.115778775,655,632,656,0.400979910109,-0.0153657007132,0.0798399893424,0.999999921287,0.00028262124142,-0.000275715987481,3.91481462856e-05,1793250699904560640
+77,1.283333333,BASELINE,768.696054378,745.696054378,723,689.696054378,670,642.696054378,886.696054378,788,819.696054378,655,632,656,0.40098024643,-0.0153652684485,0.0798399731419,0.99999992122,0.000282830111487,-0.000275746615945,3.91257327717e-05,1793250699921227264
+78,1.300000000,BASELINE,768.724185776,745.724185776,722.724185776,689.724185776,669.724185776,643,886.724185776,788,819.724185776,655,632,656,0.400980271065,-0.0153645750788,0.0798395453145,0.999999921228,0.000282476103534,-0.00027610069833,3.89741359439e-05,1793250699937893888
+79,1.316666667,BASELINE,768.144993266,745.144993266,722.144993266,689.144993266,669.144993266,643,886.144993266,788,819.144993266,655,632,656,0.400979952864,-0.0153635945101,0.0798386647233,0.999999921318,0.000281502965174,-0.000276810559664,3.86804456041e-05,1793250699954560768
+80,1.333333333,BASELINE,768,745,722.430164105,689,669.430164105,643,886,788,819.430164105,655,632,655.569835895,0.400979673314,-0.0153644368316,0.079838580395,0.999999921459,0.000280635870478,-0.00027714809519,3.89257363413e-05,1793250699971227648
+81,1.350000000,BASELINE,768,745,723,689,670,643,886.004088803,788,819.995911197,655,632,655.004088803,0.40097940265,-0.0153658732891,0.0798387557409,0.999999921606,0.000279835166912,-0.000277366144543,3.93468107608e-05,1793250699987894272
+82,1.366666667,BASELINE,768,745,723,689,670,643,886.594466562,788,819.405533438,655,632,655.594466562,0.400978555192,-0.0153652181997,0.0798380386408,0.999999920334,0.000283476617944,-0.000278278988156,3.91656970488e-05,1793250700004560896
+83,1.383333333,BASELINE,768,745,723,689,670,643,887,788.180883558,819,655,632.180883558,656,0.400978427702,-0.0153646912196,0.0798380418759,0.999999919732,0.000285647163764,-0.000278232176631,3.90891224633e-05,1793250700021227520
+84,1.400000000,BASELINE,768,745,723,689,670,643,887,788.758611075,819,655,632.758611075,656,0.400979879765,-0.0153644453008,0.0798396254681,0.999999920624,0.000284590662724,-0.00027607995921,3.92418982674e-05,1793250700037893888
+85,1.416666667,BASELINE,768.335847637,745.335847637,723,689,670,643,887,788.664152363,819.335847637,655,632.664152363,656,0.400980351012,-0.0153646343918,0.0798398638602,0.999999920855,0.000284338483277,-0.000275474749291,3.94245938959e-05,1793250700054560512
+86,1.433333333,BASELINE,768.912731809,745.912731809,723,689,670,643,887,788.087268191,819.912731809,655,632.087268191,656,0.400980118332,-0.0153651356875,0.0798391368074,0.999999920616,0.000284663562352,-0.000275979820732,3.96287628564e-05,1793250700071227392
+87,1.450000000,BASELINE,768.51292981,745.51292981,723,689,669.51292981,642.51292981,886.51292981,788,820,655,632,656,0.400980030506,-0.0153640489555,0.0798390515407,0.99999992075,0.000284065127941,-0.000276146105336,3.93727891134e-05,1793250700087894016
+88,1.466666667,BASELINE,768,745.063029431,723,689,669.063029431,642.063029431,886,788,820,655,632,656,0.400980010676,-0.0153629946561,0.0798391252677,0.999999920996,0.000283200571618,-0.000276184573409,3.9083088812e-05,1793250700104560384
+89,1.483333333,BASELINE,768,745.656446412,723,689,669.656446412,642.656446412,886,788,820,655,632,656,0.400980345762,-0.0153645950909,0.0798395743257,0.999999921623,0.00028148176064,-0.000275655608115,3.919973125e-05,1793250700121227264
+90,1.500000000,BASELINE,768.242906364,745.757093636,723,689,670,643,886,788,820,655,632,656,0.400979986417,-0.0153650852533,0.0798396758544,0.999999921496,0.000281763413301,-0.000275799944093,3.93824901784e-05,1793250700137894144
+91,1.516666667,BASELINE,768.819800595,745.180199405,723,689,670,643,886,788,820,655,632,656,0.400978672254,-0.0153640488293,0.0798392995426,0.999999920331,0.000284795634552,-0.00027687004612,3.96561569894e-05,1793250700154560768
+92,1.533333333,BASELINE,769,745.394798767,723,689,670,642.605201233,886.394798767,788,820,655,632,656,0.400978114495,-0.0153644821309,0.0798389225313,0.999999920397,0.000284045626234,-0.000277414675177,3.95588905687e-05,1793250700171227136
+93,1.550000000,BASELINE,769,745.968935702,723,689,670,642.031064298,886.968935702,788,820,655,632,656,0.400977900333,-0.0153655830585,0.0798385452023,0.999999921021,0.000281577532474,-0.000277720607126,3.92931269742e-05,1793250700187893760
+94,1.566666667,BASELINE,769,746,723,689,670.558066946,642,887,788,820,655,632,656,0.400977291802,-0.015366745398,0.0798382435568,0.999999921407,0.00027965440784,-0.00027823974127,3.95220461894e-05,1793250700204560128
+95,1.583333333,BASELINE,768.854923429,745.854923429,723,689,670.854923429,642.145076571,887,788,820,655,632,656,0.400977141259,-0.0153674660381,0.0798382527379,0.999999921574,0.000278951499555,-0.000278315086143,3.97246966994e-05,1793250700221227008
+96,1.600000000,BASELINE,768.276806622,745.276806622,723,689,670.276806622,642.723193378,887,788,820,655,632,656,0.400978425101,-0.0153668577608,0.0798391767855,0.999999921132,0.00028179777662,-0.000277029358861,3.97644755899e-05,1793250700237893632
+97,1.616666667,BASELINE,768,745,723,689,670,643,886.699775444,788,820,655,632,656,0.400979891609,-0.0153656907405,0.0798400125758,0.999999921015,0.000283696508489,-0.000275524335461,3.96580299509e-05,1793250700254560256
+98,1.633333333,BASELINE,768,745,723,689,670,643,886.12374164,788,820,655,632,656,0.400981525927,-0.0153640104161,0.0798407672862,0.999999921201,0.000284724752677,-0.000273817849946,3.94172512697e-05,1793250700271226880
+99,1.650000000,BASELINE,768,745,723,689,670,642.546718959,886.453281041,788,820,655,632,656,0.400979860766,-0.01536398071,0.0798394790137,0.999999920715,0.000284523324654,-0.000275830867788,3.91741178269e-05,1793250700287894016
+100,1.666666667,BASELINE,768.031301004,745,723,689,670,642,887,788.031301004,820,655,632,656,0.400977480398,-0.0153644537189,0.0798377763976,0.999999920093,0.000284004032321,-0.000278633376415,3.89673764058e-05,1793250700304560896
+101,1.683333333,BASELINE,768.622316397,745,723,689,670,642,887,788.622316397,820,655,632,656,0.400978452666,-0.0153658409423,0.0798386593228,0.999999920484,0.000283816607075,-0.000277356715616,3.94229052387e-05,1793250700321227520
+102,1.700000000,BASELINE,769,745,723,689,670,642.207739288,886.792260712,788.792260712,819.792260712,655,632,656,0.400978847372,-0.0153663404451,0.0798389868755,0.999999920655,0.000283801216466,-0.000276716519653,3.96743929895e-05,1793250700337893888
+103,1.716666667,BASELINE,769,745,723,689,670,642.783261127,886.216738873,788.216738873,819.216738873,655,632,656,0.400978219559,-0.0153652683234,0.0798383311944,0.999999920443,0.000284090396759,-0.000277203123973,3.95646454624e-05,1793250700354560256
+104,1.733333333,BASELINE,768.640843926,745,723,689.359156074,670,643,886.359156074,788,819.359156074,655,632,656,0.400978217818,-0.0153655565851,0.0798383119328,0.999999920839,0.000282531617275,-0.000277406544868,3.92817009386e-05,1793250700371227136
+105,1.750000000,BASELINE,768.06472353,745,723,689.93527647,670,643,886.93527647,788,819.93527647,655,632,656,0.400978594284,-0.0153666666472,0.0798386771288,0.999999921598,0.000279856494904,-0.000277438896169,3.88941289971e-05,1793250700387893760
+106,1.766666667,BASELINE,768.521490632,745,723,689.478509368,670,643,887,788,819.478509368,655,632,656,0.400977515293,-0.0153669319381,0.079837876343,0.999999921391,0.000278970018397,-0.000279090707074,3.8750457731e-05,1793250700404560896
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,689,670,643,887,788,820,656,632,656,0.400978296986,-0.0153654931616,0.0798395330149,0.999999921517,0.000280538001767,-0.00027703517329,3.89443266403e-05,1793250700446933248
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.421205506,723,689,670,643,887,788,819.421205506,655.421205506,632,656,0.400977108403,-0.0153664607287,0.0798383379672,0.999999921119,0.000280304607732,-0.000278695404409,3.89964664926e-05,1793250700463599616
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.843698905,745,723,689,670,642.843698905,887,788,819,655,632,656,0.400976378378,-0.0153667074182,0.079837646154,0.999999920722,0.000280754911509,-0.000279660978533,3.90298069954e-05,1793250700480266240
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.269634467,745,723,689,670,642.269634467,887,788,819,655,632,656,0.40097687399,-0.015365027338,0.0798382993914,0.999999920329,0.000283032610507,-0.000278769865926,3.9012900395e-05,1793250700496933120
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745.312138183,723,689,670,642.312138183,886.687861817,788,819.312138183,655,632,656,0.400977445183,-0.0153653648967,0.0798387365216,0.99999992069,0.00028278642552,-0.000277708671629,3.91039736071e-05,1793250700513599744
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745.900737984,723,689,670,642.900737984,886.099262016,788,819.900737984,655,632,656,0.400978083318,-0.0153674894834,0.0798389822451,0.999999921717,0.000280304829647,-0.000276496835578,3.92906848268e-05,1793250700530266368
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746,723,689,670,643,886.482153045,788,819.517846955,655,632,656,0.400977295103,-0.0153662491826,0.079838693792,0.999999921011,0.000282049712431,-0.00027729104671,3.91975333464e-05,1793250700546933248
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745.939050003,723,689.060949997,670,643,886.939050003,788,819.060949997,655,632,656,0.400976469574,-0.0153645819302,0.0798383444596,0.99999992011,0.000284157168622,-0.000278407991592,3.90405121791e-05,1793250700563599872
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745.36993024,723,689.63006976,670,643,886.36993024,788,819.63006976,655,632,656,0.400977745261,-0.0153650458622,0.0798383909763,0.999999920574,0.000282139516363,-0.000278822984474,3.88242979732e-05,1793250700580266496
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.202252021,745.202252021,723,690,670,643,886.202252021,788,820,655.202252021,632,656,0.400984833725,-0.0153652855631,0.0798412149109,0.999999921873,0.000282003568581,-0.000274252815468,3.89127056953e-05,1793250700596933120
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.780121818,745.780121818,723,690,670,643,886.780121818,788,820,655.780121818,632,656,0.401002717545,-0.0153651088271,0.0798491970015,0.999999924591,0.000285362279026,-0.00026042431901,3.95668502367e-05,1793250700613600000
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.63288894,746,723,690,670,643,887,788,820,655.63288894,632,656,0.401036476013,-0.0153671362232,0.0798621212654,0.999999930451,0.00028517210824,-0.000236932003414,4.0463920202e-05,1793250700630266880
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.040298485,746,723,690,670,643,887,788,820,655.040298485,632,656,0.401079984681,-0.0153705173959,0.0798780810099,0.999999937621,0.000282802216853,-0.000207504174337,4.15101948573e-05,1793250700646933504
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.535236735,745.464763265,723,689.464763265,670,643,887,788,820,655,632.535236735,656.535236735,0.401146628246,-0.0153734760282,0.0798961470976,0.999999944806,0.000280511494262,-0.000173039308878,4.19485674511e-05,1793250700663599872
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.8894495,745.1105505,723,689,670,643,886.8894495,788,820,655,632.8894495,656.8894495,0.401217343001,-0.0153763973837,0.0799128574634,0.999999950119,0.000278678858774,-0.000142582004243,4.20659540697e-05,1793250700680266496
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.309794628,745.690205372,723,689,670,643,886.309794628,788,820,655,632.309794628,656.309794628,0.401298170234,-0.0153792913886,0.0799231628683,0.999999951764,0.00027876553507,-0.00013068973564,4.10095039468e-05,1793250700696933376
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,745.725395801,723,689,670,643,886,788,819.725395801,655,632,656.274604199,0.401387973859,-0.0153826031693,0.0799312623725,0.999999953739,0.000277615935957,-0.000117946199235,3.92384216931e-05,1793250700713600256
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,745.135551039,723,689,670,643,886,788,819.135551039,655,632,656.864448961,0.401488082211,-0.0153863945488,0.0799368295425,0.999999956072,0.000275047115424,-0.000104225423779,3.66469549727e-05,1793250700730266880
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,723,689,670,643,886.445691568,788,819,655,632,656.554308432,0.401600833432,-0.0153902506551,0.0799394587104,0.999999957308,0.000273205419863,-9.81810562384e-05,3.32155057858e-05,1793250700746933504
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745.024276234,723.024276234,689,670,643,887,788,819,655,632,656,0.401718612447,-0.0153941501695,0.0799412710348,0.99999995826,0.000271492974612,-9.43524699487e-05,2.94981259669e-05,1793250700763599616
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745.600785337,723.600785337,689,670,643,887,788,819,655,632,656,0.401864950269,-0.0153985977965,0.0799444434632,0.999999959889,0.000267785370332,-8.88249256122e-05,2.49777733719e-05,1793250700780266496
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.177095379,746,723.822904621,689,670,643,887,788.177095379,819,655,632,656,0.40202087872,-0.0154037479068,0.0799479184975,0.999999962086,0.000261942195641,-8.25209975383e-05,2.01353036674e-05,1793250700796933376
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.752957116,746,723.247042884,689,670,643,887,788.752957116,819,655,632,656,0.402198402407,-0.0154104798007,0.0799520749098,0.999999965548,0.000251290349168,-7.44688839012e-05,1.45675222129e-05,1793250700813600000
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,723,689.336593962,670,643,887,788.663406038,819,655,632,656,0.402386659962,-0.015417180208,0.0799508413849,0.999999968437,0.000238794387077,-7.77155610252e-05,7.99098052357e-06,1793250700830266880
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,723,689.926072339,670,643,887,788.073927661,819,655,632,656,0.402582981933,-0.0154238569598,0.0799455583787,0.999999970706,0.000224912932249,-8.94510648128e-05,6.56552574256e-07,1793250700846933760
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.495973676,745.495973676,723,690,670,642.495973676,886.495973676,788.504026324,819.504026324,655,632,656.504026324,0.402810288939,-0.015431097302,0.0799420646821,0.999999982616,0.000159282156187,-9.6653356753e-05,-7.50320025204e-06,1793250700863600128
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.080743941,745,723,690,670,642,886,789,819.919256059,655,632,656.919256059,0.403050572947,-0.0154384390592,0.0799398855493,0.999999990255,9.50556324044e-05,-0.000101032547749,-1.57329094494e-05,1793250700880266752
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.66003145,745,723,690,670,642,886,789,819.33996855,655,632,656.33996855,0.403343548495,-0.0154459080046,0.0799442388125,0.999999991849,8.53171774082e-05,-9.19944598589e-05,-2.366383495e-05,1793250700896933376
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.758373151,745.241626849,723,690.241626849,670,642.241626849,886.483253697,788.758373151,819,655,632,656,0.403646592971,-0.0154546013466,0.0799480237167,0.99999999261,8.31816699695e-05,-8.49464868792e-05,-2.53941776162e-05,1793250700913600000
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.173499275,745.826500725,723,690.826500725,670,642.826500725,887.653001451,788.173499275,819,655,632,656,0.403963941015,-0.0154650340253,0.0799510012287,0.999999992356,9.1846656392e-05,-8.0725605203e-05,-1.8316179017e-05,1793250700930266624
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.408662033,746,723,690.591337967,670,643,887.591337967,788,819.408662033,655,632,656,0.404327318023,-0.0154709500873,0.0799518312952,0.999999993474,8.31817392381e-05,-7.56558531324e-05,-2.02326262729e-05,1793250700946933248
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.989679286,746,723,690.010320714,670,643,887.010320714,788,819.989679286,655,632,656,0.404710107965,-0.0154749612437,0.0799517556661,0.999999994939,6.72078498514e-05,-7.02280858909e-05,-2.59425254421e-05,1793250700963600128
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.434678415,745.434678415,723,690.565321585,670,642.434678415,887,788.565321585,820,655,632,656,0.405116797669,-0.0154794379711,0.0799491543164,0.999999995972,4.64179872887e-05,-7.02868257587e-05,-3.1015147044e-05,1793250700980266752
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.140887876,745.140887876,723,691,670,642.140887876,887,789,820,655,632,656,0.405532456072,-0.0154807097916,0.0799444656139,0.999999995812,3.91727217054e-05,-7.53007064057e-05,-3.42114994742e-05,1793250700996933376
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.716519458,745.716519458,723,691,670,642.716519458,887,789,820,655,632,656,0.405974455795,-0.0154720661132,0.0799334768237,0.999999992221,7.39913483736e-05,-9.52987072644e-05,-3.16537299876e-05,1793250701013600000
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.700054965,745.700054965,723,691.299945035,670,643,887.299945035,788.700054965,820,655,632,656,0.406432737878,-0.0154660484488,0.0799267063242,0.999999989964,8.42461989305e-05,-0.000109131318835,-3.2636157472e-05,1793250701030266880
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.109066634,745.109066634,723,691.890933366,670,643,887.890933366,788.109066634,820,655,632,656,0.406906819147,-0.0154625788628,0.0799240289242,0.999999989974,7.06662787958e-05,-0.000116981519366,-3.70537160528e-05,1793250701046933504
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.472382226,723,691.527617774,670,643,887.527617774,788,819.527617774,655,632,656,0.407433962332,-0.0154697794427,0.0799213629984,0.999999989674,6.03560405373e-05,-0.000124568806097,-3.86147084505e-05,1793250701063600128
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.051199241,745.948800759,723,691.051199241,670,642.948800759,887.051199241,788,819,655,632,656,0.407976361531,-0.0154786238082,0.0799189523863,0.999999989275,5.12412727868e-05,-0.000131365742099,-3.95800185342e-05,1793250701080266240
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.625187819,745.374812181,723,691.625187819,670,642.374812181,887.625187819,788,819,655,632,656,0.408551918364,-0.0154795951355,0.0799191222338,0.999999989522,4.67774413615e-05,-0.00013070007026,-4.10640887404e-05,1793250701096932864
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.796028198,745.203971802,723,692,670,642.203971802,888,788.203971802,819.203971802,655,632,656,0.409152743756,-0.0154810729155,0.0799299369754,0.99999999178,4.40996874771e-05,-0.000113033003676,-4.14681927291e-05,1793250701113599744
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.208220208,745.791779792,723,692,670,642.791779792,888,788.791779792,819.791779792,655,632,656,0.409801119744,-0.0154835037435,0.0799607833856,0.999999996196,4.47829924537e-05,-6.33725414444e-05,-3.98400052795e-05,1793250701130266368
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,746,723,692.373803589,670,643,888,789,820,655,632,656,0.410470623788,-0.0154855261757,0.0799826914914,0.999999997907,4.37836864131e-05,-2.78432027666e-05,-3.86538346364e-05,1793250701146933248
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,746,723,692.952654489,670,643,888,789,820,655,632,656,0.411151717454,-0.0154873245853,0.0799996965526,0.999999998413,4.18613960075e-05,-6.53934833079e-08,-3.77101292465e-05,1793250701163599872
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.529979087,746,723,693,670,643,888.529979087,789,820,655,632,656,0.411830121575,-0.0154871812904,0.0799734717527,0.999999997511,3.59375877378e-05,-4.44119328073e-05,-4.13979496785e-05,1793250701180266496
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.89319039,746,723,693.10680961,670,643,889,789,820.10680961,655,632,656,0.412516203911,-0.0154870133196,0.0799444961005,0.999999994434,2.97485602648e-05,-9.02840076648e-05,-4.57898224345e-05,1793250701196933376
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.317930662,746,723,693.682069338,670,643,889,789,820.682069338,655,632,656,0.413237012258,-0.0154874957152,0.0799203448094,0.999999991814,2.39596490173e-05,-0.000114669093235,-5.14601000279e-05,1793250701213599744
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.263237933,746,723,694,670,642.736762067,889,789,821,655,632,656,0.413981962589,-0.0154895109481,0.0799172020987,0.999999992291,2.00146737055e-05,-0.000110186777544,-5.36245398736e-05,1793250701230266368
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.851707027,746,723,694,670,642.148292973,889,789,821,655,632,656,0.414756740503,-0.0154934200057,0.0799400155413,0.999999996055,1.83478853293e-05,-7.00387145142e-05,-5.14575086472e-05,1793250701246932992
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.566983357,746,723,694,670,642.433016643,889,789,821.433016643,655,632,656,0.415544488388,-0.0154924316053,0.0799511138472,0.999999996622,1.95323428785e-05,-6.13979053969e-05,-5.10382294372e-05,1793250701263599616
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.011903182,746,723,694,670,643,889,789,822.011903182,655,632,656,0.416337740571,-0.015489849856,0.0799579288993,0.999999996445,2.16028267071e-05,-6.33948224187e-05,-5.12238391506e-05,1793250701280266240
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.590263817,746,723,694,670,643,889,789,822.590263817,655,632,656,0.417184997944,-0.0154899605965,0.0799487309749,0.999999996226,2.01259008383e-05,-6.64911100791e-05,-5.21747063701e-05,1793250701296933120
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.833761104,746,723,694.166238896,670,643,889,788.833761104,823,655,632.166238896,656,0.418046105444,-0.0154917696339,0.0799512151422,0.999999997164,1.72285653686e-05,-5.09444010612e-05,-5.27320272264e-05,1793250701313599744
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.26358266,746,723,694.73641734,670,643,889,788.26358266,823,655,632.73641734,656,0.418940866951,-0.0154977053185,0.0799820853194,0.999999998522,1.08798137802e-05,9.90243862333e-06,-5.23330798788e-05,1793250701330266368
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.31863707,746,723,694.68136293,670,643,889.31863707,788.31863707,823,655,632.68136293,656,0.419806741329,-0.0155012237603,0.079988843288,0.99999999833,4.35202476767e-06,2.30327082695e-05,-5.28209634688e-05,1793250701346932992
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.911208753,746,723,694.088791247,670,643,889.911208753,788.911208753,823,655,632.088791247,656,0.420647781184,-0.0155026640804,0.0799748718134,0.999999998524,-2.32968367886e-06,-4.85930840992e-06,-5.40712621932e-05,1793250701363599616
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.50827578,746,723,694,669.50827578,643,890.49172422,788.50827578,823.49172422,655,632,656.49172422,0.421539256143,-0.0155017860902,0.0799709215627,0.999999998409,-1.53468768208e-06,-1.09177546819e-05,-5.53159026497e-05,1793250701380266240
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.069901571,746,723,694.139803143,669.069901571,643,891,788.069901571,824,655,632,657,0.422446244991,-0.0155012394129,0.0799726715272,0.999999998395,1.57790283385e-07,-7.98959955688e-06,-5.60817215386e-05,1793250701396932864
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.646533037,746,723,695.293066075,669.646533037,643,891,788.646533037,824,655,632,657,0.423401257157,-0.0155060565211,0.0800029396362,0.999999998056,-1.19646939599e-06,3.21880716163e-05,-5.33836997492e-05,1793250701413599488
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.777925807,746,723,695.777925807,670,643,891,788.777925807,824,655,632.222074193,656.777925807,0.424311560119,-0.0155077516572,0.0800024806057,0.999999998425,2.16882164397e-06,1.83690575483e-05,-5.29907226377e-05,1793250701430266112
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.204111487,746,723,695.204111487,670,643,891,788.204111487,824,655,632.795888513,656.204111487,0.425151048964,-0.0155045019471,0.079953353305,0.999999995055,1.30093410891e-05,-8.09745248872e-05,-5.6248672021e-05,1793250701446932992
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.380882365,746,723,695.380882365,670,643,891.380882365,788.380882365,824,655,632.619117635,656,0.426051572552,-0.0155046438148,0.0799279778951,0.999999992196,1.09713207622e-05,-0.000109166452406,-5.97590710557e-05,1793250701463599872
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.972048358,746,723,695.972048358,670,643,891.972048358,788.972048358,824,655,632.027951642,656,0.426985793126,-0.0155066581591,0.0799157158119,0.999999993179,1.82310961062e-06,-9.80758306373e-05,-6.34088465411e-05,1793250701480266496
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891.447852718,789,824.552147282,655,632,656,0.427904923296,-0.0155073756651,0.0799143180018,0.999999991856,-1.09914339048e-06,-0.000110995661836,-6.29842150276e-05,1793250701496933120
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.874266778,746,723,696,670,643,891.251466445,789,825,655,632,656.125733222,0.428833715389,-0.0155084133613,0.0799214922596,0.999999992021,-4.64095104094e-06,-0.00011005828996,-6.18375460673e-05,1793250701513600000
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.320961335,746,723,696,670,643,892.358077331,789,825,655,632,656.679038665,0.429797910863,-0.0155107587722,0.0799559833985,0.999999996521,-1.13403845608e-05,-5.79454673944e-05,-5.89231287364e-05,1793250701530266624
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.257960421,746,723,695.742039579,670,643,893,789,825,655,632,657,0.430769510319,-0.0155141540971,0.0799957326153,0.999999998309,-1.64310388016e-05,2.17251250229e-06,-5.57438576697e-05,1793250701546932992
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.872268629,746,723,695.127731371,670,643,893,789,825,655,632,657,0.431751337592,-0.0155189997779,0.0800427453639,0.999999995761,-1.92993168972e-05,7.33488515128e-05,-5.21987165696e-05,1793250701563599616
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.541451478,746,723,695.458548522,670,643,893,789,825.458548522,655,632,656.541451478,0.432620483773,-0.0155164343958,0.0800119532865,0.999999997924,-2.69348303185e-05,1.86169906369e-05,-5.54932864097e-05,1793250701580266240
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.037269347,746.037269347,723,696,670,643,893.037269347,788.962730653,826,655,632,656.037269347,0.433462533204,-0.015512264035,0.0799611021372,0.999999995321,-3.47543116848e-05,-6.69219940034e-05,-6.05956496606e-05,1793250701596933120
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.613080054,746.613080054,723,696,670,643,893.613080054,788.386919946,826,655,632,656.613080054,0.434340463662,-0.0155130139077,0.0799155323151,0.999999990259,-2.71487223088e-05,-0.000120019809771,-6.58757424106e-05,1793250701613600000
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643,894,788.18824005,826,655,632.18824005,657,0.43523415867,-0.0155140421926,0.0798971572657,0.999999987673,-2.49308017687e-05,-0.000138850979279,-6.89378501319e-05,1793250701630266624
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643,894,788.76206725,826,655,632.76206725,657,0.436160145628,-0.0155156407716,0.0799344874363,0.999999993328,-3.37488729369e-05,-8.74910464987e-05,-6.74566828848e-05,1793250701646932992
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.653565488,746.653565488,723,696,670.346434512,643,894.346434512,788.653565488,826,655,632.653565488,657,0.437060838111,-0.0155178589482,0.0799687173622,0.999999996781,-3.15722037342e-05,-3.76271474116e-05,-6.34436756332e-05,1793250701663599872
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.061732149,746.061732149,723,696,670.938267851,643,894.938267851,788.061732149,826,655,632.061732149,657,0.437943613057,-0.0155205160201,0.0800007512103,0.999999998043,-2.1607348056e-05,1.11770247359e-05,-5.76372253841e-05,1793250701680266496
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.518097013,746.518097013,723,696,671,643,895,788,826.518097013,655,632,657,0.438785405695,-0.0155305447528,0.0800058116915,0.999999997291,-4.22716975437e-05,1.1055770422e-05,-5.92340926386e-05,1793250701696933120
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.903973386,746.903973386,723,696,670.903973386,643,895,788,827,655,632,656.903973386,0.439597733071,-0.0155403025526,0.0799913603192,0.999999995885,-6.32430790096e-05,-1.80744491497e-05,-6.24765007786e-05,1793250701713600000
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.328548131,746.328548131,723,696,670.328548131,643,895,788,827,655,632,656.328548131,0.440286785638,-0.0155444220463,0.0798951806031,0.999999981888,-6.79401571448e-05,-0.000163583515518,-6.96299092037e-05,1793250701730266624
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746.251600863,723,696,669.748399137,643,895,787.748399137,827,655,632,656,0.440967366965,-0.0155523396426,0.0798000148765,0.999999946576,-7.90552489808e-05,-0.00030807739392,-7.54093340087e-05,1793250701746933248
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746.83803624,723,696,669.16196376,643,895,787.16196376,827,655,632,656,0.441636674575,-0.015565311815,0.0797061985911,0.999999890179,-9.87115377194e-05,-0.000451220232239,-7.93602389933e-05,1793250701763600128
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669.419016667,643,895.419016667,786.580983333,827,655,632,656.419016667,0.442398385942,-0.015592790449,0.0797127835136,0.999999892758,-0.00013826169331,-0.000435285306292,-7.67789979269e-05,1793250701780266496
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669.99791572,643,895.99791572,786.00208428,827,655,632,656.99791572,0.443195355469,-0.0156258042521,0.0797576780852,0.999999915927,-0.00018540266729,-0.000358651773703,-7.17053141992e-05,1793250701796933376
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.576435419,747,723,696,669.423564581,642.423564581,895.423564581,786,827,655,632,656.423564581,0.443926391496,-0.0156390410239,0.0798002068355,0.999999933092,-0.000195847738191,-0.000301322709399,-6.82972165469e-05,1793250701813599744
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.845838269,747,723,695.845838269,669,642,895.154161731,785.845838269,827,655,632,656.154161731,0.444635866266,-0.0156501854998,0.0798278699137,0.999999941566,-0.000204745034541,-0.000265710742287,-6.59179182411e-05,1793250701830266624
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.2702768,747,723,695.2702768,669,642,895.7297232,785.2702768,827,655,632,656.7297232,0.445287054934,-0.0156558060494,0.0798149211852,0.999999933958,-0.000209773962193,-0.000289271583776,-6.63343822281e-05,1793250701846933248
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,723,695,668.688826234,641.688826234,896,785,827,655,631.688826234,657,0.445916443312,-0.0156599159982,0.0797960963761,0.999999925944,-0.000212361048932,-0.000313805217242,-6.73938201293e-05,1793250701863599872
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,723,695,668.102161926,641.102161926,896,785,827,655,631.102161926,657,0.446526531263,-0.0156626885708,0.079772069315,0.999999917451,-0.000212786307617,-0.00033920008827,-6.9022500174e-05,1793250701880266496
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,723,695.478990333,668,641,896,784.521009667,827,654.521009667,631.478990333,657,0.447098623064,-0.0156684005228,0.0797473717591,0.999999904688,-0.00022734644696,-0.00036588313994,-7.11794692631e-05,1793250701896933376
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,695.941634774,668,641,896,784,827,654,631.941634774,657,0.447655357333,-0.0156746672766,0.0797221027643,0.99999988941,-0.000243588307083,-0.000395534698318,-7.34684628029e-05,1793250701913600256
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,695.367693392,668,641,896,784,827,654,631.367693392,657,0.448147202661,-0.0156803598957,0.0796930347934,0.999999865471,-0.000248357480777,-0.000449009483859,-7.59396916844e-05,1793250701930266624
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.207381271,747,723,695,668,641,896,783.585237458,827.207381271,654.207381271,631,657,0.448638363301,-0.0156852609783,0.07966887919,0.999999844987,-0.000254533722878,-0.000489092086416,-7.76318242747e-05,1793250701946933248
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.784476254,747,723,695,668,641,896,782.431047492,827.784476254,654.784476254,631,657,0.449128303246,-0.0156887509304,0.0796534812252,0.999999834657,-0.000263218448902,-0.000505299464022,-7.79350051415e-05,1793250701963599872
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.628800309,747,723,695.371199691,668,640.628800309,896,781.628800309,828,655,631,657,0.449618860869,-0.0156921169272,0.079662839585,0.999999840262,-0.000269445053676,-0.000490933832558,-7.65481057726e-05,1793250701980266496
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.036337531,747,723,695.963662469,668,640.036337531,896,781.036337531,828,655,631,657,0.450109786724,-0.0156954090375,0.079686954585,0.999999854616,-0.000274206432918,-0.000458344376735,-7.41537907397e-05,1793250701996932864
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747,723,696,667.117155043,640,896,781,828,654.117155043,631,657,0.450980113862,-0.015716175481,0.0797200329292,0.999999868999,-0.000295430757807,-0.000411916862787,-7.10381689337e-05,1793250702030266368
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747,723,696,667.69214038,640,896,781,828,654.69214038,631,657,0.451327971771,-0.0157277024124,0.0797061988583,0.999999853114,-0.000310270270077,-0.00043858963984,-7.17146708763e-05,1793250702046933248
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+205,3.416666667,POSE1_TO_POSE2_PRESS,768,747,723,696,668,639.137185296,896,779.274370591,828,655,631,657,0.451944613769,-0.0157376381381,0.0796473688665,0.999999801294,-0.000325399127606,-0.000534574606951,-7.58805599502e-05,1793250702080266496
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747,723,696,667.555914289,639,895.555914289,778.555914289,828,655,631,657,0.452226764495,-0.0157381246627,0.0796266958553,0.999999781972,-0.00033301720152,-0.000564899425459,-7.77468889154e-05,1793250702096933120
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747,723,695.977069998,667,639,895.022930002,778,828,655,631,657,0.452504519546,-0.0157378863788,0.0796108898576,0.999999766605,-0.000340854348883,-0.000586776331283,-7.93838958869e-05,1793250702113599744
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747,723,695.399282311,667,639,895.600717689,778,828,655,631,657,0.452761968323,-0.0157354128994,0.0796068037624,0.999999766142,-0.000334062863959,-0.000591254965753,-8.0839600908e-05,1793250702130266368
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,747,723,695,667,639,896,777.822783221,828,654.822783221,630.822783221,657,0.45300876814,-0.0157336791491,0.0796047732268,0.999999767027,-0.000327430656413,-0.000593373580746,-8.15078909011e-05,1793250702146933248
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,747,723,695,667,639,896,777.249166549,828,654.249166549,630.249166549,657,0.453231748247,-0.0157336000314,0.0796073405839,0.999999771021,-0.000321154722707,-0.000590213284979,-8.04148845488e-05,1793250702163599872
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+224,3.733333333,POSE1_TO_POSE2_PRESS,768,747,723,695.88705262,667.11294738,638.11294738,896,775,828,654.11294738,630.88705262,657,0.454604324669,-0.0157634001063,0.0795633709261,0.999999712044,-0.00036301856043,-0.000661850538997,-7.79899332209e-05,1793250702396933120
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768,747,723,695,667,638,896,774,828,654,630,657,0.454674516517,-0.0157575150286,0.0795563903708,0.999999708588,-0.000356249254448,-0.000670989664882,-7.53855136907e-05,1793250702596932608
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.717235418,747.717235418,723,694.282764582,667,638,895.282764582,774.717235418,828,654.717235418,630,657,0.454437053654,-0.0157421017572,0.0794753291048,0.999999609121,-0.000349639049552,-0.000808460721864,-7.6825078456e-05,1793250703340128000
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.542664846,747,722.542664846,695.457335154,666.457335154,638,896,774,828,655,630,657,0.454187592134,-0.0157323407679,0.0794647737848,0.999999599855,-0.000344004571559,-0.000822694595187,-7.15836907172e-05,1793250703390128384
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.059038623,747.059038623,723,695,667,638.940961377,895,775,828,654.940961377,630,657,0.453288811777,-0.0156935253422,0.0794515296445,0.99999959083,-0.000313586585538,-0.00084698667867,-5.11460934865e-05,1793250703490128384
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.318803341,747.318803341,723,695,666.318803341,639,895,775.681196659,828,655,630,657,0.452594840157,-0.0156630479009,0.07946451663,0.99999961685,-0.00027390820922,-0.00083080062329,-3.23283820412e-05,1793250703540128768
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.845327819,747,723,695,666.845327819,639,895.845327819,776,828,654.154672181,630,656.154672181,0.452018065928,-0.015641711805,0.0794691615873,0.999999637464,-0.000197797292911,-0.000828022888259,-1.80669796695e-05,1793250703573461760
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,895,777.144782243,828,654.855217757,630.144782243,656.855217757,0.45063881839,-0.0156013053997,0.0795057922129,0.999999694781,-0.000118061083427,-0.000772324533699,3.87808075137e-06,1793250703640128768
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,668,639.198306058,894.801693942,781,827,654.198306058,631,656.801693942,0.446620053955,-0.0155560109394,0.0795184095515,0.999999724469,-5.26446981864e-05,-0.000740443115651,5.89747918435e-06,1793250703773461760
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.709410303,746.709410303,723,695,668.290589697,640.290589697,891.290589697,785.290589697,826.709410303,655,631,656,0.442751761627,-0.0155152987051,0.0796735625774,0.999999861176,1.13287040778e-05,-0.000526221687183,2.46886312737e-05,1793250703873462016
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,722.041256352,695.958743648,669,642,890,788,821,654.958743648,632,655.958743648,0.423451355331,-0.0153847206074,0.0797137101574,0.99999986394,0.000243183282556,-0.000460064131141,3.63824213244e-05,1793250704240128512
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,722.612066007,695.387933993,669,642,890,788,821,654.387933993,632,655.387933993,0.422573631435,-0.0153835925108,0.0797214197684,0.999999870107,0.000245307193034,-0.000445325254329,3.60044287352e-05,1793250704256795136
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,722.808832781,695.191167219,669.191167219,642,889.808832781,788,821,654.191167219,632,655.191167219,0.42172244223,-0.0153847819556,0.0797481367954,0.999999890429,0.000244228376512,-0.000397597216305,3.75624266577e-05,1793250704273462016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,722.212142586,695.787857414,669.787857414,642,889.212142586,788,821,654.787857414,632,655.787857414,0.42092754089,-0.0153908876002,0.079815174251,0.999999931965,0.000236355614183,-0.000279889271829,4.32272404073e-05,1793250704290128896
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,722,695.628063835,670,642,888.628063835,788,821,655,632,656,0.420088138805,-0.0153913681339,0.0798468884674,0.999999945747,0.000233827571773,-0.000227538531457,4.53453516803e-05,1793250704306795520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,722,695.050942449,670,642,888.050942449,788,821,655,632,656,0.419224187137,-0.0153887454744,0.0798591159848,0.999999949217,0.000234248041104,-0.000211243267061,4.55068611396e-05,1793250704323461888
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,722.524566525,694.475433475,670,642,888,788,820.475433475,655,632,656,0.418304134798,-0.0153862322272,0.0798166948923,0.999999930469,0.000237949605973,-0.000284118509998,4.14655165407e-05,1793250704340128512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,670,642,888,788,820,655,632,656,0.417399720532,-0.0153842407559,0.0797798296191,0.999999909493,0.000240170265933,-0.000349101931864,3.82041966418e-05,1793250704356795136
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,694,670,642,888,788,820,655,632,656,0.416595558586,-0.0153846815803,0.0797945746465,0.999999915572,0.00023383304532,-0.000335456897316,4.05904807875e-05,1793250704373461760
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,669.144598284,642,888,788,820,655,632,656,0.414957056933,-0.0153767861722,0.0797789743911,0.999999899303,0.000248136332242,-0.000371720880939,4.05645236537e-05,1793250704406795264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,723,693.56711738,669.43288262,642,888,788,820,655,632,656,0.414195741945,-0.0153749720469,0.079776855099,0.999999900039,0.00025086808417,-0.000368001793822,3.95325748554e-05,1793250704423461888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.009260678,746,723,693,669.990739322,642,888,788,820,655,632,656,0.413455692883,-0.0153744574764,0.0797794954213,0.999999905563,0.000250450135879,-0.00035308185159,3.84879427829e-05,1793250704440128512
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.83683829,746,722.83683829,692.83683829,669.16316171,642,887.83683829,788,820,655,632,656,0.4120103531,-0.0153802685382,0.0798013612264,0.999999919852,0.00024158642984,-0.000316661011628,4.07098049492e-05,1793250704473461504
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.244906755,746,722.244906755,692.244906755,669.755093245,642,887.244906755,788,820,655,632,656,0.411294396101,-0.0153772326169,0.0797871100768,0.999999908446,0.000244202461179,-0.000349123425052,3.98152979036e-05,1793250704490128128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745.661675497,722.338324503,692.338324503,670,642,887,788,820,655,632,656,0.410612767865,-0.0153725926754,0.0797788359156,0.999999900809,0.000249585446041,-0.000366812151425,3.92040150089e-05,1793250704506795008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.084584346,722.915415654,692.915415654,670,642,887,788,820,655,632,656,0.409955366602,-0.0153668207247,0.079774779911,0.999999896277,0.000256921160305,-0.000374074602636,3.87926127172e-05,1793250704523461632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745.488692445,723,692.511307555,669.511307555,642,887,788,819.511307555,655,632,656,0.409371273989,-0.0153674687249,0.079800672279,0.999999911712,0.000259243674691,-0.000328082162425,4.16101278717e-05,1793250704540128512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.063332232,745.936667768,722.936667768,692,669.063332232,642.063332232,887,788,819.063332232,655,632,656,0.408799225336,-0.0153692278091,0.0798290474435,0.99999992617,0.000261206534452,-0.000278255625399,4.47773219708e-05,1793250704556795136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.654801126,745.345198874,722.345198874,692,669.654801126,642.654801126,887,788,819.654801126,655,632,656,0.408222621404,-0.0153710578235,0.0798352353835,0.999999926003,0.000267350020221,-0.000272726889663,4.62361316497e-05,1793250704573461760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745.240554227,722,692,669.759445773,643,886.759445773,788,820,655,632,656,0.407645431594,-0.0153700352297,0.0798241749029,0.999999918737,0.000270481317142,-0.000295438217428,4.56341018109e-05,1793250704590128384
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.027029923,746,722,690.054059847,669.972970077,643,886.972970077,788,820,655,632,656,0.406057501724,-0.0153646531696,0.0797563228703,0.999999883931,0.000264590722666,-0.000400940096611,3.71130730935e-05,1793250704640128256
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.126348651,745.126348651,723,690.873651349,670,642.126348651,886.126348651,788,820,655,632,656,0.405240278512,-0.0153631065003,0.0797990315606,0.999999912118,0.000272858605923,-0.000315705729819,4.05329022362e-05,1793250704673461504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.716470507,745.716470507,723,690.283529493,670,642.716470507,886.716470507,788,820,655,632,656,0.404849238962,-0.0153650490206,0.0798169607121,0.999999918912,0.000271540215948,-0.000294254728783,4.30915176934e-05,1793250704690128384
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.455791858,746,722.544208142,690.455791858,669.544208142,642,887,788,820,655,632,656,0.403760767232,-0.0153563924929,0.0798264017159,0.999999913317,0.000286802654447,-0.00029831290174,4.60501752914e-05,1793250704740128768
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.812003166,745.812003166,722.812003166,690,670,643,886.187996834,788,820,655,632,656,0.402894013563,-0.0153513036483,0.0798307453447,0.999999915878,0.000278900897305,-0.00029816442387,3.94617253232e-05,1793250704790128384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.222176967,745.222176967,722.222176967,690,670,643,886.777823033,788,820,655,632,656,0.402650220826,-0.0153529809072,0.0798338543714,0.999999915468,0.000280816592375,-0.000297379978989,4.20935829775e-05,1793250704806795008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.359909258,745,722.359909258,690,670,642.640090742,886.640090742,788,820,655,632,656,0.40243302742,-0.0153528752671,0.0798362474857,0.999999914999,0.000285650480723,-0.000294103089688,4.36907523327e-05,1793250704823461888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.937318134,745,722.937318134,690,670,642.062681866,886.062681866,788,820,655,632,656,0.402231908444,-0.0153516921892,0.0798382079617,0.999999914445,0.000292247885766,-0.000289319971439,4.4662641246e-05,1793250704840128768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,723,690,670,642.511980809,886.511980809,788,820,655,632,656,0.402061215548,-0.015356797083,0.0798354660577,0.999999914524,0.000289338829933,-0.000291844135073,4.5420210527e-05,1793250704856795136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,723,689.913438258,670,642.913438258,887,788,820,655,632,656,0.401899298976,-0.0153619354833,0.079833184402,0.999999915152,0.000285140522076,-0.000293704808697,4.61402689708e-05,1793250704873462016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,723,689.337428349,670,642.337428349,887,788,820,655,632,656,0.401766056156,-0.0153629336583,0.0798367430382,0.999999918528,0.00028019819083,-0.000286782348898,4.6795802518e-05,1793250704890128384
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.753755968,745.246244032,723,689.246244032,670,642.246244032,887,788,820,655,632,656,0.401640158061,-0.0153633926313,0.0798402976491,0.999999920676,0.00027750402176,-0.000281804978032,4.71785362405e-05,1793250704906795008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.159246511,745.840753489,723,689.840753489,670,642.840753489,887,788,820,655,632,656,0.401524647695,-0.0153630890056,0.079843846567,0.999999921166,0.000277989451525,-0.000279578566566,4.71754463753e-05,1793250704923461888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,690,670,643,886.578252347,788,820,655,632,656,0.401426506326,-0.0153614274365,0.0798420637166,0.999999919815,0.00028116668721,-0.00028175946056,4.38992369627e-05,1793250704940128512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,690,670,643,886.00220294,788,820,655,632,656,0.401334719628,-0.0153592690465,0.0798383301708,0.999999917746,0.000285328754381,-0.000285552823475,3.94255150387e-05,1793250704956795136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,690,669.428715478,642.428715478,886,788.571284522,820,655,632,656,0.401263236206,-0.0153592616265,0.0798338700034,0.999999914678,0.000288636041699,-0.000292899849846,3.9271704892e-05,1793250704973461760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.149403723,746,723,690,669.149403723,642.149403723,886.149403723,788.850596277,820,655,632,656,0.401197334329,-0.0153591718471,0.0798306904083,0.999999912756,0.000290502271977,-0.000297587078259,3.92179529929e-05,1793250704990128384
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.674847874,746,723,690,670,642.674847874,886.674847874,788,820,655,632,656,0.401105931126,-0.0153581813056,0.0798318474016,0.99999991489,0.000287806296561,-0.000292941126768,3.96627093716e-05,1793250705023461632
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745.52096692,723,689.52096692,670,642,886,788,820,655,632,656,0.40104439812,-0.0153568692674,0.0798318598232,0.99999991391,0.000290046475027,-0.000293983924602,4.03278942577e-05,1793250705056795136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.054593374,745.054593374,723,689,670,642.054593374,886.054593374,787.945406626,820,655,632,656,0.401021758403,-0.0153566076524,0.0798312372137,0.99999991347,0.000290399378651,-0.000295091506963,4.06061677001e-05,1793250705073461760
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,723,689.615833772,669.384166228,643,886.384166228,788,820,655,632,656,0.400986021135,-0.0153590174542,0.0798321518738,0.999999916115,0.000284124932456,-0.000292320664809,3.98939315733e-05,1793250705140128256
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10b7f961680917de4044b6a178509d8695e36c89
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82205cf31a9ddb54fc3b3851a672769fc8f7ebe8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0920b000e618ffb9acb5218e38bb0d033db9245f0f68fc3b70ab7712eb8a60aa
+size 26089570
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9700dac6128714f393f2380dbf2b286c32822147
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,412 @@
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+11,0.183333333,BASELINE,767.629930986,745,723,689.370069014,670,643,887,787.629930986,820,655,632,656,0.400980472227,-0.0153626506858,0.0798402035772,0.999999922017,0.000278200606709,-0.000277721657179,3.79654963804e-05,1793250705829404672
+12,0.200000000,BASELINE,767.039810175,745,723,689.960189825,670,643,887,787.039810175,820,655,632,656,0.40097930538,-0.0153630268088,0.0798411838951,0.999999921377,0.000280150840157,-0.000278003201197,3.84237090807e-05,1793250705846071296
+13,0.216666667,BASELINE,767.539783571,745,723,689.460216429,670.539783571,642.460216429,886.460216429,788.079567141,820,655,632,656,0.400978498172,-0.0153632759128,0.0798400194032,0.999999920875,0.000280551986552,-0.000279419087278,3.82893848276e-05,1793250705862738176
+14,0.233333333,BASELINE,768,745,723,689.117833093,670.882166907,642.117833093,886,788.882166907,820,655,632,656,0.400978131276,-0.0153633564765,0.0798392158908,0.999999920594,0.000280698164962,-0.00028028852962,3.81891198696e-05,1793250705879405056
+15,0.250000000,BASELINE,768,745,723,689.692846064,670.307153936,642.692846064,886,788.307153936,820,655,632,656,0.400979371806,-0.0153628187732,0.0798404149376,0.99999992114,0.000280289887062,-0.000278719445657,3.8387312485e-05,1793250705896071680
+16,0.266666667,BASELINE,768,745.268071985,723,689.731928015,670,642.731928015,886.268071985,788,819.731928015,655,632,656,0.400980425633,-0.0153628583671,0.0798409089331,0.999999921643,0.0002794270184,-0.000277780348704,3.83643209425e-05,1793250705912738560
+17,0.283333333,BASELINE,768,745.843542064,723,689.156457936,670,642.156457936,886.843542064,788,819.156457936,655,632,656,0.400981265369,-0.0153635599476,0.0798405944463,0.9999999221,0.000278042870626,-0.000277563657826,3.80876975577e-05,1793250705929405184
+18,0.300000000,BASELINE,768.432724832,745.567275168,723,689,670,642,887,788,819.432724832,655,632,656,0.400982009714,-0.0153630323062,0.0798410768513,0.999999922204,0.000278962075925,-0.000276249383213,3.81842640241e-05,1793250705946071808
+19,0.316666667,BASELINE,769,745.026203896,723,689.026203896,670,642.026203896,886.973796104,788,820,655,632,656,0.400982664804,-0.0153621414234,0.0798417896318,0.999999922205,0.000280503218781,-0.000274654854696,3.83795440825e-05,1793250705962737920
+20,0.333333333,BASELINE,769,745.602388967,723,689.602388967,670,642.602388967,886.397611033,788,820,655,632,656,0.400982194159,-0.0153632601195,0.0798410923726,0.999999922884,0.000277046408475,-0.000275780034133,3.77219673607e-05,1793250705979404544
+21,0.350000000,BASELINE,768.822276675,746,723,689.822276675,670,643,886,788.177723325,820,655,632,656,0.400981941421,-0.0153641251233,0.0798408011155,0.999999923371,0.000274815934992,-0.00027629795807,3.73362326319e-05,1793250705996071168
+22,0.366666667,BASELINE,768.248836582,746,723,689.248836582,670,643,886,788.751163418,820,655,632,656,0.400982173876,-0.0153644252586,0.0798414138584,0.999999923455,0.00027531600982,-0.000275463773566,3.75557783308e-05,1793250706012738048
+23,0.383333333,BASELINE,768,746,723,689.334233999,670,642.665766001,886.334233999,788.665766001,820,655,632,656,0.400982216446,-0.0153632503814,0.0798418231234,0.999999923172,0.000276805732333,-0.000275001634148,3.75434906854e-05,1793250706029404672
+24,0.400000000,BASELINE,768,746,723,689.924687242,670,642.075312758,886.924687242,788.075312758,820,655,632,656,0.400982113455,-0.0153609447797,0.0798420764053,0.999999922602,0.00027905410537,-0.000274824699351,3.73534827702e-05,1793250706046071552
+25,0.416666667,BASELINE,768,746,723,689.494795594,670,642,887,788,819.494795594,655,632,656,0.400980398872,-0.0153623752605,0.0798407585261,0.999999922429,0.000277837183037,-0.000276680886884,3.73691126325e-05,1793250706062738176
+26,0.433333333,BASELINE,768,746,723,689,670,642.084081456,887,788,819.084081456,655,632.084081456,656,0.400978992339,-0.0153639749351,0.0798396710338,0.999999922384,0.000276570343019,-0.000278097506563,3.74499746362e-05,1793250706079404800
+27,0.450000000,BASELINE,768,746,723,689,670,642.66185796,887,788,819.66185796,655,632.66185796,656,0.400980777978,-0.0153633609151,0.0798412850078,0.999999922786,0.000277985093994,-0.000275187868849,3.77373313132e-05,1793250706096071424
+28,0.466666667,BASELINE,768.237761433,745.762238567,723,689.237761433,670,642.762238567,886.762238567,788,820,655,632.762238567,656,0.400982232132,-0.0153629853772,0.0798424293947,0.999999923141,0.000278783289882,-0.000273041986117,3.80184390008e-05,1793250706112738048
+29,0.483333333,BASELINE,768.811021887,745.188978113,723,689.811021887,670,642.188978113,886.188978113,788,820,655,632.188978113,656,0.400983218534,-0.0153629463554,0.0798429111594,0.999999923442,0.000278711480723,-0.000271973818497,3.8290728884e-05,1793250706129404672
+30,0.500000000,BASELINE,769,745,723,689.60470833,670,642.39529167,886,788,820,655,632,656,0.400982603108,-0.0153636453181,0.0798423011281,0.999999923479,0.00027720194093,-0.000273395349602,3.81574370942e-05,1793250706146071552
+31,0.516666667,BASELINE,769,745,723,689.015024518,670,642.984975482,886,788,820,655,632,656,0.400981199954,-0.0153647071986,0.0798411541854,0.999999923377,0.000274985369951,-0.000276041237093,3.78246928502e-05,1793250706162738432
+32,0.533333333,BASELINE,769,745.564412119,723,689,670,643,886.564412119,788,820,655,632,656,0.400980279357,-0.0153640619196,0.0798408220846,0.999999922951,0.000276131159378,-0.000276489681291,3.74548270015e-05,1793250706179404800
+33,0.550000000,BASELINE,769,745.857515667,723,689.284968667,670,643,887,788,820,655,632,656,0.40097993042,-0.0153633299208,0.0798407447628,0.99999992254,0.000277668283853,-0.000276462937103,3.72584961206e-05,1793250706196071680
+34,0.566666667,BASELINE,769,745.282770092,723,690.434459815,670,643,887,788,820,655,632,656,0.40098127748,-0.0153624702442,0.0798413757447,0.999999922199,0.000280125924947,-0.000275168887919,3.75915706756e-05,1793250706212738304
+35,0.583333333,BASELINE,768.701580935,745.298419065,723,690.701580935,670,643,886.701580935,788,820,655,632,656,0.400981941609,-0.015362539053,0.0798420192592,0.999999922614,0.000279613183487,-0.000274164872628,3.77214658932e-05,1793250706229404672
+36,0.600000000,BASELINE,768.114151279,745.885848721,723,690.114151279,670,643,886.114151279,788,820,655,632,656,0.400981944336,-0.0153635070742,0.0798426749112,0.999999923756,0.000276223709157,-0.000273441746969,3.76545875941e-05,1793250706246071296
+37,0.616666667,BASELINE,768,746,723,689.533494992,670,643,886,788,820,655,632,656,0.400981267502,-0.015363988023,0.079841682588,0.999999923472,0.000276108300106,-0.000274595401456,3.76578561391e-05,1793250706262738176
+38,0.633333333,BASELINE,768.045429973,746,723,689.045429973,670,643,886,788,820,655,632,656.045429973,0.400980457492,-0.0153643672159,0.0798404154796,0.999999922909,0.000276651906856,-0.000276088965504,3.76893617592e-05,1793250706279404800
+39,0.650000000,BASELINE,768.623211284,746,723,689.623211284,670,643,886,788,820,655,632,656.623211284,0.400980007568,-0.0153649306433,0.0798405861095,0.999999923128,0.000275664375999,-0.000276261247962,3.78534944379e-05,1793250706296071168
+40,0.666666667,BASELINE,769,745.800131253,723,689.800131253,670,642.800131253,886.199868747,788,819.800131253,654.800131253,632,656.800131253,0.400979666207,-0.0153651810433,0.0798407947908,0.999999923161,0.000275263944667,-0.00027653829465,3.78730785936e-05,1793250706312738048
+41,0.683333333,BASELINE,769,745.225580635,723,689.225580635,670,642.225580635,886.774419365,788,819.225580635,654.225580635,632,656.225580635,0.400979528362,-0.0153648446299,0.0798410748047,0.999999922846,0.000275964113419,-0.000277011736504,3.76216863533e-05,1793250706329405184
+42,0.700000000,BASELINE,768.642665579,745,723,689.357334421,670,642,887,788,819,654.357334421,632,656,0.40097896913,-0.0153652437563,0.0798407388164,0.999999922865,0.000275255009683,-0.00027766973883,3.74810636761e-05,1793250706346071808
+43,0.716666667,BASELINE,768.054343616,745,723,689.945656384,670,642,887,788,819,654.945656384,632,656,0.400978137506,-0.0153661183492,0.0798400046331,0.999999923096,0.000273634926271,-0.00027844704442,3.74120444911e-05,1793250706362738432
+44,0.733333333,BASELINE,768.528739177,745.528739177,723,690,670,642.528739177,886.471260823,788,819.528739177,655,632,656,0.400981445759,-0.0153658391776,0.0798421119786,0.999999924,0.000274574655774,-0.000274189560314,3.77896555239e-05,1793250706379404800
+45,0.750000000,BASELINE,768.890401046,746,723,690,670,643,886.109598954,788,820,655,632,656,0.400984296454,-0.0153656286717,0.0798439731721,0.999999924772,0.000275347749086,-0.000270528894685,3.81196676683e-05,1793250706396071424
+46,0.766666667,BASELINE,768.316697101,746,723,690,670,643,886.683302899,788,820,655,632,656,0.400983425466,-0.0153662061594,0.0798435674363,0.999999924778,0.000274312037353,-0.000271565284801,3.80556398685e-05,1793250706412738048
+47,0.783333333,BASELINE,768,746,723,690,670,643,887,788,820,655,632,655.742038588,0.400982844423,-0.0153660473945,0.0798431691372,0.999999924709,0.000273796100914,-0.000272371963227,3.78371387515e-05,1793250706429404672
+48,0.800000000,BASELINE,768,746,723,690,670,643,887,788,820,655,632,655.16620373,0.400982620665,-0.0153649813809,0.0798427800021,0.999999924547,0.000273920658444,-0.000272895579121,3.74282875839e-05,1793250706446071296
+49,0.816666667,BASELINE,768,746,723,690,670,643,886.579954879,788,820,655,632,655.420045121,0.400982690298,-0.0153649995415,0.0798427238574,0.999999924605,0.000273804187751,-0.000272796841165,3.74528605418e-05,1793250706462738432
+50,0.833333333,BASELINE,768.010321805,746.010321805,723,690,670,643,886,788,820,655,632,656,0.400982881234,-0.0153654539854,0.0798428091618,0.99999992476,0.000273572644493,-0.000272435557481,3.76438144549e-05,1793250706479405056
+51,0.850000000,BASELINE,768.5897096,746.5897096,723,690,670,643,886,788,820,655,632,656,0.400983196833,-0.0153657094247,0.0798432440892,0.999999925344,0.000272388535028,-0.000271521190698,3.73123042467e-05,1793250706496071680
+52,0.866666667,BASELINE,768.832472608,746.664945215,723,689.832472608,670,643,886.167527392,788,820,655,632,656,0.400982656011,-0.0153655090812,0.0798428293941,0.999999925329,0.00027190281411,-0.000272094983152,3.7070155018e-05,1793250706512738304
+53,0.883333333,BASELINE,768.258464236,745.516928472,723,689.258464236,670,643,886.741535764,788,820,655,632,656,0.400980037205,-0.0153642028463,0.0798403532127,0.999999923854,0.000273111632031,-0.000276279578743,3.70448272967e-05,1793250706529404928
+54,0.900000000,BASELINE,768.323263438,745.323263438,723,689.323263438,670,642.676736562,886.676736562,788,819.676736562,655.323263438,632,656,0.400979039178,-0.0153640577301,0.079839671352,0.999999923294,0.000273603073633,-0.000277817410288,3.70247628538e-05,1793250706546071552
+55,0.916666667,BASELINE,768.911314013,745.911314013,723,689.911314013,670,642.088685987,886.088685987,788,819.088685987,655.911314013,632,656,0.400979368742,-0.0153648636935,0.0798404592307,0.999999923496,0.000273506907674,-0.00027718726037,3.70090095973e-05,1793250706562738432
+56,0.933333333,BASELINE,769,745.509529211,723,689.509529211,670.490470789,642.490470789,886.490470789,788,819.490470789,655.509529211,632,656,0.400979548305,-0.0153644572682,0.0798408993386,0.999999923209,0.000274783701852,-0.000276908503156,3.73735772794e-05,1793250706579404800
+57,0.950000000,BASELINE,769,745.068205594,723,689,670.931794406,642.931794406,887,788,820,655.068205594,632,656,0.400979827657,-0.0153640325838,0.0798413377067,0.999999922964,0.000276035535393,-0.000276496310378,3.77598599522e-05,1793250706596071424
+58,0.966666667,BASELINE,769,745.647119769,723,689,670.352880231,642.352880231,887,788,820,655.647119769,632,656,0.400981053686,-0.0153650834289,0.0798422255175,0.99999992369,0.000275274688746,-0.000274617694969,3.78029839496e-05,1793250706612738304
+59,0.983333333,BASELINE,769,746,723,689.224121265,670.224121265,642,887.224121265,788,820,655.775878735,632,656,0.400981822876,-0.0153655093116,0.079842914673,0.99999992399,0.000275305094025,-0.000273486735849,3.78401305699e-05,1793250706629404672
+60,1.000000000,BASELINE,769,746,723,689.798136808,670.798136808,642,887.798136808,788,820,655.201863192,632,656,0.400981878858,-0.0153649595141,0.0798432936915,0.99999992363,0.000276570788135,-0.000273523004631,3.78679454186e-05,1793250706646071296
+61,1.016666667,BASELINE,769,746,723,689.616544467,670.616544467,642.383455533,887.233088933,788,819.616544467,655,632,656,0.400982191543,-0.0153659869413,0.0798433648519,0.999999924224,0.000274728301732,-0.000273210343251,3.78387814485e-05,1793250706662737920
+62,1.033333333,BASELINE,769,746,723,689.025094694,670.025094694,642.974905306,886.050189389,788,819.025094694,655,632,656,0.400982643469,-0.0153678698879,0.0798432690236,0.999999925327,0.000271199873636,-0.000272708414905,3.77787109824e-05,1793250706679404544
+63,1.050000000,BASELINE,768.445297108,746,723,689.554702892,670,643,886.554702892,788.554702892,819.554702892,655,632,656,0.400980908587,-0.0153657082905,0.0798419334704,0.999999924475,0.000272299876501,-0.000274819917816,3.71075675056e-05,1793250706696071424
+64,1.066666667,BASELINE,768.132555382,746,723,690,670,643,886.867444618,788.867444618,819.867444618,655,632,656,0.400979525851,-0.0153641258654,0.079840917257,0.99999992373,0.000273435904711,-0.00027646660506,3.65882476608e-05,1793250706712738048
+65,1.083333333,BASELINE,768.705659221,746,723,690,670,643,886.294340779,788.294340779,819.294340779,655,632,656,0.400979635506,-0.0153650639284,0.0798411449352,0.999999923648,0.000274010073255,-0.000276183617059,3.66635020072e-05,1793250706729404928
+66,1.100000000,BASELINE,769,745.713567748,723,690,670,643,886.286432252,788,819.286432252,655,632,656,0.400980297323,-0.0153658121748,0.0798414077365,0.999999923896,0.000273686267458,-0.000275586265983,3.68275954333e-05,1793250706746071552
+67,1.116666667,BASELINE,769,745.124696995,723,690,670,643,886.875303005,788,819.875303005,655,632,656,0.400981542156,-0.0153663599974,0.0798417076236,0.999999924489,0.000272414307177,-0.000274656984786,3.70854923905e-05,1793250706762737920
+68,1.133333333,BASELINE,768.544564777,745,723,690,670,643,886.544564777,788,820,655,632,656.455435223,0.400981598063,-0.0153656985553,0.0798422401127,0.999999924754,0.000272549360813,-0.000273551945494,3.71187382628e-05,1793250706779404800
+69,1.150000000,BASELINE,768,745.033237997,723,690,670,643,886,788,819.966762003,655,632,656.966762003,0.400981311532,-0.015364745937,0.0798427783858,0.999999924846,0.000273192487021,-0.000272575011937,3.71071033875e-05,1793250706796071424
+70,1.166666667,BASELINE,768,745.611336776,723,690,670,643,886,788,819.388663224,655,632,656.388663224,0.400980647296,-0.0153643454952,0.0798423871447,0.999999923556,0.000275968111158,-0.000274472080658,3.73490666329e-05,1793250706812738048
+71,1.183333333,BASELINE,768,746,723,690,670,643,886,788,819.188601217,655,632,656,0.400980345892,-0.0153639341429,0.0798421786913,0.999999922889,0.000277442902385,-0.000275400569904,3.74347168321e-05,1793250706829404928
+72,1.200000000,BASELINE,768,746,723,690,670,643,886,788,819.764153961,655,632,656,0.400980788907,-0.0153635004056,0.0798423452619,0.99999992352,0.000276248786216,-0.000274341833162,3.71996609183e-05,1793250706846071808
+73,1.216666667,BASELINE,768,745.652958089,723,689.652958089,670,642.652958089,886,788,820,655,632,656,0.400981891089,-0.0153642787878,0.0798428705736,0.999999924085,0.000275196599075,-0.000273333927822,3.72146233499e-05,1793250706862738176
+74,1.233333333,BASELINE,768,745.064977608,723,689.064977608,670,642.064977608,886,788,820,655,632,656,0.400983450906,-0.0153658987006,0.0798436449462,0.999999924606,0.000274242948165,-0.000272361312936,3.74031644354e-05,1793250706879404800
+75,1.250000000,BASELINE,768,745,723,689.515568281,670,642,886,788,820,655,632,656,0.400981348195,-0.0153642030882,0.0798418302506,0.999999923244,0.000276640083662,-0.000274949822262,3.72265290541e-05,1793250706896071680
+76,1.266666667,BASELINE,768.094687684,745.094687684,723,690,670,642.094687684,886.094687684,788,820,655,632,656,0.400979270596,-0.0153625714118,0.0798401179395,0.999999921972,0.000278896767334,-0.000277310095217,3.70485792958e-05,1793250706912738304
+77,1.283333333,BASELINE,768.671248201,745.671248201,723,690,670,642.671248201,886.671248201,788,820,655,632,656,0.400979636482,-0.0153633613992,0.0798405636467,0.999999922422,0.000278320098646,-0.000276257284505,3.70948285877e-05,1793250706929404672
+78,1.300000000,BASELINE,768.752715192,745.752715192,723,690,670,643,886.752715192,788,820,655,632,656,0.400980023069,-0.0153642370681,0.0798407836043,0.999999922675,0.000277983806742,-0.000275662530437,3.72052214096e-05,1793250706946071296
+79,1.316666667,BASELINE,768.177373669,745.177373669,723,690,670,643,886.177373669,788,820,655,632,656,0.400980437118,-0.0153652264052,0.0798407040744,0.999999922669,0.000277966407176,-0.000275675450493,3.74007092887e-05,1793250706962738176
+80,1.333333333,BASELINE,768,745,723,690,670,642.592654874,886.407345126,788,819.592654874,655.407345126,632,656,0.400981436106,-0.0153654269857,0.0798418316588,0.999999923532,0.000276011498749,-0.000274522721985,3.73062709864e-05,1793250706979405056
+81,1.350000000,BASELINE,768,745,723,690,670,642.003756594,886.996243406,788,819.003756594,655.996243406,632,656,0.400982695801,-0.0153652760186,0.0798434972524,0.999999924772,0.000273193045316,-0.000272850465533,3.70826130053e-05,1793250706996071680
+82,1.366666667,BASELINE,768.575000952,745,723,690,670,642.575000952,887,788,819.575000952,655.424999048,632,656,0.400981091521,-0.0153659292374,0.0798426013086,0.999999923887,0.000274886269918,-0.000274330784456,3.75027320029e-05,1793250707012738304
+83,1.383333333,BASELINE,768.847648754,745,723,689.847648754,670,642.847648754,886.847648754,788,820,655,632,656,0.400979983752,-0.0153662559598,0.0798418837136,0.999999923196,0.000276382449475,-0.000275306813075,3.77742668252e-05,1793250707029404928
+84,1.400000000,BASELINE,768.274009694,745,723,689.274009694,670,642.274009694,886.274009694,788,820,655,632,656,0.4009802998,-0.0153656655647,0.0798417047707,0.999999923091,0.000277253657739,-0.000274832391196,3.76235019623e-05,1793250707046071552
+85,1.416666667,BASELINE,768.307424287,745.307424287,723,689.307424287,670,642.307424287,886.307424287,788,819.692575713,655.307424287,632,656,0.400980795363,-0.0153657057879,0.0798420459016,0.999999923324,0.000276898748692,-0.000274358156008,3.75064251656e-05,1793250707062738432
+86,1.433333333,BASELINE,768.895986653,745.895986653,723,689.895986653,670,642.895986653,886.895986653,788,819.104013347,655.895986653,632,656,0.400981455091,-0.0153663227086,0.0798428626378,0.999999923865,0.00027542256102,-0.000273884091576,3.74201559577e-05,1793250707079404800
+87,1.450000000,BASELINE,769,746,723,689.521089916,670,643,887,788.478910084,819.478910084,655.521089916,632,656,0.400981964363,-0.0153666012136,0.0798434532386,0.999999924304,0.00027475407257,-0.000272958184609,3.73641066153e-05,1793250707096071680
+88,1.466666667,BASELINE,768.939931767,746,723,689.060068233,670,643,887,788.939931767,819.939931767,655,632,656,0.400982406872,-0.0153667103975,0.079843970717,0.999999924671,0.000274430578524,-0.000271935801906,3.73721269596e-05,1793250707112738048
+89,1.483333333,BASELINE,768.363542649,746,723,689.636457351,670,643,887,788.363542649,819.363542649,655,632,656,0.400982553118,-0.0153659885905,0.0798442769138,0.999999924612,0.000275582201681,-0.000270917861624,3.78751034951e-05,1793250707129404672
+90,1.500000000,BASELINE,768.212307205,745.787692795,723,689.787692795,670,643,887,788,819,655,632,656,0.4009822084,-0.0153663379839,0.0798441595338,0.999999924774,0.000275006058736,-0.000270880877397,3.80414865085e-05,1793250707146071552
+91,1.516666667,BASELINE,768.787235934,745.212764066,723,689.212764066,670,643,887,788,819,655,632,656,0.400981025111,-0.0153685169918,0.0798433186829,0.999999925308,0.000271478884502,-0.000272519369993,3.7632966436e-05,1793250707162738176
+92,1.533333333,BASELINE,768.62802156,745.37197844,723,689.37197844,670,643,887,788,819.37197844,655,632,656,0.400981240017,-0.0153689593114,0.0798427545413,0.999999925484,0.000270260164239,-0.000273120439296,3.73643486272e-05,1793250707179404800
+93,1.550000000,BASELINE,768.037513611,745.962486389,723,689.962486389,670,643,887,788,819.962486389,655,632,656,0.400982276333,-0.0153683813634,0.0798423529605,0.999999925456,0.000270397611786,-0.000273112044395,3.71779204163e-05,1793250707196071424
+94,1.566666667,BASELINE,768,745.457558581,723,689.457558581,670,643,886.457558581,788,820,655,632.542441419,656,0.400980699974,-0.0153658804317,0.0798415479319,0.999999924293,0.000272698098822,-0.000275122940157,3.68297963424e-05,1793250707212738048
+95,1.583333333,BASELINE,768,745.115569261,723,689,670,643,886.115569261,788,820,655,632.884430739,656,0.400979416081,-0.0153639115231,0.0798409675309,0.999999923292,0.000274814925725,-0.00027667047238,3.66778368206e-05,1793250707229404928
+96,1.600000000,BASELINE,768,745.665716749,723,689,670,643,886.665716749,788,820,655,632.334283251,656,0.400979898425,-0.0153644337287,0.0798413347184,0.999999923225,0.000275689360925,-0.000275960505423,3.7304767122e-05,1793250707246071808
+97,1.616666667,BASELINE,768.235749894,746,723,689.471499787,670.235749894,643,886.764250106,788,820,655.235749894,632.235749894,656,0.400980481364,-0.0153645853732,0.0798417092782,0.999999923323,0.000276009163185,-0.000275249498863,3.75597068828e-05,1793250707262738176
+98,1.633333333,BASELINE,768.83657755,746,723,690.673155101,670.83657755,643,886.16342245,788,820,655.83657755,632.83657755,656,0.400981220082,-0.0153641631735,0.0798420952543,0.99999992368,0.000275470071462,-0.000274536882437,3.72385891894e-05,1793250707279404800
+99,1.650000000,BASELINE,769,746,723,690.569472408,670.569472408,642.569472408,886.430527592,788,820,655.569472408,632.569472408,656,0.400980752989,-0.0153637569714,0.0798417465462,0.99999992305,0.000277326479304,-0.000274955018725,3.7292178211e-05,1793250707296071424
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+101,1.683333333,BASELINE,769,746,723,690.600173822,670,642.600173822,887,788,820,655,632,656,0.400978837053,-0.0153640595152,0.0798401270831,0.999999922441,0.000277607621347,-0.000276912605208,3.70201955807e-05,1793250707329404672
+102,1.700000000,BASELINE,769,745.822328481,723,690.822328481,670,642.822328481,887,788,819.822328481,655,632,656,0.400978711099,-0.0153651769323,0.0798400622935,0.999999923234,0.000274983359055,-0.000276701130858,3.67745988347e-05,1793250707346071296
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+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886,788,820,655,632,656,0.40098249085,-0.0153648891049,0.0798439124291,0.999999924737,0.000274255860048,-0.000271944261035,3.68185191016e-05,1793250707428077056
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.598581806,788,819.401418194,655,632,656,0.400981478231,-0.0153641333521,0.0798421933515,0.999999923791,0.000275573867359,-0.00027411090701,3.66116966256e-05,1793250707444743680
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723,689.806497942,670,643,887,788.193502058,819,655,632,655.806497942,0.400980671709,-0.0153640520489,0.0798413901947,0.999999923381,0.00027580531336,-0.000275367526492,3.66252364652e-05,1793250707461410560
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+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,689.362184279,670,643,886.637815721,788.637815721,819.362184279,655,632,655.362184279,0.400981002643,-0.0153651518993,0.0798432466576,0.999999924227,0.000274563890988,-0.00027343626172,3.73223782178e-05,1793250707494744064
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723,689.939685954,670,643,886.060314046,788.060314046,819.939685954,655,632,655.939685954,0.400982377271,-0.0153640777505,0.0798438828887,0.999999924057,0.000276920307214,-0.000271661862399,3.74222378329e-05,1793250707511410688
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+114,1.900000000,POSE1_TO_POSE2_PRESS,768.328694722,746,723,689,670,643,886.671305278,788.328694722,820,655,632.328694722,656,0.400980212751,-0.0153661243091,0.0798422967124,0.999999924088,0.000273588326908,-0.000274969159655,3.69575573428e-05,1793250707561410560
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+116,1.933333333,POSE1_TO_POSE2_PRESS,768.8227884,746,723,689.8227884,670.8227884,643,886.1772116,788,819.1772116,655,632,656,0.400983857951,-0.015364281114,0.079843905462,0.999999923252,0.000278251446986,-0.000273316833527,3.7003803431e-05,1793250707594743808
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+118,1.966666667,POSE1_TO_POSE2_PRESS,768.995835676,745,723,689.995835676,670.004164324,643,886,788,820,655,632,656,0.401025898914,-0.0153689591008,0.0798604211481,0.999999932135,0.000273818295127,-0.000243513935462,3.81250114763e-05,1793250707628077312
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+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,723,689,670.271004758,643,886.728995242,788,819.271004758,655.728995242,632,656,0.401207227609,-0.0153767362037,0.0799097785624,0.999999951367,0.000271608532583,-0.00014806850993,3.96173894128e-05,1793250707678077440
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745,723,689,670,643,886.687089903,788,819.312910097,655.687089903,632.312910097,656,0.401286441694,-0.015379914579,0.0799220151538,0.999999954578,0.000269851394434,-0.000128520019312,3.88130847087e-05,1793250707694744064
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,745,723,689,670,643,886.096416325,788,819.903583675,655.096416325,632.903583675,656,0.401371479825,-0.0153810729128,0.079930807247,0.99999995624,0.000268993382757,-0.00011747511334,3.68967352647e-05,1793250707711410688
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+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745.460926717,723,690,670,643,887,788,819,655.460926717,632.460926717,656,0.402546940814,-0.0154217936012,0.0799452276519,0.999999971438,0.000222170068317,-8.81138032135e-05,-8.4221646317e-07,1793250707844744192
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.115305397,723,690,670.115305397,643,887,788,819.115305397,655,632,656,0.402761751576,-0.0154290525751,0.0799428628249,0.999999976823,0.000193763093242,-9.34737587167e-05,-8.56981870721e-06,1793250707861411072
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.691262078,723,690,670.691262078,643,887,788,819.691262078,655,632,656,0.403012215647,-0.0154363637537,0.0799436305797,0.999999989495,0.000111132166613,-9.15635805546e-05,-1.6577973435e-05,1793250707878078464
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.728796005,745.728796005,723,690,671,643,886.728796005,788.271203995,820,655,632.271203995,656,0.403280985446,-0.0154449439529,0.0799450581238,0.999999993732,6.42872210402e-05,-8.84993067186e-05,-2.39034724093e-05,1793250707894745088
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.144249683,745.144249683,723,690,671,643,886.144249683,788.855750317,820,655,632.855750317,656,0.403570905214,-0.0154549903465,0.079947247972,0.999999994272,5.87885104481e-05,-8.41016202083e-05,-3.04402475911e-05,1793250707911411200
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745,723,690.437345497,670.562654503,643,886.437345497,788.562654503,819.562654503,655,632.562654503,656,0.403906845882,-0.0154633359189,0.0799508545737,0.999999993663,7.92558165684e-05,-7.63956193836e-05,-2.35640154715e-05,1793250707928077568
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.01790249,745.01790249,723,691,670,643,886.98209751,788.01790249,819.01790249,655,632,656,0.404258856348,-0.0154709836323,0.0799547729031,0.999999991947,0.000106526666969,-6.77658035616e-05,-1.29043994583e-05,1793250707944743680
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.596226726,745.596226726,723,691,670,643,886.403773274,788.596226726,819.596226726,655,632,656,0.404641935137,-0.0154742288306,0.0799539196071,0.999999994476,8.04733334009e-05,-6.41462931787e-05,-2.13708560968e-05,1793250707961410560
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.826239218,723,691,670,643,886.173760782,788.826239218,819.826239218,655,632,656,0.405033923725,-0.0154769881766,0.0799516486542,0.999999995862,5.71479775585e-05,-6.46417790852e-05,-2.88477708723e-05,1793250707978077184
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.250533092,723,691,670,643,886.749466908,788.250533092,819.250533092,655,632,656,0.405446522506,-0.0154786236434,0.0799460983619,0.999999995829,4.01330133666e-05,-7.46561200277e-05,-3.40356654304e-05,1793250707994744064
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.665800175,745.334199825,723,691,670,643,887,788.334199825,819,655,632,656,0.405880202093,-0.0154744784455,0.0799391950185,0.999999994251,5.21420482224e-05,-8.72679142783e-05,-3.4106790319e-05,1793250708011410944
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.074112406,745.925887594,723,691,670,643,887,788.925887594,819,655,632,656,0.406330123664,-0.0154658794708,0.0799312492013,0.999999990611,8.65129417406e-05,-0.000101880946096,-3.02356440437e-05,1793250708028077568
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,745.493167704,723,691.506832296,670,643,887,788.493167704,819.506832296,655,632.506832296,656,0.406833843325,-0.0154657439324,0.0799296228533,0.999999990621,8.13804063048e-05,-0.000104874410626,-3.37261910155e-05,1793250708044743936
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.084927325,723,692,670,643,887.084927325,788,820,655,632.915072675,656.084927325,0.407345983318,-0.0154678884395,0.0799275161851,0.999999990905,6.96028405703e-05,-0.000109141570306,-3.78645315367e-05,1793250708061410816
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745.655523405,723,692,670,643,887.655523405,788,820,655,632.344476595,656.655523405,0.407862223214,-0.0154761413292,0.0799174879737,0.999999989375,5.2172543914e-05,-0.000130207341122,-3.96791702326e-05,1793250708078077440
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.234512361,745.765487639,723,692.234512361,670,643,888,788,820,655,632,656.765487639,0.408406345985,-0.0154818762637,0.0799135442441,0.999999988576,4.10282103868e-05,-0.000139608816135,-4.09168416134e-05,1793250708094743808
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.826287218,745.173712782,723,692.826287218,670,643,888,788,820,655,632,656.173712782,0.408992946253,-0.0154837752764,0.0799188697796,0.999999989758,3.94600848139e-05,-0.000131240585144,-4.12755452504e-05,1793250708111410432
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.409139644,723,693,670,643,887.590860356,788.409139644,819.590860356,655,632,656,0.409652147067,-0.0154844086532,0.0799475799527,0.999999994794,4.28499262823e-05,-8.35670746244e-05,-3.99129420591e-05,1793250708128077312
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.988284616,723,693,670,643,887.011715384,788.988284616,819.011715384,655,632,656,0.41034151478,-0.015484516134,0.0799860068888,0.999999997926,4.82998975289e-05,-1.95614705436e-05,-3.78351028943e-05,1793250708144744192
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.434738171,746,723,693,670,643,887.565261829,789,819,655,632,656,0.411028250947,-0.0154834993492,0.0799912028444,0.999999998138,4.41939015216e-05,-1.52938101245e-05,-3.92113106644e-05,1793250708161410304
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.141895308,746,723.141895308,693,670,643,888.141895308,788.858104692,819.141895308,655,632,656,0.411710439412,-0.0154836215999,0.0799861931126,0.999999998098,3.81754768071e-05,-2.538769144e-05,-4.12512394961e-05,1793250708178077184
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.717614599,746,723.717614599,693,670,643,888.717614599,788.282385401,819.717614599,655,632,656,0.412378889934,-0.0154872972511,0.0799520786463,0.999999995762,2.69132887808e-05,-7.56190099435e-05,-4.51023662279e-05,1793250708194743808
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.700211463,745.700211463,723.700211463,693.299788537,670,642.700211463,888.700211463,788.299788537,820.299788537,655,632.299788537,656,0.41307613479,-0.0154902327725,0.0799283660221,0.999999993145,1.92458817993e-05,-0.000104657169667,-4.88585927128e-05,1793250708211410432
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.111823723,745.111823723,723.111823723,693.888176277,670,642.111823723,888.111823723,788.888176277,820.888176277,655,632.888176277,656,0.413801099337,-0.015492455789,0.0799146669966,0.99999999209,1.50390826521e-05,-0.000113293192037,-5.25234615538e-05,1793250708228077056
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,745.470804825,723,694.470804825,670,642.470804825,888,789,821,655,632.529195175,656.470804825,0.414592117853,-0.0154951017534,0.0799310350831,0.999999995047,1.52375239876e-05,-8.41563808956e-05,-5.0900201194e-05,1793250708244744192
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.051412386,746,723,694.948587614,670,642.948587614,888.051412386,789,821.051412386,655,632,656.948587614,0.415397530328,-0.0154973009464,0.0799517972807,0.999999997346,1.60620016031e-05,-5.19371740647e-05,-4.84944450402e-05,1793250708261411328
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.625216472,746,723,694.374783528,670,642.374783528,888.625216472,789,821.625216472,655,632,656.374783528,0.416191712353,-0.0154939521904,0.0799455214754,0.999999995554,1.27445798372e-05,-7.84559768759e-05,-5.0745808071e-05,1793250708278077696
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,694.204038467,670,642.204038467,889,789,822.204038467,655,632,656,0.417003913474,-0.0154927962737,0.0799442422646,0.999999995028,1.06047983476e-05,-8.43361486126e-05,-5.21521938589e-05,1793250708294744064
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,694.79230985,670,642.79230985,889,789,822.79230985,655,632,656,0.417850047018,-0.0154957697798,0.0799523723392,0.999999997274,1.06826781032e-05,-5.13508952971e-05,-5.19673694233e-05,1793250708311410944
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,889.374175904,789,822.625824096,655,632,656,0.418725247091,-0.0155005006759,0.0799686395459,0.999999998512,7.66475002322e-06,-1.49872794025e-05,-5.18948068491e-05,1793250708328077312
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,695,670,643,889.952546434,789,822.047453566,655,632,656,0.419616309272,-0.0155061906117,0.079989347334,0.99999999838,2.95738305543e-06,2.32199695821e-05,-5.18835075868e-05,1793250708344743680
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.473484255,746,723,695,670,642.473484255,890,789,822.526515745,655,632,656,0.420475996324,-0.0155056011951,0.0799713015696,0.999999998538,-2.72540161828e-06,-6.31823665235e-06,-5.36299478222e-05,1793250708361410560
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,723,695,670,642.100624152,890,789,823.100624152,655,632,656,0.421349040376,-0.0155048747627,0.0799573872248,0.999999998026,-6.50576860332e-06,-2.98204879283e-05,-5.49141898227e-05,1793250708378077440
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,723,695,670,642.677251268,890,789,823.677251268,655,632,656,0.422298535365,-0.0155061551765,0.0799794021407,0.999999998573,-8.74318500005e-07,3.8741296099e-06,-5.32688033904e-05,1793250708394744064
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.260100163,746,723,695.260100163,670,643,890.260100163,789,824,655,632,656,0.423223907333,-0.0155080441645,0.079996326053,0.999999998331,2.3867180617e-06,2.52325739039e-05,-5.19203143903e-05,1793250708411410944
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.850858717,746,723,695.850858717,670,643,890.850858717,789,824,655,632,656,0.424118612477,-0.0155107068167,0.0800067779111,0.999999998221,2.63431196845e-06,3.09083752502e-05,-5.09492630018e-05,1793250708428077568
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891,788.566943,824,655,632,656,0.424981678894,-0.0155097308224,0.0799669628289,0.999999997472,4.86933759173e-06,-4.55470391132e-05,-5.43770767244e-05,1793250708444743936
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891.012244345,788,824.012244345,655,632,656,0.425836286443,-0.0155075836438,0.0799112516218,0.999999987389,7.6021618694e-06,-0.000147155539474,-5.92398727463e-05,1793250708461410560
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891.58593107,788,824.58593107,655,632,656,0.426792967552,-0.0155080796821,0.0799050540244,0.999999989602,2.38455023141e-06,-0.000130281901611,-6.17832001709e-05,1793250708478077184
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,892,788.158883772,825,655,632,656,0.427744084532,-0.0155088747742,0.0799035205318,0.999999991028,-2.40184700418e-06,-0.00011819208929,-6.29976301229e-05,1793250708494744064
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,892,788.729932289,825,655,632,656,0.4286807674,-0.0155104456494,0.0799140863215,0.999999991113,-6.06961882995e-06,-0.000118512130977,-6.0764730624e-05,1793250708511411456
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.684863922,746.315136078,723,696,670.315136078,643,892.315136078,789,825.315136078,655,632,656.315136078,0.429644739116,-0.0155137167025,0.0799454461903,0.999999995256,-7.24581942329e-06,-7.79948277949e-05,-5.7905366101e-05,1793250708528079104
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.086958752,746.913041248,723,696,670.913041248,643,892.913041248,789,825.913041248,655,632,656.913041248,0.430633196849,-0.0155185133113,0.0799954644199,0.999999998496,-6.18635276885e-06,-8.34499987552e-07,-5.44838793578e-05,1793250708544746752
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.495004094,747,723,696,670.504995906,643,893,788.504995906,825.504995906,655,632,656.504995906,0.43158266398,-0.0155210836319,0.0800226853869,0.999999997763,-1.00315733479e-05,4.03310687184e-05,-5.24045558009e-05,1793250708561412352
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.926241656,723,696,670,643,893,788,825.073758344,655,632,656,0.432511622283,-0.0155221527964,0.0800332766208,0.999999996992,-1.39434367932e-05,5.6134418125e-05,-5.16727153467e-05,1793250708578077952
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.350856515,723,696,670,643,893,788,825.649143485,655,632,656,0.433346230845,-0.015515589521,0.079957156875,0.999999996472,-1.26315335423e-05,-5.88867921912e-05,-5.85515349866e-05,1793250708594744320
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.228951813,723,696,670,643,893.228951813,788,826,655,632,656,0.434211991503,-0.0155132564817,0.0799086500755,0.99999998955,-1.56710500004e-05,-0.000128863564332,-6.36209505386e-05,1793250708611410688
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.815672063,723,696,670,643,893.815672063,788,826,655,632,656,0.435126431689,-0.0155175337625,0.0799032922587,0.999999989256,-2.55102532625e-05,-0.000128452276979,-6.58629274591e-05,1793250708628077568
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643.382400964,894.382400964,788,826,654.617599036,632,656,0.436039896978,-0.015520743489,0.0799283145873,0.999999992788,-3.14143091675e-05,-9.64722537453e-05,-6.4270333178e-05,1793250708644744448
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643.939972191,894.939972191,788,826,654.060027809,632,656,0.436952915632,-0.0155234641898,0.0799672534555,0.999999996262,-3.55157518122e-05,-5.00312213141e-05,-6.09211979649e-05,1793250708661411328
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.465564816,723,696,670,643.465564816,894.465564816,788,826.534435184,654.534435184,632.534435184,656.534435184,0.437847725485,-0.0155271662225,0.0799945329828,0.999999997421,-3.98362087564e-05,-4.11270366781e-06,-5.9617414762e-05,1793250708678077952
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.128135069,723,696,670,643,894.128135069,788,827,655,632.871864931,657,0.438719341255,-0.0155323198571,0.0800077481356,0.999999997013,-4.55938455741e-05,1.89831717183e-05,-5.9458609586e-05,1793250708694744576
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.703631039,723,696,670,643,894.703631039,788,827,655,632.296368961,657,0.439517648915,-0.0155421281432,0.0799767711907,0.999999995769,-5.62768876468e-05,-3.73820731671e-05,-6.24357444694e-05,1793250708711410944
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.721206482,747,723,696,670,643,895,787.721206482,827,655,632,656.721206482,0.440257867586,-0.0155488597556,0.0799029149695,0.999999983226,-6.96852376483e-05,-0.000154931587596,-6.84705768636e-05,1793250708728077568
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.146398131,747,723,696,670,643,895,787.146398131,827,655,632,656.146398131,0.44093640901,-0.0155523246447,0.0797835307841,0.999999936346,-8.59872380304e-05,-0.000337444770341,-7.77519816987e-05,1793250708744744192
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,895,787,827,655,632,656,0.441650019958,-0.0155706148952,0.0797222094184,0.999999900967,-0.00010893675826,-0.000424139937739,-7.9402156247e-05,1793250708761410816
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.035316803,747,723,696,670,642.964683197,895,786.964683197,827,655,632,656.035316803,0.442379569941,-0.0155941396045,0.0796868894854,0.99999987775,-0.000134946222939,-0.000469228202984,-7.81971439047e-05,1793250708778077440
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.609336319,747,723,696,670,642.390663681,895,786.390663681,827,655,632,656.609336319,0.443169445358,-0.0156202310474,0.0797455302306,0.999999910494,-0.000172980336346,-0.000379116452718,-7.3218258599e-05,1793250708794744064
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.811531736,747,723,696,669.811531736,642,895,786,827,655,632,656.811531736,0.443938325595,-0.0156402712224,0.0797929060458,0.99999993015,-0.0001994893227,-0.000308436391262,-6.90668644278e-05,1793250708811410688
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+247,4.116666667,POSE1_TO_POSE2_PRESS,768,747.85158706,723,695,667,638,896,773.85158706,828,655,630,656.85158706,0.455149516308,-0.0157676413113,0.079544932855,0.999999689459,-0.000365530232356,-0.000694443056186,-7.22358294474e-05,1793250709778077184
+248,4.133333333,HOLD_POSE2,768,747,723,696,667,638,896,774,828,655,630,657,0.45514813076,-0.015766161639,0.0795439373206,0.999999687233,-0.000367937016108,-0.000696263105708,-7.33072770259e-05,1793250709811104768
+249,4.150000000,HOLD_POSE2,768,747.576568969,723,696,667,638.576568969,896,774,828,655,630.576568969,657,0.455149195731,-0.015765739171,0.0795449798951,0.999999689193,-0.00036549729945,-0.000694764810244,-7.29931233442e-05,1793250709827771904
+250,4.166666667,HOLD_POSE2,768.151690052,748,723,696,667,638.848309948,896,773.848309948,828,655,630.848309948,657,0.455149830528,-0.0157653663746,0.0795454048271,0.999999690245,-0.000363622974443,-0.000694255039337,-7.27915042732e-05,1793250709844439040
+251,4.183333333,HOLD_POSE2,768.722807816,748,723,696,667,638.277192184,896,773.277192184,828,655,630.277192184,657,0.455149275881,-0.0157651309216,0.0795441219587,0.999999688804,-0.000363311974399,-0.000696478569262,-7.29010468324e-05,1793250709861105408
+252,4.200000000,HOLD_POSE2,768.694453437,748,723,695.694453437,667,638.305546563,896,773,828,654.694453437,630.305546563,657,0.455149835207,-0.015764816861,0.0795441807605,0.999999688991,-0.000363143102965,-0.00069629211555,-7.29524970646e-05,1793250709877771776
+253,4.216666667,HOLD_POSE2,768.100755334,748,723,695.100755334,667,638.899244666,896,773,828,654.100755334,630.899244666,657,0.455151445088,-0.0157644286682,0.0795455048501,0.999999690713,-0.000363108268659,-0.000693832880463,-7.29491622084e-05,1793250709894438144
+254,4.233333333,HOLD_POSE2,768,748,723,695,666.523871522,638.523871522,895.523871522,773.476128478,828,654,630.523871522,657,0.455150574517,-0.0157656192725,0.0795450046689,0.999999689647,-0.000364800347256,-0.000694533255561,-7.24543841377e-05,1793250709911104768
+255,4.250000000,HOLD_POSE2,768,747.951874577,723,695.048125423,666.048125423,638,895.048125423,773.951874577,828,654.048125423,630,657,0.455149463725,-0.0157668533514,0.0795442717327,0.999999688285,-0.000366536766852,-0.000695630131896,-7.1967144087e-05,1793250709927771392
+256,4.266666667,HOLD_POSE2,768,747.395201002,723,695.604798998,666.604798998,638,895.604798998,773.395201002,828,654.604798998,630,657,0.455151171951,-0.0157651368241,0.0795450194416,0.999999689864,-0.000365011824379,-0.000694092522951,-7.26210163204e-05,1793250709944438528
+257,4.283333333,HOLD_POSE2,767.827978986,747,723,695.827978986,667,638,896,773,827.827978986,655,630,657,0.455152334438,-0.0157640985513,0.079545302658,0.999999690755,-0.000363660382505,-0.000693474641564,-7.30330763196e-05,1793250709961105408
+258,4.300000000,HOLD_POSE2,767.234939952,747,723,695.234939952,667,638,896,773,827.234939952,655,630,657,0.455152161239,-0.0157647202931,0.0795444490381,0.999999689971,-0.000362733580133,-0.000695107775358,-7.2853305579e-05,1793250709977772032
+259,4.316666667,HOLD_POSE2,767.362618646,747.362618646,723,695,666.637381354,638,896,773,827.362618646,654.637381354,630,657,0.455152009357,-0.0157643220243,0.0795439064037,0.999999689757,-0.000361389663842,-0.000696153777966,-7.24756318937e-05,1793250709994438656
+260,4.333333333,HOLD_POSE2,767.963142478,747.963142478,723,695,666.036857522,638,896,773,827.963142478,654.036857522,630,657,0.455151871461,-0.0157632545516,0.0795435677992,0.999999689917,-0.000359772089263,-0.000696814578391,-7.19681189303e-05,1793250710011105024
+261,4.350000000,HOLD_POSE2,768,748,723,695,666,638,896,773,828,654,630.540128067,656.459871933,0.455151036112,-0.0157642416236,0.0795433667301,0.999999689209,-0.000361558793826,-0.000696889188162,-7.21315194655e-05,1793250710027771648
+262,4.366666667,HOLD_POSE2,768,747.884372922,723,695,666,638,895.884372922,773,828,654,630.884372922,656,0.455150456911,-0.0157645595078,0.0795433129643,0.999999688741,-0.000362842179686,-0.000696860897352,-7.24416092672e-05,1793250710044438272
+263,4.383333333,HOLD_POSE2,768,747.308664589,723,695,666,638,895.308664589,773,828,654,630.308664589,656,0.455151078389,-0.0157616801306,0.0795438095345,0.999999689469,-0.000361237120388,-0.000696575681046,-7.31608167937e-05,1793250710061104896
+264,4.400000000,HOLD_POSE2,768,747.272402326,723,695,666,638,895.272402326,773,828,654,630,656.272402326,0.455151895932,-0.0157608223991,0.0795439221684,0.999999689841,-0.00036100283041,-0.000696144548481,-7.33347609548e-05,1793250710077771520
+265,4.416666667,HOLD_POSE2,768,747.859662965,723,695,666,638,895.859662965,773,828,654,630,656.859662965,0.455152940099,-0.0157623014026,0.0795435910263,0.999999689803,-0.000362352954731,-0.000695544757508,-7.28784582416e-05,1793250710094438400
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,748,723,695,666,638,896,773,828,655,630,656,0.455151848527,-0.0157614630448,0.0795441072687,0.999999689599,-0.000361902248653,-0.0006960760851,-7.2852845517e-05,1793250710127036416
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,723,695.573319785,666.573319785,638,896,773,828,655,630,656,0.455151999866,-0.015761679088,0.0795438615223,0.999999688981,-0.000363053595768,-0.000696348011433,-7.30003440401e-05,1793250710143703552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.849451485,723,695.849451485,667,638,896,773,828,655,630.150548515,656.150548515,0.455152129907,-0.0157620029111,0.0795434229627,0.999999688425,-0.000363710145287,-0.00069679463952,-7.30919777574e-05,1793250710160370432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.260848676,723,695.260848676,667,638,896,773,828,655,630.739151324,656.739151324,0.455152197979,-0.0157626403433,0.0795424233705,0.999999688049,-0.000362926971736,-0.000697749601178,-7.30210604676e-05,1793250710177037056
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.322015484,666.677984516,638,896,773,828,654.677984516,630.677984516,657,0.455153308546,-0.0157639362967,0.0795430515568,0.999999688725,-0.000363032953281,-0.000696769828659,-7.25917008893e-05,1793250710193703424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.900312409,666.099687591,638,896,773,828,654.099687591,630.099687591,657,0.455155248799,-0.0157657563453,0.0795449752381,0.999999690233,-0.000363846583917,-0.000694250265328,-7.18770689881e-05,1793250710210369536
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.522087926,747,723,695.522087926,666.477912074,638,896,773,828,654,630,657,0.455154828925,-0.0157652835807,0.0795457556167,0.999999690379,-0.000364068755684,-0.000693906393158,-7.20353057509e-05,1793250710227035904
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.055056978,747.055056978,723,695,666.944943022,638,895.944943022,773,828,654.055056978,630,657,0.455153776377,-0.0157643803954,0.0795460450736,0.999999690157,-0.000364075199387,-0.000694191869882,-7.23397291144e-05,1793250710243702528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.62928313,747.62928313,723,695,666.37071687,638,895.37071687,773,828,654.62928313,630,657,0.455151393369,-0.0157639217259,0.0795439508245,0.999999689121,-0.000363209063774,-0.000696138694586,-7.23082708071e-05,1793250710260369408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,723,695,666.208915851,638,895.208915851,773,828,654.791084149,630,657,0.455144741017,-0.0157625718343,0.0795402126314,0.999999686375,-0.000361523313024,-0.000700927191676,-7.24691490521e-05,1793250710277036544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,723,695,666.798397231,638,895.798397231,773,828,654.201602769,630,657,0.455130311539,-0.015759598474,0.0795334797957,0.999999680448,-0.000358344534098,-0.000710892138946,-7.29803916218e-05,1793250710293703424
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.618365393,723,695,666.618365393,638,896,773,828,654,630,657,0.455095295386,-0.0157592337925,0.0795197547323,0.999999662576,-0.000358965431264,-0.000735232936628,-7.36453567647e-05,1793250710310370048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.03837333,723,695,666.03837333,638,896,773,828,654,630,657,0.455049579153,-0.0157602249911,0.0795023954053,0.99999963769,-0.000361561238058,-0.000767045690926,-7.43902203576e-05,1793250710327036928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.538249172,666.538249172,638,896,773,828,654.538249172,630,657,0.45498587029,-0.0157546176744,0.0794839898887,0.999999614905,-0.00035783178463,-0.000797792039715,-7.53311179917e-05,1793250710343703296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.11420447,747.11420447,723,695.88579553,667,638,896,773.11420447,828,655,630,657,0.454919806799,-0.0157491051654,0.0794678647659,0.999999594991,-0.000354425250004,-0.000823800838712,-7.5850967855e-05,1793250710360369920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.68843402,747.68843402,723,695.31156598,667,638,896,773.68843402,828,655,630,657,0.454849393511,-0.0157458576787,0.079461223822,0.999999589208,-0.000354124606128,-0.00083103074424,-7.46188573292e-05,1793250710377036288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.729980758,748,723,695,667,638,896,774,828,654.729980758,630,657,0.454770673717,-0.0157429340897,0.0794578306813,0.999999587036,-0.000352741184016,-0.000834391559015,-7.27445089768e-05,1793250710393702656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.139670428,748,723,695,667,638,896,774,828,654.139670428,630,657,0.454682100924,-0.0157403947017,0.0794582900162,0.999999589186,-0.000350073393399,-0.000833162940152,-7.01083518384e-05,1793250710410369280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.558612513,723,695,667,638,896,774,828,654,630.441387487,657,0.454573799071,-0.0157368774758,0.0794607724947,0.999999591212,-0.000349704396635,-0.000831130239657,-6.71227947395e-05,1793250710427036160
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.0195223,666.9804777,638.0195223,896,773.9804777,828,654.0195223,631,657,0.45445842623,-0.0157329377558,0.079463782766,0.999999593194,-0.00034983954824,-0.000828929444266,-6.40304793641e-05,1793250710443703040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.596075856,666.403924144,638.596075856,896,773.403924144,828,654.596075856,631,657,0.454315769958,-0.0157255904689,0.0794639609511,0.999999595306,-0.000344030256366,-0.000829043266828,-6.09819336275e-05,1793250710460369920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.828213056,666.171786944,638.828213056,896.171786944,773.171786944,828,655,630.828213056,657,0.454164034974,-0.0157182732979,0.0794634742147,0.999999596425,-0.000338140785937,-0.000830349765028,-5.7705026739e-05,1793250710477036544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.254473285,666.745526715,638.254473285,896.745526715,773.745526715,828,655,630.254473285,657,0.45399105734,-0.0157110265942,0.0794614316731,0.999999595264,-0.000332063711881,-0.000834446925522,-5.38937932336e-05,1793250710493702912
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,896.670614307,774,828,655,630.329385693,656.670614307,0.453792712031,-0.0157021055579,0.0794570491027,0.999999592507,-0.000322522879522,-0.000841734829112,-4.94666701356e-05,1793250710510369536
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,896.078689688,774,828,655,630.921310312,656.078689688,0.453574147241,-0.0156918499834,0.0794508013976,0.999999588307,-0.000310221236247,-0.000851565934726,-4.45486479696e-05,1793250710527036160
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.498950888,747,723,695,667,638.501049112,896,774.501049112,828,655,630.498950888,656.501049112,0.453335250339,-0.0156814514005,0.079448139243,0.99999958803,-0.000296939999023,-0.000856887845893,-3.88520335727e-05,1793250710543702784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.078531306,747,723,695,667,638.921468694,895.921468694,775,828,655,630,657,0.453088873286,-0.0156708904015,0.0794470640417,0.999999590389,-0.000281890238393,-0.000859465018257,-3.28657416394e-05,1793250710560369408
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638.228830874,895,775,828,654.771169126,630,657,0.452525753308,-0.015649170581,0.079458652064,0.999999623271,-0.000221496631303,-0.00083908057972,-1.84386576209e-05,1793250710593703168
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638.80447264,895,775,828,654.19552736,630,657,0.452213556861,-0.0156406862703,0.0794657024571,0.999999641001,-0.000171484668791,-0.000829745649634,-1.0618244611e-05,1793250710610370048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,895,775.392838186,828,654.392838186,630,657,0.451877124885,-0.0156313441898,0.0794736878263,0.999999653475,-0.000144132051718,-0.000819917214531,-3.52330519346e-06,1793250710627036416
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,894.114509017,778,827.114509017,654.114509017,630.114509017,656,0.449419565257,-0.0156164082736,0.0795646595983,0.999999768646,-0.000140178262064,-0.000665595026463,6.369692215e-06,1793250710727036416
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,894,780,827,654.044165503,630.044165503,656,0.448325392121,-0.0155992534025,0.0795558314913,0.999999755673,-0.000117787160987,-0.000688980757551,9.20387586824e-06,1793250710760370176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,639,894,780,827,654.619045389,630.619045389,656,0.447721147036,-0.0155807625998,0.0795258386934,0.999999722837,-9.60737398888e-05,-0.000738274610584,6.76203860073e-06,1793250710777036544
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,667.193636985,639.193636985,894,780.193636985,827,655,631,656,0.447124764097,-0.0155658058715,0.0795090369818,0.999999706222,-7.51382631419e-05,-0.000762810980281,5.48994565772e-06,1793250710793703168
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667.76766222,639.76766222,894,780.76766222,827,655,631,656,0.446543825909,-0.0155577916219,0.0795181483703,0.999999725577,-5.57310131398e-05,-0.000738712758057,6.51574549767e-06,1793250710810369536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.646088182,747,723,695,668,640,894,781.353911818,827,655,631,656.353911818,0.445951126298,-0.0155541276987,0.0795509749949,0.999999761048,-4.72548288571e-05,-0.000689615938647,1.00262441888e-05,1793250710827036160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.051526389,747,723,695,668,640,894,781.948473611,827,655,631,656.948473611,0.445350429277,-0.0155534218742,0.0795999273053,0.999999804427,-4.62114591509e-05,-0.000623520782717,1.52262673886e-05,1793250710843702528
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747,722.473665041,695,668,640.526334959,893.473665041,782.526334959,827,655,631,656.473665041,0.444676609415,-0.0155479319256,0.0796389092648,0.999999836846,-3.02503006833e-05,-0.000570070605212,2.02988232163e-05,1793250710860369920
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,747,722.102477265,695,668,641,892.897522735,783.102477265,826.897522735,655,631,656,0.443988274492,-0.0155401510471,0.0796702039858,0.99999986032,-1.34937233922e-05,-0.000527810091582,2.43874173406e-05,1793250710877036800
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,747,722.740181456,695,668,641,891.740181456,784.259818544,826,655,631,656,0.442544070384,-0.0155033316919,0.0796757006774,0.999999863719,2.06072710941e-05,-0.000521212918499,2.1800628466e-05,1793250710910370304
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,747,722.150362751,695,668,641,891.150362751,784.849637249,826,655,631,656,0.441826243342,-0.0154773136403,0.079687553091,0.999999877333,4.88315289201e-05,-0.000492594271891,1.7336029196e-05,1793250710927036672
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.989296245,747,722.989296245,695,668.010703755,641.010703755,891,786.010703755,826,655,631,656,0.440254474238,-0.0154266069724,0.0797013756044,0.999999886909,0.000117204134273,-0.000460583736604,1.75656669107e-05,1793250710960369408
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.750664506,746.249335494,722.750664506,695,669,642,891,787,826,655,631,656,0.437758884666,-0.015407603178,0.0797087745528,0.999999885931,0.000170531420059,-0.000445632018451,2.1680421316e-05,1793250711010369280
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,669.332405822,642,891,787,826,655,631.332405822,655.667594178,0.43697565173,-0.0154107308733,0.0797764507378,0.99999992652,0.000171530062932,-0.000341663388932,2.83497815792e-05,1793250711027036160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,669.910359402,642,891,787,826,655,631.910359402,655.089640598,0.436179335187,-0.0154131377874,0.0798540427379,0.999999959333,0.000169799443495,-0.000226256841002,3.61984576218e-05,1793250711043703552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.510993174,746,723,695,669.510993174,642,891,787,825.510993174,655,632,655.489006826,0.435290200709,-0.0154075763474,0.0798648047066,0.999999959509,0.000181319052188,-0.000216002528166,3.80527454612e-05,1793250711060370176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746.067448004,723,695,669,642,891,787.067448004,825,655,631.932551996,656,0.434376677875,-0.0154015827289,0.0798589202793,0.999999953966,0.000193908452713,-0.000230178323783,3.85461546466e-05,1793250711077036544
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746.643373798,723,695,669,642,891,787.643373798,825,655,631.356626202,656,0.433407748432,-0.0154033585249,0.0798200288825,0.999999940014,0.000196225615864,-0.00028300635821,3.7075878069e-05,1793250711093703168
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.218861061,746.781138939,723,695,669,642,891,788,824.781138939,655,631,656,0.43241890764,-0.0154018196188,0.079771506212,0.999999913513,0.000200249836941,-0.000362877423993,3.45436595633e-05,1793250711110369536
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,669.379279203,642,890.620720797,788,824,655,631.379279203,656,0.430481653784,-0.0153934662008,0.0797048668669,0.999999855695,0.000214463901411,-0.000491628236985,3.02853276901e-05,1793250711143702784
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,695.548693666,669.451306334,642,890,788,824,655,631.451306334,656,0.428768315897,-0.0153997309441,0.0798095168333,0.999999925664,0.000222067224849,-0.000312699970173,3.97011846243e-05,1793250711177036032
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.964818676,746,722.035181324,695,669.070362649,642.964818676,889,788,821,655,632,656,0.423051252143,-0.0153880961795,0.0797105911201,0.999999861601,0.000238038060846,-0.000467777896555,3.63323473179e-05,1793250711277035776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.390294999,746,722.609705001,695,670.219410002,642.390294999,889,788,821,655,632,656,0.422196736602,-0.015388858803,0.0797372919119,0.999999885593,0.000235080530633,-0.000414957927026,3.68869438661e-05,1793250711293703168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.184064575,746,723,695,670.815935425,642,889,788,820.815935425,655,632,656,0.421352089451,-0.0153898049029,0.0797775919947,0.999999913619,0.000233007405668,-0.000341960500902,3.9138216774e-05,1793250711310370304
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.758076599,746,723,695,670.241923401,642,889,788,820.241923401,655,632,656,0.420528348679,-0.0153911397047,0.0798467026718,0.999999946302,0.000232807923707,-0.000226216392934,4.49839597901e-05,1793250711327036928
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.668235033,746,723,695,669,642.668235033,888.331764967,788.668235033,820,655,632,655.668235033,0.416222307256,-0.0153828308211,0.079795979648,0.999999914398,0.000233169489727,-0.000339523886597,3.948190484e-05,1793250711410369280
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.146447798,722.146447798,692.853552202,670,642,887,788,820,655,631.853552202,656,0.411703562218,-0.0153769149874,0.0798058561075,0.999999919714,0.000247881013957,-0.00031213579016,4.12175573285e-05,1793250711510370048
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.885348804,745,723,691,670,642.114651196,886,787.885348804,819.885348804,655,632,656,0.405044568699,-0.0153665228731,0.0798084596948,0.999999917783,0.000265299762786,-0.000303802728317,4.18725625497e-05,1793250711710369280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.31099413,745,723,691,670,642.68900587,886,787.31099413,819.31099413,655,632,656,0.404668195839,-0.0153628570157,0.0798217577616,0.999999918542,0.000277160832001,-0.000290267474507,4.29241948876e-05,1793250711727036672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745.27036322,723,690.72963678,670,642.72963678,886,787.27036322,819.27036322,655,632,656,0.404299472326,-0.0153606280002,0.0798296259881,0.999999918875,0.000281350926066,-0.000284861706078,4.41185381392e-05,1793250711743703296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745.859989773,723,690.140010227,670,642.140010227,886,787.859989773,819.859989773,655,632,656,0.403939781709,-0.015360095706,0.0798310822879,0.999999918968,0.000276482608727,-0.000289055789466,4.54814041218e-05,1793250711760369408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745.558395072,723,690,670,642,886,787.558395072,820,655,632,656,0.403613682093,-0.0153563543999,0.0798312715837,0.999999915166,0.000285420100855,-0.00029335318693,4.63357173191e-05,1793250711777036032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,723,690,670,642.020616569,886.020616569,787.020616569,820,655,632,656,0.403299976603,-0.0153517260189,0.0798312877164,0.999999910358,0.000297914639068,-0.000297210103466,4.68703563777e-05,1793250711793702656
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745,723,690,670,642.596697899,886.596697899,787.596697899,820,655,632,656,0.403038375605,-0.0153501208456,0.0798372684409,0.999999915334,0.000290415756836,-0.000288332508005,4.30588483238e-05,1793250711810369280
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.175685495,745,723,690,670,642.824314505,887,788,820,655,632,656,0.402786527877,-0.0153494682821,0.07984079913,0.999999918081,0.000285371129034,-0.000284103862206,4.1057301486e-05,1793250711827035648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.761456826,745,723,690,670,642.238543174,887,788,820,655,632,656,0.402557446311,-0.0153510393043,0.079838610935,0.999999915889,0.000286055233584,-0.000290726815989,4.32805744362e-05,1793250711843702272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.65713512,745,723,690,670,642.34286488,886.65713512,788,819.65713512,655,631.65713512,656,0.402344854761,-0.0153535720843,0.0798352796467,0.99999991396,0.000286371892156,-0.000296810250488,4.44409611401e-05,1793250711860369152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.078724546,745,723,690,670,642.921275454,886.078724546,788,819.078724546,655,631.078724546,656,0.402143591709,-0.0153567655851,0.0798311630613,0.99999991221,0.000286436118065,-0.000302523039809,4.48711529027e-05,1793250711877035776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.499247882,745,723,690,670,642.500752118,886,788,819.499247882,655,631.499247882,656,0.401980560035,-0.0153612326215,0.0798311890526,0.999999914363,0.000281542001828,-0.000299824174295,4.59719314793e-05,1793250711893703168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.923125675,745,723,690,670,642,886,788,820,655,632,656,0.401828094832,-0.0153653079281,0.0798325800587,0.999999917129,0.000276708631449,-0.000294860996434,4.72461021209e-05,1793250711910370816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.347296567,745,723,690,670,642,886,788,820,655,632,656,0.401705117274,-0.0153655384262,0.0798385946568,0.999999920071,0.000277339780624,-0.000283802740977,4.89599573461e-05,1793250711927037440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,745,722.771842136,689.771842136,670,642.228157864,886,788,819.771842136,655,632,656,0.401590382615,-0.0153646012245,0.0798435156946,0.99999992169,0.000279451746699,-0.000275814522165,4.95383357139e-05,1793250711943703808
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745,722.196957129,689.196957129,670,642.803042871,886,788,819.196957129,655,632,656,0.401488174538,-0.0153618894918,0.0798467748694,0.999999921428,0.000283814081896,-0.000272491780031,4.83911515212e-05,1793250711960369920
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745,722.362902569,689.362902569,670,642.637097431,886,787.637097431,819,655,632,656,0.40139708277,-0.0153618370942,0.0798459252707,0.999999920912,0.000284424361524,-0.000274568465761,4.34736419546e-05,1793250711977036288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745,722.91493181,689.91493181,670,642.08506819,886,787.08506819,819,655,632,656,0.40131178427,-0.0153631706092,0.0798429343847,0.999999920215,0.000283079257267,-0.000279459063376,3.65912273796e-05,1793250711993702912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,723,689.470137363,669.470137363,642,886,787.529862637,819,655,632,656,0.40124255434,-0.0153621611137,0.07983881451,0.999999918955,0.000281511775879,-0.000285588569225,3.57705230312e-05,1793250712010369536
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.141754395,745.141754395,723,689,669,642,886,787.858245605,819.141754395,655,632,656,0.401181529867,-0.0153606403898,0.0798359712055,0.999999917934,0.000280873867308,-0.000289694940206,3.63147714442e-05,1793250712027036160
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.116554136,745.116554136,723,689,669.883445864,642,886.883445864,787.883445864,820,655,632,656,0.401061425311,-0.0153602181062,0.0798341893772,0.999999916718,0.000282007220867,-0.000292506550148,3.84109292224e-05,1793250712077035776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745,722.535957019,689,669.535957019,642,886.535957019,787.535957019,819.535957019,655,632,656,0.40103923192,-0.0153595256165,0.0798350422005,0.999999916942,0.000282609643427,-0.000291140735152,3.85285632097e-05,1793250712093702400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,745,722,689,669.041396616,642.041396616,886.041396616,787.041396616,819,655,632,656,0.401020639539,-0.0153584150832,0.0798366152449,0.999999917434,0.000283463383907,-0.00028859434123,3.86418093069e-05,1793250712110369024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,722,689,669.616139852,642.616139852,886.616139852,787.616139852,819,655,632,656,0.401008534554,-0.0153588778335,0.0798358451898,0.999999917912,0.000280766389888,-0.000289589215793,3.85175034167e-05,1793250712127036672
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.770917991,745,722.770917991,689.770917991,670.770917991,642.229082009,887,788,819.770917991,655,632,656,0.400994088694,-0.0153591851705,0.0798364847393,0.999999918622,0.000280780182936,-0.000287100069783,3.86374450011e-05,1793250712160370432
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.644843368,745.355156632,723,690,670.644843368,642.355156632,886.644843368,788,819.644843368,655,632,656,0.400990646993,-0.015358764144,0.0798372297498,0.999999918914,0.000281811900527,-0.000285066081342,3.86238112726e-05,1793250712177036800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.05698602,745.94301398,723,690,670.05698602,642.94301398,886.05698602,788,819.05698602,655,632,656,0.400988079024,-0.015358068107,0.0798378953695,0.999999919204,0.000282626861719,-0.000283250519463,3.85014167308e-05,1793250712193703424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745.47802199,723,689.47802199,669.47802199,642.47802199,886,787.47802199,819.52197801,655,632,656,0.400987249496,-0.0153587327565,0.0798382877812,0.999999919754,0.0002813669285,-0.000282607485086,3.81785660282e-05,1793250712210370560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.099540324,745,723,689,669.099540324,642,886,787.099540324,819.900459676,655,632,656,0.400986551203,-0.0153593875449,0.0798385751115,0.999999920166,0.000280355073772,-0.000282187436245,3.79372178829e-05,1793250712227037184
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.674965097,745,723,689,669.674965097,642,886,787.674965097,819.325034903,655,632,656,0.400985588167,-0.0153592968927,0.0798385002752,0.999999919796,0.000281594061549,-0.00028223170745,3.81883918538e-05,1793250712243703552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.744083786,745,723,689,669.744083786,642.255916214,886,788,819.255916214,655,631.744083786,656,0.400984468239,-0.0153597862597,0.0798383568862,0.99999991993,0.000280759261161,-0.000282579473299,3.8242101405e-05,1793250712260369920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.155958757,745,723,689,669.155958757,642.844041243,886,788,819.844041243,655,631.155958757,656,0.40098314465,-0.0153610285585,0.0798381245081,0.999999920712,0.000277232444296,-0.000283321210266,3.80394793583e-05,1793250712277036544
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,745,723,689.425481051,669.425481051,642.574518949,886,787.574518949,820,655,631.425481051,656,0.40098236537,-0.0153600994145,0.07983799662,0.999999919947,0.000279680914912,-0.000283623083031,3.79869693842e-05,1793250712293703168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,745.004489674,723,690,670,642.004489674,886.004489674,787.004489674,819.995510326,655,632,656,0.40098179913,-0.0153584028265,0.0798379164873,0.99999991863,0.000284227856881,-0.000283744648907,3.79861379139e-05,1793250712310369536
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,745.581126805,723,690,670,642.581126805,886.581126805,787.581126805,819.418873195,655,632,656,0.400983349941,-0.015358768033,0.0798391167296,0.999999920184,0.000281399976498,-0.000281117398815,3.76675501807e-05,1793250712327036416
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.157115173,746,722.842884827,690,670.157115173,643,886.842884827,788,819.157115173,655,632,656,0.40098441754,-0.0153595932812,0.0798400489941,0.99999992146,0.000278911381023,-0.000279068916519,3.75294053473e-05,1793250712343703296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.731380995,746,722.268619005,690,670.731380995,643,886.268619005,788,819.731380995,655,632,656,0.400984202184,-0.0153616399687,0.0798402697606,0.999999922032,0.000277323608464,-0.000278557099227,3.7870347764e-05,1793250712360370176
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.685014747,746,722,690,670.685014747,642.685014747,886,787.685014747,820,655,632,656,0.400984567051,-0.0153623742619,0.0798404444513,0.99999992248,0.000276377627673,-0.000277884303741,3.78776463139e-05,1793250712377037056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768.093203397,746,722,690,670.093203397,642.093203397,886,787.093203397,820,655,632,656,0.40098544185,-0.0153619551519,0.079840578648,0.999999922823,0.00027599568833,-0.000277070031927,3.75917205472e-05,1793250712393703424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,745.512299826,722.487700174,690,670,642.487700174,886.487700174,787.487700174,820,655,632,656,0.400984466318,-0.015360900147,0.0798398341821,0.999999922251,0.00027651329102,-0.000278665984021,3.71856729458e-05,1793250712410369792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768.066217025,745,723,689.933782975,670,642.933782975,887,787.933782975,820,655,632,656,0.400983297874,-0.015359923106,0.0798391712619,0.999999921591,0.000277292965914,-0.000280304119837,3.6834732134e-05,1793250712427036160
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.642057116,745,723,689.357942884,670,642.357942884,887,787.357942884,820,655,632,656,0.400983306685,-0.0153604609192,0.0798404000162,0.999999921584,0.000278795498161,-0.000278799468129,3.70807194286e-05,1793250712443702784
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.778117647,745,723,689.221882353,670,642.221882353,886.778117647,787.221882353,820,655,632,656,0.400983599645,-0.0153611554959,0.0798413721293,0.999999921994,0.000278523138579,-0.000277589479604,3.71600237327e-05,1793250712460369664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768.191745858,745,723,689.808254142,670,642.808254142,886.191745858,787.808254142,820,655,632,656,0.400984359379,-0.0153621075905,0.079841922654,0.999999923085,0.000275335138082,-0.000276863538427,3.6965515453e-05,1793250712477037056
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,745.389546016,723,689.610453984,670,642.610453984,886.389546016,788,820,655,632,656,0.400983877276,-0.0153626648321,0.0798415186098,0.999999922964,0.000275018372528,-0.000277594337941,3.71378813224e-05,1793250712493704192
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,745.968369561,723,689.031630439,670,642.031630439,886.968369561,788,820,655,632,656,0.400982791772,-0.0153630302176,0.0798406507477,0.999999922253,0.000276096719,-0.000279032957031,3.74885086408e-05,1793250712510370816
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.54700374,670,642,887,787.45299626,820,655,632,656,0.400983567486,-0.0153636524671,0.079841024392,0.99999992346,0.000273183911011,-0.000277584257432,3.73742885136e-05,1793250712527036928
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4286497616c1f03a39d5cc0a14fd7978c0d4bc1d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.0011772140913,1.06970489625
+3,0.050000000,pose1_baseline,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.0011772140913,1.06970489625
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+376,6.266666667,pose2_to_pose3_retreat,0.576074650911,-0.00984985311141,1.0700333526,0.546645328906,-0.00117722080057,1.06970475109
+377,6.283333333,pose2_to_pose3_retreat,0.575999680599,-0.00984995628659,1.07003346697,0.546570358901,-0.00117732305054,1.06970486236
+378,6.300000000,pose2_to_pose3_retreat,0.575933623343,-0.00984989156342,1.07003347324,0.546504299827,-0.00117726435722,1.06970487215
+379,6.316666667,pose2_to_pose3_retreat,0.575876944372,-0.00984983757585,1.07003348606,0.546447621588,-0.0011772079498,1.06970488326
+380,6.333333333,pose2_to_pose3_retreat,0.575828629431,-0.00984978267743,1.07003352011,0.546399307051,-0.00117715194648,1.06970491028
+381,6.350000000,pose2_to_pose3_retreat,0.575788605103,-0.00984975664129,1.07003344741,0.546359281592,-0.00117712987129,1.06970483428
+382,6.366666667,pose2_to_pose3_retreat,0.575756344123,-0.00984992823571,1.07003315138,0.546327023523,-0.00117729126176,1.06970454693
+383,6.383333333,pose2_to_pose3_retreat,0.575731012548,-0.00984982657535,1.0700335584,0.546301690106,-0.00117719586706,1.06970495348
+384,6.400000000,pose2_to_pose3_retreat,0.575711114561,-0.00984995460903,1.07003350963,0.546281793869,-0.00117731794877,1.06970490509
+385,6.416666667,pose2_to_pose3_retreat,0.575696092166,-0.0098498384901,1.07003355407,0.546266770092,-0.00117720654019,1.06970494904
+386,6.433333333,pose2_to_pose3_retreat,0.575685908314,-0.00984981648509,1.07003355501,0.546256585706,-0.00117718626693,1.06970495212
+387,6.450000000,pose2_to_pose3_retreat,0.57567876671,-0.0098500032179,1.07003344823,0.54624944591,-0.00117736666222,1.06970485059
+388,6.466666667,pose2_to_pose3_retreat,0.575674076777,-0.0098499027918,1.07003358249,0.546244754925,-0.0011772702453,1.06970497343
+389,6.483333333,pose2_to_pose3_retreat,0.575671052162,-0.0098498522412,1.07003365161,0.546241729688,-0.00117722199458,1.06970503754
+390,6.500000000,pose2_to_pose3_retreat,0.575669405176,-0.0098498776436,1.07003362888,0.546240082668,-0.00117724733953,1.06970501937
+391,6.516666667,pose2_to_pose3_retreat,0.57566826812,-0.00984989518106,1.07003361319,0.546238945589,-0.00117726483732,1.06970500682
+392,6.533333333,pose2_to_pose3_retreat,0.575667447381,-0.00984990202255,1.07003360279,0.546238124794,-0.00117727178599,1.06970499859
+393,6.550000000,pose2_to_pose3_retreat,0.575666843556,-0.00984985445781,1.07003360349,0.546237520576,-0.00117722552808,1.06970500003
+394,6.566666667,pose2_to_pose3_retreat,0.57566624588,-0.00984980737744,1.07003360418,0.546236922511,-0.00117717974122,1.06970500146
+395,6.583333333,pose2_to_pose3_retreat,0.575665664364,-0.00984976156999,1.07003360485,0.546236340615,-0.00117713519231,1.06970500284
+396,6.600000000,pose2_to_pose3_retreat,0.575665391547,-0.0098497408595,1.07003360514,0.546236067628,-0.0011771150475,1.06970500345
+397,6.616666667,pose2_to_pose3_retreat,0.575665386735,-0.00984974148951,1.07003360511,0.546236062823,-0.00117711565589,1.06970500341
+398,6.633333333,pose2_to_pose3_retreat,0.575665286378,-0.00984975463089,1.07003360446,0.546235962601,-0.00117712834629,1.06970500253
+399,6.650000000,pose2_to_pose3_retreat,0.575665077443,-0.00984978198995,1.07003360312,0.546235753948,-0.00117715476643,1.06970500071
+400,6.666666667,pose2_to_pose3_retreat,0.575664731757,-0.00984982725599,1.0700336009,0.546235408729,-0.00117719847903,1.06970499769
+401,6.683333333,pose2_to_pose3_retreat,0.575664625815,-0.00984984112859,1.07003360022,0.54623530293,-0.00117721187554,1.06970499677
+402,6.700000000,pose2_to_pose3_retreat,0.575664536613,-0.00984985601624,1.07003360191,0.546235213842,-0.00117722639907,1.06970499795
+403,6.716666667,pose2_to_pose3_retreat,0.575664488393,-0.00984986924427,1.07003360648,0.546235165671,-0.00117723948959,1.06970500175
+404,6.733333333,pose2_to_pose3_retreat,0.575664436301,-0.00984988353448,1.07003361141,0.546235113632,-0.00117725363126,1.06970500585
+405,6.750000000,pose2_to_pose3_retreat,0.575664378014,-0.0098498995244,1.07003361692,0.546235055404,-0.00117726945497,1.06970501044
+406,6.766666667,pose2_to_pose3_retreat,0.575664350508,-0.00984990355149,1.0700336127,0.546235027985,-0.00117727320446,1.06970500576
+407,6.783333333,pose2_to_pose3_retreat,0.575664350025,-0.00984988132376,1.07003356939,0.546235027878,-0.00117724970961,1.06970496223
+408,6.800000000,pose2_to_pose3_retreat,0.575664349776,-0.00984986986952,1.07003354707,0.546235027823,-0.00117723760241,1.0697049398
+409,6.816666667,pose2_to_pose3_retreat,0.575664349746,-0.00984986845711,1.07003354432,0.546235027816,-0.00117723610949,1.06970493704
+410,6.833333333,pose2_to_pose3_retreat,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.00117721409129,1.06970489625
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7aa49f7b3554ea8dcdce150731f89cf86ef1b6ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b585a318594ed44983149d5f86e3656d16f51dc13b3522f2a4d40fe22dac2d80
+size 26149857
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..050ed8c40e31064d3c7a6344cc9d8b2564d22654
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+37,0.616666667,BASELINE,768,746,723,690,670,642.484962944,886,787.515037056,820,655,632,656,0.400984228724,-0.015364808206,0.0798443029631,0.999999924497,0.000274273783973,-0.000272804196376,3.6838549481e-05,1793250713273028352
+38,0.633333333,BASELINE,768,746,723,690,670,642.086708656,886.086708656,788,820,655,632,656,0.400984504614,-0.0153641027158,0.0798443697293,0.999999924388,0.000274995903573,-0.000272511250502,3.65863211234e-05,1793250713289694976
+39,0.650000000,BASELINE,768,746,723,690,670,642.638939846,886.638939846,788,820,655,632,656,0.400986336918,-0.0153642773907,0.0798452962554,0.999999925121,0.000273776125192,-0.000271035714984,3.66749605429e-05,1793250713306361600
+40,0.666666667,BASELINE,768,746,723,690,670,643,886.785204199,788,819.785204199,655,632.214795801,656,0.400986808017,-0.015364210549,0.0798454466638,0.999999925359,0.000273260039648,-0.000270655834519,3.68361028368e-05,1793250713323028224
+41,0.683333333,BASELINE,768,746,723,690,670,643,886.164728754,788,819.164728754,655,632.835271246,656,0.400984708238,-0.0153636875608,0.0798441312374,0.999999924667,0.000274073001852,-0.000272345291393,3.71341795547e-05,1793250713339694848
+42,0.700000000,BASELINE,768,746,723,690.422582191,670,643,886.422582191,788,819.422582191,655,632.577417809,656,0.400984049139,-0.015362986233,0.0798436951656,0.999999924368,0.000274566160451,-0.000272958038452,3.7034278715e-05,1793250713356361472
+43,0.716666667,BASELINE,768,746,723,690.997905879,670,643,886.997905879,788,819.997905879,655,632.002094121,656,0.400983910772,-0.0153622204447,0.0798435769349,0.999999924212,0.00027494372665,-0.00027318161084,3.67905296669e-05,1793250713373028352
+44,0.733333333,BASELINE,768,745.427730807,723,690.427730807,670,643,886.427730807,788,820,655,632,656,0.40098418053,-0.0153638654228,0.0798439147116,0.999999924572,0.000274454900146,-0.000272324069272,3.70107279708e-05,1793250713389695232
+45,0.750000000,BASELINE,768.150489483,745,723,690,670,643,886.150489483,788.150489483,820,655,632,656,0.400984274933,-0.0153649728826,0.0798441538195,0.999999924779,0.00027425828937,-0.000271739112467,3.71819259881e-05,1793250713406361856
+46,0.766666667,BASELINE,768.73997107,745,723,690,670,643,886.73997107,788.73997107,820,655,632,656,0.400983853457,-0.0153644866592,0.0798441002416,0.999999924535,0.000274923332599,-0.00027196083257,3.72052413211e-05,1793250713423028736
+47,0.783333333,BASELINE,768.67595487,745.32404513,723,690.32404513,670,643,886.67595487,788.67595487,820,655,632,656,0.400983657679,-0.0153644507555,0.0798438700429,0.999999924555,0.000274653354974,-0.000272186016886,3.70263101258e-05,1793250713439695104
+48,0.800000000,BASELINE,768.096148778,745.903851222,723,690.903851222,670,643,886.096148778,788.096148778,820,655,632,656,0.400983640038,-0.0153647702782,0.0798435004417,0.999999924781,0.000273645388136,-0.000272413935446,3.66877506534e-05,1793250713456361472
+49,0.816666667,BASELINE,768.47967434,746,723,690.040651321,670,642.52032566,886,788,820,655,632,656,0.400984206381,-0.0153646288928,0.0798437251122,0.999999924674,0.000274096486372,-0.000272329749027,3.68811878391e-05,1793250713473028096
+50,0.833333333,BASELINE,768.945431264,746,723,689.054568736,670.054568736,642.054568736,886,788,820,655,632,656,0.400984788562,-0.0153642697844,0.0798440779533,0.999999924485,0.000274914722714,-0.000272165720489,3.71294971817e-05,1793250713489694720
+51,0.850000000,BASELINE,768.371838855,746,723,689.628161145,670.628161145,642.628161145,886,788,820,655,632,656,0.400984417184,-0.0153627113228,0.0798445262147,0.999999924156,0.000276466123802,-0.000271832416677,3.68938085013e-05,1793250713506361344
+52,0.866666667,BASELINE,768,745.791491821,722.791491821,689.791491821,670.791491821,643,886,788,820,655.208508179,632,656,0.400984538872,-0.0153620343915,0.0798447640731,0.999999924225,0.000276732482344,-0.000271336553431,3.66852110643e-05,1793250713523027968
+53,0.883333333,BASELINE,768,745.198695816,722.198695816,689.198695816,670.198695816,643,886,788,820,655.801304184,632,656,0.400985569297,-0.0153629821513,0.0798446141515,0.999999925026,0.000274630462671,-0.000270541087516,3.65265437454e-05,1793250713539694848
+54,0.900000000,BASELINE,768,745.384308577,722.384308577,689,670,642.615691423,886,788,820,655.615691423,632,656,0.400985353615,-0.0153643001407,0.0798446808563,0.999999925441,0.000272582364095,-0.000271031533453,3.68561569036e-05,1793250713556361728
+55,0.916666667,BASELINE,768,745.962376258,722.962376258,689,670,642.037623742,886,788,820,655.037623742,632,656,0.400984509675,-0.0153658047909,0.0798448567787,0.999999925659,0.000270561451294,-0.000272170305112,3.743194929e-05,1793250713573028352
+56,0.933333333,BASELINE,768,745.462950283,723.537049717,689.537049717,670,642.537049717,886.537049717,788,820,655,632,656,0.400984642065,-0.0153650257825,0.0798450062706,0.999999925099,0.000273004385756,-0.000271849279986,3.70026446639e-05,1793250713589694976
+57,0.950000000,BASELINE,768.114204426,745.114204426,723.885795574,690,670.114204426,643,886.885795574,788,820,655,632,656,0.400984454675,-0.0153640493699,0.079844891021,0.999999924599,0.000275010669626,-0.000271730129042,3.65345027562e-05,1793250713606361344
+58,0.966666667,BASELINE,768.702643602,745.702643602,723.297356398,690,670.702643602,643,886.297356398,788,820,655,632,656,0.400982657155,-0.0153629134009,0.0798436840709,0.999999924601,0.000273913337793,-0.000272871263973,3.6195644817e-05,1793250713623027968
+59,0.983333333,BASELINE,768.713713647,745.713713647,723,689.713713647,670.713713647,642.713713647,886.286286353,788,820,655,632,656,0.400982540713,-0.0153629611777,0.0798433392838,0.999999924719,0.000273287634115,-0.000273070585534,3.61763349337e-05,1793250713639694592
+60,1.000000000,BASELINE,768.134970625,745.134970625,723,689.134970625,670.134970625,642.134970625,886.865029375,788,820,655,632,656,0.40098414158,-0.0153642182133,0.0798438752415,0.999999924955,0.000273143723437,-0.00027230779501,3.64834602678e-05,1793250713656361216
+61,1.016666667,BASELINE,768,745,723,689,669.556844309,642.443155691,886.556844309,788,820,655,632,656,0.400984675218,-0.0153650657249,0.0798440669894,0.99999992535,0.000272285840023,-0.000271710504047,3.65098252887e-05,1793250713673028352
+62,1.033333333,BASELINE,768,745,723,689.020943047,669.020943047,643,886,788,820,655,632,656,0.40098486143,-0.0153657059284,0.0798441102407,0.999999925751,0.000271293959951,-0.000271238408769,3.64446865871e-05,1793250713689695232
+63,1.050000000,BASELINE,768,745,723,689.594734904,669.594734904,643,886,788,820,655,632,656,0.400984444907,-0.0153641616178,0.0798429970788,0.999999925023,0.000272497147397,-0.000272742446869,3.62181992747e-05,1793250713706362112
+64,1.066666667,BASELINE,768,745,723,689.827079644,670,643,886,788,820,655,632,656,0.400983977155,-0.0153634242898,0.0798424927394,0.999999924577,0.000273347366908,-0.000273517431989,3.62629557975e-05,1793250713723028736
+65,1.083333333,BASELINE,768,745,723,689.238328725,670,643,886,788,820,655,632,656,0.400983386209,-0.015364627555,0.0798434524671,0.999999924818,0.000273348786013,-0.00027253922544,3.69599864781e-05,1793250713739695104
+66,1.100000000,BASELINE,768,745,723,689,670,643,886.346424676,788,820,655,632,656,0.40098447567,-0.0153652332053,0.0798445020713,0.999999925201,0.000273511606467,-0.000270934016324,3.71970107933e-05,1793250713756361472
+67,1.116666667,BASELINE,768,745,723,689,670,643,886.928459266,788,820,655,632,656,0.400986708006,-0.0153654324065,0.079845612802,0.999999925678,0.000273784199002,-0.000268902371052,3.71211761312e-05,1793250713773027840
+68,1.133333333,BASELINE,768,745,723,689.503329867,670,643,886.496670133,788,819.496670133,655,632,656,0.400986019819,-0.0153641055169,0.0798449744977,0.999999925139,0.000274885722701,-0.000269822050373,3.68174773839e-05,1793250713789694464
+69,1.150000000,BASELINE,768,745.079049432,723,690,670,643,886.079049432,788,819,655,632,656,0.400985159902,-0.0153628070065,0.0798443826608,0.999999924634,0.000275805331325,-0.000270789131295,3.65706416537e-05,1793250713806361344
+70,1.166666667,BASELINE,768,745.666690184,723,690,670,643,886.666690184,788,819,655,632,656,0.400985828365,-0.0153630670688,0.0798456667865,0.999999925272,0.00027480712983,-0.000269400154283,3.68951048893e-05,1793250713823028480
+71,1.183333333,BASELINE,768.250651149,746,723,690,670,642.749348851,887,788,819.250651149,655,632,656.250651149,0.40098618945,-0.0153633384097,0.0798461187203,0.999999925533,0.000274462959223,-0.000268764316962,3.7018944534e-05,1793250713839695360
+72,1.200000000,BASELINE,768.8297897,746,723,690,670,642.1702103,887,788,819.8297897,655,632,656.8297897,0.400986147706,-0.0153636245319,0.0798454800367,0.999999925302,0.000274975919632,-0.000269115496274,3.68798597459e-05,1793250713856361984
+73,1.216666667,BASELINE,768.592144802,746,723,690,670,642.407855198,886.592144802,788,820,655,632,656.592144802,0.400985893706,-0.0153641781425,0.0798453617431,0.999999925511,0.000273822350292,-0.000269541896675,3.67062447433e-05,1793250713873028352
+74,1.233333333,BASELINE,768.014525982,746,723,690,670,642.985474018,886.014525982,788,820,655,632,656.014525982,0.400985551357,-0.0153648430911,0.0798454600542,0.999999925898,0.000271975112853,-0.000269999606705,3.65182570639e-05,1793250713889694720
+75,1.250000000,BASELINE,768.558922354,745.441077646,723,690,670,642.441077646,886.558922354,788,820,655,632,656,0.400984147311,-0.0153644916931,0.0798443222667,0.999999924688,0.000275107211734,-0.000271297193147,3.65665751451e-05,1793250713906361344
+76,1.266666667,BASELINE,768.867211629,745.132788371,723,690,670,642.132788371,886.867211629,788,819.867211629,655,632.132788371,656,0.400983385589,-0.0153641623514,0.0798437165791,0.999999923809,0.000277598084665,-0.000271984361277,3.6698388722e-05,1793250713923027968
+77,1.283333333,BASELINE,768.291593959,745.708406041,723,690,670,642.708406041,886.291593959,788,819.291593959,655,632.708406041,656,0.400984857264,-0.0153639939992,0.0798449917045,0.999999924201,0.000277522200769,-0.000270563622613,3.70883182477e-05,1793250713939694592
+78,1.300000000,BASELINE,768,745.706594052,722.706594052,690,669.706594052,643,886,788,819.293405948,655,632.706594052,656,0.400985689131,-0.0153646527457,0.0798453591391,0.999999924836,0.000275845795786,-0.000269924608435,3.71273561582e-05,1793250713956361472
+79,1.316666667,BASELINE,768,745.111961875,722.111961875,690,669.111961875,643,886,788,819.888038125,655,632.111961875,656,0.400985864138,-0.0153661606359,0.0798447946898,0.999999925714,0.000272526210309,-0.000270088154485,3.68061499569e-05,1793250713973028608
+80,1.333333333,BASELINE,768,745,722.467224996,690,669.467224996,643,886,788,819.532775004,655,632,656,0.400985945702,-0.0153662982432,0.0798453352915,0.999999926097,0.000271630121088,-0.000269578651195,3.67550439591e-05,1793250713989695488
+81,1.350000000,BASELINE,768,745,723,689.95626313,670,643,886,788,819.04373687,655,632,656,0.400985955546,-0.0153659935159,0.0798459893714,0.999999926273,0.000271493136879,-0.000269061246119,3.67602498629e-05,1793250714006362368
+82,1.366666667,BASELINE,768,745,723,689.36845979,670,643,886,788,819.63154021,655,632,656,0.400985342858,-0.0153641403273,0.0798448664203,0.999999925287,0.000273806025786,-0.000270387643325,3.66865707083e-05,1793250714023028992
+83,1.383333333,BASELINE,768,745,723,689,670.216044672,643,886.216044672,788,820,655,632,656,0.400985015398,-0.0153638519689,0.0798445303428,0.999999924968,0.000274456443361,-0.000270898668771,3.67755521748e-05,1793250714039695360
+84,1.400000000,BASELINE,768,745,723,689,670.795007674,643,886.795007674,788,820,655,632,656,0.400985167073,-0.015366192259,0.079845516079,0.999999925772,0.000272314192015,-0.000270040008457,3.71377758281e-05,1793250714056361728
+85,1.416666667,BASELINE,768,745,723,689.373872426,670.626127574,643,887,788,820,655,632,656,0.400985187961,-0.0153663657913,0.079845831145,0.999999926112,0.000271503503336,-0.000269600243578,3.71130331384e-05,1793250714073028096
+86,1.433333333,BASELINE,768,745,723,689.952683287,670.047316713,643,887,788,820,655,632,656,0.400985137159,-0.0153653516137,0.0798457785826,0.999999926199,0.000271422711807,-0.000269390096582,3.68761745519e-05,1793250714089694720
+87,1.450000000,BASELINE,768.52605038,745.52605038,723,689.47394962,670,642.47394962,887,788,819.47394962,655,632,656,0.400984545165,-0.0153651801718,0.0798444474654,0.999999925275,0.000273360050531,-0.000270899831177,3.65724966789e-05,1793250714106361600
+88,1.466666667,BASELINE,768.898419,746,723,689,670,642.101581,887,788,819.101581,655,632,656,0.400984051308,-0.0153651201506,0.0798433181077,0.999999924492,0.000274959202513,-0.000272199943324,3.63337535237e-05,1793250714123028480
+89,1.483333333,BASELINE,768.310202054,746,723,689,670,642.689797946,887,788,819.689797946,655,632,656,0.4009842584,-0.0153652344866,0.0798437005935,0.99999992485,0.000274077520089,-0.000271762323489,3.64345856091e-05,1793250714139695872
+90,1.500000000,BASELINE,768,745.726381638,723,689.273618362,670,643,887,788,819.726381638,655,632,656,0.400984491554,-0.0153651136287,0.0798443754035,0.999999925113,0.000273750300755,-0.000271110473919,3.65203048731e-05,1793250714156362240
+91,1.516666667,BASELINE,768,745.1474668,723,689.8525332,670,643,887,788,819.1474668,655,632,656,0.400984753786,-0.0153647303476,0.0798453763816,0.999999925272,0.000274041737436,-0.000270219592238,3.6589161625e-05,1793250714173028096
+92,1.533333333,BASELINE,768.430989476,745.430989476,723,689.569010524,670,643,886.569010524,788.430989476,819,655,632,656,0.400983604327,-0.0153642771412,0.079844373261,0.99999992478,0.000274358968064,-0.000271696271727,3.6731537176e-05,1793250714189694720
+93,1.550000000,BASELINE,769,746,723,689.00921854,670,643,886.00921854,788.99078146,819.00921854,655,632,656,0.400982035673,-0.0153638327261,0.0798427429373,0.999999924094,0.000274654120721,-0.000273889106717,3.68974269703e-05,1793250714206361600
+94,1.566666667,BASELINE,769,746,723,689.583127584,670,643,886.583127584,788.416872416,819.583127584,655,632,656,0.400984345352,-0.0153653908602,0.0798446524788,0.999999925484,0.000273056817157,-0.000270381134584,3.69644416111e-05,1793250714223028224
+95,1.583333333,BASELINE,768.838913497,746,723,689.838913497,670,643,886.838913497,788,819.838913497,655,632,656,0.400986127467,-0.0153664608653,0.0798461434316,0.999999926352,0.000272335509908,-0.000267874788815,3.70432261374e-05,1793250714239694848
+96,1.600000000,BASELINE,768.250203573,746,723,689.250203573,670,643,886.250203573,788,819.250203573,655,632,656,0.400986509101,-0.0153662350739,0.0798465231908,0.999999925869,0.00027393963948,-0.000268027379459,3.71532552504e-05,1793250714256361728
+97,1.616666667,BASELINE,768.333200168,745.666799832,723.333200168,689.333200168,670,643,886.333200168,788,819.333200168,655,632.333200168,656,0.400985372197,-0.0153658034961,0.0798454074003,0.99999992537,0.000273921767779,-0.000269929339583,3.6948105383e-05,1793250714273028608
+98,1.633333333,BASELINE,768.912681864,745.087318136,723.912681864,689.912681864,670,643,886.912681864,788,819.912681864,655,632.912681864,656,0.40098311288,-0.0153652198133,0.0798431861894,0.999999924851,0.000272705010181,-0.000273124328411,3.65099941606e-05,1793250714289695232
+99,1.650000000,BASELINE,768.51066303,745.48933697,723.51066303,690,670,643,886.51066303,788,820,655,632.51066303,656,0.400983240172,-0.0153655629049,0.0798435248984,0.999999924838,0.000272571741297,-0.000273307190332,3.64887341506e-05,1793250714306361600
+100,1.666666667,BASELINE,768,746,723,689.934668444,670,643,886.065331556,788.065331556,820,655,632,656,0.400983842669,-0.0153659961531,0.0798442750914,0.999999924941,0.000272764015117,-0.000272726471308,3.65747037346e-05,1793250714323027968
+101,1.683333333,BASELINE,768,746,723,689.359913926,670,643,886.640086074,788.640086074,820,655,632,656,0.400984848915,-0.015365850289,0.0798446924163,0.999999925235,0.000273995801175,-0.000270358730767,3.69201207167e-05,1793250714339694592
+102,1.700000000,BASELINE,768,746,723,689.22041575,670,643,886.77958425,788.77958425,820,655,632.22041575,656,0.400985182061,-0.0153660067247,0.0798448375737,0.999999925449,0.000274174957039,-0.000269364152077,3.70421141992e-05,1793250714356361216
+103,1.716666667,BASELINE,768,746,723,689.810085209,670,643,886.189914791,788.189914791,820,655,632.810085209,656,0.400984387586,-0.0153666695912,0.0798445267793,0.999999925539,0.000272590683434,-0.000270669976862,3.67898151764e-05,1793250714373027840
+104,1.733333333,BASELINE,768.39260982,746,723,690,670,643,886,788,820,655,632.60739018,656,0.40098537302,-0.0153650560197,0.0798451796143,0.999999925706,0.000272730509691,-0.000269958690907,3.64465744351e-05,1793250714389694976
+105,1.750000000,BASELINE,768.971740121,746,723,690,670,643,886,788,820,655,632.028259879,656,0.40098720405,-0.0153623609615,0.0798462902486,0.999999925907,0.000273689418566,-0.000268289119141,3.6060129217e-05,1793250714406362368
+106,1.766666667,BASELINE,768.451639073,745.451639073,723,690,670,642.451639073,886,788,820,655,632,656,0.400986000546,-0.0153643301388,0.0798456109365,0.999999925559,0.000273936716006,-0.000269299626733,3.63213833966e-05,1793250714423028992
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,887,788,820,655,632,656,0.400983266694,-0.0153652154491,0.0798446596047,0.999999925196,0.000273311818826,-0.000271230197702,3.66310874387e-05,1793250714466991872
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.363800458,788,820,655,632.636199542,656,0.40098364269,-0.0153647393753,0.0798438407614,0.999999924889,0.00027363813847,-0.00027205094938,3.65072642257e-05,1793250714483658752
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886,788.245752876,820,655,632.754247124,656,0.400984470115,-0.0153647022845,0.0798440469618,0.999999925129,0.000273199831825,-0.000271603393993,3.65402692695e-05,1793250714500325632
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886,788.819719158,820,655,632.180280842,656,0.400985900444,-0.0153652514742,0.0798456221517,0.999999926097,0.000271740334343,-0.000269461960763,3.67827250942e-05,1793250714516992256
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745.603523166,723,689.603523166,670,643,886.396476834,788.603523166,820,655,632,656,0.400985494297,-0.0153642265751,0.0798455739428,0.999999925785,0.000273091580659,-0.000269269221401,3.66636873968e-05,1793250714533658624
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745.025487257,723,689.025487257,670,643,886.974512743,788.025487257,820,655,632,656,0.400984247171,-0.0153624808518,0.0798447823289,0.999999924883,0.000275729954074,-0.000269968849702,3.63791105567e-05,1793250714550325248
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.561878276,745,723,689.561878276,670,642.438121724,886.438121724,788,820,655,632,656,0.400985787316,-0.0153629397789,0.0798457081887,0.999999925294,0.000275452595219,-0.00026870858394,3.65156084496e-05,1793250714566991872
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.852408744,745,723,689.852408744,670,642.147591256,886.147591256,788,819.852408744,655,632.147591256,656,0.400986512855,-0.015363533024,0.0798461346181,0.999999925568,0.000274825735014,-0.000268317092561,3.66066045292e-05,1793250714583658752
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.272792793,745,723,689.272792793,670,642.727207207,886.727207207,788,819.272792793,655,632.727207207,656,0.400984477561,-0.0153642217668,0.0798448672353,0.999999925265,0.000273569509336,-0.000270733277945,3.65075552299e-05,1793250714600325376
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745.304596442,723,689.304596442,670,643,886.695403558,788,819.304596442,655,633,656,0.400986384031,-0.0153644633112,0.0798457361226,0.999999925414,0.000274173584482,-0.000269552710399,3.66461053078e-05,1793250714616992000
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745.880005898,723,689.880005898,670,643,886.119994102,788,819.880005898,655,633,656,0.400991795073,-0.0153643072568,0.0798485043419,0.99999992595,0.000276431630666,-0.000265174313176,3.6995902124e-05,1793250714633658624
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745.544883332,723,690,670,642.544883332,886,788,820,655,632.544883332,656,0.401012887082,-0.015365990607,0.0798563831898,0.999999930406,0.000273771645428,-0.000250685303747,3.73336717093e-05,1793250714650325248
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.03113901,745.03113901,723,690,670,642.03113901,886.03113901,788,819.96886099,655,632,656,0.401039802002,-0.0153682012515,0.0798661130129,0.999999935834,0.000269925009655,-0.000232489850386,3.76963667705e-05,1793250714666991872
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.625057854,745.625057854,723,690,670,642.625057854,886.625057854,788,819.374942146,655,632,656,0.40109728305,-0.0153711825864,0.0798849591461,0.999999944229,0.000268051353989,-0.000195453678525,3.85668164839e-05,1793250714683658752
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.788309617,746,723,690,670,643,886.788309617,788,819.211690383,654.788309617,632,656,0.401160519783,-0.0153741063407,0.0799017436394,0.999999950089,0.000267312018148,-0.000163833152052,3.90476408366e-05,1793250714700325376
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.214152964,746,723,690,670,643,886.214152964,788,819.785847036,654.214152964,632,656,0.401233611684,-0.015376931503,0.0799149980983,0.999999953186,0.000268514918398,-0.000141485543669,3.88613304481e-05,1793250714716992000
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,723,690.360019094,670.360019094,642.639980906,886,788,820,654.360019094,632,656,0.401314528279,-0.0153791808694,0.0799237442696,0.999999954857,0.000269509564208,-0.000127499093476,3.73515516616e-05,1793250714733658624
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723,690.93420028,670.93420028,642.06579972,886,788,820,654.93420028,632,656,0.401400099491,-0.0153810877158,0.0799298086257,0.999999955813,0.000270380327089,-0.000118486389539,3.50544903119e-05,1793250714750325504
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745.476078446,723,690.476078446,670.476078446,642.523921554,886,788.523921554,819.476078446,655,632,656,0.401503604198,-0.0153854577637,0.0799340872288,0.99999995796,0.000266920448344,-0.000108567351264,3.2365232738e-05,1793250714766992128
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,723,690,670.113146576,643,886.113146576,788.886853424,819.113146576,655,632,656,0.401614587816,-0.0153900872233,0.0799378388293,0.999999959958,0.000263212171613,-9.97054368516e-05,2.93499528853e-05,1793250714783658752
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,723,690,670.692049294,643,886.692049294,788.307950706,819.692049294,655,632,656,0.40174680291,-0.0153944721691,0.0799403724995,0.9999999611,0.000260788688905,-9.5677944298e-05,2.52015922611e-05,1793250714800325376
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745,723,690.268964417,670.731035583,642.731035583,886.731035583,788,819.731035583,655,632,655.731035583,0.401892447249,-0.0153993537098,0.079944125393,0.999999962873,0.000256885240609,-8.84551867333e-05,2.09493807188e-05,1793250714816992256
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745,723,690.843620499,670.156379501,642.156379501,886.156379501,788,819.156379501,655,632,655.156379501,0.402053354595,-0.0154047996554,0.0799492639953,0.999999965276,0.000251299736712,-7.76008491435e-05,1.65791376364e-05,1793250714833658880
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.41643788,745.41643788,723,690.58356212,670,642.41643788,886.41643788,788,819.41643788,655,632,655.41643788,0.402227911249,-0.0154100862631,0.0799486615746,0.999999967333,0.000242853887974,-7.90150754573e-05,1.05711109625e-05,1793250714850325760
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.988567882,745.988567882,723,690.011432118,670,642.988567882,886.988567882,788,819.988567882,655,632,655.988567882,0.402407570932,-0.0154153133001,0.0799459127789,0.999999969155,0.000233338651994,-8.50161043782e-05,3.95077171323e-06,1793250714866992384
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.41707246,746,723,690,670,643,887,788,820,655,632,656,0.402613741698,-0.0154217426628,0.0799416822948,0.999999971514,0.000219380333936,-9.39639390914e-05,-3.80660055359e-06,1793250714883659008
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,746,723,690,670,642.827391898,886.827391898,788,820,655,632,656,0.402837403673,-0.0154293068498,0.0799387946022,0.999999978332,0.000182456020468,-9.9529860491e-05,-1.17923407913e-05,1793250714900325376
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,642.249754386,886.249754386,788,820,655,632,656,0.403100840888,-0.0154394764094,0.0799391286935,0.99999999087,9.18539687774e-05,-9.70190498659e-05,-2.02595542793e-05,1793250714916992256
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.327119565,746,723,690,670,642.327119565,886.327119565,788,819.672880435,655,632.327119565,656,0.403390206077,-0.0154489541149,0.0799433602683,0.999999994398,5.02775648936e-05,-8.89065868146e-05,-2.77956724409e-05,1793250714933658880
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.903411863,746,723,690,670,642.903411863,886.903411863,788,819.096588137,655,632.903411863,656,0.403699321046,-0.0154579048222,0.0799505606249,0.999999995412,4.60448658642e-05,-7.65272470518e-05,-3.46225584887e-05,1793250714950325248
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.512201255,723,690.487798745,670,643,887,788,819.487798745,655.487798745,632.512201255,656.487798745,0.404030669061,-0.0154662509227,0.0799537840724,0.999999994334,7.76393135498e-05,-6.89477583527e-05,-2.34483112574e-05,1793250714966991872
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.073378802,723,691,670,643,887,788.073378802,820,655.926621198,632,656.926621198,0.404373170754,-0.0154738117302,0.0799553992171,0.999999992137,0.000107391307416,-6.36777030452e-05,-1.17862038966e-05,1793250714983658752
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.65592887,723,691,670,643,887,788.65592887,820,655.34407113,632,656.34407113,0.40476200425,-0.0154767681621,0.0799514107865,0.999999994707,7.43026617048e-05,-6.77265528338e-05,-2.18891779696e-05,1793250715000325376
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.764947893,746,723,691,670.235052107,643,887.235052107,788.764947893,819.764947893,655,632.235052107,656,0.405167656975,-0.0154790157874,0.0799474449156,0.999999995674,5.00640288864e-05,-7.26106241568e-05,-2.95545777735e-05,1793250715016992256
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.190768848,746,723,691,670.809231152,643,887.809231152,788.190768848,819.190768848,655,632.809231152,656,0.405597576001,-0.0154802407652,0.0799435115938,0.99999999559,3.8593962577e-05,-7.86997306624e-05,-3.37031093159e-05,1793250715033658880
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.385380349,746,723,691.385380349,670.614619651,643,887.614619651,788,819.385380349,655,632.614619651,656,0.40605118681,-0.0154753705877,0.0799379917999,0.999999994207,5.14617760752e-05,-8.82151172777e-05,-3.40023513008e-05,1793250715050325504
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.962509864,746,723,691.962509864,670.037490136,643,887.037490136,788,819.962509864,655,632.037490136,656,0.406516585698,-0.0154674677157,0.0799316826433,0.99999999161,7.64391009458e-05,-9.9435278262e-05,-3.23863479351e-05,1793250715066992128
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.448602631,745.448602631,723,692,670,643,887,788.551397369,820,655,632,656,0.407001115306,-0.0154705845592,0.0799281643853,0.999999991269,6.95511075668e-05,-0.000106675895053,-3.52807444581e-05,1793250715083659008
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.138542258,745.138542258,723,692,670,643,887,789,819.861457742,655,632,656,0.407498194672,-0.0154751958117,0.0799232238692,0.999999990671,5.92381675267e-05,-0.000117061764392,-3.80300479619e-05,1793250715100325888
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.717549993,745.717549993,723,692,670,643,887,789,819.282450007,655,632,656,0.408030947968,-0.0154821242588,0.0799131451527,0.999999988644,4.50745342672e-05,-0.000138326267794,-3.9321833646e-05,1793250715116992000
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,692.293298246,670,643,887,789,819.293298246,655,632,656,0.408612272604,-0.0154861760186,0.0799147524219,0.999999988924,3.77211030785e-05,-0.000138265820654,-4.01471583683e-05,1793250715133658624
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,692.865942043,670,643,887,789,819.865942043,655,632,656,0.409239857926,-0.0154874879395,0.0799274897551,0.99999999155,3.68539019385e-05,-0.000117894885831,-4.05282123972e-05,1793250715150325504
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.548932276,746,723,693,670,643,887.451067724,789,820,655,632,656,0.40990222738,-0.0154879686218,0.0799575452763,0.999999996262,3.81113336411e-05,-6.69477150615e-05,-3.9251419408e-05,1793250715166992128
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.039339029,746,723,693,670,643,888,789,820,655,632,656,0.410574542985,-0.0154881173301,0.0799904225642,0.999999998428,3.99987596443e-05,-1.12794760731e-05,-3.76428384262e-05,1793250715183659008
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.618423518,746,723,693,670,643,888,789,820,655,632,656,0.411237447213,-0.0154871972493,0.0799893872137,0.999999998214,4.16197376215e-05,-1.90658238143e-05,-3.84346184908e-05,1793250715200325376
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723,693.197671338,670.197671338,643,888,789.197671338,820.197671338,655,632,656,0.411906696705,-0.0154865606001,0.0799754737627,0.999999997454,3.9028455173e-05,-4.35015293655e-05,-4.09503823406e-05,1793250715216991744
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723,693.777234638,670.777234638,643,888,789.777234638,820.777234638,655,632,656,0.412588204879,-0.0154864715283,0.0799366804121,0.999999993494,2.82992784171e-05,-0.000100103029948,-4.67968036509e-05,1793250715233658624
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.650593816,746,723,694,670.650593816,643,888.349406184,789.650593816,821,655,632,656,0.413319966005,-0.0154898966881,0.0799187242831,0.999999991499,1.92790126043e-05,-0.00011871947005,-5.03505634665e-05,1793250715250325504
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.083037228,746,723,694,670.083037228,643,888.916962772,789.083037228,821,655,632,656,0.414083102433,-0.0154955159448,0.0799137777894,0.999999992104,1.13256977446e-05,-0.000113620089644,-5.24729095461e-05,1793250715266992384
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.492975607,746,723,694,670,643,889,789,821,655,632,656,0.41488483405,-0.0154973572873,0.0799383325134,0.999999995972,1.24678350979e-05,-7.30241133724e-05,-5.06704190751e-05,1793250715283658752
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.927008533,746,723,694,670,643,889,788.927008533,821.145982934,655,632,656,0.415688121013,-0.0154978016331,0.0799626041739,0.999999998033,1.46546007499e-05,-3.66715492376e-05,-4.87313100465e-05,1793250715300325120
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.328609705,746,723,694,670,643,889,788.328609705,822.342780591,655,632,656,0.416454991789,-0.0154928506715,0.079948444643,0.999999995844,1.3140369396e-05,-7.46536538793e-05,-5.06505979402e-05,1793250715316992256
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.259303157,746.259303157,723,694.259303157,670,642.740696843,889.259303157,788,823,655,632,656,0.417274463618,-0.0154914925205,0.0799472020134,0.999999995713,1.1885039329e-05,-7.60450043859e-05,-5.1484369308e-05,1793250715333658880
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.834443821,746.834443821,723,694.834443821,670,642.165556179,889.834443821,788,823,655,632,656,0.418158004754,-0.0154945105001,0.0799616924823,0.9999999981,1.0945057375e-05,-3.2867930291e-05,-5.09959552135e-05,1793250715350324992
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.58189084,723,695.41810916,670,642,890.41810916,788,823,655,632,656,0.419040376694,-0.0155006299023,0.0799728939211,0.99999999864,7.28461793155e-06,-6.0828856704e-06,-5.12768036595e-05,1793250715366991616
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.9948577,746,723,695.9948577,670,642.0051423,891,788,823,655,632,656,0.419922170726,-0.0155079213924,0.0799825179853,0.999999998558,2.49963046787e-06,1.36143784303e-05,-5.1888521024e-05,1793250715383658240
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.416508459,746,723,695.416508459,670,642.583491541,891,788,823,655,632,656,0.420792228011,-0.0155061255917,0.0799645053868,0.999999998324,-5.06372893487e-06,-1.81910914046e-05,-5.4721704445e-05,1793250715400324864
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,723,695,670,643,891,788,823.161931116,655,632,656,0.421680103458,-0.0155053550216,0.0799593223578,0.999999997971,-8.96125826932e-06,-2.93147681355e-05,-5.58423506974e-05,1793250715416991744
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,723,695,670,643,891,788,823.740603085,655,632,656,0.422613835035,-0.0155072229531,0.0799871571102,0.999999998531,-3.42452091161e-06,1.27875754495e-05,-5.25556645215e-05,1793250715433658368
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,723,695.317223357,670,643,891,788.317223357,824,655,632,656,0.423528924954,-0.015508422205,0.0799987750458,0.999999998421,2.01310126039e-06,2.34576003979e-05,-5.10286058492e-05,1793250715450324736
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,723,695.892176779,670,643,891,788.892176779,824,655,632,656,0.424428869446,-0.0155090781843,0.0799972175321,0.999999998639,7.37019729101e-06,8.5902496494e-06,-5.09311670357e-05,1793250715466991360
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.477453243,746,723,696,670,643,891,788.522546757,824,655,632,656,0.425312122021,-0.0155084312122,0.0799535751237,0.999999996154,5.65477600345e-06,-6.75640757648e-05,-5.56283781426e-05,1793250715483658240
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891.064004219,788.064004219,824.064004219,655,632.064004219,656,0.426199720475,-0.0155076445727,0.0799056028198,0.999999987431,2.58615394161e-06,-0.000146356832466,-6.091562476e-05,1793250715500325120
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,891.641661412,788.641661412,824.641661412,655,632.641661412,656,0.42715311655,-0.0155081506516,0.079900839983,0.999999989256,1.75884479636e-06,-0.000132795643925,-6.20564632382e-05,1793250715516991744
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.78004415,746.21995585,723,696,670,643,892,788.78004415,825,654.78004415,632.78004415,656.21995585,0.42809867962,-0.0155080672436,0.079903508749,0.99999999059,3.52598620481e-07,-0.00012231135998,-6.2120136697e-05,1793250715533658368
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.200708571,746.799291429,723,696,670,643,892,788.200708571,825,654.200708571,632.200708571,656.799291429,0.429031444506,-0.0155070206894,0.0799183198039,0.999999991345,-1.99955657487e-06,-0.00011685434549,-6.04238602148e-05,1793250715550325248
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.375309157,746.624690843,723,696,670,643,892.375309157,788.375309157,825.375309157,654.375309157,631.624690843,657,0.430009709853,-0.0155119497127,0.079957940873,0.999999996427,-1.55982702399e-06,-6.21622255442e-05,-5.72613787236e-05,1793250715566991872
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.949568088,746.050431912,723,696,670,643,892.949568088,788.949568088,825.949568088,654.949568088,631.050431912,657,0.43101209477,-0.0155200463641,0.0800107136237,0.999999998405,3.59868743595e-07,1.86292128872e-05,-5.33216679871e-05,1793250715583658240
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,893,789,826,655,631.536557711,656.463442289,0.431946583921,-0.0155225413627,0.0800219141143,0.999999997948,-9.1426337667e-06,3.43371135251e-05,-5.33066977021e-05,1793250715600324864
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.123403206,723,696,670,643,893,789,826,655,632,656,0.432858667131,-0.0155223480552,0.0800108037175,0.99999999818,-1.64607224439e-05,1.81475968061e-05,-5.51369360063e-05,1793250715616991488
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.705160785,723,696,670,643,893,789,826,655,632,656,0.433711807366,-0.0155141727466,0.0799316904473,0.999999993638,-1.15807475307e-05,-9.32443393875e-05,-6.24173289023e-05,1793250715633658112
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643,893.282976809,789,826,655,632,656,0.434594993549,-0.0155118772762,0.0798964767567,0.999999987965,-1.32548415806e-05,-0.000139837829651,-6.58788491505e-05,1793250715650325248
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,696,670,643,893.856742533,789,826,655,632,656,0.435509055258,-0.0155156239669,0.0799063745664,0.999999990444,-2.16639414995e-05,-0.000119844005632,-6.54160710694e-05,1793250715666992384
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.558328803,747,723,696,670,643,894,789,826,655,632,656,0.436432997114,-0.0155201669028,0.079939489278,0.999999994339,-2.69611904902e-05,-8.20131609629e-05,-6.22020816209e-05,1793250715683659008
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,894.029821039,788.970178961,826.029821039,655,632,656.029821039,0.437359034654,-0.0155250287035,0.0799794792515,0.999999997075,-3.15537513993e-05,-3.81477816591e-05,-5.82943231229e-05,1793250715700325888
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,894.608883391,788.391116609,826.608883391,655,632,656.608883391,0.438263117843,-0.015530883301,0.0800038052537,0.99999999737,-4.22393793916e-05,7.54145894459e-06,-5.84704370586e-05,1793250715716992256
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,895,787.814418414,826.814418414,655,632,657,0.439124044356,-0.0155375762359,0.0800038587162,0.999999996811,-5.14756695498e-05,1.19189396996e-05,-5.98897001488e-05,1793250715733658880
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,895,787.24264008,826.24264008,655,632,657,0.439895161431,-0.0155460137572,0.0799534008303,0.999999993867,-5.76958755369e-05,-6.96736809114e-05,-6.38959664017e-05,1793250715750325760
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,895,787,826.333142097,655,632,656.666857903,0.440600675501,-0.0155507791371,0.0798618390751,0.999999971637,-7.24947921495e-05,-0.000215276718058,-7.15953768353e-05,1793250715766992384
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,696,670,643,895,787,826.911875874,655,632,656.088124126,0.441257827133,-0.0155528374214,0.0797399756326,0.999999908995,-9.36179147856e-05,-0.000408068096198,-8.20173636721e-05,1793250715783659008
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,723,695.499891723,669.499891723,643,895,787,827,655,632,656.500108277,0.442025175905,-0.0155713777381,0.0797104853078,0.99999989235,-0.000120435539591,-0.000440585909234,-8.17305113191e-05,1793250715800325632
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,695,669,642.911690217,895,786.911690217,827,655,632,657,0.442813471591,-0.0155939497741,0.0797087359518,0.999999893197,-0.000147790266819,-0.000430786432535,-7.86532015002e-05,1793250715816991744
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,723,695,669,642.333132146,895,786.333132146,827,655,632,657,0.443608168466,-0.0156224684646,0.0797688784759,0.99999992281,-0.000172448338757,-0.000345882986054,-7.07632301718e-05,1793250715833658368
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,723,695.234638394,669,642,895,786,827,655,632,656.765361606,0.444366678308,-0.0156446048959,0.0798079481787,0.999999936524,-0.00019340936282,-0.000291902886966,-6.58537570663e-05,1793250715850325248
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,723,695.78776641,669,642,895,786,827,655,632,656.21223359,0.445076069299,-0.0156580782846,0.0798184144085,0.999999936803,-0.000209352153453,-0.000279897005897,-6.49899033221e-05,1793250715866992128
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,642,895,785.630580455,827,655,631.630580455,656,0.445748512502,-0.0156635393562,0.079808872373,0.99999993189,-0.000216240166701,-0.000291789708105,-6.57144624994e-05,1793250715883658752
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,642,895,785.031168226,827,655,631.031168226,656,0.446397952762,-0.0156640121303,0.0797868736202,0.999999923335,-0.000217490868777,-0.00031856115611,-6.74279335069e-05,1793250715900325376
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,641.437189584,895.562810416,784.437189584,827.562810416,655,631.562810416,656.562810416,0.447017862645,-0.0156704912111,0.0797583589986,0.999999909608,-0.000229222488187,-0.000351206550758,-6.99581085344e-05,1793250715916992256
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,641,895.847918721,783.847918721,827.847918721,654.847918721,632,657,0.447614662192,-0.0156772700289,0.0797280692901,0.999999891958,-0.000240613302754,-0.000391028699301,-7.27058698957e-05,1793250715933658880
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,641,895.27096741,783.27096741,827.27096741,654.27096741,632,657,0.448151423358,-0.0156839658473,0.0796938189749,0.999999864755,-0.000249445967188,-0.000450000476862,-7.59363553871e-05,1793250715950325504
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,641,895.304676455,782.695323545,827.304676455,654.304676455,631.695323545,657,0.44868172657,-0.015687857962,0.0796676615125,0.999999843552,-0.000258952845624,-0.000489693141914,-7.7721019291e-05,1793250715966992128
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,641,895.879162466,782.120837534,827.879162466,654.879162466,631.120837534,657,0.449206310841,-0.015689267226,0.079648670766,0.999999829512,-0.000269056781611,-0.000512312976478,-7.82253201e-05,1793250715983658752
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,723,696,668.535019631,640.535019631,896,781.535019631,828,655,631,657,0.449730348006,-0.0156964492075,0.0796620025022,0.999999838113,-0.000275120312332,-0.000492250414714,-7.59703947173e-05,1793250716000325376
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640,896,780.947062171,828,655,631,656.947062171,0.45025287617,-0.0157050970161,0.0796843884175,0.999999851909,-0.000280709073677,-0.000460483181941,-7.30713053582e-05,1793250716016992000
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640,896,780.367842729,828,655,631,656.367842729,0.450761850992,-0.015713030606,0.0797111932872,0.999999864287,-0.000292277311052,-0.000425381224968,-7.10749686966e-05,1793250716033658880
+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640,896,780,828,655,631,656.209583644,0.451225707447,-0.0157210304619,0.0797208138662,0.999999865043,-0.000303442491843,-0.000415735830664,-7.07162325231e-05,1793250716050325504
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640,896,780,828,655,631,656.783889769,0.451611047921,-0.0157291456368,0.079700529935,0.999999846626,-0.000313906266104,-0.000450390551785,-7.32072877318e-05,1793250716066992128
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,747,723,696,667.639468782,640,896,779.639468782,828,655,631,657,0.451966073009,-0.0157363565655,0.0796694685696,0.999999819909,-0.000324201094823,-0.000499521649953,-7.45182226583e-05,1793250716083658752
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,747,723,696,667.061418399,640,896,779.061418399,828,655,631,657,0.452302807904,-0.0157430219352,0.0796319048599,0.999999785929,-0.000334393992332,-0.000557386772098,-7.5117155736e-05,1793250716100325376
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747,723,696,667,639.475101256,896,778.475101256,828,654.475101256,631,657,0.452624402141,-0.015742744878,0.0796139526423,0.999999771787,-0.00033537133285,-0.000581348214881,-7.73757796885e-05,1793250716116992000
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.110938711,723,696,667,639,896.110938711,777.889061289,828,654.110938711,631,657,0.452942215095,-0.015742053299,0.0796008901928,0.99999976163,-0.000335111750611,-0.000598423281068,-7.95581942462e-05,1793250716133658880
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.691643464,723,696,667,639,896.691643464,777.308356536,828,654.691643464,631,657,0.453251638174,-0.0157431012796,0.0795986608115,0.999999758841,-0.000334253600982,-0.000603405439483,-8.05824096067e-05,1793250716150325760
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768,747.823062282,723,695.176937718,667,639,896,775,828,655,630.823062282,656.823062282,0.454601565188,-0.0157659585523,0.0795753235443,0.999999727705,-0.000359850806705,-0.000640206506308,-7.23394094502e-05,1793250716250325504
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,747.245579162,723,695.754420838,667,639,896,775,828,655,630.245579162,656.245579162,0.454768361598,-0.0157687029299,0.0795798103866,0.999999730562,-0.000359052115245,-0.000636386136029,-7.05053378931e-05,1793250716266992128
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+217,3.616666667,POSE1_TO_POSE2_PRESS,768,747,723.903537178,696,667,639,896,775,828,655,630,656.903537178,0.455034521433,-0.0157760125174,0.0795757897485,0.999999722525,-0.000367639538311,-0.000643869815263,-7.22689863096e-05,1793250716300325376
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,747.490501154,723.509498846,696,667,639,896.490501154,774.509498846,828,655,630.490501154,657,0.455129177902,-0.0157781273187,0.0795689952392,0.999999712829,-0.000371111741591,-0.000656665871901,-7.3543421416e-05,1793250716316992000
+219,3.650000000,POSE1_TO_POSE2_PRESS,767.921370772,747.921370772,723,695.921370772,667,638.921370772,896.921370772,774,828,655,630.921370772,657,0.455216137723,-0.0157793840676,0.0795620568575,0.999999703157,-0.000373600092672,-0.000669724024691,-7.46871342246e-05,1793250716333658624
+220,3.666666667,POSE1_TO_POSE2_PRESS,767.342797451,747.342797451,723,695.342797451,667,638.342797451,896.342797451,774,828,655,630.342797451,657,0.455291834232,-0.0157774799123,0.0795580967646,0.99999969961,-0.000372655623005,-0.000675438211762,-7.54376265961e-05,1793250716350325504
+221,3.683333333,POSE1_TO_POSE2_PRESS,767.234115352,747,723,695.234115352,667,638.234115352,896,774,828,655,630,657,0.455361228329,-0.0157780757197,0.0795555978764,0.999999696571,-0.000373351502586,-0.00067950439704,-7.5770293951e-05,1793250716366992128
+222,3.700000000,POSE1_TO_POSE2_PRESS,767.808613858,747,723,695.808613858,667,638.808613858,896,774,828,655,630,657,0.455421459267,-0.0157823062533,0.0795552234515,0.9999996943,-0.000376432305956,-0.000681174532019,-7.5495480377e-05,1793250716383658496
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,747,723,695.862738556,667,638.862738556,897,773,828,655,630,657,0.455557104865,-0.0157821738591,0.0795464427387,0.99999968299,-0.000379640301297,-0.000695914820122,-7.48051523814e-05,1793250716450325504
+227,3.783333333,POSE1_TO_POSE2_PRESS,768,747,723,695.283687893,667,638.283687893,897,773,828,655,630,657,0.455577823271,-0.0157803909392,0.0795461369653,0.999999683449,-0.000378176310085,-0.000696078548152,-7.45557436387e-05,1793250716466992128
+228,3.800000000,POSE1_TO_POSE2_PRESS,768,747.293002048,723,695,667,638,896.706997952,773,828,655,630,656.706997952,0.455592329127,-0.0157798307852,0.0795455613718,0.999999682776,-0.00037744417917,-0.000697468064587,-7.43161267637e-05,1793250716483658752
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,747.867424546,723,695,667,638,896.132575454,773,828,655,630,656.132575454,0.455600867995,-0.0157804450646,0.0795447266233,0.99999968101,-0.000377414980128,-0.00070003491723,-7.40859147243e-05,1793250716500325376
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,723,695.96155729,666.03844271,638.03844271,896.03844271,773,828.96155729,655,630.96155729,657,0.455611751496,-0.0157801080414,0.0795425023363,0.999999677854,-0.000378137326439,-0.000704179004534,-7.37343239604e-05,1793250716533658624
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,723,695.382755293,666.617244707,638.617244707,896.617244707,773,828.382755293,655,630.382755293,657,0.455615497432,-0.0157788876877,0.0795418012698,0.999999678264,-0.000377100944335,-0.00070413471443,-7.38963260714e-05,1793250716550325504
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,723,695.195876501,667,638.804123499,896.804123499,773,828,655,630,657,0.455617910193,-0.0157778403893,0.0795407826307,0.999999677818,-0.000377195942535,-0.000704679023225,-7.42559025356e-05,1793250716566992384
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,748,723,695.774175929,667,638.225824071,896.225824071,773,828,655,630,657,0.455617720105,-0.0157771309584,0.0795391439731,0.999999675696,-0.000379499811064,-0.000706372493425,-7.50012167396e-05,1793250716583659008
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,747.649890808,723,695.649890808,667,638,896.350109192,773,828.350109192,655,630,657,0.455617856513,-0.0157770336874,0.0795385140341,0.999999674376,-0.000379734623552,-0.000708140977942,-7.4739350915e-05,1793250716600325632
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,747.075473443,723,695.075473443,667,638,896.924526557,773,828.924526557,655,630,657,0.455618202101,-0.0157773286153,0.0795385303614,0.999999673569,-0.00037864383217,-0.000709957522845,-7.38322044427e-05,1793250716616992512
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.922531815,723,695,667,638,895.922531815,773,828,654.922531815,630,657,0.455618850399,-0.0157724498803,0.0795372530883,0.999999675243,-0.000372265397919,-0.00071093716231,-7.41704108804e-05,1793250716650325760
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,747.327169873,723,695,667,638,895.327169873,773,828,654.327169873,630,657,0.455619042408,-0.0157735981755,0.0795364303302,0.999999673648,-0.000375650097401,-0.000711377534207,-7.4385210094e-05,1793250716666992384
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.83162611,723,695,666.16837389,638,895.83162611,773,828,654.83162611,630,657,0.45561927586,-0.0157746664326,0.0795359006098,0.999999672043,-0.000376453994799,-0.000713193554944,-7.45122505001e-05,1793250716700325376
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+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,723,695.582238463,666.417761537,638,896,773,828,654.582238463,630,657,0.455621836588,-0.0157723529542,0.0795362382951,0.99999967406,-0.000374881539279,-0.000711264241582,-7.37981162643e-05,1793250716750325760
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+247,4.116666667,POSE1_TO_POSE2_PRESS,768,747.315894714,723,695,666.315894714,638,896,773,828,654.315894714,630,656.315894714,0.455623627605,-0.0157727540394,0.0795372799526,0.99999967405,-0.000375052684996,-0.000711197832487,-7.37153867576e-05,1793250716800325376
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+249,4.150000000,HOLD_POSE2,768,747,723,695,666,638,896,773,828,655,630,657,0.455622187593,-0.0157720665973,0.0795357192315,0.999999673874,-0.00037224893816,-0.000712976589509,-7.31165646525e-05,1793250716848495872
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+251,4.183333333,HOLD_POSE2,768,747.160928244,723,695.160928244,667,638,897,772,828.160928244,654.839071756,630,656.160928244,0.45562202684,-0.0157720382981,0.0795338595744,0.999999671963,-0.000374761963797,-0.00071434355319,-7.30791996993e-05,1793250716881829632
+252,4.200000000,HOLD_POSE2,768,747.734724072,723,695.734724072,667,638,897,772,828.734724072,654.265275928,630,656.734724072,0.455620974961,-0.0157710017105,0.0795341654902,0.999999671562,-0.000373445949379,-0.000715558894132,-7.34173393438e-05,1793250716898497024
+253,4.216666667,HOLD_POSE2,768.309542992,748,723,696,667,638,896.690457008,772.309542992,828.690457008,654.309542992,630.309542992,657,0.455621141765,-0.0157715283811,0.0795342224133,0.999999671224,-0.000373714860019,-0.000715882517879,-7.34989546234e-05,1793250716915163904
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+255,4.250000000,HOLD_POSE2,768.527148097,748,723,695.527148097,667,638,896.472851903,772.527148097,828,655,630.527148097,657,0.455621861741,-0.0157718716693,0.0795334545285,0.999999670898,-0.000373293003269,-0.000716574847056,-7.33284973354e-05,1793250716948496640
+256,4.266666667,HOLD_POSE2,768,748,723.062048115,695.062048115,667,638,897,772.062048115,828,655,630,656.937951885,0.455621139694,-0.015769491643,0.0795328718737,0.999999671111,-0.000370282393712,-0.000717837331254,-7.3337759465e-05,1793250716965162752
+257,4.283333333,HOLD_POSE2,768,748,723.639777278,695.639777278,667,638,897,772.639777278,828,655,630,656.360222722,0.455622065048,-0.0157670581697,0.0795334608862,0.999999673013,-0.00036694288216,-0.000716889486226,-7.34635015768e-05,1793250716981829376
+258,4.300000000,HOLD_POSE2,768.216599866,747.783400134,723.783400134,695.783400134,667,638,896.783400134,773,828.216599866,655,630,656.216599866,0.455623051864,-0.0157671177304,0.0795342832695,0.999999673688,-0.000367491868797,-0.000715678925419,-7.33363655234e-05,1793250716998496000
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.742599649,723,695.742599649,666.257400351,638,896,772.257400351,828,654.257400351,630,657,0.455622208368,-0.0157664456652,0.0795314136009,0.999999672596,-0.000367466553788,-0.000717252572991,-7.29726340307e-05,1793250717286845440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.158850558,723,695.158850558,666.841149442,638,896,772.841149442,828,654.841149442,630,657,0.455618557518,-0.0157635762734,0.0795294312656,0.999999670862,-0.000365314091236,-0.000720664482103,-7.39268763972e-05,1793250717303511808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.584074918,747.415925082,723,695,667,638,896,772.584074918,828,655,630,657,0.455601415987,-0.0157644298056,0.0795215871359,0.999999661054,-0.000366748307028,-0.000733428844592,-7.39583807729e-05,1793250717320178432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.012654002,747.987345998,723,695,667,638,896,772.012654002,828,655,630,657,0.455579230892,-0.0157666751728,0.0795115515428,0.999999647997,-0.000369523421587,-0.000749689672296,-7.36449146392e-05,1793250717336845312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.576076348,747.423923652,723,695,667,638,896.576076348,772.576076348,828,655,630,657,0.455532732319,-0.0157642747074,0.0794945446142,0.999999623343,-0.000370890400809,-0.00078112567302,-7.48122679995e-05,1793250717353511936
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,896.257456215,773,828.742543785,655,630,657,0.455413633054,-0.0157560460987,0.07946224965,0.99999957831,-0.00036668952184,-0.000838514318507,-7.62325879838e-05,1793250717386845184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,667,638,896,772.680226099,829,655,630,656.680226099,0.455343857714,-0.0157521769029,0.079452322322,0.99999956685,-0.000364172738748,-0.000853189857131,-7.57987212232e-05,1793250717403511808
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.47168018,667,638,896,772.47168018,828.52831982,654.52831982,630,656,0.45518635223,-0.0157472779633,0.0794490200744,0.999999566878,-0.000361363052556,-0.00085468068198,-7.19774971475e-05,1793250717436845056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.950153201,667,638,896,772.950153201,828,654.049846799,630,656,0.455096675301,-0.0157452182448,0.0794528062793,0.999999572114,-0.000359851577677,-0.000849425051174,-6.895483484e-05,1793250717453511424
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747.222965502,723,695,667,638,896,772.222965502,828,655,630,656.222965502,0.454867162718,-0.015733207559,0.0794591446386,0.999999582972,-0.000355106574915,-0.000839026692464,-6.31625527274e-05,1793250717486845184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747.801762729,723,695,667,638,896,772.801762729,828,655,630,656.801762729,0.454721018009,-0.0157259374891,0.0794603948148,0.99999958867,-0.000347585415477,-0.000835624670658,-5.97942445343e-05,1793250717503511808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.621989593,723,695,667,638,895.621989593,773,828,655,630,657,0.454553429021,-0.0157173967031,0.0794590227514,0.999999589479,-0.000339018035407,-0.000838438368666,-5.59498480357e-05,1793250717520178432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747.047069947,723,695,667,638,895.047069947,773,828,655,630,657,0.45437466949,-0.0157081939884,0.0794562847385,0.999999587655,-0.000329905668283,-0.000844489894232,-5.18574522699e-05,1793250717536845568
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.304180458,747.695819542,723,695.695819542,667,638,895.695819542,773.695819542,828,655,630,656.695819542,0.453700785622,-0.0156825984574,0.079448438339,0.999999587476,-0.000300124919449,-0.000856553902033,-3.58959553675e-05,1793250717586845184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.718844304,723,695.718844304,667,638,896,774,828,655,630,657,0.453431468493,-0.0156715432972,0.0794451169641,0.999999589087,-0.000280089906291,-0.00086168228059,-2.96554919727e-05,1793250717603512064
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.434992333,667,638,895.565007667,774,828,655,630,657,0.452834556093,-0.0156488970772,0.0794514334603,0.999999617655,-0.000207925399055,-0.000849241001244,-1.57307572001e-05,1793250717636845312
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747,723,695,667,639,894.753422845,779.246577155,827.753422845,655,630.753422845,656,0.448545049326,-0.015601593787,0.0795611229179,0.999999763889,-0.000119826559572,-0.000676589997039,9.4951028567e-06,1793250717803512064
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,747,723,695,667,639,894.174459656,779.825540344,827.174459656,655,630.174459656,656,0.44793342562,-0.015585409234,0.0795404213821,0.999999737199,-9.79997214011e-05,-0.000718294116238,7.19392393774e-06,1793250717820178688
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,723,695,667,639,894.401224041,780.401224041,827,655,630.401224041,656.401224041,0.447309067714,-0.0155720783812,0.0795233320919,0.999999722776,-7.91085949965e-05,-0.00074036433208,7.10027137142e-06,1793250717836845312
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,723,695,667,639,894.975493301,780.975493301,827,655,630.975493301,656.975493301,0.44667921765,-0.0155599783106,0.0795078007393,0.999999713845,-6.14836218336e-05,-0.000753966577093,7.95871007019e-06,1793250717853511936
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.851691155,748,723,695.851691155,668,640,893.851691155,782.29661769,826.851691155,655,631,656,0.445468881109,-0.0155566325902,0.0795855158048,0.99999979343,-4.52680271203e-05,-0.000640981155657,1.52821905199e-05,1793250717886845184
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.304259759,747.695740241,723,695,668,640,892.695740241,784,826,655,631,656,0.444125221369,-0.0155411547823,0.0796644288539,0.99999985727,-1.89765373018e-05,-0.000533358550915,2.50752840171e-05,1793250717920178944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.882863705,747.117136295,723,695,668,640,892.117136295,784,826,655,631,656,0.443399821983,-0.0155241274449,0.0796830143873,0.999999865876,3.83145271208e-06,-0.000517182416008,2.74850142328e-05,1793250717936845824
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.791411161,746.791411161,723,695,669.582822323,641,891,786,826,655,631.208588839,656,0.440299783309,-0.0154225415937,0.0796926401245,0.999999879984,0.000119564956119,-0.000474810856498,1.70288275255e-05,1793250718003511808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.208757412,746.208757412,723,695,668.417514824,641,891,786,826,655,631.791242588,656,0.439418155685,-0.0154086146892,0.0796521881394,0.99999984115,0.000156648764814,-0.000541196449118,1.63827402689e-05,1793250718020178432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.36777394,723,695,668.36777394,641.36777394,891,786.36777394,826,655,631.63222606,656,0.438586429809,-0.0154072692269,0.0796603728507,0.99999984906,0.000166013679717,-0.000523437791208,1.82323449608e-05,1793250718036845312
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.091888732,746,723,695.908111268,669.091888732,642,891,787.091888732,825,655,631.908111268,656,0.436147132264,-0.0154147679535,0.0798530140978,0.9999999582,0.000166237702808,-0.000233624675021,3.71997355962e-05,1793250718086845696
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,669,642,890,787.173035945,824,655,631.173035945,656,0.429568999569,-0.015396630055,0.0797325127559,0.999999877955,0.000215694257762,-0.000443246395357,3.31558607108e-05,1793250718203512064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,669,642,890,787.755462627,824,655,631.755462627,656,0.428719590683,-0.0154023456493,0.0798145524768,0.999999929293,0.000219640710302,-0.0003026620554,3.95993978978e-05,1793250718220178944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,695.666903498,669,642,890,788,823.666903498,655,631.666903498,656,0.427824905428,-0.0154021150781,0.0798488434284,0.999999944688,0.000221698164856,-0.000244138502029,4.32502106291e-05,1793250718236845312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,695.0927383,669,642,890,788,823.0927383,655,631.0927383,656,0.426897452782,-0.0153975811462,0.079848577623,0.999999944251,0.000222388515315,-0.000245004013704,4.48798721496e-05,1793250718253511936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,669.482746867,642,890,788,823,655,631,656,0.425924261764,-0.0153931402392,0.0798049601089,0.99999992325,0.000230729895527,-0.00031391525845,4.14882386718e-05,1793250718270178560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,722.940124283,695.059875717,669.940124283,642,889.940124283,787.940124283,822.940124283,655,631,656,0.424942050982,-0.015388916919,0.0797559956803,0.999999894028,0.000239897574848,-0.000391124963032,3.75977296694e-05,1793250718286845696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,722.350707821,695.649292179,669.350707821,642,889.350707821,787.350707821,822.350707821,655,631,656,0.423957991681,-0.0153864594583,0.079733598819,0.999999879024,0.000243338459461,-0.00042580087029,3.78496424658e-05,1793250718303512320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,722.234697478,696,669.234697478,642,889.234697478,787.234697478,822,655,631.234697478,656,0.423015027147,-0.0153856481174,0.0797260313661,0.999999874997,0.00024354583359,-0.00043506637104,3.75282846228e-05,1793250718320178688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,722.814209714,696,669.814209714,642,889.814209714,787.814209714,822,655,631.814209714,656,0.422132438409,-0.0153872552358,0.0797402511011,0.999999887954,0.00023900257311,-0.000406999208849,3.63646844123e-05,1793250718336845312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,695.610067376,670,642,889.610067376,788.389932624,821.610067376,655,632,656,0.421307349504,-0.0153898625212,0.0797909397461,0.999999920438,0.00023522120497,-0.000319625459029,4.04218012776e-05,1793250718353511680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,695.036132615,670,642,889.036132615,788.963867385,821.036132615,655,632,656,0.42050939378,-0.015392941767,0.0798588374078,0.99999995117,0.000231799357709,-0.000204266003608,4.69424795304e-05,1793250718370178560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,694.448996744,670,642,889,789,820.448996744,655,632,656,0.41962341898,-0.0153879557054,0.0798575495067,0.999999949081,0.000236728417553,-0.000209026391924,4.58886765614e-05,1793250718386845184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694,669.863465553,642,889,788.863465553,820,655,632,655.863465553,0.418729510853,-0.0153837312882,0.0798429670688,0.999999942103,0.00024103703781,-0.000236185773026,4.37267546307e-05,1793250718403512064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,669.285981247,642,889,788.285981247,820,655,632,655.285981247,0.417829079961,-0.0153837166955,0.0798004607957,0.999999922114,0.00024152989614,-0.000309620794396,3.9629592678e-05,1793250718420178688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.292160629,746,723,694,669.292160629,642,888.707839371,788,820.292160629,654.707839371,632,655.292160629,0.416968342348,-0.0153836026978,0.0797886957881,0.999999913871,0.000238880599871,-0.000337179864975,3.87745429796e-05,1793250718436845056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.870947586,746,723,694,669.870947586,642,888.129052414,788,820.870947586,654.129052414,632,655.870947586,0.41614654617,-0.0153833911782,0.0798070897267,0.999999920862,0.000233148670671,-0.000319731994724,4.11001916521e-05,1793250718453511936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.554147277,746,723,694,670,642.445852723,887.554147277,788.445852723,820.554147277,654.445852723,632,656,0.415331744374,-0.0153775484719,0.0797946100018,0.999999910353,0.000243531716069,-0.000343940041114,4.11214944563e-05,1793250718470178304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745.979832862,722.979832862,693.979832862,670,642.979832862,887,788.979832862,820,655,632,656,0.414521611076,-0.01537042954,0.0797742268171,0.99999989452,0.000257774930318,-0.000377992386003,4.04240061341e-05,1793250718486844928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745.39076122,722.39076122,693.39076122,670,642.39076122,887,788.39076122,820,655,632,656,0.413786557453,-0.0153728921742,0.0797808066563,0.999999905762,0.000250464325689,-0.000352551785031,3.81029661189e-05,1793250718503511552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745.195781164,722.195781164,693,669.804218836,642,887.195781164,788,819.804218836,655,632,656,0.413059674066,-0.0153752858083,0.0797909603563,0.999999915797,0.000244986653433,-0.000327091056721,3.74022966295e-05,1793250718520178688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.777339868,722.777339868,693,669.222660132,642,887.777339868,788,819.222660132,655,632,656,0.412348889611,-0.0153775434813,0.0798081561814,0.999999924172,0.00024312068676,-0.000301590664165,3.98944903736e-05,1793250718536845568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746,722.646093943,693,669.353906057,642.353906057,888,788,819.353906057,655,632,656,0.411632987706,-0.0153780184335,0.0798045904626,0.99999992094,0.000242159703697,-0.000312763630992,4.07211878175e-05,1793250718553512192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746,722.072625136,693,669.927374864,642.927374864,888,788,819.927374864,655,632,656,0.410913910987,-0.0153773873885,0.0797881443144,0.999999909859,0.000241760170966,-0.00034668869235,4.05146138582e-05,1793250718570178816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745.500609316,722.499390684,693,669.500609316,642.500609316,887.500609316,788,820,655,632,656,0.410266018044,-0.0153747350015,0.0797873767757,0.999999906291,0.000252362224063,-0.000349391148372,4.07000256533e-05,1793250718586845952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745.07432704,722.92567296,692.92567296,669,642,887,788,820,655,632,656,0.40963474163,-0.015371910847,0.0797921100567,0.999999906247,0.000262958321729,-0.000341555167743,4.12209727221e-05,1793250718603512832
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745.671280436,722.328719564,692.328719564,669,642,887,788,820,655,632,656,0.409047724508,-0.0153699398774,0.0798195361489,0.999999922173,0.000262295342145,-0.000291453294208,4.37015487982e-05,1793250718620178944
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,722.257514282,692,669.257514282,642.257514282,886.742485718,788,820,655,632,655.742485718,0.408469735983,-0.015368410262,0.0798354785981,0.999999928858,0.000264026888743,-0.000265560317564,4.52847854639e-05,1793250718636845312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,722.830611317,692,669.830611317,642.830611317,886.169388683,788,820,655,632,655.169388683,0.407902812012,-0.0153674215245,0.0798373478852,0.999999926584,0.000268692918555,-0.000269335254484,4.57683360856e-05,1793250718653511936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,692,670,643,886.407882112,788,820,655,632,655.407882112,0.407328417581,-0.0153646121118,0.0798097586429,0.999999911162,0.000270592775653,-0.000320287865489,4.32489122417e-05,1793250718670178560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,692,670,643,886.986904188,788,820,655,632,655.986904188,0.406750888632,-0.0153610387765,0.0797698091339,0.999999885956,0.000271331995896,-0.000391035375201,3.94694944194e-05,1793250718686845184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,745.425225201,723,691.425225201,670,643,886.425225201,788,820,655,632,656,0.406284018158,-0.0153638859134,0.0797647366783,0.999999886727,0.000266335693869,-0.000392636834451,3.80532632435e-05,1793250718703512064
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.739559769,745.739559769,723,691.739559769,670,642.260440231,886.739559769,788,820,655,632,656,0.405423866238,-0.0153677951602,0.0797955816209,0.999999912621,0.000260018983082,-0.00032489009687,3.99237258933e-05,1793250718736845312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.682275076,746,722.682275076,691.682275076,670,642.317724924,887,788,820,655,632,656,0.405023663325,-0.0153660336166,0.0798132164982,0.999999919996,0.000264691978285,-0.000297006446338,4.16262377902e-05,1793250718753511680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.104934681,746,722.104934681,691.104934681,670,642.895065319,887,788,820,655,632,656,0.40463202989,-0.0153617172771,0.0798235495363,0.999999919348,0.000274852198062,-0.000289690964106,4.28929769042e-05,1793250718770178304
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.469160227,746,722.469160227,691,670,642.530839773,886.530839773,788,820,655,632,656,0.404271122387,-0.0153592200651,0.0798278087552,0.999999919206,0.000277370192891,-0.000287632357516,4.38295451762e-05,1793250718786845440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746,723,690.956289722,670,642.043710278,886,788,820,655,632,656,0.403919407563,-0.0153569914003,0.0798304429614,0.999999918782,0.000278907087254,-0.000287486321872,4.47145914271e-05,1793250718803512064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746,723,690.367062047,670,642.632937953,886,788,820,655,632,656,0.40359724082,-0.0153530712496,0.0798296345315,0.999999913079,0.000289385542957,-0.000296636488241,4.58719363043e-05,1793250718820178432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.780590436,746,723,690.219409564,669.780590436,643,886.219409564,788,820,655,632,656,0.403292261635,-0.0153497942025,0.0798303918008,0.999999910616,0.000295022368008,-0.000299467740159,4.52553340266e-05,1793250718836845568
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.3780909,745.6219091,723,690.6219091,669.3780909,642.6219091,887,788,820,655,632,656,0.402765538022,-0.0153483754668,0.0798348110569,0.999999914331,0.000290307453663,-0.000292120975014,4.15314870596e-05,1793250718870178816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.952182171,745.047817829,723,690.047817829,669.952182171,642.047817829,887,788,820,655,632,656,0.402529102688,-0.0153507317588,0.0798347099696,0.999999913665,0.000287960301479,-0.00029646332659,4.31027634622e-05,1793250718886845440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,723,690.538839057,670,642,886.461160943,787.461160943,820,655,632,656,0.40233148262,-0.0153558630698,0.0798337516054,0.999999914027,0.000286277558833,-0.000296676317879,4.44338115347e-05,1793250718903511808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.8752583,745.1247417,723,690.8752583,670,642,886,787.1247417,820,655,632,656,0.402143025799,-0.0153607192122,0.0798325406923,0.999999914364,0.000284365654968,-0.000297174613825,4.57792004281e-05,1793250718920178688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.296259818,745.703740182,723,690.296259818,670,642,886,787.703740182,820,655,632,656,0.401975094485,-0.0153636551142,0.0798306937562,0.999999914267,0.000281399403279,-0.000300078184559,4.72562992404e-05,1793250718936845312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.28182571,746,723,690,670,642.28182571,886,787.71817429,820,655,632,656,0.401826197386,-0.0153642237345,0.0798335848703,0.99999991572,0.000281646661471,-0.000294722737223,4.87266851268e-05,1793250718953512192
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.85895459,746,723,690,670,642.85895459,886,787.14104541,820,655,632,656,0.401697244767,-0.015362311865,0.0798414406173,0.999999918654,0.000285261106054,-0.000280713309094,5.01900369665e-05,1793250718970179072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.568464013,746,722.568464013,690,670,642.568464013,886,787,820,655,632,656.431535987,0.401585224582,-0.0153614875449,0.0798460784498,0.999999919846,0.000286634484692,-0.000275007333785,5.01934307513e-05,1793250718986845952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.002744813,746,722,690,670,642.002744813,886,787.002744813,820,655,632.002744813,656.997255187,0.401478762689,-0.0153610132122,0.0798496407072,0.999999920506,0.000287270983868,-0.000272020251623,4.96788412317e-05,1793250719003512832
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,690,670,642.91060428,886,787.08939572,820,655,632,656,0.401063168875,-0.0153614940876,0.0798375258418,0.999999919553,0.000277897019271,-0.000286723626218,3.81578603956e-05,1793250719120179456
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dda5a5f8b13df183651ec055d11b3e95a1cd3ab
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d69ca2a1aaacf760e4e3d75c24a6ef1a377ba650
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26270408
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..308a398ec5349d71fdc99afc7400f684aa488ea4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/franka_data.csv
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+2,0.033333333,BASELINE,768,745,722.805638451,690,669.805638451,642,886.194361549,787.805638451,819.805638451,655,632,656,0.400988652577,-0.0153611657639,0.0798455637145,0.999999924419,0.000278050913585,-0.000269187500109,3.72444645221e-05,1793250719726798080
+3,0.050000000,BASELINE,768,745,722.214691358,690,669.214691358,642,886.785308642,787.214691358,819.214691358,655,632,656,0.400988357739,-0.0153598704874,0.0798455023151,0.999999923659,0.000280035833641,-0.000269993405225,3.69589052696e-05,1793250719743464704
+4,0.066666667,BASELINE,768,745,722.368801985,690,669.73760397,642.368801985,886.631198015,787.368801985,819,655.368801985,632,656,0.400987364944,-0.0153611644324,0.0798448842829,0.999999923773,0.000278247682833,-0.000271431103004,3.6850508839e-05,1793250719760131328
+5,0.083333333,BASELINE,768,745,722.948042187,690,670.896084373,642.948042187,886.051957813,787.948042187,819,655.948042187,632,656,0.400985973896,-0.015363935786,0.0798439486364,0.999999924372,0.000274306619667,-0.000273229301292,3.68432014373e-05,1793250719776797952
+6,0.100000000,BASELINE,768,745,722.475856247,690,669.951712494,643,886,788,819.524143753,655.475856247,632,655.475856247,0.400986420877,-0.0153625795413,0.0798446369235,0.99999992426,0.000275819283285,-0.000272107009235,3.69085659811e-05,1793250719793463808
+7,0.116666667,BASELINE,768,745,722.101560391,690,669.101560391,642.898439609,886,787.898439609,819.898439609,655,632,655.101560391,0.400986842006,-0.015361268179,0.079845418708,0.999999924124,0.000277492902681,-0.000270888643237,3.70137448542e-05,1793250719810130176
+8,0.133333333,BASELINE,768,745,722.686711523,690,669.686711523,642.313288477,886,787.313288477,819.313288477,655,632,655.686711523,0.400986277633,-0.0153621072125,0.0798458837357,0.99999992423,0.000277374022784,-0.000270583115078,3.72744060147e-05,1793250719826797312
+9,0.150000000,BASELINE,768,745,723,690,669.731133989,642.268866011,886,787.268866011,819.268866011,655,632,656,0.400986455111,-0.0153618807344,0.0798460448674,0.999999924194,0.00027793355322,-0.000270137165836,3.72972190844e-05,1793250719843464192
+10,0.166666667,BASELINE,768,745,723,690,669.152432805,642.847567195,886,787.847567195,819.847567195,655,632,656,0.400987487481,-0.0153604263843,0.0798458557963,0.999999923994,0.000279274868544,-0.000269529398503,3.70459413209e-05,1793250719860130816
+11,0.183333333,BASELINE,768,745,722.573150284,689.573150284,669.426849716,643,886,788,820,655,632,656,0.400987168617,-0.0153604734498,0.0798453142668,0.999999923499,0.000280172881077,-0.000270428510966,3.70560956366e-05,1793250719876797440
+12,0.200000000,BASELINE,768,745,722.006284929,689.006284929,670,642.993715071,886,788,819.993715071,655,632,656,0.40098636928,-0.0153610716281,0.0798446541026,0.999999922915,0.000280872486471,-0.000271846319178,3.71590526381e-05,1793250719893463552
+13,0.216666667,BASELINE,768,745,722.580726329,689.580726329,670,642.419273671,886,788,819.419273671,655,632,656,0.400985816537,-0.0153629543226,0.0798446632456,0.999999923835,0.000277966683114,-0.000271441497574,3.72000890367e-05,1793250719910130176
+14,0.233333333,BASELINE,768,745,723,690,670,642.155278045,886.155278045,788,819.155278045,655.155278045,632.155278045,656,0.400985526495,-0.0153642037757,0.0798446958699,0.999999924497,0.00027577650954,-0.000271236377683,3.71995767995e-05,1793250719926796800
+15,0.250000000,BASELINE,768,745,723,690,670,642.73012797,886.73012797,788,819.73012797,655.73012797,632.73012797,656,0.400985946287,-0.0153637421681,0.0798447919424,0.999999924481,0.000275520015867,-0.000271570865374,3.70867973212e-05,1793250719943463424
+16,0.266666667,BASELINE,768.313555992,745,723,690,670,643,887,787.686444008,819.686444008,655.686444008,632.686444008,656,0.400986077767,-0.0153627792173,0.0798447017635,0.999999924008,0.000276841860809,-0.000271977350004,3.70257749938e-05,1793250719960130304
+17,0.283333333,BASELINE,768.904574655,745,723,690,670,643,887,787.095425345,819.095425345,655.095425345,632.095425345,656,0.400985954123,-0.0153613726329,0.0798444467726,0.999999923124,0.000279560362368,-0.000272447544009,3.7010552076e-05,1793250719976796928
+18,0.300000000,BASELINE,768.514802388,745,723,690,670,643,886.514802388,787.485197612,819.485197612,655,632,656,0.400986603557,-0.0153616187198,0.0798445487571,0.999999923373,0.000279215374693,-0.000271866552426,3.71716857756e-05,1793250719993464320
+19,0.316666667,BASELINE,768,745.063331347,722.936668653,690,670,643,886,788,820,655,632,656,0.400987063217,-0.015362130183,0.0798445658362,0.999999923718,0.000278392708558,-0.000271424234329,3.72877419227e-05,1793250720010131456
+20,0.333333333,BASELINE,768,745.637532197,722.362467803,690,670,643,886,788,820,655,632,656,0.40098479129,-0.0153622153924,0.0798433435587,0.999999923085,0.000278475030089,-0.000273733251202,3.67662564204e-05,1793250720026797824
+21,0.350000000,BASELINE,768.216897068,746,722,690,670,642.783102932,886.216897068,788,820,655,632,656,0.400984230608,-0.0153622227041,0.0798433856274,0.999999922913,0.000279060330265,-0.000273772659829,3.67232428551e-05,1793250720043464448
+22,0.366666667,BASELINE,768.805102216,746,722,690,670,642.194897784,886.805102216,788,820,655,632,656,0.400986599422,-0.0153620966623,0.079845592142,0.999999923525,0.000280506684189,-0.00026992670504,3.74993298424e-05,1793250720060130816
+23,0.383333333,BASELINE,768.610396033,746,722.389603967,690,670,642.389603967,886.610396033,788,820,655,632,656,0.40098777642,-0.0153627108349,0.0798460784167,0.999999924098,0.000279661933979,-0.000268651718305,3.76799554581e-05,1793250720076797184
+24,0.400000000,BASELINE,768.027729396,746,722.972270604,690,670,642.972270604,886.027729396,788,820,655,632,656,0.400988362831,-0.0153636918104,0.0798457122513,0.999999924654,0.000277681860027,-0.000268650737657,3.7565508781e-05,1793250720093464064
+25,0.416666667,BASELINE,768,745.4508993,723,690,670,642.4508993,886.5491007,788,819.4508993,655,632,656,0.400987304145,-0.0153634570685,0.0798457420198,0.999999924438,0.000277560771431,-0.000269586204342,3.75160576721e-05,1793250720110130432
+26,0.433333333,BASELINE,768,745,722.875248366,690,670,642.124751634,886.875248366,788,819,655,632,656,0.400986546147,-0.0153629937936,0.0798458682326,0.999999924302,0.000277443669064,-0.000270227164084,3.73822335011e-05,1793250720126797056
+27,0.450000000,BASELINE,768,745,722.302782442,690,670,642.697217558,886.302782442,788,819,655,632,656,0.400987162281,-0.0153619283628,0.0798462695662,0.999999924598,0.00027700750211,-0.000269643251859,3.69339518578e-05,1793250720143463680
+28,0.466666667,BASELINE,768,745,722.278315939,690,670,642.721684061,886,788,819,655,632,656,0.400986542614,-0.0153615087882,0.0798456023224,0.999999924364,0.000276904855752,-0.00027064186736,3.67276447405e-05,1793250720160130304
+29,0.483333333,BASELINE,768,745,722.869106224,690,670,642.130893776,886,788,819,655,632,656,0.400984535472,-0.0153618143374,0.079843735352,0.999999923531,0.000277176663829,-0.00027341723819,3.67930103125e-05,1793250720176796672
+30,0.500000000,BASELINE,768,745.4509543,723,690,670,642,886.4509543,788,819.4509543,655,632,656,0.400985659839,-0.015362752965,0.079844534783,0.999999924358,0.000275960401262,-0.000271600783706,3.69063514388e-05,1793250720193463296
+31,0.516666667,BASELINE,768.030053071,746,723,690,670,642.030053071,886.969946929,788,820,655,632,656,0.400987453085,-0.0153637737357,0.0798459246044,0.999999925516,0.000274482081362,-0.000268806234117,3.7025966416e-05,1793250720210129920
+32,0.533333333,BASELINE,768.605446402,746,723,690,670,642.605446402,886.394553598,788,820,655,632,656,0.400985210712,-0.0153630154623,0.0798442566715,0.999999924259,0.000275933798366,-0.000271978249918,3.70116510955e-05,1793250720226796800
+33,0.550000000,BASELINE,768.815716378,745.815716378,722.815716378,689.815716378,670.184283622,643,886,788,820,655,632,656,0.400983900054,-0.0153626203447,0.0798435045436,0.999999923605,0.00027658554072,-0.000273719769305,3.69962349194e-05,1793250720243463168
+34,0.566666667,BASELINE,768.229365404,745.229365404,722.229365404,689.229365404,670.770634596,643,886,788,820,655,632,656,0.400984622201,-0.0153630175554,0.0798447505065,0.999999924284,0.000275491909728,-0.000272340251823,3.69784169152e-05,1793250720260130048
+35,0.583333333,BASELINE,768,745,722.352752513,689.352752513,670.647247487,643,886.352752513,788,820,655,632,656,0.400984205376,-0.0153624008363,0.0798445148033,0.999999923894,0.000276474866932,-0.000272768909411,3.70196951533e-05,1793250720276796672
+36,0.600000000,BASELINE,768,745,722.932150721,689.932150721,670.067849279,643,886.932150721,788,820,655,632,656,0.400983056755,-0.015361132661,0.0798433271205,0.999999922813,0.000278792044928,-0.000274359330653,3.70989430949e-05,1793250720293463808
+37,0.616666667,BASELINE,768,745,722.490000581,689.490000581,670,643,886.490000581,788,820,655,632,656,0.400983781162,-0.0153598862688,0.0798438831003,0.999999923114,0.000278603528908,-0.000273534703525,3.6471126242e-05,1793250720310130432
+38,0.633333333,BASELINE,768,745.087213575,722.087213575,689,670,643,886.087213575,788,819.912786425,655,632,656,0.400984614176,-0.0153591392172,0.0798445582451,0.999999923552,0.000278093240057,-0.000272523688141,3.59239991376e-05,1793250720326796544
+39,0.650000000,BASELINE,768,745.662029341,722.662029341,689,670,643,886.662029341,788,819.337970659,655,632,656,0.400984665458,-0.0153611677747,0.0798446066192,0.999999923734,0.000277642045828,-0.00027226147032,3.6352322786e-05,1793250720343463424
+40,0.666666667,BASELINE,768,745.756715448,723,689.243284552,670,643,886.756715448,788,819,655,632,656,0.400985218339,-0.0153623216662,0.0798448865471,0.999999924057,0.000277194150336,-0.000271486760696,3.66687195553e-05,1793250720360130048
+41,0.683333333,BASELINE,768,745.166271382,723,689.833728618,670,643,886.166271382,788,819,655,632,656,0.400986486985,-0.0153622274366,0.0798454968953,0.999999924582,0.000276750962066,-0.000269980741169,3.68254001115e-05,1793250720376796416
+42,0.700000000,BASELINE,768,745,723,690,670,642.583529639,886,788,819.416470361,655,632,656,0.400986212176,-0.0153627368531,0.0798453857564,0.999999924487,0.000276515689975,-0.000270568219157,3.68584542858e-05,1793250720393463296
+43,0.716666667,BASELINE,768,745,723,690,670,642.003807142,886,788,819.996192858,655,632,656,0.400985332348,-0.0153634828929,0.0798449918021,0.999999924148,0.000276361918918,-0.000271976326863,3.6843048175e-05,1793250720410129920
+44,0.733333333,BASELINE,768,745,722.428760991,690,670,642,886,788,820,655.571239009,632,656,0.400986673271,-0.0153626682361,0.0798458688296,0.999999924399,0.000277765416259,-0.000269640829852,3.66246665217e-05,1793250720426796544
+45,0.750000000,BASELINE,767.850669694,745,722.149330306,690,670,642.149330306,886,788,820,655.850669694,632,656,0.400987267489,-0.0153621758495,0.0798461699625,0.999999924522,0.000278536272241,-0.000268404892911,3.64920307023e-05,1793250720443463168
+46,0.766666667,BASELINE,767.263560677,745,722.736439323,690,670,642.736439323,886,788,820,655.263560677,632,656,0.400985629619,-0.0153626584804,0.0798447581635,0.999999924272,0.000277422288765,-0.000270464991239,3.66147021534e-05,1793250720460130048
+47,0.783333333,BASELINE,767.319191131,745,722.680808869,690,670,643,886.319191131,788,819.680808869,655,632,656,0.400984868945,-0.0153628636198,0.0798442037995,0.999999924161,0.000276812713685,-0.000271471728045,3.68214605089e-05,1793250720476796672
+48,0.800000000,BASELINE,767.898393644,745,722.101606356,690,670,643,886.898393644,788,819.101606356,655,632,656,0.400984822828,-0.0153628427161,0.0798443478973,0.999999924165,0.000276614026856,-0.000271620402434,3.70967156184e-05,1793250720493463296
+49,0.816666667,BASELINE,768,745.475273272,722.475273272,690,670,643,886.524726728,788,819.475273272,655,632.475273272,656,0.400984941057,-0.0153639302072,0.0798445894569,0.999999924692,0.000275006121542,-0.000271316943148,3.70669600824e-05,1793250720510129920
+50,0.833333333,BASELINE,768,745.948393515,723,690,670,642.948393515,886,788,819.948393515,655,632.948393515,656,0.400985069728,-0.0153650559675,0.0798447922976,0.999999925238,0.000273368606987,-0.000270975058911,3.69639177627e-05,1793250720526796544
+51,0.850000000,BASELINE,768,745.372590467,723,690,670,642.372590467,886,788,819.372590467,655,632.372590467,656,0.400984949325,-0.0153641752354,0.0798443912357,0.999999924875,0.000274475620451,-0.000271219920241,3.67755803131e-05,1793250720543463168
+52,0.866666667,BASELINE,768,745.207359376,723,690,670,642,886,788,819.207359376,655,631.792640624,656,0.400985216729,-0.0153632613305,0.0798444100044,0.999999924631,0.00027566550893,-0.000270934588841,3.66260974424e-05,1793250720560129792
+53,0.883333333,BASELINE,768,745.794912339,723,690,670,642,886,788,819.794912339,655,631.205087661,656,0.400986195178,-0.0153622866034,0.0798451985332,0.999999924603,0.000277007348748,-0.000269677148622,3.65478544849e-05,1793250720576796416
+54,0.900000000,BASELINE,768,746,723,690,670,642.377551117,886,788,819.622448883,655,631.377551117,656,0.40098475433,-0.0153632343216,0.0798444095599,0.999999924495,0.000275955169119,-0.000271150603345,3.65420286595e-05,1793250720593463040
+55,0.916666667,BASELINE,768,746,723,690,670,642.957554765,886,788,819.042445235,655,631.957554765,656,0.400982016194,-0.015365212904,0.0798427746898,0.999999924335,0.000273619255202,-0.000274088433576,3.65750347481e-05,1793250720610129664
+56,0.933333333,BASELINE,768,746,723,689.466198255,670,643,886,788,819.533801745,655,632,656,0.4009828271,-0.015362317289,0.0798431077559,0.999999923446,0.000277464569346,-0.000273489505425,3.63859877551e-05,1793250720626796288
+57,0.950000000,BASELINE,768,746,723,689.109378847,670,643,886,788,819.890621153,655,632,656,0.400984120485,-0.0153600236052,0.0798438402259,0.999999922928,0.000280510222452,-0.000272287990094,3.62918762362e-05,1793250720643463168
+58,0.966666667,BASELINE,768,746,723,689.683370312,670,643,886,788,819.316629688,655,632,656,0.400986272976,-0.0153619215657,0.0798456092159,0.999999924289,0.000278085950555,-0.000269713065889,3.66755019783e-05,1793250720660129792
+59,0.983333333,BASELINE,768.264910153,746,723,690,670,643,886.264910153,788,819.264910153,655,632,656,0.400987474973,-0.0153630694873,0.0798464272144,0.999999924763,0.000277661601056,-0.000268343241156,3.70028134924e-05,1793250720676796416
+60,1.000000000,BASELINE,768.855736769,746,723,690,670,643,886.855736769,788,819.855736769,655,632,656,0.400987507587,-0.0153632946433,0.0798460752173,0.999999924156,0.000279697736894,-0.000268456038594,3.7260842195e-05,1793250720693463040
+61,1.016666667,BASELINE,768.562131868,746,723,690,670,643,887,788,820,655,632,656,0.400986672099,-0.0153630581237,0.0798455736286,0.999999924446,0.00027807092153,-0.000269121747787,3.68613066187e-05,1793250720710129920
+62,1.033333333,BASELINE,768,746,722.982942766,689.982942766,670,642.982942766,887,788,820,655,632,656,0.400985569192,-0.0153626640475,0.0798450200942,0.999999924972,0.000275416509773,-0.000269973621425,3.62652688712e-05,1793250720726796544
+63,1.050000000,BASELINE,768,746,722.408109515,689.408109515,670,642.408109515,887,788,820,655,632,656,0.400984892187,-0.0153619949215,0.0798443481943,0.999999924004,0.000277854426325,-0.000271072225214,3.61899926068e-05,1793250720743463168
+64,1.066666667,BASELINE,768,746,722.166279745,689.166279745,670,642.166279745,887,788,820,655,632,656,0.400984450317,-0.0153614985453,0.0798441167949,0.999999923318,0.000279718006837,-0.000271683413801,3.61798845203e-05,1793250720760129792
+65,1.083333333,BASELINE,768,746,722.73958216,689.73958216,670,642.73958216,887,788,820,655,632,656,0.400984584012,-0.015361425029,0.079844963661,0.999999923343,0.000280175716704,-0.000271101498284,3.63292963231e-05,1793250720776796672
+66,1.100000000,BASELINE,768,745.675067265,723,690,670,643,886.675067265,788,820,655,632,656,0.400985282878,-0.0153621535035,0.0798455053311,0.999999923781,0.000279401859377,-0.000270239445411,3.6646174467e-05,1793250720793463296
+67,1.116666667,BASELINE,768,745.079688882,723,690,670,643,886.079688882,788,820,655,632,656,0.400986452142,-0.015363549485,0.0798457929827,0.999999924561,0.00027760295299,-0.000269144230682,3.71024369683e-05,1793250720810129920
+68,1.133333333,BASELINE,768,745.498622372,723,690,670,643,886.498622372,788,819.501377628,655,632,656,0.400986055208,-0.0153622202514,0.079845414089,0.999999924489,0.000277529411365,-0.000269526466221,3.6821749453e-05,1793250720826796288
+69,1.150000000,BASELINE,768,746,723,690,670,642.924369121,886.924369121,788,819.075630879,655,632.075630879,656,0.400985577396,-0.0153608659874,0.0798450528517,0.999999924332,0.000277693268642,-0.000269982410264,3.65031521741e-05,1793250720843463168
+70,1.166666667,BASELINE,768,746,723,690,670,642.338354424,886.338354424,788,819.661645576,655,632.661645576,656,0.400986187043,-0.0153621847054,0.0798455058489,0.999999924492,0.000277659941309,-0.000269395057943,3.66972290347e-05,1793250720860129792
+71,1.183333333,BASELINE,768,746,723,690,670,642.24460609,886,788,819.75539391,655,632.75539391,656,0.400986247446,-0.0153629307713,0.0798455860988,0.99999992464,0.000277204620617,-0.000269302997596,3.67882808699e-05,1793250720876796416
+72,1.200000000,BASELINE,768,746,723,690,670,642.823394051,886,788,819.176605949,655,632.176605949,656,0.400985557472,-0.0153628944778,0.0798451571001,0.99999992477,0.000276172770815,-0.00026988760715,3.67385795083e-05,1793250720893463296
+73,1.216666667,BASELINE,768.402474701,746,723,690,670,643,886,788,819.402474701,655,632,656,0.400985126676,-0.0153635998012,0.0798454233248,0.999999924774,0.000276154796968,-0.000269891088301,3.67448391867e-05,1793250720910129920
+74,1.233333333,BASELINE,768.981683842,746,723,690,670,643,886,788,819.981683842,655,632,656,0.400984809692,-0.015364630783,0.0798459948356,0.999999924722,0.000276582035759,-0.000269639384676,3.6775672445e-05,1793250720926796544
+75,1.250000000,BASELINE,769,745.442393224,723,690,670,643,886.557606776,788,819.442393224,655,632,656,0.400985797707,-0.0153626894594,0.0798455792974,0.999999924604,0.000276926314313,-0.000269758310208,3.65390608897e-05,1793250720943463168
+76,1.266666667,BASELINE,768.864661446,745,723,690,670,643,886.864661446,788,819.135338554,655,632,656,0.400986418487,-0.0153611320586,0.079845424509,0.999999924518,0.000277364531661,-0.000269638662779,3.64297683695e-05,1793250720960129792
+77,1.283333333,BASELINE,768.280576231,745,723,690,670,643,886.280576231,788,819.719423769,655,632,656,0.400985680311,-0.0153611694746,0.0798462411717,0.999999924551,0.000278123207695,-0.000268687840417,3.67715899085e-05,1793250720976796416
+78,1.300000000,BASELINE,768,745,723,690,670,643,886,788,820,655,632,656,0.400985408853,-0.0153613168687,0.0798463911565,0.999999924608,0.000278310499914,-0.000268277241686,3.67922859676e-05,1793250720993463040
+79,1.316666667,BASELINE,768,745,723,690,670,643,886,788,820,655,632,656,0.400985568848,-0.015361565931,0.0798459248368,0.99999992469,0.000277969581367,-0.000268366047973,3.65161203937e-05,1793250721010129920
+80,1.333333333,BASELINE,768,745.464909143,723,690,670,643,886,788,820,654.535090857,632,656,0.400985911784,-0.0153632126108,0.0798459766657,0.999999925141,0.000275655436548,-0.00026906207324,3.65751512967e-05,1793250721026796544
+81,1.350000000,BASELINE,768,746,722.959133692,689.959133692,670,642.959133692,886,788,820,654.040866308,632,656,0.400986163219,-0.0153649260106,0.0798460858368,0.999999925549,0.000273314382598,-0.000269910717659,3.67237243819e-05,1793250721043463168
+82,1.366666667,BASELINE,768,746,722.386352377,689.386352377,670,642.386352377,886,788,820,654.613647623,632,656,0.400984653657,-0.0153631531094,0.0798453269133,0.999999924334,0.00027677130407,-0.000270853862856,3.699336402e-05,1793250721060130048
+83,1.383333333,BASELINE,768,745.807328576,722.192671424,689,670,642.192671424,886,788.192671424,819.807328576,655,632,656,0.400984606161,-0.0153621979077,0.079845318352,0.999999923877,0.000278804494603,-0.000270446478062,3.70536795859e-05,1793250721076796672
+84,1.400000000,BASELINE,768,745.215367838,722.784632162,689,670,642.784632162,886,788.784632162,819.215367838,655,632,656,0.400987588629,-0.0153629372937,0.0798468648295,0.999999925008,0.000277887167558,-0.000267240275745,3.66801951964e-05,1793250721093463296
+85,1.416666667,BASELINE,768,745.36829404,723,689.36829404,670,643,886,788.63170596,819.36829404,655,632,656,0.400987760465,-0.0153637697915,0.0798469870791,0.999999925658,0.000275694194116,-0.000267065524026,3.67763947305e-05,1793250721110129920
+86,1.433333333,BASELINE,768,745.947209889,723,689.947209889,670,643,886,788.052790111,819.947209889,655,632,656,0.400986324945,-0.0153646555383,0.0798462948342,0.999999926029,0.000272771697784,-0.000268624413399,3.71411994423e-05,1793250721126796800
+87,1.450000000,BASELINE,768.522160469,745.477839531,723,690,670,643,886,788,820,655,632,656,0.400985469681,-0.0153642453138,0.0798458618937,0.999999925309,0.000274764451377,-0.000269294502468,3.69736594498e-05,1793250721143463168
+88,1.466666667,BASELINE,768.903399724,745,723,690,670.096600276,643,886,788,819.903399724,655,632,656,0.400985034004,-0.0153639119891,0.0798456250924,0.999999924766,0.00027648475741,-0.000269581760424,3.6729739467e-05,1793250721160130048
+89,1.483333333,BASELINE,768.329517787,745,723,690,670.670482213,643,886,788,819.329517787,655,632,656,0.400986383763,-0.0153646010827,0.0798462288249,0.999999925661,0.000274422240711,-0.000268418149687,3.63723498859e-05,1793250721176797696
+90,1.500000000,BASELINE,768,745.251844318,723,690,670.748155682,643,886.251844318,788,819.251844318,655,632.251844318,656,0.400986187661,-0.0153644788081,0.0798458590183,0.999999925527,0.000274542069642,-0.000268809263835,3.6264684442e-05,1793250721193464832
+91,1.516666667,BASELINE,768,745.84329316,723,690,670.15670684,643,886.84329316,788,819.84329316,655,632.84329316,656,0.400983907013,-0.0153632624276,0.0798441764232,0.999999924001,0.000277604726503,-0.000271296878047,3.64937645511e-05,1793250721210131200
+92,1.533333333,BASELINE,768,746,722.574059266,689.574059266,670,643,886.574059266,788,820,655,632.574059266,655.574059266,0.400983966814,-0.0153633969975,0.0798445348607,0.999999924389,0.000276523478494,-0.000270972535379,3.64773882488e-05,1793250721226797824
+93,1.550000000,BASELINE,768,745.994622202,722.005377798,689,670,643,886,788,819.994622202,655,632,655.005377798,0.400984871778,-0.0153640047015,0.0798456203622,0.99999992545,0.000273986205303,-0.000269642995925,3.63759720655e-05,1793250721243463936
+94,1.566666667,BASELINE,768,745.419219083,722.580780917,689,670,643,886,788,819.419219083,655,632,655.580780917,0.400985938579,-0.01536314662,0.0798457894686,0.999999925159,0.00027544333787,-0.000269203781235,3.66388852484e-05,1793250721260130560
+95,1.583333333,BASELINE,768,745.15917049,723,689,670,643,886.15917049,788,819.15917049,655,632.15917049,656,0.400987072805,-0.0153627829143,0.0798460894894,0.999999925091,0.000276339228475,-0.000268513543207,3.68246136023e-05,1793250721276796928
+96,1.600000000,BASELINE,768,745.745576237,723,689,670,643,886.745576237,788,819.745576237,655,632.745576237,656,0.400988388008,-0.0153637461808,0.0798467409019,0.999999925625,0.000275728669592,-0.000267149524282,3.68031674285e-05,1793250721293463552
+97,1.616666667,BASELINE,768.329647983,746,723,689.329647983,670,643,887,788.329647983,820,655.329647983,632.670352017,656,0.400986992418,-0.0153637076872,0.0798458890514,0.999999925363,0.000275384638527,-0.000268498848481,3.66950586657e-05,1793250721310130432
+98,1.633333333,BASELINE,768.911930965,746,723,689.911930965,670,643,887,788.911930965,820,655.911930965,632.088069035,656,0.400983519334,-0.0153629014665,0.079843885133,0.999999924481,0.000275244868586,-0.000271927619548,3.65205335925e-05,1793250721326797312
+99,1.650000000,BASELINE,768.511530554,745.511530554,723,690.488469446,670,643,886.511530554,788.511530554,820,655.511530554,632,656,0.400984441347,-0.0153634355652,0.0798442701446,0.999999924368,0.000276169934237,-0.000271407149604,3.6498595589e-05,1793250721343464192
+100,1.666666667,BASELINE,768.063797476,745,723,690.936202524,670,643,886,788.063797476,820,655,632,656,0.400985965831,-0.0153641926384,0.0798451033074,0.999999924482,0.000276948687418,-0.000270188113218,3.65226404777e-05,1793250721360130816
+101,1.683333333,BASELINE,768.637632288,745,723,690.362367712,670,643,886,788.637632288,820,655,632,656,0.400986045389,-0.0153648228309,0.0798461158957,0.99999992532,0.000275040713424,-0.000269010562423,3.66969192274e-05,1793250721376797184
+102,1.700000000,BASELINE,768.78229819,745,723,690,670,643,886,788.78229819,820,655,632,656,0.400985833381,-0.015365224184,0.0798466060476,0.999999925749,0.000273930239816,-0.000268522770306,3.68714915952e-05,1793250721393463552
+103,1.716666667,BASELINE,768.191544996,745,723,690,670,643,886,788.191544996,820,655,632,656,0.400985121749,-0.0153652334003,0.0798462009585,0.999999925486,0.000274186354133,-0.000269216941056,3.70465670858e-05,1793250721410130176
+104,1.733333333,BASELINE,768,745,723,690,670.391057498,643,886.391057498,788,820,655,632,656,0.400984319258,-0.0153646173026,0.0798451953573,0.999999925198,0.000273892397981,-0.000270635591702,3.6651728381e-05,1793250721426797056
+105,1.750000000,BASELINE,768,745,723,690,670.969749237,643,886.969749237,788,820,655,632,656,0.400983473172,-0.0153637011715,0.079843901623,0.999999924895,0.000273334511211,-0.000272401856857,3.59834377854e-05,1793250721443463680
+106,1.766666667,BASELINE,768,745.546536829,723,690,670.453463171,643,886.453463171,788,820,655,632,656,0.400985042601,-0.0153639499543,0.079846009066,0.999999925027,0.000275572214553,-0.000269561438301,3.66376036201e-05,1793250721460130304
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,723,690,670,643,886,788,820,655,632,656,0.400985711291,-0.0153628047853,0.0798454171365,0.999999923861,0.00027960746247,-0.000269758580941,3.64465204383e-05,1793250721501672448
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.578950352,722.421049648,690,670,643,886,788,820,655,632,656,0.400985357738,-0.01536306161,0.07984524304,0.999999924149,0.000278324910776,-0.000270012041028,3.64924880683e-05,1793250721518339072
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745.842670227,722.157329773,690,670,642.842670227,886,788,820,655,632,656,0.400984975252,-0.0153632402812,0.0798450518683,0.999999924384,0.000277212518793,-0.000270284308621,3.65046744067e-05,1793250721535005696
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745.265813096,722.734186904,690,670,642.265813096,886,788,820,655,632,656,0.400984515614,-0.0153632105518,0.0798448151651,0.999999924482,0.000276553865531,-0.000270606727388,3.64267813274e-05,1793250721551672320
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745,723,689.689164205,670,642,886,788,819.689164205,655,632,656,0.400985447986,-0.0153629707086,0.0798455878899,0.999999924703,0.000276986209592,-0.000269353531335,3.63436995796e-05,1793250721568338688
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745,723,689.112693309,670,642,886,788,819.112693309,655,632,656,0.400987569947,-0.0153625513056,0.0798472232552,0.999999925024,0.000278350901861,-0.000266753841033,3.62561836866e-05,1793250721585005312
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745,723,689,670,642.471997099,886,788,819,655,632,656,0.400987313741,-0.0153628443741,0.0798467999607,0.999999924977,0.000278139742889,-0.000267121019446,3.64716750086e-05,1793250721601672192
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,723,689.057996478,670,643,886,788,819,655.057996478,632,656,0.400986450253,-0.015363315457,0.0798459037093,0.999999924828,0.000277573531653,-0.000268229303564,3.67331536117e-05,1793250721618338816
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,723,689.637803181,670,643,886,788,819,655.637803181,632,656,0.400985322142,-0.0153638305452,0.0798452528747,0.999999924569,0.000277258018663,-0.000269519209653,3.67459436384e-05,1793250721635005440
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.216343028,745,723,690,670,643,886,788,819.216343028,655.783656972,632,656,0.40098605488,-0.0153639961021,0.0798457779307,0.999999924742,0.000276833932967,-0.000269310375389,3.67598794358e-05,1793250721651672320
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.792774223,745,723,690,670,643,886,788,819.792774223,655.207225777,632,656,0.400989884872,-0.0153635798883,0.0798482601763,0.999999925633,0.000276229135464,-0.000266606990214,3.67757222888e-05,1793250721668339712
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.631255522,745,722.631255522,690,670,643,886,788,820,655,632,656,0.401006908051,-0.0153643249021,0.079854446176,0.999999928849,0.000275379516279,-0.000255132507177,3.70983800625e-05,1793250721685006336
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.055543928,745,722.055543928,690,670,643,886,788,820,655,632,656,0.401031336239,-0.0153657216841,0.079862711001,0.999999933151,0.000274392484649,-0.000238735024455,3.75932454237e-05,1793250721701672704
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.534395726,745,722,690,670,643,886,788,819.465604274,655.534395726,632,656,0.401078764515,-0.0153672523154,0.0798777372544,0.999999939887,0.000274084168139,-0.00020894351167,3.80362822534e-05,1793250721718339328
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.87700057,745,722.12299943,690,670,642.87700057,886,788.12299943,819,655.87700057,632,656,0.4011341054,-0.0153691208887,0.07989371184,0.999999945923,0.000273956194806,-0.000177834957466,3.84351934202e-05,1793250721735005696
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.298959755,745,722.701040245,690,670,642.298959755,886,788.701040245,819,655.298959755,632,656,0.401209633363,-0.0153721868171,0.0799105237894,0.999999950825,0.000274227289381,-0.000147145123947,3.86913344618e-05,1793250721751672320
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,745,722.722643144,690,670,642.277356856,886,788.722643144,819.277356856,655,632,656,0.401290217784,-0.0153754010327,0.0799233097866,0.999999953795,0.000273854416983,-0.000126376462471,3.79860554596e-05,1793250721768339200
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,745,722.148173583,690,670,642.851826417,886,788.148173583,819.851826417,655,632,656,0.401376218824,-0.0153787740977,0.0799317830662,0.99999995538,0.000272791708666,-0.000116235650017,3.62508754482e-05,1793250721785005824
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745.435903484,722,689.564096516,670,643,886,788,820,655,632,656,0.401474058344,-0.0153832642487,0.0799359409814,0.999999957011,0.00027050927749,-0.000107963306045,3.38544667098e-05,1793250721801672704
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,722.023020974,689.023020974,670,643,886.023020974,788,820,655,632,656,0.401576987213,-0.0153880996668,0.0799385860988,0.999999958614,0.000267786180921,-0.000100452561088,3.11640623964e-05,1793250721818339328
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,722.602906332,689.602906332,670,643,886.602906332,788,820,655,632,656,0.401703488404,-0.0153918946026,0.0799409204536,0.999999960041,0.000264658890824,-9.56546486489e-05,2.69215860434e-05,1793250721835005952
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.818295795,788,819.818295795,655,632.181704205,656,0.401840299727,-0.0153957743302,0.0799440824053,0.999999961784,0.000260739776364,-8.91259279456e-05,2.24350114797e-05,1793250721851672832
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.241860433,788,819.241860433,655,632.758139567,656,0.401999508593,-0.0153998382573,0.0799490422141,0.999999964203,0.000255100516382,-7.88372291156e-05,1.74181626231e-05,1793250721868339200
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.333372091,788,819.333372091,655,633,656,0.402172308541,-0.0154059699603,0.0799503668784,0.999999966474,0.00024726255719,-7.59791831217e-05,1.18176268059e-05,1793250721885005824
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,886.907735157,788,819.907735157,655,633,656,0.402354933348,-0.0154135964359,0.0799490637376,0.99999996862,0.000237835182218,-7.84926723031e-05,5.79514966188e-06,1793250721901672704
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,723,690,670,643,887,788,819.505972306,655,632.505972306,656,0.4025531255,-0.0154194925017,0.0799445053225,0.999999970517,0.000226090483234,-8.85770519831e-05,-1.74969654859e-06,1793250721918340352
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745.918696104,723,690.081303896,670,643,886.918696104,788,819,655,632,656,0.402761223082,-0.015425790295,0.0799400832114,0.99999997477,0.00020180188498,-9.82063692119e-05,-9.57467754725e-06,1793250721935008256
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745.339379017,723,690.660620983,670,643,886.339379017,788,819,655,632,656,0.403011745538,-0.0154365773238,0.0799403120878,0.99999998988,0.00010339430345,-9.61731033069e-05,-1.73309418137e-05,1793250721951674624
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745,723,690.761540289,670,643,886,788,819,655,632,656,0.403284911661,-0.0154462711512,0.0799426191199,0.999999994555,4.49723474055e-05,-9.0746283517e-05,-2.51426745353e-05,1793250721968340736
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745,723,690.185792653,670,643,886,788,819,655,632,656,0.403590105968,-0.0154544187056,0.079947865587,0.999999995284,4.31078292635e-05,-8.05194727032e-05,-3.30328640182e-05,1793250721985006848
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.38827238,723,690.38827238,670,642.61172762,886.38827238,788.38827238,819.38827238,655,632,656,0.403922759313,-0.015463316558,0.0799521161602,0.999999994349,7.25050487096e-05,-7.36489474879e-05,-2.49319938555e-05,1793250722001673216
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745.961535727,723,690.961535727,670,642.038464273,886.961535727,788.961535727,819.961535727,655,632,656,0.404268495408,-0.015472571887,0.0799558922431,0.999999990799,0.000116796809463,-6.83775125191e-05,-9.21224110555e-06,1793250722018339840
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,746,723,691.552882078,670,642.552882078,887,788.447117922,820,655,632,656,0.404650128024,-0.0154749078846,0.0799561717502,0.999999993745,9.16733946861e-05,-6.18352289239e-05,-1.67830412862e-05,1793250722035006464
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745.858050202,723,691.858050202,670,643,887,788,819.858050202,655.141949798,632,656,0.405040396066,-0.0154765184982,0.0799543850751,0.999999995722,6.60364339064e-05,-5.97145510873e-05,-2.50792891316e-05,1793250722051673344
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745.279979234,723,691.279979234,670,643,887,788,819.279979234,655.720020766,632,656,0.405449263027,-0.0154774294548,0.0799470229893,0.999999995516,5.41605617495e-05,-7.145947168e-05,-3.04577889898e-05,1793250722068340224
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,745.298050463,723,691.298050463,670,643,887,788,819,655.701949537,632,656,0.405887409768,-0.0154752458779,0.0799404059731,0.99999999439,5.77512083696e-05,-8.25655646179e-05,-3.2687505401e-05,1793250722085006848
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,745.876041463,723,691.876041463,670,643,887,788,819,655.123958537,632,656,0.406353057261,-0.0154701557954,0.0799344887542,0.99999999228,7.58686069966e-05,-9.3071647239e-05,-3.19597630797e-05,1793250722101673984
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746,723,692,670,643,887,788.450273407,819,655,632,656,0.406847593641,-0.0154691643074,0.0799303356768,0.999999991552,7.29449164559e-05,-0.000101858025717,-3.46499649928e-05,1793250722118340352
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,746,723,692,670,642.975770204,887.024229796,789,819,655,632,656,0.407350436798,-0.0154696252386,0.0799263726427,0.999999991079,6.40564670527e-05,-0.000110813284997,-3.81861971111e-05,1793250722135006720
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,746,723,692,670,642.384235737,887.615764263,789,819,655,632,656,0.407863105502,-0.0154778930229,0.0799155822852,0.999999988888,5.00126799016e-05,-0.000134715489107,-3.96825006763e-05,1793250722151672832
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745.797528721,723,692,670,642.202471279,887.797528721,788.797528721,819.202471279,655,632,656,0.408408318546,-0.0154839158194,0.0799119532518,0.999999988027,3.98359474769e-05,-0.000143869133634,-4.07618984693e-05,1793250722168339200
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,745.219769596,723,692,670,642.780230404,887.219769596,788.219769596,819.780230404,655,632,656,0.40901385367,-0.0154857774493,0.0799215979922,0.99999999058,3.68269418635e-05,-0.000125685787775,-4.10685462699e-05,1793250722185005824
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,745.355970948,723,692.355970948,670.355970948,642.644029052,887,788.355970948,819.644029052,655,632,656,0.409668976323,-0.0154871608538,0.0799486816209,0.999999995358,3.71322142787e-05,-7.95843354225e-05,-3.96519707796e-05,1793250722201672960
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,745.930472266,723,692.930472266,670.930472266,642.069527734,887,788.930472266,819.069527734,655,632,656,0.410354540708,-0.0154882506759,0.0799864709732,0.999999998396,3.94721201509e-05,-1.63439732375e-05,-3.71775093229e-05,1793250722218340352
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,746,723,693,670.483282175,642.516717825,887.516717825,789,819.516717825,655,632,656,0.411022589448,-0.0154892510718,0.079991621657,0.999999998507,3.71346940438e-05,-1.32288330347e-05,-3.78487785104e-05,1793250722235006976
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.102697183,746,723,693.102697183,670,643,888,789,820,655,632,656,0.41168977508,-0.0154899705763,0.0799856836221,0.99999999829,3.34186490342e-05,-2.6887257841e-05,-3.97480780887e-05,1793250722251673600
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.679973722,746,723,693.679973722,670,643,888,789,820,655,632,656,0.412364116583,-0.0154894489379,0.079949269848,0.999999995443,2.63078307002e-05,-7.9803161796e-05,-4.53207669848e-05,1793250722268339968
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,694.258219175,670,643,888,789,820.258219175,655,632,656,0.413071555133,-0.0154908220954,0.0799252526905,0.999999992607,2.02333044642e-05,-0.000109217805243,-4.94807608811e-05,1793250722285006848
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723,694.83767006,670,643,888,789,820.83767006,655,632,656,0.413820167406,-0.0154945524306,0.0799166572579,0.999999992551,1.54479530326e-05,-0.000109396245686,-5.18833244666e-05,1793250722301673728
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.576826825,745.576826825,723,694.576826825,670,643,888,789,821.423173175,655,632,656,0.41461203498,-0.0154967404155,0.079932075404,0.999999995287,1.40016475755e-05,-8.14316496238e-05,-5.0975967106e-05,1793250722318340096
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,745.010867975,723,694.010867975,670,643,888.010867975,789,822,655,632,656,0.415420178225,-0.0154982254815,0.0799562162812,0.999999997751,1.38324430189e-05,-4.38108643031e-05,-4.88577959801e-05,1793250722335006720
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,745.590007795,723,694.590007795,670,643,888.590007795,789,822,655,632,656,0.416199152798,-0.0154943412273,0.0799478036346,0.999999995897,1.24947194077e-05,-7.39648234581e-05,-5.07815393921e-05,1793250722351673344
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,723,695,669.83208727,643,889,789,822,655,632,656.16791273,0.417004342838,-0.0154922190427,0.0799445308572,0.999999994973,1.25934329037e-05,-8.49982946868e-05,-5.16734222531e-05,1793250722368339968
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,723,695,669.257175571,643,889,789,822,655,632,656.742824429,0.417873075768,-0.0154943678897,0.0799537164653,0.999999997382,1.61738862034e-05,-4.96861485232e-05,-5.00642071367e-05,1793250722385006592
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,723,695,669.318686573,643,889.318686573,789,822.318686573,655,632,657,0.41875180509,-0.0154984656305,0.0799675657812,0.999999998522,1.23773287674e-05,-1.56360862112e-05,-5.057789718e-05,1793250722401673216
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,723,695,669.895317979,643,889.895317979,789,822.895317979,655,632,657,0.419638625447,-0.0155041408054,0.0799851899005,0.999999998451,2.60982049779e-06,1.73924440204e-05,-5.28098662015e-05,1793250722418339584
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.481473254,746,723,695,669.518526746,643,890,789,823.481473254,655,632,656.518526746,0.420515313544,-0.0155049529917,0.0799720216769,0.999999998514,-3.40485995089e-06,-5.25586832885e-06,-5.41543263984e-05,1793250722435006464
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.93157412,746,723,695.06842588,669.06842588,643,890,789,824,655,632,656,0.421396975114,-0.0155052163796,0.0799575589224,0.999999997972,-7.79173037221e-06,-3.13216588068e-05,-5.48989863922e-05,1793250722451672832
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.354399736,746,723,695.645600264,669.645600264,643,890,789,824,655,632,656,0.422332323715,-0.0155094192193,0.0799842524092,0.999999998554,-6.26474640667e-06,9.02282547432e-06,-5.26477460081e-05,1793250722468339712
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,722.776645551,695.776645551,669.776645551,643,890.223354449,788.776645551,824,655,632,656,0.423257137566,-0.0155107275895,0.0800012642895,0.999999998224,-1.83646853047e-06,3.06314676745e-05,-5.10918769211e-05,1793250722485006592
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,722.197968901,695.197968901,669.197968901,643,890.802031099,788.197968901,824,655,632,656,0.424165192413,-0.0155074313097,0.0800028742432,0.99999999844,7.20731707587e-06,2.24343045581e-05,-5.06422352028e-05,1793250722501673216
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746.37999512,722.37999512,695.759990241,669.37999512,643,891,788,824,655,632,656,0.425046124044,-0.0155056785051,0.079967553556,0.999999997555,9.262354549e-06,-4.37439167047e-05,-5.37661960738e-05,1793250722518339584
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746.957588538,722.957588538,696.915177076,669.957588538,643,891,788,824,655,632,656,0.425912951491,-0.0155047283112,0.0799130288544,0.999999988435,7.68322703042e-06,-0.00014007241476,-5.87484377568e-05,1793250722535005952
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746.45290551,723,696.45290551,670,643,891.54709449,788,824.54709449,655,632,656,0.426878411444,-0.0155084536316,0.0799041993869,0.999999989097,3.73254444987e-06,-0.00013463128017,-6.0550651547e-05,1793250722551672320
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746.134340587,723,696,670,643,892,788.134340587,825,655,632,656,0.427842014039,-0.0155113254763,0.079902818317,0.999999990495,-1.58786762082e-07,-0.000123409278246,-6.1485522514e-05,1793250722568338944
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746.711036923,723,696,670,643,892,788.711036923,825,655,632,656,0.428773763195,-0.0155101669574,0.0799140394124,0.999999991006,-3.23584452439e-06,-0.000119708184767,-6.03942200414e-05,1793250722585005568
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.286754389,746.713245611,723,696,670,643,892.286754389,788.713245611,825,655,632,656,0.429742187019,-0.0155134636248,0.0799467424001,0.9999999953,-5.50468297543e-06,-7.77603348487e-05,-5.76386812194e-05,1793250722601672448
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.861488765,746.138511235,723,696,670,643,892.861488765,788.138511235,825,655,632,656,0.430747442203,-0.0155212345201,0.0800010190939,0.999999998557,-6.96184754794e-06,2.59773969809e-06,-5.32117928272e-05,1793250722618340096
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,696,670,643,893,788,825,655,632,656.447413258,0.431691153293,-0.0155236311577,0.0800249791795,0.999999997773,-1.26244305089e-05,3.98913635123e-05,-5.20024025576e-05,1793250722635006720
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.963765351,746.036234649,723,696,670,643,893,788.036234649,825.036234649,655,632,656.963765351,0.432611967187,-0.0155238289833,0.0800333431257,0.999999996968,-1.89827888066e-05,5.44689998105e-05,-5.23139861717e-05,1793250722651673088
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.384774291,746.615225709,723,696,670,643,893,788.615225709,825.615225709,655,632,656.384774291,0.433482518454,-0.0155166518234,0.0799522844004,0.999999995865,-1.57614343387e-05,-6.63928962215e-05,-6.01051740014e-05,1793250722668340224
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746.806292707,723,696,670,643,893.193707293,788.806292707,826,655,632,656,0.434372504521,-0.0155138316448,0.0798996586416,0.999999987727,-1.67547362954e-05,-0.000141417696596,-6.53150624755e-05,1793250722685006848
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746.228820371,723,696,670,643,893.771179629,788.228820371,826,655,632,656,0.435300994182,-0.0155196433401,0.0799033631098,0.999999989628,-2.60979446216e-05,-0.0001256319233,-6.54109880811e-05,1793250722701672704
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746.345516478,723,696,670.345516478,643,894,788.345516478,826,655,632,656,0.436223205206,-0.0155230076194,0.0799298077139,0.999999993268,-2.98391002954e-05,-9.29146748688e-05,-6.27661425871e-05,1793250722718339328
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746.917795473,723,696,670.917795473,643,894,788.917795473,826,655,632,656,0.437141295502,-0.0155247656591,0.0799711766724,0.999999996647,-2.99036273781e-05,-4.90852976018e-05,-5.83225285188e-05,1793250722735006464
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,723,696,670.493798529,643,894.506201471,788.493798529,826,655,632.506201471,656,0.438032276097,-0.0155294121849,0.0800000492988,0.999999997611,-3.78242739206e-05,-1.72529984099e-06,-5.7829034029e-05,1793250722751672832
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.095267866,747,723,696,670,643,895,788,826,655,632.904732134,656.095267866,0.43890934895,-0.0155353079588,0.0800145867129,0.999999996839,-4.7257980899e-05,2.55373281668e-05,-5.86146724697e-05,1793250722768339200
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.673958587,747,723,696,670,643,895,788,826,655,632.326041413,656.673958587,0.439738923859,-0.0155450842772,0.0799670186448,0.99999999502,-5.76826280825e-05,-5.21863528491e-05,-6.25288757134e-05,1793250722785005824
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.748505881,723,696,670,643,895,787.748505881,826.251494119,655,632,656.748505881,0.440496597894,-0.015551146708,0.0798850223693,0.999999978374,-7.17531197504e-05,-0.000182361276254,-6.96318033269e-05,1793250722801672448
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.172461152,723,696,670,643,895,787.172461152,826.827538848,655,632,656.172461152,0.441161484516,-0.0155524164036,0.0797585968451,0.999999920349,-9.05285344317e-05,-0.000380223986927,-8.08497456055e-05,1793250722818338816
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.592925299,746.407074701,723,695.592925299,669.592925299,643,895,786.592925299,827,655,632,656,0.441888912855,-0.0155638250471,0.0797100865362,0.999999891385,-0.000108797149985,-0.000445407287461,-8.36959776733e-05,1793250722835005440
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.011897554,746.988102446,723,695.011897554,669.011897554,643,895,786.011897554,827,655,632,656,0.442643066868,-0.0155795663129,0.0796948713069,0.999999885503,-0.000126849200448,-0.000453893430354,-8.29647736661e-05,1793250722851672320
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+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,642,895,786,827.726029938,655,632,656.726029938,0.445013536827,-0.0156550847857,0.0798209728861,0.999999938197,-0.000204574627133,-0.000278504585618,-6.47338258128e-05,1793250722901672192
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,723,695.696401173,669,641.696401173,895.303598827,785.696401173,827.696401173,654.696401173,631.696401173,657,0.445721619552,-0.015666279873,0.0798174022324,0.999999934637,-0.00021638677577,-0.000282400340828,-6.44474746784e-05,1793250722918338816
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,723,695.115868634,669,641.115868634,895.884131366,785.115868634,827.115868634,654.115868634,631.115868634,657,0.446396187187,-0.0156708086584,0.0797967060508,0.999999926495,-0.000221761204158,-0.000305855211078,-6.5458993484e-05,1793250722935005696
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,696,668.362154149,641,895.362154149,783.362154149,827,654.637845851,631.362154149,657,0.448158368086,-0.0156861719124,0.0796973463026,0.999999865551,-0.000252899782025,-0.000446466063433,-7.48886806494e-05,1793250722985005568
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640.783481194,895,782.783481194,827,654.783481194,631,657,0.448713818871,-0.015691701379,0.0796669785506,0.999999839849,-0.000263612730514,-0.00049482595664,-7.71878543922e-05,1793250723001672192
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747,723,696,668,640.210244722,895,782.210244722,827,654.210244722,631,657,0.449269004307,-0.0156937099543,0.0796482181799,0.999999826809,-0.000273181549965,-0.000515428120275,-7.80214387101e-05,1793250723018338816
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747.37036375,723,696,668,640,895.37036375,781.62963625,827.37036375,654.37036375,631,657,0.449818075185,-0.0156996592404,0.079661827592,0.999999835556,-0.000279917703078,-0.000494708924683,-7.61393915457e-05,1793250723035006208
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.955242136,723,696,668,640,895.955242136,781.044757864,827.955242136,654.955242136,631,657,0.450363604565,-0.0157078909859,0.0796941855765,0.999999855467,-0.000285013176713,-0.00045005640433,-7.26844509412e-05,1793250723051674112
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747,723,696,667,639,896,776.795514095,828,654.397757048,630,657,0.453496220134,-0.0157487247639,0.0795946534807,0.999999751646,-0.000345625624937,-0.00060881913389,-8.11799676866e-05,1793250723185006080
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768,747.332867917,723,695,667,639,896,775.667132083,828,654.332867917,630,656.332867917,0.45431359768,-0.0157598078082,0.0795794350599,0.999999723359,-0.000372946712815,-0.000638082430906,-8.39216448057e-05,1793250723235006464
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,723,694.743700417,666.256299583,638,896,772,828,654.743700417,630,656,0.456087202759,-0.0157787216272,0.0795197762873,0.999999647519,-0.000386031797222,-0.000741714171085,-7.61615700954e-05,1793250723735005952
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747.320510105,723,695,666.320510105,638,896.320510105,772,828,655,630,656,0.456086492915,-0.0157784077928,0.0795192727618,0.999999646837,-0.00038573973429,-0.00074281443464,-7.58750057869e-05,1793250723751672320
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747.89495392,723,695,666.89495392,638,896.89495392,772,828,655,630,656,0.456086768324,-0.0157784390233,0.07951994864,0.999999646292,-0.000388359221816,-0.000742177272439,-7.5935148427e-05,1793250723768338944
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,747.517769414,723,695,667,638,896.517769414,772,828,654.517769414,630,656.482230586,0.456086917859,-0.0157772804033,0.0795195885458,0.99999964598,-0.000387183367129,-0.000743175145053,-7.62877348831e-05,1793250723785005568
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,723,695.071043073,667,638,896,772,828,654.071043073,630,657,0.456087099718,-0.0157760544291,0.0795190793939,0.999999645827,-0.000385439452286,-0.000744255656595,-7.65887222198e-05,1793250723801672448
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,723,695.650297865,667,638,896,772,828,654.650297865,630,657,0.456087714318,-0.0157762514532,0.079519162426,0.999999646468,-0.000385707809082,-0.000743309818224,-7.60524206321e-05,1793250723818339072
+247,4.116666667,POSE1_TO_POSE2_PRESS,767.227909179,747,723,695.772090821,667,638,896,772,828,655,630,656.772090821,0.456087778886,-0.0157762350009,0.0795186200956,0.999999646635,-0.000385077280245,-0.000743437084752,-7.58073757122e-05,1793250723835006208
+248,4.133333333,POSE1_TO_POSE2_PRESS,767.803016893,747,723,695.196983107,667,638,896,772,828,655,630,656.196983107,0.456087005532,-0.0157758933374,0.0795171250832,0.999999646076,-0.000383077382396,-0.000745199127106,-7.60060332825e-05,1793250723851673088
+249,4.150000000,POSE1_TO_POSE2_PRESS,768,747,723,695,667,638,896,771.616862961,828.383137039,655,630,656,0.45608727562,-0.0157756075289,0.079517631795,0.999999645611,-0.000383697476475,-0.000745492919619,-7.61271584653e-05,1793250723868339712
+250,4.166666667,POSE1_TO_POSE2_PRESS,768,747,723,695,667,638,896,771.034131636,828.965868364,655,630,656,0.456088089287,-0.0157753508179,0.0795191813,0.999999645192,-0.000385682448943,-0.000745021830931,-7.6207893332e-05,1793250723885006336
+251,4.183333333,HOLD_POSE2,768,747,722,695,666,638,896,772,828,655,630,657,0.456094445639,-0.0157743282475,0.0795225732484,0.99999965242,-0.000381117953157,-0.000737719411333,-7.53651327684e-05,1793250723914634752
+252,4.200000000,HOLD_POSE2,768,747.580218105,722.580218105,695,666.580218105,638,896,772,828,655,630,657,0.456092085097,-0.015774080013,0.0795200871413,0.999999649701,-0.000381947453604,-0.000740946764731,-7.55710472933e-05,1793250723931301120
+253,4.216666667,HOLD_POSE2,767.841266924,748,723,695,666.841266924,638,896,771.841266924,828,655,630,657,0.456090544919,-0.0157737520016,0.0795185696447,0.999999647793,-0.000382560673499,-0.000743181984878,-7.57703524337e-05,1793250723947967744
+254,4.233333333,HOLD_POSE2,767.267208082,748,723,695,666.267208082,638,896,771.267208082,828,655,630,657,0.456091151227,-0.0157732152536,0.079519586521,0.999999648029,-0.000382607994604,-0.00074282128489,-7.59523641377e-05,1793250723964634880
+255,4.250000000,HOLD_POSE2,767.313990137,747.686009863,722.686009863,695,666,638,896,771.313990137,828,654.686009863,629.686009863,657,0.45609084875,-0.0157737282043,0.0795194037675,0.999999647824,-0.000382125647182,-0.000743358640638,-7.58299304022e-05,1793250723981301504
+256,4.266666667,HOLD_POSE2,767.901405349,747.098594651,722.098594651,695,666,638,896,771.901405349,828,654.098594651,629.098594651,657,0.456089754897,-0.0157751552407,0.0795181763669,0.999999647232,-0.000381182060252,-0.000744678030385,-7.54423831793e-05,1793250723997968384
+257,4.283333333,HOLD_POSE2,767.518024225,747,722.481975775,695.481975775,666,638,896,772,828.481975775,654,629.481975775,657,0.456089520966,-0.0157743348131,0.0795178580927,0.99999964696,-0.00038089260928,-0.000745188123183,-7.54741884343e-05,1793250724014635008
+258,4.300000000,HOLD_POSE2,767,747,722.939114178,695.939114178,666,637.939114178,896,771.939114178,828.939114178,654.060885822,630,657,0.456089516389,-0.01577316366,0.0795177774686,0.999999646761,-0.000380914563117,-0.000745432659825,-7.55785225344e-05,1793250724031301376
+259,4.316666667,HOLD_POSE2,767,747,722.362573725,695.362573725,666,637.362573725,896,771.362573725,828.362573725,654.637426275,630,657,0.456089985311,-0.0157728613283,0.079518156555,0.999999646636,-0.000382456453308,-0.000744810612676,-7.55807674722e-05,1793250724047968256
+260,4.333333333,HOLD_POSE2,767.213975208,747,722.213975208,695,666,637.213975208,896,771.213975208,828,655,630,657,0.456090510012,-0.015773065378,0.0795184511128,0.99999964655,-0.000383365766995,-0.000744466576708,-7.549426592e-05,1793250724064634880
+261,4.350000000,HOLD_POSE2,767.790538452,747,722.790538452,695,666,637.790538452,896,771.790538452,828,655,630,657,0.456091129233,-0.0157741275076,0.0795186024338,0.999999646536,-0.00038320315881,-0.000744593639913,-7.52573805181e-05,1793250724081301504
+262,4.366666667,HOLD_POSE2,768,747,722.626510667,695,666.373489333,638,896.373489333,771.626510667,828,654.626510667,630,657,0.456091243359,-0.0157736935854,0.0795185131945,0.999999646942,-0.000382270870854,-0.000744529316672,-7.52458322667e-05,1793250724097968128
+263,4.383333333,HOLD_POSE2,768,747,722.039915061,695,666.960084939,638,896.960084939,771.039915061,828,654.039915061,630,657,0.456091069288,-0.0157724060433,0.0795182866958,0.999999647585,-0.000380899417498,-0.000744355791791,-7.53628573038e-05,1793250724114635008
+264,4.400000000,HOLD_POSE2,768,747,722.542254474,695,666.457745526,637.457745526,896.457745526,771,828,654,630,657,0.456092447438,-0.0157721654896,0.0795197086273,0.999999648397,-0.000381100086926,-0.000743171546973,-7.52587505339e-05,1793250724131301888
+265,4.416666667,HOLD_POSE2,768,747,723,695,666.122743956,637.122743956,896,771.122743956,828.122743956,654,630,656.877256044,0.456093633798,-0.0157722855327,0.0795207928299,0.999999648994,-0.000381231565878,-0.00074230763593,-7.51948966329e-05,1793250724147968512
+266,4.433333333,HOLD_POSE2,768,747,723,695,666.698228713,637.698228713,896,771.698228713,828.698228713,654,630,656.301771287,0.456093694715,-0.0157734536715,0.0795201873823,0.999999648753,-0.000380684447403,-0.000742897472057,-7.53390683521e-05,1793250724164634880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,747,723,695,666,638,896,771,828,655,630,656,0.456093642546,-0.0157731508124,0.0795179174071,0.999999646933,-0.000381836384023,-0.000744733228292,-7.55422014374e-05,1793250724202425856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.592450501,747,723,695,666,638,896,771.592450501,828,654.407549499,629.407549499,656.592450501,0.456092905938,-0.0157723785636,0.079517759394,0.999999646155,-0.000382305287719,-0.000745529915339,-7.56154181174e-05,1793250724219091968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.819337833,747,723,695,666,638,896,771.819337833,828,654,629.180662167,657,0.456092691668,-0.0157716876614,0.0795178053718,0.999999646075,-0.000382046922571,-0.000745772996436,-7.55839632875e-05,1793250724235758336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.24046908,747,723,695,666,638,896,771.24046908,828,654,629.75953092,657,0.456093628707,-0.015771176059,0.079518300976,0.999999647532,-0.000380185547609,-0.000744795846914,-7.53217967224e-05,1793250724252424960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.334537866,747.334537866,723,695,666,638,896,771,828,654,630,657,0.456093733194,-0.0157719394557,0.0795179799362,0.999999647724,-0.000380100312202,-0.000744599664584,-7.51473767501e-05,1793250724269091840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.906800551,747.906800551,723,695,666,638,896,771,828,654,630,657,0.456093246064,-0.0157736088751,0.0795170785837,0.999999647017,-0.000381277213417,-0.000744958442764,-7.50353101025e-05,1793250724285758720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.506864946,747.506864946,723,695,666,638,896,771.493135054,828,654,630,656.506864946,0.456092720248,-0.0157740196183,0.0795174409058,0.99999964644,-0.000382120914285,-0.000745307565608,-7.49633289592e-05,1793250724302425344
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,747.080800084,723,695,666.080800084,638,896,771.919199916,828,654,630,656,0.456092034051,-0.0157738728763,0.079517690983,0.999999645966,-0.000382119445256,-0.000745951349599,-7.48972959991e-05,1793250724319091712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,747.6597895,723,695,666.6597895,638,896,771.3402105,828,654,630,656,0.456090405399,-0.0157717986386,0.0795157332036,0.999999645952,-0.000377306585956,-0.000748423508398,-7.48198548896e-05,1793250724335758080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.239252447,747.760747553,723,695,666.760747553,637.760747553,895.760747553,771,828,654,630,656,0.456084118934,-0.0157711716344,0.0795121590204,0.999999642188,-0.000376832862241,-0.000753659971772,-7.49447524001e-05,1793250724352424448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.819390029,747.180609971,723,695,666.180609971,637.180609971,895.180609971,771,828,654,630,656,0.456071196048,-0.0157726066382,0.0795062817972,0.999999633033,-0.00038254150754,-0.000762834995819,-7.53579404981e-05,1793250724369091072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.394399702,637,895.394399702,771,828,654,629.605600298,656.394399702,0.456042517446,-0.0157723166395,0.0794941776422,0.999999616187,-0.000385060561796,-0.000783283700928,-7.63005969959e-05,1793250724385757952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.967091308,637,895.967091308,771,828,654,629.032908692,656.967091308,0.456006716332,-0.0157712468382,0.0794792585466,0.999999595345,-0.000386137733247,-0.000808828774571,-7.74826044056e-05,1793250724402424576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.553059766,722.446940234,695,666.446940234,637.553059766,896,771,828,654,629.553059766,657,0.455950540908,-0.0157658723316,0.0794599560321,0.999999568775,-0.000379901428428,-0.000843794862117,-7.83227138404e-05,1793250724419091712
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747.861072012,722.138927988,695,666,638,896.138927988,771,828,654.138927988,630,657,0.455890148981,-0.015760734486,0.0794422069868,0.999999544932,-0.000374346538424,-0.000873943421914,-7.8883897198e-05,1793250724435758592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747.278111103,722.721888897,695,666,638,896.721888897,771,828,654.721888897,630,657,0.455820250604,-0.0157571918435,0.0794302771791,0.999999534311,-0.000372394628295,-0.000886858759247,-7.8620216347e-05,1793250724452425216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638,896.699630209,771,828,655,630,656.699630209,0.455744674838,-0.0157539953991,0.0794239233823,0.999999527622,-0.000371948292986,-0.000894637853215,-7.76761173184e-05,1793250724469091840
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,666,638,896.125236416,771,828,655,630,656.125236416,0.455663919659,-0.0157511147877,0.0794226565185,0.999999524625,-0.000372875476904,-0.000897731209123,-7.61112804201e-05,1793250724485758464
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.54061839,747.45938161,723,695,666,638,896,771,828,654.54061839,630,656.45938161,0.455574277769,-0.0157469909475,0.0794281110087,0.999999532754,-0.000370489355322,-0.00088986861601,-7.32406363346e-05,1793250724502424576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747.953864507,723,695,666,638,895.953864507,771.046135493,828,654,630,656.953864507,0.455479891486,-0.0157425430789,0.0794354492946,0.999999543842,-0.0003671784965,-0.000878979114312,-6.99337536498e-05,1793250724519090688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747.375360149,723,695,666,638,895.375360149,771.624639851,828,654,630,656.375360149,0.455359350853,-0.0157383561733,0.0794428996568,0.99999955457,-0.000363857206044,-0.00086841140272,-6.57943533011e-05,1793250724535757824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.20275586,747,723,695.20275586,666.20275586,638,895.20275586,772,828,654.20275586,630,656.20275586,0.45522788981,-0.0157336190728,0.0794497273289,0.999999564061,-0.000360247097964,-0.000859232781154,-6.1800773912e-05,1793250724552424704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.780154234,747,723,695.780154234,666.780154234,638,895.780154234,772,828,654.780154234,630,656.780154234,0.455076250572,-0.0157278653489,0.0794554044232,0.999999571428,-0.000356103327011,-0.000852620854555,-5.80766359392e-05,1793250724569091840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.355956037,723,695.644043963,667,638,896,772,828,654.644043963,630,656.644043963,0.454900202157,-0.0157194799079,0.0794562085438,0.999999576928,-0.00034748612923,-0.000849997568335,-5.38654432756e-05,1793250724585758464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.930776223,723,695.069223777,667,638,896,772,828,654.069223777,630,656.069223777,0.454709145431,-0.0157094763212,0.0794540164542,0.999999581191,-0.000336118386965,-0.00084982674826,-4.93547784022e-05,1793250724602425088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.482715027,723,695,666.482715027,638,896,772.517284973,828,654,629.482715027,656.517284973,0.454493727553,-0.0157005155142,0.0794543108906,0.999999584572,-0.000326673672775,-0.000849829267487,-4.39346030093e-05,1793250724619091456
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,666.682865878,638,896,773,828,654,629.682865878,657,0.454007337216,-0.0156799638536,0.0794540836726,0.999999593941,-0.000298002235058,-0.000849874973968,-3.20177296577e-05,1793250724652424448
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.738040407,747,723,695,667,638,895.738040407,773.261959593,828,654,630,656.738040407,0.453723798892,-0.0156693846986,0.0794510267201,0.999999600952,-0.000262574922798,-0.000853519789078,-2.55697331208e-05,1793250724669090816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.158940325,747,723,695,667,638,895.158940325,773.841059675,828,654,630,656.158940325,0.453412015839,-0.0156596667727,0.0794450371507,0.999999607476,-0.000205956539454,-0.000861552382255,-1.88776976498e-05,1793250724685757440
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.251225872,747,723,695.748774128,667,638,895,775,828,654.251225872,630,656,0.451560956345,-0.0156325804642,0.0794771788911,0.999999660489,-0.000155094572705,-0.000809298456988,-1.89456955423e-06,1793250724769090560
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.325366562,747,723,695.674633438,667,638,895,775.650733123,827.674633438,654,630,656,0.451127769777,-0.0156291391747,0.0794908853087,0.999999674596,-0.000162316249749,-0.000790216859032,-4.2213362254e-06,1793250724785757696
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.526411121,747,723,695,667.473588879,638.473588879,895,777,827,654.473588879,630,656,0.450199563022,-0.0156188424583,0.0795286336722,0.99999972207,-0.000155648380733,-0.000729130370406,1.57468198111e-06,1793250724819091712
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.640902971,747,722.359097029,695,668,639,895,778.281805941,827.640902971,655,630,656,0.449175018848,-0.0156086341738,0.0795633430112,0.999999769957,-0.000127936854557,-0.000666037967948,1.05758404494e-05,1793250724852425216
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747,723,695,667.958074101,639,894,780.958074101,827,654.041925899,630.958074101,656,0.446701845652,-0.0155655414823,0.0794998312689,0.999999704192,-7.01150630769e-05,-0.000765916529921,8.41653775631e-06,1793250724919091712
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,722.783282549,695,669,642,889,788,821.783282549,655,631,655.783282549,0.422740914237,-0.0153826938639,0.0797177956951,0.99999986717,0.000244445186386,-0.000452303656447,3.6443430834e-05,1793250725385757440
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.059997689,745.059997689,723,692.940002311,669.940002311,642.940002311,887.059997689,788.059997689,820,655,632,656,0.409451861374,-0.0153690714994,0.0797983935003,0.99999991076,0.000262879370554,-0.000328126594675,4.13238220828e-05,1793250725669090816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.653575544,745.653575544,723,692.346424456,669.346424456,642.346424456,887.653575544,788.653575544,820,655,632,656,0.408889426092,-0.0153694733412,0.0798258251455,0.999999924196,0.000265218204501,-0.000281500334783,4.50071421448e-05,1793250725685757440
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.760656221,746,723,692,669.239343779,642.239343779,887.760656221,788.760656221,820,655,632,656,0.408317650435,-0.0153687342061,0.0798390301071,0.999999928843,0.000267608903624,-0.000261710627665,4.69686903815e-05,1793250725702423808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.185834449,746,723,692,669.814165551,642.814165551,887.185834449,788.185834449,820,655,632,656,0.407732782819,-0.015366395812,0.0798322941293,0.999999923378,0.000270072300349,-0.000279536579496,4.65169040838e-05,1793250725719090688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,692,670,642.610576313,887,788,820,655,632,656,0.4071653101,-0.0153633009674,0.0798035120103,0.999999907696,0.000272188295873,-0.000329668086608,4.29117151443e-05,1793250725735757568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,746,723,692,670,642.035109657,887,788,820,655,632,656,0.406606147554,-0.0153598447365,0.0797641975843,0.999999883605,0.000274138323478,-0.000395233224887,3.78000218984e-05,1793250725752424192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,691.446192413,670,642.553807587,887,788,820,655,632,656,0.406151864265,-0.0153622237224,0.0797648363814,0.999999886892,0.000271709588142,-0.000388563777211,3.75340143251e-05,1793250725769090816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,746,723,691,669.859128566,642.859128566,887,788,820,655,632,656,0.405715873017,-0.0153641550677,0.0797729918626,0.999999894964,0.000269521701187,-0.000368756875074,3.80627191395e-05,1793250725785757440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,669.280539042,642.280539042,887,788,820,655,632,656,0.405315544796,-0.0153635174183,0.0797964371082,0.999999910954,0.000268966214991,-0.000322712576477,4.00824663725e-05,1793250725802425088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.297607125,746,723,690.702392875,669,642.297607125,886.702392875,788,820,655,632,656,0.404917546719,-0.0153628093259,0.0798125872245,0.999999918135,0.000271297751534,-0.000297340656436,4.141456368e-05,1793250725819091712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.875335948,746,723,690.124664052,669,642.875335948,886.124664052,788,820,655,632,656,0.404521741905,-0.0153620349294,0.0798218708236,0.999999918465,0.000276346688878,-0.000291426545963,4.2099412759e-05,1793250725835758080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746,723,690.447506398,669,642.552493602,886.447506398,787.552493602,820,655,632,656,0.404164667556,-0.0153589237928,0.0798268322737,0.999999917771,0.000278711703574,-0.000291422053712,4.30294349588e-05,1793250725852424448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.981180102,745.981180102,722.981180102,691,669.018819898,642,886.981180102,787,820,655,632,656,0.403819558451,-0.0153551667447,0.0798305825584,0.999999916746,0.000280614821801,-0.000292954418355,4.40484612915e-05,1793250725869090816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.389392932,745.389392932,722.389392932,691,669.610607068,642,886.389392932,787,820,655,632,656,0.40351427938,-0.0153513201689,0.0798336662567,0.999999914067,0.000290939091589,-0.000291770582914,4.57233587132e-05,1793250725885758208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,722.198066119,691,670,642,886,787.198066119,819.801933881,655,632,655.801933881,0.403222316066,-0.0153489406282,0.0798357887432,0.999999912828,0.000296344187783,-0.000290547449169,4.58912608288e-05,1793250725902425088
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,722.77719809,691,670,642,886,787.77719809,819.22280191,655,632,655.22280191,0.402955971405,-0.0153493835645,0.0798360619225,0.999999914521,0.00029228512463,-0.000289248708318,4.31598054341e-05,1793250725919091712
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745.354219788,722.645780212,690.645780212,669.645780212,642.354219788,886,787.645780212,819.354219788,655,632,655.354219788,0.402707973955,-0.0153500311896,0.0798361173716,0.999999914598,0.000290525667059,-0.000290815020299,4.27144153327e-05,1793250725935758080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745.929922056,722.070077944,690.070077944,669.070077944,642.929922056,886,787.070077944,819.929922056,655,632,655.929922056,0.402471448411,-0.0153508068003,0.0798360366807,0.999999913667,0.000290204080048,-0.000294172759472,4.3698429606e-05,1793250725952424448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746,722.515446492,690.515446492,669.515446492,643,886.515446492,787,820,655,632,656,0.402276222843,-0.015353777527,0.0798336910011,0.999999912461,0.000291177367038,-0.000297016293615,4.55437657961e-05,1793250725969090816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,745.89890084,723,690.89890084,669.89890084,642.89890084,886.89890084,787,820,655,632,656,0.402092837298,-0.0153572688648,0.0798318372623,0.999999912011,0.000291060241918,-0.000298367535107,4.7314580011e-05,1793250725985757440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,745.31908678,723,690.31908678,669.31908678,642.31908678,886.31908678,787,820,655,632,656,0.401938411465,-0.0153617847609,0.0798337993575,0.999999915326,0.000284930116532,-0.000292990076238,4.81672656579e-05,1793250726002424064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745,722.740957269,690,669.259042731,642.259042731,886,787,820,655,632,656,0.401798060145,-0.0153634926127,0.0798381577409,0.999999918162,0.000282924107445,-0.000284929639455,4.94541909477e-05,1793250726019090688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745,722.164889399,690,669.835110601,642.835110601,886,787,820,655,632,656,0.401674933691,-0.0153617638857,0.0798454487816,0.999999920373,0.000285965329881,-0.00027358568507,5.12725531524e-05,1793250726035757824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745,722.408441129,690,670.408441129,642.591558871,886.408441129,787,820,655,632,656,0.401561908247,-0.0153599001455,0.0798482740381,0.999999921554,0.000285370830122,-0.000270267785657,4.91003125792e-05,1793250726052424704
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,722.980673925,690,670.980673925,642.019326075,886.980673925,787,820,655,632,656,0.401452933478,-0.0153579822628,0.079849308441,0.999999922343,0.000283318345403,-0.000270168467665,4.53277740725e-05,1793250726069091072
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,745.573782937,722.426217063,690,670.426217063,642,886.426217063,787,819.426217063,655,632,656,0.401368441452,-0.0153604968142,0.0798466786656,0.999999920511,0.00028636571217,-0.000274773473641,3.83789937172e-05,1793250726085757440
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,722.163221148,690,669.836778852,642.163221148,886,787,819.163221148,655,632,656,0.401289501149,-0.0153616879756,0.0798435019801,0.999999918718,0.000288126491612,-0.000280039559733,3.35426801139e-05,1793250726102424064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,722.741469974,690,669.258530026,642.741469974,886,787,819.741469974,655,632,656,0.401222501438,-0.0153591201661,0.0798392603124,0.999999917404,0.000286162560823,-0.000286568485725,3.43601018083e-05,1793250726119090688
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,745.682657156,723,690,669.317342844,642.682657156,886,787,820,655,632,656,0.401167323864,-0.0153574705362,0.0798373028613,0.999999916933,0.000285633705326,-0.000288619347066,3.53102231657e-05,1793250726135757568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745.108705462,723,690,669.891294538,642.108705462,886,787,820,655,632,656,0.401121705865,-0.0153565633616,0.0798371924664,0.999999917166,0.000286265276044,-0.00028704916948,3.63676478291e-05,1793250726152424192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.465794742,745.465794742,723,689.534205258,670,642,886,787.465794742,819.534205258,655,632,656,0.401087978054,-0.0153564090616,0.0798378692967,0.999999917402,0.000286320785322,-0.000286070848476,3.71530609051e-05,1793250726169091072
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.958228841,745.958228841,723,689.041771159,670,642.041771159,886,788,819,655,632,656,0.401057670548,-0.0153563446105,0.0798385326617,0.999999917546,0.000286347807389,-0.000285450906742,3.78117005395e-05,1793250726185757952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768.364436914,745.364436914,723,689.635563086,670,642.635563086,886,788,819,655,632,656,0.401035849189,-0.0153551428289,0.079836587296,0.999999916487,0.000287777115967,-0.000287739546893,3.76348984904e-05,1793250726202424576
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,745,722.776847871,689.776847871,670,642.776847871,886,787.776847871,819.223152129,655,632,656,0.401018202466,-0.0153548845023,0.0798355371138,0.999999916198,0.00028757031408,-0.000288970244681,3.74557474698e-05,1793250726219090944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768,745,722.199115022,689.199115022,670,642.199115022,886,787.199115022,819.800884978,655,632,656,0.40100718909,-0.0153561252916,0.0798359093462,0.999999917138,0.000284763791345,-0.000288519909915,3.72728640287e-05,1793250726235757568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768,745.37516502,722,689.37516502,669.62483498,642,886,787.37516502,820,655,632,656,0.400998817878,-0.0153574747148,0.079836071299,0.999999917596,0.000283872411573,-0.000287766398752,3.76039231973e-05,1793250726252424192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745.947629213,722,689.947629213,669.052370787,642,886,787.947629213,820,655,632,656,0.400991836179,-0.0153588812686,0.0798361226659,0.999999917803,0.000283988205008,-0.000286853447226,3.82052646387e-05,1793250726269090560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,746,722.538831977,689.461168023,669.538831977,642.538831977,886.538831977,788,820,655,632,656,0.400990099892,-0.0153582668635,0.0798369541713,0.999999918073,0.000284539909496,-0.000285408210486,3.78684792311e-05,1793250726285757440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,745.871037459,723,689,670,642.871037459,886.871037459,787.871037459,820,655,632,656,0.400988788392,-0.0153578351033,0.0798378253078,0.99999991848,0.00028457699831,-0.000283984041798,3.75323293637e-05,1793250726302424064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,745.291251295,723,689,670,642.291251295,886.291251295,787.291251295,820,655,632,656,0.400987115433,-0.0153587532191,0.0798385603715,0.999999919353,0.00028266166442,-0.000282820890474,3.752862816e-05,1793250726319090944
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.713327792,745,723,689.286672208,670,642.286672208,886,787.286672208,819.713327792,655,632,656,0.400987166489,-0.0153589761544,0.0798394683263,0.999999920143,0.000281703449969,-0.000280994995803,3.73973252345e-05,1793250726335757824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.137284417,745,723,689.862715583,670,642.862715583,886,787.862715583,819.137284417,655,632,656,0.400988957791,-0.0153584973644,0.0798405507999,0.999999920849,0.000281711365805,-0.000278500118054,3.71372192429e-05,1793250726352424704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.446333152,745,723,690,669.553666848,642.553666848,886,787.553666848,819.446333152,655,632,656,0.400988202488,-0.0153584142574,0.0798407241704,0.999999920901,0.000281716568793,-0.000278306734116,3.71496592757e-05,1793250726369091840
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.031933347,745.031933347,723,690,669,642.031933347,886.031933347,787.031933347,819.968066653,655,632,656,0.400986772676,-0.015358500677,0.0798406275731,0.999999920793,0.000281655930872,-0.000278741548704,3.72372086084e-05,1793250726385758464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.610899829,745.610899829,723,690,669,642.610899829,886.610899829,787.610899829,819.389100171,655,632,656,0.40098743803,-0.0153593703054,0.07984077909,0.999999921444,0.000280481948297,-0.000277601700857,3.7150569885e-05,1793250726402424576
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.817625708,746,723,690,669.182374292,642.817625708,886.817625708,787.817625708,819.182374292,655,632,656,0.400987971822,-0.0153596722778,0.0798410142677,0.999999921777,0.000280293534674,-0.000276595230615,3.71054776478e-05,1793250726419090688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.261504952,746,723,690,669.738495048,642.261504952,886.261504952,787.261504952,819.738495048,655,632,656,0.400988235997,-0.0153588109315,0.0798414208945,0.999999921463,0.000282124884459,-0.000275862096154,3.7145528185e-05,1793250726435757312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,745.682787498,723,690,670,642.317212502,886.317212502,787,819.682787498,655,632,656,0.400988287459,-0.0153586668199,0.0798418343006,0.999999921466,0.000282656764268,-0.000275288986754,3.72744001923e-05,1793250726452424192
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,745.084012942,723,690,670,642.915987058,886.915987058,787,819.084012942,655,632,656,0.400988150114,-0.0153591593357,0.0798422537238,0.999999921752,0.000282035217078,-0.000274857917774,3.74821113206e-05,1793250726469091072
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,745,722.495836912,689.495836912,669.495836912,642.495836912,886.495836912,787,819,655,632,656,0.400987506922,-0.0153592231361,0.0798422839355,0.99999992167,0.000282137304175,-0.000275073797422,3.73308649485e-05,1793250726485757952
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,745,722.089548038,689.089548038,669.089548038,642,886,787.089548038,819.089548038,655,631.910451962,656,0.400986924063,-0.0153593457482,0.0798423448402,0.999999921691,0.00028188108401,-0.000275287114657,3.71299903207e-05,1793250726502424832
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768,745,722.669124942,689.669124942,669.669124942,642,886,787.669124942,819.669124942,655,631.330875058,656,0.400987123129,-0.0153601730831,0.0798429213136,0.999999922603,0.000279017832342,-0.000274908612426,3.69781267981e-05,1793250726519091200
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,745,723,690,669.752292503,642,886.247707497,787.752292503,820,655,631.247707497,656,0.400987215739,-0.0153612479173,0.0798431180059,0.999999923194,0.000277323560324,-0.000274466673618,3.70272480005e-05,1793250726535757824
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,745,723,690,669.175032759,642,886.824967241,787.175032759,820,655,631.824967241,656,0.400987166716,-0.0153626520271,0.0798428094342,0.999999923365,0.000277184508791,-0.000273940338179,3.73437610406e-05,1793250726552424960
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,745,723,690,669.401436973,642,886.598563027,787.401436973,820,655,632,656,0.400985012725,-0.015362249239,0.0798416698905,0.999999922688,0.000277344395718,-0.000276270104242,3.71424274437e-05,1793250726569091328
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768,745,723,690,669.97756289,642,886.02243711,787.97756289,820,655,632,656,0.400981942738,-0.0153610601628,0.0798401687419,0.99999992163,0.000277634368436,-0.000279842728834,3.67157481615e-05,1793250726585757952
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b0b1680713d4e6f1bd864d951bbec34ac8b83
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.584480072362,-0.00984965941328,1.07003363886,0.55505074947,-0.00117703058894,1.06970502429
+353,5.883333333,pose2_to_pose3_retreat,0.583900526999,-0.00984987275042,1.0700334885,0.554471205302,-0.00117723955693,1.06970488269
+354,5.900000000,pose2_to_pose3_retreat,0.583350447021,-0.00984993884081,1.07003337799,0.553921126883,-0.0011773002713,1.06970477351
+355,5.916666667,pose2_to_pose3_retreat,0.582825700189,-0.00984987097585,1.07003353145,0.553396380271,-0.00117723153496,1.06970493022
+356,5.933333333,pose2_to_pose3_retreat,0.582321759144,-0.00984976189287,1.07003350365,0.552892437153,-0.00117712935715,1.06970490583
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+358,5.966666667,pose2_to_pose3_retreat,0.581348962903,-0.00984993064567,1.07003341724,0.551919641857,-0.00117729494851,1.06970481828
+359,5.983333333,pose2_to_pose3_retreat,0.580886069967,-0.00984986697156,1.07003342003,0.551456748237,-0.00117723367052,1.06970481908
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+361,6.016666667,pose2_to_pose3_retreat,0.580037931272,-0.00984986576167,1.07003332618,0.550608608729,-0.00117723505461,1.06970472957
+362,6.033333333,pose2_to_pose3_retreat,0.579658139579,-0.00984988553924,1.07003337135,0.550228816968,-0.00117725537955,1.06970476642
+363,6.050000000,pose2_to_pose3_retreat,0.579305999707,-0.00984987336157,1.07003353977,0.549876677408,-0.00117724214379,1.06970493482
+364,6.066666667,pose2_to_pose3_retreat,0.578970417572,-0.00984987225813,1.07003362766,0.549541095363,-0.00117724093823,1.06970501742
+365,6.083333333,pose2_to_pose3_retreat,0.578650268886,-0.0098498680365,1.07003356501,0.549220946863,-0.00117723601032,1.06970495669
+366,6.100000000,pose2_to_pose3_retreat,0.578346260705,-0.00984985443559,1.07003350273,0.548916938708,-0.00117722206161,1.06970490126
+367,6.116666667,pose2_to_pose3_retreat,0.57806028444,-0.00984983179591,1.07003362505,0.548630961739,-0.00117720191532,1.06970502078
+368,6.133333333,pose2_to_pose3_retreat,0.577796199383,-0.00984978109048,1.07003375282,0.548366875897,-0.0011771541289,1.069705142
+369,6.150000000,pose2_to_pose3_retreat,0.577550612056,-0.0098498548499,1.07003378705,0.548121289189,-0.00117722606741,1.06970516918
+370,6.166666667,pose2_to_pose3_retreat,0.577323514024,-0.00984989669856,1.07003346297,0.547894191135,-0.00117726771091,1.06970485217
+371,6.183333333,pose2_to_pose3_retreat,0.577115043862,-0.00984986064232,1.07003355889,0.547685721907,-0.00117722845151,1.06970494897
+372,6.200000000,pose2_to_pose3_retreat,0.576924980663,-0.00984981853931,1.07003369876,0.54749565842,-0.0011771873269,1.06970508884
+373,6.216666667,pose2_to_pose3_retreat,0.576753880793,-0.00984979308491,1.07003376529,0.547324557906,-0.00117716417824,1.06970515223
+374,6.233333333,pose2_to_pose3_retreat,0.576601002198,-0.00984981034044,1.07003372751,0.547171679755,-0.00117717985989,1.06970511627
+375,6.250000000,pose2_to_pose3_retreat,0.576467305781,-0.00984988146957,1.07003357372,0.547037984729,-0.00117724571661,1.06970497721
+376,6.266666667,pose2_to_pose3_retreat,0.576347659407,-0.0098498704825,1.07003362205,0.546918337963,-0.00117723651348,1.06970501352
+377,6.283333333,pose2_to_pose3_retreat,0.576240561738,-0.00984981595198,1.07003359548,0.546811238322,-0.00117718846694,1.0697049925
+378,6.300000000,pose2_to_pose3_retreat,0.576145348163,-0.00984989909313,1.0700335302,0.546716025625,-0.00117726870452,1.06970492544
+379,6.316666667,pose2_to_pose3_retreat,0.576060535427,-0.00984995444502,1.07003349902,0.546631213952,-0.00117732059278,1.06970489074
+380,6.333333333,pose2_to_pose3_retreat,0.575985240085,-0.00984993165417,1.07003348252,0.546555918667,-0.00117729742047,1.06970487912
+381,6.350000000,pose2_to_pose3_retreat,0.57591975972,-0.00984990970646,1.07003345061,0.54649043851,-0.00117727430612,1.06970485923
+382,6.366666667,pose2_to_pose3_retreat,0.575864835422,-0.00984986237521,1.07003362262,0.546435515291,-0.0011772238921,1.06970501597
+383,6.383333333,pose2_to_pose3_retreat,0.575818702691,-0.00984980034054,1.07003370599,0.54638938105,-0.00117716681206,1.06970510383
+384,6.400000000,pose2_to_pose3_retreat,0.575780660344,-0.00984985491468,1.07003364026,0.546351339533,-0.00117721862422,1.06970503668
+385,6.416666667,pose2_to_pose3_retreat,0.575750267489,-0.00984981862346,1.07003359708,0.546320946149,-0.00117718404713,1.06970499549
+386,6.433333333,pose2_to_pose3_retreat,0.575726229505,-0.00984981668482,1.07003347151,0.546296908083,-0.00117718227658,1.06970487299
+387,6.450000000,pose2_to_pose3_retreat,0.575707952858,-0.00984985681264,1.07003343839,0.546278631654,-0.00117722172336,1.06970483831
+388,6.466666667,pose2_to_pose3_retreat,0.575693855133,-0.00984984120659,1.07003373449,0.54626453277,-0.00117721039908,1.06970512518
+389,6.483333333,pose2_to_pose3_retreat,0.575683693158,-0.0098498247198,1.07003354762,0.546254370763,-0.00117719414142,1.06970493519
+390,6.500000000,pose2_to_pose3_retreat,0.575676769697,-0.00984983904703,1.0700336124,0.546247447913,-0.00117720655061,1.06970499588
+391,6.516666667,pose2_to_pose3_retreat,0.575672433013,-0.00984986801956,1.07003365564,0.546243111734,-0.00117723379065,1.06970503966
+392,6.533333333,pose2_to_pose3_retreat,0.575669596923,-0.00984990854727,1.07003363576,0.546240275977,-0.00117727298963,1.06970502508
+393,6.550000000,pose2_to_pose3_retreat,0.575667986435,-0.00984990401237,1.07003351721,0.546238665173,-0.00117726942052,1.06970490928
+394,6.566666667,pose2_to_pose3_retreat,0.575667596475,-0.00984989667864,1.07003346423,0.546238275022,-0.00117726271004,1.0697048569
+395,6.583333333,pose2_to_pose3_retreat,0.575667339417,-0.00984989184431,1.0700334293,0.546238017839,-0.00117725828655,1.06970482237
+396,6.600000000,pose2_to_pose3_retreat,0.57566706633,-0.00984988670855,1.0700333922,0.546237744619,-0.00117725358724,1.06970478569
+397,6.616666667,pose2_to_pose3_retreat,0.575667022625,-0.00984988588661,1.07003338626,0.546237700893,-0.00117725283516,1.06970477982
+398,6.633333333,pose2_to_pose3_retreat,0.57566691352,-0.00984988383474,1.07003337143,0.546237591734,-0.00117725095766,1.06970476517
+399,6.650000000,pose2_to_pose3_retreat,0.575666815732,-0.00984988199571,1.07003335815,0.546237493898,-0.00117724927492,1.06970475203
+400,6.666666667,pose2_to_pose3_retreat,0.57566680422,-0.00984988177921,1.07003335658,0.546237482381,-0.00117724907682,1.06970475049
+401,6.683333333,pose2_to_pose3_retreat,0.575666617607,-0.00984987826969,1.07003333123,0.546237295676,-0.00117724586555,1.06970472542
+402,6.700000000,pose2_to_pose3_retreat,0.575666608273,-0.00984987809416,1.07003332996,0.546237286338,-0.00117724570494,1.06970472417
+403,6.716666667,pose2_to_pose3_retreat,0.575666466324,-0.00984987542462,1.07003331067,0.54623714432,-0.00117724326226,1.0697047051
+404,6.733333333,pose2_to_pose3_retreat,0.575666315554,-0.00984987258918,1.07003329019,0.546236993476,-0.0011772406678,1.06970468485
+405,6.750000000,pose2_to_pose3_retreat,0.575666170359,-0.00984986985859,1.07003327046,0.54623684821,-0.00117723816926,1.06970466535
+406,6.766666667,pose2_to_pose3_retreat,0.575666037129,-0.00984986735303,1.07003325236,0.546236714916,-0.00117723587663,1.06970464746
+407,6.783333333,pose2_to_pose3_retreat,0.575665755959,-0.00984985597031,1.07003329202,0.546236433787,-0.00117722434243,1.06970468731
+408,6.800000000,pose2_to_pose3_retreat,0.57566521333,-0.00984983156096,1.07003339978,0.546235891313,-0.0011771994,1.06970479534
+409,6.816666667,pose2_to_pose3_retreat,0.575664838063,-0.00984981468016,1.0700334743,0.546235516153,-0.00117718215054,1.06970487004
+410,6.833333333,pose2_to_pose3_retreat,0.575664682749,-0.00984982246114,1.07003347948,0.546235361007,-0.00117718928053,1.06970487742
+411,6.850000000,pose2_to_pose3_retreat,0.575664641684,-0.00984982784684,1.07003347506,0.546235320013,-0.00117719438178,1.06970487406
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+413,6.883333333,pose2_to_pose3_retreat,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.0011772140913,1.06970489625
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b72f0f11919b78e4025e2285f1bae1c39a191de
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55dae901b796806eb30b8c39d59d1043326ffbf820b582720d1648d4e3db92fb
+size 25968994
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..073efdbbf49d66173982bb74a3ab7bea72a8c4b4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+23,0.383333333,BASELINE,768,747,723,685,671,642.335374055,886.664625945,787,819,656,632,655.664625945,0.400924105691,0.00441171885057,0.0599312402916,0.999999970854,-0.000114592644572,-0.000209909572036,-3.31467184514e-05,1793250728750242048
+24,0.400000000,BASELINE,768,747,723,685,671,642.910082846,886.089917154,787,819,656,632,655.089917154,0.400923099781,0.00441114731578,0.0599308829564,0.999999970586,-0.000116346313664,-0.000210189881335,-3.33437629504e-05,1793250728766908416
+25,0.416666667,BASELINE,768,747,723,685.498423161,671,643,886,786.501576839,819,656,632,655.498423161,0.40092403537,0.00441173576867,0.0599315556137,0.999999970703,-0.000117722442378,-0.000208834737575,-3.35148300638e-05,1793250728783575296
+26,0.433333333,BASELINE,768,746.912514221,723,686,671,643,886.087485779,786,819,656,632,656,0.400925029269,0.00441218553234,0.0599321997943,0.999999970795,-0.000118995373126,-0.000207656081068,-3.36158218639e-05,1793250728800242432
+27,0.450000000,BASELINE,768,746.333596266,723,686,671,643,886.666403734,786,819,656,632,656,0.400924327926,0.00441064768368,0.0599316108951,0.999999970357,-0.000120081960466,-0.000209172731942,-3.33502460842e-05,1793250728816909056
+28,0.466666667,BASELINE,768,746.242244557,723,686,671,643,886.757755443,786.242244557,819,656,632,656,0.400924144601,0.00441012722721,0.059931633788,0.999999970248,-0.000120166256687,-0.000209663612787,-3.3248122943e-05,1793250728833575680
+29,0.483333333,BASELINE,768,746.813900965,723,686,671,643,886.186099035,786.813900965,819,656,632,656,0.400924665693,0.00441099025307,0.0599324886154,0.999999970586,-0.000118887605515,-0.000208759618849,-3.33682679117e-05,1793250728850242304
+30,0.500000000,BASELINE,768,747,723,686,671.387078075,642.612921925,886,786.612921925,819,656.387078075,632,655.612921925,0.400924080133,0.00441094110727,0.0599318941804,0.99999997036,-0.000119661159297,-0.000209397905797,-3.33581533988e-05,1793250728866908928
+31,0.516666667,BASELINE,768,747,723,686,671.960989174,642.039010826,886,786.039010826,819,656.960989174,632,655.039010826,0.400922960419,0.00441045167872,0.0599306002221,0.99999996986,-0.000121425261748,-0.000210780613653,-3.32851658485e-05,1793250728883575296
+32,0.533333333,BASELINE,768,746.441880348,723,685.441880348,672,642.558119652,886,786.558119652,819,657,632,655.558119652,0.400922346179,0.00441041613529,0.0599299614845,0.99999996992,-0.000118942296651,-0.000211960102518,-3.29475210763e-05,1793250728900241664
+33,0.550000000,BASELINE,768,746,723,685.150680699,672,642.849319301,886,787,819,656.849319301,632,656,0.40092270419,0.00441044270081,0.0599300867685,0.999999970177,-0.000117276450775,-0.000211711645296,-3.27024834123e-05,1793250728916908288
+34,0.566666667,BASELINE,768,746,723,685.725608378,672,642.274391622,886,787,819,656.274391622,632,656,0.400925695814,0.00441055093557,0.0599322286403,0.999999970883,-0.000118783326874,-0.000207484482801,-3.27725291892e-05,1793250728933574912
+35,0.583333333,BASELINE,768,746.299998006,723,686,671.700001994,642.299998006,886,787,818.700001994,656,632,656,0.40092689126,0.00441105557844,0.0599332823404,0.999999971225,-0.000118655478246,-0.000205869864763,-3.29884182684e-05,1793250728950241792
+36,0.600000000,BASELINE,768,746.873896458,723,686,671.126103542,642.873896458,886,787,818.126103542,656,632,656,0.400926446783,0.00441192214494,0.0599333425315,0.999999971246,-0.00011703511377,-0.000206640519061,-3.33374633925e-05,1793250728966908672
+37,0.616666667,BASELINE,768,747,723,686,671.461468457,642.538531543,886,787,818.461468457,656,632,656,0.400926294471,0.00441165756352,0.0599332457357,0.999999971245,-0.000116779566522,-0.000206784613164,-3.33657454424e-05,1793250728983575552
+38,0.633333333,BASELINE,768,746.948419482,723,686.051580518,672,642.051580518,886.051580518,787,819,656,632,656,0.400926182874,0.00441110896873,0.0599330382698,0.999999971228,-0.000116851088329,-0.000206837590363,-3.32811325529e-05,1793250729000242432
+39,0.650000000,BASELINE,768,746.371650885,723,686.628349115,672,642.628349115,886.628349115,787,819,656,632,656,0.400925648094,0.00441091194704,0.0599321541054,0.999999971107,-0.000116339419275,-0.00020775937688,-3.29667665304e-05,1793250729016908800
+40,0.666666667,BASELINE,768,746.205105979,723,686.794894021,671.794894021,642.794894021,886.794894021,786.794894021,819,656,632,656,0.400924859718,0.00441102490572,0.0599313308339,0.999999970811,-0.000116904125247,-0.000208859687616,-3.2997333779e-05,1793250729033575168
+41,0.683333333,BASELINE,768,746.781841549,723,686.218158451,671.218158451,642.218158451,886.218158451,786.218158451,819,656,632,656,0.400923611853,0.00441169951493,0.059930617894,0.999999970194,-0.000119419105029,-0.000210283464652,-3.36528823931e-05,1793250729050241792
+42,0.700000000,BASELINE,768,746.647002541,722.647002541,686,671,642.352997459,886,786.352997459,819,656,632,655.647002541,0.400923473198,0.00441146282002,0.0599304025895,0.999999970127,-0.000119034402932,-0.00021084885642,-3.34662917437e-05,1793250729066908672
+43,0.716666667,BASELINE,768,746.079241319,722.079241319,686,671,642.920758681,886,786.920758681,819,656,632,655.079241319,0.400924009387,0.00441067168737,0.0599304900465,0.999999970394,-0.000116885533393,-0.000210892006273,-3.27673432831e-05,1793250729083575552
+44,0.733333333,BASELINE,768,746.515033093,722.515033093,686,671,642.484966907,886,786.484966907,819,656,632,655.515033093,0.400923240392,0.00441141092312,0.059930463961,0.999999970478,-0.000115232385563,-0.000211410873059,-3.27184127597e-05,1793250729100241920
+45,0.750000000,BASELINE,768,746.890622805,723,686,671,642.109377195,886,786.109377195,819,656,632,656,0.400922796873,0.00441185256154,0.0599305676143,0.999999970547,-0.000114603936004,-0.000211420430907,-3.27561738786e-05,1793250729116908544
+46,0.766666667,BASELINE,768,746.314339759,723,686,671,642.685660241,886,786.685660241,819,656,632,656,0.400924646471,0.00440996416229,0.059931303712,0.999999970677,-0.000118006436452,-0.000208926469241,-3.2713913601e-05,1793250729133575168
+47,0.783333333,BASELINE,768,746.261325292,723,686,671,643,886.261325292,787,819,656,632,655.738674708,0.400925572089,0.0044102128158,0.0599317435979,0.999999970815,-0.000118836530931,-0.000207768022823,-3.28744136018e-05,1793250729150241792
+48,0.800000000,BASELINE,768,746.836248805,723,686,671,643,886.836248805,787,819,656,632,655.163751195,0.400925388904,0.00441302599674,0.0599318280206,0.999999970975,-0.00011657966121,-0.000208212234604,-3.3278232039e-05,1793250729166908416
+49,0.816666667,BASELINE,768,747,723,686,671,642.579891477,886.579891477,786.579891477,819,656,632,655.420108523,0.400925216873,0.00441220061852,0.0599314250031,0.99999997086,-0.000117134669865,-0.000208464317925,-3.32033693341e-05,1793250729183575296
+50,0.833333333,BASELINE,768,747,722.992547741,686,671,642,886,786.007452259,819,656.007452259,632,656,0.400925064918,0.00440996337955,0.0599308460653,0.999999970643,-0.000118769072121,-0.00020862107336,-3.29403317288e-05,1793250729200241920
+51,0.850000000,BASELINE,768,747,722.410968845,686,671,642,886,786.589031155,819,656.589031155,632,656,0.400926117337,0.00441059292957,0.059931669641,0.999999971089,-0.000117287234975,-0.000207328550862,-3.28669655489e-05,1793250729216908544
+52,0.866666667,BASELINE,768,746.830879016,722.169120984,686,671,642.169120984,886,787,819,656.830879016,632,656,0.400927180414,0.00441097432395,0.0599323817464,0.999999971405,-0.000116669045344,-0.000206155358387,-3.28276239226e-05,1793250729233575168
+53,0.883333333,BASELINE,768,746.254376116,722.745623884,686,671,642.745623884,886,787,819,656.254376116,632,656,0.400928269166,0.00441075795614,0.0599328253398,0.999999971414,-0.000118131226751,-0.000205269610467,-3.28702413076e-05,1793250729250241536
+54,0.900000000,BASELINE,768,746.32004141,723,686,671,643,886.32004141,787,819,656,632,656,0.400928031988,0.00441198450014,0.0599327504601,0.999999971411,-0.000117603296654,-0.000205548021956,-3.31353368821e-05,1793250729266908416
+55,0.916666667,BASELINE,768,746.892812135,723,686,671,643,886.892812135,787,819,656,632,656,0.400926747755,0.0044143504783,0.0599322661541,0.999999971394,-0.000115503821362,-0.000206745743305,-3.35761183464e-05,1793250729283575296
+56,0.933333333,BASELINE,768,747,723,686,671,642.516831241,886.516831241,787,819,656,632,656,0.400927055095,0.00441276211447,0.0599327937812,0.999999971498,-0.000116294709857,-0.000205886812035,-3.30155424514e-05,1793250729300241664
+57,0.950000000,BASELINE,768,747,723,686,671,642.075232342,886,787,819,656,632,656,0.400927600357,0.0044107922482,0.0599333752755,0.999999971592,-0.000117600670573,-0.000204787379432,-3.23795835415e-05,1793250729316908288
+58,0.966666667,BASELINE,768,747,723,686,671,642.651694121,886,787,819,656,632,656,0.400927289533,0.00441234598952,0.0599327635104,0.99999997145,-0.000117904896555,-0.000205240206804,-3.27773157004e-05,1793250729333574912
+59,0.983333333,BASELINE,768,747,723,686,671.226928153,643,886,786.773071847,819,656,632,656,0.400926690734,0.00441313691778,0.0599323628753,0.999999971354,-0.000117632548645,-0.000205834936066,-3.2973061565e-05,1793250729350241792
+60,1.000000000,BASELINE,768,747,723,686,671.800287976,643,886,786.199712024,819,656,632,656,0.400925652307,0.00441276332528,0.0599322845543,0.999999971325,-0.000116479995073,-0.00020664629479,-3.28604524083e-05,1793250729366908928
+61,1.016666667,BASELINE,768,747,723,686,671.615487529,643,886,786.384512471,819,656,632.384512471,656,0.400926353484,0.00441403875716,0.0599324715869,0.999999971833,-0.000113527657935,-0.000205800899085,-3.30394727668e-05,1793250729383575552
+62,1.033333333,BASELINE,768,747,723,686,671.02545598,643,886,786.97454402,819,656,632.97454402,656,0.400927984467,0.00441619558043,0.059932800449,0.999999972613,-0.000109613349835,-0.000204069980315,-3.33743669544e-05,1793250729400242432
+63,1.050000000,BASELINE,768,747,723,686,671,643,886.551548649,787,819.551548649,656,632.448451351,656,0.400926598787,0.00441420443945,0.0599318300721,0.999999971753,-0.000113716045086,-0.000206080282928,-3.30771379035e-05,1793250729416909056
+64,1.066666667,BASELINE,768,747,723,685.871199855,671,643,887,786.871199855,819.871199855,656,632,656,0.400925647616,0.0044124901163,0.05993110287,0.999999971024,-0.000117362144564,-0.00020760040076,-3.28578533082e-05,1793250729433575424
+65,1.083333333,BASELINE,768,747,723,685.291024847,671,643,887,786.291024847,819.291024847,656,632,656,0.400926695832,0.00441240131618,0.0599314331589,0.999999971091,-0.000118141343631,-0.000206811529812,-3.30116046576e-05,1793250729450242048
+66,1.100000000,BASELINE,768,747,722.714543845,685.285456155,671,643,886.714543845,786.285456155,819,656,631.714543845,656,0.40092648654,0.00441230421212,0.0599312638324,0.999999971048,-0.000118535924766,-0.000206776689183,-3.31159875144e-05,1793250729466908672
+67,1.116666667,BASELINE,768,747,722.141780836,685.858219164,671,643,886.141780836,786.858219164,819,656,631.141780836,656,0.400925011585,0.00441219875027,0.0599305916514,0.999999970895,-0.000118543394325,-0.000207500767534,-3.31706817981e-05,1793250729483575296
+68,1.133333333,BASELINE,768,746.556086894,722,686,671,642.556086894,886.443913106,787,819,656,631.443913106,655.556086894,0.400925163481,0.00441137957851,0.0599310296069,0.999999970911,-0.000118655374394,-0.00020743171308,-3.27126008142e-05,1793250729500241664
+69,1.150000000,BASELINE,768,746,722.03338246,685.96661754,671.03338246,642,886.96661754,787,819,656,632,655,0.400925794348,0.00441044273158,0.0599317715519,0.999999970977,-0.000118735860438,-0.000207161729433,-3.21351015693e-05,1793250729516908544
+70,1.166666667,BASELINE,768,746,722.614992874,685.385007126,671.614992874,642,886.385007126,787,819,656,632,655,0.400925502008,0.00441142922343,0.0599315082036,0.999999970939,-0.000117734505228,-0.000207876921448,-3.23667491587e-05,1793250729533575168
+71,1.183333333,BASELINE,768,746.194378199,723,685.194378199,671.805621801,642.194378199,886,787,819,656,632,655.194378199,0.400925946861,0.00441260454077,0.0599315551572,0.999999971052,-0.000116857156845,-0.000207785611393,-3.26414214626e-05,1793250729550242048
+72,1.200000000,BASELINE,768,746.769406247,723,685.769406247,671.230593753,642.769406247,886,787,819,656,632,655.769406247,0.400927835358,0.00441414963428,0.0599322097736,0.99999997146,-0.000116222650231,-0.000206114932525,-3.30003488894e-05,1793250729566908928
+73,1.216666667,BASELINE,768,746.658539957,723,686,671.341460043,643,886,787,819,656,632,655.658539957,0.400926935054,0.00441353274753,0.0599316708799,0.999999971105,-0.000117802550065,-0.000206956261646,-3.29014872622e-05,1793250729583575296
+74,1.233333333,BASELINE,768,746.088477415,723,686,671.911522585,643,886,787,819,656,632,655.088477415,0.400924167688,0.00441146844656,0.0599303329485,0.999999970227,-0.00012086496263,-0.000209479343436,-3.24961425441e-05,1793250729600241920
+75,1.250000000,BASELINE,768,746.504420105,722.495579895,686,671.495579895,643,886,787,819,656,632.504420105,655.504420105,0.400924724973,0.00441145448685,0.059930548988,0.999999970617,-0.000118484176606,-0.000209012381902,-3.22627824624e-05,1793250729616908544
+76,1.266666667,BASELINE,768,747,722.098158548,686,671.098158548,643,886,787,819.098158548,656,632.901841452,656,0.400925676815,0.00441178748596,0.0599309731973,0.999999971098,-0.000116039268426,-0.000208099977511,-3.21557893764e-05,1793250729633574912
+77,1.283333333,BASELINE,768,747,722.675521263,686,671.675521263,643,886,787,819.675521263,656,632.324478737,656,0.400925572936,0.00441197533316,0.059931019897,0.999999970922,-0.00011816341223,-0.000207694765737,-3.2511456628e-05,1793250729650241536
+78,1.300000000,BASELINE,768,747,723,686,671.749279485,643,886,787,819.749279485,656,632,656,0.400925761928,0.00441216632247,0.059931262262,0.999999970883,-0.000118922657967,-0.000207417694866,-3.26940993293e-05,1793250729666908416
+79,1.316666667,BASELINE,768,747,723,686,671.176856247,643,886,787,819.176856247,656,632,656,0.400926326705,0.00441236134346,0.0599317556875,0.999999971025,-0.00011793058524,-0.000207305043271,-3.26547319726e-05,1793250729683575040
+80,1.333333333,BASELINE,768,747,723,686,671.384153262,643,886,787,819,656,632,656,0.400925958694,0.00441131798147,0.0599314054783,0.999999970902,-0.000118284509183,-0.000207711889036,-3.25738718502e-05,1793250729700241664
+81,1.350000000,BASELINE,768,747,723,686,671.940059791,643,886,787,819,656,632,656,0.400925173637,0.00440972094381,0.0599306780836,0.999999970659,-0.000119240222348,-0.00020835099982,-3.24744604876e-05,1793250729716908288
+82,1.366666667,BASELINE,768,746.445853992,723,686,672,643,886,787,819,656,632,656,0.40092577908,0.00441059602134,0.0599309074846,0.999999970555,-0.000120623147817,-0.000208035395271,-3.2589647907e-05,1793250729733575168
+83,1.383333333,BASELINE,768,746,722.836707889,686,672,643,886,787,819,656,632,655.836707889,0.40092619127,0.00441155845974,0.0599309964733,0.999999970556,-0.0001208366036,-0.000207878661442,-3.27502706151e-05,1793250729750242048
+84,1.400000000,BASELINE,768,746,722.258015888,686,672,643,886,787,819,656,632,655.258015888,0.400925684338,0.00441198309715,0.0599304341048,0.999999970782,-0.000117943693732,-0.000208419602127,-3.29604991943e-05,1793250729766908416
+85,1.416666667,BASELINE,768,746.315574106,722.315574106,686,672,642.684425894,886,787,819,656,632,655,0.400925550068,0.00441246404381,0.0599302276793,0.999999970964,-0.000116045231022,-0.000208611440199,-3.2958297837e-05,1793250729783575040
+86,1.433333333,BASELINE,768,746.885058993,722.885058993,686,672,642.114941007,886,787,819,656,632,655,0.400925715642,0.00441299029682,0.0599303076454,0.999999971115,-0.000114946900212,-0.000208522390435,-3.27851754376e-05,1793250729800241664
+87,1.450000000,BASELINE,768,746.527083278,723,686,671.527083278,642.472916722,886,787,819,656,632,655.472916722,0.400925030924,0.00441265397079,0.0599299957769,0.999999970857,-0.000115922515655,-0.000209241891119,-3.26568841511e-05,1793250729816908288
+88,1.466666667,BASELINE,768,746,723,686,671.0639021,642.9360979,886.0639021,786.9360979,819,656,632,655.9360979,0.40092421594,0.00441219912314,0.0599295754617,0.999999970517,-0.000117296906023,-0.000210109634517,-3.25845193026e-05,1793250729833574912
+89,1.483333333,BASELINE,768,746,723,686,671.642654673,642.357345327,886.642654673,786.357345327,819,656,632,655.357345327,0.400924083751,0.00441254673648,0.0599290797104,0.999999970378,-0.000117658821685,-0.000210524450761,-3.28714095367e-05,1793250729850242048
+90,1.500000000,BASELINE,768,746.219556106,723,686,671.780443894,642.219556106,886.780443894,786.219556106,819,656,632,655.219556106,0.400924122038,0.0044127110738,0.0599291961767,0.999999970394,-0.000118006975785,-0.000210223606288,-3.30374135215e-05,1793250729866908672
+91,1.516666667,BASELINE,768,746.793469794,723,686,671.206530206,642.793469794,886.206530206,786.793469794,819,656,632,655.793469794,0.400924435468,0.00441257960858,0.0599303007458,0.999999970662,-0.000118332919062,-0.000208767704846,-3.30083103607e-05,1793250729883575040
+92,1.533333333,BASELINE,768,747,722.624307595,686,671.375692405,643,886,787,819.375692405,656,632,655.624307595,0.400925054796,0.00441319721544,0.0599309906009,0.999999970969,-0.000117399500336,-0.000207853441067,-3.28043804478e-05,1793250729900241664
+93,1.550000000,BASELINE,768,747,722.037413941,686,671.962586059,643,886,787,819.962586059,656,632,655.037413941,0.400925846088,0.00441423592464,0.0599314473184,0.999999971297,-0.000115758111975,-0.000207243667069,-3.2502168992e-05,1793250729916908544
+94,1.566666667,BASELINE,768,747,722.542322732,686,672,643,886,787.542322732,819.457677268,656,632,655,0.400924217047,0.00441299469628,0.0599298827073,0.999999970597,-0.000117528395258,-0.000209565917139,-3.2795589866e-05,1793250729933575168
+95,1.583333333,BASELINE,768,747,723,686,672,642.878507815,886,787.878507815,819,656,632,655.121492185,0.400923037023,0.00441210391033,0.0599288299857,0.99999997007,-0.000118996306333,-0.000211203113115,-3.30522563822e-05,1793250729950241792
+96,1.600000000,BASELINE,768,747,723,686,672,642.299639001,886,787.299639001,819,656,632,655.700360999,0.400924167814,0.00441311684719,0.0599302224891,0.999999970492,-0.000118451359906,-0.000209509735327,-3.30178741349e-05,1793250729966908416
+97,1.616666667,BASELINE,768,747,723,686,672,642.277600143,886,787,819,656,632,656,0.400924879976,0.00441319467216,0.0599308459496,0.999999970685,-0.000118293750012,-0.000208696592889,-3.2906556404e-05,1793250729983575040
+98,1.633333333,BASELINE,768,747,723,686,672,642.853090469,886,787,819,656,632,656,0.400925142914,0.00441226903703,0.059930644157,0.999999970633,-0.000118551787456,-0.000208828023084,-3.27126799089e-05,1793250730000241664
+99,1.650000000,BASELINE,768.425773903,746.574226097,723,686,672,643,886,787,819,656,632,656,0.40092619983,0.00441178768705,0.0599312565087,0.99999997101,-0.000118307240606,-0.000207196081646,-3.24654048706e-05,1793250730016908288
+100,1.666666667,BASELINE,768.997495175,746.002504825,723,686,672,643,886,787,819,656,632,656,0.400927528909,0.00441145862978,0.059932147934,0.999999971528,-0.00011789041721,-0.000204959689235,-3.21998258096e-05,1793250730033575168
+101,1.683333333,BASELINE,768.409106169,746.590893831,723,686,671.409106169,642.409106169,886,787,819,656,632,656,0.400925687879,0.0044120908334,0.0599307278011,0.99999997126,-0.000115330076101,-0.000207706580481,-3.22139852442e-05,1793250730050241536
+102,1.700000000,BASELINE,768,746.819955782,723,686,671.180044218,642,886,786.819955782,819,656,632,656,0.400924496139,0.00441252028294,0.0599299185645,0.999999971048,-0.000114480494738,-0.000209178822314,-3.23003955714e-05,1793250730066908416
+103,1.716666667,BASELINE,768,746.240442861,723,686,671.759557139,642,886,786.240442861,819,656,632,656,0.400924775946,0.00441249049152,0.0599304873079,0.999999970988,-0.000117447548184,-0.000207774312524,-3.25443795823e-05,1793250730083575040
+104,1.733333333,BASELINE,768,746.33595471,723,686,672,642.33595471,886,786.33595471,819,656,632,656,0.400925187309,0.00441235042502,0.0599309426075,0.999999971125,-0.000117433749976,-0.000207132870518,-3.2496828246e-05,1793250730100241664
+105,1.750000000,BASELINE,768,746.910143171,723,686,672,642.910143171,886,786.910143171,819,656,632,656,0.400925691961,0.00441213215973,0.0599313174613,0.999999971401,-0.000115306156826,-0.000207032538507,-3.22425420474e-05,1793250730116908288
+106,1.766666667,BASELINE,768,746.502117916,723,686,672,643,886,787,819,656,632,656,0.400924726874,0.00441167394993,0.0599303897611,0.999999970767,-0.000117827172361,-0.000208631975266,-3.24955468408e-05,1793250730133574912
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,686,672,643,886,787,819,657,632,656,0.400923425002,0.00441162713244,0.0599298332025,0.999999970607,-0.000117128060171,-0.000209804213105,-3.23783772669e-05,1793250730176550400
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,643,886,787,819,656.426010255,632,655.426010255,0.400924700345,0.00441310577049,0.0599306870837,0.999999971135,-0.000115197805986,-0.000208338959289,-3.24713960936e-05,1793250730193217280
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.851401921,747,723,686,672,642.851401921,886,787,819,656.148598079,632,655.148598079,0.400925467164,0.00441389653036,0.059931060541,0.999999971359,-0.000114361558921,-0.000207711113133,-3.25566634858e-05,1793250730209884160
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.275012629,747,723,686,672,642.275012629,886,787,819,656.724987371,632,655.724987371,0.400924770022,0.0044127069942,0.0599300509309,0.999999970718,-0.000116674791108,-0.000209494035618,-3.26196157023e-05,1793250730226551552
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.308574719,747,723,686,672,642.308574719,886,787,819,656.691425281,632,656,0.400924782985,0.00441270619666,0.0599302107797,0.999999970703,-0.00011706610851,-0.000209347169679,-3.26149649508e-05,1793250730243218176
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.898730412,747,723,686,672,642.898730412,886,787,819,656.101269588,632,656,0.400925443935,0.00441379014839,0.0599314377846,0.999999971261,-0.000115703637789,-0.000207439330785,-3.25486250542e-05,1793250730259884032
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.478825047,747,723,686,672,643,886,787,819,656,632,656,0.400930048502,0.00441402588248,0.0599326793551,0.999999971918,-0.00011552750242,-0.000204311332972,-3.27646585323e-05,1793250730276550912
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.943482761,746.943482761,723,686,672,642.943482761,886,787,819,656,632,656,0.40093629558,0.00441388807474,0.0599342344472,0.999999972698,-0.000115892854406,-0.000200210245151,-3.29878241209e-05,1793250730293218048
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.368709849,746.368709849,723,686,672,642.368709849,886,787,819,656,632,656,0.400950113456,0.00441193610903,0.0599386368252,0.999999974431,-0.000118970155494,-0.000189503715433,-3.274002797e-05,1793250730309884928
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746.210305011,722.789694989,686,671.789694989,642,886.210305011,787,819,656,632,656,0.400967430589,0.00441148445009,0.0599428230017,0.999999976421,-0.000119902019744,-0.00017807217452,-3.27469868893e-05,1793250730326551296
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746.796909948,722.203090052,686,671.203090052,642,886.796909948,787,819,656,632,656,0.400991008962,0.0044137172986,0.0599466223273,0.999999978935,-0.00011699504159,-0.0001653433682,-3.32097805028e-05,1793250730343217408
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,747,722.381409813,686,671.381409813,642.381409813,886.618590187,787,819,656,632,656,0.401024806167,0.00441527531162,0.0599516411602,0.999999981698,-0.000116707770744,-0.000147653529504,-3.43900282411e-05,1793250730359883776
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,747,722.964794992,686,671.964794992,642.964794992,886.035205008,787,819,656,632,656,0.401064014751,0.00441647596607,0.059957305783,0.999999984307,-0.000117807764221,-0.00012733657752,-3.59502034656e-05,1793250730376550400
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.459349134,886,787,818.459349134,656,632,655.459349134,0.401113898298,0.00441569292957,0.059960193596,0.999999985963,-0.000118754988643,-0.000112439306977,-3.64375135788e-05,1793250730393217280
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746.884700703,723,686,672,642.115299297,886,787,818,656.115299297,632,655,0.401166414245,0.00441468254871,0.0599622199752,0.999999987058,-0.000119683709698,-0.000100993629138,-3.68713632091e-05,1793250730409883904
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746.312918099,723,686,672,642.687081901,886,787,818,656.687081901,632,655,0.401226637969,0.00441327645969,0.0599615418725,0.999999986847,-0.000120578017321,-0.000101835191074,-3.73663442422e-05,1793250730426550784
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.268774161,723,686,672,643,886,787,818.268774161,656.731225839,632,655.268774161,0.40129909326,0.00441328386392,0.0599619819494,0.999999987084,-0.00012073530929,-9.89524553883e-05,-3.82572974557e-05,1793250730443217408
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746.86244528,723,686,672,643,886,787,818.86244528,656.13755472,632,655.86244528,0.401386334192,0.00441499991337,0.0599637736931,0.999999987822,-0.000120001689131,-9.15677505563e-05,-3.96269058634e-05,1793250730459884032
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671.557861926,643,886.442138074,787,819,656,632,655.557861926,0.401492110275,0.0044155347087,0.0599672252977,0.999999988193,-0.000121978548024,-8.41718158874e-05,-4.06309561936e-05,1793250730476550656
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,747,723,686,671.017595007,642.982404993,886.982404993,787,819,656,632,655.017595007,0.401604287658,0.00441569809534,0.0599711816185,0.999999988423,-0.000124717667019,-7.6643945224e-05,-4.15253764762e-05,1793250730493217280
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,747,723,686,671.592409231,642.407590769,886.407590769,787,819,656,632,655.592409231,0.401742164769,0.00441538111445,0.0599752690076,0.999999989083,-0.000125709883442,-6.50450208351e-05,-4.24392505444e-05,1793250730509883904
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.167154056,886,787,819,656.167154056,632,656,0.401885547768,0.00441519770332,0.0599768278062,0.999999989353,-0.000126804949652,-5.76949147368e-05,-4.34144235523e-05,1793250730526550528
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,747,723,686,672,642.741729645,886,787,819,656.741729645,632,656,0.402042350808,0.00441533985538,0.0599722234141,0.999999988955,-0.000128150701965,-6.07008860672e-05,-4.45390065604e-05,1793250730543217152
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,747,723,686,671.672543513,642.672543513,886,787,819,656.672543513,632,656,0.402224430414,0.0044158680012,0.0599706296318,0.99999998905,-0.000128529532393,-5.7376990259e-05,-4.57058243558e-05,1793250730559883776
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671.077711358,642.077711358,886,787,819,656.077711358,632,656,0.402427148929,0.00441671131971,0.0599714940803,0.999999989498,-0.000128118849253,-4.88846143049e-05,-4.69071279355e-05,1793250730576550656
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,747,723,686,671,642.498904232,886.498904232,787,819,656,632,656,0.402662506696,0.0044172294805,0.0599746868611,0.999999990457,-0.000124259115388,-3.71975319326e-05,-4.75512040431e-05,1793250730593217280
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.073236606,746.926763394,723,686,671.073236606,642.926763394,886.926763394,787,819,656,632,656,0.402906984534,0.00441774918344,0.0599780306372,0.999999991307,-0.000120109878888,-2.54287918983e-05,-4.80981215226e-05,1793250730609884160
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.650697157,746.349302843,723,686,671.650697157,642.349302843,886.349302843,787,819,656,632,656,0.40318048316,0.00441861592402,0.0599800050202,0.999999991779,-0.000117535968052,-1.64032038848e-05,-4.85526433579e-05,1793250730626550784
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.234137703,723,686.234137703,672,642.234137703,886,787,819,656.234137703,632,656,0.403465634088,0.0044194270227,0.0599786101893,0.9999999921,-0.000114763797804,-1.5311767688e-05,-4.89393738458e-05,1793250730643217664
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.826733411,723,686.826733411,672,642.826733411,886,787,819,656.826733411,632,656,0.403768624336,0.00442015293521,0.0599720571899,0.999999992204,-0.000111688098323,-2.63672874583e-05,-4.92223177284e-05,1793250730659883776
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.592008288,746.592008288,723,686.592008288,672,643,886.407991712,787,819,656.592008288,632,656,0.404091765156,0.00442053002339,0.0599610764348,0.999999991921,-0.000108883915824,-4.27478413235e-05,-4.97575345426e-05,1793250730676550400
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.015434612,746.015434612,723,686.015434612,672,643,886.984565388,787,819,656.015434612,632,656,0.404423232175,0.00442076297754,0.0599482661333,0.999999991211,-0.000106191924048,-6.13286962257e-05,-5.03969903809e-05,1793250730693217024
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,746,723,686.559438114,672,643,887,787,819,656,632,656,0.404784445988,0.0044240712116,0.0599318267104,0.99999998965,-9.93449344682e-05,-9.06487032769e-05,-5.11259771269e-05,1793250730709883904
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,746.133759394,723,687.133759394,672,643,887,787,819,656.133759394,632,656,0.405163037582,0.00442662959308,0.0599193780689,0.999999987907,-9.33925191802e-05,-0.000113104494102,-5.1680535619e-05,1793250730726551040
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,746.706424613,723,687.706424613,672,643,887,787,819,656.706424613,632,656,0.405595966157,0.00442644991627,0.0599203519624,0.999999988269,-9.07504898948e-05,-0.000112067404318,-5.16546605693e-05,1793250730743217920
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,747,723,688,672,643,887,787,819,656.709983681,632,656,0.406075145314,0.00442600572041,0.0599372141593,0.999999991217,-8.81985490831e-05,-8.45227226014e-05,-5.1413509934e-05,1793250730759884288
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+144,2.400000000,POSE1_TO_POSE2_PRESS,768.464999788,747,723,688,672,643,887,787,819,656,632.464999788,656,0.407148056736,0.00442611007661,0.0599966648873,0.999999995107,-8.37225047812e-05,1.30824666567e-05,-5.10400216766e-05,1793250730793217280
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.958919574,747,723,688.041080426,672,643,887.041080426,787,819,656,632.958919574,656,0.407696256976,0.00442737589391,0.0600184482333,0.999999994227,-8.16103285032e-05,4.75703278996e-05,-5.12078640414e-05,1793250730809884416
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.385217071,747,723,688.614782929,672,643,887.614782929,787,819,656,632.385217071,656,0.408231381257,0.004429527457,0.0600110610053,0.999999995486,-7.69285888596e-05,2.34736408207e-05,-5.05890414972e-05,1793250730826550784
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,747,723,689.188330651,671.811669349,643,888,787.188330651,819,656,632,656,0.408779227276,0.0044311961175,0.0600012741004,0.999999995432,-8.11303546408e-05,-2.5765054376e-06,-5.0461543712e-05,1793250730843217664
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,747,723,689.761562002,671.238437998,643,888,787.761562002,819,656,632,656,0.409353073309,0.00443187784587,0.059986582857,0.999999992795,-0.000103487781744,-3.26190317344e-05,-5.13381907694e-05,1793250730859884288
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,747,723,690,671.348230565,643,888,787.651769435,819.348230565,656,632,656,0.409991644105,0.00443230868399,0.0599870339834,0.999999990883,-0.00012076921974,-3.02315144367e-05,-5.23013808638e-05,1793250730876551168
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,747,723,690,671.944469011,643,888,787.055530989,819.944469011,656,632,656,0.410676311495,0.00443256083943,0.0599982694223,0.99999998953,-0.000134435565437,-4.74749833304e-06,-5.3326206395e-05,1793250730893218048
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.524712116,747,723,690.524712116,672.524712116,642.475287884,888,787,819.475287884,656,632,656,0.411371123291,0.00443372175469,0.060001554409,0.999999990554,-0.000126261338533,5.28187971895e-06,-5.40525907522e-05,1793250730909885184
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.897402656,746.897402656,723,690.897402656,672.897402656,642.102597344,888,787,819,656,632,655.897402656,0.412063843362,0.0044351997562,0.0599998057901,0.999999991803,-0.00011574979891,4.68916971871e-06,-5.45333145102e-05,1793250730926551552
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.322807614,746.322807614,723,690.322807614,672.322807614,642.677192386,888,787,819,656,632,655.322807614,0.412742147312,0.00443770714404,0.0599786565081,0.999999992347,-0.000104804563125,-3.74684195779e-05,-5.40248850868e-05,1793250730943217664
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.258872699,746.258872699,723,690.517745397,671.741127301,643,888,787.258872699,819,656,632,655.258872699,0.413425581686,0.00443903591621,0.059951669389,0.99999998991,-9.67272244359e-05,-8.9040675358e-05,-5.38131707806e-05,1793250730959884032
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.849636864,746.849636864,723,691.699273729,671.150363136,643,888,787.849636864,819,656,632,655.849636864,0.414115593687,0.00443885362754,0.0599171977839,0.999999982625,-9.23267128826e-05,-0.000152683145375,-5.39818642344e-05,1793250730976550656
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.568486194,747,723,692,671.431513806,643,888.431513806,788,819.431513806,656,632,656,0.414951816479,0.00443872955255,0.0599429408251,0.999999989383,-8.82520260055e-05,-0.000102439990168,-5.43299637063e-05,1793250730993217536
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.010268584,747,723,692,672,643,888.989731416,787.989731416,820,656,632,655.989731416,0.415836996519,0.00443865734654,0.0599888937384,0.99999999485,-8.42753680372e-05,-1.41991172721e-05,-5.47292884887e-05,1793250731009884416
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.58420247,747,723,692,672,643,888.41579753,787.41579753,820,656,632,655.41579753,0.416669345132,0.00444034133228,0.0600157000752,0.999999995021,-7.95733140955e-05,2.54361418457e-05,-5.45781695869e-05,1793250731026551040
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.841636504,747,723,692,671.841636504,643,888.158363496,787.158363496,820,656,632,655,0.417501400146,0.00444144010811,0.0600306488708,0.999999994446,-7.59527124103e-05,4.83801174958e-05,-5.47610376995e-05,1793250731043217664
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.266878279,747,723,692,671.266878279,643,888.733121721,787.733121721,820,656,632,655,0.418332683131,0.00444100015602,0.0600144199143,0.99999999524,-7.51756391624e-05,2.74366887213e-05,-5.58220782798e-05,1793250731059884288
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,747,723,692,671.317461081,643,889.317461081,788,820.634922162,656,632,655.317461081,0.41916446281,0.00444000122264,0.0599943414732,0.999999995246,-7.87370236802e-05,-5.69817086117e-06,-5.72424206848e-05,1793250731076550912
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,747,723,692,671.910105585,643,889.910105585,788,821.820211171,656,632,655.910105585,0.419996672993,0.00443851774993,0.0599709262009,0.999999993338,-8.60590948219e-05,-4.94008748671e-05,-5.89742150187e-05,1793250731093217280
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,747,723,692.491646455,671.508353545,642.508353545,890,787.508353545,821.508353545,656,632,656,0.42084192817,0.00444254577336,0.0599338128897,0.999999989004,-8.15603359303e-05,-0.000108744622779,-5.9287572436e-05,1793250731109883904
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.070639426,747,723,693,670.929360574,642.070639426,890,787,821.070639426,656,632,656,0.421693747148,0.00444674377684,0.059898124748,0.999999981611,-7.60603040473e-05,-0.000165751353457,-5.9323895932e-05,1793250731126551040
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.645616015,747,723,693,670.354383985,642.645616015,890,787,821.645616015,656,632,656,0.422575775385,0.00444511939884,0.0598900986612,0.999999977849,-7.85020448374e-05,-0.00018610535503,-5.91930842344e-05,1793250731143217920
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693.225998313,670.451996625,643,890.225998313,787.225998313,822.225998313,656,632,656,0.423494989704,0.00444265316445,0.0599114482157,0.999999982954,-8.30188516471e-05,-0.000154023033291,-5.89686712263e-05,1793250731159884800
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693.81506502,671.63013004,643,890.81506502,787.81506502,822.81506502,656,632,656,0.424473943948,0.00443883447968,0.0599799900107,0.999999993444,-9.08692710224e-05,-3.7701270991e-05,-5.85938862968e-05,1793250731176551424
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.602565564,747,722.602565564,694,671.602565564,643,891,787.602565564,823,656,631.602565564,656,0.425437018042,0.00443897328311,0.0600198549357,0.9999999938,-9.02036558571e-05,2.94414995792e-05,-5.82868522225e-05,1793250731193218048
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.023260936,747,722.023260936,694,671.023260936,643,891,787.023260936,823,656,631.023260936,656,0.426392825152,0.00444092307514,0.0600465970183,0.999999991906,-8.56410131565e-05,7.40794374395e-05,-5.80108218172e-05,1793250731209884416
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,722.551986158,694,670.448013842,643,891.551986158,787.551986158,823.551986158,656,631.551986158,656,0.427342932369,0.00444186704558,0.0600278351469,0.999999992356,-8.84029919042e-05,6.09776445468e-05,-6.12726870892e-05,1793250731226551040
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.129303896,747,723,694,670.129303896,643,892,788,824,656,632,656,0.428270612107,0.00444194988971,0.0600048434249,0.999999993046,-9.14941889004e-05,3.77685013266e-05,-6.41058440651e-05,1793250731243217664
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.714520982,747,723,694,670.714520982,643,892,788,824,656,632,656,0.429120055376,0.00443914484222,0.0599736494382,0.999999993334,-9.46658041004e-05,-1.25616460581e-05,-6.49055805416e-05,1793250731259884032
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.703064426,747,722.703064426,694.296935574,670.703064426,643,892,787.703064426,824,656,632,656,0.429974969704,0.00443828511659,0.0599406276791,0.999999991149,-9.18068037023e-05,-7.14219259401e-05,-6.45975184401e-05,1793250731276550656
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.123319041,747,722.123319041,694.876680959,670.123319041,643,892,787.123319041,824,656,632,656,0.430835094772,0.00443927817049,0.0599058650999,0.999999984961,-8.32040746729e-05,-0.000138406541447,-6.3234357592e-05,1793250731293217536
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,722.45569544,695,670.45569544,643,892,787,824,655.54430456,632,655.54430456,0.431811205237,0.00443662485999,0.0599403614507,0.999999991485,-8.78815070352e-05,-7.23949353903e-05,-6.37623699052e-05,1793250731309884416
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,722.965644269,695,671.034355731,643,892.034355731,787,824.034355731,655.034355731,632,655.034355731,0.432813982878,0.0044331195172,0.0599912801097,0.999999993026,-9.5743538543e-05,2.43207234081e-05,-6.47223508733e-05,1793250731326551040
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,722.389456215,695,671.610543785,643,892.610543785,787,824.610543785,655.610543785,632,655.610543785,0.433743104363,0.00443171422292,0.0600060772414,0.999999992452,-9.72420924058e-05,3.85624246979e-05,-6.44364767481e-05,1793250731343217664
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,722.189870171,695,671.810129829,643.189870171,893,787,825,655.810129829,632,656,0.434643727422,0.00443042752367,0.0600067733993,0.999999992541,-9.85263758056e-05,3.29083772468e-05,-6.42527857434e-05,1793250731359884288
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,722.775742111,695,671.224257889,643.775742111,893,787,825,655.224257889,632,656,0.435484913055,0.00442938817128,0.0599780599348,0.999999992896,-9.93637672588e-05,-1.42411360154e-05,-6.42822123264e-05,1793250731376551168
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.357322011,747,722.642677989,695,671,644,893.357322011,787,825.357322011,655.357322011,632.357322011,656,0.436318306358,0.00442760299401,0.0599524844615,0.999999990902,-0.000102974243763,-5.86562563664e-05,-6.44294394007e-05,1793250731393217536
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.936240132,747,722.063759868,695,671,644,893.936240132,787,825.936240132,655.936240132,632.936240132,656,0.437146867135,0.00442535528752,0.0599288550404,0.999999986907,-0.000108304471092,-0.000101375618142,-6.46497213573e-05,1793250731409884160
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.485678116,747,722,695,670.485678116,644,894,787,826,656,632.485678116,656,0.437946469325,0.00442819331211,0.0599058810925,0.999999981243,-0.000103603085376,-0.000150422078348,-6.44468592793e-05,1793250731426550784
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.09166561,747,722.09166561,694.90833439,670.09166561,643.90833439,894.09166561,787,826,656,632,656,0.43875649943,0.00443023496474,0.0598917876084,0.999999976127,-0.000100029618444,-0.000183355417598,-6.41953233821e-05,1793250731443217920
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.665670561,747,722.665670561,694.334329439,670.665670561,643.334329439,894.665670561,787,826,656,632,656,0.43964026013,0.00442477402989,0.0599239957494,0.999999983909,-0.000108924365693,-0.000127381837526,-6.39632450272e-05,1793250731459884288
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694.245840606,671,643,895,787,826,656,632.245840606,656,0.440486837115,0.00442267047408,0.0599573742022,0.999999988949,-0.000111923513126,-7.44743157588e-05,-6.34739654649e-05,1793250731476550656
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694.834610446,671,643,895,787,826,656,632.834610446,656,0.441281545527,0.00442525021107,0.0599923851496,0.999999992013,-0.000106698739814,-2.58437206529e-05,-6.26259096188e-05,1793250731493217280
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.584132702,643,895,787,826.415867298,656,632.584132702,656,0.441999470331,0.00443139493772,0.0599672783708,0.999999991382,-9.63845503707e-05,-6.29511814465e-05,-6.31186923619e-05,1793250731509884160
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670.005810679,643,895,787,826.994189321,656,632.005810679,656,0.442687400391,0.00443893229491,0.0599186871597,0.99999998549,-8.40822266582e-05,-0.000133551418633,-6.41352610204e-05,1793250731526551040
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.43037542,747,722.43037542,694.43037542,669.43037542,642.43037542,895,785.86075084,826.43037542,656,632,656,0.443352944878,0.00444554548857,0.0598738646571,0.99999997459,-7.34692587285e-05,-0.000203013263947,-6.48640993547e-05,1793250731543217408
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,722.145189866,694.145189866,669,642.145189866,895,785.145189866,826,656,632,656,0.444020817669,0.00445166521868,0.0598394366781,0.999999962961,-6.38497892986e-05,-0.000256367035428,-6.54054324218e-05,1793250731559883776
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,722.721228084,694.721228084,669,642.721228084,895,785.721228084,826,656,632,656,0.444696274032,0.00445634844026,0.0598357407459,0.99999996192,-5.71276268858e-05,-0.000261954688841,-6.53990138795e-05,1793250731576550400
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,723,695,668.696025046,642.696025046,895,785.696025046,826.303974954,656,632,656,0.445320459439,0.00446196471855,0.05982425223,0.999999955252,-4.82586628572e-05,-0.000287992720734,-6.50181108404e-05,1793250731593217024
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,723,695,668.106986937,642.106986937,895,785.106986937,826.893013063,656,632,656,0.445896563674,0.00446845600313,0.0598054559463,0.999999941721,-3.73764607838e-05,-0.000333208810177,-6.42860217515e-05,1793250731609883904
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,723,695,667.523416546,641.523416546,895.476583454,785.476583454,826.523416546,656,632,656,0.446467477922,0.00447861338422,0.0597775279671,0.999999928962,-2.61288527361e-05,-0.000370067794714,-6.66550014008e-05,1793250731626550528
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,695,667,641,895.942333601,785.942333601,826.057666399,656,632,656.057666399,0.44703702495,0.00449012876122,0.0597521556844,0.999999917965,-1.4253731564e-05,-0.000398741633239,-6.97963023131e-05,1793250731643216896
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,695,667,641,895.372563734,785.372563734,826.627436266,656,632,656.627436266,0.447604659601,0.00450647810992,0.0597674771179,0.999999928388,2.47379611325e-06,-0.000371199029602,-7.36841552035e-05,1793250731659883776
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747,723,695,666.794920421,640.794920421,895.205079579,785,827,656,632,656.794920421,0.448156289997,0.00452418684049,0.0597795653367,0.999999935665,2.0379577557e-05,-0.000349685131626,-7.72998812698e-05,1793250731676550400
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747,723,695,666.202402584,640.202402584,895.797597416,785,827,656,632,656.202402584,0.44867768494,0.0045444637261,0.0597855453345,0.999999938296,4.05113251283e-05,-0.000339560724301,-8.04015024531e-05,1793250731693217024
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,723,695,665.617993037,640,896,785,827,656,631.617993037,656,0.449132419908,0.00455398928053,0.0597647553463,0.99999992545,5.22539710193e-05,-0.00037390388911,-8.10286307026e-05,1793250731709883648
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,723,695,665.037790243,640,896,785,827,656,631.037790243,656,0.449552569875,0.0045579367473,0.0597300763459,0.999999901974,5.96441194482e-05,-0.00043131806461,-8.03719233014e-05,1793250731726550272
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,747,723,695,665,639.462582495,896.537417505,785,827,656,631.537417505,656,0.44994117001,0.00456196627857,0.0596971876311,0.999999879871,6.57584145367e-05,-0.000478899457867,-8.11704326607e-05,1793250731743216896
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.112484281,747,723,695,664.887515719,639,896.887515719,785,827.112484281,656,632,656,0.450328200398,0.00456557691569,0.059671782973,0.999999861715,7.09645260233e-05,-0.000514629409105,-8.1795072507e-05,1793250731759884032
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.688404223,747,723,695,664.311595777,639,896.311595777,785,827.688404223,656,632,656,0.450717819713,0.00456743815249,0.0596766987574,0.99999986686,7.27951452712e-05,-0.000504353827783,-8.12856598113e-05,1793250731776550400
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.728849831,747,723,695,664,639,896,785,827.728849831,656,631.728849831,656,0.451092369829,0.00456828522211,0.0596856295658,0.99999987521,7.36378852541e-05,-0.000487488171167,-8.07025144376e-05,1793250731793217024
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.138057158,747,723,695,664,639,896,785,827.138057158,656,631.138057158,656,0.451449155757,0.00456793675141,0.0596992934426,0.999999886993,7.33160740948e-05,-0.000462853874545,-8.00324500805e-05,1793250731809883904
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747,723,695,663.556609329,638.556609329,896.443390671,785,827,656,631.443390671,656,0.451777983535,0.00456900264373,0.0597133818103,0.999999896651,7.65798069794e-05,-0.000441011771058,-7.96334058547e-05,1793250731826550272
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.021832997,723,695.021832997,663,638,896.978167003,784.978167003,827,656,632,656.021832997,0.452095706594,0.00457052244637,0.0597268000244,0.999999904929,8.0893540847e-05,-0.000421075958463,-7.93266894645e-05,1793250731843216896
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.596329587,723,695.596329587,663,638,896.403670413,784.403670413,827,656,632,656.596329587,0.452348142834,0.00457261469514,0.059719977844,0.999999901797,8.41093224171e-05,-0.000427841533581,-7.92650805412e-05,1793250731859883776
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.174835009,748,723,695.825164991,662.825164991,638,896.174835009,784.174835009,827.174835009,656,632,656.825164991,0.452588887604,0.00457418321169,0.0597127263606,0.999999897782,8.60711119012e-05,-0.000436744161251,-7.92610662571e-05,1793250731876550400
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.76281341,748,723,695.23718659,662.23718659,638,896.76281341,784.76281341,827.76281341,656,632,656.23718659,0.452802004841,0.00457451412393,0.0597044604147,0.999999891666,8.50696583557e-05,-0.000450696744149,-7.93931508361e-05,1793250731893217024
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.654635495,747.654635495,723,695,662.345364505,637.654635495,896.654635495,785,827.654635495,656,632,656,0.452994274252,0.00457511394941,0.0596973000344,0.99999988548,8.548313534e-05,-0.000464167233603,-7.92550129179e-05,1793250731909883648
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.075753995,747.075753995,723,695,662.924246005,637.075753995,896.075753995,785,827.075753995,656,632,656,0.453172447502,0.00457589559968,0.0596908871775,0.9999998792,8.68533125194e-05,-0.000477311758657,-7.8934165019e-05,1793250731926550272
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,747.501666823,723,695,662.498333177,637.501666823,896,784.498333177,827.501666823,656,632,656.501666823,0.453325946677,0.00457781171753,0.0596867960266,0.999999875453,9.05563027981e-05,-0.000484439180761,-7.88204150226e-05,1793250731943216896
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,747.921378121,723.078621879,695,662,638,896.078621879,784,828,656,631.921378121,656.921378121,0.453471576227,0.00457965720429,0.0596828121006,0.999999871812,9.42902014953e-05,-0.000491219054648,-7.86740205521e-05,1793250731959883776
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,747.345976135,723.654023865,695,662,638,896.654023865,784,828,656,631.345976135,656.345976135,0.453590954959,0.0045799771071,0.0596772968881,0.999999866575,9.6000037584e-05,-0.000501527389069,-7.81243325296e-05,1793250731976550400
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,747.234407218,723.765592782,695,662,637.765592782,897,784,827.765592782,656,631,656,0.453702958575,0.00457944768232,0.0596729897859,0.999999862575,9.65870820867e-05,-0.000509441004982,-7.74038273224e-05,1793250731993217024
+217,3.616666667,POSE1_TO_POSE2_PRESS,768,747.822302478,723.177697522,695,662,637.177697522,897,784,827.177697522,656,631,656,0.453803840447,0.00457763746443,0.0596705045246,0.999999860555,9.5480947415e-05,-0.000513743364839,-7.64257284172e-05,1793250732009883648
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,747.595477738,723,695,661.595477738,637,897,784,827.404522262,656,631,656,0.45389391737,0.00457897420784,0.0596717988695,0.999999861776,9.74470437785e-05,-0.000511047993806,-7.60449202538e-05,1793250732026550528
+219,3.650000000,POSE1_TO_POSE2_PRESS,768,747.015716583,723,695,661.015716583,637,897,784,827.984283417,656,631,656,0.453979313591,0.00458167421375,0.0596747305386,0.999999864368,0.000100744029507,-0.000505321208229,-7.59228582399e-05,1793250732043217152
+220,3.666666667,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896.439862236,784,827.439862236,656,631.560137764,656,0.454040971672,0.004581749174,0.0596770897632,0.999999865957,0.000101182949186,-0.000502103015883,-7.5761729059e-05,1793250732059883776
+221,3.683333333,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896,784,827,656,632,656,0.454097687781,0.00458151082606,0.0596790621926,0.99999986729,0.000101375368819,-0.000499446987005,-7.54677167539e-05,1793250732076550400
+222,3.700000000,POSE1_TO_POSE2_PRESS,768,747,723,695,661,637,896,784,827,656,632,656,0.454140547542,0.00458049505401,0.0596798341753,0.99999986791,0.000101027644055,-0.000498384445893,-7.47470777203e-05,1793250732093217280
+223,3.716666667,POSE1_TO_POSE2_PRESS,768,747,723,695,661,636.706124561,896,784,827,656,632,656,0.454176154601,0.00458189234688,0.059678311685,0.999999866992,0.000102195106747,-0.000499953146711,-7.49551766443e-05,1793250732109883904
+224,3.733333333,POSE1_TO_POSE2_PRESS,768,747,723,695,661,636.116147782,896,784,827,656,632,656,0.454204454029,0.00458572098182,0.0596744773426,0.999999864508,0.000104889233329,-0.000504173019131,-7.60990479749e-05,1793250732126550528
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,747.956429561,723,695,661,636.956429561,897,784.043570439,827.043570439,656,631.956429561,656,0.454238593197,0.0045839043303,0.0596719485179,0.999999861377,0.000106006192969,-0.000510324394215,-7.46812065562e-05,1793250732159883776
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+228,3.800000000,POSE1_TO_POSE2_PRESS,768,747,723,695,660.807253479,636,897,785,828,656,631.192746521,656.192746521,0.454258390067,0.00458598693945,0.0596714498482,0.999999860599,0.000107162161646,-0.000511605343142,-7.46921367234e-05,1793250732193217024
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,747,723,695,660.239374015,636,897,785,828,656,631.760625985,656.760625985,0.454265049881,0.00458518090782,0.0596710263016,0.999999861144,0.000105606351641,-0.000510831896327,-7.48969713876e-05,1793250732209883904
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768,747,723,695.943431123,660.943431123,636,896.056568877,784.056568877,828,656,631.056568877,656.056568877,0.45426781414,0.00458841888373,0.0596664304315,0.999999857571,0.00010926182605,-0.00051693768629,-7.54705501006e-05,1793250732243216896
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,747,723,695.476597732,660.476597732,636,896,784,828,656,631,656,0.45426978206,0.0045882230449,0.0596663217152,0.999999857512,0.000109209053172,-0.000517147473704,-7.48827877215e-05,1793250732259884288
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,747,723,695,660,636,896,784,828,656,631,656,0.454271596786,0.00458758499958,0.0596663367646,0.999999857603,0.000108784936771,-0.000517152746981,-7.42425609911e-05,1793250732276551680
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,747,723,695,660,636,896,784,828,656,631,656,0.454271713159,0.00458607948431,0.0596656127735,0.999999857236,0.000107983877682,-0.000518094713506,-7.37959857432e-05,1793250732293217792
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.253982009,747,723,695,660,636,896.253982009,784,827.746017991,656,631.253982009,656.253982009,0.454272032212,0.00458575110583,0.0596652904638,0.999999857008,0.000107910201701,-0.000518567837172,-7.36626701394e-05,1793250732309884160
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.829445902,747,723,695,660,636,896.829445902,784,827.170554098,656,631.829445902,656.829445902,0.454272607811,0.00458691270729,0.0596654765887,0.999999856959,0.000108757222687,-0.000518447515441,-7.39258679975e-05,1793250732326551040
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.582891845,747,723,695,660,636,896.582891845,784.417108155,827,656,631.582891845,656.582891845,0.45427273048,0.00458802728839,0.0596648661305,0.999999856458,0.000109666196195,-0.000519208833654,-7.40260534764e-05,1793250732343217920
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.009598809,723,695,660,636,896.009598809,784.990401191,827,656,631.009598809,656,0.454272650026,0.00458906782711,0.0596639261993,0.999999855768,0.000110571881974,-0.000520340172167,-7.40488100186e-05,1793250732359885056
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768.158537786,747.841462214,723,695,660,636,896.841462214,784,827,656,631.841462214,656,0.454271643728,0.00458617153052,0.0596630078383,0.999999855141,0.000109701834104,-0.000521827022635,-7.33511755336e-05,1793250732393218816
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.73424324,747.26575676,723,695,660,636,896.26575676,784,827,656,631.26575676,656,0.454273040794,0.00458911925974,0.0596633268976,0.999999855501,0.000111695589223,-0.000520634613746,-7.39047368485e-05,1793250732409885184
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+247,4.116666667,HOLD_POSE2,768,747,723,695,660,636,896,784,828,656,631,656,0.454274214269,0.00458772372972,0.0596622519252,0.999999854612,0.000111189879288,-0.000522578730668,-7.29714919631e-05,1793250732531975936
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+249,4.150000000,HOLD_POSE2,768,747,723,695.15668194,659.15668194,636,896.313363881,784.15668194,827,656,632,656,0.454273678449,0.0045892055414,0.0596607659966,0.999999853811,0.00011013650913,-0.000524240618193,-7.36175652917e-05,1793250732565309184
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+261,4.350000000,HOLD_POSE2,768,748,723,695,659,636,896.123327324,784.123327324,827.876672676,656,632,656,0.454275467908,0.00458819385342,0.0596618346382,0.999999853892,0.000109858145583,-0.000524321869389,-7.23391824109e-05,1793250732765310464
+262,4.366666667,HOLD_POSE2,768,748,723,695,659,636,896.700876522,784.700876522,827.299123478,656,632,656,0.454275628062,0.00458942368808,0.0596610266701,0.99999985367,0.000111381003762,-0.000524427024581,-7.23229137428e-05,1793250732781976576
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,660,635,897,784,827,656,631,656,0.454277023969,0.00458959450605,0.0596618320971,0.999999854074,0.000113558398492,-0.000523088656404,-7.30378062298e-05,1793250732819665152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,659.410976865,635.589023135,896.410976865,784.589023135,827,656,631,656.589023135,0.454276141367,0.00458725075014,0.0596620466238,0.999999854231,0.000110333843871,-0.000523548978776,-7.25279669165e-05,1793250732836332032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,747.17517246,723,695,659,636,896.17517246,785,827.17517246,656,631.17517246,656.82482754,0.454275715378,0.00458601509108,0.0596622987426,0.999999854352,0.000108658542719,-0.000523722791242,-7.21332535888e-05,1793250732852998656
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747.754688403,723,695,659,636,896.754688403,785,827.754688403,656,631.754688403,656.245311597,0.454276343372,0.00458733720657,0.0596626376339,0.999999854408,0.000110559319868,-0.000523235264615,-7.20042808044e-05,1793250732869665280
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747.667081055,723,695.332918945,659.332918945,636,897,784.667081055,828,656,631.667081055,656,0.454276416151,0.00458790244892,0.0596618966771,0.999999854103,0.00011114323016,-0.000523683012267,-7.20905063809e-05,1793250732886331648
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.089794053,723,695.910205947,659.910205947,636,897,784.089794053,828,656,631.089794053,656,0.454276081392,0.00458791213366,0.059660363094,0.999999853533,0.000110760538104,-0.000524817266862,-7.23346911502e-05,1793250732902998016
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.513818009,660,636,897,784,828,656,631,656,0.454277087195,0.00458646535735,0.0596615686326,0.999999854438,0.000109313446122,-0.000523447931719,-7.19498934091e-05,1793250732919664896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.063065938,747.063065938,723,695,660,636,897,784.063065938,828,656,631,656,0.454278090607,0.0045852445254,0.0596630118961,0.999999855444,0.000107973061786,-0.000521850801299,-7.15979513216e-05,1793250732936331520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.649488075,747.649488075,723,695,660,636,897,784.649488075,828,656,631,656,0.454277025056,0.00458812498959,0.0596622410272,0.999999855076,0.000109145193094,-0.00052219017962,-7.24800995413e-05,1793250732952998144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.766168939,747.766168939,723,695.233831061,660,636,896.766168939,785,828,656,631,656,0.454272515469,0.00458982450075,0.0596594610151,0.999999853054,0.00011087801009,-0.000525622006686,-7.29345240367e-05,1793250732969664768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.184915175,747.184915175,723,695.815084825,660,636,896.184915175,785,828,656,631,656,0.454262888784,0.00458976936925,0.059653695848,0.999999848528,0.000113443885412,-0.000533648547931,-7.27534429189e-05,1793250732986331392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.391922194,747,723,695.608077806,660,636,896,785,827.608077806,656,631,656,0.454234591516,0.0045887295254,0.0596416002116,0.999999837615,0.000112335371139,-0.000554007833571,-7.22976083057e-05,1793250733002998272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.966699105,747,723,695.033300895,660,636,896,785,827.033300895,656,631,656,0.454197583324,0.00458723025542,0.0596265510392,0.999999823162,0.000109512538515,-0.000580121069073,-7.17135849965e-05,1793250733019664896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.541486324,723,695,660,636,896,784.458513676,827,656,631,656,0.454139570593,0.00458894019765,0.0596059762549,0.999999805096,0.000113550441582,-0.000609659799594,-7.23114017628e-05,1793250733036331008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.880056961,748,723,695,660,636,896.119943039,784.119943039,827,656,631,656,0.454077855288,0.00459088998827,0.0595863147874,0.99999978759,0.000117012924559,-0.00063701664373,-7.30548678461e-05,1793250733052997632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.287132339,748,723,695,660,636,896.712867661,784.712867661,827,656,631,656,0.45400663329,0.0045930072989,0.0595715949398,0.999999775992,0.000116542447121,-0.000654938732574,-7.40860669278e-05,1793250733069664768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.701662346,723,695,659.701662346,636,896.701662346,785,827,656,631.298337654,656,0.453929279373,0.00459337209262,0.0595622171373,0.999999767848,0.000117074443985,-0.000667167528243,-7.40567148531e-05,1793250733086331648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.123192123,723,695,659.123192123,636,896.123192123,785,827,656,631.876807877,656,0.453846167722,0.00459209131094,0.0595578554,0.999999763134,0.000118547742473,-0.000674050444451,-7.30315282532e-05,1793250733102998272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.548410085,659,636,896,784.548410085,827,656,631.548410085,656,0.453745452236,0.00459111167075,0.0595557284303,0.999999760332,0.000120211533956,-0.000678031339642,-7.18184787887e-05,1793250733119664896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.025979407,659,636,896,784.025979407,827,656,631,656,0.453638827269,0.00459043176487,0.0595541270673,0.999999757972,0.000122109572585,-0.000681293957093,-7.05997872111e-05,1793250733136331264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.613454229,659,636,896,784.613454229,827,656,631,656,0.453507431065,0.00459446890565,0.0595508162963,0.999999754038,0.00012795637428,-0.000686004006003,-7.0357813743e-05,1793250733152997888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.197436132,747.197436132,723,695,659.197436132,636,896,785,827,656,631,656,0.453367692244,0.00459724651483,0.059548418651,0.999999751361,0.000133221332122,-0.000688957005839,-6.97682073303e-05,1793250733169664512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.774698315,747.774698315,723,695,659.774698315,636,896,785,827,656,631,656,0.45321190398,0.0045976010467,0.0595477776699,0.999999751182,0.000137366942744,-0.000688529808219,-6.85098274714e-05,1793250733186331136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.647274636,748,723,695,660,636,896,784.647274636,827,656,631,656,0.453040660992,0.00459850671259,0.0595509452217,0.999999754309,0.000141274022835,-0.000683300731751,-6.72619174979e-05,1793250733202997760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.068757914,748,723,695,660,636,896,784.068757914,827,656,631,656,0.4528595249,0.00459976517793,0.0595565507433,0.999999759493,0.000145028411916,-0.000674997811191,-6.60207095222e-05,1793250733219664896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.494508844,723,695,660.505491156,636,896,784.505491156,827,656,631.505491156,656,0.452649579201,0.00459753439015,0.0595627745733,0.999999765831,0.000145600078038,-0.000665659185587,-6.35262853828e-05,1793250733236332032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.082014606,895.917985394,785,827,656,631.917985394,656,0.452429134103,0.00459569404049,0.0595684632081,0.99999977128,0.000146747157831,-0.000657400474662,-6.10651249479e-05,1793250733252999168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.676341186,895.323658814,785,827,656,631.323658814,656,0.452167377274,0.00459923250609,0.0595702877362,0.999999770657,0.000154170251204,-0.00065676019335,-5.98676590918e-05,1793250733269664768
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.737003197,895.262996803,785,827,656,631.262996803,656,0.451888648556,0.00460153724177,0.0595719072465,0.999999770904,0.000161863395108,-0.000654699950241,-5.79623016069e-05,1793250733286331136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,661,636.159520392,895.840479608,785,827,656,631.840479608,656,0.451589625229,0.00460236670916,0.0595732816009,0.999999772184,0.000169879459265,-0.000650941746942,-5.52104623851e-05,1793250733302997760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.584430931,661.415569069,636.415569069,896,785,827,656,631.584430931,656,0.451260570286,0.00460364778252,0.0595766292797,0.999999772601,0.000177483069086,-0.000648507456697,-5.23048265965e-05,1793250733319664640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.010254932,661.989745068,636.989745068,896,785,827,656,631.010254932,656,0.450920053423,0.00460510121671,0.0595807301016,0.999999772651,0.000184929260561,-0.000646578453841,-4.9340492561e-05,1793250733336331264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.579194762,662,637,895.420805238,785,827,656,631,656,0.45052357554,0.00460586947879,0.0595687477785,0.99999976175,0.000191475475606,-0.000661524184955,-4.71460712557e-05,1793250733352997632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.834436496,747,723,695,662,637,895,785,827,656,631.165563504,656,0.450114296982,0.00460786943264,0.0595571603342,0.999999750335,0.000199920749584,-0.000676272571033,-4.49074183225e-05,1793250733369664512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.256434772,747,723,695,662,637,895,785,827,656,631.743565228,656,0.449675665588,0.00461296871492,0.0595472851659,0.999999738494,0.000213137572395,-0.000689764901199,-4.25237016391e-05,1793250733386331392
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.320165881,747,723,695,662.320165881,637.320165881,895,785,826.679834119,656,632,656,0.449220871899,0.00461425593741,0.0595425350663,0.999999733076,0.000223014099693,-0.000694663879207,-3.94381450963e-05,1793250733402998272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.895649307,747,723,695,662.895649307,637.895649307,895,785,826.104350693,656,632,656,0.448753189476,0.00461250321835,0.059541871972,0.999999732934,0.000230226896624,-0.000692710056221,-3.57929033397e-05,1793250733419664640
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.045040422,747,723,694,663.045040422,638.045040422,894,785.045040422,826.954959578,656,631.045040422,656,0.447788305714,0.00461331697053,0.0595799234981,0.999999760883,0.000248470785704,-0.000644877884277,-2.5089272069e-05,1793250733452998144
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.637068406,747,723,694,663.637068406,638.637068406,894,785.637068406,826.362931594,656,631.637068406,656,0.447267220691,0.00461325640892,0.0596125351985,0.999999791636,0.000259718161933,-0.000590645931647,-2.03014940082e-05,1793250733469664512
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.19739597,747,723,694,665.60520806,639,893.19739597,785.19739597,826,656,632,655.19739597,0.446132696748,0.0046162123284,0.0596573047984,0.999999817053,0.000284597154855,-0.000533667054222,-9.89375758914e-06,1793250733502998784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.622038083,694,666,639.377961917,893,785.377961917,826,656,632,655.377961917,0.445494485514,0.00461503919113,0.059649045863,0.999999804428,0.00029418503235,-0.000551883712068,-4.74776854837e-06,1793250733519665408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.048397483,694,666,639.951602517,893,785.951602517,826,656,632,655.951602517,0.444830109027,0.00461214146769,0.0596272622459,0.999999781289,0.000302023775315,-0.000588390442265,2.73041601117e-07,1793250733536332288
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746.891053146,722.891053146,694.891053146,667,640.108946854,891.891053146,786,825.891053146,656,632,655.891053146,0.443539434775,0.00460400605981,0.0596522509073,0.999999808305,0.000316181931382,-0.000532270797981,1.02938874886e-05,1793250733569665280
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.761522461,722.238477539,693.238477539,669.761522461,642,891,787,824,656,632,655,0.437429832309,0.00460173276529,0.0598066775292,0.999999907537,0.000287753578827,-0.000319014847508,1.87725599036e-05,1793250733702997760
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.654776065,746.654776065,722.345223935,693.345223935,669.654776065,642,891,787,824,655.654776065,632,655,0.436535384969,0.00459999406702,0.0597746823077,0.99999988925,0.000292514155141,-0.000368034409509,2.203082503e-05,1793250733719664640
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.079938749,746.079938749,722.920061251,693.920061251,669.079938749,642,891,787,824,655.079938749,632,655,0.435641375241,0.00459859663598,0.0597311335791,0.999999862756,0.000294703112973,-0.000432521224459,2.37388938548e-05,1793250733736331264
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.495386234,746,722.504613766,694,669.495386234,642,890.504613766,787.495386234,823.504613766,655,632,655,0.434780993855,0.00458323015852,0.059738702321,0.99999988027,0.000280458415068,-0.000400182835987,2.56393225318e-05,1793250733752997632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.072592654,722,693.927407346,670,642,890,787.927407346,823,655,632,655,0.433924104561,0.00456660086425,0.0597554470219,0.999999902004,0.000263316768217,-0.00035482773834,2.74361952391e-05,1793250733769664512
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.662648762,722,693.337351238,670,642,890,787.337351238,823,655,632,655,0.433053388581,0.00455705385194,0.0597787439421,0.999999915875,0.000244446558346,-0.00032817047596,2.82734034119e-05,1793250733786331136
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722,693.247528598,670,642,890,787,822.752471402,655,632,655,0.432162458412,0.00455462198906,0.0597976511999,0.999999926334,0.000235419748353,-0.00030180305114,2.8704230151e-05,1793250733802997504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,722,693.825498392,670,642,890,787,822.174501608,655,632,655,0.431244542952,0.00456168857672,0.0598106984298,0.999999932864,0.000239533497595,-0.000275822544837,2.85925533799e-05,1793250733819664384
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.401831337,746.598168663,722,693.598168663,670.401831337,642,889.598168663,787,822,655,631.598168663,655,0.430329483431,0.00456317876015,0.0598240489649,0.999999937719,0.000237218714066,-0.000259623093521,2.97462893857e-05,1793250733836331008
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.977456304,746.022543696,722,693.022543696,670.977456304,642,889.022543696,787,822,655,631.022543696,655,0.429415659171,0.00456225712645,0.05983753068,0.999999941899,0.000232123564665,-0.000247653988422,3.14473213885e-05,1793250733852997632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.448518246,746,722.551481754,693.551481754,670.448518246,642,889.551481754,787,821.448518246,655.551481754,631.551481754,655.551481754,0.428429617361,0.00456180203719,0.0597852553615,0.999999913731,0.000229763111805,-0.000344514789591,3.24926807732e-05,1793250733869664256
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.870620383,693.870620383,670,642,889.870620383,787,820.870620383,655.870620383,631.870620383,656,0.427464268781,0.00456228800645,0.0597429441568,0.999999886674,0.000227742225048,-0.00041678071374,3.28559517439e-05,1793250733886331136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.278643617,693.278643617,670,642,889.278643617,787,820.278643617,655.278643617,631.278643617,656,0.4265834338,0.00456607073958,0.0597458429776,0.999999899656,0.000226536915441,-0.000385246928961,3.08759713547e-05,1793250733902997760
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722,693,670.306542344,642,888.693457656,787.306542344,820,655.306542344,631.306542344,655.693457656,0.425676338151,0.00456734473489,0.0597670708475,0.999999913105,0.000221663475164,-0.000351668612907,3.13921542386e-05,1793250733919664128
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722,693,670.885689287,642,888.114310713,787.885689287,820,655.885689287,631.885689287,655.114310713,0.424745889237,0.00456638773814,0.059804598531,0.999999926606,0.000213528008226,-0.000316272120144,3.41281466633e-05,1793250733936330752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.461958112,746.461958112,722.461958112,692.538041888,670.076083776,642,888,788,820,656,632,655,0.42384637473,0.00456593263047,0.0598230527205,0.999999935671,0.000208803559898,-0.000289475066084,3.5529174076e-05,1793250733952997632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.961596295,747,722.961596295,692,669.076807411,642,888.038403705,788,819.961596295,656,632,655,0.422955975592,0.00456566296603,0.0598360028746,0.999999942981,0.000204781877155,-0.000266021594768,3.6527281528e-05,1793250733969664256
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.372466558,747,722.372466558,692,670.255066884,642,888.627533442,788,819.372466558,656,632,655,0.422087204222,0.00456628270493,0.0598372862622,0.999999945723,0.000198809056493,-0.000260190290912,3.64551527612e-05,1793250733986330880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,722,692,670.788713701,642,888.577427401,788,819.211286299,656,632,655.211286299,0.42118161473,0.00456690490301,0.0598166315944,0.999999936602,0.000193565451413,-0.000296660866716,3.63546537763e-05,1793250734002997760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,747,722,692,670.214204164,642,887.428408329,788,819.785795836,656,632,655.785795836,0.420212730896,0.00456753132877,0.0597582631159,0.999999899017,0.000189575441605,-0.000405852792979,3.62053831148e-05,1793250734019664896
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.639252707,722,692,669.639252707,642,887,788,819.639252707,656,631.639252707,655.639252707,0.419305579018,0.00456657025592,0.0597280198219,0.999999885076,0.000180356907925,-0.000442845648374,3.47571469111e-05,1793250734036331520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.064038559,722,692,669.064038559,642,887,788,819.064038559,656,631.064038559,655.064038559,0.418435127289,0.00456466540372,0.0597144971554,0.999999889906,0.000168029980401,-0.000436915633472,3.25366665486e-05,1793250734052998400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,722.502621315,691.497378685,670.005242629,642,887,787.497378685,819,656,631.502621315,655.502621315,0.417649693312,0.00456548808902,0.0597574701726,0.999999914602,0.000165982065249,-0.000376892819557,3.45988650787e-05,1793250734069665024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.072968989,746,722.927031011,690.927031011,670.927031011,641.927031011,887,787,819,655.927031011,632,656,0.416873006062,0.00456608535215,0.0598051798436,0.999999936632,0.000164273132129,-0.00031364799443,3.70825928173e-05,1793250734086331648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.678022234,746,722.321977766,690.321977766,670.321977766,641.321977766,887,787,819,655.321977766,632,656,0.416082434686,0.00456254722006,0.0598358194304,0.99999994896,0.000155646049163,-0.000276322860203,3.87278080987e-05,1793250734102998272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.729204338,746,722,690,670,641.270795662,886.729204338,787,819,655.270795662,632,655.729204338,0.415295643102,0.00455952066824,0.0598494067016,0.999999954021,0.000149623806523,-0.000260797433375,3.94426900796e-05,1793250734119664896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.150398346,746,722,690,670,641.849601654,886.150398346,787,819,655.849601654,632,655.150398346,0.414513150812,0.00455707600195,0.0598435982045,0.999999952027,0.000146564380674,-0.000270067587681,3.90993856753e-05,1793250734136331776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,722,689.592003513,670.407996487,642,886,787,819,656,632,655.407996487,0.413739746927,0.0045582952683,0.0598334043091,0.999999937093,0.000202985206044,-0.000288177556755,3.95498905861e-05,1793250734152998400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,722,689.040774251,670.959225749,642,886,787,819,656,632,655.959225749,0.412969533587,0.00456080080838,0.059821670859,0.999999912047,0.000280287389984,-0.000309390863486,4.02790729223e-05,1793250734169664768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.861779722,642,886,787,819.569110139,656,632.569110139,655.430889861,0.412183275186,0.0045583226413,0.0597740481232,0.999999886307,0.000270175236114,-0.000391014762166,3.87063251321e-05,1793250734186331392
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.173029651,642,886.173029651,787,820,656,632.826970349,655.173029651,0.411437052399,0.00455608471007,0.0597396328673,0.999999868357,0.000253923706672,-0.00044435283478,3.68718117843e-05,1793250734202997760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,722,689,669.751965362,642,886.751965362,787,820,656,632.248034638,655.751965362,0.410787754625,0.0045553442109,0.0597429258016,0.99999988247,0.000239650052087,-0.000420015891601,3.48545750307e-05,1793250734219664640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,722,688.669822397,670.660355207,642,886.669822397,787,819.669822397,655.669822397,632,655.669822397,0.410168837066,0.00455272089018,0.0597733558687,0.999999905329,0.000225888846566,-0.000370223941345,3.53483150026e-05,1793250734236331776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,722,688.092152484,671.815695031,642,886.092152484,787,819.092152484,655.092152484,632,655.092152484,0.409572691744,0.00454868625678,0.059824127205,0.999999931301,0.000212511759248,-0.000301351598124,3.77242160324e-05,1793250734252998912
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.483308383,722,687.516691617,670.55007485,642,886.483308383,787,819.483308383,655.483308383,632,655.483308383,0.408971842737,0.00454650825906,0.0598458217012,0.99999994277,0.000201904936,-0.000268764521803,3.82156472275e-05,1793250734269665536
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.940013706,722.059986294,687,669.059986294,642,886.940013706,786.940013706,819.940013706,656,632,656,0.408374102644,0.00454471831877,0.0598589012505,0.999999950159,0.000192260495921,-0.000247491809467,3.82801442628e-05,1793250734286332160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746.348846035,722.651153965,687,669.651153965,642,886.348846035,786.348846035,819.348846035,656,632,656,0.407811797645,0.00454324417665,0.059844564816,0.999999946676,0.000186481989347,-0.000265423260649,3.77313689409e-05,1793250734302998528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,722.762865821,687,670,642,886,786,819,656,632,656,0.40726653467,0.00454163151372,0.0598308253553,0.999999942864,0.000181425926151,-0.000282788459681,3.72422133607e-05,1793250734319664640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,722.184353517,687,670,642,886,786,819,656,632,656,0.406745805426,0.00453981943648,0.0598179452986,0.999999938783,0.000177409892253,-0.000299338481192,3.68388863558e-05,1793250734336331264
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.375679367,746.375679367,722,687,670.375679367,642,886.375679367,786,819,656,632,655.624320633,0.40626910963,0.0045392855883,0.0598174827951,0.999999940181,0.000174043985847,-0.000296696870215,3.63054394888e-05,1793250734352997888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.927069221,746.927069221,722,687,670.927069221,642,886.927069221,786,819,656,632,655.072930779,0.405813008848,0.00453934958554,0.0598228281533,0.99999994411,0.000170982152788,-0.000285079066205,3.57111337088e-05,1793250734369664512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.467420359,746.467420359,722.532579641,686.467420359,670.467420359,642,886.467420359,786,819,655.467420359,632,655.532579641,0.405373455751,0.00453799791545,0.0598223467555,0.999999945285,0.000166868732305,-0.000283444285019,3.52712008819e-05,1793250734386331392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,722.862059129,686,670,642,886,786,819,655.137940871,632,656,0.404940737301,0.00453651577188,0.0598156844838,0.999999943319,0.000162559142608,-0.000292802705294,3.46924953152e-05,1793250734402998272
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,722.283523892,686,670,642,886,786,819,655.716476108,632,656,0.404521792601,0.00453530612941,0.0597921168636,0.999999931683,0.000158134956458,-0.000332413881829,3.35953787972e-05,1793250734419665152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,746,722.295216481,686,669.704783519,642,886,786.295216481,819,656,632,655.704783519,0.404134740459,0.00453401928824,0.0597731438852,0.99999992114,0.000157310750014,-0.000363202234597,3.2506493512e-05,1793250734436332032
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,722.874153968,686,669.125846032,642,886,786.874153968,819,656,632,655.125846032,0.40377833903,0.00453265825447,0.0597585866385,0.999999912405,0.000159946343546,-0.000385511314643,3.14255190336e-05,1793250734452998144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,746,722.552910748,686,669.894178504,642,885.552910748,787,819,656,632,655.447089252,0.403488033229,0.00453033352241,0.0597692663735,0.999999920108,0.000163501826574,-0.000363454953695,3.08450517232e-05,1793250734469664512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.018982199,746.018982199,722,686,671,642,885.018982199,787,819,656,632,655.981017801,0.403217217821,0.00452781440161,0.0597871283123,0.999999931435,0.000167219752201,-0.000329000338364,3.04271416303e-05,1793250734486331136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.609693062,746.609693062,722,686,671,642,885.609693062,787,819,656,632,655.390306938,0.402980507745,0.00452750236087,0.0598101900016,0.999999942684,0.000168134897795,-0.000292263740307,3.07182829028e-05,1793250734502997760
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.803489175,746.803489175,722.196510825,686,670.803489175,642,885.803489175,787,819,656,632,655.196510825,0.402748958963,0.00452674209156,0.059828462719,0.999999950593,0.000166984172933,-0.000264526471724,3.0933856944e-05,1793250734519664384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.22425369,746.22425369,722.77574631,686,670.22425369,642,885.22425369,787,819,656,632,655.77574631,0.402527462351,0.00452510885189,0.0598374084275,0.99999995409,0.00016180995713,-0.000254316310343,3.10022562072e-05,1793250734536331264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746.353719898,722.646280102,685.646280102,670,642,885.353719898,787,819,656,632,655.646280102,0.402316032469,0.00452276063371,0.0598366849763,0.999999953541,0.000157925295762,-0.000258839442498,3.12985484072e-05,1793250734552997888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746.93089636,722.06910364,685.06910364,670,642,885.93089636,787,819,656,632,655.06910364,0.402110962052,0.0045199607398,0.0598298531979,0.999999950332,0.000154855288078,-0.000272670082671,3.17388081196e-05,1793250734569664768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.505357465,746.494642535,722,685,670,642,885.494642535,787,819,656,632,655.505357465,0.401940965342,0.00451905228322,0.0598276713815,0.999999948196,0.000153256355249,-0.000281249068776,3.19342082354e-05,1793250734586331392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.917934158,746,722.082065842,685.082065842,670.082065842,642,885.082065842,786.917934158,819,656,632,656,0.401780785237,0.00451851167184,0.0598267612383,0.999999946619,0.000152071322692,-0.000287420684656,3.2014695956e-05,1793250734602998016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.324934898,746,722.675065102,685.675065102,670.675065102,642,885.675065102,786.324934898,819,656,632,656,0.401652022086,0.00451865957185,0.0598298308491,0.999999947857,0.00015221749503,-0.00028305132632,3.15870962951e-05,1793250734619664640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746,722.738658224,685.738658224,670.738658224,642,886,786,819,656,632,656,0.401534701951,0.00451851171899,0.0598315646873,0.999999948935,0.000149986369616,-0.000280474696742,3.11109736388e-05,1793250734636331264
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19dc4dfa44b1997b3bab08bf80059af07eb4fd0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a442a2db6bc2f553e45db765371152da6a83235
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ffc6092819e623b38a18f69437cb00d8d6de1adfd2d7f14be4e8179c5233627
+size 25969474
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bae6df2a963e6d3fd7dfd3e61ea40a5fd078c22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+54,0.900000000,BASELINE,768,746.674692411,722,685,671,642,885.674692411,786,819,656,632,656,0.400966032962,0.00450990866365,0.0598430001745,0.999999956697,0.000125703678626,-0.000264674650285,2.7430245433e-05,1793250736246963968
+55,0.916666667,BASELINE,768,746.086449105,722,685,671,642,885.086449105,786,819,656,632,656,0.400965574064,0.00450966518521,0.0598427543173,0.999999956471,0.00012594092164,-0.00026541804014,2.73968713396e-05,1793250736263630080
+56,0.933333333,BASELINE,768,746,722.494694097,685,671,642,885.494694097,786.494694097,819,656,632,655.505305903,0.400965326933,0.00450902371554,0.059842711523,0.999999956646,0.000125044709359,-0.00026518517403,2.73664730676e-05,1793250736280296448
+57,0.950000000,BASELINE,768,746.074331191,722.925668809,685,671,642,886,786.925668809,819,656,632,655.074331191,0.400965228604,0.00450842866798,0.0598427744846,0.999999956877,0.000124067198355,-0.000264775634786,2.73321027543e-05,1793250736296963072
+58,0.966666667,BASELINE,768,746.652052118,722.347947882,685,671,642,886,786.347947882,819,656,632,655.652052118,0.400965890937,0.00450861234914,0.059843316734,0.999999957028,0.000123861541727,-0.000264308641584,2.72673608192e-05,1793250736313630208
+59,0.983333333,BASELINE,768,746.772199322,722,685,671,642,886,786.227800678,819,656,632,655.772199322,0.400965929866,0.00450894284086,0.0598433605423,0.999999956977,0.000124056230648,-0.000264412836058,2.72232470747e-05,1793250736330296832
+60,1.000000000,BASELINE,768,746.199437454,722,685,671,642,886,786.800562546,819,656,632,655.199437454,0.400965024768,0.00450949564955,0.0598426495557,0.999999956621,0.000124857167409,-0.000265381986533,2.72103708269e-05,1793250736346962944
+61,1.016666667,BASELINE,768,746,722.374404197,685,671,642,886,787,819,656,632,655.374404197,0.400964543124,0.00451044068351,0.059842146273,0.999999956475,0.000125948882583,-0.000265436779682,2.70288306481e-05,1793250736363629312
+62,1.033333333,BASELINE,768,746,722.948822656,685,671,642,886,787,819,656,632,655.948822656,0.400964287697,0.00451159525208,0.0598417539501,0.999999956439,0.000127195937392,-0.000265003104676,2.67571868017e-05,1793250736380295936
+63,1.050000000,BASELINE,768.541963038,746,723,685.541963038,671,642,886,787,819,656,632,655.458036962,0.400965244883,0.00451105427346,0.0598424380132,0.999999956684,0.000125594376149,-0.000264836104812,2.68214391891e-05,1793250736396962560
+64,1.066666667,BASELINE,768.867255751,746,723,685.867255751,671,642,886,787,819,656,632,655.132744249,0.400965752334,0.00451038504965,0.0598426955244,0.999999956809,0.000124136436727,-0.00026504696573,2.68677694356e-05,1793250736413629184
+65,1.083333333,BASELINE,768.290490942,746,723,685.290490942,671,642,886,787,819,656,632,655.709509058,0.400964358725,0.00450984157345,0.0598411740956,0.999999956449,0.000124090862451,-0.000266434499446,2.67442587435e-05,1793250736430296064
+66,1.100000000,BASELINE,768.285298361,746.285298361,723,685.285298361,671,642,885.714701639,787,819,656,632.285298361,656,0.400963849558,0.00450909135786,0.0598406217361,0.999999956379,0.000123930062077,-0.000266752825773,2.69371737058e-05,1793250736446962944
+67,1.116666667,BASELINE,768.860097751,746.860097751,723,685.860097751,671,642,885.139902249,787,819,656,632.860097751,656,0.400964237863,0.00450813135747,0.0598410527211,0.999999956604,0.000123652338238,-0.000265986194363,2.74511755279e-05,1793250736463629312
+68,1.133333333,BASELINE,769,746.551935886,723,685.551935886,671.448064114,642.448064114,885.448064114,786.551935886,819,656,632.551935886,656,0.400964693028,0.00450875416831,0.0598416173039,0.999999956721,0.000124408804517,-0.000265214465956,2.72507355359e-05,1793250736480295680
+69,1.150000000,BASELINE,768.960766194,746,722.960766194,685,671.960766194,642.960766194,885.960766194,786,819,656,632.039233806,656,0.400965213126,0.00450975496445,0.0598422545019,0.999999956832,0.000125319933082,-0.000264402634918,2.68805614471e-05,1793250736496962560
+70,1.166666667,BASELINE,768.383747873,746,722.383747873,685,671.383747873,642.383747873,885.383747873,786,819,656,632.616252127,656,0.400966328441,0.00450895751664,0.0598432979531,0.999999957363,0.000123790816862,-0.000263063586116,2.73341202816e-05,1793250736513629184
+71,1.183333333,BASELINE,768,746.192809339,722.192809339,685.192809339,671,642,885.192809339,786.192809339,819,656,632.807190661,656,0.400966444308,0.00450906168596,0.0598434276409,0.999999957285,0.000124202545846,-0.000263149477007,2.75069675382e-05,1793250736530296064
+72,1.200000000,BASELINE,768,746.7684511,722.7684511,685.7684511,671,642,885.7684511,786.7684511,819,656,632.2315489,656,0.400964575725,0.00451095606026,0.0598417430068,0.999999955985,0.000128467918132,-0.000266064655474,2.71224482364e-05,1793250736546963200
+73,1.216666667,BASELINE,768,746.648671914,722.648671914,685.648671914,671,642,886,786.648671914,819,656,632,655.648671914,0.40096494513,0.00451127914354,0.0598420955127,0.999999956118,0.000128652462958,-0.00026550039365,2.68591760394e-05,1793250736563629824
+74,1.233333333,BASELINE,768,746.060926194,722.060926194,685.060926194,671,642,886,786.060926194,819,656,632,655.060926194,0.400966820534,0.0045105448649,0.0598438188622,0.999999957217,0.000126090914605,-0.000262594727496,2.6677494136e-05,1793250736580296192
+75,1.250000000,BASELINE,768,746.519118639,722,685,671,642,886,786,819,656,632,655,0.400965660245,0.00451095600048,0.0598425769805,0.999999956921,0.000125534145183,-0.000263988415023,2.66440222032e-05,1793250736596963072
+76,1.266666667,BASELINE,768,746.902392482,722.097607518,685,671,642,886,786,819,656,632,655.097607518,0.400964554708,0.00451131835859,0.0598415431057,0.999999956628,0.000125296117194,-0.000265204676613,2.66530004769e-05,1793250736613629952
+77,1.283333333,BASELINE,768,746.327159414,722.672840586,685,671,642,886,786,819,656,632,655.672840586,0.400965435021,0.00451079383256,0.0598432051271,0.999999957152,0.000125483273337,-0.000263119692762,2.67858281821e-05,1793250736630296320
+78,1.300000000,BASELINE,767.751413563,746,722.751413563,685,671,642,886,786,819,656,632,655.751413563,0.400966061925,0.00451044665857,0.0598442211655,0.999999957436,0.000125506461934,-0.000262014335382,2.69216672331e-05,1793250736646962944
+79,1.316666667,BASELINE,767.174991498,746,722.174991498,685,671,642,886,786,819,656,632,655.174991498,0.400966354636,0.00451033337639,0.0598443852818,0.999999957407,0.000125313410226,-0.000262200908902,2.70614776343e-05,1793250736663629312
+80,1.333333333,BASELINE,767.820300493,746,722.410150247,685.410150247,671,642,886,786.410150247,819.410150247,656,632,655.410150247,0.400966542948,0.00450926648636,0.0598440657297,0.999999957606,0.000123695716038,-0.000262225245603,2.69185169987e-05,1793250736680296192
+81,1.350000000,BASELINE,768.998186244,746,722.999093122,685.999093122,671,642,886,786.999093122,819.999093122,656,632,655.999093122,0.40096668575,0.00450778389973,0.0598435353369,0.9999999579,0.000121456991914,-0.000262178860072,2.66522908703e-05,1793250736696962816
+82,1.366666667,BASELINE,768.421853918,746,723,685.421853918,671,642.578146082,886,787,819.421853918,656,632,655.421853918,0.40096650291,0.00450969821683,0.0598430748968,0.99999995731,0.000124916281943,-0.0002628097483,2.65786280783e-05,1793250736713629184
+83,1.383333333,BASELINE,768,746.156290133,723,685,671.156290133,642.843709867,886,786.843709867,819,656,632,655,0.40096646122,0.00451100033015,0.0598428458024,0.999999956956,0.000127133338223,-0.000263089631137,2.66151790354e-05,1793250736730295808
+84,1.400000000,BASELINE,768,746.732035895,723,685,671.732035895,642.267964105,886,786.267964105,819,656,632,655,0.400966799701,0.00451064533517,0.05984323731,0.999999957266,0.000125992870921,-0.000262424673235,2.6946727549e-05,1793250736746962944
+85,1.416666667,BASELINE,768,747,723,685.306871747,671.693128253,642,886,786.306871747,819,656,632,655.306871747,0.40096654179,0.00451083699989,0.059842918769,0.999999957131,0.000126021558149,-0.000262921085799,2.6995409111e-05,1793250736763629568
+86,1.433333333,BASELINE,768,747,723,685.880915369,671.119084631,642,886,786.880915369,819,656,632,655.880915369,0.400965764642,0.0045115046032,0.0598419820381,0.999999956607,0.000127068146938,-0.000264428622853,2.67978180823e-05,1793250736780296448
+87,1.450000000,BASELINE,768.471464002,746.528535998,722.528535998,685.528535998,671.471464002,642,886,787,819,656,632,656,0.400966499272,0.00451032103112,0.0598426037391,0.999999957138,0.000124601189399,-0.000263596113292,2.67382145131e-05,1793250736796962816
+88,1.466666667,BASELINE,769,746.064225147,722,685,671.935774853,642,886,786.935774853,819,656,632,656,0.400967533453,0.0045087936459,0.0598435610263,0.999999957846,0.000121708514113,-0.000262254773338,2.67858078839e-05,1793250736813629440
+89,1.483333333,BASELINE,769,746.640192741,722,685,671.359807259,642,886,786.359807259,819,656,632,656,0.40096780149,0.00450838757689,0.0598439419885,0.999999957837,0.000122751574597,-0.000261739488161,2.73997547551e-05,1793250736830295808
+90,1.500000000,BASELINE,768.784859851,746.784859851,722.215140149,685,671,642,886,786.215140149,819,656,632,655.784859851,0.400968111899,0.00450845884088,0.0598443501815,0.999999957987,0.000123453560877,-0.000260813947665,2.75938340803e-05,1793250736846962688
+91,1.516666667,BASELINE,768.211610642,746.211610642,722.788389358,685,671,642,886,786.788389358,819,656,632,655.211610642,0.400968492838,0.00450932464406,0.0598448037013,0.999999958402,0.000123587815908,-0.00025920552145,2.70890276489e-05,1793250736863629312
+92,1.533333333,BASELINE,768,746.372889023,723,685.372889023,671,642,886,787,819,656,632,655,0.400968911069,0.0045090129335,0.0598453183405,0.999999958647,0.000122809293038,-0.000258651545886,2.68947592037e-05,1793250736880295936
+93,1.550000000,BASELINE,768,746.963971881,723,685.963971881,671,642,886,787,819,656,632,655,0.400969351121,0.00450801220772,0.0598458687434,0.999999958791,0.000121496663521,-0.00025871457581,2.68822002001e-05,1793250736896963072
+94,1.566666667,BASELINE,768,746.456441106,723,686,671,642,886.543558894,786.456441106,819,656,632,655.543558894,0.400969480372,0.00450895723188,0.0598460539071,0.999999958704,0.000122600464795,-0.000258515610634,2.70215933059e-05,1793250736913629952
+95,1.583333333,BASELINE,768.121912055,746,722.878087945,685.878087945,671,642,886.878087945,786.121912055,819,656,632.121912055,655.878087945,0.400969370107,0.00450967764768,0.059845896697,0.999999958485,0.00012396394709,-0.000258693725657,2.71983560999e-05,1793250736930296320
+96,1.600000000,BASELINE,768.698446819,746,722.301553181,685.301553181,671,642,886.301553181,786.698446819,819,656,632.698446819,655.301553181,0.400968441893,0.00450908950152,0.0598445511462,0.999999957832,0.000125710903213,-0.000260341428486,2.74776939373e-05,1793250736946962944
+97,1.616666667,BASELINE,769,746,722.271245749,685.271245749,671,642,886,787,819,656.271245749,632.728754251,655.271245749,0.400967190482,0.00450934916798,0.0598436667996,0.999999957386,0.000126222003782,-0.00026180792619,2.74350172854e-05,1793250736963629312
+98,1.633333333,BASELINE,769,746,722.839947816,685.839947816,671,642,886,787,819,656.839947816,632.160052184,655.839947816,0.400965584643,0.00451053857152,0.0598432882237,0.99999995717,0.000125377827551,-0.000263075708756,2.70392097575e-05,1793250736980295936
+99,1.650000000,BASELINE,768.571749425,746,723,685.571749425,671,642,886,787,819,656.571749425,632,655.571749425,0.400965454935,0.00451061569686,0.0598431204019,0.999999957185,0.000124947474622,-0.000263235460848,2.69274987461e-05,1793250736996962560
+100,1.666666667,BASELINE,768,746.023600868,723,685,671,642,886,787,819,656,632,655,0.400965879388,0.0045102564385,0.0598430337649,0.999999957284,0.000124682805263,-0.000262985435818,2.69281978007e-05,1793250737013629184
+101,1.683333333,BASELINE,768,746.604102309,723,685,671,642,886,787,819,656,632,655,0.400965737915,0.00450987953374,0.0598429150475,0.999999957221,0.00012450320533,-0.000263306332995,2.69558103725e-05,1793250737030296320
+102,1.700000000,BASELINE,768,747,723,685.182376573,671,642,885.817623427,786.817623427,819,656,632,655.182376573,0.400965550928,0.00450990388551,0.0598428578182,0.999999957145,0.000124719594648,-0.000263488403217,2.70094800721e-05,1793250737046963200
+103,1.716666667,BASELINE,768,747,723,685.755874401,671,642,885.244125599,786.244125599,819,656,632,655.755874401,0.400965266336,0.00451078876429,0.0598429324552,0.999999957039,0.000125785214845,-0.000263372747806,2.71190313781e-05,1793250737063630336
+104,1.733333333,BASELINE,768,747,723,686,671,642.3292748,885.3292748,786,819,656,632.3292748,656,0.400965109302,0.00451120109658,0.0598429643593,0.999999956941,0.000125867919258,-0.000263716302912,2.70117226669e-05,1793250737080296960
+105,1.750000000,BASELINE,768,747,723,686,671,642.902603045,885.902603045,786,819,656,632.902603045,656,0.400965046813,0.00451126318474,0.0598429645906,0.999999956848,0.000125222101636,-0.000264400217819,2.67436806392e-05,1793250737096963328
+106,1.766666667,BASELINE,768.494622279,747,722.505377721,686,671,642.505377721,886,786.494622279,819,656,632.505377721,656,0.400966073821,0.00451089039785,0.0598433183913,0.999999957125,0.000125587326016,-0.00026317485766,2.67825603565e-05,1793250737113629696
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642,886,787,819,656,632,656,0.400963755678,0.00451228187596,0.0598423684396,0.999999956433,0.000127787074074,-0.000264778838832,2.64116956665e-05,1793250737156708096
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.426111804,746.426111804,723,686,671,642,886,787,819,656,632,655.426111804,0.400964848715,0.0045109080756,0.0598426458773,0.999999956739,0.000126871655093,-0.000264036467265,2.66462344645e-05,1793250737173375488
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746.15198182,723,686,671,642,886,787,818.84801818,656,632,655,0.400965354759,0.00450985525598,0.059842742616,0.999999956929,0.000125962468472,-0.000263729446135,2.68692464852e-05,1793250737190042368
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746.742201897,723,686,671,642,886,787,818.257798103,656,632,655,0.400964168212,0.0045097279812,0.0598423183112,0.999999956785,0.000125071252594,-0.000264677754026,2.70590211985e-05,1793250737206708736
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,747,723,685.673963969,671,642,886,787,818.326036031,656,632,655.326036031,0.400965081117,0.00450907422102,0.0598430724786,0.999999957203,0.000123763087265,-0.000263686677246,2.73036724357e-05,1793250737223375104
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,747,723,685.095082262,671,642,886,787,818.904917738,656,632,655.904917738,0.400967622178,0.00450801216378,0.0598447405683,0.999999958051,0.000122131571637,-0.000261191579441,2.75908812024e-05,1793250737240041472
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,747,723,685,671,642,886.480949545,787,819,656,632.480949545,656,0.400967517591,0.00450898714088,0.0598444495525,0.999999957918,0.000122139156679,-0.000261744344534,2.71197088168e-05,1793250737256708096
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.056423901,747,722.943576099,685,671.056423901,642,886.943576099,787,819,656,632.943576099,656,0.40096696322,0.00451023763315,0.0598438373168,0.999999957602,0.000122618854845,-0.000262783943967,2.65734560138e-05,1793250737273374464
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.631922633,747,722.368077367,685,671.631922633,642,886.368077367,787,819,656,632.368077367,656,0.400967054397,0.00451033976278,0.0598438120858,0.999999957366,0.000124478272529,-0.000262791634393,2.67076579418e-05,1793250737290041088
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,722.212858215,685,671.787141785,642,886,787,819,656,632,656,0.400970143397,0.00450972652636,0.0598451683737,0.999999957868,0.000124650158413,-0.000260770185244,2.69343545806e-05,1793250737306707968
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,722.803441639,685,671.196558361,642,886,787,819,656,632,656,0.400978552152,0.00450784384497,0.0598489762207,0.999999959655,0.000121827453071,-0.000255147948737,2.73251866784e-05,1793250737323375104
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.61482933,746.61482933,722.61482933,685,671,642,886,787,819,656,632,655.61482933,0.401005341532,0.00450802608595,0.0598594136966,0.999999964396,0.000121358904396,-0.000236081980114,2.73002368727e-05,1793250737340041984
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.037517238,746.037517238,722.037517238,685,671,642,886,787,819,656,632,655.037517238,0.401041300042,0.00450923840813,0.0598731583465,0.999999970069,0.000122064720548,-0.000210309638819,2.70678753278e-05,1793250737356708352
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,722,685,671,642,886,787,819,656,632,655.538054706,0.401099838136,0.00450971686758,0.0598902362798,0.99999997561,0.000121366621265,-0.000182544610563,2.69697905666e-05,1793250737373374976
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.115868255,746.115868255,722,685,671,642.115868255,886,787,819,656,632,656,0.401163486235,0.00450991735351,0.0599068982557,0.999999980173,0.000120827148442,-0.00015598333698,2.6920326701e-05,1793250737390041344
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.703297083,746.703297083,722,685,671,642.703297083,886,787,819,656,632,656,0.401241544133,0.00450919412519,0.059920924513,0.999999983177,0.000121330368375,-0.000134884751708,2.70307583279e-05,1793250737406707968
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.71336221,746.71336221,722,685.28663779,671,642.71336221,886,787,819,656,632,656,0.401326065765,0.00450814233916,0.0599307070144,0.999999985304,0.000120361601375,-0.000119070229153,2.69625214824e-05,1793250737423374592
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.134193707,746.134193707,722,685.865806293,671,642.134193707,886,787,819,656,632,656,0.401417184013,0.00450675524071,0.0599361585127,0.999999986792,0.000117890585183,-0.000108648404506,2.67119429586e-05,1793250737440040960
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746.440000333,722.440000333,685.559999667,671,642,886,787,819,656,632,656,0.401524311915,0.0045068692163,0.0599390450379,0.99999998782,0.000114494585505,-0.000102927235654,2.56356040188e-05,1793250737456707584
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746.987160531,722.987160531,685.012839469,671,642,886,787,819,656,632,655.987160531,0.401636841323,0.00450741373573,0.059941158032,0.999999988699,0.000110876185615,-9.85798018674e-05,2.43166910428e-05,1793250737473374464
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746.407912155,722.407912155,685.592087845,671,642,886,787,819,656,632,655.407912155,0.401774665192,0.00450698137933,0.059943271172,0.999999989447,0.000109752581298,-9.2297064559e-05,2.32825577199e-05,1793250737490041088
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746.175132489,722.175132489,686,671,642,886,787,819,656,632,655.175132489,0.401921479549,0.00450658010007,0.0599447189659,0.999999990253,0.000107439504609,-8.6427588506e-05,2.19262127096e-05,1793250737506708224
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746.767215091,722.767215091,686,671,642,886,787,819,656,632,655.767215091,0.402089698168,0.00450625280839,0.0599445827238,0.999999991247,0.000102294568353,-8.15419932118e-05,1.980275604e-05,1793250737523375104
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.351371254,747,723,685.648628746,671,642,886,787,819,656,632,656,0.402279964007,0.00450695690408,0.0599459499162,0.999999992101,9.98898038686e-05,-7.42172966532e-05,1.76699832951e-05,1793250737540041472
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.930392024,747,723,685.069607976,671,642,886,787,819,656,632,656,0.402484514011,0.00450832922411,0.0599482911669,0.99999999282,9.9260365587e-05,-6.53123331151e-05,1.55311745584e-05,1793250737556708096
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.494574582,746.494574582,723,685.505425418,671,642,886,786.494574582,819,656,632,656,0.402717369564,0.00450684668326,0.0599480290422,0.999999993718,9.34432531047e-05,-6.04821011847e-05,1.31723015854e-05,1793250737573374720
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886,786,819,656,632,656,0.402958680326,0.00450536360919,0.0599476529026,0.999999994572,8.71764696671e-05,-5.60412822935e-05,1.07117516407e-05,1793250737590040832
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886,786,819,656,632,656,0.403228382109,0.004506291491,0.0599487727266,0.999999995287,8.25137772595e-05,-5.05646179929e-05,7.80803871915e-06,1793250737606707712
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.251634483,746,723,686,671,642.251634483,886.251634483,786.251634483,819,656,632.251634483,655.748365517,0.403516475387,0.00450630491455,0.05994712259,0.999999995698,7.70179238037e-05,-5.14438981113e-05,5.05572308648e-06,1793250737623374592
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.830653206,746,723,686,671,642.830653206,886.830653206,786.830653206,819,656,632.830653206,655.169346794,0.403828496553,0.00450512859956,0.0599418686488,0.99999999568,7.04381023499e-05,-6.05924586947e-05,2.5003801802e-06,1793250737640041728
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.591371033,746,723,686,671.408628967,643,886.591371033,787,819,656,632.591371033,655.408628967,0.404152715015,0.00450566044287,0.0599293517077,0.999999994503,6.55536025776e-05,-8.18240601733e-05,-7.98790688937e-07,1793250737656708352
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.013826418,746,723,686,671.986173582,643,886.013826418,787,819,656,632.013826418,655.986173582,0.404481975486,0.00450689839049,0.0599138324481,0.99999999227,6.13699009268e-05,-0.000108050448467,-4.40543891964e-06,1793250737673374976
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.561116201,746.561116201,723,686,671.438883799,642.438883799,886,787,819,656,632.561116201,656,0.404857238547,0.00450544106507,0.0599029338686,0.999999990425,5.2863594423e-05,-0.000127642078901,-7.95101569294e-06,1793250737690041856
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,723,686.140137838,671,642.140137838,886,787,819,656,632.859862162,656,0.405249468401,0.00450425092858,0.0598966049679,0.99999998919,4.39472068607e-05,-0.000139833852246,-1.16050352578e-05,1793250737706708480
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,723,686.732529146,671,642.732529146,886,787,819,656,632.267470854,656,0.405692812192,0.004504136408,0.0599046576114,0.99999999102,3.40495580585e-05,-0.000128669938568,-1.56138552621e-05,1793250737723375104
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.683222958,747,723,687,671,643,886.316777042,787,819,656,632,656,0.406188178251,0.00450324886086,0.0599267136596,0.999999995245,2.40679120571e-05,-9.25303156293e-05,-1.92002272548e-05,1793250737740041472
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.105678563,747,723,687,671,643,886.894321437,787,819,656,632,656,0.406726368514,0.0045017249668,0.0599602971564,0.999999999008,1.40171193466e-05,-3.58309638899e-05,-2.24388451145e-05,1793250737756707840
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.470874001,746.529125999,723,687,671,642.529125999,887,787,819,656,632,656,0.407275218851,0.0045008245484,0.0599865985308,0.999999999634,6.34415277826e-06,4.55318423416e-06,-2.58975892811e-05,1793250737773374208
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,687.046871239,671,642.046871239,887,787,819,656,632,656,0.407824857701,0.00449997305598,0.060008429345,0.999999998936,-9.43965447991e-07,3.55999719758e-05,-2.93374543408e-05,1793250737790041088
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,687.619134018,671,642.619134018,887,787,819,656,632,656,0.40835657444,0.00449810480579,0.0599984296667,0.999999999434,-9.88755010817e-06,2.93984300369e-06,-3.20130937871e-05,1793250737806707712
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.198525589,723,688.198525589,671,642.801474411,887.198525589,787,819,656.198525589,632,656,0.408906175274,0.004497074076,0.0599883555617,0.999999998866,-1.82745247288e-05,-2.63554835515e-05,-3.52009562377e-05,1793250737823374336
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.792102916,723,688.792102916,671,642.207897084,887.792102916,787,819,656.792102916,632,656,0.40949136415,0.00449770995204,0.0599781333537,0.999999997699,-2.55538846208e-05,-4.89550917622e-05,-3.9408105754e-05,1793250737840040960
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.627069903,747,723,689,671,642.372930097,888,787,819,656.627069903,632,655.627069903,0.410143775744,0.00449662924937,0.0599808973695,0.999999997904,-2.96597204601e-05,-3.87449893011e-05,-4.2545748566e-05,1793250737856707840
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.05311558,747,723,689,671,642.94688442,888,787,819,656.05311558,632,655.05311558,0.41083242305,0.00449462324214,0.0599906614791,0.99999999841,-3.20548997592e-05,-1.08491408303e-05,-4.51068843675e-05,1793250737873374464
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.524467115,746.475532885,723,689,671,642.475532885,887.475532885,787.524467115,819,656,632,655,0.411528143667,0.00449816156401,0.0599932204053,0.999999999241,1.27704217268e-05,-2.21254248748e-06,-3.67531557444e-05,1793250737890041088
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722.895611928,689.104388072,671,642,887,787.895611928,819,656,632,655.104388072,0.412216964811,0.00450178713359,0.0599895284852,0.999999998148,5.26329302121e-05,-7.47309735248e-06,-2.96371854e-05,1793250737906707456
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722.306552674,689.693447326,671,642,887,787.306552674,819,656,632,655.693447326,0.412870402483,0.00450319258126,0.0599602256578,0.999999996011,4.70945590522e-05,-6.81386361446e-05,-3.34362273436e-05,1793250737923374080
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722.277636242,690,671,642,887.277636242,787.277636242,819.277636242,656,632.277636242,656,0.413561169122,0.00450158938029,0.0599323700547,0.99999999109,4.08351321025e-05,-0.000121705667348,-3.65977876376e-05,1793250737940040704
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722.856540342,690,671,642,887.856540342,787.856540342,819.856540342,656,632.856540342,656,0.414292442146,0.00449672144314,0.0599060848561,0.999999984626,3.3793274499e-05,-0.00016756999358,-3.90676061561e-05,1793250737956707328
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.435087713,723,690.435087713,671.435087713,642.435087713,888,787.564912287,820,656,632.564912287,656,0.415147597415,0.00448354821456,0.0599400910682,0.999999993701,2.34264268688e-05,-0.000103239007059,-3.72820205473e-05,1793250737973374208
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691.013354283,672.013354283,643,888.013354283,787.013354283,820.013354283,656,632,656,0.416041981438,0.00446785613292,0.0599932535127,0.999999999335,1.22067499419e-05,-4.17510737973e-06,-3.41248751996e-05,1793250737990040832
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691.584798886,672.584798886,643,888.584798886,787.584798886,820.584798886,656,632,656,0.416870130561,0.00446124825399,0.0600168648908,0.999999998992,1.11258950397e-05,2.92117008699e-05,-3.22384957969e-05,1793250738006707712
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.838437054,723,692,672.515311163,643,889,787.838437054,821,656,632,656,0.417694794178,0.00445799913379,0.0600285525114,0.999999998351,1.3380763053e-05,4.5990799585e-05,-3.16693707375e-05,1793250738023374336
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.247537117,723,692,670.742611351,643,889,787.247537117,821,656,632,656,0.418510195371,0.00446367557154,0.0600085539658,0.999999998928,2.44999733923e-05,1.86366080482e-05,-3.46007144538e-05,1793250738040041216
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.336505136,723,692.336505136,670.673010272,643,889.336505136,787.336505136,821.336505136,656,632,656,0.419350147193,0.00446302486256,0.059986440634,0.99999999882,2.79608421509e-05,-1.66242139956e-05,-3.60798131241e-05,1793250738056707584
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.915603523,723,692.915603523,671.831207046,643,889.915603523,787.915603523,821.915603523,656,632,656,0.420207798018,0.00445781278731,0.0599628027118,0.99999999734,2.59006595214e-05,-5.7585082148e-05,-3.65119592756e-05,1793250738073373952
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.50727569,747,723,693,671.014551381,643,890,787.50727569,822,656,632,656,0.421048455352,0.00446241403797,0.0599219781137,0.99999999018,-3.78956080911e-05,-0.000129301750008,-3.85431516591e-05,1793250738090040832
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.069046565,747,723,693,670,643,890.069046565,787,822.069046565,656,632,656,0.421894326308,0.00446749341852,0.0598837869179,0.999999974686,-0.000102616151673,-0.000196084445909,-4.06023617481e-05,1793250738106707456
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.64200299,747,723,693,670,643,890.64200299,787,822.64200299,656,632,656,0.422799404418,0.0044638440293,0.0598862131229,0.999999976661,-9.72167859527e-05,-0.000188565486113,-4.08751357398e-05,1793250738123374080
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693.221603362,670.443206725,643,891,787.221603362,823,656,632,656,0.423734271797,0.00446024037824,0.0599151452671,0.999999985013,-9.35766658852e-05,-0.000139802855937,-4.09079478366e-05,1793250738140040704
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693.81226877,671.62453754,643,891,787.81226877,823,656,632,656,0.424718750882,0.00445671289972,0.059988220858,0.999999994616,-9.28664219959e-05,-2.23523059928e-05,-4.05411229322e-05,1793250738156707584
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.395749849,747,722.604250151,693.604250151,671.604250151,643,891.395749849,787.604250151,823.395749849,656,632.395749849,656,0.425685671575,0.00445691098256,0.0600244862348,0.999999994615,-8.72943142375e-05,3.76481352526e-05,-4.16177122199e-05,1793250738173373952
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.97588364,747,722.02411636,693.02411636,671.02411636,643,891.97588364,787.02411636,823.97588364,656,632.97588364,656,0.426644411573,0.00445884484312,0.0600436013484,0.999999993391,-7.9457014241e-05,7.08819705616e-05,-4.33668032385e-05,1793250738190040832
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.902186771,747,722.548906615,693,670.451093385,643,892,787,824,656,632.451093385,656,0.427587284335,0.00445513734677,0.0600234018122,0.999999994574,-7.92764545876e-05,5.01859784921e-05,-4.52600047591e-05,1793250738206707712
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.125592804,747,723,693.125592804,670.125592804,643,892,787,824,656,632,656,0.42851081744,0.00445246163531,0.0599994369261,0.999999995745,-7.65674190188e-05,2.12634881027e-05,-4.68531452658e-05,1793250738223374336
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.717009773,747,723,693.717009773,670.717009773,643,892,787,824,656,632,656,0.429365172233,0.00445452035461,0.0599678309728,0.999999996446,-6.3248501552e-05,-2.94953111023e-05,-4.73101749329e-05,1793250738240040960
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.698118926,746.698118926,722.698118926,694.301881074,670.698118926,643,892,787,824,655.698118926,632,656,0.430235472584,0.0044557925563,0.0599395625034,0.999999994394,-5.32754654859e-05,-7.7877366867e-05,-4.80435964476e-05,1793250738256707840
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.11925349,746.11925349,722.11925349,694.88074651,670.11925349,643,892,787,824,655.11925349,632,656,0.431120403386,0.0044563431059,0.0599143562709,0.999999990025,-4.63723703055e-05,-0.000124078690958,-4.90306152266e-05,1793250738273374208
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746.456179705,722,694.543820295,670.456179705,643,892,787,824,655.456179705,632,656,0.432097965291,0.0044526629037,0.0599522178908,0.999999996054,-5.00439227557e-05,-5.33811472203e-05,-5.03886624885e-05,1793250738290040832
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.03132079,747,722.03132079,694,671,643,892.03132079,787,824.03132079,656,632,656,0.433094359554,0.00444812728646,0.0600038434528,0.999999996225,-5.55897318506e-05,4.22467351544e-05,-5.17173867064e-05,1793250738306707456
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.617054139,747,722.617054139,694,671,643,892.617054139,787,824.617054139,656,632,656,0.433998667315,0.00444788099862,0.0600094461426,0.999999996769,-4.57444182947e-05,4.22726452049e-05,-5.08229965251e-05,1793250738323374336
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694.200798211,670.799201789,643,893.200798211,787,825,656,632,656,0.434892186576,0.00444577465729,0.0600029383454,0.999999997489,-4.26345949114e-05,2.52941253762e-05,-5.06325972929e-05,1793250738340041216
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694.780785814,670.219214186,643,893.780785814,787,825,656,632,656,0.435765332878,0.00444015577193,0.0599735609819,0.999999997012,-5.22441381217e-05,-2.37957333837e-05,-5.17716215188e-05,1793250738356707584
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.63970998,694.63970998,670,643,894,787,825.36029002,656,632,656,0.436611525223,0.00443935826579,0.0599490279904,0.999999995057,-5.1983939324e-05,-6.59314189827e-05,-5.32545466136e-05,1793250738373374208
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.06049953,694.06049953,670,643,894,787,825.93950047,656,632,656,0.437441339677,0.00444149033992,0.0599274385517,0.999999992053,-4.57266597243e-05,-0.000103841587474,-5.4946433638e-05,1793250738390041088
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.514890681,747,722.514890681,694.514890681,670,643,894,787,826,656,632,656,0.438242726067,0.00444053643112,0.0599035951333,0.999999985454,-3.99623851013e-05,-0.000156828441404,-5.38583661177e-05,1793250738406707712
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.907815932,747,723,695,670.092184068,643,894.092184068,787,826,656,632,656,0.439056558635,0.0044386168955,0.0598905339963,0.999999979937,-3.58590039629e-05,-0.000189899198031,-5.271380698e-05,1793250738423374080
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.317839356,747,723,695,670.682160644,643,894.682160644,787,826,656,632,656,0.439955505031,0.00443342661592,0.0599371166196,0.999999992168,-4.04139156118e-05,-0.000105927688324,-5.30150762153e-05,1793250738440040704
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694.733522752,670.733522752,643,895,787,826.266477248,656,632.266477248,656,0.440807359272,0.00443219740255,0.0599711223311,0.999999996572,-3.97957998774e-05,-4.92530022938e-05,-5.33579939267e-05,1793250738456707584
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694.155816683,670.155816683,643,895,787,826.844183317,656,632.844183317,656,0.441604212745,0.00443559446805,0.0599904389902,0.999999997707,-3.31359104375e-05,-2.44593117658e-05,-5.37495547531e-05,1793250738473374720
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,694,669.580350361,643,895.419649639,786.580350361,826.580350361,656,632.580350361,656,0.442318021675,0.00443894007882,0.0599553314445,0.999999995001,-2.63272468679e-05,-7.93228628729e-05,-5.48958072069e-05,1793250738490041088
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,694,669.005711201,643,895.994288799,786.005711201,826.005711201,656,632.005711201,656,0.443001159766,0.00444226668605,0.0599001233672,0.999999984841,-1.94636357294e-05,-0.000163606281477,-5.63207901979e-05,1793250738506707712
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.580659404,668.419340596,642.419340596,895.419340596,786,826.580659404,656.580659404,632,656,0.443682302368,0.00444562632091,0.059861854327,0.999999974496,-1.45142235305e-05,-0.000218140647984,-5.66795708466e-05,1793250738523374336
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668,642,895,786,827,656.834770759,632,656,0.444358146692,0.00444949063328,0.0598330963063,0.999999964101,-2.93971741167e-05,-0.000260181572705,-5.69121818201e-05,1793250738540041216
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668,642,895,786,827,656.25501402,632,656,0.445020749082,0.00445462025066,0.0598277729405,0.999999957076,-9.39873923522e-05,-0.000271628154774,-5.68551102676e-05,1793250738556708096
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.67552608,747.32447392,723,695,667.67552608,641.67552608,895.32447392,786,827,656,632,656,0.445642098861,0.00446344195469,0.0598097353255,0.999999944725,-0.000111327471852,-0.000308233174387,-5.61103003596e-05,1793250738573374720
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.096249258,747.903750742,723,695,667.096249258,641.096249258,895.903750742,786,827,656,632,656,0.446231053746,0.00447516298049,0.0597817134643,0.999999927841,-9.15629550633e-05,-0.000364594612807,-5.48254232108e-05,1793250738590041344
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.520537088,723,695,667,641,896,786,827,656,632,656,0.446814863769,0.00450252145506,0.0597640807653,0.999999921965,-5.75167672888e-05,-0.000386589898577,-5.75255406068e-05,1793250738606707712
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,723,695,666.945336128,640.945336128,896,786,827,656,632,656,0.447398409474,0.00453187571481,0.0597519666753,0.999999919029,-2.24337030944e-05,-0.00039709155943,-6.12978957916e-05,1793250738623374592
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,723,695,666.368232347,640.368232347,896,786,827,656,632,656,0.447989226986,0.00455052414574,0.0597728104056,0.999999931741,-4.63909942215e-06,-0.00036319240892,-6.77288867282e-05,1793250738640040960
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.213166878,747.213166878,723,694.786833122,666,640,896.213166878,785.786833122,827,656,632,656,0.448545515764,0.00456799096519,0.0597821675192,0.999999936746,1.29838288516e-05,-0.000347834725809,-7.31421343338e-05,1793250738656707584
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.802138745,747.802138745,723,694.197861255,666,640,896.802138745,785.197861255,827,656,632,656,0.449040931651,0.00458337464715,0.059771274168,0.999999929922,3.03040981235e-05,-0.00036516493922,-7.67611391169e-05,1793250738673374464
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.615561341,723,694.384438659,665.615561341,639.615561341,896.615561341,785.384438659,827,655.615561341,632,656,0.449489499925,0.00458505952755,0.0597421270539,0.999999911665,3.27612572303e-05,-0.000411642497417,-7.84071854622e-05,1793250738690041088
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.03663669,723,694.96336331,665.03663669,639.03663669,896.03663669,785.96336331,827,655.03663669,632,656,0.44991436822,0.00457981423996,0.0597037454324,0.999999884691,2.7699229311e-05,-0.000472865582123,-7.90551200545e-05,1793250738706707712
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.882380436,723,695,664,639,896,785,827.882380436,656,632,656,0.450738781971,0.0045816421445,0.0596724305654,0.999999868757,2.76069200362e-05,-0.00050482616482,-8.29095250826e-05,1793250738740040960
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747.297188198,723,695,664,639,896,785,827.297188198,656,632,656,0.45113840628,0.00458231104415,0.059683373682,0.999999877768,3.09061853448e-05,-0.000486477926141,-8.27566065784e-05,1793250738756707584
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.716216523,747.283783477,723,695,663.716216523,638.716216523,896.283783477,785,827.283783477,656,632,656,0.451518948021,0.00458139778277,0.0596957039041,0.999999887282,3.98350933598e-05,-0.000466366427271,-7.96972015388e-05,1793250738773374208
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.139600034,747.860399966,723,695,663.139600034,638.139600034,896.860399966,785,827.860399966,656,632,656,0.451879798646,0.00457885190701,0.059709465464,0.999999897038,5.45731668252e-05,-0.000444435440802,-7.3638625375e-05,1793250738790040832
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.561493627,723,695,663,638,897,785,827.561493627,656,632,656,0.452204266307,0.00458316171173,0.0597158865912,0.999999901226,7.74870986243e-05,-0.000432190281254,-6.89591717925e-05,1793250738806707712
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.01701854,723,695,662.98298146,637.98298146,896.98298146,785,827.01701854,656,631.98298146,656.01701854,0.452515330645,0.00458945310558,0.0597196543354,0.999999902944,0.000102142196152,-0.000423640159703,-6.48753320052e-05,1793250738823374592
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.593225165,723,695,662.406774835,637.406774835,896.406774835,785,827.593225165,656,631.406774835,656.593225165,0.452767869521,0.00458889758823,0.0597132834265,0.999999898467,9.81940919137e-05,-0.000434837729439,-6.58866658272e-05,1793250738840041216
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.173927198,747.826072802,723,694.826072802,662,637.173927198,896.173927198,785,827.826072802,656,631.173927198,657,0.453007618897,0.0045879575438,0.0597044997144,0.999999892075,9.45393836116e-05,-0.000449922746045,-6.69412750264e-05,1793250738856708096
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.765421799,747.234578201,723,694.234578201,662,637.765421799,896.765421799,785,827.234578201,656,631.765421799,657,0.453216662986,0.00458609432026,0.0596899233042,0.999999880987,9.15890658727e-05,-0.000474340810212,-6.8099780342e-05,1793250738873374464
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768.233810151,747.233810151,723.766189849,695,660.766189849,637,897,784.233810151,828,656,632,656,0.454177020242,0.00459442131421,0.0596807582516,0.999999870792,9.59197084353e-05,-0.000493942551509,-7.2360999588e-05,1793250738973374464
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+229,3.816666667,POSE1_TO_POSE2_PRESS,768,748,723,694.210182875,659.210182875,636,897,784,828,656,631,656,0.454744519646,0.00460030920945,0.0596572319507,0.99999985538,0.000102239756067,-0.000522815308536,-7.3828855043e-05,1793250739190041344
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748,723,694.373154208,659.373154208,636,897,784,828,656,631,656.373154208,0.454747608273,0.00460060548923,0.0596550348751,0.999999853916,0.000102781782369,-0.000525511861724,-7.37575044221e-05,1793250739206707712
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,723,694.952455086,659.952455086,636,897,784,828,656,631,656.952455086,0.454749436285,0.00460042845794,0.0596527725338,0.99999985227,0.000103505514829,-0.000528557089179,-7.33041725069e-05,1793250739223374336
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,723,695,659.473738296,636,897,784,828,656,631,657,0.454751835787,0.00460227559668,0.0596536126556,0.999999852731,0.000106481907646,-0.000527080100171,-7.33916113769e-05,1793250739240040960
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,723,695,659.101919152,636,897,784,828,656,631.101919152,657,0.454753762833,0.00460360012993,0.0596542712063,0.999999853113,0.000108547939995,-0.000525923738553,-7.34568276903e-05,1793250739256707840
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,748,723,695,659.68871887,636,897,784,828,656,631.68871887,657,0.454753199062,0.00460157733706,0.0596527462246,0.999999852269,0.000105324707086,-0.000528216395083,-7.31862904196e-05,1793250739273374720
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.272544619,748,723,695,659.727455381,636,897,784.272544619,828,656,632,657,0.454752223733,0.00460182949512,0.0596516621764,0.999999851281,0.000104489837708,-0.000530237673367,-7.32658337389e-05,1793250739290041344
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.853010451,748,723,695,659.146989549,636,897,784.853010451,828,656,632,657,0.454750783424,0.00460465189499,0.059651076295,0.999999850139,0.000106353343687,-0.000531952348506,-7.3740898463e-05,1793250739306707712
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.568688882,747.568688882,723,695,659,636,897,784.568688882,828,656,631.568688882,656.568688882,0.454751812717,0.00460480631402,0.0596512192255,0.99999985018,0.000107222576981,-0.000531722207144,-7.3579895018e-05,1793250739323374336
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.008841788,723,695,659,636,897,784,828,656,631,656,0.454753649527,0.00460404780738,0.0596515902675,0.999999850613,0.000107728675232,-0.000530857400587,-7.32054772664e-05,1793250739340040704
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,747.584081283,723,695,659,636,897,784,828,656,631,656,0.454753570109,0.00460276226537,0.0596507425991,0.999999850369,0.000106570367047,-0.000531582023384,-7.29766706396e-05,1793250739356707328
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.16268024,748,723,695,659,636,897,784,828,656,631,656,0.454753674382,0.0046023644449,0.0596500555688,0.999999850099,0.000106395414243,-0.000532129074784,-7.29362005751e-05,1793250739373374208
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.750049286,748,723,695,659,636,897,784,828,656,631,656,0.454754258192,0.00460428408732,0.0596497878963,0.999999849765,0.000108787583515,-0.000532212562866,-7.33873970602e-05,1793250739390041088
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.666496983,747.666496983,723,695,659,636,897,784.333503017,828,656,631.333503017,656,0.454755412399,0.0046057868892,0.0596500386935,0.999999850075,0.000110115392792,-0.000531322589271,-7.36306837453e-05,1793250739406707968
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.08594364,747.08594364,723,695,659,636,897,784.91405636,828,656,631.91405636,656,0.454756989139,0.00460698090641,0.0596506735594,0.999999850863,0.000110654751881,-0.00052971150069,-7.37199562611e-05,1793250739423374592
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747.491607356,723,695,659,636,897,784.508392644,828,656,631.508392644,656,0.45475546437,0.0046052583271,0.0596501390708,0.999999850004,0.000109523806861,-0.000531623276789,-7.33048273077e-05,1793250739440041216
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,723,695,659,636,896.931879602,784.068120398,828,656,631,656,0.454753628994,0.00460337164112,0.0596493797449,0.999999848901,0.000108484613664,-0.000533972305817,-7.28232825935e-05,1793250739456708096
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,723,695,659,636,896.359190849,784.640809151,828,656,631,656,0.45475348473,0.00460402320978,0.0596484600616,0.999999848165,0.000110274785337,-0.000535025981991,-7.24989837631e-05,1793250739473374720
+247,4.116666667,HOLD_POSE2,768,747,723,695,659,636,897,784,827,656,631,656,0.454753957783,0.00460317219709,0.059648128146,0.999999848526,0.000107277555276,-0.000534994397534,-7.22575213219e-05,1793250739511908864
+248,4.133333333,HOLD_POSE2,768.577118243,747.577118243,723,695,659,636,897,784,827.577118243,656,631,656,0.454754664278,0.00460372342681,0.0596481219979,0.999999848388,0.000108782672454,-0.000534944315314,-7.22785443611e-05,1793250739528575488
+249,4.150000000,HOLD_POSE2,768.846449585,748,723,695,659,636,897,784,828,656,631,656.153550415,0.454755046512,0.00460421781442,0.059648013841,0.99999984821,0.000109857211631,-0.000535057248651,-7.22794338965e-05,1793250739545241856
+250,4.166666667,HOLD_POSE2,768.271898339,748,723,695,659,636,897,784,828,656,631,656.728101661,0.454754539699,0.00460455635384,0.0596476259988,0.999999847926,0.000109751202752,-0.000535617134113,-7.22251218807e-05,1793250739561908736
+251,4.183333333,HOLD_POSE2,768.310237637,748,723,695,659,636,897,784.310237637,828,656,631,656.689762363,0.454754090007,0.00460395636976,0.0596473157534,0.99999984767,0.000108481539062,-0.000536345457492,-7.22850143263e-05,1793250739578575360
+252,4.200000000,HOLD_POSE2,768.899187574,748,723,695,659,636,897,784.899187574,828,656,631,656.100812426,0.454753691632,0.00460251323185,0.0596470752197,0.999999847435,0.000106166467377,-0.000537225102638,-7.24475061513e-05,1793250739595241984
+253,4.216666667,HOLD_POSE2,769,747.520037901,723,695,659,636,897,785,827.520037901,656,631,656.479962099,0.454755196921,0.00460408004679,0.0596478315255,0.999999848194,0.000108646597431,-0.000535302390178,-7.25214465864e-05,1793250739611908608
+254,4.233333333,HOLD_POSE2,768.941358396,747,723,695,659,636,896.941358396,785,827.058641604,656,631,656.941358396,0.454756761009,0.00460592968989,0.0596485854236,0.999999848964,0.000111567342865,-0.000533247150313,-7.26068853181e-05,1793250739628575232
+255,4.250000000,HOLD_POSE2,768.366259745,747,723,695,659,636,896.366259745,785,827.633740255,656,631,656.366259745,0.45475538044,0.00460479550754,0.0596475050011,0.99999984815,0.000109646771213,-0.000535121848176,-7.29546525888e-05,1793250739645241856
+256,4.266666667,HOLD_POSE2,768.208555215,747,723,695,659,636,896.208555215,784.791444785,828,656,631.208555215,656,0.454755376349,0.00460446579635,0.0596472554411,0.999999848092,0.000108986163137,-0.000535339988895,-7.31323963769e-05,1793250739661908480
+257,4.283333333,HOLD_POSE2,768.782872581,747,723,695,659,636,896.782872581,784.217127419,828,656,631.782872581,656,0.45475778631,0.00460554695911,0.0596484630399,0.999999849366,0.000110535267387,-0.000532652875265,-7.30119545629e-05,1793250739678575104
+258,4.300000000,HOLD_POSE2,768.632474657,747,723,695,659,635.632474657,896.632474657,784.367525343,827.632474657,656,631.632474657,656,0.454757665476,0.00460473738411,0.0596485989879,0.999999849334,0.000110880175253,-0.00053272976182,-7.23659646207e-05,1793250739695241728
+259,4.316666667,HOLD_POSE2,768.041539193,747,723,695,659,635.041539193,896.041539193,784.958460807,827.041539193,656,631.041539193,656,0.454756006232,0.00460277847362,0.0596480835046,0.999999848509,0.000110493080251,-0.000534486819635,-7.14005061652e-05,1793250739711908864
+260,4.333333333,HOLD_POSE2,768.53745091,747,723,694.46254909,659.53745091,635.53745091,896,784.46254909,827.53745091,656,631.53745091,656,0.454756068569,0.00460366502465,0.0596480148767,0.999999848115,0.000108847821016,-0.000535508071957,-7.17891947812e-05,1793250739728575488
+261,4.350000000,HOLD_POSE2,769,747,723,694.114964452,659.885035548,635.885035548,896,784.114964452,828,656,632,656,0.454756501295,0.0046043027996,0.0596480920727,0.999999847957,0.000107733232041,-0.000535997471722,-7.20185247374e-05,1793250739745242112
+262,4.366666667,HOLD_POSE2,769,747,723,694.690182644,659.309817356,635.309817356,896,784.690182644,828,656,632,656,0.454757895743,0.00460308330509,0.0596486178056,0.999999848623,0.000109123991974,-0.000534580354955,-7.119997702e-05,1793250739761908480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,635,897,784,828,656,632,656,0.454755745779,0.00460432423527,0.0596465420791,0.99999984803,0.000106524545544,-0.000536137550243,-7.17581041973e-05,1793250739800037888
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,635.597316042,896.402683958,784,828,656,631.402683958,656,0.454757576705,0.0046051640977,0.059647888865,0.999999848397,0.000108763643138,-0.000534926668503,-7.23245285926e-05,1793250739816704512
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.812542481,747,723,695,659,636,896.187457519,784,828,655.812542481,631,656,0.454758188929,0.00460541951198,0.0596482560384,0.999999848258,0.000110338890643,-0.000534847105199,-7.24432165583e-05,1793250739833371392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.237244708,747,723,695,659,636,896.762755292,784,828,655.237244708,631,656,0.454756279718,0.00460446573234,0.0596465964426,0.999999847082,0.000110540665856,-0.000537108183072,-7.16355602978e-05,1793250739850038528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,659,636,896.662893958,784.337106042,827.662893958,655.337106042,631.337106042,656,0.454755895171,0.00460417979454,0.0596463011005,0.999999846851,0.000110361692477,-0.00053761176063,-7.13636221456e-05,1793250739866705152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,659,636,896.089207859,784.910792141,827.089207859,655.910792141,631.910792141,656,0.454756580628,0.00460436254629,0.0596469631879,0.999999847284,0.000109915510815,-0.000536881929363,-7.14676494777e-05,1793250739883371776
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.501232979,723,695,659,635.498767021,896,785,827,656,631.498767021,656,0.454756633253,0.00460505162073,0.0596469638486,0.99999984721,0.000110297056263,-0.000536886578155,-7.18903112193e-05,1793250739900038144
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.092215479,747.907784521,723,695,659,635.092215479,896.092215479,784.907784521,827,656,631,656.092215479,0.454756354029,0.00460581169372,0.0596466726655,0.999999847014,0.000110749618471,-0.000537102711846,-7.2299235044e-05,1793250739916704512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.669810598,747.330189402,723,695,659,635.669810598,896.669810598,784.330189402,827,656,631,656.669810598,0.454754941432,0.00460645475004,0.0596454863969,0.999999846677,0.00011077375958,-0.000537720157385,-7.23270332154e-05,1793250739933371136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.24583056,723,695,659,636,897,784.24583056,827.24583056,656,631,656.75416944,0.454751633619,0.00460617634563,0.0596440999679,0.999999845708,0.000110628934184,-0.000539555999238,-7.22746622667e-05,1793250739950038016
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.81974826,723,695,659,636,897,784.81974826,827.81974826,656,631,656.18025174,0.454745796435,0.00460466815342,0.0596424464036,0.999999843887,0.000110258604935,-0.00054301792106,-7.21152970612e-05,1793250739966704640
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.607307241,748,723,695,659,636,896.607307241,784.607307241,828,656,631,656,0.454723876656,0.00460536388658,0.0596326584242,0.999999834903,0.000111254935614,-0.000559111328238,-7.21869421825e-05,1793250739983371264
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.034808301,748,723,695,659,636,896.034808301,784.034808301,828,656,631,656,0.454694592976,0.00460706875308,0.0596191458583,0.999999822237,0.000112877032534,-0.000580988440679,-7.23643622816e-05,1793250740000037888
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.559721615,748,723,695,659,636,896.559721615,784,828,656,631,656,0.454639006374,0.00460723394305,0.0595981295479,0.999999801058,0.000112603299564,-0.000616397809956,-7.25146645133e-05,1793250740016704512
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.84908554,747.84908554,723,695,659,636,897,784.15091446,828,656,631.15091446,656.15091446,0.454579646938,0.00460723737688,0.0595783575667,0.999999781838,0.000112757950708,-0.000646787450057,-7.26321860863e-05,1793250740033371392
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.271363792,747.271363792,723,695,659,636,897,784.728636208,828,656,631.728636208,656.728636208,0.454514433038,0.00460706523238,0.0595634785368,0.999999772676,0.000114471229405,-0.000660503056075,-7.26619644592e-05,1793250740050038016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.303990852,723,695,659,636,897,784.696009148,828,656,631.696009148,657,0.454442260513,0.00460661023151,0.0595544923625,0.999999765264,0.000115244652873,-0.000671552046957,-7.21631163761e-05,1793250740066704640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.877248742,723,695,659,636,897,784.122751258,828,656,631.122751258,657,0.454363924228,0.00460590468396,0.0595507259243,0.999999759469,0.000115185577399,-0.000680239020061,-7.1196024995e-05,1793250740083371008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,723,695,659,635.547549313,897,784,828,656,631,656.547549313,0.454273836502,0.0046072568308,0.0595524531865,0.999999759388,0.000116639384652,-0.000680160771554,-7.07077375457e-05,1793250740100037888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.028886224,747.971113776,723,695,659,635.028886224,896.971113776,784.028886224,827.971113776,656,631,656,0.454179049619,0.00460909247997,0.0595555452795,0.999999760819,0.00011856650675,-0.000677759184884,-7.03245040014e-05,1793250740116704768
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.618997598,747.381002402,723,695,659,635.618997598,896.381002402,784.618997598,827.381002402,656,631,656,0.454055173958,0.00460942889543,0.0595560716281,0.999999761278,0.000121680611998,-0.000676619599483,-6.94476302482e-05,1793250740133371392
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,659,636,896.205286674,784.794713326,827.205286674,656,631,656,0.453920091226,0.00461007218914,0.0595555843084,0.999999759823,0.00012579843837,-0.000678118848539,-6.84387503007e-05,1793250740150038016
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.639301536,747,723,695,659.360698464,636,896.639301536,784,828,656,631.360698464,656,0.453588844914,0.00461117826452,0.0595477554517,0.999999748148,0.000134234153623,-0.000693798563874,-6.57965710403e-05,1793250740183371520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.065130463,747,723,695,659.934869537,636,896.065130463,784,828,656,631.934869537,656,0.45340112123,0.00461031323924,0.0595403904508,0.999999740361,0.000134676948422,-0.000704985057349,-6.43189327059e-05,1793250740200038400
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.508130182,747.508130182,723,695,660,636,896.508130182,784.508130182,828,656,632,656,0.453189561457,0.00461186555593,0.0595381013317,0.999999738429,0.000140049065004,-0.000706785665147,-6.31001537627e-05,1793250740216705024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747.915383001,723,695,660,636.084616999,896.915383001,785,827.915383001,656,631.915383001,656,0.45297089919,0.00461345373448,0.0595376471482,0.999999738456,0.000145962824223,-0.00070567152208,-6.17253882158e-05,1793250740233371392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.318666251,723,695,660,636.681333749,896.318666251,785,827.318666251,656,631.318666251,656,0.452727709849,0.00461338711716,0.0595443675122,0.999999745849,0.000151337647802,-0.00069418520352,-5.92061517498e-05,1793250740250038016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,660.257951249,637,896,785,827,656,631,656,0.452471207421,0.00461419394335,0.0595540854363,0.999999755631,0.000157206921803,-0.000678825306597,-5.67375107654e-05,1793250740266704896
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,660.811533501,637,896,785,827,656,631,656,0.452199447235,0.00461600179971,0.0595672387835,0.999999767977,0.000163642871812,-0.000659026006038,-5.43268560459e-05,1793250740283371776
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.009350666,747,723,695,660.009350666,637,896,785,827.990649334,656,631,656,0.45156617148,0.00461888144319,0.0595768449065,0.999999774734,0.000177278802125,-0.000645436983078,-5.01474193368e-05,1793250740316705024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.586171407,747,723,695,660.586171407,637,896,785,827.413828593,656,631.586171407,656,0.451178329421,0.0046207798683,0.059575532022,0.9999997691,0.000187180702526,-0.000651587602485,-4.68676085022e-05,1793250740333371648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,661,637,896,785,827,656,631.824655049,656,0.450779732136,0.00462284202241,0.0595710518246,0.999999761869,0.000197223437946,-0.000659878291102,-4.38700805047e-05,1793250740350038272
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.099206548,747,723,695,661.900793452,637.900793452,896,785.900793452,827,656,631.900793452,656,0.4494458521,0.00462771548016,0.0595449628628,0.999999734429,0.000225319025879,-0.000692205525221,-3.49967387819e-05,1793250740400037888
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,663,638,895,785.343805416,826.343805416,656,631,656,0.447929338265,0.00463157283042,0.0595633039902,0.999999746787,0.000255885996295,-0.000663643420549,-2.29343859235e-05,1793250740450038528
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.811088514,747,723,694,663.811088514,638.811088514,894.188911486,785.811088514,826,656,631.811088514,656,0.446853637696,0.00462676911581,0.0596304410177,0.999999802855,0.000273788288656,-0.000564989926424,-1.08039216548e-05,1793250740483372288
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,665.550661511,640,893.449338489,786,826.449338489,656,631.550661511,656,0.444961037045,0.00462729367814,0.0596397400508,0.999999794259,0.000305440253143,-0.000564067329033,4.08939826848e-06,1793250740533371648
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.102763288,722.102763288,693,669.102763288,641.102763288,890.102763288,787.102763288,823.897236712,656,631.897236712,655,0.434779545643,0.00461558126864,0.0597277360407,0.999999885551,0.000254839351674,-0.000404689685078,1.34395756907e-05,1793250740750038016
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,693,669.740799281,641.740799281,890.740799281,788,823,656,631.259200719,655,0.432989255509,0.00459471022427,0.0597720308832,0.999999913681,0.000247790551706,-0.000332891918605,2.05090571816e-05,1793250740783371520
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,693,669.165944241,641.165944241,890.165944241,788,823,656,631.834055759,655,0.432060100263,0.00456356088356,0.0597872972753,0.999999925505,0.000212845398112,-0.000320875335149,2.69551297322e-05,1793250740800037888
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,722.416697475,693,670.583302525,641.416697475,889.416697475,788,822.416697475,655,632,656,0.429339333761,0.00456654719954,0.0598105522236,0.999999934818,0.000206971146207,-0.000294496337631,2.82554635323e-05,1793250740850037760
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.261604486,722,693,669.523208973,641.738395514,889,787.261604486,821.261604486,655.738395514,632,655.261604486,0.427416825281,0.00456719164767,0.0597452949974,0.999999902963,0.000203854047443,-0.000389455052868,2.90325385556e-05,1793250740883371520
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.720867601,722,689.720867601,670.441735203,642,886.279132399,787,819,656,632,656,0.415975761651,0.00456772977659,0.0598307930878,0.999999949822,0.000141814773195,-0.000280969865641,3.60560532734e-05,1793250741100038144
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.145277389,722,689.145277389,669.290554779,642,886.854722611,787,819,656,632,656,0.415176592166,0.00456225462873,0.0598361069679,0.99999994959,0.000131286666387,-0.000286654543554,3.75953791676e-05,1793250741116704768
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.571475143,746.428524857,722,689.428524857,669.857049714,642,887,787,819.428524857,655.571475143,632,656,0.414397219928,0.00456231047118,0.0598363303455,0.999999939116,0.000200605435267,-0.000283061562106,3.7436149058e-05,1793250741133371136
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,722,689.998206697,671,642,886.998206697,787,819.998206697,655.001793303,632,655.998206697,0.413624485384,0.00456422339948,0.0598347455076,0.999999917114,0.00029656018197,-0.000276544010837,3.67076437838e-05,1793250741150038016
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,747,722,689.401798864,671,642,886.401798864,787,819.401798864,655.598201136,632,655.401798864,0.412836509108,0.00456274589848,0.0598034459318,0.999999900965,0.000286067719034,-0.000338878791933,3.73626775622e-05,1793250741166704640
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.187301322,747,722,688.812698678,670.625397356,642,886,787,819,655.812698678,632,655.187301322,0.41207219609,0.00456146617752,0.0597709060828,0.999999883729,0.000273213027552,-0.000395661085062,3.67379322407e-05,1793250741183371520
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.7613139,747,722,688.2386861,669.477372201,642,886,787,819,655.2386861,632,655.7613139,0.411356739218,0.00456059480242,0.059735805501,0.999999869573,0.000255481165787,-0.000440979459539,3.34708941821e-05,1793250741200038400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746.663721067,722,688,669.672557866,642,886,787,819,655.336278933,632,656,0.410702247623,0.0045592447204,0.0597437776179,0.999999880996,0.000242693903905,-0.000421929850053,3.29132494489e-05,1793250741216705024
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746.088078108,722,688,670.823843784,642,886,787,819,655.911921892,632,656,0.410091151279,0.0045575538939,0.059782408971,0.999999908421,0.000233426218773,-0.000357062975508,3.42841564986e-05,1793250741233371648
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.499509881,746,722,687.499509881,671,642,886,787,819,656,632,656,0.40949622392,0.0045532480138,0.059820678429,0.999999930687,0.000218263241062,-0.00029953552199,3.55743699169e-05,1793250741250038272
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.089348401,722.089348401,687,670.910651599,642.089348401,886.089348401,787,819,656,632,656,0.408905280494,0.00454929592224,0.0598528230232,0.999999946737,0.000203746598359,-0.000252326136388,3.66606242593e-05,1793250741266704640
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746.667030387,722.667030387,687,670.332969613,642.667030387,886.667030387,787,819,656,632,656,0.408320147014,0.00454985940058,0.0598518494933,0.999999947283,0.000198583142092,-0.000254263661629,3.67118127841e-05,1793250741283371520
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.244468582,747,722.755531418,687,670,643,886.755531418,787,819,656,632,656,0.407748385066,0.00454901580621,0.0598428082895,0.999999945312,0.000190726497798,-0.000267705462916,3.65117296019e-05,1793250741300038144
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.821575015,747,722.178424985,687,670,643,886.178424985,787,819,656,632,656,0.407194817234,0.00454625766866,0.0598227897503,0.99999993925,0.000179205349059,-0.000296800635877,3.5969751822e-05,1793250741316705024
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746.602559541,722.397440459,687,670,642.602559541,886,787,819,656,632,656,0.406688079322,0.00454491636482,0.0598162283828,0.999999939427,0.000169807644036,-0.000301813757641,3.49200250603e-05,1793250741333371648
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746.027249436,722.972750564,687,670,642.027249436,886,787,819,656,632,656,0.406202299524,0.00454420914742,0.0598156896072,0.999999942593,0.000161360259465,-0.000296049252761,3.36430613749e-05,1793250741350038272
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.438304938,746,722.438304938,686.438304938,670.561695062,642,886,787,819,656,632,656,0.405755234805,0.00454139761116,0.0598236979791,0.999999948256,0.000149188377901,-0.000283062879514,3.32462437996e-05,1793250741366704640
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,722.148105651,686,670.851894349,642,886,786.851894349,819,656,632,656,0.405314407065,0.00453909462131,0.0598259438366,0.999999950936,0.000139610855406,-0.000278482263973,3.29420158254e-05,1793250741383371520
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,722.725213083,686,670.274786917,642,886,786.274786917,819,656,632,656,0.404886069547,0.00453856774218,0.0598102670954,0.999999945142,0.0001380845263,-0.000299289781738,3.27792254117e-05,1793250741400037888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886.300672492,786,819,655.699327508,632.300672492,655.699327508,0.404473638026,0.00453823313365,0.0597877044999,0.999999933764,0.000136557436354,-0.000335782885475,3.27855217833e-05,1793250741416704512
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886.874633936,786,819,655.125366064,632.874633936,655.125366064,0.404075663901,0.00453807328484,0.0597588831755,0.999999915637,0.000135029654723,-0.000386533019413,3.29455054321e-05,1793250741433371392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.451332619,746.451332619,723,686.451332619,670,642,886.097334762,786,819,655.451332619,632.548667381,655.902665238,0.403749944269,0.00453593083284,0.059759267931,0.999999918314,0.000132144090123,-0.000380511007891,3.3473661655e-05,1793250741450038272
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,747,723,686.970504718,670.029495282,642,885.029495282,786.029495282,819.029495282,656,632,656.970504718,0.403446938237,0.00453334384938,0.0597685165534,0.999999927048,0.000129030745514,-0.000357897649144,3.41234258415e-05,1793250741466704896
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,747,723,686.379023167,670.620976833,642,885.620976833,786.620976833,819.620976833,656,632,656.379023167,0.403191967753,0.00453284386136,0.0597911374809,0.999999939419,0.000128807249935,-0.000321459095213,3.51298159384e-05,1793250741483371264
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.791980822,747,723,685.791980822,670.791980822,642,886.208019178,786.791980822,819.791980822,656,632,656,0.402948027331,0.00453176324376,0.0598127279077,0.999999950183,0.000126271932161,-0.000287054977224,3.58995657083e-05,1793250741500037888
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.212858027,747,723,685.212858027,670.212858027,642,886.787141973,786.212858027,819.212858027,656,632,656,0.402723764428,0.00452964679027,0.0598324799315,0.99999995935,0.00011961235264,-0.000256280271882,3.62471520256e-05,1793250741516704768
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.363872172,746.636127828,723,685.363872172,670.363872172,642,886.636127828,786,819.363872172,656,632,656,0.402504250104,0.00452667062298,0.0598379669572,0.999999958896,0.000135051271117,-0.000251142708931,2.99494322331e-05,1793250741533371648
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.939211948,746.060788052,723,685.939211948,670.939211948,642,886.060788052,786,819.939211948,656,632,656,0.40228749544,0.00452319482503,0.0598351637522,0.99999995243,0.000163332930828,-0.000260904400067,1.97897327299e-05,1793250741550038272
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.488399196,746.511600804,722.488399196,685.488399196,670.488399196,642,886,786.511600804,819.488399196,656,632,656,0.40209510401,0.00451898821915,0.0598287397998,0.999999947208,0.000170215839576,-0.000276000317841,2.08428318002e-05,1793250741566704640
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746.912720443,722,685,670,642,886,786.912720443,819,656,632,655.912720443,0.401911325049,0.00451577231596,0.0598229867197,0.999999942474,0.000174518847569,-0.00028994226351,2.29759530731e-05,1793250741583371264
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746.31579534,722,685,670,642,886,786.31579534,819,656,632,655.31579534,0.401761029609,0.00451884548989,0.0598236487313,0.999999940724,0.000178518815494,-0.000293466172203,2.36806001867e-05,1793250741600037888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.271224359,746,722,685.271224359,670.271224359,642,886,786,819,656.271224359,632,655.271224359,0.401628924391,0.00452008550453,0.0598252564179,0.999999940774,0.000180159341688,-0.000292227702849,2.44487236873e-05,1793250741616704768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.847117202,746,722,685.847117202,670.847117202,642,886,786,819,656.847117202,632,655.847117202,0.401517252402,0.00451926631653,0.0598279263889,0.999999942838,0.000179149487931,-0.00028563961605,2.52881506773e-05,1793250741633372160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746.418740244,722,685.581259756,670.581259756,642,886,786.418740244,819,656.581259756,632,656,0.401424837744,0.00451714006313,0.0598311416224,0.999999945126,0.00017655392434,-0.000279099933114,2.60824602923e-05,1793250741650039040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746.988820096,722,685.011179904,670.011179904,642,886,786.988820096,819,656.011179904,632,656,0.401339383003,0.00451454141482,0.0598345539227,0.999999947459,0.000173385259162,-0.000272577744263,2.6860463727e-05,1793250741666705152
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,722,685,670,642,886.583613455,786.416386545,819,656,632,656,0.401261915214,0.00451541794993,0.0598318394091,0.999999946068,0.000173718545294,-0.000277425319864,2.68539697598e-05,1793250741683371520
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,746.82690654,722.17309346,685,670,642,886.82690654,786.17309346,819,656,632,656,0.401190384146,0.00451586628563,0.0598285294998,0.999999944453,0.000173298071591,-0.00028344503445,2.68333956062e-05,1793250741700038144
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,746.250943867,722.749056133,685,670,642,886.250943867,786.749056133,819,656,632,656,0.401132298759,0.0045151562064,0.0598241190752,0.999999942493,0.000170960205869,-0.00029166351732,2.68165743461e-05,1793250741716704768
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.6757656,746.3242344,723,685,670,642,886,787,819,656,632,655.6757656,0.40108639695,0.00451548209422,0.0598220793902,0.999999941311,0.000171309422406,-0.000295494482303,2.67346227796e-05,1793250741733371136
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.101192903,746.898807097,723,685,670,642,886,787,819,656,632,655.101192903,0.401049901961,0.00451660784227,0.05982187013,0.999999940765,0.000173733309357,-0.000295937887335,2.66023847221e-05,1793250741750037760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746.519588848,722.519588848,685.480411152,670,642,886,786.519588848,819,656,632,655,0.401024109135,0.00451547255824,0.059822126306,0.999999940704,0.000173082172112,-0.000296502636627,2.68560503278e-05,1793250741766704640
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746.063757175,722,685.936242825,670,642,886,786,819,656,632,655.063757175,0.401001864967,0.00451402078245,0.0598227038646,0.999999940949,0.000171709048417,-0.000296448965843,2.71335813258e-05,1793250741783371520
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746.649057736,722,685.350942264,670,642,886,786,819,656,632,655.649057736,0.400989935068,0.00451393379801,0.0598250965004,0.999999942843,0.000169807091532,-0.000291124337089,2.69315264381e-05,1793250741800038400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746.768840244,722.231159756,685,670,642,886,786,819,656,632,656,0.400979738463,0.00451355313282,0.059827020664,0.999999944165,0.000168236697451,-0.000287477477699,2.68769545236e-05,1793250741816705280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746.191527946,722.808472054,685,670,642,886,786,819,656,632,656,0.400972137397,0.00451273269242,0.0598282433089,0.999999944666,0.000167162805602,-0.000286343011541,2.70432325094e-05,1793250741833371648
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,685,670,642,885.616779935,786,819,656,632,656,0.400967597117,0.00451379869059,0.0598295506558,0.999999944969,0.00016815274159,-0.000284711722589,2.69550565031e-05,1793250741850038272
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,685,670,642,885.043305017,786,819,656,632,656,0.400964576407,0.00451580123708,0.059830900054,0.999999945167,0.000170167293225,-0.000282833779183,2.67405533195e-05,1793250741866704640
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,746,722.454203046,685,670.545796954,642,885.545796954,786,819,656,632,655.454203046,0.400963936754,0.00451479131441,0.0598315472212,0.99999994607,0.000167904967748,-0.000280991225903,2.66853289426e-05,1793250741883371264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768,746,722.133442479,685,670.866557521,642,886,786,819,656,632,655.133442479,0.400963585291,0.00451378477606,0.0598322901775,0.999999946903,0.000165794936616,-0.000279272375901,2.67070002972e-05,1793250741900038144
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.711972535,685,670.288027465,642,886,786,819,656,632,655.711972535,0.400963546361,0.00451361025013,0.0598335439489,0.999999947336,0.000165358074835,-0.000277956487723,2.69417574378e-05,1793250741916704768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.289674637,746,722.710325363,685,670.289674637,642,886,786,819,656,632,656,0.400962082382,0.00451374968335,0.059833463469,0.999999947185,0.000165400646526,-0.000278469282855,2.69649094486e-05,1793250741933371392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.866555908,746,722.133444092,685,670.866555908,642,886,786,819,656,632,656,0.400959205495,0.0045142004008,0.0598320601055,0.999999946454,0.000165918566907,-0.000280795180924,2.67782592143e-05,1793250741950038272
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.547715297,746,722,685,670.547715297,642,886,786,819,656,632,655.547715297,0.400959561448,0.00451307751217,0.0598324057022,0.999999947083,0.000163694049195,-0.000279852002141,2.68387027761e-05,1793250741966705152
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,722,685,670.040039739,642,886,786,819,656,632,655,0.400960775857,0.00451163295523,0.0598332194449,0.999999948042,0.000160838101866,-0.000278067689563,2.6932005211e-05,1793250741983371776
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,722,685,670.619227881,642,886,786,819,656,632,655,0.400960449748,0.00451223349652,0.0598332499012,0.999999948056,0.000160592482487,-0.000278203982845,2.64665050139e-05,1793250742000038144
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.197960559,746,722.197960559,685.197960559,671,642,886,786.197960559,819,656,632,655,0.400959941023,0.00451293881729,0.0598332155325,0.999999947927,0.000161235440278,-0.000278326050782,2.61299729594e-05,1793250742016704768
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cf1bd28c892459a567e30a8fc7859ff03ab184c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+378,6.300000000,pose2_to_pose3_retreat,0.575806610018,0.0101500296371,1.05003337471,0.546377289811,0.0188226680207,1.04970477217
+379,6.316666667,pose2_to_pose3_retreat,0.575768808891,0.010150114986,1.0500333789,0.546339487875,0.0188227506231,1.04970477645
+380,6.333333333,pose2_to_pose3_retreat,0.575739118659,0.0101502529633,1.05003340953,0.546309795608,0.0188228816326,1.04970480539
+381,6.350000000,pose2_to_pose3_retreat,0.575716927153,0.0101501647974,1.05003350696,0.54628760577,0.0188227990938,1.04970490194
+382,6.366666667,pose2_to_pose3_retreat,0.575700458478,0.010150059227,1.05003342003,0.546271139189,0.018822700584,1.04970481384
+383,6.383333333,pose2_to_pose3_retreat,0.575688657913,0.0101500655889,1.05003337395,0.546259337124,0.0188227020531,1.04970477304
+384,6.400000000,pose2_to_pose3_retreat,0.575680272952,0.0101501395294,1.05003332533,0.546250950037,0.0188227688227,1.0497047257
+385,6.416666667,pose2_to_pose3_retreat,0.575674882713,0.0101502345384,1.05003326468,0.546245558439,0.0188228590421,1.04970466039
+386,6.433333333,pose2_to_pose3_retreat,0.575671244989,0.0101501040019,1.05003339463,0.546241923452,0.0188227378661,1.04970479225
+387,6.450000000,pose2_to_pose3_retreat,0.575669005274,0.0101500115986,1.05003348897,0.546239685655,0.0188226520156,1.04970488779
+388,6.466666667,pose2_to_pose3_retreat,0.575667961437,0.0101500025704,1.05003355105,0.546238642154,0.0188226439797,1.04970494597
+389,6.483333333,pose2_to_pose3_retreat,0.57566729138,0.0101499967749,1.05003359091,0.546237972312,0.0188226388214,1.04970498332
+390,6.500000000,pose2_to_pose3_retreat,0.575666638798,0.0101499911307,1.05003362972,0.54623731994,0.0188226337975,1.04970501969
+391,6.516666667,pose2_to_pose3_retreat,0.575666123714,0.0101499890267,1.05003361963,0.546236804771,0.0188226313902,1.04970500914
+392,6.533333333,pose2_to_pose3_retreat,0.57566581451,0.0101499909255,1.0500335588,0.54623649518,0.0188226320405,1.04970495
+393,6.550000000,pose2_to_pose3_retreat,0.5756654737,0.0101499930184,1.05003349176,0.546236153943,0.0188226327572,1.04970488482
+394,6.566666667,pose2_to_pose3_retreat,0.575665238024,0.0101499944657,1.05003344539,0.546235917973,0.0188226332528,1.04970483975
+395,6.583333333,pose2_to_pose3_retreat,0.575665224415,0.0101499945493,1.05003344272,0.546235904347,0.0188226332815,1.04970483715
+396,6.600000000,pose2_to_pose3_retreat,0.575665219144,0.0101499945817,1.05003344168,0.54623589907,0.0188226332925,1.04970483614
+397,6.616666667,pose2_to_pose3_retreat,0.575665192739,0.0101499947438,1.05003343649,0.546235872631,0.0188226333481,1.04970483109
+398,6.633333333,pose2_to_pose3_retreat,0.575665094429,0.0101499953475,1.05003341715,0.546235774199,0.0188226335548,1.04970481229
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+400,6.666666667,pose2_to_pose3_retreat,0.575664849703,0.0101500438206,1.05003340642,0.546235528179,0.0188226776241,1.0497048012
+401,6.683333333,pose2_to_pose3_retreat,0.575664844542,0.0101500476565,1.05003340844,0.546235522932,0.0188226811625,1.04970480311
+402,6.700000000,pose2_to_pose3_retreat,0.575664709319,0.010150148165,1.05003346125,0.546235385443,0.0188227738765,1.04970485304
+403,6.716666667,pose2_to_pose3_retreat,0.575664585111,0.0101502404857,1.05003350975,0.546235259155,0.0188228590377,1.04970489891
+404,6.733333333,pose2_to_pose3_retreat,0.57566451781,0.010150275167,1.05003353966,0.54623519128,0.0188228917348,1.04970492787
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b326ab5122701b52a07673eead5186a00dfb0951
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c4243c9e8c0c4258a4bba17dccf63edd339779e9966b1eb6e8aafc92f1022b
+size 26099172
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4975a144249093c811d813afc48f394b60ab58e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+21,0.350000000,BASELINE,768,746.194815,723,685.805185,671,642,886,786.194815,819,656,632,656,0.400962210169,0.00451261951914,0.0598387449999,0.999999950464,0.000161019352881,-0.000269195432749,2.60610572829e-05,1793250742705967360
+22,0.366666667,BASELINE,768,746.774718693,723,685.225281307,671,642,886,786.774718693,819,656,632,656,0.400961085199,0.00451105962655,0.0598385611194,0.999999950816,0.000156260670151,-0.000270687392762,2.60661818615e-05,1793250742722633984
+23,0.383333333,BASELINE,768.35400679,747,723,685.35400679,671,642,886.35400679,787,819,656,632.35400679,656,0.400961002376,0.00450976685977,0.0598387553329,0.999999951302,0.000153329236029,-0.00027056622763,2.60956017458e-05,1793250742739300864
+24,0.400000000,BASELINE,768.932903873,747,723,685.932903873,671,642,886.932903873,787,819,656,632.932903873,656,0.4009615816,0.00450864379016,0.0598391897386,0.99999995188,0.000151558599732,-0.000269420290814,2.61404557368e-05,1793250742755967488
+25,0.416666667,BASELINE,768.494889244,747,722.494889244,685.494889244,671,642,886.494889244,786.494889244,819,656,632.494889244,656,0.400961550195,0.00451046995611,0.0598386813727,0.999999951326,0.000154938157282,-0.000269581363455,2.58484485231e-05,1793250742772634112
+26,0.433333333,BASELINE,768,747,722.076814054,685.076814054,671,642,886,786,819,656,632,656,0.400961447181,0.00451243044888,0.0598381529647,0.999999950687,0.000158397586531,-0.000269965768778,2.55989474367e-05,1793250742789301248
+27,0.450000000,BASELINE,768,747,722.650935621,685.650935621,671,642,886,786,819,656,632,656,0.400961398824,0.00451275742874,0.0598382949793,0.999999950546,0.000158002884683,-0.000270686742212,2.59105497924e-05,1793250742805967872
+28,0.466666667,BASELINE,768,747,723,686,671,642,886,786.234140329,819,656,632,655.765859671,0.400960428019,0.00451248643541,0.0598378334355,0.999999950248,0.000157575413091,-0.00027202318658,2.60304893958e-05,1793250742822634240
+29,0.483333333,BASELINE,768,747,723,686,671,642,886,786.831432981,819,656,632,655.168567019,0.400958026494,0.0045112879839,0.0598364357708,0.999999949702,0.000157097115556,-0.000274314228086,2.58531595028e-05,1793250742839300608
+30,0.500000000,BASELINE,768,747,723,685.585186714,671,642.414813286,886,787,819,656,632,655.414813286,0.400958726668,0.00451106281319,0.0598366397429,0.999999950164,0.000156187856516,-0.000273149173135,2.58110717632e-05,1793250742855967488
+31,0.516666667,BASELINE,768,747,723,685.007276502,671,642.992723498,886,787,819,656,632,655.992723498,0.400960646373,0.00451122031855,0.059837473449,0.999999951018,0.000155109151377,-0.000270625244799,2.58221587458e-05,1793250742872634624
+32,0.533333333,BASELINE,768,746.434210182,723,685.565789818,671,642.434210182,886,787,819,656,632,656,0.400961085948,0.00451283719985,0.0598384412229,0.999999951009,0.000156093282819,-0.000270120661252,2.55202458827e-05,1793250742889300992
+33,0.550000000,BASELINE,768.143284462,746.143284462,722.856715538,686,671,642,886,786.856715538,819,656,632,655.856715538,0.400961232558,0.00451393522337,0.0598390953861,0.999999950931,0.000157089938803,-0.000269847708367,2.53721921771e-05,1793250742905967616
+34,0.566666667,BASELINE,768.734825984,746.734825984,722.265174016,686,671,642,886,786.265174016,819,656,632,655.265174016,0.400960521688,0.00451335181198,0.0598387630883,0.999999950671,0.000158043484799,-0.00027021884146,2.57179643094e-05,1793250742922634240
+35,0.583333333,BASELINE,769,747,722.31738753,686,671,642,886,786.31738753,819,656,632.31738753,655,0.400960759039,0.00451179003739,0.0598386956715,0.999999951095,0.000156319071183,-0.000269654683746,2.57039092679e-05,1793250742939301120
+36,0.600000000,BASELINE,769,747,722.892652896,686,671,642,886,786.892652896,819,656,632.892652896,655,0.400961766822,0.0045094333412,0.0598388434708,0.999999952061,0.000152418811532,-0.000268330600907,2.53974941544e-05,1793250742955968000
+37,0.616666667,BASELINE,768.531667301,747,723,685.531667301,671,642,886,786.531667301,819.468332699,656,633,655.468332699,0.400961392183,0.00451027409381,0.0598383774635,0.999999951697,0.000153450126749,-0.000269101297619,2.53522993358e-05,1793250742972634112
+38,0.633333333,BASELINE,768.043412257,747,723,685.043412257,671,642.043412257,886.043412257,786.043412257,819.956587743,656,633,656,0.400960780177,0.00451173592173,0.0598378532222,0.999999951095,0.000155430664126,-0.000270197899125,2.53698753618e-05,1793250742989300480
+39,0.650000000,BASELINE,768.610110933,747,723,685.610110933,671,642.610110933,886.610110933,786.610110933,819.389889067,656,633,656,0.400961129839,0.00451184211152,0.0598383244153,0.999999951335,0.000155215572728,-0.000269430158043,2.5421722939e-05,1793250743005967360
+40,0.666666667,BASELINE,769,746.812018812,723,686,671,642.812018812,886.812018812,786.812018812,819,656,632.812018812,656,0.40096152046,0.00451190685904,0.0598389104183,0.999999951579,0.000154922190577,-0.000268691957286,2.54055327956e-05,1793250743022634240
+41,0.683333333,BASELINE,769,746.209513755,723,686,671,642.209513755,886.209513755,786.209513755,819,656,632.209513755,656,0.4009620014,0.00451188022079,0.0598397495928,0.999999951836,0.000154456166773,-0.000268018896973,2.52393103e-05,1793250743039300608
+42,0.700000000,BASELINE,769,746.375680043,723,685.624319957,671,642,886,786.375680043,819,656,632,656,0.400961742922,0.00451199054286,0.05983971623,0.999999951692,0.000154928781116,-0.000268278751993,2.52852373815e-05,1793250743055967488
+43,0.716666667,BASELINE,769,746.951644746,723,685.048355254,671,642,886,786.951644746,819,656,632,656,0.40096109024,0.00451217388197,0.0598392176951,0.999999951333,0.000155901807528,-0.000269035968111,2.54442668458e-05,1793250743072634624
+44,0.733333333,BASELINE,768.472153942,747,723,685,671.527846058,642,886,787,819,656,632.527846058,656,0.400961296156,0.00451178893756,0.0598394997587,0.999999951421,0.000156009727126,-0.000268629537075,2.56161828026e-05,1793250743089300992
+45,0.750000000,BASELINE,768,746.897088822,723,685,671.897088822,642.102911178,886,786.897088822,819,656,632.897088822,655.897088822,0.400961307587,0.00451164194666,0.0598396296119,0.999999951416,0.000156299406612,-0.000268468999852,2.57325481368e-05,1793250743105967360
+46,0.766666667,BASELINE,768,746.327277078,723,685,671.327277078,642.672722922,886,786.327277078,819,656,632.327277078,655.327277078,0.400960079644,0.00451281083073,0.0598387443185,0.999999950801,0.000157773435964,-0.000269907919116,2.55915259595e-05,1793250743122634240
+47,0.783333333,BASELINE,768,746.254348613,722.745651387,685.254348613,671,642.745651387,886,786.254348613,819.254348613,656.254348613,632,655,0.400959530587,0.00451249249758,0.0598383140507,0.999999950653,0.000157009184709,-0.000270890802594,2.56769298669e-05,1793250743139301120
+48,0.800000000,BASELINE,768,746.851916166,722.148083834,685.851916166,671,642.148083834,886,786.851916166,819.851916166,656.851916166,632,655,0.400959897621,0.00451016730829,0.0598384977961,0.999999951131,0.000153224589688,-0.000271258309928,2.60678739346e-05,1793250743155967744
+49,0.816666667,BASELINE,768.434895909,746.565104091,722.434895909,686,671,642,886,787,820,656.565104091,632.434895909,655.434895909,0.400960993473,0.0045106988187,0.059838774407,0.999999951435,0.000153433819871,-0.000270059215779,2.56217852723e-05,1793250743172634368
+50,0.833333333,BASELINE,768.987015775,746,723,685.987015775,671,642,886,787,819.987015775,656,632.987015775,656,0.400962300568,0.00451212976625,0.0598390891046,0.999999951671,0.000154961169502,-0.000268371642903,2.49241199164e-05,1793250743189300736
+51,0.850000000,BASELINE,768.412619632,746,723,685.412619632,671,642,886,787,819.412619632,656,632.412619632,656,0.400962359409,0.00451175719048,0.0598397277427,0.999999951541,0.000156589747478,-0.00026787929743,2.52722237499e-05,1793250743205967360
+52,0.866666667,BASELINE,768,746.166493308,723,685,671,642.166493308,886,787,819.166493308,656,632,656,0.400962223663,0.00451129884802,0.0598399357459,0.999999951579,0.000156452502054,-0.000267800889879,2.54569918899e-05,1793250743222634240
+53,0.883333333,BASELINE,768,746.757636656,723,685,671,642.757636656,886,787,819.757636656,656,632,656,0.400961591616,0.00451062175305,0.0598390453916,0.999999952038,0.000151811429995,-0.000268778253047,2.52251636328e-05,1793250743239300864
+54,0.900000000,BASELINE,768,747,722.658722712,685,671,642.658722712,886,786.658722712,819.658722712,656,632,656,0.400960836192,0.00451091958557,0.0598383643537,0.99999995185,0.000151413686771,-0.000269710114736,2.50903149332e-05,1793250743255967488
+55,0.916666667,BASELINE,768,747,722.080295657,685,671,642.080295657,886,786.080295657,819.080295657,656,632,656,0.400959995037,0.00451189488431,0.0598378287674,0.999999951219,0.000153964585431,-0.000270610357917,2.50228562519e-05,1793250743272633856
+56,0.933333333,BASELINE,768.502108267,746.497891733,722.502108267,685.502108267,671,642,886,786.502108267,819,656,632,656,0.400960506804,0.00451211388107,0.0598387252809,0.999999951209,0.000156358627348,-0.000269272141745,2.5044959619e-05,1793250743289300736
+57,0.950000000,BASELINE,768.916921461,746,722.916921461,685.916921461,671,642.083078539,886,786.916921461,819,655.916921461,632,655.916921461,0.400961117916,0.00451224320365,0.0598396775134,0.999999951255,0.000158375728677,-0.00026791195102,2.51002062369e-05,1793250743305967104
+58,0.966666667,BASELINE,768.348082209,746,722.348082209,685.348082209,671,642.651917791,886,786.348082209,819,655.348082209,632,655.348082209,0.400961034771,0.00451256101585,0.0598396057803,0.999999951091,0.00015833669275,-0.000268533025149,2.52648293333e-05,1793250743322633984
+59,0.983333333,BASELINE,768,746,722.228791382,685,671,642.771208618,886,786,819,655.228791382,632,655.228791382,0.400961139927,0.00451249449019,0.0598396851552,0.999999951154,0.000157893077817,-0.000268546813474,2.53923068238e-05,1793250743339300608
+60,1.000000000,BASELINE,768,746,722.818333335,685,671,642.181666665,886,786,819,655.818333335,632,655.818333335,0.400961541992,0.00451182195354,0.0598400027921,0.999999951575,0.00015681153628,-0.000267603054023,2.54612143954e-05,1793250743355967232
+61,1.016666667,BASELINE,768,746,723,685.398353701,671.398353701,642,886.398353701,786.398353701,819,656,632,656,0.400961625876,0.00451158171165,0.0598398614184,0.999999951569,0.00015666134694,-0.00026770960286,2.55264952334e-05,1793250743372634368
+62,1.033333333,BASELINE,768,746,723,685.974133142,671.974133142,642,886.974133142,786.974133142,819,656,632,656,0.400961568044,0.00451153401282,0.0598395156025,0.999999951372,0.000156925979596,-0.000268283956432,2.55901607293e-05,1793250743389302016
+63,1.050000000,BASELINE,768.551450477,746.551450477,723,685.448549523,671.448549523,642.551450477,886.448549523,787,819,656,632,656,0.400960559326,0.00451142220494,0.0598390276001,0.999999951322,0.000155597009765,-0.000269252641758,2.54593634826e-05,1793250743405968128
+64,1.066666667,BASELINE,768.868189833,747,723,685.131810167,671,642.868189833,886.131810167,786.868189833,819,656,632,656,0.400960007595,0.00451152427187,0.0598388093687,0.999999951323,0.00015483620715,-0.000269694420358,2.53793576491e-05,1793250743422634240
+65,1.083333333,BASELINE,768.277490233,747,723,685.722509767,671,642.277490233,886.722509767,786.277490233,819,656,632,656,0.400961202556,0.00451238143001,0.0598395536136,0.999999951482,0.000156314414884,-0.000268237227809,2.55080244904e-05,1793250743439300864
+66,1.100000000,BASELINE,768,747,723,685.693040382,671,642,886.693040382,786.306959618,819,656,632,655.693040382,0.400960639137,0.00451206301806,0.0598392134552,0.999999951599,0.000154732812506,-0.000268726666476,2.54133072273e-05,1793250743455967744
+67,1.116666667,BASELINE,768,747,723,685.114127575,671,642,886.114127575,786.885872425,819,656,632,655.114127575,0.40095851787,0.00451070310087,0.0598379125613,0.999999951664,0.00015044034819,-0.000270940737829,2.51206811242e-05,1793250743472634624
+68,1.133333333,BASELINE,768.458951554,746.541048446,722.541048446,685,671,642,886.458951554,787,819.458951554,656,632,655.458951554,0.400960575827,0.00451081405687,0.0598386620672,0.999999951728,0.000152508924899,-0.000269519742506,2.53844073932e-05,1793250743489301248
+69,1.150000000,BASELINE,768.969874395,746.030125605,722.030125605,685.030125605,671,642,886.969874395,787,819.969874395,656,632.030125605,656,0.400963430263,0.0045112762507,0.0598398033673,0.999999951765,0.000155936856716,-0.000267376875158,2.57548510152e-05,1793250743505967872
+70,1.166666667,BASELINE,768.407058161,746.592941839,722.592941839,685.592941839,671,642,886.407058161,787,819.407058161,656,632.592941839,656,0.400962222615,0.00451156279308,0.0598389699105,0.999999951559,0.000155782477982,-0.000268252651311,2.55966909033e-05,1793250743522634240
+71,1.183333333,BASELINE,768.168027969,747,723,686,671,642.168027969,886,787,819,656,632.831972031,656,0.400960835884,0.00451176688156,0.0598382810295,0.999999951224,0.000156064756197,-0.000269338538363,2.5535588342e-05,1793250743539301120
+72,1.200000000,BASELINE,768.77518038,747,723,686,671,642.77518038,886,787,819,656,632.22481962,656,0.400958981134,0.004511755485,0.0598379699824,0.999999950554,0.000157488194037,-0.000270973529614,2.5728136034e-05,1793250743555968000
+73,1.216666667,BASELINE,768.636478004,746.636478004,722.636478004,685.636478004,671,642.636478004,886,787,819,656,632,656,0.400959337087,0.00451272079966,0.0598384352381,0.999999950815,0.000156972585402,-0.000270333632334,2.54792684454e-05,1793250743572634624
+74,1.233333333,BASELINE,768.05919756,746.05919756,722.05919756,685.05919756,671,642.05919756,886,787,819,656,632,656,0.400960992979,0.0045142604407,0.0598393569758,0.999999951619,0.000155316777274,-0.000268356053475,2.49708395361e-05,1793250743589301504
+75,1.250000000,BASELINE,768,746.517258272,722.517258272,685.517258272,671,642,886.517258272,787,819,656,632,656,0.400961600484,0.00451269324118,0.059839541104,0.999999951871,0.000154417229659,-0.000267925673716,2.50950446552e-05,1793250743605967872
+76,1.266666667,BASELINE,768,746.907081762,722.907081762,686,671,642.092918238,886.907081762,787,819,656,632,656,0.400961694806,0.00451137311537,0.0598394844001,0.999999951874,0.000154256988053,-0.00026798681717,2.52836119989e-05,1793250743622634240
+77,1.283333333,BASELINE,768,746.335039769,722.335039769,686,671,642.664960231,886.335039769,787,819,656,632,656,0.400959760647,0.00451315750315,0.0598386204565,0.999999950918,0.000157463328239,-0.000269670866034,2.54313186632e-05,1793250743639300864
+78,1.300000000,BASELINE,768.247706203,746.247706203,722,685.752293797,671,643,886,786.752293797,819,656,632,656,0.400958518571,0.00451375738067,0.0598379703807,0.999999950448,0.00015830208669,-0.00027091310161,2.55145586792e-05,1793250743655967488
+79,1.316666667,BASELINE,768.845583877,746.845583877,722,685.154416123,671,643,886,786.154416123,819,656,632,656,0.400958254863,0.00451268276749,0.0598376226406,0.999999950674,0.000155793897704,-0.000271530764842,2.55066649901e-05,1793250743672634112
+80,1.333333333,BASELINE,768.57416284,746.57416284,722.42583716,685,671,642.57416284,886,786.42583716,819,656,632.42583716,655.57416284,0.400959538573,0.00451403999469,0.0598381671456,0.999999950461,0.000158838320906,-0.000270571033674,2.52942263547e-05,1793250743689300736
+81,1.350000000,BASELINE,768.000046435,746.000046435,722.999953565,685,671,642.000046435,886,786.999953565,819,656,632.999953565,655.000046435,0.400961361103,0.00451624400431,0.059839022336,0.999999950072,0.00016381619928,-0.000269062043647,2.50105638485e-05,1793250743705967104
+82,1.366666667,BASELINE,768,746.576366135,723,685,671,642,886,787,819,656,632.423633865,655.576366135,0.4009628685,0.00451162199984,0.0598405888864,0.999999951948,0.000156113281527,-0.000266606185066,2.55497959639e-05,1793250743722633984
+83,1.383333333,BASELINE,768,747,723,685,671,642,886,787,819,656.156440058,632,656,0.400963272638,0.00450883336124,0.0598412594738,0.999999952922,0.000151423045752,-0.000265621036398,2.59242425763e-05,1793250743739300864
+84,1.400000000,BASELINE,768,747,723,685,671,642,886,787,819,656.746666008,632,656,0.400960617664,0.00451112991379,0.0598394455251,0.999999951536,0.000155089388376,-0.000268714167696,2.58415781327e-05,1793250743755967488
+85,1.416666667,BASELINE,768,746.66941919,723,685,671,642,886,786.66941919,819,656.66941919,632,655.66941919,0.400960288257,0.00451274781844,0.0598390469488,0.99999995105,0.000157081750351,-0.000269396660382,2.5502314536e-05,1793250743772633856
+86,1.433333333,BASELINE,768,746.090250244,723,685,671,642,886,786.090250244,819,656.090250244,632,655.090250244,0.400961707614,0.00451385539743,0.0598397126956,0.999999951252,0.000157815322373,-0.000268266415593,2.49700950819e-05,1793250743789300480
+87,1.450000000,BASELINE,768,746.485596879,722.514403121,685.485596879,671.485596879,642,886,786,819,656,632.485596879,655,0.400962126748,0.00451294651344,0.0598398771555,0.999999951496,0.000157309398495,-0.000267630504362,2.52172205488e-05,1793250743805967616
+88,1.466666667,BASELINE,768.060534489,746.939465511,722.060534489,685.939465511,671.939465511,642.060534489,886,786,819,656,632.939465511,655,0.400962234574,0.0045117664842,0.0598398506628,0.999999951735,0.000156429319783,-0.000267220915219,2.55445056048e-05,1793250743822634240
+89,1.483333333,BASELINE,768.632966245,746.367033755,722.632966245,685.367033755,671.367033755,642.632966245,886,786,819,656,632.367033755,655,0.400961271192,0.00451144118893,0.0598389919071,0.999999951872,0.000154320081834,-0.00026795353683,2.53331175603e-05,1793250743839300608
+90,1.500000000,BASELINE,769,746,723,685.212758887,671.212758887,642.787241113,886,786,819,656,632,655.212758887,0.40096124076,0.00451145998357,0.0598391841171,0.999999952139,0.00015346537181,-0.00026746224397,2.51786712639e-05,1793250743855967488
+91,1.516666667,BASELINE,769,746,723,685.805704919,671.805704919,642.194295081,886,786,819,656,632,655.805704919,0.400962877453,0.00451209364593,0.0598412543389,0.999999952639,0.000154852426845,-0.000264783890573,2.51259764186e-05,1793250743872634368
+92,1.533333333,BASELINE,768.611579313,746.388420687,723,685.611579313,671.611579313,642,885.611579313,786,819,656,632,655.611579313,0.400962595838,0.0045130837652,0.059841009094,0.99999995221,0.000156170277409,-0.000265644474598,2.49732555404e-05,1793250743889300992
+93,1.550000000,BASELINE,768.033849534,746.966150466,723,685.033849534,671.033849534,642,885.033849534,786,819,656,632,655.033849534,0.400961379275,0.00451424761505,0.0598396353336,0.999999951324,0.000157454399112,-0.000268229871332,2.47717838104e-05,1793250743905967616
+94,1.566666667,BASELINE,768.543965644,747,723,685,671,642,885.543965644,786,819.543965644,656,632,655,0.400961341729,0.00451110802898,0.0598401859666,0.999999951957,0.000154371534921,-0.000267603318502,2.5355813782e-05,1793250743922633984
+95,1.583333333,BASELINE,768.876726597,747,723,685,671,642,886,786.123273403,819.876726597,656,632,655.123273403,0.40096120273,0.0045088089293,0.0598404922913,0.999999952395,0.000152070151923,-0.000267242319648,2.57925623366e-05,1793250743939300864
+96,1.600000000,BASELINE,768.291849524,747,723,685,671,642,886,786.708150476,819.291849524,656,632,655.708150476,0.400960409064,0.00451065998975,0.0598394353104,0.999999951782,0.000153712791379,-0.000268624246367,2.54947469072e-05,1793250743955967232
+97,1.616666667,BASELINE,768.291602223,747,723,685.291602223,671,642,886,786.708397777,819,656,632,656,0.400960317478,0.00451163120839,0.0598391914801,0.999999951441,0.000155196926933,-0.000269059202721,2.52946440445e-05,1793250743972633856
+98,1.633333333,BASELINE,768.873634339,747,723,685.873634339,671,642,886,786.126365661,819,656,632,656,0.400960925149,0.00451172612234,0.0598397575311,0.999999951373,0.000156523195721,-0.000268550995738,2.51918609321e-05,1793250743989300736
+99,1.650000000,BASELINE,768.550909932,746.550909932,723,686,671,642,886,786.449090068,819,656,632,656,0.400961935581,0.00451163421787,0.0598402502847,0.999999951823,0.000155889364772,-0.000267230048915,2.5293747265e-05,1793250744005967616
+100,1.666666667,BASELINE,768.022799873,746.022799873,723,686,671,642,886,787,819,656,632,656,0.400962972719,0.00451147975132,0.0598406755476,0.999999952384,0.000154718764924,-0.000265796394609,2.54394898925e-05,1793250744022634240
+101,1.683333333,BASELINE,768.598397226,746.598397226,723,686,671,642,886,787,819,656,632,656,0.400961949278,0.00451106455947,0.0598399572909,0.999999952197,0.00015371320452,-0.000267094785917,2.52723973114e-05,1793250744039300864
+102,1.700000000,BASELINE,769,747,723,685.821299323,671.178700677,642.178700677,886,786.821299323,819.178700677,656,632,656,0.400961385869,0.0045108520202,0.0598397086528,0.999999952141,0.000152988738533,-0.00026772937417,2.51869429217e-05,1793250744055967488
+103,1.716666667,BASELINE,769,747,723,685.23013365,671.76986635,642.76986635,886,786.23013365,819.76986635,656,632,656,0.400961884274,0.00451110723017,0.0598405439574,0.999999952389,0.000152913076091,-0.000266831816269,2.52899203884e-05,1793250744072633856
+104,1.733333333,BASELINE,769,747,723,685.353558115,671.646441885,642.646441885,886,786.353558115,819.646441885,656,632,655.646441885,0.400962049779,0.0045115808355,0.0598402969063,0.999999952224,0.000153873226895,-0.000266907766535,2.52157113491e-05,1793250744089300480
+105,1.750000000,BASELINE,769,747,723,685.932485823,671.067514177,642.067514177,886,786.932485823,819.067514177,656,632,655.067514177,0.400962003084,0.00451219365325,0.059839359926,0.999999951792,0.000155493639187,-0.000267604262902,2.50285578018e-05,1793250744105967104
+106,1.766666667,BASELINE,769,747,723,686,671,642.506836574,886,787,819.506836574,656,632,655.506836574,0.400962931085,0.00451218443498,0.0598408514447,0.999999952277,0.000154932519057,-0.000266096283492,2.51767829955e-05,1793250744122634240
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,686,671,642,886,787,820,656,632,656,0.400960705286,0.00451306333215,0.0598397131312,0.999999951558,0.000156297356968,-0.000268003771035,2.50663387171e-05,1793250744166068736
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.597837505,747,723,686,671,642.597837505,886,787,819.402162495,656,632,655.402162495,0.40096134884,0.00451246456341,0.0598403347954,0.999999951957,0.000154452919549,-0.00026758724626,2.50484955773e-05,1793250744182734848
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642.811607514,886,787,819,656,632,655.188392486,0.400961529707,0.00451274913006,0.0598405565763,0.999999952052,0.000153902701947,-0.000267556724392,2.49841114077e-05,1793250744199401472
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642.236019886,886,787,819,656,632,655.763980114,0.400960759635,0.00451484917864,0.0598399564939,0.999999951524,0.000156012439487,-0.000268319537961,2.48240734172e-05,1793250744216068352
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.661214255,746.661214255,723,685.661214255,671,642.338785745,886,787,819.338785745,656,632,656,0.400961396258,0.00451418518264,0.0598400072254,0.999999951622,0.0001558871562,-0.000268013083244,2.49895732036e-05,1793250744232734976
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.086952192,746.086952192,723,685.086952192,671,642.913047808,886,787,819.913047808,656,632,656,0.400963010617,0.00451160001051,0.0598405103113,0.999999952153,0.000154208399887,-0.000266963423187,2.53813411884e-05,1793250744249401600
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746.500943687,723,685.500943687,671.500943687,643,886,787,819.499056313,656,632.500943687,656,0.40096217053,0.0045104786412,0.0598404308469,0.999999952162,0.000154029281542,-0.000267026850155,2.54388828638e-05,1793250744266068480
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.089253829,747,723,685.910746171,672,642.910746171,886,787,819,656,633,656,0.40096135474,0.00451010933415,0.0598403268416,0.999999952058,0.000154349923781,-0.000267236422585,2.53731027053e-05,1793250744282735104
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.666527474,747,723,685.333472526,672,642.333472526,886,787,819,656,633,656,0.400963066434,0.00451242400146,0.0598406570074,0.999999951843,0.000155940049805,-0.000267159122405,2.49591083614e-05,1793250744299401728
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,723,685.243608825,672,642,886,787,819,656,633,656,0.400971650222,0.00451334919143,0.0598441113162,0.999999953233,0.000156332375081,-0.000261671702832,2.49251398202e-05,1793250744316068608
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,723,685.820427105,672,642,886,787,819,656,633,656,0.400989633695,0.00451237384665,0.0598518388446,0.999999956704,0.000155086341927,-0.000248784292937,2.54109726391e-05,1793250744332735488
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.604432442,747,723,685.604432442,671.604432442,642.395567558,886,786.604432442,819.395567558,656,632.604432442,656,0.401030117175,0.00451214366891,0.0598674570977,0.999999963361,0.000155272252732,-0.000220248459158,2.56689770595e-05,1793250744349402112
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.030050393,747,723,685.030050393,671.030050393,642.969949607,886,786.030050393,819.969949607,656,632.030050393,656,0.40108077168,0.00451225034041,0.0598866423172,0.999999970436,0.000156105466932,-0.000184638826171,2.5823992719e-05,1793250744366068480
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.560399894,746.439600106,722.439600106,685,671.560399894,642.439600106,886,786.560399894,819.439600106,656,632,656,0.401148883437,0.00451009230984,0.0599049088991,0.999999975161,0.000152532101664,-0.000160359114902,2.64140900813e-05,1793250744382735104
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.857242017,746.142757983,722.142757983,685,671.857242017,642,885.857242017,787,819,656,632,656,0.401221775268,0.00450888789705,0.0599209360954,0.999999978991,0.000149435499845,-0.000137767559409,2.65820940966e-05,1793250744399401728
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.300897739,746.699102261,722.699102261,685,671.300897739,642,885.300897739,787,819,656,632,656,0.401305723458,0.00451080843656,0.0599306224637,0.999999981669,0.000148424916372,-0.000118254692292,2.54576591186e-05,1793250744416068352
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.724828196,722.724828196,685.275171804,671,642.275171804,885.275171804,787,819,656,632,655.724828196,0.401395075102,0.00451071765631,0.0599369486408,0.999999983161,0.000147386472739,-0.000106488556087,2.48090689485e-05,1793250744432735232
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746.125523737,722.125523737,685.874476263,671,642.874476263,885.874476263,787,819,656,632,655.125523737,0.401490791624,0.00450825768548,0.059939316753,0.999999983598,0.000146315211944,-0.000103847514655,2.47209899196e-05,1793250744449401600
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,722.452802329,685.547197671,671,643,886,786.547197671,819,655.547197671,632,655.452802329,0.401608236084,0.00450736824052,0.05994244566,0.999999984881,0.000143369297822,-9.54864535524e-05,2.3776152553e-05,1793250744466068480
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,685,671,643,886.026621569,786,819,655.026621569,632,655.973378431,0.401732627995,0.00450698262916,0.0599456628382,0.999999986251,0.000139992780158,-8.59719752517e-05,2.25740325192e-05,1793250744482735104
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,685,671,643,886.622936372,786,819,655.622936372,632,655.377063628,0.401882503529,0.00450847457421,0.0599464555518,0.999999986714,0.000138030100295,-8.4205210225e-05,2.07236596039e-05,1793250744499401728
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.211228895,746.211228895,723,685.211228895,671.211228895,642.788771105,886.788771105,786.211228895,819,656,632,655.211228895,0.402042158737,0.00450949766244,0.0599471449898,0.999999987362,0.000135924586724,-8.03052539229e-05,1.87236713817e-05,1793250744516068352
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.785724806,746.785724806,723,685.785724806,671.785724806,642.214275194,886.214275194,786.785724806,819,656,632,655.785724806,0.40221863281,0.00450971442041,0.0599476568165,0.999999988298,0.000133573430941,-7.27366802436e-05,1.6466378087e-05,1793250744532735232
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,723,685.638363895,671.638363895,642.361636105,886,787,819,656,632,656,0.402420557565,0.00450976027781,0.0599485535287,0.999999989395,0.000129003170739,-6.60622509438e-05,1.43119915275e-05,1793250744549401600
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,723,685.061610608,671.061610608,642.938389392,886,787,819,656,632,656,0.402637621531,0.004509704476,0.059949679188,0.999999990552,0.000123112888648,-5.99196976241e-05,1.22188182384e-05,1793250744566068224
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.474527564,746.474527564,723,685.525472436,671.525472436,642.474527564,886,787,819,656,632,656,0.402883835937,0.00450949512478,0.0599509816001,0.999999991603,0.000118189858496,-5.21983815406e-05,1.00272458231e-05,1793250744582735104
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.112105282,746,723,686,671.887894718,642,886.112105282,787,819,656.112105282,632.112105282,656,0.403142637318,0.00450934669258,0.0599523240751,0.999999992472,0.000113834216404,-4.51420437819e-05,7.72391482924e-06,1793250744599401728
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.691708953,746,723,686,671.308291047,642,886.691708953,787,819,656.691708953,632.691708953,656,0.403439389886,0.00450952888569,0.0599537454648,0.99999999292,0.000111362263173,-4.16461843324e-05,5.00360704121e-06,1793250744616068352
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,722.730547801,686,671,642.269452199,886.730547801,786.730547801,819,656.730547801,632.730547801,655.730547801,0.403740221186,0.00450915325695,0.0599476887048,0.999999993065,0.000105704505755,-5.18858033867e-05,1.96825211768e-06,1793250744632735232
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,722.15491858,686,671,642.84508142,886.15491858,786.15491858,819,656.15491858,632.15491858,655.15491858,0.404045687108,0.00450814377836,0.0599331345651,0.999999992329,9.64267369979e-05,-7.77329698117e-05,-1.4250889372e-06,1793250744649401856
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,722,686,671,643,886,786.419322632,819,656,632,655.419322632,0.404380713174,0.00450896000983,0.0599203484333,0.999999990799,9.18845855868e-05,-9.96786600062e-05,-4.85318807025e-06,1793250744666068480
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,722,686,671,643,886,786.993052725,819,656,632,655.993052725,0.404726624185,0.00451044852379,0.0599082133367,0.999999988775,8.90862339844e-05,-0.00012018770634,-8.294086118e-06,1793250744682735360
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.412559014,746.587440986,722.587440986,686,671,642.412559014,886,787,819,656,632,656,0.405120153629,0.00450832869134,0.0599016698279,0.999999987963,7.69044872834e-05,-0.000134227028654,-1.19245869353e-05,1793250744699401728
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.175563711,747,723,686.175563711,671,642,886,787,819,656,632.175563711,656,0.405542499566,0.00450706869027,0.0599023393332,0.999999988556,6.59430518692e-05,-0.000135253637558,-1.56647684523e-05,1793250744716068608
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.748916295,747,723,686.748916295,671,642,886,787,819,656,632.748916295,656,0.406028814818,0.00450785709185,0.0599191966553,0.999999992403,5.80071767082e-05,-0.000106975970013,-1.96481961336e-05,1793250744732735488
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,723,687,671,642,886.320676701,787,819,656,632.679323299,656,0.406542527775,0.0045067435355,0.0599450439355,0.999999996605,4.77097343046e-05,-6.30418730838e-05,-2.32138987645e-05,1793250744749402112
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,723,687,671,642,886.891196684,787,819,656,632.108803316,656,0.407077586682,0.00450414813973,0.0599778954079,0.999999998994,3.55723639931e-05,-6.9096504982e-06,-2.64541468931e-05,1793250744766068736
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.516724187,746.516724187,723,687,671,642.483275813,887,787,819,656,632,656,0.407616182322,0.00450232072835,0.0599950221655,0.999999999118,2.65361868223e-05,1.43029848824e-05,-2.9244632145e-05,1793250744782735360
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.07794751,746.07794751,723,687.07794751,671,643,887,787,819,656,632,656,0.408157777674,0.00450070543757,0.0600044711114,0.999999999119,1.7757118394e-05,2.03606373218e-05,-3.21343081351e-05,1793250744799401728
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.656637381,746.656637381,723,687.656637381,671,643,887,787,819,656,632,656,0.408713289666,0.00449929022733,0.0599884016864,0.999999999159,5.93504162713e-06,-1.80762756069e-05,-3.6342063142e-05,1793250744816068608
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.765769109,722.765769109,688.234230891,671,642.765769109,887,787,819,656,632,656,0.409301585878,0.00449880250697,0.0599777712419,0.999999998192,-4.57042286813e-06,-4.41092807609e-05,-4.06198255455e-05,1793250744832735232
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.18977532,722.18977532,688.81022468,671,642.18977532,887,787,819,656,632,656,0.409937717035,0.00449966807373,0.0599750767358,0.999999997547,-1.31548367549e-05,-5.20439215184e-05,-4.4999734541e-05,1793250744849401600
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,722.384333041,689,671.384333041,642.384333041,887,787,819,656,632,656,0.410607129849,0.00449833673475,0.0599821350456,0.999999997949,-2.25152445328e-05,-3.36041162119e-05,-4.9663235825e-05,1793250744866068480
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722.957514944,689,671.957514944,642.957514944,887,787,819,656,632,656,0.411292896176,0.00449592590711,0.0599939855747,0.999999997994,-3.22569504144e-05,-2.20475829446e-06,-5.44660850431e-05,1793250744882735360
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,689,671.449591612,642.449591612,887,787,819,656,632,656,0.41197471852,0.00449462596607,0.0599891743828,0.999999998132,-2.5641959834e-05,-1.18410878508e-05,-5.41990205525e-05,1793250744899401984
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.140431448,723,689.140431448,671,642,887.140431448,787,819,656.140431448,632,656,0.412654422691,0.00449247945319,0.0599751721583,0.999999998008,-4.12815187279e-06,-3.98018046386e-05,-4.88114347711e-05,1793250744916068608
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.716650121,723,689.716650121,671,642,887.716650121,787,819,656.716650121,632,656,0.413328533396,0.00448742988181,0.0599367875305,0.999999991265,5.95562478297e-05,-0.000114432406987,-2.87933406051e-05,1793250744932735232
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.708531999,747,723,690.291468001,671,642,888,787,819.291468001,656.708531999,632,656,0.41406837199,0.00447890263973,0.0599199736034,0.999999986254,7.78572185517e-05,-0.000144884635225,-2.09658323456e-05,1793250744949401856
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.135069315,747,723,690.864930685,671,642,888,787,819.864930685,656.135069315,632,656,0.41487180226,0.00446701075789,0.0599240292799,0.999999989534,5.22498241972e-05,-0.000132594388136,-2.49326883768e-05,1793250744966068480
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.435247801,747,723,691,671.435247801,642.435247801,888,787,820,656,632,656,0.415718671213,0.00446667625963,0.0599661342192,0.999999996955,4.61133429995e-05,-5.61328942248e-05,-2.85235567569e-05,1793250744982735104
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691,672,643,888.004857123,787,820.004857123,656,632,656,0.416578629456,0.0044698560949,0.0600195419105,0.99999999766,4.60023987898e-05,3.9260387021e-05,-3.19662664384e-05,1793250744999401472
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691,672,643,888.606587905,787,820.606587905,656,632,656,0.417402441043,0.00446732116114,0.0600213066073,0.999999997802,4.91522282089e-05,3.15011008762e-05,-3.14377599246e-05,1793250745016068096
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.801032763,723,691,671.602065526,643,889.198967237,787.198967237,821.198967237,656,632,656,0.418236128007,0.00446591241273,0.060015620236,0.999999997934,5.2727327043e-05,1.84538693292e-05,-3.18151414912e-05,1793250745032734720
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.226313781,723,691,670.452627562,643,889.773686219,787.773686219,821.773686219,656,632,656,0.419088464676,0.00446663047747,0.0599958624435,0.999999997784,5.71055514923e-05,-4.57970295695e-06,-3.39033023665e-05,1793250745049401600
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.651244622,746.348755378,723,691.348755378,670.697510756,643,890,787.651244622,822.348755378,656,632.348755378,656,0.419946109148,0.0044677677694,0.0599695009499,0.99999999682,5.65821953216e-05,-4.3037252986e-05,-3.61334228639e-05,1793250745066068480
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.075948021,746.924051979,723,691.924051979,671.848103958,643,890,787.075948021,822.924051979,656,632.924051979,656,0.42080720138,0.00446917737894,0.0599388498873,0.999999993675,5.2874916463e-05,-9.15137637688e-05,-3.84557560102e-05,1793250745082735104
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746.48720609,723,692,670.97441218,643,890,787.51279391,823,656,632.48720609,656,0.42162505506,0.00446816429374,0.0599018962322,0.999999985132,-3.33753862671e-05,-0.0001648781062,-3.79130209099e-05,1793250745099401728
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.101272999,746.101272999,723,692.101272999,670,643,890.101272999,787.898727001,823,656,632,656,0.422465565551,0.00446737750409,0.0598778633839,0.999999970051,-0.000112905329305,-0.000213891843628,-3.74326675357e-05,1793250745116068352
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.678896858,746.678896858,723,692.678896858,670,643,890.678896858,787.321103142,823,656,632,656,0.423443577708,0.00446938830957,0.0599191141049,0.999999985525,-0.000101774276533,-0.000130564662284,-3.92953929347e-05,1793250745132734976
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722.743408655,693,670.51318269,643,891,787.256591345,823,656,632,656,0.424424157507,0.0044686099954,0.059967566276,0.999999993546,-9.50269937418e-05,-4.76859515306e-05,-4.00565312518e-05,1793250745149401600
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722.165625681,693,671.668748638,643,891,787.834374319,823,656,632,656,0.425407951516,0.00446434036388,0.0600250329635,0.999999994226,-9.37671520465e-05,3.46313910058e-05,-3.94387436163e-05,1793250745166068480
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,722.417330219,693,671.165339562,643,891.417330219,787.582669781,823.417330219,656,632,656,0.426359620309,0.00446211979667,0.0600377336698,0.999999992856,-9.32655013039e-05,6.22162192262e-05,-4.14500836504e-05,1793250745182735104
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,722.997660536,693,670.002339464,643,892,787.002339464,824.002339464,656,632,656.002339464,0.427298286831,0.00446072785173,0.0600323565555,0.999999992394,-9.30420063284e-05,6.76286924198e-05,-4.45121507434e-05,1793250745199401728
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,722.418900391,693,670.581099609,643,892,787.581099609,824.581099609,656,632,656.581099609,0.428214119401,0.00446061820618,0.0600051537648,0.999999994787,-8.62832764614e-05,2.91695148591e-05,-4.61477386013e-05,1793250745216068352
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,722.159810102,693.159810102,670.840189898,643,892,787.840189898,824.840189898,656,632,656.840189898,0.42911164205,0.00446102805257,0.0599741084337,0.999999995679,-7.76745693314e-05,-1.91095909752e-05,-4.73663961949e-05,1793250745232734976
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,722.738390452,693.738390452,670.261609548,643,892,787.261609548,824.261609548,656,632,656.261609548,0.429961184883,0.00446279918817,0.0599329940188,0.999999992474,-6.42181375131e-05,-9.31210716117e-05,-4.74925195468e-05,1793250745249401600
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.685489801,723,694.314510199,670,643,892.314510199,787,824.314510199,656,632,656,0.430875174235,0.00446116411486,0.0599238310596,0.999999991585,-5.93154286538e-05,-0.000104721940367,-4.84318501168e-05,1793250745266068480
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.111400923,723,694.888599077,670,643,892.888599077,787,824.888599077,656,632,656,0.431842354006,0.00445671775201,0.0599410390012,0.999999994758,-6.14724728868e-05,-6.48126664944e-05,-5.00423553749e-05,1793250745282735104
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.473631319,723,694.526368681,670.947262637,643,893,787,825,656,632,656,0.432815568528,0.00445557857109,0.0599824201543,0.999999997085,-5.7644448482e-05,1.2452735778e-06,-5.00582140168e-05,1793250745299401984
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.939255253,746.939255253,723,694.060744747,671.878510507,643,893.060744747,787,825,656,632,656,0.433783060242,0.00445503578608,0.0600231138754,0.999999995393,-5.25551961069e-05,6.30627259437e-05,-4.97430496934e-05,1793250745316068608
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.356896265,746.356896265,723,694.643103735,670.713792529,643,893.643103735,787,825,656,632,656,0.434688932927,0.00445277671169,0.0600079269681,0.999999996963,-4.9009812707e-05,3.44052836126e-05,-4.98822980237e-05,1793250745332735232
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.222326098,746.222326098,722.777673902,694.777673902,670,643,894,787,825,656,632,656,0.43557174247,0.00444974899118,0.0599862878714,0.999999997549,-4.81871133338e-05,-5.48238856823e-06,-5.04922760544e-05,1793250745349401856
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.796583426,746.796583426,722.203416574,694.203416574,670,643,894,787,825,656,632,656,0.436418044337,0.00444550454148,0.0599544352752,0.999999995327,-5.16742876803e-05,-6.31469643221e-05,-5.18473959079e-05,1793250745366068480
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.370938848,694,670,643,894,787,825.370938848,656,632,656,0.437244079041,0.00444526122173,0.0599278445532,0.99999999114,-4.67944007348e-05,-0.000113093154729,-5.23563285313e-05,1793250745382735104
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.945348042,694,670,643,894,787,825.945348042,656,632,656,0.438058996587,0.00444721263407,0.0599041401183,0.999999985321,-3.73249461234e-05,-0.000158805591072,-5.24011036511e-05,1793250745399401728
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.464383715,747,723,694.535616285,670,643,894.535616285,787,825.464383715,655.464383715,632.535616285,656,0.438915635286,0.00444301348724,0.0599052879916,0.999999985366,-3.80651230875e-05,-0.000158404938172,-5.22265729551e-05,1793250745416068352
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.125064105,747,723,695,670.125064105,643,895,787,825.125064105,655.125064105,632.874935895,656,0.439783007008,0.00443928158524,0.0599198312585,0.999999988712,-3.89083795013e-05,-0.000135430890704,-5.21620608478e-05,1793250745432735232
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.705453798,747,723,695,670.705453798,643,895,787,825.705453798,655.705453798,632.294546202,656,0.44067348313,0.00443960535596,0.0599736296782,0.999999996813,-3.62184702636e-05,-4.79260472887e-05,-5.25820519361e-05,1793250745449401856
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.718955087,747.281044913,723,694.718955087,670.718955087,643,895,787,826,656,632,656,0.441485829794,0.00444040535795,0.0599900663861,0.999999997887,-3.05011333711e-05,-2.23891905453e-05,-5.28670575391e-05,1793250745466068480
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.148308681,747.851691319,723,694.148308681,670.148308681,643,895,787,826,656,632,656,0.442217668246,0.00444169609034,0.0599680038793,0.999999996517,-2.16641973219e-05,-6.07069783986e-05,-5.30129681696e-05,1793250745482735104
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.4271394,747.5728606,723,694,669.5728606,642.5728606,895,786.5728606,826.4271394,656,632,656,0.442919252604,0.00444201654709,0.0599184275674,0.999999989403,-1.69156990938e-05,-0.000134145416839,-5.39735920423e-05,1793250745499401984
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,694.004410599,668.995589401,642,895.004410599,786,827,656,632,656,0.443610276509,0.00444203925401,0.0598595002044,0.9999999743,-1.35293033555e-05,-0.000219474066565,-5.52092433613e-05,1793250745516068608
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.600033436,668.399966564,642,895.600033436,786,827,656,632,656,0.444309820161,0.00444782227517,0.0598422252896,0.999999968367,-2.77513034059e-07,-0.00024544696371,-5.49612846182e-05,1793250745532735232
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,694.811106302,668,642,895.811106302,786,827,656,632,656,0.444988187726,0.00445284802482,0.0598268895883,0.999999960805,1.15615938159e-05,-0.000274376361102,-5.45363517603e-05,1793250745549401856
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,694.236070199,668,642,895.236070199,786,827,656,632,656,0.445623266598,0.00445632573743,0.0598155180849,0.999999950497,2.05128513392e-05,-0.000309349533652,-5.37496428687e-05,1793250745566068480
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,694.34547708,667.65452292,641.65452292,895.34547708,786,827,656,632,656.34547708,0.446228088634,0.0044630663884,0.0597927773129,0.999999937198,3.08565344606e-05,-0.000348959889558,-5.36463344441e-05,1793250745582735104
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,694.931558982,667.068441018,641.068441018,895.931558982,786,827,656,632,656.931558982,0.446811838492,0.00447207948718,0.0597621185032,0.999999920898,4.21699609809e-05,-0.000391799773284,-5.40189749518e-05,1793250745599401728
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695,666.488772668,641,895.488772668,785.488772668,827,656,632,656.488772668,0.447436912495,0.00450155478572,0.0597663264158,0.999999924877,7.25220844929e-05,-0.000376426069941,-5.73534811345e-05,1793250745616068352
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,695,666,640.90999972,895.18000056,785,827,656,631.90999972,656.09000028,0.448056568633,0.00453229486898,0.0597746851853,0.999999931145,8.79561440569e-05,-0.000355212354216,-6.16215721984e-05,1793250745632734976
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,695,666,640.331484178,896.337031645,785,827,656,631.331484178,656.668515822,0.448617160052,0.00455521509705,0.0597805518676,0.999999938398,8.75256982753e-06,-0.000344077351344,-6.88314679304e-05,1793250745649401856
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.753612276,747,723,695,665.753612276,640,897,785,827,656,631,656.753612276,0.44913352107,0.00457474103271,0.0597685515571,0.999999930365,-3.14369435823e-05,-0.000364225095766,-7.49771439596e-05,1793250745666068480
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+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,723,694.593939171,664.593939171,639.593939171,897,785,827,656,631.406060829,656.406060829,0.450025591646,0.00459277558214,0.0597007220897,0.999999884366,-1.7302214969e-05,-0.000473505303072,-8.22296241176e-05,1793250745699401728
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.366344106,747,723,694.633655894,661.366344106,637.366344106,896.633655894,785,827.366344106,656,631,656.633655894,0.453274006554,0.00459657986423,0.059691360077,0.999999884105,8.74944420364e-05,-0.000469969865217,-5.71150038001e-05,1793250745849401600
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.211130591,747.211130591,723,695,661,637,897,784.788869409,827,656,631.211130591,656.788869409,0.453503131273,0.00460084503363,0.0596757733428,0.999999870886,8.7545765515e-05,-0.000496959490221,-5.99600852013e-05,1793250745866068224
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768.638548036,748,723,695,661,637,896.638548036,784.361451964,827.361451964,656,632,656,0.453913290311,0.00459643544988,0.0596631938123,0.999999861472,7.30976164377e-05,-0.00051743976139,-6.30008356939e-05,1793250745899401728
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.114897228,747,723.885102772,694.885102772,660,636.885102772,897,784.885102772,828,656,631.114897228,656.885102772,0.454440540097,0.00460261681414,0.0596808858645,0.999999877631,7.12096469117e-05,-0.000484851036098,-6.77291288515e-05,1793250745949401344
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+251,4.183333333,HOLD_POSE2,769,747.331218888,723.331218888,695,658.331218888,635.668781112,897,784.668781112,828,656,631.668781112,656,0.45523454157,0.00461354361925,0.0596370933943,0.999999845344,8.79751487558e-05,-0.000544515735007,-7.1245775422e-05,1793250746587771648
+252,4.200000000,HOLD_POSE2,769,747.908617368,723.908617368,695,658.908617368,635.091382632,897,784.091382632,828,656,631.091382632,656,0.455234215372,0.00461320711011,0.0596368112733,0.999999845554,8.67068099087e-05,-0.000544294544171,-7.15367153116e-05,1793250746604438272
+253,4.216666667,HOLD_POSE2,769,748,723.51369075,695,658.51369075,635,897,784,828,656,631.48630925,656,0.455234594257,0.00461350605172,0.059637290886,0.999999845542,8.71188599575e-05,-0.00054426240259,-7.14474602234e-05,1793250746621104896
+254,4.233333333,HOLD_POSE2,769,748,723,695,658,635,897,784.064970815,828,656,631.935029185,656,0.455234947502,0.0046137239706,0.0596376366995,0.999999845379,8.77459891963e-05,-0.000544483201296,-7.12809266896e-05,1793250746637771264
+255,4.250000000,HOLD_POSE2,769,748,723,695,658,635,897,784.650966231,828,656,631.349033769,656,0.455234031988,0.00461233398526,0.0596357609615,0.999999844339,8.7564171446e-05,-0.000546447365541,-7.10679395903e-05,1793250746654437888
+256,4.266666667,HOLD_POSE2,769,747.765279169,723,695,658,635,897,784.765279169,827.765279169,656,631,656,0.455234003379,0.00461162764302,0.0596351952484,0.999999844131,8.68737115279e-05,-0.000546944219943,-7.10200963528e-05,1793250746671104512
+257,4.283333333,HOLD_POSE2,769,747.184825244,723,695,658,635,897,784.184825244,827.184825244,656,631,656,0.455235281144,0.00461192827606,0.0596365591427,0.99999984515,8.54340448761e-05,-0.000545279793595,-7.12155025222e-05,1793250746687771136
+258,4.300000000,HOLD_POSE2,768.60760314,747.39239686,723,695,658,635,897,784,827.39239686,656,631,656.39239686,0.455236432688,0.00461163595248,0.0596372713377,0.999999845675,8.64419880991e-05,-0.000544190438209,-7.09586102788e-05,1793250746704438016
+259,4.316666667,HOLD_POSE2,768.031890791,747.968109209,723,695,658,635,897,784,827.968109209,656,631,656.968109209,0.455237525265,0.00461106661823,0.0596376790794,0.999999845966,8.85933776658e-05,-0.000543369737769,-7.04904184376e-05,1793250746721104640
+260,4.333333333,HOLD_POSE2,768.543728777,747.456271223,723,695,658,635,897,784,827.456271223,656,631,656.456271223,0.455238633518,0.00461283214277,0.0596375955412,0.999999846201,8.98981717829e-05,-0.000542650015824,-7.10390840788e-05,1793250746737771264
+261,4.350000000,HOLD_POSE2,768.877296098,747,723,695,658,635,897,784,827.122703902,656,631.122703902,656,0.455239216816,0.00461411317638,0.0596374289481,0.999999846306,9.03262788235e-05,-0.000542330852596,-7.14575405699e-05,1793250746754437632
+262,4.366666667,HOLD_POSE2,768.285471046,747,723,695,658,635,897,784,827.714528954,656,631.714528954,656,0.455237789592,0.00461301843119,0.0596370549644,0.999999845925,8.75924457762e-05,-0.000543520464537,-7.11502026574e-05,1793250746771104512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,724,696,659,635,897,784,828,657,632,657,0.455236714014,0.00461181562021,0.0596382180467,0.999999845603,8.61494110658e-05,-0.000544346072689,-7.11273425292e-05,1793250746808170240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747.422337201,723.422337201,694.844674402,658.422337201,635,897,784,828,656.422337201,631.422337201,656.422337201,0.455237137081,0.00461425253701,0.0596380290595,0.99999984589,8.85556541892e-05,-0.000543430868621,-7.11411904313e-05,1793250746824837120
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.841707271,747.158292729,723,694.158292729,658.158292729,635,897,784,828,656,631,656,0.455236988151,0.00461551249147,0.0596374177923,0.999999845758,9.01478610941e-05,-0.000543426812647,-7.10271109704e-05,1793250746841504256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.25300945,747.74699055,723,694.74699055,658.74699055,635,897,784,828,656,631,656,0.455235283936,0.0046135722326,0.0596356583267,0.999999844499,8.95266672217e-05,-0.000545900209368,-7.0565191224e-05,1793250746858170624
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747.669790346,723,695,658.669790346,635,897,784,828,656,631,656.330209654,0.455235301129,0.00461281702123,0.0596356146516,0.999999844237,8.91162132008e-05,-0.000546456645305,-7.04975326641e-05,1793250746874837248
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.090700606,723,695,658.090700606,635,897,784,828,656,631,656.909299394,0.455236615751,0.00461295498412,0.0596368641734,0.999999844728,8.88645945269e-05,-0.000545568261536,-7.07270300666e-05,1793250746891503872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.486831335,723,695,658,635,897,784,828,656,631,656.513168665,0.455238588135,0.0046124753012,0.0596382111599,0.999999846239,8.81524724879e-05,-0.000542935890184,-7.05088917089e-05,1793250746908170496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.063704356,747.936295644,723,695,658,635,897,784,828,656,631.063704356,656,0.455240218666,0.00461193928775,0.0596392320833,0.999999847558,8.77232268885e-05,-0.000540605341453,-7.02426877162e-05,1793250746924837120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.63761714,747.36238286,723,695,658,635,897,784,828,656,631.63761714,656,0.455238132951,0.00461187079846,0.0596374965983,0.99999984588,9.02444844321e-05,-0.000543286067956,-7.02573315023e-05,1793250746941504000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.782666166,747,723,695,658,635,897.217333834,784,828,656,631.782666166,656,0.455234470569,0.00461183839182,0.0596351595244,0.999999844157,9.08208009348e-05,-0.000546340171147,-7.03588707566e-05,1793250746958170880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.193006555,747,723,695,658,635,897.806993445,784,828,656,631.193006555,656,0.455228107116,0.00461186780027,0.0596317918378,0.999999842361,8.80651385755e-05,-0.000550033924889,-7.06092751084e-05,1793250746974837504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.390531934,747.390531934,723,695,658,635,897.609468066,784.390531934,828,656,631.390531934,656,0.455208026214,0.00461182027562,0.0596222071062,0.999999833999,8.84803804408e-05,-0.000564964645191,-7.06253678327e-05,1793250746991503872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.97109201,747.97109201,723,695,658,635,897.02890799,784.97109201,828,656,631.97109201,656,0.455181270567,0.00461173531624,0.0596095972349,0.999999822098,9.04385458919e-05,-0.000585363138418,-7.05274473348e-05,1793250747008170496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.453942076,723,695,658,635,896.453942076,784.453942076,827.453942076,656,632,656,0.455131882193,0.00461240413031,0.0595927500601,0.999999803861,9.02326139131e-05,-0.000615761521655,-7.05245471291e-05,1793250747024837120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.876396846,658,635,896.123603154,784,827.123603154,656,631.876396846,656,0.455078236357,0.0046131743171,0.0595755710245,0.999999786,9.0232001227e-05,-0.000644095730131,-7.06968104661e-05,1793250747041503744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747,723,694.288051104,658,635,896.711948896,784,827.711948896,656,631.288051104,656,0.455013041989,0.00461417714407,0.0595579790842,0.999999773679,9.14297757412e-05,-0.000662698447322,-7.15089594706e-05,1793250747058170368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.295430682,658.295430682,635,897,784,827.704569318,656,631.295430682,656,0.454940546669,0.00461490896654,0.0595468160673,0.99999976397,9.37141114358e-05,-0.000676877210121,-7.15204744806e-05,1793250747074837248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.874246789,658.874246789,635,897,784,827.125753211,656,631.874246789,656,0.454861048073,0.00461538083378,0.0595418198558,0.999999756932,9.70407071412e-05,-0.00068681239034,-7.07639987906e-05,1793250747091504128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.549012531,747,723,695,658.549012531,635,897,784.450987469,827.450987469,656,632,656,0.454770034476,0.00461504037761,0.0595403520731,0.999999755613,9.85592126998e-05,-0.000688590055158,-7.00304081417e-05,1793250747108170496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.027199692,747.027199692,723,694.972800308,658.027199692,635.027199692,897,784.972800308,827.972800308,656,631.972800308,656.027199692,0.454674682569,0.00461446872846,0.0595400591484,0.999999755948,9.95587653254e-05,-0.000688034246612,-6.92860750493e-05,1793250747124837376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.6043746,747.6043746,723,694.3956254,658.6043746,635.6043746,897,784.3956254,827.3956254,656,631.3956254,656.6043746,0.454556235878,0.00461378136931,0.0595437191914,0.999999757302,0.000100212655857,-0.000686078126803,-6.81960931516e-05,1793250747141504000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.184842728,659,636,896.815157272,784.184842728,827.184842728,656,631.184842728,656.815157272,0.454429182516,0.00461465752111,0.0595470452512,0.999999757809,0.00010296701163,-0.000685043559407,-6.70385331143e-05,1793250747158170112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,723,694.77248723,659,636,896.22751277,784.77248723,827.77248723,656,631.77248723,656.22751277,0.454283373864,0.00461894081263,0.0595496435075,0.999999756447,0.000110298615946,-0.000686017201879,-6.57337096776e-05,1793250747174836736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.354498925,631.645501075,656.354498925,0.454114609659,0.00462041169765,0.0595503211725,0.999999755338,0.000114789498678,-0.000687030180336,-6.43165240103e-05,1793250747191503872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.932952158,631.067047842,656.932952158,0.453931343293,0.00462010584835,0.0595497855063,0.999999754406,0.000117485759376,-0.000688068009364,-6.28283535003e-05,1793250747208170496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723,695,659,636,896,785,828,656.489754826,631.510245174,656.489754826,0.453716266988,0.0046208981219,0.0595461876208,0.999999748042,0.000122542236431,-0.000696529412889,-6.11985684033e-05,1793250747224837120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.913030054,748,723,695,659,636,896,785,827.913030054,655.913030054,631.913030054,656,0.453491910639,0.00462186231633,0.0595417744192,0.999999741113,0.000127799288629,-0.000705612978257,-5.95966442234e-05,1793250747241503744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.338637276,748,723,695,659,636,896,785,827.338637276,655.338637276,631.338637276,656,0.453238917467,0.00462298316468,0.0595350418305,0.999999735541,0.000132446230722,-0.000712728772592,-5.82549211481e-05,1793250747258170368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.757863831,723,695,659.242136169,636,896,785,827,655.242136169,631,656.242136169,0.452977593974,0.00462341439002,0.0595325820313,0.999999734023,0.000138047789691,-0.000713950662832,-5.63218095982e-05,1793250747274836992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.167925283,723,695,659.832074717,636,896,785,827,655.832074717,631,656.832074717,0.452704304893,0.00462285504653,0.0595362596317,0.999999738334,0.00014502055212,-0.000706706597833,-5.35392326431e-05,1793250747291503616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.41430178,747,723,694.58569822,659.58569822,636,896,785,827.41430178,656,631.41430178,657,0.452405145154,0.0046246547496,0.0595501172861,0.999999752803,0.000152190349694,-0.000684573477131,-5.09114053026e-05,1793250747308170240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.993460316,747,723,694.006539684,659.006539684,636,896,785,827.993460316,656,631.993460316,657,0.452095691109,0.00462739315192,0.0595680257334,0.999999770615,0.000159438550169,-0.000656515782448,-4.83451551347e-05,1793250747324836864
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.431662959,747.568337041,723,694.568337041,659.568337041,636,895.431662959,784.431662959,827.431662959,656,632,656.431662959,0.451736019656,0.00462808307609,0.0595747106818,0.999999774159,0.000167557011881,-0.000649267478558,-4.53778914219e-05,1793250747341503744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.857117867,723,695,660.142882133,636,895.142882133,784.142882133,827,656,632,656,0.451362035996,0.00462916659161,0.0595788824602,0.999999775251,0.000175876551182,-0.000645571960726,-4.24549344187e-05,1793250747358170368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.283425356,723,695,660.716574644,636,895.716574644,784.716574644,827,656,632,656,0.450946628248,0.00463150738131,0.0595758631451,0.999999769674,0.000184772399767,-0.000651872039992,-3.96793780115e-05,1793250747374837248
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.700502865,661,636.299497135,895.700502865,785,827,656,632,656,0.450509856524,0.00463310433606,0.0595695194819,0.999999761447,0.000194423284562,-0.000661804188465,-3.63509520432e-05,1793250747391504128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.108567882,661,636.891432118,895.108567882,785,827,656,632,656,0.450052224332,0.00463397498869,0.0595599298266,0.999999750495,0.000204811410041,-0.000675282797247,-3.24826875718e-05,1793250747408170752
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.948399985,662.051600015,637.051600015,895,785,826.948399985,656,631,656,0.449022154222,0.00463879195726,0.0595434723839,0.999999733862,0.000224801494576,-0.000693585570107,-2.60805562241e-05,1793250747441504000
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.374605145,662.625394855,637.625394855,895,785,826.374605145,656,631,656,0.448492191707,0.00463919635468,0.0595488232657,0.999999735092,0.000235825772576,-0.000688287387997,-2.15002093376e-05,1793250747458170368
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,723,694.198606425,663.198606425,638.198606425,895,785.198606425,826,656,631,656,0.447960195616,0.00463883115067,0.05956261978,0.999999746875,0.000245811239334,-0.000667492343665,-1.67559547093e-05,1793250747474837248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.770721034,663.770721034,638.770721034,895,785.770721034,826,656,631,656,0.44742437512,0.00463701859956,0.0595922995306,0.999999777027,0.000253843069884,-0.000617553201869,-1.17034480504e-05,1793250747491503872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.65400952,747,723,694.65400952,664,639,894.65400952,786,826,656,631.34599048,656,0.446869791622,0.00463510660379,0.0596253358347,0.999999802156,0.000262237961489,-0.000571733982621,-6.23506230722e-06,1793250747508170496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.076630228,747,723,694.076630228,664,639,894.076630228,786,826,656,631.923369772,656,0.44630265997,0.00463312810227,0.0596606169074,0.999999823567,0.000270875657809,-0.000528670054822,-4.8854840183e-07,1793250747524837376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.516419848,747,722.483580152,694,664.516419848,639,894,786,826,656,632,656,0.445598183274,0.00463297107561,0.0596519960921,0.999999810089,0.000281779589216,-0.000548084794491,5.01669006585e-06,1793250747541504000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.893171147,747,722.106828853,694,665.106828853,639.106828853,893.893171147,786,826,656,632,656,0.444881929696,0.00463300611809,0.0596385039554,0.999999794436,0.000292016280743,-0.000570750907598,9.93509539007e-06,1793250747558170624
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.324545589,747,722.675454411,694,665.675454411,639.675454411,893.324545589,786,826,656,632,656,0.4442056239,0.0046326664915,0.0596329961428,0.999999795301,0.000297869486982,-0.000566141139831,1.24763618458e-05,1793250747574837248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.256911086,747,723,694,666.256911086,640,892.743088914,786.256911086,825.743088914,655.743088914,632,656,0.443534196612,0.00463187261043,0.0596513955455,0.999999813845,0.000304813973126,-0.000528332901453,1.61848171359e-05,1793250747591504128
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.855428986,747,723,694,666.855428986,640,892.144571014,786.855428986,825.144571014,655.144571014,632,656,0.442869256033,0.00463047472101,0.0597015836404,0.999999851092,0.000313209500148,-0.00044638166878,2.1445248005e-05,1793250747608170752
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,694,667.436364853,640.436364853,891.563635147,787,825.436364853,655.436364853,631.563635147,656,0.44213501884,0.00462804642231,0.0597322304151,0.999999865159,0.000320796728015,-0.000407455143297,2.74202846411e-05,1793250747624837120
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.988282897,722.988282897,694,668,641,891,787,825.988282897,655.988282897,631,655.988282897,0.441377248518,0.00462537497328,0.0597562167548,0.999999872296,0.000328227021936,-0.000382813180397,3.36095596665e-05,1793250747641503744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.412166384,722.412166384,694,668,641,891,787,825.412166384,655.412166384,631,655.412166384,0.440548964161,0.00462679834514,0.0597591533322,0.999999866682,0.000340497796458,-0.000386217077646,3.91559848758e-05,1793250747658170624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.167683421,746.167683421,722,693.832316579,668.167683421,641,891,787,824.832316579,655,631,655,0.439735261114,0.00462861512163,0.0597698767035,0.999999867373,0.000352406859989,-0.000372967641938,4.42538019209e-05,1793250747674837248
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.756918596,746.756918596,722,693.243081404,668.756918596,641,891,787,824.243081404,655,631,655,0.43895821515,0.00463142090705,0.059800175872,0.99999988229,0.000363406590209,-0.000317852160135,4.82238293237e-05,1793250747691504128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.659795491,747,722.340204509,693,669,641,891,787,824.340204509,655,631.340204509,655.340204509,0.438117150464,0.00463301930726,0.0598088573299,0.999999902535,0.000313444566388,-0.000309180356287,3.30052394923e-05,1793250747708170496
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.080687386,747,722.919312614,693,669,641,891,787,824.919312614,655,631.919312614,655.919312614,0.437231129608,0.0046337698389,0.0598023580683,0.999999920157,0.000220673047751,-0.000333122940417,4.31172593528e-06,1793250747724837376
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.503537331,722.503537331,693.496462669,669,641.496462669,891,787.496462669,825,655,632,655.503537331,0.436312215915,0.0046297495277,0.0597590421972,0.999999897838,0.000216874381619,-0.00039655827884,5.56122109857e-06,1793250747741503744
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.073171631,722.073171631,694,669.073171631,641.926828369,890.926828369,788,824.926828369,655.073171631,631.926828369,655,0.435392764059,0.00462516553023,0.0597186870896,0.999999872841,0.000227304683855,-0.000450023537114,1.13943648057e-05,1793250747758170368
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.649027678,722.649027678,694,669.649027678,641.350972322,890.350972322,788,824.350972322,655.649027678,631.350972322,655,0.434506197175,0.0046220149257,0.0597396177463,0.999999895437,0.00023653618524,-0.00039107320574,1.54158466872e-05,1793250747774836992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722.768960729,693.768960729,670,641.231039271,890,787.768960729,824,656,631.231039271,655.231039271,0.433616522624,0.00461009074216,0.0597601007465,0.999999911982,0.000233541593148,-0.000347993793723,1.98702380336e-05,1793250747791503872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,722.177342186,693.177342186,670,641.822657814,890,787.177342186,824,656,631.822657814,655.822657814,0.432721997851,0.00458447377457,0.0597798850996,0.999999922983,0.000211465936082,-0.000329683862572,2.50002648929e-05,1793250747808170496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,722.404892583,693,669.595107417,642,890,787,823.595107417,655.595107417,632,655.595107417,0.43182334023,0.00456543889469,0.0597950744686,0.999999935436,0.000186429421538,-0.000306000761357,2.71121099728e-05,1793250747824837120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,722.98311034,693,669.01688966,642,890,787,823.01688966,655.01688966,632,655.01688966,0.430922913487,0.00454922165626,0.0598082968296,0.999999947585,0.000160125433367,-0.000280017530813,2.79319407283e-05,1793250747841504000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.55597116,747,723,693,670.11194232,642,890,787.55597116,822.44402884,655.55597116,632,655,0.429996501446,0.00456346681763,0.0598196505609,0.999999948407,0.000173453994497,-0.000269013778045,2.70527210303e-05,1793250747858170624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.870991028,747,723,693,670.741982057,642,890,788,821.870991028,656,632,655.129008972,0.429049461228,0.00457421961098,0.0598168076897,0.999999943063,0.000183760446952,-0.000281748216317,2.68896321098e-05,1793250747874837248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.296786242,747,723,693,669.593572485,642,890,788,821.296786242,656,632,655.703213758,0.428033933618,0.00456975762283,0.0597651679248,0.9999999132,0.000179522766675,-0.000374845184635,2.93742493736e-05,1793250747891503872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.712522756,723,693.287477244,669.287477244,642,889.712522756,787.712522756,821,656,632,655.712522756,0.427079006135,0.00456881407021,0.0597429901549,0.99999990186,0.00017431610508,-0.000406214565401,2.97324887153e-05,1793250747908170752
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746.117498369,723,693.882501631,669.882501631,642,889.117498369,787.117498369,821,656,632,655.117498369,0.426188909573,0.00457163458899,0.0597523312391,0.999999916465,0.000168072815202,-0.000371546913386,2.78158994906e-05,1793250747924837632
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.4627475,746.4627475,723,693.5372525,670.4627475,641.5372525,889,787.4627475,820.5372525,656,632,655.4627475,0.425287637092,0.00457455010499,0.0597823536841,0.999999928701,0.000167354609958,-0.000337240419131,2.93044553633e-05,1793250747941504000
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.960783062,746.960783062,723,692.960783062,670.921566124,641,889,788,820,656,632,655.960783062,0.424383722621,0.00457695955331,0.0598158902861,0.999999939347,0.000167340400456,-0.000303818574699,3.15965132008e-05,1793250747958170624
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.386226409,746.386226409,723,692.386226409,669.772452817,641,889,788,820,656,632,655.386226409,0.42348128221,0.00457214172535,0.0598279320658,0.999999947346,0.00015837831669,-0.000281259807442,3.34195841755e-05,1793250747974837248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.192895757,746.192895757,723,692,669.385791515,641.192895757,888.807104243,788,820,656,632,655,0.422579308513,0.00456953639128,0.0598362669155,0.999999952729,0.000152749167368,-0.000264600896262,3.45842137937e-05,1793250747991503872
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.781380955,746.781380955,723,692,670.56276191,641.781380955,888.218619045,788,820,656,632,655,0.421678291785,0.00457146842527,0.059836999618,0.999999953747,0.000153955178145,-0.000260041370005,3.439851627e-05,1793250748008170496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.635696501,747,722.635696501,691.635696501,670.635696501,642,888,788,819.635696501,655.635696501,631.635696501,655.364303499,0.420728855318,0.00457336459321,0.0597959749079,0.999999931553,0.000157446130584,-0.000333083536309,3.40622693688e-05,1793250748024837120
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.056061944,747,722.056061944,691.056061944,670.056061944,642,888,788,819.056061944,655.056061944,631.056061944,655.943938056,0.41975079916,0.00457523956146,0.059730268393,0.999999884116,0.000162287655345,-0.000451994198043,3.36370359603e-05,1793250748041504000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.47938068,722,691,670,642,887.47938068,787.47938068,819.52061932,655,631.52061932,656,0.418902302189,0.00457178491901,0.059719955583,0.999999874778,0.000227775820069,-0.000444460892357,3.18875933453e-05,1793250748058170624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,722.096747695,690.903252305,670.096747695,642,887,787,820,655.096747695,632,656,0.418074287372,0.00456892923185,0.0597248461845,0.999999871877,0.000287195184678,-0.000415716524072,3.0736634096e-05,1793250748074837248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,722.671706259,690.328293741,670.671706259,642,887,787,820,655.671706259,632,656,0.417278942467,0.0045718548565,0.0597755674702,0.999999898054,0.00028451937451,-0.000349050612633,3.32447509279e-05,1793250748091503872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.252746474,746,722.747253526,690,670.747253526,642,887,787,820,656,632,656,0.416481134412,0.00457129564023,0.0598139903482,0.999999915595,0.000275821421735,-0.000302436679755,3.55489430829e-05,1793250748108170752
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.841880896,746,722.158119104,690,670.158119104,642,887,787,820,656,632,656,0.41568004814,0.00456609834326,0.0598360448984,0.999999925819,0.000259108418108,-0.000282510540082,3.758172564e-05,1793250748124837376
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.425552108,722.425552108,690,670.425552108,642,887,787,819.574447892,655.574447892,632,656,0.41489741345,0.00456455189761,0.0598402700054,0.999999930486,0.000246246610528,-0.000277456265136,3.75400251621e-05,1793250748141504000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.992882977,747,722.992882977,689.992882977,671,642,887,787.007117023,819.007117023,655.007117023,632,656,0.414121633886,0.00456435278431,0.0598378047343,0.999999933045,0.000234876197502,-0.000278194396284,3.67546884166e-05,1793250748158170624
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.419446554,747,722.419446554,689.419446554,671,642,887,787.580553446,819.580553446,655.580553446,632,656,0.413352711779,0.00456479088353,0.0598234354481,0.999999926176,0.000229758121213,-0.000305718492681,3.73533850009e-05,1793250748174837248
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.845669896,722.154330104,688.845669896,670.845669896,642,887,787.845669896,819.845669896,656,632,656,0.412583613293,0.0045645060138,0.0597999155594,0.99999991422,0.000223634894223,-0.000346613794033,3.75009796443e-05,1793250748191504128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746.270966357,722.729033643,688.270966357,670.270966357,642,887,787.270966357,819.270966357,656,632,656,0.411814034202,0.00456225187872,0.0597514707174,0.999999886414,0.000214773776907,-0.0004239303773,3.6419836282e-05,1793250748208170752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.312385325,746,723,688.312385325,670,642,886.687614675,787,819,656,632,656,0.411110822358,0.00456187015583,0.0597376407737,0.999999881617,0.000206200943972,-0.000439342490196,3.49987184157e-05,1793250748224837120
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.903452048,746,723,688.903452048,670,642,886.096547952,787,819,656,632,656,0.410466817301,0.00456315882669,0.0597546910552,0.999999900055,0.000197885292912,-0.000399529136073,3.32743067913e-05,1793250748241503744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.515741846,746.484258154,723,688.515741846,670.968516309,642,886,787,819.484258154,656,632,656,0.409868596098,0.00455931351928,0.0597962768408,0.99999992491,0.000187926313536,-0.000337178417428,3.4279619254e-05,1793250748258170624
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,747,723,687.937498718,671.812496154,642,886.062501282,787.062501282,820,656,632,655.937498718,0.409280029899,0.00455480807978,0.0598389950136,0.99999994543,0.000178192200387,-0.00027588314446,3.57335181077e-05,1793250748274837504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,747,723,687.363833333,670.0915,642,886.636166667,787.636166667,820,656,632,655.363833333,0.408697322236,0.00455310135886,0.0598517977737,0.999999950789,0.000172921104503,-0.000259205901373,3.64975284461e-05,1793250748291503872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.216049503,746.783950497,723,687,669.216049503,642,886.783950497,787.783950497,819.783950497,656,632,655.216049503,0.408118037851,0.00455140501368,0.0598537187108,0.999999952588,0.000167893035332,-0.000255562667962,3.63718431364e-05,1793250748308170240
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.80671288,746.19328712,723,687,669.80671288,642,886.19328712,787.19328712,819.19328712,656,632,655.80671288,0.407544689238,0.00454972665945,0.0598367713697,0.999999948386,0.000163286357103,-0.000274519446086,3.47034912356e-05,1793250748324836864
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.031228229,746.968771771,723,687,670,642,886.968771771,787,819,656,632,656,0.406493528503,0.00454571952874,0.0598124526975,0.999999940573,0.000157036952028,-0.000305049704634,3.37430532997e-05,1793250748358170880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.544346879,746.455653121,723,687,670.544346879,642,886.455653121,787,819,656,632,655.455653121,0.406040530272,0.00454435049456,0.0598202572496,0.999999946114,0.000152930812638,-0.000288522092327,3.37461812879e-05,1793250748374837248
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,671,642,886,787,819,656,632,655.692859242,0.405168070836,0.00454346522006,0.0598193223971,0.999999948181,0.000144684176682,-0.000285634582135,3.34342100214e-05,1793250748408170752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,746,723,686.725182163,670.725182163,642,886,787,819.274817837,656,632,656,0.404743587155,0.00454324183608,0.0598044718416,0.999999940909,0.000142311995517,-0.000311146583607,3.34207767048e-05,1793250748424837376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.13349966,670.13349966,642,886,787,819.86650034,656,632,656,0.404322696742,0.00454260113048,0.0597801093887,0.99999992635,0.000141917090289,-0.000354999307362,3.37027772752e-05,1793250748441504000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746.448631767,723,686,670,642,886.448631767,787.448631767,819.551368233,656,632,656,0.403961289185,0.00453944184082,0.0597665526034,0.999999919584,0.000139958702093,-0.000374250884616,3.43601698509e-05,1793250748458170624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746.972172008,723,686,670.027827992,642,886.972172008,787.972172008,819,656,632,656,0.403621145832,0.00453571748606,0.0597576917326,0.999999916241,0.000137775420873,-0.00038379861984,3.51478116777e-05,1793250748474837248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.395977315,723,686,670.604022685,642,886.395977315,787.395977315,819,656,632,656,0.403358500924,0.00453531881786,0.059779325092,0.999999930567,0.000140137335297,-0.000343375693984,3.63467516168e-05,1793250748491503872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746.184099759,722.815900241,686,671,642,886.184099759,787,819,656,632,656,0.403105543791,0.0045347164091,0.0598004140227,0.999999942392,0.000141943158612,-0.000306027018513,3.76299051683e-05,1793250748508170752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746.772707203,722.227292797,686,671,642,886.772707203,787,819,656,632,656,0.402873872865,0.00453366633757,0.0598203067213,0.999999951147,0.00014252712741,-0.000275433153848,3.90980944895e-05,1793250748524837376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,747,722.355248133,686,670.644751867,642,886.644751867,787,819,656,632,655.644751867,0.402645200407,0.00453249573631,0.0598317463125,0.999999954955,0.000144336664167,-0.000260010669013,4.06333004533e-05,1793250748541503744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,747,722.933972847,686,670.066027153,642,886.066027153,787,819,656,632,655.066027153,0.402418414178,0.0045312493131,0.0598378682943,0.999999956025,0.000146917171272,-0.000254132068441,4.22106648555e-05,1793250748558170112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.48965636,747,723,685.48965636,670,642,886,787,819,656,632,655.51034364,0.402216711658,0.0045314665674,0.0598326287346,0.999999953033,0.000147455037028,-0.000265395697985,4.19056830893e-05,1793250748574837248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,685.085953332,670.085953332,642,886.085953332,786.914046668,819,656,632,656,0.402024071933,0.0045308680539,0.0598269312945,0.999999951013,0.000138496261601,-0.000277945415554,3.92215721575e-05,1793250748591504384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.658968223,670.658968223,642,886.658968223,786.341031777,819,656,632,656,0.401864482006,0.00452457878664,0.0598269304804,0.99999995603,7.72146412724e-05,-0.000285273077717,2.44296002247e-05,1793250748608170752
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.588402659,746.588402659,723,685.588402659,670,642,886,787,819,656,632,656,0.401485374109,0.00451827773766,0.0598267900919,0.999999943173,0.000175170462348,-0.000287439925555,1.86513836763e-05,1793250748658170368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.010933365,746.010933365,723,685.010933365,670,642,886,787,819,656,632,656,0.401382707871,0.0045224268181,0.0598267614199,0.999999942609,0.000181854836785,-0.000285241846139,1.86719015116e-05,1793250748674837248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746.562427958,723,685.562427958,670.562427958,642,886.562427958,787,819,656,632,655.437572042,0.401308063255,0.00451770050279,0.0598287767022,0.999999944132,0.000179310070693,-0.000281362432885,2.04674177527e-05,1793250748691504128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.136388622,746.863611378,723,686,670.863611378,642,886.863611378,787,819,656,632.136388622,655,0.40123640992,0.00451482754615,0.0598297919724,0.999999944746,0.000178204186978,-0.000279776713955,2.18325056792e-05,1793250748708171008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.712537258,746.287462742,723,686,670.287462742,642,886.287462742,787,819,656,632.712537258,655,0.4011726578,0.00451848267478,0.0598274557026,0.999999942336,0.000182311997299,-0.000285691211867,2.16993073116e-05,1793250748724837376
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.53012638,747,723,685.46987362,670.53012638,642.53012638,885.53012638,786.53012638,819,656,632,656,0.401043200331,0.00451647677833,0.0598227978529,0.999999939309,0.000183429272643,-0.00029527532869,2.34149654904e-05,1793250748774837504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746.952973164,723,685.952973164,670.047026836,642,885.047026836,786.047026836,819,656,632,656,0.401014961275,0.00451462105713,0.0598226233565,0.999999939213,0.000183017360616,-0.00029580406451,2.40496730541e-05,1793250748791504128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746.37978649,723,685.37978649,670.62021351,642,885.62021351,786.62021351,819,656,632,656,0.40100054771,0.0045180590508,0.0598243100664,0.999999940034,0.000185210381921,-0.000291701282664,2.32276709895e-05,1793250748808170752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.193535219,746.193535219,723,685,671,642,886,787,819.193535219,656,632,656,0.400988047832,0.00451950205859,0.0598263320849,0.99999994099,0.000185499875076,-0.000288237242994,2.30157758616e-05,1793250748824837632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.767122067,746.767122067,723,685,671,642,886,787,819.767122067,656,632,656,0.40097930593,0.00451702744519,0.0598290125603,0.999999942235,0.00018205134577,-0.000286027523105,2.4001968323e-05,1793250748841504256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,685,671,642,886,787,819.645299513,656,632,656,0.400972972447,0.00451594521881,0.0598305474475,0.999999943216,0.000180401304035,-0.000283613770931,2.42174621294e-05,1793250748858170880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,685,671,642,886,787,819.048157739,656,632,656,0.400968285144,0.00451581470282,0.0598312993138,0.99999994402,0.000179980546468,-0.000281060560767,2.39061757505e-05,1793250748874837504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,747,722.472588508,685,671,642,886.527411492,787,819,656,632,656,0.400967234574,0.00451491833049,0.0598326278606,0.999999944412,0.000179765788767,-0.000279785509612,2.40861988154e-05,1793250748891504384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,722.101228339,685,671,642,886.898771661,786.898771661,819,656,632,655.898771661,0.400966686556,0.00451423658663,0.0598339201737,0.999999944798,0.000179756661018,-0.000278394616191,2.42534114479e-05,1793250748908171008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,722.675699478,685,671,642,886.324300522,786.324300522,819,656,632,655.324300522,0.400966996549,0.00451487230841,0.0598348065974,0.999999945325,0.000180624373747,-0.000275937988955,2.41592498862e-05,1793250748924837632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.741640475,746.741640475,723,685,671,642,886,786.258359525,819,656,632,655.258359525,0.400965845225,0.00451501096814,0.0598350682719,0.999999945651,0.000179681617911,-0.000275383181258,2.40221190319e-05,1793250748941504512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.148364923,746.148364923,723,685,671,642,886,786.851635077,819,656,632,655.851635077,0.400962799569,0.00451450527761,0.0598345200728,0.999999945713,0.000176391919741,-0.000277293735558,2.38292863096e-05,1793250748958171136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746.433638982,723,685.433638982,671,642,886,787,819,656,632,656,0.400962878465,0.00451389166007,0.0598341109296,0.999999945764,0.000175477111129,-0.000277688039118,2.38603509883e-05,1793250748974837504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746.988164555,723,685.988164555,670.988164555,642,886.011835445,786.988164555,819,656,632,656,0.40096394799,0.00451328419281,0.0598337644059,0.999999945808,0.000175383777478,-0.000277579719322,2.39581915648e-05,1793250748991504384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746.412285984,723,685.412285984,670.412285984,642,886.587714016,786.412285984,819,656,632,656,0.400962571841,0.00451468503468,0.0598341922363,0.999999945574,0.000176697160767,-0.000277614501035,2.36801389603e-05,1793250749008171520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746.162898498,723,685.162898498,670,642,886.837101502,786.162898498,819,656,632,656,0.400961917366,0.00451535881224,0.0598349049473,0.999999945594,0.000177771305987,-0.000276862945226,2.35868446853e-05,1793250749024838400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746.736333702,723,685.736333702,670,642,886.263666298,786.736333702,819,656,632,656,0.400963081655,0.00451420024262,0.0598363356141,0.999999946254,0.000178242523476,-0.000274129662011,2.39591782706e-05,1793250749041504256
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.678369244,723,685.678369244,670.321630756,642,885.678369244,786.678369244,819,656,632,656,0.400962940048,0.00451451327316,0.0598362405593,0.999999946179,0.000178936979639,-0.000273946543335,2.40286714072e-05,1793250749058170624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746.082975761,723,685.082975761,670.917024239,642,885.082975761,786.082975761,819,656,632,656,0.400961686901,0.00451607888694,0.0598348468545,0.999999945478,0.000179821450032,-0.000275934050556,2.38403955588e-05,1793250749074837248
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746.495347212,723,685,671,642,885.495347212,786,819,656,632,656,0.400963257353,0.00451572925167,0.0598364238679,0.999999946396,0.00017802682224,-0.000273784536874,2.35964296185e-05,1793250749091503872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746.929177661,723,685,670.929177661,642,886,786.070822339,819,656,632.070822339,656,0.400964778337,0.00451508496833,0.0598380001394,0.999999947326,0.00017608452224,-0.000271652428739,2.33830519763e-05,1793250749108170752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746.354297954,723,685,670.354297954,642,886,786.645702046,819,656,632.645702046,656,0.400962693081,0.00451455091719,0.0598361474097,0.999999946555,0.000176178840739,-0.000274412072206,2.34515599847e-05,1793250749124837632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768.22619867,746.22619867,723,685,670.22619867,642,886,787,819,656,633,656,0.400961481045,0.00451397596836,0.0598355691791,0.999999946183,0.000176519950801,-0.000275528532873,2.36239240311e-05,1793250749141504768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768.815717268,746.815717268,723,685,670.815717268,642,886,787,819,656,633,656,0.400961671572,0.00451333532969,0.0598370380465,0.999999946463,0.000177257457077,-0.000274005716505,2.39631014831e-05,1793250749158171648
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.602297862,747,723,685.397702138,671,642,886,787,819,656,632.602297862,656,0.400962196535,0.00451339102742,0.0598372258972,0.999999946818,0.000176105877775,-0.000273475559162,2.36957338155e-05,1793250749174838272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.023739022,747,723,685.976260978,671,642,886,787,819,656,632.023739022,656,0.400962873582,0.00451376338707,0.0598368312002,0.999999947204,0.000174095228902,-0.000273396817732,2.31525372103e-05,1793250749191504896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746.446387605,723,686,671,642,886,787,819,656,632,656,0.400962816296,0.00451472481757,0.0598370696796,0.999999946881,0.0001768801798,-0.000272758615208,2.35604177223e-05,1793250749208171264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768.133334672,746,723,686,671,642,886,787,819.133334672,656,632.133334672,656,0.400962600127,0.00451568982125,0.059837176929,0.99999994658,0.000179128587472,-0.000272370640111,2.38195039761e-05,1793250749224838144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768.721317289,746,723,686,671,642,886,787,819.721317289,656,632.721317289,656,0.400961949331,0.00451658106577,0.0598367443291,0.99999994649,0.000178847818084,-0.000272917519946,2.34324695456e-05,1793250749241504768
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca1e974af6a2040264d8a5b89205efdd7e548755
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+2,0.033333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+4,0.066666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+5,0.083333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+379,6.316666667,pose2_to_pose3_retreat,0.575794838376,0.0101501188978,1.05003363127,0.546365517267,0.0188227541151,1.04970502602
+380,6.333333333,pose2_to_pose3_retreat,0.575759172016,0.0101500822231,1.05003342803,0.546329850886,0.018822717732,1.04970483232
+381,6.350000000,pose2_to_pose3_retreat,0.575731747464,0.0101501050374,1.05003343658,0.546302425785,0.0188227385176,1.04970483657
+382,6.366666667,pose2_to_pose3_retreat,0.575711108624,0.0101501520389,1.0500334495,0.546281786752,0.0188227847418,1.04970484633
+383,6.383333333,pose2_to_pose3_retreat,0.57569614278,0.0101501620359,1.05003336769,0.546266821116,0.0188227955549,1.04970476745
+384,6.400000000,pose2_to_pose3_retreat,0.575685418422,0.0101501614505,1.05003336972,0.546256096185,0.0188227929819,1.04970476832
+385,6.416666667,pose2_to_pose3_retreat,0.575678453012,0.0101500280901,1.05003350139,0.546249131934,0.0188226632143,1.04970489107
+386,6.433333333,pose2_to_pose3_retreat,0.575673599706,0.010150068719,1.05003343009,0.546244277867,0.0188227013407,1.04970482196
+387,6.450000000,pose2_to_pose3_retreat,0.575670566731,0.0101501858288,1.05003327356,0.546241243339,0.0188228134487,1.04970467256
+388,6.466666667,pose2_to_pose3_retreat,0.57566888095,0.0101501546195,1.05003336947,0.546239558821,0.0188227865036,1.04970476789
+389,6.483333333,pose2_to_pose3_retreat,0.575667922825,0.0101501079529,1.05003347892,0.546238602052,0.0188227443766,1.04970487566
+390,6.500000000,pose2_to_pose3_retreat,0.575667185389,0.0101500720352,1.05003356317,0.546237865661,0.018822711953,1.0497049586
+391,6.516666667,pose2_to_pose3_retreat,0.575666599789,0.0101500435129,1.05003363006,0.54623728089,0.0188226862053,1.04970502446
+392,6.533333333,pose2_to_pose3_retreat,0.575666282622,0.0101500513357,1.05003356178,0.546236963369,0.0188226928645,1.04970495706
+393,6.550000000,pose2_to_pose3_retreat,0.575665774725,0.0101500662744,1.05003344159,0.546236454824,0.0188227056636,1.04970483845
+394,6.566666667,pose2_to_pose3_retreat,0.575665323859,0.0101500795356,1.0500333349,0.546236003383,0.0188227170255,1.04970473315
+395,6.583333333,pose2_to_pose3_retreat,0.57566529148,0.010150080488,1.05003332724,0.546235970962,0.0188227178415,1.04970472559
+396,6.600000000,pose2_to_pose3_retreat,0.575665284411,0.0101500806959,1.05003332557,0.546235963884,0.0188227180196,1.04970472394
+397,6.616666667,pose2_to_pose3_retreat,0.575665024868,0.0101500883298,1.05003326415,0.54623570401,0.0188227245601,1.04970466332
+398,6.633333333,pose2_to_pose3_retreat,0.575664954037,0.0101500945054,1.050033255,0.546235632964,0.0188227300195,1.04970465451
+399,6.650000000,pose2_to_pose3_retreat,0.575664720183,0.0101501506327,1.05003329125,0.546235397314,0.0188227801334,1.04970469298
+400,6.666666667,pose2_to_pose3_retreat,0.575664688422,0.0101501582558,1.05003329617,0.546235365308,0.0188227869399,1.0497046982
+401,6.683333333,pose2_to_pose3_retreat,0.575664569164,0.0101501868789,1.05003331466,0.546235245134,0.0188228124963,1.04970471782
+402,6.700000000,pose2_to_pose3_retreat,0.575664567911,0.0101501871796,1.05003331485,0.546235243871,0.0188228127648,1.04970471803
+403,6.716666667,pose2_to_pose3_retreat,0.5756644812,0.010150207991,1.05003332829,0.546235156495,0.0188228313466,1.04970473229
+404,6.733333333,pose2_to_pose3_retreat,0.575664378866,0.0101502335795,1.05003345733,0.546235054233,0.0188228569944,1.04970485635
+405,6.750000000,pose2_to_pose3_retreat,0.575664374986,0.0101502346299,1.05003347107,0.546235050423,0.0188228582573,1.04970486943
+406,6.766666667,pose2_to_pose3_retreat,0.575664339744,0.0101502441708,1.0500335958,0.546235015816,0.0188228697276,1.04970498823
+407,6.783333333,pose2_to_pose3_retreat,0.575664330997,0.0101502465388,1.05003362676,0.546235007227,0.0188228725745,1.04970501772
+408,6.800000000,pose2_to_pose3_retreat,0.575664323212,0.0101502486464,1.05003365432,0.546234999582,0.0188228751083,1.04970504396
+409,6.816666667,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c574ec34272fa0853111c163b4d5ac53613972f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15026da5ecd3d323c226d6e9777d36992616b4c1680c2e5d61a9238086b5e751
+size 26224320
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e20e51d13c57fb5c15eb6643304f789dbea8650
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+1,0.016666667,BASELINE,769,747,723,685,671,642.598851664,886.598851664,787,819,656,632,656,0.400963393586,0.00451335121018,0.0598389674193,0.999999948854,0.000170847165606,-0.000269385254125,2.31048118458e-05,1793250749382093824
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+21,0.350000000,BASELINE,768,747,723,685,671,642,886.785727377,787,819,656,632,656,0.400960184137,0.00451489795554,0.0598382182908,0.999999947225,0.000176744804207,-0.000271584914983,2.34964116283e-05,1793250749715425280
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+29,0.483333333,BASELINE,768.15234113,746.15234113,723,685,671.84765887,642,887,786.15234113,819,656,632,656,0.400961702151,0.00451500069942,0.0598393124812,0.999999948368,0.00017473242432,-0.000268727345663,2.27485112217e-05,1793250749848758784
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+39,0.650000000,BASELINE,768.337871127,747,723,685.662128873,671.662128873,642,885.662128873,787,819.337871127,656,632.662128873,656,0.400962825968,0.00451441364078,0.0598394259217,0.999999948767,0.000173952424499,-0.000267727887221,2.29900915394e-05,1793250750015425280
+40,0.666666667,BASELINE,768.240523672,746.759476328,723,686,671.759476328,642,886,787,819,656,632.759476328,656,0.400961883092,0.00451404473969,0.0598387069085,0.999999948426,0.000174174754048,-0.000268851576643,2.30165333056e-05,1793250750032092160
+41,0.683333333,BASELINE,768.81679963,746.18320037,723,686,671.18320037,642,886,787,819,656,632.18320037,656,0.400961411469,0.00451314395539,0.0598392122189,0.999999948525,0.000174128330541,-0.000268488841467,2.32829833134e-05,1793250750048758784
+42,0.700000000,BASELINE,769,746.392415345,723,686,671,642.392415345,886,787,819,656,632,655.607584655,0.400961162,0.00451362677838,0.0598388958133,0.999999948461,0.000173607641586,-0.000269074622778,2.31571177339e-05,1793250750065425408
+43,0.716666667,BASELINE,769,746.967723324,723,686,671,642.967723324,886,787,819,656,632,655.032276676,0.40096101607,0.00451475445789,0.0598381964314,0.99999994832,0.000172865912199,-0.00027010247825,2.28484060053e-05,1793250750082092032
+44,0.733333333,BASELINE,769,747,723,686,671,642.441570826,886,787,819,656,632,655.558429174,0.400960769645,0.00451432052528,0.0598376893849,0.999999948215,0.000172739918608,-0.000270571846783,2.28595458332e-05,1793250750098758656
+45,0.750000000,BASELINE,768.85379048,746.85379048,723,685.85379048,671,642,886,786.85379048,819.14620952,656,632,656,0.400960782732,0.00451386199857,0.0598377505574,0.99999994824,0.000172919845818,-0.000270362317165,2.28874419481e-05,1793250750115425024
+46,0.766666667,BASELINE,768.277312789,746.277312789,723,685.277312789,671,642,886,786.277312789,819.722687211,656,632,656,0.400961577088,0.00451360424561,0.0598394502531,0.999999948639,0.000173892341082,-0.000268252600859,2.29087018869e-05,1793250750132091648
+47,0.783333333,BASELINE,768.298342298,746,723,685.298342298,671,642,886,786,819.701657702,656,632,656,0.400962336723,0.00451370421715,0.0598404421091,0.999999948899,0.000174503363281,-0.000266881562348,2.29033197768e-05,1793250750148758528
+48,0.800000000,BASELINE,768.873234934,746,723,685.873234934,671,642,886,786,819.126765066,656,632,656,0.400963064172,0.00451413578369,0.0598407778286,0.999999949035,0.000174779315777,-0.000266195245792,2.28732416486e-05,1793250750165425152
+49,0.816666667,BASELINE,768.543832765,746,723,686,671,642,886,786.456167235,819,656,632,655.543832765,0.400962871563,0.00451399310364,0.0598404743023,0.999999949249,0.000172573037623,-0.000266831751353,2.28317849149e-05,1793250750182092032
+50,0.833333333,BASELINE,768,746.041168804,723,686,671,642,886,787,819,656,632,655.041168804,0.400962478883,0.00451372589895,0.0598400144957,0.999999949443,0.000170001164419,-0.000267755830348,2.28019933383e-05,1793250750198758912
+51,0.850000000,BASELINE,768,746.623476661,723,686,671,642,886,787,819,656,632,655.623476661,0.400962877393,0.00451395708522,0.0598398773551,0.99999994918,0.00017185331609,-0.000267541306357,2.29678416641e-05,1793250750215426048
+52,0.866666667,BASELINE,768.204106412,746.795893588,723,685.795893588,671,642.204106412,886,787,819,656,632.204106412,656,0.400962504476,0.00451415089689,0.0598394048559,0.99999994863,0.000173736323615,-0.000268369873473,2.3077002682e-05,1793250750232093184
+53,0.883333333,BASELINE,768.781665703,746.218334297,723,685.218334297,671,642.781665703,886,787,819,656,632.781665703,656,0.400960720078,0.00451427632432,0.059838318752,0.999999947553,0.000175675787888,-0.000271106981215,2.30824430955e-05,1793250750248759808
+54,0.900000000,BASELINE,769,746,723,685.357671861,671,642.642328139,886,786.642328139,819,656,632.642328139,656,0.400960926601,0.00451420740886,0.0598388395566,0.99999994791,0.000175438066079,-0.000269950037262,2.29913826583e-05,1793250750265426176
+55,0.916666667,BASELINE,769,746,723,685.932734015,671,642.067265985,886,786.067265985,819,656,632.067265985,656,0.400962343189,0.00451402037323,0.0598403370284,0.999999949131,0.000173877066709,-0.000266426317589,2.28416697224e-05,1793250750282092544
+56,0.933333333,BASELINE,769,746,723,686,671,642,886,786.519397902,819.519397902,656,632.519397902,655.480602098,0.400962800588,0.00451416578842,0.0598406481867,0.999999949335,0.000173523508884,-0.000265883787058,2.29323227464e-05,1793250750298759168
+57,0.950000000,BASELINE,769,746.106368471,723,685.893631529,671,642,886,786.893631529,819.893631529,656.106368471,632.893631529,655.106368471,0.40096299013,0.00451419702043,0.0598406874802,0.999999949369,0.000173234812695,-0.000265932178664,2.30500405359e-05,1793250750315425280
+58,0.966666667,BASELINE,769,746.68784421,723,685.31215579,671,642,886,786.31215579,819.31215579,656.68784421,632.31215579,655.68784421,0.400962550791,0.00451352153625,0.0598402143719,0.999999949244,0.000172521413028,-0.00026685609176,2.31464271797e-05,1793250750332092160
+59,0.983333333,BASELINE,769,747,723,685,671,642,886.265121776,786.265121776,819,657,632,656,0.400962121948,0.00451354470251,0.0598399995566,0.999999949111,0.000172436982871,-0.000267401565191,2.32530907718e-05,1793250750348759296
+60,1.000000000,BASELINE,769,747,723,685,671,642,886.837533513,786.837533513,819,657,632,656,0.400961705269,0.00451437764098,0.0598400841163,0.999999948968,0.000173081561081,-0.000267508407437,2.3371665895e-05,1793250750365426432
+61,1.016666667,BASELINE,769,747,723,685,671,642.410110089,886.589889911,787,819,656.589889911,632,656,0.400963073765,0.00451338596164,0.059840821754,0.999999949411,0.000172365224488,-0.000266306810242,2.34426445801e-05,1793250750382092800
+62,1.033333333,BASELINE,769,747,723,685,671,642.982751958,886.017248042,787,819,656.017248042,632,656,0.400965149747,0.00451167116329,0.0598418182146,0.999999950082,0.000171109540225,-0.000264586662052,2.34947601915e-05,1793250750398758656
+63,1.050000000,BASELINE,769,746.42150934,723,685.57849066,671,643,886.57849066,787,819,656,632,656,0.400963527106,0.00451290888404,0.0598411965072,0.999999949604,0.000171866094342,-0.000265919705507,2.32733056137e-05,1793250750415425792
+64,1.066666667,BASELINE,768.830182628,746.169817372,723,686,671,642.830182628,887,786.830182628,819,656,632,656,0.400962369799,0.00451419408455,0.059840761354,0.999999949204,0.000172696395967,-0.000266896337611,2.31116884706e-05,1793250750432092672
+65,1.083333333,BASELINE,768.25121421,746.74878579,723,686,671,642.25121421,887,786.25121421,819,656,632,656,0.400962610397,0.00451537276181,0.0598408967545,0.999999949085,0.000173553818272,-0.000266785794989,2.31147108005e-05,1793250750448759040
+66,1.100000000,BASELINE,768,746.675800664,723,685.675800664,671,642,886.675800664,786.324199336,819,656,632,656,0.400962051032,0.00451516025429,0.0598403870791,0.999999949063,0.000173145071042,-0.000267143365834,2.30045157874e-05,1793250750465425664
+67,1.116666667,BASELINE,768,746.103111851,723,685.103111851,671,642,886.103111851,786.896888149,819,656,632,656,0.400960878519,0.00451388144356,0.0598393829714,0.999999949114,0.000171765841204,-0.000267859732209,2.28075429339e-05,1793250750482092800
+68,1.133333333,BASELINE,768,746,723,685,671,642,886.482904023,786.517095977,819,656,632,656,0.400961210594,0.0045136213226,0.0598397843339,0.999999949076,0.000172382392365,-0.000267601052497,2.28288154545e-05,1793250750498759168
+69,1.150000000,BASELINE,768,746,723,685,671,642,886.929335181,786.070664819,819,656,632,655.929335181,0.400961932403,0.00451359303372,0.0598404566287,0.999999949051,0.000173331640661,-0.000267074821163,2.29016871171e-05,1793250750515425024
+70,1.166666667,BASELINE,768,746,723,685,671,642,886.350078215,786.649921785,819,656,632,655.350078215,0.40096308137,0.00451362335591,0.0598408576785,0.999999949259,0.000173521250945,-0.000266163922035,2.30010145793e-05,1793250750532091648
+71,1.183333333,BASELINE,768.228111765,746,723,685.228111765,671,642,886,787,819,656,632,655,0.400963359498,0.00451346402759,0.0598410379898,0.999999949469,0.000172674810088,-0.000265931433981,2.29518785414e-05,1793250750548758528
+72,1.200000000,BASELINE,768.804671978,746,723,685.804671978,671,642,886,787,819,656,632,655,0.400962307391,0.0045130150017,0.0598408811158,0.999999949677,0.000170245766054,-0.000266735241683,2.26759594944e-05,1793250750565425920
+73,1.216666667,BASELINE,768.620124212,746.379875788,723,685.620124212,671,642.379875788,886,787,819,656,632.379875788,655.379875788,0.40096296231,0.00451264557139,0.0598411084136,0.999999949809,0.000170034548676,-0.000266368937669,2.27485463484e-05,1793250750582092544
+74,1.233333333,BASELINE,768.045615404,746.954384596,723,685.045615404,671,642.954384596,886,787,819,656,632.954384596,655.954384596,0.400964491842,0.00451231692266,0.0598415325454,0.999999949902,0.000170959656307,-0.000265403115592,2.29996935766e-05,1793250750598758656
+75,1.250000000,BASELINE,768,747,723,685.545757829,671,642.454242171,886,786.454242171,819,656,632.454242171,656,0.400964135756,0.00451312764013,0.0598410431439,0.999999949519,0.000172674541358,-0.000265750086329,2.28514490582e-05,1793250750615425536
+76,1.266666667,BASELINE,768,747,723,685.865165658,671,642,886,786,819,656,632,656,0.400963286327,0.00451373668281,0.0598403291425,0.999999949104,0.000173766889871,-0.000266608986491,2.27250350197e-05,1793250750632092416
+77,1.283333333,BASELINE,768,747,723,685.288384561,671,642,886,786,819,656,632,656,0.400961352916,0.00451336260644,0.0598391372176,0.999999948726,0.000172595485829,-0.000268774723177,2.27830794571e-05,1793250750648759040
+78,1.300000000,BASELINE,768.287395291,747,723,685.287395291,671,642,886,786,819.287395291,656,632,655.712604709,0.40096129535,0.00451383209684,0.0598392731513,0.99999994865,0.000173671001122,-0.000268351970178,2.29406954547e-05,1793250750665425664
+79,1.316666667,BASELINE,768.862173907,747,723,685.862173907,671,642,886,786,819.862173907,656,632,655.137826093,0.400963113554,0.0045151451189,0.0598407368883,0.999999948865,0.000176993342261,-0.000265340835144,2.31978788627e-05,1793250750682092032
+80,1.333333333,BASELINE,769,746.552140257,723,685.552140257,671,642,886,786.447859743,819.552140257,656,632,655,0.400962223271,0.00451402512608,0.0598404393499,0.999999948996,0.000174732502643,-0.000266338788222,2.32446368777e-05,1793250750698758656
+81,1.350000000,BASELINE,769,746.036359471,723.036359471,685.036359471,671,642,886,787,819,656,632,655.036359471,0.400960746684,0.0045123426452,0.059839719373,0.999999949117,0.000170972473619,-0.000268322452774,2.3204213746e-05,1793250750715425280
+82,1.366666667,BASELINE,769,746.615505509,723.615505509,685.615505509,671,642,886,787,819,656,632,655.615505509,0.400963271208,0.00451371969375,0.0598409865564,0.999999949681,0.000171122029003,-0.000266143223203,2.28531684174e-05,1793250750732091904
+83,1.383333333,BASELINE,768.806571166,747,723.806571166,685.806571166,671,642.193428834,886,787,819,656,632,656,0.400964684556,0.00451455050378,0.0598417215353,0.999999949943,0.000171839774109,-0.000264709723327,2.26688373257e-05,1793250750748758784
+84,1.400000000,BASELINE,768.23106296,747,723.23106296,685.23106296,671,642.76893704,886,787,819,656,632,656,0.400963903001,0.00451430233081,0.0598414052523,0.999999949611,0.000173679862627,-0.000264749260606,2.28138162842e-05,1793250750765425920
+85,1.416666667,BASELINE,768.341055653,747,723,685,671,642.658944347,886.341055653,787,819,656,632,655.658944347,0.40096386814,0.00451430878109,0.0598413453516,0.999999949656,0.000173293601028,-0.000264838700466,2.27397509706e-05,1793250750782092288
+86,1.433333333,BASELINE,768.910900405,747,723,685,671,642.089099595,886.910900405,787,819,656,632,655.089099595,0.40096433418,0.00451448603935,0.0598414574388,0.999999949953,0.000171413845129,-0.000264961616289,2.25187449923e-05,1793250750798758656
+87,1.450000000,BASELINE,768.497503547,746.497503547,723,685,671,642.502496453,887,787,819,656,632,655.502496453,0.400964325185,0.00451398744041,0.0598416911743,0.999999949661,0.000173079194228,-0.000264953621546,2.28503709143e-05,1793250750815425024
+88,1.466666667,BASELINE,768.095400827,746,723,685,671,642.904599173,886.904599173,787,819,656,632,656,0.400964058665,0.00451346183655,0.0598418988799,0.999999949366,0.000174733567016,-0.000264946470125,2.32119986464e-05,1793250750832091648
+89,1.483333333,BASELINE,768.674499239,746,723,685,671,642.325500761,886.325500761,787,819,656,632,656,0.400962932828,0.00451343440669,0.0598418602986,0.999999949636,0.000173001003833,-0.000265066609259,2.32064401273e-05,1793250750848758528
+90,1.500000000,BASELINE,768.748959259,746.251040741,723,685,671,642,886,787,819,656,632,655.748959259,0.400962893045,0.00451338225636,0.0598418518098,0.999999949913,0.000171557987168,-0.000264970953714,2.30633244595e-05,1793250750865424896
+91,1.516666667,BASELINE,768.175699678,746.824300322,723,685,671,642,886,787,819,656,632,655.175699678,0.400964247247,0.00451329837654,0.0598418819456,0.999999950202,0.000170486612873,-0.00026459831877,2.27436497822e-05,1793250750882091776
+92,1.533333333,BASELINE,768,747,723,685,671,642,886,787,819,656,632.399564016,655,0.400964254945,0.00451325233876,0.0598414493487,0.999999950296,0.000169281672571,-0.000265029982791,2.26123870686e-05,1793250750898758400
+93,1.550000000,BASELINE,768,747,723,685,671,642,886,787,819,656,632.975713469,655,0.400963667562,0.00451322302508,0.0598408122493,0.999999950301,0.000168017703307,-0.000265817102921,2.25643921078e-05,1793250750915425024
+94,1.566666667,BASELINE,768,746.433634271,722.433634271,685,671.566365729,642,885.433634271,787,819,656,632.433634271,655.566365729,0.400963267347,0.00451454381819,0.0598402807058,0.999999949754,0.000171196168901,-0.00026584810371,2.2571216341e-05,1793250750932091904
+95,1.583333333,BASELINE,768.154301379,746.154301379,722.154301379,685,671.845698621,642,885.154301379,787,819,656,632,656,0.400962870678,0.00451522686639,0.0598400350722,0.999999949294,0.000173776582587,-0.000265894533764,2.2680834231e-05,1793250750948758528
+96,1.600000000,BASELINE,768.733009616,746.733009616,722.733009616,685,671.266990384,642,885.733009616,787,819,656,632,656,0.400962461106,0.00451399237006,0.0598405630579,0.999999949168,0.000174174317185,-0.000266074926578,2.30665510966e-05,1793250750965425152
+97,1.616666667,BASELINE,768.689990379,746.689990379,723,685,671,642,886,787,819,656,632,656,0.40096205739,0.00451365750793,0.0598406742168,0.999999949111,0.000173685111978,-0.000266601148647,2.31186921454e-05,1793250750982091776
+98,1.633333333,BASELINE,768.11445353,746.11445353,723,685,671,642,886,787,819,656,632,656,0.400961658689,0.00451409319412,0.0598404283581,0.999999949113,0.000172436231395,-0.000267423577906,2.28851211936e-05,1793250750998758400
+99,1.650000000,BASELINE,768,746.472234231,723,685,671.472234231,642,886.472234231,787,819,656,632,656,0.400961478806,0.00451443881259,0.0598399939766,0.999999949201,0.000171531428018,-0.00026770772522,2.2512445384e-05,1793250751015425280
+100,1.666666667,BASELINE,768.060618071,747,723,685.060618071,671.939381929,642,887,786.939381929,819,656,632,656,0.400961451478,0.00451460979629,0.0598396281845,0.99999994933,0.000170733601227,-0.000267762218716,2.22086657415e-05,1793250751032091904
+101,1.683333333,BASELINE,768.639831842,747,723,685.639831842,671.360168158,642,887,786.360168158,819,656,632,656,0.400962264603,0.00451347802567,0.0598402495344,0.999999949627,0.000170120284512,-0.000266995098858,2.27897076878e-05,1793250751048758528
+102,1.700000000,BASELINE,769,747,723,686,671,642,886.78238794,786,819,656,632.21761206,656,0.400963278997,0.00451309875874,0.0598410117213,0.999999949891,0.000170538364491,-0.000265710812022,2.3083364606e-05,1793250751065425152
+103,1.716666667,BASELINE,769,747,723,686,671,642,886.206964916,786,819,656,632.793035084,656,0.400964624331,0.00451395680421,0.0598420054811,0.999999950097,0.000172652329618,-0.000263576167905,2.29044855493e-05,1793250751082092032
+104,1.733333333,BASELINE,768.632796651,747,723,685.632796651,671,642,886.367203349,786.367203349,819.367203349,656,633,656,0.4009634279,0.00451364374628,0.059841292166,0.999999949567,0.000173691415212,-0.000264895574223,2.29865530737e-05,1793250751098758656
+105,1.750000000,BASELINE,768.059333137,747,723,685.059333137,671,642,886.940666863,786.940666863,819.940666863,656,633,656,0.400960803747,0.00451267287314,0.0598396199776,0.999999948617,0.000174126735192,-0.000268155139682,2.32151957275e-05,1793250751115425280
+106,1.766666667,BASELINE,768.530835402,747,723,685,671,642,886.469164598,787,819.469164598,656,633,656,0.400960555597,0.0045138512267,0.0598396656279,0.999999948532,0.000174093581716,-0.000268519676411,2.29149534215e-05,1793250751132091904
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671,642,886,787,819,656,633,656,0.40096370686,0.00451444794522,0.0598418662175,0.99999994989,0.000171904951579,-0.00026488974723,2.24054197188e-05,1793250751174158592
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.426196033,746.426196033,723,686,671,642,886,787,819,656,632.426196033,656,0.400961513244,0.00451348377934,0.0598398681448,0.999999949371,0.000170686065309,-0.000267609825154,2.25644900511e-05,1793250751190825984
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,685.848416372,671,642,886,787,819,656,632,656,0.4009603255,0.00451276358204,0.0598387323832,0.999999948975,0.000170564661205,-0.000269150024449,2.27364668383e-05,1793250751207492864
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,685.25915735,671,642,886,787,819,656,632,656,0.400962042059,0.00451274780784,0.0598400864174,0.999999948946,0.000173612074894,-0.000267283498661,2.29457091501e-05,1793250751224158976
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.324502161,746.324502161,723,685,671.324502161,642,886,786.675497839,819,656,632,656,0.400962676753,0.00451293653194,0.0598409530016,0.999999949291,0.000173046302148,-0.000266364886168,2.28770427443e-05,1793250751240825344
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.903765555,746.903765555,723,685,671.903765555,642,886,786.096234445,819,656,632,656,0.400962462093,0.00451328580425,0.059841436897,0.999999949927,0.000169643876834,-0.000266190464697,2.25901948288e-05,1793250751257491968
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.51899841,723,685,671.51899841,642,886,786,819,656,632,656,0.400961650758,0.00451337466556,0.0598400587317,0.999999949436,0.000170268099027,-0.000267621651756,2.2688027187e-05,1793250751274158592
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.057717264,819,656.057717264,632,656,0.40096112268,0.00451339324125,0.0598387147403,0.999999948888,0.000171503695147,-0.000268863976466,2.28400853652e-05,1793250751290824960
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.63338796,819,656.63338796,632,656,0.400964203345,0.00451324666316,0.0598410065956,0.999999949859,0.00017102651843,-0.000265540793022,2.27909963447e-05,1793250751307491840
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.785128642,819,656.785128642,632,655.785128642,0.400967540648,0.00451282603111,0.0598431780138,0.999999950701,0.000170548866287,-0.000262654705694,2.29019256202e-05,1793250751324158464
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723,685,671,642,886,786.193451964,819,656.193451964,632,655.193451964,0.400971327998,0.00451192480925,0.0598451382295,0.999999951327,0.000170070380471,-0.000260535124518,2.32934681302e-05,1793250751340825088
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.387365372,723,685,671,642,886.387365372,786.387365372,819,656,632,655,0.400995316436,0.00451192039881,0.0598547831595,0.99999995571,0.000169626581895,-0.00024342861518,2.34338546516e-05,1793250751357491712
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.962907442,723,685,671,642,886.962907442,786.962907442,819,656,632,655,0.401029118281,0.00451235164678,0.0598681612167,0.999999961421,0.000169199633771,-0.000219041664679,2.34522331171e-05,1793250751374158336
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.461331695,723,685,671,642,886.461331695,787,819,656,632,655.538668305,0.40108931728,0.00451226239746,0.0598884722273,0.999999968782,0.000169511920822,-0.000182068159934,2.3496663394e-05,1793250751390824960
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723,685,671.117159494,642,886.117159494,787,819,656,632.117159494,656,0.401153205216,0.00451221855046,0.059907779299,0.999999974268,0.000169896333444,-0.000148478300571,2.3530050879e-05,1793250751407491584
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,723,685,671.706596218,642,886.706596218,787,819,656,632.706596218,656,0.401224633264,0.00451250226028,0.0599211142202,0.999999976496,0.000170366210929,-0.000132023285138,2.3511689961e-05,1793250751424158464
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.709116006,746.290883994,723,685.290883994,671.709116006,642,886.709116006,787,819.290883994,656,632.709116006,655.709116006,0.401304151886,0.00451249260288,0.0599307940947,0.999999978477,0.000169446604393,-0.000117457700832,2.31964297353e-05,1793250751440825088
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.129931481,746.870068519,723,685.870068519,671.129931481,642,886.129931481,787,819.870068519,656,632.129931481,655.129931481,0.401391689223,0.00451219218378,0.059936851384,0.999999980288,0.000167149854416,-0.000104764767811,2.25869070938e-05,1793250751457491712
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.445840632,746.554159368,723,685.554159368,671.445840632,642.445840632,886,787,819.554159368,656,632,655.445840632,0.401496836501,0.00451165355162,0.0599411795863,0.999999981343,0.000164788335834,-9.8343558101e-05,2.20592887898e-05,1793250751474158336
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746.020564707,723,685.020564707,671.979435293,643,886,787,819,656,632,656,0.401607927402,0.00451104349048,0.0599449812306,0.999999982214,0.000162351654502,-9.3547923167e-05,2.15156438285e-05,1793250751490825216
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746.593647086,723,685.593647086,671.406352914,643,886,787,819,656,632,656,0.401741869938,0.00451036535312,0.0599480715073,0.999999983755,0.000158398835939,-8.36928469209e-05,1.99049712123e-05,1793250751507491840
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.832696777,746.832696777,723,686,671,642.832696777,886.167303223,787,819,656,632,656,0.401881182296,0.00451005563487,0.0599492383389,0.9999999848,0.000155033888992,-7.76530606493e-05,1.8306804469e-05,1793250751524158464
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.257642361,746.257642361,723,686,671,642.257642361,886.742357639,787,819,656,632,656,0.402033581956,0.00451064382727,0.0599457173524,0.999999984866,0.000153101702577,-8.09118954871e-05,1.67391172622e-05,1793250751540825344
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.328779879,746.328779879,723,686,671,642,887,787,819,656,632,656,0.402209869547,0.00451146936155,0.0599452031853,0.999999985334,0.000151835942383,-7.78209756352e-05,1.49043659476e-05,1793250751557491968
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.924429409,746.924429409,723,686,671,642,887,787,819,656,632,656,0.402405546916,0.00451248754559,0.0599471296442,0.99999998608,0.000151111118162,-6.95759790905e-05,1.28528393178e-05,1793250751574158592
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,723,685.497407559,671,642.502592441,887,787,819,656,632,655.497407559,0.402641420657,0.00451142451033,0.0599499003383,0.999999987617,0.000145424114416,-5.92561285065e-05,1.03471762015e-05,1793250751590825216
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.921932657,746.921932657,723,685,671,642.921932657,887,787,819,656,632,655,0.402886471509,0.0045102987256,0.0599526484897,0.999999989078,0.000139151240931,-4.92074870253e-05,7.7596754003e-06,1793250751607491840
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.347393849,746.347393849,723,685,671,642.347393849,887,787,819,656,632,655,0.403152739992,0.00451069709136,0.0599544731421,0.999999990128,0.000133737948567,-4.28009289344e-05,5.07138176498e-06,1793250751624158720
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.234171065,746,723,685.234171065,671.234171065,642.234171065,886.765828935,787,819,656,632.234171065,655.234171065,0.403428256399,0.00451091020261,0.0599536655974,0.999999991003,0.000127436944472,-4.18250323378e-05,2.27510833399e-06,1793250751640825344
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.826481621,746,723,685.826481621,671.826481621,642.826481621,886.173518379,787,819,656,632.826481621,655.826481621,0.403717916494,0.00451083998696,0.0599488323898,0.999999991618,0.000119778280968,-4.915474952e-05,-6.86308433791e-07,1793250751657491968
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,686,672,642.5943301,886.4056699,787,819,656,632.5943301,656,0.404034139423,0.0045107332491,0.0599383960306,0.999999991688,0.000111047951696,-6.53905081185e-05,-4.13890519831e-06,1793250751674158592
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,686,672,642.020578795,886.979421205,787,819,656,632.020578795,656,0.404361368138,0.00451061137898,0.059925638115,0.999999991141,0.000101873598775,-8.5316310948e-05,-7.79501273271e-06,1793250751690825728
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746.556392854,723,686,671.443607146,642.556392854,887,787,819.556392854,656,632.556392854,656,0.40472963845,0.00450821170297,0.059912319686,0.999999989386,9.25476109177e-05,-0.000111992314058,-1.0944040202e-05,1793250751707492352
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,723,686.131014916,671.131014916,643,887,787,819.868985084,656,632.868985084,656,0.405112458825,0.00450635983418,0.0599026714162,0.99999998771,8.3169839262e-05,-0.000132138640597,-1.41961791818e-05,1793250751724158720
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,723,686.697430366,671.697430366,643,887,787,819.302569634,656,632.302569634,656,0.405538559182,0.00450661009559,0.0599052894488,0.999999988712,7.36387239644e-05,-0.000129750419826,-1.78536778142e-05,1793250751740825600
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.718790375,747,723,687.281209625,671.718790375,643,887,787,819,656,632.281209625,656,0.406002176707,0.00450666367595,0.0599190522305,0.999999991889,6.48767918884e-05,-0.000107523784165,-2.12490840828e-05,1793250751757492224
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.115098796,747,723,687.884901204,671.115098796,643,887,787,819,656,632.884901204,656,0.406508817742,0.00450649170897,0.0599455954444,0.999999996123,5.699693252e-05,-6.25471060579e-05,-2.43439318863e-05,1793250751774158336
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.467205057,747,723,688,671,643,887,787,819,656,632.532794943,656,0.407056757671,0.00450412126619,0.0599755780564,0.999999998471,4.60097564322e-05,-1.29941313537e-05,-2.77729640893e-05,1793250751790824960
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,688,671,642.955957966,887,787,819,656,632.044042034,656,0.407613334519,0.00450138092725,0.0600035881994,0.999999998404,3.44095744996e-05,3.2091320948e-05,-3.12829638891e-05,1793250751807491840
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,688,671,642.384254639,887,787,819,656,632.615745361,656,0.408156829357,0.00450041379203,0.0599982592977,0.999999999042,2.42349995485e-05,1.07361346394e-05,-3.48198413417e-05,1793250751824158464
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.80465099,723,688.19534901,671,642.19534901,887,787,819,656,632.80465099,656,0.408709414153,0.00449947609421,0.0599900319197,0.99999999907,1.44021373739e-05,-1.33236361563e-05,-3.84042434319e-05,1793250751840824832
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.208852357,723,688.791147643,671,642.791147643,887,787,819,656,632.208852357,656,0.409280632592,0.00449859874072,0.059975862901,0.999999998179,5.26975929282e-06,-4.29275844578e-05,-4.20860669721e-05,1793250751857491712
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.373375428,723,689,671.373375428,643,887,787,819,656,632.373375428,656,0.409902653192,0.00449809206801,0.0599748838606,0.999999997887,-3.85170112599e-06,-4.51339967576e-05,-4.66302899825e-05,1793250751874158592
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.948278396,723,689,671.948278396,643,887,787,819,656,632.948278396,656,0.410552093988,0.00449778546844,0.0599810240462,0.999999998053,-1.29672684933e-05,-3.25527235768e-05,-5.16399887269e-05,1793250751890825472
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,723,689,672,643,887.523223652,787,819.523223652,656,632.476776348,656,0.41125137775,0.00449600598881,0.0599903224719,0.999999998026,-2.46844406468e-05,-1.10886872598e-05,-5.67111321634e-05,1793250751907491840
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.899044447,723,689.100955553,671.899044447,643,888,787,819.899044447,656,632,655.899044447,0.411952031422,0.0044935787844,0.0599944083926,0.999999997671,-3.22574155879e-05,-5.84669286288e-07,-6.0148324459e-05,1793250751924158208
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.307799733,723,689.692200267,671.307799733,643,888,787,819.307799733,656,632,655.307799733,0.412635407653,0.00448871306094,0.0599716635497,0.999999997151,-1.84550943394e-05,-4.75725403089e-05,-5.56207552045e-05,1793250751940824832
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.277527594,723,690,671,642.722472406,888,787.277527594,819.277527594,656,632,655.277527594,0.413327712645,0.00448200138773,0.0599441552637,0.999999993718,2.37982281449e-05,-0.000101267848636,-4.1740711642e-05,1793250751957491712
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.856429161,723,690,671,642.143570839,888,787.856429161,819.856429161,656,632,655.856429161,0.414029713679,0.00447328515214,0.0599114742358,0.999999981982,9.69471874155e-05,-0.000162246931861,-1.77045876631e-05,1793250751974158592
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,723,690.871355267,671,642,888,788,820,656,632,656,0.414841982316,0.00447030604059,0.0599311431334,0.999999987291,0.000101981682934,-0.000121374263589,-1.69200353277e-05,1793250751990825216
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691.985080699,671.014919301,642.014919301,888.014919301,788,820.014919301,656,632,656,0.415690762999,0.00446921465636,0.0599680967155,0.999999995006,8.47709512781e-05,-4.73271199695e-05,-2.37234217851e-05,1793250752007491840
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691.410385661,671.589614339,642.589614339,888.589614339,788,820.589614339,656,632,656,0.41654502752,0.00446795968427,0.0600057943166,0.999999996689,7.57669813993e-05,1.11138922915e-05,-2.75115662455e-05,1793250752024158464
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723,691,671.832079624,643,889.167920376,788,821,656,632,656,0.417395302398,0.00446711135961,0.0600294174252,0.99999999598,6.92667196526e-05,4.78728407011e-05,-3.08364846627e-05,1793250752040825088
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,691,671.244754644,643,889.755245356,788,821,656,632,656,0.418235612529,0.00446727869377,0.0600178875199,0.999999996609,6.90198198845e-05,3.04778017435e-05,-3.30044312879e-05,1793250752057491712
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.662141734,747,723,691,671,643,890,788,821.337858266,656,632.337858266,656,0.41908236288,0.00446791398362,0.059998475274,0.999999999398,3.83366385691e-07,-1.35359978854e-06,-3.46771770261e-05,1793250752074158336
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.082895458,747,723,691,671,643,890,788,821.917104542,656,632.917104542,656,0.41993371451,0.00446888361158,0.0599734313699,0.999999991548,-0.000117115050804,-4.34992808469e-05,-3.59961183976e-05,1793250752090824960
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746.506885419,723,691.493114581,671,643,890,788,822.493114581,656,632.506885419,656,0.420759699866,0.00446880620987,0.0599368348268,0.999999986438,-0.000125427117852,-0.000100034470256,-3.72296038868e-05,1793250752107492096
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.06858221,746.06858221,723,692.06858221,670.93141779,643,890.137164419,788,823,656,632.06858221,656,0.421588638865,0.0044683905728,0.0599010130578,0.999999980337,-0.000115923887172,-0.000156257460398,-3.83449411653e-05,1793250752124158720
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.644035294,746.644035294,723,692.644035294,670.355964706,643,891.288070588,788,823,656,632.644035294,656,0.42247071704,0.00446676750801,0.0598851770918,0.999999974743,-0.000109523977445,-0.000192411787135,-3.86925595955e-05,1793250752140825344
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,693,670.450283238,643,892,788,823.225141619,656,632.774858381,656,0.423407373326,0.00446571051844,0.059903236934,0.999999980096,-0.000102666490739,-0.000166591538807,-3.89135451809e-05,1793250752157491968
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,693,671.630832843,643,892,788,823.815416422,656,632.184583578,656,0.42443254417,0.00446557158564,0.0599762687708,0.999999993913,-9.506690675e-05,-4.02613397003e-05,-3.8929158152e-05,1793250752174158592
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,693,672,643,892,787.601843387,824,656,632,656,0.425412754537,0.00446506910244,0.0600177012861,0.999999994816,-8.88649364324e-05,2.99847367149e-05,-3.96557526877e-05,1793250752190825216
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,693,672,643,892,787.022531369,824,656,632,656,0.426372508488,0.00446440120916,0.0600447565703,0.999999992911,-8.32988605333e-05,7.47133541929e-05,-4.07058335005e-05,1793250752207492096
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,692.447672224,670.895344449,643,892,787.552327776,824,656,632,656,0.427307064879,0.00446203113278,0.0600290141542,0.999999993364,-8.49264652935e-05,6.41835880916e-05,-4.40447486697e-05,1793250752224158464
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,692.129718207,670.129718207,643,892.129718207,787.870281793,824,656,632,656,0.428232107976,0.00446027099277,0.0600086309129,0.999999994524,-8.31077792696e-05,4.32047767735e-05,-4.66779303514e-05,1793250752240825088
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,692.716666018,670.716666018,643,892.716666018,787.283333982,824,656,632,656,0.42912721279,0.0044609035482,0.0599779943333,0.999999996577,-6.81155412892e-05,-6.72276307931e-06,-4.64970725876e-05,1793250752257491456
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,722.700340863,693.299659137,670.400681726,643,892.700340863,787,824,656,632,656,0.430012755224,0.00446082118534,0.0599443470409,0.999999995014,-5.81661865729e-05,-6.63886470964e-05,-4.67010887166e-05,1793250752274158080
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,722.121038314,693.878961686,669.242076627,643,892.121038314,787,824,656,632,656,0.430889373949,0.00446007165713,0.059907890138,0.999999988351,-5.29228765949e-05,-0.00013514239985,-4.7264271025e-05,1793250752290824960
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,722.457267835,694.457267835,669.914535671,643,892.457267835,787,824.457267835,656,632,656,0.431879028793,0.00445650674237,0.0599426042607,0.999999995038,-5.43755342022e-05,-6.77917198036e-05,-4.86987532527e-05,1793250752307491584
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,723,694.966285649,671.033714351,643,893.033714351,787,825.033714351,656,632.033714351,656,0.43289246173,0.00445255741804,0.0599937198802,0.999999996672,-5.6898462336e-05,2.99477649457e-05,-5.0215772007e-05,1793250752324158208
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,723,694.414377606,671.585622394,643,893.585622394,787,825.585622394,656,632.585622394,656,0.433812483208,0.0044541290456,0.0600080019018,0.999999996699,-4.86885715133e-05,4.22359663265e-05,-4.94642545743e-05,1793250752340825088
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.846875349,747,723,694,671.693750698,643,894,787,825.846875349,656,632.846875349,656,0.434725513157,0.00445391632117,0.0600109059432,0.99999999709,-4.42221608406e-05,3.8027934904e-05,-4.91761199354e-05,1793250752357491712
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.23238776,747,723,694,670.46477552,643,894,787,825.23238776,656,632.23238776,656,0.435617477926,0.00444832736368,0.0599795282551,0.999999997307,-5.10348138675e-05,-1.58830669627e-05,-5.02841524639e-05,1793250752374158336
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.361714961,747,723,694,670.361714961,643,894,787,825,656,632,656,0.436489001658,0.00444538409369,0.0599537064908,0.999999995553,-5.23454224716e-05,-5.91867535812e-05,-5.14954106644e-05,1793250752390824960
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.943419855,747,723,694,670.943419855,643,894,787,825,656,632,656,0.437348093387,0.00444404989383,0.0599312637628,0.99999999273,-5.03097649165e-05,-9.60392175259e-05,-5.27694492008e-05,1793250752407491840
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694,671,643,894,787,825.517972291,656,632,656,0.438161019405,0.00444372381647,0.0599065112771,0.999999986411,-4.52280125208e-05,-0.000149716538658,-5.21235300226e-05,1793250752424158720
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.908171903,747,723,694,670.908171903,643,894.091828097,786.908171903,826,656,632,656,0.438983600597,0.00444248946766,0.059892194321,0.999999980825,-4.14128042759e-05,-0.000184388348561,-5.13500874363e-05,1793250752440825088
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.333927252,747,723,694,670.333927252,643,894.666072748,786.333927252,826,656,632,656,0.439883036678,0.00443591289907,0.0599340075713,0.999999991627,-4.59755696137e-05,-0.000109691627352,-5.09934800027e-05,1793250752457491712
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,723,694.246987989,670,643,895,786,826,656,632,656,0.440756727291,0.00443454343556,0.0599685230875,0.999999996306,-4.54105365735e-05,-5.20968692539e-05,-5.11100525903e-05,1793250752474158336
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,694.837172139,670,643,895,786,826,656,632,656,0.44159464384,0.00444040937897,0.0599928982109,0.999999997776,-3.77202957413e-05,-1.82657352907e-05,-5.18841212802e-05,1793250752490824960
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.4186589,747,723,694.5813411,669.5813411,643,895.4186589,786,826.4186589,656,632,656,0.442344347659,0.00444116874697,0.0599615941865,0.999999995654,-3.5030542057e-05,-6.84597399839e-05,-5.26986101128e-05,1793250752507491584
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.996831901,747,723,694.003168099,669.003168099,643,895.996831901,786,826.996831901,656,632,656,0.443060441431,0.00443998244853,0.0599090757358,0.99999998663,-3.4246033571e-05,-0.000150668334672,-5.35284992803e-05,1793250752524158464
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,693.427950655,669,642.427950655,895.427950655,786,826.427950655,656,632,656,0.443760321713,0.00444457252319,0.059869125101,0.999999976771,-2.77719443955e-05,-0.000206819486884,-5.39684486627e-05,1793250752540825344
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,693.150441582,668.849558418,642,895,786,826.150441582,656,632,656,0.444452528818,0.00444919584995,0.0598384005746,0.999999966181,-3.75530670881e-05,-0.000251618609086,-5.40023416261e-05,1793250752557492224
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,693.73810811,668.26189189,642,895,786,826.73810811,656,632,656,0.445122695323,0.00445382332238,0.0598342884228,0.999999959315,-9.46674461943e-05,-0.000263842848784,-5.28623664617e-05,1793250752574158848
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.677271076,747,723,694,668,641.677271076,895.322728924,786,827,656,632,656,0.445771538373,0.00446105949439,0.0598128547563,0.999999945456,-0.000112637283071,-0.000306030006316,-5.24122299759e-05,1793250752590825216
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.09509876,747,723,694,668,641.09509876,895.90490124,786,827,656,632,656,0.446403239349,0.00447039281271,0.0597774962379,0.999999924401,-9.91386236775e-05,-0.000372304501618,-5.25166582291e-05,1793250752607491840
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.482397946,747,723,694,667.517602054,641,896,786,827,656,632,656,0.447033224118,0.00450017205224,0.0597649739737,0.999999923561,-6.60420859804e-05,-0.00038128612142,-5.60189395247e-05,1793250752624158464
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,694,666.941199452,641,896,785.941199452,827,656,632,656,0.447660904501,0.00453257853252,0.0597599026465,0.999999926967,-3.07257853037e-05,-0.000376132692345,-6.0378053227e-05,1793250752640824832
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,694,666.366387092,641,896,785.366387092,827,656,632,656,0.448271303015,0.00455300867922,0.0597810903599,0.999999938201,-9.50865620572e-06,-0.000345100885345,-6.64345321616e-05,1793250752657491456
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723,694,665.786069714,640.786069714,896,785,827,656,632,656,0.44883897091,0.00457115910577,0.059784001125,0.999999938835,8.26118521152e-06,-0.000342078827488,-7.24079341826e-05,1793250752674158336
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,694,665.196075225,640.196075225,896,785,827,656,632,656,0.449331523356,0.00458530205113,0.0597547831691,0.999999921354,1.99710993618e-05,-0.000388294607303,-7.8235296182e-05,1793250752690825216
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723,694,664.614585356,639.614585356,896,785,827,656,632,656,0.449809204417,0.00459087575158,0.0597187753694,0.999999897964,2.54790373523e-05,-0.000443614569965,-8.14144629644e-05,1793250752707491840
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723,694,664.03732865,639.03732865,896,785,827,656,632,656,0.450279483218,0.00459218406894,0.0596793878885,0.999999869404,2.78999117866e-05,-0.000503466188173,-8.32754777175e-05,1793250752724158720
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.460676476,747.539323524,723,694,664,639,896,785,827,656,632,656.539323524,0.450741634379,0.00458805512513,0.0596745531333,0.999999869851,1.93229128746e-05,-0.000502740121532,-8.47134377964e-05,1793250752740825344
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.117988309,747.882011691,723,694,664,638.882011691,896.117988309,785.117988309,827,656,632,657,0.451195007295,0.00458537088204,0.0596757112251,0.999999874231,1.28940268644e-05,-0.000493909628349,-8.61667653858e-05,1793250752757491968
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.704816684,747.295183316,723,694,664,638.295183316,896.704816684,785.704816684,827,656,632,657,0.451615731825,0.00458992105225,0.0596911902146,0.99999988576,1.80222594836e-05,-0.000469517238724,-8.77973799931e-05,1793250752774158592
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.711972187,747.288027813,723,694,663.711972187,638,897,785.711972187,827,656,631.711972187,657,0.452026128165,0.00459138383651,0.0597059849278,0.999999897133,2.107953791e-05,-0.000444357153824,-8.85209010346e-05,1793250752790825216
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.132422223,747.867577777,723,694,663.132422223,638,897,785.132422223,827,656,631.132422223,657,0.452426070989,0.00458972177852,0.0597200870622,0.999999908319,2.20407371239e-05,-0.000418420061461,-8.83263235969e-05,1793250752807491584
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,723,694,662.556281233,638,897,785,827.443718767,656,631.443718767,656.556281233,0.452767201739,0.00458819142089,0.0597163280365,0.999999904407,6.93784525975e-05,-0.00042564559136,-7.21056639977e-05,1793250752824158208
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,723,694.018896288,662,637.981103712,897,785,828,656,632,656,0.453089032177,0.00458709425446,0.0597070918627,0.99999989223,0.000128756112005,-0.00044302105563,-5.19137240014e-05,1793250752840825344
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,723,694.595435703,662,637.404564297,897,785,828,656,632,656,0.453355311355,0.00459762981852,0.0596923267875,0.999999878481,0.000138112674696,-0.000470088710294,-5.45936352073e-05,1793250752857491968
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,747.825122716,723,695,661.825122716,637,897,785,828,656,632,656,0.453611078407,0.00460430045511,0.0596775346863,0.999999865496,0.000142152329872,-0.000495540936056,-5.69206726528e-05,1793250752874158592
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,747.238853997,723,695,661.238853997,637,897,785,828,656,632,656,0.453842116086,0.00460187901128,0.05966267901,0.999999855614,0.000133684183188,-0.000517192930231,-5.84175891497e-05,1793250752890825216
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+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,723,694.50571384,660.49428616,636.49428616,897,784.49428616,828,656,632,657,0.454512071553,0.00460024531924,0.0596740991338,0.999999869903,0.000116793622843,-0.000492320192839,-6.4614482874e-05,1793250752940825088
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+215,3.583333333,POSE1_TO_POSE2_PRESS,769,748,723.652461497,695,660,636,897,784,828,656,632,657,0.454861185033,0.0046022417998,0.0596822644304,0.99999987788,0.000113293025361,-0.000476349968682,-6.70434171363e-05,1793250752974158336
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,784.360650054,828,656,632,656.639349946,0.455679708704,0.00461573325568,0.0596041723291,0.999999817645,0.000127014169055,-0.000586111923547,-7.10577878528e-05,1793250754028791552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,784.931746526,828,656,632,656.068253474,0.455642740136,0.00461606522457,0.0595875112441,0.999999800984,0.000125874481959,-0.000614077148019,-7.1396083359e-05,1793250754045458432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,658,635,897,785,827.474730118,656,632,656,0.455586524462,0.00461756610015,0.0595680383423,0.99999978119,0.000128492347425,-0.000644985685874,-7.14295003753e-05,1793250754062125056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.117602861,747,723.117602861,694,658,635,897,785,827,656,632,656,0.455525320787,0.00461866108074,0.0595494381044,0.999999762375,0.00013062303314,-0.000673112923195,-7.14658050149e-05,1793250754078791680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.693436625,747,723.693436625,694,658,635,897,785,827,656,632,656,0.455454861159,0.00461755630807,0.0595357252512,0.999999751873,0.000128868157892,-0.000688846372837,-7.16746060338e-05,1793250754095458304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723.724324853,694.275675147,657.724324853,635,896.724324853,784.724324853,827,656,632,656,0.455380662714,0.0046167090703,0.0595271877458,0.999999744977,0.000128877024746,-0.000698808933107,-7.14317204158e-05,1793250754112124928
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723.134794571,694.865205429,657.134794571,635,896.134794571,784.134794571,827,656,632,656,0.455302207642,0.00461615503515,0.0595245423554,0.999999742393,0.000130893905583,-0.000702201356402,-7.06745912364e-05,1793250754128791552
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.553444574,747,723,695,657.446555426,635,896.446555426,784.446555426,827.446555426,656,632,656.446555426,0.455205756387,0.00461706847748,0.0595262024281,0.999999742167,0.0001338264051,-0.000702047381399,-6.9902726825e-05,1793250754145458176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.02529396,723,695,658,635,897,785,828,656,632,657,0.455102803658,0.00461854967797,0.0595291756655,0.999999742689,0.000137127494022,-0.000700740691971,-6.91374188158e-05,1793250754162124800
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.175392661,748,723,694.824607339,658,635,897,785,828,656,632,656.824607339,0.454836876052,0.00462493672269,0.0595355944124,0.999999744952,0.000146371061293,-0.000695777059354,-6.75728116176e-05,1793250754195458560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.752474756,748,723,694.247525244,658,635,897,785,828,656,632,656.247525244,0.45467788451,0.00462159376333,0.0595356462135,0.999999742793,0.000146584068731,-0.000699037408251,-6.53715458762e-05,1793250754212124928
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723.328763347,694,658.328763347,635,897,785,828,656,631.671236653,656,0.454500466939,0.00462006794235,0.0595359458325,0.999999740059,0.000148875544239,-0.000702632004617,-6.34501694552e-05,1793250754228791552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,723.90445601,694,658.90445601,635,897,785,828,656,631.09554399,656,0.454309209833,0.00461990694694,0.0595364315839,0.999999736876,0.000152728126573,-0.000706477649673,-6.17390135552e-05,1793250754245458176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.504216684,723.504216684,694,659,635,897,785,828,656,631.495783316,656,0.454095278563,0.00462204205579,0.0595386411682,0.999999736545,0.00015871843267,-0.000705760779776,-6.01643419171e-05,1793250754262125056
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.086925535,659,635.086925535,897,785,828,656,632,656.086925535,0.453869102523,0.00462455924612,0.0595404143265,0.999999735664,0.000165395560781,-0.000705612174389,-5.85415988196e-05,1793250754278791424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.65964672,659,635.65964672,897,785,828,656,632,656.65964672,0.453599710127,0.00462665831485,0.0595378314275,0.999999728654,0.000173533785309,-0.000713713251691,-5.64984202947e-05,1793250754295458048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.766096219,747.233903781,723,695,659,636,896.766096219,785,827.766096219,656,631.766096219,656.766096219,0.453317328046,0.00462813930046,0.0595332967275,0.99999972251,0.000180371918571,-0.000720744348645,-5.45292035504e-05,1793250754312124928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.189589569,747.810410431,723,695,659,636,896.189589569,785,827.189589569,656,631.189589569,656.189589569,0.453015919769,0.004628714969,0.0595259031916,0.999999717755,0.000185305785446,-0.00072620822668,-5.26683200204e-05,1793250754328791552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.397603611,747.602396389,723,694.602396389,659.397603611,636,896,785,827,656,631.397603611,656,0.452708670828,0.00462900769423,0.0595327643881,0.99999972731,0.000191197933437,-0.000711561210193,-5.00383842499e-05,1793250754345458176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.990033178,747.009966822,723,694.009966822,659.990033178,636,896,785,827,656,631.990033178,656,0.452398559967,0.00462916177707,0.0595466104105,0.999999743353,0.000197559639382,-0.000687059845347,-4.70316125462e-05,1793250754362124800
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.433925023,747,723,694,660,636,895.433925023,785,827.566074977,656,631.433925023,656,0.452039414908,0.00463056459228,0.0595610848244,0.999999755592,0.000206074884929,-0.000666643321302,-4.39902935641e-05,1793250754378791680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,660,636,895.142156656,785,827.857843344,656,631,656.142156656,0.451662378909,0.00463249832209,0.0595737248994,0.999999764995,0.000215514356071,-0.000649538480703,-4.07821227543e-05,1793250754395458048
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,660,636,895.719218131,785,827.280781869,656,631,656.719218131,0.451233175532,0.00463599092621,0.0595807202183,0.999999767089,0.000227668603966,-0.000642351352538,-3.70653054911e-05,1793250754412124672
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,694,660.301539788,636.301539788,896,785,827,656,631,656.698460212,0.450786564825,0.0046379864525,0.0595800159156,0.999999763419,0.000237454644669,-0.000644695677348,-3.38191335241e-05,1793250754428791296
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,660.888846548,636.888846548,896,785,827,656,631,656.111153452,0.450323457271,0.00463856320988,0.0595720147407,0.999999754291,0.00024499635478,-0.000656072887084,-3.10189881042e-05,1793250754445458176
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,694,661,637,895.530376723,785,827,656.469623277,631.469623277,656,0.449811443021,0.00464024947286,0.0595591481364,0.999999739622,0.000255686568541,-0.000674260871396,-2.74313362626e-05,1793250754462124800
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.625567306,747,723,694,662.251134612,637.625567306,895,785.625567306,827,656.374432694,632,656,0.448733088374,0.00464048559243,0.0595456886229,0.999999722047,0.000275137318117,-0.000692702094436,-1.9225566282e-05,1793250754495458304
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.225171298,747,723,694,663,638,894.225171298,786,827,656,632,656,0.447601530971,0.00464182992416,0.0595750811266,0.999999748421,0.000297189155856,-0.000644002093868,-9.87843077821e-06,1793250754528791296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,693.641305765,663.71738847,638.358694235,894,785.641305765,827,655.641305765,631.641305765,656,0.447025688487,0.0046397070101,0.0596111188405,0.999999777383,0.000305523237336,-0.000593188913321,-4.10149235412e-06,1793250754545457920
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.531480804,747,723,693,665,639,893.468519196,785.531480804,826.468519196,655.531480804,631.531480804,656,0.445769783944,0.00463503268882,0.0596572363078,0.999999802269,0.000321372890712,-0.000540491046413,7.19796820647e-06,1793250754578791168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.88874228,747,723,693,665.11125772,639.11125772,893,786,826,656,631.88874228,656,0.445077638525,0.00463513259275,0.0596515882567,0.999999791367,0.000331163424289,-0.000554492910462,1.16188246157e-05,1793250754595458048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.315991907,747,723,693,665.684008093,639.684008093,893,786,826,656,631.315991907,656,0.444364339004,0.00463428464205,0.0596354177455,0.999999781055,0.000337948305097,-0.000568740647143,1.46388018682e-05,1793250754612124928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.257414011,747,723,693.257414011,666.257414011,640,892.742585989,786.257414011,826,656,631.257414011,656,0.443656849672,0.0046330184673,0.0596470335691,0.999999794072,0.000343763638273,-0.000541612463128,1.84090492397e-05,1793250754628791552
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.831626784,747,723,693.831626784,666.831626784,640,892.168373216,786.831626784,826,656,631.831626784,656,0.442956510831,0.00463123758516,0.0596928459613,0.999999831601,0.000348385751143,-0.000463563039399,2.31026524505e-05,1793250754645458176
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.985811008,722.985811008,694,668,641,892,786.014188992,825.985811008,656,632,656,0.441475010366,0.0046306999121,0.0597551044614,0.99999985862,0.000367972074251,-0.000382253364584,3.51983165377e-05,1793250754678791168
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.40933908,722.40933908,694,668,641,892,786.59066092,825.40933908,656,632,656,0.440662765947,0.00463142656995,0.0597592587708,0.999999851575,0.000379537342058,-0.000388765626531,4.07725330838e-05,1793250754695457792
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,722,693.928414034,669,642,890.928414034,787,824,656,631.928414034,655,0.435432346687,0.00461966318752,0.0597153025899,0.999999865047,0.000241156134763,-0.000460018096684,1.15527264746e-05,1793250754795458304
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.869497672,747,723,693,670.738995344,641.869497672,889.869497672,788,822,656,631.869497672,655.130502328,0.429060169758,0.00457319753634,0.0598191009313,0.999999940598,0.000200898244937,-0.000278769638649,2.70269890411e-05,1793250754912126720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.294287971,747,723,693,669.588575941,641.294287971,889.294287971,788,822,656,631.294287971,655.705712029,0.428067130785,0.00457125341725,0.0597667065841,0.999999910239,0.000196786173024,-0.000374093989145,2.91556307875e-05,1793250754928793344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,722.717412197,693,669,641,889,788,821.717412197,656,631.282587803,656,0.427112220191,0.00457158570697,0.0597433640633,0.999999897836,0.000193020885699,-0.000407691941088,2.92839160439e-05,1793250754945459712
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,722.138791116,693,669,641,889,788,821.138791116,656,631.861208884,656,0.426197252181,0.00457430271673,0.0597504556528,0.999999910725,0.00018961888444,-0.000376626560351,2.73166682749e-05,1793250754962126080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746.551909821,722,692.551909821,669.896180359,641.448090179,889,788,820.551909821,656,632,656,0.425279834926,0.00457438603901,0.0597797802183,0.999999923807,0.000185834844876,-0.000342069124028,2.89971674482e-05,1793250754978792704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746.03688251,722.03688251,692,670.926234981,642,889,788,820,656,631.96311749,655.96311749,0.424362713012,0.00457356158712,0.0598146254813,0.999999935878,0.000181733541561,-0.000306937799725,3.17230343674e-05,1793250754995459328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746.615458918,722.615458918,692,669.769082164,642,889,788,820,656,631.384541082,655.384541082,0.423461281067,0.00457161067909,0.0598275127639,0.999999945114,0.000174743175233,-0.000279562030135,3.28964549051e-05,1793250755012125696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.192673975,746.807326025,723,692,669.770695899,642,888.807326025,788,819.807326025,656,631.192673975,655.192673975,0.422561999654,0.00457234381715,0.0598358672923,0.999999950795,0.000170054235279,-0.000261471712344,3.35218975878e-05,1793250755028792064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.767191195,746.232808805,723,692,672.068764781,642,888.232808805,788,819.232808805,656,631.767191195,655.767191195,0.421666980026,0.00457839622474,0.0598352387643,0.999999950751,0.000169926284528,-0.000261783392948,3.30613524305e-05,1793250755045458688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,723,691.662094582,671.986283745,642,888,788,819.337905418,656,632,656,0.420733754295,0.00458009181291,0.0597983279472,0.999999931901,0.0001651237483,-0.000328417463075,3.27668615787e-05,1793250755062125568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,723,691.093971406,670.281914218,642,888,788,819.906028594,656,632,656,0.419774498484,0.0045788190636,0.0597366977063,0.999999890219,0.000157136376652,-0.000440237522751,3.25855045982e-05,1793250755078792448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.498660555,746.501339445,723,691,670,642,887.498660555,787.498660555,819.498660555,656,632,656,0.418892809638,0.0045753591411,0.059721757105,0.999999891347,0.000143216068997,-0.000442530111672,3.1031112346e-05,1793250755095459072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,690.902030095,670.19593981,642,887,787,819.097969905,655.902030095,632,656,0.418038262394,0.00457250895456,0.0597251429124,0.999999904599,0.000130565790264,-0.000415763090552,2.99284983641e-05,1793250755112125696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,690.325283169,671.349433663,642,887,787,819.674716831,655.325283169,632,656,0.417241228682,0.00457475690737,0.0597728685937,0.999999928716,0.000129868421561,-0.000353064395012,3.23635596629e-05,1793250755128791808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,747,722.750737807,690,671.501475614,642,887,787,820,655.249262193,632,655.750737807,0.416450248554,0.00457475380518,0.0598095254787,0.999999943799,0.00012514661158,-0.000309122326939,3.44007945267e-05,1793250755145458176
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,722.179040343,690,670.358080687,642,887,787,820,655.820959657,632,655.179040343,0.415667099155,0.00457183883109,0.0598318642227,0.999999950828,0.00011521895122,-0.000289443063045,3.59234174862e-05,1793250755162125312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,747,722.407377696,690,670,642,887,787,819.592622304,656,632,655.407377696,0.41488473953,0.00457016289331,0.059837062985,0.999999954112,0.000106055246857,-0.000281482907147,3.59953557643e-05,1793250755178791936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.000495895,746.999504105,723,689.999504105,670.000495895,642,887,787,819.000495895,656,632,656,0.41410273794,0.00456905273204,0.0598344341464,0.999999955742,9.73613346786e-05,-0.000278897105523,3.54064020267e-05,1793250755195458560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.579555289,746.420444711,723,689.420444711,670.579555289,642,887,787,819.579555289,656,632,656,0.413318388831,0.00456888960472,0.0598174985946,0.999999924095,0.000230365031368,-0.000312220873053,3.54923723688e-05,1793250755212125440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.842170733,746,722.842170733,689,670.842170733,642,886.842170733,787,820,656,632,656,0.412539268972,0.00456860214935,0.0597923722009,0.999999883127,0.000323851910595,-0.000357239795394,3.52953170499e-05,1793250755228792064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.265978555,746,722.265978555,689,670.265978555,642,886.265978555,787,820,656,632,656,0.411774010271,0.00456798513376,0.0597455340863,0.999999856697,0.000312590380027,-0.000433259445042,3.43480382879e-05,1793250755245458944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.308505488,746.308505488,722.308505488,689,670,642,886,787,819.691494512,656,632,656,0.411085168335,0.00456694331138,0.0597351073131,0.999999856542,0.000298983849401,-0.000443199424431,3.31578244452e-05,1793250755262125568
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.881524935,746.881524935,722.881524935,689,670,642,886,787,819.118475065,656,632,656,0.410461846512,0.00456553725781,0.0597558997867,0.999999880748,0.0002833667067,-0.000396482401051,3.17593171198e-05,1793250755278792192
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.531808076,746.531808076,723,688.531808076,670.468191924,642,886.468191924,787,819,656,632,656,0.409856496264,0.00456163441302,0.0597951558107,0.999999906153,0.000268861660418,-0.00033809157101,3.31894988376e-05,1793250755295459328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,723,687.942529969,670.885059938,642,886.942529969,787,819,656,631.942529969,655.942529969,0.409257268891,0.00455749431147,0.0598362454299,0.99999992743,0.000255248321659,-0.000280624789562,3.51773406353e-05,1793250755312126208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,723,687.361864506,669.723729012,642,886.361864506,787,819,656,631.361864506,655.361864506,0.408671138748,0.00455711882275,0.0598502162014,0.999999935225,0.000247114056713,-0.000259270738069,3.55299076517e-05,1793250755328792832
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669.431673082,642,886.215836541,787,819,656,631.215836541,655.215836541,0.408093517592,0.00455594838849,0.0598518912653,0.999999938843,0.000236630383943,-0.000255105419413,3.52200041431e-05,1793250755345459200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,670.577269651,642,886.788634825,787,819,656,631.788634825,655.788634825,0.407529969101,0.00455346323181,0.0598332310444,0.999999935705,0.000222261138672,-0.000279367726935,3.38144722547e-05,1793250755362125824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,686.636512893,670.636512893,642,887,787,819.363487107,656,632,655.636512893,0.407002128854,0.00455096863983,0.0598212190078,0.99999993399,0.000210309871919,-0.00029441541212,3.32923916808e-05,1793250755378792448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,686.060459384,670.060459384,642,887,787,819.939540616,656,632,655.060459384,0.40649517065,0.00454846852986,0.0598130948121,0.999999933261,0.00019977263196,-0.00030407441027,3.3286951221e-05,1793250755395458560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746.531720573,723,686.531720573,670.531720573,642,886.468279427,787,819.468279427,655.468279427,632,655.531720573,0.406031543314,0.00454787607952,0.0598215287963,0.999999939399,0.000192928500863,-0.000287871846676,3.33368798824e-05,1793250755412124928
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.122081371,747,723,687,671,642,886,787,819,655.122081371,632,656,0.405578992425,0.00454714368699,0.0598281770886,0.999999944295,0.00018673258183,-0.000274630813357,3.34392277783e-05,1793250755428791296
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.698630614,747,723,687,671,642,886,787,819,655.698630614,632,656,0.40514876027,0.00454505759478,0.0598209497875,0.999999942746,0.00018133760072,-0.000283703785062,3.37125448751e-05,1793250755445458176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.7252129,747,723,687,670.7252129,642,886,787,819.2747871,656,632,656,0.404726859984,0.00454436955525,0.0598050734947,0.999999935612,0.000178384331856,-0.000309522586313,3.39204235822e-05,1793250755462124800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.149486584,747,723,687,670.149486584,642,886,787,819.850513416,656,632,656,0.404314084553,0.00454521262442,0.0597797250663,0.999999921014,0.000178105158651,-0.000353680954987,3.40566359166e-05,1793250755478791424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.435106924,747,723,686.564893076,670,642,886,787,819.564893076,656,632,656,0.403960577037,0.00454353394384,0.0597667218164,0.999999914569,0.000174114912541,-0.000373307819014,3.44476959108e-05,1793250755495458304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.022423654,642,886,787,819,656,632,656,0.403630301905,0.0045409539528,0.0597592709257,0.999999912047,0.000168947094435,-0.00038228203785,3.49838341384e-05,1793250755512124672
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.600166716,642,886,787,819,656,632,656,0.403360614624,0.00453795525217,0.059782102058,0.999999927427,0.000166848603489,-0.000340508075402,3.68993913347e-05,1793250755528791296
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746.822412706,723,686,670.822412706,642,886,787,819,656,632,656,0.403102492106,0.00453602493258,0.0598043667855,0.99999994034,0.000165242954113,-0.000300874496959,3.860079831e-05,1793250755545457920
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746.245716953,723,686,670.245716953,642,886,787,819,656,632,656,0.402870360193,0.00453649568555,0.0598253585761,0.999999950245,0.000164744914185,-0.000266051209255,3.98209253928e-05,1793250755562124544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,746,723,686,670,642,886,786.670744036,819,656,632.329255964,656,0.402644762856,0.00453559323619,0.0598364483436,0.999999954248,0.00016417998522,-0.000250716243738,4.11107532791e-05,1793250755578791424
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,746,723,686,670,642,886,786.097050083,819,656,632.902949917,656,0.40242401673,0.00453367132832,0.0598401869008,0.99999995451,0.000163565398221,-0.0002498493081,4.24523268484e-05,1793250755595458048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746.494350032,723,685.505649968,670.494350032,642,886,786,819,656,632.505649968,655.505649968,0.402221023077,0.00453246950173,0.0598346835003,0.999999951463,0.00016258051045,-0.000262288075055,4.29640681595e-05,1793250755612124672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746.913799287,723,685,671,642,886,786.086200713,819.086200713,656,632,655,0.40202729635,0.00453156021517,0.0598281730337,0.999999948057,0.000160888816528,-0.0002759218275,4.32097629031e-05,1793250755628791296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746.339799896,723,685,671,642,886,786.660200104,819.660200104,656,632,655,0.401865555298,0.00453147668943,0.0598266123841,0.999999947493,0.000155624062089,-0.000280986890194,4.29060758057e-05,1793250755645458688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746.234696095,723,685.234696095,670.765303905,642,886,787,819.765303905,656,632,655.234696095,0.401717329083,0.00452882787877,0.0598259664769,0.999999951031,0.00012223544903,-0.000285855675456,3.58290339842e-05,1793250755662126080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746.809912565,723,685.809912565,670.190087435,642,886,787,819.190087435,656,632,655.809912565,0.401588711546,0.00452245709828,0.0598266477686,0.999999956489,4.80419517753e-05,-0.000290439680498,1.89245370758e-05,1793250755678792960
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.604317329,746.604317329,723,685.604317329,670,642,886,787,819,656,632,655.604317329,0.401483879957,0.00451888514335,0.0598283097351,0.999999958242,2.2481192424e-05,-0.000287777873537,1.39286442955e-05,1793250755695459328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.013338302,746.013338302,723,685.013338302,670,642,886,787,819,656,632,655.013338302,0.401390788359,0.0045166945997,0.0598304557314,0.999999960039,2.09240047198e-05,-0.000281539765119,1.48104594874e-05,1793250755712125952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.566515612,746.566515612,723,685.566515612,670,642,886,787,819,656,632,655.566515612,0.401314485444,0.00451902290353,0.0598328550996,0.999999961261,2.75119174556e-05,-0.000276556160423,1.54485642801e-05,1793250755728792320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.854623312,723,686,670.145376688,642,886,786.854623312,819,656,632,656,0.401241313169,0.00451988792827,0.0598339710031,0.99999996174,3.17514196693e-05,-0.000274308504991,1.6314337864e-05,1793250755745459200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746.277945737,723,686,670.722054263,642,886,786.277945737,819,656,632,656,0.401176278706,0.00451610215514,0.0598312617892,0.999999960209,2.84657116176e-05,-0.000280091873504,1.78722505325e-05,1793250755762125312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.702891136,746,723,686,670.702891136,642,886,786.297108864,819,656,632.297108864,656,0.40112147708,0.0045151507819,0.0598286606053,0.999999958688,2.84377725468e-05,-0.000285431416035,1.85644252633e-05,1793250755778792192
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.129346515,746,723,686,670.129346515,642,886,786.870653485,819,656,632.870653485,656,0.401076196272,0.004516836588,0.0598261599343,0.999999957182,3.1440923539e-05,-0.000290358015072,1.84511010726e-05,1793250755795459584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.458820997,746.458820997,723,686,670,642,886,787,819,656,633,655.541179003,0.401045126278,0.00451663396946,0.0598256658028,0.999999956893,3.13896145648e-05,-0.000291333625322,1.88167761566e-05,1793250755812126208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.949991189,747,723,686,670,642,886,786.949991189,819,656,632.949991189,655.050008811,0.401019119908,0.00451578725597,0.0598259529222,0.999999957063,3.04906074781e-05,-0.000290810186465,1.93338827842e-05,1793250755828793088
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c955d145183eed12b15f4a2ef5629a9dbf386adc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbdd727a3bdfb1ed0841dced4d9d32319ba553ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b594cef5897e3ad772ae10786874cd798d75c15023d926aeb54331ddfe4a8fd
+size 26220665
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66d2ad1619f087a870ffbb3e8214dff746ad46e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/franka_data.csv
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+3,0.050000000,BASELINE,769,747,723,686,671,642,886,786.249936284,819,656,632,656,0.400962581371,0.00451289793546,0.0598379145645,0.999999962549,3.2742709221e-05,-0.000270935068053,2.05788466836e-05,1793250756452238336
+4,0.066666667,BASELINE,769,747,723,686,671,642,886,786.330928681,819.330928681,656,632,655.669071319,0.400962446111,0.00451302919547,0.0598381242615,0.999999962581,3.27559405457e-05,-0.00027082429813,2.04830028713e-05,1793250756468904960
+5,0.083333333,BASELINE,769,747,723,686,671,642,886,786.90639707,819.90639707,656,632,655.09360293,0.400962352552,0.0045129349854,0.0598387893639,0.999999962664,3.35718250396e-05,-0.000270387379153,2.08887346111e-05,1793250756485571584
+6,0.100000000,BASELINE,768.518536408,747,723,686,671,642,886,787,819.518536408,656,632,655,0.400962649939,0.00451258522442,0.0598388557025,0.99999996269,3.30814656971e-05,-0.000270332419622,2.11141069986e-05,1793250756502237952
+7,0.116666667,BASELINE,768.05805693,747,723,686,671,642,886,787,819,656,632,655,0.400962980528,0.00451227564317,0.0598387820966,0.999999962703,3.24739168695e-05,-0.000270347926645,2.12668883464e-05,1793250756518904576
+8,0.133333333,BASELINE,768.649391811,747,723,686,671,642,886,787,819,656,632,655,0.400962918532,0.00451279110476,0.0598384914037,0.999999962691,3.3120637848e-05,-0.00027032917647,2.10747014136e-05,1793250756535571200
+9,0.150000000,BASELINE,768.765354019,746.765354019,723,685.765354019,671,642,886,787,819,656,632,655.234645981,0.40096291365,0.00451289330888,0.0598386861008,0.999999962753,3.37127776986e-05,-0.000270030339162,2.10123883244e-05,1793250756552237824
+10,0.166666667,BASELINE,768.188956195,746.188956195,723,685.188956195,671,642,886,787,819,656,632,655.811043805,0.400962991953,0.00451239362112,0.0598395877479,0.999999962923,3.42254224129e-05,-0.000269323566922,2.11392309537e-05,1793250756568904704
+11,0.183333333,BASELINE,768,746.387854731,723,685,671.387854731,642,886,787,819,656,632.387854731,656,0.40096292752,0.0045115847185,0.0598398420755,0.999999962991,3.26239086692e-05,-0.000269273541415,2.10971080714e-05,1793250756585571328
+12,0.200000000,BASELINE,768,746.964867178,723,685,671.964867178,642,886,787,819,656,632.964867178,656,0.400962793473,0.004510625011,0.0598397807039,0.999999963003,2.99913146313e-05,-0.000269543812857,2.09725802998e-05,1793250756602237952
+13,0.216666667,BASELINE,768,747,723,685.551834533,671.448165467,642,886,787,819,656,632.448165467,655.448165467,0.400963775675,0.00451147368644,0.0598398007093,0.999999963398,3.06527722982e-05,-0.000267999849618,2.09920484056e-05,1793250756618904576
+14,0.233333333,BASELINE,768,746.862757248,723,686,671,642,886,787,819,656,632,655.137242752,0.400964362927,0.00451233439706,0.0598398292683,0.999999963617,3.17640133329e-05,-0.000267052243952,2.09904023709e-05,1793250756635571200
+15,0.250000000,BASELINE,768,746.284434062,723,686,671,642,886,787,819,656,632,655.715565938,0.400963448264,0.00451285697176,0.0598398683613,0.999999963197,3.36344131818e-05,-0.000268399288929,2.08908935736e-05,1793250756652237824
+16,0.266666667,BASELINE,768.294426099,746.294426099,723,686,671,642,886,786.705573901,819,656,632,656,0.400962337026,0.00451364912796,0.0598394541376,0.999999962793,3.47664128091e-05,-0.000269765204693,2.07778745184e-05,1793250756668904448
+17,0.283333333,BASELINE,768.873805924,746.873805924,723,686,671,642,886,786.126194076,819,656,632,656,0.400961035536,0.00451470219258,0.0598386011814,0.999999962407,3.51837681588e-05,-0.000271149384047,2.0651779868e-05,1793250756685571072
+18,0.300000000,BASELINE,769,747,723,686,671,642,886,786,819,656.448381113,632.448381113,655.551618887,0.400961524028,0.00451397691212,0.0598392561979,0.999999962763,3.47470006604e-05,-0.000269869415323,2.09162778207e-05,1793250756702237952
+19,0.316666667,BASELINE,768.977805541,746.977805541,723,686,671,642,886,786.022194459,819,656.977805541,632.977805541,655.022194459,0.400962458679,0.00451281234429,0.0598402782323,0.999999963292,3.40903891169e-05,-0.000267958334412,2.12718554708e-05,1793250756718904576
+20,0.333333333,BASELINE,768.389293262,746.389293262,723,686,671,642,886,786.610706738,819,656.389293262,632.389293262,655.610706738,0.400962059387,0.00451307439814,0.0598399506663,0.999999963055,3.38929397449e-05,-0.000268873075959,2.11761873849e-05,1793250756735571200
+21,0.350000000,BASELINE,768,746,723,686,671,642,886,787,819.195995236,656,632.195995236,656,0.400962588444,0.00451324913137,0.0598400351188,0.999999963148,3.37612715735e-05,-0.000268559058032,2.09777950947e-05,1793250756752238080
+22,0.366666667,BASELINE,768,746,723,686,671,642,886,787,819.774984083,656,632.774984083,656,0.400964931587,0.00451325323168,0.0598409246951,0.999999963882,3.37581462407e-05,-0.000265843925377,2.05786698045e-05,1793250756768904448
+23,0.383333333,BASELINE,768.35265021,746.35265021,723,686,671,642,886,786.64734979,819.64734979,656,632.64734979,656,0.40096490375,0.00451359261631,0.0598411700103,0.999999963797,3.49837645337e-05,-0.000265996006398,2.07132079645e-05,1793250756785571072
+24,0.400000000,BASELINE,768.929475558,746.929475558,723,686,671,642,886,786.070524442,819.070524442,656,632.070524442,656,0.400963368712,0.00451414513682,0.0598410057773,0.999999963187,3.69904791172e-05,-0.000267970737478,2.11869889778e-05,1793250756802237952
+25,0.416666667,BASELINE,768.493718036,747,723,686,671,642,886,786.506281964,819,656,632,655.493718036,0.400962963051,0.00451305363244,0.059840156327,0.999999963189,3.41437347977e-05,-0.000268350260059,2.10842824106e-05,1793250756818904576
+26,0.433333333,BASELINE,768,746.915123157,723,686,671.084876843,642,886,787,819,656,632,655.084876843,0.400962780533,0.00451188948009,0.0598393542022,0.999999963232,3.13221762535e-05,-0.000268542083738,2.09725915765e-05,1793250756835571200
+27,0.450000000,BASELINE,768,746.325884759,723,686,671.674115241,642,886,787,819,656,632,655.674115241,0.40096298918,0.00451165442607,0.0598394004665,0.999999963076,3.26675844781e-05,-0.000268938935758,2.12846842696e-05,1793250756852237824
+28,0.466666667,BASELINE,768.258973176,746.258973176,723,686,671.741026824,642,886.258973176,786.741026824,819,656,632,656,0.40096246817,0.004512107017,0.0598389049586,0.99999996274,3.43238638697e-05,-0.00026997450721,2.1342398291e-05,1793250756868904704
+29,0.483333333,BASELINE,768.838410508,746.838410508,723,686,671.161589492,642,886.838410508,786.161589492,819,656,632,656,0.400961044252,0.00451341052836,0.0598377390392,0.999999962179,3.63648280665e-05,-0.000271800456574,2.10853335664e-05,1793250756885571328
+30,0.500000000,BASELINE,768.587507458,746.587507458,723,686,671,642,886.175014916,786.412492542,819,656,632,656,0.400962311715,0.0045126745968,0.0598385097881,0.999999962691,3.45553817154e-05,-0.000270157653231,2.09566382049e-05,1793250756902238464
+31,0.516666667,BASELINE,768.015496431,746.015496431,723,686,671,642,885.030992861,786.984503569,819,656,632,656,0.400964619985,0.00451114997497,0.0598400294826,0.999999963603,3.1256910436e-05,-0.000267173419097,2.08775856527e-05,1793250756918906112
+32,0.533333333,BASELINE,768,746.561373472,723,685.438626528,671,642,885.561373472,786.438626528,819,656,632,656,0.400963178337,0.00451214454605,0.0598400310727,0.999999963409,3.26463263927e-05,-0.000267727649059,2.09352684419e-05,1793250756935572736
+33,0.550000000,BASELINE,768.141604517,747,723,685.141604517,671,642,886,786,819,656.141604517,632,655.858395483,0.40096206876,0.00451317481323,0.0598400700703,0.999999963257,3.40814621254e-05,-0.000268108740739,2.10369655554e-05,1793250756952238848
+34,0.566666667,BASELINE,768.732060584,747,723,685.732060584,671,642,886,786,819,656.732060584,632,655.267939416,0.400962342743,0.00451409587557,0.0598403616335,0.99999996334,3.52477490811e-05,-0.000267628709527,2.12661085294e-05,1793250756968905216
+35,0.583333333,BASELINE,768.683838082,747,723,685.683838082,671,642,886,786.316161918,819,656.683838082,632,655.316161918,0.400963088258,0.00451436760815,0.0598407396139,0.999999963585,3.5106598425e-05,-0.000266731201378,2.12734578712e-05,1793250756985572096
+36,0.600000000,BASELINE,768.10501605,747,723,685.10501605,671,642,886,786.89498395,819,656.10501605,632,655.89498395,0.400964225511,0.00451409989249,0.0598411893875,0.999999963962,3.38792585357e-05,-0.000265486862853,2.10965461451e-05,1793250757002239488
+37,0.616666667,BASELINE,768.455780972,746.544219028,723,685,671,642,886,787,819,656.455780972,632,656,0.40096340631,0.00451359730401,0.0598400887782,0.999999963437,3.35646079195e-05,-0.000267512229218,2.08796950455e-05,1793250757018906112
+38,0.633333333,BASELINE,768.98620196,746.01379804,723,685.01379804,671,642,886,787,819,656.98620196,632,655.98620196,0.400962223359,0.00451307462351,0.0598387163211,0.999999962743,3.34739451158e-05,-0.000270124391284,2.06563667594e-05,1793250757035572224
+39,0.650000000,BASELINE,768.375625988,746.624374012,723,685.624374012,671,642,886,787,819,656.375625988,632,655.375625988,0.400964063024,0.00451393450108,0.0598404486111,0.999999963617,3.43216584771e-05,-0.00026677168061,2.05357639528e-05,1793250757052238848
+40,0.666666667,BASELINE,768,746.777164808,723,685.777164808,671,642.222835192,886,787,819,656,632,655,0.400964169413,0.00451402252709,0.0598408677563,0.999999963843,3.48729209093e-05,-0.000265836700924,2.07011614388e-05,1793250757068905472
+41,0.683333333,BASELINE,768,746.19807217,723,685.19807217,671,642.80192783,886,787,819,656,632,655,0.400961504728,0.00451287655643,0.0598391875129,0.999999963044,3.495023279e-05,-0.000268767065417,2.1323801493e-05,1793250757085571584
+42,0.700000000,BASELINE,768.378921001,746.378921001,723,685.378921001,671,642.621078999,886.378921001,786.621078999,819,656,632.378921001,655.378921001,0.400961862374,0.00451208043171,0.0598393844124,0.999999963169,3.43720979937e-05,-0.000268372891677,2.13526606868e-05,1793250757102238720
+43,0.716666667,BASELINE,768.954822754,746.954822754,723,685.954822754,671,642.045177246,886.954822754,786.045177246,819,656,632.954822754,655.954822754,0.400963791167,0.00451146617321,0.0598405571381,0.999999963774,3.3453231541e-05,-0.000266250468316,2.10728449655e-05,1793250757118906112
+44,0.733333333,BASELINE,768.473812232,747,723,685.473812232,671,642,886.473812232,786,819,656,632.473812232,656,0.400964097473,0.00451208604172,0.0598409993334,0.999999963892,3.40271489125e-05,-0.000265742013527,2.09615414833e-05,1793250757135572992
+45,0.750000000,BASELINE,768.100971473,747,723,685.100971473,671,642,886,786.100971473,819,656,632.100971473,656,0.400964145724,0.00451263185175,0.0598412705857,0.999999963943,3.44224348648e-05,-0.00026550608931,2.08884395221e-05,1793250757152239616
+46,0.766666667,BASELINE,768.694308655,747,723,685.694308655,671,642,886,786.694308655,819,656,632.694308655,656,0.400963609108,0.00451230426051,0.0598410115053,0.999999963866,3.33270268498e-05,-0.000265929163765,2.09316717733e-05,1793250757168905728
+47,0.783333333,BASELINE,769,747,723,686,671,642,886,787,819.28097333,656,632.71902667,656,0.400963911465,0.00451317940012,0.0598411480779,0.999999963892,3.50206076456e-05,-0.000265620572602,2.08721063855e-05,1793250757185572608
+48,0.800000000,BASELINE,769,747,723,686,671,642,886,787,819.86054697,656,632.13945303,656,0.400965105431,0.00451533272435,0.0598417051249,0.999999964009,3.96781454859e-05,-0.000264534414524,2.07032943114e-05,1793250757202239744
+49,0.816666667,BASELINE,769,747,723,686,671,642.436891789,886,787,819.563108211,656,632,656,0.40096485382,0.00451381034493,0.0598415802202,0.99999996403,3.65245401002e-05,-0.000264898798905,2.08533506037e-05,1793250757218905856
+50,0.833333333,BASELINE,769,746.987817801,723,685.987817801,671,642.987817801,886,787,819,656,632,656,0.400964159443,0.00451120670641,0.0598412489396,0.999999963997,3.10610156936e-05,-0.000265699289175,2.11010773421e-05,1793250757235571712
+51,0.850000000,BASELINE,769,746.413971258,723,685.413971258,671,642.413971258,886,787,819,656,632,656,0.400964169002,0.00451244798713,0.0598413649584,0.999999964001,3.3207445444e-05,-0.000265416252509,2.11937255331e-05,1793250757252238336
+52,0.866666667,BASELINE,769,746.165484929,723,685.165484929,671,642,886,787,819,656,632,656,0.400963912199,0.00451311835123,0.0598412171802,0.999999963918,3.4196003994e-05,-0.000265597971188,2.12595358473e-05,1793250757268904960
+53,0.883333333,BASELINE,769,746.759466348,723,685.759466348,671,642,886,787,819,656,632,656,0.400962965692,0.00451231041893,0.0598403863426,0.999999963616,3.21864419858e-05,-0.000266983098772,2.12558538096e-05,1793250757285572096
+54,0.900000000,BASELINE,768.655824401,746.655824401,723,686,671,642,886,787,819.344175599,656,632.344175599,656,0.400963674145,0.00451216658841,0.0598411795507,0.999999963934,3.13965202404e-05,-0.000265892398917,2.11321919319e-05,1793250757302239232
+55,0.916666667,BASELINE,768.077425208,746.077425208,723,686,671,642,886,787,819.922574792,656,632.922574792,656,0.400965508857,0.00451247470251,0.0598430779791,0.999999964672,3.14366066441e-05,-0.000263116811413,2.09268795561e-05,1793250757318906112
+56,0.933333333,BASELINE,768,746.4955902,723,686,671,642,886,786.5044098,819.5044098,656,632.5044098,656,0.400965252567,0.00451299373087,0.0598424276022,0.999999964417,3.2558079723e-05,-0.000263961398127,2.07357166078e-05,1793250757335572224
+57,0.950000000,BASELINE,768,747,723,686,671,642,886,786.069866194,819,656,632,656,0.40096458911,0.00451335995541,0.0598414444159,0.999999964013,3.37740582715e-05,-0.000265343463235,2.06267359974e-05,1793250757352238592
+58,0.966666667,BASELINE,768,747,723,686,671,642,886,786.659716566,819,656,632,656,0.400963300444,0.00451234632315,0.0598409160222,0.999999963656,3.44495405926e-05,-0.000266561662935,2.11131281428e-05,1793250757368905216
+59,0.983333333,BASELINE,768,747,723,685.755328646,671,642,886,787,819,656,632.244671354,656,0.400963099575,0.00451196299231,0.059840971995,0.999999963611,3.51590035832e-05,-0.000266616834441,2.13946879437e-05,1793250757385571840
+60,1.000000000,BASELINE,768,747,723,685.177048882,671,642,886,787,819,656,632.822951118,656,0.400964381911,0.00451243907479,0.0598418247492,0.999999963991,3.59147991758e-05,-0.000265086221846,2.13969597341e-05,1793250757402238464
+61,1.016666667,BASELINE,768.399774702,746.600225298,723,685,671.399774702,642,886.399774702,786.600225298,819.399774702,656,632.600225298,655.600225298,0.400963042782,0.00451241120001,0.0598406689123,0.999999963539,3.5581281137e-05,-0.000266843105479,2.12404244449e-05,1793250757418905088
+62,1.033333333,BASELINE,768.97595569,746.02404431,723,685,671.97595569,642,886.97595569,786.02404431,819.97595569,656,632.02404431,655.02404431,0.400960546894,0.00451216094687,0.0598386267559,0.999999962711,3.47670878831e-05,-0.000270050643779,2.10138132674e-05,1793250757435571712
+63,1.050000000,BASELINE,768.449139369,746,723,685.550860631,671.449139369,642,886.449139369,786.550860631,819.449139369,656,632,655.550860631,0.400961829377,0.00451400404098,0.0598401902066,0.999999963196,3.49333352298e-05,-0.000268244475732,2.07867516643e-05,1793250757452238080
+64,1.066666667,BASELINE,768,746.129127972,722.870872028,685.870872028,671,642,886,787,819.129127972,656,632,656,0.400962829253,0.00451509144074,0.0598413660718,0.999999963616,3.46267154037e-05,-0.00026672718434,2.06228365315e-05,1793250757468904448
+65,1.083333333,BASELINE,768,746.719607077,722.280392923,685.280392923,671,642,886,787,819.719607077,656,632,656,0.400962231548,0.00451315317939,0.0598405961731,0.999999963608,3.24780806811e-05,-0.000267022071784,2.0684602529e-05,1793250757485571072
+66,1.100000000,BASELINE,768,746.695193745,722.304806255,685,671,642,886,786.695193745,819.695193745,656,632,655.695193745,0.400962544112,0.00451215016411,0.0598406806305,0.999999963771,3.13439782834e-05,-0.000266542421815,2.07532246175e-05,1793250757502237696
+67,1.116666667,BASELINE,768,746.114768929,722.885231071,685,671,642,886,786.114768929,819.114768929,656,632,655.114768929,0.400963679781,0.00451199283754,0.0598415376323,0.99999996409,3.11272585509e-05,-0.000265362402715,2.08280462669e-05,1793250757518904320
+68,1.133333333,BASELINE,768,746.461385992,723,685,671.461385992,642,886,786.461385992,819,656,632,655.461385992,0.400963140751,0.00451176920573,0.05984073432,0.999999963775,3.13773101997e-05,-0.000266505536111,2.09601950888e-05,1793250757535571200
+69,1.150000000,BASELINE,768.036318419,747,723,685,671.963681581,642,886,787,819,656,632,656,0.40096228922,0.00451153506146,0.0598396935229,0.999999963362,3.17757560516e-05,-0.00026799561518,2.11059595861e-05,1793250757552237824
+70,1.166666667,BASELINE,768.608739259,747,723,685,671.391260741,642,886,787,819,656,632,656,0.400962917619,0.0045113869693,0.0598411876389,0.999999963822,3.26664916244e-05,-0.000266155050212,2.12441426502e-05,1793250757568904448
+71,1.183333333,BASELINE,769,747,723,685.188261746,671,642,885.811738254,787,819,655.811738254,632,655.811738254,0.40096296171,0.00451140482589,0.0598416235302,0.99999996398,3.32234562282e-05,-0.000265479000892,2.13652905227e-05,1793250757585571072
+72,1.200000000,BASELINE,769,747,723,685.783122138,671,642,885.216877862,787,819,655.216877862,632,655.216877862,0.400961743845,0.00451178109056,0.059839773919,0.999999963494,3.30595585488e-05,-0.000267318015993,2.14496466359e-05,1793250757602237952
+73,1.216666667,BASELINE,768.6343361,747,723,686,671,642,885.3656639,787,819,655.3656639,632,655,0.400962543358,0.00451188595694,0.0598400765413,0.999999963636,3.31654710398e-05,-0.000266780534692,2.13355455898e-05,1793250757618905088
+74,1.233333333,BASELINE,768.058862524,747,723,686,671,642,885.941137476,787,819,655.941137476,632,655,0.400964500399,0.00451183510109,0.0598416140668,0.999999964138,3.34261945135e-05,-0.0002648794734,2.11075743095e-05,1793250757635572480
+75,1.250000000,BASELINE,768.517767648,747,723,686,671,642,886,786.482232352,819,656,632,655,0.400962560067,0.00451307325269,0.0598407220991,0.999999963401,3.44396756154e-05,-0.000267526436549,2.10233939847e-05,1793250757652239360
+76,1.266666667,BASELINE,769,747,722.903551578,686,671,642,886,786,819,656,632,655.096448422,0.400960734301,0.00451411321915,0.0598397394027,0.999999962741,3.50133723793e-05,-0.000269916531838,2.08940405503e-05,1793250757668905984
+77,1.283333333,BASELINE,769,747,722.315082166,686,671,642,886,786,819,656,632,655.684917834,0.400961758334,0.0045133929291,0.0598397060091,0.999999963243,3.29060167097e-05,-0.000268352700371,2.04506628482e-05,1793250757685572096
+78,1.300000000,BASELINE,769,746.730970611,722.269029389,685.730970611,671,642,886,786.269029389,819,656,632,656,0.400962519493,0.00451269326013,0.0598400577366,0.999999963608,3.16865491335e-05,-0.000267130535483,2.05150035332e-05,1793250757702238720
+79,1.316666667,BASELINE,769,746.15188158,722.84811842,685.15188158,671,642,886,786.84811842,819,656,632,656,0.400962977688,0.00451201735726,0.0598408533205,0.999999963822,3.14903835239e-05,-0.000266302145591,2.11644958616e-05,1793250757718905600
+80,1.333333333,BASELINE,768.576120223,746.423879777,723,685.423879777,671,642,886,787,819,656,632,656,0.4009621661,0.00451208391035,0.0598406330908,0.999999963605,3.31508595873e-05,-0.000266916647575,2.11522620289e-05,1793250757735571968
+81,1.350000000,BASELINE,768.001541881,746.998458119,723,685.998458119,671,642,886,787,819,656,632,656,0.400960903076,0.00451241442279,0.0598400517171,0.999999963229,3.54714125081e-05,-0.000268044129228,2.09047700717e-05,1793250757752238080
+82,1.366666667,BASELINE,768,747,723,685.425617223,671,642,886,787,819,656,632,655.425617223,0.400960999685,0.00451330316914,0.0598395352155,0.999999963173,3.49313047669e-05,-0.000268338209239,2.07197035464e-05,1793250757768904704
+83,1.383333333,BASELINE,768,747,723,685,671,642,886,787,819,656,632,655.154774558,0.400961437702,0.00451353119002,0.0598394851015,0.99999996328,3.39726289245e-05,-0.000268063782182,2.06700656633e-05,1793250757785571328
+84,1.400000000,BASELINE,768,747,723,685,671,642,886,787,819,656,632,655.747805214,0.400962832086,0.00451188406279,0.0598407551058,0.999999963845,3.1850540417e-05,-0.000266185933248,2.10034287658e-05,1793250757802237952
+85,1.416666667,BASELINE,768.332157326,747,723,685.332157326,671,642,886,787,819,656,632,656,0.400963393802,0.0045119171534,0.0598410899424,0.999999964098,3.17845476124e-05,-0.000265257812175,2.07678965646e-05,1793250757818904320
+86,1.433333333,BASELINE,768.910087883,747,723,685.910087883,671,642,886,787,819,656,632,656,0.400963339401,0.004513193488,0.0598407328203,0.999999964124,3.32399222159e-05,-0.000265032423529,2.01114215341e-05,1793250757835570688
+87,1.450000000,BASELINE,768.516475032,747,723,686,671.483524968,642,885.516475032,787,819,656,632,656,0.400962572345,0.00451335901116,0.059840859367,0.999999963846,3.39180630747e-05,-0.000265955493149,2.05993001287e-05,1793250757852237568
+88,1.466666667,BASELINE,768,746.942177337,723,686,671.942177337,642,885.057822663,787,819,656,632.057822663,655.942177337,0.400961939207,0.00451336033485,0.0598411933153,0.999999963606,3.44793954617e-05,-0.000266737077868,2.12137821648e-05,1793250757868904448
+89,1.483333333,BASELINE,768,746.352344347,723,686,671.352344347,642,885.647655653,787,819,656,632.647655653,655.352344347,0.400963746254,0.00451373387857,0.0598426156244,0.999999964237,3.52835205572e-05,-0.000264270108911,2.10532750699e-05,1793250757885571328
+90,1.500000000,BASELINE,768,746,723,685.767212622,671,642,886,787,819,656,632.767212622,655,0.400964542532,0.00451417525696,0.0598431022289,0.999999964469,3.57643983094e-05,-0.0002633327371,2.09520810848e-05,1793250757902237696
+91,1.516666667,BASELINE,768,746,723,685.189055867,671,642,886,787,819,656,632.189055867,655,0.400963839208,0.00451471727661,0.0598422005977,0.999999964117,3.57656978669e-05,-0.000264664715417,2.09388855785e-05,1793250757918904576
+92,1.533333333,BASELINE,768.387518034,746,723,685,671,642,886,787,819,656,632,655.387518034,0.400963060128,0.00451387782121,0.0598414545093,0.999999963961,3.4567475082e-05,-0.00026540639809,2.10541161554e-05,1793250757935571456
+93,1.550000000,BASELINE,768.963322911,746,723,685,671,642,886,787,819,656,632,655.963322911,0.400962244239,0.00451236713625,0.0598407839956,0.999999963896,3.27864296766e-05,-0.00026586126867,2.12317462578e-05,1793250757952238336
+94,1.566666667,BASELINE,768.461172499,746.538827501,723,685,671,642,886,787,819,656,632.538827501,656,0.400962386169,0.0045136645339,0.0598411726892,0.999999963896,3.2923192843e-05,-0.000265894142451,2.05832994978e-05,1793250757968904704
+95,1.583333333,BASELINE,768,747,722.882911042,685.117088958,671,642.117088958,886,787,819,656,632.882911042,656,0.400962755472,0.00451452895776,0.0598416910646,0.999999963957,3.31910088163e-05,-0.00026566343798,2.01807750462e-05,1793250757985571584
+96,1.600000000,BASELINE,768,747,722.29344484,685.70655516,671,642.70655516,886,787,819,656,632.29344484,656,0.400963779197,0.0045128759153,0.0598424419133,0.999999964244,3.34611788659e-05,-0.000264485188401,2.09971093364e-05,1793250758002237952
+97,1.616666667,BASELINE,768,747,722.291430376,685.708569624,671,642.708569624,886,787,819,656,632,656,0.400963426367,0.00451189484736,0.0598421098913,0.999999964157,3.29370298484e-05,-0.000264857099966,2.12794250427e-05,1793250758018904576
+98,1.633333333,BASELINE,768,747,722.871754531,685.128245469,671,642.128245469,886,787,819,656,632,656,0.400961708964,0.00451157990522,0.0598407044239,0.999999963697,3.16254754651e-05,-0.000266765680211,2.10323701902e-05,1793250758035571456
+99,1.650000000,BASELINE,768.447156903,747,723,685.447156903,671,642,886,787,819,656,632,656,0.400961439173,0.00451230080173,0.059840437611,0.99999996358,3.22877293742e-05,-0.000267142214063,2.08090773545e-05,1793250758052238080
+100,1.666666667,BASELINE,768.978266285,747,723,685.978266285,671,642,886,786.978266285,819,656,632,656,0.400961619645,0.00451323892033,0.0598405512868,0.999999963579,3.34059857142e-05,-0.000267021380884,2.06113381391e-05,1793250758068904448
+101,1.683333333,BASELINE,768.388782147,747,723,685.388782147,671,642,886,786.388782147,819,656,632,656,0.400962834708,0.00451217538506,0.0598421664009,0.999999964094,3.1809365809e-05,-0.000265261149315,2.09050467034e-05,1793250758085571072
+102,1.700000000,BASELINE,768.197121958,746.802878042,723,685.197121958,671,642,886,786,819,656,632,656,0.40096392664,0.00451144032902,0.0598430924785,0.999999964462,3.10430220964e-05,-0.00026394524534,2.10812485993e-05,1793250758102237696
+103,1.716666667,BASELINE,768.776091075,746.223908925,723,685.776091075,671,642,886,786,819,656,632,656,0.400964780052,0.00451134157388,0.0598426838154,0.999999964557,3.18850158999e-05,-0.000263490053546,2.10298269753e-05,1793250758118904576
+104,1.733333333,BASELINE,768.646261638,746.353738362,723,685.646261638,671,642,886,786,819,656,632,655.646261638,0.400964206176,0.00451126431191,0.0598421676024,0.99999996436,3.18921343866e-05,-0.000264234618693,2.10503150895e-05,1793250758135571200
+105,1.750000000,BASELINE,768.069447869,746.930552131,723,685.069447869,671,642,886,786,819,656,632,655.069447869,0.400962732219,0.00451120060402,0.0598415835659,0.999999963977,3.13727617103e-05,-0.000265735777638,2.11161511049e-05,1793250758152237824
+106,1.766666667,BASELINE,768,746.494296282,723,685,671,642,886.505703718,786.505703718,819,656,632.505703718,655.505703718,0.400962973653,0.00451301447577,0.0598416585413,0.999999963963,3.31968101501e-05,-0.000265581330348,2.09526854892e-05,1793250758168904704
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,723,685,671,642,886,786,819,656,632,656,0.40096127263,0.00451516145319,0.0598414174017,0.99999996338,3.98443407012e-05,-0.000266840788706,2.11596577468e-05,1793250758211544064
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.578615677,747,723,685,671,642,886,786,819,656,632,655.421384323,0.40096083824,0.00451315423433,0.0598401582262,0.999999963231,3.75346336688e-05,-0.000267738616605,2.109743362e-05,1793250758228211968
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.843348111,746.843348111,723,685,671,642.156651889,886,786.156651889,819,656,632,655.156651889,0.400961003565,0.00451198515174,0.0598398330664,0.999999963289,3.6193686151e-05,-0.000267707220053,2.10773817727e-05,1793250758244879360
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.266864758,746.266864758,723,685,671,642.733135242,886,786.733135242,819,656,632,655.733135242,0.400962776143,0.00451306229744,0.0598420110947,0.999999963913,3.74490408573e-05,-0.000265185476048,2.11703528065e-05,1793250758261545984
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723,685,671,642.693130258,886,787,819,656,632,656,0.400963033316,0.00451344591056,0.0598424470918,0.999999964079,3.61932982677e-05,-0.000264746531244,2.10082272541e-05,1793250758278212864
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,723,685,671,642.121765069,886,787,819,656,632,656,0.400961984339,0.00451323175789,0.0598413816071,0.999999963845,3.2773204707e-05,-0.000266102781194,2.06262302771e-05,1793250758294880000
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746.465980454,723,685,671.465980454,642,886.465980454,787,819,656,632,656,0.400962106387,0.00451252572774,0.0598411141759,0.999999963813,3.14598059911e-05,-0.000266375118892,2.07063539246e-05,1793250758311546112
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.056845527,746.943154473,723,685.056845527,671.943154473,642,886.943154473,787,819,656,632.056845527,656,0.400962531225,0.00451186761641,0.0598411054388,0.99999996384,3.09427686066e-05,-0.000266322557895,2.0872867847e-05,1793250758328211712
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.635621032,746.364378968,723,685.635621032,671.364378968,642,886.364378968,787,819,656,632.635621032,656,0.40096282423,0.00451287259434,0.0598414874455,0.999999963885,3.24989779922e-05,-0.000265982219083,2.0683452451e-05,1793250758344878080
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.785947368,746.214052632,723,686,671,642,886,787,819,656,632.785947368,655.785947368,0.400966069141,0.00451360077367,0.0598430775552,0.99999996445,3.34907259296e-05,-0.000263728742707,2.06264682596e-05,1793250758361544448
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.208100311,746.791899689,723,686,671,642,886,787,819,656,632.208100311,655.208100311,0.400974330979,0.0045138585182,0.0598467209037,0.999999965882,3.3523139895e-05,-0.000258223782031,2.07945583289e-05,1793250758378211072
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.376409436,746.623590564,723,686,671.376409436,642,886.376409436,787,819,656,632,655.376409436,0.400999067592,0.00451363792734,0.059856980153,0.999999970394,3.28364702103e-05,-0.000240197956457,2.09493343194e-05,1793250758394877952
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.964669124,746.035330876,723,686,671.964669124,642,886.964669124,787,819,656,632,655.964669124,0.401033076518,0.00451314812042,0.059870962955,0.999999976134,3.17450868223e-05,-0.000215125153954,2.10966169032e-05,1793250758411544320
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723,686,671.459039351,642,886.459039351,787,819,656.540960649,632,656,0.401088701305,0.00451225312096,0.0598880606725,0.999999982327,3.08218398408e-05,-0.000184222092481,2.14035699346e-05,1793250758428210944
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.116971332,723,686,671,642,886,787.116971332,819,656.883028668,632,656,0.40114975095,0.00451146837094,0.0599049571131,0.999999987287,2.98432119086e-05,-0.000155132407609,2.16503211569e-05,1793250758444877568
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.694889059,723,686,671,642,886,787.694889059,819,656.305110941,632,656,0.401226735352,0.00451122010579,0.0599202760549,0.999999990291,2.86040084934e-05,-0.000134656708692,2.16196315109e-05,1793250758461544192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.731651016,723,686,671,642,886,787.731651016,819,656,632,656,0.401307447104,0.00451122867225,0.0599301591459,0.999999992302,2.78281903429e-05,-0.000119055354298,2.1169221273e-05,1793250758478211072
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.163176792,723,686,671,642,886,787.163176792,819,656,632,656,0.401392327573,0.00451152448278,0.0599339627049,0.999999993485,2.7570628805e-05,-0.000108905535933,2.02493896906e-05,1793250758494877696
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,685.573727768,671,642,886,787,819,656,632,656,0.401493847519,0.00451083958892,0.0599373635591,0.99999999422,2.56429935089e-05,-0.00010254014397,1.97177235163e-05,1793250758511544320
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.976589568,746.023410432,723,685.023410432,671,642,886,787,819,656,632,656,0.401603258854,0.00450982705335,0.0599406676957,0.999999994802,2.3097226603e-05,-9.74179596556e-05,1.93045358212e-05,1793250758528210688
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.397387251,746.602612749,723,685.602612749,671,642,886,787,819,656,632,656,0.401740973792,0.00451040991828,0.0599455248772,0.999999995933,2.18395791904e-05,-8.56377843574e-05,1.79939116144e-05,1793250758544877568
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.180327161,747,722.819672839,685.819672839,671,642.180327161,886,787,819,656,632,655.819672839,0.401884875481,0.00451087433432,0.0599477059835,0.999999996583,2.01462741038e-05,-7.84864852048e-05,1.63772974304e-05,1793250758561544192
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.75478943,747,722.24521057,685.24521057,671,642.75478943,886,787,819,656,632,655.24521057,0.402042299332,0.00451107986047,0.0599440380803,0.99999999643,1.75007666271e-05,-8.14523690298e-05,1.40918912556e-05,1793250758578211072
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.661965601,746.661965601,722.338034399,685.338034399,671,642.661965601,886,787,819,656,632,655,0.402221714545,0.00451067406179,0.0599450605483,0.999999996979,1.35964798965e-05,-7.55226269857e-05,1.23592096223e-05,1793250758594877952
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.072179644,746.072179644,722.927820356,685.927820356,671,642.072179644,886,787,819,656,632,655,0.402417507872,0.00450981297818,0.0599495761758,0.999999997918,8.75471540178e-06,-6.29678563145e-05,1.1038170069e-05,1793250758611544576
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,723,686,671,642,886.508339371,787,819.508339371,656,632.508339371,655,0.402644608653,0.00451001327229,0.059950464258,0.99999999834,5.36726893627e-06,-5.67414623108e-05,8.48317940553e-06,1793250758628211200
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,746.087019378,723,686,671,642.087019378,886.912980622,787,819.912980622,656,633,655.087019378,0.40288132529,0.00451016118973,0.0599508842107,0.99999999865,1.48407625666e-06,-5.16082852793e-05,5.81847972781e-06,1793250758644878080
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746.662629807,723,686,671,642.662629807,886.337370193,787,819.337370193,656,633,655.662629807,0.403147519757,0.00450918399989,0.0599515159946,0.999999998838,-6.32128929838e-06,-4.7658309255e-05,3.503937307e-06,1793250758661544704
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.237855458,747,723,686,671,643,886,786.762144542,819,656,632.762144542,656,0.403430767578,0.00450863321955,0.0599506841795,0.999999998813,-1.28340386552e-05,-4.70036387865e-05,8.61196439723e-07,1793250758678211328
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.812536194,747,723,686,671,643,886,786.187463806,819,656,632.187463806,656,0.403738164505,0.00450868627448,0.059947779773,0.999999998543,-1.75163237287e-05,-5.10154253058e-05,-2.24630357381e-06,1793250758694877696
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,723,686,671.397324897,642.602675103,886,786.397324897,819,656,632,656,0.404052480864,0.00450827984516,0.0599375755043,0.999999997436,-2.32199077901e-05,-6.75100178696e-05,-5.55422686994e-06,1793250758711544320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,723,686,671.987007165,642.012992835,886,786.987007165,819,656,632,656,0.404370147127,0.00450765096519,0.0599238371447,0.999999995473,-2.94179343892e-05,-9.0047925906e-05,-8.9591812336e-06,1793250758728211200
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.434496067,746.434496067,723,686.565503933,671.434496067,642.565503933,886,786.434496067,819,656,632,655.434496067,0.404727696792,0.0045070417501,0.0599094355493,0.999999992436,-3.78007854401e-05,-0.000116362888242,-1.26287231621e-05,1793250758744877824
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.142980336,746,723,687,671.142980336,643,886.142980336,786.142980336,819,656,632,655.142980336,0.405104063752,0.00450664226176,0.059898633451,0.999999989421,-4.59352954256e-05,-0.000137057704577,-1.62146231186e-05,1793250758761544704
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.718134194,746,723,687,671.718134194,643,886.718134194,786.718134194,819,656,632,655.718134194,0.40553459192,0.00450687535614,0.0598987563907,0.999999988525,-5.3170380807e-05,-0.000140507801985,-1.95296872426e-05,1793250758778211328
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.706887096,746.293112904,723,687,671.706887096,643,886.706887096,787,819.293112904,656,632,656,0.406013509718,0.00450650869032,0.059914935308,0.999999991351,-6.05263002776e-05,-0.000114477857025,-2.30095248419e-05,1793250758794878208
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.132076644,746.867923356,723,687,671.132076644,643,886.132076644,787,819.867923356,656,632,656,0.406538932652,0.00450556562213,0.0599465448988,0.999999995526,-6.7998348643e-05,-6.01159775066e-05,-2.66477191124e-05,1793250758811544832
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.458124693,747,723,687.458124693,671.458124693,642.541875307,886.458124693,787,819.541875307,656.458124693,632,656,0.407080804672,0.00450354494791,0.0599756721958,0.999999996581,-7.62423242373e-05,-1.19431049216e-05,-2.97070751651e-05,1793250758828211200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,688,671.94884888,642.05115112,887,787,819,656.94884888,632,656,0.407625859165,0.0045013491119,0.0600011415023,0.999999995471,-8.47937603703e-05,2.8362453828e-05,-3.26088297249e-05,1793250758844877568
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,688,671.373909302,642.626090698,887,787,819,656.373909302,632,656,0.408153253777,0.00450065149506,0.0599967358678,0.999999994909,-9.41355145837e-05,7.01283411458e-06,-3.56649847056e-05,1793250758861544448
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.799182592,723,688,671,642.799182592,887,787,819,656,632,656,0.408699475718,0.00449933124259,0.059989563302,0.999999993684,-0.000104092886642,-1.62078290912e-05,-3.91605598608e-05,1793250758878211072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.224851842,723,688,671,642.224851842,887,787,819,656,632,656,0.4092807158,0.00449685290969,0.059977244341,0.999999991499,-0.000115195285783,-4.29085663361e-05,-4.34734409673e-05,1793250758894877440
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.640178691,746,723,688.359821309,671,642.359821309,887,787.359821309,819,656,632,656,0.40991114339,0.00449325791445,0.0599764834116,0.999999989651,-0.000128092481617,-4.4818980012e-05,-4.776582332e-05,1793250758911544576
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.048851348,746,723,688.951148652,671,642.951148652,887,787.951148652,819,656,632,656,0.410573217793,0.00448894446805,0.0599831588239,0.999999988069,-0.000142144434271,-3.0779504921e-05,-5.20450167801e-05,1793250758928211456
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.531189336,746,723,689,671.531189336,643,887.531189336,787.468810664,819,656,632.531189336,656,0.411269860936,0.00447600106226,0.0599884012574,0.999999985039,-0.000163665169348,-1.58143340258e-05,-5.3718554696e-05,1793250758944878080
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.109872373,723,689,672,642.890127627,888,787.109872373,819,656,632.890127627,656,0.411965879705,0.00446306665293,0.0599887211692,0.999999983056,-0.000176027747662,-1.13622830978e-05,-5.26582278562e-05,1793250758961544448
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.687103667,723,689,672,642.312896333,888,787.687103667,819,656,632.312896333,656,0.412646000767,0.0044534762409,0.0599686512867,0.999999987068,-0.000146573766904,-5.19839880736e-05,-4.09670916271e-05,1793250758978211072
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.738150701,723,689.261849299,671.476301403,642.261849299,888,787.738150701,819.261849299,656,632,656,0.41333245234,0.00445807684582,0.059941881799,0.999999990175,-8.95785242887e-05,-0.000103795673,-2.9201202397e-05,1793250758994877696
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.166347303,723,689.833652697,670.332694606,642.833652697,888,787.166347303,819.833652697,656,632,656,0.414026397505,0.00447947552343,0.0599071819069,0.999999985594,1.76390277826e-08,-0.000168853073726,-1.73468254257e-05,1793250759011544320
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.419555691,723,690.419555691,670.839111382,643,888,787.419555691,820.419555691,656,632.419555691,656,0.414842552038,0.00447984843842,0.0599269354479,0.999999991601,8.83877245349e-06,-0.000128079106415,-1.77642536279e-05,1793250759028210944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,723,691,672.01099549,643,888.01099549,788,821,656,633,656,0.415708600158,0.00447166929233,0.0599688988832,0.999999998625,-1.52853265348e-05,-4.4480547384e-05,-2.31756490538e-05,1793250759044877568
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,723,691,672.589640959,643,888.589640959,788,821,656,633,656,0.416561976788,0.00446732186504,0.060004108396,0.999999999183,-2.93680678446e-05,8.39784838149e-06,-2.64801466046e-05,1793250759061544448
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.832162416,723,691,672.664324832,643,889,788,821,656,632.832162416,656,0.417410183106,0.00446627471378,0.0600261448898,0.999999998046,-3.5826462455e-05,4.18239872011e-05,-2.95680911279e-05,1793250759078211328
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.255060314,723,691,671.510120628,643,889,788,821,656,632.255060314,656,0.418245781797,0.00447327513977,0.0600160595577,0.999999998816,-2.36932244877e-05,2.78166554518e-05,-3.21279806417e-05,1793250759094878464
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,691,671.319479201,642.680520799,889.319479201,788,821.638958402,656,632,655.680520799,0.419087780737,0.00447311833765,0.0599978594203,0.999999999253,-1.92068104999e-05,-2.81808168142e-06,-3.34178626658e-05,1793250759111545088
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,691,671.891989095,642.108010905,889.891989095,788,822.78397819,656,632,655.108010905,0.419934848697,0.00446729293963,0.0599732322773,0.999999998129,-2.07767574228e-05,-4.66218879646e-05,-3.37018860093e-05,1793250759128211456
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.517356009,746.482643991,723,691.482643991,671.034712017,642.482643991,890,787.517356009,822.517356009,656,632.482643991,655.482643991,0.420779841071,0.00447144361342,0.0599379281254,0.999999994138,-1.07854985893e-05,-0.000101545375502,-3.60096198318e-05,1793250759144878080
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.074846863,746.925153137,723,692.074846863,670.074846863,643,890.074846863,787.074846863,822.074846863,656,632.925153137,656,0.421628874512,0.00447655907293,0.0599027682867,0.999999987062,6.63742226407e-07,-0.00015621964838,-3.83443925467e-05,1793250759161544448
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.649221073,746.350778927,723,692.649221073,670.649221073,643,890.649221073,787.649221073,822.649221073,656,632.350778927,656,0.422508098715,0.00447263146542,0.059885141444,0.999999980854,3.90150418349e-06,-0.000191973815213,-3.77189910731e-05,1793250759178211072
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.224082534,723,693,671,643,891.224082534,787.775917466,823.224082534,656,632,656,0.423436987852,0.00446935850713,0.0599018940252,0.999999985241,4.74900382918e-06,-0.000167583843775,-3.75690127669e-05,1793250759194877696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.799708489,723,693,671,643,891.799708489,787.200291511,823.799708489,656,632,656,0.424443792077,0.00446711256995,0.0599725814645,0.999999998077,1.84663116264e-06,-4.88390160654e-05,-3.81648837413e-05,1793250759211544576
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,693,671.385053574,643,891.614946426,787,824,655.614946426,632,656,0.425431782626,0.00446814411731,0.0600158185101,0.999999998912,4.60010408155e-06,2.45182928001e-05,-3.94294941626e-05,1793250759228211200
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,693,671.975585088,643,891.024414912,787,824,655.024414912,632,656,0.426409733482,0.00447092464422,0.0600444070693,0.999999996391,1.03717325201e-05,7.3655240374e-05,-4.1050967224e-05,1793250759244878080
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,692.445061814,670.890123628,643,891.554938186,787,824,655.554938186,632,656,0.427358223208,0.00446617724007,0.0600292773781,0.999999995776,-5.06214885456e-05,6.32789272703e-05,-4.33653181399e-05,1793250759261544448
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,692.132995985,670.132995985,643,892,787,824,656,632,656,0.428291027919,0.00446250977678,0.060008878504,0.999999993244,-9.88082149397e-05,4.12949538216e-05,-4.5214721841e-05,1793250759278210816
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,692.708348954,670.708348954,643,892,787,824,656,632,656,0.429175888801,0.00446351413688,0.0599772249783,0.999999994415,-9.48223048607e-05,-1.07603286085e-05,-4.54182788513e-05,1793250759294877696
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,723,693.283420325,670.43315935,643,892,787,824.283420325,656,632,656,0.430057701957,0.00446369838971,0.0599446373007,0.999999992678,-8.89690637716e-05,-6.81637268843e-05,-4.56337310376e-05,1793250759311544576
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,723,693.858202172,669.283595656,643,892,787,824.858202172,656,632,656,0.43093638194,0.0044630395565,0.059911089299,0.999999987063,-8.11961708113e-05,-0.00013106508736,-4.58614116394e-05,1793250759328211456
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.55493529,723,694,669.890129419,643,892.44506471,787,824.55493529,656,632,656,0.431934006105,0.00445956591012,0.0599438536502,0.999999993461,-7.94457226778e-05,-6.75889177175e-05,-4.68893648351e-05,1793250759344878080
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.035247305,723,694,671.035247305,643.035247305,893.035247305,787,824.035247305,656,632,656,0.432964242767,0.00445556450596,0.0599957289634,0.999999995224,-7.90853487487e-05,3.1331508329e-05,-4.81212775421e-05,1793250759361544448
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.615589722,723,694,671.615589722,643.615589722,893.615589722,787,824.615589722,656,632,656,0.433896423079,0.00445765726756,0.0600073081011,0.99999999566,-6.97211075785e-05,3.83426724083e-05,-4.84543522447e-05,1793250759378211328
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694,671.613019517,643.806509758,894,787,825.193490242,656,632,656,0.434815872405,0.00445660525985,0.0600062555768,0.999999996212,-6.57594807954e-05,2.92562467836e-05,-4.89431888496e-05,1793250759394877952
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694,670.466800064,643.233400032,894,787,825.766599968,656,632,656,0.435710344257,0.00444938335117,0.0599804202801,0.999999996077,-7.23975480387e-05,-1.14129523652e-05,-4.97376235842e-05,1793250759411544320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,694,670,643,894.349758196,787,826,656,632,656,0.436571382166,0.00444699578554,0.0599558065168,0.999999994758,-7.13016121594e-05,-5.2990558976e-05,-5.09146591585e-05,1793250759428210944
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,694,670,643,894.939820285,787,826,656,632,656,0.43740944899,0.00444792969063,0.0599320320183,0.999999991993,-6.48919731767e-05,-9.51922909993e-05,-5.23545633203e-05,1793250759444877568
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694.52020992,670,643,894.47979008,787,826,656,632,656,0.438252196917,0.00444841225135,0.0599044821289,0.999999985286,-5.55780191558e-05,-0.000154042689946,-5.10909905493e-05,1793250759461544448
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,695,670.098703038,643,894.197406077,787,826,656,632.098703038,656,0.439108814162,0.00444751278188,0.0598898038229,0.999999979659,-4.89625572774e-05,-0.000189205648776,-4.98536607215e-05,1793250759478210816
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.673348227,643,895.346696455,787,826,656,632.673348227,656,0.440029745137,0.00444019639118,0.0599392593353,0.999999992014,-5.69496347031e-05,-0.000101031249193,-5.02234030893e-05,1793250759494877440
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,694,667.688415364,642,896,785.311584636,827,656,632,656,0.445957335175,0.00446880494743,0.0598040331076,0.999999946102,1.87455352478e-05,-0.000323587428711,-5.23072112686e-05,1793250759628211200
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,694,667.100294853,642,896,785.899705147,827,656,632,656,0.446563613448,0.0044803813985,0.0597699245477,0.999999925017,3.1622159859e-05,-0.000382328799712,-5.28250826681e-05,1793250759644877568
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747.21061543,723.78938457,694,665,640,896,785.21061543,827.78938457,656,632,656,0.449582157425,0.00458545834709,0.0597401726501,0.99999990324,0.000136530793195,-0.000410821716647,-7.8138450328e-05,1793250759728210944
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.627858608,747,723.627858608,694,664.627858608,639.627858608,896.744282784,785,828,656,632,656,0.450063334923,0.0045912416055,0.059707185528,0.999999881165,0.000143229567587,-0.000458878481287,-8.11556027625e-05,1793250759744877824
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768.169469082,747.169469082,723,694.169469082,657.169469082,635,897.169469082,784.830530918,828,656,631.830530918,656.830530918,0.456184794821,0.00461975457182,0.0596023625237,0.999999797301,0.00024258660144,-0.000583946729337,-7.45363410303e-05,1793250760361545216
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.416446805,747.416446805,723,694.416446805,657.416446805,635,897,784.583553195,828,656,631.583553195,656.583553195,0.45618496722,0.00462068392925,0.0596016297543,0.999999796789,0.000243182942909,-0.000584536820076,-7.48371945646e-05,1793250760378211840
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.991822378,748,723,694.991822378,658,635,897,784.008177622,827.991822378,656,631,656,0.456186121597,0.00462199924774,0.0596016485622,0.999999796976,0.000244786214107,-0.000583513777334,-7.50948534352e-05,1793250760394878208
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.412499995,748,723,694.412499995,658,635,897,784.587500005,827.412499995,656,631,656,0.456189034067,0.00462061053182,0.0596035818701,0.999999798806,0.000243780870041,-0.000580861993594,-7.45519118273e-05,1793250760411545088
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,747.833947786,723,694,657.833947786,635,897,784.833947786,827.166052214,656,631.166052214,656,0.456190611857,0.00461916453954,0.0596045104184,0.999999799671,0.000243087394071,-0.000579732958509,-7.40002059742e-05,1793250760428211968
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.257300015,723,694,657.257300015,635,897,784.257300015,827.742699985,656,631.742699985,656,0.456188889398,0.00461757692072,0.0596029545077,0.999999798163,0.000243165071118,-0.000582369208127,-7.34268288983e-05,1793250760444878592
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,747.316807515,723,694.316807515,657,635,897,784,828,656,631.683192485,656,0.456188310964,0.0046186356341,0.0596021734047,0.999999797302,0.000243671045849,-0.00058360348612,-7.36709133725e-05,1793250760461544960
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,747.888868333,723,694.888868333,657,635,897,784,828,656,631.111131667,656,0.456188654276,0.00462182650983,0.0596020165679,0.999999796966,0.00024452210203,-0.000583708188864,-7.45736304859e-05,1793250760478211840
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747.522925456,723,695,657.477074544,635,897,784,828,656,631.477074544,656.477074544,0.456189124299,0.00462151434687,0.0596022095417,0.999999796703,0.000245105687888,-0.000583949724034,-7.42911239207e-05,1793250760494878464
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.0676089,747.0676089,723,694.9323911,658,635,897,784,828,656,632,656.9323911,0.456189621896,0.00462040556669,0.0596023172928,0.999999796529,0.000245394672404,-0.00058419659146,-7.37451515138e-05,1793250760511545088
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.646315389,747.646315389,723,694.353684611,658,635,897,784,828,656,632,656.353684611,0.456190096989,0.00461965948216,0.0596011432109,0.999999796889,0.000243944087629,-0.000584234370724,-7.33677274035e-05,1793250760528212224
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,748,723,694,658,635,897,784,828,655.775623547,632,656.224376453,0.456190383171,0.00461931865358,0.0596004823735,0.999999796884,0.000243700151164,-0.000584358519525,-7.32665361593e-05,1793250760544878848
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,748,723,694,658,635,897,784,828,655.198576857,632,656.801423143,0.456190372424,0.00461961479777,0.0596006282428,0.999999796303,0.000245352799165,-0.000584618422168,-7.35995219242e-05,1793250760561544704
+249,4.150000000,HOLD_POSE2,769,747,723,694,657,635,897,785,828,656,632,657,0.456190092894,0.00461757511088,0.0596016146504,0.999999797184,0.000244237407399,-0.000583605230644,-7.33835389172e-05,1793250760596321024
+250,4.166666667,HOLD_POSE2,769,747.594448234,723,694.594448234,657.594448234,635,897,785,828,656,632,656.405551766,0.45619052041,0.00461848513318,0.0596012096788,0.999999796908,0.000243491796032,-0.000584353648995,-7.3665426721e-05,1793250760612987392
+251,4.183333333,HOLD_POSE2,769,748,723,695,657.815995433,635,897.184004567,784.815995433,828,656,632,656.184004567,0.456191191967,0.0046190561719,0.059601110191,0.999999796769,0.000243791549705,-0.000584463761931,-7.36905253925e-05,1793250760629654016
+252,4.200000000,HOLD_POSE2,769,748,723,695,657.236941672,635,897.763058328,784.236941672,828,656,632,656.763058328,0.456192387468,0.00461889942891,0.0596016665624,0.99999979692,0.000246335653063,-0.000583203463148,-7.31643098654e-05,1793250760646320384
+253,4.216666667,HOLD_POSE2,768.662216896,747.662216896,723,695,657,635,897.662216896,784,828,656,631.662216896,656.662216896,0.456192573067,0.00461824453636,0.0596018343165,0.999999797068,0.00024587621849,-0.000583162831739,-7.30002503301e-05,1793250760662987008
+254,4.233333333,HOLD_POSE2,768.090490344,747.090490344,723,695,657,635,897.090490344,784,828,656,631.090490344,656.090490344,0.456192059224,0.004617244633,0.0596017329201,0.999999797214,0.000243336579004,-0.000583966923506,-7.30870145661e-05,1793250760679653632
+255,4.250000000,HOLD_POSE2,768.496638363,747,723,694.503361637,657,635,897,784,828,656,631.496638363,656,0.456191371352,0.00461853830813,0.0596011541272,0.999999796347,0.000244469498518,-0.00058494849963,-7.3317426621e-05,1793250760696320512
+256,4.266666667,HOLD_POSE2,768.914963862,747,723,694.085036138,657,635,897,784.085036138,828,656,632,656,0.456191025251,0.0046202139782,0.0596007215639,0.999999795541,0.000246291952726,-0.000585540316457,-7.34929619268e-05,1793250760712987392
+257,4.283333333,HOLD_POSE2,768.336016742,747,723,694.663983258,657,635,897,784.663983258,828,656,632,656,0.456192854309,0.00462160339858,0.0596016597348,0.999999796205,0.000248108347309,-0.000583674472051,-7.31928720438e-05,1793250760729654016
+258,4.300000000,HOLD_POSE2,768,747,723,694.758230769,657,635,897,785,828,656,632,656.241769231,0.456193435056,0.00462168626803,0.0596015148338,0.999999796295,0.000248079738795,-0.000583543813654,-7.30954715859e-05,1793250760746320640
+259,4.316666667,HOLD_POSE2,768,747,723,694.182050922,657,635,897,785,828,656,632,656.817949078,0.456192289164,0.00461996194086,0.0595998718483,0.999999795592,0.00024549915682,-0.000585813231798,-7.32784273234e-05,1793250760762987520
+260,4.333333333,HOLD_POSE2,768,747,723,694,657,635,897,784.599210045,827.599210045,656,632,656.599210045,0.456192159583,0.00461957239258,0.0596001089705,0.999999795628,0.000245715209253,-0.000585685079665,-7.30767086165e-05,1793250760779653888
+261,4.350000000,HOLD_POSE2,768,747,723,694,657,635,897,784.01329234,827.01329234,656,632,656.01329234,0.456192499443,0.00461979938809,0.0596012145279,0.999999796007,0.000247223046912,-0.000584449472855,-7.26973060459e-05,1793250760796320512
+262,4.366666667,HOLD_POSE2,768,747.566012515,723,694.566012515,657,635,897,784,827.566012515,656,632,656.566012515,0.456192387075,0.00461878790925,0.0596009281237,0.99999979616,0.000245944267196,-0.000584736876481,-7.2629109248e-05,1793250760812987136
+263,4.383333333,HOLD_POSE2,768,747.854901695,723,695,657.145098305,635,897.145098305,784.145098305,828,656,632,657,0.456192606595,0.00461876008118,0.0596009573551,0.999999796216,0.000245527170856,-0.000584807453381,-7.26895454639e-05,1793250760829653760
+264,4.400000000,HOLD_POSE2,768,747.27601177,723,695,657.72398823,635,897.72398823,784.72398823,828,656,632,657,0.456193849722,0.00462175896217,0.059602026823,0.999999796005,0.000247879583703,-0.000584124102079,-7.31129508066e-05,1793250760846320384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,723,695,657,635,897,784,828,656,632,656,0.4561920743,0.0046220905953,0.0596003101452,0.999999794768,0.000249160089602,-0.000585664105129,-7.3360442026e-05,1793250760883315200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.412390098,657,635,897.587609902,784,828,656,632,656.587609902,0.456191996169,0.00462121068046,0.0595995582608,0.999999794658,0.00024848876313,-0.000586167752806,-7.31130120621e-05,1793250760899982336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.827307004,748,723,694,657,635,897.827307004,784.172692996,828,656,631.827307004,656.827307004,0.456192551558,0.0046206562307,0.0595996670432,0.999999795004,0.000247771168404,-0.000585899649386,-7.29556579697e-05,1793250760916648960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.248170787,748,723,694,657,635,897.248170787,784.751829213,828,656,631.248170787,656.248170787,0.456194597972,0.00462086778213,0.0596018014558,0.999999796424,0.000246944678457,-0.00058381518403,-7.30103027401e-05,1793250760933315328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.330404552,748,723,694,657,635,897.330404552,784.669595448,828,656,631.330404552,656.330404552,0.456194131651,0.00462028725305,0.0596014803973,0.999999796203,0.000246749670955,-0.000584291564896,-7.28840245695e-05,1793250760949981952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.908559286,748,723,694,657,635,897.908559286,784.091440714,828,656,631.908559286,656.908559286,0.456191781183,0.00461911279117,0.059599318131,0.99999979475,0.000247028173601,-0.00058668816798,-7.26220833379e-05,1793250760966648320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.518157084,747.518157084,723,694.481842916,657,635,897.518157084,784.481842916,828,656,631.518157084,657,0.456190872742,0.00461990979157,0.0595987238391,0.999999793853,0.000248642993691,-0.000587523010536,-7.27172552453e-05,1793250760983315200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747.055951271,723.055951271,695,657,635,897,784.944048729,828,656,631.055951271,656.944048729,0.456190302772,0.00462089446045,0.0595984887862,0.999999793194,0.000250132971032,-0.000587995579451,-7.28532152253e-05,1793250760999981824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747.646689563,723.646689563,695,657,635,897,784.353310437,828,656,631.646689563,656.353310437,0.456190378459,0.0046201327026,0.0595988717387,0.999999793835,0.000248030049773,-0.000587809977953,-7.27377587938e-05,1793250761016648448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.233412056,748,723.766587944,695,657,635,897,784,828,656,632,656.233412056,0.456188188717,0.00461873153137,0.0595978097399,0.999999793378,0.000245873542294,-0.00058951157041,-7.25680852012e-05,1793250761033315328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.814158689,748,723.185841311,695,657,635,897,784,828,656,632,656.814158689,0.456182627847,0.00461637886533,0.0595945975457,0.999999791275,0.000243637294699,-0.00059402144847,-7.23177324319e-05,1793250761049981952
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.609062664,748,723,695,657,635,897.390937336,784.390937336,828,656,631.609062664,657,0.456163896783,0.00461677522327,0.0595855618756,0.999999782501,0.000244748339165,-0.000608155154951,-7.24076270513e-05,1793250761066648320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.034151287,748,723,695,657,635,897.965848713,784.965848713,828,656,631.034151287,657,0.456138967861,0.00461846526416,0.0595737856933,0.999999770298,0.00024743460984,-0.000626817808952,-7.26576411168e-05,1793250761083314944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.540261926,748,723,694.459738074,657.540261926,635,897.459738074,785,828,656,631.540261926,657,0.456089152091,0.00462023733484,0.0595557455783,0.999999750808,0.000248598860106,-0.000656702743408,-7.29684457399e-05,1793250761099981568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.881691143,747.881691143,723.118308857,694.118308857,657.881691143,635,897,784.881691143,828,656,631.881691143,656.881691143,0.456035190518,0.00462176728323,0.0595378328855,0.999999731893,0.000249607755841,-0.000684498300888,-7.32933034695e-05,1793250761116648448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.288946121,747.288946121,723.711053879,694.711053879,657.288946121,635,897,784.288946121,828,656,631.288946121,656.288946121,0.455970906436,0.00462230551099,0.0595220175596,0.999999720191,0.000250379121482,-0.000701073025243,-7.36591208825e-05,1793250761133315328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.295136207,747.295136207,723.704863793,694.704863793,657,635,897,784,828,656,631,656.295136207,0.455898663408,0.00462265362297,0.0595111720872,0.999999710081,0.000252615266965,-0.000714594517909,-7.3330018992e-05,1793250761149982208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.870979326,747.870979326,723.129020674,694.129020674,657,635,897,784,828,656,631,656.870979326,0.455818850555,0.00462282091398,0.0595050534917,0.999999701587,0.000256244578767,-0.000725212051325,-7.23399725861e-05,1793250761166649600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.552551575,747.552551575,723,694.447448425,657,635,897,784,828,656,631,657,0.455727065899,0.00462445422047,0.0595051766108,0.999999700343,0.000258320094107,-0.000726213775615,-7.21042040601e-05,1793250761183316224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,657,635,897,784,828,656,631.02456342,657,0.455630988282,0.00462642805848,0.059507161726,0.99999970124,0.000259949815599,-0.000724400158868,-7.20391455185e-05,1793250761199982848
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,723,695,657,635,897,784,828,656,631.612343963,657,0.455515739963,0.00462650376385,0.0595105155088,0.999999702834,0.000261645281874,-0.000721697780523,-7.08943803348e-05,1793250761216649216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.197144224,747.197144224,723,694.802855776,657.197144224,635,897,784,828,656,631.802855776,657,0.455389545532,0.00462621094872,0.0595146701679,0.999999705025,0.000263946650894,-0.000717939893633,-6.96047430028e-05,1793250761233316096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.77617139,747.77617139,723,694.22382861,657.77617139,635,897,784,828,656,631.22382861,657,0.455242147685,0.00462520428214,0.0595203761836,0.999999708359,0.000267421698142,-0.000712137408934,-6.80344777377e-05,1793250761249982976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,784,828,656,631.353675675,657,0.455073610642,0.00462587860431,0.0595252580636,0.999999709785,0.000270820783996,-0.000708979090184,-6.65887094024e-05,1793250761266649856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,784,828,656,631.93022037,657,0.454891752702,0.00462761220283,0.0595296206144,0.999999710019,0.000274172003056,-0.000707486994246,-6.52213927577e-05,1793250761283316736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,723,694,658,635,897,785.028652989,828,656,632,656.485673505,0.454690186181,0.00462808436841,0.0595333525724,0.999999709926,0.000279426929645,-0.000705777158015,-6.28254696617e-05,1793250761299982592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.901561677,723,694,658,635,897,785.901561677,827.901561677,656,632,656,0.45447724864,0.00462860463613,0.0595357638127,0.999999708045,0.000285079821366,-0.000706389875483,-6.04343132521e-05,1793250761316648448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.32250528,723,694,658,635,897,785.32250528,827.32250528,656,632,656,0.454222042749,0.00463020781041,0.0595321506868,0.999999697705,0.000291395904181,-0.000718488679769,-5.87579527489e-05,1793250761333315072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.743307349,747.256692651,723,694,658,635,897,785,827.256692651,656,632,656,0.453954190121,0.00463122331006,0.0595318750282,0.999999693736,0.000297122271239,-0.000721821528001,-5.67379323187e-05,1793250761349981952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.163931532,747.836068468,723,694,658,635,897,785,827.836068468,656,632,656,0.453670439549,0.00463150005565,0.0595357948329,0.999999697898,0.000302107318143,-0.00071413486867,-5.42859040188e-05,1793250761366648576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.412608686,747.587391314,723.412608686,694,658.412608686,635.412608686,897,785,827.587391314,656,632,656.412608686,0.453343973432,0.00463347312679,0.0595309712354,0.999999691607,0.000309898333035,-0.000719742569342,-5.21541834464e-05,1793250761383315200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.988029983,747.011970017,723.988029983,694,658.988029983,635.988029983,897,785,827.011970017,656,632,656.988029983,0.453000652054,0.00463611555655,0.0595226975501,0.999999681042,0.000318796563839,-0.000730596135048,-5.01488541973e-05,1793250761399982080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.423441821,747,723.423441821,694,659,636,896.423441821,785,827,656,631.423441821,656.423441821,0.45266055782,0.00463702795885,0.0595315872902,0.999999690921,0.000325168486945,-0.00071427308122,-4.72906971041e-05,1793250761416648448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.162567944,747,723,694,659.162567944,636,896,785.162567944,827,656,631,656,0.452308147741,0.00463797364454,0.0595428485217,0.999999702096,0.000332197265125,-0.000695340590498,-4.42044458094e-05,1793250761433315072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.741415788,747,723,694,659.741415788,636,896,785.741415788,827,656,631,656,0.451924025574,0.0046390986686,0.0595592486465,0.999999715763,0.000341045447534,-0.000671204617478,-4.05805179178e-05,1793250761449981952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,747,723,694.319334856,660,636,895.680665144,785.680665144,827,656,631.319334856,656,0.45150715348,0.00464031293815,0.0595732567708,0.999999725338,0.000350796268385,-0.000651853650462,-3.67842222172e-05,1793250761466648320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.896504083,660,636,895.103495917,785.103495917,827,656,631.896504083,656,0.451063838703,0.00464159926559,0.05958533357,0.999999731719,0.000361275890141,-0.000636366145819,-3.28487545199e-05,1793250761483314944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.529714484,747,723,694.529714484,660.470285516,636.470285516,895.470285516,785,826.529714484,656,632,656,0.450561966834,0.00464330483984,0.0595799345961,0.999999722093,0.000371464568834,-0.000645737088265,-2.91747611644e-05,1793250761499981824
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,723,693.365041349,661,637,895.365041349,785.634958651,826.634958651,656,632,656,0.449496684048,0.00464759739798,0.0595519516966,0.999999687472,0.000394913084608,-0.000684555157203,-2.19918936552e-05,1793250761533315072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,693.221573387,661.443146775,637,894.778426613,785.778426613,827,656,631.778426613,656,0.448936866142,0.00464869672885,0.0595405417695,0.999999672573,0.000406065862076,-0.00069974101931,-1.80872031175e-05,1793250761549981696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,693.80217588,662.60435176,637,894.19782412,785.19782412,827,656,631.19782412,656,0.448358043803,0.00464761348033,0.0595399630418,0.999999668012,0.000414065721672,-0.000701668829245,-1.36395131651e-05,1793250761566648320
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.047771287,747,723,694,663,637.952228713,894.952228713,785.952228713,826.047771287,656,631,656,0.4472049382,0.00464080922466,0.0595969672939,0.999999722277,0.000428471979215,-0.000609795107505,-2.84166120738e-06,1793250761599982080
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,694,664.095568968,639,893.904431032,786,826,655.904431032,631.095568968,656,0.44592562569,0.00463728241298,0.0596632559133,0.999999762262,0.00044174189478,-0.000529406249166,8.35201567679e-06,1793250761633316608
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,693.717748581,665.282251419,639.282251419,893,786.282251419,826,655,632,656,0.444489744253,0.00464102684234,0.0596429893543,0.999999733243,0.000464540778349,-0.000563430721384,1.61464529476e-05,1793250761666649088
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746.655679278,722,693,669,641,890,787.655679278,824.344320722,656,632,655.655679278,0.435498720112,0.00462442911127,0.0597362888476,0.99999984813,0.000366175411982,-0.000411783053979,9.52480304191e-06,1793250761849981952
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.600956924,693,669.600956924,641.600956924,890,787.600956924,823.600956924,655.600956924,632,655,0.432777786681,0.00456598463742,0.059773127852,0.999999892545,0.00032131907536,-0.00033327757073,2.43093053917e-05,1793250761899983104
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747.126287233,722,693,669,641.563143617,889.436856383,787.563143617,823,655.563143617,631.436856383,655.563143617,0.430944572423,0.00456978885778,0.0598124414066,0.99999991151,0.000315734969343,-0.000276864911457,2.52380333043e-05,1793250761933316096
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747.702608243,722,692.851304122,669.297391757,642,889.148695878,787.851304122,822.851304122,655.851304122,631.148695878,655.851304122,0.430012840859,0.00457711525355,0.0598234330897,0.999999916528,0.000316321605022,-0.000257477727963,2.42986108741e-05,1793250761949982720
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.575919174,722.424080826,690.575919174,670.575919174,642,886.575919174,787,819,655.575919174,632,655.424080826,0.415622476263,0.00457672157726,0.0598350379969,0.999999936974,0.00021588392531,-0.000279588694394,3.57298517379e-05,1793250762216649472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.001389041,722.998610959,690.001389041,670.001389041,642,886.001389041,787,819,655.001389041,632,655.998610959,0.414828608794,0.00457335643196,0.0598347836946,0.999999936926,0.000202913273099,-0.000289207679327,3.65142319775e-05,1793250762233315840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746.5864335,722.4135665,689.4135665,670.5864335,642,886.5864335,787,819.5864335,655,632,655.4135665,0.414086178949,0.00457351824439,0.0598343808579,0.999999939459,0.000199278677936,-0.000282906807528,3.6520424291e-05,1793250762249982464
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,747,722.17243773,688.82756227,671,642,887,787.17243773,819.82756227,655.17243773,632,655.17243773,0.413319611923,0.00457298190688,0.0598221232232,0.999999935577,0.000192915661221,-0.000300519583119,3.62924064728e-05,1793250762266648576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,747,722.754050986,688.245949014,671,642,887,787.754050986,819.245949014,655.754050986,632,655.754050986,0.412495474096,0.00457076865439,0.0597817363272,0.999999912864,0.000180024712487,-0.000374968330566,3.55131092004e-05,1793250762283315200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.669098815,722.669098815,688,670.338197629,642,887,787.669098815,819,656,632,655.669098815,0.411745332702,0.00456906034174,0.0597518946133,0.999999897004,0.000168387864861,-0.000420091905597,3.40577424534e-05,1793250762299982336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746.095738652,722.095738652,688,669.191477304,642,887,787.095738652,819,656,632,655.095738652,0.411049410262,0.00456772201036,0.0597297796014,0.999999888607,0.000157669927425,-0.000443728242746,3.2107004046e-05,1793250762316649216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.480254499,746,722,687.519745501,669.960508998,642,886.519745501,787,819,656,632,655.480254499,0.410428944676,0.00456560426361,0.0597599650453,0.999999911172,0.000147394059332,-0.000393528434049,3.2642430696e-05,1793250762333316608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.941782878,746,722.058217122,687,671,642,886,787,819,656,632,656,0.409826446181,0.00456327863839,0.059800133639,0.999999935622,0.000137718977258,-0.000329624772122,3.37116608221e-05,1793250762349984000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.350622379,746,722.649377621,687,671,642,886,787,819,656,632,656,0.40924996317,0.00456048022795,0.0598357212481,0.999999952553,0.000132732547745,-0.000275759044316,3.51054589838e-05,1793250762366650112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,722.764894161,687,670.764894161,642,886.235105839,787,819,656,632,656,0.408664584426,0.0045583084891,0.0598540250292,0.999999958028,0.000146191134597,-0.000247607074097,3.55392457837e-05,1793250762383316224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,722.187084406,687,670.187084406,642,886.812915594,787,819,656,632,656,0.408066238797,0.00455705022337,0.0598471348963,0.999999948996,0.000186536248621,-0.000256936974767,3.45736642556e-05,1793250762399982848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.388122332,746,722,687,670,642,887,787,819,656,632,655.611877668,0.407502475126,0.0045559543513,0.0598319742984,0.999999935504,0.00022149221969,-0.000280688186946,3.38696019833e-05,1793250762416648960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.962082763,746,722,687,670,642,887,787,819,656,632,655.037917237,0.4069552697,0.00455493623536,0.059812853692,0.999999918754,0.000253867801267,-0.000311344514034,3.32907584608e-05,1793250762433315584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.450406272,746.549593728,722.549593728,686.450406272,670,642,886.450406272,787,819,656,632,655.549593728,0.406489108921,0.00455385339534,0.0598176522303,0.999999924351,0.000247732888534,-0.000298005215242,3.34457155613e-05,1793250762449982464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,686,670.135813497,642,886,787,819,656,632,656,0.406032312122,0.00455273860751,0.0598239135079,0.999999930662,0.000239643508908,-0.000283047305972,3.36240058899e-05,1793250762466649088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,747,723,686,670.714694172,642,886,787,819,656,632,656,0.405587361514,0.00455153453122,0.0598294270919,0.999999934785,0.000234064772847,-0.000272961467447,3.37090837567e-05,1793250762483315968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.292995111,746.707004889,723,685.707004889,670.414009779,642,886,787,819,656,632,656,0.405146416107,0.00454935671222,0.0598230945545,0.999999934173,0.000226976558159,-0.00028103828586,3.39615536851e-05,1793250762499983104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.870732605,746.129267395,723,685.129267395,669.258534789,642,886,787,819,656,632,656,0.404709363114,0.00454623257777,0.0598052495624,0.999999928502,0.000218421382216,-0.000306766178287,3.43767007602e-05,1793250762516649728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.443946928,723,685.443946928,669.443946928,642,886,786.556053072,819,656,632,656,0.404310551293,0.00454575632181,0.0597822898379,0.999999916208,0.00021411662436,-0.000347162940364,3.48745693889e-05,1793250762533316352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.983608378,747,723,686,670,642,886,786.016391622,819,656,632,656,0.403925431279,0.00454600547035,0.059758793413,0.999999901116,0.000210987818994,-0.000389870484427,3.53861615441e-05,1793250762549982976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.392433599,747,723,686,670,642,886,786.607566401,819,656,632,656,0.403633906201,0.00454492835874,0.0597681736423,0.999999911385,0.00020613408937,-0.000365343681758,3.55428843013e-05,1793250762566649344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.195642137,746.804357863,723,686,670.195642137,642,886,787,819,656,632,656,0.403355563709,0.00454319315294,0.0597819038369,0.999999922482,0.000201160855716,-0.000336544405831,3.6155243537e-05,1793250762583315712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.777598442,746.222401558,723,686,670.777598442,642,886,787,819,656,632,656,0.403103251535,0.00454015847716,0.0598042234541,0.999999935299,0.00019595165048,-0.000299308724502,3.76673006972e-05,1793250762599982336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.644801343,746,723,686,670.644801343,642,886,786.644801343,819,656,632,655.644801343,0.402864404798,0.0045379928161,0.059823109883,0.999999944017,0.000193576473821,-0.000270086310425,3.93491799813e-05,1793250762616648960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.069895519,746,723,686,670.069895519,642,886,786.069895519,819,656,632,655.069895519,0.402633887046,0.00453636468144,0.0598398727247,0.999999950324,0.000192954277375,-0.00024582047751,4.11361024311e-05,1793250762633315840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,723,686,670,642,886,786.504448056,819,656,632,655.504448056,0.402418981734,0.00453503795101,0.0598400212289,0.999999949663,0.000191609402513,-0.000249360960584,4.21782023832e-05,1793250762649982720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746.081065964,723,686,670.081065964,642,886,787,819,656,632,656,0.402210218413,0.00453386501739,0.0598370350131,0.999999947639,0.0001900471953,-0.000258369214439,4.29973935782e-05,1793250762666649600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746.67249237,723,686,670.67249237,642,886,787,819,656,632,656,0.402026518898,0.00453339770389,0.0598287905263,0.999999942925,0.000187746444151,-0.000277571724604,4.30622300038e-05,1793250762683315968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.742029928,671,642,886,787,819,656,632,656,0.401860134007,0.00453218907453,0.0598245015697,0.99999994116,0.000180169287386,-0.000288849224718,4.22395612185e-05,1793250762699982336
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,747,723,685.163934251,671,642,886,787,819,656,632,656,0.401715235551,0.00453006051608,0.0598251211925,0.999999943267,0.000166044423468,-0.000290292254936,4.0315550957e-05,1793250762716648704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,747,723,685.411408221,670.588591779,642,886,786.588591779,819,656,632.411408221,656,0.401591155997,0.00452435643444,0.0598254347418,0.999999951338,0.000115152969565,-0.000288486423499,2.89781523881e-05,1793250762733315328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,747,723,685.985660899,670.014339101,642,886,786.014339101,819,656,632.985660899,656,0.401475317028,0.00451723708181,0.0598256271404,0.999999957943,4.9708487385e-05,-0.00028539461974,1.39147268015e-05,1793250762749981952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.572441014,747,723,686,670.572441014,642,886,786,819,656,632.427558986,655.427558986,0.401392189853,0.00451961511928,0.0598319425353,0.99999996041,5.13706989855e-05,-0.000276277844473,1.45737569637e-05,1793250762766649344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.842508621,642,886,786,819,656,632,655.157491379,0.401313007391,0.00452087464789,0.0598362596162,0.999999961937,5.35599761497e-05,-0.000270212589478,1.55570935246e-05,1793250762783316480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,747,723,686,670.262953704,642,886,786,819,656,632,655.737046296,0.401242151381,0.00451848484943,0.0598348011551,0.999999961292,5.25561269589e-05,-0.000272738652868,1.63304916353e-05,1793250762799982848
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.684695741,723,685.684695741,670.315304259,642,886,786.315304259,819,656,632,656,0.401177302135,0.00451591506443,0.0598314053847,0.999999959508,5.18808525528e-05,-0.000279273832918,1.72734729152e-05,1793250762816649216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.107514901,723,685.107514901,670.892485099,642,886,786.892485099,819,656,632,656,0.401117441809,0.00451319579099,0.0598264005779,0.999999956706,5.1478476475e-05,-0.000289138793053,1.83573019181e-05,1793250762833315584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.531172613,746,723,685.468827387,670.531172613,642,886,786.531172613,819,656,632,655.531172613,0.401075005145,0.00451493205654,0.0598242908167,0.99999995521,5.54031150469e-05,-0.00029354671327,1.8480464148e-05,1793250762849982208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.046116147,746,722.953883853,685.953883853,670.046116147,642,886,786,819,656,632,655,0.401038019884,0.00451724679114,0.0598231012513,0.999999954183,5.97364281561e-05,-0.000296183716424,1.84463636319e-05,1793250762866648576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.636849867,746,722.363150133,685.363150133,670.636849867,642,886,786,819,656,632,655,0.401018310013,0.00451434774618,0.0598249523069,0.999999955356,5.71982013688e-05,-0.00029265956468,1.91521521051e-05,1793250762883315200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,722.222620331,685.222620331,670.777379669,642,886,786,819.222620331,656,632,655.222620331,0.401001163796,0.00451309125651,0.0598264985766,0.999999956269,5.5954805378e-05,-0.000289739973747,1.95206035225e-05,1793250762899982080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746,722.800470999,685.800470999,670.199529001,642,886,786,819.800470999,656,632,655.800470999,0.400988108348,0.00451445575614,0.0598275585061,0.999999956791,5.67775424067e-05,-0.000287785067349,1.93507736186e-05,1793250762916649216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746.376264547,723,685.623735453,670.752529094,642,886,786.376264547,819.623735453,656,632,656,0.400978495521,0.00451480109384,0.0598286686756,0.999999957307,5.70340462375e-05,-0.00028592749935,1.94786911939e-05,1793250762933316096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746.95097314,723,685.04902686,671.901946279,642,886,786.95097314,819.04902686,656,632,656,0.400970698352,0.00451460891973,0.059829805342,0.999999957818,5.69919154582e-05,-0.000284121268232,1.97636424753e-05,1793250762949982976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,746.461915581,723,685,670.923831162,642,886.538084419,786.461915581,819,656,632,656,0.400967946609,0.00451284526187,0.0598312515109,0.999999958403,5.52166243986e-05,-0.000282367954174,2.03547124175e-05,1793250762966649088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.875722864,746,723,685,670.124277136,642,886.875722864,786,819.124277136,656,632,656,0.400965668543,0.0045118970466,0.0598323432288,0.999999958791,5.45672903835e-05,-0.00028109155525,2.06943158513e-05,1793250762983315456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.297117029,746,723,685,670.702882971,642,886.297117029,786,819.702882971,656,632,656,0.400963401904,0.00451446569957,0.0598320336303,0.999999958449,5.86251177011e-05,-0.000281540607016,2.00102442518e-05,1793250762999982080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746,722.719830517,685,671,642,886,786.280169483,819.719830517,656,632.280169483,656,0.400962864854,0.00451482783963,0.0598326133561,0.999999958731,5.9792874267e-05,-0.000280298855234,1.99075524416e-05,1793250763016648704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,722.143936505,685,671,642,886,786.856063495,819.143936505,656,632.856063495,656,0.400964153419,0.0045128609612,0.0598341317815,0.999999959675,5.79101034717e-05,-0.000277272426323,2.04185186189e-05,1793250763033315328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.431649526,746,722.431649526,685,671,642,886,787,819,656,632.568350474,655.568350474,0.40096295383,0.00451417978396,0.0598339084946,0.999999959456,5.90434945998e-05,-0.000277823183441,2.03886650499e-05,1793250763049982464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.99268957,746.00731043,723,685.00731043,671,642,885.99268957,786.99268957,819,656,632,655,0.40096096898,0.00451655061499,0.0598331327868,0.999999958865,6.11478014637e-05,-0.000279504950727,2.01799979715e-05,1793250763066649600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.402882867,746.597117133,723,685.597117133,671,642,885.402882867,786.402882867,819,656,632,655,0.400962477196,0.00451550714532,0.0598345842207,0.999999959788,6.05328644047e-05,-0.000276328096881,2.00827208281e-05,1793250763083316224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.816556238,723,685.816556238,671,642,885.183443762,786,819,656,632,655,0.400963090116,0.0045148793131,0.0598357409127,0.999999960359,6.03692484522e-05,-0.00027429290406,2.00309607658e-05,1793250763099982592
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746.237730361,723,685.237730361,671,642,885.762269639,786,819,656,632,655,0.400961773376,0.00451514731742,0.0598362623378,0.999999960192,6.11783791286e-05,-0.000274718369383,2.00773051078e-05,1793250763116648960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.337411226,746.337411226,723,685.337411226,671,642,886,786.337411226,819,656,632.337411226,655.337411226,0.400961669982,0.00451464555214,0.0598361520385,0.99999996023,6.01158450447e-05,-0.000274827684952,1.99149379577e-05,1793250763133315328
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d02521b1f7707eb74230587e75119af7d7d6998
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+268,4.466666667,pose2_to_pose3_retreat,0.622803939423,0.0101500445009,1.05003360628,0.593374615655,0.0188226791565,1.04970499806
+269,4.483333333,pose2_to_pose3_retreat,0.622803867271,0.0101500797298,1.05003364027,0.593374543079,0.0188227129106,1.049705031
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+271,4.516666667,pose2_to_pose3_retreat,0.622803110661,0.0101500485412,1.05003357086,0.593373787194,0.0188226841915,1.04970496209
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+383,6.383333333,pose2_to_pose3_retreat,0.575763496696,0.0101502688757,1.0500335155,0.5463341719,0.0188228915082,1.04970490832
+384,6.400000000,pose2_to_pose3_retreat,0.575734695555,0.0101500877764,1.05003362553,0.546305373127,0.0188227183093,1.04970501477
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+386,6.433333333,pose2_to_pose3_retreat,0.575698323637,0.0101501596527,1.05003356907,0.546269001562,0.0188227916046,1.04970496419
+387,6.450000000,pose2_to_pose3_retreat,0.575687704712,0.0101500254706,1.05003362283,0.54625838462,0.0188226639835,1.04970501354
+388,6.466666667,pose2_to_pose3_retreat,0.575679816476,0.0101501468717,1.05003354529,0.546250494786,0.0188227798938,1.04970493422
+389,6.483333333,pose2_to_pose3_retreat,0.575674519011,0.0101501874179,1.0500335409,0.546245196248,0.0188228166926,1.04970492709
+390,6.500000000,pose2_to_pose3_retreat,0.575670900554,0.0101501700243,1.05003353497,0.546241577612,0.0188227987253,1.04970492206
+391,6.516666667,pose2_to_pose3_retreat,0.575668661301,0.0101500906143,1.05003351235,0.546239339238,0.0188227225211,1.04970490537
+392,6.533333333,pose2_to_pose3_retreat,0.575667723672,0.0101500573634,1.05003350289,0.546238401978,0.0188226906125,1.04970489838
+393,6.550000000,pose2_to_pose3_retreat,0.575667108059,0.0101500886392,1.05003349457,0.546237786474,0.018822722337,1.04970489212
+394,6.566666667,pose2_to_pose3_retreat,0.575666548733,0.0101501295213,1.05003348651,0.546237227215,0.0188227635252,1.04970488604
+395,6.583333333,pose2_to_pose3_retreat,0.575666438677,0.0101501375655,1.05003348493,0.546237117173,0.0188227716296,1.04970488485
+396,6.600000000,pose2_to_pose3_retreat,0.575666411867,0.010150139525,1.05003348454,0.546237090366,0.0188227736038,1.04970488456
+397,6.616666667,pose2_to_pose3_retreat,0.575666128602,0.0101501602293,1.05003348046,0.546236807136,0.0188227944631,1.04970488148
+398,6.633333333,pose2_to_pose3_retreat,0.575665975803,0.0101501713977,1.05003347826,0.546236654355,0.0188228057151,1.04970487982
+399,6.650000000,pose2_to_pose3_retreat,0.575665804031,0.0101501839528,1.05003347579,0.546236482603,0.0188228183642,1.04970487795
+400,6.666666667,pose2_to_pose3_retreat,0.575665799649,0.0101501842731,1.05003347573,0.546236478222,0.0188228186869,1.0497048779
+401,6.683333333,pose2_to_pose3_retreat,0.575665724175,0.0101501897896,1.05003347464,0.546236402758,0.0188228242447,1.04970487708
+402,6.700000000,pose2_to_pose3_retreat,0.575665687651,0.0101501924592,1.05003347411,0.546236366237,0.0188228269343,1.04970487669
+403,6.716666667,pose2_to_pose3_retreat,0.575665663839,0.0101501941996,1.05003347377,0.546236342429,0.0188228286878,1.04970487643
+404,6.733333333,pose2_to_pose3_retreat,0.575665460725,0.0101502015388,1.05003346004,0.546236139173,0.0188228355376,1.04970486247
+405,6.750000000,pose2_to_pose3_retreat,0.575665312226,0.0101502021663,1.05003344317,0.546235990465,0.0188228354285,1.04970484486
+406,6.766666667,pose2_to_pose3_retreat,0.575665284922,0.0101502022817,1.05003344007,0.546235963122,0.0188228354084,1.04970484162
+407,6.783333333,pose2_to_pose3_retreat,0.575665183924,0.0101502027085,1.0500334286,0.546235861983,0.0188228353342,1.04970482964
+408,6.800000000,pose2_to_pose3_retreat,0.575664948056,0.0101502037053,1.05003340181,0.546235625783,0.0188228351608,1.04970480166
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+410,6.833333333,pose2_to_pose3_retreat,0.575664330472,0.0101502626403,1.05003352346,0.546235006827,0.0188228891269,1.04970491508
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a67480ec721b7268340054e07745ff5a579217b9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c7cdc2ac853e41a61afa158929dcfc510cfe82ae14003b9bc3e7feb525e5d9
+size 25913212
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22ed2fdd56b12769aa18b929aad74421b04d7499
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+19,0.316666667,BASELINE,769.977649248,747,723,685,674,642,886,787,819,657,632,655.977649248,0.400938197527,0.00455697602809,0.0499291463247,0.999999973962,7.83135993105e-05,-0.000212995236357,-2.39854324925e-05,1793250764876259840
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+21,0.350000000,BASELINE,769,747,723,685,674,642,886,787,819,657,632,655.176298161,0.400936391126,0.00455837367149,0.049928391169,0.999999973501,7.85036504029e-05,-0.000215005070101,-2.46423070344e-05,1793250764909592832
+22,0.366666667,BASELINE,769,747,723,685,674,642,886,787,819,657,632,655.752743392,0.400937987792,0.00455908646282,0.0499290838899,0.999999973714,8.0037324522e-05,-0.000213454874283,-2.45601780821e-05,1793250764926259712
+23,0.383333333,BASELINE,769,747,723,685,674,642.335177569,886,787,819,657,632,656,0.400938773822,0.00455897443229,0.049929129023,0.999999973904,7.9298250007e-05,-0.000212822061292,-2.47053228236e-05,1793250764942926592
+24,0.400000000,BASELINE,769,747,723,685,674,642.922110161,886,787,819,657,632,656,0.400938950977,0.00455824287038,0.049928687747,0.999999974075,7.68520927955e-05,-0.000212878303002,-2.50211749638e-05,1793250764959593216
+25,0.416666667,BASELINE,769.501940446,747,722.498059554,685,674,642.498059554,886,787,819,657,632,656,0.400939466365,0.00455678105049,0.0499294491111,0.999999974366,7.53924135611e-05,-0.0002121037946,-2.44126416576e-05,1793250764976259584
+26,0.433333333,BASELINE,770,747,722.080537635,685,674,642,886,787,819,657,632,656,0.400939752476,0.00455563325152,0.0499300790984,0.999999974565,7.46623181878e-05,-0.000211491028811,-2.38280255115e-05,1793250764992926208
+27,0.450000000,BASELINE,770,747,722.65823163,685,674,642,886,787,819,657,632,656,0.400938303783,0.00455711365177,0.0499287621582,0.99999997409,7.75041525206e-05,-0.000212661372128,-2.42641686065e-05,1793250765009593088
+28,0.466666667,BASELINE,769.529752269,747,723,685,674,642,886,787,819,657,632.235123865,656,0.400937952886,0.00455791203838,0.0499280817616,0.999999973843,7.87037807522e-05,-0.000213361314147,-2.44344295366e-05,1793250765026259712
+29,0.483333333,BASELINE,768.378290768,747,723,685,674,642,886,787,819,657,632.810854616,656,0.400939192287,0.00455772244123,0.0499283234798,0.999999973936,7.75244639755e-05,-0.000213379819866,-2.42195262376e-05,1793250765042926080
+30,0.500000000,BASELINE,768.396277633,747,723,685,674,642,886,787,819,657,632.603722367,656,0.400939548406,0.00455701647324,0.0499289082461,0.999999974125,7.61325039006e-05,-0.00021300820952,-2.41272588893e-05,1793250765059592704
+31,0.516666667,BASELINE,768.986442785,747,723,685,674,642,886,787,819,657,632.013557215,656,0.400939472359,0.0045560578595,0.0499296608563,0.999999974358,7.46365034642e-05,-0.000212445726333,-2.40949938749e-05,1793250765076259328
+32,0.533333333,BASELINE,769,747,723,685,674,642,886,786.434316731,819,657,632,656,0.400939724775,0.0045568562618,0.0499299549003,0.999999974351,7.65133521037e-05,-0.000211815364209,-2.40515532953e-05,1793250765092926208
+33,0.550000000,BASELINE,769.143074247,747,723,685,674.143074247,642,886,786.143074247,819,657,632,656,0.400940120136,0.00455724961442,0.049930088927,0.999999974434,7.74204807692e-05,-0.000211098279738,-2.40105650633e-05,1793250765109592832
+34,0.566666667,BASELINE,769.715683708,747,723,685,674.715683708,642,886,786.715683708,819,657,632,656,0.400940921462,0.00455630291,0.0499297749216,0.99999997481,7.51782506597e-05,-0.000210125630347,-2.39777280914e-05,1793250765126259712
+35,0.583333333,BASELINE,769.703190914,747,723,685,674.703190914,642,886,787.296809086,819,657,632,656,0.400940677254,0.00455642658125,0.0499295991914,0.999999974727,7.54483206411e-05,-0.000210411324082,-2.4076249056e-05,1793250765142926336
+36,0.600000000,BASELINE,769.113667019,747,723,685,674.113667019,642,886,787.886332981,819,657,632,656,0.400939401934,0.00455760586297,0.049929559829,0.999999974188,7.81960349812e-05,-0.000211938002841,-2.43043159598e-05,1793250765159592960
+37,0.616666667,BASELINE,769,747,723,685,674,642.467127314,886.467127314,787.532872686,819,657.467127314,632,656,0.400939662578,0.00455713298746,0.0499299477978,0.999999974309,7.76525270852e-05,-0.000211583034969,-2.41920093377e-05,1793250765176259584
+38,0.633333333,BASELINE,769,747,723,685,674,643,886.954383172,787,819,657.954383172,632,656,0.400940078758,0.00455635960517,0.0499302254757,0.999999974529,7.63651681573e-05,-0.000211028881849,-2.40197214769e-05,1793250765192926464
+39,0.650000000,BASELINE,769,747,723,685,674,643,886.378446274,787,819,657.378446274,632,656,0.400938037804,0.00455668066003,0.049928034277,0.999999974088,7.55697650273e-05,-0.000213384368165,-2.40953263164e-05,1793250765209593088
+40,0.666666667,BASELINE,769,747,722.802343694,685,674,642.802343694,886,787,819,657,632,656,0.400936611916,0.00455706307687,0.0499268690094,0.999999973745,7.58046270816e-05,-0.000214905513854,-2.40875879935e-05,1793250765226259456
+41,0.683333333,BASELINE,769,747,722.225923658,685,674,642.225923658,886,787,819,657,632,656,0.400936364662,0.00455756308008,0.0499276697072,0.999999973595,7.80137600407e-05,-0.000214827833768,-2.39201412927e-05,1793250765242926336
+42,0.700000000,BASELINE,769,747,722.357659929,685,674,642,886,787,819,657,632,656,0.400937267749,0.00455672453154,0.0499280080667,0.999999973837,7.72937985561e-05,-0.000213981085734,-2.37489327137e-05,1793250765259592960
+43,0.716666667,BASELINE,769,747,722.945860987,685,674,642,886,787,819,657,632,656,0.400938912323,0.00455502317669,0.0499280484112,0.999999974326,7.46857956121e-05,-0.000212638610395,-2.35752993024e-05,1793250765276259840
+44,0.733333333,BASELINE,769,747,723,685.525774238,674,642,886,787,819,657,632,656,0.400939242579,0.0045553134613,0.0499287145821,0.999999974342,7.49582863954e-05,-0.000212441858674,-2.37745468205e-05,1793250765292926464
+45,0.750000000,BASELINE,769,747,723,685.895532394,674,642,886,787,819,657,632,655.895532394,0.400939304264,0.00455584324019,0.0499292225236,0.999999974309,7.54530304249e-05,-0.00021239909013,-2.39982327443e-05,1793250765309593088
+46,0.766666667,BASELINE,769,747,723,685.318556721,674,642,886,787,819,657,632,655.318556721,0.400938753825,0.00455654307292,0.0499287278457,0.999999974264,7.56323007902e-05,-0.000212527466547,-2.41614851527e-05,1793250765326259712
+47,0.783333333,BASELINE,769,747,722.743278164,685,674,642,886.256721836,787,818.743278164,657,632,655.256721836,0.40093870352,0.00455681569544,0.0499285404128,0.999999974225,7.66035328434e-05,-0.000212365447826,-2.4135949424e-05,1793250765342926336
+48,0.800000000,BASELINE,769,747,722.170091588,685,674,642,886.829908412,787,818.170091588,657,632,655.829908412,0.400939269739,0.00455656168983,0.0499287317253,0.999999974191,7.85510276053e-05,-0.000211845454813,-2.38776918361e-05,1793250765359593216
+49,0.816666667,BASELINE,769,747,722,685,674,642,886.585163618,787,818,657,632,655.585163618,0.400939243995,0.00455606870221,0.0499286986165,0.999999974255,7.76274171035e-05,-0.000211894228503,-2.37459842943e-05,1793250765376259584
+50,0.833333333,BASELINE,769,746.995352839,722.004647161,685,674,642,886.004647161,787,818.004647161,657,632.004647161,655.004647161,0.400938974358,0.00455548777449,0.0499285756573,0.999999974361,7.54999128753e-05,-0.000212172881247,-2.36708314371e-05,1793250765392926208
+51,0.850000000,BASELINE,769,746.414421413,722.585578587,685,674,642,886.585578587,787,818.585578587,657,632.585578587,655.585578587,0.400939435572,0.00455650675676,0.0499290537943,0.999999974649,7.4316022911e-05,-0.000211196572151,-2.39869370409e-05,1793250765409593088
+52,0.866666667,BASELINE,769,746.164715749,723,685,674,642,886.835284251,787,818.835284251,657,632.835284251,656,0.400939882122,0.00455711700795,0.0499293672902,0.999999974824,7.36050620132e-05,-0.000210591705318,-2.41911105687e-05,1793250765426259968
+53,0.883333333,BASELINE,769,746.739387191,723,685,674,642,886.260612809,787,818.260612809,657,632.260612809,656,0.400940292178,0.00455670998154,0.0499292710163,0.999999974724,7.40711590251e-05,-0.000210911309165,-2.41166999588e-05,1793250765442926592
+54,0.900000000,BASELINE,769,747,723,685,674.313434762,642,886,787,818,657.313434762,632,656,0.400940683116,0.00455681864373,0.0499292845211,0.999999974718,7.5073067028e-05,-0.000210584832827,-2.41375370406e-05,1793250765459592960
+55,0.916666667,BASELINE,769,747,723,685,674.886964601,642,886,787,818,657.886964601,632,656,0.400941058191,0.00455735523573,0.0499293891226,0.999999974787,7.65196027834e-05,-0.00020972222489,-2.42374127611e-05,1793250765476259328
+56,0.933333333,BASELINE,769,747,722.522615604,685,674.522615604,642,886,787,818.477384396,657.522615604,632,656,0.400940748445,0.00455764917549,0.0499294011606,0.999999974658,7.71102855271e-05,-0.000210120243344,-2.42520648276e-05,1793250765492926208
+57,0.950000000,BASELINE,769,746.930289569,722.069710431,685,674,642,886,787,819,657,632,656,0.400940388168,0.00455764568171,0.0499293991803,0.99999997453,7.72404845307e-05,-0.000210685655982,-2.42031640232e-05,1793250765509592832
+58,0.966666667,BASELINE,769,746.354231799,722.645768201,685,674,642,886,787,819,657,632,656,0.400940881855,0.00455591439381,0.0499294604136,0.999999974766,7.55518715843e-05,-0.000210219306875,-2.38445919234e-05,1793250765526259456
+59,0.983333333,BASELINE,769,746.221626389,723,685.221626389,674,642,886,787,819,657,632,656,0.400940630842,0.00455544741839,0.0499294687057,0.999999974777,7.52219812783e-05,-0.000210292101409,-2.37779334568e-05,1793250765542926080
+60,1.000000000,BASELINE,769,746.797165956,723,685.797165956,674,642,886,787,819,657,632,656,0.400939190626,0.00455699941187,0.0499293924566,0.99999997443,7.70618226116e-05,-0.000211225849478,-2.41774291763e-05,1793250765559593216
+61,1.016666667,BASELINE,769.381708819,747,723,685.618291181,674,642,886,787,819,657,632,655.618291181,0.400939498393,0.00455626767892,0.0499295863847,0.999999974566,7.64103120237e-05,-0.000210850271132,-2.39206995391e-05,1793250765576259584
+62,1.033333333,BASELINE,769.971151428,747,723,685.028848572,674,642,886,787,819,657,632,655.028848572,0.400940757447,0.004554293095,0.0499299273488,0.99999997496,7.44029563766e-05,-0.000209762130367,-2.33068385439e-05,1793250765592926208
+63,1.050000000,BASELINE,769.449248757,747,723,685,674,642.550751243,886,786.449248757,819,657,632,655,0.400943078597,0.00455507631267,0.049931253277,0.999999975567,7.37365312138e-05,-0.000207043241294,-2.36954375418e-05,1793250765609592832
+64,1.066666667,BASELINE,769,747,723,685,674,642.870533774,886,786.129466226,818.870533774,657,632,655.129466226,0.4009445775,0.00455596194396,0.0499319886329,0.99999997594,7.36829560954e-05,-0.000205207489661,-2.40861486426e-05,1793250765626259456
+65,1.083333333,BASELINE,769,747,723,685,674,642.293127754,886,786.706872246,818.293127754,657,632,655.706872246,0.40094304241,0.00455671089252,0.0499305052981,0.999999975488,7.55110279479e-05,-0.000206717655428,-2.43056805991e-05,1793250765642926080
+66,1.100000000,BASELINE,769,747,723,685,674,642,886,787,818.281197771,657.281197771,632,656,0.400941283093,0.00455701837445,0.0499293973147,0.999999975011,7.64640087338e-05,-0.000208657291986,-2.43396730717e-05,1793250765659592704
+67,1.116666667,BASELINE,769,747,723,685,674,642,886,787,818.852346869,657.852346869,632,656,0.400939292567,0.00455687064706,0.0499286763673,0.999999974511,7.65146571597e-05,-0.000211039768467,-2.41823502881e-05,1793250765676259328
+68,1.133333333,BASELINE,769.440832134,747,723,685,674,642,886,787,819,657.559167866,632,655.559167866,0.400939945107,0.00455603710835,0.0499289887715,0.999999974703,7.59904181145e-05,-0.000210352402268,-2.38825951794e-05,1793250765692926208
+69,1.150000000,BASELINE,769.965603614,747,723,685,674,642.034396386,886,787,819,657.034396386,632,655.034396386,0.400941374922,0.00455515165316,0.0499296013703,0.999999975083,7.54593716097e-05,-0.000208767460911,-2.35766738299e-05,1793250765709592832
+70,1.166666667,BASELINE,769.387304507,747,723,685,674,642.612695493,886,787,819,657.612695493,632,655.612695493,0.40094052391,0.00455722625306,0.0499292638345,0.99999997464,7.79901365117e-05,-0.000209913937851,-2.39585018473e-05,1793250765726259456
+71,1.183333333,BASELINE,769,747,723,685,674,643,886,787,819,657.810460926,632,656,0.400939858217,0.00455824469034,0.0499288304744,0.999999974358,7.86371540279e-05,-0.000210975713573,-2.42657700066e-05,1793250765742926080
+72,1.200000000,BASELINE,769,747,723,685,674,643,886,787,819,657.236568798,632,656,0.400939568318,0.00455712140954,0.049928202799,0.999999974411,7.54642522047e-05,-0.000211865729823,-2.44218435053e-05,1793250765759592704
+73,1.216666667,BASELINE,769,747,723,685,674,643,886,787,819,657,632,656,0.400940561374,0.00455593195731,0.04992901416,0.999999974778,7.4023546024e-05,-0.000210682837026,-2.4019163658e-05,1793250765776259584
+74,1.233333333,BASELINE,769,747,723,685,674,643,886,787,819,657,632,656,0.40094245418,0.00455469609835,0.0499308347341,0.999999975366,7.37976489293e-05,-0.000208046189018,-2.3224623599e-05,1793250765792926208
+75,1.250000000,BASELINE,769,747,723,685,674,643,886,787,819,657,632,655.486174188,0.400942221945,0.00455446870248,0.0499305943439,0.999999975276,7.39643719661e-05,-0.000208400976038,-2.33827533012e-05,1793250765809592832
+76,1.266666667,BASELINE,769,746.907188351,722.907188351,685,674,642.907188351,886,787,819,657,632.092811649,655,0.400941532272,0.00455460004404,0.0499299036004,0.999999975029,7.42234440044e-05,-0.000209462151716,-2.3647727973e-05,1793250765826259200
+77,1.283333333,BASELINE,769,746.328589984,722.328589984,685,674,642.328589984,886,787,819,657,632.671410016,655,0.400939860421,0.0045559389242,0.0499282251876,0.999999974404,7.47049811767e-05,-0.000212232807209,-2.38388827005e-05,1793250765842926080
+78,1.300000000,BASELINE,769,746.247530888,722.247530888,685,674,642,886,787,819,657,632.752469112,655.247530888,0.400939406021,0.00455654920648,0.0499277258421,0.99999997417,7.54977717676e-05,-0.000213044484704,-2.39207588314e-05,1793250765859592704
+79,1.316666667,BASELINE,769,746.820395501,722.820395501,685,674,642,886,787,819,657,632.179604499,655.820395501,0.400940551733,0.00455620188101,0.0499287761631,0.999999974454,7.66996475683e-05,-0.000211281446489,-2.3859008375e-05,1793250765876259328
+80,1.333333333,BASELINE,769.406030692,747,723,685,674,642,886,787,819,657,632,656,0.40094011943,0.00455693711579,0.0499284331146,0.99999997431,7.73491440877e-05,-0.000211705447642,-2.40518263708e-05,1793250765892926208
+81,1.350000000,BASELINE,769.99749834,747,723,685,674,642,886,787,819,657,632,656,0.400938966436,0.00455816676311,0.0499274537047,0.999999973969,7.77463653663e-05,-0.00021312828428,-2.43609074916e-05,1793250765909593088
+82,1.366666667,BASELINE,769.422927722,747.577072278,723,685,674,642.577072278,886.577072278,787,819,657,632,656,0.400939637797,0.00455730529378,0.0499280758413,0.999999974371,7.61952012466e-05,-0.000211804504028,-2.43083351771e-05,1793250765926259712
+83,1.383333333,BASELINE,769,747.844808741,723,685,674,643,886.844808741,787,819,657,632,656,0.400939906377,0.00455674754761,0.0499285255224,0.999999974607,7.52730052413e-05,-0.00021102247366,-2.42665500121e-05,1793250765942926336
+84,1.400000000,BASELINE,769,747.270482686,723,685,674,643,886.270482686,787,819,657,632,656,0.40093906621,0.00455703407397,0.0499284910699,0.999999974396,7.60718537652e-05,-0.000211735089113,-2.42580471166e-05,1793250765959592960
+85,1.416666667,BASELINE,769,747,723,685,674,642.689513524,886,787,819,657.310486476,632,656,0.400939572035,0.00455686844527,0.0499286710201,0.999999974491,7.6677260865e-05,-0.00021108858017,-2.40850218819e-05,1793250765976259328
+86,1.433333333,BASELINE,769,747,723,685,674,642.102630673,886,787,819,657.897369327,632,656,0.400941276067,0.00455630030622,0.0499290418323,0.999999974856,7.71104655426e-05,-0.000209232172897,-2.37655381652e-05,1793250765992925952
+87,1.450000000,BASELINE,769,747,723,685,673.52244299,642,886,787,818.52244299,657.52244299,632,656,0.400940152731,0.00455602273963,0.0499290078016,0.999999974722,7.64308072681e-05,-0.000210115535266,-2.37900433578e-05,1793250766009592576
+88,1.466666667,BASELINE,769,747,723,685,673.056328442,642,886,787,818.056328442,657,632.056328442,656,0.400938672464,0.00455594920033,0.0499288723885,0.999999974497,7.57112452013e-05,-0.000211428197871,-2.39034207015e-05,1793250766026259200
+89,1.483333333,BASELINE,769,747,723,685,673.635124931,642,886,787,818.635124931,657,632.635124931,656,0.400939439542,0.00455719688784,0.0499285924523,0.999999974427,7.6809217236e-05,-0.000211336968405,-2.41649108759e-05,1793250766042925824
+90,1.500000000,BASELINE,769,747,723,685,674,642.211746615,886.211746615,787,818.788253385,657,632.788253385,656,0.400940322791,0.00455769939721,0.0499285954707,0.999999974468,7.7056122707e-05,-0.000211038702656,-2.42855080699e-05,1793250766059592960
+91,1.516666667,BASELINE,769,747,723,685,674,642.784658785,886.784658785,787,818.215341215,657,632.215341215,656,0.400941404187,0.00455693089357,0.0499290811107,0.9999999747,7.58514066185e-05,-0.000210387305538,-2.41657911645e-05,1793250766076260608
+92,1.533333333,BASELINE,769,747,722.640993566,685,674,642.640993566,886.640993566,787,818.359006434,657.359006434,632,656,0.40094164149,0.00455570670739,0.0499293448828,0.999999974895,7.43393223663e-05,-0.000210029757439,-2.39024180384e-05,1793250766092927488
+93,1.550000000,BASELINE,769,747,722.065781369,685,674,642.065781369,886.065781369,787,818.934218631,657.934218631,632,656,0.400941370451,0.00455420809376,0.0499294750385,0.999999975066,7.26421305396e-05,-0.000209849175052,-2.3552530287e-05,1793250766109593344
+94,1.566666667,BASELINE,769,746.472416072,722.527583928,685,674.527583928,642,886,787,819,657.472416072,632.527583928,656,0.400939947031,0.00455453143565,0.0499286156459,0.999999974713,7.34484243198e-05,-0.000211246534885,-2.35624032683e-05,1793250766126259712
+95,1.583333333,BASELINE,769,746.119233166,723,685,674.880766834,642,886.119233166,787,819,657,632.880766834,656,0.400938804646,0.00455508021762,0.0499278303806,0.999999974371,7.46011128584e-05,-0.00021244133902,-2.36900975744e-05,1793250766142926336
+96,1.600000000,BASELINE,769,746.695325642,723,685,674.304674358,642,886.695325642,787,819,657,632.304674358,656,0.400939309249,0.00455559135804,0.049927818743,0.999999974345,7.5842415088e-05,-0.000212079303861,-2.4091242823e-05,1793250766159592960
+97,1.616666667,BASELINE,769,747,723,685,674,642,886.731382186,787,819,657,632,656,0.400940376392,0.00455633061592,0.049928432322,0.999999974548,7.60512144227e-05,-0.00021102731915,-2.42474612396e-05,1793250766176259584
+98,1.633333333,BASELINE,769,747,723,685,674,642,886.161233468,787,819,657,632,656,0.400942075002,0.00455732594189,0.0499297477237,0.999999975006,7.51010007078e-05,-0.000209200847059,-2.41287425084e-05,1793250766192926464
+99,1.650000000,BASELINE,769,747,723,685,674,642,886,787,819,657,632,656,0.40094103389,0.00455659453532,0.049928845682,0.999999974738,7.5057295349e-05,-0.000210531076669,-2.38230966992e-05,1793250766209593088
+100,1.666666667,BASELINE,769,747,723,684.979095257,674,642.020904743,886,787,819,657,632,656,0.400939019326,0.00455527444765,0.0499271429204,0.999999974203,7.54065389896e-05,-0.000212969830094,-2.34692385018e-05,1793250766226259456
+101,1.683333333,BASELINE,769,747,723,684.400710913,674,642.599289087,886,787,819,657,632,656,0.400939853066,0.00455641209648,0.0499274031132,0.99999997435,7.67029304903e-05,-0.000211777798554,-2.37951943394e-05,1793250766242926080
+102,1.700000000,BASELINE,769,747,723,684.35356366,674,643,886,787,819,657,632,656,0.400940490748,0.00455717427343,0.049927967511,0.999999974516,7.72920804356e-05,-0.000210760735689,-2.39417125304e-05,1793250766259592960
+103,1.716666667,BASELINE,769,747,723,685.504527292,674,643,886,787,819,657,632,656,0.400940686256,0.00455708964014,0.0499292179891,0.999999974731,7.62861726193e-05,-0.00021013828372,-2.36835409677e-05,1793250766276259584
+104,1.733333333,BASELINE,769,747,723,685.665895154,674,642.665895154,886.334104846,786.665895154,819,657,632.334104846,656,0.400940041721,0.00455569400998,0.0499291104759,0.999999974616,7.57578685816e-05,-0.000210906930004,-2.34089844119e-05,1793250766292926464
+105,1.750000000,BASELINE,769,747,723,685.079246959,674,642.079246959,886.920753041,786.079246959,819,657,632.920753041,656,0.400938762212,0.00455330742281,0.0499279764836,0.999999974249,7.55905758356e-05,-0.000212727080305,-2.31220427313e-05,1793250766309592832
+106,1.766666667,BASELINE,769,746.499362797,722.499362797,685,674,642.500637203,886.499362797,786.500637203,819,657,632.499362797,656,0.400938970958,0.00455448445735,0.0499279560742,0.999999974311,7.60720299311e-05,-0.000212229231736,-2.34512058628e-05,1793250766326259712
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,722,685,674,643,886,787,819,657,632,656,0.400942282698,0.00455500867868,0.0499304438768,0.99999997536,7.42125361502e-05,-0.00020787702437,-2.36478020524e-05,1793250766369752064
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,722.57964439,685,674,642.42035561,886,787,819,657,632,656,0.400941547363,0.00455552231773,0.0499297635732,0.999999975008,7.47204242891e-05,-0.000209382226632,-2.36836245564e-05,1793250766386418688
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,722.838262107,685,674,642,886,786.838262107,818.838262107,657.161737893,632,656,0.400941503082,0.00455605676456,0.0499295098882,0.99999997486,7.57116219006e-05,-0.000209735821899,-2.36546206491e-05,1793250766403085568
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,722.24970538,685,674,642,886,786.24970538,818.24970538,657.75029462,632,656,0.400943282465,0.00455664612229,0.0499303820302,0.99999997525,7.79782510173e-05,-0.000207050379785,-2.34545428419e-05,1793250766419752192
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.335505528,747,722.335505528,685.335505528,674,642,886,786.335505528,818.335505528,657.664494472,632,656,0.400944129583,0.00455708328158,0.0499307203599,0.999999975469,7.77881528446e-05,-0.000206034432981,-2.36969397984e-05,1793250766436418816
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.91825081,747,722.91825081,685.91825081,674,642,886,786.91825081,818.91825081,657.08174919,632,656,0.4009442897,0.00455740828321,0.049930665314,0.999999975564,7.57876502366e-05,-0.000206248765948,-2.42654039777e-05,1793250766453085440
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.506378052,747,723,685.506378052,674,642,886,787,819,657,632.493621948,656,0.40094729751,0.00455512452471,0.0499316100995,0.999999976169,7.29418245878e-05,-0.000204378490233,-2.39058632143e-05,1793250766469752064
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,819,657,633,656,0.400951637079,0.00455291996961,0.0499328316409,0.999999976919,7.03671750778e-05,-0.000201640864173,-2.3499998078e-05,1793250766486418944
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,819,657,633,656,0.40096245367,0.00455448680495,0.0499349018304,0.999999978199,7.08485075297e-05,-0.000194965162823,-2.38792209005e-05,1793250766503085568
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.759663691,723,685,674,642,886,787,819,657,632.759663691,656,0.400980621981,0.00455587856148,0.0499393633666,0.999999980443,7.21474338613e-05,-0.000182522269251,-2.43652506799e-05,1793250766519752192
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.180602023,723,685,674,642,886,787,819,657,632.180602023,656,0.401009151665,0.00455702356517,0.0499471952207,0.999999983791,7.45986611783e-05,-0.000161951206718,-2.50018120859e-05,1793250766536418816
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.397152997,723,685,674,642,886,787,819,657,632,656,0.401047481193,0.0045568707537,0.0499534186037,0.999999987142,7.47871397417e-05,-0.000139504205667,-2.57272792255e-05,1793250766553085440
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.974315827,723,685,674,642,886,787,819,657,632,656,0.40109025251,0.00455612970682,0.049958912947,0.999999990163,7.39500262628e-05,-0.000116206932519,-2.6493042989e-05,1793250766569752320
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.450360093,657,632,655.450360093,0.401145231181,0.00455586859088,0.0499646185718,0.999999992911,7.16353689194e-05,-9.12854517661e-05,-2.67087338324e-05,1793250766586418688
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.127685867,657,632.127685867,655.127685867,0.40120166827,0.00455566584697,0.049969166685,0.999999994599,6.9899029224e-05,-7.20981910675e-05,-2.67774160131e-05,1793250766603085312
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642,886,787,818.715856993,657,632.715856993,655.715856993,0.401261314638,0.00455559300553,0.0499695048727,0.999999994439,7.04964995043e-05,-7.38635719228e-05,-2.64083185469e-05,1793250766619752192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,723,685.29923097,674,642,886.29923097,787.29923097,819,657,633,656,0.401333274379,0.00455491957479,0.0499707723726,0.999999994702,6.95530030314e-05,-7.12269539616e-05,-2.61577791718e-05,1793250766636418560
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,723,685.878121524,674,642,886.878121524,787.878121524,819,657,633,656,0.401416742125,0.00455368483669,0.0499729084024,0.999999995327,6.71693276537e-05,-6.447625254e-05,-2.60180435436e-05,1793250766653085184
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,723,685.543340216,674,642.456659784,886.543340216,787.543340216,819,657.456659784,632.543340216,656,0.401519115637,0.00455288549571,0.0499735404637,0.999999995406,6.55270283656e-05,-6.53356925485e-05,-2.50203377667e-05,1793250766669752064
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642.965245566,886,787,819,657.965245566,632,656,0.401627873804,0.00455216929003,0.049973621957,0.999999995342,6.40380000153e-05,-6.8169304658e-05,-2.38274612766e-05,1793250766686418944
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,723,685,674,642.392562809,886,787,819,657.392562809,632,656,0.401757415223,0.00455094263935,0.0499713897789,0.999999995358,6.18610792635e-05,-7.01463357269e-05,-2.31552242237e-05,1793250766703085568
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,722.814673007,685.185326993,674,642.185326993,886,787,819,657,632.185326993,656,0.401897248575,0.00454927659307,0.0499707102674,0.99999999551,5.89812335178e-05,-7.07392491717e-05,-2.22839822234e-05,1793250766719752192
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,722.225434776,685.774565224,674,642.774565224,886,787,819,657,632.774565224,656,0.40205951268,0.0045466529054,0.0499734147182,0.999999995958,5.45693969484e-05,-6.83155447791e-05,-2.097901863e-05,1793250766736418816
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.35961043,747,722,685.64038957,674,643,886.35961043,787.35961043,819,657,633,656,0.402242257148,0.00454469731224,0.0499735724874,0.99999999612,5.17036167115e-05,-6.86222395063e-05,-1.94157770812e-05,1793250766753085440
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.942057439,747,722,685.057942561,674,643,886.942057439,787.942057439,819,657,633,656,0.402437692515,0.00454315571096,0.0499721521774,0.99999999611,4.97958669499e-05,-7.06208560075e-05,-1.76924906145e-05,1793250766769751808
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.485370041,747,722.514629959,685,674,643,887,787.485370041,819,657,632.485370041,656,0.40266467246,0.00453965611943,0.0499700868249,0.999999996172,4.37468188695e-05,-7.40583704016e-05,-1.60430554003e-05,1793250766786419200
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,723,685.08707892,674,643,887,787,819,657,632.08707892,656,0.402902252585,0.00453627268804,0.0499688052913,0.999999996296,3.76436680622e-05,-7.60439349016e-05,-1.44051318157e-05,1793250766803086336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,723,685.664980235,674,643,887,787,819,657,632.664980235,656,0.403179939028,0.00453476318174,0.0499723434216,0.99999999697,3.38142369294e-05,-6.894958836e-05,-1.27861079942e-05,1793250766819752448
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,723,685.751556068,674,642.751556068,887,787,819,657.248443932,633,656,0.403476181336,0.00453269228193,0.0499793369776,0.999999998031,3.00857207716e-05,-5.39852614952e-05,-1.09256310379e-05,1793250766836418816
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,723,685.160419912,674,642.160419912,887,787,819,657.839580088,633,656,0.403798018741,0.00452984702162,0.0499910967897,0.999999999214,2.64964023442e-05,-2.81654432073e-05,-8.73210473542e-06,1793250766853085696
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.420924884,747,723,685.420924884,674,642.420924884,887,787,819,658,632.579075116,656,0.404151832983,0.00452742963327,0.0499996537367,0.99999999963,2.37264037448e-05,-1.1744288652e-05,-6.25995818676e-06,1793250766869752320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.998622884,747,723,685.998622884,674,642.998622884,887,787,819,658,632.001377116,656,0.404517556965,0.00452517160554,0.050007017779,0.999999999766,2.12615601987e-05,1.17634101724e-06,-3.68403981389e-06,1793250766886418944
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.428748475,747,723,686,674,643,887,787,819,657.428748475,632.571251525,656,0.404933894704,0.00452038956088,0.050012669724,0.999999999737,1.25607100884e-05,1.91606182425e-05,-1.43137629727e-06,1793250766903085824
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,722.851587667,686,674,643,887,787.148412333,819,657,633,656,0.405346529676,0.0045160464554,0.0500124996573,0.999999999687,5.51649917207e-06,2.43880075197e-05,9.25802934594e-07,1793250766919752448
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,722.260884326,686,674,643,887,787.739115674,819,657,633,656,0.405747769344,0.00451302942905,0.0499949913135,0.999999999952,3.45373000502e-06,-8.43810403429e-06,3.59675618196e-06,1793250766936419072
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,722,686,674,642.677098954,887,787.677098954,818.677098954,657,632.677098954,656,0.406172738449,0.00450871353163,0.0499745556994,0.999999998888,-1.17911891938e-06,-4.66845248193e-05,6.50669612533e-06,1793250766953085696
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,722,686,674,642.09878558,887,787.09878558,818.09878558,657,632.09878558,656,0.406616477405,0.00450337023651,0.0499518046345,0.999999995943,-7.8448820519e-06,-8.92183734051e-05,9.60567305018e-06,1793250766969752320
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,722.478261008,686,674,642,887.478261008,787,818.478261008,657,632,656,0.4071169244,0.00449902507392,0.0499401397331,0.999999993918,-8.06676476814e-06,-0.00010921689251,1.30379492993e-05,1793250766986419200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,723,686.054644443,674,642,888,787.054644443,819,657.054644443,632.054644443,656,0.407638865289,0.00449462579212,0.0499338647218,0.999999992864,-4.44467793853e-06,-0.000118229176689,1.6553594737e-05,1793250767003086080
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,723,686.627216252,674,642,888,787.627216252,819,657.627216252,632.627216252,656,0.408253803119,0.00448776465285,0.049957029495,0.999999997279,2.30290568944e-05,-6.71138652423e-05,2.02086424258e-05,1793250767019753216
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.206617159,747,723,687,674,642,888,787.793382841,819,657.793382841,632.793382841,656,0.408873963223,0.0044807502597,0.0499816683203,0.999999998754,3.92744346537e-05,-1.92510667308e-05,2.40528778747e-05,1793250767036420096
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.798760414,747,723,687,674,642,888,787.201239586,819,657.201239586,632.201239586,656,0.409503867508,0.00447344991114,0.0500090575716,0.999999998749,3.45688660525e-05,2.25428780615e-05,2.82501178391e-05,1793250767053086208
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.616841032,747,723,687,674,642,888,787,819,657,632.383158968,656,0.410131109135,0.00446608453957,0.0500139174341,0.999999999169,1.44107435974e-05,2.53712855937e-05,2.84643678915e-05,1793250767069752576
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.036429516,747,723,687,674,642,888,787,819,657,632.963570484,656,0.410756979989,0.00445868569398,0.0500071790305,0.999999999518,-1.370244664e-05,8.13999821344e-06,2.66281505747e-05,1793250767086418944
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,723,687.537873433,674,642.537873433,887.462126567,787.537873433,819,657,632.462126567,656,0.411382140313,0.00445166099635,0.0499733258005,0.999999996956,-3.09790936564e-05,-6.59698458728e-05,2.78774577559e-05,1793250767103085568
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,723,688,673.88811543,643,887.11188457,788,819,657,632.11188457,656,0.412036455783,0.00444506865613,0.0499469331412,0.99999999141,-4.34500200709e-05,-0.000120207031866,2.90106438607e-05,1793250767119751936
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,723,688,673.313619577,643,887.686380423,788,819,657,632.686380423,656,0.412811516168,0.00444016039463,0.0499588958127,0.999999995894,-3.90512206022e-05,-7.65269571022e-05,2.88093362485e-05,1793250767136418816
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,723,688.269869822,673.539739645,642.730130178,888,788,819,657,632.730130178,656,0.413586404179,0.00443621361465,0.0499744640241,0.999999998181,-3.34515186386e-05,-4.03687731328e-05,2.98180350012e-05,1793250767153085440
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,723,688.864171141,674.728342282,642.135828859,888,788,819,657,632.135828859,656,0.414361085067,0.00443342270572,0.0499943667367,0.999999999042,-2.64081178816e-05,-1.32532332471e-05,3.22813764927e-05,1793250767169752064
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.557414003,722.557414003,689,674.557414003,642.442585997,888.442585997,787.557414003,819.442585997,657,632,656,0.415110111022,0.00444204496704,0.0499759756399,0.999999998226,-2.27542509333e-05,-4.48519984845e-05,3.19094219508e-05,1793250767186418944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.016292046,746.016292046,722.016292046,689,674,643,889.016292046,787.016292046,820.016292046,657,632.016292046,656,0.415853684538,0.00445388601242,0.0499469462163,0.999999995045,-1.9951319894e-05,-9.2565285132e-05,3.07322712315e-05,1793250767203086080
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.589923347,746.589923347,722.589923347,689,674,643,889.589923347,787.589923347,820.589923347,657,632.589923347,656,0.416670747774,0.00446016715865,0.0499420940863,0.999999994803,-1.19054442527e-05,-9.64767607576e-05,3.07455966486e-05,1793250767219752448
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.830873762,747,722.830873762,689.169126238,674,643,890,788,821,657,632.830873762,656,0.41750709389,0.00446153681527,0.0499473565525,0.999999995999,-7.90326969347e-06,-8.34712218795e-05,3.11757465454e-05,1793250767236419072
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.237701392,747,722.237701392,689.762298608,674,643,890,788,821,657,632.237701392,656,0.418391787453,0.00445059201225,0.0499779791015,0.999999998975,-1.40397696517e-05,-2.80500607538e-05,3.26509903343e-05,1793250767253085696
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.653093822,722,690,674,642.653093822,890,788,821.346906178,656.653093822,632,656,0.41924349008,0.0044456932119,0.0499813910547,0.999999998758,-1.9944971938e-05,-3.03086979087e-05,3.41562791282e-05,1793250767269752320
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.074213508,722,690,674,642.074213508,890,788,821.925786492,656.074213508,632,656,0.420073131825,0.00444483733869,0.0499666074401,0.999999996503,-2.56955065716e-05,-7.11374817278e-05,3.56816587844e-05,1793250767286418944
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.499055944,746.500944056,722,690.500944056,674,642.500944056,890.500944056,788,822.500944056,656.500944056,632,656,0.420974533013,0.00444489980306,0.0499726928549,0.999999998173,-2.6645253869e-05,-4.16498224896e-05,3.47773818619e-05,1793250767303085568
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.074724901,747,722,691,674.074724901,643,891,787.925275099,823,657,632,656,0.421886473754,0.00444475474489,0.049982559256,0.999999999043,-2.74649964123e-05,-4.27165237813e-06,3.37933772857e-05,1793250767319752192
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.643027921,747,722,691,674.643027921,643,891,787.356972079,823,657,632,656,0.42279832826,0.00444234693143,0.0499971292806,0.999999998742,-3.20891925234e-05,1.69246706143e-05,3.46427599408e-05,1793250767336419072
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722,691,674.553206704,643,891.223396648,787,823,657,632,656,0.423714130955,0.00444270430328,0.0500009387723,0.99999999861,-3.2813908413e-05,2.1319622257e-05,3.53476959236e-05,1793250767353085696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,691,673.351707204,643,891.824146398,787,823,657,632,656,0.424636602927,0.00444773252035,0.0499865719844,0.999999998992,-2.69517717066e-05,-2.66565872668e-06,3.58086382385e-05,1793250767369752064
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.406291882,747,722,691.406291882,673.406291882,643,892.406291882,787,823.406291882,657,632,656,0.425573737175,0.00444719982975,0.0499952881201,0.999999998863,-2.8306039723e-05,1.0853878749e-05,3.68089643754e-05,1793250767386418944
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.980737505,747,722,691.980737505,673.980737505,643,892.980737505,787,823.980737505,657,632,656,0.426516939707,0.00444436562246,0.0500135576839,0.999999997948,-3.26469920197e-05,3.9895695501e-05,3.80325275272e-05,1793250767403085568
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,747,722.553058042,692,674,643,893.553058042,787,824,657,632,656,0.427386961486,0.00444127599485,0.0500029319066,0.999999998938,-2.18612831514e-05,-4.39111755243e-06,4.03308683066e-05,1793250767419752192
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.869652268,747,722.869652268,692,673.869652268,643,893.869652268,787,824,657,632,656,0.428267217879,0.00443901917496,0.0499873051707,0.999999997861,-1.44428378225e-05,-4.81120253327e-05,4.18888618961e-05,1793250767436419072
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.274375461,747,722.274375461,692,673.274375461,643,893.274375461,787,824,657,632,656,0.429193035845,0.00443976445364,0.0499574167489,0.999999995695,-2.09068584128e-05,-8.07397221272e-05,4.06731499781e-05,1793250767453085696
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,722,692,673.311345748,643,893,787,824.311345748,657,632,656,0.430129770949,0.00444174535306,0.0499498690439,0.999999995526,-2.48986929242e-05,-8.20217480691e-05,3.99975860149e-05,1793250767469752320
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,722,692,673.888896747,643,893,787,824.888896747,657,632,656,0.431075840319,0.00444478272658,0.0499614229861,0.999999997254,-2.67767711855e-05,-5.65027568687e-05,3.9783856669e-05,1793250767486418944
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,722,692,674,643,893.462692505,787,825,657,632,656,0.431970714887,0.00444282618905,0.0499493119627,0.999999995847,-2.70255131537e-05,-7.73686587987e-05,3.98744074433e-05,1793250767503085568
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,722,692.036668342,673.963331658,643,894,787,825,657,632,656,0.432855097621,0.00443966969944,0.0499338869579,0.99999999333,-2.70235296699e-05,-0.00010491177876,4.00341525219e-05,1793250767519752192
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,722,692.626864278,673.373135722,643,894,787,825,657,632,656,0.433765175904,0.00443635543934,0.0499535255415,0.999999996562,-2.90951632744e-05,-6.64692469284e-05,4.01443510691e-05,1793250767536418816
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,722,693,673.212784006,643,894.212784006,787,825.212784006,656.787215994,632,656.212784006,0.434675253081,0.0044346188749,0.0499714965212,0.999999998007,-3.12855047854e-05,-3.69143449088e-05,4.05473923648e-05,1793250767553085440
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,722,693,673.791352842,643,894.791352842,787,825.791352842,656.208647158,632,656.791352842,0.435585328507,0.00443559443643,0.0499866008215,0.999999998317,-3.36799106726e-05,-2.26376535068e-05,4.14538429981e-05,1793250767569752320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,722.368296413,693.368296413,673.263407175,643,895,787,826,656.368296413,632,656.631703587,0.436432780158,0.00443651693476,0.0499732961967,0.999999996626,-3.56205595421e-05,-6.02787004652e-05,4.29644338347e-05,1793250767586419200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,722.944323248,693.944323248,672.111353503,643,895,787,826,656.944323248,632,656.055676752,0.437244910032,0.00443740950375,0.0499439680696,0.99999999021,-3.73052753261e-05,-0.000127202937924,4.48157779862e-05,1793250767603086080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,694,673.039044774,643,895,787,826,656.480477613,632,656,0.438129384778,0.00443680766772,0.0499624637866,0.999999995813,-2.89147454437e-05,-7.52305484125e-05,4.33391996979e-05,1793250767619752704
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,694,674,643,895,787,826.094443153,656,632,656,0.439005003799,0.00443584246797,0.0499815056253,0.999999998616,-2.1250517784e-05,-2.35158536574e-05,4.19821236742e-05,1793250767636419328
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,694,674,643,895,787,826.668400189,656,632,656,0.43979635766,0.00443384422341,0.0499773394189,0.999999998104,-2.27474207128e-05,-3.77015146156e-05,4.3039726634e-05,1793250767653085696
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,694,673.748711451,643.251288549,895.251288549,787,827,656,632,656.251288549,0.44058781511,0.00443199991255,0.0499691646105,0.999999997324,-2.66038966616e-05,-5.2396978176e-05,4.35779891419e-05,1793250767669752320
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,694,673.153603056,643.846396944,895.846396944,787,827,656,632,656.846396944,0.44137941423,0.00443036621814,0.0499555051238,0.999999996193,-3.36888046315e-05,-6.77899663918e-05,4.34056757962e-05,1793250767686418944
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,694,673,643.570107806,896,787,826.570107806,656,632,657,0.442148749344,0.00443092175998,0.0499621720591,0.99999999714,-3.35174674503e-05,-5.17855407079e-05,4.37620150959e-05,1793250767703085568
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.009259192,747,723,694.009259192,673,643,896,786.990740808,826.009259192,656.009259192,632,657,0.44290869985,0.00443238362944,0.0499753402294,0.999999998215,-3.05544228743e-05,-2.59623083086e-05,4.42999224687e-05,1793250767719752448
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.583259058,747,723,694.583259058,673,643,896,786.416740942,826.583259058,656.583259058,632,657,0.44356869267,0.00444266961691,0.0499537132847,0.999999996659,-1.12939279714e-05,-6.75109509073e-05,4.46942407682e-05,1793250767736419328
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747,723,694.839122317,672.678244634,642.839122317,896,786,827,656.839122317,632,656.839122317,0.444206256888,0.00445293757631,0.049921330848,0.999999991185,6.40730793793e-06,-0.000124860209657,4.47151991357e-05,1793250767753086464
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,747,723,694.251913742,671.503827484,642.251913742,896,786,827,656.251913742,632,656.251913742,0.444784384754,0.00446315776302,0.049860446016,0.999999973737,1.99764628954e-05,-0.000224081604421,4.37467420156e-05,1793250767769753344
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.667326981,747.332673019,723,694,671,642,896.332673019,786.332673019,827,656,632,656.332673019,0.445412438503,0.0044740137744,0.0498306329494,0.999999965426,3.05897140577e-05,-0.000257870898556,4.14091935393e-05,1793250767786419712
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.084710078,747.915289922,723,694,671,642,896.915289922,786.915289922,827,656,632,656.915289922,0.446078002531,0.00448534749297,0.0498241647244,0.999999969113,3.89821349498e-05,-0.000242499743577,3.80430196562e-05,1793250767803086080
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.508979529,723,693.508979529,671,641.508979529,897,786.508979529,827,656,632,656.508979529,0.446678518961,0.00449565577168,0.0498294597889,0.999999971557,4.87963332673e-05,-0.000230796425625,3.51740677372e-05,1793250767819752704
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,693.066988473,670.933011527,640.933011527,897,786,827,656.066988473,632,656,0.447256421939,0.00450686044377,0.0498321922625,0.999999971962,6.03326965551e-05,-0.000226720426379,3.21375948459e-05,1793250767836419328
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,693.653892466,670.346107534,640.346107534,897,786,827,656.653892466,632,656,0.447744707506,0.00452637630059,0.0497995030247,0.999999957793,8.33578683442e-05,-0.000276998924282,2.71443933347e-05,1793250767853085952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723,694,670,640,896.762919399,786,827,656.762919399,632,656,0.448233753017,0.00454536764425,0.0497729180054,0.999999943633,0.000107765259704,-0.000317129602895,2.3431846001e-05,1793250767869753088
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723,694,670,640,896.185072282,786,827,656.185072282,632,656,0.44872389079,0.0045636050801,0.0497551068542,0.999999932055,0.000134159375084,-0.000342674364886,2.15600405011e-05,1793250767886420224
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+255,4.250000000,HOLD_POSE2,769.182661329,747.182661329,723.817338671,694.182661329,667,634,898,786,828,656,632,657,0.454331853884,0.00461832428382,0.0496825968965,0.999999867002,0.000196647836872,-0.000476517723905,1.60267075576e-05,1793250768863218432
+256,4.266666667,HOLD_POSE2,769,747.388324009,723.611675991,694,667,633.611675991,897.611675991,786,828,656.388324009,632,657,0.454332375901,0.00461903186383,0.0496827062317,0.999999866925,0.000197171982967,-0.000476468297728,1.58425753151e-05,1793250768879885056
+257,4.283333333,HOLD_POSE2,769,747.957193356,723.042806644,694,667,633.042806644,897.042806644,786,828,656.957193356,632,657,0.454333400634,0.00462082243485,0.0496834020351,0.999999866665,0.00019966512703,-0.000475988136736,1.5464196063e-05,1793250768896551680
+258,4.300000000,HOLD_POSE2,769,747.44818563,723,694,667.55181437,633,897.55181437,785.44818563,828,657,632,656.44818563,0.454332480068,0.00461888563188,0.0496824718796,0.999999866779,0.000196249788933,-0.000477173046907,1.53168195816e-05,1793250768913218816
+259,4.316666667,HOLD_POSE2,769.143990681,747,723,694,667.856009319,633.143990681,897.856009319,785,828,657,632,656,0.454332019788,0.004617669862,0.0496819592536,0.999999866991,0.000193922174011,-0.000477681928996,1.52477140447e-05,1793250768929885696
+260,4.333333333,HOLD_POSE2,769.722467385,747,723,694,667.277532615,633.722467385,897.277532615,785,828,657,632,656,0.45433342604,0.00461954498393,0.0496831057372,0.999999867445,0.000196327463373,-0.00047574208936,1.53580683823e-05,1793250768946552576
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+262,4.366666667,HOLD_POSE2,769.12479849,747,723,694.87520151,667,633.12479849,897.87520151,785,828,656.12479849,632,656,0.454332514321,0.00462035538467,0.0496813599853,0.999999866591,0.000197745904705,-0.000476945982839,1.54084888932e-05,1793250768979885312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,723,694,667,633,898,786,828,657,632,657,0.454331182031,0.00462060803365,0.0496811011806,0.999999865342,0.000198651607461,-0.000479211752556,1.44964967143e-05,1793250769011923968
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747.842369089,723,694,667,633,897,785.842369089,827,656.157630911,632,656.157630911,0.454331916165,0.00461913886696,0.0496825032879,0.999999866019,0.000197227338747,-0.000478342592894,1.58679167035e-05,1793250769045257216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747.264800436,723,694,667,633,897,785.264800436,827,656.735199564,632,656.735199564,0.454331874134,0.00461881599992,0.0496817574344,0.999999866124,0.000195620825626,-0.000478791623484,1.55898176286e-05,1793250769061924096
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.885630959,723,694,667,633,897.885630959,785,827,657,632,656.114369041,0.454330998636,0.00461934130433,0.0496805411877,0.999999865556,0.000195059746908,-0.000480221457435,1.50921191044e-05,1793250769095257344
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,723,694.471507532,667,633,898,785.471507532,827.471507532,657,632,656.471507532,0.454331406087,0.00461816393733,0.0496808450412,0.999999865811,0.000195309623256,-0.000479572396238,1.55657107912e-05,1793250769111923968
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.358669877,723,694.358669877,667,633,898,785.358669877,827.358669877,657,631.358669877,656.358669877,0.454328308714,0.0046174322727,0.049680125745,0.99999986553,0.000194091406456,-0.000480658942054,1.5333052419e-05,1793250769145256960
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.220046465,723,694,667,633,898,785.220046465,827,656.779953535,631.220046465,656,0.454320328355,0.00461764860521,0.0496762117643,0.999999862682,0.000193867497563,-0.000486652164093,1.48886397762e-05,1793250769161923584
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747.632515519,723,694,667,633,898,786,827.367484481,656.367484481,631.632515519,656,0.454269643492,0.00461772519711,0.0496530251899,0.999999843025,0.000195497909653,-0.000524892278895,1.47843421592e-05,1793250769195256832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747.058796762,723,694,667,633,898,786,827.941203238,656.941203238,631.058796762,656,0.454223292242,0.00461876898532,0.0496348132196,0.999999825482,0.000194724097093,-0.000557590693371,1.45521077605e-05,1793250769211923968
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747.123133757,723,694,667,633,897.123133757,785,827.876866243,656.876866243,632,656.876866243,0.454090511183,0.00462175963318,0.0495942713288,0.999999788984,0.000200614611784,-0.000617760924198,1.25376340088e-05,1793250769245257216
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,694,668,634,897,785.475220283,827,656,631,656.524779717,0.452546748642,0.00463797696173,0.0495893325654,0.999999765993,0.000237033683248,-0.000641689713781,7.9061409059e-06,1793250769428590080
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747.662132039,723,694.662132039,668,634,897,786,827,656.662132039,631,656,0.452030005156,0.00464161363579,0.0495960377823,0.99999976402,0.000245176881425,-0.000641719248453,6.63372186154e-06,1793250769461923328
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.759541746,723,695,668,634.240458254,897,786,827,657,631.240458254,656,0.451731291226,0.00464458028425,0.0495964247814,0.999999762927,0.000251151806237,-0.000641123279702,5.42780919038e-06,1793250769478590208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.181606118,723,695,668,634.818393882,897,786,827,657,631.818393882,656,0.451401567756,0.00464886968865,0.0495924958065,0.999999758599,0.000260719949424,-0.000644059598604,3.85741851696e-06,1793250769495256832
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,722.993469215,685,674,642,886,786.006530785,819,657,632,656,0.400982618022,0.00461473060093,0.0498466113352,0.999999954505,0.000132273667686,-0.000267149702529,-4.60977346407e-05,1793250771195256832
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.419505666,747,722.419505666,685,674,642,885.419505666,786.580494334,819,657,632,656,0.400983084414,0.00461386547426,0.0498475570487,0.99999995496,0.000131935337966,-0.000265637720045,-4.59210599972e-05,1793250771211923200
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,747,722.164707142,685,674,642,885.164707142,787,819,657.164707142,632,656,0.400983454465,0.00461312439826,0.0498482882273,0.999999955344,0.000131148083019,-0.000264610999166,-4.57527926425e-05,1793250771228589824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,747,722.741652182,685,674,642,885.741652182,787,819,657.741652182,632,656,0.400983591001,0.00461268720938,0.0498484712958,0.999999955552,0.000129223244853,-0.000264797296772,-4.56094227576e-05,1793250771245256448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.316656199,747,722.683343801,685,674,642,886,787,819,657.683343801,632.316656199,656,0.400983653148,0.0046129364989,0.0498487097702,0.999999955657,0.000129245707039,-0.000264371818629,-4.56974172029e-05,1793250771261923328
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.535917931,786.535917931,819,657,632.535917931,656,0.400984524154,0.00461270353184,0.0498494060569,0.999999956017,0.000129741113624,-0.000262763826678,-4.56882299984e-05,1793250771295257088
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.03972798,786.03972798,819,657,632,656,0.400985484655,0.00461156757107,0.0498497979407,0.999999956383,0.000128213859927,-0.000262182035654,-4.53504077338e-05,1793250771311923712
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,885.636633543,786.636633543,819,657,632,656,0.400984841361,0.00461520606344,0.0498494646818,0.999999956117,0.0001297848223,-0.000262285807591,-4.61325844244e-05,1793250771328590080
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.77433659,747,722,685,674,642,886,787,819,657,632,655.77433659,0.400983795648,0.00461692791195,0.0498490977497,0.999999955757,0.000131514554288,-0.000262752038158,-4.63886087328e-05,1793250771345256704
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.197560528,747,722,685,674,642,886,787,819,657,632,655.197560528,0.400982123805,0.00461566762977,0.0498486784248,0.999999955249,0.000133491318237,-0.000263782222867,-4.58259857894e-05,1793250771361923328
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.377368916,747,722.377368916,685,674,642,885.622631084,787,819,657,632,655,0.400982983084,0.00461493393195,0.0498495504022,0.999999955584,0.000133522805511,-0.000262521319139,-4.56659569633e-05,1793250771378589696
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.951336289,747,722.951336289,685,674,642,885.048663711,787,819,657,632,655,0.400985161005,0.00461447456967,0.0498510951115,0.999999956354,0.000132540858916,-0.00026006682352,-4.57156682406e-05,1793250771395256320
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.458433908,747,722.458433908,685,674,642,886.083132184,786.458433908,818.458433908,657,632,655.541566092,0.400985481818,0.0046144511628,0.0498509398989,0.999999956526,0.000131456600371,-0.000259934840522,-4.58466360936e-05,1793250771411923200
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8648cb91c30dfdf3d0c05002a3b2b424e4ae78aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+287,4.783333333,pose2_to_pose3_retreat,0.617303163573,0.0101502002284,1.04003363966,0.587873841667,0.0188228351592,1.03970502736
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+400,6.666666667,pose2_to_pose3_retreat,0.575664884824,0.0101500855642,1.04003339371,0.546235564005,0.0188227217795,1.039704789
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+403,6.716666667,pose2_to_pose3_retreat,0.57566458648,0.010150011497,1.04003338599,0.546235266855,0.0188226517593,1.03970478112
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+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d8ea4271befa2106b934f0127018974da462002
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2534bbf5b99aec5ab9d9afa10c90ef98f963b4ef4b4a84e3e6e6d097655c0e
+size 25908930
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a061e6a58878f854a4648d604673a764c9186137
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+52,0.866666667,BASELINE,770.165934395,747,722,685,674,642,886,787,818.834065605,657,632,656,0.400983654379,0.00461308607477,0.049851794183,0.999999957468,0.000128157389396,-0.000258065638875,-4.51819089506e-05,1793250772406448640
+53,0.883333333,BASELINE,770.741135838,747,722,685,674,642,886,787,818.258864162,657,632,656,0.40098421373,0.00461150363334,0.04985209523,0.999999958014,0.000126479628597,-0.000256842741458,-4.4795239396e-05,1793250772423115520
+54,0.900000000,BASELINE,770.676118204,747,722,684.676118204,674,642,885.676118204,787,818,657,632,655.676118204,0.400984502647,0.0046110016069,0.0498524386269,0.999999958096,0.000126135545414,-0.000256724881884,-4.4615682235e-05,1793250772439782144
+55,0.916666667,BASELINE,770.087198469,747,722,684.087198469,674,642,885.087198469,787,818,657,632,655.087198469,0.400984570264,0.00461138370236,0.0498528166794,0.9999999578,0.000126882833207,-0.000257511293484,-4.46056086591e-05,1793250772456448768
+56,0.933333333,BASELINE,769.506730054,747,722,684.493269946,674,642,885.493269946,787,818,657,632,655,0.400984042042,0.00461212036632,0.0498517558285,0.999999957343,0.000128580725789,-0.000258443100237,-4.45886064749e-05,1793250772473115136
+57,0.950000000,BASELINE,769,746.928217908,722,684.928217908,674,642,885.928217908,787,818.071782092,657,632,655,0.400983586049,0.00461269672818,0.049850767058,0.999999957,0.000130086449008,-0.000259018406875,-4.45790605032e-05,1793250772489782016
+58,0.966666667,BASELINE,769,746.353123827,722,684.353123827,674,642,885.353123827,787,818.646876173,657,632,655,0.400984362604,0.00461171702149,0.0498520371645,0.999999957669,0.000129086320148,-0.000256916872494,-4.46302383325e-05,1793250772506448640
+59,0.983333333,BASELINE,769,746.221359153,722,684.221359153,674,642,885,786.778640847,818.778640847,657,632,655.221359153,0.400984998485,0.00461151923409,0.0498531137561,0.999999958157,0.000128421064803,-0.000255327322455,-4.47339095982e-05,1793250772523115264
+60,1.000000000,BASELINE,769,746.794870046,722,684.794870046,674,642,885,786.205129954,818.205129954,657,632,655.794870046,0.400985410575,0.00461256537177,0.0498538824922,0.999999958364,0.000128288546667,-0.000254552268237,-4.49210906556e-05,1793250772539781888
+61,1.016666667,BASELINE,769.380408886,747,722,685,674,642,885.380408886,786.380408886,818,657,632,656,0.400986047078,0.00461303418522,0.0498537435932,0.999999958328,0.000128314241454,-0.000254659799903,-4.50415066524e-05,1793250772556448512
+62,1.033333333,BASELINE,769.972645354,747,722,685,674,642,885.972645354,786.972645354,818,657,632,656,0.400986808545,0.00461318152033,0.0498530992849,0.999999958156,0.000128428035824,-0.000255258792362,-4.51247450588e-05,1793250772573115136
+63,1.050000000,BASELINE,769.448635643,747,722,685,674,642,885.448635643,787,818,657,632,656,0.400986126964,0.00461222577617,0.0498530763864,0.999999958476,0.000126830224987,-0.000254848999237,-4.48739914382e-05,1793250772589782016
+64,1.066666667,BASELINE,769.128273201,747,722,685,674.128273201,642,885.128273201,787,818,657,632,656,0.400985172103,0.00461105428513,0.0498528826711,0.999999958665,0.000125231079565,-0.000254937625312,-4.46623665802e-05,1793250772606448640
+65,1.083333333,BASELINE,769.701176495,747,722,685,674.701176495,642,885.701176495,787,818,657,632,656,0.400983512202,0.00460932011453,0.0498519925503,0.999999958321,0.000123914611095,-0.000256923239572,-4.46424352639e-05,1793250772623115264
+66,1.100000000,BASELINE,769.72298237,747,722,685,674.72298237,642,886,787,818.27701763,657,632,656,0.400984063914,0.00460918165229,0.0498522144032,0.999999958334,0.000124659230291,-0.000256522907298,-4.45854819992e-05,1793250772639782144
+67,1.116666667,BASELINE,769.143938205,747,722,685,674.143938205,642,886,787,818.856061795,657,632,656,0.400987026902,0.00461078295766,0.0498536486175,0.999999958727,0.0001276510104,-0.000253521227225,-4.44881644783e-05,1793250772656448512
+68,1.133333333,BASELINE,769.445826508,747,722,685,674,642,885.554173492,787,819,657,632.445826508,656,0.400986099223,0.00461167050396,0.0498531360269,0.999999958344,0.000128804279937,-0.000254384102819,-4.48409880355e-05,1793250772673115392
+69,1.150000000,BASELINE,769.962006555,747,722.037993445,685,674,642,885.037993445,786.962006555,819,657,633,656,0.400983997732,0.00461224171537,0.0498519939422,0.999999957728,0.000129297854205,-0.00025646534875,-4.52948845531e-05,1793250772689782016
+70,1.166666667,BASELINE,769.386042509,747,722.613957491,685,674,642,885.613957491,786.386042509,819,657,633,656,0.400983500055,0.00461167711766,0.0498510576252,0.999999957452,0.000129062292472,-0.000257696020931,-4.50714005703e-05,1793250772706448640
+71,1.183333333,BASELINE,769.189315447,747,723,685,674,642,886,786.189315447,819,657,632.810684553,656,0.400983588778,0.00461144124827,0.0498509139471,0.99999995745,0.000128860662255,-0.000257851085018,-4.48114849517e-05,1793250772723115264
+72,1.200000000,BASELINE,769.763441543,747,723,685,674,642,886,786.763441543,819,657,632.236558457,656,0.400984869442,0.00461187356598,0.0498523814204,0.999999958004,0.000128728002635,-0.000255819822457,-4.44775167962e-05,1793250772739781888
+73,1.216666667,BASELINE,769.652873931,747,722.652873931,685,674,642,885.652873931,787,818.652873931,656.652873931,632.347126069,656,0.400984763807,0.00461203753543,0.0498525201017,0.999999958053,0.000128486457444,-0.000255755108495,-4.4427041696e-05,1793250772756448512
+74,1.233333333,BASELINE,769.062491146,747,722.062491146,685,674,642,885.062491146,787,818.062491146,656.062491146,632.937508854,656,0.400983686689,0.00461201345354,0.0498517276007,0.999999957751,0.000128168608148,-0.000257068499602,-4.45752310078e-05,1793250772773115392
+75,1.250000000,BASELINE,769.517002385,747,722,685,674,642,885.517002385,787,818.517002385,656.517002385,632.482997615,655.482997615,0.400983732689,0.00461194184674,0.0498518766037,0.999999957838,0.000127926688566,-0.00025680450705,-4.48317503879e-05,1793250772789782272
+76,1.266666667,BASELINE,770,747,722,685,674.094388261,642,886,786.905611739,819,657,632.094388261,655.094388261,0.400983690845,0.00461165541381,0.0498519368228,0.999999957899,0.000127590154848,-0.000256708756278,-4.49836052155e-05,1793250772806448896
+77,1.283333333,BASELINE,770,747,722,685,674.667621249,642,886,786.332378751,819,657,632.667621249,655.667621249,0.40098252887,0.00461030767936,0.049850981207,0.999999957589,0.000126728030787,-0.000258413819895,-4.45394244469e-05,1793250772823115520
+78,1.300000000,BASELINE,770,747,722,685,674.7521186,642,885.7521186,786.2478814,819,657,632.7521186,656,0.400982738864,0.00461016482415,0.0498512834844,0.999999957674,0.000126660958367,-0.000258136517771,-4.44345128653e-05,1793250772839782400
+79,1.316666667,BASELINE,770,747,722,685,674.162161013,642,885.162161013,786.837838987,819,657,632.162161013,656,0.400984842175,0.00461168470168,0.0498533216535,0.9999999583,0.000127691056814,-0.000255123551958,-4.47977925982e-05,1793250772856449536
+80,1.333333333,BASELINE,769.580349393,747,722.419650607,685,674,642,885.419650607,787,819,657,632,656,0.400985314117,0.00461242756281,0.0498531603998,0.999999958165,0.000129051826012,-0.000254939858254,-4.49657252907e-05,1793250772873116160
+81,1.350000000,BASELINE,769.001625543,747,722.998374457,685,674,642,885.998374457,787,819,657,632,656,0.40098516767,0.00461287588733,0.0498521654304,0.999999957741,0.000130537939735,-0.000255828631447,-4.50596095393e-05,1793250772889782784
+82,1.366666667,BASELINE,769.573399849,747,722.426600151,685,674.573399849,642,886,787,819,656.426600151,632,656,0.400985727332,0.00461278434324,0.0498530199777,0.999999958096,0.000129812612693,-0.000254739525666,-4.54270858952e-05,1793250772906449408
+83,1.383333333,BASELINE,769.851621419,747,722,685,674.851621419,642,886,786.851621419,819,656.148378581,632.148378581,656,0.400986115813,0.00461271904258,0.0498536435916,0.999999958338,0.000129601342124,-0.000253879463444,-4.55340164206e-05,1793250772923116032
+84,1.400000000,BASELINE,769.276746729,747,722,685,674.276746729,642,886,786.276746729,819,656.723253271,632.723253271,656,0.400986006536,0.00461273354647,0.0498535884415,0.999999958247,0.000130885568661,-0.000253693772425,-4.48898247481e-05,1793250772939782656
+85,1.416666667,BASELINE,769.306684611,746.693315389,722,685,674,642,885.693315389,786.306684611,819,657,632.693315389,656,0.400985521067,0.0046134440466,0.0498531790343,0.99999995795,0.000131922903532,-0.000254338683997,-4.48196009296e-05,1793250772956449024
+86,1.433333333,BASELINE,769.898058897,746.101941103,722,685,674,642,885.101941103,786.898058897,819,657,632.101941103,656,0.400984686385,0.00461480062722,0.0498524407767,0.999999957461,0.00013273105334,-0.000255754628665,-4.52821809331e-05,1793250772973115392
+87,1.450000000,BASELINE,770,746,722,685,674,642,885,787,818.51924628,657,632,656,0.400985417262,0.00461446687871,0.0498532584039,0.999999957875,0.00013200228303,-0.000254542922904,-4.508996377e-05,1793250772989782016
+88,1.466666667,BASELINE,770,746.061089007,722,685,674,642,885.061089007,787,818.061089007,657,632,656,0.40098641509,0.0046136781005,0.0498542039818,0.999999958413,0.000130937698001,-0.000253028269049,-4.47814443055e-05,1793250773006448896
+89,1.483333333,BASELINE,770,746.636776565,722,685,674,642,885.636776565,787,818.636776565,657,632,656,0.400986914829,0.00461202200287,0.0498534975333,0.999999958438,0.000129740869803,-0.00025357195399,-4.46420861613e-05,1793250773023115520
+90,1.500000000,BASELINE,769.788661299,747,722,685,674,642,885.788661299,787,819,657,632.211338701,656,0.400986881065,0.00461100281369,0.0498531177469,0.999999958516,0.00012842287127,-0.000253931829007,-4.46586028881e-05,1793250773039782144
+91,1.516666667,BASELINE,769.216023213,747,722,685,674,642,885.216023213,787,819,657,632.783976787,656,0.40098593524,0.00461107246749,0.0498532964137,0.999999958686,0.000126897723068,-0.000253977467096,-4.49415994303e-05,1793250773056449024
+92,1.533333333,BASELINE,769.370146399,747,722.370146399,685.370146399,674,642,885.370146399,787,819,657.370146399,632.629853601,656,0.400985213325,0.00461235079556,0.0498532339925,0.999999958402,0.000127917019305,-0.000254540673737,-4.51947585401e-05,1793250773073115648
+93,1.550000000,BASELINE,769.964512931,747,722.964512931,685.964512931,674,642,885.964512931,787,819,657.964512931,632.035487069,656,0.400984627047,0.00461436129098,0.0498530255297,0.999999957837,0.000130477639783,-0.000255417403058,-4.54298433336e-05,1793250773089782272
+94,1.566666667,BASELINE,770,747,722.457779572,685.457779572,674,642,885.457779572,787,819,657.457779572,632.542220428,656,0.400985357923,0.00461197482635,0.0498531981932,0.999999958292,0.000128293004767,-0.000254816223643,-4.50025189333e-05,1793250773106449664
+95,1.583333333,BASELINE,769.881394442,747,722,685,674,642,885.118605558,787,818.881394442,657,632.881394442,656,0.40098597934,0.00460999913179,0.0498533669994,0.999999958664,0.000126478604295,-0.000254320562667,-4.46712787976e-05,1793250773123116800
+96,1.600000000,BASELINE,769.306028032,747,722,685,674,642,885.693971968,787,818.306028032,657,632.306028032,656,0.400985857133,0.00461068054733,0.0498534277533,0.999999958488,0.00012725037733,-0.000254592658731,-4.48720481077e-05,1793250773139783168
+97,1.616666667,BASELINE,769.27551622,747,722.27551622,685,674,642,886,787,818,657,632,656,0.400986548349,0.00461148544304,0.0498537968302,0.999999958474,0.000128667220543,-0.000253925503629,-4.49301782738e-05,1793250773156449536
+98,1.633333333,BASELINE,769.864079833,747,722.864079833,685,674,642,886,787,818,657,632,656,0.400988163794,0.00461243063949,0.0498545162301,0.999999958639,0.000130817006174,-0.000252191151343,-4.48262387964e-05,1793250773173116416
+99,1.650000000,BASELINE,769.555044534,747,722.555044534,685,674,642,886,786.555044534,818.444955466,657,632.444955466,655.555044534,0.400986182725,0.0046129049413,0.049853458328,0.999999958309,0.000130132631223,-0.000253832611659,-4.49124604136e-05,1793250773189783296
+100,1.666666667,BASELINE,769,747,722,685,674,642,886.023384877,786,819,657,632.976615123,655.023384877,0.400983289175,0.00461319739222,0.0498519607469,0.999999957853,0.000128698227597,-0.000256325460299,-4.50385764771e-05,1793250773206450176
+101,1.683333333,BASELINE,769,747,722,685,674,642,886.598566032,786,819,657,632.401433968,655.598566032,0.400984347585,0.0046125353675,0.0498526814758,0.999999958085,0.000129647414852,-0.00025498854712,-4.47586643763e-05,1793250773223116544
+102,1.700000000,BASELINE,769,747,722,685,674,642,886.82620506,786,819,657,632,656,0.400985038127,0.00461223228078,0.0498531680805,0.999999958232,0.000130116022112,-0.000254185721355,-4.4661870198e-05,1793250773239782912
+103,1.716666667,BASELINE,769,747,722,685,674,642,886.2508659,786,819,657,632,656,0.400984878728,0.00461275850186,0.0498531137534,0.999999958191,0.000129474274025,-0.000254616877112,-4.49881605455e-05,1793250773256449792
+104,1.733333333,BASELINE,769.333328971,746.666671029,722,684.666671029,674,642,886,786.333328971,819,657,632,656,0.400984981596,0.00461358261405,0.0498531877077,0.999999958192,0.000129326139701,-0.000254639884496,-4.52638205444e-05,1793250773273116416
+105,1.750000000,BASELINE,769.924370682,746.075629318,722,684.075629318,674,642,886,786.924370682,819,657,632,656,0.400985287235,0.00461463704031,0.0498533608426,0.999999958226,0.000129559641969,-0.000254347332688,-4.55003358083e-05,1793250773289783040
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+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,722,685,675,642,886,787,819,657,632,656,0.400985286049,0.00461238219691,0.0498544068927,0.999999958504,0.000128243393429,-0.000254064604074,-4.46881507947e-05,1793250773349809152
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.588582604,722,684.411417396,674.411417396,642,885.411417396,786.411417396,819,657,632,656,0.400983210359,0.00461384685058,0.049852871165,0.999999957501,0.000130818976937,-0.000256630088455,-4.50007949311e-05,1793250773366476032
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.174470684,747,722,684.174470684,674,642,885,786.174470684,819,657,632,656,0.400982783527,0.00461452079561,0.0498523279403,0.99999995725,0.000131764909748,-0.000257087835564,-4.52127889486e-05,1793250773383142656
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+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642.333029495,885,787,819,657,632,656,0.400987017293,0.00461281061898,0.0498541622104,0.999999959055,0.000127811617482,-0.000252036955931,-4.50705498504e-05,1793250773416475392
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642.911439391,885,787,819,657,632,656,0.400985954806,0.00461271535399,0.0498529904791,0.999999958486,0.000127966832327,-0.000254239736012,-4.48772792405e-05,1793250773433141504
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.512735269,747,722,685,674,642.512735269,885.487264731,786.512735269,819,657,632.487264731,656,0.400985101732,0.00461250343815,0.0498526880374,0.999999958318,0.000127832473675,-0.000254923066859,-4.51269393554e-05,1793250773449807872
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,722.063916443,684.936083557,674,642,885.936083557,786.063916443,818.936083557,656.936083557,632.936083557,656,0.400984228785,0.00461247501073,0.0498525016831,0.99999995816,0.000127820682813,-0.000255490642052,-4.54519767999e-05,1793250773466473984
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,722.651160052,684.348839948,674,642,885.348839948,786.651160052,818.348839948,656.348839948,632.348839948,656,0.400982883143,0.00461412160109,0.0498519790375,0.999999957485,0.000129241082226,-0.000257359631438,-4.57385256242e-05,1793250773483140608
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.234975491,746.765024509,722.765024509,684.234975491,674,642,885.234975491,786.765024509,818.234975491,656.234975491,632,656,0.400986398162,0.00461442876986,0.04985330652,0.999999957971,0.000129327396028,-0.000255430307924,-4.57031209637e-05,1793250773499807488
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.813774668,746.186225332,722.186225332,684.813774668,674,642,885.813774668,786.186225332,818.813774668,656.813774668,632,656,0.400997025458,0.00461277605377,0.0498573411695,0.999999960117,0.000127461632781,-0.000247943170788,-4.51966235953e-05,1793250773516474624
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,722.393137386,685,674,642,886,786.393137386,819,657,632,656,0.401025978179,0.00461146242951,0.0498676010526,0.99999996539,0.000126109368374,-0.000226514672345,-4.48044879056e-05,1793250773533141248
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,722.972767483,685,674,642,886,786.972767483,819,657,632,656,0.401063623939,0.00461030966022,0.049880814002,0.999999971503,0.000125000692332,-0.000198472804956,-4.44666019295e-05,1793250773549807616
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.456403516,746.543596484,722.456403516,685,674,642,885.456403516,787,819,657,632,656,0.40112970298,0.00461039339385,0.049901714387,0.999999978975,0.000126120177239,-0.000155462303723,-4.44323500256e-05,1793250773566474240
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.11895227,746.88104773,722,685,674,642,885,787,818.88104773,657,632,655.88104773,0.401197728323,0.0046102860705,0.0499210371417,0.999999983977,0.000126676386084,-0.000118563721297,-4.40591654673e-05,1793250773583140864
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.714169927,746.285830073,722,685,674,642,885,787,818.285830073,657,632,655.285830073,0.401267934077,0.00460916972023,0.0499325259523,0.999999985401,0.000124537527455,-0.000109090818785,-4.22690178611e-05,1793250773599807232
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.299192905,722,685,674,642,885.299192905,787,818.299192905,657,632,655.299192905,0.401348104844,0.00460761883413,0.0499409355111,0.999999986789,0.000122533659981,-9.86328750764e-05,-4.0966252821e-05,1793250773616474112
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.874797415,722,685,674,642,885.874797415,787,818.874797415,657,632,655.874797415,0.401437481858,0.00460566649891,0.0499465002793,0.999999988109,0.000120654505223,-8.72648942489e-05,-4.011375992e-05,1793250773633140992
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.550060923,747,722,685,674,642,886,787,819,657,632,656,0.401542047082,0.00460616601213,0.0499472059285,0.999999988086,0.000121534748163,-8.65529032659e-05,-3.95588422863e-05,1793250773649807872
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,722,685,674.025598093,642,886,786.974401907,818.974401907,657,632,656,0.401651702409,0.00460717934635,0.0499465495548,0.999999987731,0.000122951977812,-8.88590904524e-05,-3.90568452037e-05,1793250773666475008
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,722,685,674.615498513,642,886,786.384501487,818.384501487,657,632,656,0.401780494563,0.00460449483506,0.0499456443768,0.999999987897,0.000119297387785,-9.24004310731e-05,-3.78979306479e-05,1793250773683141376
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.201589565,747,722,685,674.798410435,642,886,786,818.201589565,657,632,656,0.401923163175,0.00460284936245,0.0499471765057,0.999999988251,0.000116257991276,-9.29337038783e-05,-3.66828949825e-05,1793250773699808000
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.78054951,747,722,685,674.21945049,642,886,786,818.78054951,657,632,656,0.402091808139,0.00460314894332,0.0499532712091,0.999999988977,0.000114370221325,-8.78359521877e-05,-3.53628022019e-05,1793250773716474368
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.642010408,747,722,685,674,642.357989592,886.357989592,786.357989592,819,657,632,656,0.402275505851,0.00460171260034,0.0499523809343,0.999999989173,0.000110969669752,-9.04899928415e-05,-3.39444502854e-05,1793250773733140992
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.065498021,747,722,685,674,642.934501979,886.934501979,786.934501979,819,657,632,656,0.402468392026,0.00459921662062,0.0499472269135,0.999999988996,0.000106645690946,-9.78758558722e-05,-3.24661192302e-05,1793250773749807616
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.508215456,746.491784544,722,685,674,643,886.491784544,786.491784544,819,657,632,655.491784544,0.402700435719,0.00459587558999,0.0499469416744,0.999999989464,0.00010164716694,-9.89365855355e-05,-3.08518414832e-05,1793250773766474240
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.084096698,722.084096698,685,674,642.915903302,885.915903302,786.084096698,818.915903302,657,632,655.168193395,0.402943532122,0.00459263471591,0.0499481879531,0.999999990179,9.66579493734e-05,-9.72020751293e-05,-2.91834037894e-05,1793250773783140864
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.675210435,722.675210435,685,674,642.324789565,885.324789565,786.675210435,818.324789565,657,632,656.350420871,0.403223006211,0.00459065069448,0.0499549053678,0.999999991886,9.22460923772e-05,-8.35028703061e-05,-2.72934890691e-05,1793250773799807488
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.738954616,747,723,685,674,642.261045384,885.261045384,787,818.261045384,656.738954616,632,656.738954616,0.403522822062,0.00458721213956,0.0499623279492,0.99999999357,8.73058350187e-05,-6.7838465138e-05,-2.51952278125e-05,1793250773816474112
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.159557328,747,723,685,674,642.840442672,885.840442672,787,818.840442672,656.159557328,632,656.159557328,0.403847445224,0.00458199974184,0.0499706104999,0.999999995161,8.17211793924e-05,-4.97774458383e-05,-2.28428824343e-05,1793250773833140736
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.415096179,746.584903821,722.584903821,685,674,643,886,787,818.584903821,656.415096179,632,656,0.404201434162,0.0045777675894,0.0499775902512,0.999999996269,7.54574739645e-05,-3.69546190477e-05,-2.00767117222e-05,1793250773849807360
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.987946833,746.012053167,722.012053167,685,674,643,886,787,818.012053167,656.987946833,632,656,0.404566583357,0.00457390797263,0.0499840748823,0.999999997136,6.8935700411e-05,-2.61225320314e-05,-1.71532695648e-05,1793250773866474240
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.437628448,746.562371552,722,685,674,642.437628448,886,787,818.562371552,657,632,656,0.404988098997,0.00457205438061,0.0499921741362,0.99999999765,6.64791804464e-05,-7.08386119389e-06,-1.51446017465e-05,1793250773883140864
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.14219036,746.85780964,722.14219036,685.14219036,674,642,886,787,819,657,632,656,0.40540635701,0.00456973424363,0.0499937915757,0.999999997902,6.34706700442e-05,-1.48285936875e-06,-1.28328735642e-05,1793250773899807488
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.739152942,746.260847058,722.739152942,685.739152942,674,642,886,787,819,657,632,656,0.405810321249,0.00456578404338,0.0499745670164,0.999999997472,5.841725892e-05,-3.94241441503e-05,-9.48897464503e-06,1793250773916474368
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.675564467,746.324435533,722.675564467,685.675564467,674,642,886.324435533,787,819,657,632,656,0.406241798379,0.00456198699698,0.0499548799605,0.999999995717,5.34263773377e-05,-7.52887687913e-05,-6.51295072558e-06,1793250773933140992
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.099346233,746.900653767,722.099346233,685.099346233,674,642,886.900653767,787,819,657,632,656,0.406694627312,0.00455830880733,0.0499348339758,0.999999992818,4.84840221325e-05,-0.000109541776507,-3.82242095298e-06,1793250773949807872
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.474617209,747,722.474617209,685.474617209,674,642,887,787.474617209,819,657,632,656,0.40719798127,0.00455405919511,0.0499251079622,0.999999990906,4.48792003539e-05,-0.000127174147969,-4.72642087744e-07,1793250773966474752
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.950433613,747,722.950433613,686.049566387,674,642,887,787.950433613,819,657,632,656,0.407720292217,0.00454930865978,0.0499203251238,0.999999989968,4.10566040815e-05,-0.000135535265052,3.04659410578e-06,1793250773983141632
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.359589885,747,722.359589885,686.640410115,674,642,887,787.359589885,819,657,632,656,0.408334673952,0.00454038790442,0.049946045014,0.999999996233,3.18129596007e-05,-8.04639904345e-05,6.9165548687e-06,1793250773999808000
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.226524283,747,722,687,674.226524283,642,887,787,819,657,632,656,0.408960062741,0.00453280193978,0.0499715068834,0.999999998554,4.12215271985e-05,-3.26817753231e-05,1.11696148363e-05,1793250774016474624
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.805284152,747,722,687,674.805284152,642,887,787,819,657,632,656,0.409602566994,0.00452729151826,0.0499965675399,0.999999996694,7.96334885025e-05,3.76626008286e-06,1.60183774815e-05,1793250774033141248
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.619013933,747,722,686.619013933,674.619013933,642,887,787,819,657,632,656,0.410229509054,0.00452022992139,0.0499996673155,0.999999993472,0.000112435984637,3.19264425052e-06,2.00951091012e-05,1793250774049807872
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.044862461,747,722,686.044862461,674.044862461,642,887,787,819,657,632,656,0.41084856084,0.00451238185652,0.0499916326086,0.999999989449,0.000142394400221,-1.61514812263e-05,2.37804097587e-05,1793250774066474496
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.468723666,722.531276334,686.531276334,674,642,887.531276334,787,819,657,632,656,0.411485545319,0.00450649205498,0.0499605671427,0.999999988023,0.000127505009131,-8.34071394763e-05,2.72130533907e-05,1793250774083141120
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.110200175,723,687.110200175,674,642.110200175,888,787,819.110200175,657,632,656,0.412148851555,0.00449935108155,0.0499368825911,0.999999986322,9.58056067163e-05,-0.000132090902546,2.70064148892e-05,1793250774099807488
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.700523942,723,687.700523942,674,642.700523942,888,787,819.700523942,657,632,656,0.412920214811,0.00448603580851,0.0499538603496,0.999999996536,7.42942057954e-06,-8.21670456458e-05,1.10373390097e-05,1793250774116474368
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.257575205,746.742424795,722.742424795,688,674,642.742424795,888,787.257575205,819.742424795,657,632.257575205,656,0.413692880413,0.00447725193243,0.0499695572998,0.99999999836,-3.13815789759e-05,-4.7593170577e-05,5.42156063935e-06,1793250774133141248
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.78036696,746.21963304,722.21963304,688,674,642.21963304,888,787.78036696,819.21963304,657,632.78036696,656,0.414466887089,0.00447313388219,0.0499839354466,0.999999999346,-1.91569793057e-05,-2.88246514083e-05,1.04662235513e-05,1793250774149807872
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746.3732927,722.3732927,688,674.3732927,642,888,787.6267073,819.3732927,657,632.6267073,656,0.415226960188,0.00447900996376,0.0499674482259,0.99999999822,-4.13851614147e-06,-5.77860281565e-05,1.42481162148e-05,1793250774166474752
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.969575959,747,723,688.015212021,674.984787979,642.015212021,888.015212021,787,820.015212021,657,632,656,0.415979103467,0.00449232878449,0.0499297250019,0.999999992645,1.3353221853e-05,-0.000119338781673,1.7005875406e-05,1793250774183141120
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.819489507,747,723,688.590255246,674.409744754,642.590255246,888.590255246,787,820.590255246,657,632,656,0.416810917422,0.00451308788467,0.0499334185722,0.999999992951,4.73753402691e-05,-0.000107726753235,1.57419639023e-05,1793250774199807744
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.169684296,747,722.830315704,689,674,643,889,787.169684296,821,657,632,656,0.417658232287,0.00452432488841,0.0499451034426,0.999999994063,6.80507997853e-05,-8.37218479258e-05,1.52806655203e-05,1793250774216474624
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.759984966,747,722.240015034,689,674,643,889,787.759984966,821,657,632,656,0.418543971023,0.00451195835312,0.0499765972861,0.99999999789,5.56423277163e-05,-2.89972652992e-05,1.68088985516e-05,1793250774233141248
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,722,689,673.657529346,643,889.342470654,788,821.342470654,657,632,656,0.419395897363,0.00450127078356,0.0499784746944,0.999999998545,3.89228764404e-05,-3.26174953543e-05,1.81977829657e-05,1793250774249807872
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,722,689,673.080398493,643,889.919601507,788,821.919601507,657,632,656,0.420224655481,0.00449173363844,0.0499600589799,0.99999999672,1.92495514351e-05,-7.62154753996e-05,1.94911859192e-05,1793250774266474496
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,722,689.492219183,673.492219183,643,890.492219183,788,822,657,632,656,0.42113307006,0.00448996082594,0.0499696503609,0.999999998866,1.54299805102e-05,-4.09894301583e-05,1.87251388607e-05,1793250774283140864
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,722,690,674.066789017,643,891,788,822.066789017,657,632,656,0.422056048498,0.00448965203526,0.0499833105093,0.999999999724,1.49756358549e-05,3.19248357483e-06,1.78256061873e-05,1793250774299807488
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,722,690,674.662607451,643,891,788,822.662607451,657,632,656,0.422992262907,0.00449098546763,0.049993292862,0.999999999462,2.08518439111e-05,1.72577087712e-05,1.85090366874e-05,1793250774316474112
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,722,690.25070271,674.74929729,643,891,787.74929729,823.25070271,657,632,656,0.423912796853,0.00449594354928,0.0499910241573,0.999999999429,2.52380843011e-05,1.2483576817e-05,1.8705344616e-05,1793250774333140736
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,690.828714918,674.171285082,643,891,787.171285082,823.828714918,657,632,656,0.424812859014,0.00450563385813,0.0499727608623,0.999999999308,2.76790710129e-05,-1.68866197758e-05,1.82656808679e-05,1793250774349807104
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.403306515,747,722,691,674,643,891.403306515,787,824,657,632.403306515,656,0.425742741196,0.00450476544265,0.0499806121037,0.999999999431,2.55634890294e-05,-9.31599003675e-06,1.99270338452e-05,1793250774366473984
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.976457556,747,722,691,674,643,891.976457556,787,824,657,632.976457556,656,0.426685181435,0.00449945042961,0.0499994609643,0.99999999942,2.15289985222e-05,1.38115364964e-05,2.24731882927e-05,1793250774383141120
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.447342584,747,722,691,674,642.447342584,892,787.552657416,824,657,632.447342584,656,0.42756233691,0.00449379557509,0.0499858033686,0.999999998508,3.64113186701e-05,-3.24227924432e-05,2.46289066704e-05,1793250774399807744
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.867604656,722.132395344,691.264790688,673.867604656,642.132395344,892.132395344,788,824.132395344,657,632,656,0.428451337992,0.0044901260106,0.049968945691,0.999999995792,4.65240637242e-05,-7.46809092558e-05,2.59548999178e-05,1793250774416474368
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.276049312,722.723950688,692.447901376,673.276049312,642.723950688,892.723950688,788,824.723950688,657,632,656,0.429391119176,0.00449339211178,0.0499458188371,0.999999994696,3.72852551863e-05,-9.28450315356e-05,2.44613268717e-05,1793250774433140992
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,722.692017247,693,673.307982753,643,893,787.692017247,824.692017247,656.692017247,632,656,0.43032991401,0.00449573972998,0.0499399091016,0.999999995039,2.82337350845e-05,-9.24929557141e-05,2.38848333127e-05,1793250774449807360
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,722.11456764,693,673.88543236,643,893,787.11456764,824.11456764,656.11456764,632,656,0.431267845799,0.00449728372925,0.0499490633366,0.999999996639,1.93460818707e-05,-7.59402911075e-05,2.411073062e-05,1793250774466474240
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.461455305,746,722.461455305,693,674,643,893.461455305,787.461455305,824.461455305,656.461455305,632,656,0.432175558594,0.00449717394755,0.0499386828197,0.999999995192,2.53383229638e-05,-9.16737862107e-05,2.38581089613e-05,1793250774483140864
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.923768434,746.038115783,722.961884217,693,673.961884217,643,894.038115783,787.961884217,825,657,632,656,0.433077359272,0.00449638128543,0.0499261518219,0.999999993009,3.43467667163e-05,-0.000110674189751,2.35287557628e-05,1793250774499807488
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.741707732,746.629146134,722.370853866,693,673.370853866,643,894.629146134,787.370853866,825,657,632,656,0.4340018955,0.00449162039792,0.0499525634757,0.99999999728,3.36837660029e-05,-6.11441670106e-05,2.38044038907e-05,1793250774516474112
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.21559087,747,722,693,673,642.78440913,894.78440913,787,825.21559087,656.78440913,632,656.21559087,0.434915675735,0.00448888876566,0.0499711665575,0.999999998717,2.96025704442e-05,-3.28389099429e-05,2.47157093563e-05,1793250774533140736
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.794311927,747,722,693,673,642.205688073,894.205688073,787,825.794311927,656.205688073,632,656.794311927,0.435811339278,0.00448957510593,0.0499766172859,0.999999998637,1.97639430775e-05,-4.0283550111e-05,2.66976835113e-05,1793250774549807616
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.367768274,747,722,693.367768274,673,642.367768274,894.367768274,787.367768274,825.632231726,656.367768274,632,656.632231726,0.436660961851,0.00449179878338,0.0499617819414,0.999999996631,1.55336354438e-05,-7.5658385147e-05,2.77876125408e-05,1793250774566474240
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.938321659,747,722,693.938321659,673,642.938321659,894.938321659,787.938321659,825.061678341,656.938321659,632,656.061678341,0.437485197669,0.00449487013883,0.0499357609837,0.999999991501,1.43957205581e-05,-0.000126433753189,2.83856733285e-05,1793250774583141120
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.487678361,747,722.512321639,693.487678361,673.512321639,643,895,787.487678361,825.512321639,656.487678361,632.512321639,656,0.43837372534,0.00449069618016,0.0499579687722,0.999999996361,3.08193312595e-05,-7.48679008619e-05,2.68846316453e-05,1793250774599807744
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,693.090020091,674,643,895.090020091,787,826,656.090020091,632.909979909,656,0.439254828796,0.00448630243382,0.0499802103416,0.999999998443,4.36686047029e-05,-2.37711514105e-05,2.5324068243e-05,1793250774616474368
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,693.686163896,674,643,895.686163896,787,826,656.686163896,632.313836104,656,0.440050378602,0.00448561033975,0.0499697759971,0.999999998377,2.44542996623e-05,-4.50530527548e-05,2.48593030785e-05,1793250774633140736
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.263388251,747,722.736611749,694,673.736611749,643,896,787,826,656.736611749,632,656.263388251,0.440840882659,0.00448567125162,0.0499612703881,0.99999999784,1.24761109541e-05,-5.94931743e-05,2.50029533032e-05,1793250774649807616
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.819580176,747,722.180419824,694,673.180419824,643,896,787,826,656.180419824,632,656.819580176,0.4416257774,0.0044865692658,0.0499549089181,0.99999999743,8.54217544321e-06,-6.63274189248e-05,2.58229673076e-05,1793250774666474496
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,722.402847802,694,673,642.597152198,896,787,826.402847802,656.402847802,632,656.597152198,0.442405719607,0.00448783360436,0.0499614027201,0.99999999812,2.0720755814e-05,-5.09029513011e-05,2.7203149142e-05,1793250774683141120
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,722.999115366,694,673,642.000884634,896,787,826.999115366,656.999115366,632,656.000884634,0.443183284018,0.00448927382673,0.0499740687374,0.999999998451,4.0635455876e-05,-2.47913841257e-05,2.88522850244e-05,1793250774699808000
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.424665935,747,723,694.575334065,673,642,896,787,827,656.424665935,632,656,0.443823906597,0.00449865986795,0.0499339769506,0.999999992765,5.70795605791e-05,-0.000101615086921,2.97587541029e-05,1793250774716474624
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.155812439,747.155812439,723,694.844187561,672.844187561,642,896,787,827,656.155812439,632,656,0.444457923747,0.00450801891855,0.0498911244264,0.999999981409,7.12906956845e-05,-0.000176590516478,3.02470928965e-05,1793250774733141248
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.748312814,747.748312814,723,694.251687186,672.251687186,642,896,787,827,656.748312814,632,656,0.445073998586,0.00451726923763,0.0498407542056,0.999999966175,7.9258052464e-05,-0.000245957251331,2.95666515131e-05,1793250774749807872
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,748,723,694,672,641.668731489,896.331268511,786.668731489,827,656.668731489,632,656,0.445720922177,0.00452720638886,0.0498204993376,0.999999961066,8.99821977004e-05,-0.000262531009618,2.91377176709e-05,1793250774766474240
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,748,723,694,672,641.092824477,896.907175523,786.092824477,827,656.092824477,632,656,0.446390627227,0.00453765075826,0.0498224843612,0.999999965476,0.000102742203485,-0.000240117676025,2.88945197482e-05,1793250774783140864
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.517785887,747.517785887,723,694,672,641,897,786,827.482214113,656.482214113,632,656.482214113,0.446979723586,0.0045445123888,0.0498166814151,0.999999962686,0.000112104026851,-0.000247417244116,2.90866290411e-05,1793250774799807744
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,694,671.351616996,640.351616996,897,786,828,657,632,656.351616996,0.44804947608,0.0045541818909,0.0497748596938,0.999999942059,0.000131450049851,-0.00031262201138,2.95006514198e-05,1793250774833141504
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.233852978,747,723,694,670.766147022,639.766147022,897,786,827.766147022,657,632,656,0.448556527152,0.0045588945487,0.049754020962,0.99999993057,0.000140045382427,-0.00034401878124,2.99850077129e-05,1793250774849808640
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.812911246,747,723,694,670.187088754,639.187088754,897,786,827.187088754,657,632,656,0.449069347983,0.00456504580409,0.0497497514177,0.999999927651,0.000145883768595,-0.000349938053951,3.09619132342e-05,1793250774866474752
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.610937705,747.389062295,723,694,670,639,897,786,827.389062295,657,632,656.389062295,0.449571273467,0.00456852012243,0.0497609474826,0.999999933783,0.000140770261853,-0.000334272674087,2.9649002421e-05,1793250774883141120
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.036174233,747.963825767,723,694,670,639,897,786,827.963825767,657,632,656.963825767,0.4500679986,0.00457071672725,0.0497795253518,0.999999943597,0.000130429367967,-0.000308304843119,2.72431520765e-05,1793250774899807744
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+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747.552786284,723,694,669,636.552786284,898,786,828,657,632,656.552786284,0.452216007605,0.00457806101427,0.0497275244501,0.999999899724,0.000133497439078,-0.000427135551628,1.69177844012e-05,1793250774999807744
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769.386348002,747.613651998,723,694,669,636,898,785.386348002,828,657,632,656.613651998,0.45279380828,0.00460491267423,0.0497285100738,0.999999887306,0.000228464692096,-0.000415829211449,1.66962075434e-05,1793250775033140992
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+224,3.733333333,POSE1_TO_POSE2_PRESS,770,747,723.100890275,694,668,633.100890275,898,785,827,656.899109725,631.899109725,656.899109725,0.454711304703,0.00462320848483,0.0496703374876,0.999999854536,0.000215080752503,-0.000494391830768,1.56748989888e-05,1793250775299808512
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,723.474664763,694.474664763,668,633,898.474664763,785,827.474664763,657,632,657,0.454731377907,0.00462493170099,0.0496677004833,0.999999852571,0.000216996572022,-0.000497530536132,1.53010107669e-05,1793250775316475136
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,747.050834008,723.949165992,694.949165992,668,633,898.949165992,785,828,657,632,656.949165992,0.454749613569,0.00462642613318,0.0496657052188,0.999999850963,0.00021924487455,-0.000499778227914,1.50543514117e-05,1793250775333141760
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,747.6380671,723.3619329,694.3619329,668,633,898.3619329,785,828,657,632,656.3619329,0.45476057918,0.00462590613272,0.0496660310787,0.999999850801,0.000218892528122,-0.000500242549802,1.5516598158e-05,1793250775349808640
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747.777575573,723,694,668,633,898,785,828,657,632,656.222424427,0.454768999035,0.00462629644268,0.0496652318706,0.99999984985,0.000219653161212,-0.000501807037792,1.55419644321e-05,1793250775366475264
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747.197838047,723,694,668,633,898,785,828,657,632,656.802161953,0.454773329267,0.00462814911829,0.0496626253002,0.99999984762,0.000222201737154,-0.000505138884505,1.48655052654e-05,1793250775383141376
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747.379507959,723,694,668,633.379507959,898,785.379507959,828,657,631.620492041,657,0.454774633012,0.00462930840439,0.0496599900751,0.999999845247,0.000223767251942,-0.00050914481464,1.43607445651e-05,1793250775399808000
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747.955615051,723,694,668,633.955615051,898,785.955615051,828,657,631.044384949,657,0.454774368926,0.00463010848909,0.049657340006,0.999999842789,0.000224823504677,-0.000513499944767,1.39449300305e-05,1793250775416475136
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.469104537,747.469104537,723,694,667.469104537,633.469104537,898,786,828,656.469104537,631.530895463,656.469104537,0.454774144188,0.0046304964037,0.0496555384041,0.999999841589,0.000223827668027,-0.000516256649424,1.41872135202e-05,1793250775433141760
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.108724541,747.108724541,723,694.108724541,667,633,898.108724541,785.891275459,828,656.108724541,632,656,0.454774334289,0.00463095074614,0.0496542903662,0.999999840689,0.000223449575966,-0.00051815472762,1.44153309709e-05,1793250775449808128
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.698126328,747.698126328,723,694.698126328,667,633,898.698126328,785.301873672,828,656.698126328,632,656,0.454776343902,0.0046318508781,0.0496551765453,0.999999840667,0.000226559876662,-0.000516846657399,1.43379530278e-05,1793250775466474752
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747.717492126,723,694.717492126,667.282507874,633,898.717492126,785.282507874,828,657,632,656.282507874,0.454777620157,0.00463310512126,0.0496552348045,0.999999840327,0.000228835385829,-0.000516506083134,1.42000311989e-05,1793250775483141120
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747.138381223,723,694.138381223,667.861618777,633,898.138381223,785.861618777,828,657,632,656.861618777,0.454778126467,0.00463473114336,0.0496544238367,0.99999983966,0.000230234453635,-0.000517181275904,1.39985447611e-05,1793250775499807744
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747.43830232,723.43830232,694,668,633,898,786,828,657,632,657,0.454779297657,0.00463367921076,0.0496543230504,0.999999840156,0.000228197345293,-0.000517131093032,1.37667393043e-05,1793250775516474368
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.985916145,748,724,694,667.985916145,633,898,786,828,656.985916145,632,656.985916145,0.454780647059,0.00463183778269,0.0496544513641,0.999999840984,0.000225207184398,-0.000516847460709,1.35355156168e-05,1793250775533141248
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.415656315,748,724,694,667.415656315,633,898,786,828,656.415656315,632,656.415656315,0.454780790094,0.00463202355959,0.0496548211914,0.999999840796,0.000227186683143,-0.000516338950402,1.37031988119e-05,1793250775549808128
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.322474655,748,724,694,667,633,898,785.838762672,828,656.161237328,631.838762672,656.161237328,0.454780523301,0.00463225526533,0.0496546893905,0.999999840302,0.000228454627555,-0.000516730788494,1.39507530354e-05,1793250775566475008
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.511932283,748,724,694,667,633,898,785.244033859,828,656.755966141,631.244033859,656.755966141,0.454779154672,0.00463261045211,0.0496532089471,0.999999838985,0.000227809536263,-0.00051954324082,1.44130429517e-05,1793250775583141632
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.317648456,747.658824228,724,694,667.341175772,633,898,785.341175772,828,656.658824228,631.341175772,656.658824228,0.454778845996,0.00463316041757,0.0496522689898,0.999999838259,0.000228405485876,-0.00052068085087,1.43219541898e-05,1793250775599808256
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.160477241,747.080238621,724,694,667.919761379,633,898,785.919761379,828,656.080238621,631.919761379,656.080238621,0.454779274897,0.00463384592129,0.049651705134,0.999999837945,0.00022986502356,-0.000520653008676,1.38457925169e-05,1793250775616474624
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.480390855,723.519609145,694,667.519609145,633,898,786,828,656.480390855,632,656.480390855,0.454779805676,0.00463255256579,0.0496521037938,0.999999838657,0.000228005243742,-0.000520096320331,1.41434507065e-05,1793250775633141504
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747.959970195,723.040029805,694,667,633,898,786,828,657,632,656.959970195,0.454780274625,0.00463120654865,0.0496525680229,0.999999839387,0.000225938279512,-0.000519582685976,1.45156649595e-05,1793250775649808384
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747.374431454,723.625568546,694,667,633,898,786,828,657,632,656.374431454,0.45477967744,0.00463348483369,0.0496518138822,0.999999838207,0.000228331040223,-0.000520816151135,1.42060054079e-05,1793250775666474752
+247,4.116666667,HOLD_POSE2,770,747,723,694,667,633,898,786,827,657,632,656,0.454781039572,0.00463457631482,0.0496526204194,0.99999983836,0.000230445799112,-0.000519596236347,1.39624898066e-05,1793250775706404352
+248,4.133333333,HOLD_POSE2,769.390424949,747,723,694,667,633,898,785.390424949,827.609575051,657,632,656,0.454779945871,0.00463312539233,0.0496513563617,0.999999837588,0.000229197683856,-0.000521622284926,1.42190332883e-05,1793250775723070976
+249,4.150000000,HOLD_POSE2,769.207022693,747.207022693,723,694,667.207022693,633,898,785,828,657,632,656,0.454778773495,0.00463260478752,0.0496503370135,0.999999836853,0.000228281176855,-0.00052343151125,1.42157231998e-05,1793250775739737856
+250,4.166666667,HOLD_POSE2,769.782864952,747.782864952,723,694,667.782864952,633,898,785,828,657,632,656,0.454777460956,0.00463374158223,0.049649753625,0.999999836188,0.00022795544359,-0.000524854460024,1.37494731774e-05,1793250775756404480
+251,4.183333333,HOLD_POSE2,770,748,723.367675145,694,667.632324855,633,898,785.367675145,828,657,632,656,0.454778427365,0.00463393561982,0.0496501145548,0.999999836623,0.000228329723,-0.000523864748251,1.35736544023e-05,1793250775773071104
+252,4.200000000,HOLD_POSE2,770,748,723.957913831,694,667.042086169,633,898,785.957913831,828,657,632,656,0.45478077328,0.00463355898141,0.0496510471055,0.999999837722,0.000229127738716,-0.000521414588812,1.35736414113e-05,1793250775789737472
+253,4.216666667,HOLD_POSE2,769.462320698,747.462320698,723.462320698,694,667,633,898,785.462320698,828,657,631.462320698,656,0.454780539892,0.00463336882545,0.0496509423675,0.999999837402,0.000228745506333,-0.000522192966197,1.36648529989e-05,1793250775806404096
+254,4.233333333,HOLD_POSE2,769,747.115524059,723,694,667,633,897.884475941,785.115524059,827.884475941,657,631.115524059,656.115524059,0.454780120849,0.00463312485458,0.0496506737998,0.999999836958,0.00022850398365,-0.000523145941703,1.37357355139e-05,1793250775823070720
+255,4.250000000,HOLD_POSE2,769,747.688943007,723,694,667,633,897.311056993,785.688943007,827.311056993,657,631.688943007,656.688943007,0.454779750872,0.00463261083071,0.0496500715396,0.999999836457,0.000229179356286,-0.000523808449695,1.36982795402e-05,1793250775839737344
+256,4.266666667,HOLD_POSE2,769,747.736654527,723,694,667,633,897.263345473,786,827.263345473,657,632,656.736654527,0.454779442287,0.00463313029731,0.0496496334656,0.999999836024,0.000229792436576,-0.000524370471147,1.35429189474e-05,1793250775856403968
+257,4.283333333,HOLD_POSE2,769,747.161086041,723,694,667,633,897.838913959,786,827.838913959,657,632,656.161086041,0.454779206489,0.00463487507271,0.0496493900513,0.999999835671,0.000230331662868,-0.000524813355469,1.32477703636e-05,1793250775873070848
+258,4.300000000,HOLD_POSE2,769,747.426146711,723.426146711,694,667,633,898,785.573853289,828,657,632,656,0.45477958627,0.00463565125036,0.049649800493,0.999999835295,0.000231829309465,-0.000524870007336,1.33261561181e-05,1793250775889737472
+259,4.316666667,HOLD_POSE2,769,748,723.982471229,694,667,633,898,785.017528771,828,657,632,656.017528771,0.454780153244,0.00463600934277,0.0496504073971,0.999999834912,0.000233560285407,-0.000524826145795,1.35459125434e-05,1793250775906404096
+260,4.333333333,HOLD_POSE2,769,748,723.403390568,694,667,633,898,785.596609432,828,657,632,656.596609432,0.4547790528,0.00463503327141,0.0496491672716,0.999999834732,0.000230833292387,-0.000526371060798,1.36438949566e-05,1793250775923070720
+261,4.350000000,HOLD_POSE2,769,747.827008486,723,694,667.172991514,633,897.827008486,785.827008486,828,657,632,656.827008486,0.454778809285,0.00463447785629,0.0496487594807,0.999999834958,0.000229220936121,-0.000526645873448,1.36595451048e-05,1793250775939737344
+262,4.366666667,HOLD_POSE2,769,747.256822323,723,694,667.743177677,633,897.256822323,785.256822323,828,657,632,656.256822323,0.454780533306,0.00463488828258,0.0496502627593,0.99999983613,0.00023016782483,-0.00052400448637,1.34861574723e-05,1793250775956403712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,747,723,694,668,633,898,786,828,657,632,656,0.454778112564,0.00463455940165,0.0496467831176,0.999999833755,0.000229051822282,-0.000528999773666,1.3601088743e-05,1793250775992119040
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747.579948591,723.579948591,694.579948591,668,632.420051409,898,786,828,657,632,656,0.454779742999,0.00463365797933,0.0496490699048,0.999999835043,0.000230366767116,-0.000525984113727,1.36255836002e-05,1793250776008786432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.841097488,747.841097488,723.841097488,694.841097488,667.841097488,632,898,786,828,657,632,656.158902512,0.454780579913,0.00463293714647,0.0496501872544,0.999999835751,0.000230873763188,-0.000524414401385,1.36200384144e-05,1793250776025453568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.264756451,747.264756451,723.264756451,694.264756451,667.264756451,632,898,786,828,657,632,656.735243549,0.454779332242,0.00463269072378,0.0496482324801,0.999999834952,0.000229258269874,-0.000526643207546,1.35355777333e-05,1793250776042120192
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.310127041,747,723.310127041,694,667.310127041,632.310127041,897.689872959,786,828,657,632,657,0.454778975649,0.0046322690652,0.0496479633256,0.999999834848,0.000228140702257,-0.000527321277321,1.37217632401e-05,1793250776058786560
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.88377201,747,723.88377201,694,667.88377201,632.88377201,897.11622799,786,828,657,632,657,0.454779376216,0.00463169850703,0.0496491264586,0.999999835337,0.000227446226988,-0.000526681671357,1.41379194183e-05,1793250776075452672
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723.528630175,694,667.528630175,633,897.471369825,786,828,657,632,657,0.454778943627,0.00463272619052,0.0496491829235,0.999999835119,0.000227780146126,-0.000526960721091,1.38123853423e-05,1793250776092119296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.938655552,747,723.061344448,694,667,633,898,786,828,657,631.938655552,656.938655552,0.454778269461,0.00463391298454,0.0496488468155,0.999999834737,0.000228242456147,-0.000527496968078,1.33684615464e-05,1793250776108785920
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.358562609,747,723.641437391,694,667,633,898,786,828,657,631.358562609,656.358562609,0.454777342655,0.00463301109339,0.0496475689062,0.999999834496,0.000227580748359,-0.00052823422346,1.35170813893e-05,1793250776125452288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.217996949,747,724,694,667.217996949,633,898,786,828,657,631.217996949,656,0.454773736414,0.00463299800677,0.04964531693,0.999999832886,0.000228512741925,-0.000530871732429,1.36278020055e-05,1793250776142118912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.788837416,747,724,694,667.788837416,633,898,786,828,657,631.788837416,656,0.454765793316,0.0046344235134,0.0496414883578,0.999999829027,0.000232024254192,-0.000536584936474,1.3677180021e-05,1793250776158786048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747.360831366,723.639168634,694,667.639168634,633,898,786,828,657,632,656.360831366,0.454743506398,0.00463478779419,0.0496316455873,0.999999820178,0.000231548360073,-0.000553037410292,1.33715751908e-05,1793250776175452672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747.933502567,723.066497433,694,667.066497433,633,898,786,828,657,632,656.933502567,0.454712798391,0.00463452904197,0.0496182719516,0.999999807988,0.000228731506984,-0.00057579478292,1.28575641221e-05,1793250776192119296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747.469861566,723.530138434,694.530138434,667.530138434,633,898,786,828,657,632,657,0.454657437402,0.00463469299442,0.049597127049,0.99999978682,0.000228292218562,-0.000611626019133,1.2462026301e-05,1793250776208785920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747.12456162,724,694.87543838,668,633,898,786,828,657,631.87543838,656.87543838,0.454596372806,0.00463543133924,0.0495760051732,0.999999765617,0.000228826580051,-0.000645186042773,1.17878034463e-05,1793250776225452800
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e654cc52bdddf4497c9668fb61eac7dce95da9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+209,3.483333333,pose1_to_pose2_press,0.618145254055,0.010150123061,1.0400335389,0.588715933303,0.018822763185,1.03970493497
+210,3.500000000,pose1_to_pose2_press,0.618336757642,0.0101501396394,1.04003361037,0.588907434842,0.0188227730445,1.03970500697
+211,3.516666667,pose1_to_pose2_press,0.618508048577,0.0101499131429,1.0400335197,0.58907872728,0.0188225517383,1.0397049155
+212,3.533333333,pose1_to_pose2_press,0.618659952549,0.0101499630443,1.04003366931,0.589230630167,0.0188225977987,1.03970505551
+213,3.550000000,pose1_to_pose2_press,0.618794016408,0.010150071926,1.04003349896,0.589364694044,0.0188227074669,1.03970489879
+214,3.566666667,pose1_to_pose2_press,0.618913550213,0.0101502062506,1.04003362586,0.589484225015,0.0188228318718,1.03970501695
+215,3.583333333,pose1_to_pose2_press,0.619019049742,0.010150095339,1.0400334002,0.589589726415,0.0188227274926,1.03970479322
+216,3.600000000,pose1_to_pose2_press,0.619113246324,0.0101500563157,1.04003337466,0.589683924266,0.0188226928356,1.03970476514
+217,3.616666667,pose1_to_pose2_press,0.61919597571,0.0101500984444,1.04003338007,0.589766652486,0.0188227318637,1.03970477911
+218,3.633333333,pose1_to_pose2_press,0.6192668671,0.010150107808,1.04003340695,0.589837543381,0.0188227400278,1.0397048106
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+221,3.683333333,pose1_to_pose2_press,0.619416290229,0.0101500816764,1.04003343436,0.589986967977,0.0188227176423,1.03970482669
+222,3.700000000,pose1_to_pose2_press,0.619448354004,0.0101499638007,1.04003363414,0.590019032637,0.018822602886,1.03970502652
+223,3.716666667,pose1_to_pose2_press,0.61947440736,0.0101501161897,1.0400337505,0.590045085249,0.0188227527802,1.0397051416
+224,3.733333333,pose1_to_pose2_press,0.619495081253,0.0101500531978,1.04003361714,0.590065759989,0.018822692747,1.03970500974
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+226,3.766666667,pose1_to_pose2_press,0.619523983315,0.0101500697669,1.04003363548,0.590094661257,0.01882270684,1.03970503116
+227,3.783333333,pose1_to_pose2_press,0.619533255746,0.0101502282079,1.04003367641,0.590103932151,0.0188228598542,1.03970506299
+228,3.800000000,pose1_to_pose2_press,0.619539657068,0.0101501312047,1.04003365282,0.59011033462,0.0188227668793,1.03970504491
+229,3.816666667,pose1_to_pose2_press,0.619543045896,0.0101501465534,1.04003363844,0.59011372314,0.018822781299,1.03970503314
+230,3.833333333,pose1_to_pose2_press,0.619544880925,0.0101501516243,1.04003362705,0.590115558103,0.0188227861755,1.03970502235
+231,3.850000000,pose1_to_pose2_press,0.619545579744,0.0101501235195,1.04003360874,0.590116257531,0.0188227600176,1.03970500107
+232,3.866666667,pose1_to_pose2_press,0.619545974604,0.0101501076392,1.0400335984,0.590116652737,0.0188227452374,1.03970498905
+233,3.883333333,pose1_to_pose2_press,0.619546365864,0.0101500919037,1.04003358815,0.590117044338,0.0188227305919,1.03970497713
+234,3.900000000,pose1_to_pose2_press,0.619546858032,0.0101500721099,1.04003357525,0.590117536936,0.0188227121694,1.03970496215
+235,3.916666667,pose1_to_pose2_press,0.619547523987,0.0101500532985,1.04003354547,0.590118203308,0.0188226946891,1.03970493046
+236,3.933333333,pose1_to_pose2_press,0.619548246069,0.0101501165248,1.04003338385,0.590118924115,0.0188227538581,1.03970477648
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+238,3.966666667,pose1_to_pose2_press,0.619548992659,0.0101501590295,1.04003331768,0.590119670205,0.0188227949107,1.03970471691
+239,3.983333333,pose1_to_pose2_press,0.619549074795,0.0101501575969,1.04003333737,0.590119752505,0.018822794051,1.03970473697
+240,4.000000000,pose1_to_pose2_press,0.619549110875,0.0101501569676,1.04003334602,0.590119788657,0.0188227936734,1.03970474578
+241,4.016666667,pose1_to_pose2_press,0.619549220383,0.0101501551155,1.04003337246,0.590119898384,0.0188227925846,1.03970477271
+242,4.033333333,pose1_to_pose2_press,0.619549233774,0.0101501911516,1.04003349498,0.590119911743,0.0188228283681,1.03970489148
+243,4.050000000,pose1_to_pose2_press,0.619549237157,0.0101502002548,1.04003352593,0.590119915118,0.0188228374074,1.03970492148
+244,4.066666667,pose1_to_pose2_press,0.619549244268,0.0101502193915,1.04003359099,0.590119922212,0.01882285641,1.03970498455
+245,4.083333333,pose1_to_pose2_press,0.619549251398,0.0101502385763,1.04003365622,0.590119929324,0.0188228754598,1.03970504778
+246,4.100000000,pose1_to_pose2_press,0.619549251398,0.0101502385763,1.04003365622,0.590119929323,0.0188228754591,1.03970504778
+247,4.116666667,pose2_hold,0.619549251398,0.0101502385763,1.04003365622,0.590119929325,0.0188228754576,1.03970504778
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+249,4.150000000,pose2_hold,0.619549251398,0.0101502385763,1.04003365622,0.590119929325,0.0188228754573,1.03970504778
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+263,4.383333333,pose2_to_pose3_retreat,0.619549251398,0.0101502385763,1.04003365622,0.590119929326,0.0188228754567,1.03970504778
+264,4.400000000,pose2_to_pose3_retreat,0.619549251835,0.0101502357165,1.04003364599,0.590119929266,0.0188228709868,1.03970503966
+265,4.416666667,pose2_to_pose3_retreat,0.61954924347,0.0101502328512,1.04003363271,0.590119920584,0.0188228671015,1.03970502781
+266,4.433333333,pose2_to_pose3_retreat,0.619549163014,0.0101502220397,1.04003356582,0.590119839948,0.0188228557339,1.03970496241
+267,4.450000000,pose2_to_pose3_retreat,0.619549112119,0.0101502152005,1.04003352351,0.590119788938,0.0188228485428,1.03970492103
+268,4.466666667,pose2_to_pose3_retreat,0.619548965014,0.0101501954329,1.0400334012,0.590119641502,0.0188228277584,1.03970480145
+269,4.483333333,pose2_to_pose3_retreat,0.619548776677,0.0101501887662,1.04003337427,0.590119452869,0.0188228200516,1.03970477372
+270,4.500000000,pose2_to_pose3_retreat,0.619548204143,0.0101501840721,1.04003340072,0.590118879539,0.0188228124145,1.03970479417
+271,4.516666667,pose2_to_pose3_retreat,0.61954660696,0.0101501513684,1.04003347622,0.590117282939,0.0188227814616,1.03970486397
+272,4.533333333,pose2_to_pose3_retreat,0.619541961949,0.0101501500435,1.04003361293,0.590112639602,0.0188227859734,1.03970500363
+273,4.550000000,pose2_to_pose3_retreat,0.619532585653,0.0101501951965,1.04003353619,0.590103261964,0.0188228266248,1.0397049294
+274,4.566666667,pose2_to_pose3_retreat,0.61951470765,0.0101502351245,1.04003374634,0.590085383344,0.0188228642037,1.03970513662
+275,4.583333333,pose2_to_pose3_retreat,0.619487451659,0.0101501344779,1.0400336749,0.59005812862,0.0188227678028,1.0397050614
+276,4.600000000,pose2_to_pose3_retreat,0.61945004657,0.0101502213196,1.04003343179,0.590020723204,0.018822853903,1.03970483036
+277,4.616666667,pose2_to_pose3_retreat,0.619404338652,0.0101500180691,1.04003352008,0.589975019098,0.0188226629646,1.03970491059
+278,4.633333333,pose2_to_pose3_retreat,0.619351196125,0.0101500893886,1.04003364641,0.589921875393,0.0188227308348,1.03970503753
+279,4.650000000,pose2_to_pose3_retreat,0.619293109851,0.0101500683261,1.04003366383,0.589863787796,0.0188227044849,1.03970505286
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+281,4.683333333,pose2_to_pose3_retreat,0.619158640196,0.0101500291135,1.04003348845,0.589729318773,0.018822667523,1.03970487649
+282,4.700000000,pose2_to_pose3_retreat,0.619077009414,0.0101500766116,1.04003336344,0.589647687328,0.0188227127502,1.03970475819
+283,4.716666667,pose2_to_pose3_retreat,0.618981922339,0.0101502291342,1.04003325301,0.589552598651,0.0188228603889,1.03970465688
+284,4.733333333,pose2_to_pose3_retreat,0.618871976186,0.0101502030192,1.04003339392,0.589442651615,0.0188228307368,1.039704787
+285,4.750000000,pose2_to_pose3_retreat,0.618745668827,0.0101502051567,1.0400335917,0.5893163451,0.0188228356676,1.03970498514
+286,4.766666667,pose2_to_pose3_retreat,0.618605236046,0.0101501319807,1.04003366325,0.589175912414,0.0188227625443,1.03970505217
+287,4.783333333,pose2_to_pose3_retreat,0.618450750037,0.0101501203999,1.04003361758,0.589021427026,0.018822752683,1.0397050021
+288,4.800000000,pose2_to_pose3_retreat,0.618280584133,0.0101501009814,1.04003358232,0.588851262417,0.0188227375101,1.0397049703
+289,4.816666667,pose2_to_pose3_retreat,0.618094506324,0.0101500288117,1.04003352944,0.588665185302,0.0188226678428,1.03970492698
+290,4.833333333,pose2_to_pose3_retreat,0.617890120207,0.0101500941478,1.04003317551,0.588460797547,0.0188227274543,1.03970457245
+291,4.850000000,pose2_to_pose3_retreat,0.617666367399,0.0101501709738,1.04003357119,0.588237045586,0.0188228071538,1.03970497274
+292,4.866666667,pose2_to_pose3_retreat,0.617422380251,0.010150101764,1.04003362884,0.587993058912,0.018822739267,1.03970502665
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+307,5.116666667,pose2_to_pose3_retreat,0.611521910892,0.0101500489436,1.04003368846,0.582092590687,0.0188226868698,1.03970507592
+308,5.133333333,pose2_to_pose3_retreat,0.610985966713,0.0101500568883,1.04003351474,0.581556645199,0.0188226907033,1.03970491025
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+320,5.333333333,pose2_to_pose3_retreat,0.603146968765,0.0101502597307,1.04003343946,0.573717646667,0.0188228917631,1.03970483906
+321,5.350000000,pose2_to_pose3_retreat,0.602416782145,0.0101502633275,1.0400334915,0.57298746,0.0188228951191,1.03970488887
+322,5.366666667,pose2_to_pose3_retreat,0.601682900657,0.0101502112429,1.04003363079,0.572253579328,0.0188228457652,1.03970502709
+323,5.383333333,pose2_to_pose3_retreat,0.600941755211,0.0101501577388,1.04003362205,0.571512434145,0.0188227931462,1.03970501811
+324,5.400000000,pose2_to_pose3_retreat,0.600192007489,0.0101500238422,1.04003352029,0.570762687341,0.0188226623324,1.03970491543
+325,5.416666667,pose2_to_pose3_retreat,0.599431898805,0.0101500137535,1.04003363364,0.57000257842,0.0188226513432,1.0397050262
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+333,5.550000000,pose2_to_pose3_retreat,0.59342358046,0.0101499836754,1.04003340726,0.563994261101,0.0188226247755,1.03970480018
+334,5.566666667,pose2_to_pose3_retreat,0.592681963323,0.0101500451965,1.04003347281,0.56325264228,0.0188226806601,1.03970486775
+335,5.583333333,pose2_to_pose3_retreat,0.591941312244,0.0101500932635,1.0400335785,0.562511989838,0.0188227240901,1.03970497311
+336,5.600000000,pose2_to_pose3_retreat,0.591207358799,0.010150099266,1.04003357239,0.561778036958,0.0188227318883,1.03970496371
+337,5.616666667,pose2_to_pose3_retreat,0.590481297276,0.0101501143175,1.04003345596,0.561051976286,0.0188227498175,1.03970484699
+338,5.633333333,pose2_to_pose3_retreat,0.589777355863,0.0101500464476,1.04003366245,0.560348034937,0.0188226820514,1.03970505042
+339,5.650000000,pose2_to_pose3_retreat,0.589089975548,0.0101500878956,1.04003357529,0.559660654635,0.0188227233963,1.03970495935
+340,5.666666667,pose2_to_pose3_retreat,0.588416036086,0.0101501262291,1.04003361301,0.558986715127,0.0188227620066,1.03970500843
+341,5.683333333,pose2_to_pose3_retreat,0.587760110585,0.0101501674213,1.04003374342,0.558330788155,0.0188227979428,1.03970513191
+342,5.700000000,pose2_to_pose3_retreat,0.587119272441,0.0101501515237,1.04003354215,0.557689949859,0.0188227816336,1.03970493332
+343,5.716666667,pose2_to_pose3_retreat,0.58648470606,0.0101501030208,1.04003342466,0.557055384516,0.0188227369218,1.03970482286
+344,5.733333333,pose2_to_pose3_retreat,0.585859829356,0.0101501194402,1.04003374197,0.556430507781,0.0188227530267,1.0397051347
+345,5.750000000,pose2_to_pose3_retreat,0.585252728038,0.0101502649072,1.04003364223,0.5558234043,0.0188228910338,1.03970503171
+346,5.766666667,pose2_to_pose3_retreat,0.584663667225,0.0101501838163,1.04003349015,0.55523434547,0.0188228171387,1.0397048919
+347,5.783333333,pose2_to_pose3_retreat,0.584092081275,0.0101501934861,1.04003348734,0.554662758538,0.018822823467,1.03970488879
+348,5.800000000,pose2_to_pose3_retreat,0.583542771908,0.0101500804585,1.04003350484,0.554113450712,0.0188227155173,1.03970490226
+349,5.816666667,pose2_to_pose3_retreat,0.583015680144,0.0101500852859,1.04003337964,0.553586358359,0.0188227183918,1.03970477831
+350,5.833333333,pose2_to_pose3_retreat,0.582506006605,0.0101501499747,1.04003329001,0.553076684203,0.0188227811083,1.03970469204
+351,5.850000000,pose2_to_pose3_retreat,0.582017124496,0.0101501707529,1.04003339125,0.552587803424,0.0188228063541,1.03970479249
+352,5.866666667,pose2_to_pose3_retreat,0.581553530268,0.0101502343492,1.04003350075,0.552124208339,0.018822866857,1.03970489744
+353,5.883333333,pose2_to_pose3_retreat,0.581104528081,0.010149969066,1.04003339513,0.551675208226,0.0188226086539,1.0397047921
+354,5.900000000,pose2_to_pose3_retreat,0.580667126572,0.0101500270632,1.04003358756,0.551237805942,0.0188226637908,1.03970497953
+355,5.916666667,pose2_to_pose3_retreat,0.580244078326,0.0101499741685,1.04003346261,0.550814757895,0.0188226117883,1.03970486019
+356,5.933333333,pose2_to_pose3_retreat,0.579837305751,0.010150043155,1.04003347836,0.550407984692,0.0188226784144,1.03970486932
+357,5.950000000,pose2_to_pose3_retreat,0.579454816523,0.0101501318352,1.04003350285,0.550025494109,0.0188227623849,1.03970489061
+358,5.966666667,pose2_to_pose3_retreat,0.579099397079,0.0101501203517,1.0400334307,0.549670073959,0.0188227488159,1.0397048266
+359,5.983333333,pose2_to_pose3_retreat,0.578775224518,0.0101501294713,1.04003351306,0.549345901652,0.0188227588192,1.03970490962
+360,6.000000000,pose2_to_pose3_retreat,0.578477249146,0.0101501697259,1.04003349162,0.549047926731,0.0188228007324,1.03970489156
+361,6.016666667,pose2_to_pose3_retreat,0.57820259919,0.0101499885157,1.04003351885,0.548773279517,0.0188226285818,1.03970491225
+362,6.033333333,pose2_to_pose3_retreat,0.577940119639,0.0101499794932,1.04003362018,0.548510799759,0.0188226186041,1.03970500698
+363,6.050000000,pose2_to_pose3_retreat,0.577687505552,0.0101500795719,1.04003360744,0.548258183496,0.0188227113695,1.03970499608
+364,6.066666667,pose2_to_pose3_retreat,0.577444535358,0.0101501395586,1.04003351007,0.548015212631,0.0188227693463,1.03970490598
+365,6.083333333,pose2_to_pose3_retreat,0.57721510019,0.0101500782822,1.04003353421,0.547785780314,0.0188227178223,1.03970493224
+366,6.100000000,pose2_to_pose3_retreat,0.577002775647,0.0101500441394,1.04003359585,0.547573457169,0.018822688401,1.039704993
+367,6.116666667,pose2_to_pose3_retreat,0.576814027347,0.0101501136628,1.04003338754,0.547384705999,0.0188227482422,1.03970478626
+368,6.133333333,pose2_to_pose3_retreat,0.576648468338,0.0101502442079,1.04003337894,0.547219144551,0.0188228705385,1.0397047786
+369,6.150000000,pose2_to_pose3_retreat,0.576504398357,0.0101499692437,1.0400334713,0.547075079769,0.018822613297,1.03970487298
+370,6.166666667,pose2_to_pose3_retreat,0.576377668888,0.0101500906771,1.04003364176,0.546948347841,0.0188227257491,1.03970502674
+371,6.183333333,pose2_to_pose3_retreat,0.576266555351,0.0101502065368,1.04003368172,0.546837232482,0.0188228354192,1.03970506657
+372,6.200000000,pose2_to_pose3_retreat,0.576167162615,0.010150129999,1.04003366043,0.546737840297,0.0188227609284,1.03970505019
+373,6.216666667,pose2_to_pose3_retreat,0.576079165135,0.0101499393868,1.04003363992,0.546649843877,0.0188225737234,1.03970502505
+374,6.233333333,pose2_to_pose3_retreat,0.576002441728,0.0101500915872,1.04003338681,0.546573118951,0.0188227212488,1.0397047844
+375,6.250000000,pose2_to_pose3_retreat,0.575935941071,0.0101501450923,1.04003368347,0.546506619122,0.0188227775374,1.03970508034
+376,6.266666667,pose2_to_pose3_retreat,0.575879893787,0.0101502186149,1.04003366,0.546450571227,0.0188228490336,1.03970505805
+377,6.283333333,pose2_to_pose3_retreat,0.575832490092,0.0101501720378,1.0400336407,0.546403167525,0.0188228022688,1.03970503439
+378,6.300000000,pose2_to_pose3_retreat,0.575793432743,0.0101501166866,1.04003360882,0.546364110668,0.0188227485441,1.03970500138
+379,6.316666667,pose2_to_pose3_retreat,0.575761683049,0.0101501553922,1.04003350365,0.54633236133,0.0188227887283,1.03970490333
+380,6.333333333,pose2_to_pose3_retreat,0.575736790205,0.0101500368589,1.04003365922,0.546307469601,0.0188226734455,1.0397050449
+381,6.350000000,pose2_to_pose3_retreat,0.575716560632,0.0101500384887,1.04003349796,0.546287240472,0.0188226767096,1.03970488698
+382,6.366666667,pose2_to_pose3_retreat,0.575700654488,0.0101500264768,1.04003346766,0.546271334549,0.0188226656017,1.03970486077
+383,6.383333333,pose2_to_pose3_retreat,0.575689168196,0.0101500035422,1.04003354846,0.546259848387,0.0188226431713,1.0397049432
+384,6.400000000,pose2_to_pose3_retreat,0.575680766499,0.0101499966709,1.0400336352,0.546251446791,0.0188226366277,1.0397050296
+385,6.416666667,pose2_to_pose3_retreat,0.575674961295,0.0101500246366,1.04003358601,0.546245641903,0.0188226654016,1.03970497348
+386,6.433333333,pose2_to_pose3_retreat,0.575671227319,0.0101500504813,1.04003361418,0.546241907826,0.0188226908799,1.03970500105
+387,6.450000000,pose2_to_pose3_retreat,0.575669009067,0.0101500719407,1.04003370456,0.546239689163,0.018822711109,1.0397050958
+388,6.466666667,pose2_to_pose3_retreat,0.575667456733,0.0101500880653,1.04003368076,0.546238136524,0.0188227263175,1.03970507521
+389,6.483333333,pose2_to_pose3_retreat,0.575666572368,0.0101500988646,1.04003354036,0.546237251959,0.0188227365147,1.0397049369
+390,6.500000000,pose2_to_pose3_retreat,0.575666232436,0.0101501030157,1.0400334864,0.54623691195,0.0188227404343,1.03970488373
+391,6.516666667,pose2_to_pose3_retreat,0.575666176611,0.0101501036974,1.04003347754,0.546236856112,0.018822741078,1.039704875
+392,6.533333333,pose2_to_pose3_retreat,0.575666049945,0.0101501052441,1.04003345743,0.546236729418,0.0188227425386,1.03970485519
+393,6.550000000,pose2_to_pose3_retreat,0.575665931724,0.0101501066878,1.04003343866,0.54623661117,0.0188227439017,1.0397048367
+394,6.566666667,pose2_to_pose3_retreat,0.575665811956,0.0101501081503,1.04003341965,0.546236491374,0.0188227452827,1.03970481797
+395,6.583333333,pose2_to_pose3_retreat,0.575665611889,0.0101501105934,1.04003338789,0.546236291263,0.0188227475896,1.03970478667
+396,6.600000000,pose2_to_pose3_retreat,0.575665425889,0.0101501055238,1.04003335835,0.546236105019,0.0188227417209,1.03970475784
+397,6.616666667,pose2_to_pose3_retreat,0.575665296861,0.0101501004861,1.04003333785,0.54623597578,0.0188227359894,1.03970473789
+398,6.633333333,pose2_to_pose3_retreat,0.575665205591,0.0101500969226,1.04003332335,0.546235884361,0.0188227319353,1.03970472378
+399,6.650000000,pose2_to_pose3_retreat,0.575665188294,0.0101500962473,1.0400333206,0.546235867036,0.018822731167,1.03970472111
+400,6.666666667,pose2_to_pose3_retreat,0.575665065876,0.0101500914677,1.04003330116,0.546235744418,0.0188227257292,1.03970470218
+401,6.683333333,pose2_to_pose3_retreat,0.575664854914,0.0101500832311,1.04003326765,0.546235533112,0.0188227163583,1.03970466956
+402,6.700000000,pose2_to_pose3_retreat,0.57566457864,0.0101500878138,1.040033305,0.546235256506,0.0188227198111,1.03970470678
+403,6.716666667,pose2_to_pose3_retreat,0.575664435975,0.0101501398832,1.04003358701,0.546235114055,0.0188227724461,1.03970498451
+404,6.733333333,pose2_to_pose3_retreat,0.575664387531,0.0101501575638,1.04003368276,0.546235065684,0.0188227903188,1.03970507881
+405,6.750000000,pose2_to_pose3_retreat,0.575664340897,0.0101501427191,1.04003373894,0.546235019175,0.0188227757144,1.0397051302
+406,6.766666667,pose2_to_pose3_retreat,0.575664331979,0.0101501120671,1.04003371826,0.546235010328,0.0188227451566,1.03970510564
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b551e19b055ef3ecd6ab3bdc7b3c3d8d3285b4fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481605b10e213c22e898c32cb533fc57aa4945f8f484e862d70ed83dec380b77
+size 25971299
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65513137453ded36debae5d53a0667f4d5e03e01
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+1,0.016666667,BASELINE,770,747,722.577554462,685,674,642,885,787,819,657,632,656,0.400982884839,0.00461016383401,0.0498486860315,0.999999957218,0.000122198008191,-0.000262334843146,-4.25746885853e-05,1793250778565696256
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+13,0.216666667,BASELINE,770,747,722,684,674,642,885.45664242,786,818.54335758,657,633,655.45664242,0.400982799588,0.00460958374107,0.0498487325241,0.999999957411,0.000123782486328,-0.000260926936425,-4.21105922753e-05,1793250778765695744
+14,0.233333333,BASELINE,770,747,722,684,674,642,885.123105759,786.123105759,819,657,632.876894241,655.123105759,0.400983276016,0.00460921202388,0.049849427434,0.999999957507,0.000124374940721,-0.000260297787434,-4.1963763916e-05,1793250778782362368
+15,0.250000000,BASELINE,770,747,722,684,674,642,885.715377705,786.715377705,819,657,632.284622295,655.715377705,0.400982171912,0.00461025682748,0.0498488665255,0.99999995698,0.000126707350157,-0.000261186468263,-4.20360074745e-05,1793250778799028992
+16,0.266666667,BASELINE,770,747,722,684.300504785,674,642,886,786.699495215,819,657,632,656,0.400981537097,0.00460991669824,0.0498485523362,0.999999956961,0.000125657706966,-0.000261774151702,-4.19764777811e-05,1793250778815695872
+17,0.283333333,BASELINE,770,747,722,684.879021753,674,642,886,786.120978247,819,657,632,656,0.400981336443,0.0046082952975,0.0498484663995,0.999999957404,0.000121479155605,-0.000262083367169,-4.17950379794e-05,1793250778832362752
+18,0.300000000,BASELINE,769.543670238,747,722.456329762,684.543670238,674,642,885.543670238,786,819,657,632,656,0.400981866476,0.00460775549961,0.0498488791405,0.999999957705,0.000120042544182,-0.00026161054802,-4.17125163183e-05,1793250778849029376
+19,0.316666667,BASELINE,769,747,722.966232292,684.033767708,674,642,885.033767708,786.033767708,818.966232292,657,632,656,0.400982602026,0.00460757430919,0.0498494291063,0.999999957958,0.000119467988002,-0.000260909871941,-4.16877650045e-05,1793250778865696000
+20,0.333333333,BASELINE,769,747,722.38145784,684.61854216,674,642,885.61854216,786.61854216,818.38145784,657,632,656,0.400983538523,0.00460857809748,0.0498500666809,0.999999958009,0.000121129856758,-0.000259865247337,-4.21788984888e-05,1793250778882362880
+21,0.350000000,BASELINE,769,746.798694955,722,684.798694955,674,642,885.798694955,787,818.201305045,656.798694955,632,656,0.400983442879,0.00460948863377,0.0498498984339,0.999999957814,0.000122305104157,-0.000260011077553,-4.25211941106e-05,1793250778899029504
+22,0.366666667,BASELINE,769,746.219706188,722,684.219706188,674,642,885.219706188,787,818.780293812,656.219706188,632,656,0.400981410756,0.00461022421279,0.0498482183234,0.999999957158,0.000122567363995,-0.000262390410807,-4.25842436318e-05,1793250778915695872
+23,0.383333333,BASELINE,769,746,722,684,674,642,885,786.640732707,819,656.359267293,632.359267293,656,0.400980886362,0.00460998204945,0.0498482893612,0.999999957153,0.00012264878478,-0.000262404323941,-4.23747053469e-05,1793250778932362496
+24,0.400000000,BASELINE,769,746,722,684,674,642,885,786.061768519,819,656.938231481,632.938231481,656,0.400981283964,0.00460914198326,0.04984943125,0.999999957547,0.00012261962002,-0.000260971750333,-4.19984758709e-05,1793250778949029376
+25,0.416666667,BASELINE,769,746.512597065,722.512597065,684,674,641.487402935,885,786.512597065,818.487402935,657,632.487402935,656,0.400981935176,0.00460946333139,0.0498494017797,0.999999957416,0.000123889210551,-0.000260894206132,-4.18818949978e-05,1793250778965696000
+26,0.433333333,BASELINE,769,747,722.912507157,684,674.087492843,641.087492843,885.087492843,786.912507157,818.087492843,657,632,656,0.400982712464,0.00460986663328,0.0498493920908,0.999999957341,0.000124975745165,-0.000260666409418,-4.18607764016e-05,1793250778982362368
+27,0.450000000,BASELINE,769,747,722.331522917,684,674.668477083,641.668477083,885.668477083,786.331522917,818.668477083,657,632,656,0.400984030026,0.00460994982442,0.0498502830349,0.999999957945,0.000124154902142,-0.000258678349898,-4.22031934073e-05,1793250778999029504
+28,0.466666667,BASELINE,769,746.747104656,722,684.252895344,674.747104656,642,886,786.252895344,819,657,632,656,0.400984490088,0.00460974433253,0.0498505150268,0.999999958207,0.000123051126637,-0.000258176323805,-4.23107614464e-05,1793250779015696128
+29,0.483333333,BASELINE,769,746.158122771,722,684.841877229,674.158122771,642,886,786.841877229,819,657,632,656,0.400983810572,0.00460915519384,0.0498498713008,0.999999958015,0.00012157134663,-0.000259649169438,-4.21062257477e-05,1793250779032362752
+30,0.500000000,BASELINE,769.420747935,746.420747935,722,685,674,642,886,787,819,657,632,656,0.400984212799,0.00460834107619,0.0498501844686,0.999999958333,0.0001203386646,-0.000259020091845,-4.19557145506e-05,1793250779049029376
+31,0.516666667,BASELINE,769.995907887,746.995907887,722,685,674,642,886,787,819,657,632,656,0.40098501202,0.0046074443926,0.0498508488108,0.999999958837,0.000119196666105,-0.000257619620769,-4.18250300322e-05,1793250779065696000
+32,0.533333333,BASELINE,769.430057804,747,722,684.430057804,674,642,885.430057804,786.430057804,818.430057804,657,632,655.430057804,0.400983302542,0.00460882650836,0.0498501421529,0.999999957995,0.000122126726724,-0.000259490423301,-4.1942561431e-05,1793250779082362624
+33,0.550000000,BASELINE,769.148304479,746.851695521,722,684,674,642,885,786.148304479,818.148304479,656.851695521,632,655.148304479,0.400981876532,0.00460980026219,0.0498496210894,0.999999957347,0.000124144648765,-0.000261006472922,-4.2066621272e-05,1793250779099029248
+34,0.566666667,BASELINE,769.739619129,746.260380871,722,684,674,642,885,786.739619129,818.739619129,656.260380871,632,655.739619129,0.400981350988,0.00460950539253,0.0498496837735,0.999999957339,0.000123350697208,-0.000261392793911,-4.22048695249e-05,1793250779115695872
+35,0.583333333,BASELINE,770,746,722,684,674,642,885.323907743,787,819,656.323907743,632,656,0.400981512459,0.00460894308326,0.0498497097792,0.999999957553,0.00012225475157,-0.000261115363341,-4.20375840492e-05,1793250779132362752
+36,0.600000000,BASELINE,770,746,722,684,674,642,885.90266829,787,819,656.90266829,632,656,0.400982214477,0.00460817035067,0.049849706926,0.99999995794,0.000120921194863,-0.000260315688598,-4.16299025846e-05,1793250779149029632
+37,0.616666667,BASELINE,769.522306168,746.477693832,722.477693832,684.477693832,674,642,885.522306168,787,819,656.522306168,632,655.522306168,0.400983776843,0.00460888341419,0.0498505703828,0.99999995828,0.000122041607125,-0.000258453645101,-4.18113847743e-05,1793250779165696000
+38,0.633333333,BASELINE,769,747,722.94699897,685,674,642,885,786.94699897,819,656.05300103,632,655.05300103,0.400985186283,0.00460973864982,0.0498514709026,0.99999995855,0.000123385906008,-0.000256719312683,-4.20870697454e-05,1793250779182362624
+39,0.650000000,BASELINE,769,747,722.361270541,685,674,642,885,786.361270541,819,656.638729459,632,655.638729459,0.400983310333,0.00460900362388,0.0498509835329,0.99999995828,0.00012199386348,-0.000258427465961,-4.21123783561e-05,1793250779199029248
+40,0.666666667,BASELINE,769,747,722,684.777678955,674,642,885,786.222321045,818.777678955,656.777678955,632,656,0.400982380643,0.00460822287848,0.0498506524207,0.999999958187,0.000120998196591,-0.000259265466476,-4.20225148896e-05,1793250779215695616
+41,0.683333333,BASELINE,769,747,722,684.197526706,674,642,885,786.802473294,818.197526706,656.197526706,632,656,0.400982973983,0.00460736854653,0.0498505728087,0.999999958388,0.000120640506145,-0.000258702934573,-4.17472791244e-05,1793250779232362240
+42,0.700000000,BASELINE,769,746.618652269,722,684,674,642,885,786.618652269,818.381347731,656.381347731,632,656,0.400982984085,0.0046085981313,0.0498509906146,0.999999958445,0.000121571883352,-0.000258017727587,-4.19238367788e-05,1793250779249029120
+43,0.716666667,BASELINE,769,746.040437506,722,684,674,642,885,786.040437506,818.959562494,656.959562494,632,656,0.400982693095,0.0046109035177,0.0498516652077,0.999999958425,0.000123168729121,-0.000257269190808,-4.23336283696e-05,1793250779265695744
+44,0.733333333,BASELINE,769.536019317,746.536019317,722,684,674,642,885,786.536019317,818.463980683,657,632.536019317,656,0.400982713445,0.00461085331351,0.0498504565902,0.99999995815,0.00012317822965,-0.000258322046814,-4.23803875968e-05,1793250779282362624
+45,0.750000000,BASELINE,770,746.888631918,722,684,674,642,885,787,818.111368082,657,632.888631918,656,0.400982818354,0.00461055366832,0.0498495266448,0.99999995795,0.000123068909147,-0.000259145853506,-4.2406206841e-05,1793250779299029504
+46,0.766666667,BASELINE,770,746.317313661,722,684,674,642,885,787,818.682686339,657,632.317313661,656,0.400983175803,0.00460995536128,0.0498503324478,0.999999958137,0.000122961808382,-0.000258464263117,-4.24582837695e-05,1793250779315695872
+47,0.783333333,BASELINE,770,746.264174392,722,684,674.264174392,642,885,786.735825608,818.735825608,657,632.264174392,656,0.400983232259,0.00460996437582,0.0498505665203,0.999999958118,0.000123424823544,-0.000258311385086,-4.25013546809e-05,1793250779332362496
+48,0.800000000,BASELINE,770,746.858367081,722,684,674.858367081,642,885,786.141632919,818.141632919,657,632.858367081,656,0.400982912699,0.00461073208316,0.049850086362,0.999999957839,0.000124600052642,-0.000258818997751,-4.25331748863e-05,1793250779349029120
+49,0.816666667,BASELINE,769.559142867,746.559142867,722,684,674.559142867,642,885.440857133,786.440857133,818.440857133,657,632.559142867,655.559142867,0.4009813011,0.0046101260513,0.0498493054792,0.999999957401,0.000124163485837,-0.000260711760331,-4.25547503816e-05,1793250779365695744
+50,0.833333333,BASELINE,769.019517679,746.019517679,722,684.019517679,674,642,885.980482321,787,819,657,632,655.019517679,0.400979414305,0.00460916346897,0.0498484956485,0.999999956943,0.000123305571194,-0.000262865773786,-4.2562274219e-05,1793250779382362624
+51,0.850000000,BASELINE,769.593434055,746.593434055,722,684.593434055,674,642,885.406565945,787,819,657,632,655.593434055,0.400981196294,0.00461028508052,0.0498495368696,0.999999957485,0.00012480751389,-0.000260127178667,-4.22617328402e-05,1793250779399029248
+52,0.866666667,BASELINE,769.828577993,747,722,685,674,642,885,786.828577993,818.828577993,657,632,656,0.400982518677,0.00461105940637,0.0498502369419,0.99999995787,0.000125503436662,-0.000258331251614,-4.21111579149e-05,1793250779415696128
+53,0.883333333,BASELINE,769.240698473,747,722,685,674,642,885,786.240698473,818.240698473,657,632,656,0.40098272448,0.00461099002637,0.0498501082175,0.999999957891,0.000124241191543,-0.000258825469425,-4.23249157891e-05,1793250779432362752
+54,0.900000000,BASELINE,769,747,722,684.65588004,674,642,885,786,818,657,632,656,0.400982509389,0.00461142229452,0.0498499861604,0.999999957815,0.000124218812115,-0.00025910144285,-4.25032436282e-05,1793250779449029120
+55,0.916666667,BASELINE,769,747,722,684.073183865,674,642,885,786,818,657,632,656,0.400982002494,0.0046122023522,0.0498498687257,0.999999957672,0.000125056023866,-0.000259226108787,-4.26570080366e-05,1793250779465695744
+56,0.933333333,BASELINE,769,746.497288789,722.502711211,684,674,642,885.502711211,786.502711211,818,657,632,656,0.400982463471,0.0046112655821,0.0498496642054,0.999999957861,0.000123636427901,-0.000259147771804,-4.28368615284e-05,1793250779482362368
+57,0.950000000,BASELINE,769,746.079206367,722.920793633,684.079206367,674,642,885.920793633,786.920793633,818.079206367,657,632,656,0.40098288531,0.00461015434496,0.0498494772,0.999999958047,0.000122173566202,-0.000259104214004,-4.29477857111e-05,1793250779499028992
+58,0.966666667,BASELINE,769,746.665803149,722.334196851,684.665803149,674,642,885.334196851,786.334196851,818.665803149,657,632,656,0.400982165877,0.00460950516634,0.0498494825221,0.999999957926,0.000122510074047,-0.000259470235594,-4.25931485112e-05,1793250779515695616
+59,0.983333333,BASELINE,769,747,722.249100406,685,674,642,885,786,819,657,631.750899594,656,0.400981998893,0.00460927417911,0.0498498459879,0.999999958091,0.000121936583581,-0.000259150562757,-4.23160748854e-05,1793250779532362240
+60,1.000000000,BASELINE,769,747,722.828028918,685,674,642,885,786,819,657,631.171971082,656,0.400982563395,0.00460959690937,0.0498506836635,0.999999958631,0.000120158185369,-0.000257922977785,-4.21417013511e-05,1793250779549029376
+61,1.016666667,BASELINE,769.404530024,747,722.595469976,685,674.404530024,642,885.404530024,786.404530024,818.595469976,657,631.404530024,656,0.400983613231,0.00461003403053,0.049850912487,0.999999958707,0.00012079350459,-0.000257284541546,-4.24215823657e-05,1793250779565696256
+62,1.033333333,BASELINE,769.980005328,747,722.019994672,685,674.980005328,642,885.980005328,786.980005328,818.019994672,657,631.980005328,656,0.400984868158,0.00461051949071,0.0498508840231,0.999999958586,0.000122448806556,-0.000256895066371,-4.28934211347e-05,1793250779582362880
+63,1.050000000,BASELINE,770,746.443888711,722,684.443888711,674.443888711,642,886,787,818,657,632,656,0.400985636849,0.00460994123996,0.0498517600862,0.999999958839,0.000122991873088,-0.000255716237403,-4.24862227703e-05,1793250779599029504
+64,1.066666667,BASELINE,769.864829726,746.135170274,722.135170274,684,674.135170274,642,885.864829726,787,818.135170274,657,632,656,0.400985770673,0.00460959146454,0.0498521269213,0.9999999589,0.000123456419674,-0.000255305701875,-4.21603359641e-05,1793250779615696128
+65,1.083333333,BASELINE,769.275934581,746.724065419,722.724065419,684,674.724065419,642,885.275934581,787,818.724065419,657,632,656,0.400983832191,0.00461013713315,0.0498506751456,0.999999958276,0.000123791784846,-0.000257569463907,-4.22135966214e-05,1793250779632362496
+66,1.100000000,BASELINE,769.307778241,747,722.692221759,684,674.692221759,642,885.307778241,786.692221759,819,657,632,656,0.400983510488,0.00461000568729,0.0498504165542,0.999999958292,0.000123316113591,-0.000257730395129,-4.22500637195e-05,1793250779649029120
+67,1.116666667,BASELINE,769.886921824,747,722.113078176,684,674.113078176,642,885.886921824,786.113078176,819,657,632,656,0.400984614285,0.00460927723558,0.0498512099828,0.999999958872,0.000122125358701,-0.000256037278979,-4.22717240829e-05,1793250779665696256
+68,1.133333333,BASELINE,769.538867021,747,722,684,674,642,886,786,819,657,632.461132979,656,0.400984861569,0.00460917368001,0.0498517150706,0.999999959005,0.000122896900953,-0.000255138826963,-4.23218559316e-05,1793250779682362624
+69,1.150000000,BASELINE,769.034414017,747,722,684.034414017,674,642,886,786.034414017,818.965585983,657,632.965585983,656,0.400984918716,0.00460917254069,0.0498521042638,0.99999995902,0.000124025794611,-0.000254527097586,-4.23439149041e-05,1793250779699029504
+70,1.166666667,BASELINE,769.611901539,747,722,684.611901539,674,642,886,786.611901539,818.388098461,657,632.388098461,656,0.40098525474,0.00460839502923,0.0498517685514,0.999999958913,0.000123280789538,-0.000255397464154,-4.18139575088e-05,1793250779715696384
+71,1.183333333,BASELINE,770,747,722,685,674.194594931,642,885.805405069,787,818,657,632.194594931,656,0.40098497329,0.00460805769741,0.0498515257896,0.999999958819,0.000122569808918,-0.00025615543266,-4.15140542186e-05,1793250779732363264
+72,1.200000000,BASELINE,770,747,722,685,674.787956363,642,885.212043637,787,818,657,632.787956363,656,0.400983426503,0.00460862238739,0.0498514735031,0.999999958755,0.000121928551516,-0.000256683073732,-4.16855807407e-05,1793250779749029888
+73,1.216666667,BASELINE,770,747,722,685,674.628982851,642,885.371017149,786.628982851,818.371017149,657,632.628982851,656,0.400982918809,0.00460960306906,0.0498515602022,0.999999958623,0.000122632333688,-0.00025683450512,-4.18468450261e-05,1793250779765696256
+74,1.233333333,BASELINE,770,747,722,685,674.051650096,642,885.948349904,786.051650096,818.948349904,657,632.051650096,656,0.400982988936,0.00461081507581,0.0498517241885,0.999999958452,0.000124084066923,-0.000256776733397,-4.20024026659e-05,1793250779782362624
+75,1.250000000,BASELINE,770,747,722,684.476938863,674,642,885.476938863,786.523061137,819,656.476938863,632,656,0.400983866458,0.00461015841151,0.0498515388585,0.999999958578,0.000123496178252,-0.000256541440812,-4.21795552103e-05,1793250779799029504
+76,1.266666667,BASELINE,769.900035213,747,722,684,674,642,885,786.900035213,819,656.099964787,632,656,0.40098455678,0.00460945760312,0.0498513664275,0.999999958701,0.000122853148843,-0.00025634823279,-4.2315515546e-05,1793250779815696128
+77,1.283333333,BASELINE,769.311148828,747,722,684,674,642,885,786.311148828,819,656.688851172,632,656,0.40098394352,0.00460943888076,0.0498514249492,0.999999958671,0.000122920572236,-0.000256446165638,-4.22396298709e-05,1793250779832362752
+78,1.300000000,BASELINE,769.273015378,747,722,684.273015378,674,642,885,786,819,657,632,656,0.400983522112,0.00460973054874,0.0498514537162,0.99999995852,0.000123545049524,-0.000256741786575,-4.21928045183e-05,1793250779849029376
+79,1.316666667,BASELINE,769.851889299,747,722,684.851889299,674,642,885,786,819,657,632,656,0.400983315637,0.00461036994634,0.0498514491491,0.999999958233,0.000124793593088,-0.000257258877045,-4.21785353877e-05,1793250779865696256
+80,1.333333333,BASELINE,770,747,722,684.570586912,674.429413088,642,885.429413088,786.429413088,819,657,632,656,0.400983186773,0.00460961880588,0.0498511858889,0.99999995842,0.00012284909189,-0.000257468219429,-4.21632358235e-05,1793250779882362880
+81,1.350000000,BASELINE,769.99354464,747,722,684,675,642,885.99354464,787,819,657,632.00645536,656,0.400983098675,0.00460841882167,0.0498508451696,0.999999958762,0.000119850151221,-0.000257557626186,-4.2150965481e-05,1793250779899029760
+82,1.366666667,BASELINE,769.418031286,747,722,684,675,642,885.418031286,787,819,657,632.581968714,656,0.400984251893,0.00460979902761,0.0498515171624,0.999999958947,0.000120680180759,-0.000256402172944,-4.24369619107e-05,1793250779915696384
+83,1.383333333,BASELINE,769,747,722,684.161010023,674.838989977,642,885,787,819,657,633,656,0.400984752786,0.00461098428831,0.0498517832073,0.999999958922,0.000121931476774,-0.000255878070811,-4.26002901059e-05,1793250779932362752
+84,1.400000000,BASELINE,769,747,722,684.749416313,674.250583687,642,885,787,819,657,633,656,0.400983522103,0.00461165207299,0.0498509716761,0.999999958342,0.000124301012168,-0.000257029870965,-4.24379992223e-05,1793250779949029376
+85,1.416666667,BASELINE,769.332338907,747,722.332338907,684.667661093,674,642,885,787,819,657,632.667661093,656,0.400983167928,0.00461056972444,0.0498508468811,0.999999958343,0.00012399309136,-0.000257238480903,-4.20406729442e-05,1793250779965696000
+86,1.433333333,BASELINE,769.911193873,747,722.911193873,684.088806127,674,642,885,787,819,657,632.088806127,656,0.400983463911,0.00460818919517,0.0498512314803,0.999999958775,0.000121699137657,-0.000256747468995,-4.14690065725e-05,1793250779982362880
+87,1.450000000,BASELINE,770,746.510593164,722.510593164,684.489406836,674,642,885,787,819,657,632.489406836,656,0.400983287044,0.00460759010402,0.0498510489193,0.999999958889,0.000119877462844,-0.000257133576918,-4.16287445078e-05,1793250779999029504
+88,1.466666667,BASELINE,770,746.066557654,722,684.933442346,674,642,885,787,819,657,632.933442346,656,0.400983036233,0.00460764610512,0.0498508279976,0.999999958898,0.000118630131283,-0.000257627177296,-4.19341493567e-05,1793250780015696128
+89,1.483333333,BASELINE,770,746.636554474,722,684.363445526,674,642,885,787,819,657,632.363445526,656,0.400982874272,0.00461021532101,0.0498510943423,0.999999958561,0.000121079739013,-0.00025773154964,-4.23388130385e-05,1793250780032363008
+90,1.500000000,BASELINE,770,747,722,684,674,642,885.214816029,787,819,657,632,656,0.400982512763,0.00461152968492,0.0498511603832,0.999999958314,0.000122715519619,-0.000257890126022,-4.24913151659e-05,1793250780049029888
+91,1.516666667,BASELINE,770,747,722,684,674,642,885.807620062,787,819,657,632,656,0.40098180013,0.00461063602432,0.0498508739717,0.999999958236,0.000122919298404,-0.000258144079243,-4.22001164577e-05,1793250780065696512
+92,1.533333333,BASELINE,770,746.609483691,722,684.390516309,674,642,885.609483691,787,818.609483691,657,632.390516309,656,0.400983015909,0.00461023032672,0.0498513995272,0.999999958636,0.000122620153037,-0.000256748158995,-4.2109122455e-05,1793250780082363392
+93,1.550000000,BASELINE,770,746.031347492,722,684.968652508,674,642,885.031347492,787,818.031347492,657,632.968652508,656,0.400985158176,0.00461005906627,0.0498523151846,0.999999959261,0.000122079382509,-0.000254559572574,-4.21143148944e-05,1793250780099030272
+94,1.566666667,BASELINE,769.455683617,746.544316383,722,685,674,642,885,787,818.544316383,657,632.455683617,656,0.400985022348,0.00461029891897,0.0498520059371,0.999999959048,0.000122158504797,-0.000255364711159,-4.20674431575e-05,1793250780115696640
+95,1.583333333,BASELINE,769.11944865,747,722,684.88055135,674,642,885,786.88055135,819,657,632,656,0.400984635962,0.00461023932522,0.0498516840224,0.999999958831,0.000122060533002,-0.000256274566504,-4.19767563933e-05,1793250780132363264
+96,1.600000000,BASELINE,769.693098609,747,722,684.306901391,674,642,885,786.306901391,819,657,632,656,0.400983793448,0.00460895147044,0.0498515809657,0.999999958784,0.000121154029496,-0.000256929982804,-4.17308136059e-05,1793250780149030400
+97,1.616666667,BASELINE,770,747,722,684,674,642,885,786.277172535,819,657,632.277172535,656,0.400982957948,0.00460843814292,0.0498509401018,0.999999958583,0.00012066410702,-0.000257931671865,-4.17676271151e-05,1793250780165697024
+98,1.633333333,BASELINE,770,747,722,684,674,642,885,786.87323948,819,657,632.87323948,656,0.400982130517,0.00460881592979,0.0498496804765,0.999999958207,0.000120653472209,-0.000259331756952,-4.21297593152e-05,1793250780182363392
+99,1.650000000,BASELINE,770,747,722,684,674,642,885,787,819,657,633,656,0.400981981454,0.00460901271333,0.0498503134122,0.999999958272,0.000121615945673,-0.000258624541351,-4.21663039737e-05,1793250780199030016
+100,1.666666667,BASELINE,769.972649457,747,722,684,674,642,885,787,819,657,633,655.972649457,0.400982004881,0.00460917340727,0.0498513748669,0.999999958434,0.000122766515839,-0.000257462524064,-4.21167980312e-05,1793250780215696896
+101,1.683333333,BASELINE,769.395082561,747,722,684,674,642,885,787,819,657,633,655.395082561,0.400981812271,0.00460959159599,0.0498507733272,0.999999958184,0.000122413494311,-0.000258601593588,-4.2105337453e-05,1793250780232363264
+102,1.700000000,BASELINE,769.185879581,747,722,684,674,642,885,787,818.814120419,657,632.814120419,655.185879581,0.400982048347,0.00460969377645,0.0498507959914,0.999999958152,0.000122568439794,-0.000258673464946,-4.19689364691e-05,1793250780249029888
+103,1.716666667,BASELINE,769.774192427,747,722,684,674,642,885,787,818.225807573,657,632.225807573,655.774192427,0.40098321254,0.00460911179219,0.0498521700705,0.999999958591,0.000123823144755,-0.000256434829325,-4.15620368398e-05,1793250780265696256
+104,1.733333333,BASELINE,769.644019884,747,722,684.355980116,674,642,885,787,818.355980116,656.644019884,632.355980116,656,0.400983790178,0.0046090552368,0.0498523890569,0.999999958906,0.000122811971569,-0.000255676230584,-4.16594577243e-05,1793250780282362880
+105,1.750000000,BASELINE,769.066296714,747,722,684.933703286,674,642,885,787,818.933703286,656.066296714,632.933703286,656,0.400984002446,0.00460932597549,0.0498518885263,0.999999959141,0.000120389363653,-0.000255839559238,-4.20710241251e-05,1793250780299030016
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,722,685,675,642,885,787,819,657,632,656,0.400982716348,0.00461192498028,0.0498512936627,0.999999958402,0.000124801419077,-0.00025653804793,-4.2521482755e-05,1793250780329892096
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.553749292,747,722,685,675,642,885.553749292,787,819,657.553749292,632,656,0.400983284935,0.00460988847455,0.0498515087859,0.999999958799,0.000122705758291,-0.00025607541342,-4.20678461943e-05,1793250780346558464
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674.880462879,642,886,787,819,657.880462879,632,656,0.400983629221,0.00460868421122,0.0498517056391,0.999999959066,0.000121457999273,-0.000255676120768,-4.17842087455e-05,1793250780363224576
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674.264700192,642,886,787,819,657.264700192,632,656,0.400983042385,0.00461093477327,0.0498518266499,0.999999958804,0.000123730071179,-0.000255539774321,-4.22062758328e-05,1793250780379890944
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.669920976,747,722,685,674,642.330079024,886,787,819,657,632.330079024,656,0.400983328997,0.00461094852156,0.0498520824888,0.999999958826,0.000123569427311,-0.000255531557136,-4.22132984348e-05,1793250780396557568
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.090963278,747,722,685,674,642.909036722,886,787,819,657,632.909036722,656,0.400984274186,0.00460927571829,0.0498524399878,0.999999959061,0.000121574522311,-0.000255619949069,-4.19073786123e-05,1793250780413224192
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.483623036,747,722,685,674,643,886,787,819,657,633,656,0.400983936944,0.0046091352513,0.0498520444758,0.999999958826,0.000122436271388,-0.00025615796299,-4.17306897228e-05,1793250780429891072
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.940850727,747,722,684.940850727,674,642.940850727,885.940850727,786.940850727,819,657,632.940850727,655.940850727,0.400983437547,0.00460926762097,0.0498516051737,0.999999958546,0.000123655210877,-0.000256684205576,-4.15990883466e-05,1793250780446557696
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.349536952,747,722,684.349536952,674,642.349536952,885.349536952,786.349536952,819,657,632.349536952,655.349536952,0.400983629952,0.00460928488031,0.0498520347349,0.999999958674,0.000123297012704,-0.000256350500236,-4.16564105759e-05,1793250780463224320
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.23685644,747,722.23685644,684,674,642,885,786.23685644,818.76314356,657,632.23685644,655.23685644,0.400984770941,0.00460974162671,0.0498522693055,0.999999958783,0.000123475674412,-0.000255806232316,-4.18446869201e-05,1793250780479890944
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.816136378,747,722.816136378,684,674,642,885,786.816136378,818.183863622,657,632.816136378,655.816136378,0.400987283299,0.00461083373979,0.049852221978,0.999999958865,0.000124430474811,-0.000254957553975,-4.22222837022e-05,1793250780496557568
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,723,684,674,642,885,787,818.393180383,657,632.606819617,656,0.401005621045,0.00461027371865,0.0498591411807,0.999999962343,0.000123549560973,-0.000241439262252,-4.19040978417e-05,1793250780513224448
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,723,684,674,642,885,787,818.969184757,657,632.030815243,656,0.4010313174,0.00460894547572,0.0498692997332,0.999999967081,0.000121815062868,-0.000222029757587,-4.12623817179e-05,1793250780529891328
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,723,684.542558615,674,642,885.542558615,786.457441385,819,657,632,656,0.401086532738,0.00460789405808,0.0498875593539,0.999999975265,0.000119593435385,-0.000182953240171,-4.11670999045e-05,1793250780546557696
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.881150073,747,722.881150073,685,674.118849927,642.118849927,886,786,819,657,632,656,0.401146026149,0.0046071798336,0.0499058790323,0.999999981618,0.000118024574211,-0.000145432433902,-4.10326464092e-05,1793250780563224320
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.292744822,747,722.292744822,685,674.707255178,642.707255178,886,786,819,657,632,656,0.401215829648,0.00460773598263,0.049922626952,0.999999985062,0.000119143459163,-0.000118449781187,-4.06214089161e-05,1793250780579891200
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.291837059,747,722,684.708162941,675,642.708162941,885.708162941,786.291837059,819,657,632,656,0.401291589974,0.00460744114571,0.0499349954248,0.999999987044,0.000120140821894,-9.94673581417e-05,-3.98090915041e-05,1793250780596557824
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.872633239,747,722,684.127366761,675,642.127366761,885.127366761,786.872633239,819,657,632,656,0.40137324838,0.00460630371475,0.0499430276374,0.999999988025,0.000121017860777,-8.84062725314e-05,-3.85996494477e-05,1793250780613224704
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.551679955,747,722,684.448320045,674.551679955,642,885.448320045,786.551679955,819,657,632,655.551679955,0.401469359972,0.00460518553333,0.0499463544486,0.999999988721,0.000118313557869,-8.44837959593e-05,-3.7707027265e-05,1793250780629891072
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.02317146,747,722,684.97682854,674,642,886,786.02317146,819,657,632.02317146,655.02317146,0.401570065792,0.00460401869026,0.0499481756841,0.999999989313,0.000114629068374,-8.29146798631e-05,-3.68822870593e-05,1793250780646557440
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.612683308,747,722,684.387316692,674,642,886,786.612683308,819,657,632.612683308,655.612683308,0.401683832544,0.00460153033614,0.0499455035199,0.999999989107,0.00011157516224,-8.98547939243e-05,-3.55415509961e-05,1793250780663224064
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746.801346061,722,684.198653939,674,642,886.198653939,787,819,657,633,656,0.401811007963,0.00459933856902,0.049945127336,0.999999989158,0.000108649200373,-9.33145133055e-05,-3.42203079424e-05,1793250780679890944
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.222158905,722,684.777841095,674,642,886.777841095,787,819,657,633,656,0.401963868458,0.00459771493188,0.0499491492366,0.999999989783,0.000105968323582,-9.01073327169e-05,-3.29364050433e-05,1793250780696557568
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.355166735,722,685,674.355166735,642,886.644833265,787,818.644833265,657,632.644833265,656,0.40213325191,0.00459655916409,0.049949421283,0.999999989966,0.000103914126566,-9.09192739345e-05,-3.16639023519e-05,1793250780713224192
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+133,2.216666667,POSE1_TO_POSE2_PRESS,769.32718948,746.67281052,722,685,674.67281052,642,886.67281052,787,819,657,632.67281052,656,0.403015492515,0.00458948251491,0.0499566420368,0.999999992199,9.03361638607e-05,-8.24876154999e-05,-2.52591288897e-05,1793250780779891200
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.257871395,747,722,685,674.742128605,642,886.742128605,787,819,657,633,656,0.403291011421,0.00458610102012,0.0499611569302,0.999999993276,8.5114745204e-05,-7.53325274207e-05,-2.29947679374e-05,1793250780796557824
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.836624651,747,722,685,674.163375349,642,886.163375349,787,819,657,633,656,0.403595138908,0.00458167636642,0.0499665853565,0.999999994654,7.99548239474e-05,-6.22625777301e-05,-2.05675307435e-05,1793250780813224192
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.585303486,747,722,685,674,642,886,787,819,657,632.585303486,656,0.4039336909,0.00457956526626,0.0499745427672,0.999999995835,7.69292934038e-05,-4.5429629558e-05,-1.86599535436e-05,1793250780829890816
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.00749964,747,722,685,674,642,886,787,819,657,632.00749964,656,0.404285782641,0.00457836412692,0.0499834948711,0.999999996695,7.47432558488e-05,-2.71166291171e-05,-1.69567676848e-05,1793250780846557440
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.564922157,747,722,685,674,642,886,787,819,657,632.564922157,656,0.404679004429,0.00457307003957,0.0499904123974,0.999999997519,6.78690770768e-05,-1.2647023995e-05,-1.39867755701e-05,1793250780863224320
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,722.141710738,685.141710738,674,642,886.141710738,787,819,657,632.858289262,656,0.405075522728,0.0045682153081,0.0499936914682,0.999999998012,6.1875500882e-05,-4.95317659079e-06,-1.10606946138e-05,1793250780879891200
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,722.732563745,685.732563745,674,642,886.732563745,787,819,657,632.267436255,656,0.405480774763,0.00456492367445,0.0499855235064,0.99999999806,5.88683303265e-05,-1.85744340042e-05,-8.32658652405e-06,1793250780896557568
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,723,686,674,642,886.683029885,787,818.683029885,657,632.316970115,656,0.405897612605,0.00456130979671,0.0499699180496,0.999999997268,5.53129342141e-05,-4.87254218184e-05,-5.46357499139e-06,1793250780913224192
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,723,686,674,642,886.103954234,787,818.103954234,657,632.896045766,656,0.406324030904,0.00455742945197,0.0499481624582,0.999999994399,5.13042048838e-05,-9.25449988488e-05,-2.49397169532e-06,1793250780929891072
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,722.529313047,686,674,642,886,787,818.470686953,657,632.529313047,656,0.406799964418,0.00455345625083,0.0499309289104,0.99999999174,4.68228516218e-05,-0.000119697528196,4.56315052187e-07,1793250780946557696
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.955797756,722,686,674.044202244,642,886.044202244,787,819,657,632,656,0.407294106365,0.00454927935829,0.0499171113427,0.999999989454,4.19826586886e-05,-0.000138986344583,3.44496223608e-06,1793250780963224576
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.384139432,722,686,674.615860568,642,886.615860568,787,819,657,632,656,0.40787624999,0.0045429142888,0.0499322496203,0.999999993568,3.40944474969e-05,-0.000107954072146,6.9417910631e-06,1793250780979890944
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746,722,686,674.803480342,642.196519658,887,787,819,657,632,656,0.40847370052,0.00453604724174,0.0499523139008,0.999999997166,2.57564666192e-05,-6.99047801283e-05,1.08369835344e-05,1793250780996557312
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,722,686,674.204382885,642.795617115,887,787,819,657,632,656,0.409102507779,0.00452815187538,0.0499824692798,0.99999999959,1.64971163581e-05,-1.74808654675e-05,1.55482384719e-05,1793250781013224448
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.374361808,722,686,674.374361808,642.625638192,887,787.374361808,818.625638192,657,632,656,0.409725390662,0.00452220576714,0.0499968284694,0.999999998957,4.12007339139e-05,2.77686328028e-06,1.95172429249e-05,1793250781029891328
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.942567838,722,686,674.942567838,642.057432162,887,787.942567838,818.057432162,657,632,656,0.41034520589,0.00451726898332,0.0500030084048,0.999999996227,8.34903472115e-05,6.37896702209e-06,2.31019105579e-05,1793250781046557952
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.47866885,747,722.52133115,686.52133115,674.47866885,642,887,787.47866885,818.52133115,657,632,656,0.410967237817,0.0045129635072,0.0499769820655,0.999999988043,0.000143564550396,-5.05997564313e-05,2.7250953814e-05,1793250781063224832
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.103650056,747,722.896349944,687,674,642,887,787,819,657,632,656,0.411606195121,0.00450822685913,0.0499508130076,0.999999975737,0.000191787455362,-0.000103783460445,3.11954654927e-05,1793250781079891456
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.697162674,747,722.302837326,687,674,642,887,787,819,657,632,656,0.412323965606,0.00450111695781,0.0499410842492,0.999999978485,0.000174548751495,-0.000106838063175,3.38734201388e-05,1793250781096557824
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,722,687,674,642,887,787,819,657,632,656,0.413080452798,0.0044932837076,0.0499502527919,0.99999998524,0.000147047041554,-8.17994316001e-05,3.47328572768e-05,1793250781113224448
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,722,687,674,642,887,787,819,657,632,656,0.413877276725,0.00448469684207,0.049979109314,0.99999999313,0.000108852909837,-2.7492120404e-05,3.36976887713e-05,1793250781129890816
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.564970991,746.564970991,722,687,674,642,887.435029009,787,819.435029009,656.564970991,632,656,0.414636719746,0.0044806868186,0.0499750030115,0.999999998515,3.31970550393e-05,-3.7575637292e-05,2.13316836191e-05,1793250781146557440
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.010226992,722.010226992,687.020453983,674,642,888.010226992,787.010226992,820,656,632,656,0.415384993309,0.00447860728894,0.0499601727149,0.999999996278,-5.22825201712e-05,-6.8401666349e-05,5.62118160455e-06,1793250781163224064
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.598486181,722.598486181,688.196972362,674,642,888.598486181,787.598486181,820,656,632,656,0.416181596616,0.00450242750957,0.0499385214964,0.999999994815,-1.19044192202e-05,-0.000100900693188,6.88643980921e-06,1793250781179890944
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.183887314,747,722.816112686,688.816112686,674.367774628,642,889,788,820.183887314,656,632,656,0.417000419238,0.00451918575762,0.0499320129606,0.999999993762,2.7003776429e-05,-0.000108021989514,8.85255736968e-06,1793250781196557824
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.76314342,747,722.23685658,688.23685658,675.52628684,642,889,788,820.76314342,656,632,656,0.417867014675,0.00452076033823,0.0499580621053,0.99999999612,6.27515847167e-05,-6.05796362809e-05,1.23255646623e-05,1793250781213224448
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746.659127973,722,688.340872027,675.318255946,642,889.340872027,788,821.340872027,656.340872027,632,656,0.418723142866,0.00451199550688,0.0499716513634,0.999999997179,5.98065630324e-05,-4.26984510267e-05,1.55719653348e-05,1793250781229890816
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746.082456045,722,688.917543955,674.16491209,642,889.917543955,788,821.917543955,656.917543955,632,656,0.419572030253,0.00449607833639,0.0499766214328,0.999999998348,3.00955845255e-05,-4.52663511184e-05,1.86616096316e-05,1793250781246557696
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.505596476,746,722,689,673.505596476,642.494403524,890.494403524,787.505596476,822,657,632,656,0.420440266668,0.00449212528197,0.0499650203096,0.999999998337,1.5645135708e-05,-5.23659221518e-05,1.84137715654e-05,1793250781263224064
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.071110122,746,722,689,673.071110122,642.928889878,891,787,822.071110122,656.928889878,632.071110122,656,0.421321829486,0.00449054148196,0.049955871277,0.999999998442,7.27565611802e-06,-5.24449197994e-05,1.76578099007e-05,1793250781279890688
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.646509606,746,722,689,673.646509606,642.353490394,891,787,822.646509606,656.353490394,632.646509606,656,0.422275004745,0.00449160383564,0.0499837185188,0.99999999956,2.39743024612e-05,2.62548440018e-06,1.72472778414e-05,1793250781296557568
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.772256584,746.227743416,722.227743416,689.455486832,674,642.227743416,891,787.227743416,823,656.227743416,633,656,0.423205701338,0.00449501761614,0.0499948187452,0.999999998992,3.43247161352e-05,2.33054351381e-05,1.71451473796e-05,1793250781313224192
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.181728884,746.818271116,722.818271116,690.636542231,674,642.818271116,891,787.818271116,823,656.818271116,633,656,0.424100590648,0.00450217710637,0.0499792417876,0.999999999191,3.45627038519e-05,-1.07969401879e-05,1.75342857924e-05,1793250781329891072
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.400543224,746.599456776,722.599456776,690.599456776,674,643,891.400543224,788,823,657,632.599456776,656,0.425033706219,0.00450673848098,0.0499808047588,0.999999999302,3.15717325304e-05,-7.94575435633e-06,1.8341358782e-05,1793250781346557696
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.979145328,746.020854672,722.020854672,690.020854672,674,643,891.979145328,788,823,657,632.020854672,656,0.425983814974,0.0045101448798,0.0499899871745,0.99999999938,2.71453485007e-05,1.13328982782e-05,1.93342218406e-05,1793250781363224576
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.445470933,746.554529067,722.554529067,690.554529067,674,642.445470933,892,787.445470933,823,657,632,656,0.42690158115,0.00450112284894,0.0499996488739,0.999999999323,2.86038888944e-05,6.62859695073e-06,2.21809296001e-05,1793250781379891200
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.867667083,722.867667083,691,673.867667083,642,892,787,823.132332917,656.867667083,632,656,0.427811138479,0.00449342966585,0.049998009275,0.999999999136,3.12781337629e-05,-1.25661711805e-05,2.43296597101e-05,1793250781396557824
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.28114399,722.28114399,691,673.28114399,642,892,787,823.71885601,656.28114399,632,656,0.428696672126,0.00449189229355,0.0499575200964,0.999999995943,3.7369667768e-05,-7.8417020442e-05,2.38448978512e-05,1793250781413224448
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.30213565,746.30213565,722,691.604271299,673.30213565,642.30213565,892.30213565,787.30213565,824,656.30213565,632,656,0.429628450286,0.00449251652538,0.0499428233114,0.999999994817,3.34673711809e-05,-9.33264971222e-05,2.31606319648e-05,1793250781429890816
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.882429208,746.882429208,722,692.764858416,673.882429208,642.882429208,892.882429208,787.882429208,824,656.882429208,632,656,0.430602802905,0.00449513081469,0.0499518720159,0.999999997663,2.03643626046e-05,-6.13373482277e-05,2.22926949354e-05,1793250781446557696
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,722.458595783,692.541404217,674,643,893.458595783,787.541404217,824.458595783,657,632,656,0.431514882889,0.00449952926761,0.049943110912,0.999999996459,1.75278449268e-05,-7.9209574655e-05,2.23888057221e-05,1793250781463224576
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,723,692.034507204,673.965492796,643,894.034507204,787,825,657,632.034507204,656,0.432412267315,0.00450380917902,0.0499310008045,0.999999993872,1.87820511567e-05,-0.000106710674036,2.27142439239e-05,1793250781479891200
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,723,692.623159823,673.376840177,643,894.623159823,787,825,657,632.623159823,656,0.433327748437,0.00449890551593,0.0499377790611,0.999999995134,4.38381018306e-05,-8.53906155258e-05,2.2788804108e-05,1793250781496558080
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.79163595,747,723,693,673.20836405,643,894.79163595,787,825,657,632.79163595,656,0.434258114211,0.00449328159054,0.0499532987166,0.999999996816,5.08224274648e-05,-5.68533414479e-05,2.35053325576e-05,1793250781513224704
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.212566737,747,723,693,673.787433263,643,894.212566737,787,825,657,632.212566737,656,0.435214961758,0.00448637622949,0.0499843703924,0.999999999229,2.56549452462e-05,-1.54757534792e-05,2.53640011828e-05,1793250781529890816
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.36444496,747,722.63555504,693,673.63555504,643,894.36444496,787,825.36444496,657,632.36444496,656,0.436083943309,0.00448639141313,0.049975881184,0.99999999844,1.34938925239e-05,-4.71555442063e-05,2.67407764222e-05,1793250781546557440
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.940263291,747,722.059736709,693,673.059736709,643,894.940263291,787,825.940263291,657,632.940263291,656,0.436901963658,0.00449042042373,0.0499444471717,0.999999992227,8.87640241297e-06,-0.000121207673452,2.78380595138e-05,1793250781563224320
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,722.516537602,693.516537602,673,643,895,787,826,657,632.483462398,656,0.43780109904,0.00449084471421,0.04995425407,0.999999995904,2.1656633968e-05,-8.38784076667e-05,2.62185202602e-05,1793250781579890944
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,693.905146387,673.094853613,643,895.094853613,787,826,656.905146387,632,656,0.438696347869,0.00449079176561,0.0499675117286,0.999999998281,3.35880306622e-05,-4.12363852638e-05,2.46666948994e-05,1793250781596557568
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,693.316475881,673.683524119,643,895.683524119,787,826,656.316475881,632,656,0.439522482339,0.00449042649868,0.0499738822654,0.999999998492,3.06163045685e-05,-3.80549813629e-05,2.51045739495e-05,1793250781613224448
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,896,787,826,656,632,656,0.440345157299,0.00449029939182,0.0499688360637,0.999999998237,2.47768192907e-05,-4.76194822732e-05,2.53693017915e-05,1793250781629891328
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,896,787,826,656,632,656,0.441163809891,0.00449044918946,0.0499505158233,0.999999996963,1.5603041695e-05,-7.20034198328e-05,2.5432709766e-05,1793250781646557952
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.576367387,747,723,693,674,643,896,787,826.423632613,656.423632613,632,656,0.441962447132,0.00449064030245,0.0499563283715,0.999999997743,2.12330182059e-05,-5.80292181941e-05,2.63929409535e-05,1793250781663224320
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.000522303,747,723,693,674,643,896,787,826.999477697,656.999477697,632,656,0.442753892863,0.00449084626018,0.0499708119017,0.999999998641,3.21820273203e-05,-3.02728237526e-05,2.76754034067e-05,1793250781679890688
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.575662952,747,723,693,673.424337048,642.424337048,895.424337048,786.424337048,827,656.424337048,632,656,0.44345606729,0.00449726584385,0.0499543857484,0.999999996294,5.39037769602e-05,-6.06234926124e-05,2.88397063204e-05,1793250781696557312
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,747.155286385,723,693.155286385,672.844713615,642,895.155286385,786.155286385,827,656,632,656,0.444133188961,0.00450474582747,0.0499258759057,0.99999999077,7.2609524196e-05,-0.000110898137198,2.98176421298e-05,1793250781713224192
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,747.744516991,723,693.744516991,672.255483009,642,895.744516991,786.744516991,827,656,632,656,0.444740527921,0.00451517331208,0.0498636768842,0.999999972629,8.28597970242e-05,-0.000216702464632,3.02750792794e-05,1793250781729890816
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+247,4.116666667,HOLD_POSE2,769.574717847,747.425282153,723.574717847,694,667.425282153,632,898,785,828,657,632,656.425282153,0.455237912641,0.00464298673463,0.0496296018603,0.999999818806,0.000226354834864,-0.000557732343266,9.25352878616e-06,1793250782701610240
+248,4.133333333,HOLD_POSE2,770,747,723.850511972,693.850511972,667,632,898,785.149488028,828,656.850511972,632,656.149488028,0.455237448695,0.00464200126986,0.0496284596901,0.999999818926,0.00022414997185,-0.000558412453858,8.90826642632e-06,1793250782718277120
+249,4.150000000,HOLD_POSE2,770,747,723.275592722,693.275592722,667,632,898,785.724407278,828,656.275592722,632,656.724407278,0.45523876237,0.00464069078433,0.0496296031966,0.999999819438,0.000223879731816,-0.000557590788383,9.67464949494e-06,1793250782734943744
+250,4.166666667,HOLD_POSE2,769.692092697,747,723,693,667.307907303,632,898,785.692092697,828,656.307907303,631.692092697,657,0.455238682826,0.00464103251924,0.0496297658112,0.999999819066,0.000224985365825,-0.000557808063261,9.95548538391e-06,1793250782751610368
+251,4.183333333,HOLD_POSE2,769.100692308,747,723,693,667.899307692,632,898,785.100692308,828,656.899307692,631.100692308,657,0.455237320531,0.0046428954688,0.0496290253096,0.999999817876,0.000227357779742,-0.000558981900131,9.78927347026e-06,1793250782768276736
+252,4.200000000,HOLD_POSE2,769,747.477851862,723.477851862,693.477851862,667.522148138,632,898,785.477851862,828,657,631.477851862,657,0.455236938084,0.00464267005602,0.0496285568004,0.999999817803,0.000226498856366,-0.000559465946627,9.47579755138e-06,1793250782784943616
+253,4.216666667,HOLD_POSE2,769.053936168,748,724,693.946063832,667.053936168,632,898,786,828,657,631.946063832,657,0.455236861653,0.00464190688854,0.0496282859464,0.999999817998,0.000225048360224,-0.000559707340572,9.21072394026e-06,1793250782801609984
+254,4.233333333,HOLD_POSE2,769.631751438,748,724,693.368248562,667.631751438,632,898,786,828,657,631.368248562,657,0.455237804613,0.00464008280541,0.0496293928048,0.999999818577,0.000224292253397,-0.000558966668661,9.70928781094e-06,1793250782818276608
+255,4.250000000,HOLD_POSE2,770,748,723.787064579,693,667.787064579,632,898,785.787064579,828,657,631.212935421,656.787064579,0.455238276835,0.004639448034,0.0496296042133,0.999999818776,0.000223721704206,-0.000558838729225,9.83091737964e-06,1793250782834943744
+256,4.266666667,HOLD_POSE2,770,748,723.199961188,693,667.199961188,632,898,785.199961188,828,657,631.800038812,656.199961188,0.455237921879,0.00464090310932,0.0496282421464,0.999999818305,0.000223477215097,-0.000559787477184,9.2902017488e-06,1793250782851610368
+257,4.283333333,HOLD_POSE2,769.618179188,747.618179188,723.381820812,693,667.381820812,632,898,785.381820812,828,657,632,656.381820812,0.455236999866,0.00464165758574,0.0496276451178,0.999999817554,0.000223170156338,-0.000561251976792,9.0859591864e-06,1793250782868276736
+258,4.300000000,HOLD_POSE2,769.039145665,747.039145665,723.960854335,693,667.960854335,632,898,785.960854335,828,657,632,656.960854335,0.455235784963,0.00464205019881,0.0496274432359,0.999999816657,0.000222830779962,-0.000562982865265,9.05550690759e-06,1793250782884943360
+259,4.316666667,HOLD_POSE2,769.53932093,747,723.46067907,693,667.46067907,632,897.46067907,786,827.46067907,657,632,657,0.455237898063,0.00464150197279,0.0496284607445,0.999999817881,0.000224129193923,-0.000560283810509,9.29646778623e-06,1793250782901609984
+260,4.333333333,HOLD_POSE2,770,747.116730025,723,693,667.116730025,632,897.116730025,786,827.116730025,657,632,657,0.45523965945,0.00464115186903,0.0496292253879,0.999999818799,0.000225111044752,-0.000558244993591,9.46207006453e-06,1793250782918276608
+261,4.350000000,HOLD_POSE2,770,747.690162679,723,693,667.690162679,632,897.690162679,786,827.690162679,657,632,657,0.45523910068,0.00464184381101,0.0496286547855,0.999999817956,0.000224389741638,-0.000560046029062,9.2558393174e-06,1793250782934943232
+262,4.366666667,HOLD_POSE2,770,748,723.270773415,693,667.729226585,632,898,785.729226585,828,657,632,657,0.455238424613,0.00464251334843,0.0496281587674,0.999999817046,0.000225175980182,-0.000561353786836,9.26978399266e-06,1793250782951610112
+263,4.383333333,HOLD_POSE2,770,748,723.859821434,693,667.140178566,632,898,785.140178566,828,657,632,657,0.455237610671,0.00464315655087,0.0496277504178,0.999999816055,0.000227734225159,-0.000562081732178,9.54252899503e-06,1793250782968276992
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,748,724,693,667,632,898,785,828,657,631,657,0.455239367584,0.00464364585933,0.0496290021062,0.999999818101,0.000223835654727,-0.000560009258417,9.24166831036e-06,1793250783001044480
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747.423004212,723.423004212,693.576995788,667,632,898,785,828,657,631.576995788,657,0.455239117751,0.00464269731814,0.0496282320122,0.999999817751,0.00022465437386,-0.000560305030938,9.32501684554e-06,1793250783017711104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.84667325,747.15332675,723.15332675,693.84667325,667,632,898,785,828,657,632,657,0.455238903898,0.00464249148461,0.0496276523026,0.999999817485,0.000225419119915,-0.000560473740978,9.28062463122e-06,1793250783034377728
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.272168387,747.727831613,723.727831613,693.272168387,667,632,898,785,828,657,632,657,0.455238788881,0.00464432581811,0.0496275955658,0.99999981745,0.000226035605795,-0.000560293419123,8.88533731984e-06,1793250783051044608
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.689421811,723.689421811,693,667,632,898.310578189,785.310578189,828,657,632,657,0.45523898065,0.00464461247265,0.0496277368284,0.999999817605,0.000225842269958,-0.000560092753195,8.97575940374e-06,1793250783067711232
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747.099255941,723.099255941,693,667,632,898.900744059,785.900744059,828,657,632,657,0.455239448594,0.00464350588061,0.0496280563334,0.999999817931,0.000224919919028,-0.000559873773203,9.50342523361e-06,1793250783084377600
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723.481619357,693.481619357,667,632,898.518380643,785.518380643,828,657,632,656.518380643,0.45523903234,0.00464305406389,0.0496279008558,0.999999817386,0.000225418439952,-0.000560649988129,9.27261676182e-06,1793250783101044224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.060218998,747.060218998,724,694,667.060218998,632,898.060218998,785.060218998,828,657,632,656.060218998,0.455238470223,0.00464274195173,0.0496277398743,0.999999816834,0.000226035109175,-0.000561392326997,8.91721962338e-06,1793250783117710848
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.635421712,747.635421712,724,694,667.635421712,632,898.635421712,785.635421712,828,657,632,656.635421712,0.455238189556,0.00464249241398,0.0496283531069,0.999999817733,0.000225205366015,-0.000560124193053,8.80782060991e-06,1793250783134377728
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.788831778,747.788831778,724,693.788831778,667.788831778,632,898.788831778,786,827.788831778,656.788831778,631.788831778,656.788831778,0.455231870633,0.00464193662633,0.0496257465365,0.999999815371,0.000225115902404,-0.000564357508168,9.07118739199e-06,1793250783151044352
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.212144047,747.212144047,724,693.212144047,667.212144047,632,898.212144047,786,827.212144047,656.212144047,631.212144047,656.212144047,0.455215099854,0.00464085073849,0.0496175666803,0.999999807235,0.000226307818289,-0.000578113501232,9.9797893872e-06,1793250783167711232
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,667,632,898,786,827.372778244,656,631,656,0.455184387701,0.00464187859561,0.04960306574,0.999999793053,0.000226138905071,-0.000602213851764,9.66294511408e-06,1793250783184377856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,667,632,898,786,827.962492643,656,631,656,0.455145562446,0.00464413653434,0.0495848862803,0.999999774687,0.00022517806514,-0.000632334042567,8.63295950898e-06,1793250783201044480
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.542755672,747,723.457244328,693,667,632,898,785.457244328,828,656.542755672,631.542755672,656.542755672,0.455082768705,0.00464401700664,0.0495631834787,0.999999752539,0.000226058080137,-0.000666148816393,8.09250395521e-06,1793250783217711104
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747.12061899,723,692.87938101,667,632,898,785.12061899,828,656.87938101,632,656.87938101,0.45501712233,0.00464425051085,0.0495429856385,0.999999731852,0.000227143007885,-0.000696165749077,7.44716821136e-06,1793250783234377472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747.691914882,723,692.308085118,667,632,898,785.691914882,828,656.308085118,632,656.308085118,0.45494690026,0.00464640643479,0.0495293050492,0.999999721068,0.000228526386692,-0.000711054936922,6.28572653294e-06,1793250783251044096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.72804177,748,723,692.27195823,667,632,898,785.72804177,828,656.27195823,632,656.27195823,0.454871544303,0.00464758564733,0.0495203863304,0.999999714516,0.0002303380648,-0.000719640111189,5.4259834528e-06,1793250783267710720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.137759665,748,723,692.862240335,667,632,898,785.137759665,828,656.862240335,632,656.862240335,0.454790179196,0.00464762163066,0.0495170413252,0.999999713115,0.000232651062111,-0.000720846511739,4.91937506715e-06,1793250783284377600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.445653684,747.554346316,723.445653684,693.445653684,667,632,898,785,828,657,632,656.554346316,0.454693108626,0.00464909224658,0.0495178831097,0.999999714115,0.000235307836885,-0.000718597034112,4.26626944498e-06,1793250783301044224
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,723.973300984,694,667.026699016,632,898,785.026699016,827.973300984,657,631.973300984,656,0.454590028141,0.00465096741951,0.0495201633425,0.99999971591,0.000238112534756,-0.000715171485059,3.59115830014e-06,1793250783317710848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,723.397947479,694,667.602052521,632,898,785.602052521,827.397947479,657,631.397947479,656,0.454461697045,0.00465218125151,0.049525811248,0.999999719279,0.000241806379336,-0.000709197541919,3.38030521916e-06,1793250783334377728
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.822991638,747,723.177008362,693.822991638,667.822991638,632.177008362,897.822991638,785.822991638,827.177008362,657,631,656,0.454327119106,0.00465327720258,0.0495330739699,0.999999724731,0.000244850299138,-0.0007004108872,3.14581483553e-06,1793250783351044352
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.248927893,747,723.751072107,693.248927893,667.248927893,632.751072107,897.248927893,785.248927893,827.751072107,657,631,656,0.45417852861,0.00465410872946,0.0495439589577,0.999999734802,0.000246436343049,-0.000685314913931,2.85830258785e-06,1793250783367710976
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723.664396387,693,667,633,897,785,827.664396387,657,631.335603613,656,0.454007287398,0.00465628402639,0.0495513846561,0.999999739714,0.000250939413453,-0.000676458795173,2.2431695152e-06,1793250783384377600
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723.071850575,693,667,633,897,785,827.071850575,657,631.928149425,656,0.453818704507,0.00465948813004,0.0495561618817,0.999999740753,0.000257675794921,-0.000672379983193,1.37720593352e-06,1793250783401044736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.50714194,747,723.50714194,693.50714194,667.50714194,633,897,785.50714194,827.50714194,657,632,656,0.453592096826,0.00466055601478,0.0495578799069,0.999999739226,0.000261393217905,-0.00067321612177,1.15054931553e-06,1793250783417711360
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,693.91597917,668,633,897,786,827.91597917,657,632,656,0.453354733022,0.00466152100155,0.0495600467154,0.999999738129,0.000264863219702,-0.000673490431788,9.32567327741e-07,1793250783434377728
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,693.340523741,668,633,897,786,827.340523741,657,632,656,0.453085146637,0.0046636082769,0.0495673075105,0.999999741614,0.000269322656359,-0.000666511789942,2.49340518009e-07,1793250783451044096
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.759687048,747,724,693,668,633.240312952,897.240312952,786,827,656.759687048,631.759687048,656,0.452804256269,0.00466600363979,0.0495744859659,0.999999744225,0.000274977602192,-0.000660255871698,-3.85357714088e-07,1793250783467710720
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769.171050473,747,724,693,668,633.828949527,897.828949527,786,827,656.171050473,631.171050473,656,0.452506981263,0.00466884556261,0.0495815450731,0.999999745591,0.000282365388565,-0.00065504751167,-9.49715751255e-07,1793250783484377344
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747.409653373,723.590346627,693,668,634,898,786,827.409653373,656.409653373,631,656,0.452179438015,0.00467193237674,0.0495878494208,0.999999746341,0.00028976119057,-0.000650656190317,-1.81053057962e-06,1793250783501043968
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.435594303,723,692.435594303,668,634,898,786,827.435594303,656.435594303,631.564405697,656,0.451438080221,0.00467920457455,0.0495859963214,0.999999738005,0.000302514716869,-0.00065761073089,-4.7690803974e-06,1793250783534377728
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.140917716,747,723.140917716,692.140917716,668,634.140917716,897.859082284,786,827,656.140917716,631.859082284,656,0.451032432471,0.00468347857551,0.0495815731653,0.999999734903,0.000308195769833,-0.000659668026225,-6.8948706196e-06,1793250783551044352
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.540960355,747,722.540960355,685.540960355,674,642,885.459039645,787,819,656.540960355,632.540960355,656,0.405612621371,0.00461257250627,0.0497679004109,0.999999909554,0.000129607408885,-0.000402543509834,-4.53157626213e-05,1793250784567711232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,722.882374454,685.882374454,674,642,885.117625546,787,819,657,632.882374454,655.882374454,0.405161245646,0.00461496373411,0.0497658114969,0.999999907336,0.000133543824658,-0.000406661574495,-4.60560240115e-05,1793250784584377856
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,722.307618692,685.307618692,674,642,885.692381308,787,819,657,632.307618692,655.307618692,0.404793686085,0.00461634196292,0.0497879199252,0.999999922134,0.000136197808918,-0.000367441376043,-4.65750592022e-05,1793250784601044480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.273678041,642,886,786.726321959,819,657,632,655.273678041,0.404446255007,0.00461703301778,0.0498115017976,0.999999934766,0.000137841273975,-0.000330588552754,-4.66691493228e-05,1793250784617711104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.86250692,642,886,786.13749308,819,657,632,655.86250692,0.404122002678,0.0046169327652,0.0498367803965,0.999999945418,0.000138321087034,-0.000296461855992,-4.62738987686e-05,1793250784634377472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.556164089,642,886,786.443835911,819,657,632,655.556164089,0.4038007393,0.00461932677539,0.0498475458468,0.999999948997,0.000142034779953,-0.00028222427028,-4.67123214975e-05,1793250784651044096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,746.977216843,722,685,674,641.977216843,886,787,819,657,632,655.022783157,0.403480779717,0.00462234205811,0.0498531283011,0.999999950198,0.000146556650279,-0.000275460513742,-4.74052344398e-05,1793250784667710976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746.400627484,722,685,674,641.400627484,886,787,819,657,632,655.599372516,0.403170379099,0.00462198903788,0.0498401938753,0.999999942139,0.000146776582576,-0.000303089533656,-4.81108705309e-05,1793250784684377600
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.25122111,746,722,685,674,641.74877889,886,787,818.25122111,657,632.74877889,656,0.402623931039,0.00462412190462,0.0498211385826,0.999999929952,0.000146837840085,-0.000340537818797,-5.06721181333e-05,1793250784717710848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.333590174,746.333590174,722.333590174,685,674,642,886,787,818.333590174,657,633,656,0.402395819527,0.00462238120869,0.0498145462013,0.999999931397,0.00010459667841,-0.000351547055183,-5.17787470393e-05,1793250784734377472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.927058326,746.927058326,722.927058326,685,674,642,886,787,818.927058326,657,633,656,0.402187434067,0.00461786498094,0.0498088276103,0.9999999333,2.95028772501e-05,-0.000360239201164,-5.25113658856e-05,1793250784751044096
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,722.494224807,685,674,642,885.494224807,787,819,657,632.494224807,656,0.402018708306,0.0046053184399,0.0498123982595,0.999999937766,7.24287593899e-06,-0.000348605435691,-5.37509113399e-05,1793250784767710976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.917886431,746.917886431,722,685,674,642,885,787,819,657,632,656,0.401859556391,0.00459121873763,0.0498173421377,0.99999994253,-7.54380969002e-06,-0.000334522990244,-5.45748048238e-05,1793250784784377600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.343414895,746.343414895,722,685,674,642,885,787,819,657,632,656,0.401724486439,0.00457455350213,0.0498227148703,0.999999946271,-2.19126657114e-05,-0.000322836574225,-5.24804885999e-05,1793250784801044224
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.23728232,746.23728232,722,684.76271768,674,642,885,786.76271768,819,657,632.23728232,656,0.40160183406,0.0045684775431,0.0498285995656,0.999999950682,3.36649573877e-06,-0.000310785955899,-4.51385638086e-05,1793250784817710848
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.827232604,746.827232604,722,684.172767396,674,642,885,786.172767396,819,657,632.827232604,656,0.40149763768,0.00457814021475,0.0498352451805,0.999999951256,8.75737129842e-05,-0.000298194030158,-2.99972233192e-05,1793250784834377472
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.409047671,786.409047671,819,657,633,656,0.401403901243,0.00458634157373,0.0498339890143,0.999999948507,0.000119127835846,-0.000296715458458,-2.74572607849e-05,1793250784851044096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.987493696,786.987493696,819,657,633,656,0.401314496572,0.00459393776103,0.0498294604942,0.99999994629,0.000128876802575,-0.000299839245804,-3.01358901631e-05,1793250784867710976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.43606113,747,722,684.56393887,674,641.43606113,886,786.43606113,819,657,632.43606113,656,0.401246384217,0.00458874669023,0.049830244114,0.999999947133,0.000121175055069,-0.000300283028147,-2.96782960015e-05,1793250784884377856
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.715398537,747,722,685,674,641.715398537,886,786.715398537,819,657,632.715398537,656,0.401136586015,0.00458911521579,0.0498318000989,0.99999994843,0.000122211793576,-0.00029540706077,-3.06548952875e-05,1793250784917711104
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,722,684.70239431,674,642,886,787,819,657,632.70239431,656,0.401097581636,0.00458940046625,0.0498330671414,0.999999949572,0.000122039797978,-0.000291536535205,-3.11154106227e-05,1793250784934377728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.113446356,674,642,886,787,819,657,632.113446356,656,0.401066548007,0.00458641478388,0.0498348862088,0.999999951329,0.000116066469112,-0.000287944695013,-3.09440840298e-05,1793250784951044096
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,886,787,819,657,632,656,0.401042687413,0.00458916048785,0.0498358213634,0.999999951503,0.000119302661058,-0.0002859764378,-3.12826423957e-05,1793250784967710976
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,722,684.046534496,674,642,886,786.953465504,819,657,632,656,0.401021302154,0.00459282741205,0.0498364977151,0.999999951346,0.000124184092356,-0.000284394315821,-3.17275388186e-05,1793250784984377344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.623361421,674,642,886,786.376638579,819,657,632,656,0.401008622885,0.00459140971939,0.049836628024,0.999999951964,0.000122775211598,-0.000282798253071,-3.19979497973e-05,1793250785001044224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,886,786,819,657,632.19926122,656,0.400997598771,0.0045903401725,0.0498367550114,0.999999952434,0.000121516780549,-0.000281664614348,-3.21157503031e-05,1793250785017711104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,642,886,786,819,657,632.773416673,656,0.400989688699,0.00458992563442,0.0498368757498,0.999999952631,0.000120541408815,-0.000281400989967,-3.19464262533e-05,1793250785034377728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769.642823294,747,722,685,674,642,885.642823294,786.357176706,819,657,632.642823294,656,0.400984562116,0.00458943861635,0.0498368631345,0.999999952747,0.000120024925744,-0.000281202212424,-3.20288599067e-05,1793250785051044608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.052802029,747,722,685,674,642,885.052802029,786.947197971,819,657,632.052802029,656,0.400981250096,0.00458890434838,0.0498367635856,0.999999952809,0.000119807593598,-0.00028104570874,-3.22754151643e-05,1793250785067711232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,722,685,674,642,885,787,819,657,632,655.475110319,0.400981508064,0.00458988754555,0.0498382453712,0.999999953705,0.000120456569605,-0.000277544535407,-3.24037410016e-05,1793250785084377856
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.101625548,747,722,685,674.101625548,642,885.101625548,786.898374452,819,657,632.101625548,655.101625548,0.400981837365,0.00459088965108,0.0498397431482,0.999999954528,0.000120855869114,-0.000274377553405,-3.24908589441e-05,1793250785101044480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.67956109,747,722,685,674.67956109,642,885.67956109,786.32043891,819,657,632.67956109,655.67956109,0.400980856431,0.00459128133398,0.0498405874092,0.999999954686,0.000119685878218,-0.000274317672431,-3.24393033127e-05,1793250785117710848
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.738734338,747,722,685,674.738734338,642,885.738734338,786,819,657,632.738734338,656,0.400980378032,0.00459162392472,0.0498411763549,0.999999954928,0.000118706612149,-0.000273833350693,-3.26658246582e-05,1793250785134377472
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.152339361,747,722,685,674.152339361,642,885.152339361,786,819,657,632.152339361,656,0.40098052501,0.0045919054233,0.0498414475764,0.999999955274,0.000117964691435,-0.000272820838083,-3.32383959778e-05,1793250785151044352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.428444063,747,722,685,674.428444063,642,885.428444063,786,819,657,632,656,0.400979813347,0.00459118466998,0.0498415066315,0.999999955494,0.000117510653665,-0.000272240756981,-3.29800219055e-05,1793250785167710976
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.99274944,642,886,786,819,657,632,656,0.400978816235,0.0045901115699,0.049841508565,0.999999955673,0.000117149910338,-0.000271805011395,-3.24329896868e-05,1793250785184377600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,685,674.414527216,642,886,786,819,657,632,656,0.400979071764,0.00458899207827,0.0498428761464,0.999999956073,0.000116179408465,-0.000270783859476,-3.21203561679e-05,1793250785201044480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.837065325,747,722,684.837065325,674,642,886,786.162934675,818.837065325,657,632.162934675,655.837065325,0.400979062524,0.0045884562634,0.0498436155377,0.99999995627,0.000115855834006,-0.000270204052846,-3.20342813202e-05,1793250785217711104
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.261528873,747,722,684.261528873,674,642,886,786.738471127,818.261528873,657,632.738471127,655.261528873,0.400978382803,0.00458939850152,0.0498427641542,0.999999955956,0.000117170483021,-0.000270741871181,-3.25219242101e-05,1793250785234377472
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,746.677857326,722.322142674,684,674,642,886,786.677857326,818.322142674,657,632.677857326,655.322142674,0.40097943673,0.00458943237977,0.049843071098,0.999999956228,0.000117289257124,-0.000269681091441,-3.25533829917e-05,1793250785251044096
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746.087410296,722.912589704,684,674,642,886,786.087410296,818.912589704,657,632.087410296,655.912589704,0.400981934565,0.00458870970835,0.0498443427831,0.999999956984,0.000116412017668,-0.000267288880411,-3.22048977251e-05,1793250785267710720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746.492231401,722.507768599,684,674,641.507768599,885.507768599,786,819,657,632,656,0.400982758192,0.00458935662792,0.0498453595236,0.999999957583,0.000115059636163,-0.000265630999756,-3.21850145814e-05,1793250785284377344
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.069619035,747,722,684.069619035,674,641.069619035,885,786.069619035,819,657,632,656,0.40098285196,0.00459010612706,0.0498458990812,0.999999957914,0.000114032639245,-0.000264817499229,-3.22393238765e-05,1793250785301043968
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.644275334,747,722,684.644275334,674,641.644275334,885,786.644275334,819,657,632,656,0.400979761529,0.00458987333767,0.0498432983802,0.999999956515,0.000115965017892,-0.000269203728642,-3.24176295279e-05,1793250785317710848
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,722.219387547,684.780612453,674,642,885,787,818.780612453,657,632,656,0.400978676314,0.00459009763704,0.0498425061568,0.999999955971,0.00011772928156,-0.000270429102448,-3.26606258761e-05,1793250785334377728
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,722.79524063,684.20475937,674,642,885,787,818.20475937,657,632,656,0.400980849217,0.00459106462386,0.0498446523857,0.999999956832,0.000119220388756,-0.000266518651782,-3.30087330681e-05,1793250785351044352
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,747,722.619332036,684.380667964,674,642,885.380667964,786.619332036,818.380667964,657,632,656,0.400981555655,0.00459098555799,0.0498453026278,0.999999957149,0.000119504023306,-0.000265213185481,-3.28904596852e-05,1793250785367710720
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,722.028621926,684.971378074,674,642,885.971378074,786.028621926,818.971378074,657,632,656,0.400981452937,0.00459032930886,0.0498451274253,0.999999957172,0.00011912140747,-0.000265345078367,-3.25148502675e-05,1793250785384377344
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,746.451064823,722,684.451064823,674,642,886,786,819,657,632,656,0.400981050699,0.00458912783929,0.0498454328659,0.999999957562,0.000115778357326,-0.00026539942378,-3.21542092054e-05,1793250785401044224
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..513a4a4979290dadd7319e31ee6086d027b98faa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+2,0.033333333,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+3,0.050000000,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+4,0.066666667,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+5,0.083333333,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+6,0.100000000,pose1_baseline,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
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+377,6.283333333,pose2_to_pose3_retreat,0.575884919325,0.0101500844682,1.04003348771,0.546455598923,0.0188227223435,1.03970488924
+378,6.300000000,pose2_to_pose3_retreat,0.575835455491,0.0101500254737,1.04003343282,0.546406135159,0.0188226634231,1.03970483012
+379,6.316666667,pose2_to_pose3_retreat,0.575795639202,0.0101500742083,1.0400335757,0.546366318546,0.0188227108071,1.03970496639
+380,6.333333333,pose2_to_pose3_retreat,0.575763142188,0.0101501749353,1.04003370523,0.546333820551,0.0188228080705,1.03970509231
+381,6.350000000,pose2_to_pose3_retreat,0.575737340997,0.0101501391485,1.04003342365,0.546308018885,0.0188227708553,1.03970481561
+382,6.366666667,pose2_to_pose3_retreat,0.575717204302,0.0101500934411,1.04003353694,0.546287883349,0.0188227288816,1.03970492356
+383,6.383333333,pose2_to_pose3_retreat,0.575701653529,0.0101500386659,1.04003337205,0.54627233293,0.0188226755551,1.03970476531
+384,6.400000000,pose2_to_pose3_retreat,0.57568983401,0.0101500481528,1.04003336801,0.546260513843,0.0188226866126,1.03970476412
+385,6.416666667,pose2_to_pose3_retreat,0.575681024858,0.0101500806349,1.04003354108,0.54625170542,0.0188227214909,1.03970493502
+386,6.433333333,pose2_to_pose3_retreat,0.575675163689,0.0101499527196,1.04003360561,0.546245845256,0.0188225970538,1.03970500151
+387,6.450000000,pose2_to_pose3_retreat,0.575671321862,0.0101500007881,1.04003356654,0.54624200208,0.0188226405676,1.03970496306
+388,6.466666667,pose2_to_pose3_retreat,0.575669130075,0.0101500729396,1.04003351666,0.546239808843,0.0188227078034,1.03970491331
+389,6.483333333,pose2_to_pose3_retreat,0.575668011919,0.0101501000185,1.04003351261,0.546238690204,0.0188227332077,1.03970490831
+390,6.500000000,pose2_to_pose3_retreat,0.575667513459,0.0101501090563,1.04003351748,0.546238191609,0.0188227417588,1.03970491243
+391,6.516666667,pose2_to_pose3_retreat,0.575667427078,0.0101501106225,1.04003351833,0.546238105204,0.0188227432407,1.03970491314
+392,6.533333333,pose2_to_pose3_retreat,0.575667225182,0.0101501142831,1.0400335203,0.546237903254,0.0188227467042,1.03970491481
+393,6.550000000,pose2_to_pose3_retreat,0.575666865268,0.0101501208089,1.04003352382,0.546237543242,0.0188227528786,1.03970491778
+394,6.566666667,pose2_to_pose3_retreat,0.575666652656,0.0101501246639,1.04003352589,0.546237330572,0.0188227565259,1.03970491954
+395,6.583333333,pose2_to_pose3_retreat,0.575666495936,0.0101501275054,1.04003352742,0.54623717381,0.0188227592144,1.03970492083
+396,6.600000000,pose2_to_pose3_retreat,0.57566624073,0.0101501321327,1.04003352992,0.546236918535,0.0188227635925,1.03970492294
+397,6.616666667,pose2_to_pose3_retreat,0.575666195863,0.0101501329462,1.04003353036,0.546236873655,0.0188227643622,1.03970492331
+398,6.633333333,pose2_to_pose3_retreat,0.57566583635,0.0101501116075,1.04003348426,0.546236514165,0.0188227430581,1.03970487611
+399,6.650000000,pose2_to_pose3_retreat,0.575665415695,0.0101500761769,1.0400334117,0.546236093582,0.0188227078129,1.03970480205
+400,6.666666667,pose2_to_pose3_retreat,0.575664983287,0.0101500397564,1.04003333711,0.546235661246,0.0188226715829,1.03970472591
+401,6.683333333,pose2_to_pose3_retreat,0.575664825961,0.0101500265053,1.04003330997,0.546235503948,0.0188226584011,1.03970469821
+402,6.700000000,pose2_to_pose3_retreat,0.575664751856,0.0101500340715,1.04003332298,0.546235429992,0.0188226665076,1.03970471212
+403,6.716666667,pose2_to_pose3_retreat,0.575664655099,0.010150055458,1.04003336146,0.546235333543,0.0188226890227,1.03970475276
+404,6.733333333,pose2_to_pose3_retreat,0.575664547895,0.0101500791538,1.04003340409,0.546235226681,0.0188227139688,1.03970479778
+405,6.750000000,pose2_to_pose3_retreat,0.575664423174,0.0101501067212,1.0400334537,0.546235102358,0.018822742991,1.03970485016
+406,6.766666667,pose2_to_pose3_retreat,0.575664317201,0.010150127426,1.04003350515,0.546234996672,0.0188227647304,1.03970490319
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+408,6.800000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97856422b054632b17a633f614669f03bc680049
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37829de760d7a5bb7e73e86070b34e9d8997fb73bfceb2a614bbc25af1a51a6d
+size 26037721
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd19c86cf08db6d76ed845a5a0d8fba8672074b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+38,0.633333333,BASELINE,769.072757139,746,722,684,674.927242861,642,885.072757139,786,819,657,632.072757139,656,0.400979681348,0.00458862605739,0.0498474643518,0.999999958651,0.000112937866933,-0.000262505773239,-3.2163968406e-05,1793250786191454208
+39,0.650000000,BASELINE,769.651673204,746,722,684,674.348326796,642,885.651673204,786,819,657,632.651673204,656,0.400980556812,0.00458759455894,0.0498479515593,0.999999958912,0.000112270561644,-0.000261798001796,-3.21502153706e-05,1793250786208121088
+40,0.666666667,BASELINE,769.77009952,746.22990048,722,684,674,642,885.77009952,786.22990048,818.77009952,657,633,655.77009952,0.400980354614,0.00458747507652,0.0498477559228,0.999999958893,0.00011189915455,-0.000262007627195,-3.23056457258e-05,1793250786224787968
+41,0.683333333,BASELINE,769.192912758,746.807087242,722,684,674,642,885.192912758,786.807087242,818.192912758,657,633,655.192912758,0.400978524508,0.0045887332801,0.0498465287865,0.999999958452,0.000111974729526,-0.000263603066784,-3.27166434932e-05,1793250786241454592
+42,0.700000000,BASELINE,769.380495684,747,722.380495684,684,674,642,885.380495684,787,818.380495684,657,633,655.380495684,0.400978622433,0.00458945211195,0.0498464271942,0.999999958273,0.000114476698008,-0.000263205788836,-3.27255018164e-05,1793250786258121216
+43,0.716666667,BASELINE,769.952007323,747,722.952007323,684,674,642,885.952007323,787,818.952007323,657,633,655.952007323,0.400979688264,0.00458990016906,0.0498468906463,0.999999958214,0.000118196761433,-0.00026180812934,-3.25324786004e-05,1793250786274787840
+44,0.733333333,BASELINE,769.457477995,747,723,684,674,642,886,787,819,657,633,656,0.400978701826,0.00458898534456,0.0498464621291,0.999999958212,0.00011482999382,-0.000263324956172,-3.24084032858e-05,1793250786291454720
+45,0.750000000,BASELINE,769,747,722.867893094,684,674,642,886,787,819,657,632.867893094,656,0.400978523491,0.00458798300753,0.049846516313,0.999999958428,0.000111825870574,-0.000263808890826,-3.23009441401e-05,1793250786308121344
+46,0.766666667,BASELINE,769,747,722.287377364,684,674,642,886,787,819,657,632.287377364,656,0.400981726687,0.00458710770953,0.0498484864736,0.999999959411,0.00011225784356,-0.000259880004965,-3.22284308814e-05,1793250786324787712
+47,0.783333333,BASELINE,769,746.709189652,722,684,674,642,885.709189652,786.709189652,818.709189652,657,632,656,0.400982432904,0.00458776755997,0.0498489546147,0.999999959681,0.000111837837817,-0.000258983556397,-3.25158145207e-05,1793250786341454336
+48,0.800000000,BASELINE,769,746.133284137,722,684,674,642,885.133284137,786.133284137,818.133284137,657,632,656,0.400980691214,0.00458993238906,0.0498479502553,0.99999995926,0.000110582597,-0.000261059949346,-3.3156022136e-05,1793250786358120960
+49,0.816666667,BASELINE,769,746.441386073,722,684,674,642,885,786,818.441386073,657,632,656,0.400980418934,0.0045903705323,0.0498479979341,0.999999959053,0.000111529435851,-0.000261474741717,-3.29567237219e-05,1793250786374787840
+50,0.833333333,BASELINE,769,747,722,684.016085781,674,642,885,786,818.983914219,657,632,656,0.400980555571,0.00459024206358,0.0498483222357,0.999999958909,0.000113081705464,-0.000261413359183,-3.25119766823e-05,1793250786391454720
+51,0.850000000,BASELINE,769,747,722,684.605085872,674,642,885,786,818.394914128,657,632,656,0.400979496994,0.00458845158025,0.0498472157777,0.999999958762,0.000112580015448,-0.000262212952645,-3.23289079958e-05,1793250786408121088
+52,0.866666667,BASELINE,769.190823932,746.809176068,722.190823932,684.809176068,674,642,885,786.190823932,818,657,632,655.809176068,0.400979224883,0.00458749124291,0.0498468654124,0.999999958795,0.00011197786328,-0.000262353554483,-3.2276092309e-05,1793250786424787712
+53,0.883333333,BASELINE,769.769924578,746.230075422,722.769924578,684.230075422,674,642,885,786.769924578,818,657,632,655.230075422,0.400980553026,0.00458822003528,0.0498480534978,0.999999959192,0.000111171296982,-0.00026115328095,-3.24883073667e-05,1793250786441454592
+54,0.900000000,BASELINE,769.652607616,746.347392384,722.652607616,684.347392384,674,642,885.347392384,787,818.347392384,657,632,655.347392384,0.400981414557,0.0045881055106,0.0498484966315,0.999999959392,0.000110647830357,-0.000260639727006,-3.22643360909e-05,1793250786458121216
+55,0.916666667,BASELINE,769.07621619,746.92378381,722.07621619,684.92378381,674,642,885.92378381,787,818.92378381,657,632,655.92378381,0.4009819685,0.0045874350762,0.0498484486972,0.999999959461,0.000110310981425,-0.000260578854674,-3.17528333113e-05,1793250786474788096
+56,0.933333333,BASELINE,769.507645553,747,722,684.492354447,674,642,885.492354447,787,819,657,632,656,0.400982296118,0.00458814042221,0.049848804268,0.999999959344,0.000112855357115,-0.000259917658116,-3.19123412039e-05,1793250786491454464
+57,0.950000000,BASELINE,769.907973959,747,722,684,674,642,885.092026041,786.907973959,819,657,632,656,0.400982245311,0.00458896087316,0.0498489842254,0.999999959135,0.000115310406077,-0.000259611994922,-3.2172779252e-05,1793250786508121344
+58,0.966666667,BASELINE,769.326886352,747,722,684,674,642,885.673113648,786.326886352,819,657,632,656,0.400980366689,0.00458927892817,0.0498479041467,0.999999958628,0.000114957521435,-0.0002616819149,-3.24262141013e-05,1793250786524788224
+59,0.983333333,BASELINE,769,747,722,684,674,642,886,786,819,657,632.252230999,656,0.400979720318,0.00458909891683,0.0498474675499,0.999999958585,0.000113454127353,-0.000262486201263,-3.25467273566e-05,1793250786541454848
+60,1.000000000,BASELINE,769,747,722,684,674,642,886,786,819,657,632.828814808,656,0.400980658543,0.00458827842431,0.0498478584292,0.999999959136,0.000110471252224,-0.000261662964638,-3.24963120427e-05,1793250786558121472
+61,1.016666667,BASELINE,769.404336575,746.595663425,722,684,674.404336575,642,886,786.404336575,819,656.595663425,632.595663425,656,0.400979933678,0.00458880831273,0.0498475477482,0.999999958978,0.000110586291756,-0.000262207053252,-3.25790425296e-05,1793250786574788096
+62,1.033333333,BASELINE,769.979409846,746.020590154,722,684,674.979409846,642,886,786.979409846,819,656.020590154,632.020590154,656,0.400978506549,0.00458990841818,0.0498469408237,0.999999958521,0.000112009468667,-0.000263328513859,-3.27179956708e-05,1793250786591454720
+63,1.050000000,BASELINE,770,746.56922135,722.56922135,684.56922135,675,642,886,787,819,656.56922135,632,656,0.400981782259,0.00459050938099,0.0498489713951,0.999999959195,0.000113996760919,-0.000259884900469,-3.27754279619e-05,1793250786608121088
+64,1.066666667,BASELINE,770,746.844143865,723,685,674.844143865,642,886.155856135,787,819,657,632,656,0.400983497315,0.00459059457844,0.0498501142788,0.999999959553,0.000115117628137,-0.00025801021078,-3.27627824764e-05,1793250786624787712
+65,1.083333333,BASELINE,770,746.267561886,723,685,674.267561886,642,886.732438114,787,819,657,632,656,0.400980528041,0.00458933752772,0.0498485965083,0.999999958974,0.000113843076541,-0.00026082836121,-3.25691372876e-05,1793250786641454336
+66,1.100000000,BASELINE,770,746.308958124,722.691041876,685,674,642,886.382083752,787,819,657,632,656,0.40097944379,0.00458852922023,0.0498478083319,0.999999958831,0.000112241324992,-0.000262077568192,-3.24807552827e-05,1793250786658121216
+67,1.116666667,BASELINE,770,746.885424449,722.114575551,685,674,642,885.229151101,787,819,657,632,656,0.400979991668,0.00458810945251,0.0498476518671,0.999999959069,0.000110356270808,-0.000261968321545,-3.24835143291e-05,1793250786674788096
+68,1.133333333,BASELINE,770,747,722,684.535504663,674,642,885,787,819,657,632,656,0.400979363522,0.00458800022409,0.0498473267793,0.999999959012,0.000109775946371,-0.000262454210393,-3.23011686062e-05,1793250786691454464
+69,1.150000000,BASELINE,770,747,722,684.043435841,674.043435841,642,885.043435841,787,819,657,632,655.956564159,0.400978670329,0.00458797073122,0.049847098033,0.999999958917,0.000109697166904,-0.000262873728684,-3.20986118698e-05,1793250786708121344
+70,1.166666667,BASELINE,770,747,722,684.612971204,674.612971204,642,885.612971204,787,819,657,632,655.387028796,0.400980722634,0.00458797398812,0.0498485428144,0.999999959252,0.000111773091943,-0.000260701274058,-3.2207404839e-05,1793250786724788224
+71,1.183333333,BASELINE,770,747,722,684.811903257,674.811903257,642,886,786.811903257,818.811903257,657,632.188096743,655.188096743,0.400981763179,0.004587796749,0.0498493013389,0.999999959433,0.000112616232224,-0.000259643782129,-3.21969125898e-05,1793250786741454592
+72,1.200000000,BASELINE,770,747,722,684.224922915,674.224922915,642,886,786.224922915,818.224922915,657,632.775077085,655.775077085,0.400980658155,0.00458723674462,0.0498486045667,0.999999959299,0.000110845092546,-0.000260950713151,-3.19334605473e-05,1793250786758121216
+73,1.216666667,BASELINE,770,747,722,684.360111734,674,642,886,786.360111734,818,657,633,656,0.400979725812,0.00458800129417,0.0498482531291,0.999999959136,0.000111454553837,-0.000261320047726,-3.19019443443e-05,1793250786774787840
+74,1.233333333,BASELINE,770,747,722,684.943937615,674,642,886,786.943937615,818,657,633,656,0.400978900746,0.00458958870352,0.0498481162257,0.999999958953,0.000113542928757,-0.000261106914149,-3.20145149043e-05,1793250786791454208
+75,1.250000000,BASELINE,770,747,722.517420495,685,674.517420495,642,886,787,818,657,633,656,0.400977976125,0.00458933760939,0.0498474597196,0.999999958497,0.000114015024963,-0.000262614739512,-3.22506723695e-05,1793250786808121344
+76,1.266666667,BASELINE,770,747,722.906320246,685,674.906320246,642,886,787,818.093679754,657,633,656,0.400977368946,0.00458870596637,0.0498468912999,0.999999958224,0.000113598376721,-0.000263808149376,-3.24510855021e-05,1793250786824788224
+77,1.283333333,BASELINE,770,747,722.309237659,685,674.309237659,642,886,787,818.690762341,657,633,656,0.400978524422,0.00458707884589,0.0498470928286,0.999999959091,0.000109328531436,-0.000262329633797,-3.23888745009e-05,1793250786841454848
+78,1.300000000,BASELINE,769.723341366,747,722,684.723341366,674,642,886,787,819,656.723341366,633,656,0.400979084163,0.00458671036717,0.0498473102374,0.999999959341,0.000108361106826,-0.000261792594017,-3.22641170014e-05,1793250786858121472
+79,1.316666667,BASELINE,769.149462774,747,722,684.149462774,674,642,886,787,819,656.149462774,633,656,0.400979003895,0.00458769407282,0.0498475447067,0.99999995894,0.000110941539712,-0.000262267000799,-3.20721645404e-05,1793250786874788096
+80,1.333333333,BASELINE,769.423473479,747,722,684.423473479,674,642,886.423473479,786.576526521,818.576526521,656.423473479,633,656,0.40098030239,0.00458909866772,0.0498481871405,0.999999959063,0.000112360787618,-0.000261159927974,-3.23314612059e-05,1793250786891454976
+81,1.350000000,BASELINE,769.996077923,747,722,684.996077923,674,642,886.996077923,786.003922077,818.003922077,656.996077923,633,656,0.400982086432,0.00459065148359,0.0498489732434,0.999999959368,0.000113371111337,-0.000259495919292,-3.27496703286e-05,1793250786908121600
+82,1.366666667,BASELINE,770,747,722.590692475,684.409307525,674,642,885.818615049,786.590692475,818,657,632.409307525,656,0.400979692472,0.00458932989505,0.0498474800525,0.999999958607,0.000114200676877,-0.000262082971517,-3.25163131537e-05,1793250786924788224
+83,1.383333333,BASELINE,769.819510119,747,723,684.180489881,674,642,885.180489881,786.819510119,818.180489881,657,632,655.819510119,0.400978820252,0.00458836718646,0.0498470277541,0.999999958473,0.000113789681351,-0.000262787377078,-3.23836433545e-05,1793250786941454848
+84,1.400000000,BASELINE,769.240679061,747,723,684.759320939,674,642,885.759320939,786.240679061,818.759320939,657,632,655.240679061,0.400981370107,0.00458824027759,0.0498489073988,0.99999995974,0.00011064351901,-0.000259272075648,-3.24831081689e-05,1793250786958121472
+85,1.416666667,BASELINE,769,747,722.664171097,684.664171097,674,642,886,786.335828903,819,657,632,655.335828903,0.400981458933,0.00458792681103,0.0498486564821,0.999999959822,0.00011013023952,-0.000259170849773,-3.25178136108e-05,1793250786974788352
+86,1.433333333,BASELINE,769,747,722.089316626,684.089316626,674,642,886,786.910683374,819,657,632,655.910683374,0.400979796125,0.00458748056242,0.0498468891423,0.999999959066,0.000111490909462,-0.000261499585736,-3.25064266899e-05,1793250786991454976
+87,1.450000000,BASELINE,769,746.513796595,722,684,674.486203405,642,886,786.513796595,819,657,632,656,0.400981607624,0.0045884066505,0.0498484096726,0.999999959596,0.000112237100449,-0.000259129995861,-3.25895597378e-05,1793250787008121600
+88,1.466666667,BASELINE,769.06347309,746.06347309,722,684,674.93652691,642,885.93652691,786.06347309,819,657,632,656,0.400983514154,0.00458930942428,0.0498501989764,0.999999960211,0.000112581447476,-0.000256589772441,-3.26270238175e-05,1793250787024788224
+89,1.483333333,BASELINE,769.654261261,746.654261261,722,684,674.345738739,642,885.345738739,786.654261261,819,657,632,656,0.400980900624,0.00458792125884,0.0498491965338,0.999999959624,0.000110526464888,-0.000259812117327,-3.21406354372e-05,1793250787041454848
+90,1.500000000,BASELINE,770,747,722,684.240113242,674,642,885.240113242,787,818.759886758,657,632,656,0.400979474604,0.00458710555179,0.0498485015832,0.999999959224,0.000109668368141,-0.000261731323535,-3.19473316803e-05,1793250787058121472
+91,1.516666667,BASELINE,770,747,722,684.819000733,674,642,885.819000733,787,818.180999267,657,632,656,0.400979724035,0.00458709752275,0.0498482404711,0.999999959105,0.000110498950216,-0.000261811939374,-3.21675392027e-05,1793250787074788096
+92,1.533333333,BASELINE,770,747,722,684.605990383,674,642,885.605990383,786.605990383,818.394009617,657,632,655.605990383,0.400979423173,0.00458790606054,0.0498483656665,0.999999958947,0.000112304266766,-0.00026164106258,-3.22145549707e-05,1793250787091454976
+93,1.550000000,BASELINE,770,747,722,684.032745826,674,642,885.032745826,786.032745826,818.967254174,657,632,655.032745826,0.400978871983,0.0045890860545,0.0498486665932,0.999999958768,0.00011455299001,-0.000261355781814,-3.21827858446e-05,1793250787108121600
+94,1.566666667,BASELINE,770,747,722,684,674,642,885.554816582,786,818.445183418,657,632.554816582,655.554816582,0.400979192803,0.0045877744871,0.0498486515254,0.999999958739,0.000112709032944,-0.000262263252287,-3.22111170649e-05,1793250787124788480
+95,1.583333333,BASELINE,769.858379024,747,722,684,674,642,885.858379024,786,818.141620976,657,632.858379024,656,0.400979420573,0.00458683065757,0.0498484569721,0.999999958785,0.000111047077601,-0.00026279004045,-3.22466069237e-05,1793250787141455360
+96,1.600000000,BASELINE,769.276626095,747,722,684,674,642,885.276626095,786,818.723373905,657,632.276626095,656,0.400979194974,0.00458749881393,0.0498477641078,0.999999959051,0.000110721341491,-0.000261909160631,-3.22930285067e-05,1793250787158121984
+97,1.616666667,BASELINE,769,747,722,684,674,642,885.301565131,786.301565131,818.698434869,657,632,656,0.400979715174,0.00458729966422,0.0498480325305,0.999999959461,0.00010979861789,-0.000260744549528,-3.21533437099e-05,1793250787174788352
+98,1.633333333,BASELINE,769,747,722,684,674,642,885.876527305,786.876527305,818.123472695,657,632,656,0.400980911511,0.00458631422026,0.0498491724501,0.999999960001,0.00010833466922,-0.00025932270949,-3.18449360419e-05,1793250787191454720
+99,1.650000000,BASELINE,769.45214869,747,722.45214869,684.45214869,674,642,886,787,818,657,632.45214869,656,0.400980730244,0.00458636088874,0.0498489231793,0.999999959788,0.000108956871067,-0.000259873525183,-3.19148482227e-05,1793250787208121088
+100,1.666666667,BASELINE,770,747,722.971438006,684.971438006,674.028561994,642,885.971438006,787,818.028561994,657,632.971438006,656,0.400980223965,0.0045867215723,0.0498483552237,0.999999959391,0.000110111371237,-0.000260891262062,-3.20799906655e-05,1793250787224787456
+101,1.683333333,BASELINE,770,747,722.383035864,684.383035864,674.616964136,642,885.383035864,787,818.616964136,657,632.383035864,656,0.400980731714,0.00458770467094,0.0498489874086,0.999999959452,0.00011051674331,-0.000260486801263,-3.20837766254e-05,1793250787241454336
+102,1.700000000,BASELINE,769.798484915,747,722.201515085,684,675,642,885,786.798484915,819,656.798484915,632,656,0.400981078095,0.00458826337644,0.0498493077762,0.999999959553,0.000110872949301,-0.000259931959088,-3.21852612897e-05,1793250787258121216
+103,1.716666667,BASELINE,769.221117025,747,722.778882975,684,675,642,885,786.221117025,819,656.221117025,632,656,0.400981123506,0.00458803053141,0.0498490465624,0.999999959732,0.000111137453879,-0.000259096635421,-3.2468967211e-05,1793250787274788608
+104,1.733333333,BASELINE,769,747,722.643585868,684.356414132,674.643585868,642,885.356414132,786.356414132,819,656,632,656,0.400981025928,0.00458859569176,0.0498490779806,0.999999959579,0.000112227441181,-0.000259206566121,-3.25263612164e-05,1793250787291455488
+105,1.750000000,BASELINE,769,747,722.065953321,684.934046679,674.065953321,642,885.934046679,786.934046679,819,656,632,656,0.400980839599,0.00458965615648,0.0498492910288,0.99999995922,0.000113829787491,-0.000259903195347,-3.24432884181e-05,1793250787308122112
+106,1.766666667,BASELINE,769.515093169,746.484906831,722,685,674,642,885.484906831,786.484906831,818.484906831,656.515093169,632,656,0.400979961149,0.00458867314416,0.0498486903449,0.99999995914,0.000112060347573,-0.000260977563909,-3.24469481327e-05,1793250787324788224
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,722,684,675,642,886,787,819,657,632,656,0.400980756782,0.00458667838484,0.0498492431374,0.999999959755,0.000108972241623,-0.000259999295342,-3.18691687415e-05,1793250787367108608
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.574004927,746.425995073,722,684.574004927,674.425995073,642,885.425995073,787,818.425995073,656.425995073,632.574004927,656,0.400979821246,0.00458675816405,0.0498488448712,0.999999959687,0.000108469380485,-0.000260436808934,-3.21532708506e-05,1793250787383775232
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.147735964,722,684.852264036,674,642,885,787,818.147735964,656.147735964,632.852264036,656,0.400979201476,0.00458717981758,0.0498484326704,0.999999959495,0.000108957742249,-0.000260940959454,-3.23667478101e-05,1793250787400441856
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.720678838,722,684.279321162,674,642,885,787,818.720678838,656.720678838,632.279321162,656,0.400979490526,0.00458858543816,0.0498479803638,0.999999958943,0.000112298996419,-0.000261636901437,-3.23769547531e-05,1793250787417108480
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,722,684,674.304766685,642.304766685,885.304766685,787,819,657,632,656,0.400979524558,0.00458902917657,0.0498478379738,0.999999958859,0.000112813777171,-0.000261732021115,-3.24355909986e-05,1793250787433774848
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,722,684,674.899456665,642.899456665,885.899456665,787,819,657,632,656,0.400979315992,0.00458855788034,0.0498479904063,0.999999959223,0.000110639745187,-0.000261255580965,-3.25402978399e-05,1793250787450441216
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.51902047,747,722,684.48097953,674.51902047,642.51902047,885.51902047,787,819,657,632.48097953,656,0.400979863011,0.00458903843307,0.0498484115055,0.999999959401,0.000110037187659,-0.00026080824044,-3.27071581422e-05,1793250787467108096
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.059442187,746.940557813,722,684.940557813,674,642,885,787,819,657,632.940557813,656,0.400980758313,0.00458946459131,0.0498489980364,0.99999995957,0.000109807515982,-0.000260242831684,-3.27960726575e-05,1793250787483774464
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.634598372,746.365401628,722,684.365401628,674,642,885,787,819,657,632.365401628,656,0.400983341479,0.00458773855674,0.0498505455658,0.999999959993,0.000110038882207,-0.000258601706937,-3.20990201961e-05,1793250787500441088
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.213781305,722,684.213781305,674,642,885.213781305,787,819,657,632.213781305,656,0.40099085827,0.00458675125748,0.0498536638076,0.999999961437,0.000109669282663,-0.000253154956306,-3.18024691964e-05,1793250787517107712
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746.799978946,722,684.799978946,674,642,885.799978946,787,819,657,632.799978946,656,0.401006969648,0.00458705086747,0.0498595182987,0.999999964563,0.000108252774559,-0.000241078639902,-3.22036092438e-05,1793250787533774336
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,886,787,819,657,632.618769658,656,0.40104337498,0.0045867520303,0.0498721619071,0.999999970695,0.000107208660389,-0.000214664911179,-3.21882832554e-05,1793250787550441472
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,886,787,819,657,632.040080129,656,0.401090291616,0.00458614322599,0.049888321956,0.999999977485,0.00010635742834,-0.000180825083416,-3.19572476736e-05,1793250787567108352
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.460416225,747,722,684.460416225,674.539583775,642,886,786.460416225,819,656.460416225,632,656,0.401157572897,0.00458741493419,0.0499057237356,0.999999982812,0.000109506146074,-0.00014625498991,-3.15324621336e-05,1793250787583774464
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,722,684.117477767,674.882522233,642,886,786,818.882522233,656.117477767,632.117477767,655.882522233,0.401228695632,0.00458787350014,0.0499219411393,0.999999986609,0.000111265231451,-0.00011596179922,-3.0904532764e-05,1793250787600441344
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,722,684.688262655,674.311737345,642,886,786,818.311737345,656.688262655,632.688262655,655.311737345,0.401308793774,0.0045846544562,0.049933231891,0.99999998865,0.000106513654034,-0.000102381413547,-2.95483729444e-05,1793250787617107968
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,722,684.738202403,674,642,886,786.261797597,818.261797597,657,632.738202403,655.261797597,0.401394183191,0.00458230603077,0.0499403057967,0.999999989891,0.000103200460814,-9.35782015547e-05,-2.84751471949e-05,1793250787633774592
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,722,684.161358084,674,642,886,786.838641916,818.838641916,657,632.161358084,655.838641916,0.401485940114,0.00458100530616,0.0499423051574,0.999999990355,0.000101618216655,-9.05238319515e-05,-2.7742403844e-05,1793250787650441216
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.429153783,747,722.429153783,684.429153783,674,642,886,787,819,657,632,656,0.401591156743,0.00458123670123,0.0499420524121,0.999999990366,0.000100047295488,-9.23688958422e-05,-2.69613812633e-05,1793250787667108096
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,722.975951025,685,674,642,886,787,819,657,632,656,0.401702949677,0.00458199510409,0.0499410521032,0.999999990206,9.85722550834e-05,-9.58480573056e-05,-2.6153030144e-05,1793250787683774720
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,722.402190037,685,674,642,886,787,819,657,632,656,0.401845580383,0.00458119903254,0.0499429562142,0.999999990423,9.9188342914e-05,-9.31865352562e-05,-2.51485834587e-05,1793250787700441600
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.828384922,747,722.171615078,685,674,642,886,787,819,657,632.171615078,656,0.401998218139,0.00457925138927,0.0499446980624,0.999999990711,9.78994358641e-05,-9.17934983522e-05,-2.38151554509e-05,1793250787717108480
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.254476452,747,722.745523548,685,674,642,886,787,819,657,632.745523548,656,0.402174314015,0.00457460427645,0.0499460595399,0.99999999116,9.2144913785e-05,-9.33739953871e-05,-2.17105423573e-05,1793250787733775104
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.330208461,747,723,685,674,642,885.669791539,787,819,657,632.669791539,656,0.40236603471,0.00457177345788,0.0499470001331,0.999999991455,8.842632883e-05,-9.42226122915e-05,-1.98095136177e-05,1793250787750441728
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.923478522,747,723,685,674,642,885.076521478,787,819,657,632.076521478,656,0.402570202982,0.00457038959528,0.0499476054276,0.999999991646,8.6329678909e-05,-9.44881747814e-05,-1.80706707616e-05,1793250787767108096
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.496377407,747,722.496377407,685,674,642,885.503622593,786.496377407,819,657,632.503622593,656,0.402804972882,0.00456906805231,0.0499491818051,0.999999991845,8.29434296959e-05,-9.5733596008e-05,-1.62987008977e-05,1793250787783774720
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.081265003,747,722,685,674,642,886,786.081265003,818.918734997,656.918734997,632.918734997,656,0.403052342615,0.00456752042451,0.0499515863476,0.999999992277,7.9269165959e-05,-9.46157753238e-05,-1.45237133136e-05,1793250787800441344
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.655522984,747,722,685,674,642,886,786.655522984,818.344477016,656.344477016,632.344477016,656,0.40334865847,0.00456454527147,0.0499581425785,0.999999994042,7.50061646533e-05,-7.82811345698e-05,-1.27601773691e-05,1793250787817108224
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,722.235049539,685.235049539,674.235049539,642,886,787,818,656.235049539,632,656,0.403662432291,0.00456159683229,0.0499662002492,0.999999995642,7.03786972004e-05,-6.03451430508e-05,-1.09725013867e-05,1793250787833775104
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,722.82247446,685.82247446,674.82247446,642,886,787,818,656.82247446,632,656,0.404002378268,0.00455868844148,0.0499765088085,0.999999997032,6.52048392388e-05,-4.00084816143e-05,-9.1486358843e-06,1793250787850441728
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.595914658,747,723,686,674.595914658,642,886,787,818.404085342,657,632.404085342,656,0.40436602646,0.00455529588724,0.049983127533,0.999999997744,6.12877248595e-05,-2.66434168423e-05,-6.7828998616e-06,1793250787867108352
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.016821824,747,723,686,674.016821824,642,886,787,818.983178176,657,632.983178176,656,0.404739939964,0.00455169364415,0.0499881482069,0.999999998181,5.79149004437e-05,-1.62977188416e-05,-4.18248227274e-06,1793250787883774976
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.560251176,747,723,686,674,642.560251176,886.560251176,787,819,657,632.439748824,656,0.405150066463,0.00454731393855,0.0499899442019,0.999999998596,5.18256871003e-05,-1.1027127028e-05,-1.16076812433e-06,1793250787900441856
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723,685.862898951,674.137101049,643,886.725797903,787,819,657,632.137101049,656,0.40556182419,0.00454311055979,0.0499858435169,0.999999998768,4.62588118063e-05,-1.79220532401e-05,1.85797636754e-06,1793250787917107968
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,723,685.28657043,674.71342957,643,885.57314086,787,819,657,632.71342957,656,0.405975336872,0.00453954659318,0.0499631608474,0.999999997076,4.26256963494e-05,-6.33049394306e-05,4.82682665017e-06,1793250787933774592
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,722.704870735,685.295129265,674.704870735,642.704870735,885.295129265,787,818.704870735,657,632.704870735,656,0.406419531559,0.00453542048341,0.0499429846893,0.999999994393,3.7248165153e-05,-9.88436924155e-05,7.46283288475e-06,1793250787950441216
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,722.117858887,685.882141113,674.117858887,642.117858887,885.882141113,787,818.117858887,657,632.117858887,656,0.406894070769,0.00453073841412,0.049925287466,0.99999999173,3.01454079272e-05,-0.000124646611758,9.76965700621e-06,1793250787967108096
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.535034958,746.535034958,722.464965042,686,674,642,886.464965042,787,818.464965042,657,632,656,0.407423598473,0.00452490137906,0.0499240185281,0.999999991862,2.35639057108e-05,-0.000124673385284,1.33362914752e-05,1793250787983775232
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.046251528,746.046251528,723,686,674.046251528,642,887,787.046251528,819,657,632,656.046251528,0.4079727119,0.0045188218636,0.0499289285179,0.999999993162,1.70438529119e-05,-0.000114409219996,1.71877238532e-05,1793250788000442112
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.621982035,746.621982035,723,686,674.621982035,642,887,787.621982035,819,657,632,656.621982035,0.408587899279,0.0045132880136,0.0499573279874,0.999999997911,9.72819088695e-06,-6.04653356875e-05,2.0676411865e-05,1793250788017108992
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,723,686.201262899,674.798737101,642,887,787.798737101,819,657,632.201262899,656.798737101,0.409213761142,0.0045073744379,0.0499819535548,0.999999999566,2.00975134896e-06,-1.63966307013e-05,2.44061304276e-05,1793250788033775872
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,723,686.787331859,674.212668141,642,887,787.212668141,819,657,632.787331859,656.212668141,0.409860032124,0.00450073484323,0.0499993635812,0.999999999531,-6.47878109972e-06,8.79114999736e-06,2.85966889802e-05,1793250788050441984
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,723,687,674,642.369102759,887,787,818.630897241,657,632.630897241,656,0.410487678307,0.0044949024957,0.0499938780078,0.999999996457,7.68719528744e-05,-9.95863038747e-06,3.28408616439e-05,1793250788067108096
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,723,687,674,642.948425706,887,787,818.051574294,657,632.051574294,656,0.411104716829,0.004489529911,0.049975352387,0.999999975283,0.000212529170889,-5.37327770509e-05,3.71155692172e-05,1793250788083774720
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.473397053,747,723,687,674,642.473397053,887,787,818.526602947,657,632,656,0.411767113367,0.00448246401556,0.0499499045542,0.999999972484,0.000208360245739,-9.97797685345e-05,4.07662684377e-05,1793250788100441600
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.104385504,747,723,687.104385504,674.104385504,642,887.104385504,787,819,657,632,656,0.412455191309,0.00447544242946,0.0499331180553,0.999999973006,0.000189749117565,-0.000126689452278,4.39713935417e-05,1793250788117108224
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.680889197,747,723,687.680889197,674.680889197,642,887.680889197,787,819,657,632,656,0.41323937376,0.00446936968301,0.0499585649089,0.999999982739,0.000167620686424,-6.60396931738e-05,4.54370685575e-05,1793250788133775104
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.738333467,722.738333467,687.738333467,674.738333467,642,888,787,819.261666533,657,632,656,0.414015995937,0.0044620519242,0.0499716263744,0.99999999425,9.35690615168e-05,-3.85854253641e-05,3.54421869591e-05,1793250788150441728
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746.152257671,722.152257671,687.152257671,674.152257671,642,888,787,819.847742329,657,632,656,0.414783245131,0.00445319062157,0.0499693326714,0.999999997564,-4.48559699469e-05,-5.22862970043e-05,1.12387218684e-05,1793250788167108352
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746,722,687.428712258,674,642,888.428712258,787,820,657,632,656,0.415556025682,0.00446760736457,0.0499508583916,0.999999994839,-5.79884373108e-05,-8.30725650948e-05,7.65824026726e-06,1793250788183774720
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.992118353,746.007881647,722.007881647,688.007881647,674,642.007881647,889.007881647,787.007881647,820.007881647,657,632.007881647,656,0.416331777894,0.00449006512928,0.0499272335363,0.999999992491,-2.71086752042e-05,-0.000118978255868,1.12924724639e-05,1793250788200441600
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.413563897,746.586436103,722.586436103,688.586436103,674,642.586436103,889.586436103,787.586436103,820.586436103,657,632.586436103,656,0.417182133698,0.00450318980421,0.0499418632502,0.999999995716,6.53328673707e-06,-9.13803670242e-05,1.32353616874e-05,1793250788217108224
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723,689,674,643,890,788,821,656.836378452,633,656,0.418036177504,0.00450999089751,0.0499579822528,0.999999997416,3.24478768751e-05,-6.23447605175e-05,1.51365003926e-05,1793250788233774592
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,689,674,643,890,788,821,656.262624594,633,656,0.418899465574,0.00450094135685,0.0499778342921,0.999999998655,3.89931039311e-05,-2.97053857431e-05,1.69329875485e-05,1793250788250441216
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.320883777,747,722.679116223,689,674,642.679116223,890.320883777,788,821.320883777,656.320883777,632.679116223,656,0.419759742039,0.00449533934847,0.0499750413296,0.999999998652,3.22198383442e-05,-3.64775940839e-05,1.81025352063e-05,1793250788267107840
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.912625914,747,722.087374086,689,674,642.087374086,890.912625914,788,821.912625914,656.912625914,632.087374086,656,0.420617476362,0.00449264740646,0.0499531336945,0.999999996796,1.42044176878e-05,-7.6517165961e-05,1.87428824184e-05,1793250788283774208
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,722,689.493294512,674,642.493294512,891,787.506705488,822,657,632.493294512,656,0.42156024721,0.00448820986075,0.0499729818326,0.999999999424,2.63448923637e-06,-2.83156370614e-05,1.85251922315e-05,1793250788300441344
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.928413738,747,722.071586262,690,674,642.928413738,891.071586262,787,822.071586262,657,633,656,0.422510540717,0.00448474338783,0.0499961379636,0.999999999497,-3.26444452092e-06,2.56804713869e-05,1.83102155816e-05,1793250788317107968
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.353347179,747,722.646652821,690,674,642.353347179,891.646652821,787,822.646652821,657,633,656,0.423410134073,0.00449023349728,0.04999168485,0.999999999472,2.28686997229e-05,1.29185113084e-05,1.91597522903e-05,1793250788333774848
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.226326975,746.773673025,722.773673025,690.226326975,674,642.226326975,892,787.226326975,823,657,633,656,0.424310964617,0.00449673585019,0.0499857437381,0.999999999103,3.75437243866e-05,1.91492644357e-06,1.94988064114e-05,1793250788350441472
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.8133442,746.1866558,722.1866558,690.8133442,674,642.8133442,892,787.8133442,823,657,633,656,0.42521376697,0.00450485138481,0.049977431249,0.999999999223,3.39583049563e-05,-6.28639260107e-06,1.90243204896e-05,1793250788367107840
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.60492521,746,722.39507479,691.39507479,674,642.60492521,892,787.60492521,823.39507479,657,632.60492521,656,0.426170902806,0.00450241238379,0.0499910771984,0.999999999506,2.24583528608e-05,6.23865051259e-06,2.10755960003e-05,1793250788383774720
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.02565938,746,722.97434062,691.97434062,674,642.02565938,892,787.02565938,823.97434062,657,632.02565938,656,0.427153369844,0.00449505266614,0.0500149605709,0.999999999274,7.26850213898e-06,2.84267004687e-05,2.43044273655e-05,1793250788400441600
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.55307106,746.55307106,723,691.44692894,673.44692894,642.55307106,892,787.55307106,824,657,632.55307106,656,0.428025879402,0.00449113716302,0.0499794120766,0.999999998075,3.14751855379e-05,-4.70296404507e-05,2.54301027367e-05,1793250788417108224
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.870104448,747,722.870104448,691,673,643,892.129895552,787.870104448,824,657,633,656.129895552,0.428914202444,0.00448852436981,0.049949489161,0.999999993181,4.71142788284e-05,-0.000103707862608,2.57534794128e-05,1793250788433775104
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.299659972,747,722.299659972,691,673,643,892.700340028,787.299659972,824,657,633,656.700340028,0.429873442875,0.00448978837825,0.0499479882757,0.999999996032,2.75028252808e-05,-8.13494843532e-05,2.36864204166e-05,1793250788450441728
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.280966571,747,722.280966571,691.280966571,673.280966571,643,893.280966571,787.280966571,824,657,632.719033429,656.719033429,0.430808953205,0.00449257694802,0.0499459914484,0.999999996916,1.45376077956e-05,-7.3691746515e-05,2.29383204286e-05,1793250788467108352
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.872860919,747,722.872860919,691.872860919,673.872860919,643,893.872860919,787.872860919,824,657,632.127139081,656.127139081,0.431718202882,0.00449705265245,0.0499434457938,0.999999996294,8.92735701353e-06,-8.23022709816e-05,2.36498283712e-05,1793250788483775232
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747,723,692,673.545357757,643,894,787.545357757,824.454642243,657,632.454642243,656,0.432657756948,0.00449623630715,0.04993676358,0.999999995155,3.14472935523e-05,-9.01975806871e-05,2.37586216896e-05,1793250788500441600
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,723,692.032171358,673.032171358,643,894,787.032171358,825,657,632.967828642,656,0.433605273493,0.00449366908178,0.0499312496251,0.999999993521,5.84512351436e-05,-9.47395838268e-05,2.37892228638e-05,1793250788517107968
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,723,692.58562682,673.58562682,643,894,787.58562682,825,657,632.41437318,656,0.434547480118,0.0044861893282,0.0499630011686,0.999999997966,3.3420849326e-05,-4.81170145899e-05,2.52244497057e-05,1793250788533774848
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787.848279146,825.151720854,657,632,656,0.435456304764,0.00448153522216,0.0499824991326,0.999999999231,1.329131197e-05,-2.55240709847e-05,2.66412443072e-05,1793250788550441472
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787.24453038,825.75546962,657,632,656,0.436265673395,0.00448529967723,0.0499654895327,0.999999996801,7.76305951822e-06,-7.45235257829e-05,2.8003123497e-05,1793250788567108096
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693,673.651634205,643,894.696731591,787,826,657,632,656,0.43713507006,0.00448647936602,0.0499553020595,0.999999995488,4.23191417405e-06,-9.08031747959e-05,2.75997744108e-05,1793250788583774720
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,723,693,673.066125736,643,895.867748527,787,826,657,632,656,0.438045329496,0.00448589952943,0.0499497586064,0.999999996064,2.06025773883e-06,-8.48095028219e-05,2.59947833321e-05,1793250788600441344
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,693,673.51167387,642.48832613,896,787,826,656.48832613,632,656,0.438945731476,0.00448632780676,0.0499640662393,0.999999997675,1.84604227486e-05,-6.02011949757e-05,2.61646270586e-05,1793250788617107968
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,693,674,642.08851488,896,787,826.08851488,656,632,656.08851488,0.439831087974,0.00448667189539,0.0499755235076,0.999999998279,3.26389537879e-05,-4.08796078077e-05,2.65676054903e-05,1793250788633774848
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674,642.665482049,896,787,826.665482049,656,632,656.665482049,0.440640344407,0.00448584313544,0.0499573048337,0.999999997368,2.15098429917e-05,-6.38098328962e-05,2.70101493166e-05,1793250788650441472
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.757513072,747,723,693,674,643,896,787,827,656.242486928,632,657,0.441450746055,0.0044851852838,0.0499510481442,0.99999999708,1.99030694261e-05,-6.84407380056e-05,2.75475087713e-05,1793250788667108096
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.180456213,747,723,693,674,643,896,787,827,656.819543787,632,657,0.44226272774,0.00448476324196,0.0499612959346,0.999999997964,3.14346863389e-05,-4.78232606579e-05,2.82156895107e-05,1793250788683774720
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,693,674,642.592861707,896,787,827,657,632.407138293,656.592861707,0.443020838333,0.00448813450042,0.0499625222299,0.999999997578,4.47041749785e-05,-4.4559673527e-05,2.93342038522e-05,1793250788700441344
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,693,674,642.000472442,896,787,827,657,632.999527558,656.000472442,0.443754437247,0.00449323173889,0.0499596436783,0.999999996593,5.87644092717e-05,-4.91922345924e-05,3.06576234126e-05,1793250788717107968
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.570106471,747,723,693.570106471,672.859787058,642,896.570106471,787,827,656.429893529,633,656,0.444390843612,0.00450419527946,0.0498924112113,0.999999983064,6.95848867044e-05,-0.000167432461676,3.15492323567e-05,1793250788733774848
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.857429526,747,723,694,672,641.857429526,897,787,827,656.142570474,632.857429526,656,0.4450384634,0.00451541457649,0.0498362677155,0.999999962939,8.07674628118e-05,-0.000258051239982,3.17519182566e-05,1793250788750441472
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.279151187,747,723,694,672,641.279151187,897,787,827,656.720848813,632.279151187,656,0.445720589622,0.00452740118104,0.0498141700457,0.999999960381,9.30645519993e-05,-0.000263979368675,2.98502496373e-05,1793250788767107840
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.306384771,747,723,693.693615229,672,641,896.693615229,786.693615229,827,657,632.306384771,656,0.446383370659,0.0045384046643,0.0498075708993,0.999999960328,0.000106393048834,-0.000259180267933,2.91667387138e-05,1793250788783774720
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.898693643,747,723,693.101306357,672,641,896.101306357,786.101306357,827,657,632.898693643,656,0.447028098358,0.00454849067935,0.0498154352713,0.999999962421,0.000120684074158,-0.000244370312098,2.9620035847e-05,1793250788800441344
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.521949302,747,723,693.478050698,671.521949302,640.521949302,896.478050698,786,827,656.521949302,632.521949302,656,0.447608260486,0.00455529019635,0.0497916850637,0.9999999515,0.00013273550124,-0.000280122491796,3.02231666024e-05,1793250788817107968
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.054873298,747,723,694,670.945126702,639.945126702,897,786,827,656,632,656.054873298,0.448174576851,0.00456127411091,0.0497626684783,0.999999936457,0.000144297585619,-0.000324515258018,3.08879809326e-05,1793250788833774592
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.633010304,747,723,694,670.366989696,639.366989696,897,786,827,656,632,656.633010304,0.448735894215,0.00456594671278,0.0497456338558,0.999999925498,0.000155599760085,-0.000351822899063,3.18462051886e-05,1793250788850441216
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.786275017,747,723,694,670,638.786275017,897.213724983,786,827,656.213724983,632,656.786275017,0.449283767009,0.00457029553205,0.0497410919184,0.999999921081,0.000164624328118,-0.000360059099351,3.30828228224e-05,1793250788867108096
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.201080211,747,723,694,670,638.201080211,897.798919789,786,827,656.798919789,632,656.201080211,0.44980827209,0.00457408159276,0.0497582631929,0.999999928835,0.000169690246713,-0.000335147722972,3.48033086554e-05,1793250788883774720
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.380100043,747,723,693.619899957,670,638,897.619899957,786,827.380100043,656.619899957,632,656,0.45031502973,0.00457931193081,0.0497739738552,0.999999934767,0.000175044763951,-0.000313919318735,3.57883526804e-05,1793250788900441600
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.959178772,747,723,693.040821228,670,638,897.040821228,786,827.959178772,656.040821228,632,656,0.450812496804,0.00458529833439,0.0497889199027,0.999999939639,0.000180550360223,-0.000294618912384,3.63884002059e-05,1793250788917108480
+201,3.350000000,POSE1_TO_POSE2_PRESS,769.462858815,747.537141185,723,693,669.462858815,637.462858815,897,786,828,656.537141185,632,656.537141185,0.451235155534,0.00458669606033,0.0497819780311,0.999999932409,0.000182750518302,-0.000316871642316,3.70985659622e-05,1793250788933774848
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,723.114819429,693.114819429,669,637,897,786,828,657,632,657,0.451640455311,0.00458744617804,0.0497686930886,0.999999921954,0.000181122201406,-0.000349170471522,3.696425151e-05,1793250788950440960
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,723.691694989,693.691694989,669,637,897,786,828,657,632,657,0.451998730361,0.00458699062698,0.0497365624212,0.999999902085,0.000165096141521,-0.000409215053924,3.33979742047e-05,1793250788967107840
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.267689853,748,723.732310147,693.732310147,669,636.732310147,897.267689853,786,827.732310147,657,632,657,0.452355156427,0.00458619500358,0.0497164349848,0.999999894262,0.000129169340715,-0.000440727403662,2.34666468035e-05,1793250788983774464
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.842673687,748,723.157326313,693.157326313,669,636.157326313,897.842673687,786,827.157326313,657,632,657,0.452709459933,0.00458500899491,0.0497100866333,0.999999900929,7.03975289426e-05,-0.000439486235843,6.22857429289e-06,1793250789000441088
+206,3.433333333,POSE1_TO_POSE2_PRESS,769.571703018,748,723.428296982,693.428296982,669,635.571703018,898,786,827.428296982,656.571703018,632.428296982,656.571703018,0.453041705411,0.00458462938832,0.0497192330538,0.999999908892,5.80017097644e-05,-0.000422900583763,2.70505033144e-06,1793250789017107968
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.017553387,748,723.982446613,693.982446613,669,635,898,785.982446613,828,656.017553387,632.982446613,656.017553387,0.45336448039,0.00458481540255,0.0497337966175,0.999999917434,6.54484657092e-05,-0.000401035692994,4.32933267861e-06,1793250789033774848
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.594863345,748,723.405136655,693.405136655,669,635,898,785.405136655,828,656.594863345,632.405136655,656.594863345,0.453650216117,0.00459335179911,0.0497349815046,0.999999910879,0.000148577712447,-0.000395141800389,5.3703416411e-06,1793250789050441472
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,748,723.171782255,693,668.828217745,635,898,785.171782255,828,657,632,656.828217745,0.453919747846,0.00460492772387,0.049731592609,0.999999899148,0.000211137315617,-0.000396349001939,5.75710925177e-06,1793250789067108096
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,748,723.747780916,693,668.252219084,635,898,785.747780916,828,657,632,656.252219084,0.45415115032,0.00462365588312,0.0497174412629,0.999999888802,0.000225295009659,-0.000414265611765,4.60439828436e-06,1793250789083774464
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,748,723.669805322,693.330194678,668.330194678,634.669805322,898,786.330194678,828,656.669805322,632,656,0.454350295789,0.00463586711634,0.0497040171624,0.999999877981,0.000236061942256,-0.000433930221635,4.2254397657e-06,1793250789100440832
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,748,723.082394236,693.917605764,668.917605764,634.082394236,898,786.917605764,828,656.082394236,632,656,0.454524313588,0.00464300176974,0.0496911595733,0.999999866684,0.000244187527059,-0.000454956497624,4.4492219838e-06,1793250789117107712
+213,3.550000000,POSE1_TO_POSE2_PRESS,769.498959447,748,723,694,668.498959447,634,898,785.997918894,828,656.501040553,632,656.501040553,0.454688324427,0.00463847617169,0.0496798143114,0.999999859558,0.000238714906698,-0.000473138738414,6.30545234684e-06,1793250789133774592
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.082479016,748,723,693.917520984,668,633.917520984,898,785.082479016,828,657,632,657,0.454845688442,0.0046334746568,0.0496686335604,0.999999852635,0.000232088290009,-0.000490714727315,7.98161131978e-06,1793250789150440960
+215,3.583333333,POSE1_TO_POSE2_PRESS,769.655896499,748,723,693.344103501,668,633.344103501,898,785.655896499,828,657,632,657,0.454973206746,0.00463696389407,0.0496569633636,0.999999844361,0.000231798296858,-0.000507444051327,7.00062616526e-06,1793250789167107840
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.769505014,748,723.230494986,693.230494986,668,633,898,786,828,657,632,657,0.455091943766,0.00463906742681,0.0496477534263,0.999999837216,0.000232017931589,-0.000521240813217,6.66613327297e-06,1793250789183774464
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.193134374,748,723.806865626,693.806865626,668,633,898,786,828,657,632,657,0.455197503777,0.00463909160194,0.0496422353004,0.99999983204,0.000233002302678,-0.000530637036672,7.30175236734e-06,1793250789200441088
+218,3.633333333,POSE1_TO_POSE2_PRESS,769.392867643,747.607132357,724,693.607132357,668,633,898,785.607132357,828,657,632,656.607132357,0.455289760962,0.00463836219401,0.0496404034059,0.999999829466,0.000231441746233,-0.000536133423373,7.92173576241e-06,1793250789217107968
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.983723436,747.016276564,724,693.016276564,668,633,898,785.016276564,828,657,632,656.016276564,0.455375314098,0.00463725301311,0.0496404292113,0.999999828216,0.000228598657325,-0.00053966446223,8.53383942813e-06,1793250789233774848
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,747,723.438320548,693,668,633,898,785.561679452,828,657,632,656.561679452,0.455444058058,0.00463736137111,0.0496412040192,0.999999829151,0.000228436222658,-0.000537993534961,8.80066909623e-06,1793250789250441216
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.138435249,747.138435249,723,693.138435249,668,633,898,786,828,656.861564751,632,657,0.455506807645,0.00463786692509,0.0496411049563,0.999999829036,0.000228697105021,-0.000538092032123,9.10864052264e-06,1793250789267107840
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.7125636,747.7125636,723,693.7125636,668,633,898,786,828,656.2874364,632,657,0.455552189941,0.00463951401206,0.0496381888087,0.999999825403,0.000230051286038,-0.000544223168476,9.57687910103e-06,1793250789283774464
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.705695517,747.705695517,723,693.705695517,667.705695517,632.705695517,898,785.705695517,828,656,632,657,0.455592377972,0.0046394571726,0.0496357758201,0.999999823535,0.000229875748531,-0.000547718045622,9.64005584975e-06,1793250789300441088
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.116322263,747.116322263,723,693.116322263,667.116322263,632.116322263,898,785.116322263,828,656,632,657,0.455627358256,0.00463769198194,0.0496338672969,0.999999823462,0.0002281665201,-0.000548569818138,9.29711890905e-06,1793250789317107968
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747.464103888,723.464103888,693,667,632,898,785.464103888,828,656.464103888,632,657,0.455652346698,0.00463873856541,0.0496337977332,0.999999823342,0.000227112684186,-0.000549228392427,9.17803660213e-06,1793250789333774592
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.957754727,748,723.957754727,693.042245273,667.042245273,632,898,785.957754727,828,657,632,657,0.455674102422,0.00464039273649,0.049634062635,0.999999823081,0.000226440580273,-0.000549981462521,9.13881105286e-06,1793250789350441216
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.380685061,748,723.380685061,693.619314939,667.619314939,632,898,785.380685061,828,657,632,657,0.455686037258,0.00464098572604,0.0496328370658,0.99999982119,0.000228560917412,-0.000552532286652,9.41369688532e-06,1793250789367107840
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.195315016,747.804684984,723.195315016,693.804684984,667.804684984,632,898,785.195315016,828,657,632,656.804684984,0.45569656782,0.00464128514899,0.0496314850154,0.999999819681,0.000230352181294,-0.000554516015234,9.40429955941e-06,1793250789383774464
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.769241693,747.230758307,723.769241693,693.230758307,667.230758307,632,898,785.769241693,828,657,632,656.230758307,0.455704376239,0.0046410155028,0.0496298877855,0.999999818929,0.000231505547491,-0.000555400447813,8.84382876973e-06,1793250789400441088
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747.353063709,724,693,667,632,898.353063709,786,828,657,631.646936291,656.353063709,0.455708988553,0.00464186557224,0.049629318796,0.99999981756,0.000232415289312,-0.000557480558061,8.86226437739e-06,1793250789417107968
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747.94353967,724,693,667,632,898.94353967,786,828,657,631.05646033,656.94353967,0.455711451694,0.0046434685772,0.0496294412308,0.999999815771,0.000233161209627,-0.000560364683297,9.26997669496e-06,1793250789433774336
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.474888878,748,723.474888878,693,667,632,898.474888878,786.525111122,828,657,631.525111122,656.474888878,0.455711547036,0.00464335612619,0.049627205124,0.999999814681,0.000232806021681,-0.000562453219041,9.2735459387e-06,1793250789450440960
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.104518834,748,723,693,667,632,898,786.895481166,828,657,632,656.104518834,0.455711495866,0.0046433698394,0.0496250747676,0.999999813685,0.000232553851741,-0.000564326555001,9.13994678607e-06,1793250789467107584
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.678437028,748,723,693,667,632,898,786.321562972,828,657,632,656.678437028,0.455711911008,0.00464476471103,0.0496245392472,0.999999812794,0.000233287179309,-0.000565611186364,8.58221636965e-06,1793250789483774208
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.746938649,747.746938649,723.253061351,693,667,632,898,786,828,657,632,657,0.455711874653,0.00464572437809,0.0496237197565,0.999999811735,0.00023436734753,-0.000567037928081,8.35102660982e-06,1793250789500441088
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.171414465,747.171414465,723.828585535,693,667,632,898,786,828,657,632,657,0.455711262981,0.00464612948694,0.0496225384173,0.999999810463,0.000235889476737,-0.000568645753759,8.53593043908e-06,1793250789517107968
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.414354682,747,724,693,667,632,898,786,828,657,632,657,0.455712977136,0.00464529233394,0.0496230464245,0.999999811289,0.000234933354062,-0.000567583446724,8.7586277974e-06,1793250789533774592
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747.004385812,724,693,667,632,898,786,828,657,631.995614188,657,0.45571564001,0.0046439660586,0.0496242473949,0.999999812968,0.000232956957484,-0.00056543285497,8.99099689239e-06,1793250789550441216
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747.583453455,724,693,667,632,898,786,828,657,631.416546545,657,0.455713343864,0.00464759512125,0.0496223533632,0.999999810412,0.00023503547523,-0.000569090492014,8.39007650686e-06,1793250789567107840
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747.838741771,724,693,667,632,898,786,828,657,631.161258229,657,0.455712060838,0.00465039057324,0.0496211472859,0.999999808589,0.000237396969811,-0.000571315586764,7.97620255593e-06,1793250789583774464
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747.264173802,724,693,667,632,898,786,828,657,631.735826198,657,0.455713374467,0.00465104945558,0.0496217044566,0.999999808676,0.000240483742497,-0.000569869031913,8.04173433308e-06,1793250789600441088
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.693230218,747,724,693,667,632,898.306769782,786,828,657,632,657,0.455713564564,0.00465117361215,0.0496216513139,0.99999980844,0.000241892045006,-0.000569685099316,8.18678417671e-06,1793250789617107712
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.125371346,747,724,693,667,632,898.874628654,786,828,657,632,657,0.455712798432,0.00465084266823,0.0496210787387,0.999999807935,0.000241871816003,-0.000570575773605,8.39951115133e-06,1793250789633774592
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.469244114,724,693,667,632,898.530755886,786,828,657,632,656.530755886,0.455713070532,0.0046504462686,0.0496209397072,0.999999808092,0.000239993594706,-0.000571098417621,8.12380235272e-06,1793250789650441216
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.068039549,747.931960451,723.931960451,693,667,632,898,786,828,657,632,656.068039549,0.455713591128,0.00465008845286,0.0496209937387,0.999999808349,0.00023817400548,-0.000571413672664,7.83044414633e-06,1793250789667107840
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.641567138,747.358432862,723.358432862,693,667,632,898,786,828,657,632,656.641567138,0.455713772431,0.00465015507224,0.049621569501,0.999999807997,0.000240701039658,-0.000570962861182,8.43410750065e-06,1793250789683774464
+247,4.116666667,HOLD_POSE2,770,748,723,693,667,632,898,786,828,657,632,657,0.455716708912,0.00465349427283,0.0496238724544,0.999999809603,0.00024244584073,-0.000567402345632,8.2543282684e-06,1793250789723044096
+248,4.133333333,HOLD_POSE2,770,747.410106142,723.589893858,693,667,632,898,785.410106142,828,656.410106142,632,657,0.455714146505,0.00465156652046,0.0496215379201,0.999999807937,0.000240564239622,-0.000571123508063,8.50261501148e-06,1793250789739710720
+249,4.150000000,HOLD_POSE2,770,747.176075507,724,693,667,632,898,785,828,656.176075507,632,657,0.455712997811,0.00465009183468,0.0496201730492,0.999999807128,0.00023921478386,-0.000573102728039,8.54764664327e-06,1793250789756377344
+250,4.166666667,HOLD_POSE2,770,747.753789506,724,693,667,632,898,785,828,656.753789506,632,657,0.455715073882,0.00464965061984,0.0496210200366,0.999999808305,0.000239079182281,-0.000571108476532,8.12904157222e-06,1793250789773043968
+251,4.183333333,HOLD_POSE2,770,748,724,692.67006675,667,632,898,785.32993325,828,657,632,657,0.455715689764,0.00465033625456,0.049621184668,0.999999808071,0.000240418941883,-0.000570956627185,8.1184658384e-06,1793250789789710848
+252,4.200000000,HOLD_POSE2,770,748,724,692.095089283,667,632,898,785.904910717,828,657,632,657,0.455715221152,0.00465185881001,0.0496208425078,0.999999806784,0.000242854464731,-0.000572173145637,8.41093697198e-06,1793250789806377472
+253,4.216666667,HOLD_POSE2,770,747.522084635,724,692.477915365,667,632,898.477915365,786,828,657,632,657,0.455713923443,0.00465223737272,0.0496195761296,0.999999806194,0.000242255688521,-0.00057346505723,7.90059575445e-06,1793250789823044352
+254,4.233333333,HOLD_POSE2,770,747.0524674,723.9475326,693.0524674,667,632,898.9475326,785.9475326,828,657,632,657,0.455712771796,0.0046523917491,0.0496183336338,0.999999805809,0.000241327232788,-0.000574533306348,7.35209989e-06,1793250789839710976
+255,4.250000000,HOLD_POSE2,770,747.647046656,723.352953344,693.647046656,667,632,898.352953344,785.352953344,828,657,632,657,0.455714826748,0.00465257189955,0.0496192300918,0.999999806151,0.000243204665556,-0.000573136239506,8.05300985532e-06,1793250789856377344
+256,4.266666667,HOLD_POSE2,770,748,723,693.765140929,667,632,898,785.234859071,828,657,632,657,0.455714992051,0.00465251047368,0.0496193599397,0.9999998058,0.000243836438947,-0.000573474517071,8.40722540603e-06,1793250789873043712
+257,4.283333333,HOLD_POSE2,770,748,723,693.187213182,667,632,898,785.812786818,828,657,632,657,0.455712397066,0.00465209616697,0.0496183699675,0.999999804438,0.000242648624315,-0.000576347686453,8.25500955511e-06,1793250789889710592
+258,4.300000000,HOLD_POSE2,770,748,723.384983695,693.384983695,667,632,898,786,828,657,632,657,0.455713936053,0.00465277069678,0.0496191669516,0.99999980512,0.000243414938021,-0.000574845265369,7.91818036679e-06,1793250789906377216
+259,4.316666667,HOLD_POSE2,770,748,723.954434643,693.954434643,667,632,898,786,828,657,632,657,0.455717455859,0.00465396694913,0.0496208201665,0.999999806769,0.000245117583968,-0.000571246254043,7.4928925738e-06,1793250789923044096
+260,4.333333333,HOLD_POSE2,770,747.450754224,723.450754224,693.450754224,667,632,898,786,828,657,632,656.450754224,0.455717667882,0.00465222537292,0.0496216323446,0.999999807559,0.000242772979033,-0.000570858695544,7.94842917018e-06,1793250789939710720
+261,4.350000000,HOLD_POSE2,770,747.141520484,723.141520484,693,667,632,898,785.858479516,828,657,632,656.141520484,0.455717400731,0.00465097299395,0.0496218813046,0.99999980777,0.000241165184248,-0.000571166523752,8.31349436329e-06,1793250789956377600
+262,4.366666667,HOLD_POSE2,770,747.719180921,723.719180921,693,667,632,898,785.280819079,828,657,632,656.719180921,0.455716543485,0.00465201569503,0.049620619965,0.999999806438,0.000242912939694,-0.000572756596848,8.16364452015e-06,1793250789973044224
+263,4.383333333,HOLD_POSE2,770,747.703175237,723.703175237,693,667,632,898,785.296824763,828,657,632,657,0.455716760763,0.00465286556368,0.0496204558488,0.99999980622,0.000243954351807,-0.000572694719309,8.12747967154e-06,1793250789989710848
+264,4.400000000,HOLD_POSE2,770,747.125547128,723.125547128,693,667,632,898,785.874452872,828,657,632,657,0.455717994568,0.00465353300818,0.0496213297324,0.999999807058,0.000244327546081,-0.00057107005675,8.19886356371e-06,1793250790006377472
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,748,724,693,667,632,898,785,828,657,632,657,0.455716511537,0.0046541669914,0.0496195744416,0.999999805445,0.000243788905994,-0.00057412504155,7.609257205e-06,1793250790038500096
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747.421519341,723.421519341,693,667,632,898,785.578480659,828,657,632,657,0.455715810462,0.00465251645634,0.0496197194534,0.999999805457,0.000243373967832,-0.000574273475788,8.12659119496e-06,1793250790055166720
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747,723.156921605,693,667,632,898,786,828,657,632,657,0.455715382675,0.00465171019237,0.0496198451425,0.999999805299,0.000243810852987,-0.000574358342155,8.41766242423e-06,1793250790071833600
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747,723.688045386,693,667,632,898.311954614,785.688045386,828,657,632,656.688045386,0.455716338267,0.00465455255585,0.0496201157328,0.999999804826,0.000247298263598,-0.000573697747059,7.84512177268e-06,1793250790105167104
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,746,722,690.618437775,673.618437775,641,890,787.381562225,823,656,631,655,0.430949719977,0.00463781127083,0.0498036547867,0.999999923093,0.000234575321851,-0.000313069670791,-2.78399616315e-05,1793250791055166720
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,722.889692959,690.110307041,673.110307041,641.110307041,889.889692959,788,821.889692959,656,632,656,0.428101585907,0.00463594447196,0.0497678417757,0.999999917697,0.000168581366952,-0.000366590794342,-4.24057361888e-05,1793250791105166848
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746.395835806,722,688.791671611,673.395835806,641,888.395835806,788,820,656,632,656,0.422601352791,0.00463801249767,0.0498275475469,0.999999952327,0.000166916454865,-0.000255349721547,-4.77714738499e-05,1793250791205166592
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.679210976,747,722,684.679210976,674,641.679210976,885.679210976,786,818.320789024,657,632,655.679210976,0.40098199774,0.00460719691385,0.0498446328353,0.999999954322,0.000134863526508,-0.000268029536972,-3.64553187654e-05,1793250792288500992
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,722,684.540947937,674.459052063,642,885,787,818.540947937,657,632.459052063,656,0.400983398987,0.00460733846865,0.0498462109095,0.999999955892,0.000130313697004,-0.000264321355146,-3.69975355901e-05,1793250792438500864
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba7db3476a88b72d336f12d949ed205aa3d682e6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+188,3.133333333,pose1_to_pose2_press,0.611492488653,0.0101501614259,1.04003376894,0.582063167894,0.0188227977273,1.03970515953
+189,3.150000000,pose1_to_pose2_press,0.612072932503,0.0101503365448,1.04003347306,0.582643608015,0.0188229599835,1.03970485973
+190,3.166666667,pose1_to_pose2_press,0.612637425828,0.010150139809,1.04003362887,0.583208104083,0.0188227725224,1.03970501488
+191,3.183333333,pose1_to_pose2_press,0.613186796131,0.01015002417,1.04003371426,0.583757475686,0.0188226616552,1.03970510933
+192,3.200000000,pose1_to_pose2_press,0.613726706653,0.0101500036512,1.04003353972,0.584297385927,0.0188226404034,1.03970493808
+193,3.216666667,pose1_to_pose2_press,0.614253005265,0.0101500537437,1.04003350716,0.584823684067,0.0188226889474,1.0397049021
+194,3.233333333,pose1_to_pose2_press,0.614759035767,0.0101500710992,1.04003366062,0.585329714984,0.0188227077761,1.03970505028
+195,3.250000000,pose1_to_pose2_press,0.615245702135,0.0101500641182,1.04003366724,0.585816381127,0.0188227002703,1.03970505437
+196,3.266666667,pose1_to_pose2_press,0.615711958932,0.0101502152603,1.04003363894,0.586282635129,0.0188228425452,1.03970503348
+197,3.283333333,pose1_to_pose2_press,0.616165856444,0.0101500861484,1.04003361746,0.586736536365,0.0188227266922,1.03970501743
+198,3.300000000,pose1_to_pose2_press,0.616608284094,0.0101500747211,1.04003353639,0.587178962046,0.018822708688,1.03970492804
+199,3.316666667,pose1_to_pose2_press,0.617027458503,0.0101500591312,1.04003339445,0.587598137584,0.0188226975722,1.03970479185
+200,3.333333333,pose1_to_pose2_press,0.617422444944,0.0101500197898,1.04003328022,0.587993124446,0.0188226601132,1.03970467845
+201,3.350000000,pose1_to_pose2_press,0.617789675085,0.0101501170345,1.04003366456,0.58836035271,0.0188227509688,1.03970505183
+202,3.366666667,pose1_to_pose2_press,0.61813153067,0.0101501163024,1.04003362127,0.588702208112,0.0188227500776,1.03970501183
+203,3.383333333,pose1_to_pose2_press,0.618449294335,0.0101501057213,1.04003343851,0.589019972379,0.0188227421517,1.03970483665
+204,3.400000000,pose1_to_pose2_press,0.618751862657,0.0101501348083,1.04003342265,0.589322539995,0.0188227692723,1.03970482255
+205,3.416666667,pose1_to_pose2_press,0.61904053431,0.0101501664938,1.04003351203,0.589611209861,0.018822795082,1.03970490846
+206,3.433333333,pose1_to_pose2_press,0.619316985574,0.010150166737,1.04003355898,0.58988766093,0.018822794684,1.03970495103
+207,3.450000000,pose1_to_pose2_press,0.619578805296,0.0101501581416,1.04003364149,0.590149481868,0.0188227903578,1.03970503028
+208,3.466666667,pose1_to_pose2_press,0.619819807018,0.0101501820365,1.04003350007,0.590390482967,0.0188228127561,1.03970489819
+209,3.483333333,pose1_to_pose2_press,0.620038528731,0.0101499518487,1.04003353163,0.590609207585,0.0188225923734,1.03970492231
+210,3.500000000,pose1_to_pose2_press,0.620232247757,0.0101501556364,1.04003351873,0.590802925693,0.0188227933793,1.03970491359
+211,3.516666667,pose1_to_pose2_press,0.620405432456,0.0101503042201,1.04003373183,0.590976107313,0.0188229316896,1.03970512594
+212,3.533333333,pose1_to_pose2_press,0.620559958912,0.0101502299797,1.04003358238,0.59113063299,0.0188228548948,1.03970497491
+213,3.550000000,pose1_to_pose2_press,0.620696927597,0.0101500930249,1.04003361743,0.591267604863,0.0188227287685,1.03970500756
+214,3.566666667,pose1_to_pose2_press,0.620820370829,0.0101500422458,1.04003360578,0.591391049845,0.0188226840605,1.0397049958
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+218,3.633333333,pose1_to_pose2_press,0.621197883768,0.0101500998009,1.04003326521,0.59176855971,0.0188227320706,1.03970466385
+219,3.650000000,pose1_to_pose2_press,0.621266565919,0.0101501014192,1.04003352188,0.59183724207,0.0188227336068,1.03970490749
+220,3.666666667,pose1_to_pose2_press,0.621324979273,0.0101501267533,1.04003340212,0.591895654364,0.0188227564237,1.03970480184
+221,3.683333333,pose1_to_pose2_press,0.621374597132,0.0101501176804,1.04003354842,0.591945272747,0.0188227491319,1.03970494579
+222,3.700000000,pose1_to_pose2_press,0.621415737274,0.0101501076735,1.04003343799,0.591986414019,0.0188227428081,1.03970483411
+223,3.716666667,pose1_to_pose2_press,0.621449626429,0.0101500786226,1.04003338601,0.592020303663,0.0188227154508,1.0397047822
+224,3.733333333,pose1_to_pose2_press,0.621476690547,0.0101500691654,1.04003354253,0.592047366908,0.0188227027779,1.03970493221
+225,3.750000000,pose1_to_pose2_press,0.621498086507,0.0101501153263,1.04003356632,0.592068761379,0.0188227435046,1.03970494955
+226,3.766666667,pose1_to_pose2_press,0.621514555571,0.0101501012481,1.04003354539,0.592085230823,0.0188227310384,1.03970493263
+227,3.783333333,pose1_to_pose2_press,0.621526545345,0.010149999368,1.04003353211,0.592097221924,0.0188226338942,1.03970492142
+228,3.800000000,pose1_to_pose2_press,0.621535245481,0.0101501125407,1.04003352032,0.592105921808,0.018822746273,1.03970491495
+229,3.816666667,pose1_to_pose2_press,0.621540820501,0.0101500819209,1.04003343326,0.592111498881,0.0188227226122,1.03970482826
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+231,3.850000000,pose1_to_pose2_press,0.621546460055,0.0101500917837,1.0400334506,0.592117137237,0.0188227286463,1.03970485416
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+233,3.883333333,pose1_to_pose2_press,0.621547747043,0.0101501534502,1.04003329688,0.59211842429,0.0188227904384,1.03970469812
+234,3.900000000,pose1_to_pose2_press,0.621547770349,0.0101501545669,1.0400332941,0.592118447597,0.0188227915574,1.03970469529
+235,3.916666667,pose1_to_pose2_press,0.621547946968,0.0101501630297,1.040033273,0.592118624225,0.0188228000374,1.03970467388
+236,3.933333333,pose1_to_pose2_press,0.621548410255,0.0101501399565,1.04003341299,0.592119087266,0.0188227758963,1.03970480763
+237,3.950000000,pose1_to_pose2_press,0.621548563786,0.0101501254527,1.04003348896,0.592119240675,0.01882276087,1.03970488072
+238,3.966666667,pose1_to_pose2_press,0.621548583736,0.0101501235681,1.04003349884,0.592119260609,0.0188227589175,1.03970489021
+239,3.983333333,pose1_to_pose2_press,0.621548809983,0.010150102195,1.0400336108,0.592119486675,0.0188227367744,1.03970499792
+240,4.000000000,pose1_to_pose2_press,0.621548872926,0.0101500962489,1.04003364194,0.592119549568,0.018822730614,1.03970502789
+241,4.016666667,pose1_to_pose2_press,0.621549174046,0.0101501286118,1.04003361412,0.592119849792,0.018822759939,1.039704999
+242,4.033333333,pose1_to_pose2_press,0.621549202883,0.010150134048,1.04003360466,0.592119878518,0.0188227650069,1.03970498962
+243,4.050000000,pose1_to_pose2_press,0.621549348131,0.0101501553929,1.0400335443,0.592120023393,0.0188227851241,1.03970492954
+244,4.066666667,pose1_to_pose2_press,0.621549347489,0.01015013939,1.04003351108,0.592120023244,0.0188227707799,1.03970489603
+245,4.083333333,pose1_to_pose2_press,0.621549347153,0.0101501310313,1.04003349372,0.592120023166,0.0188227632876,1.03970487852
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+257,4.283333333,pose2_hold,0.621549346163,0.0101501063601,1.0400334425,0.592120022939,0.0188227411719,1.03970482686
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+265,4.416666667,pose2_to_pose3_retreat,0.621549346163,0.0101501063601,1.0400334425,0.592120022939,0.0188227411714,1.03970482686
+266,4.433333333,pose2_to_pose3_retreat,0.621549347698,0.0101501660439,1.04003348847,0.592120023215,0.0188227966463,1.03970487449
+267,4.450000000,pose2_to_pose3_retreat,0.621549348021,0.0101501786134,1.04003349815,0.592120023273,0.0188228083294,1.03970488452
+268,4.466666667,pose2_to_pose3_retreat,0.62154934945,0.0101502341854,1.04003354095,0.59212002353,0.0188228599823,1.03970492887
+269,4.483333333,pose2_to_pose3_retreat,0.621549232524,0.0101501902174,1.04003349693,0.59211990732,0.0188228185723,1.03970488819
+270,4.500000000,pose2_to_pose3_retreat,0.621549162324,0.0101501615205,1.04003346873,0.592119837599,0.0188227915737,1.03970486193
+271,4.516666667,pose2_to_pose3_retreat,0.621548529883,0.0101500773477,1.04003338656,0.592119206382,0.0188227116774,1.03970478325
+272,4.533333333,pose2_to_pose3_retreat,0.621546112518,0.0101501633901,1.04003349691,0.592116788361,0.0188227952964,1.03970488815
+273,4.550000000,pose2_to_pose3_retreat,0.621540091732,0.0101501763736,1.04003340428,0.592110766796,0.018822805704,1.0397047984
+274,4.566666667,pose2_to_pose3_retreat,0.621527469385,0.010150185605,1.04003342798,0.592098146485,0.018822822047,1.03970482829
+275,4.583333333,pose2_to_pose3_retreat,0.62150646123,0.0101501757698,1.04003329441,0.592077137059,0.0188228080873,1.03970469536
+276,4.600000000,pose2_to_pose3_retreat,0.621475666834,0.0101501179855,1.04003364745,0.592046344078,0.0188227547217,1.03970504075
+277,4.616666667,pose2_to_pose3_retreat,0.621435156424,0.0101501481639,1.04003357383,0.592005834806,0.0188227891541,1.0397049751
+278,4.633333333,pose2_to_pose3_retreat,0.621385318195,0.010150122522,1.0400335583,0.591955995697,0.0188227599943,1.03970495384
+279,4.650000000,pose2_to_pose3_retreat,0.621328180735,0.010150034134,1.04003364527,0.591898859253,0.0188226747093,1.03970503729
+280,4.666666667,pose2_to_pose3_retreat,0.62126425254,0.0101500484516,1.0400336044,0.591834930965,0.0188226887066,1.03970499669
+281,4.683333333,pose2_to_pose3_retreat,0.621193728018,0.0101500828994,1.04003356281,0.591764406043,0.0188227212483,1.03970495821
+282,4.700000000,pose2_to_pose3_retreat,0.6211162811,0.0101499984906,1.04003378538,0.591686958925,0.0188226365131,1.03970517288
+283,4.716666667,pose2_to_pose3_retreat,0.621027862722,0.0101499585066,1.04003380142,0.591598541993,0.0188226011805,1.03970518615
+284,4.733333333,pose2_to_pose3_retreat,0.62092833222,0.0101499638633,1.04003358495,0.591499010915,0.0188226050163,1.03970498271
+285,4.750000000,pose2_to_pose3_retreat,0.62081491261,0.0101500532671,1.04003348961,0.59138558965,0.0188226888157,1.03970489191
+286,4.766666667,pose2_to_pose3_retreat,0.62068785321,0.0101501732956,1.04003349845,0.591258528858,0.0188228038446,1.03970489826
+287,4.783333333,pose2_to_pose3_retreat,0.620546749243,0.0101502287079,1.0400335224,0.591117424954,0.0188228593194,1.03970492114
+288,4.800000000,pose2_to_pose3_retreat,0.620391245698,0.0101501390914,1.04003361971,0.590961923106,0.0188227753792,1.0397050202
+289,4.816666667,pose2_to_pose3_retreat,0.620221293754,0.0101501431551,1.0400333993,0.590791971338,0.0188227799984,1.03970480391
+290,4.833333333,pose2_to_pose3_retreat,0.620035257084,0.0101501345076,1.0400335585,0.590605933758,0.0188227677033,1.0397049536
+291,4.850000000,pose2_to_pose3_retreat,0.619831350729,0.010150046531,1.04003346664,0.590402028514,0.0188226832483,1.03970486074
+292,4.866666667,pose2_to_pose3_retreat,0.619605978718,0.0101500388735,1.04003336169,0.590176657641,0.0188226792356,1.0397047565
+293,4.883333333,pose2_to_pose3_retreat,0.619358959683,0.0101501819209,1.04003355126,0.589929637477,0.0188228179146,1.03970493915
+294,4.900000000,pose2_to_pose3_retreat,0.619088997765,0.010150147823,1.04003355779,0.58965967529,0.0188227826895,1.03970494708
+295,4.916666667,pose2_to_pose3_retreat,0.618796657506,0.0101501251857,1.04003379771,0.589367336762,0.0188227654711,1.03970518307
+296,4.933333333,pose2_to_pose3_retreat,0.618483825325,0.0101500144521,1.04003358831,0.589054503549,0.0188226510387,1.03970497542
+297,4.950000000,pose2_to_pose3_retreat,0.61815226392,0.0101501124365,1.04003362238,0.588722940724,0.0188227439502,1.03970501162
+298,4.966666667,pose2_to_pose3_retreat,0.617806167432,0.0101501097822,1.04003365648,0.588376844011,0.0188227401703,1.03970504634
+299,4.983333333,pose2_to_pose3_retreat,0.617446934914,0.0101501372347,1.04003369858,0.588017612656,0.0188227712946,1.03970509146
+300,5.000000000,pose2_to_pose3_retreat,0.61707044897,0.0101501963628,1.04003365603,0.587641128062,0.0188228348146,1.03970505395
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+302,5.033333333,pose2_to_pose3_retreat,0.616255219938,0.0101502687017,1.04003338335,0.586825895397,0.0188228936788,1.03970478103
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+304,5.066666667,pose2_to_pose3_retreat,0.615333565476,0.0101500825355,1.04003351847,0.585904244424,0.0188227191961,1.03970492303
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ff292225832a0d084caf062b5d1907eab1613c8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360df4cb6751a4387e1ac22de59f0c37ffe56d92ff63d592263bbe0f10bafd4c
+size 26230728
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be0e5257cf6f04f9725bb7aaa36d8bf9dcb40e7b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+3,0.050000000,BASELINE,770,747,722,684,674,641.736097948,885.263902052,787,819,657,633,656,0.40098327033,0.00460757497793,0.0498477212124,0.999999956349,0.000131627809959,-0.000261871192414,-3.74158029074e-05,1793250792645393664
+4,0.066666667,BASELINE,770,747,722,684.318422923,674.318422923,642,885.318422923,786.681577077,818.681577077,657,632.681577077,656,0.400983619644,0.0046066860246,0.0498485797047,0.999999956644,0.000131401517591,-0.000260918500445,-3.69791535488e-05,1793250792662060288
+5,0.083333333,BASELINE,770,747,722,684.906265743,674.906265743,642,885.906265743,786.093734257,818.093734257,657,632.093734257,656,0.400985257221,0.00460599946224,0.0498504855082,0.999999957292,0.000131474980213,-0.000258493268742,-3.62065699226e-05,1793250792678726912
+6,0.100000000,BASELINE,770,747,722,684.513951251,674.513951251,642,886,786,818.486048749,657,632,656,0.400986111841,0.00460625275051,0.0498503422233,0.999999957311,0.000132195086302,-0.000258062337607,-3.61381272595e-05,1793250792695393536
+7,0.116666667,BASELINE,770,747,722.063872477,684,674.063872477,641.936127523,885.936127523,786.063872477,819,657,631.936127523,656,0.400986642323,0.00460681677366,0.0498498599513,0.999999957195,0.000133051485219,-0.000258062152871,-3.62216822731e-05,1793250792712060416
+8,0.133333333,BASELINE,770,747,722.638256965,684,674.638256965,641.361743035,885.361743035,786.638256965,819,657,631.361743035,656,0.400985769215,0.00460843936024,0.0498497751767,0.999999956949,0.000134016761392,-0.000258480944711,-3.64524582328e-05,1793250792728727040
+9,0.150000000,BASELINE,770,746.780824293,722.780824293,684,674.780824293,641.219175707,885,787,819,657,631.219175707,656,0.400984767705,0.00460897552117,0.0498493124532,0.999999956674,0.000134317612342,-0.000259367057946,-3.66014319024e-05,1793250792745393664
+10,0.166666667,BASELINE,770,746.188789622,722.188789622,684,674.188789622,641.811210378,885,787,819,657,631.811210378,656,0.400983547759,0.00460766346825,0.0498482067678,0.999999956347,0.000133488151332,-0.000261048172434,-3.66112445179e-05,1793250792762060544
+11,0.183333333,BASELINE,770,746,722,684,674,642,885,787,819,657,632,656,0.400983620975,0.00460703191023,0.0498482400579,0.999999956618,0.000132602316778,-0.000260464490377,-3.65855743916e-05,1793250792778727424
+12,0.200000000,BASELINE,770,746,722,684,674,642,885,787,819,657,632,656,0.400984299618,0.00460671894351,0.0498488065889,0.999999957167,0.000131690089405,-0.000258820484964,-3.6543292096e-05,1793250792795394304
+13,0.216666667,BASELINE,770,746.548415905,722,684,674,642,885.548415905,786.451584095,819,657,632,656,0.400985196287,0.00460718678997,0.0498493304458,0.999999957244,0.000131436072297,-0.000258610048193,-3.68456448397e-05,1793250792812060416
+14,0.233333333,BASELINE,770,747,722.123284186,684,674.123284186,641.876715814,885.876715814,786.123284186,819,657,632,656,0.400985446049,0.00460750856757,0.0498495263136,0.99999995712,0.000131569270961,-0.00025899763256,-3.70199692946e-05,1793250792828727296
+15,0.250000000,BASELINE,770,747,722.694070481,684,674.694070481,641.305929519,885.305929519,786.694070481,819,657,632,656,0.400983307841,0.0046071576198,0.0498485394215,0.999999956348,0.000132987861195,-0.000261294275718,-3.66666665767e-05,1793250792845394432
+16,0.266666667,BASELINE,769.72409745,747,722.72409745,684,674.72409745,641.27590255,885,787,818.72409745,657,632,656,0.400983470165,0.00460655886321,0.0498486726003,0.999999956561,0.000132377682006,-0.00026082044784,-3.64361010473e-05,1793250792862061056
+17,0.283333333,BASELINE,769.129506718,747,722.129506718,684,674.129506718,641.870493282,885,787,818.129506718,657,632,656,0.400986289776,0.00460567386883,0.0498500995454,0.999999957902,0.000129424121557,-0.000257146517532,-3.63473062169e-05,1793250792878727680
+18,0.300000000,BASELINE,769,747,722.453773499,684,674,642,885,786.546226501,818,657,632,656,0.400985251393,0.00460597482382,0.0498492400859,0.999999957564,0.000129078156746,-0.000258600353285,-3.65651273343e-05,1793250792895394304
+19,0.316666667,BASELINE,769,747,722.966470664,684,674,642,885,786.033529336,818.033529336,657,632,656,0.400983248151,0.00460653365709,0.0498478245908,0.999999956795,0.000129463084089,-0.000261327425434,-3.68405365635e-05,1793250792912060928
+20,0.333333333,BASELINE,769,747,722.392754174,684,674,642,885,786.607245826,818.607245826,657,632,656,0.400983008004,0.00460592671188,0.0498477081771,0.99999995668,0.000129925090863,-0.000261563192183,-3.66681956994e-05,1793250792928727296
+21,0.350000000,BASELINE,769,747,722,684,674.184994221,642,885,787,818.815005779,657,632,656,0.400982978931,0.00460547701783,0.0498479273818,0.999999956715,0.000129934218328,-0.000261444596922,-3.65230045186e-05,1793250792945393664
+22,0.366666667,BASELINE,769,747,722,684,674.771493241,642,885,787,818.228506759,657,632,656,0.400983407966,0.0046053686161,0.0498488750005,0.999999957076,0.000128960432785,-0.000260556907077,-3.64367380558e-05,1793250792962060544
+23,0.383333333,BASELINE,769.348046895,747,722,684,675,642,885.348046895,787,818.348046895,657,632,656,0.400983634967,0.00460474723142,0.0498492021927,0.99999995742,0.000127932601055,-0.000259747848979,-3.63976195047e-05,1793250792978727424
+24,0.400000000,BASELINE,769.918252468,747,722,684,675,642,885.918252468,787,818.918252468,657,632,656,0.400983733011,0.0046037984092,0.0498491333661,0.999999957752,0.000126870271498,-0.000258988981516,-3.6388595504e-05,1793250792995394048
+25,0.416666667,BASELINE,769.498292689,747,722.501707311,684.501707311,674.498292689,642,885.498292689,786.498292689,819,657,632,655.498292689,0.400983390243,0.00460580103908,0.0498487195701,0.999999957316,0.000129538541004,-0.000259326622851,-3.65657924632e-05,1793250793012060928
+26,0.433333333,BASELINE,769.085736453,747,722.914263547,684.914263547,674,642,885,786.085736453,819,657,632,655.085736453,0.400983223029,0.004607816178,0.0498484937216,0.999999956877,0.000132213194104,-0.000259646240414,-3.67264759003e-05,1793250793028727552
+27,0.450000000,BASELINE,769.660395982,747,722.339604018,684.339604018,674,642,885,786.660395982,819,657,632,655.660395982,0.400984477631,0.0046070858385,0.0498496688997,0.999999957208,0.000131363833834,-0.000258816586669,-3.66152629538e-05,1793250793045394176
+28,0.466666667,BASELINE,770,746.758883599,722,684.241116401,674,642,885,786.758883599,819,657,632,656,0.400984877254,0.00460661853752,0.0498498151278,0.999999957333,0.000130278748574,-0.000258877814023,-3.66654233851e-05,1793250793062061056
+29,0.483333333,BASELINE,770,746.16940655,722,684.83059345,674,642,885,786.16940655,819,657,632,656,0.400984041617,0.00460653126991,0.0498484747472,0.999999957157,0.000128853092129,-0.000260226170453,-3.69487331833e-05,1793250793078727680
+30,0.500000000,BASELINE,770,746.414215207,722,685,674,642,885.414215207,786.414215207,819,657,632.414215207,656,0.400983464703,0.0046087747384,0.0498483769107,0.999999956736,0.000132503243181,-0.000259987393507,-3.71013017024e-05,1793250793095394048
+31,0.516666667,BASELINE,770,746.99547562,722,685,674,642,885.99547562,786.99547562,819,657,632.99547562,656,0.400982992128,0.00461195814896,0.049848780169,0.99999995619,0.000138200372013,-0.000259108555467,-3.72011447132e-05,1793250793112060416
+32,0.533333333,BASELINE,769.429508636,747,722.570491364,684.429508636,674,642,886,786.429508636,819,657,632.429508636,656,0.400983233646,0.00460757778781,0.0498485931714,0.999999956978,0.000131421243792,-0.000259654618206,-3.67569737089e-05,1793250793128727040
+33,0.550000000,BASELINE,769.145472894,747,723,684,674,642,886,786,819,657,632,656,0.400983541543,0.00460467495811,0.0498484640743,0.999999957514,0.000126913396504,-0.000259860718492,-3.65637062418e-05,1793250793145393920
+34,0.566666667,BASELINE,769.720497946,747,723,684,674,642,886,786,819,657,632,656,0.400984028906,0.00460631019012,0.0498485196184,0.99999995739,0.000129401187143,-0.000259029971482,-3.71239080794e-05,1793250793162061056
+35,0.583333333,BASELINE,770,747,723,684,674,642,886,786,819,657,632,656,0.400984916947,0.00460641238162,0.0498493119989,0.999999957631,0.000130203359405,-0.000257721217012,-3.69311793703e-05,1793250793178727936
+36,0.600000000,BASELINE,770,747,723,684,674,642,886,786,819,657,632,656,0.400986183946,0.00460506464192,0.0498508012707,0.99999995822,0.000129411294241,-0.000255960368702,-3.60263380133e-05,1793250793195394560
+37,0.616666667,BASELINE,770,747,722.5249478,684.4750522,674,642,885.5249478,786,818.5249478,657,632,656,0.400985045215,0.00460518325514,0.0498502587355,0.999999957872,0.000129831880653,-0.000257106754669,-3.60042285875e-05,1793250793212061184
+38,0.633333333,BASELINE,769.948382688,746.948382688,722,684.948382688,674,642,885.051617312,786,818.051617312,657,632,656,0.400983589443,0.00460556832255,0.049849392196,0.999999957399,0.000130420525767,-0.000258615873704,-3.61963093467e-05,1793250793228727808
+39,0.650000000,BASELINE,769.37168051,746.37168051,722,684.37168051,674,642,885.62831949,786,818.62831949,657,632,656,0.400984137339,0.00460547684003,0.0498496457749,0.999999957716,0.000130083094143,-0.000257496121443,-3.66486677459e-05,1793250793245394176
+40,0.666666667,BASELINE,769.208992459,746.208992459,722.208992459,684,674,642,885.791007541,786.208992459,819,657,632,656,0.400984234473,0.00460537698373,0.0498495707826,0.999999957832,0.000128952773616,-0.000257571080135,-3.6942841499e-05,1793250793262060800
+41,0.683333333,BASELINE,769.796863976,746.796863976,722.796863976,684,674,642,885.203136024,786.796863976,819,657,632,656,0.400983514426,0.00460526194676,0.0498489001286,0.99999995758,0.000126385037612,-0.000259811911096,-3.69502448321e-05,1793250793278727680
+42,0.700000000,BASELINE,769.621456862,747,722.621456862,684.378543138,674,642,885.378543138,787,818.621456862,657,632.378543138,656,0.400983596949,0.00460563012271,0.0498492163222,0.999999957545,0.000127388644402,-0.000259462794921,-3.68989107477e-05,1793250793295394304
+43,0.716666667,BASELINE,769.043047212,747,722.043047212,684.956952788,674,642,885.956952788,787,818.043047212,657,632.956952788,656,0.400984103219,0.00460625342964,0.0498500535603,0.99999995762,0.000130277880033,-0.000257746215763,-3.68165639682e-05,1793250793312061184
+44,0.733333333,BASELINE,769.535090575,747,722,685,674.535090575,642,885.464909425,787,818.535090575,657,632.464909425,656,0.400983606995,0.00460843867818,0.0498493624164,0.999999957132,0.000132562405251,-0.000258399621746,-3.73320217197e-05,1793250793328728064
+45,0.750000000,BASELINE,770,747,722,685,674.887904086,642,885.112095914,786.887904086,818.887904086,657,632,656,0.400983452377,0.00460985730358,0.0498488966062,0.999999956867,0.000133716642646,-0.000258777624449,-3.76948242757e-05,1793250793345394688
+46,0.766666667,BASELINE,770,747,722,685,674.315459791,642,885.684540209,786.315459791,818.315459791,657,632,656,0.400985031675,0.004607611836,0.0498498608736,0.999999957714,0.000130428768324,-0.000257242018672,-3.7233309278e-05,1793250793362061056
+47,0.783333333,BASELINE,770,747,722.265097412,684.734902588,674,642,886,786.265097412,818,657,632.265097412,656,0.400985204092,0.00460656718712,0.0498502282516,0.999999957839,0.000129556231264,-0.000257250996789,-3.68766942184e-05,1793250793378727680
+48,0.800000000,BASELINE,770,747,722.855613646,684.144386354,674,642,886,786.855613646,818,657,632.855613646,656,0.400983649499,0.00460699659614,0.0498498629214,0.999999957082,0.000131648627292,-0.000259156019882,-3.66488484201e-05,1793250793395394304
+49,0.816666667,BASELINE,770,747,722.56305407,684,674,642,886,787,818.43694593,657,632.56305407,656,0.400983265455,0.00460807691154,0.0498497782979,0.999999956858,0.000132379455147,-0.000259623799128,-3.68182656813e-05,1793250793412060928
+50,0.833333333,BASELINE,769.984724351,747,722,684,674,642,885.984724351,786.984724351,819,657,632,656,0.40098328855,0.00460929044078,0.0498497884453,0.999999956829,0.000132619975538,-0.000259572466629,-3.71077124422e-05,1793250793428728064
+51,0.850000000,BASELINE,769.407506271,747,722,684,674,642,885.407506271,786.407506271,819,657,632,656,0.400984352773,0.00460765495251,0.0498499428916,0.999999957565,0.000131034146991,-0.000257536142961,-3.70829453156e-05,1793250793445394688
+52,0.866666667,BASELINE,769,747,722,684,674,642,885.169091041,786.169091041,819,656.830908959,632,656,0.400985004046,0.00460662785028,0.0498500116313,0.999999958002,0.0001299056829,-0.000256411229687,-3.70671556218e-05,1793250793462061056
+53,0.883333333,BASELINE,769,747,722,684,674,642,885.744197748,786.744197748,819,656.255802252,632,656,0.400984663756,0.00460706158404,0.0498498745752,0.999999957732,0.000129875426911,-0.000257474764243,-3.70729222372e-05,1793250793478727680
+54,0.900000000,BASELINE,769,747,722,684.32889372,674,642,885.67110628,787,819,656.32889372,632,656,0.400985084081,0.00460736323194,0.0498502163901,0.999999957686,0.000130626267761,-0.000257297544729,-3.69180474922e-05,1793250793495394048
+55,0.916666667,BASELINE,769,747,722,684.921271847,674,642,885.078728153,787,819,656.921271847,632,656,0.400986113753,0.00460755906275,0.0498509418398,0.999999957816,0.000132002863453,-0.000256126328228,-3.66344792176e-05,1793250793512060672
+56,0.933333333,BASELINE,769.50031615,747,722,684.49968385,674,642,885,786.49968385,819,657,632.50031615,656,0.400984916257,0.00460683542198,0.0498502174859,0.99999995761,0.000131410632071,-0.000257249567969,-3.6520259699e-05,1793250793528727296
+57,0.950000000,BASELINE,770,747,722,684,674.077110038,642,885.077110038,786.077110038,819,657,632.922889962,656,0.40098375745,0.00460602393893,0.0498495724409,0.999999957438,0.000130661671796,-0.000258303528635,-3.64677500895e-05,1793250793545393920
+58,0.966666667,BASELINE,770,747,722,684,674.652567712,642,885.652567712,786.652567712,819,657,632.347432288,656,0.40098505484,0.0046055555473,0.0498508760846,0.999999957836,0.000130850059664,-0.000256636936176,-3.66463085738e-05,1793250793562060544
+59,0.983333333,BASELINE,769.766836707,747,722,684,674.766836707,642,886,786.766836707,819,657,632.233163293,656,0.400985442511,0.00460602082409,0.0498513268216,0.999999957981,0.000130779652968,-0.00025606953797,-3.69153753336e-05,1793250793578727168
+60,1.000000000,BASELINE,769.178412635,747,722,684,674.178412635,642,886,786.178412635,819,657,632.821587365,656,0.400984444083,0.00460790869082,0.0498504780219,0.999999957743,0.000130314932267,-0.000257176934039,-3.73223456474e-05,1793250793595393792
+61,1.016666667,BASELINE,769.403734927,747,722,684.403734927,674,642,886,786.403734927,819,657,633,656,0.400984838914,0.00460733012133,0.0498507579546,0.999999957972,0.000129533113308,-0.000256692045068,-3.72206326983e-05,1793250793612060416
+62,1.033333333,BASELINE,769.98315129,747,722,684.98315129,674,642,886,786.98315129,819,657,633,656,0.40098584001,0.00460567830534,0.0498515290445,0.999999958405,0.00012861331207,-0.00025551428825,-3.68975710134e-05,1793250793628727296
+63,1.050000000,BASELINE,769.442778118,747,722,684.442778118,674,642,885.442778118,786.442778118,819,657,633,656,0.40098372272,0.00460692806621,0.0498498304584,0.999999957677,0.000128833991171,-0.000258209172899,-3.70932442008e-05,1793250793645394176
+64,1.066666667,BASELINE,769.131637122,747,722,684.131637122,674,642,885.131637122,786.131637122,818.868362878,657,632.868362878,656,0.400982388841,0.004607759702,0.0498488383916,0.999999957186,0.000129325458961,-0.000259843422492,-3.72030707598e-05,1793250793662060800
+65,1.083333333,BASELINE,769.707756666,747,722,684.707756666,674,642,885.707756666,786.707756666,818.292243334,657,632.292243334,656,0.400984015554,0.00460688607922,0.0498504816909,0.999999957632,0.000130615931046,-0.00025750473018,-3.69705716342e-05,1793250793678727424
+66,1.100000000,BASELINE,770,747,722,685,674,642,885.708854791,786.708854791,818,657,632.291145209,656,0.400984670524,0.004606531977,0.0498510845699,0.999999957867,0.000130557353058,-0.000256640458351,-3.68391776727e-05,1793250793695393792
+67,1.116666667,BASELINE,770,747,722,685,674,642,885.117983036,786.117983036,818,657,632.882016964,656,0.400984325107,0.00460671270795,0.0498506163626,0.999999957888,0.000129109962443,-0.000257294064842,-3.6811868906e-05,1793250793712060416
+68,1.133333333,BASELINE,769.536476277,747,722,684.536476277,674,642,885,786,818,657,633,656,0.400984371663,0.0046060066242,0.0498507699655,0.999999957927,0.000129323456125,-0.000257041174253,-3.67555035634e-05,1793250793728727296
+69,1.150000000,BASELINE,769,747,722,684,674,642,885,786.042312048,818.042312048,657,633,656,0.400984454953,0.00460515717123,0.0498509624875,0.999999957962,0.000129754039354,-0.000256695805328,-3.66989932921e-05,1793250793745393920
+70,1.166666667,BASELINE,769,747,722,684,674,642,885,786.616300765,818.616300765,657,633,656,0.400983770983,0.0046052864041,0.0498496946478,0.999999957881,0.000127705532764,-0.000258030301881,-3.67317557177e-05,1793250793762061056
+71,1.183333333,BASELINE,769,747,722,684,674,642,885,787,819,657,633,656,0.400983460963,0.00460591058495,0.0498489975292,0.9999999578,0.000127168192679,-0.000258592602496,-3.68435525214e-05,1793250793778727680
+72,1.200000000,BASELINE,769,747,722,684,674,642,885,787,819,657,633,656,0.400983904974,0.00460753277797,0.0498494512116,0.999999957725,0.000129677965413,-0.000257597848975,-3.71147140967e-05,1793250793795394304
+73,1.216666667,BASELINE,769.351547932,747,722,684,674,642,885,786.648452068,818.648452068,657,632.648452068,656,0.400985008245,0.00460738813175,0.0498502612842,0.999999958042,0.000129611903152,-0.000256403116571,-3.70576772922e-05,1793250793812060928
+74,1.233333333,BASELINE,769.9431219,747,722,684,674,642,885,786.0568781,818.0568781,657,632.0568781,656,0.400986561638,0.00460603714234,0.049851314689,0.999999958628,0.000127787140413,-0.000255071844841,-3.67765567867e-05,1793250793828727296
+75,1.250000000,BASELINE,769.476224191,746.476224191,722,684,674.523775809,642,885.523775809,786,818.523775809,657,632,656,0.400986593009,0.00460666416213,0.0498508294296,0.999999958269,0.000129677449314,-0.000255525587806,-3.67626225323e-05,1793250793845393920
+76,1.266666667,BASELINE,769.101983719,746.101983719,722,684,675,642,885.898016281,786.101983719,818.898016281,657,632,656,0.400986515098,0.00460725270265,0.0498504084481,0.999999957932,0.000131355007129,-0.000255985309139,-3.6787820051e-05,1793250793862060544
+77,1.283333333,BASELINE,769.674268648,746.674268648,722,684,675,642,885.325731352,786.674268648,818.325731352,657,632,656,0.400986679857,0.00460669348179,0.049851038678,0.999999958176,0.000130229027057,-0.00025559696049,-3.68624067213e-05,1793250793878727424
+78,1.300000000,BASELINE,769.746393444,747,722,684.253606556,674.746393444,642,885.253606556,787,818,656.746393444,632,656,0.400986339943,0.00460695972074,0.0498512339387,0.999999958227,0.000130267230636,-0.000255361898753,-3.69571222104e-05,1793250793895394560
+79,1.316666667,BASELINE,769.157737623,747,722,684.842262377,674.157737623,642,885.842262377,787,818,656.157737623,632,656,0.400985333286,0.00460831650607,0.049850854545,0.999999958025,0.000131843481598,-0.000255329350215,-3.70784306412e-05,1793250793912061440
+80,1.333333333,BASELINE,769.425937405,747,722,684.574062595,674.425937405,641.574062595,886,786.574062595,818.425937405,656.425937405,632,656,0.400985331137,0.00460739897907,0.0498508401831,0.999999958216,0.000130658867275,-0.000255217087684,-3.68884107454e-05,1793250793928728064
+81,1.350000000,BASELINE,770,747,722,684,675,641.007687035,885.992312965,786.007687035,819,657,632.007687035,656,0.400985689276,0.00460567701316,0.0498509506829,0.999999958541,0.000128476398497,-0.000255093019011,-3.65921131989e-05,1793250793945394432
+82,1.366666667,BASELINE,770,747,722,684,675,641.581902618,885.418097382,786.581902618,819,657,632.581902618,656,0.400985501121,0.00460602403114,0.0498504157121,0.999999958394,0.000127234373965,-0.000256249340363,-3.68621294091e-05,1793250793962061056
+83,1.383333333,BASELINE,769.844101933,746.844101933,722,684.155898067,674.844101933,642,885.155898067,786.844101933,819,657,632.844101933,656,0.40098548708,0.00460641832605,0.0498502392947,0.999999958358,0.000126739880118,-0.000256607200981,-3.70542803162e-05,1793250793978727424
+84,1.400000000,BASELINE,769.270695892,746.270695892,722,684.729304108,674.270695892,642,885.729304108,786.270695892,819,657,632.270695892,656,0.400985939333,0.00460693923255,0.0498510231132,0.999999958622,0.00012824733527,-0.000254826717685,-3.7037901533e-05,1793250793995394048
+85,1.416666667,BASELINE,769.311782847,746.311782847,722,685,674,642,885.688217153,786.311782847,819,657,632,656,0.400986079326,0.00460663548356,0.0498510370906,0.999999958624,0.000128503044072,-0.00025470360767,-3.69360341418e-05,1793250794012060672
+86,1.433333333,BASELINE,769.902374732,746.902374732,722,685,674,642,885.097625268,786.902374732,819,657,632,656,0.400985940083,0.00460559429372,0.0498503626445,0.999999958395,0.000127639389747,-0.000256062589079,-3.67577193241e-05,1793250794028727296
+87,1.450000000,BASELINE,770,746.515103935,722,684.515103935,674,642,885,786.515103935,818.515103935,657,632.484896065,656,0.400984509281,0.00460574144754,0.0498498784355,0.999999958055,0.000127696633803,-0.000257356634333,-3.67497862362e-05,1793250794045393920
+88,1.466666667,BASELINE,770,746.06509152,722.06509152,684.06509152,674,642,885.06509152,786.06509152,818.06509152,657,633,656,0.400983022124,0.00460608142054,0.049849501489,0.999999957753,0.000127775770673,-0.000258487822431,-3.67633763629e-05,1793250794062060800
+89,1.483333333,BASELINE,770,746.639592645,722.639592645,684.639592645,674,642,885.639592645,786.639592645,818.639592645,657,633,656,0.40098309565,0.00460608866144,0.0498496691468,0.999999957917,0.000126598994806,-0.000258445122815,-3.66813435123e-05,1793250794078727424
+90,1.500000000,BASELINE,770,747,722.780651186,684.780651186,674,642,885.780651186,787,819,657,632.780651186,656,0.400983319458,0.00460631782288,0.049849804454,0.999999957926,0.000126802791264,-0.000258301518463,-3.67438564062e-05,1793250794095394048
+91,1.516666667,BASELINE,770,747,722.192048689,684.192048689,674,642,885.192048689,787,819,657,632.192048689,656,0.400983796254,0.00460692056726,0.0498498853017,0.999999957672,0.000129330655188,-0.000257988050208,-3.70496988592e-05,1793250794112060672
+92,1.533333333,BASELINE,770,747,722,684,674.389835757,642,885,787,818.610164243,657,632,656,0.400985718211,0.0046062220125,0.0498508649586,0.999999958236,0.000129447456673,-0.000255736968038,-3.70043913193e-05,1793250794128727552
+93,1.550000000,BASELINE,770,747,722,684,674.968466741,642,885,787,818.031533259,657,632,656,0.40098834005,0.00460489324605,0.0498522799035,0.99999995919,0.000128396594631,-0.000252547510498,-3.67890238726e-05,1793250794145394432
+94,1.566666667,BASELINE,770,746.455460513,722,684,674.455460513,642,885.544539487,787,818,657,632,656,0.400986602037,0.00460456779457,0.049851254279,0.999999958637,0.000128288645948,-0.00025482767405,-3.64947805316e-05,1793250794162061056
+95,1.583333333,BASELINE,769.880286393,746.119713607,722,684,674,642,885.880286393,787,818,656.880286393,632.119713607,655.880286393,0.400984967615,0.00460453247079,0.0498503518718,0.999999958142,0.000128124823939,-0.00025686281225,-3.6341598479e-05,1793250794178727680
+96,1.600000000,BASELINE,769.307952201,746.692047799,722,684,674,642,885.307952201,787,818,656.307952201,632.692047799,655.307952201,0.400984674941,0.00460537543844,0.049850447178,0.999999958223,0.000127544274044,-0.000256779610887,-3.67389380996e-05,1793250794195394560
+97,1.616666667,BASELINE,769.273892943,747,722,684,674,642,885.273892943,787,818.273892943,656.273892943,632.726107057,655.273892943,0.400985069427,0.00460596220694,0.0498509221427,0.999999958407,0.000127089970669,-0.000256249983812,-3.70280259109e-05,1793250794212061184
+98,1.633333333,BASELINE,769.866816411,747,722,684,674,642,885.866816411,787,818.866816411,656.866816411,632.133183589,655.866816411,0.400986264315,0.00460625055461,0.0498518393337,0.999999958708,0.000126782719285,-0.000255200360035,-3.71910219812e-05,1793250794228727808
+99,1.650000000,BASELINE,770,747,722,684.448873271,674,642,885.551126729,786.551126729,818.551126729,656.551126729,632,655.551126729,0.400985525201,0.00460523895893,0.0498513761193,0.999999958602,0.000126536667368,-0.000255794309024,-3.67950327847e-05,1793250794245394432
+100,1.666666667,BASELINE,770,747,722,684.972381222,674.027618778,642,885,786,818.027618778,656.027618778,632,655.027618778,0.400984401721,0.00460402020398,0.0498506043568,0.999999958412,0.000126382516448,-0.000256686870318,-3.6280150118e-05,1793250794262060800
+101,1.683333333,BASELINE,770,747,722,684.396876369,674.603123631,642,885,786,818.603123631,656.603123631,632,655.603123631,0.400986767677,0.00460616242196,0.049851644671,0.999999958903,0.000127699747029,-0.000254057891952,-3.66190878887e-05,1793250794278727424
+102,1.700000000,BASELINE,770,747,722,684,674.821876739,642,885.178123261,786,819,657,632,656,0.400987807415,0.00460733523159,0.049852292488,0.99999995907,0.000128687891134,-0.000252865902337,-3.68556457426e-05,1793250794295393792
+103,1.716666667,BASELINE,770,747,722,684,674.247999688,642,885.752000312,786,819,657,632,656,0.400985900569,0.00460635421201,0.0498520682554,0.999999958529,0.000128944871599,-0.000254866610884,-3.6864736124e-05,1793250794312060416
+104,1.733333333,BASELINE,770,746.661684351,722,684.338315649,674,642,886,786,818.661684351,657,632.338315649,656,0.400985526628,0.00460590904298,0.0498519727413,0.999999958601,0.00012799575522,-0.000255051237897,-3.69250374466e-05,1793250794328727296
+105,1.750000000,BASELINE,770,746.065903147,722,684.934096853,674,642,886,786,818.065903147,657,632.934096853,656,0.40098631926,0.00460587166775,0.0498519751847,0.999999959139,0.000126128772977,-0.000253853787636,-3.70243114086e-05,1793250794345393920
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,722,684,674,642,885,787,819,657,633,656,0.400983489173,0.00460477242596,0.0498496790064,0.999999957935,0.000126782266699,-0.00025829355569,-3.66236978762e-05,1793250794376350976
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.577096322,747,722,684,674,642,885,786.422903678,818.422903678,656.422903678,632.422903678,656,0.40098456168,0.00460730852507,0.0498504862281,0.999999957666,0.000131558291578,-0.000256908275252,-3.68649872447e-05,1793250794393017600
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746.84203492,722,684,674.15796508,642,885.15796508,786,818.15796508,656.15796508,632,656,0.400985187877,0.00460876656318,0.0498510795494,0.999999957522,0.000134263877049,-0.000256045183153,-3.70252555421e-05,1793250794409684224
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.25081938,722,684,674.74918062,642,885.74918062,786,818.74918062,656.74918062,632,656,0.400984589979,0.00460726780644,0.0498510862066,0.999999957773,0.000131290874201,-0.000256614295515,-3.69633075902e-05,1793250794426350336
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.667402722,746.332597278,722,684.332597278,674.667402722,642,885.667402722,786,818.667402722,657,632,656,0.400985481849,0.00460650820634,0.0498517640579,0.999999958465,0.000129063648509,-0.00025504120721,-3.69714557875e-05,1793250794443016960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.08973267,746.91026733,722,684.91026733,674.08973267,642,885.08973267,786,818.08973267,657,632,656,0.400987471447,0.0046062932505,0.0498529364754,0.999999959477,0.00012738594546,-0.000251889648161,-3.70312540135e-05,1793250794459683840
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.48675284,747,722,685,674,642,885.48675284,786,818,656.51324716,632,656,0.400986230647,0.00460593079138,0.049851955717,0.999999958872,0.000127533227391,-0.000254236574233,-3.68240703897e-05,1793250794476350464
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885.936997503,786,818,656.063002497,632,656,0.400984555547,0.00460559085655,0.0498507433569,0.999999958061,0.000127940578674,-0.000257237073002,-3.65951612419e-05,1793250794493017344
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885.360894527,786,818,656.639105473,632,656,0.400984181693,0.00460565528136,0.0498508696613,0.999999958065,0.000127732648594,-0.000257325151305,-3.65891811523e-05,1793250794509683712
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.779505317,747,722,685,674,642,885.220494683,786.220494683,818.220494683,656.779505317,632,656,0.400985226829,0.00460508108665,0.0498512922796,0.999999958335,0.000126730257362,-0.000256776401148,-3.65379471889e-05,1793250794526350336
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.189251398,747,722,685,674,642,885.810748602,786.810748602,818.810748602,656.189251398,632,656,0.400988651545,0.00460343595697,0.0498522118024,0.999999959047,0.000124395592086,-0.000255159719541,-3.64108246034e-05,1793250794543016704
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,722,684.607260359,674,642,886,786.607260359,818.607260359,656.392739641,632,656,0.401006453888,0.00460350694923,0.0498591398735,0.999999962268,0.00012538430269,-0.000241731777474,-3.61670697848e-05,1793250794559683328
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,722,684.029168899,674,642,886,786.029168899,818.029168899,656.970831101,632,656,0.401031041692,0.00460438785787,0.0498689036538,0.999999966368,0.000127941466299,-0.000222729560559,-3.58682708528e-05,1793250794576349952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.546008973,747,722.546008973,684.546008973,674,642,886,786,818,657,632,656,0.401085227602,0.00460358644285,0.049887028619,0.999999974488,0.000126046602275,-0.000184022434492,-3.56662038364e-05,1793250794593016576
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,722.876398476,684.876398476,674,642.123601524,885.876398476,786.123601524,818.123601524,657,632,655.876398476,0.401143457307,0.00460292888444,0.0499049555748,0.999999980769,0.000124370185547,-0.000147448939179,-3.54028313905e-05,1793250794609683200
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,722.289167556,684.289167556,674,642.710832444,885.289167556,786.710832444,818.710832444,657,632,655.289167556,0.40121095574,0.00460314625679,0.0499204732315,0.999999984113,0.000124400553552,-0.000122806313374,-3.4890221517e-05,1793250794626350080
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,722,684.294143942,674,642.705856058,885,787,819,657,632,655.294143942,0.401285294069,0.00460260576009,0.0499327822783,0.999999986397,0.000123618126763,-0.000103754160916,-3.40459732761e-05,1793250794643016960
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,722,684.873652959,674,642.126347041,885,787,819,657,632,655.873652959,0.401366268149,0.0046013300133,0.0499419784767,0.99999998795,0.000122047163465,-9.01256329714e-05,-3.28799846146e-05,1793250794659684096
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674,642,885,786.548289339,819,657,632,656,0.401457569978,0.0045994846994,0.0499433073069,0.999999988271,0.000120244377758,-8.93462105636e-05,-3.18968843963e-05,1793250794676350464
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,722.029212973,685,674,642,885.029212973,786.058425946,819,657,632,656,0.4015529875,0.00459757117405,0.0499423290084,0.999999988246,0.000118421269812,-9.23278181407e-05,-3.09721367095e-05,1793250794693016832
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,722.603900644,685,674,642,885.603900644,787.207801289,819,657,632,656,0.401671487609,0.00459734919,0.0499392293221,0.999999987785,0.000117425582485,-9.86432598182e-05,-3.01848362907e-05,1793250794709683712
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,723,684.817134046,674,642,886,787.817134046,819,657,632,656,0.401800301511,0.0045968266418,0.049938928857,0.999999987732,0.000116310165295,-0.000100745914499,-2.92994522574e-05,1793250794726350080
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,723,684.228681241,674,642,886,787.228681241,819,657,632,656,0.401951990832,0.00459563745851,0.0499448369145,0.999999988627,0.000114929193847,-9.35048333709e-05,-2.81965241483e-05,1793250794743016704
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.646923739,723,684.353076261,674.353076261,642,886,787,819,657,632,656,0.402120605018,0.00459427596566,0.0499475205731,0.999999989277,0.000111869704142,-9.06000112577e-05,-2.68874830785e-05,1793250794759683328
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.069421909,723,684.930578091,674.930578091,642,886,787,819,657,632,656,0.402299977156,0.00459280494771,0.0499481547104,0.999999989781,0.000107743299144,-9.045144113e-05,-2.54474304916e-05,1793250794776350208
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.507967414,722.492032586,685,675,642,885.492032586,787,819,657,632.507967414,656,0.402507630692,0.00459099867432,0.0499482597115,0.999999989951,0.000104632523448,-9.2654144834e-05,-2.3765534718e-05,1793250794793017088
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,722,685,674.914996636,642,885.085003364,787,819,657,632.914996636,656,0.402726374874,0.00458905088369,0.0499486119271,0.999999990153,0.000101254302872,-9.46383434201e-05,-2.20344429594e-05,1793250794809683712
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,722,685,674.339909182,642,885.660090818,787,819,657,632.339909182,656,0.40298678268,0.00458655128323,0.0499508062869,0.99999999086,9.55340549558e-05,-9.35104978292e-05,-2.02102292992e-05,1793250794826350336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.758932493,747,722,685.241067507,674.241067507,642,886,787,819,657,632,656,0.403263153137,0.00458389034665,0.0499551746083,0.999999991948,9.16115900244e-05,-8.5896868802e-05,-1.82224379957e-05,1793250794843016960
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.169443977,747,722,685.830556023,674.830556023,642,886,787,819,657,632,656,0.403562594805,0.00458099622702,0.0499626850114,0.999999993422,9.0287506974e-05,-6.89091717764e-05,-1.59982238629e-05,1793250794859683584
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.41309738,747,722.41309738,685.58690262,674.58690262,642,886.41309738,787,819,657,632,656,0.403894138268,0.00457893133538,0.0499708347823,0.999999994597,8.83913676563e-05,-5.29327694649e-05,-1.38086516637e-05,1793250794876350208
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.992836271,747,722.992836271,685.007163729,674.007163729,642,886.992836271,787,819,657,632,656,0.404238631435,0.00457720095043,0.049979242471,0.999999995514,8.62644635899e-05,-3.73643190198e-05,-1.16330539071e-05,1793250794893016832
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,723,685,674,642,886.431977771,786.431977771,818.431977771,657,632,656,0.404624269716,0.00457132849595,0.0499852163516,0.999999996579,7.89760794051e-05,-2.28754341811e-05,-9.051319047e-06,1793250794909683456
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,723,685.14227777,674.14227777,642,886,786.14227777,818.14227777,657,632.14227777,656,0.405017548879,0.00456654199352,0.0499876159369,0.999999997183,7.31794277178e-05,-1.53817498115e-05,-6.43618682532e-06,1793250794926350592
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723,685.713897451,674.713897451,642,886,786.713897451,818.713897451,657,632.713897451,656,0.405432331907,0.00456518887876,0.049979321502,0.999999996976,7.20791476584e-05,-2.89562479288e-05,-3.73560779626e-06,1793250794943017216
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.701569924,747,722.701569924,686,674.701569924,642,886,787,819,657,632.701569924,656,0.405851495235,0.00456129634763,0.0499660750569,0.999999996225,6.73694875845e-05,-5.48706506577e-05,-8.59773303894e-07,1793250794959683840
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.104097804,747,722.104097804,686,674.104097804,642,886,787,819,657,632.104097804,656,0.406275047896,0.00455485919259,0.0499478664458,0.999999993916,5.90430458272e-05,-9.31502640369e-05,2.19167635975e-06,1793250794976350208
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.475572236,747,722.475572236,686,674,642,886.475572236,787,819,657,632,656,0.406745839345,0.00454922224999,0.0499323499572,0.999999991474,5.18195304186e-05,-0.000119731780052,5.56409142068e-06,1793250794993016832
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.948808987,746.948808987,722.948808987,686,674,642,887,787,818.948808987,657,632,656,0.407233998428,0.00454387298275,0.0499196039764,0.999999989221,4.47733560923e-05,-0.00013954854593,8.91918699817e-06,1793250795009683200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.376196418,746.376196418,722.376196418,686,674,642,887,787,818.376196418,657,632,656,0.407797539382,0.00453973416528,0.0499292921407,0.999999992563,3.71632194842e-05,-0.000115601511708,1.14080795071e-05,1793250795026350336
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,722,686,674.202857936,642,886.797142064,787,818,657,632.202857936,656,0.408385020171,0.00453370904975,0.0499462368064,0.999999996231,2.75877972457e-05,-8.10189757214e-05,1.46060556025e-05,1793250795043017216
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,722,686,674.794250226,642,886.205749774,787,818,657,632.794250226,656,0.409018352959,0.00452407110272,0.0499770798681,0.999999999375,1.42482585598e-05,-2.60662358417e-05,1.91621412388e-05,1793250795059683840
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.374374009,746.374374009,722.374374009,686,674.625625991,642,886.748748017,787,818.374374009,657,632.625625991,656,0.409651207168,0.0045170545793,0.0499935939256,0.999999999715,3.54027113443e-06,-1.73758962534e-06,2.35479336019e-05,1793250795076350720
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.948485747,746.948485747,722.948485747,686,674.051514253,642,887.896971494,787,818.948485747,657,632.051514253,656,0.410283806025,0.00451143665007,0.0500024631064,0.999999999576,-5.76371861468e-06,6.25234860909e-06,2.78428701955e-05,1793250795093017600
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.474094803,746.474094803,722.474094803,686,674,642,887.474094803,787,818.474094803,657,632,656,0.410893683134,0.00450588207101,0.0499782860762,0.999999989178,0.000134511934909,-4.99375492072e-05,3.24975838288e-05,1793250795109683968
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,722,686.105734943,674,642,887,787,818.105734943,657,632,656,0.411520170364,0.00450060805804,0.0499534523132,0.999999960484,0.000259037084017,-0.000102885900455,3.66920670268e-05,1793250795126350080
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,722,686.695097777,674,642,887,787,818.695097777,657,632,656,0.412232876102,0.0044965887834,0.0499405142845,0.999999963187,0.000244078736615,-0.000112070652978,3.86192614203e-05,1793250795143016704
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.279653423,787,819,657,632,656,0.412984886185,0.00449100544872,0.0499466912508,0.999999976684,0.000193390375439,-9.03629203663e-05,3.2645828994e-05,1793250795159683328
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.859056506,787,819,657,632,656,0.41377902516,0.00448374565823,0.0499733568373,0.999999993753,0.000104404394524,-3.55427312496e-05,1.82040210134e-05,1793250795176350208
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,722,687,674,642,887.564716389,787,819,657,632,655.564716389,0.41454668017,0.00447429687779,0.0499742968346,0.999999998773,2.61275148804e-05,-4.06963097988e-05,1.07449548164e-05,1793250795193016832
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,722,687.010511138,674,642,887.010511138,787,819.010511138,657,632.010511138,655.010511138,0.415306145119,0.00446487562641,0.0499666215201,0.999999996753,-4.67593501217e-05,-6.53895113623e-05,5.63097693303e-06,1793250795209683456
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,722,687.586889626,674,642,887.586889626,787,819.586889626,657,632.586889626,655.586889626,0.416083014678,0.00449481760536,0.0499403309764,0.999999994451,-1.47996312437e-05,-0.000104131877022,5.92608341273e-06,1793250795226350336
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.163147594,722,688,674.163147594,642,888,787.163147594,820.163147594,657,632.836852406,656,0.416887646233,0.00451734193934,0.0499294601595,0.999999993048,1.37195485886e-05,-0.000116887507955,7.3441673783e-06,1793250795243016960
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.739100579,722,688,674.739100579,642,888,787.739100579,820.739100579,657,632.260899421,656,0.417762522735,0.00452109772111,0.0499576052206,0.999999997329,3.35332773548e-05,-6.38900114114e-05,1.16036733367e-05,1793250795259683584
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.324402012,747,722.324402012,688.324402012,674.675597988,642,888.324402012,787.675597988,821.324402012,656.675597988,632,656,0.41862825023,0.004514240219,0.0499727789826,0.999999998093,4.37426245139e-05,-4.07769573751e-05,1.54051988068e-05,1793250795276350208
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.91744497,747,722.91744497,688.91744497,674.08255503,642,888.91744497,787.08255503,821.91744497,656.08255503,632,656,0.419486401285,0.00449859373719,0.049977211065,0.999999997865,4.59984745549e-05,-4.24115483302e-05,1.88274653071e-05,1793250795293016576
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746.503767564,722.503767564,689.496232436,673.503767564,642,889.992464871,787,822,656.496232436,632.496232436,656,0.420358293729,0.00449448587091,0.0499652735381,0.999999997997,2.77669591705e-05,-5.38658953035e-05,1.82789010813e-05,1793250795309683200
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.927365947,746,722.072634053,690,673.072634053,642,891,787.072634053,822.072634053,657,632.927365947,656,0.421241556344,0.0044922887407,0.0499559306013,0.999999998089,8.75655858359e-06,-5.87029353359e-05,1.72837875197e-05,1793250795326350336
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.351522176,746,722.648477824,690,673.648477824,642,891,787.648477824,822.648477824,657,632.351522176,656,0.422188195602,0.00449040154002,0.0499829032715,0.999999999795,7.30375254444e-06,-6.69328021051e-06,1.76438288715e-05,1793250795343016960
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.229066919,722.770933081,690,674,642.229066919,891.229066919,787.770933081,823,657,632.229066919,656,0.423119133403,0.00449180575069,0.0499932477944,0.999999999642,1.42938098566e-05,1.34606687855e-05,1.81960815053e-05,1793250795359683584
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.817092245,722.182907755,690,674,642.817092245,891.817092245,787.182907755,823,657,632.817092245,656,0.424025466442,0.00449836775416,0.0499775352493,0.99999999909,3.45142224575e-05,-1.63047320469e-05,1.90495381649e-05,1793250795376350208
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,722,690.399366491,674,643,892.399366491,787.399366491,823.399366491,657,633,656,0.424964928008,0.00450352733701,0.0499785450739,0.999999999147,3.45901617119e-05,-1.15591184353e-05,1.93649055675e-05,1793250795393017088
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,722,690.979044131,674,643,892.979044131,787.979044131,823.979044131,657,633,656,0.425919346814,0.00450805373647,0.0499871049311,0.999999999446,2.55710123975e-05,8.76797609295e-06,1.94373294213e-05,1793250795409683968
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,722.554936597,691,674,642.445063403,892.445063403,787.445063403,824,656.445063403,632.445063403,656,0.426854429258,0.00450004247063,0.0499984246226,0.999999999589,1.69871221113e-05,6.75174933092e-06,2.20874007934e-05,1793250795426350336
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,722.86934434,691,673.86934434,642,892.13065566,787.13065566,824,656.13065566,632,656,0.427774650312,0.00449304045547,0.0499977434598,0.999999999521,1.50263090939e-05,-1.20943940433e-05,2.42172448986e-05,1793250795443016704
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,722.293732355,691,673.293732355,642,892.706267645,787.706267645,824,656.706267645,632,656,0.428646729762,0.00449107696877,0.0499558400904,0.999999995427,3.5565219298e-05,-8.54019559951e-05,2.42461733618e-05,1793250795459683328
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.289902732,747,722.289902732,691.289902732,673.579805463,642.289902732,893,787.710097268,824,657,632,656,0.429582337515,0.00449077883443,0.0499398104181,0.999999993514,3.81429520665e-05,-0.000104608084978,2.39690708966e-05,1793250795476349952
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.881898247,747,722.881898247,691.881898247,674.763796494,642.881898247,893,787.118101753,824,657,632,656,0.430584144804,0.00449221607859,0.0499507424025,0.999999997211,2.20042609259e-05,-6.74378783183e-05,2.33730693599e-05,1793250795493016576
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,723,692,674.538247134,643,893.461752866,787,824,657,632,656,0.431511160262,0.00449688592983,0.0499422382298,0.999999996161,1.64906768531e-05,-8.2784751226e-05,2.35290381919e-05,1793250795509683200
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.961694124,747,723,692,673.961694124,643,894,787,824.038305876,657,632,656,0.432421463402,0.00450182215991,0.0499302616468,0.999999993757,1.56641674317e-05,-0.000108037724191,2.3828663034e-05,1793250795526350336
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.388990847,747,723,692,673.388990847,643,894,787,824.611009153,657,632,656,0.433358648489,0.00449923559266,0.0499374169832,0.999999994835,4.32851642175e-05,-8.88995293644e-05,2.35179851612e-05,1793250795543016960
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.189659202,747,723,692.189659202,673.189659202,643,894,787,825.189659202,657,632.189659202,656,0.434292906934,0.00449593403861,0.0499519570654,0.999999996305,5.43014789045e-05,-6.22914880916e-05,2.36678654816e-05,1793250795559683584
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.780901001,747,723,692.780901001,673.780901001,643,894,787,825.780901001,657,632.780901001,656,0.435220968712,0.00449111857779,0.0499821335394,0.999999999041,3.01592024139e-05,-1.98668612985e-05,2.47929273029e-05,1793250795576350208
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787,825.635988369,657,633,656.364011631,0.436111249306,0.00448781471834,0.0499757836509,0.99999999838,1.35586556879e-05,-4.84321679265e-05,2.66528340585e-05,1793250795593016832
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,747,723,693,674,643,894,787,825.057664996,657,633,656.942335004,0.436979286183,0.00448540081404,0.0499479288753,0.999999992524,1.39830155941e-06,-0.000118792779435,2.89453804004e-05,1793250795609683200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.480439988,747,723,693,674,643,894.519560012,787.519560012,825.519560012,657,632.480439988,656.480439988,0.437894620804,0.00448552092855,0.0499562520027,0.99999999597,2.07800637588e-05,-8.32862804865e-05,2.629592565e-05,1793250795626350080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.096100955,747,723,693,674.096100955,643,895,787.903899045,826,656.903899045,632,656,0.438803580345,0.00448631341155,0.0499666419627,0.999999997993,3.8504528191e-05,-4.43344677492e-05,2.38007257864e-05,1793250795643016704
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.669846537,747,723,693,674.669846537,643,895,787.330153463,826,656.330153463,632,656,0.439654818031,0.00448905281524,0.0499673895873,0.999999998141,3.06287211457e-05,-4.65356907482e-05,2.47926515895e-05,1793250795659683584
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,693,674.500128993,643,895.249935504,787.249935504,826,656,632,656,0.440484921294,0.0044899319312,0.0499624996719,0.999999997892,2.2818159238e-05,-5.50725227408e-05,2.57358804303e-05,1793250795676350208
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,693,673.322756098,643,895.838621951,787.838621951,826,656,632,656,0.441286379877,0.00448828969956,0.0499499688972,0.999999996926,1.50960281881e-05,-7.21963439764e-05,2.66131075905e-05,1793250795693016576
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+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,693.000779058,673,642,896.000779058,786.999220942,826.000779058,656,632,656.000779058,0.442954050919,0.00449224622562,0.0499699921894,0.999999997261,6.21894223935e-05,-2.85611447762e-05,2.82082519139e-05,1793250795726349568
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,693.575635982,673,642,896.575635982,786.424364018,826.575635982,656,632,656.575635982,0.443656809614,0.00449996901687,0.04994288871,0.999999994204,6.56686489479e-05,-8.00534166599e-05,2.95230204373e-05,1793250795743016192
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,693.845230346,672.845230346,642,897,786,827,656,631.845230346,657,0.44434178251,0.00450839365959,0.0499067324175,0.999999986677,7.13889266834e-05,-0.000143598716806,3.0490797606e-05,1793250795759682816
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,693.254036846,672.254036846,642,897,786,827,656,631.254036846,657,0.444976602666,0.00451879740469,0.049845048741,0.999999966983,8.34285846825e-05,-0.000241131498302,3.04801190567e-05,1793250795776349440
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.329566841,747,723,693,672,641.670433159,897,786,827,656.329566841,631.329566841,656.670433159,0.445653921375,0.00452712859,0.0498158338958,0.999999958138,9.30976313753e-05,-0.000272328520225,2.99080070089e-05,1793250795793016320
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.907451811,747,723,693,672,641.092548189,897,786,827,656.907451811,631.907451811,656.092548189,0.446363261352,0.00453389816682,0.0498110832857,0.999999962341,0.000100980497568,-0.000253543653235,2.89128728312e-05,1793250795809682944
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.516521791,747.483478209,723,693,671.516521791,640.516521791,897,786.483478209,827,656.516521791,632,656,0.44701828225,0.00454326916127,0.0498044607284,0.999999958868,0.00011472806637,-0.000261213020392,2.94789122772e-05,1793250795826349568
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.940800106,723,693.059199894,671,640,897.059199894,786.940800106,827,656,632,656.059199894,0.447654841592,0.00455306278901,0.0497947722289,0.999999952537,0.000129855354151,-0.000277755144715,3.0266503975e-05,1793250795843016448
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747.364644434,723,693.635355566,671,640,897.635355566,786.364644434,827,656,632,656.635355566,0.448220637903,0.00456221522152,0.0497614278662,0.999999934992,0.000147265173033,-0.000327726872434,3.03891623217e-05,1793250795859683328
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.216525335,747,723,694,670.783474665,639.783474665,898,786,827,656.216525335,632,656.783474665,0.448782061427,0.00457009456533,0.049741540602,0.999999922656,0.000160977110841,-0.000357542369523,3.06375109205e-05,1793250795876349952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.806339323,747,723,694,670.193660677,639.193660677,898,786,827,656.806339323,632,656.193660677,0.449335946227,0.00457577910927,0.0497448533154,0.999999923185,0.000168313917942,-0.000352608616452,3.1102549025e-05,1793250795893016576
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.612813637,747.387186363,723,694,670,638.612813637,898,786,827,657,631.612813637,656.387186363,0.449888347055,0.00457929316619,0.0497606572758,0.999999929804,0.000173728468088,-0.000330386828427,3.24911867217e-05,1793250795909683712
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.036350063,747.963649937,723,694,670,638.036350063,898,786,827,657,631.036350063,656.963649937,0.450440022487,0.00458174617453,0.04978256762,0.999999938618,0.000178203317697,-0.000299713732166,3.43313288547e-05,1793250795926351104
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.541654961,748,723,694,670,638,898,786,827.541654961,657,631.541654961,657,0.450933433189,0.00458683001852,0.0497865486129,0.999999936121,0.000184498471004,-0.000304135523203,3.49160012608e-05,1793250795943017472
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+207,3.450000000,POSE1_TO_POSE2_PRESS,770,748,723,693.597078431,668.402921569,635,898,786,827.402921569,657,632,657,0.45361882087,0.00459004983077,0.049727038391,0.999999915629,7.06013580147e-05,-0.000404651026412,3.91716788659e-06,1793250796059683072
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,748,723.176119569,693.823880431,668,634.823880431,898,785.823880431,827.176119569,657,632,657,0.453936814762,0.00459223837744,0.0497320861675,0.99999991948,7.40892753646e-05,-0.00039436932144,4.95494908868e-06,1793250796076349696
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+233,3.883333333,POSE1_TO_POSE2_PRESS,770,748,723.682937807,693,667,632,898,786,828,657,632,656.682937807,0.456182560622,0.00465828979645,0.0496120958701,0.999999794147,0.000264242184416,-0.000584647258816,8.29739269988e-06,1793250796493016576
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747.735013738,724,693,667,632,898,786,828,656.735013738,632,656.735013738,0.456184113415,0.00465840985736,0.0496116642976,0.999999793812,0.000264651224184,-0.000585035009742,8.39134727118e-06,1793250796509683200
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747.145359885,724,693,667,632,898,786,828,656.145359885,632,656.145359885,0.45618392583,0.0046585537667,0.0496104518323,0.99999979298,0.000263316583592,-0.00058705509521,8.34823509239e-06,1793250796526349824
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,724,693,667,631.56498454,898.43501546,785.56498454,828,656.43501546,631.56498454,656.43501546,0.456184126929,0.00465888673561,0.0496098894738,0.999999792044,0.000264312119286,-0.000588200004464,8.4414623752e-06,1793250796543016448
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.987658638,747,724,693,667,631,898.987658638,785.012341362,828.012341362,657,631.012341362,657,0.456184427312,0.00465926435866,0.0496095168549,0.999999791065,0.000266043644244,-0.000589081653041,8.58240476392e-06,1793250796559683328
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.410961628,747,724,693,667,631,898.410961628,785.589038372,828.589038372,657,631.589038372,657,0.456183452685,0.00465885542199,0.0496080944781,0.99999978978,0.000266569044974,-0.000591018321119,8.86551172394e-06,1793250796576349952
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.168618468,747.168618468,724,693.168618468,667,631,898.168618468,785.831381532,828.831381532,657,631.831381532,657,0.45618329826,0.00465904695175,0.0496072607539,0.999999789184,0.000266639079939,-0.000591994356308,8.82283151938e-06,1793250796593016832
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.755347501,747.755347501,724,693.755347501,667,631,898.755347501,785.244652499,828.244652499,657,631.244652499,657,0.456185177626,0.00466072741312,0.0496078866674,0.999999790305,0.000265579978547,-0.000590588382064,7.97232130466e-06,1793250796609683200
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.660546581,748,724,693.660546581,667,631,898.660546581,785.339453419,828,657,631,657,0.456185417317,0.00466159289877,0.0496076179586,0.99999979007,0.00026620730768,-0.000590707611386,7.67059557733e-06,1793250796626349824
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.078316736,748,724,693.078316736,667,631,898.078316736,785.921683264,828,657,631,657,0.456184484317,0.0046618755153,0.0496067094175,0.999999788864,0.000268040768691,-0.000591917663392,7.76135948585e-06,1793250796643016448
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.497330137,748,724,693.497330137,667,631,898.497330137,786,828,657,631,657,0.456184625939,0.0046606760845,0.0496067068454,0.999999788346,0.000267389815179,-0.00059308052032,8.08981589112e-06,1793250796659683072
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,748,723.928228082,693.928228082,667,631,898.928228082,785.928228082,828,657,631.071771918,657,0.456184920873,0.00465956471777,0.0496067856658,0.99999978805,0.000266529168647,-0.000593963619873,8.36784995273e-06,1793250796676349696
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,748,723.355057926,693.355057926,667,631,898.355057926,785.355057926,828,657,631.644942074,657,0.456185120087,0.00466067768995,0.0496064494446,0.999999788559,0.00026690104482,-0.000592943577088,8.03556057018e-06,1793250796693016576
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747.77445638,723,693,667,631,898,785.22554362,828,657,632,656.77445638,0.456185556573,0.00466124711537,0.0496066521505,0.999999788978,0.000267295029037,-0.000592057248447,8.08866992605e-06,1793250796709683456
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747.181757416,723,693,667,631,898,785.818242584,828,657,632,656.181757416,0.456186379309,0.00466093171834,0.0496077321589,0.999999789253,0.000267725002297,-0.000591388588686,8.76915767635e-06,1793250796726350080
+248,4.133333333,HOLD_POSE2,770,747,723,692,667,631,898,785,828,657,632,657,0.456184728172,0.0046590844708,0.0496059423521,0.999999786865,0.000267578721492,-0.000595476355547,8.93284979403e-06,1793250796760381440
+249,4.150000000,HOLD_POSE2,770,747.577323471,723.577323471,692.577323471,667,631,898,785,828,657,631.422676529,657,0.456185563198,0.00466060553248,0.0496062517212,0.999999786938,0.000268945921292,-0.000594741799813,8.57625559667e-06,1793250796777048064
+250,4.166666667,HOLD_POSE2,770,748,724,693,667,631,898,785,828,657,631.157322854,657,0.456186487217,0.00466171933358,0.0496065332489,0.999999787114,0.000269940156178,-0.000594000612767,8.19948127449e-06,1793250796793714944
+251,4.183333333,HOLD_POSE2,770,748,724,693,667,631,898,785,828,657,631.744636092,657,0.456187654468,0.00466172002186,0.049606738681,0.999999787575,0.000269915014195,-0.000593241301043,7.76755112484e-06,1793250796810381568
+252,4.200000000,HOLD_POSE2,770,748,724,693,667,631.32706339,898,785,828,657,632,657,0.456187150385,0.00466175457521,0.0496062727233,0.9999997873,0.000269393583736,-0.00059394150022,7.76755640713e-06,1793250796827048448
+253,4.216666667,HOLD_POSE2,770,748,724,693,667,631.905731968,898,785,828,657,632,657,0.45618536057,0.00466181518048,0.049605290275,0.999999786456,0.000268490365649,-0.000595764480309,8.09984346706e-06,1793250796843714816
+254,4.233333333,HOLD_POSE2,770,747.517803825,723.517803825,693.482196175,667,631.517803825,898.482196175,785,828,657,632,656.517803825,0.456186659074,0.00466279990626,0.0496060032017,0.999999786807,0.000270121701146,-0.00059443615326,8.12678567811e-06,1793250796860381696
+255,4.250000000,HOLD_POSE2,770,747,723.05830245,693.94169755,667,631,898.94169755,785.05830245,828,657,632,656.05830245,0.456188360173,0.00466378735316,0.0496069638507,0.999999787358,0.000271841678007,-0.000592723186881,8.08436906408e-06,1793250796877048064
+256,4.266666667,HOLD_POSE2,770,747,723.635040595,693.364959405,667,631,898.364959405,785.635040595,828,657,632,656.635040595,0.45618829692,0.0046631998198,0.0496071934692,0.999999787678,0.00026996386204,-0.000593043230082,7.95359627267e-06,1793250796893714688
+257,4.283333333,HOLD_POSE2,770,747,724,693,667,631,898.215995584,785.784004416,828,657,631.784004416,657,0.456187743816,0.00466264264137,0.0496070951255,0.999999787533,0.000269314531284,-0.000593583779526,7.91941128229e-06,1793250796910381312
+258,4.300000000,HOLD_POSE2,770,747,724,693,667,631,898.804217423,785.195782577,828,657,631.195782577,657,0.456186346549,0.00466213777381,0.0496064316031,0.999999786588,0.000270782255337,-0.000594504328431,8.05167653879e-06,1793250796927047936
+259,4.316666667,HOLD_POSE2,769.613932297,747.386067703,724,693,667,631,898.613932297,785,828,657,631.386067703,657,0.456185137958,0.00466099783791,0.0496052480993,0.999999786285,0.000268732138317,-0.000595940449373,8.25273214144e-06,1793250796943714560
+260,4.333333333,HOLD_POSE2,769.03526065,747.96473935,724,693,667,631,898.03526065,785,828,657,631.96473935,657,0.456184023495,0.00465954107497,0.0496038051838,0.999999786288,0.000264927018193,-0.00059763378229,8.48810632729e-06,1793250796960381184
+261,4.350000000,HOLD_POSE2,769.540427851,748,724,693,667,631,898.540427851,785,828,657,632,657,0.456184983106,0.00466187815274,0.049604569763,0.9999997858,0.000267768982296,-0.000597185814956,8.29323732175e-06,1793250796977048064
+262,4.366666667,HOLD_POSE2,770,748,724,693,667,631,898.883755363,785.116244637,828,657,631.883755363,657,0.456185854444,0.00466377249939,0.0496052239943,0.999999785234,0.000270549724117,-0.000596882905127,8.13278436748e-06,1793250796993714688
+263,4.383333333,HOLD_POSE2,770,748,724,693,667,631,898.306662418,785.693337582,828,657,631.306662418,657,0.456185842285,0.00466293570624,0.0496048728881,0.999999784517,0.000271377823794,-0.000597705909998,8.2194506438e-06,1793250797010381568
+264,4.400000000,HOLD_POSE2,769.724346686,747.724346686,724,693,667,631,898.275653314,785.724346686,828,657,631.275653314,656.724346686,0.456186300695,0.00466155822585,0.0496052998823,0.999999785379,0.000270008803195,-0.000596881765044,8.37689842361e-06,1793250797027048192
+265,4.416666667,HOLD_POSE2,769.13610846,747.13610846,724,693,667,631,898.86389154,785.13610846,828,657,631.86389154,656.13610846,0.456187292719,0.00465956761785,0.0496066092256,0.999999788015,0.000266148295548,-0.000594189787668,8.61461089608e-06,1793250797043715072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,693,667,631,898,786,828,657,632,656,0.45618553482,0.00465915274585,0.0496044155973,0.999999786637,0.000263392342685,-0.000597725530105,8.69161579717e-06,1793250797076293632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,747.574759627,724,693,667,631,898,785.425240373,828,657,632,656,0.456186696008,0.00466048235955,0.0496049675286,0.999999786543,0.000265484321496,-0.000596963800996,8.19853239952e-06,1793250797092960512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,747.850486468,724,693.149513532,667,631,898,785,828,657,632,656,0.456187216625,0.00466176349124,0.0496052097333,0.999999786086,0.000267756868988,-0.000596717036474,7.88585742736e-06,1793250797109627136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,747.275748703,724,693.724251297,667,631,898,785,828,657,632,656,0.456185915424,0.00466290673786,0.0496045710593,0.999999784607,0.000270542963648,-0.000597934857753,8.08627325209e-06,1793250797126293760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,724,693.69185285,667,631,898,785,828,657,632,656.30814715,0.456185632821,0.00466275902324,0.0496044898417,0.999999784182,0.000271420136945,-0.000598244366549,8.36309695361e-06,1793250797142960640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,693.099510802,667,631,898,785,828,657,632,656.900489198,0.45618628964,0.00466142069361,0.0496049227496,0.999999784735,0.000270536769008,-0.000597716165842,8.71038934211e-06,1793250797159627520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747.480206897,723.519793103,693,667,631,898,785.480206897,828,657,632,657,0.456187335259,0.00466193318983,0.0496052844648,0.999999785428,0.000270323063472,-0.000596652642002,8.68943220063e-06,1793250797176294144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747.942922622,723.057077378,693,667,631,898,786,828,657,632,657,0.456188219267,0.00466287276844,0.0496056036855,0.999999786035,0.000270432487869,-0.000595586517399,8.53851129326e-06,1793250797192960512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747.368753225,723.631246775,693,667,631,898,786,828,657,632,657,0.456186927936,0.00466429585163,0.0496056681585,0.999999785615,0.000272244317424,-0.000595476077184,7.88380947463e-06,1793250797209627392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747.211198582,724,693,667,631,898,786,828,657,632,657,0.456181104571,0.00466457361803,0.0496028600925,0.999999782995,0.000272618431022,-0.000599694484722,7.47406940567e-06,1793250797226294016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747.801530629,724,693,667,631,898,786,828,657,632,657,0.45616714552,0.00466279536707,0.0495948953835,0.999999776332,0.000270411626354,-0.000611683830026,7.50407287449e-06,1793250797242960640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747.616802389,724,693,667,631,898,786,828,657,631.616802389,657,0.456137239878,0.00466215700883,0.049581265988,0.999999762705,0.000268302790586,-0.000634465326809,7.5044342523e-06,1793250797259627264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747.03952401,724,693,667,631,898,786,828,657,631.03952401,657,0.456099257654,0.00466209597986,0.0495647675584,0.999999744935,0.000266243573447,-0.000662712800543,7.48978259152e-06,1793250797276294144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,747.537743752,723.462256248,693,667,631,897.462256248,786,828,657,631,657,0.456032633746,0.00466439187424,0.049538778679,0.999999716086,0.000269154378573,-0.000703802227542,6.76712958511e-06,1793250797292960512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747.885552711,723.114447289,693,666.885552711,631,897.114447289,785.885552711,828,657,631.114447289,657,0.455963625617,0.00466627764872,0.0495146667594,0.999999688996,0.000271718325606,-0.00074036598647,5.97172094261e-06,1793250797309627136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747.311113628,723.688886372,693,666.311113628,631,897.688886372,785.311113628,828,657,631.688886372,657,0.45589349567,0.00466581879827,0.0495009023463,0.999999678181,0.000271419985021,-0.000754946379114,5.09303827679e-06,1793250797326294016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747.270752199,724,693.270752199,666.270752199,631,898,785.270752199,828,657,632,656.729247801,0.455819347695,0.00466568709332,0.0494937694836,0.999999671618,0.000271968365655,-0.000763397488981,4.54824583625e-06,1793250797342960896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747.861392536,724,693.861392536,666.861392536,631,898,785.861392536,828,657,632,656.138607464,0.455740452508,0.00466594190405,0.0494944716617,0.999999670273,0.000273517130011,-0.000764606976962,4.3979378625e-06,1793250797359627520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747.555459727,724,693.555459727,667,631,898,785.555459727,828,657,632,656.444540273,0.455645674565,0.0046681545615,0.0494989444948,0.999999672873,0.000277270888252,-0.000759842377796,3.67115697596e-06,1793250797376294144
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747.02507249,724,693,667,631,898,785,828,657,631.97492751,656.97492751,0.455544808356,0.00467087174194,0.0495045026786,0.999999676667,0.000281593737353,-0.000753235588839,2.80998399649e-06,1793250797392960512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747.598646961,724,693,667,631,898,785,828,657,631.401353039,656.401353039,0.455417293865,0.00467149282867,0.049508510895,0.99999968123,0.000283575142723,-0.000746402436266,2.87578089087e-06,1793250797409627136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.82745989,747.82745989,723.82745989,693,667,631,898,785,828,657,631.17254011,656,0.455279412883,0.00467246875292,0.0495104833368,0.999999682903,0.000286423460405,-0.000743067360944,2.65751655199e-06,1793250797426293760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.252824156,747.252824156,723.252824156,693,667,631,898,785,828,657,631.747175844,656,0.455117373356,0.00467427160717,0.0495077115129,0.999999677907,0.000291292071235,-0.000747884371084,1.77726248865e-06,1793250797442960640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.331806021,747,723,693,667,631,898,785.331806021,828,656.668193979,632,656,0.454941258952,0.0046762533417,0.0495052603834,0.99999967503,0.000296526697994,-0.000749674105639,9.89456003524e-07,1793250797459627264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.924288176,747,723,693,667,631,898,785.924288176,828,656.075711824,632,656,0.454754086912,0.00467837560982,0.0495030612003,0.999999673819,0.000302048877674,-0.000749085527942,2.74278839443e-07,1793250797476293888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,747.504618267,723,693,667,631.504618267,898,786,828,656.504618267,631.495381733,656.504618267,0.454534198899,0.00467975086466,0.0495039920593,0.999999671505,0.000305282183934,-0.000750860456982,-6.02114044072e-07,1793250797492960512
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,722,686,674,641,887,787,818,656.104709217,632,656,0.410712141604,0.00459561543937,0.0498219003554,0.999999949939,9.80994222805e-05,-0.000298544937966,-3.70176273631e-05,1793250798509627392
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746,722,685.366983894,674,641,886,787,818.633016106,657,632,655,0.408788377614,0.00459419987764,0.0497925737238,0.999999933898,0.000115329707038,-0.000342712291329,-3.80950292059e-05,1793250798559627264
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,722,684.559660043,674,642,886,786.559660043,818,657,632,656,0.401325992084,0.00456828998014,0.0498296492767,0.999999949882,8.77265653007e-05,-0.00030343380994,-2.16531623068e-05,1793250798959627520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,722,685,674,641.863564915,886,787,818.136435085,657,632,656,0.401249344445,0.00457109689265,0.0498288898203,0.99999995001,8.93935276475e-05,-0.00030238752356,-2.34651324271e-05,1793250798976293888
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.706152873,747,722,684.706152873,674,641.293847127,886,786.706152873,818.706152873,657,632,656,0.401138563072,0.00457261574605,0.0498297526161,0.999999950738,9.49865612462e-05,-0.000298161386941,-2.4503150714e-05,1793250799009627136
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,722,685,674.369130686,642,885.630869314,786,819,657,632,656,0.400997721937,0.00457360275177,0.0498431532449,0.999999957825,9.64680546656e-05,-0.000272676863571,-2.62759514109e-05,1793250799126294016
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.89781597,786.10218403,819,657,632,656,0.400987379184,0.00457357676018,0.0498459572807,0.999999958465,9.83699170419e-05,-0.0002696921089,-2.56825885885e-05,1793250799176294144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,642,885.322566786,786.677433214,819,657,632,656,0.400986146974,0.00457242717643,0.0498456722111,0.999999958629,9.77465649767e-05,-0.000269326214399,-2.55040797969e-05,1793250799192960768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,641.741673378,885,787,819,657,632,656,0.400985113122,0.00457207436875,0.049845659406,0.999999958918,9.64327402565e-05,-0.000268731518069,-2.54539913378e-05,1793250799209627392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747,722,684,674,641.153574642,885,787,819,657,632,656,0.400984332488,0.00457273870167,0.0498459941658,0.999999959362,9.42374785141e-05,-0.000267844740051,-2.55678404463e-05,1793250799226294272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,722,684.427145249,674,641,885,787,819,657,632,656,0.400985400962,0.00457360481317,0.049847461359,0.999999959738,9.62850002419e-05,-0.000265694788139,-2.5661041297e-05,1793250799242960640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747,722,684.99475263,674,641,885,786.99475263,819,657,632,656,0.400987091535,0.00457451856652,0.0498492985341,0.999999960071,9.97631879374e-05,-0.000263140978292,-2.57463483605e-05,1793250799259627264
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29d149e6407f997bb29cb3e3cb4ef4b7d6cb2681
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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+226,3.766666667,pose1_to_pose2_press,0.622500144857,0.0101501487593,1.04003358217,0.593070820973,0.0188227831663,1.03970497772
+227,3.783333333,pose1_to_pose2_press,0.62251525761,0.010150159916,1.0400336646,0.593085933757,0.0188227940041,1.03970505301
+228,3.800000000,pose1_to_pose2_press,0.622526379226,0.0101501209657,1.04003361407,0.593097055917,0.0188227567285,1.0397050026
+229,3.816666667,pose1_to_pose2_press,0.622534461269,0.0101500935503,1.04003341164,0.593105138147,0.0188227300978,1.03970480316
+230,3.833333333,pose1_to_pose2_press,0.622539682572,0.0101501969142,1.04003375855,0.593110358366,0.0188228300591,1.03970515621
+231,3.850000000,pose1_to_pose2_press,0.622543309265,0.0101502383634,1.04003369731,0.593113983912,0.0188228677378,1.03970509575
+232,3.866666667,pose1_to_pose2_press,0.622545704945,0.0101502441588,1.04003349963,0.593116378785,0.0188228708435,1.03970489716
+233,3.883333333,pose1_to_pose2_press,0.622546768775,0.0101502026372,1.04003342906,0.593117443511,0.0188228324308,1.03970482946
+234,3.900000000,pose1_to_pose2_press,0.6225475732,0.0101501712402,1.0400333757,0.593118248612,0.0188228033847,1.03970477826
+235,3.916666667,pose1_to_pose2_press,0.622548178141,0.0101501996364,1.04003346616,0.593118854054,0.0188228334553,1.03970486873
+236,3.933333333,pose1_to_pose2_press,0.622548290597,0.0101502073216,1.04003348902,0.593118966602,0.0188228414475,1.03970489152
+237,3.950000000,pose1_to_pose2_press,0.622548393357,0.0101502143443,1.04003350991,0.593119069447,0.0188228487507,1.03970491234
+238,3.966666667,pose1_to_pose2_press,0.622548551161,0.0101502251287,1.04003354198,0.593119227381,0.0188228599658,1.03970494431
+239,3.983333333,pose1_to_pose2_press,0.62254871383,0.0101502362455,1.04003357505,0.593119390184,0.0188228715266,1.03970497727
+240,4.000000000,pose1_to_pose2_press,0.622548721016,0.0101502367366,1.04003357651,0.593119397376,0.0188228720373,1.03970497873
+241,4.016666667,pose1_to_pose2_press,0.622548868919,0.0101502468443,1.04003360658,0.593119545401,0.0188228825488,1.0397050087
+242,4.033333333,pose1_to_pose2_press,0.622548995048,0.0101502432498,1.04003353533,0.593119670783,0.018822876371,1.03970493583
+243,4.050000000,pose1_to_pose2_press,0.622548999289,0.0101502430705,1.04003353247,0.593119674996,0.0188228760908,1.03970493291
+244,4.066666667,pose1_to_pose2_press,0.622549009554,0.0101502426366,1.04003352555,0.59311968519,0.0188228754128,1.03970492584
+245,4.083333333,pose1_to_pose2_press,0.622549149239,0.010150236732,1.04003343138,0.593119823916,0.0188228661863,1.03970482964
+246,4.100000000,pose1_to_pose2_press,0.622549271071,0.0101502055358,1.04003349474,0.593119946366,0.0188228370981,1.03970489297
+247,4.116666667,pose1_to_pose2_press,0.622549331661,0.0101501743974,1.04003361353,0.593120008139,0.0188228100092,1.03970501277
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+256,4.266666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008144,0.0188228100081,1.03970501277
+257,4.283333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008144,0.018822810008,1.03970501277
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+262,4.366666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008144,0.0188228100077,1.03970501277
+263,4.383333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008145,0.0188228100077,1.03970501277
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+265,4.416666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120008145,0.0188228100076,1.03970501277
+266,4.433333333,pose2_to_pose3_retreat,0.622549331661,0.0101501743974,1.04003361353,0.593120008145,0.0188228100074,1.03970501277
+267,4.450000000,pose2_to_pose3_retreat,0.622549318692,0.0101501592896,1.04003358622,0.593119995191,0.0188227949683,1.039704986
+268,4.466666667,pose2_to_pose3_retreat,0.622549315352,0.0101501553996,1.04003357919,0.593119991855,0.0188227910959,1.0397049791
+269,4.483333333,pose2_to_pose3_retreat,0.622549289632,0.0101501254376,1.04003352503,0.593119966163,0.0188227612701,1.039704926
+270,4.500000000,pose2_to_pose3_retreat,0.622549262811,0.0101501091357,1.04003349031,0.593119939352,0.0188227450313,1.0397048921
+271,4.516666667,pose2_to_pose3_retreat,0.622549185642,0.0101501467724,1.04003351348,0.593119862096,0.0188227824022,1.03970491604
+272,4.533333333,pose2_to_pose3_retreat,0.622549107714,0.0101501847796,1.04003353688,0.593119784079,0.018822820141,1.03970494022
+273,4.550000000,pose2_to_pose3_retreat,0.622548699671,0.0101502486246,1.04003358159,0.593119375772,0.0188228830764,1.03970498442
+274,4.566666667,pose2_to_pose3_retreat,0.622546453093,0.0101501422189,1.04003350293,0.593117129021,0.0188227759254,1.03970490217
+275,4.583333333,pose2_to_pose3_retreat,0.622539355823,0.0101501367694,1.04003355005,0.593110032658,0.0188227734937,1.03970494786
+276,4.600000000,pose2_to_pose3_retreat,0.622525742952,0.0101502352768,1.04003362326,0.593096417907,0.0188228653887,1.03970501523
+277,4.616666667,pose2_to_pose3_retreat,0.622501359124,0.0101502112254,1.04003340876,0.593072035502,0.0188228461745,1.03970480547
+278,4.633333333,pose2_to_pose3_retreat,0.622466217263,0.010150117382,1.04003353185,0.593036893117,0.0188227502939,1.03970492461
+279,4.650000000,pose2_to_pose3_retreat,0.622421344197,0.0101500625783,1.0400334372,0.592992020913,0.0188226981792,1.03970483144
+280,4.666666667,pose2_to_pose3_retreat,0.622368925034,0.0101501372805,1.0400335905,0.592939600666,0.0188227699066,1.03970498336
+281,4.683333333,pose2_to_pose3_retreat,0.622309302046,0.0101502193741,1.04003347811,0.592879975603,0.0188228443576,1.03970486575
+282,4.700000000,pose2_to_pose3_retreat,0.622244809026,0.0101501994274,1.04003351299,0.59281548356,0.0188228273418,1.03970489917
+283,4.716666667,pose2_to_pose3_retreat,0.622174728936,0.0101500881619,1.04003341252,0.592745405556,0.0188227233063,1.03970480382
+284,4.733333333,pose2_to_pose3_retreat,0.622094906921,0.010150026397,1.04003331449,0.592665584481,0.0188226649022,1.03970471001
+285,4.750000000,pose2_to_pose3_retreat,0.622004359515,0.0101500759213,1.04003339893,0.592575036188,0.0188227113315,1.03970479437
+286,4.766666667,pose2_to_pose3_retreat,0.62189953589,0.0101499767651,1.04003333675,0.592470212924,0.0188226137185,1.039704745
+287,4.783333333,pose2_to_pose3_retreat,0.621780901455,0.0101500949873,1.04003347616,0.592351576789,0.0188227256725,1.03970487441
+288,4.800000000,pose2_to_pose3_retreat,0.621647594816,0.0101501405601,1.04003342465,0.592218270548,0.0188227724443,1.03970482328
+289,4.816666667,pose2_to_pose3_retreat,0.621498531716,0.0101502110958,1.04003353571,0.592069206697,0.0188228400566,1.03970492973
+290,4.833333333,pose2_to_pose3_retreat,0.621334144903,0.010150230794,1.04003360162,0.591904819565,0.018822858341,1.03970499457
+291,4.850000000,pose2_to_pose3_retreat,0.621155478927,0.0101501641989,1.04003346982,0.591726154728,0.018822795572,1.03970486925
+292,4.866666667,pose2_to_pose3_retreat,0.620962707988,0.0101501332927,1.04003340787,0.591533384052,0.0188227655588,1.03970480772
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+294,4.900000000,pose2_to_pose3_retreat,0.6205289241,0.0101501343859,1.04003338547,0.591099601916,0.0188227721024,1.0397047847
+295,4.916666667,pose2_to_pose3_retreat,0.620284961772,0.0101501891737,1.04003347515,0.590855639401,0.0188228258424,1.03970487033
+296,4.933333333,pose2_to_pose3_retreat,0.620016040434,0.0101502104818,1.04003354505,0.590586716557,0.0188228416872,1.03970493818
+297,4.950000000,pose2_to_pose3_retreat,0.619722033857,0.0101500657899,1.04003339965,0.590292710602,0.0188226988334,1.03970479347
+298,4.966666667,pose2_to_pose3_retreat,0.619399719898,0.0101499533863,1.04003341036,0.589970400441,0.018822599121,1.03970480779
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+304,5.066666667,pose2_to_pose3_retreat,0.617103258316,0.0101500617244,1.04003356092,0.587673937963,0.0188227019467,1.03970495506
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+307,5.116666667,pose2_to_pose3_retreat,0.61567127347,0.0101499999155,1.04003354639,0.586241953384,0.0188226395626,1.03970493677
+308,5.133333333,pose2_to_pose3_retreat,0.61514015116,0.0101501347286,1.04003363413,0.585710830886,0.0188227734444,1.03970502708
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+315,5.250000000,pose2_to_pose3_retreat,0.611026704694,0.0101499251666,1.04003367084,0.581597387283,0.0188225725403,1.03970505716
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+318,5.300000000,pose2_to_pose3_retreat,0.609026256898,0.0101501463902,1.04003337253,0.579596934088,0.0188227759611,1.03970477176
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+321,5.350000000,pose2_to_pose3_retreat,0.606805665363,0.0101501554971,1.04003366099,0.577376343817,0.0188227888394,1.03970504675
+322,5.366666667,pose2_to_pose3_retreat,0.606032558786,0.0101500830251,1.04003351004,0.576603238976,0.0188227226685,1.03970490661
+323,5.383333333,pose2_to_pose3_retreat,0.605256069038,0.0101501237428,1.04003375263,0.575826747656,0.0188227578915,1.03970514481
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+325,5.416666667,pose2_to_pose3_retreat,0.60370809702,0.0101501077906,1.04003357887,0.574278775374,0.0188227410159,1.03970496941
+326,5.433333333,pose2_to_pose3_retreat,0.602927899437,0.0101500476412,1.04003360409,0.57349857877,0.0188226841897,1.03970499456
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+328,5.466666667,pose2_to_pose3_retreat,0.60134508766,0.0101501288986,1.04003337598,0.571915764912,0.018822758598,1.03970477204
+329,5.483333333,pose2_to_pose3_retreat,0.600546478,0.0101500935443,1.04003358876,0.571117156574,0.0188227277731,1.03970498592
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+331,5.516666667,pose2_to_pose3_retreat,0.598920837232,0.0101500844044,1.04003336143,0.569491516444,0.018822721007,1.03970476399
+332,5.533333333,pose2_to_pose3_retreat,0.598113168428,0.0101502156119,1.0400334996,0.568683844838,0.0188228424095,1.03970489416
+333,5.550000000,pose2_to_pose3_retreat,0.597319911986,0.0101502050627,1.0400333962,0.567890587674,0.0188228296862,1.03970479799
+334,5.566666667,pose2_to_pose3_retreat,0.596533537455,0.0101501195582,1.04003338847,0.567104215055,0.0188227504567,1.03970478462
+335,5.583333333,pose2_to_pose3_retreat,0.595757289118,0.0101500783993,1.04003340701,0.566327967952,0.0188227133404,1.03970479926
+336,5.600000000,pose2_to_pose3_retreat,0.594992398721,0.0101501461792,1.04003342792,0.565563076764,0.0188227785803,1.03970482399
+337,5.616666667,pose2_to_pose3_retreat,0.594223967771,0.0101502475331,1.04003350089,0.564794644988,0.0188228772321,1.03970489951
+338,5.633333333,pose2_to_pose3_retreat,0.593447842346,0.0101501179603,1.04003352836,0.564018522342,0.0188227570202,1.03970492514
+339,5.650000000,pose2_to_pose3_retreat,0.592669186679,0.0101500859487,1.04003378602,0.563239865828,0.018822721719,1.03970517187
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+341,5.683333333,pose2_to_pose3_retreat,0.591130380816,0.0101502131034,1.04003348284,0.561701060049,0.0188228495937,1.03970488003
+342,5.700000000,pose2_to_pose3_retreat,0.590389169983,0.010150168247,1.04003349009,0.560959849557,0.0188228060881,1.0397048924
+343,5.716666667,pose2_to_pose3_retreat,0.589676771659,0.0101501390011,1.04003370667,0.56024745109,0.0188227760167,1.03970509986
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+349,5.816666667,pose2_to_pose3_retreat,0.585665486898,0.0101500394023,1.04003329837,0.556236167035,0.0188226791842,1.03970470122
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+352,5.866666667,pose2_to_pose3_retreat,0.583897211568,0.010150045444,1.0400332779,0.554467890592,0.0188226812916,1.03970467658
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+354,5.900000000,pose2_to_pose3_retreat,0.582809987724,0.0101500174788,1.04003358331,0.553380666273,0.0188226516607,1.03970498053
+355,5.916666667,pose2_to_pose3_retreat,0.582300933,0.0101498355875,1.0400332652,0.552871613898,0.0188224777973,1.03970466396
+356,5.933333333,pose2_to_pose3_retreat,0.581816725653,0.0101500080475,1.04003336951,0.552387405529,0.0188226466417,1.03970476429
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+363,6.050000000,pose2_to_pose3_retreat,0.578922230531,0.0101500558063,1.04003344131,0.549492909612,0.0188226913996,1.03970482821
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+366,6.100000000,pose2_to_pose3_retreat,0.578052157953,0.010150108936,1.04003338931,0.548622836374,0.0188227428226,1.03970479043
+367,6.116666667,pose2_to_pose3_retreat,0.577787184409,0.010150076198,1.04003343169,0.548357863214,0.0188227114236,1.0397048337
+368,6.133333333,pose2_to_pose3_retreat,0.57753536292,0.0101500200241,1.04003341561,0.548106041949,0.0188226558937,1.03970481459
+369,6.150000000,pose2_to_pose3_retreat,0.577298706793,0.0101500466595,1.04003350771,0.547869385509,0.0188226810836,1.03970489657
+370,6.166666667,pose2_to_pose3_retreat,0.577081697682,0.0101500747564,1.04003339312,0.547652376568,0.0188227099814,1.03970478801
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+372,6.200000000,pose2_to_pose3_retreat,0.576707435887,0.0101499760616,1.04003365111,0.547278115626,0.0188226140391,1.0397050423
+373,6.216666667,pose2_to_pose3_retreat,0.576550451104,0.0101501664824,1.04003377818,0.547121127729,0.0188227937746,1.03970516623
+374,6.233333333,pose2_to_pose3_retreat,0.576415444377,0.0101500940438,1.04003369592,0.546986122362,0.018822725936,1.03970508357
+375,6.250000000,pose2_to_pose3_retreat,0.576296963966,0.0101500759618,1.04003339344,0.546867640463,0.0188227030499,1.03970478761
+376,6.266666667,pose2_to_pose3_retreat,0.576193739721,0.0101500957484,1.04003339827,0.546764417106,0.0188227258673,1.03970479304
+377,6.283333333,pose2_to_pose3_retreat,0.576103369256,0.0101501641267,1.04003361274,0.546674047363,0.0188227966214,1.0397050058
+378,6.300000000,pose2_to_pose3_retreat,0.576023743942,0.0101502309576,1.0400337398,0.546594420699,0.0188228588964,1.03970513372
+379,6.316666667,pose2_to_pose3_retreat,0.575952833047,0.0101501172955,1.04003363348,0.546523511667,0.0188227514731,1.03970502514
+380,6.333333333,pose2_to_pose3_retreat,0.575891299502,0.0101502112708,1.0400334278,0.546461976687,0.0188228406138,1.03970482031
+381,6.350000000,pose2_to_pose3_retreat,0.575840228001,0.0101501400502,1.04003348896,0.546410906409,0.0188227737385,1.03970488669
+382,6.366666667,pose2_to_pose3_retreat,0.575798522755,0.0101500359097,1.04003343461,0.546369202713,0.0188226747975,1.03970483063
+383,6.383333333,pose2_to_pose3_retreat,0.575765694909,0.0101500034066,1.0400334788,0.54633637466,0.0188226414015,1.03970486976
+384,6.400000000,pose2_to_pose3_retreat,0.575740091512,0.0101500163522,1.04003357549,0.546310771391,0.0188226547398,1.03970496543
+385,6.416666667,pose2_to_pose3_retreat,0.575720154036,0.0101500318648,1.04003362933,0.546290835909,0.0188226772436,1.03970502527
+386,6.433333333,pose2_to_pose3_retreat,0.575704893608,0.010150056668,1.04003353004,0.546275573991,0.0188226970486,1.03970492744
+387,6.450000000,pose2_to_pose3_retreat,0.57569299365,0.0101501337296,1.04003365466,0.54626367223,0.0188227677753,1.0397050464
+388,6.466666667,pose2_to_pose3_retreat,0.575684190762,0.0101501715752,1.04003368547,0.546254868722,0.0188228034332,1.03970507499
+389,6.483333333,pose2_to_pose3_retreat,0.5756777326,0.0101500837319,1.04003331808,0.546248412688,0.0188227232336,1.03970471888
+390,6.500000000,pose2_to_pose3_retreat,0.575673459037,0.0101500633342,1.04003341679,0.546244139351,0.0188227036136,1.03970481763
+391,6.516666667,pose2_to_pose3_retreat,0.575670725239,0.0101500621337,1.04003358727,0.546241405326,0.0188227015665,1.03970498581
+392,6.533333333,pose2_to_pose3_retreat,0.575669003927,0.010150099111,1.04003344425,0.546239682952,0.018822734904,1.03970484214
+393,6.550000000,pose2_to_pose3_retreat,0.575667865504,0.0101501331672,1.04003328596,0.546238543591,0.0188227657625,1.03970468362
+394,6.566666667,pose2_to_pose3_retreat,0.575667266747,0.0101501510792,1.04003320271,0.54623794434,0.0188227819927,1.03970460025
+395,6.583333333,pose2_to_pose3_retreat,0.57566722843,0.0101501522255,1.04003319738,0.546237905992,0.0188227830313,1.03970459492
+396,6.600000000,pose2_to_pose3_retreat,0.575667123164,0.0101501553745,1.04003318275,0.546237800639,0.0188227858847,1.03970458026
+397,6.616666667,pose2_to_pose3_retreat,0.575667006877,0.0101501588533,1.04003316658,0.546237684257,0.0188227890368,1.03970456407
+398,6.633333333,pose2_to_pose3_retreat,0.575666951986,0.0101501604954,1.04003315894,0.546237629321,0.0188227905247,1.03970455643
+399,6.650000000,pose2_to_pose3_retreat,0.575666845737,0.0101501636399,1.04003314648,0.546237522983,0.0188227933675,1.03970454392
+400,6.666666667,pose2_to_pose3_retreat,0.575666470725,0.010150173225,1.04003320551,0.546237147626,0.018822801739,1.03970460187
+401,6.683333333,pose2_to_pose3_retreat,0.575666281123,0.0101501780712,1.04003323535,0.546236957848,0.0188228059716,1.03970463117
+402,6.700000000,pose2_to_pose3_retreat,0.57566620587,0.0101501799946,1.0400332472,0.546236882526,0.0188228076515,1.0397046428
+403,6.716666667,pose2_to_pose3_retreat,0.575665975458,0.0101501858838,1.04003328346,0.546236651901,0.0188228127951,1.0397046784
+404,6.733333333,pose2_to_pose3_retreat,0.575665733998,0.0101501920554,1.04003332147,0.546236410219,0.0188228181853,1.03970471571
+405,6.750000000,pose2_to_pose3_retreat,0.575665660387,0.0101501939369,1.04003333305,0.54623633654,0.0188228198286,1.03970472709
+406,6.766666667,pose2_to_pose3_retreat,0.575665566527,0.0101501963359,1.04003334783,0.546236242593,0.0188228219239,1.03970474159
+407,6.783333333,pose2_to_pose3_retreat,0.575665393838,0.0101502007498,1.04003337501,0.546236069746,0.0188228257789,1.03970476828
+408,6.800000000,pose2_to_pose3_retreat,0.5756653056,0.0101502030051,1.0400333889,0.546235981426,0.0188228277487,1.03970478191
+409,6.816666667,pose2_to_pose3_retreat,0.575665037378,0.0101501747653,1.04003340095,0.546235714028,0.0188228023449,1.03970479503
+410,6.833333333,pose2_to_pose3_retreat,0.575664739139,0.0101501125691,1.0400333879,0.546235417644,0.0188227465525,1.03970478477
+411,6.850000000,pose2_to_pose3_retreat,0.575664424856,0.0101500511749,1.04003340265,0.54623510508,0.0188226910411,1.03970480083
+412,6.866666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38494e7510a6b83962b76206a0c3fe87c20f5fdf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b56e59873f43f04303196b810647508e1ba98a79ab5626e7671a5d0a63c52c
+size 25786439
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..986af465aca9ddb04fbd672b0972b840170e2891
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+19,0.316666667,BASELINE,770,746,723.976863462,686,669.976863462,642,887,786.023136538,819,656,632,655.976863462,0.401019546721,0.00449506191683,0.0698492231676,0.999999986406,3.91670110241e-05,-0.000159201194036,1.75942175707e-05,1793250801386102528
+20,0.333333333,BASELINE,770,746,723.386184295,686,669.386184295,642,887,786.613815705,819,656,632,655.386184295,0.401018359739,0.00449542377868,0.0698487113983,0.999999986219,3.75836681217e-05,-0.0001607756485,1.73178710611e-05,1793250801402769408
+21,0.350000000,BASELINE,770,746,723,686,669,642,887,787,819,656,632,655.199742386,0.401017779193,0.00449608107771,0.0698485869315,0.999999986065,3.8003640119e-05,-0.000161648506462,1.71613345598e-05,1793250801419436288
+22,0.366666667,BASELINE,770,746,723,686,669,642,887,787,819,656,632,655.776694032,0.401018343891,0.00449729630355,0.0698491938773,0.999999985969,4.22068299787e-05,-0.000161196414142,1.72310567484e-05,1793250801436102912
+23,0.383333333,BASELINE,770,746,723,686,669,642,887,786.645626853,819,656,632.354373147,656,0.401018916727,0.00449731080045,0.0698498609122,0.999999986127,4.29021514035e-05,-0.000160015275311,1.7340949366e-05,1793250801452769536
+24,0.400000000,BASELINE,770,746,723,686,669,642,887,786.067488329,819,656,632.932511671,656,0.401019494702,0.00449656710919,0.0698505658897,0.99999998645,4.13824648129e-05,-0.000158373787315,1.7476207206e-05,1793250801469436160
+25,0.416666667,BASELINE,770,746,723,686,670.039878838,642,887,786,819,656,632.480060581,656,0.401019425174,0.00449653044191,0.0698498949528,0.99999998632,4.12150926659e-05,-0.000159250618441,1.73184292915e-05,1793250801486102528
+26,0.433333333,BASELINE,769.893185974,746,723,686,670.893185974,642,887,786,819,656,632.106814026,656,0.401019337892,0.00449676500916,0.0698492197002,0.999999986164,4.13579662382e-05,-0.00016021017609,1.71371649629e-05,1793250801502769408
+27,0.450000000,BASELINE,769.31418357,746,723,686,670.31418357,642,887,786,819,656,632.68581643,656,0.40101955043,0.0044977855393,0.0698493292345,0.999999986159,4.20822525158e-05,-0.000160064134083,1.70232787051e-05,1793250801519435776
+28,0.466666667,BASELINE,769,746,723,686,669.73638281,642,887,786,819,656,632.73638281,655.73638281,0.401019559665,0.00449777034411,0.0698497385474,0.999999986253,4.17297504575e-05,-0.00015955780663,1.7115729552e-05,1793250801536102400
+29,0.483333333,BASELINE,769,746,723,686,669.160007724,642,887,786,819,656,632.160007724,655.160007724,0.401019327701,0.00449652635465,0.0698505035204,0.999999986463,4.00997366257e-05,-0.000158624033172,1.74529806723e-05,1793250801552769024
+30,0.500000000,BASELINE,769.409761915,746,723,686,669,642,887.409761915,786,819,656,632,655.409761915,0.401018780813,0.00449558288874,0.0698496406439,0.999999986321,3.99973691993e-05,-0.000159540750816,1.74875941455e-05,1793250801569435648
+31,0.516666667,BASELINE,769.976993103,746,723,686,669,642,887.976993103,786,819,656,632,655.976993103,0.401018112902,0.00449475491243,0.0698481521935,0.999999986041,4.0482068011e-05,-0.000161168602142,1.74059056102e-05,1793250801586102272
+32,0.533333333,BASELINE,769.426496871,746,723,686,669.573503129,642,887.426496871,786.573503129,819.573503129,656,632,655.426496871,0.40101920739,0.00449569882147,0.0698498622927,0.999999986252,4.10324799158e-05,-0.000159730758114,1.72884345702e-05,1793250801602768896
+33,0.550000000,BASELINE,769,746.165149037,723,686,669.834850963,642,887,786.834850963,820,656,632,655.165149037,0.401019577889,0.0044961210748,0.0698507815161,0.999999986358,4.10039209702e-05,-0.00015907250363,1.72567410022e-05,1793250801619435520
+34,0.566666667,BASELINE,769,746.741598276,723,686,669.258401724,642,887,786.258401724,820,656,632,655.741598276,0.401017959753,0.00449505760395,0.0698493943232,0.999999986158,3.95265286747e-05,-0.000160678569873,1.74424417722e-05,1793250801636102144
+35,0.583333333,BASELINE,769,746.681940959,723,686,669.318059041,642,887.318059041,786,819.681940959,656,632,656,0.40101909641,0.00449494298459,0.06985000261,0.999999986364,3.93229930437e-05,-0.000159441297071,1.74642687791e-05,1793250801652768768
+36,0.600000000,BASELINE,769,746.105470765,723,686,669.894529235,642,887.894529235,786,819.105470765,656,632,656,0.401022471234,0.0044955992717,0.0698522321499,0.999999986892,4.0154418458e-05,-0.000155893917119,1.73529544627e-05,1793250801669435648
+37,0.616666667,BASELINE,769.474307521,746,723,686,669.525692479,642,887.525692479,786,819,656,632,655.525692479,0.4010221542,0.00449532345618,0.0698521461929,0.999999986845,3.99034994601e-05,-0.000156233694322,1.75909559162e-05,1793250801686102272
+38,0.633333333,BASELINE,770,746.05535957,723,686,669,642,887,786,819.05535957,656,632,655.05535957,0.401020901522,0.00449494471037,0.0698514250549,0.99999998665,3.95190231469e-05,-0.000157543584371,1.78275298157e-05,1793250801702769152
+39,0.650000000,BASELINE,770,746.64152237,723,686,669,642,887,786,819.64152237,656,632,655.64152237,0.401018604414,0.00449558035836,0.0698495852284,0.999999986274,4.01778644351e-05,-0.000159809071021,1.73003997274e-05,1793250801719435776
+40,0.666666667,BASELINE,770,747,723,686,669.224315838,642,887,786,819.775684162,656,632.224315838,656,0.401017707383,0.00449628130085,0.0698488225151,0.999999986105,4.09909800702e-05,-0.00016068682588,1.70160919417e-05,1793250801736102400
+41,0.683333333,BASELINE,770,747,723,686,669.801804446,642,887,786,819.198195554,656,632.801804446,656,0.401019014697,0.00449708504583,0.0698497556565,0.999999986269,4.20469920171e-05,-0.00015937967433,1.71140943543e-05,1793250801752769280
+42,0.700000000,BASELINE,770,746.62141964,723.37858036,686,670,642,887,786,819,656,633,656,0.401019655621,0.00449728330644,0.0698503745529,0.999999986356,4.26989084664e-05,-0.000158653008384,1.71290723446e-05,1793250801769435648
+43,0.716666667,BASELINE,770,746.045016154,723.954983846,686,670,642,887,786,819,656,633,656,0.401019948331,0.00449716517763,0.0698508292439,0.999999986405,4.31396690955e-05,-0.000158229669031,1.71006668066e-05,1793250801786102016
+44,0.733333333,BASELINE,770,746.536524116,724,686,670,642,887,786,819.536524116,656,632.463475884,656,0.40101988563,0.00449750351035,0.0698503263768,0.999999986268,4.35738879886e-05,-0.000158964837994,1.72032780795e-05,1793250801802768896
+45,0.750000000,BASELINE,770,746.880646964,724,686,670,642,887,786,820,656,632,656,0.401019668161,0.00449718553101,0.0698498461916,0.999999986172,4.28537379851e-05,-0.000159751056448,1.73169337086e-05,1793250801819435776
+46,0.766666667,BASELINE,770,746.29448002,724,686,670,642,887,786,820,656,632,656,0.401018963126,0.0044941493404,0.0698497719933,0.999999986284,3.76207847352e-05,-0.00016035308506,1.7430375548e-05,1793250801836102656
+47,0.783333333,BASELINE,770,746,723.713766173,686,670,642,887,786.286233827,819.713766173,656,632,656,0.401018387779,0.00449326325944,0.0698495498725,0.99999998625,3.63332583373e-05,-0.000160847715469,1.75371036527e-05,1793250801852769024
+48,0.800000000,BASELINE,770,746,723.138557569,686,670,642,887,786.861442431,819.138557569,656,632,656,0.401017943363,0.00449454787702,0.069849178413,0.999999986085,3.90289392149e-05,-0.000161233919311,1.76370537463e-05,1793250801869435904
+49,0.816666667,BASELINE,770,746.435748633,723.435748633,686,670,642,887,786.564251367,819,656,632,656,0.401018294586,0.00449550697489,0.0698496647922,0.999999986186,4.009015939e-05,-0.000160367562946,1.74263038726e-05,1793250801886102784
+50,0.833333333,BASELINE,770,747,723.989915018,686,670,642,887,786,819.010084982,656,632.010084982,656,0.401018922938,0.00449635807153,0.0698504272365,0.999999986371,4.06517777856e-05,-0.000159095994952,1.71240210775e-05,1793250801902769664
+51,0.850000000,BASELINE,770,747,723.397295,686,670,642,887,786,819.602705,656,632.602705,656,0.401020975585,0.00449693724093,0.06985141245,0.999999986573,4.23133878169e-05,-0.000157376717925,1.72294263515e-05,1793250801919436032
+52,0.866666667,BASELINE,770,747,723,686,670,642,887,786.188854369,819.811145631,656,632.811145631,655.811145631,0.401021760468,0.0044971564896,0.0698518863838,0.999999986611,4.32934043863e-05,-0.000156856795003,1.7323540311e-05,1793250801936102656
+53,0.883333333,BASELINE,770,747,723,686,670,642,887,786.761842277,819.238157723,656,632.238157723,655.238157723,0.401019966693,0.00449664365228,0.0698513203643,0.999999986324,4.28870462191e-05,-0.000158776382253,1.73946875069e-05,1793250801952769280
+54,0.900000000,BASELINE,769.661368643,746.661368643,723,685.661368643,670,642,887,786.661368643,819,656,632,655,0.401018608885,0.00449616745389,0.0698503849195,0.999999986122,4.11620418356e-05,-0.000160512418761,1.72579198379e-05,1793250801969435904
+55,0.916666667,BASELINE,769.081875892,746.081875892,723,685.081875892,670,642,887,786.081875892,819,656,632,655,0.40101756117,0.00449571731602,0.0698491867103,0.999999985974,3.84991120274e-05,-0.000162117899388,1.6973266676e-05,1793250801986102272
+56,0.933333333,BASELINE,769,746.487887551,723.487887551,685.487887551,670,642,887,786,819,656,632.487887551,655.487887551,0.401018608886,0.00449532474577,0.0698496414479,0.99999998623,3.91347193922e-05,-0.000160355224738,1.71457932132e-05,1793250802002769152
+57,0.950000000,BASELINE,769.059083699,746.940916301,724,686,670,642,887,786,819.059083699,656.059083699,632.940916301,656,0.401019837428,0.00449512255946,0.0698503328916,0.999999986496,4.04555557448e-05,-0.000158334848347,1.73567596779e-05,1793250802019436032
+58,0.966666667,BASELINE,769.657995833,746.342004167,724,686,670,642,887,786,819.657995833,656.657995833,632.342004167,656,0.401019568032,0.00449657330709,0.0698507021469,0.999999986279,4.30783749903e-05,-0.00015902332413,1.72316554419e-05,1793250802036102400
+59,0.983333333,BASELINE,770,746,723.752644731,686,670,642,887,786,820,657,632,655.752644731,0.401019247276,0.00449725938857,0.0698507751998,0.999999986182,4.38797603345e-05,-0.000159432320741,1.71032342285e-05,1793250802052769024
+60,1.000000000,BASELINE,770,746,723.176002073,686,670,642,887,786,820,657,632,655.176002073,0.401018858146,0.00449692752178,0.0698504539387,0.999999986248,4.22563939185e-05,-0.000159469265674,1.69703973295e-05,1793250802069435392
+61,1.016666667,BASELINE,769.599107877,746,723,686,669.599107877,642,887,786,819.599107877,656.599107877,632,655.400892123,0.401018399173,0.00449711795209,0.0698502153675,0.999999986069,4.33702990693e-05,-0.000160267129621,1.71655753654e-05,1793250802086102272
+62,1.033333333,BASELINE,769.022103215,746,723,686,669.022103215,642,887,786,819.022103215,656.022103215,632,655.977896785,0.401017909518,0.00449753782835,0.069850013122,0.999999985778,4.56866920146e-05,-0.000161399266483,1.75048508851e-05,1793250802102768896
+63,1.050000000,BASELINE,769.568229722,746.568229722,723.568229722,686,669,642,887,786,819,656,632,655.431770278,0.401018543128,0.00449664374601,0.0698501289938,0.999999986065,4.1804905279e-05,-0.000160700645497,1.72248113672e-05,1793250802119435520
+64,1.066666667,BASELINE,770,746.844974608,724,686,669.155025392,642,887,786,819,656,632.155025392,655,0.401019018493,0.00449609294924,0.0698502553568,0.999999986279,3.95474369615e-05,-0.000159972103246,1.69662001466e-05,1793250802136102144
+65,1.083333333,BASELINE,770,746.269219732,724,686,669.730780268,642,887,786,819,656,632.730780268,655,0.401018942963,0.00449661585218,0.0698503758029,0.999999986263,4.23683150687e-05,-0.000159360267857,1.68326941515e-05,1793250802152768768
+66,1.100000000,BASELINE,770,746,724,686,670,642,887,786,819,656,632.693193187,655.306806813,0.401019012351,0.00449696403385,0.0698504907922,0.99999998629,4.20599511536e-05,-0.000159281149282,1.67344765657e-05,1793250802169435904
+67,1.116666667,BASELINE,770,746,724,686,670,642,887,786,819,656,632.116928073,655.883071927,0.401019209016,0.00449715876357,0.069850600989,0.999999986353,3.90032770826e-05,-0.000159669898339,1.66672516324e-05,1793250802186102784
+68,1.133333333,BASELINE,770,746,724,686,669.541512584,642,887,786,819,656,632,656,0.401018634566,0.00449644835837,0.0698503390335,0.999999986226,3.86327177027e-05,-0.000160542630009,1.67656901461e-05,1793250802202769408
+69,1.150000000,BASELINE,770,746.034609553,724,686,669.034609553,642,887,786,819,656,632.034609553,656,0.40101795473,0.00449559534321,0.0698500245978,0.999999986067,3.9028322269e-05,-0.000161421316682,1.69057136896e-05,1793250802219436288
+70,1.166666667,BASELINE,770,746.625567018,724,686,669.625567018,642,887,786,819,656,632.625567018,656,0.40101873622,0.00449615370739,0.0698503893977,0.999999986158,4.07483611291e-05,-0.000160415261956,1.70363174168e-05,1793250802236102912
+71,1.183333333,BASELINE,770,747,723.787573838,686.212426162,670,642,887,786,819.212426162,656,632.787573838,656,0.401018806556,0.00449655973418,0.0698502790427,0.999999986119,4.17232876888e-05,-0.000160410675337,1.70237098286e-05,1793250802252769792
+72,1.200000000,BASELINE,770,747,723.207801772,686.792198228,670,642,887,786,819.792198228,656,632.207801772,656,0.401017647103,0.00449670232593,0.0698493470083,0.999999985858,4.14097011494e-05,-0.000162137914828,1.67634487255e-05,1793250802269436160
+73,1.216666667,BASELINE,770,746.631065202,723.368934798,686.631065202,669.631065202,642,887,786,820,656,632.368934798,656,0.401017516392,0.00449681919481,0.0698494277846,0.999999985841,4.19096722225e-05,-0.000162119746202,1.6683398798e-05,1793250802286102784
+74,1.233333333,BASELINE,770,746.056024451,723.943975549,686.056024451,669.056024451,642,887,786,820,656,632.943975549,656,0.401017960389,0.00449692169355,0.069850074369,0.999999985961,4.28641384401e-05,-0.000161126502727,1.67040241175e-05,1793250802302769152
+75,1.250000000,BASELINE,770,746.532241756,723.467758244,686,669.532241756,642,887,786,820,656,633,656,0.401017901006,0.00449662932993,0.0698500302997,0.999999986034,4.1919105442e-05,-0.000160921202798,1.67030010986e-05,1793250802319436032
+76,1.266666667,BASELINE,770,747,723,686,670,642,887,786,819.880463823,656,632.880463823,655.880463823,0.401018105074,0.00449641859279,0.0698500769881,0.999999986109,4.1279928953e-05,-0.000160609146106,1.68140675137e-05,1793250802336102656
+77,1.283333333,BASELINE,770,747,723,686,670,642,887,786,819.302373741,656,632.302373741,655.302373741,0.401019528205,0.0044966844897,0.0698507578214,0.999999986212,4.2600602455e-05,-0.000159561284543,1.73640855244e-05,1793250802352769280
+78,1.300000000,BASELINE,770,747,723,686.273785575,670,642,886.726214425,786,819,656,632,655,0.401020635928,0.00449631261803,0.0698514190946,0.999999986428,4.24086539206e-05,-0.000158237888078,1.74997271919e-05,1793250802369435904
+79,1.316666667,BASELINE,770,747,723,686.847827413,670,642,886.152172587,786,819,656,632,655,0.401021397749,0.00449524131573,0.0698520589164,0.999999986766,4.05578368982e-05,-0.00015661231696,1.71809289132e-05,1793250802386103040
+80,1.333333333,BASELINE,770,747,723.422146752,686.577853248,670,642,886.422146752,786,819,656,632.422146752,655.422146752,0.401020351753,0.00449542557344,0.0698512378431,0.999999986526,4.033341467e-05,-0.000158214878733,1.69851575829e-05,1793250802402769920
+81,1.350000000,BASELINE,770,747,723.996566235,686.003433765,670,642,886.996566235,786,819,656,632.996566235,655.996566235,0.401018653658,0.00449606272464,0.0698498898097,0.999999986073,4.06956498367e-05,-0.000160981861538,1.68337633284e-05,1793250802419437056
+82,1.366666667,BASELINE,769.411038794,746.411038794,723.411038794,686.588961206,669.411038794,642,887,786.588961206,819,656,632.411038794,656,0.401019288212,0.0044965197672,0.0698507905577,0.99999998622,4.1499689535e-05,-0.000159838664208,1.70322043426e-05,1793250802436102912
+83,1.383333333,BASELINE,769.177131525,746,723,686.822868475,669.177131525,642,887,786.822868475,819.177131525,656,632,656,0.401019697069,0.00449643975111,0.0698515032853,0.999999986371,4.14518950668e-05,-0.000158887297461,1.71745376926e-05,1793250802452769024
+84,1.400000000,BASELINE,769.755487744,746,723,686.244512256,669.755487744,642,887,786.244512256,819.755487744,656,632,656,0.40101956292,0.0044951456846,0.0698517594914,0.999999986524,3.94685733673e-05,-0.00015842371436,1.71850149056e-05,1793250802469435392
+85,1.416666667,BASELINE,770,746,723,686,669.668283205,642,887,786.331716795,819.668283205,656,632,656,0.401019128522,0.00449528955831,0.0698513609376,0.99999998647,3.87878566742e-05,-0.000158964882914,1.69164705565e-05,1793250802486102016
+86,1.433333333,BASELINE,770,746,723,686,669.093612159,642,887,786.906387841,819.093612159,656,632,656,0.401018474219,0.00449648660063,0.069850482828,0.999999986263,3.90611871318e-05,-0.00016024194636,1.64435667179e-05,1793250802502768640
+87,1.450000000,BASELINE,770,746.482881585,723,686,669.482881585,642,887,786.517118415,819,656,632,655.517118415,0.401018589818,0.00449682982593,0.0698507683427,0.999999986223,4.07733691659e-05,-0.000160049807534,1.66044693215e-05,1793250802519435264
+88,1.466666667,BASELINE,770,747,723,686,669.938898796,642,887,786,819,656,632,655.061101204,0.401018939907,0.00449687618282,0.0698513444415,0.999999986247,4.2299604473e-05,-0.000159477420196,1.68728204823e-05,1793250802536101888
+89,1.483333333,BASELINE,770,747,723,686,669.348807982,642,887,786,819,656,632,655.651192018,0.401020023035,0.00449579082733,0.0698524759026,0.999999986568,3.97919055252e-05,-0.000158088209724,1.70036225895e-05,1793250802552768512
+90,1.500000000,BASELINE,770,746.763059851,723.236940149,686,669,642,887,786,819.236940149,656,632,656,0.401019944443,0.00449522769457,0.0698525247288,0.999999986604,3.87508423917e-05,-0.00015811057167,1.705660648e-05,1793250802569435136
+91,1.516666667,BASELINE,770,746.183589726,723.816410274,686,669,642,887,786,819.816410274,656,632,656,0.401018186423,0.00449541950759,0.0698510084552,0.999999986235,3.9830005755e-05,-0.000160173558209,1.69970932918e-05,1793250802586102016
+92,1.533333333,BASELINE,770,746.391048341,723.608951659,686,669,642,887,786.391048341,819.608951659,656,632,656,0.401017247513,0.0044962508625,0.0698499616,0.999999985922,4.2270786903e-05,-0.000161503432519,1.68925003887e-05,1793250802602768896
+93,1.550000000,BASELINE,770,746.963445591,723.036554409,686,669,642,887,786.963445591,819.036554409,656,632,656,0.401016688466,0.00449737880536,0.0698491324378,0.999999985629,4.53430192265e-05,-0.00016249332576,1.67670017349e-05,1793250802619435520
+94,1.566666667,BASELINE,770,746.459993234,723.540006766,686,669.540006766,641.459993234,887,786.459993234,819.540006766,656,632.540006766,656,0.401017753177,0.00449732823515,0.0698499411447,0.999999985927,4.39940353605e-05,-0.000161039502158,1.66381094118e-05,1793250802636102144
+95,1.583333333,BASELINE,769.879792709,746,724,686,670,641.120207291,887,786,820,656,632.879792709,655.879792709,0.40101838736,0.00449716315233,0.0698504380179,0.999999986132,4.25849287533e-05,-0.00016014753141,1.66034722802e-05,1793250802652768512
+96,1.600000000,BASELINE,769.286383743,746,724,686,670,641.713616257,887,786,820,656,632.286383743,655.286383743,0.401016890697,0.00449686376951,0.0698492675004,0.999999985827,4.21264431567e-05,-0.000162123569516,1.69407864751e-05,1793250802669435136
+97,1.616666667,BASELINE,769,746,723.702468969,686,669.702468969,642,887,786,819.702468969,656,632,655,0.401016706683,0.00449716653562,0.0698491229322,0.999999985745,4.26556188592e-05,-0.000162488805443,1.695557648e-05,1793250802686101760
+98,1.633333333,BASELINE,769,746,723.127410123,686,669.127410123,642,887,786,819.127410123,656,632,655,0.401017747065,0.00449803096778,0.069849935338,0.999999985871,4.41060547403e-05,-0.000161351534411,1.66695257973e-05,1793250802702768384
+99,1.650000000,BASELINE,769.447539075,746,723.447539075,686,669,642,886.552460925,786,819.447539075,656,632,655.447539075,0.401018494346,0.00449691422623,0.069850791809,0.999999986126,4.28264916275e-05,-0.000160098401165,1.68055325131e-05,1793250802719435264
+100,1.666666667,BASELINE,770,746,724,686,669.023056303,642,886,786,819.976943697,656,632,656,0.401019114765,0.00449540675925,0.0698516153618,0.999999986392,4.09540870598e-05,-0.000158899143978,1.70398856166e-05,1793250802736102144
+101,1.683333333,BASELINE,770,746,724,686,669.613315454,642,886,786,819.386684546,656,632,656,0.401018666562,0.00449815910655,0.0698513205589,0.999999986135,4.36124787504e-05,-0.000159836533583,1.6738436124e-05,1793250802752768768
+102,1.700000000,BASELINE,770,746,723.800477306,686,669.800477306,642,886.199522694,786.199522694,819,656,632,656,0.401018004386,0.00449932185854,0.0698507321252,0.999999985911,4.47233469717e-05,-0.000160941345673,1.65870778901e-05,1793250802769435648
+103,1.716666667,BASELINE,770,746,723.221966628,686,669.221966628,642,886.778033372,786.778033372,819,656,632,656,0.401016935775,0.00449746521677,0.0698495859476,0.999999985759,4.28947357398e-05,-0.000162364172154,1.67208139945e-05,1793250802786102272
+104,1.733333333,BASELINE,770,746,723,686,669.355633501,642,887,786.644366499,819,656,632,656,0.401018498302,0.00449719117405,0.0698504667594,0.999999986074,4.18879862312e-05,-0.000160685747259,1.66347012887e-05,1793250802802769152
+105,1.750000000,BASELINE,770,746,723,686,669.932666825,642,887,786.067333175,819,656,632,656,0.401021698845,0.00449790237902,0.0698526094745,0.999999986672,4.13928869914e-05,-0.00015707663683,1.64117216035e-05,1793250802819435776
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,746,723,685,670,642,887,786,820,656,632,656,0.401019167136,0.00449560939061,0.0698519845578,0.999999986343,4.16241462549e-05,-0.000159035516755,1.6992378515e-05,1793250802851086592
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,723.608325558,685.608325558,670,642,887,786,819.391674442,656,632,655.391674442,0.401018331425,0.00449607983959,0.0698511977616,0.999999986224,4.1425384109e-05,-0.000159835181891,1.69670947226e-05,1793250802867753216
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.795459026,746,723.795459026,686,669.795459026,642,887,786,819,656,632.204540974,655,0.401017637287,0.0044964187135,0.0698505291707,0.999999986104,4.11209671873e-05,-0.000160686178198,1.6780670602e-05,1793250802884420096
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.22113693,746,723.22113693,686,669.22113693,642,887,786,819,656,632.77886307,655,0.401017199092,0.0044965197184,0.0698500742783,0.99999998598,4.06255413561e-05,-0.000161629974128,1.63029275779e-05,1793250802901086720
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.353611857,746,723,686,669,642,887,786,819,656,633,655.353611857,0.401017071453,0.00449659285889,0.0698499064719,0.999999985911,4.09212899547e-05,-0.000161973452779,1.63706646008e-05,1793250802917753600
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.928627769,746,723,686,669,642,887,786,819,656,633,655.928627769,0.40101713826,0.00449664855287,0.0698499184163,0.999999985877,4.17124100577e-05,-0.000161941059701,1.67799385436e-05,1793250802934420224
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.48304304,746,723.51695696,686,669,642,887,786,819.51695696,656,632.48304304,655.48304304,0.401018696597,0.00449595170589,0.0698511055335,0.999999986152,4.18088135309e-05,-0.000160188007355,1.69374164745e-05,1793250802951086848
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.105156615,746.105156615,723.894843385,686,669.105156615,642,886.894843385,786,819.894843385,656,632.105156615,655,0.401019863796,0.00449544583116,0.069852030744,0.999999986353,4.16920265293e-05,-0.00015894931332,1.70271418171e-05,1793250802967753472
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.684269033,746.684269033,723.315730967,686,669.684269033,642,886.315730967,786,819.315730967,656,632.684269033,655,0.401018315419,0.0044962813547,0.069851024903,0.999999986032,4.10580857238e-05,-0.000161127916225,1.69723225129e-05,1793250802984419840
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.73829698,723,686,669.73829698,642,886.26170302,786.26170302,819.26170302,656,632.73829698,655,0.401018704582,0.00449689596098,0.0698513872506,0.999999985748,4.1398627966e-05,-0.000162784852999,1.7048267145e-05,1793250803001086720
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.162875068,723,686,669.162875068,642,886.837124932,786.837124932,819.837124932,656,632.162875068,655,0.401021416389,0.0044972457406,0.0698533897268,0.999999985512,4.29073407344e-05,-0.000163816437562,1.72809662473e-05,1793250803017753600
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746,723.418645284,686,669,642,887,786.581354716,820,656,632,655,0.401032718996,0.00449637383128,0.0698583583054,0.999999985425,4.24357522065e-05,-0.000164412265235,1.78112460698e-05,1793250803034419968
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,723.997436326,686,669,642,887,786,819.997436326,656,632,655.002563674,0.401047531312,0.00449502315402,0.0698645311889,0.999999985407,4.11791515256e-05,-0.000164770873462,1.84571445847e-05,1793250803051086592
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,723.415708535,686,669,642,887,786,819.415708535,656,632,655.584291465,0.401089007472,0.0044944766418,0.0698782214656,0.999999987746,3.92038031608e-05,-0.000150404329427,1.86811833524e-05,1793250803067753472
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,723,686,669,642,887,786,819.1649997,656,632,655.8350003,0.401136778093,0.00449434916783,0.0698918921602,0.999999989964,3.78088636513e-05,-0.00013525338533,1.87048546946e-05,1793250803084420096
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,723,686,669,642,887,786,819.743155111,656,632,655.256844889,0.401200309918,0.00449527095656,0.0699055138243,0.999999992139,3.78672550653e-05,-0.000118138317321,1.82268103513e-05,1793250803101086976
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746.319777323,723.319777323,685.680222677,669.319777323,642,887,786,820,656,632,655.319777323,0.401271730574,0.00449625088788,0.0699141636654,0.999999993399,3.86300638726e-05,-0.000106835403665,1.72055045462e-05,1793250803117753600
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.895173912,723.895173912,685.104826088,669.895173912,642,887,786,820,656,632,655.895173912,0.401349457295,0.00449727729639,0.069918839197,0.99999999406,3.99559603175e-05,-0.000100178532286,1.57499337818e-05,1793250803134420224
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.528649298,723.528649298,685.471350702,669.528649298,642,887,786,819.528649298,656,632.471350702,656,0.401442975194,0.00449828356144,0.0699182151015,0.999999994004,3.79506240561e-05,-0.000101790151926,1.37923766742e-05,1793250803151086592
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,723,686,669.04872507,642,887,786,819,656,632.95127493,656,0.401541117673,0.00449918485279,0.0699161701908,0.999999993719,3.52224309919e-05,-0.000105755492478,1.16728624845e-05,1793250803167752960
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,723,686,669.637445481,642,887,786,819,656,632.362554519,656,0.401651527125,0.0044989725035,0.0699114627114,0.999999992767,3.27072583619e-05,-0.000115392855973,8.99775293958e-06,1793250803184419840
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.777562608,746.222437392,723,686,670,642,887,786,819.222437392,656,632,655.777562608,0.401778365656,0.00449920338385,0.0699098856491,0.999999992281,2.93610057415e-05,-0.000120573014235,6.15548511992e-06,1793250803201086720
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.198547713,746.801452287,723,686,670,642,887,786,819.801452287,656,632,655.198547713,0.401931540754,0.004500144782,0.0699133267915,0.999999992657,2.46824934176e-05,-0.000118608063909,3.04525505539e-06,1793250803217753344
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.375558542,747,723,686,670,642,887,786,820,656,632,655,0.402104666345,0.00450021543453,0.0699162408407,0.999999993132,2.01201228e-05,-0.000115459499049,-4.64781290887e-07,1793250803234420224
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.947103263,747,723,686,670,642,887,786,820,656,632,655,0.402288203167,0.00449983168633,0.0699188798252,0.999999993632,1.56183605989e-05,-0.000111693261756,-4.18345784434e-06,1793250803251086848
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.460609058,747,723,686.539390942,670,642,887,786,819.460609058,656,632,655,0.402507707859,0.00450144819274,0.0699224192102,0.999999993901,1.19663799928e-05,-0.000109436427143,-8.84248360874e-06,1793250803267753472
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.130098763,746.869901237,723.130098763,686.869901237,670,642,887.130098763,786,819.130098763,656,632,655.130098763,0.402739446363,0.00450313326278,0.0699259538722,0.999999994216,7.74226240684e-06,-0.000106386061165,-1.37655522448e-05,1793250803284420096
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.708084612,746.291915388,723.708084612,686.291915388,670,642,887.708084612,786,819.708084612,656,632,655.708084612,0.403000672975,0.00450435205234,0.0699291561298,0.999999994806,1.25009258594e-06,-0.000100073851559,-1.92674622059e-05,1793250803301086976
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,724,686.283750626,670,642,887.716249374,786,820,656,632,655.716249374,0.403281363489,0.00450500816977,0.0699355762734,0.999999995711,-4.19952844004e-06,-8.9375928165e-05,-2.39390132109e-05,1793250803317753600
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,724,686.857049373,670,642,887.142950627,786,820,656,632,655.142950627,0.403581915568,0.00450509011866,0.0699452800495,0.999999996825,-8.58529928226e-06,-7.42026839566e-05,-2.77632393179e-05,1793250803334420224
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,723.558830587,687,670,642,887,786.441169413,820,656,632,655.441169413,0.403914835049,0.00449429136393,0.0699525757961,0.999999997581,-1.4728529586e-05,-6.23701895215e-05,-2.70368912268e-05,1793250803351086592
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.028491447,723,687,670,642,887,787,820,656,632.028491447,656,0.404260082065,0.00448036427376,0.0699588754217,0.999999998111,-2.09108864534e-05,-5.21862152954e-05,-2.48465774925e-05,1793250803367753472
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.608218628,723,687,670,642,887,787,820,656,632.608218628,656,0.404635819001,0.00447583916339,0.0699613784039,0.999999998211,-1.65555530328e-05,-5.24267905021e-05,-2.35775594445e-05,1793250803384420096
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,723.17986124,687.17986124,669.82013876,642,887.17986124,787,820,656,632.82013876,655.82013876,0.405026396779,0.00447609047606,0.0699639795691,0.999999998416,-1.02767304919e-05,-5.01452434185e-05,-2.34104770418e-05,1793250803401086976
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,723.734651141,687.734651141,669.265348859,642,887.734651141,787,820,656,632.265348859,655.265348859,0.405447910898,0.00448629845308,0.0699667854006,0.999999998766,1.16891239318e-08,-4.26062215262e-05,-2.55404280844e-05,1793250803417753600
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724,688.314035579,669.314035579,642,888,787,820,656,632,655.314035579,0.405884105011,0.00449158096844,0.0699668312282,0.999999998724,-5.79705439622e-06,-4.2203031382e-05,-2.71617896338e-05,1793250803434420224
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,688.915967448,669.915967448,642,888,787,820,656,632,655.915967448,0.406333757254,0.00449234800253,0.069964346786,0.999999998083,-2.63630849792e-05,-4.83417089556e-05,-2.83168952443e-05,1793250803451086848
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,723.507600912,689,669.507600912,642,888,787,820,656,632,656,0.406806316975,0.00450011391172,0.0699479695288,0.999999996691,-9.14152147283e-06,-7.51456345197e-05,-2.97862526977e-05,1793250803467753472
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.932714987,723.067285013,689.067285013,669.067285013,642,888,787,820.067285013,656,632.067285013,656,0.407293431052,0.00450871387307,0.0699316494549,0.999999994362,1.31525953763e-05,-0.000100588094109,-3.13771269242e-05,1793250803484420096
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.33749225,723.66250775,689.66250775,669.66250775,642,888,787,820.66250775,656,632.66250775,656,0.407865579302,0.00451494770311,0.0699334651547,0.999999995106,2.71396138675e-05,-8.90389404606e-05,-3.35213803265e-05,1793250803501086720
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746,724,690.250373949,670,642,888,787,821,656,633,656,0.408462395639,0.00452034743364,0.0699427062663,0.999999996681,3.23500131756e-05,-6.56906291525e-05,-3.57326718833e-05,1793250803517753344
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746,724,690.828606892,670,642,888,787,821,656,633,656,0.409091514243,0.00452465492945,0.0699616707859,0.999999998575,2.60676283444e-05,-2.68915897959e-05,-3.80317482232e-05,1793250803534420224
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746,724,690.597200529,669.597200529,642,888,787,821,656,633,656,0.409702988091,0.00453303307914,0.0699635052228,0.999999998609,2.93284977733e-05,-1.95159653847e-05,-3.92510715082e-05,1793250803551086848
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,724,690.024710084,669.024710084,642,888,787,821,656,633,656,0.410307028557,0.00454312610986,0.0699581231146,0.999999998207,3.66097403317e-05,-2.53783679395e-05,-4.00155174215e-05,1793250803567753472
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,724,690.565732821,669,642,888.565732821,787,821,656,633,656,0.410973112935,0.00454852796167,0.069953253327,0.999999997145,5.33437856591e-05,-3.47901645105e-05,-4.06632885453e-05,1793250803584420096
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746,724,691.153512601,669.153512601,642,889,787,821,656,632.846487399,656,0.411661588338,0.00455400821339,0.069956177728,0.999999996442,6.68632102298e-05,-3.04004945487e-05,-4.14829111379e-05,1793250803601086720
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746,724,691.7316851,669.7316851,642,889,787,821,656,632.2683149,656,0.412404261429,0.0045602907331,0.0699805991619,0.999999996533,7.0310493407e-05,1.26109071239e-05,-4.27924834271e-05,1793250803617753344
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.308094636,724,692,670,642,889,787,821,656,632,656,0.413163620194,0.0045671930424,0.0700082537741,0.999999994688,7.48856789208e-05,5.58716154798e-05,-4.3526498473e-05,1793250803634419968
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.882977635,724,692,670,642,889,787,821,656,632,656,0.413937427664,0.00457463204674,0.0700387080949,0.999999990872,8.04375491707e-05,9.93482107252e-05,-4.37621214173e-05,1793250803651086592
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724,692,669.529744443,642,889.470255557,787,821,656,632,656,0.414662173259,0.00458124861465,0.070021408632,0.999999992662,9.33678579822e-05,6.3566164542e-05,-4.37977848722e-05,1793250803667753216
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,723.941050068,692.058949932,669,642,890,787,821.058949932,656,632,656,0.415381172067,0.00458760418976,0.0699897868413,0.999999993321,0.000106706622937,5.26984917718e-06,-4.40914363167e-05,1793250803684420096
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,723.367640832,692.632359168,669,642,890,787,821.632359168,656,632,656,0.416159451542,0.00459351651904,0.0699396883625,0.999999990506,0.000107152370336,-7.27229367934e-05,-4.70825747217e-05,1793250803701086720
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.791578178,747,723,693,669,642,890,787,822.208421822,656,632,655.791578178,0.416970001308,0.00459685075323,0.0699157800259,0.999999986871,0.000108079929824,-0.000110379084837,-4.89175927439e-05,1793250803717753344
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.210774772,747,723,693,669,642,890,787,822.789225228,656,632,655.210774772,0.417838207476,0.00459557877489,0.0699386649052,0.999999989894,0.000109868330673,-7.59668579828e-05,-4.86870022149e-05,1793250803734419968
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723,693,669,642.363788234,890.363788234,787,823,656,632,655,0.418709307519,0.004595197215,0.0699653459691,0.999999991941,0.000111306413734,-3.67386099774e-05,-4.87815776006e-05,1793250803751086592
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,723,693,669,642.934796581,890.934796581,787,823,656,632,655,0.419582055935,0.00459532285299,0.0699941894051,0.99999999245,0.000112544949511,5.23292638811e-06,-4.90613731131e-05,1793250803767753216
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.524347597,747,723.524347597,692.475652403,669,643,891.524347597,787,823.524347597,656,632,655.524347597,0.420482049172,0.00458724958767,0.0700183990533,0.999999992522,0.000101504890288,4.65692337494e-05,-4.98304681748e-05,1793250803784419584
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,724,692.22839678,669,643,892,787,824,656,632.11419839,656,0.421388205208,0.00457938080383,0.0700361605374,0.99999999165,9.05600427402e-05,7.70931802751e-05,-5.05486621937e-05,1793250803801086464
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,693.390996145,669,643,892,787,824,656,632.695498072,656,0.4223052029,0.00457667149417,0.0700299906249,0.99999999294,8.64788543297e-05,6.37266722236e-05,-5.08006615422e-05,1793250803817753344
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.727138547,747,723.727138547,694,669,643,892.272861453,786.727138547,824,656,633,656,0.423163093208,0.00458037027705,0.0699854038836,0.999999994841,8.6690668629e-05,-9.18411062962e-06,-5.21345601578e-05,1793250803834419968
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.154105373,747,723.154105373,694,669,643,892.845894627,786.154105373,824,656,633,656,0.423955960283,0.0045911185279,0.0698985552335,0.999999983416,9.16251637239e-05,-0.000147598861867,-5.46586429243e-05,1793250803851086592
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.430445206,746.569554794,723.430445206,694,669,643,892.569554794,786.430445206,824.430445206,656,632.569554794,656,0.424842810974,0.00459465965549,0.0698754073175,0.999999979505,8.97623826437e-05,-0.000171993045548,-5.78921045569e-05,1793250803867753216
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.980998387,746.019001613,723.980998387,694.019001613,669.019001613,643,892,787.019001613,824.980998387,656,632.019001613,656,0.425766138587,0.00459551252007,0.0698776398057,0.999999982826,8.60681362407e-05,-0.000152329634916,-6.11301577631e-05,1793250803884419840
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.399279551,746.600720449,723.399279551,694.600720449,669.600720449,643,892,787.600720449,824.399279551,656,632.600720449,656,0.426745865904,0.00459526744417,0.0699375508409,0.999999990714,0.000102184509448,-7.00507797137e-05,-5.67763731901e-05,1793250803901086464
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.180882906,747,723.180882906,695,669.819117094,643,892.180882906,787.819117094,824.180882906,656,633,656,0.427732216631,0.00459548532616,0.0699912681447,0.999999992396,0.000110630480186,4.77602476262e-06,-5.42704393108e-05,1793250803917753088
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.757639093,747,723.757639093,695,669.242360907,643,892.757639093,787.242360907,824.757639093,656,633,656,0.428733063033,0.00459671641981,0.0700314300859,0.999999991208,0.000102289306946,6.32935555122e-05,-5.58086403598e-05,1793250803934419712
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,747,723.66792616,695,669,643,893,787,825.33207384,656,632.66792616,656,0.429689856419,0.00459715122144,0.0700502128369,0.999999989158,9.69390759537e-05,9.48017674372e-05,-5.74420956794e-05,1793250803951086592
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,747,723.095173957,695,669,643,893,787,825.904826043,656,632.095173957,656,0.430614721298,0.00459700889155,0.0700535005129,0.99999998816,9.37566015711e-05,0.000106734334802,-5.91445888101e-05,1793250803967753216
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,893.492506548,787,825.507493452,656,632,656,0.431424852383,0.00459743148564,0.069987988241,0.999999993131,0.000101336785282,-9.36863014701e-06,-5.81449335726e-05,1793250803984419840
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,747.081511092,723,695,669,643,894,787,825,656,632.081511092,656,0.432228445987,0.00459753578153,0.0699175515848,0.999999983591,0.000108470676783,-0.000133348169442,-5.71825225019e-05,1793250804001086720
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747.66044057,723,695,669,643,894,787,825,656,632.66044057,656,0.433131675307,0.00459501065547,0.0699007335245,0.999999982034,9.9792340579e-05,-0.000149686758477,-5.97335531989e-05,1793250804017753344
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747.761985167,723,695,669.476029665,643,894.238014833,787,825.238014833,656,633,656,0.434068352233,0.00459143981946,0.0699189449396,0.999999987538,9.25180715125e-05,-0.000112553909272,-6.0794473823e-05,1793250804034419968
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,747.186333267,723,695,670.627333467,643,894.813666733,787,825.813666733,656,633,656,0.435052476547,0.00458638558628,0.0699868475806,0.99999999441,8.72355464609e-05,4.31100784321e-07,-5.9741591588e-05,1793250804051086592
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.610037253,747,723,695,670.220074506,643,895,786.610037253,826,655.610037253,633,656,0.435981193327,0.0045860069827,0.0700236686744,0.999999992514,8.68421916426e-05,6.22480706233e-05,-5.96231553213e-05,1793250804067752960
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.033432992,747,723,695,669.066865985,643,895,786.033432992,826,655.033432992,633,656,0.436883391243,0.00458786619981,0.0700456137098,0.999999989304,8.87888612407e-05,9.95753087417e-05,-5.9951957931e-05,1793250804084419840
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.554538818,747,723,695,669,643,895,786.554538818,826.554538818,655.554538818,632.445461182,656,0.437712061797,0.00458879331297,0.0700318644837,0.999999990609,8.26310515249e-05,8.98423976271e-05,-6.23028256061e-05,1793250804101086720
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.140568302,786.859431698,827,656,632.140568302,656,0.43851289017,0.00459036917225,0.0700022629237,0.999999993376,8.02087382125e-05,5.23159315229e-05,-6.38574479276e-05,1793250804117753344
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.718379665,786.281620335,827,656,632.718379665,656,0.439241191754,0.00459414143993,0.0699301860348,0.999999991945,9.09574977193e-05,-6.26533955222e-05,-6.2548177133e-05,1793250804134419968
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.705360255,786,827,656,633,656,0.439973927976,0.00460044326202,0.0698677405635,0.999999979349,0.000103442685723,-0.000163732961672,-6.15939602581e-05,1793250804151086592
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,747,723,695,669,643,895.130575177,786,827,656,633,656,0.44071088064,0.00460915020023,0.069814452709,0.999999959576,0.00011757888059,-0.000251606048771,-6.09773311867e-05,1793250804167753472
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,747.4438907,723,695,669,643,895.4438907,786,827,656,632.5561093,656,0.441499832255,0.00461639392,0.069836996315,0.999999966304,0.000127626832001,-0.00021775531535,-6.07136910737e-05,1793250804184420096
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.981061608,747.981061608,723,694.981061608,668.981061608,642.981061608,896,786,827,655.981061608,632,656,0.442300987983,0.00462320513936,0.0698807998337,0.999999977596,0.000136469592211,-0.000150064997497,-6.05412046452e-05,1793250804201086720
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.385441623,747.385441623,723,694.385441623,668.385441623,642.385441623,896,786,827,655.385441623,632,656,0.443008325904,0.00462994361447,0.0698932183318,0.99999997765,0.000145207136017,-0.000141480418614,-5.99848307576e-05,1793250804217753344
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,694.202961456,667.797038544,642,896,786,827,655,632,656,0.443694238944,0.00463655357161,0.069886951625,0.999999973723,0.000152795080274,-0.000160164878766,-5.96219396229e-05,1793250804234419968
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,694.778129704,667.221870296,642,896,786,827,655,632,656,0.444340861462,0.00464292784345,0.0698464185116,0.99999995951,0.000158274798871,-0.000228857460418,-5.96138722108e-05,1793250804251086592
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.351339934,747,723,695.351339934,667,642,896,786,827,655.351339934,632,656,0.444971204649,0.00464880768209,0.0698057446057,0.999999942005,0.000169518641385,-0.000289453122257,-5.89052665691e-05,1793250804267753216
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.9233205,747,723,695.9233205,667,642,896,786,827,655.9233205,632,656,0.445591324418,0.00465437701751,0.0697649822849,0.999999921834,0.000184382339368,-0.000344963933637,-5.77567245755e-05,1793250804284419840
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,747,723,695.485569719,666.485569719,641.485569719,896,785.485569719,827,656,632,656,0.446177228192,0.00466044132167,0.0697487915999,0.999999913306,0.000193382345061,-0.000364237266635,-5.76481412284e-05,1793250804301086464
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.894409387,747,723,695.105590613,665.894409387,641,896.105590613,785,827,656,632,656,0.44674819716,0.00466625761379,0.0697363642391,0.999999905329,0.000200620505226,-0.000381774511147,-5.77987411259e-05,1793250804317753344
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.316276112,747,723,695.683723888,665.316276112,641,896.683723888,785,827,656,632,656,0.447276035191,0.00467062106549,0.0697237547043,0.999999890682,0.000204036527607,-0.00041664871018,-5.83887335798e-05,1793250804334419968
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747.260972153,723,696,665,640.739027847,897,785,827.260972153,656,632,656,0.447796429102,0.00467544235911,0.0697103881949,0.999999877407,0.000209870721135,-0.000444681630364,-5.82980227616e-05,1793250804351086336
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747.837151443,723,696,665,640.162848557,897,785,827.837151443,656,632,656,0.448307831826,0.00468081664259,0.0696961073984,0.999999866597,0.000218625627744,-0.000464451521478,-5.73851455722e-05,1793250804367752960
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.408968606,747.591031394,723,695.591031394,664.591031394,640,897,785,827.591031394,656,632,656,0.448814401853,0.00468421175878,0.0697022225838,0.999999870608,0.000224623877875,-0.000452950535298,-5.6254481407e-05,1793250804384420096
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.979067178,747.020932822,723,695.020932822,664.020932822,640,897,785,827.020932822,656,632,656,0.449319067884,0.00468682710124,0.0697163736023,0.999999880066,0.000229536030695,-0.000429129105129,-5.50380110263e-05,1793250804401086720
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,723,695,663.426761832,640,897,784.426761832,827,656,632,656,0.449771553173,0.00468943959207,0.0697282557273,0.999999888052,0.00022896608568,-0.000410312680937,-5.58101506457e-05,1793250804417753088
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,723,695,662.256876224,639.256876224,897,784,827,656,632,656,0.450555449066,0.00469598801214,0.0697077223599,0.999999872562,0.000235812247236,-0.000442849373258,-5.61536887244e-05,1793250804451086336
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747.320708482,723,695,662,639,897,784.320708482,827.320708482,656,632,656,0.450892048392,0.00469897152616,0.0696801402678,0.999999851713,0.000241760100327,-0.000484776273839,-5.58334177077e-05,1793250804467752960
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+208,3.466666667,POSE1_TO_POSE2_PRESS,770,747.226243898,723,695,659.773756102,639,897.226243898,784,828,656,631.226243898,656,0.452368215482,0.00471171554877,0.0696193657714,0.999999812279,0.000251558569696,-0.000555614417549,-5.87557455924e-05,1793250804551086080
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,747.802930152,723,695,659.197069848,639,897.802930152,784,828,656,631.802930152,656,0.45259893739,0.00471824292531,0.0696170211751,0.999999808206,0.000257191491346,-0.000560169178741,-6.04310664879e-05,1793250804567752704
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+211,3.516666667,POSE1_TO_POSE2_PRESS,769.05445271,747.05445271,723,695.94554729,659,638.05445271,897.05445271,784,827.05445271,656,632.94554729,656.94554729,0.452993577966,0.00476025168758,0.0696049353721,0.99999978379,0.000292369876592,-0.000584205477585,-7.51247188431e-05,1793250804601086208
+212,3.533333333,POSE1_TO_POSE2_PRESS,769.538076623,747,723,696,659,638,897,784,827.538076623,656,632.461923377,656.461923377,0.453168781751,0.00477173160589,0.0696055066781,0.99999977967,0.000306934575968,-0.00058358111921,-7.67071565971e-05,1793250804617752832
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+256,4.266666667,HOLD_POSE2,770,747,723,695.190632316,655,637,897,783.190632316,828,656,632,656,0.454201993833,0.00476602405029,0.0695803142609,0.9999997494,0.000317470489208,-0.000629377911804,-6.55502872428e-05,1793250805372093696
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+259,4.316666667,HOLD_POSE2,770,747,723,695,655,637,897,783.462883375,828,655.537116625,632,656,0.45420229153,0.00476672070118,0.0695790784483,0.999999748983,0.000315746122176,-0.000630833304045,-6.62370779846e-05,1793250805422093568
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,748,723,695,656.670938376,637,896,784,828,656,631,656,0.45189095786,0.00474515693672,0.0694891192321,0.999999628735,0.000343977971436,-0.000789563571912,-2.82622054903e-05,1793250805971480832
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,747.743285373,723,695,657.256714627,637.256714627,896.256714627,784,827.743285373,656,631.256714627,656,0.451590545246,0.00474304171452,0.0694882602805,0.999999623952,0.00034879722796,-0.00079367069933,-2.28753205627e-05,1793250805988147200
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,747,723,694.082835146,668,641.917164854,890.082835146,786.082835146,825,656,631.082835146,655,0.435134651161,0.00458718660875,0.0697915449502,0.999999934962,0.000158391975728,-0.000322896140627,2.69287436382e-05,1793250806438147328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,746.513198431,723,694,668,641.513198431,890,786,824.513198431,656,631,655,0.434276409111,0.00458215644319,0.0698161201869,0.999999944053,0.000154830628376,-0.000295161251685,2.83107340112e-05,1793250806454814208
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.920454739,746,723,687,669,642,886.920454739,786,819,656,632,655.920454739,0.401654421733,0.00450978967955,0.0698004359014,0.999999941091,8.55452172269e-05,-0.000331442537936,2.54291308867e-05,1793250807304814336
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746.579549677,723,686,669,642,886,786,819,656,632,655,0.400965899861,0.00450450395246,0.0698235079983,0.999999957195,5.63258532501e-05,-0.000286343360972,2.10706943055e-05,1793250807721480960
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,746.245775125,723,686,669,642,886.754224875,786,819.754224875,656,632,655,0.400964227794,0.00450630858134,0.0698224770944,0.99999995655,5.76575854537e-05,-0.000288380625088,2.02989251878e-05,1793250807754814208
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,686,669,642,886.087696427,786,819.087696427,655.087696427,632,655,0.400966031494,0.00450445495568,0.069824605228,0.999999957788,5.65363454985e-05,-0.000284234394457,2.09569670301e-05,1793250807788147712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746,723,686.487275119,669,642,886,786,819,655,632,655.487275119,0.400966366573,0.00450546506396,0.069824634381,0.999999957763,5.82881778191e-05,-0.000283975579843,2.08186611707e-05,1793250807804814336
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.06414737,655.06414737,632.06414737,656,0.400966441934,0.00450641637422,0.0698244226639,0.999999957597,5.99277801029e-05,-0.000284234117051,2.06321509987e-05,1793250807821481216
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.242048824,786,819.757951176,655.757951176,632.757951176,655.757951176,0.400966164585,0.00450243453469,0.0698245718763,0.999999957759,5.62590181921e-05,-0.000284372724761,2.11821281236e-05,1793250807854814464
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.605374651,669,642,886.605374651,786,819,655.394625349,632,655,0.400965362174,0.00450511597572,0.0698238719001,0.999999957355,5.80542564155e-05,-0.000285470377622,2.06299547953e-05,1793250807888148480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,746,723,686.03157696,669,642,886.03157696,786,819,655.96842304,632,655,0.40096366589,0.00450620048365,0.0698237184574,0.999999956996,5.74658992887e-05,-0.000286876854325,2.01827834651e-05,1793250807904815872
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe077a4fe6095202f550eb8d325b1d6f83eea5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575665534481,0.0101501476719,1.06003350502,0.546236212091,0.0188227784391,1.05970489733
+397,6.616666667,pose2_to_pose3_retreat,0.575665502283,0.0101501450094,1.06003350519,0.546236179951,0.0188227759754,1.05970489751
+398,6.633333333,pose2_to_pose3_retreat,0.575665431617,0.0101501391659,1.06003350555,0.546236109413,0.0188227705685,1.05970489793
+399,6.650000000,pose2_to_pose3_retreat,0.575665381297,0.0101501350049,1.06003350581,0.546236059184,0.0188227667183,1.05970489822
+400,6.666666667,pose2_to_pose3_retreat,0.575665317863,0.0101501297595,1.06003350614,0.546235995865,0.0188227618647,1.05970489859
+401,6.683333333,pose2_to_pose3_retreat,0.575665105986,0.010150112239,1.06003350723,0.546235784372,0.0188227456531,1.05970489982
+402,6.700000000,pose2_to_pose3_retreat,0.575664937264,0.0101500966944,1.06003352124,0.546235615798,0.0188227305722,1.05970491283
+403,6.716666667,pose2_to_pose3_retreat,0.575664904811,0.0101500926297,1.0600335328,0.546235583266,0.0188227262062,1.05970492344
+404,6.733333333,pose2_to_pose3_retreat,0.575664825427,0.0101500826871,1.06003356109,0.546235503692,0.0188227155271,1.0597049494
+405,6.750000000,pose2_to_pose3_retreat,0.575664606021,0.010150055207,1.06003363927,0.546235283757,0.0188226860111,1.05970502116
+406,6.766666667,pose2_to_pose3_retreat,0.575664402997,0.0101500177982,1.06003354989,0.546235080805,0.0188226488709,1.05970493244
+407,6.783333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95db8deaf69a2e09020822c007d7c65adf0440e5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a5806e7762e118d8ba1e7d69d47733cb1f58539f92c7700c604e655cf77d98
+size 25787483
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16b0e9911dd614562687f0d9ceb96141a4ac39e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+27,0.450000000,BASELINE,769,746,723,686,669,641.661946108,886.338053892,786,820,656,632,655,0.400966047765,0.00450604958209,0.0698266434359,0.999999958784,6.04943480352e-05,-0.00027994081275,2.01444028336e-05,1793250808498828288
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+48,0.800000000,BASELINE,769,746,723,686,669,642,886,786,819.162525975,655,632,655.162525975,0.400967261228,0.00450588123931,0.0698287943193,0.999999959599,5.98374800738e-05,-0.000277163116814,2.00293915578e-05,1793250808848827904
+49,0.816666667,BASELINE,769,746,723,686,669,642,886,786,819,655.422160937,632,655,0.400966706604,0.00450520480057,0.0698283413263,0.999999959409,5.91834595476e-05,-0.000277983344956,2.01274712618e-05,1793250808865494784
+50,0.833333333,BASELINE,769,746,723,686.010242481,669,642,886.010242481,786,819,656,632.010242481,655,0.400966356287,0.00450427456236,0.0698276817159,0.999999959158,5.82313809365e-05,-0.000279071208976,2.03193509752e-05,1793250808882161664
+51,0.850000000,BASELINE,769,746,723,686.588182974,669,642,886.588182974,786,819,656,632.588182974,655,0.400967871559,0.0045050529485,0.0698282632828,0.999999959586,5.94839413005e-05,-0.000277279817699,2.01254042703e-05,1793250808898828288
+52,0.866666667,BASELINE,769,746,723,686.833900132,669.166099868,642,887,786,819,656,632.833900132,655.166099868,0.400968741539,0.00450571949244,0.0698286784977,0.999999959854,6.00742659086e-05,-0.00027620041295,1.99294307719e-05,1793250808915494912
+53,0.883333333,BASELINE,769,746,723,686.256041769,669.743958231,642,887,786,819,656,632.256041769,655.743958231,0.400968011856,0.0045061087816,0.0698286813294,0.999999959731,5.90229202846e-05,-0.000276886009707,1.97284329015e-05,1793250808932161536
+54,0.900000000,BASELINE,769,746,723,686.319908642,670,642,886.680091358,786,819,655.680091358,632,656,0.400966665379,0.00450516282118,0.0698276882921,0.999999959314,5.70304459823e-05,-0.000278795276544,1.9821070704e-05,1793250808948827904
+55,0.916666667,BASELINE,769,746,723,686.894341033,670,642,886.105658967,786,819,655.105658967,632,656,0.400964828174,0.00450315451767,0.0698259029277,0.999999958652,5.42891967076e-05,-0.000281678112224,2.01473291276e-05,1793250808965494528
+56,0.933333333,BASELINE,769,746,723,686.518811176,670,641.518811176,886,786,819,655.481188824,632,655.518811176,0.40096678725,0.00450370477054,0.0698273850842,0.999999959297,5.62854614602e-05,-0.000278990339311,2.00581855258e-05,1793250808982161152
+57,0.950000000,BASELINE,769,746,723,686,669.930792603,641.069207397,886,786,819,656,632,655,0.400968975548,0.00450493907314,0.0698291517298,0.999999960018,5.90403322282e-05,-0.000275834723659,1.98573400009e-05,1793250808998827776
+58,0.966666667,BASELINE,769,746,723,686,669.354695109,641.645304891,886,786,819,656,632,655,0.400966575656,0.00450695974061,0.0698276078837,0.999999959271,5.95305256077e-05,-0.000278448704505,1.95241270653e-05,1793250809015494656
+59,0.983333333,BASELINE,768.778154722,746,723,686,669.221845278,642,886,786,819,656,632,655,0.400965427204,0.00450739637075,0.0698271139896,0.999999958998,5.9253448956e-05,-0.000279494134908,1.93708791258e-05,1793250809032161792
+60,1.000000000,BASELINE,768.200904715,746,723,686,669.799095285,642,886,786,819,656,632,655,0.400966283606,0.00450529531205,0.0698283021587,0.999999959493,5.77471760676e-05,-0.000278026687149,1.95059420298e-05,1793250809048828672
+61,1.016666667,BASELINE,768.373451369,746,723,686,669.626548631,642,886.373451369,786,819,656,632,655,0.400967191735,0.00450498372021,0.0698288058066,0.999999959752,5.73791949266e-05,-0.000277150411758,1.97645428841e-05,1793250809065495552
+62,1.033333333,BASELINE,768.946262553,746,723,686,669.053737447,642,886.946262553,786,819,656,632,655,0.400968127477,0.00450562740087,0.0698289440361,0.999999959887,5.76188689839e-05,-0.000276589722428,2.00890920837e-05,1793250809082162176
+63,1.050000000,BASELINE,769,746,723,686,669,642,886.46012982,785.46012982,819,656,632,655,0.400968743919,0.00450549328998,0.0698295484821,0.999999960116,5.6920270904e-05,-0.000275919127349,1.99186722867e-05,1793250809098828544
+64,1.066666667,BASELINE,768.869227243,746,723,686,669,642,886,785,819,656,632,655,0.400968878822,0.00450548221565,0.0698297711753,0.999999960193,5.65089259636e-05,-0.000275737223576,1.97522583703e-05,1793250809115495168
+65,1.083333333,BASELINE,768.294805597,746,723,686,669,642,886,785,819,656,632,655,0.40096749224,0.00450616171524,0.0698285350238,0.999999959723,5.74016254107e-05,-0.000277251814015,1.97732738346e-05,1793250809132162048
+66,1.100000000,BASELINE,768,746,723,686,669,642,886,785.279164941,819.279164941,656,632,655,0.400967260688,0.00450582045132,0.0698282127314,0.999999959667,5.75239417884e-05,-0.000277427559907,1.97692872812e-05,1793250809148828672
+67,1.116666667,BASELINE,768,746,723,686,669,642,886,785.85265983,819.85265983,656,632,655,0.400968246909,0.00450440297317,0.0698288539412,0.999999960049,5.68340257193e-05,-0.000276191731451,1.97389405306e-05,1793250809165495552
+68,1.133333333,BASELINE,768.439272404,746,723,686,669,642,886,786,819.560727596,656,632,655.439272404,0.400968284996,0.00450488505884,0.0698290808041,0.999999959956,5.77204909853e-05,-0.000276355700895,1.95918891566e-05,1793250809182162176
+69,1.150000000,BASELINE,769,746,723.029883942,686.029883942,669,642,886,786,819.029883942,655.970116058,632,655.970116058,0.400967974972,0.00450590551846,0.0698291387632,0.999999959704,5.90109520031e-05,-0.000277007123723,1.94350201486e-05,1793250809198828544
+70,1.166666667,BASELINE,769,746,723.610607527,686.610607527,669,642,886,786,819.610607527,655.389392473,632,655.389392473,0.400967290758,0.00450474378072,0.0698287239993,0.999999959573,5.77019004079e-05,-0.000277722737884,1.98409404561e-05,1793250809215495168
+71,1.183333333,BASELINE,769,746,723.810929586,687,669,642,886,786,819.810929586,655,632,655,0.400966840384,0.00450465463632,0.0698285511771,0.999999959522,5.76908472048e-05,-0.000277898142811,1.99970589708e-05,1793250809232161792
+72,1.200000000,BASELINE,769,746,723.237067513,687,669,642,886,786,819.237067513,655,632,655,0.400966865913,0.00450674840843,0.0698288707491,0.99999995963,6.03214495626e-05,-0.000276974126746,1.96447868259e-05,1793250809248828416
+73,1.216666667,BASELINE,769.336889514,746.336889514,723,686.663110486,669,642,886,786,819,655,632,655,0.400967721518,0.00450718682698,0.0698296104771,0.99999995996,6.04487732155e-05,-0.000275752358245,1.96637304269e-05,1793250809265495040
+74,1.233333333,BASELINE,769.910913346,746.910913346,723,686.089086654,669,642,886,786,819,655,632,655,0.400969161408,0.00450646005289,0.0698306459504,0.999999960446,5.88140552664e-05,-0.000274321003818,1.99439703754e-05,1793250809282161920
+75,1.250000000,BASELINE,768.99480054,746.49740027,723.50259973,686,669,642,886,786,819,655,632,655,0.400969048913,0.00450565422907,0.0698306643378,0.999999960292,5.81140336387e-05,-0.000275029760166,1.99586565425e-05,1793250809298828544
+76,1.266666667,BASELINE,768.094866104,746,723.905133896,686,669.094866104,642,886.094866104,786,819,655.094866104,632,655,0.400968665279,0.00450498335568,0.0698303920177,0.999999960063,5.7608318595e-05,-0.000275970058302,1.99020860177e-05,1793250809315495424
+77,1.283333333,BASELINE,768.673542418,746,723.326457582,686,669.673542418,642,886.673542418,786,819,655.673542418,632,655,0.400968353277,0.00450507478086,0.0698295900134,0.999999960057,5.72178402261e-05,-0.00027608614261,1.97309076921e-05,1793250809332162048
+78,1.300000000,BASELINE,768.750121091,746,723,686,669.750121091,642,886.750121091,786,819,655.750121091,632.249878909,655,0.400968404779,0.00450531808095,0.0698292376294,0.999999960161,5.73022112559e-05,-0.000275697348377,1.96135014802e-05,1793250809348828416
+79,1.316666667,BASELINE,768.176813179,746,723,686,669.176813179,642,886.176813179,786,819,655.176813179,632.823186821,655,0.40096892678,0.00450575795925,0.0698294672081,0.999999960409,5.80012002871e-05,-0.000274655068152,1.95656948377e-05,1793250809365495040
+80,1.333333333,BASELINE,768.407056515,746,723,686,669,642,886.407056515,786,819,655.407056515,632.592943485,655,0.400968455707,0.00450648185856,0.0698291588073,0.999999960311,5.86821805085e-05,-0.000274872724178,1.94583722647e-05,1793250809382161664
+81,1.350000000,BASELINE,768.995636188,746,723,686,669,642,886.995636188,786,819,655.995636188,632.004363812,655,0.40096754178,0.00450733241449,0.0698286104993,0.99999996006,5.93551299254e-05,-0.000275652237251,1.93245090981e-05,1793250809398828288
+82,1.366666667,BASELINE,769,746,723,686.574031713,669,642,887,786,819,656,632,655,0.40096794047,0.00450670361479,0.0698289662455,0.999999960001,5.989909325e-05,-0.00027573379423,1.95196503021e-05,1793250809415494912
+83,1.383333333,BASELINE,769,746,723,687,669,642,886.847909177,786,819,656,632,655,0.400968111461,0.00450613808981,0.069828987404,0.999999959891,6.01114571306e-05,-0.000276075786229,1.96652577162e-05,1793250809432161792
+84,1.400000000,BASELINE,769,746,723,687,669,642,886.270577846,786,819,656,632,655,0.400967618401,0.00450578037419,0.0698280541865,0.999999959634,5.93993747495e-05,-0.000277160521733,1.96654993738e-05,1793250809448828160
+85,1.416666667,BASELINE,769.305197812,746,723,686.694802188,669.305197812,642,886.305197812,786,819,656,632.305197812,655,0.400967194081,0.00450521814383,0.0698280346895,0.999999959704,5.72274395023e-05,-0.000277369331819,1.95770838212e-05,1793250809465495040
+86,1.433333333,BASELINE,769.879601226,746,723,686.120398774,669.879601226,642,886.879601226,786,819,656,632.879601226,655,0.400966830395,0.00450447551733,0.0698288211574,0.999999960055,5.37678129953e-05,-0.000276805514973,1.94104664711e-05,1793250809482162432
+87,1.450000000,BASELINE,769.06250508,746,723,686,669.53125254,642,886.53125254,786,819,656,632.53125254,655,0.400966374673,0.00450489229579,0.0698285893968,0.999999959864,5.5121341055e-05,-0.000277226456178,1.94577243399e-05,1793250809498828800
+88,1.466666667,BASELINE,768.060184222,746,723,686,669,641.939815778,886,786,819,656,632,655,0.400966095593,0.00450559699389,0.0698282126733,0.999999959589,5.75654416257e-05,-0.000277716357276,1.95487971837e-05,1793250809515495424
+89,1.483333333,BASELINE,768.637702946,746,723,686,669,641.362297054,886,786,819,656,632,655,0.400967544694,0.00450613367555,0.0698289109809,0.999999959862,5.84120763435e-05,-0.000276554214613,1.95289560819e-05,1793250809532161792
+90,1.500000000,BASELINE,769,746,723,686.213847474,669,641.213847474,886.213847474,786,819.213847474,656,632,655.213847474,0.40096827171,0.00450679930065,0.0698292766187,0.999999960028,5.84709404907e-05,-0.000275946117456,1.94456049884e-05,1793250809548828416
+91,1.516666667,BASELINE,769,746,723,686.787678665,669,641.787678665,886.787678665,786,819.787678665,656,632,655.787678665,0.400967783192,0.00450768198478,0.0698290822508,0.999999960016,5.72036978022e-05,-0.000276270682171,1.92553432917e-05,1793250809565495296
+92,1.533333333,BASELINE,769,746,723,686.62851445,669,642,886.62851445,786,819.62851445,655.62851445,632.37148555,655.62851445,0.400967511314,0.0045071476644,0.0698290410998,0.999999959938,5.76616463831e-05,-0.000276449829702,1.93596689642e-05,1793250809582161664
+93,1.550000000,BASELINE,769,746,723,686.038848601,669,642,886.038848601,786,819.038848601,655.038848601,632.961151399,655.038848601,0.400967366672,0.0045057811113,0.0698290899358,0.999999959821,5.91328314183e-05,-0.000276543571076,1.96370112007e-05,1793250809598828032
+94,1.566666667,BASELINE,769,746.540448913,723,686,669,642,886,786,819,655,632.459551087,655,0.400968204062,0.00450562457132,0.06982959664,0.999999960052,5.91440571556e-05,-0.000275692510791,1.97774965725e-05,1793250809615494656
+95,1.583333333,BASELINE,769,746.881403172,723,686,669,642,886,786,819,655.118596828,632,655,0.400968858315,0.00450564106861,0.069830030766,0.99999996027,5.88488637027e-05,-0.000274957433295,1.987398404e-05,1793250809632161280
+96,1.600000000,BASELINE,769,746.304870383,723,686,669,642,886,786,819,655.695129617,632,655,0.400968537982,0.00450599618583,0.0698300599546,0.999999960342,5.7768093309e-05,-0.00027492749818,1.98378537459e-05,1793250809648827904
+97,1.616666667,BASELINE,768.737089413,746,723,686,669,642,886,786,819,656,632,655.262910587,0.400967967996,0.00450603513011,0.0698295315356,0.999999960192,5.74740698998e-05,-0.000275552003515,1.95838680438e-05,1793250809665494784
+98,1.633333333,BASELINE,768.179130116,746,723,686,669,642,886,786,819,656,632,655.820869884,0.400967117839,0.00450571925251,0.0698283773473,0.999999959792,5.80629652874e-05,-0.000276910947931,1.90853963474e-05,1793250809682161664
+99,1.650000000,BASELINE,768,746,723,686,669,642,886.413156927,786,819,656,632,655.586843073,0.400967409075,0.00450498903954,0.0698289244288,0.999999959907,5.81531842291e-05,-0.000276450999951,1.94630274403e-05,1793250809698828288
+100,1.666666667,BASELINE,768.020557299,746,723,686,669,642,887,786,819,655.979442701,632.020557299,655,0.40096820862,0.0045041652634,0.0698302045421,0.999999960243,5.80826672889e-05,-0.000275193883623,2.02134637019e-05,1793250809715494912
+101,1.683333333,BASELINE,768.59767329,746,723,686,669,642,887,786,819,655.40232671,632.59767329,655,0.400968157998,0.00450611262802,0.0698295511455,0.999999960012,6.0044404506e-05,-0.000275639649973,1.98413847076e-05,1793250809732161536
+102,1.700000000,BASELINE,769,746,723,686,669.174627496,642,886.825372504,786,819,655.174627496,632.825372504,655,0.400968234321,0.00450720839307,0.0698294801711,0.999999959995,6.06945108558e-05,-0.000275577868148,1.95928703056e-05,1793250809748828160
+103,1.716666667,BASELINE,769,746,723,686,669.75120923,642,886.24879077,786,819,655.75120923,632.24879077,655,0.400968602842,0.00450634396223,0.0698307498049,0.999999960473,5.83255300287e-05,-0.000274347821553,1.9628774576e-05,1793250809765494784
+104,1.733333333,BASELINE,769,746,723,686.325559921,669.674440079,642,886.325559921,786,819,656,632,655,0.400968761373,0.0045053390508,0.0698308579482,0.999999960532,5.74226801439e-05,-0.000274315384057,1.97548747484e-05,1793250809782161408
+105,1.750000000,BASELINE,769,746,723,686.898217329,669.101782671,642,886.898217329,786,819,656,632,655,0.400968760522,0.00450422751559,0.0698300845291,0.999999960275,5.76326121611e-05,-0.000275191922561,1.99494329234e-05,1793250809798828032
+106,1.766666667,BASELINE,769,746,723,686.512049821,669,642,886.512049821,786,819,656,632,655.487950179,0.400968418348,0.00450470235881,0.0698295980749,0.999999960194,5.6805824924e-05,-0.000275670765268,1.97673467946e-05,1793250809815494656
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886,786,819,656,632,656,0.400969660019,0.00450675679378,0.0698308797483,0.99999996083,5.93680525697e-05,-0.000272802896877,1.9872207313e-05,1793250809858651904
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,723,686.57415343,669,642,886.57415343,786,819,655.42584657,632.57415343,655.42584657,0.400968734127,0.00450629197679,0.0698304705434,0.999999960587,5.78137793595e-05,-0.000274051747384,1.94947157931e-05,1793250809875318784
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,723,686.852363105,669,642,886.852363105,786,819,655.147636895,632.852363105,655,0.400968120669,0.00450596520895,0.0698301482268,0.999999960367,5.71823644125e-05,-0.000274997911487,1.93184569828e-05,1793250809891985408
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,723,686.280803233,669,642,886.280803233,786,819,655.719196767,632.280803233,655,0.400968404333,0.00450603483382,0.0698300754004,0.99999996022,5.92008342874e-05,-0.000275074945434,1.97200154989e-05,1793250809908651776
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.695364481,746,723,686,669,642,886,786,819.304635519,656,632.304635519,655,0.400968363504,0.00450601169043,0.0698297267972,0.999999960063,5.98555504088e-05,-0.000275494825225,1.98278172992e-05,1793250809925318400
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.096521998,746,723,686,669,642,886,786,819.903478002,656,632.903478002,655,0.400968009289,0.00450589895451,0.0698291118577,0.999999959899,5.91931978909e-05,-0.00027624581425,1.96519185015e-05,1793250809941985536
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.480832668,746,723,686,669.480832668,642,886.480832668,786,819.519167332,656,632.519167332,655,0.400968250402,0.00450650335352,0.069829544498,0.999999960036,6.04084419616e-05,-0.000275486206845,1.96265096689e-05,1793250809958652160
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.94583529,746,723,686,669.94583529,642,887,786,819.05416471,656,632.05416471,655,0.400968754401,0.00450693629647,0.0698302652834,0.999999960249,6.14667693245e-05,-0.000274473907236,1.96743437376e-05,1793250809975318528
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.371482254,746,723,686,669.371482254,642,887,786,819.628517746,656,632.628517746,655,0.400970684497,0.00450439920783,0.0698318201636,0.999999960651,5.75531869646e-05,-0.000273822444932,2.01478761284e-05,1793250809991985152
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.209488168,746,723,686,669,642,886.790511832,786.209488168,819.790511832,656,632.790511832,655,0.400977610046,0.00450292330159,0.0698349684022,0.999999961996,5.47928099905e-05,-0.000269428001021,2.03581490586e-05,1793250810008652032
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.802575803,746,723,686,669,642,886.197424197,786.802575803,819.197424197,656,632.197424197,655,0.400993682905,0.00450339055549,0.0698410342823,0.999999965004,5.41440991011e-05,-0.000258179682029,2.00863603971e-05,1793250810025318400
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,723,686.385528518,669,642,886,786.614471482,819.385528518,656,632,655.385528518,0.40102816042,0.00450375392954,0.0698539776767,0.999999970596,5.35297335617e-05,-0.000235697405549,1.97466186192e-05,1793250810041985280
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,686.963424262,669,642,886,786.036575738,819.963424262,656,632,655.963424262,0.401071821309,0.00450406547068,0.0698703527461,0.999999976861,5.29325052359e-05,-0.000207609718319,1.93729702271e-05,1793250810058651904
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,723.538108013,687,669,642,886.538108013,786,819.461891987,656,632,655.461891987,0.401129946586,0.00450494163274,0.0698838979892,0.999999980788,5.40703922641e-05,-0.000187457243952,1.8985030393e-05,1793250810075318528
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,723.887567173,686.887567173,669,642,886.887567173,786,819,656,632,655,0.401191739032,0.00450567791228,0.0698957568163,0.999999983899,5.49636105285e-05,-0.000169829929789,1.84244427338e-05,1793250810091985152
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,723.31382444,686.31382444,669,642,886.31382444,786,819,656,632,655,0.401264567883,0.00450568372721,0.0699014808221,0.999999985516,5.43719333187e-05,-0.000160363426476,1.71594459989e-05,1793250810108651776
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,686.269417859,669,642,886,786,819.269417859,655.730582141,632.269417859,655.269417859,0.401345966457,0.00450604294051,0.069904252641,0.999999986526,5.31529435193e-05,-0.000154546150613,1.54131141048e-05,1793250810125318400
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,686.864129865,669,642,886,786,819.864129865,655.135870135,632.864129865,655.864129865,0.40143771208,0.00450682884572,0.0699034600001,0.99999998688,5.11765388122e-05,-0.00015313493933,1.30856199607e-05,1793250810141985024
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669.44429456,642,886,786,820,655.44429456,632.55570544,655.55570544,0.401544342383,0.00450694569539,0.0699025263603,0.999999986558,4.88566992164e-05,-0.000156140697743,1.07930628871e-05,1793250810158651648
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,686.979918726,669.979918726,642,886.020081274,786,819.979918726,655.979918726,632,655,0.401656498474,0.00450689371933,0.0699016430023,0.999999986051,4.64154522613e-05,-0.000160223062228,8.4972223079e-06,1793250810175318272
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,686.406070341,669.406070341,642,886.593929659,786,819.406070341,655.406070341,632,655,0.401799490589,0.004507649505,0.0699032975956,0.99999998657,4.34306477785e-05,-0.00015792629891,5.82554594771e-06,1793250810191985152
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886.827011222,786,819.172988778,655.172988778,632,655.172988778,0.401953771879,0.00450877436031,0.0699057345756,0.999999987267,4.01236021684e-05,-0.000154430781597,2.64359780791e-06,1793250810208651776
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746,723,686,669,642,886.23534074,786,819.76465926,655.76465926,632,655.76465926,0.402135376141,0.00451079246827,0.0699100651524,0.999999988392,3.6036642446e-05,-0.000148033941356,-1.77335177802e-06,1793250810225318144
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746,723,686.348377672,669.348377672,642,886.348377672,786,819.651622328,656,632,655.651622328,0.402336923379,0.00451306362313,0.0699155359567,0.999999989748,3.26294484057e-05,-0.000139285001651,-6.22639597629e-06,1793250810241985024
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,723,686.926844136,669.926844136,642,886.926844136,786,819.073155864,656,632,655.073155864,0.402551642131,0.00451550190502,0.0699217598337,0.999999991184,2.96712105814e-05,-0.000128982598591,-1.07032795865e-05,1793250810258651648
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,723,686.499527954,669.499527954,642,886.499527954,786,819,655.499527954,632,655,0.402792155438,0.00451712773742,0.0699227015003,0.999999991668,2.52392524749e-05,-0.000125546631773,-1.62550659014e-05,1793250810275318528
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,686,669.073584814,642,886.073584814,786,819,655.073584814,632,655,0.403041688859,0.00451850447701,0.0699231975869,0.999999992057,2.02379500337e-05,-0.000122465207996,-2.18974240307e-05,1793250810291985152
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,686,669.647959301,642,886.647959301,786,819,655.647959301,632,655,0.403327195028,0.00451898647533,0.0699258656635,0.999999992935,1.28139301725e-05,-0.00011503133056,-2.70971056046e-05,1793250810308651776
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723,686.22995335,670.22995335,642,887,786.22995335,819.22995335,656,632,655,0.40363103769,0.00451990017488,0.0699330893852,0.999999994303,7.35987249709e-06,-0.000101546054944,-3.20689947718e-05,1793250810325318400
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723,686.824012088,670.824012088,642,887,786.824012088,819.824012088,656,632,655,0.403963914119,0.00452149742499,0.0699475264609,0.999999996235,5.025029849e-06,-7.84790681895e-05,-3.66801998454e-05,1793250810341985024
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670.593496983,642,887,786.593496983,819.593496983,656,632.406503017,655.406503017,0.404326466822,0.00452547195749,0.0699522049493,0.999999996195,2.98657604523e-05,-7.4437972401e-05,-3.43155750119e-05,1793250810358651392
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670.015875566,642,887,786.015875566,819.015875566,656,632.984124434,655.984124434,0.404701511815,0.00453044721256,0.0699527755372,0.999999994318,6.6146112538e-05,-7.84058706557e-05,-2.90144580266e-05,1793250810375318272
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723.560010894,687.560010894,670,642,887,786.560010894,819,656,632.439989106,656,0.405116441675,0.00453210946253,0.0699582336311,0.999999994231,7.95199579455e-05,-6.5718442097e-05,-2.9928438164e-05,1793250810391985152
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723.865249031,688,670,642,887,786.865249031,819,656,632,655.865249031,0.405536810509,0.00452701411526,0.0699619247857,0.999999994556,8.25383596297e-05,-5.62053075293e-05,-3.02630304865e-05,1793250810408651520
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723.294063212,688,670,642,887,786.294063212,819,656,632,655.294063212,0.405971144369,0.00450033533924,0.069959445764,0.999999996429,5.41139826442e-05,-5.84976685682e-05,-2.81522012568e-05,1793250810425318400
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.29009737,669.70990263,642.29009737,887.29009737,786,819.29009737,656,632,655,0.406426147356,0.00449006197625,0.0699500544668,0.999999996777,7.59532857307e-06,-7.51712278364e-05,-2.71770756743e-05,1793250810441985024
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.888025942,669.111974058,642.888025942,887.888025942,786,819.888025942,656,632,655,0.406903083042,0.00449719689602,0.0699333283421,0.999999992199,-5.81237204935e-05,-0.000107105116922,-2.74070796545e-05,1793250810458651648
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669.467438432,642.532561568,887.532561568,786.467438432,820,655.532561568,632,655.467438432,0.40742890632,0.00450998689405,0.0699236580563,0.999999992083,-4.00284735768e-05,-0.000115403702665,-3.0235201028e-05,1793250810475318272
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.95746656,746.04253344,723,689,670,642.04253344,887,787,820,655.04253344,632,656,0.407971237846,0.00452284010202,0.0699174901406,0.999999992732,-4.74416744859e-06,-0.000115719904276,-3.35084163961e-05,1793250810491985152
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.383008766,746.616991234,723,689,670,642.616991234,887,787,820,655.616991234,632,656,0.408579145491,0.00452018787315,0.0699347904988,0.99999999583,3.98358304244e-06,-8.43168573221e-05,-3.48611285366e-05,1793250810508652032
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.197354094,746.802645906,723.197354094,689.197354094,669.802645906,642.802645906,887.197354094,786.802645906,820,655.802645906,632,656,0.40918882534,0.00452304152365,0.0699471962953,0.999999997463,1.65743342435e-05,-5.89248200973e-05,-3.64320454537e-05,1793250810525318400
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.789530466,746.210469534,723.789530466,689.789530466,669.210469534,642.210469534,887.789530466,786.210469534,820,655.210469534,632,656,0.409802050587,0.00453691011592,0.0699498101379,0.999999997543,3.6893319513e-05,-4.55582792475e-05,-3.84394980326e-05,1793250810541985024
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.372470882,746,723.627529118,690,669.372470882,642.372470882,887.627529118,786.372470882,819.627529118,655.372470882,632,656,0.410444723522,0.00454481642265,0.0699454500965,0.999999996725,4.94392378655e-05,-5.06487248615e-05,-3.92459647053e-05,1793250810558651904
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.95031866,746,723.04968134,690,669.95031866,642.95031866,887.04968134,786.95031866,819.04968134,655.95031866,632,656,0.41110363361,0.00454943518147,0.0699372447219,0.999999995387,5.76991604796e-05,-6.59161774588e-05,-3.93902191205e-05,1793250810575318784
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.474054145,746,723.525945855,690.525945855,670,642.474054145,887.525945855,787,819.525945855,656,632.525945855,656,0.411813747516,0.00455877004353,0.0699503731962,0.999999995781,6.84788160053e-05,-4.53351527638e-05,-4.11561926994e-05,1793250810591985408
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.898828757,691,670.101171243,642.101171243,888,787,819.898828757,656,632.898828757,656,0.41253921163,0.00456788939699,0.0699687574608,0.999999995926,7.78652187195e-05,-1.59896493907e-05,-4.27783854676e-05,1793250810608651776
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723.324505829,691,670.675494171,642.675494171,888,787,819.324505829,656,632.324505829,656,0.413313939291,0.00457392619917,0.0700023366738,0.999999995161,7.96272750507e-05,3.85748667492e-05,-4.30147383829e-05,1793250810625318400
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,691.257498949,670.485002101,643,888.257498949,787,819.257498949,655.742501051,632,656,0.414071852641,0.00457949227873,0.0700188575639,0.999999993435,8.63094340724e-05,6.16719809067e-05,-4.33276543126e-05,1793250810641985024
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723,691.849482332,669.301035336,643,888.849482332,787,819.849482332,655.150517668,632,656,0.414807924748,0.00458444690271,0.070013220141,0.999999993142,9.93826788876e-05,4.38937665552e-05,-4.3740023753e-05,1793250810658651648
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723.431935649,692,669,642.568064351,889.431935649,787,820.431935649,655,632,655.568064351,0.415557084868,0.00459300542908,0.0699647810943,0.999999992322,0.000108717357748,-3.88206459649e-05,-4.50546684166e-05,1793250810675318016
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723.988949359,692.011050641,669,642.011050641,890,787,821,655.011050641,632.011050641,655.011050641,0.416312524208,0.00460266700549,0.0699031314323,0.999999982115,0.000116623670764,-0.000141382669606,-4.66843302025e-05,1793250810691984640
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723.41437369,692.58562631,669,642.58562631,890,787,821,655.58562631,632.58562631,655.58562631,0.417160616428,0.00460591857182,0.069911986544,0.999999983936,0.000116692043613,-0.00012704583991,-4.86906928388e-05,1793250810708651520
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.158738582,723,693,669.317477164,642.841261418,890,787,821.158738582,656,632.841261418,656,0.41801359979,0.0046096933247,0.0699269878369,0.999999986181,0.00012029529201,-0.00010331821727,-4.99257104956e-05,1793250810725318400
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.728065644,723,693,670.456131287,642.271934356,890,787,821.728065644,656,632.271934356,656,0.41887923438,0.00461482133614,0.0699578866579,0.999999988412,0.000133041743885,-5.53006505452e-05,-4.91655900691e-05,1793250810741985024
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.688467131,723,693,670.376934263,642,890,787,822.311532869,656,632,656,0.419766024082,0.00461501405589,0.0699868221163,0.999999989667,0.000134532799774,-1.12419611692e-05,-4.94002245347e-05,1793250810758651904
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.092070246,723,693,669.184140493,642,890,787,822.907929754,656,632,656,0.420672157858,0.00461069397059,0.0700139622848,0.999999990392,0.000125731980133,2.91967489033e-05,-5.05444576998e-05,1793250810775318528
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,693,669,642.487737511,890.487737511,787,823.487737511,655.512262489,632.487737511,656,0.421593192802,0.00458871660381,0.0700230678777,0.999999993057,9.79977320414e-05,4.14749340724e-05,-5.06263026695e-05,1793250810791985408
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.064392848,642.935607152,891,787,823.935607152,655.064392848,632.935607152,655.935607152,0.422503755511,0.00456681388044,0.0700195504235,0.999999995678,7.02509660103e-05,3.37978924815e-05,-5.06656549059e-05,1793250810808652288
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,693,669.640064115,642.359935885,891,787,823.359935885,655.640064115,632.359935885,655.359935885,0.423309568591,0.0045710985992,0.069941947787,0.999999992027,6.98493987028e-05,-9.15038808118e-05,-5.19075788941e-05,1793250810825318400
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.221869694,746.221869694,723,693.221869694,669.778130306,642.221869694,891,787,823.221869694,656,632.221869694,655.221869694,0.424141815667,0.00457780575872,0.0698773432253,0.999999978498,6.97422135726e-05,-0.000187487499588,-5.46628343854e-05,1793250810841984768
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.813909938,746.813909938,723,693.813909938,669.186090062,642.813909938,891,787,823.813909938,656,632.813909938,655.813909938,0.425018165727,0.00458855455351,0.0698344248236,0.999999968236,7.0126181165e-05,-0.000234556314764,-5.99429548875e-05,1793250810858651392
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.603252365,747,723,694.396747635,669.396747635,643,891.396747635,786.603252365,824,656,632.603252365,656,0.425976919443,0.00459125840969,0.0698680172528,0.99999997822,8.48281006533e-05,-0.000181586838119,-5.82290802729e-05,1793250810875318272
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.024633207,747,723,694.975366793,669.975366793,643,891.975366793,786.024633207,824,656,632.024633207,656,0.426973447442,0.00459027441655,0.0699366827136,0.999999989527,0.000106093455467,-8.27591972442e-05,-5.33091150799e-05,1793250810891985152
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.549444479,746.450555521,723,695,669.450555521,643,892,786.549444479,824,655.450555521,632,656,0.427975521861,0.00459608868816,0.0699882361053,0.999999992914,0.000105079067401,-1.38986576132e-05,-5.41947903806e-05,1793250810908652032
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.876333566,746.123666434,723,694.876333566,669,643,892,786.876333566,824.123666434,655.123666434,632,656,0.428967270228,0.00460113380883,0.0700307213933,0.999999992105,0.000103144549379,4.56620468265e-05,-5.53686202509e-05,1793250810925318656
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.300846756,746.699153244,723,694.300846756,669,643,892,786.300846756,824.699153244,655.699153244,632,656,0.429920390842,0.00460226438479,0.0700428559516,0.999999990351,0.000101467781861,7.61137597083e-05,-5.66520732216e-05,1793250810941985280
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.717887738,723,694,669,643,892.282112262,786.282112262,825,656,632,656,0.430803201474,0.00460340671703,0.0700157558532,0.999999992425,0.000103372927018,3.41796314362e-05,-5.74093554006e-05,1793250810958651648
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.126743537,723,694,669,643,892.873256463,786.873256463,825,656,632,656,0.431608992953,0.0046045619273,0.0699456772533,0.999999988591,0.000109201776708,-8.70475324524e-05,-5.75902579261e-05,1793250810975318272
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,723,694.453598424,669,643,893.453598424,787,825,655.546401576,632,656,0.43246708442,0.00459970646405,0.0698977492334,0.999999979016,0.000107142660955,-0.000164653686999,-5.81098287169e-05,1793250810991984896
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.030750691,723,695,669.030750691,643,894,786.969249309,825.030750691,655.030750691,632,656,0.433346192043,0.00459317390785,0.069861665839,0.999999968741,0.00010232011782,-0.000220452208796,-5.87343118053e-05,1793250811008651776
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.603643384,723,695,669.603643384,643,894,786.396356616,825.603643384,655.603643384,632,656,0.434344170759,0.00458599487908,0.0699278259301,0.999999989296,8.67315778469e-05,-0.000101664532246,-5.95788813545e-05,1793250811025318656
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,694.816982183,670,643,894.183017817,786,826,656,632,656,0.435314924219,0.00457985104378,0.0699835842383,0.999999995346,7.55729095022e-05,-4.7857326117e-06,-5.977670729e-05,1793250811041985280
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,694.223054916,670,643,894.776945084,786,826,656,632,656,0.43622455205,0.00457603141131,0.0700159885986,0.999999994602,7.43601360621e-05,4.29035346549e-05,-5.85224737659e-05,1793250811058651904
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,694.361360249,669.638639751,643,895,786,826,656,632.361360249,656,0.437108708343,0.0045774228412,0.0700239189156,0.99999999331,7.76829308964e-05,6.2066757191e-05,-5.91019767558e-05,1793250811075318528
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,694.940054485,669.059945515,643,895,786,826,656,632.940054485,656,0.437977545159,0.00458194837635,0.0700171297327,0.999999992594,8.37335664237e-05,6.40734715046e-05,-6.07843495747e-05,1793250811091985152
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.514309782,826,655.485690218,633,656,0.438751294945,0.00458579153287,0.0699614866236,0.999999994722,8.00749594031e-05,-1.69822632566e-05,-6.20971227247e-05,1793250811108651520
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.91212007,826,655,632.91212007,656,0.43950898092,0.00459068963765,0.069899763283,0.99999998874,7.94010819859e-05,-0.000110730541865,-6.287867862e-05,1793250811125318656
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,895,786.339499744,826,655,632.339499744,656,0.44023866933,0.00460184172857,0.0698356417561,0.999999968462,0.000101379568247,-0.000221545254072,-6.09656608223e-05,1793250811141985280
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.758394614,895,786,826,655.241605386,632,656,0.441001587395,0.00461073227808,0.0698123555323,0.999999956276,0.00012098926852,-0.000263111726682,-5.98515562419e-05,1793250811158651904
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.164932886,895,786,826,655.835067114,632,656,0.441812898626,0.00461632928378,0.0698485388508,0.999999968028,0.000137149242153,-0.000203830141584,-5.99009311087e-05,1793250811175318528
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,723,695,668.582247305,642,895,786,826.417752695,655.582247305,632,656,0.442574326121,0.00462339014269,0.0698719562141,0.999999972432,0.00014581993713,-0.000174012308512,-5.99289115498e-05,1793250811191985152
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,723,695,668.003709216,642,895,786,826.996290784,655.003709216,632,656,0.443316554343,0.00463101441246,0.0698904601971,0.999999974615,0.000151608146775,-0.000155534531402,-5.99486577072e-05,1793250811208651776
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,723,695.571892568,667.428107432,642,895.571892568,785.428107432,827,655.571892568,632,656,0.443987016398,0.00463774095362,0.0698598102993,0.999999965662,0.000143041220311,-0.000211462965734,-5.91523759463e-05,1793250811225318400
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,723,695.849297071,667,641.849297071,896.150702929,785,827,656,632,656.150702929,0.444646286747,0.0046439371668,0.069825190262,0.99999995178,0.000142312435561,-0.000269776022392,-5.83746967395e-05,1793250811241985280
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,695.261117372,667,641.261117372,896.738882628,785,827,656,632,656.738882628,0.44527441306,0.00464861070401,0.0697799660025,0.999999929139,0.000164605951416,-0.000333617679335,-5.76663047472e-05,1793250811258651648
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,695,666.678927427,641,896.678927427,785,827,655.678927427,632.321072573,656.678927427,0.445893157158,0.00465598823651,0.0697528708945,0.999999912721,0.000184989851545,-0.000370160212652,-5.76025954677e-05,1793250811275318016
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,695,666.101519565,641,896.101519565,785,827,655.101519565,632.898480435,656.101519565,0.446504410723,0.00466552456229,0.0697402495925,0.999999903461,0.000203849167365,-0.000384907892505,-5.80535828526e-05,1793250811291984640
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695,665.525433256,640.525433256,896,785,827,655.474566744,632.525433256,656,0.447056462037,0.0046711897808,0.0697229321163,0.999999886894,0.000212029218262,-0.00042175145404,-5.81503672057e-05,1793250811308651520
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.050381571,747,723,695,664.949618429,640,896,785,827,656,632,656,0.447595750714,0.00467607531016,0.0697052429078,0.99999986822,0.000218398115502,-0.000460962441187,-5.81023338046e-05,1793250811325318400
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.62630534,747,723,695,664.37369466,640,896,785,827,656,632,656,0.448133649684,0.00468144193344,0.0696941262755,0.999999858845,0.000229638573054,-0.000475699554847,-5.73318662811e-05,1793250811341985536
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.804009914,747,723,695,664,640,896,785,827,656,632,656.195990086,0.448667339005,0.00468570734233,0.0696928453204,0.999999856724,0.000239288181442,-0.000475492270433,-5.65677428796e-05,1793250811358651904
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.245854178,747,723,695,664,640,896,785,827,656,632,656.754145822,0.44919324935,0.00468793784145,0.069709739492,0.999999867981,0.000245998094381,-0.000447669569115,-5.58153427211e-05,1793250811375318528
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723.34406516,695.34406516,663.65593484,640,896.34406516,784.65593484,827.34406516,656,632,656.65593484,0.449692586096,0.00469245410906,0.0697240778266,0.999999876323,0.000254503219811,-0.000423556763003,-5.64077582062e-05,1793250811391985152
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723.95898993,695.95898993,663.04101007,640,896.95898993,784.04101007,827.95898993,656,632,656.04101007,0.45017100327,0.00469876981038,0.0697364041225,0.999999882407,0.000264421597327,-0.000402364507606,-5.80588574975e-05,1793250811408651776
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.861038756,654,636.861038756,897,783.861038756,827.861038756,656,631,656.138961244,0.454523121232,0.00478756988487,0.0695141855629,0.999999663612,0.000329233002197,-0.000748568074207,-6.34681858178e-05,1793250812735028480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.282918661,654,636.282918661,897,783.282918661,827.282918661,656,631,656.717081339,0.454461659578,0.00478682657712,0.0695008255014,0.999999652579,0.000328901932196,-0.000763343225579,-6.30340427624e-05,1793250812751695104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,654,636,897,783.293573075,827,655.706426925,631,656.706426925,0.45439271322,0.00478746671024,0.0694924676102,0.999999643407,0.000330427887109,-0.000774684442511,-6.21819106816e-05,1793250812768361984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,654,636,897,783.86850417,827,655.13149583,631,656.13149583,0.454316593586,0.00478943272174,0.0694889037585,0.999999636118,0.000333733599472,-0.000782734604119,-6.09291813907e-05,1793250812785028352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.443759381,654,636.443759381,896.556240619,783.556240619,827,655.443759381,631,656,0.454228875753,0.00478820432229,0.0694898338561,0.999999637876,0.00033324799125,-0.000780817937049,-5.93054781597e-05,1793250812801694976
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747.801693611,723,695.801693611,654.198306389,636.801693611,897,784,828,656,631.801693611,656,0.453897325159,0.00478369030177,0.0695023562372,0.999999650706,0.000339231687894,-0.000762019031198,-5.3254328246e-05,1793250812851694848
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,722,695.502322536,655,636,896.497677464,784,827,655,631,656.502322536,0.453194337314,0.00478063910383,0.0695021034645,0.999999645595,0.000350914451577,-0.000764181113603,-4.11953536821e-05,1793250812918361600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747,722.079713488,695.920286512,655,636.079713488,896.079713488,784,827,655,631,656.920286512,0.45296707457,0.00477865929414,0.0694950170879,0.999999636623,0.000351088708199,-0.00077591546466,-3.80340766941e-05,1793250812935028480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,722.670748282,695.329251718,655,636.670748282,896.670748282,784,827,655,631,656.329251718,0.452704186144,0.00477827963485,0.0694883635047,0.999999624896,0.000357996981652,-0.00078800263357,-3.31218988146e-05,1793250812951695104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695,655.255751765,637,896.744248235,784,827,655,631,656,0.452431986253,0.00477688581572,0.0694857170551,0.999999619359,0.000363566627961,-0.000792656058471,-2.82365038333e-05,1793250812968361728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,655.833169468,637,896.166830532,784,827,655,631,656,0.452148075097,0.00477421646025,0.0694881104867,0.999999621775,0.000367452646213,-0.000787959861111,-2.33847947306e-05,1793250812985028352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,695,656,637,896,784,827,655.409027414,631.409027414,656,0.451833691782,0.00477045961546,0.0694916887752,0.999999622686,0.00037171557079,-0.000784944181895,-1.78375566975e-05,1793250813001694976
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,656.573184344,637,895.426815656,784,827,656,631.426815656,656,0.451125797397,0.00476229524668,0.0694940768366,0.999999615115,0.000378713552545,-0.000791397547858,-5.92636201837e-06,1793250813035028224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.158525668,723,695,657.158525668,637.158525668,895.158525668,784,827,656,631,656,0.450739356319,0.00475399996008,0.0694966006909,0.999999614807,0.000375876564076,-0.000793159287732,-3.25603690464e-07,1793250813051694848
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.363840493,747,723,695,659.636159507,638,895.363840493,784.636159507,827,655.363840493,631,656,0.448013835245,0.00469264776778,0.0695926814372,0.999999749734,0.000270798021522,-0.000653558233718,7.85442243316e-06,1793250813151694848
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.804172405,747,723,695,661.608344811,638.804172405,895,784.195827595,827,655,631,656,0.446830969818,0.00467707551708,0.0695707003555,0.999999730727,0.000239703517225,-0.000693500829383,1.20220733922e-05,1793250813185028096
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.305339429,787,822,655,632,655,0.426697164794,0.00452892368363,0.0698409684328,0.999999962308,9.06608442015e-05,-0.000256948823921,3.37836563448e-05,1793250813601694720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.88212591,787,822,655,632,655,0.425774538982,0.00452079941097,0.0698693530791,0.999999971272,8.94987500076e-05,-0.000219269742775,3.69756207414e-05,1793250813618361344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722,694,668,641,889.542764049,787,821.542764049,655,632,655,0.424845675697,0.00451310059367,0.069852966134,0.999999966802,7.77366186582e-05,-0.000243151721222,3.50704426118e-05,1793250813635027968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.032798501,746,722.032798501,693.967201499,668,641.032798501,889,787,820.967201499,655,632,655,0.423912483067,0.00450576613035,0.0698233195388,0.999999956349,6.39845592753e-05,-0.000286664923508,3.21249109036e-05,1793250813651694848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.623378786,746,722.623378786,693.376621214,668,641.623378786,889,787,820.376621214,655,632,655,0.422932911724,0.00450276953811,0.069763744774,0.999999919404,6.26938648991e-05,-0.000395124158127,3.37519513106e-05,1793250813668361472
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.79158603,746,722.79158603,693.20841397,668.20841397,642,889,787,820,655,632,655,0.421969196536,0.00449630868718,0.0697129512299,0.999999880136,5.88694554442e-05,-0.000484791922873,3.52019073475e-05,1793250813685028352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.216311511,746,722.216311511,693.783688489,668.783688489,642,889,787,820,655,632,655,0.421033391974,0.00448374987671,0.0696776148139,0.999999851513,5.05850764298e-05,-0.000541382039102,3.63401515069e-05,1793250813701694976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.362475781,746,722,693.637524219,669,641.637524219,888.637524219,787,820,655,632,655,0.42018426937,0.00447512663117,0.0697185124892,0.999999888774,3.43507669392e-05,-0.000469106946756,3.4793065181e-05,1793250813718361856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.943379837,746,722,693.056620163,669,641.056620163,888.056620163,787,820,655,632,655,0.419387381459,0.00446887496183,0.0698053489079,0.999999948474,1.33258211061e-05,-0.00031917753644,3.16277952896e-05,1793250813735028480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,722.519426333,692.480573667,669,641.519426333,888,787,820,655,632,655,0.418585579031,0.00446233838853,0.0698563729907,0.999999969542,9.60953260153e-06,-0.000244086992892,3.52874797868e-05,1793250813751694848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,723,692,669,642,887.903132473,786.903132473,820,655.096867527,631.903132473,655,0.417776602001,0.0044554168225,0.0698891887134,0.999999979611,7.56455554109e-06,-0.000198035507338,3.87598343823e-05,1793250813768361472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,692,669,642,887.315976933,786.315976933,820,655.684023067,631.315976933,655,0.416933997582,0.004446702375,0.0698494195165,0.999999965988,4.51771410837e-06,-0.000258055445679,3.75534434013e-05,1793250813785028096
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,722.732110594,691.732110594,669,642,887,786.267889406,820,655.732110594,631.267889406,655,0.416090828516,0.0044386135498,0.0698143545074,0.999999952666,-6.31327572701e-07,-0.000305530850427,3.63214223352e-05,1793250813801694720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,722.15207687,691.15207687,669,642,887,786.84792313,820,655.15207687,631.84792313,655,0.415247001583,0.00443125369935,0.0697847708135,0.999999942098,-8.22984949067e-06,-0.000338389380554,3.50595373083e-05,1793250813818361344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746,722.42462676,691.42462676,668.57537324,642,886.57537324,786.57537324,819.57537324,655,632,655,0.414398487518,0.00442857120494,0.0697568164159,0.999999921534,-1.52434426649e-05,-0.000394300909746,3.50127793986e-05,1793250813835028224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,722.999849607,691.999849607,668,642,886.000150393,786.000150393,819,655,632,655,0.413548357906,0.00442755654489,0.0697294578491,0.99999989408,-2.20417435073e-05,-0.000458368275662,3.53972892042e-05,1793250813851694848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,722.411320729,691.411320729,668,642,886.588679271,786.588679271,819,655,632,655,0.412894307849,0.00444887995925,0.0697680345193,0.999999926894,2.48247057294e-07,-0.000380890302661,3.36909258764e-05,1793250813868361472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,722.17460703,690.82539297,668.17460703,642,886.82539297,786.82539297,819,655.17460703,632,655.17460703,0.41224740762,0.00446957424815,0.069812034422,0.999999954551,2.27727677408e-05,-0.000298848344479,3.27032876447e-05,1793250813885028096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,722.754497406,690.245502594,668.754497406,642,886.245502594,786.245502594,819,655.754497406,632,655.754497406,0.411617102846,0.0044888082675,0.0698686222892,0.99999997713,4.58416646388e-05,-0.000206212830132,3.3383894354e-05,1793250813901694976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.668216998,746,723,690,668.668216998,642,886,786.331783002,819.331783002,655.668216998,632,655.668216998,0.410950714326,0.00448668249246,0.0698826860333,0.999999981121,4.35896752259e-05,-0.000186220366967,3.43499285567e-05,1793250813918361344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.092843829,746,723,690,668.092843829,642,886,786.907156171,819.907156171,655.092843829,632,655.092843829,0.410257833691,0.00446887467152,0.0698655291924,0.999999975007,2.27474648228e-05,-0.000219561362532,3.55255194762e-05,1793250813935027968
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.964734392,746,723,689.517632804,668.482367196,641.517632804,886,786.517632804,819.517632804,655,632.482367196,655,0.409567036254,0.00446524019941,0.0698203719315,0.999999955335,2.09935410347e-05,-0.00029619567916,3.40194486656e-05,1793250813951694848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.940898311,746,723,689.059101689,668.940898311,641.059101689,886,786,819,655,632.940898311,655,0.408888300294,0.00446448284468,0.0697737853789,0.999999929438,2.19478202418e-05,-0.000373649455403,3.20560615366e-05,1793250813968361472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.350179638,746,723,689.649820362,668.350179638,641.649820362,886,786,819,655,632.350179638,655,0.408314451288,0.00446507484813,0.0697628034619,0.999999925876,1.42256719452e-05,-0.00038354538474,3.06203580636e-05,1793250813985028096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,689.764474322,668.471051355,642,886,786,819,655.235525678,632,655,0.407764445545,0.00446473276588,0.0697657961622,0.999999929447,1.08873351952e-05,-0.000374289684037,2.99262049743e-05,1793250814001694720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.186067563,669.627864875,642,886,786,819,655.813932437,632,655,0.407249151157,0.00446303083052,0.0697891332776,0.999999942608,1.3931004085e-05,-0.000337152811439,3.03116098524e-05,1793250814018361600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746,722.611186698,688.611186698,669.611186698,642,886,786,819.388813302,655.611186698,632,655,0.406742953984,0.00446952334341,0.0698010470686,0.999999946655,2.21754577709e-05,-0.000324438777835,3.06123302216e-05,1793250814035028224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746,722.037977945,688.037977945,669.037977945,642,886,786,819.962022055,655.037977945,632,655,0.406241071138,0.0044799020889,0.0698075433283,0.999999946719,3.28863938577e-05,-0.000323307319114,3.08728888448e-05,1793250814051694848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.463135671,746,722.536864329,687.463135671,669,642,886,786.536864329,819.463135671,655.536864329,632,655,0.40577126831,0.0044851451694,0.0698039269072,0.999999943792,3.4530503012e-05,-0.000332062231538,3.09669305897e-05,1793250814068361728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.115330556,786.884669444,819.115330556,656,632,655,0.40532122792,0.00448822154497,0.0698030401263,0.999999942954,3.41728013044e-05,-0.000334623071121,3.08524049607e-05,1793250814085028352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.70832625,786.29167375,819.70832625,656,632,655,0.404943609903,0.00448383333691,0.0698164306197,0.99999995153,2.81887458534e-05,-0.000308624487952,2.99229907458e-05,1793250814101694976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.292563348,745.707436652,723,686.707436652,669,641.707436652,887,786,819.707436652,655.707436652,632,655.292563348,0.404583517074,0.00448028572343,0.0698299797399,0.99999995928,2.73032369064e-05,-0.00028250539724,2.97482299234e-05,1793250814118361344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.868322261,745.131677739,723,686.131677739,669,641.131677739,887,786,819.131677739,655.131677739,632,655.868322261,0.404240388306,0.00447755178925,0.0698436824068,0.999999966212,3.13530210408e-05,-0.000256269659159,3.03039587956e-05,1793250814135027968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745.442590999,723,686.442590999,669,641,886.557409001,786,819,655,632,655.557409001,0.403908778295,0.00447593162956,0.069846749558,0.999999967881,2.79650434614e-05,-0.000250102586482,3.00693538116e-05,1793250814151694848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,641.016500259,886,786,819,655,632,655.016500259,0.403581002684,0.00447464008312,0.0698462527505,0.999999967921,2.20848389307e-05,-0.000250592101142,2.95527199832e-05,1793250814168361984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,641.593206933,886,786,819,655,632,655.593206933,0.403267448733,0.00447329285126,0.069831824187,0.999999961778,6.46730545388e-06,-0.000275047256639,2.7417243495e-05,1793250814185028352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819,655.175392267,632,656,0.402970403871,0.00447168517836,0.06981972752,0.999999955743,-7.78875362275e-06,-0.000296290015616,2.57980097294e-05,1793250814201694720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819,655.770694071,632,656,0.402712883738,0.00446945397941,0.0698132136875,0.9999999515,-1.8785281986e-05,-0.000309841919673,2.54147215832e-05,1793250814218361344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.647385062,746,723,687,669,642,886,786,819,655.647385062,632,655.647385062,0.402480421533,0.00446888696626,0.069806564317,0.999999947815,-2.23225897033e-05,-0.000321245831875,2.59532607983e-05,1793250814235027968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.073847644,746,723,687,669,642,886,786,819,655.073847644,632,655.073847644,0.40226365875,0.00446936260882,0.0697998300278,0.999999944528,-2.11865017081e-05,-0.000331303972348,2.7069348924e-05,1793250814251694848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.50227059,746,723,687,669,642,886,786,819.50227059,655.50227059,632,655.50227059,0.402076430097,0.00447354676338,0.0697978568578,0.999999943818,-1.4311042635e-05,-0.000333681283064,2.8558801051e-05,1793250814268361472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.919117082,746,723,687,669,642,886,786,819.919117082,655.919117082,632,655.919117082,0.40189822842,0.00448002346212,0.0697968581195,0.999999943577,-3.62569084303e-06,-0.000334579762661,2.98191782698e-05,1793250814285028096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.327154978,746,723,687,669,642,886,786,819.327154978,655.327154978,632,655.327154978,0.401749486058,0.00449752306581,0.0697975705008,0.999999943692,2.57738418815e-05,-0.000333306459125,2.92834300843e-05,1793250814301694720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.259225434,746,723,687,669,642,886,786,819.259225434,655.259225434,632,655.259225434,0.401614584677,0.00451092717353,0.0697977777949,0.999999942551,6.30339473587e-05,-0.000331942817198,2.7163600825e-05,1793250814318361600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.83870993,746,723,687,669,642,886,786,819.83870993,655.83870993,632,655.83870993,0.401496783091,0.00451927151552,0.069797361081,0.999999939079,0.00011000536527,-0.000330467566875,2.30867247307e-05,1793250814335028224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,656,631.586848352,655.586848352,0.401399498331,0.0045138716573,0.0697976219579,0.999999940436,0.000102208302761,-0.000329027529638,2.05412108926e-05,1793250814351694848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,656,631.014351556,655.014351556,0.401310126544,0.00450317090844,0.0697981441694,0.99999994348,7.32880228287e-05,-0.000327601073433,1.85863159828e-05,1793250814368361472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.425440351,656,631.574559649,655.574559649,0.401236374,0.00450492879719,0.0697966714898,0.999999942558,7.55710622729e-05,-0.000329861796909,1.90720534941e-05,1793250814385028096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.839291108,746,723,686.839291108,669,642,886,786.160708892,819,656,632,655.839291108,0.401169763545,0.00450634389099,0.0697963601188,0.999999942171,7.76877725171e-05,-0.000330509468593,1.96695739252e-05,1793250814401694720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.261407186,746,723,686.261407186,669,642,886,786.738592814,819,656,632,655.261407186,0.401120650308,0.00450603756898,0.0697991964749,0.999999943431,7.72899975171e-05,-0.00032672380362,2.03943608724e-05,1793250814418361344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,686.317618587,669,642,886,786.682381413,819.317618587,656,632,655.317618587,0.401080817624,0.00450494349505,0.0698018034196,0.999999945175,7.44723570239e-05,-0.000321975643775,2.08733068512e-05,1793250814435027968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,686.897587581,669,642,886,786.102412419,819.897587581,656,632,655.897587581,0.401048650598,0.00450319874432,0.0698042208728,0.999999947286,6.96559269766e-05,-0.000316432470452,2.11491902385e-05,1793250814451694592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.469055871,746,723,686.530944129,669,642,886,786,819.530944129,656,632,655.530944129,0.401027136972,0.00450309531626,0.0698075538337,0.999999949233,6.9626473139e-05,-0.000310198475103,2.1506506203e-05,1793250814468361216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746,723,686.040248162,669,642,886,786,819,656,632.040248162,655.040248162,0.401008326009,0.00450327884976,0.0698109924683,0.999999951055,7.04775510074e-05,-0.000304047343834,2.1856176891e-05,1793250814485028352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,746,723,686.632664169,669,642,886,786,819,656,632.632664169,655.632664169,0.400995250035,0.00450257034831,0.0698131873655,0.999999952038,6.9325102294e-05,-0.000301065472274,2.18613814822e-05,1793250814501694976
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d232f32d39f6fba3e49b247bc62ff60896997e8c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98c4e46f1476796d2e3cf071078909e5ab328104
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ab4e07ea80953679459da4c6fce1e1d47d779f595a361154c618ab7cb18600
+size 25917116
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b87c390147ba48ff4e382123fe5af1455ef6e39b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+8,0.133333333,BASELINE,768.364197306,746.364197306,723,686.635802694,669,642,886,786,819.635802694,656,632.364197306,655,0.400971108453,0.00450388849246,0.0698294766434,0.999999959852,6.44432971283e-05,-0.000275154462348,2.0828098962e-05,1793250815191151872
+9,0.150000000,BASELINE,768.215504568,746,723,686.784495432,669,642,886,786,819.784495432,655.784495432,632,655.215504568,0.400970681793,0.00450334807817,0.0698294477813,0.999999959777,6.40151163565e-05,-0.000275525053953,2.08519973573e-05,1793250815207818496
+10,0.166666667,BASELINE,768.800744622,746,723,686.199255378,669,642,886,786,819.199255378,655.199255378,632,655.800744622,0.400968944727,0.00450237758121,0.0698279889175,0.999999959352,6.2053124215e-05,-0.000277522651574,2.06616552341e-05,1793250815224485376
+11,0.183333333,BASELINE,769,746,723,686,669.384239837,641.615760163,886,786,819.384239837,655.384239837,632,655.615760163,0.400968042931,0.00450234630372,0.0698273428097,0.999999959133,6.22529153503e-05,-0.000278267996921,2.06369195509e-05,1793250815241152000
+12,0.200000000,BASELINE,769,746,723,686,669.966834373,641.033165627,886,786,819.966834373,655.966834373,632,655.033165627,0.400967572323,0.0045027998759,0.0698271162677,0.999999959021,6.35686756339e-05,-0.000278366896925,2.06976742456e-05,1793250815257818880
+13,0.216666667,BASELINE,769,746,723,686.54298887,670,641.54298887,886.54298887,786,819.45701113,656,632.54298887,655.54298887,0.400967202472,0.00450224381909,0.069827354423,0.999999959122,6.29337720839e-05,-0.000278146236779,2.07243787185e-05,1793250815274485248
+14,0.233333333,BASELINE,769,746,723,686.881298829,669.881298829,642,887,786,819,656,632.881298829,655.881298829,0.400967100764,0.00450196449843,0.0698275643617,0.999999959233,6.23698045571e-05,-0.000277873543131,2.07295002915e-05,1793250815291151616
+15,0.250000000,BASELINE,769,746,723,686.305792054,669.305792054,642,887,786,819,656,632.305792054,655.305792054,0.400968007558,0.00450298469868,0.0698275577628,0.999999959335,6.25319679132e-05,-0.000277474839915,2.06594729014e-05,1793250815307818496
+16,0.266666667,BASELINE,768.723964501,746,723,686,669,642,887,786,819.276035499,656,632,655.276035499,0.400968705533,0.00450313779604,0.0698274928003,0.999999959479,6.19096083934e-05,-0.000277100450242,2.0612080315e-05,1793250815324485376
+17,0.283333333,BASELINE,768.134970731,746,723,686,669,642,887,786,819.865029269,656,632,655.865029269,0.400969166757,0.00450230780592,0.0698273616676,0.999999959668,6.03977874577e-05,-0.000276753626337,2.05903501894e-05,1793250815341152000
+18,0.300000000,BASELINE,768.446298148,746,723,686,669,642,886.553701852,786,819.553701852,655.553701852,632,655.553701852,0.400969747663,0.00450293708383,0.0698278178128,0.999999959799,6.21369318718e-05,-0.000275889119883,2.06624146994e-05,1793250815357818368
+19,0.316666667,BASELINE,769,746,723,686.025128019,669,642,886,786,819,655.025128019,632,655.025128019,0.400970327203,0.00450385998863,0.0698284350743,0.99999995991,6.45922111952e-05,-0.000274912283768,2.07621151634e-05,1793250815374484992
+20,0.333333333,BASELINE,769,746,723,686.60083415,669,642,886,786,819,655.60083415,632,655.60083415,0.400970097248,0.00450171141357,0.0698287572373,0.999999960117,6.15631169091e-05,-0.000274846187939,2.08564023631e-05,1793250815391151616
+21,0.350000000,BASELINE,768.820708387,746,723,686.820708387,669,642,886,786,819.179291613,656,632,655.820708387,0.400969918074,0.00450043493873,0.0698289405896,0.99999996016,6.02200551979e-05,-0.000274976678693,2.09859663012e-05,1793250815407817984
+22,0.366666667,BASELINE,768.236030113,746,723,686.236030113,669,642,886,786,819.763969887,656,632,655.236030113,0.400969853717,0.0045011303233,0.0698288100841,0.999999959846,6.26891918427e-05,-0.000275551660849,2.11952925708e-05,1793250815424484352
+23,0.383333333,BASELINE,768.345631862,746,723,686.345631862,669,642,886,786,819.654368138,655.654368138,632,655,0.400968893044,0.00450308439296,0.0698281341689,0.999999959359,6.53652124054e-05,-0.000276696360619,2.11666499131e-05,1793250815441151232
+24,0.400000000,BASELINE,768.9252519,746,723,686.9252519,669,642,886,786,819.0747481,655.0747481,632,655,0.400967325575,0.00450589057576,0.0698270890185,0.999999958751,6.81812908788e-05,-0.000278226751694,2.09769054756e-05,1793250815457818112
+25,0.416666667,BASELINE,769,746,723,686.49535088,669.50464912,642,886,786,819,655,632,655.50464912,0.40096889664,0.00450367557924,0.0698279033592,0.999999959358,6.46544622099e-05,-0.000276884485016,2.09318904752e-05,1793250815474484992
+26,0.433333333,BASELINE,769,746.083456637,723,686.083456637,669.916543363,642,886,786.083456637,819.083456637,655.083456637,632.083456637,655.916543363,0.400970267982,0.004501365835,0.0698285572138,0.999999959876,6.12954203581e-05,-0.000275779304814,2.0887879228e-05,1793250815491151360
+27,0.450000000,BASELINE,769,746.658981954,723,686.658981954,669.341018046,642,886,786.658981954,819.658981954,655.658981954,632.658981954,655.341018046,0.40096772199,0.00450288062944,0.069826641606,0.999999958904,6.44626339272e-05,-0.000278579663754,2.07234462688e-05,1793250815507817728
+28,0.466666667,BASELINE,768.760847149,746.760847149,723,687,669,642,886,786.760847149,820,655.760847149,633,655.239152851,0.400966058893,0.00450373811141,0.0698256043786,0.999999958301,6.59152317286e-05,-0.000280398713785,2.07308967607e-05,1793250815524484352
+29,0.483333333,BASELINE,768.173920731,746.173920731,723,687,669,642,886,786.173920731,820,655.173920731,633,655.826079269,0.400965679694,0.00450363973642,0.0698258444831,0.999999958254,6.48744530815e-05,-0.000280790754536,2.0988298374e-05,1793250815541150976
+30,0.500000000,BASELINE,768.407422715,746,723,687,669,642,886,786.407422715,820,655.407422715,632.592577285,655.592577285,0.400967037491,0.00450371929137,0.0698269821304,0.999999958802,6.51988526276e-05,-0.000278757002016,2.09827543256e-05,1793250815557817600
+31,0.516666667,BASELINE,768.986415102,746,723,687,669,642,886,786.986415102,820,655.986415102,632.013584898,655.013584898,0.400969126753,0.00450387377435,0.0698284977418,0.999999959592,6.60981420304e-05,-0.000275701724315,2.08664812917e-05,1793250815574484224
+32,0.533333333,BASELINE,769,746,723,687,669,642,886,786.437389859,820,656,632,655,0.40096785751,0.00450238129749,0.0698274444831,0.999999959164,6.44553847067e-05,-0.000277625893613,2.09888802423e-05,1793250815591151360
+33,0.550000000,BASELINE,769,746,723,687,669,642,886.138709758,786,819.861290242,656,632,655.138709758,0.400966847976,0.00450127908186,0.0698265605781,0.999999958846,6.29120067447e-05,-0.000279125772573,2.09318998216e-05,1793250815607818240
+34,0.566666667,BASELINE,769,746,723,687,669,642,886.714720324,786,819.285279676,656,632,655.714720324,0.400966911604,0.00450153196959,0.0698264051687,0.999999958984,6.18744892507e-05,-0.000278910839415,2.02913234521e-05,1793250815624484864
+35,0.583333333,BASELINE,769,746,723,687,669,642,886.703012838,786,819.296987162,655.703012838,632.296987162,655.703012838,0.400967193409,0.00450223323039,0.0698268762086,0.999999959074,6.28615160652e-05,-0.000278371688337,2.02248501476e-05,1793250815641151488
+36,0.600000000,BASELINE,769,746,723,687,669,642,886.114606964,786,819.885393036,655.114606964,632.885393036,655.114606964,0.400967689299,0.00450337445737,0.069827961952,0.999999959111,6.58351272665e-05,-0.000277514398333,2.07217155147e-05,1793250815657818112
+37,0.616666667,BASELINE,768.531064784,746,723,686.531064784,669,642,886,786,820,655.468935216,632.531064784,655.468935216,0.400967291801,0.00450250816095,0.0698276120973,0.999999959312,6.34844015482e-05,-0.000277352916431,2.05371797193e-05,1793250815674484480
+38,0.633333333,BASELINE,768.050630258,746,723,686,669,642,886,786,819.949369742,656,632,655.949369742,0.400966825533,0.00450138635025,0.0698270751731,0.999999959547,6.01335895561e-05,-0.000277275684342,2.02030489818e-05,1793250815691151104
+39,0.650000000,BASELINE,768.625383027,746,723,686,669,642,886,786,819.374616973,656,632,655.374616973,0.400967884445,0.00450264636429,0.0698281964918,0.999999959835,5.97622221785e-05,-0.000276328278398,2.00265661645e-05,1793250815707817728
+40,0.666666667,BASELINE,769,746,723,686.198978395,669,642,886,786,819,656,632,655.198978395,0.40096855248,0.0045030683623,0.069828714281,0.999999959914,6.00885580829e-05,-0.000275968122014,2.00984891109e-05,1793250815724484608
+41,0.683333333,BASELINE,769,746,723,686.77040729,669,642,886,786,819,656,632,655.77040729,0.400968488869,0.00450192175028,0.0698281023751,0.999999959599,6.17208646223e-05,-0.000276707187499,2.0635381398e-05,1793250815741151232
+42,0.700000000,BASELINE,769,746,723,687,669,642,886.356076648,786,819.356076648,656,632,655.643923352,0.4009684051,0.00450257886099,0.0698278473766,0.999999959401,6.30618027473e-05,-0.000277131095453,2.04809636143e-05,1793250815757817856
+43,0.716666667,BASELINE,769,746,723,687,669,642,886.951310525,786,819.951310525,656,632,655.048689475,0.400968307794,0.00450444743376,0.0698278320933,0.999999959282,6.42070445629e-05,-0.000277343329283,1.98622306068e-05,1793250815774484224
+44,0.733333333,BASELINE,769,746,723,687,669,642,886.470532467,786,820,655.470532467,632,655.529467533,0.400967074861,0.0045041110184,0.069827531056,0.999999959131,6.40083972226e-05,-0.000277925290173,1.99680419276e-05,1793250815791150848
+45,0.750000000,BASELINE,769,746,723,687,669,642,886.105814559,786,819.894185441,655,632.105814559,655.894185441,0.400966530422,0.0045037390684,0.0698276095568,0.999999959162,6.37671202047e-05,-0.000277856042784,2.0152857743e-05,1793250815807817472
+46,0.766666667,BASELINE,769,746,723,687,669,642,886.680881257,786,819.319118743,655,632.680881257,655.319118743,0.400969487871,0.00450408065183,0.0698294840737,0.999999960008,6.38677208537e-05,-0.000274752837678,2.04017886149e-05,1793250815824484352
+47,0.783333333,BASELINE,769,746.261762631,723,687,669,642,887,786,819,655.261762631,633,655,0.400970970003,0.00450399312069,0.0698303945765,0.999999960465,6.32061509119e-05,-0.00027322731842,2.05291054687e-05,1793250815841150720
+48,0.800000000,BASELINE,769,746.849893886,723,687,669,642,887,786,819,655.849893886,633,655,0.400970612694,0.00450337056467,0.0698301031358,0.999999960446,6.15942980256e-05,-0.0002736688754,2.05047926159e-05,1793250815857817344
+49,0.816666667,BASELINE,769,746.568220681,723,686.568220681,669,642,886.568220681,786,819,656,632.568220681,655,0.400970123729,0.00450328470294,0.0698293255464,0.999999960077,6.28089383907e-05,-0.000274734885707,2.05169177083e-05,1793250815874484224
+50,0.833333333,BASELINE,768.988524558,746,723,686.011475442,669.011475442,642,886,786,819,656,632,655,0.400969573575,0.00450335798335,0.0698284078701,0.999999959597,6.49061705555e-05,-0.00027599214832,2.0541331961e-05,1793250815891150848
+51,0.850000000,BASELINE,768.411239661,746,723,686.588760339,669.588760339,642,886,786,819,656,632,655,0.40096823091,0.00450220961905,0.0698287973292,0.999999959696,6.27623677237e-05,-0.000276128165383,2.05559985126e-05,1793250815907817472
+52,0.866666667,BASELINE,768.164958642,746,723,687,669.835041358,642,886.164958642,786,819.164958642,655.835041358,632,655.164958642,0.400967544038,0.00450187864537,0.0698290827301,0.999999959761,6.17622186201e-05,-0.000276123697067,2.04926097708e-05,1793250815924484096
+53,0.883333333,BASELINE,768.73846577,746,723,687,669.26153423,642,886.73846577,786,819.73846577,655.26153423,632,655.73846577,0.400968481347,0.00450357208036,0.0698291104132,0.999999959748,6.35945250672e-05,-0.000275771292508,2.02359036515e-05,1793250815941150976
+54,0.900000000,BASELINE,768.678860687,746,723,687,669,642,886.678860687,786,820,655.321139313,632,655.678860687,0.400969368273,0.00450438262217,0.0698297315533,0.999999960039,6.50406136464e-05,-0.000274381317496,2.01777362561e-05,1793250815957817600
+55,0.916666667,BASELINE,768.088502752,746,723,687,669,642,886.088502752,786,820,655.911497248,632,655.088502752,0.400970212959,0.00450445301381,0.0698308502024,0.99999996058,6.61629266329e-05,-0.000272121522845,2.02860085439e-05,1793250815974484224
+56,0.933333333,BASELINE,768.492350432,746,723,686.507649568,669,642,886.492350432,786,820,656,632,655.492350432,0.400970260745,0.00450299835519,0.0698306210857,0.999999960599,6.33663290674e-05,-0.000272704924632,2.04659965335e-05,1793250815991150848
+57,0.950000000,BASELINE,769,746,723,686.070900692,669,642,886.929099308,786.070900692,820,656,632,656,0.400970248791,0.00450160396264,0.0698302701398,0.999999960517,6.069008801e-05,-0.000273600496366,2.0610977641e-05,1793250816007817216
+58,0.966666667,BASELINE,769,746,723,686.645002444,669,642,886.354997556,786.645002444,820,656,632,656,0.400970810261,0.00450254606516,0.0698307414185,0.999999960452,6.37730031095e-05,-0.000273153044193,2.04177453326e-05,1793250816024484096
+59,0.983333333,BASELINE,769,746,723,687,669,642,886.22075123,786.77924877,819.77924877,656,632,656,0.400970831373,0.00450284752103,0.0698307390851,0.999999960335,6.50470287217e-05,-0.000273278730137,2.04192223594e-05,1793250816041150720
+60,1.000000000,BASELINE,769,746,723,687,669,642,886.799168668,786.200831332,819.200831332,656,632,656,0.400969976986,0.00450211098663,0.0698299693946,0.999999960147,6.33902505515e-05,-0.000274333027548,2.073617189e-05,1793250816057817344
+61,1.016666667,BASELINE,769.386183883,746,723,687,669.386183883,642,887,786,819.386183883,656,632,655.613816117,0.400969446064,0.0045019277713,0.0698293234695,0.99999996001,6.19861691508e-05,-0.000275162284504,2.05846161094e-05,1793250816074484224
+62,1.033333333,BASELINE,769.977772067,746,723,687,669.977772067,642,887,786,819.977772067,656,632,655.022227933,0.400969087189,0.00450203885652,0.069828743373,0.9999999599,6.07164927417e-05,-0.000275871846404,2.01838707143e-05,1793250816091150848
+63,1.050000000,BASELINE,769.445965866,746,723,687,669.445965866,642,886.445965866,786,820,656,632,655,0.40096819485,0.00450203792007,0.0698283793021,0.99999995978,6.11678851345e-05,-0.000276196969869,2.03592278643e-05,1793250816107817728
+64,1.066666667,BASELINE,768.870676588,746,723,686.870676588,669.129323412,642,886,786,819.870676588,656,632,655,0.400967321934,0.00450202323418,0.0698280795727,0.999999959635,6.15050563207e-05,-0.000276632569783,2.05276447839e-05,1793250816124484096
+65,1.083333333,BASELINE,768.296674898,746,723,686.296674898,669.703325102,642,886,786,819.296674898,656,632,655,0.400966587418,0.0045019763086,0.0698279720819,0.999999959411,6.1218442494e-05,-0.000277499649578,2.05948619426e-05,1793250816141150720
+66,1.100000000,BASELINE,768.285541387,746,723,686.285541387,669.714458613,642,886,786.285541387,819,655.714458613,632,655.285541387,0.400966017452,0.00450261045316,0.0698277330702,0.999999959219,6.15674084269e-05,-0.000278128625296,2.04140812549e-05,1793250816157817344
+67,1.116666667,BASELINE,768.87654533,746,723,686.87654533,669.12345467,642,886,786.87654533,819,655.12345467,632,655.87654533,0.400965623518,0.00450397318362,0.0698273533617,0.99999995906,6.25962961962e-05,-0.000278502885235,1.99680008204e-05,1793250816174483968
+68,1.133333333,BASELINE,769,746,723,686.541568668,669.458431332,642,886.458431332,786.541568668,819.458431332,655.458431332,632,655.541568668,0.400967007335,0.00450282221784,0.069828723724,0.999999959422,6.23290222176e-05,-0.000277248120568,2.01249760892e-05,1793250816191150848
+69,1.150000000,BASELINE,768.962407472,746,723,686.037592528,669.962407472,642,886.962407472,786,820,656,632,655,0.400968716374,0.00450119181655,0.0698304034857,0.999999959882,6.18780769077e-05,-0.000275663364704,2.04252329154e-05,1793250816207817472
+70,1.166666667,BASELINE,768.38777899,746,723,686.61222101,669.38777899,642,886.38777899,786,820,656,632,655,0.400968365615,0.00450219422729,0.069829901813,0.999999959809,6.36924947389e-05,-0.000275509278409,2.04975882203e-05,1793250816224484096
+71,1.183333333,BASELINE,768.185401663,746,723,686.814598337,669.185401663,642,886,786,819.814598337,656,632,655.185401663,0.400968274485,0.00450283368727,0.0698295810106,0.999999959829,6.44707964591e-05,-0.000275257370884,2.04803647603e-05,1793250816241150720
+72,1.200000000,BASELINE,768.755577664,746,723,686.244422336,669.755577664,642,886,786,819.244422336,656,632,655.755577664,0.400968722176,0.00450271989565,0.069829635578,0.999999960045,6.30987893798e-05,-0.000274802449517,2.0277233543e-05,1793250816257817344
+73,1.216666667,BASELINE,769,746,723,686,669.660073164,642,886.339926836,786,819,656,632,655.660073164,0.400967539475,0.00450271244036,0.0698283311229,0.99999995958,6.23789160932e-05,-0.000276663106082,2.01774138327e-05,1793250816274483968
+74,1.233333333,BASELINE,769,746,723,686,669.065089491,642,886.934910509,786,819,656,632,655.065089491,0.400965133443,0.00450278477227,0.0698260069541,0.999999958593,6.21483575456e-05,-0.000280261207095,2.01551117165e-05,1793250816291150592
+75,1.250000000,BASELINE,769,746,723,686.515855574,669,642,886.484144426,786.515855574,819.515855574,656,632,655.515855574,0.400966340036,0.00450175882392,0.0698275718349,0.999999959335,6.16096051886e-05,-0.000277712115596,2.02685102055e-05,1793250816307817472
+76,1.266666667,BASELINE,769,746,723,687,669,642,886.094230307,786.905769693,820,656,632.094230307,655.905769693,0.400967933394,0.00450082579965,0.0698293819807,0.999999960163,6.08916856486e-05,-0.000274867901478,2.03221984452e-05,1793250816324484096
+77,1.283333333,BASELINE,769,746,723,687,669,642,886.668297557,786.331702443,820,656,632.668297557,655.331702443,0.400969236537,0.00450105293117,0.0698300084713,0.999999960395,5.94541901014e-05,-0.000274365918935,1.99869515781e-05,1793250816341150720
+78,1.300000000,BASELINE,768.751513717,746,723,686.751513717,669,642,886.751513717,786,819.751513717,656,632.751513717,655,0.400969613798,0.00450170119375,0.0698298904787,0.999999960335,5.91227890548e-05,-0.000274673080743,1.97468142391e-05,1793250816357817344
+79,1.316666667,BASELINE,768.162947138,746,723,686.162947138,669,642,886.162947138,786,819.162947138,656,632.162947138,655,0.400968723888,0.00450292581961,0.0698287535805,0.999999959877,6.03051978211e-05,-0.000276087643963,1.96368445809e-05,1793250816374483968
+80,1.333333333,BASELINE,768.41908185,746,723,686.41908185,669.41908185,642,886,786,819.41908185,656,632,655,0.400968355839,0.00450400663431,0.0698287433657,0.999999959743,6.18148014524e-05,-0.000276225070677,1.98107753544e-05,1793250816391150592
+81,1.350000000,BASELINE,768.99860799,746,723,686.99860799,669.99860799,642,886,786,819.99860799,656,632,655,0.400968187583,0.0045050323914,0.0698291644985,0.999999959732,6.34496708006e-05,-0.000275873549446,2.00933965877e-05,1793250816407817216
+82,1.366666667,BASELINE,769,746,723,687,669.425706684,642,886,786,819.425706684,656,632.574293316,655.574293316,0.400968183629,0.00450446938128,0.0698291586489,0.999999959639,6.45082664962e-05,-0.000275965643779,2.00773560463e-05,1793250816424484096
+83,1.383333333,BASELINE,769,746,723,687,669.149881026,642,886,786,819,656,632.850118974,655.850118974,0.400968541611,0.00450385782687,0.0698293362304,0.999999959754,6.47611155862e-05,-0.000275488086665,2.00887999811e-05,1793250816441150976
+84,1.400000000,BASELINE,769,746,723,687,669.725218021,642,886,786,819,656,632.274781979,655.274781979,0.400969925868,0.00450311933213,0.0698300374223,0.999999960458,6.27306914549e-05,-0.000273390470967,2.01803032969e-05,1793250816457817344
+85,1.416666667,BASELINE,769,746,723,686.692537239,669.692537239,642,886,786,819.307462761,655.692537239,632.307462761,655.307462761,0.400970278798,0.00450250794037,0.0698305162622,0.999999960649,6.19652404248e-05,-0.000272860588992,2.02465285312e-05,1793250816474483712
+86,1.433333333,BASELINE,769,746,723,686.103977139,669.103977139,642,886,786,819.896022861,655.103977139,632.896022861,655.896022861,0.400969688838,0.00450201275235,0.0698307918171,0.999999960377,6.23562891586e-05,-0.000273764005203,2.02896433145e-05,1793250816491150592
+87,1.450000000,BASELINE,769,746,723,686.479491139,669.479491139,642,886,786,820,655,632.520508861,655.520508861,0.400967469637,0.00450287627868,0.0698286979792,0.999999959526,6.27920005159e-05,-0.00027676698234,2.01339888535e-05,1793250816507817216
+88,1.466666667,BASELINE,769,746,723,686.938977693,669.938977693,642,886.061022307,786,819.938977693,655.061022307,632,655.061022307,0.400965420805,0.00450387917748,0.069826569562,0.999999958747,6.31966481561e-05,-0.000279486912878,1.99724069462e-05,1793250816524483840
+89,1.483333333,BASELINE,769,746,723,686.364552047,669.364552047,642,886.635447953,786,819.364552047,655.635447953,632,655.635447953,0.400967746543,0.00450360183583,0.0698284275856,0.999999959699,6.32593175787e-05,-0.000276035213839,2.01197854104e-05,1793250816541150464
+90,1.500000000,BASELINE,769,746,723,686.209635764,669.209635764,642,886.790364236,786,819,656,632,656,0.40096941994,0.00450360890481,0.0698299269927,0.99999996035,6.37982823869e-05,-0.000273536068877,2.02090849584e-05,1793250816557817344
+91,1.516666667,BASELINE,769,746,723,686.783410397,669.783410397,642,886.216589603,786,819,656,632,656,0.400969960217,0.00450410999717,0.0698308034798,0.999999960492,6.51645757854e-05,-0.000272691517729,2.01975009857e-05,1793250816574483968
+92,1.533333333,BASELINE,769,746,723,687,669.630110214,642,886,786.369889786,819.369889786,655.630110214,632,655.630110214,0.400970132688,0.00450396630543,0.0698307319568,0.999999960427,6.53941815939e-05,-0.000272882136774,2.01181156578e-05,1793250816591150592
+93,1.550000000,BASELINE,769,746,723,687,669.035926868,642,886,786.964073132,819.964073132,655.035926868,632,655.035926868,0.400970082129,0.00450343162992,0.0698300855801,0.999999960236,6.49345235495e-05,-0.000273700461658,1.9997616981e-05,1793250816607817216
+94,1.566666667,BASELINE,769,746,723,687,669,642,886.540680571,786.459319429,820,655.540680571,632,655,0.40096945457,0.00450388495643,0.0698297931191,0.99999996008,6.42036185128e-05,-0.000274462862555,1.96910079705e-05,1793250816624484096
+95,1.583333333,BASELINE,769,746,723,687,669,642,886.883845061,786,820,656,632,655,0.400968919342,0.00450416885627,0.0698295430215,0.999999959974,6.35331548186e-05,-0.000275018678611,1.95132449571e-05,1793250816641150720
+96,1.600000000,BASELINE,769,746,723,687,669,642,886.308378286,786,820,656,632,655,0.400968896058,0.00450353136406,0.0698293703773,0.999999960057,6.31707215237e-05,-0.000274771827414,1.98923395374e-05,1793250816657817344
+97,1.616666667,BASELINE,769,746,723,687,669.273972228,642,886,786,820,656,632,655,0.400968949481,0.00450321105058,0.0698293569457,0.999999960113,6.34686749283e-05,-0.000274482170894,2.01094220196e-05,1793250816674484224
+98,1.633333333,BASELINE,769,746,723,687,669.864270619,642,886,786,820,656,632,655,0.400969091467,0.00450325694919,0.0698295273398,0.999999960138,6.45291056037e-05,-0.000274143091704,2.01394465947e-05,1793250816691150848
+99,1.650000000,BASELINE,768.553851307,746,723,686.553851307,669.553851307,642,886,786,820,655.553851307,632,655.446148693,0.400969248627,0.00450324020605,0.0698298463136,0.999999960125,6.49439994237e-05,-0.000274084965442,2.02380219626e-05,1793250816707817472
+100,1.666666667,BASELINE,768.025248634,746,723,686,669,642,886.025248634,786,819.974751366,655.025248634,632,656,0.400969409651,0.00450319134635,0.069830196865,0.999999960101,6.51387815063e-05,-0.000274116031869,2.03602044347e-05,1793250816724484096
+101,1.683333333,BASELINE,768.59861939,746,723,686,669,642,886.59861939,786,819.40138061,655.59861939,632,656,0.400969556224,0.00450285131679,0.0698302698299,0.999999960083,6.47395749497e-05,-0.000274262225167,2.05505223241e-05,1793250816741151488
+102,1.700000000,BASELINE,768.823533807,746,723.176466193,686.176466193,669.176466193,642,886.823533807,786,819,655.823533807,632.176466193,656,0.400969682684,0.00450280582327,0.0698301410422,0.999999960078,6.45615028431e-05,-0.000274321167403,2.05795022725e-05,1793250816757818624
+103,1.716666667,BASELINE,768.235241146,746,723.764758854,686.764758854,669.764758854,642,886.235241146,786,819,655.235241146,632.764758854,656,0.40096976221,0.00450344770072,0.0698295414162,0.999999960103,6.48995014241e-05,-0.000274176488194,2.02319611538e-05,1793250816774485248
+104,1.733333333,BASELINE,768.347564729,746,723.652435271,687,669.652435271,642,886,786,819.347564729,655.347564729,632.652435271,656,0.400968066691,0.00450304683893,0.0698284875998,0.999999959669,6.37032435148e-05,-0.000276032266947,2.0267208354e-05,1793250816791151872
+105,1.750000000,BASELINE,768.926714772,746,723.073285228,687,669.073285228,642,886,786,819.926714772,655.926714772,632.073285228,656,0.400965188446,0.00450195119125,0.0698271311524,0.999999958916,6.14846975844e-05,-0.000279220967714,2.05575106084e-05,1793250816807818496
+106,1.766666667,BASELINE,769,746,723,687,669,642,886.504318814,786,820,656,632,655.495681186,0.400967936039,0.00450239262635,0.0698287349168,0.999999959647,6.21328996874e-05,-0.000276465314403,2.03026191685e-05,1793250816824485120
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,820,656,632,656,0.400969177647,0.00450288415322,0.0698290756375,0.999999959793,6.41755969301e-05,-0.000275493221529,1.99932858436e-05,1793250816867935488
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,820,656,632,656,0.400968951776,0.00450267832205,0.0698293204732,0.999999959886,6.34717553409e-05,-0.000275296435469,2.02902612315e-05,1793250816884601856
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669.178904601,642,886.178904601,786,820,656,632.178904601,655.821095399,0.400968765059,0.0045028862961,0.0698294706368,0.999999959872,6.37944456581e-05,-0.000275260609015,2.04548060849e-05,1793250816901268480
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669.758077225,642,886.758077225,786,820,656,632.758077225,655.241922775,0.400968665942,0.00450402008751,0.0698294089878,0.999999959615,6.64138229731e-05,-0.000275584901729,2.03230606389e-05,1793250816917935360
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.336793931,746.336793931,723,687,669.663206069,642,886.663206069,786,820,656,633,655.336793931,0.400968658499,0.00450450050077,0.0698295362312,0.999999959735,6.68821617152e-05,-0.000275046330265,2.01803718435e-05,1793250816934601984
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.915183554,746.915183554,723,687,669.084816446,642,886.084816446,786,820,656,633,655.915183554,0.400968716817,0.0045045122198,0.0698297989748,0.999999960127,6.58074747163e-05,-0.000273888791962,2.00298329561e-05,1793250816951268352
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.510625011,723,687,669.489374989,642,886.489374989,786.489374989,820,656,633,656,0.400967531547,0.00450299566116,0.0698291551581,0.999999959834,6.30283456903e-05,-0.000275589802404,2.02264868275e-05,1793250816967935232
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.935574285,642,886.935574285,786.935574285,819.935574285,656,632.935574285,655.935574285,0.400966833328,0.00450152225291,0.0698286970959,0.999999959551,6.03840557835e-05,-0.00027718952307,2.04280974721e-05,1793250816984602112
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.34768,642,886.34768,786.34768,819.34768,656,632.34768,655.34768,0.400971828817,0.00450253328948,0.0698310140909,0.999999960391,6.12151629204e-05,-0.000273975030879,2.01852184431e-05,1793250817001268736
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.762854799,746,723,687,669,642,886.237145201,786,819,655.762854799,632,655,0.400984549819,0.00450281555956,0.0698367149818,0.999999962897,6.16330064786e-05,-0.00026457678073,2.01807717744e-05,1793250817017935104
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.182471762,746,723,687,669,642,886.817528238,786,819,655.182471762,632,655,0.401008452527,0.00450204303175,0.0698473136358,0.999999967587,6.14527029242e-05,-0.000246228319297,2.05214259599e-05,1793250817034601472
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.395055738,746,723,687,669.790111476,642,886.604944262,786,819,655.395055738,632.395055738,655,0.401048771299,0.00450176454158,0.0698626064536,0.999999973676,6.12665731092e-05,-0.000220162454793,2.05492074002e-05,1793250817051268352
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.971273812,746,723,687,670.942547625,642,886.028726188,786,819,655.971273812,632.971273812,655,0.401096618055,0.00450171260422,0.0698800518943,0.99999997977,6.10777714669e-05,-0.000190557587234,2.0433513514e-05,1793250817067935232
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.456490709,746,723,687,670.456490709,642,886,786,819,655.456490709,632.456490709,655,0.401157249606,0.00450206130517,0.0698913557494,0.999999982114,6.13406162585e-05,-0.000177777257037,2.01086517449e-05,1793250817084602112
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.12043466,746,723,686.87956534,670,642,886,786.12043466,819.12043466,655.12043466,632,655,0.401221674425,0.00450251526592,0.0699006924915,0.999999984103,6.0996612971e-05,-0.000166429962091,1.93649718898e-05,1793250817101268480
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.71671594,746,723,686.28328406,670,642,886,786.71671594,819.71671594,655.71671594,632,655,0.401298436371,0.00450330206084,0.0699035302206,0.999999985799,5.81612764245e-05,-0.000157256837236,1.70098715745e-05,1793250817117934848
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,686.302900111,670,642,886,786.697099889,820,655.697099889,632,655.302900111,0.401383829844,0.00450387426779,0.0699044765086,0.99999998657,5.52115523127e-05,-0.000153601605329,1.47446640198e-05,1793250817134601472
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,686.879945667,670,642,886,786.120054333,820,655.120054333,632,655.879945667,0.401477035437,0.00450425225779,0.0699037109118,0.999999986558,5.21582997557e-05,-0.000154940446821,1.25608157417e-05,1793250817151268096
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,686.543940701,669.543940701,642,886,786,819.543940701,655.456059299,632,656,0.401586628644,0.00450392853474,0.0699008328399,0.999999985669,5.08270191579e-05,-0.000161135618387,1.06412709985e-05,1793250817167934976
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,686.032583021,669,642,886,786,819,655.967416979,632,655.967416979,0.401702957057,0.00450353353639,0.0698979471509,0.999999984683,4.97952575364e-05,-0.0001675706329,8.68650153257e-06,1793250817184601600
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,686.620264205,669,642,886,786,819,655.379735795,632,655.379735795,0.401860685393,0.00450506482826,0.0699043862244,0.999999986699,4.61594208205e-05,-0.000156356866585,4.94871920674e-06,1793250817201268224
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.79510107,746,723,687,669.20489893,642,886,786.20489893,819.20489893,655.20489893,632,655,0.402027758314,0.00450637478819,0.069909822475,0.999999988251,4.278001168e-05,-0.000147196062765,1.25481894614e-06,1793250817217935104
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.216029644,746,723,687,669.783970356,642,886,786.783970356,819.783970356,655.783970356,632,655,0.402211895664,0.00450728056663,0.0699134274381,0.999999989151,3.98688735505e-05,-0.000141784240733,-2.35894645995e-06,1793250817234601984
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.361200824,746.361200824,723,687,669.638799176,642.361200824,886.361200824,786.638799176,820,656,632,655.361200824,0.402417781935,0.0045088887939,0.0699175608938,0.999999990211,3.4775842787e-05,-0.000135355077207,-6.9389214437e-06,1793250817251268352
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.937335877,746.937335877,723,687,669.062664123,642.937335877,886.937335877,786.062664123,820,656,632,655.937335877,0.402636610021,0.00451091501671,0.0699220088318,0.999999991291,2.83844663889e-05,-0.000128320539367,-1.20938442729e-05,1793250817267934720
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.489169097,723,687,669,642.489169097,887,786.510830903,820,656,632.510830903,656,0.402886402343,0.00451232997402,0.0699241616745,0.99999999215,2.34480629801e-05,-0.000121868197461,-1.72559557682e-05,1793250817284601344
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.086636192,723,687,669,642,886.913363808,786.913363808,820,656,632.913363808,656,0.403148243454,0.00451339286597,0.069927111483,0.99999999309,1.81497728996e-05,-0.000113961918601,-2.24130586645e-05,1793250817301267712
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.67777098,723,687,669,642,886.32222902,786.32222902,820,656,632.32222902,656,0.40345824187,0.00451284002035,0.069936333211,0.999999994852,9.71015228627e-06,-9.71753478896e-05,-2.75358889587e-05,1793250817317934592
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.736584032,723,687,669.263415968,642,886.263415968,786.263415968,819.736584032,656,632.263415968,655.736584032,0.40377887672,0.00450833604562,0.0699433207999,0.99999999585,-1.38422004424e-06,-8.55051207469e-05,-3.14069870179e-05,1793250817334601472
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.15751749,723,687,669.84248251,642,886.84248251,786.84248251,819.15751749,656,632.84248251,655.15751749,0.404112257159,0.00449909744459,0.0699476312258,0.99999999611,-1.56597729924e-05,-7.99657939884e-05,-3.37781377412e-05,1793250817351268352
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786.580767808,819,656,632.580767808,655,0.404477929122,0.00448427042086,0.0699522176877,0.999999995895,-3.65176024875e-05,-7.50554091813e-05,-3.52503014173e-05,1793250817367934976
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786.004883864,819,656,632.004883864,655,0.40485566724,0.00446735520798,0.0699569072941,0.999999995071,-5.9834987874e-05,-7.03800370917e-05,-3.63865464145e-05,1793250817384601856
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,687.580927351,670,642,887.580927351,786,819,656,632,655.580927351,0.405260406938,0.00448380705038,0.0699596834117,0.999999997533,1.74380265479e-05,-6.30463214175e-05,-2.56123602458e-05,1793250817401268480
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,688,670,642,887.835492175,786.164507825,819,656,632.164507825,655.835492175,0.405681646895,0.00449653449329,0.0699607563371,0.999999995364,7.36524196814e-05,-5.8914469963e-05,-1.94073344761e-05,1793250817417935104
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723,688,670,642,887.25772887,786.74227113,819,656,632.74227113,655.25772887,0.406143756465,0.00449918904345,0.0699575918344,0.999999994914,7.48047262501e-05,-6.28830511917e-05,-2.49362798341e-05,1793250817434601984
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.321032793,669.678967207,642,887.321032793,787,819,656,632.678967207,655.321032793,0.406613352374,0.00450171058538,0.06994583036,0.999999994712,5.46636458762e-05,-8.26045038784e-05,-2.76410789823e-05,1793250817451268096
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.900598512,669.099401488,642,887.900598512,787,819,656,632.099401488,655.900598512,0.407088977204,0.00450412501391,0.0699271456044,0.999999992841,1.73746549513e-05,-0.00011501200025,-2.80715478376e-05,1793250817467934464
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887.514414217,787,819.485585783,656,632.485585783,656,0.407615894233,0.0045153967191,0.069922960187,0.999999992798,-1.29407618527e-05,-0.000115200882578,-3.10720229031e-05,1793250817484601344
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,689.070820148,669.070820148,642.070820148,887.070820148,787,819.929179852,656,632.929179852,656,0.40816439812,0.00452677080484,0.0699242444761,0.999999993244,-3.62241538021e-05,-0.000104958454979,-3.44012232228e-05,1793250817501268224
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,689.649774864,669.649774864,642.649774864,887.649774864,787,819.350225136,656,632.350225136,656,0.408791601786,0.00452572343681,0.0699432375063,0.99999999686,-1.94108884429e-05,-6.77268735782e-05,-3.627170382e-05,1793250817517934592
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,690.227770701,670,643,888,787,819.227770701,656,632,656,0.409420297117,0.00453000804647,0.0699535695799,0.999999998285,4.34256075945e-06,-4.44425272408e-05,-3.79055217693e-05,1793250817534601216
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,690.80429829,670,643,888,787,819.80429829,656,632,656,0.410051276411,0.00454245684915,0.0699506402088,0.999999997579,3.87226475193e-05,-4.25138461041e-05,-3.91769676319e-05,1793250817551267840
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,888,787,819.620344622,656,632,656,0.410695627843,0.00455114302802,0.0699465368681,0.999999996117,6.05184913707e-05,-5.01815805864e-05,-3.98271074412e-05,1793250817567934464
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,691,670,643,888,787,819.045589059,656,632,656,0.411346851032,0.00455789564085,0.069941830239,0.999999994347,7.58474479424e-05,-6.27807939951e-05,-4.0157965746e-05,1793250817584601088
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,691,670,642.47011475,888,787.52988525,819,656,632,655.47011475,0.412077053242,0.00456287723454,0.069962445681,0.999999996123,7.27424192427e-05,-2.72312803867e-05,-4.14844328732e-05,1793250817601267968
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723,691.108487859,670,642,888,787.891512141,819.108487859,656,632,655.108487859,0.412818694492,0.00456826213729,0.0699861054335,0.99999999654,7.02582731488e-05,1.27118942888e-05,-4.26822648843e-05,1793250817617934336
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723,691.700764456,670,642,888,787.299235544,819.700764456,656,632,655.700764456,0.413581003841,0.00457612595039,0.0700136125059,0.999999994621,7.76249823663e-05,5.3749942892e-05,-4.29239634836e-05,1793250817634600960
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723,692,669.714081739,642,888,787,820,656,632,656,0.414337920956,0.00458463826769,0.0700155242668,0.999999993302,9.47733019983e-05,5.03987819892e-05,-4.32802106756e-05,1793250817651267840
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723,692,669.136201223,642,888,787,820,656,632,656,0.415089331945,0.00459381279882,0.0699912996631,0.99999999161,0.000121910005216,1.72007791832e-06,-4.37534278768e-05,1793250817667934464
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723,692.434281443,669.434281443,642,888.434281443,787,820,655.565718557,632,656,0.415837472648,0.00460179228824,0.0699473394112,0.999999989227,0.000120142483509,-7.06227861492e-05,-4.60896260077e-05,1793250817684601344
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,723,693,670.0026016,642,889,787,820.0026016,655.0026016,632,655.9973984,0.416585068775,0.00460937706037,0.0698975980727,0.999999981582,0.000109541809538,-0.000149785686653,-4.89901524581e-05,1793250817701267712
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,693,670.597993339,642,889,787,820.597993339,655.597993339,632,655.402006661,0.417438374572,0.00461099194719,0.0699173113648,0.999999984682,0.000117188164286,-0.000120191461179,-4.95754024492e-05,1793250817717934592
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,693,670.81100342,642,889,787.18899658,821.18899658,655.81100342,632,655.18899658,0.418303815694,0.00461426835072,0.0699399605883,0.999999986698,0.000129044889475,-8.65298890306e-05,-4.96319293676e-05,1793250817734601216
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,723,693,670.229122975,642,889,787.770877025,821.770877025,655.229122975,632,655.770877025,0.419194483535,0.00462099869552,0.0699687129902,0.999999986635,0.000149654082724,-4.4413166324e-05,-4.85893529602e-05,1793250817751268096
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,723,693,669.651808038,642.348191962,889.348191962,787.651808038,822.348191962,655,632,656,0.420116638035,0.00462323924736,0.0699964606026,0.999999988035,0.000146577335528,3.94385178565e-07,-4.94508508681e-05,1793250817767934720
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,723,693,669.07745851,642.92254149,889.92254149,787.07745851,822.92254149,655,632,656,0.421059243708,0.00462256358963,0.0700235555833,0.999999989362,0.000128116100628,4.69496815405e-05,-5.15490826902e-05,1793250817784601344
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,723,693,669,642.506868924,890.493131076,787,823,655,632,656,0.421947678101,0.00459885015925,0.0700235198514,0.999999992289,0.000104411201968,4.36945678136e-05,-5.11062121855e-05,1793250817801268224
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,723,693.066086061,669,642,891,787,823,655,632,656,0.422817783311,0.00457409569642,0.0700098503953,0.999999995272,8.11407516624e-05,1.80376607528e-05,-5.04595828077e-05,1793250817817934592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,723,693.662736696,669,642,891,787,823,655,632,656,0.423608530449,0.00456981557486,0.0699206786243,0.999999988546,6.79207631146e-05,-0.000125131020593,-5.1357328085e-05,1793250817834601216
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.749105057,746.250894943,723,694.250894943,669,642.250894943,891,787,823.250894943,655,632,655.749105057,0.424462845449,0.0045721715689,0.0698646816149,0.999999974907,6.30647722164e-05,-0.000208181506305,-5.35728668953e-05,1793250817851268096
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.171988792,746.828011208,723,694.828011208,669,642.828011208,891,787,823.828011208,655,632,655.171988792,0.425399813445,0.00458315604399,0.0698518194386,0.999999973262,6.90839079015e-05,-0.000213064487584,-5.75018425954e-05,1793250817867934720
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.402295614,747,723,695,669.402295614,643,891.402295614,787.402295614,824,655.402295614,632.402295614,655.402295614,0.426387763902,0.00458867019034,0.0698982998523,0.999999984387,8.79985190896e-05,-0.000142841763578,-5.54888507218e-05,1793250817884601088
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.975377776,747,723,695,669.975377776,643,891.975377776,787.975377776,824,655.975377776,632.975377776,655.975377776,0.427397357885,0.00459186201747,0.0699699729753,0.999999991557,0.000112387645056,-4.0734414347e-05,-5.0953314716e-05,1793250817901267712
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669.433729995,643,892.566270005,787.433729995,824.566270005,655.433729995,632.433729995,656,0.42836790139,0.00459373092135,0.0700116745793,0.999999993131,0.00010317879923,1.90634794623e-05,-5.22339653703e-05,1793250817917934336
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,893,787,825,655,632.154515226,656,0.429330636657,0.00459523090473,0.0700424705904,0.999999991931,9.45636544829e-05,6.55623333596e-05,-5.3833324801e-05,1793250817934601216
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,643,893,787,825,655,632.733296882,656,0.430276745755,0.00459588098349,0.0700470166504,0.999999990987,9.17202388564e-05,8.07602026683e-05,-5.55908433237e-05,1793250817951268352
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.688362952,893,787,825,655,632.688362952,656,0.431151281453,0.00459548741368,0.070002616307,0.999999993875,9.52152270029e-05,6.18729802534e-06,-5.60917509477e-05,1793250817967934976
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642.110400113,893,787,825,655,632.110400113,656,0.431964650297,0.00459420193919,0.0699163862461,0.99999998251,0.000104127029179,-0.000145103933195,-5.55187547182e-05,1793250817984601088
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.53763116,747,723,695,669.46236884,642.46236884,893.46236884,787,825,655.46236884,632.46236884,656,0.432878288462,0.00458656919496,0.0698937537704,0.999999978848,9.31391188267e-05,-0.000174375675692,-5.67612486728e-05,1793250818001267712
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,723,695,670.035065918,643,894,787,825,656,632.964934082,656,0.433816749156,0.00457775615561,0.0698904217214,0.999999981077,7.78719565978e-05,-0.000168473832778,-5.8292110301e-05,1793250818017934080
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,723,695,670.62606567,643,894,787,825,656,632.37393433,656,0.434773394968,0.0045739912098,0.0699550060639,0.99999999404,6.92545034267e-05,-6.17002990642e-05,-5.75986117628e-05,1793250818034600704
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.213255014,746.786744986,723,695,670.573489972,643,894,786.786744986,825.213255014,655.786744986,632.213255014,656,0.435717956167,0.00457282740767,0.0700049964131,0.99999999581,6.82899173321e-05,2.09716929918e-05,-5.72361705564e-05,1793250818051267584
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.793880337,746.206119663,723,695,669.412239326,643,894,786.206119663,825.793880337,655.206119663,632.793880337,656,0.436641699591,0.00457614454509,0.0700298459816,0.99999999318,8.05087777146e-05,6.21244395364e-05,-5.74440361895e-05,1793250818067934720
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+235,3.916666667,POSE1_TO_POSE2_PRESS,769,748,723,695.714908326,654,637,897,784,827.285091674,655.285091674,631.714908326,656.285091674,0.455124079064,0.00479672174992,0.0695571446234,0.99999970298,0.000342488680979,-0.000687364511138,-6.53627006434e-05,1793250819001268480
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,748,723,695.134630547,654,637,897,784,827.865369453,655.865369453,631.134630547,656.865369453,0.455125201675,0.00479632920335,0.0695568163601,0.9999997034,0.000340751452001,-0.000687599881529,-6.55398502005e-05,1793250819017934848
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,723,695,654,636.559252555,897.440747445,784,828,655.559252555,631.440747445,656.559252555,0.455125579603,0.00479536830323,0.0695566461626,0.999999703511,0.000340291526505,-0.000687683818666,-6.53489141728e-05,1793250819034601216
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,723,695.0146823,654,636.0146823,897.9853177,784,828,655.0146823,632,656.0146823,0.455125731964,0.00479425961272,0.0695565371449,0.999999703513,0.00034026172018,-0.000687723948184,-6.50436165463e-05,1793250819051267840
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,723,695.590035045,654,636.590035045,897.409964955,784,828,655.590035045,632,656.590035045,0.455125861521,0.00479406396172,0.0695569409013,0.999999702896,0.000341921463303,-0.000687838181054,-6.46175517571e-05,1793250819067934720
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,723,695.829171136,654,637,897,784,828,656,632,657,0.455126019746,0.00479357724565,0.0695570963876,0.999999702806,0.000341791784217,-0.000688049822874,-6.44503072537e-05,1793250819084601600
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,723,695.234889964,654,637,897,784,828,656,632,657,0.455126249035,0.00479236903454,0.0695566364595,0.999999704013,0.000337226467219,-0.000688502922972,-6.49246291087e-05,1793250819101268480
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,723,695,654,637,897,784,828,656,632,656.652166408,0.455125791244,0.00479340050966,0.0695559931085,0.999999703349,0.000337288920859,-0.000689415923229,-6.51480591414e-05,1793250819117934848
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,723,695,654,637,897,784,828,656,632,656.076996671,0.455124884395,0.00479589579293,0.0695552298764,0.999999701461,0.000340375980574,-0.000690629503778,-6.52075119527e-05,1793250819134601472
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.501935823,723,695.498064177,654,637,897,784,828,656,632,656,0.455124582845,0.00479517357641,0.0695550493339,0.999999701268,0.000339680569737,-0.000691259062305,-6.51363331638e-05,1793250819151268096
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.924791868,747,723,695.924791868,654,637,897.075208132,784,828,655.924791868,632,656,0.455124544715,0.00479404210127,0.069554989221,0.999999701447,0.000338545636018,-0.00069156773429,-6.50146204222e-05,1793250819167934976
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+247,4.116666667,HOLD_POSE2,769,747,723,696,654,636,897,784,828,655,632,656,0.4551250515,0.00479559842046,0.0695543876351,0.999999699667,0.000342048098218,-0.000692472984236,-6.44239455906e-05,1793250819222881536
+248,4.133333333,HOLD_POSE2,769,747,723,696,654,636.575407668,897,784,828,655.575407668,632,656.575407668,0.455125047943,0.0047952997499,0.0695543535691,0.999999700165,0.000341501985069,-0.000692010396062,-6.45611398104e-05,1793250819239548672
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+250,4.166666667,HOLD_POSE2,769,747,723,696,654,636.258359129,897.741640871,784,828,655.258359129,632,657,0.455126695455,0.00479533961245,0.0695547488492,0.999999700978,0.000341335018111,-0.000690918603823,-6.45448240908e-05,1793250819272882944
+251,4.183333333,HOLD_POSE2,769,747.324815746,723,696,654,636.324815746,897.675184254,784,828,655.324815746,632,657,0.455127582145,0.00479504857201,0.0695552521804,0.999999701953,0.000340073223532,-0.000690125193682,-6.45791963736e-05,1793250819289549568
+252,4.200000000,HOLD_POSE2,769,747.904499777,723,696,654,636.904499777,897.095500223,784,828,655.904499777,632,657,0.455128138683,0.00479436736587,0.0695558890773,0.999999703412,0.000337674627584,-0.000689175788432,-6.47136211547e-05,1793250819306215424
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+254,4.233333333,HOLD_POSE2,769,748,723,695,654,637,897,784,828,655.059571697,631.059571697,656,0.455127433358,0.00479393731114,0.0695538187627,0.999999700679,0.000339719410563,-0.000692184378579,-6.41379272738e-05,1793250819339547904
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+256,4.266666667,HOLD_POSE2,769,748,723,695.207595913,654,637,897,783.792404087,828,655.792404087,631.792404087,656.207595913,0.455125825841,0.00479163651432,0.0695530972436,0.999999700373,0.000337977393132,-0.0006935379518,-6.34859290012e-05,1793250819372881664
+257,4.283333333,HOLD_POSE2,769,748,723,695.780652631,654,637,897,783.219347369,828,655.219347369,631.219347369,656.780652631,0.455127539719,0.00479254501431,0.0695546834393,0.999999701826,0.00033826723194,-0.000691271318674,-6.37684116199e-05,1793250819389548288
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+259,4.316666667,HOLD_POSE2,769,748,723,695.037229807,654,637,897,783.962770193,828,655.962770193,631.962770193,656.037229807,0.455127653547,0.00479215202252,0.0695541751432,0.999999701181,0.00033852046764,-0.000692070542908,-6.38834772477e-05,1793250819422881792
+260,4.333333333,HOLD_POSE2,769,748,723,695,654,637,897,784,828,655.459169338,631.459169338,656,0.455128165586,0.00479256836919,0.0695549623682,0.999999701005,0.000339249758346,-0.000691948518838,-6.40845352828e-05,1793250819439548672
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+262,4.366666667,HOLD_POSE2,769,747.306494758,723,695,653.306494758,636.306494758,897,784,828,655.693505242,631.693505242,656,0.455128331301,0.00479152187165,0.0695548023811,0.999999702054,0.000337015109303,-0.000691511669147,-6.42188899823e-05,1793250819472881664
+263,4.383333333,HOLD_POSE2,769,747,723,695,653.274874804,636,897.274874804,784,828,655.725125196,631.725125196,656,0.455127841149,0.00479215652182,0.0695542689263,0.999999701672,0.00033687058517,-0.000692130355683,-6.42579440165e-05,1793250819489548288
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,695,653,636,897,783,828,656,631,656,0.455127968942,0.00479088032174,0.0695550307414,0.999999701954,0.000335250840452,-0.00069256669065,-6.36475710756e-05,1793250819538857984
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.425592355,747,723,695,653,636.574407645,897,783,827.425592355,655.425592355,631,656,0.455128678389,0.00479117968734,0.0695549945209,0.999999702631,0.000335406273221,-0.000691495868281,-6.38272420718e-05,1793250819555524352
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.152007312,747,723,695.152007312,653.152007312,636.847992688,897,783,827.152007312,655.152007312,631,656.152007312,0.455129466048,0.00479158629866,0.0695552025434,0.999999703182,0.000336129056289,-0.000690342312296,-6.38830265022e-05,1793250819572190976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.738735885,747,723,695.738735885,653.738735885,636.261264115,897,783,827.738735885,655.738735885,631,656.738735885,0.45513047738,0.00479229961891,0.0695561090695,0.999999703368,0.000338474387894,-0.000688952148615,-6.35845114121e-05,1793250819588857344
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.676943897,654,636,897,783.323056103,827.676943897,656,631.323056103,657,0.455130684569,0.00479205334115,0.0695562735927,0.999999703503,0.00033801048637,-0.000688985954122,-6.35753392469e-05,1793250819605523712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.094557004,654,636,897,783.905442996,827.094557004,656,631.905442996,657,0.455130246237,0.00479103675346,0.0695558424788,0.999999703592,0.000335291494515,-0.000690162839974,-6.37984348968e-05,1793250819622190336
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.482747455,723,695.482747455,654,636.482747455,897,784,827.482747455,655.517252545,631.517252545,656.517252545,0.455129587836,0.00479160798096,0.0695551674853,0.999999702869,0.000336827853749,-0.000690498194923,-6.34193170286e-05,1793250819638856704
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.94126919,747.94126919,723,695.94126919,653.94126919,636.94126919,897,784,828,655.05873081,631.05873081,656,0.455128993416,0.00479256137017,0.0695545543865,0.999999702058,0.000339115595907,-0.000690589727819,-6.3017381988e-05,1793250819655523328
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.080541977,747,723,695.919458023,654.080541977,637,897,784,827.919458023,656,632,656.919458023,0.453118718951,0.0047813111879,0.0695050653229,0.999999638051,0.00037167999742,-0.000764719215941,-3.09404983135e-05,1793250819972189952
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.654816579,747,723,695.345183421,654.654816579,637,897,784,827.345183421,656,632,656.345183421,0.452835744449,0.00477937894034,0.0695012313083,0.999999634416,0.000375748867528,-0.00076763960801,-2.66452142801e-05,1793250819988856832
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.764550799,747,723,695.235449201,655,637,896.764550799,784,827.235449201,655.764550799,631.764550799,656,0.45253385248,0.0047778547516,0.0694971619259,0.999999629281,0.000380283205746,-0.00077223118756,-2.19494668451e-05,1793250820005523712
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.174338261,747,723,695.825661739,655,637,896.174338261,784,827.825661739,655.174338261,631.174338261,656,0.452203456616,0.00477694540603,0.0694927379031,0.999999621863,0.000385518888288,-0.000779340830465,-1.66503210037e-05,1793250820022190592
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.40860597,747,723,696,655.40860597,637,896,784,827.59139403,655.40860597,631,656,0.451846066872,0.00477390909161,0.0694885468197,0.999999615151,0.000390070820043,-0.000785765966814,-1.07399441711e-05,1793250820038857216
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.988503247,747,723,696,655.988503247,637,896,784,827.011496753,655.988503247,631,656,0.451477361058,0.00476998113269,0.0694844533867,0.999999608683,0.000394336117152,-0.000791904151623,-4.57333392884e-06,1793250820055523328
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,656.564946695,637,896,784.564946695,827,655.435053305,631.564946695,656,0.451068235836,0.00476713626627,0.0694894034459,0.999999604605,0.000398345373442,-0.000795052877762,1.30116153286e-06,1793250820072189952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,657.143444871,637,896,785,827,655.143444871,632,656.143444871,0.450656708682,0.00476281881021,0.0694975277199,0.999999606386,0.000400361211859,-0.000791762649482,7.1096471317e-06,1793250820088856576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,657.728483457,637,896,785,827,655.728483457,632,656.728483457,0.450240304079,0.00475390056004,0.0695148606722,0.999999625855,0.000396256273781,-0.000768836303436,1.27331100065e-05,1793250820105522944
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.689752152,658.310247848,637.310247848,896,785,827,656,632,656.689752152,0.44978949311,0.00474042642355,0.0695310004235,0.99999964694,0.000383201146931,-0.000747668169563,1.638475754e-05,1793250820122189824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.110823217,658.889176783,637.889176783,896,785,827,656,632,656.110823217,0.449308885467,0.0047230067938,0.0695461068398,0.999999669158,0.000362394969952,-0.000728022681225,1.83287726145e-05,1793250820138857216
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.532284766,747,723,695,659.467715234,638,895.532284766,785,827,656,631.532284766,656,0.448809012626,0.00469988247074,0.0695683136378,0.999999717185,0.000290051661352,-0.000693863726968,7.32276584034e-06,1793250820155524096
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,722.954188272,695,660.045811728,638.045811728,895.045811728,785,827,656,631.045811728,656,0.448299213702,0.00467763099653,0.0695906218715,0.999999760198,0.000213665804724,-0.000658730586084,-4.98345322884e-06,1793250820172190720
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.38012156,695,660.61987844,638.61987844,895.61987844,785,827,656,631.61987844,656,0.447727549661,0.00468101781631,0.069594716132,0.99999976069,0.000231358775488,-0.000651985080576,3.07040560784e-06,1793250820188857344
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.192509958,695,661.192509958,638.807490042,895.807490042,785,826.807490042,656,632,655.807490042,0.447133595818,0.00468217224259,0.0695886049646,0.999999751993,0.000242165558001,-0.000661261609917,1.01095373235e-05,1793250820205523712
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.762328544,695,661.762328544,638.237671456,895.237671456,785,826.237671456,656,632,655.237671456,0.44649595526,0.00467895130366,0.0695624917352,0.999999724851,0.000239475799854,-0.000701940421467,1.51598607865e-05,1793250820222190080
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.350829581,747,723,695,662.350829581,638.350829581,894.649170419,785,826,656,632,655.350829581,0.445854445717,0.00467372837682,0.0695576979047,0.999999729351,0.000216209657914,-0.00070310602463,1.39248931782e-05,1793250820238856704
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.952699021,747,723,695,662.952699021,638.952699021,894.047300979,785,826,656,632,655.952699021,0.445210167706,0.00466707290625,0.0695681593991,0.999999755599,0.000178219864434,-0.000675997526593,8.19241809846e-06,1793250820255523328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.469718512,747,723,695,663.530281488,639.530281488,894,785.530281488,826,656,632,655.469718512,0.444567366942,0.0046602198896,0.0696076558767,0.999999799523,0.000164150013125,-0.000611443138765,1.20641077648e-05,1793250820272189952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,664.105423045,639.894576955,893.894576955,786,826,656,632,655.105423045,0.443912781844,0.0046536828479,0.0696475770288,0.999999838664,0.000150812993622,-0.000547416123434,1.61906758959e-05,1793250820288857088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,664.678924327,639.321075673,893.321075673,786,826,656,632,655.678924327,0.443205315062,0.00464862354786,0.069678388111,0.999999866217,0.000131671217745,-0.000499911512753,1.78117845446e-05,1793250820305523712
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.260514931,747,722.739485069,694.739485069,665.260514931,639.260514931,892.739485069,786.260514931,826,656,631.739485069,655.739485069,0.442486044884,0.00464197655074,0.0697045553453,0.999999886983,0.000109334479495,-0.000462293700362,1.90924012076e-05,1793250820322190080
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.852394923,747,722.147605077,694.147605077,665.852394923,639.852394923,892.147605077,786.852394923,826,656,631.147605077,655.147605077,0.44175176114,0.00463331006278,0.0697248157865,0.999999900768,8.29338685315e-05,-0.000437251512805,1.99399252968e-05,1793250820338856704
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.56577201,746.56577201,722.43422799,694.43422799,666.43422799,640.43422799,892,786.56577201,826,656,631,655,0.440996360704,0.0046265120028,0.0697557283271,0.999999911786,0.000183525216195,-0.000377183208716,2.18756476465e-05,1793250820355523328
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,667,641,892,786,825.987364891,655.987364891,631.012635109,655.012635109,0.440232220579,0.00462033932715,0.0697893265812,0.999999900489,0.000322405458037,-0.000307399435118,2.41151508325e-05,1793250820372189952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,667,641,892,786,825.412868366,655.412868366,631.587131634,655.587131634,0.439391418709,0.00461437213417,0.0697849792548,0.999999906135,0.000287740856265,-0.00032306351267,2.37861878036e-05,1793250820388856576
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,722.83502464,695,667,641,891.83502464,786,825,655.16497536,632,655.83502464,0.438542917516,0.00460877602209,0.0697687316104,0.999999905153,0.000253777699495,-0.000353198521924,2.32603105602e-05,1793250820405523200
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746,722.24863075,695,667,641,891.24863075,786,825,655.75136925,632,655.24863075,0.437674748965,0.00460412781176,0.0697220853993,0.999999886873,0.000221606339142,-0.000420298557909,2.2231429129e-05,1793250820422190080
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,722,694.665849251,667,641,891,786.334150749,824.665849251,655.665849251,632,655,0.436808418045,0.0045997076922,0.0697161071329,0.999999889364,0.000194027046813,-0.000427901060978,2.29586876676e-05,1793250820438856960
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,722,694.085726895,667,641,891,786.914273105,824.085726895,655.085726895,632,655,0.435943439859,0.00459545547267,0.069740064937,0.99999990855,0.000169828022037,-0.000391706850655,2.49786579463e-05,1793250820455523840
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.491563955,746,722,694.491563955,667,641,891,787,824,655.491563955,632,655,0.435067369779,0.00459110477136,0.0697859759015,0.999999933506,0.000152450046764,-0.000330173705143,2.7076207457e-05,1793250820472190208
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.931877983,746,722.068122017,695,667.068122017,641,890.931877983,787,824,655.931877983,632,655,0.434187862161,0.00458634532954,0.069830755872,0.99999995322,0.00013944312468,-0.000270686679317,2.90608930167e-05,1793250820488856576
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.357118634,746,722.642881366,695,667.642881366,641,890.357118634,787,824,655.357118634,632,655,0.433297093347,0.00457867300478,0.0698388137659,0.99999995471,0.000150148258851,-0.000259093993043,3.01061404648e-05,1793250820505523200
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.223149284,890,787,824,655,632,655,0.432398295549,0.00457233521798,0.0698409626751,0.999999956327,0.000148642156949,-0.00025360876191,3.05572869292e-05,1793250820522189824
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.812456103,890,787,824,655,632,655,0.431486323142,0.00456818722469,0.0698334157478,0.999999958152,0.000127099084186,-0.000258145029657,3.00335948913e-05,1793250820538856448
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.603020071,695,668,641.603020071,890,787,823.603020071,655,632,655,0.430487425603,0.00456298305226,0.06977937006,0.999999931511,0.000128564402084,-0.000345744863433,3.01556419578e-05,1793250820555523072
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,722.020728993,695,668,641.020728993,890,787,823.020728993,655,632,655,0.429447951266,0.0045572858532,0.0697036186434,0.999999878176,0.000140770089613,-0.000472118957392,3.05791211615e-05,1793250820572189952
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,722,695,668,641.551654774,890,787,823,655,631.448345226,655,0.42853956678,0.00454827275424,0.0697319560979,0.999999903113,0.000120984920601,-0.000422192841594,2.98353340631e-05,1793250820588856832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,722.124829007,694.875170993,668,642,890,787,822.750341985,655,631.124829007,655,0.427643626948,0.00454016487195,0.0697714512219,0.999999930795,0.000102737934022,-0.000356326892878,2.97562324166e-05,1793250820605523456
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.702194643,694.297805357,668,642,890,787,821.595610714,655,631.702194643,655,0.426775259824,0.00453578236011,0.0698374666131,0.999999962193,9.43482411672e-05,-0.000256267399477,3.22429860301e-05,1793250820622190080
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722.713615344,694,668,642,890,787,821,655,632,655,0.425883061466,0.00452951242304,0.0698646765905,0.999999971531,9.0535435735e-05,-0.000218191303577,3.3669085193e-05,1793250820638856704
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,722.122155608,694,668,642,890,787,821,655,632,655,0.424965476625,0.00452123188129,0.0698505485783,0.999999964935,9.15982219843e-05,-0.000246143857733,3.39653081276e-05,1793250820655523072
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,722.459093065,693.540906935,668,642,889.540906935,787,820.540906935,655,631.540906935,655,0.424013482727,0.00451181706489,0.0698192438668,0.999999952555,7.77577063952e-05,-0.00029617895696,3.35024571389e-05,1793250820672189952
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.037346125,746,723,693.037346125,668,641.962653875,888.962653875,787,820,655,631.037346125,655,0.423048359402,0.00450243236595,0.0697810899804,0.999999934001,6.09231863754e-05,-0.000356650684281,3.29598337014e-05,1793250820688856320
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.610750331,746,723,693.610750331,668,641.389249669,888.389249669,787,820,655,631.610750331,655,0.422023337915,0.00449771780741,0.0697087994576,0.999999880472,5.67945093927e-05,-0.000484423533074,3.41081966323e-05,1793250820705522944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.188981199,723,694,668.188981199,641.188981199,888,787,820,655,632,655.188981199,0.421070500111,0.00449155974256,0.0696745708057,0.999999850661,5.26440968525e-05,-0.0005428817792,3.44468657936e-05,1793250820722189824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.77741435,723,694,668.77741435,641.77741435,888,787,820,655,632,655.77741435,0.420270237676,0.00448235051929,0.0697207939989,0.999999894845,4.84477421791e-05,-0.000454828907375,3.30740760104e-05,1793250820738856704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.640027235,746.640027235,723,693.640027235,669,642,888,787,820,655,632,655.640027235,0.419483047424,0.00447499639009,0.0697873696418,0.999999939079,3.42407085559e-05,-0.00034579376659,3.31130511097e-05,1793250820755523328
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.061043109,746.061043109,723,693.061043109,669,642,888,787,820,655,632,655.061043109,0.418703810479,0.00446877092094,0.0698663279345,0.999999974238,1.39430684838e-05,-0.000223992786449,3.40109591625e-05,1793250820772189952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,722.483455694,692.483455694,668.483455694,641.483455694,888,787,820,655,632,655,0.417853790034,0.0044586252597,0.0698677593859,0.999999972821,4.52884959261e-06,-0.000230232157183,3.64761907097e-05,1793250820788856576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.093202076,746,722.093202076,691.906797924,668.093202076,641.093202076,888,786.906797924,820,655,632,655,0.416995750169,0.00444852559078,0.0698548983495,0.99999996693,-2.11716701553e-06,-0.000254335021597,3.80803151853e-05,1793250820805523200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.665923778,746,722.665923778,691.334076222,668.665923778,641.665923778,888,786.334076222,820,655,632,655,0.416139371786,0.00444103963394,0.0698155131287,0.999999956573,-1.12030437517e-06,-0.000292704864263,3.43037135835e-05,1793250820822189824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.753959963,746.246040037,722.753959963,691.246040037,669,642,887.753959963,786.246040037,820,655,632,655,0.41529394836,0.00443567826727,0.0697813653072,0.999999941977,-6.56879145593e-06,-0.000339046579763,3.24081369554e-05,1793250820838856448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.163492224,746.836507776,722.163492224,691.836507776,669,642,887.163492224,786.836507776,820,655,632,655,0.414463860687,0.00443329108269,0.0697545492446,0.999999920604,-2.10400255709e-05,-0.000396547995149,3.31457788451e-05,1793250820855523072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.581388908,722,691.581388908,668.581388908,642,887,787,819.581388908,655,632,655.418611092,0.413691212767,0.00443817014873,0.069748291336,0.999999914966,-1.06160454393e-05,-0.000410771964465,3.49447439344e-05,1793250820872189696
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.002488346,722,691.002488346,668.002488346,642,887,787,819.002488346,655,632,655.997511654,0.412940558908,0.0044458315189,0.0697499053035,0.999999915861,9.34050619197e-06,-0.000408424665361,3.71500980757e-05,1793250820888856832
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.574969131,746,722.574969131,691,668,642,887,786.425030869,819.574969131,655,632,655.425030869,0.412309393466,0.0044752636995,0.0698118534493,0.999999955585,3.87452632904e-05,-0.000293547198321,3.4034034083e-05,1793250820905523712
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.849054616,746,723,690.849054616,668.150945384,642,887,786.150945384,820,655,632,655.150945384,0.411666378056,0.00449398826064,0.069862217831,0.999999977407,5.47896481626e-05,-0.00020287598466,3.20253101645e-05,1793250820922190336
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.277191319,746,723,690.277191319,668.722808681,642,887,786.722808681,820,655,632,655.722808681,0.410988879936,0.00448259207824,0.0698795540813,0.999999982499,3.34643115841e-05,-0.000181059608825,3.31685130447e-05,1793250820938856704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.304468005,746,723,690,669,642,886.695531995,786.695531995,819.695531995,655,632,655.695531995,0.410309159983,0.00447339600639,0.0698665180326,0.999999977422,2.57844072918e-05,-0.000208285142871,3.32822100143e-05,1793250820955523328
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.895342196,746,723,690,669,642,886.104657804,786.104657804,819.104657804,655,632,655.104657804,0.409627350042,0.00446626952961,0.0698249114461,0.999999959334,3.0940454602e-05,-0.000281643296124,3.24274738082e-05,1793250820972189696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,723,689.523974218,668.523974218,642,886,786,819,655,632,655.476025782,0.408985155302,0.00446694296052,0.0697879426191,0.999999939785,2.48999088934e-05,-0.000344698850543,3.15025524692e-05,1793250820988856320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.945807015,746,723,689,668.054192985,642,886.054192985,786.054192985,819.054192985,655,632,656,0.408360539013,0.00446885569877,0.0697568403915,0.999999920779,1.66840895071e-05,-0.000396520965064,3.05759366528e-05,1793250821005523200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.370742911,746,723,689,668.629257089,642,886.629257089,786.629257089,819.629257089,655,632,656,0.407822918464,0.00446654308361,0.0697725296332,0.99999993409,1.07249015093e-05,-0.000361688413237,2.97782377988e-05,1793250821022190848
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.790068575,668.790068575,642,886.790068575,786.790068575,819.790068575,655.209931425,632,655.790068575,0.40729616369,0.0044676405007,0.0697898591202,0.999999944702,1.40730482501e-05,-0.000330952412267,2.94616212808e-05,1793250821038857984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,688.199214478,668.199214478,642,886.199214478,786.199214478,819.199214478,655.800785522,632,655.199214478,0.406789125033,0.00447492545565,0.069810164847,0.999999951637,3.43094476416e-05,-0.000307649648045,3.00179335971e-05,1793250821055524096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.384652959,746,723,688,668.384652959,642,886,786,819,655.615347041,632,655,0.406289013781,0.00448189036728,0.0698112708548,0.999999949023,4.44761426447e-05,-0.000314664787498,3.10268643491e-05,1793250821072190208
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.964966561,746,723,688,668.964966561,642,886,786,819,655.035033439,632,655,0.405792426233,0.00448869248378,0.0698026105821,0.999999941435,4.95207033209e-05,-0.000337101671507,3.22660276514e-05,1793250821088856576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.455885492,746,723,688,668.455885492,642,886,786,819.544114508,655.544114508,632,655.544114508,0.405385858182,0.00448931522928,0.069803700131,0.99999994358,4.30182214408e-05,-0.00033174863945,3.05324509031e-05,1793250821105523200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.123893237,746,723,687.876106763,668.123893237,642,886.123893237,786.123893237,820,656,632,656,0.404991547708,0.00448840971882,0.0698090353935,0.999999948222,3.58934316691e-05,-0.000318471229625,2.90511659003e-05,1793250821122189824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.706283645,746,723,687.293716355,668.706283645,642,886.706283645,786.706283645,820,656,632,656,0.404621195579,0.00448331777651,0.0698277647678,0.999999959251,2.92111466914e-05,-0.000282475256306,2.92103679184e-05,1793250821138856448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.286985177,669,642,886.713014823,786.713014823,820,656,632,656,0.404266773733,0.00448017648657,0.0698415381223,0.999999966275,2.60970252685e-05,-0.000256700998631,2.95516904783e-05,1793250821155523328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,687.865968297,669,642,886.134031703,786.134031703,820,656,632,656,0.403928560448,0.00447901992133,0.0698502688891,0.999999970074,2.66133928943e-05,-0.000241327001577,3.00783146927e-05,1793250821172190208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.554662588,669,642,886.445337412,786,820,655.554662588,632,656,0.403603804589,0.00447556274676,0.0698435763349,0.999999967519,1.4414613299e-05,-0.00025280644085,2.90468306458e-05,1793250821188856832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.024523951,746,723,687,668.975476049,642,886.975476049,786,820,655.024523951,632,656,0.403284962115,0.00447147076902,0.0698322981665,0.99999996253,-1.50020921074e-06,-0.000272356709276,2.75599769933e-05,1793250821205523968
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.597032965,746,723,687,668.402967035,642,886.402967035,786,820,655.597032965,632,656,0.403007672874,0.0044686793553,0.0698223677863,0.999999957055,-1.48652179339e-05,-0.000291500972645,2.63854108926e-05,1793250821222190336
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.650763264,746,723,687,668.174618368,642,886,786.174618368,820,655.825381632,632,656,0.402741339926,0.0044668721692,0.0698134568828,0.999999952068,-2.40587065079e-05,-0.000307594236054,2.59036973255e-05,1793250821238856704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.471461523,746,723,687,668.764269238,642,886,786.764269238,820,655.235730762,632,656,0.402501047909,0.00446740429327,0.0698069690702,0.999999949295,-2.33373344824e-05,-0.000316435887935,2.70687541312e-05,1793250821255523072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786.65237001,819.65237001,655,632,656,0.402286442715,0.0044684896303,0.0698033633419,0.999999947231,-2.2286784705e-05,-0.000322845701935,2.84931078293e-05,1793250821272189696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786.073198775,819.073198775,655,632,656,0.402088946373,0.0044699434385,0.0698016772441,0.999999945654,-2.10169838448e-05,-0.00032763577518,3.0090168048e-05,1793250821288856576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.504030515,746,723,687,669,642,886,786,819.504030515,655.504030515,632,655.495969485,0.401922702572,0.00447903821382,0.0698006355544,0.99999994571,-6.85938446656e-06,-0.000327898637761,3.1865831225e-05,1793250821305523200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.91987548,655.91987548,632.08012452,655,0.401765565766,0.00449015526804,0.0697997510706,0.999999945798,1.07399088145e-05,-0.000327376573338,3.33527315618e-05,1793250821322190080
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.349013818,655.349013818,632.650986182,655,0.401636514875,0.00450688782699,0.0697992584415,0.999999945579,3.79991953456e-05,-0.000326058436651,3.29128004062e-05,1793250821338856960
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.769608088,746,723,687,669,642,886,786,819.230391912,655,632.769608088,655.230391912,0.401515866355,0.00451483570961,0.069798148506,0.999999944443,6.04719593011e-05,-0.000326614047252,2.79532414942e-05,1793250821355523584
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.176760758,746,723,687,669,642,886,786,819.823239242,655,632.176760758,655.823239242,0.401408436555,0.00450896342929,0.0697960674162,0.999999942541,7.5414504856e-05,-0.00033011746067,1.58833480871e-05,1793250821372190208
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.406012983,746.406012983,723,687,669,642,886,786,819.593987017,655.406012983,632,656,0.401319285856,0.00450302705762,0.0697951206995,0.999999941822,7.73890038307e-05,-0.000331902741245,1.44308276366e-05,1793250821388856832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.984507275,746.984507275,723,687,669,642,886,786,819.015492725,655.984507275,632,656,0.401237900437,0.00449706345899,0.0697946558841,0.999999941689,7.38544528492e-05,-0.000332958129329,1.74887504276e-05,1793250821405523456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,746.441563968,723,687,669,642,886.558436032,786,819.558436032,656,632,656,0.40118191038,0.00449840614851,0.0697979005807,0.999999943979,7.52135188526e-05,-0.000325637521218,1.8572316463e-05,1793250821422189824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,668.868733228,642,886.868733228,786,820,656,632,655.868733228,0.401130464058,0.00449880372378,0.069801066962,0.999999946097,7.56546629032e-05,-0.000318895259217,1.968308588e-05,1793250821438856448
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,668.299149517,642,886.299149517,786,820,656,632,655.299149517,0.401091856387,0.00449537408936,0.0698036309829,0.999999947578,7.25810877955e-05,-0.000314853813082,2.10661074484e-05,1793250821455523328
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.283791644,723,687,668.283791644,642,886,786,820,656,632,655.283791644,0.401059268344,0.00449399594282,0.0698065439905,0.999999949086,7.12291774175e-05,-0.000310280621464,2.19020506003e-05,1793250821472190208
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.881508654,723,687,668.881508654,642,886,786,820,656,632,655.881508654,0.401033339105,0.00449488711595,0.0698098430412,0.99999995063,7.17817421488e-05,-0.000305119221756,2.21328253237e-05,1793250821488856832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.536271669,746.536271669,723,687,669,642,886.463728331,786,819.536271669,655.536271669,632,656,0.401015497093,0.00449380615243,0.0698135700883,0.99999995263,6.9231823283e-05,-0.000299065238599,2.25051587363e-05,1793250821505523456
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.958085165,786,819,655.041914835,632,656,0.400999935361,0.00449222011576,0.0698169969805,0.999999954496,6.61117629504e-05,-0.000293451862502,2.28930528046e-05,1793250821522190080
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.382462232,786,819,655.617537768,632,656,0.400987947375,0.00449041187358,0.0698152544768,0.999999953705,6.54996951644e-05,-0.000296258961883,2.3033407584e-05,1793250821538856448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786,819.197270085,656,632,655.802729915,0.400979632186,0.00448941500895,0.0698153209353,0.999999953849,6.51507075253e-05,-0.000295834049662,2.32476670827e-05,1793250821555523328
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886,786,819.78513903,656,632,655.21486097,0.400978589215,0.00449002468885,0.0698189691768,0.999999955825,6.53226240708e-05,-0.000289009687239,2.36082594499e-05,1793250821572189952
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.367559223,746,723,687,669,642,886.367559223,786,819.632440777,655.632440777,632,655,0.400975648669,0.00448991259081,0.0698203716878,0.999999956561,6.36769919605e-05,-0.000286832069055,2.34569551549e-05,1793250821588856576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.946840791,746,723,687,669,642,886.946840791,786,819.053159209,655.053159209,632,655,0.400971615077,0.00448938473249,0.0698204806077,0.999999956596,6.09844111025e-05,-0.000287331079891,2.30107869028e-05,1793250821605523200
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.475449343,746,723,687,669,642,887,786,819.524550657,655,632.524550657,655.524550657,0.400971130376,0.00448884449131,0.069820925188,0.999999956908,6.05209527945e-05,-0.000286326775725,2.32011685708e-05,1793250821622189824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.898197089,786.101802911,819.898197089,655.101802911,632.898197089,656,0.400971262589,0.00448865966184,0.0698216641355,0.999999957309,6.06962521121e-05,-0.000284868655373,2.33984389003e-05,1793250821638856448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,687,669,642,886.322336445,786.677663555,819.322336445,655.677663555,632.322336445,656,0.400972597778,0.00449013567694,0.0698236159108,0.999999957993,6.27971948776e-05,-0.000282004599544,2.33282881339e-05,1793250821655523328
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.258118431,746,723,686.741881569,669,642,886.258118431,786.741881569,819,655.741881569,632,656,0.400973468122,0.00449123852152,0.0698245590326,0.999999958544,6.3820964073e-05,-0.000279830198147,2.3089412519e-05,1793250821672189696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.8444146,746,723,686.1555854,669,642,886.8444146,786.1555854,819,655.1555854,632,656,0.400973747453,0.00449186690869,0.0698242197296,0.999999958939,6.34751901869e-05,-0.000278532638946,2.26360162236e-05,1793250821688856320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.572579314,746,723,686.427420686,669.427420686,642,886.572579314,786,819.427420686,655.427420686,632,656,0.40097230011,0.00449080972835,0.0698241850779,0.999999958819,6.15103717323e-05,-0.000279387112349,2.2824096726e-05,1793250821705522944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.009129379,746,723,687,669.990870621,642,886.009129379,786,820,656,632,656,0.400970262289,0.00448918215222,0.0698242572419,0.999999958509,5.90212750875e-05,-0.000280996690805,2.32367580522e-05,1793250821722189824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.584089584,746,723,687,669.415910416,642,886.584089584,786,820,656,632,656,0.400970285071,0.00448993957404,0.0698241290071,0.99999995837,6.02861405112e-05,-0.000281225850105,2.32069232519e-05,1793250821738856448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,746.162517793,723,687,669,642,886.837482207,786,820,656,632,655.837482207,0.400970032893,0.00449064056176,0.0698239932823,0.999999958215,6.15089332431e-05,-0.000281521365219,2.30829339242e-05,1793250821755523328
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,746.75001469,723,687,669,642,886.24998531,786,820,656,632,655.24998531,0.400969061698,0.00449119397597,0.0698238379714,0.999999958022,6.26217070849e-05,-0.000281990398764,2.27127333611e-05,1793250821772189952
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ffcb08e0c6452287735e449f4dd6e37b16c8f3e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+268,4.466666667,pose2_to_pose3_retreat,0.621051624217,0.0101501093731,1.06003360686,0.591622300724,0.0188227424949,1.05970499885
+269,4.483333333,pose2_to_pose3_retreat,0.621051531106,0.0101500991617,1.06003357264,0.591622207784,0.0188227328872,1.0597049652
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+271,4.516666667,pose2_to_pose3_retreat,0.621051365535,0.010150081004,1.06003351177,0.591622042519,0.0188227158028,1.05970490535
+272,4.533333333,pose2_to_pose3_retreat,0.621050658675,0.0101500034844,1.06003325195,0.591621336962,0.0188226428653,1.05970464984
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+274,4.566666667,pose2_to_pose3_retreat,0.621039727799,0.0101500138467,1.06003361037,0.59161040796,0.0188226595654,1.05970500691
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+288,4.800000000,pose2_to_pose3_retreat,0.619945673336,0.0101501511076,1.06003338198,0.59051635047,0.0188227852132,1.05970478261
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+386,6.433333333,pose2_to_pose3_retreat,0.575677145862,0.010150070222,1.06003337405,0.546247824814,0.0188227057043,1.05970477055
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+388,6.466666667,pose2_to_pose3_retreat,0.575670691379,0.0101501955832,1.06003346737,0.546241369351,0.0188228276851,1.05970486243
+389,6.483333333,pose2_to_pose3_retreat,0.575669535642,0.0101501888635,1.06003360974,0.546240213597,0.0188228208695,1.05970500382
+390,6.500000000,pose2_to_pose3_retreat,0.575668708299,0.0101501840533,1.06003371166,0.546239386241,0.0188228159906,1.05970510503
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+396,6.600000000,pose2_to_pose3_retreat,0.575667068029,0.0101501656741,1.06003378806,0.546237746309,0.0188227987138,1.05970518033
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+404,6.733333333,pose2_to_pose3_retreat,0.575664618335,0.0101501727271,1.06003350959,0.546235295451,0.0188228016788,1.05970489808
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e9fe0fec66a42202c16ed4898f2127926cf731e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80090a19aa060b24cb67e9c4be6d0fc7d1a8a74d37e36c0242a21da02e53bfd
+size 26046234
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71bc3b95412eba6443d6a2e6144bcfdfc4ecb6e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+21,0.350000000,BASELINE,769,746,723,687,669,642,887,786,819.194218189,656,632.194218189,655,0.400971032735,0.00449128546672,0.0698291677847,0.999999960304,5.99325757531e-05,-0.000274380038089,2.27039842293e-05,1793250822416863488
+22,0.366666667,BASELINE,769,746,723,687,669,642,887,786,819.776674257,656,632.776674257,655,0.400970905384,0.00449084469963,0.0698294443294,0.999999960528,5.78493685741e-05,-0.000274037228075,2.23704669301e-05,1793250822433530112
+23,0.383333333,BASELINE,769,746,723,686.64739152,669,642,887,786,819.64739152,656,632.64739152,655.35260848,0.400969994809,0.00449095453451,0.0698283721782,0.999999960129,5.79122971273e-05,-0.000275483339868,2.22904522828e-05,1793250822450196992
+24,0.400000000,BASELINE,769,746,723,686.075512858,669,642,887,786,819.075512858,656,632.075512858,655.924487142,0.400968597185,0.00449140676211,0.0698264613382,0.999999959337,5.93098036184e-05,-0.000278041895684,2.23680786566e-05,1793250822466863616
+25,0.416666667,BASELINE,768.500617982,746,723,686.499382018,669,642,886.500617982,786,819.499382018,655.500617982,632,656,0.400969698768,0.00449060138787,0.0698277347557,0.99999996002,5.96674739784e-05,-0.000275494222824,2.2402982133e-05,1793250822483530752
+26,0.433333333,BASELINE,768,746,723,686.92317893,669,642,886,786,819.92317893,655,632,655.92317893,0.4009708832,0.00448993454999,0.069829119564,0.999999960712,5.99425326198e-05,-0.000272912864307,2.23994776807e-05,1793250822500197632
+27,0.450000000,BASELINE,768,746,723,686.331771118,669,642,886,786,819.331771118,655,632,655.331771118,0.400970075777,0.00449147726345,0.0698280055939,0.999999960013,6.07238653069e-05,-0.000275309384499,2.21822342799e-05,1793250822516864256
+28,0.466666667,BASELINE,768,745.745168832,723,686,669,642,886,786,819,655.254831168,632.254831168,655,0.400969876579,0.0044918093462,0.0698275022755,0.999999959833,6.02477877494e-05,-0.000276070712357,2.20974773361e-05,1793250822533531392
+29,0.483333333,BASELINE,768,745.16470722,723,686,669,642,886,786,819,655.83529278,632.83529278,655,0.400970454589,0.00449059445082,0.0698277792652,0.999999960321,5.81649559118e-05,-0.000274742545241,2.21820153329e-05,1793250822550199040
+30,0.500000000,BASELINE,768,745.410946872,723,686,669,642,886,786,819,655.589053128,632.589053128,655.410946872,0.400970211535,0.00449099272535,0.0698276314531,0.999999960309,5.8672759061e-05,-0.000274659936529,2.24102613224e-05,1793250822566865408
+31,0.516666667,BASELINE,768,745.98469638,723,686,669,642,886,786,819,655.01530362,632.01530362,655.98469638,0.400969643206,0.00449203008084,0.0698273153496,0.999999960098,6.02068803398e-05,-0.000275070774095,2.26954393409e-05,1793250822583531008
+32,0.533333333,BASELINE,768.560393797,746,723,686,669,642,886,786,819,655,632,655.439606203,0.400970041979,0.00449311612242,0.0698278493429,0.999999959989,6.33735541899e-05,-0.000274775381626,2.24653377412e-05,1793250822600197376
+33,0.550000000,BASELINE,768.859918278,746,723,686.140081722,669,642,886,786,819,655,632.140081722,655.140081722,0.400970210679,0.00449353060971,0.0698282749382,0.999999959945,6.4933170238e-05,-0.000274584509887,2.22785269402e-05,1793250822616864000
+34,0.566666667,BASELINE,768.267517622,746,723,686.732482378,669,642,886,786,819,655,632.732482378,655.732482378,0.400969550903,0.00449177236366,0.069828275298,0.999999960126,6.11591941058e-05,-0.000274793623695,2.22770958715e-05,1793250822633530624
+35,0.583333333,BASELINE,768,746,723.317817303,687,669,642,886,786.317817303,819,655,633,656,0.400969198521,0.00449082649095,0.0698279270079,0.999999960061,5.88077532239e-05,-0.000275542920246,2.22437633265e-05,1793250822650197248
+36,0.600000000,BASELINE,768,746,723.897334173,687,669,642,886,786.897334173,819,655,633,656,0.400969099254,0.00449054954877,0.0698272916298,0.999999959802,5.76276668448e-05,-0.000276737018251,2.21841622223e-05,1793250822666864128
+37,0.616666667,BASELINE,768.47133939,746,723.52866061,687.47133939,669,642,886,786.52866061,819.47133939,655.47133939,633,656,0.400971041649,0.00449023876524,0.069828572082,0.99999996066,5.62292644588e-05,-0.000273907366968,2.22162011225e-05,1793250822683530752
+38,0.633333333,BASELINE,768.954618015,746,723,687.954618015,669,642,886.045381985,786.045381985,820,655.954618015,632.954618015,656,0.400973167594,0.00449009247232,0.0698301032746,0.999999961626,5.51286301796e-05,-0.000270581461043,2.22426332603e-05,1793250822700197120
+39,0.650000000,BASELINE,768.365920797,746,723,687.365920797,669,642,886.634079203,786.634079203,820,655.365920797,632.365920797,656,0.40097222848,0.00449200269714,0.069829698145,0.999999961161,5.81556146344e-05,-0.00027168589041,2.1965731897e-05,1793250822716863488
+40,0.666666667,BASELINE,768,746.219026077,723,686.780973923,669,642,886.780973923,786.780973923,819.780973923,655.219026077,632,655.780973923,0.40097154998,0.00449303961741,0.0698292996788,0.999999960739,6.07063137088e-05,-0.000272683266992,2.19289633166e-05,1793250822733530112
+41,0.683333333,BASELINE,768,746.797812797,723,686.202187203,669,642,886.202187203,786.202187203,819.202187203,655.797812797,632,655.202187203,0.400971299551,0.00449264209374,0.0698289121575,0.999999960398,6.2474691441e-05,-0.000273504804267,2.22866241547e-05,1793250822750196992
+42,0.700000000,BASELINE,768.375359879,746.624640121,723,686.375359879,669,642,886.375359879,786,819,656,632,655,0.40097058131,0.00449270762054,0.069828217608,0.999999960175,6.22211029528e-05,-0.00027438355396,2.21906247689e-05,1793250822766863872
+43,0.716666667,BASELINE,768.95224141,746.04775859,723,686.95224141,669,642,886.95224141,786,819,656,632,655,0.400969611913,0.00449302174797,0.0698273582225,0.999999960015,6.08819695858e-05,-0.000275293019592,2.18510661557e-05,1793250822783530752
+44,0.733333333,BASELINE,768.472920994,746,723,687,669,642,886.472920994,786,819,655.472920994,632,655.527079006,0.40097048416,0.00449283990255,0.0698281769295,0.999999960414,5.97189422713e-05,-0.000274098625927,2.17911742952e-05,1793250822800197632
+45,0.750000000,BASELINE,768,746,723,687,669,642,886,786,819,655,632,655.89508416,0.400971381476,0.00449265534047,0.0698291009526,0.999999960794,5.909940993e-05,-0.000272845371157,2.18019623901e-05,1793250822816864256
+46,0.766666667,BASELINE,768,746,723,687,669,642,886,786,819,655,632,655.302447368,0.40097162259,0.00449266625482,0.0698298104464,0.999999960854,6.0932523844e-05,-0.00027220124851,2.20239741114e-05,1793250822833530624
+47,0.783333333,BASELINE,768,746,723,687.282346233,669,642,886,786,819.282346233,655.282346233,632,655,0.400971257477,0.00449200157085,0.0698296694213,0.999999960734,6.07576343576e-05,-0.000272665053445,2.22521058489e-05,1793250822850196992
+48,0.800000000,BASELINE,768,746,723,687.85896541,669,642,886,786,819.85896541,655.85896541,632,655,0.40097026053,0.00449063275034,0.0698286419505,0.999999960421,5.84899207501e-05,-0.000274283586333,2.24866161475e-05,1793250822866863616
+49,0.816666667,BASELINE,768,746,723,687.570011577,669.429988423,642,886,786,819.570011577,656,632,655.429988423,0.40097179344,0.00449035298747,0.069829662236,0.999999960986,5.74786062493e-05,-0.000272434495043,2.24415078087e-05,1793250822883530240
+50,0.833333333,BASELINE,768,746,723,687.000800538,669.999199462,642,886,786,819.000800538,656,632,655.999199462,0.400974145471,0.0044904258422,0.0698313455488,0.999999961829,5.68740916063e-05,-0.000269462648516,2.23058639058e-05,1793250822900196864
+51,0.850000000,BASELINE,768.594127602,746,722.405872398,687,670,642,886.594127602,786,819,655.405872398,632,655.405872398,0.40097310669,0.0044896697204,0.0698301090189,0.999999961416,5.6984633647e-05,-0.000270957372154,2.24323275103e-05,1793250822916863744
+52,0.866666667,BASELINE,768.816010116,746,722.183989884,686.816010116,669.816010116,642,886.816010116,786,819,655.183989884,632,655.183989884,0.400972064957,0.00448899809501,0.0698292355923,0.999999961083,5.6747904442e-05,-0.000272224120443,2.25452070302e-05,1793250822933530368
+53,0.883333333,BASELINE,768.237099113,746,722.762900887,686.237099113,669.237099113,642,886.237099113,786,819,655.762900887,632,655.762900887,0.400971027141,0.00448851034113,0.0698291503679,0.999999960928,5.5763620748e-05,-0.00027298803348,2.2628136929e-05,1793250822950196992
+54,0.900000000,BASELINE,768,746,723,686.341220667,669,642,886.341220667,786,819.341220667,656,632,656,0.400969887848,0.00448899963985,0.0698289442354,0.999999960656,5.6933547378e-05,-0.000273736783323,2.27059232206e-05,1793250822966863616
+55,0.916666667,BASELINE,768,746,723,686.919130319,669,642,886.919130319,786,819.919130319,656,632,656,0.400968678163,0.00449016667476,0.0698286542344,0.999999960296,5.9597750047e-05,-0.000274475015125,2.27801416263e-05,1793250822983530240
+56,0.933333333,BASELINE,768,746,723,686.506114557,669,642,886.506114557,786,819.506114557,655.506114557,632,655.506114557,0.4009712648,0.00449167657855,0.0698297443279,0.999999960813,6.16991834973e-05,-0.000272142592624,2.25058750682e-05,1793250823000196864
+57,0.950000000,BASELINE,768,746,723,686,669,642,886,786,819,655,632,655,0.40097383044,0.00449297215565,0.0698307396415,0.999999961309,6.34310474845e-05,-0.000269932668114,2.22325962387e-05,1793250823016863488
+58,0.966666667,BASELINE,768,746,723,686,669,642,886,786,819,655,632,655,0.40097165145,0.00449226108161,0.0698293627079,0.999999960673,6.30976225062e-05,-0.000272344303158,2.2387872217e-05,1793250823033530112
+59,0.983333333,BASELINE,768.242905991,746,723,686.242905991,669,642,886,786,819,655.242905991,632,655.242905991,0.400971032115,0.00449183231667,0.0698292467966,0.999999960629,6.19976016326e-05,-0.000272751305213,2.24594799943e-05,1793250823050196736
+60,1.000000000,BASELINE,768.821844036,746,723,686.821844036,669,642,886,786,819,655.821844036,632,655.821844036,0.400972570381,0.0044917940933,0.0698308753621,0.999999961404,5.98370848753e-05,-0.000270385132134,2.24153426148e-05,1793250823066863360
+61,1.016666667,BASELINE,768.601717958,746,723,687,669,642,886,786,819.398282042,656,632,656,0.400972268518,0.00449204198231,0.069830684885,0.99999996132,6.00697959727e-05,-0.000270661441476,2.22188408822e-05,1793250823083529984
+62,1.033333333,BASELINE,768.026391305,746,723,687,669,642,886,786,819.973608695,656,632,656,0.400971148678,0.00449241705419,0.0698296858058,0.999999960854,6.13663465109e-05,-0.000272112389083,2.19546100438e-05,1793250823100196608
+63,1.050000000,BASELINE,768,746,723,687,669,642,886,786,819.449795173,655.449795173,632,655.449795173,0.400971087614,0.00449373601554,0.0698289756171,0.999999960554,6.31803386797e-05,-0.000272815998645,2.17256022083e-05,1793250823116863232
+64,1.066666667,BASELINE,768,746,723,687,669,642,886.130288972,786,819,655,632,655,0.400971337423,0.00449442232589,0.0698286854239,0.999999960452,6.39683444757e-05,-0.000273015246741,2.16089842837e-05,1793250823133530112
+65,1.083333333,BASELINE,768,746,723,687,669,642,886.72252361,786,819,655,632,655,0.400972508968,0.00449270464683,0.0698298351001,0.999999961027,6.10304641631e-05,-0.00027155364893,2.18848459552e-05,1793250823150196736
+66,1.100000000,BASELINE,768,746,723,686.693004752,669,642,886.693004752,786,819,655.306995248,632,655,0.400972404454,0.00449138175137,0.0698300746758,0.999999961217,5.83033518116e-05,-0.000271444360073,2.19932181425e-05,1793250823166863104
+67,1.116666667,BASELINE,768,746,723,686.115376648,669,642,886.115376648,786,819,655.884623352,632,655,0.400971175025,0.00449040687901,0.0698295119485,0.999999961069,5.57620429315e-05,-0.000272527204512,2.19539393089e-05,1793250823183529728
+68,1.133333333,BASELINE,768,746,723,686,669,642,886.459510978,786,819.459510978,655.540489022,632,655.459510978,0.400970794455,0.00449113750022,0.0698293302553,0.99999996082,5.80545354896e-05,-0.000272982404854,2.16742262204e-05,1793250823200196608
+69,1.150000000,BASELINE,768,746,723,686.034536038,669,642,886.965463962,786,820,655,632,656,0.400970707216,0.00449221021062,0.0698293327756,0.999999960594,6.13120227425e-05,-0.000273123071091,2.1381436888e-05,1793250823216863488
+70,1.166666667,BASELINE,768,746,723,686.622729312,669,642,886.377270688,786,820,655,632,656,0.400971925852,0.00449194274922,0.0698307638201,0.999999961271,6.06978147664e-05,-0.000270732782294,2.18410839618e-05,1793250823233530112
+71,1.183333333,BASELINE,768.207897586,746,723,687,669,642,886.207897586,786.207897586,819.792102414,655.207897586,632,655.792102414,0.400971943893,0.0044915881376,0.0698308949996,0.999999961401,6.0164521404e-05,-0.000270346052734,2.2169151384e-05,1793250823250196736
+72,1.200000000,BASELINE,768.787655232,746,723,687,669,642,886.787655232,786.787655232,819.212344768,655.787655232,632,655.212344768,0.400969814467,0.00449107764299,0.0698287011503,0.999999960553,5.97759574358e-05,-0.000273543027967,2.22618663809e-05,1793250823266863360
+73,1.216666667,BASELINE,769,746,723,687,669,642,887,786.635338291,819.364661709,656,632,655,0.400969931505,0.00449113791286,0.0698286920954,0.999999960609,5.93698697641e-05,-0.000273430779922,2.22215765515e-05,1793250823283529984
+74,1.233333333,BASELINE,769,746,723,687,669,642,887,786.059921877,819.940078123,656,632,655,0.40097134688,0.0044915280537,0.0698299457333,0.999999961187,5.89536543646e-05,-0.000271405979963,2.21044171349e-05,1793250823300196608
+75,1.250000000,BASELINE,768.484576928,746,723,686.484576928,669,642,886.484576928,786,819.484576928,656,632,655,0.400970506951,0.00449208239527,0.0698299157202,0.999999960964,6.08699146209e-05,-0.0002718043108,2.21116480146e-05,1793250823316863232
+76,1.266666667,BASELINE,768,746,722.906930186,686.093069814,669,642,886.093069814,786,819.093069814,655.906930186,632,655,0.400969742439,0.00449241331639,0.0698298838136,0.999999960767,6.2203009001e-05,-0.00027222606862,2.21245816996e-05,1793250823333529856
+77,1.283333333,BASELINE,768,746,722.316949559,686.683050441,669,642,886.683050441,786,819.683050441,655.316949559,632,655,0.40097078029,0.00449144946166,0.0698306384661,0.999999961224,5.89749129956e-05,-0.000271269044513,2.20907633145e-05,1793250823350196480
+78,1.300000000,BASELINE,768,746,722.268212594,687,669.268212594,642,887,786,819.731787406,655,632,655.268212594,0.400972445576,0.00449099312474,0.0698312338081,0.999999961707,5.78911841108e-05,-0.000269714940186,2.20915247819e-05,1793250823366863360
+79,1.316666667,BASELINE,768,746,722.847781154,687,669.847781154,642,887,786,819.152218846,655,632,655.847781154,0.400974839221,0.00449112594256,0.0698316442135,0.999999962228,5.92967550312e-05,-0.00026746771229,2.21324284508e-05,1793250823383529984
+80,1.333333333,BASELINE,768,746.424044591,723,687,669.575955409,642,887,786,819.424044591,655,632.424044591,655.575955409,0.400973246035,0.004492201921,0.0698303679216,0.999999961495,6.10250138393e-05,-0.000269821233854,2.19849799789e-05,1793250823400197120
+81,1.350000000,BASELINE,768,746.999130815,723,687,669.000869185,642,887,786,819.999130815,655,632.999130815,655.000869185,0.400970232768,0.00449361384648,0.0698284908402,0.9999999603,6.28682118642e-05,-0.000273813509079,2.1770441833e-05,1793250823416864512
+82,1.366666667,BASELINE,768,746.427364917,723,687,669,642,887,786,819.427364917,655,632.427364917,655,0.400969549428,0.00449323275324,0.0698280498023,0.999999960264,6.15105573657e-05,-0.000274254482621,2.17348128658e-05,1793250823433530880
+83,1.383333333,BASELINE,768,746,723,686.849139628,669,642,886.849139628,786,819,655.150860372,632,655.150860372,0.400969569125,0.00449257705044,0.0698282313563,0.9999999605,5.98585104143e-05,-0.000273760006208,2.17408687166e-05,1793250823450197248
+84,1.400000000,BASELINE,768,746,723,686.257100982,669,642,886.257100982,786,819,655.742899018,632,655.742899018,0.400971634478,0.00449112621241,0.0698302272702,0.999999961518,5.73597066099e-05,-0.000270545606766,2.18680362802e-05,1793250823466863616
+85,1.416666667,BASELINE,768.326668837,746,723,686.326668837,669,642,886,786,819,656,632,655.673331163,0.400972322635,0.00449070375192,0.0698310168322,0.999999961789,5.64280279536e-05,-0.000269726360783,2.20137383625e-05,1793250823483530240
+86,1.433333333,BASELINE,768.904091402,746,723,686.904091402,669,642,886,786,819,656,632,655.095908598,0.400971953643,0.0044910706827,0.0698308803885,0.999999961495,5.6699287796e-05,-0.000270745654788,2.21736676889e-05,1793250823500197376
+87,1.450000000,BASELINE,768.521382076,746,723,687,669,642,886,786.478617924,819,655.521382076,632,655,0.400970911563,0.0044914806971,0.0698302289585,0.999999961076,5.78364981849e-05,-0.000272064582337,2.20130814047e-05,1793250823516863744
+88,1.466666667,BASELINE,768,746,723,687,669,642,886,786.945985761,819,655,632,655.054014239,0.400969745735,0.00449191922753,0.0698294300881,0.999999960633,5.91347571295e-05,-0.000273423291413,2.18192874385e-05,1793250823533530112
+89,1.483333333,BASELINE,768,746,723,687,669,642,886,786.356241286,819,655,632,655.643758714,0.400968682262,0.00449255547545,0.0698281862366,0.999999960242,6.03196236558e-05,-0.000274584627233,2.19293216774e-05,1793250823550196736
+90,1.500000000,BASELINE,768,746,723,687,669,642,886,786,819,655,632,656,0.400968577251,0.00449306629971,0.0698278283735,0.999999960144,6.11647056479e-05,-0.000274754262703,2.19205184018e-05,1793250823566863360
+91,1.516666667,BASELINE,768,746,723,687,669,642,886,786,819,655,632,656,0.400969934505,0.00449338577288,0.069828822208,0.999999960497,6.14913994897e-05,-0.000273410922779,2.17304121427e-05,1793250823583529984
+92,1.533333333,BASELINE,768,746,723,687,669,642,886,786,819,655.389300725,632,656,0.400969697145,0.00449261402034,0.0698285952983,0.999999960397,6.04901673253e-05,-0.000273989429555,2.18124012687e-05,1793250823600196608
+93,1.550000000,BASELINE,768,746,723,687,669,642,886,786,819,655.964440034,632,656,0.400968698572,0.00449132135474,0.069827785648,0.999999960079,5.88550296425e-05,-0.000275485358775,2.20242792217e-05,1793250823616863488
+94,1.566666667,BASELINE,768,746,723,687,669,642,886,786,819,655.461824739,632,656,0.400970245219,0.00449088572295,0.0698288616423,0.999999960757,5.99820335786e-05,-0.000272766183007,2.20787566808e-05,1793250823633530880
+95,1.583333333,BASELINE,768.115499464,746,723,687,669,642,886,786,819,655,632,656,0.400971650695,0.00449087842892,0.0698298391289,0.999999961298,6.12796347357e-05,-0.000270483119267,2.20794436174e-05,1793250823650198272
+96,1.600000000,BASELINE,768.708029034,746,723,687,669,642,886,786,819,655,632,656,0.400971780336,0.00449240695809,0.069829896511,0.999999961044,6.2530001646e-05,-0.000271148571243,2.19008104525e-05,1793250823666864896
+97,1.616666667,BASELINE,768.707475283,746,723,686.707475283,669,642,886,786,819.292524717,655,632,655.707475283,0.400971219415,0.0044925968954,0.0698298956018,0.999999960913,6.1774607081e-05,-0.000271807190343,2.19015981762e-05,1793250823683531264
+98,1.633333333,BASELINE,768.130783975,746,723,686.130783975,669,642,886,786,819.869216025,655,632,655.130783975,0.400969987662,0.00449148648749,0.0698298380668,0.999999960895,5.90707603345e-05,-0.000272459171758,2.20766803181e-05,1793250823700197376
+99,1.650000000,BASELINE,768,746,723,686.444672109,669.444672109,642,886,786,820,655.444672109,632,655,0.400970231163,0.00449198241155,0.0698299917917,0.999999960781,5.92794054514e-05,-0.000272829551268,2.20915884842e-05,1793250823716864000
+100,1.666666667,BASELINE,768.020230184,746,723,687,669.979769816,642,886,786.020230184,819.979769816,656,632,655,0.400970909014,0.00449288033491,0.0698301950233,0.99999996066,6.02625119314e-05,-0.000273060868082,2.20629095799e-05,1793250823733530368
+101,1.683333333,BASELINE,768.608832604,746,723,687,669.391167396,642,886,786.608832604,819.391167396,656,632,655,0.400971633508,0.00449183587819,0.0698300483169,0.999999961102,5.90045084435e-05,-0.000271705666396,2.21295220381e-05,1793250823750196736
+102,1.700000000,BASELINE,769.194231781,746,723,687,669,642,886,786.805768219,819,655.805768219,632,655,0.400971583732,0.00449164776746,0.0698298267333,0.999999961249,5.87518011321e-05,-0.000271222759901,2.21165764933e-05,1793250823766863616
+103,1.716666667,BASELINE,769.773284476,746,723,687,669,642,886,786.226715524,819,655.226715524,632,655,0.400969999937,0.00449315628883,0.0698294567995,0.99999996081,6.04908328755e-05,-0.000272468084818,2.19460069752e-05,1793250823783530752
+104,1.733333333,BASELINE,769.649099558,746,723,687,669,642,886,786,819.350900442,655,632.350900442,655.350900442,0.400970067522,0.00449246034751,0.0698296825098,0.999999960909,5.95692962359e-05,-0.000272307090387,2.19800329624e-05,1793250823800197632
+105,1.750000000,BASELINE,769.072408016,746,723,687,669,642,886,786,819.927591984,655,632.927591984,655.927591984,0.400971197709,0.00449034591835,0.0698302914943,0.999999961348,5.69357851078e-05,-0.000271241183014,2.21457083662e-05,1793250823816864256
+106,1.766666667,BASELINE,768.501429444,746,723.498570556,686.501429444,669.498570556,642,886,786,819.501429444,655,632.501429444,655.501429444,0.400971546671,0.00449074105389,0.069830686683,0.99999996148,5.71911886013e-05,-0.000270708981498,2.20357144075e-05,1793250823833530624
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669,642,886,786,819,655,632,655,0.400971996077,0.00449259038846,0.0698304950628,0.999999961163,6.07873122651e-05,-0.000271089486891,2.21329472337e-05,1793250823876243200
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.421017448,746,723,687,669,642,886.578982552,786,819.578982552,655,632.578982552,655,0.400971787946,0.00449127085957,0.0698308013266,0.999999961225,6.02672300288e-05,-0.000270959622013,2.23333076694e-05,1793250823892910336
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.842463266,786,819.842463266,655.157536734,633,655,0.400971607884,0.00449034343577,0.069831008613,0.999999961259,5.99326522555e-05,-0.000270893743321,2.24998855858e-05,1793250823909577472
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.265050669,786,819.265050669,655.734949331,633,655,0.400971502634,0.00449046107248,0.0698309520995,0.99999996122,6.00924914109e-05,-0.000270998404216,2.25764244546e-05,1793250823926244096
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.311300163,746.311300163,723,687,669,642,886.311300163,786,819,656,632.688699837,655.311300163,0.400972310242,0.00449130058949,0.0698316427364,0.999999961518,6.01212144487e-05,-0.000269902866633,2.23918833607e-05,1793250823942910464
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.886750015,746.886750015,723,687,669,642,886.886750015,786,819,656,632.113249985,655.886750015,0.400973892442,0.00449275264861,0.0698329673581,0.999999962101,6.00386806074e-05,-0.000267788916296,2.19858062695e-05,1793250823959576320
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.528560003,746.528560003,723,687,669,642.471439997,886.528560003,786.471439997,819,655.528560003,632.471439997,656,0.400971351436,0.00449259472324,0.0698310148004,0.999999961263,5.96057025591e-05,-0.000271008596115,2.17900315011e-05,1793250823976242688
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.057900479,746,723,687,669,642.942099521,886,786.942099521,819,655.057900479,632.942099521,655.942099521,0.400968406857,0.00449203945023,0.0698286413693,0.999999960256,5.90808086946e-05,-0.000274823307539,2.16865126728e-05,1793250823992909312
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.639893553,746,723,687,669,642.360106447,886,786.360106447,819,655.639893553,632.360106447,655.360106447,0.400970953995,0.00449145826178,0.0698297266824,0.999999961003,5.85011649462e-05,-0.00027219476675,2.19516374944e-05,1793250824009575936
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.782205363,746,723,686.782205363,669,642,886,786,819,656,632,655.217794637,0.400975561206,0.00449115636715,0.0698321006564,0.999999962039,5.80071930992e-05,-0.000268452054947,2.2171510283e-05,1793250824026242560
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.210945344,746,723,686.210945344,669,642,886,786,819,656,632,655.789054656,0.400983511773,0.00449130774681,0.0698365660362,0.999999963531,5.76522607793e-05,-0.000262901122183,2.23179421781e-05,1793250824042909184
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,723,686,669.372972883,642,886.372972883,786,819.372972883,656,632,655.627027117,0.401006069411,0.00449228756494,0.0698463988281,0.999999967587,5.93064342744e-05,-0.000246599776151,2.22883847885e-05,1793250824059576064
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,723,686,669.964301883,642,886.964301883,786,819.964301883,656,632,655.035698117,0.401037178727,0.00449375239048,0.0698593739593,0.999999972735,6.21368340941e-05,-0.000224004624743,2.21557948816e-05,1793250824076242688
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723,686.544959024,669.455040976,642,886.455040976,786,819.455040976,656,632,655.544959024,0.401089279202,0.0044925249829,0.0698756063666,0.999999978487,5.97368787225e-05,-0.000197426849292,2.19064646671e-05,1793250824092909312
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,819,655.875904074,632,656,0.401145455276,0.00449160295125,0.0698904295737,0.999999982912,5.76500423858e-05,-0.000174322786943,2.15506457373e-05,1793250824109576192
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886,786,819,655.299806898,632,656,0.401211563919,0.00449242322544,0.069899357733,0.999999984525,5.79276697654e-05,-0.000164803197184,2.08342760396e-05,1793250824126243840
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.280702184,746,723,687,669.280702184,642,886.280702184,786,819.280702184,655.280702184,632,656,0.40128576574,0.0044930317861,0.0699057826114,0.999999986082,5.62030752204e-05,-0.000155859228489,1.96076204444e-05,1793250824142910720
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.865998661,746,723,687,669.865998661,642,886.865998661,786,819.865998661,655.865998661,632,656,0.401368749588,0.00449341061308,0.0699094911405,0.999999987589,5.23058386098e-05,-0.000147539875705,1.78272457541e-05,1793250824159577344
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.553522544,746,723,686.553522544,669.553522544,642,886.553522544,786,819.553522544,656,632,655.553522544,0.401463377945,0.00449268451344,0.0699066932524,0.999999987123,4.8596578235e-05,-0.000152152298537,1.55395803816e-05,1793250824176243456
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,686.025517288,669.025517288,642,886,786,819.025517288,656,632,655.025517288,0.401562758816,0.00449179211326,0.0699021323893,0.999999986039,4.51370110347e-05,-0.000160351730648,1.3088423064e-05,1793250824192909824
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,686.604373703,669.604373703,642,886,786,819.604373703,656,632,655.604373703,0.401690220656,0.00449440791508,0.0699012351955,0.999999985598,4.58816646476e-05,-0.000163069806978,1.03583094215e-05,1793250824209576448
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669.817646485,642,886.182353515,786,819.817646485,656,632.182353515,655.817646485,0.401828701588,0.00449625788898,0.0699016522234,0.999999985604,4.52723145269e-05,-0.000163362196727,7.42720708926e-06,1793250824226243072
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723,687,669.241559485,642,886.758440515,786,819.241559485,656,632.758440515,655.241559485,0.401990974672,0.00449645430461,0.0699049068885,0.999999986573,4.17394308242e-05,-0.00015841709987,4.0621349892e-06,1793250824242909952
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.664264579,786,819,656,632.664264579,655.335735421,0.402170794194,0.00449652968578,0.0699107009186,0.999999988282,3.74064033311e-05,-0.00014844731823,4.10577825142e-07,1793250824259576832
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,723,687,669,642,886.086097394,786,819,656,632.086097394,655.913902606,0.402363283868,0.00449651766898,0.0699183286034,0.999999990374,3.24955982734e-05,-0.000134849252857,-3.44784817501e-06,1793250824276243456
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.49926805,746,723,687,669,642.49926805,886,786,819.49926805,655.50073195,632,655.50073195,0.402593828956,0.00449653976434,0.0699203569051,0.9999999912,2.33030948932e-05,-0.000130331394268,-8.38592768034e-06,1793250824292909824
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669,643,886.084541849,786,820,655.084541849,632,655,0.402835930327,0.00449659065788,0.0699219320268,0.999999991798,1.3706714265e-05,-0.000126628602393,-1.34913052995e-05,1793250824309576192
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669,643,886.661939203,786,820,655.661939203,632,655,0.403106584206,0.00449677464161,0.0699265767503,0.9999999928,6.12328030884e-06,-0.000118415376392,-1.84707120938e-05,1793250824326242816
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.239092736,642.760907264,887,786,820,656,632.239092736,655.239092736,0.403396262928,0.00449617928021,0.0699327818255,0.999999994023,-1.99743217812e-06,-0.000106774680495,-2.34385101731e-05,1793250824342909696
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.815901839,642.184098161,887,786,820,656,632.815901839,655.815901839,0.403712814055,0.00449448310072,0.0699411908832,0.999999995461,-1.08770453669e-05,-9.02927142663e-05,-2.83899107441e-05,1793250824359576320
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786,819.600649064,656,632.600649064,656,0.404044531103,0.00448722646529,0.0699462362846,0.999999995776,-2.43946567596e-05,-8.26096769516e-05,-3.20666257625e-05,1793250824376243200
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642,887,786,819.014087232,656,632.014087232,656,0.404383357743,0.00447736315535,0.0699497048443,0.999999995454,-4.00865054274e-05,-7.90514716713e-05,-3.51457834498e-05,1793250824392910336
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.431544116,642,886.431544116,786,819,655.431544116,632,656,0.404787294316,0.00447463301584,0.0699562633614,0.999999995559,-4.79253187845e-05,-7.0844180749e-05,-3.95820082555e-05,1793250824409576704
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,687.14858473,669.14858473,642,886,786.14858473,819,655,632,656,0.405197800271,0.00447610611682,0.069961703199,0.999999996787,-3.12257683844e-05,-6.27874642711e-05,-3.88477674426e-05,1793250824426243328
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,723,687.722091952,669.722091952,642,886,786.722091952,819,655,632,656,0.405622511299,0.0044890976607,0.0699637263879,0.999999996673,5.50959365456e-05,-5.54885309323e-05,-2.32315315218e-05,1793250824442910208
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,723,688.295628396,669.704371604,642,886.295628396,786.704371604,819,655,632,656,0.406060698136,0.00449589897595,0.0699598053768,0.999999993468,9.44868222935e-05,-6.15223455539e-05,-1.8757808114e-05,1793250824459576576
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,723,688.869192381,669.130807619,642,886.869192381,786.130807619,819,655,632,656,0.406511554329,0.00449688053771,0.069950295915,0.999999992458,8.97556212998e-05,-8.00909674585e-05,-2.47597369066e-05,1793250824476242944
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,689.458528338,669,642,887,786,819.458528338,655,632.458528338,655.541471662,0.406991691283,0.00449904410116,0.0699337127782,0.999999993759,2.92436382583e-05,-0.000104370563769,-2.70898013178e-05,1793250824492910336
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.94899443,746,723.05100557,689.94899443,669,642,887,786,820,655,632.94899443,655,0.407490305081,0.00450240220987,0.0699176336264,0.99999999081,-4.18928782438e-05,-0.00012573626352,-2.85601601963e-05,1793250824509577472
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.372169901,746,723.627830099,689.372169901,669,642,887,786,820,655,632.372169901,655,0.40809021756,0.00451447492648,0.0699282943474,0.999999993123,-5.26668627044e-05,-9.96685773199e-05,-3.23511649973e-05,1793250824526244608
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.203937138,746,723.796062862,689.203937138,669.203937138,642,887,786.203937138,820,655,632,655.203937138,0.408696653794,0.00452351045222,0.069939089626,0.999999995392,-4.99563125005e-05,-7.39385451623e-05,-3.53928324702e-05,1793250824542911488
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.778739368,746,723.221260632,689.778739368,669.778739368,642,887,786.778739368,820,655,632,655.778739368,0.409314953615,0.00452702276511,0.0699501296007,0.999999997863,-2.27237778459e-05,-4.88225474388e-05,-3.70718099241e-05,1793250824559577856
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.638037315,746.361962685,723,690.361962685,669.638037315,642,887.361962685,787,819.638037315,655.361962685,632,656,0.409922264396,0.00453510834302,0.06994932778,0.999999998044,8.24864797693e-06,-4.85163266542e-05,-3.86102337076e-05,1793250824576244224
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.049543764,746.950456236,723,690.950456236,669.049543764,642,887.950456236,787,819.049543764,655.950456236,632,656,0.410522697768,0.00454605605473,0.0699411148852,0.999999996303,4.15616476908e-05,-6.37370671286e-05,-4.00606932457e-05,1793250824592910848
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.530611416,746.469388584,723,691,669,642.530611416,888,787,819.530611416,655.469388584,632,656,0.411196731102,0.00455414843461,0.0699402004612,0.999999994439,6.79714780887e-05,-6.97584213035e-05,-4.04398478383e-05,1793250824609577216
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.109450146,691.109450146,669.109450146,643,888,787,820,655,632.109450146,656,0.411896831646,0.00456140908675,0.0699465721383,0.999999993551,8.56026560427e-05,-6.25232652284e-05,-4.07566824371e-05,1793250824626243328
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,723.685942054,691.685942054,669.685942054,643,888,787,820,655,632.685942054,656,0.412679294339,0.00456624066578,0.0699811718681,0.999999996803,6.84817486851e-05,-2.32900092565e-06,-4.12278232255e-05,1793250824642910208
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,723.739362395,692,670,642.739362395,888.260637605,787,819.739362395,655,632.739362395,656,0.413453157242,0.00457257641483,0.0700081040249,0.999999996053,6.64917618838e-05,4.13415380764e-05,-4.19998281111e-05,1793250824659577088
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,723.16681649,692,670,642.16681649,888.83318351,787,819.16681649,655,632.16681649,656,0.414216728771,0.00458071222371,0.0700258603049,0.99999999353,8.26091359371e-05,6.52379351584e-05,-4.31318810316e-05,1793250824676243968
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,723.419000859,692,669.580999141,642.419000859,888.580999141,787,819.419000859,655.419000859,632,656,0.414934975785,0.00458660423344,0.0699978464161,0.999999993623,0.000103534332937,1.18045608053e-05,-4.35340850745e-05,1793250824692910592
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.989993764,746.010006236,723.989993764,692.010006236,669,642.989993764,888.020012472,787,820.010006236,655.989993764,632.010006236,655.989993764,0.415636381347,0.00459165216434,0.0699512415455,0.999999988488,0.000125761512108,-7.27948017328e-05,-4.36934160039e-05,1793250824709576704
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.414172176,746.585827824,723.414172176,692.585827824,669,642.414172176,889.171655648,787,820.585827824,655.414172176,632.585827824,655.414172176,0.416439223019,0.00460113695087,0.0699175018213,0.999999985434,0.000109833405623,-0.000121865990081,-4.70875358752e-05,1793250824726243072
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746.837809147,723,693,669.162190853,642.162190853,889.837809147,787,821,655.162190853,632.837809147,655.162190853,0.417269183128,0.00460887763645,0.0699028799931,0.999999983324,0.000103899341284,-0.0001418486834,-4.93614777774e-05,1793250824742909440
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746.260058895,723,693,669.739941105,642.739941105,889.260058895,787,821,655.739941105,632.260058895,655.739941105,0.418168625043,0.00461214965058,0.0699372413321,0.999999987365,0.000123571643227,-8.73019087939e-05,-4.87653411136e-05,1793250824759576064
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746.323641921,723,692.676358079,669.676358079,642.676358079,889.323641921,787,821.323641921,655.676358079,632,656,0.419055927591,0.00461548933289,0.06996673838,0.999999988394,0.000138091336921,-4.2462060132e-05,-4.83763770097e-05,1793250824776242688
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746.912213779,723,692.087786221,669.087786221,642.087786221,889.912213779,787,821.912213779,655.087786221,632,656,0.419933292934,0.00461888440751,0.0699922535677,0.999999987815,0.000148393157806,-5.56820365564e-06,-4.81570022968e-05,1793250824792909568
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.491556408,746.508443592,723,692,669,642,890.491556408,787.491556408,822.491556408,655.491556408,632.491556408,656,0.420846108747,0.0046092983156,0.0700167405318,0.999999990303,0.000126825628181,2.98785954297e-05,-4.91498373525e-05,1793250824809576192
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.930833723,746,723,692.069166277,669.069166277,642,891,787.861667445,823,655.930833723,632.930833723,656,0.421759215335,0.00459577054941,0.0700344766169,0.999999992217,0.000100355027831,5.46662031498e-05,-5.00700360119e-05,1793250824826243072
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.354067402,746,723,692.645932598,669.645932598,642,891,786.708134803,823,655.354067402,632.354067402,656,0.42262884922,0.00457001544487,0.0700039918724,0.999999995687,7.89007644327e-05,3.08932828452e-06,-4.88976888908e-05,1793250824842909696
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.223171986,746,723,693.223171986,669.776828014,642,891,786.223171986,823,655,632,656,0.423490107876,0.00455778742537,0.0699508775809,0.999999993765,5.97565798548e-05,-8.01971497841e-05,-4.96803827248e-05,1793250824859576320
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.801163587,746,723,693.801163587,669.198836413,642,891,786.801163587,823,655,632,656,0.424338050946,0.00456706602202,0.0698617847223,0.999999974708,4.42851699693e-05,-0.000213898517007,-5.35713822259e-05,1793250824876242688
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746.387628621,723,694.387628621,669,642.387628621,891,787,823.387628621,655,631.612371379,655.612371379,0.425259740575,0.00457577014541,0.0698525518877,0.999999972759,5.6082484543e-05,-0.000219802736185,-5.49860926459e-05,1793250824892909312
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.978537252,723,694.978537252,669,642.978537252,891,787,823.978537252,655,631.021462748,655.021462748,0.426220104287,0.00458417300325,0.0698851992131,0.999999982514,8.21800511913e-05,-0.000158687630545,-5.51021886783e-05,1793250824909575936
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,695,669.557793409,643,891.557793409,787,824,655,631.557793409,655.557793409,0.427205287643,0.00458719064789,0.0699485732678,0.999999990875,9.87254195309e-05,-7.58598547666e-05,-5.24226997939e-05,1793250824926242816
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.865020497,723,695,669.865020497,643,892.134979503,787,824.134979503,655,632,656,0.428193071653,0.00458988170448,0.0700067111414,0.999999992926,0.000107572644163,3.20470145985e-06,-5.06531138141e-05,1793250824942909440
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.293113553,723,695,669.293113553,643,892.706886447,787,824.706886447,655,632,656,0.429186245802,0.00459217261636,0.0700441507542,0.999999992072,9.26664547568e-05,6.74387095923e-05,-5.21699491947e-05,1793250824959576064
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.2873261,723,695,669,643,893,787,825,655,632,656,0.430136919925,0.00459378940998,0.0700484598707,0.999999991743,8.90654794514e-05,7.56295313945e-05,-5.35012356336e-05,1793250824976242944
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.876736704,723,695,669,643,893,787,825,655,632,656,0.431042910959,0.00459469745934,0.0700179367522,0.999999993459,9.73504077105e-05,2.48985241766e-05,-5.4637442455e-05,1793250824992909568
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.541248265,747,723,695,669,643,893.458751735,787,825,655,632,656,0.431878578585,0.00458716474813,0.0699414261613,0.999999988591,9.45019531057e-05,-0.000104353520039,-5.47503777278e-05,1793250825009576192
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.038528394,747,723,695,669,643,894,787,825,655.038528394,632.038528394,656,0.43270626521,0.00457777746798,0.0698614215292,0.999999966131,8.79052260219e-05,-0.00023878400378,-5.47081302053e-05,1793250825026242816
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.614361163,747,723,695,669,643,894,787,825,655.614361163,632.614361163,656,0.433681978864,0.00457365358394,0.0699022760826,0.999999983812,7.00924025413e-05,-0.000155872830065,-5.6275239215e-05,1793250825042909440
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.19033298,723,694.80966702,669.38066596,643,894,786.80966702,825.19033298,655.80966702,632.80966702,656,0.434651992418,0.00457137886047,0.0699465569738,0.999999993799,6.11366627822e-05,-7.36549762586e-05,-5.69211835262e-05,1793250825059576320
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.766586836,723,694.233413164,670.533173672,643,894,786.233413164,825.766586836,655.233413164,632.233413164,656,0.435610448575,0.00457285351101,0.0699977851459,0.999999995963,7.01396236551e-05,7.15710950756e-06,-5.5699366659e-05,1793250825076242944
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.649646556,723,694.350353444,670.649646556,643,894.350353444,786,826,655,632,656,0.436544599209,0.00457302916219,0.0700239618159,0.999999994145,7.72293858594e-05,5.17339729627e-05,-5.54006537344e-05,1793250825092909312
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.060765144,723,694.939234856,670.060765144,643,894.939234856,786,826,655,632,656,0.437462202074,0.0045723204273,0.070033082895,0.999999992435,8.30166019714e-05,7.16411327687e-05,-5.57304095527e-05,1793250825109575936
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.480573653,747,723,695,669.480573653,643,895,786,826,655,632,656,0.438305284183,0.00457511631807,0.0699983862106,0.999999995276,7.10000455052e-05,3.15937496105e-05,-5.83925420583e-05,1793250825126242560
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,895.098326665,786,826.098326665,655,632.098326665,656,0.439118523435,0.00457871194591,0.0699513559754,0.999999995738,6.20564195097e-05,-3.19056668733e-05,-6.04522723165e-05,1793250825142909184
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,895.67580739,786,826.67580739,655,632.67580739,656,0.439828119552,0.00458423972344,0.0698687918402,0.999999979754,7.80699770733e-05,-0.000176072421212,-5.82686873418e-05,1793250825159576064
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,723,695,668.749652071,642.749652071,895.749652071,786,827,655,632.749652071,656,0.440583828859,0.00459089573899,0.0698226770383,0.999999961668,9.6062006981e-05,-0.000253284330911,-5.73070151151e-05,1793250825176243200
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,723,695,668.178874827,642.178874827,895.178874827,786,827,655,632.178874827,656,0.441398560043,0.00459899582653,0.0698232150549,0.999999961564,0.000116586355221,-0.000244798320483,-5.7909314317e-05,1793250825192910592
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,723,695.406452113,668,642,895,786,827,655,632,656,0.44221230295,0.00460806826559,0.0698516222135,0.999999969432,0.000126532291211,-0.000204441990173,-5.77003817433e-05,1793250825209577216
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,695.998419979,668,642,895,786,827,655,632,656,0.443025594851,0.00461758451294,0.0698927496034,0.999999978522,0.000131649954859,-0.000149539181542,-5.71211809313e-05,1793250825226243072
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,723,695.421745653,668,641.421745653,895,786,827,655.578254347,632,656,0.443746219114,0.00462646739053,0.0698782085005,0.999999972868,0.000133287208041,-0.000182273971098,-5.72191327894e-05,1793250825242909696
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.156710996,747.156710996,723,695,667.843289004,641.156710996,895.156710996,786,827.156710996,655.843289004,632,656,0.444448890059,0.00463417903979,0.0698543759261,0.999999963106,0.000139652431052,-0.000225895072441,-5.70595609037e-05,1793250825259576320
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.731578211,747.731578211,723,695,667.268421789,641.731578211,895.731578211,786,827.731578211,655.268421789,632,656,0.445104317582,0.0046387699935,0.0698061481958,0.99999994145,0.000158658278931,-0.000297938594971,-5.6207995748e-05,1793250825276243456
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.693148744,723,695,666.693148744,641.693148744,896,785.693148744,827.693148744,655,632,656,0.445751587931,0.00464440140864,0.0697697969934,0.999999922159,0.000175007878022,-0.000349217776156,-5.56836745878e-05,1793250825292910336
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747.117520259,723,695,666.117520259,641.117520259,896,785.117520259,827.117520259,655,632,656,0.446391713205,0.00465094418474,0.0697438486851,0.999999907516,0.000189030814281,-0.00038230904672,-5.54459932662e-05,1793250825309576704
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695.469847063,666,641,896,785,827,655.469847063,632,656,0.446988179749,0.00465848180215,0.0697241220853,0.999999889142,0.00019886233674,-0.000423044107052,-5.65924246786e-05,1793250825326243328
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+251,4.183333333,HOLD_POSE2,768.158061477,747,723,696,653.841938523,636,897,783,828,655.841938523,631.158061477,656,0.455622419198,0.00480158630896,0.0695537857374,0.999999699687,0.000339654689671,-0.000693312495797,-6.7663104777e-05,1793250826293679872
+252,4.200000000,HOLD_POSE2,768.735394908,747,723,696,653.264605092,636,897,783,828,655.264605092,631.735394908,656,0.455623348134,0.00480096739479,0.0695548881485,0.999999701201,0.00033978793101,-0.000691101831082,-6.72298130274e-05,1793250826310346752
+253,4.216666667,HOLD_POSE2,769,747,723,696,653,636,897,783,828,655,632,656,0.455623600948,0.00480047082542,0.0695552263429,0.99999970168,0.000339218108945,-0.000690708292861,-6.70345818923e-05,1793250826327013376
+254,4.233333333,HOLD_POSE2,769,747,723,696,653,636,897,783,828,655,632,656,0.455623281683,0.00480007777423,0.0695549179198,0.999999701283,0.000338053412312,-0.000691852258099,-6.70407781402e-05,1793250826343680000
+255,4.250000000,HOLD_POSE2,769,747.472227904,723,696,653,636,897,783,828,655.472227904,632,656.472227904,0.455623411829,0.00480033426851,0.069554252965,0.999999700983,0.000337440160408,-0.000692555659807,-6.73334511661e-05,1793250826360346368
+256,4.266666667,HOLD_POSE2,768.941443149,748,723,696,653,636.058556851,897,783.058556851,828,656,631.941443149,657,0.455623538011,0.00480058686415,0.069553558667,0.999999700695,0.000336973977524,-0.000693169963724,-6.76254338462e-05,1793250826377012992
+257,4.283333333,HOLD_POSE2,768.361398659,748,723,696,653,636.638601341,897,783.638601341,828,656,631.361398659,657,0.455622655876,0.00479939839591,0.0695533749823,0.999999700299,0.000336623597912,-0.000693944665574,-6.72910119782e-05,1793250826393679616
+258,4.300000000,HOLD_POSE2,768.216866519,747.783133481,723,695.783133481,652.783133481,636.783133481,897,783.783133481,827.783133481,656,631,656.783133481,0.455622254379,0.00479933252182,0.0695532831699,0.999999699759,0.000337540397762,-0.000694281833322,-6.72366192757e-05,1793250826410345984
+259,4.316666667,HOLD_POSE2,768.792190624,747.207809376,723,695.207809376,652.207809376,636.207809376,897,783.207809376,827.207809376,656,631,656.207809376,0.455622647329,0.00480112217813,0.069553343213,0.999999698979,0.000340551712256,-0.000693895803053,-6.76450854163e-05,1793250826427012608
+260,4.333333333,HOLD_POSE2,769,747,723,695.366381373,652.366381373,636,897,783.366381373,827.366381373,656,631.366381373,656,0.455623293586,0.00480159556313,0.0695536419637,0.999999698753,0.000341404004443,-0.000693847844186,-6.71738947889e-05,1793250826443679232
+261,4.350000000,HOLD_POSE2,769,747,723,695.939931323,652.939931323,636,897,783.939931323,827.939931323,656,631.939931323,656,0.455624083074,0.00480132466903,0.0695540756905,0.999999698844,0.000341035488173,-0.000693991046127,-6.62053065277e-05,1793250826460346112
+262,4.366666667,HOLD_POSE2,769,747,723,696,653,636,897,783.470015796,828,655.470015796,631.470015796,656,0.455623449702,0.00480046922901,0.0695530339818,0.999999699012,0.000338945342398,-0.000694741266989,-6.65274257231e-05,1793250826477012992
+263,4.383333333,HOLD_POSE2,769,747,723,695.880285097,653,636,897,783,828,655.119714903,631.119714903,656,0.455622995842,0.00479984985109,0.069552262682,0.999999699213,0.000337398867018,-0.000695167567446,-6.69118247125e-05,1793250826493679616
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,898,784,828,656,632,656,0.455623586071,0.00479832838918,0.0695529237476,0.999999700418,0.000333640358329,-0.000695251743234,-6.68813826595e-05,1793250826548033280
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.425003197,652.425003197,636.574996803,897.425003197,784,828,655.425003197,632,656,0.455623723669,0.00479907765937,0.0695525640728,0.999999700203,0.000335075703225,-0.000694871013099,-6.68692259551e-05,1793250826564699904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.155237012,652.155237012,636.844762988,897,784,828,655.155237012,631.844762988,656,0.455623659222,0.00480002726426,0.0695522254532,0.999999699793,0.000336595559605,-0.000694718513779,-6.69568447082e-05,1793250826581366528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.750334421,652.750334421,636.249665579,897,784,828,655.750334421,631.249665579,656,0.455623022286,0.00480154451298,0.0695519464931,0.999999698831,0.000338354877609,-0.000695212700984,-6.73271748554e-05,1793250826598033152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,897,784,828,656,631.333590177,656,0.455622911983,0.00480110218075,0.0695517978563,0.999999698652,0.000338343807664,-0.000695485422148,-6.72245725013e-05,1793250826614699776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636,897,784,828,656,631.908287182,656,0.45562318231,0.0047992435347,0.0695517434124,0.999999699039,0.000337053165696,-0.000695598075695,-6.67801517409e-05,1793250826631366400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.516952718,747,723,696,653,636,897,783.516952718,828,656,632,656,0.455621799208,0.00480016214188,0.0695513865535,0.999999697835,0.000336976903151,-0.000697348561482,-6.69430743541e-05,1793250826648033024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,652.94187713,636,897.05812287,783.05812287,827.94187713,656,632,656.05812287,0.455620479299,0.00480141713437,0.0695510743513,0.999999696634,0.000337182176986,-0.000698948565916,-6.71658459367e-05,1793250826664699648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,652.364087922,636,897.635912078,783.635912078,827.364087922,656,632,656.635912078,0.455622531494,0.0048009645969,0.0695516748436,0.999999698192,0.000337842900928,-0.000696422507562,-6.68925972121e-05,1793250826681366272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.219087328,747.219087328,723,696,652,636,897.780912672,783.780912672,827,656,631.780912672,656.780912672,0.455621991169,0.00480088513336,0.0695511933212,0.999999698262,0.000338479119267,-0.000696011356605,-6.68982327812e-05,1793250826698032896
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,723,695.608792185,652.391207815,636,897.391207815,783.391207815,827.391207815,656,631,656,0.455600270728,0.00480102704728,0.0695416102811,0.999999687803,0.00033856585374,-0.000710791541589,-6.7396475772e-05,1793250826731366400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,723,695.03489893,652.96510107,636,897.96510107,783.96510107,827.96510107,656,631,656,0.455577994451,0.00480015965984,0.069532048573,0.999999677018,0.000337543417302,-0.000726300432044,-6.71975852317e-05,1793250826748033024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.460381652,723,695.539618348,652.460381652,636,897.460381652,783.460381652,828,655.460381652,631,656.539618348,0.455528481381,0.00480025073681,0.0695129737908,0.999999653345,0.000336678477974,-0.000758580826239,-6.71693406294e-05,1793250826764699648
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.288539065,747.711460935,723,695.288539065,652.711460935,636,897,783.711460935,828,655.711460935,631.711460935,656.288539065,0.455412255589,0.00480099334673,0.0694827405108,0.999999619156,0.000340125545294,-0.000801015343993,-6.61579215651e-05,1793250826798032896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.297271302,747.702728698,723,695.297271302,653,636,897,784,828,656,631.702728698,656,0.45534017403,0.00480028224562,0.0694732757364,0.999999608154,0.000341079874504,-0.000814319255779,-6.51254670172e-05,1793250826814699776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.875790138,747.124209862,723,695.875790138,653,636,897,784,828,656,631.124209862,656,0.455259200139,0.00479840910964,0.0694662654481,0.999999597626,0.000339675920112,-0.000827819622872,-6.39036042783e-05,1793250826831366400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.554659555,653,636,897,784,828,655.554659555,631,656.445340445,0.455174208674,0.00479864084477,0.0694665673575,0.999999597273,0.000340322902179,-0.000828042453322,-6.30854434575e-05,1793250826848032768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.013050167,653,636.013050167,897,784,827.986949833,655,631.013050167,657,0.455087347084,0.00479942073349,0.0694688729627,0.999999599742,0.000341564176568,-0.000824598900208,-6.23343402272e-05,1793250826864699648
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636.802045664,897,784,827.197954336,655.197954336,631.802045664,656.802045664,0.454836901778,0.00479851837614,0.0694730753249,0.999999605356,0.000347881690229,-0.000815482300732,-5.70534248691e-05,1793250826898032896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,636.221861553,897,784,827.778138447,655.778138447,631.221861553,656.221861553,0.454692476433,0.00479800621458,0.0694732043997,0.999999605393,0.000353087622906,-0.000813363742219,-5.46179981968e-05,1793250826914699520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.644758264,653,636.355241736,897,784,827.644758264,655.644758264,631,656,0.45453022501,0.00479787090469,0.0694735734264,0.999999604932,0.000358152464666,-0.000811886887991,-5.19866030112e-05,1793250826931366144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.069562465,653,636.930437535,897,784,827.069562465,655.069562465,631,656,0.45435693625,0.00479796892896,0.0694740910236,0.999999604152,0.000363129948049,-0.000810807355855,-4.92338702944e-05,1793250826948033024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.503827976,653,636.496172024,897,783.496172024,827,655,631.503827976,656,0.454162834226,0.00479924197603,0.0694790670164,0.999999611079,0.000367741845663,-0.000800268545844,-4.66725161504e-05,1793250826964699648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.920351929,653.079648071,636.079648071,897,783.079648071,827,655.079648071,631.920351929,656,0.453960202564,0.00480001240432,0.0694854524597,0.999999619365,0.000372086451367,-0.000787973567035,-4.38014499414e-05,1793250826981366272
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.800471768,747,723,695.800471768,660,638,896,785,827,655.800471768,631,656.800471768,0.447936367031,0.00468356896389,0.0695984017691,0.999999767387,0.000228886787983,-0.0006425173865,2.85254576178e-06,1793250827231366912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769,747,723,695.622454672,660.755090656,638.377545328,895.622454672,785,826.622454672,656,631.377545328,656.622454672,0.447313565536,0.00468336685546,0.0695916865797,0.999999758547,0.000235315516675,-0.000653796306212,9.11508936426e-06,1793250827248033536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.047164167,661.905671666,638.952835833,895.047164167,785,826.047164167,656,631.952835833,656.047164167,0.446668078455,0.00469125266423,0.0695712217789,0.999999733509,0.000248155051565,-0.000686452314479,1.35722583214e-05,1793250827264700160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.475355011,747,723,695,662,639,894.475355011,785,826.524644989,655.475355011,632,656,0.446017539302,0.00468038749364,0.0695585286365,0.999999733338,0.000221280645591,-0.000695824185935,1.36981772394e-05,1793250827281366784
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,695,662.200695216,639.100347608,894,785,827,655.100347608,632,656,0.445368234838,0.00466908829076,0.0695550195753,0.999999742665,0.000191463153065,-0.000691257974527,1.31783740998e-05,1793250827298033664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,695,663.393674813,639.696837406,894,785,827,655.696837406,632,656,0.444727265885,0.00466392250689,0.0695934872518,0.999999789154,0.000164629789816,-0.000628059558387,1.13784044592e-05,1793250827314700288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746.717042215,723,695,664,640,893.717042215,785.282957785,826.717042215,655.717042215,632,656,0.444048464998,0.00466003271921,0.0696325807014,0.999999830618,0.000145160081387,-0.000563510410653,1.22095888925e-05,1793250827331367168
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.141638878,723,695,664,640,893.141638878,785.858361122,826.141638878,655.141638878,632,656,0.443330563568,0.00465746171213,0.0696723209113,0.999999867206,0.000133300932977,-0.000497565232987,1.57601515769e-05,1793250827348033792
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.4336728,723,695,664.8673456,640,893,786,826,655.4336728,632,656,0.442590799872,0.00465119024687,0.0697026117939,0.999999888649,0.000110654182292,-0.00045843953877,1.7049588566e-05,1793250827364700416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.990821099,723,695,666,640.009178901,892.981642198,786.009178901,826,655.990821099,632,656,0.44184405938,0.00464370893875,0.0697298078416,0.999999904569,8.72675929048e-05,-0.00042771036422,1.76370178187e-05,1793250827381366784
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746.4011236,723,695,666,640.5988764,891.8022472,786.5988764,826,655.4011236,632,656,0.441107560349,0.00463613164978,0.0697564153408,0.999999901025,0.000239871269163,-0.000374152481559,2.05219375328e-05,1793250827398033408
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746.185255802,723,695,666.370511604,641,891,787,825.814744198,655,632,655.814744198,0.440341554677,0.00462918134048,0.0697787745848,0.99999988948,0.000332899325837,-0.000331210170856,2.27393794363e-05,1793250827414700032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746.764577103,723,695,667.529154207,641,891,787,825.235422897,655,632,655.235422897,0.439512784217,0.00462356470677,0.0697920971827,0.999999906649,0.000299201548728,-0.000310848715319,2.35370016511e-05,1793250827431366912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,723,694.657746772,668,641,891,786.657746772,825,655,632,655,0.438625050975,0.00461797055094,0.069768395794,0.999999904542,0.000265338279636,-0.000346385452962,2.30091191095e-05,1793250827448033536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,723,694.081196911,668,641,891,786.081196911,825,655,632,655,0.437696953555,0.00461239178304,0.0697193488574,0.999999884724,0.00023136171971,-0.000420188471585,2.15738343217e-05,1793250827464700160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.507891678,723,694.492108322,667.507891678,641.492108322,891,786.492108322,825,655.492108322,632,655.492108322,0.436827205279,0.00460664463962,0.0697196329064,0.999999892095,0.000201141510188,-0.000418162073366,2.22019184772e-05,1793250827481366784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.06709879,723,695,667.06709879,642,891,787,824.93290121,656,632,655.93290121,0.435969104032,0.00460118918764,0.0697329841727,0.999999905864,0.00017307878151,-0.000397206727764,2.33005811017e-05,1793250827498033408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746.659444199,723,695,667.659444199,642,891,787,824.340555801,656,632,655.340555801,0.435127305735,0.00459823313661,0.0697853266284,0.999999934404,0.000157084826432,-0.000325375951065,2.54353255949e-05,1793250827514700032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.75446403,723,695,668,642,890.75446403,787,823.75446403,655.75446403,632,655,0.434257702447,0.00459293146555,0.0698222068639,0.999999949101,0.000155297427771,-0.000277347155222,2.75677378068e-05,1793250827531366656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.176830481,723,695,668,642,890.176830481,787,823.176830481,655.176830481,632,655,0.433350491638,0.00458445724573,0.0698381738128,0.999999950448,0.000172724984214,-0.000261511516836,2.96969959501e-05,1793250827548033280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.601357901,890.398642099,787,823,655.398642099,631.601357901,655,0.432421535339,0.00457923934664,0.0698437601318,0.999999956117,0.000159867535716,-0.000247702479123,2.91739730068e-05,1793250827564699904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.026838755,890.973161245,787,823,655.973161245,631.026838755,655,0.431482985193,0.00457545810534,0.069844766616,0.999999963129,0.000133648634099,-0.000234787558886,2.74807890937e-05,1793250827581366528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641,890.452567421,787,823,655.452567421,631,655,0.430457912703,0.00457137729133,0.0697734127873,0.999999927351,0.000135193378119,-0.000355259824899,2.84895122997e-05,1793250827598033152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.125819635,746,722.874180365,695,668,641,890,787,823,655,631.125819635,655.125819635,0.42945690105,0.00456618351167,0.0697159803443,0.999999888727,0.00013649313136,-0.000450627117945,2.91782204989e-05,1793250827614699776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.719558051,746,722.280441949,695,668,641,890,787,823,655,631.719558051,655.719558051,0.428561139173,0.00455690524806,0.0697235084008,0.999999899185,0.000131821975118,-0.000428320677565,2.81843947264e-05,1793250827631366400
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.69535312,746,722.30464688,694.69535312,668,641.30464688,890,787,822.69535312,655,632,656,0.427677232451,0.00454946522537,0.0697665195233,0.999999928255,0.000120777891661,-0.00035786094164,2.89576806271e-05,1793250827648033024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.11800685,746,722.88199315,694.11800685,668,641.88199315,890,787,822.11800685,655,632,656,0.426803937712,0.00454367067279,0.0698412926985,0.999999964258,0.000104029191579,-0.000244297612834,3.13127657814e-05,1793250827664699904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,693.544442468,668,641.544442468,890,787,821.544442468,655,632,655.544442468,0.425869514545,0.00453501656255,0.0698540533726,0.999999967309,9.99140812536e-05,-0.000233054006292,3.29317897339e-05,1793250827681366272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.029078587,746,723,693,668,641.029078587,889.970921413,787,820.970921413,655,632,655,0.424920414552,0.00452572411972,0.0698495898437,0.999999963464,9.84862011991e-05,-0.000249406494811,3.41961245671e-05,1793250827698032896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.62055184,746,723,693,668,641.62055184,889.37944816,787,820.37944816,655,632,655,0.423991186539,0.00451829425225,0.0698201220025,0.999999953394,8.62584017673e-05,-0.000291087085253,3.22578437923e-05,1793250827714699520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.207499437,723,693,668.207499437,641.792500563,889,787,820,655,632,655,0.423029441896,0.0045120750259,0.0697738754261,0.999999928945,7.55315364817e-05,-0.000367982524269,3.15200041792e-05,1793250827731366400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.786347844,723,693,668.786347844,641.213652156,889,787,820,655,632,655,0.42200950409,0.0045080224082,0.0696976009753,0.999999868199,6.74907977928e-05,-0.00050789981374,3.29305195724e-05,1793250827748033024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.63646206,746.63646206,722.63646206,693,669,641.36353794,888.63646206,787,820,655.36353794,632,655,0.421094809117,0.00449776721897,0.0696839614483,0.999999859698,6.01936257111e-05,-0.000525243597132,3.31633739126e-05,1793250827764699648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.060242167,746.060242167,722.060242167,693,669,641.939757833,888.060242167,787,820,655.939757833,632,655,0.420241684811,0.00448388331651,0.0697069654681,0.99999988718,5.33314660076e-05,-0.000470877741235,3.27072569257e-05,1793250827781366528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.513340364,746,722.513340364,693,669,642,888.513340364,787,820,655.486659636,631.486659636,655,0.419442265127,0.00448027637598,0.0697858375137,0.999999938554,3.60662350662e-05,-0.000347233178411,3.19319597951e-05,1793250827798033152
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.089796236,723,692.910203764,669,642,888.910203764,787,820,655.089796236,631.089796236,655.089796236,0.418643691148,0.00447667687002,0.0698596600546,0.999999971788,1.90776338094e-05,-0.000234624348502,3.1808234871e-05,1793250827814699776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.68412651,723,692.31587349,669,642,888.31587349,787,820,655.68412651,631.68412651,655.68412651,0.417814638832,0.00446637747836,0.0698684619036,0.999999972985,1.04677081152e-05,-0.000229468159961,3.55548531985e-05,1793250827831366400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.732325815,723,691.732325815,669,642,888,787,820,655.732325815,632,655.732325815,0.4169830844,0.00445709776345,0.0698549537725,0.99999996903,9.80803461011e-06,-0.000246066631725,3.59890992931e-05,1793250827848033024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746.161009654,723,691.161009654,669,642,888,787,820,655.161009654,632,655.161009654,0.416148691697,0.00444897474152,0.0698161378342,0.999999958018,1.81669014564e-05,-0.000287342970942,3.26658843158e-05,1793250827864699648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746.416691787,723,691.416691787,669,642,887.583308213,786.583308213,820,655,632,655.416691787,0.415299362956,0.00444532097812,0.069784106479,0.999999942477,6.77638223913e-06,-0.000337638512059,3.16177141387e-05,1793250827881366016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746.996898944,723,691.996898944,669,642,887.003101056,786.003101056,820,655,632,655.996898944,0.414444173046,0.00444342101023,0.0697547374806,0.999999922803,-1.23640566766e-05,-0.00039147330997,3.14623012891e-05,1793250827898032896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.429417151,746.429417151,723,691.429417151,668.429417151,642,887,786.570582849,819.429417151,655,632,655.429417151,0.413650981333,0.00445031892567,0.0697470397977,0.999999914732,6.5372212456e-06,-0.000411476472027,3.43697005662e-05,1793250827914699520
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,787,819,655.14864557,632,655,0.412901132282,0.0044623301022,0.0697556268797,0.999999919495,2.74507488708e-05,-0.00039872260296,3.57432873783e-05,1793250827931366400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,787,819,655.739849723,632,655,0.412279334157,0.00448942410852,0.0698123514628,0.999999956272,5.37466982103e-05,-0.000288983328211,3.25012951143e-05,1793250827948033280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746,723,690.350144395,668.324927802,642,886.675072198,787,819,655.675072198,632,655,0.411640786167,0.00449447573888,0.0698550664719,0.999999975232,5.21903514468e-05,-0.000213963500646,3.21181667125e-05,1793250827964699904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.189616342,668.905191829,642,886.094808171,787,819,655.094808171,632,655,0.41098907576,0.00448220592878,0.0698867724112,0.999999985194,2.87469870661e-05,-0.0001662270729,3.39816038972e-05,1793250827981366784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.520433223,642,886,786.520433223,819.479566777,655,632,655,0.410305199653,0.00446981693865,0.0698640984831,0.999999976998,2.81878298169e-05,-0.000209887124189,3.40023130884e-05,1793250827998033408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786.054573335,819.945426665,655,632,655,0.409618031082,0.00445886987492,0.0698299570058,0.999999961882,3.08423499993e-05,-0.000272313886032,3.36073883716e-05,1793250828014699776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786.647144687,819.352855313,655,632,655,0.408960332829,0.00446236714919,0.0697874624967,0.99999994015,2.11193922502e-05,-0.000343782984533,3.26628244145e-05,1793250828031366400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.234283434,746,723,689,668.234283434,642,886.234283434,786.765716566,819,655.234283434,632,655,0.408344201418,0.00446555819391,0.0697645733682,0.999999927468,1.29094755922e-05,-0.000379353079076,3.14271223866e-05,1793250828048033280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.813425488,746,723,689,668.813425488,642,886.813425488,786.186574512,819,655.813425488,632,655,0.407789255288,0.00446829847706,0.0697705428116,0.999999933982,6.92671379837e-06,-0.000362080846283,2.97628735903e-05,1793250828064699904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.611071674,746,723,688.611071674,668.611071674,642,886.611071674,786,819,656,632,655,0.407271577542,0.00447259009422,0.0697877185563,0.99999994266,2.73328669619e-05,-0.000336169937343,3.03871046741e-05,1793250828081366272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.037298384,746,723,688.037298384,668.037298384,642,886.037298384,786,819,656,632,655,0.406771612197,0.00447761901015,0.0698102202914,0.999999950803,6.02808111475e-05,-0.000306153345,3.2098975497e-05,1793250828098032896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,688,668.537393011,642,886,786,819.537393011,656,632.537393011,655.537393011,0.406278264035,0.00448108064981,0.069809164394,0.999999948263,5.24051987324e-05,-0.000315730944333,3.22792793918e-05,1793250828114699776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.115554287,746,723,687.884445713,669,642,886.115554287,786,819.884445713,655.884445713,632.884445713,655.884445713,0.40579682503,0.00448386660959,0.0698066092416,0.999999945465,4.15813652569e-05,-0.000326057277382,3.2052726769e-05,1793250828131366400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.70776556,746,723,687.29223444,669,642,886.70776556,786,819.29223444,655.29223444,632.29223444,655.29223444,0.40536261296,0.00448431489244,0.0698046257585,0.999999945243,3.03039236995e-05,-0.000328116985294,3.05871412521e-05,1793250828148033280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.708340574,746,723,687.291659426,669,642,887,786,819,655.291659426,632,655.291659426,0.40496554643,0.00448428008512,0.0698123530874,0.999999950701,2.52075115973e-05,-0.000311567987939,2.9813017516e-05,1793250828164699904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.132549477,746,723,687.867450523,669,642,887,786,819,655.867450523,632,655.867450523,0.404604666736,0.0044837746562,0.0698295405914,0.999999960883,2.6132596704e-05,-0.000276890577222,2.97125089363e-05,1793250828181366272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,746,723,687.570554834,669,642,887,786,819,656,632,655.570554834,0.404260742056,0.00448145750651,0.0698432291666,0.99999996742,2.48736068743e-05,-0.000252264602743,3.00619642491e-05,1793250828198033152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746,723,687.012685971,669,642,887,786,819,656,632,655.012685971,0.403921887705,0.00447859856966,0.0698558714021,0.999999972671,2.29614789749e-05,-0.000230644466843,3.054597929e-05,1793250828214699776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.595586093,746,723,687,669,642,886.404413907,786,819.595586093,656,632,655.595586093,0.403596413879,0.00447654645059,0.0698423685304,0.999999967483,8.32034506528e-06,-0.00025335635033,2.78325529142e-05,1793250828231366400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,655.805083537,632,656,0.403284658412,0.00447281832822,0.0698300774868,0.999999961927,-6.63602009234e-06,-0.000274628167866,2.60848875039e-05,1793250828248033024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,820,655.225703677,632,656,0.402999347664,0.00446574733899,0.0698213767099,0.99999995707,-2.16299338467e-05,-0.000291024797659,2.63888939588e-05,1793250828264699648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.646951589,655,632,655.646951589,0.402738814745,0.00446218464263,0.0698141957419,0.999999953159,-2.86107480209e-05,-0.000303497341368,2.74289796589e-05,1793250828281366272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786,819.068600066,655,632,655.068600066,0.402494094139,0.00446086081502,0.0698079846619,0.999999949986,-3.04778845896e-05,-0.000313465672633,2.8938805348e-05,1793250828298033152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.506866294,819.506866294,655.506866294,632,655.506866294,0.402285428049,0.00446351758904,0.0698023806593,0.999999946952,-2.65301178857e-05,-0.000323203334943,3.0523982845e-05,1793250828314699520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.083614077,786.916385923,819.916385923,655.916385923,632,656,0.402086854492,0.00446679129055,0.0697977574105,0.99999994439,-2.11498544826e-05,-0.000331248230763,3.23547692599e-05,1793250828331366400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.670410179,786.329589821,819.329589821,655.329589821,632,656,0.401919817583,0.00447055386422,0.0697985445978,0.999999945079,-1.18582296485e-05,-0.000329293024116,3.56025841551e-05,1793250828348033024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.74591381,746,723,687,668.74591381,642,886.74591381,786.25408619,819,655.25408619,632,656,0.401766172948,0.00447848264637,0.0697982994114,0.999999945461,4.1336838621e-06,-0.000328071125423,3.78087045315e-05,1793250828364699648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.166235989,746,723,687,668.166235989,642,886.166235989,786.833764011,819,655.833764011,632,656,0.401629689477,0.00449175009946,0.0697967313185,0.999999945117,2.87114940792e-05,-0.000327788903679,3.86799744349e-05,1793250828381366272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.410283035,746,723,687.410283035,668.410283035,642,886,786.589716965,819,656,632,656,0.401513719747,0.00449411950822,0.0697958868435,0.999999942078,8.2270479038e-05,-0.00032800149443,3.86140967697e-05,1793250828398033664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.985531961,746,723,687.985531961,668.985531961,642,886,786.014468039,819,656,632,656,0.401405998149,0.00449210704987,0.0697953333195,0.999999934468,0.00014748216363,-0.000328413037395,3.81714122784e-05,1793250828414701056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.425552849,746.574447151,723,687.425552849,669,642,886,786,819.574447151,656,632.574447151,655.425552849,0.401320820065,0.00448626073236,0.0697940740848,0.999999940724,9.09844896302e-05,-0.000331105157825,2.53622164509e-05,1793250828431367168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.160954081,746.839045919,723,687,669,642,886,786.160954081,820,655.839045919,633,655.160954081,0.401242493652,0.00448166115629,0.069793810019,0.99999994361,4.853904155e-05,-0.000331895915736,1.64095532914e-05,1793250828448033280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.740284499,746.259715501,723,687,669,642,886,786.740284499,820,655.259715501,633,655.740284499,0.401180465328,0.00448055941051,0.0697961800744,0.999999944885,5.07824564012e-05,-0.000327591423228,1.83107116794e-05,1793250828464699904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.318001718,723,686.681998282,669,642,886,786.681998282,820,655.318001718,632.681998282,656,0.401130433437,0.00448117652348,0.0697990254473,0.999999946548,5.34340186797e-05,-0.000321966861808,1.96708637803e-05,1793250828481366784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.894408134,723,686.105591866,669,642,886,786.105591866,820,655.894408134,632.105591866,656,0.40109014971,0.00448319036203,0.0698022570582,0.999999948499,5.64172373086e-05,-0.000315269626438,2.05914003321e-05,1793250828498033408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.531039702,746.531039702,723,686.468960298,669,642,886,786.468960298,820,656,632.468960298,656,0.401059534993,0.00448214162547,0.0698054935619,0.99999995009,5.52574737001e-05,-0.000310325013191,2.15418903987e-05,1793250828514700544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.044214265,746,723,686.955785735,669,642,886,786.955785735,820,656,632.955785735,656,0.401031834845,0.00448059044616,0.069808639622,0.999999951549,5.34684190049e-05,-0.00030583959081,2.24568957174e-05,1793250828531367424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.633240668,746,723,686.366759332,669,642,886,786.366759332,820,656,632.366759332,656,0.401013327603,0.00448131165432,0.0698106577105,0.999999952553,5.53744575133e-05,-0.00030216892348,2.28518779715e-05,1793250828548033792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.781054119,746,723,686.218945881,668.781054119,642,886,786,819.781054119,655.781054119,632,656,0.400998232695,0.00448178750075,0.0698125095207,0.999999953499,5.60443396315e-05,-0.000298882177961,2.30448437418e-05,1793250828564700416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768.200829181,746,723,686.799170819,668.200829181,642,886,786,819.200829181,655.200829181,632,656,0.400988768423,0.00448185847974,0.0698140869577,0.999999954367,5.46744599789e-05,-0.000296228935838,2.29044653573e-05,1793250828581366784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.377445628,746,723,687,668.377445628,642,886,786.377445628,819.377445628,655.377445628,632,655.622554372,0.400982337707,0.00448228421728,0.0698156354797,0.999999955264,5.43057095605e-05,-0.000293264254054,2.27899376698e-05,1793250828598033408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.954688138,746,723,687,668.954688138,642,886,786.954688138,819.954688138,655.954688138,632,655.045311862,0.400977512772,0.00448289774255,0.0698171686958,0.99999995617,5.44668964398e-05,-0.000290134715037,2.26890937816e-05,1793250828614700032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,787,819.471800457,656,632,655.528199543,0.400973022518,0.00448260980877,0.0698171448111,0.999999955685,5.47908531195e-05,-0.000291715948649,2.29982923838e-05,1793250828631366912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.895551554,819.104448446,656,632,656,0.400969478506,0.00448213580913,0.0698172695273,0.999999955389,5.47146811948e-05,-0.000292720226838,2.32992625307e-05,1793250828648033536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886,786.305085844,819.694914156,656,632,656,0.400970204866,0.00448115332803,0.0698187029056,0.999999956527,5.27121214066e-05,-0.000289172593811,2.33994133755e-05,1793250828664700160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.280291424,786,819.719708576,656,632,655.719708576,0.400969991172,0.00448149913847,0.0698199177922,0.999999957113,5.36038665385e-05,-0.000286959636895,2.35393153992e-05,1793250828681366784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.860228957,786,819.139771043,656,632,655.139771043,0.400968772514,0.00448326496151,0.0698208990999,0.999999957113,5.75897738917e-05,-0.000286173517709,2.37217135126e-05,1793250828698033152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,887,786,819,655.563145408,632,655.436854592,0.400968227551,0.0044832946332,0.0698209320904,0.999999957224,5.70434525301e-05,-0.000285897825583,2.36742537482e-05,1793250828714699776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.987623736,786,819.012376264,655.012376264,632,655.987623736,0.400967911062,0.00448277994616,0.0698206754959,0.999999957372,5.50644597492e-05,-0.000285776767004,2.35546335752e-05,1793250828731366400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642,886.414470216,786,819.585529784,655.585529784,632,655.414470216,0.400968253799,0.00448257976112,0.0698209420061,0.999999957597,5.33799095842e-05,-0.000285318228085,2.3472573961e-05,1793250828748033024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.836289285,746,723,687,669,642,886,786,819.836289285,655.836289285,632,655,0.400968973629,0.00448265697677,0.0698217398509,0.999999958039,5.25702086474e-05,-0.000283927183279,2.33235208951e-05,1793250828764699904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.244977125,746,723,687,669,642,886,786,819.244977125,655.244977125,632,655,0.400970678402,0.00448345874451,0.0698239255059,0.999999959047,5.40455555233e-05,-0.000280100495448,2.2999485416e-05,1793250828781366528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.339452752,746,723.339452752,687,669,642,886,786,819,655.339452752,632,655.339452752,0.400970807656,0.00448286671674,0.0698243145385,0.999999959209,5.38688815108e-05,-0.00027953776421,2.3202894162e-05,1793250828798033152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.91901448,746,723.91901448,687,669,642,886,786,819,655.91901448,632,655.91901448,0.400969822482,0.0044812887997,0.0698234327458,0.999999958778,5.25236647067e-05,-0.000281283764687,2.37793860462e-05,1793250828814699776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746,723.505727929,687.494272071,669,642,886,786,819.494272071,656,632,655.505727929,0.400972051686,0.00448212985042,0.069825181871,0.999999959544,5.32393224892e-05,-0.000278433022248,2.35212880027e-05,1793250828831366400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,746,723,687.929703775,669.070296225,642,886,786,820,655.929703775,632,655.070296225,0.400974297594,0.00448322857696,0.0698270241257,0.999999960338,5.41888997555e-05,-0.000275411005558,2.31629725528e-05,1793250828848033280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,687.342910792,669.657089208,642,886,786,820,655.342910792,632,655.657089208,0.40097282996,0.00448333359362,0.0698264107209,0.999999959996,5.43975925628e-05,-0.000276616638433,2.30643745385e-05,1793250828864699904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.758059858,746.241940142,723,687,669.758059858,642,886,786,820,655,632,656,0.400971322119,0.00448311763917,0.0698256152979,0.999999959633,5.38439225752e-05,-0.000278036326301,2.30543788241e-05,1793250828881366528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.17593946,746.82406054,723,687,669.17593946,642,886,786,820,655,632,656,0.400969757746,0.00448245038289,0.0698245639479,0.999999959236,5.22183314e-05,-0.000279756986649,2.31689624767e-05,1793250828898033408
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746.598481804,723,687,669.401518196,642,886,786,820,655.401518196,632,655.598481804,0.400970132919,0.0044829156159,0.0698248566098,0.999999959335,5.22796835097e-05,-0.000279395059729,2.31326650773e-05,1793250828914699776
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,746.023043873,723,687,669.976956127,642,886,786,820,655.976956127,632,655.023043873,0.400971348217,0.00448387139267,0.0698257314377,0.999999959648,5.30717441386e-05,-0.000278131048996,2.30310127441e-05,1793250828931366400
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,687,669.449671806,642,886.550328194,786,820,656,632.550328194,655.550328194,0.400970345366,0.0044828801662,0.0698248454705,0.999999959447,5.2923463478e-05,-0.000278870213234,2.3165382575e-05,1793250828948033792
+410,6.833333333,POSE2_TO_POSE3_RETREAT,768.127662078,746.127662078,723,687,668.872337922,642,887,786,820,655.872337922,632.872337922,656,0.400969830218,0.00448211295631,0.0698243678731,0.999999959384,5.24796668077e-05,-0.00027917026911,2.32723030519e-05,1793250828964700928
+411,6.850000000,POSE2_TO_POSE3_RETREAT,768.719721362,746.719721362,723,687,668.280278638,642,887,786,820,655.280278638,632.280278638,656,0.400971425802,0.00448245611458,0.0698256430094,0.999999959902,5.11035681415e-05,-0.000277568991843,2.3243554005e-05,1793250828981367808
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..809e0f3decdf751f77e73920a14372c735fd245e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/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,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+1,0.016666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+2,0.033333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+3,0.050000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+4,0.066666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+5,0.083333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+6,0.100000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+367,6.116666667,pose2_to_pose3_retreat,0.577629938678,0.0101500907926,1.06003361766,0.54820061811,0.018822727875,1.05970501263
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+371,6.183333333,pose2_to_pose3_retreat,0.57678181851,0.0101501166175,1.06003367263,0.547352495618,0.0188227452864,1.0597050537
+372,6.200000000,pose2_to_pose3_retreat,0.576617676258,0.0101499922848,1.0600336382,0.547188356506,0.0188226319827,1.05970502919
+373,6.216666667,pose2_to_pose3_retreat,0.576472034906,0.0101501591275,1.06003364622,0.547042711089,0.0188227848947,1.05970503369
+374,6.233333333,pose2_to_pose3_retreat,0.576342080983,0.0101501347353,1.06003343018,0.546912757626,0.0188227623702,1.05970482569
+375,6.250000000,pose2_to_pose3_retreat,0.57622764754,0.0101500835201,1.06003352127,0.546798326437,0.0188227189063,1.05970491959
+376,6.266666667,pose2_to_pose3_retreat,0.576127118943,0.0101501133575,1.06003345924,0.546697797538,0.0188227478097,1.0597048602
+377,6.283333333,pose2_to_pose3_retreat,0.576039466919,0.0101501294998,1.0600334759,0.54661014506,0.0188227623477,1.05970487547
+378,6.300000000,pose2_to_pose3_retreat,0.57596444046,0.0101501325555,1.06003353285,0.546535118861,0.018822766195,1.05970492989
+379,6.316666667,pose2_to_pose3_retreat,0.575900519896,0.010150175864,1.06003338871,0.546471197618,0.018822807276,1.05970478772
+380,6.333333333,pose2_to_pose3_retreat,0.575848221322,0.0101501389566,1.06003349834,0.546418899321,0.0188227712228,1.05970489508
+381,6.350000000,pose2_to_pose3_retreat,0.575805120223,0.010150120378,1.06003359138,0.546375799657,0.018822757595,1.05970499029
+382,6.366666667,pose2_to_pose3_retreat,0.575770452619,0.0101501629916,1.06003361882,0.546341131542,0.0188227982335,1.05970501134
+383,6.383333333,pose2_to_pose3_retreat,0.575743159301,0.0101501923459,1.06003364956,0.546313837561,0.0188228251497,1.05970503712
+384,6.400000000,pose2_to_pose3_retreat,0.575721769387,0.0101501491257,1.06003364644,0.546292448246,0.0188227840383,1.05970503599
+385,6.416666667,pose2_to_pose3_retreat,0.575705517406,0.010150065859,1.0600336017,0.546276197429,0.0188227049056,1.05970499613
+386,6.433333333,pose2_to_pose3_retreat,0.575693259925,0.0101500307817,1.06003351699,0.546263939523,0.0188226682757,1.05970490851
+387,6.450000000,pose2_to_pose3_retreat,0.575684817501,0.0101500718096,1.06003343013,0.546255496478,0.0188227072866,1.05970482415
+388,6.466666667,pose2_to_pose3_retreat,0.57567865722,0.0101501151461,1.06003342184,0.546249335689,0.0188227489266,1.05970481653
+389,6.483333333,pose2_to_pose3_retreat,0.575674443699,0.0101501463443,1.06003357956,0.546245121852,0.0188227788616,1.05970496922
+390,6.500000000,pose2_to_pose3_retreat,0.575671753179,0.0101501425926,1.0600336289,0.546242431313,0.0188227749645,1.0597050165
+391,6.516666667,pose2_to_pose3_retreat,0.575670009323,0.0101501034257,1.06003358116,0.546240687727,0.0188227367295,1.05970496922
+392,6.533333333,pose2_to_pose3_retreat,0.575668774827,0.010150075699,1.06003354737,0.546239453422,0.0188227096625,1.05970493575
+393,6.550000000,pose2_to_pose3_retreat,0.575668097574,0.0101500604879,1.06003352883,0.546238776273,0.0188226948133,1.05970491738
+394,6.566666667,pose2_to_pose3_retreat,0.575667892672,0.010150068042,1.06003353762,0.54623857137,0.0188227023603,1.05970492614
+395,6.583333333,pose2_to_pose3_retreat,0.575667640007,0.0101500792574,1.0600335507,0.546238318697,0.0188227135488,1.05970493918
+396,6.600000000,pose2_to_pose3_retreat,0.575667508234,0.0101500851067,1.06003355753,0.546238186921,0.0188227193839,1.05970494598
+397,6.616666667,pose2_to_pose3_retreat,0.57566726142,0.0101500960624,1.06003357032,0.546237940099,0.0188227303133,1.05970495871
+398,6.633333333,pose2_to_pose3_retreat,0.575666927294,0.0101501108938,1.06003358762,0.546237605964,0.0188227451091,1.05970497595
+399,6.650000000,pose2_to_pose3_retreat,0.575666679763,0.0101501218814,1.06003360045,0.546237358426,0.0188227560702,1.05970498872
+400,6.666666667,pose2_to_pose3_retreat,0.575666187933,0.0101501437131,1.06003362592,0.546236866582,0.0188227778494,1.0597050141
+401,6.683333333,pose2_to_pose3_retreat,0.575665511985,0.0101501717636,1.06003362351,0.546236190293,0.0188228048169,1.05970501355
+402,6.700000000,pose2_to_pose3_retreat,0.575665252954,0.0101501804272,1.06003358262,0.54623593079,0.0188228119863,1.05970497551
+403,6.716666667,pose2_to_pose3_retreat,0.575665191017,0.0101501824988,1.06003357284,0.54623586874,0.0188228137006,1.05970496642
+404,6.733333333,pose2_to_pose3_retreat,0.575665183223,0.0101501827594,1.06003357161,0.546235860932,0.0188228139164,1.05970496527
+405,6.750000000,pose2_to_pose3_retreat,0.575664952219,0.0101501904856,1.06003353515,0.546235629507,0.0188228203101,1.05970493135
+406,6.766666667,pose2_to_pose3_retreat,0.575664597137,0.0101502023618,1.06003347911,0.546235273777,0.0188228301381,1.05970487921
+407,6.783333333,pose2_to_pose3_retreat,0.575664451198,0.0101501432152,1.06003343371,0.546235128137,0.0188227719057,1.05970483121
+408,6.800000000,pose2_to_pose3_retreat,0.575664390392,0.0101500955912,1.06003340676,0.546235067658,0.0188227252929,1.05970480168
+409,6.816666667,pose2_to_pose3_retreat,0.575664311885,0.0101500263899,1.06003333425,0.546234989858,0.018822658411,1.05970472708
+410,6.833333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+411,6.850000000,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9b9fe72cce62ba9c088b022914b3b0af691663b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d54abb3370ae4c58ca3afd144fa28f2020ba342348474feb4e145bba953e73
+size 26172842
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e53f246b3b7150ed67a2df9d41c0b290bc0af17c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,415 @@
+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,769,746,723,687,669,642,887,787,820,656,633,655,0.40096902596,0.00448263636762,0.0698252535707,0.99999995936,5.07257876683e-05,-0.000279583928742,2.3220942404e-05,1793250829104174336
+1,0.016666667,BASELINE,768.425459548,746.574540452,723,687,669,642,886.425459548,786.425459548,820,656,632.425459548,655.574540452,0.40096828005,0.00448329143234,0.0698246269377,0.999999959093,5.40982224575e-05,-0.000279911816226,2.3160799072e-05,1793250829120840704
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+3,0.050000000,BASELINE,768.722056123,747,723,687,669,642,886,786,819.277943877,656,632.722056123,655.277943877,0.400969614373,0.00448370188131,0.06982588225,0.999999959625,5.27083785291e-05,-0.000278283820266,2.30406708133e-05,1793250829154173696
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+7,0.116666667,BASELINE,768.939993279,746,723,687,669.939993279,642,886,786,819.060006721,655.060006721,632,656,0.400971481358,0.0044841398432,0.0698282722726,0.999999960779,5.4938893535e-05,-0.00027365986457,2.31219397591e-05,1793250829220839424
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+9,0.150000000,BASELINE,768.215198086,746,723,687,669,642,886.215198086,786,820,656,632,656,0.40097366786,0.00448206290894,0.069829564194,0.999999961506,5.15543035286e-05,-0.000271640084568,2.32736188464e-05,1793250829254173696
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+11,0.183333333,BASELINE,768.617009156,746,723,687,669,642,887,786,820,656,632,656,0.40097172817,0.00448397286793,0.0698280064265,0.999999960679,5.37465281724e-05,-0.000274252306629,2.32130011063e-05,1793250829287506688
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+13,0.216666667,BASELINE,768,746,723,687,669,642,886.45963052,786,820,655.45963052,632.54036948,656,0.400971714719,0.00448399024237,0.0698278746999,0.999999960602,5.53493194458e-05,-0.000274228288983,2.304960878e-05,1793250829320839936
+14,0.233333333,BASELINE,768.117718937,746,723,687,669,642,886,786.117718937,820,655.117718937,632.882281063,655.882281063,0.400972356273,0.00448378128294,0.0698288887312,0.999999960901,5.41163954259e-05,-0.000273409310672,2.27366955615e-05,1793250829337506304
+15,0.250000000,BASELINE,768.69160152,746,723,687,669,642,886,786.69160152,820,655.69160152,632.30839848,655.30839848,0.400972924979,0.00448517571499,0.0698295854458,0.999999961236,5.42929232247e-05,-0.000272161857301,2.25438662857e-05,1793250829354172928
+16,0.266666667,BASELINE,768.72776489,746,723,687,669,642,886,786.72776489,820,656,632,655.27223511,0.400972918802,0.00448534058542,0.0698297538364,0.999999961358,5.42285231394e-05,-0.000271718116767,2.26580668152e-05,1793250829370839808
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+22,0.366666667,BASELINE,768.748440859,746,723,687,669,642,886,786,820,655,632.748440859,655.748440859,0.400972603294,0.00448370533723,0.0698285351018,0.999999961206,5.3136070154e-05,-0.000272476946384,2.28095948402e-05,1793250829470840064
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+27,0.450000000,BASELINE,768.341745593,746,723,687,669,642,886,786,820,656,632,655.658254407,0.400973794895,0.00448436293991,0.0698295674507,0.999999961652,5.22826140103e-05,-0.000271034354027,2.24103777034e-05,1793250829554173696
+28,0.466666667,BASELINE,768.229387442,746,723,687,669,642,886.229387442,786,819.770612558,656,632,656,0.400974215311,0.00448437414757,0.0698303633727,0.999999961954,5.19989170368e-05,-0.000269973215358,2.24281772687e-05,1793250829570840320
+29,0.483333333,BASELINE,768.794487151,746,723,687,669,642,886.794487151,786,819.205512849,656,632,656,0.400972750005,0.00448514634181,0.0698299384832,0.999999961548,5.34616838825e-05,-0.000271164581791,2.27157517917e-05,1793250829587506688
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+34,0.566666667,BASELINE,769,746.288334988,723,687,669.288334988,642,886,786,819.711665012,655.711665012,632,656,0.400973199807,0.00448437075066,0.0698299598564,0.999999961476,5.50845059562e-05,-0.000271095465229,2.28414807674e-05,1793250829670839808
+35,0.583333333,BASELINE,768.705190362,746,723,687,669,642,886,786,819.705190362,656,632,656,0.400973573931,0.00448418726872,0.069830113261,0.999999961629,5.45897175883e-05,-0.00027063284558,2.27903069401e-05,1793250829687506688
+36,0.600000000,BASELINE,768.111768761,746,723,687,669,642,886,786,819.111768761,656,632,656,0.40097376164,0.00448463551757,0.0698302136902,0.999999961765,5.3925559695e-05,-0.000270267653573,2.27556263636e-05,1793250829704173312
+37,0.616666667,BASELINE,768,746,723,687,669,642,886,786,819.470101736,656,632.470101736,656,0.400973995724,0.00448426712328,0.0698303340958,0.999999961798,5.33251419398e-05,-0.000270266391931,2.27449361537e-05,1793250829720839680
+38,0.633333333,BASELINE,768.048816334,746,723,687,669.048816334,642,886,786,820,656,632.951183666,656,0.400974296425,0.00448368258317,0.0698304778482,0.999999961835,5.26491323729e-05,-0.000270262319708,2.27310500375e-05,1793250829737506304
+39,0.650000000,BASELINE,768.622420292,746,723,687,669.622420292,642,886,786,820,656,632.377579708,656,0.400975197595,0.0044828116378,0.0698308227504,0.999999962177,5.10014842488e-05,-0.000269320164452,2.2622960244e-05,1793250829754172928
+40,0.666666667,BASELINE,769,746,723,687,670,642,886.19727385,786,820,655.80272615,632,656,0.400974879245,0.004483220921,0.0698305510392,0.999999962107,5.12633740368e-05,-0.000269535658425,2.25698349145e-05,1793250829770839552
+41,0.683333333,BASELINE,769,746,723,687,670,642,886.77453434,786,820,655.22546566,632,656,0.400972211866,0.0044860961659,0.0698290916145,0.999999961234,5.52033940565e-05,-0.000271981003185,2.26225815141e-05,1793250829787506432
+42,0.700000000,BASELINE,769,746,723,687,669.640359068,642,886.640359068,786,820,655,632,655.640359068,0.400972234974,0.00448676557563,0.0698290282895,0.999999961206,5.4805931406e-05,-0.000272186931603,2.23220212454e-05,1793250829804173056
+43,0.716666667,BASELINE,769,746,723,687,669.050223923,642,886.050223923,786,820,655,632,655.050223923,0.400973982417,0.00448602126342,0.0698298597262,0.999999961721,5.1628571861e-05,-0.000270957615874,2.1795026269e-05,1793250829820839424
+44,0.733333333,BASELINE,769,746,723,687,669,642,886,786,820,655.529217284,632,655,0.400973279269,0.00448505150172,0.0698295212599,0.999999961645,5.14917544254e-05,-0.000271221478983,2.22957825392e-05,1793250829837506048
+45,0.750000000,BASELINE,769,746.107004998,723,687,669,642,886,786,819.892995002,656,632,655.107004998,0.400972829596,0.00448413382841,0.0698293672293,0.999999961653,5.16244042499e-05,-0.00027112922509,2.27777452937e-05,1793250829854172928
+46,0.766666667,BASELINE,769,746.68191217,723,687,669,642,886,786,819.31808783,656,632,655.68191217,0.400974485105,0.00448353562706,0.0698304955541,0.999999962258,5.16985832361e-05,-0.000268872406659,2.27594801257e-05,1793250829870839552
+47,0.783333333,BASELINE,768.737882315,746.737882315,723,687,669,642,886.262117685,786.262117685,819.262117685,656,632,656,0.40097493412,0.00448322996209,0.0698305927325,0.999999962293,5.20497262851e-05,-0.000268678060023,2.2741089011e-05,1793250829887506176
+48,0.800000000,BASELINE,768.151114371,746.151114371,723,687,669,642,886.848885629,786.848885629,819.848885629,656,632,656,0.400973888813,0.00448328662287,0.0698294127674,0.99999996162,5.27439078342e-05,-0.000271038222151,2.27225419004e-05,1793250829904172800
+49,0.816666667,BASELINE,768.432828504,746.432828504,723,687,669,642,886.567171496,786.567171496,820,656,632.432828504,655.567171496,0.400972796044,0.00448257205646,0.0698288059146,0.99999996133,5.16259225173e-05,-0.000272291314902,2.30585469508e-05,1793250829920839424
+50,0.833333333,BASELINE,769,746.984455455,723,686.984455455,669,642,886,786,820,656,632.984455455,655.015544545,0.400971719008,0.00448166206839,0.0698284202011,0.999999961173,5.00051338741e-05,-0.000273132609041,2.35005281098e-05,1793250829937506304
+51,0.850000000,BASELINE,769,746.410606147,723,686.410606147,669,642,886,786,820,656,632.410606147,655.589393853,0.400971798306,0.00448334138573,0.0698288370358,0.999999961071,5.29019021068e-05,-0.000272975735012,2.33316878915e-05,1793250829954172672
+52,0.866666667,BASELINE,769,746,723,686.163251217,669,642,886.163251217,786,820,655.836748783,632,656,0.400971703272,0.00448483934807,0.0698290555654,0.999999960993,5.46920126683e-05,-0.000272926581734,2.3100219608e-05,1793250829970839296
+53,0.883333333,BASELINE,769,746,723,686.737128806,669,642,886.737128806,786,820,655.262871194,632,656,0.400971169742,0.00448588114744,0.0698287752975,0.999999960995,5.36985430392e-05,-0.000273148378859,2.27112227379e-05,1793250829987507200
+54,0.900000000,BASELINE,769,746,723,687,669,642,886.678236641,786,820,655.321763359,632,656,0.400971645536,0.00448613797177,0.069828866237,0.999999961067,5.41930546524e-05,-0.000272806181398,2.2501084821e-05,1793250830004174080
+55,0.916666667,BASELINE,769,746,723,687,669,642,886.084510034,786,820,655.915489966,632,656,0.400972974438,0.00448573131354,0.0698292709312,0.999999961195,5.59452490143e-05,-0.000271987280176,2.24421234336e-05,1793250830020840192
+56,0.933333333,BASELINE,769,746,723,687,669,642.49520971,886.49520971,786,820,656,632,655.50479029,0.400972553615,0.00448438233585,0.0698289462167,0.999999961219,5.41251419599e-05,-0.000272247413547,2.26716605409e-05,1793250830037506304
+57,0.950000000,BASELINE,769,746,723,687,669,642.927682485,886.927682485,786,819.927682485,656,632,655.072317515,0.400971977366,0.00448314365759,0.0698286618328,0.999999961252,5.22100236555e-05,-0.000272479890989,2.2926998233e-05,1793250830054172928
+58,0.966666667,BASELINE,769,746,723,687,669,642.352572766,886.352572766,786,819.352572766,656,632,655.647427234,0.400972339429,0.00448375914288,0.0698294994818,0.999999961495,5.37562482504e-05,-0.00027127504041,2.30288309409e-05,1793250830070839552
+59,0.983333333,BASELINE,768.77763114,746,723,687,669,642,886.22236886,786,819.22236886,656,632,656,0.400972440346,0.0044843522122,0.0698301955229,0.999999961565,5.51474062147e-05,-0.000270730584986,2.30864884591e-05,1793250830087506176
+60,1.000000000,BASELINE,768.202955739,746,723,687,669,642,886.797044261,786,819.797044261,656,632,656,0.40097212752,0.00448490976722,0.0698306672098,0.999999961366,5.62928870876e-05,-0.000271232415852,2.30741577393e-05,1793250830104172800
+61,1.016666667,BASELINE,768,746.383713667,723,687.383713667,669,642,886.616286333,786,820,656,632,656,0.400971376244,0.0044853582103,0.0698299052052,0.999999961016,5.65674080901e-05,-0.000272490919998,2.2747457455e-05,1793250830120839936
+62,1.033333333,BASELINE,768,746.976931661,723,687.976931661,669,642,886.023068339,786,820,656,632,656,0.400970385578,0.00448574707919,0.0698284696157,0.999999960581,5.63663925026e-05,-0.00027416256115,2.22491141206e-05,1793250830137507072
+63,1.050000000,BASELINE,768.553410239,746.446589761,723,687.446589761,669,641.446589761,886,786,819.446589761,656,632,655.446589761,0.400972115306,0.0044839110496,0.0698296776417,0.999999961327,5.3472152367e-05,-0.000271971874228,2.2738323999e-05,1793250830154173696
+64,1.066666667,BASELINE,768.871304364,746,723,687,669.128695636,641.128695636,886,786,819,655.871304364,632,655,0.400973147854,0.00448283441096,0.0698304850289,0.999999961848,5.12925701847e-05,-0.000270453007702,2.29919644321e-05,1793250830170840320
+65,1.083333333,BASELINE,768.29780209,746,723,687,669.70219791,641.70219791,886,786,819,655.29780209,632,655,0.400971390338,0.00448469356353,0.0698295380148,0.999999961465,5.1959661274e-05,-0.000271796245078,2.2293313102e-05,1793250830187506688
+66,1.100000000,BASELINE,768.284465332,746,723,687,669.715534668,642,886,786.284465332,819.284465332,655,632.284465332,655.284465332,0.400971250155,0.00448468443962,0.069829541275,0.999999961488,5.12655587805e-05,-0.000271840723576,2.23054371888e-05,1793250830204173056
+67,1.116666667,BASELINE,768.876200536,746,723,687,669.123799464,642,886,786.876200536,819.876200536,655,632.876200536,655.876200536,0.40097285696,0.00448265726626,0.0698305709896,0.999999961948,4.9101140778e-05,-0.000270482326384,2.30853169887e-05,1793250830220839680
+68,1.133333333,BASELINE,768.541847163,746,723,687,669,642,886.458152837,786.541847163,819.541847163,655.458152837,632.541847163,655.541847163,0.400973392938,0.00448280303428,0.0698306770883,0.999999961871,5.13924888977e-05,-0.000270332743302,2.3154342776e-05,1793250830237506304
+69,1.150000000,BASELINE,768.037109517,746,723,687,669,642,887,786,819.037109517,656,632,655,0.400973632092,0.00448345785883,0.0698305641036,0.99999996169,5.44819223441e-05,-0.000270409639337,2.30421586375e-05,1793250830254172928
+70,1.166666667,BASELINE,768.610181506,746,723,687,669,642,887,786,819.610181506,656,632,655,0.400973675967,0.00448316194844,0.0698308161293,0.999999962161,5.20722149032e-05,-0.000269138582818,2.30290117699e-05,1793250830270840064
+71,1.183333333,BASELINE,769,746,723,687,669.184309257,642,886.815690743,786.184309257,820,656,632,655.184309257,0.400973347904,0.00448325386248,0.06983086605,0.99999996233,5.05475756375e-05,-0.00026881164868,2.28972203873e-05,1793250830287506688
+72,1.200000000,BASELINE,769,746,723,687,669.760682942,642,886.239317058,786.760682942,820,656,632,655.760682942,0.400972228652,0.00448417076031,0.069830486051,0.999999961868,5.09056614672e-05,-0.00027049306053,2.25130472472e-05,1793250830304173312
+73,1.216666667,BASELINE,769,746,723,687,669.654119594,642,886.345880406,786.654119594,819.654119594,656,632,656,0.400972232946,0.00448509244683,0.0698303284087,0.999999961631,5.23868836092e-05,-0.000271097621107,2.23667295057e-05,1793250830320839936
+74,1.233333333,BASELINE,769,746,723,687,669.062657102,642,886.937342898,786.062657102,819.062657102,656,632,656,0.40097303498,0.00448601753337,0.0698303286441,0.999999961552,5.46655552323e-05,-0.000270937595394,2.23892939321e-05,1793250830337506304
+75,1.250000000,BASELINE,768.482393866,746,723,687,669.517606134,642,887,786.517606134,819,656,632,656,0.400972422132,0.00448536017966,0.0698299842722,0.999999961339,5.47274888959e-05,-0.000271685068261,2.26819889419e-05,1793250830354172928
+76,1.266666667,BASELINE,768,746,723,687,670,642,886.904724298,786.904724298,819,656,632.095275702,655.904724298,0.400971954073,0.00448457753565,0.06982969868,0.999999961234,5.44248475614e-05,-0.000272111691275,2.29366170123e-05,1793250830370839552
+77,1.283333333,BASELINE,768,746,723,687,670,642,886.333384023,786.333384023,819,656,632.666615977,655.333384023,0.400973047162,0.00448410573622,0.0698299108168,0.999999961744,5.36129514957e-05,-0.000270397837989,2.28411050903e-05,1793250830387506176
+78,1.300000000,BASELINE,768.245677779,746,723,687,669.754322221,642,886,786,819,656,632.754322221,655.245677779,0.400973865819,0.00448372212739,0.0698303581148,0.999999962133,5.30273308828e-05,-0.000269079587855,2.27596380366e-05,1793250830404173056
+79,1.316666667,BASELINE,768.835557629,746,723,687,669.164442371,642,886,786,819,656,632.164442371,655.835557629,0.400974299988,0.00448346207632,0.069831134881,0.999999962354,5.27587291563e-05,-0.000268315589963,2.26978482799e-05,1793250830420839936
+80,1.333333333,BASELINE,769,746,723,687,669,642,886,786,819.417883056,656,632,656,0.400974462745,0.0044842132501,0.0698314338164,0.999999962379,5.38775172268e-05,-0.000268005341777,2.26399221126e-05,1793250830437506560
+81,1.350000000,BASELINE,769,746,723,687,669,642,886,786,819.997288556,656,632,656,0.400974520595,0.004485355288,0.0698315480581,0.999999962326,5.55325667661e-05,-0.000267870479345,2.25834893158e-05,1793250830454173184
+82,1.366666667,BASELINE,769,746,723,687,669,642,886.572191081,786,819.427808919,655.427808919,632,656,0.400973021515,0.00448492424073,0.0698305290815,0.999999961642,5.60348984396e-05,-0.000270302038037,2.26677992857e-05,1793250830470839808
+83,1.383333333,BASELINE,769,746.147795233,723,687,669,642,886.852204767,786,819,655.147795233,632,655.852204767,0.400971984523,0.0044844050543,0.0698297994874,0.999999961233,5.54450464937e-05,-0.000271929551358,2.26751970443e-05,1793250830487506176
+84,1.400000000,BASELINE,769,746.725502023,723,687,669,642,886.274497977,786,819,655.725502023,632,655.274497977,0.400972312961,0.00448365099998,0.0698299271566,0.999999961642,5.16939807244e-05,-0.000271183132501,2.24569452312e-05,1793250830504172800
+85,1.416666667,BASELINE,769,746.689568307,723,686.689568307,669,642,886.310431693,786.310431693,819,656,632,655.310431693,0.400972816669,0.00448381527455,0.0698303237952,0.999999961967,5.12395362421e-05,-0.000270067918284,2.24518929838e-05,1793250830520839424
+86,1.433333333,BASELINE,769,746.098099728,723,686.098099728,669,642,886.901900272,786.901900272,819,656,632,655.901900272,0.400973479051,0.00448481092141,0.0698309639344,0.99999996222,5.37695558879e-05,-0.000268618830021,2.26398524282e-05,1793250830537506304
+87,1.450000000,BASELINE,769,746,723,686.481254639,669,642,886.518745361,786.518745361,819,656,632,655.518745361,0.400973511613,0.00448484039792,0.0698305053305,0.999999962042,5.27506482721e-05,-0.000269490602587,2.25607288859e-05,1793250830554173184
+88,1.466666667,BASELINE,768.942028978,746,723,687,669,642,886.057971022,786,819,655.942028978,632,655.057971022,0.400973346775,0.0044845602086,0.0698298858693,0.999999961811,5.10830666696e-05,-0.000270671516773,2.24894948163e-05,1793250830570840064
+89,1.483333333,BASELINE,768.367355792,746,723,687,669,642,886.632644208,786,819,655.367355792,632,655.632644208,0.400972538685,0.0044832322303,0.0698297799193,0.999999961907,4.99233740198e-05,-0.000270494695098,2.29619187687e-05,1793250830587506688
+90,1.500000000,BASELINE,768,746,723,687,669.212402336,642,886.787597664,786,819,655.212402336,632.212402336,655.787597664,0.400972043499,0.00448279809136,0.0698297379688,0.999999961857,5.00549041319e-05,-0.000270640712163,2.30999767422e-05,1793250830604173312
+91,1.516666667,BASELINE,768,746,723,687,669.801170657,642,886.198829343,786,819,655.801170657,632.801170657,655.198829343,0.400972102766,0.00448394778981,0.0698298094221,0.999999961549,5.24744145077e-05,-0.000271358782844,2.26455553954e-05,1793250830620839936
+92,1.533333333,BASELINE,768.383824876,746.383824876,723,687,669.616175124,642,886.383824876,786.383824876,819.383824876,656,632.616175124,655.383824876,0.400972728033,0.00448512002589,0.069829912276,0.999999961506,5.41251986026e-05,-0.000271194396499,2.26125749827e-05,1793250830637506304
+93,1.550000000,BASELINE,768.963361575,746.963361575,723,687,669.036638425,642,886.963361575,786.963361575,819.963361575,656,632.036638425,655.963361575,0.400973641903,0.00448630375398,0.0698300311409,0.9999999616,5.5384010351e-05,-0.000270580046486,2.27944867322e-05,1793250830654172928
+94,1.566666667,BASELINE,769,746.460054131,723,687,669,642,887,787,820,656,632.539945869,656,0.400974014136,0.0044854949946,0.0698310597967,0.999999961824,5.64936797388e-05,-0.00026950999164,2.29037076791e-05,1793250830670839552
+95,1.583333333,BASELINE,768.885139975,746,723,687,669.114860025,642,886.885139975,786.885139975,819.885139975,656,633,656,0.400973978969,0.00448475615235,0.0698316659461,0.999999961914,5.6826786891e-05,-0.000269102982126,2.29388560545e-05,1793250830687506432
+96,1.600000000,BASELINE,768.316042584,746,723,687,669.683957416,642,886.316042584,786.316042584,819.316042584,656,633,656,0.40097247722,0.00448482558631,0.069830358394,0.999999961438,5.41286254239e-05,-0.000271439743167,2.2700469835e-05,1793250830704173568
+97,1.616666667,BASELINE,768,746.265102131,723,687,670,642,886,786,819.265102131,656,633,655.734897869,0.400971597116,0.00448511168693,0.0698294346192,0.999999961268,5.26306030129e-05,-0.000272375738337,2.24883271703e-05,1793250830720840192
+98,1.633333333,BASELINE,768,746.86129283,723,687,670,642,886,786,819.86129283,656,633,655.13870717,0.400971493389,0.0044856683846,0.0698289901475,0.999999961493,5.26314458238e-05,-0.000271562303575,2.23089603446e-05,1793250830737506560
+99,1.650000000,BASELINE,768.444461234,746.555538766,723,687,669.555538766,642,886.444461234,786,820,656,633,655.444461234,0.400972097212,0.00448504225121,0.0698297122543,0.999999961668,5.32430614606e-05,-0.000270786792159,2.2426206154e-05,1793250830754173184
+100,1.666666667,BASELINE,769,746,723,687,669,642,886.976644044,786,819.976644044,655.976644044,632.976644044,656,0.400972872201,0.00448405574685,0.0698307256595,0.999999961819,5.39463374354e-05,-0.000270072371241,2.26333346311e-05,1793250830770839552
+101,1.683333333,BASELINE,769,746,723,687,669,642,886.405382063,786,819.405382063,655.405382063,632.405382063,656,0.40097262997,0.00448302839192,0.0698302751463,0.999999961772,5.24556505306e-05,-0.0002705213328,2.28393115209e-05,1793250830787506176
+102,1.700000000,BASELINE,769,746.168102097,723,687,669.168102097,642,886,786.168102097,819.168102097,655.168102097,632.168102097,656,0.400972675189,0.00448252702788,0.0698302867678,0.999999961832,5.17829447747e-05,-0.000270423829386,2.29235995121e-05,1793250830804172800
+103,1.716666667,BASELINE,769,746.747016795,723,687,669.747016795,642,886,786.747016795,819.747016795,655.747016795,632.747016795,656,0.400973422886,0.00448331109523,0.069831427767,0.999999962154,5.31092444161e-05,-0.000268990859546,2.27105007437e-05,1793250830820839680
+104,1.733333333,BASELINE,769,747,723,687,670,642,886.332505419,787,820,656,633,656,0.40097400051,0.00448402092364,0.0698318254301,0.999999962366,5.29777072605e-05,-0.000268238937577,2.25511006088e-05,1793250830837506560
+105,1.750000000,BASELINE,769,747,723,687,670,642,886.923096691,787,820,656,633,656,0.400974446126,0.00448467312895,0.0698316461267,0.999999962495,5.17146186032e-05,-0.000268015634872,2.2433380547e-05,1793250830854173184
+106,1.766666667,BASELINE,768.495142159,746.495142159,723,687,669.495142159,642,886.495142159,786.495142159,819.495142159,656,632.495142159,655.495142159,0.400974961442,0.00448505093212,0.0698316097172,0.999999962367,5.28522238055e-05,-0.000268272229187,2.24198077716e-05,1793250830870839808
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,687,670,643,886,787,820,656,633,656,0.400972142938,0.00448259250316,0.0698306588411,0.999999961886,5.03220932991e-05,-0.000270472852688,2.32567453268e-05,1793250830914298112
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,723,687,670,642.422034676,886,786.422034676,820,656,633,656,0.40097237172,0.00448383160747,0.0698299576021,0.999999961797,5.19350041076e-05,-0.000270508090469,2.31326454418e-05,1793250830930964480
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.839434175,642,886.160565825,786.160565825,820,656,632.839434175,656,0.400972680372,0.00448480760693,0.0698295213381,0.999999961792,5.28540031287e-05,-0.000270363700159,2.29127549581e-05,1793250830947630592
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,723,687,669.244288188,642,886.755711812,786.755711812,820,656,632.244288188,656,0.4009732052,0.00448507149906,0.0698298022434,0.999999962024,5.18948924177e-05,-0.000269733136639,2.24336019684e-05,1793250830964296960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.338530336,642,886.661469664,786.661469664,819.661469664,656,632,656,0.400973641898,0.00448421613907,0.0698305348802,0.999999962213,5.19383476577e-05,-0.000269023026796,2.24216859037e-05,1793250830980963584
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.912765708,642,886.087234292,786.087234292,819.087234292,656,632,656,0.400974017236,0.00448258148892,0.0698315820395,0.999999962373,5.26798492401e-05,-0.000268257532091,2.27350881168e-05,1793250830997630464
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.514269356,746,723,687,669.514269356,642,886.485730644,786.485730644,819.485730644,656,632,656,0.400974028165,0.0044828137988,0.0698317232378,0.999999962433,5.10793902766e-05,-0.000268332281886,2.28668745397e-05,1793250831014297088
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.060271883,746,723,687,669,642,886.939728117,786.939728117,820,656,632,656,0.400973974615,0.00448340678327,0.0698317067252,0.999999962425,4.96132747162e-05,-0.000268626928258,2.29704505104e-05,1793250831030963456
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.650679514,746,723,687,669,642,886.349320486,786.349320486,820,656,632,656,0.400973928057,0.0044842306956,0.069831730406,0.999999962004,5.30186628954e-05,-0.000269531888026,2.3112037797e-05,1793250831047629824
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.23718201,723,687,669,642,886,786.23718201,820,656,632,656,0.400976800058,0.00448444235026,0.0698329180547,0.999999962253,5.45016531476e-05,-0.000268306634714,2.31201197116e-05,1793250831064296448
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.818026156,723,687,669,642,886,786.818026156,820,656,632,656,0.400983900874,0.00448376688116,0.0698357922215,0.999999963475,5.31992068147e-05,-0.000263994833664,2.29347605457e-05,1793250831080963328
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.605353707,723,687,669.394646293,642,886.394646293,786.605353707,820,656,632.394646293,655.605353707,0.401009330099,0.00448377734321,0.0698469710242,0.999999968122,5.21668501788e-05,-0.000245985041307,2.29394096424e-05,1793250831097629952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.030660612,723,687,669.969339388,642,886.969339388,786.030660612,820,656,632.969339388,655.030660612,0.401043121171,0.00448410074293,0.0698619385948,0.99999997384,5.12577145955e-05,-0.000221725906721,2.30307448934e-05,1793250831114296576
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.557304882,723,687,670,642.557304882,887,786.557304882,820,656,632.442695118,655.557304882,0.401096816681,0.00448334127532,0.0698782270184,0.999999979851,4.96714637668e-05,-0.000193162400727,2.2765283495e-05,1793250831130963200
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.856302825,723,687,669.856302825,642.856302825,887,786.856302825,820,656,632,655.856302825,0.401154995496,0.00448296943185,0.0698927645436,0.999999984147,4.89106971977e-05,-0.000169740780987,2.24088840528e-05,1793250831147630080
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.276947778,723,687,669.276947778,642.276947778,887,786.276947778,820,656,632,655.276947778,0.401223365738,0.00448395780252,0.0699017680507,0.999999985246,5.07683103632e-05,-0.000162643676933,2.18377447546e-05,1793250831164296704
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,723,687,669.301221487,642,887,786,819.698778513,656,632.301221487,655.301221487,0.40129952582,0.00448452297163,0.0699071557276,0.999999986408,5.00663892125e-05,-0.000155741113558,2.05528615658e-05,1793250831180963328
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,723,687,669.878304766,642,887,786,819.121695234,656,632.878304766,655.878304766,0.401382819916,0.00448470056826,0.0699092319888,0.999999987618,4.70204196201e-05,-0.000149016712998,1.86143242821e-05,1793250831197629696
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,687.453786597,670,642,887,786.453786597,819.453786597,656,632.546213403,656,0.401477039964,0.00448609097073,0.0699064465431,0.999999986953,4.48004387729e-05,-0.000154360160425,1.61014215608e-05,1793250831214296320
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,723,687.970542437,669.970542437,642,887,787,820,656,632,656,0.401575658294,0.00448773230258,0.0699025571324,0.999999985782,4.27705265022e-05,-0.000162560951209,1.34369045342e-05,1793250831230962944
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,723,687.383184051,669.383184051,642,887,787,820,656,632,656,0.401702278047,0.00448798778711,0.0699023655683,0.99999998572,4.01598675335e-05,-0.000163799761582,1.08079119779e-05,1793250831247629568
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.798414575,746,723,687,669.201585425,642,887,786.798414575,819.798414575,656,632,656,0.401844476693,0.00448834800556,0.0699039639433,0.999999986162,3.73915641324e-05,-0.000161918303676,7.81922089221e-06,1793250831264296192
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.218503901,746,723,687,669.781496099,642,887,786.218503901,819.218503901,656,632,656,0.402015912996,0.00448890478327,0.069908921585,0.999999987516,3.4327401989e-05,-0.00015418088517,4.1554662369e-06,1793250831280963072
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.359864421,746,723,687,669.640135579,642.359864421,887,786,819.359864421,656,632,655.640135579,0.402204317702,0.00449079528377,0.0699139788537,0.999999988915,3.12043473066e-05,-0.000145587997359,2.64119803908e-07,1793250831297629696
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.937300304,746,723,687,669.062699696,642.937300304,887,786,819.937300304,656,632,655.062699696,0.4024029814,0.0044934921436,0.0699190963566,0.999999990287,2.80456863188e-05,-0.000136477898159,-3.7648273466e-06,1793250831314296320
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.510807076,723,687,669,643,887,786,820,656,632.510807076,655,0.402628682695,0.00449442473775,0.0699214990922,0.999999991109,2.23443877884e-05,-0.000131189920362,-8.48957600082e-06,1793250831330962944
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.915033104,723,687,669,642.915033104,887,786,820,656,632.915033104,655.084966896,0.402862403772,0.00449522166906,0.0699235882315,0.999999991811,1.59390934834e-05,-0.000126270051456,-1.34265310192e-05,1793250831347629568
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.334269675,723,687,669,642.334269675,887,786,820,656,632.334269675,655.665730325,0.403123704004,0.00449648098718,0.069925777083,0.999999992497,7.23311248687e-06,-0.000120781476772,-1.91071878885e-05,1793250831364296192
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.250391019,723,687.250391019,669,642,887,786.250391019,819.749608981,656,632,656,0.40341877713,0.0044979993976,0.0699328239817,0.999999993956,-4.33198194898e-07,-0.000107067559971,-2.49790421809e-05,1793250831380962816
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.84033675,723,687.84033675,669,642,887,786.84033675,819.15966325,656,632,656,0.403759649586,0.00449986916245,0.0699464588677,0.999999996115,-6.68961371723e-06,-8.21992750271e-05,-3.11101785306e-05,1793250831397629440
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746.580964935,723,687.580964935,669.419035065,642.419035065,887,786.580964935,819.419035065,656,632,656,0.40410112899,0.00450291814136,0.0699512274865,0.999999996377,-9.87328503276e-06,-7.60428440197e-05,-3.69648074906e-05,1793250831414296064
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746.00644017,723,687.00644017,669.99355983,642.99355983,887,786.00644017,819.99355983,656,632,656,0.404442833604,0.00450640468657,0.069952706134,0.999999996065,-1.19167650446e-05,-7.68297479744e-05,-4.27168338035e-05,1793250831430962688
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.431679506,746,723,687.568320494,669.431679506,642.431679506,887,786.568320494,820,656,632.568320494,655.431679506,0.404839783899,0.00450890514663,0.0699601465834,0.999999996646,-1.44894305452e-05,-6.40716106241e-05,-4.89197682676e-05,1793250831447629312
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.147956004,746,723,688,669,642,887,786.852043996,820,656,632.852043996,655.147956004,0.405243602203,0.00451150947091,0.0699669010095,0.999999997407,6.29280179015e-06,-5.33915684319e-05,-4.79058305076e-05,1793250831464296192
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.742290595,746,723,688,669,642,887,786.257709405,820,656,632.257709405,655.742290595,0.405666251468,0.00451446087617,0.0699713818159,0.999999993704,9.7554122816e-05,-4.94443470489e-05,-2.51033938047e-05,1793250831480963072
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.673936931,746,723,688.326063069,669,642,887,786.326063069,820,656,632,656,0.406114048875,0.00451759042152,0.0699663722724,0.999999988956,0.000136070525627,-5.64371920054e-05,-1.96735415851e-05,1793250831497629440
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.098250413,746,723,688.901749587,669,642,887,786.901749587,820,656,632,656,0.406581098939,0.00452085634552,0.0699540972214,0.999999988037,0.000134207117501,-7.18054013928e-05,-2.75435816689e-05,1793250831514296064
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.476308779,746,723,689,669,642,887,787,819.523691221,656,632.476308779,655.523691221,0.407069385728,0.00451527073656,0.0699359903968,0.999999985767,0.000133986545259,-9.85489787249e-05,-2.83200361647e-05,1793250831530962944
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786.947932135,819.052067865,656,632.947932135,655.052067865,0.407569026574,0.00450900294019,0.0699192322806,0.999999984536,0.000122426896422,-0.000123105993498,-2.80078915079e-05,1793250831547629568
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786.357363715,819.642636285,656,632.357363715,655.642636285,0.408140896224,0.0045145185973,0.0699288347141,0.99999999437,-9.90115205983e-06,-0.000100838636504,-3.15345174731e-05,1793250831564296448
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,723,689.228650292,669.228650292,642,887.228650292,786.228650292,819.771349708,656,632,656,0.408736412198,0.00452103899328,0.0699401193413,0.999999993561,-7.77701820241e-05,-7.50452246565e-05,-3.4619332379e-05,1793250831580963072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,723,689.807685068,669.807685068,642,887.807685068,786.807685068,819.192314932,656,632,656,0.409368163844,0.0045290990542,0.0699539817674,0.999999997255,-4.68619856417e-05,-4.38484777971e-05,-3.70271149665e-05,1793250831597629696
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,723,690,669.615365392,642.384634608,888,787,819.384634608,656,632,655.615365392,0.410001703092,0.00453645740866,0.0699521990723,0.999999998225,-1.23493171131e-05,-4.39289960715e-05,-3.82999992699e-05,1793250831614296064
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,723,690,669.039452853,642.960547147,888,787,819.960547147,656,632,655.039452853,0.410636131292,0.00454346680584,0.0699426360932,0.999999997178,2.39558464395e-05,-5.95636293463e-05,-3.90085010937e-05,1793250831630962944
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723,690.545605098,669.545605098,643,888,787,820,656,632.545605098,655.545605098,0.411295262182,0.00455075627813,0.0699437388403,0.999999995847,5.27599112188e-05,-6.27864830143e-05,-3.97517498226e-05,1793250831647629568
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.870203101,746,723,691.129796899,669.870203101,643,888,787,819.870203101,655.870203101,632.870203101,656,0.411978510616,0.00455765082713,0.0699523873612,0.999999995013,7.50588321606e-05,-5.19671974781e-05,-4.04820871153e-05,1793250831664296192
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.291335132,746,723,691.708664868,669.291335132,643,888,787,819.291335132,655.291335132,632.291335132,656,0.412738915282,0.00456310775622,0.0699844289068,0.999999996198,7.67598712894e-05,4.27695366981e-06,-4.11589121481e-05,1793250831680962816
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.287676552,746,723.287676552,692,669.287676552,643,888,787,819.287676552,655,632,656,0.413508885394,0.00456882365664,0.0700102848118,0.999999995223,7.62551828807e-05,4.46622191767e-05,-4.17772734077e-05,1793250831697629440
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.86683392,746,723.86683392,692,669.86683392,643,888,787,819.86683392,655,632,656,0.414288547538,0.00457480195373,0.0700298732805,0.999999994022,7.35155985214e-05,6.89788863091e-05,-4.23363979256e-05,1793250831714296320
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.44263942,723.55736058,692,669.55736058,642.55736058,888.44263942,787,820,655.44263942,632,656,0.415030285435,0.00458574208381,0.0699933415974,0.999999994153,9.90385942396e-05,1.95217539832e-06,-4.33724566016e-05,1793250831730962944
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.982528359,723,692,669,642.017471641,889.017471641,787,820.017471641,656,632.017471641,656,0.415763112309,0.00459788344139,0.0699409339282,0.999999986294,0.000131273108526,-9.05090592459e-05,-4.45897547234e-05,1793250831747629568
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.406815134,723,692,669,642.593184866,889.593184866,787,820.593184866,656,632.593184866,656,0.416573025313,0.00460106891121,0.0699166631209,0.999999985313,0.000108319860175,-0.000124205916199,-4.70478735225e-05,1793250831764296192
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.173982699,723,692.173982699,669.173982699,642.826017301,890,787,821,656,633,656,0.417397319261,0.00460433336555,0.0699089102908,0.999999985102,9.79803818306e-05,-0.000133576292808,-4.85039347779e-05,1793250831780962816
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.7670275,723,692.7670275,669.7670275,642.2329725,890,787,821,656,633,656,0.418256251713,0.00460778806511,0.0699409433619,0.999999988347,0.000118022966097,-8.43528759972e-05,-4.75463976903e-05,1793250831797629696
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.650023507,746.650023507,723,693,669.650023507,642,890.349976493,787,821.349976493,656,632.650023507,656,0.419142360113,0.00461371691389,0.0699688886185,0.999999988807,0.000135393500278,-4.22347706829e-05,-4.76480422202e-05,1793250831814296320
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.073606686,746.073606686,723,693,669.073606686,642,890.926393314,787,821.926393314,656,632.073606686,656,0.42004605175,0.00462124657623,0.0699941889931,0.99999998741,0.000151035174972,-4.71391628384e-06,-4.84349940523e-05,1793250831830962944
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,723,693,669,642,891,787,822.500617095,655.499382905,632,656,0.420986891968,0.00461885325756,0.0700195155162,0.999999989089,0.000135265660412,3.2138584454e-05,-4.99262823436e-05,1793250831847629824
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.076667863,746,723,693,669.076667863,642.076667863,891.076667863,787,823,655.076667863,632,656,0.421919915026,0.00461173347106,0.0700369935146,0.999999990467,0.000115045328304,5.66905412446e-05,-5.1150851553e-05,1793250831864296704
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.667113031,746,723,693,669.667113031,642.667113031,891.667113031,787,823,655.667113031,632,656,0.422764108972,0.00458267459946,0.0700018502286,0.999999994165,9.5813358991e-05,-5.31964479457e-07,-4.9897082242e-05,1793250831880963328
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,723,693.252662644,669.747337356,642.747337356,891.747337356,787,823,655.747337356,632.252662644,656,0.423600811368,0.00456642830525,0.0699438490944,0.999999992027,7.17862019186e-05,-9.05518560941e-05,-5.09282819554e-05,1793250831897629696
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,723,693.831884965,669.168115035,642.168115035,891.168115035,787,823,655.168115035,632.831884965,656,0.424427831256,0.00456674191888,0.069856304801,0.999999972773,4.15613901992e-05,-0.000222961494541,-5.49127420605e-05,1793250831914296320
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,723,694,669,642.407723168,891.407723168,787,823.407723168,655.407723168,633,656,0.425366865791,0.00457261658552,0.0698578725422,0.999999974276,5.41668586758e-05,-0.0002132458776,-5.5140300619e-05,1793250831930963200
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,723,694,669,642.982177463,891.982177463,787,823.982177463,655.982177463,633,656,0.426351706672,0.00458076534569,0.0698958810678,0.999999984427,8.42870089263e-05,-0.000145410661812,-5.38315409955e-05,1793250831947629824
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.568488782,723,694.568488782,669.568488782,642.431511218,892,786.431511218,824,655.431511218,633,656,0.427341206621,0.004584946687,0.0699554896246,0.999999991315,9.9183169855e-05,-6.97651162418e-05,-5.16358771103e-05,1793250831964296192
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.84686663,746.84686663,723,695,669.84686663,642.15313337,892.15313337,786.15313337,824.15313337,655.15313337,633,656,0.428335671452,0.00458799356022,0.070009972018,0.999999993268,0.000104365256671,4.37780124215e-06,-5.05276530027e-05,1793250831980963072
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.267912472,746.267912472,723,695,669.267912472,642.732087528,892.732087528,786.732087528,824.732087528,655.732087528,633,656,0.429343527352,0.00458823903421,0.0700482768417,0.99999999239,8.38906994272e-05,7.36469388311e-05,-5.25222585678e-05,1793250831997629696
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746.311117308,723,695,669,643,893,787,825,655.688882692,632.688882692,656,0.430290250382,0.00458776478707,0.0700465521554,0.999999992823,7.81886104369e-05,7.29321597382e-05,-5.40530083728e-05,1793250832014296320
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746.890212194,723,695,669,643,893,787,825,655.109787806,632.109787806,656,0.431184317212,0.0045866706158,0.0700103484754,0.999999994776,8.52106306303e-05,1.19374763546e-05,-5.51842208776e-05,1793250832030962944
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723,695,669,643,893.465484869,786.534515131,825.465484869,655,632,656.465484869,0.432022733229,0.00458097212795,0.0699355831501,0.999999988212,8.64323270638e-05,-0.000114274993234,-5.51917008564e-05,1793250832047629824
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.04095562,747,723,695,669.04095562,643,894,786.04095562,826,655.04095562,632,656.95904438,0.432860493401,0.00457484756836,0.0698609718274,0.999999966253,8.53756520472e-05,-0.000239110368692,-5.50565685235e-05,1793250832064296448
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.631071124,747,723,695,669.631071124,643,894,786.631071124,826,655.631071124,632,656.368928876,0.433864022405,0.00457745263484,0.0699093844629,0.999999985885,7.19633595615e-05,-0.000140907628366,-5.65340964242e-05,1793250832080963328
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,695,670.216993155,643,894.216993155,787,826,655.783006845,632,656,0.434850021757,0.00457963469218,0.0699566082586,0.999999994588,6.81936569171e-05,-5.3876417565e-05,-5.71897944526e-05,1793250832097629696
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,695,670.795920763,643,894.795920763,787,826,655.204079237,632,656,0.435806782629,0.00458111119047,0.0700018491326,0.999999995059,8.05073425393e-05,1.45212177379e-05,-5.64747194225e-05,1793250832114296320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723.372052195,695,670.627947805,643,894.627947805,786.627947805,826,655,632,656.372052195,0.436731177052,0.00457861626002,0.0700213151654,0.999999993698,8.39387834707e-05,4.85204730198e-05,-5.66073265255e-05,1793250832130963200
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723.946661267,695,670.053338733,643,894.053338733,786.053338733,826,655,632,656.946661267,0.437637950108,0.00457395915921,0.0700267485639,0.999999992923,8.25344513693e-05,6.37921679387e-05,-5.72014384848e-05,1793250832147630080
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.467666387,747,723.467666387,695,670,643,894.532333613,786,826,655,632,656.467666387,0.438479854899,0.00457521571498,0.0699864329371,0.999999996182,6.35888103277e-05,1.25424996514e-05,-5.86135095556e-05,1793250832164296704
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.117545907,747.117545907,723,695,669.882454093,643,895,786,826,655.117545907,632,656.117545907,0.439292773355,0.00457790714904,0.06993439101,0.999999994937,5.2210625441e-05,-6.20714190943e-05,-5.95643437362e-05,1793250832180963328
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.696508532,747.696508532,723,695,669.303491468,643,895,786,826,655.696508532,632,656.696508532,0.440017963728,0.00458385576177,0.0698546943104,0.999999974949,7.75836182041e-05,-0.000201680369435,-5.83760839849e-05,1793250832197629952
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.724723003,723,695,669,643,895,786,826.275276997,655.724723003,632.275276997,656.724723003,0.440799513662,0.0045922910553,0.0698194456491,0.99999995864,0.000101922013275,-0.000262600281198,-5.80695967887e-05,1793250832214296832
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.146168486,723,695,669,643,895,786,826.853831514,655.146168486,632.853831514,656.146168486,0.441643155872,0.0046034659685,0.0698331661801,0.999999962404,0.00012512057347,-0.000236827086726,-5.87345749671e-05,1793250832230964224
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.569719892,747,723,695,668.569719892,642.569719892,895.430280108,786,827,655,632.569719892,656,0.442450082176,0.00461076657449,0.0698598615966,0.999999970989,0.000119659236699,-0.000200741993097,-5.83652868729e-05,1793250832247630592
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.006126557,747,723,695,667.993873443,642,896,786,827,655,632,656.006126557,0.443243862015,0.00461678648274,0.0698903727741,0.999999979708,0.00010487305657,-0.000162054801495,-5.76490455407e-05,1793250832264296448
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.592361828,747,723,695,667.407638172,642,896,786,827,655,632,656.592361828,0.443968076517,0.00462555373253,0.0698668729275,0.999999969176,0.000124521137439,-0.000207057417878,-5.71867125314e-05,1793250832280963328
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.176317146,747,723,695.176317146,667,642,896.176317146,786,827,655,632,656.823682854,0.444677526584,0.00463336228834,0.0698371546331,0.999999954898,0.000143975305037,-0.000257407656467,-5.67047862717e-05,1793250832297629952
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.755068709,747,723,695.755068709,667,642,896.755068709,786,827,655,632,656.244931291,0.445353277763,0.00463898267834,0.0697932430612,0.999999933951,0.000162986880082,-0.000319963564715,-5.61781394866e-05,1793250832314296832
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.667001955,747,723,695.667001955,666.667001955,641.667001955,896.667001955,786,827,655.332998045,632,656.332998045,0.446010417889,0.00464369120419,0.0697605911894,0.999999916104,0.000175945825021,-0.000365662170181,-5.59044451788e-05,1793250832330963456
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.089675938,747,723,695.089675938,666.089675938,641.089675938,896.089675938,786,827,655.910324062,632,656.910324062,0.446653902637,0.00464773067497,0.0697362008091,0.999999901831,0.000184463821549,-0.000398992199468,-5.58163477567e-05,1793250832347630080
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,723,695.485294021,665.514705979,640.514705979,896.485294021,785.514705979,827,656,632,656.514705979,0.447243858736,0.0046547796971,0.069713358825,0.999999879976,0.000196414153526,-0.000445314343142,-5.62487811414e-05,1793250832364296704
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,723,695.938728601,664.938728601,640,896.938728601,785,827,656,632,656,0.44782640255,0.00466274640533,0.0696927584616,0.999999856755,0.000209515428141,-0.000489255327946,-5.67616173666e-05,1793250832380963328
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,723,695.35035743,664.35035743,640,896.35035743,785,827,656,632,656,0.448429862271,0.00467384662824,0.0696889925575,0.999999851473,0.000227088019683,-0.000492158570899,-5.71426640252e-05,1793250832397629952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,723.234917505,695,663.765082495,640,896.234917505,785,827,656,632,656,0.449027255643,0.0046905574441,0.0696974802682,0.999999853796,0.000246315970938,-0.000477629254777,-6.00509854188e-05,1793250832414296832
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,723.815634717,695,663.184365283,640,896.815634717,785,827,656,632,656,0.449615719265,0.00471552707899,0.0697240053597,0.999999866194,0.00026798061788,-0.000437439126478,-6.66794673614e-05,1793250832430963712
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,723.608172572,695.391827428,662.608172572,639.608172572,897,785,827.391827428,656,632,656,0.450144831343,0.00472868668444,0.0697314662992,0.999999868989,0.000278238556128,-0.000423845578194,-7.04266223431e-05,1793250832447630592
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,723.034084406,695.965915594,662.034084406,639.034084406,897,785,827.965915594,656,632,656,0.450646335768,0.00473635279028,0.0697300594433,0.999999867944,0.000283190601572,-0.000422623575837,-7.28335124645e-05,1793250832464296960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.858421623,747.141578377,723.141578377,695.858421623,660.858421623,638.858421623,897,784.858421623,828,656,632,656,0.451478394786,0.00472983245661,0.0696547904695,0.999999811962,0.000297979826062,-0.000532300550239,-6.27729514112e-05,1793250832497630464
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.279470246,747.720529754,723.720529754,695.279470246,660.279470246,638.279470246,897,784.279470246,828,656,632,656,0.45189133573,0.00474249475136,0.0696258948264,0.999999788641,0.000309907621094,-0.000567648851828,-6.67131722273e-05,1793250832514297088
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769.384411809,747.615588191,723,695.384411809,657.384411809,638,897.384411809,784,828,656,632,657,0.453666730687,0.00475430908013,0.0696144325198,0.999999777646,0.000321210624589,-0.000579350686991,-7.67132684952e-05,1793250832597629696
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769,747,723,695.582592596,655,637,898,784,828,656,632,656.417407404,0.455561266899,0.00477641261267,0.0695742730671,0.999999739923,0.000279292094967,-0.000661847231298,-6.40943151677e-05,1793250832764296704
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+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,723,695.10076852,654,637,897.10076852,784,828,656,631.10076852,656,0.455978471423,0.00479136497915,0.0695663085525,0.999999725413,0.000298163306129,-0.000674870949616,-6.9431795667e-05,1793250832864296448
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,723.051467331,695.948532669,653.948532669,637,898,783.051467331,828,656,632,656.948532669,0.456041869153,0.00479369964567,0.0695656991685,0.999999722703,0.000304061113656,-0.000676262595625,-6.93450914036e-05,1793250832897629952
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+232,3.866666667,POSE1_TO_POSE2_PRESS,769,747.534598155,723,696,653,636.534598155,898,784,828,656,632,656.534598155,0.456105800903,0.00479737091406,0.0695624368173,0.999999715721,0.000312339074026,-0.000682822245743,-6.89704986159e-05,1793250832997629952
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+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747.863317795,723,696,653,636.863317795,897.136682205,784,828,655.136682205,632,656,0.456107757664,0.00479543819099,0.06955773782,0.999999710906,0.000310865824691,-0.000690623618634,-6.77479104371e-05,1793250833064296704
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+263,4.383333333,HOLD_POSE2,769,747,723.119314165,696,652,636.880685835,898.119314165,784,828,656,632,656.880685835,0.456111856453,0.00479538976989,0.0695529006526,0.999999705606,0.000312245774159,-0.000697661510453,-6.7512782272e-05,1793250833531504640
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+265,4.416666667,HOLD_POSE2,769,747,723.705780306,696,652,636,898.705780306,784,828,655.705780306,632,656,0.456111993686,0.00479684288532,0.0695529121379,0.999999705374,0.000314986220708,-0.000696741275445,-6.77344173306e-05,1793250833564838144
+266,4.433333333,HOLD_POSE2,769,747,723.127791124,696,652,636,898.127791124,784,828,655.127791124,632,656,0.456111372863,0.00479968593707,0.0695525140952,0.999999703691,0.000319203789918,-0.000697188260813,-6.82352288236e-05,1793250833581504768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,636,898,784,828,656,632,657,0.456112634612,0.00479807495038,0.0695528192474,0.999999705626,0.000315188628848,-0.000696305202562,-6.75534426644e-05,1793250833614200576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.586899419,723,695.413100581,652,636,898,784,828,656,632,656.413100581,0.456113902334,0.004798185406,0.0695541361741,0.999999706191,0.000315691025224,-0.000695242880594,-6.77821633577e-05,1793250833630866432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.171843229,747.828156771,723,695.171843229,652,636,898,784,828,656,631.828156771,656.171843229,0.456114782528,0.0047975904649,0.0695549011217,0.999999706826,0.000315345562937,-0.000694494204918,-6.76952631296e-05,1793250833647532288
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.669830084,747,723,695.669830084,652,636,898.330169916,784,828,656,631,657,0.456113900215,0.00479504481072,0.0695535422493,0.99999970678,0.000312773686098,-0.000695810396402,-6.67901232083e-05,1793250833680865536
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.093487587,747,723,695.093487587,652,636,898.906512413,784,828,656,631,657,0.456112461993,0.00479626009267,0.0695525330044,0.999999704703,0.000314165252052,-0.000698115836878,-6.72954805408e-05,1793250833697532160
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.08101499,653,636,897,784,827.08101499,656,631.08101499,656.08101499,0.454145860481,0.00478790399057,0.0694781441008,0.999999613323,0.000346629606375,-0.000807327370188,-3.77498142119e-05,1793250834047532544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747,723,695.670624954,653,636,897,784,827.670624954,656,631.670624954,656.670624954,0.453893581787,0.00478825768462,0.0694880611647,0.999999623698,0.000354574141304,-0.000791074102339,-3.29083799784e-05,1793250834064199680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,723,695.165025222,653.834974778,636.834974778,897,784,828,655.165025222,632,657,0.453313978283,0.00478680842648,0.0695087780344,0.999999646686,0.000367450656233,-0.000755706925109,-2.26865641974e-05,1793250834097532672
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.585602032,746.585602032,723,695,666.585602032,640.585602032,891.414397968,786,826,655.585602032,631.585602032,656,0.440674389616,0.00463138560787,0.0697771748793,0.999999894088,0.000314588504317,-0.000335237171602,2.17673791404e-05,1793250834464198656
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.835444461,747,723,695,667.164555539,641,891.164555539,786.164555539,825.835444461,656,632,655.835444461,0.439882010841,0.00462514224932,0.0697964128305,0.999999914218,0.000289309025623,-0.000295442925086,2.40444768975e-05,1793250834480865536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.245689656,747,723,695,667.754310344,641,891.754310344,786.754310344,825.245689656,656,632,655.245689656,0.439021358969,0.00461908206809,0.0697826591782,0.999999913475,0.000257771103938,-0.00032558175124,2.44878914251e-05,1793250834497532160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.338848194,746.661151806,723,695,668,641,891.661151806,787,825,655.661151806,632,655.338848194,0.438127299162,0.00461361727523,0.0697496239974,0.999999903644,0.000225152010295,-0.000376122716044,2.34733117565e-05,1793250834514198784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.919660703,746.080339297,723,695,668,641,891.080339297,787,825,655.080339297,632,655.919660703,0.437209383495,0.00460857763685,0.0697028202862,0.999999884041,0.000191760875289,-0.000441232413117,2.1417609238e-05,1793250834530865408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.504474509,746,722.504474509,695,668,641,891,787,825,655,632,656,0.436320189235,0.00460269535643,0.0697276442279,0.99999990496,0.000168367123849,-0.000401522530401,2.26266572116e-05,1793250834547532032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,722.071861767,695,668,641.071861767,891,787,824.928138233,655.071861767,632,656,0.43543884815,0.00459697896521,0.0697648793736,0.999999928867,0.000148924572267,-0.000345669478614,2.45124518483e-05,1793250834564198656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,722.657242563,695,668,641.657242563,891,787,824.342757437,655.657242563,632,656,0.434580679066,0.00459341461412,0.0698086391305,0.999999945504,0.000146248906087,-0.000294698337486,2.74891944933e-05,1793250834580865280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.758518087,890.758518087,787,824,655.758518087,632,655.758518087,0.433702389529,0.00458746421765,0.069838153135,0.999999955671,0.000148385762565,-0.00025645036688,2.95349693724e-05,1793250834597531904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695,668,641.175891188,890.175891188,787,824,655.175891188,632,655.175891188,0.432795675415,0.0045781430199,0.0698475419657,0.999999959277,0.000157321339262,-0.000236176596309,3.0265553152e-05,1793250834614198784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,694.599113027,668.400886973,641.400886973,890.400886973,787,824,655.400886973,632,655,0.431841723441,0.00457301367834,0.0698339255496,0.99999995614,0.000147043498669,-0.000255289940631,3.04262605481e-05,1793250834630865408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.024864161,668.975135839,641.975135839,890.975135839,787,824,655.975135839,632,655,0.430867343707,0.00456969708799,0.0698103606103,0.999999948822,0.000128456895552,-0.000291436078644,3.03405272076e-05,1793250834647532032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.551152853,746.551152853,723,694.551152853,668.448847147,642,891,787,823.448847147,655.448847147,632,655,0.429830221146,0.0045664104565,0.0697436737423,0.999999910999,0.000135083708604,-0.000398654994472,2.87868830157e-05,1793250834664198656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,722.873055262,695,668,642,890.873055262,787,823,655,632,655,0.428828003785,0.00456148620072,0.0697031396204,0.999999882405,0.000137713186809,-0.000464160421027,2.7924797691e-05,1793250834680865536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,722.298339768,695,668,642,890.298339768,787,823,655,632,655,0.427958923381,0.00455078078862,0.0697617377214,0.9999999232,0.000122217876514,-0.000371184361388,2.97363766707e-05,1793250834697532160
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.713645311,747,722.286354689,694.713645311,668,641.713645311,890,787,822.427290621,655,632,655,0.427087216351,0.0045425714998,0.0698167140828,0.999999953072,0.000107354707824,-0.000285193266139,3.15652151322e-05,1793250834714198784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.118178885,747,722.881821115,694.118178885,668,641.118178885,890,787,821.236357769,655,632,655,0.426212674009,0.00453705670571,0.0698677808756,0.99999997373,9.31739193551e-05,-0.000206742248295,3.34126846684e-05,1793250834730865408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.459752568,746.540247432,723,693.540247432,668,641.459752568,889.540247432,787,820.540247432,655.459752568,632,655,0.425279515736,0.00452871769385,0.0698597269642,0.999999970363,9.3140276265e-05,-0.000222536634339,3.28173533128e-05,1793250834747532032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.966561968,746,723,693,668.033438032,642,889,787,820.033438032,656,632,655.033438032,0.424328314989,0.00451989643034,0.069835322566,0.999999959962,9.55774775915e-05,-0.000264454692392,3.17064765707e-05,1793250834764198400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.39132555,746,723,693,668.60867445,642,889,787,820.60867445,656,632,655.60867445,0.42331993701,0.00451459187978,0.0697831803107,0.99999993439,8.12921050138e-05,-0.000351547130216,3.20426131198e-05,1793250834780865280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.189418454,746,723,693,668.810581546,641.810581546,888.810581546,787,820.810581546,655.810581546,631.810581546,656,0.422325840764,0.00450848199805,0.0697306777775,0.999999899954,6.86519284724e-05,-0.000440811927179,3.26203754854e-05,1793250834797532160
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.781881612,746,723,693,668.218118388,641.218118388,888.218118388,787,820.218118388,655.218118388,631.218118388,656,0.421362133012,0.00450065853114,0.069677408635,0.999999854709,5.95123990889e-05,-0.000534699090185,3.37122697324e-05,1793250834814198528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,723,693,668,641.362937176,888,787.362937176,820,655,631.362937176,656,0.42050909226,0.00449111372913,0.0696986352969,0.999999874685,5.11621455242e-05,-0.000496932858079,3.27252571408e-05,1793250834830865408
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,723,693,668,641.937345875,888,787.937345875,820,655,631.937345875,656,0.419720533578,0.00448056596239,0.0697632682104,0.999999925461,4.32717771412e-05,-0.000382456525127,3.05269337925e-05,1793250834847532032
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,723,693,668.513222143,642,888,787.486777857,820,655,632,655.486777857,0.418927275712,0.00447508488278,0.0698319334687,0.999999961529,2.76820924045e-05,-0.000274076388631,3.25305265508e-05,1793250834864198656
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.09156519,723,692.90843481,669,642,888,787,820,655.09156519,632,655.09156519,0.418121375312,0.00446951389604,0.0698866229815,0.999999981174,1.39276387949e-05,-0.000190376291309,3.48476108403e-05,1793250834880865536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746.682378387,723,692.317621613,669,642,888,787,820,655.682378387,632,655.682378387,0.417249679931,0.00446007051213,0.0698624197188,0.999999971107,1.53191214717e-05,-0.000237171683856,3.60690459687e-05,1793250834897532160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747,722.732219297,691.732219297,668.732219297,642,888,787,820,655.732219297,632,655.732219297,0.416392469387,0.00445205795076,0.0698322421749,0.999999960621,1.28285992983e-05,-0.000278130234547,3.51755977795e-05,1793250834914198784
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.153107891,691.153107891,668.153107891,642,888,787,820,655.153107891,632,655.153107891,0.415552099455,0.00444570891165,0.0697951187356,0.99999995071,5.82472980937e-06,-0.000312302676816,3.18233162495e-05,1793250834930865408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746.578383266,722,691,668.421616734,642,888,787,820,655.421616734,632,655,0.414714130607,0.00444192058629,0.0697642327747,0.999999931111,-6.5038054834e-06,-0.000369730681492,3.21581884977e-05,1793250834947532032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746.005235226,722,691,668.994764774,642,888,787,820,655.994764774,632,655,0.413877024654,0.00443905259461,0.0697355885938,0.999999904375,-2.07460546487e-05,-0.000435516860922,3.38182431141e-05,1793250834964198656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.422507829,746,722.577492171,691,668.422507829,642,887.422507829,787,820,655.422507829,632,655,0.413166470872,0.00445994299778,0.0697554980638,0.999999920866,1.87010002265e-05,-0.000395976855741,3.34795181225e-05,1793250834980865280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.160880745,746.160880745,723,691,668.160880745,642,887.160880745,787,820,655.160880745,632,655.160880745,0.412477946997,0.00447848025081,0.0697871844137,0.999999941482,4.75537581337e-05,-0.00033715870909,3.31351792917e-05,1793250834997532160
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.745779308,746.745779308,723,691,668.745779308,642,887.745779308,787,820,655.745779308,632,655.745779308,0.411844410359,0.00449023830559,0.0698487302943,0.999999971878,4.71797284247e-05,-0.000230090020049,3.28246067687e-05,1793250835014198784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746.674543634,723,690.349087268,669,642,888,787,820,656,632,656,0.41118770535,0.00448557910769,0.0698751799388,0.999999981361,3.65042659489e-05,-0.000186645753893,3.33130319779e-05,1793250835030865408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746.098880832,723,689.197761664,669,642,888,787,820,656,632,656,0.410513188851,0.00446829854813,0.0698746480697,0.999999980793,1.79092021347e-05,-0.000192115087849,3.44157160114e-05,1793250835047532032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.477333544,669,642,887.522666456,787,820,656,632,656,0.409836973254,0.0044631724372,0.0698392703239,0.999999966932,1.73997243871e-05,-0.000254331698491,3.38782474375e-05,1793250835064198656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,746.054793373,723,690,669,642,886.945206627,786.945206627,820,656,632,655.945206627,0.409165534834,0.00446109014803,0.0697981178638,0.999999946343,1.94206431935e-05,-0.000325347974393,3.29425001613e-05,1793250835080865536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,746.643269683,723,690,669,642,886.356730317,786.356730317,820,656,632,655.356730317,0.40854405784,0.00446410266023,0.0697711082153,0.999999931953,9.55485250741e-06,-0.000367443784221,3.14406318982e-05,1793250835097532160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,746.787490731,723,689.787490731,668.787490731,642,886.212509269,786,820,655.787490731,632,655,0.40796398232,0.00446703171315,0.0697633312521,0.999999928156,1.05382315793e-05,-0.000377672743728,3.06546745361e-05,1793250835114198784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746.247862595,723,689.247862595,668.247862595,642,886.752137405,786,820,655.247862595,632,655,0.407447636799,0.00446983229561,0.0697851594671,0.999999941713,2.82219096593e-05,-0.000338848554526,3.09707302848e-05,1793250835130865664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.663058491,746,723,688.663058491,668,642,886.663058491,786,819.663058491,655,632,655,0.406934960424,0.00447320030169,0.0698022144529,0.999999949321,3.92789014373e-05,-0.000314362018429,3.15055841969e-05,1793250835147532032
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.538091282,746,723,688,668,642,886.538091282,786,819.538091282,655,632,655,0.405948150859,0.00447781444492,0.0698059046937,0.999999946247,3.4493673579e-05,-0.000324449252709,3.23919648538e-05,1793250835180865536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746,723,688,668.115755711,642,886.884244289,786,820,655.115755711,632,655,0.405488024359,0.00447888255436,0.0697994363922,0.999999941413,2.50518152913e-05,-0.00033986437537,3.22382365299e-05,1793250835197531904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,688,668.704820108,642,886.295179892,786,820,655.704820108,632,655,0.405088882799,0.00448205633139,0.0698108225174,0.999999948995,2.31334912158e-05,-0.000317046260521,3.0933765548e-05,1793250835214198528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746,723,688,668.710527182,642,886.289472818,786.289472818,820,656,632,655.289472818,0.404715919972,0.00448376069667,0.0698259826354,0.99999995792,2.31378233183e-05,-0.000287582771004,3.0331997107e-05,1793250835230865408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746,723,688,668.130305637,642,886.869694363,786.869694363,820,656,632,655.869694363,0.40436925129,0.00448398917332,0.0698449333802,0.99999996761,2.50732861781e-05,-0.000251444617252,3.04360285644e-05,1793250835247532032
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642.980629268,886,786,820,656,632,655.980629268,0.403705596992,0.00447564857093,0.0698533091735,0.999999971819,7.38680899258e-06,-0.000235600332786,2.82770980674e-05,1793250835280865536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746,723,687,669,642.403144901,886,786,820,656,632,655.403144901,0.40339301236,0.00447119596472,0.0698377691073,0.999999965244,-6.86613500292e-06,-0.000262114525347,2.75683846155e-05,1793250835297532160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.821247678,746.178752322,723,687,669,642,886,786,820,655.821247678,632,655.178752322,0.403092928864,0.00446674328794,0.0698252811694,0.999999959106,-1.93193397457e-05,-0.000284009792004,2.74522898331e-05,1793250835314198784
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,687,669,642,886.491196348,786,819.508803652,656,632.491196348,655.508803652,0.400974429378,0.00448325517194,0.0698274559753,0.999999960752,5.14038633095e-05,-0.00027450168327,2.24090960218e-05,1793250835897531648
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfe3f838d3dd5be9dc0095706d3b1ada40661728
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.57567363876,0.0101501400689,1.06003364425,0.546244318069,0.0188227764794,1.05970503319
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+392,6.533333333,pose2_to_pose3_retreat,0.575669054357,0.0101501671953,1.06003364777,0.546239731704,0.0188227968766,1.05970503493
+393,6.550000000,pose2_to_pose3_retreat,0.575667687544,0.0101501512833,1.0600335467,0.546238365021,0.0188227815593,1.05970493797
+394,6.566666667,pose2_to_pose3_retreat,0.575666828315,0.0101501339579,1.06003345291,0.546237506095,0.018822765412,1.05970484814
+395,6.583333333,pose2_to_pose3_retreat,0.575666312683,0.0101501235608,1.06003339662,0.546236990645,0.0188227557219,1.05970479423
+396,6.600000000,pose2_to_pose3_retreat,0.575666091126,0.0101501190934,1.06003337244,0.546236769166,0.0188227515582,1.05970477107
+397,6.616666667,pose2_to_pose3_retreat,0.575665920486,0.0101501203907,1.06003337369,0.546236598505,0.0188227527973,1.05970477266
+398,6.633333333,pose2_to_pose3_retreat,0.575665794207,0.010150133719,1.06003342653,0.546236471999,0.01882276532,1.05970482456
+399,6.650000000,pose2_to_pose3_retreat,0.575665783862,0.0101501348109,1.06003343086,0.546236461635,0.0188227663459,1.05970482881
+400,6.666666667,pose2_to_pose3_retreat,0.575665747511,0.0101501386477,1.06003344607,0.546236425218,0.0188227699507,1.05970484375
+401,6.683333333,pose2_to_pose3_retreat,0.575665519538,0.0101501627094,1.06003354146,0.546236196836,0.0188227925579,1.05970493745
+402,6.700000000,pose2_to_pose3_retreat,0.575665493035,0.0101501655068,1.06003355255,0.546236170285,0.0188227951862,1.05970494834
+403,6.716666667,pose2_to_pose3_retreat,0.575665364686,0.0101501790535,1.06003360626,0.546236041706,0.018822807914,1.05970500109
+404,6.733333333,pose2_to_pose3_retreat,0.575665357723,0.0101501797885,1.06003360917,0.546236034729,0.0188228086046,1.05970500395
+405,6.750000000,pose2_to_pose3_retreat,0.575665243004,0.0101501918967,1.06003365717,0.546235919805,0.0188228199808,1.0597050511
+406,6.766666667,pose2_to_pose3_retreat,0.575664790142,0.0101502396948,1.06003384667,0.546235466128,0.0188228648895,1.05970523723
+407,6.783333333,pose2_to_pose3_retreat,0.57566457751,0.0101501831061,1.0600335935,0.546235253775,0.0188228093215,1.05970498598
+408,6.800000000,pose2_to_pose3_retreat,0.575664552239,0.0101501734806,1.06003355085,0.546235228562,0.0188227999045,1.05970494369
+409,6.816666667,pose2_to_pose3_retreat,0.575664521774,0.0101501618762,1.06003349944,0.546235198166,0.0188227885515,1.05970489271
+410,6.833333333,pose2_to_pose3_retreat,0.575664431358,0.0101501274368,1.06003334687,0.546235107956,0.0188227548582,1.0597047414
+411,6.850000000,pose2_to_pose3_retreat,0.575664307592,0.0101500276656,1.06003326033,0.54623498547,0.0188226593887,1.0597046538
+412,6.866666667,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+413,6.883333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087192,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01643f4f0acd44fc5af30d91d3cb279331c806bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d462dd19770c5dd98ec4be0ad7811f02e3318898948294b9e4ebeb49b3d92f
+size 25879415
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9289d62bcd4d3785f6607f49ebb0338b87432d2a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,747,724,689,669,642,888,786,819,656,632,656,0.401040076017,0.00447468569239,0.079863736389,0.999999982528,0.000105366456351,-0.000144815651994,5.3579697817e-05,1793250837319285248
+1,0.016666667,BASELINE,768,746.425308272,724,688.425308272,669,642,887.425308272,786.574691728,819,655.425308272,632,656,0.40103795127,0.00447423597605,0.0798631771895,0.999999982402,0.00010392777807,-0.000146666015428,5.37060686672e-05,1793250837335951872
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+3,0.050000000,BASELINE,768,746,724,688.724386201,669,642,887,786.275613799,819.724386201,655.724386201,632,656,0.401036140842,0.00447187087808,0.079863013196,0.999999982356,0.000102629947083,-0.000147785340117,5.39796126502e-05,1793250837369285120
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+16,0.266666667,BASELINE,768.727914379,746,723.727914379,689,669,642,887,786,819,655.727914379,632,656,0.401037618125,0.00447482450505,0.0798630446368,0.9999999822,0.000105306641269,-0.000147236300395,5.32203191472e-05,1793250837585952000
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+19,0.316666667,BASELINE,768.019927172,746,723.980072828,688.980072828,669,642,887,786.019927172,820,655.980072828,632,655.980072828,0.401037236664,0.00447456185922,0.0798629670672,0.999999982107,0.000105950776169,-0.000147381703679,5.3287106496e-05,1793250837635951616
+20,0.333333333,BASELINE,768.595974514,746,723.404025486,688.404025486,669,642,887,786.595974514,820,655.404025486,632,655.404025486,0.401037415697,0.00447358248012,0.0798632798305,0.999999982209,0.000104731040618,-0.000147570231658,5.32647514846e-05,1793250837652619264
+21,0.350000000,BASELINE,769,746,723.172101932,688.172101932,669,642,887,787,820,655.172101932,632,655.172101932,0.401037361696,0.00447323560585,0.0798635395865,0.999999982233,0.000104214293997,-0.000147762790879,5.32801995915e-05,1793250837669286400
+22,0.366666667,BASELINE,769,746,723.74841734,688.74841734,669,642,887,787,820,655.74841734,632,655.74841734,0.401036760369,0.00447437428727,0.0798636748448,0.999999982079,0.000105348648128,-0.000147964818196,5.33844353733e-05,1793250837685952512
+23,0.383333333,BASELINE,768.668794548,746,723.668794548,689,669,642,887,786.668794548,820,655.668794548,632.331205452,656,0.401037130422,0.00447470544985,0.0798639463189,0.999999982123,0.000105474140889,-0.0001475662603,5.34254781954e-05,1793250837702619136
+24,0.400000000,BASELINE,768.080991727,746,723.080991727,689,669,642,887,786.080991727,820,655.080991727,632.919008273,656,0.401038253039,0.00447441099721,0.0798643233243,0.999999982319,0.000104818030777,-0.000146702406387,5.34175630566e-05,1793250837719286016
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+27,0.450000000,BASELINE,768.655224107,746,724,689,669,642,887,786.655224107,820,656,632,655.655224107,0.401037334977,0.00447399174044,0.0798632954845,0.999999982299,0.000104775431497,-0.000146867512797,5.34176802696e-05,1793250837769285632
+28,0.466666667,BASELINE,768.765522309,746.234477691,724,689,669.234477691,642,887,786.765522309,820,655.765522309,632,656,0.401037757487,0.00447373065713,0.079863555752,0.999999982437,0.000104315904804,-0.000146274680679,5.33677922143e-05,1793250837785952000
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+30,0.500000000,BASELINE,768,746.593966437,724,689,669.593966437,642,887,786,820,655.406033563,632,656,0.401036437146,0.00447518091966,0.0798632864834,0.999999981867,0.000106852300126,-0.000148283289435,5.34937928873e-05,1793250837819285248
+31,0.516666667,BASELINE,768,746.014738038,724,689,669.014738038,642,887,786,820,655.985261962,632,656,0.40103537771,0.00447521801462,0.079862631707,0.999999981698,0.000106234720978,-0.000149874292911,5.34340713415e-05,1793250837835951872
+32,0.533333333,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401036630931,0.00447569719619,0.0798635514107,0.99999998192,0.000107138613618,-0.000147833621494,5.31739162605e-05,1793250837852619008
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+34,0.566666667,BASELINE,768,746,723.278896147,689,669,642,887,786,820,656,632,656,0.40103714126,0.00447437076908,0.0798647530599,0.999999982173,0.000106386101263,-0.00014658474884,5.33723611543e-05,1793250837885952256
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+40,0.666666667,BASELINE,768,746.801687968,724,689,669,642,887,786,819.801687968,655.198312032,632,656,0.40103641475,0.00447521945525,0.0798641710475,0.999999981811,0.000108190967651,-0.000147751033317,5.33078659916e-05,1793250837985951744
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+44,0.733333333,BASELINE,768,746.474361366,724,688.474361366,669,642,887,786.474361366,820,656,632,656,0.401035178541,0.00447667967467,0.0798630531005,0.999999981359,0.000109699492748,-0.00014982385604,5.29255669513e-05,1793250838052618752
+45,0.750000000,BASELINE,768.103982306,746,723.896017694,688.103982306,669,642,887,786,819.896017694,656,632,656,0.401034789739,0.00447704830296,0.0798630791469,0.999999981422,0.000108567856997,-0.000150304525571,5.26999640102e-05,1793250838069285120
+46,0.766666667,BASELINE,768.678150372,746,723.321849628,688.678150372,669,642,887,786,819.321849628,656,632,656,0.401034628634,0.00447750945855,0.0798636191245,0.999999981154,0.000110622408814,-0.000150416965093,5.31978886412e-05,1793250838085951744
+47,0.783333333,BASELINE,769,746,723.258172268,689,668.741827732,642,887,786,819.258172268,655.741827732,632,655.741827732,0.401034623137,0.00447746203636,0.079863757263,0.999999981112,0.000111145044208,-0.000150213505458,5.3468609847e-05,1793250838102618624
+48,0.800000000,BASELINE,769,746,723.845661207,689,668.154338793,642,887,786,819.845661207,655.154338793,632,655.154338793,0.401034816131,0.00447676588793,0.079863382828,0.999999981362,0.000109713614007,-0.000149607094507,5.34495173605e-05,1793250838119285248
+49,0.816666667,BASELINE,769,746.426787611,724,689,668.426787611,642,887,786.426787611,820,655,632,655.426787611,0.401033790082,0.00447445319087,0.0798626051763,0.999999981502,0.000106805676927,-0.000150669608181,5.37288600948e-05,1793250838135952128
+50,0.833333333,BASELINE,768.994367457,746.994367457,724,689,669,642,887,787,820,655.005632543,632,656,0.401032359751,0.00447162433448,0.0798616952623,0.999999981589,0.00010343074753,-0.000152306288462,5.41015703291e-05,1793250838152618752
+51,0.850000000,BASELINE,768.416979845,746.416979845,724,689,669,642,887,787,820,655.583020155,632,656,0.401033983174,0.00447487023621,0.079861943628,0.999999981432,0.000106056240485,-0.000151862067248,5.31577017862e-05,1793250838169285376
+52,0.866666667,BASELINE,768.160356781,746.160356781,724,688.839643219,669,642,887,786.839643219,820,655.839643219,632,656,0.40103516104,0.00447692750307,0.0798623846993,0.999999981423,0.000107565748647,-0.00015107429216,5.25343857437e-05,1793250838185952000
+53,0.883333333,BASELINE,768.737560834,746.737560834,724,688.262439166,669,642,887,786.262439166,820,655.262439166,632,656,0.401035180677,0.00447589491476,0.0798633267085,0.999999981813,0.000106174255451,-0.000149393449197,5.27443456194e-05,1793250838202618624
+54,0.900000000,BASELINE,768.680027637,746.680027637,724,688.319972363,669.319972363,642,887,786,820,655.319972363,632,655.680027637,0.401035298376,0.00447554902771,0.0798634552795,0.999999981886,0.000106094548954,-0.000148875103335,5.29833612891e-05,1793250838219285248
+55,0.916666667,BASELINE,768.093274339,746.093274339,724,688.906725661,669.906725661,642,887,786,820,655.906725661,632,655.093274339,0.401035497834,0.00447577568643,0.0798629056362,0.999999981697,0.000107108560996,-0.000149326003968,5.32466025781e-05,1793250838235951872
+56,0.933333333,BASELINE,768.487064245,746,724,689,669.512935755,642,887,786.487064245,820.487064245,656,632,655.487064245,0.401035586989,0.00447644004912,0.0798635752153,0.999999981705,0.000108073114944,-0.000148629270263,5.3103082109e-05,1793250838252618496
+57,0.950000000,BASELINE,768.934068629,746,724,689,669,642,887,787,820.934068629,656,632,656,0.40103560672,0.00447710386238,0.0798643685885,0.99999998173,0.000108890899488,-0.000147924642504,5.29280286687e-05,1793250838269285120
+58,0.966666667,BASELINE,768.357208822,746,724,689,669,642,887,787,820.357208822,656,632,656,0.401035250026,0.00447712229349,0.0798643354429,0.999999981612,0.000108643752378,-0.000148839830756,5.31044153478e-05,1793250838285951744
+59,0.983333333,BASELINE,768,746,724,689,669,642,887,786.781548158,820,655.781548158,632,656,0.401034605875,0.00447711511342,0.0798641770254,0.999999981463,0.000109122597937,-0.000149434053848,5.3251768762e-05,1793250838302618624
+60,1.000000000,BASELINE,768,746,724,689,669,642,887,786.207837518,820,655.207837518,632,656,0.401033494245,0.00447706628297,0.0798638148838,0.999999981264,0.000110782093985,-0.000149506305306,5.33519066585e-05,1793250838319285248
+61,1.016666667,BASELINE,768,746,724,689,669,642,887,786.37670573,820,655.37670573,632,655.62329427,0.401034269424,0.00447618235513,0.0798638481741,0.999999981508,0.000109341916973,-0.000148991101151,5.31983974145e-05,1793250838335951872
+62,1.033333333,BASELINE,768,746,724,689,669,642,887,786.967402504,820,655.967402504,632,655.032597496,0.401036116421,0.00447482404279,0.0798641060931,0.999999981995,0.000106140942985,-0.000148142187601,5.29008016478e-05,1793250838352618496
+63,1.050000000,BASELINE,768,746,724,689,669,642,887,786.452855289,819.452855289,656,632,655.547144711,0.401035993283,0.00447613549935,0.0798637638752,0.999999981611,0.000109104006748,-0.000148528395285,5.303492759e-05,1793250838369285120
+64,1.066666667,BASELINE,768,746.125534129,724,689,669,642,887.125534129,786,819.125534129,656,632,656,0.401035597893,0.00447688152141,0.0798633000333,0.99999998131,0.000110947611653,-0.000149140678641,5.3171700176e-05,1793250838385951744
+65,1.083333333,BASELINE,768,746.701366107,724,689,669,642,887.701366107,786,819.701366107,656,632,656,0.401034638695,0.00447503994756,0.0798625256562,0.999999981511,0.000107484210021,-0.000150305134011,5.32275151295e-05,1793250838402618368
+66,1.100000000,BASELINE,768.275523151,747,723.724476849,689,669,642,887.724476849,786,820,656,632,656,0.40103400939,0.00447535732624,0.0798621161843,0.999999981502,0.000106913419363,-0.000150828347894,5.30674087577e-05,1793250838419284992
+67,1.116666667,BASELINE,768.847875701,747,723.152124299,689,669,642,887.152124299,786,820,656,632,656,0.401033735488,0.00447800060971,0.0798620998358,0.999999981273,0.000109458925943,-0.000150660732913,5.26746838286e-05,1793250838435951872
+68,1.133333333,BASELINE,768.56225755,747,723.43774245,689,669,642,887,786,820,656,632.43774245,656,0.401033579399,0.00447776556959,0.0798622152978,0.999999981216,0.000108741791749,-0.000151523710851,5.27555455871e-05,1793250838452618496
+69,1.150000000,BASELINE,768.032831648,746.967168352,724,689,669,642,887,786,819.967168352,656,632.967168352,656,0.40103347134,0.00447656160246,0.0798623850154,0.999999981226,0.000106991522359,-0.000152625170902,5.29764816495e-05,1793250838469285376
+70,1.166666667,BASELINE,768.609408137,746.390591863,724,689,669,642,887,786,819.390591863,656,632.390591863,656,0.401033452417,0.00447656725651,0.0798626630414,0.999999981338,0.000107691607281,-0.000151497492958,5.26779466602e-05,1793250838485952000
+71,1.183333333,BASELINE,768.815304325,746,724,689,669,642,887,786,819.184695675,655.815304325,632,656,0.401033829114,0.00447646267157,0.0798631257162,0.999999981516,0.000107839203345,-0.000150255487306,5.25630595558e-05,1793250838502618368
+72,1.200000000,BASELINE,768.242723645,746,724,689,669,642,887,786,819.757276355,655.242723645,632,656,0.401035036666,0.00447612657036,0.0798639761779,0.999999981832,0.000106826500876,-0.000148773378341,5.28338569072e-05,1793250838519285248
+73,1.216666667,BASELINE,768,746,724,688.658648045,669,642,886.658648045,786,820,655,632,656,0.401035508726,0.00447498533142,0.0798642519428,0.999999982029,0.000105520875369,-0.000148247167993,5.31963511715e-05,1793250838535951872
+74,1.233333333,BASELINE,768,746,724,688.066114003,669,642,886.066114003,786,820,655,632,656,0.401035439578,0.00447325163601,0.0798641048201,0.999999982139,0.000103999704004,-0.000148424350838,5.36263201236e-05,1793250838552618496
+75,1.250000000,BASELINE,768,746,724,688.513757161,669,642,886.513757161,786,820,655.513757161,632.513757161,656,0.401035725389,0.00447479526016,0.0798644985756,0.999999982164,0.000104878898164,-0.000147798898663,5.31796183904e-05,1793250838569285120
+76,1.266666667,BASELINE,768,746.091204585,724,689,669,642,887,786.091204585,820,656,632.908795415,656,0.401035748032,0.00447643349807,0.0798647045759,0.999999982113,0.000106020855733,-0.000147490545896,5.27245976013e-05,1793250838585952000
+77,1.283333333,BASELINE,768,746.664249152,724,689,669,642,887,786.664249152,820,656,632.335750848,656,0.401034144828,0.00447639705393,0.0798635597747,0.999999981727,0.000106958344571,-0.000149390006756,5.28073060943e-05,1793250838602618624
+78,1.300000000,BASELINE,768,746.756010438,724,689,669,642.243989562,887.243989562,787,820,656,632,656,0.401033756231,0.00447606314696,0.0798631590029,0.99999998161,0.000107234747155,-0.000149961257729,5.28367932837e-05,1793250838619285248
+79,1.316666667,BASELINE,768,746.166796017,724,689,669,642.833203983,887.833203983,787,820,656,632,656,0.401035086199,0.00447530835493,0.0798638109708,0.999999981878,0.000106575767808,-0.000148653202448,5.27909767656e-05,1793250838635952128
+80,1.333333333,BASELINE,768.414962864,746,724,689,669,642.585037136,887.585037136,786.585037136,819.585037136,655.585037136,632.414962864,656,0.401034199272,0.00447530505246,0.0798631155572,0.999999981657,0.000106942684331,-0.00014986779549,5.28019448984e-05,1793250838652618496
+81,1.350000000,BASELINE,768.993777901,746,724,689,669,642.006222099,887.006222099,786.006222099,819.006222099,655.006222099,632.993777901,656,0.401032436983,0.00447559848298,0.0798618881167,0.999999981239,0.000107714685885,-0.000152078480952,5.28353350059e-05,1793250838669285120
+82,1.366666667,BASELINE,769,746,723.428125221,689,669,642,887,786,819.571874779,655.571874779,632.428125221,656,0.401034092056,0.00447558846993,0.0798637166194,0.999999981357,0.000108839711463,-0.000150390914064,5.31317165374e-05,1793250838685952000
+83,1.383333333,BASELINE,768.851243678,746,723.148756322,689,669,642,887,786,819.851243678,655.851243678,632,656,0.401035450288,0.00447571741626,0.0798650743578,0.999999981489,0.000109740700765,-0.000148809513734,5.32449447755e-05,1793250838702618624
+84,1.400000000,BASELINE,768.277809326,746,723.722190674,689,669,642,887,786,819.277809326,655.277809326,632,656,0.401035855066,0.00447625248526,0.0798649933289,0.999999981655,0.000109991147148,-0.000147652136468,5.28271379971e-05,1793250838719285248
+85,1.416666667,BASELINE,768.303935237,746,724,689,669,642,886.696064763,786,819.303935237,655.303935237,632,655.696064763,0.401035286832,0.00447693055744,0.0798644259004,0.99999998158,0.000109899554642,-0.000148317719633,5.25657771936e-05,1793250838735951872
+86,1.433333333,BASELINE,768.893489167,746,724,689,669,642,886.106510833,786,819.893489167,655.893489167,632,655.106510833,0.401033804222,0.00447774301474,0.079863401385,0.999999981276,0.000109486536082,-0.000150696403259,5.24514342308e-05,1793250838752618240
+87,1.450000000,BASELINE,768.523792469,746,724,689,669.476207531,642.476207531,886.476207531,786,820,655.523792469,632.476207531,655.476207531,0.401034071251,0.00447684054599,0.0798633391035,0.999999981448,0.000108315534054,-0.000150284228808,5.27953516528e-05,1793250838769284864
+88,1.466666667,BASELINE,768.056735446,746,723.943264554,688.943264554,669.943264554,642.943264554,887,786.056735446,820,655,632.943264554,655.943264554,0.401034680382,0.00447563709452,0.0798635586434,0.999999981694,0.000107214414767,-0.000149297352386,5.31764010424e-05,1793250838785951744
+89,1.483333333,BASELINE,768.63103093,746,723.36896907,688.36896907,669.36896907,642.36896907,887,786.63103093,820,655,632.36896907,655.36896907,0.401034890936,0.00447513750331,0.0798644135474,0.999999981682,0.000108275452684,-0.000148681584154,5.29744025907e-05,1793250838802618368
+90,1.500000000,BASELINE,769,746,723.205433819,688.205433819,669,642,887,786.794566181,820,655,632,655.205433819,0.40103491601,0.00447500157083,0.0798646507974,0.999999981691,0.000108562805285,-0.000148449856245,5.28620369294e-05,1793250838819285248
+91,1.516666667,BASELINE,769,746,723.780029653,688.780029653,669,642,887,786.219970347,820,655,632,655.780029653,0.40103460778,0.00447551912862,0.0798637781309,0.99999998174,0.000107459854893,-0.000148908244083,5.29107402978e-05,1793250838835951872
+92,1.533333333,BASELINE,769,746,724,689,669,642,887,786,820,655.366091728,632,656,0.401034567068,0.00447605214537,0.0798637600779,0.999999981825,0.000106906431905,-0.000148791570999,5.2743252012e-05,1793250838852618496
+93,1.550000000,BASELINE,769,746,724,689,669,642,887,786,820,655.959266244,632,656,0.401034692296,0.0044765947512,0.0798642721325,0.999999981934,0.000106693874792,-0.00014831819381,5.24416623565e-05,1793250838869285120
+94,1.566666667,BASELINE,768.462599483,746,723.462599483,689,669,642,887,786,820,656,632,655.462599483,0.40103542694,0.00447755416339,0.0798646749131,0.99999998188,0.000108161213281,-0.000147619047143,5.24449855148e-05,1793250838885952000
+95,1.583333333,BASELINE,768.114118868,746,723.114118868,689,669,642,887,786.114118868,819.885881132,656,632,655,0.401036095462,0.00447802478992,0.0798649408517,0.999999981852,0.000109087444981,-0.000147109685329,5.24799033952e-05,1793250838902618624
+96,1.600000000,BASELINE,768.689596492,746,723.689596492,689,669,642,887,786.689596492,819.310403508,656,632,655,0.401036315005,0.00447639511178,0.0798646861407,0.999999981991,0.000107325332255,-0.000147434883867,5.25516601331e-05,1793250838919285248
+97,1.616666667,BASELINE,769,746,724,689,669,642,887,786.771732227,819,655.771732227,632,655.228267773,0.401036312461,0.00447548330242,0.0798646292674,0.999999982064,0.000106404937281,-0.000147574422764,5.26491789198e-05,1793250838935952128
+98,1.633333333,BASELINE,769,746,724,689,669,642,887,786.276161441,819,655.276161441,632,655.723838559,0.401036049853,0.00447541212206,0.0798648040633,0.999999982062,0.000106470199249,-0.000147496553022,5.27768652253e-05,1793250838952619008
+99,1.650000000,BASELINE,768.688358628,746,724,689,669,642,887,786,819.311641372,655.311641372,632,656,0.401035285335,0.00447585703062,0.0798645965944,0.999999981825,0.00010799606197,-0.00014792341456,5.29691765363e-05,1793250838969285888
+100,1.666666667,BASELINE,768.012729404,746.012729404,724,689,669,642,887,786,820,656,632,656,0.401033927904,0.00447695511748,0.0798639203022,0.999999981292,0.000111325827131,-0.000148961830288,5.32271926609e-05,1793250838985952512
+101,1.683333333,BASELINE,768.589582388,746.589582388,724,689,669,642,887,786,820,656,632,656,0.401034290886,0.0044782126851,0.0798637898828,0.999999981115,0.000113126897299,-0.000148948611358,5.27922757535e-05,1793250839002618880
+102,1.700000000,BASELINE,768.834089474,746.834089474,724,689,669,642,887,786,820,656,632,656,0.401034619292,0.00447860012831,0.0798638209458,0.999999981099,0.000113560293943,-0.000148814716632,5.25316212302e-05,1793250839019285248
+103,1.716666667,BASELINE,768.259055653,746.259055653,724,689,669,642,887,786,820,656,632,656,0.401034862435,0.00447684190779,0.0798642502126,0.999999981484,0.000110621106837,-0.000148383244168,5.27006851417e-05,1793250839035952128
+104,1.733333333,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401035447395,0.0044762414386,0.0798645067919,0.999999981747,0.000108726883929,-0.000147994402928,5.27464669777e-05,1793250839052619008
+105,1.750000000,BASELINE,768,746,724,689,669,642,887,786,820,656,632,656,0.401036312595,0.00447659015538,0.0798646217927,0.999999981914,0.000107689377952,-0.000147640512989,5.2691175627e-05,1793250839069285888
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,724,689,669,642,887,786,820,655,633,655,0.401033756426,0.00447628707888,0.0798639238087,0.999999981397,0.000107973743368,-0.000150830114028,5.28903204705e-05,1793250839100585728
+107,1.783333333,POSE1_TO_POSE2_PRESS,768.421369578,746.578630422,724,689,669,642,887.578630422,786.578630422,820,655.578630422,633,655.578630422,0.401034620224,0.00447538444471,0.0798643432038,0.999999981511,0.000108362329413,-0.000149758735518,5.29952195175e-05,1793250839117252608
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746.844189253,724,689.155810747,669,642,888,786.844189253,819.844189253,656,632.844189253,656,0.401035062554,0.00447471576944,0.0798646027873,0.999999981591,0.000108814331741,-0.000148866829898,5.30613909996e-05,1793250839133919232
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746.270894238,724,689.729105762,669,642,888,786.270894238,819.270894238,656,632.270894238,656,0.401034375587,0.00447467397088,0.0798644341666,0.999999981587,0.000109436253761,-0.00014845580941,5.30237946367e-05,1793250839150586112
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746.313497035,724,689.686502965,669,642,887.686502965,786.313497035,819.313497035,656,632.313497035,656,0.401034466569,0.00447542595624,0.079864665625,0.999999981606,0.000109923773914,-0.000148016685549,5.28673891395e-05,1793250839167252992
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746.907828432,724,689.092171568,669,642,887.092171568,786.907828432,819.907828432,656,632.907828432,656,0.401035254445,0.00447688902265,0.0798652554789,0.999999981648,0.000110290895242,-0.000147552386378,5.26045530128e-05,1793250839183919616
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,747,724,689,669,642,887,787,820,656,632.512791572,656,0.401033500504,0.00447703419537,0.0798634627253,0.999999981229,0.000109721970583,-0.000150731138314,5.27579888545e-05,1793250839200585984
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.063455342,746.936544658,724,689,669,642.063455342,887,787,820,656,632,656,0.401031690277,0.00447693728942,0.0798616613837,0.99999998079,0.000109130805928,-0.000153975241284,5.29261546152e-05,1793250839217252608
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.636579874,746.363420126,724,689,669,642.636579874,887,787,820,656,632,656,0.401033175273,0.00447683894633,0.0798633036554,0.999999980986,0.000109740989748,-0.000152373421342,5.25989354547e-05,1793250839233918976
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.783626363,746,724,689,669,642.783626363,887,786.783626363,820,656,632,656,0.401033555952,0.00447703110401,0.0798643158151,0.999999980733,0.000110251189428,-0.000153668224587,5.25739417966e-05,1793250839250585344
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.192274808,746,724,689,669,642.192274808,887,786.192274808,820,656,632,656,0.401032022836,0.00447772670279,0.0798642359837,0.99999997968,0.000110588115418,-0.000159982908165,5.30727083249e-05,1793250839267252224
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.390317441,746,724,689,669,642,887,786.390317441,820,656,632,656,0.401043423524,0.00447761970002,0.0798681437926,0.999999979625,0.000110505034587,-0.000160368690715,5.31157862003e-05,1793250839283918848
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.968689516,746,724,689,669,642,887,786.968689516,820,656,632,656,0.401061055709,0.00447712600452,0.0798739728434,0.999999980059,0.000110219594833,-0.000157897934004,5.29393136879e-05,1793250839300585472
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.544703187,724,689,669,642,887,786.455296813,820,656,632,656,0.401103738109,0.00447699785766,0.079886696697,0.999999982329,0.000108033084749,-0.000144546351285,5.26905256339e-05,1793250839317252352
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.880572741,723.880572741,689,669,642,886.880572741,786,820,656,632,656,0.401152355942,0.00447700463303,0.0798992857275,0.999999984501,0.000106295976581,-0.000130286951828,5.21962350471e-05,1793250839333919232
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.310208152,723.310208152,689,669,642,886.310208152,786,820,656,632,656,0.401217971495,0.00447744185495,0.0799098756858,0.999999986414,0.000106666566377,-0.0001149511933,5.0790595764e-05,1793250839350585600
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.726614995,746,723,689,669,642,886.273385005,786,820,655.726614995,632,656,0.40129225179,0.00447792057739,0.0799178553398,0.999999987748,0.00010650367186,-0.000103698080939,4.90596782061e-05,1793250839367251968
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.12724825,746,723,689,669,642,886.87275175,786,820,655.12724825,632,656,0.401376863837,0.00447844878462,0.0799227224908,0.999999988577,0.000105704655602,-9.73130788886e-05,4.69409019486e-05,1793250839383918848
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723.454889002,689,669,642,887,786,820,655.454889002,632,656,0.401478182964,0.00447973823276,0.079927282316,0.999999989414,0.000104440473637,-9.13364168691e-05,4.38471984795e-05,1793250839400585472
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786.032238776,820,656,632,656,0.401585610889,0.00448123022906,0.0799318715214,0.999999990254,0.000102890937203,-8.52606679023e-05,4.04533428007e-05,1793250839417252096
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786.607170009,820,656,632,656,0.401720070197,0.00448267801859,0.0799383496624,0.999999991608,9.86483691552e-05,-7.56642647192e-05,3.64301834648e-05,1793250839433918720
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,787,820,656,632.186321621,656,0.401863104245,0.00448443522497,0.0799451768315,0.999999992837,9.49587816479e-05,-6.53796870779e-05,3.21545266048e-05,1793250839450585344
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,787,820,656,632.774577384,656,0.402024635757,0.00448685990707,0.0799527569251,0.999999993915,9.24620877131e-05,-5.36105765282e-05,2.73341810635e-05,1793250839467252224
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.357164972,746,724,689,669,642,887,786.642835028,820,656,632.642835028,656,0.402207148064,0.00448919278571,0.0799590939906,0.999999994791,8.90123600395e-05,-4.50109120707e-05,2.16603783234e-05,1793250839483918848
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.936231066,746,724,689,669,642,887,786.063768934,820,656,632.063768934,656,0.402402695433,0.00449146862851,0.0799646587825,0.999999995534,8.49705268681e-05,-3.83803747446e-05,1.54563352385e-05,1793250839500585472
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.48645781,746,724,689.51354219,669,642,887,786.51354219,820,656,632,656,0.402611695179,0.00449385671985,0.0799620988816,0.99999999588,7.7300487283e-05,-4.68476700151e-05,8.36090328444e-06,1793250839517251840
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.090218301,746,724,690,669,642,887,786.909781699,819.909781699,656,632,656,0.402827115762,0.00449640956914,0.0799576696298,0.999999995928,6.86761737112e-05,-5.85319084261e-05,9.48415636407e-07,1793250839533918720
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.664652059,746,724,690,669,642,887,786.335347941,819.335347941,656,632,656,0.403068063049,0.00449977214557,0.0799486036624,0.999999995328,5.73399577809e-05,-7.74540773909e-05,-7.5737055158e-06,1793250839550585600
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,724,690,669,642.245216768,887,786.245216768,819.245216768,655.754783232,632,656,0.403330424134,0.00450439990713,0.0799430990423,0.999999994723,4.9990472669e-05,-8.83384962855e-05,-1.58722089319e-05,1793250839567251968
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,724,690,669,642.834380873,887,786.834380873,819.834380873,655.165619127,632,656,0.403622820747,0.00451080224963,0.0799425896598,0.999999994685,4.82328793167e-05,-8.79489593882e-05,-2.3857059861e-05,1793250839583918848
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,724,690.416056048,669,642.583943952,887.416056048,787,820,655,632.416056048,656,0.40395808276,0.00451732906779,0.0799448990121,0.999999994872,4.71968518214e-05,-8.62471943495e-05,-2.42912154642e-05,1793250839600585472
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,724,690.994802808,669,642.005197192,887.994802808,787,820,655,632.994802808,656,0.404310106455,0.00452390455962,0.0799483105765,0.999999995154,4.64429788105e-05,-8.40323077581e-05,-2.17728167768e-05,1793250839617252096
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.430123751,746.569876249,724,691,669,642,888,786.430123751,820,655,632.430123751,656,0.404705636279,0.00453177549651,0.0799546398816,0.999999995823,5.53223257293e-05,-6.83321615626e-05,-2.49741618283e-05,1793250839633918976
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.145160663,746.854839337,724,691,669,642,888,786.145160663,820,655.145160663,632,656,0.405109280703,0.00453917580808,0.0799584505424,0.999999996011,6.25629806436e-05,-5.69576722097e-05,-2.86268070924e-05,1793250839650585600
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.721169955,746.278830045,724,691,669,642,888,786.721169955,820,655.721169955,632,656,0.405535839746,0.0045451444229,0.0799547071884,0.99999999562,6.46807764771e-05,-5.87847740634e-05,-3.34651142202e-05,1793250839667252224
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,724,691.304217863,669,642,887.695782137,787,820,656,632,656,0.405977482977,0.00455249417385,0.0799498118088,0.999999993946,8.04039559996e-05,-6.75383891671e-05,-3.29038936528e-05,1793250839683918848
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,724,691.89386986,669,642,887.10613014,787,820,656,632,656,0.406433279084,0.00456113978429,0.0799438355342,0.999999990272,0.000108892464033,-8.27908447293e-05,-2.7276536171e-05,1793250839700585472
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,887.475112188,787,820,656,632,656,0.406932183471,0.00457184710331,0.0799353303439,0.999999988197,0.000115179348509,-9.69300227506e-05,-3.07243311521e-05,1793250839717252096
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,888,786.946113317,820,655.946113317,632,656,0.407442335682,0.00458248909576,0.0799263649419,0.999999986395,0.000116477321085,-0.000111244598128,-3.56128465412e-05,1793250839733918976
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746,724,692,669,642,888,786.373327592,820,655.373327592,632,656,0.407969684625,0.00458814439681,0.0799183130822,0.999999984178,0.000116660310029,-0.000129601192355,-3.51934113292e-05,1793250839750585344
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.200022822,724,692.200022822,669.200022822,642,888,786.200022822,820,655.200022822,632,655.799977178,0.408521741133,0.00459514125223,0.0799135056077,0.999999981728,0.000124748560787,-0.000140430238691,-3.5512131077e-05,1793250839767251968
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.774430136,724,692.774430136,669.774430136,642,888,786.774430136,820,655.774430136,632,655.225569864,0.409120042978,0.00460464910654,0.0799147706783,0.999999979002,0.00014763316022,-0.000137169905782,-3.72124620419e-05,1793250839783918848
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,724,693,669.637480386,642.362519614,888,787,820,656,632.362519614,655.362519614,0.409772775649,0.00461008650727,0.0799390481195,0.999999983505,0.000149144289318,-9.63714523246e-05,-3.82010772755e-05,1793250839800585472
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724,693,669.040543588,642.959456412,888,787,820,656,632.959456412,655.959456412,0.41046070507,0.0046128918176,0.0799782061213,0.999999989398,0.000136834623595,-3.12996072987e-05,-3.87294733658e-05,1793250839817252096
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.466963686,724,693.533036314,669,642.466963686,888,787,820,656,633,656,0.411154039661,0.00460257675116,0.079990402829,0.999999990852,0.000129020340468,-1.5626043864e-05,-3.74801730352e-05,1793250839833918720
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,724,694,669,642,888,787,820,655.893873017,633,656,0.411844583382,0.00459017729527,0.079992569697,0.999999992045,0.000119721363549,-1.53114236211e-05,-3.66319082923e-05,1793250839850585600
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,724,694,669,642,888,787,820,655.315384668,633,656,0.412520951929,0.00457275576765,0.0799588390676,0.999999991767,0.000102356160609,-6.73366289229e-05,-3.8145178778e-05,1793250839867252224
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.268372692,724,694.268372692,669,642,888.268372692,787,820,655.268372692,632.731627308,656,0.413218614259,0.00456614283855,0.0799310779248,0.999999989454,9.293428847e-05,-0.000103872817502,-4.08105640778e-05,1793250839883918592
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.858446139,724,694.858446139,669,642,888.858446139,787,820,655.858446139,632.141553861,656,0.413941801727,0.00457248627126,0.0799104724548,0.999999987243,9.30341562507e-05,-0.000121842189703,-4.48570000479e-05,1793250839900585472
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642.440107913,889.440107913,787.440107913,820.440107913,655.559892087,632.440107913,656,0.414732546654,0.00458176364351,0.0799251307531,0.999999988106,0.000113013914995,-9.46843896419e-05,-4.52803594371e-05,1793250839917252096
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.980979492,724,695,669,643,890,787.980979492,821,655,632.980979492,656,0.415544352129,0.00459182138756,0.0799500256192,0.999999987987,0.000137766492017,-5.53014084556e-05,-4.45809396745e-05,1793250839933918976
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.404831951,724,695,669,643,890,787.404831951,821,655,632.404831951,656,0.416348521559,0.00459761479401,0.0799487707557,0.999999989172,0.000118544077318,-7.49998688947e-05,-4.44870376977e-05,1793250839950585600
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.169996951,724,695,669,643,890,787,821.169996951,655,632,656,0.41716667684,0.00460219832349,0.0799494202015,0.999999989581,0.000110888410221,-8.07058789703e-05,-4.50284205681e-05,1793250839967251968
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.741709775,724,695,669,643,890,787,821.741709775,655,632,656,0.418017881712,0.00460392282025,0.0799545696765,0.999999988946,0.000130565858737,-5.33466513332e-05,-4.70710304429e-05,1793250839983918592
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.673101222,746.673101222,724,695.326898778,669,643,890.326898778,787,822,655,632.326898778,656,0.41888820053,0.00460323741495,0.0799683047146,0.999999989945,0.000131544460874,-1.89170772906e-05,-4.94841203498e-05,1793250840000585216
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.076806588,746.076806588,724,695.923193412,669,643,890.923193412,787,822,655,632.923193412,656,0.419774271027,0.00460056601978,0.0799891150775,0.999999991552,0.000117113424186,2.13391370412e-05,-5.22025210971e-05,1793250840017251840
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.501220958,746.501220958,724,695.498779042,669,643,891,787.501220958,822.501220958,655.501220958,632.498779042,656,0.42063504503,0.0045989892211,0.079972675815,0.999999991717,0.000117471460081,-6.25481231849e-06,-5.22333397112e-05,1793250840033919232
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,695,669,643,891.076682737,788,823.076682737,655.923317263,632,656,0.421504002635,0.00459817591509,0.0799562652464,0.999999990834,0.000120177457452,-3.45898099088e-05,-5.18888540009e-05,1793250840050586880
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,643,891.653024113,788,823.653024113,655.346975887,632,656,0.422450653756,0.00460128295256,0.0799759272885,0.999999990981,0.000123935053225,-2.38774922095e-06,-5.16880848597e-05,1793250840067253504
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+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.176754551,724,695.823245449,669,642.176754551,891.176754551,787.176754551,824,655,632,656,0.424270220497,0.00460411678089,0.0800101380474,0.999999990621,0.000121425208699,3.66093477014e-05,-5.16986495921e-05,1793250840100586496
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.595024728,746,724,696,669,642,891.809950543,787,824,655,632,656,0.425129823034,0.00460605855248,0.0799747068238,0.999999990388,0.000124516305084,-3.34353493638e-05,-5.10036544235e-05,1793250840117252864
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+169,2.816666667,POSE1_TO_POSE2_PRESS,768.558533759,746.558533759,724,696,669,642.558533759,892.441466241,787,824,655,632.558533759,656,0.426921039005,0.0046089619971,0.0799064725671,0.999999982329,0.000127066167008,-0.000127713788522,-5.3706859573e-05,1793250840150585856
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+173,2.883333333,POSE1_TO_POSE2_PRESS,768.11893542,747,724,695.11893542,669,642.11893542,893,787,824.88106458,655,632,656,0.430696474332,0.00461121074484,0.0799821941732,0.99999999022,0.000127825397113,-2.15304446928e-05,-5.25073652498e-05,1793250840217252864
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+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723.639068879,696,669,643,894,786.639068879,826,655,632.360931121,656,0.436029189573,0.00461553520274,0.079920349307,0.999999985338,0.000120094930483,-0.000108131509916,-5.6638553744e-05,1793250840317252096
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+181,3.016666667,POSE1_TO_POSE2_PRESS,768.47433709,747,723.52566291,696,669,643,895.051325819,786.52566291,826,655,632.47433709,656,0.43780484458,0.00461727617676,0.0799831662452,0.999999990657,0.000122816517076,-2.36424945532e-05,-5.51661105696e-05,1793250840350585856
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,724,696,669,642.899197139,896,786.899197139,826.100802861,655,632.100802861,656,0.438653477752,0.00462173546726,0.0799957677487,0.999999990346,0.000127931109543,-3.82506636754e-06,-5.41105316911e-05,1793250840367252736
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,724,696,669,642.328928406,896,786.328928406,826.671071594,655,632.671071594,656,0.439433326805,0.00463033927099,0.0799707019432,0.999999987978,0.000136757761224,-4.76581690179e-05,-5.54078603229e-05,1793250840383919616
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768.909071783,747,723,696,666.090928217,641,896,785,827.818143566,655,632,656,0.445702175598,0.00470230335345,0.0797908809969,0.999999918917,0.000227731129738,-0.000327752742873,-5.36875055735e-05,1793250840533919744
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+221,3.683333333,POSE1_TO_POSE2_PRESS,769.278567817,747,723,696.278567817,655.721432183,638,898,784,828,655,632,657,0.453979184394,0.00482610684868,0.0795270988514,0.999999681058,0.000347640262256,-0.000715028998328,-7.59176463925e-05,1793250841017252608
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747,722.694478596,696,655.694478596,638,897.694478596,783.694478596,828,655.305521404,632,657,0.454015699048,0.00482665274023,0.0795251296813,0.99999967885,0.00034884482983,-0.000717550646986,-7.56901830217e-05,1793250841033919232
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747,722.103771277,696,655.103771277,638,897.103771277,783.103771277,828,655.896228723,632,657,0.454045342388,0.00483020227444,0.0795242041775,0.999999676109,0.000352169962684,-0.000719773262319,-7.54025433309e-05,1793250841050585856
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747,722,696,655,637.524995715,897,783,828,655.524995715,632,657,0.454067441387,0.00483070762554,0.0795228150086,0.999999674278,0.000352878666339,-0.000721977675485,-7.52908310416e-05,1793250841067252480
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,747,722.051169918,696.051169918,655,637,897,783.051169918,828,655.051169918,631.948830082,657,0.454087123951,0.00483047123963,0.0795214560789,0.999999672758,0.00035301586191,-0.00072402345293,-7.51963162203e-05,1793250841083919360
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747,722.626647959,696.626647959,655,637,897,783.626647959,828,655.626647959,631.373352041,657,0.454098520706,0.00482928204957,0.0795214194592,0.999999672449,0.000353010437323,-0.000724483531347,-7.4893855082e-05,1793250841100586240
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,747,723,696.792941233,654.792941233,637,897,783.792941233,828,655.792941233,631.207058767,657,0.454108472943,0.00482806771513,0.0795214620845,0.999999672589,0.000351828610193,-0.00072490133996,-7.45389723902e-05,1793250841117253120
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,747,723,696.203419021,654.203419021,637,897,783.203419021,828,655.203419021,631.796580979,657,0.45411575697,0.00482680693593,0.079521651085,0.999999673551,0.000348473820411,-0.000725241070928,-7.40872605494e-05,1793250841133919744
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,747,723,696,654,637,897.379111723,783,828,655.379111723,631.620888277,657,0.45411890332,0.00482757470835,0.07952019627,0.999999671573,0.000349116548878,-0.00072766633787,-7.39814625144e-05,1793250841150586112
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768.105442653,747,723,696.105442653,654.894557347,637,897.894557347,783.105442653,827.105442653,655.105442653,631,657,0.454126595508,0.00482500188905,0.0795205368005,0.999999671478,0.000348703958487,-0.000728105241482,-7.28894875915e-05,1793250841200586752
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.684458575,747,723,696.684458575,654.315541425,637,897.315541425,783.684458575,827.684458575,655.684458575,631,657,0.454127384233,0.00482693839091,0.0795203558046,0.999999670313,0.000350604503038,-0.000728741466081,-7.33889901833e-05,1793250841217252864
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+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747,723,696.143259091,654,637,897,784,828,656,631.856740909,657,0.454125991462,0.00482418217408,0.0795170887691,0.999999669333,0.000345296953541,-0.000732615109762,-7.33389471072e-05,1793250841250586112
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747,723,696,654,637,897.438177531,783.561822469,828,655.561822469,632,657,0.454124953058,0.00482374648098,0.0795162856571,0.999999667765,0.000346046714243,-0.000734440623749,-7.29228565488e-05,1793250841267252736
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,747,723,696,654.017079049,637.017079049,897.982920951,783.017079049,828,655,632,657,0.454124097555,0.00482396730568,0.0795159623893,0.99999966589,0.000348312587957,-0.000735967387293,-7.24570018226e-05,1793250841283919360
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,654.590626099,637.590626099,897.409373901,783.590626099,828,655,632,657,0.454126957242,0.00482270040162,0.0795168746812,0.999999667965,0.000346450721016,-0.000734029492858,-7.24085687057e-05,1793250841300585728
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748,723,696.326916097,654.326916097,637,897.673083903,783.673083903,828,655.673083903,631.673083903,657,0.454129650982,0.00482299050253,0.0795168817821,0.999999668852,0.00034614635879,-0.000732934787447,-7.27019763904e-05,1793250841350585856
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,723,696.916717165,654.916717165,637,897.083282835,783.083282835,828,655.083282835,631.083282835,657,0.454128984889,0.0048244116954,0.0795160881157,0.999999667536,0.000345897635231,-0.00073481943265,-7.29590812085e-05,1793250841367252736
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+247,4.116666667,HOLD_POSE2,769,747.578595188,723,696,654,637,897,783.421404812,828,655,631.421404812,657,0.45412831164,0.00482314529505,0.0795153323272,0.99999966641,0.000345632590128,-0.000736569398042,-7.19936985562e-05,1793250841472289280
+248,4.133333333,HOLD_POSE2,769,747.843525346,723,696,654,637,897,783.156474654,827.843525346,655,631.156474654,657,0.454128209022,0.00482249032845,0.0795151955755,0.999999666432,0.000344462343794,-0.000737071285963,-7.21600431891e-05,1793250841488955904
+249,4.150000000,HOLD_POSE2,769,747.267564504,723,696,654,637,897,783.732435496,827.267564504,655,631.732435496,657,0.454130332444,0.00481975844523,0.0795159730238,0.999999668767,0.00034109609714,-0.000735488585963,-7.19464501368e-05,1793250841505622528
+250,4.166666667,HOLD_POSE2,769,747,722.686130979,696.313869021,654,637,897,783.686130979,827.313869021,655.313869021,632,657,0.454131266121,0.00481871913267,0.0795163937308,0.999999669829,0.000340223293322,-0.000734458054189,-7.18465954416e-05,1793250841522289408
+251,4.183333333,HOLD_POSE2,769,747,722.099949393,696.900050607,654,637,897,783.099949393,827.900050607,655.900050607,632,657,0.454131167575,0.00481914829352,0.0795165049293,0.999999669794,0.000341513799157,-0.000733906583323,-7.18454200877e-05,1793250841538956032
+252,4.200000000,HOLD_POSE2,769,747,722.480372107,696.519627893,654,637,897,783,827.519627893,655.519627893,632,657,0.454130464671,0.00482012716675,0.0795162123199,0.999999669349,0.00034110543771,-0.000734664676428,-7.22282283826e-05,1793250841555622656
+253,4.216666667,HOLD_POSE2,769,747,722.940639142,696,654,637,897.059360858,783,827.059360858,655.059360858,632,657,0.454129790542,0.00482100951451,0.0795158651592,0.999999668892,0.000340429913583,-0.000735564777698,-7.25748185706e-05,1793250841572289280
+254,4.233333333,HOLD_POSE2,769,747,722.36276978,696,654,637,897.63723022,783,827.63723022,655.63723022,632,657,0.45413045291,0.00482006170242,0.0795157665491,0.999999669081,0.00034047112573,-0.000735353941143,-7.19155955028e-05,1793250841588955648
+255,4.250000000,HOLD_POSE2,769,747,722.213920057,696,654,637,897.786079943,783,828,655.786079943,631.786079943,657,0.454131540772,0.0048199773462,0.0795163452156,0.9999996697,0.000340973634634,-0.000734309048079,-7.16058225479e-05,1793250841605622016
+256,4.266666667,HOLD_POSE2,769,747,722.788620544,696,654,637,897.211379456,783,828,655.211379456,631.211379456,657,0.454133346236,0.00482134922554,0.0795180661223,0.99999967104,0.000342254129686,-0.000731857502151,-7.18854042242e-05,1793250841622288640
+257,4.283333333,HOLD_POSE2,769,747,722.628225556,696,654,637,897,783,828,655.371774444,631.371774444,657,0.454132529198,0.00482185721646,0.0795171630168,0.999999670258,0.00034275322533,-0.000732672293312,-7.20817343965e-05,1793250841638955520
+258,4.300000000,HOLD_POSE2,769,747,722.040153423,696,654,637,897,783,828,655.959846577,631.959846577,657,0.454130186393,0.00482186259882,0.0795147332659,0.999999668239,0.000342797704351,-0.000735387433171,-7.22296290227e-05,1793250841655622144
+259,4.316666667,HOLD_POSE2,769,747,722.539598055,696.539598055,654,637,897,783,828,656,631.460401945,657,0.454130778218,0.0048212057524,0.0795147218966,0.999999668942,0.000340397152036,-0.000735503077541,-7.26735597217e-05,1793250841672288768
+260,4.333333333,HOLD_POSE2,768.881894646,747,723,696.881894646,654,637,897,783.118105354,828,655.881894646,631.118105354,657,0.454131457281,0.004820496494,0.0795150057039,0.999999669554,0.000339019171905,-0.000735292045433,-7.28227484623e-05,1793250841688955648
+261,4.350000000,HOLD_POSE2,768.30584705,747,723,696.30584705,654,637,897,783.69415295,828,655.30584705,631.69415295,657,0.454131640728,0.00481977218524,0.0795157468475,0.999999669057,0.000342300872596,-0.000734553002924,-7.17449848874e-05,1793250841705622272
+262,4.366666667,HOLD_POSE2,768,747,723,696,653.729180871,637,897.270819129,784,828,655,632,656.729180871,0.454132222369,0.00482011304434,0.0795160200273,0.999999668649,0.000344625908844,-0.000734066137087,-7.12919108085e-05,1793250841722288896
+263,4.383333333,HOLD_POSE2,768,747,723,696,653.151814535,637,897.848185465,784,828,655,632,656.151814535,0.454133254735,0.00482165959466,0.0795157635067,0.999999668349,0.000345868071565,-0.00073386471663,-7.15459390598e-05,1793250841738955520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,723,697,653,637,897,783,828,656,632,656,0.454134299097,0.00481963293411,0.0795163832774,0.99999967123,0.000340734275212,-0.000732344731776,-7.14971585805e-05,1793250841771710464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,723,697,653,637,897,783,828,656,632,656.57832726,0.45413377001,0.00482249209549,0.0795164658892,0.999999669732,0.000342499479891,-0.000733523224027,-7.19273105954e-05,1793250841788377088
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,723,697,653.155765718,637,897.155765718,783.155765718,828,656,632,657,0.454133594855,0.00482368521853,0.0795166926675,0.999999669059,0.000343278857639,-0.000734061196939,-7.20847856084e-05,1793250841805043712
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,697,653.73081188,637,897.73081188,783.73081188,828,656,632,657,0.45413437239,0.00482039380412,0.0795173075039,0.999999670612,0.000341404648337,-0.000732875060113,-7.15082857716e-05,1793250841821710592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723,696.693777172,654.306222828,637,897.693777172,784,828,655.693777172,631.693777172,657,0.454134956983,0.00481879543279,0.079517443134,0.999999671725,0.000339421549391,-0.000732282949054,-7.14430186835e-05,1793250841838377472
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.035309288,747,723,696,653.964690712,637,897,783,828,655.964690712,631.035309288,657,0.454025286291,0.00481963242745,0.0794710809971,0.999999611107,0.000341682894913,-0.000809954749486,-7.07923140638e-05,1793250841971710208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.544232925,747.544232925,723,696,654,637,897,783,828,655.455767075,631,657,0.45396102387,0.00482089910648,0.0794548233687,0.99999958826,0.000345214573697,-0.000836316553478,-6.98663819993e-05,1793250841988377344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.877262767,723,696,653.877262767,637,897,783,828,655.122737233,631,656.877262767,0.453893884876,0.00482149762727,0.0794409611274,0.999999568965,0.000347793560899,-0.000858127767757,-6.87441324903e-05,1793250842005044224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747.300422925,723,696,653.300422925,637,897,783,828,655.699577075,631,656.300422925,0.453820615311,0.00481951125779,0.0794357943937,0.999999564577,0.000346319903782,-0.00086395418309,-6.7020982478e-05,1793250842021710336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,637,897,783.275971531,828,655.724028469,631,656.275971531,0.453741153326,0.00481765789241,0.0794352141027,0.999999564539,0.000346278528569,-0.000864168119401,-6.50141027676e-05,1793250842038376704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,653,637,897,783.851881886,828,655.148118114,631,656.851881886,0.45365496113,0.00481594908225,0.0794396185732,0.99999956923,0.000347793824704,-0.000858282149497,-6.26988523958e-05,1793250842055043072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,653.436264153,637,897,784,828,655.436264153,631.436264153,657,0.453548402459,0.00481491411395,0.0794428206163,0.999999570969,0.000350519870436,-0.000855356422051,-5.96934472725e-05,1793250842071709696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,722.976636378,696,654,637,897,783.976636378,827.976636378,655.976636378,632,657,0.453433601679,0.00481400944109,0.0794456616016,0.999999571843,0.000353514788288,-0.000853320609263,-5.64276479523e-05,1793250842088376576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,722.394703089,696,654,637,897,783.394703089,827.394703089,655.394703089,632,657,0.45329033988,0.00481064193145,0.0794498239368,0.999999576739,0.000352915526641,-0.000848056423153,-5.26493601062e-05,1793250842105043712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,747,722.183991622,696.183991622,654,637,897,783.183991622,827,655,632,657,0.453136535732,0.00480767122426,0.0794526015878,0.999999579757,0.00035384449863,-0.0008443560361,-4.84018429285e-05,1793250842121710592
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.755858961,696.755858961,654,637,897,783.755858961,827,655,632,657,0.452960507104,0.00480553702316,0.0794524601633,0.99999957886,0.000357995164778,-0.000843952319867,-4.31651362789e-05,1793250842138377216
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,723,696.661866283,654.338133717,637,897,784,827,655.338133717,632,657,0.452767220026,0.0048036849679,0.0794522595006,0.999999577738,0.000361420355076,-0.000844068583033,-3.80326869472e-05,1793250842155043840
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,723,696.071838417,654.928161583,637,897,784,827,655.928161583,632,657,0.452561076174,0.00480204309816,0.0794520147082,0.999999576446,0.000364305099491,-0.000844572207018,-3.29779039991e-05,1793250842171710464
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.491192557,747,723,696,655,637,896.491192557,784,827,656,631.491192557,657,0.452314385985,0.00480010991334,0.079453589684,0.999999572655,0.00037068634651,-0.000846516175229,-2.62839104295e-05,1793250842188377088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.087955308,747,723,696.087955308,655.087955308,637,896,783.912044692,827,656,631,657,0.452059170748,0.00479803462982,0.0794568147687,0.999999570859,0.000377444660481,-0.000845840476348,-1.92899690861e-05,1793250842205043456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.666003842,747,723,696.666003842,655.666003842,637,896,783.333996158,827,656,631,657,0.451787774299,0.00479539259527,0.0794678286517,0.999999582356,0.000383603057783,-0.000829455176475,-1.18909450973e-05,1793250842221710080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,723,696.758582138,656,637,896,783.241417862,827,655.758582138,631.241417862,657,0.451502508384,0.00479164606073,0.0794800028144,0.999999594269,0.000388641142132,-0.000812652018937,-4.06544260318e-06,1793250842238376960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,723,696.186773594,656,637,896,783.813226406,827,655.186773594,631.813226406,657,0.451198261526,0.00478638797082,0.079493764869,0.999999606868,0.000392146029914,-0.000795277006376,4.34371353831e-06,1793250842255044096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.602283219,747,723,696,656.397716781,637.397716781,896,784,827,655.397716781,632,657,0.450875354936,0.00478279645241,0.0795076697474,0.999999626577,0.00039462898915,-0.000768760247812,1.10541553964e-05,1793250842271710976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.01164113,747,723,696,656.98835887,637.98835887,896,784,827,655.98835887,632,657,0.45054339685,0.00478001335824,0.0795216439068,0.999999649023,0.000396616228716,-0.000737808991473,1.69405810379e-05,1793250842288377344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.56735013,747,723,696,657,638,896,783.43264987,827,655.43264987,631.43264987,657,0.450144953027,0.00477782122782,0.0795364632366,0.999999681454,0.000359857866676,-0.000712416812968,7.45716815933e-06,1793250842305043712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.854232409,747,723,696,657.145767591,638,896,783,827,655.145767591,631,657,0.449732709083,0.00477348202683,0.0795479298277,0.99999970557,0.000329789895714,-0.000692888153112,1.91965480167e-06,1793250842321710336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.276820533,747,723,696,657.723179467,638,896,783,827,655.723179467,631,657,0.449283558858,0.00476274977697,0.0795494180306,0.999999709849,0.000321840160108,-0.000690391478152,8.98172902507e-06,1793250842338376960
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.297928602,747,723,696,658.297928602,638,895.702071398,783.297928602,827,656,631,657,0.448802541295,0.00475649948836,0.0795419187838,0.999999702205,0.000316070033506,-0.000703914872692,1.39319049194e-05,1793250842355043584
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.870225631,747,723,696,658.870225631,638,895.129774369,783.870225631,827,656,631,657,0.448292176411,0.00475437672653,0.0795261428145,0.999999683036,0.00031230715148,-0.00073219146999,1.69371920761e-05,1793250842371710208
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,722.542682651,696,659.457317349,638,895.457317349,784,827,656,631.457317349,656.542682651,0.447767262233,0.00474876958953,0.0795135055217,0.999999659295,0.000344772807757,-0.000749831126898,1.71451581908e-05,1793250842388376832
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.952333074,747,722.047666926,696,660.047666926,638.047666926,896,784,827,655.952333074,632,656,0.447236250677,0.00474186479269,0.0795050096377,0.999999638415,0.00038192614103,-0.000759618289482,1.67926918169e-05,1793250842405043456
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.374015466,747,722.625984534,696,660.625984534,638.625984534,896,784,827,655.374015466,632,656,0.446684859129,0.00473188931468,0.0795323709816,0.999999680673,0.000352989164085,-0.000716714363789,1.93336768112e-05,1793250842421710336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,746.796180616,722.796180616,696,661.203819384,639,895.796180616,784,827,655,632,656.203819384,0.446121515848,0.00472227213917,0.0795637977799,0.999999721557,0.000326285718225,-0.00067078920675,2.15905477939e-05,1793250842438376960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,746.219229585,722.219229585,696,661.780770415,639,895.219229585,784,827,655,632,656.780770415,0.445536292588,0.00471331090779,0.0796026671943,0.999999761833,0.000303671194704,-0.000619333092846,2.33272918314e-05,1793250842455043584
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,746.354245782,722.354245782,696,662.354245782,639,895,784.354245782,826.645754218,655.354245782,632,656.645754218,0.444918263402,0.0047033523218,0.0796313068277,0.999999790377,0.000285805763018,-0.000580451863875,2.52459880445e-05,1793250842471710208
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,746.925591066,722.925591066,696,662.925591066,639,895,784.925591066,826.074408934,655.925591066,632,656.074408934,0.444280129128,0.00469278250744,0.0796536771392,0.999999812095,0.000270850812877,-0.000549277154384,2.72761935796e-05,1793250842488376832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.518889562,639.518889562,894.481110438,785,826,656,632,656,0.443597255151,0.00468259918826,0.0796548548196,0.999999810475,0.000270763437346,-0.000552186070977,2.87822359028e-05,1793250842505043456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,664.110990415,640,893.889009585,785.110990415,826,655.889009585,631.889009585,656,0.442903509307,0.00467265962621,0.079656352453,0.999999811312,0.000269203727837,-0.000551369772213,2.99498606334e-05,1793250842521710080
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,664.684405787,640,893.315594213,785.684405787,826,655.315594213,631.315594213,656,0.442192378521,0.00466349452975,0.0796724041448,0.999999835758,0.000252234623203,-0.000513769851273,3.00345178201e-05,1793250842538376704
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,665.259792908,640.259792908,892.740207092,785.740207092,826,655,631.259792908,656,0.441460314334,0.00465441106531,0.0796844705313,0.99999985318,0.000237490752738,-0.000486122960313,3.037482221e-05,1793250842555043328
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,665.83759369,640.83759369,892.16240631,785.16240631,826,655,631.83759369,656,0.440702625849,0.00464542752394,0.0796916585789,0.99999986334,0.000225470749864,-0.000470659391775,3.10280598406e-05,1793250842571709952
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.575897799,666,641,892.424102201,785.424102201,825.575897799,655,632,656,0.439900796882,0.0046349844012,0.079667232923,0.999999846006,0.000216315983406,-0.000510024721369,3.2728055367e-05,1793250842588376576
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.013757171,666.013757171,641.013757171,892.972485659,786,825.013757171,655,632,656,0.439082953632,0.00462396040898,0.079632582284,0.999999816843,0.000208110921884,-0.000567266752483,3.48094483484e-05,1793250842605043200
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.592812401,666.592812401,641.592812401,891.814375199,786,825.592812401,655,632,656,0.43831619578,0.00461251649514,0.0796856608023,0.999999866401,0.000192899276484,-0.000478237165759,3.57463672131e-05,1793250842621709824
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.171892337,746.828107663,723,696,667,642,891,786,825.828107663,655,632,656,0.437551088689,0.00460164632942,0.0797473884207,0.999999910934,0.000180235303951,-0.000379856892493,3.68325675713e-05,1793250842638376448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.751030774,746.248969226,723,696,667,642,891,786,825.248969226,655,632,656,0.436789892614,0.00459213548434,0.0798296074219,0.999999950574,0.000173607262156,-0.000259323048468,3.82724447691e-05,1793250842655043072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.675366275,746,723,696,667,642,891,786.324633725,825,655,632,656,0.435948680311,0.00458170246075,0.0798642334797,0.999999962858,0.000167718230223,-0.000210955495574,4.06487138116e-05,1793250842671709696
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.105937467,746,723,696,667,642,891,786.894062533,825,655,632,656,0.435047130569,0.00457057405462,0.0798629713387,0.999999962313,0.000162386461744,-0.000217006057943,4.37310838447e-05,1793250842688376320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.482458905,723,696,667.482458905,641.517541095,890.517541095,787,824.517541095,655,632,655.517541095,0.43414501134,0.00456013742195,0.0798330172689,0.999999954436,0.000154258134249,-0.000255537750493,4.50796243322e-05,1793250842705042944
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746.926519667,723,696,668,641.073480333,890,787,823.926519667,655,632,655.073480333,0.433228279267,0.00455002057739,0.0797936046783,0.99999994005,0.00014589442524,-0.000310642484676,4.60101954411e-05,1793250842721709568
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746.34727027,723,696,668,641.65272973,890,787,823.34727027,655,632,655.65272973,0.432211862595,0.00454101654586,0.0797342272811,0.999999897161,0.000140310176883,-0.000428720406889,4.67915537831e-05,1793250842738376192
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.229825275,746.229825275,722.770174725,696,668,642,890,787,823.229825275,655.229825275,632,656,0.431240463975,0.00452967478299,0.0797059847377,0.999999872243,0.000129191469449,-0.000486337910949,4.79503790563e-05,1793250842755043072
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.803696615,746.803696615,722.196303385,696,668,642,890,787,823.803696615,655.803696615,632,656,0.43033645676,0.00451483345908,0.0797243507402,0.999999889933,0.000109787735258,-0.000453446817635,4.96742692827e-05,1793250842771709696
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.613256907,747,722.386743093,696,668,642,890,787,823.613256907,656,632,656,0.42949558663,0.00450239206915,0.0797825319795,0.999999931154,9.72959296425e-05,-0.000354460206501,5.08266673251e-05,1793250842788376320
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.025440169,747,722.974559831,696,668,642,890,787,823.025440169,656,632,656,0.428687542491,0.00449119844246,0.0798614137679,0.999999970313,8.83977411013e-05,-0.000221109522341,5.16819370167e-05,1793250842805042944
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823,655.443989603,632,656,0.427756814066,0.00448405294272,0.0798569335603,0.999999969135,8.48146196527e-05,-0.000227498145318,5.27373646773e-05,1793250842821709568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.135845206,746.864154794,723,696,668,642,889.864154794,787,822.864154794,655.135845206,632,655.864154794,0.426810640997,0.00447572227159,0.0798375228412,0.999999962216,7.9060357935e-05,-0.000257800787471,5.343842967e-05,1793250842838376448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.711382373,746.288617627,723,696,668,642,889.288617627,787,822.288617627,655.711382373,632,655.288617627,0.42583244139,0.00446296281892,0.079781992107,0.999999936924,6.55005116829e-05,-0.000345045779875,5.29632171024e-05,1793250842855043072
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.714754129,746,723,696,668.285245871,642,889.285245871,787,821.429508257,656,632,655.285245871,0.424852996605,0.00445524517868,0.0797445176964,0.999999915803,5.82205048575e-05,-0.000402634930052,5.37540690217e-05,1793250842871709696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.142574238,746,723,696,668.857425762,642,889.857425762,787,820.285148475,656,632,655.857425762,0.423872299333,0.00445259919019,0.0797252064739,0.999999904184,5.72575040866e-05,-0.000430392724835,5.58184785862e-05,1793250842888376320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.446708983,746,723,696,668.553291017,642,889.553291017,787,820,655.553291017,632,655.553291017,0.422977829052,0.00446843748657,0.0797322538818,0.999999909104,7.56768874545e-05,-0.000416064392405,5.43666960631e-05,1793250842905043200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.959523783,746.040476217,723,696,668,642,888.959523783,787,820,655,632,655,0.422116395672,0.00448945100842,0.0797515813054,0.999999920751,9.96682422748e-05,-0.000381912496363,5.20291514277e-05,1793250842921709824
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.381586517,746.618413483,723,696,668,642,888.381586517,787,820,655,632,655,0.421313661172,0.00449772785883,0.0798178123504,0.999999955825,0.000112233394508,-0.000269997546748,5.34250403156e-05,1793250842938376448
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.195213471,747,723,695.804786529,668,642,888,787,820,655,632,655,0.420485762615,0.00449792730375,0.0798606074787,0.999999972494,0.000113846081295,-0.000197786408302,5.41496669096e-05,1793250842955043072
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.769803382,747,723,695.230196618,668,642,888,787,820,655,632,655,0.41960896027,0.00448242917902,0.0798578574285,0.99999997358,9.41738308487e-05,-0.000202735353415,5.35697685676e-05,1793250842971709952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.647230887,746.647230887,723,694.647230887,668.352769113,642,888.352769113,787,820,655,632,655.352769113,0.418712577967,0.00447234257105,0.0798300894407,0.999999963827,8.05117263651e-05,-0.000251168300967,5.27157459017e-05,1793250842988376320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.058666692,746.058666692,723,694.058666692,668.941333308,642,888.941333308,787,820,655,632,655.941333308,0.417803108237,0.00446587308634,0.0797855991652,0.999999942143,7.08668759181e-05,-0.000328666472881,5.16784950558e-05,1793250843005042944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,668.478488634,642,887.956977268,786.478488634,820,655,632,656,0.416968027045,0.00446805604728,0.0797956807311,0.999999943393,7.88528246372e-05,-0.000322696336996,5.35007187184e-05,1793250843021709824
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.100571574,746.100571574,723,694,668.100571574,642,887,786.100571574,820,655,632,656,0.416141703975,0.00447267330182,0.0798053372214,0.999999944524,8.88895115827e-05,-0.000316240097437,5.51698286778e-05,1793250843038376448
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.678732386,746.678732386,723,694,668.678732386,642,887,786.678732386,820,655,632,656,0.415317861315,0.00448430138686,0.0797842840061,0.999999931843,9.93952538632e-05,-0.000351358908786,5.4608472069e-05,1793250843055043072
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.74504877,723,694,668.74504877,642,886.74504877,787,820,655,632,655.74504877,0.414534057092,0.00449024274258,0.0797758230337,0.999999928073,0.000105706305753,-0.000360240551454,5.39249274764e-05,1793250843071709952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.171258572,723,694,668.171258572,642,886.171258572,787,820,655,632,655.171258572,0.413800324522,0.00448907234151,0.0797831097716,0.999999936338,0.000106771527147,-0.000336310301433,5.30885761388e-05,1793250843088376576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,723,693.586961929,668.413038071,642,886.826076142,787,820,655,632,655.413038071,0.413077736331,0.00448150203559,0.0797957393227,0.99999994598,8.60056084695e-05,-0.000312813338815,5.28202226221e-05,1793250843105043200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,723,692.998225417,668.998225417,642,887.998225417,787,820,655,632,656,0.412359851155,0.00447124164752,0.0798105573276,0.999999955079,5.6151447703e-05,-0.000289658240921,5.27979419776e-05,1793250843121709824
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,723,692.419306617,668.419306617,642,887.419306617,787,820,655,632,656,0.411629496671,0.00447164287556,0.0797978391945,0.999999943884,9.13103802936e-05,-0.000317734151547,5.42119185545e-05,1793250843138376448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,722.841049833,692.158950167,668,642,887,787,820,655,632,655.841049833,0.41091989862,0.00447307211622,0.0797881472263,0.999999934506,0.000113922318522,-0.000339050483482,5.52598846445e-05,1793250843155043328
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746,722.264532061,692.735467939,668,642,887,787,820,655,632,655.264532061,0.410264828277,0.00447720198183,0.0797864050951,0.999999934414,0.000103572875093,-0.000342609175099,5.53463290321e-05,1793250843171709952
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746,722.316638943,692.683361057,668.316638943,642,887,787,820,655.316638943,632,655.316638943,0.409648150425,0.00448155724124,0.0798019554787,0.999999943452,0.000103872392509,-0.000314948979814,5.57966755223e-05,1793250843188376576
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,746,722.901755377,692.098244623,668.901755377,642,887,787,820,655.901755377,632,655.901755377,0.409064025524,0.00448610361133,0.0798321681495,0.99999995798,0.000113201141771,-0.000260818355186,5.65555737078e-05,1793250843205043200
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.517967472,746,723,691.517967472,668.517967472,642,887,786.517967472,820,655.517967472,632,655.517967472,0.408478831362,0.0044849576753,0.079837088121,0.999999959679,0.000106855062611,-0.00025696369577,5.65078001782e-05,1793250843221709824
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.061285144,746,723,691,668.061285144,642,887,786.061285144,820,655,632,655.061285144,0.407892882373,0.00448286072049,0.0798324772327,0.999999957011,9.85030515728e-05,-0.00027037520889,5.63322257518e-05,1793250843238376192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.64013219,746,723,691,668.64013219,642,887,786.64013219,820,655,632,655.64013219,0.407302380887,0.00448243267116,0.0797904787556,0.999999934272,9.99225094313e-05,-0.000343925555154,5.6452022777e-05,1793250843255042816
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.782721738,746,723,691,668.782721738,642,887,787,820,655,632,656,0.40675754579,0.00448301969908,0.0797649276947,0.999999918667,0.000106306346148,-0.000385024671798,5.58680946685e-05,1793250843271709440
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.208371083,746,723,691,668.208371083,642,887,787,820,655,632,656,0.406287758329,0.00448527489238,0.0797664061174,0.999999921745,0.000120848581922,-0.000372793836276,5.41276738045e-05,1793250843288376320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.374302432,642,887,786.625697568,820,655,632,656,0.405847842428,0.00448720063718,0.0797806703039,0.999999933257,0.000119291370267,-0.00034118517095,5.3371553562e-05,1793250843305043200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.961714635,642,887,786.038285365,820,655,632,656,0.40542493391,0.0044889388101,0.0798022140884,0.999999948128,0.000108567910092,-0.000298543701286,5.31758464302e-05,1793250843321709824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.541390307,746,723,690.458609693,669,642,886.458609693,786,820,655,632,656,0.405026495432,0.00449067202699,0.0798178564364,0.999999953105,0.000108836837905,-0.000281255411476,5.32859628534e-05,1793250843338376448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.879720475,746,723,690,669,642,886.120279525,786,820,655,632.120279525,656,0.404634802707,0.00449201146356,0.0798305577146,0.999999955912,0.000112279427577,-0.000269593914185,5.37515756661e-05,1793250843355043072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.301771164,746,723,690,669,642,886.698228836,786,820,655,632.698228836,656,0.404262286154,0.00449185386102,0.0798336336668,0.999999953503,0.000124881795207,-0.000272616706073,5.54887387108e-05,1793250843371709696
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.27497374,746,723,690,669,642,887,786,820,655,633,656,0.403910886304,0.00449104964989,0.0798345284917,0.999999951265,0.000132383301594,-0.000276788464993,5.77355292721e-05,1793250843388376320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.850402591,746,723,690,669,642,887,786,820,655,633,656,0.40358256003,0.00448953891001,0.0798330400677,0.999999949325,0.00013431125744,-0.000282215663707,6.05391736096e-05,1793250843405042944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,746,723,690,669,642,887,786.434878492,820,655,633,656,0.403284730161,0.00448811230209,0.0798317259646,0.99999995066,0.000115882748159,-0.000286716540588,5.51757101776e-05,1793250843421709824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.977782612,746,723,690,669,642,887,786.977782612,820.022217388,655,632.977782612,656,0.402999307634,0.00448661145704,0.0798306324986,0.999999952468,9.14999328624e-05,-0.000290588178777,4.74265197079e-05,1793250843438376192
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.398351061,746,723,690,669,642,887,786.398351061,820.601648939,655,632.398351061,656,0.402756364463,0.00448250746703,0.0798335367218,0.999999952802,9.7139362346e-05,-0.000286840097596,5.18018477396e-05,1793250843455042816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,746,723.179903496,689.820096504,668.820096504,642,886.820096504,786,820.820096504,655.179903496,632,656,0.402526810805,0.00448014535397,0.0798359342454,0.999999953239,0.000102774150545,-0.000282684312353,5.52169239674e-05,1793250843471709696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746,723.755568758,689.244431242,668.244431242,642,886.244431242,786,820.244431242,655.755568758,632,656,0.402326712181,0.00448161511969,0.0798372171025,0.999999953988,0.00010839872785,-0.000277631637446,5.65195840338e-05,1793250843488376320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746,724,689,668.331381913,642,886,786.331381913,820,656,632.331381913,656,0.402148767834,0.00448319177255,0.0798410075085,0.999999955603,0.000113490930213,-0.000269599868372,5.68383095271e-05,1793250843505043200
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,724,689,668.907304263,642,886,786.907304263,820,656,632.907304263,656,0.401987172027,0.00448484730201,0.0798466483389,0.999999957787,0.000118190271637,-0.000259369701786,5.64309490806e-05,1793250843521709824
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.494583595,746,723.505416405,689.494583595,669,642,886,786.505416405,820,656,632.505416405,656,0.401839304703,0.00448418006864,0.0798480190053,0.999999956973,0.000127819330636,-0.000257586783697,5.80117485709e-05,1793250843538376192
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.917529822,746,723,689.917529822,669,642,886.082470178,786,820,656,632,656,0.401697034704,0.00448265004091,0.0798476515546,0.999999955328,0.00013632085716,-0.000259191323846,5.98336401965e-05,1793250843555042816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.33909275,746,723,689.33909275,669,642,886.66090725,786,820,656,632,656,0.401572588842,0.00447861085646,0.0798417574207,0.999999952557,0.000132354481966,-0.00027142272082,6.0811844089e-05,1793250843571709440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746.238080909,723.238080909,688.761919091,669,642,887,786,820,656,632,656,0.401460543533,0.00447611397423,0.0798370217367,0.999999951158,0.000125646794908,-0.000279725645866,6.042667907e-05,1793250843588376320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746.813464586,723.813464586,688.186535414,669,642,887,786,820,656,632,656,0.401366066801,0.00447580215953,0.0798339272946,0.9999999518,0.000115055335649,-0.000282462880555,5.81099517071e-05,1793250843605042944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.399102776,746.600897224,723.600897224,688.399102776,668.600897224,642,886.600897224,786,820,656,632,656,0.401285840896,0.00447588539637,0.0798291794929,0.999999950965,0.000107975207699,-0.000288458787112,5.66010367547e-05,1793250843621709824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.989660167,746.010339833,723.010339833,688.989660167,668.010339833,642,886.010339833,786,820,656,632,656,0.401212451295,0.00447615814441,0.0798236385538,0.999999949386,0.000102579509797,-0.000296017919419,5.54796396297e-05,1793250843638376448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.431122069,746.568877931,723,689,668.568877931,642,886,786,820,655.431122069,632,655.431122069,0.401160192424,0.00447322379571,0.0798237240442,0.999999949581,9.91511789229e-05,-0.000296482022587,5.57347816469e-05,1793250843655043072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,746.858943795,723,689,669,642,886.141056205,786,820,655,632,655.141056205,0.401112966714,0.00447107982471,0.0798242223875,0.999999949946,9.66771068578e-05,-0.000296008270311,5.60415499034e-05,1793250843671709696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746.306697234,723,689,669,642,886.693302766,786,820,655,632,655.693302766,0.401079315377,0.00447140647379,0.0798256319459,0.999999950741,9.68825758854e-05,-0.000293169169218,5.64273036101e-05,1793250843688376320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,887,786,820,655.272400389,632,656,0.401050398974,0.0044715483091,0.0798264399116,0.999999951304,9.61295403169e-05,-0.000291487578034,5.64505639498e-05,1793250843705043200
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,887,786,820,655.885035743,632,656,0.401027396617,0.00447145930738,0.0798264964728,0.999999951582,9.4179308334e-05,-0.000291251745573,5.60210609737e-05,1793250843721709824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.529538104,669,642,886.529538104,786,820,656,632,655.529538104,0.401010957771,0.00447202826788,0.0798266231158,0.999999951514,9.46100655474e-05,-0.000291352916121,5.59917724585e-05,1793250843738376448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746,723.04953095,688.04953095,669,642,886,786.04953095,820,655.95046905,632,655.04953095,0.40099681448,0.00447262382115,0.0798268895102,0.999999951431,9.55593988154e-05,-0.000291318958759,5.60400833129e-05,1793250843755042816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723.627835495,688.627835495,669,642,886,786.627835495,820,655.372164505,632,655.627835495,0.400990991256,0.00447188065797,0.0798284750081,0.999999952048,9.61730578315e-05,-0.000289011338824,5.59298402628e-05,1793250843771709696
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,746.205431789,724,689,669,642,886.205431789,786.794568211,820,655,632,656,0.400985537743,0.00447170322851,0.0798291770349,0.999999952326,9.72026603815e-05,-0.000287707252159,5.5897132987e-05,1793250843788376576
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746.781749375,724,689,669,642,886.781749375,786.218250625,820,655,632,656,0.400980751706,0.00447254717268,0.0798282840461,0.999999951999,9.89832058233e-05,-0.000288214940915,5.600440852e-05,1793250843805042944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746.635718479,723.635718479,688.635718479,669,642,887,786,820,655.364281521,632.364281521,656,0.400978597999,0.00447309000297,0.0798283146628,0.999999952179,9.90953604867e-05,-0.000287603411925,5.57421441834e-05,1793250843821709824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,746.049398425,723.049398425,688.049398425,669,642,887,786,820,655.950601575,632.950601575,656,0.400978048764,0.00447344929693,0.0798289082398,0.999999952666,9.81905899389e-05,-0.000286309692217,5.5254636218e-05,1793250843838376448
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59e45bd026b8b5996f1122c7422dffa00412295f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+265,4.416666667,pose2_to_pose3_retreat,0.619545911718,0.0101500665498,1.07003360549,0.59011659091,0.0188227069672,1.06970500285
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+268,4.466666667,pose2_to_pose3_retreat,0.619545793866,0.0101500603371,1.07003355201,0.590116473344,0.018822701726,1.06970494934
+269,4.483333333,pose2_to_pose3_retreat,0.619545676541,0.0101501126631,1.07003349929,0.590116355014,0.018822750728,1.06970489885
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+276,4.600000000,pose2_to_pose3_retreat,0.619451652385,0.0101501671088,1.07003364176,0.590022328511,0.0188227966787,1.06970502899
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d3d89e277dd7e195fe3361d081852b497e7ec4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b02e0dd06adac0f2204b57cc495a4c726479c85ce24a7cbcf18a825b6c1073
+size 25939740
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95d457e4deb15183792654ce7cc2adf955192344
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+12,0.200000000,BASELINE,768.026445911,746.973554089,724,689,669.026445911,642,887,786,820,655.973554089,632,656,0.400976337812,0.00447635597953,0.0798350065142,0.999999955779,9.80142398038e-05,-0.000275749724771,5.28813026213e-05,1793250844499716864
+13,0.216666667,BASELINE,768,746.449437986,724,689,669,642,887.550562014,786,820,656,632,656,0.400976950582,0.00447605852212,0.0798354919141,0.999999956059,9.72356256209e-05,-0.000275004782044,5.2905351383e-05,1793250844516383488
+14,0.233333333,BASELINE,768.126503842,746,724,689,669,642,887.873496158,786,820,655.873496158,632.126503842,656,0.400977282346,0.00447606466784,0.0798357508511,0.999999956146,9.72949053204e-05,-0.000274665666116,5.29122750035e-05,1793250844533050112
+15,0.250000000,BASELINE,768.699041191,746,724,689,669,642,887.300958809,786,820,655.300958809,632.699041191,656,0.400976436264,0.00447733556855,0.0798351899699,0.999999955512,0.000100730040128,-0.000275749351868,5.28333065913e-05,1793250844549716736
+16,0.266666667,BASELINE,768.719261147,746.280738853,724,689,669,642,887,786,820,655.280738853,632.719261147,656,0.400976178711,0.00447743349445,0.0798349780456,0.999999955413,0.000100877242802,-0.000276060099227,5.27982088161e-05,1793250844566383616
+17,0.283333333,BASELINE,768.127412214,746.872587786,724,689,669,642,887,786,820,655.872587786,632.127412214,656,0.400976573354,0.00447623154932,0.0798351528295,0.99999995591,9.73808141274e-05,-0.00027551428918,5.28117277487e-05,1793250844583050240
+18,0.300000000,BASELINE,768,746.546215341,724,689,669,642.453784659,887,786,820,655.546215341,632,656,0.40097727605,0.00447608728944,0.0798357659102,0.999999956123,9.75062885501e-05,-0.000274684936572,5.28585288335e-05,1793250844599717376
+19,0.316666667,BASELINE,768,746,723.968163728,689,669,642.968163728,887,786,820,655,632,655.968163728,0.400977957874,0.00447626073222,0.0798364285211,0.999999956222,9.86427027991e-05,-0.000273907297759,5.29211093028e-05,1793250844616384768
+20,0.333333333,BASELINE,768,746,723.393911439,689,669,642.393911439,887,786,820,655,632,655.393911439,0.400976844227,0.00447690339888,0.079835886383,0.999999955678,0.000100074167299,-0.000275336038046,5.3096970819e-05,1793250844633051392
+21,0.350000000,BASELINE,768,746,723,689,669,642,887,786,820,655,632.184870324,655.184870324,0.400975970448,0.00447711510483,0.0798352288826,0.999999955292,0.000100663984044,-0.000276503150861,5.31841330831e-05,1793250844649717760
+22,0.366666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632.773545564,655.773545564,0.400975620605,0.00447638548033,0.0798343194008,0.999999955258,9.94154227878e-05,-0.000277098800978,5.30775530657e-05,1793250844666383872
+23,0.383333333,BASELINE,768,746.35614201,723,689,669,642,887,786,820,655.35614201,632.64385799,656,0.400975619837,0.0044766640924,0.0798347040522,0.999999955441,9.89551929878e-05,-0.000276634556981,5.29028891351e-05,1793250844683050240
+24,0.400000000,BASELINE,768,746.934938152,723,689,669,642,887,786,820,655.934938152,632.065061848,656,0.400975837304,0.00447757303731,0.0798358977745,0.999999955761,9.89878149356e-05,-0.000275507684663,5.26856602505e-05,1793250844699716864
+25,0.416666667,BASELINE,768.513470759,747,723.513470759,689.513470759,669,642,887,786,820,656,632,656,0.400974858997,0.00447823656514,0.0798349134699,0.999999955249,0.000100581206385,-0.000276763293368,5.27904696532e-05,1793250844716383488
+26,0.433333333,BASELINE,768.90876399,746.90876399,723.90876399,689.90876399,669,642,886.90876399,786,820,655.90876399,632,656,0.400974127113,0.00447868011691,0.079834087409,0.999999954849,0.000101813868623,-0.000277732364001,5.29120704275e-05,1793250844733050112
+27,0.450000000,BASELINE,768.334881347,746.334881347,723.334881347,689.334881347,669,642,886.334881347,786,820,655.334881347,632,656,0.400975499944,0.00447812439633,0.0798355576682,0.999999955616,0.000100092583968,-0.000275589449065,5.29067453683e-05,1793250844749716736
+28,0.466666667,BASELINE,768,746,723.245346812,688.754653188,669,642,886,786,820,655.245346812,632,656,0.400975947994,0.00447737950769,0.0798358356885,0.999999955801,9.96579421212e-05,-0.000275050213912,5.3043275285e-05,1793250844766383616
+29,0.483333333,BASELINE,768,746,723.83446608,688.16553392,669,642,886,786,820,655.83446608,632,656,0.40097510027,0.00447636956258,0.0798344431799,0.999999955175,0.000101026104971,-0.000276758006002,5.33785680603e-05,1793250844783050240
+30,0.500000000,BASELINE,768,746,723.583625603,688.416374397,669,642,886,786.416374397,820,656,632,656,0.400975397052,0.00447690263549,0.0798344310434,0.999999955141,0.000101494971408,-0.000276752856765,5.31389309165e-05,1793250844799716864
+31,0.516666667,BASELINE,768,746,723.004535285,688.995464715,669,642,886,786.995464715,820,656,632,656,0.400976141098,0.00447803870802,0.0798349583457,0.999999955341,0.000101612399671,-0.000276078303151,5.26746155611e-05,1793250844816383488
+32,0.533333333,BASELINE,768.571544028,746,723,689,669,642,886.571544028,786.428455972,819.428455972,656,632,656,0.400974244524,0.00447683505181,0.0798341288069,0.999999955093,9.94024160192e-05,-0.000277829604217,5.23786640148e-05,1793250844833050112
+33,0.550000000,BASELINE,768.852555199,746,723,689,669,642,886.852555199,786,819.147444801,655.852555199,632,656,0.400973462955,0.00447601292228,0.0798339979864,0.999999955129,9.78382492503e-05,-0.00027828327236,5.22393931693e-05,1793250844849716736
+34,0.566666667,BASELINE,768.277103803,746,723,689,669,642,886.277103803,786,819.722896197,655.277103803,632,656,0.400975978556,0.00447635191021,0.079835926514,0.999999956008,9.82021063434e-05,-0.000274914552519,5.2551081355e-05,1793250844866383360
+35,0.583333333,BASELINE,768.305686152,746,723,689,669.305686152,642,886,786.305686152,819.694313848,655,632,656,0.400976626687,0.00447653921842,0.0798364187982,0.999999956215,9.82541372942e-05,-0.000274102817487,5.27565683368e-05,1793250844883050240
+36,0.600000000,BASELINE,768.895292195,746,723,689,669.895292195,642,886,786.895292195,819.104707805,655,632,656,0.400975540321,0.00447658564723,0.0798355771065,0.999999955803,9.80165456027e-05,-0.000275665997782,5.28634161658e-05,1793250844899716864
+37,0.616666667,BASELINE,768.52389538,746,723.47610462,689,669.52389538,642,886,786.52389538,819.47610462,655,632,656,0.40097520802,0.00447678824834,0.0798347525829,0.999999955507,9.92019134478e-05,-0.000276329434628,5.27959033098e-05,1793250844916383488
+38,0.633333333,BASELINE,768,746.054661268,724,689,669,642,886.054661268,786,820,655,632,656,0.400975021897,0.00447701723921,0.0798340630163,0.999999955283,0.000100355567842,-0.000276746016767,5.26716321586e-05,1793250844933050112
+39,0.650000000,BASELINE,768,746.629819771,724,689,669,642,886.629819771,786,820,655,632,656,0.400974677189,0.00447717639683,0.0798346232385,0.999999955528,9.82813387538e-05,-0.000276662051836,5.23654172729e-05,1793250844949716992
+40,0.666666667,BASELINE,768.209026234,746.790973766,723.790973766,689,669,642,886.790973766,786,820,655,632.209026234,656,0.400974882865,0.00447757533093,0.0798351011405,0.999999955691,9.76286656108e-05,-0.000276323720876,5.22575793462e-05,1793250844966383616
+41,0.683333333,BASELINE,768.795543072,746.204456928,723.204456928,689,669,642,886.204456928,786,820,655,632.795543072,656,0.400976082508,0.00447840728898,0.0798354303766,0.99999995571,9.9543249355e-05,-0.000275526017986,5.25080000006e-05,1793250844983050240
+42,0.700000000,BASELINE,768.622837623,746,723,689,669,642,886,786,820,655,632.622837623,655.622837623,0.400977077119,0.00447836421473,0.079836004693,0.999999955965,9.98320052069e-05,-0.00027450967342,5.24272417811e-05,1793250844999716864
+43,0.716666667,BASELINE,768.043839222,746,723,689,669,642,886,786,820,655,632.043839222,655.043839222,0.40097796201,0.00447785287254,0.0798367101626,0.999999956347,9.92507096373e-05,-0.00027337632419,5.21692553052e-05,1793250845016383488
+44,0.733333333,BASELINE,768,746,723,689,669,642,886.53393072,786,819.46606928,655,632,655,0.400976367991,0.00447701576392,0.079836283191,0.999999956294,9.79251878914e-05,-0.000273962526373,5.25949408322e-05,1793250845033050368
+45,0.750000000,BASELINE,768.111182194,746,723,689,669,642,886.888817806,786,819.111182194,655,632,655,0.400974898001,0.00447650288377,0.0798358365363,0.999999956163,9.73881701581e-05,-0.000274567587333,5.29435536918e-05,1793250845049716736
+46,0.766666667,BASELINE,768.686688532,746,723,689,669,642,886.313311468,786,819.686688532,655,632,655,0.400974794048,0.00447745550957,0.0798356951003,0.99999995585,0.000100398746476,-0.000274663131088,5.27364009425e-05,1793250845066383616
+47,0.783333333,BASELINE,768.73213419,746,723,689,669,642,886,786,820,655,632,655.26786581,0.400975957497,0.00447809412421,0.0798364737309,0.999999956051,0.000102200985957,-0.000273275963742,5.26655009787e-05,1793250845083050240
+48,0.800000000,BASELINE,768.144180306,746,723,689,669,642,886,786,820,655,632,655.855819694,0.400978635439,0.00447835750918,0.0798383518014,0.999999956868,0.000102559315506,-0.000270117020689,5.27574171812e-05,1793250845099716864
+49,0.816666667,BASELINE,768,746,723,689,669,642,886.439370218,786.439370218,820,655,632,656,0.400977795734,0.00447720411975,0.0798372138588,0.999999956635,0.000100193900585,-0.000271865044799,5.27273416525e-05,1793250845116383488
+50,0.833333333,BASELINE,768,746,723,689,669,642,886.97881831,787,820,655.02118169,632,655.97881831,0.400975870119,0.00447570568746,0.0798351596792,0.999999956046,9.717945418e-05,-0.000275118371231,5.26637289977e-05,1793250845133050112
+51,0.850000000,BASELINE,768,746,723,689,669,642,886.405051855,787,820,655.594948145,632,655.405051855,0.400975430452,0.0044772141807,0.0798347660912,0.999999955474,0.000100319191272,-0.000276051131783,5.27591872299e-05,1793250845149716736
+52,0.866666667,BASELINE,768,746,723,689,669,642,886.17309519,786.82690481,819.82690481,655.82690481,632,655.17309519,0.400975259042,0.00447796517936,0.0798347026793,0.999999955223,0.000101733636143,-0.000276444030382,5.27498973387e-05,1793250845166383616
+53,0.883333333,BASELINE,768,746,723,689,669,642,886.761759167,786.238240833,819.238240833,655.238240833,632,655.761759167,0.400975731669,0.00447689757685,0.0798354319582,0.99999995576,9.90059807617e-05,-0.000275540822566,5.24891270241e-05,1793250845183050240
+54,0.900000000,BASELINE,768.344632314,746,723,689,669,642,887,786,819.344632314,655.344632314,632,656,0.400976678167,0.00447717990313,0.0798365683695,0.999999956153,9.89402249975e-05,-0.000274111790922,5.26065524713e-05,1793250845199716864
+55,0.916666667,BASELINE,768.923568448,746,723,689,669,642,887,786,819.923568448,655.923568448,632,656,0.400977946835,0.00447838000026,0.0798379815764,0.999999956447,0.000100684204602,-0.000272325269533,5.29811003991e-05,1793250845216383488
+56,0.933333333,BASELINE,768.501678225,746,723,689,669,642,887,786,820,655.501678225,632,656,0.400977312997,0.00447751904632,0.0798369493178,0.999999956162,0.000100138579432,-0.00027357042201,5.298624133e-05,1793250845233050368
+57,0.950000000,BASELINE,768,746.072755066,723,689,669,642,886.927244934,786,820,655.072755066,632,656,0.400976445577,0.00447661700779,0.0798358228856,0.999999955853,9.95703887455e-05,-0.000274919693975,5.29124236706e-05,1793250845249716736
+58,0.966666667,BASELINE,768,746.649377754,723,689,669,642,886.350622246,786,820,655.649377754,632,656,0.400975964539,0.00447760151106,0.0798366202606,0.999999956004,0.000101257748558,-0.000273796537639,5.26809023596e-05,1793250845266383360
+59,0.983333333,BASELINE,767.768703668,746.768703668,723,689,669,642,886,786,819.768703668,655.768703668,632,656,0.40097592515,0.00447819547883,0.0798370067782,0.999999956164,0.000101491405897,-0.000273162924907,5.24704091421e-05,1793250845283050240
+60,1.000000000,BASELINE,767.178568836,746.178568836,723,689,669,642,886,786,819.178568836,655.178568836,632,656,0.400976570945,0.00447818356093,0.0798367558823,0.999999956342,9.94697557236e-05,-0.000273288801319,5.22925393618e-05,1793250845299716864
+61,1.016666667,BASELINE,767.403923199,746,723.403923199,689,669,642,886,786,819.403923199,655,632,655.596076801,0.400977811676,0.00447743031243,0.0798373155934,0.999999956666,9.8278544911e-05,-0.000272488570581,5.25319118638e-05,1793250845316383488
+62,1.033333333,BASELINE,767.98309917,746,723.98309917,689,669,642,886,786,819.98309917,655,632,655.01690083,0.400979310536,0.00447635541804,0.0798382270078,0.999999957052,9.74476423171e-05,-0.000271286523736,5.29523159845e-05,1793250845333050368
+63,1.050000000,BASELINE,768,746,723.442196151,689,669,642,886,786,819.442196151,655.557803849,632,655,0.400978337468,0.00447663418016,0.0798377226178,0.999999956981,9.79325595747e-05,-0.000271423794081,5.26816564218e-05,1793250845349718016
+64,1.066666667,BASELINE,768,746,723,689,669,642,886.131784526,786,819,655.868215474,632,655,0.400977612826,0.00447667792286,0.0798372876561,0.999999956877,9.81502176393e-05,-0.000271777220952,5.24419718874e-05,1793250845366385664
+65,1.083333333,BASELINE,768,746,723,689,669,642,886.703795598,786,819,655.296204402,632,655,0.400977966255,0.00447580066382,0.0798372267783,0.999999956703,9.73429760151e-05,-0.000272718240254,5.23751482751e-05,1793250845383051776
+66,1.100000000,BASELINE,768.286796597,746,723.286796597,689,669,642,886.713203403,786,819,655,632,655.286796597,0.400977608969,0.00447587340023,0.079836927224,0.999999956428,9.77797066936e-05,-0.000273566506513,5.23912177417e-05,1793250845399717888
+67,1.116666667,BASELINE,768.881600264,746,723.881600264,689,669,642,886.118399736,786,819,655,632,655.881600264,0.400976488409,0.00447696639049,0.0798363713413,0.999999956042,9.95524095629e-05,-0.000274315159979,5.24963107733e-05,1793250845416384000
+68,1.133333333,BASELINE,768.536264438,746,723.536264438,689,669,642,886,786,819.463735562,655,632,656,0.40097564753,0.00447563991322,0.0798358056429,0.999999955907,9.83310363178e-05,-0.000275237012814,5.2553905604e-05,1793250845433050624
+69,1.150000000,BASELINE,768,746,723,689,669,642,886,786,820,655.042348791,632,656,0.40097504144,0.00447394215348,0.0798353471973,0.999999955859,9.6617934207e-05,-0.000276011046088,5.25817996882e-05,1793250845449716992
+70,1.166666667,BASELINE,768,746,723,689,669,642,886,786,820,655.616271649,632,656,0.400976509987,0.0044751317102,0.079836265641,0.999999956174,9.80728172131e-05,-0.000274389293471,5.23850566509e-05,1793250845466383616
+71,1.183333333,BASELINE,768,745.805182927,723.194817073,689,669,642,886.194817073,786.194817073,820,655.805182927,632,656,0.400976888904,0.0044758159928,0.0798365451513,0.999999956177,9.91373785011e-05,-0.000273996156371,5.23780951458e-05,1793250845483050496
+72,1.200000000,BASELINE,768,745.217311106,723.782688894,689,669,642,886.782688894,786.782688894,820,655.217311106,632,656,0.400975069426,0.00447548085573,0.0798355355765,0.999999955556,9.94144433394e-05,-0.000276081822073,5.27540288585e-05,1793250845499717376
+73,1.216666667,BASELINE,768,745.365050638,723.634949362,689,669.365050638,642,887,786.634949362,820,655.365050638,632,656,0.400975896262,0.00447586000759,0.0798363417812,0.999999955972,9.87311643751e-05,-0.000274799441443,5.28540862581e-05,1793250845516383744
+74,1.233333333,BASELINE,768,745.944181025,723.055818975,689,669.944181025,642,887,786.055818975,820,655.944181025,632,656,0.400978274998,0.00447665804602,0.0798382128289,0.999999956987,9.74847028127e-05,-0.000271541908641,5.27923591432e-05,1793250845533050112
+75,1.250000000,BASELINE,768.522423888,746,723.522423888,689,669.477576112,642,886.477576112,786,820,656,632,655.477576112,0.400978257326,0.00447737492722,0.0798377204739,0.999999957013,9.75588021074e-05,-0.000271510545421,5.23363151479e-05,1793250845549717248
+76,1.266666667,BASELINE,769,746.096095793,724,689,669,642,886,786,820,656,632,655.096095793,0.400978231051,0.00447805426319,0.0798372560638,0.999999956943,9.80702524958e-05,-0.000271651182076,5.19817201856e-05,1793250845566383872
+77,1.283333333,BASELINE,769,746.648511598,724,689,669,642,886,786,820,656,632,655.648511598,0.400979377732,0.00447859641883,0.0798381214364,0.999999956919,9.99896307494e-05,-0.000270974493973,5.23085904913e-05,1793250845583050496
+78,1.300000000,BASELINE,768.776675073,746.776675073,723.776675073,689,669,642,886.223324927,786,820,655.776675073,632,656,0.400978989745,0.00447794963174,0.0798379537399,0.999999956733,0.000100017677504,-0.00027160231524,5.25679271615e-05,1793250845599717120
+79,1.316666667,BASELINE,768.16268114,746.16268114,723.16268114,689,669,642,886.83731886,786,820,655.16268114,632,656,0.40097591712,0.00447522299135,0.0798359788645,0.999999956253,9.67371610205e-05,-0.000274512154027,5.27091251788e-05,1793250845616383744
+80,1.333333333,BASELINE,768.425813717,746,723,688.574186283,669,642,886.574186283,786,820,655,632,656,0.400974636825,0.00447467465962,0.0798357322312,0.999999956164,9.62082932406e-05,-0.000275004462493,5.27983967836e-05,1793250845633050624
+81,1.350000000,BASELINE,768.994926475,746,723,688.01014705,669,642.005073525,886.005073525,786,819.994926475,655.005073525,632,656,0.400974023278,0.0044749225844,0.0798361131552,0.999999956219,9.66928831208e-05,-0.000274620433847,5.28700774692e-05,1793250845649717248
+82,1.366666667,BASELINE,768.4205643,746,723,689.1588714,669,642.5794357,886.5794357,786,819.4205643,655.5794357,632,656,0.400975730326,0.00447641139758,0.079837009274,0.99999995618,9.96003357157e-05,-0.000273685564245,5.30681687273e-05,1793250845666383872
+83,1.383333333,BASELINE,768.153524,746.153524,723.153524,689.846476,669,642.846476,887,786,819,655.846476,632,656,0.400976919972,0.00447744987194,0.0798374762624,0.999999956101,0.000101761465703,-0.000273163077419,5.31485768279e-05,1793250845683050496
+84,1.400000000,BASELINE,768.726863507,746.726863507,723.726863507,689.273136493,669,642.273136493,887,786,819,655.273136493,632,656,0.40097669477,0.004477256883,0.0798367697827,0.999999955936,0.000101881757097,-0.000273768262183,5.29071772136e-05,1793250845699717120
+85,1.416666667,BASELINE,768.689001509,746.689001509,723.689001509,689,669,642,886.689001509,786,819,655,632,655.689001509,0.400976677649,0.00447690806443,0.0798364628986,0.999999956024,0.000101141498732,-0.000273738912224,5.28161681212e-05,1793250845716384000
+86,1.433333333,BASELINE,768.095044413,746.095044413,723.095044413,689,669,642,886.095044413,786,819,655,632,655.095044413,0.400976849848,0.00447641746597,0.0798365195823,0.99999995634,9.96182784881e-05,-0.000273132237686,5.286199023e-05,1793250845733050624
+87,1.450000000,BASELINE,768,746.486258477,723,689.486258477,669.486258477,642,886.486258477,786,819.486258477,655,632,655,0.400977302644,0.00447581906154,0.0798372320637,0.999999956703,9.8576467487e-05,-0.000272228912214,5.2613795735e-05,1793250845749717504
+88,1.466666667,BASELINE,768,746.935234847,723,689.935234847,669.935234847,642,886.935234847,786,820,655,632,655,0.40097768672,0.00447540903785,0.0798378777176,0.999999956982,9.79262319479e-05,-0.000271485555571,5.23634239389e-05,1793250845766384384
+89,1.483333333,BASELINE,768,746.359768366,723,689.359768366,669.359768366,642,886.359768366,786,820,655,632,655,0.400977107402,0.00447664642407,0.0798370112688,0.999999956541,9.96405660238e-05,-0.000272449251427,5.25375547909e-05,1793250845783050752
+90,1.500000000,BASELINE,768,746,723.219901873,689,669,642,886.219901873,786,820,655,632.219901873,655.219901873,0.400977165629,0.00447711014548,0.0798367752342,0.999999956482,0.000100028955654,-0.00027251717115,5.25855741748e-05,1793250845799716864
+91,1.516666667,BASELINE,768,746,723.806583604,689,669,642,886.806583604,786,820,655,632.806583604,655.806583604,0.400978287237,0.00447628345182,0.0798375906835,0.999999957059,9.82057690549e-05,-0.000271091003256,5.24232490548e-05,1793250845816383488
+92,1.533333333,BASELINE,768,746,723.609877653,689.390122347,669,642,886.609877653,786,820,655,633,656,0.400978240994,0.00447548369046,0.0798379002989,0.999999957096,9.67841827482e-05,-0.000271459960802,5.24510153607e-05,1793250845833050624
+93,1.550000000,BASELINE,768,746,723.027884646,689.972115354,669,642,886.027884646,786,820,655,633,656,0.400977620376,0.00447469717493,0.0798379611342,0.999999956866,9.55601120404e-05,-0.00027271179997,5.25722727511e-05,1793250845849717760
+94,1.566666667,BASELINE,768,746,723,689.453211618,669,642,886,786,819.453211618,655.546788382,632.453211618,655.453211618,0.400977101526,0.00447723014313,0.079837427706,0.99999995637,9.93743790634e-05,-0.000273205509052,5.23799396699e-05,1793250845866383872
+95,1.583333333,BASELINE,768,746,723,689,669,642,886.12137708,786,819,656,632,655.12137708,0.400976616499,0.00447913855386,0.0798369323279,0.999999955996,0.000102388659373,-0.000273477194004,5.22949844164e-05,1793250845883050240
+96,1.600000000,BASELINE,768,746,723,689,669,642,886.697029001,786,819,656,632,655.697029001,0.400976238895,0.0044780842446,0.0798366912851,0.999999956185,0.000101459909288,-0.000273060704636,5.26709722805e-05,1793250845899716864
+97,1.616666667,BASELINE,768.280284306,746.280284306,723,689,669.280284306,642,887,786.280284306,819.280284306,655.719715694,632,656,0.400976642338,0.00447784233929,0.0798370425417,0.999999956342,0.000101227066676,-0.000272533685302,5.2863951922e-05,1793250845916383744
+98,1.633333333,BASELINE,768.871987563,746.871987563,723,689,669.871987563,642,887,786.871987563,819.871987563,655.128012437,632,656,0.400977913589,0.00447850308176,0.0798380518919,0.999999956465,0.000101767434645,-0.000271883858096,5.28535943308e-05,1793250845933050624
+99,1.650000000,BASELINE,769,746.546207279,723,689,669.546207279,642,886.546207279,786.546207279,820,655.453792721,632.453792721,656,0.400977080683,0.00447782634509,0.0798374535355,0.999999956265,0.000101259918533,-0.000272834088781,5.26973019206e-05,1793250845949716992
+100,1.666666667,BASELINE,769,746,723,689.032425121,669,642,886,786,819.967574879,655.967574879,633,656,0.400975807236,0.00447684116054,0.0798365381833,0.999999956018,0.000100448856917,-0.000274074411005,5.25031700154e-05,1793250845966383360
+101,1.683333333,BASELINE,769,746,723,689.603742324,669,642,886,786,819.396257676,655.396257676,633,656,0.400976866488,0.00447686634319,0.0798377309958,0.999999956481,9.94009131473e-05,-0.000272794523407,5.23497418222e-05,1793250845983049984
+102,1.700000000,BASELINE,768.818987986,746,723,689.818987986,669,642.181012014,886,786,819.181012014,655.181012014,632.818987986,656,0.400977440202,0.00447695589779,0.0798383720286,0.999999956748,9.85884140185e-05,-0.000272131894325,5.2239774118e-05,1793250845999716864
+103,1.716666667,BASELINE,768.228244572,746,723,689.228244572,669,642.771755428,886,786,819.771755428,655.771755428,632.228244572,656,0.40097691487,0.00447719116206,0.0798377640752,0.999999956576,9.83088579052e-05,-0.000272866466587,5.22281818235e-05,1793250846016383488
+104,1.733333333,BASELINE,768,746,723.355486696,689,669,642.644513304,886.355486696,786,819.644513304,655.644513304,632,655.644513304,0.400977543393,0.00447705843859,0.0798380965677,0.999999956784,9.85564886932e-05,-0.000272009601251,5.22445485722e-05,1793250846033050112
+105,1.750000000,BASELINE,768,746,723.934802878,689,669,642.065197122,886.934802878,786,819.065197122,655.065197122,632,655.065197122,0.400978898432,0.00447669401446,0.0798390212047,0.999999957229,9.91360586617e-05,-0.000270150699452,5.22785195179e-05,1793250846049716736
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,724,689,670,642,887,787,820,656,632,656,0.400977850711,0.00447993896147,0.0798374385827,0.999999956307,0.000103336208705,-0.000271968957374,5.23471080672e-05,1793250846080908288
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,723.416177458,689.583822542,669.416177458,642,887,786.416177458,820,655.416177458,632.583822542,656,0.400977338692,0.00447959303014,0.0798378728373,0.999999956491,0.000103372839637,-0.000271288546815,5.22843208643e-05,1793250846097575424
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723.168998201,689.831001799,669,642,887,786,820,655,632.831001799,656,0.400977361688,0.00447885847329,0.0798382731138,0.999999956794,0.000102357826199,-0.000270569345793,5.22196286976e-05,1793250846114242304
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723.757533085,689.242466915,669,642,887,786,820,655,632.242466915,656,0.400978712857,0.0044771591566,0.0798385890396,0.999999957383,9.87321140159e-05,-0.000269753847612,5.21502074597e-05,1793250846130908160
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723.659421568,689,669,642,886.659421568,786,820,655.340578432,632,655.659421568,0.400978593307,0.00447677890007,0.0798384708184,0.999999957307,9.77945976468e-05,-0.000270379242521,5.21340219223e-05,1793250846147574528
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723.080222411,689,669,642,886.080222411,786,820,655.919777589,632,655.080222411,0.400977443322,0.00447732282164,0.079838048419,0.999999956769,9.87405220669e-05,-0.000272014175733,5.21551351152e-05,1793250846164240896
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.494972261,746,723,689,669,642,886,786,820,655.505027739,632,655,0.400977755394,0.00447731073229,0.0798381984594,0.999999956884,9.91383880378e-05,-0.000271444719729,5.21576335772e-05,1793250846180907520
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.071002769,723.071002769,689,669,642,886,786.071002769,820,655,632,655,0.400977984734,0.00447741557978,0.0798382923278,0.999999956985,9.96144813313e-05,-0.000270899072723,5.21568479423e-05,1793250846197574400
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746.65778173,723.65778173,689,669,642,886,786.65778173,820,655,632,655,0.400975905566,0.00447901923526,0.0798373096073,0.999999956217,0.000101298902417,-0.000273100859299,5.21539460001e-05,1793250846214241280
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.758538988,746.758538988,723.758538988,689,669,642,886.241461012,786.758538988,820,655.241461012,632,655.241461012,0.400976483071,0.00447946094795,0.0798376170324,0.999999956181,0.000102016393898,-0.000272957561543,5.21989190465e-05,1793250846230907904
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.179197192,746.179197192,723.179197192,689,669,642,886.820802808,786.179197192,820,655.820802808,632,655.820802808,0.400980778109,0.00447827673284,0.0798397297817,0.999999957169,0.000101380843064,-0.000269532744461,5.23108844355e-05,1793250846247574784
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.399802333,746,723,689,669,642,886.600197667,786,820,655.600197667,632,655.600197667,0.400994556341,0.00447748754628,0.0798448961866,0.999999959495,0.000100478261662,-0.000261094432887,5.2390809008e-05,1793250846264241408
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.97864863,746,723,689,669,642,886.02135137,786,820,655.02135137,632,655.02135137,0.401012581444,0.00447687526573,0.079851430114,0.999999962326,9.94560955739e-05,-0.000250410921682,5.24563847075e-05,1793250846280907520
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.446395431,746,723.553604569,689,669.553604569,642,886,786.553604569,820,655.553604569,632.553604569,655,0.401062162283,0.00447733317972,0.0798674059627,0.999999969747,9.84865906306e-05,-0.000219447518737,5.14709738193e-05,1793250846297574144
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723.871659347,689,669.871659347,642,886,786.871659347,820,656,632.871659347,655.128340653,0.401117566819,0.0044780636006,0.0798836665382,0.999999976104,9.81368908864e-05,-0.000188752682138,5.03297665612e-05,1793250846314240768
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723.297169435,689,669.297169435,642,886,786.297169435,820,656,632.297169435,655.702830565,0.401189014972,0.00447959885128,0.079899659836,0.999999980744,9.99348022364e-05,-0.000161691468332,4.87868917289e-05,1793250846330907648
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.285789197,786,820,656,632,656,0.40126696748,0.00448024194677,0.0799113542956,0.999999983764,9.93807416012e-05,-0.000142746876662,4.71030810506e-05,1793250846347574272
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.877822654,786,820,656,632,656,0.401351889883,0.00447992903189,0.0799184422313,0.99999998556,9.6306368975e-05,-0.000132499847624,4.52682473069e-05,1793250846364240640
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.541134625,786,820,655.541134625,632.458865375,656,0.401450562464,0.00448251081947,0.0799221501571,0.999999986591,9.62487115861e-05,-0.000125674953813,4.19430612683e-05,1793250846380907264
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.036853881,786.036853881,820,655,632.963146119,656,0.401554553461,0.00448567444927,0.0799250851348,0.999999987432,9.66364760405e-05,-0.000119739248461,3.82207619103e-05,1793250846397573888
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.61197577,786.61197577,820,655,632.38802423,656,0.401684000888,0.00448634242462,0.0799295677174,0.999999988697,9.20727130936e-05,-0.000113793695494,3.43586158589e-05,1793250846414240512
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723,689.191147249,669,642,886.808852751,787,820,655.191147249,632,656,0.401823713422,0.00448728509579,0.0799355441785,0.999999990299,8.77015667786e-05,-0.00010393912636,3.01207282594e-05,1793250846430907392
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723,689.778717149,669,642,886.221282851,787,820,655.778717149,632,656,0.401984714873,0.00448879746193,0.0799446188117,0.999999992483,8.37298910444e-05,-8.59776008294e-05,2.51035860787e-05,1793250846447573760
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723,689.636985228,669,642,886.363014772,786.636985228,820,655.636985228,632,655.636985228,0.402167814056,0.00449132012947,0.0799533710443,0.999999994105,8.03122429909e-05,-7.04460022699e-05,1.9447732969e-05,1793250846464240640
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723,689.054664411,669,642,886.945335589,786.054664411,820,655.054664411,632,655.054664411,0.40236426303,0.00449445314477,0.0799619285075,0.999999995338,7.72292961365e-05,-5.63823799095e-05,1.34060185835e-05,1793250846480907520
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.519971625,746,723.519971625,689,669,642,886.480028375,786,820,655,632,655.519971625,0.402569213244,0.00449719225207,0.0799592098212,0.999999995498,6.99590526288e-05,-6.38015460096e-05,6.19735549334e-06,1793250846497575168
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,724,689.096118855,669,642,886.096118855,786,820,655,632,656,0.40277977223,0.00449999428306,0.0799548672139,0.99999999534,6.22807590537e-05,-7.3751786933e-05,-1.26355883895e-06,1793250846514242560
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,724,689.684072759,669,642,886.684072759,786,820,655,632,656,0.403014524497,0.0045033271059,0.0799481926644,0.999999994823,5.4734211652e-05,-8.52652086279e-05,-9.39662317544e-06,1793250846530908416
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.732240056,746,723.732240056,690,669,642,887,786,819.732240056,655,632,656,0.403276873915,0.00450708334631,0.0799447228762,0.999999994593,4.7931516123e-05,-9.06005074193e-05,-1.75545601154e-05,1793250846547574784
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.153508202,746,723.153508202,690,669,642,887,786,819.153508202,655,632,656,0.403571274187,0.00451133133657,0.0799449750446,0.999999994848,4.19927181458e-05,-8.87606371998e-05,-2.57413831932e-05,1793250846564240896
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,746,723.423701421,690.423701421,669,642,887,786,819,655.423701421,632,655.576298579,0.403906443824,0.00451869704181,0.0799482525548,0.999999992538,8.57313875439e-05,-8.46055809612e-05,-2.03889479351e-05,1793250846580907264
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.000358899,746,723.999641101,690.999641101,669.000358899,642,887,786.000358899,819.000358899,655.999641101,632.000358899,655.000358899,0.404256351897,0.00452718847235,0.0799526210106,0.999999985927,0.000147327514669,-7.96127929756e-05,-1.01602826621e-05,1793250846597574144
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.57287515,746,723.42712485,690.42712485,669.57287515,642,887,786.57287515,819.57287515,655.42712485,632.57287515,655.57287515,0.404638888883,0.00453601837217,0.0799550440979,0.999999993478,8.71358674877e-05,-7.15336286188e-05,-1.8297682172e-05,1793250846614240768
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,723,690.150305117,669.849694883,642,887.150305117,787,820,655,632.849694883,656,0.405030143696,0.00454339418728,0.0799564009617,0.999999996737,4.0670868089e-05,-6.49670066717e-05,-2.55076486003e-05,1793250846630907648
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,723,690.74217029,669.25782971,642,887.74217029,787,820,655,632.25782971,656,0.405447009307,0.0045464982518,0.0799546255184,0.999999996979,3.4531449294e-05,-6.28438703794e-05,-2.99930398266e-05,1793250846647574528
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.672881641,746,723,691,669,642.327118359,888,786.672881641,820,655,632,656,0.405887818957,0.00455517615112,0.079948898411,0.999999995094,6.05003566162e-05,-7.23033586247e-05,-3.0395756256e-05,1793250846664241408
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.093272568,746,723,691,669,642.906727432,888,786.093272568,820,655,632,656,0.406347110179,0.00456815629027,0.0799401211582,0.999999989316,0.000111252507334,-9.07030513107e-05,-2.76472055374e-05,1793250846680908032
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.483459506,746.483459506,723,691,669.483459506,642.516540494,887.516540494,786.483459506,819.516540494,655,632,656,0.406845380589,0.00457827266506,0.079933280017,0.999999986359,0.000125668024775,-0.000102760409281,-3.04933021993e-05,1793250846697574400
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.940423593,723,691,669.940423593,642,887,786.940423593,819.059576407,655,632,656,0.407353722402,0.00458757971413,0.0799270116768,0.999999984299,0.000131704805292,-0.000113565483425,-3.40337321356e-05,1793250846714240768
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.364855505,723,691,669.364855505,642,887,786.364855505,819.635144495,655,632,656,0.407884546215,0.0045946340788,0.0799224883682,0.999999983838,0.000125530637459,-0.000124059526487,-3.4294741781e-05,1793250846730907648
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.784303161,746.215696839,723.215696839,691.431393678,669.215696839,642.215696839,887.215696839,786.215696839,820,655,632,656,0.408430062574,0.00460323601731,0.0799180549943,0.999999981729,0.00013212105023,-0.00013365746966,-3.49606115979e-05,1793250846747574784
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.195120457,746.804879543,723.804879543,692.609759086,669.804879543,642.804879543,887.804879543,786.804879543,820,655,632,656,0.409001019508,0.00461451762819,0.0799137773451,0.99999997637,0.000160813736382,-0.000141703786985,-3.63275095142e-05,1793250846764241664
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,746.612585582,724,693,670,642.612585582,888,787,820,655,632,656,0.409649561551,0.004623334757,0.0799363977521,0.99999997998,0.0001659979287,-0.00010517125379,-3.77308835449e-05,1793250846780908288
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,746.033342407,724,693,670,642.033342407,888,787,820,655,632,656,0.410336519946,0.00463093159394,0.0799723367671,0.999999985423,0.000159541858119,-4.65654436672e-05,-3.91523186323e-05,1793250846797574912
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.541294893,746,724,693,669.458705107,642,888,787.541294893,820,655,632,656,0.411037856772,0.00463389103679,0.0799888569534,0.999999985278,0.000165650475273,-1.96381238544e-05,-4.02201574793e-05,1793250846814241792
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,723.881666596,693.118333404,669,642.118333404,888,787.881666596,820,655,632.118333404,656,0.411730947291,0.00463262972966,0.0799948072742,0.999999984881,0.000168649281333,-9.8857136861e-06,-4.12015989735e-05,1793250846830908416
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,723.293988547,693.706011453,669,642.706011453,888,787.293988547,820,655,632.706011453,656,0.412387847175,0.00461575112061,0.0799635386895,0.999999985076,0.000156269848408,-6.05798050468e-05,-4.19260226916e-05,1793250846847574528
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.289408264,723,694.289408264,669.289408264,643,888.289408264,787,820,655,632.710591736,656,0.413082267871,0.00459812452589,0.0799363073794,0.99999998547,0.000133769009473,-9.67798618207e-05,-4.24215505938e-05,1793250846864240896
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.868519549,723,694.868519549,669.868519549,643,888.868519549,787,820,655,632.131480451,656,0.413814247671,0.00457974918166,0.0799131174519,0.999999986957,0.000101136454764,-0.000118471128273,-4.2687949679e-05,1793250846880907520
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,723.444005185,695,669.555994815,642.555994815,888.555994815,787,820,655,632,656,0.414601325763,0.00457383194864,0.0799253871767,0.999999989804,9.90999519513e-05,-9.32815461198e-05,-4.32447784335e-05,1793250846897574144
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.981474113,723.981474113,695,669,642,888.018525887,787,820.018525887,655,632.018525887,656,0.415404737433,0.00457209566194,0.0799474828349,0.999999991894,0.000105645846052,-5.59399453951e-05,-4.38441262813e-05,1793250846914240768
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.403934521,723.403934521,695,669,642,888.596065479,787,820.596065479,655,632.596065479,656,0.416212671424,0.00458610108488,0.079951791751,0.999999991797,9.99880637925e-05,-6.74230283072e-05,-4.31523779005e-05,1793250846930907904
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,723,695,669.177147919,642.177147919,889,787,821.177147919,655,632.822852081,656,0.417026251952,0.00459751015448,0.0799533707364,0.999999990959,0.000104618289926,-7.26597159388e-05,-4.30907967729e-05,1793250846947574528
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,723,695,669.766473622,642.766473622,889,787,821.766473622,655,632.233526378,656,0.417852970477,0.00460287817477,0.079948597873,0.999999988133,0.000133186073924,-6.33626427019e-05,-4.4495453291e-05,1793250846964241152
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.650308106,746,723,695.349691894,669.650308106,642.650308106,889.349691894,787,822,655,632,656,0.418726363469,0.00460334470877,0.0799634153193,0.999999989435,0.000134760258884,-2.77790659684e-05,-4.68810700094e-05,1793250846980908032
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.071098427,746,723,695.928901573,669.071098427,642.071098427,889.928901573,787,822,655,632,656,0.419630390884,0.00460059418692,0.0799910907259,0.999999991405,0.000118617385896,2.50574698802e-05,-4.99105328203e-05,1793250846997574400
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.506361862,746.506361862,723,695.493638138,669,642.506361862,890,787,822.506361862,655,632,656,0.420496657073,0.00459678968959,0.0799766049631,0.999999991743,0.00011842630248,8.32283780745e-07,-4.98904718999e-05,1793250847014241024
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.916756878,723.083243122,695.083243122,669,643,890.083243122,787,823,655,632,656,0.421368526118,0.00459343463814,0.079960965938,0.999999991266,0.000119648212709,-2.64431809329e-05,-4.95234052781e-05,1793250847030907648
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746.341850004,723.658149996,695.658149996,669,643,890.658149996,787,823,655,632,656,0.422304695376,0.00459360524387,0.0799733597941,0.999999992004,0.000116032279348,-8.04636234738e-06,-4.96271034403e-05,1793250847047574272
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.238557334,723.761442666,696,669,642.761442666,891,787.238557334,823,655,632,656,0.423227673732,0.00459765192847,0.079988569377,0.999999991672,0.000118318517791,1.25168383599e-05,-4.99957358426e-05,1793250847064240896
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.827032891,723.172967109,696,669,642.172967109,891,787.827032891,823,655,632,656,0.424131303681,0.00460738408335,0.0800079090973,0.9999999897,0.00012926211879,3.62577121855e-05,-5.0752976381e-05,1793250847080908032
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723.40912559,696,669,642,891.40912559,787.59087441,823.40912559,655,632,656,0.424992517741,0.00461207451875,0.0799757011293,0.999999988998,0.000135892799716,-3.31680983528e-05,-4.93716444678e-05,1793250847097574656
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723.98856121,696,669,642,891.98856121,787.01143879,823.98856121,655,632,656,0.425836074941,0.00461466619606,0.0799220349856,0.999999978995,0.000140728104399,-0.000141377162008,-4.71000711088e-05,1793250847114241280
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.434850473,723.434850473,696,669,642.565149527,892,787,824,655.565149527,632,656,0.426791932252,0.00461304651374,0.079910566459,0.999999980865,0.000137891608222,-0.000129174049201,-5.06885294222e-05,1793250847130907648
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.858895251,746.141104749,723.141104749,696.141104749,669,643,892.141104749,787,824.141104749,656,632,656,0.427744229812,0.00461000880153,0.0799042713702,0.999999982593,0.00013323845591,-0.000119344210488,-5.30869756105e-05,1793250847147574272
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.284707181,746.715292819,723.715292819,696.715292819,669,643,892.715292819,787,824.715292819,656,632,656,0.42867866026,0.00460287913288,0.079911246501,0.999999983333,0.000123483762952,-0.000124241269835,-5.14707844309e-05,1793250847164240896
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,723.700425627,696.700425627,669,643,893,787,825,655.700425627,632.299574373,656,0.42962987293,0.00460122193286,0.0799354135753,0.999999986946,0.000121337295115,-9.37858762561e-05,-5.08882949954e-05,1793250847180907520
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723.106217071,696.106217071,669,643,893,787,825,655.106217071,632.893782929,656,0.430597591015,0.00460494695706,0.0799764890857,0.999999990252,0.000126673587654,-2.85610157457e-05,-5.13224607775e-05,1793250847197574144
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.472528357,787,825,655.472528357,633,656,0.431547643922,0.00461080079803,0.0800121324744,0.99999998987,0.00013033245249,2.62643325495e-05,-5.08360582475e-05,1793250847214241536
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.047817592,747,723,696,669,643,894,786.952182408,825,655.952182408,632.952182408,656,0.432483872129,0.00461698779838,0.0800380658837,0.999999987625,0.000133990086429,6.53285252155e-05,-5.0282206e-05,1793250847230909184
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.62211038,747,723,696,669,643,894,786.37788962,825,655.37788962,632.37788962,656,0.433310222725,0.00462174125367,0.0799701096046,0.999999987679,0.00014165407517,-4.42166680798e-05,-5.11918445067e-05,1793250847247575552
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.79769487,723,696,669,643,894,786.20230513,825.20230513,655,632.20230513,656,0.434162969873,0.00462474183318,0.0799177009629,0.999999980853,0.000142476173339,-0.000123342144175,-5.27294365642e-05,1793250847264241920
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.206144341,723,696,669,643,894,786.793855659,825.793855659,655,632.793855659,656,0.435066505478,0.00462436979105,0.0798952067575,0.999999979635,0.000130134128788,-0.000143938551637,-5.5475244436e-05,1793250847280908032
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.623553594,746.376446406,723,696,669,643,894,787,826,655,633,656,0.43596960618,0.00461921862937,0.0799133389733,0.999999983757,0.000123762770905,-0.000118430963382,-5.60618553302e-05,1793250847297574400
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.045755252,746.954244748,723,696,669,643,894,787,826,655,633,656,0.436872474208,0.00461151123404,0.0799532012653,0.99999998886,0.000120584987195,-6.82634786167e-05,-5.54935645182e-05,1793250847314240768
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.530163347,747,723,696,669,643,894,786.469836653,826,655,632.469836653,656.530163347,0.437749940356,0.00460903699313,0.0799775816205,0.999999991088,0.000117812094891,-3.24512724598e-05,-5.37747610358e-05,1793250847330907392
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,696.108025605,669,643,894.108025605,786,826.108025605,655,632.108025605,656.891974395,0.438613342599,0.00460938579383,0.0799927211759,0.999999991662,0.000117495380675,-1.08362135063e-05,-5.24767582365e-05,1793250847347574016
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,723,696.695226511,669,643,894.695226511,786,826.695226511,655,632.695226511,656.304773489,0.439424050831,0.00462026062214,0.079972776705,0.999999989297,0.000127919220884,-4.67201200475e-05,-5.34842126799e-05,1793250847364240896
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+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747,723,696.504234307,653,637,897,783,828,656,631,657,0.454636846245,0.00482389031169,0.0795271936346,0.999999679395,0.000343623362215,-0.000719628011804,-7.25848911154e-05,1793250848364241152
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,696.920121377,653,637,897.079878623,783,828,656,631,657,0.454637759674,0.00482466289768,0.0795276989162,0.999999680635,0.000343368382297,-0.000718009767298,-7.27284109636e-05,1793250848380907776
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,723,696.348561506,653,637,897.651438494,783,828,656,631,657,0.454637840834,0.00482609540588,0.0795263682513,0.999999678921,0.000343551004177,-0.000720277428385,-7.30116758798e-05,1793250848397575168
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.7684546,783,828,655.7684546,631.2315454,656.7684546,0.454637773613,0.00482687701159,0.0795258984283,0.99999967763,0.000344828579755,-0.000721452251175,-7.30800758676e-05,1793250848414242048
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,723,696,653,637,897.174988012,783,828,655.174988012,631.825011988,656.174988012,0.454637474465,0.00482664121271,0.0795267741596,0.999999676999,0.000347817642363,-0.000720918893828,-7.28126274212e-05,1793250848430908672
+248,4.133333333,HOLD_POSE2,769,747,723,696,653,637,897,783,828,655,631,657,0.45463919941,0.00482215389212,0.0795266812394,0.999999679264,0.000343379631955,-0.000719990695997,-7.19397212224e-05,1793250848464610304
+249,4.150000000,HOLD_POSE2,769,747,723,696,653,637,897,783,828,655.574958142,631.574958142,657,0.454640114961,0.00482449112454,0.0795275557807,0.999999679461,0.000345505182293,-0.000718684581109,-7.20881173587e-05,1793250848481276416
+250,4.166666667,HOLD_POSE2,768.850994296,747,723,696,653,637,897.149005704,783,828,655.850994296,632,657,0.454640520619,0.00482593168574,0.0795278598842,0.999999679314,0.000346871764264,-0.000718222336556,-7.21679510753e-05,1793250848497942528
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+253,4.216666667,HOLD_POSE2,768.898943885,747,722.101056115,696,653,636.101056115,897.101056115,783,828,655.898943885,632,657,0.45463987818,0.00482430407857,0.0795264390652,0.99999967763,0.000344820284065,-0.000721549814472,-7.21466257142e-05,1793250848547942656
+254,4.233333333,HOLD_POSE2,769,747,722.480759324,696,652.519240676,636,897,783,828,655.519240676,632,657,0.454639962726,0.00482476829722,0.0795263953262,0.999999677708,0.000344306046001,-0.000721688431197,-7.21316826626e-05,1793250848564609280
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+256,4.266666667,HOLD_POSE2,768.364521776,747,723,696,652.635478224,636.635478224,897,783,828,655,631.364521776,656.364521776,0.454639875013,0.00482267290524,0.0795262257409,0.999999677609,0.000343982192559,-0.000722028744084,-7.16426552644e-05,1793250848597942528
+257,4.283333333,HOLD_POSE2,768.215013011,747,723,696,652.784986989,637,897,783.215013011,828,655.215013011,631,656.215013011,0.454639933801,0.00482165645634,0.0795262287309,0.999999677782,0.000343500713368,-0.000722040932147,-7.14130789347e-05,1793250848614608896
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+259,4.316666667,HOLD_POSE2,768.615372929,747,723,696,652.384627071,637,897,784,828,656,631.384627071,657,0.454641046289,0.00482355204404,0.0795268182809,0.999999679117,0.000341898639077,-0.000720932897986,-7.16021250552e-05,1793250848647941888
+260,4.333333333,HOLD_POSE2,768.03248609,747,723,696,652.96751391,637,897,784,828,656,631.96751391,657,0.454642187999,0.00482381214633,0.0795275129359,0.99999967959,0.000342529606583,-0.000719965746547,-7.17155217679e-05,1793250848664608512
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+262,4.366666667,HOLD_POSE2,768.113751199,747,722.113751199,696,652,637,897,783.886248801,827.113751199,655,631.113751199,656,0.45463988493,0.0048243406384,0.0795261213511,0.999999678296,0.00034319857928,-0.000721485736541,-7.12782103301e-05,1793250848697942528
+263,4.383333333,HOLD_POSE2,768.689084182,747,722.689084182,696,652,637,897,783.310915818,827.689084182,655,631.689084182,656,0.454642239472,0.00482483398717,0.0795272752721,0.999999678656,0.000345889230781,-0.000719718976718,-7.10868967308e-05,1793250848714609152
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.574387374,747,723,696,652.574387374,637,897.574387374,783,828,655,631.425612626,656,0.454643257701,0.00482329200818,0.0795271831092,0.999999679363,0.000343667352385,-0.000719821148941,-7.08868210911e-05,1793250848768342016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,722.850451026,696,653,637,897.850451026,783,828,655,631.149548974,656,0.454645321179,0.00482444228083,0.0795283874174,0.999999681165,0.000343116903926,-0.000717537261844,-7.12753049815e-05,1793250848785009152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,722.273074395,696,653,637,897.273074395,783,828,655,631.726925605,656,0.454644820257,0.00482339510204,0.0795287307465,0.999999680763,0.000342537167261,-0.000718415454679,-7.08609018546e-05,1793250848801675776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,722.310304435,696,653,637,897,783,828,655,631.689695565,656,0.454644126908,0.00482286885055,0.0795286556705,0.999999680374,0.000341809829892,-0.000719306670382,-7.08235400113e-05,1793250848818342144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,722.899069477,696,653,637,897,783,828,655,631.100930523,656,0.45464326088,0.00482281006822,0.0795282051268,0.999999679996,0.000340950038823,-0.000720209572479,-7.11245270285e-05,1793250848835008768
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,722.058728694,696,652.058728694,637,897,783,827.941271306,655.941271306,632,656.058728694,0.454642027246,0.0048220354914,0.079526805259,0.999999679055,0.000341916228258,-0.000721112478482,-7.05755682228e-05,1793250848868342272
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,722.635266633,696,652.635266633,637,897,783,827.364733367,655.364733367,632,656.635266633,0.454641088196,0.00482210070194,0.0795251886373,0.999999677774,0.000342662398561,-0.000722480977948,-7.1106365589e-05,1793250848885008384
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.78164926,747,723,696,652.21835074,637,897,783,827,655,631.21835074,656.21835074,0.454634242839,0.00482283899042,0.0795218536504,0.999999674328,0.000343754787918,-0.000726717267302,-7.11301117786e-05,1793250848918341376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,827,655,631,656.366620392,0.454617069135,0.00482239676261,0.0795144804409,0.999999665346,0.000343534197486,-0.000739101463704,-7.08535840272e-05,1793250848935008000
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,827,655,631,656.959829005,0.454592106845,0.00482136616163,0.0795035953832,0.999999651731,0.000342896880498,-0.000757616194449,-7.05471946515e-05,1793250848951674624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746.4610299,723,696,652,637,897,783.5389701,827.5389701,655.5389701,631,657,0.454545764233,0.00482168571059,0.0794881112484,0.999999629768,0.000343509164135,-0.000785850614082,-7.00287429288e-05,1793250848968341504
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,746.116467376,723,696,652,637,897,783.883532624,828,656,631,657,0.454493770182,0.0048220872587,0.0794726141521,0.9999996077,0.00034419724987,-0.000813208727993,-6.94218701152e-05,1793250848985008384
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.732953416,747,723,696,652,637,897,783,828,655.732953416,631.267046584,657,0.454352452196,0.00482195376033,0.0794485937437,0.99999957748,0.000346017417372,-0.000849012429471,-6.69985281269e-05,1793250849018341888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.15686432,747,723,696,652,637,897,783,828,655.15686432,631.84313568,657,0.454273415211,0.0048205445755,0.0794439503425,0.999999570844,0.000347858619882,-0.000856221515965,-6.47351677159e-05,1793250849035008256
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.429579182,747,723,696,652.859158364,637,897,783,828,655,631.570420818,657,0.454176486135,0.00481918551337,0.0794401418349,0.999999566412,0.000347362874546,-0.000861723812486,-6.28265623244e-05,1793250849051674624
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.980503172,747,722.980503172,696,653.980503172,637,896.980503172,783.019496828,828,655,631,657,0.454072185248,0.00481782751861,0.0794367574704,0.999999562905,0.000346069281147,-0.000866432931753,-6.09948805537e-05,1793250849068340992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.40205947,747,722.40205947,696,653.40205947,637,896.40205947,783.59794053,828,655,631,657,0.453948475631,0.00481596244999,0.0794365766771,0.999999562554,0.00034697125387,-0.000866711736919,-5.75629852104e-05,1793250849085007872
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.899791852,747,722.899791852,696,653,637,896,783.899791852,827,655.100208148,632,656,0.45332141535,0.0048114082674,0.0794414519955,0.999999559793,0.000366676468151,-0.00086273351953,-4.06564868468e-05,1793250849151675392
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,722.020329682,695.979670318,654.979670318,637,896,783.020329682,827,655.020329682,631.979670318,657,0.451465095629,0.00479011883527,0.0794832158709,0.999999594506,0.000398694381095,-0.000807453991189,6.99767511394e-06,1793250849268342016
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,722,696,655.556019817,637.556019817,896.556019817,783,827,655,631.443980183,656.443980183,0.451110444192,0.00478724773911,0.0795003119719,0.999999615211,0.000402641225141,-0.000779278367758,1.35302595585e-05,1793250849285009152
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.299656413,638,896,783.299656413,827,656,631.299656413,656,0.449935346869,0.00477387478735,0.0795477223626,0.999999709365,0.000319535899834,-0.000692216414835,2.01895051545e-06,1793250849335008256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.885853766,638,896,783.885853766,827,656,631.885853766,656,0.449502432058,0.00476479183953,0.0795607181033,0.999999726975,0.000311338703775,-0.000670105362516,8.73353294511e-06,1793250849351674880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746.533461507,722.533461507,696,658.466538493,638,895.533461507,783.533461507,827,656,631.533461507,656,0.448999716297,0.00475865565322,0.0795542152448,0.999999720518,0.000304419494594,-0.000682716446561,1.38153635001e-05,1793250849368341760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746.045672419,722.045672419,696.045672419,659,638,895,783.045672419,827,656,631.045672419,656,0.448474981884,0.00475331498538,0.0795420261698,0.999999707186,0.000296755514903,-0.000705151984685,1.80232303092e-05,1793250849385008128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746.622274939,722.622274939,696.622274939,659,638,895,783.622274939,827,656,631.622274939,656,0.447890494161,0.00474893875856,0.0795185462207,0.99999968463,0.000276841385889,-0.000744191476057,1.66611105839e-05,1793250849401674752
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.801822386,696.801822386,659.198177614,638,895,784,827,656,631.801822386,656,0.44731987539,0.00474262676454,0.0795092423677,0.99999967078,0.000289254116488,-0.000757957648608,1.65048487922e-05,1793250849418341632
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,722.227248951,696.227248951,659.772751049,638,895,784,827,656,631.227248951,656,0.446775597751,0.00473263819668,0.0795268629662,0.999999672031,0.000363064775998,-0.000723722575674,1.86388552644e-05,1793250849435008000
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,722.35666924,696,660.71333848,638.35666924,895,784.35666924,826.64333076,655.64333076,631,656.35666924,0.446214608784,0.00472437698334,0.0795588763103,0.999999701923,0.000372317932144,-0.000676101576027,2.05144974297e-05,1793250849451674624
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,722.946701534,696,661.893403069,638.946701534,895,784.946701534,826.053298466,655.053298466,631,656.946701534,0.44564268588,0.0047172459512,0.0796003065998,0.999999750152,0.000339332129727,-0.000619722376961,2.22210958119e-05,1793250849468341504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746.473277353,723,696,662.526722647,639,894.473277353,785.526722647,826,655,631.526722647,656.473277353,0.445002491987,0.00470574963175,0.0796356139896,0.999999789804,0.000306939769946,-0.000570600773098,2.43787183193e-05,1793250849485008128
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.105087158,746,722.894912842,696,663.105087158,639.105087158,894,785.894912842,826,655,631.894912842,656,0.444342348299,0.00469397940303,0.0796642332453,0.99999981954,0.000278251350542,-0.000531782037485,2.65422084674e-05,1793250849501674752
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.680486622,746,722.319513378,696,663.680486622,639.680486622,894,785.319513378,826,655,631.319513378,656,0.443623261402,0.0046829233264,0.0796656412133,0.999999820681,0.000265876006633,-0.000535847881172,2.85315149849e-05,1793250849518342144
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.739357211,746,722,695.739357211,664.260642789,640,893.739357211,785,826,655,631.260642789,656,0.442913431005,0.004673367992,0.0796694442933,0.999999826047,0.00025983829961,-0.000528672795233,2.99170570628e-05,1793250849535009024
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.153261486,746,722,695.153261486,664.846738514,640,893.153261486,785,826,655,631.846738514,656,0.442215158685,0.00466568656547,0.0796762380421,0.999999836528,0.000261714113224,-0.000507461666133,3.05487058835e-05,1793250849551675392
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746,722,695.427899816,665.427899816,640,892.572100184,785.427899816,825.572100184,655,631.572100184,655.572100184,0.441475636478,0.00465592910997,0.0796865407206,0.99999985343,0.000241844815829,-0.000483453132394,3.03954146522e-05,1793250849568341760
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746,722,695.992693399,666,640.007306601,892,786,825.007306601,655,631,655.007306601,0.440720205023,0.00464542412487,0.0796974758435,0.999999870903,0.000214678989548,-0.000459572659037,3.00112379696e-05,1793250849585008384
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,722,695.413854561,666,640.586145439,892,786,825.586145439,655,631,655.586145439,0.439862835782,0.00463394661841,0.0796606939541,0.99999983859,0.000219048596609,-0.000523189593426,3.33075748761e-05,1793250849601674752
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,722.163672714,695,666.163672714,641,891.836327286,786,825.836327286,655,631,655.836327286,0.439024682621,0.00462260766762,0.0796466849471,0.99999982672,0.000216482568026,-0.000546279812542,3.56885074677e-05,1793250849618341376
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,722.737909965,695,666.737909965,641,891.262090035,786,825.262090035,655,631,655.262090035,0.438234732057,0.00461161627724,0.0796898005395,0.999999870674,0.000196518856896,-0.000467710861019,3.57731956302e-05,1793250849635007744
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746.319603647,723,695.319603647,667,641.319603647,891,786.319603647,825,655,631.319603647,655.319603647,0.437463607983,0.00460134934791,0.079755717457,0.999999916096,0.00018210230205,-0.000365127640781,3.64439106567e-05,1793250849651674368
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.907557987,723,695.907557987,667,641.907557987,891,786.907557987,825,655,631.907557987,655.907557987,0.436708291345,0.00459169070263,0.0798407791832,0.999999955067,0.000172343338324,-0.000242381179929,3.76066745853e-05,1793250849668340992
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.51183912,723,696,667,641.51183912,891,787,825,655,632,655.51183912,0.435860559218,0.00458073784678,0.0798671106993,0.999999964395,0.000165696347485,-0.000205234487138,4.04064735479e-05,1793250849685007616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746,722.932848869,696,667,641,891,786.932848869,824.932848869,655,632,655.067151131,0.434987855229,0.00456962367592,0.0798765240206,0.999999967925,0.000159459091108,-0.000191958793209,4.32909611286e-05,1793250849701674496
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,722.355690575,696,667,641,891,786.355690575,824.355690575,655,632,655.644309425,0.434056435646,0.00455911809853,0.0798406596557,0.999999958982,0.000151924393934,-0.000238695386082,4.44991416683e-05,1793250849718341120
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746,722,695.778841861,667,641.221158139,890.778841861,786.221158139,824,655,632,656,0.433083034798,0.00454924574455,0.0797936364217,0.999999938442,0.000145458673728,-0.000316072994714,4.53452999847e-05,1793250849735007744
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,722,695.202490261,667,641.797509739,890.202490261,786.797509739,824,655,632,656,0.432042209332,0.00454039038434,0.0797286913576,0.999999891085,0.00014070979337,-0.000442661948739,4.56100283436e-05,1793250849751674624
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,722.38085057,695.38085057,667.38085057,642,890,787,824,655,631.61914943,655.61914943,0.431101985149,0.00452791780624,0.079709697867,0.999999875313,0.000127250505729,-0.000480508452245,4.78751533192e-05,1793250849768341248
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,722.967976863,695.967976863,667.967976863,642,890,787,824,655,631.032023137,655.032023137,0.430216248547,0.00451348607647,0.0797155926038,0.999999882153,0.000109073501226,-0.000470290395985,5.12237303886e-05,1793250849785007872
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,723,695.449391815,667.449391815,641.449391815,890,787,823.449391815,655,631.550608185,655.550608185,0.429381313602,0.0045017539871,0.0797917514699,0.999999936817,9.86802018401e-05,-0.000337792588774,5.02464626728e-05,1793250849801674496
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,723,695,667.131354669,641.131354669,889.868645331,787,822.868645331,655,632,655.868645331,0.428526543676,0.00449054761149,0.0798541911897,0.999999968377,8.94157729351e-05,-0.000229692231348,4.9925147095e-05,1793250849818341120
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,695,667.70660783,641.70660783,889.29339217,787,822.29339217,655,632,655.29339217,0.427594839782,0.0044805915266,0.0798565704239,0.99999996925,8.2448791174e-05,-0.000227879084096,5.26638850329e-05,1793250849835007744
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.718886045,695,668,642,889.281113955,787,822,655,632,655,0.426629809774,0.00446989722439,0.0798289795397,0.999999959003,7.19529676942e-05,-0.000272026687278,5.30919197091e-05,1793250849851674368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,722.145157551,695,668,642,889.854842449,787,822,655,632,655,0.425630090314,0.00445843450449,0.0797701924372,0.999999930771,5.77839348889e-05,-0.000364015328135,5.11147180075e-05,1793250849868340992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.439772922,746,722,695,668,641.560227078,889.560227078,787,821.560227078,655,632,655.439772922,0.424669249534,0.00445276018445,0.0797405769067,0.99999991384,5.22571373008e-05,-0.000408514960684,5.20043602118e-05,1793250849885007616
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746,722,695,668,641.028110058,888.971889942,787,820.971889942,655,632,655.971889942,0.423724380728,0.00445034243645,0.0797223038162,0.999999902792,5.1167784399e-05,-0.00043463947124,5.37163572433e-05,1793250849901674240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,722,695,668,641.608829191,888.391170809,787,820.391170809,655,632,655.391170809,0.422834630963,0.00447340311018,0.079732771669,0.999999909022,7.97692288268e-05,-0.000415734905395,5.2506093331e-05,1793250849918341120
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.812637903,746,722.187362097,695,668,642,888.187362097,787,819.812637903,655,632,655.187362097,0.421971643752,0.00449258160336,0.0797616523837,0.999999926624,0.000103271252507,-0.000365222545869,5.19533322606e-05,1793250849935007488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.238616607,746,722.761383393,695,668,642,888.761383393,787,819.238616607,655,632,655.761383393,0.42116388627,0.00450374844397,0.079828531727,0.999999960731,0.000116249605067,-0.000249481169591,5.27574593618e-05,1793250849951674368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,694.665633169,668,642,888.665633169,787,819,655,632,655.665633169,0.420307217837,0.00449985085516,0.0798553153909,0.999999971697,0.000110274159844,-0.000204142997367,5.26449046113e-05,1793250849968340992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.093388128,668,642,888.093388128,787,819,655,632,655.093388128,0.41941575279,0.00448523599599,0.0798535738275,0.999999972713,9.08144360584e-05,-0.000208891703997,5.18801962422e-05,1793250849985007616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,819.499202592,655,632,655.499202592,0.418515192186,0.00447615104277,0.0798159709332,0.999999957491,8.07180519045e-05,-0.000275431070688,5.13928603075e-05,1793250850001674240
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,820,655,632,655.907476118,0.417626343336,0.00446896518904,0.0797809522406,0.999999938421,7.39853100279e-05,-0.000339186862157,5.13481442915e-05,1793250850018340864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694,668,642,888,787,820,655,632,655.331084808,0.416808019418,0.00446607099688,0.0797960230604,0.999999942812,7.52935498701e-05,-0.000325365120188,5.33352837897e-05,1793250850035007488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,722.75140482,694,668,642,887.75140482,787,820,655,632,655,0.415982429638,0.00447114182172,0.079795872166,0.999999939782,8.37750540121e-05,-0.000332386920121,5.41864472689e-05,1793250850051674368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,722.167286224,694,668,642,887.167286224,787,820,655,632,655,0.415147033351,0.00448696285407,0.0797751768596,0.99999992583,0.000101938154131,-0.000367540788328,5.3504408832e-05,1793250850068340992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,722.414282223,693.585717777,668,642,887,786.585717777,820,655.414282223,632,655.414282223,0.414383163068,0.00449359298396,0.079775495927,0.999999928052,0.00011044583498,-0.000359112794662,5.23080269358e-05,1793250850085007616
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,722.994827274,693.005172726,668,642,887,786.005172726,820,655.994827274,632,655.994827274,0.413647998064,0.00449653455374,0.0797842486377,0.999999936574,0.000115078532546,-0.000333194206424,5.09052248239e-05,1793250850101674496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,723,693,668,642,887,786.573477583,820,655.426522417,631.426522417,655.426522417,0.412930463155,0.00448443683926,0.0798009630085,0.999999948374,8.61543880249e-05,-0.000305285961941,5.12858042017e-05,1793250850118341120
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.945762067,746,723,691.945762067,668.054237933,642,887,786,820,655,632,655,0.408944590794,0.00449415042804,0.0798356113519,0.999999958396,0.000123465581597,-0.000254724005543,5.54932584307e-05,1793250850218341120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.368647256,746,723,691.368647256,668.631352744,642,887,786,820,655,632,655,0.408361145206,0.00448758683976,0.0798368697177,0.999999959245,0.000108813392657,-0.00025810844368,5.52237956868e-05,1793250850235007744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.791549552,642,887,786,820,655,632,655,0.407777272203,0.0044834109082,0.0798231795604,0.99999995263,9.89208981162e-05,-0.000286207354834,5.51402463178e-05,1793250850251674368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668.214482164,642,887,786,820,655,632,655,0.407192643436,0.00448345723127,0.0797830549246,0.999999929633,9.7445292419e-05,-0.000358010529003,5.53854599222e-05,1793250850268340992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,723,691.368794954,668,642,887,786,820,655,632.368794954,655.368794954,0.406669498536,0.00448399800807,0.0797663341391,0.999999919903,0.000107131708269,-0.000381788782754,5.43598014205e-05,1793250850285007616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,691.955745404,668,642,887,786,820,655,632.955745404,655.955745404,0.406182723502,0.00448483127206,0.0797634575702,0.999999919877,0.000123420861892,-0.000377158574064,5.25823764253e-05,1793250850301674240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.535430236,746,723,691.464569764,668,642,887,786,819.464569764,655,632.464569764,655.464569764,0.405758044285,0.00448936444207,0.0797827058455,0.999999935094,0.000115330491338,-0.000337365522833,5.19231919532e-05,1793250850318341120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.885860133,746,723,690.885860133,668.114139867,642,886.885860133,786,819.114139867,655,632,655.114139867,0.405342789372,0.00449359660977,0.0798028703173,0.999999947814,0.000108377466368,-0.00029993954145,5.15945986395e-05,1793250850335007744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.308702859,746,723,690.308702859,668.691297141,642,886.308702859,786,819.691297141,655,632,655.691297141,0.404945223642,0.00449538382069,0.0798194325824,0.99999995187,0.000114102849939,-0.000283747525567,5.22371638616e-05,1793250850351674368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,690,668.733105536,642,886,786,819.733105536,655,632,656,0.404564037822,0.00449619982078,0.0798307039837,0.999999953673,0.000122329567651,-0.000273630241263,5.30640569127e-05,1793250850368340992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,746,723,690,668.159302077,642,886,786,819.159302077,655,632,656,0.404201687716,0.00449589899977,0.0798358912797,0.99999995305,0.000133432635241,-0.00027049845228,5.41029133735e-05,1793250850385007616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.428466947,745.571533053,723,690,668,642,886.428466947,786,819.428466947,655,632,655.571533053,0.403850499847,0.0044958941858,0.0798327475992,0.99999994997,0.00013634459777,-0.000279845009343,5.61808576167e-05,1793250850401674496
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745,723,690,668,642,887,786,820,655,632,655,0.403505998837,0.00449589435399,0.0798267705671,0.999999946131,0.000135239553811,-0.000293327512516,5.83631443321e-05,1793250850418340864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745,723,690,668,642,887,786,820,655,632,655,0.403224911419,0.0044930166516,0.079830540617,0.999999950569,0.000111144778623,-0.000289355502034,5.27408882137e-05,1793250850435007744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745.175884592,723,689.824115408,668,642,886.824115408,786,820,655,632,655.175884592,0.402954925972,0.00449026957385,0.0798331119652,0.999999953152,9.43264655581e-05,-0.000286957963131,4.95434910484e-05,1793250850451674624
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745.749121202,723,689.250878798,668,642,886.250878798,786,820,655,632,655.749121202,0.40271002173,0.0044878175989,0.0798329752502,0.999999952738,9.39468721953e-05,-0.000288117413545,5.18242471035e-05,1793250850468341248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.668631179,746,723,689,668.331368821,642,886,786,819.668631179,655,632,656,0.40249088915,0.00448666340761,0.0798335744412,0.999999953172,9.4302513976e-05,-0.000286163899776,5.36007927758e-05,1793250850485007872
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.079370574,746,723,689,668.920629426,642,886,786,819.079370574,655,632,656,0.402291813649,0.00448651923186,0.07983474636,0.999999954252,9.52303613393e-05,-0.000281787684179,5.49849308745e-05,1793250850501674496
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,819.501372053,655,632,656,0.402115882406,0.0044858580206,0.0798375357124,0.999999955664,9.51714994637e-05,-0.000276476303126,5.63472336772e-05,1793250850518340864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,785.919596671,820,655,632,656,0.401947630207,0.0044848931747,0.0798403177201,0.999999956199,0.000102124398534,-0.000271700166206,5.79004780328e-05,1793250850535007744
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,785.342943977,820,655,632,656,0.401804537223,0.0044825510356,0.0798415004535,0.999999949655,0.000153301865054,-0.000271126010653,6.06531923886e-05,1793250850551674368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.767373076,642,886,785.232626924,819.767373076,655,632,655.767373076,0.401671108094,0.00448005689088,0.0798413779912,0.999999945606,0.000175597088634,-0.000272248162043,6.1926509576e-05,1793250850568341248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.193389632,642,886,785.806610368,819.193389632,655,632,655.193389632,0.401551859704,0.00447733969342,0.0798393402862,0.999999947997,0.000155510534587,-0.000275859473365,6.10289608122e-05,1793250850585008128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786,819,655,632,655,0.401447509313,0.00447786910854,0.0798354432419,0.999999949881,0.00013409677202,-0.000281190572024,5.64553973904e-05,1793250850601674496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886,786,819,655,632,655,0.401350728986,0.00448004821203,0.079830601419,0.999999951178,0.000112008620853,-0.000287395539156,5.00139553207e-05,1793250850618341120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745.441806566,723,689,668,642,886.558193434,786,819,655,632,655,0.401273282996,0.00447814631378,0.079826991905,0.999999950024,0.000107886773827,-0.000292722727209,5.124960955e-05,1793250850635008000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745.134716684,723,689,668,642,886.865283316,786,819.134716684,655,632,655,0.401202242411,0.00447685411693,0.0798238902726,0.999999948946,0.000105261310598,-0.000297119793843,5.24234996427e-05,1793250850651674368
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745.711791066,723,689,668,642,886.288208934,786,819.711791066,655,632,655,0.401150169063,0.00447799995495,0.0798223246702,0.999999948471,0.000105629894829,-0.000298556479981,5.25743668276e-05,1793250850668341248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886.289476795,786,820,655,632,655.289476795,0.401106647553,0.00447732768399,0.0798225128094,0.999999948752,0.000103817056038,-0.000298157287209,5.31080827614e-05,1793250850685007872
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886.867772551,786,820,655,632,655.867772551,0.401071658442,0.00447484143581,0.0798244507046,0.999999949772,9.98277515394e-05,-0.000295926387723,5.40237774397e-05,1793250850701674496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668,642,886.546093306,786,820,655,632,656,0.401045907494,0.00447525180166,0.0798260470884,0.99999995025,0.000101114805853,-0.000293812760938,5.43173152355e-05,1793250850718341120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.041543406,668,642,886.041543406,786,819.958456594,655,632,656,0.401023581267,0.00447654692383,0.0798274194425,0.999999950531,0.000103880005499,-0.000291869004755,5.43926684618e-05,1793250850735007744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.618598168,668,642,886.618598168,786,819.381401832,655,632,656,0.401010101229,0.00447817870309,0.0798272089102,0.999999950436,0.000105537678576,-0.000291666838698,5.40328492652e-05,1793250850751674368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.195426508,745.804573492,723,689.804573492,668.195426508,642,886.804573492,786,819,655,632,655.804573492,0.400998741721,0.00447836173561,0.0798274997325,0.999999950597,0.000106025029315,-0.000290966601738,5.38721410506e-05,1793250850768341248
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.771813433,745.228186567,723,689.228186567,668.771813433,642,886.228186567,786,819,655,632,655.228186567,0.400991515933,0.00447572061091,0.0798287678855,0.999999951259,0.000104230977648,-0.00028929543561,5.40995757132e-05,1793250850785007872
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768.645143901,745.354856099,723,689,669,642,886.354856099,786,819,655,632,655.354856099,0.400985382046,0.00447548511192,0.0798288355916,0.99999995139,0.000103294591635,-0.000289187627877,5.40378379151e-05,1793250850801674496
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.057739544,745.942260456,723,689,669,642,886.942260456,786,819,655,632,655.942260456,0.400979963716,0.00447682609452,0.0798281166074,0.999999951177,0.000102920260718,-0.000290104337674,5.37865963848e-05,1793250850818341120
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.475344974,746,723,688.475344974,668.475344974,642,886.475344974,786,819.524655026,655,632,655.475344974,0.400980802887,0.00447811853586,0.0798308975007,0.999999952186,0.000105426729401,-0.000285715105752,5.36734354614e-05,1793250850835007744
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.10489604,746,723,688.10489604,668,642,886.10489604,786,820,655,632,655,0.400981617357,0.0044788176033,0.0798334031061,0.999999953107,0.000107092292212,-0.000281869795239,5.35497833706e-05,1793250850851674624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.677962611,746,723,688.677962611,668,642,886.677962611,786,820,655,632,655,0.400979277065,0.00447689194943,0.0798329772241,0.999999953158,0.000103603115017,-0.000283033653552,5.33121257533e-05,1793250850868341248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,688.747253291,668,642,886.747253291,786,819.747253291,655,632,655,0.400977598059,0.00447626684395,0.0798327545638,0.999999953101,0.000102503312507,-0.000283659486404,5.31733369246e-05,1793250850885007872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,688.170265753,668,642,886.170265753,786,819.170265753,655,632,655,0.400976767394,0.00447731017095,0.0798327926101,0.999999952917,0.0001044687634,-0.000283595103418,5.3161383733e-05,1793250850901674496
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.41698066,668,641.58301934,886,786,819.41698066,655.41698066,632,655.41698066,0.400977347693,0.00447749977555,0.0798332231761,0.999999953418,0.000103817762732,-0.000282082359218,5.30582770264e-05,1793250850918341120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.008327243,641.008327243,886,786,820,655.991672757,632,656,0.400978484152,0.00447734144331,0.0798338148655,0.999999954185,0.000102106553517,-0.000280005123854,5.29213014206e-05,1793250850935007744
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.586369582,641.586369582,886,786,820,655.413630418,632,656,0.400977259466,0.00447783008958,0.0798341878399,0.999999953886,0.000102797783183,-0.00028079009814,5.30778738695e-05,1793250850951674368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.163211339,786,820,655.163211339,632,656,0.400976475644,0.0044780982589,0.0798344443205,0.999999953786,0.000102899083798,-0.000281111693649,5.30630564627e-05,1793250850968341248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.737032617,786,820,655.737032617,632,656,0.400976800955,0.00447781174844,0.0798344077238,0.999999954188,0.000101516230551,-0.000280267512682,5.26170534504e-05,1793250850985007872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669.318986722,642,886.681013278,786,820,656,632,655.681013278,0.40097688254,0.00447815348077,0.0798343152932,0.999999954097,0.000103082941713,-0.00028001632749,5.26387693762e-05,1793250851001674752
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669.907820775,642,886.092179225,786,820,656,632,655.092179225,0.400976757945,0.0044790266761,0.0798341756297,0.999999953578,0.000107144841709,-0.000280266788067,5.30561529135e-05,1793250851018341376
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,688.511470213,669.511470213,642,886,786,820,655.511470213,632,655,0.400978093266,0.00447908700984,0.0798354450804,0.99999995419,0.000106122059004,-0.000278480908622,5.29808024647e-05,1793250851035007744
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,688.067454391,669,642,886.067454391,786,820,655.067454391,632,655,0.400979461116,0.00447897190289,0.0798367045932,0.999999954893,0.00010431794934,-0.000276666395749,5.28045271904e-05,1793250851051674368
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,746,723,688.644291457,669,642,886.644291457,786,820,655.644291457,632,655,0.400979028442,0.00447867122931,0.0798359140981,0.999999954738,0.000103740138882,-0.000277489715312,5.2556714197e-05,1793250851068341248
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.22021991,669,642,886.77978009,786,819.77978009,655.77978009,632,655.22021991,0.400978304503,0.00447843076634,0.0798354332837,0.99999995466,0.000102948298768,-0.000278103357554,5.23514869211e-05,1793250851085007616
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.794686852,669,642,886.205313148,786,819.205313148,655.205313148,632,655.794686852,0.400977112033,0.00447828715845,0.0798354506234,0.999999954706,0.000101812169216,-0.000278379711762,5.221476324e-05,1793250851101674240
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.379169965,746,723,689.620830035,669,642,886.379169965,786,819.379169965,655,632,655.620830035,0.400977264999,0.00447855958516,0.0798359335335,0.999999954814,0.000102261124231,-0.000277800598375,5.23512600697e-05,1793250851118341120
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768.96922376,746,723,689.03077624,669,642,886.96922376,786,819.96922376,655,632,655.03077624,0.400978166259,0.00447906339881,0.079836675381,0.999999954955,0.000103591659438,-0.000276745697591,5.2639714587e-05,1793250851135007744
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.451689945,786,820,655,632,655,0.400977889514,0.00447956585203,0.0798360318982,0.999999954613,0.000104995047617,-0.00027750674713,5.2353465929e-05,1793250851151674368
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8846d888db6d688ce8239a097383e310a2f040d6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/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,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+1,0.016666667,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+2,0.033333333,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+3,0.050000000,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
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+359,5.983333333,pose2_to_pose3_retreat,0.57930286271,0.0101501744001,1.07003376665,0.549873541695,0.0188228095129,1.06970514941
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+361,6.016666667,pose2_to_pose3_retreat,0.578653022356,0.0101501661585,1.07003349481,0.54922370067,0.0188227995339,1.06970489204
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+365,6.083333333,pose2_to_pose3_retreat,0.577541592231,0.0101501177591,1.07003357951,0.54811227151,0.0188227538865,1.0697049629
+366,6.100000000,pose2_to_pose3_retreat,0.577314827386,0.0101501616088,1.07003398534,0.547885506379,0.0188227968935,1.06970537193
+367,6.116666667,pose2_to_pose3_retreat,0.577112578688,0.0101500815429,1.07003358677,0.547683258005,0.0188227181721,1.06970498004
+368,6.133333333,pose2_to_pose3_retreat,0.576927890038,0.0101501238862,1.07003348303,0.547498568678,0.0188227583105,1.06970487901
+369,6.150000000,pose2_to_pose3_retreat,0.576760261337,0.0101501573545,1.07003353938,0.547330939901,0.0188227916046,1.0697049376
+370,6.166666667,pose2_to_pose3_retreat,0.576609733803,0.0101501985898,1.07003363677,0.547180412195,0.0188228322849,1.06970503558
+371,6.183333333,pose2_to_pose3_retreat,0.57647362146,0.0101502487068,1.07003369731,0.54704429928,0.0188228803495,1.06970509322
+372,6.200000000,pose2_to_pose3_retreat,0.576350929158,0.010150117132,1.07003362753,0.546921608749,0.0188227546078,1.06970501878
+373,6.216666667,pose2_to_pose3_retreat,0.576240121685,0.0101502930318,1.0700333986,0.546810797517,0.0188229179951,1.06970479635
+374,6.233333333,pose2_to_pose3_retreat,0.576141502392,0.0101501762735,1.07003347086,0.546712180273,0.0188228079807,1.06970486305
+375,6.250000000,pose2_to_pose3_retreat,0.576053847552,0.0101501724169,1.07003357841,0.546624526064,0.0188228062171,1.06970496969
+376,6.266666667,pose2_to_pose3_retreat,0.575976623819,0.010150176144,1.07003349769,0.546547302422,0.018822810376,1.06970489231
+377,6.283333333,pose2_to_pose3_retreat,0.575910657859,0.0101501338719,1.07003344284,0.546481336409,0.0188227680063,1.06970483955
+378,6.300000000,pose2_to_pose3_retreat,0.575854873628,0.0101501674239,1.07003364418,0.546425550971,0.0188227973257,1.06970503728
+379,6.316666667,pose2_to_pose3_retreat,0.57580938714,0.0101502394509,1.07003374163,0.546380063975,0.0188228672372,1.06970512436
+380,6.333333333,pose2_to_pose3_retreat,0.575772575551,0.0101500340747,1.07003344098,0.546343252831,0.0188226633307,1.06970482265
+381,6.350000000,pose2_to_pose3_retreat,0.575743935656,0.0101501672063,1.0700335909,0.546314612754,0.0188227961467,1.06970498058
+382,6.366666667,pose2_to_pose3_retreat,0.575721609533,0.0101500320399,1.07003356249,0.546292290244,0.0188226731302,1.06970494929
+383,6.383333333,pose2_to_pose3_retreat,0.575704614006,0.0101501287866,1.07003363615,0.546275292674,0.0188227629517,1.06970502316
+384,6.400000000,pose2_to_pose3_retreat,0.575692153492,0.0101503086466,1.07003369137,0.546262828466,0.0188229304952,1.06970508419
+385,6.416666667,pose2_to_pose3_retreat,0.575682839093,0.0101502228435,1.07003347419,0.546253516617,0.0188228537207,1.06970487695
+386,6.433333333,pose2_to_pose3_retreat,0.575676330709,0.0101501847539,1.07003349991,0.546247008512,0.018822816204,1.06970489289
+387,6.450000000,pose2_to_pose3_retreat,0.57567207599,0.0101501794217,1.07003353992,0.546242753703,0.0188228105361,1.0697049321
+388,6.466666667,pose2_to_pose3_retreat,0.575669675467,0.0101501920501,1.07003357003,0.546240353,0.0188228227653,1.06970496794
+389,6.483333333,pose2_to_pose3_retreat,0.575668033429,0.0101501912239,1.07003352452,0.546238710309,0.0188228197967,1.0697049243
+390,6.500000000,pose2_to_pose3_retreat,0.575667050686,0.0101501824556,1.07003343947,0.546237726713,0.0188228081121,1.06970483861
+391,6.516666667,pose2_to_pose3_retreat,0.575666647144,0.0101501788551,1.07003340455,0.546237322821,0.0188228033141,1.06970480343
+392,6.533333333,pose2_to_pose3_retreat,0.57566621092,0.010150174963,1.0700333668,0.546236886217,0.0188227981274,1.06970476539
+393,6.550000000,pose2_to_pose3_retreat,0.575665853619,0.0101501547047,1.070033392,0.546236529266,0.018822778986,1.06970478881
+394,6.566666667,pose2_to_pose3_retreat,0.5756656461,0.0101501317983,1.07003344325,0.546236322379,0.0188227581491,1.06970483804
+395,6.583333333,pose2_to_pose3_retreat,0.575665530655,0.0101501190552,1.07003347177,0.546236207286,0.0188227465573,1.06970486542
+396,6.600000000,pose2_to_pose3_retreat,0.575665527203,0.0101501186742,1.07003347262,0.546236203845,0.0188227462107,1.06970486624
+397,6.616666667,pose2_to_pose3_retreat,0.57566547936,0.0101501133932,1.07003348443,0.546236156147,0.0188227414068,1.06970487759
+398,6.633333333,pose2_to_pose3_retreat,0.575665301811,0.0101500937951,1.07003352829,0.54623597914,0.0188227235793,1.0697049197
+399,6.650000000,pose2_to_pose3_retreat,0.575665216051,0.0101500843287,1.07003354947,0.546235893642,0.0188227149682,1.06970494004
+400,6.666666667,pose2_to_pose3_retreat,0.575664908982,0.0101500504338,1.07003362531,0.546235587508,0.0188226841355,1.06970501288
+401,6.683333333,pose2_to_pose3_retreat,0.575664682606,0.0101500303866,1.07003359229,0.546235361432,0.0188226651692,1.06970498158
+402,6.700000000,pose2_to_pose3_retreat,0.57566453862,0.0101500185999,1.07003355393,0.54623521756,0.0188226538402,1.06970494509
+403,6.716666667,pose2_to_pose3_retreat,0.575664502766,0.0101500156648,1.07003354438,0.546235181734,0.0188226510191,1.069704936
+404,6.733333333,pose2_to_pose3_retreat,0.575664418897,0.0101500087992,1.07003352204,0.546235097932,0.0188226444202,1.06970491474
+405,6.750000000,pose2_to_pose3_retreat,0.575664309951,0.0101500334181,1.07003347593,0.546234988762,0.0188226683496,1.06970487051
+406,6.766666667,pose2_to_pose3_retreat,0.575664278337,0.0101501574678,1.07003340302,0.546234956001,0.0188227885882,1.06970479976
+407,6.783333333,pose2_to_pose3_retreat,0.575664266818,0.0101502026675,1.07003337645,0.546234944064,0.0188228323993,1.06970477397
+408,6.800000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532846,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a69e7adc6405ae5d75e2bd60669320c102d9eae2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c54f2c00c3c1bee6f24725a0278be60ea3e3039944a0efd26033a8eff45a0bf
+size 26005748
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b7df78281f5849210388a907698c62c546a962f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+29,0.483333333,BASELINE,768,746,723,689,669,642,886,786,820,655.163710179,632,655,0.400976084222,0.00448033479898,0.0798376769628,0.999999955025,0.000106499567771,-0.000275515477216,5.1945581415e-05,1793250851791976704
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+36,0.600000000,BASELINE,768,746,723,689,669,642,886,786,820,655,632,655.893850085,0.400975091026,0.00447839268809,0.0798367107956,0.999999955217,0.000103328482881,-0.000276095455913,5.15729813817e-05,1793250851908643328
+37,0.616666667,BASELINE,768,746,723,689,669,642,886,786,820,655,632,656,0.400976005686,0.00447980811885,0.0798373667012,0.999999955169,0.000105312178293,-0.000275480758985,5.17882398437e-05,1793250851925309952
+38,0.633333333,BASELINE,768,746,723,689,669,642,886,786,820,655.047549408,632,655.952450592,0.400976997889,0.0044812071142,0.0798381587331,0.999999955205,0.000107094648885,-0.000274616237428,5.20323587811e-05,1793250851941976576
+39,0.650000000,BASELINE,768,746,723,689,669,642,886,786,820,655.623135227,632,655.376864773,0.400976092982,0.00447934642766,0.0798379416287,0.999999955601,0.000104678396993,-0.000274138455231,5.18511534816e-05,1793250851958643200
+40,0.666666667,BASELINE,768,746,723,689,669,642,886,786.203889918,820,655.796110082,632,655,0.400976504426,0.0044781371903,0.0798384599618,0.999999956068,0.000102851396605,-0.000273139998186,5.17733514034e-05,1793250851975309824
+41,0.683333333,BASELINE,768,746,723,689,669,642,886,786.794447085,820,655.205552915,632,655,0.400979412266,0.00447816339453,0.079840373016,0.999999956675,0.000102141883002,-0.000271154106809,5.18916484848e-05,1793250851991976448
+42,0.700000000,BASELINE,768,746,723,689,669,642,886,786.622825593,820,655.377174407,632,655.377174407,0.400978324859,0.0044777552869,0.0798395041022,0.999999956408,0.000101841988285,-0.000272247049729,5.19018081534e-05,1793250852008643072
+43,0.716666667,BASELINE,768,746,723,689,669,642,886,786.044278628,820,655.955721372,632,655.955721372,0.400975104399,0.00447711530115,0.079837149902,0.99999995567,0.000101760788181,-0.00027498377535,5.18542334989e-05,1793250852025309696
+44,0.733333333,BASELINE,768,746,723,689,669,642,886.530060486,786,820,655.469939514,632,656,0.400975506821,0.00447758560701,0.0798370650833,0.999999955713,0.0001007958778,-0.000275225383624,5.16201290484e-05,1793250852041976320
+45,0.750000000,BASELINE,768,746,723.106670265,689,669,642,887,786,819.893329735,655,632,655.893329735,0.400976088015,0.00447817793324,0.0798372062782,0.999999955736,0.000100552028733,-0.000275252057162,5.1504605754e-05,1793250852058642944
+46,0.766666667,BASELINE,768,746,723.69511023,689,669,642,887,786,819.30488977,655,632,655.30488977,0.400976120543,0.00447890576422,0.0798375187988,0.999999955372,0.000103895590264,-0.00027524193725,5.19944669151e-05,1793250852075309568
+47,0.783333333,BASELINE,768,746.279476861,723.720523139,689,669,642,887,786,819.279476861,655.279476861,632,655,0.400976786224,0.00448028514967,0.0798383257098,0.999999955372,0.000106436891946,-0.000274269294869,5.20021251592e-05,1793250852091976448
+48,0.800000000,BASELINE,768,746.859463676,723.140536324,689,669,642,887,786,819.859463676,655.859463676,632,655,0.400978132708,0.0044823651249,0.0798396642182,0.999999955767,0.00010811555708,-0.000272261691733,5.14912905334e-05,1793250852108643072
+49,0.816666667,BASELINE,768,746.564446383,723,689,669,642,886.564446383,786,820,656,632,655,0.400977944049,0.00448188729256,0.0798393247094,0.99999995568,0.000107665075995,-0.000272769822979,5.14320722288e-05,1793250852125310208
+50,0.833333333,BASELINE,768,746,723,689,669,642,886.010393186,786,820,655.989606814,632,655,0.400977271074,0.00448059945906,0.079838465106,0.999999955442,0.000106552857699,-0.000274058563196,5.15243562182e-05,1793250852141977856
+51,0.850000000,BASELINE,768,746,723,689,669,642,886.585009345,786,820,655.414990655,632,655,0.400976957692,0.00447974516446,0.0798385031766,0.999999955428,0.000106481008071,-0.000274048569777,5.20007447657e-05,1793250852158643968
+52,0.866666667,BASELINE,768,746,723,689,669,642,886.834995772,786,820,655,632,655.165004228,0.400976354283,0.00447909842921,0.0798382540242,0.999999955307,0.000106209335214,-0.00027453051442,5.23288062016e-05,1793250852175310592
+53,0.883333333,BASELINE,768,746,723,689,669,642,886.241017444,786,820,655,632,655.758982556,0.400974996868,0.00447899130193,0.0798372581559,0.999999954909,0.000105418166649,-0.000276291388032,5.22712502834e-05,1793250852191977984
+54,0.900000000,BASELINE,768,746,723,689,669,642,886.342349192,786,820,655,632,656,0.40097451294,0.00447915677709,0.0798367465351,0.999999954709,0.0001058203004,-0.000276873614855,5.22078173142e-05,1793250852208644608
+55,0.916666667,BASELINE,768,746,723,689,669,642,886.918469667,786,820,655,632,656,0.400974625467,0.00447950839735,0.0798365655801,0.999999954644,0.000107037274173,-0.000276651009059,5.21403712352e-05,1793250852225310976
+56,0.933333333,BASELINE,768,746,723,689,669,642,886.505066388,786,820,655,632,656,0.400975379978,0.00447915296923,0.0798368517467,0.999999955058,0.000105442378769,-0.000275831990653,5.17896108232e-05,1793250852241977088
+57,0.950000000,BASELINE,768,746,723,688.927136588,669,642,886.072863412,785.927136588,819.927136588,655,632,656,0.40097614211,0.00447890664501,0.0798373086963,0.999999955526,0.000103772853112,-0.000274828800796,5.14601264628e-05,1793250852258643456
+58,0.966666667,BASELINE,768,746,723,688.339246042,669,642,886.660753958,785.339246042,819.339246042,655,632,656,0.400976210078,0.00448025535125,0.0798384285238,0.999999955847,0.000104852156486,-0.000273218745643,5.16111429861e-05,1793250852275310080
+59,0.983333333,BASELINE,768,746,723.243086498,688.243086498,669,642,886.756913502,785.243086498,819.243086498,655,632,655.756913502,0.400976043519,0.00448072879228,0.0798386406387,0.999999955906,0.000105154297968,-0.000272886698469,5.16154876674e-05,1793250852291976960
+60,1.000000000,BASELINE,768,746,723.817835878,688.817835878,669,642,886.182164122,785.817835878,819.817835878,655,632,655.182164122,0.400975556977,0.00448000803726,0.0798376142868,0.999999955609,0.000104396093779,-0.000274298342355,5.14197159255e-05,1793250852308643584
+61,1.016666667,BASELINE,768.395897135,746,723.604102865,689,669,642,886,786,819.604102865,655,632,655,0.400975961744,0.00447989315087,0.0798378413449,0.999999955577,0.00010444159109,-0.000274400551958,5.14107528583e-05,1793250852325310208
+62,1.033333333,BASELINE,768.975495107,746,723.024504893,689,669,642,886,786,819.024504893,655,632,655,0.400976780088,0.00448005939455,0.0798386499997,0.999999955667,0.000104860015215,-0.000273895168866,5.14884711826e-05,1793250852341976832
+63,1.050000000,BASELINE,768.449910698,746,723,689,668.449910698,642,886.550089302,786,819.550089302,655,632,655.550089302,0.400977300436,0.00447970032866,0.0798394369895,0.999999956125,0.000103306092354,-0.000272820261701,5.14390694926e-05,1793250852358643456
+64,1.066666667,BASELINE,768.128239655,746,723,689,668.128239655,642.128239655,886.871760345,786.128239655,820,655,632,656,0.400977553672,0.00447941646814,0.0798399577492,0.999999956394,0.000102563097685,-0.000272120165759,5.14146523691e-05,1793250852375310080
+65,1.083333333,BASELINE,768.720043363,746,723,689,668.720043363,642.720043363,886.279956637,786.720043363,820,655,632,656,0.400976888898,0.00447948829012,0.07983951959,0.999999955926,0.000105066211697,-0.000272865831074,5.15008357351e-05,1793250852391976704
+66,1.100000000,BASELINE,768.696015025,746,723,689,669,642.696015025,886.303984975,786.696015025,820,655.303984975,632,656,0.400976950251,0.00447913519072,0.0798392087729,0.999999955871,0.000106012270742,-0.000272700721424,5.15068634923e-05,1793250852408643328
+67,1.116666667,BASELINE,768.119131537,746,723,689,669,642.119131537,886.880868463,786.119131537,820,655.880868463,632,656,0.400977663474,0.00447840062374,0.0798390122754,0.99999995619,0.000105560504037,-0.000271717975487,5.14409326015e-05,1793250852425309952
+68,1.133333333,BASELINE,768,746,723,689,669,642,887,786,820,655.544600297,632,655.544600297,0.400977485476,0.00447828361744,0.0798390320877,0.999999956327,0.000104544068231,-0.000271582779896,5.15626859757e-05,1793250852441976576
+69,1.150000000,BASELINE,768,746,723,689,669,642,887,786,820,655.030121728,632,655.030121728,0.400977119601,0.00447835272664,0.0798391201263,0.999999956409,0.000103480059431,-0.000271661140457,5.17141643699e-05,1793250852458643200
+70,1.166666667,BASELINE,768,746,723,689,669,642,887,786,820,655.619758121,632,655.619758121,0.400977572264,0.00447889351697,0.0798394297803,0.999999956352,0.000104262123742,-0.000271609070616,5.15104776613e-05,1793250852475309824
+71,1.183333333,BASELINE,768,746,723,689,669,642,887,786,819.793787594,655.793787594,632,655.793787594,0.400977876319,0.00447899253526,0.079839564729,0.999999956362,0.000104430642145,-0.000271525123598,5.14278934458e-05,1793250852491976704
+72,1.200000000,BASELINE,768,746,723,689,669,642,887,786,819.213111637,655.213111637,632,655.213111637,0.400977910516,0.00447828933457,0.0798393824283,0.999999956491,0.000103485015397,-0.000271383290426,5.15652206481e-05,1793250852508643328
+73,1.216666667,BASELINE,768.361105798,746,723,689,669,642,886.638894202,786,819.361105798,655,632,655.361105798,0.400978311464,0.00447876157219,0.0798396113745,0.999999956445,0.0001049244509,-0.000270962332162,5.1773097568e-05,1793250852525310208
+74,1.233333333,BASELINE,768.931578586,746,723,689,669,642,886.068421414,786,819.931578586,655,632,655.931578586,0.40097892505,0.00447991532199,0.0798400787593,0.99999995629,0.000107746731342,-0.00027037953884,5.20218787852e-05,1793250852541976832
+75,1.250000000,BASELINE,769,746,723.509280781,689,669,642,886,786,819.490719219,655,632,655.490719219,0.400979336674,0.00448034088898,0.0798400699018,0.999999956672,0.000105455258168,-0.00027000917155,5.12838306996e-05,1793250852558643200
+76,1.266666667,BASELINE,768.909692296,746,723.909692296,689,669,642,886.090307704,786,819.090307704,655,632,655.090307704,0.400979247009,0.00448048431037,0.0798397136937,0.999999956894,0.000103323423271,-0.000270131469867,5.06417409861e-05,1793250852575310080
+77,1.283333333,BASELINE,768.315614903,746,723.315614903,689,669,642,886.684385097,786,819.684385097,655,632,655.684385097,0.400976514509,0.00447960741378,0.0798377818947,0.999999955849,0.000105969793229,-0.000272840543777,5.12851702808e-05,1793250852591976448
+78,1.300000000,BASELINE,768,746,723,689,669,642,886.730293617,786,820,655.269706383,632,656,0.400975900864,0.00447925159964,0.079837763279,0.999999955702,0.00010624592542,-0.000273208461007,5.1620898029e-05,1793250852608643328
+79,1.316666667,BASELINE,768,746,723,689,669,642,886.154896716,786,820,655.845103284,632,656,0.400977688769,0.00447948639068,0.0798399131032,0.999999956578,0.000103835583327,-0.000270922865027,5.16078707488e-05,1793250852625310208
+80,1.333333333,BASELINE,768.421081863,746,723.421081863,688.578918137,669,642,886,786,820,655.578918137,632,656,0.400977626074,0.00448067198486,0.0798400249855,0.999999956388,0.000106083353271,-0.000270777101096,5.14875702029e-05,1793250852641977088
+81,1.350000000,BASELINE,768.997274757,746,723.997274757,688.002725243,669,642,886,786,820,655.002725243,632,656,0.400976881687,0.00448220781988,0.0798393861654,0.999999955793,0.000110046999733,-0.000271419572201,5.13277541396e-05,1793250852658643456
+82,1.366666667,BASELINE,768.429540496,746.570459504,723.429540496,688.570459504,669,642,886,786,820,655,632,656,0.40097651244,0.00448079365599,0.0798392014264,0.999999956003,0.000106972356413,-0.000271842072529,5.15147966517e-05,1793250852675310080
+83,1.383333333,BASELINE,768,746.850874919,723,689.149125081,669,642,886,786,820,655.149125081,632,656,0.400976379383,0.004479785666,0.0798389540002,0.999999956115,0.000105004253763,-0.000272172264693,5.16272739069e-05,1793250852691976448
+84,1.400000000,BASELINE,768,746.255775449,723,689.744224551,669,642,886,786,820,655.744224551,632,656,0.40097694734,0.00448003430725,0.0798385126478,0.999999955953,0.000106445405993,-0.000272229525826,5.15118263327e-05,1793250852708643328
+85,1.416666667,BASELINE,768.327935506,746,723.327935506,689.672064494,669,642,886.327935506,786,819.672064494,655.672064494,632,655.672064494,0.400977417077,0.00447936727537,0.079838796898,0.999999956137,0.000105786391008,-0.000271809343691,5.15203876157e-05,1793250852725309952
+86,1.433333333,BASELINE,768.903062,746,723.903062,689.096938,669,642,886.903062,786,819.096938,655.096938,632,655.096938,0.400977812777,0.00447801002804,0.0798396280925,0.999999956578,0.000103544313425,-0.000271029274715,5.16224242116e-05,1793250852741976576
+87,1.450000000,BASELINE,768.522635354,746,723.522635354,689,669,642,886.522635354,786,819.477364646,655,632,655,0.400975767199,0.00447982885803,0.0798381482071,0.999999955946,0.000103920610039,-0.00027330598416,5.11022969761e-05,1793250852758643200
+88,1.466666667,BASELINE,768.052762218,746,723,689,669,642,886,786,819.947237782,655,632,655.052762218,0.400973601734,0.00448195238104,0.0798364852648,0.999999955216,0.000104679858759,-0.000275779319647,5.05533544746e-05,1793250852775309824
+89,1.483333333,BASELINE,768.64096621,746,723,689,669,642,886,786,819.35903379,655,632,655.64096621,0.400975241929,0.0044806340503,0.0798377190599,0.999999955771,0.000103938769834,-0.000273959541612,5.09919266349e-05,1793250852791976704
+90,1.500000000,BASELINE,768.772385359,746,723,689,669,642,886,786,819.227614641,655,632,655.772385359,0.400976249291,0.00447985158601,0.0798386994101,0.999999956104,0.00010426456282,-0.00027256387815,5.12722666708e-05,1793250852808643328
+91,1.516666667,BASELINE,768.188174032,746,723,689,669,642,886,786,819.811825968,655,632,655.188174032,0.400976265216,0.00447990864693,0.0798392826958,0.999999956092,0.000106261806154,-0.000271832661801,5.13047093818e-05,1793250852825309952
+92,1.533333333,BASELINE,768,746,723,689,669,642,886,786.390325226,820,655,632,655.390325226,0.400976276909,0.00447993237809,0.0798391146766,0.999999956137,0.000105362784995,-0.000272050181837,5.1119173071e-05,1793250852841976576
+93,1.550000000,BASELINE,768,746,723,689,669,642,886,786.966110489,820,655,632,655.966110489,0.400976286592,0.00447994027287,0.0798385896806,0.999999956207,0.000103087626144,-0.000272718486626,5.08300657022e-05,1793250852858642944
+94,1.566666667,BASELINE,768,746,723,689,669,642,886.538505229,786.461494771,819.461494771,655,632,655.461494771,0.400977261829,0.00447817154457,0.0798394148584,0.999999956384,0.000104074428809,-0.000271498142595,5.18635092666e-05,1793250852875310336
+95,1.583333333,BASELINE,768,746,723,689,669,642,886.885929851,786,819,655,632,655,0.400977818447,0.00447677881244,0.0798398531798,0.999999956472,0.000104609104725,-0.000270827832971,5.25897845917e-05,1793250852891977728
+96,1.600000000,BASELINE,768,746,723,689,669,642,886.296263147,786,819,655,632,655,0.400976377936,0.00447741697921,0.0798383265167,0.999999956171,0.000102408172914,-0.000272943256134,5.1690524521e-05,1793250852908644352
+97,1.616666667,BASELINE,768,746,723,689.289278564,669,642,886,786,819.289278564,655,632,655.289278564,0.400976660496,0.00447856585976,0.0798383666497,0.999999956304,0.000103105422845,-0.000272275087512,5.12661217826e-05,1793250852925310976
+98,1.633333333,BASELINE,768,746,723,689.870655042,669,642,886,786,819.870655042,655,632,655.870655042,0.400978682921,0.00448023043152,0.079839988849,0.999999956862,0.000106729100742,-0.00026879619769,5.13212044574e-05,1793250852941977344
+99,1.650000000,BASELINE,768,746,723.447239961,689.552760039,669.447239961,642,886,786,820,655.447239961,632,656,0.400978082297,0.00448021986975,0.0798399032431,0.999999956703,0.00010602925101,-0.000269671730406,5.12674145641e-05,1793250852958643968
+100,1.666666667,BASELINE,768.022945437,746,724,689.022945437,669.977054563,642,886.022945437,786,820,655.977054563,632,656,0.400976837172,0.00447976447776,0.0798393532247,0.999999956359,0.000104157881154,-0.000271685758114,5.11788483665e-05,1793250852975310848
+101,1.683333333,BASELINE,768.610753696,746,724,689.610753696,669.389246304,642,886.610753696,786,820,655.389246304,632,656,0.400978203064,0.00448015826991,0.0798394004588,0.999999956567,0.000103901930168,-0.000271053738011,5.1001083786e-05,1793250852991977472
+102,1.700000000,BASELINE,768.804534751,746,723.804534751,689.804534751,669,642,886.804534751,786,820,655,632,655.804534751,0.400978769259,0.00448051449985,0.0798397844639,0.999999956714,0.000104215462205,-0.000270392225447,5.09792473387e-05,1793250853008643840
+103,1.716666667,BASELINE,768.225893822,746,723.225893822,689.225893822,669,642,886.225893822,786,820,655,632,655.225893822,0.40097776779,0.00448079709556,0.0798408286497,0.999999956744,0.000105645366852,-0.000269672898109,5.12630809417e-05,1793250853025310208
+104,1.733333333,BASELINE,768,746,723,689,669,642,886.351770258,786,820,655,632,655,0.400976501051,0.00448035418306,0.07984008897,0.999999956327,0.000105529817672,-0.000271217641326,5.14898599198e-05,1793250853041976832
+105,1.750000000,BASELINE,768,746,723,689,669,642,886.928808836,786,820,655,632,655,0.400975064437,0.00447944666616,0.0798382069301,0.999999955616,0.000104424583518,-0.000274212260801,5.16801020117e-05,1793250853058643200
+106,1.766666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400976284312,0.00447994385841,0.0798386242693,0.999999955913,0.000104480926785,-0.000273154855036,5.14264114425e-05,1793250853075310336
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,886,786,820,655,632,656,0.400972461111,0.00447828882628,0.0798364620843,0.999999955163,0.000102161817854,-0.000276752426709,5.14240236269e-05,1793250853118031360
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,723.416968694,689,669,642,886,786,820,655.583031306,632,655.416968694,0.400975077242,0.00447691517781,0.0798377132416,0.999999955985,0.00010112570664,-0.000274089298582,5.17573930349e-05,1793250853134697984
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.163317475,786,820,655.836682525,632,655.163317475,0.400977164967,0.00447662317085,0.0798388514959,0.999999956537,0.000101519413802,-0.000271894255696,5.18945277262e-05,1793250853151364864
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.73671097,786,820,655.26328903,632,655.73671097,0.400977925912,0.00447904707162,0.0798397062607,0.99999995642,0.000105503270704,-0.000270874533704,5.15389341303e-05,1793250853168031232
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.317993811,746.317993811,723,689,669,642,887,786,820,655,632,656,0.400977996765,0.00447969509788,0.0798397371537,0.999999956449,0.000105350351697,-0.000270882017586,5.12557248044e-05,1793250853184697344
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.905974935,746.905974935,723,689,669,642,887,786,820,655,632,656,0.400977481706,0.00447883534749,0.0798390685521,0.999999956601,0.000101685172218,-0.000271761633454,5.1033972151e-05,1793250853201363712
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.513601706,723.486398294,689,669,642,886.513601706,786,820,655,632,656,0.400976934697,0.00447865679059,0.0798384833838,0.999999956306,0.000102209698996,-0.000272627632151,5.11314059062e-05,1793250853218030592
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746,723.934656348,689,669,642,886,786,820,655,632,656,0.400976765047,0.00447850362968,0.0798382331331,0.999999956053,0.000103248935367,-0.00027312835245,5.13200994053e-05,1793250853234697472
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746,723.356020255,689,669,642,886,786,820,655,632,656,0.400979607431,0.00447753139971,0.0798404889989,0.999999956791,0.000102066656593,-0.000270780071276,5.17483966583e-05,1793250853251364096
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723.220090914,689,669,642,886.220090914,786,820,655,632,655.779909086,0.400988409614,0.00447704349658,0.0798445589199,0.999999958558,0.000100972981363,-0.000264604374648,5.17099260676e-05,1793250853268030720
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723.792164024,689,669,642,886.792164024,786,820,655,632,655.207835976,0.401006743051,0.00447733015721,0.0798515299836,0.999999961872,0.00010002100618,-0.000252307652737,5.0924973138e-05,1793250853284697344
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.624083808,746,723.624083808,689,669,642,886.624083808,786,819.624083808,655,632,655,0.401042058098,0.00447843655842,0.0798634742802,0.999999967298,0.000101198548732,-0.000229447828107,5.01574534238e-05,1793250853301364224
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.033667442,746,723.033667442,689,669,642,886.033667442,786,819.033667442,655,632,655,0.401087062961,0.00448001070886,0.079878256336,0.999999973302,0.00010359120752,-0.000200560628448,4.93998811079e-05,1793250853318030592
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723.545541167,689,669,642,886.545541167,786,819.545541167,655,632.545541167,655,0.401159983382,0.00448015891002,0.0798956447907,0.999999979359,0.00010246523389,-0.000168610518293,4.85036765136e-05,1793250853334697216
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642.123559724,887,786,820,655,632.876440276,655.123559724,0.401235477257,0.00448079736618,0.0799107984798,0.999999983612,0.000101958644104,-0.000141932703015,4.72747505295e-05,1793250853351363840
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642.699701947,887,786,820,655,632.300298053,655.699701947,0.401314214104,0.0044835474061,0.0799171892158,0.999999984388,0.000104500146417,-0.000135245011173,4.48578180439e-05,1793250853368030720
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,723.724387597,689,669.275612403,642.724387597,886.724387597,786,820,655,632.275612403,655.724387597,0.401402699741,0.00448554413669,0.0799216102332,0.999999985372,0.000104499414373,-0.000128715847089,4.20579723974e-05,1793250853384697344
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,723.148729487,689,669.851270513,642.148729487,886.148729487,786,820,655,632.851270513,655.148729487,0.401501798403,0.00448672077617,0.0799238869141,0.999999986585,0.000101731076318,-0.000122359264803,3.88412681176e-05,1793250853401364224
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669.562875938,642,886.437124062,786,820,655,632.562875938,655,0.401618880423,0.00448878685607,0.0799279264603,0.999999987694,9.99111313945e-05,-0.000115695083035,3.52632064587e-05,1793250853418030592
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,723.026127087,689,669,642,887,786,820,655,632,655,0.401744119444,0.00449102560796,0.0799327523501,0.999999988796,9.82137813958e-05,-0.000108491425298,3.14931781454e-05,1793250853434696960
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,723.606594319,689,669,642,887,786,820,655,632,655,0.401909503794,0.00449035373722,0.0799412320916,0.999999991169,9.2107575346e-05,-9.21152604732e-05,2.63211187759e-05,1793250853451363584
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,723.815452552,689.184547448,669,642,887,786.184547448,820,655,632,655.184547448,0.402080803214,0.00449107760435,0.0799488827399,0.999999992988,8.68328176846e-05,-7.77560681543e-05,2.09196031453e-05,1793250853468030464
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,723.242786861,689.757213139,669,642,887,786.757213139,820,655,632,655.757213139,0.402264542482,0.00449473682144,0.0799547897369,0.999999994129,8.33066641981e-05,-6.76387346251e-05,1.50355230632e-05,1793250853484697856
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,723.329737027,690,669,642,887,787,819.670262973,655,632,656,0.402462138791,0.00449902898126,0.0799573828161,0.999999994656,7.98906816128e-05,-6.50505321691e-05,8.61930835145e-06,1793250853501364992
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,723.902156609,690,669,642,887,787,819.097843391,655,632,656,0.402669933738,0.00450378697982,0.0799575368916,0.999999994756,7.65557831434e-05,-6.80036801362e-05,1.81144822994e-06,1793250853518031872
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,723.507953788,690,669,642,887,786.507953788,819.492046212,655,632,655.507953788,0.402898204701,0.00450589996431,0.0799523062909,0.999999994815,6.52155693152e-05,-7.79649325472e-05,-6.25697252764e-06,1793250853534698496
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.083495724,746,723.083495724,690,669,642,887,786,819.916504276,655.083495724,632,655,0.403139875015,0.00450794947521,0.0799469010599,0.999999994625,5.369990482e-05,-8.74787538759e-05,-1.45998105561e-05,1793250853551365120
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.66282,746,723.66282,690,669,642,887,786,819.33718,655.66282,632,655,0.403436046659,0.00451286038504,0.0799470513408,0.99999999476,5.09433643484e-05,-8.575544747e-05,-2.30289213712e-05,1793250853568031744
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.759344528,746,723.759344528,690.240655472,669.240655472,642,887,786.240655472,819.240655472,655.759344528,632,655.240655472,0.403749718443,0.00451817577137,0.0799492979233,0.999999994393,6.10148416459e-05,-8.21015423579e-05,-2.74041961103e-05,1793250853584698112
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.183582213,746,723.183582213,690.816417787,669.816417787,642,887,786.816417787,819.816417787,655.183582213,632,655.816417787,0.404087758726,0.00452405438099,0.079954463554,0.999999992833,8.89490191932e-05,-7.57593259619e-05,-2.61346030228e-05,1793250853601364480
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,746,723,690.600465815,669.600465815,642,887.399534185,787,820,655,632,656,0.40444086694,0.00453363003922,0.0799543950814,0.99999998885,0.000127200349559,-7.45678706744e-05,-2.36680610476e-05,1793250853618031360
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,746,723,690.013906935,669.013906935,642,887.986093065,787,820,655,632,656,0.404801028547,0.00454493631111,0.079951876489,0.999999982417,0.000170281208998,-7.57875220852e-05,-2.06412190899e-05,1793250853634698240
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,746,723,690.566604873,669,642.566604873,887.433395127,786.433395127,820,655,632,656,0.405232319947,0.00454755423943,0.0799543887507,0.999999995238,6.73530489569e-05,-6.53458544441e-05,-2.67704043012e-05,1793250853651364608
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,746,723.145416403,691,669,642.854583597,887,786,820,655,632,656,0.405672019423,0.00455175972455,0.0799541212811,0.999999997637,-2.64182743914e-07,-6.13172012349e-05,-3.10889861566e-05,1793250853668031232
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,746,723.719646982,691,669,642.280353018,887,786,820,655,632,656,0.406131419281,0.00456126891392,0.0799452964644,0.99999999551,4.6702223798e-05,-7.7034813179e-05,-2.94126348814e-05,1793250853684698624
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.301822292,746,724,691.301822292,669.301822292,642.301822292,887,786,820,655,632.301822292,656,0.406602225309,0.0045726072631,0.0799375336013,0.999999991506,8.78878200091e-05,-9.13815682477e-05,-3.0213270898e-05,1793250853701365504
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.891576777,746,724,691.891576777,669.891576777,642.891576777,887,786,820,655,632.891576777,656,0.40708391264,0.00458569059385,0.0799307838191,0.999999986358,0.000123558648821,-0.000104420556233,-3.33769011356e-05,1793250853718031616
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,724,692,669.528132551,642.528132551,887,786,820,655,632.528132551,656,0.407596139008,0.00459308509243,0.0799250987075,0.999999984096,0.000128509248155,-0.00011873964943,-3.45620947824e-05,1793250853734698240
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.950066103,746,723.950066103,692,669,642,887.099867793,786.049933897,820,655,632.049933897,655.950066103,0.408120775293,0.00459953920938,0.0799197549998,0.999999982343,0.00012848447081,-0.00013252330116,-3.52680065131e-05,1793250853751364864
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.372975077,746,723.372975077,692,669,642,888.254049846,786.627024923,820,655,632.627024923,655.372975077,0.408703800988,0.00460959401393,0.0799154836728,0.999999978799,0.000148988702859,-0.000137610086582,-3.56189332896e-05,1793250853768030976
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.204145058,746.204145058,723.204145058,692.204145058,669,642.204145058,888.591709884,787,820,655.204145058,632.795854942,655.204145058,0.409323090208,0.00461890045344,0.0799232880391,0.99999997834,0.000163226228812,-0.000123849597716,-3.65888530225e-05,1793250853784697344
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.781318347,746.781318347,723.781318347,692.781318347,669,642.781318347,887.437363305,787,820,655.781318347,632.218681653,655.781318347,0.410008642659,0.00462683942706,0.0799531579631,0.99999998261,0.00016601278652,-7.56500410503e-05,-3.86898402395e-05,1793250853801363968
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.635558257,723.635558257,693,669,643,887.364441743,787,820,655.635558257,632,656,0.410690225662,0.00462961611849,0.0799797504762,0.999999984992,0.000165764799475,-3.24229670664e-05,-3.85708986158e-05,1793250853818031104
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.048805289,723.048805289,693,669,643,887.951194711,787,820,655.048805289,632,656,0.411369387257,0.00462924379255,0.0800043437517,0.999999985888,0.000163665725307,7.77086667053e-06,-3.70977895793e-05,1793250853834697984
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.466416931,746,723.533583069,693.533583069,669,643,888,787,820,655.533583069,632.533583069,656,0.412040007302,0.00460393699987,0.0799796679547,0.999999988187,0.000145129336227,-3.56219694764e-05,-3.59772330217e-05,1793250853851365376
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,746,723.885664408,694,669.114335592,643,888,787,820,655.885664408,632.885664408,656,0.412721172998,0.00457774700449,0.079950473414,0.999999988759,0.000119901960778,-8.25836776048e-05,-3.58414247921e-05,1793250853868032256
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,746,723.309915603,694,669.690084397,643,888,787,820,655.309915603,632.309915603,656,0.413448023914,0.00455712201858,0.0799210819094,0.999999990079,7.36906139483e-05,-0.000113344331893,-3.95505917024e-05,1793250853884697856
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.265403803,746,723.265403803,694.265403803,669.734596197,642.734596197,888.265403803,787,820,655.265403803,632,656,0.414215149877,0.00455432672972,0.0799146281809,0.999999990552,6.62829743985e-05,-0.000112883174015,-4.19462734884e-05,1793250853901363712
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.840222681,746,723.840222681,694.840222681,669.159777319,642.159777319,888.840222681,787,820,655.840222681,632,656,0.415029229696,0.00457231779076,0.0799349159408,0.999999990774,0.00010411376113,-7.60227704381e-05,-4.28106585969e-05,1793250853918030336
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.426692173,724,695,669,642,889,787,820.426692173,655.573307827,632,656,0.415819400445,0.00458609856659,0.0799478265581,0.999999991075,0.000108145139642,-6.59807911721e-05,-4.24309190556e-05,1793250853934696960
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642,889.017198814,787,821.017198814,655,632.017198814,656,0.416601598679,0.00459798907798,0.0799573732357,0.999999991917,0.000100151532628,-6.63370270672e-05,-4.16448016828e-05,1793250853951363840
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724,695,669,642,889.593153525,787,821.593153525,655,632.593153525,656,0.41742381364,0.00460112592265,0.0799498967455,0.999999988965,0.000124212968934,-6.90975675936e-05,-4.32163117212e-05,1793250853968031232
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,723.83101159,695,669,642,890,787,822,655,632.83101159,656,0.418273037896,0.00460362132467,0.0799528433724,0.999999988014,0.000137971750313,-5.36994369529e-05,-4.53016986294e-05,1793250853984698368
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,723.255465022,695,669,642,890,787,822,655,632.255465022,656,0.419187242,0.00460457352164,0.0799808662948,0.999999990746,0.000126944046756,5.38545266326e-06,-4.86233881269e-05,1793250854001364480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.672274029,723,695,669,642,890.327725971,787.327725971,822.327725971,655,632,656,0.420072992294,0.00459839744449,0.0799846097483,0.999999991661,0.000118344729277,1.55207551277e-05,-4.93207926005e-05,1793250854018030592
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.082981859,723,695,669,642,890.917018141,787.917018141,822.917018141,655,632,656,0.420936032857,0.0045865321155,0.079968975156,0.999999992525,0.000111683567464,-1.34118208106e-05,-4.7923690231e-05,1793250854034696960
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.49779596,723,695.49779596,669,642.49779596,891,787.50220404,823,655,632,656,0.421838312119,0.00458630020325,0.0799694506633,0.999999992921,0.000107292717491,-1.48918035227e-05,-4.92444192261e-05,1793250854051363328
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746.923127058,723,696,669,643,891.076872942,787,823.076872942,655,632,656,0.422749387668,0.00458920715758,0.0799756921406,0.99999999308,0.00010593840379,-7.67719756055e-06,-5.05715946536e-05,1793250854068029952
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.34603743,723,696,669,643,891.65396257,787,823.65396257,655,632,656,0.423675853623,0.00460013213868,0.0800022720837,0.999999991005,0.000121921776218,2.68360691304e-05,-4.90422147889e-05,1793250854084696832
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.229814095,723,696,669,643,892,787,824,655,632,655.770185905,0.424572892715,0.00460848538467,0.0799985434958,0.999999989713,0.000135121497452,7.97363312235e-06,-4.74661183911e-05,1793250854101363712
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.80381145,723,696,669,643,892,787,824,655,632,655.19618855,0.425425860525,0.0046129870488,0.0799494230525,0.999999984436,0.000144152258751,-9.08274258051e-05,-4.58200560588e-05,1793250854118030592
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.612840256,747,723,696,669,642.612840256,892,786.612840256,824,655,632,655.387159744,0.426344954,0.00461411759847,0.0799202812321,0.999999981111,0.000142374869621,-0.000123047029858,-4.86518554416e-05,1793250854134697728
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.024636244,747,723,696,669,642.024636244,892,786.024636244,824,655,632,655.975363756,0.427298385154,0.00461349759592,0.0799015139117,0.999999982159,0.000134985025277,-0.000120692217827,-5.38089186154e-05,1793250854151364864
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746.444552962,723,696,669,642,892,786,824,655,632,656,0.428227730913,0.00460504632186,0.079906209942,0.999999983071,0.00012465128038,-0.000125000636147,-5.19106291042e-05,1793250854168030976
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746.134403309,723,696,669,642.134403309,892.134403309,786,824.134403309,655,632,656,0.429165153307,0.00459867275786,0.0799195389131,0.99999998515,0.000117809383505,-0.000115331137836,-5.01936240273e-05,1793250854184697344
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746.710820614,723,696,669,642.710820614,892.710820614,786,824.710820614,655,632,656,0.430132600042,0.0046002580537,0.0799578859362,0.999999989472,0.000122874406277,-5.87343319137e-05,-5.00871272405e-05,1793250854201363712
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.286536078,786.286536078,825,655,632,656,0.431102896823,0.00460468066971,0.0799973388929,0.999999990864,0.000125544776468,1.0436439505e-06,-5.00991418391e-05,1793250854218030080
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.861544923,786.861544923,825,655,632,656,0.432076062853,0.00461195978313,0.0800379052558,0.999999988776,0.000125804308328,6.40242876847e-05,-5.02304688174e-05,1793250854234696704
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.447131055,747,723,696,669,643,893.552868945,786.552868945,825,655,632,656,0.432947977895,0.00461850140931,0.0800004241445,0.999999989586,0.000135142542132,1.70682526194e-06,-5.06161755857e-05,1793250854251363584
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.964487842,747,723,696,669,643,893.035512158,786.035512158,825.035512158,655,632,656,0.433791437189,0.00462448530933,0.0799399702684,0.999999983361,0.000146189688417,-9.63569976555e-05,-5.12107940951e-05,1793250854268030464
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.384685381,747,723,696,669,643,893.615314619,786.615314619,825.615314619,655,632,656,0.43469093785,0.00462550592194,0.0799068037899,0.999999979978,0.000139297645345,-0.000133227819083,-5.37708444195e-05,1793250854284697088
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.193958983,747,723,696.193958983,669,643,894,787,826,655,632.193958983,656,0.435590623753,0.00462376164226,0.0798966904319,0.999999979716,0.000131462715647,-0.000142021935255,-5.58234978894e-05,1793250854301363968
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.77032019,747,723,696.77032019,669,643,894,787,826,655,632.77032019,656,0.436490675034,0.00461656620528,0.0799320277318,0.999999986412,0.000121768825084,-9.54610837154e-05,-5.68757873332e-05,1793250854318030336
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,696.646099658,669,643,894.353900342,787,826,655,632.646099658,656,0.437397991962,0.00460940153619,0.079965436367,0.999999990691,0.000114717288448,-4.89590945064e-05,-5.53273908121e-05,1793250854334696960
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,696.05773692,669,643,894.94226308,787,826,655,632.05773692,656,0.438310122398,0.00460225725156,0.0799975672411,0.999999992656,0.000109416337317,-2.49610494358e-06,-5.20560146132e-05,1793250854351363584
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,895,786.478320701,826.521679299,655,632,656,0.439139386089,0.0046132451106,0.0799875041988,0.999999991106,0.000120185047286,-2.28755623675e-05,-5.31132076833e-05,1793250854368030208
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.900300762,747,723,696,669,642.900300762,895,786,827,655,632,656,0.439935810151,0.00462650932199,0.0799578608907,0.999999986917,0.000133882892481,-7.2606924001e-05,-5.44921322812e-05,1793250854384697088
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.324300801,747,723,696,669,642.324300801,895,786,827,655,632,656,0.440618422898,0.00464122303671,0.0798566086219,0.99999996079,0.000153220952493,-0.000227817187399,-5.51580031819e-05,1793250854401363968
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.250516695,747,723,696,668.749483305,642,895,786,826.749483305,655,632.250516695,656,0.441300412261,0.00465291638253,0.079764424309,0.999999917439,0.000166979108812,-0.000366205241272,-5.59879881507e-05,1793250854418030848
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768.590340113,747,723,696,667.590340113,642,895,785.590340113,826.409659887,655,632.590340113,656,0.442759216504,0.00466838855722,0.0796996275836,0.999999877829,0.000183708285761,-0.000455369328543,-5.68452727755e-05,1793250854451364864
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,723,696,666.998942582,641.998942582,895.001057418,785.001057418,827,655,632,656,0.443579461988,0.00467600427281,0.0797579800959,0.999999913116,0.00019546818275,-0.000363884369776,-5.61166752975e-05,1793250854468030976
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,723,696,666.419808276,641.419808276,895.580191724,785.580191724,827,655,632,656,0.444313235036,0.00468557783449,0.0797965853577,0.999999927769,0.000210454203591,-0.000311679982845,-5.50232041277e-05,1793250854484697344
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.159806632,747,723,696,666,641,896,785.840193368,827,655,632,656,0.4450179331,0.0046945134691,0.0798204735558,0.999999934491,0.000221437807337,-0.000281162453434,-5.41404005832e-05,1793250854501363968
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.740688007,747,723,696,666,641,896,785.259311993,827,655,632,656,0.445646021605,0.00470176823076,0.0798055837483,0.999999926571,0.000221875440643,-0.00030778764917,-5.38126855977e-05,1793250854518030592
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,696.322893218,665.677106782,641,896.322893218,785,827,655,632,656.322893218,0.446269136137,0.00471041482508,0.079782169263,0.999999913799,0.000234500707626,-0.000338354492888,-5.41080438702e-05,1793250854534697216
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,723,696.906165929,665.093834071,641,896.906165929,785,827,655,632,656.906165929,0.446888239644,0.00472018378593,0.0797518805206,0.999999896251,0.000256954021856,-0.000372099860139,-5.49058453072e-05,1793250854551364096
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.514221208,747,723,696.514221208,664.514221208,640.514221208,896.514221208,785,827,655,632,656.514221208,0.447473827886,0.00473063136937,0.0797243786566,0.999999880468,0.000266357056393,-0.000405921405227,-5.78460562321e-05,1793250854568030976
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.06443793,747,723,696,663.93556207,640,896.06443793,784.93556207,827,655.06443793,632,656,0.448043644611,0.00474316895051,0.0796970307623,0.99999986271,0.000274609090038,-0.000442047898366,-6.13473680145e-05,1793250854584698112
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.641093402,747,723,696,663.358906598,640,896.641093402,784.358906598,827,655.641093402,632,656,0.448539169574,0.00477128574046,0.0796666596668,0.999999831522,0.000293599989081,-0.000496380349866,-6.60439162728e-05,1793250854601364224
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.784221115,747,723,696,662.784221115,639.784221115,897.215778885,784,827,655.784221115,632,656.215778885,0.449034433893,0.00479070275859,0.0796445316586,0.999999807384,0.000311132407487,-0.000532634808347,-6.87722332162e-05,1793250854618030592
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.212782742,747,723,696,662.212782742,639.212782742,897.787217258,784,827,655.212782742,632,656.787217258,0.449529268555,0.00479578029683,0.079635990396,0.999999799137,0.000326260871456,-0.000539092049088,-6.82563950201e-05,1793250854634696960
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.372244934,747,723,696,661.627755066,639,897.627755066,784,827.372244934,655,631.627755066,657,0.450020655603,0.00479456673795,0.0796505228782,0.999999810368,0.00032863971945,-0.000516375818474,-6.7947271321e-05,1793250854651363328
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.116506062,747,723,696,659.883493938,639,897,784.883493938,827.883493938,655,632,656.116506062,0.451386146212,0.00480467425855,0.0797011255073,0.999999834639,0.000351724255669,-0.000449798669986,-6.85114624352e-05,1793250854701363968
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+205,3.416666667,POSE1_TO_POSE2_PRESS,768.151797794,747,723,696,658.151797794,638.151797794,897,784,827,655,632,656.151797794,0.452334440085,0.0048126619088,0.0796078975031,0.99999974741,0.000372963303625,-0.00060127730147,-6.74122589069e-05,1793250854751363584
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+217,3.616666667,POSE1_TO_POSE2_PRESS,769,747.814892627,723,696,655,637,897.185107373,783.814892627,827.185107373,655,631,656.185107373,0.454673525883,0.00479156568853,0.0795435976308,0.999999706738,0.000312313924412,-0.000695893003002,-6.86772118257e-05,1793250854951363328
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.222843439,747.777156561,723,696,651,637,897.777156561,783,828,655.222843439,632,657,0.455123011547,0.00482662815924,0.07951795461,0.999999667854,0.000345088579766,-0.000734920086705,-7.13972379643e-05,1793250855911047680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.816669153,747.183330847,723,696,651,637,897.183330847,783,828,655.816669153,632,657,0.455119264777,0.00482664279527,0.079515687485,0.999999665426,0.00034594909746,-0.000737764379657,-7.19035165164e-05,1793250855927714048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.60147666,747,723,696,651.39852334,636.60147666,897,783,828,655.60147666,632,656.60147666,0.455104266696,0.00482614230409,0.0795089662869,0.999999657784,0.000344997822595,-0.000748487705516,-7.19278777186e-05,1793250855944380416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.024969018,747,723,696,651.975030982,636.024969018,897,783,828,655.024969018,632,656.024969018,0.455084243672,0.00482541175222,0.0795002558573,0.999999647642,0.000343237384015,-0.000762729882274,-7.17370100961e-05,1793250855961047040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.548951254,747,722.451048746,696,652,636.548951254,897,783,828,655,632,656,0.455041267443,0.00482538940248,0.0794845394837,0.999999625774,0.000344864339693,-0.000790219408723,-7.12273099781e-05,1793250855977713664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.873727588,747,722.126272412,696,651.873727588,637,897,783,828,655,631.873727588,656.126272412,0.454993590885,0.0048252450783,0.0794691718523,0.999999603879,0.000346313616151,-0.000816902383161,-7.05659941203e-05,1793250855994380288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.283479648,747,722.716520352,696,651.283479648,637,897,783,828,655,631.283479648,656.716520352,0.454932461595,0.00482453476458,0.0794562510451,0.999999586072,0.000346546549913,-0.000838418128938,-6.94006176709e-05,1793250856011047424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.300798288,747,723,696,651.300798288,637,897.300798288,783.300798288,828,655.300798288,631.300798288,656.699201712,0.454863578761,0.00482429816571,0.0794481620025,0.999999575349,0.000347533942048,-0.000850820754301,-6.80186078306e-05,1793250856027714560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.879559402,747,723,696,651.879559402,637,897.879559402,783.879559402,828,655.879559402,631.879559402,656.120440598,0.454787531008,0.00482449931909,0.0794445379161,0.999999571473,0.00034921851704,-0.000854802091613,-6.64364106725e-05,1793250856044381440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897.543116284,783.543116284,828,656,631.543116284,656.456883716,0.454698142257,0.00482314138505,0.0794446911559,0.9999995701,0.000350891325693,-0.000855910013245,-6.39715452514e-05,1793250856061047552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,828,656,631,656.966481642,0.454603813512,0.00482154101649,0.0794458678477,0.999999569416,0.000352713014989,-0.00085615915358,-6.12637588666e-05,1793250856077713920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,652,637,897,783,828,656,631,656.39485735,0.454486460731,0.0048226260616,0.0794475393303,0.999999569287,0.000356974484127,-0.000854743720381,-5.83799011689e-05,1793250856094380544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.816599307,747,723,696.183400693,652,637,897,783,828,656,631.183400693,656,0.454360272317,0.00482235568035,0.0794478194597,0.999999568039,0.000359537345549,-0.000855337121042,-5.52492363389e-05,1793250856111047168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.223523048,747,723,696.776476952,652,637,897,783,828,656,631.776476952,656,0.45421434712,0.0048190575838,0.0794449916213,0.999999564319,0.000358305901878,-0.00086041780132,-5.15672607195e-05,1793250856127713792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.36142294,747,723,696.63857706,652,637,897,783.36142294,828,656,632,656,0.454040856734,0.0048172462856,0.0794398647847,0.999999557068,0.000360162206391,-0.000868271235922,-4.7450066715e-05,1793250856144380416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.941451416,747,723,696.058548584,652,637,897,783.941451416,828,656,632,656,0.453850693617,0.00481633427242,0.079433347406,0.999999547598,0.000363886125597,-0.00087780176273,-4.30696318718e-05,1793250856161047040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.483765914,747,722.483765914,696,652.516234086,637,897,783.483765914,828,655.483765914,631.483765914,656.516234086,0.453644833283,0.00481371227567,0.0794326234005,0.999999545469,0.000368018006362,-0.000878762590455,-3.74376652161e-05,1793250856177713408
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.092471459,747.092471459,722.092471459,696.092471459,653,637,896.907528541,783.092471459,828,655.092471459,631,657,0.453433157773,0.00481098220845,0.0794337012668,0.999999545253,0.00037270617921,-0.00087726275819,-3.15200073238e-05,1793250856194380032
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.679642176,747.679642176,722.679642176,696.679642176,653,637,896.320357824,783.679642176,828,655.679642176,631,657,0.453199800782,0.00480870107014,0.0794409389817,0.999999550952,0.000380125340687,-0.000867746290194,-2.48256871499e-05,1793250856211046656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.736858856,723,696.736858856,653.263141144,637,896.263141144,784,828,656,631,656.736858856,0.452944062285,0.00480633890557,0.0794471698801,0.999999556788,0.000385700068418,-0.000858683067177,-1.79454726883e-05,1793250856227713792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.157768532,723,696.157768532,653.842231468,637,896.842231468,784,828,656,631,656.157768532,0.452661450701,0.00480387945426,0.0794521919102,0.999999562868,0.000389060214916,-0.000850164048482,-1.08420584615e-05,1793250856244380416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.579292554,747,723,696,654,637,897,784,828,656,631.420707446,656,0.452345235451,0.00480148923696,0.0794583214563,0.999999566822,0.000398051178345,-0.00084136933244,-2.97890321431e-06,1793250856261046784
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.001046637,747,723,696,654,637,897,784,828,656,631.998953363,656,0.45201643695,0.00479912494514,0.0794648657237,0.99999956978,0.000409150662156,-0.000832471378552,5.16874514763e-06,1793250856277713408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746.428074341,723,696,654.571925659,637,897,784,828,656,632,656,0.451665859434,0.00479293932051,0.0794777566381,0.999999583843,0.000408385527318,-0.000815713173261,1.2122431524e-05,1793250856294380032
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746.149170936,723,696,655.149170936,637,896.850829064,784,827.850829064,655.850829064,631.850829064,656,0.45131076773,0.00478754281067,0.0794920064967,0.999999602656,0.000402711769904,-0.000795126287987,1.68860673071e-05,1793250856311046912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,746.739068928,723,696,655.739068928,637,896.260931072,784,827.260931072,655.260931072,631.260931072,656,0.450942455557,0.00478449822214,0.0795102373658,0.999999635403,0.000382599000674,-0.000763269642111,1.51855714994e-05,1793250856327713536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.324176795,747,723,696,656,637,896,783.675823205,827,655,631.324176795,656,0.450538065865,0.00477989696988,0.0795268200407,0.99999966879,0.000353776357628,-0.00073289829602,1.10876786547e-05,1793250856344380416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.905485277,747,723,696,656,637,896,783.094514723,827,655,631.905485277,656,0.450105060042,0.00477406099728,0.079542095397,0.99999970181,0.000318045183859,-0.000703705061164,5.08820982908e-06,1793250856361047040
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.518987577,746.518987577,723,696,656.962024845,637,896,783.481012423,827,655,632,656,0.4496235975,0.0047685341476,0.0795558726306,0.999999721337,0.000308806129555,-0.000679614246638,9.48153199017e-06,1793250856377713664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.055616273,746.055616273,723,696,658.055616273,637.055616273,895.944383727,784,827,655.055616273,632,656,0.449125812469,0.00476312555521,0.0795660823822,0.999999734179,0.000303981394156,-0.000662568419925,1.54925722622e-05,1793250856394380288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.632085968,746.632085968,723,696,658.632085968,637.632085968,895.367914032,784,827,655.632085968,632,656,0.448563274337,0.00475826237231,0.0795456062755,0.999999710557,0.000292326405384,-0.000702221994804,1.77564274847e-05,1793250856411047168
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.786459632,747,723,696,659.213540368,638.213540368,895,784,827,656,632,656,0.447996836315,0.0047522381372,0.0795262937741,0.999999680702,0.000313264799094,-0.000734920554981,1.87981749885e-05,1793250856427713792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.196211727,747,723,696,659.803788273,638.803788273,895,784,827,656,632,656,0.447423518513,0.00474416568488,0.0795090339955,0.999999637852,0.000391701327688,-0.000755349738091,1.76839965123e-05,1793250856444380672
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,696.385596086,660.771192172,639,895,784.771192172,827,656,632,656,0.446847725288,0.00473493786115,0.0795219591609,0.999999653215,0.000395743197141,-0.000732532101219,1.88058591026e-05,1793250856461047296
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,696.963201108,661.926402216,639,895,785.926402216,827,656,632,656,0.446270699436,0.00472513471637,0.0795499150266,0.999999697193,0.000362739980214,-0.00068817955638,2.10411662829e-05,1793250856477713920
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696.461029798,661.461029798,639,895,785.461029798,827,655.461029798,632,656,0.445637123038,0.00471454749223,0.079595011822,0.999999750639,0.000326185964505,-0.000625918333307,2.3482594561e-05,1793250856494380288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,661.233793814,639,895,785,827,655.116896907,632,656,0.444994564324,0.0047042430998,0.0796368824246,0.99999979478,0.000292548230299,-0.000569375346943,2.58429273541e-05,1793250856511046912
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,662.408009655,639,895,785,827,655.704004827,632,656,0.444331353101,0.00469529099079,0.0796610842821,0.999999816529,0.000271612955965,-0.000540735359607,2.78206416541e-05,1793250856527713536
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.287030459,639.287030459,895,785,826.712969541,656,632,656,0.443635349002,0.00468609839003,0.0796713639748,0.999999824401,0.000265015530184,-0.000529245654397,2.93948078081e-05,1793250856544380160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,663.865905404,639.865905404,895,785,826.134094596,656,632,656,0.44290600195,0.00467666126295,0.0796674880054,0.999999819053,0.000272996422725,-0.000535193870067,3.05586578364e-05,1793250856561046784
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.55609291,664.44390709,640.44390709,894.11218582,785.44390709,826,656,632,656,0.442170013527,0.00466652292343,0.0796799738701,0.999999837266,0.000259147134211,-0.000507333796014,3.03676983147e-05,1793250856577713408
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.021497449,665.021497449,641,892.978502551,786.021497449,826.021497449,655.978502551,632,656,0.441428421065,0.00465615832992,0.0796962795253,0.999999859986,0.000238724349986,-0.000471322184425,2.98892317163e-05,1793250856594380032
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.595285138,665.595285138,641,892.404714862,786.595285138,826.595285138,655.404714862,632,656,0.440594294591,0.00464541223538,0.0796839897052,0.999999856649,0.000218506455137,-0.000487749753437,3.25180275681e-05,1793250856611046912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.174539804,747,723,696,666.174539804,641,892,786.825460196,826.825460196,655,632,655.825460196,0.439763311579,0.00463450535665,0.0796703276012,0.999999850031,0.000207670585062,-0.000505599634034,3.4345897528e-05,1793250856627713792
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.766880905,747,723,696,666.766880905,641,892,786.233119095,826.233119095,655,632,655.233119095,0.438939853216,0.0046232136045,0.07965338062,0.999999836581,0.000219292757604,-0.000526854145109,3.4256566429e-05,1793250856644380160
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,667,641.35090534,892,786.35090534,825.64909466,655.35090534,632,655.35090534,0.438150964751,0.00461170334821,0.0796961456443,0.9999998719,0.000203919989649,-0.000461936210787,3.50906930526e-05,1793250856661046784
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,746.495499215,723,696,667,641.495499215,891.495499215,787,825,655.495499215,632,656,0.43657329464,0.00458969598477,0.0798401798445,0.999999954982,0.000172672174046,-0.000242058567628,4.03478387401e-05,1793250856694380288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.920908428,746,723,696,667,641.079091572,891,787,825,655,632,656,0.435738210795,0.00457957774904,0.0798880097553,0.999999969811,0.00017580958322,-0.000165964718999,4.38782558746e-05,1793250856711046912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.345501971,746,723,696,667,641.654498029,891,787,825,655,632,656,0.434792303394,0.00456981877436,0.0798601951511,0.999999963444,0.000158269907872,-0.000214875290063,4.34879937234e-05,1793250856727713792
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823.861050765,655,632,656,0.429210912569,0.0045006884955,0.0798003689995,0.999999944699,9.52245700682e-05,-0.000314774552425,4.95144015805e-05,1793250856827714560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,668,642,890,787,823.272558538,655,632,656,0.428324798439,0.00449125466885,0.0798535473513,0.999999966693,9.13463809456e-05,-0.000235888619343,5.12422396006e-05,1793250856844380928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.687885722,723,696,668,642,890,787,822.687885722,655,632,655.687885722,0.427384728603,0.00447985594807,0.0798524397552,0.999999966663,8.15312946262e-05,-0.000239408229223,5.20542396323e-05,1793250856861047296
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746.106507971,723,696,668,642,890,787,822.106507971,655,632,655.106507971,0.426398110797,0.00446676209795,0.0798044992372,0.999999947122,6.6594400032e-05,-0.000314019760719,5.20761388258e-05,1793250856877713664
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821.530533758,655,631.530533758,655.469466242,0.425441169895,0.0044544172495,0.079772254246,0.999999931478,5.34929414589e-05,-0.000362621671399,5.18367468222e-05,1793250856894380544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821,655,631.044287642,655.955712358,0.424489878125,0.00444388305193,0.0797442660425,0.999999915898,4.2433405734e-05,-0.000404633261391,5.17281253483e-05,1793250856911047680
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,668,642,890,787,821,655,631.619817927,655.380182073,0.423526507152,0.00445305300936,0.0797251118694,0.999999901518,5.09292476021e-05,-0.000437568540013,5.38911133915e-05,1793250856927714304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.20072773,746.20072773,723,696,668,642,889.79927227,787,821,655,632,655.20072773,0.422609243566,0.0044683345274,0.0797305473348,0.99999990568,6.96187341395e-05,-0.00042523242959,5.44952587861e-05,1793250856944380928
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.792107129,746.792107129,723,696,668,642,889.207892871,787,821,655,632,655.792107129,0.421781712943,0.00449551022508,0.0797838385827,0.999999940052,0.000108146857469,-0.00032479019134,5.20656207054e-05,1793250856961047296
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.626028529,723,695.626028529,668,642,889,787,821,655.373971471,632,656,0.420949537118,0.00450499571921,0.0798323529001,0.999999962195,0.000119117479116,-0.000242391471519,5.165501616e-05,1793250856977713664
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.049322455,723,695.049322455,668,642,889,787,821,655.950677545,632,656,0.42011484312,0.00450489113145,0.0798782775807,0.999999977589,0.00011514883266,-0.000169774374534,5.23389550448e-05,1793250856994380288
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746.525933377,723,694.474066623,668,642,888.474066623,787,820.474066623,655.474066623,632,655.474066623,0.419210715973,0.00449017611861,0.0798425986347,0.99999996642,0.000100029538609,-0.000233277581263,5.23119930735e-05,1793250857011046912
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.896563358,746.896563358,723,694.103436642,668,642,888,787,820,655,632,655,0.418307623288,0.00447555541825,0.0798048475815,0.999999950048,8.4547124776e-05,-0.000300058548345,5.21590910201e-05,1793250857027713792
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.307880585,746.307880585,723,694.692119415,668,642,888,787,820,655,632,655,0.417439846535,0.00446778731642,0.0797931784276,0.99999994405,7.22534496984e-05,-0.000322495066114,5.17272745564e-05,1793250857044381184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.723789621,668.276210379,642,888,787,820,655,632,655.276210379,0.416586965016,0.00446811118688,0.0797880618398,0.999999938951,7.14108734678e-05,-0.000338102750721,5.18189550149e-05,1793250857061047808
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694.144733305,668.855266695,642,888,787,820,655,632,655.855266695,0.415750415168,0.00447730735637,0.0797901296971,0.999999935233,8.31236509466e-05,-0.000346223081788,5.24846143758e-05,1793250857077714432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,723.432466789,694,668.567533211,642,888,787,820,655,632,655.567533211,0.414955322337,0.00448810905027,0.0797808485681,0.9999999288,0.000102290618905,-0.000359390326738,5.26853542562e-05,1793250857094380800
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.00900891,746,723.99099109,693.99099109,668.00900891,642,887.99099109,786.99099109,820,655.00900891,632,655.00900891,0.414175266402,0.00449916875727,0.0797682926796,0.999999921308,0.000123274725284,-0.000373375366263,5.27038542805e-05,1793250857111047168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.583076392,746,723.416923608,693.416923608,668.583076392,642,887.416923608,786.416923608,820,655.583076392,632,655.583076392,0.413471848856,0.00449285373164,0.0797875472767,0.999999937953,0.000102430078977,-0.000333166282929,5.10093739819e-05,1793250857127713792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.83843544,746.16156456,723,693,668.83843544,642,887,786.16156456,820,655.83843544,632,656,0.412757367978,0.004485272268,0.0798004829201,0.999999947784,8.3899839871e-05,-0.000308000863066,5.02872971011e-05,1793250857144380416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.248218477,746.751781523,723,693,668.248218477,642,887,786.751781523,820,655.248218477,632,656,0.412013534442,0.00447433077345,0.0797966535374,0.999999944,7.15100287478e-05,-0.000322748288692,5.21451365022e-05,1793250857161047040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,747,723,692.664792079,668,642,887,786.664792079,820,655,632.335207921,656,0.411295057386,0.0044707364044,0.0797876808286,0.999999937236,7.58798285596e-05,-0.000341987740071,5.30587260365e-05,1793250857177713920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,747,723,692.086294227,668,642,887,786.086294227,820,655,632.913705773,656,0.410594983808,0.00447247449251,0.079774975155,0.999999927885,9.24135557978e-05,-0.0003644874494,5.32869900898e-05,1793250857194381056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746.510062245,723,692,668,642,887,786,820,655,632.510062245,655.510062245,0.409973952075,0.00448424457079,0.0797899606455,0.999999936234,0.000102680000538,-0.000337863759339,5.32634254195e-05,1793250857211047936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.065538366,746,723,692,668.065538366,642,887,786,820,655,632,655.065538366,0.409370992631,0.00449615642795,0.0798099704388,0.999999946498,0.000111604141376,-0.000302823772077,5.33442318616e-05,1793250857227714816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.639323454,746,723,692,668.639323454,642,887,786,820,655,632,655.639323454,0.408800716391,0.00449552813035,0.079831294128,0.99999995521,0.000118639874788,-0.000269304731816,5.45768214952e-05,1793250857244381440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,691.779130507,669,642,887,786,820,655.220869493,632,656,0.408216927938,0.00449284640959,0.0798342010191,0.999999955934,0.000117004243193,-0.000267153386431,5.54242535386e-05,1793250857261047808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,691.184449467,669,642,887,786,820,655.815550533,632,656,0.407610270738,0.00448668936383,0.0798059383172,0.999999942793,0.000100692720957,-0.000318090437658,5.56198237777e-05,1793250857277713920
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.602987692,746,723,691,668.602987692,642,887,786.397012308,820,655.602987692,632,656,0.407057599327,0.0044833281983,0.0797817463365,0.999999929614,0.000100428045956,-0.000357398720945,5.43273424982e-05,1793250857294380800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.027469549,746,723,691,668.027469549,642,887,786.972530451,820,655.027469549,632,656,0.406529201111,0.00448122412407,0.079759384643,0.999999916236,0.000107378399865,-0.000391478447953,5.23657991539e-05,1793250857311047680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.546330259,746,723,691,668,642,887,786.453669741,820,655,632,656,0.406086643025,0.00448710584777,0.0797722462257,0.999999927195,0.000111156794581,-0.000361404516982,5.1395968451e-05,1793250857327714816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746.123772931,723,691,668,642,887,786,820,655,632,655.876227069,0.405656843971,0.00449286170843,0.0797884552781,0.999999938412,0.000113921949916,-0.000328043200836,5.08538565881e-05,1793250857344381696
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,746.715308364,723,691,668,642,887,786,820,655,632,655.284691636,0.40525900363,0.0044966292174,0.0798106429973,0.999999948886,0.000113458714949,-0.000294410358366,5.17403261442e-05,1793250857361048064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.700319702,746.700319702,723,691,668,642,887,786,820,655,632,655.299680298,0.404863254052,0.0044978345794,0.0798250160201,0.999999953426,0.000120119716219,-0.00027563069931,5.24119667366e-05,1793250857377714176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.122594143,746.122594143,723,691,668,642,887,786,820,655,632,655.877405857,0.404469444321,0.00449666276514,0.0798321385173,0.999999953084,0.000133390628664,-0.000270631919215,5.28842876477e-05,1793250857394380544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.454514404,746,723,690.545485596,668,642,886.545485596,786,820,655,632,656,0.404104473956,0.00449713441176,0.0798312639054,0.999999950174,0.000135790322062,-0.000279741966646,5.43835457748e-05,1793250857411047168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.968606258,746,723,690,668,642,886.031393742,786,820,655,632,656,0.403750093038,0.00449794787575,0.0798284202043,0.999999946716,0.000134733834803,-0.000292026133885,5.59950616522e-05,1793250857427713792
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.392819417,746,723,690,668,642,886.607180583,786,820,655,632,656,0.403444635291,0.00449701225768,0.0798287847476,0.999999947691,0.000124522950381,-0.000293450926532,5.47564774131e-05,1793250857444380416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.188176292,746,723,689.811823708,668.188176292,642,886.811823708,786.188176292,820,655.188176292,632,656,0.403155327689,0.00449539045917,0.0798303627193,0.999999949285,0.000113265734232,-0.000292834583324,5.33804236492e-05,1793250857461047296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.780355034,746,723,689.219644966,668.780355034,642,886.219644966,786.780355034,820,655.780355034,632,656,0.402900693452,0.00449229547529,0.0798345458442,0.999999952262,9.97621121788e-05,-0.000287836051953,5.17092317797e-05,1793250857477714688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.638555267,746.361444733,723,689.361444733,669,642.361444733,886.361444733,786.638555267,820,656,632,656,0.40266245868,0.0044901020686,0.0798354507579,0.999999952911,9.44006774576e-05,-0.000287276128179,5.23418514817e-05,1793250857494381312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.064003585,746.935996415,723,689.935996415,669,642.935996415,886.935996415,786.064003585,820,656,632,656,0.402433892969,0.00448844022937,0.0798344228466,0.999999952264,9.38398555943e-05,-0.000289333196351,5.43327928099e-05,1793250857511047936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746.486534199,723,689.486534199,669,642.486534199,886.486534199,786,820,655.486534199,632,656,0.402243089237,0.00448723590398,0.0798330479911,0.999999952678,8.91860434614e-05,-0.000289192750979,5.52988916006e-05,1793250857527714304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.092944293,786,820,655,632,656,0.402063548691,0.00448656820861,0.0798327676004,0.99999995356,8.54411506146e-05,-0.000287114345885,5.6079922349e-05,1793250857544380672
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.681180187,786,820,655,632,656,0.40191880184,0.00448845452497,0.0798385512856,0.999999956279,8.92741058939e-05,-0.000276176769738,5.65593840002e-05,1793250857561047040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.265237427,669,642,887,786,820,655,632,656,0.401779442197,0.00448785052976,0.0798417396888,0.99999995469,0.000117974103677,-0.000270701895875,5.85037762997e-05,1793250857577713664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.844349723,669,642,887,786,820,655,632,656,0.401646457639,0.0044842995664,0.0798418569041,0.999999945653,0.000176101093345,-0.000271691437667,6.21817281448e-05,1793250857594380544
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.579142814,668.579142814,642,886.579142814,786,819.579142814,655.420857186,632,655.579142814,0.401528491268,0.00448183722763,0.07983870756,0.999999945708,0.000168114651309,-0.000277362877644,5.82372694964e-05,1793250857611047424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.003592813,668.003592813,642,886.003592813,786,819.003592813,655.996407187,632,655.003592813,0.401416045076,0.00447977503037,0.0798343575395,0.999999948907,0.000135827154734,-0.000284755224385,5.14910714077e-05,1793250857627714560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768.56925511,746,723,689,668.56925511,642,886.56925511,786,819.56925511,656,632,655.56925511,0.40133193914,0.00447811924466,0.0798315924491,0.999999948839,0.000125276960024,-0.000289950690613,5.0555256261e-05,1793250857644381184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.853100466,746,723.146899534,689,669,642,886.853100466,786,820,655.853100466,632,655.853100466,0.401253885765,0.00447706193399,0.0798288719593,0.999999948555,0.000117127024881,-0.000294395343999,5.00229333772e-05,1793250857661047808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.26086373,746,723.73913627,689,669,642,886.26086373,786,820,655.26086373,632,655.26086373,0.401193641517,0.0044778112072,0.0798262564982,0.999999948023,0.000115839715059,-0.000296605685444,5.06031801891e-05,1793250857677714176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723.675984483,689.324015517,668.675984483,642,886,786.324015517,820,655,632,655.324015517,0.401142481323,0.00447831926623,0.0798249287162,0.999999947735,0.000114942521856,-0.000297801839831,5.13117730401e-05,1793250857694380544
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723.096897142,689.903102858,668.096897142,642,886,786.903102858,820,655,632,655.903102858,0.40109847228,0.00447863743646,0.0798246146221,0.999999947642,0.000114352436513,-0.000298199605094,5.21214026524e-05,1793250857711046912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.479317897,746.479317897,723,689.520682103,668.479317897,642,886,786.520682103,820,655.479317897,632,656,0.401065132555,0.00447818543997,0.0798250160586,0.999999947669,0.000113525801857,-0.000298329934445,5.26609209651e-05,1793250857727713792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.945032426,746.945032426,723,689,669,642,886.054967574,786,820,656,632.054967574,656,0.401035262617,0.00447772828735,0.0798254929016,0.999999947743,0.000112783165281,-0.000298282170487,5.31225665407e-05,1793250857744380672
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.369270276,746.369270276,723,689,669,642,886.630729724,786,820,656,632.630729724,656,0.401017953738,0.00447868863072,0.0798253218655,0.999999948038,0.000113286749426,-0.000297056228633,5.33606758659e-05,1793250857761047296
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47cd401d09c31e1fb8883e108888f1b461d82846
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+191,3.183333333,pose1_to_pose2_press,0.613521985326,0.0101502295619,1.07003347665,0.58409266297,0.0188228606631,1.06970487374
+192,3.200000000,pose1_to_pose2_press,0.614058094733,0.0101502020657,1.07003350639,0.58462877317,0.018822835754,1.06970490115
+193,3.216666667,pose1_to_pose2_press,0.61457118917,0.0101500223309,1.07003360057,0.585141868569,0.0188226593373,1.06970499568
+194,3.233333333,pose1_to_pose2_press,0.615061816846,0.0101501485607,1.07003326792,0.585632494172,0.0188227789469,1.06970466767
+195,3.250000000,pose1_to_pose2_press,0.615530778269,0.0101501751985,1.07003350196,0.586101457411,0.0188228122011,1.06970490638
+196,3.266666667,pose1_to_pose2_press,0.615978559034,0.0101500901602,1.07003354267,0.586549238177,0.0188227269913,1.06970493425
+197,3.283333333,pose1_to_pose2_press,0.616410312068,0.0101500343495,1.07003358512,0.58698099152,0.0188226724065,1.06970497328
+198,3.300000000,pose1_to_pose2_press,0.616828331812,0.0101501013854,1.07003356096,0.587399009711,0.0188227346422,1.06970495338
+199,3.316666667,pose1_to_pose2_press,0.61723857016,0.0101501886661,1.07003349899,0.58780924653,0.0188228170443,1.06970489123
+200,3.333333333,pose1_to_pose2_press,0.617637017209,0.0101501849829,1.07003354259,0.588207694561,0.0188228170065,1.06970493487
+201,3.350000000,pose1_to_pose2_press,0.618009109995,0.0101501704871,1.07003351762,0.588579786612,0.0188228005397,1.0697049153
+202,3.366666667,pose1_to_pose2_press,0.618351563376,0.010150187854,1.07003342735,0.588922238501,0.0188228130624,1.06970482182
+203,3.383333333,pose1_to_pose2_press,0.618660475278,0.0101502602226,1.07003361919,0.589231151558,0.0188228894755,1.06970500825
+204,3.400000000,pose1_to_pose2_press,0.618941408424,0.0101501955947,1.0700334647,0.589512086028,0.0188228300031,1.06970486446
+205,3.416666667,pose1_to_pose2_press,0.619198068883,0.010150136446,1.07003371646,0.589768746007,0.0188227689918,1.06970510406
+206,3.433333333,pose1_to_pose2_press,0.619442542934,0.0101501856713,1.0700334843,0.590013218977,0.0188228151002,1.06970487737
+207,3.450000000,pose1_to_pose2_press,0.619676304473,0.0101501890117,1.07003341092,0.590246980621,0.018822819331,1.06970481137
+208,3.466666667,pose1_to_pose2_press,0.61989833292,0.0101500985608,1.07003352157,0.590469011009,0.0188227356905,1.06970492164
+209,3.483333333,pose1_to_pose2_press,0.620105120678,0.0101500066758,1.0700336039,0.590675799867,0.0188226477964,1.06970500017
+210,3.500000000,pose1_to_pose2_press,0.620293821712,0.0101500304737,1.07003350918,0.59086449976,0.0188226682365,1.06970491
+211,3.516666667,pose1_to_pose2_press,0.620462122882,0.0101501230693,1.07003336728,0.591032800462,0.0188227595056,1.06970477513
+212,3.533333333,pose1_to_pose2_press,0.620611607544,0.0101501196432,1.07003361871,0.591182285813,0.0188227579692,1.06970501171
+213,3.550000000,pose1_to_pose2_press,0.620745973724,0.0101501368003,1.07003366708,0.591316649524,0.0188227666251,1.06970504901
+214,3.566666667,pose1_to_pose2_press,0.620867593193,0.0101502431596,1.0700333873,0.591438268515,0.0188228721802,1.06970478687
+215,3.583333333,pose1_to_pose2_press,0.620977263052,0.0101502040604,1.07003357536,0.59154793948,0.0188228365885,1.06970496572
+216,3.600000000,pose1_to_pose2_press,0.621076185399,0.0101501707684,1.07003360671,0.59164686346,0.0188228091678,1.06970500253
+217,3.616666667,pose1_to_pose2_press,0.621163998514,0.0101501494174,1.07003353815,0.591734676227,0.0188227866082,1.06970493295
+218,3.633333333,pose1_to_pose2_press,0.621239097551,0.0101502328842,1.07003364093,0.591809774025,0.0188228662544,1.06970503138
+219,3.650000000,pose1_to_pose2_press,0.621302769308,0.0101501727438,1.07003369392,0.591873446085,0.0188228071612,1.06970508513
+220,3.666666667,pose1_to_pose2_press,0.621355669811,0.0101500414834,1.07003367307,0.591926347738,0.0188226792742,1.06970506332
+221,3.683333333,pose1_to_pose2_press,0.621399330008,0.0101501361525,1.07003366011,0.591970007491,0.01882277278,1.06970505084
+222,3.700000000,pose1_to_pose2_press,0.621434043341,0.0101502148341,1.07003332795,0.592004718804,0.0188228455285,1.06970473432
+223,3.716666667,pose1_to_pose2_press,0.62146181792,0.0101501561866,1.07003346729,0.592032494604,0.0188227905426,1.06970486462
+224,3.733333333,pose1_to_pose2_press,0.621483249712,0.0101501175243,1.07003358614,0.592053926413,0.0188227518626,1.0697049791
+225,3.750000000,pose1_to_pose2_press,0.621499891213,0.0101501869332,1.07003349348,0.592070567779,0.0188228208739,1.06970488828
+226,3.766666667,pose1_to_pose2_press,0.621512777981,0.0101502437274,1.07003335208,0.592083454686,0.0188228782779,1.06970475154
+227,3.783333333,pose1_to_pose2_press,0.621522310138,0.0101501725848,1.07003332414,0.592092987524,0.01882280963,1.06970472796
+228,3.800000000,pose1_to_pose2_press,0.621529252433,0.0101500254166,1.07003341799,0.592099930921,0.0188226660581,1.06970481802
+229,3.816666667,pose1_to_pose2_press,0.621534283137,0.0101499475018,1.0700334807,0.592104962476,0.0188225908892,1.06970487785
+230,3.833333333,pose1_to_pose2_press,0.621537260768,0.010149968051,1.07003348301,0.592107940546,0.0188226128654,1.06970487986
+231,3.850000000,pose1_to_pose2_press,0.621538790508,0.010149978608,1.0700334842,0.592109470512,0.0188226241555,1.0697048809
+232,3.866666667,pose1_to_pose2_press,0.621540156136,0.0101500132657,1.07003346004,0.592110835705,0.0188226572864,1.06970485501
+233,3.883333333,pose1_to_pose2_press,0.621541141955,0.0101500463074,1.07003343458,0.592111821008,0.0188226885325,1.0697048278
+234,3.900000000,pose1_to_pose2_press,0.621541517296,0.0101500588878,1.07003342488,0.592112196153,0.0188227004292,1.06970481744
+235,3.916666667,pose1_to_pose2_press,0.621542049675,0.0101500767315,1.07003341113,0.592112728253,0.0188227173032,1.06970480274
+236,3.933333333,pose1_to_pose2_press,0.621542797023,0.0101501017804,1.07003339183,0.592113475209,0.0188227409909,1.06970478211
+237,3.950000000,pose1_to_pose2_press,0.621543343845,0.0101500992262,1.07003342046,0.592114021696,0.0188227372939,1.06970481091
+238,3.966666667,pose1_to_pose2_press,0.621543878853,0.0101500946675,1.0700334527,0.592114556371,0.0188227316026,1.06970484342
+239,3.983333333,pose1_to_pose2_press,0.621544557166,0.0101500888877,1.07003349357,0.592115234262,0.0188227243868,1.06970488464
+240,4.000000000,pose1_to_pose2_press,0.621545009425,0.0101500911215,1.07003346418,0.592115686606,0.018822727004,1.06970485769
+241,4.016666667,pose1_to_pose2_press,0.621545187334,0.0101500951985,1.07003342287,0.592115864742,0.0188227319361,1.0697048185
+242,4.033333333,pose1_to_pose2_press,0.62154522647,0.0101500960953,1.07003341378,0.592115903928,0.0188227330211,1.06970480988
+243,4.050000000,pose1_to_pose2_press,0.62154545849,0.0101501014123,1.0700333599,0.592116136243,0.0188227394533,1.06970475876
+244,4.066666667,pose1_to_pose2_press,0.621545672347,0.0101501310313,1.07003346002,0.592116349331,0.018822766325,1.06970485519
+245,4.083333333,pose1_to_pose2_press,0.621545891935,0.0101501738008,1.07003363646,0.592116567608,0.0188228043835,1.06970502479
+246,4.100000000,pose1_to_pose2_press,0.621546010227,0.01015019454,1.07003361254,0.592116685125,0.0188228227074,1.06970500595
+247,4.116666667,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227074,1.06970500595
+248,4.133333333,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227076,1.06970500595
+249,4.150000000,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227076,1.06970500595
+250,4.166666667,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227076,1.06970500595
+251,4.183333333,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227076,1.06970500595
+252,4.200000000,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227077,1.06970500595
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+255,4.250000000,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227078,1.06970500595
+256,4.266666667,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227079,1.06970500595
+257,4.283333333,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227079,1.06970500595
+258,4.300000000,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.018822822708,1.06970500595
+259,4.316666667,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.018822822708,1.06970500595
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+261,4.350000000,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227081,1.06970500595
+262,4.366666667,pose2_hold,0.621546010227,0.01015019454,1.07003361254,0.592116685127,0.0188228227082,1.06970500595
+263,4.383333333,pose2_to_pose3_retreat,0.621546010227,0.01015019454,1.07003361254,0.592116685126,0.0188228227083,1.06970500595
+264,4.400000000,pose2_to_pose3_retreat,0.621545776362,0.0101500394317,1.07003333992,0.592116454363,0.0188226781489,1.06970473403
+265,4.416666667,pose2_to_pose3_retreat,0.621545570344,0.01015012786,1.07003329061,0.592116247372,0.0188227632003,1.06970468271
+266,4.433333333,pose2_to_pose3_retreat,0.621545314951,0.010150152488,1.07003327687,0.592115991714,0.0188227869516,1.06970466955
+267,4.450000000,pose2_to_pose3_retreat,0.621545175483,0.0101501367782,1.07003328563,0.592115852425,0.0188227718984,1.06970467967
+268,4.466666667,pose2_to_pose3_retreat,0.621544774343,0.0101500915933,1.07003331082,0.592115451799,0.018822728602,1.06970470878
+269,4.483333333,pose2_to_pose3_retreat,0.621544618853,0.0101500740786,1.07003332058,0.592115296508,0.0188227118194,1.06970472007
+270,4.500000000,pose2_to_pose3_retreat,0.621544536164,0.0101500647643,1.07003332577,0.592115213924,0.0188227028944,1.06970472607
+271,4.516666667,pose2_to_pose3_retreat,0.621544019786,0.0101500614504,1.07003333857,0.592114697584,0.0188226997304,1.06970473939
+272,4.533333333,pose2_to_pose3_retreat,0.621541414143,0.0101501295846,1.07003336324,0.592112091214,0.0188227652079,1.06970475892
+273,4.550000000,pose2_to_pose3_retreat,0.621535579834,0.0101500979199,1.07003342394,0.59210625753,0.0188227355949,1.06970481812
+274,4.566666667,pose2_to_pose3_retreat,0.621522965763,0.010150091971,1.07003353186,0.592093643029,0.0188227283,1.06970492869
+275,4.583333333,pose2_to_pose3_retreat,0.621502635302,0.0101502038509,1.0700336142,0.592073311564,0.0188228364967,1.0697050024
+276,4.600000000,pose2_to_pose3_retreat,0.621472599888,0.0101501521096,1.07003338074,0.592043277208,0.0188227884338,1.06970477567
+277,4.616666667,pose2_to_pose3_retreat,0.621433348874,0.0101502122525,1.07003352942,0.592004025568,0.0188228465242,1.06970492267
+278,4.633333333,pose2_to_pose3_retreat,0.621384590452,0.0101502116089,1.07003363206,0.591955266578,0.0188228436292,1.06970502176
+279,4.650000000,pose2_to_pose3_retreat,0.621327859038,0.0101501615461,1.07003357261,0.5918985357,0.0188227954912,1.0697049651
+280,4.666666667,pose2_to_pose3_retreat,0.621263133992,0.010150185993,1.07003349208,0.591833809676,0.0188228162182,1.06970488602
+281,4.683333333,pose2_to_pose3_retreat,0.62118883494,0.0101502151932,1.07003353275,0.591759511109,0.0188228467255,1.06970492396
+282,4.700000000,pose2_to_pose3_retreat,0.621104721961,0.0101502407443,1.07003359067,0.591675397148,0.0188228694691,1.06970498903
+283,4.716666667,pose2_to_pose3_retreat,0.621008802575,0.0101500744894,1.07003360937,0.591579481101,0.0188227142638,1.0697050043
+284,4.733333333,pose2_to_pose3_retreat,0.620898470021,0.0101500755126,1.07003357579,0.591469149016,0.0188227169728,1.0697049768
+285,4.750000000,pose2_to_pose3_retreat,0.620771969411,0.0101500127382,1.07003361721,0.591342649411,0.0188226570766,1.06970500857
+286,4.766666667,pose2_to_pose3_retreat,0.620630355816,0.0101501119946,1.07003353233,0.591201033266,0.0188227475055,1.06970492468
+287,4.783333333,pose2_to_pose3_retreat,0.620474158568,0.0101502413531,1.07003346464,0.591044834072,0.0188228703051,1.06970486388
+288,4.800000000,pose2_to_pose3_retreat,0.620303133208,0.010150207105,1.07003339936,0.59087380915,0.0188228375171,1.06970480237
+289,4.816666667,pose2_to_pose3_retreat,0.620118138222,0.0101501114004,1.07003334763,0.590688815113,0.0188227447238,1.06970474694
+290,4.833333333,pose2_to_pose3_retreat,0.61991737852,0.0101501752075,1.07003341791,0.590488054875,0.0188228061474,1.06970480911
+291,4.850000000,pose2_to_pose3_retreat,0.619697916077,0.0101500807444,1.07003361008,0.590268593446,0.0188227148673,1.06970500319
+292,4.866666667,pose2_to_pose3_retreat,0.619458404341,0.0101501473399,1.07003360825,0.590029081854,0.0188227817441,1.06970500323
+293,4.883333333,pose2_to_pose3_retreat,0.619199019213,0.010150199278,1.07003337495,0.589769695853,0.0188228309918,1.06970478478
+294,4.900000000,pose2_to_pose3_retreat,0.61892274221,0.0101501700303,1.07003339516,0.589493420715,0.0188228076666,1.06970480158
+295,4.916666667,pose2_to_pose3_retreat,0.618631886338,0.010150225236,1.07003358525,0.589202564571,0.0188228613275,1.06970498301
+296,4.933333333,pose2_to_pose3_retreat,0.618326029154,0.0101503111728,1.07003374343,0.588896705203,0.0188229393433,1.06970513642
+297,4.950000000,pose2_to_pose3_retreat,0.618002424291,0.0101502038605,1.07003373002,0.588573101715,0.0188228361752,1.06970511819
+298,4.966666667,pose2_to_pose3_retreat,0.617656453804,0.0101502238852,1.07003336018,0.588227131187,0.0188228562871,1.06970476144
+299,4.983333333,pose2_to_pose3_retreat,0.617286240129,0.0101501947417,1.07003353999,0.587856917523,0.0188228267505,1.06970493862
+300,5.000000000,pose2_to_pose3_retreat,0.616883087039,0.0101501864488,1.07003354342,0.587453764483,0.0188228181062,1.06970493552
+301,5.016666667,pose2_to_pose3_retreat,0.616452385057,0.0101501741536,1.07003350381,0.587023063081,0.018822807489,1.06970489546
+302,5.033333333,pose2_to_pose3_retreat,0.615997806928,0.0101502525686,1.0700335431,0.586568483815,0.0188228818376,1.06970493768
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+304,5.066666667,pose2_to_pose3_retreat,0.61504310198,0.0101501164,1.07003347125,0.585613779221,0.0188227460037,1.06970485853
+305,5.083333333,pose2_to_pose3_retreat,0.614546785833,0.0101501164494,1.07003321728,0.585117463466,0.0188227477075,1.06970461988
+306,5.100000000,pose2_to_pose3_retreat,0.614037485712,0.0101500184441,1.07003334973,0.58460816524,0.018822655841,1.06970474591
+307,5.116666667,pose2_to_pose3_retreat,0.613512958923,0.0101501071686,1.0700335565,0.584083637014,0.0188227395114,1.0697049485
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a222bb3ce569f4d83866c25ed7c63442f4de1d4c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a8d7bfd7112a23d2848537ba801bfbd6f7ddbd18d0bdf9e4495ae55b53c2738
+size 26134185
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..306cf5ed242185c00bf0b7a8cb9aebc36401c3de
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+5,0.083333333,BASELINE,768.89978768,746,723,689.10021232,669.10021232,642,886,786,820,655,632,655.10021232,0.400979372277,0.00448029930487,0.0798393742832,0.999999954685,0.000111946043919,-0.000274629707046,5.17444581882e-05,1793250858400313856
+6,0.100000000,BASELINE,768.519669659,746,723,689,669,642,886.480330341,786,820,655.480330341,632,655.480330341,0.400980118305,0.00448021818029,0.0798399467453,0.99999995495,0.000112120207861,-0.000273564609852,5.18743078724e-05,1793250858416979968
+7,0.116666667,BASELINE,768.058869651,746,723.058869651,689,669,642,887,786,820,655.941130349,632,656,0.400980879923,0.0044798928262,0.079840441434,0.999999955303,0.000111697390284,-0.000272418519917,5.20154862334e-05,1793250858433646336
+8,0.133333333,BASELINE,768.635807561,746,723.635807561,689,669,642,887,786,820,655.364192439,632,656,0.400980116657,0.00447833531412,0.0798396269073,0.99999995544,0.000108114728701,-0.000273408252893,5.17612841829e-05,1793250858450312960
+9,0.150000000,BASELINE,768.788062031,745.788062031,723.788062031,689,669,642,886.788062031,786,820,655,632,656,0.400980120769,0.00447774062702,0.0798394395222,0.999999955576,0.000106533850184,-0.000273553440242,5.16387006025e-05,1793250858466979840
+10,0.166666667,BASELINE,768.213314019,745.213314019,723.213314019,689,669,642,886.213314019,786,820,655,632,656,0.400981438528,0.00447879417036,0.0798403257215,0.999999955728,0.000108379762453,-0.000272252876,5.17414306305e-05,1793250858483646720
+11,0.183333333,BASELINE,768.372339331,745.744678663,723.372339331,689,669,642,886.372339331,786,820,655,632,656,0.400981777969,0.00447969616843,0.0798412187418,0.999999955895,0.000110165911176,-0.000270893963501,5.18686276838e-05,1793250858500313856
+12,0.200000000,BASELINE,768.964428939,746.928857877,723.964428939,689,669,642,886.964428939,786,820,655,632,656,0.400981540019,0.00448050872636,0.0798421157878,0.999999956069,0.000111916788337,-0.000269500614424,5.2010264896e-05,1793250858516980992
+13,0.216666667,BASELINE,768.457631246,746.457631246,723.457631246,689.542368754,669,642,887,786,820,655.542368754,632,656,0.400982073507,0.00448060266416,0.0798419903412,0.999999955956,0.000111529347675,-0.000270088901419,5.19805871945e-05,1793250858533647616
+14,0.233333333,BASELINE,768.119051899,746,723,689.880948101,669,642,887,786,820,655.880948101,632,656,0.400982308688,0.00448053479869,0.0798417751569,0.999999955851,0.000110918151792,-0.000270738343268,5.1928361913e-05,1793250858550313728
+15,0.250000000,BASELINE,768.69438514,746,723,689.30561486,669,642,887,786,820,655.30561486,632,656,0.400981211588,0.00448002284255,0.0798414665224,0.999999955852,0.000109973210309,-0.000271136726849,5.18316872682e-05,1793250858566980096
+16,0.266666667,BASELINE,769,746,723,689,669.275658889,642,887,786.275658889,820,655.275658889,632,655.724341111,0.400979658557,0.00447939612189,0.0798408489943,0.999999955577,0.000109625258315,-0.000272287099514,5.18407063219e-05,1793250858583646720
+17,0.283333333,BASELINE,769,746,723,689,669.863663724,642,887,786.863663724,820,655.863663724,632,655.136336276,0.400977588916,0.00447863936288,0.0798398814622,0.999999954987,0.000109953748367,-0.000274289542423,5.19694857074e-05,1793250858600313344
+18,0.300000000,BASELINE,769,746,723,689,669.552794713,642,887,786.552794713,820,655.552794713,632,655.447205287,0.400978447217,0.00447980318328,0.0798400694913,0.999999955007,0.000111001062212,-0.000273795065896,5.19779744313e-05,1793250858616979968
+19,0.316666667,BASELINE,768.970994851,746,723,689,669,642,886.970994851,786,820,655,632,656,0.400980006186,0.00448134845527,0.079840503466,0.999999955178,0.000112096196441,-0.000272723947001,5.1960281859e-05,1793250858633646592
+20,0.333333333,BASELINE,768.396611827,746,723,689,669,642,886.396611827,786,820,655,632,656,0.400978121778,0.00447916558796,0.0798390033714,0.999999954782,0.000110010710877,-0.000274981927308,5.21330328717e-05,1793250858650313472
+21,0.350000000,BASELINE,768,746,723,689,669,642,886.177976241,786,820,655,632,656,0.40097742902,0.00447821026532,0.0798385475355,0.99999995466,0.000109494351646,-0.000275607832351,5.22654250278e-05,1793250858666980352
+22,0.366666667,BASELINE,768,746,723,689,669,642,886.753021688,786,820,655,632,656,0.400979394861,0.00447999362416,0.0798404214654,0.999999955153,0.000112478750702,-0.000272592538536,5.2307775597e-05,1793250858683646976
+23,0.383333333,BASELINE,768.337064337,746,723.337064337,689,669,642,887,786,820,655.337064337,632,656,0.400979577206,0.00447984133491,0.0798405333654,0.999999955271,0.000111792310548,-0.000272469072233,5.21556962368e-05,1793250858700313600
+24,0.400000000,BASELINE,768.927880397,746,723.927880397,689,669,642,887,786,820,655.927880397,632,656,0.400978416883,0.00447823183429,0.0798393187587,0.999999955105,0.000108342357413,-0.000274522656503,5.18572444405e-05,1793250858716980224
+25,0.416666667,BASELINE,768.493169066,746.506830934,724,689,669,642,886.493169066,786,820,656,632,656,0.400979005679,0.00448007794795,0.0798392714913,0.999999954979,0.000111780295522,-0.000273633659801,5.16806592425e-05,1793250858733646848
+26,0.433333333,BASELINE,768.084120616,746.915879384,723.915879384,689.084120616,669,642,886,786,819.915879384,656,632,655.915879384,0.400979761142,0.00448186996494,0.0798395277333,0.999999954889,0.000115406946673,-0.000272471650683,5.16042909149e-05,1793250858750313216
+27,0.450000000,BASELINE,768.661345633,746.338654367,723.338654367,689.661345633,669,642,886,786,819.338654367,656,632,655.338654367,0.400980067991,0.00448052842704,0.0798406116864,0.999999955068,0.000114525936287,-0.000272107584556,5.20160555356e-05,1793250858766979840
+28,0.466666667,BASELINE,768.758002087,746,723,689.758002087,669,642,886.241997913,786.241997913,819.241997913,655.758002087,632,655.241997913,0.400980125353,0.00447948154671,0.0798411782777,0.999999955353,0.000112604204015,-0.000271842749437,5.21230034043e-05,1793250858783646976
+29,0.483333333,BASELINE,768.172484794,746,723,689.172484794,669,642,886.827515206,786.827515206,819.827515206,655.172484794,632,655.827515206,0.400979828564,0.00447885293696,0.0798410104665,0.99999995578,0.000109205152714,-0.000271718774124,5.17972596604e-05,1793250858800314368
+30,0.500000000,BASELINE,768.410893064,746,723.410893064,689,669,642,887,786.589106936,820,655,632,656,0.400979480647,0.00447921973783,0.0798408629763,0.999999955588,0.000109464105424,-0.000272287985194,5.19612098135e-05,1793250858816980992
+31,0.516666667,BASELINE,768.993377467,746,723.993377467,689,669,642,887,786.006622533,820,655,632,656,0.400979111379,0.00448000222798,0.0798407239723,0.999999955138,0.000111250662021,-0.000273146674942,5.23296590013e-05,1793250858833647360
+32,0.533333333,BASELINE,768.430518263,746,723.430518263,689.569481737,669,642,886.430518263,786,820,655,632,656,0.400979795731,0.0044791198849,0.0798411696458,0.999999955529,0.000109620891642,-0.000272411310983,5.213752983e-05,1793250858850313472
+33,0.550000000,BASELINE,768,746,723.144991257,690,669,642,886,786,820,655,632.144991257,656,0.400980073615,0.00447868668721,0.0798412037506,0.99999995561,0.000109596406508,-0.0002721371996,5.20629818333e-05,1793250858866979840
+34,0.566666667,BASELINE,768,746,723.718958111,690,669,642,886,786,820,655,632.718958111,656,0.400979113059,0.00447963899079,0.0798400002821,0.99999995474,0.000114437608162,-0.000273282001909,5.23553867672e-05,1793250858883646464
+35,0.583333333,BASELINE,768,746,723.69828979,689.69828979,669,642,886.30171021,786,820,655.30171021,633,656,0.40097899356,0.00447937744278,0.0798398960324,0.999999954788,0.000114330282467,-0.000273152518729,5.23518250099e-05,1793250858900313344
+36,0.600000000,BASELINE,768,746,723.107108768,689.107108768,669,642,886.892891232,786,820,655.892891232,633,656,0.400979680998,0.0044779512853,0.0798408464098,0.999999955715,0.000109475175585,-0.000271800443793,5.20643029978e-05,1793250858916979968
+37,0.616666667,BASELINE,768,746,723,689.472697742,669,642,886.527302258,786,820,655.527302258,632.527302258,656,0.400980419103,0.00447864228498,0.0798414505543,0.999999955899,0.00011033459524,-0.00027081603415,5.18323607386e-05,1793250858933647104
+38,0.633333333,BASELINE,768.049814031,746.049814031,723,689.950185969,669,642,886.049814031,786,820,655.049814031,632,655.950185969,0.400981030367,0.00447993106523,0.0798419143273,0.999999955872,0.000112464260737,-0.000270081875856,5.16032184596e-05,1793250858950314240
+39,0.650000000,BASELINE,768.625101299,746.625101299,723,689.374898701,669,642,886.625101299,786,820,655.625101299,632,655.374898701,0.400980185362,0.00448258406234,0.0798417054951,0.999999955357,0.000114655268107,-0.000271129386866,5.12738851815e-05,1793250858966980864
+40,0.666666667,BASELINE,768.799694974,746.799694974,723.200305026,689.200305026,669,642.200305026,886.799694974,786.200305026,820,655.799694974,632,655.200305026,0.400979917484,0.00448312288023,0.0798417367767,0.999999955303,0.000114985125406,-0.000271211710264,5.11432675818e-05,1793250858983647232
+41,0.683333333,BASELINE,768.224647577,746.224647577,723.775352423,689.775352423,669,642.775352423,886.224647577,786.775352423,820,655.224647577,632,655.775352423,0.400980729327,0.0044797063677,0.0798422172772,0.999999956115,0.000111833034042,-0.000269488304098,5.1384418929e-05,1793250859000313600
+42,0.700000000,BASELINE,768.360873499,746,723.639126501,689.639126501,669.360873499,642.639126501,886.360873499,787,820,655.360873499,632.360873499,655.639126501,0.400980674862,0.00447866632881,0.0798421626762,0.999999956227,0.000110275113338,-0.000269691661259,5.14860594765e-05,1793250859016980224
+43,0.716666667,BASELINE,768.953109414,746,723.046890586,689.046890586,669.953109414,642.046890586,886.953109414,787,820,655.953109414,632.953109414,655.046890586,0.40098006499,0.00447914988955,0.0798417650121,0.999999955897,0.000109739243909,-0.000271130300713,5.1498257161e-05,1793250859033646848
+44,0.733333333,BASELINE,769,746,723,689,669.466886025,642,887,786.466886025,820,655.466886025,633,655.533113975,0.400979631506,0.00448077437711,0.0798413220258,0.999999955707,0.000111388335936,-0.000271110663714,5.17541284467e-05,1793250859050313472
+45,0.750000000,BASELINE,768.889062773,746,723,689,669,642,886.889062773,786,819.889062773,655,632.889062773,656,0.400979337078,0.00448198230157,0.0798408792121,0.999999955504,0.000112875469864,-0.000271211932101,5.19205449295e-05,1793250859066980096
+46,0.766666667,BASELINE,768.315945813,746,723,689,669,642,886.315945813,786,819.315945813,655,632.315945813,656,0.400979558791,0.00448104606576,0.0798404533526,0.999999955209,0.000112905170643,-0.000272339290141,5.16269920189e-05,1793250859083646976
+47,0.783333333,BASELINE,768,746,723,689,669,642,886.264066643,786,819.264066643,655.264066643,632,655.735933357,0.400979955799,0.00448072070727,0.0798405744517,0.999999955215,0.000113185856513,-0.000272226485791,5.14984875079e-05,1793250859100313600
+48,0.800000000,BASELINE,768,746,723,689,669,642,886.852550594,786,819.852550594,655.852550594,632,655.147449406,0.400980568164,0.00448114583793,0.0798413675132,0.999999955588,0.000113774888442,-0.000270590088388,5.1572752064e-05,1793250859116980480
+49,0.816666667,BASELINE,768,746,723,689,669,642,887,786,820,655.566494496,632,655,0.400980776877,0.00448173370082,0.0798418365888,0.999999955613,0.000114033302289,-0.000270388407507,5.15736533712e-05,1793250859133647360
+50,0.833333333,BASELINE,768.011917721,746,723,689,669,642,887,786,820,655.011917721,632,655.011917721,0.400980823321,0.00448232477995,0.0798421629452,0.999999955525,0.000114126902091,-0.000270677662864,5.15524127774e-05,1793250859150313728
+51,0.850000000,BASELINE,768.589120309,746,723,689,669,642,887,786,820,655.589120309,632,655.589120309,0.400979574098,0.00448048782941,0.0798408575209,0.999999955577,0.000111645888819,-0.000271501618954,5.16443150041e-05,1793250859166980352
+52,0.866666667,BASELINE,769,746,723,689,669,642,887,786.164605317,820,656,632.164605317,655.835394683,0.400978866905,0.00447957031276,0.0798401143891,0.999999955595,0.000110619748381,-0.000271863530351,5.16159630048e-05,1793250859183646976
+53,0.883333333,BASELINE,769,746,723,689,669,642,887,786.73584723,820,656,632.73584723,655.26415277,0.400979498729,0.00448092414121,0.0798407603296,0.999999955536,0.000113187687232,-0.000271084018788,5.12905381611e-05,1793250859200313344
+54,0.900000000,BASELINE,769,746,723,689.318702266,669,642,887,786.681297734,820,655.681297734,632.681297734,655.318702266,0.400980142971,0.00448076673228,0.0798415628421,0.999999955769,0.000113495504485,-0.000270084267737,5.13283960549e-05,1793250859216979968
+55,0.916666667,BASELINE,769,746,723,689.911546679,669,642,887,786.088453321,820,655.088453321,632.088453321,655.911546679,0.400980797894,0.00447930938317,0.079842500035,0.999999956256,0.000111859204305,-0.000268895070549,5.16787434601e-05,1793250859233647104
+56,0.933333333,BASELINE,769,746,723,689.507382194,669,642,887,786,820,655,632,655.507382194,0.400980808233,0.00447991220003,0.0798424832294,0.999999956177,0.00011195727214,-0.00026916434447,5.16018530658e-05,1793250859250313728
+57,0.950000000,BASELINE,768.928725293,746,723.071274707,689.071274707,669,642,887,786,820,655,632,655.071274707,0.400980691282,0.00448079084164,0.0798422673328,0.999999956012,0.000112269004371,-0.000269671865082,5.14571283677e-05,1793250859266980352
+58,0.966666667,BASELINE,768.352545127,746,723.647454873,689.647454873,669,642,887,786,820,655,632,655.647454873,0.400980473364,0.00448106409354,0.0798418262282,0.999999955951,0.000111939741316,-0.000270055272445,5.13626211411e-05,1793250859283646976
+59,0.983333333,BASELINE,768,746,723.777779789,690,669,642,887,786,820,655.222220211,632,656,0.400980068206,0.004480748293,0.0798416461568,0.999999955971,0.000111267834717,-0.000270254295938,5.13780071064e-05,1793250859300313600
+60,1.000000000,BASELINE,768,746,723.205244742,690,669,642,887,786,820,655.794755258,632,656,0.400979367877,0.00447950389196,0.0798418775863,0.99999995612,0.00011005577415,-0.000270162651038,5.15666320952e-05,1793250859316980224
+61,1.016666667,BASELINE,768.382397656,746,723,690,669,642,887,786.382397656,820,655.617602344,632,655.617602344,0.400979537493,0.00447973677169,0.0798417479676,0.999999956093,0.000110364191844,-0.000270158867641,5.14670434954e-05,1793250859333647104
+62,1.033333333,BASELINE,768.978482125,746,723,690,669,642,887,786.978482125,820,655.021517875,632,655.021517875,0.400980193241,0.00448079516761,0.0798414165922,0.999999955965,0.000111522264802,-0.000270204181947,5.12063988678e-05,1793250859350313984
+63,1.050000000,BASELINE,768.446105654,746,723,689.446105654,669,642,887,786.446105654,820,655.553894346,632,655.553894346,0.400980406988,0.00448044858154,0.0798412655498,0.999999956032,0.000111725838776,-0.000269861954725,5.12710004144e-05,1793250859366980352
+64,1.066666667,BASELINE,768.128687834,746,723,689,669,642,887,786,820,656,632.128687834,656,0.400980281864,0.00448031770408,0.0798411506662,0.999999956025,0.000111991816137,-0.000269763314581,5.13298359064e-05,1793250859383647232
+65,1.083333333,BASELINE,768.704020843,746,723,689,669,642,887,786,820,656,632.704020843,656,0.400979038054,0.00448111812324,0.0798411378413,0.999999955742,0.000112598448911,-0.000270560481389,5.1326382536e-05,1793250859400314112
+66,1.100000000,BASELINE,769,746,723,689,669,642,887,786,820,655.721492624,632.721492624,656,0.400979099482,0.00448075642283,0.0798414907085,0.999999955861,0.000111962244673,-0.000270366822347,5.14227185075e-05,1793250859416980480
+67,1.116666667,BASELINE,769,746,723,689,669,642,887,786,820,655.147902978,632.147902978,656,0.400980543827,0.00447916344122,0.0798422310316,0.999999956403,0.000110009238051,-0.000269123370091,5.16247826144e-05,1793250859433647104
+68,1.133333333,BASELINE,768.557084862,746.442915138,723,689,669,642,887,786,820,655,632,656,0.400980910864,0.00447851960529,0.0798424030189,0.999999956478,0.000109628746451,-0.000269004270497,5.15964287959e-05,1793250859450313472
+69,1.150000000,BASELINE,768,746.961738347,723.038261653,689.038261653,669,642,886.961738347,786,820,655.038261653,632,656,0.400980799945,0.00447823824232,0.0798423057629,0.999999956364,0.000109833526931,-0.000269362127637,5.14996750528e-05,1793250859466980096
+70,1.166666667,BASELINE,768,746.386835578,723.613164422,689.613164422,669,642,886.386835578,786,820,655.613164422,632,656,0.400979235293,0.00447841546538,0.0798412017853,0.999999955854,0.00011058402194,-0.00027093046462,5.15664283237e-05,1793250859483646720
+71,1.183333333,BASELINE,768.187386835,746,724,690,669,642,886.187386835,786,820,656,632.187386835,655.812613165,0.400979026847,0.00447852451169,0.0798410732728,0.999999955777,0.000111118734451,-0.000270985665389,5.1620275661e-05,1793250859500313344
+72,1.200000000,BASELINE,768.760209924,746,724,690,669,642,886.760209924,786,820,656,632.760209924,655.239790076,0.400981607983,0.0044784933252,0.0798429511956,0.99999995659,0.000111209603757,-0.000267928494342,5.16475767764e-05,1793250859516980224
+73,1.216666667,BASELINE,769,746,723.655518466,689.655518466,669,642,886.655518466,786,820,656,632.655518466,655.344481534,0.40098183623,0.00447897565691,0.0798428179,0.999999956542,0.000111711580362,-0.000267904451476,5.16137202737e-05,1793250859533647104
+74,1.233333333,BASELINE,769,746,723.06300374,689.06300374,669,642,886.06300374,786,820,656,632.06300374,655.93699626,0.400980370353,0.0044798277314,0.0798412364892,0.999999955875,0.000112509561958,-0.000270064318204,5.15358291325e-05,1793250859550313728
+75,1.250000000,BASELINE,768.482652129,746.517347871,723,689,669,642,886.517347871,786,820,656,632,655.482652129,0.400980366854,0.00448028715205,0.0798416124046,0.999999956078,0.000112984332393,-0.000269127855387,5.14711331674e-05,1793250859566980352
+76,1.266666667,BASELINE,768,746.90455601,723,689,669,642,886.90455601,786,820,655.90455601,632,655.09544399,0.400980448858,0.00448063884275,0.0798420985962,0.9999999563,0.00011321830075,-0.000268214026084,5.14057901173e-05,1793250859583646976
+77,1.283333333,BASELINE,768,746.330512922,723,689,669,642,886.330512922,786,820,655.330512922,632,655.669487078,0.400980087092,0.00448068460119,0.0798419699367,0.999999956111,0.000112437620894,-0.000269261095213,5.13293294819e-05,1793250859600313344
+78,1.300000000,BASELINE,768,746,723,689,669,642,886.249308678,786,820,655,632,656,0.400979909487,0.00448048041404,0.0798416465314,0.999999956032,0.000111322957941,-0.000270039968486,5.11944205649e-05,1793250859616979968
+79,1.316666667,BASELINE,768,746,723,689,669,642,886.836972678,786,820,655,632,656,0.400979981819,0.00447993700718,0.0798410588221,0.999999956105,0.000109755021788,-0.00027045485316,5.09801871503e-05,1793250859633646592
+80,1.333333333,BASELINE,768,746,723,689,669,642,886.579223036,786,819.579223036,655,632,656,0.400980301907,0.00448054024057,0.0798412523008,0.999999955988,0.000111711714369,-0.000270087684055,5.09545878927e-05,1793250859650313472
+81,1.350000000,BASELINE,768,746,723,689,669,642,886,786,819.003064246,655.003064246,632.003064246,656,0.400980712202,0.00448157622222,0.0798417434326,0.999999955792,0.00011499978962,-0.000269425661575,5.10007754428e-05,1793250859666980352
+82,1.366666667,BASELINE,768,746,723,689,669,642,886,786,819.578769039,655.578769039,632.578769039,656,0.400980204657,0.00448121582536,0.0798418118273,0.999999955792,0.000114213962127,-0.000269771708357,5.09284858208e-05,1793250859683647232
+83,1.383333333,BASELINE,768,746,723,689,669,642,886,786,820,655.846029444,632.846029444,656,0.40098007893,0.00448075637172,0.0798418208476,0.999999955898,0.000113060221991,-0.000269866857455,5.09148343804e-05,1793250859700313856
+84,1.400000000,BASELINE,768,746,723,689,669,642,886,786,820,655.272200169,632.272200169,656,0.400980994372,0.00448002680235,0.0798416679616,0.999999956291,0.00011090322928,-0.000269277839589,5.10610820132e-05,1793250859716980224
+85,1.416666667,BASELINE,768.310940532,746,723,689,669,642,886.310940532,786,820,655.310940532,632,656,0.400981435701,0.00447989944374,0.0798416633497,0.999999956407,0.000110399930515,-0.000269014171292,5.12792974831e-05,1793250859733646848
+86,1.433333333,BASELINE,768.902484139,746,723,689,669,642,886.902484139,786,820,655.902484139,632,656,0.400981449174,0.00448031554017,0.0798417925453,0.999999956275,0.000111388980285,-0.000269044109299,5.15624591139e-05,1793250859750313216
+87,1.450000000,BASELINE,768.516631524,746,723,689,669,642,887,786,820,655.516631524,632,655.516631524,0.400980717605,0.00448056230429,0.079841590644,0.999999956033,0.000112132925194,-0.000269664533814,5.13965050221e-05,1793250859766979840
+88,1.466666667,BASELINE,768,746,723,689,669,642,887,786.061905731,820,655.061905731,632,655.061905731,0.400980025829,0.00448070778265,0.0798414606888,0.999999955843,0.000112713919947,-0.000270165104484,5.11834357813e-05,1793250859783646464
+89,1.483333333,BASELINE,768,746,723,689,669,642,887,786.638422531,820,655.638422531,632,655.638422531,0.400980887351,0.0044802891421,0.079842472093,0.999999956273,0.000112342523121,-0.000268700444842,5.13156440192e-05,1793250859800313344
+90,1.500000000,BASELINE,768,746,723,689.217405543,669,642.217405543,887,786.782594457,820,655.782594457,632,656,0.400981109785,0.00447985276457,0.0798426240432,0.999999956375,0.000112003262833,-0.000268440798498,5.14201471925e-05,1793250859816980480
+91,1.516666667,BASELINE,768,746,723,689.800537232,669,642.800537232,887,786.199462768,820,655.199462768,632,656,0.400980257129,0.00447938654942,0.0798413301939,0.999999955928,0.000111718063637,-0.000270208261932,5.14780440594e-05,1793250859833647104
+92,1.533333333,BASELINE,768,746,723,689.617770427,669,642.617770427,887,786,820,655,632.382229573,656,0.400980966649,0.00447954396037,0.079841952425,0.999999956069,0.000112688091951,-0.000269257391499,5.16060657957e-05,1793250859850313728
+93,1.550000000,BASELINE,768,746,723,689.036826325,669,642.036826325,887,786,820,655,632.963173675,656,0.400982488318,0.00448002558368,0.0798435707928,0.99999995651,0.000114310691261,-0.000266893306572,5.17705442409e-05,1793250859866980352
+94,1.566666667,BASELINE,768,746,723.541770666,689,669,642,886.458229334,786,820,655,632.458229334,656,0.400980636897,0.00448101429462,0.0798427368088,0.999999956008,0.000114816698553,-0.000268599108295,5.15353677594e-05,1793250859883646720
+95,1.583333333,BASELINE,768.119369397,746,723.880630603,689.119369397,669,642,886.119369397,786,820,655,632,656,0.400979068883,0.00448160033724,0.0798418540609,0.999999955599,0.000114758124762,-0.000270177976851,5.13512255977e-05,1793250859900313344
+96,1.600000000,BASELINE,768.693768529,746,723.306231471,689.693768529,669,642,886.693768529,786,820,655,632,656,0.40097945145,0.00448052060378,0.0798414181234,0.9999999558,0.000112835474085,-0.000270222970851,5.146473265e-05,1793250859916979968
+97,1.616666667,BASELINE,769,746,723,689.725453582,669,642,887,786,820,655,632,655.725453582,0.400979038054,0.00447969168369,0.0798413779726,0.999999955894,0.000111634605168,-0.000270353914166,5.15681747789e-05,1793250859933646592
+98,1.633333333,BASELINE,769,746,723,689.137391568,669,642,887,786,820,655,632,655.137391568,0.400977715717,0.00447914917753,0.0798417897863,0.999999955869,0.000111257967983,-0.000270583006456,5.16601233603e-05,1793250859950313216
+99,1.650000000,BASELINE,768.556737615,745.556737615,723.443262385,689,669,642,887,786,820,655,632,655.443262385,0.400978051456,0.00447949944981,0.0798419510269,0.99999995586,0.000111415067777,-0.000270558973651,5.16115910504e-05,1793250859966980352
+100,1.666666667,BASELINE,768,745.021695191,723.978304809,689.021695191,669,642,887,786,820,655,632,656,0.400978946188,0.00448011870257,0.0798420795944,0.999999955883,0.000111712295739,-0.00027037368446,5.15104715944e-05,1793250859983647232
+101,1.683333333,BASELINE,768,745.601086456,723.398913544,689.601086456,669,642,887,786,820,655,632,656,0.400981216448,0.00448065589389,0.0798433319438,0.999999956564,0.000111428900485,-0.000268026816397,5.11584595365e-05,1793250860000313856
+102,1.700000000,BASELINE,768,746.178948368,723,690,669,642,886.821051632,786,820,655,632,656,0.400982636546,0.00448082588441,0.0798438805658,0.99999995694,0.000111234958818,-0.000266734682985,5.09876198377e-05,1793250860016980224
+103,1.716666667,BASELINE,768,746.753429844,723,690,669,642,886.246570156,786,820,655,632,656,0.400982177513,0.00448018424364,0.079842873725,0.99999995665,0.000111238738219,-0.000267773850691,5.12172290252e-05,1793250860033646848
+104,1.733333333,BASELINE,768.337108078,746.662891922,723,689.662891922,669,642,886.337108078,786.337108078,820,655.337108078,632.337108078,655.662891922,0.40098082307,0.00448139436219,0.0798421902463,0.9999999561,0.000113057673639,-0.000269057231244,5.12496313395e-05,1793250860050313472
+105,1.750000000,BASELINE,768.927701798,746.072298202,723,689.072298202,669,642,886.927701798,786.927701798,820,655.927701798,632.927701798,655.072298202,0.400978795332,0.00448399689584,0.0798417499169,0.999999955345,0.00011624150068,-0.000270524245742,5.11337455934e-05,1793250860066979840
+106,1.766666667,BASELINE,769,746,723,689,669,642.506964999,886.493035001,786.493035001,820,655.493035001,633,655.506964999,0.400979347164,0.00448220120498,0.0798418471749,0.999999955698,0.000114370312533,-0.000269990731732,5.12633760167e-05,1793250860083646720
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886,786,820,655,632,655,0.400977045868,0.0044809447093,0.0798401024555,0.999999955361,0.00011144215914,-0.000272561306728,5.06909178771e-05,1793250860127164160
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.421985948,746,723,689,669,642,886.578014052,786,820,655,632.578014052,655,0.400979965937,0.00448003369015,0.0798417058766,0.999999956349,0.000111404841279,-0.000268838721764,5.11493000712e-05,1793250860143830784
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,887,786,820,655,632.839387428,655.160612572,0.400981851957,0.00447945499201,0.0798428458903,0.999999956968,0.000111320860731,-0.000266502470046,5.14683869712e-05,1793250860160497152
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,887,786,820,655,632.244389848,655.755610152,0.400980941341,0.00447977507306,0.079842732595,0.999999956616,0.000111110678527,-0.000267915627452,5.14107426496e-05,1793250860177163520
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.340550925,746,723,689,669,642,887,786,820,655,632,656,0.400979489239,0.00448076859775,0.0798418025618,0.999999956001,0.000112044544756,-0.00026982621035,5.13516176301e-05,1793250860193829888
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.918481603,746,723,689,669,642,887,786,820,655,632,656,0.400977659696,0.0044822315438,0.0798403032247,0.999999955197,0.000113775865694,-0.000272083521745,5.12914604986e-05,1793250860210496256
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.505145286,746,723.494854714,689,669,642.494854714,886.505145286,786,820,655,632,656,0.400979444753,0.00448048331646,0.0798415561714,0.999999955896,0.000112491052695,-0.000270001149311,5.14990363168e-05,1793250860227162880
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.072251059,746,723.927748941,689,669,642.927748941,886,786,819.927748941,655,632,656,0.40098140245,0.00447858875571,0.079843013823,0.999999956682,0.000111043010355,-0.000267638997243,5.17220565697e-05,1793250860243829504
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.658750808,746,723.341249192,689,669,642.341249192,886,786,819.341249192,655,632,656,0.400980364164,0.00447940589911,0.0798427115844,0.999999956386,0.000111958451808,-0.000268357751217,5.17420753415e-05,1793250860260496640
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886.243612806,786,819.243612806,655,632,656,0.400982317697,0.00447967622127,0.07984362715,0.999999956749,0.000111674459336,-0.000267127606426,5.1707045615e-05,1793250860277163520
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,886.826195939,786,819.826195939,655,632,656,0.400988434138,0.00447918567953,0.079846237206,0.999999958016,0.000109721537659,-0.00026318570409,5.15954197181e-05,1793250860293830144
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786,820,655,632.402297454,656,0.401010404457,0.00448032792101,0.079853687323,0.999999961336,0.000111547412088,-0.000249519011386,5.12309486804e-05,1793250860310496512
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746,723,689,669,642,887,786,820,655,632.975643173,656,0.401039115505,0.00448216438693,0.0798631953307,0.999999965255,0.000114979949539,-0.000231717545569,5.07589732773e-05,1793250860327162880
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.448584522,746,723,689.551415478,669,642,887,786,820,655.551415478,632.448584522,656,0.40109887422,0.00448160509463,0.0798804989172,0.999999973234,0.000112666544351,-0.000195898827417,4.96192168428e-05,1793250860343829504
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723,689.869147796,669,642,886.869147796,786,820,656,632.130852204,655.869147796,0.40116221206,0.00448094756674,0.0798969177715,0.999999979227,0.000110572155552,-0.000164221692017,4.84963828698e-05,1793250860360496128
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723,689.277177008,669,642,886.277177008,786,820,656,632.722822992,655.277177008,0.401233308428,0.00448031842875,0.0799090000526,0.99999998156,0.000110147931777,-0.000149956278049,4.75375883015e-05,1793250860377162752
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.306157846,746,723,689.306157846,669,642,886.306157846,786,819.693842154,655.693842154,633,655,0.401314496805,0.00448190907566,0.0799180910681,0.999999983668,0.000109560686508,-0.00013643277333,4.52474507546e-05,1793250860393829888
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.881888696,746,723,689.881888696,669,642,886.881888696,786,819.118111304,655.118111304,633,655,0.401404571226,0.0044854542506,0.0799245482635,0.999999985571,0.000108829900296,-0.000123562523034,4.17850613317e-05,1793250860410497280
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,723,690,669,642,887,786,819.45755688,655,632.54244312,655.45755688,0.401513042673,0.00448680676499,0.0799275762901,0.999999986659,0.000106900081667,-0.000117387795989,3.83967365624e-05,1793250860427163648
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.965995039,746,723,689.965995039,669,642,887,786.034004961,820,655.034004961,632,656,0.40162763684,0.00448766340548,0.0799299070396,0.999999987559,0.000104723107389,-0.000112655014236,3.49794905734e-05,1793250860443830272
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.37654357,746,723,689.37654357,669,642,887,786.62345643,820,655.62345643,632,656,0.401764681822,0.00448966426786,0.0799353051878,0.999999988834,0.000103563984088,-0.000103247935229,3.07775899871e-05,1793250860460496640
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.209151264,746.209151264,723,689.209151264,669,642,887,786.790848736,820,656,632,655.790848736,0.401913585031,0.00449149986021,0.0799416198774,0.999999990396,0.000100185829295,-9.21313553079e-05,2.61405356259e-05,1793250860477163008
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.788202149,746.788202149,723,689.788202149,669,642,887,786.211797851,820,656,632,655.211797851,0.402083460387,0.00449304315998,0.0799495555381,0.99999999243,9.28831518195e-05,-7.79913964309e-05,2.07338797836e-05,1793250860493829632
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.63506396,746.63506396,723,689.63506396,669,642,886.63506396,786,820,656,632,655,0.402270696948,0.00449572718647,0.0799548962234,0.999999993677,8.78635218347e-05,-6.86442656185e-05,1.46208514746e-05,1793250860510496256
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.059666245,746.059666245,723,689.059666245,669,642,886.059666245,786,820,656,632,655,0.402467945879,0.00449906907977,0.0799587403653,0.9999999945,8.41605438073e-05,-6.20611976327e-05,8.10045172606e-06,1793250860527163136
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746.516433517,723,689.516433517,669.516433517,642,886.516433517,786.516433517,820,655.483566483,632,655.516433517,0.402686173999,0.0045033625784,0.0799542208497,0.999999994389,7.77722083443e-05,-7.19302654047e-05,4.41058373066e-07,1793250860543830016
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.09474013,746.90525987,723,690,669.90525987,642.09474013,887,786.90525987,819.90525987,655,632,656,0.402911805977,0.00450747297528,0.0799492371031,0.999999994071,7.05713730548e-05,-8.25961944249e-05,-7.38777223479e-06,1793250860560496896
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.684145482,746.315854518,723,690,669.315854518,642.684145482,887,786.315854518,819.315854518,655,632,656,0.403163422939,0.00451005251749,0.0799468816512,0.999999994209,6.07503681277e-05,-8.74846357144e-05,-1.5413261681e-05,1793250860577163520
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,723.26864419,690.26864419,669,643,887.26864419,786,819.537288381,655.26864419,632,656,0.403443552685,0.00451363373997,0.0799475710854,0.999999994491,5.53809087552e-05,-8.60843145759e-05,-2.325459871e-05,1793250860593830144
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,723.847477425,690.847477425,669,643,887.847477425,786,820.69495485,655.847477425,632,656,0.403756604599,0.0045183715488,0.0799517762866,0.999999995005,5.51514109788e-05,-7.74226963174e-05,-3.08833043345e-05,1793250860610496512
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.577311471,746,723.577311471,690.577311471,669,642.577311471,887.577311471,786.422688529,820.577311471,656,632,655.577311471,0.404098468519,0.0045248130907,0.0799558144295,0.99999999154,0.000107574574295,-6.97855011299e-05,-2.18415340873e-05,1793250860627162880
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.003396281,746,723.003396281,690.003396281,669,642.003396281,887.003396281,786.996603719,820.003396281,656,632,655.003396281,0.404450640596,0.00453186418266,0.0799597928033,0.999999982032,0.000178835452327,-6.25148170071e-05,-6.83551275986e-06,1793250860643829248
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.569483069,746,723,690,669,642.569483069,887,786.430516931,820,655.430516931,632.569483069,655.569483069,0.40485544336,0.00454243604962,0.0799589366208,0.999999989645,0.000130196755456,-5.87626614389e-05,-1.75088738716e-05,1793250860660496384
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746.147642369,723,690.147642369,669,642.852357631,887,786.147642369,820,655,633,655.852357631,0.405265513153,0.00455106599267,0.0799571782374,0.999999994627,8.21876595798e-05,-5.72613864339e-05,-2.66851381348e-05,1793250860677163264
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746.741787949,723,690.741787949,669,642.258212051,887,786.741787949,820,655,633,655.258212051,0.405690564021,0.00455375974112,0.0799527784357,0.999999996839,3.8241189468e-05,-6.25039291759e-05,-3.08715398903e-05,1793250860693829888
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746.672783501,723,691.327216499,669,642,887.327216499,787,820,655,632.672783501,655,0.406142730344,0.00456244767453,0.0799480687422,0.999999995639,5.24982669776e-05,-7.08790234292e-05,-3.06965486057e-05,1793250860710496768
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746.09405515,723,691.90594485,669,642,887.90594485,787,820,655,632.09405515,655,0.406615738749,0.00457574298154,0.0799431208528,0.999999990081,0.000111492943545,-8.16619240659e-05,-2.71692143945e-05,1793250860727163392
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,723,692,669.480824919,642,888,786.519175081,820,655,632,655.480824919,0.407115331903,0.00458572105121,0.0799377841064,0.999999986384,0.000133759844741,-9.16948354355e-05,-3.05282652971e-05,1793250860743829760
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.056324368,723.056324368,692,669.943675632,642,887.887351263,786.056324368,820,655,632.056324368,656,0.407623155654,0.00459482216506,0.0799319067425,0.999999983368,0.000146497929233,-0.00010293134468,-3.47477010169e-05,1793250860760496384
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.644730056,723.644730056,692,669.355269944,642,886.710539888,786.644730056,820,655,632.644730056,656,0.408159996212,0.00460172015159,0.0799216351673,0.999999982029,0.000136550023008,-0.000126912826267,-3.44706877832e-05,1793250860777163008
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.230198232,747,724,692.230198232,669.230198232,642.230198232,886.460396464,786.769801768,820,655,632.769801768,656,0.408729999612,0.00460999380078,0.0799182219043,0.999999980089,0.000141422111719,-0.000136359306699,-3.50449375349e-05,1793250860793829888
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.811189971,747,724,692.811189971,669.811189971,642.811189971,887.622379942,786.188810029,820,655,632.188810029,656,0.40935053903,0.00462036378855,0.0799252598577,0.999999977413,0.000168878032173,-0.000123656249706,-3.69164063423e-05,1793250860810497024
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.611609541,746.611609541,724,693,669.611609541,642.611609541,888,786,820,655,632,656,0.410020858769,0.00462731830506,0.0799538303535,0.999999982549,0.000166971265431,-7.46571457072e-05,-3.80518129625e-05,1793250860827164160
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.036234312,746.036234312,724,693,669.036234312,642.036234312,888,786,820,655,632,656,0.410715144482,0.00463262849379,0.0799927673692,0.999999987823,0.000150928271189,-8.1838534331e-06,-3.88328532719e-05,1793250860843831040
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,724,693,669,642,887.4634833,786.5365167,820,655,632.5365167,656,0.411387514599,0.00462826758228,0.0799936506314,0.999999986735,0.000157466220216,-1.18117702756e-05,-3.99380949483e-05,1793250860860497408
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,724,693.113421168,669,642,887.226842337,787,820,655.113421168,632.886578832,656,0.412062474009,0.00462018123737,0.0799848796538,0.999999986012,0.0001594740418,-2.94240838828e-05,-4.0976011862e-05,1793250860877164032
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,724,693.70872108,669,642,888.417442161,787,820,655.70872108,632.29127892,656,0.412754691755,0.00459902854789,0.0799459576095,0.999999986179,0.000135787578754,-8.64337612645e-05,-4.16353225565e-05,1793250860893830656
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.295552991,746,724,694.295552991,669,642,888.704447009,787,820,655.704447009,632,656,0.413483028111,0.00458193926199,0.0799222192991,0.999999986258,0.000111209851612,-0.000115383086889,-4.24589606215e-05,1793250860910497280
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.874271878,746,724,694.874271878,669,642,888.125728122,787,820,655.125728122,632,656,0.414245969372,0.00456874307349,0.0799130283435,0.999999988481,8.57782121853e-05,-0.000117448121601,-4.34400390061e-05,1793250860927163904
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.55077272,746,724,694.55077272,669,642.44922728,888,787,820,655,632,656,0.415040837443,0.004572589517,0.0799334445438,0.999999990634,9.96639517919e-05,-8.3322796246e-05,-4.30875768578e-05,1793250860943830272
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,724,694.023693663,669,643,888.023693663,787.023693663,820.023693663,655.023693663,632,656,0.415844018246,0.00458133260144,0.0799604707659,0.999999990588,0.00012346707463,-4.22181201685e-05,-4.23999889953e-05,1793250860960496640
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,724,694.61138485,669,643,888.61138485,787.61138485,820.61138485,655.61138485,632,656,0.416634141679,0.00459403754976,0.0799492330306,0.999999988715,0.000123580725327,-7.40795829965e-05,-4.25455336168e-05,1793250860977163264
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.196148994,723.803851006,695,669,643,889.196148994,787.803851006,821.196148994,655.803851006,632,656,0.417458692812,0.00460244676788,0.0799476708161,0.999999987741,0.000128363345619,-7.85016636915e-05,-4.33409538653e-05,1793250860993829888
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.77519924,723.22480076,695,669,643,889.77519924,787.22480076,821.77519924,655.22480076,632,656,0.418350450001,0.00460247031656,0.0799649961275,0.999999988419,0.000142260232918,-2.93594921998e-05,-4.54049923418e-05,1793250861010496768
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746.646800331,723.353199669,695.353199669,669.353199669,643,890.353199669,787.353199669,822.353199669,655.353199669,632,656,0.419238032667,0.00459952113356,0.0799778458946,0.999999989944,0.000133742533918,6.22062447476e-07,-4.71584711804e-05,1793250861027163392
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746.069466121,723.930533879,695.930533879,669.930533879,643,890.930533879,787.930533879,822.930533879,655.930533879,632,656,0.420122966217,0.00459468550525,0.0799878555563,0.999999992483,0.000111000916742,1.84446115205e-05,-4.87148740633e-05,1793250861043829760
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.500897128,724,696,669.499102872,643,891.500897128,788,823.500897128,655.499102872,632.500897128,656,0.420982646428,0.00459083111065,0.0799727600492,0.999999992902,0.000107946506149,-7.82431470183e-06,-4.98236406493e-05,1793250861060496128
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.926560091,747,724,696,669,643,892,787.926560091,823.926560091,655.073439909,632.926560091,656,0.421851499154,0.00458821145947,0.0799599340169,0.999999992331,0.000108738274355,-3.1002716028e-05,-5.05177589932e-05,1793250861077163008
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.331776547,747,724,696,669,643,892,787.331776547,823.331776547,655.668223453,632.331776547,656,0.422809987069,0.0045934043815,0.0799875956303,0.999999991829,0.000117717687321,1.05705836222e-05,-4.87029743493e-05,1793250861093829632
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.255971824,747,723.744028176,696,669,643,892,787,823.255971824,655.744028176,632.255971824,656,0.423739249124,0.00459979336853,0.0799994319198,0.999999990717,0.000125659444764,2.25296786795e-05,-4.76146857063e-05,1793250861110496512
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.834845583,747,723.165154417,696,669,643,892,787,823.834845583,655.165154417,632.834845583,656,0.424631643632,0.00460769116179,0.0799913049699,0.99999999012,0.000132292227563,-2.86878540874e-06,-4.744285308e-05,1793250861127163136
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,787,824.409703918,655,632.590296082,656,0.425519071105,0.00461380709118,0.0799562121097,0.999999987157,0.000138600597504,-6.42181502893e-05,-4.84893978845e-05,1793250861143830016
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,787,824.982959284,655,632.017040716,656,0.426404515713,0.00461921171029,0.0799103546137,0.99999997848,0.00014477946264,-0.000139918906176,-5.00223117311e-05,1793250861160496640
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,643,892,786.428780088,825,655,632,656,0.427332875633,0.00461167375207,0.0799027746819,0.999999980918,0.00013324841305,-0.000133224766182,-5.15771731496e-05,1793250861177163264
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.842592501,747,723,695.842592501,669,643,892.157407499,786,825,655,632.157407499,656,0.428272714038,0.0046040917952,0.0799031605755,0.999999983415,0.00012330691975,-0.000123509982592,-5.20547334115e-05,1793250861193829888
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.263194951,747,723,695.263194951,669,643,892.736805049,786,825,655,632.736805049,656,0.429239799991,0.00459745490756,0.0799217579787,0.999999985353,0.00011908141462,-0.000112464637739,-4.9642379717e-05,1793250861210496256
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723,695.313964677,669,643,893,786.313964677,825,655,633,656,0.430222759611,0.00459736802613,0.0799588334793,0.999999989776,0.000119022415366,-6.24219890292e-05,-4.88400860202e-05,1793250861227162880
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723,695.889261516,669,643,893,786.889261516,825,655,633,656,0.431218931817,0.0046027331191,0.0800112894389,0.999999991085,0.000122431455492,2.00805204414e-05,-4.93779444176e-05,1793250861243829760
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,893.465860422,787,825.465860422,655.465860422,632.534139578,656,0.432148953114,0.00461042415423,0.0800199890307,0.999999989701,0.000131059277384,3.11007232154e-05,-4.95420474887e-05,1793250861260496640
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,894,786.956371398,826,655.956371398,632,656,0.433057029097,0.0046184456015,0.080012971697,0.999999988757,0.000140293000663,1.7936313032e-05,-4.98278904695e-05,1793250861277163264
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,894,786.367877245,826,655.367877245,632,656,0.433887965378,0.00462366917701,0.0799399319868,0.999999985023,0.000141557423104,-8.44614301824e-05,-5.27467719289e-05,1793250861293829888
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669.217175552,643,894.217175552,786,826,655,632.217175552,656.217175552,0.434762904508,0.00462576255291,0.0798982767065,0.999999979135,0.000137885526738,-0.000140271087133,-5.51489822333e-05,1793250861310496512
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+237,3.950000000,POSE1_TO_POSE2_PRESS,768.555116202,747,723,696,652,637,898,783.444883798,828,655.555116202,632,657,0.455592275387,0.00482728655719,0.0795164897588,0.999999659613,0.000342340090344,-0.000746920031755,-7.54130398289e-05,1793250862293830144
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.019468993,747,723,696,652,637,897.980531007,783.980531007,828,655.019468993,632,656.980531007,0.455591773019,0.00482772218736,0.0795150102702,0.999999658084,0.000343596633812,-0.000748412010373,-7.51856136725e-05,1793250862310497024
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.608290835,747,723,696,652,637,897.391709165,783.391709165,828,655.608290835,632,656.391709165,0.455591895509,0.00482528860732,0.0795153998533,0.999999659601,0.000338511832123,-0.000748696781215,-7.523800666e-05,1793250862327163392
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.806293627,747,722.806293627,696.193706373,652,637,897.193706373,783,828,656,632,656.193706373,0.455592166958,0.00482418902387,0.0795154885669,0.999999660343,0.000335632896416,-0.000748985155722,-7.54087084363e-05,1793250862343830016
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.227647248,747,722.227647248,696.772352752,652,637,897.772352752,783,828,656,632,656.772352752,0.455592734422,0.00482574040471,0.0795149793825,0.999999659584,0.000337137534205,-0.000749280691571,-7.58145175295e-05,1793250862360496640
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.350415064,747,722.350415064,696.649584936,652,637,898,783,828,656,631.649584936,657,0.455592943775,0.00482679368609,0.0795147742606,0.999999659052,0.000338318812097,-0.00074948242872,-7.5581546658e-05,1793250862377163008
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.928098546,747,722.928098546,696.071901454,652,637,898,783,828,656,631.071901454,657,0.455592920868,0.00482752391542,0.0795147663445,0.999999658666,0.00033929036866,-0.000749623330911,-7.49342827587e-05,1793250862393829632
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783,828,656,631.50422269,656.49577731,0.455592894985,0.00482702400343,0.0795142630201,0.999999657894,0.000340288501667,-0.000750231179107,-7.46213975813e-05,1793250862410496512
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783.082080979,828,656,632,656.082080979,0.455593162234,0.00482652259875,0.079513972108,0.999999657463,0.000341027511861,-0.000750484951958,-7.44752748933e-05,1793250862427163136
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747,723,696,652,637,898,783.672040716,828,656,632,656.672040716,0.455595245861,0.004827094007,0.0795154312719,0.99999965948,0.0003401398137,-0.000748137139718,-7.50668767324e-05,1793250862443830016
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,722.743202023,696,651.743202023,637,898,783.743202023,828,656,632,657,0.455595623863,0.00482703240733,0.0795155946975,0.999999659914,0.000338794167385,-0.000748149481877,-7.52571542724e-05,1793250862460496896
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,747,722.164956888,696,651.164956888,637,898,783.164956888,828,656,632,657,0.45559386685,0.00482617843936,0.0795141361812,0.999999658361,0.00033687528383,-0.000751116149654,-7.49450737469e-05,1793250862477163520
+249,4.150000000,HOLD_POSE2,769,747,723,697,651,638,898,783,828,656,631,656,0.455595478296,0.00482753507994,0.0795137440384,0.999999659745,0.000337368299028,-0.000749064967736,-7.48002194152e-05,1793250862510892800
+250,4.166666667,HOLD_POSE2,768.413077867,747.586922133,723,697,651,637.413077867,898,783,828,655.413077867,631.586922133,656.586922133,0.455595932832,0.00482864607956,0.0795140567717,0.999999658519,0.000339282196372,-0.000749807563485,-7.50817676793e-05,1793250862527559424
+251,4.183333333,HOLD_POSE2,768,747.828466727,723,696.828466727,651,637,898,783,828,655,632,656.828466727,0.455596199917,0.00482884126284,0.0795142045184,0.99999965802,0.000339614601906,-0.000750309883581,-7.52098953777e-05,1793250862544226048
+252,4.200000000,HOLD_POSE2,768,747.249346709,723,696.249346709,651,637,898,783,828,655,632,656.249346709,0.455596021596,0.00482686034027,0.0795139602341,0.999999659247,0.000336189164878,-0.000750241275689,-7.49734746813e-05,1793250862560892672
+253,4.216666667,HOLD_POSE2,768,747,723,696,651,637,898,783,828,655.328476992,632,656,0.455596485538,0.00482482022314,0.0795144603432,0.999999660476,0.000334051360329,-0.000749585657184,-7.4693081345e-05,1793250862577559040
+254,4.233333333,HOLD_POSE2,768,747,723,696,651,637,898,783,828,655.905320492,632,656,0.455597435104,0.0048227353482,0.0795155232994,0.999999661711,0.00033288715472,-0.000748486190926,-7.43794396331e-05,1793250862594225664
+255,4.250000000,HOLD_POSE2,768.48108882,747,723,696,651,637,898,783,828,656,632,656.48108882,0.455595600497,0.00482322744152,0.07951439338,0.999999659774,0.000334093662522,-0.000750559062006,-7.41256523714e-05,1793250862610892288
+256,4.266666667,HOLD_POSE2,769,747,723,696,651,637,897.942118066,783,828,656,631.942118066,657,0.455593736414,0.00482409357242,0.0795130583196,0.999999657779,0.000335309344184,-0.000752688754373,-7.39477660764e-05,1793250862627558912
+257,4.283333333,HOLD_POSE2,769,747,723,696,651,637,897.354003241,783,828,656,631.354003241,657,0.455596610506,0.00482375063812,0.0795137886095,0.999999661034,0.000332344605362,-0.000749632537361,-7.43575110315e-05,1793250862644225536
+258,4.300000000,HOLD_POSE2,769,747,723,696,651,636.768238526,897.231761474,783,828,656,631,657,0.455598854262,0.00482465962433,0.0795146710014,0.999999662519,0.000332594580299,-0.000747503081253,-7.47178297899e-05,1793250862660892160
+259,4.316666667,HOLD_POSE2,769,747,723,696,651,636.186027494,897.813972506,783,828,656,631,657,0.455600144877,0.00482746165595,0.0795157833888,0.999999661328,0.000337705566239,-0.000746774992711,-7.50034105129e-05,1793250862677558784
+260,4.333333333,HOLD_POSE2,769,747,723,696,651,636.390736936,897.609263064,783,828,656,631.390736936,657,0.455599868041,0.00482617851467,0.0795157624954,0.9999996609,0.00033734542091,-0.000747541548223,-7.46905216093e-05,1793250862694225920
+261,4.350000000,HOLD_POSE2,769,747,723,696,651,636.964943972,897.035056028,783,828,656,631.964943972,657,0.455598855209,0.00482297718517,0.0795152094712,0.99999966083,0.000334416312338,-0.000749009912149,-7.40966219729e-05,1793250862710893312
+262,4.366666667,HOLD_POSE2,769,747,723,696,651,637,897.537475486,783,828,655.462524514,632,656.462524514,0.455599741755,0.00482369868295,0.0795149341767,0.999999660939,0.000335461871381,-0.00074838177618,-7.42360908283e-05,1793250862727559936
+263,4.383333333,HOLD_POSE2,768.885900822,747,723,696,651,637,897.885900822,783,828,655,632,656.114099178,0.455600148059,0.00482459311791,0.0795146044179,0.999999660802,0.000336107516577,-0.00074825869631,-7.44044936052e-05,1793250862744226560
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+265,4.416666667,HOLD_POSE2,768.294906348,747,723,696.294906348,651,637,897.294906348,783.294906348,828,655.294906348,631.705093652,656.705093652,0.455597617321,0.00482543177208,0.0795139414886,0.999999659479,0.000333476199795,-0.000751189103833,-7.44966093865e-05,1793250862777559552
+266,4.433333333,HOLD_POSE2,768.873892103,747,723,696.873892103,651,637,897.873892103,783.873892103,828,655.873892103,631.126107897,656.126107897,0.455598895938,0.00482547223135,0.0795144982893,0.999999660474,0.000334529526045,-0.000749402766222,-7.44155626959e-05,1793250862794225920
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636,898,783,828,656,632,657,0.455597043181,0.00482202773862,0.0795126425426,0.999999659648,0.000332169186669,-0.000751644700297,-7.34674712288e-05,1793250862826944256
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636,897.411044949,783.588955051,828,656,632,657,0.455599227206,0.00482280218349,0.0795142041176,0.999999661462,0.000331419375104,-0.000749514602639,-7.3923654154e-05,1793250862843610880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636.174756791,897,783.825243209,828,656,632,657,0.455600630002,0.00482437241836,0.0795151499789,0.999999662136,0.000332412496682,-0.000748145791999,-7.42089305873e-05,1793250862860277504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,636.753273211,897,783.246726789,828,656,632,657,0.45560022784,0.0048277812536,0.07951467329,0.999999660171,0.000337432506214,-0.000748535865172,-7.40993432444e-05,1793250862876944384
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.668999583,747,722.668999583,696,651,636.668999583,897,783,828,656,632,656.668999583,0.455600559591,0.00482752573533,0.0795150119108,0.999999660533,0.000337193169273,-0.000748152414436,-7.41737509903e-05,1793250862893611008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.091859292,747,722.091859292,696,651,636.091859292,897,783,828,656,632,656.091859292,0.455601437098,0.00482454531541,0.0795159568155,0.999999662625,0.000333042855433,-0.000747193752683,-7.43849819182e-05,1793250862910277888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.483649159,747,722.483649159,696,651,636.483649159,897.483649159,783,828,655.516350841,632,656,0.455599096688,0.00482369348943,0.0795136415799,0.999999660573,0.000332682918959,-0.000750120628598,-7.41230320693e-05,1793250862926944256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,898,783,828,655,631.939798124,656,0.455596380004,0.00482333911893,0.0795110458443,0.999999658073,0.000332937914319,-0.000753365845213,-7.37979611869e-05,1793250862943610880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,898,783,828,655,631.351372487,656,0.455595706393,0.00482381419131,0.0795114036372,0.999999658607,0.000332293095241,-0.000752950845736,-7.37049487441e-05,1793250862960277504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.766210595,747,723,696,651,637,898,783,828,655.233789405,631,656.233789405,0.455588899286,0.00482471317647,0.0795084627602,0.999999655281,0.000331962081601,-0.00075747764482,-7.39315151056e-05,1793250862976944384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.185886445,747,723,696,651,637,898,783,828,655.814113555,631,656.814113555,0.455573000793,0.00482624050704,0.0795006324243,0.999999646137,0.000332096206632,-0.000769329433195,-7.46317776948e-05,1793250862993611008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.38987392,747,723,696,651,637,898,783,828,656,631.38987392,657,0.455541296045,0.00482618740543,0.079488069489,0.99999962895,0.000332948539971,-0.000791015671258,-7.44236339905e-05,1793250863010277632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.963483563,747,723,696,651,637,898,783,828,656,631.963483563,657,0.455502142287,0.00482538949432,0.0794732762227,0.999999607434,0.000334139342878,-0.000817336587034,-7.37873860444e-05,1793250863026944512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.462186859,783,828,655.462186859,632,656.462186859,0.455443494734,0.00482463331966,0.0794573011111,0.999999584148,0.000334013363165,-0.000845484864518,-7.27665451594e-05,1793250863043611392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.116172967,783,828,655,632,656,0.45538234322,0.00482391633259,0.0794430275469,0.999999563862,0.000334446835944,-0.000869078346051,-7.15833158206e-05,1793250863060278016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.710934415,783,828,655,632,656,0.455316336313,0.00482334909333,0.0794360947288,0.99999955918,0.000337553857454,-0.000873395986277,-6.98388278459e-05,1793250863076944384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.703888593,783.296111407,828,655.296111407,631.703888593,656.296111407,0.455241198892,0.00482303180835,0.0794335804713,0.999999556561,0.000339947116777,-0.000875605290488,-6.80444423027e-05,1793250863093610752
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,723,696,651,637,897.127774684,783.872225316,828,655.872225316,631.127774684,656.872225316,0.455157427676,0.00482295087978,0.0794352443984,0.99999955591,0.00034166544347,-0.000875820955092,-6.62028737993e-05,1793250863110277632
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.553115114,747,723,696,651,637,897,783.553115114,828,655.553115114,631.446884886,657,0.455055260887,0.00482082778294,0.0794382399192,0.999999559167,0.000341834800546,-0.000872226733137,-6.35314594235e-05,1793250863126944256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.02172922,747,723,696,651,637,897.02172922,783,828,655,632,657,0.454946971626,0.00481822629995,0.0794414986975,0.999999563318,0.000341752330465,-0.000867696113789,-6.06034907169e-05,1793250863143610880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.612260022,747,723,696,651,637,897.612260022,783,828,655,632,657,0.454815651563,0.00481833732788,0.0794417146671,0.999999562379,0.000346633566583,-0.000867076395152,-5.71506249213e-05,1793250863160277504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747,722.802650359,696,651,636.802650359,898,783,828,655,632,656.802650359,0.454672445266,0.0048179322693,0.0794419676916,0.999999561737,0.000350625631427,-0.000866444360138,-5.34923095988e-05,1793250863176944128
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.328766079,746.671233921,723,696,652,637,897.328766079,783.671233921,827,655,631,656.328766079,0.453359779821,0.00480364026825,0.0794296883264,0.999999541186,0.000369041655978,-0.00088375893103,-2.01393980207e-05,1793250863276943872
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.258151368,747,723,696,652.258151368,637,897,784,827.258151368,655,631.258151368,656,0.453078524282,0.00480137483511,0.0794359181538,0.999999546749,0.000377780080541,-0.000873854978109,-1.27303766339e-05,1793250863293611008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.83695037,747,723,696,652.83695037,637,897,784,827.83695037,655,631.83695037,656,0.452774488232,0.00479986985009,0.0794450435977,0.999999554395,0.000391017198462,-0.000859241018443,-4.56946450069e-06,1793250863310277632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.58791743,747,723,696,653.41208257,637,897,784,827.58791743,655.41208257,631.58791743,656.41208257,0.452439703643,0.0047960586036,0.0794531951597,0.99999956179,0.000395542183386,-0.00084850447913,2.61942153774e-06,1793250863326944256
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.0142233,747,723,696,653.9857767,637,897,784,827.0142233,655.9857767,631.0142233,656.9857767,0.452092860023,0.00479134288181,0.079460964782,0.999999569087,0.000396650422139,-0.00083928859646,9.42709578666e-06,1793250863343611136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,654.560707029,637,897,783.439292971,827,655.439292971,631.560707029,656.439292971,0.4517096786,0.00478735795535,0.0794779628345,0.999999590321,0.000395382249786,-0.000814122400372,1.53125789249e-05,1793250863360277760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746.860229027,722.860229027,696,655,637,896.860229027,783.139770973,827.139770973,655.139770973,632,656,0.451320294336,0.00478346259854,0.0794943749985,0.999999614263,0.000385745926546,-0.000788895165748,1.78508162356e-05,1793250863376944640
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746.267882396,722.267882396,696,655,637,896.267882396,783.732117604,827.732117604,655.732117604,632,656,0.450913816745,0.00477979710935,0.0795081303936,0.999999646533,0.000349209318534,-0.000764783300127,9.62664965118e-06,1793250863393611008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746.315218861,722,696,655.315218861,637.315218861,896,784,828,655.684781139,632,656,0.450485063118,0.0047737384573,0.0795252870797,0.999999680046,0.000320669431096,-0.000732828247762,6.38646791184e-06,1793250863410277376
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746.890687066,722,696,655.890687066,637.890687066,896,784,828,655.109312934,632,656,0.450037918023,0.00476570397426,0.0795452519231,0.999999714259,0.000298731750121,-0.000694397741779,7.26113673339e-06,1793250863426944000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,722.46669548,696,656.46669548,638,896,784,827.53330452,655.46669548,631.53330452,656,0.449533824949,0.00476067404431,0.0795550926706,0.999999728217,0.000289278887288,-0.000678055927552,1.10861265225e-05,1793250863443610880
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,657.087471669,638,896,784,827,656,631.043735834,656,0.449010582183,0.00475618009376,0.0795606404289,0.999999733951,0.000286509689739,-0.000670648401776,1.55000810912e-05,1793250863460278016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,658.264097028,638,896,784,827,656,631.632048514,656,0.448415176957,0.00474958700021,0.0795422950162,0.999999693165,0.000330508182026,-0.000709990190219,1.86329979735e-05,1793250863476944640
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,659.217992118,638,896,784,827,656,631.782007882,656,0.447813834561,0.00474186387013,0.0795253181717,0.999999659847,0.000364882228361,-0.000739428047821,2.03232605094e-05,1793250863493611520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,659.799979887,638,896,784,827,656,631.200020113,656,0.447202578523,0.00473225384478,0.0795106265159,0.999999643393,0.00038318570863,-0.000752328667167,1.96046289221e-05,1793250863510278144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.378499673,747,723,696.378499673,660.378499673,638.378499673,896,784.378499673,827,656,631.378499673,656,0.446604333662,0.00472211057903,0.079530909835,0.999999674713,0.000365687723399,-0.000718628046951,2.050364391e-05,1793250863526944512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.955203408,747,723,696.955203408,660.955203408,638.955203408,896,784.955203408,827,656,631.955203408,656,0.446012902217,0.00471168807844,0.0795695080502,0.99999972734,0.000329442042708,-0.000660524351183,2.22497510462e-05,1793250863543611136
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.470202558,747,723,696.470202558,661.529797442,639,895.470202558,785,826.470202558,656,631.470202558,656,0.445369661549,0.00470144851999,0.0796160054195,0.999999777786,0.000299922033682,-0.000594870454786,2.45794319249e-05,1793250863560277760
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746.892903379,723,696,662.107096621,639.107096621,894.892903379,785,826.107096621,656,631.107096621,656,0.444709293816,0.00469131634599,0.0796573698749,0.999999817606,0.000272157290688,-0.000538508415379,2.69599597773e-05,1793250863576944384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746.302597363,723,696,662.697402637,639.697402637,894.302597363,785,826.697402637,656,631.697402637,656,0.443991337483,0.0046815991674,0.0796725735388,0.999999829548,0.000249756481348,-0.000526939327685,2.93481534943e-05,1793250863593611008
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,663.861350336,640,894,785,827,655.138649664,632,656,0.442498055767,0.00466540848632,0.0796709821794,0.999999823296,0.00028155370351,-0.00052262547316,3.15773554751e-05,1793250863626944512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.56387263,746,723,696,664.43612737,640.43612737,893.56387263,785.43612737,826.56387263,655,632,656,0.441745122575,0.00465298973331,0.0796840983912,0.999999844815,0.000255685038335,-0.000493967822083,3.1488649983e-05,1793250863643611136
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.835624766,666.164375234,641,892,786.835624766,826,655.835624766,632,656,0.43927653588,0.00462052625737,0.0796501207447,0.999999836376,0.000185988429042,-0.00053982797904,3.52457926046e-05,1793250863693610752
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.243188095,666.756811905,641,892,786.243188095,826,655.243188095,632,656,0.438457677152,0.00460738705414,0.0796713882635,0.99999985644,0.000197081065702,-0.000497033687317,3.51638454118e-05,1793250863710277376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.342833732,667,641,891.657166268,786.342833732,825.657166268,655.342833732,632,656,0.437679330761,0.0045966240122,0.0797325762143,0.999999901243,0.000183995432442,-0.000402940755743,3.60290328125e-05,1793250863726944256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.924388764,667,641,891.075611236,786.924388764,825.075611236,655.924388764,632,656,0.436929193875,0.00458751553468,0.0798215614796,0.999999950126,0.000154074031723,-0.00027312765423,3.75537266102e-05,1793250863743610624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,667,641,891,787.495843678,825,655.504156322,632,656,0.4360589417,0.00457591997709,0.0798608737683,0.999999963491,0.000159630014877,-0.000214031838433,4.1547487545e-05,1793250863760277504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.931585914,723,696,667,641.068414086,891,787.931585914,825,655.068414086,632,656,0.435162956044,0.00456404145491,0.0798847518127,0.999999969404,0.000166625805969,-0.000177121323011,4.53485888281e-05,1793250863776944384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.338900545,723,696,667,641.661099455,891,787.338900545,825,655.661099455,632,656,0.434207330109,0.00455284281403,0.0798472412661,0.999999962349,0.000144025196572,-0.000229233467856,4.48456351504e-05,1793250863793611264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746.247726162,723,696,667.247726162,642,890.752273838,787.247726162,824.752273838,655.752273838,632,656,0.433224593771,0.0045427507615,0.0798004717437,0.999999943191,0.000131281643252,-0.000307216452425,4.4734576768e-05,1793250863810277888
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746.826262303,723,696,667.826262303,642,890.173737697,787.826262303,824.173737697,655.173737697,632,656,0.432205654456,0.00453413642968,0.079741337912,0.999999902215,0.000131701057952,-0.000419746992476,4.51468494432e-05,1793250863826944256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.597232956,722.597232956,696,667.597232956,642,890,787.597232956,824,655,632,656,0.431238211414,0.00452338305077,0.0797143500285,0.99999988089,0.00011935618028,-0.000470909675013,4.7091693386e-05,1793250863843610880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746.021600117,722.021600117,696,667.021600117,642,890,787.021600117,824,655,632,656,0.430292870402,0.00451171160303,0.0797011590442,0.999999870735,0.000101532926353,-0.000495733544971,4.96943100884e-05,1793250863860277504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,722.564311068,696.564311068,667,642,890.564311068,787,823.435688932,655,632,655.435688932,0.42947965149,0.00449935536267,0.0797797875665,0.999999930497,9.49308563316e-05,-0.00035711432666,4.96356628543e-05,1793250863876944384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696.702532177,667.148733911,642,891,787.148733911,823,655,632,655.148733911,0.428633745885,0.00448781799787,0.0798442409373,0.999999964927,8.75405604785e-05,-0.000244915993696,4.99939252176e-05,1793250863893611008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,695.544615091,667.727692454,642,891,787.727692454,823,655,632,655.727692454,0.427678391636,0.00447872652251,0.0798573367735,0.999999969826,7.66048151853e-05,-0.000227574194724,5.18582535018e-05,1793250863910277888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.306501685,746,723,695,668,642,890.693498315,787.693498315,822.693498315,655,632,656,0.426707451556,0.00446580837266,0.0798344557889,0.999999961693,6.31521956771e-05,-0.000264355900997,5.23586796087e-05,1793250863926944256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.885178295,746,723,695,668,642,890.114821705,787.114821705,822.114821705,655,632,656,0.425722671237,0.0044494921185,0.0797796272189,0.99999993657,4.74645803614e-05,-0.000349199531762,5.16479538418e-05,1793250863943610880
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.539193876,746.460806124,723,695,668,642,889.539193876,787,821.539193876,655,632,655.539193876,0.424748241557,0.00444210666233,0.0797485900579,0.999999920241,3.87101112484e-05,-0.000394120854549,5.18459091711e-05,1793250863960277760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.963537872,723,695,668,642,889,787,820.963537872,655,632,655.036462128,0.423781392784,0.00443872979355,0.0797250800344,0.999999906897,3.38875544548e-05,-0.000427001326455,5.22336377519e-05,1793250863976944384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.376051707,723,695,668,642,889,787,820.376051707,655,632,655.623948293,0.422890389335,0.0044625228403,0.0797263217599,0.999999905411,6.25491010202e-05,-0.000427261052416,5.20900224498e-05,1793250863993611008
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.209609433,723,695.209609433,668.209609433,642,889,787,820,655.209609433,632,655.790390567,0.422019623665,0.00448494486608,0.0797533427269,0.999999921663,9.12907111609e-05,-0.000381603712629,5.21309457596e-05,1793250864010277632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746.792024731,723,695.792024731,668.792024731,642,889,787,820,655.792024731,632,655.207975269,0.421184852233,0.0045049284337,0.0798262139801,0.999999959072,0.000120174724204,-0.000254279473988,5.25000840626e-05,1793250864026944256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.367977384,746.632022616,723,695.264045232,668.632022616,642,889,787,820.367977384,655.632022616,632,655.367977384,0.42033134798,0.00450386352815,0.0798558193594,0.999999970877,0.00011670326231,-0.000204640374443,5.24294719478e-05,1793250864043611136
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.483103245,746.516896755,723,694,668,642,889,787,820.483103245,655,632,655.483103245,0.418555724673,0.0044803843751,0.0798185746731,0.999999957763,8.50130265374e-05,-0.000273135725453,5.14085524134e-05,1793250864076944640
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746.903716253,723,694,668.096283747,642,888.903716253,787,820,655,631.903716253,655,0.417655611088,0.00447176714547,0.0797805646502,0.999999937478,7.85193631332e-05,-0.000340983765165,5.10720774798e-05,1793250864093611008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746.312281361,723,694,668.687718639,642,888.312281361,787,820,655,631.312281361,655,0.416843762995,0.00447276429784,0.0797962437481,0.999999942737,8.46313880331e-05,-0.000323368940934,5.28703212287e-05,1793250864110277632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.272091501,746,723,694,668.727908499,642,887.727908499,787,820,655.272091501,631.272091501,655.272091501,0.4160110613,0.00447845024331,0.0797954599357,0.999999939568,9.17283811942e-05,-0.000330998191332,5.37536490338e-05,1793250864126944512
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,693.998438615,668,642,887.998438615,786.998438615,820,655,632,655.001561385,0.413658121269,0.00449791155505,0.0797826858096,0.999999934805,0.000120427820724,-0.000336511199439,5.1461702436e-05,1793250864176944384
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,723,693.411235543,668,642,887.411235543,786.411235543,820,655,632,655.588764457,0.412963215208,0.00448677912107,0.0798004847131,0.999999946993,9.0401823491e-05,-0.000308446055935,5.1976518566e-05,1793250864193611008
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.172589897,746,723,692.827410103,668.172589897,642,887,786,820,655,632,655.827410103,0.412255238542,0.00447722005233,0.0798080016973,0.999999950918,7.53703011925e-05,-0.000299518746083,5.26437319588e-05,1793250864210277632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.74852194,746,723,692.25147806,668.74852194,642,887,786,820,655,632,655.25147806,0.411516715767,0.0044713379319,0.0797914898662,0.999999937793,9.53808223965e-05,-0.000335316499272,5.36670975827e-05,1793250864226944256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,723,692,668.675242219,642,887,786,820,655,632,655.324757781,0.410811847887,0.00447272583339,0.0797830070399,0.999999931913,9.81992393044e-05,-0.000351620838161,5.37851388575e-05,1793250864243610624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723,692,668.098770944,642,887,786,820,655,632,655.901229056,0.41013306531,0.00447974858907,0.0797807473416,0.9999999325,8.76923865215e-05,-0.000352816205606,5.32014806685e-05,1793250864260277248
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723,692.478389535,668,642,887,786,820,655,632,656,0.409533896522,0.00448944285721,0.0798032531149,0.9999999443,0.000106335086753,-0.000311803937009,5.35812509281e-05,1793250864276943872
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.943061511,746,723,692.943061511,668,642,887,786,820,655,632,655.943061511,0.408952570355,0.00449815076088,0.0798288251682,0.999999954848,0.000127482389432,-0.00026666904065,5.42136889162e-05,1793250864293610752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.35284287,746,723,692.35284287,668,642,887,786,820,655,632,655.35284287,0.408384182251,0.00449244702383,0.0798351567353,0.99999995676,0.000115638707792,-0.000264658181662,5.53468853372e-05,1793250864310277376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.232892906,746,723,691.767107094,668.232892906,642,887,786.232892906,820,655,632,655.232892906,0.407805937547,0.00448703958871,0.0798232283411,0.999999950846,0.000103534352616,-0.000290684062776,5.56080272304e-05,1793250864326943744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.811965157,746,723,691.188034843,668.811965157,642,887,786.811965157,820,655,632,655.811965157,0.407213041736,0.00448207258662,0.0797841577653,0.999999930147,9.10425248093e-05,-0.000358384635998,5.45729195531e-05,1793250864343610368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.610525981,746,723,691,668.610525981,642,887,786.610525981,820,655.389474019,632,656,0.406684361838,0.00448180121604,0.0797666445999,0.99999992078,9.913042317e-05,-0.000381835255406,5.30576913681e-05,1793250864360277248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.033768841,746,723,691,668.033768841,642,887,786.033768841,820,655.966231159,632,656,0.406186560859,0.00448378779416,0.0797594975633,0.999999918095,0.000117114321714,-0.000384007775265,5.1311591616e-05,1793250864376943872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,723,691,668,642,887,786.540108531,820,655.459891469,632,656,0.405766103614,0.00449030002917,0.0797798841828,0.999999933102,0.000113788448015,-0.000343820288548,5.13376523263e-05,1793250864393610496
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.117842787,746,723,691,668.117842787,642,887,786.882157213,820,655,632,656,0.405355228655,0.00449600623218,0.079800817288,0.999999945582,0.000112124607407,-0.000305952468316,5.15422794577e-05,1793250864410277120
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.711886548,746,723,691,668.711886548,642,887,786.288113452,820,655,632,656,0.404963638052,0.00449731792253,0.0798170392064,0.999999949638,0.000122532415696,-0.00028810394707,5.20231263159e-05,1793250864426943744
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,746.296745038,723,690.703254962,668.703254962,642,887.296745038,786,820,655,632,656,0.404581107225,0.00449776833731,0.0798264382316,0.999999950891,0.000129044072255,-0.000280694604277,5.26980371793e-05,1793250864443610368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746.872953157,723,690.127046843,668.127046843,642,887.872953157,786,820,655,632,656,0.40420710857,0.00449740763576,0.079829411717,0.999999949791,0.000131886482151,-0.000283116480001,5.3555710056e-05,1793250864460276992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,746.551769034,723,690,668.448230966,642,887.551769034,786,820,655,632,656,0.40385729248,0.0044983952993,0.0798301358106,0.999999948382,0.000132535928976,-0.00028743257743,5.52586665646e-05,1793250864476943616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.976161003,746,723,690,668.976161003,642,887,786,820,655.023838997,632,656,0.40351703323,0.00449961262159,0.0798303464711,0.999999947099,0.000131755679256,-0.000291891340415,5.69434454543e-05,1793250864493610496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.386468379,746,723,690,668.386468379,642,887,786,820,655.613531621,632,656,0.40324125912,0.00449722838491,0.0798334723327,0.999999951185,0.000111762911933,-0.000287018784189,5.25215659702e-05,1793250864510277120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.199303198,746,723,690,668.199303198,642,887,786,820,655.800696802,632,656,0.402975010638,0.00449478238992,0.0798350978774,0.999999953168,9.81125170765e-05,-0.000285481721531,5.03766804848e-05,1793250864526944000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.777618117,746,723,690,668.777618117,642,887,786,820,655.222381883,632,656,0.402726876919,0.00449221895043,0.079833870293,0.999999951827,9.65233134287e-05,-0.00029028771469,5.25619188151e-05,1793250864543610624
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,723,689.648071973,669,642,886.648071973,786,820,655.351928027,632,655.648071973,0.402503826729,0.00449015978832,0.0798316142961,0.999999951068,9.4908144414e-05,-0.000293092729875,5.43415947788e-05,1793250864560277248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746,723,689.076264278,669,642,886.076264278,786,820,655.923735722,632,655.076264278,0.402296448351,0.00448841569135,0.0798287157614,0.999999950681,9.32767524501e-05,-0.000294647562717,5.58678813103e-05,1793250864576943872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.501713689,746,723,689,668.501713689,642,886.498286311,786,820,656,632.498286311,655.498286311,0.402121062267,0.00448812769445,0.0798321965363,0.999999953034,8.92917856147e-05,-0.00028779014969,5.6003720916e-05,1793250864593610496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.075728001,642,886.924271999,786,820,655.924271999,632.924271999,655.924271999,0.401954433432,0.00448835683388,0.0798367221511,0.999999955488,8.65809805035e-05,-0.000279976224362,5.60538330795e-05,1793250864610277376
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.670078679,642,886.329921321,786,820,655.329921321,632.329921321,655.329921321,0.401814059066,0.00449059287001,0.0798416796496,0.999999956188,9.50768936223e-05,-0.000274478009208,5.69823517547e-05,1793250864626944000
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.256374443,786,820,655.256374443,632,655.256374443,0.401683395581,0.00449264593986,0.0798440189907,0.999999953653,0.000124370538537,-0.000271705400872,5.83315524624e-05,1793250864643610624
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.832620275,786,820,655.832620275,632,655.832620275,0.401564848106,0.00449447072754,0.0798430917284,0.999999944974,0.0001796129445,-0.000272333457457,6.0205626472e-05,1793250864660277248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.591860577,642,886.591860577,786,820,655.591860577,632,656,0.401458778529,0.00448872804174,0.0798397003389,0.999999946303,0.000165000180255,-0.000277645462934,5.55131505775e-05,1793250864676943872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.01663893,642,886.01663893,786,820,655.01663893,632,656,0.401357817098,0.0044798874187,0.0798353001965,0.999999950848,0.000121790428946,-0.000284874961422,4.81324908478e-05,1793250864693610496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.556619055,642,886,786,820,655,632,656,0.401280661064,0.00447924297043,0.0798319779941,0.999999949738,0.000118257755186,-0.000290035705508,4.91827624633e-05,1793250864710277120
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.86505262,642,886,786,820,655.13494738,632,656,0.401209075637,0.00447892746894,0.0798285777315,0.999999948482,0.000116428876415,-0.000294862343258,5.03728461482e-05,1793250864726943744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,668.269207453,642,886,786,820,655.730792547,632,656,0.401154094132,0.00447890159617,0.0798248011971,0.999999947289,0.000116382501821,-0.000298758345296,5.11827061865e-05,1793250864743610624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.315693804,746,723,689,668.315693804,642,886,786,820,655.684306196,632,656,0.401109209527,0.00447848557557,0.079823678191,0.999999946958,0.000116119979893,-0.000299817638357,5.20576045472e-05,1793250864760277248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.8915754,746,723,689,668.8915754,642,886,786,820,655.1084246,632,656,0.401072646559,0.00447774800382,0.0798247421633,0.999999947343,0.000115679314149,-0.000298538979583,5.29861061315e-05,1793250864776943872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.468529779,786,820,655.468529779,632,655.531470221,0.401045714163,0.00447917757636,0.0798254321736,0.999999947273,0.000116217026248,-0.000298507207354,5.32981775748e-05,1793250864793610752
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.953460378,786,820,655.953460378,632,655,0.401021925337,0.0044807896081,0.0798260485512,0.999999947185,0.000116660543713,-0.000298600052973,5.34689420937e-05,1793250864810277120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886.366076061,786,820,655.366076061,632,655,0.401008709447,0.00447868053905,0.0798268172387,0.999999948094,0.000113372213636,-0.000296780147505,5.36591297103e-05,1793250864826943744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655.218272567,632,655.218272567,0.400998362888,0.00447758915336,0.0798281331688,0.99999994911,0.000111786665815,-0.000293924918698,5.37753710592e-05,1793250864843610368
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746,723,689,669,642,886,786,820,655.797599688,632,655.797599688,0.400992762621,0.00447818116399,0.0798303543177,0.999999950304,0.000113017767566,-0.0002893571147,5.3769294521e-05,1793250864860277248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.625978147,746,723,689,669,642,886,786,820,656,632.374021853,656,0.400986514635,0.00447952439535,0.0798305445361,0.999999950406,0.000114127302102,-0.000288625793372,5.34662056445e-05,1793250864876944128
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.051115889,746,723,689,669,642,886,786,820,656,632.948884111,656,0.40097991884,0.00448127101348,0.0798296441955,0.999999949926,0.000115171558038,-0.000289954567685,5.30036285523e-05,1793250864893610752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.525415889,746,723,689,669,642,886.525415889,786,820,656,632.474584111,655.474584111,0.400979727336,0.00447996220141,0.0798312926811,0.999999950833,0.000113207592789,-0.00028764864624,5.27000155196e-05,1793250864910277376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.895161459,746,723,689,669,642,886.895161459,786,820,655.895161459,632,655.104838541,0.400979733936,0.00447863483192,0.0798327591013,0.999999951676,0.000111428660406,-0.000285452039391,5.24332901459e-05,1793250864926943744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.303060241,746,723,689,669,642,886.303060241,786,820,655.303060241,632,655.696939759,0.400977756263,0.00447860716879,0.0798322231694,0.999999951646,0.000111874255837,-0.000285412212871,5.22659024857e-05,1793250864943610624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,655,632.280088931,655.719911069,0.400977356658,0.00447885936266,0.0798328470918,0.99999995188,0.000112535809655,-0.00028431604961,5.23475210227e-05,1793250864960277248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,655,632.85385193,655.14614807,0.400978611664,0.00447940498742,0.079834687125,0.999999952386,0.000113423796529,-0.000282112314166,5.26902232679e-05,1793250864976943872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.431736235,669,642,886.431736235,786,820,655,632.568263765,655.431736235,0.400977407154,0.00447938235463,0.0798344650109,0.999999952245,0.000113669074458,-0.000282531444723,5.25836361022e-05,1793250864993610496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,723,689.988816438,669,642,886.988816438,786,819.988816438,655,632,656,0.400975403008,0.00447916364065,0.0798335660437,0.999999951893,0.000113678970882,-0.000283817568876,5.23293524261e-05,1793250865010277376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.401408686,669,642,886.401408686,786,819.401408686,655,632,656,0.400975509445,0.00447884883331,0.0798341065139,0.999999952047,0.000112878922862,-0.000283587015245,5.23769665653e-05,1793250865026944000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,819.183411081,655.183411081,632.183411081,656,0.400976001944,0.00447888084969,0.0798347287593,0.999999952387,0.000111971530659,-0.000282756513595,5.23174562981e-05,1793250865043610624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,819.762645626,655.762645626,632.762645626,656,0.400977327612,0.00447966135394,0.0798355274853,0.999999953128,0.000110832476677,-0.000280631251021,5.20267585041e-05,1793250865060277248
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.340999407,786,819.659000593,655.659000593,633,656,0.400977627312,0.00448001975886,0.0798363027228,0.999999953427,0.000111097812677,-0.000279458116275,5.20177568008e-05,1793250865076943872
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.918741683,786,819.081258317,655.081258317,633,656,0.40097721472,0.00448008511631,0.079837061653,0.999999953422,0.000112338163071,-0.000278946007616,5.22043259502e-05,1793250865093610496
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886.506985167,786,819.493014833,655.493014833,632.506985167,656,0.400976964683,0.00447975945578,0.0798365671142,0.999999953217,0.000112846967733,-0.000279487182082,5.21310558264e-05,1793250865110277120
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.068556813,746,723,689,669,642,886.068556813,786,820,656,632.068556813,655.931443187,0.400976753203,0.00447944707688,0.0798359428725,0.999999953014,0.000113060466151,-0.000280148800493,5.20245875986e-05,1793250865126943744
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.658054309,746,723,689,669,642,886.658054309,786,820,656,632.658054309,655.341945691,0.40097663255,0.00447972191269,0.0798358919455,0.999999953067,0.000111939820501,-0.000280415710603,5.19890086148e-05,1793250865143610368
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diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83b73752585823d230fb82b4e1207338787df46a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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+233,3.883333333,pose1_to_pose2_press,0.622543435031,0.0101502181261,1.07003356449,0.59311411002,0.0188228479478,1.06970495787
+234,3.900000000,pose1_to_pose2_press,0.622544428153,0.0101501563756,1.07003361309,0.593115104123,0.0188227895474,1.06970500754
+235,3.916666667,pose1_to_pose2_press,0.622544820629,0.0101502170866,1.07003351765,0.593115495648,0.0188228470891,1.06970491401
+236,3.933333333,pose1_to_pose2_press,0.622544822134,0.0101502173347,1.07003351726,0.593115497149,0.0188228473242,1.06970491363
+237,3.950000000,pose1_to_pose2_press,0.62254486724,0.0101502247712,1.07003350568,0.593115542139,0.0188228543723,1.06970490227
+238,3.966666667,pose1_to_pose2_press,0.622544914282,0.0101502325267,1.07003349359,0.593115589058,0.0188228617226,1.06970489042
+239,3.983333333,pose1_to_pose2_press,0.622544939496,0.0101502366837,1.07003348711,0.593115614208,0.0188228656625,1.06970488407
+240,4.000000000,pose1_to_pose2_press,0.622545014506,0.0101502490504,1.07003346784,0.593115689024,0.0188228773831,1.06970486518
+241,4.016666667,pose1_to_pose2_press,0.622545143325,0.0101502702881,1.07003343475,0.59311581751,0.0188228975114,1.06970483273
+242,4.033333333,pose1_to_pose2_press,0.622545255492,0.0101502887806,1.07003340594,0.593115929387,0.0188229150379,1.06970480448
+243,4.050000000,pose1_to_pose2_press,0.622545367188,0.0101503071954,1.07003337725,0.593116040795,0.0188229324907,1.06970477635
+244,4.066666667,pose1_to_pose2_press,0.622545613135,0.0101502513775,1.07003332272,0.593116287535,0.0188228792628,1.06970471924
+245,4.083333333,pose1_to_pose2_press,0.622545845245,0.0101501053315,1.07003327966,0.593116521777,0.0188227402228,1.06970467003
+246,4.100000000,pose1_to_pose2_press,0.622545875009,0.0101500977621,1.07003330555,0.593116552048,0.0188227344412,1.06970469763
+247,4.116666667,pose1_to_pose2_press,0.622545874191,0.0101501164563,1.07003335689,0.593116551604,0.0188227545599,1.06970475305
+248,4.133333333,pose1_to_pose2_press,0.622545874033,0.0101501200572,1.07003336678,0.593116551519,0.0188227584349,1.06970476372
+249,4.150000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584355,1.06970476372
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+251,4.183333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584356,1.06970476372
+252,4.200000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584357,1.06970476372
+253,4.216666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584357,1.06970476372
+254,4.233333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584358,1.06970476372
+255,4.250000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+256,4.266666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+257,4.283333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584359,1.06970476372
+258,4.300000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.018822758436,1.06970476372
+259,4.316666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584361,1.06970476372
+260,4.333333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584361,1.06970476372
+261,4.350000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584362,1.06970476372
+262,4.366666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584362,1.06970476372
+263,4.383333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584363,1.06970476372
+264,4.400000000,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584364,1.06970476372
+265,4.416666667,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584364,1.06970476372
+266,4.433333333,pose2_hold,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584366,1.06970476372
+267,4.450000000,pose2_to_pose3_retreat,0.622545874033,0.0101501200572,1.07003336678,0.593116551521,0.0188227584368,1.06970476372
+268,4.466666667,pose2_to_pose3_retreat,0.622545801615,0.0101501491033,1.07003343289,0.593116477692,0.0188227823585,1.06970482092
+269,4.483333333,pose2_to_pose3_retreat,0.62254559665,0.010150281499,1.07003377228,0.59311627117,0.0188229093521,1.06970515729
+270,4.500000000,pose2_to_pose3_retreat,0.622545069673,0.0101502322244,1.0700337023,0.593115744658,0.0188228617926,1.06970509093
+271,4.516666667,pose2_to_pose3_retreat,0.62254505402,0.0101502307607,1.07003370022,0.593115729019,0.0188228603799,1.06970508896
+272,4.533333333,pose2_to_pose3_retreat,0.622544544304,0.0101501831001,1.07003363254,0.593115219753,0.0188228143781,1.06970502478
+273,4.550000000,pose2_to_pose3_retreat,0.62254395406,0.0101501656763,1.07003361844,0.593114629699,0.0188227976341,1.06970501163
+274,4.566666667,pose2_to_pose3_retreat,0.622542404665,0.0101501396278,1.07003361494,0.59311308063,0.0188227727233,1.06970500903
+275,4.583333333,pose2_to_pose3_retreat,0.622538432876,0.0101502605309,1.07003342156,0.593109107016,0.0188228874714,1.0697048169
+276,4.600000000,pose2_to_pose3_retreat,0.622529671166,0.0101500630619,1.0700333472,0.593100346505,0.018822694206,1.06970474672
+277,4.616666667,pose2_to_pose3_retreat,0.62251486897,0.0101500664353,1.07003350831,0.593085547623,0.0188227084005,1.06970489777
+278,4.633333333,pose2_to_pose3_retreat,0.622490321234,0.010150063206,1.07003348874,0.593060998765,0.0188227015642,1.06970488424
+279,4.650000000,pose2_to_pose3_retreat,0.622456500969,0.0101502213575,1.07003356225,0.593027176599,0.0188228532036,1.06970495969
+280,4.666666667,pose2_to_pose3_retreat,0.622414045054,0.0101501392999,1.07003371923,0.592984722503,0.0188227772952,1.06970511145
+281,4.683333333,pose2_to_pose3_retreat,0.622363975467,0.0101501441248,1.07003366431,0.592934651221,0.0188227757343,1.06970505094
+282,4.700000000,pose2_to_pose3_retreat,0.622305963889,0.0101501603399,1.07003354182,0.592876640281,0.018822794066,1.06970493147
+283,4.716666667,pose2_to_pose3_retreat,0.622240571434,0.0101500912505,1.07003338697,0.592811249407,0.0188227308094,1.06970478627
+284,4.733333333,pose2_to_pose3_retreat,0.622167042352,0.0101501196848,1.07003343669,0.592737719364,0.0188227555607,1.06970483042
+285,4.750000000,pose2_to_pose3_retreat,0.622082214152,0.0101501530682,1.0700335069,0.59265289039,0.0188227860918,1.06970489735
+286,4.766666667,pose2_to_pose3_retreat,0.621985642519,0.0101501551199,1.07003347771,0.592556319547,0.0188227911921,1.06970487467
+287,4.783333333,pose2_to_pose3_retreat,0.621875005546,0.0101502272766,1.07003348168,0.592445682593,0.0188228631901,1.06970487765
+288,4.800000000,pose2_to_pose3_retreat,0.62174943167,0.0101501921691,1.07003346867,0.592320108454,0.0188228271097,1.06970486707
+289,4.816666667,pose2_to_pose3_retreat,0.6216070332,0.0101502778298,1.07003346516,0.592177708764,0.0188229084559,1.06970486385
+290,4.833333333,pose2_to_pose3_retreat,0.621445935532,0.0101502701049,1.07003355914,0.59201661199,0.018822903659,1.06970495919
+291,4.850000000,pose2_to_pose3_retreat,0.621266607244,0.0101500978102,1.07003359192,0.591837285482,0.0188227371097,1.06970498977
+292,4.866666667,pose2_to_pose3_retreat,0.621070621094,0.0101501075702,1.07003358543,0.59164129832,0.0188227431899,1.06970498464
+293,4.883333333,pose2_to_pose3_retreat,0.62085890266,0.0101502198954,1.07003361108,0.591429578281,0.0188228496023,1.06970500541
+294,4.900000000,pose2_to_pose3_retreat,0.620630153227,0.0101501612525,1.07003360188,0.591200829549,0.0188227927858,1.06970498913
+295,4.916666667,pose2_to_pose3_retreat,0.620385135855,0.0101500157386,1.07003351026,0.590955813831,0.0188226526358,1.06970489983
+296,4.933333333,pose2_to_pose3_retreat,0.620123068213,0.0101503079561,1.07003350536,0.590693743914,0.018822937051,1.06970490018
+297,4.950000000,pose2_to_pose3_retreat,0.619840215898,0.0101502855427,1.0700336447,0.590410890505,0.0188229101683,1.06970502936
+298,4.966666667,pose2_to_pose3_retreat,0.619538891192,0.0101501386336,1.07003341719,0.590109568448,0.0188227722421,1.06970481082
+299,4.983333333,pose2_to_pose3_retreat,0.619219851931,0.010150069304,1.07003352301,0.589790530983,0.018822708686,1.06970491807
+300,5.000000000,pose2_to_pose3_retreat,0.618884582397,0.0101501367655,1.07003366944,0.589455260498,0.0188227725613,1.0697050654
+301,5.016666667,pose2_to_pose3_retreat,0.61853200939,0.0101501710419,1.07003364574,0.589102686647,0.0188228036034,1.06970504243
+302,5.033333333,pose2_to_pose3_retreat,0.618158605103,0.010150088323,1.07003347601,0.588729283372,0.0188227239356,1.06970487266
+303,5.050000000,pose2_to_pose3_retreat,0.617762194586,0.0101502078051,1.07003345418,0.588332870451,0.0188228352545,1.06970485777
+304,5.066666667,pose2_to_pose3_retreat,0.617333196152,0.0101501714434,1.07003360733,0.587903874214,0.0188228055819,1.06970500122
+305,5.083333333,pose2_to_pose3_retreat,0.616874607409,0.0101502729069,1.07003362999,0.587445285443,0.0188229064707,1.06970502098
+306,5.100000000,pose2_to_pose3_retreat,0.616387636053,0.0101502418698,1.07003361301,0.586958313434,0.0188228730576,1.0697050081
+307,5.116666667,pose2_to_pose3_retreat,0.615884489068,0.0101502023194,1.07003353693,0.586455166895,0.0188228347328,1.06970493314
+308,5.133333333,pose2_to_pose3_retreat,0.615369569527,0.0101501910381,1.07003349071,0.585940247609,0.0188228238671,1.06970488519
+309,5.150000000,pose2_to_pose3_retreat,0.614846366495,0.0101501713631,1.07003348822,0.585417044924,0.0188228050743,1.06970488311
+310,5.166666667,pose2_to_pose3_retreat,0.614313014779,0.0101501154028,1.07003347793,0.584883694624,0.0188227539338,1.06970487586
+311,5.183333333,pose2_to_pose3_retreat,0.613761183784,0.0101500192177,1.07003349047,0.584331863598,0.0188226575078,1.06970488533
+312,5.200000000,pose2_to_pose3_retreat,0.613185463181,0.010150129107,1.07003358813,0.583756140964,0.0188227606221,1.06970498592
+313,5.216666667,pose2_to_pose3_retreat,0.612581341739,0.0101502908995,1.0700335802,0.583152018215,0.0188229181675,1.06970498299
+314,5.233333333,pose2_to_pose3_retreat,0.611958466777,0.0101501799137,1.0700336956,0.582529144575,0.0188228112046,1.06970508679
+315,5.250000000,pose2_to_pose3_retreat,0.61131944811,0.0101501319398,1.07003363114,0.581890126097,0.0188227639073,1.06970502275
+316,5.266666667,pose2_to_pose3_retreat,0.610655273962,0.0101501799807,1.0700335037,0.581225951661,0.0188228113524,1.06970490453
+317,5.283333333,pose2_to_pose3_retreat,0.609971454219,0.0101501277067,1.07003360472,0.580542133768,0.0188227651878,1.0697050011
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+319,5.316666667,pose2_to_pose3_retreat,0.608577836882,0.0101501932049,1.07003360842,0.579148514484,0.0188228240471,1.0697050038
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+321,5.350000000,pose2_to_pose3_retreat,0.6071799043,0.0101502443738,1.07003365524,0.57775058175,0.0188228746199,1.06970504837
+322,5.366666667,pose2_to_pose3_retreat,0.606472634445,0.0101501393955,1.07003368828,0.577043313003,0.0188227733389,1.06970507972
+323,5.383333333,pose2_to_pose3_retreat,0.605741790425,0.0101501128056,1.07003371968,0.576312468769,0.0188227459459,1.06970510905
+324,5.400000000,pose2_to_pose3_retreat,0.604975760547,0.0101502281111,1.0700338048,0.575546437533,0.0188228565915,1.06970519271
+325,5.416666667,pose2_to_pose3_retreat,0.60416353536,0.0101501143399,1.07003355624,0.574734214875,0.0188227516098,1.06970494968
+326,5.433333333,pose2_to_pose3_retreat,0.603334670103,0.0101501230969,1.07003385565,0.573905349094,0.0188227584352,1.06970524494
+327,5.450000000,pose2_to_pose3_retreat,0.602497181787,0.0101501307714,1.07003361997,0.573067860421,0.0188227649188,1.06970500972
+328,5.466666667,pose2_to_pose3_retreat,0.601684106139,0.0101501765852,1.0700333491,0.572254782428,0.0188228033408,1.06970475368
+329,5.483333333,pose2_to_pose3_retreat,0.60089471317,0.0101501442578,1.07003346951,0.571465390942,0.018822775652,1.06970486367
+330,5.500000000,pose2_to_pose3_retreat,0.600116177002,0.0101501039741,1.07003364818,0.570686856475,0.0188227411241,1.0697050418
+331,5.516666667,pose2_to_pose3_retreat,0.599337069174,0.0101500968439,1.07003355178,0.569907749337,0.0188227363234,1.06970494507
+332,5.533333333,pose2_to_pose3_retreat,0.598551134114,0.0101500653731,1.07003344956,0.569121814009,0.0188227040472,1.06970484553
+333,5.550000000,pose2_to_pose3_retreat,0.59773742102,0.0101500377857,1.07003355422,0.568308100769,0.0188226760951,1.06970495371
+334,5.566666667,pose2_to_pose3_retreat,0.596903045947,0.0101501630727,1.07003349781,0.567473726228,0.0188228027937,1.06970488674
+335,5.583333333,pose2_to_pose3_retreat,0.596079642771,0.0101501814586,1.07003340462,0.56665032128,0.0188228152844,1.06970479661
+336,5.600000000,pose2_to_pose3_retreat,0.595273566298,0.0101501138291,1.07003361619,0.565844244471,0.0188227465688,1.06970500966
+337,5.616666667,pose2_to_pose3_retreat,0.594493288632,0.0101502328766,1.07003361819,0.565063964133,0.0188228565099,1.0697050105
+338,5.633333333,pose2_to_pose3_retreat,0.593733748875,0.0101501939462,1.0700332971,0.564304426431,0.0188228250984,1.06970470385
+339,5.650000000,pose2_to_pose3_retreat,0.592992020985,0.0101501565814,1.07003332126,0.56356269851,0.0188227871502,1.06970471527
+340,5.666666667,pose2_to_pose3_retreat,0.592246723759,0.0101502037417,1.07003356224,0.562817399917,0.0188228293418,1.06970494754
+341,5.683333333,pose2_to_pose3_retreat,0.591496336164,0.0101502639652,1.07003374583,0.562067012056,0.0188228888414,1.06970513576
+342,5.700000000,pose2_to_pose3_retreat,0.59074992796,0.0101502026128,1.07003373717,0.561320605704,0.0188228336955,1.06970512506
+343,5.716666667,pose2_to_pose3_retreat,0.590007098024,0.0101501165819,1.07003360581,0.560577777643,0.0188227543341,1.06970500171
+344,5.733333333,pose2_to_pose3_retreat,0.589265817442,0.0101502431598,1.07003364833,0.559836492575,0.018822865354,1.06970503544
+345,5.750000000,pose2_to_pose3_retreat,0.588549522534,0.010150046653,1.07003317488,0.559120201462,0.0188226819955,1.06970456909
+346,5.766666667,pose2_to_pose3_retreat,0.587862416798,0.0101501111932,1.07003372809,0.558433096008,0.0188227472183,1.06970511492
+347,5.783333333,pose2_to_pose3_retreat,0.587195302049,0.010150133047,1.0700336348,0.557765980847,0.0188227678128,1.06970502539
+348,5.800000000,pose2_to_pose3_retreat,0.586549799955,0.0101501018486,1.07003350895,0.557120478953,0.01882273727,1.06970489887
+349,5.816666667,pose2_to_pose3_retreat,0.585924471229,0.0101500768383,1.07003355401,0.556495149839,0.0188227109104,1.069704943
+350,5.833333333,pose2_to_pose3_retreat,0.585309303897,0.0101501062144,1.07003360849,0.555879981643,0.0188227375263,1.06970500199
+351,5.850000000,pose2_to_pose3_retreat,0.584703501778,0.0101501800309,1.07003360827,0.555274180345,0.018822814193,1.06970500347
+352,5.866666667,pose2_to_pose3_retreat,0.584114149451,0.0101501692645,1.07003358711,0.554684826925,0.0188227998801,1.06970498657
+353,5.883333333,pose2_to_pose3_retreat,0.583546800694,0.0101500994785,1.07003372153,0.554117479472,0.0188227343842,1.06970511745
+354,5.900000000,pose2_to_pose3_retreat,0.583008605503,0.0101500631024,1.07003333752,0.553579283869,0.0188226967403,1.06970473694
+355,5.916666667,pose2_to_pose3_retreat,0.582492199564,0.0101500901275,1.07003327787,0.553062877519,0.0188227226637,1.06970468488
+356,5.933333333,pose2_to_pose3_retreat,0.581990648466,0.0101501700281,1.07003347925,0.552561325999,0.0188228008494,1.06970487883
+357,5.950000000,pose2_to_pose3_retreat,0.581501286163,0.0101501757472,1.07003369469,0.552071964634,0.0188228092873,1.06970508202
+358,5.966666667,pose2_to_pose3_retreat,0.581026318952,0.0101500938678,1.07003368402,0.551596998735,0.0188227318639,1.06970507153
+359,5.983333333,pose2_to_pose3_retreat,0.58057685176,0.0101500864048,1.07003346734,0.551147530575,0.0188227213769,1.06970486161
+360,6.000000000,pose2_to_pose3_retreat,0.580156271808,0.0101501487506,1.07003339482,0.550726949717,0.0188227805625,1.06970478687
+361,6.016666667,pose2_to_pose3_retreat,0.579770171084,0.0101500476369,1.07003349026,0.550340849352,0.0188226806517,1.06970488196
+362,6.033333333,pose2_to_pose3_retreat,0.579409278416,0.0101501951668,1.07003339708,0.549979956064,0.0188228260831,1.06970478888
+363,6.050000000,pose2_to_pose3_retreat,0.579069688659,0.0101501248586,1.07003353245,0.54964036789,0.0188227611879,1.06970492543
+364,6.066666667,pose2_to_pose3_retreat,0.578742384618,0.0101500804336,1.07003368931,0.549313065059,0.0188227207884,1.06970508033
+365,6.083333333,pose2_to_pose3_retreat,0.578427327315,0.0101501523691,1.07003370648,0.548998006089,0.018822786971,1.06970509498
+366,6.100000000,pose2_to_pose3_retreat,0.578132159433,0.0101502156867,1.07003355919,0.54870283621,0.0188228435641,1.06970494882
+367,6.116666667,pose2_to_pose3_retreat,0.577856972851,0.0101501335208,1.07003335663,0.548427651409,0.0188227676162,1.06970475097
+368,6.133333333,pose2_to_pose3_retreat,0.577603593613,0.0101500664965,1.07003324939,0.548174272294,0.0188227011857,1.06970464818
+369,6.150000000,pose2_to_pose3_retreat,0.577371973917,0.0101501509603,1.07003360965,0.54794265168,0.0188227822161,1.06970500026
+370,6.166666667,pose2_to_pose3_retreat,0.577163183187,0.0101500859283,1.07003340304,0.547733861531,0.0188227193655,1.06970479944
+371,6.183333333,pose2_to_pose3_retreat,0.576971723732,0.0101501609921,1.07003354291,0.547542400937,0.0188227904689,1.06970493674
+372,6.200000000,pose2_to_pose3_retreat,0.576797493987,0.0101501171782,1.07003356328,0.547368171992,0.0188227493046,1.06970495536
+373,6.216666667,pose2_to_pose3_retreat,0.576641763963,0.0101500309547,1.07003349912,0.547212443309,0.0188226676833,1.06970489253
+374,6.233333333,pose2_to_pose3_retreat,0.576501851967,0.0101500457396,1.07003352695,0.547072531102,0.018822681689,1.06970491884
+375,6.250000000,pose2_to_pose3_retreat,0.576377215622,0.0101501639519,1.07003365926,0.546947893049,0.0188227936974,1.06970504034
+376,6.266666667,pose2_to_pose3_retreat,0.576264569401,0.0101499996321,1.07003352545,0.54683524716,0.0188226307662,1.06970491343
+377,6.283333333,pose2_to_pose3_retreat,0.576163322068,0.0101502204762,1.07003357394,0.546734000497,0.0188228543116,1.06970497327
+378,6.300000000,pose2_to_pose3_retreat,0.576072947357,0.010150265857,1.07003361879,0.546643625577,0.0188228987791,1.06970501306
+379,6.316666667,pose2_to_pose3_retreat,0.575992797749,0.0101502925497,1.07003348557,0.546563474285,0.018822919709,1.06970487874
+380,6.333333333,pose2_to_pose3_retreat,0.57592354749,0.010150226097,1.07003349623,0.546494224268,0.0188228540041,1.06970488732
+381,6.350000000,pose2_to_pose3_retreat,0.5758647294,0.0101500686052,1.07003359924,0.546435408763,0.0188227050904,1.06970498518
+382,6.366666667,pose2_to_pose3_retreat,0.575816955688,0.0101500297894,1.07003356377,0.546387635594,0.0188226680936,1.06970494904
+383,6.383333333,pose2_to_pose3_retreat,0.57577787215,0.0101501292259,1.07003365582,0.546348549583,0.0188227590628,1.06970503917
+384,6.400000000,pose2_to_pose3_retreat,0.575746847516,0.0101501627362,1.07003363954,0.546317525689,0.0188227951731,1.06970502518
+385,6.416666667,pose2_to_pose3_retreat,0.5757230168,0.0101501117103,1.07003348745,0.546293695481,0.0188227463327,1.0697048853
+386,6.433333333,pose2_to_pose3_retreat,0.575705134426,0.0101500261558,1.07003334002,0.546275813665,0.0188226623216,1.06970472862
+387,6.450000000,pose2_to_pose3_retreat,0.575692370835,0.0101501012166,1.07003345405,0.546263050529,0.0188227391841,1.06970484946
+388,6.466666667,pose2_to_pose3_retreat,0.575683053838,0.0101501872746,1.07003358258,0.546253732673,0.0188228225543,1.06970498409
+389,6.483333333,pose2_to_pose3_retreat,0.575676595566,0.0101502024539,1.0700335955,0.546247271979,0.018822829357,1.06970499291
+390,6.500000000,pose2_to_pose3_retreat,0.575672281418,0.0101502172285,1.07003359596,0.546242958826,0.0188228475707,1.06970499499
+391,6.516666667,pose2_to_pose3_retreat,0.57566957228,0.0101502001814,1.07003354489,0.54624025042,0.0188228330819,1.06970494595
+392,6.533333333,pose2_to_pose3_retreat,0.575667526674,0.0101501236464,1.07003338385,0.546238205366,0.0188227585494,1.06970478839
+393,6.550000000,pose2_to_pose3_retreat,0.575666344637,0.0101500925883,1.07003332956,0.546237023694,0.0188227287478,1.06970473461
+394,6.566666667,pose2_to_pose3_retreat,0.575666189501,0.0101500913593,1.07003333081,0.546236868616,0.0188227277053,1.06970473561
+395,6.583333333,pose2_to_pose3_retreat,0.575665914141,0.0101500891781,1.07003333305,0.546236593358,0.0188227258549,1.06970473738
+396,6.600000000,pose2_to_pose3_retreat,0.575665400146,0.0101500851064,1.07003333722,0.546236079553,0.0188227224009,1.0697047407
+397,6.616666667,pose2_to_pose3_retreat,0.575665133493,0.0101500829941,1.07003333938,0.546235812999,0.018822720609,1.06970474242
+398,6.633333333,pose2_to_pose3_retreat,0.575665010021,0.0101500854733,1.07003337228,0.546235689313,0.0188227222602,1.06970477276
+399,6.650000000,pose2_to_pose3_retreat,0.575664895807,0.0101500881066,1.07003340585,0.546235574874,0.0188227240316,1.06970480372
+400,6.666666667,pose2_to_pose3_retreat,0.575664876225,0.0101500885581,1.0700334116,0.546235555253,0.0188227243353,1.06970480903
+401,6.683333333,pose2_to_pose3_retreat,0.575664715077,0.0101500922735,1.07003345897,0.546235393787,0.0188227268346,1.06970485273
+402,6.700000000,pose2_to_pose3_retreat,0.575664585636,0.0101500952579,1.07003349701,0.546235264092,0.0188227288422,1.06970488783
+403,6.716666667,pose2_to_pose3_retreat,0.575664518813,0.0101500967986,1.07003351666,0.546235197137,0.0188227298786,1.06970490595
+404,6.733333333,pose2_to_pose3_retreat,0.575664489621,0.0101501079883,1.07003352182,0.546235167794,0.0188227405467,1.06970491091
+405,6.750000000,pose2_to_pose3_retreat,0.575664469448,0.0101501311853,1.07003352036,0.546235147378,0.0188227629403,1.06970490999
+406,6.766666667,pose2_to_pose3_retreat,0.575664459554,0.0101501425619,1.07003351965,0.546235137365,0.0188227739228,1.06970490955
+407,6.783333333,pose2_to_pose3_retreat,0.575664457432,0.0101501450024,1.07003351949,0.546235135217,0.0188227762789,1.06970490945
+408,6.800000000,pose2_to_pose3_retreat,0.575664441905,0.0101501628559,1.07003351837,0.546235119504,0.018822793514,1.06970490875
+409,6.816666667,pose2_to_pose3_retreat,0.575664381728,0.0101501842059,1.07003346773,0.546235059132,0.0188228143001,1.06970486059
+410,6.833333333,pose2_to_pose3_retreat,0.575664312495,0.0101502072117,1.07003340796,0.546234989693,0.0188228367169,1.06970480372
+411,6.850000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532845,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69725c7eacadcbea4c32ac0d86006b0a92150cdc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113cd0e8a516851e0243516f9e19605bf3579f825e10c182fe94ec2c5fd8bbec
+size 26137824
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f572169cac93209471fb603a3ea1bd0e2cc3275
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+25,0.416666667,BASELINE,768,746,723,689,669,642,886,786.50549482,820,655,632,655.50549482,0.400978432744,0.0044813688342,0.0798402677091,0.999999954737,0.000114968514006,-0.000273238270862,5.1468968985e-05,1793250865799710976
+26,0.433333333,BASELINE,768,746,723.082107734,689,669,642,886,786.917892266,820,655.082107734,632,656,0.400978204868,0.004480144803,0.0798393274417,0.999999954538,0.000113560164564,-0.000274540218903,5.15311645176e-05,1793250865816378112
+27,0.450000000,BASELINE,768,746,723.655792169,689,669,642,886,786.344207831,820,655.655792169,632,656,0.400976938922,0.00447928109333,0.0798379807491,0.999999954292,0.000112134586045,-0.000276013314031,5.15566146386e-05,1793250865833044480
+28,0.466666667,BASELINE,768,746,723.76407218,689,669,642,886.23592782,786,820,656,632,656,0.400976312701,0.00447939794557,0.0798375802118,0.999999954247,0.000111820663689,-0.000276299073311,5.15804244526e-05,1793250865849711104
+29,0.483333333,BASELINE,768,746,723.174259939,689,669,642,886.825740061,786,820,656,632,656,0.400976646047,0.00448098561035,0.0798385988784,0.999999954506,0.00011317419123,-0.000274803865511,5.16017738562e-05,1793250865866377472
+30,0.500000000,BASELINE,768,745.591899897,723,689.408100103,669,642,886.591899897,786,820,655.591899897,632,656,0.400976608782,0.0044808574476,0.0798388330972,0.999999954611,0.000112750615904,-0.000274586858113,5.16444330142e-05,1793250865883043840
+31,0.516666667,BASELINE,768,745.012664915,723,689.987335085,669,642,886.012664915,786,820,655.012664915,632,656,0.400976416101,0.00448000976051,0.0798387383615,0.999999954652,0.000111581820724,-0.000274905858146,5.16960283181e-05,1793250865899710464
+32,0.533333333,BASELINE,768,745.563432358,723,689.436567642,669,642,886.563432358,786,820,655,632,656,0.400977463948,0.00448111750097,0.0798393225552,0.999999954716,0.000112814912603,-0.000274186742671,5.15904054039e-05,1793250865916377344
+33,0.550000000,BASELINE,768.138805166,746,723,689.138805166,669,642,887,786,819.861194834,655,632.138805166,656,0.400978226708,0.00448197782135,0.0798398308662,0.999999954727,0.000114213081562,-0.00027357816368,5.15457304478e-05,1793250865933043968
+34,0.566666667,BASELINE,768.712129546,746,723,689.712129546,669,642,887,786,819.287870454,655,632.712129546,656,0.400978010216,0.00448192677755,0.0798400541228,0.999999954569,0.000115959936189,-0.000273388254696,5.17028501226e-05,1793250865949710592
+35,0.583333333,BASELINE,769,746,723,689.705754751,669,642,886.705754751,786,819.294245249,655.294245249,632.705754751,655.705754751,0.400977569636,0.00448172708818,0.0798398177065,0.999999954432,0.000115923576862,-0.000273948303009,5.14752466366e-05,1793250865966377472
+36,0.600000000,BASELINE,769,746,723,689.11477323,669,642,886.11477323,786,819.88522677,655.88522677,632.11477323,655.11477323,0.400976903073,0.00448137749483,0.0798391177258,0.999999954313,0.00011408890745,-0.000275264657587,5.08596630181e-05,1793250865983044096
+37,0.616666667,BASELINE,768.532950423,746.467049577,723,689,669,642,886.467049577,786,820,655.532950423,632,655.467049577,0.400977469613,0.00448033282239,0.0798393163399,0.999999954523,0.000113142810563,-0.000274840616643,5.11432104997e-05,1793250865999710720
+38,0.633333333,BASELINE,768,746.95363738,723.04636262,689,669,642,887,786,820,655,632,655.95363738,0.400978164947,0.004479261289,0.0798396001888,0.999999954743,0.000112634734846,-0.000274163217474,5.16029702601e-05,1793250866016377088
+39,0.650000000,BASELINE,768,746.377777314,723.622222686,689,669,642,887,786,820,655,632,655.377777314,0.40097693699,0.0044797962407,0.0798383840341,0.999999954175,0.000114683338832,-0.000275382841775,5.16002846542e-05,1793250866033043712
+40,0.666666667,BASELINE,768,746,723.80178145,689,668.80178145,642,887,786,820,655,632,655,0.400976575944,0.00448099185849,0.079838013833,0.999999953951,0.000116527916998,-0.000275447185189,5.14659148693e-05,1793250866049710336
+41,0.683333333,BASELINE,768,746,723.225526633,689,668.225526633,642,887,786,820,655,632,655,0.400977868245,0.00448344747809,0.0798392570082,0.999999954387,0.000117983383326,-0.000273308212666,5.10804011039e-05,1793250866066376960
+42,0.700000000,BASELINE,768,746,723,689,668.359985007,642,886.640014993,786.359985007,820,655,632,655.359985007,0.40097781496,0.00448255272683,0.0798396659221,0.999999954673,0.00011559577797,-0.000273308307699,5.09331939945e-05,1793250866083043840
+43,0.716666667,BASELINE,768,746,723,689,668.951448983,642,886.048551017,786.951448983,820,655,632,655.951448983,0.400976896429,0.00447950360687,0.079839538386,0.999999954846,0.000110736985556,-0.000274683874401,5.09392237779e-05,1793250866099710976
+44,0.733333333,BASELINE,768.528030728,746,723,689,669,642,886,786.471969272,819.471969272,655,632,655.471969272,0.400977415898,0.00448056582929,0.0798398397832,0.999999954789,0.000113019997797,-0.000273927011221,5.11184741297e-05,1793250866116377856
+45,0.750000000,BASELINE,768.896589912,746,723,689,669,642,886,786,819.103410088,655,632,655,0.400977821202,0.00448168488191,0.0798401778661,0.999999954752,0.000115258449194,-0.000273094939031,5.1292749113e-05,1793250866133044736
+46,0.766666667,BASELINE,768.320623577,746,723,689,669,642,886,786,819.679376423,655,632,655,0.400977117156,0.00448138350485,0.0798405083062,0.999999954932,0.000114374721641,-0.000272790614185,5.1373500183e-05,1793250866149711104
+47,0.783333333,BASELINE,768.26159067,746,723.26159067,689,669,642.26159067,886.26159067,786,820,655.26159067,632,655,0.400977324317,0.0044812596971,0.0798407879543,0.999999955086,0.000114572681862,-0.000272143057169,5.13830488338e-05,1793250866166377472
+48,0.800000000,BASELINE,768.851650246,746,723.851650246,689,669,642.851650246,886.851650246,786,820,655.851650246,632,655,0.400978675643,0.00448135885595,0.0798410038249,0.999999955203,0.000116128873889,-0.000271064517247,5.1303191475e-05,1793250866183043840
+49,0.816666667,BASELINE,768.567457843,746,724,689,669,642.567457843,887,786,820,656,632,655.432542157,0.400978363905,0.00448120706362,0.0798406447389,0.99999995509,0.000115884965874,-0.000271572869831,5.13669644736e-05,1793250866199710464
+50,0.833333333,BASELINE,768,746,723.989657843,689,668.989657843,642,887,786,820,655.989657843,632,656,0.400977511996,0.00448098231357,0.0798401069961,0.999999954905,0.000115045255186,-0.000272589984974,5.14732650538e-05,1793250866216377088
+51,0.850000000,BASELINE,768,746,723.412563959,689,668.412563959,642,887,786,820,655.412563959,632,656,0.400977666915,0.00448137817977,0.0798403608045,0.999999955041,0.000114685979162,-0.000272280900682,5.12665933232e-05,1793250866233043968
+52,0.866666667,BASELINE,768,746,723,689,668.163448371,642,886.836551629,786,820,655.163448371,632,655.836551629,0.40097771577,0.00448167084042,0.0798404114191,0.99999995516,0.000114510693647,-0.000271934498473,5.11740257282e-05,1793250866249710848
+53,0.883333333,BASELINE,768,746,723,689,668.736748637,642,886.263251363,786,820,655.736748637,632,655.263251363,0.400977498668,0.0044817047099,0.0798399525188,0.999999955237,0.000114796770103,-0.00027149452044,5.13675778292e-05,1793250866266377728
+54,0.900000000,BASELINE,768,746,723,689,669,642,886,786,819.679883645,655.679883645,632,655,0.40097773285,0.00448172051244,0.0798399541426,0.999999955091,0.00011582161346,-0.000271582378418,5.14406824612e-05,1793250866283044352
+55,0.916666667,BASELINE,768,746,723,689,669,642,886,786,819.087968044,655.087968044,632,655,0.400978350199,0.00448172097498,0.0798403467808,0.999999954754,0.000117473717116,-0.000272118402926,5.14115194842e-05,1793250866299710720
+56,0.933333333,BASELINE,768,746,723,689.492337486,669,642,886.492337486,786,819.492337486,655,632,655,0.400978675575,0.00448236982845,0.0798407632968,0.999999954956,0.000116627090037,-0.000271746186627,5.13913131774e-05,1793250866316377600
+57,0.950000000,BASELINE,768,746,723,690,669,642,886.9296237,786,819.9296237,655,632,655.0703763,0.400978868676,0.00448293660103,0.0798411421995,0.999999955212,0.000115536183184,-0.000271271207765,5.13695406753e-05,1793250866333043968
+58,0.966666667,BASELINE,768,746,723,690,669,642,886.353311161,786,819.353311161,655,632,655.646688839,0.400978477261,0.00448209962706,0.0798412207355,0.999999955201,0.000115824802115,-0.000271197218571,5.13252690606e-05,1793250866349710592
+59,0.983333333,BASELINE,768,746,723,689.773170705,669,642,886,786.226829295,819.226829295,655,632,656,0.400978354551,0.00448139127951,0.079841093237,0.999999955213,0.000115819126291,-0.000271166719086,5.12663961327e-05,1793250866366377472
+60,1.000000000,BASELINE,768,746,723,689.186965414,669,642,886,786.813034586,819.813034586,655,632,656,0.400978657566,0.00448088672055,0.0798406393087,0.999999955261,0.000115347185917,-0.000271205122319,5.11843896721e-05,1793250866383044096
+61,1.016666667,BASELINE,768,746,723,689,669,642,886.39406939,786.60593061,820,655.39406939,632,656,0.400979565069,0.00448098661681,0.0798409910442,0.999999955536,0.000114345443039,-0.00027058595391,5.1343038053e-05,1793250866399710720
+62,1.033333333,BASELINE,768,746,723,689,669,642,886.972682803,786.027317197,820,655.972682803,632,656,0.400980755654,0.00448136958153,0.0798417200748,0.999999955915,0.000113095591897,-0.000269658842485,5.16143859112e-05,1793250866416377600
+63,1.050000000,BASELINE,768.550225427,746,723,689.550225427,669,642,887,786,820,656,632,656,0.400977514632,0.0044814100213,0.0798390971478,0.999999954655,0.00011488143525,-0.000273591314097,5.13851969946e-05,1793250866433044480
+64,1.066666667,BASELINE,768.872797652,746,723,689.745595305,669.127202348,642,886.872797652,786,820,655.872797652,632,656,0.400974974777,0.00448134741109,0.0798372405902,0.999999953698,0.000116389849944,-0.000276466113839,5.12180587732e-05,1793250866449711104
+65,1.083333333,BASELINE,768.297626144,746,723,688.595252288,669.702373856,642,886.297626144,786,820,655.297626144,632,656,0.40097567756,0.00448098166101,0.0798386678887,0.999999954159,0.000116391503337,-0.00027476809075,5.13567902322e-05,1793250866466377728
+66,1.100000000,BASELINE,768.28398852,746,723,688.28398852,669.71601148,642,886.28398852,786,820,655,632,655.71601148,0.40097666031,0.00448090230001,0.0798398646241,0.999999954644,0.000116114142768,-0.000273102193962,5.14242119272e-05,1793250866483044096
+67,1.116666667,BASELINE,768.872512473,746,723,688.872512473,669.127487527,642,886.872512473,786,820,655,632,655.127487527,0.400977943282,0.00448113004872,0.079840814115,0.999999955156,0.000115537581238,-0.000271470747961,5.14151645017e-05,1793250866499710720
+68,1.133333333,BASELINE,769,746,723,689.455209798,669,642,887,786,820,655,632,655.455209798,0.400977644771,0.00448157859018,0.0798402901063,0.999999954977,0.000115159222009,-0.000272308815652,5.13077778324e-05,1793250866516377344
+69,1.150000000,BASELINE,769,746,723,690,669,642.035856032,887,786.035856032,819.964143968,655,632,656,0.400977047885,0.00448200106896,0.0798395328977,0.999999954678,0.000114784077369,-0.000273584417663,5.11780119749e-05,1793250866533044224
+70,1.166666667,BASELINE,769,746,723,690,669,642.609898996,887,786.609898996,819.390101004,655,632,656,0.400978536471,0.00448111594862,0.0798413912389,0.999999955468,0.000113634538762,-0.000271177473742,5.11205020334e-05,1793250866549711104
+71,1.183333333,BASELINE,768.816655459,746,723,689.816655459,669,642.816655459,887,786.816655459,819.183344541,655.183344541,632,656,0.400979277645,0.0044805937882,0.079842238691,0.999999955936,0.000112671249053,-0.000269861821113,5.10734340368e-05,1793250866566377984
+72,1.200000000,BASELINE,768.244476805,746,723,689.244476805,669,642.244476805,887,786.244476805,819.755523195,655.755523195,632,656,0.400978433718,0.00448084138709,0.0798409422662,0.999999955731,0.00011210295276,-0.000270860560804,5.1048511137e-05,1793250866583044864
+73,1.216666667,BASELINE,768.341873594,746,723,689,669,642,887,786,820,656,632,655.658126406,0.400979109432,0.00448057531411,0.0798407334716,0.999999955773,0.000112715234353,-0.00027042480627,5.1188101499e-05,1793250866599711488
+74,1.233333333,BASELINE,768.938796566,746,723,689,669,642,887,786,820,656,632,655.061203434,0.400980918851,0.00447992602437,0.0798413360865,0.999999955996,0.000114208267406,-0.000268918869991,5.14504243744e-05,1793250866616377600
+75,1.250000000,BASELINE,768.481171626,746,723,689,669,642,887,786,820,655.481171626,632,655,0.400978982979,0.00448021853346,0.0798403797407,0.999999955452,0.000113397755868,-0.000271288388679,5.13813957013e-05,1793250866633043968
+76,1.266666667,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400977027364,0.00448082606944,0.0798394874652,0.99999995486,0.000113202992453,-0.000273555789633,5.12988132657e-05,1793250866649710336
+77,1.283333333,BASELINE,768,746,723,689,669,642,887,786,820,655,632,655,0.400977097787,0.00448246331102,0.0798397973646,0.999999954497,0.000117371254802,-0.000273118404858,5.13368661605e-05,1793250866666377216
+78,1.300000000,BASELINE,768.248370617,746.248370617,723.248370617,689,669,642,887,786,820,655.248370617,632.248370617,655.248370617,0.400977143754,0.00448244382338,0.0798398523097,0.999999954558,0.000117324710272,-0.000272933287999,5.12443469108e-05,1793250866683044096
+79,1.316666667,BASELINE,768.837817159,746.837817159,723.837817159,689,669,642,887,786,820,655.837817159,632.837817159,655.837817159,0.400977156135,0.00448014922571,0.0798395571379,0.999999955196,0.000111490165279,-0.000273094599081,5.09725189468e-05,1793250866699711232
+80,1.333333333,BASELINE,768.57968498,746.57968498,723.57968498,689,669,642,886.57968498,786,820,655.57968498,632.57968498,655.57968498,0.400977737068,0.00448010326317,0.079840401808,0.999999955476,0.000111647498828,-0.000271979942356,5.1093777891e-05,1793250866716377600
+81,1.350000000,BASELINE,768,746,723.000172783,689,669,642,886,786,820,655.000172783,632,655.000172783,0.400978533357,0.0044809106072,0.0798416783913,0.999999955621,0.000114078682131,-0.000270381882121,5.13641564511e-05,1793250866733044224
+82,1.366666667,BASELINE,768,746,723.571657142,689,669,642,886,786,820,655.571657142,632,655.571657142,0.400977815066,0.00448091972008,0.079840462439,0.999999955158,0.000114602158082,-0.000271874479568,5.13361076635e-05,1793250866749710336
+83,1.383333333,BASELINE,768,746,724,689,669,642,886,786,820,656,632,656,0.40097729687,0.00448072814989,0.0798397198969,0.999999954914,0.000114418982171,-0.000272854602788,5.12885315341e-05,1793250866766376960
+84,1.400000000,BASELINE,768,746,724,689,669,642,886,786,820,656,632,656,0.400977377445,0.00447993604674,0.0798403940085,0.999999955331,0.000112121189935,-0.000272301175706,5.11825209122e-05,1793250866783043584
+85,1.416666667,BASELINE,768,746,723.693877349,689,669,642,886,786,820,656,632,656,0.400977048534,0.00448010558718,0.0798405191954,0.999999955274,0.000112209768288,-0.000272463078421,5.12257256189e-05,1793250866799710464
+86,1.433333333,BASELINE,768,746,723.101220932,689,669,642,886,786,820,656,632,656,0.400976336341,0.00448117523538,0.0798401305834,0.999999954775,0.000114532012771,-0.000273294536792,5.1408597325e-05,1793250866816377088
+87,1.450000000,BASELINE,768,746,723,689,669,642,886,786,820,655.521482855,632,655.521482855,0.400977500291,0.00448163850331,0.0798407309483,0.999999955054,0.000114970934959,-0.000272104789674,5.13147900237e-05,1793250866833043712
+88,1.466666667,BASELINE,768.055345324,746,723,689,669,642,886.055345324,786,820,655,632,655,0.400978896653,0.00448191973886,0.0798414514569,0.999999955447,0.000115009805729,-0.000270663400744,5.11935302741e-05,1793250866849710592
+89,1.483333333,BASELINE,768.629836884,746,723,689,669,642,886.629836884,786,820,655,632,655,0.400978848328,0.00448166502879,0.0798413882002,0.999999955419,0.000114934767403,-0.000270766597454,5.13493136056e-05,1793250866866377216
+90,1.500000000,BASELINE,768.790363292,746,723,689,669,642,887,786,820,655.209636708,632,655.209636708,0.40097897427,0.00448167764052,0.0798415846354,0.999999955435,0.00011507409086,-0.000270630278659,5.14480280335e-05,1793250866883043840
+91,1.516666667,BASELINE,768.200947039,746,723,689,669,642,887,786,820,655.799052961,632,655.799052961,0.400979415915,0.0044821745346,0.0798422515303,0.999999955529,0.000115601753855,-0.000270060051638,5.14433559595e-05,1793250866899710464
+92,1.533333333,BASELINE,768,746,723,689,669.381554367,642,887,786,820,655.618445633,632,656,0.400978939087,0.00448134997032,0.0798418702132,0.999999955458,0.00011499288694,-0.000270549898695,5.15994427793e-05,1793250866916377344
+93,1.550000000,BASELINE,768,746,723,689,669.960478917,642,887,786,820,655.039521083,632,656,0.400977987152,0.00447984184302,0.0798409466776,0.999999955302,0.000113796116652,-0.000271588100101,5.18386868501e-05,1793250866933043968
+94,1.566666667,BASELINE,768,746,723.536915278,689.536915278,669.463084722,642,887,786,820,655,632,656,0.400976208349,0.00448098268745,0.0798391637361,0.999999954571,0.000115045686057,-0.000273791628661,5.15863193083e-05,1793250866949710336
+95,1.583333333,BASELINE,768,746,724,689.887114138,669.112885862,642,886.887114138,786,820,655.112885862,632.112885862,656,0.400975332179,0.00448200796958,0.0798381643962,0.999999954135,0.000116136325845,-0.0002749619896,5.13681301965e-05,1793250866966376960
+96,1.600000000,BASELINE,768,746,724,689.312303328,669.687696672,642,886.312303328,786,820,655.687696672,632.687696672,656,0.40097839746,0.00448176618546,0.0798406291845,0.999999955096,0.000115843193187,-0.000271555288558,5.14371882864e-05,1793250866983043840
+97,1.616666667,BASELINE,768,746,723.73080879,689,669.73080879,642,886,786.26919121,820,655.73080879,633,656,0.400980082844,0.00448271001138,0.0798418279402,0.999999955432,0.000117447227149,-0.000269622372345,5.14421355693e-05,1793250866999710720
+98,1.633333333,BASELINE,768,746,723.1413627,689,669.1413627,642,886,786.8586373,820,655.1413627,633,656,0.400980126575,0.00448506434921,0.0798415205055,0.999999955023,0.000121308306845,-0.000269442807729,5.13708106743e-05,1793250867016377344
+99,1.650000000,BASELINE,768,746,723,689,669,642,886,786.559770665,820,655,632.559770665,656,0.400979307883,0.00448459460243,0.0798408407106,0.999999954771,0.000120708435391,-0.000270688447335,5.11308162708e-05,1793250867033043712
+100,1.666666667,BASELINE,768.019191613,746,723.019191613,689.019191613,669,642,886.019191613,786,820,655.019191613,632,656,0.400978254284,0.00448324329107,0.0798401093968,0.999999954594,0.000118701453345,-0.000272280256481,5.08520047522e-05,1793250867049710592
+101,1.683333333,BASELINE,768.593757402,746,723.593757402,689.593757402,669,642,886.593757402,786,820,655.593757402,632,656,0.400978276458,0.00448216359941,0.0798412866997,0.999999955203,0.000116701523698,-0.000270878154167,5.09897683149e-05,1793250867066376960
+102,1.700000000,BASELINE,768.831568918,746.168431082,723.831568918,690,669.168431082,642,887,786.168431082,820,656,632,656,0.400978012614,0.00448159403201,0.0798416400228,0.999999955488,0.000115299621816,-0.000270405506125,5.10954919467e-05,1793250867083043584
+103,1.716666667,BASELINE,768.256634934,746.743365066,723.256634934,690,669.743365066,642,887,786.743365066,820,656,632,656,0.400977058474,0.00448225563299,0.0798400046971,0.999999955001,0.000115341040669,-0.000272176065761,5.1123888235e-05,1793250867099710208
+104,1.733333333,BASELINE,768.329049809,746.670950191,723.329049809,689.670950191,669.670950191,642,886.670950191,786.670950191,820,655.670950191,632,656,0.400977093601,0.00448280002485,0.0798398343846,0.999999954821,0.000116210162182,-0.000272493221035,5.10050212293e-05,1793250867116376832
+105,1.750000000,BASELINE,768.923402628,746.076597372,723.923402628,689.076597372,669.076597372,642,886.076597372,786.076597372,820,655.076597372,632,656,0.400977926344,0.00448324991459,0.0798408452681,0.999999954885,0.000117746635576,-0.000271638540077,5.07674202414e-05,1793250867133043712
+106,1.766666667,BASELINE,769,746,724,689,669,642,886.498031269,786,820,655,632,656,0.400978656838,0.00448239829882,0.0798412742837,0.999999955343,0.000115510512205,-0.000270917998444,5.07404754347e-05,1793250867149710592
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,724,689,669,642,887,786,820,656,632,656,0.400976749638,0.00448038586366,0.0798397386796,0.999999954975,0.000113804297553,-0.000272922527259,5.10986181476e-05,1793250867193168896
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.590899847,746,723.409100153,689,669,642,887,786,820,655.409100153,632.590899847,656,0.400977809245,0.00448188874388,0.0798403349145,0.999999955103,0.000115099933364,-0.000271964684819,5.07986337884e-05,1793250867209835520
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.821865078,746,723,689,669,642,886.821865078,786.178134922,820,655.178134922,632.821865078,656,0.400978357049,0.00448313618022,0.0798407418577,0.999999955098,0.000116461674429,-0.000271423982502,5.06862627443e-05,1793250867226501888
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.242876653,746,723,689,669,642,886.242876653,786.757123347,820,655.757123347,632.242876653,656,0.400977753154,0.0044838087965,0.0798407228418,0.999999954797,0.000117972171102,-0.000271821962188,5.09960741865e-05,1793250867243168512
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.33529172,786.66470828,820,655.66470828,632,656,0.40097801013,0.00448286731084,0.079841004935,0.999999955044,0.00011680011982,-0.000271422533524,5.09812869464e-05,1793250867259835136
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.912867483,786.087132517,820,655.087132517,632,656,0.400978889175,0.00448075946426,0.0798415046115,0.99999995568,0.000113689641315,-0.000270446892214,5.07319425039e-05,1793250867276502016
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.486715995,746,723.486715995,689.486715995,669,642,887,786,820,655.486715995,632,655.513284005,0.400978557436,0.00448079925436,0.079841392099,0.999999955627,0.000113581124079,-0.000270669517088,5.08357361796e-05,1793250867293168640
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.937958514,746,723.937958514,689.937958514,669.062041486,642,887,786.062041486,820,656,632.062041486,655,0.40097819381,0.004481285004,0.0798412786296,0.999999955457,0.000114149506701,-0.000271025317331,5.10042895316e-05,1793250867309835008
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.34430317,746,723.34430317,689.34430317,669.65569683,642,887,786.65569683,820,656,632.65569683,655,0.400979400169,0.00448232265225,0.0798420889074,0.999999955329,0.000115948087973,-0.000270698112059,5.1190159272e-05,1793250867326501376
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669.756991023,642,887,787,820,656,632.756991023,655.243008977,0.40098623921,0.00448237818513,0.0798446204437,0.999999956425,0.000115807188738,-0.000266693882264,5.11123952329e-05,1793250867343167488
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746,723,689,669.178437551,642,887,787,820,656,632.178437551,655.821562449,0.401000855806,0.00448107762233,0.0798495286774,0.999999959151,0.000112988273023,-0.000257612451825,5.0670608148e-05,1793250867359833856
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.603085391,786.603085391,820,655.603085391,632,656,0.401036768704,0.00448138381697,0.0798615733548,0.99999996482,0.000113487788058,-0.000234396354487,5.03849489142e-05,1793250867376500480
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,723,689,669,642,886.029160853,786.029160853,820,655.029160853,632,656,0.401082179003,0.00448240656867,0.079876800635,0.999999971088,0.000115467205942,-0.00020487669285,5.01689171257e-05,1793250867393167104
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,723,689.557810617,669,642,886,786,820,655.557810617,632,655.442189383,0.40115124872,0.00448459463459,0.0798941150979,0.999999977634,0.000116313375174,-0.000169909179972,4.83217116211e-05,1793250867409834496
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,746,723.143356559,689.856643441,669,642,886,786,820,655.856643441,632,655,0.401223060896,0.00448608720229,0.0799090523134,0.999999982053,0.000116257641119,-0.000142175470145,4.65162472768e-05,1793250867426501376
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746,723.722446958,689.277553042,669,642,886,786,820,655.277553042,632,655,0.401299359364,0.00448527619586,0.0799164242725,0.999999983098,0.000113644945697,-0.000137315358626,4.51030523299e-05,1793250867443168256
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.300712571,746,724,689.300712571,669.300712571,642,886,786.300712571,820,655,632.300712571,655.300712571,0.401386388333,0.00448558111552,0.0799219033193,0.999999984306,0.00011163027884,-0.00013074380118,4.28183579447e-05,1793250867459834880
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.878218969,746,724,689.878218969,669.878218969,642,886,786.878218969,820,655,632.878218969,655.878218969,0.401483294293,0.0044869132003,0.0799256400161,0.999999985627,0.000110166073377,-0.000122596926884,3.97314834643e-05,1793250867476501248
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.546211898,746,724,690,669.546211898,642,886.453788102,787,820,655,632.546211898,655.546211898,0.401601303568,0.00448814637988,0.0799299216332,0.999999986835,0.000108183290513,-0.000115439558869,3.60430583207e-05,1793250867493167616
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,724,690,669,642,886.970491288,787,820,655,632,655.029508712,0.401726636044,0.00448943363498,0.0799345186911,0.999999988024,0.00010598810815,-0.000108106500066,3.2116511426e-05,1793250867509833984
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,724,690,669,642,886.382096854,787,820,655,632,655.617903146,0.401883860625,0.00449224563771,0.0799423321771,0.999999990128,0.00010239474363,-9.24378716118e-05,2.67245506605e-05,1793250867526500608
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.203372156,746,723.796627844,690,669.203372156,642,886.203372156,787,819.796627844,655.203372156,632,656,0.402050486464,0.00449507825724,0.0799499049922,0.999999991849,9.88623163718e-05,-7.79642093988e-05,2.12229275568e-05,1793250867543167232
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.783422737,746,723.216577263,690,669.783422737,642,886.783422737,787,819.216577263,655.783422737,632,656,0.402234524949,0.00449794906213,0.0799570320449,0.999999993166,9.54427552983e-05,-6.57038214526e-05,1.55181925138e-05,1793250867559834112
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.639132592,746,723,689.639132592,669.639132592,642,887.360867408,786.639132592,819.360867408,655.639132592,632,656,0.402431056627,0.00450004164088,0.0799595452373,0.999999994189,8.83034485198e-05,-6.11326502791e-05,9.31102741721e-06,1793250867576500992
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.063240609,746,723,689.063240609,669.063240609,642,887.936759391,786.063240609,819.936759391,655.063240609,632,656,0.40263503245,0.00450167051012,0.0799593092396,0.99999999501,7.89477131057e-05,-6.11431345967e-05,2.80448641896e-06,1793250867593167872
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.508632872,746,723,689.508632872,669.508632872,642,887.491367128,786,820,655,632,656,0.402860786204,0.00450618803607,0.0799530542578,0.999999994647,7.27424203838e-05,-7.33878144679e-05,-5.27232935876e-06,1793250867609834496
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.916988222,746,723.083011778,690,669.916988222,642.083011778,887.083011778,786.083011778,820,655.083011778,632.083011778,656,0.403096567592,0.0045108243017,0.0799467318645,0.999999994026,6.67576645023e-05,-8.54961086071e-05,-1.35124345701e-05,1793250867626501120
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.324178201,746,723.675821799,690,669.324178201,642.675821799,887.675821799,786.675821799,820,655.675821799,632.675821799,656,0.403377432866,0.0045140013737,0.0799445553804,0.999999994155,5.97405492868e-05,-8.74983583295e-05,-2.15657289907e-05,1793250867643167744
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.262435427,746,723.737564573,690.262435427,669,643,887.737564573,786.737564573,820,655.737564573,632.737564573,655.737564573,0.403682671749,0.00451891872232,0.0799458491167,0.999999994239,5.84541195578e-05,-8.52744383255e-05,-2.88794590242e-05,1793250867659834112
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.841571369,746,723.158428631,690.841571369,669,643,887.158428631,786.158428631,820,655.158428631,632.158428631,655.158428631,0.404017324076,0.00452593619307,0.0799513306283,0.999999994285,6.40833382435e-05,-7.7950482221e-05,-3.53007007595e-05,1793250867676500736
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,723.417913106,690.582086894,669,642.582086894,887,786.417913106,820,655,632,655.417913106,0.4043781721,0.00453511278101,0.0799558142757,0.999999990645,0.000114999151379,-6.8653268657e-05,-2.7771573333e-05,1793250867693167360
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746,723.993202598,690.006797402,669,642.006797402,887,786.993202598,820,655,632,655.993202598,0.404748884807,0.00454510244227,0.0799599221504,0.999999981431,0.000182968845348,-5.86129719641e-05,-1.49890600766e-05,1793250867709833984
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,724,690.582488444,669,642,887,786.417511556,820,655.582488444,632,656,0.405165637337,0.00455048469129,0.0799549564627,0.999999994644,7.9572899369e-05,-6.20025190637e-05,-2.31495734119e-05,1793250867726501120
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.83114702,746,724,691,669,642,887,786.16885298,820,656,632.16885298,656,0.405591866109,0.00455615403845,0.0799502106401,0.999999997186,1.56092265362e-05,-6.72734019839e-05,-2.93047697356e-05,1793250867743168000
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.252282509,746,724,691,669,642,887,786.747717491,820,656,632.747717491,656,0.406039768465,0.00456265429245,0.0799462621398,0.999999995236,5.23710715063e-05,-7.67226545723e-05,-2.99825637756e-05,1793250867759834112
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.32470675,746,724,691.32470675,669,642.32470675,887,787,820,656,632.67529325,656,0.406509025953,0.00457191270537,0.079939925336,0.999999991695,8.8990674973e-05,-8.79354422779e-05,-3.09561175381e-05,1793250867776500480
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.900247449,746,724,691.900247449,669,642.900247449,887,787,820,656,632.099752551,656,0.406994780197,0.00458330177964,0.0799317435821,0.999999986557,0.000125500401624,-0.00010051055089,-3.21581439118e-05,1793250867793167104
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.484294767,723.515705233,692.484294767,669,643,887,787,820,656,632.484294767,656,0.40749666408,0.00459061443416,0.0799266529154,0.999999982912,0.000142604595726,-0.000112829176298,-3.33184943383e-05,1793250867809833984
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.930790457,747,723.069209543,693,669,642.930790457,887.069209543,787,820,655.930790457,633,656,0.408010803237,0.00459756169252,0.0799217171002,0.999999979723,0.000153654386682,-0.0001255288429,-3.44562710061e-05,1793250867826500352
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.352611821,747,723.647388179,693,669,642.352611821,887.647388179,787,820,655.352611821,633,656,0.408590199177,0.00460810695618,0.0799131541422,0.999999978104,0.000150099904408,-0.000141426157219,-3.54922972837e-05,1793250867843167488
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,747,724,693,669.225945661,642.225945661,888,787,820,655,633,656,0.409203309026,0.00461770830161,0.0799192189984,0.999999978249,0.000156590012226,-0.00013282338655,-3.65872031461e-05,1793250867859834880
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,747,724,693,669.805095327,642.805095327,888,787,820,655,633,656,0.409869121279,0.0046258340894,0.0799481504263,0.999999979614,0.000178782078836,-8.59214584613e-05,-3.7774150956e-05,1793250867876501760
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.762581929,747,724,693.381290965,669.618709035,643,888,787,820,655,633,656,0.410553585739,0.00463111233309,0.0799765428168,0.999999983319,0.000174100777564,-3.97419902507e-05,-3.83534718116e-05,1793250867893168384
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.911976364,747,724,693.955988182,669.044011818,643,888,787,820,655,633,656,0.411247511334,0.00463494618659,0.0800046617848,0.999999987101,0.000155788212515,6.07101558539e-06,-3.86245795347e-05,1793250867909834752
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.470785137,747,724,694,669.529214863,643,888,787,820,655,633,656,0.411909325342,0.0046211240805,0.0799838302915,0.999999986103,0.000159145361244,-2.99614947019e-05,-3.96092247259e-05,1793250867926501120
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746.893492789,724,694,669.893492789,643,888,787,820,655,632.893492789,656,0.412581004484,0.00460408612412,0.0799570512264,0.999999984702,0.000153756533576,-7.29895095791e-05,-4.03538485141e-05,1793250867943167232
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746.296932832,724,694,669.296932832,643,888,787,820,655,632.296932832,656,0.413310327552,0.00457898897272,0.0799215856249,0.999999987384,9.98574678126e-05,-0.000116973328393,-3.97218261014e-05,1793250867959833856
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746.289171841,724,694.289171841,669,643,888,787,820,655,632.289171841,656,0.414068662994,0.00456752630713,0.0799106383366,0.999999987971,8.2151184612e-05,-0.000125223479555,-4.03630245395e-05,1793250867976500480
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746.864915315,724,694.864915315,669,643,888,787,820,655,632.864915315,656,0.414855750019,0.00456957552429,0.0799239888908,0.999999989268,0.000100312235553,-9.80612825889e-05,-4.22659951755e-05,1793250867993167360
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746.563818538,724,695,669.436181462,643,888.436181462,787.436181462,820.436181462,655,632.563818538,656,0.41565116771,0.00458013147693,0.0799420226799,0.999999991184,0.000100481196031,-7.58694768671e-05,-4.21887367487e-05,1793250868009833984
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.006345528,724,694.993654472,670,643,889.006345528,787.993654472,821.006345528,655,632,656,0.416449204697,0.00459320737553,0.0799611315358,0.999999993036,9.54357296504e-05,-5.56338861388e-05,-4.15325546057e-05,1793250868026500608
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.601613101,724,694.398386899,670,643,889.601613101,787.398386899,821.601613101,655,632,656,0.417253326681,0.00459813398188,0.0799467748304,0.9999999892,0.000118333016325,-7.55411553199e-05,-4.34860464466e-05,1793250868043166976
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724,694.191266984,669.808733016,642.808733016,890.191266984,787,822.191266984,655,632,656,0.418103852926,0.00460049569783,0.0799486522617,0.999999988101,0.000132173626024,-6.56842870036e-05,-4.48817463719e-05,1793250868059833600
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724,694.769561561,669.230438439,642.230438439,890.769561561,787,822.769561561,655,632,656,0.419048277868,0.00459766737316,0.0799833793724,0.999999990819,0.000127688102567,4.40013635528e-06,-4.51487575063e-05,1793250868076500480
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,723.653648885,695,669,642,891,787,823,655.346351115,632,656,0.419941822401,0.00459310560907,0.0799895096874,0.999999991256,0.000122451468558,1.9307194211e-05,-4.60448971502e-05,1793250868093167104
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,723.07785636,695,669,642,891,787,823,655.92214364,632,656,0.420801661004,0.00458739552257,0.0799766959618,0.999999992064,0.000116717259367,-2.33817369053e-06,-4.73578050706e-05,1793250868109833728
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,723,695,669,642,891.507354994,787,823.507354994,655.492645006,632,656,0.421674816513,0.00458615264011,0.0799722977892,0.999999992859,0.000108494996078,-1.08441463953e-05,-4.89141826122e-05,1793250868126500352
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,723,695.092364144,669,642.092364144,891.907635856,787,824,655,632.092364144,656,0.422561436962,0.00458745319151,0.0799742021444,0.999999993317,0.000103726177876,-9.74541986034e-06,-5.01218415029e-05,1793250868143167232
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,723,695.668598654,669,642.668598654,891.331401346,787,824,655,632.668598654,656,0.423507688104,0.00459841893045,0.0800022303879,0.999999991216,0.000119087020394,3.09069842876e-05,-4.93032284387e-05,1793250868159833856
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.753872128,891.246127872,787,824,655,633,656,0.424426362432,0.00460699443218,0.0799988573385,0.999999989948,0.000132964115488,1.20955722952e-05,-4.77354985988e-05,1793250868176500480
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.174590338,891.825409662,787,824,655,633,656,0.425307709451,0.00461233455671,0.0799529801114,0.99999998469,0.000144832840309,-8.72049034283e-05,-4.51537784448e-05,1793250868193167104
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.402985569,892,787,824.402985569,655,633,656,0.426238036834,0.00461371676411,0.0799237000471,0.999999981435,0.00014416072048,-0.000118531184763,-4.79311819676e-05,1793250868209833728
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669,642.979825496,892,787,824.979825496,655,633,656,0.42718949507,0.00461339146306,0.0799015802644,0.999999981798,0.000138078281322,-0.000120532316321,-5.30205966096e-05,1793250868226500608
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.429933637,747,723,696,669,643,892,787,825,655,633,656,0.428098862979,0.00460542217458,0.0799035924349,0.999999982239,0.000128185482579,-0.000128401681739,-5.10258147884e-05,1793250868243167232
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,892.157046748,786.842953252,825,655.157046748,632.842953252,656,0.429026813599,0.00459950649341,0.0799145684251,0.999999984064,0.000121062483329,-0.000121476173308,-4.96017817204e-05,1793250868259833856
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,723,696,669,643,892.734010502,786.265989498,825,655.734010502,632.265989498,656,0.430008529996,0.0045998225541,0.0799471736947,0.999999988554,0.000121714710155,-7.44229634685e-05,-5.03903256591e-05,1793250868276500480
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,723.308984817,696,669,643,893,786.308984817,825,656,632.308984817,656,0.431004771229,0.00460391485812,0.0799881693664,0.99999999078,0.00012548109768,-1.34190553581e-05,-5.01380334407e-05,1793250868293167104
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,723.882257451,696,669,643,893,786.882257451,825,656,632.882257451,656,0.432013436117,0.00461123714317,0.0800363417032,0.999999988328,0.000131911158536,5.95174741997e-05,-4.89954697411e-05,1793250868309833728
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,723.541856455,696,669,643,893.458143545,787,825.458143545,655.541856455,633,656,0.432899197307,0.00461599133438,0.0800033839454,0.999999989299,0.000137583750101,4.5445288782e-06,-4.95084572463e-05,1793250868326500608
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.035666206,747,723,696,669,643,894.035666206,787,826,655.035666206,632.964333794,656,0.43375512028,0.00461988513075,0.0799503230434,0.99999998532,0.000142311513982,-8.09618701099e-05,-5.05203456374e-05,1793250868343167744
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.628193269,747,723,696,669,643,894.628193269,787,826,655.628193269,632.371806731,656,0.434641162431,0.00462070922449,0.0799107964698,0.999999981391,0.000135344402439,-0.000127001589733,-5.26405260827e-05,1793250868359833856
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669.214658344,643,895,786.785341656,826,656,632.214658344,656,0.435541252117,0.0046187130315,0.0798982286937,0.999999980501,0.000127526352593,-0.000140608263906,-5.44532219064e-05,1793250868376500480
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,723,696,669.790912001,643,895,786.209087999,826,656,632.790912001,656,0.436465005236,0.00461196602182,0.0799310734241,0.999999986493,0.000118274883086,-9.95809770473e-05,-5.5747955544e-05,1793250868393167104
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,723,696,669.627066025,643,895,786.372933975,826,655.627066025,632.627066025,656,0.437387731751,0.00460773071505,0.0799655246949,0.999999990479,0.000116392233811,-5.0277736295e-05,-5.44654261525e-05,1793250868409833472
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,723,696,669.04175923,643,895,786.95824077,826,655.04175923,632.04175923,656,0.438309873595,0.00460492573541,0.0800008908322,0.99999999161,0.000118705869578,3.73836756032e-06,-5.17152356841e-05,1793250868426500096
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.462528964,747,723,696,669,643,895,786.462528964,826.537471036,655,632.537471036,656,0.43915839022,0.00461507594416,0.0799899644729,0.999999990498,0.000126025046009,-1.81725739141e-05,-5.28351768008e-05,1793250868443166976
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.11618114,747,723,696,668.88381886,643,895,786,827,655,633,656,0.439973022863,0.00462680201509,0.079957941031,0.99999998661,0.000136798278204,-7.17038008692e-05,-5.40792251993e-05,1793250868459833856
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+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,723,696,666,641,896,785.246041088,827.753958912,655,632.753958912,657,0.445894447099,0.00470178304073,0.0798026257887,0.999999925026,0.00022706577305,-0.000309221942574,-5.26318505733e-05,1793250868593167360
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,723,696,665.335025316,640.667512658,896.332487342,785,827.667512658,655.332487342,632.667512658,657,0.446554236035,0.00471304373701,0.0797804349765,0.99999991166,0.000247735319971,-0.00033527791072,-5.38135150143e-05,1793250868609833728
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747,723,696,656,637.381292207,898.237415586,783.381292207,828,656,632,657,0.45384716677,0.00482012494713,0.079564603029,0.999999729754,0.000316850398493,-0.000659672215784,-7.02153548148e-05,1793250868876500480
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768.641378279,747,723,696,654.641378279,638,898,783.358621721,828,655.358621721,632,656.358621721,0.454577114374,0.0048266685261,0.0795522303149,0.999999705867,0.000341333826212,-0.00068387990154,-6.37584839568e-05,1793250868926500608
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.893372733,747,723,696,653.893372733,637,898,783,828,655,631.106627267,657,0.455142467363,0.00482756564948,0.0795498313843,0.99999969784,0.000357506797924,-0.000687313741239,-6.41021951593e-05,1793250868976500224
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769,747,723,696.584706782,653,637,898,783.415293218,828,656,631.584706782,657,0.455612543721,0.00482908818904,0.0795302128999,0.999999672919,0.000355770191389,-0.00072319226364,-6.76962840514e-05,1793250869043167232
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+220,3.666666667,POSE1_TO_POSE2_PRESS,769,747,723,696.579932392,652.420067608,637,898,783.420067608,828,656,631.579932392,657,0.455771522256,0.00482386830265,0.0795253428103,0.999999669938,0.000345936791516,-0.000731664344407,-7.15462792469e-05,1793250869076500480
+221,3.683333333,POSE1_TO_POSE2_PRESS,768.834362633,747,723,696.834362633,652,637,898,783,828,655.834362633,632,657,0.455835295187,0.00481960146251,0.0795230722217,0.999999668903,0.000337941326562,-0.000736509315389,-7.44557086535e-05,1793250869093167104
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+224,3.733333333,POSE1_TO_POSE2_PRESS,768.898077526,747,723,696,651.101922474,637,898.898077526,783,828,655.898077526,631.101922474,657,0.455960491231,0.00482737937863,0.0795139975429,0.999999657313,0.00033855026464,-0.000751158367848,-8.07445020468e-05,1793250869143166976
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768.954008965,747,723,696,651.045991035,637,897.045991035,783.045991035,828,655,631.045991035,657,0.456009936906,0.00482645538324,0.0795110210202,0.999999655415,0.000333472920175,-0.000755923729846,-8.0897979365e-05,1793250869176500736
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768.456021768,747,723,696,651,637,898,783,828,655.543978232,631,656,0.456050533478,0.00482480790428,0.0794997765166,0.999999643368,0.000330963331421,-0.000772951332174,-7.91989831333e-05,1793250869276500480
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768.231741066,747,723,696,651,637,898,783,828,655.768258934,632,656.768258934,0.456054273052,0.00482554100491,0.0794954473655,0.999999638902,0.000328104131131,-0.000779991822655,-7.84586640812e-05,1793250869426500352
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+249,4.150000000,HOLD_POSE2,768,747,723,697,650,637,898,783,828,656,632,656,0.456056020005,0.00482310730003,0.0794951146572,0.99999963838,0.000326929065103,-0.000781267962707,-7.73172219213e-05,1793250869577090304
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+259,4.316666667,HOLD_POSE2,768.812164584,747,723,696,650,636,897.187835416,783,827.187835416,655,632,656,0.456055812685,0.004822861317,0.0794942422073,0.999999637243,0.000325623186154,-0.000783339184195,-7.65739341072e-05,1793250869743756800
+260,4.333333333,HOLD_POSE2,769,747,723,696,650,636.389406864,897.389406864,783,827.389406864,655,631.610593136,656.389406864,0.456056444792,0.00482320426401,0.0794943094621,0.999999637202,0.000325827475583,-0.000783279133964,-7.68570285516e-05,1793250869760423424
+261,4.350000000,HOLD_POSE2,769,747,723,696,650,636.96595493,897.96595493,783,827.96595493,655,631.03404507,656.96595493,0.456057550821,0.00482400729852,0.0794944195674,0.999999637137,0.000326644344623,-0.000782968452945,-7.73955485848e-05,1793250869777090048
+262,4.366666667,HOLD_POSE2,768.458363935,747,723,696,650,637,898,783,828,655,631,657,0.456057594328,0.00482461800282,0.0794934958383,0.999999636136,0.000327243455004,-0.000784020758383,-7.71386606587e-05,1793250869793756928
+263,4.383333333,HOLD_POSE2,768,747,722.879411508,696,650,636.879411508,898,783,828,655.120588492,631.120588492,657,0.456057658314,0.004824856412,0.0794929294239,0.999999635623,0.000327221658722,-0.000784710891484,-7.68646324292e-05,1793250869810423808
+264,4.400000000,HOLD_POSE2,768,747,722.287459222,696,650,636.287459222,898,783,828,655.712540778,631.712540778,657,0.456058062994,0.00482368675016,0.079494013306,0.999999637247,0.000324826240853,-0.000783650998821,-7.67187208017e-05,1793250869827090432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,637,898,783,828,655,631,657,0.456058962319,0.00482137551036,0.0794951795175,0.999999638206,0.000324678057122,-0.000782526049974,-7.63211847082e-05,1793250869864171008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,637,898,783,828,655,631.582820981,657,0.45605735623,0.00482318736977,0.0794942818777,0.999999636365,0.000327439802881,-0.000783713482397,-7.64580489281e-05,1793250869880837888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.834556022,747,722.165443978,696,650,636.834556022,898,783,828,655,631.834556022,657,0.456056603982,0.0048241458036,0.0794937595574,0.99999963566,0.000328393950116,-0.000784195253014,-7.66429429195e-05,1793250869897504512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.252431537,747,722.747568463,696,650,636.252431537,898,783,828,655,631.252431537,657,0.45605800218,0.00482295483467,0.0794941825011,0.999999637827,0.000324795553465,-0.000782899772627,-7.69488027791e-05,1793250869914171136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.326417245,898,783,828,655,631,656.673582755,0.45605802361,0.00482288870845,0.0794937003319,0.999999637428,0.000324427626659,-0.000783577829524,-7.6789534065e-05,1793250869930837760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.902757929,898,783,828,655,631,656.097242071,0.456056990908,0.00482368382526,0.0794925251572,0.999999635064,0.000326533129844,-0.000785766937868,-7.6274136683e-05,1793250869947504640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,650,636.519890649,898,783,828,655,631,656,0.45605827799,0.00482221593431,0.0794937541996,0.999999637252,0.00032549791827,-0.000783423940065,-7.61239302183e-05,1793250869964171008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.057306163,747,722.942693837,696,650,636,898,783,828,655,631,656,0.456059777669,0.00482061094837,0.0794952619726,0.999999639909,0.000324017030817,-0.000780645404841,-7.60733790501e-05,1793250869980837632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.631259582,747,722.368740418,696,650,636,898,783,828,655,631,656,0.456058949112,0.00482191100168,0.0794948832353,0.999999638574,0.000324265249006,-0.000782233455305,-7.62530216232e-05,1793250869997504512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,636.211468764,897.788531236,783,828,655,631.211468764,656,0.456055847357,0.00482245946634,0.0794931095673,0.999999636001,0.000324491432965,-0.000785413627283,-7.63409730865e-05,1793250870014171136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,722,696,650,636.802918656,897.197081344,783,828,655,631.802918656,656,0.456048660969,0.00482165742644,0.0794888293951,0.999999631184,0.000324678024324,-0.0007914546288,-7.626416785e-05,1793250870030837760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.616032615,747,722.383967385,696,650,636.616032615,897.383967385,782.616032615,828,655.383967385,632,656.383967385,0.456031489427,0.00482173193815,0.0794813903419,0.999999621732,0.000324880431586,-0.000803242793741,-7.60954105121e-05,1793250870047504640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.040181701,747,722.959818299,696,650,636.040181701,897.959818299,782.040181701,828,655.959818299,632,656.959818299,0.456009327911,0.00482224449692,0.0794723726717,0.999999609796,0.000325090742638,-0.00081790304157,-7.5880701091e-05,1793250870064171520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.540668759,747,722.459331241,696,650,636,897.459331241,782.540668759,828,656,631.459331241,657,0.455962864268,0.00482246161533,0.0794555131778,0.999999584255,0.000326015780565,-0.00084829294235,-7.48499412516e-05,1793250870080838144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.877037199,747,722.122962801,696,650,636.122962801,897,783,828,655.877037199,631,657,0.455912282282,0.00482244413162,0.0794394649122,0.999999560113,0.000326733060408,-0.000876109167769,-7.38387204302e-05,1793250870097504768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.290716383,747,722.709283617,696,650,636.709283617,897,783,828,655.290716383,631,657,0.455853050625,0.00482162611309,0.0794286901975,0.999999548181,0.000326465421876,-0.000889780832322,-7.31317982164e-05,1793250870114171136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.708295485,650,636.708295485,897.291704515,783,828,655,631.291704515,657,0.455784661397,0.00482103274452,0.0794220581627,0.999999539504,0.000327579206651,-0.000899161895801,-7.20501512012e-05,1793250870130838016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.129710053,650,636.129710053,897.870289947,783,828,655,631.870289947,657,0.455707266031,0.00482066031118,0.0794195003054,0.99999953414,0.000330051571703,-0.000904323306449,-7.05999758482e-05,1793250870147504640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.44849729,650,636.44849729,897.55150271,783,828,655,631.55150271,657,0.455617783005,0.00482021969903,0.0794213159138,0.999999535557,0.000330072542338,-0.000902901548745,-6.8610024011e-05,1793250870164171520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.026347985,747,722.973652015,696,650,636.973652015,897.026347985,783,828,655,631,657,0.455524004128,0.00481973367417,0.0794245338234,0.999999539061,0.000329686418348,-0.000899319947637,-6.63916090045e-05,1793250870180837888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.599068742,747,722.400931258,696,650,636.400931258,897.599068742,783,828,655,631,657,0.455413575213,0.00481871447938,0.0794306240946,0.999999545336,0.000335547809822,-0.000890398066491,-6.26700718147e-05,1793250870197504768
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,747,722.176962305,696,650,636.176962305,897.823037695,783,827.823037695,655.176962305,631,657,0.455293138431,0.00481768077098,0.0794355911114,0.999999550666,0.000340582159966,-0.000882718282589,-5.89945340609e-05,1793250870214171392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747,722.76692835,696,650,636.76692835,897.23307165,783,827.23307165,655.76692835,631,657,0.45514934479,0.00481661319012,0.0794379366184,0.999999554017,0.000343686317728,-0.000877937370632,-5.54263526942e-05,1793250870230837760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.649933218,747,723,696,650,637,897.350066782,783,827.350066782,656,631.350066782,657,0.45498326005,0.00481594285968,0.0794368358609,0.999999552882,0.000347048834765,-0.000878157993349,-5.12895560424e-05,1793250870247504384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.071253534,747,723,696,650,637,897.928746466,783,827.928746466,656,631.928746466,657,0.454802617977,0.00481553195556,0.079433484503,0.999999548804,0.000350580074949,-0.000881644893373,-4.67814219163e-05,1793250870264171264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.506511477,746.493488523,723,696,650.506511477,637,897.493488523,783,828,656,631.493488523,656.493488523,0.45459501097,0.0048120060568,0.0794346047303,0.999999548383,0.00035205242879,-0.000881803860834,-4.14195296824e-05,1793250870280837888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.91666046,746.08333954,722.91666046,696,651,637,897,783,828,655.91666046,631,656,0.454377795695,0.00480826152079,0.0794357951142,0.999999547981,0.000353739845507,-0.000881831461775,-3.57783031775e-05,1793250870297504512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.344573683,746.655426317,722.344573683,696,651,637,897,783,828,655.344573683,631,656,0.454126438145,0.00480579999529,0.0794337145573,0.999999544777,0.000358384010742,-0.000883829232277,-2.9201985144e-05,1793250870314171392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.236453229,747,722,696,651.236453229,637,897,783,827.763546771,655,631,656,0.45385871411,0.00480340989178,0.0794319603011,0.99999954166,0.000364359487023,-0.000885108173218,-2.25032023313e-05,1793250870330838016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.831020141,747,722,696,651.831020141,637,897,783,827.168979859,655,631,656,0.453566202684,0.00480112795863,0.0794307002346,0.999999538679,0.00037235126326,-0.000885298430662,-1.56189442778e-05,1793250870347504640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.58565159,747,722.41434841,696,652,637,897,783,827,655,631.41434841,656,0.453249204512,0.00479725050876,0.0794323555121,0.999999540158,0.000379358030227,-0.000880743786036,-7.90691103378e-06,1793250870364171264
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.006785652,747,722.993214348,696,652,637,897,783,827,655,631.993214348,656,0.452922483855,0.00479273955715,0.0794351683303,0.999999543307,0.000385973697864,-0.000874305172311,1.33791169875e-07,1793250870380838144
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,723,696,653.13350583,637,897,783,827.566752915,655,632,656.566752915,0.452567653403,0.0047908621677,0.0794470679663,0.999999557748,0.000389011556572,-0.000856229019718,6.81096966775e-06,1793250870397504768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,722.856193646,696,654,637,897,783,827.856193646,655,631.856193646,656.856193646,0.452200532766,0.00478809070176,0.0794594805567,0.999999573446,0.000388565865704,-0.000837836844307,1.23785292506e-05,1793250870414171136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,722.268085593,696,654,637,897,783,827.268085593,655,631.268085593,656.268085593,0.451796470777,0.00478246040115,0.0794731449587,0.999999593351,0.000377488573018,-0.000818894771152,1.45677962075e-05,1793250870430837760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,722.314906268,696,654.314906268,637,897,783,827,655.314906268,631.314906268,656,0.451377964528,0.00477656130444,0.0794873398609,0.999999617568,0.000356414790492,-0.000798520929549,1.40368920531e-05,1793250870447504384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,722.893612315,696,654.893612315,637,897,783,827,655.893612315,631.893612315,656,0.450947358149,0.00477043703423,0.0795019791696,0.999999644659,0.000326966858158,-0.000776947680121,1.12272766307e-05,1793250870464171520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,655.470550733,637,897,783.470550733,827,655.529449267,632,656,0.450489033885,0.00476434926672,0.0795221423559,0.999999680354,0.000305452710218,-0.00073882727379,1.11485403791e-05,1793250870480838144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.047099717,747,723,696,656.047099717,637.047099717,896.952900283,784,827,655,631.952900283,656,0.450019816529,0.00475827816656,0.0795430484986,0.999999715097,0.000285979824082,-0.000698485311273,1.18090585256e-05,1793250870497505024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.623747124,747,723,696,656.623747124,637.623747124,896.376252876,784,827,655,631.376252876,656,0.449498321082,0.00475230201307,0.0795583187798,0.999999735765,0.000269365052177,-0.000675071194681,1.38652482138e-05,1793250870514171648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.795812205,747,723,696,657.408375589,638,895.795812205,784,827,655.204187795,631.204187795,656,0.448944527239,0.00474622528138,0.0795622867205,0.999999731088,0.000293083062894,-0.000672053623889,1.64539199597e-05,1793250870530838016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.208249487,747,723,696,658.583501027,638,895.208249487,784,827,655.791750513,631.791750513,656,0.448330091237,0.0047399597084,0.079545033833,0.999999672601,0.000392528309769,-0.00070733179775,2.00423587284e-05,1793250870547504384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,723,696,659,638,895,784,827,655.626153093,631.626153093,656,0.447705374567,0.00473265176553,0.079525521303,0.999999644757,0.000412547817236,-0.000734758853353,2.04612307149e-05,1793250870564171008
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,723,696,659,638,895,784,827,655.047057825,631.047057825,656,0.447075013655,0.00472477154393,0.0795047681911,0.999999636984,0.000388961230215,-0.000757875511595,1.91399561505e-05,1793250870580837376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,722.470483746,696,660.059032509,638.529516254,895,784,827,655.529516254,631.529516254,656,0.446457295227,0.0047131248109,0.0795363364819,0.999999684396,0.000352257451277,-0.000711820255712,2.08511048302e-05,1793250870597504512
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746.566137276,722.566137276,696,663.433862724,640,895,785.433862724,826.566137276,655.566137276,632,656,0.443002610025,0.00466444974465,0.07968127223,0.999999836234,0.000250284574499,-0.000513704733799,3.15834486114e-05,1793250870680837888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.013966714,746.013966714,722.013966714,695.986033286,664.013966714,640,894.972066571,786,826,655,632,656,0.442233008888,0.0046528952655,0.079674727522,0.999999829311,0.000274358833504,-0.000514868572161,3.18657362886e-05,1793250870697504256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.586026531,746.586026531,722.586026531,695.413973469,664.586026531,640,893.827946938,786,826,655,632,656,0.441459765548,0.00464214615703,0.0796910059832,0.999999856175,0.000234061472315,-0.000481540971843,3.13457963613e-05,1793250870714170880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.838551864,746.838551864,723,695.161448136,665.161448136,640.161448136,892.838551864,786,826,655,632,656,0.44066320909,0.00463147219716,0.0796918849867,0.99999986645,0.000200030189961,-0.000475473809596,3.18358500527e-05,1793250870730837504
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.254326934,746.254326934,723,695.745673066,665.745673066,640.745673066,892.254326934,786,826,655,632,656,0.439805603693,0.00462099502614,0.0796524381386,0.999999836524,0.000182407602825,-0.000540792304301,3.49707276382e-05,1793250870747504384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746.331237248,723,696,666.662474495,641,892,786,825.668762752,655,632,656,0.438956911439,0.00460975045746,0.0796560693129,0.999999842197,0.000181782156902,-0.000530332641968,3.61646882423e-05,1793250870764171264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746.917833865,723,696,667.83566773,641,892,786,825.082166135,655,632,656,0.438115090598,0.00459791428256,0.0796929104518,0.999999874019,0.000194260247747,-0.000461453632913,3.58623455047e-05,1793250870780837888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,723,695.504710977,667.504710977,641.495289023,891.504710977,786.495289023,825,655,632,656,0.437316451454,0.00458777501415,0.0797748248399,0.999999926913,0.000168900325774,-0.000340922647098,3.7673151261e-05,1793250870797504768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,723,695.071053791,667,642,891,787,825,655,632,656,0.436514122919,0.00457782842525,0.0798555711076,0.999999963902,0.000142931254127,-0.000223990934732,3.99239377412e-05,1793250870814171136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,723,695.645392097,667,642,891,787,825,655,632,656,0.435635840696,0.00456728878514,0.0798760393652,0.999999968406,0.000156303742446,-0.000192147818025,4.28530961397e-05,1793250870830837760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746.774019077,723,695.774019077,667,642,891,787,824.774019077,655,632,655.774019077,0.434736787349,0.0045566786697,0.0798744258838,0.999999968419,0.000156324606977,-0.000191581166779,4.49540410952e-05,1793250870847504384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746.183342867,723,695.183342867,667,642,891,787,824.183342867,655,632,655.183342867,0.433804212755,0.00454595481724,0.0798371761849,0.999999960711,0.000134798193389,-0.000241489476914,4.57183889803e-05,1793250870864171008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746.399230045,723,695,667.399230045,642,891.399230045,787,824,655,632,655.399230045,0.432779363933,0.00453620239801,0.0797788468271,0.999999930559,0.000127749628418,-0.000347144023127,4.53083417448e-05,1793250870880837632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746.978155587,723,695,667.978155587,642,891.978155587,787,824,655,632,655.978155587,0.431712982062,0.00452688722652,0.0797110294087,0.999999876734,0.000127217617122,-0.000477890229178,4.43696925652e-05,1793250870897504256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746.4453416,723,695.5546584,668,641.4453416,890.8906832,787,824,655,632,656,0.430782602149,0.00451338678662,0.0797104692535,0.999999878685,0.000108970048257,-0.000477979263848,4.78598039824e-05,1793250870914171392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.866972681,641.133027319,890,787,823.866972681,655,631.866972681,655.866972681,0.429882458625,0.0045000404453,0.0797304577566,0.999999896384,9.25715368914e-05,-0.000442831822055,5.06213918268e-05,1793250870930838016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.28194027,641.71805973,890,787,823.28194027,655,631.28194027,655.28194027,0.429066932979,0.00448777533853,0.079811306095,0.999999948513,8.48161860169e-05,-0.000305364938336,5.03175006489e-05,1793250870947504640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.300181584,642,890,787.300181584,823,655,631.300181584,655,0.428182885639,0.00447761595144,0.0798518267594,0.999999967872,7.53541817964e-05,-0.000236614432438,5.09090700661e-05,1793250870964171264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,723,696,667.879595967,642,890,787.879595967,823,655,631.879595967,655,0.427235098577,0.00446941533277,0.0798548340943,0.999999969701,6.43046280263e-05,-0.000231784802904,5.23336092007e-05,1793250870980837632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,723,695.542784188,668,642,890,787.542784188,822.542784188,655,632,655.457215812,0.426235017936,0.00445657355415,0.0798102794475,0.999999951877,5.19373936027e-05,-0.000301524984631,5.12954859668e-05,1793250870997504512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746.034196663,723,695,668,642,890,787,821.965803337,655,632,656,0.425223547772,0.00444376595074,0.0797553791691,0.99999992285,4.03915194128e-05,-0.000387524608434,4.99326591598e-05,1793250871014171136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746.608519115,723,695,668,642,890,787,821.391480885,655,632,656,0.424248844487,0.00445072713256,0.0797341288932,0.999999908661,4.72781359739e-05,-0.000421383790078,5.36444049255e-05,1793250871030837760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.811356723,723,695,668,642,889.811356723,787.188643277,821,655,632,656,0.423308546105,0.00446656062919,0.079723757591,0.999999901445,6.68867635695e-05,-0.000435436696686,5.5055740533e-05,1793250871047504384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.218810447,723,695,668,642,889.218810447,787.781189553,821,655,632,656,0.422441911675,0.00450139058759,0.0797366791904,0.999999909346,0.000113734414558,-0.000407082512141,5.154168235e-05,1793250871064171264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.361888567,723,695,668,642,889,787.638111433,821,655.361888567,632,656,0.421610619078,0.00451039495235,0.0797866335542,0.999999939401,0.000124251341289,-0.000321250246359,5.05712386754e-05,1793250871080838144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746.935651353,723,695,668,642,889,787.064348647,821,655.935651353,632,656,0.42080001805,0.0045042792533,0.07985826942,0.999999971899,0.000113497783111,-0.000201766394743,5.10899998808e-05,1793250871097504768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746.487115878,723,695,668.512884122,642,889,787,820.487115878,655.487115878,632,655.487115878,0.41989791078,0.00449304027385,0.0798569766448,0.99999997286,9.90590421217e-05,-0.000204558292136,5.12193689753e-05,1793250871114171136
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,723,694.907562651,668.907562651,642,888.907562651,787,820,655,632,655,0.418987865555,0.00448179749256,0.0798412999224,0.999999968209,8.50396425699e-05,-0.00023180924334,5.11330875339e-05,1793250871130837760
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,723,694.317885029,668.317885029,642,888.317885029,787,820,655,632,655,0.418097298564,0.00447401551182,0.0797978036284,0.999999948579,7.57800388673e-05,-0.000307544730112,5.01513659902e-05,1793250871147504384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746.267035594,723,694.267035594,668,642,888.267035594,787,820,655,632,655.267035594,0.417238729142,0.00447172084643,0.0797825883938,0.999999937866,7.53931935352e-05,-0.000340678390243,5.02187930802e-05,1793250871164171008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746.846392454,723,694.846392454,668,642,888.846392454,787,820,655,632,655.846392454,0.416417583714,0.00447584407235,0.0798004503116,0.999999942545,8.5383808945e-05,-0.000323985519009,5.15132907215e-05,1793250871180837632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746.577352372,723,694.577352372,668,642,888.577352372,787,820,655,632,656,0.415591993593,0.0044864611075,0.0797921190702,0.999999935317,0.000101356760546,-0.000340995372254,5.30519296756e-05,1793250871197504256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746.002216218,723,694.002216218,668,642,888.002216218,787,820,655,632,656,0.414764799789,0.00449942106728,0.0797743375081,0.999999922855,0.000119488101,-0.000370164948411,5.46786532893e-05,1793250871214171136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,723,693.428410049,668,642,887.428410049,787,820,655,632,656,0.414019561495,0.00449713147383,0.0797806561459,0.999999932469,0.000113505097307,-0.000345747812814,5.13520397513e-05,1793250871230837760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.149946928,746,723,692.850053072,668,642,887,786.850053072,820,655,632.149946928,656,0.413284355976,0.00449248126989,0.079789166415,0.999999941572,0.000102534053558,-0.000322334946383,4.94280881869e-05,1793250871247504128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.741728649,746,723,692.258271351,668,642,887,786.258271351,820,655,632.741728649,656,0.412577778776,0.00448104909134,0.0798038598615,0.999999949938,7.71400735849e-05,-0.000302492060454,5.16936903864e-05,1793250871264170752
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.674333844,746,723,692.325666156,668.325666156,642,887,786,820,655,632.674333844,656,0.41186081569,0.00447523302755,0.0798015188739,0.999999946447,8.06758211863e-05,-0.000312692184651,5.31133521407e-05,1793250871280837632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.096470954,746,723,692.903529046,668.903529046,642,887,786,820,655,632.096470954,656,0.41113580979,0.00447376609861,0.0797859863743,0.999999932953,0.000106614827969,-0.000346157696462,5.38779151916e-05,1793250871297504256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.47694228,746,723,692.52305772,668.52305772,642,887,786,820,655,632,655.52305772,0.410473922115,0.00448090786128,0.0797855582034,0.99999993273,0.000102917891136,-0.000347908227333,5.39308327773e-05,1793250871314170880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,746,723.049812834,692,668,642,887,786,820,655,632,655.049812834,0.409829461676,0.00448938347673,0.0797903043762,0.999999936329,9.64190146249e-05,-0.000339324636807,5.38947387897e-05,1793250871330837760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,746,723.626374269,692,668,642,887,786,820,655,632,655.626374269,0.409235530038,0.00449372096019,0.0798177587291,0.999999949277,0.000123093619303,-0.000288670824202,5.44254640229e-05,1793250871347504384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.791169161,746,723.791169161,692.208830839,668,642,887,786,820,655.208830839,632.208830839,656,0.408647806289,0.00449496764283,0.0798345485865,0.99999995604,0.000132046121697,-0.000259750009965,5.4906686612e-05,1793250871364171008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.1978591,746,723.1978591,692.8021409,668,642,887,786,820,655.8021409,632.8021409,656,0.408071511977,0.0044905238403,0.0798317039992,0.999999955921,0.000108370394213,-0.000270841905595,5.52967698885e-05,1793250871380837888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,723,692.615681389,668,642,887,786,820,655.615681389,632.615681389,656,0.40749630117,0.00448828160223,0.0798038322445,0.99999994225,9.85492825163e-05,-0.000320675029015,5.4364662356e-05,1793250871397504768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,723,692.039073563,668,642,887,786,820,655.039073563,632.039073563,656,0.40692163243,0.00448714089017,0.0797634384461,0.999999918024,9.56601594325e-05,-0.000389891861674,5.27710123135e-05,1793250871414171648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,723,691.465357481,668,642,887,786.534642519,820,655,632,656,0.406440856203,0.00448847466085,0.0797619967298,0.999999918508,0.000108742070562,-0.000385336139156,5.17271748537e-05,1793250871430838272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.111472732,746,723,691,668,642,887,786.888527268,820,655,631.888527268,656,0.405978520059,0.00449013258579,0.0797680767124,0.999999924018,0.000118216552425,-0.000367964324135,5.09101233831e-05,1793250871447504640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.702607582,746,723,691,668,642,887,786.297392418,820,655,631.297392418,656,0.405566162592,0.0044924113553,0.0797943386618,0.999999942234,0.000107172960118,-0.000318520267515,5.0896949147e-05,1793250871464171264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.71361412,746,723,690.71361412,668,642,887,786,820,655,631.28638588,655.71361412,0.405162263738,0.00449461911904,0.0798133673811,0.999999950767,0.000113426656004,-0.000288080305892,5.10805256558e-05,1793250871480837888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.13728382,746,723,690.13728382,668,642,887,786,820,655,631.86271618,655.13728382,0.404766928625,0.00449675499458,0.079825072991,0.999999950933,0.00013719257151,-0.000276880581538,5.14632977455e-05,1793250871497504768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,746,723,690.440178874,668,642,887.440178874,786,820,655,632,655,0.40439097267,0.00450003991788,0.0798294882417,0.99999995018,0.000140096875324,-0.00027800696128,5.21926452191e-05,1793250871514171392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746.017931337,723,691,668,642,887.982068663,786,820,655,632,655,0.404022377408,0.00450358540904,0.0798315518251,0.99999994922,0.000136598548713,-0.000282993397221,5.3064533187e-05,1793250871530838272
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,746.593683369,723,691,668,642,887.406316631,786,820,655,632,655,0.403694257355,0.00450405973715,0.079831373348,0.999999947605,0.000136849121817,-0.000288161893019,5.49994407498e-05,1793250871547504896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746.825265315,723,690.825265315,668.34946937,642,887,786,820,655,632.174734685,655.174734685,0.403380117657,0.00450307139434,0.0798314623197,0.999999947353,0.000130880621924,-0.000291713737827,5.53825235522e-05,1793250871564171264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746.231506071,723,690.231506071,669.536987857,642,887,786,820,655,632.768493929,655.768493929,0.403099503757,0.0044985754763,0.0798321926501,0.999999950142,0.000109998401084,-0.000291388752975,5.20442345119e-05,1793250871580837632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,746,723,689.648560095,669.29712019,642,887,786.351439905,820,655,632.648560095,655.648560095,0.402841075448,0.00449567881453,0.0798309077537,0.999999950136,0.000101095481429,-0.000294641291384,5.19000176667e-05,1793250871597504256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,746,723,689.072524524,668.145049049,642,887,786.927475476,820,655,632.072524524,655.072524524,0.402596825318,0.0044938041934,0.0798283349808,0.999999948514,9.98482046466e-05,-0.000300180127425,5.37970449917e-05,1793250871614170880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.501946711,746.501946711,723,689,668.501946711,642,886.498053289,786.498053289,820,655.501946711,632,655.501946711,0.402392272369,0.00449231885075,0.0798271855472,0.999999948996,9.52888583909e-05,-0.000300001892737,5.41037945194e-05,1793250871630837760
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.923591755,746.923591755,723,689,669,642,886.076408245,786,820,655.923591755,632,656,0.402198673326,0.00449092115542,0.0798273348068,0.999999950229,9.04494263447e-05,-0.000297364613144,5.41852198219e-05,1793250871647504640
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,746.071687844,723,689,669,642,886.928312156,786,820,655.928312156,632,656,0.400976009139,0.00448229777874,0.07983430718,0.999999951956,0.000115746908331,-0.000282771195977,5.2260625421e-05,1793250872164171264
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,768,746.18723458,723,689,669,642,886,786,820,655.81276542,632,655.18723458,0.40097277072,0.0044824704267,0.0798325382993,0.999999950811,0.000118552111696,-0.000285632299679,5.23164597502e-05,1793250872214171136
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,746,723,689,669,642,886,786,820,656,632,655.975194247,0.400971391697,0.00448342957887,0.0798320680688,0.999999950329,0.000120689106229,-0.000286436203902,5.22579774999e-05,1793250872247504896
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,746.872479616,723.872479616,689,669,642,886.127520384,786,819.872479616,655.127520384,632.872479616,655.872479616,0.400975795848,0.00448212613014,0.0798349907392,0.999999952525,0.000114661748866,-0.000281284339536,5.17881360881e-05,1793250872280838144
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.300771538,723.300771538,689,669,642,886.699228462,786,819.300771538,655.699228462,632.300771538,655.300771538,0.400974392332,0.0044844098646,0.0798340604177,0.999999951822,0.000116560340154,-0.000283078556122,5.13368841209e-05,1793250872297504768
diff --git a/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c06d628d35a2dc8daa1ccfc676a53e42010100c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.57566699188,0.0101500973687,1.07003335791,0.546237670309,0.0188227311026,1.0697047551
+399,6.650000000,pose2_to_pose3_retreat,0.575666963534,0.010150097481,1.07003335801,0.546237641963,0.0188227312137,1.06970475518
+400,6.666666667,pose2_to_pose3_retreat,0.57566680832,0.0101500980962,1.07003335857,0.546237486748,0.0188227318218,1.0697047556
+401,6.683333333,pose2_to_pose3_retreat,0.575666559576,0.0101500990821,1.07003335946,0.546237238004,0.0188227327964,1.06970475626
+402,6.700000000,pose2_to_pose3_retreat,0.575666356239,0.010150099888,1.07003336018,0.546237034666,0.0188227335931,1.06970475681
+403,6.716666667,pose2_to_pose3_retreat,0.575666311449,0.0101501000656,1.07003336034,0.546236989876,0.0188227337686,1.06970475693
+404,6.733333333,pose2_to_pose3_retreat,0.575666026941,0.0101501011932,1.07003336136,0.546236705367,0.0188227348833,1.0697047577
+405,6.750000000,pose2_to_pose3_retreat,0.575665554201,0.0101501030669,1.07003336305,0.546236232625,0.0188227367355,1.06970475897
+406,6.766666667,pose2_to_pose3_retreat,0.575665050585,0.0101501126694,1.07003341616,0.54623572892,0.0188227459689,1.06970481033
+407,6.783333333,pose2_to_pose3_retreat,0.575664867513,0.0101501183394,1.07003345016,0.54623554579,0.0188227514056,1.06970484332
+408,6.800000000,pose2_to_pose3_retreat,0.575664782201,0.0101501209816,1.07003346601,0.546235460451,0.0188227539391,1.0697048587
+409,6.816666667,pose2_to_pose3_retreat,0.575664622253,0.0101501259354,1.07003349572,0.546235300452,0.0188227586891,1.06970488753
+410,6.833333333,pose2_to_pose3_retreat,0.575664473774,0.010150115253,1.0700335742,0.546235152499,0.0188227498005,1.06970496638
+411,6.850000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9346c16da36259b5886f112cb4475df9a249d35b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8f7a512e77ce5c535e072468f631a24d1ef6e934620303fd1fbea628126628
+size 25558127
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..919d88fbb9e0100c87cec50ce6a1619140176e4d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+47,0.783333333,BASELINE,764.265607907,745,713,679.734392093,658,634,879.468784185,785.734392093,805,652,630,651.265607907,0.400777329519,-0.00544233224566,0.0598718944344,0.999999932309,-9.13021412184e-05,-0.000354560088378,-3.65168946125e-05,1793245174691080192
+48,0.800000000,BASELINE,764.808356489,745,713,679.191643511,658,634,878.383287022,785.191643511,805,652,630,651.808356489,0.400777520815,-0.00544130887899,0.0598725303836,0.999999932884,-8.86000521194e-05,-0.000353619055075,-3.6550291271e-05,1793245174707746304
+49,0.816666667,BASELINE,765,745,713.395918626,679,658,634,878,785.395918626,805,652.395918626,630,652,0.400777153975,-0.0054408735655,0.0598722495911,0.99999993273,-8.82231326036e-05,-0.000354149450841,-3.65380213028e-05,1793245174724412928
+50,0.833333333,BASELINE,764.992328701,745,714,679,658.007671299,634,878.007671299,785.992328701,805,653,630,651.992328701,0.400776486628,-0.00544076704272,0.0598714666919,0.999999932182,-8.9086066646e-05,-0.000355482599876,-3.65010958652e-05,1793245174741079808
+51,0.850000000,BASELINE,764.401113622,745,714,679,658.598886378,634,878.598886378,785.401113622,805,653,630,651.401113622,0.400776134174,-0.00544125491307,0.0598705527885,0.999999931839,-8.77207600999e-05,-0.000356785620637,-3.64847637303e-05,1793245174757746176
+52,0.866666667,BASELINE,764,745,713.814055347,679,658.814055347,634,878.814055347,785,805,652.814055347,630,651,0.40077632512,-0.00544164978534,0.0598704021291,0.999999931859,-8.70697497024e-05,-0.000356896408173,-3.64012807727e-05,1793245174774412544
+53,0.883333333,BASELINE,764,745,713.235767953,679,658.235767953,634,878.235767953,785,805,652.235767953,630,651,0.40077766264,-0.00544184843184,0.0598718619127,0.999999932648,-8.79259024331e-05,-0.000354491586577,-3.61761097522e-05,1793245174791079424
+54,0.900000000,BASELINE,764,745,713,679,658.341468343,634,878,785,805,652.341468343,630,651,0.400777522756,-0.00544213165951,0.059871967584,0.999999932596,-8.90788954309e-05,-0.00035436621222,-3.60342832269e-05,1793245174807746816
+55,0.916666667,BASELINE,764,745,713,679,658.91798111,634,878,785,805,652.91798111,630,651,0.400776365925,-0.0054424731073,0.0598711411731,0.999999931964,-9.04362137744e-05,-0.000355809860014,-3.59498255979e-05,1793245174824414208
+56,0.933333333,BASELINE,764.491832198,745,713,679,658.508167802,634,878,785.491832198,804.508167802,652.508167802,630,651.491832198,0.400776507218,-0.00544148087585,0.0598710759535,0.99999993205,-8.87226389954e-05,-0.000355976939141,-3.61856770162e-05,1793245174841080832
+57,0.950000000,BASELINE,765,745,713.067735646,679,658,634,878,785.932264354,804.067735646,652.067735646,630,652,0.400776917279,-0.00544053555224,0.0598711571787,0.999999932266,-8.68303887955e-05,-0.000355814376688,-3.63934124017e-05,1793245174857747200
+58,0.966666667,BASELINE,765,745,713.663063244,679,658,634,878,785.336936756,804.663063244,652.663063244,630,652,0.400777743705,-0.00544167859366,0.0598713956665,0.999999932606,-8.75137716612e-05,-0.000354733458736,-3.59683402885e-05,1793245174874413568
+59,0.983333333,BASELINE,764.751917295,745,714,679.248082705,658.248082705,634,878,785,805,652.751917295,630,652,0.400777319785,-0.00544199506215,0.0598713726847,0.999999932397,-8.8236589537e-05,-0.000355155792586,-3.58289176198e-05,1793245174891079680
+60,1.000000000,BASELINE,764.18033937,745,714,679.81966063,658.81966063,634,878,785,805,652.18033937,630,652,0.40077526544,-0.00544123369509,0.0598710087513,0.999999931471,-8.90108300246e-05,-0.000357538338597,-3.60619764401e-05,1793245174907746304
+61,1.016666667,BASELINE,764.395126627,745,713.604873373,679.604873373,658.604873373,634,878,785.395126627,805,652.395126627,630,652,0.400775064262,-0.00544163898894,0.0598707077472,0.999999931381,-8.93424111368e-05,-0.000357696789332,-3.61728739774e-05,1793245174924413184
+62,1.033333333,BASELINE,764.972384777,745,713.027615223,679.027615223,658.027615223,634,878,785.972384777,805,652.972384777,630,652,0.400775717293,-0.00544258204899,0.0598704357502,0.999999931678,-8.94699507118e-05,-0.000356830055004,-3.62274619055e-05,1793245174941079808
+63,1.050000000,BASELINE,764.436639565,745,713.563360435,679,658,634,878,785.436639565,805,653,630,652,0.400776555908,-0.00544396373269,0.0598710679511,0.99999993192,-9.09073316838e-05,-0.000355820686345,-3.5885828107e-05,1793245174957746432
+64,1.066666667,BASELINE,764,745,713.848203131,679,658.151796869,634,878,785.151796869,805,652.848203131,630,652,0.40077685569,-0.0054448625248,0.0598714205401,0.999999931983,-9.21161571683e-05,-0.000355355856836,-3.56562103193e-05,1793245174974412800
+65,1.083333333,BASELINE,764,745,713.268859799,679,658.731140201,634,878,785.731140201,805,652.268859799,630,652,0.400775611548,-0.00544433914927,0.0598708576291,0.999999931555,-9.24958839138e-05,-0.000356444944099,-3.57981629543e-05,1793245174991079424
+66,1.100000000,BASELINE,764,745,713,679,659,634,878,786,804.691788267,652,630,652,0.400774755991,-0.0054433282368,0.0598702343453,0.999999931344,-9.05693054765e-05,-0.000357504062702,-3.60627282758e-05,1793245175007746048
+67,1.116666667,BASELINE,764,745,713,679,659,634,878,786,804.116684005,652,630,652,0.400774236927,-0.00544189514717,0.0598695587823,0.999999931308,-8.66456076495e-05,-0.000358537230217,-3.64334686841e-05,1793245175024412416
+68,1.133333333,BASELINE,764,745,713.467680851,679,658.532319149,634,878,785.532319149,804.467680851,652.467680851,630,652,0.400775065849,-0.00544273188062,0.0598700211136,0.999999931513,-8.62746623597e-05,-0.000358097218366,-3.60084018459e-05,1793245175041079296
+69,1.150000000,BASELINE,764,745,714,679,658,634,878,785.053657189,805,652.946342811,630,652,0.400776190862,-0.00544394256452,0.0598707739184,0.999999931778,-8.70252312948e-05,-0.000357226930824,-3.5481567792e-05,1793245175057746176
+70,1.166666667,BASELINE,764,745,714,679,658,634,878,785.632336953,805,652.367663047,630,652,0.400776855811,-0.00544315912376,0.0598715349362,0.999999932011,-8.99011892024e-05,-0.000355815547145,-3.59409750407e-05,1793245175074413312
+71,1.183333333,BASELINE,764,745,714,679,658,634,878.421729089,786,805,652,630,652,0.400777105091,-0.00544277049412,0.059871953629,0.999999932179,-9.08676377007e-05,-0.000355075046639,-3.61367726846e-05,1793245175091080448
+72,1.200000000,BASELINE,764,745,714,679,658,634,879.578254187,786,805,652,630,652,0.400776630134,-0.00544306976008,0.059871775875,0.999999932248,-8.85070695682e-05,-0.000355503453364,-3.58732725034e-05,1793245175107747072
+73,1.216666667,BASELINE,764.365198866,745,714,679,658.365198866,634,879.269602269,786,805,652,630,652,0.400777216549,-0.00544285771301,0.059871832411,0.999999932425,-8.86847896922e-05,-0.000354961833968,-3.58799423387e-05,1793245175124413952
+74,1.233333333,BASELINE,764.940013149,745,714,679,658.940013149,634,878.119973702,786,805,652,630,652,0.400778412166,-0.00544235218448,0.0598720234238,0.999999932662,-9.03194267324e-05,-0.000353863442745,-3.60416833202e-05,1793245175141080576
+75,1.250000000,BASELINE,765,745,714,679,659,634,878.526259649,786,805,652,630,652,0.400777047371,-0.00544250173802,0.0598714463561,0.999999931956,-9.14779401892e-05,-0.000355537805285,-3.6240124578e-05,1793245175157746688
+76,1.266666667,BASELINE,764.887191773,745,713.887191773,679.112808227,659,634,879,786,804.887191773,652,630,652,0.40077553821,-0.0054425703996,0.0598706582653,0.999999931273,-9.18361473798e-05,-0.000357342662593,-3.64246928557e-05,1793245175174413056
+77,1.283333333,BASELINE,764.30492952,745,713.30492952,679.69507048,659,634,879,786,804.30492952,652,630,652,0.400774669798,-0.00544198478215,0.0598693644343,0.999999931158,-8.90947310413e-05,-0.000358346085567,-3.65337326641e-05,1793245175191079936
+78,1.300000000,BASELINE,764,745,713.271816795,679.728183205,658.728183205,634,878.728183205,786,804.271816795,652.271816795,630,652,0.400774645985,-0.00544125639225,0.0598692514546,0.999999931331,-8.71951346434e-05,-0.000358322485604,-3.66061912636e-05,1793245175207746560
+79,1.316666667,BASELINE,764,745,713.842498255,679.157501745,658.157501745,634,878.157501745,786,804.842498255,652.842498255,630,652,0.400775550818,-0.00544037102295,0.0598704368302,0.999999931827,-8.62211259503e-05,-0.000357169665929,-3.66384285349e-05,1793245175224413184
+80,1.333333333,BASELINE,764,745,713.580751179,679.419248821,658,634,878,785.580751179,805,652.580751179,630,652,0.400775395655,-0.0054402184032,0.0598706158542,0.999999931705,-8.59218645058e-05,-0.000357598322257,-3.6471505141e-05,1793245175241080320
+81,1.350000000,BASELINE,764,745,713.001687057,679.998312943,658,634,878,785.001687057,805,652.001687057,630,652,0.400774836428,-0.0054403451034,0.0598704112627,0.999999931348,-8.58798128513e-05,-0.000358629828282,-3.62286628199e-05,1793245175257747712
+82,1.366666667,BASELINE,764,745,713,680,658,634,878,785,805,652.589367808,630,652,0.40077696244,-0.00544041447199,0.0598720388674,0.999999932229,-8.57884142639e-05,-0.000356203476351,-3.60655101637e-05,1793245175274414080
+83,1.383333333,BASELINE,764,745,713.176439596,679.823560404,658.176439596,634,878,785,805,652.823560404,630,652,0.400778300738,-0.00544055293542,0.0598730072654,0.999999932782,-8.64448360595e-05,-0.000354491066645,-3.60522380515e-05,1793245175291080448
+84,1.400000000,BASELINE,764,745,713.754368265,679.245631735,658.754368265,634,878,785,805,652.245631735,630,652,0.400777828736,-0.00544084900566,0.0598724634539,0.999999932586,-8.88032544886e-05,-0.00035442622597,-3.63794898944e-05,1793245175307747328
+85,1.416666667,BASELINE,764,745,714,679.330492421,659,634,878,785.330492421,805,652,630,652,0.400776561304,-0.00544223546429,0.0598713772738,0.999999931894,-9.0401182569e-05,-0.000355972884639,-3.6358380071e-05,1793245175324414208
+86,1.433333333,BASELINE,764,745,714,679.905282658,659,634,878,785.905282658,805,652,630,652,0.400774705895,-0.00544442793081,0.0598698901784,0.999999930832,-9.14369610612e-05,-0.00035871075299,-3.60797635832e-05,1793245175341080832
+87,1.450000000,BASELINE,764,745,714,679.520134317,658.520134317,634,878,785.520134317,805,652,630,651.520134317,0.400775775926,-0.00544387093262,0.0598707124997,0.99999993136,-9.15526746716e-05,-0.000357205243549,-3.60907607397e-05,1793245175357747200
+88,1.466666667,BASELINE,764,745,713.943906114,679,658.056093886,634,878,785.056093886,805,652,630,651.056093886,0.400777063286,-0.00544286864486,0.0598717884163,0.999999932055,-9.153993611e-05,-0.000355250514286,-3.61604496917e-05,1793245175374413568
+89,1.483333333,BASELINE,764,745,713.351559266,679,658.648440734,634,878,785.648440734,805,652,630,651.648440734,0.400774910477,-0.00544279533103,0.0598709327743,0.999999931382,-9.20345867141e-05,-0.000357004932015,-3.62449723069e-05,1793245175391080704
+90,1.500000000,BASELINE,764,745,713.234661606,679.234661606,659,634,878.234661606,785.765338394,805,652,630,652,0.400774558482,-0.0054426306225,0.0598709765783,0.999999931479,-9.13436465202e-05,-0.0003569210697,-3.61422639161e-05,1793245175407747584
+91,1.516666667,BASELINE,764,745,713.811938266,679.811938266,659,634,878.811938266,785.188061734,805,652,630,652,0.400776835747,-0.00544233247415,0.0598723336085,0.999999932695,-8.89216977039e-05,-0.00035415324702,-3.57661909823e-05,1793245175424413952
+92,1.533333333,BASELINE,764,745,713.612545292,679.612545292,658.612545292,634,879,785,805.387454708,652.387454708,630,652,0.400778118951,-0.00544237373101,0.0598730282237,0.999999932976,-8.96649175245e-05,-0.000353160851916,-3.58526629454e-05,1793245175441080576
+93,1.550000000,BASELINE,764,745,713.037879303,679.037879303,658.037879303,634,879,785,805.962120697,652.962120697,630,652,0.400778921843,-0.00544257898244,0.0598734027718,0.999999932806,-9.19374907772e-05,-0.000353026311847,-3.61626284091e-05,1793245175457747712
+94,1.566666667,BASELINE,764.55005232,745,713.55005232,679.55005232,658.55005232,634,879.55005232,785.55005232,805.44994768,652.44994768,630,652,0.400777612196,-0.00544180558217,0.0598724919938,0.999999932374,-9.11486146087e-05,-0.000354425810389,-3.64244884731e-05,1793245175474414336
+95,1.583333333,BASELINE,765,745,714,679.863272577,659,634,879.726545155,785.863272577,805,652.136727423,630,652,0.400775999123,-0.00544089026542,0.0598713557463,0.999999931885,-8.94722765651e-05,-0.000356208488935,-3.66201230214e-05,1793245175491080704
+96,1.600000000,BASELINE,765,745,714,679.283699039,659,634,878.567398078,785.283699039,805,652.716300961,630,652,0.400773886123,-0.0054397389747,0.0598697829983,0.999999931266,-8.56212605807e-05,-0.000358881631013,-3.66122548736e-05,1793245175507746816
+97,1.616666667,BASELINE,764.705209377,745,713.705209377,679,658.705209377,634,878,785,805.294790623,652.705209377,630,652,0.400773869913,-0.00543913748971,0.0598700184314,0.999999931502,-8.41810931768e-05,-0.000358566489099,-3.66039596358e-05,1793245175524413184
+98,1.633333333,BASELINE,764.127759025,745,713.127759025,679,658.127759025,634,878,785,805.872240975,652.127759025,630,652,0.400775864209,-0.00543906318553,0.0598719876377,0.999999932564,-8.50525660511e-05,-0.000355386033544,-3.65952548838e-05,1793245175541079552
+99,1.650000000,BASELINE,764.438492929,745,713.438492929,679,658,634,878,785,805.561507071,652,630,652,0.400775413407,-0.00544018524093,0.059871006363,0.999999932081,-8.45977473243e-05,-0.000356901903608,-3.60906955819e-05,1793245175557746432
+100,1.666666667,BASELINE,764.998320661,745,713.998320661,679,658,634,878,785,805,652,630,652,0.400774269154,-0.00544164397816,0.0598691926624,0.999999931154,-8.37779076741e-05,-0.000359744590882,-3.54481362864e-05,1793245175574413312
+101,1.683333333,BASELINE,764.393480537,745,713.393480537,679,658,634,878,785,805,652,630,652,0.400773559073,-0.00544195033823,0.0598694681858,0.999999930786,-8.71903234751e-05,-0.0003599198287,-3.58378794721e-05,1793245175591079936
+102,1.700000000,BASELINE,764,745,713.200728529,679.200728529,658,634,878,785.200728529,805,652,630,651.799271471,0.400773223125,-0.00544212762026,0.0598695984317,0.999999930641,-8.91391516277e-05,-0.000359817262012,-3.61049378732e-05,1793245175607746560
+103,1.716666667,BASELINE,764,745,713.775146072,679.775146072,658,634,878,785.775146072,805,652,630,651.224853928,0.400773583689,-0.00544206460237,0.0598694582195,0.999999930931,-8.83632714202e-05,-0.000359197516745,-3.61435984229e-05,1793245175624412928
+104,1.733333333,BASELINE,764,745,714,680,658.351321296,634,878,785.648678704,805,652,630,651.351321296,0.400774280479,-0.00544258828913,0.0598700265383,0.999999931269,-8.92797592529e-05,-0.000358024545372,-3.6193512556e-05,1793245175641079296
+105,1.750000000,BASELINE,764,745,714,680,658.928627189,634,878,785.071372811,805,652,630,651.928627189,0.400775193546,-0.00544348936893,0.0598710506139,0.999999931632,-9.12848491389e-05,-0.00035649571569,-3.62506654697e-05,1793245175657745664
+106,1.766666667,BASELINE,764,745,714,679.484547728,659,634,878,785,805,652.515452272,630,651.484547728,0.400775722234,-0.00544251130339,0.059871245975,0.99999993208,-8.86252679228e-05,-0.00035591886693,-3.61518942095e-05,1793245175674413824
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,652,0.400776668712,-0.00544281398573,0.0598718320278,0.999999931565,-9.16879423502e-05,-0.000356610318897,-3.5959326773e-05,1793245175716926976
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.576361387,658,634,878.423638613,785,804.423638613,652,630,652,0.400774727697,-0.00544255160398,0.0598702258685,0.999999931179,-9.04900823456e-05,-0.000357970181079,-3.62076974412e-05,1793245175733593856
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.847189529,680,658,634,878.152810471,785,804,652,630,652,0.400773562428,-0.00544208344105,0.059869274305,0.99999993104,-8.9164304185e-05,-0.00035867970374,-3.63138044748e-05,1793245175750260736
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.270497049,680,658,634,878.729502951,785,804,652,630,652,0.400774549003,-0.00544104446029,0.0598701385288,0.999999931591,-8.74836927072e-05,-0.000357585245471,-3.60252854972e-05,1793245175766927360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.314011147,745,713,679.685988853,658.314011147,634,878.685988853,785,804.314011147,652.314011147,630,652,0.40077479503,-0.00544168508132,0.0598703392255,0.999999931396,-8.88547776198e-05,-0.000357805663082,-3.58810862553e-05,1793245175783593728
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.515781183,745,713,679,658.515781183,634,878.484218817,785.484218817,805,652.515781183,630,652,0.400776851996,-0.00544276016747,0.0598715313918,0.999999931187,-9.07522262817e-05,-0.000357897562793,-3.60528255308e-05,1793245175816926720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.060428142,634,879,785.939571858,804.939571858,652.060428142,630,652,0.400780144564,-0.00544133879826,0.0598733832608,0.999999932043,-8.76493456086e-05,-0.000356258355357,-3.62084965191e-05,1793245175833593088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658.635073252,634,879,785.364926748,804.364926748,652.635073252,630,652,0.400785823744,-0.00544189238595,0.0598743887651,0.999999932242,-8.67064551184e-05,-0.000355976761598,-3.57529661404e-05,1793245175850258944
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658.789625225,634,879,785.210374775,804.210374775,653,630,652,0.400795890907,-0.00544221668909,0.0598756086578,0.999999932316,-8.66214460877e-05,-0.000355815722842,-3.54987704238e-05,1793245175866925056
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.213181549,634,879,785.786818451,804.786818451,653,630,652,0.400813593508,-0.00544214201877,0.0598772016031,0.999999932172,-8.80292193669e-05,-0.000355864459448,-3.55949131365e-05,1793245175883591680
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679.374019922,658.374019922,634,878.625980078,785.625980078,805,653,630,652,0.400842210285,-0.00544390196916,0.0598794374348,0.999999932832,-8.93714726839e-05,-0.00035368331749,-3.54513603983e-05,1793245175900258304
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679.967534695,658.967534695,634,878.032465305,785.032465305,805,653,630,652,0.400877232084,-0.00544673857291,0.0598820505466,0.999999933953,-9.06752755233e-05,-0.000350193563782,-3.51671415858e-05,1793245175916924928
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658.454269193,634,878.545730807,785,804.454269193,652.454269193,630,652,0.400923859967,-0.00544612869872,0.0598795568449,0.99999993312,-8.94263942689e-05,-0.000352754517962,-3.64275815462e-05,1793245175933591808
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.122507745,680,658,634,878.877492255,785,804,652,630,651.877492255,0.400975352734,-0.00544601081327,0.0598766996585,0.999999932059,-8.89812424173e-05,-0.000355740402879,-3.75920998094e-05,1793245175950258432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.6973179,680,658,634,878.3026821,785,804,652,630,651.3026821,0.401042327283,-0.00544844567277,0.0598735914966,0.999999930597,-9.20488409809e-05,-0.000359002469586,-3.80724708123e-05,1793245175966925056
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+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.132879766,679.132879766,658,634,878,785,804.867120234,652,630,651,0.40122512224,-0.00545315986347,0.0598779589771,0.999999933659,-9.54687654294e-05,-0.000349278163573,-3.96632240833e-05,1793245176000258304
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.447829313,679.447829313,658,633.552170687,878,785,805,652,630,651.447829313,0.401346462909,-0.00545565366064,0.0598830100245,0.9999999382,-9.60218209052e-05,-0.000335739593427,-4.07185433395e-05,1793245176016924928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.973787052,658.026212948,633.026212948,878,785.026212948,805,652,630,651.973787052,0.40147515472,-0.00545818788786,0.0598882727043,0.999999943054,-9.64757812183e-05,-0.000320679434349,-4.18320562332e-05,1793245176033591552
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.396477534,658.603522466,633.603522466,878,785.603522466,805,652,630,651.396477534,0.401628318863,-0.00546056353244,0.0598920000463,0.999999946418,-9.89649090176e-05,-0.00030902599228,-4.32654691108e-05,1793245176050258176
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.820257183,714,679.179742817,658.820257183,634,878.179742817,786,805,652,630,651,0.401788687082,-0.0054630363354,0.0598943072821,0.999999948875,-0.00010148148823,-0.000299898581462,-4.48666566656e-05,1793245176066925056
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.246424925,714,679.753575075,658.246424925,634,878.753575075,786,805,652,630,651,0.401964850348,-0.00546572215957,0.0598935009084,0.999999949589,-0.000104058254869,-0.000296309542336,-4.68356931161e-05,1793245176083591680
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.336762205,714,679.663237795,658.336762205,634,878.663237795,786,805,652,630,651.336762205,0.402166527725,-0.00546833161668,0.0598940017059,0.999999950679,-0.000108306435843,-0.00029072100525,-4.89246817355e-05,1793245176100258304
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+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.92179758,679,658.07820242,634,878.92179758,785.92179758,805,652.07820242,630,652,0.402897234759,-0.00547567193958,0.0598958707296,0.999999954314,-0.000123650935076,-0.000269964380655,-5.65833992271e-05,1793245176150258688
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.510954073,627.510954073,880,782.489045927,807.489045927,652,629,652,0.450407730587,-0.00551679118123,0.0595393429597,0.999999744397,-8.02345388328e-05,-0.000708016851002,-5.90009764934e-05,1793245178747772160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.911311997,745.088688003,714,682,655,628,880.088688003,782,807,652,629,652,0.450152121876,-0.00550842406354,0.0595360529618,0.999999741434,-7.42606613435e-05,-0.000712948870557,-5.76350315569e-05,1793245178764438784
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.318923617,745.681076383,714,682,655,628,880.681076383,782,807,652,629,652,0.449864847677,-0.00549938444928,0.059530282909,0.999999735109,-6.52106842699e-05,-0.000722767942736,-5.60064828865e-05,1793245178781105408
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.265725527,745.734274473,714,682,655,628,880.734274473,782.265725527,807.265725527,652,629,652,0.449556894077,-0.00549079494087,0.0595257754252,0.999999732209,-5.7350408591e-05,-0.000727561602047,-5.42896433491e-05,1793245178797772288
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.747314553,745,714,681.252685447,655,629,880,783.747314553,807.252685447,652,629,651,0.447313498004,-0.00544050090238,0.0595804478396,0.99999979467,-1.95065231219e-06,-0.000639827655656,-3.57356517197e-05,1793245178897772288
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.404492918,745,714,679.595507082,658,633,878.595507082,785,805,652,629.595507082,651,0.410253366243,-0.00537831928426,0.0597730237189,0.999999906286,0.000218439322455,-0.000372786769458,2.72596974864e-05,1793245179697772288
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.760097744,745,714,680,658,633.760097744,879,785,805,652,629.239902256,651.760097744,0.409066833078,-0.005378523292,0.059849843189,0.999999945394,0.000210784180541,-0.000252445699296,3.24462102504e-05,1793245179731106048
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.511518161,745,713.511518161,680,658,634,878.511518161,785,805.488481839,652,630,652,0.407350064294,-0.00537653239198,0.0598317891076,0.999999932143,0.000240074095374,-0.000277794213434,3.01516570828e-05,1793245179781105664
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.757900321,745,713.757900321,679.757900321,658,633.757900321,878,785,805,652,629.757900321,652,0.405864166759,-0.00537024995446,0.0598255360962,0.999999933328,0.000232622335458,-0.000280037389321,2.84448198067e-05,1793245179831105792
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.97204378,679.97204378,658,633.97204378,878.97204378,785,805,652.97204378,629.97204378,652,0.40456429063,-0.00536248782042,0.0597942093872,0.999999916656,0.00024928701849,-0.000322249205475,2.6437078902e-05,1793245179881105408
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.454210843,679.454210843,658,634,879,785,805,652.454210843,630,651.454210843,0.404181589171,-0.00535885776779,0.0597743266045,0.999999903973,0.000251426731589,-0.00035811246187,2.43752956132e-05,1793245179897772032
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.280159668,745,713,679,658,634,878.280159668,785.719840332,805,652,629.280159668,651.719840332,0.403512337087,-0.00535609687405,0.0597702749311,0.999999903126,0.000252788067155,-0.000359580841387,2.34030593614e-05,1793245179931105280
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713.451263342,680,657.548736658,634,878.548736658,785.548736658,806,652,630,652,0.402776685852,-0.00537251926674,0.0598294537217,0.999999939473,0.000230257083779,-0.000259473198354,2.66393621623e-05,1793245179981105152
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.780509171,745,714,680,658,634,878.219490829,785,805.780509171,652.780509171,630,652,0.401944851197,-0.00537544099576,0.0598246762034,0.999999936085,0.000216494130796,-0.000283357233199,2.58804141615e-05,1793245180047772160
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.06280556,745,713.06280556,679.06280556,658,634,878.93719444,785.93719444,805.06280556,652.06280556,630,652,0.401657339482,-0.00537444554962,0.0598288133171,0.999999934736,0.000223624815649,-0.000282565743679,2.59945033481e-05,1793245180081106688
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.317730506,745,713.682269494,680,657.682269494,633.317730506,878.317730506,785,805,652.317730506,630,652,0.401359338069,-0.00537392743332,0.0598374293032,0.999999930067,0.00026045823991,-0.000267135289301,2.57973138053e-05,1793245180131106048
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.15414887,679.15414887,658,633.84585113,878.84585113,785,805.84585113,652.84585113,629.15414887,652,0.401205187762,-0.00537082042609,0.0598330237232,0.999999927144,0.000262148888386,-0.000276296415949,2.54868725904e-05,1793245180164440320
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.583167509,745,714,679.416832491,658,634,878.583167509,785,806,652,630,652,0.401064695326,-0.00537127126095,0.0598280068929,0.999999925221,0.000259174780695,-0.000285951745652,2.48647831176e-05,1793245180214439680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.830826923,745,713.830826923,679,658,634,879,785,805.830826923,652,630,652,0.401036653557,-0.00537149826968,0.0598299105126,0.999999926168,0.00025744980399,-0.000284203372111,2.47371396744e-05,1793245180231105536
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.946137889,679,658,633.946137889,878.946137889,785.053862111,804.053862111,652,630,652,0.400981701276,-0.00537212706584,0.0598371468494,0.999999930606,0.000254147804938,-0.00027128215183,2.45618372744e-05,1793245180314438912
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.356791103,679,658,633.356791103,878.356791103,785.643208897,804.643208897,652,630,652,0.400977653254,-0.0053719075966,0.0598376788522,0.999999930547,0.000254034492487,-0.000271605016034,2.4540278242e-05,1793245180331105536
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.80812036,658,633.80812036,878,785.19187964,805,652,629.19187964,652,0.400972611142,-0.00537185053291,0.0598371072367,0.999999930427,0.000253607630649,-0.000272459564322,2.43909710218e-05,1793245180364438784
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.111520274,658,634,878.888479726,785,805.888479726,652,630,652,0.400974033332,-0.00537362124748,0.0598415227009,0.999999932727,0.000251833800146,-0.000265588744888,2.4242747894e-05,1793245180431107840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.702915327,658,634,878.297084673,785,805.297084673,652,630,652,0.400974133754,-0.00537499396908,0.0598420513515,0.999999933626,0.000249446504862,-0.000264454171787,2.42401095406e-05,1793245180447773952
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.132286616,658,634,878.867713384,785,805,652.867713384,630,652,0.400975719051,-0.00537721635485,0.0598437276581,0.999999934756,0.000246820112538,-0.000262632575871,2.43261095878e-05,1793245180481106944
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5655b051509986e5c673a794ec8c3486a7c499a8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.617693309299,-0.000122199036118,1.05005077155,0.588264941887,0.00855349051845,1.04971726205
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+265,4.416666667,pose2_to_pose3_retreat,0.617693065892,-0.000122128616966,1.05005077109,0.588264697909,0.00855355905379,1.04971726304
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+268,4.466666667,pose2_to_pose3_retreat,0.61769267033,-0.000122098577838,1.05005084398,0.588264301804,0.00855358723111,1.04971733548
+269,4.483333333,pose2_to_pose3_retreat,0.617691271433,-0.000122059253888,1.05005104696,0.588262901793,0.00855362270328,1.04971753681
+270,4.500000000,pose2_to_pose3_retreat,0.617686990168,-0.000122070643783,1.05005099366,0.588258621389,0.008553614224,1.04971748345
+271,4.516666667,pose2_to_pose3_retreat,0.617677663825,-0.000122124692459,1.0500509925,0.588249295766,0.00855356232911,1.04971747537
+272,4.533333333,pose2_to_pose3_retreat,0.617661715743,-0.000122187582664,1.0500511369,0.588233348717,0.00855350315043,1.04971762661
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+274,4.566666667,pose2_to_pose3_retreat,0.617602976716,-0.000122239753377,1.05005087059,0.588174610126,0.00855345277674,1.04971736599
+275,4.583333333,pose2_to_pose3_retreat,0.617558511169,-0.000122270071179,1.05005099595,0.588130145299,0.00855342496675,1.04971749313
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+277,4.616666667,pose2_to_pose3_retreat,0.617443495222,-0.000122197711703,1.05005110381,0.588015128394,0.00855349297289,1.04971760176
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+331,5.516666667,pose2_to_pose3_retreat,0.591513168246,-0.000122234898445,1.05005090599,0.562084801933,0.00855345238984,1.04971739382
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+333,5.550000000,pose2_to_pose3_retreat,0.590079883618,-0.000122298338472,1.05005089366,0.560651518098,0.00855339198626,1.04971739035
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+335,5.583333333,pose2_to_pose3_retreat,0.588747272036,-0.000122207769428,1.05005102108,0.55931890521,0.00855347779984,1.04971750933
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+337,5.616666667,pose2_to_pose3_retreat,0.587463837728,-0.000122093505585,1.05005102498,0.558035469584,0.00855358761922,1.04971751381
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+341,5.683333333,pose2_to_pose3_retreat,0.584941670399,-0.000122080509029,1.05005093285,0.555513302353,0.00855360123761,1.04971742961
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+343,5.716666667,pose2_to_pose3_retreat,0.583792052763,-0.000122347715312,1.05005078027,0.554363689435,0.00855335015778,1.04971728066
+344,5.733333333,pose2_to_pose3_retreat,0.583267498957,-0.000122204444791,1.05005095782,0.553839134181,0.00855348858193,1.04971745891
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+375,6.250000000,pose2_to_pose3_retreat,0.57574831307,-0.000122132168526,1.05005105194,0.546319946361,0.00855355409422,1.04971754834
+376,6.266666667,pose2_to_pose3_retreat,0.575725601877,-0.000122141771538,1.05005100027,0.546297235546,0.00855354570626,1.04971749496
+377,6.283333333,pose2_to_pose3_retreat,0.57570946544,-0.000122160933612,1.05005105632,0.546281097977,0.00855352218314,1.04971753745
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+379,6.316666667,pose2_to_pose3_retreat,0.575689266882,-0.00012230097829,1.05005103113,0.546260901542,0.00855338935717,1.04971751291
+380,6.333333333,pose2_to_pose3_retreat,0.575683562025,-0.000122255847628,1.05005113213,0.546255195977,0.00855343232376,1.04971762012
+381,6.350000000,pose2_to_pose3_retreat,0.575679653157,-0.000122179438774,1.05005095392,0.546251285483,0.00855350335574,1.04971744551
+382,6.366666667,pose2_to_pose3_retreat,0.575677000014,-0.000122122256044,1.05005080402,0.546248631104,0.00855355643345,1.04971729798
+383,6.383333333,pose2_to_pose3_retreat,0.575675058755,-0.000122177717685,1.05005075179,0.546246690571,0.0085535035129,1.0497172477
+384,6.400000000,pose2_to_pose3_retreat,0.575673659779,-0.000122267231351,1.0500507434,0.546245292949,0.00855341865378,1.04971724084
+385,6.416666667,pose2_to_pose3_retreat,0.575672998872,-0.000122309519557,1.05005073944,0.546244632682,0.00855337856449,1.04971723759
+386,6.433333333,pose2_to_pose3_retreat,0.575672941952,-0.000122313161609,1.0500507391,0.546244575817,0.00855337511182,1.04971723732
+387,6.450000000,pose2_to_pose3_retreat,0.575672743175,-0.000122325880343,1.05005073791,0.546244377233,0.00855336305443,1.04971723634
+388,6.466666667,pose2_to_pose3_retreat,0.575672341667,-0.000122345633201,1.0500507377,0.546243976048,0.00855334441454,1.04971723658
+389,6.483333333,pose2_to_pose3_retreat,0.575671783086,-0.000122284527868,1.05005077031,0.546243416934,0.00855340374287,1.04971726986
+390,6.500000000,pose2_to_pose3_retreat,0.575671620622,-0.000122266755391,1.0500507798,0.546243254316,0.00855342099851,1.04971727954
+391,6.516666667,pose2_to_pose3_retreat,0.575671318574,-0.000122233713229,1.05005079743,0.546242951981,0.00855345307977,1.04971729754
+392,6.533333333,pose2_to_pose3_retreat,0.575671003889,-0.000122199288659,1.0500508158,0.546242636996,0.00855348650324,1.0497173163
+393,6.550000000,pose2_to_pose3_retreat,0.575670695212,-0.00012216552135,1.05005083382,0.546242328026,0.00855351928856,1.04971733469
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+395,6.583333333,pose2_to_pose3_retreat,0.575670436532,-0.000122137940472,1.05005084822,0.546242069104,0.00855354605949,1.04971734933
+396,6.600000000,pose2_to_pose3_retreat,0.575670229191,-0.000122147167904,1.05005082921,0.546241861775,0.00855353675012,1.04971732708
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+398,6.633333333,pose2_to_pose3_retreat,0.575669887794,-0.000122162361299,1.0500507979,0.546241520399,0.0085535214218,1.04971729045
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0292e0e87a0d5c113b838f9caf6b7f26169bf096
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733625ad0e06281671f62859a5217b1ddbe028c2cb6ffce15365c3f070e9e16b
+size 25493578
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..143a9e195e0b620989f25dcd39d5b22fc7eb0c3a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,404 @@
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+27,0.450000000,BASELINE,764.313645933,745,713.686354067,679.686354067,658,634,878.313645933,785,805.686354067,652.313645933,630,652,0.400974441974,-0.00537815255111,0.0598463308043,0.999999936881,0.000244315472405,-0.000256896317049,2.35038753977e-05,1793245181279949568
+28,0.466666667,BASELINE,764,745,713.736782832,679.736782832,658,634,878,785,806,652,630,652,0.400974170045,-0.00537761150806,0.0598458588093,0.999999936645,0.000244983213184,-0.000257178762949,2.34967819991e-05,1793245181296616192
+29,0.483333333,BASELINE,764,745,713.161247553,679.161247553,658,634,878,785,806,652,630,652,0.400975029243,-0.00537799540347,0.0598462027944,0.999999936571,0.000245442391599,-0.000257011878706,2.36781189588e-05,1793245181313283072
+30,0.500000000,BASELINE,764.422712942,745,713.422712942,679,658,634,878,785.422712942,805.577287058,652,630,651.577287058,0.400974724858,-0.00537840452123,0.0598461137351,0.99999993638,0.000245521988641,-0.000257674195715,2.37192382019e-05,1793245181329949696
+31,0.516666667,BASELINE,764.990179495,745,714,679.009820505,658,634,878,786,805.009820505,652,630,651,0.400973980727,-0.00537881933891,0.0598458594989,0.999999936154,0.000245430518265,-0.000258640628321,2.3701857755e-05,1793245181346616320
+32,0.533333333,BASELINE,764.410737166,745,714,679.589262834,658,634,878,786,805.589262834,652,630,651,0.400973998787,-0.00537899535567,0.0598458007929,0.999999936542,0.000243985938195,-0.000258526861826,2.34568338097e-05,1793245181363282944
+33,0.550000000,BASELINE,764,745,714,680,658,634,878,785.832445791,805.832445791,652,630,651,0.400974007322,-0.0053792238512,0.0598458560751,0.999999936869,0.000242793121422,-0.000258402532376,2.32734544867e-05,1793245181379949568
+34,0.566666667,BASELINE,764,745,714,680,658,634,878,785.256956662,805.256956662,652,630,651,0.400973992666,-0.00537958011388,0.0598461888779,0.999999937049,0.000242213258962,-0.000258252485902,2.32401579353e-05,1793245181396616192
+35,0.583333333,BASELINE,764,745,713.680962179,679.680962179,657.680962179,634,878,785,805,652,630,651,0.400974121206,-0.00537930639509,0.0598460588856,0.999999937038,0.000242461403575,-0.000258064046651,2.32330476123e-05,1793245181413282560
+36,0.600000000,BASELINE,764,745,713.10455997,679.10455997,657.10455997,634,878,785,805,652,630,651,0.400974365261,-0.00537852447703,0.0598455555616,0.999999936872,0.000243377492548,-0.000257844636342,2.3247061435e-05,1793245181429949184
+37,0.616666667,BASELINE,764.482082753,744.517917247,713,679,657.482082753,634,878,785,805.482082753,652,630,651.482082753,0.400974814618,-0.00537850154262,0.0598461398721,0.999999937134,0.000243335086229,-0.000256853542108,2.33555099043e-05,1793245181446615808
+38,0.633333333,BASELINE,764.930273492,744.069726508,713.069726508,679.069726508,658,634,878.069726508,785,806,652,630,652,0.40097525169,-0.00537853815124,0.0598469261779,0.999999937369,0.000243420232659,-0.000255845633505,2.34965024239e-05,1793245181463282944
+39,0.650000000,BASELINE,764.351881586,744.648118414,713.648118414,679.648118414,658,634,878.648118414,785,806,652,630,652,0.400975267252,-0.00537778216131,0.0598474277981,0.999999936706,0.000245985400208,-0.000255962566178,2.37222455969e-05,1793245181479949824
+40,0.666666667,BASELINE,764,745,714,679.774050611,658,634,879,785,805.774050611,652,630,652,0.400974771496,-0.00537781859672,0.0598472485506,0.999999936384,0.000246502064859,-0.000256709463951,2.38325175709e-05,1793245181496616448
+41,0.683333333,BASELINE,764,745,714,679.197091071,658,634,879,785,805.197091071,652,630,652,0.400973481415,-0.00537908605715,0.0598460115817,0.999999936595,0.000243836400273,-0.000258435006299,2.37634061608e-05,1793245181513283072
+42,0.700000000,BASELINE,764,745,714,679,658,634,878.621345255,785,805,652,630,652,0.40097390318,-0.00537906063683,0.0598463946662,0.999999936945,0.000243049963321,-0.000257825071262,2.37080833204e-05,1793245181529949440
+43,0.716666667,BASELINE,764,745,714,679,658,634,878.046229186,785,805,652,630,652,0.40097521312,-0.00537836441789,0.0598476182995,0.999999937369,0.000243238545401,-0.000256003396487,2.3659914547e-05,1793245181546616320
+44,0.733333333,BASELINE,764,745,713.457807692,679,657.457807692,634,878,785,805.542192308,652.542192308,630,652,0.400974652125,-0.00537947277544,0.0598469693837,0.999999937419,0.000242152578982,-0.000256828601673,2.37443087487e-05,1793245181563282944
+45,0.750000000,BASELINE,764.12980633,745,713.12980633,679,657.12980633,634,878.12980633,785,806,653,630,652,0.400973883236,-0.00537992891755,0.0598462807357,0.999999937139,0.000242141341083,-0.000257927628967,2.37265478138e-05,1793245181579949312
+46,0.766666667,BASELINE,764.710574556,745,713.710574556,679,657.710574556,634,878.710574556,785,806,653,630,652,0.400972960237,-0.00537757119898,0.0598460226851,0.999999935823,0.000246250870224,-0.000259174175269,2.33136333565e-05,1793245181596616192
+47,0.783333333,BASELINE,764.712171718,745,714,679.287828282,658,634,879,785.287828282,806,652.712171718,630,652,0.400972872991,-0.00537671221674,0.0598460151804,0.999999935653,0.000247244940682,-0.000258892243142,2.31943267108e-05,1793245181613283072
+48,0.800000000,BASELINE,764.138409292,745,714,679.861590708,658,634,879,785.861590708,806,652.138409292,630,652,0.400973615999,-0.00537734210768,0.0598462565727,0.999999936631,0.000245144055144,-0.000257091891342,2.33666956547e-05,1793245181629949696
+49,0.816666667,BASELINE,764,745,714,680,658,634,878.572554252,785.572554252,806,652,630,652,0.400974259449,-0.0053787959132,0.0598465083135,0.999999937594,0.00024219182876,-0.000256141897265,2.33622900845e-05,1793245181646616320
+50,0.833333333,BASELINE,764,745,714,680,658,634,878.009213195,785.009213195,806,652,630,652,0.400974871246,-0.005380511661,0.0598467633442,0.999999938545,0.000238968940718,-0.000255462252516,2.33016836235e-05,1793245181663282944
+51,0.850000000,BASELINE,764,745,713.403855377,679.403855377,658,634,878,785,805.403855377,652,630,652,0.400976062684,-0.00537929139873,0.0598480592274,0.999999938312,0.000241350816706,-0.000254128694321,2.33261936e-05,1793245181679949568
+52,0.866666667,BASELINE,764,745,713,679.191241437,658.191241437,633.808758563,878,785,805,652,629.808758563,651.808758563,0.400976268542,-0.00537761934156,0.0598484192332,0.999999937434,0.00024501974794,-0.000254065570389,2.34247610701e-05,1793245181696616192
+53,0.883333333,BASELINE,764,745,713,679.764448657,658.764448657,633.235551343,878,785,805,652,629.235551343,651.235551343,0.400974486658,-0.00537514241527,0.05984687545,0.999999935289,0.00025107318648,-0.000256561595143,2.36684167372e-05,1793245181713282560
+54,0.900000000,BASELINE,764,745,713.340259486,680,658.659740514,633,878,785.340259486,805.340259486,652,629.340259486,651.340259486,0.400973554624,-0.00537639364751,0.0598462220714,0.999999935549,0.00024879906246,-0.000257763193821,2.36595844817e-05,1793245181729949440
+55,0.916666667,BASELINE,764,745,713.917886589,680,658.082113411,633,878,785.917886589,805.917886589,652,629.917886589,651.917886589,0.400973215453,-0.00538024567172,0.0598461898459,0.999999937455,0.000240715566945,-0.00025806179087,2.3474614712e-05,1793245181746616064
+56,0.933333333,BASELINE,764,745,714,679.492560269,658.507439731,633.507439731,878,785.492560269,805.492560269,652,630,652,0.40097264996,-0.00537973168443,0.05984609491,0.999999937383,0.000241310405807,-0.000257784837994,2.34638103634e-05,1793245181763282688
+57,0.950000000,BASELINE,764,745,714,679.096663446,658.903336554,634,878,785,805,652.096663446,630.096663446,652,0.400972354642,-0.00537856013139,0.0598461289279,0.999999936946,0.000243607074456,-0.000257318134571,2.3488645233e-05,1793245181779949568
+58,0.966666667,BASELINE,764,745,714,679.67441153,658.32558847,634,878,785,805,652.67441153,630.67441153,652,0.400973590615,-0.00537771676673,0.0598468564561,0.999999936299,0.000247216205695,-0.000256381740812,2.35472116587e-05,1793245181796616192
+59,0.983333333,BASELINE,764,745,713.748598391,679.748598391,658,634,878.251401609,785,805.251401609,652.748598391,630.748598391,651.748598391,0.400973541523,-0.00537720692482,0.0598467757655,0.999999935894,0.000248711303123,-0.000256522073949,2.34933724301e-05,1793245181813282816
+60,1.000000000,BASELINE,764,745,713.17258697,679.17258697,658,634,878.82741303,785,805.82741303,652.17258697,630.17258697,651.17258697,0.400971833158,-0.00537712772745,0.0598456515027,0.999999935811,0.00024747676012,-0.000258052676967,2.32943950043e-05,1793245181829949696
+61,1.016666667,BASELINE,764,745,713.411358757,679,658.411358757,634,878.588641243,785,806,652.411358757,630,651,0.400973152202,-0.00537766716106,0.0598466140079,0.999999936305,0.000246883013798,-0.000256694993725,2.33603543159e-05,1793245181846616320
+62,1.033333333,BASELINE,764,745,713.998698783,679,658.998698783,634,878.001301217,785,806,652.998698783,630,651,0.400975766386,-0.00537847124801,0.0598484692427,0.999999937042,0.000246563403472,-0.000254101687535,2.3539654859e-05,1793245181863282688
+63,1.050000000,BASELINE,764,745,713.422704812,679,658.422704812,634,878.577295188,785,805.422704812,652.422704812,630,651,0.400973340764,-0.00537836289863,0.0598464473857,0.999999936867,0.00024374900786,-0.000257499041611,2.33712953227e-05,1793245181879949568
+64,1.066666667,BASELINE,764,745,713.156309277,679,658.156309277,634,878.843690723,785.156309277,805,652,630,651,0.400972162448,-0.00537810747716,0.0598453240859,0.999999936786,0.000242080692872,-0.000259395611365,2.32107181372e-05,1793245181896616448
+65,1.083333333,BASELINE,764,745,713.736508684,679,658.736508684,634,878.263491316,785.736508684,805,652,630,651,0.400974397007,-0.00537745870973,0.0598466609,0.999999937007,0.000243535419353,-0.00025718618023,2.30733390443e-05,1793245181913283072
+66,1.100000000,BASELINE,764,745,713.68602295,679.31397705,658.68602295,634,878,785.68602295,805,652,629.68602295,651.31397705,0.400975016919,-0.00537807710651,0.0598474217318,0.999999937176,0.000243819522775,-0.0002562393174,2.32881412039e-05,1793245181929949952
+67,1.116666667,BASELINE,764,745,713.110826753,679.889173247,658.110826753,634,878,785.110826753,805,652,629.110826753,651.889173247,0.400974293495,-0.00537974974459,0.0598477033643,0.999999937305,0.000243129704126,-0.000256342872271,2.37959472267e-05,1793245181946616576
+68,1.133333333,BASELINE,764,745,713,680,658,634,878.472796078,785.472796078,805,652.472796078,629.472796078,652,0.40097393064,-0.00537822223239,0.0598468972371,0.999999936755,0.00024443664435,-0.00025727420519,2.3478720433e-05,1793245181963283200
+69,1.150000000,BASELINE,764,745,713,680,658,634,878.941913083,785.941913083,805,652.941913083,630,652,0.400973647309,-0.0053763175248,0.0598459524002,0.999999936173,0.000245887260483,-0.000258194230539,2.3015058721e-05,1793245181979949824
+70,1.166666667,BASELINE,764,745,713,680,658,634,878.359718363,785.359718363,805,652.359718363,630,652,0.400973305056,-0.00537790063351,0.059846098384,0.999999936802,0.000244334430937,-0.000257229697592,2.3006761233e-05,1793245181996616192
+71,1.183333333,BASELINE,764,745,713.220128356,680,658,634,878.220128356,785,805,652.220128356,630,652,0.400973444384,-0.00537845271682,0.0598466845079,0.999999937077,0.00024410890976,-0.000256377616568,2.29739074216e-05,1793245182013283072
+72,1.200000000,BASELINE,764,745,713.796178719,680,658,634,878.796178719,785,805,652.796178719,630,652,0.400974362372,-0.00537733775195,0.059847982287,0.999999936779,0.000246029491951,-0.000255707357103,2.29013488837e-05,1793245182029949696
+73,1.216666667,BASELINE,764,745,713.629711395,680,658,634,879,785.370288605,805,653,630,651.629711395,0.400974552831,-0.00537806571357,0.0598478144706,0.99999993697,0.000245421921813,-0.000255518509125,2.32105799735e-05,1793245182046616320
+74,1.233333333,BASELINE,764,745,713.056664089,680,658,634,879,785.943335911,805,653,630,651.056664089,0.400974344917,-0.00537980280537,0.0598468441388,0.999999937425,0.00024343001277,-0.000255593267373,2.37288673756e-05,1793245182063282944
+75,1.250000000,BASELINE,764.530960652,745,713.530960652,679.469039348,658,634,878.469039348,785.469039348,805,652.469039348,630,651.530960652,0.400974455599,-0.00537865275461,0.059847104745,0.999999937316,0.000244166683473,-0.000255347839376,2.34102773675e-05,1793245182079949312
+76,1.266666667,BASELINE,765,745,713.881537601,679,658,633.881537601,878.118462399,785,805.118462399,652,630,651.881537601,0.400974734311,-0.00537742228508,0.05984754513,0.999999937156,0.000245405911809,-0.000254811723558,2.31383826105e-05,1793245182096615680
+77,1.283333333,BASELINE,765,745,713.300758624,679,658,633.300758624,878.699241376,785,805.699241376,652,630,651.300758624,0.400975532344,-0.00537711438106,0.0598481599819,0.999999937038,0.000247437936502,-0.000253278275574,2.34071133895e-05,1793245182113282560
+78,1.300000000,BASELINE,765,745,713,679,658,633.277688564,878.722311436,785,805.722311436,652,630,651.277688564,0.400975838526,-0.00537737027704,0.059848577268,0.999999937138,0.000247594906205,-0.00025272396778,2.34911673528e-05,1793245182129949440
+79,1.316666667,BASELINE,765,745,713,679,658,633.853631234,878.146368766,785,805.146368766,652,630,651.853631234,0.400975616431,-0.00537823172793,0.0598487823566,0.999999937473,0.000245737954709,-0.000253221315137,2.33768673672e-05,1793245182146616064
+80,1.333333333,BASELINE,764.572676315,744.572676315,713,679,658,634,878.427323685,785,805,652,630,652,0.400975122548,-0.0053781365972,0.0598482351533,0.999999937043,0.000245837576267,-0.000254812422905,2.34145921569e-05,1793245182163283456
+81,1.350000000,BASELINE,764.000258229,744.000258229,713.000258229,679.000258229,658,634,878.999741771,785.000258229,805.000258229,652,630,652,0.4009745354,-0.00537771550301,0.0598474311932,0.99999993635,0.000246603551747,-0.000256776102823,2.35039804418e-05,1793245182179951104
+82,1.366666667,BASELINE,764.593315432,744.593315432,713.593315432,679.593315432,658,634,878.406684568,785.593315432,805.593315432,652,630,652,0.400972439025,-0.00537723184665,0.0598456442457,0.999999935898,0.000246659023989,-0.000258498474876,2.32813207315e-05,1793245182196617216
+83,1.383333333,BASELINE,764.820128487,745,713.820128487,679.820128487,658,634,878,785.820128487,805.820128487,652,630,652,0.400971909011,-0.00537684964138,0.0598451857692,0.999999935796,0.000247009317189,-0.000258577218474,2.30863236862e-05,1793245182213283328
+84,1.400000000,BASELINE,764.247758424,745,713.247758424,679.247758424,658,634,878,785.247758424,805.247758424,652,630,652,0.400974796958,-0.00537668881298,0.0598476261554,0.999999936454,0.000248002940722,-0.000255069392318,2.29516894418e-05,1793245182229949696
+85,1.416666667,BASELINE,764,745,713.327999046,679,658,633.672000954,878,785,805,652,629.672000954,652,0.40097593734,-0.00537783511162,0.0598486456547,0.999999937361,0.000245650945817,-0.000253781666097,2.30090621402e-05,1793245182246616320
+86,1.433333333,BASELINE,764,745,713.906341904,679,658,633.093658096,878,785,805,652,629.093658096,652,0.400975743898,-0.00537997906916,0.0598485806681,0.999999938446,0.00024074542245,-0.000254188421487,2.32129832921e-05,1793245182263282688
+87,1.450000000,BASELINE,764.495303218,745,714,679.495303218,658.495303218,633.495303218,878,785.495303218,805,652,629.495303218,652,0.40097504455,-0.00537946123756,0.0598472925311,0.999999937515,0.000243316053129,-0.000255369289159,2.35477155711e-05,1793245182279949312
+88,1.466666667,BASELINE,765,745,714,679.915778233,658.915778233,634,878.084221767,785.915778233,805,652,630,652,0.400974661538,-0.00537845104288,0.0598462566787,0.999999936545,0.000246575268848,-0.000256018112729,2.37786050733e-05,1793245182296615936
+89,1.483333333,BASELINE,765,745,714,679.339107058,658.339107058,634,878.660892942,785.339107058,805,652,630,652,0.400976699766,-0.00537756941298,0.0598480779326,0.999999937692,0.000245413700072,-0.000252681408898,2.32545222468e-05,1793245182313282560
+90,1.500000000,BASELINE,764.762982166,745,714,679,658,634,878.525964332,785,805,652,630,652,0.400976809415,-0.00537757767835,0.0598487135062,0.999999938171,0.000244183836624,-0.000251993062604,2.30766532139e-05,1793245182329949184
+91,1.516666667,BASELINE,764.187637108,745,714,679,658,634,877.375274215,785,805,652,630,652,0.400974166144,-0.00537885621023,0.0598476565998,0.999999937703,0.000242856487167,-0.000255085071185,2.33929814356e-05,1793245182346616064
+92,1.533333333,BASELINE,764,745,713.612186121,679,658,634,878.163441638,785,805,652,629.612186121,652,0.400973504236,-0.00537828103271,0.0598470556638,0.999999937121,0.000244254902096,-0.000256037811535,2.32862580585e-05,1793245182363282688
+93,1.550000000,BASELINE,764,745,713.036683817,679,658,634,879.88994855,785,805,652,629.036683817,652,0.400973801238,-0.00537680872446,0.0598466754016,0.999999936482,0.000246972492031,-0.000255955220765,2.2974792455e-05,1793245182379949568
+94,1.566666667,BASELINE,764,745,713,679,658,634,878.888535051,785,805,652,629.555732474,652,0.400974931441,-0.00537863822895,0.0598475273279,0.999999937018,0.000246016377506,-0.000254743889291,2.33515192806e-05,1793245182396616192
+95,1.583333333,BASELINE,764,745,713,679.145069265,658,634,878,785,805,652,630,652,0.400975593856,-0.00537992592363,0.0598481337009,0.999999937457,0.000244962303423,-0.000254013776424,2.35725630894e-05,1793245182413282816
+96,1.600000000,BASELINE,764,745,713,679.721816046,658,634,878,785,805,652,630,652,0.400974695489,-0.0053789324632,0.0598477597617,0.999999937377,0.000244360986673,-0.000254944279102,2.31909262387e-05,1793245182429949440
+97,1.616666667,BASELINE,764,745,713.297962515,679.702037485,658,634,878,785,805.297962515,652,630,652,0.400973712351,-0.00537889894434,0.059847075746,0.99999993724,0.000243872624392,-0.000255960607614,2.30206134844e-05,1793245182446616064
+98,1.633333333,BASELINE,764,745,713.873549611,679.126450389,658,634,878,785,805.873549611,652,630,652,0.400972650227,-0.00537975984471,0.0598461028185,0.999999937052,0.000243489506718,-0.00025705690372,2.30472005673e-05,1793245182463282688
+99,1.650000000,BASELINE,764,745,713.549636561,679,658,634,878,785,805.549636561,652,630,652,0.400972366213,-0.00537844937545,0.0598459826326,0.999999936474,0.000245756189718,-0.000257145059672,2.30647901309e-05,1793245182479949568
+100,1.666666667,BASELINE,764.028183289,745,713.028183289,679,658,634,878.028183289,785.028183289,805,652.028183289,630,652,0.400972343388,-0.00537674556796,0.059846103237,0.999999935866,0.000248413640717,-0.000256954902336,2.30743942274e-05,1793245182496616448
+101,1.683333333,BASELINE,764.619196649,745,713.619196649,679,658,634,878.619196649,785.619196649,805,652.619196649,630,652,0.400973161702,-0.00537939512194,0.0598462379937,0.999999936981,0.000243976437298,-0.000256874970883,2.29751140736e-05,1793245182513283072
+102,1.700000000,BASELINE,765,745,714,679,658,634,879,785.794874793,805.205125207,652.794874793,629.794874793,651.794874793,0.400973706243,-0.00538045204185,0.0598463925023,0.999999937513,0.000241875343113,-0.000256794315071,2.29429463555e-05,1793245182529949696
+103,1.716666667,BASELINE,765,745,714,679,658,634,879,785.218157608,805.781842392,652.218157608,629.218157608,651.218157608,0.400973754836,-0.00537862384534,0.0598465827919,0.999999937015,0.000244006198593,-0.00025671234707,2.30323553339e-05,1793245182546616320
+104,1.733333333,BASELINE,764.643510866,745,714,679.356489134,658,634,879,785.356489134,805.643510866,652,629.356489134,651.356489134,0.400974166959,-0.00537843843829,0.0598472789529,0.999999937284,0.000244462601426,-0.000255209715909,2.32081434901e-05,1793245182563282944
+105,1.750000000,BASELINE,764.070123782,745,714,679.929876218,658,634,879,785.929876218,805.070123782,652,629.929876218,651.929876218,0.400974800264,-0.00537925255008,0.0598482829002,0.999999938017,0.000243900220696,-0.000252842713586,2.343648716e-05,1793245182579949568
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,713,680,659,634,878,785,805,652,630,652,0.400970857955,-0.00537951436409,0.0598442452319,0.999999936553,0.000242712474308,-0.000259708101949,2.31522009787e-05,1793245182610176768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.419944958,745,713,680,658.419944958,634,878,785,805,652,630,652,0.400971941792,-0.00537887446805,0.0598457809843,0.999999936701,0.000244106847918,-0.000257828506679,2.31270451989e-05,1793245182626844416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679.841701887,658,634,878,785.158298113,805.158298113,652,630,652,0.400972965759,-0.00537855815159,0.0598468783655,0.999999936865,0.000245006972685,-0.000256331624949,2.31324347934e-05,1793245182643511552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679.268211222,658,634,878,785.731788778,805.731788778,652,630,652,0.400973832694,-0.00537909053635,0.0598468259641,0.999999937087,0.000244610756105,-0.00025583854386,2.32179403844e-05,1793245182660178432
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.313098262,785.686901738,805.686901738,652.313098262,630,652,0.400974451426,-0.00537939651755,0.0598468065798,0.999999937376,0.000243608898714,-0.000255670499686,2.3116493866e-05,1793245182676844800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.901277136,785.098722864,805.098722864,652.901277136,630,652,0.400974852095,-0.00537950358599,0.0598468162037,0.999999937725,0.000242074939877,-0.00025578802517,2.28507957092e-05,1793245182693510656
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.481888994,745,713.481888994,679,658,634.481888994,878.518111006,785,805,652.518111006,630,652,0.400974296325,-0.00537940438297,0.0598471304556,0.999999937716,0.000242233557428,-0.000255666796642,2.2929540108e-05,1793245182710177280
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.939636318,745,714,679,658,634.939636318,878,785,805,652.060363682,630,652,0.400973782778,-0.00537942930202,0.0598475460095,0.999999937677,0.000242648532592,-0.00025541134828,2.31001334302e-05,1793245182726843392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.366352597,745,714,679,658,634.366352597,878,785,805,652.633647403,630,652,0.400975267224,-0.00538086242906,0.0598483002502,0.999999937994,0.000242340963292,-0.000254424605585,2.34608520604e-05,1793245182743510272
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.208262393,745,713.791737607,679.208262393,658,634,878,785.208262393,805.208262393,652.791737607,630,652,0.400978013328,-0.00538121421956,0.0598495843842,0.999999938319,0.000242537022661,-0.000252940165713,2.36603019131e-05,1793245182760177152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.785234211,745,713.214765789,679.785234211,658,634,878,785.785234211,805.785234211,652.214765789,630,652,0.400982993081,-0.00537965160297,0.0598518066454,0.999999938652,0.00024362471033,-0.000250574598838,2.35742401799e-05,1793245182776843520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.371242985,679.628757015,658,634,878,785.628757015,805.628757015,652.371242985,630,652,0.401000859298,-0.00537910052792,0.0598590762766,0.999999941581,0.000243840620126,-0.000238349485942,2.38417009088e-05,1793245182793510144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.962610172,679.037389828,658,634,878,785.037389828,805.037389828,652.962610172,630,652,0.401026366394,-0.0053791492345,0.0598693386872,0.999999945787,0.000243539619431,-0.000220278269855,2.4318778647e-05,1793245182810176768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.45569373,745,714,679,658,634,878.54430627,785,805.54430627,652.45569373,630,652,0.401082256942,-0.00538198568736,0.0598885687172,0.999999952897,0.000241329209128,-0.000187941958118,2.53664765539e-05,1793245182826843648
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805.876111007,652,630,651.876111007,0.401143156296,-0.00538526217621,0.0599068214182,0.999999958588,0.000238929139365,-0.000158237596245,2.64302326772e-05,1793245182843510272
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805.301838106,652,630,651.301838106,0.401214809567,-0.00538945435141,0.0599193208247,0.999999961678,0.000236308086202,-0.000141601517872,2.74123570578e-05,1793245182860176640
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,651,0.401295018097,-0.00539203181386,0.0599291696833,0.999999963753,0.000236037229272,-0.000126542633505,2.76955979508e-05,1793245182876843520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785,805,652,630,651,0.40138470523,-0.00539282029096,0.0599360819257,0.999999964809,0.000238370220169,-0.000113231167177,2.72045263707e-05,1793245182893510144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.433561785,634,878.566438215,785,805,652,630,651,0.401487732491,-0.00539473600382,0.0599414218489,0.999999966021,0.000237972140068,-0.000103035267061,2.66595463827e-05,1793245182910176768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.97696419,679,658.97696419,634,878,785,805.02303581,652,630,651.02303581,0.401596665575,-0.00539709836819,0.059946143516,0.99999996729,0.000236455355222,-9.39621435197e-05,2.60651683305e-05,1793245182926843392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.396822604,679,658.396822604,634,878,785,805.603177396,652,630,651.603177396,0.401732122497,-0.00540043500742,0.0599496211864,0.99999996925,0.00023169401835,-8.48798573889e-05,2.47461259279e-05,1793245182943510272
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.181218509,679.181218509,658,634,878,785,805.818781491,652,630,652,0.401874898245,-0.005403778874,0.0599507071674,0.999999970571,0.000228073118577,-7.93678373182e-05,2.32476372979e-05,1793245182960176896
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.754712746,679.754712746,658,634,878,785,805.245287254,652,630,652,0.402033516715,-0.0054071383849,0.0599466159631,0.999999970697,0.000226920873442,-8.15842161879e-05,2.13607094963e-05,1793245182976843520
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.671149316,658,634,878.328850684,785.328850684,805.328850684,652,630,652,0.402214369642,-0.00541189475752,0.0599467005623,0.999999971923,0.000223047071879,-7.7645618044e-05,1.93912732808e-05,1793245182993509888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.096530244,658,634,878.903469756,785.903469756,805.903469756,652,630,652,0.402411839631,-0.00541769508287,0.0599499059711,0.999999973887,0.000217139299845,-6.91070638279e-05,1.73601737439e-05,1793245183010176512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.505017668,679,658.494982332,634,879,785.505017668,806,652,630,652,0.402635873076,-0.00542381072897,0.0599505745007,0.99999997518,0.000212946831419,-6.36602571121e-05,1.55539207656e-05,1793245183026843136
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.087094695,745,713.087094695,679.087094695,659,634,878.912905305,785,805.912905305,652,630,652,0.402871842633,-0.00542984363078,0.059950979702,0.999999976356,0.000209076147584,-5.82295732736e-05,1.35979336749e-05,1793245183043509760
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.6634165,745,713.6634165,679.6634165,659,634,878.3365835,785,805.3365835,652,630,652,0.403144732484,-0.00543505412133,0.0599527829619,0.999999977699,0.000205067560571,-4.93829220354e-05,1.05458499462e-05,1793245183060176384
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.761575735,634,878,785,805,652,630,652,0.403432566442,-0.00544264233095,0.059952839884,0.999999979698,0.000196138480979,-4.55679698419e-05,7.56073083058e-06,1793245183076843264
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.188412868,634,878,785,805,652,630,652,0.40374138134,-0.0054535687674,0.0599504450139,0.999999982543,0.000180301217113,-4.88173323271e-05,4.66962766861e-06,1793245183093510144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.601399998,658,634,878,785,805.398600002,652,630,652,0.404057911236,-0.0054611157821,0.0599384211041,0.999999983129,0.000170428223588,-6.85244212031e-05,9.08984920483e-07,1793245183110176768
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.007604771,658,634,878,785,805.992395229,652,630,652,0.404378219172,-0.00546700788683,0.0599216818341,0.999999981996,0.000163475945645,-9.62908917637e-05,-3.27747303303e-06,1793245183126843392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713.42996709,679.57003291,658,633.42996709,878.57003291,785,806,652,630,652,0.404740849906,-0.00547387595151,0.0599086682192,0.999999980821,0.000154575016403,-0.000120019577416,-7.73132266231e-06,1793245183143510272
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.853234387,745,713.146765613,679.853234387,658,633.146765613,879,785,806,652,630,652,0.405123468921,-0.00548119811599,0.0598999408603,0.999999980205,0.000143933820379,-0.000136859686306,-1.19057030364e-05,1793245183160177152
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.278529321,745,713.721470679,679.278529321,658,633.721470679,879,785,806,652,630,652,0.405562768783,-0.00548980742635,0.0599035704453,0.999999982707,0.000128292065242,-0.000133766804612,-1.52550909453e-05,1793245183176844544
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+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.893193027,658.893193027,634,879,785,805.106806973,652,629.106806973,652,0.406562512109,-0.0055088220388,0.0599533828509,0.99999999844,-1.24196682497e-05,-5.07159205331e-05,-1.98325524285e-05,1793245183210177280
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.050826573,658,634,878.050826573,785,806,652.050826573,630,652,0.40766076889,-0.0055024725795,0.0600026600135,0.999999999339,-3.03862893207e-06,2.84849221402e-05,-2.23776468769e-05,1793245183243511040
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.793323485,745,714,680,658.206676515,634,879,785,805.793323485,652.793323485,630,652,0.408744912949,-0.00549348427927,0.0599904749324,0.99999999941,3.82737742256e-06,-1.50675529781e-05,-3.06298837186e-05,1793245183276844288
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.206078758,745,714,680,658.793921242,634,879,785,805.206078758,652.206078758,630,652,0.409331061964,-0.00550815908797,0.0599758436614,0.999999998057,-2.48521958084e-05,-4.61293813052e-05,-3.3758362076e-05,1793245183293510656
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.623527682,659,634,879,785,805.376472318,652,630,652,0.409969072832,-0.0055168553501,0.0599760760145,0.999999997487,-4.16815351103e-05,-4.45572610639e-05,-3.6099229661e-05,1793245183310177280
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.043514265,659,634,879,785,805.956485735,652,630,652,0.410635122977,-0.00552231928924,0.0599843444395,0.999999997599,-5.2104002284e-05,-2.53414792424e-05,-3.80142725821e-05,1793245183326844160
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.534598042,745,714,679.534598042,659,634,879,785,806,652,630,652,0.411332036933,-0.00552197713761,0.0599908499003,0.99999999951,-8.54942604726e-06,-8.53441181783e-06,-2.88792824983e-05,1793245183343510528
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.887904193,680.112095807,659,634,879.112095807,785,806,652,630,652,0.412025947124,-0.0055197179777,0.059991281067,0.999999999454,2.43377484029e-05,-4.19901666657e-06,-2.19605710603e-05,1793245183360176896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.312310045,680.687689955,659,634,879.687689955,785,806,652,630,652,0.412697086301,-0.00551147946974,0.059967187233,0.999999998317,-4.98526557015e-06,-5.06242028965e-05,-2.79116482053e-05,1793245183376843776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.261951764,713,680.476096471,659,634,879.738048236,785,806,652,630,652,0.413381666564,-0.00550756260958,0.0599395506165,0.999999993907,-2.0635884873e-05,-0.000103383992641,-3.27480143349e-05,1793245183393510400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.834633217,713,679.330733566,659,634,879.165366783,785,806,652,630,652,0.414082190858,-0.00550877212831,0.0599077115144,0.999999985749,-2.00681826593e-05,-0.000163657955697,-3.6262100373e-05,1793245183410176512
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,713.42248141,679.42248141,659,634,879.42248141,785,806,652,630,652,0.414902826759,-0.0055147439574,0.0599307126412,0.999999991998,-1.58800048398e-05,-0.000120204435239,-3.60927754774e-05,1793245183426843136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.984095924,745.984095924,714,680,659,634,879.984095924,785,806,652,630,651.984095924,0.415771260338,-0.00552248128272,0.0599755723177,0.999999998715,-1.05088755003e-05,-3.56953986652e-05,-3.44390092999e-05,1793245183443509504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.411097483,745.411097483,714,680,659,634,879.411097483,785,806,652,630,651.411097483,0.416605831833,-0.00552433500925,0.0600062041523,0.999999999265,-1.51886166377e-05,1.17858024397e-05,-3.31704418645e-05,1793245183460176128
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.163384009,745,714,680,659,634,879.163384009,785.163384009,806,652,630,651.163384009,0.417438801602,-0.00552573601615,0.060024694206,0.999999998418,-2.02039285223e-05,4.09746846876e-05,-3.28098611544e-05,1793245183476843008
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.741631216,745,714,680,659,634,879.741631216,785.741631216,806,652,630,651.741631216,0.418267704232,-0.00552598748134,0.0600123539575,0.999999998775,-2.60713184026e-05,2.3715873656e-05,-3.47548323537e-05,1793245183493509632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.67460341,745,714,680,659,633.67460341,880,785.67460341,806,652,630,651.67460341,0.419105283475,-0.00552556368025,0.0599922516232,0.999999998867,-2.80632290844e-05,-9.16631137008e-06,-3.73520997492e-05,1793245183510176256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.08638099,745,714,680,659,633.08638099,880,785.08638099,806,652,630,651.08638099,0.419949870858,-0.00552459446034,0.0599658797811,0.999999997324,-2.69248790986e-05,-5.46676390278e-05,-4.04762326601e-05,1793245183526842880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,679.506098073,659,633.493901927,879.506098073,785,806,652,630,651,0.420778931774,-0.0055256185207,0.0599339240217,0.999999993244,-3.07132499957e-05,-0.000103702010637,-4.25962356057e-05,1793245183543509504
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.072572181,745,714,679.072572181,659,633.927427819,879,785,806,652,630,651.072572181,0.42161026311,-0.00552682626495,0.0599029986754,0.999999986923,-3.48599017992e-05,-0.000151538663441,-4.44377526322e-05,1793245183560176128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.649532055,745,714,679.649532055,659,633.350467945,879,785,806,652,630,651.649532055,0.422475948359,-0.00552692604607,0.0598859150045,0.999999980877,-3.56027426636e-05,-0.00018682432788,-4.55450066783e-05,1793245183576842752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.775636337,680.224363663,659,633,879.224363663,785.224363663,806,652,630,651.775636337,0.423386828795,-0.0055284310729,0.0599026781731,0.999999984968,-3.90597125614e-05,-0.000162598281672,-4.58309855266e-05,1793245183593509888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.204097869,680.795902131,659,633,879.795902131,785.795902131,806,652,630,651.204097869,0.424367643283,-0.00553211054236,0.059971815105,0.999999996832,-4.67164587094e-05,-4.62852837626e-05,-4.48461431627e-05,1793245183610178048
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633.381668205,880,786,806,651.618331795,630,651.381668205,0.425333882803,-0.00553563909699,0.0600171174561,0.999999997472,-4.87225886568e-05,2.84598716048e-05,-4.32576332798e-05,1793245183626844672
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633.975337082,880,786,806,651.024662918,630,651.975337082,0.426292026481,-0.00553908382454,0.0600491806935,0.999999994804,-4.75900381e-05,8.01158276411e-05,-4.13338116122e-05,1793245183643511040
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.5548636,680.4451364,659,634,880,786,806,651.5548636,630,652,0.427211038486,-0.00554243539156,0.0600331150332,0.999999994939,-5.96116964743e-05,6.80294791577e-05,-4.40499256598e-05,1793245183660177664
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.867301733,680,659.132698267,634,880,786,806,652,630,652,0.428115243976,-0.00554462434255,0.0600118714535,0.999999995551,-6.83703010128e-05,4.51297345605e-05,-4.67547097592e-05,1793245183676844288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.293056964,680,659.706943036,634,880,786,806,652,630,652,0.428975825263,-0.00554295818574,0.0599803399838,0.999999996729,-6.43741065378e-05,-4.55781840988e-06,-4.87526017781e-05,1793245183693510912
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.281357904,680.281357904,660,634,880,785.718642096,806.281357904,651.718642096,630,652,0.429824099051,-0.00554017927128,0.059948251393,0.999999995079,-5.94066728883e-05,-6.16757244265e-05,-5.0091218682e-05,1793245183710177280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.855950014,680.855950014,660,634,880,785.144049986,806.855950014,651.144049986,630,652,0.430659545776,-0.00553624062905,0.0599155821666,0.999999989279,-5.34270036037e-05,-0.000126537620343,-5.07427318498e-05,1793245183726844160
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.553809827,680.553809827,660,634,880,785.446190173,807,651.446190173,630.446190173,652,0.431615334953,-0.0055394385701,0.0599408247389,0.999999993914,-6.24053367536e-05,-7.52512459381e-05,-5.1138143936e-05,1793245183743510528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680.040256918,660,633.959743082,880,785.959743082,807,652,630.959743082,651.959743082,0.432604476957,-0.00554483075052,0.0599840575457,0.999999995787,-7.52745032102e-05,1.10099853839e-05,-5.13749156311e-05,1793245183760176896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680.615596257,660,633.384403743,880,785.384403743,807,652,630.384403743,651.384403743,0.433501757356,-0.00554765091096,0.0600088708427,0.999999994988,-7.33395442096e-05,4.56220567895e-05,-5.06420017536e-05,1793245183776843520
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,681,660,633.191097551,880,785,807,651.808902449,630,651.191097551,0.434380067023,-0.00554920361775,0.0600161292307,0.999999994565,-7.44656669921e-05,5.22672026306e-05,-5.09292938603e-05,1793245183793510400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,681,660,633.766925008,880,785,807,651.233074992,630,651.766925008,0.435220183754,-0.00554820460563,0.0599880449489,0.999999995236,-8.17545565852e-05,2.60753768709e-06,-5.32705302927e-05,1793245183810176768
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.351620915,681,660,633.648379085,880,785.351620915,807,651,630,652,0.436032055796,-0.00554916715387,0.0599598857156,0.999999993577,-8.66343535928e-05,-4.85738213355e-05,-5.46033407305e-05,1793245183826843904
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.942347418,681,660,633.057652582,880,785.942347418,807,651,630,652,0.436824721127,-0.00555146358197,0.0599316755161,0.999999989356,-8.98759440582e-05,-0.00010078994384,-5.52504116448e-05,1793245183843511040
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.478398655,681,660,633.521601345,880,786,807.521601345,651.521601345,630.521601345,651.478398655,0.437617617729,-0.00554857851665,0.0599147089387,0.99999998545,-8.2430858982e-05,-0.000138434870266,-5.60481759501e-05,1793245183860177408
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.900809739,744.900809739,713,681,660,634,880.099190261,786,807.900809739,652,630.900809739,651.099190261,0.438414033071,-0.00554592674005,0.0599041449139,0.999999982092,-7.66464050714e-05,-0.000163408260955,-5.69172666726e-05,1793245183876844032
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.325258242,744.325258242,713,681,660,634,880.674741758,786,807.325258242,652,630.325258242,651.674741758,0.439227227013,-0.00554708658026,0.0599184892556,0.999999985629,-8.43877508683e-05,-0.000135094822698,-5.80506331813e-05,1793245183893510400
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,744.25611464,713,681,659.74388536,633.74388536,880.74388536,785.74388536,807.25611464,651.74388536,630,652,0.440028075897,-0.00554797123483,0.0599450452166,0.999999990227,-8.79458884327e-05,-9.19147563485e-05,-5.79857045978e-05,1793245183910176768
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744.845052417,713,681,659.154947583,633.154947583,880.154947583,785.154947583,807.845052417,651.154947583,630,652,0.44081288221,-0.00554849828324,0.0599874702787,0.999999994275,-8.60679108214e-05,-2.94153833569e-05,-5.63635812285e-05,1793245183926843648
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.426527553,681,659,633,879.573472447,785,807.573472447,651.426527553,630,652,0.441511641642,-0.00554860363048,0.0599692060322,0.999999992792,-8.52859248238e-05,-6.32618793123e-05,-5.60444013085e-05,1793245183943510272
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.005315198,745,713.994684802,681,659,632.994684802,879.010630396,785,807,652,630,652,0.442179310669,-0.00554854968386,0.0599290352188,0.999999986133,-8.49523821846e-05,-0.000131744754129,-5.62222087069e-05,1793245183960176896
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.581615859,745,713.418384141,681,659,632.418384141,880.163231719,785,807,652,630,652,0.442807326038,-0.00554755750431,0.0598632273063,0.999999968601,-9.07572804732e-05,-0.000225794137447,-5.98158527975e-05,1793245183976843520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.842355488,745,713.157644512,681.157644512,659,632,880.842355488,785,807.157644512,652,630,652,0.44343131173,-0.00554696019454,0.0598101489454,0.999999948022,-9.30259312612e-05,-0.000302311766715,-6.25359430926e-05,1793245183993510144
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.267047369,745,713.732952631,681.732952631,659,632,880.267047369,785,807.732952631,652,630,652,0.444044621327,-0.00554740905313,0.0597907962629,0.999999939089,-8.59256456951e-05,-0.000332380765633,-6.29416406216e-05,1793245184010176768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.316666406,745,714,682,658.683333594,632,880,785,807.683333594,652,630,652,0.444643355757,-0.00554661898709,0.0597849987935,0.999999935065,-8.30002454615e-05,-0.00034479086679,-6.40350883002e-05,1793245184026843648
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.907661995,745,714,682,658.092338005,632,880,785,807.092338005,652,630,652,0.445229463634,-0.00554475563642,0.0597909442524,0.999999935889,-8.36915630389e-05,-0.000341903003276,-6.57243362811e-05,1793245184043510016
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.512475119,682,658,631.512475119,880,785,807.487524881,652,630,652,0.445757460189,-0.00553971139477,0.0597676521314,0.999999919548,-8.64808054572e-05,-0.000385632683068,-6.86437144438e-05,1793245184060176640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,682,658,631,880,784.93501,808,652,630,652,0.446274087097,-0.00553540874464,0.0597402134685,0.999999899087,-8.97289052772e-05,-0.00043433967882,-7.15738544586e-05,1793245184076843520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,682,658,631,880,784.360183009,808,652,630,652,0.446785936577,-0.00554154451197,0.0597227179488,0.999999889748,-9.35291119094e-05,-0.000454373727387,-7.280146463e-05,1793245184093510144
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.785246963,745,713,682.214753037,658,631,880,784,808,652,630,652,0.447291375451,-0.00554745153289,0.059716795087,0.999999887382,-9.78090707391e-05,-0.000458459501027,-7.40490899248e-05,1793245184110177024
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.210127976,745,713,682.789872024,658,631,880,784,808,652,630,652,0.447786056968,-0.00555297470568,0.059730291705,0.999999896916,-0.00010289407652,-0.000435783298529,-7.53303014526e-05,1793245184126843648
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.374128846,682.251742307,657.251742307,630.625871154,880,784,808,652,629.625871154,652,0.44823902953,-0.00556035787388,0.059738172896,0.999999902501,-0.000108729313305,-0.000421212067221,-7.58742434816e-05,1793245184143510016
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.822815221,745,713.822815221,682,655.822815221,628,881,782.177184779,807.177184779,652,629,652,0.45135308107,-0.00555407895049,0.0596790039406,0.999999864843,-0.000139191363837,-0.000496989710451,-6.27777054331e-05,1793245184310177280
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.249481394,745,713.249481394,682,655.249481394,628,881,782.750518606,807.750518606,652,629,652,0.451545560045,-0.00556345787958,0.0596730420181,0.9999998593,-0.000143620441179,-0.00050680026169,-6.266694238e-05,1793245184326843392
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db24607dd116549a3fa8f9c8826db3fb72ae0937
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1b9fd0847a665e64eae971b3896357b6e672344
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8e4392351e9a535882c29ce266991739abd8747ff19f92a4b44a003cd01ca6
+size 25748201
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95be2fe2c0fa37bf2f646e31b36aefefb824f353
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+9,0.150000000,BASELINE,764.213941247,745,713.213941247,679.786058753,658,633.786058753,878.213941247,785,805.786058753,652.786058753,629.786058753,652,0.400972132922,-0.00537156844657,0.0598432703056,0.999999932887,0.000255653592265,-0.000261568585879,2.11695896039e-05,1793245187901353472
+10,0.166666667,BASELINE,764.787692256,745,713.787692256,679.212307744,658,633.212307744,878.787692256,785,805.212307744,652.212307744,629.212307744,652,0.400971734607,-0.00537358590065,0.059843420583,0.999999933257,0.00025444252353,-0.000261330933796,2.12379717335e-05,1793245187918020096
+11,0.183333333,BASELINE,764.636676188,745,714,679.363323812,658,633.363323812,878.636676188,785,805,652.363323812,629.363323812,652,0.400972320378,-0.00537473842294,0.0598438625809,0.999999933663,0.00025384114703,-0.000260345846456,2.14247132698e-05,1793245187934686976
+12,0.200000000,BASELINE,764.059939964,745,714,679.940060036,658,633.940060036,878.059939964,785,805,652.940060036,629.940060036,652,0.40097348419,-0.005375382894,0.0598444759323,0.999999934089,0.000253597896928,-0.000258921723845,2.16809778263e-05,1793245187951353856
+13,0.216666667,BASELINE,764,745,714,679.469251274,658,634,878.530748726,785.530748726,805,652.469251274,630.530748726,652,0.400973493193,-0.0053743960835,0.0598445396217,0.999999933641,0.000255476375829,-0.000258810250878,2.15944947566e-05,1793245187968020224
+14,0.233333333,BASELINE,764,745,714,679.120414499,658.120414499,634,879,786,805.120414499,652,630.879585501,652,0.400973347498,-0.00537363215283,0.0598444672838,0.999999933256,0.000256801886117,-0.000258998431562,2.14794192467e-05,1793245187984686848
+15,0.250000000,BASELINE,764,745,714,679.700008777,658.700008777,634,879,786,805.700008777,652,630.299991223,652,0.400973122644,-0.00537443962483,0.0598441193359,0.999999933503,0.000255080340779,-0.000259748725671,2.14069031365e-05,1793245188001353472
+16,0.266666667,BASELINE,764.276360519,745,714,680,658.723639481,634,879,785.723639481,805.723639481,652,630,652,0.400973631353,-0.0053751725511,0.0598443461029,0.999999933754,0.000254523236823,-0.000259320049087,2.15103544219e-05,1793245188018020096
+17,0.283333333,BASELINE,764.84923325,745,714,680,658.15076675,634,879,785.15076675,805.15076675,652,630,652,0.400974927115,-0.00537582549588,0.0598451894921,0.999999934009,0.000255215483242,-0.000257626433426,2.1802604321e-05,1793245188034686720
+18,0.300000000,BASELINE,764.564135098,745,714,679.564135098,658,634,878.564135098,785,805,652,630,651.564135098,0.400975612427,-0.00537520344815,0.0598458187618,0.999999934581,0.00025366616794,-0.000256949499246,2.16559571223e-05,1793245188051353344
+19,0.316666667,BASELINE,764,745,713.973421481,679,658,634,878.053157037,785,805.026578519,652,630,651,0.400975988367,-0.00537416426359,0.0598463139602,0.999999935193,0.000251534154223,-0.000256686621976,2.1366537115e-05,1793245188068019968
+20,0.333333333,BASELINE,764,745,713.399839213,679,658,634,879.200321573,785,805.600160787,652,630,651,0.400974484623,-0.00537391253193,0.0598456238622,0.999999934397,0.000253887428251,-0.000257471736767,2.13650683514e-05,1793245188084686336
+21,0.350000000,BASELINE,764,745,713.17492162,679.17492162,658,634,879.65015676,785,805.82507838,652.17492162,630,651.17492162,0.400973587414,-0.00537374109519,0.0598451189605,0.999999933829,0.00025543239476,-0.000258149254638,2.13460458783e-05,1793245188101353216
+22,0.366666667,BASELINE,764,745,713.752394636,679.752394636,658,634,878.495210728,785,805.247605364,652.752394636,630,651.752394636,0.400974086043,-0.00537375444318,0.0598450402558,0.999999933799,0.000255117183115,-0.000258579156982,2.12866266262e-05,1793245188118019840
+23,0.383333333,BASELINE,764,745,714,679.663043833,658,633.663043833,878,785,805,652.663043833,630,652,0.400975177297,-0.00537319707977,0.059845583353,0.99999993389,0.000255590013585,-0.000257752940021,2.13680849383e-05,1793245188134686464
+24,0.400000000,BASELINE,764,745,714,679.073161458,658,633.073161458,878,785,805,652.073161458,630,652,0.400976713387,-0.00537221132869,0.0598465931874,0.999999934068,0.000256654364593,-0.000255983854192,2.15552888327e-05,1793245188151353088
+25,0.416666667,BASELINE,764,745,714,679.506925705,658,633.506925705,878,785,805.506925705,652,630,652,0.400975615677,-0.00537254071993,0.0598455996245,0.999999934041,0.000256115619621,-0.000256637528969,2.14466329277e-05,1793245188168019968
+26,0.433333333,BASELINE,764,745,714,680,657.914542732,634,878,785,806,652,630,652,0.400974250752,-0.00537314331871,0.0598444626221,0.999999933972,0.000255425337755,-0.000257603625777,2.13277299229e-05,1793245188184686336
+27,0.450000000,BASELINE,764,745,714,680,657.336982486,634,878,785,806,652,630,652,0.400973494489,-0.00537424690003,0.0598441330573,0.999999933832,0.000255169487034,-0.000258393446548,2.13910425579e-05,1793245188201353216
+28,0.466666667,BASELINE,764,744.76020825,714,680,657.23979175,634,878,785,805.76020825,652,630,652,0.400973188309,-0.00537489090705,0.0598443621042,0.999999933825,0.000255219934822,-0.000258365130926,2.14419311321e-05,1793245188218020352
+29,0.483333333,BASELINE,764,744.184535029,714,680,657.815464971,634,878,785,805.184535029,652,630,652,0.400973512569,-0.00537489117838,0.0598453736106,0.999999934005,0.000255699421545,-0.000257190833986,2.14754170527e-05,1793245188234686976
+30,0.500000000,BASELINE,764.399732974,744.399732974,714,679.600267026,658,634,878.399732974,785,805.399732974,652,630,652,0.400973421804,-0.00537434616088,0.059845119991,0.999999933934,0.000255512359913,-0.000257660849278,2.13561804511e-05,1793245188251353344
+31,0.516666667,BASELINE,764.988055892,744.988055892,714,679.011944108,658,634,878.988055892,785,805.988055892,652,630,652,0.400973135235,-0.00537354388166,0.0598442694978,0.999999933744,0.000255010827547,-0.000258906634352,2.1164890919e-05,1793245188268019968
+32,0.533333333,BASELINE,764.433649227,745,713.433649227,679.566350773,658,634,879,785,805.433649227,652,630,652,0.400973602906,-0.00537291342202,0.0598449328734,0.999999933509,0.000255923579919,-0.000258914619668,2.11578147431e-05,1793245188284686592
+33,0.550000000,BASELINE,764,745,713.14431466,680,658,634,879.14431466,785,805,652.14431466,630,652,0.400973973128,-0.00537285376414,0.0598454077071,0.999999933454,0.000256157072708,-0.000258894268776,2.11819254975e-05,1793245188301353216
+34,0.566666667,BASELINE,764,745,713.721908593,680,658,634,879.721908593,785,805,652.721908593,630,652,0.400974003854,-0.00537449714785,0.0598452222899,0.999999933943,0.000254263217054,-0.000258865854574,2.12882084544e-05,1793245188318019840
+35,0.583333333,BASELINE,764,745,714,679.701582359,658,634,879.403164719,785,805.298417641,653,629.701582359,652,0.400973265837,-0.00537465802173,0.0598447192311,0.99999993383,0.000253953630456,-0.000259601663597,2.13274989028e-05,1793245188334686720
+36,0.600000000,BASELINE,764,745,714,679.126080572,658,634,878.252161144,785,805.873919428,653,629.126080572,652,0.400971814031,-0.00537344236869,0.0598439212385,0.999999933158,0.000255115055336,-0.000261047062506,2.13045860634e-05,1793245188351353344
+37,0.616666667,BASELINE,764,745,713.540536284,679,658,634,878.459463716,785,806,652.540536284,629.459463716,652,0.400972954373,-0.00537334115264,0.0598453429296,0.999999933883,0.000255017125876,-0.000258353894298,2.12857716765e-05,1793245188368019968
+38,0.633333333,BASELINE,764.047099328,745,713,679.047099328,658,634,879,785,805.952900672,652.047099328,630,652,0.400974592703,-0.00537356660022,0.0598471567555,0.999999934831,0.000254700506525,-0.000254975323823,2.12881048737e-05,1793245188384686592
+39,0.650000000,BASELINE,764.626529927,745,713,679.626529927,658,634,879,785,805.373470073,652.626529927,630,652,0.400973640399,-0.00537395050209,0.0598463645517,0.999999934007,0.000255905282193,-0.000256972478386,2.15164594744e-05,1793245188401353216
+40,0.666666667,BASELINE,764.795022776,745,713,680,658,634,878.795022776,785.204977224,805.204977224,652.795022776,630,652,0.400973217836,-0.00537469174963,0.0598459739664,0.999999933913,0.000255363213353,-0.00025786657726,2.16587004436e-05,1793245188418020096
+41,0.683333333,BASELINE,764.218358545,745,713,680,658,634,878.218358545,785.781641455,805.781641455,652.218358545,630,652,0.400973755856,-0.00537608097518,0.0598463116393,0.999999935138,0.000251653575885,-0.000256760495408,2.16447907914e-05,1793245188434686720
+42,0.700000000,BASELINE,764,745,713.355038289,680,658,634,878,785.644961711,805.644961711,652,630,651.644961711,0.400973771761,-0.00537618151896,0.0598461508856,0.999999935042,0.000252141270839,-0.00025666244387,2.1571866268e-05,1793245188451353344
+43,0.716666667,BASELINE,764,745,713.926443885,680,658,634,878,785.073556115,805.073556115,652,630,651.073556115,0.400973469479,-0.0053754967147,0.0598456863809,0.999999934139,0.000255186902755,-0.000257178705847,2.14629769233e-05,1793245188468020224
+44,0.733333333,BASELINE,764,745,714,680,658,634,878.519394463,785.519394463,805,652,630,651.519394463,0.400973761607,-0.00537518829569,0.0598455528112,0.999999934018,0.000255617503313,-0.000257213866705,2.15594887875e-05,1793245188484686848
+45,0.750000000,BASELINE,764.111576449,745,713.888423551,679.888423551,658,634,878.888423551,785.888423551,805,652,630.111576449,651.888423551,0.400973899957,-0.00537492902137,0.0598454906946,0.999999934067,0.000255381290496,-0.000257258083517,2.15716480597e-05,1793245188501353472
+46,0.766666667,BASELINE,764.687318451,745,713.312681549,679.312681549,658,634,878.312681549,785.312681549,805,652,630.687318451,651.312681549,0.400973033235,-0.00537464285081,0.0598455224215,0.999999934337,0.00025397839295,-0.000257635677901,2.11066469428e-05,1793245188518020608
+47,0.783333333,BASELINE,764.737163918,745,713.262836082,679,658,633.737163918,878,785,805,652,630.737163918,651.262836082,0.400972298765,-0.00537439420684,0.0598452914804,0.99999993427,0.000253478990984,-0.000258393793174,2.09921686392e-05,1793245188534687488
+48,0.800000000,BASELINE,764.161912907,745,713.838087093,679,658,633.161912907,878,785,805,652,630.161912907,651.838087093,0.400971721494,-0.00537419016808,0.0598447483244,0.999999933805,0.00025405351105,-0.000259604207153,2.1294332309e-05,1793245188551353856
+49,0.816666667,BASELINE,764,745,714,679.424067789,657.575932211,633.424067789,878,785,805,652.424067789,630,652,0.40097246519,-0.00537522468196,0.0598448085375,0.99999993408,0.000253605010839,-0.000258955162599,2.15877317034e-05,1793245188568020480
+50,0.833333333,BASELINE,764,745,714,680,657.01397271,634,878,785,805.01397271,652.98602729,630,651.98602729,0.400973701537,-0.00537666428589,0.0598451182496,0.999999934619,0.000252835043304,-0.000257603106979,2.18619240366e-05,1793245188584687104
+51,0.850000000,BASELINE,764,745,714,680,657.592611791,634,878,785,805.592611791,652.407388209,630,651.407388209,0.400973935676,-0.00537486785094,0.0598459592607,0.999999934092,0.000255268557534,-0.000257276565554,2.14986601939e-05,1793245188601353984
+52,0.866666667,BASELINE,764,745,713.830025512,680,658.169974488,634,878.169974488,785,805.830025512,652.169974488,630,651.169974488,0.400973784264,-0.0053733645188,0.0598461444806,0.99999993366,0.00025685110892,-0.000257406185578,2.11988913987e-05,1793245188618020864
+53,0.883333333,BASELINE,764,745,713.255699235,680,658.744300765,634,878.744300765,785,805.255699235,652.744300765,630,651.744300765,0.400972715662,-0.00537255844817,0.0598447696409,0.999999933463,0.000256409307249,-0.000258620966707,2.10501708003e-05,1793245188634687232
+54,0.900000000,BASELINE,764,745,713,679.674052446,658.674052446,633.674052446,878.674052446,785,805,653,630,652,0.400973356929,-0.00537246752884,0.0598448830088,0.999999933428,0.0002573108658,-0.000257844343845,2.12362576874e-05,1793245188651354112
+55,0.916666667,BASELINE,764,745,713,679.086530951,658.086530951,633.086530951,878.086530951,785,805,653,630,652,0.400975370371,-0.00537295052072,0.0598461906682,0.999999933517,0.000259290475191,-0.000255469612932,2.16910286461e-05,1793245188668021248
+56,0.933333333,BASELINE,764.49446652,745,713.49446652,679.49446652,658,633.49446652,878,785,805,653,630,652,0.400974619766,-0.00537319265781,0.0598456127115,0.999999933701,0.000257501969307,-0.000256570608614,2.1514266159e-05,1793245188684687872
+57,0.950000000,BASELINE,764.926370766,745,714,679.926370766,658,633.926370766,878.073629234,785,805,652.926370766,630,652,0.400973647705,-0.00537356972059,0.0598449817188,0.999999933923,0.000255337635321,-0.000257880686455,2.13312819075e-05,1793245188701354496
+58,0.966666667,BASELINE,764.352022644,745,714,679.352022644,658,633.352022644,878.647977356,785,805,652.352022644,630,652,0.400974416237,-0.00537514725665,0.0598462048747,0.999999934334,0.000255043450599,-0.00025653008852,2.18477781574e-05,1793245188718020864
+59,0.983333333,BASELINE,764,745.223850255,714,679,658,633,879,785,805,652,630,652,0.400974900098,-0.00537556836704,0.0598467286691,0.999999934681,0.000254440685264,-0.000255770890369,2.18962939604e-05,1793245188734687232
+60,1.000000000,BASELINE,764,745.802137523,714,679,658,633,879,785,805,652,630,652,0.400974933222,-0.00537415843188,0.0598461451181,0.999999934928,0.000253349323652,-0.000255948094668,2.1203825243e-05,1793245188751353856
+61,1.016666667,BASELINE,764,745.612837997,714,679,658,633.387162003,879,785.387162003,805,652,630,652,0.400974125091,-0.00537423077026,0.059845622763,0.999999934601,0.000253946932898,-0.000256630559524,2.12168829017e-05,1793245188768020224
+62,1.033333333,BASELINE,764,745.024309466,714,679,658,633.975690534,879,785.975690534,805,652,630,652,0.400972879416,-0.00537507405286,0.0598451322366,0.999999933974,0.000255422991525,-0.000257575815045,2.15968913761e-05,1793245188784686592
+63,1.050000000,BASELINE,764,745,714,679,658,634,878.446109254,785.446109254,805.553890746,652,630,652,0.400972915705,-0.00537441589375,0.0598451880972,0.999999933981,0.000255012926577,-0.000257983540046,2.12136954613e-05,1793245188801353728
+64,1.066666667,BASELINE,764.131515421,744.868484579,714,679,658,634,878,785,805.868484579,652,630,652,0.400973146395,-0.00537390885929,0.0598452592278,0.999999934077,0.000254569748899,-0.000258070721778,2.09567299694e-05,1793245188818020608
+65,1.083333333,BASELINE,764.708697706,744.291302294,714,679,658,634,878,785,805.291302294,652,630,652,0.400973848678,-0.00537413315635,0.0598453023298,0.99999993438,0.000254289741415,-0.000257150158157,2.12389520793e-05,1793245188834687232
+66,1.100000000,BASELINE,764.716087313,744.283912687,714,679.283912687,658,634,878,785,804.716087313,652,630,652,0.40097438583,-0.0053742881945,0.0598456124123,0.999999934591,0.000254254789469,-0.000256357458455,2.1289871619e-05,1793245188851353856
+67,1.116666667,BASELINE,764.142876982,744.857123018,714,679.857123018,658,634,878,785,804.142876982,652,630,652,0.400974754719,-0.00537437266011,0.0598461945392,0.99999993471,0.000254469541032,-0.000255695047916,2.11051014685e-05,1793245188868020480
+68,1.133333333,BASELINE,764,745,714,679.555234986,658,634,878,785,804.889530028,652,630,652,0.400974630963,-0.00537432546623,0.0598460954538,0.99999993491,0.000253394931828,-0.000255969514241,2.12269782214e-05,1793245188884687104
+69,1.150000000,BASELINE,764,745,714,679.036389738,658.036389738,634,878.036389738,785.036389738,805.963610262,652.036389738,630,652,0.400974298504,-0.00537425375981,0.0598457489846,0.999999935094,0.000252008026435,-0.000256603788586,2.14070185615e-05,1793245188901353472
+70,1.166666667,BASELINE,764,745,714,679.61594145,658.61594145,634,878.61594145,785.61594145,805.38405855,652.61594145,630,652,0.400973292298,-0.00537446864254,0.0598450859111,0.999999934668,0.000252349439545,-0.000257965733774,2.09355628519e-05,1793245188918020096
+71,1.183333333,BASELINE,764,745,714,680,658.80810036,634,878.80810036,785.80810036,805.19189964,652.80810036,630,652,0.400972633338,-0.00537470920052,0.0598448403083,0.999999934496,0.000252518745991,-0.000258481674448,2.07108376787e-05,1793245188934686720
+72,1.200000000,BASELINE,764,745,714,680,658.23920177,634,878.23920177,785.23920177,805.76079823,652.23920177,630,652,0.400972656564,-0.00537500019921,0.0598454148525,0.999999934829,0.000252349938093,-0.000257335586119,2.09708301284e-05,1793245188951353600
+73,1.216666667,BASELINE,764.335788677,745,714,679.664211323,658,634,878,785.335788677,806,652.335788677,630,652,0.400973443943,-0.00537580207245,0.0598461761861,0.999999935262,0.000251634424629,-0.000256333571519,2.11762962187e-05,1793245188968020224
+74,1.233333333,BASELINE,764.915198855,745,714,679.084801145,658,634,878,785.915198855,806,652.915198855,630,652,0.400974785731,-0.00537697459554,0.0598470730392,0.999999935768,0.000250522265186,-0.000255436085402,2.13422023126e-05,1793245188984686592
+75,1.250000000,BASELINE,764.493949949,745,714,679,658,634,878.506050051,785.493949949,806,652.493949949,630,652,0.400973884188,-0.0053767204163,0.059845978612,0.999999935417,0.000250482100691,-0.000256880848688,2.09234400623e-05,1793245189001352960
+76,1.266666667,BASELINE,764.095985484,745,714,678.904014516,658,634,879,785.095985484,805.904014516,652,630,652,0.40097278306,-0.00537600770775,0.0598447801183,0.999999934908,0.000251049057643,-0.00025833826928,2.05007666572e-05,1793245189018019840
+77,1.283333333,BASELINE,764.671544832,745,714,678.328455168,658,634,879,785.671544832,805.328455168,652,630,652,0.400972606429,-0.00537422618729,0.0598447674512,0.999999934355,0.000253731090267,-0.000257852505564,2.05593921097e-05,1793245189034686720
+78,1.300000000,BASELINE,765,745,713.752600049,678.494799902,658.247399951,634,878.752600049,785.752600049,805,652,630,652,0.400972511965,-0.00537369050508,0.059844975752,0.999999934392,0.000254138636863,-0.000257296261406,2.06988750692e-05,1793245189051353600
+79,1.316666667,BASELINE,765,745,713.176351832,679.647296337,658.823648168,634,878.176351832,785.176351832,805,652,630,652,0.400972526718,-0.00537481081262,0.0598454777671,0.999999935215,0.000251522897324,-0.000256646333471,2.0945835212e-05,1793245189068019968
+80,1.333333333,BASELINE,765,745,713.408672979,679.591327021,658.591327021,634,878.408672979,785,805,652,630,652,0.400972969147,-0.00537456187625,0.0598455935585,0.999999935077,0.000251770046774,-0.000256933966513,2.10368422438e-05,1793245189084686592
+81,1.350000000,BASELINE,765,745,713.997568263,679.002431737,658.002431737,634,878.997568263,785,805,652,630,652,0.400973600179,-0.00537370911172,0.0598455390275,0.999999934515,0.000253279712684,-0.000257635058207,2.10590749206e-05,1793245189101353472
+82,1.366666667,BASELINE,764.423142851,745,714,679,658.576857149,634,879,785,805,652,630,652,0.400973354509,-0.00537417617047,0.0598462066397,0.999999934574,0.000253870715744,-0.000256827998722,2.09881905579e-05,1793245189118020096
+83,1.383333333,BASELINE,764,745,714,679,658.844350137,634,879,785,805.155649863,652,630,652,0.4009732335,-0.00537489733297,0.0598466006832,0.999999934738,0.000253766980285,-0.00025628950764,2.10253733302e-05,1793245189134686720
+84,1.400000000,BASELINE,764,745,714,679,658.266794253,634,879,785,805.733205747,652,630,652,0.400973460258,-0.00537629243765,0.0598462450724,0.999999935178,0.000251790405232,-0.000256495951169,2.13565304821e-05,1793245189151353344
+85,1.416666667,BASELINE,764,745,713.690726423,679.309273577,658,634,878.690726423,785,805.690726423,652,630,652,0.400973640414,-0.00537616002538,0.059846144324,0.999999935231,0.000251654252758,-0.000256430594585,2.12344180259e-05,1793245189168019712
+86,1.433333333,BASELINE,764,745,713.115936146,679.884063854,658,634,878.115936146,785,805.115936146,652,630,652,0.400973780561,-0.00537471621338,0.0598462623794,0.999999934954,0.000253098134929,-0.000256131892904,2.0723165774e-05,1793245189184686336
+87,1.450000000,BASELINE,764.472301628,745,713.472301628,679.527698372,658,633.527698372,878.472301628,785,805,652,630,651.527698372,0.40097443837,-0.0053749262942,0.0598465253361,0.999999935287,0.000252359397732,-0.000255555930856,2.07833126952e-05,1793245189201352960
+88,1.466666667,BASELINE,764.937451688,745,714,679,658,633.062548312,879,785,805.062548312,652.062548312,630,651.062548312,0.400975015587,-0.0053755454457,0.0598466868106,0.999999935674,0.00025122356823,-0.000255144823466,2.09558195923e-05,1793245189218019840
+89,1.483333333,BASELINE,764.358667239,745,714,679,658,633.641332761,879,785,805.641332761,652.641332761,630,651.641332761,0.400973848142,-0.00537609189049,0.0598457085433,0.999999935251,0.000251361882695,-0.000256672509553,2.08641161835e-05,1793245189234686720
+90,1.500000000,BASELINE,764,745,714,679,658.218286723,634,878.781713277,785,806,652.781713277,630,652,0.400972878196,-0.00537596584661,0.0598452674645,0.999999934766,0.000252328027034,-0.000257604875906,2.09341971176e-05,1793245189251353344
+91,1.516666667,BASELINE,764,745,714,679,658.792257966,634,878.207742034,785,806,652.207742034,630,652,0.400972230063,-0.0053747440246,0.0598457017006,0.999999934182,0.0002546430682,-0.000257567205953,2.12678954961e-05,1793245189268020480
+92,1.533333333,BASELINE,764,745,714,679,658.624351681,634,878.375648319,785,806,652,630,652,0.400971665759,-0.00537488905135,0.0598450356433,0.999999934036,0.000254295063767,-0.000258463666377,2.14148458797e-05,1793245189284687104
+93,1.550000000,BASELINE,764,745,714,679,658.03561832,634,878.96438168,785,806,652,630,652,0.400971149006,-0.00537580941759,0.059843745449,0.999999934136,0.00025243645734,-0.000259890008604,2.14558642241e-05,1793245189301353472
+94,1.566666667,BASELINE,764,745.544081376,714,679,658.544081376,633.455918624,878.455918624,785,805.455918624,652,630,652,0.400972652584,-0.00537553339027,0.0598452308606,0.999999934641,0.000252868316285,-0.000257539012718,2.12179485751e-05,1793245189318019840
+95,1.583333333,BASELINE,764.122643827,745.877356173,714,679,658.877356173,633.122643827,878,785.122643827,805,652,630,651.877356173,0.400974075623,-0.00537526929951,0.0598465945599,0.999999935011,0.00025353601885,-0.000255447917597,2.10574620544e-05,1793245189334686464
+96,1.600000000,BASELINE,764.699150671,745.300849329,714,679,658.300849329,633.699150671,878,785.699150671,805,652,630,651.300849329,0.40097471916,-0.00537533449093,0.0598468463967,0.999999934813,0.000254530664201,-0.000255218792613,2.12499862499e-05,1793245189351353088
+97,1.616666667,BASELINE,764.725978657,745,713.725978657,679.274021343,658,634,878.274021343,785.725978657,805,652.274021343,629.725978657,651.274021343,0.400974686186,-0.00537556124042,0.0598467494216,0.999999934812,0.000254348276311,-0.000255399490875,2.13131924162e-05,1793245189368019712
+98,1.633333333,BASELINE,764.152893716,745,713.152893716,679.847106284,658,634,878.847106284,785.152893716,805,652.847106284,629.152893716,651.847106284,0.400973914876,-0.00537596431245,0.0598462717573,0.999999935025,0.000252881288441,-0.000256027465309,2.12352624296e-05,1793245189384686336
+99,1.650000000,BASELINE,764,745,713.433810858,679.566189142,658,634,878.566189142,785,805,652.566189142,629.433810858,652,0.400973617252,-0.00537581293218,0.059846342715,0.999999935211,0.00025210774465,-0.000256081271536,2.10193600162e-05,1793245189401352960
+100,1.666666667,BASELINE,764,745,713.975057944,679,658,633.975057944,878,785,805,652,630,652,0.400973540122,-0.00537545770083,0.059846614075,0.999999935383,0.000251622387898,-0.000255907287868,2.07645491593e-05,1793245189418019840
+101,1.683333333,BASELINE,764,745,713.395687888,679,658,633.395687888,878,785,805,652,630,652,0.40097453299,-0.00537505569614,0.0598469027066,0.999999935456,0.000251934275187,-0.000255313871056,2.07608144183e-05,1793245189434686720
+102,1.700000000,BASELINE,764,745,713,679,658,633.182029354,878.182029354,785,805,652,630,651.817970646,0.400975047152,-0.00537526913774,0.0598468755776,0.999999935523,0.000251811202495,-0.000255163809579,2.08744619511e-05,1793245189451353088
+103,1.716666667,BASELINE,764,745,713,679,658,633.756186027,878.756186027,785,805,652,630,651.243813973,0.400974530088,-0.00537680837276,0.0598461682377,0.999999935576,0.00025075113972,-0.000255968823476,2.12409741769e-05,1793245189468019968
+104,1.733333333,BASELINE,764,745,713,679,658,634,878.669878154,785,805,652,630,651.330121846,0.400973118579,-0.00537691380771,0.0598453902164,0.999999935226,0.000250716255593,-0.000257361150318,2.13026217625e-05,1793245189484687104
+105,1.750000000,BASELINE,764,745,713,679,658,634,878.096105279,785,805,652,630,651.903894721,0.400971046912,-0.00537596100672,0.0598445600275,0.999999934577,0.000251438018739,-0.000259186951747,2.11392597911e-05,1793245189501354496
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633,879,786,805,652,630,652,0.400975434016,-0.00537621637157,0.0598479862012,0.999999936491,0.000249105070247,-0.000253979729999,2.14168670461e-05,1793245189532127232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744.574848914,713.425151086,680,658,633.574848914,879,785.425151086,805,652,630,652,0.400974338542,-0.00537586308151,0.0598468742244,0.999999935358,0.000252175068922,-0.000255399292219,2.1504701826e-05,1793245189548794368
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.150128496,680,658,634,878.849871504,785,805,652,630,652,0.400973312894,-0.00537562962081,0.0598459578103,0.99999993466,0.000253628434978,-0.000256700608898,2.13933437771e-05,1793245189565460992
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.726631331,680,658,634,878.273368669,785,805,652,630,652,0.400972485559,-0.00537573648286,0.0598455968062,0.999999935217,0.000250490463745,-0.00025766610116,2.07162656264e-05,1793245189582127360
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.6895865,680,658,634,878,785,805.3104135,652,629.6895865,651.6895865,0.400972527021,-0.00537656713976,0.0598456171718,0.99999993566,0.000248751926679,-0.000257629859311,2.07401891776e-05,1793245189598793728
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.099239809,680,658,634,878,785,805.900760191,652,629.099239809,651.099239809,0.400973351972,-0.00537805052019,0.0598459814593,0.999999936006,0.000248275409888,-0.000256690246172,2.13962812904e-05,1793245189615460608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.480509979,680,658,634,878,785,805.519490021,652,629.961019958,651.480509979,0.400973967224,-0.00537694153104,0.0598461624169,0.999999935854,0.000249319508734,-0.00025627791133,2.13013492793e-05,1793245189632126976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.942019361,679.942019361,658,634,878.057980639,785,805,652,630.942019361,652,0.400974330195,-0.00537547464215,0.0598462360451,0.999999935577,0.000250586207922,-0.000256140304391,2.10857612491e-05,1793245189648793088
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.365780143,679.365780143,658,634,878.634219857,785,805,652,630.365780143,652,0.40097281693,-0.00537549109429,0.0598456814484,0.999999935097,0.000251096031298,-0.000257505959686,2.11482156206e-05,1793245189665459712
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.785878949,785,805.214121051,652,630,652,0.400974104365,-0.00537540195683,0.0598462164448,0.999999935051,0.000251683929182,-0.000257105575992,2.12209315304e-05,1793245189682126592
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.199613262,785,805.800386738,652,630,652,0.400980259448,-0.00537512930355,0.0598486451656,0.999999935753,0.000252407521326,-0.000253635797827,2.13114820948e-05,1793245189698793472
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.382158668,679.382158668,658,634,878,785,805.617841332,652,630,652,0.400999321616,-0.00537679621871,0.0598570835981,0.999999939438,0.000250858255438,-0.000240246142911,2.18147248333e-05,1793245189715460096
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.961610701,679.961610701,658,634,878,785,805.038389299,652,630,652,0.4010250472,-0.00537946445613,0.0598686246067,0.999999944377,0.000248135603075,-0.000221735248612,2.2531024178e-05,1793245189732126208
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.53947014,745,714,680,658,634,878,785,805,652,630,651.46052986,0.401078165705,-0.00537983967631,0.0598855668978,0.999999950366,0.000250568604155,-0.000189574560861,2.33328662084e-05,1793245189748793088
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.139455082,785.139455082,805.860544918,652,630,652,0.401376123331,-0.00538781954505,0.0599364198908,0.999999963647,0.000244740919532,-0.000110405123158,2.48790486953e-05,1793245189815459328
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.174486145,630,652,0.401860871067,-0.00540062580468,0.0599523680637,0.999999968371,0.000238090899678,-7.805802136e-05,2.18372603533e-05,1793245189882126336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.749522249,630,652,0.402010591422,-0.00540463922253,0.0599486530591,0.999999969159,0.000233782360436,-8.14438477948e-05,1.98501004915e-05,1793245189898792960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.667760734,630,651.667760734,0.402184980604,-0.005409228038,0.0599467516366,0.999999970219,0.00022972026859,-8.04401508705e-05,1.78749499713e-05,1793245189915459584
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,785,805,652.079115911,630,651.079115911,0.402378407962,-0.00541426091682,0.0599462498452,0.999999971478,0.000225848371989,-7.60488409405e-05,1.59090674456e-05,1793245189932126208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879.005005029,785,805,652,630,651.502502514,0.40260847771,-0.005418622642,0.059948272126,0.999999972975,0.000222112529287,-6.73202238204e-05,1.35333600712e-05,1793245189948792832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.082249193,679,658.082249193,634,879.835501613,785,805,652,630,652,0.402849202918,-0.00542341326501,0.0599507743164,0.999999974584,0.000217647625288,-5.77773545591e-05,1.1120358883e-05,1793245189965459456
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.657318094,679,658.657318094,634,878.685363812,785,805,652,630,652,0.403119682835,-0.0054313981696,0.0599538037268,0.999999977062,0.000208687760063,-4.73909161459e-05,8.86518505012e-06,1793245189982126080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.232149782,745,714,679.232149782,658.767850218,634,878.232149782,785,805,652,630,652,0.403398084499,-0.00543916112639,0.0599532764388,0.999999978987,0.000199696241579,-4.59170943577e-05,6.21202026262e-06,1793245189998792704
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.80663164,745,714,679.80663164,658.19336836,634,878.80663164,785,805,652,630,652,0.403688167692,-0.00544659679466,0.0599475043819,0.999999980162,0.000190658047206,-5.75859714666e-05,2.97197128184e-06,1793245190015459328
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.605985671,745,714,680,658.394014329,634,878.605985671,785.394014329,805,652,629.605985671,652,0.404008340199,-0.00545361198142,0.0599373859444,0.999999980845,0.000181680665012,-7.28131403314e-05,-8.37155009485e-07,1793245190032125952
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.012057409,745,714,680,658.987942591,634,878.012057409,785.987942591,805,652,629.012057409,652,0.404343779332,-0.00546041382518,0.0599250622523,0.999999981033,0.000172734137768,-8.98457053411e-05,-4.93501811991e-06,1793245190048792832
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.436251715,679.436251715,658.436251715,634,878,785.436251715,805,652,629.563748285,652,0.404701384436,-0.00546923074067,0.0599107426972,0.999999979945,0.000162627809548,-0.000116528021413,-9.10141782985e-06,1793245190065459456
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.138920094,785,805,652,630,651.861079906,0.405077452171,-0.00547829509761,0.0599003854153,0.999999979018,0.000151807395987,-0.00013691437839,-1.31774173989e-05,1793245190082126080
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.713281992,785,805,652,630,651.286718008,0.405509950798,-0.00548800416942,0.0599025774249,0.999999980844,0.000138824032199,-0.000136939422584,-1.69656074594e-05,1793245190098792448
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.295830694,634,879,785,805,652,630,651.295830694,0.405975523134,-0.00549699916654,0.0599170405841,0.999999987673,0.000106691168802,-0.000113447519294,-1.9997033879e-05,1793245190115459584
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658.886539918,634,879,785,805,652,630,651.886539918,0.40647406278,-0.00550528238846,0.0599437353972,0.999999996001,5.54704386441e-05,-6.65143600255e-05,-2.22741327713e-05,1793245190132126720
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.466935304,745,713.466935304,679.466935304,658.533064696,634,879,785,805,652,630,652,0.407029367564,-0.00550489179734,0.0599731510125,0.999999999552,-5.03875250506e-07,-1.85883692666e-05,-2.34463781581e-05,1793245190148793856
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.044784486,633.955215514,879,785,805.044784486,652,630,652,0.407595600801,-0.00550148930195,0.0600006105248,0.999999998099,-5.09802630029e-05,2.4427521927e-05,-2.46237147167e-05,1793245190165460736
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.621515022,633.378484978,879,785,805.621515022,652,630,652,0.408131346779,-0.0054868050187,0.0599971525739,0.999999999302,-2.2729535898e-05,6.31815079046e-06,-2.89814396166e-05,1793245190182127104
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.798269131,745,713.798269131,680,659.201730869,633.201730869,878.798269131,785,805.798269131,652,630,651.798269131,0.408674346856,-0.00548143353965,0.0599895136171,0.999999999266,-7.95356221317e-06,-1.74554768712e-05,-3.31700950244e-05,1793245190198793728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.211399258,745,713.211399258,680,659.788600742,633.788600742,878.211399258,785,805.211399258,652,630,651.211399258,0.409231196231,-0.00549384181001,0.0599738923993,0.999999997781,-1.89032172669e-05,-5.20431455244e-05,-3.70359673909e-05,1793245190215460096
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.370308184,679.629691816,659.629691816,634,878,785,805,652,630,651.370308184,0.409857541575,-0.00550772918038,0.059974071178,0.999999997014,-4.11755381461e-05,-5.12331426716e-05,-4.06492370848e-05,1793245190232126464
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.949109029,679.050890971,659.050890971,634,878,785,805,652,630,651.949109029,0.410523014851,-0.00552244932019,0.0599831457458,0.999999996124,-6.98227993729e-05,-3.04933745712e-05,-4.41202850771e-05,1793245190248792832
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,785,805,652,630,652,0.41122889872,-0.00553076505527,0.0599882635853,0.999999995005,-8.67854610698e-05,-1.58575250787e-05,-4.69685534814e-05,1793245190265459968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.098963574,745,714,679.098963574,659,634,878.098963574,785,805.098963574,652,630,651.901036426,0.411932221362,-0.0055349200791,0.0599881415913,0.999999995089,-8.70259458954e-05,-1.16830888436e-05,-4.59516017398e-05,1793245190282127360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.671522932,745,714,679.671522932,659,634,878.671522932,785,805.671522932,652,630,651.328477068,0.412604644193,-0.00552211833692,0.0599647694406,0.999999998064,-1.26319787e-05,-5.475641065e-05,-2.67247271437e-05,1793245190298793728
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.753652997,745,713.753652997,680,658.753652997,634,879,785,805.753652997,652,630,651.246347003,0.413286637287,-0.00551227225773,0.0599375511018,0.999999993662,2.56483420093e-05,-0.000107996794802,-1.88146638587e-05,1793245190315460096
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.175781076,745,713.175781076,680,658.175781076,634,879,785,805.175781076,652,630,651.824218924,0.41398150979,-0.00550640380147,0.0599051566982,0.999999984243,1.53282292437e-05,-0.000174919651306,-2.61343547926e-05,1793245190332126976
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.415126126,679.584873874,658.415126126,634,879,785,805.415126126,652,630,651.584873874,0.414782530506,-0.0055133594324,0.0599231103846,0.999999989867,6.6756799022e-06,-0.000139141583209,-2.93597711424e-05,1793245190348793344
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,679.011336846,659,634,879,785,806,652,630,651.011336846,0.415630310701,-0.00552579786857,0.0599629571092,0.999999997788,-1.36243113078e-06,-5.89675103812e-05,-3.07528031442e-05,1793245190365459456
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,679.587853103,659,634,879,785,806,652,630,651.587853103,0.416495787597,-0.00553208096607,0.059996945512,0.999999999428,-1.51120774408e-05,-3.79508482596e-06,-3.00270650876e-05,1793245190382126080
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.162527195,745,714,679.837472805,659,633.837472805,879,785,805.837472805,651.837472805,630,652,0.417348683873,-0.00553625435683,0.0600186866848,0.999999998697,-2.714645006e-05,3.11813961439e-05,-2.99401387231e-05,1793245190398792704
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.732582133,745,714,679.267417867,659,633.267417867,879,785,805.267417867,651.267417867,630,652,0.418170034903,-0.00553513777698,0.0600097186199,0.999999998777,-3.48798702764e-05,1.55176859928e-05,-3.14549967615e-05,1793245190415459584
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.683870023,745,713.683870023,679.316129977,659,633,879,785,805.316129977,651.316129977,630,651.683870023,0.418996785223,-0.00553393167353,0.0599938184234,0.999999998831,-3.30598312657e-05,-1.13817897421e-05,-3.34019702421e-05,1793245190432126464
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.088399534,745,713.088399534,679.911600466,659,633,879,785,805.911600466,651.911600466,630,651.088399534,0.419828306451,-0.00553264646479,0.059971792819,0.99999999794,-2.27981115139e-05,-4.82094737533e-05,-3.57307718403e-05,1793245190448793088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.493171961,680,659,633.493171961,879,785,806,652,630,651,0.420662016224,-0.0055317340087,0.0599377620113,0.999999993979,-3.0059112422e-05,-9.80115490788e-05,-3.91517768512e-05,1793245190465459456
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,679.92812016,659,634,879,785,806,652,630,651.07187984,0.421501510424,-0.0055311445337,0.0599036084038,0.999999987206,-3.91583166331e-05,-0.000149193105583,-4.23858930426e-05,1793245190482125824
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679.35250001,659,634,879,785,806,652,630,651.64749999,0.422378868138,-0.00553236313025,0.0598832615287,0.999999979432,-3.97314986075e-05,-0.000194190756943,-4.29758796589e-05,1793245190498792448
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,679.227473717,659,633.772526283,879.227473717,785,806,652,630,652,0.423296355752,-0.00553611860758,0.059897510779,0.999999982897,-4.35727136567e-05,-0.000174615339209,-4.26181239467e-05,1793245190515458816
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679.814325606,659,633.185674394,879.814325606,785,806,652,630,652,0.424277243399,-0.00554388201878,0.0599664172958,0.999999996381,-5.25769854079e-05,-5.30230792208e-05,-4.07630613587e-05,1793245190532125696
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.394460856,745,714,680,659.394460856,633,880,785,806,652,630,652,0.425227325671,-0.00554575310867,0.0600118989585,0.999999997603,-5.36066447572e-05,1.97341850344e-05,-3.91144616941e-05,1793245190548792320
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.971487453,745,714,680,659.971487453,633,880,785,806,652,630,652,0.426163150433,-0.00554489709353,0.0600465390447,0.999999995555,-5.09454659503e-05,6.98894599201e-05,-3.75614181247e-05,1793245190565459456
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.550090191,660,633,880,785,806.550090191,652,630.550090191,652,0.427092782405,-0.00554704614483,0.0600316850416,0.999999995513,-5.93962399501e-05,6.18515950292e-05,-4.02668495337e-05,1793245190582126336
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.871896493,745,714,680.871896493,659.871896493,633.128103507,880,785.128103507,806.871896493,652,630.871896493,652,0.42801424357,-0.00554933804038,0.0600110906784,0.999999995994,-6.61287152909e-05,4.22746985376e-05,-4.30374656443e-05,1793245190598792704
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.29622876,745,714,680.29622876,659.29622876,633.70377124,880,785.70377124,806.29622876,652,630.29622876,652,0.428908282441,-0.00555158324714,0.0599794294972,0.999999996849,-6.48397943327e-05,-7.04839780194e-06,-4.52624352261e-05,1793245190615459072
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713.713924594,680.286075406,659,633.713924594,880,785.713924594,806.286075406,652,630,652,0.42976972393,-0.00554891958491,0.0599462930424,0.999999994933,-6.19756042533e-05,-6.37843959425e-05,-4.71686366968e-05,1793245190632125696
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713.124585289,680.875414711,659,633.124585289,880,785.124585289,806.875414711,652,630,652,0.430596609406,-0.00554105211014,0.059911592676,0.999999988922,-5.74414969348e-05,-0.00012837868782,-4.87369170641e-05,1793245190648792320
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.455803565,745,713,680.544196435,659,633,880,785.455803565,807,652,630,652,0.431535710167,-0.00554228166657,0.0599351752216,0.999999993379,-6.38754196082e-05,-8.20367438766e-05,-4.93094666305e-05,1793245190665458944
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.9664497,713.0335503,680.0335503,659.067100599,633.0335503,880,785.9664497,807,652,630,652,0.432501831134,-0.00554596116696,0.0599738387372,0.999999996114,-7.25128084051e-05,-7.96804373686e-06,-4.95066078982e-05,1793245190682125568
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.392613649,713.607386351,680.607386351,660.214772702,633.607386351,880,785.392613649,807,652,630,652,0.433418656894,-0.00554982309646,0.0600037616568,0.999999995882,-6.92865143288e-05,3.37061585591e-05,-4.79567273683e-05,1793245190698792448
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.186250865,714,681,660.813749135,633.813749135,880,785.186250865,807,652,630.186250865,652,0.434317117603,-0.00555312597369,0.0600160351433,0.999999995166,-7.0881795563e-05,4.87743706145e-05,-4.758995675e-05,1793245190715459328
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.776009524,714,681,660.223990476,633.223990476,880,785.776009524,807,652,630.776009524,652,0.435175791066,-0.00555521767904,0.0599900715845,0.999999995303,-8.29228974684e-05,6.20138465356e-06,-4.9786363675e-05,1793245190732125952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.641044704,681,660,633,880.358955296,785.641044704,807,652,631,652,0.436008689592,-0.00555623904516,0.0599608357505,0.999999993829,-8.75269508899e-05,-4.53725020818e-05,-5.12012975868e-05,1793245190748792320
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+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.516124943,681,660,633,880.483875057,785,807,652,631,651.483875057,0.437605586531,-0.00555311026589,0.0599110648443,0.999999984309,-8.42694670276e-05,-0.000146410061217,-5.33396730822e-05,1793245190782125312
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.906172465,681.093827535,660,633,880,785.093827535,807.093827535,652,631,651.093827535,0.438389310587,-0.00555040028184,0.059899146483,0.999999979418,-8.21315913882e-05,-0.000177363446895,-5.44204603753e-05,1793245190798792192
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+250,4.166666667,HOLD_POSE2,764.910393211,745.910393211,714,683,654,626.089606789,880,782,808,652,629,652,0.453255373423,-0.00556874591293,0.059652922231,0.999999850437,-0.000103457114359,-0.000533872006165,-5.83375484051e-05,1793245191942551296
+251,4.183333333,HOLD_POSE2,764.514333606,745.514333606,714,682.514333606,654,626,880,782,808,652.485666394,629,652,0.453256157758,-0.00556865689256,0.0596536887168,0.999999850929,-0.000103513274396,-0.000532941127409,-5.83207107345e-05,1793245191959217664
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+253,4.216666667,HOLD_POSE2,764.653947091,745,714,682.653947091,654,626,880.653947091,781.346052909,808,652.346052909,629,652,0.453256243507,-0.00557124619366,0.059652798504,0.999999850394,-0.000106185592629,-0.000533445332978,-5.80802815931e-05,1793245191992550912
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,682.045737285,654,626.954262715,880,782,808,652,629,652,0.452538604908,-0.00554750477165,0.0595614313728,0.999999777436,-9.08794952743e-05,-0.000658327774379,-5.89398283313e-05,1793245192491906048
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.372287473,713.372287473,680,658,633.372287473,878.627712527,785,805.627712527,652,630,652,0.402537777865,-0.00536775833225,0.0598413543179,0.999999936595,0.000255371043437,-0.00024541634331,3.69590019158e-05,1793245193858572288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.204651884,713.204651884,679.795348116,658,633.204651884,879,785,805.795348116,652,630,652,0.402321593825,-0.00537760136905,0.0598434646641,0.999999939507,0.000242733678334,-0.00024615537054,3.83907492629e-05,1793245193875238912
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.357020939,745.357020939,714,679,658,634,879,785.357020939,805.357020939,652.357020939,630,651.642979061,0.401945545751,-0.00537990977725,0.059833492313,0.999999943553,0.000196094125575,-0.000271347112622,2.85013484108e-05,1793245193908572416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.932395751,745.932395751,714,679,658,634,879,785.932395751,805.932395751,652.932395751,630,651.067604249,0.401785202833,-0.00537786931067,0.0598320744398,0.999999951862,0.000136856157955,-0.000278197663331,1.23135782858e-05,1793245193925239040
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.380518382,713.380518382,680,658,634,878.380518382,785.619481618,805.619481618,653,630.380518382,652,0.400974544247,-0.00537531463108,0.0598365526244,0.999999929201,0.000260699703766,-0.000270684152752,1.90622140747e-05,1793245194225239040
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.712568026,745,713.287431974,679.287431974,658,634,879,785,805,652,630.712568026,652,0.400970512477,-0.00537745578966,0.059836585435,0.99999993006,0.000257224442778,-0.000270808952097,1.94299561464e-05,1793245194291905536
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.135508992,745,713.864491008,679.864491008,658,634,879,785,805.864491008,652,630.135508992,652.864491008,0.400972277405,-0.00537688002404,0.059838386114,0.999999931447,0.00025526698354,-0.000267546245061,1.90512545212e-05,1793245194325239040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,785,805.551293528,652.448706472,630,652.551293528,0.400973429049,-0.00537607084157,0.0598394714852,0.999999931299,0.000257294820663,-0.000266145975668,1.91554129779e-05,1793245194341905664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.964739767,785,805.035260233,653,629.964739767,652,0.400974217954,-0.00537542417027,0.0598403791369,0.999999930894,0.000259844953099,-0.000265175016837,1.93725159161e-05,1793245194358572032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.385922217,785,805.614077783,653,629.385922217,652,0.400974309216,-0.00537624692678,0.0598413935453,0.99999993156,0.00025890200484,-0.000263556746044,1.96731448959e-05,1793245194375238656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.192580054,745,714,680,658,634,878,785,806,652.807419946,629.385160108,651.807419946,0.400974206015,-0.00537621809683,0.0598418940273,0.999999931783,0.000258780947373,-0.000262825494711,1.97376205612e-05,1793245194391905792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.770451519,745,714,680,658,634,878,785,806,652.229548481,630.540903038,651.229548481,0.400973713757,-0.00537448551326,0.059841366306,0.999999931121,0.000260304231921,-0.000263868887177,1.93296285666e-05,1793245194408572672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.65369898,745,714,680,658,634,878.34630102,785.34630102,805.65369898,652.34630102,630.30739796,651.34630102,0.400974435044,-0.00537484668622,0.0598417821644,0.999999931602,0.000259083071877,-0.000263249201546,1.92936353105e-05,1793245194425239296
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.491749474,658,634,879,785.491749474,805,652.491749474,629.508250526,652,0.400973839547,-0.00537547170288,0.0598413780011,0.999999931571,0.000258678301207,-0.000263767172205,1.92481358189e-05,1793245194458572288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.903635597,679.096364403,658,634,879,785.096364403,805.096364403,652.096364403,630,652,0.400971813823,-0.00537434968702,0.0598401709658,0.999999930427,0.000261177573151,-0.000265650202167,1.90302209442e-05,1793245194475238912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.322480862,679.677519138,658,634,879,785.677519138,805.677519138,652.677519138,630,652,0.400973170211,-0.0053754947819,0.0598421392883,0.999999931924,0.000258496711293,-0.000262593327879,1.93701506424e-05,1793245194491905792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.255791092,745.255791092,713.255791092,680,658.255791092,634,878.744208908,785.744208908,806,652.744208908,630,652,0.40097429751,-0.00537555457105,0.0598430128928,0.999999932559,0.000257583581714,-0.000261063565491,1.94626077357e-05,1793245194508572416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.830469247,745.830469247,713.830469247,680,658.830469247,634,878.169530753,785.169530753,806,652.169530753,630,652,0.400975139209,-0.00537426134234,0.0598425217455,0.999999932132,0.000258874230452,-0.00026143760718,1.92465482202e-05,1793245194525239040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.597369237,714,680,658.597369237,634,878.402630763,785,806,652,630,652,0.400974681522,-0.00537617417159,0.059842393852,0.999999932587,0.000256975310263,-0.000261554874405,1.94504907851e-05,1793245194541905664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.026260822,714,680,658.026260822,634,878.973739178,785,806,652,630,652,0.400973680117,-0.00537942855046,0.0598424179593,0.999999933403,0.000253741740159,-0.000261564696365,1.98301799046e-05,1793245194558572288
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a88ff8e541f972dfbff7c0f5cb3aec9d63139dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+4,0.066666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+6,0.100000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+380,6.333333333,pose2_to_pose3_retreat,0.575697307475,-0.000122216234872,1.05005092018,0.546268942008,0.00855347414696,1.04971741421
+381,6.350000000,pose2_to_pose3_retreat,0.575688433435,-0.000122097788827,1.05005111748,0.546260067369,0.00855359040721,1.04971760745
+382,6.366666667,pose2_to_pose3_retreat,0.575682361283,-0.000122116491782,1.05005104225,0.546253995902,0.00855357429212,1.04971753911
+383,6.383333333,pose2_to_pose3_retreat,0.575678287599,-0.000122155371925,1.05005095317,0.546249922702,0.00855353723867,1.04971745487
+384,6.400000000,pose2_to_pose3_retreat,0.575675627396,-0.000122208473941,1.0500509164,0.546247261868,0.0085534817958,1.0497174129
+385,6.416666667,pose2_to_pose3_retreat,0.575673997929,-0.000122241000771,1.05005089388,0.546245632015,0.00855344783511,1.04971738719
+386,6.433333333,pose2_to_pose3_retreat,0.575673230206,-0.000122266315274,1.05005091537,0.546244864869,0.00855342447201,1.04971740855
+387,6.450000000,pose2_to_pose3_retreat,0.57567289192,-0.000122278630774,1.05005092857,0.546244526924,0.00855341332168,1.04971742185
+388,6.466666667,pose2_to_pose3_retreat,0.575672252739,-0.000122301900482,1.0500509535,0.54624388839,0.00855339225352,1.04971744698
+389,6.483333333,pose2_to_pose3_retreat,0.575671676929,-0.00012232286314,1.05005097597,0.546243313163,0.00855337327414,1.04971746962
+390,6.500000000,pose2_to_pose3_retreat,0.575671512447,-0.000122328851223,1.05005098239,0.546243148846,0.00855336785259,1.04971747609
+391,6.516666667,pose2_to_pose3_retreat,0.57567145142,-0.000122331072927,1.05005098477,0.546243087881,0.00855336584109,1.04971747848
+392,6.533333333,pose2_to_pose3_retreat,0.575671366605,-0.000122334160677,1.05005098808,0.546243003152,0.00855336304547,1.04971748182
+393,6.550000000,pose2_to_pose3_retreat,0.575670926814,-0.000122325488541,1.05005099879,0.546242563202,0.00855337118057,1.04971749256
+394,6.566666667,pose2_to_pose3_retreat,0.575670494364,-0.000122293683458,1.05005100324,0.546242130028,0.00855340052257,1.04971749694
+395,6.583333333,pose2_to_pose3_retreat,0.57567034323,-0.000122282568153,1.0500510048,0.546241978641,0.00855341077707,1.04971749847
+396,6.600000000,pose2_to_pose3_retreat,0.575670237379,-0.000122274783194,1.05005100589,0.546241872613,0.00855341795914,1.04971749954
+397,6.616666667,pose2_to_pose3_retreat,0.575670054494,-0.000122261332668,1.05005100777,0.546241689421,0.00855343036801,1.0497175014
+398,6.633333333,pose2_to_pose3_retreat,0.575670005075,-0.000122257698103,1.05005100828,0.546241639919,0.0085534337211,1.0497175019
+399,6.650000000,pose2_to_pose3_retreat,0.575669833504,-0.00012232518068,1.05005092858,0.546241468696,0.00855336718809,1.04971741626
+400,6.666666667,pose2_to_pose3_retreat,0.575669795512,-0.000122341577761,1.05005090946,0.546241430792,0.00855335103625,1.04971739571
+401,6.683333333,pose2_to_pose3_retreat,0.575669785899,-0.000122345726731,1.05005090462,0.546241421201,0.00855334694934,1.04971739052
+402,6.700000000,pose2_to_pose3_retreat,0.575669728803,-0.000122370368871,1.05005087587,0.546241364238,0.00855332267576,1.04971735963
+403,6.716666667,pose2_to_pose3_retreat,0.575669669951,-0.000122395768621,1.05005084624,0.546241305523,0.0085532976559,1.0497173278
+404,6.733333333,pose2_to_pose3_retreat,0.575669551173,-0.000122359704586,1.05005080034,0.546241186555,0.00855333324287,1.0497172863
+405,6.750000000,pose2_to_pose3_retreat,0.575669519904,-0.000122340490169,1.0500507898,0.546241155183,0.00855335219326,1.0497172779
+406,6.766666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516202,1.04971727659
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00e8cedb404a4686c53d375531abae12347f6bf4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627e072eae07f1d9053cc2176c0cafa845b77aabb5254c4d423d7a0acc3952df
+size 25686485
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..593cca2785475d9bf231e6f9d57cd89bdfbc58e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+43,0.716666667,BASELINE,764,745,714,679.948734439,658,634,878.051265561,785,805.948734439,652.051265561,630,652,0.400974623539,-0.00537577613609,0.0598443960838,0.999999932998,0.000258954673665,-0.00025798994198,1.96752031244e-05,1793245195390039296
+44,0.733333333,BASELINE,764.527432495,745,714,680,658,634,878.527432495,785,805.472567505,652,630,652,0.400973261263,-0.00537506638297,0.0598434427496,0.999999933189,0.000257004674723,-0.000259249917562,1.89667635133e-05,1793245195406705920
+45,0.750000000,BASELINE,765,745.105124948,714,680,658,634,878.894875052,785.105124948,805.105124948,652,630,652,0.400972219546,-0.00537462053651,0.0598428893569,0.999999933376,0.000255493519312,-0.000260063298752,1.8389895479e-05,1793245195423372544
+46,0.766666667,BASELINE,765,745.68277195,714,680,658,634,878.31722805,785.68277195,805.68277195,652,630,652,0.400972762883,-0.00537522336438,0.0598441990911,0.999999933133,0.000257625962035,-0.000258862148045,1.88160572962e-05,1793245195440039168
+47,0.783333333,BASELINE,764.740817515,745.740817515,714,679.740817515,658,634,878.259182485,785.740817515,805.740817515,652,630,652,0.40097304417,-0.00537568787216,0.0598450487601,0.999999933272,0.000257844959504,-0.000258092292203,1.89980508876e-05,1793245195456706048
+48,0.800000000,BASELINE,764.165913099,745.165913099,714,679.165913099,658,634,878.834086901,785.165913099,805.165913099,652,630,652,0.400973006242,-0.00537598388604,0.0598453380029,0.999999933879,0.000255733102882,-0.000257847816018,1.88826121552e-05,1793245195473372928
+49,0.816666667,BASELINE,764,745,714,679,658.420009628,634,878.579990372,785,805.420009628,652.420009628,630,652,0.400972653658,-0.00537673931052,0.0598448411623,0.999999933822,0.000255137773603,-0.000258641880144,1.90969499304e-05,1793245195490039552
+50,0.833333333,BASELINE,764,745,714,679.010206481,659,634,878.010206481,785,806,652.989793519,630,652,0.400972198174,-0.0053776571238,0.0598440470247,0.999999933512,0.000255134218118,-0.000259814978967,1.94357393998e-05,1793245195506705920
+51,0.850000000,BASELINE,764,745,714,679.589498761,659,634,878.589498761,785,806,652.410501239,630,652,0.400973122344,-0.00537723801461,0.0598444566206,0.999999934156,0.000253824440702,-0.000258631564721,1.92544928853e-05,1793245195523372544
+52,0.866666667,BASELINE,764,745,714,679.832336355,658.832336355,634,879,785,806,652,630,652,0.400974027935,-0.0053770629006,0.0598448307439,0.999999934652,0.0002529276079,-0.000257596249036,1.91916255921e-05,1793245195540039424
+53,0.883333333,BASELINE,764,745,714,679.256913345,658.256913345,634,879,785,806,652,630,652,0.400974888344,-0.00537748118492,0.0598451185974,0.999999934794,0.000253035059881,-0.000256921110343,1.94166575519e-05,1793245195556706048
+54,0.900000000,BASELINE,764.317550334,745,714,679.317550334,658,634,879,785,806,652,630,652,0.400974403294,-0.00537733053438,0.0598449671799,0.999999934401,0.000254044135416,-0.000257454304399,1.94049294375e-05,1793245195573372672
+55,0.916666667,BASELINE,764.89124018,745,714,679.89124018,658,634,879,785,806,652,630,652,0.400972832984,-0.00537672097487,0.0598444614416,0.999999933573,0.000255780470192,-0.000258962152663,1.92022280928e-05,1793245195590039296
+56,0.933333333,BASELINE,764.517489848,745,713.517489848,680,658,634,878.517489848,785,805.517489848,652,630,652,0.400972744436,-0.00537673158161,0.0598446449633,0.999999934006,0.000254320301159,-0.000258757456801,1.87887550018e-05,1793245195606706176
+57,0.950000000,BASELINE,764.075173681,745,713.075173681,680,658,634,878.075173681,785,805.075173681,652,629.924826319,652,0.400973002291,-0.00537675082876,0.059844963259,0.999999934596,0.000252609467953,-0.000258180559439,1.84212543929e-05,1793245195623372544
+58,0.966666667,BASELINE,764.649773457,745,713.649773457,680,658,634,878.649773457,785,805.649773457,652,629.350226543,652,0.400973258671,-0.00537586366275,0.0598451057466,0.999999934288,0.000254201086472,-0.000257792403283,1.86867440692e-05,1793245195640039168
+59,0.983333333,BASELINE,765,745,714,680,658,634,878.77564996,785,805.77564996,652,629.22435004,652,0.400973719286,-0.00537565316377,0.0598451470027,0.999999934185,0.00025493505173,-0.000257454615434,1.88594843232e-05,1793245195656705792
+60,1.000000000,BASELINE,765,745,714,680,658,634,878.201109488,785,805.201109488,652,629.798890512,652,0.400974498693,-0.00537649888164,0.0598450302452,0.999999934405,0.000254330296882,-0.000257195447968,1.8887451031e-05,1793245195673372672
+61,1.016666667,BASELINE,764.615655635,745,714,679.615655635,658,634,878,785.384344365,805,652,630,652,0.400974911397,-0.0053763584036,0.0598451364779,0.999999934296,0.000254858430476,-0.000257107010989,1.87568343391e-05,1793245195690039296
+62,1.033333333,BASELINE,764.024324468,745,714,679.024324468,658,634,878,785.975675532,805,652,630,652,0.400975126615,-0.00537568681446,0.059845362801,0.999999934008,0.00025599667571,-0.000257110520106,1.85408133209e-05,1793245195706705920
+63,1.050000000,BASELINE,764,745,714,679.553845432,658,634,878.553845432,786,805.553845432,652,630,652,0.400973654463,-0.00537806934911,0.0598446789667,0.999999934678,0.000252151385679,-0.000258274765615,1.89265079997e-05,1793245195723372544
+64,1.066666667,BASELINE,764,745,714,680,658,634,878.868771691,785.868771691,805.868771691,652,630,652,0.400972839967,-0.00537950242109,0.0598442999219,0.999999935175,0.000249533822064,-0.000258872631999,1.91782197474e-05,1793245195740039168
+65,1.083333333,BASELINE,764,745,714,680,658,634,878.292143711,785.292143711,805.292143711,652,630,652,0.400974503303,-0.00537726824159,0.0598450878816,0.999999934996,0.000251808892768,-0.000257379151512,1.88875693291e-05,1793245195756705792
+66,1.100000000,BASELINE,764.289750159,745,714,680,658,634,878.289750159,785,805.289750159,652.289750159,630,652,0.400974675945,-0.00537587984067,0.0598451743181,0.999999934563,0.000253767221277,-0.000257149875553,1.871725242e-05,1793245195773372672
+67,1.116666667,BASELINE,764.877051663,745,714,680,658,634,878.877051663,785,805.877051663,652.877051663,630,652,0.400973317757,-0.00537535999007,0.0598445403437,0.999999933873,0.000255400279537,-0.000258218841444,1.86705088774e-05,1793245195790039296
+68,1.133333333,BASELINE,764.567396174,745,714,680,658,634,878.567396174,785.432603826,806,653,630,652,0.400973173282,-0.00537624700542,0.0598443887939,0.999999933901,0.000254986983022,-0.000258502058755,1.88564412275e-05,1793245195806705920
+69,1.150000000,BASELINE,764.020250348,745,714,680,658,634,878.020250348,785.979749652,806,653,630,652,0.400973350167,-0.00537750652146,0.0598443649773,0.99999993412,0.000254031866253,-0.000258577230799,1.91039799688e-05,1793245195823372544
+70,1.166666667,BASELINE,764,745,714,679.412263651,658,634,878.587736349,786,805.412263651,653,630,652,0.400973895164,-0.00537869623762,0.0598441145254,0.999999934668,0.000252021417458,-0.000258419653859,1.92087138221e-05,1793245195840039168
+71,1.183333333,BASELINE,764,745,714,679.185978408,658,633.814021592,879,785.814021592,805.185978408,652.814021592,630,652,0.400974225884,-0.00537897683709,0.0598440378751,0.999999934868,0.000251415714738,-0.000258237553176,1.91884581551e-05,1793245195856706048
+72,1.200000000,BASELINE,764,745,714,679.759069965,658,633.240930035,879,785.240930035,805.759069965,652.240930035,630,652,0.40097408114,-0.00537737069871,0.0598443411228,0.999999934321,0.000253818409039,-0.000258023026049,1.89194616473e-05,1793245195873372672
+73,1.216666667,BASELINE,764.343670781,745,714,679.656329219,658,633.343670781,878.656329219,785,806,652,630,652,0.400973923324,-0.00537702513354,0.0598445976583,0.999999934312,0.000254022819145,-0.000257858137423,1.8897978376e-05,1793245195890039552
+74,1.233333333,BASELINE,764.936619689,745,714,679.063380311,658,633.936619689,878.063380311,785,806,652,630,652,0.400973756026,-0.0053775939125,0.0598448203115,0.999999934695,0.000252632725894,-0.000257729253596,1.90560263441e-05,1793245195906706432
+75,1.250000000,BASELINE,764.484795423,745,714,679.515204577,658,634,878.515204577,785,806,652,630,652,0.400973307897,-0.00537614176878,0.0598444973859,0.999999934139,0.000254207256581,-0.000258361435854,1.87093895714e-05,1793245195923373056
+76,1.266666667,BASELINE,764,745,714,679.907784,658,634,879,785,805.907784,652,630,652,0.400973083272,-0.00537493517066,0.0598443454206,0.99999993364,0.000255822046258,-0.000258720829458,1.84206537405e-05,1793245195940039424
+77,1.283333333,BASELINE,764,745,714,679.330005607,658,634,879,785,805.330005607,652,630,652,0.400974212489,-0.00537629505388,0.0598454374627,0.999999934046,0.000255780545422,-0.000257164241653,1.87548415618e-05,1793245195956706048
+78,1.300000000,BASELINE,764.245079775,745.245079775,714,679,658,634,879,785.245079775,805.245079775,652.245079775,630,652,0.400974679568,-0.00537670970615,0.0598459954604,0.999999934113,0.000256178696884,-0.000256495036001,1.88988856941e-05,1793245195973372672
+79,1.316666667,BASELINE,764.816578322,745.816578322,714,679,658,634,879,785.816578322,805.816578322,652.816578322,630,652,0.400974264753,-0.00537586541672,0.0598458421709,0.999999933731,0.000257162415901,-0.00025700772398,1.8789679732e-05,1793245195990039296
+80,1.333333333,BASELINE,765,745.596147013,714,679.403852987,658,634,879,785.596147013,806,652.596147013,630,652,0.400974276912,-0.00537649897789,0.0598459573571,0.999999933925,0.000256853571189,-0.00025654377981,1.90168839081e-05,1793245196006705920
+81,1.350000000,BASELINE,765,745.001415829,714,679.998584171,658,634,879,785.001415829,806,652.001415829,630,652,0.400974490877,-0.00537783103439,0.0598461994365,0.99999993439,0.000255933805657,-0.000255618237557,1.94030898957e-05,1793245196023372544
+82,1.366666667,BASELINE,764.424947612,745,714,680,658,634,878.424947612,785,805.424947612,652,630,652,0.400976103579,-0.00537755579068,0.0598469201073,0.999999935377,0.000253217863994,-0.00025448494786,1.90585965517e-05,1793245196040039424
+83,1.383333333,BASELINE,764,745,714,679.848987987,658,634,878,785,805,652,630,652,0.400976970426,-0.00537733506734,0.0598472213485,0.999999935994,0.000251497456296,-0.000253786300038,1.88043840287e-05,1793245196056706304
+84,1.400000000,BASELINE,764,745,714,679.274332758,658,634,878,785,805,652,630,652,0.400975735519,-0.00537727805324,0.0598463427344,0.999999935588,0.000252581904564,-0.000254308370093,1.8808333344e-05,1793245196073372928
+85,1.416666667,BASELINE,764,745,714,679,658,634,878.288947985,785,805.288947985,652,630,652,0.400975729803,-0.00537711381234,0.0598465670026,0.999999935406,0.000253480096571,-0.000254125220696,1.88967467956e-05,1793245196090039296
+86,1.433333333,BASELINE,764,745,714,679,658,634,878.841838549,785,805.841838549,652,630,652,0.400976846906,-0.005376851624,0.0598477987105,0.999999935428,0.000254208150769,-0.000253297881137,1.90623149014e-05,1793245196106706176
+87,1.450000000,BASELINE,764,745,713.557140606,679,658,634,879,785,805.557140606,652,630,652,0.400976509678,-0.00537687729741,0.0598475485635,0.999999935486,0.000253146114404,-0.000254133065301,1.90081043841e-05,1793245196123372800
+88,1.466666667,BASELINE,764,745,713.058589248,679,658,634,878.941410752,785.058589248,805.058589248,652,630.058589248,652,0.400975769437,-0.00537709491209,0.0598467598487,0.999999935525,0.000251690507562,-0.000255427556463,1.89229610595e-05,1793245196140039680
+89,1.483333333,BASELINE,764,745,713.633957193,679,658,634,878.366042807,785.633957193,805.633957193,652,630.633957193,652,0.400976614342,-0.00537798816522,0.0598464579025,0.999999935299,0.000253089959125,-0.000254897653094,1.93417152964e-05,1793245196156706304
+90,1.500000000,BASELINE,764.209267985,745,714,679.209267985,658,634,878.418535969,785.790732015,805.790732015,652,630.790732015,652,0.400976043323,-0.00537820245188,0.0598457626402,0.999999934909,0.000254070769186,-0.000255451506392,1.93636775532e-05,1793245196173373184
+91,1.516666667,BASELINE,764.784478772,745,714,679.784478772,658,634,879.568957545,785.215521228,805.215521228,652,630.215521228,652,0.400972996305,-0.00537722944315,0.0598443795941,0.99999993423,0.00025431950895,-0.000257900503685,1.86917774459e-05,1793245196190039552
+92,1.533333333,BASELINE,764.630667513,745,714,679.630667513,658,634,879.630667513,785.369332487,805,652,630,652,0.400972405611,-0.00537656753141,0.0598443403665,0.999999934035,0.000254707302428,-0.000258283317783,1.85181599438e-05,1793245196206705920
+93,1.550000000,BASELINE,764.040035826,745,714,679.040035826,658,634,879.040035826,785.959964174,805,652,630,652,0.400973286716,-0.00537609202484,0.0598451063373,0.999999934134,0.000255178415097,-0.000257428102152,1.8643106801e-05,1793245196223372544
+94,1.566666667,BASELINE,764,745,714,679.539808762,658,634,879,785.460191238,805.539808762,652,630,652,0.400975977649,-0.00537752572008,0.0598466948077,0.999999935237,0.000253408360742,-0.000254845920374,1.90558972133e-05,1793245196240039168
+95,1.583333333,BASELINE,764,745,713.881756442,679.881756442,658,634,878.881756442,785,806,652,630,652,0.400977748381,-0.0053787725111,0.0598477109843,0.999999936039,0.000251899565,-0.000253168215442,1.93711198833e-05,1793245196256705792
+96,1.600000000,BASELINE,764,745,713.30574275,679.30574275,658,634,878.30574275,785,806,652,630,652,0.400975447153,-0.00537875826889,0.0598462800356,0.99999993542,0.000252033109062,-0.000255478266132,1.92275879097e-05,1793245196273372416
+97,1.616666667,BASELINE,764,745,713.266958659,679,658,634,878.266958659,785,806,652.266958659,630,652,0.400974089969,-0.00537826530218,0.0598454611447,0.999999934958,0.000252195432398,-0.000257135584399,1.90304908878e-05,1793245196290039040
+98,1.633333333,BASELINE,764,745,713.835913029,679,658,634,878.835913029,785,806,652.835913029,630,652,0.400973800731,-0.00537723078068,0.0598453346412,0.999999934677,0.000252390312147,-0.000258054502084,1.87727986687e-05,1793245196306705920
+99,1.650000000,BASELINE,764.426829984,745,714,679.426829984,658,634,878.573170016,785,806,652.573170016,630,652,0.400974133394,-0.0053775659139,0.0598455874039,0.999999935119,0.000251505397319,-0.000257210752332,1.8688885296e-05,1793245196323372800
+100,1.666666667,BASELINE,764.974475928,745,713.974475928,680,658,634,878.025524072,785,805.974475928,652,630,652,0.400974669128,-0.00537836582519,0.0598459761319,0.999999935779,0.000250372821063,-0.000255745040706,1.86883075687e-05,1793245196340039168
+101,1.683333333,BASELINE,764.399957276,745,713.399957276,680,658,634,878.600042724,785,805.399957276,652,630,652,0.400974151471,-0.00537722297996,0.0598459831696,0.999999934897,0.000253326157255,-0.000256267224421,1.89653142281e-05,1793245196356706048
+102,1.700000000,BASELINE,764,745,713.174825681,680,658,634,879,785,805,652,630,652,0.400973696413,-0.00537655907174,0.0598458493969,0.999999934339,0.000254971928967,-0.000256801578737,1.9086884403e-05,1793245196373372928
+103,1.716666667,BASELINE,764,745,713.750214139,680,658,634,879,785,805,652,630,652,0.400973384782,-0.00537699251012,0.0598453929978,0.999999934542,0.000253621792248,-0.000257363818417,1.88523165296e-05,1793245196390039552
+104,1.733333333,BASELINE,764,745,714,680,658.334927682,634,878.665072318,785,805.334927682,652,630,652,0.400973760823,-0.00537771339698,0.0598453054991,0.999999935133,0.000251249681764,-0.000257412251357,1.86047312392e-05,1793245196406705920
+105,1.750000000,BASELINE,764,745,714,680,658.92679502,634,878.07320498,785,805.92679502,652,630,652,0.400974664411,-0.0053786547999,0.0598455010022,0.999999936015,0.000248093564312,-0.000257066517691,1.83471596167e-05,1793245196423372800
+106,1.766666667,BASELINE,764,745,714,679.495827506,658.495827506,634,878,785,806,652.504172494,630,652,0.400974779726,-0.00537823504645,0.0598454695127,0.999999935702,0.000249405285777,-0.000256984160626,1.87440236436e-05,1793245196440039424
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878,786,805,652,630,652,0.400975323438,-0.00537733078978,0.0598452414748,0.999999934394,0.000254609670012,-0.000256953088621,1.9002105903e-05,1793245196483272704
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679.571386516,658,634.571386516,878,785.428613484,805.571386516,652,630,652,0.400974617838,-0.00537802464981,0.0598453558929,0.999999934734,0.000253230090037,-0.00025697557946,1.9261736723e-05,1793245196499939072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.148841518,679.851158482,658,634.851158482,878.148841518,785,805.851158482,652,630,652,0.400974205671,-0.00537830104445,0.0598456214026,0.999999935045,0.000252401210933,-0.000256570631751,1.93595759906e-05,1793245196516605696
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.744514637,679.255485363,658,634.255485363,878.744514637,785,805.255485363,652,630,652,0.400974674409,-0.00537732418188,0.059846340499,0.999999935276,0.000253225570164,-0.000254882486644,1.89717069031e-05,1793245196533272320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.329121782,658,634,879,785.329121782,805,652,630,651.670878218,0.400974899908,-0.00537716453419,0.0598465251776,0.999999935479,0.000252944675166,-0.000254368391509,1.89285033005e-05,1793245196549939200
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.905418204,658,634,879,785.905418204,805,652,630,651.094581796,0.400974942731,-0.0053776186253,0.0598463085016,0.999999935661,0.00025183372015,-0.000254736022924,1.914414788e-05,1793245196566605824
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.522252616,658,634,879,786,805,652,630,651.477747384,0.400974818358,-0.00537731073465,0.0598458627321,0.999999935418,0.000251744143196,-0.00025578709892,1.9016801201e-05,1793245196583272704
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.051292315,745,714,679,658,634,878.948707685,785.948707685,805,652.051292315,630,652,0.400974699709,-0.00537685898168,0.0598454508033,0.999999935067,0.000252046737475,-0.000256872194549,1.88325594164e-05,1793245196599939072
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.645968842,745,714,679,658,634,878.354031158,785.354031158,805,652.645968842,630,652,0.400974989468,-0.00537646812492,0.0598458739021,0.999999934472,0.00025437943263,-0.00025689609539,1.87590149329e-05,1793245196616605696
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.766743273,745,714,679.233256727,658,634,878,785.233256727,805.233256727,652.766743273,630,652,0.400979553812,-0.00537710871295,0.0598480304968,0.999999935092,0.000254968527892,-0.000253871830945,1.8895911607e-05,1793245196633272576
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.190325414,745,714,679.809674586,658,634,878,785.809674586,805.809674586,652.190325414,630,652,0.400990406811,-0.00537926673533,0.059852737365,0.999999937463,0.000252992484872,-0.000246363186305,1.93424037546e-05,1793245196649939200
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386757921,745,714,680,658.386757921,634,878,785.613242079,805.613242079,652.386757921,630,652,0.401019729251,-0.00537935420808,0.0598645537889,0.999999942184,0.000253121906968,-0.000226194159108,1.99464544033e-05,1793245196666605824
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.964169358,745,714,680,658.964169358,634,878,785.035830642,805.035830642,652.964169358,630,652,0.401058156259,-0.00537842099719,0.0598798748908,0.999999947499,0.000254289224294,-0.000199784156316,2.06281740317e-05,1793245196683272192
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.46505881,745,714,679.46505881,658.46505881,634,878,785,805,652.46505881,630,652,0.401117854149,-0.00538036346398,0.0598962446679,0.999999952697,0.000253004166443,-0.000173598722086,2.14327643264e-05,1793245196699938816
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.889917068,745,714,679.110082932,658,634,878.110082932,785,805.110082932,652,630,652,0.40118190231,-0.00538277758546,0.0599119631878,0.999999957158,0.000251144088669,-0.000148717416755,2.22119098494e-05,1793245196716605696
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.293530021,745,714,679.706469979,658,634,878.706469979,785,805.706469979,652,630,652,0.401258951543,-0.00538643483215,0.0599244982158,0.999999960732,0.000247460541374,-0.00012953161003,2.28427394564e-05,1793245196733272576
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.293444629,745,714,680,658,634,879,785,805.706555371,652,630,651.706555371,0.401343898367,-0.00538947146614,0.0599330059712,0.999999962934,0.000245325764641,-0.000115866875383,2.2866755437e-05,1793245196749939200
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.871296721,745,714,680,658,634,879,785,805.128703279,652,630,651.128703279,0.401436499556,-0.00539190660013,0.0599376104806,0.99999996403,0.000244692061503,-0.000107553182411,2.2302645702e-05,1793245196766605824
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,805.446775714,652.446775714,630,651.446775714,0.401551625982,-0.00539401395636,0.0599418842984,0.999999965084,0.000244049862054,-9.90348094559e-05,2.15263587884e-05,1793245196783272448
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.978464765,658,634,879,785,805.978464765,652.978464765,630,652,0.401673880993,-0.00539611084511,0.0599459775418,0.999999966091,0.000243272314083,-9.06024716375e-05,2.06729631482e-05,1793245196799939328
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.404716951,658,634,879,785,805.404716951,652.404716951,630,652,0.401813418819,-0.00540034776308,0.0599478702959,0.999999967543,0.000239086550116,-8.58802111212e-05,1.94013543132e-05,1793245196816605952
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.825113677,679,658,634,879,785,805,652.174886323,630,651.825113677,0.401959358188,-0.00540448286238,0.0599482647721,0.999999968771,0.000235245211321,-8.24334072967e-05,1.79682386633e-05,1793245196833272320
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.231490543,679,658,634,879,785,805,652.768509457,630,651.231490543,0.402120624988,-0.00540837417285,0.0599450718655,0.999999969539,0.000232228543113,-8.20404774409e-05,1.61484214378e-05,1793245196849939200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.352591374,679.352591374,658,634,878.647408626,785,805,652.647408626,630,651.352591374,0.402313429394,-0.00541128595078,0.0599464987471,0.999999970703,0.000229860395868,-7.45804153436e-05,1.40320514645e-05,1793245196866605824
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.930574196,679.930574196,658,634,878.069425804,785,805,652.069425804,630,651.930574196,0.402526393998,-0.00541357157011,0.0599508787942,0.999999972001,0.000227906810565,-6.26027407715e-05,1.17261121423e-05,1793245196883272192
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,805,652,630,652,0.402771327274,-0.00542200409798,0.0599516881255,0.999999974443,0.000218499173688,-5.73160472449e-05,9.34867749219e-06,1793245196899939072
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.081339323,745,714,680,658,634,878,785,805.081339323,652,630,652,0.403024075888,-0.00543088018423,0.0599519762372,0.999999976816,0.00020855712553,-5.31403842017e-05,6.98615252471e-06,1793245196916605440
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.673742232,745,714,680,658,634,878,785,805.673742232,652,630,652,0.403298508393,-0.00543727074972,0.059952052217,0.999999978397,0.000201650948252,-5.02063196384e-05,4.77863003738e-06,1793245196933272320
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.741311904,745,713.741311904,680,658,633.741311904,878,785,805.741311904,652,630,652,0.403585977331,-0.00544428747887,0.0599487743241,0.999999979849,0.000193236178009,-5.43899139031e-05,1.89069505956e-06,1793245196949938944
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.165507399,745,713.165507399,680,658,633.165507399,878,785,805.165507399,652,630,652,0.403889427146,-0.0054520717991,0.0599413850397,0.999999980994,0.000182972078429,-6.72987896558e-05,-1.83133292497e-06,1793245196966605568
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,679.179513663,658.410243168,633.410243168,878.410243168,785.410243168,805,652,630,651.589756832,0.404217828012,-0.00545979659915,0.0599296120174,0.999999981158,0.000173173753518,-8.75201743527e-05,-5.89774149333e-06,1793245196983272448
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,678.02805607,658.985971965,633.985971965,878.985971965,785.985971965,805,652,630,651.014028035,0.404556293731,-0.00546749738952,0.0599160706644,0.999999980446,0.000163563314932,-0.000110691309547,-1.01030676683e-05,1793245196999939072
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,678.576300908,658.423699092,633.423699092,878.423699092,785.423699092,805,652,630,651.576300908,0.404939946517,-0.0054733614898,0.0599033306449,0.999999978898,0.000156828569847,-0.000131866588279,-1.4856146803e-05,1793245197016605440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.16341475,679,658,633.16341475,878,785,805,652,629.83658525,652,0.405346722665,-0.00547988305773,0.0598978386629,0.999999978645,0.000149475442295,-0.000141419381601,-1.91728376906e-05,1793245197033272320
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.741446002,679,658,633.741446002,878,785,805,652,629.258553998,652,0.405809304168,-0.00548818913537,0.0599106856542,0.999999982504,0.000140371136278,-0.000121610025861,-2.23476137987e-05,1793245197049939456
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.317604396,658,634,878.317604396,785,805,652,629.317604396,652,0.406307274042,-0.00549709055438,0.0599342585346,0.999999994085,6.70184124015e-05,-8.20229157703e-05,-2.47096410526e-05,1793245197066606592
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.892247143,658,634,878.892247143,785,805,652,629.892247143,652,0.406833883898,-0.00550647378613,0.059966511916,0.999999997601,-5.83307834176e-05,-2.64295963224e-05,-2.64139078063e-05,1793245197083273216
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.533512318,658.466487682,634,879,785,805,652,630,652,0.407378642712,-0.00550326638239,0.0599875982205,0.999999996562,-7.80315216079e-05,3.71736608169e-06,-2.7792064341e-05,1793245197099939584
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.041998497,745,714,679.083996995,658.958001503,634,879,785,805,652,630,652,0.407927444274,-0.00549604300566,0.0600038538431,0.999999996777,-7.08405430683e-05,2.36495499928e-05,-2.94833300249e-05,1793245197116606208
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.635406323,745,714,680.270812646,658.364593677,634,879,785,805,652,630,652,0.408474331737,-0.00547424354136,0.0599905233709,0.999999998781,-3.07048379907e-05,-1.34261602424e-05,-3.62736298742e-05,1793245197133272832
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.777089391,745,714,680.777089391,658.222910609,633.777089391,879.222910609,785,805,652,630,652,0.409041838516,-0.00546647238953,0.0599779158786,0.999999998042,-1.10455963382e-05,-4.49908569364e-05,-4.20709553229e-05,1793245197149939456
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.19899187,745,714,680.19899187,658.80100813,633.19899187,879.80100813,785,805,652,630,652,0.409642200185,-0.00548105402431,0.059966460387,0.999999996344,-2.4013659409e-05,-6.77742741098e-05,-4.62860699673e-05,1793245197166606080
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.624369659,680,659,633.375630341,879.624369659,785,805.375630341,652,630,652,0.410293268795,-0.00549502670041,0.0599717680394,0.999999996472,-4.30289741213e-05,-5.17303732375e-05,-5.02937261386e-05,1793245197183272448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.05157165,680,659,633.94842835,879.05157165,785,805.94842835,652,630,652,0.410970953364,-0.00550867973477,0.0599858746353,0.999999996288,-6.52184795079e-05,-1.53060845655e-05,-5.41924875464e-05,1793245197199939072
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.521905106,680,659,634,879,785,806,652,630,652,0.411662903264,-0.00551094953962,0.0599858893114,0.999999994512,-8.56962858213e-05,-1.52868784665e-05,-5.82983356919e-05,1793245197216605952
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.099194914,745,714,680,659,634,879,785,806,652,630,651.900805086,0.41235451959,-0.00551081394276,0.059979093323,0.999999994161,-8.70551945463e-05,-2.93459581796e-05,-5.6897659739e-05,1793245197233272832
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.695247357,745,714,680,659,634,879,785,806,652,630,651.304752643,0.413037395014,-0.00550427140036,0.0599451672774,0.999999994996,6.50226406739e-06,-9.58795942988e-05,-2.78127154144e-05,1793245197249939456
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.716672194,679.716672194,659,633.716672194,879,785,805.716672194,652,630,651.283327806,0.413754096204,-0.00550187211987,0.0599215117777,0.999999988669,5.15006723042e-05,-0.000140524772722,-1.62065138692e-05,1793245197266605824
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.13693183,679.13693183,659,633.13693183,879,785,805.13693183,652,630,651.86306817,0.414506185399,-0.00550380744617,0.0599086011378,0.999999985528,4.56974695394e-05,-0.000162270641757,-2.28862616562e-05,1793245197283272192
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.439449148,713,679.878898295,659,633,879,785.439449148,805.439449148,652,630,652,0.415345505514,-0.00551560723426,0.0599461733033,0.99999999501,2.99700808388e-05,-9.17361383314e-05,-2.57951554851e-05,1793245197299939072
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+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.840820622,879,785,805.840820622,652,630,651,0.417864359044,-0.00553823311114,0.0600189696883,0.999999997649,-5.31551962953e-05,3.12327346205e-05,-3.00061946659e-05,1793245197349939456
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.241839022,879,785,805.241839022,652,630,651,0.418720758158,-0.00553672508702,0.0599995518325,0.999999998678,-3.95540553701e-05,6.53584776353e-06,-3.22088353177e-05,1793245197366606080
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.345137511,745,714,680,659,633,879.690275022,785.345137511,805.345137511,652,630,651.345137511,0.419567475427,-0.00553414100978,0.0599736397646,0.999999998453,-2.69965386857e-05,-3.37402981793e-05,-3.50211991396e-05,1793245197383272704
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.923984792,745,714,680,659,633,880.847969585,785.923984792,805.923984792,652,630,651.923984792,0.420407636605,-0.00553082828353,0.0599433301436,0.999999995578,-1.51457123723e-05,-8.45659340552e-05,-3.82464366853e-05,1793245197399939328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880.003383739,785.501691869,806,652,630.498308131,651.501691869,0.421222593458,-0.00553084496744,0.0599088602372,0.999999987762,-3.05313174914e-05,-0.000148215469142,-3.96969433859e-05,1793245197416605696
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.926507502,680.073492498,659,633.073492498,879,785,806,652,630.926507502,651,0.422049638098,-0.0055318942944,0.0598799597415,0.99999997775,-4.68205940983e-05,-0.000201590981972,-4.08567568414e-05,1793245197433272320
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.340550576,680.659449424,659,633.659449424,879,785,806,652,630.340550576,651,0.422987539569,-0.00553663459461,0.0598942803814,0.999999983878,-4.07001709036e-05,-0.000169807352873,-4.1860376364e-05,1793245197449938944
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.75735701,745,713.24264299,680.75735701,659.24264299,633.75735701,879.24264299,785,806.24264299,652,630.24264299,651.24264299,0.423946974254,-0.00554145741606,0.0599310822621,0.999999992508,-4.21668787261e-05,-0.000107156599029,-4.15088817213e-05,1793245197466605568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.177998076,745,713.822001924,680.177998076,659.822001924,633.177998076,879.822001924,785,806.822001924,652,630.822001924,651.822001924,0.424936290739,-0.00554639475299,0.0599990813873,0.99999999776,-5.41622554316e-05,-1.67149689602e-06,-3.9276893522e-05,1793245197483272192
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.399612395,745,714,680,660,633.399612395,880,785,806.600387605,652,630.600387605,652,0.425891141888,-0.00554740919799,0.0600275723739,0.999999996529,-5.67786195943e-05,4.71846247154e-05,-3.86361573915e-05,1793245197499939328
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.97644741,745,714,680,660,633.97644741,880,785,806.02355259,652,630.02355259,652,0.426830708074,-0.00554668389388,0.0600385420385,0.99999999521,-5.52355196645e-05,7.09265632572e-05,-3.87011199891e-05,1793245197516606208
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.448633097,745,713.448633097,680,660,633.448633097,880,785.551366903,806.551366903,652,630,652,0.427734809792,-0.00555110382958,0.060016827832,0.999999996039,-6.50837948545e-05,4.46484239454e-05,-4.11450984913e-05,1793245197533272576
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.130213978,745,713,680,659.869786022,633,879.869786022,785.869786022,806.869786022,652,630,652,0.42862955834,-0.00555371026061,0.0599904612964,0.99999999656,-7.0079227332e-05,8.73618118411e-06,-4.34954136289e-05,1793245197549938944
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.723312658,745,713,680,659.276687342,633,879.276687342,785.276687342,806.276687342,652,630,652,0.4294964248,-0.00554909144742,0.0599525025056,0.999999995957,-5.60999867719e-05,-5.38541505241e-05,-4.51527725368e-05,1793245197566605568
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.692145015,745,713,680.307854985,659.307854985,633,879,785.307854985,806.307854985,652,630.307854985,652,0.430380782396,-0.00554545805146,0.0599289895598,0.999999993007,-5.70550263646e-05,-9.24296029111e-05,-4.67742450246e-05,1793245197583272192
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.115084859,745,713,680.884915141,659.884915141,633,879,785.884915141,806.884915141,652,630.884915141,652,0.431280435149,-0.00554268635825,0.0599181088499,0.999999990254,-7.10694149576e-05,-0.000110005133408,-4.83643364868e-05,1793245197599939072
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.460679389,745,713.460679389,680.539320611,660,633.460679389,879.460679389,786,807,652,631,652,0.432243770171,-0.00554582314536,0.0599588548266,0.999999995548,-7.16404187354e-05,-3.82076836366e-05,-4.80889362376e-05,1793245197616605440
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.963054226,880,785.963054226,807,652,630.963054226,652,0.433215788144,-0.00555036990601,0.0600089693906,0.999999995285,-6.89339967286e-05,4.93349937942e-05,-4.73671344807e-05,1793245197633272064
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.374470915,880,785.374470915,807,652,630.374470915,652,0.434080581845,-0.00555399219309,0.0600069391251,0.999999995853,-6.72954456399e-05,3.95438383784e-05,-4.69188748291e-05,1793245197649938944
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.208849435,660,633,880,785.208849435,807,652,630.208849435,652,0.4349453839,-0.00555682120455,0.0599936691241,0.99999999614,-7.27685494407e-05,1.29665985749e-05,-4.75060851831e-05,1793245197666605568
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.782965247,660,633,880,785.782965247,807,652,630.782965247,652,0.435810200708,-0.0055582628204,0.0599607414325,0.99999999372,-9.0679552996e-05,-4.29685975881e-05,-4.99042764551e-05,1793245197683272192
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.639802911,745,713.639802911,681,660,633,880,786,807,652,631,652,0.436645944213,-0.00555643403979,0.0599379152223,0.999999991264,-9.03494347895e-05,-8.16430496757e-05,-5.14046491276e-05,1793245197699938816
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.060677172,745,713.060677172,681,660,633,880,786,807,652,631,652,0.437464016842,-0.00555261750435,0.0599212287187,0.999999989483,-7.89323183175e-05,-0.000109826377071,-5.23593254075e-05,1793245197716605440
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.511305465,681,660,633.511305465,879.488694535,786,807.511305465,652,631,652,0.438244792863,-0.00555275488326,0.0599022243145,0.999999983507,-7.8298676499e-05,-0.000155032452121,-5.31056769396e-05,1793245197733272320
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.086119953,745,714,681,660,633.913880047,879.086119953,786,807.913880047,651.913880047,631,652,0.439033155038,-0.0055534286686,0.0598919778788,0.999999978447,-7.89988302459e-05,-0.000184336673198,-5.37171336743e-05,1793245197749938944
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.68267383,745,714,681,660,633.31732617,879.68267383,786,807.31732617,651.31732617,631,652,0.439892352098,-0.00555453901338,0.0599352478872,0.999999989563,-8.01241901241e-05,-0.000107582190973,-5.36735772914e-05,1793245197766605568
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.729523881,633,880,786,807.270476119,651.270476119,631,652,0.440713783542,-0.0055553585467,0.0599625749335,0.999999993084,-8.28486590297e-05,-6.45826731909e-05,-5.28885891497e-05,1793245197783271936
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.151667307,633,880,786,807.848332693,651.848332693,631,652,0.44149229649,-0.00555584758957,0.0599717837232,0.999999993071,-8.73904231231e-05,-5.99437245368e-05,-5.12610070037e-05,1793245197799938816
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.576259679,745,713.576259679,681.423740321,659,632.576259679,880,785.576259679,807.576259679,652,631,652,0.442173351466,-0.00555360336788,0.0599248514447,0.999999985975,-8.82813907401e-05,-0.000132289885841,-5.24995820334e-05,1793245197816605440
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001723505,745,713.001723505,681.998276495,659,632.001723505,880,785.001723505,807.001723505,652,631,652,0.442819724277,-0.00555038646334,0.0598579403267,0.99999996772,-8.78731543301e-05,-0.000232032624776,-5.47581316641e-05,1793245197833272064
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.58704617,745,713.58704617,682,658.41295383,632,879.41295383,785,807,652,631,652,0.443446085735,-0.005552484964,0.0598155351821,0.999999951082,-8.37762794617e-05,-0.000295735345565,-5.79569292519e-05,1793245197849938688
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,681.328991043,657.671008957,632,880,784.671008957,807.671008957,652,630,652,0.445338323848,-0.00555339731109,0.0597711988776,0.999999925225,-8.64612356188e-05,-0.000371532940578,-6.35430564406e-05,1793245197899939072
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,681.899598673,657.100401327,632,880,784.100401327,807.100401327,652,630,652,0.445916824685,-0.00554674712495,0.0597521403803,0.999999907289,-9.18585127819e-05,-0.000415513966289,-6.58136982029e-05,1793245197916605696
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764.946110252,745.946110252,714,682,657,630.946110252,880,784.946110252,807.053889748,652,630.053889748,652,0.447018248211,-0.00554412950651,0.0597095152329,0.999999885276,-9.08688545643e-05,-0.000464813909951,-7.1683194075e-05,1793245197949939200
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.354615413,745.354615413,714,682,657,630.354615413,880,784.354615413,807.645384587,652,630.645384587,652,0.447548340851,-0.00555641804165,0.0597188410492,0.999999891946,-0.000102844458188,-0.000447607966266,-7.19629541777e-05,1793245197966605824
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.231982884,745,714,682,657,630,880,784,807.768017116,652,630.768017116,652,0.448067934934,-0.00556717022895,0.0597274380482,0.999999897707,-0.000114378061295,-0.000431538390723,-7.26449069313e-05,1793245197983272704
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.811250862,745,714,682,657,630,880,784,807.188749138,652,630.188749138,652,0.448571812327,-0.00557562245795,0.0597349439858,0.999999902408,-0.000125249975783,-0.000417169992877,-7.39289537271e-05,1793245197999939584
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764.293043306,746,714,682.706956694,655,629,880,783,808.706956694,652.706956694,629.706956694,652,0.450859727957,-0.00558482048068,0.0596503105565,0.999999856934,-2.95290770019e-05,-0.000532272197634,-4.41117048298e-05,1793245198099939072
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,785,805,652.555170774,630,652,0.400977633824,-0.00537563249578,0.0598379927302,0.999999934729,0.000242554512912,-0.000267374988432,1.48140669842e-05,1793245201180628992
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.289214001,680,658,633.289214001,879,785,805.710785999,652.289214001,630,652,0.400976471855,-0.00537503960704,0.0598391110948,0.999999934987,0.000242800523907,-0.000266171580294,1.50267998628e-05,1793245201213962496
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25a63672c2f99b255335b6d28c63acb81df9d3a7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..942587c2f2afde1fb27ed9052c0b4b6b4926bef7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f62442b3342654d63235df6bd0b4942360260d526ec6f39fa5f28b112ae89b
+size 25813913
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9624c0d0f73af1b7aeccf05013eccaae35a0da60
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,764,745,714,679.189209496,658,633.189209496,878.189209496,785,805.810790504,652,630,652,0.400977468983,-0.00537645899786,0.059844466485,0.99999993709,0.000243771139724,-0.000257206798373,1.55309801123e-05,1793245201974597120
+22,0.366666667,BASELINE,764,745,714,679.780035023,658,633.780035023,878.780035023,785,805.219964977,652,630,652,0.400977004335,-0.00537801992967,0.0598451641353,0.999999937804,0.00024030071999,-0.000257671280245,1.58949914625e-05,1793245201991264000
+23,0.383333333,BASELINE,764,745,713.637041775,680,658,634,879,785.362958225,805,652,630,652,0.400976588633,-0.00537854056831,0.0598449475017,0.999999937797,0.000239738017994,-0.000258214795046,1.60041457533e-05,1793245202007930624
+24,0.400000000,BASELINE,764,745,713.058805548,680,658,634,879,785.941194452,805,652,630,652,0.400976201961,-0.00537844418777,0.0598441885877,0.999999937366,0.000240899942974,-0.000258805185949,1.59621391052e-05,1793245202024597248
+25,0.416666667,BASELINE,764,745,713.516373388,680,658,634,879,785.483626612,805,652.516373388,630,652,0.400976778501,-0.00537893559276,0.0598443743859,0.999999938029,0.000238671286204,-0.000258331176996,1.56116366428e-05,1793245202041263872
+26,0.433333333,BASELINE,764,745,714,680,658,633.907167889,879,785,805,652.907167889,630,652,0.400977513386,-0.00537931659698,0.0598447960926,0.999999938745,0.000236559276431,-0.000257513017382,1.53696399048e-05,1793245202057930496
+27,0.450000000,BASELINE,764,745,714,680,658,633.322087468,879,785,805,652.322087468,630,652,0.400978509667,-0.00537875933971,0.059845901598,0.999999939123,0.000237101199408,-0.000255508947817,1.58881952925e-05,1793245202074597120
+28,0.466666667,BASELINE,764.261822716,745,713.738177284,679.738177284,658,633.261822716,878.738177284,785,805,652,630,652,0.400978757437,-0.00537777258388,0.0598465161475,0.999999938955,0.000239073688294,-0.000254312689442,1.60776024188e-05,1793245202091263744
+29,0.483333333,BASELINE,764.844299674,745,713.155700326,679.155700326,658,633.844299674,878.155700326,785,805,652,630,652,0.400978088505,-0.00537625982125,0.0598465294234,0.999999938114,0.000242798191007,-0.000254105757437,1.58639016857e-05,1793245202107930368
+30,0.500000000,BASELINE,764.576929934,745,713,679,658,633.576929934,878,785,805.423070066,652,630,652,0.40097680499,-0.00537728405375,0.0598452264516,0.999999938243,0.000240514336652,-0.000255769160088,1.57482034346e-05,1793245202124597248
+31,0.516666667,BASELINE,764,745,713.000485318,679.000485318,658,633.000485318,878,785,806,652,630,652,0.400975298388,-0.00537923148524,0.0598434446409,0.999999938707,0.000236045799849,-0.000258113246714,1.56682600226e-05,1793245202141263616
+32,0.533333333,BASELINE,764,745,713.574514132,679.574514132,658,633.574514132,878,785,806,652,630,652,0.400975126552,-0.00537837881537,0.0598432770649,0.999999937611,0.000240249248235,-0.000258486627544,1.55891772686e-05,1793245202157930496
+33,0.550000000,BASELINE,764,745,713.851124324,679.851124324,658.297751351,634,878,785,806,652,630,652,0.400975412742,-0.00537737593571,0.0598435300812,0.999999936919,0.000243195343668,-0.000258411147084,1.55583582254e-05,1793245202174596864
+34,0.566666667,BASELINE,764,745,713.275809811,679.275809811,659.448380378,634,878,785,806,652,630,652,0.400977010899,-0.00537594279591,0.0598449878405,0.999999937427,0.00024253988205,-0.000257049950244,1.56657855598e-05,1793245202191263488
+35,0.583333333,BASELINE,764,745,713,679,659.381858899,634,878,785,805.690929449,652.309070551,629.690929449,652,0.400977070387,-0.00537638858197,0.0598450262531,0.999999937874,0.000240959539796,-0.000256792007369,1.57349665108e-05,1793245202207930880
+36,0.600000000,BASELINE,764,745,713,679,658.19447992,634,878,785,805.09723996,652.90276004,629.09723996,652,0.400975712935,-0.00537856464558,0.0598437576087,0.999999938262,0.000238527487253,-0.000257550036165,1.57689268907e-05,1793245202224598528
+37,0.616666667,BASELINE,764,745,713,679,658,633.519086129,878,785.480913871,805,652.519086129,629,651.519086129,0.400975358527,-0.00537854506059,0.0598440080664,0.99999993812,0.000239118761975,-0.000257548513371,1.587182669e-05,1793245202241265152
+38,0.633333333,BASELINE,764,745,713,679.055981196,658,633.055981196,878,785.944018804,805.055981196,652,629.055981196,651,0.400975210292,-0.00537809412081,0.0598444721583,0.999999937864,0.000240359911039,-0.000257377745682,1.59637243802e-05,1793245202257931264
+39,0.650000000,BASELINE,764,745,713,679.630645599,658,633.630645599,878,785.369354401,805.630645599,652,629.630645599,651,0.400975151992,-0.00537763121582,0.0598441587652,0.999999937531,0.00024213560305,-0.000257017308413,1.58285726545e-05,1793245202274597376
+40,0.666666667,BASELINE,764.211524441,745,713.211524441,679.788475559,658,634,878,785,806,652,630,651.211524441,0.400975591685,-0.00537721806809,0.0598442787695,0.999999937403,0.000243195382971,-0.000256515410864,1.58068148697e-05,1793245202291264000
+41,0.683333333,BASELINE,764.803583073,745,713.803583073,679.196416927,658,634,878,785,806,652,630,651.803583073,0.400976927269,-0.0053768944341,0.0598451784592,0.999999937649,0.000242967231104,-0.00025575902514,1.59890537159e-05,1793245202307930368
+42,0.700000000,BASELINE,764.614469492,745,714,679.385530508,658,634,878.385530508,785,805.614469492,652.385530508,630,651.614469492,0.400976736636,-0.00537658991892,0.0598454023665,0.999999937764,0.000242375748754,-0.000255876854139,1.58922730147e-05,1793245202324596992
+43,0.716666667,BASELINE,764.037541792,745,714,679.962458208,658,634,878.962458208,785,805.037541792,652.962458208,630,651.037541792,0.400975788309,-0.0053762948953,0.0598452907807,0.999999937813,0.000241603890454,-0.00025642868835,1.56569726409e-05,1793245202341264128
+44,0.733333333,BASELINE,764,745,713.461724138,680,658,634,878.461724138,785,805.538275862,653,630,651.538275862,0.400975331444,-0.00537619858612,0.0598445491378,0.999999937536,0.000241934432232,-0.000257198258559,1.56503528067e-05,1793245202357930496
+45,0.750000000,BASELINE,764,745,713.114524918,679.885475082,658,633.885475082,878,785,806,652.885475082,630,652,0.400974694031,-0.005376301148,0.0598437471048,0.999999937283,0.00024206803512,-0.000258055193763,1.56636701977e-05,1793245202374597120
+46,0.766666667,BASELINE,764,745,713.692833717,679.307166283,658,633.307166283,878,785,806,652.307166283,630,652,0.400973186943,-0.00537715305536,0.0598428781013,0.99999993722,0.000241093386899,-0.000259204554195,1.56932704868e-05,1793245202391263744
+47,0.783333333,BASELINE,764,745,713.724350901,679.275649099,658,633,878.275649099,785,805.724350901,652,630,652,0.400973718749,-0.00537817811244,0.0598432438809,0.999999937767,0.000239322472302,-0.000258728780212,1.58020147755e-05,1793245202407930112
+48,0.800000000,BASELINE,764,745,713.136430119,679.863569881,658,633,878.863569881,785,805.136430119,652,630,652,0.400976560337,-0.00537939932391,0.0598450084961,0.999999938997,0.000236649499699,-0.000256411957514,1.60004180946e-05,1793245202424596736
+49,0.816666667,BASELINE,764.445303846,745,713,679.554696154,658,633.445303846,878.554696154,785.445303846,805,652,630,652,0.400977326593,-0.00537918957412,0.0598453783936,0.999999938923,0.00023779100254,-0.000255647335179,1.59204887514e-05,1793245202441263616
+50,0.833333333,BASELINE,764.975077232,745,713.024922768,679.024922768,658.024922768,634,878.024922768,785.975077232,805,652,630,652,0.400977427838,-0.00537856398308,0.0598453184847,0.999999938478,0.000239934518914,-0.000255395193854,1.5762827991e-05,1793245202457930752
+51,0.850000000,BASELINE,764.400868851,745,713.599131149,679.599131149,658.599131149,634,878.599131149,785.400868851,805,652,630,652,0.400976693943,-0.00537830341831,0.0598450744431,0.99999993858,0.000238758151457,-0.000256100485402,1.57456540538e-05,1793245202474598144
+52,0.866666667,BASELINE,764,744.822637869,714,680,658.822637869,633.822637869,878.822637869,784.822637869,805.177362131,652,630,652,0.400976399784,-0.00537809276834,0.0598449193644,0.999999938629,0.000238155891785,-0.000256472840948,1.56965881706e-05,1793245202491265280
+53,0.883333333,BASELINE,764,744.235104169,714,680,658.235104169,633.235104169,878.235104169,784.235104169,805.764895831,652,630,652,0.40097712257,-0.00537799755244,0.0598449700229,0.999999938559,0.000238881326491,-0.000256075241323,1.55737682715e-05,1793245202507931648
+54,0.900000000,BASELINE,764,744.347727845,714,680,658,633.347727845,878,784.69545569,805.652272155,652,630,652,0.400977341224,-0.00537764402669,0.0598449636332,0.999999938456,0.000239645508051,-0.000255757288824,1.5682462482e-05,1793245202524598016
+55,0.916666667,BASELINE,764,744.927423363,714,680,658,633.927423363,878,785.854846726,805.072576637,652,630,652,0.400977223574,-0.0053771181836,0.0598449191868,0.99999993833,0.000240435537436,-0.000255492468579,1.59455987129e-05,1793245202541264384
+56,0.933333333,BASELINE,764,745,713.497010098,678.994020196,658,634,878,785.497010098,805,652,630,652,0.400976286884,-0.00537731675639,0.0598447449909,0.999999937722,0.000242152823228,-0.000256243921762,1.60064869087e-05,1793245202557930752
+57,0.950000000,BASELINE,764,745,713,678.077524101,658,633.922475899,878.077524101,785.077524101,805,652,630,652,0.400975432379,-0.00537766710626,0.0598446462407,0.999999937254,0.000243313293712,-0.000256968016628,1.60404459698e-05,1793245202574597120
+58,0.966666667,BASELINE,764,745,713,678.649244117,658,633.350755883,878.649244117,785.649244117,805,652,630,652,0.40097584901,-0.00537832409277,0.0598451468114,0.999999938132,0.000240078252072,-0.000256590537532,1.60872547041e-05,1793245202591263744
+59,0.983333333,BASELINE,764,745,713.229829368,679,658,633.229829368,878.770170632,785.770170632,805.229829368,652,630,652,0.40097633161,-0.00537856726317,0.0598455556728,0.99999993856,0.000238929768793,-0.000255990401223,1.61445677784e-05,1793245202607930368
+60,1.000000000,BASELINE,764,745,713.82448728,679,658,633.82448728,878.17551272,785.17551272,805.82448728,652,630,652,0.400976918927,-0.00537815354667,0.0598458189562,0.999999938284,0.000241093464206,-0.000255036821306,1.62185553308e-05,1793245202624597248
+61,1.016666667,BASELINE,764,745,714,679,658,634,878,785,806,652.403655091,630,652,0.400976123692,-0.00537728846853,0.059845074954,0.999999937666,0.000242359104361,-0.000256269527483,1.59962604602e-05,1793245202641263872
+62,1.033333333,BASELINE,764,745,714,679,658,634,878,785,806,652.976336549,630,652,0.400974749527,-0.00537623438741,0.0598439091616,0.999999936903,0.000243248693097,-0.000258417718253,1.56499004057e-05,1793245202657930752
+63,1.050000000,BASELINE,764,744.447539671,714,679.552460329,658,634,878,785,805.447539671,652.447539671,630,652,0.400975651848,-0.00537626342373,0.0598445151599,0.999999937397,0.00024252935248,-0.000257175779031,1.571112906e-05,1793245202674597632
+64,1.066666667,BASELINE,763.870551275,744.129448725,713.870551275,680,658,634,878,785,805,652,630,651.870551275,0.400976666322,-0.00537642203808,0.0598452236209,0.999999937861,0.000242067980972,-0.00025579557832,1.58114780577e-05,1793245202691264512
+65,1.083333333,BASELINE,763.291072864,744.708927136,713.291072864,680,658,634,878,785,805,652,630,651.291072864,0.400977729586,-0.00537686883469,0.059846022805,0.999999938039,0.000242744527401,-0.000254442695734,1.59867551938e-05,1793245202707931136
+66,1.100000000,BASELINE,763.296260612,745,713.296260612,679.703739388,658,634,878,785,805,652,630,651,0.400977715483,-0.0053773471561,0.0598460702356,0.999999938252,0.000241789283612,-0.000254521068751,1.59092312927e-05,1793245202724597760
+67,1.116666667,BASELINE,763.891521765,745,713.891521765,679.108478235,658,634,878,785,805,652,630,651,0.400976614049,-0.00537785729383,0.0598453589602,0.999999938494,0.000239187158166,-0.000256043934231,1.55765683464e-05,1793245202741264128
+68,1.133333333,BASELINE,764.471630654,745,713.528369346,679,658,634,878,784.528369346,805.471630654,652,630,651.471630654,0.400977379803,-0.00537641373802,0.05984582704,0.99999993831,0.000241133025132,-0.000254935647609,1.55506051936e-05,1793245202757930752
+69,1.150000000,BASELINE,764.952424497,745,713.047575503,679.047575503,658,634,878,784.047575503,806,652,630,652,0.400978326405,-0.00537496783318,0.0598464875046,0.999999938077,0.000243611148415,-0.000253486123714,1.56141056006e-05,1793245202774597632
+70,1.166666667,BASELINE,764.385082533,745,713.614917467,679.614917467,658,634,878,784.614917467,806,652,630,652,0.400976702869,-0.00537825277843,0.0598463785001,0.999999938434,0.000240831557621,-0.000254714424348,1.59083039505e-05,1793245202791264512
+71,1.183333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400976104767,-0.00538014282668,0.0598463832396,0.999999938697,0.000239198546305,-0.000255213475091,1.60277884961e-05,1793245202807931136
+72,1.200000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400977673228,-0.00537908569953,0.0598466283004,0.999999938777,0.000239988058514,-0.000254171747238,1.57781330603e-05,1793245202824597760
+73,1.216666667,BASELINE,764,745,714,679.62660914,658,634,878.37339086,785,806,652,630,652,0.400978058087,-0.00537775884268,0.0598463586121,0.999999938488,0.000241397762577,-0.000253986862291,1.55561498852e-05,1793245202841264384
+74,1.233333333,BASELINE,764,745,714,679.049493529,658,634,878.950506471,785,806,652,630,652,0.400977797164,-0.00537628481944,0.059845808073,0.999999937996,0.000243145847747,-0.000254269477087,1.53492649104e-05,1793245202857930752
+75,1.250000000,BASELINE,764,745,713.472594531,679.527405469,658,634,879,785.527405469,805.472594531,652,630,652,0.400977189352,-0.00537701224313,0.0598458506393,0.999999938448,0.00024077615814,-0.000254731394603,1.55687198943e-05,1793245202874597376
+76,1.266666667,BASELINE,764,745,713.106110265,679.893889735,658,634,878.893889735,785.893889735,805.106110265,652.106110265,630,652,0.40097663029,-0.00537779703286,0.0598459205752,0.999999938816,0.000238812536198,-0.000255120184061,1.58430587676e-05,1793245202891264000
+77,1.283333333,BASELINE,764,745,713.693090634,679.306909366,658,634,878.306909366,785.306909366,805.693090634,652.693090634,630,652,0.400976439617,-0.00537790594847,0.0598458624133,0.999999938425,0.000240439615414,-0.000255101349629,1.61848811474e-05,1793245202907930624
+78,1.300000000,BASELINE,764,744.724324417,713.724324417,679,658,634,878,785,806,653,630,652,0.400976247678,-0.00537710471775,0.0598457987506,0.999999937794,0.000242952094922,-0.000255192323274,1.62193734913e-05,1793245202924597248
+79,1.316666667,BASELINE,764,744.146556124,713.146556124,679,658,634,878,785,806,653,630,652,0.40097605435,-0.00537530612423,0.05984572906,0.999999936893,0.000246434819745,-0.000255403627559,1.5917085304e-05,1793245202941264384
+80,1.333333333,BASELINE,764,744.433045277,713.433045277,679,658,634,878.433045277,785,805.566954723,652.566954723,630,652,0.400975318505,-0.00537773251283,0.0598448671754,0.999999937789,0.000241400080227,-0.00025670325243,1.58871299188e-05,1793245202957931520
+81,1.350000000,BASELINE,764,745,714,679.013071106,658,634,878.986928894,785.013071106,805.013071106,652,630,652,0.400974427944,-0.00538144490088,0.059843770774,0.999999939188,0.000233754551466,-0.00025831928489,1.59447077484e-05,1793245202974598144
+82,1.366666667,BASELINE,764,745,714,679.584610026,658,634,878.415389974,785.584610026,805.584610026,652,630,652,0.400974804999,-0.00537875079254,0.0598441580693,0.999999938303,0.000238244859761,-0.000257650357728,1.5787609109e-05,1793245202991264256
+83,1.383333333,BASELINE,764,745,714,680,658,634,878.161352573,785.838647427,806,652.161352573,630,652,0.400975223345,-0.0053771787061,0.0598445520074,0.99999993783,0.000240867038301,-0.00025705208191,1.57356095562e-05,1793245203007930624
+84,1.400000000,BASELINE,764,745,714,680,658,634,878.751938027,785.248061973,806,652.751938027,630,652,0.400975751531,-0.00537859144098,0.0598449636167,0.999999938494,0.000238519587033,-0.000256641753872,1.59631963617e-05,1793245203024596992
+85,1.416666667,BASELINE,764,745,714,680,658,634,879,785,805.664066535,652.664066535,630,652,0.400975807957,-0.00537854021864,0.0598449925592,0.999999938336,0.000239219650287,-0.000256601016529,1.60759517312e-05,1793245203041263872
+86,1.433333333,BASELINE,764,745,714,680,658,634,879,785,805.084843747,652.084843747,630,652,0.400975522727,-0.0053774287709,0.0598447443671,0.999999937577,0.000242126780937,-0.000256827943732,1.61055440042e-05,1793245203057930496
+87,1.450000000,BASELINE,764.491355452,745,713.508644548,679.508644548,658,634,878.508644548,785,805.491355452,652.491355452,630,652,0.400975379796,-0.00537834824954,0.0598449459919,0.99999993803,0.000240302050624,-0.000256780222688,1.60941395778e-05,1793245203074597376
+88,1.466666667,BASELINE,764.933296246,745,713,679,658,634,878.066703754,785,806,652.933296246,630,652,0.400975326733,-0.00537936714692,0.0598452142855,0.999999938569,0.000238217386743,-0.000256624020979,1.60938242308e-05,1793245203091264512
+89,1.483333333,BASELINE,764.360467029,745,713,679,658,634,878.639532971,785,806,652.360467029,630,652,0.400975770255,-0.00537849578855,0.059845402702,0.999999938222,0.000240322122638,-0.000256002343493,1.62310337311e-05,1793245203107931648
+90,1.500000000,BASELINE,764,745,713.219197891,679,658,634,878.780802109,785,805.780802109,652,630,652,0.400976002691,-0.00537790877,0.0598454263062,0.999999938063,0.000241122181183,-0.000255878272398,1.61600990079e-05,1793245203124598272
+91,1.516666667,BASELINE,764,745,713.810465782,679,658,634,878.189534218,785,805.189534218,652,630,652,0.400975876825,-0.00537780439451,0.0598451701556,0.999999938225,0.000239707659351,-0.000256598846403,1.57358569419e-05,1793245203141264384
+92,1.533333333,BASELINE,764,745,714,679,658,634,878,785.394049947,805,652,630,652,0.400976118018,-0.00537799030122,0.059845433067,0.999999938647,0.000238870095897,-0.000255743925464,1.55317690582e-05,1793245203157930752
+93,1.550000000,BASELINE,764,745,714,679,658,634,878,785.974009052,805,652,630,652,0.400976532385,-0.0053783131604,0.059845940867,0.999999939191,0.000238304736001,-0.000254145700493,1.54315478651e-05,1793245203174597376
+94,1.566666667,BASELINE,764.549139388,745,714,679,658,634,878,785.450860612,805,652.549139388,630,652,0.40097711887,-0.00537763525686,0.0598465397459,0.999999938964,0.00023936981145,-0.000254027280689,1.56372229672e-05,1793245203191264256
+95,1.583333333,BASELINE,764.872785746,745,714,679,658,634,878,785,805,652.872785746,630,652,0.400977536718,-0.00537709583948,0.0598469220843,0.999999938679,0.000240475359342,-0.000254093861531,1.5827014701e-05,1793245203207930880
+96,1.600000000,BASELINE,764.283184751,745,714,679,658,634,878,785,805,652.283184751,630,652,0.400977312266,-0.0053772304412,0.0598465018294,0.999999938319,0.000241449971027,-0.000254580511065,1.59069098502e-05,1793245203224597248
+97,1.616666667,BASELINE,764,745,713.698594551,679.301405449,658,634,878.301405449,785,805,652,630,652,0.400976909119,-0.00537749998869,0.0598461600624,0.999999938357,0.000240840507605,-0.000255012657913,1.58535315504e-05,1793245203241263872
+98,1.633333333,BASELINE,764,745,713.118635279,679.881364721,658,634,878.881364721,785,805,652,630,652,0.400976340825,-0.00537789425078,0.0598458908326,0.999999938759,0.000238767068676,-0.000255394434271,1.56769841766e-05,1793245203257930752
+99,1.650000000,BASELINE,764,745,713.45924325,680,658,634,879,785,805.45924325,652,630,652,0.400975619928,-0.00537758294166,0.0598455307459,0.999999938561,0.000239056147987,-0.000255909626342,1.55365029751e-05,1793245203274597376
+100,1.666666667,BASELINE,764,745,714,680,658,634,879,785,806,652,630,652.036317971,0.400974930757,-0.00537711296129,0.0598451843585,0.999999938225,0.000239918511717,-0.000256420670757,1.54231559026e-05,1793245203291264000
+101,1.683333333,BASELINE,764,745,714,680,658,634,879,785,806,652,630,652.609421101,0.400975290533,-0.00537697960277,0.0598453857877,0.999999938152,0.000240274405271,-0.000256363312161,1.55737713758e-05,1793245203307930368
+102,1.700000000,BASELINE,764.188225679,745,713.811774321,679.811774321,658,634,879,785,805.811774321,652,630,652.811774321,0.400975303275,-0.00537699341834,0.0598453311866,0.999999938045,0.000240447883696,-0.000256608309772,1.5692887945e-05,1793245203324596992
+103,1.716666667,BASELINE,764.779230566,745,713.220769434,679.220769434,658,634,879,785,805.220769434,652,630,652.220769434,0.400974573408,-0.0053773221679,0.0598447287133,0.999999937867,0.000240231016713,-0.00025750031153,1.57446008143e-05,1793245203341263616
+104,1.733333333,BASELINE,764.6378078,745,713.3621922,679.3621922,658,634,878.6378078,785,805.3621922,652.3621922,630,652,0.400975681365,-0.00537808980194,0.0598455029221,0.99999993829,0.0002397030394,-0.000256332942834,1.59689041616e-05,1793245203357929984
+105,1.750000000,BASELINE,764.059642261,745,713.940357739,679.940357739,658,634,878.059642261,785,805.940357739,652.940357739,630,652,0.400977885206,-0.00537911914057,0.0598470980392,0.999999939067,0.000238989548581,-0.000253937582249,1.62961223252e-05,1793245203374596864
+106,1.766666667,BASELINE,764.516993057,745,714,679.483006943,658,634,878,785,806,652.483006943,629.483006943,652,0.400978476215,-0.00537932865432,0.0598474161631,0.999999939244,0.000239082503944,-0.000253159538972,1.61670436829e-05,1793245203391263488
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785,805,652,630,652,0.400975460805,-0.00537936187503,0.0598461128444,0.999999939612,0.000235080877839,-0.000255465203575,1.5853880152e-05,1793245203433631232
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.421522433,658,634,878.421522433,785,805,652,629.421522433,652,0.400975327078,-0.00537823564533,0.0598456842085,0.999999938701,0.000238922681631,-0.000255477439866,1.56727820714e-05,1793245203450299392
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.843780516,745,713.843780516,679,658,634,878.156219484,785,805,652,629.156219484,652,0.400975309746,-0.00537769783639,0.0598454112967,0.99999993808,0.000241436656705,-0.000255548125277,1.56166517297e-05,1793245203466967296
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.268014149,745,713.268014149,679,658,634,878.731985851,785,805,652,629.731985851,652,0.400975605007,-0.00537874030445,0.0598455566011,0.999999938271,0.000240384583212,-0.000255775783092,1.58961377775e-05,1793245203483633408
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.308072968,679.308072968,658,634,878.691927032,785,805.308072968,652,630,652,0.400976376188,-0.00537848510631,0.0598460531235,0.999999938572,0.000240199193828,-0.000254775171009,1.58325366827e-05,1793245203500299520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.884439382,679.884439382,658,634,878.115560618,785,805.884439382,652,630,652,0.400977561836,-0.00537709980136,0.0598468555133,0.999999938966,0.000240768579162,-0.000252704887765,1.54701491087e-05,1793245203516966144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,805.528635007,652,630,652,0.400976516207,-0.00537721768825,0.0598461535021,0.999999938557,0.000240754188851,-0.000254325709296,1.55217784293e-05,1793245203533632512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.940062117,679.940062117,658,634,878,785,805,652,630,652,0.400975217685,-0.00537781176616,0.0598453481763,0.999999938072,0.0002405870229,-0.000256371703023,1.57047735022e-05,1793245203550299136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.360170565,679.360170565,658,634,878,785,805,652,630,652,0.40097657944,-0.00537926657737,0.0598469194033,0.999999938705,0.000240364539762,-0.000254076086825,1.61266644968e-05,1793245203566965760
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.217687743,679,658,634,878,785,805,652,630,652,0.400980340711,-0.00538027730479,0.0598490321122,0.999999939682,0.000239421772022,-0.000251087008152,1.6410787042e-05,1793245203583632128
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.792213063,679,658,634,878,785,805,652,630,652,0.400988035308,-0.00538056008212,0.0598520324277,0.999999941214,0.000237298301112,-0.000246961193813,1.64690770797e-05,1793245203600298496
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.367202519,658,634,878,785.367202519,805.367202519,652,630,652,0.401010236544,-0.00537988595713,0.0598610400395,0.999999944751,0.000238145375671,-0.000231305480814,1.67922961579e-05,1793245203616965120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.942454999,658,634,878,785.942454999,805.942454999,652,630,652,0.401040656967,-0.00537866966951,0.0598734512715,0.999999949024,0.000240675504483,-0.000209117146112,1.72656189891e-05,1793245203633631744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785.468093413,805.468093413,652,630,652,0.401093997252,-0.00538040330191,0.0598893720366,0.999999954749,0.000239337520894,-0.000181360046524,1.81106320819e-05,1793245203650298368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.879769121,679.879769121,658,634,878.120230879,785,805.120230879,652,630,652,0.401153818541,-0.00538266276596,0.0599052672323,0.999999959618,0.000237502917241,-0.000154917921073,1.88825533733e-05,1793245203666965248
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.301746428,679.301746428,658,634,878.698253572,785,805.698253572,652,630,652,0.401228616613,-0.00538567589936,0.0599195797391,0.999999962879,0.000235414476474,-0.000135839552603,1.92188601784e-05,1793245203683632128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879,785,805.725311312,652.274688688,630,651.725311312,0.401309156338,-0.00538852024863,0.0599292059787,0.999999965231,0.000233614381547,-0.00012078119111,1.93388710901e-05,1793245203700299008
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,879,785,805.150610165,652.849389835,630,651.150610165,0.40139596704,-0.00539118025323,0.0599337139194,0.999999966811,0.00023212921547,-0.000110113445432,1.92226456012e-05,1793245203716965376
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.43477404,679.43477404,658,634,878.56522596,785,805.43477404,652.56522596,630,651.43477404,0.401500753897,-0.00539522547567,0.059937620765,0.999999968001,0.000229963915736,-0.000103726816841,1.88436950008e-05,1793245203733632000
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.401612968229,-0.00539958987897,0.0599413457943,0.999999969054,0.000227650459206,-9.86515487054e-05,1.83309392793e-05,1793245203750298880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.401749806951,-0.00539987746498,0.0599458178111,0.999999970042,0.000227540673984,-8.86437966008e-05,1.68624163352e-05,1793245203766965248
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.819095701,680,658,634,878,785,805.819095701,652,630,652,0.401893618307,-0.00540170771172,0.0599484718193,0.999999971053,0.000226010685106,-8.11055398936e-05,1.53236824105e-05,1793245203783631872
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.244878358,680,658,634,878,785,805.244878358,652,630,652,0.402052589198,-0.00540689193394,0.0599471732041,0.999999972284,0.000221392960802,-7.89363374017e-05,1.36322994915e-05,1793245203800298496
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.330901054,680,658,634,878.330901054,785.330901054,805,652,630,651.669098946,0.40223054616,-0.00541183906126,0.0599461296412,0.999999973582,0.000216441734261,-7.64709784977e-05,1.18752259957e-05,1793245203816965120
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.907841995,680,658,634,878.907841995,785.907841995,805,652,630,651.092158005,0.402422620139,-0.00541660989834,0.0599452757213,0.999999974915,0.000211242533252,-7.37854136909e-05,1.00693084103e-05,1793245203833631744
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.503815134,714,680,658,634,878.503815134,785.503815134,805.496184866,652,630,651.496184866,0.40265374056,-0.00542197572364,0.0599453504309,0.999999976301,0.000206111922169,-6.96945889374e-05,7.6823371865e-06,1793245203850298368
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.084821743,713.915178257,679.915178257,658,634,878,785,805.915178257,652,630,652,0.402897304597,-0.00542772000548,0.0599459463614,0.999999977784,0.00020049958626,-6.48507584323e-05,5.18005370632e-06,1793245203866964736
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.662571209,713.337428791,679.337428791,658,634,878,785,805.337428791,652,630,652,0.403170046445,-0.00543500631808,0.059948545384,0.999999979927,0.00019201200871,-5.71834090741e-05,2.64956657201e-06,1793245203883631360
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.817847411,679,658,633.182152589,878,785,805,652,630,652,0.40376008998,-0.00544890538127,0.0599449307715,0.999999983057,0.000174853081124,-5.74554661906e-05,-3.37380472568e-06,1793245203916964608
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.98699201,658,633.98699201,878,785,805.98699201,652,630,652,0.404387975552,-0.00546488420636,0.0599202615256,0.999999982257,0.000159631409107,-9.94588589091e-05,-1.06051272327e-05,1793245203950297856
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+143,2.383333333,POSE1_TO_POSE2_PRESS,764.872774761,745,714,679.872774761,658,633.127225239,879,785,805,652,630,652,0.406595045854,-0.00550473185303,0.0599523940782,0.999999992091,0.000110948239066,-5.22901886595e-05,-2.78345678601e-05,1793245204033632512
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.541412566,745,713.541412566,680,658,633,878.541412566,785,805,652,630,652,0.407132232701,-0.00551117100523,0.0599797177777,0.99999999955,2.50596721902e-06,-8.10160835411e-06,-2.87774157853e-05,1793245204050298624
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.046550424,745,713,679.953449576,658,633.046550424,878,785,805.046550424,652,630,652,0.407676399214,-0.00551415737431,0.0600033331985,0.999999992083,-0.000118851753529,2.85143998888e-05,-2.99090623999e-05,1793245204066964992
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.626467131,745,713,679.373532869,658,633.626467131,878,785,805.626467131,652,630,652,0.408227133261,-0.00548500836916,0.0599952767269,0.999999996591,-7.40280412072e-05,1.37970930468e-06,-3.6547935975e-05,1793245204083631616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.795858757,745,713.204141243,679.204141243,658.204141243,634,878,785,805.795858757,652,630,652,0.408787928996,-0.00546719819641,0.059985440575,0.99999999784,-4.27039309704e-05,-2.62062765967e-05,-4.25336396693e-05,1793245204100298496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.222243542,745,713.777756458,679.777756458,658.777756458,634,878,785,805.222243542,652,630,652,0.409366935287,-0.00546991010808,0.0599723833915,0.999999996747,-3.58126700262e-05,-5.46090574681e-05,-4.73371749665e-05,1793245204116965888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.34929486,714,680,659,634,878.34929486,785,805,652,630,652,0.40999812498,-0.00548107705579,0.0599740409343,0.999999996464,-4.41424898918e-05,-4.94924783882e-05,-5.1709224819e-05,1793245204133632512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.919519649,714,680,659,634,878.919519649,785,805,652,630,652,0.410662320792,-0.00549759183622,0.0599850055813,0.999999996246,-6.20996841546e-05,-2.31748137545e-05,-5.58083587725e-05,1793245204150298880
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.486356151,713.486356151,680,659,634,878.486356151,785,805.513643849,652,630,652,0.411350444731,-0.00550465683158,0.0599904037579,0.999999995292,-7.54903071331e-05,-1.01077999408e-05,-6.01304971527e-05,1793245204166965248
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.895434325,878.104565675,785,805.895434325,652,630,651.895434325,0.412039735565,-0.00550702042018,0.05998959943,0.999999995897,-6.87457163148e-05,-9.10428657407e-06,-5.82928589788e-05,1793245204183631616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.335557968,878.664442032,785,805.335557968,652,630,651.335557968,0.412716985472,-0.00549567443435,0.0599657705934,0.999999998007,2.24061072927e-05,-5.11474358848e-05,-2.94741121838e-05,1793245204200298240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.238252585,879,785,805.238252585,652,630,651,0.413412898154,-0.00548947625231,0.0599379121631,0.999999991796,7.4599502052e-05,-0.00010313620307,-1.43738643499e-05,1793245204216964864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633.8329074,879,785,805.8329074,652,630,651,0.414136728598,-0.00549097867228,0.0599040258567,0.999999983006,6.85149665327e-05,-0.000170002634616,-1.97951258053e-05,1793245204233631488
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,680,659.422596341,633.577403659,878.577403659,785,806,652,630,651.422596341,0.414943621968,-0.00550579335403,0.0599267523245,0.999999990588,4.65555371361e-05,-0.000126903761861,-2.34946384671e-05,1793245204250298112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.010194544,745,713.010194544,680,659.989805456,633.010194544,878.010194544,785,806,652,630,652,0.415783259708,-0.00552560718379,0.0599714042315,0.999999998623,1.83178512987e-05,-4.14238685436e-05,-2.64904850432e-05,1793245204266965248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589418837,745,713.589418837,680,659.410581163,633.589418837,878.589418837,785,806,652,630,652,0.416638703648,-0.0055340721318,0.0600049485063,0.999999999456,-1.40671339798e-05,1.09148156209e-05,-2.7767101038e-05,1793245204283632128
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.831829421,679.831829421,659,633.831829421,879,785,805.831829421,652,630,651.831829421,0.417494583791,-0.00554031105281,0.0600243744343,0.999999997954,-3.8204388702e-05,4.22721392249e-05,-2.90604748589e-05,1793245204300298752
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.254228197,679.254228197,659,633.254228197,879,785,805.254228197,652,630,651.254228197,0.418351525869,-0.00554113045417,0.0600094276185,0.999999998391,-4.22615914619e-05,2.25479205654e-05,-3.03946476723e-05,1793245204316965120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.679262876,745,713.320737124,679.320737124,659,633.320737124,879.320737124,785,805.320737124,651.679262876,630,651,0.419194580723,-0.00553602360739,0.0599882409092,0.999999998902,-3.05243525822e-05,-1.30828332064e-05,-3.30680325817e-05,1793245204333631744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.106369868,745,713.893630132,679.893630132,659,633.893630132,879.893630132,785,805.893630132,651.106369868,630,651,0.42002671773,-0.00552625768547,0.0599621485448,0.999999997429,-6.36989971833e-06,-6.12189249753e-05,-3.67942740051e-05,1793245204350298368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.519629302,680,659,634,880,785,806,651.480370698,630,651.480370698,0.420838036901,-0.00552606510515,0.0599275325557,0.999999992495,-1.95663793457e-05,-0.0001146071922,-3.86296362364e-05,1793245204366964992
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.069217859,745,713.069217859,680,659,634,879.930782141,785,806.069217859,651.930782141,630,651.930782141,0.421655054725,-0.00552848676122,0.0598939560827,0.999999984689,-3.91046733952e-05,-0.000165790245103,-4.00685881796e-05,1793245204383631616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.650294688,745,713.650294688,680,659,634,879.349705312,785,806.650294688,651.349705312,630,651.349705312,0.42254931355,-0.00553409902841,0.0598824382389,0.999999979826,-4.25634489741e-05,-0.000191810360657,-4.17642958735e-05,1793245204400298752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,806.771036933,651.228963067,630,651,0.423496880714,-0.00553943005007,0.0599052199583,0.999999985708,-4.59030447783e-05,-0.000157208036391,-4.19761831752e-05,1793245204416965632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,806.196008706,651.803991294,630,651,0.424525020651,-0.00554433598532,0.0599798435909,0.999999997519,-4.90625069254e-05,-3.09782101606e-05,-3.99453568833e-05,1793245204433632512
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.386574493,785.386574493,806.386574493,652,630,651.386574493,0.425485072677,-0.00554509341953,0.0600221437118,0.999999997133,-5.14689431392e-05,4.00593808871e-05,-3.84811123673e-05,1793245204450298880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.973064686,785.973064686,806.973064686,652,630,651.973064686,0.426409913206,-0.00554370547008,0.0600477278328,0.999999994466,-5.34859545333e-05,8.25544854149e-05,-3.73098739936e-05,1793245204466964992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.555558956,659.555558956,633.444441044,880,785.444441044,807,652,630.555558956,652,0.427337955984,-0.00554384741455,0.0600300932731,0.9999999953,-5.76126558871e-05,6.65709736432e-05,-4.06015887667e-05,1793245204483631616
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.863921064,681,660,633,880,785.136078936,807,652,630.863921064,652,0.428253313295,-0.00554480578845,0.0600073022288,0.999999996462,-5.9678103416e-05,4.01527019857e-05,-4.36059901666e-05,1793245204500298240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.289145793,681,660,633,880,785.710854207,807,652,630.289145793,652,0.429127277732,-0.00554815877986,0.0599745944518,0.999999997429,-5.47710096556e-05,-1.08304749843e-05,-4.49915521047e-05,1793245204516964864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659.714076585,633,880,786,806.714076585,652,630,651.714076585,0.430009082684,-0.00554836844048,0.0599421658438,0.999999995028,-5.77412871937e-05,-6.66423940006e-05,-4.65686811691e-05,1793245204533631488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659.138709857,633,880,786,806.138709857,652,630,651.138709857,0.43089882462,-0.00554539607369,0.0599100198437,0.999999988365,-6.86859116975e-05,-0.00012734249673,-4.8339735547e-05,1793245204550298368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680.551990107,659.448009893,633,880,786,806.448009893,651.551990107,630,651,0.431857326772,-0.00554594362292,0.0599420997604,0.999999994117,-7.06199596144e-05,-6.65240632237e-05,-4.85041390353e-05,1793245204566965248
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680.037572512,660,633.037572512,880,785.962427488,807,651.037572512,630.037572512,651.037572512,0.432832738746,-0.00554759039156,0.0599921914829,0.999999996074,-6.92060578369e-05,2.73629793421e-05,-4.81037530852e-05,1793245204583632384
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,680.616140063,660,633.616140063,880,785.383859937,807,651.616140063,630.616140063,651.616140063,0.433737124096,-0.00554896461014,0.0600078643673,0.999999996187,-6.07998671443e-05,4.15766305347e-05,-4.69198617046e-05,1793245204600298752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659.80643033,633.80643033,880.19356967,785.19356967,807,652,630.80643033,652,0.434628839268,-0.00555137100448,0.0600079383229,0.99999999638,-6.20621969749e-05,3.47708501619e-05,-4.66737206387e-05,1793245204616965120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659.231244038,633.231244038,880.768755962,785.768755962,807,652,630.231244038,652,0.435495575736,-0.00555581230165,0.0599772594752,0.99999999535,-8.23857145302e-05,-1.34740872429e-05,-4.82763250518e-05,1793245204633631488
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633,880.648215247,786,807,652,630,652,0.436342394322,-0.00555744469331,0.0599516030281,0.999999993146,-8.92433361857e-05,-5.67832203769e-05,-5.02011565977e-05,1793245204650298112
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,633,880.059913713,786,807,652,630,652,0.437175821393,-0.00555718856257,0.0599293233125,0.999999990159,-8.7047379597e-05,-9.67738425222e-05,-5.23426322405e-05,1793245204666964736
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.519980838,681,659.519980838,633,880,786,807,652,630,652,0.43796817608,-0.00555293420449,0.0599051368535,0.999999984006,-7.99276317804e-05,-0.000150916633665,-5.31419951989e-05,1793245204683631360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.90129749,745,714,681,660,633,879.90129749,785.90129749,807,652,630.09870251,652,0.438768850332,-0.0055498018536,0.0598903667781,0.999999978309,-7.40374009682e-05,-0.000187151358823,-5.36161093432e-05,1793245204700298240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.323641513,745,714,681,660,633,879.323641513,785.323641513,807,652,630.676358487,652,0.439632494172,-0.00555431395324,0.0599223387939,0.999999987349,-7.68225788486e-05,-0.000128700431532,-5.32504166525e-05,1793245204716965120
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.253007038,745,713.746992962,681,659.746992962,633,879.253007038,785,807.253007038,652,631,652,0.440469933233,-0.00555678695801,0.0599525463542,0.999999992199,-7.99582757724e-05,-8.04569813785e-05,-5.2302276555e-05,1793245204733631744
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.828371979,745,713.171628021,681,659.171628021,633,879.828371979,785,807.828371979,652,631,652,0.441273984552,-0.0055566619385,0.0599805058079,0.999999994207,-8.35405712527e-05,-4.52189485805e-05,-5.06120366145e-05,1793245204750298368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.412127827,681.412127827,659.412127827,633,880,785,807.587872173,652,630.587872173,652,0.44198771964,-0.00555354834117,0.0599461748397,0.999999990209,-8.39060784308e-05,-9.97302099905e-05,-5.09446453666e-05,1793245204766964992
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.999450689,681.999450689,659.999450689,633,880,785,807.000549311,652,630.000549311,652,0.442663061479,-0.00554916430307,0.0598853642918,0.999999976697,-8.29041325602e-05,-0.000192393782825,-5.21371641233e-05,1793245204783631360
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.422575255,745,713.422575255,682,659.422575255,632.422575255,880,784.422575255,807.577424745,652,630.577424745,651.422575255,0.443316565361,-0.00555078365417,0.0598304705644,0.999999958242,-7.9443816102e-05,-0.000271937507675,-5.70454918451e-05,1793245204800297984
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,682,658.844708884,632,880,784.155291116,808,652,630.844708884,651.155291116,0.443971245114,-0.00555250039502,0.0597894166844,0.999999940186,-7.68783938178e-05,-0.000331695895486,-6.07975091287e-05,1793245204816964864
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,682,658.267111428,632,880,784.732888572,808,652,630.267111428,651.732888572,0.444629178331,-0.00555446669911,0.0597859844943,0.999999938155,-7.67528500013e-05,-0.000337682482101,-6.13955407686e-05,1793245204833631488
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.307619421,745,713,681.692380579,658,632,880,784.692380579,808,652,630,652,0.445249362043,-0.00555479810688,0.0597749551668,0.999999928193,-8.30907372343e-05,-0.000364448503164,-6.235550842e-05,1793245204850298624
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.87988409,745,713,681.12011591,658,632,880,784.12011591,808,652,630,652,0.445837069785,-0.00555372301184,0.0597573900156,0.999999909787,-9.49891195752e-05,-0.000409091088427,-6.36268497934e-05,1793245204866965248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,681,657.530742946,631.530742946,880,784,808,652,630,652,0.446415172879,-0.00554854286081,0.0597332158441,0.999999896033,-9.30544519633e-05,-0.000441317688145,-6.71882883796e-05,1793245204883631872
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.940864919,745,713.059135081,681.059135081,657,630.940864919,879.940864919,784,808,652,630,652,0.446990278537,-0.00554393113704,0.0597113812571,0.999999885613,-8.9030860158e-05,-0.000464549168798,-7.10099659408e-05,1793245204900298496
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.384926307,745,713.615073693,681.615073693,657,630.384926307,879.384926307,784,808,652,630,652,0.447561638112,-0.005553256599,0.0597239520284,0.999999895815,-9.8330715007e-05,-0.000439921393293,-7.19068755067e-05,1793245204916965120
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.184657351,745,714,682,657,630,879.184657351,784,808,652,630,652,0.448114107411,-0.00556349064429,0.0597342054859,0.99999990341,-0.000109068715155,-0.000419539608407,-7.26034721307e-05,1793245204933631488
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.784954138,745,714,682,657,630,879.784954138,784,808,652,630,652,0.448624057106,-0.00557576979004,0.0597392429734,0.999999906253,-0.000123043790274,-0.000408714994367,-7.28491905994e-05,1793245204950298112
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.623338006,745.376661994,714,682,656.623338006,630,880,783.623338006,808,652,629.623338006,652,0.449076739341,-0.00558031842977,0.0597206327168,0.999999892482,-0.000128125795203,-0.000439464750295,-7.40962358813e-05,1793245204966964992
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.036424409,745.963575591,714,682,656.036424409,630,880,783.036424409,808,652,629.036424409,652,0.4494974551,-0.00558055192521,0.0596888223604,0.999999867164,-0.000128243715855,-0.000493421193703,-7.59022186624e-05,1793245204983631360
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d535f2bfc47d2a163bc7abd947af538455054d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0b2cb3827166cc1d6f20622edcf57f8c9cf5e3c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c7a5c91394d6839d3eb9e5d3363c510e0b0296a634768bf2f8c23c67e31ba1
+size 25437512
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6b0b41a9f0bf3cfa63dfe3c2fa39e1c2c003b2f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+56,0.933333333,BASELINE,764,745.492784027,714,679.507215973,659.507215973,634,879,786,805.507215973,653,630,652,0.400934352846,-0.00544074059743,0.0499250860081,0.999999974647,5.7833738143e-05,-0.000215851928461,-2.77523603716e-05,1793245210657806592
+57,0.950000000,BASELINE,764,745,714,679.90385561,659.90385561,634,878.90385561,786,806,653,630,652,0.400934558997,-0.00544165680796,0.049925401696,0.999999974879,5.62336842998e-05,-0.000215218994063,-2.75643624594e-05,1793245210674473216
+58,0.966666667,BASELINE,764,745,714,679.323721037,659.323721037,634,878.323721037,786,806,653,630,652,0.400934361086,-0.00544140210119,0.0499257923627,0.999999974927,5.57724977932e-05,-0.000215112005559,-2.76108217408e-05,1793245210691139840
+59,0.983333333,BASELINE,764,745.250833362,713.749166638,679,659.250833362,634,878,786,806,653,630,652,0.400934509216,-0.00544115595816,0.0499260887653,0.999999974977,5.60937847787e-05,-0.000214803616478,-2.75496402887e-05,1793245210707806464
+60,1.000000000,BASELINE,764,745.818342893,713.181657107,679,659.818342893,634,878,786,806,653,630,652,0.40093509422,-0.00544092062678,0.0499262661599,0.999999975029,5.74029415176e-05,-0.000214240959914,-2.7352562825e-05,1793245210724473344
+61,1.016666667,BASELINE,764,745.605605429,713,679,659.605605429,634,878.394394571,786,806,653,630,652,0.400935201122,-0.00544024663431,0.0499263762207,0.999999975001,5.74424141641e-05,-0.00021432137587,-2.76453354518e-05,1793245210741140224
+62,1.033333333,BASELINE,764,745.025532191,713,679,659.025532191,634,878.974467809,786,806,653,630,652,0.400935082936,-0.00543936612277,0.0499264545813,0.999999974936,5.6884126858e-05,-0.000214704546655,-2.81687266592e-05,1793245210757807104
+63,1.050000000,BASELINE,764,745,713,678.428758722,659,634,878.428758722,785.428758722,805.428758722,653,630,652,0.400934228617,-0.00543936967976,0.0499255446436,0.999999974552,5.89971675506e-05,-0.00021595417474,-2.79017519432e-05,1793245210774473728
+64,1.066666667,BASELINE,764,745,713.1625662,678.325132399,659,634,878.1625662,785.1625662,805.1625662,653,630,652,0.400933805005,-0.00543970766067,0.0499248561399,0.999999974395,5.99515647147e-05,-0.000216443293467,-2.77081589923e-05,1793245210791140352
+65,1.083333333,BASELINE,764,745,713.738096967,679.476193934,659,634,878.738096967,785.738096967,805.738096967,653,630,652,0.400934561609,-0.00544079177327,0.0499248457333,0.999999974861,5.76502381353e-05,-0.00021489916045,-2.77934178029e-05,1793245210807806720
+66,1.100000000,BASELINE,763.687687332,745,713.687687332,679.687687332,659.312312668,634,879,786,806,653,630,652,0.400934123798,-0.00544127515117,0.0499248950088,0.999999974879,5.60541005697e-05,-0.000215239953568,-2.77716470524e-05,1793245210824473344
+67,1.116666667,BASELINE,763.114569841,745,713.114569841,679.114569841,659.885430159,634,879,786,806,653,630,652,0.400932688557,-0.00544125686987,0.0499249941233,0.999999974524,5.50468495626e-05,-0.000217154803402,-2.76604984766e-05,1793245210841139968
+68,1.133333333,BASELINE,763.474222131,745,713,679,659.525777869,634,879,785.525777869,805.525777869,653,630,652,0.400934353299,-0.00544040668314,0.0499255320103,0.999999974727,5.63601996695e-05,-0.000215864431705,-2.77811109256e-05,1793245210857807104
+69,1.150000000,BASELINE,764,745.065247471,713.065247471,679,659,634,879,785.065247471,805.065247471,653,630,652,0.400936353284,-0.00543954984904,0.049926067151,0.999999975007,5.80339874889e-05,-0.000214100769239,-2.79220595536e-05,1793245210874473984
+70,1.166666667,BASELINE,764,745.643051837,713.643051837,679,659,634,879,785.643051837,805.643051837,653,630,652,0.400934902322,-0.00544027361613,0.0499257195175,0.99999997484,5.79844704394e-05,-0.00021491017098,-2.77678724432e-05,1793245210891140352
+71,1.183333333,BASELINE,763.779929414,745.779929414,714,679,659,634,879,786,806,653,630,652,0.400934314648,-0.00544097117711,0.0499255323531,0.99999997474,5.80937298246e-05,-0.000215383009449,-2.74914447735e-05,1793245210907806976
+72,1.200000000,BASELINE,763.204180291,745.204180291,714,679,659,634,879,786,806,653,630,652,0.400935122221,-0.00544162638381,0.0499256045394,0.999999974747,5.84596040037e-05,-0.000215311893789,-2.70174516351e-05,1793245210924473344
+73,1.216666667,BASELINE,763.369243302,745,713.630756698,679,659,634,879,786,806,653,630,652,0.400934661342,-0.00544179742224,0.04992495144,0.999999974604,5.79519348677e-05,-0.000216091189577,-2.71844354199e-05,1793245210941139968
+74,1.233333333,BASELINE,763.941388961,745,713.058611039,679,659,634,879,786,806,653,630,652,0.400933503437,-0.00544170240601,0.0499238997898,0.999999974376,5.69642461741e-05,-0.000217337793744,-2.77036415438e-05,1793245210957806848
+75,1.250000000,BASELINE,764.533781861,745,713.533781861,679,659,634,879.533781861,785.466218139,805.466218139,653,630,652,0.400933499615,-0.00544127926481,0.0499245524943,0.999999974572,5.5333562498e-05,-0.0002168459582,-2.77842728065e-05,1793245210974473472
+76,1.266666667,BASELINE,764.875577258,745,713.875577258,679,659.124422742,634,879.751154515,785.124422742,805,653,630,652,0.400933519012,-0.00544096832824,0.0499251953337,0.999999974761,5.41307495927e-05,-0.000216279541584,-2.77794168009e-05,1793245210991139840
+77,1.283333333,BASELINE,764.299678842,745,713.299678842,679,659.700321158,634,878.599357684,785.700321158,805,653,630,652,0.400933144709,-0.00544120042191,0.0499250965401,0.999999974756,5.47467806584e-05,-0.000216162455531,-2.76459950929e-05,1793245211007806720
+78,1.300000000,BASELINE,764,745,713.276738693,679,660,634,878.276738693,786,805.276738693,653,630,652,0.400932683427,-0.00544112331701,0.0499246514746,0.999999974539,5.5318304045e-05,-0.000217050058939,-2.74028161354e-05,1793245211024473600
+79,1.316666667,BASELINE,764,745,713.8537194,679,660,634,878.8537194,786,805.8537194,653,630,652,0.400932127778,-0.00544071075342,0.0499238307285,0.999999974089,5.58415396907e-05,-0.000219027679737,-2.70405582921e-05,1793245211041140480
+80,1.333333333,BASELINE,764,745,714,679,659.561089572,634,878.561089572,785.561089572,806,653,630,652,0.400933334322,-0.00544163913933,0.049924452433,0.999999974514,5.44429874764e-05,-0.000217409978697,-2.72211971e-05,1793245211057806848
+81,1.350000000,BASELINE,764,745,713.973501735,679,659,634,878,785,805.973501735,653,630,652,0.400935044083,-0.0054429713461,0.0499254972828,0.999999975192,5.24558960064e-05,-0.000214717982137,-2.75684547278e-05,1793245211074472704
+82,1.366666667,BASELINE,764,745,713.394088097,679,659,634,878,785,805.394088097,653,630,652,0.400934765663,-0.00544322661356,0.0499251490928,0.999999975147,5.18077047814e-05,-0.000215089126905,-2.75449714257e-05,1793245211091139328
+83,1.383333333,BASELINE,764,745,713.184295797,679,659,634,878,785.184295797,805.184295797,653,630,652,0.400934910117,-0.00544307327143,0.0499252987709,0.999999975163,5.20560605482e-05,-0.000214963618923,-2.74616029808e-05,1793245211107806208
+84,1.400000000,BASELINE,764,745,713.760490086,679,659,634,878,785.760490086,805.760490086,653,630,652,0.400935953797,-0.00544205103554,0.049926507148,0.999999975308,5.42108916478e-05,-0.000213781996511,-2.72508908946e-05,1793245211124472832
+85,1.416666667,BASELINE,764,745,714,679,659.336200289,633.663799711,878,786,805.663799711,653,629.663799711,652,0.40093637454,-0.00544111160181,0.0499266906009,0.999999975237,5.58137615808e-05,-0.000213677153629,-2.74329823055e-05,1793245211141139968
+86,1.433333333,BASELINE,764,745,714,679,659.911566089,633.088433911,878,786,805.088433911,653,629.088433911,652,0.40093635214,-0.00544023107178,0.0499261449449,0.999999975015,5.70239783188e-05,-0.000214338308156,-2.78945055201e-05,1793245211157806848
+87,1.450000000,BASELINE,764,745,713.500963419,679.499036581,659.500963419,633,878,786,805.499036581,653,629,652,0.400934707482,-0.00544034423208,0.0499255790561,0.999999974717,5.79774004528e-05,-0.000215502262178,-2.76200490486e-05,1793245211174473472
+88,1.466666667,BASELINE,764,745.087105482,713,679.912894518,659,633.087105482,878,786,805.912894518,653,629.087105482,652,0.400933526466,-0.00544072741795,0.0499253476294,0.999999974589,5.83721454025e-05,-0.000216035254324,-2.72756309269e-05,1793245211191140608
+89,1.483333333,BASELINE,764,745.666138507,713,679.333861493,659,633.666138507,878,786,805.333861493,653,629.666138507,652,0.400936627764,-0.00544161637611,0.0499270258282,0.999999975491,5.58751508973e-05,-0.000212489189369,-2.72909747965e-05,1793245211207808512
+90,1.500000000,BASELINE,764,745.757011441,713.242988559,678.757011441,659,634,878,785.757011441,805.242988559,653,630,652,0.400937158648,-0.00544134996872,0.0499271866704,0.999999975623,5.55531332018e-05,-0.000211920198826,-2.75233901365e-05,1793245211224475136
+91,1.516666667,BASELINE,764,745.183134094,713.816865906,678.183134094,659,634,878,785.183134094,805.816865906,653,630,652,0.40093418928,-0.00543951024641,0.0499252812575,0.999999974714,5.81928824851e-05,-0.000215405228845,-2.80514017622e-05,1793245211241140224
+92,1.533333333,BASELINE,764,745,713.600081414,678.399918586,659,634,878,785.399918586,806,653,630,652,0.400933687986,-0.00544004894751,0.0499243244105,0.999999974563,5.80173741243e-05,-0.000216159087053,-2.80038782192e-05,1793245211257806592
+93,1.550000000,BASELINE,764,745,713.012728375,678.987271625,659,634,878,785.987271625,806,653,630,652,0.400934343431,-0.00544170237157,0.0499238121386,0.999999974771,5.65224067437e-05,-0.000215632895794,-2.76866120209e-05,1793245211274473216
+94,1.566666667,BASELINE,764,745,713.567310202,678.432689798,659,634,878,786,806,653,630,652,0.400936360887,-0.00544262111812,0.0499254796242,0.99999997529,5.61795092331e-05,-0.00021335984512,-2.72309814355e-05,1793245211291139584
+95,1.583333333,BASELINE,764,745,714,678,659.146755165,634,878.146755165,786,805.853244835,653,630,652,0.400937760696,-0.00544292339946,0.0499266960129,0.999999975612,5.62532347258e-05,-0.000211858690191,-2.69731911173e-05,1793245211307806464
+96,1.600000000,BASELINE,764,745,714,678,659.724931495,634,878.724931495,786,805.275068505,653,630,652,0.400937256098,-0.00544146127744,0.0499264443569,0.999999975346,5.74767012633e-05,-0.000212740453833,-2.73060083991e-05,1793245211324473344
+97,1.616666667,BASELINE,763.699497544,745,714,678.300502456,659.699497544,634,878.699497544,786,805,653,630,652,0.400936231348,-0.00544146302248,0.0499259903096,0.999999975196,5.65688548749e-05,-0.000213679007495,-2.73852012553e-05,1793245211341140224
+98,1.633333333,BASELINE,763.126290974,745,714,678.873709026,659.126290974,634,878.126290974,786,805,653,630,652,0.400934734563,-0.00544279321789,0.0499253525934,0.999999975144,5.37268551558e-05,-0.000214669097693,-2.72342314986e-05,1793245211357806848
+99,1.650000000,BASELINE,763.459305078,745,714,679,659.459305078,634,878.459305078,786,805.459305078,653,630,652,0.400935800674,-0.0054430532765,0.0499262545982,0.999999975339,5.39554455078e-05,-0.000213705777546,-2.71989819895e-05,1793245211374473216
+100,1.666666667,BASELINE,764,745,713.952305644,679,659.952305644,634,878.952305644,785.952305644,805.952305644,653,630,652,0.400937362341,-0.00544290880783,0.0499274516268,0.999999975562,5.50982418494e-05,-0.000212369232305,-2.72016378679e-05,1793245211391139584
+101,1.683333333,BASELINE,764,745,713.371823471,679,659.371823471,634,878.371823471,785.371823471,805.371823471,653,630,652,0.400936369493,-0.00544162352133,0.0499270838837,0.999999975327,5.67605722969e-05,-0.00021302977666,-2.7262435423e-05,1793245211407806208
+102,1.700000000,BASELINE,763.793335493,745,713.206664507,679,659,634,878,785,805.206664507,653,629.793335493,652,0.400935337736,-0.00544113375643,0.0499265554723,0.999999975113,5.7131483236e-05,-0.000213928318606,-2.72778612177e-05,1793245211424472832
+103,1.716666667,BASELINE,763.21840117,745,713.78159883,679,659,634,878,785,805.78159883,653,629.21840117,652,0.400934236645,-0.00544206158676,0.049925740755,0.99999997494,5.52011240361e-05,-0.000215250964888,-2.72124359203e-05,1793245211441139712
+104,1.733333333,BASELINE,763.365121776,745,714,679,659,634,878,785,805.634878224,653,629.365121776,652,0.400934953894,-0.00544186579325,0.0499260918417,0.99999997508,5.46561778915e-05,-0.000214744061448,-2.71646765929e-05,1793245211457806592
+105,1.750000000,BASELINE,763.953905905,745,714,679,659,634,878,785,805.046094095,653,629.953905905,652,0.400936785002,-0.00544098170248,0.0499271570639,0.999999975412,5.49598929215e-05,-0.000213116432333,-2.71277388881e-05,1793245211474473472
+106,1.766666667,BASELINE,764,745.534062246,713.465937754,679,659,633.465937754,878,785.534062246,805.534062246,652.465937754,630,652,0.400936190699,-0.00544136559721,0.049926669895,0.999999975385,5.48618757548e-05,-0.000213250516064,-2.72944589514e-05,1793245211491139840
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,879,786,806,653,630,652,0.400931885689,-0.00544029561686,0.0499245283049,0.999999974394,5.68881395541e-05,-0.000217288510648,-2.75905366967e-05,1793245211533494784
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.425263325,679,659.425263325,634,879,786,805.425263325,653,630,652,0.400934118759,-0.00544136195609,0.0499245923981,0.999999974694,5.58807784427e-05,-0.000216178895232,-2.75099860101e-05,1793245211550161408
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.153394285,679,659,634,879,786,805,653,630,652,0.400935465683,-0.00544211054376,0.0499246855605,0.999999974889,5.57846818261e-05,-0.000215314243935,-2.73721837895e-05,1793245211566828032
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.743207397,679,659,634,879,786,805,653,630,652,0.40093429145,-0.00544195510347,0.0499248614274,0.999999974791,5.82812042546e-05,-0.000215146534602,-2.7071496426e-05,1793245211583494912
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.672509043,679,659.327490957,633.672509043,878.672509043,785.672509043,805.327490957,653,630,652,0.400934917815,-0.00544146701254,0.0499250395141,0.999999974922,5.85064498515e-05,-0.0002144714436,-2.71000715179e-05,1793245211600161536
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.092489362,679,659.907510638,633.092489362,878.092489362,785.092489362,805.907510638,653,630,652,0.400936932625,-0.00544072241425,0.0499252193126,0.999999975231,5.69803106382e-05,-0.000213405109912,-2.7382541356e-05,1793245211616828416
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.517653187,745,713.482346813,679.482346813,659.517653187,633.482346813,878,785.482346813,806,653,630,652,0.400943920925,-0.00544129060532,0.0499284736014,0.999999976415,5.61432034669e-05,-0.00020804131438,-2.71466849151e-05,1793245211633495040
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.056544427,745,713.943455573,679.943455573,659,634,878,786,805.943455573,653,630,652,0.400952889525,-0.00544215513415,0.0499322896404,0.999999977846,5.54092198134e-05,-0.000201290026094,-2.68364846341e-05,1793245211650161408
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.633918023,745,713.366081977,679.366081977,659,634,878,786,805.366081977,653,630,652,0.400971407871,-0.00544345523625,0.0499359075397,0.99999998025,5.44210802611e-05,-0.000189268021951,-2.67472355196e-05,1793245211666827520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.216095235,745,713,679,659.216095235,634,878.216095235,786,805,653,630,652,0.400995533207,-0.00544480119103,0.0499404137315,0.999999983064,5.36475292988e-05,-0.000174022862328,-2.66439250145e-05,1793245211683493888
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.806595087,745,713,679,659.806595087,634,878.806595087,786,805,653,630,652,0.40102937316,-0.00544622658959,0.0499464589705,0.999999986497,5.32457726515e-05,-0.000153193294402,-2.65162518805e-05,1793245211700160512
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.610642765,745,713.389357235,679,660,634,878.610642765,786,805.389357235,653,630,652,0.401074352434,-0.00544663738837,0.0499514479061,0.999999989832,5.31122771335e-05,-0.000129580341556,-2.69131726434e-05,1793245211716827136
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.031649211,745,713.968350789,679,660,634,878.031649211,786,805.968350789,653,630,652,0.401124757112,-0.00544655402677,0.0499559223701,0.999999992738,5.31094380582e-05,-0.000104611740054,-2.75655966773e-05,1793245211733493760
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.458331591,679,659.458331591,634,878,786,806,653,630,652,0.401181099112,-0.00544888378933,0.0499583727475,0.99999999404,5.13520474829e-05,-9.23510363836e-05,-2.74518996157e-05,1793245211750160896
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.117646499,679,659,634,878,785.882353501,806,653,630,652,0.401241179839,-0.00545116082196,0.0499610015402,0.999999995026,4.97688048729e-05,-8.20517737245e-05,-2.71935409355e-05,1793245211766827776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.705571636,679,659,634,878,785.294428364,806,653,630,652,0.40131483336,-0.00545266929953,0.0499648113796,0.999999995495,4.92872488251e-05,-7.66558208785e-05,-2.65339962922e-05,1793245211783494144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.289601827,785.289601827,806,653,630,652,0.401398331824,-0.00545485590357,0.0499665816005,0.999999995658,4.86007019789e-05,-7.52407756418e-05,-2.56955850852e-05,1793245211800160512
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.869724673,785.869724673,806,653,630,652,0.401491706473,-0.00545772278638,0.0499663057289,0.99999999553,4.77085137254e-05,-7.78192736971e-05,-2.4677739634e-05,1793245211816827136
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679.448384732,659,634,879.448384732,786,805.551615268,653,629.551615268,652,0.401607799969,-0.00546177426964,0.0499651827403,0.999999995523,4.57930672357e-05,-7.91698225036e-05,-2.42883241707e-05,1793245211833493760
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.973703664,679.973703664,659.026296336,633.973703664,879.973703664,786,805,653,629.026296336,652,0.401731788355,-0.00546617531593,0.0499640346163,0.999999995563,4.36188323928e-05,-7.99654964765e-05,-2.40219286743e-05,1793245211850160384
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.402522753,679.402522753,659.597477247,633.402522753,879.402522753,786,805,653,629.597477247,652,0.401883035945,-0.00547071113441,0.0499674490057,0.999999995918,4.22225862478e-05,-7.66322737464e-05,-2.25335651275e-05,1793245211866827264
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.825237376,745,713,679,659.825237376,633.174762624,879,785.825237376,805.174762624,653,630,652,0.40204185261,-0.00547617990834,0.0499692770988,0.999999996191,3.94606968437e-05,-7.49289979577e-05,-2.11499776059e-05,1793245211883493888
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.233383048,745,713,679,659.233383048,633.766616952,879,785.233383048,805.766616952,653,630,652,0.402218733748,-0.00548387529029,0.0499673193071,0.999999996267,3.3439538235e-05,-7.71157840969e-05,-2.00164506925e-05,1793245211900160768
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.350886487,745,713,679,659,633.649113513,879,785.350886487,806,653,630,652,0.402418300232,-0.0054908871988,0.0499654851726,0.99999999624,2.91263150376e-05,-7.95091083178e-05,-1.86873160019e-05,1793245211916827392
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.930217992,745,713,679,659,633.069782008,879,785.930217992,806,653,630,652,0.402632636052,-0.00549745413198,0.0499637315449,0.99999999615,2.59250444021e-05,-8.20368995924e-05,-1.72308305486e-05,1793245211933494016
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.492872916,745,713.507127084,678.492872916,659,633,878.492872916,786,806,653,630,652,0.402889709696,-0.00550467151742,0.0499653995563,0.999999996368,2.58538619873e-05,-7.96919747789e-05,-1.56204390875e-05,1793245211950160640
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.083284212,745,714,678.083284212,659.083284212,633.083284212,878.083284212,786,806,653,630,652,0.40315918006,-0.00551272938413,0.0499684348794,0.999999996822,2.51571730469e-05,-7.43860480701e-05,-1.38034978533e-05,1793245211966827264
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.656967225,745,714,678.656967225,659.656967225,633.656967225,878.656967225,786,806,653,630,652,0.403467182353,-0.00552521170657,0.0499767621186,0.99999999823,1.82532772689e-05,-5.55742789391e-05,-1.08944457832e-05,1793245211983494144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.762999737,678.762999737,659.762999737,634,879,786,806,653,630,652,0.403788544095,-0.0055365070875,0.0499848072978,0.999999999206,1.20705292887e-05,-3.70766455919e-05,-8.17461635122e-06,1793245212000161024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.173522709,678.173522709,659.173522709,634,879,786,806,653,630,652,0.404129774552,-0.00554603719833,0.0499924329848,0.999999999778,6.96030308534e-06,-1.90462093481e-05,-5.73620696811e-06,1793245212016827904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,678.409948506,659,634,879,786,806,653,630,652,0.404506650578,-0.00555544730489,0.0499983946398,0.999999999971,4.37877940776e-06,-5.50830618756e-06,-2.92155544832e-06,1793245212033494272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,678.990914277,659,634,879,786,806,653,630,652,0.404898396775,-0.00556480734931,0.0500036621142,0.999999999977,2.85214880097e-06,6.15545695867e-06,5.00520661758e-08,1793245212050160896
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.564157848,679,659,634,879,785.435842152,806,653,630.564157848,652,0.40532324462,-0.00556813867149,0.0499996442242,0.999999999921,1.20802566787e-05,-4.51299082495e-07,3.57466362212e-06,1793245212066827776
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.141261311,713.858738689,679.141261311,659.141261311,634,879,785.141261311,806.141261311,653,630.858738689,652,0.405747071564,-0.00556794446356,0.0499916170344,0.999999999554,2.46419375127e-05,-1.5547782325e-05,6.55163555679e-06,1793245212083494400
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.731008827,713.268991173,679.731008827,659.731008827,634,879,785.731008827,806.731008827,653,630.268991173,652,0.406165987527,-0.00555686125009,0.0499713292018,0.999999997248,4.72447993434e-05,-5.66764623645e-05,7.7620286991e-06,1793245212100161280
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,746,713.315849966,679.684150034,659.684150034,634,879.315849966,786,806.684150034,653,630,652,0.406622594181,-0.00554941042574,0.0499530814795,0.99999999373,6.71765825063e-05,-8.91111031658e-05,9.32033959424e-06,1793245212116827648
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,746,713.896576606,679.103423394,659.103423394,634,879.896576606,786,806.103423394,653,630,652,0.407110808879,-0.00554500577796,0.0499365446231,0.999999989809,8.48683602363e-05,-0.000114254792542,1.11704198446e-05,1793245212133494016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.5278289,714,679,659,634,879.0556578,785.5278289,806,653,630,652,0.407665790008,-0.00555111392353,0.0499419961388,0.999999990896,9.06110672969e-05,-9.8792517689e-05,1.54310197257e-05,1793245212150160384
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.046782211,785.046782211,806,653,630,652,0.408241218449,-0.00555898906423,0.0499538426433,0.999999992713,9.45540299942e-05,-7.22775981425e-05,2.02542492812e-05,1793245212166827008
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.622849439,785.622849439,806,653,630,652,0.408884305872,-0.00556108346375,0.049984136178,0.999999993698,0.000107428268858,-2.0260978242e-05,2.55335599644e-05,1793245212183493888
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.204109022,633.795890978,879,786,806,653,630,652,0.409520747863,-0.00556316404317,0.0500063060386,0.999999992875,0.000114641861525,1.5571928997e-05,2.94159074805e-05,1793245212200160512
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.795213395,633.204786605,879,786,806,653,630,652,0.410144589925,-0.00556521841923,0.0500130732265,0.999999993142,0.000111122739892,2.07201455169e-05,3.06495808392e-05,1793245212216827136
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.622484437,633,879,786,806,652.622484437,630,652,0.410759167662,-0.00556531264265,0.0499965461067,0.999999993729,0.000106291573117,-1.89408050908e-05,2.97528687972e-05,1793245212233494016
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.044848325,633,879,786,806,652.044848325,630,652,0.411368834372,-0.00556436779144,0.049967670702,0.999999991148,0.000100764892537,-8.23550416486e-05,2.77268418664e-05,1793245212250160640
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633,879,786,806,652.530194627,630,652,0.412065324866,-0.00556230470828,0.0499519949703,0.999999989485,0.000104427912987,-9.6879029249e-05,2.72023645023e-05,1793245212266827264
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.105106861,713.894893139,679.105106861,659.105106861,633.105106861,879,786,806,652.894893139,630,652,0.412788783233,-0.00556099959802,0.0499454840289,0.999999989254,0.000107856861573,-9.54439142368e-05,2.73902092743e-05,1793245212283493888
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.680410651,713.319589349,679.680410651,659.680410651,633.680410651,879,786,806,652.319589349,630,652,0.413600187673,-0.00556350637794,0.0499750013586,0.999999993002,0.000106778159429,-4.10259280203e-05,3.01992045966e-05,1793245212300160512
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.73632964,713.26367036,680,659.73632964,634,879.26367036,786,806,652.26367036,630.26367036,652,0.414380843996,-0.00556610739826,0.0499861886069,0.999999993822,0.000104330614216,-2.15502395014e-05,3.17180297698e-05,1793245212316827136
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.143126621,713.856873379,680,659.143126621,634,879.856873379,786,806,652.856873379,630.856873379,652,0.415123071729,-0.00556882619967,0.0499744671015,0.999999993436,0.000100172302332,-4.57450883389e-05,3.1624413263e-05,1793245212333493504
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.563096475,679.563096475,659,634,879.563096475,785.563096475,806.436903525,652.563096475,630.12619295,652,0.415888331486,-0.00556998662802,0.0499527138723,0.999999991723,9.7437250913e-05,-7.8202902727e-05,3.07375280157e-05,1793245212350160128
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.01294544,679,659,633.98705456,879.01294544,785.01294544,806.98705456,652,629.01294544,652,0.416662835783,-0.00557065290749,0.0499288439325,0.999999988801,9.52364838832e-05,-0.000111571721807,2.96740509897e-05,1793245212366826752
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.597861307,679,659,633.402138693,879.597861307,785.597861307,806.402138693,652,629.597861307,652,0.417522184393,-0.00557138200842,0.0499524014257,0.999999992432,9.66446041507e-05,-6.90931283922e-05,3.19539906102e-05,1793245212383493376
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.180980606,745,714,679,659,633.180980606,879.819019394,786,806.180980606,652,630,651.819019394,0.418375785278,-0.00557199463898,0.0499707692679,0.99999999394,9.70919949491e-05,-3.93293528759e-05,3.38472313907e-05,1793245212400160256
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.760147137,745,714,679,659,633.760147137,879.239852863,786,806.760147137,652,630,651.239852863,0.41921674021,-0.00557235101629,0.0499777190568,0.999999994134,9.54256293748e-05,-3.754018827e-05,3.48896736012e-05,1793245212416826880
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.660174238,745,713.660174238,679.339825762,659,634,879.339825762,786,806.660174238,652,630,651.339825762,0.4200686269,-0.00557032413155,0.0499698695614,0.999999993644,9.62873962137e-05,-4.75666241654e-05,3.43254492024e-05,1793245212433493248
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.08013365,745,713.08013365,679.91986635,659,634,879.91986635,786,806.08013365,652,630,651.91986635,0.420928240956,-0.005566612575,0.0499515588003,0.999999992399,9.89362403415e-05,-6.59452297641e-05,3.26255099741e-05,1793245212450159872
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.493086166,745,713.493086166,680,659.493086166,633.506913834,880,786,806.493086166,652,630,652,0.421847316762,-0.00557022871618,0.0499766239147,0.999999994886,9.38502023307e-05,-1.5276063716e-05,3.44390871174e-05,1793245212466827776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,807,652.06721323,630,652,0.422771670501,-0.00557465883156,0.0500038467678,0.999999994778,8.80123593888e-05,3.68708018917e-05,3.65909479287e-05,1793245212483495424
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,807,652.656891117,630,652,0.423662959365,-0.0055762856435,0.0499937946585,0.999999995516,8.59684432625e-05,1.44686703546e-05,3.69944280512e-05,1793245212500161536
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.757715582,745,714,679.757715582,660,633.242284418,879.757715582,786,807,652.757715582,630,652,0.42456506537,-0.00557800459322,0.0499886972545,0.999999995817,8.33792085221e-05,4.69951375496e-06,3.73078923186e-05,1793245212516827648
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.178284338,745,714,679.178284338,660,633.821715662,879.178284338,786,807,652.178284338,630,652,0.425482223914,-0.00557985175595,0.0499904944862,0.999999996016,8.00311445457e-05,1.25095586822e-05,3.7496096607e-05,1793245212533494016
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401025234,745,714,679,660,634,879.401025234,786,807,652,630.401025234,652,0.426401849929,-0.00557844525725,0.0500021450542,0.999999995595,8.25773576139e-05,2.17041611471e-05,3.89895096719e-05,1793245212550160384
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.980280695,745,714,679,660,634,879.980280695,786,807,652,630.980280695,652,0.427322572524,-0.00557559271273,0.0500181748037,0.999999994811,8.7743202395e-05,3.15141109677e-05,4.10630050669e-05,1793245212566827008
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446495565,745.553504435,714,679.553504435,660,634,880,786,807,652,631,652,0.428152707561,-0.00557321822345,0.0499798790911,0.999999994297,8.86691720073e-05,-4.39316056873e-05,4.01839032298e-05,1793245212583493632
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.869900599,714,679.869900599,660,633.869900599,880,786,807,652,630.869900599,652,0.429007303694,-0.00557261629409,0.0499494985635,0.999999990467,8.78587423259e-05,-9.89698470445e-05,3.94040788434e-05,1793245212600160512
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.28065782,714,679.28065782,660,633.28065782,880,786,807,652,630.28065782,652,0.429959494152,-0.00557821057796,0.049953808882,0.999999993362,8.14475982137e-05,-7.13828053778e-05,3.93418547483e-05,1793245212616827392
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.303172131,660,633.303172131,880,786,807,652,630,652,0.430875096552,-0.00558075832404,0.049955030362,0.999999994038,7.96333847376e-05,-6.33679981772e-05,3.95850102656e-05,1793245212633494016
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.882079087,660,633.882079087,880,786,807,652,630,652,0.431757422089,-0.00558053524597,0.0499534425453,0.999999993158,8.20000765996e-05,-7.31541250176e-05,4.01059083316e-05,1793245212650160640
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.459999426,745,714,680,659.540000574,634,880,786,807,652,630.459999426,652,0.432633887347,-0.0055789154931,0.0499453161258,0.999999992345,8.29091041984e-05,-8.2815066242e-05,3.97270534352e-05,1793245212666827776
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962471155,745,713.962471155,680.037528845,659.037528845,633.962471155,880,786,807.037528845,652,631,652,0.433509354751,-0.005577312972,0.0499378451902,0.999999991788,8.31688467529e-05,-8.9232298282e-05,3.93034921395e-05,1793245212683494912
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.386928508,745,713.386928508,680.613071492,659.613071492,633.386928508,880,786,807.613071492,652,631,652,0.434392006614,-0.00558107933466,0.0499637494685,0.999999994749,7.9465938963e-05,-4.96067574841e-05,4.15385690995e-05,1793245212700160768
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.192462819,680.807537181,660,633.192462819,880,786,807.807537181,652,630.807537181,652,0.43525126169,-0.005582532762,0.0499782898092,0.999999995391,7.86347496245e-05,-3.39785940901e-05,4.335343786e-05,1793245212716827136
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.779749546,680.220250454,660,633.779749546,880,786,807.220250454,652,630.220250454,652,0.436062520065,-0.00557924136625,0.0499695178376,0.999999993233,8.36946877823e-05,-6.75793520708e-05,4.43062796035e-05,1793245212733493760
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.363337107,745,714,680,660,633.636662893,880.363337107,786,807.363337107,652,630.363337107,652,0.436880333405,-0.00557791767476,0.0499591700947,0.999999991586,8.52302665708e-05,-8.72854176564e-05,4.4097088167e-05,1793245212750160384
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.944704845,745,714,680,660,633.055295155,880.944704845,786,807.944704845,652,630.944704845,652,0.437702080188,-0.00557777475964,0.0499478767665,0.999999990618,8.46509543157e-05,-9.86535810444e-05,4.31905860609e-05,1793245212766827008
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.520972406,881,786,808,652,631,652,0.438535902209,-0.00558236741571,0.0499720171369,0.999999994679,7.87807459439e-05,-4.97260853344e-05,4.43053825892e-05,1793245212783493888
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.098622918,714,680,660,634,880.901377082,786,808.098622918,652,631,652,0.439351420044,-0.00558681085496,0.0499924097082,0.999999996249,7.33614253832e-05,-8.1674151235e-06,4.53067149907e-05,1793245212800160512
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.68577941,714,680,660,634,880.31422059,786,808.68577941,652,631,652,0.440069980005,-0.00558804949725,0.0499757882982,0.999999995747,7.29303832595e-05,-3.45044038404e-05,4.46935792124e-05,1793245212816827136
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.730490073,745.730490073,714,680,660,633.730490073,880.539019854,786,808.730490073,652,630.730490073,652,0.440793581987,-0.00558713320195,0.0499605842598,0.999999994643,7.33522824631e-05,-5.83012773442e-05,4.3971799417e-05,1793245212833493504
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.150703788,745.150703788,714,680,660,633.150703788,881.698592424,786,808.150703788,652,630.150703788,652,0.441522988605,-0.00558373601024,0.0499470119875,0.999999993142,7.47561400884e-05,-7.91738126069e-05,4.31249420207e-05,1793245212850160128
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.42594099,745,714,680.42594099,659.57405901,633,881.148118019,785.57405901,808,652,630,652,0.442219765191,-0.00558412147936,0.0499458449413,0.999999993308,7.48758000165e-05,-7.67030990049e-05,4.35330378189e-05,1793245212866827008
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.001478524,714,681,659,632.998521476,880,785.001478524,808,652,630.001478524,652.001478524,0.442904836939,-0.00558583517736,0.0499489571859,0.999999994047,7.45341491386e-05,-6.61959044271e-05,4.43771882712e-05,1793245212883493632
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.575497507,714,681,659,632.424502493,880,785.575497507,808,652,630.575497507,652.575497507,0.443495242602,-0.00558742107972,0.0499219754834,0.999999989572,7.02153422197e-05,-0.000118504026334,4.33957951496e-05,1793245212900160512
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.845861549,746,714,681,659,632,880.154138451,786,808,652,630.845861549,652.845861549,0.444067617753,-0.00558797808905,0.0498865671476,0.999999980278,6.76670510655e-05,-0.000181993281246,4.17612456541e-05,1793245212916827136
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.254097939,746,714,681,659,632,880.745902061,786,808,652,630.254097939,652.254097939,0.444588801366,-0.00558561389726,0.0498272341675,0.99999995838,7.01455530038e-05,-0.000277227677689,3.827227446e-05,1793245212933494016
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.669274281,713.669274281,681,659,632,880.338548562,785.669274281,808.330725719,652,630,652,0.44514721688,-0.00558737225282,0.0497987652773,0.999999948583,6.61627021631e-05,-0.000311625182627,3.66895920629e-05,1793245212950160640
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745.089673064,713.089673064,681,659,632,879.179346128,785.089673064,808.910326936,652,630,652,0.445733649863,-0.00559223288019,0.0497935220285,0.999999952617,5.7317597683e-05,-0.000300242114006,3.65414177025e-05,1793245212966827008
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.483244235,713.483244235,680.516755765,658.516755765,631.516755765,879.483244235,785.483244235,808.516755765,652,630,652,0.446275640293,-0.00558405389836,0.0498021342287,0.999999958373,6.39867556336e-05,-0.00027910932765,3.54521041874e-05,1793245212983493888
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.05678704,746,714,680,658,631,880,785.94321296,808.05678704,652,630,652,0.446799360104,-0.00557458926193,0.0498098844646,0.999999962366,7.26138931798e-05,-0.000262330980839,3.43067692702e-05,1793245213000160256
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.647720729,746,714,680,658,631,880,785.352279271,808.647720729,652,630,652,0.44722773781,-0.00557548101999,0.0497856729322,0.999999950758,7.29481694357e-05,-0.000303296534966,3.42547868718e-05,1793245213016826880
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.76623194,745.76623194,714,680.23376806,658,631,880,784.76623194,809,652,630,652,0.447643448859,-0.00558016875768,0.0497572005635,0.999999936402,6.73074809983e-05,-0.000348617024454,3.36405697606e-05,1793245213033493760
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.187397444,745.187397444,714,680.812602556,658,631,880,784.187397444,809,652,630,652,0.448040462543,-0.0055904597636,0.0497224387507,0.999999917939,5.28471113047e-05,-0.000400365856457,3.21964346207e-05,1793245213050160640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.390564383,745,714,680.609435617,658,630.609435617,880,784.390564383,808.609435617,652,630,652,0.448441269166,-0.00559526544539,0.0497114588668,0.999999911784,4.60448446265e-05,-0.000416282268154,3.19370100411e-05,1793245213066830848
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968108478,745,714,680.031891522,658,630.031891522,880,784.968108478,808.031891522,652,630,652,0.448843891664,-0.00559744507112,0.0497118643965,0.999999912429,4.29088349766e-05,-0.000415044187558,3.22447564851e-05,1793245213083502336
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.116273415,745,714,680.116273415,657,629,880,784,808.883726585,652,629.883726585,652,0.449569683009,-0.00559401376742,0.0497490291323,0.999999934359,4.97995227216e-05,-0.000357151528016,3.52944005061e-05,1793245213116827648
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.708981252,745,714,680.708981252,657,629,880,784,808.291018748,652,629.291018748,652,0.449880345793,-0.00558909230665,0.0497523445823,0.999999935248,5.55062829019e-05,-0.000353797279959,3.53583522954e-05,1793245213133494016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.294723326,714,681,657,629,880,784,808,652,629,652,0.450171976024,-0.00558637471694,0.0497546813019,0.999999935314,5.89717836462e-05,-0.000353009927542,3.57464990415e-05,1793245213150160384
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.873745972,714,681,657,629,880,784,808,652,629,652,0.450445246841,-0.00558578305031,0.0497560739073,0.999999934614,6.02752952381e-05,-0.000354698682993,3.64473743596e-05,1793245213166827008
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.549680045,745.549680045,714,681,657,629,880,784,808.450319955,652,629,652,0.450685711184,-0.00558954626122,0.0497544137312,0.999999932377,5.68897956273e-05,-0.000361438862346,3.70248806296e-05,1793245213183493632
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.025846399,745,714,681,656.974153601,628.974153601,880.025846399,784,809,652,629,652,0.450914795005,-0.00559433447561,0.0497516999012,0.999999929547,5.23472975536e-05,-0.00036980484285,3.75462709956e-05,1793245213200160512
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.593724122,745,714,681,656.406275878,628.406275878,880.593724122,784,809,652,629,652,0.451097061142,-0.00559515179976,0.0497447417152,0.999999924754,5.09615404034e-05,-0.000382726142233,3.76122796362e-05,1793245213216827392
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.82978695,745,714.17021305,681,656.3404261,628,880.82978695,784,809,652,629,652.17021305,0.451271279794,-0.00559552723488,0.0497382370595,0.999999920056,5.02757661835e-05,-0.000394906818072,3.75381553097e-05,1793245213233494016
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.23164907,745,714.76835093,681,657.536701859,628,880.23164907,784,809,652,629,652.76835093,0.451425266604,-0.00559479173696,0.0497328726048,0.999999915889,5.13497871978e-05,-0.00040522552436,3.71117291125e-05,1793245213250160384
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,714.646314795,681,657.646314795,628,880,784.353685205,808.646314795,652.353685205,629,652.646314795,0.451563634681,-0.00559513119988,0.0497291363098,0.999999911837,5.11675589334e-05,-0.000415148259002,3.68875534065e-05,1793245213266827008
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,714.069073325,681,657.069073325,628,880,784.930926675,808.069073325,652.930926675,629,652.069073325,0.451692130532,-0.0055961501207,0.0497264291365,0.999999907827,5.01912845592e-05,-0.000424820710091,3.67912155315e-05,1793245213283493888
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.506018235,745.506018235,714.506018235,681,656.493981765,628,880,784.493981765,808.506018235,652.493981765,629,652,0.451805826495,-0.00559627176901,0.0497265655631,0.999999907998,4.95354672654e-05,-0.000424496335267,3.67785468772e-05,1793245213300160512
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.917206065,714.917206065,681,656.082793935,628,880,784,808.917206065,652,629,652,0.451913477153,-0.00559656232774,0.0497268876243,0.999999908556,4.85394790944e-05,-0.000423295527621,3.67745109768e-05,1793245213316827136
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.328349938,714.328349938,681,656.671650062,628,880,784,808.328349938,652,629,652,0.451996473159,-0.00559863079354,0.049725981815,0.999999907972,4.51980178581e-05,-0.000425043278882,3.67537268639e-05,1793245213333493760
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.256467839,714,681,656.743532161,627.743532161,880.256467839,784,808,652,629,652.256467839,0.452070486274,-0.00559954889732,0.0497247982852,0.999999907339,4.36231094342e-05,-0.000426704984336,3.66385669068e-05,1793245213350160640
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.586877038,746,714,681,656,627,881,784,808,652,629,652.586877038,0.452182088811,-0.00559907868171,0.0497221392814,0.999999905609,4.31791128127e-05,-0.00043079906206,3.64688627226e-05,1793245213383493888
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.132480053,681,657,627,881,784,808,652.132480053,629,652,0.452289637693,-0.00559740413333,0.0497186112458,0.999999904702,4.18260360444e-05,-0.000433104355871,3.55918776735e-05,1793245213433493760
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680.044919331,656.044919331,627,880,784,808.044919331,653,629,652,0.452347339555,-0.00559084037657,0.0497062738306,0.999999895875,4.80237345567e-05,-0.00045251448023,3.42672372366e-05,1793245213600160256
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.528604286,745,714,680.528604286,656,627,880,784,808,652.471395714,629,652,0.452350014797,-0.00559119878816,0.0497067581442,0.99999989666,4.65987842167e-05,-0.000450962458807,3.37882995859e-05,1793245213616827136
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,656.104630741,627,880,784,808.104630741,652,628.895369259,652,0.452352187823,-0.00559143428408,0.049707005754,0.999999897199,4.52593284517e-05,-0.000449937658683,3.33169239184e-05,1793245213633493760
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,656.694088228,627,880,784,808.694088228,652,628.305911772,652,0.452350907864,-0.00559039974598,0.0497057477297,0.999999896081,4.63018974727e-05,-0.0004523207697,3.31784581964e-05,1793245213650160896
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.721156872,745,714,681,656.721156872,627,880.278843128,784,808.721156872,652,628.278843128,652,0.452351405443,-0.00558996923837,0.0497059841917,0.999999895868,4.72914286179e-05,-0.000452677830061,3.33107033388e-05,1793245213666827776
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.141475427,745,714,681,656.141475427,627,880.858524573,784,808.141475427,652,628.858524573,652,0.452353820771,-0.00559019040712,0.0497078330251,0.999999896636,4.82237383817e-05,-0.000450849024874,3.37350130426e-05,1793245213683494400
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745,714.435692235,681,656.435692235,627,880.564307765,783.564307765,808.435692235,652,629,652,0.452354133842,-0.00558965089043,0.0497078542172,0.99999989665,4.81549528858e-05,-0.000450826107846,3.37100000434e-05,1793245213700160768
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.011931965,745.011931965,714.988068035,681,657,627,880,783.011931965,808.988068035,652.011931965,629,652.011931965,0.45235375526,-0.00558890293647,0.0497072834848,0.999999896414,4.77499719986e-05,-0.000451403910738,3.35490919723e-05,1793245213716827136
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.582723577,745.582723577,714.417276423,681,657,627,880,783.582723577,808.417276423,652.582723577,629,652.582723577,0.452352770704,-0.00558989503299,0.0497066252689,0.999999895818,4.67365570233e-05,-0.00045281009613,3.38176519785e-05,1793245213733493760
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.840129526,746,714,681,656.840129526,627,880,784,808.159870474,653,629,652.840129526,0.452352261638,-0.00559061294446,0.0497061267447,0.999999895466,4.58218592272e-05,-0.000453667471968,3.39831017983e-05,1793245213750160640
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.245708084,746,714,681,656.245708084,627,880,784,808.754291916,653,629,652.245708084,0.452353045024,-0.00559058558145,0.0497060622859,0.999999895787,4.51754890004e-05,-0.000453033104328,3.38682832678e-05,1793245213766827520
+242,4.033333333,HOLD_POSE2,764,746,715,680,656,627,880,783,808,652,629,652,0.452352204528,-0.0055914407237,0.0497045940675,0.999999894871,4.53073331314e-05,-0.000455014401327,3.41609657671e-05,1793245213802534144
+243,4.050000000,HOLD_POSE2,764.573558083,745.426441917,714.426441917,680.573558083,656,627,880,783.573558083,808,652,629,652,0.452352923119,-0.00558954219257,0.0497049441309,0.999999895239,4.54623106801e-05,-0.000454250078129,3.33556513167e-05,1793245213819201280
+244,4.066666667,HOLD_POSE2,765,745.147880128,714,680.852119872,656.147880128,627,880,784,808.147880128,652.147880128,629,652,0.452353692162,-0.00558863939952,0.049705320396,0.999999895624,4.50952615289e-05,-0.000453474355373,3.28427139222e-05,1793245213835867904
+245,4.083333333,HOLD_POSE2,765,745.724416786,714,680.275583214,656.724416786,627,880,784,808.724416786,652.724416786,629,652,0.452354607445,-0.00559062292776,0.0497057726112,0.999999896063,4.32150263133e-05,-0.000452665588816,3.31772826016e-05,1793245213852534016
+246,4.100000000,HOLD_POSE2,764.68931821,746,714,680.31068179,656.68931821,627,880.31068179,784,808.68931821,652.68931821,629,652,0.45235504843,-0.00559117488396,0.0497059242339,0.999999896011,4.33985685668e-05,-0.000452746428651,3.34028418457e-05,1793245213869200384
+247,4.116666667,HOLD_POSE2,764.094144992,746,714,680.905855008,656.094144992,627,880.905855008,784,808.094144992,652.094144992,629,652,0.452355055098,-0.00559041594901,0.0497058006041,0.999999895509,4.54719127215e-05,-0.000453641881432,3.35285810897e-05,1793245213885867008
+248,4.133333333,HOLD_POSE2,764,745.516160859,714,681,656,627,881,784,808,652,629,652.483839141,0.452353720649,-0.00558931789904,0.0497048912453,0.999999894795,4.423188809e-05,-0.000455373717291,3.29843207902e-05,1793245213902533632
+249,4.150000000,HOLD_POSE2,764.058775556,745,714,681,656,627,881,784,808.058775556,652,629,652.941224444,0.452352497879,-0.005588310425,0.0497040618721,0.999999894225,4.28622070398e-05,-0.000456795271077,3.24117919878e-05,1793245213919200256
+250,4.166666667,HOLD_POSE2,764.635316786,745,714,681,656,627,881,784,808.635316786,652,629,652.364683214,0.452354478838,-0.0055886621829,0.0497052377097,0.999999895312,4.58349104589e-05,-0.000454099039454,3.2699277265e-05,1793245213935867136
+251,4.183333333,HOLD_POSE2,764.783299719,745,714,681,656,627,881,784,808.783299719,652.216700281,629,652,0.452355234663,-0.00558919141692,0.0497056274762,0.999999895639,4.70404838769e-05,-0.000453236742389,3.29592460787e-05,1793245213952533760
+252,4.200000000,HOLD_POSE2,764.193581021,745,714,681,656,627,881,784,808.193581021,652.806418979,629,652,0.452353881595,-0.00559002615058,0.0497046641342,0.999999894674,4.52041964434e-05,-0.000455531300605,3.31718492227e-05,1793245213969200384
+253,4.216666667,HOLD_POSE2,764.388426213,745.388426213,714,680.611573787,656,627,880.611573787,784,808,653,629,652,0.452353088733,-0.00558901104395,0.0497041388106,0.999999894174,4.66593841983e-05,-0.000456482580041,3.31473548359e-05,1793245213985867008
+254,4.233333333,HOLD_POSE2,764.966665129,745.966665129,714,680.033334871,656,627,880.033334871,784,808,653,629,652,0.452352569627,-0.00558709197374,0.0497038275339,0.999999893896,4.97230209108e-05,-0.000456777438029,3.30069977338e-05,1793245214002533376
+255,4.250000000,HOLD_POSE2,764.462654106,745.462654106,714,680.537345894,656,627,880,784,808.537345894,653,629,652,0.452354253695,-0.00558836290326,0.0497050419909,0.999999894895,4.64848639842e-05,-0.000454953855694,3.26510465697e-05,1793245214019200256
+256,4.266666667,HOLD_POSE2,764.109061568,745.109061568,714.109061568,681,656,627,880.109061568,783.890938432,808.890938432,652.890938432,629,652,0.4523554078,-0.00558963389425,0.0497058062341,0.999999895595,4.36837539386e-05,-0.000453705980924,3.24491177472e-05,1793245214035866624
+257,4.283333333,HOLD_POSE2,764.68721752,745.68721752,714.68721752,681,656,627,880.68721752,783.31278248,808.31278248,652.31278248,629,652,0.452353702712,-0.0055900657715,0.0497042325594,0.999999894734,4.44206429355e-05,-0.000455491753656,3.29663968281e-05,1793245214052533248
+258,4.300000000,HOLD_POSE2,765,746,714.72775979,681,656,627,881,783.27224021,808,652,629,652,0.452353450017,-0.00558990129719,0.0497038484873,0.999999894555,4.4936457299e-05,-0.000455822284464,3.31270547278e-05,1793245214069200128
+259,4.316666667,HOLD_POSE2,765,746,714.134643655,681,656,627,881,783.865356345,808,652,629,652,0.452354909185,-0.00558903393307,0.0497048665405,0.999999895182,4.51917020007e-05,-0.000454437594265,3.28673810401e-05,1793245214085867264
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,656,626,880,785,808,652,629,652,0.452354917225,-0.00558718061034,0.0497049538318,0.999999894913,4.62395615714e-05,-0.00045492777296,3.27968871872e-05,1793245214118514688
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.574430352,745,714,681,655.425569648,626,880,784.425569648,808,652.574430352,629,652,0.452354350808,-0.00558761210499,0.0497045469731,0.999999894553,4.64912548643e-05,-0.000455687804591,3.28841428431e-05,1793245214135180544
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.846523048,745.153476952,714.153476952,681,655.153476952,626,880,784,808.153476952,653,629,652,0.452354327855,-0.00558767676545,0.0497045769794,0.999999894487,4.69165926806e-05,-0.000455788082149,3.28901337375e-05,1793245214151846656
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.254279178,745.745720822,714.745720822,681,655.745720822,626,880,784,808.745720822,653,629,652,0.452355858582,-0.00558669270368,0.0497058559157,0.999999895263,4.78383534483e-05,-0.000454002224813,3.26638012413e-05,1793245214168513024
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.330489158,745.669510842,715,681,656,626.330489158,880,784,808.669510842,653,629,652,0.452356793009,-0.00558682557767,0.0497059552707,0.999999895514,4.78854279284e-05,-0.000453437314695,3.27780661151e-05,1793245214185179648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.909632988,745.090367012,715,681,656,626.909632988,880,784,808.090367012,653,629,652,0.452357278789,-0.00558779881604,0.0497051671278,0.99999989537,4.72744026038e-05,-0.000453791025532,3.31485909293e-05,1793245214201846272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,656,626.515241684,880,783.515241684,808,652.515241684,629,652,0.452355953184,-0.00558760246062,0.0497049357739,0.999999895165,4.56550399406e-05,-0.000454425075832,3.2925402717e-05,1793245214218512896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.060339706,714.939660294,681,656,626.060339706,880,783.060339706,808.060339706,652,629,652,0.452353852294,-0.00558730691756,0.0497044168093,0.999999894707,4.41192784405e-05,-0.000455606724218,3.25984383935e-05,1793245214235179520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.646367122,714.353632878,681,656,626.646367122,880,783.646367122,808.646367122,652,629,652,0.452347914676,-0.00558803114344,0.0497004953012,0.999999892158,4.49360252939e-05,-0.000461107569075,3.23236765404e-05,1793245214251846656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.769794198,714,681,656,626.769794198,880,783.769794198,808.769794198,652.230205802,629,652,0.452337163538,-0.00558801094745,0.0496951069246,0.99999988812,4.58887426266e-05,-0.000469704999768,3.21159126249e-05,1793245214268513280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.189286151,714,681,656,626.189286151,880,783.189286151,808.189286151,652.810713849,629,652,0.452319087708,-0.00558685797089,0.049687486427,0.999999881729,4.70483650227e-05,-0.000483014478703,3.20100989335e-05,1793245214285179648
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.610840176,745.389159824,714.389159824,681,656,626.389159824,880,783.389159824,808.389159824,652.610840176,629,652,0.452280261294,-0.00558522615322,0.0496718217462,0.999999867548,4.74771633712e-05,-0.000511555916818,3.10060417616e-05,1793245214301846272
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.03339185,745.96660815,714.96660815,681,656,626.96660815,880,783.96660815,808.96660815,652.03339185,629,652,0.452231395054,-0.00558336265615,0.0496522650205,0.999999848572,4.75523647241e-05,-0.000547467085494,2.95673843928e-05,1793245214318512896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.541821469,745.458178531,714.458178531,681,656,627,880,784,808.458178531,652,629,652,0.452165503804,-0.00558109785009,0.0496312493441,0.99999983118,4.9886662561e-05,-0.000578232506598,2.82728331808e-05,1793245214335179264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.880464389,745.119535611,714,681,656,627,880.119535611,784,808,652,629,652,0.452097538618,-0.00557877959761,0.0496128586403,0.999999815574,5.16647739335e-05,-0.000604522565618,2.7106480951e-05,1793245214351846144
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.292410474,745.707589526,714,681,656,627,880.707589526,784,808,652,629,652,0.452025540209,-0.00557634840133,0.0496051074436,0.999999809554,5.07194692392e-05,-0.000614509378275,2.64079363421e-05,1793245214368513024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.29136752,746,714.29136752,681,656,627,880.70863248,784,808.29136752,652,629,652,0.451944697561,-0.00557266467895,0.0496014277612,0.999999806616,5.26356006404e-05,-0.000619143316326,2.56702084274e-05,1793245214385179648
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.870916315,746,714.870916315,681,656,627,880.129083685,784,808.870916315,652,629,652,0.451855107394,-0.0055677421276,0.0496017750696,0.999999806783,5.73818770211e-05,-0.000618482915454,2.48937257386e-05,1793245214401846016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.553672179,745.553672179,714.553672179,681,656,627,880,784,808.553672179,652,629,652,0.45174410905,-0.00556458222585,0.0496028348883,0.999999806656,5.95856821605e-05,-0.00061849646364,2.44962496927e-05,1793245214418512640
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.020592484,745,714,681,656,627,880,784,808,652.020592484,629,652,0.451626178375,-0.00556183821481,0.0496040734355,0.999999806484,6.11124066513e-05,-0.000618636795827,2.41917276754e-05,1793245214435179264
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.595900509,745,714,681,656,627,880,784,808,652.595900509,629,652,0.451486759948,-0.00555669114068,0.0496046265286,0.999999807337,6.40259121195e-05,-0.000616990064515,2.3465554831e-05,1793245214451845888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.823804626,745.176195374,714,681,656,627,880,784,808,652.823804626,629,652,0.451339581985,-0.00555115652332,0.049605056674,0.999999808512,6.74653312461e-05,-0.000614743817194,2.26599984676e-05,1793245214468512768
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.231739523,745.768260477,714,681,656,627,880,784,808,652.231739523,629,652,0.45117408939,-0.00554470719764,0.0496051966289,0.999999810452,7.21460513952e-05,-0.0006110825468,2.16670751849e-05,1793245214485179392
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.767461122,656.767461122,628,880.232538878,784,808,653,629,652,0.449748191253,-0.0054925401434,0.0496255613257,0.999999830804,0.000110227466612,-0.000570987442381,1.46377008002e-05,1793245214585181184
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.64750235,745,714,679,658.64750235,633,878.35249765,785,806,652.64750235,630,652,0.406398368638,-0.00540115791211,0.0497995345008,0.999999935463,6.51428466231e-05,-0.000350332295851,-4.5803920105e-05,1793245215601846784
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.188155363,745,714,679,659,633,878,785,806,652.188155363,630,652,0.405432984934,-0.00540468026649,0.0497697984825,0.999999918264,6.36916861936e-05,-0.00039641550545,-4.76477951203e-05,1793245215635179776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.610690029,679,659,633.389309971,878.389309971,785,806,652.389309971,630,652,0.405019185394,-0.00540503264483,0.04977914603,0.999999925377,6.5569082423e-05,-0.000377798544102,-4.70692512247e-05,1793245215651846400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713.034285726,679,659,633.965714274,878.965714274,785,806,652.965714274,630,652,0.404629969931,-0.00540451229856,0.0497974239352,0.999999937046,6.87266113394e-05,-0.000345078884021,-4.58876606455e-05,1793245215668513024
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745.229311349,713.229311349,679,659,634,879,786,806,653,630,652,0.401934793374,-0.00540607203935,0.049809548908,0.999999935073,9.10461480488e-05,-0.000346261123081,-4.0829907038e-05,1793245215835179776
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713.349741968,678.650258032,659,634,879,785.650258032,806,653,629.650258032,652,0.401788576462,-0.00540496400994,0.0498140876257,0.999999938662,9.32863315212e-05,-0.000335100726371,-4.10057242821e-05,1793245215851846656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713.924080155,678.075919845,659,634,879,785.075919845,806,653,629.075919845,652,0.401657636219,-0.00540484774442,0.0498202752627,0.999999943122,9.33854172081e-05,-0.000321414004187,-4.15687520956e-05,1793245215868513536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.497646936,745.502353064,714.502353064,678,659,633.497646936,879,785.502353064,806,653,629.502353064,652,0.401550728904,-0.00541040109668,0.0498292825292,0.999999949105,8.75214680728e-05,-0.000304058881948,-4.09723587746e-05,1793245215885180160
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.082559941,745.917440059,714.834880118,678.082559941,659,633,878.917440059,786,806,652.917440059,629.917440059,652,0.401449872302,-0.00541686492779,0.0498371745281,0.999999954262,8.04482104618e-05,-0.000288757881967,-4.02804210867e-05,1793245215901846528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.670943983,745.329056017,713.658112034,678.670943983,659,633,878.329056017,786,806,652.329056017,629.329056017,652,0.401363658459,-0.00542361594676,0.049835602185,0.999999954743,7.15307378898e-05,-0.000289465450712,-4.00851201533e-05,1793245215918513152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.255456556,679,659.255456556,633.255456556,878,786,806,652.255456556,629.255456556,652,0.401285306513,-0.00542777685491,0.0498345295038,0.999999955036,6.53551765715e-05,-0.000289906259967,-4.01351200416e-05,1793245215935179776
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.682570163,714,679,659.317429837,633.317429837,878.634859675,786,806.682570163,653,630,652,0.401024695165,-0.005427011776,0.0498429141084,0.999999960307,6.82425148708e-05,-0.000270390499586,-4.02111454709e-05,1793245216051845888
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745.048941095,713.048941095,679,659,634,878.048941095,785.951058905,806.048941095,653,630,652,0.400997956399,-0.00542725934696,0.0498419212434,0.999999960569,6.98170518304e-05,-0.000269010400572,-4.0269776331e-05,1793245216101845760
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745.63515117,713.63515117,679,659,634,878.63515117,785.36484883,806.63515117,653,630,652,0.400994811161,-0.00542877095077,0.0498422777585,0.999999961144,6.60704313419e-05,-0.000267865597089,-3.99341245699e-05,1793245216118512640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,746,713.781061279,679,659,634,878.781061279,785.218938721,806.781061279,653,630,652,0.400992936453,-0.00542946174224,0.0498431463022,0.99999996178,6.4571367635e-05,-0.000265889007018,-3.96795260999e-05,1793245216135179008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,746,713.201266578,679,659,634,878.201266578,785.798733422,806.201266578,653,630,652,0.400993155842,-0.00542879966628,0.0498448587742,0.999999962524,6.67767393566e-05,-0.000262541461885,-3.95585201221e-05,1793245216151845632
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745.623363488,713.376636512,679,659,633.623363488,878.376636512,786,805.623363488,653,630,652,0.400991778572,-0.00542856739574,0.0498453100555,0.999999962579,6.75865066581e-05,-0.000262130241223,-3.9519141195e-05,1793245216168512256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745.046466202,713.953533798,679,659,633.046466202,878.953533798,786,805.046466202,653,630,652,0.400989552346,-0.00542856365635,0.0498450907512,0.999999962272,6.76542193828e-05,-0.000263280288871,-3.95231640554e-05,1793245216185178880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,633.529191715,879,786,805.529191715,652.470808285,630,652,0.400989459636,-0.00542689869854,0.049845378171,0.999999962399,6.88615715028e-05,-0.000262455019654,-3.97202759407e-05,1793245216201845760
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.106964679,634,878.893035321,786,806,652.106964679,630,652,0.400989529065,-0.00542583641898,0.0498457066885,0.999999962564,6.95747386712e-05,-0.000261622361837,-3.98230473401e-05,1793245216218512384
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.694732571,634,878.305267429,786,806,652.694732571,630,652,0.400989487203,-0.00542813728849,0.0498460204099,0.999999962737,6.76178099346e-05,-0.000261534299963,-3.94257294942e-05,1793245216235179008
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.278876958,745,713.721123042,679,659.721123042,634,878,786,806,653,629.721123042,652,0.400989387998,-0.00542959172759,0.0498463988645,0.999999962769,6.68023909826e-05,-0.00026167705351,-3.90332972238e-05,1793245216251845632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.859105889,745,713.140894111,679,659.140894111,634,878,786,806,653,629.140894111,652,0.400989226827,-0.00543013152179,0.0498468472692,0.999999962654,6.72204771642e-05,-0.000262069224148,-3.86461442136e-05,1793245216268512256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.130217018,745,713.434891491,679,659,634,878.434891491,786,806,653,629,652,0.400988358034,-0.00542950000166,0.0498461445137,0.99999996252,6.76925652683e-05,-0.000262426244325,-3.88488551188e-05,1793245216285179904
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.00922044,745,714,679,659,633.99077956,878.99077956,785.99077956,806,653,629.00922044,652,0.400987272702,-0.00542851813042,0.0498450966891,0.999999962383,6.8188883729e-05,-0.000262765908153,-3.92299112553e-05,1793245216301848064
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.581616412,745,714,679,659,633.418383588,878.418383588,785.418383588,806,653,629.581616412,652,0.400986822305,-0.00542908081463,0.0498455212629,0.999999962339,6.91073828435e-05,-0.000262733990381,-3.8949888176e-05,1793245216318513664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.839265205,679,659.160734795,633.160734795,878,785,806,653,630,652,0.400986980913,-0.00542968205056,0.0498462728144,0.999999962534,6.92917663639e-05,-0.000261978477474,-3.87119042739e-05,1793245216335179776
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.241885035,679,659.758114965,633.758114965,878,785,806,653,630,652,0.400988793919,-0.00543038801441,0.0498479126199,0.999999963371,6.74818823194e-05,-0.000259257276496,-3.85881222473e-05,1793245216351846144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.342841696,679,659.657158304,634,878.342841696,785.685683393,806,653,629.657158304,652,0.400988993844,-0.00543084819989,0.0498483100835,0.999999963551,6.67045344669e-05,-0.000258785036699,-3.84630883238e-05,1793245216368512768
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.918958786,679,659.081041214,634,878.918958786,786.837917572,806,653,629.081041214,652,0.4009880962,-0.0054311411535,0.0498478622363,0.999999963286,6.66297420919e-05,-0.000259843028927,-3.83372025932e-05,1793245216385179136
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,633.505770417,879,786.505770417,806,653,629.494229583,652,0.400989210846,-0.00543100430069,0.0498480910431,0.999999963648,6.79823692774e-05,-0.000258111714544,-3.82221469754e-05,1793245216401845760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,633.070916252,879,786,806,653,630,652,0.400990567152,-0.00543078763662,0.0498484902941,0.999999964066,6.93730886206e-05,-0.000256127654775,-3.81369482619e-05,1793245216418512640
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,634,879,785.755392756,806,653,630,652,0.400991267339,-0.00543035520281,0.0498495639681,0.999999964218,6.93409040131e-05,-0.000255524362009,-3.82432426738e-05,1793245216451846656
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1713db4a449c9e532a2930ecc834f60578da6b23
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+2,0.033333333,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
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+366,6.100000000,pose2_to_pose3_retreat,0.576122594177,-0.000122237427347,1.04005094744,0.546694228782,0.00855345301108,1.03971743645
+367,6.116666667,pose2_to_pose3_retreat,0.576041885012,-0.000122209040166,1.04005082759,0.546613518902,0.00855347911937,1.03971732089
+368,6.133333333,pose2_to_pose3_retreat,0.57597128386,-0.000122186125362,1.04005112713,0.546542916543,0.00855349793575,1.03971762015
+369,6.150000000,pose2_to_pose3_retreat,0.575909665728,-0.000122186782511,1.04005106029,0.546481300013,0.00855350250289,1.03971754777
+370,6.166666667,pose2_to_pose3_retreat,0.575856726646,-0.000122159714853,1.04005095928,0.546428360779,0.00855352906149,1.03971744687
+371,6.183333333,pose2_to_pose3_retreat,0.575813254125,-0.000122141087061,1.04005089585,0.546384887037,0.0085535437362,1.03971738829
+372,6.200000000,pose2_to_pose3_retreat,0.575778215073,-0.000122165119118,1.04005092186,0.546349847506,0.0085535181685,1.03971741658
+373,6.216666667,pose2_to_pose3_retreat,0.575750726153,-0.000122224700387,1.04005098384,0.546322359476,0.00855346147675,1.03971747514
+374,6.233333333,pose2_to_pose3_retreat,0.575729081538,-0.000122226854843,1.04005070272,0.546300714822,0.00855345920117,1.0397171943
+375,6.250000000,pose2_to_pose3_retreat,0.575712797038,-0.000122166964373,1.04005080444,0.546284430721,0.00855352044799,1.0397172961
+376,6.266666667,pose2_to_pose3_retreat,0.575699880552,-0.000122153707758,1.04005098764,0.54627151536,0.00855353745934,1.03971747776
+377,6.283333333,pose2_to_pose3_retreat,0.575690188726,-0.000122198509857,1.040051154,0.54626182513,0.00855349796653,1.03971764141
+378,6.300000000,pose2_to_pose3_retreat,0.575683358763,-0.000122113486106,1.04005102721,0.546254992887,0.00855357562931,1.03971752432
+379,6.316666667,pose2_to_pose3_retreat,0.575678866551,-0.000122121527332,1.04005103426,0.546250499974,0.00855356519264,1.03971753104
+380,6.333333333,pose2_to_pose3_retreat,0.575676406597,-0.000122175702894,1.0400511085,0.546248040255,0.00855351160866,1.03971759988
+381,6.350000000,pose2_to_pose3_retreat,0.575674777701,-0.0001222112079,1.04005113672,0.546246411529,0.00855347657072,1.03971762522
+382,6.366666667,pose2_to_pose3_retreat,0.575673688146,-0.000122233124921,1.04005105145,0.54624532216,0.00855345534095,1.03971754146
+383,6.383333333,pose2_to_pose3_retreat,0.57567299434,-0.000122247081221,1.04005099716,0.546244628473,0.00855344182228,1.03971748812
+384,6.400000000,pose2_to_pose3_retreat,0.575672552584,-0.000122255967385,1.04005096258,0.546244186792,0.00855343321476,1.03971745416
+385,6.416666667,pose2_to_pose3_retreat,0.575672076959,-0.000122265534869,1.04005092536,0.546243711248,0.00855342394729,1.03971741759
+386,6.433333333,pose2_to_pose3_retreat,0.575671767029,-0.000122271769273,1.04005090111,0.546243401371,0.00855341790838,1.03971739376
+387,6.450000000,pose2_to_pose3_retreat,0.575671724827,-0.000122272618197,1.0400508978,0.546243359176,0.00855341708608,1.03971739052
+388,6.466666667,pose2_to_pose3_retreat,0.57567159706,-0.000122271548477,1.04005089292,0.546243231433,0.00855341824376,1.03971738581
+389,6.483333333,pose2_to_pose3_retreat,0.575671359986,-0.00012226290721,1.04005089323,0.546242994408,0.00855342706174,1.03971738641
+390,6.500000000,pose2_to_pose3_retreat,0.575671079987,-0.000122252701363,1.04005089359,0.546242714467,0.00855343747629,1.03971738711
+391,6.516666667,pose2_to_pose3_retreat,0.575670827077,-0.000122243482871,1.04005089391,0.546242461608,0.0085534468833,1.03971738775
+392,6.533333333,pose2_to_pose3_retreat,0.575670781591,-0.000122241824949,1.04005089397,0.546242416132,0.00855344857512,1.03971738787
+393,6.550000000,pose2_to_pose3_retreat,0.575670714787,-0.000122239389966,1.04005089406,0.546242349342,0.0085534510599,1.03971738804
+394,6.566666667,pose2_to_pose3_retreat,0.575670628263,-0.000122236236189,1.04005089417,0.546242262836,0.00855345427817,1.03971738826
+395,6.583333333,pose2_to_pose3_retreat,0.575670377301,-0.000122227088716,1.04005089449,0.546242011925,0.00855346361271,1.03971738889
+396,6.600000000,pose2_to_pose3_retreat,0.575670031196,-0.000122223958169,1.0400508905,0.546241665333,0.00855346510688,1.03971738526
+397,6.616666667,pose2_to_pose3_retreat,0.575669809684,-0.000122228269782,1.040050885,0.546241443139,0.00855345848667,1.03971737993
+398,6.633333333,pose2_to_pose3_retreat,0.575669607414,-0.000122232206877,1.04005087997,0.546241240246,0.00855345244151,1.03971737506
+399,6.650000000,pose2_to_pose3_retreat,0.575669510851,-0.000122267366743,1.04005081055,0.546241144941,0.00855342138391,1.03971730128
+400,6.666666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+401,6.683333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60de65a96787f0d3aac19f9fc33ba33194ee2c24
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f67d56cfca02a3ec7ecd32c6c7435ab6ce10a1aedf6278b9f833b10cc9e787b
+size 25566686
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bc93300416a2521b272438294cc475421d8fd9f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+37,0.616666667,BASELINE,764.469743125,745,713.469743125,679,659.469743125,633.469743125,878,785.530256875,806,653,629,652,0.400989802547,-0.00543322927549,0.0498511970257,0.999999964905,6.76481531008e-05,-0.000253447986023,-3.71126894981e-05,1793245217234204928
+38,0.633333333,BASELINE,764.954884227,745,714,679,659.954884227,634,878,785.045115773,806,653,629.045115773,652,0.400989610261,-0.00543281993265,0.0498507191272,0.999999964724,6.92916369298e-05,-0.000253700308726,-3.72523102174e-05,1793245217250871808
+39,0.650000000,BASELINE,764.361449272,745,714,679,659.361449272,634,878,785.638550728,806,653,629.638550728,652,0.400989577601,-0.00543219869998,0.0498509948486,0.999999964784,6.91235710353e-05,-0.000253487388587,-3.73943662877e-05,1793245217267538176
+40,0.666666667,BASELINE,764,745,714,679,659,634,878,786,806,653,630,652,0.400989086503,-0.0054318765701,0.0498508510852,0.999999964721,6.88873829567e-05,-0.000253800697019,-3.73878302064e-05,1793245217284204800
+41,0.683333333,BASELINE,764,745,714,679,659,634,878,786,806,653,630,652,0.400987881128,-0.00543202046245,0.0498500537362,0.999999964465,6.85450559617e-05,-0.000254933904835,-3.71497775889e-05,1793245217300871424
+42,0.700000000,BASELINE,764,745,714,679,659.382217961,634,878,786,806,653,630,652,0.400988634956,-0.00543220588831,0.0498502848487,0.999999964568,6.82959317989e-05,-0.000254597943297,-3.71504432098e-05,1793245217317537792
+43,0.716666667,BASELINE,764,745,714,679,659.957969988,634,878,786,806,653,630,652,0.400990380817,-0.00543241234444,0.0498510367173,0.999999964851,6.80940004133e-05,-0.000253518075508,-3.72719825692e-05,1793245217334204416
+44,0.733333333,BASELINE,763.456819551,745,714,679,659.456819551,634,878.543180449,786,806,653,630,652,0.400989303272,-0.00543209728513,0.049850827577,0.999999964773,6.79191597476e-05,-0.000253859549984,-3.73800520674e-05,1793245217350871296
+45,0.750000000,BASELINE,763.127700022,745,713.872299978,678.872299978,659,633.872299978,879,786,806.127700022,653,630,652,0.400988666579,-0.00543177809581,0.0498507784595,0.999999964776,6.81858487624e-05,-0.000253764884908,-3.74386260109e-05,1793245217367537920
+46,0.766666667,BASELINE,763.707140552,745,713.292859448,678.292859448,659,633.292859448,879,786,806.707140552,653,630,652,0.400990375937,-0.00543158957789,0.0498515631383,0.999999965169,7.0006908071e-05,-0.000251731419603,-3.73258611222e-05,1793245217384205056
+47,0.783333333,BASELINE,764,745.285204335,713.285204335,678.285204335,659,633,879,785.714795665,806.714795665,653,629.714795665,652,0.400990126724,-0.00543161329757,0.0498514652211,0.999999965059,7.08296210136e-05,-0.000251951869205,-3.72306747209e-05,1793245217400871680
+48,0.800000000,BASELINE,764,745.861861278,713.861861278,678.861861278,659,633,879,785.138138722,806.138138722,653,629.138138722,652,0.400987876031,-0.00543185390456,0.049850465372,0.999999964436,7.06321159784e-05,-0.000254475612373,-3.71534519039e-05,1793245217417538048
+49,0.816666667,BASELINE,764,745.563531632,713.563531632,679,659,633.436468368,879,785.872936735,805.563531632,653,629,652,0.400989446709,-0.00543313389544,0.0498515749547,0.999999965171,6.79021515125e-05,-0.000252333665945,-3.70686842551e-05,1793245217434204672
+50,0.833333333,BASELINE,764,745,713.010735679,679,659.010735679,634,878.989264321,786.989264321,805.010735679,653,629.010735679,652,0.400992140404,-0.00543468374833,0.049853294714,0.999999966277,6.44866909629e-05,-0.00024883530194,-3.69852453464e-05,1793245217450871296
+51,0.850000000,BASELINE,764,745,713.601535906,679,659.601535906,634,878.398464094,786.398464094,805.601535906,653,629.601535906,652,0.400990470396,-0.00543312372201,0.0498520794529,0.999999965442,6.71368079765e-05,-0.000251460473628,-3.71020174567e-05,1793245217467537920
+52,0.866666667,BASELINE,764,745,714,679,659.81147643,633.81147643,878,786,806,653,629.81147643,652,0.400989489853,-0.00543228449319,0.0498512858771,0.999999964961,6.86847908191e-05,-0.000252938941547,-3.7169182352e-05,1793245217484204800
+53,0.883333333,BASELINE,764,745,714,679,659.232387314,633.232387314,878,786,806,653,629.232387314,652,0.400989937678,-0.00543293854551,0.0498513659094,0.999999965239,6.79494747315e-05,-0.000252041775408,-3.713357564e-05,1793245217500871424
+54,0.900000000,BASELINE,764,745,713.655041793,678.655041793,659.344958207,633.344958207,878,786,806,653,629.344958207,652,0.400988968302,-0.00543259957702,0.0498507436622,0.999999964934,6.859584911e-05,-0.000253061313879,-3.72257100635e-05,1793245217517537792
+55,0.916666667,BASELINE,764,745,713.078864993,678.078864993,659.921135007,633.921135007,878,786,806,653,629.921135007,652,0.400987049003,-0.0054315950065,0.0498496506911,0.999999964233,7.01683430263e-05,-0.000255365581184,-3.74034668188e-05,1793245217534204416
+56,0.933333333,BASELINE,764,745,713.49509346,678.49509346,659.50490654,633.50490654,878,785.50490654,806,653,630,652,0.400987859185,-0.00543182464108,0.0498501989484,0.999999964623,6.89464591951e-05,-0.00025416244512,-3.74481664167e-05,1793245217550871296
+57,0.950000000,BASELINE,764.070827906,745,714,679,659.070827906,633.070827906,878.070827906,785.070827906,806,653,630,652,0.400988867396,-0.00543221197833,0.0498508742823,0.999999965089,6.75547418182e-05,-0.000252692201005,-3.74751514025e-05,1793245217567537664
+58,0.966666667,BASELINE,764.662200045,745,714,679,659.662200045,633.662200045,878.662200045,785.662200045,806,653,630,652,0.400988149829,-0.00543231988459,0.0498505707188,0.99999996488,6.81716674413e-05,-0.000253346713049,-3.7527021055e-05,1793245217584204544
+59,0.983333333,BASELINE,764.75161231,745,713.75161231,678.75161231,660,633.75161231,879,785.75161231,806,652.75161231,630,652,0.400988362527,-0.00543271578018,0.0498504230016,0.999999964849,6.85308432257e-05,-0.000253374203945,-3.75115778721e-05,1793245217600871168
+60,1.000000000,BASELINE,764.172331184,745,713.172331184,678.172331184,660,633.172331184,879,785.172331184,806,652.172331184,630,652,0.40098981449,-0.00543349532514,0.049850482897,0.999999965056,6.85466537314e-05,-0.000252566399181,-3.74064628801e-05,1793245217617537792
+61,1.016666667,BASELINE,764,745,713.403811455,678.403811455,659.596188545,633.403811455,879,785.403811455,806,652,630,652,0.400990120683,-0.00543367270423,0.0498509447256,0.999999965178,6.8192123131e-05,-0.000252194724474,-3.73061565905e-05,1793245217634204672
+62,1.033333333,BASELINE,764,745,713.978625005,678.978625005,659.021374995,633.978625005,879,785.978625005,806,652,630,652,0.400989941675,-0.00543359508401,0.0498515767608,0.999999965263,6.76807641285e-05,-0.000252007737871,-3.72078866492e-05,1793245217650871552
+63,1.050000000,BASELINE,764,745,714,679,659,634,879,786,806,652.565469865,630,652,0.400989812485,-0.00543238415716,0.0498518560848,0.999999965119,6.96577717838e-05,-0.000252046641857,-3.71766898583e-05,1793245217667538176
+64,1.066666667,BASELINE,764,745,714,679,659,634,878.848558361,786,806,653,630,652,0.40098944305,-0.00543152658436,0.0498517749506,0.999999964988,7.07846399152e-05,-0.00025224874181,-3.72054964915e-05,1793245217684204800
+65,1.083333333,BASELINE,764,745,714,679,659,634,878.266391434,786,806,653,630,652,0.400988384846,-0.00543179850081,0.0498507073573,0.999999964928,6.92202274882e-05,-0.00025289018473,-3.73975950332e-05,1793245217700871424
+66,1.100000000,BASELINE,764,745,714,679.311402485,659,633.688597515,878,786,805.688597515,653,630,652,0.400988558925,-0.00543237224514,0.0498505237293,0.999999965025,6.87937454595e-05,-0.00025264295274,-3.72666504225e-05,1793245217717538048
+67,1.116666667,BASELINE,764,745,714,679.885507263,659,633.114492737,878,786,805.114492737,653,630,652,0.40098977257,-0.00543320061451,0.0498510858236,0.999999965255,6.93272331236e-05,-0.00025164602556,-3.68631833256e-05,1793245217734204672
+68,1.133333333,BASELINE,764,745,714,679.077687127,659.461156437,633.461156437,878,786,805,653,630,652,0.400989382775,-0.00543375321748,0.0498511928968,0.999999965135,6.81614821463e-05,-0.000252417366907,-3.70038502628e-05,1793245217750871552
+69,1.150000000,BASELINE,764,745,714,678,660,634,878.038202449,786,805.038202449,653,629.961797551,652,0.400988613173,-0.00543409250637,0.0498511470276,0.999999964926,6.69052305689e-05,-0.000253543355484,-3.72494113074e-05,1793245217767538432
+70,1.166666667,BASELINE,764,745,714,678,660,634,878.629912191,786,805.629912191,653,629.370087809,652,0.400988127886,-0.00543233644534,0.0498505275001,0.999999964718,7.04707378396e-05,-0.000253425603804,-3.70508372902e-05,1793245217784204800
+71,1.183333333,BASELINE,763.783802827,745.216197173,714,678.216197173,660,634,878.783802827,786,806,653,629.216197173,652,0.400988120528,-0.00543127088283,0.0498506366692,0.99999996476,7.18592069745e-05,-0.000252880275944,-3.69944801546e-05,1793245217800871168
+72,1.200000000,BASELINE,763.20657659,745.79342341,714,678.79342341,660,634,878.20657659,786,806,653,629.79342341,652,0.400988911266,-0.00543135838799,0.0498519626931,0.99999996523,6.96122265668e-05,-0.000251620935828,-3.71756118812e-05,1793245217817537792
+73,1.216666667,BASELINE,763.367739377,745.632260623,714,679,660,634,878,786,806,653,630,652,0.400989554666,-0.00543100562165,0.0498523161569,0.999999965259,7.00169648256e-05,-0.000251368406194,-3.73176965906e-05,1793245217834205440
+74,1.233333333,BASELINE,763.940433311,745.059566689,714,679,660,634,878,786,806,653,630,652,0.400990115949,-0.00543040747595,0.0498521275773,0.999999965044,7.18996026675e-05,-0.000251677008808,-3.74380189633e-05,1793245217850873344
+75,1.250000000,BASELINE,763.484994208,745,714,678.484994208,660,634,878.515005792,786,806,652.484994208,630,652,0.40098968649,-0.00543111938152,0.0498522850696,0.999999965227,7.02981642629e-05,-0.000251394435765,-3.74904098784e-05,1793245217867539456
+76,1.266666667,BASELINE,763.093087092,745,714,678.093087092,659.906912908,634,878.906912908,785.906912908,806,652.093087092,630,652,0.400989445034,-0.00543192888567,0.0498525462739,0.999999965473,6.86123328184e-05,-0.000250881705876,-3.74752093482e-05,1793245217884205312
+77,1.283333333,BASELINE,763.688941852,745,714,678.688941852,659.311058148,634,878.311058148,785.311058148,806,652.688941852,630,652,0.40099084017,-0.00543244414337,0.0498531506504,0.999999965829,6.86551498073e-05,-0.000249496545793,-3.71375362269e-05,1793245217900872192
+78,1.300000000,BASELINE,764.27461247,745.27461247,714,679,659,634,878.27461247,785.27461247,806,653,630,652,0.400991641909,-0.00543211699056,0.0498532127813,0.999999965867,6.9837361423e-05,-0.000249034405752,-3.70320413184e-05,1793245217917538816
+79,1.316666667,BASELINE,764.849159814,745.849159814,714,679,659,634,878.849159814,785.849159814,806,653,630,652,0.400991795532,-0.00543086974737,0.0498526826653,0.999999965553,7.22640328509e-05,-0.000249580398824,-3.71801341256e-05,1793245217934205440
+80,1.333333333,BASELINE,764.575932991,745.575932991,714,679,659,634,879,786,806.424067009,652.575932991,630,652,0.40099168413,-0.00543202088586,0.0498525987765,0.999999965681,7.02116347252e-05,-0.000249643414886,-3.72356110041e-05,1793245217950872064
+81,1.350000000,BASELINE,764.000897642,745.000897642,714,679,659,634,879,786,806.999102358,652.000897642,630,652,0.400991478379,-0.00543402585086,0.0498526737451,0.999999965957,6.65646829161e-05,-0.000249534490623,-3.72581165178e-05,1793245217967538432
+82,1.366666667,BASELINE,764,745,714,679,659,634,878.409450677,786,805.818901354,652.590549323,630,652,0.40098958988,-0.00543438634923,0.0498516946585,0.999999965564,6.5740300929e-05,-0.000251335332309,-3.71491279034e-05,1793245217984205312
+83,1.383333333,BASELINE,764,745,714,679,659.178241645,633.821758355,878,786,805.178241645,653,630,652,0.400988034186,-0.00543440115905,0.0498508557323,0.99999996516,6.61075720423e-05,-0.000252868431002,-3.69803484392e-05,1793245218000871680
+84,1.400000000,BASELINE,764,745,714,679,659.757430451,633.242569549,878,786,805.757430451,653,630,652,0.400987233044,-0.00543364414041,0.0498503357979,0.999999964732,6.91454902418e-05,-0.000253792536793,-3.66775343822e-05,1793245218017538560
+85,1.416666667,BASELINE,764,745.334617682,714,679,660,633.334617682,878,786,806,653,630,652,0.400988532689,-0.00543310914846,0.0498507139536,0.999999964956,6.94003300333e-05,-0.000252812715983,-3.6848880134e-05,1793245218034204928
+86,1.433333333,BASELINE,764,745.910362534,714,679,660,633.910362534,878,786,806,653,630,652,0.400991346174,-0.00543273415008,0.0498517392776,0.999999965648,6.76496694665e-05,-0.000250460916118,-3.7361907826e-05,1793245218050871296
+87,1.450000000,BASELINE,764,746,714,678.515010996,659.515010996,634,878,786,805.515010996,653,630,652,0.400990678245,-0.00543209242552,0.049851630595,0.999999965419,7.00169312652e-05,-0.000250734234396,-3.73122591067e-05,1793245218067538688
+88,1.466666667,BASELINE,764,745.938797458,713.938797458,678.061202542,659,634,878,786,805.122405085,653,630,652,0.400989417307,-0.00543152007161,0.0498512858426,0.999999965031,7.26889749053e-05,-0.000251541869788,-3.71580858362e-05,1793245218084205824
+89,1.483333333,BASELINE,764,745.347038044,713.347038044,678.652961956,659,634,878,786,806.305923912,653,630,652,0.400988580776,-0.00543197545177,0.0498507073724,0.999999964815,7.14205248461e-05,-0.000252785109878,-3.69972559766e-05,1793245218100872448
+90,1.500000000,BASELINE,764,745,713.238692017,679,659,634,878.238692017,785.761307983,806.761307983,653,629.761307983,652,0.400988743219,-0.00543228982758,0.049850898699,0.999999964897,7.05712747504e-05,-0.00025271410699,-3.69068061354e-05,1793245218117539072
+91,1.516666667,BASELINE,764,745,713.815871838,679,659,634,878.815871838,785.184128162,806.184128162,653,629.184128162,652,0.400990322301,-0.00543240424589,0.0498521816703,0.999999965401,7.03164898659e-05,-0.000250779383443,-3.69161618148e-05,1793245218134205952
+92,1.533333333,BASELINE,763.609161115,745.390838885,714,679,659,634,879,785.390838885,806,653,629.390838885,652,0.40099028442,-0.00543372366274,0.0498521698427,0.999999965553,6.84679549072e-05,-0.00025070797378,-3.67654700749e-05,1793245218150872320
+93,1.550000000,BASELINE,763.035230609,745.964769391,714,679,659,634,879,785.964769391,806,653,629.964769391,652,0.40098948906,-0.00543560757088,0.0498515514562,0.999999965534,6.58728148734e-05,-0.000251509448335,-3.65398028338e-05,1793245218167538688
+94,1.566666667,BASELINE,763,745.446113677,714,679.553886323,659,634,879,786,806,653,630,652,0.400990170997,-0.00543443989561,0.0498524109225,0.999999965735,6.76635357428e-05,-0.000250224207416,-3.65899937459e-05,1793245218184205568
+95,1.583333333,BASELINE,763.141314007,745.141314007,714,679.858685993,659,634,879,786,806,652.858685993,630,652.141314007,0.400990311241,-0.00543261354388,0.0498528641547,0.999999965682,7.01148456594e-05,-0.000249727787682,-3.68262981919e-05,1793245218200872192
+96,1.600000000,BASELINE,763.720431429,745.720431429,714,679.279568571,659,634,879,786,806,652.279568571,630,652.720431429,0.400988473956,-0.00542936484358,0.049851759406,0.999999964799,7.37240877694e-05,-0.000252098001658,-3.7583306574e-05,1793245218217538560
+97,1.616666667,BASELINE,764,745.701513039,714,679,659.298486961,634,879,786,806,652.298486961,630,652.701513039,0.400988791426,-0.00542937718687,0.0498519677462,0.999999964906,7.29687754841e-05,-0.000251907371032,-3.74977765611e-05,1793245218234204928
+98,1.633333333,BASELINE,764,745.124448602,714,679,659.875551398,634,879,786,806,652.875551398,630,652.124448602,0.400991119926,-0.00543243305789,0.0498534015906,0.999999965926,6.81400302907e-05,-0.000249326707474,-3.66259065621e-05,1793245218250871552
+99,1.650000000,BASELINE,764,745,714,679,659.549927318,634,878.549927318,786,806,653,630,652,0.400991547597,-0.00543266736117,0.0498535947707,0.999999966075,6.73949408983e-05,-0.000248908852904,-3.67794909102e-05,1793245218267538432
+100,1.666666667,BASELINE,764,745,713.975418159,679,659,634,878,786,806,653,630,652,0.400991390775,-0.0054321107689,0.049853384507,0.999999965963,6.78749869105e-05,-0.000249166200795,-3.71868382395e-05,1793245218284205056
+101,1.683333333,BASELINE,764,745,713.385094887,679,659,634,878,786,806,653,630,652,0.40098981043,-0.00543120679866,0.0498517400185,0.999999965248,7.070982548e-05,-0.000251276895617,-3.69454051453e-05,1793245218300871680
+102,1.700000000,BASELINE,764,745.201141474,713.201141474,679,659.201141474,634,878.201141474,786,806,653,630,652,0.400988777995,-0.00543122356366,0.0498507818371,0.999999964822,7.2084036096e-05,-0.000252595330114,-3.68137727379e-05,1793245218317538048
+103,1.716666667,BASELINE,764,745.779709005,713.779709005,679,659.779709005,634,878.779709005,786,806,653,630,652,0.400988773673,-0.00543296801558,0.0498511114568,0.999999964959,7.0717493646e-05,-0.000252427150583,-3.68881726565e-05,1793245218334205440
+104,1.733333333,BASELINE,764,745.643565534,714,679,659.643565534,634,879,786,806,653,630,652,0.400988108898,-0.00543304872432,0.049850752748,0.999999964711,7.03586415627e-05,-0.000253493953403,-3.70004107901e-05,1793245218350872576
+105,1.750000000,BASELINE,764,745.067972639,714,679,659.067972639,634,879,786,806,653,630,652,0.400987038034,-0.00543210645881,0.0498499708115,0.999999964223,7.06193810511e-05,-0.000255320101381,-3.7135914256e-05,1793245218367539200
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,786,806,653,630,652,0.400989582885,-0.00543527967974,0.0498521465778,0.999999965731,6.4809567375e-05,-0.000250936902011,-3.69956336576e-05,1793245218399555328
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745.614706317,714,679,659.614706317,634,878.614706317,786,806,653,630,652,0.400990235673,-0.00543508783852,0.0498523753081,0.999999965663,6.72704878926e-05,-0.000250666507602,-3.62758725429e-05,1793245218416222720
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.784592697,714,679,660,634,878.784592697,786,806,653,630,652,0.400990545231,-0.00543390098999,0.0498524756745,0.999999965577,6.94275340066e-05,-0.000250436472363,-3.61639384479e-05,1793245218432889600
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.207413276,714,679,660,634,878.207413276,786,806,653,630,652,0.400990278343,-0.00543104304718,0.0498523604564,0.999999965468,7.10742297318e-05,-0.000250274219473,-3.70728371637e-05,1793245218449555712
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.369104656,786,806,653,630,652,0.400990914821,-0.00543007769332,0.0498529185788,0.999999965633,7.19796401724e-05,-0.000249319665707,-3.73073884546e-05,1793245218466222080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.945251505,786,806,653,630,652,0.400992058025,-0.00543017395117,0.0498538543986,0.999999965951,7.24692407217e-05,-0.000247920685938,-3.71636774096e-05,1793245218482888704
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.467788247,679,659.467788247,634,879,786,806,653,630,652,0.400990427195,-0.00543211778533,0.0498530818729,0.999999965674,7.02796261319e-05,-0.000249676727099,-3.70727654612e-05,1793245218499555584
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.118504941,679,659,634,878.881495059,786,806,653,630,652,0.400988553516,-0.00543397551733,0.0498521149002,0.999999965261,6.84750952201e-05,-0.000251837742675,-3.6961687566e-05,1793245218516222208
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.697789495,679,659,634,878.302210505,786,806,653,630,652,0.400986868159,-0.00543474412995,0.0498510893501,0.999999964596,6.9261748054e-05,-0.000254285273878,-3.67506420833e-05,1793245218532888320
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.275181603,634,878,786,806.275181603,653,630,652,0.400989473035,-0.00543416881064,0.049851991357,0.999999964961,6.98329395453e-05,-0.000252697047003,-3.66751278898e-05,1793245218549554688
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.850509541,634,878,786,806.850509541,653,630,652,0.400996757358,-0.00543212763657,0.0498549957909,0.999999966431,7.01691227861e-05,-0.000246706934124,-3.67474405243e-05,1793245218566221568
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.425165142,713.574834858,679,659.574834858,634,878.425165142,786,806.574834858,653,630,652,0.401018123488,-0.00543228554764,0.0498630178549,0.999999970244,7.03095708865e-05,-0.000230769793245,-3.6239384723e-05,1793245218582888192
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.999584764,713.000415236,679,659.000415236,634,878.999584764,786,806.000415236,653,630,652,0.401044433046,-0.00543321544872,0.0498728013613,0.99999997456,7.03813060521e-05,-0.000211340741604,-3.55275902253e-05,1793245218599554816
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.408743392,713.591256608,679.591256608,659.591256608,634,878.408743392,786,806,653,630,652,0.401099439078,-0.00543631369271,0.0498915833648,0.999999982108,6.93794888634e-05,-0.000172639063,-3.41508846674e-05,1793245218616221696
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.820871096,659.820871096,634,878.179128904,786,806,653,630,652,0.401158877063,-0.00543921886849,0.0499091381639,0.999999987463,6.81729249977e-05,-0.000139140211406,-3.26547134419e-05,1793245218632888576
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.241515867,659.241515867,634,878.758484133,786,806,653,630,652,0.401228170951,-0.0054416891694,0.049923936489,0.999999990432,6.65106323735e-05,-0.000117297139059,-3.08926955112e-05,1793245218649555456
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.334625826,745.334625826,714,679,659,634,879,786,806,653,630,652,0.40130512429,-0.00544496362198,0.0499347267704,0.999999992356,6.48793727019e-05,-0.000101012295298,-2.95674194855e-05,1793245218666222080
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.908470181,745.908470181,714,679,659,634,879,786,806,653,630,652,0.401387553238,-0.00544881294929,0.0499426517658,0.999999993657,6.32702980885e-05,-8.87009395458e-05,-2.85543632121e-05,1793245218682888192
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.506004002,745.506004002,714,679,659,634,879,786,806,653,630,652,0.401482686565,-0.00545188653024,0.0499433656975,0.99999999371,6.16190856755e-05,-8.94931661806e-05,-2.78063752823e-05,1793245218699554560
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745.080569055,714,679,659,634,879,786,806,653,630,652,0.401583493803,-0.00545481980297,0.0499425283471,0.99999999352,6.01594858493e-05,-9.2746900549e-05,-2.71658734235e-05,1793245218716220928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.659901855,714,679,659,634,879,786,806,653,630,652,0.401704500535,-0.00545779583203,0.0499405592249,0.99999999325,5.99355690244e-05,-9.58447207369e-05,-2.6879366772e-05,1793245218732887552
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,746,714,679,659,634,879,786,806,653,630,652,0.4018412053,-0.00546235955051,0.0499413166693,0.999999993459,5.81842636949e-05,-9.49860366613e-05,-2.59485397342e-05,1793245218749554432
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,746,714,679,659,634,879,786,806,653,630,652,0.402000226518,-0.00546918034202,0.0499459502249,0.999999994321,5.42616094147e-05,-8.85027509649e-05,-2.41017411765e-05,1793245218766222080
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,746,713.609372831,679,659,634,879,786,806,653,630,652,0.402173080995,-0.00547516469254,0.0499447408494,0.999999994086,5.12886854179e-05,-9.32015083218e-05,-2.2603579004e-05,1793245218782888448
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,746,713.035156833,679,659,634,879,786,806,653,630,652,0.402352436908,-0.00548075592913,0.0499407853856,0.999999993264,4.8762119862e-05,-0.000103155655287,-2.12692704662e-05,1793245218799554560
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,746,713.554055049,679,659,634,879,786,806,652.445944951,630,652,0.402571562894,-0.00548717338463,0.0499412613785,0.99999999352,4.60282842751e-05,-0.000102176532158,-2.00446852449e-05,1793245218816220928
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,746,714,679,659.141749414,634,879,786,806,652.141749414,630,652,0.402803841756,-0.0054944883103,0.0499429290736,0.999999993908,4.2931192937e-05,-9.99929946689e-05,-1.85204887024e-05,1793245218832887552
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,746,714,679,659.721728782,634,879,786,806,652.721728782,630,652,0.403068765051,-0.00550441125018,0.0499473875013,0.999999994484,3.8752857692e-05,-9.62903807823e-05,-1.6047895396e-05,1793245218849554176
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.700912532,714,679,659.700912532,634,879,786,806.299087468,652.700912532,630,652,0.403358067778,-0.00551363274362,0.0499540901424,0.999999995748,3.47366442037e-05,-8.43089493698e-05,-1.37850011461e-05,1793245218866220800
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.125970986,714,679,659.125970986,634,879,786,806.874029014,652.125970986,630,652,0.403669856106,-0.00552220727902,0.0499628626641,0.999999997362,3.08699589456e-05,-6.46918067678e-05,-1.17155164821e-05,1793245218882887424
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,806.555076324,652.444923676,630,652,0.404016307388,-0.00553374140472,0.0499728147494,0.99999999861,2.58185107032e-05,-4.51677467013e-05,-8.51652290608e-06,1793245218899554048
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.01546577,713.98453423,679,659,634,879,785.98453423,806,652.98453423,630,652,0.404373802006,-0.00554605441725,0.0499830199072,0.999999999446,2.05416304498e-05,-2.57166807078e-05,-5.00892057056e-06,1793245218916220928
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745.61560505,713.38439495,679,659,634,879,785.38439495,806,652.38439495,630,652,0.404781111424,-0.00555642023708,0.0499902806265,0.99999999978,1.93092727119e-05,-8.03776713977e-06,-1.81531540631e-06,1793245218932887552
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745.793278544,713.206721456,679,659,634,879,785.206721456,806,652.206721456,630,652,0.405189418758,-0.00556266516794,0.0499907349955,0.999999999721,2.29614471033e-05,-5.35089692671e-06,1.44805530002e-06,1793245218949553920
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.218238394,713.781761606,679,659,634,879,785.781761606,806,652.781761606,630,652,0.405599504051,-0.00556156784846,0.0499790623879,0.999999998933,3.53164652379e-05,-2.93755754431e-05,4.83572796901e-06,1793245218966220800
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,785.643560774,806,653,630,651.643560774,0.406021046974,-0.0055485076469,0.0499597936117,0.99999999601,6.06682794658e-05,-6.53173828649e-05,5.67143235043e-06,1793245218982887424
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,785.069104841,806,653,630,651.069104841,0.406449598018,-0.00552813032644,0.0499358786239,0.999999989681,9.3969608962e-05,-0.000108548326256,4.9462209579e-06,1793245218999554048
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.520655731,634,879,785,806,653,630,651.520655731,0.406948530344,-0.00552469189816,0.0499237134344,0.999999985763,0.000108340165636,-0.000129210908478,6.43309205207e-06,1793245219016220672
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.109657595,745.109657595,714,679,659.890342405,634,879,785.109657595,806.109657595,653,630,652,0.407471300424,-0.00552429013204,0.0499184324835,0.999999983454,0.000119993770589,-0.000136449023393,8.61432877101e-06,1793245219032887296
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.686510594,745.686510594,714,679,659.313489406,634,879,785.686510594,806.686510594,653,630,652,0.408054626674,-0.00552695733921,0.0499356362739,0.999999986364,0.0001311010116,-9.96407639408e-05,1.24651328537e-05,1793245219049553920
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.737205602,746,714,679.262794398,659.262794398,634,879,786,806.737205602,653,630,652,0.408662040441,-0.00552686954862,0.049958818286,0.999999987693,0.000145464082454,-5.63900905663e-05,1.65718738328e-05,1793245219066220800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.161599363,746,714,679.838400637,659.838400637,634,879,786,806.161599363,653,630,652,0.409298126249,-0.00552350240361,0.0499891163488,0.999999986366,0.000163702661813,-5.47082604212e-06,2.09832637245e-05,1793245219082887424
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.577027512,714,679.577027512,659.577027512,634,879,786,806,653,630,652,0.409924869746,-0.00551974525475,0.0500008671882,0.99999998329,0.000180926662722,1.00006897072e-05,2.42086146196e-05,1793245219099554048
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.010886269,714,679,659,634,879,786,806,652.989113731,629.989113731,652,0.410548086466,-0.0055159280253,0.0500046018657,0.999999980077,0.00019752703123,1.01083017911e-05,2.69574926696e-05,1793245219116220672
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.59056532,714,679,659,634,879,786,806,652.40943468,629.40943468,652,0.411177563785,-0.00551692548695,0.0499677591325,0.999999976708,0.000202235003771,-6.95980090378e-05,2.89996542115e-05,1793245219132887296
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.830789893,714,679,659,633.830789893,879,785.830789893,806,652.169210107,629.169210107,652,0.411835231639,-0.00551817365531,0.0499414231681,0.999999974669,0.000187632614248,-0.000121593197078,2.58982634786e-05,1793245219149554176
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.254632573,714,679,659,633.254632573,879,785.254632573,806,652.745367427,629.745367427,652,0.412560697124,-0.00552002476859,0.0499403557961,0.999999986215,0.000126589158616,-0.000106943630838,1.04267236173e-05,1793245219166221824
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+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.519571315,634,879.480428685,786,806,652,630,651.480428685,0.414858542015,-0.00553412675065,0.049970830684,0.999999991663,0.000120251225363,-4.38902394809e-05,1.69629683817e-05,1793245219216222208
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+157,2.616666667,POSE1_TO_POSE2_PRESS,764.650520413,745,714,679,659.650520413,634,879.349479587,786,806,652,630,652,0.416424660414,-0.00553075020949,0.0499342312656,0.999999985355,0.000135612471295,-0.000102655017393,1.89892464649e-05,1793245219249555456
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+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.80228036,786,806,652.80228036,630,652,0.418116299447,-0.00552885857982,0.0499644782124,0.999999988948,0.000138794763104,-4.87207838361e-05,2.16162382734e-05,1793245219282888192
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.621261824,745.378738176,714,679.378738176,660,634,880,786,806,653,630,652,0.418959314386,-0.00553132512487,0.0499725435362,0.999999989791,0.000134509486361,-4.25399662337e-05,2.2713882924e-05,1793245219299554560
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.043700216,745.956299784,714,679.956299784,660,634,880,786,806,653,630,652,0.419794565322,-0.00553433938534,0.0499696341295,0.999999989634,0.000129242848757,-5.90115143364e-05,2.33694212388e-05,1793245219316221440
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.544837518,746,714,679.455162482,660,634,879.455162482,786,806.544837518,653,630.544837518,652,0.420659600483,-0.00553267779567,0.0499622435726,0.999999989825,0.000130639524605,-5.270989783e-05,2.24662723447e-05,1793245219332888064
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.868437543,714,679.131562457,660,634,879.131562457,786,807,652.868437543,630.868437543,652,0.421546646843,-0.00553210499757,0.0499622872695,0.999999990522,0.000131077325655,-3.58337550047e-05,2.2143940297e-05,1793245219349554432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.290903415,714,679.709096585,660,634,879.709096585,786,807,652.290903415,630.290903415,652,0.422500042283,-0.00553652044693,0.0499887750987,0.99999999166,0.000126415792554,1.05689377949e-05,2.4222970161e-05,1793245219366220800
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,806.714638335,652,630,652,0.4234155486,-0.00553924642659,0.0499940087494,0.999999992072,0.000122046065482,1.79713777704e-05,2.52740627609e-05,1793245219382887680
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,806.13966115,652,630,652,0.424292601103,-0.00554025775236,0.0499776713912,0.999999992621,0.000117972493903,-1.42078017495e-05,2.52818950266e-05,1793245219399554816
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.445144213,714,679.554855787,660,634,880.445144213,786,806.445144213,652,630,652,0.425191464223,-0.00554287719173,0.0499821703682,0.999999992879,0.000116251132467,-5.18900591426e-06,2.64642365064e-05,1793245219416221696
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,679.032632454,660,634,880.967367546,786,807,652,630.032632454,652,0.426097618005,-0.00554569378135,0.0499931079786,0.999999992817,0.000115526965804,1.53027342256e-05,2.8024167067e-05,1793245219432888064
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,679.612238845,660,634,880.387761155,786,807,652,630.612238845,652,0.427008687733,-0.0055431671598,0.0499999184453,0.999999992476,0.000118868206919,6.5541295519e-06,2.95970859454e-05,1793245219449554432
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.809048501,714,680,660,633.809048501,880,786,807,652,630.809048501,652,0.427908451935,-0.00553988728996,0.0499904613622,0.999999991808,0.000122502031614,-2.17737813108e-05,3.00410267634e-05,1793245219466221056
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.232142324,714,680,660,633.232142324,880,786,807,652,630.232142324,652,0.428785365149,-0.00553508494102,0.0499481240082,0.999999987552,0.000126727231058,-8.96757452029e-05,2.82030561902e-05,1793245219482887936
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.656461589,745,714,680,660,633,880.343538411,786,807,652,630,652,0.429703254555,-0.00553741466704,0.0499397834326,0.999999987593,0.000123065774475,-9.43599214916e-05,2.76610189723e-05,1793245219499554816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.081606013,745,714,680,660,633,880.918393987,786,807,652,630,652,0.430648734717,-0.0055445466841,0.0499543341516,0.999999991505,0.000114093939564,-5.64772118851e-05,2.79915818935e-05,1793245219516222208
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.506331588,745,714,680,660,633.506331588,880.493668412,786,807,652,630,652,0.431512928865,-0.00554505142551,0.0499465949874,0.999999990362,0.000112788280589,-7.57638711126e-05,2.85568453351e-05,1793245219532888320
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.094745283,714,680,660,634,880,786,807.094745283,652.094745283,630,652,0.432371867659,-0.00554461366842,0.0499370781028,0.999999988476,0.000112233344156,-9.80707302693e-05,2.88925950199e-05,1793245219549554432
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.674516079,714,680,660,634,880,786,807.674516079,652.674516079,630,652,0.433272748565,-0.00554496405033,0.049937339232,0.999999989847,0.00010902861271,-8.74186440492e-05,2.78546227844e-05,1793245219566221056
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.747798371,746,714,680,660,634,880,786,808,652.747798371,630.252201629,652.252201629,0.434177840351,-0.0055453819527,0.0499497948367,0.999999991665,0.000107994708713,-6.47973188606e-05,2.84212794826e-05,1793245219582887680
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.172781829,746,714,680,660,634,880,786,808,652.172781829,630.827218171,652.827218171,0.435088322133,-0.00554588628048,0.0499778592163,0.999999993136,0.000109739436002,-2.68555168397e-05,3.10418408618e-05,1793245219599554304
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.401880607,745.598119393,713.598119393,680,660,633.598119393,880.401880607,786,808,652,631,652.598119393,0.435914821765,-0.00554523044623,0.0499724264163,0.999999991435,0.000114756297689,-5.3583340822e-05,3.30000400872e-05,1793245219616221184
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.976390901,745.023609099,713.023609099,680,660,633.023609099,880.976390901,786,808,652,631,652.023609099,0.436705246418,-0.00554407625894,0.0499526047449,0.999999986215,0.0001211787196,-0.000108090306162,3.46737183343e-05,1793245219632887808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.569151595,680.569151595,660,633,880.430848405,786,808,652,631,652,0.437535893639,-0.0055462628995,0.0499547559258,0.999999988893,0.000115812822726,-8.75185484826e-05,3.37793888103e-05,1793245219649554944
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.158296702,714,680.841703298,660,633.158296702,880.158296702,786,808,652,631,652,0.438365817798,-0.00554918209032,0.0499617492955,0.9999999916,0.000108686572805,-6.24121661039e-05,3.30453877845e-05,1793245219666222080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.735795715,714,680.264204285,660,633.735795715,880.735795715,786,808,652,631,652,0.439189262235,-0.0055536620747,0.0499790720811,0.999999994058,9.82364013858e-05,-3.38178462004e-05,3.30274129026e-05,1793245219682888704
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.68904701,745.68904701,714,680,660,633.68904701,880.68904701,786,808,652,631,652,0.439973168267,-0.00555383683659,0.0499757698743,0.999999994279,9.48882187546e-05,-3.73128701533e-05,3.23513561283e-05,1793245219699555072
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.115864574,745.115864574,714,680,660,633.115864574,880.115864574,786,808,652,631,652,0.440723731167,-0.00555038096549,0.0499550744256,0.999999992457,9.75292074954e-05,-6.78691270945e-05,3.11203329863e-05,1793245219716221440
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.472954828,745,714,680,660,633,880.472954828,786,808.472954828,652,631,652,0.441444977512,-0.00554896482408,0.0499500177748,0.999999991483,0.000101960133788,-7.51305991677e-05,3.1535369704e-05,1793245219732888064
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.064046887,714,680,660,633,880.935953113,786,809,652,630.935953113,652.064046887,0.442154451072,-0.0055482758906,0.0499486576328,0.99999999084,0.000106562655608,-7.69214039891e-05,3.23764731771e-05,1793245219749554432
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.641596265,714,680,660,633,880.358403735,786,809,652,630.358403735,652.641596265,0.442829085805,-0.00554927409063,0.0499451673223,0.99999999014,0.00010890503415,-8.21695913089e-05,3.32899458415e-05,1793245219766221056
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.781860239,745.781860239,714,680,659.781860239,633,880.218139761,786,808.781860239,652,630,652.781860239,0.443466244837,-0.00554984830418,0.049925982302,0.999999986538,0.000111233771692,-0.000115832457929,3.36646091324e-05,1793245219782888192
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.206961733,745.206961733,714,680,659.206961733,633,880.793038267,786,808.206961733,652,630,652.206961733,0.444042113982,-0.00554972910518,0.0498811292184,0.999999973803,0.000113540199815,-0.00019596638237,3.31580715069e-05,1793245219799555840
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.366822045,745,714,680,659,632.633177955,881,786,808,652,630,652,0.444618059723,-0.00554786417701,0.0498364049985,0.999999958449,0.000116161153652,-0.000261952512153,3.14452680852e-05,1793245219816222464
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.939978762,745,714,680,659,632.060021238,881,786,808,652,630,652,0.445194048513,-0.00554501728916,0.0497917532662,0.999999941309,0.000118959025686,-0.000319980607676,2.90539491459e-05,1793245219832888832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.533186822,659,632,880.466813178,785.466813178,808.533186822,652,630,652,0.44577267042,-0.00554685133842,0.0497917401703,0.999999946342,0.000119145492672,-0.000303729539114,2.94664416669e-05,1793245219849554944
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.875818119,659,631.875818119,880,785,808.875818119,652,630,652,0.446337935298,-0.00554760371127,0.0497957931453,0.999999951766,0.000120436989085,-0.000284698563203,3.01440655512e-05,1793245219866221568
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.301351865,659,631.301351865,880,785,808.301351865,652,630,652,0.446853650691,-0.00554244858025,0.0497956570251,0.999999950277,0.000126842911826,-0.000287091831683,3.05938700934e-05,1793245219882888704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.726663374,631,880,785,808.273336626,652,630,652,0.447329218061,-0.00554131714977,0.0497766873412,0.999999941446,0.000128704690018,-0.000315629679223,3.0364339693e-05,1793245219899555328
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.151729706,631,880,785,808.848270294,652,630,652,0.447760486448,-0.00554462543264,0.0497369368817,0.999999922116,0.000125552501468,-0.000373015206523,2.93852374552e-05,1793245219916221696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.432874035,714,680.432874035,658,630.567125965,880,785,809,652,630,652,0.448178894441,-0.00554898805219,0.0497125203253,0.999999911645,8.80003809817e-05,-0.00041061686581,1.89854750466e-05,1793245219932888832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.979248736,745.979248736,714,681,658,630,880,785,808.979248736,652,630,652.020751264,0.448592976398,-0.00555366757721,0.0496949297913,0.999999902817,3.99363701042e-05,-0.000439019836812,5.78212833538e-06,1793245219949555712
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.396611878,745.396611878,714,681,658,630,880,785,808.396611878,652,630,652.603388122,0.449014767752,-0.00555669262654,0.0497133090615,0.999999914901,4.11904701393e-05,-0.000410407622976,8.12027593028e-06,1793245219966222336
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.757766088,745.757766088,714,680.242233912,658,629.242233912,880,785,808.757766088,652.757766088,630,652.242233912,0.449783269709,-0.00555427278462,0.049745470018,0.999999932227,5.47859934017e-05,-0.000363852905563,1.24597152362e-05,1793245219999554560
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,680,657.09312119,629,880.90687881,784.09312119,808.09312119,652.09312119,630,652.90687881,0.450446793456,-0.00555338384984,0.0497602009289,0.999999939555,6.35650791316e-05,-0.000341434661045,1.65156371436e-05,1793245220032887296
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.503007034,746,714,680.496992966,657,628.503007034,881,784.496992966,808.496992966,652.496992966,629.503007034,652.503007034,0.450715631678,-0.00555830959177,0.0497537655195,0.999999933636,6.18069290011e-05,-0.000358579791471,1.81135183093e-05,1793245220049553920
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.24068677,746,714,681,657,628,880,784.24068677,808.75931323,652,629,652.75931323,0.451403391522,-0.00556315386768,0.0497328697045,0.99999991668,6.33400600439e-05,-0.000402713341356,2.12058168975e-05,1793245220099554048
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+219,3.650000000,POSE1_TO_POSE2_PRESS,764,746,714,681,656.371321169,627,880,784,809,652.371321169,629,652,0.452677556901,-0.00555761189534,0.0497134560082,0.999999901629,7.25347902585e-05,-0.00043702408813,2.21481951618e-05,1793245220282887424
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745.794697164,714.205302836,680.794697164,656,627,880,784,808.794697164,652.205302836,629,652,0.452719831828,-0.00555761703902,0.04971306813,0.99999990157,7.20885979983e-05,-0.000437236062655,2.20755262336e-05,1793245220299554304
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.220536199,714.779463801,680.220536199,656,627,880,784,808.220536199,652.779463801,629,652,0.452757717929,-0.00555701370437,0.0497149593663,0.99999990399,7.23786300233e-05,-0.000431627960896,2.1890116201e-05,1793245220316220928
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,745.362434972,714.637565028,680.362434972,656,626.637565028,880,783.637565028,808,652.637565028,629,652,0.452784931648,-0.00555664195708,0.0497155176717,0.99999990457,7.22653546728e-05,-0.000430300151675,2.1905228694e-05,1793245220332887296
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745.950900638,714.049099362,680.950900638,656,626.049099362,880,783.049099362,808,652.049099362,629,652,0.452805489593,-0.005556414638,0.0497152447017,0.999999904015,7.19005587958e-05,-0.000431641724188,2.20453960038e-05,1793245220349553920
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745.467770364,714,681,656,626.532229636,880,783.532229636,808.532229636,652,629,652,0.452817316817,-0.00555446850698,0.0497140599756,0.999999902943,7.48592634004e-05,-0.000433630258854,2.17914231424e-05,1793245220366220544
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680.314000997,656,627,880,784,809,652,629,652,0.452832488078,-0.00555157254816,0.0497105836885,0.999999900375,7.74045500889e-05,-0.000439102745284,2.1171738785e-05,1793245220399554816
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764.836315144,745,714.836315144,680,656,626.163684856,880.836315144,784,808.163684856,652,629,652,0.45283882274,-0.00555253471038,0.049707331856,0.999999898293,7.84119123519e-05,-0.000443608083492,2.18502028622e-05,1793245220432887808
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.423409649,714.576590351,680.423409649,656.423409649,626.423409649,881,784,808.423409649,652,629,652.423409649,0.452840805424,-0.00555067902252,0.0497071557578,0.99999989809,7.89883011253e-05,-0.000443983142758,2.14264829729e-05,1793245220449554432
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.406509089,714.593490911,681,656.406509089,626.406509089,880.406509089,784,809,652.593490911,629,652.406509089,0.452843576887,-0.00554849258186,0.0497077855994,0.999999898048,8.09096999932e-05,-0.000443742024939,2.12265432465e-05,1793245220482887424
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.170563306,715,681,656,626.170563306,880.170563306,784,809,653,628.829436694,652.170563306,0.452844173174,-0.00554927438721,0.0497077931645,0.999999897761,8.1736753596e-05,-0.000444216838935,2.16538727655e-05,1793245220499554304
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.743794988,715,681,656,626.743794988,880.743794988,784,809,653,628.256205012,652.743794988,0.452843890808,-0.00555018989651,0.0497071223515,0.999999897071,8.12591234816e-05,-0.000445852837074,2.16973103989e-05,1793245220516220928
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.680830119,681,656,626.680830119,880.680830119,784,809,652.680830119,628.319169881,652.680830119,0.452843658409,-0.00554893832956,0.0497064239887,0.999999896488,8.227938171e-05,-0.000446990850639,2.12927721047e-05,1793245220532887808
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.103723126,681,656,626.103723126,880.103723126,784,809,652.103723126,628.896276874,652.103723126,0.45284346639,-0.00554593544021,0.0497057033614,0.999999895989,8.45101582161e-05,-0.00044772641819,2.05262021095e-05,1793245220549554688
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.514094749,714,681,656.485905251,626.485905251,880.485905251,784,809,652,629,652,0.452844901798,-0.00554639058146,0.0497063587879,0.999999896454,8.31759430188e-05,-0.00044692537353,2.0785065988e-05,1793245220566221312
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.652345874,680.347654126,656.347654126,626.347654126,881,784,809,652.652345874,629,652,0.452844832355,-0.00554787455736,0.049705350368,0.999999895796,8.22115898321e-05,-0.000448558423944,2.10652786975e-05,1793245220599554560
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.37864169,745,714.62135831,681,656,626.37864169,880.37864169,783.37864169,808.37864169,652.37864169,629,652,0.452845565843,-0.00554588059534,0.0497048423932,0.999999895534,8.15391715307e-05,-0.000449280387308,2.07451062211e-05,1793245220649554432
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+244,4.066666667,HOLD_POSE2,765,746,714,681,656,626,881,784,809,653,629,652,0.452845115839,-0.00554484045674,0.0497034621954,0.999999894377,8.22917998573e-05,-0.000451750779414,1.98849219381e-05,1793245220724520192
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+253,4.216666667,HOLD_POSE2,765,745,714,681,656,626,880,784,809,652,629,652,0.45284539789,-0.00554647476767,0.0497033614943,0.999999894159,8.1330153114e-05,-0.000452369530477,2.0720710108e-05,1793245220874520064
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+258,4.300000000,HOLD_POSE2,764,745.114632827,714.114632827,680.885367173,656,626,880.885367173,784,808.885367173,652.885367173,629,652,0.452847058751,-0.00554292944058,0.0497033993957,0.999999894173,8.32177394417e-05,-0.000452033336548,1.98796363387e-05,1793245220957852160
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,626,880,784,809,653,629,652,0.452847515234,-0.00554359591033,0.0497033906259,0.999999894476,8.21036895044e-05,-0.000451557881118,2.00527397298e-05,1793245221111786752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.066182543,714.066182543,681,656.066182543,626,880.066182543,784,808.933817457,653,629,652,0.452846242836,-0.00554307245649,0.0497020015469,0.999999893712,8.27538713318e-05,-0.00045312942363,2.00469927553e-05,1793245221128453632
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b259d9c13afbe7b9643c409acbb5b5b3bb9573c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575670452911,-0.000122289576634,1.04005089438,0.54624208786,0.00855340215897,1.03971738699
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e318dc882f27c2b1169f5c0131550f7f75abacdf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd731a2568e19c9a2b4b19168da9b7376ddf6590c06622fc9ae4b6f1ed17d18
+size 25635863
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ba6143016d6ba65284af585fe3f1bc35011b22b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+22,0.366666667,BASELINE,764,745,714,678.8200358,659,633.8200358,878.1799642,786,806,653,630,652,0.400996362563,-0.0053986110128,0.049857319112,0.999999962627,0.000111014120576,-0.000245952716035,-4.39169070273e-05,1793245223878651648
+23,0.383333333,BASELINE,764,745,714,679,659,634,878.386852382,786,806,653,630,652,0.400996445524,-0.00539836905255,0.0498577682534,0.999999962562,0.000112407275865,-0.000245612468093,-4.37559830166e-05,1793245223895318016
+24,0.400000000,BASELINE,764,745,714,679,659,634,878.941854575,786,806,653,630,652,0.400996779482,-0.00539805698264,0.0498585048683,0.999999962465,0.000115075630126,-0.000244834064932,-4.34098239856e-05,1793245223911984384
+25,0.416666667,BASELINE,764,745.53565896,714,679,659,634,879,786,806,653,630,652,0.400996315777,-0.00539886240507,0.0498577899758,0.999999962413,0.000115127036995,-0.000245081474548,-4.3072382106e-05,1793245223928651264
+26,0.433333333,BASELINE,763.871170011,745.871170011,714,679,659.128829989,633.871170011,879,786,806,653,630,652,0.400995646011,-0.0053996589871,0.0498570721678,0.999999962338,0.0001146263023,-0.000245659398207,-4.28406158504e-05,1793245223945318144
+27,0.450000000,BASELINE,763.295928213,745.295928213,714,679,659.704071787,633.295928213,879,786,806,653,630,652,0.400994585674,-0.00539997178047,0.0498569328599,0.999999962165,0.000113273530834,-0.000246966615158,-4.29714936794e-05,1793245223961984768
+28,0.466666667,BASELINE,763.287893466,745,713.712106534,679,659.712106534,633.287893466,879,786,806.287893466,653,630,652,0.400994906924,-0.00540046865397,0.0498572151948,0.999999962319,0.000112912439964,-0.000246503193877,-4.299982251e-05,1793245223978651392
+29,0.483333333,BASELINE,763.880805353,745,713.119194647,679,659.119194647,633.880805353,879,786,806.880805353,653,630,652,0.400996691943,-0.00540116055737,0.0498579442535,0.999999962818,0.000113602018559,-0.000244163810249,-4.29195023452e-05,1793245223995318272
+30,0.500000000,BASELINE,764,745,713.458185048,679,659.458185048,633.541814952,878.541814952,786,806.541814952,653,630,652,0.400996818629,-0.0054002528816,0.0498577706629,0.999999962788,0.000113859889166,-0.000244144777631,-4.3047033711e-05,1793245224011985408
+31,0.516666667,BASELINE,764,745,713.968300242,679,660,633.031699758,878.031699758,786,806,653,630,652,0.400996576409,-0.0053989872715,0.0498574213694,0.999999962634,0.000114096592695,-0.000244632936858,-4.32186649404e-05,1793245224028652800
+32,0.533333333,BASELINE,764,745,713.394046767,679,660,633.605953233,878.605953233,786,806,653,630,652,0.400997161834,-0.00539848406181,0.0498579521106,0.999999962635,0.000115830163495,-0.000243809292888,-4.32499701401e-05,1793245224045318656
+33,0.550000000,BASELINE,763.813372031,745,713,679,659.813372031,633.813372031,879,785.813372031,806,653,630,652,0.400997411015,-0.00539853118345,0.0498581595451,0.999999962634,0.00011665727585,-0.000243416289236,-4.32614784704e-05,1793245224061984768
+34,0.566666667,BASELINE,763.218656403,745,713,679,659.218656403,633.218656403,879,785.218656403,806,653,630,652,0.400996924951,-0.00539978168013,0.0498576600252,0.999999962636,0.00011550229223,-0.000243964939822,-4.32296982259e-05,1793245224078651648
+35,0.583333333,BASELINE,763.364665788,745,713.364665788,679,659,633.364665788,879,785.729331576,806,653,629.635334212,652,0.400995915783,-0.00539980062883,0.0498567393825,0.999999962357,0.000115036845195,-0.000245326576046,-4.32036310723e-05,1793245224095318272
+36,0.600000000,BASELINE,763.941363416,745,713.941363416,679,659,633.941363416,879,786.882726833,806,653,629.058636584,652,0.400994602461,-0.00539910350447,0.0498555738813,0.999999961914,0.000114972323271,-0.00024716091595,-4.3180885744e-05,1793245224111985408
+37,0.616666667,BASELINE,764,745,714,679,659,634,879,786.483448385,806,653,629.516551615,652,0.400993967641,-0.00539992966939,0.049855771851,0.999999962084,0.000113798092031,-0.000247038621825,-4.3054251348e-05,1793245224128651776
+38,0.633333333,BASELINE,764,745,714,679.091648671,659.091648671,634,878.908351329,786,806,653,629.908351329,652,0.400993672386,-0.00540074083508,0.0498561906529,0.999999962275,0.000112923687211,-0.000246692719607,-4.29175314593e-05,1793245224145317888
+39,0.650000000,BASELINE,764,745,714,679.667166734,659.667166734,634,878.332833266,786,806,653,629.332833266,652,0.400994764449,-0.00540056253715,0.0498569605925,0.999999962212,0.000114295379347,-0.000246335481625,-4.27896451549e-05,1793245224161984512
+40,0.666666667,BASELINE,764,745,714,679.499018425,659.749509213,633.749509213,878,785.749509213,806,653,629.250490787,652,0.400995568512,-0.00539977255554,0.0498575210631,0.999999962272,0.000115215923482,-0.000245634429734,-4.29437507386e-05,1793245224178651136
+41,0.683333333,BASELINE,764,745,714,678.310959135,659.155479567,633.155479567,878,785.155479567,806,653,629.844520433,652,0.400995977595,-0.00539814367238,0.0498577942548,0.999999962502,0.000115517734725,-0.000244461849796,-4.34845977837e-05,1793245224195317760
+42,0.700000000,BASELINE,763.576088242,745,713.576088242,678.847823517,659,633,878,785.423911758,805.576088242,653,629.576088242,652,0.400996829869,-0.00539904699902,0.0498579142552,0.999999962902,0.000113596299851,-0.000243738828154,-4.33991407855e-05,1793245224211985408
+43,0.716666667,BASELINE,763.001886666,745,713.001886666,679.996226669,659,633,878,785.998113334,805.001886666,653,629.001886666,652,0.400997839268,-0.00540084807232,0.0498579799445,0.999999963357,0.000110886655519,-0.000243175188841,-4.30916396385e-05,1793245224228653312
+44,0.733333333,BASELINE,763.574755096,745,713.574755096,679.425244904,659,633.574755096,878,785.425244904,806.149510192,653,629.574755096,652,0.400997224371,-0.00539999540788,0.049857697409,0.999999963014,0.000112617406833,-0.000243738865116,-4.33771112511e-05,1793245224245319424
+45,0.750000000,BASELINE,764,745,714,678.84511488,659,634,878,785.15488512,806.84511488,652.84511488,630,652,0.400996695009,-0.00539908479205,0.049857582455,0.999999962719,0.000114276747405,-0.000244145815613,-4.35486598668e-05,1793245224261985792
+46,0.766666667,BASELINE,764,745,714,678.255210206,659,634,878,785.744789794,806.255210206,652.255210206,630,652,0.400996420927,-0.00539803598135,0.0498579414047,0.999999962573,0.000115694406091,-0.000244102138989,-4.33947472649e-05,1793245224278651904
+47,0.783333333,BASELINE,764,745,714,678.328453911,659,634,878.328453911,786,806,652.328453911,630,652,0.400997072706,-0.005397906697,0.0498585157435,0.999999962681,0.000116811970756,-0.000243147022092,-4.32646980857e-05,1793245224295318272
+48,0.800000000,BASELINE,764,745,714,678.90735956,659,634,878.90735956,786,806,652.90735956,630,652,0.400998430471,-0.00539847856714,0.0498592543205,0.999999962982,0.000117700708736,-0.000241496916358,-4.31528451591e-05,1793245224311984640
+49,0.816666667,BASELINE,764.483063928,745,713.516936072,679,659,634,878.516936072,786,806,653,630,652,0.400997963271,-0.00539898112119,0.0498589341691,0.999999963138,0.000115167924132,-0.000242049899421,-4.32761805435e-05,1793245224328651520
+50,0.833333333,BASELINE,765,745,713,678.940681095,659,634,878.059318905,786,806,652.940681095,630,652,0.400997170151,-0.00539936126009,0.0498583924918,0.99999996321,0.000112398636247,-0.000243026661071,-4.34227138414e-05,1793245224345318144
+51,0.850000000,BASELINE,765,745,713,678.35411078,659,634,878.64588922,786,806,652.35411078,630,652,0.400996570462,-0.00539877069982,0.0498576746193,0.999999962861,0.000113321111741,-0.000244039499931,-4.33771790781e-05,1793245224361984768
+52,0.866666667,BASELINE,764.770304777,745.229695223,713.229695223,678.229695223,659.229695223,634,879,786,806,652.229695223,630,652,0.400996443352,-0.00539873313217,0.0498574566398,0.999999962799,0.000113375025932,-0.000244278546442,-4.33090048383e-05,1793245224378651392
+53,0.883333333,BASELINE,764.190709747,745.809290253,713.809290253,678.809290253,659.809290253,634,879,786,806,652.809290253,630,652,0.400997036136,-0.00539953795043,0.0498580001585,0.999999963176,0.000112105841454,-0.00024333885792,-4.32063433869e-05,1793245224395318016
+54,0.900000000,BASELINE,764,745.612254496,714,679,659.612254496,634,878.612254496,786,806,653,630,652,0.400997044752,-0.00539943680435,0.0498581350815,0.999999963123,0.000112875015168,-0.000243226596805,-4.3053680664e-05,1793245224411984640
+55,0.916666667,BASELINE,764,745.03435821,714,679,659.03435821,634,878.03435821,786,806,653,630,652,0.400996766892,-0.00539889137243,0.0498580696287,0.999999962858,0.000114643801812,-0.000243520106942,-4.28764972706e-05,1793245224428651520
+56,0.933333333,BASELINE,764,745.540677759,714,679,659,634,878.540677759,786,806,653,630,652,0.400996220704,-0.00539900992433,0.0498582115984,0.999999962732,0.000115570009718,-0.000243590011933,-4.29473596215e-05,1793245224445318144
+57,0.950000000,BASELINE,764,746,714,679,659.118156204,634,878.881843796,786,806.118156204,653,629.881843796,652,0.40099611735,-0.00539899438151,0.0498584399776,0.999999962693,0.000116266166052,-0.000243393870177,-4.30712987327e-05,1793245224461985024
+58,0.966666667,BASELINE,764,746,714,679,659.706063838,634,878.293936162,786,806.706063838,653,629.293936162,652,0.400997841992,-0.00539827885413,0.0498589597656,0.999999962973,0.000116259460003,-0.000242196205792,-4.33439173976e-05,1793245224478652672
+59,0.983333333,BASELINE,763.708948531,745.708948531,714,679,659.708948531,634,878.291051469,786,807,653,629.291051469,652,0.400997514968,-0.00539819210988,0.049859006716,0.999999962932,0.00011624613394,-0.000242381157337,-4.32964953686e-05,1793245224495319552
+60,1.000000000,BASELINE,763.126880483,745.126880483,714,679,659.126880483,634,878.873119517,786,807,653,629.873119517,652,0.400995136523,-0.00539873407332,0.0498585808856,0.999999962569,0.000116226188652,-0.00024394855893,-4.29290710427e-05,1793245224511985408
+61,1.016666667,BASELINE,763.450080793,745,714,678.549919207,659,634,878.549919207,786,806.549919207,653,629.549919207,652,0.400994410895,-0.00539963537866,0.0498576836218,0.999999962377,0.000115413356689,-0.000245114803728,-4.29376696101e-05,1793245224528652032
+62,1.033333333,BASELINE,764,745,714,678,659.025522201,634,878.025522201,786,806,653,629.025522201,652.025522201,0.400994209015,-0.00540058869369,0.0498567489922,0.999999962253,0.000114444877418,-0.000246059971232,-4.303256984e-05,1793245224545318656
+63,1.050000000,BASELINE,764,745,714,678,659.598895298,634,878.598895298,786,806,653,629.598895298,652.598895298,0.40099536024,-0.00540050834281,0.0498578330559,0.999999962559,0.000114879489764,-0.000244659855175,-4.27300936532e-05,1793245224561985024
+64,1.066666667,BASELINE,764,745,714,678.1780962,660,633.8219038,879,785.8219038,806,653,630,652.8219038,0.400996389892,-0.00540020303364,0.0498585063214,0.99999996276,0.000115412604487,-0.000243600731616,-4.26474572313e-05,1793245224578651392
+65,1.083333333,BASELINE,764,745,714,678.770866358,660,633.229133642,879,785.229133642,806,653,630,652.229133642,0.400997136477,-0.00539937393819,0.0498582230964,0.999999962718,0.000116175069224,-0.000243335565049,-4.30766892731e-05,1793245224595318016
+66,1.100000000,BASELINE,763.645016802,745.354983198,713.645016802,679,659.645016802,633,878.645016802,785,805.645016802,653,629.645016802,652,0.400996227314,-0.00539945566482,0.0498579682824,0.999999962852,0.00011355177191,-0.000243959364953,-4.34361845108e-05,1793245224611984640
+67,1.116666667,BASELINE,763.066352589,745.933647411,713.066352589,679,659.066352589,633,878.066352589,785,805.066352589,653,629.066352589,652,0.400994274836,-0.00540011131613,0.0498577313706,0.999999963077,0.000108795047694,-0.000245143317915,-4.37517373722e-05,1793245224628651264
+68,1.133333333,BASELINE,763,745.493779497,713.506220503,679,659,634.012441007,878,785,805.506220503,653,629.506220503,652,0.400994464272,-0.00539939851904,0.0498577321057,0.999999962725,0.000112198404835,-0.000245114872186,-4.33708447708e-05,1793245224645318144
+69,1.150000000,BASELINE,763.08057485,745,714,679,659.08057485,634.91942515,878,785.08057485,806,653,630,652,0.400995166312,-0.00539868026526,0.0498579543315,0.999999962446,0.000116000224179,-0.000244559998947,-4.29221321049e-05,1793245224661985024
+70,1.166666667,BASELINE,763.671198332,745,714,679,659.671198332,634.328801668,878,785.671198332,806,653,630,652,0.400997357149,-0.00539904939615,0.0498593837852,0.999999963205,0.000115634292648,-0.000241666763591,-4.2615092936e-05,1793245224678651648
+71,1.183333333,BASELINE,764,745.254190418,714,679,660,634,878.254190418,786,806,653,630,652,0.400997588095,-0.00539934992718,0.0498596120899,0.999999963393,0.000115422189461,-0.000240995395507,-4.25698851789e-05,1793245224695318016
+72,1.200000000,BASELINE,764,745.827598905,714,679,660,634,878.827598905,786,806,653,630,652,0.400995357767,-0.005399564309,0.0498583319645,0.999999962871,0.000115403267335,-0.000243114298151,-4.2853491183e-05,1793245224711984896
+73,1.216666667,BASELINE,764,746,714,678.593420321,659.593420321,633.593420321,878.593420321,786,806,653,630,652,0.400996654737,-0.00540090296039,0.0498590213899,0.999999963548,0.00011276261748,-0.000241559065687,-4.28771165136e-05,1793245224728651520
+74,1.233333333,BASELINE,764,746,714,678.012043945,659.012043945,633.012043945,878.012043945,786,806,653,630,652,0.400999468161,-0.00540272495765,0.0498605575645,0.999999964722,0.000108994834681,-0.000238424249262,-4.2788970959e-05,1793245224745317888
+75,1.250000000,BASELINE,764,745.438674135,713.438674135,678.561325865,659.561325865,633,878.561325865,786,806,653,630,652.561325865,0.400996734658,-0.00540178943701,0.0498588504949,0.999999963844,0.00011029851875,-0.000241424745661,-4.31403733928e-05,1793245224761984768
+76,1.266666667,BASELINE,764,745,713,678.860925659,659.860925659,633.139074341,878.860925659,786,806,653,629.860925659,652.860925659,0.400995101841,-0.00540119259685,0.0498577848346,0.99999996327,0.000111298791068,-0.000243301046297,-4.33352182955e-05,1793245224778651392
+77,1.283333333,BASELINE,764,745,713,678.268346595,659.268346595,633.731653405,878.268346595,786,806,653,629.268346595,652.268346595,0.400997440869,-0.00540189037303,0.0498590344599,0.999999963858,0.000110959832627,-0.000241088251476,-4.29892268476e-05,1793245224795318016
+78,1.300000000,BASELINE,764,745,713.316814186,678.316814186,659.316814186,634,878,786,806.316814186,653,629.316814186,652,0.400997927081,-0.00540155274364,0.0498592893421,0.999999963737,0.00011182104695,-0.000241224088511,-4.28043634926e-05,1793245224811984896
+79,1.316666667,BASELINE,764,745,713.895835297,678.895835297,659.895835297,634,878,786,806.895835297,653,629.895835297,652,0.400996879835,-0.00540035817496,0.0498587209387,0.999999963027,0.000113675567854,-0.000243303738675,-4.27528556159e-05,1793245224828651776
+80,1.333333333,BASELINE,764,745,713.528724583,678.528724583,659.528724583,634,878,786,806.528724583,653,630,652,0.40099556007,-0.00540038475839,0.0498582290683,0.999999962799,0.000113927342071,-0.000244140656317,-4.26423801852e-05,1793245224845318400
+81,1.350000000,BASELINE,764,745,713.045648492,678.045648492,659.045648492,634,878.045648492,786,806,653,629.954351508,652,0.400994404858,-0.00540057344022,0.0498578413066,0.999999962702,0.000114008512644,-0.000244512549259,-4.25623147496e-05,1793245224861985024
+82,1.366666667,BASELINE,764,745,713.616780387,678.616780387,659.616780387,634,878.616780387,786,806,653,629.383219613,652,0.400995832064,-0.00539954450196,0.0498584587354,0.999999962884,0.000116172986413,-0.000242669414404,-4.29812177699e-05,1793245224878651392
+83,1.383333333,BASELINE,764,745,713.803994254,679,660,634,879,786,806,652.803994254,629.196005746,652,0.400996502459,-0.00539924568294,0.0498587488715,0.999999963008,0.000116479860302,-0.000241984386675,-4.31361180887e-05,1793245224895318016
+84,1.400000000,BASELINE,764,745,713.20826335,679,660,634,879,786,806,652.20826335,629.79173665,652,0.400995629448,-0.00540043583552,0.0498583715422,0.999999963016,0.000112998430301,-0.000243661149349,-4.27526234425e-05,1793245224911984896
+85,1.416666667,BASELINE,764,745,713.376660747,679,659.623339253,634,879,786,806,652.376660747,630,652,0.40099561757,-0.00540011144126,0.0498583670309,0.999999963013,0.000113375543479,-0.000243469853946,-4.29146345944e-05,1793245224928651520
+86,1.433333333,BASELINE,764,745,713.955776162,679,659.044223838,634,879,786,806,652.955776162,630,652,0.400996068551,-0.00539897297993,0.0498585629086,0.999999963003,0.000115826618884,-0.000242274479622,-4.33698544368e-05,1793245224945318400
+87,1.450000000,BASELINE,764,745,714,679,659,634,878.46919078,786,806,653,630,652,0.400996787132,-0.00539820385566,0.0498595829842,0.999999963087,0.000116065467251,-0.000241817681118,-4.33464938029e-05,1793245224961985024
+88,1.466666667,BASELINE,764,745.107797204,714,679,659,634,878.107797204,786,806.107797204,653,630,652.107797204,0.400997029971,-0.00539804676589,0.049860123303,0.99999996313,0.000115539966254,-0.000241905121173,-4.32727613933e-05,1793245224978651648
+89,1.483333333,BASELINE,764,745.694979926,714,679,659,634,878.694979926,786,806.694979926,653,630,652.694979926,0.400995058746,-0.00540047566078,0.0498582270529,0.999999962946,0.000112428711194,-0.000244141289061,-4.3150984085e-05,1793245224995318528
+90,1.500000000,BASELINE,764,745.721684863,714,679,659,634,879,786,806.721684863,653,630,652.721684863,0.400994454742,-0.00540121334086,0.0498574390202,0.999999962922,0.000111592109617,-0.00024462467138,-4.31446122843e-05,1793245225011984896
+91,1.516666667,BASELINE,764,745.142508878,714,679,659,634,879,786,806.142508878,653,630,652.142508878,0.400995328715,-0.00540012280432,0.0498578489792,0.999999963079,0.00011321442651,-0.000243213278598,-4.32629947514e-05,1793245225028651264
+92,1.533333333,BASELINE,764,745,714,679,659.43500486,634,879,786,806,653,630,652,0.400996378588,-0.00539983896357,0.0498584793503,0.999999963125,0.000114362710794,-0.000242484547337,-4.32623418512e-05,1793245225045317888
+93,1.550000000,BASELINE,764,745,714,679,659.988067278,634,878.988067278,786,806,653,630,652,0.400997454185,-0.00539980649819,0.0498591578621,0.99999996313,0.000115343600316,-0.000242006182181,-4.32221543425e-05,1793245225061984768
+94,1.566666667,BASELINE,764,745,714,679,659.413188602,634,878.413188602,786,806,653,630,652,0.400997035121,-0.0053992128883,0.0498587139427,0.99999996289,0.000115725746641,-0.000242828739129,-4.31495699889e-05,1793245225078651648
+95,1.583333333,BASELINE,764,745,713.834353839,678.834353839,659,634,878,786,806.165646161,653,629.834353839,652,0.400996624732,-0.00539905754977,0.0498586175721,0.999999962872,0.000115457151672,-0.000243044329146,-4.30684839301e-05,1793245225095318272
+96,1.600000000,BASELINE,764,745,713.245409423,678.245409423,659,634,878,786,806.754590577,653,629.245409423,652,0.400996236509,-0.00540002218575,0.0498594093402,0.999999963421,0.000113525628699,-0.000241708853865,-4.29656722876e-05,1793245225111985152
+97,1.616666667,BASELINE,764,745,713,678,659,634,878,786,806.661846986,653,629.338153014,652,0.400996328962,-0.00540023930464,0.0498596350167,0.999999963658,0.000113135181059,-0.00024092664861,-4.28828736756e-05,1793245225128652032
+98,1.633333333,BASELINE,764,745,713,678,659,634,878,786,806.082129283,653,629.917870717,652,0.400996764794,-0.00539992242342,0.0498594562971,0.999999963673,0.000113845623871,-0.0002405396802,-4.28143716791e-05,1793245225145318400
+99,1.650000000,BASELINE,764,745,713,678,659,634,878.493106054,786,806,653,630,652,0.400994602209,-0.00539960333076,0.0498579671278,0.999999963047,0.000113958956873,-0.000243041515147,-4.3009302598e-05,1793245225161985024
+100,1.666666667,BASELINE,764,745,713,678.069528238,659,634,879,785.930471762,806,653,630,652,0.400992618866,-0.005399248002,0.0498566432475,0.999999962468,0.000114031745698,-0.000245343799383,-4.32127680854e-05,1793245225178651904
+101,1.683333333,BASELINE,764,745,713,678.660397192,659,634,879,785.339602808,806,653,630,652,0.40099519538,-0.00539862370249,0.0498581805881,0.999999963088,0.000114539520319,-0.000242574552867,-4.31541974871e-05,1793245225195318272
+102,1.700000000,BASELINE,764,745,713.246144804,679,659.246144804,634,878.753855196,785.246144804,806,653,629.753855196,652,0.4009969789,-0.00539861638699,0.0498592732491,0.999999963564,0.000114319332174,-0.000240706500435,-4.31749667914e-05,1793245225211984896
+103,1.716666667,BASELINE,764,745,713.824970535,679,659.824970535,634,878.175029465,785.824970535,806,653,629.175029465,652,0.400997690636,-0.00539944296611,0.049859764896,0.999999963851,0.000113115254325,-0.000240056471435,-4.33029692091e-05,1793245225228651776
+104,1.733333333,BASELINE,763.599801065,745,714,679,659.599801065,634,878.400198935,786,806,652.599801065,629.400198935,652,0.400996778071,-0.00539944206508,0.0498592066551,0.999999963426,0.000114007775469,-0.000241387426624,-4.33894727877e-05,1793245225245318400
+105,1.750000000,BASELINE,763.026131914,745,714,679,659.026131914,634,878.973868086,786,806,652.026131914,629.973868086,652,0.400995161436,-0.00539908248462,0.0498581933298,0.999999962685,0.000115809088236,-0.000243577059091,-4.34579882916e-05,1793245225261985280
+106,1.766666667,BASELINE,763.550002967,745,714,679,659,633.449997033,878.449997033,786,806,652.550002967,630,652,0.400996872378,-0.00539875577584,0.0498592184955,0.999999963138,0.00011567439672,-0.000241813333026,-4.32416276195e-05,1793245225278651904
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,678,660,634,878,786,806,653,630,652,0.400999648785,-0.00540188312583,0.0498606524596,0.99999996427,0.000112259410637,-0.000238837144093,-4.25889684361e-05,1793245225319957504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.579579162,679.159158323,660,633.420420838,878.579579162,786,806,653,630,652.579579162,0.400998009595,-0.00540123566191,0.0498602919448,0.99999996403,0.000112198360778,-0.000239851143455,-4.27019135034e-05,1793245225336624384
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841899214,745.158100786,714,679.841899214,659.841899214,633.158100786,879,785.841899214,806,653,630,652.841899214,0.40099677345,-0.00540015075893,0.0498598295113,0.999999963686,0.000112868787534,-0.000240932048017,-4.28984716569e-05,1793245225353291008
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.266170974,745.733829026,714,679.266170974,659.266170974,633.733829026,879,785.266170974,806,653,630,652.266170974,0.400996601961,-0.00539791034879,0.0498590978571,0.999999963067,0.000115471429308,-0.00024218968467,-4.33158960371e-05,1793245225369957632
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.316072161,745.683927839,714,679,659,634,878.683927839,785.316072161,806,653,630.316072161,652,0.400997200808,-0.0053974804993,0.0498592208817,0.999999963083,0.000116456389733,-0.000241663709631,-4.32446201802e-05,1793245225386624512
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.903917054,745.096082946,714,679,659,634,878.096082946,785.903917054,806,653,630.903917054,652,0.400998462024,-0.00539860744954,0.0498600787968,0.999999963647,0.000116050396497,-0.000239604106812,-4.27531383606e-05,1793245225403291392
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.484650536,745,714,679,659,634,878.969301071,786,806,653,630.515349464,651.515349464,0.400997654186,-0.00539831148363,0.0498594150548,0.999999963327,0.000116436391386,-0.000240710593779,-4.29792159385e-05,1793245225419957760
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.936289663,745,714,679,659,633.936289663,879.872579327,786,806,653,629.936289663,651.063710337,0.400996515872,-0.00539791186371,0.0498585835701,0.999999962892,0.000116769931198,-0.000242300225018,-4.32702031757e-05,1793245225436624384
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.359518646,745,714,679,659,633.359518646,878.719037293,786,806,653,629.359518646,651.640481354,0.400995971748,-0.0053989163892,0.049858795487,0.999999962939,0.000115434903271,-0.000242798974572,-4.29548725247e-05,1793245225453290752
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.783008962,679,659,633.216991038,878.216991038,786,805.783008962,653,629.216991038,652,0.400997977154,-0.00539950001146,0.0498595378366,0.999999963333,0.000114372798664,-0.000241693400477,-4.28568841338e-05,1793245225469957376
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.206931798,679,659,633.793068202,878.793068202,786,805.206931798,653,629.793068202,652,0.401004201632,-0.00539938710482,0.0498611579693,0.999999964293,0.000113762339462,-0.000237932922395,-4.31185631156e-05,1793245225486624000
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.376981487,678.623018513,659,634,878.623018513,786,805.376981487,653,630,651.623018513,0.4010247603,-0.00539949071515,0.0498687810496,0.999999967632,0.000115071754069,-0.000222881427144,-4.26308270165e-05,1793245225503290880
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.965287521,678.034712479,659,634,878.034712479,786,805.965287521,653,630,651.034712479,0.401053354288,-0.0053997156984,0.0498797692029,0.99999997193,0.000117457392418,-0.000201500524906,-4.17229912438e-05,1793245225519957504
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,678.541226488,659.541226488,633.458773512,878.541226488,786,806,653,630,651.541226488,0.401114473993,-0.00540196373472,0.0499006095261,0.999999979921,0.000115796825014,-0.000158508588034,-4.03029018028e-05,1793245225536624128
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.883027892,679,660,633.116972108,878.883027892,785.883027892,806,653,630,652,0.401178611519,-0.00540468182343,0.0499201134128,0.999999985525,0.000114013199609,-0.000120184405124,-3.88124994448e-05,1793245225553290752
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.304987578,679,660,633.695012422,878.304987578,785.304987578,806,653,630,652,0.401246605343,-0.00540875269836,0.0499319144247,0.999999987378,0.000112744576017,-0.000105600440227,-3.71715533547e-05,1793245225569957376
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659.72898612,634,878,785.27101388,806,653,630,652,0.401323254371,-0.0054123558706,0.0499412303818,0.999999989026,0.000110675176701,-9.17084358411e-05,-3.59070867766e-05,1793245225586624000
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659.155262006,634,878,785.844737994,806,653,630,652,0.401409570865,-0.00541543663986,0.0499477706449,0.999999990496,0.000107711347235,-7.85893209004e-05,-3.50631308686e-05,1793245225603290368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745.430770905,713.430770905,679,659,634,878,786,806,653,630,652,0.401504145646,-0.00541911474195,0.0499483814467,0.999999990673,0.000105989735879,-7.90147912829e-05,-3.4293748693e-05,1793245225619956992
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.978941917,713.978941917,678.978941917,659,633.978941917,878.021058083,785.978941917,806,653,630,652,0.401602956053,-0.00542300297189,0.0499467866269,0.999999990399,0.000104693884827,-8.43455863931e-05,-3.35568378064e-05,1793245225636623872
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.396982578,713.396982578,678.396982578,659,633.396982578,878.603017422,785.396982578,806,653,630,652,0.401732971935,-0.00542658487585,0.0499450422855,0.999999990469,0.000102462049471,-8.64767960267e-05,-3.29478373602e-05,1793245225653290496
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,678.18166919,659,633,878.81833081,785,806,653,630,652,0.401871303066,-0.00542984532225,0.0499442755127,0.999999990493,0.000101029972458,-8.81238483498e-05,-3.22780683949e-05,1793245225669957376
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,678.753222437,659,633,878.246777563,785,806,653,630,652,0.402027479713,-0.00543241588136,0.0499456067206,0.999999990436,0.000101314273874,-8.87318402503e-05,-3.14778829166e-05,1793245225686624000
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659,633.335116209,878,785.335116209,806,653,630,652,0.40219704259,-0.00543878491802,0.0499440609923,0.999999990297,9.79338905476e-05,-9.44133895449e-05,-3.00057571895e-05,1793245225703290880
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,659,633.924867189,878,785.924867189,806,653,630,652,0.402376776881,-0.00544804019094,0.0499403292524,0.999999989994,9.17689324236e-05,-0.000103950031799,-2.80230641563e-05,1793245225719957504
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.505995032,679,659,634,878,786,806,653,630,652,0.40260051854,-0.00545524290282,0.0499428718764,0.999999990672,8.8542427632e-05,-0.000100607116021,-2.63369895173e-05,1793245225736624128
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.085545143,659,634,878.085545143,786,806,653,630,652.085545143,0.402837467788,-0.005462499274,0.0499463208151,0.999999991467,8.56319640221e-05,-9.55346098804e-05,-2.46359411367e-05,1793245225753290496
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.663261445,659,634,878.663261445,786,806,653,630,652.663261445,0.403113440014,-0.00547178846456,0.0499497138048,0.999999992206,8.20715734092e-05,-9.13296436703e-05,-2.25995914735e-05,1793245225769957120
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.7604281,745,714,679.7604281,659,634,878.7604281,786,806,653,630,653,0.403408542264,-0.00548174100208,0.0499560665108,0.999999993592,7.77146707912e-05,-7.97821173083e-05,-2.02725608005e-05,1793245225786623744
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.18608219,745,714,679.18608219,659,634,878.18608219,786,806,653,630,653,0.403730376492,-0.00549262048968,0.0499665550775,0.999999995556,7.22447349903e-05,-5.79742128913e-05,-1.75393371635e-05,1793245225803290624
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.400463474,745,713.599536526,679,659.400463474,634,878,785.599536526,806,653,629.599536526,652.599536526,0.404074658814,-0.00550318699196,0.0499767816151,0.999999996756,6.91483280221e-05,-3.87672040153e-05,-1.42937408745e-05,1793245225819957248
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.992856065,745,713.007143935,679,659.992856065,634,878,785.007143935,806,653,629.007143935,652.007143935,0.404429699769,-0.00551360349025,0.0499868825704,0.999999997468,6.71894763734e-05,-2.08067204021e-05,-1.08025811156e-05,1793245225836624128
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.571420664,679,659.428579336,634,878,785.571420664,806,652.428579336,629.571420664,652,0.404833760849,-0.00552051247722,0.0499926125532,0.999999997604,6.8605433744e-05,-4.09725609975e-06,-8.26625274527e-06,1793245225853291520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.851527973,679.148472027,659.148472027,634,878,786,806,652.148472027,630,652,0.405242087424,-0.00552455349616,0.0499927936632,0.999999997268,7.37089454976e-05,5.43943618784e-07,-5.48736941988e-06,1793245225869958400
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.278322749,679.721677251,659.721677251,634,878,786,806,652.721677251,630,652,0.405660904447,-0.00552051261254,0.0499772537717,0.999999995587,8.92435788837e-05,-2.92947996982e-05,-1.98126848586e-06,1793245225886624256
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.303467059,745,713,680,659.696532941,634,878.303467059,786,806,653,630,652.303467059,0.406085711097,-0.00550861279284,0.0499583225195,0.999999991286,0.000114271335921,-6.6102375358e-05,-5.65464667155e-07,1793245225903290624
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893359435,745,713,680,659.106640565,634,878.893359435,786,806,653,630,652.893359435,0.406516171064,-0.00548929536939,0.0499361903529,0.999999983015,0.000148259114687,-0.000109487439327,-1.12257313218e-06,1793245225919957248
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.525181429,745,713,680,659,634,878.525181429,786,806,653,630,652.525181429,0.40701033763,-0.00549042857694,0.0499249308859,0.999999979229,0.000158447133706,-0.000128189246179,1.86210601193e-06,1793245225936623616
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.054116769,745,713.054116769,679.945883231,659,634,878.054116769,786,806,653,630,652,0.407526881318,-0.00549654818016,0.0499187566234,0.999999977462,0.000162788008728,-0.000136176688051,5.6865093448e-06,1793245225953290240
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.630520494,745,713.630520494,679.369479506,659,634,878.630520494,786,806,653,630,652,0.408123711034,-0.00550723755157,0.0499385042237,0.999999982572,0.000161384712162,-9.33274913335e-05,1.00721054749e-05,1793245225969957120
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.205206201,634,879,786,806.205206201,653,630,652,0.408738200152,-0.0055147227351,0.0499607506885,0.999999985013,0.00016493605075,-5.04973557667e-05,1.48250113432e-05,1793245225986624000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.77682422,634,879,786,806.77682422,653,630,652,0.409384221487,-0.00551648658842,0.0499874590712,0.999999984042,0.000177334280537,-7.70125810605e-06,2.02337773971e-05,1793245226003291136
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.638237092,634,879.361762908,786,806.638237092,653,630,652,0.410016100529,-0.00551639460557,0.0499973293893,0.999999981366,0.000191398855727,4.64916938148e-06,2.47718086497e-05,1793245226019957504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.044766594,634,879.955233406,786,806.044766594,653,630,652,0.410638921469,-0.00551511396755,0.0499964149983,0.999999978256,0.000206530717637,-2.50072584072e-06,2.87521378056e-05,1793245226036623872
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.464720326,745,714,679,659,634,879.464720326,786,806,653,630,652,0.411256494669,-0.00551318569254,0.0499620497348,0.999999972564,0.000219490590444,-7.55922664971e-05,3.13170956298e-05,1793245226053290496
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.113543315,745.113543315,714,679,659,634,879,785.886456685,806.113543315,653,630,652,0.41189953727,-0.00551127832896,0.0499337088359,0.999999963688,0.000232415137269,-0.000132148141085,3.38132098409e-05,1793245226069957120
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.689010288,745.689010288,714,679,659,634,879,785.310989712,806.689010288,653,630,652,0.412647937634,-0.00550967099836,0.0499409794145,0.999999964142,0.000245916882212,-9.95457086059e-05,3.64990309583e-05,1793245226086624000
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.736528998,746,714,679,659.526942004,634,879,785.263471002,806.736528998,652.736528998,630,652,0.413418787443,-0.00551162898364,0.0499546184066,0.999999975546,0.000208131029617,-6.91947925129e-05,2.83187286668e-05,1793245226103290624
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.163251434,746,714,679,660.673497131,634,879,785.836748566,806.163251434,652.163251434,630,652,0.414216034886,-0.00551777930201,0.0499757457999,0.999999993058,0.000110037841223,-4.14913529542e-05,7.36132274009e-06,1793245226119957504
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.576357088,713.576357088,679,660.152714175,633.576357088,879.423642912,786,806.423642912,652,630,652,0.414975831111,-0.00552533989111,0.0499659964413,0.999999994665,8.56254109192e-05,-5.76254506647e-05,4.22689896913e-06,1793245226136624128
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.015592701,679,659.015592701,633.015592701,879.984407299,786,806.984407299,652,630,652,0.415722403733,-0.00553323399236,0.0499443735267,0.999999991743,9.08579880882e-05,-9.05064761365e-05,8.20007517728e-06,1793245226153290752
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.594323223,679,659.594323223,633.594323223,879.405676777,786,806.405676777,652,630,652,0.416529924934,-0.00553289430553,0.0499379186129,0.999999989381,0.000107253789985,-9.78561891059e-05,1.25849774923e-05,1793245226169957376
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.171320514,745,714,679.171320514,660,634,879.171320514,786,806.171320514,652,630,652,0.417355590717,-0.00553148476951,0.0499419838347,0.999999988516,0.000122361491389,-8.78489596034e-05,1.66781940338e-05,1793245226186624256
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.744254687,745,714,679.744254687,660,634,879.744254687,786,806.744254687,652,630,652,0.418223791415,-0.00552756726735,0.0499707106113,0.99999999007,0.000134449595586,-3.71531684237e-05,2.00876335033e-05,1793245226203290880
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.673390244,745,714,679.673390244,660,634,880,786,806.673390244,652,630,652,0.419070444796,-0.00552733544317,0.0499783655551,0.99999998982,0.000137194358507,-3.24319617336e-05,2.20311874024e-05,1793245226219957760
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.083439256,745,714,679.083439256,660,634,880,786,806.083439256,652,630,652,0.419899724811,-0.00553007533376,0.0499690305505,0.999999988876,0.000132405705476,-6.47794715781e-05,2.2792816537e-05,1793245226236624640
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.497368223,745,713.502631777,679,660,633.502631777,880,786,806,652,630.497368223,652,0.420794997912,-0.00553165108529,0.0499658572876,0.999999989951,0.000130612910425,-5.03614131661e-05,2.24089234263e-05,1793245226253291520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.076201108,679,660,633,880,786,806.076201108,652,630.923798892,652,0.421702501017,-0.00553327179548,0.0499665605136,0.999999991108,0.00012877798401,-2.66557001305e-05,2.21456489057e-05,1793245226269957888
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.651963279,679,660,633,880,786,806.651963279,652,630.348036721,652,0.422618911475,-0.00553644447133,0.0499860228764,0.999999992069,0.000123431441802,7.43322716026e-06,2.39102486715e-05,1793245226286624512
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.772734594,633,880.227265406,786,806.772734594,652,630,652,0.423524994713,-0.00553885289374,0.0499915533422,0.999999992387,0.000119836203058,1.57859389709e-05,2.4825809046e-05,1793245226303291136
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.198135472,633,880.801864528,786,806.198135472,652,630,652,0.424415294819,-0.00554009329467,0.0499757914481,0.999999992515,0.000118917511486,-1.51944547683e-05,2.44437678736e-05,1793245226319957504
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612549296,745,714,679.387450704,659.774901408,633,880.612549296,786,806.387450704,652,630.387450704,652,0.425338182301,-0.00554089919031,0.0499783105459,0.999999992581,0.000118523348865,-1.22519782271e-05,2.5288079805e-05,1793245226336624128
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021180592,745,714,679.978819408,660.957638815,633,880.021180592,786,806.978819408,652,630.978819408,652,0.426278220693,-0.00554147640272,0.0499904510579,0.999999992595,0.00011840524953,8.54434271554e-06,2.67778299258e-05,1793245226353290752
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.558432712,745.558432712,714,679.441567288,660.441567288,633,880,786,807,652,630.441567288,652,0.427175261104,-0.00554046244551,0.0499905245797,0.999999992389,0.000118971199263,-1.5775749694e-05,2.86195217342e-05,1793245226369957120
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.863439141,714,678.863439141,660,633,880.136560859,786,807,652,630.136560859,652,0.428065024607,-0.00553893166595,0.0499822266932,0.999999991305,0.000119924409628,-4.62587065746e-05,2.94757632903e-05,1793245226386624000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.288675445,714,678.288675445,660,633,880.711324555,786,807,652,630.711324555,652,0.428936562859,-0.0055359321471,0.0499485046034,0.999999988032,0.000122038742703,-9.11395629588e-05,2.71278954249e-05,1793245226403290624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678.566074621,660,633,881,785.71696269,807,652,630.71696269,652,0.42984264301,-0.0055380031867,0.0499396701538,0.999999988041,0.000119248651756,-9.4786035812e-05,2.67156495669e-05,1793245226419957760
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.703343003,660,633,881,785.148328499,807,652,630.148328499,652,0.430783577378,-0.00554519063912,0.049955948411,0.999999991769,0.000111509784901,-5.68252306177e-05,2.82565301364e-05,1793245226436624896
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.557411735,745,713.557411735,680,660,633,880.557411735,785.442588265,807.442588265,652,630,652,0.431685310551,-0.00554428728558,0.0499465872178,0.99999999014,0.000113325505614,-7.79762291997e-05,2.82196383349e-05,1793245226453291264
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039785146,745,713.039785146,679.960214854,660,633,880,786,808,652,630.039785146,652,0.432574803544,-0.00554112599951,0.0499303562813,0.999999986123,0.000117589806663,-0.000114706318956,2.77147405846e-05,1793245226469957632
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.615644377,745,713.615644377,679.384355623,660,633,880,786,808,652,630.615644377,652,0.433485775713,-0.00554601372644,0.0499434800273,0.999999990389,0.000109413442049,-8.02677499263e-05,2.84063519594e-05,1793245226486624000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.191230704,714,679.191230704,660,633,879.808769296,786,808,652,631,652,0.434385040917,-0.0055485810043,0.0499592320458,0.999999992795,0.000105379232205,-4.9335502894e-05,2.95298703768e-05,1793245226503290624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.766269406,714,679.766269406,660,633,879.233730594,786,808,652,631,652,0.435260809921,-0.00554649104494,0.0499802591189,0.999999993167,0.00010965849846,-2.54405842842e-05,3.15202444164e-05,1793245226519957504
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.649615087,714,680,660,633,879.350384913,786,808,652,631,652,0.436096867344,-0.00554271557238,0.0499729098838,0.999999991307,0.000115535533828,-5.46231515274e-05,3.2453905974e-05,1793245226536624128
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.059283744,714,680,660,633,879.940716256,786,808,652,631,652,0.436905729901,-0.00553778584682,0.0499461283215,0.999999984744,0.000122506733819,-0.000120153612722,3.26639220334e-05,1793245226553290752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.478784008,680,660,633.521215992,880,785.478784008,808.521215992,652,630.478784008,652,0.437772976005,-0.00554135212905,0.0499568198624,0.999999989734,0.000114154522877,-8.06046597653e-05,3.16691769228e-05,1793245226569957632
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,680,660.100027143,633.899972857,880,785.100027143,808.899972857,652,630,652,0.43863432684,-0.00554567741279,0.0499704298128,0.999999993337,0.000104813152653,-3.73091720368e-05,3.08081659592e-05,1793245226586624256
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713,680,660.67602591,633.32397409,880,785.67602591,808.32397409,652,630,652,0.439436611593,-0.00554910119256,0.0499780207478,0.999999994109,9.89048767095e-05,-3.20052065861e-05,3.12234990954e-05,1793245226603290880
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.256384188,680,660.743615812,633,880.256384188,786,808.256384188,652,630.256384188,652,0.440204391779,-0.00555079048349,0.049971684878,0.999999993889,9.67247647071e-05,-4.34987688379e-05,3.12123629778e-05,1793245226619957504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.842346512,680,660.157653488,633,880.842346512,786,808.842346512,652,630.842346512,652,0.440927816784,-0.00555025011403,0.0499474463031,0.999999991664,9.93371534709e-05,-7.65853083799e-05,3.06530067986e-05,1793245226636623872
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.576473805,633,880.576473805,786,808.576473805,652,631,652,0.44167581207,-0.00555098624523,0.0499437431325,0.999999991131,0.000101362262282,-8.04368928819e-05,3.15280019789e-05,1793245226653290496
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997059442,745,714,680,659,632.997059442,880,786,808,652,631,652,0.442432398608,-0.00555218006769,0.0499475281239,0.999999991421,0.000103193825657,-7.36481545274e-05,3.29288587435e-05,1793245226669957120
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.418614882,745,714,680,659,632.418614882,880,786,808,652,631,652,0.443100380536,-0.00555099248181,0.0499374987014,0.999999989343,0.000109452906572,-9.04598519863e-05,3.39187485e-05,1793245226686623744
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.158723363,745,713.841276637,680,659,632.158723363,880,785.841276637,808.158723363,652,630.841276637,652,0.44373966242,-0.00554914921271,0.0499137454212,0.999999984182,0.000115372568521,-0.000130997612201,3.41235661608e-05,1793245226703290368
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.733164149,745,713.266835851,680,659,632.733164149,880,785.266835851,808.733164149,652,630.266835851,652,0.444303775248,-0.00554558862249,0.0498540475453,0.999999964928,0.000120403248103,-0.000233677063476,3.22721764526e-05,1793245226719956992
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,679.684812336,659,632.684812336,880.315187664,785,808.684812336,652,630.315187664,652,0.444875495,-0.00554477900874,0.0498104079274,0.999999947858,0.000122196174551,-0.000297310111055,3.09766306759e-05,1793245226736623872
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+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.212102835,658.787897165,630.787897165,880.787897165,785,808,652,630,652,0.447633894848,-0.00553949169108,0.0497543192433,0.999999928531,0.000142503877146,-0.00034867709592,3.2471632782e-05,1793245226819957504
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.787933754,658.212066246,630.212066246,880.212066246,785,808,652,630,652,0.448074473617,-0.00554655907113,0.0497190634598,0.999999908829,0.000135148972662,-0.00040375033024,3.25941258755e-05,1793245226836624128
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745.276007077,714,681,657,629,880.723992923,785,809,652,629.276007077,653,0.45050878358,-0.00556091407411,0.0497574316069,0.999999938251,2.49367489367e-05,-0.000350456090233,7.47701901507e-06,1793245226936623616
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764.44698904,746,714,681,657,628.55301096,880,784.55301096,809,652,629.55301096,652.55301096,0.451085494972,-0.00556442091427,0.049745132915,0.99999992886,3.05487832845e-05,-0.000375820762611,1.03129558645e-05,1793245226969957120
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.9733311,746,714,681,657,628,880,784,808.9733311,652,629,652,0.451350972589,-0.00556375233794,0.0497388049427,0.999999922478,3.66274142383e-05,-0.000391869761296,1.18512975635e-05,1793245226986623744
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.398978578,746,714,681,657,628,880,784,808.398978578,652,629,652,0.451575029168,-0.00556246228891,0.0497262998501,0.999999911725,4.08965844712e-05,-0.000417975302936,1.32140290908e-05,1793245227003290368
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.17646042,745.82353958,714,681,657,627.82353958,880,784,808.17646042,652,629,652,0.451791668249,-0.00555969896339,0.0497167319087,0.999999902887,4.68242871456e-05,-0.000437980490773,1.43661878229e-05,1793245227019956992
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.338769547,714,681,657,627,880.338769547,784,809,652.338769547,629,652.338769547,0.452178467667,-0.00555074043726,0.0497150202563,0.999999900508,6.3050075284e-05,-0.000441312116707,1.58884754005e-05,1793245227053290240
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.927963951,714,681,657,627,880.927963951,784,809,652.927963951,629,652.927963951,0.452356093586,-0.00555031537651,0.049719195777,0.99999990432,6.72272218486e-05,-0.000431921692874,1.68678250703e-05,1793245227069956864
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.491398713,714,681,657,627,881,784.508601287,809,653,629,652.491398713,0.45251108455,-0.00555425455729,0.049722136196,0.999999907764,6.33372471435e-05,-0.000424435034741,1.77474580005e-05,1793245227086623488
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.912605083,745.087394917,714,681,656.912605083,627,880.912605083,784.912605083,808.912605083,652.912605083,629,652.087394917,0.452656938625,-0.00555829105554,0.0497239665121,0.999999910353,5.90754033412e-05,-0.000418879884191,1.8539043741e-05,1793245227103290368
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.337448864,745.662551136,714,681,656.337448864,627,880.337448864,784.337448864,808.337448864,652.337448864,629,652.662551136,0.452769395251,-0.00555947791133,0.049720561389,0.999999908774,5.90095354728e-05,-0.000422624704178,1.89167484381e-05,1793245227119956992
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.238638567,745.761361433,714,680.761361433,656.238638567,627,880,784,808.238638567,652.238638567,629,652.761361433,0.45287116829,-0.0055590256254,0.049717328374,0.999999906946,6.03919854567e-05,-0.000426733397495,1.89344080743e-05,1793245227136623616
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,656.598552417,627,880,784,809,653,629,652.401447583,0.453032065654,-0.00555548787874,0.0497140890619,0.999999904288,6.59625204213e-05,-0.00043211685243,1.86325172993e-05,1793245227169956864
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,656.009417058,627,880,784,809,653,629,652.990582942,0.453100598355,-0.00555567405843,0.0497151185632,0.99999990463,6.74837880896e-05,-0.000431067113513,1.91443556474e-05,1793245227186623488
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.433738635,745,714,680.566261365,656,627,880,784,809,652.433738635,629,652.433738635,0.453147947401,-0.00555654799719,0.0497124147774,0.999999903128,6.61015437077e-05,-0.000434733400262,1.95101767923e-05,1793245227203290368
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.141580071,745.141580071,714,681,656,626.858419929,880,784,809,652,629,652,0.453192077846,-0.00555687992099,0.0497100335894,0.999999901811,6.51349365235e-05,-0.000437890059613,1.96884437594e-05,1793245227219957248
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.716466779,745.716466779,714,681,656,626.283533221,880,784,809,652,629,652,0.453227410892,-0.00555551881241,0.0497088253163,0.999999901192,6.55847391043e-05,-0.000439252541294,1.92999593154e-05,1793245227236623872
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.700293941,745.700293941,714,681,656,626,880,784,809,652,629,652,0.453256538854,-0.00555440478802,0.0497085587011,0.999999900857,6.61739171581e-05,-0.000439943032552,1.89227715782e-05,1793245227253290496
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.108926208,745.108926208,714,681,656,626,880,784,809,652,629,652,0.453279628284,-0.0055535312157,0.0497092084686,0.999999900799,6.68987297727e-05,-0.000439979570394,1.85565772877e-05,1793245227269957120
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.950708034,714,681,656,626,880.950708034,783.950708034,809,653,629,652,0.453305279645,-0.00555491583291,0.0497051080124,0.999999897787,6.72465931304e-05,-0.000446686841422,1.93570674002e-05,1793245227303290368
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.372379669,714,681,656,626,880.372379669,783.372379669,809,653,629,652,0.453311670702,-0.00555333201088,0.0497036777477,0.999999896843,6.72743075361e-05,-0.000448807983775,1.8958265533e-05,1793245227319956992
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.795843459,745.204156541,714,680.795843459,656,626,880.204156541,783.204156541,809,653,629,652,0.453317261164,-0.00555233477565,0.0497026003188,0.999999896155,6.77445925111e-05,-0.000450277353689,1.87177720765e-05,1793245227336623616
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.222547709,745.777452291,714,680.222547709,656,626,880.777452291,783.777452291,809,653,629,652,0.453321404055,-0.00555239815895,0.0497021608589,0.999999895937,6.90150974965e-05,-0.000450568241702,1.87635190019e-05,1793245227353290240
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.953986653,745.046013347,714,680.953986653,656.953986653,626,880.046013347,784,809,652.046013347,629,652.953986653,0.453323610313,-0.00554995587976,0.04970069538,0.999999894453,7.09484375444e-05,-0.000453542249934,1.89883590707e-05,1793245227386623744
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657,626,880.535633485,784,809.535633485,652.535633485,629,653,0.45332315985,-0.00555038852428,0.0496994561356,0.999999893273,7.06210553845e-05,-0.000456197796589,1.87013145231e-05,1793245227403290368
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.884767405,745.115232595,714.115232595,681,656.884767405,626,880.884767405,784,809.884767405,653,629,652.884767405,0.453323044401,-0.00555062001178,0.0496983930361,0.999999892357,7.01751524971e-05,-0.000458281997309,1.84323534718e-05,1793245227419956992
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764.837176879,746,714.162823121,681,656,626,880.837176879,784,809,653,629,652,0.453324902112,-0.00554808064511,0.0496964599554,0.999999891943,7.09800858092e-05,-0.000459052103938,1.86468189816e-05,1793245227469957120
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,681,656,626,880.576108995,784,809,653,629,652,0.453325553614,-0.00554715618613,0.0496966428822,0.99999989213,7.14080262518e-05,-0.000458594682432,1.819827833e-05,1793245227486623744
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.984221209,745.984221209,714,681.015778791,656,625.984221209,880,783.984221209,809,653,629,652,0.453326542916,-0.0055460863579,0.0496972983051,0.999999892574,7.15979301179e-05,-0.00045762249636,1.75244574751e-05,1793245227503290112
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.401368024,745.401368024,714,681.598631976,656,625.401368024,880,783.401368024,809,653,629,652,0.453326020488,-0.00554668306212,0.0496966655469,0.999999891596,7.26245167109e-05,-0.000459570434785,1.81049974841e-05,1793245227519956736
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.176809103,745.176809103,714.176809103,681.823190897,656.176809103,625.176809103,880,783.176809103,809,653,629,652,0.453326523299,-0.00554641309035,0.0496964894075,0.999999891233,7.37497887692e-05,-0.000460174702346,1.82697763516e-05,1793245227536623616
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.744644745,745.744644745,714.744644745,681.255355255,656.744644745,625.744644745,880,783.744644745,809,653,629,652,0.453329293499,-0.00554422639984,0.0496973231144,0.999999892233,7.50933110439e-05,-0.000457807341309,1.75150683644e-05,1793245227553290240
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.083463116,681,656.083463116,626,880.916536884,784,809,653,629,652,0.45332617077,-0.00554675070361,0.0496949212048,0.999999890574,7.19599503828e-05,-0.000461888520574,1.82176319812e-05,1793245227586623744
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+245,4.083333333,HOLD_POSE2,765,745,715,682,656,626,881,784,809,653,629,653,0.453326242335,-0.00554161476271,0.0496933956009,0.999999889777,7.6714517275e-05,-0.000462890185232,1.71229996113e-05,1793245227646880768
+246,4.100000000,HOLD_POSE2,765,745,715,681.410094783,656.589905217,626,881,784,809,653,629,652.410094783,0.453327151101,-0.00554345393482,0.049694235831,0.999999890454,7.36824724162e-05,-0.000461910410801,1.73639774955e-05,1793245227663548416
+247,4.116666667,HOLD_POSE2,765,745,715,681.176743767,656.823256233,626,881,783.823256233,809,653,629,652,0.453327760587,-0.00554439131696,0.0496950172508,0.999999890948,7.19860116598e-05,-0.000461105638498,1.74263866629e-05,1793245227680215808
+248,4.133333333,HOLD_POSE2,765,745,715,681.756588266,656.243411734,626,881,783.243411734,809,653,629,652,0.453327687505,-0.00554327198079,0.0496956645422,0.999999891043,7.33356262181e-05,-0.00046069999458,1.70815329693e-05,1793245227696881664
+249,4.150000000,HOLD_POSE2,764.664263545,745,715,681.664263545,656,626,881,783.335736455,809,653,629,652.335736455,0.453327075416,-0.00554343129947,0.0496948701967,0.999999890295,7.46524818771e-05,-0.000462106487511,1.71822189623e-05,1793245227713547776
+250,4.166666667,HOLD_POSE2,764.085619175,745,715,681.085619175,656,626,881,783.914380825,809,653,629,652.914380825,0.453326073352,-0.00554451573486,0.0496930328157,0.99999988893,7.59456361384e-05,-0.000464824075447,1.76052563748e-05,1793245227730214656
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+256,4.266666667,HOLD_POSE2,764,745,714.395002908,681,656,626,880,783.604997092,808.395002908,652,628.604997092,652,0.453328952105,-0.00554346728044,0.0496948247068,0.999999890184,7.5647286872e-05,-0.000462169578846,1.75451592551e-05,1793245227830215168
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+259,4.316666667,HOLD_POSE2,764.879128769,745,715,681,656.879128769,625.120871231,880,783.120871231,809,652.879128769,628,652,0.453326378756,-0.00554520707396,0.0496929912274,0.999999889369,7.27137671479e-05,-0.000464397792771,1.75858534827e-05,1793245227880215040
+260,4.333333333,HOLD_POSE2,764.285818264,745,715,681,656.285818264,625.714181736,880,783.714181736,809,652.285818264,628,652,0.453326726308,-0.00554474575273,0.0496924304221,0.999999889096,7.49932346588e-05,-0.000464628155209,1.74335546054e-05,1793245227896881408
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+262,4.366666667,HOLD_POSE2,764.877074617,745.877074617,714.122925383,681,656,626,880.877074617,784,808.122925383,652.877074617,628.877074617,652,0.453327596435,-0.00554271572681,0.0496927667161,0.999999889229,7.32953695637e-05,-0.000464646547035,1.65212358674e-05,1793245227930214912
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,626,880,783,809,652,628,652,0.453328735957,-0.00554521679124,0.0496929370533,0.999999889427,7.2098468545e-05,-0.000464373654706,1.7477426134e-05,1793245227962810368
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.177212321,745.822787679,714,681,656,625.822787679,880.822787679,783,809,652.822787679,629,652.822787679,0.453328228955,-0.00554301753749,0.0496927082745,0.999999889225,7.66503929773e-05,-0.000464073350924,1.76023626121e-05,1793245227996143872
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.909183173,681,655.090816827,625.909183173,880.909183173,783.909183173,809,652.909183173,629,652.909183173,0.453331456651,-0.00554368274673,0.0496954524343,0.999999890897,7.69928198169e-05,-0.000460388938565,1.78676526299e-05,1793245228046143488
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.761635922,714.238364078,681,656,625,881,783.238364078,809,652,628.238364078,652,0.453301695784,-0.00554194260502,0.0496793052653,0.999999878935,7.53330978457e-05,-0.000485997908877,1.61365577547e-05,1793245228112809728
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.60737479,745,714.60737479,681,656,625.39262521,880.60737479,784,809,652.39262521,628.60737479,652,0.453233131156,-0.00554050064119,0.0496505051122,0.999999853229,7.57864108002e-05,-0.000536252522393,1.52102035212e-05,1793245228146142720
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f60282ccb56bdaba2d4add8e02e92c7fe8cd7616
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ad1d4bb6ffee2f90b7ccda649434c2fb03021bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+27,0.450000000,BASELINE,764,745.306037871,713.306037871,679,659,634,878.306037871,785.306037871,806,653,630,652,0.400999401134,-0.00539687952061,0.0498587437798,0.999999961441,0.000130451531342,-0.000241786816271,-4.04942061482e-05,1793245230911926272
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+49,0.816666667,BASELINE,764,745,713.547885821,679,659,634,878.452114179,785.547885821,806,653,630,652,0.401001916067,-0.00540036736929,0.0498610814365,0.999999962958,0.000126670542188,-0.000237576216972,-3.99599296671e-05,1793245231278593024
+50,0.833333333,BASELINE,764,745,713.039155675,679,659,634,879,785.039155675,806.039155675,653,630,652,0.401004045646,-0.00539843947425,0.0498625173147,0.999999963367,0.000129116307709,-0.000234457208125,-4.02996429103e-05,1793245231295259648
+51,0.850000000,BASELINE,764,745,713.621290428,679,659,634,879,785.621290428,806.621290428,653,630,652,0.401001421643,-0.00540002023865,0.0498607908967,0.999999962905,0.000127047397242,-0.000237571373892,-4.01119306936e-05,1793245231311926016
+52,0.866666667,BASELINE,763.798559549,745,714,679,659,634,879,786,806.798559549,653,630,652,0.401000350835,-0.00540080790636,0.0498601501299,0.999999962802,0.000125566597439,-0.00023880335659,-4.00363764738e-05,1793245231328592384
+53,0.883333333,BASELINE,763.222104464,745,714,679,659,634,879,786,806.222104464,653,630,652,0.401002171554,-0.00540011909361,0.0498615304818,0.999999963385,0.000125180662799,-0.00023653134478,-4.01696228819e-05,1793245231345259008
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+57,0.950000000,BASELINE,764.894076116,745,714,679,659,634,878.894076116,786,806.894076116,653,630,652,0.401002778058,-0.00539969938177,0.0498614098601,0.999999963222,0.000127476088069,-0.000236031413453,-3.99423711608e-05,1793245231411926528
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+60,1.000000000,BASELINE,764,745,714,679,659,634,878,786,806,652.164800309,630,652,0.401001618449,-0.00539925373499,0.049860701252,0.999999962906,0.000128138469571,-0.000237006956958,-3.99464755198e-05,1793245231461926144
+61,1.016666667,BASELINE,764,745,714,679,659,634,878,786,806,652.408573132,630,652,0.401001138453,-0.00539917968424,0.0498600114545,0.999999962714,0.000127645831524,-0.000238030890947,-4.02422786834e-05,1793245231478592512
+62,1.033333333,BASELINE,764,745,714,679,659,634,878,786,806,652.981772033,630,652,0.401000133267,-0.00539862786208,0.0498588420778,0.999999962338,0.000126979926816,-0.000239877533209,-4.0732943506e-05,1793245231495258880
+63,1.050000000,BASELINE,764,745,714,679,659,633.423450334,878.576549666,786,806,653,630,652,0.401001077568,-0.00539872272096,0.0498604153172,0.999999962865,0.000127203018457,-0.000237571172346,-4.06139256714e-05,1793245231511925760
+64,1.066666667,BASELINE,764,745,714,679,659.166049101,633,879,786,806,652.833950899,630,652,0.40100147566,-0.00539886239554,0.0498613661671,0.999999963191,0.000127059497986,-0.000236287836195,-4.05189004763e-05,1793245231528592384
+65,1.083333333,BASELINE,764,745,714,679,659.740812202,633,879,786,806,652.259187798,630,652,0.401000371702,-0.00539906009896,0.0498605633393,0.99999996296,0.000125941726269,-0.000237858325626,-4.0532220425e-05,1793245231545259776
+66,1.100000000,BASELINE,764,745,713.684969345,679.315030655,659.684969345,633.315030655,879,786,806,652.315030655,630,652,0.40100009541,-0.00539906849397,0.0498601486078,0.999999962794,0.00012618535806,-0.000238416642594,-4.05750693241e-05,1793245231561926656
+67,1.116666667,BASELINE,764,745,713.111198248,679.888801752,659.111198248,633.888801752,879,786,806,652.888801752,630,652,0.401000498895,-0.0053989214065,0.049860052627,0.999999962684,0.000127547135517,-0.000238143643722,-4.064217089e-05,1793245231578593280
+68,1.133333333,BASELINE,764,745.475793334,713.475793334,679.524206666,659.475793334,634,879,786,806,653,630,652,0.401000754603,-0.00539925496411,0.0498601101093,0.999999962823,0.000127398973532,-0.000237653464587,-4.05466182251e-05,1793245231595259648
+69,1.150000000,BASELINE,764,745.935144571,714,679,659.935144571,634,879,786,806,653,630,652,0.401000903609,-0.00539961524852,0.0498602173078,0.999999962972,0.000127097972248,-0.000237211092003,-4.04009959257e-05,1793245231611926016
+70,1.166666667,BASELINE,764,745.354884651,714,679,659.354884651,634,879,786,806,653,630,652,0.401000486978,-0.00539926971528,0.0498604264263,0.999999962723,0.000128466918599,-0.00023756353394,-4.01682028812e-05,1793245231628592384
+71,1.183333333,BASELINE,764,745,714,679,659,634,878.77609458,786,806,652.77609458,630,652,0.401000686395,-0.00539975012342,0.0498605405951,0.99999996278,0.000127991071292,-0.000237626593953,-3.99089162115e-05,1793245231645259008
+72,1.200000000,BASELINE,764,745,714,679,659,634,878.199618903,786,806,652.199618903,630,652,0.401001855866,-0.00540153109118,0.0498605052524,0.999999963312,0.000124610339738,-0.000237233981896,-3.96079116042e-05,1793245231661925632
+73,1.216666667,BASELINE,764,745.37455002,713.62544998,679,659,634,878.37455002,786,806,652.37455002,630,652,0.401001326113,-0.00540196380403,0.0498603702129,0.999999963304,0.00012388540339,-0.000237666102374,-3.9476497964e-05,1793245231678592512
+74,1.233333333,BASELINE,764,745.947497036,713.052502964,679,659,634,878.947497036,786,806,652.947497036,630,652,0.400999896292,-0.00540168235389,0.0498601823647,0.999999963014,0.000124567226717,-0.000238535078966,-3.94349157037e-05,1793245231695259136
+75,1.250000000,BASELINE,764.536428034,745.463571966,713,679,659.536428034,633.463571966,878.463571966,786,806,653,629.463571966,652,0.401000402535,-0.00539922196926,0.0498598941109,0.999999962717,0.000126812295958,-0.000238500120602,-4.00235003137e-05,1793245231711926016
+76,1.266666667,BASELINE,764.875660595,745.124339405,713.124339405,678.875660595,659.875660595,633.124339405,878,786,806,653,629.124339405,652,0.401000978202,-0.00539729240962,0.0498598790578,0.999999962548,0.000128543880109,-0.000238204364832,-4.04888736979e-05,1793245231728593152
+77,1.283333333,BASELINE,764.297359055,745.702640945,713.702640945,678.297359055,659.297359055,633.702640945,878,786,806,653,629.702640945,652,0.401001094252,-0.00539810342427,0.0498608984386,0.999999962866,0.000127824965831,-0.000237289373645,-4.02723033336e-05,1793245231745259520
+78,1.300000000,BASELINE,764,745.71964498,713.71964498,678.28035502,659,634,878,786,806,653,630,652,0.401002446801,-0.00539822528961,0.049862004836,0.999999963327,0.000127391023876,-0.000235584879779,-4.02233660304e-05,1793245231761925888
+79,1.316666667,BASELINE,764,745.142552735,713.142552735,678.857447265,659,634,878,786,806,653,630,652,0.401005108101,-0.00539761773598,0.0498632033346,0.999999963934,0.000127258706302,-0.000233044749658,-4.03518572365e-05,1793245231778592256
+80,1.333333333,BASELINE,764,745,713.441467914,679,659,633.558532086,878.441467914,786,806,653,630,652,0.401002581341,-0.00539935170923,0.0498615836164,0.999999963314,0.000126945929888,-0.000235923407233,-3.9973274129e-05,1793245231795258880
+81,1.350000000,BASELINE,764,745,714,679,659,633.02743542,878.97256458,785.97256458,806,653,630,652,0.400998586595,-0.00540163451898,0.0498591880539,0.999999962326,0.000126649434289,-0.000240310182177,-3.94757909537e-05,1793245231811925504
+82,1.366666667,BASELINE,764,745,714,679,659,633.60684243,878.39315757,785.39315757,806,653,630,652,0.400999299333,-0.00539950499103,0.0498597838808,0.999999962401,0.000127871540894,-0.000239274060565,-3.99329132092e-05,1793245231828592384
+83,1.383333333,BASELINE,764,745,713.814430359,679,659.185569641,634,878.185569641,785.185569641,806,653,630,652,0.40099995281,-0.00539858825296,0.0498601860513,0.999999962549,0.000128242971996,-0.00023842144453,-4.01346505555e-05,1793245231845259264
+84,1.400000000,BASELINE,764,745,713.237138043,679,659.762861957,634,878.762861957,785.762861957,806,653,630,652,0.40100048119,-0.00540023161696,0.0498601794287,0.999999962855,0.000126818695359,-0.000237956193903,-3.97972908652e-05,1793245231861926400
+85,1.416666667,BASELINE,764,745,713.337930762,679,659.662069238,634,879,786,806.337930762,653,629.662069238,652,0.40099992728,-0.0053995720936,0.0498598167609,0.999999962579,0.00012773835451,-0.000238603963208,-3.99090823691e-05,1793245231878593024
+86,1.433333333,BASELINE,764,745,713.911449416,679,659.088550584,634,879,786,806.911449416,653,629.088550584,652,0.400998618854,-0.00539730711589,0.0498592058766,0.999999961892,0.00013029208484,-0.000240027672605,-4.03339989308e-05,1793245231895259392
+87,1.450000000,BASELINE,764,745,714,679,659.499432735,634,879,786,807,653,629.499432735,652,0.400999262437,-0.00539826058003,0.0498594722314,0.999999962233,0.000128440442936,-0.000239618697155,-4.02449163168e-05,1793245231911926016
+88,1.466666667,BASELINE,763.911604108,745,714,679,659.911604108,634,878.911604108,786,806.911604108,653,629.911604108,652,0.401000084002,-0.00539975159774,0.049859865765,0.999999962705,0.000126045110981,-0.000238951208875,-4.00653484112e-05,1793245231928592384
+89,1.483333333,BASELINE,763.33187485,745,714,679,659.33187485,634,878.33187485,786,806.33187485,653,629.33187485,652,0.400999913753,-0.00540096412392,0.0498600758921,0.999999962888,0.000125098775488,-0.000238706809951,-3.99044903838e-05,1793245231945259008
+90,1.500000000,BASELINE,763,745,713.75384744,679,659.24615256,634,878,786,806,653,629.24615256,652,0.400999970235,-0.00540062577183,0.0498603236873,0.999999962971,0.000125263214422,-0.000238255892799,-4.00232384795e-05,1793245231961925888
+91,1.516666667,BASELINE,763,745,713.178098834,679,659.821901166,634,878,786,806,653,629.821901166,652,0.401000330309,-0.00539821080772,0.0498606219199,0.999999962916,0.000126914970318,-0.000237528449633,-4.05163766509e-05,1793245231978592512
+92,1.533333333,BASELINE,763.40711999,745,713.40711999,679,659.59288001,633.59288001,878,786,806,653,630,652,0.401000523016,-0.00539727681682,0.0498606894646,0.999999962755,0.000128431232547,-0.00023738109819,-4.05687175747e-05,1793245231995259392
+93,1.550000000,BASELINE,763.996580375,745,713.996580375,679,659.003419625,633.003419625,878,786,806,653,630,652,0.401000640763,-0.00539700612214,0.0498606536891,0.999999962546,0.000129886810184,-0.000237493557442,-4.0423634819e-05,1793245232011926272
+94,1.566666667,BASELINE,764,745,714,678.424088254,659.575911746,633.575911746,878,786,806,653,630,652,0.401002830282,-0.00539803265358,0.0498623092177,0.999999963126,0.000130001925684,-0.000235080739329,-3.98099694022e-05,1793245232028592640
+95,1.583333333,BASELINE,764,745,714,678,660,634,878.154281036,786,806.154281036,653,630,652,0.40100384907,-0.00539879729939,0.0498631823484,0.999999963367,0.000130402164588,-0.000233904014274,-3.93636658796e-05,1793245232045259264
+96,1.600000000,BASELINE,764,745,714,678,660,634,878.730182789,786,806.730182789,653,630,652,0.401001635434,-0.00539882557589,0.049861890365,0.999999962682,0.000131602966953,-0.000236145564662,-3.93822025946e-05,1793245232061925888
+97,1.616666667,BASELINE,764,745,714,678.301638869,659.698361131,634,878.698361131,786,806.698361131,653,630,652,0.401000372829,-0.00539856429553,0.049860968614,0.999999962405,0.000131058792163,-0.000237563737637,-3.97220673388e-05,1793245232078592512
+98,1.633333333,BASELINE,764,745,714,678.869176,659.130824,634,878.130824,786,806.130824,653,630,652,0.400999948568,-0.00539804776733,0.0498603732273,0.999999962486,0.000128976399119,-0.000238256093462,-4.03451865738e-05,1793245232095259136
+99,1.650000000,BASELINE,764,745,713.539235993,679,659.460764007,634,878,786,806,653,630,652,0.40100183845,-0.00539829588387,0.0498615556329,0.999999963109,0.000127772494865,-0.000236289865239,-4.02842772047e-05,1793245232111925760
+100,1.666666667,BASELINE,764,745,713.057438073,679,659.942561927,634,878.057438073,785.942561927,806,653,630,652,0.401003994168,-0.00539881660417,0.0498629867251,0.999999963767,0.000126925417832,-0.000233988870606,-4.00633927306e-05,1793245232128592384
+101,1.683333333,BASELINE,764,745,713.634928803,679,659.365071197,634,878.634928803,785.365071197,806,653,630,652,0.401002280154,-0.00539973156838,0.0498618475472,0.999999963318,0.000126926376075,-0.000235867744515,-4.02493650397e-05,1793245232145259264
+102,1.700000000,BASELINE,763.7884496,745,714,679,659,633.7884496,879,785.2115504,806,653,630,652,0.401000701878,-0.00539978286131,0.0498606249009,0.999999962863,0.000127034967744,-0.000237695109376,-4.04546956171e-05,1793245232161925888
+103,1.716666667,BASELINE,763.213321782,745,714,679,659,633.213321782,879,785.786678218,806,653,630,652,0.400999356883,-0.00539834982052,0.0498592588034,0.999999962401,0.000127328541726,-0.000239433948917,-4.06932959272e-05,1793245232178592512
+104,1.733333333,BASELINE,763,745,714,679,659,633.370469711,878.629530289,786,806,653,630,652,0.400999815167,-0.00539898037639,0.0498598238507,0.99999996261,0.000127978580823,-0.000238257192159,-4.04245786911e-05,1793245232195259136
+105,1.750000000,BASELINE,763,745,714,679,659,633.959369386,878.040630614,786,806,653,630,652,0.401001336669,-0.00540082763439,0.0498615275062,0.999999963209,0.000128838792761,-0.000235361391947,-3.98567456527e-05,1793245232211925760
+106,1.766666667,BASELINE,763.53910523,745,713.46089477,679,659,633.46089477,878,786,806.53910523,653,630,652,0.401001108865,-0.00540027974938,0.0498610981928,0.99999996299,0.000129117036045,-0.000236126717133,-3.99229250793e-05,1793245232228592384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,786,806,653,630,652,0.400999840861,-0.00539963857269,0.0498602039038,0.999999962503,0.000128343773326,-0.000238560371358,-4.01305256321e-05,1793245232270791936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.424566803,679,659.424566803,634,878,786,806,653,630,652,0.401000487981,-0.00540054138924,0.0498605175439,0.999999962787,0.000127391160552,-0.000237899252653,-4.00135890539e-05,1793245232287459072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679,659.154747702,633.845252298,878,786,806,653,630,652,0.401000808221,-0.00540107873712,0.0498606879069,0.999999962985,0.000126484761905,-0.00023755585535,-3.99775361578e-05,1793245232304125952
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,659.744985087,633.255014913,878,786,806,653,630,652,0.40100020856,-0.00540058758635,0.0498604550609,0.999999962945,0.000125708418445,-0.000238106586795,-4.01691054126e-05,1793245232320792320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.329092875,679,659.670907125,633.329092875,878,786,806,653,630,652,0.400999533033,-0.00540082663127,0.0498601382157,0.999999962867,0.000125177964354,-0.000238733667987,-4.00339903411e-05,1793245232337458432
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.908537642,679,659.091462358,633.908537642,878,786,806,653,630,652,0.400998799793,-0.00540162116038,0.0498597574694,0.999999962761,0.000124834566526,-0.000239418830937,-3.96503556304e-05,1793245232354124544
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.484651655,634,878.484651655,786,806,653,630,652,0.400999899735,-0.00540022192991,0.0498600884724,0.999999962849,0.000125834926253,-0.000238476112937,-3.99611525743e-05,1793245232370791168
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.939959691,634,878.939959691,786,806.060040309,653,630,652,0.401001274942,-0.00539856145529,0.0498605671901,0.999999962958,0.000126999716554,-0.000237330611747,-4.03737423121e-05,1793245232387457792
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.784553732,679,659,634,878,786,806.784553732,653,630,652,0.401008810623,-0.00539857968775,0.0498637997685,0.999999963998,0.00012804174881,-0.00023234437231,-4.03278600616e-05,1793245232420791296
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.19255296,679,659,634,878,786,806.19255296,653,630,652,0.401025966919,-0.0054003188677,0.0498699787767,0.99999996673,0.000129036615122,-0.000219850939617,-3.94396149519e-05,1793245232437458176
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+122,2.033333333,POSE1_TO_POSE2_PRESS,764.708041536,745.291958464,714,678.708041536,659.291958464,634,878.291958464,786,806,653,630,652,0.401316839951,-0.00541000428308,0.0499412664019,0.999999987696,0.000123450904617,-9.08050262223e-05,-3.34985675467e-05,1793245232520791040
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.709182681,745,714,679,659,634,878,786,806,653,629.709182681,652,0.401399624572,-0.005412796213,0.0499465385982,0.999999988334,0.000122153097134,-8.57450243714e-05,-3.25293305799e-05,1793245232537457664
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.133525506,745,714,679,659,634,878,786,806,653,629.133525506,652,0.401487961509,-0.00541671199553,0.0499465166882,0.999999988732,0.000119017769982,-8.56825244247e-05,-3.20925936698e-05,1793245232554124288
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,786,806,653,629.444407926,652,0.401593333641,-0.00542165534911,0.0499439215504,0.999999988749,0.000115866381129,-8.99883171974e-05,-3.12826249205e-05,1793245232570791424
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.977146605,878,786,806,653,630,652,0.40170525764,-0.00542687953428,0.0499407914345,0.999999988642,0.000112768343806,-9.52822734769e-05,-3.03433388475e-05,1793245232587458048
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.402932639,878,786,806,653,630,652,0.401851131087,-0.00543139203116,0.0499435033475,0.999999989124,0.000111074491208,-9.25886479392e-05,-2.90035650885e-05,1793245232604124672
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.176995432,878,786,806,653,629.823004568,652,0.402004784559,-0.00543654307278,0.0499449021233,0.9999999894,0.000109271507414,-9.21686846341e-05,-2.76567053122e-05,1793245232620791296
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.770365631,878,786,806,653,629.229634369,652,0.402176740211,-0.00544319626503,0.0499432117953,0.999999989193,0.00010721179703,-9.70974223673e-05,-2.62931761492e-05,1793245232637457920
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.354270791,785.645729209,806,653,629.354270791,652,0.402371985036,-0.00544909347771,0.0499426209382,0.999999989414,0.000104164180964,-9.84288055027e-05,-2.51638554226e-05,1793245232654124544
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.932200522,785.067799478,806,653,629.932200522,652,0.402581932845,-0.00545451342451,0.049942724201,0.999999989906,0.000100492878118,-9.7489100063e-05,-2.41823954982e-05,1793245232670790912
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.492123815,678.492123815,659,634,878.492123815,785.507876185,806,653,630,652,0.402817470281,-0.00546136846018,0.0499416928631,0.999999989749,9.86223759579e-05,-0.000101324137933,-2.25681281508e-05,1793245232687457536
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,678.085057226,659,634,878,786,806,653,629.914942774,652,0.403065764253,-0.00546900473996,0.0499418650118,0.999999989876,9.63535441944e-05,-0.000102632140132,-2.07482642634e-05,1793245232704124416
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,678.672908043,659,634,878,786,806,653,629.327091957,652,0.403369361008,-0.00548013167949,0.0499500426455,0.999999992122,9.03153085717e-05,-8.5251001381e-05,-1.82102284465e-05,1793245232720791296
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.257006397,679,659.257006397,634,878.257006397,786,806,653,629,652,0.403689436218,-0.00549032055439,0.0499592673222,0.999999993871,8.64763902133e-05,-6.74412689613e-05,-1.52274911265e-05,1793245232737457920
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.836397682,679,659.836397682,634,878.836397682,786,806,653,629,652,0.404030181733,-0.00549933273472,0.049969805393,0.99999999508,8.53962621264e-05,-4.90939162591e-05,-1.16869272042e-05,1793245232754124288
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.586888556,633.586888556,878.586888556,786,806.413111444,653,629.413111444,652,0.404400640236,-0.00550982722063,0.0499796284822,0.999999996105,8.2549669919e-05,-3.01040395143e-05,-8.29811395529e-06,1793245232770791168
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.011228344,633.011228344,878.011228344,786,806.988771656,653,629.988771656,652,0.404782790029,-0.00552090495559,0.0499891702442,0.999999996808,7.90080193484e-05,-1.08613464491e-05,-4.96901078951e-06,1793245232787457792
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.562018603,745,714,678.437981397,659,633.562018603,878.562018603,786,807,653,630,652,0.405189625662,-0.00552180705874,0.0499872769307,0.999999996042,8.8022321386e-05,-1.27520781997e-05,-2.12815242921e-06,1793245232804124160
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,678.133469723,659,634,879,786,806.866530277,653,630,652,0.405597631969,-0.00551855252035,0.0499802070755,0.99999999445,0.000102267310871,-2.53183274068e-05,1.6231866487e-07,1793245232820791040
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,678.699259387,659,634,879,786,806.300740613,653,630,652,0.406007839466,-0.00550248993563,0.0499571067832,0.999999988675,0.000132645894232,-7.11017503405e-05,7.01497784144e-07,1793245232837457664
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.715773453,745,714,678.715773453,659,634,878.715773453,785.715773453,806,653,630,652,0.406457980848,-0.0054924854376,0.0499375091847,0.999999982168,0.00015584298353,-0.000106642733731,2.18280768257e-06,1793245232854124288
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.109046273,745,714,678.109046273,659,634,878.109046273,785.109046273,806,653,630,652,0.406953433683,-0.00548935480909,0.0499218859515,0.999999976864,0.000170891519454,-0.000130562031712,4.73311621887e-06,1793245232870791168
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,678.46733407,659.46733407,633.53266593,878.46733407,785,806,653,630,652,0.407488665544,-0.0054985077215,0.0499223419087,0.999999977417,0.000170869123333,-0.000126101519574,8.254676602e-06,1793245232887457792
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.038616953,745,714,679,659.961383047,633.038616953,879,785.038616953,806,652.961383047,630,652,0.408036940068,-0.00550994841597,0.0499277091621,0.999999979434,0.000167992354187,-0.000112980358693,1.20456508064e-05,1793245232904124416
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.632201397,745,714,679,659.367798603,633.632201397,879,785.632201397,806,652.367798603,630,652,0.408647394866,-0.00551558823306,0.0499530264131,0.99999998305,0.00017155096796,-6.47595067095e-05,1.66500890457e-05,1793245232920791296
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.77990703,745,713.77990703,679,659.22009297,634,879,786,806,652,630,652,0.40927467419,-0.00551860435241,0.049974445849,0.999999983086,0.000180516895262,-2.79136732964e-05,2.15258373262e-05,1793245232937457664
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.201289017,745,713.201289017,679,659.798710983,634,879,786,806,652,630,652,0.40992936014,-0.00551734654416,0.0499895158558,0.999999979934,0.000198291179202,-9.59741722479e-06,2.68435415368e-05,1793245232954124288
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.37720177,745,713.37720177,679,659.62279823,634,879.37720177,786,806.37720177,652.37720177,630,652,0.410563107825,-0.00551426799895,0.0499840929694,0.999999975811,0.000215685013983,-3.00941430168e-05,3.08717985538e-05,1793245232970791168
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955624669,745,713.955624669,679,659.044375331,634,879.955624669,786,806.955624669,652.955624669,630,652,0.411185685814,-0.00551021816791,0.0499677379939,0.999999969758,0.000232875894415,-7.1295947308e-05,3.42121900245e-05,1793245232987457792
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.471892172,785.471892172,806.471892172,652.471892172,629.471892172,652,0.411851028813,-0.00550880144483,0.0499444595191,0.999999963181,0.000245859043389,-0.000108932149735,3.64110761236e-05,1793245233004124416
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.103614599,634,879,785.103614599,806,652.103614599,629.103614599,652,0.412539972208,-0.00550850253772,0.0499295603786,0.999999958278,0.000255715107543,-0.000128761394954,3.84036341189e-05,1793245233020791296
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.695702229,634,879,785.695702229,806,652.695702229,629.695702229,652,0.413323423232,-0.00551244192596,0.0499568762696,0.999999965152,0.000252477344118,-6.60395574544e-05,3.98706498027e-05,1793245233037457920
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.718346599,745,713.718346599,679,660,633.718346599,878.718346599,785.718346599,806,652.718346599,630,652,0.414107015371,-0.00551944243439,0.0499700715743,0.999999978792,0.000199976967401,-3.8799339222e-05,3.03395453171e-05,1793245233054124288
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.138883808,745,713.138883808,679,660,633.138883808,878.138883808,785.138883808,806,652.138883808,630,652,0.414890756816,-0.00552967965318,0.0499683363217,0.999999994204,9.53882109575e-05,-4.90760022909e-05,9.17945478427e-06,1793245233070790912
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.438395698,745,713.438395698,679,659.561604302,633.438395698,878.438395698,785,806.438395698,652,630,652,0.41566351809,-0.00553313924907,0.0499472576308,0.999999993093,8.14778894237e-05,-8.44716863253e-05,6.30607989895e-06,1793245233087457536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.985107864,745,714,679,659,633.985107864,879.014892136,785,807,652.014892136,630,652,0.416434720525,-0.00553438243255,0.0499212239087,0.999999987418,9.62339756068e-05,-0.000125770929815,9.25544858197e-06,1793245233104123904
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.41216371,745,714,679,659,633.41216371,879.58783629,785,807,652.58783629,630,652,0.417277214803,-0.00553263149899,0.0499380068831,0.999999989199,0.000114056324842,-9.1572996131e-05,1.43864330895e-05,1793245233120790784
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.166084828,745,714,679,659.166084828,633,879.833915172,785,806.833915172,652.833915172,630,652,0.418122880936,-0.00553086268746,0.0499561070798,0.999999989938,0.000127940706307,-5.83236195429e-05,1.88038319061e-05,1793245233137457664
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.757931218,745,714,679,659.757931218,633,879.242068782,785,806.242068782,652.242068782,630,652,0.418976678132,-0.00552904804552,0.0499775839995,0.999999990717,0.000131730033028,-2.7505889109e-05,2.13919401971e-05,1793245233154124544
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.658180882,745,713.658180882,679,660,633,879.341819118,785.341819118,806.341819118,652,630,652,0.419835066353,-0.00552799897709,0.0499716224346,0.999999990294,0.000131829523737,-3.95372455562e-05,2.16524891756e-05,1793245233170791424
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.079800799,745,713.079800799,679,660,633,879.920199201,785.920199201,806.920199201,652,630,652,0.420696631826,-0.00552747973519,0.0499466716606,0.999999988126,0.00012937540869,-8.12229463282e-05,2.03022162472e-05,1793245233187458048
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.495515171,679,660,633.495515171,880,786,807,652,630,652,0.421624466588,-0.00553101092766,0.0499647170595,0.999999990981,0.00012686987482,-3.83265873182e-05,2.17297293794e-05,1793245233204124416
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.070124313,745,714,679,660,634,880,786,807,652,630.070124313,652,0.422556598431,-0.00553493909399,0.0499858587968,0.999999991938,0.000124429732197,9.60905379545e-06,2.3418497943e-05,1793245233220791296
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.64318117,745,714,679,660,634,880,786,807,652,630.64318117,652,0.423443476242,-0.00553706475883,0.0499798510508,0.999999992206,0.000122517605167,-3.40753137536e-06,2.37922989726e-05,1793245233237457664
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775277073,745,714,679,660,634,880,786,807,652,630.775277073,652,0.424339235169,-0.00553880753152,0.0499746786268,0.99999999237,0.000120583569277,-1.16877432432e-05,2.41464709292e-05,1793245233254124032
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.179734112,745,714,679,660,634,880,786,807,652,630.179734112,652,0.425249649153,-0.00553991848616,0.0499708845839,0.999999992592,0.000118613380845,-1.21523678457e-05,2.44682526035e-05,1793245233270790912
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401857178,745,714,679.401857178,660,633.598142822,880,786,807,652,630.401857178,652,0.426192932833,-0.00554065022995,0.0499855614352,0.999999992842,0.000116711862272,9.59804177163e-07,2.63366284297e-05,1793245233287457536
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977417798,745,714,679.977417798,660,633.022582202,880,786,807,652,630.977417798,652,0.427150424438,-0.00554121805915,0.050008222362,0.99999999279,0.000114840026445,1.9940569451e-05,2.8873522157e-05,1793245233304124416
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880.55269391,786,807,652,630.44730609,652,0.428000104269,-0.00553535465124,0.0499713224793,0.999999990384,0.000123400184967,-5.69778615072e-05,2.75261169465e-05,1793245233320791552
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.868464403,745,714,679.868464403,660,633.131535597,880.868464403,786,807,652,630,651.868464403,0.4288642401,-0.0055324123021,0.0499401414805,0.999999984853,0.000127718419665,-0.000115268839451,2.63511835799e-05,1793245233337458176
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.277117898,745,714,679.277117898,660,633.722882102,880.277117898,786,807,652,630,651.277117898,0.429794300705,-0.00554059923814,0.0499374547273,0.999999988469,0.000115718872521,-9.47533784098e-05,2.63336697869e-05,1793245233354124544
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.304543474,745.304543474,714,679.304543474,660.304543474,633.695456526,880,786,807.304543474,652,630,651.609086949,0.430715767042,-0.00554411874565,0.0499395908042,0.999999990103,0.000111507435371,-8.15239930635e-05,2.67357389522e-05,1793245233370790912
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.877663508,745.877663508,714,679.877663508,660.877663508,633.122336492,880,786,807.877663508,652,630,652.755327016,0.431629654054,-0.00554352205259,0.0499459801299,0.999999990313,0.000114164324641,-7.47201910768e-05,2.75078378823e-05,1793245233387457536
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.970904805,679.029095195,660,633,880,786,808,652,630.970904805,651.970904805,0.433448736174,-0.00554320171268,0.0499270362672,0.999999988038,0.000112563612754,-0.000102602110024,2.69552143146e-05,1793245233420790784
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.377869865,679.622130135,660,633,880,786,808,652,630.377869865,651.377869865,0.434351614313,-0.00554529521615,0.0499531551012,0.999999991772,0.000109088146517,-6.11607015535e-05,2.85542578759e-05,1793245233437457664
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.790858541,745,713,679.790858541,660.209141459,633,880,786,808,652,630.209141459,651.418282918,0.43522634682,-0.00554563563253,0.0499667337864,0.999999992496,0.000109435044262,-4.60587913826e-05,3.01760966223e-05,1793245233454124288
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.214425711,745,713,679.214425711,660.785574289,633,880,786,808,652,630.785574289,652.571148578,0.436051650502,-0.00554289730167,0.049958289638,0.999999989727,0.000116494725001,-7.72139413084e-05,3.18379682759e-05,1793245233470791168
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+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.941375705,679.941375705,659.11724859,633,880,786,808.941375705,652,631,652.058624295,0.437756912338,-0.00554511362837,0.0499471563877,0.999999989146,0.000108624557188,-9.43959990472e-05,3.1584329877e-05,1793245233504124160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.513946177,745,714,679.486053823,659.513946177,633,880,786,808.486053823,652,631,652,0.43863079305,-0.00555059301754,0.049967829051,0.999999993219,9.95764712497e-05,-5.14195056186e-05,3.16508388899e-05,1793245233520791040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.911179857,679.088820143,660,633,880,785.911179857,808,652,631,652,0.439487115541,-0.00555513325396,0.0499843478004,0.999999995145,9.19704897834e-05,-1.59137496715e-05,3.15995176503e-05,1793245233537457664
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.319650611,679.680349389,660,633,880,785.319650611,808,652,631,652,0.440234478905,-0.005552127946,0.0499610204041,0.99999999373,9.4187380341e-05,-5.23281588154e-05,3.0496860964e-05,1793245233554124032
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.42355887,713,680,659,632.42355887,880,786,808.42355887,652,630,653,0.442462365426,-0.00554913236617,0.0499365594126,0.999999989477,0.000108254314254,-9.08564431215e-05,3.27504883852e-05,1793245233604124416
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.672015974,745.672015974,714,680,659,631.672015974,880.327984026,785,809,652,630,652.672015974,0.445603741407,-0.00554684765566,0.0497837219387,0.999999940324,0.000121506175741,-0.000321932227299,3.07986397718e-05,1793245233687457792
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.091620562,745.091620562,714,680,659,631.091620562,880.908379438,785,809,652,630,652.091620562,0.446225344227,-0.00554861448815,0.0497858453967,0.999999947489,0.000121322387712,-0.000298815703707,3.18267602655e-05,1793245233704124416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.483583629,745,714,680.483583629,658.516416371,631,881,785,809,652,630,652,0.446790674564,-0.00554486302145,0.0497847483056,0.999999946326,0.000129917311879,-0.000299042766861,3.22844513311e-05,1793245233720791040
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.358117878,745,713.358117878,681,658,631,881,785,809.641882122,652,630,652,0.447800211471,-0.00554184934978,0.0497392793305,0.999999921799,0.000138072643221,-0.000369226912303,3.17579669394e-05,1793245233754124544
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.224885111,745.224885111,713.224885111,681,658,630.775114889,880.775114889,785,809.775114889,652,629.775114889,652,0.448266356305,-0.00554582396131,0.049711003578,0.999999905594,0.000135343237773,-0.000411667569092,3.19881652816e-05,1793245233770790912
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.807626027,745.807626027,713.807626027,681,658,630.192373973,880.192373973,785,809.192373973,652,629.192373973,652,0.448736066022,-0.00555425781859,0.0497012574197,0.999999900199,0.000129794550762,-0.000426160788336,3.38018777633e-05,1793245233787457280
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.613467538,714,681,657.613467538,630,880,784.613467538,809,652,629.386532462,652,0.449192488158,-0.00555531269888,0.0497117376351,0.999999907127,0.000130656384907,-0.000409191361901,3.51866251369e-05,1793245233804124928
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.291900844,880,784.708099156,809.291900844,653,629.291900844,652,0.451111349182,-0.0055669557245,0.0497492589436,0.999999931209,1.62062080537e-05,-0.000370477190168,8.17138052428e-06,1793245233887457536
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.598774846,714,681,657,628,880.401225154,784.598774846,810,652.401225154,629,653,0.452128611419,-0.00555726574029,0.0497076025999,0.99999989772,4.22210643026e-05,-0.000450156820596,1.16516746742e-05,1793245233954124288
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.506638223,681,656.493361777,626.493361777,880,784,809,652.506638223,628.493361777,652,0.453060403712,-0.00556029971207,0.0497196803146,0.999999909421,5.44432202496e-05,-0.000421745784375,1.79868284131e-05,1793245234037457664
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.139542479,715,681,656,625.860457521,880.860457521,784,809,652,629,652,0.453809744522,-0.0055484716898,0.0496845843641,0.999999886582,6.95569704407e-05,-0.000470858732563,1.70212968045e-05,1793245234420790784
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.563145034,745,715,681,656,625.563145034,880.563145034,783.563145034,809,652,629,652,0.453810122366,-0.00554958693874,0.0496842122478,0.999999886642,6.76018970414e-05,-0.000471014789255,1.70438229861e-05,1793245234437457664
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.011902136,745,715,681,656.011902136,625,880,783.011902136,809,652,629,652.011902136,0.453810298872,-0.00555077372882,0.049684001818,0.999999886747,6.5172062186e-05,-0.000471134103189,1.70514554989e-05,1793245234454124288
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.583445347,745,715,681,656.583445347,625,880,783.583445347,809,652,629,652.583445347,0.453810208106,-0.00554783433069,0.0496843446655,0.999999886148,6.93125907155e-05,-0.000471818611049,1.69352019447e-05,1793245234470791168
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,656.839102234,625,880.160897766,784,809,652,628.839102234,652.839102234,0.45381031461,-0.00554583936227,0.0496846302704,0.999999885869,7.25496571776e-05,-0.000471926012666,1.68720031752e-05,1793245234487458048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,656.245767981,625,880.754232019,784,809,652,628.245767981,652.245767981,0.453810951307,-0.00554638268821,0.0496847620273,0.999999886489,7.33585357925e-05,-0.000470482356091,1.69513969745e-05,1793245234504124672
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,656,625,880.661235775,784,809,652,628,652,0.453811044359,-0.00554634182399,0.049684472396,0.999999886432,7.21449523602e-05,-0.000470793643939,1.68773012111e-05,1793245234520791040
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,656,625,880.082927618,784,809,652,628,652,0.453810752995,-0.00554588787242,0.0496838847964,0.99999988589,6.9501263605e-05,-0.000472345872462,1.66946712763e-05,1793245234537457664
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.493591959,714.506408041,680.506408041,656,625,880,784,809,652.493591959,628.493591959,652,0.453810735611,-0.00554633099787,0.0496835185817,0.999999885751,6.94771045378e-05,-0.000472640048703,1.67812511485e-05,1793245234554124288
+245,4.083333333,HOLD_POSE2,765,745,715,681,656,626,880,783,809,653,628,652,0.453812133758,-0.00554147158853,0.0496837317097,0.999999885456,7.67675241196e-05,-0.000472144477057,1.65612844932e-05,1793245234597135872
+246,4.100000000,HOLD_POSE2,765,745,714.424961774,681,656,625.424961774,880,783,809,653,628,652,0.453812444053,-0.00554336937632,0.0496830667971,0.999999885531,7.26104516714e-05,-0.000472649697088,1.63632387851e-05,1793245234613802496
+247,4.116666667,HOLD_POSE2,765,745,714.151470827,681.151470827,656,625,880.151470827,783.151470827,809,652.848529173,628.151470827,652,0.453812469617,-0.00554484862552,0.0496825639663,0.999999885442,6.98653673739e-05,-0.000473257074944,1.62302357084e-05,1793245234630469376
+248,4.133333333,HOLD_POSE2,765,745,714.731851925,681.731851925,656,625,880.731851925,783.731851925,809,652.268148075,628.731851925,652,0.453811688923,-0.00554514272615,0.0496825200915,0.999999884928,7.11185188122e-05,-0.000474153726722,1.62814096531e-05,1793245234647135744
+249,4.150000000,HOLD_POSE2,764.692211307,745,714.692211307,681.692211307,656,625,880.692211307,784,809,652,628.692211307,652,0.453812394609,-0.00554491756346,0.0496830550162,0.999999885153,7.24133349397e-05,-0.000473478858732,1.63758965561e-05,1793245234663802112
+250,4.166666667,HOLD_POSE2,764.120091395,745,714.120091395,681.120091395,656,625,880.120091395,784,809,652,628.120091395,652,0.45381437681,-0.00554424645356,0.0496840870182,0.99999988601,7.37439329368e-05,-0.000471454357823,1.65075809466e-05,1793245234680468736
+251,4.183333333,HOLD_POSE2,764.470785774,745,714,681,656.470785774,625.470785774,880.470785774,784,809.470785774,652.470785774,628,652.470785774,0.45381418394,-0.00554401015023,0.0496842020595,0.999999885933,7.30564437372e-05,-0.00047172523757,1.6485052545e-05,1793245234697135104
+252,4.200000000,HOLD_POSE2,764.935550924,745.064449076,714,681,656.935550924,625.935550924,880.935550924,783.935550924,809.935550924,652.935550924,628.064449076,652.935550924,0.453813130874,-0.00554417229004,0.0496837958151,0.999999885467,7.1653219034e-05,-0.000472927268122,1.6489788203e-05,1793245234713801728
+253,4.216666667,HOLD_POSE2,764.359334358,745.640665642,714,681,656.359334358,625.359334358,880.359334358,783.359334358,809.359334358,652.359334358,628.640665642,652.359334358,0.453809835841,-0.00554658105491,0.0496811846515,0.999999883874,6.88239656287e-05,-0.000476680883751,1.70363469407e-05,1793245234730468608
+254,4.233333333,HOLD_POSE2,764.215845391,745.784154609,714,681,655.784154609,625.215845391,880,783.215845391,809,652.215845391,629,652,0.453808372212,-0.0055471271725,0.0496798198703,0.999999883063,6.80059885512e-05,-0.000478494237951,1.70812269477e-05,1793245234747135488
+255,4.250000000,HOLD_POSE2,764.789307267,745.210692733,714,681,655.210692733,625.789307267,880,783.789307267,809,652.789307267,629,652,0.453809942886,-0.00554458722274,0.049680520118,0.999999883572,7.0520330157e-05,-0.000477092932131,1.6294916655e-05,1793245234763802112
+256,4.266666667,HOLD_POSE2,765,745,714.374568899,681,655.374568899,625.625431101,880,784,809,653,629,652,0.453810496539,-0.00554418742493,0.0496805807675,0.999999883649,7.11611528875e-05,-0.000476840973067,1.61398540475e-05,1793245234780468480
+257,4.283333333,HOLD_POSE2,765,745,714.966683769,681,655.966683769,625.033316231,880,784,809,653,629,652,0.453810459515,-0.00554503060631,0.0496802699448,0.999999883479,7.07138543257e-05,-0.000477256543283,1.63514138781e-05,1793245234797135360
+258,4.300000000,HOLD_POSE2,765,745.545271542,714.454728458,681,656,625,880,783.454728458,809,652.454728458,628.454728458,652,0.453811437119,-0.00554475056977,0.0496810620943,0.999999884021,7.05330976237e-05,-0.00047614766545,1.63126385877e-05,1793245234813801984
+259,4.316666667,HOLD_POSE2,764.877693513,745.877693513,714,681,656,625,880,783.122306487,809,652.122306487,628,652,0.453812302558,-0.00554427205344,0.0496818291075,0.999999884386,7.10520979356e-05,-0.000475305787585,1.6251658705e-05,1793245234830468608
+260,4.333333333,HOLD_POSE2,764.303416378,745.303416378,714,681,656,625,880,783.696583622,809,652.696583622,628,652,0.453812529959,-0.00554330754756,0.0496822602214,0.999999883938,7.40982505288e-05,-0.000475786451517,1.61637788568e-05,1793245234847135232
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,746,715,682,656,626,881,784,809,653,628,652,0.453815696671,-0.00554878969188,0.0496842337697,0.999999886259,6.66695595946e-05,-0.000471949054805,1.73543947391e-05,1793245234884213760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.420536544,745.420536544,714.420536544,680.841073087,655.420536544,625.420536544,881,784,809,653,628,652,0.4538143517,-0.00554673614331,0.0496829817085,0.99999988554,6.87003188584e-05,-0.000473200003612,1.68085866484e-05,1793245234900880640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.158834202,745,714,680.158834202,655.158834202,625,880.841165798,783.841165798,809,653,628.158834202,652.158834202,0.453813768847,-0.00554509870612,0.0496823209953,0.999999885153,7.03390658087e-05,-0.000473793538548,1.63332304081e-05,1793245234917547520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.737959754,745,714,680.737959754,655.737959754,625,880.262040246,783.262040246,809,653,628.737959754,652.737959754,0.453815202636,-0.00554456234122,0.0496832250481,0.999999885657,7.09405090082e-05,-0.000472647490237,1.60442967638e-05,1793245234934214656
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.682492896,745.317507104,714.317507104,681,656,625,880,783,809,653,628.682492896,652.682492896,0.453815479831,-0.00554437688011,0.0496834908805,0.999999885712,7.11072955786e-05,-0.000472505715697,1.6094423133e-05,1793245234950881024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.102597006,745.897402994,714.897402994,681,656,625,880,783,809,653,628.102597006,652.102597006,0.453814801213,-0.00554448140694,0.0496832292858,0.999999885394,7.09148806218e-05,-0.000473193875966,1.64247496921e-05,1793245234967546880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.468493553,745.531506447,715,681,656,625,880,783.468493553,809,652.531506447,628,652,0.453813810148,-0.00554332363822,0.0496826357302,0.999999884871,7.23414964083e-05,-0.000474080650195,1.64930502376e-05,1793245234984213760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.960689334,745.039310666,714.960689334,681,656,625,880,783.960689334,809,652.039310666,628,652.039310666,0.453812645836,-0.0055420500406,0.0496819142551,0.999999884263,7.39330218209e-05,-0.000475117156747,1.64942483284e-05,1793245235000880128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.367037648,745.632962352,714.367037648,681,656,625,880,783.367037648,809,652.632962352,628,652.632962352,0.453809985571,-0.00554296931434,0.0496803951491,0.999999883125,7.29424634832e-05,-0.000477663086605,1.63434447869e-05,1793245235017546496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.219611265,745.780388735,714,681,656,625,880,783,809,653,628,653,0.453805314333,-0.00554296824534,0.0496780184292,0.9999998814,7.24374259116e-05,-0.00048134864003,1.59903817516e-05,1793245235034213376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.794918014,745.205081986,714,681,656,625,880,783,809,653,628,653,0.453797386006,-0.00554147653433,0.0496742526669,0.999999878713,7.27187667806e-05,-0.000486879995396,1.53097272102e-05,1793245235050880512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.629775272,745,714.370224728,681,656,625,880.370224728,783.370224728,809,653,628.370224728,652.629775272,0.453772318064,-0.00554043537337,0.0496627646294,0.999999869219,7.27385619611e-05,-0.000506022770545,1.45540814732e-05,1793245235067546880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.054468523,745,714.945531477,681,656,625,880.945531477,783.945531477,809,653,628.945531477,652.054468523,0.453737755817,-0.00553964378964,0.0496469989199,0.999999855381,7.26134766951e-05,-0.000532705446032,1.37568950951e-05,1793245235084213248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,715,681,656.532094004,625,880.467905996,784,809,652.467905996,629,652.532094004,0.453681058865,-0.00553814243623,0.0496255033022,0.999999835376,7.30912986981e-05,-0.000568987383242,1.26274240207e-05,1793245235100879872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.118828427,745,714.881171573,681,656.881171573,625,880.118828427,784,809,652,628.881171573,652.881171573,0.453620738485,-0.00553641625617,0.0496051374011,0.999999816215,7.41205652934e-05,-0.000601616300233,1.15551337961e-05,1793245235117546496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.701638015,745,714.298361985,681,656.298361985,625,880.701638015,784,809,652,628.298361985,652.298361985,0.453555308434,-0.00553410203844,0.0495915223755,0.999999807206,7.70568284051e-05,-0.000616061764626,1.08417987939e-05,1793245235134213120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.720040811,745,714.279959189,681,656,625,880.720040811,784,809,652.279959189,628,652,0.453480683417,-0.00553123881559,0.0495822251138,0.999999800222,7.92507585888e-05,-0.000627039880399,9.84877314629e-06,1793245235150880256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.146427649,745,714.853572351,681,656,625,880.146427649,784,809,652.853572351,628,652,0.453396413647,-0.00552779973204,0.0495774568293,0.99999979549,8.06660429207e-05,-0.000634381034202,8.56237524837e-06,1793245235167547648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.428754902,745,714.571245098,681,656,625,880,784,809,653,628.428754902,652,0.453300564382,-0.00552534814915,0.049577942701,0.999999794599,8.16800464496e-05,-0.000635657577011,8.32793538552e-06,1793245235184214272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,625,880,783.995424516,809,652.995424516,629,652,0.453200549234,-0.0055232004409,0.0495802520253,0.999999795055,8.26006354139e-05,-0.000634819002464,8.44788563957e-06,1793245235200880384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,625,880,783.406827293,809,652.406827293,629,652,0.453075421112,-0.00551663455933,0.0495854294389,0.999999797959,8.91545124016e-05,-0.000629342875502,7.77739477169e-06,1793245235217547520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.82041024,745,714.17958976,681,656.17958976,625.17958976,880,783.17958976,809,652,628.82041024,652,0.452940633523,-0.00551111031292,0.0495897706651,0.999999799967,9.37977478415e-05,-0.000625472431568,7.23970619482e-06,1793245235234214400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.238872802,745,714.761127198,681,656.761127198,625.761127198,880,783.761127198,809,652,628.238872802,652,0.452784226673,-0.00550791739649,0.0495922403834,0.999999800107,9.41646921951e-05,-0.000625195737705,6.99924831135e-06,1793245235250880512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.337617421,745,714.662382579,681,656.662382579,626,880,784,809,652.337617421,628.337617421,652,0.452606125654,-0.00550219578641,0.0495919078768,0.999999796379,9.64591641354e-05,-0.000630789467872,6.43481584708e-06,1793245235267546880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.910589269,745,714.089410731,681,656.089410731,626,880,784,809,652.910589269,628.910589269,652,0.452412901528,-0.00549471141375,0.0495896219285,0.99999978987,0.000100097323141,-0.000640475493558,5.64453940769e-06,1793245235284213760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.504902497,745,714.495097503,681,656.495097503,626,880,783.504902497,809,653,629,652,0.452190978136,-0.00548658043943,0.0495886651613,0.999999784816,0.000107028581406,-0.000647218203588,4.55578977796e-06,1793245235300880128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.08122892,745,715,680.91877108,656.91877108,626,880,783.08122892,809,652.91877108,629,652,0.451958044522,-0.00547827114209,0.0495878772137,0.999999779963,0.000114328156746,-0.000653445461589,3.46267848454e-06,1793245235317546752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.664210913,745,715,680.335789087,656.335789087,626,880,783.664210913,809,652.335789087,629,652,0.451689878835,-0.0054695988422,0.0495866139629,0.999999775078,0.000120141673565,-0.000659850427772,2.68352142517e-06,1793245235334213632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.755998896,745.244001104,715,680.488002207,656,626.244001104,880,784,808.755998896,652,629,652.244001104,0.451411852809,-0.00546047495369,0.0495857894088,0.999999774182,0.000126114932193,-0.000660098855751,1.17656659402e-06,1793245235350880512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.180544515,745.819455485,715,681.63891097,656,626.819455485,880,784,808.180544515,652,629,652.819455485,0.451120432424,-0.00545073762369,0.0495855607842,0.999999778705,0.000132305185172,-0.000651984186882,-1.31903518171e-06,1793245235367547648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.394358625,745.605641375,714.605641375,681.605641375,656.394358625,627,880,784,808.394358625,652.394358625,629,653,0.450813114861,-0.00544283712443,0.0495918216104,0.99999978877,0.000137262988306,-0.000635303852121,-2.72236937911e-06,1793245235384214016
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..140577ea937d6fea8a82a3a22145239bbe068a7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
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+366,6.100000000,pose2_to_pose3_retreat,0.576525375674,-0.000122195021748,1.04005090002,0.547097009878,0.00855349422143,1.03971739291
+367,6.116666667,pose2_to_pose3_retreat,0.576394891763,-0.000122249760116,1.04005083057,0.546966527052,0.00855344305606,1.03971732071
+368,6.133333333,pose2_to_pose3_retreat,0.576280407852,-0.000122149101525,1.0400509614,0.546852042273,0.00855354080776,1.03971745257
+369,6.150000000,pose2_to_pose3_retreat,0.576180162237,-0.000122071749915,1.0400511035,0.546751795112,0.00855361292127,1.03971759517
+370,6.166666667,pose2_to_pose3_retreat,0.576091424939,-0.000122171532142,1.04005101753,0.546663057822,0.00855351318981,1.03971751048
+371,6.183333333,pose2_to_pose3_retreat,0.576013537787,-0.000122183766729,1.0400509955,0.546585171169,0.00855350288044,1.03971749418
+372,6.200000000,pose2_to_pose3_retreat,0.575944921135,-0.000122122461321,1.0400509177,0.546516552399,0.0085535567587,1.03971740992
+373,6.216666667,pose2_to_pose3_retreat,0.575885692091,-0.00012215218954,1.04005098321,0.546457324173,0.00855352986275,1.03971747687
+374,6.233333333,pose2_to_pose3_retreat,0.575837558388,-0.000122229141106,1.0400509312,0.546409191401,0.00855345612588,1.03971742626
+375,6.250000000,pose2_to_pose3_retreat,0.575798213849,-0.000122226293425,1.04005088681,0.546369847188,0.0085534600114,1.03971738012
+376,6.266666667,pose2_to_pose3_retreat,0.575766697602,-0.000122153156836,1.04005090314,0.546338330316,0.0085535309195,1.03971739355
+377,6.283333333,pose2_to_pose3_retreat,0.575741304614,-0.000122127146328,1.04005089816,0.546312935228,0.008553549808,1.03971738872
+378,6.300000000,pose2_to_pose3_retreat,0.575721539529,-0.000122181286899,1.04005107308,0.546293172897,0.00855350517913,1.03971756799
+379,6.316666667,pose2_to_pose3_retreat,0.575705353873,-0.00012208294302,1.04005107553,0.546276986141,0.00855359956186,1.03971756448
+380,6.333333333,pose2_to_pose3_retreat,0.575692836689,-0.000122118977681,1.04005098992,0.546264469058,0.00855356372945,1.03971747529
+381,6.350000000,pose2_to_pose3_retreat,0.575684382048,-0.000122241074873,1.04005093864,0.546256016478,0.0085534487915,1.03971742841
+382,6.366666667,pose2_to_pose3_retreat,0.575678713147,-0.000122279582428,1.04005097577,0.546250349837,0.0085534183456,1.03971747588
+383,6.383333333,pose2_to_pose3_retreat,0.57567551787,-0.000122107080082,1.04005096775,0.546247151812,0.00855358169291,1.03971747216
+384,6.400000000,pose2_to_pose3_retreat,0.575673672221,-0.000121992289239,1.04005096087,0.546245304262,0.00855369012696,1.03971746763
+385,6.416666667,pose2_to_pose3_retreat,0.575672807365,-0.000122026067926,1.04005093836,0.546244439108,0.0085536551714,1.03971744078
+386,6.433333333,pose2_to_pose3_retreat,0.57567203833,-0.000122057193331,1.0400509181,0.546243669815,0.00855362302192,1.0397174166
+387,6.450000000,pose2_to_pose3_retreat,0.575671569868,-0.000122076153514,1.04005090576,0.546243201197,0.00855360343792,1.03971740188
+388,6.466666667,pose2_to_pose3_retreat,0.575671539346,-0.000122077388838,1.04005090496,0.546243170665,0.00855360216196,1.03971740092
+389,6.483333333,pose2_to_pose3_retreat,0.575671460435,-0.000122080582625,1.04005090288,0.546243091728,0.00855359886309,1.03971739843
+390,6.500000000,pose2_to_pose3_retreat,0.575671183604,-0.000122091786894,1.04005089559,0.546242814804,0.00855358729018,1.03971738973
+391,6.516666667,pose2_to_pose3_retreat,0.575671172069,-0.000122092253779,1.04005089529,0.546242803265,0.00855358680794,1.03971738937
+392,6.533333333,pose2_to_pose3_retreat,0.575671110745,-0.000122094735744,1.04005089367,0.546242741921,0.00855358424431,1.03971738744
+393,6.550000000,pose2_to_pose3_retreat,0.575670963898,-0.00012211082904,1.04005088762,0.546242595297,0.00855356895335,1.03971738251
+394,6.566666667,pose2_to_pose3_retreat,0.575670826644,-0.000122126649583,1.04005088181,0.546242458274,0.00855355395928,1.03971737788
+395,6.583333333,pose2_to_pose3_retreat,0.575670758561,-0.000122134497201,1.04005087892,0.546242390305,0.00855354652162,1.03971737559
+396,6.600000000,pose2_to_pose3_retreat,0.575670444507,-0.000122170696712,1.0400508656,0.546242076777,0.00855351221318,1.03971736499
+397,6.616666667,pose2_to_pose3_retreat,0.575669978134,-0.000122224453335,1.04005084583,0.546241611186,0.00855346126482,1.03971734926
+398,6.633333333,pose2_to_pose3_retreat,0.575669834672,-0.000122216496243,1.04005084473,0.546241467614,0.00855346860684,1.03971734194
+399,6.650000000,pose2_to_pose3_retreat,0.575669824304,-0.000122214003325,1.04005084505,0.54624145721,0.0085534709395,1.03971734122
+400,6.666666667,pose2_to_pose3_retreat,0.57566978413,-0.000122204343491,1.04005084625,0.546241416898,0.00855347997837,1.03971733842
+401,6.683333333,pose2_to_pose3_retreat,0.57566969065,-0.000122181866736,1.04005084906,0.546241323099,0.00855350101023,1.03971733189
+402,6.700000000,pose2_to_pose3_retreat,0.575669525144,-0.000122249297413,1.04005080743,0.546241159015,0.00855343854959,1.03971729403
+403,6.716666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343055,1.03971728237
+404,6.733333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343055,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d31e9fc61f8078ee014f4409a5dffde76a79d71
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1c3da6d19db3425195c041ae0eb8957fa2ad1282901e118136cccb73be7abd
+size 25769193
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..927be4b91d3522167d899bf25fa780512f97c78f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+36,0.600000000,BASELINE,764,745,714,678.11371819,659,634,878,786,806,653,630,652.88628181,0.401000513965,-0.00539790075656,0.0498582639691,0.999999961144,0.000134558464012,-0.000241065894858,-3.86400670736e-05,1793245238011913216
+37,0.616666667,BASELINE,764,745,714,678.469773348,659,634,878.469773348,786,806.469773348,653,629.530226652,652.530226652,0.401000631134,-0.00539837077111,0.0498581814606,0.999999961269,0.000133875669671,-0.000240904810265,-3.87708701056e-05,1793245238028579840
+38,0.633333333,BASELINE,764,745,714,679,659.050835718,634,879,786,806.949164282,653,629.050835718,652,0.40100036879,-0.00539888308621,0.0498577873276,0.999999961299,0.000133002896832,-0.000241226454943,-3.90026787721e-05,1793245238045246208
+39,0.650000000,BASELINE,764,745,714,679,659.624889459,634,879,786,806.375110541,653,629.624889459,652,0.401000246972,-0.00539846181626,0.0498577145818,0.999999961492,0.000132244086267,-0.00024078049896,-3.93976406579e-05,1793245238061912832
+40,0.666666667,BASELINE,764,745,714,679,659.80168081,634,879,786,806,653,630,652,0.401000314642,-0.00539846261863,0.049857732857,0.999999961546,0.000132419658025,-0.000240428229661,-3.95768881406e-05,1793245238078579200
+41,0.683333333,BASELINE,764,745,714,679,659.229427694,634,879,786,806,653,630,652,0.401000739593,-0.00539925924498,0.049857922754,0.999999961339,0.000134357022281,-0.000240252608093,-3.93494027258e-05,1793245238095246080
+42,0.700000000,BASELINE,764,745.357141546,714,678.642858454,659,634,879,785.642858454,806.357141546,653,630,652,0.401000246523,-0.0053984089889,0.0498575391139,0.999999960846,0.000135938339727,-0.000241455275649,-3.90875559517e-05,1793245238111913216
+43,0.716666667,BASELINE,764,745.953291486,714,678.046708514,659,634,879,785.046708514,806.953291486,653,630,652,0.40099913909,-0.00539645659634,0.0498567716479,0.999999960158,0.000137281381327,-0.000243580330069,-3.88027136732e-05,1793245238128580352
+44,0.733333333,BASELINE,764,746,713.468535669,678,659,633.468535669,878.468535669,785,806.468535669,653,630,652,0.401000364333,-0.00539678957364,0.0498576274673,0.999999960686,0.000137750348681,-0.000241130131662,-3.88487644002e-05,1793245238145246976
+45,0.750000000,BASELINE,764,745.892553007,713.107446993,678.107446993,659,633.107446993,878.107446993,785.107446993,806,653,629.892553007,652,0.401001246939,-0.00539739108241,0.0498582971294,0.999999961159,0.000137764351851,-0.000239138449867,-3.89208281984e-05,1793245238161913344
+46,0.766666667,BASELINE,764,745.31943928,713.68056072,678.68056072,659,633.68056072,878.68056072,785.68056072,806,653,629.31943928,652,0.400999785149,-0.00539831438511,0.0498575619325,0.999999960978,0.000136128611891,-0.000240819606253,-3.89837194788e-05,1793245238178579968
+47,0.783333333,BASELINE,764,745,713.737847676,679,659.262152324,634,879,786,806.262152324,653,629.262152324,652,0.400999486563,-0.0053991214938,0.0498575674877,0.999999961079,0.000135019026582,-0.000241033566867,-3.89080133717e-05,1793245238195246336
+48,0.800000000,BASELINE,764,745,713.145580235,679,659.854419765,634,879,786,806.854419765,653,629.854419765,652,0.401000652741,-0.00539978228541,0.0498585058344,0.999999961542,0.000134572000903,-0.000239399962532,-3.86577786165e-05,1793245238211912960
+49,0.816666667,BASELINE,764,745,713.435327488,679,659.564672512,634,879,786,807,653,630,652,0.401000868602,-0.00539994145773,0.0498586467057,0.999999961696,0.000133913367161,-0.000239130803463,-3.86167623632e-05,1793245238228579584
+50,0.833333333,BASELINE,764.012499797,745,713.987500203,679.012499797,659,633.987500203,878.987500203,785.987500203,807,653,630,652,0.401000787473,-0.00539990402218,0.0498585286434,0.99999996175,0.000133220422521,-0.000239286051739,-3.86529164035e-05,1793245238245246208
+51,0.850000000,BASELINE,764.588179773,745,713.411820227,679.588179773,659,633.411820227,878.411820227,785.411820227,807,653,630,652,0.401001279895,-0.00539837414985,0.0498584543859,0.999999961798,0.000134088838416,-0.000238527570677,-3.90938324892e-05,1793245238261913088
+52,0.866666667,BASELINE,764.832478419,745.167521581,713.167521581,679.832478419,659,633,878.167521581,785,807,653,630,652,0.401000893983,-0.00539779848914,0.0498579415818,0.999999961652,0.000134424032398,-0.000238924377601,-3.92499384065e-05,1793245238278579968
+53,0.883333333,BASELINE,764.243933553,745.756066447,713.756066447,679.243933553,659,633,878.756066447,785,807,653,630,652,0.400998300597,-0.00539962099898,0.0498563266014,0.999999961015,0.0001334191074,-0.000242224709832,-3.86902457011e-05,1793245238295246848
+54,0.900000000,BASELINE,764,745.660679788,713.660679788,679,659,633,879,785.339320212,806.660679788,653,630,652,0.400998135352,-0.00540041687177,0.0498567921923,0.9999999611,0.000133056386401,-0.00024212271362,-3.8376041485e-05,1793245238311913472
+55,0.916666667,BASELINE,764,745.081171361,713.081171361,679,659,633,879,785.918828639,806.081171361,653,630,652,0.400999688869,-0.00540048603821,0.0498587305182,0.999999961698,0.000133148250306,-0.000239612375028,-3.8235606612e-05,1793245238328579584
+56,0.933333333,BASELINE,764,745,713,679.49631498,659,633.49631498,878.50368502,786,806.49631498,653,630,652,0.400999782908,-0.00539922815267,0.0498580342217,0.999999961582,0.000133935675328,-0.000239585827648,-3.86740079459e-05,1793245238345246464
+57,0.950000000,BASELINE,764,745,713.073106741,679.926893259,659,634,878.073106741,786,806.926893259,653,630,652,0.400999724057,-0.00539810598131,0.0498571602465,0.999999961405,0.000134575013835,-0.000239896890795,-3.91015080965e-05,1793245238361913344
+58,0.966666667,BASELINE,764,745,713.647394522,679.352605478,659,634,878.647394522,786,806.352605478,653,630,652,0.401000246797,-0.00539939604682,0.0498580101497,0.999999961606,0.000133422451391,-0.000239748908433,-3.88079181456e-05,1793245238378579712
+59,0.983333333,BASELINE,764,745.227689656,714,679,659,634,879,786,806.227689656,653,630,652.227689656,0.401000694796,-0.00539992576083,0.0498585292708,0.999999961667,0.000133045556194,-0.000239705529729,-3.88036803673e-05,1793245238395246336
+60,1.000000000,BASELINE,764,745.817540111,714,679,659,634,879,786,806.817540111,653,630,652.817540111,0.401001023912,-0.00539924606783,0.0498585222534,0.999999961506,0.000133902429076,-0.000239828532489,-3.92596831003e-05,1793245238411913472
+61,1.016666667,BASELINE,764,745.600209982,714,679,659.399790018,634,879,785.600209982,806.600209982,653,630,652.600209982,0.400999821257,-0.00539870593401,0.0498579459288,0.999999961404,0.000132928488536,-0.000240774599021,-3.93583016129e-05,1793245238428579840
+62,1.033333333,BASELINE,764,745.021364203,714,679,659.978635797,634,879,785.021364203,806.021364203,653,630,652.021364203,0.40099793256,-0.00539822830523,0.0498571146261,0.999999961326,0.000131134573268,-0.000242089294834,-3.92968568127e-05,1793245238445246720
+63,1.050000000,BASELINE,764,745,714,679,660,634,878.446546502,785.553453498,806.553453498,653,630,652,0.400998768029,-0.00539776001664,0.0498571636148,0.999999961105,0.000134803812326,-0.000240994106203,-3.92274982435e-05,1793245238461913344
+64,1.066666667,BASELINE,764,745,714,679,659.868883568,634,878.131116432,786,806.868883568,653,630,652,0.40099980061,-0.00539752937209,0.0498575724634,0.999999961032,0.000137598753577,-0.000239733012877,-3.91205877904e-05,1793245238478579712
+65,1.083333333,BASELINE,764,745,714,679,659.280765672,634,878.719234328,786,806.280765672,653,630,652,0.40100115634,-0.0053981257795,0.0498591180075,0.999999961539,0.000136616635546,-0.000238215558945,-3.8883848705e-05,1793245238495246336
+66,1.100000000,BASELINE,764,745,713.697287346,679,659,634,878.697287346,786,806,653,629.697287346,652,0.401001083057,-0.00539808004839,0.049859221126,0.999999961627,0.000135385850484,-0.000238533573354,-3.89614276621e-05,1793245238511912960
+67,1.116666667,BASELINE,764,745,713.118047291,679,659,634,878.118047291,786,806,653,629.118047291,652,0.400999704373,-0.005397447725,0.0498580065913,0.999999961331,0.000133927908645,-0.000240528284486,-3.93261355321e-05,1793245238528579584
+68,1.133333333,BASELINE,764,745,713.459007235,679,659,634,878.459007235,786,806,653,629,652,0.400999931901,-0.00539735440681,0.0498579718174,0.999999961484,0.000134141315052,-0.000239749034065,-3.94737740939e-05,1793245238545246720
+69,1.150000000,BASELINE,764,745,714,679,659,634,878.964575013,785.964575013,806,653,629.035424987,652,0.401000549037,-0.00539751614219,0.04985824731,0.99999996175,0.000134622350826,-0.000238359014244,-3.95260686483e-05,1793245238561913856
+70,1.166666667,BASELINE,764,745,714,679,659,634,878.389336789,785.389336789,806,653,629.610663211,652,0.401000838258,-0.00539946210913,0.0498586491876,0.999999962004,0.000132662677176,-0.000238481481716,-3.89721451626e-05,1793245238578580480
+71,1.183333333,BASELINE,764,745,714,678.809266893,659.190733107,633.809266893,878,785.190733107,806,653,629.809266893,652,0.401000857579,-0.00540119952231,0.0498585595392,0.999999962121,0.000130717922588,-0.000239120043504,-3.86388560627e-05,1793245238595246848
+72,1.200000000,BASELINE,764,745,714,678.219077833,659.780922167,633.219077833,878,785.780922167,806,653,629.219077833,652,0.401000311648,-0.00540250015776,0.0498574404784,0.999999961951,0.00012880441291,-0.000240839471412,-3.87676456292e-05,1793245238611913216
+73,1.216666667,BASELINE,764,745,713.635992032,678.364007968,659.635992032,633,878.364007968,785.635992032,806,653,629,652,0.401000691333,-0.00540058955823,0.0498576507544,0.999999961742,0.000131046997087,-0.00024044854963,-3.90750632929e-05,1793245238628579584
+74,1.233333333,BASELINE,764,745,713.057099528,678.942900472,659.057099528,633,878.942900472,785.057099528,806,653,629,652,0.401001617435,-0.00539678327282,0.0498586457767,0.999999961492,0.000135743044966,-0.00023881182668,-3.94879303312e-05,1793245238645246464
+75,1.250000000,BASELINE,764,745,713,679,659,633,879,785.518094981,806,653,629,652,0.401001053848,-0.0053982260011,0.0498584674742,0.999999961373,0.000135820765353,-0.000239336770172,-3.90407619793e-05,1793245238661912832
+76,1.266666667,BASELINE,764.092842568,745,713.092842568,679,659,633.092842568,878.907157432,786,806,653,629.092842568,652,0.401000428438,-0.00539975884801,0.0498581501066,0.999999961303,0.000135286199284,-0.000239993875556,-3.86604063505e-05,1793245238678579712
+77,1.283333333,BASELINE,764.667370924,745,713.667370924,679,659,633.667370924,878.332629076,786,806,653,629.667370924,652,0.401000328042,-0.00539877916315,0.0498577773876,0.999999961404,0.000134196986975,-0.000240109394529,-3.91149666461e-05,1793245238695246848
+78,1.300000000,BASELINE,764.75055378,745,714,679,659,634,878.24944622,786,806.24944622,653,630,652,0.400999765365,-0.00539883352482,0.0498576024625,0.999999961444,0.000133086908896,-0.000240567426764,-3.9082879905e-05,1793245238711913472
+79,1.316666667,BASELINE,764.158100942,745,714,679,659,634,878.841899058,786,806.841899058,653,630,652,0.400998567018,-0.00540030977544,0.0498576995183,0.999999961398,0.000131948138964,-0.000241496439535,-3.83816182042e-05,1793245238728580096
+80,1.333333333,BASELINE,764,745,714,679,659,633.576767583,878.576767583,786,807,653,630,652,0.400999429004,-0.00540088510613,0.0498582381957,0.999999961732,0.000131243396509,-0.000240489745062,-3.84187747826e-05,1793245238745246720
+81,1.350000000,BASELINE,764,745,714,679,659,633.000516681,878.000516681,786,806.999483319,653,629.999483319,652,0.401001039641,-0.00540113209078,0.0498589373379,0.999999962202,0.000130697661329,-0.000238779069059,-3.87244953236e-05,1793245238761912832
+82,1.366666667,BASELINE,764,745,714,679,659,633.575872505,878.575872505,786,806.424127495,653,629.424127495,652,0.401001208728,-0.00540091430243,0.0498593222975,0.999999962369,0.000131291706634,-0.00023773817485,-3.87910549273e-05,1793245238778579712
+83,1.383333333,BASELINE,764,745,713.845205153,678.845205153,659,633.845205153,879,785.845205153,806,653,629.154794847,652,0.401001440225,-0.0054003287019,0.0498595697753,0.999999962371,0.000132376265942,-0.000237115562831,-3.8878564419e-05,1793245238795246336
+84,1.400000000,BASELINE,764,745,713.256280196,678.256280196,659,633.256280196,879,785.256280196,806,653,629.743719804,652,0.401001846759,-0.00539871155315,0.0498594316787,0.999999961906,0.00013483649714,-0.000237666044494,-3.9024828965e-05,1793245238811912960
+85,1.416666667,BASELINE,764,745,713.327345029,678.327345029,659,633,879,785.327345029,806,653,630,652,0.401001968116,-0.00539830029374,0.0498595655121,0.999999961806,0.000135469277166,-0.00023773880635,-3.89286079998e-05,1793245238828579840
+86,1.433333333,BASELINE,764,745,713.906887134,678.906887134,659,633,879,785.906887134,806,653,630,652,0.401001869763,-0.00539881809013,0.0498599088492,0.999999961992,0.000134694130231,-0.000237443517562,-3.86455684352e-05,1793245238845246720
+87,1.450000000,BASELINE,764,745,714,679,659.483264063,633,878.516735937,786,806,652.516735937,629.516735937,652,0.401001308041,-0.00539888451693,0.0498589008732,0.999999961699,0.0001342979863,-0.00023889791958,-3.86600483952e-05,1793245238861913600
+88,1.466666667,BASELINE,764.058819302,745,714,679,659.941180698,633,878,786,806,652.058819302,629.058819302,652,0.401000795271,-0.00539882303451,0.0498579016766,0.999999961386,0.00013408617277,-0.000240314507996,-3.87132042294e-05,1793245238878580480
+89,1.483333333,BASELINE,764.632485575,745,714,679,659.367514425,633,878,786,806,652.632485575,629.632485575,652,0.401001487362,-0.00539839823576,0.0498592434721,0.999999961729,0.000134852783115,-0.000238468479784,-3.8606392637e-05,1793245238895246848
+90,1.500000000,BASELINE,764.78690773,745,714,679,659.21309227,633.21309227,878.21309227,786,806.21309227,653,630,652,0.401001246991,-0.00539858756626,0.0498595416774,0.999999961836,0.000134664285162,-0.000238125543214,-3.86017040122e-05,1793245238911913216
+91,1.516666667,BASELINE,764.193928155,745,714,679,659.806071845,633.806071845,878.806071845,786,806.806071845,653,630,652,0.400999344284,-0.00539987172724,0.0498579794365,0.999999961523,0.000132773080984,-0.000240462222738,-3.8779073711e-05,1793245238928579840
+92,1.533333333,BASELINE,764,745,714,679,659.61057499,634,878.61057499,786,806.61057499,653,630,652,0.400999541586,-0.00539980257758,0.0498579617137,0.999999961486,0.000132969485696,-0.000240493758527,-3.8849149379e-05,1793245238945246208
+93,1.550000000,BASELINE,764,745,714,679,659.031899947,634,878.031899947,786,806.031899947,653,630,652,0.401000759434,-0.00539907575563,0.0498586945849,0.999999961585,0.000134180411752,-0.000239405056955,-3.88670830633e-05,1793245238961913088
+94,1.566666667,BASELINE,764,745,714,679,659.541830777,633.458169223,878.541830777,786,806,653,630,652,0.400999327108,-0.00539885849235,0.0498577351387,0.999999961167,0.000134762081969,-0.000240827119808,-3.88355611014e-05,1793245238978579456
+95,1.583333333,BASELINE,764,745.118544142,714,679,659.881455858,633.118544142,879,786,806,653,630,652,0.400998253927,-0.00539878634481,0.0498570085052,0.999999960926,0.00013474100402,-0.000241833069282,-3.88592454591e-05,1793245238995246080
+96,1.600000000,BASELINE,764,745.708259147,714,679,659.291740853,633.708259147,879,786,806,653,630,652,0.400999222767,-0.00539917281979,0.0498575996488,0.999999961516,0.000132470133661,-0.000240602898464,-3.91138235253e-05,1793245239011912704
+97,1.616666667,BASELINE,764,745.707304401,714,679,659,634,879,786,806.292695599,653,630,652,0.400999370594,-0.00539953410586,0.0498579423883,0.999999961698,0.000131822633776,-0.000240206591049,-3.90937114123e-05,1793245239028579328
+98,1.633333333,BASELINE,764,745.128036115,714,679,659,634,879,786,806.871963885,653,630,652,0.400998714584,-0.00539987072993,0.0498580419198,0.999999961483,0.000132764545143,-0.000240626703485,-3.88046553612e-05,1793245239045245952
+99,1.650000000,BASELINE,764,745,714,679,659.4485033,634,879,786,806.5514967,653,630,652,0.400999710989,-0.00540027695221,0.0498586065711,0.999999961631,0.000133663995365,-0.00023957796384,-3.83924959382e-05,1793245239061912576
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+102,1.700000000,BASELINE,764,745,713.180531566,678.180531566,659.819468434,634,878.180531566,786,806.180531566,653,630,652,0.401001470154,-0.0053990983551,0.0498591193579,0.99999996203,0.000134217211851,-0.000237531841331,-3.87865917694e-05,1793245239111912704
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878.815509734,785.592245133,806.592245133,653,629.407754867,652.407754867,0.401001807485,-0.0053999850585,0.0498595043968,0.999999962085,0.00013357493005,-0.000237660785673,-3.87899714816e-05,1793245239238653952
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.239925981,634,878.760074019,785.239925981,806.239925981,653,629,652,0.401000586819,-0.00540009926318,0.0498591975013,0.999999961579,0.000135007178128,-0.000239010789859,-3.85867632781e-05,1793245239271986944
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.33505128,745.33505128,714,679,659.33505128,634,878.66494872,785.33505128,806.33505128,653,629.33505128,652,0.400999547153,-0.00539982854867,0.0498590376232,0.99999996138,0.000135393101077,-0.000239621502955,-3.86003340215e-05,1793245239288653568
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.505246234,745.505246234,714,679,659.505246234,633.505246234,878,785.505246234,807,653,630,652,0.401001313832,-0.00539933907197,0.0498600648186,0.999999962238,0.00013303680452,-0.000237320957705,-3.87707751662e-05,1793245239321987072
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633.084128579,878,785.084128579,806.915871421,653,629.915871421,652,0.401004500731,-0.00539998420893,0.049861398573,0.999999963108,0.000130967900496,-0.000234792784169,-3.87820804275e-05,1793245239338653696
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.241695494,785.758304506,806,653,629.241695494,652,0.401013054501,-0.00539904796519,0.0498643370427,0.999999963995,0.000132626890049,-0.000230053149642,-3.86660298314e-05,1793245239371987200
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878.818902399,785.181097601,806,653,629.818902399,652,0.401028128409,-0.00540190018026,0.0498695099105,0.999999966819,0.000129963210195,-0.0002191861179,-3.78102423993e-05,1793245239388653824
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.605150488,679,659,634,878.605150488,785.394849512,806,653,630.394849512,652,0.401064109742,-0.00540242754421,0.049882474659,0.999999972031,0.00013149460477,-0.000193074489183,-3.70183026335e-05,1793245239405320448
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.029779291,679,659,634,878.029779291,785.970220709,806,653,630.970220709,652,0.401109649766,-0.00540189200716,0.0498990017865,0.999999977439,0.000134943949718,-0.000159993165178,-3.62555533447e-05,1793245239421987072
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659.559073212,634,878,786,806,653,630.440926788,652,0.401172061778,-0.00540522770309,0.0499136691413,0.999999982088,0.000132269849492,-0.000130807900142,-3.4907846685e-05,1793245239438653696
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.146090461,713,679.146090461,659.853909539,634,878,786,806,653,630,652,0.401239601995,-0.00540865275594,0.0499272838682,0.999999985308,0.000130117278057,-0.000106469031348,-3.34369274874e-05,1793245239455320576
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.725482063,713,679.725482063,659.274517937,634,878,786,806,653,630,652,0.401319621002,-0.00541171613448,0.0499380776018,0.999999986386,0.000130502860981,-9.58737373293e-05,-3.16952598368e-05,1793245239471987200
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.697002916,713.302997084,679.394005832,659,634,878.302997084,786,806,653,630,652,0.401406780187,-0.00541433778639,0.0499444197158,0.999999987183,0.000129670754062,-8.878311368e-05,-3.05976178288e-05,1793245239488653824
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.121177662,713.878822338,678.242355323,659,634,878.878822338,786,806,653,630,652,0.40150036861,-0.00541656169346,0.0499467534498,0.999999987789,0.000127742200632,-8.48482068576e-05,-3.00798770106e-05,1793245239505320448
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.453243282,659.453243282,634,878.546756718,785.546756718,806.453243282,652.546756718,629.546756718,652,0.401610313792,-0.00542048661601,0.0499469572617,0.999999988111,0.000125409535655,-8.4740503602e-05,-2.94881945067e-05,1793245239521987072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.028144932,714,679,659.971855068,634,878,785,806.971855068,652,629.028144932,652,0.401725863807,-0.00542488518651,0.0499466267469,0.999999988349,0.000122973869558,-8.57225641658e-05,-2.88448398264e-05,1793245239538653696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.620176729,714,679,659.379823271,634,878,785,806.379823271,652,629.620176729,652,0.401866362576,-0.00542968996298,0.0499469646716,0.999999988463,0.000120632510524,-8.81009832629e-05,-2.75610741055e-05,1793245239555320320
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.792582296,713.792582296,679,659.414835409,634,878,785.207417704,806,652.207417704,630,652,0.402020332845,-0.00543463785435,0.0499468472969,0.99999998855,0.000118207898,-9.07434335938e-05,-2.63192704079e-05,1793245239571987200
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.213916274,713.213916274,679,660.572167452,634,878,785.786083726,806,652.786083726,630,652,0.402198415176,-0.00543984190058,0.0499459150007,0.999999988593,0.000115634273773,-9.38584621877e-05,-2.51525729273e-05,1793245239588653824
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.276120928,633.638060464,878.361939536,785.638060464,806,653,629.638060464,652,0.402394366683,-0.00544676524712,0.0499446428943,0.999999988801,0.000112221614231,-9.6142488951e-05,-2.36998671598e-05,1793245239605320448
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,659.127705431,633.063852716,878.936147284,785.063852716,806,653,629.063852716,652,0.402600798018,-0.00545469691948,0.0499431714977,0.999999989094,0.000108316881848,-9.79391548474e-05,-2.20794247896e-05,1793245239621987072
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679,659,633.523814385,878.476185615,785,806.523814385,653,629,652,0.402838077527,-0.00546198349474,0.0499451855906,0.999999989637,0.000105279541891,-9.6021689913e-05,-2.05390456363e-05,1793245239638653696
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.691000337,679,659,634,878.691000337,785,806.308999663,653,629.691000337,652,0.403389011384,-0.00548035848247,0.0499547689917,0.999999991896,9.92790709579e-05,-7.80887212115e-05,-1.59458524454e-05,1793245239671986944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.268570817,713.731429183,679,659,634,879,785,806,653,629.731429183,652,0.403711209547,-0.00548989619715,0.0499625178618,0.999999993233,9.69897211216e-05,-6.28801834645e-05,-1.31771465104e-05,1793245239688653824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.843721762,713.156278238,679,659,634,879,785,806,653,629.156278238,652,0.404060191068,-0.00549830039532,0.0499718306409,0.999999994337,9.55671256718e-05,-4.56408654926e-05,-1.0462396355e-05,1793245239705320448
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.014567688,679,659,633.014567688,878.985432312,785.014567688,806.014567688,652,630,652,0.404800686492,-0.00551632241291,0.0499880644201,0.999999995697,9.16005139754e-05,-1.41852346281e-05,-3.85214516357e-06,1793245239738653952
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+157,2.616666667,POSE1_TO_POSE2_PRESS,764.016468087,745,714,679,659,634,879,786,806.016468087,652.983531913,630,652,0.416496563699,-0.00553532614208,0.0499229302298,0.999999987068,0.000102573357819,-0.000123312544883,1.17088157419e-05,1793245240055320320
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.60987418,745,714,679,659,634,879,786,806.60987418,652.39012582,630,652,0.417339420211,-0.00552892461168,0.0499438518155,0.999999989119,0.000120866559514,-8.32112329914e-05,1.51367977536e-05,1793245240071986944
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.394469133,633.802765434,879.197234566,786,807,652,630,652,0.418185939114,-0.0055253182625,0.049963023645,0.999999989613,0.000134145474291,-4.93680705752e-05,1.84870675247e-05,1793245240088653312
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.545984573,633.227007713,879.772992287,786,807,652,630,652,0.419039486654,-0.00552707629188,0.0499788374249,0.999999989891,0.000137801208493,-2.75352521853e-05,2.16881955136e-05,1793245240105319936
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.652220861,633.347779139,879.652220861,786,807,652.347779139,630,652,0.419886932953,-0.00552781710502,0.0499718427153,0.999999989631,0.000136254754427,-4.10227752421e-05,2.21281386626e-05,1793245240121987328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.078065988,633.921934012,879.078065988,786,807,652.921934012,630,652,0.420730407811,-0.00552789579362,0.0499500015466,0.999999988158,0.00013132210161,-7.75009485565e-05,2.0770776486e-05,1793245240138654976
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.508229113,714,679,660,633.491770887,879.508229113,786,807.508229113,652.491770887,630.508229113,652,0.421669705075,-0.00553077819079,0.0499713933024,0.999999991252,0.000127086061955,-2.94146493668e-05,2.19170789733e-05,1793245240155321088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.904676874,714,679,660.095323126,633,880,786.095323126,807.904676874,652,630.904676874,652,0.422615108138,-0.0055341068235,0.0499939052866,0.999999991919,0.000123450161463,1.93543810863e-05,2.33807985671e-05,1793245240171987456
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.323251239,714,679,660.676748761,633,880,786.676748761,807.323251239,652,630.323251239,652,0.42351475237,-0.00553746113535,0.0499874365157,0.999999992213,0.000122315672907,3.74405017116e-06,2.44540635914e-05,1793245240188654592
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.255987032,660.744012968,633,880,786.744012968,807,652,630,652,0.424421071144,-0.00554106644393,0.049981740153,0.999999992578,0.000119070595497,-5.83011433029e-06,2.51466301645e-05,1793245240205321216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.832486657,660.167513343,633,880,786.167513343,807,652,630,652,0.425335747006,-0.00554498601738,0.0499770108953,0.999999993242,0.000113182921961,-7.84660376682e-06,2.53625373993e-05,1793245240221987328
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.593607675,745,714,679.593607675,660.406392325,633,880,786,807,652,630,652,0.426266990446,-0.00554456068123,0.049990413341,0.999999993115,0.000114078231204,3.85322839973e-06,2.72288203041e-05,1793245240238653952
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.020764478,745,714,679.020764478,660.979235522,633,880,786,807,652,630,652,0.427205019609,-0.00554235574927,0.0500112422014,0.9999999924,0.00011775172658,2.11710153907e-05,2.97710669076e-05,1793245240255320320
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.569626117,660.430373883,633,880,786,807,652,630,652,0.428069628078,-0.00553903411108,0.0499745235672,0.999999990843,0.000120056564474,-5.52675847522e-05,2.90729725208e-05,1793245240271987200
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,807,652,630,652,0.428958498035,-0.00553779231301,0.0499464908147,0.999999986642,0.000120549767513,-0.000106673555447,2.83699631246e-05,1793245240288654080
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,807,652,630,652,0.429919749126,-0.00554223388381,0.0499475207524,0.999999989514,0.000116328375319,-8.15841597804e-05,2.79802295504e-05,1793245240305321216
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.312592673,714,680,660.312592673,633,880,786,807.312592673,652,630.312592673,652,0.430848433213,-0.0055439315113,0.0499486207184,0.999999990548,0.000114000457091,-7.15529336746e-05,2.80724839711e-05,1793245240321988096
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.886603709,714,680,660.886603709,633,880,786,807.886603709,652,630.886603709,652,0.431749881768,-0.00554333440413,0.0499497792484,0.999999990432,0.000113256033892,-7.41147168173e-05,2.85678205254e-05,1793245240338654720
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.472736908,745.527263092,714,680,660.527263092,633,880,786,808,652,630.527263092,652,0.432658012768,-0.0055434584627,0.0499407747807,0.999999989697,0.000111386314288,-8.60916522576e-05,2.80438542625e-05,1793245240355321344
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.939129669,745,714,680,660,633,880,786,808,652,630.060870331,652,0.433569419852,-0.00554421508613,0.0499334960757,0.999999989208,0.000109223784903,-9.42801892667e-05,2.76603344574e-05,1793245240371987712
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.35938505,745,714,680,660,633,880,786,808,652,630.64061495,652,0.434494729155,-0.00554885045805,0.0499622556913,0.999999992544,0.000106926752264,-5.04173542221e-05,3.06130656683e-05,1793245240388654080
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219129235,745,714,680,660,633,880,786,808.219129235,652,631,652,0.435384354946,-0.00554975141192,0.0499750378965,0.999999992923,0.000107531499253,-3.91970704391e-05,3.2459512664e-05,1793245240405320704
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.795637056,745,714,680,660,633,880,786,808.795637056,652,631,652,0.436215784526,-0.00554456189191,0.0499617624954,0.999999989804,0.000112868767918,-8.12136235198e-05,3.25017176172e-05,1793245240421987072
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.629490623,745,714,680,660,633,880,786,809,652.370509377,630.629490623,652.370509377,0.437062060024,-0.0055430257629,0.0499533745927,0.999999988732,0.000112474977436,-9.42832201462e-05,3.15537651092e-05,1793245240438653696
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.05551647,745,714,680,660,633,880,786,809,652.94448353,630.05551647,652.94448353,0.437916488089,-0.00554349588946,0.0499476706546,0.999999989433,0.000108933982498,-9.1456628138e-05,3.00620688461e-05,1793245240455320576
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.534168453,745,714,680,660.534168453,633,880,786,808.465831547,652.465831547,630.534168453,652.465831547,0.438793206487,-0.00554745688783,0.0499679043428,0.999999993047,0.000101760572763,-5.09935256281e-05,3.08287906707e-05,1793245240471987712
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877033526,633,880,786,808.122966474,652,631,652,0.439650167495,-0.0055510452091,0.0499817948165,0.9999999946,9.63566789801e-05,-2.2595619041e-05,3.16941577421e-05,1793245240488654592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.297769226,633,880,786,808.702230774,652,631,652,0.44042495673,-0.00555186353038,0.0499618409625,0.999999993136,9.89623471681e-05,-5.39234023453e-05,3.20281965833e-05,1793245240505320704
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,808.720959635,652,631,652,0.441192373243,-0.00555156467305,0.0499497532876,0.999999991682,0.000101254898602,-7.29770735276e-05,3.25201342145e-05,1793245240521987328
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786,808.146746704,652,631,652,0.441951990744,-0.00555008404944,0.0499459865616,0.999999990999,0.000103216230926,-7.90470255842e-05,3.31790992654e-05,1793245240538653952
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.42673382,714,680,659.57326618,632.57326618,880,785.57326618,808,652,630.57326618,652.42673382,0.442676915159,-0.00554919792205,0.0499432341882,0.999999990245,0.000108273780858,-8.15085469187e-05,3.38221355622e-05,1793245240555320576
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999962958,714,680,659.000037042,632.000037042,880,785.000037042,808,652,630.000037042,652.999962958,0.443389929695,-0.00554851588175,0.049940830036,0.999999989441,0.00011439424502,-8.27313147838e-05,3.44597036596e-05,1793245240571987200
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.405524025,745.405524025,714,680,659,632,880.594475975,785.594475975,808.594475975,652,630.594475975,653,0.444006393816,-0.00554907389266,0.0498863841488,0.999999976126,0.000116890681311,-0.000181392879231,3.43554552805e-05,1793245240588654080
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.183131734,745.183131734,714,680.183131734,659,632,880.816868266,785.816868266,809,652,630.816868266,653,0.444622646531,-0.00554837409496,0.0498357046728,0.999999957305,0.000120160021761,-0.000264249212684,3.35347387219e-05,1793245240605320960
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.759216504,745.759216504,714,680.759216504,659,632,880.240783496,785.240783496,809,652,630.240783496,653,0.445238459125,-0.00554497519549,0.0497931141411,0.99999994265,0.000125088318242,-0.000313178143995,3.1176771321e-05,1793245240621987840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680.666802972,659,632,880.333197028,785,809,652,630.333197028,652.666802972,0.445862170991,-0.00554405381833,0.0497810874396,0.999999940854,0.000127680108948,-0.000317848359764,3.10162972276e-05,1793245240638654464
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680.094333562,659,632,880.905666438,785,809,652,630.905666438,652.094333562,0.446491555372,-0.00554491157688,0.0497910089568,0.999999948942,0.000128594029437,-0.000290735911689,3.24338669473e-05,1793245240655320832
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,658.503930666,631.503930666,880.503930666,785,809.496069334,652,631,652.496069334,0.447040526327,-0.00554418008407,0.0497777357591,0.999999942441,0.000130102219769,-0.00031168675057,3.22785285652e-05,1793245240671987456
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.912156225,714,680,658,630.912156225,880,785,809.912156225,652,630.912156225,653,0.447569424994,-0.00554393044442,0.0497576041853,0.999999931433,0.000131200457125,-0.000344825025921,3.18728089293e-05,1793245240688654080
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.33251185,714,680,658,630.33251185,880,785,809.33251185,652,630.33251185,653,0.448074769519,-0.00554813393772,0.0497246956007,0.999999913863,0.000129347127114,-0.000393106433378,3.18026954304e-05,1793245240705320960
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.245164492,658,630,880,785,809,652.245164492,630,653,0.448571002532,-0.00555192676392,0.0497064043034,0.999999903209,0.000127585842318,-0.000419832922083,3.23114654932e-05,1793245240721987584
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.820192838,658,630,880,785,809,652.820192838,630,653,0.449054976149,-0.0055551670455,0.0497077802726,0.999999904327,0.000125948402961,-0.000417557701656,3.35991117373e-05,1793245240738654976
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.605129389,629.605129389,880.394870611,785,809,652.605129389,629.605129389,652.605129389,0.449520528326,-0.00555414140966,0.0497200515832,0.999999912064,0.000125651330102,-0.000398658560066,3.39785834852e-05,1793245240755321856
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.03061106,629.03061106,880.96938894,785,809,652.03061106,629.03061106,652.03061106,0.449977699649,-0.00555117498057,0.0497372797664,0.999999922225,0.000125964061295,-0.000372196308944,3.39448782702e-05,1793245240771987968
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.149697059,745.850302941,714.149697059,681,658.700605881,628.850302941,880.149697059,784.149697059,809.850302941,652,629.149697059,652.850302941,0.450783307089,-0.00555791545213,0.0497583616358,0.999999937969,1.89103277872e-05,-0.000351688574834,4.48911171708e-06,1793245240805320960
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.726904805,745.273095195,714.726904805,681,657.546190391,628.273095195,880.726904805,784.726904805,809.273095195,652,629.726904805,652.273095195,0.451134482301,-0.00556388288573,0.0497505450103,0.999999931548,1.51845512524e-05,-0.00036963770387,6.49424702095e-06,1793245240821987328
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,881.302687339,784.697312661,809,652.302687339,629.697312661,652.302687339,0.451449954446,-0.00556617551789,0.0497365306442,0.999999920473,1.62455972364e-05,-0.000398400072999,8.18292100933e-06,1793245240838653952
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.538745663,681,657,628,881.538745663,784,809,652.538745663,629,652.538745663,0.451995836005,-0.00556346403432,0.0497039740501,0.999999894577,2.74856968524e-05,-0.000458237982452,1.03710413157e-05,1793245240871987712
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.952447835,745,714.047552165,681,657,627.952447835,880.952447835,784.047552165,809,652,629,652.047552165,0.452253291721,-0.00556167236604,0.0496945221378,0.999999888095,3.33652224705e-05,-0.000471778284721,1.10615239174e-05,1793245240888654080
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.370267507,745,714.629732493,681,657,627.370267507,880.370267507,784.629732493,809,652,629,652.629732493,0.452518368931,-0.00556102623727,0.0497045129799,0.999999898125,3.76422866558e-05,-0.000449638655197,1.26026055161e-05,1793245240905320960
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.209415511,745,715,681,657,627,880.209415511,784.790584489,809.209415511,652.209415511,629,652.790584489,0.452768475353,-0.0055609275665,0.049714430442,0.999999906672,4.16873904192e-05,-0.000429788976384,1.41158881747e-05,1793245240921987840
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,657,627,880.063919317,784,809.063919317,653,629,652,0.453347937498,-0.00556110634015,0.0497197260433,0.99999990988,5.06139127453e-05,-0.000421154703565,1.75085909927e-05,1793245240971987200
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+215,3.583333333,POSE1_TO_POSE2_PRESS,764.308660331,745,714.308660331,681,656.308660331,626,880.308660331,784,809,653,628.308660331,652,0.45372402981,-0.00555766555545,0.0496965040553,0.999999897272,5.86249054388e-05,-0.000449116733641,1.7703792066e-05,1793245241021987328
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.266727545,745.266727545,714.266727545,681,656,626,880,784,809,653,628.266727545,652,0.453826873209,-0.0055565402426,0.0496922682327,0.999999895153,6.1792056861e-05,-0.000453377726667,1.80348839316e-05,1793245241038654208
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840960503,745.840960503,714.840960503,681,656,626,880,784,809,653,628.840960503,652,0.453921085705,-0.00555420285504,0.0496913667713,0.999999895208,6.46271731192e-05,-0.000452868823562,1.78258528395e-05,1793245241055320832
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715,681,656.417142194,626,880,784,809.417142194,653,629,652,0.453998820131,-0.00555648891096,0.0496933831998,0.999999896392,6.30950950051e-05,-0.000450447045426,1.82125603399e-05,1793245241071987200
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,715,681,656.994070333,626,880,784,809.994070333,653,629,652,0.454070242644,-0.00556054597283,0.0496965173234,0.999999897994,5.98901669203e-05,-0.000447292542222,1.88274649806e-05,1793245241088653568
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,715,681.584461389,656.415538611,626,880.584461389,784,809.415538611,652.415538611,629,652.584461389,0.454123588248,-0.00555740105671,0.0496973006496,0.999999898935,6.45986767291e-05,-0.000444531646281,1.86827217914e-05,1793245241105320192
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,715,681.82833108,656,626,881,784,809,652.17166892,629,653,0.454169681604,-0.00555493921081,0.0496965203845,0.999999898517,6.73409589836e-05,-0.000445071644153,1.84912088287e-05,1793245241121986816
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,715,681.249015262,656,626,881,784,809,652.750984738,629,653,0.454198999457,-0.00555427699006,0.0496920851681,0.999999894903,6.52190720037e-05,-0.000453440274843,1.82073685608e-05,1793245241138653440
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,656,625.673488677,880.673488677,783.673488677,809.326511323,653,629,652.673488677,0.454224282855,-0.00555451746159,0.0496897603106,0.999999892723,6.46000126149e-05,-0.000458305852797,1.83412647853e-05,1793245241155320576
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,656,625.100818755,880.100818755,783.100818755,809.899181245,653,629,652.100818755,0.45424652466,-0.00555543847748,0.0496890264633,0.999999891659,6.51139426086e-05,-0.000460530461817,1.87900947134e-05,1793245241171988224
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,715,681.485707496,656,625,880.485707496,783,809.514292504,652.514292504,629,652,0.454261615595,-0.00555537154084,0.0496872709513,0.999999890478,6.46191431075e-05,-0.000463153177728,1.88903319192e-05,1793245241188654848
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,715,682,656,625,880.926077734,783.073922266,809,652.073922266,628.926077734,652,0.454274704357,-0.0055548751623,0.0496855939033,0.999999889532,6.4297815979e-05,-0.000465237777001,1.88737124747e-05,1793245241205321728
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,682,656,625,880.346563323,783.653436677,809,652.653436677,628.346563323,652,0.454284549332,-0.00555288537921,0.0496859465425,0.999999890395,6.66370856698e-05,-0.0004630601399,1.85672750112e-05,1793245241221988352
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.767950114,715,682,656,625,880,783.767950114,809,652.767950114,628,652.232049886,0.454291546373,-0.00555161022248,0.0496856319218,0.999999890397,6.8594653427e-05,-0.000462779975678,1.83160084523e-05,1793245241238654720
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.190677668,715,682,656,625,880,783.190677668,809,652.190677668,628,652.809322332,0.454294306518,-0.00555139822152,0.0496843246126,0.999999889124,6.99843598779e-05,-0.000465322697898,1.81468201293e-05,1793245241255320832
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.384287098,715,682,656,625.384287098,880,783.384287098,809.384287098,652.384287098,628,653,0.45429595343,-0.00555120625324,0.0496836311271,0.999999888347,7.01931792566e-05,-0.000466952514055,1.82762471336e-05,1793245241271987456
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.958113647,715,682,656,625.958113647,880,783.958113647,809.958113647,652.958113647,628,653,0.454297051269,-0.00555102416556,0.0496832403939,0.999999887817,6.98195572716e-05,-0.000468132063362,1.8552958257e-05,1793245241288654080
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.452783269,715,681.452783269,656,625.452783269,880,783.452783269,810,653,628.547216731,652.452783269,0.454297715253,-0.005549916118,0.0496822596292,0.999999887391,7.02348264012e-05,-0.000469003842672,1.79162775323e-05,1793245241305320960
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681.13474232,656,625,880,783,809.86525768,653,628.86525768,652.13474232,0.454298771165,-0.00554872782548,0.0496816914031,0.999999887248,7.06977500679e-05,-0.000469257420902,1.73932261786e-05,1793245241321987584
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681.713113491,656,625,880,783,809.286886509,653,628.286886509,652.713113491,0.454301229952,-0.00554751539157,0.0496826343965,0.999999888015,7.11130493799e-05,-0.000467555409462,1.74810915624e-05,1793245241338654464
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.288460002,715,681.711539998,656,625,880.288460002,783,809,653,628,653,0.454301472527,-0.00554770300131,0.0496821918729,0.999999887664,7.11227258741e-05,-0.000468289811239,1.78146920742e-05,1793245241355321088
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.860829632,715,681.139170368,656,625,880.860829632,783,809,653,628,653,0.45429953385,-0.00554926856926,0.0496803856887,0.99999988621,7.07331781819e-05,-0.000471422192317,1.8390151324e-05,1793245241371987456
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,715,681,656.447932287,625,880.552067713,783.447932287,809,653,628,652.552067713,0.45429891866,-0.00554902896461,0.0496787656227,0.999999885395,7.09492364481e-05,-0.000473128429847,1.807038384e-05,1793245241388654080
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.961083809,715,681.038916191,656.961083809,625,880,784,809,653,628.038916191,652,0.454298842646,-0.00554815989456,0.0496774267911,0.999999884883,7.14019516505e-05,-0.000474161664098,1.75021968446e-05,1793245241405320704
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.381925716,715,681.618074284,656.381925716,625,880,784,809,653,628.618074284,652,0.454300349081,-0.00554660320512,0.0496791620535,0.999999885731,7.24390918831e-05,-0.000472212479821,1.74779499039e-05,1793245241421987328
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.804625134,745,714.804625134,682,656,625,880,784,809,653,629,652,0.454301128234,-0.00554583249722,0.049679944989,0.999999885934,7.28334133823e-05,-0.000471723011774,1.74649708809e-05,1793245241438653952
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.23092152,745,714.23092152,682,656,625,880,784,809,653,629,652,0.454300499064,-0.0055465837836,0.0496788838151,0.99999988489,7.19829646366e-05,-0.00047406017466,1.7473811336e-05,1793245241455320320
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714.343583734,682,656,625,880.343583734,784,809,653,628.656416266,652.343583734,0.454299352524,-0.00554738555636,0.0496778801101,0.999999884122,7.13521888548e-05,-0.000475766865135,1.76319506554e-05,1793245241471986688
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,714.918629003,682,656,625,880.918629003,784,809,653,628.081370997,652.918629003,0.454297857449,-0.00554822134015,0.0496769151202,0.999999883541,7.08693998619e-05,-0.000477048826118,1.78906679154e-05,1793245241488653568
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.509725352,745.509725352,715,681.490274648,656,625,880.490274648,783.490274648,809,652.490274648,628,652.490274648,0.454298838524,-0.00554727963077,0.0496773491069,0.999999883604,7.20429242922e-05,-0.000476740449486,1.7877881456e-05,1793245241505320192
+245,4.083333333,HOLD_POSE2,764,745,715,681,656,625,881,783,809,653,628,652,0.454299047364,-0.00554639200175,0.0496763885717,0.999999882791,7.30324008309e-05,-0.000478306810619,1.75201734685e-05,1793245241548042496
+246,4.100000000,HOLD_POSE2,764.576202935,745,715,681,656,625,880.423797065,783.576202935,809.576202935,653,628,652,0.454301563559,-0.00554671757694,0.0496783771303,0.99999988461,7.21885520123e-05,-0.000474603845618,1.78776988038e-05,1793245241564709120
+247,4.116666667,HOLD_POSE2,764.843910247,745,715,681,655.843910247,625,880,784,809.843910247,653,628,652.156089753,0.454303036095,-0.00554668543367,0.0496795589072,0.999999885607,7.19457407674e-05,-0.000472527960545,1.8065997805e-05,1793245241581376000
+248,4.133333333,HOLD_POSE2,764.253779469,745,715,681,655.253779469,625,880,784,809.253779469,653,628,652.746220531,0.454301606512,-0.00554565857761,0.0496784972552,0.999999884349,7.33742431756e-05,-0.000474976519239,1.77837267823e-05,1793245241598042368
+249,4.150000000,HOLD_POSE2,764.328894873,745,714.671105127,681,655.328894873,625,880,783.671105127,809,653,628.328894873,652.671105127,0.454300620746,-0.00554577591276,0.0496775911098,0.999999883485,7.29413487929e-05,-0.000476857477359,1.78058337593e-05,1793245241614709248
+250,4.166666667,HOLD_POSE2,764.905943246,745,714.094056754,681,655.905943246,625,880,783.094056754,809,653,628.905943246,652.094056754,0.454299969843,-0.0055467565483,0.0496768022954,0.999999882919,7.11040173264e-05,-0.000478310176697,1.80575960994e-05,1793245241631376384
+251,4.183333333,HOLD_POSE2,765,745.482309552,714.482309552,681.482309552,656,625,880.482309552,783,809.482309552,653,629,652.482309552,0.454300569185,-0.00554610711514,0.049676797623,0.999999883005,7.16641714423e-05,-0.000478059185536,1.76869900335e-05,1793245241648043008
+252,4.200000000,HOLD_POSE2,765,745.941655702,715,681.941655702,656,625,880.941655702,783,809.941655702,652.941655702,628.941655702,653,0.454301375479,-0.00554534760136,0.0496769428567,0.999999883239,7.2426278695e-05,-0.000477471076805,1.72589213772e-05,1793245241664709376
+253,4.216666667,HOLD_POSE2,765,745.367378324,715,681.367378324,656,625,880.367378324,783,809.367378324,652.367378324,628.367378324,653,0.454301858844,-0.00554642171214,0.0496770633656,0.999999883653,7.084565227e-05,-0.000476835706867,1.73944649673e-05,1793245241681376000
+254,4.233333333,HOLD_POSE2,765,745.213975976,714.786024024,681,656,625,880,783.213975976,809,652.213975976,628.213975976,652.786024024,0.454302251492,-0.00554685951394,0.0496773882432,0.999999883969,6.99806433304e-05,-0.000476297279792,1.74710683586e-05,1793245241698042624
+255,4.250000000,HOLD_POSE2,765,745.80789628,714.19210372,681,656,625,880,783.80789628,809,652.80789628,628.80789628,652.19210372,0.454302483059,-0.00554616745986,0.0496780760061,0.999999884116,7.03863136831e-05,-0.000475930988426,1.74430151535e-05,1793245241714709248
+256,4.266666667,HOLD_POSE2,765,746,714.38913235,681.38913235,656,625,880.38913235,784,809.38913235,653,628.61086765,652.38913235,0.454302655876,-0.00554592954105,0.0496780676676,0.999999883853,7.15095887636e-05,-0.000476307170461,1.76416063618e-05,1793245241731375616
+257,4.283333333,HOLD_POSE2,765,746,714.964304289,681.964304289,656,625,880.964304289,784,809.964304289,653,628.035695711,652.964304289,0.454302800605,-0.0055459087389,0.0496777265313,0.999999883393,7.29759422431e-05,-0.000477038320244,1.79485535905e-05,1793245241748042496
+258,4.300000000,HOLD_POSE2,765,746,714.460150287,682,656,625,881,784,809.460150287,653,628.539849713,652.460150287,0.454302721897,-0.00554534738687,0.0496777519587,0.999999883607,7.30322812296e-05,-0.000476596129036,1.7564983035e-05,1793245241764709120
+259,4.316666667,HOLD_POSE2,765,746,714.114639404,682,656,625,880.885360596,784,809.114639404,653,628.885360596,652,0.454302683538,-0.00554495020466,0.04967768338,0.999999883812,7.27668617038e-05,-0.000476218142568,1.72640005226e-05,1793245241781375488
+260,4.333333333,HOLD_POSE2,765,746,714.686317826,682,656,625,880.313682174,784,809.686317826,653,628.313682174,652,0.454302864985,-0.00554535012011,0.0496771433252,0.999999883804,7.15906221526e-05,-0.000476405643405,1.74744297131e-05,1793245241798042368
+261,4.350000000,HOLD_POSE2,765,745.730669935,715,681.730669935,656,625,880.269330065,784,809.730669935,653,628,652.269330065,0.454303216723,-0.00554487341158,0.0496769112424,0.999999883874,7.1277275541e-05,-0.000476311433466,1.73176238177e-05,1793245241814709248
+262,4.366666667,HOLD_POSE2,765,745.133877625,715,681.133877625,656,625,880.866122375,784,809.133877625,653,628,652.866122375,0.454303775508,-0.00554333086859,0.0496770536043,0.999999884039,7.20130686856e-05,-0.000475874708311,1.67143188311e-05,1793245241831376128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,656,625,880,783,809,653,628,653,0.454300888283,-0.00554509199954,0.0496746958914,0.999999881606,7.29855252338e-05,-0.000480770975851,1.79080131832e-05,1793245241864073984
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.42185959,681.42185959,655.42185959,625,880.57814041,783,809,653,628,653,0.454300302387,-0.00554447984543,0.0496742683502,0.999999881256,7.45014884045e-05,-0.000481275968829,1.76479132896e-05,1793245241880740352
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.158965206,625,880.841034794,783.158965206,809.158965206,653,628,653,0.454300699881,-0.00554402272814,0.0496745803862,0.999999881437,7.50765987777e-05,-0.000480814376119,1.74971512611e-05,1793245241897406976
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.747036281,625,880.252963719,783.747036281,809.747036281,653,628,653,0.454303751909,-0.00554398411238,0.0496768888143,0.999999883052,7.31119998966e-05,-0.000477743611346,1.76415325016e-05,1793245241914073856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.330093188,680.669906812,656,625,880.330093188,783.669906812,809.669906812,653,628,653,0.454303499693,-0.00554459532054,0.0496767511815,0.999999883052,7.11941001914e-05,-0.000478034150337,1.76476232117e-05,1793245241930740480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.909364997,680.090635003,656,625,880.909364997,783.090635003,809.090635003,653,628,653,0.454300753189,-0.00554569706361,0.0496747670819,0.99999988183,6.93114525774e-05,-0.000480862048867,1.75493220473e-05,1793245241947406848
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.484562186,715,680.484562186,656,625,880.515437814,783.484562186,809.484562186,653,628,652.515437814,0.454300483452,-0.00554653288102,0.049675311786,0.999999882122,6.99810275534e-05,-0.000480157253355,1.75529908268e-05,1793245241964073472
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,656,625,880.058677906,784,810,653,628.058677906,652.058677906,0.454299974428,-0.00554696584104,0.0496758491674,0.999999882341,7.13613583354e-05,-0.000479498341698,1.7516835469e-05,1793245241980740096
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,656,625,880.629948542,784,810,653,628.629948542,652.629948542,0.454293361859,-0.00554431045017,0.0496722250444,0.999999879462,7.48151582158e-05,-0.000484964442382,1.69675617605e-05,1793245241997407232
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d0eed3cdb617f9f892b9ef043ec8839db578058
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01b1d19eafd616ab87f869bed8b6a425bcaa155a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfcc533f2adedf98cec4fafe6373eaa83c45e1346efa2891eccdfe8b1a28e71a
+size 25535054
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf51823126c28f96e6188470371f99d267147bbd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+9,0.150000000,BASELINE,764.211676678,745,714,680,658,634,878.211676678,785,806,652,630,652,0.401032955201,-0.00549721878803,0.0698568380651,0.999999988708,3.88648371375e-05,-0.000144286983808,1.59686131162e-05,1793245245948971776
+10,0.166666667,BASELINE,764.805118521,745,714,680,658,634,878.805118521,785,806,652,630,652,0.401032435507,-0.0054974409884,0.0698571230428,0.999999988604,3.86304255954e-05,-0.000145059171736,1.60203240144e-05,1793245245965638400
+11,0.183333333,BASELINE,764.611119023,744.611119023,714,679.611119023,658,634,879,785,806,652,629.611119023,652,0.401032803653,-0.00549719319571,0.0698570792465,0.999999988626,3.79577435545e-05,-0.00014511647077,1.57456646639e-05,1793245245982305536
+12,0.200000000,BASELINE,764.032089382,744.032089382,714,679.032089382,658,634,879,785,806,652,629.032089382,652,0.401033605921,-0.00549671559352,0.0698568746918,0.999999988709,3.70707631486e-05,-0.000144824215187,1.53114221289e-05,1793245245998972160
+13,0.216666667,BASELINE,764,744,714,679,657.457394996,634,878.457394996,785,806,652,629.542605004,652,0.401033279287,-0.00549714017111,0.0698569883104,0.999999988729,3.61254096813e-05,-0.00014492400074,1.53277547508e-05,1793245246015639040
+14,0.233333333,BASELINE,764,744,714,679.119831795,657.119831795,633.880168205,878.119831795,785,806,652,630,652,0.401033004821,-0.00549735921973,0.0698571676866,0.999999988752,3.5587376899e-05,-0.000144888715663,1.53589579669e-05,1793245246032305920
+15,0.250000000,BASELINE,764,744,714,679.707949,657.707949,633.292051,878.707949,785,806,652,630,652,0.401033193055,-0.00549656824202,0.069857531084,0.999999988809,3.66544780399e-05,-0.000144235708119,1.53449669288e-05,1793245246048972288
+16,0.266666667,BASELINE,764,744.291495382,714,679.708504618,658,633,879,785,806.291495382,652,630,652,0.401032934986,-0.00549614611339,0.0698572493326,0.999999988702,3.74246328031e-05,-0.000144769567945,1.54093709642e-05,1793245246065638656
+17,0.283333333,BASELINE,764,744.870532893,714,679.129467107,658,633,879,785,806.870532893,652,630,652,0.401032236668,-0.00549608783157,0.0698563311817,0.999999988433,3.79018683021e-05,-0.000146474198921,1.55511068826e-05,1793245246082305280
+18,0.300000000,BASELINE,764.447561858,745,714,679,658,633,879,785,806.552438142,652,630,652,0.401032272744,-0.00549629637975,0.0698564676427,0.999999988447,3.83994593752e-05,-0.000146262557902,1.54421288663e-05,1793245246098971648
+19,0.316666667,BASELINE,764.976165178,745,714,679,658,633,879,785,806,652.023834822,630,652,0.401032525263,-0.00549656771301,0.0698569088165,0.999999988543,3.88240538172e-05,-0.00014551239109,1.52710411878e-05,1793245246115638272
+20,0.333333333,BASELINE,764.403977503,745,714,679,658,633,879,785,806,652.596022497,630,652,0.401032891743,-0.00549651565685,0.0698573731384,0.999999988659,3.74343974045e-05,-0.00014506870239,1.53321070341e-05,1793245246132304896
+21,0.350000000,BASELINE,764,745,714,679,658,633,879,785,806,652.825894455,630,652,0.401033035813,-0.00549671565446,0.0698575645607,0.999999988721,3.64499615347e-05,-0.000144886960455,1.53958452016e-05,1793245246148971776
+22,0.366666667,BASELINE,764,745,714,679,658,633,879,785,806,652.233653026,630,652,0.401032645735,-0.00549752099023,0.0698571005809,0.999999988655,3.64387128501e-05,-0.000145334315962,1.54660012682e-05,1793245246165638656
+23,0.383333333,BASELINE,764,745,714,679,658,633,879,785,806,652,630,652,0.401032102742,-0.00549826528077,0.0698567180829,0.999999988562,3.68109623293e-05,-0.000145870574696,1.55701917224e-05,1793245246182305536
+24,0.400000000,BASELINE,764,745,714,679,658,633,879,785,806,652,630,652,0.40103146011,-0.00549896979485,0.0698563886778,0.99999998845,3.74330958761e-05,-0.000146464762043,1.56965586948e-05,1793245246198972160
+25,0.416666667,BASELINE,764.505824502,745,714,679,658,633.505824502,879,785,806,652,630,652,0.401030752826,-0.00549780663013,0.0698559081125,0.999999988212,3.81692554832e-05,-0.000147901930653,1.55968695071e-05,1793245246215638784
+26,0.433333333,BASELINE,765,745,714,679,658,634,879,785,806,652,630,652,0.401030443107,-0.00549644870688,0.0698556820914,0.999999988042,3.91626806818e-05,-0.000148801777974,1.54795664194e-05,1793245246232305152
+27,0.450000000,BASELINE,765,745,714,679,658,634,879,785,806,652,630,652,0.401032623691,-0.00549545840274,0.0698571422518,0.999999988399,4.16373096673e-05,-0.000145704343772,1.5443274156e-05,1793245246248971776
+28,0.466666667,BASELINE,764.764978373,745,714,679.235021627,658,633.764978373,879,785,806,652,630,652,0.401033438014,-0.00549562242439,0.069857853448,0.999999988611,4.15369051787e-05,-0.000144279615207,1.53660656991e-05,1793245246265638400
+29,0.483333333,BASELINE,764.172461077,745,714,679.827538923,658,633.172461077,879,785,806,652,630,652,0.401032174094,-0.00549754231207,0.0698574253809,0.99999998861,3.75195703299e-05,-0.000145399269769,1.52266188795e-05,1793245246282305280
+30,0.500000000,BASELINE,764,745,714,679.589302189,658,633.410697811,879,785,806,652,630,652,0.401031916966,-0.00549791190353,0.0698574696582,0.999999988639,3.61571205474e-05,-0.000145515847684,1.54652665436e-05,1793245246298972160
+31,0.516666667,BASELINE,764,745,714,679.009985565,658,633.990014435,879,785,806,652,630,652,0.401032073194,-0.00549764499506,0.0698577078644,0.999999988686,3.58846780575e-05,-0.000145220595781,1.58591471863e-05,1793245246315638784
+32,0.533333333,BASELINE,764,745,714,679,658.563382881,634,879,785,806,652.563382881,630,652,0.401032627697,-0.00549681419135,0.0698578185852,0.999999988752,3.61766621313e-05,-0.000144719083135,1.55778705359e-05,1793245246332305152
+33,0.550000000,BASELINE,764,744.859566478,714,679.140433522,658.859566478,634,879,785,806,653,630,652,0.40103269041,-0.00549590397304,0.0698575191009,0.999999988701,3.69963825907e-05,-0.000144902097236,1.52490067467e-05,1793245246348971776
+34,0.566666667,BASELINE,764,744.270417186,714,679.729582814,658.270417186,634,879,785,806,653,630,652,0.401031159428,-0.00549477160933,0.0698559160663,0.999999988265,3.94707047731e-05,-0.000147283882987,1.48059284145e-05,1793245246365638400
+35,0.583333333,BASELINE,764.314348879,744.314348879,714,679.685651121,658.314348879,634,879,785.314348879,806.314348879,652.685651121,630,652,0.401030527711,-0.00549536425599,0.0698554775799,0.999999988095,4.00343661136e-05,-0.000148286892097,1.47737285819e-05,1793245246382305024
+36,0.600000000,BASELINE,764.895396212,744.895396212,714,679.104603788,658.895396212,634,879,785.895396212,806.895396212,652.104603788,630,652,0.401030658944,-0.00549742042803,0.0698560271141,0.999999988157,3.89769934951e-05,-0.000148120126027,1.50901243796e-05,1793245246398971648
+37,0.616666667,BASELINE,764.528451421,745,714,679,658.528451421,633.528451421,879,785.528451421,807,652,630,652,0.401032691669,-0.00549854980849,0.069857634824,0.999999988645,3.6794087871e-05,-0.000145334288577,1.53185705639e-05,1793245246415639040
+38,0.633333333,BASELINE,764,745,714,679,658,633,879,785,806.953323326,652,630,652,0.401034819598,-0.00549918190914,0.0698592470838,0.999999989139,3.48651706406e-05,-0.000142362006745,1.54752363955e-05,1793245246432306432
+39,0.650000000,BASELINE,764,745,714,679,658,633,879,785,806.377623305,652,630,652,0.401033294978,-0.00549648412723,0.0698582778042,0.999999988803,3.86156175873e-05,-0.000143793759797,1.50372085004e-05,1793245246448973056
+40,0.666666667,BASELINE,764,745,714,679,658,633,878.796326131,785,806,652.203673869,630,652,0.40103302101,-0.00549513199189,0.069858205374,0.999999988717,4.04178715023e-05,-0.000143911829869,1.4916636967e-05,1793245246465639680
+41,0.683333333,BASELINE,764,745,714,679,658,633,878.204358302,785,806,652.795641698,630,652,0.401035131347,-0.00549634526407,0.069859842742,0.999999989125,3.85059934047e-05,-0.000141525429493,1.54012800072e-05,1793245246482306048
+42,0.700000000,BASELINE,764.377917923,745,714,679.377917923,658,633.377917923,878.377917923,785,806,653,630,652,0.401035019116,-0.00549695258943,0.0698597055748,0.999999989064,3.73467816739e-05,-0.000142236002514,1.56908543387e-05,1793245246498972160
+43,0.716666667,BASELINE,764.955084451,745,714,679.955084451,658,633.955084451,878.955084451,785,806,653,630,652,0.401033735087,-0.00549724044311,0.0698586328245,0.999999988753,3.65843961785e-05,-0.000144579384198,1.5877583127e-05,1793245246515638272
+44,0.733333333,BASELINE,765,745,714.529073613,679.470926387,658,634,879,785,806,653,630,652,0.401033427802,-0.00549675574421,0.0698585736043,0.999999988705,3.85555739728e-05,-0.000144418639619,1.57300485583e-05,1793245246532304896
+45,0.750000000,BASELINE,764.89425661,745,714.89425661,679,658,634,878.788513219,785.10574339,806,652.89425661,630,652,0.401033058629,-0.00549643475276,0.0698585152211,0.999999988656,3.97669243714e-05,-0.000144453007885,1.55178355635e-05,1793245246548971776
+46,0.766666667,BASELINE,764.304078103,745,714.304078103,679,658,634,877.608156205,785.695921897,806,652.304078103,630,652,0.40103202833,-0.00549716241282,0.0698580688412,0.999999988512,3.64405302762e-05,-0.000146349330613,1.51385421221e-05,1793245246565638656
+47,0.783333333,BASELINE,764,745,714,679,658,633.71932261,877.56135478,785.71932261,806,652,630,652,0.401032100942,-0.00549696656985,0.0698578022816,0.999999988482,3.66548887617e-05,-0.000146510225102,1.50892995238e-05,1793245246582305280
+48,0.800000000,BASELINE,764,745,714,679,658,633.140330826,878.719338347,785.140330826,806,652,630,652,0.40103334577,-0.00549578919351,0.0698577268417,0.999999988569,4.06324906835e-05,-0.000144826641993,1.53908472197e-05,1793245246598972160
+49,0.816666667,BASELINE,764,745,714,679,658,633,879,785,806.4363641,652,630,652,0.401032833019,-0.00549594573445,0.0698573305516,0.999999988583,3.98259073209e-05,-0.000144962169145,1.53121623102e-05,1793245246615638784
+50,0.833333333,BASELINE,764,745,714,679,658,633,879.012271204,785,806.987728796,652,630,652,0.401031788524,-0.00549651530201,0.0698568462003,0.999999988572,3.75447786809e-05,-0.00014566433401,1.5118771901e-05,1793245246632305408
+51,0.850000000,BASELINE,764,745,714,679,658,633,879.585754114,785,806.414245886,652,630,652,0.401032139739,-0.00549645816857,0.069857028699,0.999999988559,3.78224787301e-05,-0.000145666364433,1.52424857713e-05,1793245246648972032
+52,0.866666667,BASELINE,764,745,714,679,658,633,879.671358182,785,806,652,630,652,0.401032129566,-0.00549622669047,0.0698572182171,0.999999988519,3.81097656651e-05,-0.000145861467917,1.53146657184e-05,1793245246665638400
+53,0.883333333,BASELINE,764,745,714,679,658,633,878.487773798,785,806,652,630,652,0.401031179261,-0.00549554166487,0.0698574259962,0.999999988406,3.84219923089e-05,-0.000146558839735,1.52527831558e-05,1793245246682305024
+54,0.900000000,BASELINE,764,745,714,679.339926665,658,633,878,785,806,652,630,652,0.40103059594,-0.00549489510604,0.0698572297744,0.999999988334,3.88542233111e-05,-0.000146966122823,1.4965453664e-05,1793245246698971904
+55,0.916666667,BASELINE,764,745,714,679.918147064,658,633,878,785,806,652,630,652,0.40103026988,-0.00549427551301,0.0698567503417,0.99999998829,3.9370579171e-05,-0.000147170049292,1.45200824671e-05,1793245246715638528
+56,0.933333333,BASELINE,764,745,714,679.506798097,658,633.493201903,878,785,806,652,630,652,0.40103116643,-0.0054953087791,0.0698577786543,0.999999988468,3.89168789492e-05,-0.00014602085021,1.50676137696e-05,1793245246732305152
+57,0.950000000,BASELINE,764.069337357,745,714,679,658,633.930662643,878,785,806,652,630,652,0.401032040776,-0.00549650782858,0.0698587730494,0.999999988625,3.84229880291e-05,-0.000145004969975,1.57027946437e-05,1793245246748972288
+58,0.966666667,BASELINE,764.657463527,745,714,679,658,633.342536473,878,785,806,652,630,652,0.4010312405,-0.00549690794253,0.0698576533739,0.999999988368,3.88252681363e-05,-0.000146656117822,1.57687077945e-05,1793245246765638912
+59,0.983333333,BASELINE,764.758094501,744.758094501,714,679,658,633.241905499,878,785,806,652,630,652,0.401031282761,-0.00549738251089,0.0698574918329,0.999999988368,3.8699222647e-05,-0.000146674161802,1.58935535527e-05,1793245246782305792
+60,1.000000000,BASELINE,764.178790985,744.178790985,714,679,658,633.821209015,878,785,806,652,630,652,0.401032500152,-0.00549796092472,0.0698586666512,0.999999988727,3.78362943885e-05,-0.000144414432232,1.61005956531e-05,1793245246798971904
+61,1.016666667,BASELINE,764.399120943,744.399120943,714,679,658,633.600879057,878,785,806,652,630,652,0.401033284285,-0.00549707549646,0.0698588770421,0.999999988839,3.78430662648e-05,-0.000143672832118,1.57485441511e-05,1793245246815638528
+62,1.033333333,BASELINE,764.976411625,744.976411625,714,679,658,633.023588375,878,785,806,652,630,652,0.401033875009,-0.00549553660118,0.0698586569073,0.999999988842,3.8238077016e-05,-0.000143608933303,1.51469102423e-05,1793245246832304896
+63,1.050000000,BASELINE,764.448689375,745,714,679,658,633.551310625,878.551310625,785,806,652.551310625,630,652,0.401032414292,-0.00549625851415,0.0698581208138,0.999999988575,3.73949350251e-05,-0.0001456973838,1.49619293996e-05,1793245246848971776
+64,1.066666667,BASELINE,764.129168153,745,714,679,658,634,879.129168153,785,806,652.870831847,630,652,0.401030883986,-0.00549694056723,0.0698574747584,0.999999988307,3.6809495707e-05,-0.000147681285138,1.4893310068e-05,1793245246865638656
+65,1.083333333,BASELINE,764.717914559,745,714,679,658,634,879.717914559,785,806,652.282085441,630,652,0.401029417031,-0.00549713811883,0.0698564853513,0.999999988093,3.73286306887e-05,-0.000148966961154,1.51755492523e-05,1793245246882305536
+66,1.100000000,BASELINE,764.697278828,745,714,679,658,633.697278828,879.697278828,785,806,652,629.697278828,652,0.401029666546,-0.00549645958753,0.0698566816816,0.999999988087,3.90808404847e-05,-0.000148526273834,1.54185164338e-05,1793245246898972416
+67,1.116666667,BASELINE,764.116096309,745,714,679,658,633.116096309,879.116096309,785,806,652,629.116096309,652,0.401031494973,-0.00549497518186,0.0698579687254,0.999999988267,4.19673074682e-05,-0.00014649757244,1.56253588227e-05,1793245246915639296
+68,1.133333333,BASELINE,764.45866074,745,714,679,658,633.45866074,879,785,806,652,629.45866074,652,0.401031337262,-0.00549496929149,0.0698578957603,0.999999988355,4.11359891698e-05,-0.000146165627697,1.52983293233e-05,1793245246932305664
+69,1.150000000,BASELINE,765,745,714,679,658,634,879.031978373,785,806,652.031978373,630,652,0.401030704157,-0.00549537050487,0.0698575158155,0.999999988417,3.9363402326e-05,-0.000146273560378,1.48687909301e-05,1793245246948972032
+70,1.166666667,BASELINE,765,745,714,679,658,634,879.608094905,785,806,652.608094905,630,652,0.401030418026,-0.00549641886382,0.0698576890544,0.999999988435,3.73658161707e-05,-0.000146659320393,1.49626242109e-05,1793245246965638656
+71,1.183333333,BASELINE,764.811221535,745,714,679,658.188778465,634,879.811221535,785.188778465,806,652.811221535,630,652,0.401031043966,-0.00549700114851,0.0698580977856,0.999999988567,3.5979269658e-05,-0.000146098276127,1.5058351407e-05,1793245246982305280
+72,1.200000000,BASELINE,764.220821628,745,714,679,658.779178372,634,879.220821628,785.779178372,806,652.220821628,630,652,0.401033610316,-0.0054965918721,0.0698590075208,0.999999988942,3.58926942565e-05,-0.00014352292962,1.5158107878e-05,1793245246998971904
+73,1.216666667,BASELINE,764,745,714,679,658.638004174,633.638004174,879,785.638004174,806,652,630,652.361995826,0.40103321437,-0.00549587586572,0.0698587508875,0.99999998879,3.74459580099e-05,-0.000144188459581,1.50897933416e-05,1793245247015638784
+74,1.233333333,BASELINE,764,745,714,679,658.059717242,633.059717242,879,785.059717242,806,652,630,652.940282758,0.401031048463,-0.00549497658938,0.0698577973534,0.999999988316,3.99790193261e-05,-0.000146790400858,1.49210570219e-05,1793245247032305664
+75,1.250000000,BASELINE,764,745,714,679,658,633,879,785,806,652.51587664,630,652.48412336,0.401032212488,-0.00549499819481,0.0698589474432,0.999999988479,3.99716673731e-05,-0.000145661412865,1.50392907321e-05,1793245247048972544
+76,1.266666667,BASELINE,764,745,714,679,658,633.09325418,878.90674582,784.90674582,806,652.90674582,629.90674582,652,0.401033095285,-0.00549532326053,0.0698597062435,0.999999988625,3.92076039179e-05,-0.000144855012863,1.5127637388e-05,1793245247065639168
+77,1.283333333,BASELINE,764,745,714,679,658,633.681751103,878.318248897,784.318248897,806,652.318248897,629.318248897,652,0.401030448109,-0.00549669672669,0.0698571005294,0.999999988284,3.5978517915e-05,-0.000148043477974,1.48817628274e-05,1793245247082305536
+78,1.300000000,BASELINE,764.265961368,745,714,679,658,633.734038632,878,784.265961368,805.734038632,652,629.265961368,652,0.401030578054,-0.00549771452185,0.0698569259837,0.999999988309,3.47141450536e-05,-0.000148173357185,1.49066857752e-05,1793245247098971904
+79,1.316666667,BASELINE,764.845123546,745,714,679,658,633.154876454,878,784.845123546,805.154876454,652,629.845123546,652,0.401033978386,-0.00549831347244,0.0698596144252,0.999999988775,3.57634533679e-05,-0.000144701391312,1.52505046764e-05,1793245247115638784
+80,1.333333333,BASELINE,764.575979165,745,714,679,658.424020835,633,878.424020835,785,805.424020835,652,629.575979165,652,0.401033369071,-0.00549874940503,0.0698595986206,0.99999998879,3.5045585506e-05,-0.00014474895827,1.5447760142e-05,1793245247132305152
+81,1.350000000,BASELINE,764,745,714,679,658.994416091,633.002791955,879,785,806,652,629.002791955,652,0.401031312732,-0.00549911279957,0.069858605228,0.999999988643,3.36955993436e-05,-0.000146068676531,1.55881698101e-05,1793245247148971776
+82,1.366666667,BASELINE,764,745,714,679,657.848928256,633.575535872,879,785,806,652,629.575535872,652,0.401032647811,-0.00549681586468,0.0698595592438,0.999999988788,3.49896006166e-05,-0.000144820467274,1.50455338053e-05,1793245247165638912
+83,1.383333333,BASELINE,764,745,714,679,657.152807181,633.847192819,879,785.152807181,806,652,630,652,0.401033689372,-0.00549522136902,0.0698602981061,0.999999988885,3.66929474904e-05,-0.000143760871646,1.47149230029e-05,1793245247182305792
+84,1.400000000,BASELINE,764,745,714,679,657.743038692,633.256961308,879,785.743038692,806,652,630,652,0.401033890715,-0.00549563766844,0.0698604210721,0.999999988846,3.95680833433e-05,-0.000143241199243,1.49912533272e-05,1793245247198972416
+85,1.416666667,BASELINE,764,744.672801283,714,679,658,633.327198717,879,785.672801283,806,652,629.672801283,652,0.401033955684,-0.00549648329449,0.0698604438982,0.999999988914,3.84931698847e-05,-0.000143053873587,1.50132634266e-05,1793245247215639040
+86,1.433333333,BASELINE,764,744.09332259,714,679,658,633.90667741,879,785.09332259,806,652,629.09332259,652,0.401033915505,-0.00549765994418,0.0698603895136,0.999999989057,3.43726503379e-05,-0.000143122797221,1.48391850253e-05,1793245247232305408
+87,1.450000000,BASELINE,764,744.481434655,714,679,658,634,878.518565345,785,806.481434655,652,629.481434655,652,0.401033470924,-0.00549640887774,0.0698596764227,0.999999988831,3.71627956581e-05,-0.000144004939941,1.48475178252e-05,1793245247248971776
+88,1.466666667,BASELINE,764,745,714,679,658,634,878.056645906,785,806.943354094,652.056645906,630,652,0.401032898956,-0.00549490604741,0.0698588720958,0.99999998854,4.06537069598e-05,-0.000145074725101,1.48852873188e-05,1793245247265638400
+89,1.483333333,BASELINE,764,745,714,679,658,634,878.644616805,785,806.355383195,652.644616805,630,652,0.401031860271,-0.00549541293204,0.0698583980249,0.999999988435,3.82747069879e-05,-0.000146440317898,1.48707272801e-05,1793245247282305280
+90,1.500000000,BASELINE,764,744.77051554,714,679.22948446,657.77051554,633.77051554,878.77051554,785,806,652.77051554,630,651.77051554,0.401030865807,-0.00549570795762,0.0698580394043,0.99999998835,3.71100538452e-05,-0.000147316090084,1.48803057512e-05,1793245247298971904
+91,1.516666667,BASELINE,764,744.190389549,714,679.809610451,657.190389549,633.190389549,878.190389549,785,806,652.190389549,630,651.190389549,0.401029938909,-0.0054956792724,0.0698578571866,0.999999988304,3.78008661323e-05,-0.000147443439144,1.4926766739e-05,1793245247315638784
+92,1.533333333,BASELINE,764,744.387271633,714,679.612728367,657.387271633,633,878,785,806,652,630,651.387271633,0.401031163298,-0.00549608422003,0.0698583489831,0.999999988429,3.80052231171e-05,-0.000146533433116,1.50124327872e-05,1793245247332305408
+93,1.550000000,BASELINE,764,744.963728786,714,679.036271214,657.963728786,633,878,785,806,652,630,651.963728786,0.401033438608,-0.00549670100103,0.0698591700413,0.999999988635,3.79719425674e-05,-0.000145116670222,1.51172508486e-05,1793245247348972288
+94,1.566666667,BASELINE,764.53938763,745,714,679,658.53938763,633,878.53938763,785,806,652,630,652,0.401031620494,-0.00549522257393,0.0698579750854,0.999999988295,3.9173438578e-05,-0.000147164270102,1.47876511239e-05,1793245247365638912
+95,1.583333333,BASELINE,764.882444747,745,714,679,658.882444747,633.117555253,878.882444747,785,806,652.117555253,630,652,0.401030277278,-0.00549413280689,0.0698570695236,0.999999988061,4.00235244215e-05,-0.000148539095444,1.45441852241e-05,1793245247382305536
+96,1.600000000,BASELINE,764.294013133,745,714,679,658.294013133,633.705986867,878.294013133,785,806,652.705986867,630,652,0.401031937256,-0.00549516336825,0.0698578653732,0.999999988425,3.91339085214e-05,-0.000146287306381,1.47625746176e-05,1793245247398971904
+97,1.616666667,BASELINE,764,744.708978149,714,679.291021851,658.291021851,634,878.291021851,785,806,652.708978149,630,652,0.401033518301,-0.0054957997316,0.069859217351,0.999999988719,3.9403870325e-05,-0.000144158653282,1.50609150219e-05,1793245247415638528
+98,1.633333333,BASELINE,764,744.127335151,714,679.872664849,658.872664849,634,878.872664849,785,806,652.127335151,630,652,0.401035020522,-0.00549604243966,0.069861124691,0.999999988943,4.08318132727e-05,-0.000142152966735,1.54390963398e-05,1793245247432305152
+99,1.650000000,BASELINE,764,744.447428301,714,679.552571699,658.552571699,634,879,785,806,652,630,652,0.401034064134,-0.00549658549553,0.0698600435499,0.99999998881,3.91297876187e-05,-0.000143583632337,1.52776560643e-05,1793245247448972032
+100,1.666666667,BASELINE,764,745,714,679.020238687,658,634,879,785,806,652,629.979761313,652,0.401032478006,-0.00549713032281,0.0698582032346,0.99999998857,3.67633706272e-05,-0.000145892291024,1.49712021125e-05,1793245247465638912
+101,1.683333333,BASELINE,764,745,714,679.592371894,658,634,879,785,806,652,629.407628106,652,0.401032510827,-0.00549542785479,0.0698585021604,0.999999988442,4.02022645973e-05,-0.000145878673363,1.48347322262e-05,1793245247482305536
+102,1.700000000,BASELINE,764,744.828147172,714,679.828147172,658,634,878.828147172,785,806,652,629.171852828,652,0.401032291597,-0.0054947917012,0.0698587818473,0.999999988362,4.15769823005e-05,-0.000146043739214,1.47820246307e-05,1793245247498972160
+103,1.716666667,BASELINE,764,744.230459356,714,679.230459356,658,634,878.230459356,785,806,652,629.769540644,652,0.401031447806,-0.00549679777373,0.0698590138622,0.999999988419,3.78368667105e-05,-0.000146651565848,1.49368720581e-05,1793245247515638784
+104,1.733333333,BASELINE,764,744.354485807,714,679,658,634,878,785,806,652,629.645514193,652,0.40103166384,-0.00549727484702,0.0698593657862,0.999999988432,3.77769405717e-05,-0.000146564177217,1.5079509149e-05,1793245247532305664
+105,1.750000000,BASELINE,764,744.931434197,714,679,658,634,878,785,806,652,629.068565803,652,0.401032544983,-0.0054967923754,0.0698597929609,0.999999988419,4.00265690173e-05,-0.000146040496472,1.52144834859e-05,1793245247548972032
+106,1.766666667,BASELINE,764,745,714,679,658,634,878.506004782,785,806,652,629.506004782,652,0.401032760804,-0.00549630069592,0.0698598567752,0.999999988625,3.90578499265e-05,-0.000144894940625,1.51946392309e-05,1793245247565638656
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,630,652,0.401031078438,-0.00549707306001,0.0698588360652,0.999999988486,3.89644253474e-05,-0.000145846129025,1.54794105697e-05,1793245247608981504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.406558685,658,633.593441315,878.593441315,785,806,652,629.406558685,652,0.401031792328,-0.0054963636208,0.0698587064283,0.999999988444,3.86623103999e-05,-0.000146271080493,1.48922355659e-05,1793245247625648128
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.818226766,879.181773234,785,806,652,629.181773234,652,0.401032410253,-0.00549612693968,0.0698588197848,0.999999988443,3.87323884492e-05,-0.000146285069228,1.46773077942e-05,1793245247642314752
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.241010105,879.758989895,785,806,652,629.758989895,652,0.401032819406,-0.00549691873259,0.0698594617677,0.999999988528,3.96121636128e-05,-0.000145405018214,1.52721950706e-05,1793245247658981120
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.334127767,658,633,879.331744467,785,806.334127767,652,630,652,0.401033398237,-0.00549682541173,0.069859875669,0.999999988653,3.99835647527e-05,-0.000144425924255,1.53495516309e-05,1793245247675647744
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.90777542,658,633,878.18444916,785,806.90777542,652,630,652,0.401034098703,-0.00549609759597,0.0698601260699,0.999999988809,3.99905373157e-05,-0.000143375831296,1.50559156459e-05,1793245247692314368
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.496943009,878.496943009,785,806.503056991,652,630,652,0.401033352522,-0.00549545175132,0.0698599672576,0.999999988711,4.01910699988e-05,-0.000144000902813,1.5071718826e-05,1793245247708980736
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.086763384,745,714,679.913236616,658,633.913236616,878.913236616,785,806,652,630,652,0.401032541874,-0.00549487230809,0.0698597667798,0.999999988528,4.06091191791e-05,-0.000145140469865,1.51299827956e-05,1793245247725647360
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.663480914,745,714,679.336519086,658,633.336519086,878.336519086,785,806,652,630,652,0.401032932141,-0.00549457916001,0.0698597736942,0.999999988143,4.20460979542e-05,-0.000147373242468,1.50932785499e-05,1793245247742313984
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.760086397,745,714,679,658,633.239913603,878.239913603,785,806,652.239913603,629.760086397,652,0.401035864422,-0.00549492244138,0.0698612192532,0.999999987852,4.18858718998e-05,-0.000149363920973,1.52028067284e-05,1793245247758980864
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.184052817,745,714,679,658,633.815947183,878.815947183,785,806,652.815947183,629.184052817,652,0.401042358075,-0.00549615736313,0.0698646803595,0.999999987697,3.94879549802e-05,-0.000151015424435,1.55172071567e-05,1793245247775647744
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.400490743,745,714,679,658,633.599509257,879,785,806,652.599509257,629.400490743,652,0.401060850538,-0.00549707358869,0.0698715695743,0.9999999879,3.81285156781e-05,-0.000149953979919,1.60945319258e-05,1793245247792314624
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.989030178,745,714,679,658,633.010969822,879,785,806,652.010969822,629.989030178,652,0.401084976992,-0.00549784017195,0.0698800684429,0.999999988269,3.72566888283e-05,-0.000147618682585,1.67953117069e-05,1793245247808981248
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.431532134,745,714,679,658,633.568467866,879,785,806,652,630,652,0.401137810423,-0.00549833505197,0.0698937470059,0.999999990596,3.79430770705e-05,-0.000130682407533,1.7051875018e-05,1793245247825647360
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878.853096212,785,806,652,630,652,0.401194660006,-0.00549945465021,0.0699052610987,0.999999992362,3.77011237279e-05,-0.000116474694249,1.69838908931e-05,1793245247842313984
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878.277081385,785,806,652,630,652,0.40126164827,-0.00550241414603,0.0699101653362,0.999999993106,3.46610038918e-05,-0.000111047253914,1.59925374465e-05,1793245247858980864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.298996599,745,714,679,658,634,878,785,806,652,630,652,0.40133982317,-0.00550404391895,0.069913867315,0.999999993657,3.30883918016e-05,-0.000106694626509,1.44118364123e-05,1793245247875647488
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875133092,745,714,679,658,634,878,785,806,652,630,652,0.401428366956,-0.00550444117177,0.0699164549201,0.999999994045,3.28760125531e-05,-0.000103338243336,1.22848692678e-05,1793245247892314112
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.539347057,745,714,679,658,633.539347057,878.460652943,785,806,652,630,652,0.401531390244,-0.0055060467031,0.069914843652,0.99999999353,3.23265658851e-05,-0.000108593564656,1.0075851522e-05,1793245247908980736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.048191729,658,633.048191729,879,785,806,652,630,652,0.401640792265,-0.00550791329242,0.0699121933697,0.999999992734,3.17850996902e-05,-0.000116020575083,7.8048531412e-06,1793245247925647872
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.629344423,658,633.629344423,879,785,806,652,630,652,0.401776429274,-0.00550896952826,0.0699109013725,0.999999992129,3.23633475389e-05,-0.000121112095249,5.09948175692e-06,1793245247942314496
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.792045674,657.792045674,634,879,785,805.792045674,652.207954326,630,652,0.401924834275,-0.00551043818504,0.0699115532988,0.999999991948,3.13422686318e-05,-0.000122956264426,1.93723671971e-06,1793245247958981120
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.217913328,657.217913328,634,879,785,805.217913328,652.782086672,630,652,0.402095721883,-0.00551263305641,0.0699156281984,0.999999992529,2.75050024863e-05,-0.000119082309375,-2.0294976197e-06,1793245247975647744
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657.355614045,634,879,785,805.355614045,652.644385955,630,652,0.402288537466,-0.0055158926983,0.0699194240015,0.999999993066,2.25636857482e-05,-0.000115442819903,-5.68743038204e-06,1793245247992314112
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.928771388,634,879,785,805.928771388,652.071228612,630,652,0.402494767282,-0.00551980370302,0.0699230490705,0.999999993548,1.6946976846e-05,-0.000111946762001,-9.15645728387e-06,1793245248008980736
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.521727213,658.521727213,634,879,785,806,652,630,652,0.4027369541,-0.00552218346523,0.0699255472987,0.999999993973,1.08539207856e-05,-0.000108280006645,-1.45193253509e-05,1793245248025647360
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.886665439,658.886665439,633.886665439,878.886665439,785.113334561,806,652,630,652,0.402991691775,-0.00552389104472,0.0699286093216,0.999999994445,5.01349153055e-06,-0.000103362705756,-2.00069703114e-05,1793245248042314240
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.311984035,658.311984035,633.311984035,878.311984035,785.688015965,806,652,630,652,0.403276748657,-0.00552374694373,0.0699346173022,0.999999995323,4.76589146081e-07,-9.34534601968e-05,-2.49085320429e-05,1793245248058980864
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.263168952,658,633.263168952,878.263168952,785.736831048,806,652,630,652,0.403582204048,-0.00552430513173,0.0699421707156,0.999999996195,-1.5384754905e-05,-8.08757555049e-05,-2.88433497574e-05,1793245248075647488
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.838881963,658,633.838881963,878.838881963,785.161118037,806,652,630,652,0.403911885048,-0.00552569737043,0.0699515595117,0.99999999638,-4.46952040542e-05,-6.51289425218e-05,-3.16300450224e-05,1793245248092314112
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.57666627,658,634,879,785,806,652.42333373,630,652,0.404265039324,-0.00552783111487,0.0699538881214,0.999999996737,-3.97417950106e-05,-6.29599502495e-05,-3.1354715421e-05,1793245248108980736
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.98898593,714,679,658,633.98898593,879,785,806,652.98898593,629.98898593,652,0.40462825012,-0.00553021898051,0.0699536166417,0.99999999715,-2.18197169351e-05,-6.57830420662e-05,-2.9946936e-05,1793245248125647360
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.409940492,714,679,658,633.409940492,879,785,806,652.409940492,629.409940492,652,0.405039653448,-0.00553085132486,0.0699607515151,0.999999997812,-2.17830969217e-05,-5.39352195506e-05,-3.15046439134e-05,1793245248142314240
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.167981264,714,679,658,633.167981264,879,785,806,652,629.167981264,652,0.405460307305,-0.0055300100197,0.0699662741309,0.999999998238,-2.16725653755e-05,-4.44311823665e-05,-3.28609570681e-05,1793245248158980864
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.743178929,714,679,658,633.743178929,879,785,806,652,629.743178929,652,0.405903386026,-0.00552559632646,0.0699678883466,0.999999998378,-2.13828591647e-05,-4.06088986198e-05,-3.37290533597e-05,1793245248175647232
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.318442732,745,714,679.318442732,658,634,879,784.681557268,806.318442732,652,630,652,0.406353573976,-0.00552208356224,0.0699584994155,0.999999997604,-1.91391622277e-05,-5.73514028902e-05,-3.37159062643e-05,1793245248192313856
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893759946,745,714,679.893759946,658,634,879,784.106240054,806.893759946,652,630,652,0.406809496694,-0.00551929753945,0.0699402347045,0.999999995227,-1.53192623446e-05,-9.06826642756e-05,-3.29918969141e-05,1793245248208980736
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.531769273,745,714,680,658,633.531769273,879,784.468230727,806.531769273,652,630,652,0.407325730092,-0.00552093990924,0.0699292817887,0.999999993904,-1.84936922976e-05,-0.000103170333194,-3.47275664116e-05,1793245248225647872
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.95774126,658,633.04225874,879,785,806.04225874,652,630,652,0.4078600579,-0.0055238888617,0.0699216565917,0.999999993174,-2.3685898471e-05,-0.00010829247839,-3.69302383457e-05,1793245248242314752
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.386853396,658,633.613146604,879,785,806.613146604,652,630,652,0.408449862582,-0.00553063574906,0.0699349431275,0.999999995463,-3.4302770947e-05,-8.03310018575e-05,-3.80060232906e-05,1793245248258981120
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679.192983584,658,634,879,785,807,652,630,652,0.409058110007,-0.00553663117891,0.069945941815,0.999999996782,-4.26338555172e-05,-5.58182527456e-05,-3.87591365138e-05,1793245248275647488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.791632199,658,634,879,785,807,652,630,652,0.409705125333,-0.00554104699197,0.0699521312844,0.999999997437,-4.61600529762e-05,-3.85549723824e-05,-3.88339711307e-05,1793245248292314368
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.616036223,680,658,633.616036223,879,785,807,652,630,652,0.410335626611,-0.00554238388344,0.0699492336024,0.999999997288,-4.45724019215e-05,-4.33077624864e-05,-3.95231009111e-05,1793245248308980992
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.027077281,680,658,633.027077281,879,785,807,652,630,652,0.41095731115,-0.00554207696337,0.0699414843633,0.999999996579,-4.02545082447e-05,-5.98147557085e-05,-4.05401979205e-05,1793245248325647616
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.444136782,744.444136782,713.555863218,680,658.555863218,633.555863218,879,785,807,652,630,652,0.41168904582,-0.00554247244543,0.0699544061646,0.999999997244,-4.75991911801e-05,-3.95904146429e-05,-4.09853992718e-05,1793245248342313984
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.136790058,744.136790058,714,680,658.863209942,633.863209942,879,785,807,652,630,652.136790058,0.412432438051,-0.00554258581668,0.0699728415286,0.999999997743,-5.21490117492e-05,-1.06682306289e-05,-4.09975350181e-05,1793245248358980864
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.712190058,744.712190058,714,680,658.287809942,633.287809942,879,785,807,652,630,652.712190058,0.413196204553,-0.00554168607969,0.0700057617461,0.999999997338,-4.59351563123e-05,4.04673948697e-05,-3.97094383716e-05,1793245248375647744
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.287242877,745,714,679.712757123,658.287242877,633,879,785,806.712757123,652,630,652.712757123,0.413953526882,-0.00554104906448,0.0700220506867,0.999999996106,-4.51923140128e-05,6.46462107593e-05,-3.9591815493e-05,1793245248392314368
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.861948319,745,714,679.138051681,658.861948319,633,879,785,806.138051681,652,630,652.138051681,0.414704400201,-0.00554067497188,0.0700216956345,0.999999996015,-4.99246684907e-05,6.18476063811e-05,-4.06455614978e-05,1793245248408980736
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.553184677,745,714,679,659,633,879,785.446815323,806.446815323,652,630,652,0.415418229862,-0.00554038929261,0.0699762059084,0.999999997524,-5.23428304671e-05,-1.73699383876e-05,-4.3700273334e-05,1793245248425647360
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.034520038,745,714,679.069040076,659,633,879,785.965479962,807,652,630,652,0.416130073723,-0.00554011181025,0.0699199383437,0.999999990845,-5.43058055902e-05,-0.000114564407943,-4.72941636704e-05,1793245248442313984
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.616281313,745,714,680.232562625,659,633,879,785.383718687,807,652,630,652,0.416996100946,-0.00553952114353,0.0699190266797,0.999999990473,-6.06515368096e-05,-0.000113732011783,-4.94067204199e-05,1793245248458980864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.804781557,659,633,879,785.195218443,807,652,630,652,0.417860761738,-0.00553963001576,0.0699297145113,0.999999992304,-6.33538118325e-05,-9.41403188542e-05,-5.0148728478e-05,1793245248475647744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.231316401,659,633,879,785.768683599,807,652,630,652,0.418722774944,-0.00554109428409,0.0699628770182,0.999999996367,-5.89966850278e-05,-3.82014330948e-05,-4.82352211269e-05,1793245248492314368
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.673340232,745,714,680.326659768,659,633,879,785.673340232,807,652,630,652,0.419599907764,-0.00554385240369,0.0699917667707,0.999999996972,-6.17122657958e-05,5.78736703538e-06,-4.70562246111e-05,1793245248508980992
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.125835719,745,714,680.874164281,659,633,879,785.125835719,807,652,630,652,0.42048726246,-0.00554748525677,0.0700177678424,0.99999999566,-6.920948947e-05,4.16970750421e-05,-4.63738086533e-05,1793245248525647360
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.482478323,745,714,680.517521677,659,633.482478323,879,785,807,652,630.482478323,652,0.421379666909,-0.00554736249352,0.0700307050434,0.999999994577,-7.21317101076e-05,5.84409059885e-05,-4.720011319e-05,1793245248542314240
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.899996029,879,785,807,652,630.799992057,652,0.42226303029,-0.00554549673621,0.0700275126515,0.999999994829,-7.3374719719e-05,5.05846300922e-05,-4.8992424806e-05,1793245248558980864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.324918477,879,785,807,652,629.649836953,652,0.423096284423,-0.00554067504029,0.0699662161627,0.999999994806,-7.31264159938e-05,-4.69646688718e-05,-5.32349253296e-05,1793245248575647488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.249977743,659,633,879.249977743,785,807.249977743,652,629.249977743,652,0.423936086997,-0.00553824255921,0.0699060603306,0.999999986183,-7.49292796314e-05,-0.000136507784767,-5.81834437327e-05,1793245248592314112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.824638521,659,633,879.824638521,785,807.824638521,652,629.824638521,652,0.424784395116,-0.00553891330384,0.0698473860293,0.999999971544,-7.93962977584e-05,-0.000215652101227,-6.40489727342e-05,1793245248608980992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.410996871,633,880,785,807.589003129,652,630,652,0.425701601847,-0.00554135434057,0.0698694336507,0.999999979074,-7.91207902559e-05,-0.000178046610855,-6.23832877271e-05,1793245248625647616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.997559847,714,680.997559847,659.997559847,633,880,785,807,652,630,652,0.42664913202,-0.00554455351269,0.0699269133352,0.999999991417,-7.68138623506e-05,-8.92697754377e-05,-5.74226816028e-05,1793245248642313984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.418473855,714,680.418473855,659.418473855,633,880,785,807,652,630,652,0.427612042984,-0.0055431849569,0.0699799446057,0.999999994407,-8.66462609007e-05,-2.46008705011e-05,-5.54360820449e-05,1793245248658980608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.159410172,714,680.159410172,659.159410172,633.159410172,880,785.159410172,807.159410172,652,630,652,0.428577393385,-0.00554387094211,0.070026032577,0.999999993538,-9.28958178679e-05,3.7459920334e-05,-5.37671016709e-05,1793245248675647488
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.73416245,714,680.73416245,659.73416245,633.73416245,880,785.73416245,807.73416245,652,630,652,0.429549099669,-0.00554991001988,0.070054029827,0.999999990268,-8.98103057713e-05,9.2725283664e-05,-5.29256764429e-05,1793245248692313856
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.684314291,745,714,681.315685709,660,633.684314291,880,785.684314291,808,652,630,652,0.430435088929,-0.00555231120921,0.0700411521941,0.999999991959,-8.76633611155e-05,7.40032489446e-05,-5.40374360502e-05,1793245248708980736
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.096964273,745,714,681.903035727,660,633.096964273,880,785.096964273,808,652,630,652,0.431247314092,-0.00555158180213,0.0699930995534,0.999999994624,-8.63241034285e-05,-8.38887181323e-06,-5.68300147392e-05,1793245248725647360
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681.516550376,659.516550376,633,879.516550376,785,808,652,630.483449624,652,0.432039619153,-0.00554932257924,0.0699245609006,0.999999986474,-9.00835273597e-05,-0.000123916092744,-5.98412651343e-05,1793245248742313728
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,681.062286845,659.062286845,633,879,785.062286845,808,652,631,652,0.432845775028,-0.00554737505152,0.0698653842027,0.999999969024,-9.43580806143e-05,-0.000221690833141,-6.24631046728e-05,1793245248758980352
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,681.639427631,659.639427631,633,879,785.639427631,808,652,631,652,0.43379897689,-0.0055505043018,0.0699170746874,0.999999986608,-9.45572751798e-05,-0.000118569691031,-6.15087351548e-05,1793245248775647232
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.784418078,714,682,660,633,879.215581922,785.784418078,808,652,630.784418078,652,0.434735441291,-0.00555344470873,0.069966591527,0.999999993221,-9.59462284384e-05,-2.80339830691e-05,-5.97216640718e-05,1793245248792314112
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.209906146,714,682,660,633,879.790093854,785.209906146,808,652,630.209906146,652,0.435644039048,-0.00555607070417,0.0700124893956,0.999999992606,-9.93160543499e-05,4.15478029369e-05,-5.65481990549e-05,1793245248808980736
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,744.374239567,713.625760433,682,660,633,880,785,808,652,630,652,0.436499052979,-0.00555823495464,0.0700296387271,0.999999991088,-9.98154916367e-05,6.84802552964e-05,-5.63199370944e-05,1793245248825647360
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,744.963931481,713.036068519,682,660,633,880,785,808,652,630,652,0.437323218271,-0.00556013337514,0.0700302373213,0.999999990953,-9.86624260275e-05,7.08591827737e-05,-5.77872495086e-05,1793245248842313984
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.543840369,682,659.456159631,633,880,785,808,652,630.543840369,652,0.43809157303,-0.00555956744697,0.0699970353285,0.999999992611,-0.000100733599099,3.35530829911e-05,-5.91977037492e-05,1793245248858980608
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879.877423922,785,808,652,630.877423922,652.122576078,0.438832912484,-0.00555792483305,0.0699520364402,0.999999992738,-0.000100328580701,-2.7328977965e-05,-6.09196849996e-05,1793245248875647232
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879.300673563,785,808,652,630.300673563,652.699326437,0.439487626066,-0.00555288772048,0.0698714865146,0.999999980141,-8.99703483962e-05,-0.00016598590608,-6.38096747389e-05,1793245248892313856
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744.726090593,714,682,659,632.726090593,879.273909407,785.273909407,808,652,630,652.726090593,0.440172909374,-0.00555057173907,0.0698173081142,0.999999961351,-8.83464774336e-05,-0.000255184593848,-6.61295865987e-05,1793245248908980480
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,744.153868151,714,682,659,632.153868151,879.846131849,785.846131849,808,652,630,652.153868151,0.440891485938,-0.00555121932501,0.0697918507831,0.999999950869,-9.62351471674e-05,-0.000290518613022,-6.782863096e-05,1793245248925647360
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,744.432686192,714,682.432686192,659,632,880,785.567313808,808.432686192,652,630,652,0.441617148209,-0.00555366037162,0.0698164481624,0.999999960893,-9.38365875808e-05,-0.000255055438575,-6.59958412683e-05,1793245248942314240
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,683,658.976002444,632,880,785,809,652,630,652,0.442341524037,-0.00555658945419,0.0698575028851,0.999999974768,-8.81336821738e-05,-0.000196791663964,-6.30080281581e-05,1793245248958981120
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,683,658.396592311,632,880,785,809,652,630,652,0.44297580782,-0.00555554720648,0.0698533684176,0.999999970834,-9.35224543265e-05,-0.000213474114656,-6.33521967936e-05,1793245248975647488
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713.818975666,683.181024334,658,632,880,784.818975666,809,652,630,652.181024334,0.44359016483,-0.00555455615789,0.0698364477863,0.999999962659,-9.51375518175e-05,-0.000248127066923,-6.37409818777e-05,1793245248992313856
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+252,4.200000000,HOLD_POSE2,765,745,714,684,653,627,880,780,809,652,629,653,0.45221940024,-0.00557868855908,0.069586680512,0.999999801593,-0.000110271293318,-0.000617433704215,-5.85568659949e-05,1793245250051680256
+253,4.216666667,HOLD_POSE2,765,745,714,684,653,627,880,780,809,652,629,653,0.45221980418,-0.00557703826017,0.0695866107704,0.999999801731,-0.000110836053913,-0.000617052667316,-5.91470287691e-05,1793245250068347136
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+256,4.266666667,HOLD_POSE2,764.38520932,745,714,684,653,627,880,780,809,652,629.61479068,652,0.452220242925,-0.00557538689512,0.0695874729382,0.999999802855,-0.00011057987703,-0.000615232941048,-5.95857846611e-05,1793245250118347264
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,744.46096847,714,684.53903153,653,628,880,781,809,652,629.46096847,652,0.450483810133,-0.00553499999735,0.0695041738107,0.999999693493,-7.18145128716e-05,-0.000778874588349,-3.48127298889e-05,1793245250639742720
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.690994679,744.690994679,714,685,653,628,880,781,809,652,629,652,0.449983510737,-0.00552438171948,0.0695149186957,0.999999699601,-5.60312442042e-05,-0.00077266926301,-2.53181601368e-05,1793245250673076224
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.850896445,714,680,657.149103555,633.850896445,878.149103555,785,806.850896445,652,630,652,0.400978269627,-0.00536417541677,0.0698322794114,0.999999942156,0.00020722611819,-0.000269190351794,1.67747187371e-05,1793245252573077504
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46bdf75916a663d5df1c5711b59359c886aaeacf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a55c7e3b9e12c5eff434eb377b00ac9572c96e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d72082a16ee6d7e135b005f863c00191c31191095b30a72e92f7f700193fcef
+size 25599287
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a972fac842dd9adc23893a9fecbf7e6d2572f26e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+59,0.983333333,BASELINE,764,745,714,679.770210458,658,633,879,785,805,652,630,652,0.400979541274,-0.00536654465557,0.0698355850342,0.999999944137,0.000205447956335,-0.000263157192484,1.63192131797e-05,1793245253704467712
+60,1.000000000,BASELINE,764,745,714,679.176366379,658,633,879,785,805,652,630,652,0.400979895428,-0.0053661408464,0.0698358701647,0.999999944442,0.000205542609742,-0.00026193784296,1.60197416575e-05,1793245253721134336
+61,1.016666667,BASELINE,764,745,714,679.404589303,658,633.404589303,879,785,805.404589303,652,630,652,0.400980354092,-0.00536504468509,0.0698361603275,0.999999944155,0.000207577748263,-0.000261432037099,1.59400635028e-05,1793245253737801216
+62,1.033333333,BASELINE,764,745,714,679.980100158,658,633.980100158,879,785,805.980100158,652,630,652,0.400980856907,-0.00536365603486,0.0698364526161,0.999999943612,0.000210432658142,-0.00026122767277,1.5953238595e-05,1793245253754468096
+63,1.050000000,BASELINE,764,744.444811904,714,680,658,634,878.444811904,785,805.444811904,652,630,652,0.400981910351,-0.00536584229279,0.0698372547483,0.99999994483,0.000205990420149,-0.000260098499235,1.60178524351e-05,1793245253771134720
+64,1.066666667,BASELINE,764,744.133156774,714,680,658,634,878.133156774,785,805,652,630,652,0.400982428428,-0.0053670364629,0.0698379449606,0.99999994563,0.000203086278544,-0.000259304773072,1.60378135445e-05,1793245253787801600
+65,1.083333333,BASELINE,764,744.721014232,714,680,658,634,878.721014232,785,805,652,630,652,0.400981051001,-0.00536440564822,0.0698381906351,0.999999944848,0.000206326864666,-0.000259769632932,1.58990043646e-05,1793245253804467968
+66,1.100000000,BASELINE,764,745,714,680,658,633.694900062,878.694900062,785,805.305099938,652,630,652,0.400979947701,-0.00536319313821,0.0698374586795,0.999999944172,0.000208051688426,-0.000260992809421,1.58885651541e-05,1793245253821134592
+67,1.116666667,BASELINE,764,745,714,680,658,633.114221192,878.114221192,785,805.885778808,652,630,652,0.400979092005,-0.00536326170002,0.0698358436878,0.999999943597,0.000208407412509,-0.000262900928951,1.59940750384e-05,1793245253837801472
+68,1.133333333,BASELINE,764,744.540907218,714,679.540907218,658,633.459092782,878,785,806,652,630,652,0.400979726356,-0.00536452194964,0.0698362514301,0.999999944099,0.000207531895105,-0.000261668174611,1.61707901922e-05,1793245253854468096
+69,1.150000000,BASELINE,764,744.029988421,714,679.029988421,658,634,878,785,806,652.029988421,630,652,0.400980666093,-0.00536592615185,0.0698370980179,0.999999944786,0.0002065217909,-0.000259825552956,1.63490227041e-05,1793245253871134464
+70,1.166666667,BASELINE,764,744.59001511,714,679.59001511,658,634,878,785,806,652.59001511,630,652,0.400980554534,-0.00536471704556,0.0698369466829,0.999999944132,0.000208461721518,-0.000260797400773,1.6245896918e-05,1793245253887801344
+71,1.183333333,BASELINE,764,745,714,679.836438469,658,634,878.163561531,785,806,652.836438469,630,652,0.400980296554,-0.00536414535891,0.0698366537973,0.999999943795,0.000209242154735,-0.000261473545589,1.6117015908e-05,1793245253904468224
+72,1.200000000,BASELINE,764,745,714,679.225949631,658,634,878.774050369,785,806,652.225949631,630,652,0.400979638488,-0.00536531540331,0.0698359741284,0.999999944329,0.000206854294182,-0.000261341690449,1.59177594456e-05,1793245253921134848
+73,1.216666667,BASELINE,764,745,714,679.367132911,658,634,879,785,806,652,630,652,0.400979944129,-0.00536579234617,0.0698356999128,0.999999944414,0.000206462025181,-0.000261322402939,1.59800370418e-05,1793245253937801472
+74,1.233333333,BASELINE,764,745,714,679.949987732,658,634,879,785,806,652,630,652,0.40098081603,-0.00536586203268,0.0698356639356,0.999999944237,0.000207242336632,-0.000261369258526,1.61959882244e-05,1793245253954468096
+75,1.250000000,BASELINE,764,744.478771584,714,680,658,634,878.478771584,785,806,652,630,652,0.400979861094,-0.00536588795339,0.0698355962513,0.999999944007,0.000207641898096,-0.000261926376056,1.62879250951e-05,1793245253971134720
+76,1.266666667,BASELINE,764,744.094321751,714,679.905678249,658,634,878.094321751,785,806,652,630,652,0.400979295149,-0.00536592258994,0.0698357234537,0.999999943947,0.00020774109363,-0.000262076405586,1.62815223505e-05,1793245253987801088
+77,1.283333333,BASELINE,764,744.682833303,714,679.317166697,658,634,878.682833303,785,806,652,630,652,0.400981665661,-0.00536602441484,0.0698368873384,0.999999944804,0.000206453790927,-0.000259842606327,1.58208647575e-05,1793245254004467712
+78,1.300000000,BASELINE,764,744.73384657,714,679,658.26615343,633.73384657,878.73384657,785,806,652,630,652,0.400981907063,-0.00536585311991,0.0698366613821,0.999999944927,0.000205586555487,-0.000260078086926,1.55075613467e-05,1793245254021134592
+79,1.316666667,BASELINE,764,744.156594584,714,679,658.843405416,633.156594584,878.156594584,785,806,652,630,652,0.400979659812,-0.00536536258359,0.0698348108834,0.999999944189,0.000205210323839,-0.00026319983295,1.53664957389e-05,1793245254037801216
+80,1.333333333,BASELINE,764,744,714,679.417779347,658.582220653,633,878.417779347,785,806,652,630,652,0.400979881689,-0.00536553219865,0.0698352532078,0.999999944233,0.000205229332603,-0.000263013359997,1.54380647969e-05,1793245254054467840
+81,1.350000000,BASELINE,764,744,714,679.991081934,658.008918066,633,878.991081934,785,806,652,630,652,0.400981022726,-0.00536594756273,0.0698365490622,0.999999944569,0.000205395474194,-0.000261595364148,1.55887895809e-05,1793245254071134720
+82,1.366666667,BASELINE,764,744,714,680,658,633.573061964,878.426938036,785,806,652,630,652,0.400981275626,-0.00536544176215,0.0698367572382,0.999999944626,0.000206439183425,-0.000260534812658,1.59030203898e-05,1793245254087801344
+83,1.383333333,BASELINE,764,744.157683768,714,680,658,633.842316232,878,785,806,652,630,652,0.400981071686,-0.00536493979209,0.0698366980989,0.99999994444,0.000207477056532,-0.000260409304236,1.61542638018e-05,1793245254104467968
+84,1.400000000,BASELINE,764,744.749196675,714,680,658,633.250803325,878,785,806,652,630,652,0.400979649471,-0.00536448840715,0.0698359507906,0.999999943598,0.000208460722013,-0.000262840803274,1.62251043199e-05,1793245254121134848
+85,1.416666667,BASELINE,764,745,714,679.667225569,658,633.332774431,878,785,806.332774431,652,630,652,0.400980097155,-0.00536426151738,0.0698366572482,0.999999943675,0.000208903389638,-0.000262191958836,1.6244505623e-05,1793245254137801472
+86,1.433333333,BASELINE,764,745,714,679.089489075,658,633.910510925,878,785,806.910510925,652,630,652,0.400981921309,-0.00536419988312,0.0698384338527,0.999999944427,0.00020894781762,-0.00025927561044,1.62260414643e-05,1793245254154468096
+87,1.450000000,BASELINE,764,744.514303697,714,679,658,633.514303697,878,785,806.514303697,652,630,652,0.400981638519,-0.0053657909908,0.0698374005095,0.999999944973,0.000206521796648,-0.000259107819442,1.62858194082e-05,1793245254171134720
+88,1.466666667,BASELINE,764,744.061950181,714,679.061950181,658,633,878.061950181,785,806,652,630,652,0.400980975346,-0.00536743601243,0.0698360532143,0.999999945376,0.000204099870048,-0.000259469748188,1.6342974085e-05,1793245254187801856
+89,1.483333333,BASELINE,764,744.651280719,714,679.651280719,658,633,878.651280719,785,806,652,630,652,0.400980361484,-0.00536696120921,0.0698364176476,0.999999944925,0.000205567469677,-0.000260052561045,1.62557148698e-05,1793245254204468224
+90,1.500000000,BASELINE,764.23663123,745,714,679.76336877,658,633,879,785,806,652,630,652,0.400980256843,-0.00536667125588,0.0698368561334,0.999999944696,0.000206537326395,-0.000260166491595,1.62621400409e-05,1793245254221134848
+91,1.516666667,BASELINE,764.816213415,745,714,679.183786585,658,633,879,785,806,652,630,652,0.40098089022,-0.00536664920656,0.0698374019438,0.999999944789,0.000206785801421,-0.000259600868367,1.64043425206e-05,1793245254237801472
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+93,1.550000000,BASELINE,764.031902821,745,714,679,658,633.968097179,879,785,805.031902821,652,630,652,0.40098164341,-0.00536757295301,0.0698378881093,0.999999944834,0.000206672486926,-0.000259506563118,1.65868677056e-05,1793245254271134720
+94,1.566666667,BASELINE,764,745,714,679,657.456683658,634,878.456683658,785,805.543316342,652,630,652.543316342,0.400980329239,-0.00536658726444,0.0698366706002,0.999999944358,0.000207485044603,-0.000260698653177,1.644718443e-05,1793245254287801344
+95,1.583333333,BASELINE,764,745,714,679.121772798,657.121772798,633.878227202,878,785,805.878227202,652,630,652.878227202,0.400979253692,-0.00536590177746,0.0698356657953,0.999999944069,0.000207641157027,-0.000261688486915,1.62910676565e-05,1793245254304467968
+96,1.600000000,BASELINE,764,745,714,679.712710358,657.712710358,633.287289642,878,785,805.287289642,652,630,652.287289642,0.400979469044,-0.005366720991,0.0698357979994,0.999999944618,0.000205058489453,-0.000261640834388,1.61217082442e-05,1793245254321134592
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+98,1.633333333,BASELINE,764,744.13169456,714,680,658,633.86830544,878.86830544,785,805.86830544,652,630,652,0.400981720777,-0.00536720577842,0.0698373223433,0.999999945932,0.000201987220164,-0.000259027421507,1.55642750141e-05,1793245254354468096
+99,1.650000000,BASELINE,764,744.446602658,714,679.553397342,658,633.553397342,878.553397342,785,805.553397342,652,630,652,0.40098152811,-0.00536666907614,0.06983710485,0.999999945566,0.000203333434799,-0.000259393380335,1.54705124766e-05,1793245254371134976
+100,1.666666667,BASELINE,764,745,714,679.02670312,658,633.02670312,878,785,805.02670312,652,630,652,0.400980877174,-0.00536597243398,0.069836569914,0.999999944903,0.000205397950257,-0.000260322275806,1.545216509e-05,1793245254387801344
+101,1.683333333,BASELINE,764,745,714,679.615148701,658,633.615148701,878,785,805.615148701,652,630,652,0.400980685663,-0.00536563439674,0.0698367675056,0.999999944715,0.000206613309361,-0.000260071594849,1.56405364319e-05,1793245254404467968
+102,1.700000000,BASELINE,764,744.799715295,714,679.799715295,658,634,878,785,806,652,630,652,0.400980526474,-0.00536557470997,0.0698369011897,0.999999944793,0.000206600310555,-0.000259771664443,1.5796556963e-05,1793245254421134592
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420967362,745,714,679.420967362,658,634,878,785.420967362,806,652,630.579032638,652,0.400979895956,-0.0053657494752,0.0698361755845,0.99999994472,0.000206282364825,-0.000260291787325,1.60028911388e-05,1793245254546966272
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.694838623,714,679.305161377,658,634,878.305161377,785,806.305161377,652,630,652,0.40097929342,-0.00536657126976,0.0698364158408,0.999999944744,0.000204766603574,-0.000261407265819,1.57670864658e-05,1793245254596965888
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.459542543,658,634,878.459542543,785,806.459542543,652,630,652,0.401147769966,-0.00536898457383,0.0698926680409,0.999999963394,0.000206717483302,-0.000173721640641,1.7362565852e-05,1793245254746965248
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.88214304,745,714,679,658,634,878.11785696,785,806,652,630,652,0.401211135513,-0.00536993664264,0.0699029316764,0.999999965839,0.00020505644274,-0.000161205478344,1.6931624486e-05,1793245254763632128
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.311125811,745,714,679,658,634,878.688874189,785,806,652,630,652,0.40128163761,-0.00537191446655,0.0699045049718,0.999999967476,0.000202455546758,-0.000154346703019,1.54136747844e-05,1793245254780299008
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.263256461,745,714,679.263256461,658,634,878.736743539,785,806,652,629.736743539,652,0.401361977557,-0.00537368944602,0.0699052171365,0.999999968345,0.000200286326264,-0.000151689506408,1.36103113845e-05,1793245254796965888
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.841667121,745,714,679.841667121,658,634,878.158332879,785,806,652,629.158332879,652,0.40145409476,-0.00537522159269,0.0699048984092,0.999999968339,0.000198633880875,-0.000154062177904,1.14652686178e-05,1793245254813632256
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.429857568,745,714,680,658,634,878.429857568,785,806,652,629.429857568,652,0.401559221751,-0.00537706456248,0.0699026003971,0.999999967949,0.0001964462741,-0.0001594718612,8.92383239911e-06,1793245254830298880
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.978753383,745,714,679.978753383,658.021246617,634,879,785,805.978753383,652,630,652,0.401670860214,-0.00537907033127,0.0698997939326,0.999999967434,0.000194070428565,-0.000165619520148,6.2297605199e-06,1793245254846965504
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.400153188,745,714,679.400153188,658.599846812,634,879,785,805.400153188,652,630,652,0.40182467835,-0.00538227350409,0.0699032194404,0.999999968577,0.000192047951977,-0.000161098016588,3.45096337207e-06,1793245254863632128
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.821667157,633.821667157,879,785,805.178332843,652,630,652,0.401988354005,-0.00538505280158,0.0699067948799,0.999999970074,0.000189044380216,-0.000155289426686,1.9421374045e-07,1793245254880298752
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658.243437209,633.243437209,879,785,805.756562791,652,630,652,0.402174134336,-0.00538688159218,0.0699107065285,0.999999972348,0.00018384078144,-0.00014659464944,-4.13430564876e-06,1793245254896965376
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.340259552,745,714,679,658,633,878.659740448,785,806,652,630,652,0.402375419272,-0.00539056516338,0.0699152267134,0.999999974707,0.00017761840462,-0.00013771958686,-8.39329671902e-06,1793245254913632512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.927931446,745,714,679,658,633,878.072068554,785,806,652,630,652,0.402587978064,-0.00539559739822,0.0699201893826,0.999999977075,0.000170655244927,-0.000128713432806,-1.26017322303e-05,1793245254930299392
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.491799396,745,714,680.016401208,658,633.508200604,878,785,806,652,630,652,0.402836820898,-0.0054009468944,0.0699226301867,0.999999978747,0.000163060300708,-0.000124984152212,-1.72422619924e-05,1793245254946965760
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.826631855,658,633.913315928,878,785,806,652,630,652,0.403098729007,-0.00540640217939,0.0699255193245,0.99999998046,0.000155355864133,-0.000120252975218,-2.19891727354e-05,1793245254963632384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.678112489,658,633.339056244,878,785,806,652,630,652,0.403405599534,-0.00541220307065,0.0699329129139,0.999999983163,0.000147532266856,-0.000105737712365,-2.69947387301e-05,1793245254980299008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.236116775,744.763883225,714,679.236116775,658,633.236116775,878.236116775,785,806,651.763883225,630,652,0.40372716876,-0.00541879595456,0.0699413907446,0.999999986425,0.000134280466779,-9.00231708379e-05,-3.18650392848e-05,1793245254996965376
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.812606375,744.187393625,714,679.812606375,658,633.812606375,878.812606375,785,806,651.187393625,630,652,0.404069926795,-0.00542653053072,0.0699514315566,0.999999990291,0.000113203671561,-7.25798166557e-05,-3.65403483888e-05,1793245255013632256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.796873246,634,879,785,806,651.398436623,630,651.601563377,0.40442731907,-0.00543204259934,0.0699558755448,0.999999992517,9.70032024508e-05,-6.75883901527e-05,-3.14384014437e-05,1793245255030298880
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659.977530858,634,879,785,806,651.988765429,630,651.011234571,0.404791759372,-0.00543648427962,0.0699576240306,0.999999993956,8.31512350953e-05,-6.85939720941e-05,-2.16276025574e-05,1793245255046965504
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.432086786,744.567913214,714,680,658.864173573,634,878.432086786,784.432086786,806,652,630,651.567913214,0.405211632793,-0.00545086873093,0.0699620105713,0.999999995183,7.35832062164e-05,-6.04563433221e-05,-2.37785279959e-05,1793245255063632128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679.854420668,658,634,878.145579332,784.145579332,806,652,630,652,0.405641845139,-0.00546718712838,0.0699645392868,0.999999996434,5.83873844267e-05,-5.52538774833e-05,-2.59012616428e-05,1793245255080298752
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.280476168,658,634,878.719523832,784.719523832,806,652,630,652,0.406099315154,-0.00548862855032,0.0699614507828,0.999999997527,2.63873132115e-05,-5.92100291834e-05,-2.72582063857e-05,1793245255096965376
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.291025318,658,634,878.708974682,785,806,652,630,652,0.406560460701,-0.00549644240339,0.0699494535025,0.999999996433,1.20886389885e-05,-7.84705885466e-05,-2.88284191593e-05,1793245255113632256
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.860192013,658,634,878.139807987,785,806,652,630,652,0.407025119112,-0.00549123199431,0.0699289418448,0.999999993111,1.47077019068e-05,-0.000112358016704,-3.06024585588e-05,1793245255130299136
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.452136639,745,713.547863361,679.547863361,658,633.547863361,878,785,806,652,630,652,0.40755967113,-0.00549769841505,0.0699251007592,0.999999993165,6.94017441494e-06,-0.000112073021007,-3.25843129648e-05,1793245255146965760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.950584023,744.950584023,713.049415977,679.049415977,658.049415977,633.049415977,878,785,806,652,630,652,0.408122079241,-0.00550794968592,0.0699279038964,0.999999994484,-4.59045362424e-06,-9.90764374967e-05,-3.45738683815e-05,1793245255163632128
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.375456265,744.375456265,713.624543735,679.624543735,658.624543735,633.624543735,878,785,806,652,630,652,0.408738715404,-0.00551801622922,0.0699436428445,0.999999996755,-2.01745066214e-05,-6.92247742217e-05,-3.59254577578e-05,1793245255180298752
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.19931942,714,680,658.80068058,633.80068058,878,785,806.19931942,652,630,652,0.409358448877,-0.00552502510466,0.0699522628427,0.999999997626,-2.92003673428e-05,-5.0193249132e-05,-3.70862867033e-05,1793245255196965632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.773433043,714,680,658.226566957,633.226566957,878,785,806.773433043,652,630,652,0.409984006404,-0.00552628443342,0.0699474965822,0.99999999762,-2.58944010258e-05,-5.15075861073e-05,-3.78884154942e-05,1793245255213632768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.651289172,714,680,658.348710828,633.348710828,878.348710828,785,807,652,630,652,0.410627195342,-0.00553153262594,0.0699443291795,0.999999997124,-3.18658082208e-05,-5.68537362075e-05,-3.87904915309e-05,1793245255230299648
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744.075252486,714,680,658.924747514,633.924747514,878.924747514,785,807,652,630,652,0.411281878237,-0.00553938117322,0.0699422040782,0.999999996145,-4.38851690762e-05,-6.48282398879e-05,-3.97577235033e-05,1793245255246966016
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.518382108,744.518382108,714,680,659,634,879,785,806.481617892,652,630,652,0.411997957619,-0.00554134156466,0.0699598623588,0.999999997404,-5.08793986941e-05,-3.23623761758e-05,-3.94502901593e-05,1793245255263632640
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.889440819,745,714,680.110559181,658.889440819,634,879,785,806,652,630,652,0.412732614326,-0.00553753996581,0.0699822716933,0.999999997995,-4.93931385408e-05,7.00460424805e-06,-3.90060169428e-05,1793245255280299264
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.314493566,745,714,680.685506434,658.314493566,634,879,785,806,652,630,652,0.413506549704,-0.00551325246214,0.0700121501778,0.999999997886,-1.54575749318e-05,4.98333877411e-05,-3.87915169183e-05,1793245255296965632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.739876928,658.260123072,634,879,785,806.260123072,652,630,652,0.414267051157,-0.0054983822034,0.0700181545177,0.999999997813,2.04146982864e-06,5.30870944393e-05,-3.93803198465e-05,1793245255313632000
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.165659426,658.834340574,634,879,785,806.834340574,652,630,652,0.415011331464,-0.00549488311332,0.0699953312157,0.999999999125,-3.06313264786e-07,8.55453775102e-06,-4.09390982021e-05,1793245255330298624
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.578824795,879,785,807,652,630,652,0.415757233922,-0.00550317995553,0.0699537140053,0.999999997157,-1.2951809089e-05,-5.94923295601e-05,-4.44915142617e-05,1793245255346965504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012804517,745,714,680,659,633.012804517,879,785,807,652,630,652,0.41650612851,-0.00551601686688,0.069905998529,0.999999989302,-2.95394607229e-05,-0.000134711511906,-4.87446087662e-05,1793245255363632896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.59026975,745,714,680,659,633.59026975,879,785,807,652,630,652,0.417357968423,-0.00551814371039,0.0699254081397,0.999999992601,-3.58392928758e-05,-0.000105765187976,-4.82488136252e-05,1793245255380299520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.832857537,745,714,680,659,634,879.167142463,785,807,652,630,652,0.418216868732,-0.00552017364305,0.0699480292046,0.999999995483,-4.05278507406e-05,-7.16318423059e-05,-4.75446168616e-05,1793245255396965888
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.257432222,745,714,680,659,634,879.742567778,785,807,652,630,652,0.419093015585,-0.00552196684914,0.0699784949637,0.999999997766,-4.1280510379e-05,-2.48280376045e-05,-4.63313525697e-05,1793245255413632512
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.325569889,744.674430111,714,680,659,634,880,785.325569889,807,652,630,652,0.419986317792,-0.00552312661214,0.0700044622714,0.999999997954,-4.15187292874e-05,1.64048736456e-05,-4.58101962716e-05,1793245255430298880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91470579,744.08529421,714,680,659,634,880,785.91470579,807,652,630,652,0.42089350812,-0.00552377356944,0.0700267878437,0.999999996683,-4.13404812416e-05,5.31278502701e-05,-4.58493379998e-05,1793245255446965248
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680.495124633,659.495124633,634,880,785.504875367,807,652,630,652,0.421784473465,-0.0055222897985,0.0700273383734,0.999999996646,-4.44857266513e-05,5.00912395019e-05,-4.71109181789e-05,1793245255463632128
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.073620363,714,681,659.926379637,634,880,785,807,652,630,652,0.422661012858,-0.00552025378098,0.0700148533298,0.999999997313,-4.79383074932e-05,2.59877939663e-05,-4.89991503576e-05,1793245255480298752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.649066017,714,681,659.350933983,634,880,785,807,652,630,652,0.423457941405,-0.00551691214942,0.0699386396121,0.999999992731,-4.96507211983e-05,-9.58356202062e-05,-5.37482771388e-05,1793245255496965888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775038247,745,714,681,659.224961753,633.775038247,879.775038247,785,807,651.775038247,630,652,0.424296896062,-0.00551683062225,0.0698830016457,0.999999980808,-5.51743927647e-05,-0.000178650668691,-5.85043397767e-05,1793245255513632768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.198438899,745,714,681,659.801561101,633.198438899,879.198438899,785,807,651.198438899,630,652,0.425201541831,-0.00552184496198,0.0698595256131,0.999999975678,-6.66554406008e-05,-0.000200491782667,-6.32712455705e-05,1793245255530299392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.61329704,633,879,785,807.38670296,651.38670296,630,652,0.426153536073,-0.00552443897722,0.0698960177083,0.999999985784,-6.44666824411e-05,-0.000143575502616,-6.05134630743e-05,1793245255546966272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.023672552,633,879,785,807.976327448,651.976327448,630,652,0.427130376268,-0.00552576293221,0.069963977948,0.999999996007,-5.51047224414e-05,-4.53314507499e-05,-5.38071161779e-05,1793245255563632640
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,744.444664839,713.444664839,681,659.555335161,633,879.555335161,785,808,652,630,652,0.428098132388,-0.00552849857434,0.070010299848,0.999999996271,-6.57696900883e-05,1.87291077999e-05,-5.27420589373e-05,1793245255580298752
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,744.13316236,713.13316236,681,660,633,880,785,807.86683764,652,630,652,0.42905645131,-0.00553121456667,0.0700479031576,0.999999993181,-7.43159539403e-05,7.34806800936e-05,-5.21138564433e-05,1793245255596965376
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,744.708543891,713.708543891,681,660,633,880,785,807.291456109,652,630,652,0.429984692002,-0.00553366921174,0.0700595585783,0.999999990764,-7.30443455902e-05,0.000102066315403,-5.2152796367e-05,1793245255613632000
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.290022692,744.709977308,714,681.290022692,660.290022692,633,879.709977308,785.290022692,807,652,630,652,0.430846528732,-0.00553474852102,0.0700267317823,0.999999994982,-7.05625147771e-05,4.6743114485e-05,-5.35911733313e-05,1793245255630298624
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.877760447,744.122239553,714,681.877760447,660.877760447,633,879.122239553,785.877760447,807,652,630,652,0.431640200186,-0.00553441601588,0.069948242952,0.999999991687,-6.68383614167e-05,-9.471446805e-05,-5.64661043177e-05,1793245255646965504
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.541128557,744.458871443,714,682,660.541128557,633,879,785.541128557,807.458871443,651.541128557,630,652,0.432482677492,-0.00553264140728,0.0699033404965,0.999999982663,-6.68791022943e-05,-0.000163444888921,-5.90515712313e-05,1793245255663632384
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,713.962161465,682.037838535,660,633,879,785,808,651.037838535,630,652,0.433343852572,-0.00553082890839,0.0698740244383,0.999999975376,-6.82785045227e-05,-0.000202046497343,-6.13383182403e-05,1793245255680298752
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713.388907642,682.611092358,660,633,879,785,808,651.611092358,630,652,0.434288248357,-0.0055338388061,0.06994045631,0.99999999179,-7.49134376351e-05,-8.45635995407e-05,-6.0473759821e-05,1793245255696965632
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.186560355,744.813439645,713,682.813439645,660,633,879.186560355,785,808,652,630,652,0.435217107012,-0.00553753944143,0.0699972339747,0.99999999504,-7.93840885092e-05,1.31739311228e-05,-5.86875252173e-05,1793245255713632256
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.408244039,745.591755961,714,684.408244039,652.591755961,627,879.816488079,780,809,652,628.408244039,652.408244039,0.45269651904,-0.0055750958421,0.0695845450909,0.999999795471,-0.000115501250677,-0.000626309640537,-5.87610493192e-05,1793245256730298880
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745.832259923,713.832259923,684,652.832259923,627,879.167740077,780,809,652,628.167740077,652,0.452696942918,-0.00557485537203,0.0695848837988,0.999999795482,-0.000115187667177,-0.000626375766844,-5.8496986909e-05,1793245256746965504
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745.260137576,713.260137576,684,652.260137576,627,879.739862424,780,809,652,628.739862424,652,0.452698682344,-0.00557526238073,0.0695853090684,0.999999796245,-0.000115663505156,-0.000625130935706,-5.78236373673e-05,1793245256763632128
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.322451275,745,713,684.322451275,652,627,880,780.322451275,809,652,629,652.322451275,0.452699345806,-0.00557475572904,0.0695851929839,0.999999796555,-0.000114113272342,-0.000624924175168,-5.77754545372e-05,1793245256780298752
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+244,4.066666667,HOLD_POSE2,764,745,713,684,652,627,881,780,809,652,629,652,0.452697814277,-0.00557764814157,0.0695838280459,0.999999794194,-0.000117227963098,-0.000628139834538,-5.75322400262e-05,1793245256828179200
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.575235164,658,633.424764836,878.575235164,785,806,652.575235164,630,652,0.405298267404,-0.00537874661962,0.069803826457,0.999999926527,0.000192478156054,-0.000330655740259,2.37608838119e-05,1793245258678607872
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.00612241,658,633.99387759,878.00612241,785,806,652,630,652,0.404890507334,-0.00538128652794,0.0698170478155,0.999999936252,0.000184380994379,-0.000304881324753,2.33679831072e-05,1793245258695274752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.579523559,658,633.420476441,878.579523559,785,806,652,630,652,0.404544734317,-0.00537669070266,0.069835446736,0.999999945615,0.000191014612188,-0.00026780015973,2.38184701703e-05,1793245258711942656
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,744.273716232,714,679.273716232,658,633,879,785,806,652,630,652,0.403867159542,-0.00537179741262,0.0698506653147,0.999999950468,0.000203096576504,-0.000239291302555,2.35717398187e-05,1793245258745275648
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.195568503,745,714,680.608862993,658,634,878.195568503,785,806,652,630,652.195568503,0.402055901073,-0.00535797829899,0.069800557408,0.999999925552,0.000207821641021,-0.000324400221045,2.17005108057e-05,1793245258861942016
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.585958925,745,714,679.414041075,658,634,879,785,806,652,630,652,0.400982401127,-0.00535759776608,0.069828442778,0.999999938425,0.000218443267757,-0.000274221404624,1.53230276657e-05,1793245259195274496
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,744.431713399,714,680,658,634,878.431713399,785,806,652,630,652,0.400980051782,-0.00535619622082,0.0698288551624,0.999999937955,0.000220802462329,-0.000274046988019,1.53083689974e-05,1793245259228608000
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.142216254,744.142216254,714,680,658,634,878,785,806,652,630,652,0.40098012945,-0.00535679731051,0.0698290641275,0.999999938321,0.000220419471962,-0.000273013840685,1.54038533545e-05,1793245259245274880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.713174094,744.713174094,714,680,658,634,878,785,806,652,630,652,0.400980678939,-0.00535638698453,0.0698292981579,0.999999938477,0.000221291482893,-0.000271736576399,1.53103020668e-05,1793245259261941504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.703227137,744.703227137,714,679.703227137,657.703227137,633.703227137,878,785,806,652,630,652,0.400981619629,-0.00535698661316,0.0698302888963,0.999999939147,0.000220700445019,-0.000269741040519,1.53660900455e-05,1793245259278607872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.106867512,744.106867512,714,679.106867512,657.106867512,633.106867512,878,785,806,652,630,652,0.400982955231,-0.00535860577238,0.0698320435177,0.999999940329,0.000218632486317,-0.000267020422485,1.55726332629e-05,1793245259295274496
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,744.474358503,714,679.474358503,657.474358503,633,878.474358503,785,806,652,630,652,0.400983264044,-0.00535748714515,0.0698325311525,0.999999940024,0.000220295315924,-0.000266806926937,1.53720245441e-05,1793245259311941120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.051900266,658,633.051900266,878.948099734,785,806,652,630,652,0.400983259038,-0.00535603368723,0.0698326508204,0.999999939472,0.000222274484768,-0.000267248265855,1.51118717529e-05,1793245259328607744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.625619458,658,633.625619458,878.374380542,785,806,652,630,652,0.400982352694,-0.00535722341102,0.0698318519888,0.999999939732,0.000219244836524,-0.000268770149941,1.5146777842e-05,1793245259345274368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.204813683,745,714,680.795186317,658,634,878,785,806,652,630,652,0.400982032322,-0.0053578238914,0.069831576038,0.999999939923,0.000217933084453,-0.000269129246286,1.51162363011e-05,1793245259361941248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.794290607,745,714,680.205709393,658,634,878,785,806,652,630,652,0.400982812472,-0.00535731770597,0.0698322821164,0.999999939996,0.000219847735703,-0.000267304495764,1.49627767136e-05,1793245259378607872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.622988718,744.622988718,714,680,658,633.622988718,878,785,806,652,630,652,0.400982578986,-0.00535709155497,0.0698324445547,0.999999940118,0.000219579692807,-0.000267073045052,1.48560408614e-05,1793245259395274752
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.043889586,744.043889586,714,680,658,633.043889586,878,785,806,652,630,652,0.400981802164,-0.00535701550971,0.0698323155878,0.999999940267,0.000218141669037,-0.000267695644521,1.47743501511e-05,1793245259411941376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.533397961,744.533397961,714,680,658,633,878,785,806,652,630,652,0.400980263793,-0.00535523790835,0.0698311767802,0.999999939218,0.000221418697921,-0.000268934049357,1.45838174633e-05,1793245259428608000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.88800668,744.88800668,714,679.88800668,658,633,878,785,806,652,630,651.88800668,0.400979143167,-0.00535428672261,0.0698305428179,0.999999938575,0.000223669089533,-0.000269463523549,1.45357244543e-05,1793245259445274624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.303263809,744.303263809,714,679.303263809,658,633,878,785,806,652,630,651.303263809,0.400980049554,-0.00535741303811,0.06983238949,0.999999940108,0.000219953646505,-0.000266787271118,1.51265788463e-05,1793245259461941504
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.278807711,714,679,658,633.278807711,878,785,806,652,630,651.278807711,0.40098107059,-0.00535845032047,0.0698334708947,0.99999994075,0.000218953035499,-0.00026518536852,1.53697758073e-05,1793245259478607872
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,744.858001207,714,679,658,633.858001207,878,785,806,652,630,651.858001207,0.40098221515,-0.00535723689122,0.0698337278051,0.999999940447,0.000220877368049,-0.00026474096377,1.52384087752e-05,1793245259495274496
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bdd7533ef51908ccb172fa0f9caff3c40dc05f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+12,0.200000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+15,0.250000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+379,6.316666667,pose2_to_pose3_retreat,0.575693379489,-0.00012211771322,1.06005090947,0.546265011629,0.00855356444233,1.05971740055
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+382,6.366666667,pose2_to_pose3_retreat,0.575677774371,-0.000122122837307,1.06005083183,0.546249408414,0.00855356582745,1.05971732447
+383,6.383333333,pose2_to_pose3_retreat,0.575675668823,-0.00012213996082,1.06005078674,0.546247302619,0.00855354784795,1.05971727895
+384,6.400000000,pose2_to_pose3_retreat,0.575674140461,-0.000122154624889,1.0600507654,0.546245774163,0.00855353285649,1.05971725736
+385,6.416666667,pose2_to_pose3_retreat,0.575673312505,-0.000122177477655,1.06005082987,0.54624494673,0.00855351178759,1.05971732198
+386,6.433333333,pose2_to_pose3_retreat,0.575672845146,-0.000122190377406,1.06005086626,0.546244479667,0.00855349989478,1.05971735846
+387,6.450000000,pose2_to_pose3_retreat,0.575672411883,-0.000122202336066,1.06005089999,0.546244046678,0.0085534888696,1.05971739227
+388,6.466666667,pose2_to_pose3_retreat,0.575672307484,-0.000122205217648,1.06005090812,0.546243942345,0.00855348621295,1.05971740042
+389,6.483333333,pose2_to_pose3_retreat,0.575671933483,-0.000122215540594,1.06005093724,0.54624356858,0.0085534766958,1.05971742961
+390,6.500000000,pose2_to_pose3_retreat,0.575671504359,-0.00012222738502,1.06005097065,0.546243139728,0.00855346577594,1.05971746311
+391,6.516666667,pose2_to_pose3_retreat,0.575671130639,-0.000122218389452,1.06005099198,0.546242765937,0.00855347451384,1.05971748394
+392,6.533333333,pose2_to_pose3_retreat,0.575670960383,-0.000122199868423,1.06005099588,0.54624259542,0.00855349212364,1.05971748721
+393,6.550000000,pose2_to_pose3_retreat,0.575670918404,-0.000122195301746,1.06005099684,0.546242553377,0.00855349646563,1.05971748801
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+396,6.600000000,pose2_to_pose3_retreat,0.575670686003,-0.00012217002037,1.06005100217,0.54624232062,0.00855352050317,1.05971749247
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+402,6.700000000,pose2_to_pose3_retreat,0.575669569351,-0.000122090788661,1.0600509845,0.546241202072,0.00855359349052,1.05971747973
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d174d8c3ac59d34176f7ea71b9c003995c39aeee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f2212c0a1cfeded6758234a313f83d0b6b0c38691fa373456d1c9406a6c74d
+size 25660966
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d58c18f9349a6f4cbeb0424fcd25a83273565d2f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+41,0.683333333,BASELINE,764,744.196156294,714,679.803843706,658,633.196156294,878.196156294,785,805.803843706,652,630,652,0.400982541755,-0.00535693100739,0.0698361426354,0.999999942206,0.000218659125566,-0.000259961717447,1.3979284407e-05,1793245260326614016
+42,0.700000000,BASELINE,764,744.380622829,714,680,658,633,878,785,806,652,630,652,0.400982351479,-0.00535715182775,0.0698360967342,0.999999942054,0.000218604619246,-0.000260577484992,1.42787838933e-05,1793245260343280640
+43,0.716666667,BASELINE,764,744.956043212,714,680,658,633,878,785,806,652,630,652,0.400981780052,-0.00535776982987,0.0698355767507,0.99999994182,0.000217587325026,-0.000262290219192,1.48351286923e-05,1793245260359947264
+44,0.733333333,BASELINE,764,745,714,680,658,633,878.533117893,785,806,652,630,652,0.400980907799,-0.00535767401478,0.0698348513873,0.999999941613,0.000217165869715,-0.000263446276469,1.44755861317e-05,1793245260376613632
+45,0.750000000,BASELINE,764,745,714,680,658,633.112484429,879,785,806,652,630,652,0.400980173741,-0.00535726594822,0.069834309834,0.99999994133,0.000217440681659,-0.00026431045591,1.41049183229e-05,1793245260393280768
+46,0.766666667,BASELINE,764,745,714,680,658,633.700970271,879,785,806,652,630,652,0.400980129776,-0.00535578636041,0.0698346179945,0.999999940719,0.000220453350638,-0.000264134329893,1.40077325526e-05,1793245260409950720
+47,0.783333333,BASELINE,764,745,714,680,658,633.714990248,878.714990248,785,806,652,630,652,0.400980883299,-0.00535555325223,0.0698352720469,0.999999940795,0.000221557831272,-0.000262920145437,1.40027354982e-05,1793245260426617600
+48,0.800000000,BASELINE,764,745,714,680,658,633.135544117,878.135544117,785,806,652,630,652,0.400982460683,-0.0053566078505,0.0698362834313,0.999999941584,0.000220691011073,-0.000260633568999,1.40929762669e-05,1793245260443281408
+49,0.816666667,BASELINE,763.561466832,744.561466832,714,680,658,633.438533168,878,785,806,652,630,652,0.400983001841,-0.00535692522427,0.0698370649649,0.999999942215,0.000218694235035,-0.000259893806829,1.40934375198e-05,1793245260459947520
+50,0.833333333,BASELINE,763.022120498,744.011060249,714,679.988939751,658,634,878,785,806,652,630,652,0.400983230721,-0.00535702971645,0.0698377561238,0.99999994278,0.000216416044064,-0.00025962529954,1.40708308118e-05,1793245260476614144
+51,0.850000000,BASELINE,764.17630371,744.588151855,714,679.411848145,658,634,878,785,806,652,630,652,0.400983670977,-0.00535775998516,0.069837414003,0.999999942649,0.000217393405476,-0.000259302538249,1.42706365089e-05,1793245260493280512
+52,0.866666667,BASELINE,765,745,714,679.169334964,658,633.830665036,878.169334964,785,806,652,630,652,0.400983699196,-0.00535806398731,0.0698370173905,0.999999942359,0.000218547967753,-0.000259444504799,1.43977090802e-05,1793245260509946880
+53,0.883333333,BASELINE,765,745,714,679.760715587,658,633.239284413,878.760715587,785,806,652,630,652,0.400982700469,-0.00535730557474,0.0698364849646,0.999999941671,0.000220144180379,-0.00026074474585,1.43435036618e-05,1793245260526613504
+54,0.900000000,BASELINE,764.656128208,745,714,680,658.343871792,633.343871792,878.656128208,785,806,652,630,652,0.400981037237,-0.00535691692508,0.0698355069345,0.99999994124,0.000220007428079,-0.000262516722448,1.42084193461e-05,1793245260543280640
+55,0.916666667,BASELINE,764.078561337,745,714,680,658.921438663,633.921438663,878.078561337,785,806,652,630,652,0.400978922409,-0.00535677956612,0.0698342260721,0.999999940979,0.000218692953706,-0.000264609290209,1.40183697788e-05,1793245260559948032
+56,0.933333333,BASELINE,764,745,714,680,658.501313586,633.501313586,878,785,806.498686414,652.498686414,630,652,0.400980312613,-0.00535846602595,0.0698351096184,0.999999941478,0.000217813028902,-0.000263436889808,1.42349437426e-05,1793245260576614400
+57,0.950000000,BASELINE,764,745,714,680,658,633.075605024,878,785,806.924394976,652.924394976,630,652,0.400982066243,-0.00536005834116,0.069836162409,0.999999942084,0.000216955783028,-0.000261827122696,1.44592701331e-05,1793245260593280512
+58,0.966666667,BASELINE,764,745,714,680,658,633.65068087,878,785,806.34931913,652.34931913,630,652,0.400982575305,-0.00535913180525,0.0698360821419,0.999999942625,0.000215796399365,-0.000260723771427,1.43118940638e-05,1793245260609947648
+59,0.983333333,BASELINE,764.231939419,745,714,680,658,634,878,785,806,652,630,652,0.40098291082,-0.00535757412274,0.0698362893903,0.99999994257,0.000216879025459,-0.000260046067925,1.41162956064e-05,1793245260626614016
+60,1.000000000,BASELINE,764.822764716,745,714,680,658,634,878,785,806,652,630,652,0.400982977799,-0.00535503985056,0.069836941519,0.999999941581,0.000221430771195,-0.000260026980077,1.3846081375e-05,1793245260643280384
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.404152383,785,806,652,630,652,0.400982241867,-0.00535548935303,0.0698367846666,0.999999941454,0.0002216373307,-0.000260337767588,1.39129623807e-05,1793245260659947008
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.981495718,785,806,652,630,652,0.400981161865,-0.00535721748914,0.0698362811425,0.999999941699,0.000219981852306,-0.000260789916207,1.41242984345e-05,1793245260676613376
+63,1.050000000,BASELINE,764.444302443,744.444302443,714,680,658,633.444302443,878.444302443,785,806,652,630,652,0.400981462509,-0.00535746645871,0.0698355467578,0.999999941637,0.000218945749097,-0.000261896728173,1.41098946368e-05,1793245260693280256
+64,1.066666667,BASELINE,764,744.133304369,714,679.866695631,658,633.133304369,878.133304369,785,806,652,630,652,0.400981840942,-0.00535787117695,0.0698351764694,0.999999941685,0.000218009815173,-0.000262494605153,1.41162965746e-05,1793245260709947136
+65,1.083333333,BASELINE,764,744.722922787,714,679.277077213,658,633.722922787,878.722922787,785,806,652,630,652,0.400982329168,-0.0053589766954,0.069836078686,0.999999942147,0.000217346567186,-0.000261276143984,1.42195052413e-05,1793245260726614272
+66,1.100000000,BASELINE,764,745,714,679.307501979,658,633.692498021,878.692498021,785,806,652,630,652,0.400982485249,-0.0053587995235,0.0698364760126,0.99999994223,0.000218032635729,-0.000260373771656,1.43854126765e-05,1793245260743280640
+67,1.116666667,BASELINE,764,745,714,679.887613714,658,633.112386286,878.112386286,785,806,652,630,652,0.400982346872,-0.00535748520797,0.0698364257391,0.999999941977,0.000219914914003,-0.000259751621661,1.46069044507e-05,1793245260759947008
+68,1.133333333,BASELINE,764,745,714,679.536291581,658,633,878,785,806,652,630,652,0.400982130529,-0.00535786410878,0.0698362568958,0.999999941664,0.000220519867409,-0.000260446054577,1.45518419852e-05,1793245260776613376
+69,1.150000000,BASELINE,764,745,713.960555634,679,658,633,878,785,806,652,630,652,0.400981895339,-0.00535867175222,0.0698360889992,0.99999994141,0.000220619231648,-0.000261340142439,1.44275373349e-05,1793245260793280000
+70,1.166666667,BASELINE,764,745,713.376445943,679,658,633,878,785,806,652,630,652,0.400981658595,-0.00535978169219,0.069836327581,0.99999994218,0.000217975268787,-0.000260622825029,1.42646932512e-05,1793245260809946880
+71,1.183333333,BASELINE,764,745,713.206517034,679,658,633,878,785,806,652,630,652,0.400981530619,-0.00535949447185,0.0698365251202,0.999999942483,0.000217173716321,-0.000260134709225,1.41329484939e-05,1793245260826613504
+72,1.200000000,BASELINE,764,745,713.787401385,679,658,633,878,785,806,652,630,652,0.400981599811,-0.00535667452525,0.0698366482589,0.999999941948,0.000219712024639,-0.000260062082474,1.40575795499e-05,1793245260843280896
+73,1.216666667,BASELINE,764,745,714,679.366698963,658,633,878,785.366698963,806,652,630,652,0.400982694395,-0.0053559622012,0.069837127487,0.999999941752,0.000221719886511,-0.000259110174038,1.4111321429e-05,1793245260859948032
+74,1.233333333,BASELINE,764,745,714,679.945080518,658,633,878,785.945080518,806,652,630,652,0.400984380903,-0.0053564665347,0.0698378122732,0.999999941748,0.000223421539896,-0.000257650686794,1.4239594512e-05,1793245260876614912
+75,1.250000000,BASELINE,764,745,714,680,658,633.520519197,878,785.479480803,805.479480803,652,630,652,0.400984658129,-0.00535792912111,0.0698380875088,0.999999942869,0.0002186467964,-0.00025740524098,1.40620378007e-05,1793245260893280768
+76,1.266666667,BASELINE,764,745,714,679.902141862,658,634,878,785,805.097858138,652,630,652,0.400984641477,-0.00535900535026,0.0698381739154,0.999999943645,0.000214867114575,-0.000257582001763,1.39073709128e-05,1793245260909946880
+77,1.283333333,BASELINE,764,745,714,679.313729334,658,634,878,785,805.686270666,652,630,652,0.400983892832,-0.00535764082576,0.0698375291355,0.999999942214,0.000219481749858,-0.000259236741823,1.40282950938e-05,1793245260926613504
+78,1.300000000,BASELINE,763.72902696,744.72902696,713.72902696,679,658,633.72902696,878,785,806,652,630,652,0.40098335677,-0.00535691339845,0.0698370137916,0.99999994162,0.000221260919972,-0.000260006948961,1.41449977871e-05,1793245260943280128
+79,1.316666667,BASELINE,763.148562179,744.148562179,713.148562179,679,658,633.148562179,878,785,806,652,630,652,0.40098306351,-0.0053569136315,0.0698366462829,0.999999942003,0.000219801564442,-0.000259766887091,1.42568789019e-05,1793245260959946752
+80,1.333333333,BASELINE,763.428761885,744.428761885,713.428761885,679.428761885,658,633,878,785,806,652,630,652,0.400981702507,-0.00535724135868,0.0698360138682,0.999999941733,0.00021929081931,-0.000261239624412,1.41183105915e-05,1793245260976613376
+81,1.350000000,BASELINE,764,745,713.994898692,680,658,633,878.005101308,785,806,652,630,652,0.400980012897,-0.00535768396365,0.0698353141506,0.999999941251,0.000219101319782,-0.000263248470552,1.38983707099e-05,1793245260993280512
+82,1.366666667,BASELINE,764,745,713.40764644,680,658,633,878.59235356,785,806,652,630,652,0.400982735836,-0.0053583809489,0.0698373323982,0.99999994247,0.000218335603486,-0.000259203879058,1.42234478146e-05,1793245261009946880
+83,1.383333333,BASELINE,764,745,713.177174913,679.822825087,658,633,878.822825087,785,806,652,630,652,0.400984233323,-0.00535862842533,0.0698384099596,0.999999943122,0.000217982308669,-0.000256965346516,1.44313586281e-05,1793245261026613248
+84,1.400000000,BASELINE,764,745,713.756479033,679.243520967,658,633,878.243520967,785,806,652,630,652,0.400982949433,-0.00535785566362,0.0698373524706,0.999999942516,0.000218565075808,-0.000258825977351,1.43733402783e-05,1793245261043279872
+85,1.416666667,BASELINE,764,744.665204495,714,679.334795505,658.334795505,633,878.334795505,785,806,652,630,652,0.400982519677,-0.00535707649957,0.0698370092344,0.999999942148,0.000219582710878,-0.00025938298966,1.43965901866e-05,1793245261059946752
+86,1.433333333,BASELINE,764,744.087604331,714,679.912395669,658.912395669,633,878.912395669,785,806,652,630,652,0.400982709367,-0.00535629269239,0.0698371839978,0.999999941954,0.000220915726367,-0.000258994575033,1.44787784992e-05,1793245261076613632
+87,1.450000000,BASELINE,764,744.484139354,714,679.515860646,658.515860646,633,878.515860646,785,805.515860646,652,630,652,0.400983462098,-0.00535732478661,0.0698373201372,0.999999942334,0.000219625017609,-0.000258630393551,1.43708673905e-05,1793245261093280256
+88,1.466666667,BASELINE,764,745,714,679.056979951,658,633.056979951,878,785,805.056979951,652,630,652,0.400984289914,-0.00535845239804,0.069837529008,0.999999942761,0.000218200803873,-0.000258192338655,1.42417667067e-05,1793245261109946880
+89,1.483333333,BASELINE,764,745,714,679.649989598,658,633.649989598,878,785,805.649989598,652,630,652,0.400984877089,-0.00535742440906,0.0698384870501,0.999999942684,0.000219933503344,-0.000257018573813,1.42330565787e-05,1793245261126613248
+90,1.500000000,BASELINE,764.237385093,744.762614907,714,680,658,633.762614907,878,785,806,652,630,652,0.400985071014,-0.00535713879996,0.069838977033,0.999999942723,0.000220505578751,-0.000256375140255,1.42765854515e-05,1793245261143280128
+91,1.516666667,BASELINE,764.816694045,744.183305955,714,680,658,633.183305955,878,785,806,652,630,652,0.400984698512,-0.0053579224973,0.0698387928343,0.999999942932,0.000219405918627,-0.000256495583402,1.43953581433e-05,1793245261159946752
+92,1.533333333,BASELINE,764.211100734,744.394449633,714,680,657.605550367,633,878.394449633,785,806,652,630,652,0.400984421122,-0.00535826624678,0.0698381858873,0.99999994281,0.000219050948713,-0.00025727579289,1.43787234e-05,1793245261176613376
+93,1.550000000,BASELINE,763.057027534,744.971486233,714,680,657.028513767,633,878.971486233,785,806,652,630,652,0.400984187758,-0.00535840634866,0.0698373832542,0.999999942533,0.00021904068869,-0.000258361401926,1.42994098586e-05,1793245261193280512
+94,1.566666667,BASELINE,763.556036775,744.443963225,714,679.443963225,657.556036775,633,878.443963225,785,805.443963225,652,630,652,0.400983354051,-0.00535755672878,0.0698373193518,0.999999942339,0.000219429623816,-0.000258780996426,1.4306805035e-05,1793245261209946880
+95,1.583333333,BASELINE,764,744,714,679,658,633.136936965,878,785,805.136936965,652,630,652,0.400982365701,-0.0053567915429,0.0698371395828,0.999999942185,0.000219512203741,-0.000259311640199,1.42164035721e-05,1793245261226613760
+96,1.600000000,BASELINE,764,744,714,679,658,633.705111673,878,785,805.705111673,652,630,652,0.400980988636,-0.00535645427391,0.0698364739982,0.999999942141,0.000218564669911,-0.000260301025476,1.38038294448e-05,1793245261243280384
+97,1.616666667,BASELINE,764,744,714,679.28441052,658,634,878,785,806,652,630,652,0.400981797071,-0.00535652688809,0.0698367173466,0.999999942295,0.00021881139085,-0.000259505313581,1.3767969296e-05,1793245261259947008
+98,1.633333333,BASELINE,764,744,714,679.875712778,658,634,878,785,806,652,630,652,0.400984963757,-0.00535704178463,0.0698379414747,0.999999942655,0.000220346766433,-0.000256783401519,1.41386004921e-05,1793245261276613632
+99,1.650000000,BASELINE,764,744,714,680,658,633.546208073,878.453791927,785,806,652,630,652,0.400985001572,-0.00535746922226,0.0698384830558,0.999999943157,0.000218599937944,-0.000256334416045,1.39030949376e-05,1793245261293280256
+100,1.666666667,BASELINE,764.028952984,744.028952984,714,679.971047016,658,633.028952984,878.971047016,785,806,652,630,652,0.400984269343,-0.00535779768966,0.0698388452996,0.99999994364,0.000216249339818,-0.000256460407262,1.35515686501e-05,1793245261309946880
+101,1.683333333,BASELINE,764.615692345,744.615692345,714,679.384307655,658,633.615692345,878.384307655,785,806,652,630,652,0.400984744002,-0.00535666788033,0.0698392520418,0.999999943129,0.000219095096821,-0.000256009987251,1.40725865493e-05,1793245261326613248
+102,1.700000000,BASELINE,764.799172162,744.799172162,714,679.200827838,658,634,878,785,806,652,630,652,0.400984240288,-0.00535630379374,0.069838913787,0.999999942575,0.000220794349813,-0.000256698293372,1.43480216332e-05,1793245261343280128
+103,1.716666667,BASELINE,764.21708161,744.21708161,714,679.78291839,658,634,878,785,806,652,630,652,0.400981879176,-0.0053573933978,0.0698371611888,0.999999941947,0.000220317015627,-0.000259548420447,1.41572286082e-05,1793245261359946752
+104,1.733333333,BASELINE,764,744.360678575,714,679.639321425,658.360678575,634,878,785,806,652,630,652,0.400981571669,-0.00535815535525,0.0698367886468,0.99999994203,0.000219302606405,-0.000260089503839,1.41101847636e-05,1793245261376613632
+105,1.750000000,BASELINE,764,744.935863417,714,679.064136583,658.935863417,634,878,785,806,652,630,652,0.400982485502,-0.00535872245162,0.0698372368651,0.999999942538,0.000217968782655,-0.000259257330605,1.41486328104e-05,1793245261393280256
+106,1.766666667,BASELINE,764,745,714,679.509329267,658.490670733,633.490670733,878,785,805.490670733,652.509329267,630,652,0.400984667566,-0.00535781895144,0.0698385242325,0.99999994297,0.00021886188324,-0.000256824830014,1.41826993319e-05,1793245261409947392
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785,806,652,630,652,0.400981777111,-0.0053563385404,0.0698368792368,0.999999941467,0.000221293304048,-0.000260553765972,1.43593035842e-05,1793245261452496384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.417138499,745,714,680,658,634,878.417138499,785,806,652,630,652,0.400984401049,-0.00535800477838,0.0698384074939,0.999999942833,0.000219623238823,-0.000256694135818,1.4411067404e-05,1793245261469162496
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.83727583,658,634,878,785,806,652,630,652,0.400986083454,-0.00535898967539,0.0698394975568,0.999999943756,0.000218313424776,-0.000254205145545,1.43550662805e-05,1793245261485828864
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.26496135,658,634,878,785,806,652,630,652,0.400985395943,-0.00535825958067,0.0698394846484,0.999999943604,0.000217910392655,-0.00025516616939,1.40278118165e-05,1793245261502495232
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.309628193,658,634,878,785,806,652,630.309628193,652,0.40098485194,-0.00535795148595,0.0698390893748,0.999999943361,0.000218041356243,-0.000256009930082,1.39316060419e-05,1793245261519161344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.886178977,658,634,878,785,806,652,630.886178977,652,0.400984431652,-0.00535800718675,0.0698383644739,0.99999994304,0.000218632663973,-0.000256752601137,1.40345814858e-05,1793245261535827712
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.524950184,658,633.524950184,878,785,806,652,630.524950184,652,0.400985088279,-0.00535881623681,0.0698390833916,0.999999943238,0.000218561871815,-0.000256028031451,1.42947238498e-05,1793245261552494336
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.065330143,658,633.065330143,878,785,806,652,630,652,0.400985904555,-0.00535963566938,0.0698399894018,0.999999943506,0.000218282492403,-0.000255201413426,1.45660688033e-05,1793245261569160960
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.642900822,658,633.642900822,878,785,806,652,630,652,0.400985895599,-0.00535908355551,0.0698395777341,0.999999943337,0.00021764458692,-0.000256404461474,1.46221296771e-05,1793245261585827840
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.780668306,658,634,878.219331694,785,806,652,630,652,0.400992665386,-0.00535830263544,0.069842499017,0.999999944381,0.000217926738449,-0.000252053991476,1.46794469014e-05,1793245261602494464
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679.206083645,658,634,878.793916355,785,806,652,630,652,0.401010414746,-0.00535715111656,0.0698508187015,0.999999947267,0.000219699112324,-0.000238708452107,1.47387990374e-05,1793245261619161088
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.622078851,714,679.377921149,657.622078851,634,878.622078851,785,806,652,630,652,0.401042543155,-0.00535784564936,0.0698631325594,0.999999951995,0.000220363573684,-0.000217314639127,1.49950794828e-05,1793245261635827968
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.032805808,714,679.967194192,657.032805808,634,878.032805808,785,806,652,630,652,0.401082713028,-0.00535957258396,0.0698776801542,0.999999957271,0.000220408436517,-0.000191419838588,1.53614918188e-05,1793245261652495104
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.54667253,714,679.45332747,657.54667253,633.45332747,878,785,806,652,630,652,0.401140155152,-0.00536103317407,0.0698906657885,0.999999960425,0.000218318420151,-0.000176773700383,1.54042869286e-05,1793245261669161728
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.12493381,658,633.12493381,878,785,806,652,630,652,0.401201352247,-0.00536266572375,0.0699015320945,0.999999963034,0.000216145102488,-0.000164258011759,1.52628995417e-05,1793245261685828096
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.700886173,658,633.700886173,878,785,806,652,630,652,0.401272429041,-0.00536497574334,0.069905079928,0.999999964639,0.000214125420363,-0.000157039357556,1.4525476601e-05,1793245261702494464
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.281564536,785,806,652,630,652,0.401352852372,-0.00536712180707,0.0699067170606,0.999999965574,0.00021278635838,-0.000152981164607,1.30377007361e-05,1793245261719160832
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.867349132,785,806,652,630,652,0.401443374286,-0.00536909072242,0.0699062897512,0.999999965828,0.000212182681403,-0.000152337733518,1.07391963511e-05,1793245261735827712
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.551743749,785,805.551743749,652,630,652,0.40154904456,-0.0053703643064,0.069903782697,0.999999965197,0.000210176634839,-0.000159269213789,8.05357729694e-06,1793245261752494336
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.972282378,714,679.972282378,658,634,878.027717622,785.027717622,805.027717622,652,630,652.027717622,0.401660961384,-0.00537148692548,0.0699009169747,0.999999964343,0.000207768589387,-0.000167689685414,5.22823311416e-06,1793245261769161216
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.393177144,714,679.393177144,658,634,878.606822856,785.606822856,805.606822856,652,630,652.606822856,0.401808924455,-0.00537365566344,0.0699030276665,0.999999965817,0.000205530277671,-0.000161618152539,1.87769706169e-06,1793245261785828096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.184501076,714,679.184501076,658,634,879,786,806,652,630,652.815498924,0.401967465807,-0.00537606444995,0.0699058598532,0.999999967339,0.000202766612123,-0.000155579473329,-1.52362268076e-06,1793245261802494720
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.759161556,714,679.759161556,658,634,879,786,806,652,630,652.240838444,0.402148376745,-0.0053789808603,0.0699102177649,0.999999969017,0.000198891995419,-0.000149610269649,-5.03233288485e-06,1793245261819161088
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.658721349,806,652,630,652,0.402346533112,-0.00538237744175,0.0699128414305,0.999999970934,0.000192413725181,-0.000144996006502,-9.19115619646e-06,1793245261835827712
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.071224561,806,652,630,652,0.402557131347,-0.0053861204467,0.0699142139112,0.999999972975,0.000184057028447,-0.000141359275112,-1.38190090257e-05,1793245261852494336
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.489362347,785,806,652,630,652,0.402805214228,-0.00539029308002,0.0699157590081,0.999999974865,0.000176966419784,-0.000136281963749,-1.94770189925e-05,1793245261869160960
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.090812889,634,878,785.090812889,806,652,630.090812889,652,0.403066226845,-0.00539480821817,0.0699191250828,0.999999977046,0.000169913897485,-0.000128097038634,-2.50773945725e-05,1793245261885827840
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.666135207,634,878,785.666135207,806,652,630.666135207,652,0.403368632458,-0.00540083447981,0.0699320794758,0.999999980969,0.000162132672044,-0.000104392551535,-2.9612034075e-05,1793245261902494464
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.759331798,806,652,630.759331798,652,0.40368449892,-0.00540690289895,0.0699426290199,0.999999983774,0.000154483706649,-8.60361231378e-05,-3.44286449023e-05,1793245261919161088
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.185890241,806,652,630.185890241,652,0.40401897776,-0.00541302960917,0.0699498533642,0.999999985589,0.000147017618565,-7.50744888481e-05,-3.9635138905e-05,1793245261935827968
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.399146498,785,806,652,630,652,0.404379521314,-0.00541836026167,0.0699533446302,0.999999993207,8.05444619982e-05,-7.19496261764e-05,-4.38402169109e-05,1793245261952494848
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.989744885,785,806,652,630,652,0.404752566881,-0.00542330908237,0.0699550453131,0.999999996133,-1.42316233513e-05,-7.25836957557e-05,-4.75649620663e-05,1793245261969161472
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.430104364,633.430104364,878.430104364,785,806,652,630,652,0.405167193437,-0.00542560452221,0.0699593810153,0.999999995939,5.02944081893e-05,-6.53122971304e-05,-3.64143127641e-05,1793245261985827840
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.149014722,878,785,806,652,630,652,0.405590325604,-0.00542945315184,0.0699624384702,0.99999999305,9.75389356736e-05,-5.93669147664e-05,-2.93526225236e-05,1793245262002494464
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.725702672,878,785,806,652,630,652,0.40603576007,-0.00543789401281,0.0699616937107,0.999999993941,8.71063773358e-05,-5.76281375043e-05,-3.47806831791e-05,1793245262019161088
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.295508598,634,878.295508598,785,806,652,630,652,0.406487708744,-0.00544739248439,0.0699511151005,0.999999993814,7.14487300464e-05,-7.65185075359e-05,-3.75724950751e-05,1793245262035827712
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.85907193,634,878.85907193,785,806,652,630,652,0.406945566485,-0.00545785031152,0.0699316162412,0.999999991464,5.10514229822e-05,-0.00011412149899,-3.7972976236e-05,1793245262052494592
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.449129049,745,714,680,659,633.550870951,879,785,806.449129049,652,630,652,0.407477291031,-0.00548131175284,0.0699208466925,0.999999991285,2.50595805311e-05,-0.000124467593724,-3.61826261108e-05,1793245262069161472
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.953518681,745,714,680.046481319,659,633.046481319,879,785,806.953518681,652,630,652,0.408038859013,-0.00550747527987,0.0699149876702,0.999999991871,-1.80113034307e-06,-0.000122865708634,-3.40386240047e-05,1793245262085828352
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.373823304,745,714,680.626176696,659,633.626176696,879,785,806.373823304,652,630,652,0.408660222892,-0.00551489449962,0.0699320687076,0.999999995283,-1.72288986043e-05,-8.84649151672e-05,-3.62180567565e-05,1793245262102494720
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.795772496,659,634,879,785,806.204227504,652,630,652,0.409277831448,-0.00551978504816,0.0699425772386,0.999999996837,-2.61435090867e-05,-6.47777261923e-05,-3.80333871402e-05,1793245262119161344
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.220707935,659,634,879,785,806.779292065,652,630,652,0.409888621038,-0.00552008402575,0.0699411513871,0.99999999713,-2.323150277e-05,-6.05443420061e-05,-3.91875790474e-05,1793245262135827712
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.63676914,658.63676914,633.63676914,879,785,807,652,630,652,0.410528025505,-0.00552925155984,0.0699387350797,0.999999996502,-3.4373808413e-05,-6.52774581538e-05,-3.94031276867e-05,1793245262152494080
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679.047303126,658.047303126,633.047303126,879,785,807,652,630,652,0.411185252475,-0.0055439427965,0.0699357018756,0.999999994908,-5.426971901e-05,-7.55952804738e-05,-3.90340505456e-05,1793245262169160704
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679.530344208,658.530344208,633.530344208,879,785,807,652,630,652,0.411907634528,-0.00554749184038,0.0699525796706,0.999999996388,-6.03373788405e-05,-4.41514129292e-05,-4.04154575535e-05,1793245262185827584
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.893728909,878.893728909,785,807,652,630,652,0.412643275941,-0.00554852282955,0.0699738262066,0.999999997156,-6.28770702116e-05,-6.58198571834e-06,-4.11292848574e-05,1793245262202494208
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.320828792,878.320828792,785,807,652,630,652,0.413412176905,-0.00554276583193,0.0700066275948,0.999999996867,-5.52233522208e-05,4.18852714305e-05,-3.82411979758e-05,1793245262219160832
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.260212224,745,714,680,659,633.260212224,878.260212224,785,807,652,630,652,0.41416276795,-0.00552590292393,0.0700189388475,0.999999997095,-3.49761379859e-05,5.60648590441e-05,-3.79936714732e-05,1793245262235827456
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.851614811,745,714,680,659,633.851614811,878.851614811,785,807,652,630,652,0.414890054781,-0.00549490474347,0.0700051708708,0.9999999988,1.29970385177e-06,2.66041295893e-05,-4.11069711461e-05,1793245262252494336
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.565179811,745,714,680,659.434820189,633.565179811,879,784.565179811,806.565179811,652,630,652,0.415643663715,-0.00549104804941,0.0699573066308,0.999999997534,4.25274498773e-06,-5.38440143974e-05,-4.48906347993e-05,1793245262269160960
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.014800715,745,714,680,660,633.014800715,879,784.014800715,806.014800715,652,630,652.014800715,0.416408025325,-0.00549646913069,0.0699000366418,0.999999987837,-4.27523204103e-06,-0.000148077287944,-4.87904909133e-05,1793245262285827584
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.577055453,745,714,680,660,633.577055453,879,784.577055453,806.577055453,652,630,652.577055453,0.417244009035,-0.00550880512928,0.0699172805126,0.999999991249,-2.46324146172e-05,-0.00012051913169,-4.86830262554e-05,1793245262302494208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.854081728,659.854081728,634,879,785,807,652,630,652.854081728,0.418093613118,-0.00551860861921,0.0699378915101,0.999999994153,-4.01407058814e-05,-8.80204168017e-05,-4.83220048594e-05,1793245262319160832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.265156868,659.265156868,634,879,785,807,652,630,652.265156868,0.418984568483,-0.00552072343439,0.0699687250736,0.999999997228,-4.09278046178e-05,-4.05222112717e-05,-4.7191187529e-05,1793245262335827456
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.675204005,745,714,679.324795995,659,633.675204005,879.324795995,785,807,652,630,652,0.419876185076,-0.00552443113323,0.0699954516368,0.999999997816,-4.70168606435e-05,1.48867771917e-06,-4.64336534773e-05,1793245262352494080
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.084409265,745,714,679.915590735,659,633.084409265,879.915590735,785,807,652,630,652,0.420768343153,-0.00552944335869,0.0700188146813,0.999999996532,-5.74480698788e-05,3.9005607106e-05,-4.59818279497e-05,1793245262369160960
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.498273848,744.501726152,714,680,659,633,879.501726152,785,806.501726152,652,630,652,0.421681674237,-0.00552315993756,0.0700219281909,0.99999999687,-5.1503610914e-05,3.74456832704e-05,-4.69505831404e-05,1793245262385827840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.078957827,714,680.078957827,659,633,879,785,806.078957827,652,630,652,0.422583065063,-0.0055151329963,0.0700114173871,0.999999997769,-4.34530605711e-05,1.42396116788e-05,-4.87001906618e-05,1793245262402494464
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.770725573,659,633.229274427,879,785,807.229274427,652,630,652,0.424224982829,-0.00550758296996,0.0698799689731,0.99999998003,-4.30781057349e-05,-0.000186075014361,-5.88164197998e-05,1793245262435827456
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+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.386027111,659,633.613972889,879,785,808,652,630,652,0.426053646232,-0.00552542973015,0.0698837870101,0.999999982887,-6.42755324592e-05,-0.000162421888581,-6.09381146676e-05,1793245262469160704
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.983164313,659,633.016835687,879,785,808,652,630,652,0.427021702281,-0.00553291832591,0.0699493705547,0.999999994017,-6.47903578744e-05,-6.91616051693e-05,-5.46306901059e-05,1793245262485827328
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.557663501,633,879,785.557663501,808,652,630.557663501,652,0.428007025102,-0.0055274182447,0.0699967529243,0.999999996374,-6.61921692e-05,-5.3109558796e-06,-5.33146833497e-05,1793245262502494208
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,682,660,633,880,785,808,652,630,652.233093662,0.436102356225,-0.0055408292254,0.0700224362825,0.999999994164,-7.89629202085e-05,4.8698087316e-05,-5.53710207442e-05,1793245262652494336
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.625236719,658,634,879,785.374763281,806,652,630,652,0.400981516212,-0.00535953671576,0.0698259051649,0.999999937685,0.000216300721463,-0.000278602018968,1.50296587925e-05,1793245266116234496
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.694099139,658,634,878.305900861,785,806,652.694099139,630,652,0.400978368061,-0.00535837058679,0.0698275595734,0.999999937404,0.000219770989408,-0.000276915405953,1.45218653776e-05,1793245266182901248
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d618792d40310e61bcb83621bb51aa9bf531259
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac835939598ccf7b1ac5e81e24fa13f6edbef0c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649ac397e51107f71bc686a0e49a6441daa1d8f1b065c9ad7d7569e7e9b926f5
+size 25794236
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1b98a6dc987daa9200b8654bb033237ce43a4ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+28,0.466666667,BASELINE,764.762788122,745,714,680,658,634,878.762788122,785,806,652,630,652,0.400980382821,-0.00536002843595,0.0698349482438,0.999999941825,0.000216679307461,-0.000263048450747,1.43670774764e-05,1793245267060265728
+29,0.483333333,BASELINE,764.190410604,745,714,680,658,634,878.190410604,785,806,652,630,652,0.400979813051,-0.00535983643743,0.0698344283569,0.999999941346,0.000217587966681,-0.000264136248569,1.39815473671e-05,1793245267076932608
+30,0.500000000,BASELINE,764,745,714,680,658,634,878.385561725,785,806,652,630,652,0.400979441554,-0.0053601036105,0.0698344586628,0.999999941456,0.000216790344185,-0.000264382514043,1.38606769568e-05,1793245267093599232
+31,0.516666667,BASELINE,764,745,714,680,658,634,878.963326052,785,806,652,630,652,0.400979168898,-0.00536059968072,0.0698347632402,0.999999941857,0.000215142139864,-0.000264209275428,1.38717394738e-05,1793245267110265600
+32,0.533333333,BASELINE,764.556478702,745,714,680,658,634,879,785,806,652,630,652,0.400979428022,-0.00536030201177,0.0698347725482,0.999999941817,0.000214946168361,-0.000264520127096,1.39282224952e-05,1793245267126932224
+33,0.550000000,BASELINE,764.853803746,745,714,680,658,633.853803746,878.853803746,785,806,652,630,652,0.400979636344,-0.00535983527612,0.069834877656,0.999999941712,0.00021533818011,-0.000264597275056,1.39012803011e-05,1793245267143598848
+34,0.566666667,BASELINE,764.277267886,745,714,680,658,633.277267886,878.277267886,785,806,652,630,652,0.400979589031,-0.00535902923834,0.0698353236662,0.999999941507,0.00021717123075,-0.000263889918152,1.3619707927e-05,1793245267160265728
+35,0.583333333,BASELINE,764.298400154,745,714,680,658,633,878,785,806,652,629.701599846,652,0.400980186265,-0.00535842934078,0.0698353646752,0.99999994125,0.000218456152101,-0.000263812763045,1.34267459979e-05,1793245267176932864
+36,0.600000000,BASELINE,764.873264237,745,714,680,658,633,878,785,806,652,629.126735763,652,0.400981380661,-0.0053580204294,0.0698350304559,0.999999940947,0.000219233238883,-0.000264319481762,1.33158804807e-05,1793245267193599488
+37,0.616666667,BASELINE,764.53922157,745,714,679.53922157,658,633.46077843,878,785,806,652,629.46077843,652,0.40097951614,-0.00535879545672,0.0698344134561,0.999999940989,0.000217982322817,-0.000265189510516,1.34029913801e-05,1793245267210265856
+38,0.633333333,BASELINE,764,745,714,679.050821054,658,633.949178946,878.050821054,785,806,652,630,652,0.400977073712,-0.00535981318049,0.0698337779376,0.999999941106,0.000216319539794,-0.000266101615484,1.35404507734e-05,1793245267226932224
+39,0.650000000,BASELINE,764,745,714,679.629957392,658,633.370042608,878.629957392,785,806,652,630,652,0.400977616789,-0.00535987310842,0.0698337812779,0.999999941026,0.000216337466177,-0.00026638299959,1.36192637193e-05,1793245267243599104
+40,0.666666667,BASELINE,764,744.793565406,714,680,658,633,879,785.206434594,805.793565406,652,630,651.793565406,0.400978429843,-0.00535980076025,0.0698338869349,0.999999941037,0.000216598076401,-0.000266126809556,1.37266030868e-05,1793245267260265984
+41,0.683333333,BASELINE,764,744.221794232,714,680,658,633,879,785.778205768,805.221794232,652,630,651.221794232,0.400979720687,-0.00535949431714,0.0698341736666,0.999999941205,0.000217288175126,-0.00026491925039,1.38844269404e-05,1793245267276932352
+42,0.700000000,BASELINE,764,744,714,679.638814872,658,633.361185128,878.638814872,785.638814872,805.361185128,652,630,651.361185128,0.400980651446,-0.00535988122143,0.0698350861413,0.99999994152,0.000217337734224,-0.000263685455955,1.39527036893e-05,1793245267293598976
+43,0.716666667,BASELINE,764,744,714,679.048732462,658,633.951267538,878.048732462,785.048732462,805.951267538,652,630,651.951267538,0.400981354005,-0.00536070752738,0.0698363951741,0.999999941926,0.000216981358035,-0.00026243503524,1.39642308951e-05,1793245267310265856
+44,0.733333333,BASELINE,764,744.531555448,714,679.531555448,658,634,878,785,805.468444552,652,630,652,0.400979007585,-0.00536084983944,0.0698350420784,0.999999941279,0.000216876523358,-0.000264966556495,1.40820112383e-05,1793245267326932480
+45,0.750000000,BASELINE,764,745,714,680,658,633.889506369,878,785,805.110493631,652,630,652,0.400977142833,-0.00536103975653,0.0698337816227,0.999999940833,0.000216343467415,-0.000267075799186,1.41430081048e-05,1793245267343599104
+46,0.766666667,BASELINE,764,745,714,680,658,633.312544198,878,785,805.687455802,652,630,652,0.400978470256,-0.00536169058936,0.0698339239701,0.999999941656,0.000213907004197,-0.00026596504074,1.3923903301e-05,1793245267360265728
+47,0.783333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400979998607,-0.00536131237368,0.0698348664482,0.999999942094,0.000214186599123,-0.000264089832878,1.38836254548e-05,1793245267376932608
+48,0.800000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400981764455,-0.00535971781406,0.0698367546875,0.999999942068,0.000217676597357,-0.000261311039215,1.40547225517e-05,1793245267393598976
+49,0.816666667,BASELINE,764,745,714,680,658,633.420614678,878,785,806,652,630,652,0.400981271895,-0.00536006451527,0.0698359666544,0.999999941994,0.000216714928775,-0.000262393783159,1.40084157144e-05,1793245267410265600
+50,0.833333333,BASELINE,764,745,714,680,658,633.989423752,878.021152495,785,806,652,630,652,0.400979910884,-0.00536115809525,0.0698341640927,0.999999941901,0.000214021003242,-0.000264951946035,1.387725587e-05,1793245267426932224
+51,0.850000000,BASELINE,764,745,714,680,658,633.410433135,879.17913373,785,806,652,630,652,0.400980802869,-0.00536033572207,0.0698358164855,0.999999942238,0.00021467123667,-0.000263147216901,1.38956761227e-05,1793245267443599104
+52,0.866666667,BASELINE,764,745,714,679.831500111,658,633.168499889,879.663000223,785,805.831500111,652,630,652,0.400981062669,-0.00535981690306,0.0698364852951,0.99999994229,0.000215267976169,-0.000262463771538,1.38738781688e-05,1793245267460265984
+53,0.883333333,BASELINE,764,745,714,679.252707361,658,633.747292639,878.505414722,785,805.252707361,652,630,652,0.400979783114,-0.00536003723063,0.0698347591052,0.999999941652,0.000215734459299,-0.000264510623207,1.37541499229e-05,1793245267476932864
+54,0.900000000,BASELINE,764,744.677008525,714,679.322991475,658,633.677008525,878,785,805.322991475,652,630,652,0.400979529426,-0.00536069030229,0.0698348414475,0.999999941852,0.000215138258976,-0.000264229635269,1.39455450604e-05,1793245267493599232
+55,0.916666667,BASELINE,764,744.103707417,714,679.896292583,658,633.103707417,878,785,805.896292583,652,630,652,0.400980070756,-0.00536167873887,0.0698363253534,0.999999942699,0.000213718507771,-0.000262144634664,1.43780523888e-05,1793245267510265600
+56,0.933333333,BASELINE,764,744.483855934,714,680.483855934,658,633.483855934,878,785,806,652,629.516144066,652,0.400980524598,-0.00536138971641,0.0698365071482,0.999999942728,0.000213865159994,-0.000261937448254,1.39746400456e-05,1793245267526932224
+57,0.950000000,BASELINE,764,745,714,680.926494557,658,634,877.926494557,785,806,652,629.073505443,652,0.400980772342,-0.00536105513145,0.0698363363096,0.999999942614,0.000213992099441,-0.000262293498316,1.34855330019e-05,1793245267543598848
+58,0.966666667,BASELINE,764,745,714,680.344207166,658,634,877.344207166,785,806,652,629.655792834,652,0.400979727284,-0.00536235792782,0.0698357150856,0.999999942759,0.000211588156099,-0.000263677631188,1.36810782063e-05,1793245267560265728
+59,0.983333333,BASELINE,764,745,714,680,658.23399381,633.76600619,877.46798762,785,806,652,630.23399381,652,0.400979479838,-0.0053620953579,0.0698353988862,0.999999942618,0.000211588345916,-0.000264208823925,1.3688595934e-05,1793245267576932608
+60,1.000000000,BASELINE,764,745,714,680,658.806286889,633.193713111,878.612573778,785,806,652,630.806286889,652,0.400980385549,-0.00535956964169,0.0698355236793,0.999999942066,0.000215064338825,-0.000263506868756,1.34242707817e-05,1793245267593599744
+61,1.016666667,BASELINE,764,745,714,680,658.621404939,633.378595061,878.621404939,785.378595061,806,652,631,652,0.40098059139,-0.0053598657916,0.0698358323747,0.999999942305,0.000214603959918,-0.000262957958677,1.36848943657e-05,1793245267610266368
+62,1.033333333,BASELINE,764,745,714,680,658.049089079,633.950910921,878.049089079,785.950910921,806,652,631,652,0.400980439118,-0.00536160584366,0.0698362351699,0.99999994295,0.000212129404774,-0.000262487359267,1.42141255081e-05,1793245267626932736
+63,1.050000000,BASELINE,764.543480344,745,714,680,658,633.456519656,878.543480344,785.456519656,806,652,630.456519656,652,0.400980440729,-0.00536133195878,0.0698361610926,0.999999942799,0.000212617002201,-0.000262688649977,1.38264139078e-05,1793245267643599104
+64,1.066666667,BASELINE,764.867511422,745,713.867511422,680,658,633.132488578,878.867511422,785,806,652,630,652,0.400980587028,-0.00536105637158,0.0698361389114,0.999999942583,0.000213539461894,-0.000262775988191,1.35852529763e-05,1793245267660265984
+65,1.083333333,BASELINE,764.296576618,745,713.296576618,680,658,633.703423382,878.296576618,785,806,652,630,652,0.400981164371,-0.00536140043684,0.06983643653,0.999999942397,0.000214981329676,-0.000262277613822,1.41137660017e-05,1793245267676932352
+66,1.100000000,BASELINE,764,745,713.279494565,680,658,634,878,785,806,652,630,652,0.400980718271,-0.00536158216007,0.0698359955054,0.999999942058,0.000215735682139,-0.000262938668576,1.43121805186e-05,1793245267693598976
+67,1.116666667,BASELINE,764,745,713.861118051,680,658,634,878,785,806,652,630,652,0.400979165848,-0.00536158839427,0.0698347560199,0.999999941553,0.000215746842024,-0.000264853046724,1.41537640713e-05,1793245267710265600
+68,1.133333333,BASELINE,764,745,714,680,658,633.552095236,878,785,806,652,630,652,0.400979673924,-0.00536108676526,0.0698354622041,0.999999942079,0.000214634933547,-0.000263782874096,1.38503479946e-05,1793245267726932480
+69,1.150000000,BASELINE,764,745,714,679.964220585,658,633,878,785,806,652,630,652,0.400980767041,-0.00536047506322,0.0698366769536,0.999999942856,0.000213293462763,-0.000261934526515,1.35375036257e-05,1793245267743599104
+70,1.166666667,BASELINE,764,745,714,679.384430851,658,633,878,785,806,652,630,652,0.400980927975,-0.00536061198437,0.0698363444167,0.999999942596,0.000213818031925,-0.000262489075316,1.37728769148e-05,1793245267760265728
+71,1.183333333,BASELINE,764,744.80545381,714,679.19454619,658,633.19454619,878.19454619,785,806,652,630,652,0.400981032477,-0.00536055476984,0.0698363102641,0.999999942321,0.000214856657764,-0.000262679840138,1.39507301983e-05,1793245267776932608
+72,1.200000000,BASELINE,764,744.228075899,714,679.771924101,658,633.771924101,878.771924101,785,806,652,630,652,0.400981025934,-0.00536011553143,0.0698368632779,0.999999942015,0.000216906854272,-0.000262154743974,1.40153945541e-05,1793245267793599232
+73,1.216666667,BASELINE,764,744.34493621,714,679.65506379,658,634,879,785.34493621,806,652,630,652,0.400981035128,-0.00535952595198,0.069836905529,0.999999941937,0.00021758176778,-0.000261893228243,1.39705120464e-05,1793245267810265600
+74,1.233333333,BASELINE,764,744.915097645,714,679.084902355,658,634,879,785.915097645,806,652,630,652,0.400981054598,-0.00535883820776,0.0698366142787,0.999999942011,0.000217358693614,-0.000261803816719,1.3854101188e-05,1793245267826932224
+75,1.250000000,BASELINE,764,744.491693569,714,679.508306431,658.508306431,634,879,785.491693569,806,652,630,652,0.400979568709,-0.00535934231697,0.0698350646339,0.999999941538,0.000216801568002,-0.000264065827471,1.38082255559e-05,1793245267843598848
+76,1.266666667,BASELINE,764,744.101682639,714,680.101682639,658.898317361,633.898317361,879,785,806,652,630,652,0.40097844403,-0.00535983060329,0.0698338353998,0.999999941152,0.000216539050673,-0.000265739158609,1.37566356943e-05,1793245267860265728
+77,1.283333333,BASELINE,764,744.677053703,714,680.677053703,658.322946297,633.322946297,879,785,806,652,630,652,0.400980229011,-0.00535927374118,0.0698351244712,0.999999941643,0.000217921239108,-0.000262753565583,1.36209353374e-05,1793245267876932608
+78,1.300000000,BASELINE,764.252730484,744.747269516,714,680.747269516,658.252730484,633.252730484,878.747269516,785,806,652,630,652,0.400981452719,-0.00535946099541,0.0698363635068,0.999999942244,0.000217773484326,-0.00026057695742,1.36181814375e-05,1793245267893599232
+79,1.316666667,BASELINE,764.828798349,744.171201651,714,680.171201651,658.828798349,633.828798349,878.171201651,785,806,652,630,652,0.400981958346,-0.00536060025446,0.0698375385277,0.999999942995,0.000215668356411,-0.000259435345518,1.37855160888e-05,1793245267910265856
+80,1.333333333,BASELINE,765,744.414394123,714,680,658.585605877,634,878.414394123,785,806,652.414394123,630,652,0.400981396253,-0.00535954345106,0.0698374000058,0.999999942403,0.000217384019438,-0.000260279670309,1.39062818882e-05,1793245267926932480
+81,1.350000000,BASELINE,764.99605426,745,714,680,658,634,879,785,806,652.99605426,630,652,0.400980393247,-0.00535758044116,0.0698367147943,0.999999941243,0.000220681665499,-0.000261948231828,1.40055700164e-05,1793245267943599104
+82,1.366666667,BASELINE,764.417165602,745,714,680,658,634,879,785,806,652.417165602,630,652,0.400980932571,-0.00535888433527,0.0698373052691,0.999999941755,0.000219072275419,-0.000261352972893,1.38446766174e-05,1793245267960265728
+83,1.383333333,BASELINE,764,745,714,680,658,634,878.839071315,785,806,652,630,652,0.400981272912,-0.00535976719791,0.0698375423804,0.999999942116,0.000217752787597,-0.000261087205253,1.36132114376e-05,1793245267976932352
+84,1.400000000,BASELINE,764,745,714,680,658,634,878.263025989,785,806,652,630,652,0.400981099974,-0.00535956400728,0.0698368679882,0.999999942093,0.000217181104289,-0.00026167136253,1.31997058333e-05,1793245267993598976
+85,1.416666667,BASELINE,764,745,714,680,658,634,878.310728661,785,806,652,630,652,0.400980678931,-0.00535968972096,0.0698361897527,0.999999941977,0.000216703096644,-0.000262514693568,1.30972688173e-05,1793245268010265856
+86,1.433333333,BASELINE,764,745,714,680,658,634,878.882558451,785,806,652,630,652,0.400980049408,-0.00536009180855,0.0698355082878,0.999999941782,0.000216303803438,-0.00026357580481,1.32562185922e-05,1793245268026932736
+87,1.450000000,BASELINE,764,745,714,680,658,634,878.528519519,785,806,652,630,652,0.400980523493,-0.00536026601115,0.0698362443194,0.999999942078,0.000215835662733,-0.000262822425736,1.35526407924e-05,1793245268043599360
+88,1.466666667,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400981113299,-0.00536044111134,0.0698371492379,0.999999942435,0.000215389733546,-0.000261811436758,1.38641763196e-05,1793245268060265984
+89,1.483333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400980320917,-0.00536110377336,0.0698364439742,0.999999942272,0.000215269997471,-0.000262523836589,1.40092318962e-05,1793245268076932608
+90,1.500000000,BASELINE,764,745,714,680,658,634,878.217884267,785,806,652,630,652,0.400980028788,-0.00536178419893,0.0698360901236,0.999999942398,0.000214734887612,-0.000262479027182,1.40529886305e-05,1793245268093599232
+91,1.516666667,BASELINE,764,745,714,680,658,634,878.794897134,785,806,652,630,652,0.400980561202,-0.00536249390327,0.0698363154911,0.999999943,0.000213515136289,-0.000261186144596,1.39297791346e-05,1793245268110265856
+92,1.533333333,BASELINE,764,745,714,680.378065302,658.378065302,634,878.621934698,785,806,652,630,652,0.400980866371,-0.00536142591832,0.0698365428933,0.999999942494,0.000215869702107,-0.000261185954424,1.39019659729e-05,1793245268126932480
+93,1.550000000,BASELINE,764,745,714,680.964628083,658.964628083,634,878.035371917,785,806,652,630,652,0.400981046217,-0.00535937756383,0.0698367714175,0.999999941365,0.000220195451375,-0.000261898665068,1.3926762481e-05,1793245268143599104
+94,1.566666667,BASELINE,764.543944737,745,714,680.456055263,658.456055263,634,878,785,806,652,630,652,0.400980110201,-0.00535954550307,0.0698365196976,0.999999941676,0.000218195553859,-0.000262392936396,1.37047448342e-05,1793245268160265728
+95,1.583333333,BASELINE,764.877790211,745,714,680,658,634,878.122209789,785,806,652,630,652,0.400979567793,-0.00535986616169,0.0698364239994,0.999999941967,0.000216633027018,-0.000262588031705,1.3566825917e-05,1793245268176932352
+96,1.600000000,BASELINE,764.301703549,745,714,680,658,634,878.698296451,785,806,652,630,652,0.400980753162,-0.00536022578597,0.0698370222119,0.999999941849,0.000218202483262,-0.000261724074423,1.38000671008e-05,1793245268193599232
+97,1.616666667,BASELINE,764,745,714,679.725389603,658,634,878.725389603,785,806,652,630,652,0.400980768841,-0.00536061742828,0.0698370548777,0.999999941922,0.000217721974199,-0.00026183601898,1.39961463023e-05,1793245268210266112
+98,1.633333333,BASELINE,764,745,714,679.148825775,658,634,878.148825775,785,806,652,630,652,0.400979498363,-0.00536104427663,0.069836465685,0.9999999422,0.000214987384123,-0.000263021036243,1.4151363279e-05,1793245268226932736
+99,1.650000000,BASELINE,764.436287527,745,714,679.436287527,658,634,878,785,806,652,630,652,0.400979478067,-0.00536110403019,0.0698362119605,0.999999942302,0.000214412649769,-0.000263112440082,1.39611593399e-05,1793245268243599360
+100,1.666666667,BASELINE,764.975888521,744.975888521,714,679.975888521,658,634,878,785,806,652,630,652,0.400979851056,-0.00536105435954,0.0698360476495,0.999999942325,0.000214604098238,-0.000262884672038,1.36733437336e-05,1793245268260265472
+101,1.683333333,BASELINE,764.394170247,744.394170247,714,679.394170247,658,634,878,785,806,652,630,652,0.400979259701,-0.0053614279342,0.0698352518007,0.999999941894,0.000215135263892,-0.000264075381094,1.39075545351e-05,1793245268276932096
+102,1.700000000,BASELINE,764,744.184773081,714,679,658,634,878,785,806,652,630,652,0.400979358345,-0.0053617007777,0.0698352900457,0.999999941764,0.00021579325492,-0.000264019327806,1.41240958652e-05,1793245268293598976
+103,1.716666667,BASELINE,764,744.757884227,714,679,658,634,878,785,806,652,630,652,0.400980907159,-0.00536176191421,0.0698370813082,0.999999942264,0.0002167177951,-0.000261342950718,1.43035011918e-05,1793245268310265856
+104,1.733333333,BASELINE,764,745,714,679.33293543,658,634,878,785,806,652,630,652,0.400981229674,-0.00536092678363,0.0698371819571,0.999999942198,0.000217352417413,-0.000261072028504,1.42312423692e-05,1793245268326932736
+105,1.750000000,BASELINE,764,745,714,679.909405803,658,634,878,785,806,652,630,652,0.400980655178,-0.00535943605339,0.0698360459596,0.99999994172,0.000217774971284,-0.000262560643333,1.39748967766e-05,1793245268343599616
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,653,0.40098265695,-0.00536166329385,0.0698380886829,0.999999942859,0.000216064257446,-0.000259615957637,1.40339320211e-05,1793245268374789632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.413232779,658,634,878,785,806,652,630.586767221,652.413232779,0.400982119175,-0.00536028408738,0.0698377609133,0.99999994239,0.000217591136502,-0.000260150026457,1.39749915064e-05,1793245268391456000
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.169421244,658,634,878.338842489,785,806,652,630.830578756,652,0.400981647171,-0.0053593963255,0.0698374668742,0.999999941994,0.000219073244278,-0.000260428827743,1.40135808378e-05,1793245268408123136
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.742280739,658,634,879.484561477,785,806,652,630.257719261,652,0.40098133179,-0.00535967882715,0.0698372531566,0.999999941773,0.000220448739722,-0.000260099767431,1.42844153554e-05,1793245268424790784
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879.350410063,785,806,652,630.324794969,652,0.400980753907,-0.0053602304424,0.0698371756659,0.999999941823,0.000219608532818,-0.000260623055644,1.42073551929e-05,1793245268441457408
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.169590535,785,806,652,630.915204732,652,0.400979961352,-0.00536100213664,0.0698372095807,0.999999942088,0.000216956341713,-0.000261843387858,1.38457894552e-05,1793245268458123520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.495877882,785,806,652,630.504122118,652,0.400980696555,-0.00536052167818,0.0698379337659,0.999999942307,0.000217203429489,-0.000260798115136,1.38880507421e-05,1793245268474790144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.925356304,785,806,652,630,652,0.400981482972,-0.00536009133506,0.0698384536386,0.999999942466,0.000217568560227,-0.000259879191932,1.39514198155e-05,1793245268491456256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.348437147,785,806,652,630,652,0.400980889929,-0.00536141126896,0.0698368197282,0.999999942277,0.000215456167548,-0.000262367202711,1.37011045011e-05,1793245268508123136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.400982692442,-0.00536198460511,0.0698369961777,0.999999942528,0.000214770392121,-0.000261975121027,1.36788478142e-05,1793245268524790016
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,785,806,652,630,652,0.400988148198,-0.00536141937295,0.0698399334423,0.999999943444,0.000216260220862,-0.000257190872548,1.40043825813e-05,1793245268541456384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.613443399,878,785,806,652,630,652,0.401005143459,-0.00536115162324,0.0698480521936,0.999999946349,0.000217419099884,-0.000244589203228,1.44045774289e-05,1793245268558123008
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.023006764,878,785,806,652,630,652,0.401028224955,-0.00536104077349,0.0698589037966,0.999999950079,0.000218403427483,-0.000227864421783,1.48441499768e-05,1793245268574789632
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.55744578,744.44255422,714,679.44255422,658,633.55744578,878.55744578,785,806,652,630,652,0.401075657144,-0.00536325160753,0.0698746419111,0.999999956584,0.000217272243016,-0.000198470154339,1.5325430289e-05,1793245268591456000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.864442135,744.135557865,714,679.135557865,658,634,878.864442135,785,806,652,630,652,0.40112668179,-0.00536504249144,0.0698891341951,0.999999961315,0.000216566467993,-0.000173847181027,1.56922699903e-05,1793245268608123136
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.292560236,744.707439764,714,679.707439764,658,634,878.292560236,785,806,652,630,652,0.401186091702,-0.00536517867851,0.069898978777,0.999999962405,0.000217506056212,-0.000166235137186,1.56853134555e-05,1793245268624791040
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.287771721,745,714,680,658,634,878,785,806,652,630,652,0.401254056511,-0.00536700170012,0.0699061298731,0.999999964193,0.000216001922373,-0.000157260742345,1.50502566741e-05,1793245268641458176
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.876954196,745,714,680,658,634,878,785,806,652,630,652,0.401330981675,-0.00537059150431,0.069910459824,0.999999966663,0.000211938245423,-0.000146859427886,1.37573306334e-05,1793245268658123776
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.539667871,745,714,680,658,634,878.460332129,785,806,652,630,652,0.40142448985,-0.00537192656542,0.0699098509836,0.999999966887,0.000210648894927,-0.000147381980123,1.14889148912e-05,1793245268674789888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.041727138,633.958272862,878.958272862,785,806.041727138,652,630,652,0.401523743151,-0.00537269153925,0.0699078206333,0.99999996652,0.000209930536799,-0.00015102684723,8.91401435903e-06,1793245268691456000
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.617355464,633.382644536,878.382644536,785,806.617355464,652,630,652,0.401640496492,-0.00537377761578,0.0699042827663,0.99999996609,0.000207147761815,-0.000157726517872,5.71234255335e-06,1793245268708122624
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.809914587,633.190085413,878,785,806.809914587,652,630,652,0.401768805334,-0.00537518401935,0.0699030123841,0.999999966181,0.000204371453766,-0.000160822244607,2.51066382741e-06,1793245268724789504
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.242931553,633.757068447,878,785,806.242931553,652,630,652,0.401920026182,-0.00537722556096,0.0699062379266,0.999999967388,0.000201607968578,-0.000156772141398,-6.91028238517e-07,1793245268741456128
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.657174071,658,634,878,785,806,652,630,652,0.40209342061,-0.00538060844427,0.0699103310222,0.999999969447,0.00019663427007,-0.000149743880766,-4.1884457123e-06,1793245268758123008
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.057341892,658,634,878,785,806,652,630,652,0.402283437918,-0.00538499689117,0.0699150744966,0.99999997205,0.000190003641051,-0.000140482984982,-7.90755993243e-06,1793245268774790144
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744.479353246,714,679,658,634,878,785,806,652,630,652,0.402503373519,-0.00538825142433,0.0699161577007,0.999999973633,0.000183237706869,-0.000137824862385,-1.27279142428e-05,1793245268791456768
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.096386221,714,679.096386221,658,634,878,785,806,652,630,652,0.402733597449,-0.0053915831193,0.0699177552137,0.999999975336,0.000176106269494,-0.000134161478288,-1.77722017588e-05,1793245268808123392
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.672423025,714,679.672423025,658,634,878,785,806,652,630,652,0.402999282503,-0.00539589524336,0.0699238374247,0.9999999783,0.000167227132852,-0.000122022477349,-2.33516007023e-05,1793245268824789760
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.751389182,658,633.751389182,878.248610818,785,806,652,630,652.248610818,0.403283394192,-0.00540060349762,0.0699309928491,0.999999981102,0.000159047723351,-0.000108030946454,-2.87801608141e-05,1793245268841456384
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.175002356,658,633.175002356,878.824997644,785,806,652,630,652.824997644,0.403591800096,-0.00540583402163,0.0699395632304,0.999999983706,0.000151790855771,-9.15969848792e-05,-3.40098501222e-05,1793245268858123008
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.412369412,658,633,878.587630588,785,806,652,630,652.587630588,0.403919755158,-0.00541277049248,0.0699453257211,0.999999986197,0.000138828127488,-8.24211037294e-05,-3.92360988789e-05,1793245268874789376
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.004403834,744.995596166,714,680,658.004403834,633.004403834,878,785,806,652,630,652,0.404256645362,-0.00542042907131,0.0699498660041,0.999999988549,0.000122823949831,-7.64154225975e-05,-4.44607899435e-05,1793245268891456000
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.580000691,744.419999309,714,680,658.580000691,633.580000691,878,785,806,652,630,652,0.404646944778,-0.00542527577622,0.0699546687645,0.999999995622,3.50012721053e-05,-7.11490289651e-05,-4.96780252548e-05,1793245268908123136
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.844673719,744.155326281,714,680,658.844673719,633.844673719,878.155326281,785,806,652,630,652,0.405044612915,-0.00542895941151,0.0699584669078,0.999999996618,-5.02553089856e-06,-6.59103736702e-05,-4.89274408142e-05,1793245268924790016
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.27008044,744.72991956,714,680,658.27008044,633.27008044,878.72991956,785,806,652,630,652,0.405462171128,-0.00542950361138,0.0699595533213,0.999999994116,8.39614752159e-05,-6.07465933201e-05,-3.20681213782e-05,1793245268941456640
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.686694716,713.686694716,680,658,633,878.686694716,785,806,652,630,652,0.405892709715,-0.00543429131284,0.0699576945785,0.999999991357,0.000112207003384,-6.24352130978e-05,-2.82341114633e-05,1793245268958123008
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744.095510675,713.095510675,680,658,633,878.095510675,785,806,652,630,652,0.406334760986,-0.00544284268835,0.0699532236987,0.999999993142,8.6579315821e-05,-7.02014078213e-05,-3.59525919297e-05,1793245268974789376
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744.485183599,713.485183599,679.514816401,658,633,878.485183599,784.514816401,806,652,630,652,0.406815579399,-0.00546177559321,0.0699375048898,0.999999993409,5.20537670262e-05,-9.59913712171e-05,-3.54591880009e-05,1793245268991456000
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.936684225,714,679.063315775,658,633.063315775,879,784,806,652,630,652,0.40731338731,-0.00548270712044,0.0699216168316,0.999999991954,1.75206059357e-05,-0.000121049431498,-3.36568207972e-05,1793245269008122624
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+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.034177189,714,680.965822811,658.034177189,633.965822811,878.965822811,785,806,652,630,652,0.410312609138,-0.00553196766527,0.0699409614205,0.999999996832,-3.73205165485e-05,-5.79817265889e-05,-3.97719805096e-05,1793245269091456512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.544137678,744,713.455862322,680.455862322,658,633.455862322,879,785,806.544137678,652,630,652.544137678,0.410977384751,-0.00554118620033,0.0699393353821,0.999999995576,-5.50818227956e-05,-6.47154620378e-05,-4.03209483292e-05,1793245269108123136
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+152,2.533333333,POSE1_TO_POSE2_PRESS,764.302938534,744.697061466,713.697061466,680,658.697061466,633.697061466,879,785,807,652,630,652.302938534,0.412433854823,-0.00555562086194,0.0699751575594,0.999999996544,-7.26972833222e-05,-6.53090865577e-06,-3.98113259333e-05,1793245269141456640
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.865931455,745,714,680,659.865931455,633.134068545,878.134068545,785,807,652,630,652,0.413941336146,-0.0055514885436,0.0700223419926,0.999999995048,-6.8762061278e-05,6.19655575608e-05,-3.6541997764e-05,1793245269174789888
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.553333491,745,714,680.446666509,659.553333491,633.446666509,878.446666509,785,807,652,630,652.446666509,0.414667352849,-0.00552242709211,0.0700011810631,0.999999998424,-3.4971194823e-05,1.99653037503e-05,-3.91293133702e-05,1793245269191456512
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.974796508,714,680.974796508,659,633.974796508,878.974796508,785,807,652,630,653,0.415389087408,-0.00548784363379,0.0699671241851,0.999999998143,5.6598232892e-06,-4.27413164281e-05,-4.30795259586e-05,1793245269208123136
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,744.399286792,714,680.399286792,659,633.399286792,878.399286792,785,807,652,630,653,0.416164766972,-0.00548858996404,0.0699245691058,0.999999993117,7.3505730142e-07,-0.000107300353981,-4.74650729132e-05,1793245269224790016
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,744,713.823198193,680,659,633.176801807,878.176801807,785,807,652,630,652.823198193,0.416975664744,-0.00549413431652,0.0699034209026,0.999999989009,-8.88613191421e-06,-0.000139348752451,-4.98424891242e-05,1793245269241456896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,713.245797993,680,659,633.754202007,878.754202007,785,807,652,630,652.245797993,0.417866360058,-0.005510550051,0.0699307765054,0.999999993663,-2.91484993423e-05,-9.77343841067e-05,-4.76698730144e-05,1793245269258123008
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.3390424,713.3390424,680.3390424,659.3390424,634,879,784.6609576,807,652,630,652,0.418742432361,-0.00552003504028,0.0699587133553,0.999999996425,-4.13513167442e-05,-5.70788516214e-05,-4.67137679655e-05,1793245269274789632
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744.929397762,713.929397762,680.929397762,659.929397762,634,879,784.070602238,807,652,630,652,0.419607665415,-0.00552438265929,0.0699870810496,0.999999997633,-4.75800444777e-05,-1.71340518137e-05,-4.66593938756e-05,1793245269291456256
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.510888966,745,714,680.489111034,659.489111034,633.489111034,879,784.510888966,807,652,630,652,0.420516294021,-0.00552993819709,0.0700112626309,0.999999997246,-5.36805593015e-05,2.29654871854e-05,-4.58222046481e-05,1793245269308122880
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.909900916,744.909900916,714,680.090099084,659.090099084,633.090099084,879,785,807.090099084,652,630,652,0.421424969429,-0.00553339640202,0.0700290872953,0.999999995876,-5.8150762973e-05,5.29424142621e-05,-4.54237024e-05,1793245269324789504
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.336468518,744.336468518,714,680.663531482,659.663531482,633.663531482,879,785,807.663531482,652,630,652,0.422302273304,-0.00552472332945,0.0700158609106,0.999999996988,-5.3968647451e-05,2.85041791913e-05,-4.7948957401e-05,1793245269341456128
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.243469132,744.243469132,714,681,660,633.756530868,879,785,807.756530868,652,630.243469132,652.243469132,0.423148135781,-0.00551483166895,0.0699715878357,0.999999996537,-4.80831332044e-05,-4.36262351375e-05,-5.20713684572e-05,1793245269358122752
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.832643769,744.832643769,714,681,660,633.167356231,879,785,807.167356231,652,630.832643769,652.832643769,0.423949354269,-0.00550320971576,0.0698832310933,0.999999980668,-3.97789360543e-05,-0.000183475500163,-5.84616052736e-05,1793245269374789376
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.58525653,745,714,680.58525653,659.58525653,633,879,785,807,652,630.58525653,652.58525653,0.424853007056,-0.00550895742975,0.0698608823641,0.999999974762,-4.88014710124e-05,-0.000210489332941,-6.15562340754e-05,1793245269391456000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.005963842,745,714,680.005963842,659.005963842,633,879,785,807,652,630.005963842,652.005963842,0.42579730054,-0.00552159654928,0.0698647222792,0.999999977327,-6.46983770166e-05,-0.000192735769551,-6.33433323012e-05,1793245269408122624
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.568274074,744.431725926,714,680.568274074,659.568274074,633,879.568274074,785,807,652,630,652,0.426758334896,-0.00552828242809,0.0699272698436,0.999999990828,-6.48515580024e-05,-0.000104336855833,-5.70326212898e-05,1793245269424790016
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.857249144,744.142750856,714,681.142750856,660,633,880,785,807.142750856,652,630,652,0.427723831447,-0.00553296067994,0.069985154804,0.999999996252,-6.56729124883e-05,-2.16044133692e-05,-5.21088242705e-05,1793245269441456896
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.281889164,744.718110836,714,681.718110836,660,633,880,785,807.718110836,652,630,652,0.428702322975,-0.00553174244958,0.0700270589619,0.999999995414,-6.90154832422e-05,4.17286618123e-05,-5.1643371479e-05,1793245269458123264
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.301927473,745,714,681.698072527,660,633,879.698072527,785,808,652,630,652.301927473,0.429657985855,-0.00552964825768,0.0700469773221,0.999999993554,-6.78880477977e-05,7.47272912411e-05,-5.19447530019e-05,1793245269474789888
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.893866998,745,714,681.106133002,660,633,879.106133002,785,808,652,630,652.893866998,0.430591720953,-0.00552671267371,0.0700457775414,0.999999993557,-6.24670128087e-05,7.85886057631e-05,-5.29827062644e-05,1793245269491456512
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.474647708,659.525352292,633,879.474647708,785,808,652,630,653,0.431406877074,-0.00552596085214,0.0699737977531,0.999999995362,-6.14132081065e-05,-4.8369807709e-05,-5.62619426857e-05,1793245269508123392
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.947369315,682,659.052630685,633.052630685,880,785.052630685,808,652,630.052630685,652.947369315,0.432206141671,-0.00552608288358,0.0698939537481,0.999999978463,-6.17520604586e-05,-0.000188902881427,-5.98111620082e-05,1793245269524789760
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.372954781,682,659.627045219,633.627045219,880,785.627045219,808,652,630.627045219,652.372954781,0.433104686544,-0.00553013853314,0.0698894460085,0.9999999796,-6.64388223654e-05,-0.000180673212022,-6.11826185989e-05,1793245269541456640
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.798461917,745,713.201538083,682,660,633.798461917,880,786,808,652,630.798461917,652.201538083,0.434024518339,-0.00553420485742,0.069911210481,0.999999986348,-7.26789137073e-05,-0.000135344578026,-6.08502162805e-05,1793245269558123264
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.223823945,745,713.776176055,682,660,633.223823945,880,786,808,652,630.223823945,652.776176055,0.434983757968,-0.00553829094407,0.0699816117127,0.999999994782,-8.17946257366e-05,-2.13360202114e-05,-5.73635236021e-05,1793245269574789888
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+180,3.000000000,POSE1_TO_POSE2_PRESS,764.955097228,745,714,682,660,633,880,785.044902772,808,652,630,652.044902772,0.436813316906,-0.00553945999403,0.07004077347,0.99999999298,-6.87766531997e-05,7.94372455502e-05,-5.47614523545e-05,1793245269608122624
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.466957376,745,714,682.533042624,660,633,880,785.533042624,808,652,630,652.533042624,0.437646318389,-0.00553939054903,0.0700206851554,0.999999993379,-7.77261988685e-05,6.27841368732e-05,-5.70892824376e-05,1793245269624789760
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.109728187,745,714,682.890271813,660.109728187,633,880.109728187,785.890271813,808,652.109728187,630,653,0.438449477014,-0.00553895514638,0.0699874965794,0.999999994466,-8.3795603933e-05,2.21514996971e-05,-5.96247301308e-05,1793245269641456640
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.686316449,745,714,682.313683551,660.686316449,633,880.686316449,785.313683551,808,652.686316449,630,653,0.439150418144,-0.00553689547411,0.0699124409498,0.999999990313,-7.09059449585e-05,-0.000102503952021,-6.19629751001e-05,1793245269658123264
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.731796602,745,713.731796602,682.268203398,660.463593204,633,880.731796602,785,808.268203398,652.731796602,630.268203398,653,0.439855621767,-0.00553698536237,0.0698442474512,0.999999972434,-6.94606673131e-05,-0.000214890765397,-6.42585940542e-05,1793245269674789632
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.016461484,744.016461484,714,683,658.016461484,632,879.983538516,784.983538516,809,652,630.983538516,652.016461484,0.442134011792,-0.00554682465036,0.0698375452372,0.99999996832,-8.21124529128e-05,-0.000229201879988,-6.39103683699e-05,1793245269724789504
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.916979164,745,713.083020836,683.083020836,658,632,880,784,809,652,630,653,0.445356000019,-0.00554172575294,0.0697302157319,0.999999907892,-6.32977436168e-05,-0.000419520946895,-6.48944471224e-05,1793245269808123136
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.600947729,745,714,684,656.600947729,630,880,783,809,652,630,653,0.448506535906,-0.00555536048623,0.0696788246457,0.999999868594,-8.16160117977e-05,-0.000502198454155,-6.28368835214e-05,1793245269908122880
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d11980e57bfbc3bd9a5a4bd57d3914b09197410
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15fe91acf31d2b5b8ce9363cf54a08dbbfe59dbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec0cfea85b615ed1b269f69156f51bb5b65d96893919d077a979c19a691eaeed
+size 25852214
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16121d1adefbe8798b688f0138244992769054d4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+5,0.083333333,BASELINE,764,744.899469338,714,680,658.798938675,633,878,785,805.899469338,652,630,652.100530662,0.400978562221,-0.00536123018715,0.0698312949473,0.999999940562,0.000214303507872,-0.000269767041634,1.32218422431e-05,1793245273627695360
+6,0.100000000,BASELINE,764,745,714,679.518507384,658.037014768,633,878.481492616,785,806,652,630,652,0.400979535665,-0.00536166286808,0.0698319857162,0.999999940947,0.000213857694238,-0.000268687962611,1.33129943888e-05,1793245273644361984
+7,0.116666667,BASELINE,764.059920391,744.940079609,714,679.059920391,657.119840781,633,878.940079609,785,805.940079609,652,630,652,0.400980897967,-0.00536214814785,0.069833080129,0.999999941489,0.000213280911178,-0.000267116659588,1.34832403584e-05,1793245273661028608
+8,0.133333333,BASELINE,764.634053928,744.365946072,714,679.634053928,658.268107857,633,878.365946072,785,805.365946072,652,630,652,0.400980169314,-0.00536204782944,0.0698327257422,0.999999941453,0.000212431755776,-0.000267931106792,1.33993917754e-05,1793245273677695232
+9,0.150000000,BASELINE,764.786948683,744.213051317,714,680,659,633,878.213051317,785,805.213051317,652,630,652,0.400979760823,-0.005361686775,0.0698327529442,0.999999941478,0.000212143657105,-0.00026807226665,1.32927066008e-05,1793245273694362112
+10,0.166666667,BASELINE,764.199401816,744.800598184,714,680,659,633,878.800598184,785,805.800598184,652,630,652,0.400979915102,-0.0053608674062,0.0698334508924,0.99999994161,0.000212841768101,-0.000267029941058,1.31458799234e-05,1793245273711028736
+11,0.183333333,BASELINE,764,745,714,680,658.61741859,633,878.61741859,784.61741859,806,652,629.61741859,652,0.400979866215,-0.00536060214928,0.0698330392116,0.999999941428,0.000213320266209,-0.000267333181207,1.30863093893e-05,1793245273727695104
+12,0.200000000,BASELINE,764,745,714,680,658.038293521,633,878.038293521,784.038293521,806,652,629.038293521,652,0.400979712955,-0.00536062155634,0.0698320574807,0.999999941084,0.000213685942587,-0.000268327679139,1.30715649658e-05,1793245273744361472
+13,0.216666667,BASELINE,764,744.461128489,714,680,658,633,878.538871511,784.538871511,806,652,629.538871511,652,0.400976930254,-0.00536123674563,0.0698305336626,0.999999940374,0.000213306313947,-0.00027125131577,1.32148761125e-05,1793245273761028864
+14,0.233333333,BASELINE,764,744,714,679.88441484,657.88441484,633,878.88441484,785,806,652,629.88441484,651.88441484,0.400975101072,-0.00536204180937,0.0698295867502,0.999999939919,0.000213044049325,-0.000273122431031,1.33884786602e-05,1793245273777696000
+15,0.250000000,BASELINE,764,744,714,679.308944786,657.308944786,633,878.308944786,785,806,652,629.308944786,651.308944786,0.400977806462,-0.00536343449601,0.0698310879173,0.999999940604,0.000213458710886,-0.000270262356077,1.36380766169e-05,1793245273794362368
+16,0.266666667,BASELINE,764,744.27226704,714,679.27226704,657.27226704,633.27226704,878,785,806.27226704,652,629.27226704,651,0.400979530382,-0.00536360507542,0.0698321519305,0.999999941154,0.000213341578672,-0.000268311293605,1.36540357612e-05,1793245273811028480
+17,0.283333333,BASELINE,764,744.860134451,714,679.860134451,657.860134451,633.860134451,878,785,806.860134451,652,629.860134451,651,0.400980116622,-0.00536235904001,0.0698327092134,0.999999941554,0.000212608013713,-0.000267413919908,1.33991707176e-05,1793245273827695104
+18,0.300000000,BASELINE,764,745,714,680,658,634,878,785,806.557398529,652,630,651.442601471,0.400979990986,-0.00536175821407,0.0698330029416,0.99999994149,0.000213487270314,-0.000266956051561,1.3326935331e-05,1793245273844362240
+19,0.316666667,BASELINE,764.023174237,744.976825763,714,680,658,633.976825763,878,785,806,652,630,652,0.400979636252,-0.00536142406722,0.0698331979633,0.999999941307,0.000214699970493,-0.000266667696884,1.33173460576e-05,1793245273861029376
+20,0.333333333,BASELINE,764.598782643,744.401217357,714,680,658,633.401217357,878,785,806,652,630,652,0.40097911818,-0.00536264526393,0.0698330014395,0.999999941783,0.00021185832554,-0.000267149336001,1.3441951851e-05,1793245273877696000
+21,0.350000000,BASELINE,764.825865659,744.174134341,714,680,658,633.174134341,878.174134341,785,806,652,630,652,0.400978949393,-0.00536322658158,0.0698329921057,0.999999942012,0.000210606679685,-0.000267279110671,1.34863942513e-05,1793245273894362368
+22,0.366666667,BASELINE,764.251104645,744.748895355,714,680,658,633.748895355,878.748895355,785,806,652,630,652,0.400979584194,-0.00536233574475,0.0698334134355,0.999999941686,0.000213013106754,-0.000266599359243,1.33464066515e-05,1793245273911028736
+23,0.383333333,BASELINE,763.666399106,744.666399106,714,679.666399106,658,633.666399106,878.666399106,785,806,652,630,652,0.400979833482,-0.00536093473143,0.0698333563769,0.999999941385,0.000214706246405,-0.000266382171861,1.3132319326e-05,1793245273927695360
+24,0.400000000,BASELINE,763.073978172,744.073978172,714,679.073978172,658,633.073978172,878.073978172,785,806,652,630,652,0.400979783675,-0.00535913790403,0.0698329281667,0.999999941105,0.000215845991281,-0.000266523858877,1.28607426493e-05,1793245273944361984
+25,0.416666667,BASELINE,763.504667981,744,714,679.504667981,658,633,878,785.504667981,806,652,630,652,0.400980252129,-0.00535927752734,0.0698330993119,0.999999940922,0.00021718569602,-0.000266117344642,1.29714751343e-05,1793245273961028352
+26,0.433333333,BASELINE,764,744.081211205,714,680,658,633.081211205,878.081211205,785.918788795,806,651.918788795,630,652,0.400980659315,-0.00535971112592,0.0698333396325,0.999999940845,0.000218029367894,-0.000265707575711,1.31041891144e-05,1793245273977694976
+27,0.450000000,BASELINE,764,744.656918265,714,680,658,633.656918265,878.656918265,785.343081735,806,651.343081735,630,652,0.400980243143,-0.00536025223978,0.0698334804071,0.999999941344,0.000215678954198,-0.000265754298478,1.30385758235e-05,1793245273994361856
+28,0.466666667,BASELINE,764,745,714,680,658,634,879,785,806,651.237986567,630,652,0.400979700641,-0.00536048688763,0.0698335245242,0.999999941632,0.00021426425267,-0.000265812456004,1.30674678767e-05,1793245274011028992
+29,0.483333333,BASELINE,764,745,714,680,658,634,879,785,806,651.826961729,630,652,0.400978971825,-0.00536026955164,0.0698334260884,0.999999941617,0.0002142295632,-0.000265887477804,1.32357388001e-05,1793245274027695616
+30,0.500000000,BASELINE,764,745,714,680,657.590899188,634,878.590899188,785,806,652,630,652,0.400978802434,-0.00536000562102,0.0698331531419,0.99999994108,0.000215458351665,-0.00026691297717,1.32070856247e-05,1793245274044361984
+31,0.516666667,BASELINE,764,745,714,680,657.011604069,634,878.011604069,785,806,652,630,652,0.400978865774,-0.0053597223061,0.0698328075954,0.999999940322,0.000217212772801,-0.000268333894649,1.30965079911e-05,1793245274061028096
+32,0.533333333,BASELINE,764,745,714,680,657.56364156,633.43635844,878,785,805.43635844,652,630,652,0.400980042183,-0.00536068470816,0.069833232001,0.999999941143,0.000216760957012,-0.000265622801744,1.31722389992e-05,1793245274077694976
+33,0.550000000,BASELINE,764,744.862564716,714,679.862564716,658.137435284,633,878,785,805,652,630.137435284,652,0.40098119048,-0.00536132435045,0.0698338049956,0.999999941814,0.00021637225061,-0.000263401141418,1.32285801529e-05,1793245274094361600
+34,0.566666667,BASELINE,764,744.293075222,714,679.293075222,658.706924778,633,878,785,805,652,630.706924778,652,0.400982178878,-0.0053608692859,0.0698347956313,0.999999941935,0.000216323712761,-0.000262983628413,1.32119934354e-05,1793245274111028224
+35,0.583333333,BASELINE,764,744.289587967,714,679.289587967,658.710412033,633,878,785,805,652,630.710412033,651.710412033,0.400981465602,-0.00536087833389,0.0698345621286,0.99999994177,0.000215856414679,-0.000263991597366,1.31816105211e-05,1793245274127695104
+36,0.600000000,BASELINE,764,744.886218973,714,679.886218973,658.113781027,633,878,785,805,652,630.113781027,651.113781027,0.400978948084,-0.00536137946902,0.0698330307021,0.999999941299,0.000214945115358,-0.000266510969921,1.31365998347e-05,1793245274144361728
+37,0.616666667,BASELINE,764,745,714,680,658.469091488,633.469091488,878.469091488,785,805.469091488,652,630,651.469091488,0.400979609199,-0.00536294891831,0.0698330618443,0.999999942264,0.000211849365754,-0.000265369783889,1.30399515829e-05,1793245274161028608
+38,0.633333333,BASELINE,764,745,714,679.951807354,658.951807354,633.951807354,878.951807354,785,806,652,630,652,0.400980836682,-0.00536438024889,0.0698333965441,0.999999943309,0.000209001944738,-0.000263689677973,1.29602169852e-05,1793245274177694976
+39,0.650000000,BASELINE,764,745,714,679.378472778,658.378472778,633.378472778,878.378472778,785,806,652,630,652,0.400980073773,-0.00536156337065,0.0698330267343,0.999999941659,0.000214469621901,-0.000265536526796,1.31973783306e-05,1793245274194361856
+40,0.666666667,BASELINE,764,745,714,679.200092138,658,633.200092138,878.200092138,785,806,652,630,652,0.400979356304,-0.0053597968025,0.0698326978958,0.999999940575,0.000217775592663,-0.000266922437131,1.32948659529e-05,1793245274211028480
+41,0.683333333,BASELINE,764,745,714,679.788815709,658,633.788815709,878.788815709,785,806,652,630,652,0.400978727092,-0.00536007021231,0.0698324486344,0.99999994064,0.000216882962053,-0.000267413083874,1.31210705417e-05,1793245274227695104
+42,0.700000000,BASELINE,764,745,714,680,658,634,878.626504016,785.373495984,806,652,630,652,0.400978860216,-0.00536067980778,0.0698327680201,0.999999941112,0.000215411233509,-0.000266839498251,1.30835260526e-05,1793245274244361472
+43,0.716666667,BASELINE,764,745,714,680,658,634,878.044085461,785.955914539,806,652,630,652,0.40097941977,-0.00536147745551,0.0698334054901,0.999999941808,0.000213615574793,-0.000265670612604,1.31221962918e-05,1793245274261028352
+44,0.733333333,BASELINE,764.530176239,745,714,680,657.469823761,634,878,785.469823761,806,652,630,652,0.400981425883,-0.00536214993129,0.0698344557465,0.999999942259,0.000213773259541,-0.000263830489181,1.32935248823e-05,1793245274277695232
+45,0.750000000,BASELINE,764.895964516,745,714,680,657.104035484,634,878.104035484,785,806,652,630,652,0.400982999466,-0.00536249649093,0.0698352443591,0.999999942546,0.000214140533428,-0.000262434447225,1.34366035129e-05,1793245274294361856
+46,0.766666667,BASELINE,764.320903234,745,714,680,657.679096766,634,878.679096766,785,806,652,630,652,0.400982078401,-0.00536141385935,0.0698346953163,0.999999942192,0.000214732486387,-0.000263297883117,1.34025929339e-05,1793245274311028736
+47,0.783333333,BASELINE,764,744.739780585,714,680,658,634,879.260219415,785,806,652,630,652,0.400981145334,-0.00536098821273,0.0698341679836,0.99999994185,0.000215015933084,-0.000264368812776,1.33444950627e-05,1793245274327695360
+48,0.800000000,BASELINE,764,744.151004692,714,680,658,634,879.848995308,785,806,652,630,652,0.400980197114,-0.00536139208385,0.0698336680625,0.99999994152,0.000214909855776,-0.00026570172693,1.32559842533e-05,1793245274344361728
+49,0.816666667,BASELINE,764,744.431944599,714,680,658,634,879.568055401,785,806,652,630,652,0.400980294994,-0.00536145230757,0.0698334655216,0.99999994148,0.000214895603095,-0.000265875013648,1.30859126528e-05,1793245274361028352
+50,0.833333333,BASELINE,764,745,714,679.987209204,658,634,878.987209204,785,806,652,630,652,0.400980747048,-0.00536141080307,0.0698333863008,0.999999941549,0.000214887436631,-0.000265630176804,1.28947493322e-05,1793245274377694720
+51,0.850000000,BASELINE,764,745,714,679.410473599,658,634,878.410473599,785,806,652,630,652,0.400980905094,-0.00536211042522,0.0698342215865,0.999999942068,0.000213751109089,-0.000264586344457,1.30140594244e-05,1793245274394361344
+52,0.866666667,BASELINE,764,745,714,679,658,634,878,785,806,652,630,652,0.400981125341,-0.00536245665648,0.0698349547775,0.999999942393,0.000213361333426,-0.000263664736911,1.31232099048e-05,1793245274411028224
+53,0.883333333,BASELINE,764,745,714,679,658,634,878,785,806,652,630,652,0.400981499154,-0.00536193042367,0.0698354359134,0.999999942244,0.000214814671713,-0.000263044882374,1.32072779664e-05,1793245274427695104
+54,0.900000000,BASELINE,764,745,714,679.321532447,657.678467553,634,878,785,805.678467553,652,630,652,0.400980469108,-0.00536129595092,0.0698347339573,0.999999941751,0.000215725184993,-0.000264168566467,1.32590797068e-05,1793245274444361984
+55,0.916666667,BASELINE,764,745,714,679.914529322,657.085470678,634,878,785,805.085470678,652,630,652,0.400978253807,-0.00536057009304,0.0698330331365,0.999999940964,0.000216177400188,-0.000266764290888,1.3283639531e-05,1793245274461029120
+56,0.933333333,BASELINE,763.507161076,745,714,679.507161076,657.492838924,633.507161076,878,785,805.492838924,652,630.492838924,652,0.400979585062,-0.00536216901259,0.0698341280796,0.999999941978,0.000213307777012,-0.000265265227906,1.33672506611e-05,1793245274477695232
+57,0.950000000,BASELINE,763.068705246,745,714,679.068705246,658,633.068705246,878,785,805.931294754,652,630.931294754,652,0.400981280639,-0.00536374846469,0.0698354358526,0.999999943041,0.000210581384411,-0.000263424826295,1.34411247812e-05,1793245274494361600
+58,0.966666667,BASELINE,763.644793939,745,714,679.644793939,658,633.644793939,878,785,805.355206061,652,630.355206061,652,0.400981255968,-0.00536229289454,0.0698348383516,0.999999942327,0.000213044011345,-0.000264156227206,1.33696513927e-05,1793245274511028224
+59,0.983333333,BASELINE,764,745,714,680,658,634,878,785,805.225007812,652,630,652,0.400980832996,-0.0053613195637,0.0698343167417,0.999999941796,0.000214641725612,-0.000264878143817,1.32697594487e-05,1793245274527694848
+60,1.000000000,BASELINE,764,745,714,680,658,634,878,785,805.811855569,652,630,652,0.400979769506,-0.00536112173214,0.0698339171738,0.999999941566,0.000214848555447,-0.000265584808639,1.31241669978e-05,1793245274544361472
+61,1.016666667,BASELINE,764,745,714,680,658,633.604057991,878,785,806,652,630,652,0.400979740312,-0.00536087542063,0.0698341136216,0.999999941583,0.00021530066112,-0.000265154863256,1.31036885534e-05,1793245274561028352
+62,1.033333333,BASELINE,764,745,714,680,658,633.021274624,878,785,806,652,630,652,0.400980199192,-0.00536060623189,0.0698345913239,0.999999941716,0.000215868510172,-0.000264188562029,1.31422502553e-05,1793245274577695232
+63,1.050000000,BASELINE,763.445286956,745,714,680,658,633.554713044,878,785,806,652,630,652,0.400980321282,-0.00536053638186,0.0698348605697,0.999999941914,0.000215179194073,-0.000264007098687,1.30063577419e-05,1793245274594361856
+64,1.066666667,BASELINE,763.130169325,745,714,679.869830675,658,633.869830675,878,785,806,652,630,652,0.400980620109,-0.00536067505483,0.0698350941998,0.999999942164,0.000214330319045,-0.000263759947258,1.28917430781e-05,1793245274611028736
+65,1.083333333,BASELINE,763.704690551,745,714,679.295309449,658,633.295309449,878,785,806,652,630,652,0.400981565809,-0.00536149976946,0.0698352332116,0.999999942578,0.000213099364815,-0.000263187051207,1.28723268875e-05,1793245274627695104
+66,1.100000000,BASELINE,764,745,714,679,658,633.287224132,878,785,806,652,630,652,0.400982016546,-0.00536180579218,0.0698351538812,0.999999942717,0.000212773984375,-0.000262923583492,1.28545494729e-05,1793245274644361728
+67,1.116666667,BASELINE,764,745,714,679,658,633.878231974,878,785,806,652,630,652,0.400981943784,-0.00536156321834,0.0698348436204,0.999999942565,0.000213406387624,-0.000262987383884,1.28385053171e-05,1793245274661028352
+68,1.133333333,BASELINE,764,745,714,679.458182949,658,633.541817051,878,785,806,652,630,652,0.400981927706,-0.00536147580327,0.0698352651598,0.999999942694,0.000213683448178,-0.000262261987511,1.30728504852e-05,1793245274677695232
+69,1.150000000,BASELINE,764,745,714,679.964950377,658,633.035049623,878,785,806,652,630,652,0.40098184858,-0.00536144589742,0.0698357857582,0.999999942832,0.000213925878938,-0.000261521626368,1.33516023894e-05,1793245274694362112
+70,1.166666667,BASELINE,764,745,714,679.391388268,658,633.608611732,878,785,806,652,630,652,0.400980574765,-0.00536168095538,0.0698349106102,0.999999942019,0.000215053013704,-0.000263697904161,1.33143189917e-05,1793245274711028736
+71,1.183333333,BASELINE,764,745,714,679,658,633.812491559,878.187508441,785.187508441,806,652,630,652,0.40098022339,-0.00536206616496,0.0698346270223,0.999999941775,0.000215498642481,-0.000264260046496,1.3330392894e-05,1793245274727695360
+72,1.200000000,BASELINE,764,745,714,679,658,633.222133708,878.777866292,785.777866292,806,652,630,652,0.400981853811,-0.00536277396537,0.0698356143618,0.999999942755,0.000214480101206,-0.000261354326619,1.34611013976e-05,1793245274744362240
+73,1.216666667,BASELINE,764.361456789,745,714,679.361456789,658,633.361456789,879,785.638543211,806,652,629.638543211,652,0.400982033253,-0.00536216365251,0.0698356729598,0.999999942752,0.000214459689432,-0.000261396143016,1.32407736593e-05,1793245274761028864
+74,1.233333333,BASELINE,764.940964798,745,714,679.940964798,658,633.940964798,879,785.059035202,806,652,629.059035202,652,0.400981337382,-0.00536075817899,0.0698351712882,0.999999942155,0.000215041406003,-0.000263216080522,1.28086809566e-05,1793245274777695232
+75,1.250000000,BASELINE,764.484640466,745,714,679.484640466,658,634,878.484640466,785,806,652,629.515359534,652,0.4009810831,-0.00536134024456,0.0698349826977,0.999999942159,0.000214492845493,-0.000263635814734,1.31031288567e-05,1793245274794361600
+76,1.266666667,BASELINE,764,745,714,679.08919678,658,634,878.08919678,785,806,652,630,652,0.400980918978,-0.00536200917429,0.069834847478,0.999999942176,0.000214119297099,-0.000263858130462,1.344437888e-05,1793245274811028480
+77,1.283333333,BASELINE,764,745,714,679.663156227,658,634,878.663156227,785,806,652,630,652,0.400980972642,-0.00536192498459,0.0698348093186,0.999999941897,0.000215393648261,-0.000263870670717,1.35921160357e-05,1793245274827694848
+78,1.300000000,BASELINE,764,745,714,680,658,634,878.754765471,785,805.754765471,652,630,652,0.400980595987,-0.00536140267424,0.0698344802693,0.99999994172,0.000215626284457,-0.000264353456032,1.34759853475e-05,1793245274844361728
+79,1.316666667,BASELINE,764,745,714,680,658,634,878.161153669,785,805.161153669,652,630,652,0.400979608028,-0.00536025797486,0.0698337379852,0.99999994169,0.000214379072579,-0.00026550426592,1.29850071073e-05,1793245274861028608
+80,1.333333333,BASELINE,764,744.578992738,714,680,657.578992738,633.578992738,878,785,805.421007262,652,630,652,0.40097893384,-0.00536078360958,0.0698335463148,0.999999941832,0.000213076094798,-0.000266027908443,1.2808001631e-05,1793245274877695488
+81,1.350000000,BASELINE,764,744.001098877,714,680,657.001098877,633.001098877,878,785,805.998901123,652,630,652,0.400978376578,-0.00536193168724,0.0698335598282,0.999999942037,0.000211752335981,-0.00026631783976,1.27479967544e-05,1793245274894362368
+82,1.366666667,BASELINE,764,744.574565642,714,680,658.149131284,633,878,785,806,652,630,652,0.400979879365,-0.00536231074501,0.0698345974541,0.99999994256,0.000211037383451,-0.000264903966753,1.30208197027e-05,1793245274911028736
+83,1.383333333,BASELINE,764,745,714,679.84656317,659,633.15343683,878.15343683,785,806,652,630,652,0.400981075509,-0.00536269902247,0.0698354841911,0.999999942961,0.000210773660874,-0.000263588546547,1.31879338922e-05,1793245274927695360
+84,1.400000000,BASELINE,764,745,714,679.258598646,659,633.741401354,878.741401354,785,806,652,630,652,0.400981392138,-0.00536311755896,0.0698359380913,0.999999943019,0.000211784520765,-0.00026256113341,1.30538889616e-05,1793245274944361728
+85,1.416666667,BASELINE,764,745,714,679,658.675462291,634,878.675462291,785,806,652,630,652,0.40098114576,-0.00536223565838,0.0698361201957,0.99999994265,0.00021386540628,-0.000262285474412,1.29493108309e-05,1793245274961028352
+86,1.433333333,BASELINE,764,745,714,679,658.096116764,634,878.096116764,785,806,652,630,652,0.400980457344,-0.00536033273148,0.069836088902,0.99999994194,0.000216786412576,-0.000262600048372,1.28678682974e-05,1793245274977694976
+87,1.450000000,BASELINE,764,744.519064183,714,679,658,634,878,785,806,652,629.519064183,652,0.400981000401,-0.00536033593863,0.0698358781423,0.999999942034,0.000216738777956,-0.000262288626226,1.27107946643e-05,1793245274994361600
+88,1.466666667,BASELINE,764,744.05752051,714,679.05752051,658,634,878.05752051,785,806,652,629.05752051,652,0.400981785383,-0.0053607970234,0.069835695819,0.999999942286,0.000216026039395,-0.000261918546367,1.26156256757e-05,1793245275011028224
+89,1.483333333,BASELINE,764,744.633998685,714,679.633998685,658,634,878.633998685,785,806,652,629.633998685,652,0.400982543097,-0.00536196848788,0.0698360921124,0.999999942518,0.000214640019474,-0.000262142630125,1.32146923711e-05,1793245275027695104
+90,1.500000000,BASELINE,764,744.785358027,713.785358027,680,658,634,878.785358027,785,805.785358027,652,630,652,0.400982368668,-0.00536283247354,0.0698360288807,0.999999942505,0.000214052855518,-0.000262652300688,1.3584463145e-05,1793245275044361984
+91,1.516666667,BASELINE,764,744.197472022,713.197472022,680,658,634,878.197472022,785,805.197472022,652,630,652,0.400980573323,-0.0053631617797,0.0698351665739,0.999999942069,0.000214854833896,-0.000263658582255,1.35555078618e-05,1793245275061028352
+92,1.533333333,BASELINE,764,744.384681334,713.384681334,679.615318666,658,633.615318666,878.384681334,785,805.384681334,652,630,652,0.4009798699,-0.00536194777611,0.0698348329879,0.999999941573,0.00021644980099,-0.000264246089006,1.33107236019e-05,1793245275077694976
+93,1.550000000,BASELINE,764,744.963935159,713.963935159,679.036064841,658,633.036064841,878.963935159,785,805.963935159,652,630,652,0.400979718774,-0.00535995316377,0.0698347668298,0.999999941044,0.000218445863234,-0.000264621778812,1.29567726652e-05,1793245275094361856
+94,1.566666667,BASELINE,764,745,714,679,658,633.540698618,878.459301382,785,805.459301382,652,630,652,0.400982157401,-0.00536085510659,0.0698362796617,0.999999942376,0.000215491653017,-0.000262001867156,1.28694457663e-05,1793245275111028480
+95,1.583333333,BASELINE,764,745,714,679,658,634,878.116829947,785,805.116829947,652,630,652,0.400983872504,-0.00536153860683,0.0698373105,0.9999999434,0.000213102035951,-0.000260042601862,1.28497336171e-05,1793245275127694848
+96,1.600000000,BASELINE,764,745,714,679,658,634,878.691133658,785,805.691133658,652,630,652,0.400982081191,-0.00536061369135,0.0698360434746,0.999999942794,0.000214210195625,-0.000261449049897,1.30254643731e-05,1793245275144361472
+97,1.616666667,BASELINE,764,745,714,679.272758719,658,633.727241281,879,785,805.727241281,652,630,652,0.400981188692,-0.00536057460183,0.0698353451023,0.999999942584,0.000213960071032,-0.000262450888634,1.3113656432e-05,1793245275161028096
+98,1.633333333,BASELINE,764,745,714,679.86290296,658,633.13709704,879,785,805.13709704,652,630,652,0.400981342062,-0.00536156627076,0.0698353084221,0.999999942835,0.000212129429481,-0.000262981918749,1.30999873363e-05,1793245275177694720
+99,1.650000000,BASELINE,763.556030733,745,714,680,658,633,878.556030733,785,805.443969267,652,630,652,0.400980949582,-0.00536272792921,0.0698348304311,0.999999942783,0.000211498543146,-0.000263673966218,1.33389504164e-05,1793245275194361600
+100,1.666666667,BASELINE,763.022190191,745.022190191,714,680,658,633,878.022190191,785,806,652,630,652,0.40098044885,-0.00536390030581,0.0698342573989,0.999999942657,0.000211241949407,-0.00026434344399,1.36360267177e-05,1793245275211028224
+101,1.683333333,BASELINE,763.59795907,745.59795907,714,680,658,633,878.59795907,785,806,652,630,652,0.400981368323,-0.00536405677752,0.0698346449293,0.999999942946,0.000211265598699,-0.000263234317982,1.34756739825e-05,1793245275227694848
+102,1.700000000,BASELINE,764.176906012,745.823093988,714,680,658,633.176906012,879,785,806,652,630,652,0.40098182949,-0.00536369714182,0.0698348943481,0.999999942976,0.000211786831086,-0.000262711873055,1.32888491695e-05,1793245275244361728
+103,1.716666667,BASELINE,764.763207544,745.236792456,714,680,658,633.763207544,879,785,806,652,630,652,0.400981230045,-0.00536214313142,0.0698348241493,0.999999942404,0.000213459569217,-0.000263547124401,1.30407627525e-05,1793245275261028352
+104,1.733333333,BASELINE,764.653158682,745,713.653158682,680,658,633.653158682,878.653158682,785,806,652,630,652,0.400981452867,-0.00536156368375,0.0698355095495,0.999999942587,0.000213292093718,-0.000262992887411,1.29182342222e-05,1793245275277694976
+105,1.750000000,BASELINE,764.071332256,745,713.071332256,680,658,633.071332256,878.071332256,785,806,652,630,652,0.400982232774,-0.00536164450247,0.0698367068683,0.999999943281,0.000211877873043,-0.000261497271696,1.2880771177e-05,1793245275294361600
+106,1.766666667,BASELINE,764,744.494563716,713.505436284,679.494563716,658,633.505436284,878.505436284,785,806,652,630,652,0.400981421787,-0.00536340330368,0.0698364282783,0.999999943422,0.000210473575565,-0.000262076722706,1.31220299271e-05,1793245275311028480
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,630,652,0.400979693904,-0.00536177292277,0.0698343104326,0.999999941851,0.000215104068084,-0.000264301985486,1.31727828219e-05,1793245275354290944
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.410190499,658,633,878,785,805.410190499,652,630,652,0.400978980098,-0.00536331258582,0.0698339909117,0.999999942222,0.000211981585467,-0.000265416283174,1.31992841719e-05,1793245275370957568
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.823742566,714,679,658,633,878,785,805.176257434,652,630,652,0.40097903088,-0.0053642830807,0.0698342239654,0.999999942669,0.00021019097102,-0.00026515300079,1.32547482219e-05,1793245275387624192
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.244971227,714,679,658,633,878,785,805.755028773,652,630,652,0.400980827729,-0.00536395378331,0.069835718917,0.999999943302,0.000211441904026,-0.000261743779647,1.33763535414e-05,1793245275404290816
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679.331134627,658,633.331134627,878,785,806,652,630,652,0.400980530317,-0.00536316993913,0.0698356471025,0.999999943147,0.000211611572087,-0.000262201024942,1.32815001975e-05,1793245275420957440
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679.905284284,658,633.905284284,878,785,806,652,630,652,0.400978695957,-0.00536205250948,0.0698344254601,0.999999942413,0.000210987714986,-0.000265495815597,1.3027790888e-05,1793245275437624320
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.491375189,714,680,658,634,878,785,806,652,630,652,0.400979161697,-0.00536260453613,0.0698345370215,0.999999942297,0.000211883819665,-0.000265216224254,1.30885455914e-05,1793245275454290688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.921462167,658,633.921462167,878.078537833,785,806,652,630,652,0.400980235869,-0.00536322115406,0.0698350124878,0.999999942353,0.000212939638206,-0.000264152603242,1.31699843629e-05,1793245275470957568
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.342502116,658,633.342502116,878.657497884,785,806,652,630,652,0.400982291476,-0.00536214784697,0.0698361284456,0.999999942732,0.000213099808732,-0.000262592725363,1.29873745093e-05,1793245275487624192
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.235088317,878.764911683,785,806,652,630,652,0.400988587739,-0.00536219449495,0.0698393024793,0.999999944079,0.000212630596009,-0.000257794132765,1.3107614577e-05,1793245275504291328
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.81069485,878.18930515,785,806,652,630,652,0.401001026462,-0.00536386336357,0.0698454575728,0.999999946766,0.000211249740929,-0.000248304361386,1.36665234795e-05,1793245275520958464
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.61377363,714,679,658,634,878.38622637,785,805.61377363,652.38622637,630,652,0.401029474342,-0.00536322676226,0.0698568684308,0.99999995119,0.000212709273109,-0.000228429566953,1.39888888747e-05,1793245275537624832
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.038278818,714,679,658,634,878.961721182,785,805.038278818,652.961721182,630,652,0.401065767435,-0.00536146037624,0.0698708548526,0.999999955967,0.000215560723669,-0.000203465639149,1.41953372637e-05,1793245275554290944
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,679.550519983,658,634,879,785,805.550519983,652.449480017,630,652,0.401118184783,-0.00536336889584,0.0698845573316,0.999999959758,0.000215342628036,-0.000184129911664,1.44143073556e-05,1793245275570957312
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.137791626,714,680,658,634,879,785,806,652,630,652,0.401175098887,-0.00536577297005,0.0698964482738,0.999999962916,0.000214076845393,-0.000167718372736,1.44930734305e-05,1793245275587624192
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.717131972,714,680,658,634,879,785,806,652,630,652,0.401242741037,-0.0053689259373,0.0699025990421,0.999999965115,0.000210154657743,-0.000159392200832,1.41197013301e-05,1793245275604291584
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.70462876,658,634,879,785,806,652,630,652,0.401320367509,-0.00537072577089,0.0699060176266,0.99999996638,0.000207884943531,-0.000154481122034,1.26133431172e-05,1793245275620958464
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.12744008,658,634,879,785,806,652,630,652,0.401407520144,-0.00537123456233,0.0699068293998,0.999999966807,0.000207191875399,-0.000152828427331,1.00259885288e-05,1793245275637625088
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.556542541,679.443457459,658,634,878.556542541,785,805.556542541,652,630,652,0.401508761769,-0.00537330334392,0.0699045980012,0.999999966712,0.000204514308772,-0.000157136632321,7.56135852654e-06,1793245275654291456
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.986859812,713.013140188,680,658,634,878,785,805,652,630,652,0.401614707182,-0.0053758052527,0.0699016374633,0.999999966452,0.00020131519961,-0.000162916892278,5.1260738619e-06,1793245275670957568
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.392040048,713.607959952,680,658,634,878,785,805,652,630,652,0.401752151242,-0.00537791277581,0.069904571951,0.999999967358,0.000199921391685,-0.000159090439322,2.45042916226e-06,1793245275687624192
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.19748595,714,680,658,634,878,785,805.19748595,652,630,652,0.401901128657,-0.00538014158069,0.0699076302971,0.999999968421,0.000197712246203,-0.000155138644208,-4.9315571585e-07,1793245275704290816
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.776777284,714,680,658,634,878,785,805.776777284,652,630,652,0.402072403833,-0.00538260486294,0.069910928102,0.999999969796,0.000193926784849,-0.000150944521864,-3.95475689617e-06,1793245275720957440
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.645581678,658,633.645581678,878,785,806,652,630,652,0.402265907353,-0.00538595386826,0.0699150844442,0.999999972071,0.000187810344376,-0.000143238590231,-8.2134082304e-06,1793245275737624320
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.068975168,658,633.068975168,878,785,806,652,630,652,0.402473346048,-0.00538985814195,0.0699197790117,0.999999974785,0.000180232590728,-0.000133331071824,-1.29717381562e-05,1793245275754291456
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.51812167,658,633.51812167,878.51812167,785,806,652,630,652,0.402708783682,-0.00539280981429,0.0699202571062,0.999999976262,0.000173888630722,-0.000130034072117,-1.81664637746e-05,1793245275770958336
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.895133455,714,680,658,634,878.895133455,785,806,652,630,652,0.402955507021,-0.00539598939375,0.0699208178368,0.999999977728,0.000167228798755,-0.000126601329236,-2.34738009173e-05,1793245275787624704
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.316419492,714,680,658,634,878.316419492,785,806,652,630,652,0.403236035294,-0.00540078365674,0.0699243407446,0.999999980015,0.000158384163285,-0.000118496571261,-2.90220504048e-05,1793245275804291328
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.260257128,714,680,658,634,878,785,806,652,630,652,0.403538836709,-0.00540657611135,0.0699326109952,0.999999982862,0.000149495650525,-0.000103710496779,-3.42131690294e-05,1793245275820957952
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.83447596,714,680,658,634,878,785,806,652,630,652,0.403868507357,-0.0054135727361,0.0699466082122,0.999999986093,0.000140554206796,-8.08644032853e-05,-3.89734617839e-05,1793245275837624320
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.393989963,745,714,679.606010037,658,634,878,785,806,652,630,652,0.404217924055,-0.00541988273725,0.0699526359293,0.999999994087,6.69339998154e-05,-7.32927568329e-05,-4.44384588501e-05,1793245275854291200
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.947548402,745,714,679.052451598,658,634,878,785,806,652,630,652,0.404575338021,-0.00542591465124,0.0699554359472,0.999999995615,-3.28815237539e-05,-7.19073598623e-05,-5.01888652218e-05,1793245275870957824
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.557827314,658,634,878.557827314,784.442172686,806,652,630,652,0.404986782265,-0.00543246337649,0.0699611255225,0.999999996995,-9.10339643194e-06,-6.09689457047e-05,-4.70030526554e-05,1793245275887624448
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.163222933,633.836777067,878.836777067,784.163222933,806,652,630,652,0.405407925667,-0.00543853023857,0.0699647651411,0.999999997212,3.20357385571e-05,-5.3541273999e-05,-4.10269016443e-05,1793245275904291328
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.741128477,633.258871523,878.258871523,784.741128477,806,652,630,652,0.405839342456,-0.00544323544837,0.069962428246,0.999999994319,8.44151413028e-05,-5.75733714575e-05,-3.03380295916e-05,1793245275920958208
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.682189879,745,714,680,658.682189879,633.317810121,878.317810121,785,806,652,630,652,0.406283419394,-0.00545863932557,0.0699527768809,0.99999999334,8.30819481104e-05,-7.53487088539e-05,-2.7215063854e-05,1793245275937624832
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.106501273,745,714,680,658.106501273,633.893498727,878.893498727,785,806,652,630,652,0.406737769116,-0.00548272434956,0.0699371903851,0.999999993378,3.81651174074e-05,-0.000104275629514,-3.0231248389e-05,1793245275954291200
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630,652,0.407253290486,-0.00549903991996,0.0699250768722,0.999999992482,6.55190840508e-06,-0.000118151017429,-3.21593256063e-05,1793245275970957824
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.065991307,658,634,879.065991307,785,806.065991307,652,630,652,0.407790746874,-0.00551161347466,0.069916484472,0.999999991564,-1.74841330318e-05,-0.000124182989342,-3.38446409558e-05,1793245275987624448
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.645267319,658,634,879.645267319,785,806.645267319,652,630,652,0.408390813926,-0.00550879875587,0.069929147786,0.999999994762,-6.0726987942e-06,-9.5782603573e-05,-3.55628478662e-05,1793245276004291072
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.775770317,658.224229683,634,879.551540633,785,806.775770317,652,630,652,0.409001879769,-0.00551276582951,0.0699404591749,0.999999996855,-1.07801141894e-05,-6.93968139226e-05,-3.68617719152e-05,1793245276020957952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.197303486,658.802696514,634,878.394606972,785,806.197303486,652,630,652,0.409630321421,-0.00552744675158,0.0699496347973,0.999999997391,-4.09520237346e-05,-4.61936768095e-05,-3.74983144986e-05,1793245276037624832
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,784.622220026,806.377779974,652,630,652,0.410254955515,-0.00553457526873,0.0699467024931,0.99999999693,-4.62341889455e-05,-4.99404782818e-05,-3.88377008358e-05,1793245276054291712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,784.048887935,806.951112065,652,630,652,0.410877618664,-0.0055377943967,0.0699375027025,0.999999996145,-3.86325517146e-05,-6.76375105394e-05,-4.05409036501e-05,1793245276070958336
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.539552878,784,806.460447122,652,630,652,0.411583735412,-0.00554602715309,0.0699477647823,0.999999996033,-5.73810480454e-05,-5.44803057917e-05,-4.08968468682e-05,1793245276087624960
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,784.12705806,806.12705806,652,630,652,0.412310403353,-0.00555503337666,0.0699646290998,0.999999995893,-7.53884030898e-05,-2.96586890159e-05,-4.06436331604e-05,1793245276104291328
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,784.706222372,806.706222372,652,630,652,0.41308251646,-0.00556512879701,0.0699985304939,0.999999995539,-8.20183321526e-05,2.64337545993e-05,-3.86697587522e-05,1793245276120957696
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.283269903,744.716730097,714,680,659,634,879,785,807,652,630,652,0.413844292604,-0.00555474355027,0.0700157931452,0.999999995386,-7.00668969239e-05,5.34648983417e-05,-3.82196037727e-05,1793245276137624320
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.858138487,744.141861513,714,680,659,634,879,785,807,652,630,652,0.414595427948,-0.00552327545968,0.0700159278412,0.999999997187,-3.89877641916e-05,5.05802811009e-05,-3.93379688489e-05,1793245276154290944
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.441974047,714,680,659.441974047,633.558025953,879,785,807,652,630,652.441974047,0.415310181196,-0.00549904495379,0.0699727468394,0.999999998708,-9.10435060174e-06,-2.57554297814e-05,-4.28605641555e-05,1793245276170957824
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.971608513,745,714,680.028391487,659.971608513,633.028391487,879,785,807,652,630,652.971608513,0.416020743511,-0.00547907169349,0.0699179572517,0.999999991356,1.74205131664e-05,-0.000121539895637,-4.70404141297e-05,1793245276187625216
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.392098394,745,714,680.607901606,659.392098394,633.607901606,879,785,807,652,630,652.392098394,0.416881328615,-0.00549570972255,0.0699132970954,0.999999990563,-1.3644518949e-05,-0.000127736049395,-4.86886847079e-05,1793245276204291840
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.812490483,659,634,879,785,807,652,630,652.187509517,0.417746820534,-0.00551027414577,0.0699207424123,0.999999991608,-3.56327889226e-05,-0.000114510505469,-4.90063400296e-05,1793245276220958464
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.232678012,659,634,879,785,807,652,630,652.767321988,0.418622578324,-0.00552050021914,0.0699535145129,0.999999996332,-3.86308709845e-05,-6.06513468712e-05,-4.65401136296e-05,1793245276237624832
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.344008372,745,714,680.344008372,659,634,879.344008372,785,807,652,630,653,0.419515511775,-0.00552783714364,0.0699844124328,0.999999997789,-4.67108470307e-05,-1.36165535818e-05,-4.53325174369e-05,1793245276254291456
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.918599372,745,714,680.918599372,659,634,879.918599372,785,807,652,630,653,0.420419957729,-0.00553323752317,0.0700140541216,0.999999996879,-5.81971251339e-05,2.88439881119e-05,-4.49685585406e-05,1793245276270957824
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.50811977,879.50811977,785,807,652,630,652.50811977,0.421315638615,-0.00553493504567,0.0700286533195,0.999999995979,-6.09691974663e-05,4.79525816018e-05,-4.50115436108e-05,1793245276287624192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.932417292,745,714,680.932417292,659.067582708,633,879,785,807,652,630.067582708,652,0.422204079227,-0.00553412391255,0.0700321514404,0.99999999587,-6.06984560133e-05,4.98820629745e-05,-4.56970364702e-05,1793245276304290816
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.336076893,745,714,680.336076893,659.663923107,633,879,785,807,652,630.663923107,652,0.423047190965,-0.00551846698438,0.0699682209622,0.999999996184,-4.78740005968e-05,-5.24405801887e-05,-5.0883925129e-05,1793245276320957696
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.251009798,745,713.748990202,680.251009798,659.748990202,633,879,785,807,652,630.748990202,652.251009798,0.423895116357,-0.00550901097446,0.0699054252247,0.999999986652,-4.15756791918e-05,-0.000147626255172,-5.6336489707e-05,1793245276337624576
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.826147301,745,713.173852699,680.826147301,659.173852699,633,879,785,807,652,630.173852699,652.826147301,0.424749257716,-0.00550756217733,0.0698440947634,0.999999969831,-4.37045207568e-05,-0.000233596012683,-6.21321212562e-05,1793245276354291200
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.39982614,681,659.39982614,633,879,785,807.39982614,652,630.39982614,653,0.425689153086,-0.00551651385363,0.0698659349977,0.999999977414,-5.20096582569e-05,-0.000196982548382,-6.05405088112e-05,1793245276370957824
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.972872992,681,659.972872992,633,879,785,807.972872992,652,630.972872992,653,0.426666200481,-0.00552997143206,0.0699238081152,0.99999999071,-6.2990614369e-05,-0.00010726111209,-5.57484454814e-05,1793245276387624448
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.434773432,745,714,681,660.565226568,633,879,785,808,652,630.434773432,652.434773432,0.427626483075,-0.00553281062357,0.0699763051396,0.999999995013,-7.26610285049e-05,-4.26680141682e-05,-5.36070329466e-05,1793245276404291328
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.154632918,745,714,681,660.845367082,633,879.154632918,785.154632918,808,652,630,652.154632918,0.428597091477,-0.00553451192408,0.0700220568158,0.999999995386,-7.86809841218e-05,1.85475313638e-05,-5.19031044699e-05,1793245276420957952
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.733325949,745,714,681,660.266674051,633,879.733325949,785.733325949,808,652,630,652.733325949,0.429598301512,-0.00553453967215,0.0700500428706,0.999999993162,-7.48686319229e-05,7.39248118652e-05,-5.10377153303e-05,1793245276437624576
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.689750045,745,714,681.310249955,660,633.310249955,879.689750045,785.689750045,808,652,630,652.689750045,0.430515652921,-0.00553190018081,0.0700355382443,0.999999995014,-6.64957227514e-05,5.34094173093e-05,-5.19489527817e-05,1793245276454291200
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.114338006,745,714,681.885661994,660,633.885661994,879.114338006,785.114338006,808,652,630,652.114338006,0.431361332623,-0.00552698107346,0.0699847180028,0.99999999654,-5.42250311966e-05,-3.1969357596e-05,-5.43786238522e-05,1793245276470957824
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.529447003,879.941105993,785,808,652,630,652,0.432169170452,-0.00552759035934,0.0699196877602,0.999999986754,-5.89083292214e-05,-0.000140324168165,-5.77202221894e-05,1793245276487624704
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.056995497,745,714,682,660,633.056995497,880.943004503,785.056995497,808.056995497,652,630.056995497,652,0.432986314177,-0.00552989599914,0.0698635995266,0.999999968935,-6.76333369731e-05,-0.000232056216833,-6.08706130332e-05,1793245276504291584
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.636117044,745,714,682,660,633.636117044,880.363882956,785.636117044,808.636117044,652,630.636117044,652,0.433974673224,-0.00553518268682,0.0699217087047,0.999999988267,-7.48690445083e-05,-0.00011931478879,-6.01977437535e-05,1793245276520958208
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.214030812,660,633.785969188,880,785.785969188,808.785969188,652,631,652.214030812,0.434945867071,-0.00553867785795,0.0699748756057,0.999999994858,-7.93420003066e-05,-2.43530021255e-05,-5.82786160227e-05,1793245276537624832
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.789902797,660,633.210097203,880,785.210097203,808.210097203,652,631,652.789902797,0.435888041536,-0.00553914428633,0.0700196870869,0.999999994574,-7.91442414797e-05,4.05504825983e-05,-5.42525605574e-05,1793245276554291200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880,785,808.365311427,652,631,652.634688573,0.436783187238,-0.00553917994231,0.0700337707862,0.999999993104,-7.87969181127e-05,6.77194201986e-05,-5.47383835931e-05,1793245276570958080
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880,785,808.940453878,652,631,652.059546122,0.437651320058,-0.00553896816714,0.0700302047697,0.999999992578,-7.83636865949e-05,7.32140289477e-05,-5.78157822822e-05,1793245276587624704
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880,785.529331931,808.470668069,652,630.470668069,652,0.438426107892,-0.00553979980246,0.0699858144121,0.999999995031,-7.86465652242e-05,1.52014039267e-05,-5.9346998816e-05,1793245276604291584
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.88271921,745,713.88271921,683,660,633,880,785.88271921,808.11728079,652,630,652,0.439173662862,-0.00554073813478,0.0699293666271,0.999999992767,-7.8525546375e-05,-6.77866080026e-05,-6.08649203839e-05,1793245276620958208
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.304653589,745,713.304653589,683,660,633,880,785.304653589,808.695346411,652,630,652,0.439856577656,-0.00554162222354,0.0698440703562,0.999999970869,-7.64927198468e-05,-0.000220084190519,-6.3032184725e-05,1793245276637624576
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.272968413,745,713.272968413,683,659.727031587,632.727031587,880,785,809,652,630.272968413,652,0.440594677254,-0.00554306733112,0.0697978248368,0.99999995038,-7.95961066979e-05,-0.000297849720888,-6.4726187242e-05,1793245276654291200
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.850096069,745,713.850096069,683,659.149903931,632.149903931,880,785,809,652,630.850096069,652,0.441394267318,-0.00554513756247,0.0697950922219,0.999999951122,-8.84225997345e-05,-0.000292566763486,-6.58928516142e-05,1793245276670957824
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.575395045,683,659,632,880,784.575395045,809,652,630.575395045,652.424604955,0.44216322055,-0.00554382220848,0.0698223175792,0.99999996209,-8.25200071077e-05,-0.000254548668209,-6.49300774567e-05,1793245276687624448
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.597771476,713.402228524,680,657,633,878.597771476,785,806,652,630,652,0.403022297136,-0.00537363824726,0.0698274688671,0.999999940071,0.000197297776291,-0.00028352773819,2.33335644796e-05,1793245279679729152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.824987018,713,679.824987018,657.175012982,633,878.824987018,785,806,652,630,652,0.402754483737,-0.00537151025635,0.0698197695386,0.999999936073,0.000196106595903,-0.000298114856087,2.29040183526e-05,1793245279696396032
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.376260827,658,633.376260827,878,785,806,652,630,652,0.400982710957,-0.00536437191656,0.0698239626671,0.999999938806,0.000207407004839,-0.000281404072923,1.3485209482e-05,1793245280046396160
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.997823611,785,806,652,630,652,0.400976612154,-0.0053630950963,0.0698264918566,0.999999939867,0.000208459507243,-0.000276841861601,1.29860614493e-05,1793245280179729664
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.425214279,785,806,652,630,652,0.400977131322,-0.00536463214778,0.0698278409245,0.999999940304,0.000208750038201,-0.000275019188772,1.34017167601e-05,1793245280196396032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.156505944,745,714,680,658,634,878,785,806,652,630,652,0.400977961832,-0.00536556940177,0.0698292681047,0.999999940668,0.000209390587538,-0.000273189358804,1.37118472691e-05,1793245280213062656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.751472265,745,714,680,658,634,878,785,806,652,630,652,0.400979652392,-0.00536479379852,0.0698308962416,0.999999940822,0.000211025625884,-0.000271359934258,1.37182876472e-05,1793245280229729024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.663784679,745,714,680,658,634,878.336215321,785,806,652,630,652,0.400980055111,-0.00536504977232,0.0698312583515,0.999999941338,0.000209421070628,-0.00027070231142,1.3708776533e-05,1793245280246395904
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.509984363,634,879,785,806,652,630,652,0.400979104349,-0.00536568294274,0.0698304628561,0.999999941791,0.000206512766769,-0.000271274227211,1.34169901062e-05,1793245280279729664
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.066030305,634,879,785,806,652,630,652,0.400978763356,-0.00536507976604,0.0698303747714,0.999999941381,0.000208175590587,-0.000271528251645,1.31611494851e-05,1793245280296396544
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.223291108,745,714,680,658,634,879,785,806.223291108,652,630,652,0.400978724901,-0.00536446669745,0.0698312461116,0.999999941977,0.00020694945281,-0.000270258819401,1.33649873176e-05,1793245280329729536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.819891958,745,714,680,658,634,879,785,806.819891958,652,630,652,0.400977677711,-0.00536549263675,0.069830307468,0.999999942239,0.000204075919532,-0.00027148701597,1.30492419567e-05,1793245280346396160
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.599300751,745,714,680,657.599300751,634,879,785,806.599300751,652,630,652,0.400976941595,-0.00536478671313,0.0698296979313,0.999999941709,0.000205194359686,-0.000272600756978,1.28743853433e-05,1793245280363062784
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.025323257,745,714,680,657.025323257,634,879,785,806.025323257,652,630,652,0.400976339999,-0.00536333186325,0.0698292307135,0.999999940832,0.000208039087622,-0.000273665002787,1.27604546303e-05,1793245280379729664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,744.449094153,714,680,657.550905847,634,878.449094153,785,806,652.550905847,630,652,0.400977627657,-0.00536496865375,0.0698299994056,0.999999941327,0.000207962639984,-0.000271887215538,1.32040632042e-05,1793245280396396032
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63a34716e73d79a0be2f890ab3af71be254d0b30
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+269,4.483333333,pose2_to_pose3_retreat,0.62196148897,-0.000122137405193,1.06005106744,0.592533119232,0.00855355144138,1.05971756169
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+382,6.366666667,pose2_to_pose3_retreat,0.57569761355,-0.000122193380247,1.06005105351,0.546269247751,0.00855349578326,1.0597175451
+383,6.383333333,pose2_to_pose3_retreat,0.575689142024,-0.000122279179217,1.06005091157,0.546260777632,0.00855341470548,1.05971740195
+384,6.400000000,pose2_to_pose3_retreat,0.575683000613,-0.000122320133734,1.06005080805,0.546254636865,0.00855337594259,1.05971729855
+385,6.416666667,pose2_to_pose3_retreat,0.575679144632,-0.000122291745111,1.06005102498,0.546250779827,0.00855340060574,1.0597175116
+386,6.433333333,pose2_to_pose3_retreat,0.575676527388,-0.000122267959692,1.06005110969,0.546248161658,0.0085534211718,1.05971759411
+387,6.450000000,pose2_to_pose3_retreat,0.575674916327,-0.000122243063875,1.06005101987,0.546246549557,0.00855344251778,1.05971750392
+388,6.466666667,pose2_to_pose3_retreat,0.575673812878,-0.0001222260122,1.06005095836,0.546245445395,0.0085534571381,1.05971744215
+389,6.483333333,pose2_to_pose3_retreat,0.575672974948,-0.000122213063625,1.06005091165,0.546244606924,0.00855346824036,1.05971739524
+390,6.500000000,pose2_to_pose3_retreat,0.575672390549,-0.000122189951318,1.06005098125,0.546244022622,0.00855349179864,1.05971746794
+391,6.516666667,pose2_to_pose3_retreat,0.575672031417,-0.000122174798715,1.06005103091,0.546243663581,0.00855350734218,1.05971751972
+392,6.533333333,pose2_to_pose3_retreat,0.575671840317,-0.000122166735747,1.06005105734,0.546243472529,0.00855351561317,1.05971754728
+393,6.550000000,pose2_to_pose3_retreat,0.575671829978,-0.000122166299498,1.06005105877,0.546243462192,0.00855351606067,1.05971754877
+394,6.566666667,pose2_to_pose3_retreat,0.575671684622,-0.000122160166589,1.06005107887,0.546243316873,0.00855352235181,1.05971756972
+395,6.583333333,pose2_to_pose3_retreat,0.575671408461,-0.000122148514735,1.06005111705,0.546243040783,0.00855353430429,1.05971760954
+396,6.600000000,pose2_to_pose3_retreat,0.575671041926,-0.000122133049746,1.06005116774,0.54624267434,0.00855355016827,1.05971766239
+397,6.616666667,pose2_to_pose3_retreat,0.57567067475,-0.000122125029557,1.06005118571,0.546242307366,0.00855355893815,1.05971768212
+398,6.633333333,pose2_to_pose3_retreat,0.575670457484,-0.00012214091969,1.06005110575,0.546242090517,0.00855354445825,1.05971760207
+399,6.650000000,pose2_to_pose3_retreat,0.575670369222,-0.000122147374909,1.06005107326,0.546242002424,0.00855353857593,1.05971756955
+400,6.666666667,pose2_to_pose3_retreat,0.575670295265,-0.000122152783827,1.06005104604,0.546241928609,0.00855353364704,1.0597175423
+401,6.683333333,pose2_to_pose3_retreat,0.575670148785,-0.000122163496916,1.06005099213,0.54624178241,0.00855352388473,1.05971748833
+402,6.700000000,pose2_to_pose3_retreat,0.575669944378,-0.000122178446564,1.0600509169,0.546241578395,0.00855351026185,1.05971741301
+403,6.716666667,pose2_to_pose3_retreat,0.575669741015,-0.000122186712312,1.06005084011,0.546241374966,0.00855350173471,1.05971733529
+404,6.733333333,pose2_to_pose3_retreat,0.575669594285,-0.000122174632567,1.0600507794,0.546241226941,0.00855350930746,1.05971727161
+405,6.750000000,pose2_to_pose3_retreat,0.575669548487,-0.000122164033613,1.06005075939,0.546241180713,0.00855351843168,1.05971725109
+406,6.766666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+407,6.783333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68266968859664adcf9dd6649faf44afa8c721ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc148722b1d9a078476285cbbea2bcaadf16b36f893ddc14ee51638b79dbd02
+size 25581120
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e9856370bee19eb9776e20c0a16e23f7e238406
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+43,0.716666667,BASELINE,764,745,714,679.948743209,658.051256791,633,878.051256791,785,806.051256791,652,630,652,0.401034275022,-0.00550618866193,0.0798653237258,0.999999981982,0.000110505969437,-0.000147155465782,4.65761261988e-05,1793245282361071360
+44,0.733333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.401034631147,-0.0055071559501,0.0798657540166,0.999999982446,0.00010773024605,-0.000146111301889,4.6417777635e-05,1793245282377738752
+45,0.750000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,651.895602766,0.401035183027,-0.00550771441694,0.0798662315354,0.999999982848,0.000105620922054,-0.000144943148467,4.62475840237e-05,1793245282394405632
+46,0.766666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630,651.302798733,0.401036036996,-0.00550577477938,0.0798666549145,0.999999982695,0.000108389150755,-0.000143969207626,4.61942338702e-05,1793245282411071232
+47,0.783333333,BASELINE,764,745,714,680,658.28362212,633.28362212,878,785,806,652,630,651.28362212,0.401036023253,-0.00550480073299,0.0798666887968,0.999999982417,0.000110729830206,-0.000144136138934,4.61513686177e-05,1793245282427737088
+48,0.800000000,BASELINE,764,745,714,680,658.863378274,633.863378274,878,785,806,652,630,651.863378274,0.40103510352,-0.00550483487435,0.0798663159998,0.99999998201,0.000112624099524,-0.000145494271543,4.61194507987e-05,1793245282444403712
+49,0.816666667,BASELINE,764,745,714,680,659,633.562881725,878.437118275,785,806,652,630,652,0.401035624633,-0.00550541523246,0.079866661491,0.999999982112,0.000112147811882,-0.000145091672532,4.63310059031e-05,1793245282461070848
+50,0.833333333,BASELINE,764,745.009288637,714,679.990711363,658.990711363,633,879,785,806,652,630.009288637,652,0.401036556519,-0.00550615820935,0.0798671988135,0.999999982365,0.000110929869663,-0.00014419216585,4.66091913451e-05,1793245282477737984
+51,0.850000000,BASELINE,764,745.599290645,714,679.400709355,658.400709355,633,879,785,806,652,630.599290645,652,0.401035397172,-0.00550653957955,0.0798658841885,0.999999982299,0.000109037110477,-0.000146164721816,4.63600813699e-05,1793245282494404352
+52,0.866666667,BASELINE,764,745.813501429,714,679.186498571,658,633.186498571,879,785,806,652,630.813501429,652,0.401034875238,-0.0055063724508,0.0798653235589,0.99999998223,0.00010868708826,-0.000146937707324,4.621608997e-05,1793245282511070976
+53,0.883333333,BASELINE,764,745.232208269,714,679.767791731,658,633.767791731,879,785,806,652,630.232208269,652,0.401035702625,-0.00550504421708,0.0798663590449,0.999999982163,0.000111602851019,-0.000145171349253,4.62946217104e-05,1793245282527737344
+54,0.900000000,BASELINE,764,745,714,679.655373711,658,633.655373711,879.344626289,785,806.344626289,652,630,652.344626289,0.401036047587,-0.00550423083237,0.0798669840847,0.99999998213,0.000112718452335,-0.000144541269996,4.62782814639e-05,1793245282544403712
+55,0.916666667,BASELINE,764,745,714,679.081504999,658,633.081504999,879.918495001,785,806.918495001,652,630,652.918495001,0.401036071644,-0.00550375992084,0.0798673360991,0.999999982125,0.000112636601733,-0.00014466703364,4.61988331903e-05,1793245282561070336
+56,0.933333333,BASELINE,764,744.508305669,714,679,658,633.491694331,879.508305669,785,807,652,630,652.508305669,0.401034876259,-0.00550482904845,0.0798665670478,0.999999982321,0.000109856621702,-0.000145470515637,4.61293068153e-05,1793245282577736704
+57,0.950000000,BASELINE,764,744.067039349,714,679,658,634,878.932960651,785,807,652,630,652,0.401033810261,-0.00550600594849,0.0798658493996,0.999999982507,0.000107238513337,-0.000146144804961,4.61219653857e-05,1793245282594403584
+58,0.966666667,BASELINE,764,744.660089187,714,679,658,634,878.339910813,785,807,652,630,652,0.401035343353,-0.00550602816451,0.0798669911858,0.999999982429,0.000109394995861,-0.000144925147751,4.6589658235e-05,1793245282611071232
+59,0.983333333,BASELINE,764,745,714,679,658,633.753048713,878,785,806.753048713,652,630,652.246951287,0.40103645908,-0.00550579911448,0.0798677747831,0.999999982275,0.000111739744108,-0.000144096723375,4.69170861663e-05,1793245282627738368
+60,1.000000000,BASELINE,764,745,714,679,658,633.174495321,878,785,806.174495321,652,630,652.825504679,0.401037014379,-0.00550523266854,0.0798680774107,0.999999982018,0.000114337292758,-0.000143793639805,4.70561687504e-05,1793245282644404992
+61,1.016666667,BASELINE,764,745,714,679.402158963,658,633.402158963,878.402158963,785,806,652,630,652.597841037,0.401037473228,-0.00550443517707,0.0798682205466,0.999999982224,0.000113345042485,-0.000143273335577,4.66666048438e-05,1793245282661071104
+62,1.033333333,BASELINE,764,745,714,679.977993071,658,633.977993071,878.977993071,785,806,652,630,652.022006929,0.401037890425,-0.00550353790703,0.079868294805,0.999999982625,0.000110802512438,-0.000142659223117,4.60487412667e-05,1793245282677737216
+63,1.050000000,BASELINE,764,745,714,679.435968191,658.564031809,633.435968191,878.435968191,785,806,652,630,652,0.40103684997,-0.00550579860136,0.0798675778403,0.999999982714,0.00010960030626,-0.000142886806906,4.63001105354e-05,1793245282694403840
+64,1.066666667,BASELINE,764,745,714,679,658.85135569,633,878,785.14864431,806,652,630.14864431,652,0.401035913811,-0.00550704339097,0.0798670448587,0.999999982675,0.000109216548359,-0.000143401618725,4.64435534676e-05,1793245282711070720
+65,1.083333333,BASELINE,764,745,714,679,658.272050215,633,878,785.727949785,806,652,630.727949785,652,0.401035447642,-0.00550498127754,0.0798671360147,0.999999982306,0.00011104974186,-0.00014465170377,4.61742346507e-05,1793245282727737856
+66,1.100000000,BASELINE,764,745,714,679.306142479,658,633,878.306142479,785.693857521,806,652,630.693857521,652,0.401033971155,-0.00550410859174,0.0798662396566,0.999999981905,0.000111843171876,-0.000146831868497,4.60686699731e-05,1793245282744404736
+67,1.116666667,BASELINE,764,745,714,679.883349865,658,633,878.883349865,785.116650135,806,652,630.116650135,652,0.401031600112,-0.00550428904996,0.0798644689332,0.999999981471,0.00011171597362,-0.000149835545012,4.61080966237e-05,1793245282761071104
+68,1.133333333,BASELINE,764,745,714,679.542359341,658,633,878.542359341,785.457640659,806,652,630,652,0.401033115991,-0.0055038601486,0.0798653610757,0.999999981541,0.000113200671477,-0.000148281593911,4.60067937619e-05,1793245282777737728
+69,1.150000000,BASELINE,763.9678537,745,714,679,658,633,878,785.9678537,806,652,630,652,0.401035477545,-0.00550342306705,0.0798668387866,0.999999981741,0.000114807629398,-0.000145709104345,4.58832847661e-05,1793245282794404608
+70,1.166666667,BASELINE,763.376768892,745,714,679,658,633,878,785.376768892,806,652,630,652,0.401035425651,-0.00550552729606,0.0798667710481,0.999999982148,0.000111441777978,-0.00014549815563,4.59934251662e-05,1793245282811070976
+71,1.183333333,BASELINE,763.210078078,745,714,679,658,633.210078078,878.210078078,785,806,652,630,652,0.40103459104,-0.00550715610334,0.079866356897,0.999999982307,0.000108848170063,-0.00014632552558,4.61188859758e-05,1793245282827737600
+72,1.200000000,BASELINE,763.789474998,745,714,679,658,633.789474998,878.789474998,785,806,652,630,652,0.401032380406,-0.00550794911598,0.0798653337502,0.999999982042,0.000107612171478,-0.00014897826751,4.62712801991e-05,1793245282844404224
+73,1.216666667,BASELINE,764,745,714,679.366028074,658,634,878.633971926,785,806,652,630,652,0.401032978924,-0.00550714568558,0.0798654406861,0.999999982078,0.000108035008739,-0.000148429807187,4.6274730636e-05,1793245282861070848
+74,1.233333333,BASELINE,764,745,714,679.940958057,658,634,878.059041943,785,806,652,630,652,0.401035180699,-0.00550543112283,0.0798661925903,0.999999982282,0.000109404587601,-0.000146054335842,4.61931749023e-05,1793245282877737216
+75,1.250000000,BASELINE,764,745,714,679.486316584,658,633.486316584,878,785,806,652,630,652,0.401035847977,-0.00550384548553,0.0798669954078,0.999999981984,0.000113355111161,-0.000145048273286,4.6293812338e-05,1793245282894404096
+76,1.266666667,BASELINE,764,745.089498922,714,679.089498922,658.089498922,633.089498922,878,785,806,652,630,652,0.401035856889,-0.00550297322603,0.079867320656,0.999999981698,0.000116037577307,-0.000144871339276,4.63953414675e-05,1793245282911070720
+77,1.283333333,BASELINE,764,745.684181178,714,679.684181178,658.684181178,633.684181178,878,785,806,652,630,652,0.401033140901,-0.00550604439411,0.0798649173389,0.999999981861,0.000109895093668,-0.000148489837193,4.63842059925e-05,1793245282927737344
+78,1.300000000,BASELINE,764,745.729215542,714,680,658.729215542,634,878,785,806,652,630,652,0.401032702839,-0.00550705173084,0.0798646202617,0.999999982045,0.000107637222928,-0.000148901687324,4.63899605155e-05,1793245282944403968
+79,1.316666667,BASELINE,764,745.151761913,714,680,658.151761913,634,878,785,806,652,630,652,0.401034844577,-0.00550572173438,0.0798667085465,0.999999982286,0.000109778759504,-0.00014568194026,4.64148433235e-05,1793245282961070592
+80,1.333333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.401034927748,-0.00550565705137,0.0798668219129,0.99999998238,0.000109234486955,-0.000145482525353,4.62890507435e-05,1793245282977736960
+81,1.350000000,BASELINE,764,745,714,679.999861314,658,633.999861314,878,785,806,652,630,652,0.401034277339,-0.00550604295816,0.0798662313369,0.999999982423,0.000107734022671,-0.000146359501709,4.61096432859e-05,1793245282994403328
+82,1.366666667,BASELINE,764,745,714,679.411262372,658,633.411262372,878,785,806,652,630,652,0.401034951473,-0.00550429526198,0.0798661885294,0.999999982068,0.000111822228104,-0.000145635940047,4.63626507668e-05,1793245283011069952
+83,1.383333333,BASELINE,764,745,714,679.173968724,658.173968724,633.173968724,878,785,806,652,630,652,0.401035603762,-0.00550331667925,0.0798665238182,0.999999981942,0.000113986690337,-0.000144831761152,4.63352947464e-05,1793245283027736832
+84,1.400000000,BASELINE,764,745,714,679.751389543,658.751389543,633.751389543,878,785,806,652,630,652,0.401036205387,-0.00550412175263,0.0798677359525,0.999999982375,0.000111689786978,-0.000143840622124,4.56577458066e-05,1793245283044403712
+85,1.416666667,BASELINE,764,745,714,679.670637685,658.670637685,634,878,785,806,652,630,652,0.401035975141,-0.00550471609983,0.0798679004978,0.999999982557,0.00010984258435,-0.000144049427833,4.54978896516e-05,1793245283061070336
+86,1.433333333,BASELINE,764,745,714,679.09224762,658.09224762,634,878,785,806,652,630,652,0.401035115925,-0.0055051511189,0.0798672729709,0.99999998255,0.000108335396355,-0.000145165500533,4.57294561837e-05,1793245283077737216
+87,1.450000000,BASELINE,764,745,714,679,658,634,878,785,806,652,630.492044756,652,0.401034401102,-0.00550521123216,0.0798668277493,0.999999982197,0.000110452765695,-0.00014592793129,4.59579383009e-05,1793245283094403840
+88,1.466666667,BASELINE,764,745,714,679.076674585,658.076674585,633.923325415,878,785,806,652,630.923325415,652,0.401033976224,-0.00550523302092,0.0798665932481,0.999999981894,0.000112548561498,-0.000146339582672,4.61396632221e-05,1793245283111070464
+89,1.483333333,BASELINE,764,745,714,679.65617264,658.65617264,633.34382736,878,785,806,652,630.34382736,652,0.401035273087,-0.00550547001006,0.0798675137699,0.999999982395,0.00010999252558,-0.000144890929327,4.60185978206e-05,1793245283127736832
+90,1.500000000,BASELINE,764,745,714,679.775141395,658.775141395,633,878,785,806.224858605,652,630,652,0.401035766586,-0.00550592933975,0.0798679281518,0.999999982674,0.000108242349766,-0.000144272971425,4.60429565129e-05,1793245283144403456
+91,1.516666667,BASELINE,764,745,714,679.222229576,658.222229576,633,878,785,806.777770424,652,630,652,0.40103508803,-0.00550671304897,0.0798676041101,0.99999998264,0.000107667868554,-0.000144866941074,4.62794789504e-05,1793245283161070080
+92,1.533333333,BASELINE,764,745,714.359515362,679,658,633,878,785,806.640484638,652,630,652,0.401034315223,-0.00550692147297,0.0798666844172,0.999999982401,0.000108272442982,-0.000146095273789,4.61635888789e-05,1793245283177736960
+93,1.550000000,BASELINE,764,745,714.960637185,679,658,633,878,785,806.039362815,652,630,652,0.401033479077,-0.00550674328596,0.0798653644264,0.999999982022,0.000109669382552,-0.000147749919961,4.58108657271e-05,1793245283194403840
+94,1.566666667,BASELINE,764,745,714.449649583,679,658,633.550350417,878,785,806,652,630,652,0.401034680698,-0.00550619980613,0.0798670301086,0.999999982232,0.000110670636161,-0.000145473473525,4.60968316667e-05,1793245283211070464
+95,1.583333333,BASELINE,764,745,714.137481959,679,658,633.862518041,878.137481959,785,806.137481959,652,630,652,0.401035724235,-0.00550598448097,0.0798684426769,0.999999982456,0.000111068650804,-0.00014353770749,4.63614230345e-05,1793245283227737600
+96,1.600000000,BASELINE,764,745,714.718859101,679,658,633.281140899,878.718859101,785,806.718859101,652,630,652,0.401035796333,-0.00550691132993,0.0798683625231,0.999999982607,0.000109608476823,-0.000143591286735,4.64125037956e-05,1793245283244403968
+97,1.616666667,BASELINE,764.297039753,745,714.702960247,679,658,633.297039753,878.702960247,785,806.702960247,652,630,652,0.401035269161,-0.00550622881892,0.0798679302312,0.999999982355,0.000111021760154,-0.00014427331873,4.63601622093e-05,1793245283261070592
+98,1.633333333,BASELINE,764.872227181,745,714.127772819,679,658,633.872227181,878.127772819,785,806.127772819,652,630,652,0.401034180834,-0.00550403930508,0.0798671681976,0.999999981714,0.000115125745616,-0.000145543833136,4.62109760551e-05,1793245283277737216
+99,1.650000000,BASELINE,764.545054323,745,714,679,658.454945677,634,878,785,806,652,630,652,0.401034664031,-0.00550475281847,0.0798672399904,0.999999981956,0.000113078884623,-0.000145455966604,4.63065864758e-05,1793245283294403840
+100,1.666666667,BASELINE,764,745,714,679.0394179,658.9605821,633.9605821,878.0394179,785,806,652,630.0394179,652,0.401035487893,-0.00550616075891,0.0798674986642,0.999999982399,0.000109565539943,-0.000145050989723,4.64418691277e-05,1793245283311070208
+101,1.683333333,BASELINE,764,745,714,679.618455432,658.381544568,633.381544568,878.618455432,785,806,652,630.618455432,652,0.401034831457,-0.0055057257844,0.0798670558282,0.99999998228,0.000110023267032,-0.000145615470796,4.616321797e-05,1793245283327736832
+102,1.700000000,BASELINE,764,745,714,679.801961179,658.198038821,633,878.801961179,785,806,652,630.801961179,652,0.401034722031,-0.00550512090515,0.0798670434516,0.999999982234,0.000110509952743,-0.000145628962745,4.59624259319e-05,1793245283344403968
+103,1.716666667,BASELINE,764,745,714,679.221323294,658.778676706,633,878.221323294,785,806,652,630.221323294,652,0.401035669396,-0.00550418778023,0.0798678626967,0.999999982328,0.000111052584711,-0.000144577976861,4.59120530511e-05,1793245283361070848
+104,1.733333333,BASELINE,764,745,714,679,658.645378401,633,878,785,806.354621599,652,630,652,0.401036428849,-0.00550386417685,0.0798683247799,0.999999982374,0.000111792513873,-0.000143690714493,4.58992400092e-05,1793245283377737472
+105,1.750000000,BASELINE,764,745,714,679,658.072324145,633,878,785,806.927675855,652,630,652,0.401037072557,-0.00550391601417,0.0798685668659,0.99999998239,0.000112653970231,-0.00014290429913,4.5909562314e-05,1793245283394403840
+106,1.766666667,BASELINE,763.500713624,745,714,679,658.499286376,633,878,785,806.500713624,652,630,652,0.401036280745,-0.0055045132266,0.0798679396939,0.999999982195,0.000112781383583,-0.0001440561952,4.62334049422e-05,1793245283411070464
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633,879,785,806,652,630,652,0.401032261527,-0.00550609217193,0.0798659195227,0.999999981658,0.000112629496066,-0.000147937440862,4.59707429074e-05,1793245283453477376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.149597076,714,679.574798538,658.425201462,633,879,785,806,652,630,652,0.401034342862,-0.00550588026843,0.0798668892565,0.999999981874,0.000113258459587,-0.000145844958592,4.64088413432e-05,1793245283470143744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.850297232,714,679.850297232,658.149702768,633,878.850297232,785,806,652,630,652,0.401035407641,-0.00550541641295,0.0798673633873,0.999999981943,0.000113723571405,-0.000144937907136,4.66250153185e-05,1793245283486810112
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.275092459,714,679.275092459,658.724907541,633,878.275092459,785,806,652,630,652,0.401033583054,-0.00550423643126,0.07986642886,0.999999981602,0.000113722965675,-0.000147400219663,4.62104107923e-05,1793245283503476736
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714.30721496,679.30721496,659,633,878,785,806,652,630,652,0.401033649315,-0.005503787247,0.0798662868382,0.999999981565,0.000113961930029,-0.000147547675023,4.59575582224e-05,1793245283520143360
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714.896032856,679.896032856,659,633,878,785,806,652,630,652,0.401035448787,-0.00550400793481,0.079866871252,0.999999981807,0.000114420491888,-0.000145573259046,4.58529726291e-05,1793245283536809984
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.52081816,745,715,680,658.52081816,633.47918184,878.47918184,785,806.47918184,652,630,652,0.401033616009,-0.00550384856408,0.0798657487809,0.999999981629,0.000113760180892,-0.000147322630556,4.57823480894e-05,1793245283553476864
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,745,714.939504966,680,658,634,878.939504966,785,807,652,630,652,0.40103143296,-0.00550373104503,0.0798645993051,0.999999981398,0.000112847554998,-0.000149591824296,4.57460859364e-05,1793245283570143488
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,745,714.363477015,680,658,634,878.363477015,785,807,652,630,652,0.401032902363,-0.00550466468678,0.0798663387959,0.999999981519,0.000111829311876,-0.000149486183948,4.59405976122e-05,1793245283586810112
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.211300603,745,714,680,658,634,878,785.211300603,806.788699397,652,630,652,0.401035780649,-0.00550548784957,0.079868062236,0.999999981383,0.000111599632363,-0.000150510098888,4.61199489344e-05,1793245283603476736
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.783940008,745,714,680,658,634,878,785.783940008,806.216059992,652,630,652,0.401041068224,-0.00550612208556,0.0798697582282,0.999999980801,0.000112718451844,-0.000153465632339,4.6273374972e-05,1793245283620143616
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.367563862,785.632436138,806,652,630,652,0.401059371291,-0.0055064457635,0.0798770466051,0.999999981364,0.000113122428254,-0.000149327525457,4.66574410657e-05,1793245283636810240
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.957843515,785.042156485,806,652,630,652,0.401085560758,-0.00550658126689,0.0798877235425,0.999999982567,0.000113093264143,-0.000140891211448,4.71812575324e-05,1793245283653476608
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.46110426,658.53889574,633.46110426,878.46110426,785,806,652,630,652,0.40113609191,-0.00550704970398,0.0799004789954,0.999999984856,0.000112366432121,-0.000124512823131,4.64676708624e-05,1793245283670143232
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.118085736,658.881914264,633.118085736,878,785,806,652,630,652,0.40119174222,-0.00550791165026,0.0799124075912,0.999999986852,0.000111208519114,-0.000108861849336,4.5573258646e-05,1793245283686810112
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.692818923,658.307181077,633.692818923,878,785,806,652,630,652,0.401259949055,-0.0055101963087,0.079920520473,0.999999988281,0.000108591079855,-9.83859736167e-05,4.43476068256e-05,1793245283703476736
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714.274463878,679.725536122,658,633.725536122,878,785,806,652,630,652,0.401338982558,-0.00551098818874,0.0799273361427,0.999999989272,0.00010782001855,-8.94982800923e-05,4.26766037454e-05,1793245283720143360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714.864044314,679.135955686,658,633.135955686,878,785,806,652,630,652,0.401430446335,-0.00551006618482,0.0799326624607,0.999999989824,0.000109168814754,-8.24340056874e-05,4.0494285527e-05,1793245283736810240
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.555605174,745,714.555605174,679.444394826,658,633.444394826,878.444394826,785,806,652,630,652,0.401536914878,-0.00551118565373,0.0799356850894,0.999999990463,0.000106953048885,-7.90869164311e-05,3.71589186553e-05,1793245283753477376
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.021911155,745,714,680,658,634,879,785,806,652,630,652.021911155,0.401649238085,-0.00551293539531,0.0799382242558,0.999999991143,0.000103669483662,-7.64717288387e-05,3.34595822591e-05,1793245283770144512
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.597711621,745,714,680,658,634,879,785,806,652,630,652.597711621,0.401795879788,-0.00551515086813,0.0799459955293,0.99999999247,0.000100399417776,-6.41956032215e-05,2.92953712149e-05,1793245283786811392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.82295061,658,634,878.82295061,785,806,652,630,652.82295061,0.401948465622,-0.00551697391276,0.0799526819059,0.99999999353,9.72184600783e-05,-5.36315508608e-05,2.47481536558e-05,1793245283803478016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.235411676,658,634,878.235411676,785,806,652,630,652.235411676,0.402114832924,-0.00551788711115,0.0799568529445,0.999999994266,9.42441004652e-05,-4.7036947226e-05,1.93129349267e-05,1793245283820143872
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.347167475,634,878.347167475,785,806.347167475,652,630,652,0.402303244136,-0.00551971644282,0.0799596332563,0.999999994996,8.86864311041e-05,-4.43141475509e-05,1.33980697488e-05,1793245283836810496
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.926430863,634,878.926430863,785,806.926430863,652,630,652,0.402506392636,-0.00552215824782,0.0799614838098,0.999999995685,8.14017113064e-05,-4.41798093839e-05,7.16254040306e-06,1793245283853477120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.008348826,658.495825587,634,878.495825587,785,806.495825587,652,630,652,0.402721812187,-0.00552235677435,0.0799549211682,0.999999995568,7.28387810525e-05,-5.96391402504e-05,-1.0063258405e-06,1793245283870143488
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.918796254,658.081203746,633.918796254,878,785,806,652,630,652,0.402945142663,-0.00552265138724,0.0799476700686,0.999999995201,6.05803883786e-05,-7.6417976521e-05,-9.4001131508e-06,1793245283886810368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680.344759399,658.655240601,633.344759399,878,785,806,652,630,652,0.403205650759,-0.00552550983865,0.0799436690007,0.99999999566,2.7022469661e-05,-8.74367392805e-05,-1.74519494639e-05,1793245283903476992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.235580965,878,785,805.764419035,652,630,652,0.403488374996,-0.00552798715253,0.0799430054984,0.99999999566,3.76634540374e-06,-9.02891226973e-05,-2.26649937603e-05,1793245283920143872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.82539974,878,785,805.17460026,652,630,652,0.40380450513,-0.00552989135828,0.0799473606186,0.999999996444,-3.99919973043e-06,-8.0861904285e-05,-2.36094097704e-05,1793245283936810496
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.593112211,745,714,680,659,634,878,785,805.406887789,652,630,652,0.404158877505,-0.00552941134516,0.0799512825753,0.999999996954,2.11428410731e-06,-7.40504432855e-05,-2.45628532115e-05,1793245283953477120
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.015127264,745,714,680,659,634,878,785,805.984872736,652,630,652,0.404529330814,-0.005527928763,0.0799550223857,0.99999999724,1.40639285791e-05,-6.83389139276e-05,-2.55200926795e-05,1793245283970143744
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.563057011,745,714,680,659,633.436942989,878,785,806,652,630,652,0.40493742613,-0.00552757188786,0.079954832485,0.999999997632,-2.19587905871e-06,-6.23755882958e-05,-2.8974110195e-05,1793245283986810368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.14068188,785,806,652,630,652,0.4053526345,-0.00552754663219,0.079953197033,0.999999997506,-1.5355063599e-05,-6.0869731337e-05,-3.23691058918e-05,1793245284003476992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.716559556,785,806,652,630,652,0.405786717298,-0.00552845364196,0.0799474165202,0.99999999656,-1.65772219924e-05,-7.31738750747e-05,-3.53739371368e-05,1793245284020143616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.701495994,633,879,785,806,652,630,652,0.406240270384,-0.00552895169069,0.0799413182293,0.999999995819,-5.73019735266e-06,-8.47042651233e-05,-3.39825359905e-05,1793245284036810496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.113671342,633,879,785,806,652,630,652,0.406712694815,-0.00552905335999,0.0799349119359,0.999999994899,1.68147064036e-05,-9.54847071391e-05,-2.83301511937e-05,1793245284053477120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680.466709043,658.466709043,633,878.533290957,785,806,652,630,652,0.407230563411,-0.00553166544023,0.0799315137139,0.999999994239,6.10516053639e-06,-0.000102476029194,-3.13476458787e-05,1793245284070144512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.954984868,658.954984868,633,878.045015132,785,806.045015132,652,630,652,0.407760431924,-0.00553562880654,0.0799280984569,0.999999993238,-1.18862432564e-05,-0.000109959585622,-3.59370730068e-05,1793245284086811904
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.38008777,658.38008777,633,878.61991223,785,806.61991223,652,630,652,0.408303312025,-0.00554841411796,0.0799159939811,0.999999990197,-2.17506921336e-05,-0.000133930127851,-3.45638663565e-05,1793245284103478272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.199190865,633.199190865,879,785,806.800809135,652,630,652,0.408871221328,-0.00555941248754,0.079912722076,0.999999988711,-3.30846572038e-05,-0.000142588511391,-3.39419989916e-05,1793245284120144640
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.787018177,633.787018177,879,785,806.212981823,652,630,652,0.409487964465,-0.00556692439763,0.0799266831854,0.999999990911,-4.72857589551e-05,-0.000121371713614,-3.47860515169e-05,1793245284136810752
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.630814514,785,806.369185486,652,630,652,0.410163613669,-0.00556765469583,0.0799557215043,0.999999995538,-5.05724173043e-05,-7.17244375281e-05,-3.49465325692e-05,1793245284153477376
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.051863156,785,806.948136844,652,630,652,0.41087273243,-0.00556453177965,0.0799933264759,0.999999998244,-4.76576455805e-05,-5.92337393624e-06,-3.47186180192e-05,1793245284170144000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.473556947,714,680,659,633.473556947,878.526443053,785,806.473556947,652,630,652,0.411563174013,-0.00556030270682,0.07998739013,0.999999998083,-4.55611009465e-05,-2.02175204072e-05,-3.67359102935e-05,1793245284186810624
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744.10410994,714,680,659,633,878.89589006,785,806.10410994,651.89589006,630,652,0.412251873081,-0.00555584476422,0.0799725782255,0.999999997178,-4.3688467527e-05,-4.68689188073e-05,-3.92266117648e-05,1793245284203477248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744.679171777,714,680,659,633,878.320828223,785,806.679171777,651.320828223,630,652,0.41294100276,-0.00555084386025,0.0799369971806,0.999999993784,-4.24645249303e-05,-9.37690200672e-05,-4.28594800752e-05,1793245284220144128
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.258366297,659.258366297,633.258366297,878.258366297,785,807,651.258366297,630,652,0.413654705978,-0.00554802370871,0.0799172122238,0.999999991364,-4.29377700047e-05,-0.000115473607261,-4.5751521819e-05,1793245284236811008
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.842776104,659.842776104,633.842776104,878.842776104,785,807,651.842776104,630,652,0.414399419693,-0.00554795554151,0.0799173610233,0.999999992272,-4.55527689132e-05,-0.000105382901233,-4.77086833294e-05,1793245284253477888
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680.57445201,659.57445201,634,879,785,807,652,630,652,0.415197860755,-0.00554873490553,0.0799368787099,0.99999999515,-4.66564172535e-05,-7.24942581692e-05,-4.7612838125e-05,1793245284270144512
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,807,652,630,652,0.416015847327,-0.00554978970309,0.0799629694943,0.999999997272,-4.7196207813e-05,-3.22396415992e-05,-4.67820291206e-05,1793245284286810624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,807,652,630,652,0.416816820332,-0.00554812770944,0.0799477064639,0.99999999543,-4.71693818755e-05,-6.82637258082e-05,-4.74873807467e-05,1793245284303477248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.161185837,633.838814163,879,785,807,652,630,652,0.417643792229,-0.00554784187256,0.0799438397413,0.999999994643,-4.88501756917e-05,-7.74610877864e-05,-4.8248900513e-05,1793245284320143616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.738385651,633.261614349,879,785,807,652,630,652,0.418537866143,-0.0055511078395,0.0799693864187,0.999999997131,-5.49382654928e-05,-1.74197870754e-05,-4.91553879097e-05,1793245284336810240
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680.32154201,660,633,879.32154201,784.67845799,807,652,630,652,0.41940120339,-0.00555159701329,0.0799814449037,0.999999996776,-6.13480491551e-05,1.0336652304e-05,-5.07703080894e-05,1793245284353477120
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680.909636201,660,633,879.909636201,784.090363799,807,652,630,652,0.420239060482,-0.00554978427848,0.0799823219337,0.999999996219,-6.80245106998e-05,1.13295556372e-05,-5.2972505569e-05,1793245284370144256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680.50814314,659.50814314,633,879.50814314,784.49185686,807,652,630,652,0.421109390073,-0.00555017781261,0.0799692581751,0.999999996377,-6.59489651284e-05,-9.7869041953e-06,-5.29327276517e-05,1793245284386811136
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680.144012629,659.072006315,633,879,785,807,652,630,652,0.421993458298,-0.005550942283,0.0799592637616,0.999999996345,-6.24041671246e-05,-2.61606007088e-05,-5.22571774689e-05,1793245284403478016
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681.290323808,659.645161904,633,879,785,807,652,630,652,0.422932113135,-0.00555150063431,0.0799882464346,0.999999996799,-5.96923845741e-05,1.84109508899e-05,-4.99896590543e-05,1793245284420143872
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.219724517,745,714,681.780275483,660,633.219724517,879,785,807,651.780275483,630,652,0.423841354449,-0.00555075723355,0.0800006290537,0.999999996748,-5.70237271483e-05,2.99070164923e-05,-4.85514203049e-05,1793245284436810240
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.796574102,745,714,681.203425898,660,633.796574102,879,785,807,651.203425898,630,652,0.424702789199,-0.00554789805489,0.0799860310955,0.999999997268,-5.44251619813e-05,-1.23555232295e-05,-4.84610352073e-05,1793245284453476864
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.616486219,745,714,681.383513781,660,633.616486219,879.383513781,785,807,651.383513781,630,652.383513781,0.425560919525,-0.00554572728035,0.0799520044921,0.999999994831,-5.45093924725e-05,-6.89212044913e-05,-5.11484607185e-05,1793245284470143232
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.024049906,745,714,681.975950094,660,633.024049906,879.975950094,785,807,651.975950094,630,652.975950094,0.426417249685,-0.00554393152024,0.0799073939628,0.999999988016,-5.60550996852e-05,-0.000133278646156,-5.5349123046e-05,1793245284486810112
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.787322999,745,713,684.787322999,652.212677001,627.787322999,880.212677001,780,809,651.212677001,629,652.787322999,0.452187057391,-0.00558742000427,0.0795951914514,0.999999801492,-0.000139427910108,-0.000611339479956,-6.19680790865e-05,1793245285486810112
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.952155969,713.952155969,685,652,628,880,780,809,651.952155969,629,653,0.452187697425,-0.0055877420752,0.0795932359537,0.999999798932,-0.000138188257011,-0.000615908312254,-6.07996726047e-05,1793245285520143616
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.472429359,745.472429359,713.472429359,684.472429359,652.527570641,628,880,779.472429359,809,652,628.472429359,653,0.452188178592,-0.00558583164447,0.0795928265687,0.999999799325,-0.000136970966798,-0.000615516728133,-6.10579350737e-05,1793245285536810496
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,684.102533576,652.897466424,627.897466424,880,779.102533576,809,652,628.102533576,653,0.452188810431,-0.00558440132161,0.0795926291697,0.999999799725,-0.00013601429269,-0.000615053889658,-6.13023366461e-05,1793245285553477376
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,713,684.677886063,652.322113937,627.322113937,880,779.677886063,809,652,628.677886063,653,0.452189914234,-0.00558594907272,0.0795931509773,0.9999997994,-0.000136374868884,-0.000615520152028,-6.11220760122e-05,1793245285570144256
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,713,685,652.852856219,627,880,780,809,652,629,653,0.452191109514,-0.00558594907187,0.0795921156041,0.999999798892,-0.000138656159408,-0.000615770386021,-6.17886377599e-05,1793245285603477248
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713.985843717,684.985843717,652.985843717,627,880.985843717,779.985843717,809,652,629,652.985843717,0.452194932994,-0.00558388590634,0.0795947671702,0.999999801944,-0.000134745019799,-0.000611693279383,-6.15455429681e-05,1793245285636810496
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.412393502,684.412393502,652.412393502,627,880.412393502,779.412393502,809,652,629,652.412393502,0.452195541857,-0.00558440484914,0.0795943301557,0.999999801097,-0.000135721853464,-0.000612876391854,-6.13868154344e-05,1793245285653477120
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713,684.160195338,652.160195338,627.160195338,880,779.160195338,809,652,629,652,0.452195584006,-0.00558445276674,0.0795938793315,0.999999800422,-0.000135612572359,-0.000614018532392,-6.12134053781e-05,1793245285670143744
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713,684.730578553,652.730578553,627.730578553,880,779.730578553,809,652,629,652,0.452194175058,-0.00558329460159,0.0795933931468,0.999999800185,-0.00013272224202,-0.000615055762256,-6.10024000257e-05,1793245285686810624
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745.315454707,713,685,652.684545293,628,880,780,809,652,629,652.315454707,0.452194745864,-0.00558276843192,0.0795939990513,0.999999800888,-0.000131649701013,-0.000614164864053,-6.07820043108e-05,1793245285703477504
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.191903589,713,684,652.191903589,627,880,779,809,652,629,652,0.452178506476,-0.0055823019373,0.0795828176789,0.999999790534,-0.000133479062229,-0.000630453443939,-6.03691300576e-05,1793245286234125056
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea7640f5a92db202fb82a3c99a5c862dff05d8d3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
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+359,5.983333333,pose2_to_pose3_retreat,0.577452825878,-0.000122185135426,1.07005086362,0.548024460179,0.00855350442586,1.06971735628
+360,6.000000000,pose2_to_pose3_retreat,0.57723552196,-0.00012220059915,1.07005086465,0.547807156497,0.00855348975383,1.06971735692
+361,6.016666667,pose2_to_pose3_retreat,0.577038196443,-0.000122180933209,1.07005104201,0.547609830306,0.00855350708894,1.06971753321
+362,6.033333333,pose2_to_pose3_retreat,0.576860612623,-0.000122176623028,1.07005104471,0.547432245691,0.00855350876806,1.06971753775
+363,6.050000000,pose2_to_pose3_retreat,0.576700372676,-0.000122196508677,1.07005100042,0.547272005768,0.00855348887266,1.06971749097
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+365,6.083333333,pose2_to_pose3_retreat,0.576428137482,-0.000122170924549,1.07005086041,0.546999772222,0.00855352024985,1.06971735633
+366,6.100000000,pose2_to_pose3_retreat,0.576311425845,-0.000122150131297,1.07005118786,0.54688305907,0.00855353550042,1.06971767323
+367,6.116666667,pose2_to_pose3_retreat,0.576206716141,-0.000122175537295,1.07005094351,0.546778349809,0.00855351158418,1.06971742863
+368,6.133333333,pose2_to_pose3_retreat,0.576112406415,-0.000122165218624,1.07005086779,0.546684039637,0.00855352070502,1.06971736153
+369,6.150000000,pose2_to_pose3_retreat,0.576028212948,-0.000122183618775,1.0700509285,0.546599846137,0.00855350223405,1.06971742355
+370,6.166666667,pose2_to_pose3_retreat,0.57595473038,-0.000122194757561,1.07005085866,0.546526364002,0.00855349225797,1.06971734559
+371,6.183333333,pose2_to_pose3_retreat,0.575892464091,-0.000122069323213,1.0700507793,0.546464095908,0.00855361167417,1.06971726889
+372,6.200000000,pose2_to_pose3_retreat,0.575840874311,-0.000122209650773,1.07005089402,0.546412507671,0.00855347648451,1.06971738107
+373,6.216666667,pose2_to_pose3_retreat,0.575799036693,-0.000122072282213,1.07005099839,0.546370669763,0.00855361288007,1.06971748566
+374,6.233333333,pose2_to_pose3_retreat,0.57576628898,-0.000122063579826,1.07005087559,0.546337920964,0.00855361825964,1.06971737228
+375,6.250000000,pose2_to_pose3_retreat,0.575740202672,-0.000122122417359,1.07005085411,0.546311834594,0.00855355912672,1.06971734857
+376,6.266666667,pose2_to_pose3_retreat,0.575720310858,-0.000122196980445,1.07005084784,0.546291942882,0.0085534846266,1.06971733499
+377,6.283333333,pose2_to_pose3_retreat,0.57570476341,-0.000122252886524,1.0700508127,0.54627639514,0.00855342749088,1.06971729384
+378,6.300000000,pose2_to_pose3_retreat,0.575693392552,-0.000122238538958,1.07005090454,0.546265024065,0.00855344100423,1.06971738315
+379,6.316666667,pose2_to_pose3_retreat,0.575685825996,-0.000122126006298,1.07005095697,0.546257458661,0.00855355778263,1.06971744445
+380,6.333333333,pose2_to_pose3_retreat,0.575680967726,-0.000122061225084,1.07005098554,0.546252601135,0.00855362533196,1.06971747943
+381,6.350000000,pose2_to_pose3_retreat,0.575678072679,-0.000122135659926,1.07005098735,0.546249705532,0.00855354896236,1.06971747991
+382,6.366666667,pose2_to_pose3_retreat,0.575676196812,-0.000122183890546,1.07005098852,0.546247829303,0.00855349947809,1.06971748022
+383,6.383333333,pose2_to_pose3_retreat,0.575675165829,-0.000122201634776,1.07005101044,0.546246798408,0.00855348201961,1.06971750193
+384,6.400000000,pose2_to_pose3_retreat,0.575674294924,-0.000122199654633,1.07005107014,0.546245928126,0.00855348612862,1.06971756198
+385,6.416666667,pose2_to_pose3_retreat,0.575673577101,-0.000122198022548,1.07005111935,0.546245210818,0.00855348951538,1.06971761147
+386,6.433333333,pose2_to_pose3_retreat,0.575673042762,-0.00012219680764,1.07005115598,0.546244676861,0.00855349203644,1.06971764832
+387,6.450000000,pose2_to_pose3_retreat,0.575672641324,-0.000122195894907,1.0700511835,0.54624427571,0.00855349393047,1.069717676
+388,6.466666667,pose2_to_pose3_retreat,0.575672341679,-0.000122195213616,1.07005120404,0.54624397628,0.00855349534422,1.06971769666
+389,6.483333333,pose2_to_pose3_retreat,0.575672210851,-0.000122194916157,1.07005121301,0.546243845546,0.00855349596148,1.06971770568
+390,6.500000000,pose2_to_pose3_retreat,0.575672130016,-0.000122194732366,1.07005121855,0.546243764769,0.00855349634286,1.06971771125
+391,6.516666667,pose2_to_pose3_retreat,0.57567190612,-0.000122193431688,1.07005122958,0.546243541,0.00855349807923,1.0697177224
+392,6.533333333,pose2_to_pose3_retreat,0.575671610716,-0.000122188338039,1.07005122571,0.546243245622,0.00855350327151,1.06971771884
+393,6.550000000,pose2_to_pose3_retreat,0.575671300986,-0.000122182997372,1.07005122166,0.546242935918,0.00855350871558,1.0697177151
+394,6.566666667,pose2_to_pose3_retreat,0.575671205242,-0.000122181346468,1.0700512204,0.546242840183,0.00855351039845,1.06971771395
+395,6.583333333,pose2_to_pose3_retreat,0.575670983816,-0.000122177528419,1.0700512175,0.546242618775,0.00855351429043,1.06971771128
+396,6.600000000,pose2_to_pose3_retreat,0.575670674144,-0.000122172188764,1.07005121345,0.546242309131,0.00855351973348,1.06971770754
+397,6.616666667,pose2_to_pose3_retreat,0.575670358908,-0.000122166753165,1.07005120932,0.546241993922,0.00855352527433,1.06971770374
+398,6.633333333,pose2_to_pose3_retreat,0.575670230665,-0.000122158814733,1.07005120205,0.546241865428,0.00855353232468,1.06971769553
+399,6.650000000,pose2_to_pose3_retreat,0.575670165681,-0.000122151338014,1.070051195,0.546241800159,0.00855353878996,1.06971768735
+400,6.666666667,pose2_to_pose3_retreat,0.575669892673,-0.000122119927151,1.07005116537,0.546241525952,0.00855356595158,1.06971765297
+401,6.683333333,pose2_to_pose3_retreat,0.57566966847,-0.000122117898874,1.07005110031,0.546241301527,0.008553567156,1.06971758613
+402,6.700000000,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ff73ad3a43e16a0e48a6936a2dfbb62d40c01dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f10352ba682272b4526f8481e715464009156da9d17173f5ea692bebbcf2711
+size 25708269
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cea010c222a95795ec03341b885484e96ec2e25b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+33,0.550000000,BASELINE,764,745,714,680,658.16379924,633,878.16379924,785.83620076,806,651.83620076,630,652,0.400974148005,-0.00539422187394,0.0798367880957,0.999999930325,0.000245396862221,-0.000277828783611,4.40695020303e-05,1793245289116487168
+34,0.566666667,BASELINE,764,745,714,680,658.742109945,633,878.742109945,785.257890055,806,651.257890055,630,652,0.400973041716,-0.0053954155548,0.0798358213308,0.999999929714,0.000246063920935,-0.000279371424581,4.44485414599e-05,1793245289133153792
+35,0.583333333,BASELINE,764,745,714,680,658.679763973,633.320236027,878.679763973,785,806,651.320236027,630,652,0.400973194621,-0.0053959126733,0.0798359366338,0.999999930069,0.000245024547532,-0.00027901920144,4.44273584801e-05,1793245289149820416
+36,0.600000000,BASELINE,764,745,714,680,658.101786422,633.898213578,878.101786422,785,806,651.898213578,630,652,0.400974360986,-0.00539584916468,0.0798369228375,0.999999931194,0.000242611754669,-0.0002771418997,4.40840570882e-05,1793245289166486784
+37,0.616666667,BASELINE,764,745,714,679.517618685,658,634,878.482381315,785,806,652,630,652,0.400974074312,-0.00539551684127,0.0798365806676,0.999999931055,0.000242350909908,-0.000277882045725,4.40277911059e-05,1793245289183153664
+38,0.633333333,BASELINE,764,745,713.932942857,679.067057143,658.067057143,634,879,785.067057143,806,652,630,652,0.400973890598,-0.00539519461834,0.0798362639599,0.999999930852,0.000242443462096,-0.000278529912148,4.40274534835e-05,1793245289199820288
+39,0.650000000,BASELINE,764,745,713.354482737,679.645517263,658.645517263,634,879,785.645517263,806,652,630,652,0.400976860768,-0.00539538763284,0.0798383068808,0.999999932223,0.000241723160732,-0.000274207195874,4.39857366631e-05,1793245289216487168
+40,0.666666667,BASELINE,764,745,713.223737517,680,659,634,878.776262483,786,805.776262483,652,630,652,0.400976955971,-0.00539512104258,0.0798386189387,0.999999932276,0.000242168364107,-0.000273640326968,4.38601858752e-05,1793245289233154048
+41,0.683333333,BASELINE,764,745,713.801578108,680,659,634,878.198421892,786,805.198421892,652,630,652,0.400972501044,-0.00539412704878,0.0798361916085,0.999999930244,0.000244458179093,-0.000279017732308,4.36019534278e-05,1793245289249820416
+42,0.700000000,BASELINE,764,745,714,679.623078865,658.623078865,633.623078865,878,785.623078865,805.376921135,652,630,652,0.400972856353,-0.00539402028854,0.0798363817793,0.999999929999,0.000245652991814,-0.000278818967554,4.37676142625e-05,1793245289266487040
+43,0.716666667,BASELINE,764,745,714,679.04904199,658.04904199,633.04904199,878,785.04904199,805.95095801,652,630,652,0.400975727235,-0.00539437751848,0.0798379408058,0.999999930693,0.000246275158989,-0.000275704072984,4.41549555324e-05,1793245289283153664
+44,0.733333333,BASELINE,764,745,714,679.539283167,658,633,878,785,806,652,630,652,0.400975676612,-0.00539411783869,0.0798380355417,0.999999930843,0.000245756519863,-0.000275643781508,4.40280711848e-05,1793245289299820288
+45,0.750000000,BASELINE,764,744.873218126,714,680,658,633.126781874,878,785,806,652,630,652,0.400975647094,-0.00539370413666,0.0798381766008,0.999999930908,0.000245549388596,-0.000275614802916,4.38919467615e-05,1793245289316487168
+46,0.766666667,BASELINE,764,744.293441502,714,680,658,633.706558498,878,785,806,652,630,652,0.400976668095,-0.0053929460162,0.0798389719124,0.999999930849,0.000246836051131,-0.000274678167074,4.38944411241e-05,1793245289333154048
+47,0.783333333,BASELINE,763.714804516,744,714,680,658,634,878.285195484,785,806,651.714804516,630,652,0.40097710734,-0.00539270947022,0.0798393156319,0.999999930914,0.000247381734054,-0.000273938043055,4.39527335398e-05,1793245289349820672
+48,0.800000000,BASELINE,763.137335381,744,714,680,658,634,878.862664619,785,806,651.137335381,630,652,0.40097695039,-0.00539300744339,0.0798391965516,0.999999931109,0.00024716804741,-0.000273399307905,4.40682088411e-05,1793245289366487296
+49,0.816666667,BASELINE,763,744,714,680,658.435680872,633.564319128,879,785,806,651,630,652,0.40097622824,-0.00539309247951,0.0798386245044,0.999999930942,0.000247025931015,-0.000274122903928,4.41644567337e-05,1793245289383154176
+50,0.833333333,BASELINE,763,744.007574861,714,680,658.992425139,633.007574861,879,785,806,651,630,652,0.400975319734,-0.00539311941551,0.079837898566,0.999999930657,0.000246899974925,-0.000275261658406,4.4249374215e-05,1793245289399820544
+51,0.850000000,BASELINE,763,744.600103399,714,680,658.399896601,633.600103399,879,785,806,651,630,652,0.400973639403,-0.00539379061189,0.079836203363,0.99999993005,0.00024629741079,-0.000278043104573,4.39226267425e-05,1793245289416487168
+52,0.866666667,BASELINE,763.187873588,745,714,680,658,633.812126412,879,785,806,651.187873588,630,652,0.400972999363,-0.00539452142975,0.0798356787588,0.999999929991,0.000245318291919,-0.000279148770054,4.37272404919e-05,1793245289433153536
+53,0.883333333,BASELINE,763.765765591,745,714,680,658,633.234234409,879,785,806,651.765765591,630,652,0.400974518926,-0.00539537601951,0.0798375842734,0.999999931078,0.000243557459789,-0.000276775578464,4.38045551563e-05,1793245289449820160
+54,0.900000000,BASELINE,764,745,714,679.657957088,658.342042912,633,878.657957088,785,806,652,630,652,0.400975436486,-0.00539484444694,0.0798381570118,0.999999931295,0.000243966534806,-0.000275625557679,4.38357433898e-05,1793245289466486784
+55,0.916666667,BASELINE,764,745,714,679.082780344,658.917219656,633,878.082780344,785,806,652,630,652,0.400975943726,-0.00539336807669,0.07983782134,0.999999930919,0.000245854601998,-0.000275309240848,4.3835492198e-05,1793245289483153664
+56,0.933333333,BASELINE,764,745,714,679.503572182,658.496427818,633.503572182,879.007144364,785,806,652,630,652,0.400975837657,-0.0053943548867,0.0798377204593,0.999999931093,0.000244597159838,-0.000275783030803,4.39201450032e-05,1793245289499820544
+57,0.950000000,BASELINE,764,745,714,680,658,633.909067124,879.818134248,785,806,651.909067124,630,652,0.40097557703,-0.00539527712347,0.0798376690117,0.999999931275,0.000243225772626,-0.000276329756986,4.39708322869e-05,1793245289516487424
+58,0.966666667,BASELINE,764,745,714,680,658,633.326414827,878.652829654,785,806,651.326414827,630,652,0.400975038186,-0.0053936109176,0.0798376714271,0.99999993101,0.000244097792064,-0.000276552604172,4.37606653012e-05,1793245289533153792
+59,0.983333333,BASELINE,764,744.74729051,714,680,658,633.25270949,878,785,806,651.25270949,630,652.25270949,0.400974998977,-0.0053931678955,0.0798378065483,0.999999931071,0.000243958730451,-0.000276469859581,4.36542694936e-05,1793245289549820160
+60,1.000000000,BASELINE,764,744.172660324,714,680,658,633.827339676,878,785,806,651.827339676,630,652.827339676,0.400975596241,-0.00539428305831,0.0798381107205,0.999999931548,0.000242531676509,-0.00027599782882,4.36800653285e-05,1793245289566487040
+61,1.016666667,BASELINE,764,744.402499434,714,679.597500566,658,634,878,785,806,652,630,652.597500566,0.400975459539,-0.00539533114149,0.079838232916,0.999999931687,0.000242038970262,-0.000275898322018,4.38469463092e-05,1793245289583153664
+62,1.033333333,BASELINE,764,744.977886626,714,679.022113374,658,634,878,785,806,652,630,652.022113374,0.400975007573,-0.00539635041152,0.079838276946,0.999999931683,0.000241947599519,-0.000275958827478,4.40744283541e-05,1793245289599820288
+63,1.050000000,BASELINE,764,745,714,679,658,633.435150754,878.564849246,785,806,652,630,652,0.400975420643,-0.0053955460314,0.0798388708245,0.999999931763,0.000242478419554,-0.000275203342078,4.405153704e-05,1793245289616487168
+64,1.066666667,BASELINE,764,745,714,679.150480347,658.150480347,633,879,785,806,652,630,652,0.400975981063,-0.00539422003002,0.0798391950185,0.999999931611,0.000243866431734,-0.000274540426928,4.39937970637e-05,1793245289633154048
+65,1.083333333,BASELINE,764,745,714,679.730984275,658.730984275,633,879,785,806,652,630,652,0.400976863758,-0.00539161169603,0.079838685741,0.999999930774,0.000247632954268,-0.0002742352466,4.38650676897e-05,1793245289649820672
+66,1.100000000,BASELINE,764,745,714,680,658.691213829,633,878.691213829,785,806,652,630,652,0.400976660812,-0.00539175212531,0.0798381536808,0.999999930528,0.000247859159611,-0.000274938442931,4.37942303178e-05,1793245289666487040
+67,1.116666667,BASELINE,764,745,714,680,658.115745564,633,878.115745564,785,806,652,630,652,0.400975520257,-0.00539426651449,0.0798376019443,0.999999930793,0.00024502778223,-0.000276512520242,4.37733911773e-05,1793245289683153408
+68,1.133333333,BASELINE,764,744.540361923,714,680,658,633,878.459638077,785,806,652,630,652,0.400975770683,-0.0053947740402,0.0798384847,0.999999931355,0.000244186970463,-0.00027519312254,4.39523769532e-05,1793245289699820288
+69,1.150000000,BASELINE,764,744.035862855,714,680,658,633,879,785.035862855,806,652,630,652,0.400976197893,-0.00539480790086,0.0798395120769,0.999999931884,0.000243884186043,-0.000273502049959,4.41501386955e-05,1793245289716486656
+70,1.166666667,BASELINE,764,744.625401971,714,680,658,633,879,785.625401971,806,652,630,652,0.400973947603,-0.0053953297499,0.0798371962844,0.99999993078,0.000244150434818,-0.000277319863237,4.38610486573e-05,1793245289733153536
+71,1.183333333,BASELINE,764,745,714,680,658,633.210577276,879,785.789422724,806,651.789422724,630,652,0.400973224683,-0.00539563049592,0.0798362465293,0.999999930425,0.000244020620959,-0.0002787227604,4.37991205679e-05,1793245289749820160
+72,1.200000000,BASELINE,764,745,714,680,658,633.788147449,879,785.211852551,806,651.211852551,630,652,0.400975163656,-0.00539554590491,0.0798376774958,0.999999931388,0.000243200551402,-0.000275916955901,4.41330890047e-05,1793245289766486784
+73,1.216666667,BASELINE,764,745,714,679.634894894,658,634,879,785.365105106,806.365105106,651.365105106,630,652,0.400975416635,-0.00539441812067,0.0798379903766,0.999999931462,0.000243231191063,-0.000275669760417,4.38158156371e-05,1793245289783153920
+74,1.233333333,BASELINE,764,745,714,679.05829209,658,634,879,785.94170791,806.94170791,651.94170791,630,652,0.400974692953,-0.00539268603657,0.0798376555738,0.999999931024,0.000243754628704,-0.000276904713411,4.31212915891e-05,1793245289799820800
+75,1.250000000,BASELINE,764,745,714,679.527531818,658,634,879,785.472468182,806.472468182,652,630,652,0.400975560042,-0.0053947975067,0.0798378574749,0.999999931585,0.000242061702595,-0.000276271008031,4.37185769958e-05,1793245289816487168
+76,1.266666667,BASELINE,763.886544854,745,714,680,658,633.886544854,878.886544854,785,806,652,630,652,0.400976318424,-0.00539660119941,0.079838075028,0.999999932091,0.000240641453045,-0.000275592327494,4.42621574833e-05,1793245289833153536
+77,1.283333333,BASELINE,763.304494201,745,714,680,658,633.304494201,878.304494201,785,806,652,630,652,0.40097588889,-0.00539534833902,0.0798381079239,0.999999931925,0.000241376938734,-0.000275595896474,4.39838683891e-05,1793245289849820160
+78,1.300000000,BASELINE,763.274421774,745,714,679.725578226,658,633,878.274421774,785,806,652,630,652,0.400975076022,-0.00539456386507,0.079837869431,0.999999931579,0.00024226673478,-0.000276090877002,4.38463014648e-05,1793245289866486528
+79,1.316666667,BASELINE,763.849898802,745,714,679.150101198,658,633,878.849898802,785,806,652,630,652,0.400973842616,-0.005394293236,0.0798373332101,0.999999931035,0.000243325817429,-0.000277124962086,4.3863114249e-05,1793245289883153152
+80,1.333333333,BASELINE,764,745,714,679.433705693,658,633.433705693,878.566294307,785,806,652,630,652,0.400973658309,-0.005395119713,0.0798369870131,0.999999931285,0.000242129003779,-0.000277251844454,4.39829330101e-05,1793245289899820288
+81,1.350000000,BASELINE,764,745,714,680,658,634,878,785,806.020159622,652,630,652,0.40097386818,-0.00539626172741,0.0798367565043,0.999999931789,0.00024026614767,-0.000277031880427,4.41261070224e-05,1793245289916487168
+82,1.366666667,BASELINE,764,745,714,680,658,634,878,785,806.598518771,652,630,652,0.400974742179,-0.00539542133469,0.0798378726505,0.999999931645,0.000242002572678,-0.000276071948919,4.39095402462e-05,1793245289933153792
+83,1.383333333,BASELINE,764,745,714,680,658,633.823454061,878,785,806.823454061,651.823454061,630,652,0.400974820884,-0.00539471707382,0.0798381804377,0.999999931341,0.000243326501972,-0.000276030652147,4.37765689278e-05,1793245289949820160
+84,1.400000000,BASELINE,764,745,714,680,658,633.246180321,878,785,806.246180321,651.246180321,630,652,0.400973094411,-0.00539432180779,0.079836653394,0.999999930678,0.00024371413989,-0.000278074492244,4.38333443513e-05,1793245289966486784
+85,1.416666667,BASELINE,764,745,714,680.330102768,658,633,878.330102768,785,806,651.330102768,630,652,0.400973852175,-0.00539451221301,0.0798368958429,0.999999931057,0.000243073308787,-0.000277305047642,4.36211285891e-05,1793245289983153408
+86,1.433333333,BASELINE,764,745,714,680.905649236,658,633,878.905649236,785,806,651.905649236,630,652,0.400976457063,-0.00539513808664,0.0798384539756,0.999999932205,0.000241667772642,-0.00027444382098,4.32089078598e-05,1793245289999820032
+87,1.450000000,BASELINE,764,744.507627181,714,680.015254362,658,633,878.507627181,785.492372819,806,652,630,652,0.400976181196,-0.00539506114231,0.0798383813327,0.999999931789,0.000243029677936,-0.000274723323313,4.3431716393e-05,1793245290016486400
+88,1.466666667,BASELINE,764,744.079985536,714,679.079985536,658,633,878.079985536,786,806,652,630,652,0.40097556175,-0.00539488664116,0.0798381084753,0.999999931242,0.000244519737834,-0.000275339830861,4.37488975127e-05,1793245290033153024
+89,1.483333333,BASELINE,764,744.659464874,714,679.659464874,658,633,878.659464874,786,806,652,630,652,0.400976324066,-0.00539496348488,0.0798385821274,0.999999931813,0.000243421494296,-0.000274215192297,4.38778528694e-05,1793245290049820160
+90,1.500000000,BASELINE,764,745,714,680,658.236081273,633,878.763918727,785.763918727,806,652,630,652,0.400976721279,-0.00539456118189,0.0798389510393,0.999999932049,0.00024300162014,-0.000273725667436,4.38816721225e-05,1793245290066486784
+91,1.516666667,BASELINE,764,745,714,680,658.808617462,633,878.191382538,785.191382538,806,652,630,652,0.400976598161,-0.0053934760155,0.0798391706791,0.99999993181,0.000243548534804,-0.000274141284888,4.37071516921e-05,1793245290083153664
+92,1.533333333,BASELINE,764,745,714,680,658.61811455,633.38188545,878,785,806,652,630,652,0.400976591536,-0.00539377653862,0.0798393341,0.99999993148,0.000244802649205,-0.000274208436391,4.38425940294e-05,1793245290099820544
+93,1.550000000,BASELINE,764,745,714,680,658.044479064,633.955520936,878,785,806,652,630,652,0.400976643403,-0.00539477283578,0.0798394692926,0.999999931101,0.000246411858553,-0.000274100618294,4.4133673001e-05,1793245290116487168
+94,1.566666667,BASELINE,764,745,714,680,658,633.450419179,878,785,806,652,630,652,0.400975062651,-0.00539407488844,0.079838593555,0.99999993024,0.00024796114809,-0.000275853928176,4.40401981666e-05,1793245290133153536
+95,1.583333333,BASELINE,764.140969986,745,714,680,658,633,878,785,806,652,630,652,0.400973995015,-0.00539350758254,0.0798379362913,0.999999929798,0.000248572237539,-0.000276929604608,4.38886075081e-05,1793245290149819904
+96,1.600000000,BASELINE,764.718763676,745,714,680,658,633,878,785,806,652,630,652,0.400974942613,-0.00539378638824,0.0798382193254,0.999999930789,0.000246291733788,-0.000275420738076,4.36570965186e-05,1793245290166486528
+97,1.616666667,BASELINE,764.704170726,745,714,680,658,633.295829274,878,785,806,652,630.295829274,652,0.400974694798,-0.005393737959,0.0798380182708,0.99999993109,0.000244922004133,-0.000275590468421,4.33934387704e-05,1793245290183153152
+98,1.633333333,BASELINE,764.127795641,745,714,680,658,633.872204359,878,785,806,652,630.872204359,652,0.400973313328,-0.00539337920079,0.0798373581373,0.99999993074,0.000244415995284,-0.000277352074188,4.30992950794e-05,1793245290199820032
+99,1.650000000,BASELINE,764,745,714,680,658.456644213,633.543355787,878.456644213,785.456644213,806,652,630.543355787,652,0.400974702478,-0.00539388714945,0.0798380573385,0.999999931132,0.000243989131911,-0.000276255569376,4.3456585386e-05,1793245290216486656
+100,1.666666667,BASELINE,764,745,714,680,658.957203387,633.042796613,878.957203387,786,806,652,630,652,0.400976495257,-0.00539459803627,0.0798389272546,0.999999931628,0.000243623055109,-0.000274697033888,4.3970049986e-05,1793245290233153536
+101,1.683333333,BASELINE,764,745,714,680,658.378378334,633.621621666,878.378378334,786,806,652,630,652,0.40097345724,-0.00539475810224,0.0798370849337,0.999999930806,0.000243735920546,-0.000277550003732,4.41151223811e-05,1793245290249819904
+102,1.700000000,BASELINE,764,745,714,680,658,634,878.199155739,785.800844261,806,652,630,652,0.400972586679,-0.00539439118298,0.0798365272486,0.999999930508,0.000243988246606,-0.000278419858603,4.39931657401e-05,1793245290266486784
+103,1.716666667,BASELINE,764,745,714,680,658,634,878.774252797,785.225747203,806,652,630,652,0.400975807568,-0.00539302948682,0.0798383945385,0.999999931206,0.000244503828995,-0.000275546236507,4.33671450356e-05,1793245290283153408
+104,1.733333333,BASELINE,764,745,714,680,658,634,878.650151517,785,806,652,630,652,0.400977066529,-0.00539244220981,0.0798393124372,0.99999993134,0.000245782750116,-0.000273913608402,4.33887926415e-05,1793245290299820032
+105,1.750000000,BASELINE,764,745,714,680,658,634,878.074233565,785,806,652,630,652,0.400977057707,-0.00539235535651,0.0798396168466,0.999999931111,0.000247554935059,-0.000273082901036,4.38289585965e-05,1793245290316486656
+106,1.766666667,BASELINE,763.48589752,745,714,680,658,634,878.51410248,785.51410248,806,652,630,652,0.40097623241,-0.00539345279128,0.0798387347706,0.99999993098,0.000246324699268,-0.000274698246802,4.3642062486e-05,1793245290333153280
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633,879,785,806,652,630,653,0.400977237625,-0.00539468019465,0.0798402580314,0.999999931896,0.000244576801738,-0.000272879113657,4.38886479342e-05,1793245290375615232
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.572440245,745,714,679.572440245,658.427559755,633.572440245,879,785.572440245,806,652,630.572440245,652.427559755,0.400976111596,-0.00539521772513,0.079838818944,0.999999931993,0.000242683341176,-0.000274227518387,4.37978716541e-05,1793245290392282368
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.854982462,745,714,680,658,633.854982462,878.854982462,785.854982462,806,652,630.854982462,652,0.400975420859,-0.00539560390672,0.0798379076092,0.999999932065,0.000241330770618,-0.000275176941149,4.36675190516e-05,1793245290408949248
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.282000587,745,714,680,658,633.282000587,878.282000587,785.282000587,806,652,630.282000587,652,0.400976014717,-0.00539554343949,0.0798385537364,0.99999993208,0.000241574431597,-0.000274948920078,4.34203719035e-05,1793245290425615360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.304085954,633.304085954,878,785,806.304085954,652,630,652,0.400974995167,-0.00539456976615,0.0798380398428,0.999999931401,0.000242902490773,-0.000276265643447,4.32776408292e-05,1793245290442281728
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.902872671,633.902872671,878,785,806.902872671,652,630,652,0.400972412002,-0.00539271107156,0.0798364017308,0.999999930041,0.000245281479684,-0.000279079434868,4.3236103186e-05,1793245290458948096
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.518704282,634,878.481295718,785,807,652,630,652,0.400975093781,-0.00539313215418,0.0798381334316,0.999999930627,0.000246355682064,-0.000275950749536,4.36651993169e-05,1793245290475614720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680.055728086,658,634,879,785,806.944271914,652,630,652,0.400978552425,-0.00539407392637,0.0798403294987,0.999999931558,0.0002467855353,-0.000272088003803,4.41476244673e-05,1793245290492281088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680.629713863,658,634,879,785,806.370286137,652,630,652,0.400979755952,-0.00539575314249,0.0798407765582,0.999999932337,0.000243572425464,-0.000272098374617,4.42785990213e-05,1793245290508947968
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680.789623682,658,633.789623682,878.789623682,785,806.210376318,652,630,652,0.400987132278,-0.00539640291026,0.0798440858055,0.999999934128,0.000241830991816,-0.000267015560782,4.43205273214e-05,1793245290525614848
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680.196824393,658,633.196824393,878.196824393,785,806.803175607,652,630,652,0.401005729542,-0.00539518134222,0.0798525979502,0.999999937634,0.000242764777756,-0.00025267433409,4.4200586941e-05,1793245290542281472
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.385344923,633.385344923,878.385344923,785,806.614655077,651.614655077,630,652,0.401040327448,-0.00539469494902,0.0798657589353,0.999999942987,0.000244652241161,-0.000228507864225,4.42193279661e-05,1793245290558948096
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.962230527,633.962230527,878.962230527,785,806.037769473,651.037769473,630,652,0.401082878681,-0.00539457398387,0.0798812306874,0.999999948619,0.000247013742218,-0.000199457628645,4.43070023397e-05,1793245290575614464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.460718729,634,878.460718729,785,806,651.539281271,630,652,0.40115120686,-0.00539624870428,0.0798977720396,0.999999954895,0.00024588868716,-0.000166809200318,4.38550778109e-05,1793245290592281088
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.115512484,745,714,679.884487516,658,634,878,785,806,652,630,652,0.401222090147,-0.00539801911314,0.0799124170397,0.999999959529,0.00024418678899,-0.000139479373821,4.31299017519e-05,1793245290608947712
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.688452719,745,714,679.311547281,658,634,878,785,806,652,630,652,0.401295940366,-0.00539967027176,0.0799192557802,0.999999961053,0.000241167873488,-0.000134209367581,4.14723541249e-05,1793245290625614592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.72925846,745,714,679.27074154,658,633.72925846,878.27074154,785,806,652,630,652,0.401379972392,-0.00540084982612,0.0799246391423,0.999999962428,0.00023946891433,-0.000127496664367,3.9281219453e-05,1793245290642281472
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.135827344,745,714,679.864172656,658,633.135827344,878.864172656,785,806,652,630,652,0.401476139836,-0.00540146728791,0.0799282878776,0.999999963605,0.000239343175895,-0.000119064449659,3.64541167996e-05,1793245290658948096
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.555733846,714,680,658,633.444266154,878.555733846,785.444266154,806,651.555733846,630,652,0.401593361472,-0.00540245096877,0.0799326523196,0.999999965271,0.000236627877564,-0.000111344154458,3.2688645681e-05,1793245290675614720
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.020367491,714,680,658,634,878.020367491,785.979632509,806,651.020367491,630,652,0.401717998484,-0.00540362808053,0.0799372687633,0.99999996704,0.000233119205148,-0.000103706943093,2.86275554355e-05,1793245290692281344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.595563355,714,680,658,634,878.595563355,785.404436645,806,651.595563355,630,652,0.401874398618,-0.00540711327594,0.0799429629544,0.999999969218,0.000228936781926,-9.25766230849e-05,2.41009238581e-05,1793245290708947968
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630.17010174,652,0.402039055264,-0.00540968674659,0.0799489305125,0.999999971198,0.000225044020973,-8.11476134216e-05,1.93470775845e-05,1793245290725614592
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630.743082826,652,0.402223267119,-0.00541010083216,0.0799555455289,0.999999972914,0.000221837314466,-6.9011170544e-05,1.40550827992e-05,1793245290742281472
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630.671818049,652,0.40241709904,-0.00541141952004,0.0799575618564,0.999999974439,0.000216118508506,-6.59825626598e-05,7.8067922176e-06,1793245290758948096
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,806,652,630.076868535,652,0.402618750794,-0.00541347352738,0.0799558400721,0.999999975818,0.000208357704927,-7.03573921169e-05,7.81161849649e-07,1793245290775614464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.497823017,879,785,806,652,630,652,0.40284656884,-0.00541578120173,0.0799478863765,0.999999976858,0.000197748458369,-8.43573574658e-05,-7.98508215277e-06,1793245290792281344
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.921202137,658,633.078797863,878.921202137,785,806.078797863,652,630,652,0.403086180246,-0.00541836801748,0.0799401528621,0.99999997779,0.000185873835037,-9.79245124262e-05,-1.68119566693e-05,1793245290808948224
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.344990916,658,633.655009084,878.344990916,785,806.655009084,652,630,652,0.403375730283,-0.00542247933645,0.0799396460493,0.999999980502,0.000168679337184,-9.97446502785e-05,-2.43913086943e-05,1793245290825614848
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.236804822,658.236804822,634,878.236804822,785,806.763195178,652,630,652,0.403681698207,-0.00542498662974,0.0799415116528,0.99999998342,0.00015201846647,-9.68797954604e-05,-2.57764467562e-05,1793245290842281728
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.826932869,658.826932869,634,878.826932869,785,806.173067131,652,630,652,0.404012162326,-0.00542510064584,0.0799469170061,0.999999986784,0.000136153792006,-8.70247251119e-05,-1.79195442819e-05,1793245290858948096
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.589975467,785,806,652,630,652,0.40437677066,-0.00542475233734,0.0799521507574,0.999999987904,0.000133701561212,-7.68806345246e-05,-2.01383304815e-05,1793245290875614720
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.009803696,785,806,652,630,652,0.404755547759,-0.00542421217872,0.0799573132993,0.99999998807,0.000136815071577,-6.66166099051e-05,-2.65382096436e-05,1793245290892281344
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.564375825,745,714,679.435624175,659,633.435624175,878,785,806,651.435624175,630,652,0.405172092009,-0.00542987941586,0.079952901156,0.999999989744,0.000121746731434,-6.94915295735e-05,-2.9345126787e-05,1793245290908947968
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.862708888,745,714,679,659,633.137291112,878,785,806,651.137291112,630,652,0.405598285767,-0.00543438539971,0.0799476217962,0.999999990738,0.000108467162525,-7.55920348469e-05,-3.23208355081e-05,1793245290925614592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.293447402,745,714,679,659,633.706552598,878,785,806,651.706552598,630,652,0.406052797997,-0.00543490193192,0.0799401316532,0.999999990017,0.000101799051341,-9.11308965129e-05,-3.60219382353e-05,1793245290942281216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.290909148,658.709090852,633.709090852,878.290909148,785,806,651.709090852,630,652,0.406526065825,-0.00543633866398,0.0799338723933,0.999999988771,0.00010323411863,-0.000102184361832,-3.68664564191e-05,1793245290958948096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.891325892,658.108674108,633.108674108,878.891325892,785,806,651.108674108,630,652,0.407019288394,-0.00543875442633,0.0799289227085,0.999999987099,0.000113290417239,-0.000108465671687,-3.46717629174e-05,1793245290975614976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.470255653,879,785,806,651.470255653,630,652,0.407530357777,-0.00544191459001,0.0799235153702,0.999999986052,0.000109012787839,-0.000121245641194,-3.621943062e-05,1793245290992281344
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.041650476,633.958349524,879,785,806,651.958349524,630,652,0.408050694715,-0.00544516564125,0.0799179743443,0.99999998496,0.000101700544728,-0.000135108213409,-3.8504081479e-05,1793245291008947968
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.579828733,633.420171267,879,785,806,651.420171267,630,652,0.408634494439,-0.00544753900591,0.0799120453103,0.999999984129,9.59756741865e-05,-0.000144755572673,-3.97149715901e-05,1793245291025614592
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.138977576,878.861022424,785,806.138977576,651,630,652,0.409237443103,-0.00545086508864,0.079914811683,0.999999985278,9.01972473745e-05,-0.000140170951433,-4.07541512828e-05,1793245291042281216
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.772793462,878.227206538,785,806.772793462,651,630,652,0.409908572724,-0.00545758338322,0.079948538593,0.999999992,8.42281303356e-05,-8.49124766631e-05,-4.11819452069e-05,1793245291058948096
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.373745786,634,878,785,807,651,630,652,0.410600647665,-0.00546993086661,0.0799775693434,0.999999996206,6.795923555e-05,-3.74385551363e-05,-3.95911676189e-05,1793245291075614720
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.956334477,634,878,785,807,651,630,652,0.411304426478,-0.00548542384651,0.0800039759572,0.999999998249,4.59349970534e-05,5.68548612408e-06,-3.68724459225e-05,1793245291092281600
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.467718232,634,878.532281768,785,807,651,630,652,0.411967191535,-0.0055064418605,0.0799806118087,0.999999998558,2.14130499117e-05,-3.34238509412e-05,-3.6161128307e-05,1793245291108948224
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+158,2.633333333,POSE1_TO_POSE2_PRESS,764.5886327,745,714,680.5886327,659.5886327,633.5886327,879,784.5886327,807,652,630,652,0.417302655057,-0.00553943516114,0.0799457912457,0.999999995635,-3.80822997408e-05,-7.178214751e-05,-4.61199279756e-05,1793245291225614848
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.831659839,745,714,681,660,634,879,785,807,652,630,652,0.418140525435,-0.0055428331987,0.0799454589692,0.999999995641,-4.83319691992e-05,-6.3582309145e-05,-4.83662408049e-05,1793245291242281472
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.243203247,745,714,681,660,634,879,785,807,652,630,652,0.419062761506,-0.00555370367067,0.0799799373031,0.99999999709,-5.94105073891e-05,5.51907686967e-06,-4.75314013593e-05,1793245291258948096
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.660291972,879,785,807,652,630,652,0.419941596642,-0.00555910294911,0.0799863838332,0.999999996564,-6.50116367147e-05,1.8904193598e-05,-4.78394565341e-05,1793245291275614720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.081286953,879,785,807,652,630,652,0.42078985927,-0.00556064821117,0.07997308421,0.99999999655,-6.67543715616e-05,-6.95832433479e-06,-4.89525891983e-05,1793245291292281344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807.496187513,652,630,652,0.421678543749,-0.00555206910471,0.0799720019982,0.999999996868,-6.15409084396e-05,-6.35999964513e-06,-4.935294103e-05,1793245291308947968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.073074459,879,785.073074459,808,651.926925541,630,652,0.422576079341,-0.00554026064366,0.0799764533463,0.999999997452,-5.15411173638e-05,2.8090387478e-06,-4.932053546e-05,1793245291325614592
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.647644581,879,785.647644581,808,651.352355419,630,652,0.423489052001,-0.00551763743785,0.0800051868111,0.999999997908,-1.64904023895e-05,4.11391440372e-05,-4.7117105384e-05,1793245291342281216
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.228138733,660,633.771861267,879,785.771861267,808,651.228138733,630,652.228138733,0.424376074722,-0.00550495366162,0.0800046358261,0.999999998572,4.84082560181e-07,2.59273997729e-05,-4.67241916139e-05,1793245291358947840
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681.818026432,660,633.181973568,879,785.181973568,808,651.818026432,630,652.818026432,0.425221949975,-0.00550803037259,0.0799576498571,0.999999995975,-1.12040634457e-05,-7.41831567211e-05,-4.92021287487e-05,1793245291375614464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681.600845217,660,633,879,785,807.600845217,652,630,652.600845217,0.426119621034,-0.00551747077103,0.0799267580442,0.999999992452,-2.62009931591e-05,-0.00010817616979,-5.20255682553e-05,1793245291392281344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681.023624513,660,633,879,785,807.023624513,652,630,652.023624513,0.427040398538,-0.00552975005768,0.0799030459569,0.999999991229,-4.26739952696e-05,-0.00011267364854,-5.50031389303e-05,1793245291408947968
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681.553299417,660,633,879.553299417,785,807.553299417,651.446700583,630.553299417,652,0.427943280894,-0.00552928803495,0.0799039955482,0.999999990238,-4.38329851151e-05,-0.000120775889681,-5.49116485255e-05,1793245291425614592
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132597175,745,714,681.867402825,660,633,879.867402825,785,808,651,630.867402825,652,0.428845573419,-0.0055297898402,0.0799120393466,0.999999990455,-4.44704997044e-05,-0.000118936143156,-5.44732596815e-05,1793245291442281216
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.720081999,745,714,681.279918001,660,633,879.279918001,785,808,651,630.279918001,652,0.429748462266,-0.00553546347378,0.079940810062,0.999999994142,-4.55610060957e-05,-8.24616941519e-05,-5.32941106623e-05,1793245291458947840
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.696782899,745,714,681,660,633,879.303217101,785,807.696782899,651.303217101,630,652,0.430699934355,-0.00554035629962,0.0799799056991,0.999999997073,-5.09495266235e-05,-2.41643229219e-05,-5.17143408675e-05,1793245291475614464
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.117606531,745,714,681,660,633,879.882393469,785,807.117606531,651.882393469,630,652,0.431695622226,-0.00554453850848,0.0800283980928,0.999999995489,-6.02496891652e-05,5.39941874664e-05,-4.9769964144e-05,1793245291492281088
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.460410044,745,714,681.460410044,660.460410044,633,880,785,807.460410044,652,630.460410044,652,0.432561072443,-0.00554047271508,0.0800111074689,0.999999997099,-5.36733765404e-05,2.01497579368e-05,-5.01449604263e-05,1793245291508947968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682.037859808,660.962140192,633,879.962140192,785,808,652,631,652,0.433393035971,-0.00553453125282,0.0799755632455,0.999999996795,-4.39924077356e-05,-4.2857487524e-05,-5.13583370616e-05,1793245291525614592
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.611469807,660.388530193,633,879.388530193,785,808,652,631,652,0.434220717282,-0.0055317864277,0.0799189017459,0.999999990715,-4.76220585637e-05,-0.000114706454667,-5.60728081075e-05,1793245291542281216
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.809510378,745,714,683,660.190489622,633,879,785,808,652,630.809510378,652,0.435061374724,-0.00553035947572,0.0798911881739,0.999999986221,-5.08572601461e-05,-0.000146653339292,-5.8853877472e-05,1793245291558947840
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.219133852,745,714,683,660.780866148,633,879,785,808,652,630.219133852,652,0.435929272569,-0.00553169907923,0.0799242437656,0.999999992427,-5.32644119367e-05,-9.48354639575e-05,-5.75762387799e-05,1793245291575614464
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.363529198,714,683,660.636470802,633,879,785.363529198,808,652,630.363529198,652,0.436796829504,-0.00553332553661,0.0799540022895,0.999999995273,-5.40770653641e-05,-5.87395672118e-05,-5.5493894272e-05,1793245291592281088
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.941639171,714,683,660.058360829,633,879,785.941639171,808,652,630.941639171,652,0.437664185157,-0.00553512131545,0.0799818146474,0.999999996634,-5.39485323868e-05,-3.1923903063e-05,-5.29365552909e-05,1793245291608947712
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.481753434,714,683,660,633,879.518246566,785.481753434,808,652,630.481753434,652,0.438459082982,-0.00554203982799,0.0799744442836,0.99999999579,-6.18517983303e-05,-4.0495192248e-05,-5.43483665712e-05,1793245291625614592
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.094705779,745,714,683,660,633,880.094705779,784.905294221,808.094705779,652,630,652.094705779,0.439230000965,-0.00554885213746,0.0799544774593,0.999999993631,-7.06348716547e-05,-6.7651822848e-05,-5.63143115557e-05,1793245291642281216
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713.575879116,683,659,632.575879116,879.424120884,784,809,651.575879116,630,652,0.441838941871,-0.00554535975349,0.0796671981136,0.999999865131,-7.37515782109e-05,-0.000509447030966,-6.90057462918e-05,1793245291708947968
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,684,658,631.255766319,880,784,809,651.255766319,630,653,0.444549059362,-0.00555730971216,0.0797769091608,0.999999935609,-8.04033192053e-05,-0.000344024067075,-6.29694892326e-05,1793245291775614464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.672566693,683.672566693,657.672566693,631,880.327433307,783.672566693,809,651.327433307,630,652.672566693,0.445123542611,-0.00555598107605,0.0797646843783,0.999999926942,-8.64608981997e-05,-0.000366970513522,-6.30310107616e-05,1793245291792281088
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,714,683.635217899,657,630.364782101,880,783,809,652,629.635217899,652.635217899,0.44724021259,-0.00555033442098,0.0796945186798,0.999999892286,-8.0500023006e-05,-0.000452238833745,-6.65370447442e-05,1793245291858947840
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.785810167,684.214189833,656.785810167,630,880,782.785810167,809,651.785810167,630,653,0.44769868713,-0.00555148100456,0.0796863504769,0.999999888054,-8.69710740353e-05,-0.000460234301878,-6.71746335933e-05,1793245291875614464
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.194654014,684.805345986,656.194654014,630,880,782.194654014,809,651.194654014,630,653,0.448108700527,-0.00555183623655,0.0796780383601,0.999999879947,-9.94829665203e-05,-0.000474973662512,-6.78936723795e-05,1793245291892281088
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713,684.612602339,655.612602339,629.612602339,880,782,809,651.387397661,630,653,0.448506150499,-0.00555430455586,0.0796591450196,0.999999864126,-0.000101824998388,-0.000506687330008,-6.81718075461e-05,1793245291908948224
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f68a78b47426953b3d54c8257250e32f8e5afc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d11cc5613d5406477b904cf09351ce92da2c69b3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e404dc03d963113c4a4a715e28ac5e86bab6ff66f2c8fac49f7a5e9271a6c560
+size 25779504
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..552e6f090cae6a45012cdea0fe1338bb256e13bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,764.796489514,745,714,680,658,633.203510486,878.796489514,785,806,652,630,652,0.400972555388,-0.00539596664749,0.0798330163992,0.999999928817,0.00024481914194,-0.000283732645568,4.38804950163e-05,1793245295838609664
+22,0.366666667,BASELINE,764.219424024,745,714,680,658,633.780575976,878.219424024,785,806,652,630,652,0.400972528172,-0.0053955678878,0.079832934646,0.999999929006,0.000244779025481,-0.000283189761697,4.33049113123e-05,1793245295855276288
+23,0.383333333,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400973087348,-0.00539610724858,0.0798335948363,0.999999929556,0.000243381519789,-0.000282441857452,4.33498996801e-05,1793245295871942656
+24,0.400000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652,0.400974006293,-0.00539722217519,0.0798347102319,0.999999930325,0.000241151213895,-0.000281568166825,4.37756281145e-05,1793245295888609024
+25,0.416666667,BASELINE,764,745,714,680,658,633.480338099,878.519661901,785,806,652,630,652,0.400972243846,-0.00539754454313,0.0798333553348,0.999999929436,0.000241958237048,-0.000284048353341,4.35951544959e-05,1793245295905275648
+26,0.433333333,BASELINE,764,745,714,680,658.106455023,633.106455023,879,785,806,652,630,652.106455023,0.400970679008,-0.00539786062242,0.0798321023361,0.999999928701,0.000242493701044,-0.000286211991801,4.33387829947e-05,1793245295921942272
+27,0.450000000,BASELINE,764,745,714,680,658.683151833,633.683151833,879,785,806,652,630,652.683151833,0.400971569254,-0.00539861658372,0.0798327570824,0.99999992965,0.000240037392458,-0.000284998345844,4.31048473663e-05,1793245295938608640
+28,0.466666667,BASELINE,764,745,714,680,658.741452992,633.741452992,878.741452992,785,805.741452992,652,630,652.741452992,0.400972282251,-0.00539831378402,0.0798331496513,0.999999929948,0.000239744905165,-0.000284211082354,4.3023396639e-05,1793245295955275520
+29,0.483333333,BASELINE,764,745,714,680,658.167645009,633.167645009,878.167645009,785,805.167645009,652,630,652.167645009,0.400972779121,-0.00539671997715,0.0798332225324,0.999999929454,0.000242090887582,-0.000283943731171,4.31278793812e-05,1793245295971941888
+30,0.500000000,BASELINE,764,745,714,680,658.408749103,633,878,785,805.408749103,652,630,652,0.400973824714,-0.00539696239153,0.0798340752671,0.999999930104,0.000241154156673,-0.000282455994155,4.3073316974e-05,1793245295988608512
+31,0.516666667,BASELINE,764,745,714,680,658.986210635,633,878,785,805.986210635,652,630,652,0.400975096794,-0.00539796271183,0.0798352498886,0.99999993122,0.000238862475854,-0.000280464539203,4.29531081979e-05,1793245296005275392
+32,0.533333333,BASELINE,764,745,714,680,658.420783995,633,878.579216005,785,806,652,630,652,0.400975403952,-0.00539787149286,0.0798351856693,0.999999931082,0.000239365140218,-0.00028054157204,4.28572722053e-05,1793245296021941760
+33,0.550000000,BASELINE,764,745,714.166828112,680,658,633.166828112,879,785,806,651.833171888,630,652,0.400975205774,-0.00539781494325,0.0798349184802,0.999999930732,0.00024032821551,-0.000280962366732,4.28842395226e-05,1793245296038608384
+34,0.566666667,BASELINE,764,745,714.740364917,680,658,633.740364917,879,785,806,651.259635083,630,652,0.400973833188,-0.00539790801232,0.0798342303566,0.999999929935,0.000242247069661,-0.00028209785223,4.32091343225e-05,1793245296055275264
+35,0.583333333,BASELINE,764,745,714.684254414,680,658,633.684254414,878.684254414,785,806.315745586,651.315745586,630,652,0.400972043163,-0.0053973753389,0.079833479659,0.999999929196,0.000243744706067,-0.000283413789752,4.32717702712e-05,1793245296071942144
+36,0.600000000,BASELINE,764,745,714.107348581,680,658,633.107348581,878.107348581,785,806.892651419,651.892651419,630,652,0.400969907865,-0.00539632509984,0.0798326772051,0.999999928506,0.000244893944054,-0.000284878983308,4.31174860859e-05,1793245296088608768
+37,0.616666667,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400971875872,-0.00539671289297,0.0798338042638,0.999999929452,0.000243127811474,-0.000283060149342,4.31456222103e-05,1793245296105275136
+38,0.633333333,BASELINE,764,745,714,680,658.070679337,633,878,785,806.929320663,651.929320663,630,652,0.400974275163,-0.00539749959441,0.0798350195951,0.999999930554,0.000240953615242,-0.000281007350091,4.32120223809e-05,1793245296121941760
+39,0.650000000,BASELINE,764,745,714,680,658.64897421,633,878,785,806.35102579,651.35102579,630,652,0.400973034653,-0.00539879011209,0.079833700804,0.999999930162,0.000240635510112,-0.000282666310564,4.3253714778e-05,1793245296138608384
+40,0.666666667,BASELINE,764,745,714,680,659,633.22594924,878.22594924,785,806.22594924,651.22594924,630,652,0.400972228807,-0.00539860685998,0.0798330710411,0.999999929638,0.000241395181646,-0.000283877709862,4.31856071753e-05,1793245296155275264
+41,0.683333333,BASELINE,764,745,714,680,659,633.80088569,878.80088569,785,806.80088569,651.80088569,630,652,0.400972094316,-0.00539614731422,0.0798335055086,0.999999928913,0.000243819520315,-0.00028439783378,4.29479092874e-05,1793245296171941888
+42,0.700000000,BASELINE,764,745,714,680,658.625782631,634,879,785,806.625782631,652,630,652.374217369,0.40097302939,-0.00539602545093,0.0798340227225,0.999999929169,0.0002440116681,-0.000283327859953,4.29716759311e-05,1793245296188608512
+43,0.716666667,BASELINE,764,745,714,680,658.053301192,634,879,785,806.053301192,652,630,652.946698808,0.400974531131,-0.00539714211504,0.0798345837762,0.999999929943,0.000243021178966,-0.000281415436573,4.31339690812e-05,1793245296205275136
+44,0.733333333,BASELINE,764,745,714,680,658.539431373,633.460568627,879,785,806,652,630,652.460568627,0.400971920563,-0.00539672503947,0.0798335284719,0.999999929162,0.000243726707986,-0.000283592513218,4.29971388245e-05,1793245296221942016
+45,0.750000000,BASELINE,764,745,714,680.130605857,658.869394143,633.130605857,878.869394143,785,806,652,630,652,0.400970021156,-0.00539628278769,0.0798327596864,0.99999992854,0.000244596466233,-0.000285044830229,4.29113116872e-05,1793245296238608640
+46,0.766666667,BASELINE,764,745,714,680.709301675,658.290698325,633.709301675,878.290698325,785,806,652,630,652,0.400972010104,-0.00539629438295,0.0798335432285,0.999999929029,0.000245432289627,-0.000282570172342,4.31058279969e-05,1793245296255275264
+47,0.783333333,BASELINE,764,745,714,680.712755888,658,634,878.287244112,785,806.287244112,651.712755888,630.287244112,652,0.400973429404,-0.00539635671486,0.0798341043753,0.999999929579,0.000244923578086,-0.000281061345036,4.31111931648e-05,1793245296271941888
+48,0.800000000,BASELINE,764,745,714,680.135573829,658,634,878.864426171,785,806.864426171,651.135573829,630.864426171,652,0.400974273713,-0.00539647025923,0.079834441041,0.999999930192,0.000243057722381,-0.000280527405776,4.29256333154e-05,1793245296288608768
+49,0.816666667,BASELINE,764.439622691,745,714,680,658.439622691,633.560377309,878.560377309,785.439622691,806.560377309,651.439622691,630.560377309,652.439622691,0.40097426935,-0.00539661785432,0.0798344179827,0.99999993011,0.000242972711536,-0.000280882373192,4.30152321666e-05,1793245296305275392
+50,0.833333333,BASELINE,765,745,714,680,659,633.014550077,878.014550077,786,806,652,630,652.985449923,0.400974013331,-0.00539678420859,0.0798342988702,0.999999929846,0.000243339664672,-0.000281476531524,4.31729427663e-05,1793245296321941760
+51,0.850000000,BASELINE,765,745,714,680,659,633.602904085,878.602904085,786,806,652,630,652.397095915,0.400974107748,-0.00539727810716,0.0798347468999,0.999999930888,0.000239969782778,-0.000280741538236,4.26853925179e-05,1793245296338608640
+52,0.866666667,BASELINE,764.810788278,745,714,680,658.810788278,634,878.810788278,785.810788278,806,652,630,652.189211722,0.400973497161,-0.00539778921781,0.0798346459275,0.999999931322,0.000237795639517,-0.000281086275394,4.24322544677e-05,1793245296355275520
+53,0.883333333,BASELINE,764.228729412,745,714,680,658.228729412,634,878.228729412,785.228729412,806,652,630,652.771270588,0.400971422823,-0.0053983360647,0.0798334051001,0.999999930508,0.000238104125445,-0.000283672781853,4.26658101959e-05,1793245296371942144
+54,0.900000000,BASELINE,764,744.653135763,714,680,658,634,878.346864237,785,806,652,630,652.653135763,0.400972520743,-0.00539825366263,0.0798340800474,0.999999930554,0.000239343733807,-0.000282453926163,4.27324515589e-05,1793245296388608768
+55,0.916666667,BASELINE,764,744.081727425,714,680,658,634,878.918272575,785,806,652,630,652.081727425,0.40097567224,-0.00539776391343,0.0798359951801,0.999999931147,0.000241186108392,-0.000278771652309,4.26910401576e-05,1793245296405275136
+56,0.933333333,BASELINE,764.505461767,744.505461767,714,680,658,633.494538233,878.494538233,785,806,651.494538233,630,652,0.4009746745,-0.00539760425241,0.0798351328099,0.99999993045,0.000241899008523,-0.000280627820681,4.28154716852e-05,1793245296421941760
+57,0.950000000,BASELINE,764.906577152,744.906577152,714,680,658,633.093422848,878,785,806,651,630,652,0.400973284864,-0.00539751816115,0.0798341309652,0.999999929777,0.000242144551415,-0.000282780553389,4.29818585822e-05,1793245296438608640
+58,0.966666667,BASELINE,764.328279871,744.328279871,714,680,658,633.671720129,878,785,806,651,630,652,0.400973455423,-0.00539752797404,0.0798348111769,0.999999930369,0.000240942840023,-0.000281674947013,4.32223408907e-05,1793245296455275264
+59,0.983333333,BASELINE,764,744.248549531,714,680,658,634,878,785,806,651.248549531,630.248549531,652,0.400973057401,-0.00539795788317,0.0798348672605,0.999999930785,0.000239330895952,-0.000281574688389,4.31937406215e-05,1793245296471941888
+60,1.000000000,BASELINE,764,744.823451646,714,680,658,634,878,785,806,651.823451646,630.823451646,652,0.400971912816,-0.0053989393906,0.0798341038464,0.99999993097,0.000237180304571,-0.000282794479731,4.28118273278e-05,1793245296488608512
+61,1.016666667,BASELINE,764,745,714,680,658,634,878.398043679,785.398043679,806,652,630.601956321,652,0.400972179264,-0.00539881907548,0.0798344097312,0.999999930727,0.000238542926622,-0.000282520365199,4.27367194033e-05,1793245296505275136
+62,1.033333333,BASELINE,764,745,714,680,658,634,878.972498251,785.972498251,806,652,630.027501749,652,0.400973071075,-0.00539821043828,0.0798351895239,0.999999930287,0.000241462586765,-0.000281584159261,4.27975860489e-05,1793245296521942016
+63,1.050000000,BASELINE,764,744.43542096,714,680,658,633.43542096,878.43542096,785.43542096,806,651.43542096,630,652,0.400973240047,-0.00539991957765,0.0798349085084,0.999999930627,0.000239721893885,-0.000281795181955,4.32610917115e-05,1793245296538608640
+64,1.066666667,BASELINE,764,744,714,679.84516693,658,633,878.15483307,785,806.15483307,651,630,652,0.40097327258,-0.00540065803623,0.0798346437615,0.999999930851,0.000238556117607,-0.000281948506907,4.35175793399e-05,1793245296555275264
+65,1.083333333,BASELINE,764,744,714,679.262411134,658,633,878.737588866,785,806.737588866,651,630,652,0.40097302848,-0.00539839166316,0.079834571395,0.999999930658,0.00023962691357,-0.000281782941592,4.3145963479e-05,1793245296571941888
+66,1.100000000,BASELINE,764.31410626,744.31410626,714,679.31410626,658,633,879,785,807,651,630,652,0.400972797978,-0.0053973374877,0.0798344930517,0.999999930716,0.000239713627876,-0.000281555279855,4.27982720531e-05,1793245296588608512
+67,1.116666667,BASELINE,764.885513423,744.885513423,714,679.885513423,658,633,879,785,807,651,630,652,0.400972578613,-0.00539727628697,0.0798344098124,0.999999930981,0.000238994229254,-0.000281276751693,4.24701784043e-05,1793245296605275136
+68,1.133333333,BASELINE,764.543335119,744.543335119,714,680,658,633,878.543335119,785,807,651.456664881,630,652,0.400972715028,-0.00539757349615,0.079834504202,0.999999930906,0.000239103615474,-0.00028143527801,4.25613463639e-05,1793245296621942016
+69,1.150000000,BASELINE,764.028965234,744.028965234,714,680,658,633.028965234,878,785,806.971034766,652,630,652,0.400973027216,-0.00539791188582,0.0798346676149,0.999999930755,0.000239516499076,-0.000281593228874,4.2753461191e-05,1793245296638609152
+70,1.166666667,BASELINE,764.625012177,744.625012177,714,680,658,633.625012177,878,785,806.374987823,652,630,652,0.400975035442,-0.00539729833065,0.079835311011,0.999999930759,0.000241805661447,-0.00027959594651,4.28652308889e-05,1793245296655275520
+71,1.183333333,BASELINE,764.786889659,745,714,680,658.213110341,634,878.213110341,785,806,652,630,652,0.400975415044,-0.00539714328929,0.0798354059766,0.999999930702,0.000242446949807,-0.000279243850749,4.28657647942e-05,1793245296671941888
+72,1.200000000,BASELINE,764.212275104,745,714,680,658.787724896,634,878.787724896,785,806,652,630,652,0.400973031974,-0.00539776603588,0.0798345706265,0.999999930546,0.000240292910095,-0.000281682524396,4.26776067588e-05,1793245296688608512
+73,1.216666667,BASELINE,764,745,714.363080534,680,658.636919466,634,878.636919466,785.363080534,806,652,630,652,0.400971482767,-0.00539829424906,0.0798335698798,0.999999930076,0.000239809269308,-0.00028375369055,4.27043145876e-05,1793245296705275136
+74,1.233333333,BASELINE,764,745,714.938870298,680,658.061129702,634,878.061129702,785.938870298,806,652,630,652,0.400970422076,-0.0053987670802,0.0798324722363,0.999999929422,0.000240304224961,-0.000285609553813,4.28569007064e-05,1793245296721941760
+75,1.250000000,BASELINE,764,745,714.471965254,680,658,634,878,785.471965254,806.528034746,652,630,652,0.400971060102,-0.00539885868292,0.0798327219335,0.999999929617,0.000240337691349,-0.000284922804711,4.26836615429e-05,1793245296738608384
+76,1.266666667,BASELINE,764,745.11648191,714,680,658.11648191,633.88351809,878,785,806.88351809,652,630.11648191,652,0.400972173099,-0.00539880910769,0.0798333810044,0.999999929991,0.000240496879706,-0.000283498001518,4.25278763502e-05,1793245296755275008
+77,1.283333333,BASELINE,764,745.69576735,714,680,658.69576735,633.30423265,878,785,806.30423265,652,630.69576735,652,0.400974371578,-0.0053983785171,0.0798350307514,0.999999930667,0.000241373370823,-0.000280340691076,4.25952029569e-05,1793245296771941888
+78,1.300000000,BASELINE,764,745.456322543,714,680,658.728161272,633,878,785,806.271838728,652,630.728161272,652,0.400975378199,-0.00539768058463,0.0798359491335,0.999999931124,0.000241393010378,-0.00027869042448,4.25856868335e-05,1793245296788608768
+79,1.316666667,BASELINE,764,744.311289933,714,680,658.155644967,633,878,785,806.844355033,652,630.155644967,652,0.40097506652,-0.00539668694852,0.0798360585612,0.999999931347,0.000240464896582,-0.000278707081326,4.24911758786e-05,1793245296805275392
+80,1.333333333,BASELINE,764,744.419256325,714,680,658,633.419256325,878,785,806.580743675,652,630,652,0.400974491831,-0.00539681197457,0.0798360597566,0.999999931228,0.00024032890432,-0.000279234460309,4.26018991175e-05,1793245296821942016
+81,1.350000000,BASELINE,764,744.995048133,714,680,658,633.995048133,878,785,806.004951867,652,630,652,0.400973818943,-0.00539735466942,0.0798360205417,0.99999993098,0.000240488662147,-0.000279952524878,4.27892495377e-05,1793245296838608640
+82,1.366666667,BASELINE,764,745,714,680,658.590288265,634,878.590288265,785.590288265,806,652,630,652,0.400973540218,-0.00539782698196,0.0798358555196,0.999999931091,0.000240313068856,-0.000279707575668,4.27933148859e-05,1793245296855275264
+83,1.383333333,BASELINE,764.17970807,745,714,680,659,633.82029193,879,786,806,652,630,652.17970807,0.400973589983,-0.00539804622136,0.0798357794523,0.999999931072,0.000240659051392,-0.000279468500901,4.28461845687e-05,1793245296871941888
+84,1.400000000,BASELINE,764.755914112,745,714,680,659,633.244085888,879,786,806,652,630,652.755914112,0.400974356968,-0.00539770844133,0.0798359020577,0.99999993076,0.000242162228436,-0.000279260818629,4.30102414068e-05,1793245296888608512
+85,1.416666667,BASELINE,764.668925828,745,714,680,659,633.331074172,878.668925828,785.668925828,806,652,630,653,0.400973402598,-0.00539849660213,0.079835172551,0.999999930938,0.000239938727782,-0.000280561398698,4.28721200022e-05,1793245296905275392
+86,1.433333333,BASELINE,764.09453453,745,714,680,659,633.90546547,878.09453453,785.09453453,806,652,630,653,0.400971183149,-0.00540011225333,0.0798338167996,0.999999931453,0.000234976370952,-0.000282970449595,4.25119180142e-05,1793245296921942016
+87,1.450000000,BASELINE,764,745,714,680,658.505754857,633.505754857,878,785,806,651.505754857,630,652.505754857,0.400971413544,-0.00539967800361,0.0798341261627,0.999999930957,0.000237192831492,-0.00028283089296,4.28113759096e-05,1793245296938608640
+88,1.466666667,BASELINE,764,744.916140133,714,680,658.083859867,633.083859867,878,785,806,651.083859867,630,652,0.400972092121,-0.00539888788822,0.0798347000858,0.999999930422,0.000240218793374,-0.000282119288561,4.31317878447e-05,1793245296955275264
+89,1.483333333,BASELINE,764,744.338303709,714,680,658.661696291,633.661696291,878,785,806,651.661696291,630,652,0.400972567758,-0.00539838037861,0.0798349000963,0.999999930881,0.000239682376554,-0.000280995599552,4.28101191706e-05,1793245296971941888
+90,1.500000000,BASELINE,764,744.238510816,714,680,658.761489184,633.761489184,878,785,806,652,630,652,0.40097276719,-0.00539826037371,0.0798348811175,0.999999930947,0.00023998974369,-0.000280493832611,4.28311937163e-05,1793245296988608768
+91,1.516666667,BASELINE,764,744.813882013,714,680,658.186117987,633.186117987,878,785,806,652,630,652,0.400972576526,-0.00539868766053,0.0798345528497,0.999999930458,0.00024148882784,-0.000280870436443,4.33363411458e-05,1793245297005275392
+92,1.533333333,BASELINE,764,745,714.398473439,680,658.398473439,633.398473439,878,785,806,652,630,652,0.400972147035,-0.00539949171177,0.0798342356522,0.999999930629,0.000240328435728,-0.000281255331462,4.33529368519e-05,1793245297021941760
+93,1.550000000,BASELINE,764,745,714.987473489,680,658.987473489,633.987473489,878,785,806,652,630,652,0.400971603351,-0.00540047590967,0.0798339237479,0.999999931111,0.000237896438296,-0.000281644190873,4.31359358437e-05,1793245297038608384
+94,1.566666667,BASELINE,764,745,715,680,658.43322469,634,878,785.56677531,806.56677531,652,630,652,0.40097282267,-0.00539836780021,0.0798345229252,0.99999993081,0.000240487494997,-0.000280574779518,4.27062886129e-05,1793245297055275008
+95,1.583333333,BASELINE,764,745,714.855484108,679.855484108,658.144515892,633.855484108,878.144515892,786,806.855484108,652,630,652,0.400973807974,-0.00539689113114,0.0798349316489,0.999999930646,0.000242100003993,-0.000279822467156,4.23609057904e-05,1793245297071941632
+96,1.600000000,BASELINE,764,745,714.28175439,679.28175439,658.71824561,633.28175439,878.71824561,786,806.28175439,652,630,652,0.400973984471,-0.00539748941486,0.0798347159251,0.999999930961,0.00024048204305,-0.000280106054547,4.22795126575e-05,1793245297088608512
+97,1.616666667,BASELINE,764,745,714,679.293319188,658.706680812,633.293319188,878.706680812,785.706680812,806,652,630,652.293319188,0.400974370922,-0.00539787854947,0.0798353509401,0.999999931179,0.000240467998241,-0.000279305189715,4.24946169964e-05,1793245297105275392
+98,1.633333333,BASELINE,764,745,714,679.86968955,658.13031045,633.86968955,878.13031045,785.13031045,806,652,630,652.86968955,0.400974959976,-0.00539806585647,0.0798368069128,0.999999931302,0.000242001722519,-0.000277457835287,4.29958395367e-05,1793245297121942016
+99,1.650000000,BASELINE,764,745,714,680,658.457950515,634,878.457950515,785,806,652,630,652.542049485,0.400974675397,-0.00539839353451,0.0798364656695,0.999999931171,0.000242054889544,-0.000277876461758,4.30293061299e-05,1793245297138608640
+100,1.666666667,BASELINE,764,745,714,680,659,634,878.951555009,785,806,651.951555009,630,652,0.400974033243,-0.00539870121335,0.0798355487054,0.999999930962,0.000241594629639,-0.000279046474585,4.29111769309e-05,1793245297155275264
+101,1.683333333,BASELINE,764,745,714,680,659,634,878.374590336,785,806,651.374590336,630,652,0.40097227445,-0.0053983433279,0.07983407875,0.999999930696,0.000240251755435,-0.000281191925678,4.26299791614e-05,1793245297171942144
+102,1.700000000,BASELINE,764,745,714,680,659,634,878,785,806,651.201147272,630,652,0.400971568646,-0.00539830590138,0.0798336454994,0.999999930611,0.000239737067582,-0.000281948134897,4.25279087735e-05,1793245297188608768
+103,1.716666667,BASELINE,764,745,714,680,659,634,878,785,806,651.774613548,630,652,0.400972811901,-0.00539886163705,0.0798351311659,0.999999930867,0.000240755333887,-0.000280132888924,4.27573991067e-05,1793245297205275392
+104,1.733333333,BASELINE,764,745,714,680,658.650715522,634,878,785,806,651.650715522,630,652,0.400973041759,-0.00539816991035,0.0798352593158,0.999999930719,0.000241497255594,-0.000280013307615,4.28304190244e-05,1793245297221942016
+105,1.750000000,BASELINE,764,745,714,680,658.075264503,634,878,785,806,651.075264503,630,652,0.400972615429,-0.00539667043454,0.0798345084552,0.999999930309,0.000242060240447,-0.000280991692495,4.28021222024e-05,1793245297238608640
+106,1.766666667,BASELINE,764,745,714.517087469,680,658,634,878,785,806,651,630,652,0.400973363369,-0.0053963921759,0.0798345158537,0.999999930029,0.000243647002471,-0.000280636055621,4.26708352066e-05,1793245297255275264
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786,807,652,631,652,0.40097336706,-0.00539639520148,0.0798352377557,0.999999930143,0.000244921586014,-0.000279157247165,4.24162598903e-05,1793245297297660160
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.424748751,658.424748751,633.424748751,878,785.424748751,805.849497502,652,630.424748751,652,0.400973776922,-0.00539677434221,0.0798354758174,0.999999930718,0.00024252618052,-0.000279165028149,4.25689712218e-05,1793245297314327040
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.150499913,633,878.150499913,785,805.150499913,652,630,652,0.400973981212,-0.00539720412318,0.0798355306522,0.99999993106,0.000240850342859,-0.000279372637134,4.26767594691e-05,1793245297330993920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.725741414,633,878.725741414,785,805.725741414,652,630,652,0.400973605335,-0.00539777682135,0.0798350683837,0.99999993076,0.000241205272497,-0.000280144201687,4.26577656046e-05,1793245297347660288
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.308343798,659,633.308343798,879,785,806,651.691656202,630,652,0.400973595173,-0.00539776792405,0.0798347541201,0.999999930622,0.000241510948921,-0.000280372425142,4.26663015572e-05,1793245297364327168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.897653456,659,633.897653456,879,785,806,651.102346544,630,652,0.400973918253,-0.00539722907127,0.0798345747201,0.999999930632,0.000241771745321,-0.00028010555087,4.26999229471e-05,1793245297380993792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.520483213,633.520483213,878.520483213,785,806,651.479516787,630,652,0.400973881374,-0.00539761477056,0.0798352900585,0.999999930663,0.000242212583307,-0.000279614929493,4.26876260856e-05,1793245297397660416
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.059178297,785,806,652,630,652,0.400973777898,-0.00539804019341,0.0798360834732,0.999999930663,0.00024266380078,-0.000279226175284,4.26648734486e-05,1793245297414327040
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.633298663,785,806,652,630,652,0.400973753231,-0.00539712042487,0.0798359199482,0.999999930359,0.000242876070524,-0.000280133016982,4.26351161229e-05,1793245297430993664
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.21228481,633.21228481,878.78771519,785,806,652,630,652,0.400977934267,-0.00539700809496,0.0798375811216,0.999999931282,0.000242126758157,-0.000277477441778,4.26329207159e-05,1793245297447660544
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.799873229,633.799873229,878.200126771,785,806,652,630,652,0.400989550673,-0.00539832325605,0.0798424682251,0.999999934314,0.000239677440752,-0.000268523780765,4.2679452713e-05,1793245297464327168
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.616596971,714,680,658.616596971,633.616596971,878.383403029,785,806,652,630,652,0.401014586325,-0.00539812440317,0.0798522746047,0.999999938759,0.000240145135017,-0.000250947186304,4.28686354082e-05,1793245297480993536
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.035163426,714,680,658.035163426,633.035163426,878.964836574,785,806,652,630,652,0.401046553117,-0.00539714355093,0.0798646218276,0.999999943557,0.0002421194872,-0.000228916781644,4.31314982384e-05,1793245297497659904
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.458475008,744.541524992,714,680,658.541524992,633.541524992,878.458475008,785,806.541524992,652,630,652,0.401107316135,-0.00539848331633,0.0798837146579,0.999999951754,0.000241418643346,-0.000190687338691,4.29731905198e-05,1793245297514326784
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.117400755,744.882599245,714,680.117400755,658.882599245,633.882599245,878,785,806.882599245,652,630,652,0.401172005248,-0.00539993786335,0.0799016736999,0.999999957832,0.00024079192336,-0.000156649756052,4.26133480622e-05,1793245297530993664
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.691304443,744.308695557,714,680.691304443,658.308695557,633.308695557,878,785,806.308695557,652,630,652,0.401244753046,-0.00540125788482,0.0799135356994,0.999999959846,0.000241123023466,-0.000142966436015,4.15752728425e-05,1793245297547660032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.273803248,714,680.726196752,658,633.273803248,878.273803248,785,806.273803248,652,630,652,0.401324865479,-0.00540335137987,0.0799215817508,0.99999996202,0.000238767564595,-0.00013172782291,3.99720357717e-05,1793245297564326656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744.866306515,714,680.133693485,658,633.866306515,878.866306515,785,806.866306515,652,630,652,0.401413550157,-0.00540634517842,0.079925186135,0.999999964472,0.000233285019383,-0.000123334787351,3.77109647421e-05,1793245297580993280
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.448536865,633.551463135,879,785,806.551463135,651.551463135,630,652,0.401521761061,-0.00540692472476,0.0799292049567,0.999999965815,0.000231822346158,-0.000115926664403,3.44809876381e-05,1793245297597659904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.027447909,879,785,806,651.027447909,630,652,0.40163700381,-0.00540688509343,0.0799335260261,0.999999966829,0.000231514955161,-0.000108563593898,3.09398812086e-05,1793245297614326784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.599888965,879,785,806,651.599888965,630,652,0.4017788939,-0.0054085196029,0.0799414505577,0.999999968339,0.000230888362882,-9.63966080154e-05,2.68269762758e-05,1793245297630993408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714.177542026,680,658.822457974,633.822457974,879,785,806,652,630,652,0.40192977382,-0.00541011703103,0.0799480166037,0.999999969952,0.000228683382525,-8.54629092898e-05,2.22636611507e-05,1793245297647660288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714.767296095,680,658.232703905,633.232703905,879,785,806,652,630,652,0.402101526048,-0.00541162836457,0.0799514285551,0.999999972044,0.000222813745631,-7.73926234307e-05,1.66545969934e-05,1793245297664326912
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714.649062305,680,658.350937695,633,879,785,806,652,630,652,0.402290397167,-0.00541287753881,0.0799549679728,0.999999974026,0.000216305908514,-7.107023044e-05,1.044474216e-05,1793245297680993536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714.069404389,680,658.930595611,633,879,785,806,652,630,652,0.402490425371,-0.00541395585344,0.0799585904658,0.999999975902,0.000209382130034,-6.58870087886e-05,3.84332730286e-06,1793245297697660416
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.506237062,878.493762938,785.506237062,806,652,630,652,0.40270655727,-0.0054160036619,0.0799529652076,0.999999976658,0.000202036004919,-7.64799461489e-05,-3.92448233972e-06,1793245297714327040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.918934223,806,652,630,652,0.402929993324,-0.00541819920871,0.0799461511338,0.999999977115,0.000194205364283,-8.89491820369e-05,-1.19494562931e-05,1793245297730993408
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,785.34572267,806,652,630,652,0.4031844747,-0.0054204910925,0.0799397563041,0.999999977922,0.000183782013865,-9.97819066681e-05,-2.05724942402e-05,1793245297747660032
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.765304417,634,878,785,806,652,630,652,0.40346683886,-0.00542340295654,0.0799375062763,0.999999983607,0.00014611235353,-0.000103286455431,-2.77191391036e-05,1793245297764326656
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.17393393,634,878,785,806,652,630,652,0.403791577425,-0.00542725702562,0.079941555246,0.999999992646,6.70355439583e-05,-9.56541235756e-05,-3.262205827e-05,1793245297780993280
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744.590755807,714,680,658,633.590755807,878,785,806,651.590755807,630,652,0.404145644522,-0.00542793336899,0.0799500228811,0.999999993144,7.8174616319e-05,-8.24152101798e-05,-2.84405538443e-05,1793245297797660160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.010991223,714,680,658,633.010991223,878,785,806,651.010991223,630,652,0.404511931973,-0.00542728564453,0.0799603316479,0.999999989504,0.000126904077166,-6.68401942174e-05,-2.04738289075e-05,1793245297814327040
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.564858499,714,680,658,633.564858499,878,785,806,651.564858499,630,652,0.404914419356,-0.00543119532865,0.0799583418212,0.999999989801,0.000124836179274,-6.45916042426e-05,-2.53164338665e-05,1793245297830993664
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.856573703,714,680,658.143426297,633.856573703,878,785,806.143426297,651.856573703,630,652,0.405323390347,-0.00543518271076,0.0799553382754,0.999999990523,0.000117924672933,-6.44053198374e-05,-2.99810383879e-05,1793245297847660288
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+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.68662396,633.31337604,878,785,806.68662396,651,630,652,0.406209905322,-0.00544055302975,0.0799426148858,0.999999990855,0.000101408514204,-8.29999446886e-05,-3.34341960217e-05,1793245297880993280
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.107677771,633.892322229,878,785,806.107677771,651,630,652,0.406697331363,-0.00543981531644,0.0799336744462,0.999999986833,0.000121724573336,-0.000102805462354,-3.07914007305e-05,1793245297897659648
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.469982135,744.469982135,714,680,658.469982135,634,878,784.530017865,806,651,630,652,0.407205599142,-0.0054425491886,0.0799307791608,0.999999987322,0.000111441086889,-0.000108603713164,-3.37884679578e-05,1793245297914326528
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.047052376,806,651.047052376,630,652,0.407720749677,-0.00544603789044,0.0799282787901,0.999999988315,9.545577261e-05,-0.000113258590256,-3.78360362064e-05,1793245297930993408
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.620812175,806,651.620812175,630,652,0.408259640177,-0.00544909701594,0.0799147375715,0.99999998489,9.39075426254e-05,-0.000140940524183,-3.92180424639e-05,1793245297947660800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.799712671,745,714,680,659,634,878.200287329,785,806,651.799712671,630,652,0.408827155664,-0.00545260142773,0.0799107531517,0.999999983825,9.03432778664e-05,-0.000150176583801,-4.04388095217e-05,1793245297964328192
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.209099292,745,714,680,659,634,878.790900708,785,806,651.209099292,630,652,0.409450456363,-0.00545697362679,0.0799253933136,0.999999988091,8.285010326e-05,-0.000123464759842,-4.13453486585e-05,1793245297980995584
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.374094979,659,634,879,785,806,651,630,652.374094979,0.410137977317,-0.00546430368875,0.0799556885081,0.999999993951,7.27749816378e-05,-7.15957641934e-05,-4.09387207458e-05,1793245297997661952
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.953222986,659,634,879,785,806,651,630,652.953222986,0.410860695925,-0.00547325488857,0.0799945638725,0.999999997312,6.12847530419e-05,-5.93869030521e-06,-3.98123753985e-05,1793245298014327808
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.469979325,659,633.469979325,879.530020675,785,806.530020675,651.530020675,630,653,0.411526221599,-0.00549272998143,0.0799866930624,0.999999998294,3.63083476105e-05,-2.52930011307e-05,-3.8141478336e-05,1793245298030993920
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.108278238,659,633.108278238,879.783443524,785,807,652,630,652.891721762,0.412188137302,-0.00551194275088,0.0799700628766,0.99999999767,1.13549169287e-05,-5.60780032526e-05,-3.72435982908e-05,1793245298047660544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.693873762,659,633.693873762,878.612252476,785,807,652,630,652.306126238,0.412856292695,-0.00552592272761,0.0799329261964,0.999999993726,-8.27339507723e-06,-0.000104323394806,-3.9964299853e-05,1793245298064326912
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,878.276606884,784.723393116,807,651.723393116,630,652,0.413576102027,-0.00553016550091,0.0799135852122,0.999999991168,-1.75984323692e-05,-0.000124606342519,-4.27447774949e-05,1793245298080993536
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,878.856204649,784.143795351,807,651.143795351,630,652,0.414352492364,-0.00552374229469,0.0799137373519,0.999999992311,-1.56374251986e-05,-0.000114259670236,-4.55907333556e-05,1793245298097660672
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.435298429,807.435298429,651,630,652,0.41517075875,-0.00553042386219,0.079933972365,0.999999995479,-2.2904119148e-05,-8.05801367261e-05,-4.49895156988e-05,1793245298114327296
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.01407009,633.98592991,879,785,807.98592991,651.01407009,630.01407009,652.01407009,0.416001390005,-0.00554121367201,0.079959807632,0.99999999767,-3.30622665472e-05,-4.11027363106e-05,-4.3320366014e-05,1793245298130994176
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.586657616,633.413342384,879,785,807.413342384,651.586657616,630.586657616,652.586657616,0.416774371418,-0.00554343930111,0.0799449076468,0.999999995353,-3.71360858343e-05,-7.70836062433e-05,-4.44093054953e-05,1793245298147660288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.835911752,660,633.164088248,879,785,807,652,630.835911752,653,0.41756662666,-0.00554683935954,0.0799402579505,0.999999994209,-4.3029373867e-05,-8.75693632995e-05,-4.54071517367e-05,1793245298164326400
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.245910218,660,633.754089782,879,785,807,652,630.245910218,653,0.418408909691,-0.00555328780834,0.079962214269,0.999999996987,-5.36453394087e-05,-3.18790973452e-05,-4.61685531e-05,1793245298180993024
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680.33791491,659.66208509,634,879,785,807,651.66208509,630,652.66208509,0.419291389246,-0.00556091126292,0.0799755643331,0.999999996739,-6.54642390021e-05,-1.96702682855e-06,-4.72597131505e-05,1793245298197659904
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680.91732595,659.08267405,634,879,785,807,651.08267405,630,652.08267405,0.420202595832,-0.00556937445333,0.079982763803,0.999999995721,-7.81428336867e-05,9.52225426826e-06,-4.85865403911e-05,1793245298214326528
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.493921748,633.506078252,879,785,807,651.493921748,630,652.493921748,0.421097434269,-0.00557074666006,0.0799727506194,0.99999999541,-8.17074293467e-05,-7.15373620893e-06,-4.95340528242e-05,1793245298230993408
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807,652,629.930648993,653,0.421992567033,-0.00556842753707,0.0799648247719,0.999999995303,-8.03996832204e-05,-2.05443830323e-05,-5.00695697615e-05,1793245298247660288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785,807,652,629.360262718,653,0.422909507242,-0.00554796630854,0.0799926760945,0.99999999706,-5.48499828113e-05,2.36670143034e-05,-4.80846697394e-05,1793245298264327168
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.218961149,879,785,807,651.781038851,629.218961149,652.781038851,0.423802978693,-0.00552664330178,0.0800044272336,0.999999997919,-2.59895617222e-05,3.62436638483e-05,-4.66231733505e-05,1793245298280993792
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.813337411,879,785,807,651.186662589,629.813337411,652.186662589,0.424656212443,-0.00550384274839,0.0799885741549,0.999999998888,8.54718809772e-06,-5.41835343122e-06,-4.60590671218e-05,1793245298297660160
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681.397907547,660,633.602092453,879,785,807.397907547,651,630,652.397907547,0.425531446613,-0.00550605726288,0.0799508235785,0.99999999642,2.54253273358e-06,-6.89402112523e-05,-4.89962907543e-05,1793245298314326784
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681.977988134,660,633.022011866,879,785,807.977988134,651,630,652.977988134,0.42641675313,-0.0055197243661,0.0799030477251,0.999999988176,-2.20230970981e-05,-0.000142470103595,-5.35365195012e-05,1793245298330993664
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.551975071,745,714,682,660,633.551975071,879,785,808,651,630,653,0.427363707739,-0.00552399053232,0.0799010614895,0.999999989558,-3.18432491077e-05,-0.000129842063044,-5.4864601578e-05,1793245298347660032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.128961458,808,651.128961458,630,653,0.428302608636,-0.00552724301448,0.0799053966778,0.999999991238,-3.79456070219e-05,-0.00011416229046,-5.52431703982e-05,1793245298364326656
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.717493251,808,651.717493251,630,653,0.42920414383,-0.00552820450027,0.0799258228728,0.9999999931,-3.28717606686e-05,-9.97176336703e-05,-5.26895283615e-05,1793245298380993536
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.698962695,808,652,630,653,0.430138212316,-0.00553260621304,0.0799599423891,0.99999999636,-3.83873288603e-05,-5.65227453145e-05,-5.11121472883e-05,1793245298397660416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,785.120023102,808,652,630,653,0.431102313829,-0.00554018376785,0.08000670288,0.9999999972,-5.36785047097e-05,1.32128901833e-05,-5.04360005042e-05,1793245298414327552
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682.45759718,660,634,879,785,808,652.45759718,630,653,0.432017790935,-0.00553899634438,0.0800230823268,0.999999996537,-5.38678315064e-05,3.91077187067e-05,-4.9958065558e-05,1793245298430993920
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.965245469,745,714,683,660.034754531,633.965245469,879.034754531,785,808,652.965245469,630.034754531,652.965245469,0.432915775116,-0.00553517417642,0.0800261897631,0.999999996488,-4.96369274531e-05,4.55794816463e-05,-4.98196511726e-05,1793245298447660288
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.389922376,745,714,683,660.610077624,633.389922376,879.610077624,785,808,652.389922376,630.610077624,652.389922376,0.433739474348,-0.00552602653285,0.079946452767,0.999999995237,-3.80870400725e-05,-7.1713099433e-05,-5.41557994993e-05,1793245298464326656
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,661,633.184718589,879.815281411,785.184718589,808,651.815281411,630.815281411,652.184718589,0.434582632183,-0.00552230721583,0.0798963985542,0.999999987571,-3.43707100802e-05,-0.000142825242461,-5.72571602058e-05,1793245298480993024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,661,633.757925055,879.242074945,785.757925055,808,651.242074945,630.242074945,652.757925055,0.435466714213,-0.00553000439329,0.0799087711864,0.999999990398,-4.71293968823e-05,-0.000116813776521,-5.77615996442e-05,1793245298497659648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.343908013,745,714,683,660.656091987,634,879.343908013,786,808,651.343908013,630,653,0.436332672507,-0.00553502554377,0.0799342946941,0.99999999348,-5.51755078043e-05,-8.26087957195e-05,-5.63117976216e-05,1793245298514326784
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.939231236,745,714,683,660.060768764,634,879.939231236,786,808,651.939231236,630,653,0.437185381323,-0.00553809037449,0.0799694321967,0.999999995886,-5.97764720658e-05,-4.24139173836e-05,-5.34333401476e-05,1793245298530993920
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.482803637,745,714,683,660,633.482803637,879.482803637,786,808,652,630,653,0.438015174369,-0.00554195119992,0.0799765472896,0.999999996242,-5.99630677508e-05,-3.27672561469e-05,-5.33553023372e-05,1793245298547661056
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.094927715,785.905072285,808,652,630,653,0.438826987991,-0.00554521533721,0.0799720086988,0.999999995823,-6.14903861494e-05,-4.0694025337e-05,-5.40003573906e-05,1793245298564327680
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.681671393,785.318328607,808,652,630,653,0.439559147906,-0.00554491923936,0.0799235974712,0.999999988355,-7.25638845694e-05,-0.000121675715072,-5.67423402303e-05,1793245298580993536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.264930179,745,714,683,660,633,880,785,808.264930179,652,630,653,0.440246209566,-0.00554208009707,0.0798505807289,0.999999967364,-7.49611111159e-05,-0.000236636667433,-6.04662559535e-05,1793245298597659904
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.844055992,745,714,683,660,633,880,785,808.844055992,652,630,653,0.440879786612,-0.00553622501506,0.079748382923,0.999999918824,-6.70686560218e-05,-0.000391895534589,-6.53547003526e-05,1793245298614326528
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.576547566,745,713.576547566,683.423452434,659.576547566,632.576547566,880,784.576547566,809,652,630.423452434,653,0.441538155758,-0.0055346023628,0.079682063439,0.99999987736,-6.31960838679e-05,-0.000486330579994,-6.90574317558e-05,1793245298630993408
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713.002919207,684,659,632,880,784,809,652,630.997080793,653,0.44220608985,-0.00553459785842,0.0796295602404,0.999999840133,-6.09040879606e-05,-0.000557493786849,-7.22838881977e-05,1793245298647660288
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713.576628978,684,659,632,880,784,809,652,630.423371022,653,0.442957889055,-0.00554602837734,0.0796933969289,0.99999988845,-7.80154688762e-05,-0.000460883227409,-6.78190379698e-05,1793245298664327168
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.150734319,745.150734319,714,684,658.849265681,631.849265681,880,784,809,652,630,653,0.443688494076,-0.005556024845,0.0797477062567,0.999999921553,-8.91373209798e-05,-0.000380566446116,-6.41659192325e-05,1793245298680993792
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.725953763,745.725953763,714,684,658.274046237,631.274046237,880,784,809,652,630,653,0.444359414017,-0.00556198286253,0.079775185459,0.999999934646,-8.33919789833e-05,-0.00034613480049,-6.27987299597e-05,1793245298697660672
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.689589233,745.689589233,714,684.310410767,658,631,880,783.689589233,809,652,630,653,0.444977288546,-0.00556536276312,0.0797763083417,0.999999932459,-9.37883137193e-05,-0.000349814146358,-6.25815009029e-05,1793245298714327296
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.096726741,745.096726741,714,684.903273259,658,631,880,783.096726741,809,652,630,653,0.445546895481,-0.00556639676025,0.079753448846,0.999999915586,-0.000118872426807,-0.000388171786419,-6.34106539085e-05,1793245298730994176
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.371850411,745,713.371850411,684,656.371850411,630.371850411,880.371850411,783,809,651.371850411,630,653,0.447147694058,-0.00556336654943,0.0797000661304,0.999999893822,-9.37638748502e-05,-0.000446392553737,-6.55658859508e-05,1793245298780993792
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,684.20850481,656,630,880,782.79149519,809,651.20850481,629.79149519,653,0.447646643205,-0.00555760492738,0.0796884834746,0.99999988875,-9.10026204474e-05,-0.000458044547948,-6.64380047477e-05,1793245298797660160
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,684.801537703,656,630,880,782.198462297,809,651.801537703,629.198462297,653,0.448110046604,-0.00554733456369,0.079677378603,0.999999879513,-9.09104696294e-05,-0.000477627443675,-6.76846916659e-05,1793245298814327040
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+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713,684.038762138,656,629.038762138,880.961237862,782,809.961237862,652,629.961237862,653,0.448934139818,-0.00554745090489,0.0796356046153,0.999999844815,-8.4445899813e-05,-0.000546256997491,-6.95853921159e-05,1793245298847660544
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32ada5bc39ff94057a33daf466b7085505791c96
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce48f523793112cbf47d2a2f09fb14b5ae537747
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe9cbfd8dabbd4a2848c0a4ef453a3f88c42a0b7
--- /dev/null
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+2,0.033333333,BASELINE,764,745,714,680,659.689584163,633.155207918,879.155207918,785,806,651.155207918,630,652.844792082,0.400970205399,-0.00540267157645,0.0798308270252,0.999999930012,0.000234782642393,-0.000288148419903,4.27110782639e-05,1793245302472218112
+3,0.050000000,BASELINE,764,745,714,680,658.539239648,633.730380176,879.730380176,785,806,651.730380176,630,652.269619824,0.400970454809,-0.00540206856904,0.0798312203715,0.999999930258,0.000234388788141,-0.000287641467272,4.2526880874e-05,1793245302488884736
+4,0.066666667,BASELINE,764.312770782,745,714,680,658.312770782,633.687229218,879.687229218,785,806,651.687229218,630,652,0.400970537969,-0.00540177952635,0.0798314966143,0.9999999301,0.00023519919845,-0.000287515621874,4.26068892113e-05,1793245302505551616
+5,0.083333333,BASELINE,764.901530832,745,714,680,658.901530832,633.098469168,879.098469168,785,806,651.098469168,630,652,0.400970474431,-0.00540176752649,0.0798316695249,0.999999929584,0.000237072253099,-0.000287726065932,4.29200329724e-05,1793245302522218240
+6,0.100000000,BASELINE,764.517784132,744.517784132,714,680,658.517784132,633,878.517784132,785,806,651.482215868,630,652,0.400970827989,-0.00540212071419,0.0798312176698,0.999999929517,0.000237289296706,-0.000287737438613,4.31977103734e-05,1793245302538884352
+7,0.116666667,BASELINE,763.938992025,744.061007975,714,680,658,633,878.061007975,785,806.061007975,652,630,652,0.400971154222,-0.00540253739624,0.0798307560489,0.999999929605,0.000236968417851,-0.000287672285307,4.33773783022e-05,1793245302555550720
+8,0.133333333,BASELINE,763.362491058,744.637508942,714,680,658,633,878.637508942,785,806.637508942,652,630,652,0.400970541741,-0.00540287085591,0.0798312721391,0.999999930222,0.000234912565012,-0.000287298342729,4.2789091916e-05,1793245302572217088
+9,0.150000000,BASELINE,763.213856899,745,714,680,658,633,878.786143101,785,806.786143101,652,630,652,0.400970590746,-0.00540267353916,0.0798318206177,0.999999930407,0.000234701279378,-0.000286872776888,4.24921798967e-05,1793245302588883712
+10,0.166666667,BASELINE,763.789945632,745,714,680,658,633,878.210054368,785,806.210054368,652,630,652,0.40097176018,-0.00540157719078,0.0798324239556,0.999999929858,0.000237614330657,-0.000286359771359,4.26887992257e-05,1793245302605550592
+11,0.183333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400971673772,-0.00540134132089,0.0798321656974,0.999999929826,0.000237604441795,-0.000286469737344,4.27501815482e-05,1793245302622217472
+12,0.200000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400970866679,-0.00540159924963,0.0798314129992,0.999999930092,0.00023591717927,-0.000286937205021,4.27339560631e-05,1793245302638884608
+13,0.216666667,BASELINE,763.459117084,745,714,680,658.540882916,633.540882916,878,785,806,651.459117084,630,652,0.400971726618,-0.00540174737912,0.0798315576656,0.999999930235,0.00023607655469,-0.000286310051589,4.2711909613e-05,1793245302655551232
+14,0.233333333,BASELINE,763.120082412,745,714,680,658.879917588,634,878,785,806,651.120082412,630,652,0.400972413526,-0.00540189812267,0.0798317376683,0.999999930328,0.000236305764259,-0.000285806916702,4.26415175763e-05,1793245302672217856
+15,0.250000000,BASELINE,763.69753458,745,714,680,658.30246542,634,878,785,806,651.69753458,630,652,0.400971986212,-0.00540208880334,0.0798318072355,0.999999930264,0.000236296735158,-0.000286075028704,4.23885763261e-05,1793245302688884480
+16,0.266666667,BASELINE,763.725885426,744.725885426,714,680,658,634,878,785,806,652,630,652,0.400972037018,-0.00540231598248,0.0798321258201,0.999999930418,0.000236210183204,-0.000285615786008,4.23279159837e-05,1793245302705550848
+17,0.283333333,BASELINE,763.150264794,744.150264794,714,680,658,634,878,785,806,652,630,652,0.400972613719,-0.00540258330726,0.0798327183056,0.999999930811,0.000236038361762,-0.000284356506128,4.2478750645e-05,1793245302722217216
+18,0.300000000,BASELINE,763.435154135,744.435154135,714,680,658,634,878,785,806,652,629.564845865,652,0.400971554191,-0.00540119674047,0.0798322947207,0.999999929863,0.000238640918084,-0.000285535613935,4.23514299936e-05,1793245302738883840
+19,0.316666667,BASELINE,764,744.976393344,714,680,658,633.976393344,878,785,806.023606656,651.976393344,629.023606656,652,0.40096994719,-0.00539943337133,0.0798315244017,0.99999992853,0.000241879797824,-0.000287502135333,4.2147952009e-05,1793245302755550464
+20,0.333333333,BASELINE,764,744.397995351,714,680,658,633.397995351,878,785,806.602004649,651.397995351,629.602004649,652,0.400969058313,-0.00540254574397,0.0798310410722,0.99999992961,0.000237039418412,-0.000287729740357,4.24640014115e-05,1793245302772217600
+21,0.350000000,BASELINE,764.179194697,744.179194697,714,680,658,633,878,785,806.820805303,651.179194697,630,652,0.400969093938,-0.00540429974988,0.079831115065,0.999999930414,0.000234224995821,-0.000287220848971,4.26107762826e-05,1793245302788884736
+22,0.366666667,BASELINE,764.75371976,744.75371976,714,680,658,633,878,785,806.24628024,651.75371976,630,652,0.400971169152,-0.00540305699477,0.0798324185941,0.999999930645,0.000235880138359,-0.000285087136071,4.23841061194e-05,1793245302805551616
+23,0.383333333,BASELINE,764.66358871,745,714,680,658.33641129,633.33641129,878,785,806,652,630.33641129,652,0.400972328262,-0.0054020012433,0.0798328211278,0.999999930829,0.000236412842782,-0.000284019145782,4.22352796565e-05,1793245302822217728
+24,0.400000000,BASELINE,764.074769864,745,714,680,658.925230136,633.925230136,878,785,806,652,630.925230136,652,0.400972800023,-0.00540108579951,0.0798325476497,0.999999930982,0.000236103388183,-0.000283750761136,4.21448588738e-05,1793245302838883840
+25,0.416666667,BASELINE,764,745,714,680,658.494045467,633.494045467,878,785.505954533,806.505954533,652,630.494045467,652,0.400972131025,-0.00540180328305,0.079832462765,0.999999930979,0.000235362941329,-0.000284362505819,4.22456147882e-05,1793245302855550208
+26,0.433333333,BASELINE,764,745,714.085080718,679.914919282,658,633.085080718,878,785.914919282,806.914919282,652,630,652,0.400971489219,-0.00540259863061,0.079832495818,0.999999930935,0.00023487476693,-0.000284896296191,4.24065894066e-05,1793245302872216576
+27,0.450000000,BASELINE,764,745,714.661775373,679.338224627,658,633.661775373,878,785.338224627,806.338224627,652,630,652,0.400971963301,-0.00540247148889,0.0798330518345,0.999999930793,0.000236206504641,-0.00028423994056,4.27548445136e-05,1793245302888884224
+28,0.466666667,BASELINE,764,745,714.76197638,679.23802362,658,634,878.23802362,785,806,652,630,652,0.400972501221,-0.00540255736169,0.0798335159887,0.99999993083,0.000236948129185,-0.000283465881491,4.29285235881e-05,1793245302905551360
+29,0.483333333,BASELINE,764,745,714.186361314,679.813638686,658,634,878.813638686,785,806,652,630,652,0.400973129683,-0.00540294535527,0.0798338498536,0.999999931122,0.000236852789832,-0.000282524882419,4.2854599588e-05,1793245302922217728
+30,0.500000000,BASELINE,764,745,714,680.398419608,658,633.601580392,879,785,806,651.601580392,630.398419608,652,0.400972224011,-0.00540252852028,0.0798332990644,0.99999993081,0.000236890595092,-0.000283624458697,4.26606806322e-05,1793245302938884608
+31,0.516666667,BASELINE,764,745,714,680.987588809,658,633.012411191,879,785,806,651.012411191,630.987588809,652,0.400970583848,-0.00540172636106,0.0798323247331,0.999999930206,0.000236992145409,-0.000285700992236,4.24093122242e-05,1793245302955551488
+32,0.533333333,BASELINE,764,745,714,680.432989812,658.567010188,633,879,785,806.567010188,651.567010188,630.432989812,652.567010188,0.400972499838,-0.00540183743841,0.0798337036814,0.999999931252,0.000235346465824,-0.00028340468357,4.23130104088e-05,1793245302972217344
+33,0.550000000,BASELINE,764.145262222,745,714,680,658.854737778,633.145262222,878.854737778,785,806.854737778,652,630,652.854737778,0.400973575017,-0.00540199738617,0.0798344012503,0.99999993184,0.000234442856182,-0.000282081083459,4.22709515768e-05,1793245302988883712
+34,0.566666667,BASELINE,764.720672652,745,714,680,658.279327348,633.720672652,878.279327348,785,806.279327348,652,630,652.279327348,0.400971933802,-0.00540224385548,0.0798329311748,0.999999930986,0.000235847988627,-0.000283916496654,4.23796351732e-05,1793245303005550336
+35,0.583333333,BASELINE,764.69806029,745,714,680,658.30193971,633.69806029,878.30193971,785,806,652,630,652.30193971,0.400970359924,-0.00540263556742,0.0798316416041,0.999999930556,0.000235361152033,-0.000285839423889,4.23073852265e-05,1793245303022216960
+36,0.600000000,BASELINE,764.111267969,745,714,680,658.888732031,633.111267969,878.888732031,785,806,652,630,652.888732031,0.400968849571,-0.00540316430256,0.0798305223233,0.999999930523,0.000233089415163,-0.000287844912862,4.20644409766e-05,1793245303038883840
+37,0.616666667,BASELINE,764,745,714,680,658.531574267,633,878.531574267,785,806.468425733,652,630,652.531574267,0.400970567507,-0.00540250222648,0.0798315432067,0.999999930948,0.000233285000063,-0.000286196230958,4.2108592392e-05,1793245303055550720
+38,0.633333333,BASELINE,764,745,714,680,658.046562444,633,878,785,807,652,630,652,0.400972663549,-0.00540157460336,0.0798328297637,0.99999993138,0.000234009791367,-0.000284078513796,4.21831182698e-05,1793245303072217344
+39,0.650000000,BASELINE,764,745,714,680,658.625889721,633,878,785,807,652,630,652,0.400970442747,-0.00540079676536,0.0798314262811,0.999999930698,0.000234183970106,-0.000286377434892,4.18365456316e-05,1793245303088883968
+40,0.666666667,BASELINE,764.203651516,745,714,680,658.796348484,633.203651516,878.203651516,785,806.796348484,651.796348484,630,652,0.4009692422,-0.00540064994706,0.0798308980359,0.999999930411,0.000234413610118,-0.000287217951282,4.1652234541e-05,1793245303105550592
+41,0.683333333,BASELINE,764.778559407,745,714,680,658.221440593,633.778559407,878.778559407,785,806.221440593,651.221440593,630,652,0.400969901576,-0.00540165347663,0.079831965347,0.999999930849,0.000234744355929,-0.000285399798188,4.17637260025e-05,1793245303122216960
+42,0.700000000,BASELINE,764.638605924,744.638605924,714,679.638605924,658,634,879,785,806,651.361394076,630,652,0.400970907066,-0.00540241746577,0.0798327763164,0.999999931156,0.000234576520662,-0.00028440439188,4.21472055204e-05,1793245303138883584
+43,0.716666667,BASELINE,764.0508053,744.0508053,714,679.0508053,658,634,879,785,806,651.9491947,630,652,0.400972129389,-0.00540303138733,0.0798334266924,0.999999931381,0.000234096333776,-0.000283924420926,4.27010804025e-05,1793245303155550208
+44,0.733333333,BASELINE,764,744.530054734,714,679.530054734,658,633.469945266,878.469945266,785,806,652,630,652,0.400971927419,-0.00540300035599,0.0798335755156,0.999999931186,0.000234953780788,-0.000283916332097,4.26176574183e-05,1793245303172217088
+45,0.750000000,BASELINE,764,745,714,680,658,633,878,785.109747978,806,652,630,652,0.400971805148,-0.00540264231522,0.0798336171927,0.999999930951,0.000236039182804,-0.000283867666706,4.2468375149e-05,1793245303188883456
+46,0.766666667,BASELINE,764,745,714,680,658,633,878,785.687266737,806,652,630,652,0.400972596921,-0.00540115056374,0.0798334044406,0.999999930715,0.000237556778744,-0.000283455768022,4.22953764856e-05,1793245303205550080
+47,0.783333333,BASELINE,764,745,714,680,658.262013721,633.262013721,878,785.737986279,806,652,630,652,0.400973068311,-0.00540070387004,0.0798335755867,0.999999930775,0.000238021719933,-0.000282866172065,4.22093868673e-05,1793245303222216448
+48,0.800000000,BASELINE,764,745,714,680,658.833487088,633.833487088,878,785.166512912,806,652,630,652,0.400973161305,-0.00540149147492,0.079834200148,0.999999931185,0.000237243389921,-0.000282066701034,4.22261620286e-05,1793245303238883072
+49,0.816666667,BASELINE,764,744.577347242,714,680,658.577347242,634,878,785,806,652,630.422652758,652,0.400972100021,-0.00540148071645,0.0798336566002,0.999999931166,0.000235854732601,-0.00028332665238,4.20409567773e-05,1793245303255549696
+50,0.833333333,BASELINE,764,744.018408439,714,680,658.018408439,633.981591561,878.018408439,785.018408439,806,652,630.981591561,652,0.400970648352,-0.00540115153756,0.0798326911435,0.999999930967,0.000234337095403,-0.000285316839305,4.17818962783e-05,1793245303272216320
+51,0.850000000,BASELINE,764,744.593459046,714,680,658.593459046,633.406540954,878.593459046,785.593459046,806,652,630.406540954,652,0.400971743809,-0.00540112030163,0.0798334915404,0.999999930892,0.000236507829775,-0.00028378231317,4.18008985256e-05,1793245303288882944
+52,0.866666667,BASELINE,764,745,714,680,658.831607699,633.168392301,879,785.831607699,806.168392301,651.831607699,630,652,0.400972511208,-0.00540096490073,0.0798340486435,0.999999930848,0.000237977218216,-0.000282706429491,4.1814576784e-05,1793245303305549824
+53,0.883333333,BASELINE,764,745,714,680,658.256957597,633.743042403,879,785.256957597,806.743042403,651.256957597,630,652,0.400972487142,-0.00540050994343,0.0798340187839,0.999999930892,0.000237754562096,-0.000282737051819,4.18154105588e-05,1793245303322216448
+54,0.900000000,BASELINE,764.325141151,745,713.674858849,680,658,633.674858849,878.674858849,785,806.674858849,651.325141151,630,652,0.400971394619,-0.00540129120105,0.0798331533899,0.999999930791,0.000236531204618,-0.000284111214672,4.18658367956e-05,1793245303338883072
+55,0.916666667,BASELINE,764.91326452,745,713.08673548,680,658,633.08673548,878.08673548,785,806.08673548,651.91326452,630,652,0.400969437902,-0.00540307233996,0.0798316121949,0.999999930563,0.000234498455101,-0.000286572066383,4.19563746436e-05,1793245303355549696
+56,0.933333333,BASELINE,764.50332879,745,713.49667121,680,658.49667121,633,878,785,805.50332879,652,630,652,0.400971237987,-0.00540198654878,0.0798334228282,0.999999930942,0.00023607829484,-0.000283949634179,4.19062943364e-05,1793245303372216576
+57,0.950000000,BASELINE,764,745,714,679.92211622,658.92211622,633,878.07788378,785,805.07788378,652,630,652,0.400973228153,-0.00540074695454,0.0798353106549,0.999999931285,0.0002379423922,-0.000281170090831,4.19073591363e-05,1793245303388882944
+58,0.966666667,BASELINE,764,745,714,679.349655605,658.349655605,633,878.650344395,785,805.650344395,652,630,652,0.40097229843,-0.0054016800748,0.0798340066088,0.999999930827,0.000237643061308,-0.00028297697463,4.23876776126e-05,1793245303405549568
+59,0.983333333,BASELINE,764,745,714,679.224058775,658,633,879,785,806,652,630,652,0.400971922048,-0.00540215052149,0.079833411181,0.999999930822,0.000236657836239,-0.000283805624693,4.24768538688e-05,1793245303422216448
+60,1.000000000,BASELINE,764,745,714,679.799740819,658,633,879,785,806,652,630,652,0.400972414043,-0.00540189487849,0.0798339278126,0.99999993153,0.000234596213409,-0.000283099098627,4.19521970357e-05,1793245303438883328
+61,1.016666667,BASELINE,764,744.615154669,714,680,658,633,878.615154669,785,806,651.615154669,630,652,0.400971703425,-0.00540204302386,0.0798336576822,0.999999931202,0.000235530804452,-0.000283464584155,4.2067948836e-05,1793245303455549952
+62,1.033333333,BASELINE,764,744.02502403,714,680,658,633,878.02502403,785,806,651.02502403,630,652,0.400970351306,-0.00540240655918,0.0798329678751,0.999999930316,0.000238063644667,-0.000284401905243,4.25253092884e-05,1793245303472216320
+63,1.050000000,BASELINE,764,744,714,680,658,633.554657631,878,785,806,651.554657631,630,652,0.400971205465,-0.00540214407834,0.0798331369207,0.999999930551,0.000237514765057,-0.00028401155911,4.26917129327e-05,1793245303488883200
+64,1.066666667,BASELINE,764,744.133009199,714,680,658,633.866990801,878,785,806,652,630,652,0.400971856334,-0.00540178995924,0.0798333185516,0.999999930731,0.000237142667264,-0.000283677525911,4.27521189514e-05,1793245303505549824
+65,1.083333333,BASELINE,764,744.708475343,714,680,658,633.291524657,878,785,806,652,630,652,0.400971505959,-0.00540122321926,0.0798334155349,0.999999930569,0.000237812588075,-0.000283726389933,4.25027816565e-05,1793245303522216448
+66,1.100000000,BASELINE,764,745,714,680,658.289739803,633,878.289739803,785,806,651.710260197,630,652,0.400971652365,-0.00540152250539,0.0798336613102,0.999999930832,0.000237105487202,-0.000283419012833,4.23255186605e-05,1793245303538883072
+67,1.116666667,BASELINE,764,745,714,680,658.876957399,633,878.876957399,785,806,651.123042601,630,652,0.40097230882,-0.00540271094634,0.0798340598513,0.999999931527,0.00023498458892,-0.000282745880589,4.22222548447e-05,1793245303555549696
+68,1.133333333,BASELINE,764,745,714,680,658.541962379,633.458037621,878.541962379,785,806,651.458037621,630,652,0.400972092726,-0.00540286738768,0.0798334348542,0.999999931526,0.000234426227065,-0.000283244282737,4.20040893884e-05,1793245303572216576
+69,1.150000000,BASELINE,764,745,714,680,658,633.962674402,878,785,806,652,630,652,0.400971667591,-0.00540266658044,0.0798326506756,0.999999931349,0.000234338142452,-0.000283977038709,4.17769118229e-05,1793245303588883456
+70,1.166666667,BASELINE,764,745,714,680,658,633.385777495,878,785,806,652,630,652,0.400971564152,-0.00540125599454,0.0798334875121,0.99999993128,0.00023506078448,-0.00028360834547,4.18597505811e-05,1793245303605551104
+71,1.183333333,BASELINE,764,744.813105864,714,680,658.186894136,633,878,785,806,652,630,652,0.400971397926,-0.00540044538879,0.0798339363044,0.999999931073,0.000235979915026,-0.000283562908389,4.195789403e-05,1793245303622218496
+72,1.200000000,BASELINE,764,744.248962913,714,680,658.751037087,633,878,785,806,652,630,652,0.400971104965,-0.00540084585235,0.0798336018237,0.999999930583,0.000237295660934,-0.000284169968984,4.20869302578e-05,1793245303638885376
+73,1.216666667,BASELINE,763.66461834,744.33538166,714,679.66461834,659,633.33538166,878,785,806,652,630,652,0.400971177893,-0.00540177075369,0.0798333653884,0.999999930957,0.000236057020664,-0.000283875451726,4.21606478812e-05,1793245303655551232
+74,1.233333333,BASELINE,763.0643164,744.9356836,714,679.0643164,659,633.9356836,878,785,806,652,630,652,0.40097153984,-0.005403109912,0.0798332063998,0.999999932005,0.000232800653097,-0.000282868771879,4.21906689505e-05,1793245303672216576
+75,1.250000000,BASELINE,763.518062041,745,714,679.518062041,658.481937959,633.481937959,878,785,806.518062041,652,630,652,0.400970929173,-0.00540205638648,0.0798320285359,0.999999931093,0.0002342960997,-0.000284900747328,4.18343518921e-05,1793245303688883200
+76,1.266666667,BASELINE,764,745,714,680,658.097875994,633,878,785,806.902124006,651.902124006,630,652,0.400970282868,-0.0054010426373,0.0798310281696,0.999999930114,0.00023612978668,-0.000286857924383,4.15491012929e-05,1793245303705549824
+77,1.283333333,BASELINE,764,745,714,680,658.675661317,633,878,785,806.324338683,651.324338683,630,652,0.400970034074,-0.0054016317082,0.0798314975933,0.999999929994,0.000236826114545,-0.00028666048871,4.18396168576e-05,1793245303722216448
+78,1.300000000,BASELINE,764,745,714,680,658.748845047,633.251154953,878.251154953,785,806,651.251154953,630,652,0.400969900648,-0.00540159915347,0.0798317593785,0.999999930093,0.000237021777971,-0.00028614568121,4.1898705018e-05,1793245303738883072
+79,1.316666667,BASELINE,764,745,714,680,658.176284155,633.823715845,878.823715845,785,806,651.823715845,630,652,0.400969914858,-0.0054007710971,0.0798317554465,0.999999930471,0.000236576735188,-0.000285224729273,4.16616327914e-05,1793245303755549696
+80,1.333333333,BASELINE,764,744.590917515,714,680,658,633.590917515,878.590917515,785,806,651.590917515,630,652,0.400969984152,-0.00540110803622,0.0798317887613,0.999999930557,0.000235964254458,-0.000285421944254,4.17300353388e-05,1793245303772216320
+81,1.350000000,BASELINE,764,744.000142913,714,680,658,633,878,785,806.000142913,651.000142913,630,652,0.400970078106,-0.00540196254267,0.0798318389035,0.999999930512,0.000235278026383,-0.000286116061753,4.19342505595e-05,1793245303788883200
+82,1.366666667,BASELINE,764,744.579393114,714,680,658,633,878,785,806.579393114,651.579393114,630,652,0.40097080602,-0.00540005225007,0.0798329342939,0.99999993037,0.000237580987782,-0.000284721840424,4.18218151467e-05,1793245303805550080
+83,1.383333333,BASELINE,764,745,714,680,658,633,878,785,807,651.842118623,630,652,0.400971170055,-0.00539938181754,0.0798334563419,0.999999930308,0.000238690517119,-0.000284007699784,4.18302435632e-05,1793245303822216704
+84,1.400000000,BASELINE,764,745,714,680,658,633,878,785,807,651.265650344,630,652,0.400970569347,-0.00540199859426,0.079832458302,0.999999930473,0.000236635930714,-0.000285096639583,4.21591151704e-05,1793245303838883328
+85,1.416666667,BASELINE,763.68395271,745,714,680,658,633,878,785,806.367905419,651.31604729,630,652,0.40097071104,-0.00540307866191,0.0798327276389,0.999999930698,0.000236072050653,-0.000284771148099,4.2185728212e-05,1793245303855549952
+86,1.433333333,BASELINE,763.097785678,745,714,680,658,633,878,785,805.195571355,651.902214322,630,652,0.400971487249,-0.00540284533274,0.0798340801794,0.999999930975,0.000236782249707,-0.000283236768435,4.19540064588e-05,1793245303872216576
+87,1.450000000,BASELINE,763.483163524,745,714,680,658,633,878,785,805.483163524,652,630,652,0.400971225437,-0.00540242123813,0.0798336723795,0.999999930804,0.000236834854393,-0.000283798205042,4.19426013467e-05,1793245303888883200
+88,1.466666667,BASELINE,764,745,714,679.937347668,658.062652332,633.062652332,878,785,806,652,630,652,0.400970783785,-0.00540200742432,0.0798329575046,0.999999930586,0.000236647281399,-0.00028471816425,4.19831951979e-05,1793245303905549568
+89,1.483333333,BASELINE,764,745,714,679.361265123,658.638734877,633.638734877,878,785,806,652,630,652,0.400970571568,-0.00540199087208,0.0798326145751,0.999999930716,0.0002355704665,-0.00028513733126,4.20884164044e-05,1793245303922216448
+90,1.500000000,BASELINE,764,745,714,679.214742637,658.785257363,633.785257363,878,785,806.214742637,652,630,652,0.400970632922,-0.00540171535138,0.0798324114653,0.999999930643,0.000235697841503,-0.000285280003381,4.21454010196e-05,1793245303938883072
+91,1.516666667,BASELINE,764,745,714,679.790624571,658.209375429,633.209375429,878,785,806.790624571,652,630,652,0.400971154349,-0.00540100431549,0.0798324434947,0.999999930226,0.000237850339805,-0.0002849576855,4.21212646651e-05,1793245303955549696
+92,1.533333333,BASELINE,764,744.624779852,714,679.624779852,658,633.375220148,878,785,806.624779852,652,630,652,0.40097118557,-0.00540122378107,0.0798326814326,0.999999930557,0.000237415724945,-0.000284173623909,4.20218671718e-05,1793245303972216320
+93,1.550000000,BASELINE,764,744.035206346,714,679.035206346,658,633.964793654,878,785,806.035206346,652,630,652,0.40097093675,-0.00540197481747,0.0798330370006,0.999999931312,0.000235503160888,-0.000283125780306,4.18794749759e-05,1793245303988882944
+94,1.566666667,BASELINE,764,744.54400056,714.54400056,679.54400056,658.54400056,634,878,785,806,652,630,652,0.400971817681,-0.00540082246166,0.0798337209854,0.999999930956,0.000237670627607,-0.000282589834235,4.17467200464e-05,1793245304005549568
+95,1.583333333,BASELINE,764.121963597,745,714.878036403,680,658.878036403,634,878,785,806,652,630,652,0.400972564773,-0.00540038044503,0.0798342941823,0.999999930895,0.000238510100842,-0.000282109578581,4.16880559472e-05,1793245304022216192
+96,1.600000000,BASELINE,764.697748125,745,714.302251875,680,658.302251875,634,878,785,806,652,630,652,0.400972546886,-0.00540303135357,0.0798343775357,0.999999932192,0.000233444029745,-0.000281715578972,4.19028030189e-05,1793245304038883072
+97,1.616666667,BASELINE,764.720910326,745,714,680,658,634,878,785,806,652,630,652,0.400972878637,-0.00540380963301,0.0798348095628,0.999999932582,0.000232477656051,-0.000281107549361,4.20542825717e-05,1793245304055549696
+98,1.633333333,BASELINE,764.133428339,745,714,680,658,634,878,785,806,652,630,652,0.400973596737,-0.00540251866905,0.079835626872,0.999999931981,0.0002360414222,-0.000280263017991,4.21358519066e-05,1793245304072216576
+99,1.650000000,BASELINE,764,744.551883293,714,680,658,633.551883293,878,785.448116707,806,652,630,652.448116707,0.400972930755,-0.00540145140244,0.0798349930208,0.999999931423,0.000237693213017,-0.000280873249153,4.20281233212e-05,1793245304088883200
+100,1.666666667,BASELINE,764,744.027626928,714,679.972373072,658,633.027626928,878.027626928,785.972373072,806,651.972373072,630,652.972373072,0.400971925382,-0.00540051190187,0.0798340025865,0.999999930925,0.000238669005219,-0.000281839327116,4.18704071225e-05,1793245304105549824
+101,1.683333333,BASELINE,764,744.601400598,714,679.398599402,658,633.601400598,878.601400598,785.398599402,806,651.398599402,630,652.398599402,0.400972251122,-0.005400798655,0.0798343930961,0.999999931359,0.000237388306887,-0.000281388979577,4.18241766911e-05,1793245304122216704
+102,1.700000000,BASELINE,764,745,714,679,658.176751765,633.823248235,878.823248235,785,806,651.176751765,630,652,0.400972362328,-0.00540146283541,0.0798344586189,0.999999931682,0.00023614866801,-0.000281276767165,4.18702319748e-05,1793245304138883328
+103,1.716666667,BASELINE,764,745,714,679,658.755692364,633.244307636,878.244307636,785,806,651.755692364,630,652,0.400971985372,-0.0054029858306,0.0798337846521,0.999999931756,0.000235002457821,-0.000281933962526,4.21262782886e-05,1793245304155549952
+104,1.733333333,BASELINE,764,745,714,679.340244172,658.659755828,633,878.340244172,784.659755828,806,652,630,652,0.400972173109,-0.00540348936505,0.0798341927988,0.999999931974,0.000234558121008,-0.000281527892722,4.21547069611e-05,1793245304172216576
+105,1.750000000,BASELINE,764,745,714,679.928892654,658.071107346,633,878.928892654,784.071107346,806,652,630,652,0.400972773117,-0.00540324861522,0.0798353909711,0.999999932296,0.000234626205406,-0.000280345557966,4.20169573461e-05,1793245304188883200
+106,1.766666667,BASELINE,764,745,714,680,658.510055758,633.510055758,878.489944242,784.510055758,806,652,630,652.510055758,0.400972128747,-0.00540262767415,0.0798347215567,0.999999931695,0.000235410853726,-0.000281840900351,4.19170986136e-05,1793245304205550080
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806,652,631,652,0.40097132009,-0.00540099169513,0.0798330918489,0.999999930653,0.000237901970528,-0.000283446794939,4.1876632377e-05,1793245304248677376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680.57364449,658,633,878,785,806,651.42635551,630.42635551,652,0.400971725785,-0.00540095808929,0.0798342434012,0.999999931358,0.000236806868308,-0.00028190533629,4.16563408362e-05,1793245304265343744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680.694427408,658,633,878,785,806.152786296,651.152786296,630,652,0.40097235048,-0.00540094934447,0.0798351860362,0.999999931924,0.000236135781599,-0.00028047023906,4.15731877702e-05,1793245304282010368
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.504317493,658,633,878,785,806.747841254,651.747841254,630,652,0.400973609113,-0.00540101256449,0.0798355239208,0.999999932095,0.000236692087265,-0.0002793430246,4.18870077542e-05,1793245304298676992
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.332313147,658,633,878,785,806.667686853,651.667686853,630,652,0.400973128829,-0.00540105946695,0.0798349347688,0.99999993162,0.000237892721021,-0.000280003664908,4.20110710369e-05,1793245304315343616
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.90900244,658,633,878,785,806.09099756,651.09099756,630,652,0.400971369781,-0.00540109436982,0.0798336638934,0.999999930666,0.00023956718016,-0.000281979056329,4.19955911863e-05,1793245304332010240
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.48361336,633.48361336,878,785,806,651.48361336,630,652,0.400970382072,-0.00540135722384,0.0798326555615,0.999999930292,0.000239138110352,-0.000283674009615,4.19381507896e-05,1793245304348676864
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.942160969,634,878,785,806,652,630,652,0.400970015053,-0.00540171598352,0.0798320638888,0.999999930213,0.000238182353854,-0.000284763566308,4.18778300553e-05,1793245304365343488
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.367898254,634,878,785,806,652,630,652,0.400973899641,-0.00540254972442,0.0798347532202,0.999999931809,0.000236042868848,-0.00028091688482,4.18619850756e-05,1793245304382010112
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.78563069,714,680,658.21436931,634,878,785,806,652,630,652,0.400982110012,-0.00540268398896,0.0798390342195,0.999999933765,0.000235503177901,-0.000274311788933,4.19655567008e-05,1793245304398676736
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.189092471,714,680,658.810907529,634,878,785,806,652,630,652,0.400998032215,-0.00540157125534,0.0798461527796,0.999999936299,0.000237815535124,-0.00026278910414,4.22820194041e-05,1793245304415343360
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.39344857,714,679.60655143,658.60655143,634,878.39344857,785,806,652,630,652,0.401032895539,-0.00540238483845,0.079859856044,0.999999942655,0.000237099461661,-0.000238068206688,4.23874737903e-05,1793245304432009984
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.969493677,714,679.030506323,658.030506323,634,878.969493677,785,806,652,630,652,0.401076549297,-0.00540409241065,0.079876615221,0.999999950024,0.000234977916199,-0.000207222116314,4.23950007912e-05,1793245304448676864
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.541740338,658,634,878.458259662,785.541740338,806,652,630,652,0.401143801213,-0.00540601900141,0.079894620044,0.999999957515,0.000232805914925,-0.000170304415551,4.20547500144e-05,1793245304465343488
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+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.711514106,634,878,786,806,652,630,652,0.401285173245,-0.00540731118908,0.0799181997245,0.999999963412,0.000231489765664,-0.000134130071822,3.99648814756e-05,1793245304498676992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.297297096,745,714,680.297297096,659,633.702702904,878,785.702702904,806,652,630,652,0.40136932706,-0.00540822560311,0.0799233255076,0.999999964411,0.000230868176939,-0.000128264581385,3.77664610691e-05,1793245304515343360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875804184,745,714,680.875804184,659,633.124195816,878,785.124195816,806,652,630,652,0.401464883447,-0.00541021089203,0.0799261200131,0.999999965673,0.000229322445142,-0.000121843090371,3.49100717236e-05,1793245304532010240
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.548277407,745,714,681,658.548277407,633,878,785.451722593,806,652,630,652,0.401581840759,-0.00541035691251,0.0799324396701,0.999999966919,0.000229603245609,-0.000111557039497,3.16066961097e-05,1793245304548676864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658.027542767,633,878,785.972457233,806.027542767,652,630,652,0.401705737148,-0.0054101639091,0.0799396542024,0.999999968117,0.000230058563546,-0.000100235656718,2.81344699459e-05,1793245304565343488
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658.615769283,633,878,785.384230717,806.615769283,652,630,652,0.401851795476,-0.00541330494781,0.0799454681649,0.999999970662,0.00022390188536,-8.9344393778e-05,2.37124500157e-05,1793245304582010112
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.799056813,714,680.598113627,658.799056813,633,878,785,806.799056813,652,630,652,0.402009682547,-0.00541620646298,0.0799509583496,0.999999973028,0.000217422537492,-7.94682079259e-05,1.88501746581e-05,1793245304598676992
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.21963264,714,679.439265281,658.21963264,633,878,785,806.21963264,652,630,652,0.402189849302,-0.00541865682987,0.079955838691,0.999999975237,0.000210335434794,-7.15039437171e-05,1.31586688608e-05,1793245304615343616
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.356559329,714,679.356559329,658,633.356559329,878,785,806.356559329,652,630,652,0.402386403995,-0.00541921872646,0.0799569871941,0.999999976699,0.000204380286145,-6.9211115717e-05,6.33498350172e-06,1793245304632010496
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744.930778275,714,679.930778275,658,633.930778275,878,785,806.930778275,652,630,652,0.402592962629,-0.00541862781734,0.0799558576183,0.999999977699,0.000199116131725,-7.03803829518e-05,-1.17983498678e-06,1793245304648677120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.506661658,634,878.506661658,785,807,652,630.506661658,652,0.402820727616,-0.00542094191196,0.0799515375541,0.999999978463,0.000191634392406,-7.919010943e-05,-8.90884374359e-06,1793245304665343744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,806.915468394,652,630.915468394,652.084531606,0.403056896929,-0.00542363595643,0.0799471110629,0.999999979127,0.000183628878166,-8.80275543066e-05,-1.66753121309e-05,1793245304682010368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,806.327117833,652,630.327117833,652.672882167,0.403325832113,-0.00542622123507,0.0799446568002,0.999999980386,0.00017431330838,-9.0788143693e-05,-2.44900597418e-05,1793245304698676992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.743593407,634,878.743593407,785,806,651.743593407,630,652.743593407,0.403623416067,-0.00542972786043,0.0799460015655,0.999999985815,0.000140952775578,-8.80527015206e-05,-2.7381566736e-05,1793245304715343616
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.166112343,634,878.166112343,785,806,651.166112343,630,652.166112343,0.403956874232,-0.00543438820368,0.0799521035056,0.999999993632,7.74829397698e-05,-7.84350823961e-05,-2.41081502431e-05,1793245304732010240
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.587551654,658.412448346,634,878,784.587551654,806,651.412448346,630,652,0.404322227237,-0.00543234858366,0.0799550274708,0.999999993028,8.98368297068e-05,-7.30809854004e-05,-2.30785036603e-05,1793245304748676864
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.008555022,658.991444978,634,878,784.008555022,806,651.991444978,630,652,0.404700459499,-0.00542760349168,0.0799566681569,0.999999988506,0.000132808643556,-6.94485158184e-05,-2.29549003711e-05,1793245304765343488
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679.564129513,658.435870487,634,878.564129513,784.564129513,806.564129513,652,630,652,0.40511659272,-0.00543423101767,0.07995794058,0.999999989757,0.000126428285586,-6.16004589667e-05,-2.65785659643e-05,1793245304782010112
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142053296,745,714,680,658,634,878.857946704,785,807,652,630,652,0.405537875718,-0.00544009950101,0.079957155613,0.99999999114,0.000115588159472,-5.87484327846e-05,-3.01398623209e-05,1793245304798676992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.736981828,745,714,680,658,634,878.263018172,785,807,652,630,652,0.405973764339,-0.00544300435723,0.0799498291587,0.999999992537,9.28896286991e-05,-7.20256378062e-05,-3.33231561906e-05,1793245304815343872
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678818695,745,714,680,658.321181305,634,878.321181305,785,806.678818695,652,630,652,0.406434900456,-0.00544481963205,0.0799406687697,0.999999991232,9.14344350351e-05,-8.94103845888e-05,-3.437134576e-05,1793245304832010496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.10312126,745,714,680,658.89687874,634,878.89687874,785,806.10312126,652,630,652,0.406916043684,-0.00544577148196,0.0799300551012,0.999999987671,0.000106813257201,-0.000110050103167,-3.37275988197e-05,1793245304848677120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680.470672506,659,634,878.529327494,785,806,652,630,652,0.407440917482,-0.00544956942585,0.0799269261305,0.999999987671,9.7809745106e-05,-0.000117592219657,-3.55481910519e-05,1793245304865343744
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.954744863,659,634,878.045255137,785,806.045255137,652,630,652,0.407976449005,-0.00545398041071,0.0799247209861,0.999999988096,8.46043984194e-05,-0.000123373744241,-3.77985542523e-05,1793245304882010368
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.365690959,659,634,878.634309041,785,806.634309041,652,630,652,0.408525382001,-0.00545829517656,0.079913991292,0.999999985519,8.48411316657e-05,-0.000142342515302,-3.87514650296e-05,1793245304898676992
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.779967963,785,807,651.779967963,630,652,0.409115174544,-0.00546334973347,0.0799168709127,0.999999986406,8.07029617149e-05,-0.000138225690827,-3.95949850844e-05,1793245304915343616
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.199698381,785,807,651.199698381,630,652,0.409771862509,-0.0054696154797,0.0799420317717,0.999999992143,6.94021784149e-05,-9.63130132915e-05,-4.0259410015e-05,1793245304932010240
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.381678548,744.618321452,714,680,659,634,878.381678548,785,807,651,630,652,0.410456648,-0.00547956285937,0.0799709034027,0.999999996495,5.56877611437e-05,-4.88030134901e-05,-3.90732991173e-05,1793245304948677120
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.96363652,744.03636348,714,680,659,634,878.96363652,785,807,651,630,652,0.411156177175,-0.00549144211429,0.0800017221984,0.999999998489,4.07068301522e-05,1.64408614156e-06,-3.6916150463e-05,1793245304965343744
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.46670112,744.53329888,714,680,659.53329888,633.46670112,878.46670112,785,807,651,630,652,0.411839905926,-0.00551259293903,0.0799833355567,0.999999998793,1.17772525378e-05,-3.07247864041e-05,-3.64876348425e-05,1793245304982010368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.105960067,660,633.105960067,878,785,807,651.105960067,630,652,0.412524723894,-0.00553042176316,0.0799592917085,0.999999996791,-1.39125345239e-05,-6.96181925281e-05,-3.71109542599e-05,1793245304998676992
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.696067569,660,633.696067569,878,785,807,651.696067569,630,652,0.413219330178,-0.00553024838568,0.0799243838008,0.99999999251,-2.05514347487e-05,-0.00011310316608,-4.20138444979e-05,1793245305015343616
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.718728217,659.718728217,634,878.281271783,785,807.281271783,652,630,652.281271783,0.413957547602,-0.00553101185211,0.0799126855247,0.999999991215,-2.42576581364e-05,-0.000122516397268,-4.43950777768e-05,1793245305032010240
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.138731472,659.138731472,634,878.861268528,785,807.861268528,652,630,652.861268528,0.414742082366,-0.0055327702945,0.0799256370554,0.999999994136,-2.48492301545e-05,-9.57437077063e-05,-4.40981835445e-05,1793245305048676864
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.562751353,680.437248647,659,633.562751353,879,785,807.562751353,651.562751353,630,653,0.415542194317,-0.00554024108961,0.079943262456,0.999999995976,-3.33653044486e-05,-7.09072570151e-05,-4.36705450639e-05,1793245305065343744
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.012213681,681,659,633,878.987786319,785,807,651.012213681,630,652.987786319,0.416347111947,-0.00554933094329,0.0799616353518,0.999999996951,-4.41712461496e-05,-4.77143095646e-05,-4.32471591783e-05,1793245305082010368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.598830614,681,659,633,878.401169386,785,807,651.598830614,630,652.401169386,0.417147718983,-0.00555010248336,0.079946055603,0.999999995276,-4.54982250974e-05,-7.31855322516e-05,-4.49569318665e-05,1793245305098676992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.183759616,633.183759616,878.183759616,785,807,652,630,652.183759616,0.417986291225,-0.00555427362095,0.0799462590843,0.999999995281,-5.20420001217e-05,-6.79971748649e-05,-4.58954667364e-05,1793245305115343872
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.765037165,633.765037165,878.765037165,785,807,652,630,652.765037165,0.418906991641,-0.0055657989368,0.0799806056342,0.999999996533,-6.9871007469e-05,3.51551147808e-06,-4.51656214188e-05,1793245305132010752
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.656915269,879.343084731,785,807,652,630,652.656915269,0.419784563509,-0.00557121629129,0.0799892747684,0.999999995651,-7.81026567356e-05,2.1922469312e-05,-4.60133304881e-05,1793245305148677888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.081059162,879.918940838,785,807,652,630,652.081059162,0.42063287408,-0.00557248960029,0.0799805226438,0.999999995656,-7.98228228727e-05,4.29898517513e-06,-4.7931356942e-05,1793245305165345792
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.506646565,785.493353435,807.493353435,652,630,652.493353435,0.421516041278,-0.00557322341767,0.0799751176553,0.999999995322,-8.35480612741e-05,-4.5264312865e-06,-4.85396760457e-05,1793245305182012160
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.069760241,785.930239759,808,652,630,653,0.422411032418,-0.0055702582851,0.0799741514589,0.999999995393,-8.24948420995e-05,-6.19283273362e-06,-4.86838712713e-05,1793245305198678272
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879.662902692,785.337097308,808,652,630,653,0.423351891063,-0.00554020454955,0.0800023737314,0.999999997354,-4.31264039507e-05,3.50382186678e-05,-4.69556940104e-05,1793245305215344384
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.249177762,660,633,879.750822238,785,808,652,630,652.750822238,0.424253767529,-0.00551686141804,0.0800029597156,0.999999998564,-1.33908575322e-05,2.28805487408e-05,-4.65770675007e-05,1793245305232011008
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681.826411636,660,633,879.173588364,785,808,652,630,652.173588364,0.425104321959,-0.00550235315847,0.0799671610231,0.999999997068,3.66246708579e-06,-5.95662784368e-05,-4.79751978275e-05,1793245305248677632
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879,785,807.597823027,651.597823027,630,652,0.425996270583,-0.00550736049438,0.0799348016926,0.999999993908,-6.70574841154e-06,-9.77670765166e-05,-5.07912890256e-05,1793245305265344512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879,785,807.022689269,651.022689269,630,652,0.426906020788,-0.00552076054097,0.0799039214668,0.999999991276,-2.88666375497e-05,-0.000116939801513,-5.42171763047e-05,1793245305282011904
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,682,660.566184219,633,879,785,807.566184219,651,630,652,0.427833774565,-0.00552425851991,0.079901953631,0.999999990432,-3.24794073555e-05,-0.000123046933793,-5.42246574378e-05,1793245305298678528
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.152980053,745,713.847019947,682,660.847019947,633,879,785,808.152980053,651.152980053,630,652,0.428766548882,-0.00552776064645,0.0799095242417,0.999999990995,-3.52018123555e-05,-0.000117844865289,-5.36966559974e-05,1793245305315344896
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.732411081,745,713.267588919,682,660.267588919,633,879,785,808.732411081,651.732411081,630,652,0.429711257308,-0.00553240801883,0.0799403742921,0.999999994526,-3.75657816461e-05,-8.26128639407e-05,-5.20673021453e-05,1793245305332011264
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.690320703,745,713,682,660,633,879.309679297,785,808.690320703,652,630,652.309679297,0.430667417368,-0.005537958743,0.0799797302694,0.999999997344,-4.5332877666e-05,-2.63801577693e-05,-5.06069939404e-05,1793245305348677632
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.114908406,745,713,682,660,633,879.885091594,785,808.114908406,652,630,652.885091594,0.431633403923,-0.00554428462491,0.0800263851039,0.999999995973,-5.77363475303e-05,4.7873061366e-05,-4.92917421773e-05,1793245305365344000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,713.461182173,682,660.461182173,633,880,785,808,652,630,652.538817827,0.432503810678,-0.00553860599415,0.0800144647638,0.999999997262,-5.02989925376e-05,2.24654142123e-05,-4.94077769349e-05,1793245305382010880
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,682.03833152,660.96166848,633,880,785,808.03833152,652,630.03833152,652.03833152,0.433351048856,-0.00553014394871,0.0799856393077,0.999999997555,-3.86261283584e-05,-2.96516069744e-05,-5.01870152447e-05,1793245305398677504
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,682.628281025,660.371718975,633,880,785,808.628281025,652,630.628281025,652.628281025,0.434208089321,-0.00552473334742,0.0799238735863,0.999999991913,-3.7247290412e-05,-0.000108265370597,-5.53706494224e-05,1793245305415344640
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,880,785,809,652,630.785713191,653,0.435080181025,-0.00552489627623,0.0798955560655,0.999999987527,-4.16990127146e-05,-0.000140730774221,-5.83187289733e-05,1793245305432011520
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,880,785,809,652,630.206424776,653,0.435977910127,-0.00553455277704,0.0799242119291,0.999999992303,-5.60821156153e-05,-9.45902073719e-05,-5.74589177454e-05,1793245305448677888
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,682.631041756,660.368958244,633,879.631041756,785,808.631041756,651.631041756,630,652.631041756,0.436850686815,-0.00553977089204,0.0799524790825,0.999999994648,-6.28743052127e-05,-6.07559642475e-05,-5.53070812343e-05,1793245305465344000
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,682.057820873,660.942179127,633,879.057820873,785,808.057820873,651.057820873,630,652.057820873,0.437709649295,-0.0055425318276,0.0799805310364,0.999999995913,-6.54640130597e-05,-3.37347500179e-05,-5.24399538423e-05,1793245305482010368
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.481369354,683.037261292,660.481369354,633,879.518630646,785,808.518630646,651.518630646,630,652.518630646,0.438522394234,-0.00554644948547,0.0799753611479,0.999999995397,-6.95054827835e-05,-3.84867040999e-05,-5.37956653178e-05,1793245305498677248
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.097912784,745,713.097912784,683.902087216,659.902087216,633,880,784.902087216,809,652,630,653,0.439315860196,-0.00554948337696,0.0799570063034,0.999999993785,-7.30204306664e-05,-6.32153739216e-05,-5.56929236591e-05,1793245305515343872
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,879,785,806,652,630,652,0.400971169984,-0.00540582513118,0.0798296394053,0.99999993065,0.000230455103611,-0.000289517950449,4.20705821654e-05,1793245309174166016
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a17758f900017216bc355b72a969487f53d116
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575684693494,-0.000122158991907,1.07005092999,0.54625632725,0.00855352857687,1.06971741968
+383,6.383333333,pose2_to_pose3_retreat,0.575679345284,-0.000122220716485,1.07005077602,0.546250979036,0.00855346674822,1.06971726338
+384,6.400000000,pose2_to_pose3_retreat,0.575675597016,-0.00012214378942,1.07005100711,0.54624722963,0.00855353982426,1.06971749454
+385,6.416666667,pose2_to_pose3_retreat,0.575673057484,-0.000122139408478,1.07005107696,0.546244690121,0.00855354436897,1.06971756649
+386,6.433333333,pose2_to_pose3_retreat,0.575671745675,-0.000122195538194,1.07005099819,0.546243379233,0.00855349148231,1.06971749082
+387,6.450000000,pose2_to_pose3_retreat,0.575671235518,-0.00012221467754,1.07005097212,0.546242869396,0.0085534734534,1.06971746543
+388,6.466666667,pose2_to_pose3_retreat,0.575671075965,-0.000122210415095,1.07005098137,0.546242709796,0.00855347748854,1.06971747288
+389,6.483333333,pose2_to_pose3_retreat,0.575671030144,-0.000122209191013,1.07005098403,0.546242663963,0.00855347864734,1.06971747502
+390,6.500000000,pose2_to_pose3_retreat,0.575670872224,-0.00012220497219,1.07005099318,0.546242505996,0.00855348264119,1.0697174824
+391,6.516666667,pose2_to_pose3_retreat,0.575670779502,-0.000122202495124,1.07005099856,0.546242413247,0.00855348498616,1.06971748673
+392,6.533333333,pose2_to_pose3_retreat,0.575670735689,-0.000122201324675,1.0700510011,0.546242369421,0.00855348609419,1.06971748877
+393,6.550000000,pose2_to_pose3_retreat,0.57567062467,-0.000122198358803,1.07005100753,0.54624225837,0.0085534889019,1.06971749396
+394,6.566666667,pose2_to_pose3_retreat,0.57567049312,-0.000122194844457,1.07005101516,0.546242126781,0.00855349222884,1.06971750011
+395,6.583333333,pose2_to_pose3_retreat,0.575670419695,-0.000122192882928,1.07005101942,0.546242053335,0.00855349408577,1.06971750353
+396,6.600000000,pose2_to_pose3_retreat,0.575670384756,-0.000122191949529,1.07005102144,0.546242018385,0.00855349496939,1.06971750517
+397,6.616666667,pose2_to_pose3_retreat,0.575670260584,-0.000122188632303,1.07005102864,0.546241894178,0.00855349810972,1.06971751097
+398,6.633333333,pose2_to_pose3_retreat,0.575670257971,-0.00012218856249,1.07005102879,0.546241891564,0.00855349817581,1.06971751109
+399,6.650000000,pose2_to_pose3_retreat,0.575670150717,-0.000122185697204,1.07005103501,0.546241784278,0.0085535008883,1.0697175161
+400,6.666666667,pose2_to_pose3_retreat,0.575670071392,-0.00012217696779,1.0700510438,0.546241704776,0.00855350903315,1.06971752537
+401,6.683333333,pose2_to_pose3_retreat,0.57566998976,-0.000122162135471,1.07005105656,0.546241622823,0.00855352284667,1.06971753984
+402,6.700000000,pose2_to_pose3_retreat,0.575669951052,-0.000122155102406,1.07005106261,0.546241583964,0.00855352939665,1.0697175467
+403,6.716666667,pose2_to_pose3_retreat,0.575669897629,-0.000122145395732,1.07005107096,0.546241530332,0.00855353843659,1.06971755617
+404,6.733333333,pose2_to_pose3_retreat,0.575669772131,-0.000122122593194,1.07005109057,0.546241404342,0.00855355967287,1.06971757842
+405,6.750000000,pose2_to_pose3_retreat,0.575669628262,-0.000122118163897,1.07005107848,0.546241260806,0.00855356532099,1.06971756867
+406,6.766666667,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868056,1.06971749639
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3fb6b8434473963acda32852feb54269461e485
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bff50e93d1f6b02d78b193c40b52c3a813bc30f3a20d1bc3e1fd9ace0f7d76b
+size 25910911
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6af53beaa3869006516a8418e58d0b625996ebeb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+44,0.733333333,BASELINE,764,745,714,680,658.465840741,633,878.465840741,785,806,652,630,652,0.400970518461,-0.00540639594297,0.0798328253303,0.99999993233,0.000229792843025,-0.000284343285152,4.10456619428e-05,1793245310123228160
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+46,0.766666667,BASELINE,764,745,714,680,658.702852802,633.702852802,879.405705605,785,806,652,630,652,0.400971226466,-0.00540639231629,0.0798326686694,0.999999932294,0.000229862784923,-0.000284432775671,4.08941150725e-05,1793245310156560896
+47,0.783333333,BASELINE,763.712303267,744.712303267,714,680,659,634,879.424606535,785,806,652,630,652,0.400971675502,-0.00540664472534,0.0798330674875,0.999999932778,0.000228842945208,-0.000283554632413,4.08775851082e-05,1793245310173227520
+48,0.800000000,BASELINE,763.133454317,744.133454317,714,680,659,634,878.266908635,785,806,652,630,652,0.400972134513,-0.00540676993673,0.0798338929989,0.999999933592,0.000227559352939,-0.000281711137685,4.08784336248e-05,1793245310189894144
+49,0.816666667,BASELINE,763.441987558,744,714,680,658.558012442,633.558012442,878.441987558,785,806,651.558012442,630.441987558,652,0.400972030096,-0.00540699146494,0.0798338396641,0.9999999336,0.000226613687858,-0.000282467503359,4.07148015559e-05,1793245310206561280
+50,0.833333333,BASELINE,764.016410112,744.016410112,714,680,658.016410112,633.016410112,878.983589888,785,806,651,630.983589888,652,0.400971731023,-0.00540724653229,0.0798335107003,0.999999933365,0.000225790350414,-0.000283985021307,4.05097982371e-05,1793245310223228416
+51,0.850000000,BASELINE,764.590886459,744.590886459,714,680,658.590886459,633.590886459,878.409113541,785,806,651,630.409113541,652,0.400970553379,-0.00540766074046,0.0798327634788,0.999999933128,0.000225683683281,-0.000284895573137,4.05738729019e-05,1793245310239894784
+52,0.866666667,BASELINE,764.829279388,745,714,680,658.829279388,634,878,785,806,651.170720612,630,652.170720612,0.400969926554,-0.00540727822881,0.0798324291395,0.999999932721,0.000226900503699,-0.000285344863351,4.06511509966e-05,1793245310256561664
+53,0.883333333,BASELINE,764.236189868,745,714,680,658.236189868,634,878,785,806,651.763810132,630,652.763810132,0.400970662477,-0.00540492460379,0.0798331162857,0.999999931885,0.000231391679731,-0.000284652975748,4.07610948454e-05,1793245310273228544
+54,0.900000000,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652.65294891,0.400970944285,-0.0054054348305,0.0798330555041,0.999999931964,0.000231625525248,-0.000284163101223,4.08911224436e-05,1793245310289894912
+55,0.916666667,BASELINE,764,745,714,680,658,634,878,785,806,652,630,652.076225579,0.400970925567,-0.00540784030347,0.0798324997571,0.999999932655,0.000229041944936,-0.00028380691539,4.10344411061e-05,1793245310306561024
+56,0.933333333,BASELINE,764,745,714,680,658,634,878,785,806,651.500517377,630,652,0.400971753886,-0.00540690499491,0.0798333233528,0.999999932672,0.000229990401486,-0.000282965767366,4.11190125265e-05,1793245310323227392
+57,0.950000000,BASELINE,764,745,714,680,658.075075407,634,878,784.924924593,806,651,630,652,0.400972522316,-0.00540578507441,0.0798341680156,0.999999932642,0.000231068297328,-0.000282182704466,4.11765732152e-05,1793245310339894272
+58,0.966666667,BASELINE,764,745,714,680,658.650929306,634,878,784.349070694,806,651,630,652,0.400972030768,-0.00540682759583,0.0798337519418,0.999999932997,0.000229421436586,-0.000282279757628,4.11136438251e-05,1793245310356561152
+59,0.983333333,BASELINE,764,744.766629429,714,679.766629429,658.766629429,633.533258858,878,784.233370571,806,651.233370571,630,652.233370571,0.400971561952,-0.00540766345895,0.0798332109387,0.999999933092,0.000228543287537,-0.000282662990961,4.10547543143e-05,1793245310373228288
+60,1.000000000,BASELINE,764,744.174048623,714,679.174048623,658.174048623,632.348097247,878,784.825951377,806,651.825951377,630,652.825951377,0.400971128126,-0.00540818122824,0.0798324776409,0.999999932791,0.000228848359868,-0.000283486720495,4.10020830848e-05,1793245310389894912
+61,1.016666667,BASELINE,763.593097152,744,714,679.406902848,658,632.813805696,878.406902848,785,806,652,630,652.593097152,0.400971049206,-0.0054079097455,0.0798328496994,0.999999933009,0.00022776199035,-0.000283617809767,4.08306963577e-05,1793245310406561280
+62,1.033333333,BASELINE,763.016981829,744,714,679.983018171,658,633.966036341,878.983018171,785,806,652,630,652.016981829,0.400971117876,-0.00540731004854,0.0798336814256,0.99999993344,0.000226096983136,-0.000283460861259,4.06099412324e-05,1793245310423227648
+63,1.050000000,BASELINE,764.113858961,744.55692948,714,680,658,633.44307052,878.44307052,785,806,652,630,652,0.400971803254,-0.00540809670326,0.0798341893058,0.999999933991,0.000225235094253,-0.000282157900807,4.09257233497e-05,1793245310439894272
+64,1.066666667,BASELINE,764.869837786,745,713.869837786,680,658.130162214,633,878.130162214,785,806,652,630,652,0.400972410357,-0.00540845318928,0.0798345824215,0.999999934211,0.000225409172114,-0.000281194688732,4.12045010864e-05,1793245310456560896
+65,1.083333333,BASELINE,764.29867735,745,713.29867735,680,658.70132265,633,878.70132265,785,806,652,630,652,0.400972688797,-0.00540720957775,0.0798346200315,0.999999933303,0.000229010532207,-0.000281500492912,4.13026951253e-05,1793245310473227520
+66,1.100000000,BASELINE,764.285857183,745,713.285857183,680,658.714142817,633.285857183,878.714142817,785,806,652,630,652,0.400972531647,-0.00540695249455,0.0798343085196,0.99999993301,0.000229911629234,-0.000281818206103,4.12215552336e-05,1793245310489894400
+67,1.116666667,BASELINE,764.885051449,745,713.885051449,680,658.114948551,633.885051449,878.114948551,785,806,652,630,652,0.400971897033,-0.00540777677629,0.0798336143243,0.999999933399,0.000227852882438,-0.000282148973119,4.09438417532e-05,1793245310506561280
+68,1.133333333,BASELINE,764.538144549,745,714,680,658,633.538144549,878,785,806,652,630.461855451,652,0.400972189842,-0.00540757051835,0.0798334194199,0.999999933411,0.000228143701666,-0.000281875814409,4.09128004579e-05,1793245310523228160
+69,1.150000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630.966239808,652,0.400972674783,-0.00540703582797,0.0798333590587,0.999999933313,0.000229044382477,-0.000281490458952,4.09293103807e-05,1793245310539895296
+70,1.166666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630.387627425,652,0.400972707569,-0.00540514859295,0.0798335572944,0.999999932886,0.000230786380172,-0.000281608008518,4.07682446418e-05,1793245310556561408
+71,1.183333333,BASELINE,764.195203569,745,714,680,658,633,878.195203569,785,806.195203569,651.804796431,630,652,0.400972917432,-0.00540424877849,0.0798338363096,0.999999932779,0.000231385210099,-0.000281522154718,4.06013003256e-05,1793245310573227776
+72,1.200000000,BASELINE,764.786596859,745,714,680,658,633,878.786596859,785,806.786596859,651.213403141,630,652,0.400973486691,-0.00540535305551,0.0798342792767,0.999999933323,0.000229663840343,-0.000281023468719,4.04224246826e-05,1793245310589894656
+73,1.216666667,BASELINE,764.630472494,744.630472494,714,680,658.369527506,633.369527506,878.630472494,785,807,651.369527506,630,652,0.400973071344,-0.00540596869485,0.0798339215978,0.999999933424,0.00022913574106,-0.000281094060788,4.04440537345e-05,1793245310606561280
+74,1.233333333,BASELINE,764.052319665,744.052319665,714,680,658.947680335,633.947680335,878.052319665,785,807,651.947680335,630,652,0.400972100116,-0.00540630846239,0.0798331118956,0.999999933275,0.000229281330402,-0.000281486052022,4.05788823731e-05,1793245310623227904
+75,1.250000000,BASELINE,764,744.522837327,714,680,658.477162673,634,878.522837327,785,806.477162673,652,630,652,0.400972077151,-0.00540680063351,0.0798335600403,0.999999933226,0.000229550033412,-0.000281390595352,4.09123628634e-05,1793245310639894528
+76,1.266666667,BASELINE,764,745,714,680,658.100069033,634,878.899930967,785,806,652,630,652,0.400972075443,-0.00540720594225,0.0798339732903,0.999999933154,0.000229786672211,-0.000281410832648,4.12035994242e-05,1793245310656561408
+77,1.283333333,BASELINE,764,745,714,680,658.6888898,634,878.3111102,785,806,652,630,652,0.40097171673,-0.00540711293956,0.0798336048384,0.999999932918,0.000229806875702,-0.000282233019079,4.11919724925e-05,1793245310673228288
+78,1.300000000,BASELINE,764,744.726642941,714,680.273357059,658.726642941,633.726642941,878,785,806,652,630,652,0.400971775178,-0.00540664141682,0.07983364937,0.999999932811,0.000230353960436,-0.000282187597025,4.10623702416e-05,1793245310689894912
+79,1.316666667,BASELINE,764,744.147052816,714,680.852947184,658.147052816,633.147052816,878,785,806,652,630,652,0.400972300959,-0.00540574585033,0.0798341565535,0.999999932845,0.000231491293174,-0.000281170221203,4.08006040591e-05,1793245310706561024
+80,1.333333333,BASELINE,764,744.429157572,714,680.141684856,658,633.429157572,878,785,806,652,630,652,0.400972739355,-0.0054059053581,0.0798344822978,0.999999933126,0.000230870209838,-0.000280697341273,4.06886874007e-05,1793245310723227648
+81,1.350000000,BASELINE,764.00421348,745,714,679.00421348,658.00421348,633.99578652,878,785,806.00421348,652,630,652,0.400973148712,-0.00540642330766,0.079834748148,0.999999933488,0.000229665047643,-0.000280404790224,4.06314914262e-05,1793245310739894272
+82,1.366666667,BASELINE,764.578526195,745,714,679.578526195,658.578526195,633.421473805,878,785,806.578526195,652,630,652,0.400973648632,-0.00540690615602,0.0798352563303,0.999999933582,0.00023031930649,-0.000279464503449,4.10851032997e-05,1793245310756560896
+83,1.383333333,BASELINE,764.842470175,745,714,680,658.842470175,633,878,785,806.842470175,651.842470175,630,652,0.400973446271,-0.00540711717805,0.079835188645,0.999999933517,0.000230509950138,-0.000279512610109,4.12825192698e-05,1793245310773227776
+84,1.400000000,BASELINE,764.250530588,745,714,680,658.250530588,633,878,785,806.250530588,651.250530588,630,652,0.400971307276,-0.00540657860238,0.0798335329271,0.999999933009,0.000229422112424,-0.000282286344913,4.07734405456e-05,1793245310789894400
+85,1.416666667,BASELINE,764,745,714,680,658,633.334045948,878.334045948,785,806.334045948,651,630,652,0.400971206839,-0.00540616787318,0.079833227772,0.999999932977,0.000229166962183,-0.000282645580049,4.04860831541e-05,1793245310806561280
+86,1.433333333,BASELINE,764,745,714,680,658,633.913219343,878.913219343,785,806.913219343,651,630,652,0.400972602326,-0.00540585095947,0.0798339136784,0.999999933299,0.000229522849365,-0.000281233022424,4.03614279131e-05,1793245310823228160
+87,1.450000000,BASELINE,764,745,714,680,658,633.510617266,878.510617266,785,806.510617266,651,630,652,0.400972418955,-0.00540591286541,0.0798338244897,0.999999933472,0.000228571371035,-0.0002813690895,4.05299552488e-05,1793245310839895040
+88,1.466666667,BASELINE,764,745,714,680,658,633.0646451,878,785,806,651.0646451,630,652,0.400972001033,-0.00540596862043,0.0798336590581,0.999999933573,0.00022758588487,-0.000281784688402,4.07035041862e-05,1793245310856561664
+89,1.483333333,BASELINE,764,745,714,680,658,633.636997399,878,785,806,651.636997399,630,652,0.400971926409,-0.00540545171733,0.0798339676951,0.999999933322,0.000228142923612,-0.000282252105851,4.05106774592e-05,1793245310873228288
+90,1.500000000,BASELINE,764,745,714,680,658,633.782903969,878,785,806,652,630,652.217096031,0.400972255622,-0.00540544146305,0.0798342207935,0.999999933329,0.000228359380468,-0.000282057871688,4.04645309356e-05,1793245310889894656
+91,1.516666667,BASELINE,764,745,714,680,658,633.189373618,878,785,806,652,630,652.810626382,0.400973285069,-0.00540630971409,0.0798343775904,0.999999933783,0.000227985284276,-0.000280716364664,4.06727210141e-05,1793245310906561024
+92,1.533333333,BASELINE,764.393481293,745,714,680,658.393481293,633,877.606518707,785,806,652,630,652.606518707,0.400973033505,-0.00540691309042,0.0798343604495,0.999999933877,0.000227469573613,-0.000280799297468,4.06835490404e-05,1793245310923227904
+93,1.550000000,BASELINE,764.97133412,745,714,680,658.97133412,633,877.02866588,785,806,652,630,652.02866588,0.400972181705,-0.00540739235584,0.0798342618074,0.999999933802,0.000226887507344,-0.000281549672697,4.06019001495e-05,1793245310939894784
+94,1.566666667,BASELINE,765,745,714,680,659,633,877.546155262,785,806,652,630,652,0.400973270931,-0.00540807464298,0.0798350594111,0.999999934229,0.000226994358361,-0.000279901770251,4.08686528635e-05,1793245310956561920
+95,1.583333333,BASELINE,764.87625566,745,714,679.87625566,658.87625566,633.12374434,878,785,806,651.87625566,630,652,0.400973739352,-0.00540836042052,0.079835308703,0.999999934316,0.000227475495883,-0.000279171151018,4.10533505774e-05,1793245310973229056
+96,1.600000000,BASELINE,764.287674428,745,714,679.287674428,658.287674428,633.712325572,878,785,806,651.287674428,630,652,0.400971495176,-0.00540711693058,0.07983332257,0.99999993303,0.000229227535461,-0.000282356481247,4.08615020033e-05,1793245310989894912
+97,1.616666667,BASELINE,764,745,714,679,658,634,878.29756061,785,806,651,630.29756061,652,0.400971033882,-0.00540677834917,0.0798329718144,0.999999932666,0.000230072485038,-0.000282960471375,4.08376437004e-05,1793245311006561280
+98,1.633333333,BASELINE,764,745,714,679,658,634,878.879596568,785,806,651,630.879596568,652,0.400972277066,-0.00540730488291,0.0798341845203,0.999999933191,0.0002300502339,-0.000281096635948,4.09743882884e-05,1793245311023227904
+99,1.650000000,BASELINE,764,745,714,679.454632737,658,634,878.545367263,785,806,651.454632737,630.545367263,652.454632737,0.400971759798,-0.00540736878229,0.0798338035579,0.999999933137,0.000229489409632,-0.000281766572043,4.08366130797e-05,1793245311039894528
+100,1.666666667,BASELINE,764,745,714,680,658,633.972149875,878,785,806,652,630,652.972149875,0.400970944629,-0.00540729305898,0.0798331284137,0.999999932992,0.000228811995618,-0.000282861764814,4.06297467964e-05,1793245311056561152
+101,1.683333333,BASELINE,764,745,714,680,658,633.39879697,878,785,806,652,630,652.39879697,0.400973288116,-0.00540684600428,0.0798348327153,0.999999934035,0.000228602348611,-0.000279342162171,4.04720330512e-05,1793245311073228032
+102,1.700000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400974580729,-0.00540660288125,0.0798356825651,0.999999934494,0.000228740737313,-0.0002775959735,4.03667666335e-05,1793245311089894912
+103,1.716666667,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400973472478,-0.00540682566808,0.0798345803027,0.999999933637,0.000229674261195,-0.00027990139195,4.03813233272e-05,1793245311106561280
+104,1.733333333,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.40097299838,-0.00540706184301,0.0798344850419,0.999999933463,0.000229700172254,-0.000280482976385,4.05047649639e-05,1793245311123227904
+105,1.750000000,BASELINE,764,745,714,680,658,633,878,785,806,652,630,652,0.400972927561,-0.00540730653194,0.0798350301702,0.999999933726,0.000229148899325,-0.000279968312158,4.06974505063e-05,1793245311139894784
+106,1.766666667,BASELINE,764,745,714,680.51041571,658,633.51041571,878.51041571,785,806.51041571,651.48958429,629.48958429,652,0.40097396677,-0.0054059015284,0.079835625795,0.999999933784,0.000230004703961,-0.000279086686202,4.05072293281e-05,1793245311156561152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878,786,806,651,630,652,0.400972710583,-0.0054045090503,0.0798350977009,0.99999993347,0.000229662074688,-0.000280533761138,4.01955892831e-05,1793245311200197376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.601192164,658,633,878,785.398807836,806,651,630,652,0.400971872781,-0.00540554785106,0.0798348942246,0.99999993341,0.000229598737416,-0.000280760982157,4.04677711112e-05,1793245311216864768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714.194327246,680,658,633.194327246,878.194327246,785,806,651.194327246,630,652,0.40097155553,-0.00540636085251,0.0798347091364,0.999999933382,0.000229570653049,-0.00028086402687,4.06063412319e-05,1793245311233532160
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714.77158557,680,658,633.77158557,878.77158557,785,806,651.77158557,630,652,0.400972264048,-0.00540672890588,0.0798345602827,0.999999933417,0.000229612036193,-0.000280722376306,4.04816231776e-05,1793245311250198784
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714.652499931,680,658.347500069,634,878.652499931,785,806,652,630,652,0.400972172958,-0.0054068256651,0.0798342542059,0.999999933575,0.000228439022591,-0.000281144555165,4.02929294085e-05,1793245311266865152
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714.07746537,680,658.92253463,634,878.07746537,785,806,652,630,652,0.400971558303,-0.00540674478756,0.0798338451835,0.999999933809,0.000226470851888,-0.000281935915657,4.00623459234e-05,1793245311283531008
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.486970466,714,680,659,634,878,785,806.513029534,652,630,652,0.400972088308,-0.00540617354598,0.0798337937998,0.999999933839,0.0002268180063,-0.000281532566973,4.01786705762e-05,1793245311300197376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.896818762,634,878.103181238,785,806.896818762,652,630,652,0.400972815235,-0.00540610799123,0.0798340236286,0.999999933987,0.000226985240083,-0.000280844111684,4.03855148104e-05,1793245311316863744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.319309763,634,878.680690237,785,806.319309763,652,630,652,0.400973628178,-0.00540871805085,0.0798352902382,0.999999934815,0.000224668290793,-0.000279700066518,4.07601980499e-05,1793245311333530368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.74293902,658,633.74293902,879,785,806,652,630,652,0.400977851279,-0.00540933197908,0.0798375037331,0.999999935514,0.000225204640169,-0.000276732129461,4.0907951445e-05,1793245311350197248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.167975978,658,633.167975978,879,785,806,652,630,652,0.400986291652,-0.00540747733223,0.0798408882217,0.999999936028,0.000229269605871,-0.000271508622646,4.07750653095e-05,1793245311366864128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.416765281,658.416765281,633,879,785,806.416765281,651.583234719,630,652.416765281,0.401012186525,-0.00540736823363,0.0798517568252,0.999999941059,0.000229554420683,-0.000252017807851,4.09125588527e-05,1793245311383531008
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.99454325,633,878.99454325,785,806.99454325,651.00545675,630,652.99454325,0.401045531358,-0.00540798733603,0.0798657516597,0.999999947436,0.000228289664614,-0.000226532024235,4.11602246898e-05,1793245311400197888
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.414860596,633,878.414860596,785,806.414860596,651.585139404,630,652.414860596,0.401104758366,-0.00540942303163,0.0798836724104,0.999999955103,0.000228141733027,-0.000189848139096,4.12582873469e-05,1793245311416864256
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.162470924,714,679.837529076,658.162470924,633,878.162470924,785,806,652,630,652,0.401166918769,-0.0054108881739,0.0798999229625,0.999999960655,0.000227237534347,-0.00015927345982,4.10477397186e-05,1793245311433530624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.733884709,714,679.266115291,658.733884709,633,878.733884709,785,806,652,630,652,0.401236462606,-0.00541242743439,0.079911969592,0.999999963634,0.000224429795486,-0.000144075777809,4.00604134014e-05,1793245311450196992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.309040792,658.690959208,633.309040792,878.690959208,785,806,652,630,652,0.401317043189,-0.00541336951963,0.0799214312811,0.999999965794,0.000223752161464,-0.000129862454488,3.84939888901e-05,1793245311466863616
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.887458839,658.112541161,633.887458839,878.112541161,785,806,652,630,652,0.401407244015,-0.0054137910734,0.0799286397907,0.999999967253,0.000224931246226,-0.00011650715422,3.64227900362e-05,1793245311483530496
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.476442946,633.523557054,878,785,806,651.523557054,630,652,0.401512961983,-0.00541466260144,0.0799325959587,0.999999968504,0.000223104462587,-0.000110098281103,3.30728985172e-05,1793245311500196864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.933707598,714,680,659,633.066292402,878,785,806,651.066292402,630,652,0.40162554459,-0.00541576805018,0.0799359792049,0.999999969774,0.000220334283936,-0.000105097147797,2.93319896982e-05,1793245311516864000
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.356851459,714,680,659,633.643148541,878,785,806,651.643148541,630,652,0.401762127119,-0.00541783791356,0.0799410009207,0.999999971581,0.000215890742785,-9.80142628771e-05,2.49585754206e-05,1793245311533531136
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.21971358,714,680,659,633.78028642,878,785,806,652,630,652.21971358,0.401909497349,-0.00541950577315,0.0799460878481,0.999999973284,0.000211970169476,-8.98957077606e-05,2.04796805668e-05,1793245311550198016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.795806395,714,680,659,633.204193605,878,785,806,652,630,652.795806395,0.402074365404,-0.00542052157542,0.0799512805494,0.999999974848,0.000208897859506,-8.00972783288e-05,1.58296948171e-05,1793245311566864384
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,806,652,630,652.619950373,0.40226200735,-0.00542218306615,0.0799562468528,0.999999976646,0.000203866936416,-7.10535770576e-05,9.89752264684e-06,1793245311583531008
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,806,652,630,652.031232048,0.402462153464,-0.00542419907639,0.0799610888514,0.999999978492,0.000197760623862,-6.24242632334e-05,3.2613573218e-06,1793245311600197632
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.452449557,633.547550443,878,785,806,652,630,652,0.402676753754,-0.00542687612812,0.0799571141621,0.999999979803,0.00018783994867,-7.13356438074e-05,-4.54503986995e-06,1793245311616863744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.125464233,634,878,785,806,652,630,652,0.402901514079,-0.00542957765429,0.0799529105075,0.999999980897,0.000177882395579,-8.00567060621e-05,-1.24117100741e-05,1793245311633530368
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.702255605,634,878,785,806,652,630,652,0.403159909789,-0.00543223400301,0.0799496600239,0.999999982013,0.000168560885644,-8.45581865226e-05,-2.02593642e-05,1793245311650196992
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.721932897,745,714,679.721932897,658.721932897,634,878,785,806.278067103,652,630,652,0.403441093784,-0.0054350290971,0.0799479440289,0.99999998645,0.000137649646361,-8.59590987955e-05,-2.76346427344e-05,1793245311666863872
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.147166961,745,714,679.147166961,658.147166961,634,878,785,806.852833039,652,630,652,0.403746592963,-0.00543797223298,0.0799478653402,0.999999992369,8.3702070431e-05,-8.40516906231e-05,-3.4505893895e-05,1793245311683530752
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.438997765,745,714,679.438997765,658.438997765,634,878,785,806.561002235,651.561002235,630,652,0.40409026716,-0.00543717705604,0.0799510887782,0.999999992522,8.82066438701e-05,-8.00289565256e-05,-2.77624708273e-05,1793245311700197376
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.028565575,745,714,680,659,634,878,785,806,651.028565575,630,652,0.404449342248,-0.0054352798543,0.07995541447,0.999999990789,0.000111850128172,-7.49334009958e-05,-1.72269720238e-05,1793245311716864000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.608103005,745,714,680,659,634,878,785,806,651.608103005,630,652,0.40485205022,-0.00543694306127,0.0799590797276,0.999999990917,0.000116618498005,-6.3187572668e-05,-2.392900497e-05,1793245311733530368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.813265291,745,714,680,659,634,878.186734709,785,806,651.813265291,630,652,0.405266104084,-0.00544038998977,0.0799610759011,0.9999999916,0.000113519017448,-5.52755810645e-05,-2.92801620742e-05,1793245311750196992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.236525316,745,714,680,659,634,878.763474684,785,806,651.236525316,630,652,0.40570385439,-0.00544756231433,0.0799595861041,0.999999993544,9.39871166611e-05,-5.5370760723e-05,-3.18099430442e-05,1793245311766863616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.663156587,634,879,785,806,651.336843413,630,652,0.406152093981,-0.00545062425467,0.0799513509947,0.99999999281,9.11675205996e-05,-7.08028890311e-05,-3.24831899769e-05,1793245311783530496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.092131572,634,879,785,806,651.907868428,630,652,0.406607626018,-0.00545082855824,0.0799384263825,0.999999989801,9.99667167487e-05,-9.68976310923e-05,-3.18657302567e-05,1793245311800197120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.49808564,745,714,680,658.49808564,633.50191436,878.50191436,785,806,652,630,652,0.407115999326,-0.00545488715216,0.0799339849516,0.999999989886,9.11232230741e-05,-0.000103846168805,-3.37837159901e-05,1793245311816864256
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.910563835,745,714,680,659,633,878.089436165,784.910563835,806,652,630,652,0.407637460674,-0.00545962640005,0.0799300538989,0.999999990069,8.05347229511e-05,-0.000109914587503,-3.59845039514e-05,1793245311833531648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.333174482,745,714,680,659,633,878.666825518,784.333174482,806,652,630,652,0.40817486545,-0.00546403365431,0.0799200032405,0.99999998758,7.89438943868e-05,-0.00013127753569,-3.70669590239e-05,1793245311850199296
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.243747272,659,633.243747272,879.243747272,784.243747272,806.243747272,651.756252728,630,652,0.408746907413,-0.0054707733409,0.0799178514267,0.999999987349,7.14627792924e-05,-0.000137088806993,-3.74525039231e-05,1793245311866866432
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.820031061,659,633.820031061,879.820031061,784.820031061,806.820031061,651.179968939,630,652,0.409366203736,-0.00548069508922,0.0799264757519,0.999999990351,5.59457369502e-05,-0.000121683427375,-3.68872767597e-05,1793245311883533056
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.60525229,659,634,879.21050458,784.60525229,807,651.39474771,630,652,0.410031901312,-0.00549973390281,0.0799534389265,0.999999995949,3.18655692984e-05,-7.65606329627e-05,-3.50018151635e-05,1793245311900198656
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.031247304,659,634,878.062494608,784.031247304,807,651.968752696,630,652,0.410718669956,-0.00552291282954,0.0799887298812,0.999999999303,3.89683596475e-06,-1.79429843849e-05,-3.25168271761e-05,1793245311916864000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.561289443,659,633.438710557,878.561289443,784.561289443,807,652,630,652.561289443,0.411405571176,-0.00552726584701,0.0799880013709,0.999999999181,-3.68774499388e-06,-2.22776972709e-05,-3.35835211925e-05,1793245311933530368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.849637308,659,633.150362692,878.849637308,785,807,652,630,653,0.412091119199,-0.00552879055207,0.0799767239794,0.999999998502,-7.11085210094e-06,-4.11579750125e-05,-3.53754765787e-05,1793245311950197248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.273395805,659,633.726604195,878.273395805,785,807,652,630,653,0.412772812762,-0.00552537429254,0.0799414419344,0.999999995113,-2.07111282519e-06,-9.09711572102e-05,-3.86424770633e-05,1793245311966864640
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.302626252,634,878,785,807,651.697373748,630,653,0.413496054993,-0.00552940711115,0.0799214238314,0.999999992644,-1.19054919644e-05,-0.000113164383068,-4.19927158108e-05,1793245311983531520
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.878450267,634,878,785,807,651.121549733,630,653,0.414256805623,-0.0055401646318,0.0799151853446,0.999999992254,-3.51675750632e-05,-0.000110423524347,-4.54180988483e-05,1793245312000197632
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680.465272392,659.534727608,634,878.465272392,784.534727608,807.465272392,651.465272392,630,653,0.415046159995,-0.00554407044465,0.0799364769686,0.999999995438,-4.03734314155e-05,-7.4045762669e-05,-4.48453576216e-05,1793245312016864000
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.054033018,807.945966982,652,630,653,0.415843545132,-0.00554634111087,0.0799613567615,0.999999997569,-4.09565502953e-05,-3.61078714957e-05,-4.33710609874e-05,1793245312033530368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,784.633036971,807.366963029,652,630,653,0.416644596426,-0.00555053703305,0.0799495301424,0.999999995622,-4.3565886003e-05,-7.04557069545e-05,-4.35311352388e-05,1793245312050196992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.210462303,745,714,681,659.210462303,634,879.210462303,784.789537697,807.210462303,652,629.789537697,652.789537697,0.417473828088,-0.00555566511011,0.0799473875004,0.999999994863,-5.02885054092e-05,-7.59780865611e-05,-4.4407865548e-05,1793245312066863616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.785155603,745,714,681,659.785155603,634,879.785155603,784.214844397,807.785155603,652,629.214844397,652.214844397,0.418351829309,-0.00556240639598,0.0799620041768,0.999999996362,-6.41296698524e-05,-3.16144545072e-05,-4.65248576284e-05,1793245312083530240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.642206641,784.715586718,807.642206641,652,629.357793359,652,0.419228232886,-0.00556702215874,0.0799762256374,0.999999996103,-7.41687176492e-05,-4.14572762336e-07,-4.78783729134e-05,1793245312100197120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.070796147,785.858407705,807.070796147,652,629.929203853,652,0.420103682573,-0.00557036889784,0.0799902111376,0.999999995191,-8.19377472598e-05,2.29260149954e-05,-4.8776061555e-05,1793245312116864000
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.477400566,745,714,680.477400566,659.477400566,633.477400566,878.477400566,784.954801132,807.522599434,651.477400566,630,652.522599434,0.420965067953,-0.00556720866134,0.0799742109592,0.999999995692,-7.89387504608e-05,-2.31228367887e-06,-4.8782703519e-05,1793245312133530880
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.114912592,745,714,680.114912592,659.114912592,633,878.114912592,784.114912592,807.885087408,651.114912592,630,653,0.421842180542,-0.0055577852692,0.0799628920238,0.999999996363,-6.69768760104e-05,-2.08754517185e-05,-4.8501572232e-05,1793245312150197248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.690424872,745,714,680.690424872,659.690424872,633,878.690424872,784.690424872,807.309575128,651.690424872,630,653,0.422790303894,-0.00552694594409,0.0799873338929,0.999999998441,-2.51932221847e-05,1.48536304502e-05,-4.75720537516e-05,1793245312166863872
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.26593574,681,660,633.26593574,879,785,807.26593574,651.73406426,630,652.73406426,0.423710557467,-0.00550917322196,0.0799998300998,0.999999998549,-2.47933426396e-07,2.73534992372e-05,-4.64159731229e-05,1793245312183530496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.841445039,681,660,633.841445039,879,785,807.841445039,651.158554961,630,652.158554961,0.424598368188,-0.00550661121852,0.0799984204648,0.999999998893,5.09596150558e-06,1.28124407193e-05,-4.49961534013e-05,1793245312200197120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.572890025,681.427109975,660,634,879,785,808,651,630,652.427109975,0.425455726418,-0.00551328513342,0.0799589948285,0.999999997194,-6.71852919955e-06,-5.73406143597e-05,-4.77287333643e-05,1793245312216863744
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764.403751413,745,714,682,660,634,879,785,808,651.596248587,630,653,0.427257296624,-0.00552625630331,0.0799018389148,0.999999989858,-3.07381065458e-05,-0.000128209299264,-5.38739430155e-05,1793245312250196992
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+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.249927475,879.750072525,785,808,651.249927475,630,653,0.42914998068,-0.00553370746719,0.079919094285,0.999999991709,-3.74821084278e-05,-0.000111035085903,-5.33775432789e-05,1793245312283531008
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.326022888,745,714,682,660.326022888,633.326022888,880,785,808,651,630.326022888,652.673977112,0.430114490074,-0.00553863715725,0.079955081423,0.999999995608,-4.42018233488e-05,-6.48170023365e-05,-5.12801660783e-05,1793245312300197632
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.902453724,745,714,682,660.902453724,633.902453724,880,785,808,651,630.902453724,652.097546276,0.431095591017,-0.00554418923801,0.0800066308421,0.999999997231,-5.45821551615e-05,1.39049601552e-05,-4.86443200292e-05,1793245312316864000
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633.234633836,880,785,808.234633836,652,630.234633836,652.234633836,0.434580503797,-0.00552276995031,0.0799040381521,0.999999988601,-3.87887178374e-05,-0.00013443571749,-5.67461188011e-05,1793245312383530496
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633.808241426,880,785,808.808241426,652,630.808241426,652.808241426,0.435504210555,-0.0055318628731,0.0799105917147,0.999999990415,-5.05919057288e-05,-0.000115081417232,-5.80154613066e-05,1793245312400197376
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+182,3.033333333,POSE1_TO_POSE2_PRESS,763.438727875,745,714,683,659.438727875,633.438727875,879.561272125,785,808.438727875,652,630,653,0.438097892556,-0.00554360602875,0.0799798697186,0.999999996354,-5.90779809349e-05,-3.13697060578e-05,-5.30862710109e-05,1793245312450196736
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.140345521,745,713.859654479,683,659.140345521,633,880,785,808.140345521,652,630,653,0.438922549173,-0.00554807267526,0.0799713605812,0.999999995557,-6.32599493464e-05,-4.31764346808e-05,-5.49586995824e-05,1793245312466863360
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+188,3.133333333,POSE1_TO_POSE2_PRESS,764.957067186,745,713.957067186,684,659,632,880,784,809.957067186,652,630,653,0.442417264917,-0.00552657719727,0.0796304881989,0.999999842115,-4.87467682134e-05,-0.00055515900413,-7.20522536636e-05,1793245312550196736
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,685,655.166564647,630,879,782,809,652,630,652.833435353,0.448529033764,-0.00557518623509,0.0796554921453,0.999999856988,-0.000117756181226,-0.000517132598923,-6.87907203629e-05,1793245312716864256
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745,713,684.668738214,651,627,880,778,809.331261786,652,629.668738214,652.668738214,0.454104541922,-0.00557789576956,0.0795619331592,0.999999769139,-0.000126449523531,-0.000664652777197,-6.30034487857e-05,1793245313200197376
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,713,685,651,627,880,778.245063482,809,652,629.754936518,653,0.454114920577,-0.00557726519722,0.0795627676231,0.999999769646,-0.000127424740069,-0.000663688333497,-6.31612717559e-05,1793245313216863744
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745,713,685,651,627,880,778.817970359,809,652,629.182029641,653,0.454119355518,-0.00557465971935,0.0795623859247,0.999999769487,-0.000123938371446,-0.000664601447616,-6.30111797556e-05,1793245313233530368
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713,685,651,627,880,779,809,652,629,653,0.454127101893,-0.00557487304191,0.0795607931218,0.999999768398,-0.000121901597244,-0.000666738706207,-6.16796990983e-05,1793245313283530752
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,685,651,626.851774578,880.148225422,778.851774578,809.148225422,652,629,653,0.454128242237,-0.00557492342706,0.0795600980528,0.999999767658,-0.000124358964126,-0.000667357260759,-6.20673248213e-05,1793245313300197632
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,713,685,651,626.27579417,880.72420583,778.27579417,809.72420583,652,629,653,0.454128301055,-0.00557456473198,0.0795596089359,0.999999766865,-0.000123977767422,-0.00066860380214,-6.21983414437e-05,1793245313316864000
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,713,685,651,626.299827316,880.700172684,778,809.700172684,652,629,653,0.454128074793,-0.00557495294198,0.0795584795747,0.999999765609,-0.00012491478635,-0.000670303502938,-6.22133151999e-05,1793245313333530624
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+242,4.033333333,POSE1_TO_POSE2_PRESS,763.632920216,745,713,684.367079784,651,627,880,778.632920216,809.367079784,652,629,653,0.454132804217,-0.0055744523812,0.079557879322,0.999999765321,-0.000124083827979,-0.000670953616186,-6.1507370016e-05,1793245313450197504
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+244,4.066666667,POSE1_TO_POSE2_PRESS,763.53400116,745,713,685,651,627,880,778.53400116,809.46599884,652,629,653,0.454131653418,-0.00557674890386,0.079556484124,0.999999763844,-0.000125775301356,-0.000672900933005,-6.08063049385e-05,1793245313483530496
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+247,4.116666667,HOLD_POSE2,764,745,713,685,651,627,880,778,810,652,629,653,0.454130351345,-0.00557782484202,0.0795548066695,0.99999976134,-0.000127905816043,-0.000676267331152,-6.01836048844e-05,1793245313554819328
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.344833169,685,650,626.344833169,880,778,809,652,629,653,0.454135574639,-0.00557475405856,0.0795566817218,0.999999763339,-0.000126417674081,-0.000673618243003,-5.98319112743e-05,1793245313975391232
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.770428986,633,878.229571014,784.229571014,806,651.770428986,630,652,0.400987964019,-0.00540907611526,0.0798244572979,0.999999928493,0.000226318441592,-0.000299967008067,4.25816740694e-05,1793245315858724096
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eda20ee22254e94e01ec7d4dcb3ba5022d751877
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..709b74a856ef53bc60589cdff74486b39d94f2de
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962282e0a3cef15911f9c3fb5236cd530ca5ad011f67d67b582ca269c6be316c
+size 25622072
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d80ee2e3f225d788840931626605da4b260b4d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+23,0.383333333,BASELINE,764.357409972,744,713.357409972,680.357409972,658,634,878,785,806.357409972,652,630,652,0.400920058608,-0.0154361155925,0.0599257508519,0.99999997172,-9.92471069596e-05,-0.000211883431014,-4.26019084689e-05,1793245318246294016
+24,0.400000000,BASELINE,764.939005854,744,713.939005854,680.939005854,658,634,878,785,806.939005854,652,630,652,0.400920774155,-0.0154362735855,0.0599263403784,0.999999971881,-9.97947047497e-05,-0.000210917659859,-4.23361308878e-05,1793245318262960640
+25,0.416666667,BASELINE,765,744,714,680.487234789,658.512765211,634,878.512765211,785,806.487234789,652,630,652,0.400918689601,-0.0154366012103,0.0599249097874,0.999999971281,-9.93914502472e-05,-0.000213924678099,-4.23650880205e-05,1793245318279627264
+26,0.433333333,BASELINE,764.913910799,744.086089201,714,680,658.913910799,634,878.913910799,785,806.086089201,652,630,652,0.400916681438,-0.0154369260174,0.0599235079099,0.999999970715,-9.9070252097e-05,-0.000216690653998,-4.24409974364e-05,1793245318296293888
+27,0.450000000,BASELINE,764.337838872,744.662161128,714,680,658.337838872,634,878.337838872,785,806.662161128,652,630,652,0.400916975253,-0.0154371216724,0.0599236165299,0.999999970902,-9.98501393409e-05,-0.000215435549788,-4.25876013699e-05,1793245318312960512
+28,0.466666667,BASELINE,764,744.755948779,714,679.755948779,658,634,878,785,806.755948779,652,630,652,0.40091806118,-0.0154364862927,0.05992408415,0.999999971245,-9.9525130824e-05,-0.000213970951563,-4.26849387596e-05,1793245318329627136
+29,0.483333333,BASELINE,764,744.165807965,714,679.165807965,658,634,878,785,806.165807965,652,630,652,0.400920270403,-0.0154346724206,0.059925060869,0.999999971805,-9.76332670599e-05,-0.000212209269471,-4.27124111422e-05,1793245318346293760
+30,0.500000000,BASELINE,764,744,714,679.416960432,658,634,878.416960432,785,806.416960432,652,629.583039568,652,0.400919962758,-0.0154353362157,0.0599251367817,0.999999971768,-9.72727111022e-05,-0.000212620427843,-4.23700326922e-05,1793245318362960384
+31,0.516666667,BASELINE,764,744,714,679.996848044,658,634,878.996848044,785,806.996848044,652,629.003151956,652,0.400918671647,-0.0154369681584,0.0599248607045,0.999999971496,-9.75105133157e-05,-0.000213880623101,-4.18831351248e-05,1793245318379627264
+32,0.533333333,BASELINE,764.56948983,744,714,679.43051017,658,634,878.43051017,785,806.43051017,652,629.56948983,652,0.4009188059,-0.0154362673454,0.0599249368044,0.999999971703,-9.67834851788e-05,-0.00021321490265,-4.20376664401e-05,1793245318396293888
+33,0.550000000,BASELINE,764.853761567,744,714,679.146238433,658,634,878,785,806,652,630,652,0.400919536232,-0.0154358384238,0.0599251908528,0.999999971893,-9.69272832044e-05,-0.00021223086988,-4.21595996158e-05,1793245318412960512
+34,0.566666667,BASELINE,764.264450269,744,714,679.735549731,658,634,878,785,806,652,630,652,0.40092204896,-0.0154362719054,0.0599259782178,0.999999972022,-9.97254844568e-05,-0.000210314305274,-4.21721459931e-05,1793245318429627392
+35,0.583333333,BASELINE,764,744,714,680,658,634,878,785,806.31959049,652,630,652,0.400922711488,-0.0154361125988,0.0599259854901,0.999999972096,-9.98033444211e-05,-0.000209916297713,-4.22138505126e-05,1793245318446294016
+36,0.600000000,BASELINE,764,744,714,680,658,634,878,785,806.899340876,652,630,652,0.400921867875,-0.015435470738,0.0599253577349,0.999999972128,-9.7666734204e-05,-0.000210754458279,-4.22792909691e-05,1793245318462960640
+37,0.616666667,BASELINE,764,744,714,680,658,634,878,785,806.527108147,652,630,652,0.400920251737,-0.0154353714381,0.0599250647125,0.999999971866,-9.73661475286e-05,-0.000212096493705,-4.24527050145e-05,1793245318479627520
+38,0.633333333,BASELINE,764,744.045398346,714,679.954601654,658.045398346,634,878,785,806,652,629.954601654,652,0.400918667762,-0.0154355058017,0.0599248873243,0.999999971561,-9.75629954112e-05,-0.000213413251111,-4.25961886568e-05,1793245318496294144
+39,0.650000000,BASELINE,764,744.620918416,714,679.379081584,658.620918416,634,878,785,806,652,629.379081584,652,0.400919354656,-0.0154370375564,0.0599252389719,0.999999971479,-9.90639220793e-05,-0.000213198622694,-4.21252679898e-05,1793245318512961024
+40,0.666666667,BASELINE,764.202645852,744.797354148,714,679.202645852,658.797354148,634,878,785,806.202645852,652,629.202645852,652,0.400920035426,-0.0154377830106,0.0599255686464,0.999999971509,-0.00010000400767,-0.000212655375647,-4.19348432233e-05,1793245318529627648
+41,0.683333333,BASELINE,764.796352055,744.203647945,714,679.796352055,658.203647945,634,878,785,806.796352055,652,629.796352055,652,0.400920704374,-0.0154370110838,0.0599258559176,0.999999971758,-9.98617975959e-05,-0.000211477969484,-4.2285711705e-05,1793245318546294272
+42,0.700000000,BASELINE,764.619794406,744.380205594,714,680,658.380205594,634,878,785,806.619794406,652,630,652,0.400920655175,-0.0154369428888,0.0599255406784,0.999999971801,-9.94559794446e-05,-0.000211448151042,-4.23733700965e-05,1793245318562960896
+43,0.716666667,BASELINE,764.041084923,744.958915077,714,680,658.958915077,634,878,785,806.041084923,652,630,652,0.400920231034,-0.0154372421095,0.0599249108708,0.999999971737,-9.89125325284e-05,-0.000212017483798,-4.2323607495e-05,1793245318579627520
+44,0.733333333,BASELINE,764,744.464689712,714,679.464689712,658.464689712,634,878,785,806,652,630,652,0.400919376565,-0.0154368629058,0.0599245967917,0.999999971614,-9.80704762183e-05,-0.000213025059363,-4.21165771136e-05,1793245318596294144
+45,0.750000000,BASELINE,764,744,714,679.113390691,658,634,878,785,806.113390691,652,630,652,0.400918533067,-0.0154366094652,0.0599241296497,0.999999971469,-9.73559439054e-05,-0.000214053695467,-4.20072229224e-05,1793245318612960768
+46,0.766666667,BASELINE,764,744,714,679.699229249,658,634,878,785,806.699229249,652,630,652,0.400917872308,-0.0154370960364,0.0599229242343,0.999999971253,-9.72678255277e-05,-0.000215030542359,-4.23549162661e-05,1793245318629627392
+47,0.783333333,BASELINE,764.283673745,744,714,680,658,634,878,785.283673745,806.716326255,652,630,652,0.400918127867,-0.0154369828132,0.0599227860692,0.999999971209,-9.78159309557e-05,-0.000214959289965,-4.25141769776e-05,1793245318646294272
+48,0.800000000,BASELINE,764.866647459,744,714,680,658,634,878,785.866647459,806.133352541,652,630,652,0.400919350222,-0.0154362367561,0.0599237739439,0.999999971343,-9.90353066949e-05,-0.000213782203646,-4.24746252503e-05,1793245318662960896
+49,0.816666667,BASELINE,765,744,714,680,658,634,878,785.556684229,806,652,630,652,0.400920055456,-0.0154367562213,0.0599245520112,0.999999971578,-9.89494356731e-05,-0.000212731061315,-4.24111024948e-05,1793245318679627520
+50,0.833333333,BASELINE,764.98192473,744,713.98192473,680,658,634,878.01807527,785,806,652,630,652,0.400920603204,-0.0154376336072,0.0599252378641,0.999999971834,-9.85202820982e-05,-0.000211739278804,-4.23398799324e-05,1793245318696294144
+51,0.850000000,BASELINE,764.408353521,744,713.408353521,680,658,634,878.591646479,785,806,652,630,652,0.400921024499,-0.0154379756709,0.0599250021173,0.999999971813,-9.94383990027e-05,-0.000211423798978,-4.22505167777e-05,1793245318712960768
+52,0.866666667,BASELINE,764.170018997,744,713.170018997,679.829981003,658,634,878.829981003,785,806,652,630,652,0.400920984914,-0.0154382957686,0.0599244993895,0.999999971689,-9.98559134697e-05,-0.000211829475625,-4.21867666007e-05,1793245318729627392
+53,0.883333333,BASELINE,764.760258436,744,713.760258436,679.239741564,658,634,878.239741564,785,806,652,630,652,0.400919806213,-0.0154385615749,0.0599233367895,0.999999971304,-9.90361345083e-05,-0.000214017568953,-4.21863216896e-05,1793245318746294272
+54,0.900000000,BASELINE,765,744,713.656029246,679.343970754,658,634,878,785.343970754,806,652,630,652,0.40091935303,-0.0154390447206,0.0599231556909,0.99999997112,-9.99837028375e-05,-0.000214453018824,-4.20992170531e-05,1793245318762960640
+55,0.916666667,BASELINE,765,744,713.07678152,679.92321848,658,634,878,785.92321848,806,652,630,652,0.400919396104,-0.0154396765272,0.0599236459421,0.999999971072,-0.000102140141758,-0.000213689655508,-4.19528369188e-05,1793245318779627264
+56,0.933333333,BASELINE,764.501210349,744,713,680,658,634,878,785.501210349,806,652,630,652,0.400919774419,-0.0154380155797,0.0599237538441,0.99999997128,-0.000100390239088,-0.000213520877219,-4.20858303248e-05,1793245318796293888
+57,0.950000000,BASELINE,764,744,713.073584707,680,658,634,878,785,806,652,630,652,0.400919994472,-0.0154362898078,0.0599237307966,0.999999971511,-9.80689908113e-05,-0.000213488611202,-4.22328429448e-05,1793245318812960768
+58,0.966666667,BASELINE,764,744,713.646924037,680,658,634,878,785,806,652,630,652,0.40091879177,-0.0154365032275,0.0599232152066,0.999999971662,-9.59214703183e-05,-0.000213766407846,-4.21851302642e-05,1793245318829627392
+59,0.983333333,BASELINE,764,744,714,679.772097554,658,634,878.227902446,785,806.227902446,652,630,652,0.400917991103,-0.0154366219893,0.0599229690607,0.999999971615,-9.56686162522e-05,-0.000214087696388,-4.22326120466e-05,1793245318846294016
+60,1.000000000,BASELINE,764,744,714,679.178873823,658,634,878.821126177,785,806.821126177,652,630,652,0.400917834886,-0.0154365890172,0.0599231548263,0.999999971253,-9.84528594581e-05,-0.000214478701282,-4.24326878992e-05,1793245318862960640
+61,1.016666667,BASELINE,764,744,714,679.40391577,658,634,878.59608423,785,807,652,630,652,0.400918302972,-0.0154356582523,0.0599237021136,0.999999971346,-9.80339761807e-05,-0.000214209872441,-4.25513453025e-05,1793245318879627264
+62,1.033333333,BASELINE,764,744,714,679.982200937,658,634,878.017799063,785,807,652,630,652,0.400919040569,-0.0154343399126,0.059924405469,0.999999971636,-9.6232311293e-05,-0.000213656195054,-4.26348545593e-05,1793245318896294144
+63,1.050000000,BASELINE,764,744,714,680,658,634,878.556735182,785,806.443264818,652,630,652,0.400919375109,-0.0154359248079,0.059924716363,0.999999971755,-9.67138143058e-05,-0.000212932981982,-4.23782114808e-05,1793245318912960512
+64,1.066666667,BASELINE,764.134477893,744,714,680,658,634,878.865522107,785,806,652,630,652,0.400920037703,-0.015437302291,0.0599250960418,0.99999997188,-9.75532716145e-05,-0.000212007195387,-4.2152808957e-05,1793245318929627392
+65,1.083333333,BASELINE,764.723467208,744,714,680,658,634,878.276532792,785,806,652,630,652,0.400921852315,-0.01543766715,0.0599257503246,0.999999972042,-9.93574956457e-05,-0.000210414942737,-4.20695029567e-05,1793245318946294016
+66,1.100000000,BASELINE,764.692578496,744,714,680,658,634,878,785,806,652,630,652,0.400921790933,-0.0154374065579,0.059925411387,0.999999971947,-9.94899810056e-05,-0.000210767525154,-4.22431511297e-05,1793245318962960640
+67,1.116666667,BASELINE,764.113080365,744,714,680,658,634,878,785,806,652,630,652,0.400920069244,-0.0154365924241,0.0599241934217,0.999999971624,-9.81429308001e-05,-0.000212841341074,-4.26442109356e-05,1793245318979627520
+68,1.133333333,BASELINE,764,744.464911242,713.535088758,680,658,634,878,785,806,652,630,652,0.400920161024,-0.0154369423457,0.059924158978,0.999999971507,-9.91406859334e-05,-0.000212947719846,-4.25465285199e-05,1793245318996293888
+69,1.150000000,BASELINE,764,744.957754985,713.042245015,679.957754985,658.042245015,634,878,785,806,652,630,652,0.400920630122,-0.015437520777,0.0599244083356,0.999999971464,-0.000100409612971,-0.000212602892034,-4.23102670474e-05,1793245319012960512
+70,1.166666667,BASELINE,764,744.384102243,713.615897757,679.384102243,658.615897757,634,878,785,806,652,630,652,0.400920314936,-0.0154374235928,0.0599246182343,0.999999971733,-9.79385845824e-05,-0.000212582450122,-4.18518346768e-05,1793245319029627392
+71,1.183333333,BASELINE,764,744,714,679.19506932,658.80493068,634,878,785,806.19506932,652.19506932,630,652.19506932,0.400919744205,-0.0154370630756,0.0599245066141,0.99999997183,-9.66058316855e-05,-0.000212762686463,-4.17117628354e-05,1793245319046294016
+72,1.200000000,BASELINE,764,744,714,679.785424244,658.214575756,634,878,785,806.785424244,652.785424244,630,652.785424244,0.400918655642,-0.0154361689442,0.059923743473,0.999999971589,-9.7579663061e-05,-0.000213349574264,-4.22168120069e-05,1793245319062960640
+73,1.216666667,BASELINE,764.368126125,744,714,680,658,634,878,785,807,652.631873875,630,652.631873875,0.400918699415,-0.0154366533566,0.0599236120447,0.999999971448,-9.84467352612e-05,-0.000213607060362,-4.22476704261e-05,1793245319079627264
+74,1.233333333,BASELINE,764.946457967,744,714,680,658,634,878,785,807,652.053542033,630,652.053542033,0.400919389769,-0.015437924939,0.0599238413342,0.999999971363,-9.92528462612e-05,-0.000213676452954,-4.20077585549e-05,1793245319096293888
+75,1.250000000,BASELINE,765,744,713.47875346,680,658,634,878.52124654,785,806.47875346,652,630,652.52124654,0.400919560242,-0.0154389288296,0.0599236697397,0.999999971342,-9.94618392119e-05,-0.000213718446518,-4.18075961383e-05,1793245319112960512
+76,1.266666667,BASELINE,765,744,713.097948346,680,658,634,878.902051654,785,806,652,630,652.902051654,0.400919818815,-0.0154395433702,0.0599236086894,0.999999971393,-9.93485144002e-05,-0.000213564274711,-4.16514162479e-05,1793245319129627136
+77,1.283333333,BASELINE,765,744,713.686032977,680,658,634,878.313967023,785,806,652,630,652.313967023,0.400920783672,-0.01543834626,0.0599243054726,0.99999997177,-9.79271546644e-05,-0.000212442474129,-4.16950325062e-05,1793245319146294016
+78,1.300000000,BASELINE,765,744,713.728213316,679.728213316,658,634,878.271786684,785,806,652,630,652,0.400921333916,-0.0154380636888,0.0599246989207,0.999999971915,-9.79864167524e-05,-0.000211701632249,-4.18443253467e-05,1793245319162960384
+79,1.316666667,BASELINE,765,744,713.145129426,679.145129426,658,634,878.854870574,785,806,652,630,652,0.400921409274,-0.0154388286062,0.0599247449368,0.999999971795,-9.97415436124e-05,-0.000211397130364,-4.21146573179e-05,1793245319179627008
+80,1.333333333,BASELINE,764.569060217,744.430939783,713.430939783,679.430939783,658,634,878.569060217,785,806,652,630,652,0.400920776151,-0.015438355068,0.0599244463795,0.999999971716,-9.87085067458e-05,-0.000212275688761,-4.19859565915e-05,1793245319196293888
+81,1.350000000,BASELINE,764,744.995297737,714,680,658,634,878,785,806.004702263,652,630,652,0.400919904953,-0.0154374899523,0.0599240270115,0.999999971643,-9.67922569875e-05,-0.000213548692602,-4.1729469703e-05,1793245319212960768
+82,1.366666667,BASELINE,764,744.41937873,714,680,658,634,878,785,806.58062127,652,630,652,0.400918633051,-0.0154389112941,0.0599228027581,0.999999970998,-9.98236964807e-05,-0.000215113559904,-4.20129944974e-05,1793245319229627136
+83,1.383333333,BASELINE,764.160014595,744.160014595,714,680,658,634,878,785,807,652,630,652,0.400918005238,-0.0154392967902,0.0599221500001,0.999999970687,-0.000101177093247,-0.000215887880218,-4.22032707789e-05,1793245319246293760
+84,1.400000000,BASELINE,764.74871591,744.74871591,714,680,658,634,878,785,807,652,630,652,0.400919102972,-0.0154369072063,0.0599230283053,0.999999971292,-9.80349343132e-05,-0.000214544287853,-4.21437299174e-05,1793245319262960640
+85,1.416666667,BASELINE,764.66768535,744.66768535,714,680,658,634,878,785,806.66768535,652,630,652,0.400919519233,-0.0154363830939,0.0599233855659,0.999999971495,-9.74885276735e-05,-0.000213840389228,-4.21596325821e-05,1793245319279627520
+86,1.433333333,BASELINE,764.087886675,744.087886675,714,680,658,634,878,785,806.087886675,652,630,652,0.400919427981,-0.0154372482505,0.0599233547898,0.999999971405,-9.88752506341e-05,-0.000213612888527,-4.22317201567e-05,1793245319296294144
+87,1.450000000,BASELINE,764.487207753,744.487207753,714,680,658.487207753,634,878,785,806.487207753,652,630,652.487207753,0.400918656507,-0.0154373742786,0.0599232454427,0.999999971288,-9.8522050561e-05,-0.000214318618505,-4.22564886379e-05,1793245319312960768
+88,1.466666667,BASELINE,764.937092287,744.937092287,713.937092287,680,658.937092287,634,878,785,806.937092287,652,630,652.937092287,0.400917990807,-0.0154374269349,0.0599232666562,0.999999971229,-9.78827122697e-05,-0.000214891024759,-4.22146648461e-05,1793245319329627392
+89,1.483333333,BASELINE,764.34932785,744.34932785,713.34932785,680,658.34932785,634,878,785,806.34932785,652,630,652.34932785,0.400919221572,-0.0154379692032,0.0599244942945,0.999999971707,-9.74496395832e-05,-0.000212959963673,-4.16877786986e-05,1793245319346294016
+90,1.500000000,BASELINE,764.234988054,744,713.234988054,680,658.469976108,634,878,785.234988054,806.234988054,652,630,652,0.400919846703,-0.0154376787787,0.0599247453359,0.999999971993,-9.6873677122e-05,-0.000211892675511,-4.1593702257e-05,1793245319362960896
+91,1.516666667,BASELINE,764.814251543,744,713.814251543,680,659.628503086,634,878,785.814251543,806.814251543,652,630,652,0.400919584532,-0.0154361683955,0.0599235655883,0.999999972005,-9.60883702729e-05,-0.000212090880781,-4.21337251161e-05,1793245319379627520
+92,1.533333333,BASELINE,765,744,714,680,659.212314198,634,878,785.606157099,807,652,630,652,0.400919427234,-0.0154360436789,0.0599230357114,0.999999971869,-9.59155017556e-05,-0.000212784231502,-4.22404941728e-05,1793245319396294144
+93,1.550000000,BASELINE,765,744,714,680,658.052821855,634,878,785.026410928,807,652,630,652,0.400919319437,-0.0154365730298,0.0599228125888,0.999999971665,-9.60317187117e-05,-0.000213711302737,-4.21427571188e-05,1793245319412960768
+94,1.566666667,BASELINE,764.451428977,744.548571023,714,680,658.548571023,634,878,785,807,652,630,652.548571023,0.400919285882,-0.0154378747009,0.0599233124741,0.999999971426,-9.9244415613e-05,-0.000213409155097,-4.19037051852e-05,1793245319429627392
+95,1.583333333,BASELINE,764.12611098,744.87388902,714,680,658.87388902,634,878.12611098,785,807,652,630,652.87388902,0.400919395041,-0.0154385299406,0.0599237937731,0.99999997133,-0.000101016743228,-0.000213053675363,-4.17580567855e-05,1793245319446293760
+96,1.600000000,BASELINE,764.713846973,744.286153027,714,680,658.286153027,634,878.713846973,785,807,652,630,652.286153027,0.40092001363,-0.0154366840042,0.0599240807178,0.999999971792,-9.69756448627e-05,-0.000212717738947,-4.19789987408e-05,1793245319462960384
+97,1.616666667,BASELINE,765,744,714,680,658,634,878.70267069,785,806.70267069,652,630,652,0.400920173327,-0.015436753959,0.0599245047276,0.999999971964,-9.62266319496e-05,-0.000212256476158,-4.1950618852e-05,1793245319479627264
+98,1.633333333,BASELINE,765,744,714,680,658,634,878.123224413,785,806.123224413,652,630,652,0.400919897613,-0.0154386417816,0.0599250587898,0.999999971867,-9.86012708423e-05,-0.000211676299122,-4.16856732291e-05,1793245319496293888
+99,1.650000000,BASELINE,764.547594056,744.452405944,714,680,658,634,878,785,806.452405944,652,630,652,0.40091995882,-0.0154384446039,0.0599241372578,0.999999971679,-9.83149731793e-05,-0.000212673203857,-4.17785413337e-05,1793245319512960512
+100,1.666666667,BASELINE,764.027617552,744.972382448,714,680,658,634,878,785,807,652,630,652,0.400920126176,-0.0154377436969,0.0599229460808,0.999999971489,-9.73918168217e-05,-0.000213956352996,-4.19445464638e-05,1793245319529627392
+101,1.683333333,BASELINE,764.615237259,744.384762741,714,680,658,634,878,785,807,652,630,652,0.400920600661,-0.0154382477385,0.0599243688059,0.99999997176,-9.81284124302e-05,-0.000212406363548,-4.16338873459e-05,1793245319546294016
+102,1.700000000,BASELINE,764.799908788,744,714,680,658,633.799908788,878,785.200091212,807,652,630,652,0.400921070965,-0.015438240039,0.0599250770148,0.999999971944,-9.81721576729e-05,-0.000211536195431,-4.1560367587e-05,1793245319562960640
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+104,1.733333333,BASELINE,764.358192342,744,713.641807658,680,658.358192342,633.358192342,878,786,806.641807658,652,630,652,0.400921766796,-0.0154379624116,0.0599246566177,0.99999997197,-9.81325261118e-05,-0.000211379596623,-4.18140778075e-05,1793245319596293888
+105,1.750000000,BASELINE,764.936001917,744,713.063998083,680,658.936001917,633.936001917,878,786,806.063998083,652,630,652,0.400921859893,-0.0154396925704,0.0599254189116,0.999999971963,-0.000100896821243,-0.000210193599361,-4.13856789276e-05,1793245319612960512
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785,806,652,630,652,0.400919933534,-0.0154368136687,0.059923284252,0.999999971636,-9.75637281815e-05,-0.000213156116943,-4.21062683771e-05,1793245319643802112
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.410853145,745,714,680,658,634,878,785,806,652,630,652,0.400920084673,-0.0154371869661,0.0599235314962,0.999999971613,-9.76791379603e-05,-0.000213211090869,-4.2106405569e-05,1793245319660468480
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.824685304,714,679.824685304,658,634,878.175314696,785,806.175314696,652,630,652,0.400920443999,-0.0154373322279,0.0599237604726,0.999999971657,-9.74288173941e-05,-0.000213116705706,-4.21263772261e-05,1793245319677135104
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.24538207,714,679.24538207,658,634,878.75461793,785,806.75461793,652,630,652,0.400921283065,-0.0154369520132,0.0599239473538,0.999999971854,-9.63357217139e-05,-0.000212678143133,-4.2192054672e-05,1793245319693801984
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.903933392,744,714,679.903933392,658,634,878.096066608,785.903933392,807,652,630,652,0.400920308291,-0.0154406739186,0.0599226089404,0.999999971119,-0.000100890348011,-0.000214072079271,-4.19098754722e-05,1793245319727134976
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.92236338,744.07763662,714,680.92236338,658,634,878,785,806,652,630,652.92236338,0.400923511076,-0.015439590993,0.0599245502375,0.99999997193,-9.92475178935e-05,-0.000211128188459,-4.14153365201e-05,1793245319760468480
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.344385383,744.655614617,714,680.344385383,658,634,878,785,806,652,630,652.344385383,0.400935597856,-0.0154380456509,0.0599284339342,0.999999974154,-9.60855690213e-05,-0.000201873493541,-4.13052133259e-05,1793245319777135360
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.189427126,658,634,878.810572874,785.810572874,806,652,630,652,0.400975878977,-0.0154409719005,0.0599379460053,0.999999979001,-9.70079219454e-05,-0.000175984135436,-4.02223550813e-05,1793245319810468608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.386728791,745,714,679.386728791,658,634,879,786,806,652,630,652,0.401009182779,-0.0154425889786,0.0599429546333,0.999999981862,-9.88728454184e-05,-0.000157738105406,-4.02353638674e-05,1793245319827134976
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.962341884,745,714,679.962341884,658,634,879,786,806,652,630,652,0.401047246517,-0.0154436577265,0.0599479058342,0.999999984632,-0.000100672465163,-0.000137667584832,-4.06085594616e-05,1793245319843801600
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.449937453,744.449937453,714,680,658.550062547,634,878.449937453,785.449937453,806,652,630,652.550062547,0.401092846309,-0.0154469795249,0.0599501715336,0.999999986272,-0.000101271074417,-0.000124595333344,-4.09419936959e-05,1793245319860468224
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.136564886,744,714,680,658.863435114,633.863435114,878,785,806.136564886,652,630,652.863435114,0.401142451682,-0.0154498426782,0.0599521760309,0.999999987413,-0.000101542311722,-0.000114699230359,-4.13202691854e-05,1793245319877135104
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.716362385,744,714,680,658.283637615,633.283637615,878,785,806.716362385,652,630,652.283637615,0.401203345326,-0.0154507053724,0.0599539429173,0.999999987578,-0.0001010239042,-0.000113521580732,-4.18531144898e-05,1793245319893801728
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.869987758,633.869987758,878,785,806.130012242,652,630,652,0.401368746754,-0.015460337052,0.0599612577926,0.999999988902,-0.000106067790126,-9.57032789548e-05,-4.22736845644e-05,1793245319927134976
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+125,2.083333333,POSE1_TO_POSE2_PRESS,764.981352831,744,714,680,658,633.018647169,878.018647169,785,807,652,630,652,0.401583599888,-0.0154698107833,0.059969701974,0.999999990168,-0.000109421206654,-7.62464500355e-05,-4.33362346882e-05,1793245319960468480
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.388501811,744,714,680,658,633.611498189,878.611498189,785,807,652,630,652,0.401707169507,-0.0154762483826,0.0599660233559,0.999999989523,-0.00011423814894,-7.70571767434e-05,-4.43309606845e-05,1793245319977135104
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.199433535,744,714,680,658,634,878.800566465,785,806.800566465,652,630,652,0.401844067156,-0.0154831512006,0.0599635375529,0.999999989108,-0.000117970540701,-7.62647347095e-05,-4.52923877616e-05,1793245319993801728
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.7780233,744,714,680,658,634,878.2219767,785,806.2219767,652,630,652,0.40200630359,-0.0154909384756,0.0599633194894,0.999999989154,-0.000119641021481,-7.24244028926e-05,-4.61905079581e-05,1793245320010468352
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764.920438492,744.920438492,714,680,658,634,879,785.920438492,806.079561508,652,630,652,0.402868981752,-0.0155300603705,0.0599683016376,0.999999985882,-0.000155476166696,-4.13575774441e-05,-4.85149121098e-05,1793245320077135104
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+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.196697128,714,681,658.196697128,633.803302872,878.803302872,785,807,652,630,652,0.409311217369,-0.0155589036491,0.0599772289029,0.999999985951,-0.000150919555456,-5.22930042054e-05,-5.08693772541e-05,1793245320327134720
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714,680.620677732,658.379322268,634,879,785,807,652,630,652,0.409951423453,-0.0155604432271,0.0599796064911,0.999999986334,-0.000150978683843,-4.32601564429e-05,-5.16251803549e-05,1793245320343801600
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,680.045804389,658.954195611,634,879,785,807,652,630,652,0.41062188857,-0.0155630243617,0.0599899133795,0.999999985799,-0.000159488156831,-1.63723627881e-05,-5.19304566255e-05,1793245320360468224
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.541451778,744,714,680,659,634,879,785,807,652,630,652,0.411316249556,-0.0155645298942,0.0599950710682,0.99999998637,-0.000156844108913,-2.13174937802e-06,-5.15264697326e-05,1793245320377134848
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.872216985,744.127783015,713.872216985,679.872216985,659,634,878.872216985,785,807,652,630,652,0.412005594543,-0.0155648416608,0.0599919169482,0.999999987046,-0.000152361346309,-5.80543264328e-06,-5.15827702627e-05,1793245320393801472
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.292941759,744.707058241,713.292941759,679.292941759,659,634,878.292941759,785,807,652,630,652,0.412669906857,-0.0155612645481,0.0599609700552,0.999999985713,-0.000144793707132,-6.89065053283e-05,-5.34823515327e-05,1793245320410468352
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.284606589,679.569213177,659.284606589,634,878.284606589,785,807,651.715393411,630.284606589,652,0.413359634966,-0.0155578103481,0.059934020046,0.999999981408,-0.000139859661718,-0.000120450991422,-5.58183530075e-05,1793245320427134976
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.860388272,680.720776544,659.860388272,634,878.860388272,785,807,651.139611728,630.860388272,652,0.41407536553,-0.0155544818971,0.0599111591619,0.999999975986,-0.000137619990788,-0.000160172181391,-5.86008472698e-05,1793245320443801600
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.43435504,744.56564496,714,680.56564496,659.56564496,634,879,785,807,651.43435504,630.56564496,652,0.414901563973,-0.0155611065713,0.0599465036346,0.999999983768,-0.000142023056433,-9.58527675956e-05,-5.57371058738e-05,1793245320460468224
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680.007996934,659,633.992003066,879,785.007996934,807.007996934,652,630,652.007996934,0.415762746535,-0.0155708344157,0.0600000365448,0.999999987663,-0.000148534405842,8.56140376962e-07,-5.10992446387e-05,1793245320477134848
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680.600351901,659,633.399648099,879,785.600351901,807.600351901,652,630,652.600351901,0.416596526185,-0.0155745205021,0.0600212525467,0.999999986511,-0.000153733433508,3.08933748028e-05,-4.88844127774e-05,1793245320493801472
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.188427709,879,786,808,652,630.188427709,652.811572291,0.417428682767,-0.0155752202086,0.0600293777513,0.999999986172,-0.000153057282009,4.35065540082e-05,-4.83354893648e-05,1793245320510468096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.76762908,879,786,808,652,630.76762908,652.23237092,0.418257473276,-0.0155697265658,0.0600103544062,0.99999998866,-0.000140196800948,1.99845902405e-05,-5.12414356458e-05,1793245320527134720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,879,785.656425496,808,652,630.656425496,652,0.419082263875,-0.015568287278,0.0599871232947,0.999999988686,-0.000139200719469,-1.75051716095e-05,-5.42662214436e-05,1793245320543801856
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,879,785.08266153,808,652,630.08266153,652,0.419904374565,-0.0155695643439,0.0599610730472,0.999999985603,-0.000146153597661,-6.43531354452e-05,-5.73706276351e-05,1793245320560469248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.492055702,634,879,785,808,652,630,652.492055702,0.420720101562,-0.0155690159293,0.0599265899156,0.999999979846,-0.00014757628966,-0.000122003324277,-6.0362216107e-05,1793245320577135616
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.930919957,634,879,785.069080043,808,652,630.069080043,653,0.421544429906,-0.0155682710809,0.0598943992066,0.999999971708,-0.000147792711477,-0.00017537330465,-6.31251049443e-05,1793245320593801984
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.337605376,634,879,785.662394624,808,652,630.662394624,653,0.422442185821,-0.0155683672848,0.0598903768574,0.99999997064,-0.000145918888078,-0.000182463569018,-6.42965438971e-05,1793245320610468864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.249035944,634,879.249035944,786,808.249035944,652,631,652.750964056,0.423379968726,-0.0155710965416,0.0599181509744,0.999999978124,-0.000145307309697,-0.000136897367188,-6.24256298583e-05,1793245320627135488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.826866834,634,879.826866834,786,808.826866834,652,631,652.173133166,0.424370598232,-0.0155773021416,0.0599879050446,0.999999987453,-0.000146362235231,-2.18103571841e-05,-5.6537984819e-05,1793245320643802624
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.598976121,633.598976121,879.598976121,786,809,652,631,652.401023879,0.425307306822,-0.0155813757126,0.060022994253,0.999999986861,-0.000148519042973,3.7019523749e-05,-5.33868244413e-05,1793245320660469248
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.026390813,633.026390813,879.026390813,786,809,652,631,652.973609187,0.426220947525,-0.0155845371831,0.0600432535342,0.99999998468,-0.000151147245629,7.1782119068e-05,-5.14063559971e-05,1793245320677135360
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633.564157808,879,785.435842192,809,652,630.435842192,652.435842192,0.427143057169,-0.015587920813,0.0600228506793,0.999999984466,-0.000159112748767,5.30319064099e-05,-5.42091124679e-05,1793245320693801984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,713.847630384,681,659.152369616,633.847630384,879.152369616,785.152369616,809,652,630,652.152369616,0.428048805809,-0.0155896608742,0.0599988431268,0.99999998439,-0.000165268575804,2.52479616372e-05,-5.71685990646e-05,1793245320710468608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,713.268396745,681,659.731603255,633.268396745,879.731603255,785.731603255,809,652,630,652.731603255,0.428907572617,-0.0155867663995,0.0599702411086,0.999999984276,-0.00016563212088,-2.06004163158e-05,-5.99196988083e-05,1793245320727135232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.308866872,713,681,660,633,880,786,808.691133128,652,630,653,0.429761221455,-0.0155824657488,0.0599411202385,0.999999982807,-0.000158979800701,-7.25095606921e-05,-6.20842641806e-05,1793245320743802112
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.884429415,713,681,660,633,880,786,808.115570585,652,630,653,0.430610451062,-0.0155769509149,0.0599115513596,0.999999978866,-0.000146269527647,-0.000129651961009,-6.3742377548e-05,1793245320760468992
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.468800616,681.468800616,660,633,880,786,808.468800616,651.531199384,630.468800616,652.531199384,0.431540629296,-0.0155822491954,0.0599445519621,0.99999998425,-0.000153392867629,-6.44413963783e-05,-6.17830876938e-05,1793245320777135360
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.3658148,660.6341852,633.6341852,879.3658148,786,809,651.6341852,630.3658148,652,0.433395696163,-0.0155897285857,0.0600063451843,0.999999984555,-0.000160923246223,4.0740621116e-05,-5.77441334241e-05,1793245320810468096
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.787118295,714,681.212881705,660.787118295,633.787118295,879,785.787118295,809,652,630.212881705,652,0.434276618748,-0.0155910049021,0.0600056383816,0.999999984899,-0.000160438482924,3.32006174613e-05,-5.7966259874e-05,1793245320827134720
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.209749084,714,681.790250916,660.209749084,633.209749084,879,785.209749084,809,652,630.790250916,652,0.435110296708,-0.0155941205076,0.059976073665,0.999999984495,-0.000164494422124,-1.58636536286e-05,-6.08240361834e-05,1793245320843801344
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660.364887405,633,879.364887405,785.364887405,809,652,631,652,0.43592033898,-0.0155924699242,0.0599502009897,0.999999982832,-0.000162742462324,-6.23371675429e-05,-6.2971037768e-05,1793245320860468224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660.93796468,633,879.93796468,785.93796468,809,652,631,652,0.436716895642,-0.0155880999478,0.0599264348444,0.999999979715,-0.00015767675188,-0.000107332498074,-6.47125000665e-05,1793245320877135104
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.472917666,744.527082334,714,682,660.472917666,633.527082334,880,786,809,652,631,652.527082334,0.437475499358,-0.0155821786087,0.0599119189514,0.999999976606,-0.00015054053569,-0.00014102529928,-6.50967777842e-05,1793245320893801728
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+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,785.576071089,809.423928911,652,631,653,0.441401944053,-0.0156016319217,0.0599929821541,0.999999980635,-0.000185808879077,-2.46542239329e-05,-5.99710591912e-05,1793245320977134592
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,785.002194493,809.997805507,652,631,653,0.442060413581,-0.0156063506258,0.0599583418024,0.999999976857,-0.000190395055913,-7.84524763406e-05,-6.2304346873e-05,1793245320993801216
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.095090076,744.095090076,714,682,659,632.095090076,880,784.095090076,809,652,630.095090076,652.095090076,0.445062166174,-0.0156353830963,0.0598190846357,0.99999992636,-0.000234420718389,-0.000294996706719,-7.28301194278e-05,1793245321077136640
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764.017447065,745,714,683,657.982552935,630,880,781.982552935,810,652,629,652.017447065,0.450556937216,-0.0157094625301,0.059680036439,0.999999818579,-0.000330503281079,-0.000497535779266,-7.78891288965e-05,1793245321310468096
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.612546032,745,714,683,657.387453968,630,880,781.387453968,810,652,629,652.612546032,0.450784509171,-0.0157129063713,0.0596895772977,0.999999823318,-0.000334575578559,-0.000485465578837,-7.58029641723e-05,1793245321327134720
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.20039743,630,880,781,809.79960257,652,629,653,0.450995597436,-0.0157161260687,0.059693187699,0.999999823855,-0.000339706443263,-0.000480945202561,-7.47054826221e-05,1793245321343801600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.774725207,630,880,781,809.225274793,652,629,653,0.451175928034,-0.0157189275258,0.0596857321989,0.999999816713,-0.000346812534537,-0.000490512375424,-7.5452828574e-05,1793245321360468480
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.207772804,745,714,682.207772804,657,629.207772804,880,779.792227196,810,652,628.792227196,653,0.45232626806,-0.0157223472899,0.0596685215962,0.999999811542,-0.000342575058421,-0.000504812782316,-6.87219093242e-05,1793245322423845888
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.864906513,714,681,658.864906513,633,879,785,808,652,630,652.135093487,0.425231002409,-0.0153746282028,0.0597888687498,0.999999933061,0.000179198772751,-0.000318672912052,1.45871998975e-05,1793245323323845120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.288558415,714,681,658.288558415,633,879,785,808,652,630,652.711441585,0.424337692178,-0.0153746939966,0.059820616735,0.999999938857,0.000191181647033,-0.000292192420154,1.89727759326e-05,1793245323340511744
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.137619911,658,633.862380089,879.862380089,785,808,651.137619911,630,652.137619911,0.422591503832,-0.0153736360947,0.0598476692154,0.99999995028,0.000196839736303,-0.000245338621481,2.2444460165e-05,1793245323373844992
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.449204464,714,680.449204464,658,633.550795536,879.550795536,785,808,651.449204464,630,652,0.421686478894,-0.0153701774659,0.0598397970635,0.999999946444,0.000202761953091,-0.000255961541588,2.19756422746e-05,1793245323390511616
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.381514642,714,681,658,633,879,785,808,652,629.381514642,652,0.419821991881,-0.0153613810859,0.0597626482355,0.999999900442,0.000209184159099,-0.000393852272982,1.54340164081e-05,1793245323423844864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,681,657.804012771,633,879,784.804012771,808,652,629.195987229,652,0.418921899952,-0.0153593976305,0.0597253702212,0.999999876078,0.000205944937957,-0.000453092193239,1.1714177598e-05,1793245323440511488
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.647709513,657.352290487,633,879,784.352290487,808,652,629.647709513,652,0.417324186354,-0.0153620442458,0.0597659322808,0.999999914622,0.000200369608853,-0.000361122599495,1.41075864157e-05,1793245323473844736
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.058883691,657.941116309,633,879,784.941116309,808,652,629.058883691,652,0.416557990715,-0.0153598968581,0.0598130854399,0.999999932419,0.00020942883603,-0.000301536906372,1.94328636867e-05,1793245323490511616
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633,878.478666738,785,807.478666738,652,629.521333262,652,0.415752891616,-0.0153613045244,0.0598333840579,0.999999937022,0.000211506648995,-0.000284078907708,2.28237461372e-05,1793245323507178240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.100163913,878.100163913,785,807,652,630,652,0.414952796605,-0.0153627003898,0.0598475042747,0.999999939849,0.000212605695357,-0.000272879569996,2.5257304362e-05,1793245323523844864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.676949661,878.676949661,785,807,652,630,652,0.414197082363,-0.0153621604584,0.0598464237186,0.999999940848,0.000212738603348,-0.00026918762789,2.4158274482e-05,1793245323540511488
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633,878,785,807.997054821,652,630,652,0.411186213074,-0.0153511085396,0.0597393690445,0.999999877494,0.000225970358202,-0.000440171763983,1.41019115555e-05,1793245323607178496
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633,878,785,807.418813679,652,630,652,0.410543748529,-0.0153529966212,0.0597596204057,0.999999895868,0.000223969255841,-0.000397321102183,1.5412912093e-05,1793245323623845888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.158789484,878,785,807,652,629.841210516,652,0.40991721345,-0.0153552140993,0.059785596667,0.999999913578,0.000223122267537,-0.000350358361455,1.76069452339e-05,1793245323640513280
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.097499866,744,713.097499866,680,657.097499866,634,878,785,807,652,629.902500134,652.902500134,0.40819918148,-0.0153591583333,0.0598630728954,0.999999944532,0.000227604899003,-0.000241769384297,2.60636523057e-05,1793245323690511872
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.936344638,744,714,680,657.063655362,633,878.936344638,785,807,652,629.936344638,652,0.407073094969,-0.0153537421562,0.0598315197408,0.999999933606,0.000230250842493,-0.000281563973359,2.22543122204e-05,1793245323723844864
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,744,714,680.218471676,658,633.218471676,878,785,807,652,629.218471676,652,0.406071052782,-0.0153564120919,0.0598226643824,0.99999993244,0.000225123180706,-0.000289853064014,2.06313381702e-05,1793245323757178368
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,744,714,680.795165873,658,633.795165873,878,785,807,652,629.795165873,652,0.405633258847,-0.0153563491762,0.0598329370914,0.999999939538,0.000217593785667,-0.000270404339732,2.14196972978e-05,1793245323773844992
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.875714829,714,680,658,633,878.875714829,785.875714829,807,652,630,652.875714829,0.404001244813,-0.0153520340366,0.0597813989237,0.999999908352,0.000246380250112,-0.000349780446333,1.57082304822e-05,1793245323840511488
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.300532687,714,680,658,633,878.300532687,785.300532687,807,652,630,652.300532687,0.403654562345,-0.0153515440786,0.0597693600205,0.999999904117,0.000235284597646,-0.000369073808071,1.38454204945e-05,1793245323857178368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,713.725285289,680,658,633.274714711,878,785,807,652,630,652,0.403352398639,-0.0153524454475,0.0597722952203,0.999999908669,0.000228121474653,-0.000361153405573,1.37789544854e-05,1793245323873844992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,713.14996652,680,658,633.85003348,878,785,807,652,630,652,0.4030989492,-0.0153548692634,0.0597916156959,0.999999922194,0.000225261486545,-0.000323454589399,1.56781215263e-05,1793245323890511616
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.028621166,744,714,680.028621166,657,634,878,785,806.028621166,652,630,652,0.402646955768,-0.0153557431791,0.059825969107,0.99999993493,0.000238385155591,-0.00027009440655,1.90309869335e-05,1793245323923844864
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.484751667,657.757624167,634,878,785,806.242375833,652,630,652,0.402050671671,-0.0153547371899,0.0598391560014,0.999999937528,0.000243422556558,-0.000255457620869,2.07487804717e-05,1793245323973844992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.65906864,744,714,679.34093136,658,634,878,785,806.34093136,652,629.65906864,652,0.401877916722,-0.0153543287333,0.0598326938985,0.99999993466,0.00023970310635,-0.000269861240451,1.99495845196e-05,1793245323990511616
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.511318615,744.511318615,714,680,658,634,878,785,807,652,629,652,0.401597016032,-0.0153602110939,0.0598257851515,0.999999933006,0.000225409582746,-0.00028779759549,1.87554285966e-05,1793245324023844864
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,713.240471905,679,658,633.240471905,878,785,806.240471905,652,630,652,0.401315226617,-0.0153656387475,0.0598346342117,0.999999939289,0.000213383163097,-0.000274820403054,1.90787683308e-05,1793245324073845248
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,713.81532707,679,658,633.81532707,878,785,806.81532707,652,630,652,0.40124352873,-0.0153648916128,0.0598359794107,0.999999939624,0.000213938691281,-0.00027317957839,1.8860672131e-05,1793245324090511872
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.401721006,714,679.401721006,657.598278994,633.598278994,878,785,806.598278994,652,630,652,0.401187926924,-0.0153641359496,0.0598376595803,0.999999940152,0.000214998182745,-0.000270412318149,1.86852916643e-05,1793245324107178496
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.537080383,658,634,877.537080383,785,806.537080383,652,630,652.462919617,0.400991741844,-0.0153626894766,0.0598337437324,0.999999936442,0.000224601972831,-0.000276344523537,1.7405129052e-05,1793245324223844864
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,877.632913189,785,806,652,630,652.367086811,0.400984639088,-0.0153642375219,0.0598371799589,0.99999993765,0.000225997202765,-0.00027075721485,1.77973459568e-05,1793245324257178368
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5684ee084faf98672862b742415ee7d28c9849c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ca874f853874ee24289152910379c066c7f1aea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3802d724b06b6acd4b86ed76ba9b49c9b6f7511af23be8d07c900758e5f535
+size 25681380
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..686fe8bd24f6a101d74646150ddea62b24657c7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+15,0.250000000,BASELINE,765,745,714,679.701128626,658,634,878,785.701128626,807,652.701128626,629.701128626,652,0.40098048291,-0.0153697427449,0.059846095109,0.999999941883,0.000225052193171,-0.000255562124319,1.65474751283e-05,1793245325006138880
+16,0.266666667,BASELINE,765,745,714,680,658,634,878.282084142,786,807,652.717915858,629.717915858,652,0.400981163717,-0.0153700932821,0.0598465736995,0.999999942154,0.000224534686194,-0.00025494431223,1.67500682044e-05,1793245325022805504
+17,0.283333333,BASELINE,765,745,714,680,658,634,878.867828655,786,807,652.132171345,629.132171345,652,0.400982123618,-0.0153706096716,0.0598470203921,0.999999942765,0.000222258206944,-0.000254529168639,1.69177873776e-05,1793245325039472128
+18,0.300000000,BASELINE,764.551243837,744.551243837,714,680,658,634,878.551243837,785.551243837,807,652,629.448756163,652,0.400981643106,-0.0153706771553,0.0598469371877,0.999999942694,0.000222383500679,-0.00025469625999,1.69331855919e-05,1793245325056139008
+19,0.316666667,BASELINE,764,744,714,680,658,634,878.028153531,785,807,652,629.971846469,652,0.400980796592,-0.0153705916661,0.0598466779824,0.999999942433,0.000223153858417,-0.000255050357468,1.68976883413e-05,1793245325072805376
+20,0.333333333,BASELINE,764,744,714,680,658,634,878.605085969,785,807,652,629.394914031,652,0.400980997481,-0.0153700741946,0.0598459979632,0.999999942326,0.000222855775559,-0.00025574250543,1.67353134086e-05,1793245325089472000
+21,0.350000000,BASELINE,764,744,714,680,658,634,878.818056463,785,806.818056463,652,629.181943537,652,0.40098072005,-0.0153697196682,0.0598454290553,0.999999942049,0.000222948133097,-0.000256748066565,1.66364920985e-05,1793245325106138880
+22,0.366666667,BASELINE,764,744,714,680,658,634,878.241361408,785,806.241361408,652,629.758638592,652,0.400979404834,-0.0153697186735,0.059845101219,0.999999941404,0.000223887604786,-0.000258433620574,1.66755591306e-05,1793245325122805504
+23,0.383333333,BASELINE,764,744,714,680,658,634,878,785,806.342058444,652,630,652,0.400979491236,-0.0153695770662,0.059845791104,0.999999941522,0.000224495086651,-0.000257449402398,1.66850390178e-05,1793245325139472640
+24,0.400000000,BASELINE,764,744,714,680,658,634,878,785,806.930318629,652,630,652,0.400980586474,-0.0153693342508,0.0598472135094,0.999999942183,0.000224863613911,-0.000254543575454,1.66732231137e-05,1793245325156140288
+25,0.416666667,BASELINE,764.510627185,744,714,680,658,634,878,785,807,652,630,652,0.400981743587,-0.0153691315912,0.0598478824214,0.999999942247,0.000225719914506,-0.000253528582816,1.67127218964e-05,1793245325172806912
+26,0.433333333,BASELINE,764.910820599,744,714,680,658,634,878,785,807,652,630,652,0.400982619759,-0.0153689314709,0.0598483096731,0.999999942185,0.000226629362221,-0.000252959692684,1.67198335352e-05,1793245325189473280
+27,0.450000000,BASELINE,764.336014013,744,714,680,658,634,878,785,807,652,630,652,0.400981920795,-0.0153687157958,0.0598479723022,0.999999941877,0.000227471313633,-0.000253436510541,1.65130331375e-05,1793245325206139648
+28,0.466666667,BASELINE,764,744,714,680,658,634,878,785,806.760364408,652.239635592,630,652,0.400981506075,-0.0153692891252,0.0598476353582,0.999999941996,0.000226724911082,-0.000253637678477,1.64573908821e-05,1793245325222806272
+29,0.483333333,BASELINE,764,744,714,680,658,634,878,785,806.183528593,652.816471407,630,652,0.400981491324,-0.0153709726925,0.0598472990151,0.999999942713,0.000223743476098,-0.000253450969049,1.66144489251e-05,1793245325239472384
+30,0.500000000,BASELINE,764,744,714,680,658,634,878,785,806,652.597269581,630,652,0.400981885869,-0.0153713267637,0.0598475262847,0.999999943115,0.000222519598339,-0.000252935474664,1.66901421877e-05,1793245325256139008
+31,0.516666667,BASELINE,764,744,714,680,658,634,878,785,806,652.006613447,630,652,0.400982471403,-0.0153710604534,0.0598480165524,0.999999943373,0.000222115847934,-0.000252266559673,1.67278682752e-05,1793245325272805632
+32,0.533333333,BASELINE,764,744,714,679.429303482,658,634,878,785,806,652,630,652,0.400981275069,-0.0153710516102,0.0598471383385,0.99999994283,0.000222333692151,-0.000254222650189,1.67076245966e-05,1793245325289472256
+33,0.550000000,BASELINE,764,744,714,679.146964649,658,634,878,785,806.146964649,652,630,652,0.400980314034,-0.0153708644308,0.0598465786055,0.999999942318,0.000223070726382,-0.000255584559286,1.6714715872e-05,1793245325306139136
+34,0.566666667,BASELINE,764,744,714,679.720646477,658,634,878,785,806.720646477,652,630,652,0.400980094783,-0.0153701509808,0.059846988587,0.999999941933,0.000225294810551,-0.000255134934824,1.68030811322e-05,1793245325322806272
+35,0.583333333,BASELINE,764.303175403,744,714,680,658,634,878,785,807,652.303175403,630,652,0.400980410464,-0.0153702162815,0.0598474251194,0.999999941998,0.000225548443014,-0.000254661856063,1.67389623042e-05,1793245325339473152
+36,0.600000000,BASELINE,764.894101376,744,714,680,658,634,878,785,807,652.894101376,630,652,0.400981233863,-0.0153710207121,0.0598478868519,0.99999994249,0.000223931875864,-0.000254166516248,1.65301174213e-05,1793245325356139520
+37,0.616666667,BASELINE,764.524489811,744.475510189,714,680,658,634,878.475510189,785.475510189,806.524489811,652.524489811,630,652,0.400981235841,-0.0153713374577,0.059847589135,0.999999942651,0.00022312134189,-0.000254248611119,1.64852167559e-05,1793245325372806144
+38,0.633333333,BASELINE,764.054444545,744.945555455,714,679.945555455,658,634,878.945555455,785.945555455,806.054444545,652,630,652,0.400981104157,-0.0153715322776,0.0598472227238,0.999999942736,0.000222582188858,-0.00025438913434,1.65000730186e-05,1793245325389472256
+39,0.650000000,BASELINE,764.629586971,744.370413029,714,679.370413029,658,634,878.370413029,785.370413029,806.629586971,652,630,652,0.400981409397,-0.015371579368,0.0598477851551,0.999999942777,0.000222955379876,-0.000253882702844,1.67440985767e-05,1793245325406139136
+40,0.666666667,BASELINE,764.796849667,744,714,679.203150333,658,634,878,785,807,652,630,652,0.400982074453,-0.0153719119094,0.0598483634312,0.999999943143,0.000222216772064,-0.000253080690881,1.68756484121e-05,1793245325422805504
+41,0.683333333,BASELINE,764.226143306,744,714,679.773856694,658,634,878,785,807,652,630,652,0.400983390515,-0.0153727609122,0.0598489703752,0.999999944089,0.000219466607794,-0.000251743890844,1.68036980508e-05,1793245325439472128
+42,0.700000000,BASELINE,764.359687128,744.359687128,714,680,658,634,878,785,806.640312872,652,629.640312872,651.640312872,0.400983116954,-0.0153727694667,0.059848670109,0.99999994416,0.000219236328857,-0.000251663838993,1.67449628474e-05,1793245325456139264
+43,0.716666667,BASELINE,764.955443756,744.955443756,714,680,658,634,878,785,806.044556244,652,629.044556244,651.044556244,0.400981800093,-0.0153722264191,0.0598477744236,0.99999994366,0.000220659898684,-0.000252408614925,1.66949010059e-05,1793245325472806656
+44,0.733333333,BASELINE,764.464720412,744.464720412,714,679.464720412,658,634,878,785,806,652,629,651.535279588,0.400981798914,-0.0153719153504,0.0598478798391,0.999999943375,0.000221110518746,-0.000253150497453,1.65773424699e-05,1793245325489473280
+45,0.750000000,BASELINE,764.113057475,744,714,679.113057475,658,634,878.113057475,785.113057475,806,652,629.113057475,652,0.400981416386,-0.0153715443091,0.0598477868058,0.999999943031,0.000221604607963,-0.000254082400381,1.64585117032e-05,1793245325506139648
+46,0.766666667,BASELINE,764.687687542,744,714,679.687687542,658,634,878.687687542,785.687687542,806,652,629.687687542,652,0.400979042748,-0.0153708518637,0.0598465531959,0.999999942377,0.000222597258379,-0.000255791042238,1.63567621489e-05,1793245325522805760
+47,0.783333333,BASELINE,765,744,714,680,658,634,878.731271674,785.731271674,806.268728326,652,630.268728326,652,0.400979128845,-0.0153702726825,0.0598466388745,0.999999942351,0.00022303868344,-0.000255509715165,1.63454185279e-05,1793245325539472128
+48,0.800000000,BASELINE,765,744,714,680,658,634,878.142598285,785.142598285,806.857401715,652,630.857401715,652,0.400982143475,-0.0153698283523,0.0598482952839,0.999999943071,0.000222823825635,-0.000252859152636,1.64417112286e-05,1793245325556138752
+49,0.816666667,BASELINE,765,744,714,680.43871472,658,634,878,785,807,652,630.56128528,652,0.400981312833,-0.0153709609388,0.0598475438241,0.999999942935,0.000222282321453,-0.000253878057751,1.62976126242e-05,1793245325572805632
+50,0.833333333,BASELINE,765,744,713.982394725,680.96478945,658,634,878,785,806.982394725,652,630,652,0.400979369432,-0.0153725473728,0.0598461118978,0.999999942542,0.000221697776826,-0.000255943180191,1.61054214083e-05,1793245325589472512
+51,0.850000000,BASELINE,765,744,713.405711064,679.811422129,658,634,878,785,806.405711064,652,630,652,0.400981124698,-0.0153725380362,0.0598475146905,0.999999942727,0.000223062422011,-0.000253981183641,1.68263523357e-05,1793245325606139648
+52,0.866666667,BASELINE,765,744.170487665,713.170487665,679.170487665,658,634,878,785,806.170487665,652,630,652,0.400981895232,-0.0153724563468,0.0598482889112,0.999999942799,0.000223711195087,-0.000253102162427,1.71677604797e-05,1793245325622806528
+53,0.883333333,BASELINE,765,744.745535638,713.745535638,679.745535638,658,634,878,785,806.745535638,652,630,652,0.400980329033,-0.0153722029671,0.0598475715561,0.999999942613,0.00022266123263,-0.000254792997836,1.6608576423e-05,1793245325639472896
+54,0.900000000,BASELINE,765,744.670999412,714,680,658,634,878,785,807,652,630,652,0.400980323729,-0.0153723799036,0.059847822147,0.999999942789,0.00022207945644,-0.000254613408748,1.65982157921e-05,1793245325656139520
+55,0.916666667,BASELINE,765,744.080853484,714,680,658,634,878,785,807,652,630,652,0.40098155739,-0.015372898405,0.0598488410484,0.99999994325,0.000221869304747,-0.000252949163751,1.70234856545e-05,1793245325672805888
+56,0.933333333,BASELINE,764.500255862,744,714,680,658,634,878,785,807,652,630,652,0.400982098616,-0.0153721509522,0.0598494349588,0.999999943668,0.00022101307523,-0.000252059049879,1.68173274934e-05,1793245325689472256
+57,0.950000000,BASELINE,764.078291713,744,714,680,658.078291713,634,878,785,807,652,630,652,0.400982201704,-0.0153714266462,0.0598495846459,0.999999943896,0.000220284557297,-0.000251812199639,1.65430482624e-05,1793245325706138624
+58,0.966666667,BASELINE,764.653448865,744,714,680,658.653448865,634,878,785,807,652,630,652,0.400980221866,-0.0153721247152,0.0598473433302,0.999999942961,0.00022101747785,-0.000254867762181,1.64726276061e-05,1793245325722805504
+59,0.983333333,BASELINE,765,744,714,680,659,633.771784205,878.228215795,785,806.771784205,652,630,652,0.400979497367,-0.0153721247005,0.0598463917407,0.999999942464,0.000221849425343,-0.000256098764135,1.63767860947e-05,1793245325739472128
+60,1.000000000,BASELINE,765,744,714,680,659,633.197608741,878.802391259,785,806.197608741,652,630,652,0.400980675874,-0.0153710664384,0.0598473952884,0.99999994264,0.000222831491073,-0.000254563856421,1.62424082799e-05,1793245325756139008
+61,1.016666667,BASELINE,765,744.388735107,714,680,659,633.388735107,878.611264893,785.388735107,806,652,630,652,0.400980698121,-0.0153719125254,0.0598481733783,0.999999943169,0.00022123741601,-0.000253858518459,1.6483555111e-05,1793245325772805632
+62,1.033333333,BASELINE,765,744.981464452,714,680,659,633.981464452,878.018535548,785.981464452,806,652,630,652,0.400980113603,-0.0153737579465,0.0598488331561,0.999999943878,0.000218291474625,-0.00025358850903,1.6921763811e-05,1793245325789472000
+63,1.050000000,BASELINE,765,744.439595422,714,680,658.439595422,634,878,785.439595422,806,652,630,652,0.400979163214,-0.0153720386034,0.059847659981,0.999999942785,0.000221258688897,-0.000255338784369,1.66430721461e-05,1793245325806138880
+64,1.066666667,BASELINE,765,744,714,680,658,633.86204162,878,785,806,652,630,652,0.400978920036,-0.0153710894115,0.0598469997496,0.999999942188,0.000223036101455,-0.00025614186731,1.6457441257e-05,1793245325822805504
+65,1.083333333,BASELINE,765,744,714,680,658,633.28746658,878,785,806,652,630,652,0.40098095245,-0.0153729418194,0.059848150167,0.999999943372,0.000220443864418,-0.000253740833638,1.66395747849e-05,1793245325839471872
+66,1.100000000,BASELINE,764.712365946,744,714,680,658,633.287634054,878,785.287634054,806.287634054,652,630,652,0.400981756036,-0.0153733349005,0.0598486185904,0.999999943657,0.000220120511619,-0.000252892340359,1.66808497355e-05,1793245325856138752
+67,1.116666667,BASELINE,764.136739096,744,714,680,658,633.863260904,878,785.863260904,806.863260904,652,630,652,0.40098132926,-0.0153722668348,0.0598484041691,0.999999943049,0.000222068873008,-0.000253598323977,1.65810904171e-05,1793245325872805376
+68,1.133333333,BASELINE,764,744,714,680,658,634,878,786,807,652,630,652,0.400980830376,-0.0153721333381,0.0598479252399,0.999999942958,0.000222281354503,-0.000253781034348,1.64260899157e-05,1793245325889472256
+69,1.150000000,BASELINE,764.043149441,744,714,680,658,634,878,785.956850559,807,652.043149441,629.956850559,652,0.400980357172,-0.0153722586545,0.0598474352728,0.999999943008,0.000222054024424,-0.000253793033731,1.62704484503e-05,1793245325906138624
+70,1.166666667,BASELINE,764.618564639,744,714,680,658,634,878,785.381435361,807,652.618564639,629.381435361,652,0.400980477891,-0.0153719848006,0.059847825705,0.999999942802,0.000223072769136,-0.000253710286139,1.63192033236e-05,1793245325922805248
+71,1.183333333,BASELINE,765,744.193974497,714,680,658,634,878,785,807,652.806025503,629.193974497,652,0.400980980134,-0.0153718701576,0.0598482773052,0.999999942775,0.00022366800087,-0.000253279109273,1.64957827817e-05,1793245325939471872
+72,1.200000000,BASELINE,765,744.769373961,714,680,658,634,878,785,807,652.230626039,629.769373961,652,0.400982232593,-0.0153720685812,0.0598488491841,0.999999943103,0.000223430451024,-0.00025216279272,1.69237122382e-05,1793245325956138752
+73,1.216666667,BASELINE,764.646089701,744.646089701,714,680,658,634,878,785,807,652,630,652,0.400982692211,-0.0153710870109,0.0598489763734,0.999999943059,0.000223962324258,-0.000251877119526,1.67497568867e-05,1793245325972805376
+74,1.233333333,BASELINE,764.055441557,744.055441557,714,680,658,634,878,785,807,652,630,652,0.400982621481,-0.0153693161185,0.0598488061008,0.999999942766,0.000225008880361,-0.000252147080749,1.61731884364e-05,1793245325989472000
+75,1.250000000,BASELINE,764,744,714,680,658,634,878,785,807,652,629.475006307,652,0.400981857187,-0.0153702327351,0.0598488109685,0.999999943169,0.000222979093982,-0.000252351953933,1.61494431449e-05,1793245326006138624
+76,1.266666667,BASELINE,764.103133126,744,714,679.896866874,658,633.896866874,878.103133126,785.103133126,807,652,629.103133126,652,0.400981214292,-0.0153715448393,0.0598488527255,0.999999943607,0.000220889840363,-0.000252444042355,1.62746842324e-05,1793245326022805248
+77,1.283333333,BASELINE,764.675638816,744,714,679.324361184,658,633.324361184,878.675638816,785.675638816,807,652,629.675638816,652,0.400981450879,-0.0153733898404,0.0598489798009,0.999999943897,0.000219980277976,-0.000252053517934,1.68173549503e-05,1793245326039471872
+78,1.300000000,BASELINE,765,744,714,679.255831202,658.255831202,633.255831202,878.744168798,785.744168798,806.744168798,652,630,652,0.400982633713,-0.0153743859293,0.0598499188626,0.999999944242,0.000219939669591,-0.000250692926276,1.71860968651e-05,1793245326056138752
+79,1.316666667,BASELINE,765,744,714,679.846071178,658.846071178,633.846071178,878.153928822,785.153928822,806.153928822,652,630,652,0.400985053431,-0.015374272366,0.0598519193091,0.999999944654,0.000221034911162,-0.000248064314983,1.73274883697e-05,1793245326072805376
+80,1.333333333,BASELINE,764.571965841,744,714,679.571965841,658.571965841,634,878,785,806.428034159,652,630,652,0.400983723625,-0.0153739259938,0.0598506910397,0.99999994429,0.000221124956441,-0.000249455574934,1.72138769355e-05,1793245326089472000
+81,1.350000000,BASELINE,764.007033694,744,714,679.007033694,658,634,878,785,807,652,629.992966306,652,0.400981089583,-0.0153735018084,0.0598483511143,0.99999994365,0.000220873749776,-0.000252242490256,1.70098831001e-05,1793245326106138624
+82,1.366666667,BASELINE,764.582525366,744,714,679.582525366,658,634,878,785,807,652,629.417474634,652,0.400979957217,-0.0153734268249,0.0598482274212,0.999999943226,0.00022170368608,-0.000253207797568,1.67720766829e-05,1793245326122805248
+83,1.383333333,BASELINE,764.842239019,744,714,679.842239019,658,634,878,785,806.842239019,652,629.157760981,652,0.400979912149,-0.0153734780358,0.059848545382,0.999999943236,0.000221759826421,-0.000253131584254,1.65851324145e-05,1793245326139471872
+84,1.400000000,BASELINE,764.267679771,744,714,679.267679771,658,634,878,785,806.267679771,652,629.732320229,652,0.400982739683,-0.0153738626473,0.059850030175,0.999999944388,0.000219771628651,-0.000250303714889,1.65325638772e-05,1793245326156138496
+85,1.416666667,BASELINE,764,744.31597654,714,679.31597654,658.31597654,634,878.31597654,785,806,652,629.68402346,652,0.400983251867,-0.0153742673095,0.0598503711927,0.999999944381,0.000220284301194,-0.00024986746705,1.6700579979e-05,1793245326172805376
+86,1.433333333,BASELINE,764,744.907567853,714,679.907567853,658.907567853,634,878.907567853,785,806,652,629.092432147,652,0.400981744456,-0.0153746894613,0.059849714537,0.999999943364,0.000222978391502,-0.000251517343308,1.70610039915e-05,1793245326189472000
+87,1.450000000,BASELINE,764,744.51154592,714,680,658.51154592,634,878.51154592,785,806,652,629.48845408,652,0.400980786809,-0.0153743595191,0.0598491527201,0.999999943129,0.000222923884509,-0.000252502166514,1.70060823136e-05,1793245326206138624
+88,1.466666667,BASELINE,764.066908176,744,714,680,658,634,878,785,806.066908176,652,630,652,0.400980332073,-0.0153737571501,0.059848765446,0.999999943071,0.000222628726383,-0.00025300476956,1.6845663476e-05,1793245326222805248
+89,1.483333333,BASELINE,764.641946228,744,714,680,658,634,878,785,806.641946228,652,630,652,0.40098292353,-0.0153721435273,0.0598495703534,0.999999943248,0.000224371324783,-0.000250780449814,1.64681559181e-05,1793245326239472128
+90,1.500000000,BASELINE,764.778205435,744.221794565,714,680,658,634,878.221794565,785,807,652,630,652,0.400984075475,-0.0153713243384,0.0598498211925,0.999999943394,0.000224730042883,-0.000249884216356,1.63391673574e-05,1793245326256138752
+91,1.516666667,BASELINE,764.19041953,744.80958047,714,680,658,634,878.80958047,785,807,652,630,652,0.400982852029,-0.0153718160739,0.0598491577427,0.999999943495,0.000222805169207,-0.000251179506982,1.662026914e-05,1793245326272805376
+92,1.533333333,BASELINE,764.391577606,745,714,680,658.391577606,634,878.608422394,785,806.608422394,652,630,652,0.400982308031,-0.0153728038422,0.0598493086155,0.999999943835,0.000221288963834,-0.00025114689565,1.69449149609e-05,1793245326289472000
+93,1.550000000,BASELINE,764.970800792,745,714,680,658.970800792,634,878.029199208,785,806.029199208,652,630,652,0.400982089627,-0.0153740293116,0.0598498497149,0.999999944288,0.000219968593802,-0.000250477948418,1.72904272868e-05,1793245326306138624
+94,1.566666667,BASELINE,765,744.450953305,714,679.450953305,658.450953305,634,878,785,806.549046695,652,630,652,0.400983201714,-0.0153728882965,0.0598507044449,0.999999944417,0.000221051321273,-0.000249024599438,1.70127704179e-05,1793245326322805504
+95,1.583333333,BASELINE,764.873932412,744,714,679.126067588,658,634,878,785,806.873932412,652,630,652,0.400983832624,-0.0153720438289,0.0598510988219,0.999999944354,0.000222251561819,-0.000248221654936,1.67773662017e-05,1793245326339472128
+96,1.600000000,BASELINE,764.301069039,744,714,679.698930961,658,634,878,785,806.301069039,652,630,652,0.400982507871,-0.015372695599,0.0598498026554,0.999999943683,0.000223416147188,-0.000249871388793,1.68089562218e-05,1793245326356138752
+97,1.616666667,BASELINE,764,744.271662339,714,679.728337661,658,634,878,785,806.543324679,652,630,652,0.400982159206,-0.0153733036491,0.0598493048122,0.999999943592,0.00022321691931,-0.000250405070016,1.69324637753e-05,1793245326372805376
+98,1.633333333,BASELINE,764,744.844247471,714,679.155752529,658,634,878,785,807.688494941,652,630,652,0.400982891763,-0.0153738632701,0.0598496912787,0.999999944144,0.000221506983287,-0.000249702489699,1.71577891969e-05,1793245326389472000
+99,1.650000000,BASELINE,764.435324061,744.564675939,714,679,658,634,878,785,807.564675939,652,630,652,0.400982200189,-0.0153737974126,0.0598491522216,0.999999943903,0.000221425899532,-0.000250749923438,1.70206273952e-05,1793245326406138624
+100,1.666666667,BASELINE,765,744.03197665,714,679.03197665,658,634,878,785,807,652,630,652,0.400981106028,-0.0153734593243,0.0598483764247,0.999999943415,0.000221963728575,-0.00025223269526,1.67530202521e-05,1793245326422805248
+101,1.683333333,BASELINE,765,744.606024325,714,679.606024325,658,634,878,785,807,652,630,652,0.400982207966,-0.0153724683077,0.0598494499109,0.999999943818,0.000222675830668,-0.000250010293846,1.65701843607e-05,1793245326439471872
+102,1.700000000,BASELINE,765,744.819628204,714,680,658,634,878.180371796,785,807,652,630,652,0.400983050905,-0.0153718392851,0.059850274971,0.999999944073,0.000223088050377,-0.000248621045544,1.65305884924e-05,1793245326456138240
+103,1.716666667,BASELINE,765,744.244624895,714,680,658,634,878.755375105,785,807,652,630,652,0.400983327187,-0.0153720022615,0.0598505565051,0.999999944015,0.000222844163869,-0.000249054635045,1.68043843677e-05,1793245326472805120
+104,1.733333333,BASELINE,765,744,714,680,658,634,878.661489774,785,806.661489774,652,630,652,0.400982386763,-0.0153728362658,0.059850016257,0.999999944113,0.000221232923146,-0.00025009805708,1.67574760055e-05,1793245326489471744
+105,1.750000000,BASELINE,765,744,714,680,658,634,878.072333485,785,806.072333485,652,630,652,0.400980545444,-0.0153741671252,0.0598488675294,0.99999994432,0.000218609240455,-0.000251593022754,1.64731058516e-05,1793245326506138368
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,806,652,630,652,0.400983382875,-0.0153718897965,0.0598504785117,0.999999943378,0.000225452252685,-0.000249287887504,1.64577211005e-05,1793245326536976384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744.57478258,714,680,658,634,878.57478258,785.57478258,806.57478258,652,630,652,0.400982414418,-0.0153722485466,0.0598494423041,0.999999943622,0.000222963902735,-0.000250547359748,1.63762191167e-05,1793245326553643776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.149302955,744.850697045,714,680,658,634,878.850697045,785.850697045,806.850697045,652,630,652,0.400981986138,-0.0153729996862,0.0598488397469,0.999999943964,0.000220696454991,-0.000251188024435,1.6394531393e-05,1793245326570311168
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.723078002,744.276921998,714,680,658,634,878.276921998,785.276921998,806.276921998,652,630,652,0.400983093598,-0.0153748663993,0.059849470069,0.9999999446,0.00021905703726,-0.000250069403814,1.66966181277e-05,1793245326586977280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,713.693055002,680,658,634,877.693055002,785,806,652,630,652,0.400983468083,-0.0153751359253,0.0598503009847,0.999999944758,0.000219500879178,-0.000249038031882,1.68188282951e-05,1793245326603643904
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,713.099773679,680,658,634,877.099773679,785,806,652,630,652,0.400983158805,-0.0153739155013,0.059851319026,0.999999944468,0.000221888108182,-0.000248088050721,1.67732390152e-05,1793245326620310528
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.519903927,744,713.480096073,679.519903927,658,634,877.480096073,785,806.480096073,652,630,652,0.4009824912,-0.0153728745727,0.0598506200347,0.999999944114,0.000222151850232,-0.000249288846254,1.6630995333e-05,1793245326636977152
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.057180884,658,634,878,785,806.942819116,652,630,651.942819116,0.400981859898,-0.0153720943879,0.0598496997979,0.999999943803,0.000221897147065,-0.000250766621575,1.64806007614e-05,1793245326653643264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.633598389,658,634,878,785,806.366401611,652,630,651.366401611,0.400982216085,-0.0153733523855,0.0598499227288,0.999999944028,0.000220833049039,-0.000250811041549,1.64336339536e-05,1793245326670310400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.214482543,744,714,680,658,634,878,785,806.214482543,652,630,651.214482543,0.400983862892,-0.0153741375759,0.0598505459771,0.99999994424,0.000220591331276,-0.000250171722828,1.65590273384e-05,1793245326686977024
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.803159322,744,714,680,658,634,878,785,806.803159322,652,630,651.803159322,0.400987761365,-0.0153740978893,0.0598518676342,0.999999944425,0.000221784368871,-0.000248339528099,1.69851267408e-05,1793245326703643392
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.387483825,807,652,629.612516175,652,0.401006114692,-0.015375279813,0.0598594790463,0.999999947334,0.000222855711739,-0.000235263625858,1.78331055722e-05,1793245326720310016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.969621993,807,652,629.030378007,652,0.401031729483,-0.0153770754185,0.0598702501469,0.999999951319,0.000223865920723,-0.000216539393386,1.88930175765e-05,1793245326736976640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785.45636603,807,652,629.54363397,652,0.401084392771,-0.0153801647025,0.0598885583865,0.999999958598,0.000219841573146,-0.000184503306611,2.0789742446e-05,1793245326753643008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.11653569,785,807,652,630,652,0.401141853046,-0.0153836301283,0.0599063390631,0.999999964368,0.000216223028025,-0.000154926923924,2.25622179684e-05,1793245326770309632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.686856443,785,807,652,630,652,0.401212193732,-0.0153882828863,0.0599204495662,0.999999967059,0.000215264007826,-0.000137782416096,2.36714699035e-05,1793245326786976768
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.729814549,785,807,652,630,652,0.401291148111,-0.0153923974938,0.059932352357,0.999999969428,0.000214756190895,-0.000120130854825,2.43461440563e-05,1793245326803643648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.130646491,785,807,652,630,652,0.401380590672,-0.0153958568394,0.0599415669971,0.999999971443,0.000214797767147,-0.000101861897308,2.44916685143e-05,1793245326820310272
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.548953039,652,630,652,0.401480437143,-0.015400116455,0.059945380304,0.999999972405,0.000214280089797,-9.33299353522e-05,2.37523512913e-05,1793245326836976896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,630,652,0.401583948518,-0.0154046904528,0.0599473518347,0.999999973079,0.00021347883398,-8.80421143098e-05,2.27286163971e-05,1793245326853643264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,630,652,0.401702505521,-0.0154110615176,0.0599427120678,0.999999973355,0.000210163418121,-9.31747492135e-05,2.09626192358e-05,1793245326870310144
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.179120714,652,630,652,0.401832983313,-0.0154182601741,0.059939720863,0.999999974011,0.00020614605117,-9.5422514595e-05,1.94022699905e-05,1793245326886976768
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.767325177,652,630,652,0.40199068631,-0.0154273489195,0.0599404947174,0.999999975579,0.000200525537963,-9.10816876098e-05,1.83115887275e-05,1793245326903643136
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.649574764,744.350425236,714,680,658,634,878,785,807,652,630,652,0.402172229034,-0.0154354757092,0.0599419536114,0.999999977108,0.000195891572775,-8.44489955916e-05,1.67185340084e-05,1793245326920310016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.069815202,744.930184798,714,680,658,634,878,785,807,652,630,652,0.402369373582,-0.015442972952,0.0599438608266,0.999999978565,0.000191903249232,-7.63164016816e-05,1.47967029791e-05,1793245326936976896
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.507514246,745,714,680,658,634,878,785,807,652,629.492485754,652,0.402593777796,-0.0154539410489,0.0599457628952,0.999999981046,0.000181788599089,-6.85295930095e-05,1.28077601106e-05,1793245326953643520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.916160793,714,680,658.083839207,634,878.083839207,785,807,652,629.083839207,652,0.402827154234,-0.0154654938055,0.0599475812873,0.999999983394,0.000171363330898,-6.10664227434e-05,1.08052093683e-05,1793245326970310144
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.343750412,714,680,658.656249588,634,878.656249588,785,807,652,629.656249588,652,0.403091067754,-0.015477684523,0.0599489161631,0.999999984987,0.00016401567762,-5.52133689539e-05,8.77690175985e-06,1793245326986976512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.763645219,634,878.763645219,785,807,652,630,652,0.403364368945,-0.015488026685,0.0599449307528,0.999999986224,0.000154839870121,-5.95110854489e-05,5.95582245783e-06,1793245327003643136
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.412148936,784.587851064,807,652,630,652,0.403967313172,-0.0154958847581,0.0599217364536,0.999999989253,0.000108761637762,-9.82964824604e-05,-1.70557067537e-06,1793245327036976384
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.566181034,714,680,658,634,878.433818966,784.566181034,807,652,630,652,0.404657731387,-0.0154808750586,0.059901282988,0.99999998729,8.56080283206e-05,-0.000134033487014,-1.12191256556e-05,1793245327070310144
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.859986056,714,680,658,634,878,785,807,652,629.859986056,652,0.405041839088,-0.0154744036322,0.0598969970362,0.99999998518,9.63107072281e-05,-0.000141783169359,-1.61664378139e-05,1793245327086977024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.283274519,714,680,658,634,878,785,807,652,629.283274519,652,0.405489289301,-0.0154865511164,0.0599091090845,0.999999989579,7.53256480722e-05,-0.000121881354337,-1.76925396942e-05,1793245327103644416
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679.699602527,658.300397473,634,878,785.300397473,807,652,629.300397473,652,0.405971792105,-0.015497546832,0.0599313709147,0.999999994818,5.39722933944e-05,-8.42226628281e-05,-1.89231929361e-05,1793245327120311040
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679.10921107,658.89078893,634,878,785.89078893,807,652,629.89078893,652,0.406488133598,-0.0155074306688,0.0599634310167,0.999999998849,3.22633955721e-05,-2.94220557353e-05,-1.98686297795e-05,1793245327136977152
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679.472581585,658.527418415,634,878.472581585,785.527418415,807,652.472581585,630,652,0.40702260167,-0.0155109237906,0.0599855854586,0.999999999536,2.11443838287e-05,4.15584043844e-06,-2.15355113419e-05,1793245327153643776
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.051827707,714,680,658,634,879,785,807,652.948172293,630,652.051827707,0.407559201427,-0.0155125761068,0.0600025515268,0.999999999293,1.10685679068e-05,2.70537620202e-05,-2.36751756851e-05,1793245327170310144
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.625088904,714,680,658,634,879,785,807,652.374911096,630,652.625088904,0.408075856678,-0.0155103012778,0.0599899371837,0.99999999946,-1.2693469976e-05,-9.03701313015e-06,-2.89240638733e-05,1793245327186977280
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.203610304,634,878.796389696,785.203610304,807,652,630,653,0.408617405648,-0.0155096695539,0.0599780023162,0.999999998232,-2.74088576402e-05,-4.04430455324e-05,-3.39021873084e-05,1793245327203644160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.792074231,634,878.207925769,785.792074231,807,652,630,653,0.409206007403,-0.0155121435418,0.0599673517587,0.999999996967,-2.50247354737e-05,-6.29942183364e-05,-3.83685250287e-05,1793245327220311296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.625380703,714,680.374619297,659,634,878,785.625380703,807,652,630,652.625380703,0.409846017491,-0.0155148929,0.0599711456597,0.999999997334,-3.06623521781e-05,-5.32296867181e-05,-3.94689172953e-05,1793245327236978176
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.046069717,714,680.953930283,659,634,878,785.046069717,807,652,630,652.046069717,0.410514117033,-0.0155177927201,0.059982832002,0.999999998089,-4.06830407472e-05,-2.58078788845e-05,-3.87301594503e-05,1793245327253644800
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,878.531641403,785.531641403,807,652,630,652,0.411203365839,-0.015517518333,0.0599876314588,0.999999999397,-7.99235981323e-06,-1.20806480269e-05,-3.15500888017e-05,1793245327270310912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.107787772,714,680.892212228,659,634,878.892212228,785.892212228,807,652,630,652.107787772,0.411886818214,-0.0155164695172,0.0599854848872,0.999999999375,1.95253493866e-05,-1.28369488568e-05,-2.65301736055e-05,1793245327286977024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.677816404,714,680.322183596,659,634,878.322183596,785.322183596,807,652,630,652.677816404,0.41253757693,-0.0155132756651,0.0599561023279,0.999999996915,9.034444673e-06,-7.06310692593e-05,-3.31604667117e-05,1793245327303643392
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.741412744,714,680.258587256,659,634,878.258587256,785,807.258587256,652,630,652.741412744,0.413222017649,-0.0155113418553,0.0599283979666,0.999999991588,-5.48886110587e-07,-0.00012371241266,-3.89853435434e-05,1793245327320309760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.14667757,714,680.85332243,659,634,878.85332243,785,807.85332243,652,630,652.14667757,0.413950243042,-0.0155110460245,0.0599028751583,0.999999984439,-8.95242666541e-06,-0.000170667436812,-4.37632285187e-05,1793245327336976384
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680.564577924,659.435422076,634,879,785,808,652,630.435422076,652,0.414774705308,-0.0155166449151,0.059933133344,0.9999999924,-1.47907905568e-05,-0.000115013194937,-4.18803782667e-05,1793245327353643008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.013303971,714,680,659.986696029,634,878.986696029,785,808,652,630.986696029,652,0.415630005912,-0.0155241139296,0.0599810989473,0.999999998723,-1.98380754225e-05,-2.69656512857e-05,-3.78558015214e-05,1793245327370309888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.58775632,714,680,659.41224368,634,878.41224368,785,808,652,630.41224368,652,0.416457214475,-0.0155290694824,0.0600057301061,0.999999998952,-2.6938036349e-05,1.0585557866e-05,-3.5465792939e-05,1793245327386976512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.833627396,714,680,659,634,878.166372604,785,808,652,630,652,0.417279895058,-0.0155317208608,0.0600194023718,0.999999998415,-3.03528564587e-05,3.22738943869e-05,-3.47317785435e-05,1793245327403643136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.244428758,714,680,659,634,878.755571242,785,808,652,630,652,0.418091067999,-0.0155285163172,0.060005223264,0.999999998879,-2.44021109442e-05,1.364768536e-05,-3.8206374712e-05,1793245327420309760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.659507004,879,785.340492996,807.659507004,652,630.340492996,652.340492996,0.418934057256,-0.0155286414435,0.0599856877437,0.999999998545,-2.86566247764e-05,-1.84056221849e-05,-4.18344676608e-05,1793245327436976640
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.077617423,879,785.922382577,807.077617423,652,630.922382577,652.922382577,0.419799603035,-0.0155311271793,0.0599623547313,0.999999996357,-4.0146279604e-05,-5.99782311428e-05,-4.5571383788e-05,1793245327453643264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,713.502527142,680,659,633.497472858,879.497472858,786,807.497472858,652,630.502527142,652.502527142,0.420614884812,-0.0155306206297,0.0599262088851,0.999999991063,-4.1734646063e-05,-0.000117016728631,-4.93850870934e-05,1793245327470309632
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.928894534,744,713.071105466,680.071105466,659,634,879.928894534,785.928894534,808,652,630.071105466,652,0.421429713559,-0.0155298119515,0.0598913419027,0.999999982933,-4.14708366785e-05,-0.000172095034307,-5.29000436632e-05,1793245327486976512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.358151084,744,713.641848916,680.641848916,659,634,879.358151084,785.358151084,808,652,630.641848916,652,0.422295721649,-0.0155301166086,0.0598793188765,0.999999978433,-3.89010533556e-05,-0.00019667246534,-5.42327414371e-05,1793245327503643136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.221551819,744,714,681,659.221551819,634,879,785.221551819,808,652,630.778448181,652.221551819,0.423206157252,-0.0155331653373,0.0598981053625,0.999999983725,-4.07545091241e-05,-0.000167472304069,-5.33154562197e-05,1793245327520309760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.816348672,744,714,681,659.816348672,634,879,785.816348672,808,652,630.183651328,652.816348672,0.424191439361,-0.0155408369624,0.059968796171,0.999999996429,-5.00597288488e-05,-4.76738397978e-05,-4.86076580401e-05,1793245327536976640
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,879.400790887,786,808,652,630,652.599209113,0.425162963925,-0.0155443091456,0.0600109089559,0.999999997234,-5.43921559848e-05,2.18253290698e-05,-4.57941177768e-05,1793245327553643264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,879.980607836,786,808,652,630,652.019392164,0.426128343182,-0.0155459055133,0.0600402564487,0.999999995073,-5.65033258985e-05,6.88567023547e-05,-4.38267087648e-05,1793245327570309888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,880,786,808,652,630,652.555617006,0.427042731346,-0.0155509441901,0.0600255593061,0.999999994851,-6.77390362918e-05,5.9362441668e-05,-4.67568706902e-05,1793245327586976512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.133171609,714,681.133171609,659.866828391,634,880,786,808.133171609,652,630.133171609,653,0.427938482569,-0.0155539948786,0.0600061197659,0.999999995087,-7.62364808921e-05,3.92215586109e-05,-4.97561292258e-05,1793245327603642880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.719963317,714,681.719963317,659.280036683,634,880,786,808.719963317,652,630.719963317,653,0.428776761186,-0.0155498681857,0.0599757176588,0.999999995808,-7.43311427362e-05,-1.05222592551e-05,-5.24134916357e-05,1793245327620309504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.697237566,714,681.697237566,659.302762434,634,880,786,809,652,631,653,0.429625021727,-0.0155453500927,0.059944633199,0.999999993809,-7.02583241509e-05,-6.66552162472e-05,-5.48073777284e-05,1793245327636976384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.118083317,714,681.118083317,659.881916683,634,880,786,809,652,631,653,0.43048239472,-0.015540474691,0.0599129258211,0.999999988045,-6.42068127726e-05,-0.000128620815282,-5.69607360828e-05,1793245327653643008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,714,681.460202037,660,633.539797963,880,786,808.539797963,652,631,653,0.431454258433,-0.0155454486212,0.0599428928667,0.999999993338,-7.40019753797e-05,-6.84748116642e-05,-5.62083942425e-05,1793245327670309632
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,714,681.962106312,660,633,880,786,808,652,630.962106312,653,0.432447827153,-0.0155524966234,0.0599868878201,0.999999994585,-8.65677317707e-05,1.84672203691e-05,-5.47303485782e-05,1793245327686976512
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.38965138,660,633,880,786,808,652,630.38965138,653,0.433333945297,-0.0155532189967,0.0600059513697,0.999999994398,-8.09660312101e-05,4.22447848761e-05,-5.35127963908e-05,1793245327703643136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188783362,744,714,681.188783362,660,633,880,786,808.188783362,652,630.188783362,653,0.434200692036,-0.0155541118494,0.0600098083124,0.999999994474,-7.95942005146e-05,4.28449573602e-05,-5.3681108122e-05,1793245327720309760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.779964363,744,714,681.779964363,660,633,880,786,808.779964363,652,630.779964363,653,0.435026148188,-0.0155553680845,0.0599812519009,0.999999994564,-8.72384685822e-05,-5.95820141696e-06,-5.68034318647e-05,1793245327736977664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.636080335,744,714,682,660,633.363919665,880,786,809,652,631,653,0.435847650174,-0.0155543541643,0.0599531899608,0.999999992623,-8.98390021592e-05,-5.55785253742e-05,-5.99469485249e-05,1793245327753644288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.056408865,744,714,682,660,633.943591135,880,786,809,652,631,653,0.43666680786,-0.0155519943697,0.0599254211726,0.999999988424,-8.9449329027e-05,-0.00010568330726,-6.31030292722e-05,1793245327770309888
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.519626204,714,682,660,634,880,786,809,652,631,653,0.437457855299,-0.0155464801772,0.059905030844,0.999999983433,-8.40442128337e-05,-0.000147866697002,-6.48547236792e-05,1793245327786976768
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.904865684,714,682,660,633.904865684,880,786,809,652,631,653,0.438251852326,-0.0155420152083,0.0598920906048,0.999999978974,-8.0414361639e-05,-0.000176684287304,-6.60968895627e-05,1793245327803643648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.330038019,714,682,660,633.330038019,880,786,809,652,631,653,0.439076001802,-0.0155445553438,0.0599127050658,0.999999983799,-8.84621209321e-05,-0.000142413663635,-6.55332530026e-05,1793245327820309760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880,786,809,652,631,653,0.439892846569,-0.0155492323374,0.0599475190772,0.99999998933,-9.78696283385e-05,-8.79760540057e-05,-6.34242388158e-05,1793245327836976128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880,786,809,652,631,653,0.440699842686,-0.0155567903524,0.0600014776499,0.999999992273,-0.000109110416982,-6.34828072627e-06,-5.9231666974e-05,1793245327853642752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.425535334,714,682,660,633,880,786,809,652,630.574464666,653,0.441414735687,-0.0155636184324,0.0599911330237,0.999999990976,-0.000117619935181,-2.56572189576e-05,-5.96329466084e-05,1793245327870309376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.995479199,633,880,785.995479199,809,652,630,653,0.442096043716,-0.0155701813745,0.0599573589935,0.999999986928,-0.000125182902399,-8.16328537445e-05,-6.17168048645e-05,1793245327886976256
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.421251727,633,880,785.421251727,809,652,630,653,0.442731477344,-0.0155765104678,0.0598938881824,0.999999973783,-0.00013761021833,-0.000170307020489,-6.70275060481e-05,1793245327903643904
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.156664883,784.843335117,809.156664883,652,630.156664883,653,0.443359528414,-0.0155832047617,0.0598426364508,0.999999956588,-0.000150063299678,-0.000243420145283,-7.10680446395e-05,1793245327920311040
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.744740461,784.255259539,809.744740461,652,630.744740461,653,0.443967250156,-0.0155909047161,0.0598250325874,0.999999946768,-0.000162587337031,-0.000273682593181,-7.16109178149e-05,1793245327936977408
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.672123313,745,714,682,659,632.672123313,880.672123313,784,809.672123313,652,630.672123313,653,0.444565061653,-0.0156033970237,0.0598167036284,0.999999938696,-0.000178087022467,-0.000293008418452,-7.09921191067e-05,1793245327953644032
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.09277545,745,714,682,659,632.09277545,880.09277545,784,809.09277545,652,630.09277545,653,0.445155272266,-0.015619564916,0.0598154882323,0.999999932212,-0.000195868936304,-0.000303946194099,-6.94823543415e-05,1793245327970311168
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.483788175,745,714,682,658.516211825,632,879.516211825,784,809,652,630,653,0.445687072158,-0.0156309444317,0.0597885023707,0.999999911872,-0.000217458632025,-0.000352079503027,-7.07701940267e-05,1793245327986977792
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.940374685,879.059625315,784,809.059625315,652,630,653,0.446208385095,-0.0156414481596,0.0597587566918,0.999999887841,-0.000238988255557,-0.000402416826233,-7.25501597733e-05,1793245328003644416
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.366225503,879.633774497,784,809.633774497,652,630,653,0.446735309658,-0.0156522730593,0.0597475974037,0.999999880788,-0.000253734340875,-0.00041057325833,-7.39737626867e-05,1793245328020310784
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,744.785504339,714,682.214495661,658,631,880,783.785504339,810,652,630,653,0.447251546743,-0.0156616550135,0.0597465389831,0.999999879054,-0.000265668445783,-0.000407065412222,-7.48941727757e-05,1793245328036977152
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,744.193207703,714,682.806792297,658,631,880,783.193207703,810,652,630,653,0.447748959428,-0.0156684954408,0.0597632716813,0.999999886675,-0.000272649680006,-0.00038301274101,-7.49282862827e-05,1793245328053643776
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,744,714,683,658.39032709,631,880,783,810,652,630,653,0.448200502928,-0.0156732269166,0.0597659643676,0.99999988553,-0.000282954226856,-0.000378389139548,-7.54894090301e-05,1793245328070310656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744,714,683,658.969620135,631,880,783,810,652,630,653,0.448629840187,-0.0156769374031,0.0597618599758,0.999999880205,-0.000294867663301,-0.000383171577261,-7.63056685848e-05,1793245328086977792
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,744.174348853,714,682,656.174348853,629,879.174348853,779,810,652,628,653,0.452822057722,-0.0157240581325,0.0596739363442,0.99999981744,-0.000332956759237,-0.000500277272854,-6.31120417793e-05,1793245329184792064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,744.764112229,714,682,656.764112229,629,879.764112229,779,810,652,628,653,0.452823228184,-0.015724860172,0.0596745150032,0.999999817434,-0.00033442474977,-0.000499355570374,-6.2741880787e-05,1793245329201457408
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,744.497913883,714,682.502086117,656,628.497913883,880,779,809.497913883,652,628,653,0.452824705661,-0.0157248472816,0.0596763601157,0.999999818002,-0.000335737501055,-0.000497301643565,-6.29827915952e-05,1793245329251456768
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.995836733,744,713.995836733,680.004163267,658,633,879,785,808,652.991673467,630,652.004163267,0.428046935894,-0.0153721335967,0.0597796636445,0.99999991874,0.000165985716151,-0.000367173125987,1.23479075818e-05,1793245330184791040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.42894596,744,714,680.57105404,658,633,879,785,808,651.85789192,630,652,0.427144392006,-0.0153743638971,0.0597579383228,0.999999915918,0.000169230322632,-0.000373389669989,1.02216424621e-05,1793245330201457152
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.477937421,713.522062579,681,658,633.522062579,879.477937421,785,808,652,630,652,0.422682597115,-0.0153771582903,0.0598443342941,0.999999948714,0.000192305285985,-0.000255128977265,2.23554287564e-05,1793245330284790016
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.82669755,714,680,658,633.17330245,878.82669755,785.82669755,807.17330245,652,630,652,0.410596735556,-0.0153535188086,0.0597423290286,0.999999886472,0.000217351020759,-0.000423838679777,1.32470750773e-05,1793245330534789888
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.407399601,785,807.592600399,652,630,652,0.40569849388,-0.0153628440747,0.0598259510606,0.999999938088,0.000211661154508,-0.000280349674083,2.0658432388e-05,1793245330684791040
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,633.10830118,878.10830118,785,807,652,630,652,0.403394296354,-0.0153528762393,0.0597682275764,0.999999903106,0.000244368127461,-0.000365733448254,1.76662865482e-05,1793245330784790272
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ae47e2bb2ce979ef9c6dc24fff5556506f550c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52e1c9bc255e1d2f6ea38de5a6c03db423ee22eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f858853ded7d2d3b6ec8925198d9a3c869379eb81b658479389b19309ad9a1f6
+size 25744962
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74ca11894448453777b5abec77d1edcaa37caa32
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+9,0.150000000,BASELINE,765,744,713.767263387,680,658,634,878.767263387,785,806.232736613,652,629.232736613,652,0.400979756259,-0.015369685876,0.0598422775896,0.999999941923,0.000220388160876,-0.000259555170361,1.46458520606e-05,1793245331799902720
+10,0.166666667,BASELINE,765,744,713.186860199,680,658,634,878.186860199,785,806.813139801,652,629.813139801,652,0.400979427023,-0.0153703033663,0.0598424762764,0.999999941923,0.000220482694677,-0.00025945996433,1.48936909965e-05,1793245331816568832
+11,0.183333333,BASELINE,765,744,713.389004583,680,658,634,878,785,806.610995417,652,630,652,0.400978966786,-0.0153709234602,0.0598421602158,0.999999942049,0.000219167722038,-0.000260090283739,1.48615914052e-05,1793245331833235456
+12,0.200000000,BASELINE,765,744,713.962714512,680,658,634,878,785,806.037285488,652,630,652,0.400978444347,-0.0153715447905,0.0598415997451,0.99999994223,0.000217183494117,-0.000261065093753,1.46965727271e-05,1793245331849902080
+13,0.216666667,BASELINE,764.462436117,744,714,680,658,634,878,785,806.537563883,652,630,652,0.40097896849,-0.0153710957318,0.0598421297853,0.999999941896,0.000219556029875,-0.000260349967466,1.48971266139e-05,1793245331866568448
+14,0.233333333,BASELINE,764,744,714,680,658,634,878.111249207,785,806.888750793,652,630,652,0.400979713673,-0.0153706120359,0.0598428230752,0.999999941708,0.000221591347144,-0.000259335807992,1.50374334374e-05,1793245331883235328
+15,0.250000000,BASELINE,764,744,714,680,658,634,878.679823941,785,806.320176059,652,630,652,0.400981068469,-0.0153702917976,0.0598438758616,0.999999942298,0.000220995551121,-0.000257575246389,1.48256194634e-05,1793245331899902208
+16,0.266666667,BASELINE,764.262059327,744,714,679.737940673,658,634,878.475881346,785,806,652,630,652,0.400981637883,-0.0153711873407,0.0598443356376,0.999999942746,0.000219792525666,-0.000256857146949,1.49532351302e-05,1793245331916569088
+17,0.283333333,BASELINE,764.861902717,744,714,679.138097283,658,634,877.276194565,785,806,652,630,652,0.400981194971,-0.0153736499778,0.0598440310467,0.999999943011,0.000217806805628,-0.000257482739937,1.55183621348e-05,1793245331933235712
+18,0.300000000,BASELINE,765,744.443389058,714,679.443389058,658,634,877.443389058,785,806,652,630,652,0.400980751464,-0.0153734539804,0.0598440116984,0.999999942897,0.000218019060782,-0.000257747358091,1.55189302981e-05,1793245331949902080
+19,0.316666667,BASELINE,764.980154419,744.980154419,714,680,658,634,878,785,806,652,629.980154419,652,0.400980329292,-0.0153724440121,0.0598440479205,0.999999942661,0.000218903656657,-0.000257921667384,1.53436302864e-05,1793245331966568192
+20,0.333333333,BASELINE,764.390479843,744.390479843,714,680,658,634,878,785,806,652,629.390479843,652,0.400980524854,-0.0153708931843,0.0598432302475,0.999999942202,0.00022021833558,-0.000258602767447,1.49667051234e-05,1793245331983234816
+21,0.350000000,BASELINE,764.195754405,744.195754405,714,680,658,634,878,785,806,652,629.195754405,652,0.400980365403,-0.0153704438174,0.0598429636739,0.999999942197,0.000220050882085,-0.000258774098181,1.47905689384e-05,1793245331999901696
+22,0.366666667,BASELINE,764.775244537,744.775244537,714,680,658,634,878,785,806,652,629.775244537,652,0.400979510023,-0.0153721536357,0.0598437774163,0.99999994308,0.000216978016621,-0.000257946132274,1.50080377555e-05,1793245332016568576
+23,0.383333333,BASELINE,764.648307119,744.648307119,714,680,658,634,877.648307119,785,806,652,630,652,0.400979588731,-0.0153721400749,0.059844361522,0.99999994307,0.00021768835213,-0.000257372957169,1.51906698736e-05,1793245332033235200
+24,0.400000000,BASELINE,764.073785958,744.073785958,714,680,658,634,877.073785958,785,806,652,630,652,0.400980259263,-0.0153710346024,0.0598448001327,0.999999942492,0.000220795676912,-0.000256961214297,1.53512299092e-05,1793245332049901824
+25,0.416666667,BASELINE,764,744,714,680,658.500619685,634,877.500619685,785,806,652,630,652,0.400979822102,-0.0153718940945,0.0598440019406,0.999999942737,0.000218716644459,-0.000257791297313,1.52228952682e-05,1793245332066568448
+26,0.433333333,BASELINE,764.077436856,744,714,680,658.922563144,634,878,785,806,652,630,652,0.400979251694,-0.0153727393333,0.059843131982,0.999999942972,0.000216461905315,-0.000258793325961,1.50508500891e-05,1793245332083235584
+27,0.450000000,BASELINE,764.670422782,744,714,680,658.329577218,634,878,785,806,652,630,652,0.400978880871,-0.0153715619645,0.0598429975814,0.999999942372,0.000218125405294,-0.00025972182828,1.48712124743e-05,1793245332099901952
+28,0.466666667,BASELINE,765,744,714,680,658,634,878.256146178,785,806.256146178,652,629.743853822,652,0.40097889028,-0.0153710642036,0.0598431184589,0.999999942362,0.00021837826543,-0.000259563649342,1.46446285528e-05,1793245332116568576
+29,0.483333333,BASELINE,765,744,714,680,658,634,878.832782657,785,806.832782657,652,629.167217343,652,0.400979375436,-0.0153714167688,0.0598435587406,0.999999943088,0.000216866131777,-0.000258045813897,1.43593053857e-05,1793245332133235200
+30,0.500000000,BASELINE,764.591411627,744.408588373,714,680,658,634,879,785,807,652,629.408588373,652,0.400979603508,-0.0153716980717,0.0598439620732,0.999999943008,0.000217485221423,-0.000257821477243,1.45599952795e-05,1793245332149901824
+31,0.516666667,BASELINE,764.01594523,744.98405477,714,680,658,634,879,785,807,652,629.98405477,652,0.40097972658,-0.0153719502694,0.0598443503148,0.999999942599,0.000218974757637,-0.000258125438875,1.49591854425e-05,1793245332166568448
+32,0.533333333,BASELINE,764.573262542,744.426737458,714,680,658,634,877.853474915,785,806.426737458,652,630,652,0.400979075586,-0.0153728876,0.0598437778855,0.999999943078,0.000216382972825,-0.000258458652049,1.48820111245e-05,1793245332183235072
+33,0.550000000,BASELINE,764.839926017,744,714,680,658,634,877.160073983,785,806,652,629.839926017,652,0.40097886363,-0.0153731378328,0.0598435897366,0.999999943248,0.00021562776003,-0.000258431225752,1.48695545223e-05,1793245332199901696
+34,0.566666667,BASELINE,764.260419726,744,714,680,658,634,877.739580274,785,806,652,629.260419726,652,0.40097985986,-0.015371536544,0.0598444802298,0.999999942547,0.000219989566491,-0.000257456653049,1.50622447974e-05,1793245332216568320
+35,0.583333333,BASELINE,764,744,714,679.683156111,658,634,878,785,806,652,629,651.683156111,0.4009797863,-0.0153718727198,0.0598442577974,0.999999942584,0.000219252312217,-0.000257946026465,1.49484227794e-05,1793245332233235200
+36,0.600000000,BASELINE,764,744,714,679.107722776,658,634,878,785,806,652,629,651.107722776,0.40097883964,-0.0153737901409,0.0598431270604,0.999999943216,0.00021435350333,-0.000259630186957,1.45844433788e-05,1793245332249901824
+37,0.616666667,BASELINE,764.466940593,744,714,679.466940593,658,634,878,785,806,652,629.466940593,651.466940593,0.400978824605,-0.0153733703615,0.059842868993,0.999999942802,0.000216328761412,-0.000259569864972,1.48765401134e-05,1793245332266568448
+38,0.633333333,BASELINE,764.957303554,744,714,679.957303554,658,634,878,785,806.042696446,652,630,652,0.400979047277,-0.0153723874013,0.0598428512016,0.999999942186,0.000219717693397,-0.000259071426691,1.52776401569e-05,1793245332283235072
+39,0.650000000,BASELINE,764.3652077,744,714,679.3652077,658,634,878,785,806.6347923,652,630,652,0.400979567638,-0.015371084316,0.0598433388916,0.999999942172,0.000220924848771,-0.000258105531372,1.51369683957e-05,1793245332299901696
+40,0.666666667,BASELINE,764.222116746,744,714,679.222116746,658,634,878,785,806.777883254,652,630,651.777883254,0.400978950985,-0.0153709262322,0.0598430813548,0.999999942167,0.000220505493724,-0.000258488670542,1.50513087453e-05,1793245332316568576
+41,0.683333333,BASELINE,764.80176092,744,714,679.80176092,658,634,878,785,806.19823908,652,630,651.19823908,0.400976504151,-0.0153726111859,0.0598416242728,0.999999942169,0.000217468046562,-0.000261043266172,1.50541986554e-05,1793245332333235200
+42,0.700000000,BASELINE,765,744,714,680,658,634,878,785,806,652,630,651.378098412,0.400977463722,-0.0153725660837,0.0598421688052,0.999999942463,0.000217643356414,-0.000259781290623,1.48251738942e-05,1793245332349901568
+43,0.716666667,BASELINE,765,744,714,680,658,634,878,785,806,652,630,651.952717206,0.400980193805,-0.0153716217679,0.0598437536965,0.999999942902,0.000219488528535,-0.000256535614446,1.4475609193e-05,1793245332366568192
+44,0.733333333,BASELINE,764.460618126,744.539381874,714,680,658,634,878.539381874,785,806.539381874,652,630,652,0.400981283825,-0.0153714930315,0.0598448005646,0.999999943432,0.000218575386969,-0.000255249375725,1.44625672253e-05,1793245332383234816
+45,0.750000000,BASELINE,764,745,714,680,658,634,878.874681056,785,807,652,629.874681056,652,0.400981451986,-0.0153712797205,0.0598452541694,0.999999943602,0.00021795278068,-0.000255112809959,1.44686801136e-05,1793245332399901696
+46,0.766666667,BASELINE,764,745,714,680,658,634,878.295293865,785,807,652,629.295293865,652,0.400978812792,-0.0153704950064,0.0598437329938,0.999999942442,0.000219278986454,-0.000258505277703,1.44348680199e-05,1793245332416568320
+47,0.783333333,BASELINE,764.283114634,744.716885366,714,680,658,634,878.283114634,785,806.716885366,652,629,652,0.400977957731,-0.015370246008,0.0598429426866,0.999999941741,0.000220875306572,-0.00025985243656,1.44172554489e-05,1793245332433234944
+48,0.800000000,BASELINE,764.860505927,744.139494073,714,680,658,634,878.860505927,785,806.139494073,652,629,652,0.400978957142,-0.0153705538461,0.0598429120629,0.999999941527,0.000222752390675,-0.000259073648985,1.44164810758e-05,1793245332449901568
+49,0.816666667,BASELINE,765,744.436723811,714,680,658,634,878.563276189,785,806,652,629.436723811,652,0.400980156056,-0.0153710688551,0.0598439970177,0.999999942537,0.000220315757483,-0.000257246880256,1.4559744554e-05,1793245332466568192
+50,0.833333333,BASELINE,765,744.987148439,714,680,658,634,878,785,806,652,630,652,0.400981377611,-0.0153716616874,0.0598453941942,0.999999943887,0.000216580509903,-0.000255150248407,1.47420905307e-05,1793245332483235072
+51,0.850000000,BASELINE,765,744.398305815,714,680,658,634,878,785,806,652,630,652,0.400980765555,-0.0153727846503,0.0598448574178,0.999999943767,0.000216230821362,-0.000255920929453,1.46196072166e-05,1793245332499901696
+52,0.866666667,BASELINE,764.812431622,744,714,680,658.187568378,634,878,785,806,652,630,652,0.400980467718,-0.0153733915688,0.0598446308191,0.999999943737,0.00021602540214,-0.000256213011256,1.45993242412e-05,1793245332516568320
+53,0.883333333,BASELINE,764.232762793,744,714,680,658.767237207,634,878,785,806,652,630,652,0.400980826738,-0.0153729197277,0.0598450526283,0.999999943895,0.000216121569304,-0.000255504609981,1.47926849552e-05,1793245332533234944
+54,0.900000000,BASELINE,764,744,714,680,658.655829073,634,878,785,806.344170927,652,630,652,0.400980869844,-0.0153724347728,0.0598449735298,0.999999943699,0.000217234402873,-0.000255330633544,1.47747755635e-05,1793245332549901568
+55,0.916666667,BASELINE,764,744,714,680,658.080730547,634,878,785,806.919269453,652,630,652,0.400980700981,-0.0153719410188,0.0598445583383,0.999999943262,0.000219029386829,-0.000255515238976,1.4615110732e-05,1793245332566568192
+56,0.933333333,BASELINE,764,744,714,680,658,634,878,785,806.506149532,652,630,652,0.400980012101,-0.0153715856104,0.059844481848,0.999999943075,0.000219209614068,-0.000256096195442,1.45257625358e-05,1793245332583235072
+57,0.950000000,BASELINE,764.070453893,744,714,680,658,634,878,785,806,652,630,652,0.400979441625,-0.0153712941909,0.0598444794518,0.999999942999,0.000219007633932,-0.00025656875304,1.44810405747e-05,1793245332599901440
+58,0.966666667,BASELINE,764.66265999,744,714,680,658,634,878,785,806,652,630,652,0.400980376876,-0.0153713093407,0.0598446161632,0.99999994344,0.000217927967995,-0.000255759231991,1.46817655582e-05,1793245332616568320
+59,0.983333333,BASELINE,764.752161551,744,714,680,658,634,878,785,806.247838449,652,629.752161551,652,0.400981035649,-0.0153716769311,0.059844873768,0.999999943749,0.000217352262738,-0.000255035346913,1.47594296049e-05,1793245332633235200
+60,1.000000000,BASELINE,764.17628477,744,714,680,658,634,878,785,806.82371523,652,629.17628477,652,0.40098132848,-0.0153725110111,0.0598452913869,0.999999943885,0.000217443598385,-0.000254424809276,1.4674210542e-05,1793245332649903104
+61,1.016666667,BASELINE,764.400565459,744,714,680,658,634,878,785,807,652,629.400565459,652,0.400980588587,-0.0153734774741,0.0598451472321,0.999999943732,0.000216899572289,-0.000255482687131,1.4787565008e-05,1793245332666569984
+62,1.033333333,BASELINE,764.977845103,744,714,680,658,634,878,785,807,652,629.977845103,652,0.400979393096,-0.0153745023394,0.0598447552443,0.999999943448,0.000216075248849,-0.000257276606227,1.49885225373e-05,1793245332683236352
+63,1.050000000,BASELINE,764.448281284,744,714,680,658,634,878,785,807,652,630,652,0.400981412481,-0.0153732515355,0.0598452600902,0.999999944048,0.00021584949988,-0.000255127758652,1.49229336913e-05,1793245332699902464
+64,1.066666667,BASELINE,764.129909492,744,714,680,658,634,878,785,806.870090508,652,629.870090508,652,0.400982760592,-0.0153723479925,0.0598456009757,0.999999944429,0.000215773288333,-0.000253697968851,1.48514318174e-05,1793245332716568832
+65,1.083333333,BASELINE,764.724012063,744,714,680,658,634,878,785,806.275987937,652,629.275987937,652,0.400981251648,-0.0153730098068,0.059845228104,0.999999943916,0.000216146044333,-0.000255399780136,1.47968125298e-05,1793245332733235200
+66,1.100000000,BASELINE,765,744,714,680,657.691314655,634,878,785.308685345,806,652,629,652,0.400980557859,-0.015373175106,0.0598450549323,0.999999943626,0.000216783110549,-0.000255997499942,1.47502152775e-05,1793245332749901824
+67,1.116666667,BASELINE,765,744,714,680,657.11482201,634,878,785.88517799,806,652,629,652,0.400980571278,-0.0153729096418,0.059845055015,0.999999943531,0.000217649485353,-0.000255637338882,1.47105777353e-05,1793245332766568704
+68,1.133333333,BASELINE,765,744,714,680,657.459048115,634,878,785.540951885,806,652,629.459048115,652,0.400980492496,-0.0153733622538,0.0598451420459,0.99999994382,0.00021685710087,-0.000255174339726,1.4819740551e-05,1793245332783235584
+69,1.150000000,BASELINE,765,744,714,679.966836054,658,634,878,785,806,652,630,652,0.400980512762,-0.0153738849242,0.0598452868919,0.999999944166,0.000215876905444,-0.000254638300372,1.49574781352e-05,1793245332799902208
+70,1.166666667,BASELINE,765,744,714,679.377666415,658,634,878,785,806,652,630,652,0.400982578038,-0.0153725879805,0.0598460384804,0.999999943899,0.000218664538786,-0.000253306521067,1.49538275364e-05,1793245332816568832
+71,1.183333333,BASELINE,764.791406425,744,714,679.208593575,658,634,878,785,806,652,630,652,0.40098317681,-0.0153715165739,0.0598463075354,0.999999943732,0.000219740603831,-0.000253042439017,1.48222446567e-05,1793245332833235456
+72,1.200000000,BASELINE,764.210341893,744,714,679.789658107,658,634,878,785,806,652,630,652,0.40098115695,-0.0153708478931,0.0598457149644,0.999999943753,0.000217760441543,-0.000254684869059,1.44622220503e-05,1793245332849901824
+73,1.216666667,BASELINE,764.367958899,744.367958899,714,680,658,634,878,785,806.367958899,652,630,652,0.40097989632,-0.0153711659491,0.0598447629926,0.999999943535,0.000217322708238,-0.000255913684288,1.44298025293e-05,1793245332866568448
+74,1.233333333,BASELINE,764.944691555,744.944691555,714,680,658,634,878,785,806.944691555,652,630,652,0.400979066465,-0.0153720438632,0.0598436071027,0.999999943183,0.0002177601236,-0.000256907821253,1.45832595709e-05,1793245332883235072
+75,1.250000000,BASELINE,765,744.482812058,714,680,658,634,878,785,806.482812058,652,630,652,0.400980114188,-0.0153726586189,0.0598444399561,0.999999943313,0.00021837919049,-0.00025586836255,1.47213823016e-05,1793245332899901952
+76,1.266666667,BASELINE,764.907768378,744,714,679.907768378,658.092231622,634,878,785,806,652,630,652,0.40098088581,-0.0153729754963,0.0598450990401,0.999999943401,0.000218812449638,-0.00025514669536,1.47921569412e-05,1793245332916568832
+77,1.283333333,BASELINE,764.316511178,744,714,679.316511178,658.683488822,634,878,785,806,652,630,652,0.400979086011,-0.0153718317113,0.0598436765747,0.999999942998,0.000218136131629,-0.000257311560538,1.45073405667e-05,1793245332933235456
+78,1.300000000,BASELINE,764.269327176,744,714,679.269327176,658.730672824,634,878.269327176,785,806.269327176,652,630,652,0.400979044095,-0.015371682285,0.0598436246199,0.999999942933,0.000218442196558,-0.00025730511394,1.45523693714e-05,1793245332949902080
+79,1.316666667,BASELINE,764.848922905,744,714,679.848922905,658.151077095,634,878.848922905,785,806.848922905,652,630,652,0.400981027284,-0.0153726783734,0.0598451515118,0.999999943253,0.000219879979983,-0.000254797286623,1.49773843089e-05,1793245332966568704
+80,1.333333333,BASELINE,765,744.424552541,714,680,658,634,879,785,807,652,630,652,0.400982609194,-0.0153734566228,0.0598460313976,0.999999944129,0.000217731223877,-0.000253197567954,1.50569724195e-05,1793245332983235328
+81,1.350000000,BASELINE,765,744.99878395,714,680,658,634,879,785,807,652,630,652,0.40098404963,-0.0153741580717,0.0598466831773,0.99999994519,0.000214318009118,-0.000251918008926,1.50147780007e-05,1793245332999901952
+82,1.366666667,BASELINE,765,744.413115846,714,680,658,634,878.413115846,785,806.413115846,652,630,652,0.400982495269,-0.01537391325,0.0598462971108,0.999999944826,0.000214788759813,-0.000252986899134,1.45711346312e-05,1793245333016568320
+83,1.383333333,BASELINE,764.827426877,744,714,680,658,634,878.172573123,785,806.172573123,652,629.827426877,652,0.400981288283,-0.0153738623911,0.0598458005922,0.999999944437,0.000215410465093,-0.000254002135667,1.43658571471e-05,1793245333033235200
+84,1.400000000,BASELINE,764.24749893,744,714,680,658,634,878.75250107,785,806.75250107,652,629.24749893,652,0.400980916271,-0.0153742741174,0.0598450485531,0.999999944002,0.000216369038947,-0.000254878959872,1.47252476925e-05,1793245333049902080
+85,1.416666667,BASELINE,764,744,714,679.669831015,658,634,878.669831015,785,806.669831015,652,629.330168985,652,0.400980901177,-0.0153731748175,0.0598451016732,0.999999943708,0.000217968126783,-0.000254663949527,1.48163439571e-05,1793245333066568960
+86,1.433333333,BASELINE,764,744,714,679.093845764,658,634,878.093845764,785,806.093845764,652,629.906154236,652,0.400981151815,-0.0153709505335,0.0598457542477,0.999999943517,0.000220044087804,-0.000253636050267,1.47076906752e-05,1793245333083235840
+87,1.450000000,BASELINE,764,744,714,679.490893672,657.509106328,634,878,785,806,652,630,652,0.400981227577,-0.0153711629715,0.0598455267189,0.999999943483,0.000219745832798,-0.000254032820859,1.45709105847e-05,1793245333099902208
+88,1.466666667,BASELINE,764,744,714,679.923608105,657.076391895,634,878,785,806,652,630,652,0.400981309313,-0.0153719241051,0.0598452444554,0.99999994352,0.000219022236396,-0.000254517512775,1.44766283149e-05,1793245333116568832
+89,1.483333333,BASELINE,764,744,714,679.344331866,657.655668134,634,878,785,806,652,630,652,0.400981654442,-0.0153731750184,0.059845729583,0.999999943816,0.000218540803986,-0.000253755506915,1.46981471246e-05,1793245333133235968
+90,1.500000000,BASELINE,764.234846523,744,714,679,658,634,878,785,806,652,630,652,0.400981965071,-0.0153739463343,0.0598459830936,0.999999944137,0.000217542179715,-0.00025334254809,1.48236570263e-05,1793245333149902592
+91,1.516666667,BASELINE,764.813881454,744,714,679,658,634,878,785,806,652,630,652,0.400982225138,-0.0153740147575,0.0598458971488,0.999999944492,0.000215785564944,-0.000253441148721,1.48084573387e-05,1793245333166568960
+92,1.533333333,BASELINE,765,744,713.611049124,679.388950876,658,633.611049124,878,785,806.388950876,652,630,652,0.400982278261,-0.0153732088543,0.0598456764764,0.999999944371,0.000216251715774,-0.000253541741227,1.45038627345e-05,1793245333183235328
+93,1.550000000,BASELINE,765,744,713.037858054,679.962141946,658,633.037858054,878,785,806.962141946,652,630,652,0.400982233357,-0.0153719887957,0.0598453919854,0.999999944022,0.000217770757167,-0.000253643277265,1.40621860986e-05,1793245333199901952
+94,1.566666667,BASELINE,764.449903865,744,713.550096135,680,658,633.550096135,878.550096135,785,806.449903865,652,630,652,0.40098257924,-0.0153725287211,0.0598462514012,0.999999943917,0.000218956162287,-0.00025300836833,1.44958824685e-05,1793245333216568832
+95,1.583333333,BASELINE,764.13663909,744,714,680,658,634,878.86336091,785,806,652,630,652,0.400982572119,-0.0153730175979,0.0598467707108,0.999999943841,0.000219600242465,-0.000252732624157,1.48439957844e-05,1793245333233235712
+96,1.600000000,BASELINE,764.715240585,744,714,680,658,634,878.284759415,785,806,652,630,652,0.40098133381,-0.0153729387757,0.0598459282802,0.999999943801,0.000218569710861,-0.000253787062236,1.47150548085e-05,1793245333249902336
+97,1.616666667,BASELINE,764.706303681,744,714,680,658,634,878,785,806,652,630,652,0.40098032007,-0.0153730610163,0.0598452362112,0.999999943623,0.000218270862834,-0.000254750827571,1.4652916748e-05,1793245333266568960
+98,1.633333333,BASELINE,764.127989238,744,714,680,658,634,878,785,806,652,630,652,0.400979523956,-0.0153733781048,0.0598446898564,0.999999943309,0.000218681082001,-0.000255626722807,1.4655516723e-05,1793245333283235328
+99,1.650000000,BASELINE,764.446007004,744,714,680,658,634,878,785,806,651.553992996,630,652,0.400979779073,-0.0153729428338,0.0598449054852,0.999999943385,0.000218452396674,-0.000255528070156,1.46000405456e-05,1793245333299901952
+100,1.666666667,BASELINE,765,744,714,680,658,634,878,785,806,651.019424359,629.980575641,652,0.400980292745,-0.0153723327766,0.0598453100089,0.999999943573,0.000217993419618,-0.000255188110735,1.45352717138e-05,1793245333316568576
+101,1.683333333,BASELINE,765,744,714,680,658,634,878,785,806,651.611973654,629.388026346,652,0.40097961971,-0.0153728747818,0.0598448980475,0.999999943801,0.000216097366378,-0.000255900743747,1.46833396204e-05,1793245333333235456
+102,1.700000000,BASELINE,765,744,714,679.800102509,658,634,878.199897491,785,806,652,629.199897491,652,0.400979961081,-0.015372989225,0.0598451103661,0.999999944032,0.000215604924157,-0.000255407443828,1.47707972471e-05,1793245333349902080
+103,1.716666667,BASELINE,765,744,714,679.220954278,658,634,878.779045722,785,806,652,629.779045722,652,0.400982227007,-0.015372292486,0.0598465070854,0.999999944268,0.000217775449643,-0.000252626216369,1.47432634505e-05,1793245333366568960
+104,1.733333333,BASELINE,765,744,714,679.355133342,658,634,879,785,806,652,630,652,0.400982515711,-0.0153727446737,0.0598466034859,0.999999944365,0.000217478492136,-0.000252498921901,1.47393246244e-05,1793245333383235584
+105,1.750000000,BASELINE,765,744,714,679.929333059,658,634,879,785,806,652,630,652,0.400981584753,-0.0153739055844,0.0598458977761,0.999999944377,0.000215659451473,-0.00025400872346,1.47499405109e-05,1793245333399902208
+106,1.766666667,BASELINE,764.483715019,744,714,680,658,634,878.483715019,785,806.516284981,652,630,652,0.400982446965,-0.015373084936,0.0598465126878,0.999999944187,0.000217965749323,-0.000252783898289,1.47204853227e-05,1793245333416568576
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,806,652,630,652,0.400980866723,-0.0153732845255,0.0598450487241,0.999999943523,0.000217979375066,-0.000255420885622,1.41429322103e-05,1793245333459031808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575339637,744,713.424660363,680,658,634,878,785,806.575339637,652,630,652,0.400980183773,-0.0153727397971,0.0598453114963,0.999999943783,0.000217180402221,-0.00025507549012,1.42415374936e-05,1793245333475698944
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.84942273,744,713.15057727,679.84942273,658,634,878,785,806.84942273,652,629.84942273,652,0.40097971144,-0.0153726756276,0.0598453347751,0.999999943931,0.000216633090364,-0.000254956425735,1.43626995457e-05,1793245333492366080
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.274472442,744,713.725527558,679.274472442,658,634,878,785,806.274472442,652,629.274472442,652,0.400979832691,-0.0153739658207,0.0598446830879,0.99999994376,0.00021679503632,-0.00025547523191,1.45474335258e-05,1793245333509032704
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.307645109,744.307645109,714,679,658,634,878,785,806,652,629.307645109,652,0.400980465918,-0.0153741022911,0.0598450030082,0.999999943812,0.000217338690148,-0.00025480446875,1.46179486131e-05,1793245333525699072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.896309586,744.896309586,714,679,658,634,878,785,806,652,629.896309586,652,0.400981566811,-0.0153731848901,0.0598462104462,0.999999944065,0.00021823101619,-0.000253047089808,1.45841300919e-05,1793245333542365184
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.520004869,714,679.479995131,658,634,878.479995131,785.479995131,806,652,630,652.479995131,0.400981930493,-0.0153727814595,0.0598460932433,0.999999943807,0.000218876362273,-0.000253508745762,1.45929389021e-05,1793245333559031552
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938216496,744,714,680,658,634,878.938216496,785.938216496,806,652,629.938216496,652.938216496,0.400981983789,-0.0153726613047,0.0598457799702,0.999999943533,0.000219106360013,-0.000254387296035,1.46225216737e-05,1793245333575697920
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.36334293,744,714,680,658,634,878.36334293,785.36334293,806,652,629.36334293,652.36334293,0.400980768424,-0.0153739810563,0.0598461904157,0.999999944034,0.000216325570906,-0.000254787923317,1.47489364189e-05,1793245333592364544
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.211151881,744,714,680,658,634,878,785,806.211151881,652,629.211151881,652,0.400983441219,-0.01537481524,0.0598475940452,0.999999944764,0.000215045392789,-0.000252987679016,1.49782684095e-05,1793245333609031424
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.784996053,744,714,680,658,634,878,785,806.784996053,652,629.784996053,652,0.400992792644,-0.0153748153713,0.0598507036513,0.999999945874,0.000216342791037,-0.000247407031896,1.53843797331e-05,1793245333625698304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.631005381,878,785,807,652,630,652,0.401017066759,-0.0153757100203,0.0598603556639,0.999999949612,0.000217096553139,-0.000231037251579,1.63548582212e-05,1793245333642364928
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.040922617,878,785,807,652,630,652,0.401050282006,-0.0153771406318,0.0598739276486,0.999999954511,0.000217524588286,-0.000208203014685,1.76634850069e-05,1793245333659032064
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,680,657.460426788,633,878,785.539573212,807,652,630,652,0.401109986917,-0.0153803365193,0.0598939866522,0.999999961104,0.000215978000929,-0.000175418859232,1.9311609664e-05,1793245333675699200
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680,657.118590037,633.118590037,878,785.881409963,806.881409963,652,630,652,0.401174903614,-0.0153840784313,0.0599134334209,0.999999966412,0.00021408512093,-0.000144581654748,2.09656213833e-05,1793245333692365824
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,680,657.694657484,633.694657484,878,785.305342516,806.305342516,652,630,652,0.401252310649,-0.0153894192531,0.059928653621,0.999999969694,0.000211424005566,-0.000124115331704,2.25447498622e-05,1793245333709031680
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.724522584,744,714,680,658,634,878,785,806,652,630,652,0.401338240589,-0.0153939503276,0.059940476091,0.999999972017,0.000210649783183,-0.000105115162173,2.33248870011e-05,1793245333725697792
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.138342503,744,714,680,658,634,878,785,806,652,630,652,0.40143378325,-0.0153975681122,0.0599484663627,0.999999973406,0.00021200373066,-8.77686242061e-05,2.32038658201e-05,1793245333742364416
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.442700329,714,679.557299671,658,634,878.442700329,785.442700329,806,652,630,652,0.401536499543,-0.0154023870188,0.0599493652335,0.999999973721,0.000211562770471,-8.55318610054e-05,2.19807990229e-05,1793245333759031040
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.022010472,744.977989528,714,679.022010472,658,634,878.977989528,785.977989528,806.022010472,652,630,652,0.401642232381,-0.0154076172941,0.0599478909564,0.99999997376,0.000210476207672,-8.8104880736e-05,2.04140397429e-05,1793245333775697664
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.5976553,744.4023447,714,679.5976553,658,634,878.4023447,785.4023447,806.5976553,652,630,652,0.401768100998,-0.0154138619371,0.0599418255247,0.999999973937,0.000207097337977,-9.4254408405e-05,1.87653527099e-05,1793245333792364800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.173548727,714,680,658,634,878,785,806.826451273,652,630,652,0.401907041329,-0.0154203409523,0.0599381978815,0.999999974522,0.000203551902738,-9.60716310252e-05,1.70842516476e-05,1793245333809031680
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.762906709,658,634,878,785,806.237093291,652,629.762906709,652,0.403504611013,-0.0154891977011,0.0599405280685,0.999999985026,0.000160057364416,-6.57682770439e-05,2.15208745396e-06,1793245333925697792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679.174075105,658,634,878,785,806.825924895,652,629.174075105,652,0.403798714759,-0.0154950560959,0.0599302146372,0.999999984018,0.000158719511777,-8.22859321664e-05,-1.0956366984e-06,1793245333942364672
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.591871396,744,714,679.408128604,658,634,878,785,807,652,629.408128604,652,0.404126490981,-0.0154889293061,0.0599183965486,0.999999988134,0.000114625001144,-0.000102762326165,-5.68261559305e-06,1793245333959031808
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.012449459,744,714,679.987550541,658,634,878,785,807,652,629.987550541,652,0.404468399679,-0.0154777722827,0.0599059469492,0.999999990759,5.25853365476e-05,-0.000124900219136,-1.08316853709e-05,1793245333975698432
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.563279635,744.563279635,714,680,658,634,878.563279635,785,807,652,630,652,0.40485655489,-0.015472057513,0.0599028681058,0.999999988641,7.07969765708e-05,-0.000132175892035,-1.53502617283e-05,1793245333992364544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.860906256,714,680,658,633.860906256,878.860906256,784.860906256,806.860906256,652,630,652,0.405263190008,-0.015471195562,0.0599047031834,0.999999987874,8.19893747646e-05,-0.000131018007158,-1.90898789627e-05,1793245334009031168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.284570122,714,680,658,633.284570122,878.284570122,784.284570122,806.284570122,652,630,652,0.405724724653,-0.0154852128405,0.0599213384033,0.999999992194,6.55774164547e-05,-0.000104375016031,-2.04243500539e-05,1793245334025697792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.298388748,878,784.298388748,806.298388748,652,630,652,0.406212603054,-0.0154958038947,0.0599446779687,0.999999996453,4.99755928635e-05,-6.43176432072e-05,-2.14306595547e-05,1793245334042364416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,633.887807086,878,784.887807086,806.887807086,652,630,652,0.40672617555,-0.0155030532272,0.0599745565322,0.999999999075,3.51639216241e-05,-1.11767241992e-05,-2.21169010354e-05,1793245334059031040
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.532409873,744,714,680,658,634,878,785,807,652,630,652,0.407266611886,-0.0155032307144,0.0599910173873,0.99999999957,1.28330945987e-05,9.30663927849e-06,-2.4686314487e-05,1793245334075698432
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.045021919,744,714,680,658,633.954978081,878,785,807,652,630,652,0.407812580054,-0.015501732553,0.0600022105565,0.999999999396,-9.69685820371e-06,1.82924312302e-05,-2.79252823393e-05,1793245334092365824
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.621438541,744,714,680,658,633.378561459,878,785,807,652,630,652,0.408349298603,-0.0155000797848,0.0599884608711,0.999999999175,-1.37127990763e-05,-1.78089658556e-05,-3.38415516083e-05,1793245334109031424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.201693548,633.201693548,878.201693548,785.201693548,807,652,630,652,0.40890187236,-0.0154995580617,0.0599770277252,0.999999997942,-1.84592435512e-05,-4.71813567693e-05,-3.93574813612e-05,1793245334125697792
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.7892926,633.7892926,878.7892926,785.7892926,807,652,630,652,0.409484782263,-0.0155012003967,0.0599700268752,0.999999996697,-2.46033793355e-05,-6.36789631913e-05,-4.41074308254e-05,1793245334142364416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,680.371856913,658.628143087,634,878.628143087,786,807,652,630,652,0.410135558012,-0.0155045994697,0.0599759708371,0.999999996846,-4.34891880252e-05,-4.58644204529e-05,-4.80874395953e-05,1793245334159031040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,680.951606452,658.048393548,634,878.048393548,786,807,652,630,652,0.410824275241,-0.0155089806753,0.059989151806,0.999999996212,-6.94984349418e-05,-8.86711465531e-06,-5.16370003222e-05,1793245334175697664
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680.471242178,658,634,878.528757822,785.471242178,807,651.471242178,630,652,0.411522768361,-0.0155121695297,0.0599868334336,0.999999998799,-2.51025812116e-05,-1.50393571317e-05,-3.93203401729e-05,1793245334192365312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.894632091,785.105367909,807.105367909,651.105367909,630,652.105367909,0.412214550918,-0.0155122136557,0.0599770645014,0.999999998721,2.08846474506e-05,-3.62737017907e-05,-2.83842272984e-05,1793245334209032704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.319380762,785.680619238,807.680619238,651.680619238,630,652.680619238,0.412872437364,-0.0154987182772,0.0599403651531,0.999999992779,4.53736792101e-05,-0.000107143607777,-3.00486306322e-05,1793245334225699072
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.254823939,634,878.254823939,785.745176061,807.745176061,652,630,652.745176061,0.413574273254,-0.0154915911361,0.0599180976096,0.999999987192,4.9464734243e-05,-0.000148389718212,-3.39117500413e-05,1793245334242365440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.827722304,634,878.827722304,785.172277696,807.172277696,652,630,652.172277696,0.414330967478,-0.0154924129067,0.0599138440203,0.999999987132,2.80947832549e-05,-0.000152659046827,-4.0519334723e-05,1793245334259032064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,785.417146498,807,652,630,652,0.415161734166,-0.0155037895083,0.0599512107126,0.999999995732,9.49456941395e-06,-8.27922693493e-05,-3.98963253656e-05,1793245334275698432
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,878.986811546,785.986811546,807.013188454,652,630,652.013188454,0.416023801806,-0.0155193606468,0.0600054433437,0.999999999173,-7.59703248176e-06,1.68184800521e-05,-3.62395503765e-05,1793245334292365056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,878.4115978,785.4115978,807.5884022,652,630,652.5884022,0.416862339516,-0.0155202584291,0.0600157015406,0.999999998975,-1.11562894714e-05,2.53803356932e-05,-3.5803826337e-05,1793245334309031424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680.163556224,659,633.836443776,878.163556224,785,808,652,630,653,0.417698404338,-0.0155203616297,0.0600180375105,0.999999998928,-1.28420240708e-05,2.5500292433e-05,-3.64486100692e-05,1793245334325697792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680.738559975,659,633.261440025,878.738559975,785,808,652,630,653,0.418528248228,-0.0155184659539,0.0600004440597,0.99999999915,-9.81466264295e-06,4.38352441561e-06,-3.98115554426e-05,1793245334342364416
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633,879,785,808,652,630,652.677372126,0.419351236499,-0.0155175769927,0.0599775250711,0.999999998512,-1.25824706073e-05,-3.02223197278e-05,-4.3645137434e-05,1793245334359031040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659,633,879,785,808,652,630,652.085746842,0.42016850872,-0.0155175273999,0.0599501658102,0.999999995757,-2.01821165049e-05,-7.60749484138e-05,-4.78711218421e-05,1793245334375697920
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.507080053,744.492919947,714,681,659.492919947,633.492919947,879.492919947,785.492919947,808,652,630,652.492919947,0.420989225967,-0.0155173654337,0.0599152505721,0.999999988574,-2.01450995956e-05,-0.000140911799733,-5.09012474214e-05,1793245334392365312
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.06937299,744.93062701,714,681,660,633.93062701,879.93062701,786,808,652,630.06937299,652.93062701,0.421826330072,-0.0155173987521,0.0598853403526,0.999999979105,-1.93308147879e-05,-0.000196377852512,-5.34073531353e-05,1793245334409032192
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.645699538,744.354300462,714,681,660,633.354300462,879.354300462,786,808,652,630.645699538,652.354300462,0.422778915995,-0.0155189983344,0.0599013643134,0.999999985541,-2.22957058576e-05,-0.000159850486667,-5.35653591496e-05,1793245334425698560
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.22116664,879,785.77883336,808,652,630.77883336,652.22116664,0.423739382103,-0.0155230642781,0.0599367434119,0.999999993452,-2.66059837242e-05,-9.8620507423e-05,-5.16036770614e-05,1793245334442364672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.79526236,879,785.20473764,808,652,630.20473764,652.79526236,0.424712423254,-0.0155310659452,0.0600030086854,0.999999998381,-3.3063177586e-05,2.02894314703e-06,-4.62594792866e-05,1793245334459031296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.6174865,633.6174865,879.765027001,785,808.3825135,651.6174865,630,653,0.425649394854,-0.015534027953,0.0600314254845,0.999999997064,-3.74411933047e-05,4.96280766253e-05,-4.48071476649e-05,1793245334475697920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.022943258,633.022943258,880.954113484,785,808.977056742,651.022943258,630,653,0.426566372807,-0.0155341964441,0.060038862622,0.999999995838,-4.06667066856e-05,6.78210656348e-05,-4.55121034455e-05,1793245334492364544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.445568558,744,714,680.445568558,659.554431442,633,880.445568558,785.554431442,808.445568558,651.554431442,630.554431442,653,0.427482189065,-0.0155380656318,0.0600184638946,0.99999999649,-4.94968536484e-05,4.63511232856e-05,-4.92161003463e-05,1793245334509031680
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.130592538,744,714,680.130592538,660,633.130592538,880,785.869407462,808.130592538,652,631,653,0.428385220708,-0.0155396993047,0.0599928750812,0.999999996997,-5.52025954068e-05,1.33313141353e-05,-5.27389556004e-05,1793245334525698560
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.704971286,744,714,680.704971286,660,633.704971286,880,785.295028714,808.704971286,652,631,653,0.429244965428,-0.015533231358,0.0599534459016,0.999999995815,-4.95263448349e-05,-5.352776606e-05,-5.52371729048e-05,1793245334542365440
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.28773537,714,681,659.71226463,633.71226463,880,785,809,652,631,652.71226463,0.430114773579,-0.0155289489701,0.0599267231792,0.999999992501,-4.51454499661e-05,-9.82125241697e-05,-5.75671908334e-05,1793245334559031808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.879355382,714,681,659.120644618,633.120644618,880,785,809,652,631,652.120644618,0.430995209921,-0.0155269748068,0.0599134200721,0.999999990192,-4.21326137248e-05,-0.000119478412631,-5.97195691454e-05,1793245334575697920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.458316282,633,880,785.458316282,809,652,631,652.458316282,0.431923121221,-0.0155333536465,0.0599536621088,0.99999999578,-5.39895309423e-05,-4.61307657795e-05,-5.82805455325e-05,1793245334592364544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.965912362,714,681.034087638,660,633,879.965912362,785.965912362,809,652,631,652.965912362,0.432861776677,-0.0155413862506,0.0600045948423,0.999999995059,-6.84501485815e-05,4.53453162914e-05,-5.60327046233e-05,1793245334609031424
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.389294941,714,681.610705059,660,633,879.389294941,785.389294941,809,652,631,652.389294941,0.433777878661,-0.0155416848647,0.0600073764109,0.999999995642,-6.37271739432e-05,3.96130677538e-05,-5.55539538923e-05,1793245334625698048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,713.813798594,681.813798594,660,633,879,785.186201406,809,652,631,652.186201406,0.434676494932,-0.0155426104084,0.0599996070985,0.999999996291,-6.24392883962e-05,1.94137237458e-05,-5.60595378046e-05,1793245334642364416
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,713.240631967,681.240631967,660,633,879,785.759368033,809,652,631,652.759368033,0.435538772429,-0.0155448388423,0.059969910863,0.999999995475,-6.82902309628e-05,-3.08512526194e-05,-5.86107735131e-05,1793245334659031296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.344037808,744.344037808,713.344037808,681.344037808,660.344037808,633,879.344037808,786,809,651.655962192,631,653,0.436362674738,-0.0155410320542,0.0599452380444,0.99999999315,-6.79475710553e-05,-7.2733973745e-05,-6.15813451291e-05,1793245334675698176
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.937031568,744.937031568,713.937031568,681.937031568,660.937031568,633,879.937031568,786,809,651.062968432,631,653,0.437158807574,-0.0155328580006,0.059924200321,0.999999990013,-6.31230365573e-05,-0.000108551043595,-6.48553604939e-05,1793245334692365056
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483707936,745,713.483707936,681.483707936,660.483707936,633.516292064,880,786,809,651.516292064,631,653,0.437935687156,-0.0155282134165,0.0599042596524,0.999999984106,-6.23350522836e-05,-0.000153132846606,-6.6722295674e-05,1793245334709031424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.093456724,681.093456724,660,634,880,786,809.093456724,652,631,653,0.438725140172,-0.0155261139629,0.0598948371793,0.999999979734,-6.39713864282e-05,-0.000178458279002,-6.7762880158e-05,1793245334725697792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.668230212,681.668230212,660,634,880,786,809.668230212,652,631,653,0.439591128481,-0.0155349628155,0.0599389138237,0.999999990076,-7.56235672721e-05,-9.92476639114e-05,-6.54085549036e-05,1793245334742364416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.249381471,744.750618529,714,682,660,633.750618529,880,785.750618529,809.750618529,652,630.750618529,653,0.440421819797,-0.0155436541005,0.0599770386788,0.999999993586,-8.62362107533e-05,-3.90240023814e-05,-6.21951702252e-05,1793245334759031040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.839240172,744.160759828,714,682,660,633.160759828,880,785.160759828,809.160759828,652,630.160759828,653,0.441204320526,-0.01555213026,0.0600070376311,0.999999993765,-9.54295871039e-05,-4.72298488991e-06,-5.78089236428e-05,1793245334775697920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.57875581,744.42124419,714,682,659.57875581,633,880,785.42124419,809,652,630.42124419,653,0.441898102307,-0.0155577819931,0.0599733965729,0.99999999119,-0.000102760400632,-5.82582613144e-05,-6.05436789475e-05,1793245334792364544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000303488,745,714,682.000303488,659.000303488,633,880,785.999696512,809.000303488,652,631,653,0.442558627967,-0.0155623757635,0.0599159173762,0.999999981373,-0.000109399925465,-0.000144693590681,-6.59458080715e-05,1793245334809030912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.57548442,745,714,682.57548442,659.57548442,633,880,785.42451558,809.57548442,652,631,653,0.443184964409,-0.0155673385281,0.0598665643151,0.999999965709,-0.000128373919936,-0.000217114341321,-7.04475482831e-05,1793245334825698048
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.849125024,745,714,682.849125024,659.849125024,632.849125024,880.150874976,785,809.849125024,652,631,653,0.443812913512,-0.0155728530283,0.0598286617615,0.999999949329,-0.000144859222501,-0.000273619089181,-7.4098178338e-05,1793245334842365184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.273143701,745,714,682.273143701,659.273143701,632.273143701,880.726856299,785,809.273143701,652,631,653,0.444445406599,-0.015579922104,0.0598230222241,0.99999994456,-0.000154332376071,-0.000285278819861,-7.53507166689e-05,1793245334859032064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880.689264813,785,809,652,631,653,0.445046009869,-0.0155867829595,0.0598099475663,0.999999934264,-0.000165809689058,-0.000313031241227,-7.73968012355e-05,1793245334875698432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880.09826277,785,809,652,631,653,0.445617850157,-0.0155934560109,0.0597901668197,0.999999917631,-0.000179094648026,-0.000355298425189,-8.01586227438e-05,1793245334892364544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,744.516956473,714,682,658.516956473,632,880.483043527,784.516956473,809,651.516956473,631,653,0.446163605413,-0.0156021792555,0.059764545723,0.999999900025,-0.000200628156093,-0.000390988394199,-8.26187449011e-05,1793245334909031168
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+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.370773537,658,631.629226463,880.629226463,782.629226463,810,652,630,653,0.448679007478,-0.0156940289099,0.059754313172,0.999999867384,-0.000321007962872,-0.00039540334727,-7.64288235822e-05,1793245334992365312
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+256,4.266666667,HOLD_POSE2,765,745,714,682.384745323,656.384745323,628,880,779,810,652,628,653,0.45329070778,-0.0157395281375,0.0596630500291,0.999999804278,-0.00034359538052,-0.000519624061918,-5.81072686443e-05,1793245335969270016
+257,4.283333333,HOLD_POSE2,765,745,714,682.965463889,656.965463889,628,880,779,810,652,628,653,0.453291686721,-0.0157372036516,0.0596635299852,0.999999805917,-0.000339870140239,-0.000518878979293,-5.84744963653e-05,1793245335985936640
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+259,4.316666667,HOLD_POSE2,765,745,714,683,656.138008739,629,880.138008739,779,809.138008739,652,628,653,0.453288816424,-0.0157370255837,0.0596630204739,0.999999803966,-0.000341369895794,-0.00052166530371,-5.83055944832e-05,1793245336019270400
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.717250023,629,880.717250023,779,809.717250023,652,628,653,0.453288771584,-0.0157367092106,0.0596619153756,0.999999803606,-0.000340779471617,-0.000522719404269,-5.84953846091e-05,1793245336035937024
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.57674762,656.42325238,628.57674762,880,779,810,652,628.57674762,652.57674762,0.453289317187,-0.0157384231696,0.059661849168,0.999999803587,-0.000340969875065,-0.000522662227701,-5.82273357637e-05,1793245336089705216
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.155893854,745,714,683,656,629,880,779,810,652.155893854,629,653,0.453289906217,-0.0157388396668,0.0596627397686,0.999999804435,-0.000340187878861,-0.000521603172134,-5.77346943272e-05,1793245336106372352
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.674370096,745,714,683,656.325629904,629,880,779,810,652.674370096,628.674370096,653,0.453291697748,-0.0157355135521,0.0596635605696,0.999999805424,-0.00033895561913,-0.000520459324938,-5.81602416416e-05,1793245336139705088
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.091802678,745,714,683,656.908197322,629,880,779,810,652.091802678,628.091802678,653,0.453289858958,-0.0157359509066,0.059662045034,0.999999804172,-0.000339206632883,-0.000522683223246,-5.82863294801e-05,1793245336156371968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.483764334,683,656.516235666,628.516235666,880,779,810,652,628,653,0.453288972598,-0.0157345012171,0.05966126128,0.999999804049,-0.000338198239982,-0.00052350239052,-5.88956370703e-05,1793245336173038592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.941690922,683,656.058309078,628.058309078,880,779,810,652,628,652.941690922,0.453288243919,-0.0157329567813,0.0596606106617,0.999999804043,-0.000337246262987,-0.000524058338406,-5.95132599735e-05,1793245336189704960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.364590578,683,656.635409422,628.635409422,880,779,810,652,628,652.364590578,0.453287332998,-0.0157337100202,0.0596599266622,0.999999803204,-0.000338892296783,-0.000524610284752,-5.94006310925e-05,1793245336206371584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.783818721,628.783818721,880,779,809.783818721,652,628,652.216181279,0.453283754513,-0.0157348079836,0.0596583411226,0.999999801561,-0.000340124097287,-0.000526966299135,-5.91552666503e-05,1793245336223038208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.196747921,628.196747921,880,779,809.196747921,652,628,652.803252079,0.453275599443,-0.0157364973706,0.0596552088637,0.999999798524,-0.000340645221895,-0.000532417446985,-5.86821756149e-05,1793245336239704832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.386708199,628,880,779,809,652,628.386708199,653,0.453253477859,-0.0157345136998,0.0596454743432,0.99999979055,-0.000339148537849,-0.000548026196347,-5.95512437356e-05,1793245336256371200
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.968342341,628,880,779,809,652,628.968342341,653,0.453224316248,-0.0157306785704,0.0596324118556,0.999999779731,-0.000336634747668,-0.000568755034108,-6.10968468106e-05,1793245336273037824
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.457747227,628,880,779,809.542252773,652,628.457747227,653,0.453174045081,-0.0157301010807,0.0596163592906,0.999999764822,-0.000337759300462,-0.00059367451226,-6.18520557008e-05,1793245336289704960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.116085109,628.116085109,880,779,810,652,628,653,0.453119239941,-0.0157288286807,0.0596003807189,0.999999750215,-0.000338888415302,-0.000617076829438,-6.27724372835e-05,1793245336306371840
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.691367353,628.691367353,880,779,810,652,628,653,0.45305130636,-0.0157240656735,0.0595853756688,0.999999739711,-0.000339207137418,-0.00063352353482,-6.45261621795e-05,1793245336323038208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.273906259,683,656.726093741,629,880,779,810,652,628,653,0.452979357703,-0.015718832807,0.0595765628834,0.999999734214,-0.000337308331965,-0.000643052599899,-6.54151254401e-05,1793245336339704576
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.864844327,683,656.135155673,629,880,779,810,652,628,653,0.452902761815,-0.0157130561036,0.0595749173131,0.999999734737,-0.000332842857296,-0.000644574866353,-6.53031733787e-05,1793245336356371200
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.974659871,683,656,629,880,779,810,652.974659871,628,653,0.452718850625,-0.0157063306151,0.0595836991831,0.999999744002,-0.000327727796013,-0.000633011281687,-6.23406345e-05,1793245336389704448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.40185792,683,656,629,880,779,810,652.40185792,628,653,0.452598053353,-0.0156988255277,0.0595859436552,0.999999747629,-0.000324172283046,-0.000629185456834,-6.14760549515e-05,1793245336406371072
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.651028677,629,880.348971323,779,810,652,628,653,0.452136469739,-0.0156711943708,0.0595829268787,0.999999750931,-0.000308450150337,-0.000632013016505,-5.96265506634e-05,1793245336456371712
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,629,881,779,810,652,628,653,0.451728006797,-0.0156483832282,0.0595765976492,0.999999746822,-0.000296525513572,-0.000644227698946,-5.82986269334e-05,1793245336489704960
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.344102354,745,714,683,656,629,880.344102354,779.655897646,810,652,628.655897646,653,0.451243968652,-0.015625124593,0.0595791106514,0.999999751247,-0.000281057012044,-0.000644582980216,-5.50086152462e-05,1793245336523037952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.764315959,656.471368082,629,880,780,810,652,629,653,0.450968342084,-0.015612823555,0.0595805332234,0.999999753419,-0.000272939518817,-0.000644844060377,-5.33141487306e-05,1793245336539704576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745,714,682.174368327,657.651263346,629,880,780,810,652,629,653,0.450659983058,-0.015599740569,0.0595775235796,0.999999750449,-0.00026421921464,-0.000653129498793,-5.20683535613e-05,1793245336556371200
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.409288693,745,714,682.409288693,657.590711307,629,880,780,810,652,629,653,0.450322264314,-0.0155886155129,0.0595693411266,0.999999744221,-0.000257590800709,-0.000665235177087,-5.16453939036e-05,1793245336573037824
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.990306291,745,714,682.990306291,657.009693709,629,880,780,810,652,629,653,0.44997222686,-0.0155783119632,0.0595589882721,0.999999736476,-0.000251840099989,-0.000678943747162,-5.15676786977e-05,1793245336589704704
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.686293577,745,714,682.686293577,657,630,880,781.313706423,810,652,629.686293577,653,0.448335954103,-0.0155643685981,0.0595493330582,0.999999743385,-0.000189404487465,-0.000689614796228,-4.22792688751e-05,1793245336656371968
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.104056451,745,714,682.104056451,657,630,880,781.895943549,810,652,629.104056451,653,0.447870325514,-0.0155538332668,0.0595631278422,0.99999976144,-0.000152560038893,-0.000672609809141,-3.79776387184e-05,1793245336673038592
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,783.916187711,809,652,630,653,0.443958984906,-0.0154968575538,0.0596241252572,0.999999832049,-3.93673843652e-05,-0.000578151389649,-9.69773053409e-06,1793245336789704448
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744,713.912315237,681.912315237,658,633,880,785,809,652,630,652.087684763,0.434865061267,-0.015382573447,0.0597322076544,0.999999892151,0.000221712228944,-0.000407170067128,2.74587538416e-05,1793245336989704448
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.646737129,744,714,681,658.353262871,633,879.646737129,785,808,652,630,652.353262871,0.432221081288,-0.0153873326656,0.0597867601792,0.999999943002,0.000117153539062,-0.000316654351823,1.18230834671e-06,1793245337039704320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,681,658,633,880,785,808.22607274,652,630,652.22607274,0.431349867766,-0.0153880444956,0.059804534582,0.999999947285,0.000135854005599,-0.000294793915488,8.40815133392e-06,1793245337056371200
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,681,658,633,879.603076729,785,808.603076729,652,630,652.603076729,0.429576459493,-0.0153849327969,0.0598239096577,0.999999951357,0.00016060419385,-0.000266878221777,1.63951029378e-05,1793245337089704448
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.698796291,713,681.698796291,658,633,879,784.698796291,808,652,630,652,0.425834170133,-0.0153780265489,0.059769448094,0.999999925608,0.000164474119987,-0.000348704017461,1.17369582548e-05,1793245337156371200
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.876573971,681.123426029,658,633,879,785,808,652,630,652,0.424070302105,-0.0153768758239,0.0598283098643,0.999999941252,0.00019243053418,-0.000282915279168,2.06198668039e-05,1793245337189704448
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.393106792,633,878,785.393106792,808,652,629.606893208,652.393106792,0.421361085705,-0.0153730383084,0.0598294080018,0.999999942901,0.000194642791519,-0.000275443136437,2.10326412133e-05,1793245337239704320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.81337908,744,714,680.18662092,658,633,878.18662092,785,808,652,630,652,0.420431426234,-0.0153685840224,0.0597993015083,0.999999926652,0.000198514765916,-0.000327033404866,1.83503831588e-05,1793245337256370944
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.342884407,744,714,680.657115593,658,633,878.657115593,785.342884407,808,652,630,652,0.41865321611,-0.0153668788979,0.0597253958386,0.999999882702,0.000192746870549,-0.00044418899405,1.18602765718e-05,1793245337289704448
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.805026111,714,680,658,634,878.194973889,785,807,652,630,652,0.406373746585,-0.0153620544089,0.0598203715615,0.999999931943,0.000222787301688,-0.000293337197599,2.08180262557e-05,1793245337589704192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.612457372,714,680,658,633.612457372,878.387542628,785,807,652,629.612457372,652.387542628,0.405913152067,-0.0153641495549,0.0598235789921,0.999999935849,0.000214869252678,-0.000285805461854,2.11912852607e-05,1793245337606371584
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.880147043,714,680,658,633.119852957,878,785,807,652,630,652.880147043,0.404645183777,-0.0153608901294,0.0598171605758,0.999999930769,0.000234612026123,-0.000287992150306,2.18902868076e-05,1793245337656371200
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.649495328,714,680,658,634,878.350504672,785,806.350504672,652,630,652,0.402171878539,-0.0153492158681,0.0598378438379,0.999999930078,0.000272074817056,-0.000254616433638,3.14517519779e-05,1793245337806371072
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7e6c84cb253f1e634685bcd75cf1afda71255f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e116486b761d2b99c09c5736238ec454c45f2266
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4843d3c7d8dd575e537e6f3665e600ad9d308b655f18a42ce267d168165f5
+size 25870946
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7ca81685356cbabb8ea25b22dcfa3a974611d08
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+3,0.050000000,BASELINE,764.752696713,744.247303287,714,680,658,633,878.247303287,785,807,652,629.752696713,652.247303287,0.40098069544,-0.0153720150552,0.0598445217467,0.999999944293,0.000211368629974,-0.000258035772183,1.24223317935e-05,1793245338651010048
+4,0.066666667,BASELINE,765,744.328984775,714,680,658,633.328984775,878,785.328984775,807,652,630,652,0.400980074038,-0.0153715268451,0.0598446321966,0.999999943841,0.000213269660229,-0.000258212392537,1.26507288834e-05,1793245338667676672
+5,0.083333333,BASELINE,765,744.906654327,714,680,658,633.906654327,878,785.906654327,807,652,630,652,0.400977960226,-0.0153717205563,0.0598441240492,0.999999943242,0.000215035259094,-0.000259046227539,1.30679973291e-05,1793245338684343040
+6,0.100000000,BASELINE,765,745,714,680,658,634,878.494115312,785.505884688,806.505884688,652,630,652,0.400977984359,-0.0153720347654,0.0598440566186,0.999999943471,0.00021388707192,-0.000259112724548,1.30582855518e-05,1793245338701009664
+7,0.116666667,BASELINE,765,744.917998785,714,680,658,634,878.917998785,785,806,652,630,652,0.400978277975,-0.0153725020487,0.0598440366099,0.999999943804,0.000212384457727,-0.000259067243674,1.29930938066e-05,1793245338717676288
+8,0.133333333,BASELINE,765,744.338975636,714,680,658,634,878.338975636,785,806,652,630,652,0.400977707435,-0.0153737563729,0.0598437891917,0.999999943811,0.00021213746346,-0.000259239444453,1.30904236017e-05,1793245338734342656
+9,0.150000000,BASELINE,765,744.238091251,714,680,658,634,878,785,806,652,630,652,0.400977398009,-0.0153741876467,0.0598434135364,0.99999994381,0.000211684539271,-0.000259613313168,1.30923258291e-05,1793245338751009280
+10,0.166666667,BASELINE,765,744.812395615,714,680,658,634,878,785,806,652,630,652,0.400977457305,-0.0153734566755,0.0598428567948,0.999999943797,0.000210940817603,-0.000260271960936,1.2959472993e-05,1793245338767675904
+11,0.183333333,BASELINE,765,744.613346114,714,680,658,634,878,785,806.386653886,652,630,652,0.400978269809,-0.0153726367204,0.0598434234558,0.99999994388,0.000211587193311,-0.000259436179878,1.2798314203e-05,1793245338784342784
+12,0.200000000,BASELINE,765,744.039110154,714,680,658,634,878,785,806.960889846,652,630,652,0.400979447725,-0.0153717735954,0.0598445351264,0.999999944006,0.000212907963698,-0.000257875388556,1.26234229916e-05,1793245338801009408
+13,0.216666667,BASELINE,764.448191419,744,714,680,658,634,878.551808581,785,807,652,630,652,0.400978818291,-0.0153724803888,0.059844145469,0.999999943787,0.000213198367229,-0.000258466607401,1.29128719474e-05,1793245338817675776
+14,0.233333333,BASELINE,764.140581697,744,714,680,658,634.140581697,878.859418303,785,807,652,630,652,0.400978266423,-0.0153732133638,0.059843898778,0.999999943732,0.000212865543477,-0.000258941899302,1.31470257604e-05,1793245338834342400
+15,0.250000000,BASELINE,764.718878035,744,714,680,658,634.718878035,878.281121965,785,807,652,630,652,0.400978367344,-0.0153736706077,0.0598444388688,0.999999944262,0.000210826711946,-0.000258566530271,1.31033476579e-05,1793245338851009024
+16,0.266666667,BASELINE,765,744,714,680,658,634.703789556,878,785.296210444,806.703789556,652,630,652,0.400979166703,-0.0153740383604,0.059844877888,0.999999944584,0.000210132895706,-0.000257878733022,1.31828288494e-05,1793245338867675648
+17,0.283333333,BASELINE,765,744,714,680,658,634.127369041,878,785.872630959,806.127369041,652,630,652,0.400980626773,-0.015374321456,0.0598452212953,0.999999944713,0.000210711441309,-0.000256895383984,1.3378816653e-05,1793245338884342272
+18,0.300000000,BASELINE,764.554300891,744,714,680,658,634,878.445699109,785.554300891,806,652,630,652.445699109,0.400979624175,-0.0153734627753,0.0598448278741,0.999999944703,0.000210957857717,-0.00025674420088,1.31726175667e-05,1793245338901009152
+19,0.316666667,BASELINE,764.018574773,744.018574773,714,680,658,634,878.981425227,785,806.018574773,652,630,652.981425227,0.400977952578,-0.0153723582611,0.0598442252593,0.999999944651,0.000211048299527,-0.000256887447632,1.28625147923e-05,1793245338917675776
+20,0.333333333,BASELINE,764.615045302,744.615045302,714,680,658,634,878.384954698,785,806.615045302,652,630,652.384954698,0.400977199195,-0.0153736810976,0.059843616441,0.99999994453,0.000209216979951,-0.000258847445516,1.28689026781e-05,1793245338934342400
+21,0.350000000,BASELINE,765,745,714,679.796060032,657.796060032,634,878,785,806.796060032,652,630,652,0.400977244783,-0.0153740675278,0.0598436608828,0.999999944407,0.00020914063546,-0.000259383223248,1.29045687927e-05,1793245338951009024
+22,0.366666667,BASELINE,765,745,714,679.220953349,657.220953349,634,878,785,806.220953349,652,630,652,0.400978744484,-0.0153727497169,0.0598448942453,0.99999994428,0.00021225831116,-0.00025732694822,1.29935207044e-05,1793245338967675904
+23,0.383333333,BASELINE,764.645669561,744.645669561,714,679.354330439,657.354330439,634,878,785,806.354330439,652,630,652,0.400979054442,-0.015372595241,0.0598454686326,0.99999994432,0.000212644950823,-0.000256852275351,1.29928912483e-05,1793245338984342528
+24,0.400000000,BASELINE,764.070275222,744.070275222,714,679.929724778,657.929724778,634,878,785,806.929724778,652,630,652,0.400978622127,-0.0153731665603,0.0598456318908,0.999999944468,0.00021132771946,-0.000257364351099,1.29363727087e-05,1793245339001009152
+25,0.416666667,BASELINE,764.504533999,744.504533999,714,680,658,634,878.504533999,785,807,652,630,652,0.400978785806,-0.0153737032283,0.0598452324447,0.99999994445,0.000211299336374,-0.000257456730016,1.3016386518e-05,1793245339017675776
+26,0.433333333,BASELINE,765,744.918012148,714,680,658,634,878.918012148,785,807,652,629.918012148,652,0.400978860013,-0.0153739517984,0.0598447663561,0.999999944401,0.000211441973473,-0.000257527796152,1.3055778714e-05,1793245339034342400
+27,0.450000000,BASELINE,765,744.323517562,714,680,658,634,878.323517562,785,807,652,629.323517562,652,0.400977856618,-0.0153724296016,0.0598443730557,0.999999944308,0.000211532776204,-0.000257830637051,1.27225057362e-05,1793245339051009024
+28,0.466666667,BASELINE,765,744,714,680,658,634,878.263461447,785,806.736538553,652,629.263461447,652,0.400977833497,-0.0153724313335,0.059844635595,0.999999944525,0.000211081589665,-0.000257357263075,1.26944390112e-05,1793245339067675904
+29,0.483333333,BASELINE,765,744,714,680,658,634,878.841467626,785,806.158532374,652,629.841467626,652,0.400978980718,-0.0153742524729,0.0598456811367,0.999999945112,0.000209983326013,-0.000255957171705,1.3030755864e-05,1793245339084342528
+30,0.500000000,BASELINE,765,744,714,680,658,634,878.584557991,785,806.415442009,652,630.415442009,652,0.400979380302,-0.0153739761233,0.059845750702,0.999999945329,0.00020937043632,-0.000255615557629,1.29053772597e-05,1793245339101009152
+31,0.516666667,BASELINE,765,744,714,680,658,634,878.012107365,785,806.987892635,652,630.987892635,652,0.40097949733,-0.0153729070666,0.0598454514151,0.999999945408,0.000208940984756,-0.000255673975486,1.26055093955e-05,1793245339117675776
+32,0.533333333,BASELINE,765,744,714,680,658,634,878.580910955,785,806.419089045,652,630.419089045,652.580910955,0.400979234546,-0.0153728153395,0.0598454321779,0.999999945254,0.000209532485386,-0.000255793181795,1.25463820918e-05,1793245339134342400
+33,0.550000000,BASELINE,764.830002808,744.169997192,714,680,658,634,878.830002808,785,806.169997192,652,630,652.830002808,0.400978881243,-0.0153728199034,0.0598452782897,0.999999945017,0.000210184109496,-0.00025618566309,1.25557105019e-05,1793245339151009024
+34,0.566666667,BASELINE,764.251435097,744.748564903,714,680,658,634,878.251435097,785,806.748564903,652,630,652.251435097,0.400978330108,-0.0153730051398,0.0598447862387,0.99999994459,0.000210927215682,-0.000257231775531,1.27170633608e-05,1793245339167675648
+35,0.583333333,BASELINE,764.324657346,745,714,680,658,634,878.324657346,785,807,652,630,652,0.400977975809,-0.0153731073241,0.0598448994439,0.999999944557,0.000211364572857,-0.000256994148085,1.28845728237e-05,1793245339184342272
+36,0.600000000,BASELINE,764.898847349,745,714,680,658,634,878.898847349,785,807,652,630,652,0.4009777728,-0.0153731456741,0.0598454778509,0.999999944825,0.000211566930456,-0.00025576983423,1.3056814289e-05,1793245339201009152
+37,0.616666667,BASELINE,765,744.52327722,714,680,658,634,878.52327722,785,807,652,630,652.47672278,0.40097722049,-0.0153732712782,0.0598449152133,0.999999944284,0.000212464336931,-0.000257149645241,1.28577669605e-05,1793245339217675776
+38,0.633333333,BASELINE,765,744.056396717,714,680,658,634,878.056396717,785,806.943603283,652,630,652.943603283,0.400976683232,-0.0153734474059,0.0598442026562,0.999999943693,0.000213225633078,-0.000258823690751,1.26045898949e-05,1793245339234342400
+39,0.650000000,BASELINE,765,744.645617304,714,680,658,634,878.645617304,785,806.354382696,652,630,652.354382696,0.400976993855,-0.0153739245916,0.0598443789222,0.999999944311,0.000211296795513,-0.000258016537988,1.25901142424e-05,1793245339251009792
+40,0.666666667,BASELINE,764.771446508,745,714,680,658,634,878.771446508,785,806,652,630,652.228553492,0.400977344236,-0.0153741936885,0.0598445730419,0.99999994458,0.000210490350191,-0.000257631476993,1.26816487571e-05,1793245339267676928
+41,0.683333333,BASELINE,764.197993842,745,714,680,658,634,878.197993842,785,806,652,630,652.802006158,0.400977754611,-0.0153741487683,0.0598447941039,0.999999944324,0.000211377653591,-0.000257883374607,1.29331581604e-05,1793245339284342784
+42,0.700000000,BASELINE,764,744.621937593,714,680,658,634,878.378062407,785.378062407,806.378062407,652,630,652.621937593,0.400977420627,-0.0153735221628,0.0598442089666,0.999999944158,0.000211591844707,-0.000258359434782,1.27530769834e-05,1793245339301009408
+43,0.716666667,BASELINE,764,744.044508392,714,680,658,634,878.955491608,785.955491608,806.955491608,652,630,652.044508392,0.400976694113,-0.0153725888122,0.0598431986897,0.99999994404,0.000211451077898,-0.000258953704459,1.23454015483e-05,1793245339317676032
+44,0.733333333,BASELINE,764.544757441,744.544757441,714,680,658,634,878.455242559,785.455242559,806.455242559,652,630,652,0.400976659396,-0.0153735543306,0.0598431649276,0.999999944005,0.000210934606273,-0.00025949518635,1.25809651999e-05,1793245339334342656
+45,0.750000000,BASELINE,765,744.867442291,714,680,658,634,877.867442291,785,806.132557709,652,630,652,0.400976725871,-0.0153742053904,0.0598432991453,0.999999944072,0.000210448823069,-0.000259621286228,1.27801854671e-05,1793245339351009280
+46,0.766666667,BASELINE,765,744.28791718,714,680,658,634,877.28791718,785,806.71208282,652,630,652,0.400976938735,-0.015373261393,0.0598437247716,0.999999944458,0.000210172320093,-0.000258361637349,1.26757170911e-05,1793245339367675904
+47,0.783333333,BASELINE,765,744.288836623,714,679.711163377,658.288836623,634,877.577673247,785,807,652,630,652,0.400977121319,-0.0153729813987,0.0598436778221,0.999999944562,0.000210300390732,-0.000257861120554,1.2583256286e-05,1793245339384342528
+48,0.800000000,BASELINE,765,744.862854262,714,679.137145738,658.862854262,634,878.725708524,785,807,652,630,652,0.400977274005,-0.0153733570036,0.0598431642778,0.999999944387,0.000210827914537,-0.000258110127878,1.25026510677e-05,1793245339401009152
+49,0.816666667,BASELINE,764.553015781,744.553015781,714,679.446984219,658.553015781,634,879,785,806.553015781,652,630,652,0.400977028161,-0.0153735416528,0.0598433568176,0.999999944518,0.000209902429259,-0.000258351682632,1.25886055868e-05,1793245339417675776
+50,0.833333333,BASELINE,764.033840578,744,714,679.966159422,658,634,878.966159422,785,806,652,629.966159422,651.966159422,0.400976722127,-0.0153737115187,0.0598437688306,0.999999944752,0.000208562827983,-0.000258527354873,1.27274504097e-05,1793245339434342400
+51,0.850000000,BASELINE,764.61347007,744,714,679.38652993,658,634,878.38652993,785,806,652,629.38652993,651.38652993,0.400977463111,-0.0153746097775,0.0598441455953,0.999999945107,0.000207900970877,-0.000257678191453,1.28760168531e-05,1793245339451009024
+52,0.866666667,BASELINE,765,744,714,679.192068003,658,634,878,785.192068003,806.192068003,652,629.192068003,651.192068003,0.400977954475,-0.015375234087,0.0598443856441,0.999999945263,0.000207821540513,-0.000257124615046,1.30452643161e-05,1793245339467675648
+53,0.883333333,BASELINE,765,744,714,679.768601017,658,634,878,785.768601017,806.768601017,652,629.768601017,651.768601017,0.400977946172,-0.0153753100284,0.059844352027,0.999999945025,0.000208907961347,-0.000257162719047,1.32559092348e-05,1793245339484342528
+54,0.900000000,BASELINE,765,744.342742539,714,680,658,634,878,785.657257461,807,652,630,652,0.400978166152,-0.0153747006465,0.0598445790109,0.999999944895,0.000210019746569,-0.000256765357056,1.31830748926e-05,1793245339501009664
+55,0.916666667,BASELINE,765,744.915280635,714,680,658,634,878,785.084719365,807,652,630,652,0.400978539188,-0.0153736317819,0.0598449807178,0.999999944837,0.000211148537585,-0.000256076032032,1.29201787099e-05,1793245339517676544
+56,0.933333333,BASELINE,764.494588181,745,714,679.494588181,658,634,878,785,807,652,630,652,0.400979026674,-0.0153740875078,0.0598454455467,0.999999945318,0.000209718239845,-0.000255386363829,1.26337466326e-05,1793245339534343168
+57,0.950000000,BASELINE,764,744.9037106,714,679.0962894,658,633.9037106,878,785.0962894,806.9037106,652,630,652,0.400979620351,-0.0153747307751,0.0598459654922,0.999999945818,0.00020830066239,-0.000254594485989,1.24740090298e-05,1793245339551009536
+58,0.966666667,BASELINE,764,744.324415561,714,679.675584439,658,633.324415561,878,785.675584439,806.324415561,652,630,652,0.400980647002,-0.0153749866227,0.0598467069236,0.999999945961,0.000209176268772,-0.000253290204704,1.29702982407e-05,1793245339567676160
+59,0.983333333,BASELINE,764.253640395,744.253640395,714,680,658,633.253640395,878.253640395,785.746359605,806.253640395,652,630,652,0.400980928428,-0.0153750658792,0.0598468579284,0.999999946064,0.000209091332849,-0.000252942188163,1.31671869903e-05,1793245339584342784
+60,1.000000000,BASELINE,764.830119302,744.830119302,714,680,658,633.830119302,878.830119302,785.169880698,806.830119302,652,630,652,0.400980261316,-0.0153749203672,0.0598462574269,0.999999946119,0.000207783799798,-0.000253811324128,1.29829929783e-05,1793245339601009408
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.586999204,785,807,652.413000796,630,652,0.400979372725,-0.0153742007253,0.0598459351577,0.999999946005,0.0002074790087,-0.00025452151305,1.26956859083e-05,1793245339617676032
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.001442683,785,807,652.998557317,630,652,0.400978391598,-0.0153732412065,0.0598457291367,0.999999945821,0.000207593172963,-0.000255165292309,1.23652972169e-05,1793245339634342656
+63,1.050000000,BASELINE,764.422194394,744.422194394,714,680,658,634,878,785,807,652.422194394,630,652,0.400978117837,-0.0153741117962,0.059846002696,0.999999945725,0.000207663105363,-0.000255474009676,1.26180205928e-05,1793245339651010048
+64,1.066666667,BASELINE,764.15665599,744,714,680,658,634,878.15665599,785,806.84334401,652,630,652,0.400977806356,-0.0153748258509,0.0598459915751,0.99999994548,0.000208202866667,-0.000255984806827,1.27982446755e-05,1793245339667677184
+65,1.083333333,BASELINE,764.734478471,744,714,680,658,634,878.734478471,785,806.265521529,652,630,652,0.40097738877,-0.0153751069122,0.0598452119129,0.999999944832,0.000210006047276,-0.000257041116277,1.27796838746e-05,1793245339684343552
+66,1.100000000,BASELINE,764.689427859,744,714,680,657.689427859,634,878.689427859,785,806.310572141,652,630,652,0.400978685861,-0.0153755780312,0.0598456644584,0.999999945295,0.000209529704086,-0.000255617336063,1.29618756036e-05,1793245339701009920
+67,1.116666667,BASELINE,764.114804073,744,714,680,657.114804073,634,878.114804073,785,806.885195927,652,630,652,0.400981440789,-0.0153762107391,0.0598471646397,0.99999994669,0.000207115286097,-0.000252084957911,1.33147492104e-05,1793245339717676032
+68,1.133333333,BASELINE,764.471806861,744.471806861,714,680,657.471806861,633.528193139,878.471806861,785,807.471806861,652,630,652,0.40098132059,-0.015374749729,0.0598471524417,0.999999946248,0.000208949820896,-0.000252341938506,1.29429381913e-05,1793245339734342400
+69,1.150000000,BASELINE,765,744.939671621,714,680,658,633.060328379,878.939671621,785,807.879343243,652,630,652,0.400980572239,-0.0153730591336,0.0598467747487,0.99999994547,0.000211427239429,-0.000253383406236,1.25033691179e-05,1793245339751009024
+70,1.166666667,BASELINE,765,744.360459084,714,680,658,633.639540916,878.360459084,785,806.720918168,652,630,652,0.400980595285,-0.0153738899852,0.0598465011586,0.999999945787,0.000210309779552,-0.000253034871791,1.30372211631e-05,1793245339767675648
+71,1.183333333,BASELINE,765,744.217001028,714,680,658,634,878,785,806.217001028,652,630,652,0.40098056841,-0.0153748947704,0.0598465971692,0.999999946077,0.000209311120824,-0.000252697429539,1.34018800742e-05,1793245339784342528
+72,1.200000000,BASELINE,765,744.791573606,714,680,658,634,878,785,806.791573606,652,630,652,0.400980459274,-0.0153761861614,0.0598473022031,0.999999946324,0.000208508220951,-0.000252378264809,1.34877447623e-05,1793245339801009920
+73,1.216666667,BASELINE,764.632830891,744.632830891,714,679.632830891,658,634,878.367169109,785,806.632830891,652,630,652,0.400979512099,-0.015375694393,0.0598466735444,0.999999945939,0.000208883307539,-0.000253604661227,1.32134191171e-05,1793245339817676800
+74,1.233333333,BASELINE,764.05665313,744.05665313,714,679.05665313,658,634,878.94334687,785,806.05665313,652,630,652,0.400978087877,-0.0153741875724,0.0598452856897,0.99999994519,0.00020992895539,-0.000255710858401,1.27340574369e-05,1793245339834343168
+75,1.250000000,BASELINE,764.532840381,744,714,679,658,634,878.467159619,785,806,652,630,652,0.400978982266,-0.0153745162862,0.0598454795989,0.999999945228,0.000210314368724,-0.00025522549336,1.3087022893e-05,1793245339851009280
+76,1.266666667,BASELINE,765,744,714,679.121229066,658,634,878,785,806.121229066,652,630,652,0.400979751877,-0.0153748275858,0.0598456697795,0.999999945431,0.00021006189057,-0.000254627671222,1.33022461872e-05,1793245339867675648
+77,1.283333333,BASELINE,765,744,714,679.699968234,658,634,878,785,806.699968234,652,630,652,0.400979096389,-0.0153743177704,0.0598451949302,0.999999945927,0.000207673766767,-0.000254671974446,1.26551044522e-05,1793245339884342272
+78,1.300000000,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400978271482,-0.0153744307693,0.0598446763535,0.999999946032,0.000206086255153,-0.000255560834608,1.23389083097e-05,1793245339901009152
+79,1.316666667,BASELINE,765,744,714,680,658,634,878,785,807,652,630,652,0.400977264196,-0.0153752142347,0.0598441107039,0.99999994572,0.000205360611936,-0.000257358870036,1.23789789506e-05,1793245339917675776
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.426261606,785,807,652,630,652,0.400977495794,-0.0153747006651,0.0598447158959,0.99999994546,0.000207168284746,-0.000256921378836,1.23913998093e-05,1793245339934342656
+81,1.350000000,BASELINE,765,744,714,680,658,634,878.999588787,785,807,652,630,652,0.400978154822,-0.0153737396021,0.0598457250427,0.99999994521,0.000209849983141,-0.000255712603192,1.23942811511e-05,1793245339951009792
+82,1.366666667,BASELINE,764.406728784,744,714,680,658.593271216,634,878.406728784,785,807,652,630,652,0.400978371367,-0.0153736362369,0.0598461780549,0.999999945466,0.000209012078492,-0.000255392791606,1.25054947472e-05,1793245339967676672
+83,1.383333333,BASELINE,764,744,714,680,658.819758902,634,878,785,806.819758902,652,630,652,0.400978767161,-0.0153740508609,0.0598464088087,0.999999945741,0.000208281525946,-0.000254900408649,1.27199629184e-05,1793245339984343040
+84,1.400000000,BASELINE,764,744,714,680,658.247423098,634,878,785,806.247423098,652,630,652,0.40097955358,-0.0153755909742,0.0598461569325,0.999999946059,0.000207790001441,-0.000254031227547,1.31588809449e-05,1793245340001009408
+85,1.416666667,BASELINE,764.328786971,744.328786971,714,680,658,634,878,785,806,652,630,652,0.400980131588,-0.015375437219,0.0598464119825,0.999999946144,0.000207967142817,-0.000253550168727,1.31905010351e-05,1793245340017675776
+86,1.433333333,BASELINE,764.907947283,744.907947283,714,680,658,634,878,785,806,652,630,652,0.400980550888,-0.0153739935722,0.0598470530599,0.999999946052,0.000208653477485,-0.000253364667512,1.29119611654e-05,1793245340034342400
+87,1.450000000,BASELINE,764.503543234,744.503543234,713.503543234,680,658,634,878,785,806,652,630,652,0.400979297617,-0.0153752282743,0.0598459510149,0.999999945862,0.000207967461184,-0.000254668728349,1.29945979822e-05,1793245340051009024
+88,1.466666667,BASELINE,764.085135118,744,713.085135118,680,658,634.085135118,878,785,806,652.085135118,630,652,0.400978021975,-0.0153766417899,0.0598447973687,0.999999945683,0.000207191723157,-0.000255996048824,1.31353411907e-05,1793245340067675648
+89,1.483333333,BASELINE,764.664536474,744,713.664536474,680,658,634.664536474,878,785,806,652.664536474,630,652,0.400978451507,-0.015376154901,0.0598452566004,0.999999945682,0.000207400758162,-0.00025582414193,1.32171677354e-05,1793245340084342528
+90,1.500000000,BASELINE,765,744,714,680,658.241212782,634.758787218,878,785,806,652.758787218,630,652,0.400978764386,-0.0153758411005,0.05984566007,0.999999945814,0.000207519819373,-0.000255212128811,1.3171931927e-05,1793245340101009408
+91,1.516666667,BASELINE,765,744,714,680,658.814141555,634.185858445,878,785,806,652.185858445,630,652,0.400978916842,-0.0153757653312,0.0598459868556,0.999999946128,0.000207515148539,-0.000253994881313,1.29519598732e-05,1793245340117676544
+92,1.533333333,BASELINE,764.601781467,744.398218533,714,680,658.601781467,634,878,785,806.398218533,652,630,652,0.40097917144,-0.0153761954483,0.0598458549623,0.999999946157,0.000207141391772,-0.000254184646886,1.30172293827e-05,1793245340134342912
+93,1.550000000,BASELINE,764.012351435,744.987648565,714,680,658.012351435,634,878,785,806.987648565,652,630,652,0.400979475085,-0.0153768684754,0.0598455028264,0.999999946048,0.000206590412028,-0.000255050013954,1.32194625308e-05,1793245340151009280
+94,1.566666667,BASELINE,764.567318995,745,714,679.432681005,658,634,878.567318995,785,807,652,630,652,0.400979820212,-0.0153764785186,0.0598460128811,0.999999946194,0.00020662243701,-0.000254450785688,1.31981084318e-05,1793245340167675648
+95,1.583333333,BASELINE,765,744.853807721,714,679.146192279,658,634,879,785,807,652,630,651.853807721,0.40097982582,-0.0153760941581,0.0598463238643,0.999999946209,0.000206935116011,-0.000254138967797,1.31718822163e-05,1793245340184342272
+96,1.600000000,BASELINE,765,744.276668374,714,679.723331626,658,634,879,785,807,652,630,651.276668374,0.400978827974,-0.0153757933616,0.0598459936244,0.999999945821,0.000208038326173,-0.000254766786827,1.31454007364e-05,1793245340201008896
+97,1.616666667,BASELINE,765,744,714,680,658,634,878.701211141,785,806.701211141,652,630,651.298788859,0.400978847574,-0.0153760611122,0.0598462316637,0.999999945808,0.000208471275639,-0.000254463481568,1.31512270887e-05,1793245340217675776
+98,1.633333333,BASELINE,765,744,714,680,658,634,878.127302803,785,806.127302803,652,630,651.872697197,0.40097980402,-0.0153768523709,0.0598469929642,0.99999994614,0.000208287060887,-0.000253302813553,1.31868019206e-05,1793245340234342912
+99,1.650000000,BASELINE,765,744.459741636,714,679.540258364,658,634,878,785,806.459741636,652,630,652,0.400979207262,-0.0153757900167,0.0598465253769,0.999999946051,0.000207713887621,-0.000254140099795,1.29040442441e-05,1793245340251009536
+100,1.666666667,BASELINE,765,744.950443401,714,679.049556599,658,634,877.950443401,785,807,652,629.950443401,652,0.400978166927,-0.0153743124715,0.0598458169211,0.999999945847,0.0002071261038,-0.000255436674522,1.25549229405e-05,1793245340267676160
+101,1.683333333,BASELINE,765,744.371040635,714,679.628959365,658,634,877.371040635,785,807,652,629.371040635,652,0.40097711758,-0.0153740449367,0.0598462783583,0.999999945726,0.000207567509136,-0.000255554817194,1.24664186295e-05,1793245340284342784
+102,1.700000000,BASELINE,765,744,714,680,658.206772066,634,877.413544131,785,806.793227934,652,629.206772066,652,0.400977352749,-0.0153740738861,0.059846692063,0.999999945745,0.000208056475705,-0.000255079132876,1.25603075282e-05,1793245340301009152
+103,1.716666667,BASELINE,765,744,714,680,658.781753197,634,878.563506394,785,806.218246803,652,629.781753197,652,0.400979875318,-0.0153746307993,0.0598470207678,0.99999994601,0.000208630136826,-0.000253545991965,1.29789928889e-05,1793245340317676032
+104,1.733333333,BASELINE,765,744,714,680,658.635963989,634,878.635963989,785,806.364036011,652,630,652,0.40098084685,-0.0153746367012,0.0598472706803,0.999999946342,0.000208508200122,-0.000252342897033,1.27997530579e-05,1793245340334342400
+105,1.750000000,BASELINE,765,744,714,680,658.049214017,634,878.049214017,785,806.950785983,652,630,652,0.400980869471,-0.0153743054996,0.0598474723884,0.999999946715,0.000207960702974,-0.000251341721117,1.22547080053e-05,1793245340351009024
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,785,807,652,630,652,0.400980742312,-0.0153758106168,0.0598469036574,0.999999946091,0.000209311135942,-0.000252625705258,1.36566171852e-05,1793245340382260992
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878.398860008,785,806.398860008,652,630,652,0.40097944728,-0.0153753753207,0.0598463583467,0.999999946112,0.000207647540523,-0.000253943305508,1.30727831768e-05,1793245340398928896
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.806819819,744.193180181,714,680,658,634,878,785,806.193180181,652,630,652,0.4009787987,-0.0153754413383,0.0598459881553,0.999999946183,0.00020661612043,-0.000254524982514,1.26632116909e-05,1793245340415596288
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.232722714,744.767277286,714,680,658,634,878,785,806.767277286,652,630,652,0.400979424808,-0.0153764958573,0.0598459632677,0.999999946361,0.00020683123723,-0.000253655550147,1.25972547695e-05,1793245340432262400
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.649537642,713.649537642,680,658,634,878,785,807,652,630,652,0.400978189162,-0.015376701651,0.0598450863179,0.999999946059,0.000206541782921,-0.000255075821548,1.25746628637e-05,1793245340448928256
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.060157128,713.060157128,680,658,634,878,785,807,652,630,652,0.400975684316,-0.0153763288493,0.059843628498,0.999999945425,0.000205908351006,-0.000258057036095,1.25816338785e-05,1793245340465594368
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.520070631,744,713.520070631,680,658,634,878,785,807,652,630,652,0.400977027179,-0.0153756927351,0.0598446995083,0.999999945242,0.000208628982622,-0.000256559485866,1.29400386378e-05,1793245340482260992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.098528293,714,680,658,634,878,785,806.901471707,652,630,652,0.400978633596,-0.0153752632776,0.0598458716202,0.99999994523,0.000210653937405,-0.000254929616908,1.32273610723e-05,1793245340498927616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.673457722,714,680,658,634,878,785,806.326542278,652,630,652,0.400979399576,-0.0153759777617,0.0598461426881,0.99999994585,0.000207471726509,-0.000255121568147,1.29778344641e-05,1793245340515594496
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.74781242,714,680,658,634,878,785,806,652,630,652,0.400981828727,-0.0153764061324,0.0598474626331,0.999999946507,0.000206063120154,-0.00025368841606,1.29253712427e-05,1793245340532261376
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.16408637,714,680,658,634,878,785,806,652,630,652,0.400986444368,-0.0153764583638,0.0598501614847,0.999999947212,0.000206986183726,-0.000250118821441,1.31319774743e-05,1793245340548928256
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,629.583499795,652,0.401005505774,-0.0153762725523,0.0598581827187,0.999999950312,0.000208242941323,-0.000236259410951,1.38500781104e-05,1793245340565594624
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806,652,629.00414076,652,0.401030215727,-0.0153759936618,0.059868285097,0.999999954074,0.000209630179112,-0.000218376502998,1.47681819746e-05,1793245340582260992
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.423060941,744,714,679.423060941,658,634,878,785,806,652,629.576939059,652,0.401084322555,-0.0153813628977,0.0598867973445,0.999999961137,0.000207469162566,-0.000185472541209,1.68019096474e-05,1793245340598927360
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.156737465,744.156737465,714,679.156737465,658,634,878.156737465,785,806.156737465,652,630.156737465,652,0.401143005832,-0.015386545499,0.0599047002493,0.9999999666,0.000204957999315,-0.000156347816312,1.86555618898e-05,1793245340615593984
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.733072403,744.733072403,714,679.733072403,658,634,878.733072403,785,806.733072403,652,630.733072403,652,0.401213374093,-0.0153911196215,0.0599208098357,0.999999970012,0.000201577847038,-0.000137629846569,2.00056403897e-05,1793245340632260608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.691761281,714,679.691761281,658.308238719,634,878.691761281,785,806.691761281,652,630.691761281,652,0.401294594557,-0.0153947023488,0.0599342562902,0.999999972885,0.000200430460158,-0.000116727585012,2.08003650525e-05,1793245340648927488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.117603178,714,679.117603178,658.882396822,634,878.117603178,785,806.117603178,652,630.117603178,652,0.401385177276,-0.0153974297932,0.0599454052438,0.999999975122,0.00020120929349,-9.39409229682e-05,2.11159825585e-05,1793245340665594368
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.529041767,744,714,679,658.529041767,634,877.529041767,785,806.470958233,652,630,652,0.40148141543,-0.0154010992197,0.0599477015991,0.999999975312,0.000202661664767,-8.8760253183e-05,2.0620402105e-05,1793245340682261760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.061625629,714,679.061625629,658,634,877.061625629,785,807,652,630,652,0.4015816288,-0.0154054217385,0.0599472324429,0.999999975163,0.000203502862341,-8.87082719042e-05,1.98006960388e-05,1793245340698928896
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.638871283,714,679.638871283,658,634,877.638871283,785,807,652,630,652,0.401702913928,-0.0154131784715,0.0599427037455,0.999999975897,0.000197778753553,-9.36228592232e-05,1.8017360838e-05,1793245340715595776
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.215676166,744.784323834,714,680,658,634,878,785,807,652,630,652,0.401836889637,-0.0154207761184,0.0599397540174,0.999999976768,0.000192753791358,-9.51042124939e-05,1.63067571656e-05,1793245340732262144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.791744469,744.208255531,714,680,658,634,878,785,807,652,630,652,0.401992071135,-0.0154281079334,0.0599394427278,0.999999977924,0.000188897094833,-9.08486747535e-05,1.47176871343e-05,1793245340748928256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679.624130223,658,634,878,785,807,652,630,652,0.402169374445,-0.0154366190774,0.0599417108007,0.99999997961,0.000183440515734,-8.34055110939e-05,1.31742522698e-05,1793245340765594368
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679.035442986,658,634,878,785,807,652,630,652,0.40235920314,-0.0154457979582,0.0599454393086,0.999999981504,0.000177078082771,-7.41575132857e-05,1.16566558854e-05,1793245340782260992
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.544429316,714,679.544429316,658,634,878,785,806.455570684,652,629.455570684,652,0.402584265454,-0.0154562184815,0.0599458530332,0.999999982998,0.000170748138962,-6.89781508551e-05,9.59074193626e-06,1793245340798927616
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.876839703,744.876839703,714,680,658,634,878.123160297,785,806.123160297,652,629.123160297,652,0.402820977815,-0.015466645426,0.059946599773,0.9999999844,0.000164811823128,-6.30982774049e-05,7.49390359499e-06,1793245340815594240
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.300231478,744.300231478,714,680,658,634,878.699768522,785,806.699768522,652,629.699768522,652,0.403092272534,-0.0154768031504,0.0599493544513,0.999999985694,0.000160317090173,-5.36796186546e-05,5.41253903865e-06,1793245340832261632
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.273149127,744.273149127,714,679.726850873,658,634,878.726850873,785,807,652,630,652,0.403367875506,-0.0154855027159,0.0599458990813,0.999999986111,0.000156662004304,-5.68265824642e-05,2.59645475512e-06,1793245340848928512
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.843023495,744.843023495,714,679.156976505,658,634,878.156976505,785,807,652,630,652,0.403648158571,-0.0154926182649,0.0599356976599,0.999999985444,0.000153919037593,-7.36237364611e-05,-1.01776443876e-06,1793245340865595392
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.568427019,714,679,658,634,878,785,807,652,630,652,0.403952767797,-0.0154887570534,0.0599228510563,0.999999984694,0.000147380233242,-9.41624170302e-05,-5.03653465729e-06,1793245340882261504
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.026348073,714,679.026348073,658,634,878,785.026348073,806.973651927,652,630,652,0.404269018567,-0.0154806625245,0.0599092070776,0.999999983777,0.000137566215191,-0.000115907840607,-9.28232201983e-06,1793245340898927616
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.602866329,714,679.602866329,658,634,878,785.602866329,806.397133671,652,630,652,0.404635240786,-0.0154713120891,0.0598999120863,0.999999987018,8.94963254901e-05,-0.000133148865363,-1.50568809271e-05,1793245340915594240
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.820932001,744.820932001,714,680,658,634,878,785.820932001,806,652,630,652,0.405027577731,-0.0154687391529,0.0598969196905,0.999999988396,5.67425043802e-05,-0.000139999664651,-1.96938535186e-05,1793245340932260864
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.245431287,744.245431287,714,680,658,634,878,785.245431287,806,652,630,652,0.405477729152,-0.015481170699,0.0599078804035,0.999999990417,5.78964273195e-05,-0.000123847886072,-2.18123607284e-05,1793245340948927744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679.661766687,658.338233313,634,878.338233313,785,806.338233313,652,629.661766687,652,0.405952803258,-0.0154912570892,0.0599295088076,0.99999999449,5.02129725584e-05,-8.9227910528e-05,-2.31884771477e-05,1793245340965594624
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679.072031567,658.927968433,634,878.927968433,785,806.927968433,652,629.072031567,652,0.406446409294,-0.0154995996816,0.0599590694404,0.99999999823,3.59582654249e-05,-4.08754450796e-05,-2.40125705745e-05,1793245340982261248
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.508383078,744,714,679.508383078,658.491616922,634,878.491616922,785,807,652,629.508383078,652,0.406975811741,-0.0155019773528,0.0599808560747,0.999999999342,2.47347737511e-05,-6.91973064165e-06,-2.56022149682e-05,1793245340998928384
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.912998759,744,714,680,658.087001241,633.912998759,878,785,807,652,630,652,0.407509332174,-0.0155028854469,0.0599972389026,0.999999999415,1.16984734207e-05,1.61738685835e-05,-2.77883000134e-05,1793245341015595520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.337187674,744,714,680,658.662812326,633.337187674,878,785,807,652,630,652,0.408038006317,-0.0155001997858,0.0599893380248,0.999999999313,-1.38925473571e-05,-1.05061285491e-05,-3.27269887937e-05,1793245341032261632
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.238832243,744,714,680,658.761167757,633,878,785,807,652,629.761167757,652,0.408593248362,-0.0154993022174,0.0599803415357,0.999999998263,-2.72963699804e-05,-3.57815209719e-05,-3.80590623988e-05,1793245341048928000
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.815147218,744,714,680,658.184852782,633,878,785,807,652,629.184852782,652,0.409186032242,-0.0155009313196,0.0599697968896,0.999999997014,-2.34790283096e-05,-5.90721302301e-05,-4.3947009541e-05,1793245341065594880
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,713.599239142,680,658.400760858,633.400760858,878,785,807,652,629.400760858,652,0.409817177909,-0.0155028696752,0.0599735579084,0.99999999658,-4.53510951805e-05,-4.94834664313e-05,-4.83164439461e-05,1793245341082261760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,713.009234586,680,658.990765414,633.990765414,878,785,807,652,629.990765414,652,0.410466438418,-0.0155049540638,0.0599840742203,0.999999995204,-7.93539841881e-05,-2.43688464825e-05,-5.19688196548e-05,1793245341098928896
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,713.567715542,680,658.432284458,634,879.135431085,785,807,652,630,652,0.411147170842,-0.0155106350964,0.0599874635847,0.999999994665,-8.52544980502e-05,-1.50902952872e-05,-5.63380570436e-05,1793245341115595520
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.13836973,634,879.86163027,785,807,652,630,652,0.411825981301,-0.0155130756594,0.0599840763666,0.999999996306,-6.457804322e-05,-1.87998175977e-05,-5.35182716017e-05,1793245341132262144
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.690804647,634,879.309195353,785,807,652,630,652,0.412497542754,-0.0155056481271,0.0599607496428,0.99999999715,3.42916340824e-05,-6.06220581111e-05,-2.91515481344e-05,1793245341148928768
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,713.729574549,679.729574549,659,633.729574549,878.729574549,785,807,652,630,652.270425451,0.413184790985,-0.0154977368465,0.0599350962786,0.999999990051,8.55496261965e-05,-0.000110400794273,-1.97855765802e-05,1793245341165595136
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,713.115396168,679.115396168,659,633.115396168,878.115396168,785,807,652,630,652.884603832,0.413891979649,-0.0154892106456,0.0599064853883,0.999999982156,7.62857535334e-05,-0.000170293483805,-2.94878975519e-05,1793245341182261248
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,713.471624873,679.471624873,659,633,878.471624873,785,807.471624873,652,630,653,0.414720085487,-0.0154969440395,0.0599344245237,0.999999991535,4.95628859402e-05,-0.000115693546117,-3.30070346578e-05,1793245341198928128
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680.051952689,659,633.051952689,879,785,807.948047311,652,630,652.948047311,0.415573683925,-0.0155080725338,0.0599745118416,0.999999998489,1.94771179014e-05,-3.77112683412e-05,-3.49235071769e-05,1793245341215594752
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680.62814154,659,633.62814154,879,785,807.37185846,652,630,652.37185846,0.416402235,-0.0155155012872,0.0600051644831,0.999999999337,-3.78396424893e-06,8.92753866713e-06,-3.5102888382e-05,1793245341232261120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.203773155,744.203773155,714,680.796226845,659,634,879,785,807.203773155,652,630,652.203773155,0.417231588741,-0.0155191820767,0.0600203805105,0.999999998709,-1.44394306323e-05,3.28262885419e-05,-3.59859915735e-05,1793245341248927744
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.778390626,744.778390626,714,680.221609374,659,634,879,785,807.778390626,652,630,652.778390626,0.418062403193,-0.0155160419914,0.0600075036273,0.999999999152,-2.15408684604e-06,1.53406786982e-05,-3.81497900799e-05,1793245341265594624
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.638925223,744.638925223,714,680.361074777,659.361074777,634,879,785.361074777,808,652,630.361074777,652.638925223,0.418900889385,-0.0155171375622,0.0599893984649,0.999999999028,-5.70835356468e-06,-1.48473503079e-05,-4.11116794405e-05,1793245341282261248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.051177043,744.051177043,714,680.948822957,659.948822957,634,879,785.948822957,808,652,630.948822957,652.051177043,0.419744191667,-0.0155208921684,0.0599680111245,0.999999997417,-1.92063184428e-05,-5.30096287758e-05,-4.45745894646e-05,1793245341298927872
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,681,659.469766443,634,879,785.469766443,808,652,631,652.530233557,0.420575435347,-0.0155199263226,0.0599330909832,0.999999993181,-1.83563172499e-05,-0.000104899160929,-4.79318215247e-05,1793245341315594496
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,681,659.109347448,634,879,785.109347448,808,652.109347448,631,652.890652552,0.42141054498,-0.0155182372442,0.059900813151,0.999999986586,-1.60649736914e-05,-0.000154763509068,-5.11731811553e-05,1793245341332261120
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659.681301941,634,879,785.681301941,808,652.681301941,631,652.318698059,0.422266875474,-0.0155153931842,0.0598851745086,0.999999980304,-1.34653751724e-05,-0.000190521019656,-5.39669703974e-05,1793245341348927744
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.256461748,714,681,659.743538252,633.743538252,879.256461748,786,808,652.743538252,630.743538252,652.256461748,0.423189596716,-0.0155175573925,0.0599065650767,0.999999985896,-1.63860011568e-05,-0.000158412555404,-5.33410877582e-05,1793245341365594368
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.835655204,714,681,659.164344796,633.164344796,879.835655204,786,808,652.164344796,630.164344796,652.835655204,0.424195864253,-0.0155260240103,0.0599745532363,0.999999997647,-2.62532824087e-05,-4.09014873495e-05,-4.84118866846e-05,1793245341382260992
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.575659315,714,681,659,633,880,786,808,652,630.424340685,653,0.425164771033,-0.015530228211,0.0600157324286,0.999999998173,-2.82428315966e-05,2.8375369128e-05,-4.52889021998e-05,1793245341398927872
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,680.98365658,659.01634342,633,880,786,808,652,631,652.98365658,0.426118119695,-0.0155327124047,0.0600449348867,0.999999995751,-2.74840081764e-05,7.67332306949e-05,-4.30557623288e-05,1793245341415595008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,680.406846803,659.593153197,633,880,786,808,652,631,652.406846803,0.427045495803,-0.0155341189451,0.0600276291181,0.999999996141,-3.94972442155e-05,6.29959705294e-05,-4.67999356981e-05,1793245341432261632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.170003652,714,680.170003652,660,633,880,786,808,652,630.829996348,652,0.427954666307,-0.0155342054944,0.0600061195023,0.999999996897,-4.70511146836e-05,3.81930008161e-05,-5.03398990329e-05,1793245341448928256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.746951448,714,680.746951448,660,633,880,786,808,652,630.253048552,652,0.428820257319,-0.0155311323314,0.0599745469802,0.999999997524,-4.39304330786e-05,-1.30983737881e-05,-5.33910368421e-05,1793245341465594368
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.669781757,714,681.330218243,659.669781757,633,879.669781757,786,808.330218243,652,630,652,0.429686929616,-0.0155275186431,0.0599419402092,0.999999994951,-4.18214251197e-05,-7.18293444608e-05,-5.64751880326e-05,1793245341482261248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.081578228,714,681.918421772,659.081578228,633,879.081578228,786,808.918421772,652,630,652,0.430554446635,-0.0155234826658,0.0599085254256,0.999999988106,-4.05027942676e-05,-0.000136372548453,-5.95851309102e-05,1793245341498927872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.498081635,744,714,681.501918365,659.498081635,633,879.498081635,786,809,652,630.498081635,652.498081635,0.431528105419,-0.0155306026701,0.0599443537493,0.99999999487,-5.12171057217e-05,-6.52817292041e-05,-5.81012441485e-05,1793245341515594496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.92393252,744.07606748,714,681.07606748,660,633.07606748,880,786.07606748,808.92393252,652,631,653,0.432507791019,-0.0155383631161,0.0599876212043,0.999999996362,-6.17250422728e-05,1.8197885432e-05,-5.59815124768e-05,1793245341532261120
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.347907481,744.652092519,714,681.652092519,660,633.652092519,880,786.652092519,808.347907481,652,631,653,0.433414754617,-0.0155385261753,0.0600065005991,0.99999999604,-5.81417300667e-05,3.95577848866e-05,-5.45444522204e-05,1793245341548928000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.772282333,714,682.227717667,660,633.772282333,880.227717667,786.772282333,808.227717667,652,631,653,0.434300891226,-0.0155396681549,0.0600077046067,0.999999996179,-5.80027823587e-05,3.59787066388e-05,-5.4615923523e-05,1793245341565595136
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.197266982,714,682.802733018,660,633.197266982,880.802733018,786.197266982,808.802733018,652,631,653,0.435155264231,-0.0155423031096,0.0599819514593,0.999999996368,-6.31169171153e-05,-5.63540243818e-06,-5.69880922948e-05,1793245341582261760
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682.611210525,660.388789475,633.388789475,881,786,809,652,631,653,0.436001088424,-0.0155411304007,0.0599561900486,0.999999994822,-6.36229599124e-05,-5.20904772029e-05,-5.99594695809e-05,1793245341598928384
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682.019388241,660.980611759,633.980611759,881,786,809,652,631,653,0.436842448224,-0.0155379692616,0.0599304243242,0.999999990987,-6.1722574363e-05,-0.000101073588158,-6.32437640327e-05,1793245341615594752
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660.442136732,633.442136732,880.442136732,786,809,652,631,652.442136732,0.4376272032,-0.0155304515455,0.0599072827248,0.999999985145,-5.93362653945e-05,-0.00014807006911,-6.5299451771e-05,1793245341632261120
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.134248247,744,714,682,660,633,880,786,809.134248247,652,631,652.134248247,0.43842700128,-0.0155256026889,0.0598958905677,0.999999980946,-5.92017425997e-05,-0.00017367235116,-6.66359491151e-05,1793245341648927744
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.709408084,744,714,682,660,633,880,786,809.709408084,652,631,652.709408084,0.439282502037,-0.0155300037895,0.0599227952077,0.999999987276,-6.65168162568e-05,-0.000129230642479,-6.57470778632e-05,1793245341665594368
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.709818654,744.290181346,714,682,659.709818654,633,880,786,809.709818654,652,631,653,0.440116458863,-0.0155382368709,0.0599598382004,0.99999999241,-7.7697926995e-05,-7.23862865811e-05,-6.24768815682e-05,1793245341682261504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.123313174,744.876686826,714,682,659.123313174,633,880,786,809.123313174,652,631,653,0.440928415645,-0.0155503830514,0.0600072341608,0.999999994076,-9.2826913523e-05,-2.8767369881e-06,-5.67749503705e-05,1793245341698928896
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.460076234,633,880.920152469,785.539923766,809,652,631,653,0.441663394461,-0.0155544935304,0.0599813948916,0.999999992865,-9.48247599459e-05,-4.22439805294e-05,-5.91117509332e-05,1793245341715595520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.957834726,632.957834726,881.915669452,785,809,652,630.957834726,653,0.442373094668,-0.0155569832687,0.0599353474075,0.999999987212,-9.53213296598e-05,-0.00011151959477,-6.36638598895e-05,1793245341732261888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.381708157,632.381708157,880.763416314,785,809,652,630.381708157,653,0.443022196883,-0.0155660398112,0.0598802936975,0.999999971754,-0.000121076020968,-0.00019247969846,-6.91682703383e-05,1793245341748928000
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.19429706,745,714,682.19429706,659,632,880,785,809.19429706,652,630.19429706,653,0.443669094558,-0.0155731491485,0.059838265118,0.999999954933,-0.000140397933485,-0.000254942652949,-7.36645494334e-05,1793245341765594368
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.770064123,745,714,682.770064123,659,632,880,785,809.770064123,652,630.770064123,653,0.444311664102,-0.0155764354735,0.0598218092089,0.999999946775,-0.000147090159295,-0.000281089543982,-7.61815318316e-05,1793245341782261248
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.647911759,745,714,682.647911759,658.647911759,632,880,784.647911759,810,652,631,653,0.44491801754,-0.0155818260615,0.0598070131586,0.999999935799,-0.000155974809175,-0.000312938844109,-7.83795927772e-05,1793245341798928128
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.061727492,745,714,682.061727492,658.061727492,632,880,784.061727492,810,652,631,653,0.445500291617,-0.0155886157292,0.0597933207142,0.999999922186,-0.000166317154934,-0.000348579553645,-8.0365609382e-05,1793245341815594496
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.518385859,658.518385859,632,880,784,809.481614141,652,630.481614141,653,0.446073031078,-0.0155960370471,0.0597647244555,0.999999902215,-0.000191571856081,-0.000389777363743,-8.33296354166e-05,1793245341832261376
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.75029355,658.24970645,631,881.5005871,783,810,652,630,653,0.447744440977,-0.0156425031457,0.0597546421416,0.999999890185,-0.000247298039798,-0.000389688029162,-8.1338760383e-05,1793245341882262016
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682.175196115,658.824803885,631,880.35039223,783,810,652,630,653,0.448266101919,-0.0156745344252,0.0597666629617,0.999999888825,-0.000280641850464,-0.000371455106609,-7.49096408373e-05,1793245341898928384
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.410240376,658.589759624,631,880,782.589759624,810,652,629.589759624,653,0.448705332198,-0.0156907117351,0.0597505117734,0.999999868505,-0.000311525968122,-0.00040031482289,-7.54343045438e-05,1793245341915594752
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.999796715,714,683,658,631,880.000203285,782,809.999796715,652,629.000203285,653,0.44910844845,-0.0156999400917,0.0597220146657,0.999999837465,-0.000341320955059,-0.000449807930621,-7.90054760024e-05,1793245341932261376
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.784234584,744.215765416,714,682.784234584,657,630,880,781,809.784234584,652,628.215765416,653,0.452125892294,-0.0157317733151,0.0596985518535,0.999999846083,-0.000307676663744,-0.000458742915541,-5.21945878707e-05,1793245342082260736
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+247,4.116666667,HOLD_POSE2,765,745,714,683,656,628,880,779,810,652.57912189,628,653,0.453779747036,-0.0157434745798,0.0596668498141,0.999999805816,-0.000345669744063,-0.000515340526203,-5.74870368557e-05,1793245342753016832
+248,4.133333333,HOLD_POSE2,765.157458776,745,714,683,656.157458776,628,880,779,810,652.842541224,628,653,0.45378073432,-0.0157433524423,0.0596668276924,0.999999806235,-0.000345344923456,-0.00051474326798,-5.75002750051e-05,1793245342769683200
+249,4.150000000,HOLD_POSE2,765.73370793,745,714,683,656.73370793,628,880,779,810,652.26629207,628,653,0.45378122689,-0.0157444262957,0.059667076692,0.999999806279,-0.000346320433771,-0.000514002103147,-5.75003136825e-05,1793245342786349568
+250,4.166666667,HOLD_POSE2,765.692843169,745,714,683,656.692843169,628,880,779,809.692843169,652.307156831,628,653,0.453781827263,-0.0157454759506,0.0596676076337,0.999999806184,-0.000347351931895,-0.000513506758011,-5.73544940499e-05,1793245342803015936
+251,4.183333333,HOLD_POSE2,765.121800071,745,714,683,656.121800071,628,880,779,809.121800071,652.878199929,628,653,0.453782520252,-0.0157465048158,0.059668380799,0.99999980597,-0.000348431530515,-0.000513222602889,-5.70833638232e-05,1793245342819682560
+252,4.200000000,HOLD_POSE2,765,745,714.46781893,683,656.46781893,628,880.46781893,779,809.46781893,652.53218107,628,653,0.453783055245,-0.0157454127327,0.059668799136,0.999999807177,-0.000346180652809,-0.000512396300083,-5.70463419554e-05,1793245342836349440
+253,4.216666667,HOLD_POSE2,765,745,714.939205621,683,657,628,880.939205621,779,810,652,628,653,0.453783467515,-0.0157441244381,0.0596690169756,0.999999808515,-0.000343463079915,-0.000511617872977,-5.7017647617e-05,1793245342853015808
+254,4.233333333,HOLD_POSE2,765,745,714.360540236,683,657,628,880.360540236,779,810,652,628,653,0.453783199273,-0.0157460631366,0.0596683463851,0.999999807748,-0.000344461857641,-0.000512499378847,-5.65192093132e-05,1793245342869682432
+255,4.250000000,HOLD_POSE2,765,745,714,682.78326357,657,628,880,778.78326357,810,652,628,653,0.453783216285,-0.015746107413,0.0596678388115,0.999999807177,-0.000344899993881,-0.000513313313119,-5.65566940942e-05,1793245342886349312
+256,4.266666667,HOLD_POSE2,765,745,714,682.208282379,657,628,880,778.208282379,810,652,628,653,0.453783704794,-0.0157430203889,0.0596676006893,0.999999806932,-0.000344411442825,-0.000514015557861,-5.74800089491e-05,1793245342903016192
+257,4.283333333,HOLD_POSE2,765,745,714,682.374360652,656.625639348,628,880.374360652,778.374360652,810,652,628,653,0.453783344744,-0.0157415314803,0.0596672259569,0.99999980687,-0.000343612462827,-0.000514670109476,-5.7495657561e-05,1793245342919682816
+258,4.300000000,HOLD_POSE2,765,745,714,682.96135561,656.03864439,628,880.96135561,778.96135561,810,652,628,653,0.453782502718,-0.0157409502902,0.0596667736309,0.99999980691,-0.000342637161256,-0.000515297571786,-5.69957580048e-05,1793245342936349440
+259,4.316666667,HOLD_POSE2,765,745,714,683,656.541349021,628,880.458650979,778.458650979,810,652,628,653,0.453782944222,-0.0157418500768,0.0596669952476,0.999999807268,-0.000342655065121,-0.000514611021582,-5.68074295446e-05,1793245342953015808
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.879291986,628,880,778.120708014,810,652,628,653,0.453783257936,-0.0157422375433,0.0596673706021,0.999999807738,-0.00034219904939,-0.000514002513966,-5.67861776591e-05,1793245342969682688
+261,4.350000000,HOLD_POSE2,765,745,714,683,656.300467924,628,880,778.699532076,810,652,628,653,0.453782743354,-0.0157402845218,0.0596681491717,0.999999808547,-0.000339678746366,-0.000514041649422,-5.73156871775e-05,1793245342986349312
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,779,810,652,628,653,0.453780100784,-0.0157410483171,0.059664767424,0.999999806095,-0.000340328672144,-0.000518370687662,-5.72582239945e-05,1793245343024110336
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,779,810,652.589621311,628,653,0.453781885466,-0.0157403427515,0.0596659872639,0.999999807099,-0.000339996324371,-0.000516657809659,-5.71721018329e-05,1793245343040776960
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.823871068,628.176128932,880.176128932,779,810,652.823871068,628,653,0.453783441794,-0.0157399400671,0.0596669283744,0.999999807796,-0.00034012496841,-0.000515234296614,-5.70582856958e-05,1793245343057443584
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.244492175,628.755507825,880.755507825,779,810,652.244492175,628,653,0.453784475303,-0.0157402308335,0.0596672313299,0.999999807795,-0.00034130906039,-0.000514473288856,-5.68810637492e-05,1793245343074110208
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.333460184,628.666539816,881,778.666539816,810,652,628,653,0.453784297331,-0.0157398187947,0.0596670855065,0.999999807736,-0.000341010917261,-0.000514773620608,-5.69867575832e-05,1793245343090776576
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.910371034,628.089628966,881,778.089628966,810,652,628,653,0.453783234886,-0.015738893656,0.0596666120411,0.999999807634,-0.000339630632498,-0.000515848808957,-5.72990009297e-05,1793245343107443200
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.484241753,656.515758247,628,880.515758247,778.484241753,810,652,628,653,0.453784049178,-0.0157399257117,0.0596672196293,0.999999808032,-0.000340028665754,-0.000514848743336,-5.69849441077e-05,1793245343124110080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.94066056,656,628.05933944,880,779,810,652,628,653,0.453784826548,-0.0157410379619,0.0596677983839,0.999999808368,-0.000340737886126,-0.000513765781077,-5.66278605955e-05,1793245343140776704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.349556354,656,628.650443646,880,779,810,652,628,653,0.45378217956,-0.0157396427632,0.059666336816,0.999999807337,-0.000341304524961,-0.000515360652355,-5.69175469807e-05,1793245343157443328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.76328262,880.23671738,778.76328262,810,652,628,653,0.45377550022,-0.0157386587404,0.0596629175711,0.999999804576,-0.000342081938724,-0.000520125662909,-5.74219070452e-05,1793245343174109952
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.18399936,880.81600064,778.18399936,810,652,628,653,0.453762985458,-0.0157382697517,0.0596566652711,0.99999979925,-0.000343164375646,-0.000529478344684,-5.82369323899e-05,1793245343190776832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.608993182,778,810.391006818,652,628,653,0.453733343266,-0.0157363098462,0.0596438605564,0.99999978816,-0.000341817814852,-0.000550762000686,-5.91791675551e-05,1793245343207443456
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.035977877,778,810.964022123,652,628,653,0.453695728481,-0.0157336186996,0.059628005779,0.999999773803,-0.000339340587742,-0.000577599367403,-6.0180617241e-05,1793245343224110080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810.459902747,652.540097253,628,653,0.453641203177,-0.0157313627039,0.0596105923124,0.999999759951,-0.000339444331315,-0.000600906275755,-6.15419408286e-05,1793245343240776704
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.119626517,628,880,778.119626517,810,652.880373483,628,652.880373483,0.453582271319,-0.0157290553258,0.0595938275989,0.999999746393,-0.000339293390958,-0.000623015645487,-6.28200196144e-05,1793245343257443328
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.711996012,628,880,778.711996012,810,652.288003988,628,652.288003988,0.453510402499,-0.0157264296884,0.0595800392942,0.999999735385,-0.000337452684658,-0.000641327233776,-6.36738550755e-05,1793245343274109952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.296572153,880.296572153,779,810,652,628,652.296572153,0.453431440055,-0.0157218817715,0.0595719185587,0.999999729416,-0.00033422393616,-0.00065220901915,-6.3915478838e-05,1793245343290776576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628.873773846,880.873773846,779,810,652,628,652.873773846,0.453345765318,-0.0157155149097,0.0595691607259,0.999999728426,-0.00032968176161,-0.000656060399111,-6.35778010794e-05,1793245343307443200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.552079952,656.552079952,628.552079952,880.552079952,779,810,652.447920048,628,652.552079952,0.453245639074,-0.0157087604829,0.0595684222089,0.999999728614,-0.000326547516721,-0.000657349198142,-6.34830614792e-05,1793245343324109824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.021856442,656.021856442,628.021856442,880,779,810,652.978143558,628,652.021856442,0.453140743325,-0.0157018896645,0.059568384826,0.999999729326,-0.000323711526372,-0.000657676110959,-6.34167462306e-05,1793245343340776704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.612591823,656.612591823,628.612591823,880,779,810,652.387408177,628,652.612591823,0.453016987948,-0.015694812862,0.0595718855843,0.99999973506,-0.000318381559294,-0.000651635784536,-6.23204254848e-05,1793245343357443328
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.800592776,628.800592776,880,779,810,652,628,653,0.452881050144,-0.015687630124,0.0595744243585,0.999999738932,-0.000314404461271,-0.000647734033332,-6.10403020893e-05,1793245343374109696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.221246348,628.221246348,880,779,810,652,628,653,0.452721900653,-0.0156802455435,0.0595751302224,0.999999739357,-0.000313005043773,-0.000647907002685,-5.94099716924e-05,1793245343390776576
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.645497994,745,714.354502006,683,656,628.354502006,880,779,810,652,628,653,0.452542944102,-0.0156705925382,0.0595758442207,0.999999742158,-0.000308895235866,-0.00064564451274,-5.84090979237e-05,1793245343407443456
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.071972595,745,714.928027405,683,656,628.928027405,880,779,810,652,628,653,0.452351750059,-0.0156595380223,0.0595765632448,0.999999746388,-0.000303110856465,-0.000641877313232,-5.77971237e-05,1793245343424110080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.512581098,745,714.487418902,683,656.512581098,629,880,779,810,652,628,653,0.452134907553,-0.0156469607949,0.0595763569979,0.999999747982,-0.000293533412741,-0.000643948424257,-5.66125867581e-05,1793245343440776960
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.097992099,683,657,629,880,779,810,652,628,653,0.451906185768,-0.0156349912302,0.059575662397,0.999999748356,-0.000284799577216,-0.000647389019343,-5.53516768498e-05,1793245343457443584
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.679822384,683,657,629,880,779,810,652,628,653,0.451636982456,-0.0156271008991,0.0595732121218,0.999999745012,-0.000282918580782,-0.000653454843073,-5.41193523956e-05,1793245343474110208
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.740802147,683,657,629,880,779,810,652,628,653,0.45134951953,-0.0156183884692,0.0595717194478,0.99999974379,-0.000278776524578,-0.00065723909281,-5.23568087816e-05,1793245343490776832
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.16443061,683,657,629,880,779,810,652,628,653,0.451039712804,-0.0156086700589,0.0595713985659,0.999999745162,-0.000271867668333,-0.000658231439303,-4.99454498182e-05,1793245343507443456
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779.412591842,810,652,628.412591842,653,0.450696282505,-0.0155995506941,0.0595693509688,0.999999744098,-0.000266505870004,-0.000662148724343,-4.83493444333e-05,1793245343524110336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,629,880,779.9898741,810,652,628.9898741,653,0.450339431008,-0.015590670445,0.0595666141351,0.999999742032,-0.000261761596432,-0.000667233529625,-4.70786562293e-05,1793245343540776960
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.43455496,657,629,880,780,810,652,629,653,0.449941578037,-0.0155876659707,0.0595571460709,0.99999973318,-0.000261177099614,-0.000680667549245,-4.60332240169e-05,1793245343557443328
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.144929425,745,714,682.144929425,657,629.144929425,880,780.144929425,810,652,629,653,0.449535040843,-0.0155836321089,0.0595477890741,0.999999727012,-0.000250510319948,-0.000693690778859,-4.48746725589e-05,1793245343574110208
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.736570167,745,714,682.736570167,657,629.736570167,880,780.736570167,810,652,629,653,0.449103992938,-0.0155761020542,0.0595391448396,0.999999728812,-0.000208538329971,-0.000704988381526,-4.33550615607e-05,1793245343590776832
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.532594532,880,783.532594532,809.467405468,652,630,653,0.443583379729,-0.0154897956777,0.0596488428687,0.999999854084,-1.97256077028e-05,-0.000539847326967,-2.73307310022e-06,1793245343757443328
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.172768277,744,714,681.172768277,658.827231723,633,879.172768277,785,809,652,630,652.827231723,0.430630551428,-0.0153846460542,0.0598242544331,0.999999956453,0.000150580097215,-0.000253461086625,1.33435293316e-05,1793245344024110080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.803020643,744,714,681,658.598489678,633.401510322,879.401510322,785,808.598489678,652,630.401510322,653,0.429713027354,-0.0153799111017,0.0598263717637,0.999999953208,0.000163042177353,-0.000258370031909,1.5692155568e-05,1793245344040776448
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.062570662,878.062570662,785,806,652,630,652,0.400981718427,-0.0153752616742,0.0598434649872,0.999999947708,0.000194414171377,-0.000258263681326,9.298009328e-06,1793245345324110080
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7268ab0c8018fd65571a5b1b5823a69ad257c6c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575670253721,-0.0101222070342,1.05005109688,0.546241887425,-0.00144651945214,1.04971759129
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4eac866ea27f5428ef6cf1b1cd344af6f0bad797
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a979654ee32aebdbf88bbadb249668345c9fce45b88e62f97101dac10874e2c
+size 25933583
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cfc13b4bf669e501596c0b4118e1ae2365aa08d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+53,0.883333333,BASELINE,764.252440975,744,714,679.252440975,657.747559025,634,878,785,806,652,630,652,0.400980927967,-0.0153791930962,0.0598470937681,0.999999949734,0.00019080822275,-0.000253025156085,1.00939447914e-05,1793245346434727680
+54,0.900000000,BASELINE,764,744,714,679.330138479,658,634,878,785,806,652,630,652,0.40098141375,-0.0153785968155,0.0598471740505,0.999999949668,0.000191796046873,-0.000252539994261,1.01306997512e-05,1793245346451394304
+55,0.916666667,BASELINE,764,744,714,679.917881643,658,634,878,785,806,652,630,652,0.400981244415,-0.0153771195583,0.0598469710772,0.999999949254,0.000193780204114,-0.000252679080334,9.75461661988e-06,1793245346468060928
+56,0.933333333,BASELINE,764,744,714,680,658,634,878,785,806,652.499911806,630,652,0.400981670628,-0.015378559497,0.0598476983835,0.999999949693,0.000192681371645,-0.000251769609299,9.9748231776e-06,1793245346484727552
+57,0.950000000,BASELINE,764.080114971,744.080114971,714,680,658,634,878.080114971,785,806.080114971,652.919885029,629.919885029,652,0.400982029082,-0.0153798763813,0.0598483213146,0.999999950066,0.000191722179766,-0.000251009837299,1.0187681812e-05,1793245346501394176
+58,0.966666667,BASELINE,764.654767566,744.654767566,714,680,658,634,878.654767566,785,806.654767566,652.345232434,629.345232434,652,0.400981372219,-0.0153775090917,0.0598473673201,0.999999949186,0.000194715759623,-0.000252225345636,9.75738417693e-06,1793245346518061056
+59,0.983333333,BASELINE,765,744.771199056,714,680,658,634,878.771199056,785,806.771199056,652,629.228800944,652,0.400980880202,-0.0153763309346,0.0598468817828,0.999999948705,0.00019629878229,-0.000252915798415,9.51460187278e-06,1793245346534727680
+60,1.000000000,BASELINE,765,744.19809739,714,680,658,634,878.19809739,785,806.19809739,652,629.80190261,652,0.400980636245,-0.015376942189,0.0598471011818,0.999999948836,0.000195759192406,-0.000252816145341,9.55399344438e-06,1793245346551394304
+61,1.016666667,BASELINE,765,744,714,679.61271091,658,633.61271091,878,785.38728909,806.38728909,652,630,652.38728909,0.400981364503,-0.0153770517685,0.0598474915955,0.999999949207,0.000194895056156,-0.000252017897806,9.45638022537e-06,1793245346568060928
+62,1.033333333,BASELINE,765,744,714,679.020834969,658,633.020834969,878,785.979165031,806.979165031,652,630,652.979165031,0.400982606336,-0.0153768963365,0.0598479723484,0.999999949703,0.000193859477158,-0.000250850615243,9.28639373159e-06,1793245346584727552
+63,1.050000000,BASELINE,765,744,714,679.559372825,658,633.559372825,878,786,806.440627175,652,630,652.440627175,0.400981399094,-0.0153768333422,0.0598477980392,0.999999949533,0.000193631527063,-0.000251702260234,9.31677331142e-06,1793245346601394432
+64,1.066666667,BASELINE,765,744,714,680,658,634,878.137986439,785.862013561,806.137986439,652,630,652,0.400980363394,-0.0153769920451,0.0598474800812,0.999999949398,0.000193219336526,-0.000252553264758,9.38475457377e-06,1793245346618061056
+65,1.083333333,BASELINE,765,744,714,680,658,634,878.712900161,785.287099839,806.712900161,652,630,652,0.40098015382,-0.0153778420623,0.0598467829465,0.99999994945,0.000192130451551,-0.000253168992607,9.5486512321e-06,1793245346634727424
+66,1.100000000,BASELINE,764.712518914,744,714,680,658,634,878.712518914,785,807,652,630,652,0.400979802854,-0.0153785906783,0.0598466142808,0.99999994949,0.000191415744522,-0.000253551420106,9.58382108772e-06,1793245346651394304
+67,1.116666667,BASELINE,764.138269995,744,714,680,658,634,878.138269995,785,807,652,630,652,0.400979310848,-0.0153792381445,0.0598469727729,0.999999949518,0.000191074287153,-0.000253701126045,9.49058350697e-06,1793245346668060928
+68,1.133333333,BASELINE,764.449259332,744.449259332,714,679.550740668,658,634,878,785,807,652,630,652,0.400980420051,-0.0153784390921,0.0598471616724,0.99999994961,0.00019216096648,-0.000252513560662,9.50838113801e-06,1793245346684727552
+69,1.150000000,BASELINE,764.959871069,745,714,679.040128931,658,634,878,785,807,652,630,652,0.400981794886,-0.0153771764439,0.0598472094727,0.999999949643,0.000193721768871,-0.000251188244987,9.53284116732e-06,1793245346701394176
+70,1.166666667,BASELINE,764.380709716,745,714,679.619290284,658,634,878,785,807,652,630,652,0.4009799165,-0.0153758488535,0.0598460844379,0.99999994865,0.000195567229795,-0.000253709507294,9.17377284146e-06,1793245346718061056
+71,1.183333333,BASELINE,764.192678774,744.807321226,714,680,658,634,878,785,806.807321226,652,630,652,0.400978928725,-0.0153758002088,0.0598456638161,0.999999948276,0.000195871667354,-0.000254948150688,9.12617072707e-06,1793245346734727936
+72,1.200000000,BASELINE,764.754992698,744.245007302,714,680,658,634,878,785,806.245007302,652,630,652,0.400979649497,-0.0153782050945,0.0598465945406,0.999999949098,0.000193219804494,-0.000253726217139,9.67608563675e-06,1793245346751394816
+73,1.216666667,BASELINE,765,744,714,680,658,634,878,785,806,652,630,652,0.400979429472,-0.0153789576779,0.0598465029807,0.999999949291,0.00019186635677,-0.000253987345677,9.78110545961e-06,1793245346768061184
+74,1.233333333,BASELINE,765,744,714,680,658,634,878,785,806,652,630,652,0.400978483013,-0.0153784344413,0.059845622067,0.999999949002,0.000191515476195,-0.000255393615818,9.54260096647e-06,1793245346784727552
+75,1.250000000,BASELINE,764.477828672,744,714,680,658,634,878,785,806,652,630,652,0.400979778369,-0.0153778931154,0.059846154698,0.999999949133,0.00019243090352,-0.000254191835106,9.4976292821e-06,1793245346801394176
+76,1.266666667,BASELINE,764.10158703,744,714,679.89841297,658,634,878,785,806,652,630,652,0.400981084678,-0.0153776329123,0.059846757852,0.999999949365,0.000193081589827,-0.000252784127347,9.50232782143e-06,1793245346818060800
+77,1.283333333,BASELINE,764.677130895,744,714,679.322869105,658,634,878,785,806,652,630,652,0.400981278849,-0.0153786936807,0.0598469565658,0.999999949858,0.000191840052042,-0.000251768940353,9.63834275931e-06,1793245346834727680
+78,1.300000000,BASELINE,765,744,714,679.252125941,658,634,878,785,806.252125941,652,630,652,0.40098169945,-0.0153788812801,0.0598474648483,0.999999950007,0.000192053755427,-0.000251011028645,9.71338601671e-06,1793245346851394304
+79,1.316666667,BASELINE,765,744,714,679.826419658,658,634,878,785,806.826419658,652,630,652,0.400982409385,-0.01537795314,0.0598483686993,0.999999949715,0.000194126973289,-0.00025058186465,9.71051934797e-06,1793245346868061184
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.412083468,785,806.587916532,652,630,652,0.400982872333,-0.0153780698805,0.0598488229802,0.999999949807,0.000194234770998,-0.000250125258974,9.78794193488e-06,1793245346884727808
+81,1.350000000,BASELINE,765,744.002620022,714,679.997379978,658,634,878.997379978,785.002620022,806.002620022,652,630,652,0.400983222308,-0.0153786364725,0.0598490790198,0.999999950065,0.000193492226111,-0.000249663958461,9.89959876823e-06,1793245346901394432
+82,1.366666667,BASELINE,765,744.58158948,714,679.41841052,658,634,878.41841052,785.58158948,806.58158948,652,630,652,0.400982256154,-0.0153785941356,0.0598485657003,0.999999949884,0.000192977324168,-0.000250784821116,9.89129519251e-06,1793245346918061056
+83,1.383333333,BASELINE,765,745,714,679.159886024,658,634,878,785.840113976,806.840113976,652,630,652,0.400981685822,-0.0153783796509,0.0598483379972,0.999999949677,0.000193302008318,-0.000251365010619,9.8384336968e-06,1793245346934727936
+84,1.400000000,BASELINE,765,745,714,679.736429104,658,634,878,785.263570896,806.263570896,652,630,652,0.400982146988,-0.0153777165553,0.0598488545997,0.999999949397,0.000195814622611,-0.000250536226162,9.66945591071e-06,1793245346951394560
+85,1.416666667,BASELINE,765,744.68933478,714,680.31066522,658,634,878,785,806.31066522,652.31066522,630,652,0.400982423797,-0.0153771865718,0.0598487954133,0.99999994949,0.000195702196022,-0.000250263388454,9.40766307583e-06,1793245346968061184
+86,1.433333333,BASELINE,765,744.117041519,714,680.882958481,658,634,878,785,806.882958481,652.882958481,630,652,0.400982545349,-0.0153767686891,0.0598482513238,0.999999949896,0.0001933790799,-0.000250458743723,9.06770566157e-06,1793245346984727808
+87,1.450000000,BASELINE,764.52762504,744.47237496,714,680.52762504,658,634,878,785,807,652.52762504,630,652,0.400981696712,-0.0153775678203,0.0598479816992,0.999999949914,0.000192387446689,-0.000251141547099,9.36151763271e-06,1793245347001394176
+88,1.466666667,BASELINE,764.064114948,745,714,680,658,634,878,785,807,652,630,652,0.400980797211,-0.0153786532284,0.059847879026,0.999999949852,0.000191862280525,-0.000251769847901,9.81820817497e-06,1793245347018060800
+89,1.483333333,BASELINE,764.639285543,745,714,680,658,634,878,785,807,652,630,652,0.400981480446,-0.0153795265512,0.0598485446611,0.999999949961,0.000192326733916,-0.000250964804346,1.02744333852e-05,1793245347034727424
+90,1.500000000,BASELINE,765,745,714,680,658,634,877.785191483,785,807,652,630,652,0.400982223011,-0.0153794791559,0.0598489665939,0.999999949983,0.000193181176573,-0.000250215611943,1.03833328466e-05,1793245347051394304
+91,1.516666667,BASELINE,765,745,714,680,658,634,877.209075867,785,807,652,630,652,0.400983065372,-0.0153778831162,0.0598489786206,0.999999949858,0.000194691579627,-0.000249560361048,9.90803168904e-06,1793245347068060928
+92,1.533333333,BASELINE,765,744.622005043,714,680,658,634,877.377994957,785,807,652,630,652,0.400983530744,-0.0153778342146,0.0598490585462,0.999999950222,0.000193633824542,-0.000248929033056,9.78984886996e-06,1793245347084727808
+93,1.550000000,BASELINE,765,744.028693778,714,680,658,634,877.971306222,785,807,652,630,652,0.400983781373,-0.0153786666051,0.0598491771489,0.99999995086,0.000191113176188,-0.000248311332144,9.87509041967e-06,1793245347101394432
+94,1.566666667,BASELINE,765,744.54605898,714,680,658,634,877.45394102,785.54605898,807,652.54605898,630,652,0.400980812449,-0.0153789610982,0.0598478111627,0.999999950102,0.000191105237171,-0.000251354169736,9.79456699721e-06,1793245347118061056
+95,1.583333333,BASELINE,765,744.879606355,714,680,658,634,877.120393645,785.879606355,807,652.879606355,630,652,0.400978860646,-0.0153788931756,0.0598468537112,0.999999949508,0.000191456934339,-0.000253446232711,9.68785159922e-06,1793245347134727680
+96,1.600000000,BASELINE,765,744.303283175,714,680,658,634,877.696716825,785.303283175,807,652.303283175,630,652,0.400981380283,-0.0153775563088,0.0598477290914,0.999999949832,0.000192686988528,-0.000251233236297,9.51384960376e-06,1793245347151394304
+97,1.616666667,BASELINE,765,744.280270836,714,679.719729164,658,634,878,785,807,652,630,652,0.400982439796,-0.0153773101546,0.0598482401228,0.999999949984,0.000193460549564,-0.000250026473147,9.62429122941e-06,1793245347168060928
+98,1.633333333,BASELINE,765,744.871856563,714,679.128143437,658,634,878,785,807,652,630,652,0.400981877456,-0.0153782755252,0.0598483464484,0.99999994995,0.000193727054146,-0.000249937398298,1.00506827368e-05,1793245347184727808
+99,1.650000000,BASELINE,765,745,714,679,658.453363048,634,878,785,807,652,630,652,0.400980947201,-0.0153776946446,0.0598479511264,0.999999949526,0.000194908965587,-0.000250717900855,9.94528596681e-06,1793245347201394688
+100,1.666666667,BASELINE,764.968194562,745,714,679,658.968194562,634,878,785,807,652,630,652,0.400980070884,-0.0153767239646,0.0598474756587,0.999999949029,0.000196322795114,-0.000251605139229,9.6922080964e-06,1793245347218061312
+101,1.683333333,BASELINE,764.39447424,745,714,679,658.39447424,634,878,785,807,652,630,652,0.400981846885,-0.0153763963928,0.0598479979877,0.999999949173,0.000197375492656,-0.000250214246759,9.42822973263e-06,1793245347234727936
+102,1.700000000,BASELINE,764,745,713.820612579,679.179387421,658,634,878,785.179387421,807,652,630,652,0.400982698779,-0.0153765691982,0.0598483813288,0.999999949407,0.000197001475679,-0.000249577323168,9.36309919228e-06,1793245347251394304
+103,1.716666667,BASELINE,764,745,713.246439943,679.753560057,658,634,878,785.753560057,807,652,630,652,0.400981516951,-0.0153778432041,0.0598484587937,0.999999949834,0.000193487629722,-0.000250599689825,9.73558120321e-06,1793245347268061184
+104,1.733333333,BASELINE,764.339076963,745,713.339076963,680,658,634,878,785.660923037,806.660923037,652,630,652,0.40098196353,-0.0153787347641,0.0598487361358,0.999999950216,0.000191893823387,-0.000250287018869,1.00136583777e-05,1793245347284727808
+105,1.750000000,BASELINE,764.933124302,745,713.933124302,680,658,634,878,785.066875698,806.066875698,652,630,652,0.400983634596,-0.0153793387423,0.0598491637765,0.999999950572,0.00019174379871,-0.000248970460763,1.02207474697e-05,1793245347301394432
+106,1.766666667,BASELINE,765,745,714,680,658,634,878,785.511743845,806,652,629.488256155,652,0.400982036072,-0.0153791530195,0.0598484061205,0.999999950171,0.000191655643386,-0.000250645783842,1.01332351221e-05,1793245347318061312
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785,807,652,631,653,0.400977953263,-0.0153782556996,0.0598460753302,0.99999994887,0.000193188395275,-0.000254636892156,9.87607817822e-06,1793245347361039616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.415991111,714,680,658,634,878,785,807,652.584008889,630.415991111,652.415991111,0.400979398064,-0.0153788760129,0.0598470122988,0.999999949276,0.000193032201452,-0.000253158174926,9.90387663484e-06,1793245347377706240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.167524362,714,680,658,634,878.335048725,785,807,652.832475638,630,652,0.400980523223,-0.0153791484643,0.0598476447287,0.999999949496,0.000193399097898,-0.000252003856984,9.91233049822e-06,1793245347394372608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.749818324,714,680,658,634,879.499636649,785,807,652.250181676,630,652,0.40098085699,-0.0153785596534,0.0598475231588,0.999999949262,0.000195061101109,-0.000251652711245,9.8728895474e-06,1793245347411039232
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.670257694,714,680,658.329742306,634,879.340515388,785,807,652,630,652,0.400979823919,-0.0153786696156,0.0598466642102,0.999999949227,0.000194023305084,-0.000252597373725,9.7355382116e-06,1793245347427706112
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.092119064,714,680,658.907880936,634,878.184238127,785,807,652,630,652,0.400977761201,-0.0153793059669,0.059845249791,0.999999949334,0.00019095173836,-0.000254518174235,9.52443055595e-06,1793245347444372480
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518737557,744.481262443,714.481262443,680,658.518737557,634,878.481262443,785,806.518737557,652,630,652,0.400978583032,-0.0153781324955,0.059846230641,0.999999949258,0.000192556271847,-0.000253611051865,9.39690515796e-06,1793245347461039872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.055505324,744.944494676,714.944494676,680,658,634,878.944494676,785,806.055505324,652,630,652.055505324,0.400979956197,-0.0153768072831,0.0598475783953,0.999999949136,0.000194906667298,-0.000252295578945,9.34021344563e-06,1793245347477707264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.646765545,744.353234455,714.353234455,680,658,634,878.353234455,785,806.646765545,652,630,652.646765545,0.400981373798,-0.0153773284511,0.0598480855324,0.999999948958,0.000195901533892,-0.000252212201262,9.81431887765e-06,1793245347494373376
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.233198633,714,680,658,634.233198633,878.233198633,785,807,652,630,652.766801367,0.400987348334,-0.0153778685941,0.0598506395821,0.999999949889,0.000195663020238,-0.000248663293918,1.01985662849e-05,1793245347511039488
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.812468122,714,680,658,634.812468122,878.812468122,785,807,652,630,652.187531878,0.401000085442,-0.0153784368961,0.059856231286,0.999999952413,0.000193594148606,-0.000239971479876,1.0449462767e-05,1793245347527706368
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.610623312,714,680,658,634.610623312,878.610623312,785,806.610623312,652,630,652,0.401031566676,-0.0153798601845,0.0598686478421,0.999999957757,0.000192550663612,-0.000217440552317,1.14358525339e-05,1793245347544372992
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.034844911,714,680,658,634.034844911,878.034844911,785,806.034844911,652,630,652,0.401072021067,-0.0153816927706,0.0598843315797,0.999999963761,0.000191998049562,-0.00018828458813,1.27743363468e-05,1793245347561039872
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460023425,744.539976575,714,679.460023425,658,633.460023425,878,785,806,652,629.460023425,651.460023425,0.401132704981,-0.0153867968299,0.0599018041374,0.999999968517,0.000190540381762,-0.000162634921756,1.45180005251e-05,1793245347577706752
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.234807369,658,633.117403685,878,785,806.117403685,652,629.117403685,651.117403685,0.401197878059,-0.0153915926886,0.059918423703,0.99999997233,0.000189510705177,-0.000138445316452,1.6105438217e-05,1793245347594373376
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.411050163,658,633.705525082,878,785,806.705525082,652,629.705525082,651.705525082,0.401275825301,-0.0153943079271,0.0599311612929,0.999999974619,0.000190430762635,-0.000119204092734,1.6961856806e-05,1793245347611039744
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.279756363,744.720243637,714,680.720243637,658,634,878,785,806.720243637,652,630,652,0.401360677339,-0.0153977009303,0.0599403383264,0.999999976438,0.000190267134993,-0.000103070066,1.73159813847e-05,1793245347627706112
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.840058307,744.159941693,714,680.159941693,658,634,878,785,806.159941693,652,630,652,0.401452453646,-0.0154017736099,0.0599459447582,0.999999977934,0.000189016765047,-9.00520031144e-05,1.71663948862e-05,1793245347644372736
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,806.426023834,652,630,652,0.401557766128,-0.0154072365722,0.0599455891909,0.999999978553,0.000186012604911,-8.96436897586e-05,1.60343389497e-05,1793245347661041408
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,807,652,630,652,0.401669447442,-0.0154133138813,0.0599428511757,0.999999978844,0.00018233155014,-9.41127730014e-05,1.45073753428e-05,1793245347677710848
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,785,807,652,630,652,0.401805933859,-0.015420912122,0.0599400960634,0.999999979389,0.000179262997557,-9.44495613866e-05,1.29180477216e-05,1793245347694374912
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679.662702602,658,634,878.168648699,785,807,652,630,652,0.401949700835,-0.0154285346632,0.0599381713457,0.999999980152,0.000175515788357,-9.36186723749e-05,1.1247836552e-05,1793245347711040256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,678.462340246,658,634,878.768829877,785,807,652,630,652,0.402112097034,-0.0154362193821,0.0599383714139,0.999999981469,0.000170032056463,-8.97999706279e-05,9.37066358981e-06,1793245347727707392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.645999834,744.354000166,714,678.708000332,658,634,878.645999834,785,807,652,630,652,0.402309118331,-0.0154462735288,0.0599400291106,0.999999983232,0.000163508494285,-8.20859658199e-05,7.91652215023e-06,1793245347744374016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.070233189,744.929766811,714,679.859533623,658,634,878.070233189,785,807,652,630,652,0.402527830838,-0.0154578120249,0.0599425999514,0.99999998517,0.00015633352084,-7.19317141802e-05,6.7273922999e-06,1793245347761039872
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.504362462,745,714,680,658,634,878,785,806.495637538,652,630,652,0.402770769284,-0.015468090745,0.0599463686764,0.999999986841,0.000150158145114,-6.11968035398e-05,5.07178179989e-06,1793245347777706240
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918834024,744.918834024,714,680,658,634,878,785,806.081165976,652,630,652,0.403020526581,-0.0154779886495,0.059949208172,0.999999988171,0.000144470064103,-5.26863600854e-05,3.16595870433e-06,1793245347794372864
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.327119072,744.327119072,714,680,658,634,878,785,806.672880928,652,630,652,0.403292005049,-0.0154865920606,0.0599451558289,0.999999988342,0.000140973617631,-5.86756522928e-05,9.39033736088e-08,1793245347811039488
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878.258962769,785,806.741037231,652,630,652,0.403577292758,-0.0154913220394,0.0599371807407,0.999999987505,0.000141357237922,-7.06947735617e-05,-3.20860774604e-06,1793245347827706368
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878.838080378,785,806.161919622,652,630,652,0.403879652772,-0.0154912633057,0.0599243559757,0.999999985175,0.000146537772471,-9.01685527615e-05,-6.79603043256e-06,1793245347844372992
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413469223,744.413469223,714,680,658.413469223,634,878.586530777,785,806.413469223,652,630,652,0.40420454517,-0.0154797381698,0.0599118388616,0.999999988826,9.72829082791e-05,-0.000112817640056,-1.2511552492e-05,1793245347861039872
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.987410877,744.987410877,714,680,658.987410877,634,878.012589123,785,806.987410877,652,630,652,0.404538182655,-0.0154637627838,0.0598994411508,0.999999990113,2.69010037454e-05,-0.000136699102027,-1.90530156373e-05,1793245347877707008
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.42429602,658.42429602,634,878,785,807,652,630,652,0.404939640917,-0.0154704761678,0.0598978868192,0.999999989247,3.47283816167e-05,-0.000140774610869,-2.19539851235e-05,1793245347894373376
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.323490302,658,634,878,785,807,652,630,652,0.405360827155,-0.0154786808075,0.0599023100927,0.999999989756,4.0796766258e-05,-0.000134993285675,-2.44986430236e-05,1793245347911039488
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.482280676,658,634,878,785,807,652,630,652,0.405829026509,-0.0154894222213,0.0599215405099,0.999999993436,3.77941982496e-05,-0.000104907077976,-2.63340658634e-05,1793245347927706112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.681238222,714,680.681238222,658,634,878.318761778,785.318761778,807,652,630,652,0.40633017968,-0.0154972401485,0.059946757421,0.999999997202,3.03895375409e-05,-6.27087296285e-05,-2.71969353776e-05,1793245347944372736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.105049172,714,680.105049172,658,634,878.894950828,785.894950828,807,652,630,652,0.406857945913,-0.0155026971123,0.0599768089376,0.999999999382,1.94298118357e-05,-1.07287931914e-05,-2.72743854387e-05,1793245347961039360
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.470285174,714,680,658.470285174,634,879,785.529714826,807,652,630,652,0.407383972609,-0.0155020584612,0.0599893912703,0.999999999525,-6.17286369988e-06,3.97422692256e-06,-2.99395007388e-05,1793245347977707008
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.95341355,744.95341355,714,680,658.95341355,634,878.95341355,785.04658645,807,652,630,652,0.407911713853,-0.0155002350742,0.0599962703151,0.999999998882,-3.27610293171e-05,7.00456342103e-06,-3.33823394763e-05,1793245347994374400
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.363615028,744.363615028,714,680,658.363615028,634,878.363615028,785.636384972,807,652,630,652,0.408463970224,-0.0155004451465,0.0599820650127,0.999999998271,-3.27704813498e-05,-2.9156765643e-05,-3.91660632095e-05,1793245348011041280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.444842541,744,714,680,658,634,878.22242127,785.77757873,807,652,630,652,0.409040772278,-0.0155017378401,0.0599729217779,0.999999996863,-3.78461316777e-05,-5.33480202393e-05,-4.46626638472e-05,1793245348027707648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.604818685,744,714,680,658,634,878.802409342,785.197590658,807,652,630,652,0.409657034198,-0.0155047709674,0.0599719163778,0.999999995762,-5.10662563698e-05,-5.82960535692e-05,-4.96976820554e-05,1793245348044373760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.621567788,744,714,680,658,634,879,785,807,652,630,652,0.410314225049,-0.0155088586559,0.0599785845251,0.999999995112,-7.28867988624e-05,-3.92611992911e-05,-5.40500965309e-05,1793245348061040128
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.047593817,744,714,680,658,634,879,785,807,652,630,652,0.410992564492,-0.0155134912524,0.0599892177129,0.999999993369,-9.91513093198e-05,-7.834017036e-06,-5.80497989066e-05,1793245348077706496
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.505178297,634,878.494821703,785,807,652,630,652,0.411672892476,-0.0155143263317,0.0599850652223,0.999999992938,-0.000101145039949,-1.80575139046e-05,-5.97356832735e-05,1793245348094372864
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.063125017,714,680,659,634,878.063125017,785,807,652,630,652,0.412352456787,-0.0155135282469,0.0599758433419,0.999999993532,-8.93365072976e-05,-3.89055717783e-05,-5.86653938879e-05,1793245348111039488
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.683696284,714,680,659,634,878.683696284,785,807,652,630,652,0.413023689072,-0.0155013401289,0.0599336603039,0.999999991833,2.49782397977e-05,-0.000120320954235,-3.51032913253e-05,1793245348127706368
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.71817045,714,680,659,633.71817045,879,785,807,652,630.28182955,652.28182955,0.413744153234,-0.0154944622016,0.059912903278,0.999999984468,7.34541529546e-05,-0.000158014864786,-2.64482829982e-05,1793245348144372992
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.143362714,714,680,659,633.143362714,879,785,807,652,630.856637286,652.856637286,0.414515796876,-0.0154931045247,0.0599144198312,0.999999986727,5.34867885332e-05,-0.000150257777679,-3.3290062633e-05,1793245348161039872
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.428869325,879,785,807,652,630.571130675,652.571130675,0.415355288109,-0.0155029298776,0.059957437377,0.999999996416,2.7653719021e-05,-7.21668427724e-05,-3.4557593817e-05,1793245348177706496
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,713.999754499,680,659,633.999754499,879,785,807,652,630,652.000245501,0.416217299889,-0.0155164662849,0.0600142217208,0.999999998995,-1.16921405484e-07,2.92500880305e-05,-3.3973240895e-05,1793245348194372864
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,713.428290185,680,659,633.428290185,879,785,807,652,630,652.571709815,0.417023145436,-0.0155186064275,0.0600166615021,0.99999999907,-1.09841115284e-06,2.62376740477e-05,-3.4215815125e-05,1793245348211039488
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,713.151048406,680,659,633,879,785,807.151048406,651.848951594,630,653,0.417846117962,-0.0155193786081,0.0600140309083,0.999999999196,-3.22528816281e-06,1.82376823329e-05,-3.55550848865e-05,1793245348227706112
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,713.75394202,680,659,633,879,785,807.75394202,651.24605798,630,653,0.418720323976,-0.0155160586761,0.0599962328277,0.999999999143,-8.77846905471e-06,-4.68211650812e-06,-4.01750024384e-05,1793245348244372736
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680.339973596,659.339973596,633.339973596,879.339973596,785,808,651,630,652.660026404,0.419565606633,-0.0155154143702,0.0599693223112,0.99999999791,-1.29261868086e-05,-4.51940007987e-05,-4.43781481521e-05,1793245348261039104
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680.914377835,659.914377835,633.914377835,879.914377835,785,808,651,630,652.085622165,0.420390944998,-0.0155166150571,0.0599361282656,0.999999993918,-1.61047595474e-05,-9.78366023809e-05,-4.82939062982e-05,1793245348277705984
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490720649,744,714,680.509279351,659.509279351,634,879.509279351,785,808,651.490720649,630,652.490720649,0.421213468524,-0.015515916424,0.0599000002246,0.999999984783,-1.58252601192e-05,-0.000165987843858,-5.12978006901e-05,1793245348294372864
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931247878,744,714,680.068752122,659,633.931247878,879.068752122,785,808,652,630,653,0.422049696096,-0.0155153061391,0.0598715142569,0.999999974049,-1.51246182956e-05,-0.000220877501741,-5.37259221752e-05,1793245348311039488
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.343023506,744,714,680.656976494,659,633.343023506,879.656976494,785,808,652,630,653,0.4229931929,-0.0155178772743,0.0599046530777,0.999999986451,-1.58189438676e-05,-0.000155039441125,-5.30105770662e-05,1793245348327706112
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.242459545,744,714,681,659,633.242459545,880,785,808,652,630.242459545,653,0.423965114226,-0.015522259396,0.0599499262793,0.999999995558,-1.91709965191e-05,-7.71712336632e-05,-5.06053621655e-05,1793245348344372736
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.824107713,744,714,681,659,633.824107713,880,785,808,652,630.824107713,653,0.424976800153,-0.0155291749967,0.0600121748695,0.999999998452,-2.62410747985e-05,1.75265493142e-05,-4.58361048414e-05,1793245348361039360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.600508454,744,714,680.600508454,659.399491546,633.600508454,879.600508454,785.399491546,808,652,631,652.600508454,0.425931876547,-0.0155328109157,0.0600334897197,0.999999996743,-3.35651170847e-05,5.8135932144e-05,-4.48057977796e-05,1793245348377705728
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.0278402,744,714,680.0278402,659.9721598,633.0278402,879.0278402,785.9721598,808,652,631,652.0278402,0.426862413056,-0.0155350251159,0.0600370600846,0.999999995294,-4.0999250579e-05,7.52983775041e-05,-4.5396299113e-05,1793245348394372608
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.561777845,659.438222155,633,879,786,808,652,631,652.561777845,0.427748490572,-0.0155356229882,0.060011540032,0.999999997262,-4.08105789621e-05,3.79601450796e-05,-4.86714747604e-05,1793245348411039232
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,713.850583804,681,659.149416196,633.149416196,879.149416196,785.850583804,808.149416196,652,631,653,0.42862571899,-0.0155348473984,0.0599816862004,0.999999997795,-4.05100370348e-05,-9.0300431788e-06,-5.18420274609e-05,1793245348427706112
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744,713.271135955,681,659.728864045,633.728864045,879.728864045,785.271135955,808.728864045,652,631,653,0.429484017412,-0.0155303565841,0.0599436376549,0.999999994812,-4.1008587664e-05,-7.57840644933e-05,-5.43166395487e-05,1793245348444372480
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.306402451,713.306402451,681,660,634,880,785.306402451,808.693597549,652,630.693597549,653,0.430396308634,-0.0155279044806,0.0599280166843,0.999999992755,-4.04635542285e-05,-9.82344839014e-05,-5.65900128765e-05,1793245348461039104
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.882261621,713.882261621,681,660,634,880,785.882261621,808.117738379,652,630.117738379,653,0.431356082207,-0.0155272452622,0.0599321189937,0.999999994178,-3.90007712333e-05,-8.17233863353e-05,-5.86864126471e-05,1793245348477705984
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.543463744,714,681,660,634,880,785.543463744,808.456536256,652,630,652.543463744,0.432317847839,-0.0155324395691,0.059971489516,0.999999997065,-4.85530789259e-05,-1.79646955587e-05,-5.64803102627e-05,1793245348494372608
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.968668403,880,785,809,652,630,652.031331597,0.433275228467,-0.0155388533501,0.0600168678229,0.999999995378,-5.99207754218e-05,5.29809986813e-05,-5.33581498756e-05,1793245348511039232
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.377287031,880,785,809,652,630,652.622712969,0.434145074865,-0.0155401745757,0.0600076158622,0.999999996526,-5.31360929932e-05,3.53426775424e-05,-5.36268281951e-05,1793245348527705856
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,785.209371736,809,652,630.209371736,653,0.435010468734,-0.0155408764469,0.0599898837949,0.99999999712,-5.19166434347e-05,2.80005959498e-06,-5.52877995963e-05,1793245348544372736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,785.787708208,809,652,630.787708208,653,0.435868016293,-0.0155404868627,0.0599572076831,0.999999994837,-6.05045081422e-05,-5.60076151304e-05,-5.94023353842e-05,1793245348561039360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,786,809,652,631,653,0.436707296963,-0.0155361440686,0.0599324964161,0.999999991067,-6.04169022673e-05,-0.000101593627022,-6.2399777715e-05,1793245348577705728
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,880,786,809,652,631,653,0.437535983492,-0.0155295085658,0.0599124044529,0.999999986643,-5.52978584847e-05,-0.000139511582291,-6.47493488091e-05,1793245348594372608
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.524074009,714,681,660,633,880,786,809,652,631,653,0.438340772724,-0.0155273476995,0.0599017642666,0.999999983153,-5.70619626771e-05,-0.000161378904222,-6.62871165629e-05,1793245348611039232
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.887960149,714,681.112039851,660,633,880,786,809,652,631,653,0.439159175586,-0.0155280739467,0.0599052657766,0.999999983311,-6.18575852981e-05,-0.000158518563438,-6.65086008289e-05,1793245348627705856
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.308769728,714,681.691230272,660,633,880,786,809,652,631,653,0.440046888124,-0.0155384885516,0.059962768349,0.999999993375,-7.56790384473e-05,-6.09837572988e-05,-6.16680849463e-05,1793245348644372480
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.269127252,714,682,660,633,880,785.730872748,809.269127252,652,630.730872748,652.730872748,0.440875126555,-0.0155469866452,0.059993295425,0.999999994713,-8.35388495334e-05,-1.45910629793e-05,-5.8150412179e-05,1793245348661039104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.845547323,714,682,660,633,880,785.154452677,809.845547323,652,630.154452677,652.154452677,0.441635456655,-0.0155532964419,0.0599930215422,0.999999994493,-8.4591583806e-05,-2.6593070501e-05,-5.61431788581e-05,1793245348677705984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,632.579274572,880,785,809.579274572,652,630,652,0.442339999768,-0.0155592702027,0.0599443992668,0.999999988859,-9.41414395176e-05,-9.83143041636e-05,-6.12721406625e-05,1793245348694372608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,632.004551017,880,785,809.004551017,652,630,652,0.443024123233,-0.0155651209648,0.0598780800293,0.999999973504,-0.000106801495934,-0.000191894566298,-6.90131633183e-05,1793245348711039232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.414763119,714,682,659.414763119,632.585236881,880,785,809.585236881,652,630.585236881,652.585236881,0.443671730834,-0.01557129022,0.0598428568963,0.99999995824,-0.00013538604182,-0.000244754537164,-7.26993289819e-05,1793245348727706112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744,714,682,659,633,880.17204231,784.82795769,810,652,630.82795769,653,0.444315982915,-0.0155782423673,0.059816421302,0.999999943674,-0.000155204579389,-0.00028785942648,-7.55074493423e-05,1793245348744372992
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744,714,682,659,633,880.751500286,784.248499714,810,652,630.248499714,653,0.444952979094,-0.015587042473,0.0598102078126,0.999999937609,-0.000153963221036,-0.000308632880031,-7.63129046156e-05,1793245348761039616
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.327725199,714,682,658.672274801,632.672274801,880.672274801,784,810,652,630,653,0.445554923032,-0.0155929913162,0.0597897188379,0.999999922086,-0.000168604009338,-0.000348099304144,-7.89198454357e-05,1793245348777706240
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.901522533,714,682,658.098477467,632.098477467,880.098477467,784,810,652,630,653,0.446130547993,-0.0155967992912,0.05975851113,0.999999896878,-0.000195169891148,-0.000401601324298,-8.2879429618e-05,1793245348794373376
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.524455703,658,632,880,783.524455703,810,652,630,653,0.44672170612,-0.0156098472408,0.0597476912595,0.999999889689,-0.000213212650172,-0.000410146200277,-8.33192609031e-05,1793245348811040000
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.05126023,658,631.94873977,880,783,810,652,630,652.94873977,0.447312467604,-0.0156261258835,0.0597430495201,0.99999988707,-0.000230161549763,-0.000407522755866,-8.25277959621e-05,1793245348827706112
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.6443938,658,631.3556062,880,783,810,652,630,652.3556062,0.447865016704,-0.0156563196105,0.0597590651444,0.999999890539,-0.000254213902164,-0.000385300270811,-7.64289487566e-05,1793245348844372736
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,783,810,652,630,652.230437666,0.4483798119,-0.0156812672787,0.0597601007539,0.999999882438,-0.000283759062437,-0.00038629682295,-7.33513692182e-05,1793245348861039616
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,783,810,652,630,652.805867367,0.448838085053,-0.015698360983,0.0597387095346,0.999999856447,-0.000321527593702,-0.000422054980692,-7.47969798801e-05,1793245348877706240
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,879.611366681,782.611366681,810,652,629.611366681,653,0.449267060065,-0.0157024001193,0.0597056707569,0.999999829697,-0.000332122476988,-0.000473545310206,-7.78130926715e-05,1793245348894372864
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,879.024865514,782.024865514,810,652,629.024865514,653,0.449681118332,-0.0156997926855,0.059666701767,0.999999800518,-0.000328882236234,-0.000533045482647,-8.16288071683e-05,1793245348911039488
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781.88994293,809.11005707,652,629.88994293,653,0.45049891729,-0.0157002346386,0.0596497988279,0.999999808642,-0.000288663886012,-0.000542208953666,-7.34690948511e-05,1793245348944372736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,630,880,781.294972814,809.705027186,652,629.294972814,653,0.450885369553,-0.0157058045537,0.0596681814891,0.99999983606,-0.000256634838731,-0.000508824026285,-5.58226760233e-05,1793245348961039360
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.709705296,745,714,683,657,630,879.709705296,780.709705296,810,652,629,653,0.451247877204,-0.0157125775923,0.0596834785249,0.999999850625,-0.00024912451322,-0.000484220063795,-4.70966779979e-05,1793245348977705984
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.133977906,745,714,683,657,630,879.133977906,780.133977906,810,652,629,653,0.451586841255,-0.0157205336035,0.0596957416139,0.999999853956,-0.000265722258495,-0.000468250000399,-4.7141697715e-05,1793245348994372608
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.444256032,745,714,683,657,629.555743968,879.444256032,780,810,652,629,652.555743968,0.451898950487,-0.0157269556595,0.0597025278846,0.999999857614,-0.000276772115936,-0.000453696667982,-4.8252894595e-05,1793245349011039232
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657,629.023562723,880,780,810,652,629,652.023562723,0.452200024736,-0.01573275491,0.0597069924246,0.999999860623,-0.000286101160291,-0.000440939557188,-4.97168937546e-05,1793245349027706112
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,629.610340279,880,780,810,652,629,652.610340279,0.452432015234,-0.0157347877222,0.0596956651045,0.999999849094,-0.000294517173024,-0.000460846615839,-5.18846424355e-05,1793245349044372992
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682.804167306,657,629.804167306,880,780,810,652,629,653,0.452654885964,-0.0157367478683,0.0596857725509,0.999999837068,-0.000307524425025,-0.000477897328277,-5.39217349851e-05,1793245349061039616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682.22121541,657,629.22121541,880,780,810,652,629,653,0.452859728845,-0.0157385643689,0.0596787162243,0.99999982442,-0.000329607570709,-0.000489301655134,-5.57005481685e-05,1793245349077705984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682.354960046,657,629,880,779.645039954,809.645039954,652,628.645039954,653,0.453044028079,-0.0157402818191,0.0596750480671,0.999999817633,-0.000338438646497,-0.000496964160303,-5.67370087665e-05,1793245349094372608
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682.926991511,657,629,880,779.073008489,809.073008489,652,628.073008489,653,0.45321576412,-0.0157419386962,0.0596734519024,0.999999814669,-0.000339165585348,-0.000502338401999,-5.73194930241e-05,1793245349111039232
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,682.496773964,657,629,880,779,809,652,628,652.496773964,0.453367462984,-0.0157438817053,0.0596727635036,0.999999813022,-0.000338506892269,-0.00050596220359,-5.80630516291e-05,1793245349127705856
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.91778694,745,714,682.08221306,657,629,880,779,809.08221306,652,628,652.08221306,0.453513012917,-0.0157461611726,0.0596725061628,0.999999811783,-0.000338217580452,-0.000508521271793,-5.87211545282e-05,1793245349144372736
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.411184542,745,714,683,656.411184542,628,880,779,809.411184542,652,628,653,0.453939249877,-0.0157605968143,0.0596838628418,0.999999816811,-0.000356216375276,-0.000485991334026,-5.74438967315e-05,1793245349211039744
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656.14029298,628,880,778,810,652,628,652.85970702,0.454275460421,-0.0157522598126,0.0596708281482,0.999999808402,-0.000355499904519,-0.000503531146007,-5.72081968545e-05,1793245349511039488
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.582448129,656.417551871,628,880.417551871,778,810,652,627.582448129,653,0.454275061595,-0.0157517401144,0.0596708156529,0.999999807933,-0.000355735460213,-0.00050426855631,-5.74409322668e-05,1793245349527706368
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.030654541,656.969345459,628,880.969345459,778,810,652,627.030654541,653,0.45427404464,-0.0157513874392,0.0596706641271,0.999999807199,-0.000356290099287,-0.000505295848519,-5.77570819491e-05,1793245349544372992
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.582358534,656.417641466,628,880.417641466,778.582358534,810,652,627.582358534,653,0.454274700734,-0.0157515069519,0.0596702626046,0.999999806735,-0.000357823248486,-0.000505133513078,-5.77337225336e-05,1793245349561039616
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.813111605,809.813111605,652,628,653,0.454275461403,-0.0157513874261,0.0596700911781,0.999999806818,-0.000358197844893,-0.000504722433307,-5.75606911075e-05,1793245349577706240
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.233946543,809.233946543,652,628,653,0.454276235006,-0.0157507078618,0.0596704335868,0.999999808018,-0.000356019837933,-0.000503936121872,-5.71154180077e-05,1793245349594372864
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.343138028,809.343138028,652,628,653,0.45427564517,-0.0157507411309,0.059669598863,0.999999807799,-0.000354651885772,-0.000505387985873,-5.66301184871e-05,1793245349611039488
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.918812675,809.918812675,652,628,653,0.454274131362,-0.0157512574706,0.059667966424,0.999999806613,-0.000353832888898,-0.000508356609068,-5.61176940148e-05,1793245349627706368
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,628,880,778.505668875,810,652,628,653,0.454274990725,-0.0157505268556,0.0596685195956,0.999999807135,-0.000353640291784,-0.000507423912147,-5.64700808214e-05,1793245349644372736
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,744.928396031,714,683,656.071603969,628,880,778,810,652,627.928396031,653,0.454275999015,-0.0157499037947,0.0596691440301,0.999999807603,-0.000353891123225,-0.000506278211576,-5.69040830015e-05,1793245349661039360
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,744.338232341,714,683,656.661767659,628,880,778,810,652,627.338232341,653,0.454275264055,-0.0157515423198,0.0596676857857,0.999999805648,-0.000356608476254,-0.000508228735524,-5.6900856621e-05,1793245349677705984
+247,4.116666667,HOLD_POSE2,765,745,714,682,656,628,880,778,810,652,628,653,0.454273428934,-0.0157493926498,0.0596668947876,0.999999806976,-0.000350962187781,-0.000509591125806,-5.64883058574e-05,1793245349716165632
+248,4.133333333,HOLD_POSE2,765,745,714,682.576011143,656.576011143,628,880,778,809.423988857,652,628,653,0.454275163292,-0.015747903332,0.0596672864162,0.999999807163,-0.000351670088696,-0.000508717157662,-5.66392855412e-05,1793245349732832256
+249,4.150000000,HOLD_POSE2,765,745,714,682.848006855,657,628,880,778,809.151993145,652,628,652.848006855,0.454276498346,-0.0157473893225,0.0596676500871,0.999999807178,-0.000352701295435,-0.000507980579984,-5.65848308895e-05,1793245349749498880
+250,4.166666667,HOLD_POSE2,765,745,714,682.272105997,657,628,880,778,809.727894003,652,628,652.272105997,0.454276719742,-0.0157495954403,0.0596679357844,0.999999806709,-0.000354634199792,-0.000507627183062,-5.59574214898e-05,1793245349766165760
+251,4.183333333,HOLD_POSE2,765,745,714,682.312687261,656.687312739,628,880,778,809.687312739,652.312687261,628,652.312687261,0.454276417309,-0.0157496556356,0.0596676514954,0.999999806271,-0.000354699067577,-0.000508438211181,-5.601115667e-05,1793245349782832128
+252,4.200000000,HOLD_POSE2,765,745,714,682.905445318,656.094554682,628,880,778,809.094554682,652.905445318,628,652.905445318,0.454275645687,-0.0157477937499,0.0596668566757,0.999999805858,-0.000353090753913,-0.000510292202969,-5.66749861505e-05,1793245349799498496
+253,4.216666667,HOLD_POSE2,765.485086627,744.514913373,714,682.514913373,656,627.514913373,880,778,809.485086627,652.514913373,628,653,0.454275934488,-0.0157497509003,0.0596669321872,0.999999805603,-0.000354813322512,-0.000509644549807,-5.62538040582e-05,1793245349816164864
+254,4.233333333,HOLD_POSE2,765.938222954,744.061777046,714,682,656,627.061777046,880,778,810,652,627.938222954,652.938222954,0.454276325957,-0.0157520852447,0.0596671644137,0.999999805409,-0.00035679392503,-0.000508704636272,-5.56685164214e-05,1793245349832831488
+255,4.250000000,HOLD_POSE2,765.365350164,744.634649836,714,682,656,627.634649836,880,778,810,652,627.365350164,652.365350164,0.454275901755,-0.0157515435983,0.0596673265955,0.99999980553,-0.000355679192217,-0.000509274836798,-5.54292173229e-05,1793245349849498112
+256,4.266666667,HOLD_POSE2,765,745,714,682,656,628,880,778,809.785582827,652.214417173,627,652,0.454276477086,-0.0157506982028,0.0596679593273,0.999999806249,-0.000354670572795,-0.000508567002998,-5.54188214309e-05,1793245349866164736
+257,4.283333333,HOLD_POSE2,765,745,714,682,656,628,880,778,809.193677485,652.806322515,627,652,0.454278812128,-0.0157493180473,0.0596694204772,0.999999808018,-0.000353848769448,-0.000505609149557,-5.58114168496e-05,1793245349882831616
+258,4.300000000,HOLD_POSE2,765,745,714,682,656,628,879.611053942,778,809,652.611053942,627.388946058,652,0.454278822231,-0.0157486910588,0.0596692741125,0.999999808073,-0.000353843182673,-0.000505486659662,-5.59699332502e-05,1793245349899498496
+259,4.316666667,HOLD_POSE2,765,745,714,682,656,628,879.032944535,778,809,652.032944535,627.967055465,652,0.454277701603,-0.0157484303719,0.0596683459356,0.999999807296,-0.000354234561567,-0.000506743144432,-5.60146056967e-05,1793245349916165632
+260,4.333333333,HOLD_POSE2,765,745,714,682.542469572,656.542469572,628,879.542469572,778,809.542469572,652,628,652.542469572,0.454278505344,-0.0157478306607,0.0596691459588,0.9999998082,-0.000351762581547,-0.000506712980296,-5.5725768426e-05,1793245349932832256
+261,4.350000000,HOLD_POSE2,765,745,714,683,656.882192047,628,880.117807953,778,810,652,628,653,0.454279331737,-0.0157472990238,0.0596697248812,0.999999808887,-0.00034986805222,-0.000506692358495,-5.55032937851e-05,1793245349949498880
+262,4.366666667,HOLD_POSE2,765,745,714,683,656.306514775,628,880.693485225,778,810,652,628,653,0.454279794197,-0.0157471115885,0.059669038582,0.999999808361,-0.000350890336148,-0.000507011015351,-5.56170728294e-05,1793245349966165248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,628,880,778,810,652,628,653,0.454278509299,-0.0157490321741,0.0596685904518,0.999999808323,-0.000350058140283,-0.000507787027643,-5.44519497041e-05,1793245350003350016
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.418915776,628,880,778,810,652,628,653,0.454278506717,-0.0157498002341,0.0596682060851,0.9999998075,-0.000351919000897,-0.000508076827758,-5.48754454567e-05,1793245350020016640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810,652,628,653,0.454278130627,-0.0157495639844,0.0596676202258,0.999999806886,-0.000352598302872,-0.000508768665713,-5.5297002477e-05,1793245350036683520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880,778,810,652,628,653,0.454276789684,-0.015746733387,0.0596665138674,0.999999806814,-0.000350225385716,-0.000510499053752,-5.57135514269e-05,1793245350053350912
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.315548453,778,810,652,627.684451547,653,0.454277110372,-0.0157458877048,0.0596664983925,0.999999807196,-0.000349440987899,-0.000510272148749,-5.58635193473e-05,1793245350070017536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628,880.905628007,778,810,652,627.094371993,653,0.454278876702,-0.0157467689238,0.059667432,0.999999807975,-0.000350038621918,-0.000508342374215,-5.57815584126e-05,1793245350086684160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.513546512,656,628.486453488,880.513546512,778,810,652,627,653,0.454277660508,-0.0157472293696,0.0596664834557,0.999999806691,-0.000351241359414,-0.000510037428794,-5.57594860462e-05,1793245350103350272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.934716742,745,714.065283258,682.065283258,656,628.934716742,880,778,810,652,627.065283258,653,0.454275891922,-0.0157476989185,0.0596652441708,0.999999805204,-0.000352329026772,-0.000512206323992,-5.56770862511e-05,1793245350120016384
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.357720629,745,714.642279371,682.642279371,656,628.357720629,880,778,810,652,627.642279371,653,0.454274244178,-0.0157488677203,0.0596645346049,0.99999980525,-0.00035161176777,-0.000512680189156,-5.50324503001e-05,1793245350136683008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714.782265212,683,656,628,880,778,810,652,628,653,0.454267915145,-0.0157484939854,0.0596615533218,0.999999803517,-0.000350513842188,-0.000516785808586,-5.51245963546e-05,1793245350153349632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,714.209323302,683,656,628,880,778,810,652,628,653,0.454253949173,-0.0157456037942,0.0596548660158,0.999999798812,-0.000348794906655,-0.00052681618155,-5.64187103139e-05,1793245350170016256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.375446182,745,714,683,656,628,880.375446182,778,810,652,627.624553818,652.624553818,0.454225603335,-0.0157432884751,0.0596425733773,0.999999788358,-0.000347429359433,-0.000547037469231,-5.76768891737e-05,1793245350186683392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.967024469,745,714,683,656,628,880.967024469,778,810,652,627.032975531,652.032975531,0.454188979476,-0.0157413040909,0.0596270539313,0.999999774078,-0.00034626724598,-0.000573125334361,-5.89143814628e-05,1793245350203350784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.54723836,628,881,778,810,652,627.54723836,652.54723836,0.454135383257,-0.0157387404183,0.0596104513643,0.999999761758,-0.000346177710072,-0.000594179978109,-5.99603155915e-05,1793245350220017152
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.125640498,683,656.874359502,628,880.874359502,778,810,652,628,653,0.454076959162,-0.0157355570612,0.0595948409761,0.999999749779,-0.000345760028914,-0.000614143864251,-6.09893098993e-05,1793245350236683520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.699968452,683,656.300031548,628,880.300031548,778,810,652,628,653,0.454004871777,-0.0157302828089,0.0595830021923,0.999999739676,-0.000343944359294,-0.000631273524433,-6.19981925253e-05,1793245350253349888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.725160163,683.274839837,656,628.274839837,880,778,810,652,628.274839837,653,0.453925524707,-0.0157257493457,0.0595759767103,0.999999733299,-0.000342912002271,-0.00064179694634,-6.25243645566e-05,1793245350270016256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.149694397,683.850305603,656,628.850305603,880,778,810,652,628.850305603,653,0.453838236836,-0.0157220261743,0.0595742161257,0.999999731238,-0.000342736450189,-0.000645094316945,-6.25225369519e-05,1793245350286682880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.437664723,745,714,683.562335277,656.437664723,629,880,778.437664723,810,652,628.562335277,653,0.453739248633,-0.0157160847951,0.0595742538428,0.999999731736,-0.000339579901633,-0.000646051878141,-6.18848576982e-05,1793245350303349504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.97150711,745,714,683,657,628.97150711,880,778.97150711,810,652,628,653,0.453634598973,-0.0157093742349,0.0595748459031,0.999999733024,-0.000335304433838,-0.000646375526252,-6.10064742716e-05,1793245350320016128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.394396894,745,714,683,657,628.394396894,880,778.394396894,810,652,628,653,0.453500146945,-0.0157028698001,0.0595739378256,0.999999732406,-0.000329664807743,-0.000650333014213,-5.97978962197e-05,1793245350336683264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.817936329,656.817936329,628,880,778,810,652.182063671,627.817936329,653,0.45335424693,-0.0156953698112,0.0595707885812,0.99999972969,-0.000324927587761,-0.000656934299233,-5.89861678565e-05,1793245350353349888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.242878143,656.242878143,628,880,778,810,652.757121857,627.242878143,653,0.453183635819,-0.0156857208645,0.0595628016541,0.999999722428,-0.000322138262068,-0.00066924236607,-5.90310616756e-05,1793245350370016768
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.899721345,656.899721345,628,880.899721345,778.899721345,810,652.100278655,627.899721345,653,0.452801350707,-0.0156657923968,0.059555857885,0.999999719147,-0.000312328383354,-0.000678820923342,-5.79513537785e-05,1793245350403349760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.509417323,628,880.509417323,779,810.490582677,652,628,653,0.452587494887,-0.0156540921634,0.0595591694804,0.999999724973,-0.000305402609345,-0.000673486653543,-5.65508526044e-05,1793245350420016384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,628.083411906,880,779,810.916588094,652,628,653,0.452364522956,-0.0156422547101,0.0595637380509,0.999999732029,-0.000298267003189,-0.000666297803007,-5.50160466223e-05,1793245350436682752
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.239350821,629,880,779,810,652,628,653,0.451832897351,-0.0156229846358,0.0595723404077,0.999999743697,-0.000287514237833,-0.000653649638811,-5.18074986348e-05,1793245350470016512
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.052556329,683,657.052556329,630,880,781,809.947443671,652.052556329,629,652.947443671,0.447654353959,-0.0155438583447,0.0595678958172,0.999999763076,-0.000168329445561,-0.000666838562679,-2.89872962064e-05,1793245350636683520
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.221108184,682.221108184,657.221108184,630.778891816,880,781.778891816,809.778891816,652.221108184,629.778891816,652,0.446025530917,-0.0155296580502,0.0596568132415,0.999999849917,-9.75391245827e-05,-0.000539010933738,-1.09087711028e-05,1793245350686683136
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.3753883,744,714,680,658,634,878,784.6246117,807.6246117,651.3753883,629.3753883,652,0.406170473377,-0.015366653966,0.0598205994536,0.999999933229,0.000220301920413,-0.000290729671975,2.20288966776e-05,1793245351536683008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.965673723,744,714,680,658,634,878,784.034326277,807.034326277,651.965673723,629.965673723,652,0.405726868293,-0.015366857479,0.0598253318841,0.999999939361,0.000206573606025,-0.000279491939319,2.21045843025e-05,1793245351553349632
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,713.118910845,679.118910845,658,633.118910845,878.881089155,785,806.881089155,651.881089155,629.881089155,652,0.404889249903,-0.0153637250199,0.0598278508847,0.999999938899,0.000216575374188,-0.000273338568343,2.41621171496e-05,1793245351586682880
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.660557913,744,714,680,658,634,877.339442087,785,806.339442087,652,629.660557913,652,0.402294398842,-0.0153558190639,0.0598405361878,0.999999933834,0.00026472705309,-0.000247262707716,3.33716153307e-05,1793245351736683776
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744.663864856,714,679.336135144,658,634,878,785,806,652,629.336135144,652,0.401631962102,-0.0153562584001,0.0598276438708,0.999999927986,0.000252086548099,-0.000282029821554,3.06432275926e-05,1793245351803350016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.239066745,744.760933255,714,679.239066745,658,634,878,785,806,652,629,652,0.401516684199,-0.0153632290355,0.059829249188,0.99999993232,0.00023569715281,-0.00028152444992,2.34597871268e-05,1793245351820016640
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.569621988,744,714,679.569621988,658,633.569621988,878,785,806,652,629,652,0.401208618842,-0.0153779364429,0.0598389092856,0.999999947564,0.000186862279446,-0.00026443924714,5.20543695029e-06,1793245351886682880
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.792707455,744,713.207292545,679.792707455,657,633.207292545,878,785,806,652,629.207292545,652,0.400993942133,-0.0153743371324,0.0598379649439,0.999999946904,0.000187190394028,-0.000266637397114,7.50744390733e-06,1793245352020016384
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.364480525,744,713.635519475,679.364480525,657,633.635519475,878,784.635519475,806,652,630,652,0.40098692118,-0.0153732729049,0.0598398486231,0.999999947209,0.000188978682104,-0.000264213623479,7.81359667204e-06,1793245352053349632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.952441191,744,713.047558809,679.952441191,657,633.047558809,878,784.047558809,806,652,630,652,0.400983665318,-0.0153735540553,0.0598395264876,0.999999947306,0.000187623477911,-0.00026481752874,7.59169456873e-06,1793245352070016256
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.465714164,744,713.534285836,679.465714164,657.534285836,633,878,784.534285836,806,652,629.465714164,652,0.400983498292,-0.0153765367148,0.0598404222053,0.99999994819,0.000185397724938,-0.000263036160651,7.70841360093e-06,1793245352086683136
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,633.690084616,877.309915384,785,806,652,629.690084616,652,0.400982843504,-0.0153761708839,0.0598421336741,0.999999948196,0.000188385031743,-0.000260873186733,8.02614992606e-06,1793245352120016640
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744.580070426,714,679.419929574,658,633.419929574,877.580070426,785,806.419929574,652,629.580070426,652,0.40098158295,-0.0153760865692,0.0598418371513,0.999999948602,0.000186900459117,-0.000260387483136,7.94480554886e-06,1793245352170016256
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744.018883193,714,679.981116807,658,634,877.018883193,785,806.981116807,652,629.018883193,652,0.400982549268,-0.0153760067843,0.0598422378188,0.999999948827,0.000187858016166,-0.000258822456557,8.20127436001e-06,1793245352186682880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744.59414169,714,679.40585831,658,634,877.59414169,785,806.40585831,652,629.59414169,652,0.400980922593,-0.0153764473918,0.0598420641868,0.999999948751,0.000186915683615,-0.000259793444298,8.22725134609e-06,1793245352203349504
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.169283287,744.830716713,714,679.169283287,658,634,878,785,806.169283287,652,630,652,0.400980132269,-0.0153768215341,0.0598422507673,0.999999948869,0.000186030444496,-0.000259973425873,8.31892434327e-06,1793245352220016384
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.744144777,744.255855223,714,679.744144777,658,634,878,785,806.744144777,652,630,652,0.400981345724,-0.0153770364354,0.0598433003652,0.99999994945,0.000185281993018,-0.000258258271342,8.56799545327e-06,1793245352236683520
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.080385986,744,714,680,657.080385986,634,878,785,806.080385986,652,629.080385986,652,0.400982468016,-0.0153749447033,0.0598445077164,0.999999949246,0.000189025142179,-0.000256346712413,8.03667780425e-06,1793245352270016768
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,744,713.0779033,680,658,633.0779033,878,784.0779033,806,652,630,652,0.400980224734,-0.0153779168839,0.0598430769985,0.999999949224,0.000185778538343,-0.000258777479588,8.55854238658e-06,1793245352303349504
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744,713.653316809,680,658,633.653316809,878,784.653316809,806,652,630,652,0.400980314581,-0.0153787929065,0.0598434959887,0.999999949462,0.000184991649869,-0.000258412386697,8.73798654417e-06,1793245352320016128
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.22807312,744,714,679.77192688,658,634,878.22807312,785,806,652,630,652,0.400980905446,-0.0153793104791,0.0598442632814,0.999999949866,0.00018433646578,-0.000257318502925,8.68826894666e-06,1793245352336682752
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.981073443,658,634,878.018926557,785,806,652,630,652,0.400979931519,-0.0153817069085,0.0598425936086,0.999999949201,0.000186022968645,-0.000258665623523,9.23921566757e-06,1793245352386683136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.4422555,744,714,680,658,634,878,785,806,652,630,652,0.400980845264,-0.015378431422,0.059844256162,0.999999949363,0.000187742410817,-0.000256815242847,8.5044867209e-06,1793245352403350016
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e170ecdb70bd377fb7d2ba663f97f67f8c8f8c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+1,0.016666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+2,0.033333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+3,0.050000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+367,6.116666667,pose2_to_pose3_retreat,0.576789443532,-0.0101221952169,1.05005102736,0.547361077049,-0.00144650851902,1.0497175147
+368,6.133333333,pose2_to_pose3_retreat,0.576627394784,-0.0101222331771,1.05005103337,0.547199028247,-0.0014465467162,1.04971751928
+369,6.150000000,pose2_to_pose3_retreat,0.576479116563,-0.0101222623876,1.05005103903,0.547050751453,-0.00144657115134,1.04971752333
+370,6.166666667,pose2_to_pose3_retreat,0.57634598523,-0.0101221261503,1.05005101323,0.546917618911,-0.00144643876819,1.04971750396
+371,6.183333333,pose2_to_pose3_retreat,0.576230557097,-0.0101220122797,1.05005093206,0.546802188676,-0.0014463318006,1.04971742875
+372,6.200000000,pose2_to_pose3_retreat,0.576131190361,-0.0101221475752,1.0500507713,0.546702822477,-0.00144646531883,1.04971726693
+373,6.216666667,pose2_to_pose3_retreat,0.576047305761,-0.0101221907027,1.05005103933,0.546618938879,-0.00144650557565,1.04971752194
+374,6.233333333,pose2_to_pose3_retreat,0.575975482293,-0.0101221245486,1.05005101534,0.546547116203,-0.00144643642064,1.04971750591
+375,6.250000000,pose2_to_pose3_retreat,0.575914035738,-0.0101222117542,1.05005095673,0.54648567064,-0.00144652043583,1.04971744266
+376,6.266666667,pose2_to_pose3_retreat,0.575862046847,-0.0101223244491,1.05005096015,0.546433682351,-0.00144663092877,1.04971745015
+377,6.283333333,pose2_to_pose3_retreat,0.575817484718,-0.0101223183888,1.0500509332,0.546389119589,-0.00144662700123,1.04971742352
+378,6.300000000,pose2_to_pose3_retreat,0.575779730306,-0.0101221935318,1.05005081213,0.546351363844,-0.00144650700314,1.04971729363
+379,6.316666667,pose2_to_pose3_retreat,0.575748948826,-0.0101221757745,1.05005075159,0.546320582824,-0.00144648712088,1.04971724771
+380,6.333333333,pose2_to_pose3_retreat,0.57572500435,-0.0101221710221,1.05005075253,0.546296638043,-0.0014464834354,1.04971724787
+381,6.350000000,pose2_to_pose3_retreat,0.575706814788,-0.0101220701868,1.05005100616,0.546278446195,-0.00144639054337,1.04971749663
+382,6.366666667,pose2_to_pose3_retreat,0.57569364219,-0.0101221266379,1.05005120375,0.546265275757,-0.00144643958488,1.04971769635
+383,6.383333333,pose2_to_pose3_retreat,0.575685384783,-0.0101221282944,1.05005111872,0.546257017937,-0.00144644268151,1.04971761032
+384,6.400000000,pose2_to_pose3_retreat,0.575679834986,-0.0101221349572,1.05005098641,0.546251467417,-0.00144645183426,1.0497174771
+385,6.416666667,pose2_to_pose3_retreat,0.575676324872,-0.0101221796078,1.05005090775,0.546247957463,-0.0014464959073,1.04971739937
+386,6.433333333,pose2_to_pose3_retreat,0.575673984301,-0.0101222088668,1.0500508805,0.546245617308,-0.00144652371196,1.04971737332
+387,6.450000000,pose2_to_pose3_retreat,0.575672537874,-0.010122226725,1.0500508746,0.546244171271,-0.0014465402075,1.04971736842
+388,6.466666667,pose2_to_pose3_retreat,0.575671573182,-0.0101222434878,1.05005087285,0.546243207196,-0.00144655486822,1.04971736688
+389,6.483333333,pose2_to_pose3_retreat,0.575670996564,-0.0101222573186,1.05005087353,0.546242631228,-0.00144656650542,1.04971736734
+390,6.500000000,pose2_to_pose3_retreat,0.575670694732,-0.0101222645584,1.05005087388,0.546242329735,-0.00144657259695,1.04971736757
+391,6.516666667,pose2_to_pose3_retreat,0.575670466842,-0.0101222700246,1.05005087415,0.546242102102,-0.00144657719618,1.04971736775
+392,6.533333333,pose2_to_pose3_retreat,0.575670362751,-0.0101222680312,1.05005087995,0.546241998065,-0.00144657502053,1.04971737357
+393,6.550000000,pose2_to_pose3_retreat,0.575670183223,-0.0101222203735,1.05005094593,0.546241818003,-0.00144652915423,1.04971744008
+394,6.566666667,pose2_to_pose3_retreat,0.575670001667,-0.0101221721774,1.05005101266,0.546241635906,-0.00144648276972,1.04971750735
+395,6.583333333,pose2_to_pose3_retreat,0.575669981366,-0.0101221667882,1.05005102012,0.546241615544,-0.00144647758313,1.04971751487
+396,6.600000000,pose2_to_pose3_retreat,0.575669933642,-0.0101221541194,1.05005103766,0.546241567679,-0.00144646539056,1.04971753255
+397,6.616666667,pose2_to_pose3_retreat,0.575669926048,-0.0101221521036,1.05005104045,0.546241560062,-0.00144646345047,1.04971753537
+398,6.633333333,pose2_to_pose3_retreat,0.575669884598,-0.0101221411003,1.05005105568,0.546241518489,-0.00144645286081,1.04971755073
+399,6.650000000,pose2_to_pose3_retreat,0.575669875957,-0.0101221388063,1.05005105886,0.546241509822,-0.00144645065299,1.04971755393
+400,6.666666667,pose2_to_pose3_retreat,0.575669779586,-0.0101221132237,1.05005109428,0.546241413165,-0.00144642603201,1.04971758963
+401,6.683333333,pose2_to_pose3_retreat,0.57566971486,-0.0101221430217,1.05005111314,0.546241348835,-0.00144645454819,1.04971760679
+402,6.700000000,pose2_to_pose3_retreat,0.575669705679,-0.0101221514,1.05005111539,0.546241339763,-0.00144646257428,1.04971760862
+403,6.716666667,pose2_to_pose3_retreat,0.575669694785,-0.0101221613413,1.05005111805,0.546241328998,-0.00144647209769,1.04971761079
+404,6.733333333,pose2_to_pose3_retreat,0.575669682106,-0.0101221729116,1.05005112114,0.546241316469,-0.00144648318166,1.04971761331
+405,6.750000000,pose2_to_pose3_retreat,0.575669659159,-0.0101221938525,1.05005112674,0.546241293793,-0.00144650324229,1.04971761789
+406,6.766666667,pose2_to_pose3_retreat,0.575669656557,-0.0101221962273,1.05005112738,0.546241291222,-0.00144650551726,1.0497176184
+407,6.783333333,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496246,1.04971762284
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b04238e5862dfe5720adc0f55895d9b7324beba4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b54cf1108e2f705116abd402220297b5c8eb810bfb71704047565fa2e2883bb
+size 25475647
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e643467d359b35adf2eb8b855db3aac3210c5cb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+33,0.550000000,BASELINE,764.135098206,744.135098206,714,679,658.864901794,634,878,785,807,652.864901794,630,652,0.400933278762,-0.0154411063684,0.0499285389182,0.999999975111,4.94580235077e-05,-0.000215150887362,-3.2293471888e-05,1793245354201077504
+34,0.566666667,BASELINE,764.707636794,744.707636794,714,679,658.292363206,634,878,785,807,652.292363206,630,652,0.400932425496,-0.0154391452294,0.0499284816685,0.999999974596,5.30096498674e-05,-0.000216651328439,-3.25726116223e-05,1793245354217744128
+35,0.583333333,BASELINE,765,744.707612832,713.707612832,679.292387168,658.292387168,634,878.292387168,785.292387168,807,652,629.707612832,652,0.400931975291,-0.0154379443223,0.0499284417901,0.999999974346,5.4233561834e-05,-0.000217479505938,-3.27136857182e-05,1793245354234410752
+36,0.600000000,BASELINE,765,744.11011938,713.11011938,679.88988062,658.88988062,634,878.88988062,785.88988062,807,652,629.11011938,652,0.400931945679,-0.0154375367177,0.0499284200389,0.999999974383,5.30285020709e-05,-0.000217606175945,-3.27106882245e-05,1793245354251077632
+37,0.616666667,BASELINE,765,744.469348313,713.469348313,679.530651687,659,634,878.530651687,785.530651687,806.530651687,652,629.469348313,652,0.400931999578,-0.0154367685657,0.0499281699867,0.999999974423,5.35365101722e-05,-0.000217268662509,-3.29053394461e-05,1793245354267744512
+38,0.633333333,BASELINE,765,745,713.955160611,679,659,634,877.955160611,785,806.044839389,652,630,652,0.400932153985,-0.0154361275821,0.0499279566197,0.999999974481,5.43362564174e-05,-0.000216772483178,-3.30889653594e-05,1793245354284411392
+39,0.650000000,BASELINE,765,745,713.378528147,679,659,634,877.378528147,785,806.621471853,652,630,652,0.40093327663,-0.015437960966,0.0499287901122,0.99999997476,5.4005515839e-05,-0.000215638400436,-3.26121948119e-05,1793245354301077760
+40,0.666666667,BASELINE,765,745,713.202614782,679,658.797385218,634,877.202614782,785,807.202614782,652,630,652,0.400934122485,-0.0154392848142,0.0499292241145,0.999999974944,5.40917137893e-05,-0.000214801381909,-3.23636446037e-05,1793245354317744384
+41,0.683333333,BASELINE,765,745,713.792376057,679,658.207623943,634,877.792376057,785,807.792376057,652,630,652,0.400934439463,-0.0154396350662,0.04992889479,0.999999974947,5.49745776645e-05,-0.000214531979338,-3.25511667718e-05,1793245354334410752
+42,0.700000000,BASELINE,765,745,714,679,658.3747694,634,878,785,807.2504612,652,630,652.3747694,0.400935010653,-0.015439543387,0.0499292667475,0.99999997517,5.43998759576e-05,-0.000213631193641,-3.25805389304e-05,1793245354351077376
+43,0.716666667,BASELINE,765,745,714,679,658.95315956,634,878,785,806.093680881,652,630,652.95315956,0.400935719962,-0.0154392115965,0.0499300197275,0.999999975511,5.30332456105e-05,-0.000212387363106,-3.25239845773e-05,1793245354367744000
+44,0.733333333,BASELINE,765,745,714,679,658.472175397,634,878,785.527824603,806.527824603,652.527824603,630,652.472175397,0.40093488923,-0.0154386132808,0.0499293763385,0.999999975211,5.43820316711e-05,-0.000213433340794,-3.26730310445e-05,1793245354384410624
+45,0.750000000,BASELINE,765,744.89590281,714,679,658.10409719,634,878,785.89590281,807,652.89590281,630,652,0.400933984505,-0.015438280428,0.049928704689,0.999999974879,5.55122688688e-05,-0.000214686314678,-3.27064362316e-05,1793245354401077248
+46,0.766666667,BASELINE,765,744.310683388,714,679,658.689316612,634,878,785.310683388,807,652.310683388,630,652,0.400933365022,-0.0154392830579,0.0499284711372,0.999999974677,5.45264683565e-05,-0.000215963400838,-3.21216268318e-05,1793245354417743872
+47,0.783333333,BASELINE,765,744.273307231,714,679.273307231,659,634,878,785,807,652,630,652,0.400933424092,-0.0154396369608,0.0499286636516,0.999999974655,5.44102629961e-05,-0.000216132503919,-3.18854558756e-05,1793245354434410496
+48,0.800000000,BASELINE,765,744.855907327,714,679.855907327,659,634,878,785,807,652,630,652,0.40093425106,-0.0154392567205,0.0499293383312,0.999999974836,5.52781499362e-05,-0.000215047738907,-3.20438275825e-05,1793245354451077120
+49,0.816666667,BASELINE,765,745,714,679.56472015,659,634,878,785.43527985,807,652.43527985,630,652,0.400934159294,-0.0154387280998,0.0499288793264,0.999999974726,5.5458106014e-05,-0.000215475647756,-3.22925078716e-05,1793245354467743744
+50,0.833333333,BASELINE,765,744.98652234,714,679,658.98652234,634,878,785.98652234,807,652.98652234,629.98652234,652,0.400933782518,-0.0154381796866,0.0499280724188,0.999999974528,5.53762916603e-05,-0.000216371884093,-3.25597972583e-05,1793245354484410368
+51,0.850000000,BASELINE,765,744.413065397,714,679,658.413065397,634,878,785.413065397,807,652.413065397,629.413065397,652,0.400934107283,-0.0154388347335,0.0499282885888,0.999999974684,5.38104527179e-05,-0.000216074256025,-3.23673042643e-05,1793245354501078272
+52,0.866666667,BASELINE,764.839739829,744,714,679,658.160260171,634,878,785.160260171,807,652,629,652,0.400934188236,-0.0154391522398,0.0499284376309,0.999999974757,5.32867316526e-05,-0.00021588370877,-3.2257251317e-05,1793245354517745408
+53,0.883333333,BASELINE,764.266752631,744,714,679,658.733247369,634,878,785.733247369,807,652,629,652,0.400933641289,-0.0154386004588,0.049928413795,0.999999974618,5.54468354312e-05,-0.000215968932771,-3.23595108679e-05,1793245354534411264
+54,0.900000000,BASELINE,764.318747449,744.318747449,714,679.318747449,659,634,878.318747449,785.681252551,806.681252551,652.318747449,629.318747449,652,0.400933237292,-0.0154388623323,0.0499281897566,0.999999974646,5.45137584773e-05,-0.00021605994129,-3.24728452202e-05,1793245354551077632
+55,0.916666667,BASELINE,764.91514713,744.91514713,714,679.91514713,659,634,878.91514713,785.08485287,806.08485287,652.91514713,629.91514713,652,0.400932957815,-0.0154398329583,0.0499277913272,0.999999974812,5.08862958205e-05,-0.000216155988539,-3.25958265253e-05,1793245354567744768
+56,0.933333333,BASELINE,765,745,714,679.506305807,659,634,878.506305807,785,806.493694193,653,630,652,0.400933534272,-0.0154393381165,0.0499282143539,0.999999974975,5.18486622351e-05,-0.00021519519398,-3.24449429439e-05,1793245354584411392
+57,0.950000000,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400934049368,-0.0154387917222,0.0499286463943,0.999999975073,5.3303198396e-05,-0.000214410983713,-3.22617512175e-05,1793245354601078016
+58,0.966666667,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400933078438,-0.015439645066,0.0499281485112,0.999999974718,5.2790620378e-05,-0.000216198410386,-3.21744362682e-05,1793245354617744384
+59,0.983333333,BASELINE,764.776970787,745,714,679,658.776970787,633.776970787,878,785,807,653,629.776970787,652,0.400932615683,-0.015439900832,0.0499277013314,0.999999974559,5.23670705944e-05,-0.000217023297578,-3.22634528881e-05,1793245354634411008
+60,1.000000000,BASELINE,764.184234303,745,714,679,658.184234303,633.184234303,878,785,807,653,629.184234303,652,0.40093299531,-0.0154391660159,0.0499273382004,0.999999974728,5.20910995377e-05,-0.000216252618988,-3.26447678096e-05,1793245354651077376
+61,1.016666667,BASELINE,764.39925355,745,714,679.39925355,658.39925355,633.39925355,878,785.39925355,806.60074645,652.60074645,629.39925355,652,0.400934814268,-0.0154393028454,0.0499281427168,0.999999975151,5.17735859887e-05,-0.000214404738478,-3.23636850163e-05,1793245354667744000
+62,1.033333333,BASELINE,764.978570241,745,714,679.978570241,658.978570241,633.978570241,878,785.978570241,806.021429759,652.021429759,629.978570241,652,0.400937282362,-0.0154398327867,0.0499294738415,0.999999975685,5.14373368142e-05,-0.000212071040516,-3.17838611817e-05,1793245354684410880
+63,1.050000000,BASELINE,764.44797604,745,714,679.44797604,659,634,878,785.44797604,806.55202396,652,630,652,0.400935948868,-0.0154394410985,0.0499291114805,0.999999975421,5.18694051768e-05,-0.0002131287719,-3.23008997252e-05,1793245354701077760
+64,1.066666667,BASELINE,764,745,714,679.128522068,659,634,878,785,807,652.128522068,630,652,0.40093471734,-0.0154391226414,0.049928672922,0.999999975154,5.24303643022e-05,-0.000214185917547,-3.26771845268e-05,1793245354717744640
+65,1.083333333,BASELINE,764,745,714,679.716714144,659,634,878,785,807,652.716714144,630,652,0.400934372783,-0.0154391927199,0.0499281944959,0.999999974988,5.33467567142e-05,-0.000214775036403,-3.23993591515e-05,1793245354734411264
+66,1.100000000,BASELINE,764.300442301,745,713.699557699,680,658.699557699,634,878,785,807,653,630,652,0.400934024335,-0.0154396514818,0.049927978314,0.999999974948,5.30592488239e-05,-0.000215054354684,-3.22399931804e-05,1793245354751078144
+67,1.116666667,BASELINE,764.880023035,745,713.119976965,680,658.119976965,634,878,785,807,653,630,652,0.400933672273,-0.0154404713662,0.049928005781,0.999999975025,5.16532071681e-05,-0.000215045839805,-3.21906868673e-05,1793245354767744512
+68,1.133333333,BASELINE,765,745,713.456780302,679.543219698,658,634,878,785,807,652.543219698,630,652,0.40093353514,-0.0154412384926,0.0499283434873,0.999999975163,5.11748610434e-05,-0.000214551909282,-3.19790810263e-05,1793245354784410880
+69,1.150000000,BASELINE,764.967243013,744.967243013,713.967243013,679,658.032756987,634,878,785.032756987,807,652,629.967243013,652,0.400933538222,-0.0154419070576,0.0499287553781,0.99999997532,5.10177091329e-05,-0.000213890211906,-3.17565710056e-05,1793245354801077504
+70,1.166666667,BASELINE,764.391988012,744.391988012,713.391988012,679,658.608011988,634,878,785.608011988,807,652,629.391988012,652,0.400934934271,-0.0154411714044,0.0499290546234,0.999999975537,5.21693060099e-05,-0.000212548643755,-3.20551324495e-05,1793245354817744128
+71,1.183333333,BASELINE,764.18788383,744.18788383,713.18788383,679,659,634,878,785.81211617,807,652.18788383,629.18788383,652,0.400936544029,-0.0154401513883,0.049929581993,0.999999975715,5.28396526457e-05,-0.000211516949853,-3.22343291019e-05,1793245354834410752
+72,1.200000000,BASELINE,764.777630699,744.777630699,713.777630699,679,659,634,878,785.222369301,807,652.777630699,629.777630699,652,0.400938610887,-0.015438523151,0.049930597296,0.999999975814,5.24806576753e-05,-0.000211148042955,-3.21582175296e-05,1793245354851077376
+73,1.216666667,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.40093798828,-0.0154385094686,0.0499305216709,0.999999975678,5.31072238979e-05,-0.000211634080076,-3.21617072663e-05,1793245354867744512
+74,1.233333333,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400935737772,-0.0154394730571,0.0499297857199,0.999999975398,5.4330338593e-05,-0.00021263760465,-3.22133787319e-05,1793245354884411392
+75,1.250000000,BASELINE,765,745,714,679.517231895,659,634,878,785,807,652.482768105,630,652,0.400935315867,-0.0154411471629,0.0499295733864,0.999999975464,5.1790328553e-05,-0.00021298956785,-3.20249788193e-05,1793245354901078016
+76,1.266666667,BASELINE,764.906499665,744.906499665,714,680,659,634,878,785.093500335,807,652.093500335,630,652,0.400935120472,-0.0154421322804,0.049929387769,0.999999975505,4.99096277147e-05,-0.000213264695865,-3.18845838423e-05,1793245354917744384
+77,1.283333333,BASELINE,764.319744109,744.319744109,714,680,659,634,878,785.680255891,807,652.680255891,630,652,0.40093505602,-0.0154390692622,0.0499290384193,0.999999975248,5.36966831613e-05,-0.000213513602051,-3.21371238417e-05,1793245354934411008
+78,1.300000000,BASELINE,764,744.263543353,714,680,658.736456647,634,878,785.736456647,807,652.736456647,630,652,0.4009346845,-0.0154376835911,0.0499285621564,0.999999975004,5.56532270079e-05,-0.000214128126501,-3.22935214622e-05,1793245354951077632
+79,1.316666667,BASELINE,764,744.842677759,714,680,658.157322241,634,878,785.157322241,807,652.157322241,630,652,0.400933945269,-0.0154383065299,0.0499279339161,0.99999997479,5.54177476141e-05,-0.000215180475875,-3.23347893368e-05,1793245354967744512
+80,1.333333333,BASELINE,764.420668625,745,714,679.15866275,658,634,878,785.420668625,807,652.420668625,630,652,0.400933680155,-0.0154386559664,0.0499277288958,0.999999974792,5.49118380792e-05,-0.000215283376565,-3.24584800442e-05,1793245354984411136
+81,1.350000000,BASELINE,764.998233034,745,714,678.003533932,658,634,878,785.998233034,807,652.998233034,630,652,0.400933591871,-0.0154389033953,0.0499276817229,0.999999974874,5.43050668329e-05,-0.000215032163707,-3.26129118042e-05,1793245355001077760
+82,1.366666667,BASELINE,765,745,714,678.572564142,658.572564142,634,878,786,807,653,630,652,0.40093382468,-0.0154381514299,0.0499281100547,0.99999997486,5.51047465691e-05,-0.000214867851292,-3.27890543091e-05,1793245355017744640
+83,1.383333333,BASELINE,764.849145656,744.849145656,714,679,658.849145656,634,878,785.849145656,807,652.849145656,630,652,0.400934027318,-0.0154382224635,0.0499282904981,0.99999997487,5.50184798944e-05,-0.000214851376077,-3.27365048903e-05,1793245355034411264
+84,1.400000000,BASELINE,764.259305492,744.259305492,714,679,658.259305492,634,878,785.259305492,807,652.259305492,630,652,0.400934139289,-0.0154406973464,0.0499277453404,0.999999974948,5.23415516412e-05,-0.000215264330731,-3.20182686248e-05,1793245355051077632
+85,1.416666667,BASELINE,764.324681774,744,713.675318226,679,658.324681774,634,878,785,807,652.324681774,630,652,0.400934654506,-0.0154411943154,0.0499276975234,0.999999975102,5.18554454918e-05,-0.000214693036242,-3.18431146191e-05,1793245355067744256
+86,1.433333333,BASELINE,764.90407739,744,713.09592261,679,658.90407739,634,878,785,807,652.90407739,630,652,0.400935486069,-0.0154401396046,0.0499280398715,0.999999975317,5.30880461183e-05,-0.000213349595276,-3.20940103438e-05,1793245355084410880
+87,1.450000000,BASELINE,765,744,713.481535723,679.481535723,659,634,878,785,807,652.518464277,630,652,0.400935049427,-0.0154389823367,0.0499283437462,0.999999975193,5.4201933604e-05,-0.000213603982906,-3.23981421849e-05,1793245355101077504
+88,1.466666667,BASELINE,765,744,714,679.940587754,658.940587754,634,878,785,807,652,629.940587754,652,0.400934472856,-0.015437992396,0.0499286288642,0.999999975044,5.49631046135e-05,-0.000214065831555,-3.2670223247e-05,1793245355117743872
+89,1.483333333,BASELINE,765,744,714,679.35561177,658.35561177,634,878,785,807,652,629.35561177,652,0.400934884287,-0.0154386626368,0.0499288155835,0.999999975272,5.28124795085e-05,-0.00021355856577,-3.25653475922e-05,1793245355134410752
+90,1.500000000,BASELINE,765,744,714,679,658,634,878.227235195,785.227235195,806.772764805,652,629,652,0.400934696597,-0.0154391604213,0.0499286149179,0.999999975276,5.15293435842e-05,-0.000213854352512,-3.25386573505e-05,1793245355151077888
+91,1.516666667,BASELINE,765,744,714,679,658,634,878.806781224,785.806781224,806.193218776,652,629,652,0.400933580015,-0.0154393908253,0.0499278136414,0.999999974939,5.15911836558e-05,-0.000215395210985,-3.26331876373e-05,1793245355167745024
+92,1.533333333,BASELINE,764.613950243,744.386049757,714,679.386049757,658.386049757,634,878.613950243,785.613950243,806.386049757,652.386049757,629,652,0.400933510521,-0.0154398680145,0.0499272786731,0.999999974929,5.14258230248e-05,-0.000215488561581,-3.2604554413e-05,1793245355184411392
+93,1.550000000,BASELINE,764.034820445,744.965179555,714,679.965179555,658.965179555,634,878.034820445,785.034820445,806.965179555,652.965179555,629,652,0.40093396472,-0.0154404686317,0.0499268768969,0.999999975081,5.11468295837e-05,-0.000214857951544,-3.2514321843e-05,1793245355201077504
+94,1.566666667,BASELINE,764,745,714,679.459922995,658.459922995,634,878,785.540077005,807,653,629.540077005,652,0.400934756477,-0.0154381398557,0.0499280161389,0.99999997514,5.44408060955e-05,-0.000213751098086,-3.2663193889e-05,1793245355217744128
+95,1.583333333,BASELINE,764,745,714,679.117301075,658,634,878,786,807,653,630,652,0.400935323062,-0.01543653494,0.0499289102815,0.999999975173,5.68383850812e-05,-0.000212962874035,-3.27250770838e-05,1793245355234411008
+96,1.600000000,BASELINE,764,745,714,679.7049399,658,634,878,786,807,653,630,652,0.400934900195,-0.0154385838645,0.0499284263792,0.999999975171,5.47252276005e-05,-0.000213574405085,-3.23768327694e-05,1793245355251077632
+97,1.616666667,BASELINE,764.28859123,745,714,680,658.28859123,634,878.28859123,785.71140877,807,652.71140877,630,652,0.400934120071,-0.0154398783613,0.0499281033638,0.999999975115,5.27249047822e-05,-0.000214356907194,-3.22622189036e-05,1793245355267744256
+98,1.633333333,BASELINE,764.868221211,745,714,680,658.868221211,634,878.868221211,785.131778789,807,652.131778789,630,652,0.40093297966,-0.015440412032,0.0499279425998,0.999999975004,5.08383736961e-05,-0.000215311830321,-3.23832169111e-05,1793245355284410880
+99,1.650000000,BASELINE,765,744.555085237,714,680,658.555085237,634,878.555085237,785,807.444914763,652,630,652,0.40093326341,-0.0154403414721,0.0499281341335,0.999999974975,5.23578728918e-05,-0.000215138054688,-3.19946395883e-05,1793245355301077760
+100,1.666666667,BASELINE,765,744.020516119,713.979483881,679.979483881,658.020516119,634,878.020516119,785,807.979483881,652.020516119,630,652,0.400933932919,-0.0154400844729,0.0499284036805,0.999999974968,5.47068247876e-05,-0.000214660138875,-3.15038412133e-05,1793245355317744384
+101,1.683333333,BASELINE,765,744.590012487,713.409987513,679.409987513,658.590012487,634,878.590012487,785,807.409987513,652.590012487,630,652,0.400933711507,-0.0154395961148,0.0499279868973,0.999999975006,5.24329585088e-05,-0.000214930813993,-3.22899539621e-05,1793245355334411520
+102,1.700000000,BASELINE,765,744.832864025,713.167135975,679.167135975,659,634,878.832864025,785,807,652.832864025,629.832864025,652,0.400933206731,-0.0154390769044,0.0499274379704,0.999999974918,5.09796888605e-05,-0.000215601990782,-3.28889329415e-05,1793245355351078656
+103,1.716666667,BASELINE,765,744.23613655,713.76386345,679.76386345,659,634,878.23613655,785,807,652.23613655,629.23613655,652,0.400931973622,-0.0154384783945,0.0499265493927,0.999999974512,5.16356084294e-05,-0.000217302581536,-3.30069197403e-05,1793245355367744512
+104,1.733333333,BASELINE,765,744.349827117,714,679.650172883,658.650172883,634,878,785.349827117,807,652.349827117,629.349827117,652,0.400932884326,-0.0154384809682,0.0499272077488,0.999999974641,5.34758749531e-05,-0.000216308765055,-3.26975952046e-05,1793245355384410880
+105,1.750000000,BASELINE,765,744.928742056,714,679.071257944,658.071257944,634,878,785.928742056,807,652.928742056,629.928742056,652,0.400935198926,-0.0154388771674,0.04992887913,0.999999975109,5.60917231071e-05,-0.000213550488947,-3.21084415365e-05,1793245355401077248
+106,1.766666667,BASELINE,764.494896376,744.494896376,714,679.505103624,658.505103624,634,878,786,807,653,630,652,0.400935896161,-0.0154391962202,0.0499292631152,0.999999975396,5.40428267505e-05,-0.000212704584958,-3.23107351544e-05,1793245355417743872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,878,786,806,652,630,652,0.400935596735,-0.015441143529,0.0499285868421,0.999999975268,5.37344980906e-05,-0.000213491025022,-3.16005093132e-05,1793245355460527360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.579660719,714,680,658,634,878,785.420339281,806.579660719,652,630,652,0.400935263594,-0.0154411393348,0.049928718986,0.99999997529,5.30084321804e-05,-0.000213561286603,-3.16355484597e-05,1793245355477193984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.158810304,634,877.841189696,785.158810304,806.841189696,652,629.841189696,652,0.400935170763,-0.015440881646,0.0499287593031,0.999999975307,5.246874933e-05,-0.00021359355471,-3.17806901086e-05,1793245355493860352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.736611486,634,877.263388514,785.736611486,806.263388514,652,629.263388514,652,0.400935711946,-0.0154399551595,0.0499285573525,0.99999997531,5.24208026868e-05,-0.000213525584259,-3.22163163428e-05,1793245355510526464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.687287418,659,634,877.312712582,786,806.312712582,652,629.312712582,652.312712582,0.40093701442,-0.0154403078724,0.0499293135149,0.999999975662,5.13056010558e-05,-0.000212128010425,-3.23309927499e-05,1793245355527193088
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.112610547,659,634,877.887389453,786,806.887389453,652,629.887389453,652.887389453,0.400938954641,-0.015441732191,0.049930872304,0.999999976298,4.92963429938e-05,-0.000209616606748,-3.21768043691e-05,1793245355543859456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.47336088,630,652.52663912,0.400946731825,-0.015440759701,0.0499327072035,0.999999977281,5.24453364394e-05,-0.00020414987038,-3.17843629516e-05,1793245355560526336
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.938765754,634,877.938765754,785.938765754,807,652.938765754,630,652,0.400957187589,-0.0154396789529,0.0499349831793,0.999999978527,5.59903417486e-05,-0.000197053652213,-3.13342117023e-05,1793245355577192960
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.358108181,634,877.358108181,785.358108181,807,652.358108181,630,652,0.400978297871,-0.0154426348018,0.0499404298111,0.999999981552,5.22309306903e-05,-0.000182244787841,-3.0887071764e-05,1793245355593859584
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.778782024,745,714,679,658.221217976,634,877.221217976,785,807,652,629.778782024,652,0.401004426916,-0.0154445231006,0.0499460243914,0.999999984616,5.02600934958e-05,-0.000165271949655,-3.04591933444e-05,1793245355610526208
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.201598326,745,714,679,658.798401674,634,877.798401674,785,807,652,629.201598326,652,0.401038631741,-0.0154446935855,0.0499518570377,0.999999987753,5.11672822038e-05,-0.000144817024726,-3.00623090157e-05,1793245355627193344
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.37254026,744.62745974,713.62745974,679,658.62745974,634,878,785.37254026,806.62745974,652,629.37254026,652,0.401080752203,-0.0154465833877,0.0499561001185,0.999999990525,5.1046064093e-05,-0.000124315446988,-2.98397831122e-05,1793245355643859968
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.945044412,744.054955588,713.054955588,679,658.054955588,634,878,785.945044412,806.054955588,652,629.945044412,652,0.401127121449,-0.0154493960469,0.0499594899883,0.999999992904,5.03728406729e-05,-0.000103788826079,-2.9710845411e-05,1793245355660526336
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.533836592,713.533836592,679,658,634,878,785.466163408,806.533836592,652,630,652,0.401183183816,-0.0154519896664,0.049960825169,0.999999993894,4.83717704004e-05,-9.48422794174e-05,-2.96170907833e-05,1793245355677193216
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.878148214,744.878148214,714,679,658,634,878,785,806.878148214,652.121851786,630,652,0.401244301489,-0.0154552036689,0.0499620483644,0.999999994593,4.61091756059e-05,-8.84648185132e-05,-2.93422927931e-05,1793245355693859584
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.29952868,744.29952868,714,679,658,634,878,785,806.29952868,652.70047132,630,652,0.401320511031,-0.0154608303965,0.049963669621,0.999999994862,4.33947751566e-05,-8.71083998386e-05,-2.83748401425e-05,1793245355710526208
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.278203408,744.278203408,713.721796592,679.278203408,658.278203408,634,878,785,806.278203408,653,630,652,0.401406762075,-0.0154667301708,0.0499650627831,0.999999995137,4.12969932142e-05,-8.52553081682e-05,-2.74373937559e-05,1793245355727193088
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.854983028,744.854983028,713.145016972,679.854983028,658.854983028,634,878,785,806.854983028,653,630,652,0.401503789952,-0.0154729229868,0.0499662111473,0.99999999542,3.98609848426e-05,-8.28691722783e-05,-2.65321510466e-05,1793245355743860224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.561443364,713,680,658.561443364,634,878.877113272,785,807,652.561443364,630,652,0.401623453811,-0.0154785648878,0.049968318614,0.999999995736,3.85485534613e-05,-7.98833023108e-05,-2.5701624271e-05,1793245355760527104
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.975733477,744,713,679.975733477,658,634,879.951466954,785.024266523,807,652.024266523,630,652,0.401751551052,-0.0154841616015,0.0499705447144,0.999999996033,3.70784709247e-05,-7.70646454755e-05,-2.4913421925e-05,1793245355777193984
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.393372631,744,713,679.393372631,658,634,878.786745262,785.606627369,807,652.606627369,630,652,0.401898750664,-0.0154929746544,0.0499680905658,0.999999995796,3.10280652964e-05,-8.27243258488e-05,-2.45214710618e-05,1793245355793860096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.186968673,713.186968673,679,658,634,878.186968673,785.813031327,807,653,629.813031327,652,0.402057886214,-0.0155025037596,0.0499656011742,0.99999999563,2.52557222007e-05,-8.68211889378e-05,-2.37715180676e-05,1793245355810526208
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.763106295,713.763106295,679,658,634,878.763106295,785.236893705,807,653,629.236893705,652,0.402241865995,-0.0155135233023,0.0499630384259,0.999999995708,2.00621575912e-05,-8.76651001729e-05,-2.22763958349e-05,1793245355827192832
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.337448383,634,878.662551617,785,807,652.662551617,629.337448383,652,0.402447243425,-0.015524460828,0.0499639926661,0.999999996026,1.44900106285e-05,-8.5528963517e-05,-2.0565370719e-05,1793245355843859200
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.910536708,634,878.089463292,785,807,652.089463292,629.910536708,652,0.402667562835,-0.0155353410825,0.0499674028162,0.999999996482,8.65349937359e-06,-8.13118618233e-05,-1.87035806349e-05,1793245355860526080
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.496483392,745,713.503516608,679.496483392,658.503516608,634,878,785,807,652.496483392,630,652.496483392,0.402932837943,-0.0155462875547,0.0499738469562,0.999999997591,5.09641453878e-06,-6.7307709952e-05,-1.61730699818e-05,1793245355877193216
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916281505,745,713.083718495,679.916281505,658.083718495,634,878,785,807,653,630,652.916281505,0.403211784783,-0.0155561468438,0.0499806412128,0.999999998576,3.57250216278e-06,-5.15123050703e-05,-1.34963519532e-05,1793245355893860352
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.335518663,745,713.664481337,679.335518663,658.664481337,634,878,785,807,653,630,652.335518663,0.403522528489,-0.0155594787069,0.0499861820008,0.999999999234,1.16162892007e-05,-3.58309022043e-05,-1.0686023244e-05,1793245355910526976
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.242951858,745,714,679,659,634,878,785,806.757048142,652.757048142,630,652,0.403850333574,-0.015557007556,0.0499923513434,0.999999999382,2.66275062817e-05,-2.14257669473e-05,-8.28532858644e-06,1793245355927193600
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.818286216,745,714,679,659,634,878,785,806.181713784,652.181713784,630,652,0.404201480315,-0.0155465972999,0.0499993806115,0.999999998632,5.11708657781e-05,-8.76669468605e-06,-6.44505455164e-06,1793245355943859968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,806.784963743,652,630,652,0.404579697978,-0.0155427351556,0.0500064710576,0.999999998377,5.63082144691e-05,7.01278898896e-06,-5.14954300189e-06,1793245355960526336
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807.932303665,652,630,652,0.404970412842,-0.015541895928,0.0500135897462,0.999999998321,5.24868353061e-05,2.42328009598e-05,-4.10551948409e-06,1793245355977192960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.55895115,659,634,878,785,806.882097701,652,630,652,0.405377514628,-0.0155344427526,0.0499983222983,0.999999998249,5.8865847039e-05,-3.93127496311e-06,-4.58498819867e-06,1793245355993859584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.8508764,659,634,878.1491236,785.1491236,806.1491236,652.1491236,630,652,0.405792060365,-0.0155278483007,0.0499796166456,0.999999996837,6.93758530129e-05,-3.85695210547e-05,-4.99991728579e-06,1793245356010526208
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.271737707,659,634,878.728262293,785.728262293,806.728262293,652.728262293,630,652,0.406225108602,-0.0155249259454,0.0499550441699,0.999999992441,8.99537247732e-05,-8.36708876364e-05,-4.95327642415e-06,1793245356027193344
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.69557988,714.30442012,679.30442012,658.69557988,634,878.69557988,785.69557988,807,652.69557988,629.69557988,652,0.406693654004,-0.0155240548959,0.0499400499792,0.999999987884,0.000109219716938,-0.000110870185184,-3.41462060923e-06,1793245356043860224
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.122057028,714.877942972,679.877942972,658.122057028,634,878.122057028,785.122057028,807,652.122057028,629.122057028,652,0.407193578406,-0.0155249971693,0.0499335228433,0.999999984422,0.000127326030034,-0.000122244332578,-5.57046384458e-07,1793245356060526848
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.463558722,714.536441278,679.536441278,658.463558722,634,878.463558722,785,807,652,629.463558722,652,0.40775399171,-0.0155273568865,0.04994972664,0.9999999856,0.000145045599407,-8.79817849001e-05,4.51586550367e-06,1793245356077193216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.948491301,785.051508699,807,652,630,652,0.408336936161,-0.0155301752882,0.0499725879974,0.999999985883,0.000162502993443,-4.14615824391e-05,1.03325586212e-05,1793245356093859840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.370106702,785.629893298,807,652,630,652,0.408983070253,-0.0155337656487,0.0500006874716,0.999999983932,0.000178348164241,4.23467865377e-06,1.76308953518e-05,1793245356110526464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.793468986,714,679.206531014,659,634,878,786,807,652,630,652,0.409616329223,-0.0155361475097,0.0500161394411,0.999999981413,0.000189484466455,2.76482980952e-05,2.24856382445e-05,1793245356127193088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.219935491,714,679.780064509,659,634,878,786,807,652,630,652,0.410226709258,-0.0155363818849,0.0500091169852,0.999999981189,0.000192253180236,1.14659984633e-05,2.299815156e-05,1793245356143859712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.353573778,714,680,659,634,878.353573778,786,807.353573778,652.353573778,630,652,0.410839523076,-0.0155382520688,0.0499857078254,0.999999982439,0.000181856522038,-4.0341245293e-05,2.05746718269e-05,1793245356160526592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.927067955,714,680,659,634,878.927067955,786,807.927067955,652.927067955,630,652,0.411453850667,-0.0155411397141,0.0499521062514,0.999999980005,0.000163271094217,-0.000114306952707,1.63250249743e-05,1793245356177193216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.480169689,808,653,630,652.519830311,0.412166449714,-0.0155432678793,0.0499507525988,0.999999981354,0.00016397934793,-0.000100601283283,1.68160005262e-05,1793245356193859840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.111669802,807.888330198,652.888330198,630,652.888330198,0.412906721607,-0.0155453404798,0.0499577866896,0.999999983009,0.000168497813578,-7.24674594889e-05,1.83869176755e-05,1793245356210526464
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.6879879,807.3120121,652.3120121,630,652.3120121,0.413702560898,-0.0155476423125,0.0499801712688,0.999999983371,0.000177173517135,-3.74497877758e-05,2.15773930791e-05,1793245356227193088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.736554357,786,807,652,630,652,0.4144724473,-0.0155490799118,0.0499810848536,0.999999982451,0.000182246850501,-3.70979563992e-05,2.25557637243e-05,1793245356243859456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.162112185,786,807,652,630,652,0.415211696522,-0.0155494972874,0.0499566520183,0.999999980008,0.000183067601379,-7.76690064531e-05,2.09227539572e-05,1793245356260526080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.575956907,680,659.424043093,634,878.424043093,786,807.424043093,652,630,652,0.415979163057,-0.0155514975929,0.0499413908073,0.999999978622,0.000180155999896,-9.95392095485e-05,1.97798813884e-05,1793245356277192704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,713.014501374,680,659.985498626,634,879,786,808,652,630,652,0.416760000368,-0.015554070596,0.0499307924147,0.99999997803,0.000175903818083,-0.000112422203579,1.89582674433e-05,1793245356293859328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.593205893,680,659.406794107,634,879,786,808,652,630,652,0.417629423512,-0.0155547119092,0.0499613143114,0.999999982237,0.000176586419877,-6.17018229926e-05,2.3138349772e-05,1793245356310526208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.829294633,659.170705367,634,879,785.829294633,808.170705367,652.170705367,630.170705367,652,0.418490955121,-0.0155561546913,0.0499810092197,0.99999998358,0.000176300410712,-3.28415814414e-05,2.607079087e-05,1793245356327193088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.25464671,659.74535329,634,879,785.25464671,808.74535329,652.74535329,630.74535329,652,0.419333812825,-0.0155594940006,0.0499750840681,0.999999983019,0.000173722364378,-5.57093034537e-05,2.60509205089e-05,1793245356343859968
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.320252939,660,633.679747061,879,785.320252939,808.679747061,652.679747061,631,652.320252939,0.420199129331,-0.015560375645,0.0499703650381,0.999999982722,0.000175175215891,-5.66976374819e-05,2.5579930851e-05,1793245356360526592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.895352874,660,633.104647126,879,785.895352874,808.104647126,652.104647126,631,652.895352874,0.421082317789,-0.0155593015586,0.0499666058011,0.999999982712,0.000179835726513,-4.02750565893e-05,2.4749954957e-05,1793245356377193216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.484084665,745,714,680,660,633.484084665,879,786,808.484084665,652,631,652.515915335,0.421990579656,-0.0155589087311,0.0499889250333,0.999999982486,0.000185195984845,4.10203532305e-06,2.67221466811e-05,1793245356393859840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.925729517,744.925729517,714,680,660,633.925729517,879.074270483,786,809,652,630.925729517,652.074270483,0.422899718127,-0.0155586708622,0.0500108436665,0.99999998067,0.00018964526647,4.31199291994e-05,2.88952087075e-05,1793245356410526464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.346278954,744.346278954,714,680,660,633.346278954,879.653721046,786,809,652,630.346278954,652.653721046,0.423776882448,-0.0155584562561,0.049990580522,0.999999982142,0.000186839455526,3.38969492821e-06,2.81948668046e-05,1793245356427192832
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.230656475,744.230656475,714.230656475,680,660.230656475,633.230656475,880,786,809,652,630,653,0.424683444164,-0.0155598437334,0.0499845092213,0.999999982501,0.000184701629381,-8.33739439655e-06,2.85390715003e-05,1793245356443859456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.80385681,744.80385681,714.80385681,680,660.80385681,633.80385681,880,786,809,652,630,653,0.425633663564,-0.0155636104365,0.0499995139746,0.999999982459,0.000183555815484,2.15224866442e-05,3.04345138433e-05,1793245356460526336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.622144207,745,714.622144207,680,660.622144207,634,880,786,809,652,630.377855793,653,0.426540508103,-0.0155683182483,0.050008231026,0.999999982838,0.000181194864111,2.11585990723e-05,3.23152685854e-05,1793245356477192960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.047729806,745,714.047729806,680,660.047729806,634,880,786,809,652,630.952270194,653,0.42742478921,-0.0155735156199,0.0500136772469,0.999999983525,0.000178201804663,5.07246335846e-06,3.4188382803e-05,1793245356493859840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.544512592,660,633.455487408,880,786,809,652,631,653,0.428267264971,-0.015564765386,0.0499759420522,0.999999980077,0.000189304513144,-5.52751924976e-05,3.08811234954e-05,1793245356510526464
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134331834,745,714,680.865668166,660,633.134331834,880,786,809.134331834,652,631,653,0.429131881709,-0.0155570844335,0.0499473318962,0.999999975367,0.000198106130163,-9.60295462448e-05,2.82376925016e-05,1793245356527193088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710856213,745,714,680.289143787,660,633.710856213,880,786,809.710856213,652,631,653,0.43008185298,-0.0155570840801,0.0499616410352,0.999999978787,0.000195128088317,-5.90830431604e-05,2.932481761e-05,1793245356543859712
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713864996,745,714,680,660,634,880,786,809.713864996,652,630.713864996,653,0.430995536425,-0.0155560327627,0.0499607090393,0.999999978684,0.000195675841288,-5.88429564013e-05,2.96742123798e-05,1793245356560526336
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.139839469,745,714,680,660,634,880,786,809.139839469,652,630.139839469,653,0.43187270935,-0.0155539240331,0.049944442399,0.999999975054,0.000199771021007,-9.55344924576e-05,2.92813505611e-05,1793245356577192960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.553315646,880,786,809,652.446684354,630.446684354,653,0.432751807139,-0.0155535838734,0.049944928396,0.999999974943,0.00020376540284,-8.79249447875e-05,2.93647254647e-05,1793245356593859584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.036479553,880,786.036479553,809.036479553,653,631,653,0.433632192878,-0.0155538244422,0.0499523941391,0.999999975891,0.000207691530231,-6.47525010569e-05,2.98221721824e-05,1793245356610526464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.615069338,880,786.615069338,809.615069338,653,631,653,0.434522504572,-0.0155542302674,0.0499834018232,0.999999976909,0.000211085787267,-2.23395844127e-05,3.35592024656e-05,1793245356627193088
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.807357748,810,652.807357748,631,652.807357748,0.435377349167,-0.0155522217388,0.0499955959995,0.999999976093,0.000215214218725,-1.49436579497e-05,3.5697481986e-05,1793245356643859968
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.231805939,810,652.231805939,631,652.231805939,0.436161696973,-0.0155454142676,0.0499703951038,0.999999972047,0.000220801948619,-7.71500054706e-05,3.46579704877e-05,1793245356660526592
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.343010898,745,714,680.343010898,660,633.656989102,880.343010898,786,809.656989102,652.343010898,631,652,0.436990952059,-0.0155439992074,0.0499628788357,0.999999971092,0.000221800150293,-8.62635728236e-05,3.43266684461e-05,1793245356677193216
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.917332069,745,714,680.917332069,660,633.082667931,880.917332069,786,809.082667931,652.917332069,631,652,0.437850490435,-0.0155462205336,0.0499672882429,0.999999973496,0.000219703391866,-5.95738849902e-05,3.4472949362e-05,1793245356693859584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.539748991,744.539748991,714,680.539748991,660,633.460251009,880.539748991,786,809.460251009,652.539748991,631,652.460251009,0.438649188686,-0.0155486038003,0.0499789853731,0.999999975077,0.000217080368614,-3.8595263568e-05,3.50954855923e-05,1793245356710526208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.002110114,744.002110114,714,680.002110114,660,633.997889886,880.002110114,786,809.997889886,652.002110114,631,652.997889886,0.439437657103,-0.015551014296,0.0499919078809,0.99999997621,0.000214368857703,-1.85769167781e-05,3.57981006853e-05,1793245356727192832
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.638578599,714,680.638578599,660,633.361421401,880.638578599,786,810,652,631,653,0.440166506951,-0.015552184828,0.0499692038767,0.999999975334,0.000213573341146,-5.04324000347e-05,3.42920322917e-05,1793245356743859712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.748537008,714,681,660,633,880.748537008,786,810,652,631,653,0.440897184437,-0.0155543074296,0.0499589015467,0.999999974844,0.000212245496905,-6.4229231719e-05,3.37449898649e-05,1793245356760526592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.172108863,714,681,660,633,880.172108863,786,810,652,631,653,0.441630527298,-0.015557666703,0.049964807288,0.999999975829,0.000210219970679,-5.44247593525e-05,3.44485416002e-05,1793245356777193216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.410831408,714,681,660,633,880,786,810,652,631,653,0.442335451997,-0.0155600025289,0.0499749178442,0.999999977024,0.000208476571117,-3.50352815613e-05,3.55327534408e-05,1793245356793859584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.996543782,714,681,660,633,880,786,810,652,631,653,0.443028279838,-0.0155619026984,0.0499868182885,0.999999977863,0.000206853265769,-1.1565698574e-05,3.67790031002e-05,1793245356810526464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.579997548,660,633,880,786,809.420002452,652,631,653,0.443604888548,-0.0155656334907,0.0499435862885,0.999999976125,0.000195415676465,-9.18825293239e-05,3.34844655964e-05,1793245356827193088
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.839253784,714,681.839253784,659.839253784,632.839253784,880,785.839253784,809.160746216,652.160746216,630.839253784,653,0.444174925559,-0.0155704792528,0.0499005757408,0.999999968856,0.000183647046999,-0.000166300878216,3.01105967525e-05,1793245356843859456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.265422099,714,681.265422099,659.265422099,632.265422099,880,785.265422099,809.734577901,652.734577901,630.265422099,653,0.444729847564,-0.0155781623395,0.0498589752666,0.999999959912,0.000171177418791,-0.000223978165449,2.66021275856e-05,1793245356860526080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744,714.310262829,681,659,632,880.310262829,785,810,653,630.310262829,653,0.445291217296,-0.0155861378481,0.04983803673,0.999999956747,0.000159434782367,-0.000245909853405,2.47811087622e-05,1793245356877192960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744,714.887542653,681,659,632,880.887542653,785,810,653,630.887542653,653,0.445858136008,-0.0155943650191,0.0498348801795,0.9999999606,0.000148317807421,-0.000237078322187,2.4412336095e-05,1793245356893859840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.475636267,744.475636267,714.524363733,681,659,632,881.475636267,785,810,652.524363733,631,653,0.446385863089,-0.0156032861217,0.0498335738317,0.999999962434,0.000138240524511,-0.000235400904332,2.46501718609e-05,1793245356910526720
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631.93491918,881.93491918,784.93491918,810,652,630.93491918,653,0.446893343331,-0.0156118437181,0.049828178068,0.999999962044,0.000128567931081,-0.000242437577961,2.46119877984e-05,1793245356927193600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631.355474897,881.355474897,784.355474897,810,652,630.355474897,653,0.447315743145,-0.0156162014719,0.0497869239512,0.999999946151,0.000120105754647,-0.000304666091179,2.12323776476e-05,1793245356943860224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.778364986,745,714,681.221635014,658.778364986,631,880.778364986,784,810,652.221635014,630,653,0.447728940111,-0.0156199008617,0.0497533227752,0.999999929863,0.000112900955161,-0.00035663373322,1.84477719214e-05,1793245356960526592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.204960149,745,714,681.795039851,658.204960149,631,880.204960149,784,810,652.795039851,630,653,0.44812753066,-0.0156225553232,0.0497318680307,0.999999917108,0.000107691813083,-0.000392315745032,1.66075327424e-05,1793245356977193216
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.621801981,658.378198019,631,880,784,810,652.621801981,630,653,0.448532957544,-0.015627479942,0.0497313911572,0.999999917167,0.000101173698226,-0.000393874528182,1.71216825455e-05,1793245356993859840
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.03321813,658.96678187,631,880,784,810,652.03321813,630,653,0.448942187416,-0.0156336674152,0.0497425839537,0.999999924552,9.39274211626e-05,-0.000376451079211,1.89455431292e-05,1793245357010526720
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.546417889,681,659,631,880,784,810,652,630,653,0.449301389043,-0.015641602573,0.0497539080967,0.99999993076,8.68700164396e-05,-0.000361218358341,2.13169546525e-05,1793245357027193088
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.125006696,784,810.125006696,652,629.874993304,653,0.449648816124,-0.0156487701547,0.0497635732261,0.999999935982,7.97555554005e-05,-0.000348050327274,2.31509690113e-05,1793245357043859968
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.701745414,784,810.701745414,652,629.298254586,653,0.449964507388,-0.0156527862259,0.049767214853,0.999999938679,7.23940865306e-05,-0.000341869871332,2.29246620214e-05,1793245357060527104
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681.277535964,658.722464036,630.722464036,880.722464036,784,810.722464036,652,629,653,0.450249771618,-0.0156570715255,0.0497667078023,0.999999937695,6.59216811132e-05,-0.000346023149893,2.307102148e-05,1793245357077194240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681.852310997,658.147689003,630.147689003,880.147689003,784,810.147689003,652,629,653,0.450502448689,-0.0156616451665,0.049761757547,0.999999932648,6.04014568453e-05,-0.000361243785891,2.36165040997e-05,1793245357093861120
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.561893281,681.561893281,658.876213437,630,880,784,810,652.438106719,629,653,0.450729374608,-0.0156654778238,0.0497543624784,0.999999927086,5.40108766654e-05,-0.000377300357032,2.35650565391e-05,1793245357110527232
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.0272223,659.9455554,630,880,783.9727777,810,652.9727777,629,653,0.450945895008,-0.0156694582017,0.0497461618231,0.999999921208,4.71982742855e-05,-0.000393448680544,2.35532819138e-05,1793245357127193088
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681.606379734,658.787240531,630,880,783.393620266,810,652.393620266,629,653,0.45113199044,-0.0156816288603,0.0497387690233,0.999999916619,3.79314138763e-05,-0.000405596343087,2.85311125506e-05,1793245357143859456
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.184424164,682,658,630,880.184424164,783,810,652,629,653,0.451305658412,-0.0156980649268,0.0497319842779,0.999999911454,2.3046260317e-05,-0.000418872357967,3.32697317087e-05,1793245357160526336
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.760107262,682,658,630,880.760107262,783,810,652,629,653,0.451452961294,-0.0157235501257,0.0497264895308,0.999999904876,-3.75819450156e-06,-0.000434542189487,3.75008590928e-05,1793245357177192960
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880.665620609,783,810,652,629,653,0.451592040159,-0.015734541164,0.0497249212902,0.999999902303,-1.59147872829e-05,-0.000440000355214,3.92397247471e-05,1793245357193859840
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880.092356434,783,810,652,629,653,0.451725243699,-0.0157351773969,0.0497261581939,0.999999903083,-1.76067685611e-05,-0.000438163182105,3.9198088173e-05,1793245357210527232
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,630,880,783,810,652,629,653,0.451839270075,-0.0157320155282,0.049725819733,0.999999903638,-1.40038237991e-05,-0.000437056002502,3.88499062065e-05,1793245357227193856
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.087670048,745,715,681.912329952,658,630,880,782.912329952,810,652.087670048,628.912329952,653,0.45194615357,-0.015729251991,0.0497257013625,0.999999904322,-1.08237596835e-05,-0.000435610310225,3.85098470921e-05,1793245357243860480
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.666641678,745,715,681.333358322,658,630,880,782.333358322,810,652.666641678,628.333358322,653,0.452033647428,-0.0157328083006,0.0497285118178,0.999999906045,-1.57120319766e-05,-0.000431481961973,3.8545219386e-05,1793245357260526848
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714.756619306,681.243380694,658.243380694,629.756619306,880,782.243380694,810,653,628,652.756619306,0.452109978539,-0.0157352227463,0.0497293577212,0.999999906915,-1.93912615518e-05,-0.000429308466278,3.85871839087e-05,1793245357277193216
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714.182910537,681.817089463,658.817089463,629.182910537,880,782.817089463,810,653,628,652.182910537,0.452171159024,-0.0157360873988,0.0497275372394,0.999999906665,-2.1429519457e-05,-0.00042978819149,3.86380957234e-05,1793245357293859840
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.599317953,745,714.400682047,681.599317953,658.599317953,629,880,782.599317953,810.400682047,653,628,652.400682047,0.452217162157,-0.0157345171588,0.0497252433667,0.999999904981,-2.18774600531e-05,-0.000433715995021,3.80825353401e-05,1793245357310526464
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011099332,745,714.988900668,681.011099332,658.011099332,629,880,782.011099332,810.988900668,653,628,652.988900668,0.452256061628,-0.0157318072836,0.0497227279266,0.9999999026,-2.15810631214e-05,-0.000439257648717,3.72431196642e-05,1793245357327192832
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681.56804221,658,629.56804221,880,782.56804221,810.43195779,652.43195779,628.56804221,653,0.452288764194,-0.0157317674051,0.0497219398122,0.999999902274,-2.18283179139e-05,-0.000439979868467,3.73333376238e-05,1793245357343860224
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.853519814,880,783,810,652.146480186,628.853519814,653,0.452317778805,-0.0157314877103,0.0497214766867,0.99999990209,-2.15615337464e-05,-0.000440407765284,3.73535803231e-05,1793245357360527616
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.276636287,880,783,810,652.723363713,628.276636287,653,0.452336307262,-0.0157303524803,0.0497218708662,0.999999902209,-1.97536247558e-05,-0.000440243199593,3.71156804778e-05,1793245357377193984
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658.299600228,629.299600228,880.299600228,783,810.299600228,652.700399772,628,653,0.452351118031,-0.0157300472616,0.0497213393355,0.999999902123,-1.92257269327e-05,-0.000440490398799,3.67847760864e-05,1793245357393860352
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658.875240677,629.875240677,880.875240677,783,810.875240677,652.124759323,628,653,0.452362503467,-0.0157305067838,0.0497199548909,0.999999901849,-1.98771823588e-05,-0.000441116982454,3.63681808269e-05,1793245357410526976
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.538374723,630,880.538374723,782.538374723,810.538374723,652.461625277,628,653,0.452367508002,-0.0157314407642,0.0497182562865,0.999999900642,-2.37443829665e-05,-0.000443652559095,3.63874715659e-05,1793245357427193344
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.9498847,880,782,810,652.9498847,628,653,0.452370929342,-0.0157324210398,0.0497166906049,0.999999899336,-2.80236832351e-05,-0.000446324438928,3.65613912103e-05,1793245357443859712
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.370554967,880,782,810,652.370554967,628,653,0.452376276887,-0.0157325038485,0.0497174465375,0.999999899991,-2.72584971813e-05,-0.000444857698261,3.70945468453e-05,1793245357460526080
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.207103691,628,653,0.452379117194,-0.0157320427011,0.0497170726781,0.999999899777,-2.60916149921e-05,-0.000445396844642,3.72370416199e-05,1793245357477192960
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.781796316,628,653,0.452377507398,-0.0157306160843,0.0497146935477,0.999999898011,-2.42117612256e-05,-0.000449496245776,3.66861512805e-05,1793245357493860096
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.635552792,628.364447208,653,0.452377797383,-0.0157285547759,0.0497137467776,0.999999897507,-2.23932631911e-05,-0.000450746942188,3.62104135828e-05,1793245357510526976
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.048030738,628.951969262,653,0.452379250207,-0.0157261049783,0.0497136767425,0.999999897783,-2.06123205156e-05,-0.000450253972007,3.57806761588e-05,1793245357527193344
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681.467807987,658,629.532192013,880,782.532192013,810,652.532192013,628.467807987,653,0.452379842019,-0.0157287946738,0.0497133021664,0.999999897563,-2.53803777492e-05,-0.000450481164736,3.59993701116e-05,1793245357543859712
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.888633299,880,782.888633299,810,652.888633299,628,653,0.452380525322,-0.0157305667353,0.0497132355794,0.999999897456,-2.86748294256e-05,-0.000450516438186,3.60601172161e-05,1793245357560526336
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.311125526,880,782.311125526,810,652.311125526,628,653,0.452381912425,-0.0157265826965,0.0497145716102,0.999999898091,-2.33608346211e-05,-0.000449480040266,3.52181198269e-05,1793245357577192960
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681.265697787,658,629,880,782,810,652.265697787,628,652.734302213,0.452381752263,-0.0157248341667,0.0497145954284,0.999999897839,-2.21799472025e-05,-0.000450136585264,3.4752065423e-05,1793245357593859584
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681.841721751,658,629,880,782,810,652.841721751,628,652.158278249,0.452379784946,-0.0157256966365,0.049713086626,0.999999896563,-2.58263910165e-05,-0.000452770431135,3.47250998096e-05,1793245357610526208
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.417955285,782,810.417955285,652.582044715,628,652.417955285,0.452379914848,-0.0157257120926,0.04971234729,0.999999896383,-2.64209922034e-05,-0.000453135075369,3.47099651092e-05,1793245357627192832
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.994268188,782,810.994268188,652.005731812,628,652.994268188,0.452380839359,-0.0157254066265,0.0497118994946,0.999999896622,-2.5859291183e-05,-0.000452639949567,3.46993129837e-05,1793245357643859456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.585195619,745,715,682,658,629,881,782,810.414804381,652.585195619,628,653,0.452382122057,-0.0157254775907,0.0497125024437,0.999999897092,-2.44875769508e-05,-0.000451654593476,3.49825278091e-05,1793245357660526080
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.828273544,745,715,682,658.171726456,629,880.828273544,782,810,652.828273544,628,653,0.452383139356,-0.0157260611283,0.0497130881011,0.999999897489,-2.43827018095e-05,-0.000450757032588,3.52982418442e-05,1793245357677192704
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.252434443,745,715,682,658.747565557,629,880.252434443,782,810,652.252434443,628,653,0.452383523642,-0.0157278419728,0.049713608228,0.999999897706,-2.72781447657e-05,-0.000450077663315,3.56834872364e-05,1793245357693859584
+242,4.033333333,HOLD_POSE2,766,745,715,682,658,629,880,782,810,653,628,653,0.452383772105,-0.0157290902936,0.049714253636,0.999999897646,-2.84919805881e-05,-0.000450136596088,3.5677690036e-05,1793245357730326016
+243,4.050000000,HOLD_POSE2,765.405519685,745,715,682,658,629,880,782.594480315,810,652.405519685,628,653,0.452384607428,-0.0157266463803,0.0497144407452,0.999999898012,-2.60353985113e-05,-0.00044950803503,3.52140910376e-05,1793245357746992640
+244,4.066666667,HOLD_POSE2,765,745,715,681.815840206,658,629,880.184159794,782.815840206,810,652,628,653,0.452385090944,-0.0157254050249,0.0497145208665,0.99999989808,-2.57974348446e-05,-0.000449395390151,3.49155206696e-05,1793245357763659008
+245,4.083333333,HOLD_POSE2,765,745,715,681.236463468,658,629,880.763536532,782.236463468,810,652,628,653,0.452384819465,-0.0157267444236,0.0497143713859,0.999999897503,-3.03207466084e-05,-0.000450389929357,3.49711106393e-05,1793245357780325632
+246,4.100000000,HOLD_POSE2,765,745,714.660253438,681,658,629,880.660253438,782,810,652,628,653,0.452384205952,-0.0157284669352,0.0497141777906,0.999999897015,-3.20965056516e-05,-0.00045132096382,3.53551637622e-05,1793245357796992256
+247,4.116666667,HOLD_POSE2,765,745,714.086227115,681,658,629,880.086227115,782,810,652,628,653,0.452383356583,-0.0157304536309,0.0497139537751,0.999999896596,-3.19776286436e-05,-0.000452208207128,3.5965715918e-05,1793245357813658880
+248,4.133333333,HOLD_POSE2,765,745,714.499583154,681.499583154,658,629.499583154,880.499583154,782.499583154,810,652.499583154,628,653,0.452382428452,-0.0157278723606,0.0497130072953,0.999999895884,-2.80143182135e-05,-0.00045405990893,3.57259179116e-05,1793245357830325248
+249,4.150000000,HOLD_POSE2,764.913790282,745,715,682,658.086209718,629.913790282,880.913790282,782.913790282,810,652.913790282,628,653,0.452381866183,-0.0157251310839,0.0497121982714,0.999999895331,-2.42087049352e-05,-0.000455522209187,3.53858027624e-05,1793245357846992128
+250,4.166666667,HOLD_POSE2,764.334410135,745,715,682,658.665589865,629.334410135,880.334410135,782.334410135,810,652.334410135,628,653,0.452383476509,-0.0157260936727,0.0497129061433,0.9999998961,-2.5192761671e-05,-0.000453781627992,3.53317013652e-05,1793245357863659008
+251,4.183333333,HOLD_POSE2,764.244245861,745,715,682,658.755754139,629,880,782,810,652.244245861,628,653,0.452384360777,-0.0157256745884,0.0497128997706,0.999999896496,-2.45558013835e-05,-0.00045294842179,3.52436226541e-05,1793245357880325376
+252,4.200000000,HOLD_POSE2,764.821913265,745,715,682,658.178086735,629,880,782,810,652.821913265,628,653,0.452384253898,-0.0157233693734,0.0497119183779,0.999999896383,-2.17059805991e-05,-0.000453353878973,3.51091613046e-05,1793245357896992256
+253,4.216666667,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.60161934,628,653,0.452384239137,-0.015723266641,0.0497121433615,0.999999896483,-2.21844403644e-05,-0.000453111118889,3.50908812369e-05,1793245357913658880
+254,4.233333333,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.025686721,628,653,0.452384265432,-0.01572414552,0.0497129060078,0.999999896678,-2.41462618901e-05,-0.000452579458653,3.51243813174e-05,1793245357930325504
+255,4.250000000,HOLD_POSE2,765,745,715,682,658,629,880,782,810,652.561147611,628.561147611,653,0.45238522962,-0.0157263391912,0.049713316571,0.99999989693,-2.73650641152e-05,-0.000451812774612,3.54543177803e-05,1793245357946992384
+256,4.266666667,HOLD_POSE2,765,745,715,681.853553297,658,629,880.146446703,782,810,653,628.853553297,653,0.452386007048,-0.0157271763715,0.0497134200364,0.999999897027,-2.90437883085e-05,-0.000451491143719,3.5461559117e-05,1793245357963659008
+257,4.283333333,HOLD_POSE2,765,745,715,681.274295405,658,629,880.725704595,782,810,653,628.274295405,653,0.452386103129,-0.0157238231593,0.0497126644751,0.999999896682,-2.59975192252e-05,-0.000452517255828,3.44742036082e-05,1793245357980325632
+258,4.300000000,HOLD_POSE2,765,745,715,681.303494288,658,629,880.696505712,782,810,652.696505712,628.303494288,653,0.452386149404,-0.0157221250385,0.0497123981937,0.9999998965,-2.52226709163e-05,-0.000452996524899,3.40223865234e-05,1793245357996992512
+259,4.316666667,HOLD_POSE2,765,745,715,681.879963391,658,629,880.120036609,782,810,652.120036609,628.879963391,653,0.452386150881,-0.0157219155729,0.0497125719899,0.999999896472,-2.64908288262e-05,-0.000452983941571,3.40522540211e-05,1793245358013659136
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629,880,782,810,652,628,653,0.452385908908,-0.0157235349705,0.0497129653159,0.999999897048,-2.54612942783e-05,-0.000451700521223,3.49615142694e-05,1793245358046048256
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.588286473,681.588286473,658,629,880,782,810,652,628,653,0.452386159214,-0.0157226708775,0.0497133414373,0.99999989721,-2.58728318009e-05,-0.000451344540301,3.46346841197e-05,1793245358062714624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.826165376,682,658,629,880,782,810,652,628,653,0.452386528287,-0.0157222314324,0.0497135400526,0.99999989728,-2.63402779566e-05,-0.000451176812913,3.44212103479e-05,1793245358079381248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.247002031,682,658,629,880,782,810,652,628,653,0.452387174291,-0.0157227821353,0.049713324778,0.99999989714,-2.69380858818e-05,-0.000451448034626,3.4472048618e-05,1793245358096047872
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.330054662,681.669945338,658,629,880,782,810,652.330054662,628,653,0.452387417387,-0.0157232786771,0.0497128507087,0.99999989706,-2.69331982891e-05,-0.00045162842687,3.44432158672e-05,1793245358112714496
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.90554477,681.09445523,658,629,880,782,810,652.90554477,628,653,0.452387360873,-0.0157237349436,0.0497121841942,0.999999897024,-2.64801338596e-05,-0.000451741276429,3.43551381011e-05,1793245358129381376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.490292907,745,715,681.490292907,658.490292907,629,880,782,810,652.509707093,628,653,0.452387952603,-0.0157229397353,0.0497125310422,0.99999989744,-2.65803500251e-05,-0.00045081753078,3.43070209029e-05,1793245358146048000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.924132295,745,715,682,658.924132295,629,880.151735411,782,809.924132295,652,628,653,0.452387917702,-0.0157221219104,0.049712794346,0.999999897673,-2.69833299216e-05,-0.000450279964864,3.4259704523e-05,1793245358162714880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.345131052,745,715,682,658.345131052,629,881.309737897,782,809.345131052,652,628,653,0.452382883019,-0.0157227837614,0.0497111840139,0.999999896105,-2.86736759546e-05,-0.00045365328387,3.41656625269e-05,1793245358179381504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.233858592,745,715,682,658,629,881.532282816,782,809.233858592,652.233858592,628,653,0.452371298781,-0.0157225262847,0.0497062270909,0.999999892103,-2.92830730584e-05,-0.00046238603034,3.36973616967e-05,1793245358196048128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.812831067,745,715,682,658,629,880.374337865,782,809.812831067,652.812831067,628,653,0.452350049122,-0.0157209121217,0.0496963314785,0.999999884332,-2.82972731888e-05,-0.000479027884256,3.26767530909e-05,1793245358212714752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.611473093,745,715,681.611473093,658,629,880,782,810,652.611473093,628,653,0.452309823713,-0.0157186361808,0.0496791822549,0.999999869996,-2.74341891024e-05,-0.000508210222757,3.12625696907e-05,1793245358229381376
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.037342487,745,715,681.037342487,658,629,880,782,810,652.037342487,628,653,0.452260533373,-0.0157160441009,0.0496585678983,0.999999851573,-2.66297276204e-05,-0.000543383293587,2.96603710393e-05,1793245358246048000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.549645972,658,628.450354028,880,782,810,652,628,653,0.452195854869,-0.0157115553436,0.0496389317085,0.999999836694,-2.48607971512e-05,-0.000570311462771,2.71650591727e-05,1793245358262714880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.136135604,715,682,658,628.136135604,880,782,810,652,628,653,0.452127149805,-0.0157069463658,0.0496214917698,0.999999823147,-2.30525848884e-05,-0.000593762451928,2.49280254672e-05,1793245358279381248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.718062853,715,682,658,628.718062853,880,782,810,652,628,653,0.452048764764,-0.015702375781,0.049611020872,0.999999814838,-2.13354489503e-05,-0.000607705242241,2.37402069954e-05,1793245358296048128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.702860585,715,682,658,629,880,782.297139415,810,652,628,653,0.451963278713,-0.0156974601983,0.0496057568179,0.999999810223,-1.95532692862e-05,-0.00061534519382,2.28391642742e-05,1793245358312714752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.126463195,715,682,658,629,880,782.873536805,810,652,628,653,0.451871118984,-0.0156922203796,0.0496053862675,0.999999809214,-1.77099602435e-05,-0.000617061602018,2.22076396103e-05,1793245358329381120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.552462825,682,658,629,880,782.552462825,810.447537175,652.447537175,628,653,0.451760175001,-0.015685010575,0.0496060863379,0.999999808521,-1.39806929478e-05,-0.000618303191188,2.15100298576e-05,1793245358346047744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629,880,782.021548603,810.978451397,652.978451397,628.021548603,653,0.45164285019,-0.0156772721937,0.0496070484454,0.999999807909,-9.75233921412e-06,-0.000619398212594,2.08038364171e-05,1793245358362714368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629,880,782.613693163,810.386306837,652.386306837,628.613693163,653,0.451496367976,-0.0156701991881,0.0496069809538,0.999999807482,-6.34486506192e-06,-0.000620146083908,2.0362195983e-05,1793245358379380992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.200147728,682,658,629,880,783,810,652,629,653,0.45133948906,-0.0156609743322,0.0496063142164,0.99999980643,-2.48165656758e-06,-0.000621896453964,1.94553790179e-05,1793245358396048128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.775923503,682,658,629,880,783,810,652,629,653,0.45116309811,-0.0156477109838,0.0496045228421,0.999999804198,2.23685278932e-06,-0.00062552826745,1.76755401905e-05,1793245358412715776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.643944663,681.643944663,658,629,880,782.643944663,810,652,629,653,0.450978150434,-0.0156364798338,0.0496067939641,0.999999807986,7.87839218338e-06,-0.000619422043631,1.68098158972e-05,1793245358429382400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.061037417,681.061037417,658,629,880,782.061037417,810,652,629,653,0.450787751033,-0.0156265434477,0.0496116534057,0.999999815472,1.4108017946e-05,-0.000607111468915,1.65264970394e-05,1793245358446048256
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.793028287,745,714.896514143,681,658,629.103485857,880,783,810,652,629,653,0.450303191485,-0.0155955311851,0.0496203023597,0.99999982675,2.52754153264e-05,-0.000587963761933,1.26623218659e-05,1793245358479381248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.634720111,745,714.317360055,681,658,629.682639945,880,783,810,652,629,653,0.450031769561,-0.0155834393837,0.0496279331919,0.999999834829,2.67826979525e-05,-0.00057402307439,1.10447677588e-05,1793245358496048128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.25973411,745,714.25973411,681,658,630,880,783,810,652,629,653,0.449738867774,-0.0155731617544,0.0496325907216,0.999999840871,2.67311045024e-05,-0.00056343330251,9.24710107947e-06,1793245358512715008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.834331098,745,714.834331098,681,658,630,880,783,810,652,629,653,0.449419927022,-0.0155650833574,0.0496336438625,0.999999844595,2.47897622238e-05,-0.000556905681686,7.23109289272e-06,1793245358529382144
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.40957082,745,714.59042918,681.40957082,658,630,880.40957082,783.40957082,810,652.40957082,629,653,0.449060639425,-0.0155625438705,0.0496300915597,0.999999841104,1.36409979465e-05,-0.000563542976558,4.96337228168e-06,1793245358546048512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.985070918,745,714.014929082,681.985070918,658,630,880.985070918,783.985070918,810,652.985070918,629,653,0.448685006134,-0.0155622483603,0.0496246734552,0.999999834388,-1.23796584027e-06,-0.000575513768964,2.59367555453e-06,1793245358562714880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.426675278,745,714,681.426675278,658,630.573324722,880.426675278,783.426675278,810,652.426675278,629,652.426675278,0.448279187826,-0.0155539106314,0.04962554394,0.999999838006,-7.02755767792e-06,-0.000569155725074,-6.85606541831e-07,1793245358579381504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,783.160034552,810,652,629,652.160034552,0.447858307801,-0.0155442118458,0.0496250121715,0.99999984001,-1.19836619326e-05,-0.000565526450271,-4.02269598409e-06,1793245358596048128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,783.741780678,810,652,629,652.741780678,0.447399856623,-0.0155314908938,0.0496203439617,0.999999837191,-1.53812972924e-05,-0.000570374123999,-7.44828130333e-06,1793245358612714752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.319039935,745,714,681,658,631,880,784,810,652,629.319039935,653,0.446925812196,-0.0155189022914,0.0496186853703,0.999999836378,-1.90918759938e-05,-0.000571623601294,-1.12094977008e-05,1793245358629381376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.89271811,745,714,681,658,631,880,784,810,652,629.89271811,653,0.446439322137,-0.0155064193208,0.0496194288725,0.999999837167,-2.30522273714e-05,-0.000570001217935,-1.52385947467e-05,1793245358646048256
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.044032762,631.044032762,880,784.044032762,810,652,630,652.955967238,0.445417871927,-0.0154943333086,0.0496448840357,0.999999858489,-4.05859831701e-05,-0.000530120116767,-1.86540196427e-05,1793245358679382272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.634308171,631.634308171,880,784.634308171,810,652,630,652.365691829,0.444876510895,-0.0154877137377,0.0496869095151,0.999999886536,-5.22340635775e-05,-0.000473122022938,-1.88281783459e-05,1793245358696048640
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.200899639,658.200899639,632,880,785,809.200899639,652,630,652,0.443704156409,-0.0154722480735,0.0497411310878,0.999999917214,-6.89090370028e-05,-0.000400497675314,-2.06053345628e-05,1793245358729381632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.375949307,658.375949307,632,880,785,809,652,630,652,0.443053382622,-0.0154609732508,0.0497384994763,0.999999915392,-4.66928163517e-05,-0.000407959532493,-2.45922034767e-05,1793245358746048256
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.95172928,658.95172928,632,880,785,809,652,630,652,0.442378964016,-0.0154480812923,0.0497236164905,0.999999905436,-9.02591106376e-06,-0.00043375440177,-3.00555066889e-05,1793245358762714880
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.474289834,745,714,681,659,632.525710166,880,785,809.525710166,652,630.525710166,652,0.441735667023,-0.0154422672799,0.0497480757733,0.999999925147,-4.83205697697e-06,-0.000385597086505,-3.15733978928e-05,1793245358779381504
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.102704343,744.897295657,714,680.897295657,659,632.897295657,880,785,810,652.102704343,630.897295657,652,0.441084347691,-0.0154384235782,0.0497786703329,0.999999945575,-8.44177500758e-06,-0.000328229125738,-3.23172676303e-05,1793245358796048128
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.694842606,744.305157394,714,680.305157394,659,632.305157394,880,785,810,652.694842606,630.305157394,652,0.4403812271,-0.0154408828244,0.0498213462369,0.99999996532,-3.46424552562e-05,-0.000259216712503,-3.1093051994e-05,1793245358812715008
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,744.280004473,714,680.280004473,659,632.280004473,880,785,809.719995527,652.719995527,630.280004473,652,0.439630621159,-0.0154409720099,0.0498323264712,0.99999996805,-5.70403731571e-05,-0.000244073320512,-3.27819942625e-05,1793245358829381888
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.857748151,714,680.857748151,659,632.857748151,880,785,809.142251849,652.142251849,630.857748151,652,0.438829522187,-0.0154385410218,0.0498096035225,0.999999955494,-7.53946752857e-05,-0.000286210861113,-3.75686059701e-05,1793245358846048512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,744.567910489,714,681,659,633,880,785,809,652,631,652.432089511,0.437997639881,-0.015433570248,0.0497769816129,0.999999936699,-8.69764250996e-05,-0.000342306269398,-4.31611230258e-05,1793245358862715136
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.005475843,713.994524157,680.994524157,659,633,880.005475843,785.005475843,809,652,631,653,0.43715633066,-0.0154278163921,0.0497417465644,0.999999913372,-9.62596602455e-05,-0.000401986550371,-4.89497558882e-05,1793245358879381504
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.595555265,713.404444735,680.404444735,659,633,880.595555265,785.595555265,809,652,631,653,0.436382099069,-0.015427030042,0.0497727370649,0.999999930276,-9.633119046e-05,-0.000357638327497,-4.75715774925e-05,1793245358896047872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.816586917,744.816586917,713.183413083,680,659.183413083,633,881,785.816586917,809.183413083,651.816586917,630.816586917,652.816586917,0.435564714901,-0.0154236473036,0.0497915424344,0.999999940517,-7.62166696382e-05,-0.000333693969615,-4.24893671906e-05,1793245358912714496
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.82718681,633,880,785.17281319,809,652,630.17281319,652,0.428448958391,-0.0154112136384,0.0497642115294,0.999999930344,-5.41955374978e-05,-0.000366582619557,-4.46242396479e-05,1793245359046048000
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.211782977,713.788217023,680,658.211782977,633,879.788217023,785.788217023,808.788217023,652,630,652,0.418679698619,-0.0154021412061,0.0498011734446,0.999999940475,-7.18081919553e-05,-0.000334468400466,-4.49966328966e-05,1793245359229381376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.787895586,713.212104414,680,658.787895586,633,879.212104414,785.212104414,808.212104414,652,630,652,0.417803410038,-0.0153991561476,0.0497823865797,0.99999992834,-5.80528519857e-05,-0.000371170369734,-4.67161740969e-05,1793245359246048256
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.061536475,713,679.061536475,658.061536475,633,879,785,808,652,630,652,0.416170501116,-0.0154104379801,0.049790905331,0.999999937846,-8.75984767367e-05,-0.000338012150795,-4.88116914596e-05,1793245359279382016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,713.526733566,679.526733566,658.526733566,633.526733566,878.473266434,785,808,652,630,652,0.415412122129,-0.0154123433146,0.0498079122422,0.99999994797,-9.29366205908e-05,-0.000305258354498,-4.73232826688e-05,1793245359296048640
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.12813028,714,679.87186972,658,634,878,785.12813028,807.87186972,652,630,652,0.403021565641,-0.0154238278424,0.0498451278882,0.999999949478,-0.000119067873159,-0.000291315090274,-4.47515944789e-05,1793245359679382016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.54505234,658.45494766,634,878.45494766,785,808,652.45494766,630,652,0.402750696672,-0.0154240438531,0.0498340915435,0.999999942327,-0.000121909803031,-0.000313696752039,-4.55837807328e-05,1793245359696048896
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39c6b32f45e9cda885571498df38cb57bb9ca933
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+331,5.516666667,pose2_to_pose3_retreat,0.590017457929,-0.0101222753882,1.0400510408,0.560589093834,-0.00144658067412,1.03971752601
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+334,5.566666667,pose2_to_pose3_retreat,0.588003519273,-0.0101224273247,1.04005098512,0.558575155113,-0.00144673280012,1.03971747105
+335,5.583333333,pose2_to_pose3_retreat,0.587360839303,-0.0101223213864,1.04005097075,0.557932474247,-0.00144663006901,1.03971745229
+336,5.600000000,pose2_to_pose3_retreat,0.586728156559,-0.0101221663424,1.04005104392,0.557299790742,-0.00144647731771,1.03971753296
+337,5.616666667,pose2_to_pose3_retreat,0.586106774633,-0.0101221880269,1.04005103489,0.556678409018,-0.00144649818305,1.03971752731
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+339,5.650000000,pose2_to_pose3_retreat,0.584898093922,-0.0101220853337,1.0400508987,0.555469725679,-0.00144640436101,1.03971739229
+340,5.666666667,pose2_to_pose3_retreat,0.584323442463,-0.0101221968369,1.04005092074,0.554895076239,-0.00144650920859,1.03971740925
+341,5.683333333,pose2_to_pose3_retreat,0.58376997031,-0.0101221002981,1.04005111869,0.554341602641,-0.00144641756438,1.03971760731
+342,5.700000000,pose2_to_pose3_retreat,0.583238633655,-0.0101221484791,1.04005114301,0.553810266506,-0.00144646393806,1.03971763275
+343,5.716666667,pose2_to_pose3_retreat,0.582726353957,-0.01012215932,1.04005115208,0.553297986666,-0.0014464753331,1.03971763993
+344,5.733333333,pose2_to_pose3_retreat,0.582232955864,-0.0101221667939,1.04005106988,0.552804588836,-0.00144648201463,1.03971755524
+345,5.750000000,pose2_to_pose3_retreat,0.581759193037,-0.0101222282464,1.04005097754,0.552330827014,-0.00144654000216,1.03971746427
+346,5.766666667,pose2_to_pose3_retreat,0.581303082586,-0.0101223181124,1.04005112315,0.551874716763,-0.00144662890833,1.03971761692
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+348,5.800000000,pose2_to_pose3_retreat,0.580426252386,-0.0101222907831,1.04005095696,0.550997887881,-0.00144659733909,1.03971744528
+349,5.816666667,pose2_to_pose3_retreat,0.580009916178,-0.0101221507729,1.04005094506,0.550581548419,-0.00144646789649,1.03971744544
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+351,5.850000000,pose2_to_pose3_retreat,0.579242964432,-0.0101222811333,1.04005082066,0.549814597552,-0.00144659550223,1.03971731511
+352,5.866666667,pose2_to_pose3_retreat,0.578903730709,-0.0101222510527,1.04005093228,0.549475363978,-0.00144656501473,1.03971742412
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+354,5.900000000,pose2_to_pose3_retreat,0.578310235028,-0.0101221834165,1.04005101759,0.548881867268,-0.00144650088868,1.03971750899
+355,5.916666667,pose2_to_pose3_retreat,0.578044291794,-0.0101222533038,1.04005092237,0.548615925694,-0.00144656513254,1.03971741404
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+358,5.966666667,pose2_to_pose3_retreat,0.57731836073,-0.0101222920229,1.04005084224,0.547889995075,-0.00144660242885,1.03971733178
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+360,6.000000000,pose2_to_pose3_retreat,0.576901497353,-0.0101222577642,1.0400507696,0.54747313138,-0.00144656892046,1.03971726772
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+365,6.083333333,pose2_to_pose3_retreat,0.576201041835,-0.0101221642891,1.04005097957,0.546772674383,-0.00144648039918,1.03971747941
+366,6.100000000,pose2_to_pose3_retreat,0.576109638453,-0.0101221732082,1.04005089003,0.546681270789,-0.00144649027518,1.03971738395
+367,6.116666667,pose2_to_pose3_retreat,0.576030114099,-0.0101222841523,1.04005095911,0.546601748475,-0.0014465945959,1.03971744587
+368,6.133333333,pose2_to_pose3_retreat,0.575961778316,-0.0101222016524,1.04005112456,0.546533412139,-0.00144651366302,1.0397176191
+369,6.150000000,pose2_to_pose3_retreat,0.575902825829,-0.0101222016362,1.04005112732,0.546474459959,-0.00144651256179,1.03971762291
+370,6.166666667,pose2_to_pose3_retreat,0.575852514259,-0.010122160499,1.04005100424,0.546424148032,-0.00144647289877,1.03971749292
+371,6.183333333,pose2_to_pose3_retreat,0.575809785158,-0.0101222139942,1.04005103307,0.546381418756,-0.0014465270924,1.03971751907
+372,6.200000000,pose2_to_pose3_retreat,0.575774014424,-0.0101221899063,1.04005107842,0.546345647177,-0.00144650579072,1.03971756634
+373,6.216666667,pose2_to_pose3_retreat,0.575745052785,-0.0101219647881,1.04005096027,0.546316683702,-0.00144628688516,1.03971744864
+374,6.233333333,pose2_to_pose3_retreat,0.575722477088,-0.01012209017,1.04005114851,0.546294109144,-0.00144640838509,1.0397176374
+375,6.250000000,pose2_to_pose3_retreat,0.575706614879,-0.0101221804859,1.04005092761,0.546278246834,-0.00144649882963,1.03971742206
+376,6.266666667,pose2_to_pose3_retreat,0.575694506642,-0.0101222671778,1.04005097248,0.546266140026,-0.00144658084333,1.03971746251
+377,6.283333333,pose2_to_pose3_retreat,0.575685841509,-0.0101222417451,1.04005100324,0.546257474874,-0.00144655564533,1.03971748883
+378,6.300000000,pose2_to_pose3_retreat,0.575680267105,-0.0101221195443,1.04005094143,0.546251898715,-0.00144643944285,1.03971742598
+379,6.316666667,pose2_to_pose3_retreat,0.575676749885,-0.0101221475405,1.04005084498,0.546248382317,-0.00144646447762,1.039717334
+380,6.333333333,pose2_to_pose3_retreat,0.575674319321,-0.0101221685657,1.04005078054,0.546245952387,-0.00144648322241,1.03971727291
+381,6.350000000,pose2_to_pose3_retreat,0.575673045869,-0.0101221010191,1.04005083469,0.546244678332,-0.00144641771486,1.03971732736
+382,6.366666667,pose2_to_pose3_retreat,0.575672614926,-0.010122078161,1.04005085301,0.546244247184,-0.00144639554671,1.03971734579
+383,6.383333333,pose2_to_pose3_retreat,0.575672157648,-0.010122053906,1.04005087246,0.546243789689,-0.00144637202392,1.03971736534
+384,6.400000000,pose2_to_pose3_retreat,0.575671768638,-0.0101220332722,1.040050889,0.546243400495,-0.00144635201288,1.03971738197
+385,6.416666667,pose2_to_pose3_retreat,0.57567170327,-0.0101220298049,1.04005089178,0.546243335096,-0.00144634865027,1.03971738477
+386,6.433333333,pose2_to_pose3_retreat,0.575671629361,-0.0101220258846,1.04005089492,0.546243261152,-0.00144634484833,1.03971738793
+387,6.450000000,pose2_to_pose3_retreat,0.575671517262,-0.0101220199386,1.04005089969,0.546243148999,-0.00144633908186,1.03971739272
+388,6.466666667,pose2_to_pose3_retreat,0.575671309461,-0.0101220227463,1.04005090105,0.546242941233,-0.00144634177089,1.03971739409
+389,6.483333333,pose2_to_pose3_retreat,0.575671060428,-0.0101220289903,1.04005090113,0.54624269227,-0.0014463477789,1.03971739417
+390,6.500000000,pose2_to_pose3_retreat,0.57567103035,-0.0101220297445,1.04005090114,0.5462426622,-0.00144634850455,1.03971739418
+391,6.516666667,pose2_to_pose3_retreat,0.575670927015,-0.0101220323355,1.04005090117,0.546242558893,-0.00144635099756,1.03971739421
+392,6.533333333,pose2_to_pose3_retreat,0.575670858071,-0.0101220340641,1.04005090119,0.546242489969,-0.00144635266086,1.03971739424
+393,6.550000000,pose2_to_pose3_retreat,0.575670849577,-0.0101220342771,1.04005090119,0.546242481477,-0.00144635286578,1.03971739424
+394,6.566666667,pose2_to_pose3_retreat,0.575670800023,-0.0101220355196,1.04005090121,0.546242431938,-0.00144635406128,1.03971739426
+395,6.583333333,pose2_to_pose3_retreat,0.575670463433,-0.010122043959,1.04005090131,0.546242095441,-0.00144636218166,1.03971739436
+396,6.600000000,pose2_to_pose3_retreat,0.575669967568,-0.0101220585056,1.04005089344,0.546241599692,-0.0014463763588,1.03971738586
+397,6.616666667,pose2_to_pose3_retreat,0.575669801718,-0.0101220750661,1.04005084637,0.546241433757,-0.00144639335236,1.03971733505
+398,6.633333333,pose2_to_pose3_retreat,0.575669710679,-0.0101220841564,1.04005082054,0.546241342672,-0.00144640268047,1.03971730716
+399,6.650000000,pose2_to_pose3_retreat,0.575669699983,-0.0101220852245,1.0400508175,0.54624133197,-0.00144640377644,1.03971730388
+400,6.666666667,pose2_to_pose3_retreat,0.5756696221,-0.010122107441,1.04005080902,0.546241254309,-0.00144642527586,1.0397172945
+401,6.683333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.00144652634688,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df79149478bae515c5ae7bc670265e796a5adfc9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c72fa4cd8f7f9937e53ba606baec02e088b2c344459ab51d42947d3cfab6a5
+size 25603358
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6163c2536a6f90cc22f631bb4a1d8ff6e54d20da
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+19,0.316666667,BASELINE,765,744.976512591,714,678.023487409,658.023487409,634,878.976512591,785.023487409,807.023487409,653,629.976512591,652,0.400983265554,-0.0154441284443,0.0498519997186,0.999999956797,-0.000132170130779,-0.000259541382403,-3.97013441206e-05,1793245360861159168
+20,0.333333333,BASELINE,765,744.394883396,714,678.605116604,658.605116604,634,878.394883396,785.605116604,807.605116604,653,629.394883396,652,0.400982952753,-0.015446692203,0.0498520165175,0.999999956523,-0.000135343666269,-0.000258980899232,-3.95477966971e-05,1793245360877825536
+21,0.350000000,BASELINE,765,744.184904674,714,679,659,634,878,785.815095326,807.630190651,652.815095326,629.184904674,652,0.400983062297,-0.0154480095557,0.0498520606438,0.999999956539,-0.000136333623024,-0.000258417854552,-3.94396935534e-05,1793245360894491904
+22,0.366666667,BASELINE,765,744.760799523,714,679,659,634,878,785.239200477,806.478400955,652.239200477,629.760799523,652,0.400984064908,-0.0154466913204,0.0498521625554,0.999999957174,-0.000132706293035,-0.000257849393507,-3.942768463e-05,1793245360911158272
+23,0.383333333,BASELINE,765,745,714,679,658.665193679,634,878,785.334806321,806.334806321,652,630,652,0.400985086699,-0.0154453322274,0.049852458183,0.999999957591,-0.000130963486141,-0.000257099567089,-3.95790987691e-05,1793245360927825152
+24,0.400000000,BASELINE,765,745,714,679,658.092528165,634,878,785.907471835,806.907471835,652,630,652,0.400986122116,-0.0154439441074,0.0498528914337,0.999999957859,-0.000130559516038,-0.000256220891729,-3.98466148905e-05,1793245360944491776
+25,0.416666667,BASELINE,765,745,714,679,658,634,878,786,807.495646806,652,630,652,0.40098528729,-0.0154439764482,0.0498525301529,0.999999957574,-0.00013097405509,-0.000257135375069,-3.97487266242e-05,1793245360961158400
+26,0.433333333,BASELINE,765,745,714,679,658.085006736,634,878,785.914993264,807.914993264,652,630,652,0.400984176158,-0.0154440589572,0.0498520995148,0.999999957241,-0.000131153088274,-0.000258349435825,-3.96456894739e-05,1793245360977825280
+27,0.450000000,BASELINE,765,745,714,679,658.663886608,634,878,785.336113392,807.336113392,652,630,652,0.400983553701,-0.0154428425577,0.049852155497,0.999999957259,-0.000129047457983,-0.000259296329716,-3.99218521491e-05,1793245360994492160
+28,0.466666667,BASELINE,765,745,714,679.24116133,658.75883867,634,878.24116133,785,807,652,630,652,0.400983406435,-0.0154423706947,0.0498525390492,0.999999957353,-0.000128759747112,-0.00025905042662,-4.00863416511e-05,1793245361011159040
+29,0.483333333,BASELINE,765,745,714,679.816213668,658.183786332,634,878.816213668,785,807,652,630,652,0.400983917076,-0.0154429296522,0.0498533761265,0.999999957553,-0.000130988969521,-0.000257153080475,-4.00962181711e-05,1793245361027825408
+30,0.500000000,BASELINE,765,744.610768908,714,680,658.389231092,634.389231092,878.610768908,785.389231092,807.389231092,652,630,652,0.400983027335,-0.0154429746319,0.0498525465934,0.999999957437,-0.000130117570856,-0.000258056019028,-4.00218629709e-05,1793245361044491776
+31,0.516666667,BASELINE,765,744.038707344,714,680,658.961292656,634.961292656,878.038707344,785.961292656,807.961292656,652,630,652,0.400981479804,-0.0154427781847,0.0498509342164,0.999999957167,-0.000127789741683,-0.000260274313427,-3.99079422641e-05,1793245361061158400
+32,0.533333333,BASELINE,765,744.55838901,714,679.44161099,659,634.44161099,878,785.44161099,807.44161099,652,630,652,0.400982795033,-0.0154436869573,0.0498520305715,0.999999957703,-0.000127894947968,-0.000258194161629,-3.96524561835e-05,1793245361077825024
+33,0.550000000,BASELINE,765,745,714,679,659,634,878,785,807,652,629.849486051,652.150513949,0.400983784402,-0.0154444689001,0.0498528682296,0.999999957996,-0.00012855153754,-0.000256752124152,-3.95068462044e-05,1793245361094491392
+34,0.566666667,BASELINE,765,745,714,679,659,634,878,785,807,652,629.276418653,652.723581347,0.400983275683,-0.0154446695991,0.0498524277355,0.999999957452,-0.000130260368904,-0.000257977309753,-3.96985458148e-05,1793245361111158272
+35,0.583333333,BASELINE,765,745,714,679,659,634,878,785,807,652,629,652.695045362,0.400983177878,-0.0154444980796,0.0498523961298,0.999999957224,-0.000131452380864,-0.000258228693845,-3.98758359206e-05,1793245361127825152
+36,0.600000000,BASELINE,765,745,714,679,659,634,878,785,807,652,629,652.105932535,0.400983462963,-0.0154439797253,0.0498527455283,0.999999957293,-0.000132162818235,-0.000257572685175,-4.00396992035e-05,1793245361144492288
+37,0.616666667,BASELINE,765,745,714,679,659.47514421,634,878,785.47514421,807,652,629.47514421,652,0.400982841152,-0.0154455158057,0.0498525374022,0.999999957126,-0.000132399983623,-0.000258173981337,-3.95525695709e-05,1793245361161159168
+38,0.633333333,BASELINE,765,745,714,679,659.891282257,634,878,786,807,652.054358872,630,652,0.400982194393,-0.0154471275012,0.0498523188989,0.999999956967,-0.000132469044949,-0.000258832491249,-3.90282097915e-05,1793245361177825792
+39,0.650000000,BASELINE,765,745,714,679,658.734784564,634,878,786,807,652.632607718,630,652,0.400983223436,-0.0154451270247,0.0498531784066,0.999999957394,-0.000131917985195,-0.000257385780093,-3.95205570574e-05,1793245361194492160
+40,0.666666667,BASELINE,765,745,714,679.209107852,658.209107852,634,878,786,807,652.790892148,629.790892148,652,0.400984246174,-0.0154434784811,0.0498539402294,0.999999957905,-0.000130571197315,-0.000256026386144,-3.98901337601e-05,1793245361211158272
+41,0.683333333,BASELINE,765,745,714,679.782561031,658.782561031,634,878,786,807,652.217438969,629.217438969,652,0.400985257925,-0.0154424431386,0.0498545318479,0.999999958561,-0.000127837948739,-0.00025481913203,-4.00457974666e-05,1793245361227825152
+42,0.700000000,BASELINE,765,745,714,680,659,634,878,785.633948218,807,652,629.366051782,652,0.400984880708,-0.0154431397058,0.0498540610014,0.999999958473,-0.000127439253872,-0.000255398758741,-3.98113374074e-05,1793245361244491776
+43,0.716666667,BASELINE,765,745,714,680,659,634,878,785.044326948,807,652,629.955673052,652,0.400983655168,-0.0154448940527,0.0498529412448,0.999999957932,-0.00012846640922,-0.000257069739367,-3.93386056703e-05,1793245361261158400
+44,0.733333333,BASELINE,765,744.46437936,714,680,659,634,878.53562064,785,807,652.53562064,630,652,0.400984222002,-0.015444427611,0.0498534295769,0.999999958076,-0.0001284287243,-0.000256516093137,-3.94261618108e-05,1793245361277825024
+45,0.750000000,BASELINE,765,744.11419839,714,679.88580161,658.88580161,634,878.88580161,785.11419839,807,652.88580161,630,652,0.400984761036,-0.0154439979217,0.049853850234,0.999999958233,-0.000128542519865,-0.000255824015446,-3.95538533072e-05,1793245361294491904
+46,0.766666667,BASELINE,765,744.690415428,714,679.309584572,658.309584572,634,878.309584572,785.690415428,807,652.309584572,630,652,0.400984598122,-0.0154444472949,0.0498534682269,0.999999958223,-0.000129619372102,-0.000255303511693,-3.96596555489e-05,1793245361311158528
+47,0.783333333,BASELINE,765,745,713.729025631,679,658.270974369,634,878,785.729025631,807,652.270974369,629.729025631,652,0.400984250734,-0.0154448304506,0.0498528760977,0.999999958013,-0.00012997891277,-0.000255936224425,-3.96955687969e-05,1793245361327825152
+48,0.800000000,BASELINE,765,745,713.143425272,679,658.856574728,634,878,785.143425272,807,652.856574728,629.143425272,652,0.400983689153,-0.0154451367216,0.0498520399974,0.99999995757,-0.000129505589333,-0.000257907926753,-3.96503345537e-05,1793245361344491520
+49,0.816666667,BASELINE,765,745,713.437205877,679,659,634,878,785,807,653,629,652.437205877,0.400983767423,-0.0154456122903,0.0498521684687,0.999999957407,-0.000130622903957,-0.000257979794132,-3.96147025151e-05,1793245361361158400
+50,0.833333333,BASELINE,765,744.983749462,713.983749462,679,658.983749462,634,878.016250538,785,807,653,629.016250538,652.983749462,0.400984029148,-0.0154460343765,0.0498525896001,0.999999957348,-0.000132090553732,-0.00025746707867,-3.95921834311e-05,1793245361377825536
+51,0.850000000,BASELINE,765,744.403824623,713.403824623,679,658.403824623,634,878.596175377,785,807,653,629.596175377,652.403824623,0.400983455315,-0.0154426965767,0.0498523096727,0.99999995774,-0.00012781380641,-0.000258052310152,-3.99164722048e-05,1793245361394491904
+52,0.866666667,BASELINE,765,744.173992709,713.173992709,679,658,634.173992709,878.826007291,785,807,652.826007291,629.826007291,652,0.400983625345,-0.0154413865843,0.0498524852029,0.999999958073,-0.000125892362191,-0.000257678275449,-4.00988415791e-05,1793245361411158272
+53,0.883333333,BASELINE,765,744.746977169,713.746977169,679,658,634.746977169,878.253022831,785,807,652.253022831,629.253022831,652,0.400985501167,-0.0154447266629,0.0498537051664,0.999999958294,-0.000129371986572,-0.000255104497419,-3.99557681618e-05,1793245361427825152
+54,0.900000000,BASELINE,764.671831538,744.671831538,714,679,658,634.671831538,878,785.328168462,807,652,629.328168462,652,0.400985540448,-0.0154447438249,0.0498540169109,0.999999958311,-0.000129570876845,-0.000254946247533,-3.99069443866e-05,1793245361444492288
+55,0.916666667,BASELINE,764.084150381,744.084150381,714,679,658,634.084150381,878,785.915849619,807,652,629.915849619,652,0.400984127409,-0.015442133254,0.0498536104436,0.999999958169,-0.000127175391664,-0.000256698175894,-3.99326523951e-05,1793245361461159168
+56,0.933333333,BASELINE,764.497613312,744.497613312,714,679,658,634,878,785.502386688,807,652,629.502386688,652,0.40098422821,-0.0154434592284,0.049853452602,0.999999957919,-0.000129111663271,-0.000256728415734,-3.97715596836e-05,1793245361477825536
+57,0.950000000,BASELINE,765,745,714,679,658,634.077996183,878,785,807,652,629.077996183,652.077996183,0.400984507324,-0.015445273008,0.0498533990705,0.999999957697,-0.000131453001277,-0.000256431196571,-3.96134271156e-05,1793245361494491904
+58,0.966666667,BASELINE,765,745,714,679,658,634.655867183,878,785,807,652,629.655867183,652.655867183,0.400984307812,-0.0154459967959,0.0498537477637,0.999999957797,-0.00013175077854,-0.000255879353617,-3.96743427915e-05,1793245361511158272
+59,0.983333333,BASELINE,765.232187275,744.767812725,714,679,658.232187275,634.767812725,878.232187275,785.232187275,807,652,629.767812725,652.767812725,0.400984615835,-0.0154458508616,0.0498539909771,0.999999958028,-0.000131178872648,-0.000255261857472,-3.97177352216e-05,1793245361527824896
+60,1.000000000,BASELINE,765.806224051,744.193775949,714,679,658.806224051,634.193775949,878.806224051,785.806224051,807,652,629.193775949,652.193775949,0.400985671105,-0.0154444244349,0.0498540788925,0.999999958451,-0.00012932653163,-0.000254547700003,-3.97353281725e-05,1793245361544491520
+61,1.016666667,BASELINE,765.609987925,744.390012075,714,679,659,634,878.609987925,785.609987925,807,652.390012075,629.390012075,652,0.400984986726,-0.0154439313204,0.0498536356526,0.999999958307,-0.00012870855919,-0.000255399000199,-3.98858284854e-05,1793245361561158400
+62,1.033333333,BASELINE,765.021230829,744.978769171,714,679,659,634,878.021230829,785.021230829,807,652.978769171,629.978769171,652,0.400983415844,-0.0154439138096,0.0498529217429,0.999999957875,-0.000128719604846,-0.000257048037067,-4.01040566402e-05,1793245361577825280
+63,1.050000000,BASELINE,765,745,714,679,659,634,878,785,807,653,630,652,0.400983845423,-0.015443831886,0.0498528117298,0.999999957824,-0.000128905849178,-0.000257187549001,-3.9884989863e-05,1793245361594492160
+64,1.066666667,BASELINE,765,745,714,679,659,634,878,785.137604785,807,652.862395215,629.862395215,652,0.400984215807,-0.0154440147145,0.0498529148868,0.999999957786,-0.000129590040521,-0.00025701984455,-3.96819013467e-05,1793245361611158528
+65,1.083333333,BASELINE,765,745,714,679,659,634,878,785.714291423,807,652.285708577,629.285708577,652,0.400984158513,-0.0154450500263,0.04985362616,0.999999957744,-0.000131842213081,-0.000256052037178,-3.95819973547e-05,1793245361627824896
+66,1.100000000,BASELINE,765,745,714,679,658.709702418,634,878.290297582,785.709702418,807,652.290297582,629.290297582,652,0.400983886442,-0.0154454840676,0.0498535647551,0.999999957728,-0.000131772330714,-0.00025614614991,-3.9607279044e-05,1793245361644491520
+67,1.116666667,BASELINE,765,745,714,679,658.134364449,634,878.865635551,785.134364449,807,652.865635551,629.865635551,652,0.400983403483,-0.015445327727,0.0498527446648,0.999999957737,-0.000129422444961,-0.00025728295177,-3.97554793478e-05,1793245361661158144
+68,1.133333333,BASELINE,765,744.548781034,714,679,658,634,879,785,807,652.548781034,630,652,0.400983192003,-0.0154446716043,0.0498525234538,0.999999957679,-0.000129379225085,-0.000257525209215,-3.98058396885e-05,1793245361677824768
+69,1.150000000,BASELINE,765,744.039282313,714,679.039282313,658.039282313,634,878.960717687,785.039282313,807.039282313,652,630,652,0.400983101597,-0.0154439664277,0.0498525224283,0.999999957634,-0.000129852208682,-0.000257460069233,-3.98083054832e-05,1793245361694491904
+70,1.166666667,BASELINE,765,744.618522409,714,679.618522409,658.618522409,634,878.381477591,785.618522409,807.618522409,652,630,652,0.400983538407,-0.0154446802026,0.0498530397116,0.999999958053,-0.000127759764196,-0.000256916169548,-3.95622135555e-05,1793245361711158784
+71,1.183333333,BASELINE,765,745,714,679.803339345,659,634,878,786,807.803339345,652,630,652,0.400983825554,-0.0154449883266,0.0498533807928,0.999999958241,-0.000126904048235,-0.000256616250556,-3.95073658939e-05,1793245361727825408
+72,1.200000000,BASELINE,765,745,714,679.22732643,659,634,878,786,807.22732643,652,630,652,0.400983824006,-0.015444513963,0.0498533819855,0.99999995799,-0.000128433942599,-0.000256786962608,-3.98214224039e-05,1793245361744492288
+73,1.216666667,BASELINE,765,745,714,679.355036007,659,634,878,785.644963993,807,652,630,652,0.400983594166,-0.0154441743957,0.0498532779614,0.999999957893,-0.000129719916918,-0.00025648970429,-4.00065184005e-05,1793245361761158912
+74,1.233333333,BASELINE,765,745,714,679.941537985,659,634,878,785.058462015,807,652,630,652,0.400983215489,-0.0154439227088,0.0498531053411,0.999999957896,-0.000130846867303,-0.000255887352358,-4.0107538482e-05,1793245361777825024
+75,1.250000000,BASELINE,765,745,714,679.47848209,658.47848209,634,878,785,807,652.52151791,629.47848209,652,0.40098326296,-0.0154449330488,0.0498528445942,0.999999957643,-0.000131883860763,-0.000256311556587,-4.03160701812e-05,1793245361794491392
+76,1.266666667,BASELINE,765,744.899581027,714,679,658.100418973,634,878,785.100418973,807,652.899581027,629.100418973,652,0.400983534095,-0.0154457272225,0.049852806511,0.99999995753,-0.000132463280154,-0.000256434491772,-4.04233524153e-05,1793245361811158016
+77,1.283333333,BASELINE,765,744.322373936,714,679,658.677626064,634,878,785.677626064,807,652.322373936,629.677626064,652,0.400984643169,-0.0154448316263,0.0498538719577,0.999999958223,-0.00013091743117,-0.000254587370954,-3.99933872764e-05,1793245361827824896
+78,1.300000000,BASELINE,765,744.253270072,714,678.746729928,659,634,878,785.746729928,807.253270072,652,630,652,0.40098521308,-0.0154442005248,0.0498544439626,0.999999958504,-0.0001301313011,-0.000253934461031,-3.96795843908e-05,1793245361844491776
+79,1.316666667,BASELINE,765,744.826936675,714,678.173063325,659,634,878,785.173063325,807.826936675,652,630,652,0.400985100931,-0.0154439040197,0.0498543917445,0.99999995827,-0.000130306245245,-0.000254792274674,-3.95127313254e-05,1793245361861158656
+80,1.333333333,BASELINE,765,745,714,678,659,634,878,785.412351851,807.587648149,652.412351851,630,652,0.400983764252,-0.0154440766025,0.049853392529,0.999999958013,-0.000129348489927,-0.000256284195771,-3.95083034755e-05,1793245361877825536
+81,1.350000000,BASELINE,765,745,714,678.005585944,658.997207028,634,878,785.997207028,807,653,629.997207028,652,0.400981906442,-0.0154444485145,0.049851990494,0.999999957743,-0.000127912142521,-0.000258043137168,-3.95748800581e-05,1793245361894492160
+82,1.366666667,BASELINE,765,745,714,679.165973637,658.417013182,634,878,785.417013182,807,653,629.417013182,652,0.400981676515,-0.0154441340698,0.0498518887717,0.999999957548,-0.000128696498041,-0.000258371781291,-3.98142105965e-05,1793245361911158784
+83,1.383333333,BASELINE,765,745,714,679.838467393,658,634,878,785,807,652.838467393,629.161532607,652,0.400982203647,-0.0154445946109,0.0498522106069,0.999999957473,-0.000129964798416,-0.000258013494631,-3.98939539782e-05,1793245361927825152
+84,1.400000000,BASELINE,765,745,714,679.264133145,658,634,878,785,807,652.264133145,629.735866855,652,0.400984665464,-0.0154470356526,0.0498536148565,0.999999957701,-0.000132469835213,-0.000255899734895,-3.95658674281e-05,1793245361944491776
+85,1.416666667,BASELINE,765,744.682855458,714,679,658.317144542,634,878,785,807.317144542,652.317144542,629.682855458,652,0.400985243186,-0.015446592447,0.0498541573974,0.999999957977,-0.000131655277801,-0.000255235923327,-3.96034894228e-05,1793245361961158656
+86,1.433333333,BASELINE,765,744.095665538,714,679,658.904334462,634,878,785,807.904334462,652.904334462,629.095665538,652,0.400984216621,-0.0154436933336,0.0498539662019,0.99999995829,-0.000128014119251,-0.00025580672813,-3.99525085743e-05,1793245361977825280
+87,1.450000000,BASELINE,765,744.48485727,714,679,659,634,878,785.48485727,808,652.51514273,629.48485727,652,0.400983439963,-0.0154441433538,0.0498532231915,0.99999995786,-0.000129076925821,-0.000256965829247,-3.98473770664e-05,1793245361994491904
+88,1.466666667,BASELINE,765,745,714,679.063963785,659,634,878.063963785,785.936036215,807.936036215,652,630,652,0.400982721055,-0.0154452213079,0.0498524168304,0.999999957311,-0.000131120390985,-0.000258090229385,-3.96821136442e-05,1793245362011158528
+89,1.483333333,BASELINE,765,745,714,679.642116353,659,634,878.642116353,785.357883647,807.357883647,652,630,652,0.400982075398,-0.0154461070639,0.0498519645706,0.999999956988,-0.000133687375355,-0.000258015238106,-3.97440217499e-05,1793245362027825408
+90,1.500000000,BASELINE,764.781451595,744.781451595,714,679.781451595,659,634,878.781451595,785,807,652.218548405,630,652,0.400981664871,-0.015446136147,0.0498517287338,0.999999956899,-0.000133909804238,-0.000258228580835,-3.9849816038e-05,1793245362044492032
+91,1.516666667,BASELINE,764.207815023,744.207815023,714,679.207815023,659,634,878.207815023,785,807,652.792184977,630,652,0.400981636374,-0.0154447733441,0.0498518445319,0.99999995719,-0.000130322898685,-0.000258910396425,-4.00269147254e-05,1793245362061158400
+92,1.533333333,BASELINE,764.376243127,744.376243127,714,679,658.623756873,634,878,785,807,653,629.623756873,652,0.400982993428,-0.0154453018299,0.0498528785334,0.999999957691,-0.000129757689308,-0.000257303939117,-3.96996680707e-05,1793245362077825024
+93,1.550000000,BASELINE,764.966221598,744.966221598,714,679,658.033778402,634,878,785,807,653,629.033778402,652,0.400985137581,-0.0154469047145,0.0498544341458,0.999999958308,-0.000130909037906,-0.000254397564994,-3.9085914074e-05,1793245362094491648
+94,1.566666667,BASELINE,765,745,714,679,658.546137375,634,878,785.546137375,807,652.453862625,629.546137375,652,0.400985219953,-0.0154465809428,0.0498544868932,0.999999958484,-0.000129650370301,-0.000254348277663,-3.91209150213e-05,1793245362111158272
+95,1.583333333,BASELINE,765,745,714,679,659,634,878,785.875424814,807.124575186,652,630,652,0.400984970369,-0.0154457488366,0.0498543579443,0.999999958602,-0.000128205126924,-0.00025459093996,-3.92737436218e-05,1793245362127825408
+96,1.600000000,BASELINE,765,745,714,679,659,634,878,785.300123209,807.699876791,652,630,652,0.400983972767,-0.0154435008663,0.0498539018242,0.999999958617,-0.000126614385032,-0.0002552621195,-3.97103343788e-05,1793245362144492032
+97,1.616666667,BASELINE,764.726191435,745,714,679.273808565,659,634,878,785.273808565,807.726191435,652,630,652,0.400983383347,-0.0154428998615,0.0498533513835,0.999999958489,-0.000126553398478,-0.00025577469867,-3.98077743291e-05,1793245362161158912
+98,1.633333333,BASELINE,764.153753702,745,714,679.846246298,659,634,878,785.846246298,807.153753702,652,630,652,0.400983239109,-0.015444095119,0.0498526980723,0.999999958209,-0.000128160838878,-0.000256114300384,-3.95353196025e-05,1793245362177825536
+99,1.650000000,BASELINE,764.434992152,744.565007848,714,679.565007848,658.565007848,634,878,785.565007848,807.434992152,652,629.565007848,652,0.400983696769,-0.0154454218384,0.0498528448345,0.999999958175,-0.000129338849245,-0.00025565893184,-3.95043966904e-05,1793245362194492160
+100,1.666666667,BASELINE,765,744.028886715,714,679,658.028886715,634,878,785.028886715,807.971113285,652.028886715,629,652,0.400984315066,-0.0154467216253,0.0498532747448,0.999999958226,-0.000130304644307,-0.000254958918715,-3.95456758403e-05,1793245362211158528
+101,1.683333333,BASELINE,765,744.606813325,714,679,658.606813325,634,878,785.606813325,807.393186675,652.606813325,629,652,0.400983785408,-0.015446591933,0.0498535019739,0.999999958196,-0.000130234285371,-0.000255157787922,-3.92734235353e-05,1793245362227825152
+102,1.700000000,BASELINE,765,745,714,679,658.816218198,634,878.183781802,785.816218198,807,653,629.183781802,652,0.400983337306,-0.0154464735829,0.0498537386954,0.999999958102,-0.00013017396535,-0.000255573907992,-3.91579986109e-05,1793245362244491776
+103,1.716666667,BASELINE,765,745,714,679,658.241289012,634,878.758710988,785.241289012,807,653,629.758710988,652,0.400983062785,-0.0154463793727,0.0498539956197,0.999999957873,-0.000130135011408,-0.000256452408455,-3.93763533379e-05,1793245362261158400
+104,1.733333333,BASELINE,765.341411821,745,714,679,658.341411821,634,878.658588179,785,807,652.658588179,629.658588179,652.341411821,0.400983227551,-0.0154455736624,0.0498540988063,0.999999957984,-0.0001297204755,-0.000256195603343,-3.96014731884e-05,1793245362277825024
+105,1.750000000,BASELINE,765.929733181,745,714,679,658.929733181,634,878.070266819,785,807,652.070266819,629.070266819,652.929733181,0.400983710008,-0.0154442533942,0.0498540908096,0.999999958339,-0.00012903431815,-0.000255117743632,-3.98314856089e-05,1793245362294491904
+106,1.766666667,BASELINE,765.489650995,745,714,679,658.489650995,634,878,785,807,652.510349005,629.510349005,652.489650995,0.400982057409,-0.0154458883076,0.0498527105403,0.999999957652,-0.000129836334998,-0.000257437090431,-3.95659961045e-05,1793245362311159040
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785,807,653,630,652,0.400984560629,-0.0154440256189,0.0498541550035,0.999999958821,-0.000126639268521,-0.000254564175627,-3.89618997651e-05,1793245362354153216
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.427584291,679.427584291,658.427584291,634,878,785,807,652.427584291,630,652,0.400983210273,-0.0154442327656,0.0498529880146,0.999999958222,-0.000127552937831,-0.000256387756488,-3.93772389655e-05,1793245362370819840
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.149937873,679.149937873,658,634,878,785.149937873,807,652,630,652,0.400982599004,-0.015444506196,0.0498524451703,0.999999957867,-0.000128645706512,-0.000257190955119,-3.96172840212e-05,1793245362387486208
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713.742535914,679.742535914,658,634,878,785.742535914,807,652,630,652,0.40098416973,-0.0154449753152,0.0498537449823,0.999999958234,-0.000130267228792,-0.000254981689355,-3.93398099278e-05,1793245362404152576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.672804004,658,634,878,786,807.327195996,652.327195996,630,652,0.400985583391,-0.0154452639771,0.0498548041674,0.999999958799,-0.000129383737563,-0.000253230998155,-3.91909825562e-05,1793245362420819200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.094242232,658,634,878,786,807.905757768,652.905757768,630,652,0.400986876388,-0.0154454140042,0.0498556784926,0.999999959513,-0.000126575789116,-0.000251832603422,-3.91409870433e-05,1793245362437486080
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.517830957,878,785.517830957,807.517830957,653,629.517830957,652,0.400985185333,-0.0154452209596,0.0498549386065,0.999999958968,-0.000126914631084,-0.000253802282145,-3.92571868851e-05,1793245362454152704
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.059245682,878.059245682,785.059245682,807,652.940754318,629.059245682,652,0.400983650021,-0.0154448669088,0.049854175638,0.99999995835,-0.00012776530866,-0.000255780171055,-3.94004395204e-05,1793245362470819328
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.645971928,878.645971928,785.645971928,807,652.354028072,629.645971928,652,0.400988671078,-0.0154436737333,0.049856003718,0.999999959313,-0.000127721309196,-0.00025199610363,-3.94966237299e-05,1793245362487485696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.76895725,786,807.23104275,652,630,652,0.40100100444,-0.0154442838567,0.0498609334606,0.999999961542,-0.0001284143736,-0.000242705642507,-3.89884296752e-05,1793245362504152064
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.186405049,786,807.813594951,652,630,652,0.401024462772,-0.0154476375271,0.049870582086,0.999999965494,-0.000130228810178,-0.000225037730196,-3.75607318665e-05,1793245362520818688
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.608633481,713.608633481,679.391366519,658,634,878,785.608633481,807.608633481,652,629.608633481,652,0.401067094853,-0.0154503851862,0.049884410295,0.999999971584,-0.000131046468296,-0.000195892937934,-3.58556339963e-05,1793245362537485312
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.033111364,713.033111364,679.966888636,658,634,878,785.033111364,807.033111364,652,629.033111364,652,0.401118749049,-0.01545284769,0.0499002051876,0.999999977772,-0.000131395097236,-0.000161347754315,-3.4020006728e-05,1793245362554151680
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.541235963,713.541235963,679.458764037,658,634,878,785,807.541235963,652,629.541235963,652,0.40118668185,-0.0154562760031,0.0499156566872,0.999999981736,-0.000130805040336,-0.000135556979915,-3.2291988642e-05,1793245362570818560
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.119034602,634,878,785,807.880965398,652,630,652,0.40125763569,-0.0154604280499,0.0499292879723,0.999999984464,-0.000131355598932,-0.000113487638554,-3.06153089236e-05,1793245362587485184
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.710825422,634,878,785,807.289174578,652,630,652,0.401336641204,-0.0154672203132,0.0499357733766,0.999999984822,-0.000136663790152,-0.000104075822475,-2.91164342415e-05,1793245362604151808
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.295823308,745,714,679,659,634,878,785,807,652.295823308,629.704176692,652,0.401426175791,-0.0154731011314,0.0499397280484,0.999999985043,-0.000138945005056,-9.91816419576e-05,-2.77809694385e-05,1793245362620818688
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.874329955,745,714,679,659,634,878,785,807,652.874329955,629.125670045,652,0.401525771763,-0.0154781109891,0.0499412643982,0.999999985217,-0.000138333696487,-9.86044318747e-05,-2.66016562174e-05,1793245362637485312
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.551456889,745,714,679,659,634,878,785.448543111,807,652.551456889,629,652,0.401644412588,-0.0154847087025,0.0499435926573,0.999999985277,-0.000139521858593,-9.65395311905e-05,-2.56734775291e-05,1793245362654151936
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.021615454,659,634,878,785.978384546,807,652.021615454,629.021615454,652,0.401769104706,-0.015491736525,0.0499458950574,0.999999985265,-0.000141154981492,-9.44920591263e-05,-2.48297686853e-05,1793245362670818304
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.595984622,659,634,878,785.404015378,807,652.595984622,629.595984622,652,0.401913385508,-0.0154984946038,0.0499419162327,0.999999984356,-0.000141396374686,-0.000103447994384,-2.43639043952e-05,1793245362687484928
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.176718698,785.176718698,807,653,630,652,0.402069633728,-0.0155067373163,0.0499395013769,0.999999983696,-0.000142169286814,-0.000108833457034,-2.34961244603e-05,1793245362704151552
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.772547867,785.772547867,807,653,630,652,0.402254264154,-0.0155185010224,0.0499407956695,0.999999983776,-0.000144202762493,-0.000105751096528,-2.16751514268e-05,1793245362720818432
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.643644684,714,680,659,634,878.643644684,786,807,653,629.643644684,652,0.402462962234,-0.0155295958525,0.0499426144802,0.999999983714,-0.000146737576667,-0.000103137946456,-2.00504018067e-05,1793245362737485568
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.067259916,714,680,659,634,878.067259916,786,807,653,629.067259916,652,0.402686520762,-0.0155402776902,0.0499447571515,0.999999983559,-0.000149581939484,-0.000100814507252,-1.85468089785e-05,1793245362754152704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.514360048,714,679.485639952,659,634,878,786,807,652.485639952,629.514360048,652,0.40294141082,-0.0155505621923,0.0499496634097,0.999999984954,-0.000146930021666,-9.07784725623e-05,-1.61990133344e-05,1793245362770819072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.096186005,745,714,679,659.096186005,634,878.096186005,785.903813995,807,652,630,652,0.403209237814,-0.0155596785833,0.049955586121,0.999999986816,-0.000141739059324,-7.80790678802e-05,-1.35067487316e-05,1793245362787485696
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.675572592,745,714,679,659.675572592,634,878.675572592,785.324427408,807,652,630,652,0.403521261394,-0.0155631905454,0.0499647810032,0.999999990202,-0.000127440614687,-5.71185020669e-05,-9.64427309966e-06,1793245362804152320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.745156744,745,714,679,659.745156744,634,878.745156744,785,807,652.254843256,630,652,0.403849646678,-0.0155590121381,0.0499728177074,0.999999993648,-0.00010483493533,-4.07591794517e-05,-7.20224475143e-06,1793245362820818944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.166033621,745,714,679,659.166033621,634,878.166033621,785,807,652.833966379,630,652,0.404198851687,-0.0155450479822,0.0499793806668,0.999999996953,-7.16585671845e-05,-3.02547924246e-05,-6.56769022631e-06,1793245362837485312
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.412591544,659,634,878.412591544,785,807.412591544,652.587408456,630,652,0.404587349912,-0.0155307575735,0.049985234629,0.999999999118,-3.75188215477e-05,-1.71766109492e-05,-7.85376462148e-06,1793245362854151936
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.991016551,659,634,878.991016551,785,807.991016551,652.008983449,630,652,0.404991641303,-0.0155163360338,0.0499908036228,0.999999999942,-2.99186509935e-06,-3.0639411211e-06,-9.91179993667e-06,1793245362870818560
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.43722773,658.43722773,634,878.43722773,785,807.43722773,652,630,652,0.405388390404,-0.0155119068738,0.0499765281637,0.999999999236,2.26752520759e-05,-3.0531064361e-05,-9.04839549864e-06,1793245362887485696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.139127784,745,714,679,658.139127784,634,878.139127784,785.139127784,807,652.139127784,630,652,0.405793664636,-0.0155098188726,0.0499610705107,0.999999997126,4.57771556185e-05,-5.99102670683e-05,-7.93788329068e-06,1793245362904152576
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.73078684,745,714,679,658.73078684,634,878.73078684,785.73078684,807,652.73078684,630,652,0.406227054907,-0.0155148330563,0.049942785902,0.999999993762,6.09899883672e-05,-9.33751620504e-05,-6.17352930625e-06,1793245362920818944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.684331415,745,714,679,659,634,878.684331415,786,807.315668585,653,630,652,0.406696383656,-0.0155185764659,0.0499293270507,0.999999989787,7.97916909692e-05,-0.000118515982004,-3.67425246157e-06,1793245362937485568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.105108048,745,714,679,659,634,878.105108048,786,807.894891952,653,630,652,0.40719571784,-0.0155212588944,0.0499198972691,0.999999985495,0.000101589777717,-0.000136706954176,-5.61381156374e-07,1793245362954151936
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.470039116,659,634,878,786,808,653,630,652,0.407781480087,-0.0155222332214,0.0499397933315,0.999999987312,0.000127546795443,-9.53143765114e-05,4.79602918283e-06,1793245362970818816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.045283055,745,714,680,659.045283055,634,878.045283055,785.954716945,808,653,630,652,0.408386890944,-0.0155230886173,0.0499660956948,0.99999998717,0.000154243958837,-4.18923210131e-05,1.07149726585e-05,1793245362987485184
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.632500423,745,714,680,659.632500423,634,878.632500423,785.367499577,808,653,630,652,0.40899814386,-0.015527052541,0.0499912607479,0.999999983867,0.000178764698033,-2.58946507898e-06,1.73990707011e-05,1793245363004152064
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.783133219,745,714,679.783133219,659.783133219,634,879,785.216866781,808,652.783133219,630,652,0.409613110385,-0.0155306935474,0.0500060083288,0.999999979028,0.000202697813539,1.81832413069e-05,2.29747095668e-05,1793245363020819200
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.203535488,745,714,679.203535488,659.203535488,634,879,785.796464512,808,652.203535488,630,652,0.410234288252,-0.0155337944428,0.0500033316647,0.999999974153,0.000225648069811,7.96245393445e-06,2.66963414544e-05,1793245363037486848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.624639231,714,679,659,634,879,785.624639231,808,652,630,652,0.410851551984,-0.0155343126268,0.0499789200327,0.999999968448,0.000245371666465,-4.59665857217e-05,2.79984680101e-05,1793245363054153984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.04612265,714,679,659,634,879,785.04612265,808,652,630,652,0.411466697256,-0.0155334329745,0.0499427448245,0.999999957299,0.000263348902156,-0.000123551761137,2.7991089923e-05,1793245363070820608
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.529776031,714,679.529776031,659,634,879.529776031,785,808,652,630,652,0.412211711895,-0.0155346735582,0.0499473918951,0.999999983447,0.000151622191843,-9.82006079885e-05,2.17731093648e-05,1793245363087486208
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.892364958,785.107635042,808,652,630,652,0.412968924787,-0.0155373181274,0.0499579634778,0.999999996543,5.02533499808e-05,-6.42730527596e-05,1.60451263247e-05,1793245363104151808
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.304753067,785.695246933,808,652,630,652,0.41373036192,-0.0155454043973,0.0499791837465,0.999999998361,4.51806808476e-05,-3.18671856914e-05,1.49014751733e-05,1793245363120818688
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,807.720420739,652,630,652,0.414486572202,-0.0155510608005,0.0499799066418,0.999999997769,5.66830862474e-05,-3.19550000531e-05,1.5083149262e-05,1793245363137485312
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,807.139621751,652,630,652,0.41523715115,-0.0155540992576,0.0499585455941,0.999999993911,8.60435373721e-05,-6.70516225017e-05,1.66927334971e-05,1793245363154151936
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.56319753,659,633.56319753,879,786,807.43680247,652,630,652,0.416019377541,-0.015553958906,0.0499436112253,0.999999989518,0.000111289666058,-9.09812631385e-05,1.73714376355e-05,1793245363170819072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011835378,745,714,679,659.011835378,633.011835378,879,786,808,652.011835378,630,652,0.416813546094,-0.0155528899542,0.0499316166276,0.999999984711,0.000134914229949,-0.000109806820514,1.783160538e-05,1793245363187486208
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.586546309,745,714,679,659.586546309,633.586546309,879,786,808,652.586546309,630,652,0.417699339958,-0.0155555027382,0.04996270475,0.99999998803,0.000143344666101,-5.39648526212e-05,2.19092948037e-05,1793245363204152832
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.833338762,745,714,679.166661238,659.833338762,634,879.166661238,786,808,652.833338762,630,652,0.418562567323,-0.0155566502323,0.0499821679941,0.999999988779,0.000145969434157,-2.31089413974e-05,2.45258260956e-05,1793245363220819456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.239368351,745,714,679.760631649,659.239368351,634,879.760631649,786,808,652.239368351,630,652,0.419367935516,-0.015554040813,0.0499718257629,0.999999989202,0.000133708826317,-5.63157479744e-05,2.33960376058e-05,1793245363237485568
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.343355349,745,714,680,659.343355349,634,880,786,808,652,630.343355349,652,0.420224157884,-0.0155556534647,0.0499679124681,0.999999989396,0.00013248868593,-5.57819592971e-05,2.33091277799e-05,1793245363254151936
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918487117,745,714,680,659.918487117,634,880,786,808,652,630.918487117,652,0.421114708498,-0.0155601161566,0.0499683389223,0.999999989565,0.000138721233217,-3.24721317599e-05,2.39261962047e-05,1793245363270818816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.50612367,880.49387633,786,808.49387633,652,631,652,0.422034262899,-0.0155605752603,0.0499863936031,0.999999988554,0.000149056836127,3.94949554759e-06,2.56636553129e-05,1793245363287485440
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929204531,745,714,680,660,633.070795469,881,786,808.929204531,652,631,652.070795469,0.422953787395,-0.0155602509947,0.050002883854,0.999999986657,0.000157410183014,3.4069619982e-05,2.73352784457e-05,1793245363304152064
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.341423829,745,714,680,660,633.658576171,881,786,808.341423829,652,631,652.658576171,0.423838117706,-0.0155590340415,0.0499866921384,0.99999998892,0.000146340236237,2.36151312604e-06,2.71750661088e-05,1793245363320818688
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.244015796,745,714,680,660,634,880.511968408,786,808.244015796,652,631,653,0.424746025342,-0.0155602772595,0.0499825468812,0.999999989479,0.000142216429792,-6.06152182707e-06,2.7911250755e-05,1793245363337485312
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.826211025,745,714,680,660,634,879.34757795,786,808.826211025,652,631,653,0.42568660872,-0.0155649300076,0.049995096707,0.999999988485,0.000147719219179,1.77860234241e-05,2.98897444178e-05,1793245363354152192
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.597644743,744.597644743,714,680,660,633.597644743,879.804710514,786,809,652,631,653,0.426592510658,-0.0155694826452,0.0500045661944,0.999999987336,0.000154798411414,1.8648162198e-05,3.19061391608e-05,1793245363370818816
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.024075424,744.024075424,714,680,660,633.024075424,880.951849152,786,809,652,631,653,0.427483654562,-0.0155739926826,0.0500127249061,0.999999986166,0.000162548409361,9.72932926123e-06,3.39386618169e-05,1793245363387485184
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.546769753,714,680,660,633.546769753,880.453230247,786,809,652,631,653,0.428335748222,-0.0155630711742,0.0499715376208,0.999999982526,0.000176325487186,-5.44698632989e-05,2.98335188361e-05,1793245363404151808
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.122456948,809.122456948,652,630.877543052,653,0.42920852014,-0.0155542785834,0.0499402353107,0.999999977994,0.000182461954481,-0.000100042401942,2.66605512766e-05,1793245363420818176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.717282232,809.717282232,652,630.282717768,653,0.430167656642,-0.0155563061925,0.049955403431,0.999999985031,0.000158106723862,-6.44211932847e-05,2.8120697322e-05,1793245363437484800
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.304163681,660,634,880,786.695836319,810,652,630.304163681,653,0.431079341306,-0.0155558054603,0.0499536162467,0.999999984862,0.000157476779608,-6.8164290184e-05,2.88122123081e-05,1793245363454152192
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.883849299,660,634,880,786.116150701,810,652,630.883849299,653,0.43194804241,-0.0155530144692,0.0499364703626,0.999999977898,0.000178338018069,-0.000107564932584,2.88074747232e-05,1793245363470819840
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.541765558,659.541765558,633.541765558,880,786,810,652,631,653,0.432847698069,-0.0155531056184,0.0499444798182,0.999999978421,0.000187348995828,-8.48419150442e-05,2.93336945703e-05,1793245363487486720
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.031348302,745,714,680.031348302,659.031348302,633.031348302,880,786,810,652,630.968651698,653,0.433753854565,-0.0155538845427,0.049959315762,0.999999979782,0.000193164299187,-4.70677281954e-05,3.01447264125e-05,1793245363504152832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.605446356,745,714,680.605446356,659.605446356,633.605446356,880,786,810,652,630.394553644,653,0.434638270515,-0.0155540675334,0.0499832095232,0.999999980246,0.000195061821317,-1.82191596193e-05,3.35833774523e-05,1793245363520819200
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,786.185835204,810,652,630.185835204,653,0.435496585556,-0.0155521941681,0.049991070362,0.99999998005,0.000195648529653,-1.90114992562e-05,3.55102618498e-05,1793245363537485568
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,786.780048357,810,652,630.780048357,653,0.436297543307,-0.0155458019043,0.0499636984195,0.999999977118,0.000193354688896,-8.49405406982e-05,3.41149982714e-05,1793245363554151936
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.63578814,880,786.63578814,809.63578814,652,631,652.63578814,0.437137362985,-0.0155459125893,0.0499592078044,0.999999976798,0.000194752093979,-8.55332344727e-05,3.4043653295e-05,1793245363570818560
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.057530802,880,786.057530802,809.057530802,652,631,652.057530802,0.438000021574,-0.015549845025,0.049968164432,0.999999978592,0.00019831882592,-4.77280815059e-05,3.4750368724e-05,1793245363587485184
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481173982,745,714,681,660,633,880.518826018,786,809.518826018,652,631,652.518826018,0.43881273756,-0.0155514855105,0.049982213501,0.99999997865,0.000201749702552,-2.72358373533e-05,3.54316867807e-05,1793245363604152064
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096705404,745,714,681,660.096705404,633,880.903294596,786,810,652,631,653,0.439608966556,-0.0155526252945,0.0499904119023,0.999999978288,0.000204555674,-1.73597982553e-05,3.57615057102e-05,1793245363620819200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.683362566,745,714,681,660.683362566,633,880.316637434,786,810,652,631,653,0.440349620562,-0.0155525112233,0.0499661177801,0.999999977217,0.00020427164806,-5.15792027237e-05,3.43246928835e-05,1793245363637486336
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.732898625,745,714,680.732898625,660.732898625,633,880,786,810,652,631,653,0.441093778237,-0.0155545906646,0.049957922566,0.999999978335,0.000195931065341,-6.17741169836e-05,3.35321705998e-05,1793245363654152704
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.152582053,745,714,680.152582053,660.152582053,633,880,786,810,652,631,653,0.44184204442,-0.0155592423181,0.0499686056642,0.999999982612,0.000178142998552,-4.37968210406e-05,3.34951727763e-05,1793245363670818560
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424550381,745,714,680.424550381,660,633,880,786,810,652,631,653,0.442542042623,-0.0155633004404,0.0499729945324,0.99999998415,0.000170774025659,-3.72109879589e-05,3.39254174946e-05,1793245363687484928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.999443229,632.999443229,880,785.999443229,810,652,631,653,0.443224708287,-0.0155671429321,0.0499750903921,0.999999984833,0.000167130854308,-3.47706606031e-05,3.45187744898e-05,1793245363704151808
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.413171417,632.413171417,880,785.413171417,810,652,631,653,0.443787055096,-0.01556687669,0.0499269830821,0.999999977512,0.000173048284389,-0.000118516878979,3.13637089051e-05,1793245363720818432
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.829549232,745,714,681,659.170450768,632.170450768,880,785,810,652,631,653,0.444357397824,-0.0155685958112,0.0498813568207,0.999999965581,0.000175871198831,-0.000192613728707,2.84209111007e-05,1793245363737485312
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.252251297,745,714,681,659.747748703,632.747748703,880,785,810,652,631,653,0.444946826043,-0.0155750537754,0.0498416525386,0.9999999553,0.000171307849437,-0.000243678619113,2.59847728141e-05,1793245363754152448
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.326043239,681,659.673956761,632.673956761,880,785,810.326043239,652,631,652.673956761,0.445535738519,-0.0155845763639,0.0498271966547,0.999999953725,0.000164830202929,-0.00025438197163,2.59078146054e-05,1793245363770819584
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.905111149,681,659.094888851,632.094888851,880,785,810.905111149,652,631,652.094888851,0.446124250719,-0.0155964772425,0.0498323347008,0.999999959991,0.000156866973556,-0.000233762896427,2.76616897041e-05,1793245363787486720
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.52082903,681,659,632,880,785,810.52082903,652,630.52082903,652.47917097,0.446643425573,-0.0156044231025,0.049824512973,0.999999957275,0.00015399257327,-0.00024682290305,2.85494062216e-05,1793245363804152576
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.053978348,745,714,681,659,632,880,784.946021652,810,652,630,653,0.447141706714,-0.0156110696616,0.0498111401812,0.999999951378,0.000152476111128,-0.00027047568369,2.89327120509e-05,1793245363820818688
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.646021059,745,714,681,659,632,880,784.353978941,810,652,630,653,0.44756716994,-0.0156124909058,0.0497677510663,0.999999931966,0.000154554516546,-0.000333925181006,2.59800569938e-05,1793245363837485312
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,880,784,810,652,630,653,0.447999105375,-0.0156152391819,0.0497375211183,0.999999915944,0.000154666634184,-0.000378949978703,2.42349175065e-05,1793245363854151936
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,880,784,810,652,630,653,0.448440664354,-0.0156199606317,0.0497268576427,0.999999909538,0.000151855063611,-0.000396578941828,2.42852427779e-05,1793245363870818560
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.611716312,745,714.388283688,681.388283688,659,631.611716312,880,784,810.388283688,652,630,653,0.44886176713,-0.0156258512098,0.0497336903217,0.999999919121,0.000112284509136,-0.000385703263567,1.95748922288e-05,1793245363887485440
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037979602,745,714.962020398,681.962020398,659,631.037979602,880,784,810.962020398,652,630,653,0.449273099604,-0.0156323001904,0.0497488795567,0.999999933162,5.51570367522e-05,-0.000361213127939,1.25907357978e-05,1793245363904152320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.450129347,682,659,631,880,784,811,652,630,653,0.449644600386,-0.0156417973639,0.0497615120588,0.99999994078,1.64829295846e-05,-0.000343590671502,1.06844547895e-05,1793245363920818944
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.131271036,681.868728964,659,631,880.131271036,784,811,652.131271036,629.868728964,653,0.449998417702,-0.0156506777015,0.0497696818709,0.999999944085,-1.07825958786e-05,-0.000334088414739,9.88473533707e-06,1793245363937485824
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.688496254,681.311503746,659,631,880.688496254,784,811,652.688496254,629.311503746,653,0.450304017323,-0.0156568553416,0.0497639590632,0.999999938895,-5.27379914176e-06,-0.000349355202301,1.15075943314e-05,1793245363954152192
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681.26481203,659,630.73518797,881,783.73518797,811,653,629,653,0.450595005979,-0.0156604039563,0.0497579258668,0.99999993347,1.08728307658e-06,-0.000364552441383,1.26674973679e-05,1793245363970818560
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681.865329075,659,630.134670925,881,783.134670925,811,653,629,653,0.450867472141,-0.0156606197272,0.0497514991876,0.999999927805,8.52881629715e-06,-0.000379661512226,1.32405061355e-05,1793245363987485440
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.447204944,745,715,682,659,630,881,783,811,652.552795056,629,653,0.45110121968,-0.015663853685,0.0497427757918,0.999999920788,1.1035102446e-05,-0.000397627676736,1.39260453959e-05,1793245364004152064
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.976406538,745,715,682,659,630,881,783.023593462,811,652.023593462,629,653,0.451322262965,-0.0156678764995,0.0497333643222,0.99999991308,1.2155748685e-05,-0.000416508268062,1.46191155025e-05,1793245364020818688
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.40231364,745,715,682,659,630,881,783.59768636,811,652.59768636,629,653,0.451508047523,-0.0156699471239,0.0497233900976,0.999999904108,1.42350210255e-05,-0.000437453179777,1.47288572875e-05,1793245364037485568
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.177838719,745,715,682,658.822161281,630,880.822161281,783.822161281,811,652.822161281,629,653.177838719,0.451688819447,-0.015671722139,0.049715983638,0.99999989744,1.5915591867e-05,-0.000452369638107,1.50950614926e-05,1793245364054152448
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.772182487,745,715,682,658.227817513,630,880.227817513,783.227817513,811,652.227817513,629,653.772182487,0.451857851565,-0.0156728048257,0.0497145909835,0.999999897052,1.66623883388e-05,-0.000453167226538,1.60619104471e-05,1793245364070819072
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.644594441,745,715,682,658,629.644594441,880,783,810.644594441,652,629,653.644594441,0.452019489494,-0.0156738524711,0.0497187048091,0.999999900984,1.9079774335e-05,-0.000444261056754,1.72971225608e-05,1793245364087485440
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.068283477,745,715,682,658,629.068283477,880,783,810.068283477,652,629,653.068283477,0.452176531517,-0.0156748783362,0.0497262412351,0.999999907412,2.25355297989e-05,-0.000429323431938,1.86991382127e-05,1793245364104151808
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.505708207,629.505708207,880,782.494291793,810,652,628.494291793,652.494291793,0.452296830756,-0.015676737982,0.0497290250085,0.999999909887,2.21872491247e-05,-0.000423515357953,1.91811413939e-05,1793245364120818432
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682.081461199,658.918538801,630,880,782.081461199,810,652.081461199,628,652.081461199,0.452407816213,-0.015679180296,0.0497304800884,0.999999911401,2.05612796632e-05,-0.000419988825479,1.9607962566e-05,1793245364137485056
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,682.670121739,658.329878261,630,880,782.670121739,810,652.670121739,628,652.670121739,0.452491560423,-0.0156845526971,0.0497276397019,0.999999910214,1.41635469244e-05,-0.000423027565029,2.04611336833e-05,1793245364154151680
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682.745238912,658.254761088,629.745238912,880,783,810.254761088,652.745238912,628,653,0.452565977695,-0.0156929488723,0.0497244340865,0.999999908142,6.59025739717e-06,-0.000427926800991,2.34747665878e-05,1793245364170818304
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,682.165725543,658.834274457,629.165725543,880,783,810.834274457,652.165725543,628,653,0.452628505607,-0.0157051995508,0.049720762902,0.999999904871,-2.48155238922e-06,-0.000435197672296,2.92424106595e-05,1793245364187485184
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658.588155328,629,880,782.588155328,810.588155328,652.411844672,628.411844672,653,0.45268107392,-0.0157277350397,0.0497189585272,0.999999902887,-2.39983906249e-05,-0.000438605941994,3.56960993604e-05,1793245364204152320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658.011363378,629,880,782.011363378,810.011363378,652.988636622,628.988636622,653,0.452729653326,-0.015754389682,0.0497179018256,0.999999900819,-5.04995679138e-05,-0.000440467206598,4.24245545849e-05,1793245364220819200
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.562658034,880.562658034,782.562658034,810.562658034,653,628.437341966,653,0.452766744014,-0.0157495404335,0.0497186733398,0.999999902109,-4.64925073457e-05,-0.000438099393946,4.10972190322e-05,1793245364237485568
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.859150841,880.859150841,782.859150841,811,653,628,653,0.452799415767,-0.0157441840675,0.0497191190535,0.999999902992,-4.17458994365e-05,-0.000436681851746,3.97732713397e-05,1793245364254151936
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629.267434062,880.267434062,782.267434062,811,653,628,653,0.452818681291,-0.0157392310814,0.0497184042458,0.999999902395,-3.65945960901e-05,-0.000438578252998,3.89784107853e-05,1793245364270818560
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.683059405,652.683059405,628,653,0.452832764913,-0.0157394948864,0.0497161906156,0.999999900667,-3.75229001814e-05,-0.000442418030575,3.90538330583e-05,1793245364287485184
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.10473969,652.10473969,628,653,0.452842575053,-0.0157440609491,0.0497127409149,0.999999897972,-4.34650216397e-05,-0.000447860499828,3.98469725779e-05,1793245364304151808
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.470767975,652.470767975,628,653,0.452850024614,-0.0157413323926,0.0497109135541,0.99999989715,-4.25644970889e-05,-0.000449854843889,3.89766912505e-05,1793245364320818432
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.95446849,653,628,653,0.452856656391,-0.0157375801034,0.0497095899906,0.999999896763,-4.07061088333e-05,-0.000450977003985,3.78917101879e-05,1793245364337485056
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810.381121114,653,628,653,0.452859860274,-0.0157406624963,0.0497099472101,0.999999896607,-4.52871990853e-05,-0.000450828916612,3.85825791527e-05,1793245364354152192
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.199475466,745,715,682,658.199475466,629,880,782,810,653,628,653,0.452862548467,-0.0157424619954,0.0497100262823,0.999999896352,-4.850622985e-05,-0.000451031707647,3.88986030511e-05,1793245364370818816
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.794444781,745,715,682,658.794444781,629,880,782,810,653,628,653,0.452864214218,-0.0157417179406,0.0497095538804,0.999999895938,-4.90247470282e-05,-0.000451930174495,3.84714331634e-05,1793245364387485440
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658.622596773,629,880.377403227,782.377403227,810.377403227,653,628,653,0.452864873114,-0.0157388289463,0.0497085993398,0.999999895369,-4.6989247349e-05,-0.000453461389135,3.77693378955e-05,1793245364404152064
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658.045978374,629,880.954021626,782.954021626,810.954021626,653,628,653,0.452865000533,-0.0157348077294,0.0497073902985,0.999999894706,-4.36055903773e-05,-0.000455326604488,3.6922121182e-05,1793245364420818432
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658.52603396,629,880.47396604,782.47396604,811,652.47396604,628,652.47396604,0.452865330308,-0.0157364124429,0.0497066582937,0.999999894478,-4.37717159401e-05,-0.000455770362317,3.74322468213e-05,1793245364437485056
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.898573634,745,715,682,658.898573634,629,880.101426366,782,811,652.101426366,628,652.101426366,0.452865575138,-0.0157380586104,0.0497060980538,0.999999894266,-4.44304626686e-05,-0.000456130803801,3.79279787779e-05,1793245364454151680
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.304837827,745,715,682,658.304837827,629,880.695162173,782,811,652.695162173,628,652.695162173,0.452865322546,-0.0157375398781,0.0497061709078,0.999999893948,-4.59873826935e-05,-0.000456684665239,3.77829847004e-05,1793245364470818560
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.720936995,782,811,653,628,653,0.452865911462,-0.0157365028163,0.0497065961654,0.999999894135,-4.67001345372e-05,-0.000456216952558,3.76063073335e-05,1793245364487485696
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880.147413708,782,811,653,628,653,0.452867388317,-0.0157349188262,0.0497073932704,0.999999894856,-4.65221414884e-05,-0.000454671300565,3.73961985366e-05,1793245364504152576
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652.570016953,628,653,0.452867629646,-0.0157341080813,0.0497068822972,0.999999894764,-4.50524440395e-05,-0.000455026126458,3.73374964681e-05,1793245364520818944
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.008657888,745,715,682,658,629,880.008657888,782.008657888,811,652.008657888,628,653,0.452867423572,-0.0157335915979,0.0497059093516,0.999999894376,-4.31851386663e-05,-0.000456059052604,3.73321074373e-05,1793245364537485568
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.58328528,745,715,682,658,629,880.58328528,782.58328528,811,652.58328528,628,653,0.452865912061,-0.0157348241207,0.0497043193559,0.999999893226,-4.45380068374e-05,-0.000458440248913,3.73877409417e-05,1793245364554152192
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.836640671,745,715,682,658.163359329,629,880.836640671,782.836640671,810.836640671,652.836640671,628,653,0.452865531102,-0.0157357514019,0.0497036078566,0.999999892726,-4.59451664772e-05,-0.000459384573005,3.74653808528e-05,1793245364570818560
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.242193512,745,715,682,658.757806488,629,880.242193512,782.242193512,810.242193512,652.242193512,628,653,0.452868133549,-0.0157358731829,0.0497052146158,0.999999893952,-4.74955954263e-05,-0.000456537144571,3.76010933192e-05,1793245364587485184
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.341300056,745,715,682,658.658699944,629,880,782.341300056,810.341300056,652.341300056,628,653,0.45286862901,-0.015734762577,0.04970536724,0.999999893913,-4.69499116535e-05,-0.000456689780081,3.74681065154e-05,1793245364604151808
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.91726241,745,715,682,658.08273759,629,880,782.91726241,810.91726241,652.91726241,628,653,0.452867675802,-0.0157328046383,0.0497045200676,0.999999893002,-4.49630366402e-05,-0.000458905122372,3.71503743852e-05,1793245364620818432
+244,4.066666667,HOLD_POSE2,766,745,715,682,658,629,881,783,810,653,628,653,0.452868137029,-0.0157358438317,0.0497041828445,0.999999893145,-4.82416510482e-05,-0.000458251026957,3.7274644964e-05,1793245364652151040
+245,4.083333333,HOLD_POSE2,765.426633649,745,715,682.573366351,658,629,881,782.426633649,810,652.426633649,628,653,0.452869001637,-0.0157332564882,0.0497050421875,0.999999893642,-4.53966359886e-05,-0.000457474290572,3.70363796353e-05,1793245364668817152
+246,4.100000000,HOLD_POSE2,765.152396529,745,715,683,658,629,880.847603471,782,810.152396529,652.152396529,628,653,0.452869237768,-0.0157311914513,0.0497054210831,0.999999893813,-4.39021423245e-05,-0.000457269319495,3.67498297802e-05,1793245364685483264
+247,4.116666667,HOLD_POSE2,765.747894741,745,715,683,658,629,880.252105259,782,810.747894741,652.747894741,628,653,0.452867646568,-0.0157306450506,0.0497044030504,0.999999893052,-4.63343667192e-05,-0.000458726788802,3.63228898289e-05,1793245364702149376
+248,4.133333333,HOLD_POSE2,766,745,715,682.667819455,658,629,880.332180545,782,811,653,628,653,0.45286776313,-0.0157313868819,0.0497039130289,0.999999892859,-4.72476177835e-05,-0.00045905000821,3.63604480895e-05,1793245364718815744
+249,4.150000000,HOLD_POSE2,766,745,715,682.091765383,658,629,880.908234617,782,811,653,628,653,0.452869133464,-0.0157330744812,0.0497038106518,0.999999893089,-4.70456998946e-05,-0.000458540507114,3.67390221833e-05,1793245364735482624
+250,4.166666667,HOLD_POSE2,765.517778419,745,715,682,658.482221581,629,881.482221581,782,811,653,628,653,0.452869971633,-0.0157331515291,0.0497046552143,0.999999893467,-4.77352631705e-05,-0.00045763557513,3.68403898442e-05,1793245364752149248
+251,4.183333333,HOLD_POSE2,765.057339313,745,715,682,658.942660687,629.057339313,881.885321375,782,811,653,628,653,0.452870625313,-0.0157328753623,0.0497055595895,0.999999893834,-4.84230301136e-05,-0.000456755879358,3.68899180352e-05,1793245364768815616
+252,4.200000000,HOLD_POSE2,765.646579925,745,715,682,658.353420075,629.646579925,880.70684015,782,811,653,628,653,0.45287050299,-0.0157321535611,0.0497053543425,0.999999893853,-4.75271469849e-05,-0.000456805346528,3.69458187044e-05,1793245364785482752
+253,4.216666667,HOLD_POSE2,765.767922567,745,715,682,658,629.767922567,880,782.232077433,810.767922567,653,628,653,0.452870419286,-0.0157316378727,0.0497052879793,0.999999893776,-4.7045555095e-05,-0.000457029080798,3.68693334151e-05,1793245364802149632
+254,4.233333333,HOLD_POSE2,765.188034833,745,715,682,658,629.188034833,880,782.811965167,810.188034833,653,628,653,0.45287039346,-0.0157314310819,0.0497054297587,0.999999893558,-4.71848541573e-05,-0.000457513986049,3.65944436519e-05,1793245364818816256
+255,4.250000000,HOLD_POSE2,765,745,715,682.390556486,658,629,880.390556486,782.609443514,810,653,628,653,0.452870883721,-0.0157318785702,0.0497057233521,0.999999893705,-4.89846981167e-05,-0.000457027503609,3.62688038812e-05,1793245364835482624
+256,4.266666667,HOLD_POSE2,765,745,715,682.968525759,658,629,880.968525759,782.031474241,810,653,628,653,0.452871621632,-0.0157326400214,0.0497060897953,0.999999894022,-5.15813726552e-05,-0.000456074890238,3.59188111416e-05,1793245364852148992
+257,4.283333333,HOLD_POSE2,765,745,715,682.457682453,658,629,880.457682453,782.542317547,810.542317547,652.457682453,628,653,0.452871065866,-0.0157314363346,0.0497054177767,0.999999893885,-4.94273996763e-05,-0.000456567198236,3.65262212641e-05,1793245364868815616
+258,4.300000000,HOLD_POSE2,765.119298589,745,715,682,658,629,880.119298589,783,810.880701411,652.119298589,628,653,0.452870635686,-0.0157303180097,0.0497047961488,0.999999893731,-4.7590973732e-05,-0.00045706274504,3.69647405481e-05,1793245364885481984
+259,4.316666667,HOLD_POSE2,765.709827732,745,715,682,658,629,880.709827732,783,810.290172268,652.709827732,628,653,0.452870995873,-0.015729983919,0.0497046098067,0.999999893642,-4.8089597783e-05,-0.000457242376495,3.65183376012e-05,1793245364902148864
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,811,652,629,653,0.45287234488,-0.0157305725059,0.0497060681447,0.999999894482,-4.65095757668e-05,-0.000455512155904,3.71808004021e-05,1793245364939166464
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810.425606351,652,628.425606351,653.574393649,0.452871134716,-0.0157313605353,0.0497047677179,0.999999893311,-4.83482466227e-05,-0.000457904022401,3.69431240184e-05,1793245364955833600
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.152526644,629,880,782,810,652.152526644,628,653.847473356,0.452870605692,-0.0157320740987,0.049704059586,0.999999892586,-4.9982622064e-05,-0.000459327511034,3.67153826855e-05,1793245364972500480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.741356183,629,880,782,810,652.741356183,628,653.258643817,0.452872025067,-0.0157325746525,0.0497050457151,0.999999893158,-5.10326103225e-05,-0.00045798095263,3.6516060539e-05,1793245364989166592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.675064879,629,880,782,810,652.675064879,628,653,0.452871969903,-0.0157321465371,0.0497050949647,0.999999893178,-5.10367957693e-05,-0.000457953695908,3.63015194263e-05,1793245365005832960
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.095598919,629,880,782,810,652.095598919,628,653,0.452870759689,-0.0157309909689,0.0497044103301,0.999999892766,-5.0221774335e-05,-0.000458959885461,3.60750568807e-05,1793245365022499328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.480901872,0.45287075523,-0.0157303410306,0.049704792487,0.999999892529,-4.97299899211e-05,-0.000459518290156,3.62115725925e-05,1793245365039165952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.943529263,0.452870799969,-0.0157299111154,0.0497052024075,0.999999892334,-4.92687897335e-05,-0.000459975031188,3.64274680074e-05,1793245365055832576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652,628,653.371122357,0.4528691177,-0.0157305786973,0.0497039403285,0.999999892207,-4.85035448698e-05,-0.000460311230947,3.67133945067e-05,1793245365072499456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.208682611,745,715,682,658,629,880,782,810,652.208682611,628,653,0.45286462951,-0.0157301208836,0.0497014462361,0.999999890919,-4.80606416555e-05,-0.000463165394862,3.64696972491e-05,1793245365089166336
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.613696671,745,715,682,658.386303329,629,880,782,810,653,628,653,0.45282982552,-0.0157270661957,0.0496854056608,0.999999878447,-4.91815771721e-05,-0.000489400652961,3.42655599969e-05,1793245365122499328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.034157997,745,715,682,658.965842003,629,880,782,810,653,628,653,0.452796939509,-0.0157275501672,0.0496708746694,0.999999866188,-5.0560316575e-05,-0.000513762557489,3.33998079035e-05,1793245365139165952
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.882245123,629,880,782,810,652.882245123,628,653,0.452684274547,-0.0157207837317,0.0496319418381,0.999999830618,-4.88103655924e-05,-0.000579253416541,2.91011820978e-05,1793245365172498944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.294986849,629,880,782,810,652.294986849,628,653,0.452620772014,-0.0157160413708,0.0496204186609,0.999999824487,-4.65399508349e-05,-0.00058999410548,2.7699431614e-05,1793245365189165824
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.867696354,628,653,0.452463331793,-0.0157047419448,0.0496059801696,0.999999813778,-4.26838894337e-05,-0.000608296411722,2.44304411738e-05,1793245365222499584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,653,628,653,0.452365031939,-0.0156991021423,0.0496038333967,0.999999809872,-3.95734422334e-05,-0.000614906237882,2.41025227715e-05,1793245365239166208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.02230792,745,715,682,658,629,880,782.02230792,810.02230792,653,628,653,0.452261486197,-0.0156934958452,0.0496028464022,0.999999806419,-3.61023131393e-05,-0.000620704714284,2.41618283764e-05,1793245365255833088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.598242574,745,715,682,658,629,880,782.598242574,810.598242574,653,628,653,0.452134070801,-0.0156864131731,0.049603988743,0.999999806275,-3.32077840357e-05,-0.000621117092919,2.36614074889e-05,1793245365272499456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.822070688,745,715,682,658,629,880,782.822070688,810.822070688,653,628,653,0.451999563237,-0.015678040415,0.0496050730772,0.999999806222,-2.94299022512e-05,-0.000621421123332,2.29247664641e-05,1793245365289166080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.233729474,745,715,682,658,629,880,782.233729474,810.233729474,653,628,653,0.451848696893,-0.0156666919444,0.0496060236129,0.999999806371,-2.36144788186e-05,-0.000621475237581,2.16432599372e-05,1793245365305832448
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.928202911,658,629,880,782,810,653,628,653,0.451473399039,-0.0156443334565,0.049604931905,0.999999801463,-1.30129777287e-05,-0.000629704834325,1.94222012955e-05,1793245365339165952
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.080641816,745,715,682.080641816,658.080641816,629,880.919358184,783,810,652,628.080641816,653,0.451018507123,-0.0156166730949,0.0495955448406,0.99999979295,-2.34638862377e-06,-0.000643314677619,1.5487235803e-05,1793245365372499712
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.654750231,745,715,682.654750231,658.654750231,629,880.345249769,783,810,652,628.654750231,653,0.450770983396,-0.0156058405597,0.0495977312128,0.999999799864,7.79894009266e-07,-0.000632525846997,1.35232511409e-05,1793245365389166336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.764168192,745,715,682.764168192,658.764168192,629.235831808,880,783,810.235831808,652.235831808,629,653,0.45051409468,-0.0155961119582,0.0496047494785,0.999999811077,1.90672545376e-06,-0.000614571710879,1.19992908556e-05,1793245365405833216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.172567136,745,715,682.172567136,658.172567136,629.827432864,880,783,810.827432864,652.827432864,629,653,0.450243078219,-0.015588048721,0.0496190570034,0.999999828352,1.72407486276e-08,-0.000585808196321,1.11391391116e-05,1793245365422500096
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.988980303,745,714.011019697,682,658,630,880.988980303,783,810.011019697,652.011019697,629,653,0.449584872121,-0.0155762817441,0.049632451559,0.999999842408,-1.32876325008e-05,-0.000561206818543,7.37115903737e-06,1793245365455832576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.56428789,682,658,630,880.43571211,783,810,652,629,653,0.449207713576,-0.0155727820242,0.0496352202098,0.999999846204,-2.36031350102e-05,-0.00055408235407,5.1897208094e-06,1793245365472498944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.857535707,745,714.857535707,682,658,630.142464293,880,783.142464293,810,652,629,653,0.448819769651,-0.0155683438868,0.049636063269,0.999999847667,-3.24084396808e-05,-0.00055100599964,2.80323820019e-06,1793245365489166080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.270181425,745,714.270181425,682,658,630.729818575,880,783.729818575,810,652,629,653,0.448400455964,-0.0155608533509,0.0496310523724,0.999999842301,-3.63249859257e-05,-0.000560427836532,-2.16129550808e-07,1793245365505832960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.68714038,658.31285962,631,880,784,810,652,629.31285962,652.68714038,0.447952633324,-0.0155491880376,0.0496266036764,0.999999839573,-3.74538591986e-05,-0.000565187016496,-3.93618293204e-06,1793245365522499840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.107773471,658.892226529,631,880,784,810,652,629.892226529,652.107773471,0.447480525484,-0.0155339664683,0.0496226338866,0.999999839147,-3.62080730865e-05,-0.000565974345678,-8.25311082694e-06,1793245365539166464
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.046528713,745,714,682,659,631,880,784,810,652.953471287,630,652.046528713,0.44644728537,-0.0155124614481,0.0496231815201,0.999999838281,-5.1120176557e-05,-0.000566207548262,-1.52945838993e-05,1793245365572499200
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.184358812,744.815641188,714,680,659,633,879.815641188,785.184358812,809.815641188,652,630,652,0.429942104518,-0.0154111676295,0.0497837731844,0.999999938454,-3.96267925909e-05,-0.000347188046136,-3.13265996824e-05,1793245365939165696
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,879.602571757,785.397428243,810,652,630,652.397428243,0.429030906247,-0.0154121948587,0.0497716702877,0.999999933228,-4.0372633137e-05,-0.00036141040351,-3.60093290777e-05,1793245365955832576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,879.024746412,785.975253588,810,652,630,652.975253588,0.428123678385,-0.0154157092106,0.0497671071414,0.999999932743,-3.62950842148e-05,-0.000362834073315,-3.93577515983e-05,1793245365972499712
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,879,786,809.448963306,652,630.551036694,652.448963306,0.427182775743,-0.0154143679406,0.0497703129313,0.999999927151,-4.92215085924e-05,-0.000376496263189,-3.90687209896e-05,1793245365989166080
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.12934597,659,633.12934597,879.12934597,785.87065403,809,652,630.87065403,652,0.426252501693,-0.015413057739,0.049772260422,0.99999992388,-6.27127210412e-05,-0.000383121714548,-3.9038571195e-05,1793245366005832704
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.716928451,659,633.716928451,879.716928451,785.283071549,809,652,630.283071549,652,0.425365219666,-0.0154126272777,0.0497685186416,0.999999930489,-7.55094863486e-05,-0.000362878022533,-4.05021432459e-05,1793245366022499328
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.699739696,659,633.699739696,879.699739696,785,809,652,630,652,0.424495589868,-0.0154149906473,0.0497888849219,0.999999946662,-7.17160989278e-05,-0.000316123268299,-3.99794969203e-05,1793245366039165952
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.120359232,659,633.120359232,879.120359232,785,809,652,630,652,0.423642369526,-0.0154199511452,0.0498316619096,0.99999996797,-5.25006050293e-05,-0.000244723991116,-3.76104737898e-05,1793245366055832320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.45703479,745,714.45703479,680,659,633,879.45703479,785.45703479,808.54296521,652,630,652,0.422745772603,-0.0154222201551,0.0498323976846,0.999999967717,-5.80860762482e-05,-0.000244422770067,-3.80719904976e-05,1793245366072499456
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.966181697,745,714.966181697,680,658.966181697,633,880,785.966181697,808.033818303,652,630,652,0.421837356776,-0.0154236463918,0.0498212928396,0.999999961826,-7.04548462962e-05,-0.000264261386825,-3.9363608521e-05,1793245366089166592
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.390834414,745,714.390834414,680,658.390834414,633,880,785.390834414,808.609165586,652,630,652,0.420921813108,-0.0154228781826,0.0497971045077,0.999999947848,-8.73116470576e-05,-0.000308076551108,-4.20629174908e-05,1793245366105833216
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.188923794,633.188923794,879.811076206,785,809,652,630,652,0.420022761316,-0.0154205802742,0.0497869134648,0.999999938634,-9.76433020267e-05,-0.000333646962276,-4.33345908493e-05,1793245366122499840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.778025314,633.778025314,879.221974686,785,809,652,630,652,0.419158642388,-0.0154150421624,0.0498063714268,0.99999994332,-9.41534191958e-05,-0.000320571409763,-4.15822520506e-05,1793245366139166464
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.652071835,879,785,809,652,630,652,0.418285494769,-0.0154108676556,0.0497974463646,0.999999936926,-7.99007686761e-05,-0.000343400700313,-4.28914789522e-05,1793245366155832832
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.093777047,879,785,809,652,630,652,0.417406888214,-0.0154075176211,0.0497713601698,0.999999921942,-5.91406625659e-05,-0.000387939014223,-4.60518099412e-05,1793245366172499200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.502425678,658.502425678,633.497574322,879,785,808.502425678,652,630,652,0.416623584204,-0.0154149903138,0.0497828341144,0.999999931411,-7.64532789934e-05,-0.000359558569332,-4.52803787288e-05,1793245366189165824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.091840652,745,713.908159348,679.091840652,658.091840652,633.908159348,879,785.091840652,808,652,630,652,0.415858633036,-0.0154231393392,0.0498012926336,0.999999943627,-9.83133086038e-05,-0.000318062598428,-4.3785723503e-05,1793245366205832704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.666353936,745,713.333646064,679.666353936,658.666353936,633.333646064,879,785.666353936,808,652,630,652,0.415089020839,-0.015423360038,0.049816607901,0.999999953102,-0.000103677630552,-0.000285003594202,-4.26616995518e-05,1793245366222499328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.752169913,745,713.247830087,680,659,633.247830087,879,786,808,652.247830087,630,652,0.414304069879,-0.0154223523243,0.0498137828384,0.999999952072,-0.000102041379026,-0.000289086623136,-4.32606674986e-05,1793245366239166208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.161048943,745,713.838951057,680,659,633.838951057,879,786,808,652.838951057,630,652,0.413497871939,-0.0154196430301,0.0497858300349,0.999999935436,-9.07080272491e-05,-0.000344618296532,-4.62463005683e-05,1793245366255833088
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.578840671,634,879,785.578840671,808,653,629.578840671,652,0.412749467871,-0.0154164128183,0.0497757373564,0.999999929436,-9.25157949156e-05,-0.000360892941461,-4.82138538872e-05,1793245366272499456
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.999970137,714,680,658,634,879,785,808,652.999970137,629.000029863,652,0.412022709209,-0.0154129878539,0.0497723344283,0.999999928145,-9.92443651252e-05,-0.000362465108564,-4.97999166151e-05,1793245366289165824
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.425907855,714,680,658,634,879,785,808,652.425907855,629.574092145,652,0.411361527029,-0.0154156263967,0.0498011300586,0.999999940034,-0.000103106647823,-0.000327310983629,-4.65661874364e-05,1793245366305832704
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.152062061,714,680,658,634,878.847937939,785.152062061,808,652,630,652,0.410694737421,-0.015417285633,0.0498187875485,0.99999994606,-0.000105495603434,-0.000307849500076,-4.44832643311e-05,1793245366322499584
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.524172818,785.475827182,807.475827182,652,630,652,0.408226140447,-0.0154164379369,0.0498050883797,0.999999940799,-0.000113047930603,-0.000321713216623,-4.60768313351e-05,1793245366389166336
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.370912088,634,878,786,807.370912088,652,630,652,0.407172022091,-0.0154212385214,0.0498318654641,0.999999949451,-0.000130478105189,-0.000286699330802,-4.3333302277e-05,1793245366422499840
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.196924383,658.803075617,634,878,785.196924383,807,652,629.196924383,652,0.406111556341,-0.0154175690446,0.0497934017541,0.999999923815,-0.000148565364545,-0.000357726725085,-4.82782104851e-05,1793245366455832832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.614403207,714,679,659,634,878,785.385596793,807.385596793,652,629.385596793,652,0.405626467763,-0.0154161824977,0.0497755570117,0.999999911445,-0.000157188389122,-0.000387128011128,-5.0340229961e-05,1793245366472499456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.035300273,714,679,659,634,878,785.964699727,807.964699727,652,629.964699727,652,0.405165635507,-0.0154157126244,0.0497637834461,0.999999903129,-0.00016557062329,-0.000404554682377,-5.16162800034e-05,1793245366489166080
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.710797606,658.289202394,634,878,785.710797606,807,653,629,652,0.403793365726,-0.0154290652636,0.0498421142926,0.999999946239,-0.000157421516936,-0.000283990910965,-4.57210458116e-05,1793245366555832832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.131463195,658.868536805,634,878,785.131463195,807,653,629,652,0.40348038987,-0.0154336704504,0.0498556500234,0.999999959289,-9.32858964344e-05,-0.00026583545561,-4.52941707073e-05,1793245366572499456
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.554537535,634,878,785.445462465,807,652.554537535,629.445462465,652,0.403182675224,-0.0154332364132,0.0498517266407,0.999999956539,-8.48078467178e-05,-0.000278515258681,-4.64620830155e-05,1793245366589165824
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.597296334,634,878,786,807,652,629.402703666,652,0.402637988252,-0.0154336223671,0.0498317726516,0.999999942815,-0.000103034459052,-0.000318410113637,-4.86739574679e-05,1793245366622499328
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.072396345,714,679,658.072396345,634,878,785,807.927603655,652,630,652,0.401839761752,-0.0154268782061,0.0498146393384,0.999999940585,-4.66368719003e-05,-0.00033978345032,-3.46803125318e-05,1793245366689166080
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..454b809c0d624d25335e8611811504db7e5164f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575672166128,-0.0101221544801,1.04005079509,0.54624379964,-0.00144646765044,1.03971728688
+384,6.400000000,pose2_to_pose3_retreat,0.575671735708,-0.0101221499785,1.040050777,0.546243368898,-0.00144646421717,1.03971726938
+385,6.416666667,pose2_to_pose3_retreat,0.575671559361,-0.0101221471114,1.04005077543,0.546243192229,-0.0014464624305,1.03971726821
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+387,6.450000000,pose2_to_pose3_retreat,0.575671106061,-0.0101221397416,1.0400507714,0.546242738098,-0.00144645783783,1.0397172652
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+389,6.483333333,pose2_to_pose3_retreat,0.575670606189,-0.0101221316145,1.04005076695,0.54624223731,-0.00144645277332,1.03971726188
+390,6.500000000,pose2_to_pose3_retreat,0.575670513905,-0.0101221301142,1.04005076613,0.546242144857,-0.00144645183834,1.03971726127
+391,6.516666667,pose2_to_pose3_retreat,0.5756705007,-0.0101221298995,1.04005076601,0.546242131628,-0.00144645170455,1.03971726118
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd573610fc1760f41a611332ffc25e598cd2f165
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b5345e4a39332d45df6ec2085ebf4d12cf18bafde21d10620033fc3e645a02
+size 25675811
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d63c10a4f21d61828cc32e4d3ac3b8bad9ebb379
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+6,0.100000000,BASELINE,765,745,714,680,658.434344541,634,878,785.434344541,807,652.565655459,629.434344541,652,0.400983177533,-0.0154514083881,0.0498497766873,0.999999959547,-0.000107763389975,-0.000260702769702,-3.64200343724e-05,1793245367540530944
+7,0.116666667,BASELINE,765,745,714,680,658,634,878.144774251,785.144774251,807,653,629.144774251,652,0.400983793651,-0.0154516035972,0.0498500277968,0.999999959713,-0.000107705513897,-0.000260059336041,-3.66326255777e-05,1793245367557197568
+8,0.133333333,BASELINE,765,745,714,680,658,634,878.731039759,785.731039759,807,653,629.731039759,652,0.40098385228,-0.0154522564177,0.0498496406404,0.99999995969,-0.000107296786529,-0.000260369766869,-3.62544857868e-05,1793245367573864192
+9,0.150000000,BASELINE,765,745,714,679.686678538,658,634,878.686678538,786,807,652.686678538,630,652,0.400983871847,-0.015452030806,0.0498496598445,0.999999959711,-0.00010760547071,-0.000260186946415,-3.60686974003e-05,1793245367590530816
+10,0.166666667,BASELINE,765,745,714,679.107773694,658,634,878.107773694,786,807,652.107773694,630,652,0.400983858305,-0.015451060601,0.0498500234953,0.999999959769,-0.000108522260675,-0.000259586027091,-3.60459535188e-05,1793245367607197696
+11,0.183333333,BASELINE,764.531046399,745,713.531046399,679.468953601,658.468953601,634,878,786,807.468953601,652.468953601,630,652,0.400984871993,-0.0154506355002,0.0498504793542,0.999999960097,-0.000107461137395,-0.000258760210915,-3.60662336679e-05,1793245367623864064
+12,0.200000000,BASELINE,764.045244749,745,713.045244749,679.954755251,658.954755251,634,878,785.954755251,807.954755251,652.954755251,630,652,0.400985916909,-0.0154503068201,0.0498508612759,0.999999960434,-0.000105913288452,-0.00025808816444,-3.61183479615e-05,1793245367640530688
+13,0.216666667,BASELINE,764.622263869,745,713.622263869,679.377736131,658.377736131,634,878,785.377736131,807.377736131,652.377736131,630,652,0.400984567025,-0.0154496458207,0.0498501262797,0.999999960177,-0.000103962682225,-0.000259828080835,-3.64289424921e-05,1793245367657197312
+14,0.233333333,BASELINE,765.203055786,744.796944214,714,679,658.203055786,634,878.203055786,785,807,652,630,652,0.400983615401,-0.0154495949434,0.0498494960671,0.999999959861,-0.000103820931038,-0.000261083722104,-3.65214128758e-05,1793245367673864192
+15,0.250000000,BASELINE,765.79099905,744.20900095,714,679,658.79099905,634,878.79099905,785,807,652,630,652,0.400983418671,-0.0154507005382,0.0498490644692,0.999999959438,-0.00010710782181,-0.00026142143153,-3.62004341099e-05,1793245367690530816
+16,0.266666667,BASELINE,765.626551855,744,714,679,658.626551855,634,878.626551855,785,807,652.373448145,630,652,0.400983261497,-0.0154514054166,0.0498493124753,0.99999995929,-0.000108271649958,-0.000261517247186,-3.61358784411e-05,1793245367707197440
+17,0.283333333,BASELINE,765.047133034,744,714,679,658.047133034,634,878.047133034,785,807,652.952866966,630,652,0.400983126138,-0.0154518892849,0.0498499353084,0.999999959298,-0.000108264529154,-0.000261479649325,-3.62127497584e-05,1793245367723864064
+18,0.300000000,BASELINE,765,744.528416996,714,679,658,634,878,785,807,653,629.471583004,652,0.400983920617,-0.0154498362125,0.0498505624465,0.999999960018,-0.000105236180389,-0.000259948035559,-3.62841957728e-05,1793245367740530688
+19,0.316666667,BASELINE,765,745,714,679,658,634,878,785,807,652.896541039,629.103458961,652,0.400984496913,-0.015448258165,0.0498509600326,0.999999960566,-0.000103140311398,-0.000258666572034,-3.63478649956e-05,1793245367757197568
+20,0.333333333,BASELINE,765,745,714,679,658,634,878,785,807,652.322252223,629.677747777,652,0.400983705585,-0.0154498642207,0.0498503112191,0.999999960094,-0.000106505525521,-0.000259125562324,-3.63783291843e-05,1793245367773863936
+21,0.350000000,BASELINE,765,745,714,679,658,634,878,785,807,652,630,651.740224505,0.400983824285,-0.0154506415491,0.0498503329452,0.999999960012,-0.00010772747084,-0.000258940957001,-3.63428689879e-05,1793245367790530560
+22,0.366666667,BASELINE,765,745,714,679,658,634,878,785,807,652,630,651.148301926,0.400985106542,-0.0154503592727,0.0498512120185,0.999999960439,-0.000106209047774,-0.000257933454912,-3.62231183434e-05,1793245367807197184
+23,0.383333333,BASELINE,764.56541678,745,714,679,658,634,878,785.43458322,807,652.43458322,629.56541678,651,0.400985630717,-0.0154508748545,0.0498512827601,0.999999960652,-0.000105601511585,-0.00025739093851,-3.59845444456e-05,1793245367823863808
+24,0.400000000,BASELINE,764.014284125,745,714,679.014284125,658.014284125,634,878,785.985715875,807,652.985715875,629,651.014284125,0.400985841179,-0.0154516232116,0.0498510652779,0.999999960773,-0.000105317299146,-0.000257071857507,-3.57254996567e-05,1793245367840530688
+25,0.416666667,BASELINE,764.587602549,745,714,679.587602549,658.587602549,634,878,785.412397451,807,652.412397451,629,651.587602549,0.400983692198,-0.0154510429574,0.0498501433624,0.999999960103,-0.000105769453967,-0.000259413731156,-3.62199008714e-05,1793245367857197312
+26,0.433333333,BASELINE,765,745,714,679.834822497,658.834822497,634,878,785,807.165177503,652,629.165177503,652,0.400982279237,-0.0154504399989,0.0498496268326,0.999999959714,-0.00010565031972,-0.000260907530369,-3.65726548596e-05,1793245367873864192
+27,0.450000000,BASELINE,765,745,714,679.246339065,658.246339065,634,878,785,807.753660935,652,629.753660935,652,0.4009827525,-0.0154497788553,0.0498501491982,0.999999960057,-0.000104067123921,-0.000260227941284,-3.65624048558e-05,1793245367890530816
+28,0.466666667,BASELINE,765,744.663428016,714,679,658,634,878.336571984,785.336571984,807.663428016,652,629.663428016,652,0.400984249251,-0.0154497131598,0.0498513100855,0.999999960551,-0.000104292201028,-0.000258249227971,-3.64482246785e-05,1793245367907197440
+29,0.483333333,BASELINE,765,744.084529038,714,679,658,634,878.915470962,785.915470962,807.084529038,652,629.084529038,652,0.400986482899,-0.0154500761784,0.0498529306993,0.999999961146,-0.000105819208751,-0.00025533516391,-3.62592162693e-05,1793245367923864320
+30,0.500000000,BASELINE,765,744.492672625,714,679.492672625,658.492672625,634,878.507327375,786,807.492672625,652,629.492672625,652,0.40098522154,-0.0154507034003,0.0498520254902,0.999999960814,-0.000105949508735,-0.000256578215475,-3.62569994791e-05,1793245367940530944
+31,0.516666667,BASELINE,765,745,714,679.930912472,658.930912472,634,878.069087528,786,808,652.069087528,630,652,0.400983547988,-0.0154513350964,0.0498507815601,0.999999960333,-0.000105911027584,-0.000258460383359,-3.62534448162e-05,1793245367957197312
+32,0.533333333,BASELINE,765,745,714,679.358117804,658.358117804,634,878.641882196,786,808,652.641882196,630,652,0.400983226117,-0.0154516700532,0.0498502167921,0.99999995994,-0.000106383144367,-0.000259819933234,-3.60072787022e-05,1793245367973863936
+33,0.550000000,BASELINE,764.778162158,745,714,679,658.221837842,634,878.778162158,785.778162158,807.778162158,652.778162158,630,652,0.400983532855,-0.0154520719024,0.0498503851875,0.999999959867,-0.000106790870358,-0.000259957182502,-3.58280368643e-05,1793245367990530560
+34,0.566666667,BASELINE,764.186260832,745,714,679,658.813739168,634,878.186260832,785.186260832,807.186260832,652.186260832,630,652,0.40098488822,-0.0154525853396,0.0498517766252,0.99999996033,-0.000107091181441,-0.000258055425034,-3.57604361974e-05,1793245368007197440
+35,0.583333333,BASELINE,764.397924542,745,714,679,658.602075458,634,878,785.397924542,807.397924542,652.397924542,630,652,0.400985500699,-0.0154519390312,0.0498524110561,0.999999960851,-0.000105761333778,-0.000256587796127,-3.57000865901e-05,1793245368023864064
+36,0.600000000,BASELINE,764.978566978,745,714,679,658.021433022,634,878,785.978566978,807.978566978,652.978566978,630,652,0.400985772062,-0.0154507601941,0.0498526978867,0.999999961396,-0.000103682954342,-0.000255319509007,-3.56430664982e-05,1793245368040530432
+37,0.616666667,BASELINE,765,745,714,679,658.552564854,634,878,785.447435146,807.447435146,653,630,652,0.40098501265,-0.0154513145361,0.0498521615632,0.999999960741,-0.000105925738109,-0.000256913383429,-3.59535656422e-05,1793245368057197824
+38,0.633333333,BASELINE,765,745,714,679.12921543,659,634,878.12921543,785.12921543,807,653,629.87078457,652,0.400984347224,-0.0154514587078,0.0498516840307,0.999999960281,-0.000107236304931,-0.000258132389211,-3.61431197275e-05,1793245368073864960
+39,0.650000000,BASELINE,765,745,714,679.71616526,659,634,878.71616526,785.71616526,807,653,629.28383474,652,0.400984154688,-0.0154499145713,0.0498515265206,0.999999960693,-0.000104657884997,-0.000257634856463,-3.58543379909e-05,1793245368090531072
+40,0.666666667,BASELINE,765,745,714,679.700808786,659,634,878.700808786,786,807,653,629,652,0.40098410024,-0.0154498611338,0.0498508665907,0.99999996064,-0.000103908591132,-0.00025814959653,-3.57984695728e-05,1793245368107197440
+41,0.683333333,BASELINE,765,745,714,679.121457157,659,634,878.121457157,786,807,653,629,652,0.400984175099,-0.0154512035756,0.0498497361988,0.999999960155,-0.000104872077397,-0.000259612221322,-3.59606994622e-05,1793245368123864320
+42,0.700000000,BASELINE,765,745,713.542982171,679,658.542982171,634,878,786,807,652.542982171,629.457017829,652,0.40098526362,-0.0154509727389,0.0498510948952,0.999999960697,-0.000104728249366,-0.00025757689082,-3.59546455452e-05,1793245368140531200
+43,0.716666667,BASELINE,765,745,713.034994971,679,658.034994971,634,878,785.965005029,807,652.034994971,630,652,0.400986460122,-0.0154504120874,0.0498529483953,0.999999961433,-0.000104357059735,-0.000254861796933,-3.59005463656e-05,1793245368157198080
+44,0.733333333,BASELINE,765,745,713.60888659,679,658.60888659,634,878,785.39111341,807,652.60888659,630,652,0.400985178973,-0.0154511988627,0.0498522543889,0.999999961087,-0.000105007689215,-0.000255966861732,-3.57939704374e-05,1793245368173864448
+45,0.750000000,BASELINE,765,745,714,679,658.810985226,634,878,785.189014774,807,653,630,652,0.400984523002,-0.0154516580551,0.049852083993,0.999999960971,-0.000105217526812,-0.000256341486968,-3.57382841714e-05,1793245368190530816
+46,0.766666667,BASELINE,765,745,714,679,658.21751196,634,878,785.78248804,807,653,630,652,0.400985204807,-0.0154514162773,0.0498530340321,0.999999961349,-0.000104484146947,-0.000255153099406,-3.57914928781e-05,1793245368207197440
+47,0.783333333,BASELINE,765,745,714,679,658.365959261,634,878.365959261,785.634040739,807,652.634040739,630,652,0.400983988456,-0.0154510761476,0.0498519635911,0.999999960856,-0.00010510121758,-0.00025679998423,-3.59974113162e-05,1793245368223864064
+48,0.800000000,BASELINE,765,745,714,679,658.943643864,634,878.943643864,785.056356136,807,652.056356136,630,652,0.40098167393,-0.0154506791164,0.0498497242034,0.999999959848,-0.000106499589849,-0.000260087212775,-3.62916798123e-05,1793245368240530688
+49,0.816666667,BASELINE,765,745,714,679.51807014,659,634,878.48192986,785,807,652,630,652,0.400983720363,-0.0154512501605,0.049851311261,0.99999996064,-0.000105954716701,-0.000257273406681,-3.61094898798e-05,1793245368257197312
+50,0.833333333,BASELINE,765,745,714,679.908103783,658.908103783,634,878,785.091896217,807,652,629.908103783,652,0.400986109335,-0.0154517919228,0.0498531611996,0.999999961536,-0.00010523966596,-0.000254094700051,-3.58912159759e-05,1793245368273864192
+51,0.850000000,BASELINE,765,745,714,679.335574419,658.335574419,634,878,785.664425581,807,652,629.335574419,652,0.400987824223,-0.0154516331996,0.0498542226292,0.999999962009,-0.000104733242413,-0.000252456945017,-3.57535999837e-05,1793245368290530816
+52,0.866666667,BASELINE,765,745,714,679,658,634,878,786,807.246849129,652,629.246849129,652,0.400987958612,-0.0154517618122,0.0498540631837,0.999999961925,-0.000104744218519,-0.000252795786825,-3.56717497522e-05,1793245368307197440
+53,0.883333333,BASELINE,765,745,714,679,658,634,878,786,807.843284737,652,629.843284737,652,0.400985854707,-0.0154522973485,0.049852174741,0.999999961049,-0.00010548793341,-0.000255933875111,-3.56688747153e-05,1793245368323864064
+54,0.900000000,BASELINE,765,745,714,679.424834162,658.424834162,634,878.424834162,786,808,652.424834162,629.575165838,652,0.40098549438,-0.015452162941,0.0498520192958,0.999999960883,-0.000106744048807,-0.000256050261108,-3.57359464433e-05,1793245368340530688
+55,0.916666667,BASELINE,764.998924092,745,714,679.998924092,659,634,878.998924092,786,807.998924092,653,629.001075908,652,0.400985755214,-0.0154517897858,0.0498524801356,0.999999960971,-0.00010817800663,-0.000255091331303,-3.58279582731e-05,1793245368357197312
+56,0.933333333,BASELINE,764.423892011,745,714,679.423892011,659,634,878.423892011,786,807.423892011,653,629.576107989,652,0.40098588455,-0.0154514265445,0.0498522201268,0.999999961113,-0.000107064234723,-0.000254992096965,-3.59259695384e-05,1793245368373863936
+57,0.950000000,BASELINE,764.15067463,745,714,679,658.84932537,634,878,785.84932537,807,652.84932537,629.84932537,652.15067463,0.400985604066,-0.0154511098826,0.0498519451162,0.999999961114,-0.00010585564423,-0.000255481016627,-3.60122674291e-05,1793245368390530560
+58,0.966666667,BASELINE,764.723935788,745,714,679,658.276064212,634,878,785.276064212,807,652.276064212,629.276064212,652.723935788,0.400984174188,-0.0154509238585,0.0498516280311,0.999999960718,-0.000104381122906,-0.000257619490433,-3.60657136262e-05,1793245368407197184
+59,0.983333333,BASELINE,765,745,714,679,658.307907953,634,878,785,807,652.307907953,629.307907953,652.692092047,0.40098433138,-0.0154505691643,0.0498516701127,0.999999960771,-0.000103903955726,-0.000257596217626,-3.61486637903e-05,1793245368423863808
+60,1.000000000,BASELINE,765,745,714,679,658.90182957,634,878,785,807,652.90182957,629.90182957,652.09817043,0.40098596279,-0.0154500577934,0.0498520458217,0.999999961241,-0.000104353224049,-0.000255564912929,-3.62590200009e-05,1793245368440530432
+61,1.016666667,BASELINE,764.518474362,745,714,679,658.518474362,634,878.481525638,785.481525638,807,652.518474362,629.518474362,652,0.400985712826,-0.0154490883482,0.0498518822939,0.999999961438,-0.000101793194421,-0.000255816928155,-3.63236626614e-05,1793245368457197056
+62,1.033333333,BASELINE,764.058097615,745,714,679.058097615,658.058097615,634,878.941902385,785.941902385,807,652.058097615,629.058097615,652,0.400985180448,-0.0154482841263,0.0498516841413,0.999999961542,-9.92812875249e-05,-0.000256395555518,-3.63515686532e-05,1793245368473863680
+63,1.050000000,BASELINE,764.631943743,745,714,679.631943743,658.631943743,634,878.368056257,785.368056257,807,652.631943743,629.631943743,652,0.400985448297,-0.0154497518909,0.0498521265447,0.999999961363,-0.000102486652134,-0.000255859738406,-3.61337134683e-05,1793245368490530304
+64,1.066666667,BASELINE,765,745,714,679.788170457,659,634,878,785.211829543,807,653,629.788170457,652,0.400985602426,-0.0154503994301,0.0498522994514,0.999999961312,-0.000103889296087,-0.000255517676355,-3.59720517241e-05,1793245368507197184
+65,1.083333333,BASELINE,765,745,714,679.197482706,659,634,878,785.802517294,807,653,629.197482706,652,0.400985553167,-0.0154495799919,0.0498519903617,0.999999961501,-0.000102067764858,-0.000255522146251,-3.59108922458e-05,1793245368523864064
+66,1.100000000,BASELINE,765,745,714,679.383715857,658.616284143,634,878.383715857,785.616284143,807,653,629.383715857,652,0.400985805013,-0.0154499208121,0.0498523703969,0.999999961618,-0.000102167444551,-0.000255060042101,-3.56423811498e-05,1793245368540530432
+67,1.116666667,BASELINE,765,745,714,679.960148567,658.039851433,634,878.960148567,785.039851433,807,653,629.960148567,652,0.400986208084,-0.0154508443587,0.0498530965373,0.999999961699,-0.000103232030275,-0.000254363606531,-3.52697301028e-05,1793245368557197056
+68,1.133333333,BASELINE,765,745,714,679.462945143,658,634,879,785.537054857,807,652.462945143,630,652,0.400985462523,-0.0154513263356,0.0498525613983,0.999999961388,-0.000105801501917,-0.000254481497572,-3.56309167687e-05,1793245368573863936
+69,1.150000000,BASELINE,765,745,714,679,658,634,878.883744362,786,807,652,630,652,0.400984809461,-0.015451553744,0.0498521180551,0.999999961189,-0.000107000748286,-0.000254723758703,-3.59114706082e-05,1793245368590530560
+70,1.166666667,BASELINE,765,745,714,679,658,634,878.295368524,786,807,652,630,652,0.400984878481,-0.0154508805181,0.0498524279153,0.999999961574,-0.000102181547828,-0.000255225483448,-3.56432368056e-05,1793245368607197184
+71,1.183333333,BASELINE,765,745,714,679.288407842,658.288407842,634,878,786,807,652,629.711592158,652,0.400984455105,-0.0154506597871,0.0498520881563,0.999999961396,-0.000101418464472,-0.000256213396476,-3.57347864353e-05,1793245368623863808
+72,1.200000000,BASELINE,765,745,714,679.867547742,658.867547742,634,878,786,807,652,629.132452258,652,0.400983535365,-0.0154508951975,0.0498510935428,0.999999960657,-0.000104744185,-0.000257691415936,-3.61890188808e-05,1793245368640530688
+73,1.216666667,BASELINE,764.55523519,745,714,680,659,634,878,785.55523519,807,652,629,652,0.400984982425,-0.0154508484222,0.0498520239534,0.999999961139,-0.00010552420679,-0.000255492572042,-3.61950223496e-05,1793245368657197056
+74,1.233333333,BASELINE,764.021407461,745,714,680,658.978592539,634,878,785,807.021407461,652.021407461,629,652,0.400987028437,-0.0154507141133,0.0498534604057,0.99999996194,-0.000105477360097,-0.000252377694851,-3.60623288438e-05,1793245368673863680
+75,1.250000000,BASELINE,764.597940649,745,714,680,658.402059351,634,878,785,807.597940649,652.597940649,629,652,0.400986407316,-0.0154504797165,0.049853217328,0.999999961795,-0.000103563052435,-0.000253780941894,-3.57795524446e-05,1793245368690530560
+76,1.266666667,BASELINE,765,745,714,679.82188607,658.17811393,634,878,785.17811393,807.82188607,652.82188607,629,652,0.40098577137,-0.0154504857311,0.0498529604661,0.999999961674,-0.00010204747889,-0.000254894460422,-3.56030166947e-05,1793245368707197184
+77,1.283333333,BASELINE,765,745,714,679.233324557,658.766675443,634,878,785.766675443,807.233324557,652.233324557,629,652,0.400985101264,-0.0154510457522,0.0498526718399,0.999999961618,-0.000101450752488,-0.000255340325472,-3.56713030152e-05,1793245368723863808
+78,1.300000000,BASELINE,765,745,714,679.350335595,659,634,878,786,807,652,629.350335595,652,0.400984838732,-0.0154516295025,0.0498526315682,0.999999961438,-0.000102768774256,-0.000255528016015,-3.55979895191e-05,1793245368740530688
+79,1.316666667,BASELINE,765,745,714,679.93077644,659,634,878,786,807,652,629.93077644,652,0.4009848439,-0.0154522288385,0.0498527544192,0.999999961172,-0.000105344429059,-0.00025554613396,-3.54316713072e-05,1793245368757197312
+80,1.333333333,BASELINE,764.493984588,745,714,679.493984588,659.506015412,634,878,785.493984588,807,652,629.493984588,652,0.400983740289,-0.0154524896569,0.0498516732115,0.99999996075,-0.00010589487695,-0.00025694731786,-3.55640028891e-05,1793245368773863936
+81,1.350000000,BASELINE,764.082227179,745,714,679,659.917772821,634,878,785.082227179,807,652.082227179,629,652,0.400982847603,-0.0154525367728,0.0498507718815,0.999999960431,-0.0001061425196,-0.000258062200885,-3.57033725339e-05,1793245368790530560
+82,1.366666667,BASELINE,764.668724239,745,714,679,659.331275761,634,878,785.668724239,807,652.668724239,629,652,0.400984169199,-0.0154515544379,0.0498519735481,0.999999960886,-0.000106214931376,-0.00025627278144,-3.56379002766e-05,1793245368807197184
+83,1.383333333,BASELINE,765,744.7479581,714,679,659,634,878.2520419,785.7479581,807,652.7479581,629,652,0.400984858062,-0.0154508388556,0.0498525469963,0.999999961125,-0.000105993870009,-0.000255422640845,-3.56939216915e-05,1793245368823863808
+84,1.400000000,BASELINE,765,744.168767201,714,679,659,634,878.831232799,785.168767201,807,652.168767201,629,652,0.400984725639,-0.0154504695166,0.0498523050209,0.999999961087,-0.000105391882131,-0.000255791678785,-3.59076412157e-05,1793245368840530432
+85,1.416666667,BASELINE,765,744,714,679,659,634,879,785,807,652,629.410337697,652,0.40098398949,-0.0154506008911,0.0498516533334,0.999999960942,-0.00010490549993,-0.000256536080421,-3.60554706144e-05,1793245368857197312
+86,1.433333333,BASELINE,765,744,714,679,659,634,879,785,807,652,629.989407197,652,0.400983005086,-0.0154509381602,0.0498508331713,0.999999960753,-0.000104466655086,-0.000257434832448,-3.61762058294e-05,1793245368873863936
+87,1.450000000,BASELINE,765,744.562397262,714,679.562397262,659,634,879,785,807,652,629.437602738,652,0.400983756687,-0.0154513938337,0.0498510915462,0.999999960947,-0.000104467015264,-0.000256715618877,-3.59079734855e-05,1793245368890530304
+88,1.466666667,BASELINE,765,745,714,679.860730491,659,634,878.860730491,785.139269509,807.139269509,652,629,652,0.400984548658,-0.0154517726358,0.0498516806593,0.999999961223,-0.000104480461639,-0.00025566797394,-3.56675058821e-05,1793245368907197184
+89,1.483333333,BASELINE,765,745,714,679.270933216,659,634,878.270933216,785.729066784,807.729066784,652,629,652,0.400985366577,-0.0154518956266,0.0498532746758,0.999999961737,-0.000104509766305,-0.000253655403862,-3.55403018692e-05,1793245368923863808
+90,1.500000000,BASELINE,765,745,714,679,659,634,878.314240643,786,807.685759357,652.314240643,629,652,0.400985235442,-0.0154515051377,0.0498533121386,0.999999961799,-0.000103501351601,-0.000253824805075,-3.55239534994e-05,1793245368940530688
+91,1.516666667,BASELINE,765,745,714,679,659,634,878.895486036,786,807.104513964,652.895486036,629,652,0.400984297914,-0.0154506783541,0.049852027025,0.999999961475,-0.000101611204992,-0.00025584818903,-3.56017972267e-05,1793245368957197312
+92,1.533333333,BASELINE,764.527986623,744.527986623,714,679,658.527986623,634,878.527986623,785.527986623,807,653,629,652,0.400983804778,-0.0154506457797,0.0498522289357,0.999999961403,-0.000102138702993,-0.000255907294879,-3.56781212282e-05,1793245368973863936
+93,1.550000000,BASELINE,764.047282393,744.047282393,714,679,658,634,878,785.047282393,807,652.952717607,629,652,0.400983543921,-0.0154508056087,0.0498527625533,0.999999961404,-0.000103108165307,-0.000255506296312,-3.57296720422e-05,1793245368990530304
+94,1.566666667,BASELINE,764.620061563,744.620061563,714,679,658,634,878,785.620061563,807,652.379938437,629,652,0.400984781825,-0.0154511686989,0.0498533595902,0.999999961599,-0.000103098965303,-0.000254777710762,-3.55095963015e-05,1793245369007197184
+95,1.583333333,BASELINE,764.800702457,744.800702457,714,679.199297543,658.199297543,634,878,785.800702457,807,652.199297543,629,652,0.400985467149,-0.0154514895238,0.0498536060633,0.999999961717,-0.000102814470778,-0.000254447009379,-3.53835113841e-05,1793245369023863808
+96,1.600000000,BASELINE,764.208745041,744.208745041,714,679.791254959,658.791254959,634,878,785.208745041,807,652.791254959,629,652,0.400985063769,-0.0154517270767,0.049853161849,0.999999961684,-0.000101987585665,-0.000254900226943,-3.54426089645e-05,1793245369040530432
+97,1.616666667,BASELINE,764.373428543,744.373428543,714,679.626571457,658.626571457,634,878,785.373428543,807,653,629,652,0.400984782473,-0.0154510368001,0.0498524144584,0.999999961482,-0.000101949750677,-0.000255664607819,-3.57469938211e-05,1793245369057197056
+98,1.633333333,BASELINE,764.950272602,744.950272602,714,679.049727398,658.049727398,634,878,785.950272602,807,653,629,652,0.40098456768,-0.0154498411125,0.0498515019202,0.999999961187,-0.000102341730339,-0.000256598486817,-3.61849925583e-05,1793245369073863680
+99,1.650000000,BASELINE,765,745,714,679,658.527679353,633.472320647,878,786,807,653,629,652,0.40098493554,-0.0154499444445,0.0498518734772,0.999999961327,-0.00010246707615,-0.000256004812435,-3.61687811932e-05,1793245369090530560
+100,1.666666667,BASELINE,765,745,714,679,658.89487665,633.10512335,878,785.89487665,807,652.89487665,629.10512335,652,0.400984962763,-0.0154504385454,0.0498522074045,0.999999961383,-0.000102890747169,-0.000255630333415,-3.60573478113e-05,1793245369107197184
+101,1.683333333,BASELINE,765,745,714,679,658.317503813,633.682496187,878,785.317503813,807,652.317503813,629.682496187,652,0.400983212794,-0.0154521375862,0.0498518280867,0.999999960879,-0.000104767594971,-0.000256887931412,-3.57106394617e-05,1793245369123863808
+102,1.700000000,BASELINE,765,744.734722707,714,679,658.265277293,634,878,785.265277293,807,652.265277293,630,652,0.400982928315,-0.0154527487353,0.0498518877838,0.999999960763,-0.000105797462344,-0.000256935850161,-3.55661280984e-05,1793245369140530432
+103,1.716666667,BASELINE,765,744.145333904,714,679,658.854666096,634,878,785.854666096,807,652.854666096,630,652,0.400984434349,-0.0154520307161,0.0498524838623,0.999999961126,-0.000105792502579,-0.000255505802272,-3.566865777e-05,1793245369157197056
+104,1.733333333,BASELINE,764.56548812,744,714,679,658.56548812,634,878.43451188,786,807,653,629.56548812,652,0.400984424518,-0.0154518178938,0.0498523424037,0.999999961077,-0.000105474203181,-0.000255830912691,-3.56637574942e-05,1793245369173863680
+105,1.750000000,BASELINE,764.011188281,744.011188281,714,679,658.011188281,634,878.988811719,786,807,653,629,652,0.400983923876,-0.0154517731495,0.0498519737063,0.999999960898,-0.000105050945828,-0.000256709132775,-3.56230501311e-05,1793245369190530304
+106,1.766666667,BASELINE,764.585543608,744.585543608,714,679,658.585543608,634,878.414456392,786,807,653,629,652,0.400983690755,-0.0154518659692,0.049852317172,0.999999961008,-0.000104506602822,-0.000256513551148,-3.55497991101e-05,1793245369207196928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,807,652,629,652,0.400986383254,-0.0154496738336,0.0498539784791,0.999999961939,-0.000103527869179,-0.000253224862118,-3.57945087778e-05,1793245369247432448
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577750647,744.422249353,714,679,658.422249353,634,878.422249353,786,807.577750647,652.577750647,629,652,0.400985510826,-0.0154520522765,0.0498535639124,0.999999961431,-0.000105966313056,-0.000254285038694,-3.53352724211e-05,1793245369264099072
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.155061594,714,679,658.155061594,634,878,785.844938406,807.844938406,653,629.155061594,652,0.400984739581,-0.0154533941222,0.0498529814946,0.999999961031,-0.000107284080348,-0.000255328097373,-3.51570989449e-05,1793245369280765696
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.731178704,714,679,658.731178704,634,878,785.268821296,807.268821296,653,629.731178704,652,0.40098424309,-0.0154519211838,0.0498519432919,0.999999960939,-0.000105558753865,-0.000256324674216,-3.57421258003e-05,1793245369297432320
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785.313647839,807.313647839,653,630,652,0.400984886889,-0.0154517623311,0.0498521941274,0.999999961155,-0.000105511950432,-0.000255481813559,-3.58514462825e-05,1793245369314098944
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785.901673669,807.901673669,653,630,652,0.400986528208,-0.0154527530357,0.0498535726087,0.999999961639,-0.000106933512974,-0.000253029819595,-3.55446205215e-05,1793245369330765568
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.517629854,634,878,785.517629854,807.517629854,652.517629854,630,652,0.400986651449,-0.0154525347549,0.0498538197845,0.999999961682,-0.000106782982481,-0.000252931888323,-3.54801163049e-05,1793245369347432448
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.06152247,634,878,785,807,652,629.93847753,652,0.400986477846,-0.0154522101978,0.0498537798522,0.999999961611,-0.000106452517048,-0.000253354602774,-3.54517286203e-05,1793245369364099072
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.640065544,634,878,785,807,652,629.359934456,652,0.400986371213,-0.0154530325431,0.0498532360785,0.99999996132,-0.000107262646705,-0.000254180492634,-3.53179660983e-05,1793245369380765696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807,652.216597748,629.216597748,652,0.40098835262,-0.0154534573502,0.0498538235734,0.999999961663,-0.000106647494909,-0.000253104312145,-3.52015119758e-05,1793245369397432320
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,807,652.78981904,629.78981904,652,0.400993771939,-0.015453227619,0.049856273678,0.999999963033,-0.000103685647714,-0.00024889641357,-3.51135557741e-05,1793245369414099712
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.626433316,745,714,679,659,634,878.373566684,785,807,653,629.626433316,651.626433316,0.401013164565,-0.0154543209642,0.0498638187202,0.999999966608,-0.000103758894492,-0.000234177758422,-3.43268421896e-05,1793245369430766592
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.036591419,745,714,679,659,634,878.963408581,785,807,653,629.036591419,651.036591419,0.401040646992,-0.0154561803003,0.04987431346,0.999999971112,-0.0001055892987,-0.000213373934596,-3.31355852794e-05,1793245369447433216
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.543413321,744.456586679,713.456586679,679.543413321,658.456586679,634,878.456586679,785.543413321,807.543413321,652.456586679,629.543413321,651.543413321,0.401092429884,-0.015458127251,0.0498904833746,0.999999977985,-0.00010290834651,-0.000180165439475,-3.13150777317e-05,1793245369464099584
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,713.121837832,679.878162168,658.121837832,634,878.121837832,786,807.878162168,652.121837832,630,652,0.401150388144,-0.0154607565309,0.04990677977,0.999999983371,-0.000101280116079,-0.000148785635787,-2.93788357552e-05,1793245369480765952
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,713.696805178,679.303194822,658.696805178,634,878.696805178,786,807.303194822,652.696805178,630,652,0.401225335958,-0.0154659019239,0.0499221505949,0.999999986055,-0.000104676781619,-0.000127258231843,-2.7166945438e-05,1793245369497432320
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.277646204,714,679,658.722353796,634,878.722353796,786,807,652.722353796,630,652,0.401304058944,-0.0154708301273,0.049933373314,0.999999987827,-0.000107419327886,-0.000110271894673,-2.54507085062e-05,1793245369514098944
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.865039988,714,679,658.134960012,634,878.134960012,786,807,652.134960012,630,652,0.401386993581,-0.0154755160294,0.0499399683233,0.999999988881,-0.000109432125621,-9.83516624869e-05,-2.42874324076e-05,1793245369530765568
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.554163318,714,679,658,634,878.445836682,786,807,652,630,652,0.401482083459,-0.0154816770062,0.0499419156709,0.999999988929,-0.000110547463735,-9.68971684741e-05,-2.3049047661e-05,1793245369547432192
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.024633762,634,878.975366238,785.975366238,807,652.024633762,629.975366238,652,0.401582224369,-0.0154882256638,0.0499425918661,0.999999988723,-0.000111384645411,-9.8339278452e-05,-2.18208349617e-05,1793245369564098816
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.60271845,634,878.39728155,785.39728155,807,652.60271845,629.39728155,652,0.40171438438,-0.0154935986002,0.0499458570654,0.999999989016,-0.000111987131191,-9.47194681191e-05,-2.13245302009e-05,1793245369580765696
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.179757728,714,679,659,634,878,785,807,652.820242272,629.179757728,652,0.401853365074,-0.0155006128309,0.0499464908785,0.999999988758,-0.000114072791914,-9.50679442258e-05,-2.07989867514e-05,1793245369597432576
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.754499834,714,679,659,634,878,785,807,652.245500166,629.754499834,652,0.402007332941,-0.0155112335016,0.0499413427064,0.999999987243,-0.000119417455306,-0.00010413599667,-2.0209196753e-05,1793245369614099200
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.337650712,785.337650712,807,652.337650712,630,652,0.402180637264,-0.0155216226829,0.0499407192179,0.999999986834,-0.000122048574236,-0.000105242122289,-1.89947925201e-05,1793245369630765824
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.927071676,785.927071676,807,652.927071676,630,652,0.402368359889,-0.0155318392544,0.0499434695725,0.999999987287,-0.000122656331278,-0.000100411414577,-1.73146427749e-05,1793245369647432192
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713.492889737,679,659,634,878.492889737,786,807,652.492889737,630,652,0.402588588763,-0.0155420265657,0.0499456577397,0.999999987494,-0.000122811882096,-9.84590812927e-05,-1.53596485933e-05,1793245369664099072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.085388872,679,658.914611128,634,878.085388872,785.914611128,807.085388872,652,630,652,0.40282142597,-0.0155521846416,0.0499486231169,0.99999998796,-0.000122323936864,-9.45479174221e-05,-1.33036154877e-05,1793245369680765696
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.661168387,679,658.338831613,634,878.661168387,785.338831613,807.661168387,652,630,652,0.403100313606,-0.0155621985502,0.0499565079171,0.99999998995,-0.000118507074944,-7.70530304903e-05,-1.08901865241e-05,1793245369697432320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.762916292,785,807.762916292,652,630,652,0.403398261171,-0.0155675169322,0.0499646849022,0.999999992258,-0.000108778152828,-5.99088943262e-05,-7.86817778905e-06,1793245369714098944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.186806804,785,807.186806804,652,630,652,0.403723464104,-0.0155661207884,0.0499732797064,0.999999994952,-9.05950826941e-05,-4.32663270039e-05,-3.97591019749e-06,1793245369730765824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.399127289,658.399127289,634,878,785.399127289,807,652.399127289,629.600872711,652,0.404064766873,-0.0155559220394,0.0499793464741,0.999999997575,-6.2178523699e-05,-3.1200930183e-05,-3.0771049607e-06,1793245369747432704
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.989775699,658.989775699,634,878,785.989775699,807,652.989775699,629.010224301,652,0.404413795134,-0.0155414993627,0.0499842001639,0.99999999935,-2.88514283121e-05,-2.13318878466e-05,-3.61471193647e-06,1793245369764099328
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.431842162,714,680,658.431842162,634,878,785.431842162,807,652.431842162,629.568157838,652,0.404808312903,-0.0155245984652,0.0499882396411,0.999999999862,9.48013637884e-06,-1.24618721421e-05,-5.47847198866e-06,1793245369780765696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.145505594,714,679.854494406,658.145505594,634,878.145505594,785,807,652,630,652,0.405204369652,-0.0155113951709,0.0499859586312,0.999999998908,4.34083521905e-05,-1.59558439404e-05,-6.69376528584e-06,1793245369797432320
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.720438191,714,679.279561809,658.720438191,634,878.720438191,785,807,652,630,652,0.405602603399,-0.015509233359,0.0499650664549,0.999999996368,6.40808990566e-05,-5.58874060471e-05,-5.9263114178e-06,1793245369814098944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.707460418,785,807.292539582,652,630,652,0.406031550006,-0.0155111887387,0.0499457884198,0.999999992565,8.16034711821e-05,-9.04946726972e-05,-4.62734975878e-06,1793245369830765568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.138038634,785,807.861961366,652,630,652,0.406489565699,-0.0155170409483,0.049928038131,0.999999988167,9.61446647779e-05,-0.000120062616897,-2.82532772047e-06,1793245369847432448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.454074546,785,808,652,630,652,0.406987504395,-0.0155201091185,0.0499217034611,0.999999984218,0.000119108383983,-0.000131824887942,3.42578365813e-07,1793245369864099072
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,785.050856621,807.949143379,652,629.949143379,651.949143379,0.407505304019,-0.0155223144997,0.0499216299633,0.999999980751,0.000144668314416,-0.00013248010623,4.14914094241e-06,1793245369880765952
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,785.621162952,807.378837048,652,629.378837048,651.378837048,0.408095479761,-0.0155248066689,0.0499481974374,0.9999999826,0.00016921789951,-7.78836838335e-05,1.00147078902e-05,1793245369897432576
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.805093218,714,679,659,634,879,786,807.194906782,652,629.194906782,651.194906782,0.40870121122,-0.01552726845,0.0499736438043,0.999999980422,0.00019484255216,-3.05927081126e-05,1.60334457844e-05,1793245369914098944
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.22454806,714,679,659,634,879,786,807.77545194,652,629.77545194,651.77545194,0.409337720851,-0.0155296701056,0.0499968719709,0.999999974973,0.000222594309723,2.24386394197e-06,2.23552441202e-05,1793245369930765568
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.639370768,744.360629232,714,679.360629232,659,634,879,786,808,652,630,652,0.409960451417,-0.0155315791793,0.0499986756352,0.999999968749,0.00024858453787,-1.65176616914e-06,2.65406409482e-05,1793245369947432448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.051271742,744.948728258,714,679.948728258,659,634,879,786,808,652,630,652,0.410574490702,-0.0155331775529,0.0499869656212,0.999999961765,0.000273463666011,-2.8716530084e-05,2.93784850584e-05,1793245369964099072
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.529003568,745,714,679.470996432,659,634,879,785.470996432,807.470996432,652,629.470996432,652,0.41120183197,-0.0155312782305,0.0499535090182,0.99999995022,0.000298000090243,-9.92906292381e-05,2.99503744161e-05,1793245369980765440
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.107869313,634,879,785,807.107869313,652,629.107869313,652,0.41185467269,-0.0155303563931,0.0499283903829,0.999999945062,0.000294318033342,-0.000149261227891,3.12225554764e-05,1793245369997432320
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.68386057,634,879,785,807.68386057,652,629.68386057,652,0.412612660138,-0.0155351262897,0.0499484696981,0.999999980957,0.000168317885587,-9.17847200228e-05,3.64729974238e-05,1793245370014098944
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.740068996,714,679.259931004,659.740068996,634.259931004,879,785.259931004,807.740068996,652,630,652,0.413376926377,-0.0155384012352,0.0499664532094,0.999999992394,0.000105270873609,-5.10942103597e-05,3.89870069876e-05,1793245370030765824
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.163902155,714,679.836097845,659.163902155,634.836097845,879,785.836097845,807.163902155,652,630,652,0.414148831585,-0.0155398574023,0.0499818869377,0.999999991738,0.000118813546986,-3.08257837688e-05,3.81718345191e-05,1793245370047432704
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.578358088,879,786,807,652,630,652,0.414905688928,-0.015545276074,0.0499642314467,0.999999994444,8.14381364672e-05,-6.25928722088e-05,2.37100349837e-05,1793245370064099328
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.010763497,714,679.989236503,659,634,879,786,807.021526994,652,630,652,0.415657922534,-0.0155522685511,0.0499340205175,0.999999993175,2.55073576156e-05,-0.000113933868003,4.29182225452e-06,1793245370080765952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.591909458,714,679.408090542,659,634,879,786,808.183818916,652,630,652,0.416482163109,-0.0155591789521,0.0499355883838,0.999999992565,5.90219902182e-05,-0.000106262271283,9.72762362809e-06,1793245370097432576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.829084787,714,679,659,633.829084787,879,786,808.829084787,652,630,652,0.417317915286,-0.0155630053485,0.0499458876764,0.999999992091,9.19208833871e-05,-8.4474137274e-05,1.52674302357e-05,1793245370114099200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.255125992,714,679,659,633.255125992,879,786,808.255125992,652,630,652,0.418180813488,-0.0155595592015,0.0499767769754,0.999999991736,0.000123367769,-2.93971018613e-05,2.10524963725e-05,1793245370130765824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.325948387,744,714,679.325948387,659,633,879,786,808.325948387,652,630,652,0.419021078927,-0.0155549004997,0.0499806251576,0.999999989164,0.000142169952337,-3.02405980329e-05,2.3361528313e-05,1793245370147432448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.912716538,744,714,679.912716538,659,633,879,786,808.912716538,652,630,652,0.419843233874,-0.0155492715271,0.0499628353799,0.999999985484,0.000150854003898,-7.5830996755e-05,2.28890815263e-05,1793245370164099328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506525915,744.493474085,714,680,659.493474085,633.493474085,879,786,808.506525915,652,630.493474085,652,0.420745926736,-0.015555168331,0.0499658547109,0.999999987694,0.000146524342445,-5.08540979907e-05,2.35911085755e-05,1793245370180765952
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.073535054,786,808.073535054,652,630.926464946,652,0.421657959371,-0.0155622031469,0.0499734399013,0.999999989533,0.000141719823785,-1.56102818254e-05,2.46245642154e-05,1793245370197432832
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.656044273,786,808.656044273,652,630.343955727,652,0.422537225167,-0.0155631741351,0.0499874588433,0.999999988478,0.000149368852582,5.34398919465e-06,2.65314651477e-05,1793245370214099200
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.766730652,880,786,809,652,630,652,0.423431404398,-0.0155634365647,0.0499895843454,0.999999988744,0.00014732221394,6.77971304928e-06,2.75918512291e-05,1793245370230765824
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.197124379,880,786,809,652,630,652,0.424347086537,-0.0155626773667,0.04997456142,0.999999990806,0.000131295981624,-1.99271692689e-05,2.74316991692e-05,1793245370247432448
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.387620044,745,714,680.387620044,660,633.387620044,880,786,809,652,630,652.387620044,0.425290039737,-0.0155650579596,0.0499828084501,0.999999990232,0.00013646156758,-8.23012232397e-06,2.91025517135e-05,1793245370264099328
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980375823,745,714,680.980375823,660,633.980375823,880,786,809,652,630,652.980375823,0.426247425234,-0.0155691001883,0.0500033703745,0.999999987533,0.000152842258736,2.37909998019e-05,3.17424059342e-05,1793245370280765952
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680.444547635,660.555452365,633.444547635,880,786,809,652,630.555452365,653,0.427118256905,-0.0155669527715,0.0499929712641,0.999999985259,0.000167489726301,-2.02181884912e-05,3.19594775856e-05,1793245370297432576
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86931468,745,714,680,660.86931468,633,880,786,809.13068532,652,631,653,0.427993130702,-0.0155641634445,0.0499777517099,0.999999981283,0.000180320625573,-6.27146587092e-05,3.13925609719e-05,1793245370314099200
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.291475331,745,714,680,660.291475331,633,880,786,809.708524669,652,631,653,0.42889197539,-0.0155599029108,0.0499496657792,0.999999977933,0.000187138998145,-9.11277307349e-05,2.84269888823e-05,1793245370330765824
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.291859482,745,714,680,660,633.291859482,880.291859482,786,810,652,631,653,0.429803678913,-0.0155585654991,0.0499423714987,0.999999979903,0.000176625836317,-9.06730170642e-05,2.78377151031e-05,1793245370347432448
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.880787811,745,714,680,660,633.880787811,880.880787811,786,810,652,631,653,0.430728470732,-0.015560203384,0.0499562399779,0.999999986688,0.000148471791058,-6.08352582058e-05,2.96671540673e-05,1793245370364098816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.539006977,880.539006977,786,809.539006977,652,630.539006977,653,0.431634704129,-0.0155575417363,0.0499468384091,0.999999983436,0.000160780755248,-8.01481169012e-05,2.92150872596e-05,1793245370380765440
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961115634,745,714,680,660,633,880.038884366,786,809.038884366,652,630,653,0.432536722774,-0.0155541278506,0.049933668133,0.999999977165,0.00018248787925,-0.000107528746087,2.83768692161e-05,1793245370397432064
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.384607155,745,714,680,660,633,880.615392845,786,809.615392845,652,630,653,0.433445588688,-0.0155554006074,0.0499500465047,0.999999978346,0.000192149575595,-7.39844660193e-05,3.02055432472e-05,1793245370414098688
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.190600478,745,714,680,660,633,880.809399522,786,809.809399522,652,630.190600478,653,0.434341424596,-0.0155553681206,0.0499662995549,0.999999978617,0.000198903582258,-4.65540251725e-05,3.21822023046e-05,1793245370430765312
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.763201066,745,714,680,660,633,880.236798934,786,809.236798934,652,630.763201066,653,0.435211146026,-0.0155527196743,0.0499823014396,0.999999978948,0.000199830020209,-3.13768911588e-05,3.44554522774e-05,1793245370447432192
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.651840147,745,714,680,660,633,880,786,809.348159853,652,631,652.651840147,0.436033402148,-0.015550282064,0.049971165689,0.999999978694,0.000192751405847,-6.52721784764e-05,3.46223330135e-05,1793245370464099072
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058166702,745,714,680,660,633,880,786,809.941833298,652,631,652.058166702,0.436822186874,-0.01554799313,0.0499408931579,0.999999974293,0.000180027828694,-0.000133772106579,3.33038547551e-05,1793245370480765952
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.521346475,745,714,680,660,633.521346475,880,786,810,652,631,652.521346475,0.437714940109,-0.0155514255857,0.049956408596,0.99999997831,0.000188079340757,-8.27619438011e-05,3.40026034429e-05,1793245370497432576
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.901059154,745,714,680,660,634,880,786,810,652,631,653,0.438599462742,-0.0155541452364,0.0499734961875,0.999999979351,0.000197833519006,-3.09797832225e-05,3.46499138866e-05,1793245370514099200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.325299564,745,714,680,660,634,880,786,810,652,631,653,0.439389896368,-0.0155504347712,0.0499741919739,0.999999977703,0.000204918220186,-3.8036474106e-05,3.39933855083e-05,1793245370530765568
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.7445016,714,680,660,634,880,786.2554984,810,652,631,653,0.440154912978,-0.0155498875781,0.0499679769285,0.999999977619,0.000202468824994,-5.17463411826e-05,3.30327260716e-05,1793245370547432192
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.1571598,714,680,660,634,880,786.8428402,810,652,631,653,0.440886917696,-0.0155534488689,0.0499527860385,0.999999979149,0.000187636467261,-7.40974070354e-05,3.16770587805e-05,1793245370564098816
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.575952802,880.424047198,786.575952802,810,652,631,653,0.441639859364,-0.0155602485278,0.0499596070641,0.999999983224,0.000170382961051,-5.85304330795e-05,3.31163136698e-05,1793245370580765696
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003008235,744.003008235,714,680.003008235,659.996991765,633,880.996991765,786,810,652,631,653,0.442400069285,-0.0155681833274,0.0499743441283,0.999999987324,0.000152399133511,-2.93618152081e-05,3.5560132071e-05,1793245370597432320
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.581059255,744.581059255,714,680.581059255,659.418940745,633,880.418940745,786,810,652,631,653,0.443087492142,-0.0155669533998,0.0499650628549,0.999999984801,0.000163892814994,-4.81887452363e-05,3.48470559675e-05,1793245370614098944
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.156442859,632.843557141,880.156442859,785.843557141,810,652,631,653,0.443739712247,-0.0155672011851,0.0499413206863,0.999999980452,0.000172525935095,-9.06439546494e-05,3.33961020736e-05,1793245370630765824
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.724803224,632.275196776,880.724803224,785.275196776,810,652,631,653,0.444299242876,-0.0155713398212,0.0498795026586,0.999999965403,0.000173627135282,-0.000195312950251,3.00022992734e-05,1793245370647432448
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.307017132,880.692982868,785.307017132,810,652,630.692982868,653,0.444878626549,-0.0155772283242,0.0498398457577,0.999999953324,0.000172488921177,-0.000250650709461,2.78148820985e-05,1793245370664098816
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.902235519,880.097764481,785.902235519,810,652,630.097764481,653,0.445476646517,-0.0155847594512,0.0498209918188,0.999999951602,0.000169248538961,-0.00025968054599,2.67599163221e-05,1793245370680765440
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.515548177,745,714,681,659.515548177,632.515548177,880,785.515548177,809.515548177,652,630,653,0.446072621415,-0.0155960000041,0.0498237800788,0.999999955571,0.000165391002309,-0.000246362168133,2.84389231754e-05,1793245370697432320
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.063811866,784.936188134,809.127623733,652,630,653,0.446657551783,-0.0156069543431,0.0498266486335,0.999999958575,0.000161842501263,-0.000236095491165,3.02502980357e-05,1793245370714098944
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.640751793,784.359248207,810.281503587,652,630,653,0.447156902118,-0.0156097449798,0.0497959606669,0.999999945695,0.000161754355539,-0.000285686289327,2.88054524714e-05,1793245370730765824
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.784082335,881,784,811,652,630,653,0.447635782171,-0.0156129993257,0.0497649562526,0.999999930129,0.000162777145327,-0.000335378625869,2.76959690341e-05,1793245370747432448
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.211844176,881,784,811,652,630,653,0.448080880868,-0.0156170189121,0.0497334296202,0.99999991171,0.000165633268898,-0.00038523852274,2.71399208146e-05,1793245370764099328
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.372746236,659,631,880.627253764,784,810.627253764,652,629.627253764,653,0.44852261198,-0.0156223171263,0.0497238734699,0.999999905912,0.000162565826075,-0.000401214498213,2.78443547088e-05,1793245370780765696
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.964597517,659,631,880.035402483,784,810.035402483,652,629.035402483,653,0.448962363624,-0.0156283669346,0.0497272318491,0.999999908488,0.000156016434974,-0.000397273072896,2.92897162157e-05,1793245370797432320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.543131856,745,714,681.456868144,659,631,879.456868144,784,810.543131856,652,629.543131856,653,0.449386387368,-0.0156352759864,0.0497424634272,0.999999923171,0.000110544387736,-0.000374692084552,3.22975030334e-05,1793245370814098944
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.879787499,745,714,681.120212501,658.879787499,630.879787499,879.120212501,783.879787499,810.879787499,652,629.879787499,653,0.449799274802,-0.015642130643,0.0497559857186,0.999999933816,7.21940957428e-05,-0.00035489120395,3.47631245416e-05,1793245370830765568
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.304999904,745,714,681.695000096,658.304999904,630.304999904,879.695000096,783.304999904,810.304999904,652,629.304999904,653,0.450173835047,-0.0156485728911,0.0497601879807,0.999999935654,7.01383267787e-05,-0.000350087459168,3.48026947467e-05,1793245370847432448
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.276415523,745,714,682,658.276415523,630,880,783,810,652.276415523,629,652.723584477,0.450513456961,-0.0156561222935,0.0497603265171,0.999999935728,3.90980463571e-05,-0.000355387602617,2.67332865409e-05,1793245370864099072
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.865323798,745,714,682,658.865323798,630,880,783,810,652.865323798,629,652.134676202,0.450813580439,-0.0156649233538,0.0497558709378,0.999999930417,-2.47097489655e-05,-0.000372110373694,9.49653135716e-06,1793245370880766208
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553013986,745,714,682,658.553013986,630,880,783,810,652.553013986,629,652.446986014,0.451078375492,-0.0156673347729,0.049742915649,0.999999919739,-3.27345553305e-05,-0.000399273003839,5.63476186936e-06,1793245370897432832
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.026351637,682,658.026351637,630,880,783,810.026351637,652.026351637,629,653,0.451331548237,-0.0156679732538,0.0497276621132,0.999999907675,-2.44071670263e-05,-0.000428976663633,5.77734998989e-06,1793245370914099712
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.602624825,682,658.602624825,630,880,783,810.602624825,652.602624825,629,653,0.451560769986,-0.0156711480942,0.0497170382557,0.999999899823,-1.99825889254e-05,-0.000447112754863,6.72923418149e-06,1793245370930766080
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681.821122467,658.821122467,630,880,783,811,652.821122467,628.821122467,653,0.451786078003,-0.0156741391946,0.0497099858043,0.999999894666,-1.55936222347e-05,-0.000458650433575,7.99058248455e-06,1793245370947432448
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681.244915329,658.244915329,630,880,783,811,652.244915329,628.244915329,653,0.452002692662,-0.015676722164,0.0497108662981,0.999999896132,-1.12837575698e-05,-0.000455531464364,9.93932416379e-06,1793245370964099072
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.661639832,681.338360168,658.338360168,629.661639832,880,783,811,652,628.338360168,653,0.452199463071,-0.0156787565381,0.0497155647556,0.999999900416,-7.50176908651e-06,-0.000446060273542,1.18772770302e-05,1793245370980765696
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.073138822,681.926861178,658.926861178,629.073138822,880,783,811,652,628.926861178,653,0.452381563168,-0.0156803853504,0.0497230857339,0.99999990663,-4.11002523937e-06,-0.000431893050638,1.38072542106e-05,1793245370997432576
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507065524,745,714.507065524,682,659,629,880,782.492934476,810.492934476,652.507065524,629,653,0.452532279997,-0.01568078878,0.0497262418813,0.999999909399,-1.07906416933e-07,-0.000425409689604,1.5106019759e-05,1793245371014099200
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.91438682,745,715,682,658.91438682,629,880,782,810.08561318,653,628.91438682,653,0.452673755327,-0.0156817324313,0.0497279633208,0.999999910983,2.67614807254e-06,-0.000421618158936,1.62935554068e-05,1793245371030765824
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.338582937,745,715,682,658.338582937,629,880,782,810.661417063,653,628.338582937,653,0.452787818219,-0.0156867649071,0.0497250168557,0.999999908685,-2.00997147342e-06,-0.00042699542989,1.73571311155e-05,1793245371047432704
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.237127791,745,715,682.237127791,658.237127791,629,880,782,811,652.762872209,628,653,0.452890789014,-0.015692367799,0.0497215860945,0.999999906414,-5.6846443772e-06,-0.000432187132412,1.88059977633e-05,1793245371064099328
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.812705524,745,715,682.812705524,658.812705524,629,880,782,811,652.187294476,628,653,0.452977928172,-0.0156987848393,0.0497174641027,0.999999904218,-7.91569009342e-06,-0.000437113974798,2.08047859587e-05,1793245371080765952
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.601448029,745,715,682.601448029,658.601448029,629,880,782,810.601448029,652.398551971,628,653,0.453049849238,-0.0157168074281,0.0497146598949,0.999999901493,-2.34541241973e-05,-0.000442398917919,2.73259024652e-05,1793245371097432320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.010648326,745,715,682.010648326,658.010648326,629,880,782,810.010648326,652.989351674,628,653,0.45311442962,-0.0157404281332,0.0497124913408,0.999999898032,-4.54115836516e-05,-0.000447856596133,3.60284341846e-05,1793245371114099200
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652.431116208,628,652.431116208,0.453165831301,-0.0157537117555,0.0497103600979,0.999999897066,-5.87303305806e-05,-0.000448271744456,3.83488549329e-05,1793245371130765568
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652,628,652.146873419,0.453213014908,-0.0157605508862,0.0497087279975,0.999999896372,-6.57468195432e-05,-0.000448748932838,3.94715072213e-05,1793245371147432448
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,810,652,628,652.720977662,0.453248632425,-0.0157491959357,0.0497085458296,0.999999896688,-5.48922857181e-05,-0.000449675806066,3.74507864668e-05,1793245371164099328
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.69789915,880,782,810,652,628,653,0.453276030897,-0.0157439001233,0.0497066028428,0.999999895716,-5.1128569695e-05,-0.000452360684918,3.63785328725e-05,1793245371180766208
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.110138948,880,782,810,652,628,653,0.453295657639,-0.015744333686,0.0497029948676,0.999999893592,-5.40697604478e-05,-0.00045670789206,3.62031269492e-05,1793245371197433344
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.470779272,745,715,682,658,628.470779272,880,782.470779272,810.470779272,652,628,653,0.453309531952,-0.0157455939034,0.0497009645746,0.999999892097,-5.41964037722e-05,-0.00045992801527,3.65293290423e-05,1793245371214099712
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.950426412,745,715,682,658,629,880.049573588,782.950426412,811,652,627.950426412,653,0.453321513863,-0.0157467448881,0.0496992652568,0.999999890768,-5.38246437585e-05,-0.000462826007563,3.68656627569e-05,1793245371230765824
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.377398577,745,715,682,658,629,880.622601423,782.377398577,811,652,627.377398577,653,0.453327520402,-0.0157447296279,0.0496972192128,0.99999988969,-5.50433877767e-05,-0.000465066943119,3.60875998708e-05,1793245371247432448
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.802702531,682,658,629,881,782,811,652,627.197297469,653,0.453333237208,-0.015744357947,0.0496958955792,0.999999888863,-5.72090473244e-05,-0.000466615820098,3.56463314313e-05,1793245371264098816
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.224788285,682,658,629,881,782,811,652,627.775211715,653,0.453338395076,-0.0157471569802,0.0496959655849,0.999999888519,-6.12014506356e-05,-0.000466829610866,3.58547906651e-05,1793245371280765696
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.36067051,682,658,629,881,782,811,652.36067051,627.63932949,652.63932949,0.45334113957,-0.0157460196414,0.0496956651463,0.999999887985,-6.11856001397e-05,-0.000467985564467,3.57252573884e-05,1793245371297432576
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.950931891,682,658,629,881,782,811,652.950931891,627.049068109,652.049068109,0.453342347789,-0.0157423765389,0.049695128895,0.999999887328,-5.86182281927e-05,-0.000469741267638,3.53805692928e-05,1793245371314099456
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714.468914715,681.468914715,658,628.468914715,880.468914715,782,810.468914715,653,627.531085285,652,0.453343628705,-0.0157424941716,0.0496951380515,0.999999887452,-5.86805472968e-05,-0.000469465387796,3.54368489506e-05,1793245371330769408
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.109721868,681.109721868,658,628,880.109721868,782,810,652.890278132,627.890278132,652.109721868,0.453344528078,-0.0157430709746,0.0496949546625,0.999999887427,-5.8832216996e-05,-0.000469487257218,3.55855250502e-05,1793245371347438080
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.685806538,681.685806538,658,628,880.685806538,782,810,652.314193462,627.314193462,652.685806538,0.453343777723,-0.015744150165,0.0496937426927,0.999999886467,-5.83502597415e-05,-0.000471557593575,3.59724029318e-05,1793245371364101376
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.261258917,715,682,658,628,880.738741083,782,810,652.261258917,627.261258917,653,0.453343887594,-0.0157443552366,0.0496932132583,0.999999886118,-5.8735526574e-05,-0.000472258309119,3.5877647263e-05,1793245371380765952
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.835952805,715,682,658,628,880.164047195,782,810,652.835952805,627.835952805,653,0.453345029486,-0.0157435116191,0.0496935026684,0.999999886501,-6.01612108738e-05,-0.000471315876961,3.52050709915e-05,1793245371397432576
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.577459695,715,682,658,628.422540305,880,782,810,652.577459695,627.577459695,653,0.453345529776,-0.015742020882,0.0496931600786,0.999999886516,-5.9831329077e-05,-0.000471349650247,3.4892986865e-05,1793245371414098944
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013549551,745,715,682,658,629,880,782,810,652,627.013549551,653,0.453345807881,-0.0157403444569,0.0496926032819,0.999999886399,-5.88689276712e-05,-0.000471731117757,3.47331326481e-05,1793245371430765568
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.590847946,745,715,682,658,629,880,782,810,652,627.590847946,653,0.453347505856,-0.0157416980868,0.0496936386639,0.999999886928,-6.07691609832e-05,-0.000470353248527,3.49152292025e-05,1793245371447433216
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.16795766,652,628,653,0.453348281392,-0.0157423306043,0.0496939381322,0.999999887004,-6.18109694139e-05,-0.000470050253488,3.49980406222e-05,1793245371464100608
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.744608225,652,628,653,0.453346812351,-0.0157412084323,0.0496924468951,0.999999885984,-6.07639646546e-05,-0.000472362759689,3.48392606093e-05,1793245371480766464
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.672434774,745,714.672434774,682.327565226,658,629,880,782,811,652,628,653,0.453346074768,-0.0157398707565,0.0496914738985,0.999999885297,-5.94595916335e-05,-0.000473991681533,3.46819594635e-05,1793245371497432576
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.084464359,745,714.084464359,682.915535641,658,629,880,782,811,652,628,653,0.453345918674,-0.0157383617613,0.0496909128888,0.999999884876,-5.7950618096e-05,-0.000475077172831,3.45258339832e-05,1793245371514098944
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.478075145,682.521924855,658,629,880.478075145,782,810.521924855,652,628,653,0.453345999029,-0.0157387557371,0.0496905973288,0.999999884824,-5.80182210398e-05,-0.000475160460259,3.47753790402e-05,1793245371530765824
+245,4.083333333,HOLD_POSE2,765,745,715,683,659,628,880,782,810,652,628,653,0.453350425983,-0.015740200308,0.0496940793428,0.99999988699,-6.29561801772e-05,-0.000469892447942,3.54748019647e-05,1793245371574207232
+246,4.100000000,HOLD_POSE2,765,745,715,682.425824199,658.425824199,628.574175801,880,782,810,652.574175801,628,653,0.453350589043,-0.015738425971,0.0496934762511,0.999999886981,-6.15591627574e-05,-0.000470163601083,3.45573832716e-05,1793245371590873344
+247,4.116666667,HOLD_POSE2,765,745,715,682,658,628.847216692,880,782,810.152783308,653,627.847216692,653,0.453350249426,-0.0157372393762,0.0496928084003,0.999999886709,-6.09611986923e-05,-0.000470869834691,3.3859556927e-05,1793245371607539712
+248,4.133333333,HOLD_POSE2,765,745,715,682,658,628.255888406,880,782,810.744111594,653,627.255888406,653,0.453348466937,-0.0157377398203,0.049691954667,0.999999885684,-6.26568149435e-05,-0.000472824911294,3.37920421708e-05,1793245371624206336
+249,4.150000000,HOLD_POSE2,765.32752497,745,715,682,658,628.32752497,879.67247503,782,810.67247503,652.67247503,627,653,0.45334740776,-0.0157384914362,0.0496912502845,0.99999988485,-6.34537256615e-05,-0.000474472904904,3.39007442645e-05,1793245371640872960
+250,4.166666667,HOLD_POSE2,765.904900467,745,715,682,658,628.904900467,879.095099533,782,810.095099533,652.095099533,627,653,0.453346900357,-0.0157394346568,0.0496906598337,0.999999884163,-6.35650639683e-05,-0.000475886641917,3.41438723652e-05,1793245371657539584
+251,4.183333333,HOLD_POSE2,766,745,715,682,658,629,879.483100454,782,810.483100454,652.483100454,627,653,0.453348671285,-0.0157394228871,0.0496920190854,0.999999885385,-6.29055776562e-05,-0.000473378350563,3.44491370512e-05,1793245371674205952
+252,4.200000000,HOLD_POSE2,765.937751983,745,715,681.937751983,658,628.937751983,880,782.062248017,810.937751983,653,627.062248017,653,0.453350613255,-0.015739036599,0.0496935464809,0.99999988674,-6.21176562081e-05,-0.000470595195817,3.46678620445e-05,1793245371690872576
+253,4.216666667,HOLD_POSE2,765.352002653,745,715,681.352002653,658,628.352002653,880,782.647997347,810.352002653,653,627.647997347,653,0.453350215417,-0.0157370843416,0.0496932546736,0.999999886133,-6.15278981e-05,-0.000472004537924,3.40557505835e-05,1793245371707539200
+254,4.233333333,HOLD_POSE2,765,745,715,681.230973303,658,628.230973303,880,782.769026697,810,652.769026697,627.769026697,653,0.453349281759,-0.0157363802823,0.0496922979162,0.999999885432,-6.11565336556e-05,-0.000473551599226,3.38211773781e-05,1793245371724206080
+255,4.250000000,HOLD_POSE2,765,745,715,681.809772741,658,628.809772741,880,782.190227259,810,652.190227259,627.190227259,653,0.453347541203,-0.0157375559033,0.0496903398007,0.999999884591,-6.11140515339e-05,-0.000475306053783,3.4155144707e-05,1793245371740872704
+256,4.266666667,HOLD_POSE2,765.387517492,745,715,682,658,628.612482508,880,782,810,652,627,653,0.453349370816,-0.0157382145615,0.04969141484,0.999999885503,-6.25697170651e-05,-0.000473173811369,3.44245276267e-05,1793245371757539840
+257,4.283333333,HOLD_POSE2,765.964745968,745,715,682,658,628.035254032,880,782,810,652,627,653,0.453352948221,-0.0157386201383,0.0496939747743,0.999999887257,-6.47588077151e-05,-0.000469138818597,3.4662292979e-05,1793245371774206720
+258,4.300000000,HOLD_POSE2,766,745,715,682.539705422,658,628.539705422,880,782,810,652,627.539705422,653,0.453352718196,-0.0157399904355,0.049694112776,0.999999886915,-6.6505670303e-05,-0.000469592183323,3.50632250276e-05,1793245371790873344
+259,4.316666667,HOLD_POSE2,766,745,715,682.882522074,658,628.882522074,880,782,810.117477926,652.117477926,628,652.882522074,0.453352055249,-0.0157407403295,0.0496938312718,0.999999886367,-6.72568727027e-05,-0.000470633225136,3.53080172482e-05,1793245371807539712
+260,4.333333333,HOLD_POSE2,766,745,715,682.292849278,658,628.292849278,880,782,810.707150722,652.707150722,628,652.292849278,0.453350647667,-0.0157387443236,0.0496924968141,0.999999885536,-6.4121706575e-05,-0.000472862898745,3.48825551714e-05,1793245371824206080
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,811,652,628,653,0.453352471574,-0.0157391869987,0.0496923476445,0.999999885603,-6.7732497462e-05,-0.000472258251668,3.43417167714e-05,1793245371861276672
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.574654199,628.425345801,880,782,810.425345801,652.574654199,628,653,0.45335139169,-0.0157378359943,0.0496922007483,0.999999885292,-6.60223886425e-05,-0.000473164433704,3.42415703058e-05,1793245371877943552
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.847191805,682,658.847191805,628,880,782,810,653,627.847191805,653,0.453350571291,-0.0157372046254,0.0496919984468,0.999999885006,-6.53867342981e-05,-0.000473862954006,3.41596814212e-05,1793245371894610176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.259067544,682,658.259067544,628,880,782,810,653,627.259067544,653,0.453350490107,-0.0157386233356,0.0496916383081,0.999999884795,-6.78119579043e-05,-0.000473969893096,3.41298042423e-05,1793245371911276800
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.324333734,682,658,628.324333734,880,782,810,653,627,653,0.453350786418,-0.015737779575,0.0496916431018,0.999999884904,-6.68762121597e-05,-0.000473887180266,3.39256407664e-05,1793245371927943424
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.904016555,682,658,628.904016555,880,782,810,653,627,653,0.453351379931,-0.0157351545633,0.0496919352081,0.999999885258,-6.3294363302e-05,-0.000473655153804,3.35842610786e-05,1793245371944609792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.482998735,745,715,682,658,628.517001265,880,781.517001265,810,652.517001265,627,653,0.45335157632,-0.0157376619223,0.049691707639,0.999999885094,-6.68699785341e-05,-0.000473496225192,3.37846121293e-05,1793245371961276160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628.061198113,880,781.061198113,810,652,627.061198113,653,0.453351307364,-0.0157405970123,0.0496912404962,0.999999884695,-7.09865362075e-05,-0.000473722243637,3.40288075499e-05,1793245371977942784
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628.634015577,880,781.634015577,810,652,627.634015577,653,0.453347806893,-0.0157385936778,0.0496896326121,0.99999988335,-6.77516228646e-05,-0.000477045174493,3.37408473232e-05,1793245371994609408
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.787019412,745,715,682,658,628.787019412,880,782,810,652.212980588,627.787019412,653,0.453342575882,-0.0157373581852,0.0496874065863,0.999999881631,-6.55012756202e-05,-0.000480960339194,3.35327602599e-05,1793245372011276032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.197176576,745,715,682,658,628.197176576,880,782,810,652.802823424,627.197176576,653,0.453334282734,-0.0157374813644,0.0496840867792,0.999999879267,-6.49930865166e-05,-0.000485923442139,3.34660062011e-05,1793245372027942656
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.385615304,880.385615304,782,810,653,627.385615304,653,0.45331078549,-0.0157358905589,0.0496733833449,0.999999870796,-6.43989046746e-05,-0.000503200109457,3.23948912732e-05,1793245372044609536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.964866613,880.964866613,782,810,653,627.964866613,653,0.453279653538,-0.0157334390793,0.0496589722357,0.999999858807,-6.37615416648e-05,-0.000526660010343,3.08194383906e-05,1793245372061276160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.540591303,745,715,682.540591303,658,628.459408697,880.459408697,782,810,653,628,653,0.453223882655,-0.0157308046524,0.0496387152895,0.99999984046,-6.46574759331e-05,-0.000560432327525,2.8553732523e-05,1793245372077942784
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.883895853,745,714.883895853,682.883895853,658,628.116104147,880,782.116104147,810,653,628,653,0.45316423595,-0.0157278150107,0.0496191844819,0.999999822568,-6.47289194314e-05,-0.000591587461459,2.64352512045e-05,1793245372094609664
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.308320053,745,714.308320053,682.308320053,658,628.691679947,880,782.691679947,810,653,628,653,0.453095546937,-0.0157234663864,0.0496040210693,0.999999811919,-6.11457159393e-05,-0.000609750233931,2.50757758935e-05,1793245372111276288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.267760393,682,658,628.732239607,880,782.732239607,810,653,628,653,0.453022001667,-0.015718333254,0.0495949004023,0.999999805167,-5.84963074647e-05,-0.000621019510471,2.40470916168e-05,1793245372127943168
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.844422988,682,658,628.155577012,880,782.155577012,810,653,628,653,0.452942853972,-0.0157122950729,0.0495927509594,0.999999803208,-5.69241733293e-05,-0.000624336093565,2.34000250318e-05,1793245372144609792
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.433277098,745,715,682,658,628.433277098,880,782,810,653,628,653,0.452850341216,-0.015706559199,0.0495941438985,0.999999804353,-5.65262643263e-05,-0.00062256887585,2.25177704659e-05,1793245372161276416
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629,880.025696837,782,810,652.974303163,627.974303163,653,0.452751565354,-0.0157008149833,0.0495968748232,0.999999806589,-5.62581836938e-05,-0.00061902424591,2.15959862196e-05,1793245372177943040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629,880.598143555,782,810,652.401856445,627.401856445,653,0.452624594038,-0.0156925168077,0.0496002269096,0.999999807808,-4.95217351652e-05,-0.000617626070116,2.16819707057e-05,1793245372194609920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.824166649,745,715,682,658,629,880.824166649,782,810,652.175833351,627.175833351,653,0.452489001398,-0.015683600206,0.0496021379076,0.999999807787,-4.36999339629e-05,-0.000618111968802,2.12901144717e-05,1793245372211276544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.234125916,745,715,682,658,629,880.234125916,782,810,652.765874084,627.765874084,653,0.45233309968,-0.0156732267904,0.0496006541596,0.999999804916,-4.00327515637e-05,-0.00062303614725,1.97726176501e-05,1793245372227942912
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.650550348,628,653,0.452154813783,-0.0156623193334,0.0495980356787,0.999999800221,-3.44055935588e-05,-0.000630893800323,1.8614250017e-05,1793245372244609536
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782,810,652.071227603,628,653,0.45196180323,-0.0156510605752,0.049594670754,0.999999794229,-2.74891345518e-05,-0.000640681136357,1.76921226662e-05,1793245372261276416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.507046953,745,714.492953047,681.492953047,658.507046953,629,880,782,809.492953047,652.507046953,628,653,0.451740302288,-0.0156388495897,0.0495942750648,0.999999792436,-2.37472523284e-05,-0.000643664092327,1.61458203186e-05,1793245372277942784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.915783555,745,714.084216445,681,658.915783555,629,880,782.084216445,809.084216445,652.915783555,628,653,0.451508521149,-0.015626301884,0.0495938425585,0.999999790961,-2.03381931193e-05,-0.000646108637665,1.44528874017e-05,1793245372294609664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.344159033,745,714.655840967,681,658.344159033,629,880,782.655840967,809.655840967,652.344159033,628,653,0.451240357804,-0.0156125779569,0.0495907879322,0.999999787917,-1.62797284354e-05,-0.000650957715373,1.24177337192e-05,1793245372311276288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629.235218812,880,782.764781188,810,652,628.235218812,653,0.450966650637,-0.0156012095608,0.0495905455967,0.999999789265,-1.48480476683e-05,-0.000648954554195,1.04062140914e-05,1793245372327942912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629.826327524,880,782.173672476,810,652,628.826327524,653,0.450684555592,-0.0155934051223,0.0495945583033,0.999999797194,-1.73907340773e-05,-0.000636583843428,8.43045329526e-06,1793245372344609536
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.408813117,658,629.591186883,880,782.408813117,810,652.408813117,629,653,0.450383420968,-0.0155887855946,0.0496069496925,0.999999814091,-2.30592780365e-05,-0.000609293038014,6.91877105636e-06,1793245372361276416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.987711085,658,629.012288915,880,782.987711085,810,652.987711085,629,653,0.45007436502,-0.0155854911349,0.0496228269947,0.999999833764,-3.00283208241e-05,-0.000575794794346,5.6001666476e-06,1793245372377942784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.43649132,682,658,629.56350868,880.56350868,783,810.56350868,652.43649132,629,653,0.449703586177,-0.0155830227952,0.0496300644747,0.999999840416,-3.89489490779e-05,-0.000563589808632,4.25216786453e-06,1793245372394609408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.138582798,682,658,630,880.861417202,783,810.861417202,652.138582798,629,653,0.449315771213,-0.0155784630833,0.0496348829365,0.9999998443,-4.61652123383e-05,-0.00055611419338,2.46374986985e-06,1793245372411276032
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.711599619,682,658,630,880.288400381,783,810.288400381,652.711599619,629,653,0.448878747452,-0.0155672911,0.0496327055977,0.999999840921,-4.79058849349e-05,-0.000562016643622,-7.0331032846e-07,1793245372427942656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.705524989,682,658,630,880.294475011,783,810,653,629,653,0.448430689604,-0.015556696206,0.0496314867321,0.99999983989,-5.20244914554e-05,-0.000563468641045,-4.04585473046e-06,1793245372444609280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.112659888,682,658,630,880.887340112,783,810,653,629,653,0.447971450916,-0.0155466860723,0.0496312390825,0.999999841227,-5.85526470171e-05,-0.000560411017065,-7.56621680147e-06,1793245372461276160
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,630.468176804,880.531823196,783.468176804,810,652.531823196,629.468176804,653,0.44747257787,-0.0155354834163,0.0496291850482,0.999999840889,-6.44553424991e-05,-0.000560307057179,-1.11404865503e-05,1793245372477943040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.045637991,631,880,784,810,652,630,653,0.446961164103,-0.0155241934479,0.0496265952603,0.999999839843,-7.03516793101e-05,-0.000561379923923,-1.47488941689e-05,1793245372494609920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.616726381,631,880,784,810,652,630,653,0.446412421148,-0.0155151193786,0.0496227164058,0.99999983547,-7.78642676845e-05,-0.000568023846861,-1.86047365243e-05,1793245372511276288
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.805130029,659,631,880,784,810,652,630,653,0.445865770333,-0.0155061974529,0.0496274398036,0.999999839203,-8.59696794521e-05,-0.000560115858309,-2.17388939244e-05,1793245372527942912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.21258893,659,631,880,784,810,652,630,653,0.445323388982,-0.015497586007,0.049649717817,0.999999858677,-9.5284865336e-05,-0.0005225117847,-2.34003086662e-05,1793245372544609536
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.371369154,745,714,681,659,631.371369154,880.371369154,784.371369154,810,652,630,652.628630846,0.444729241561,-0.0154897222534,0.0496851033694,0.999999880754,-0.000104965891068,-0.000476352962944,-2.37253869246e-05,1793245372561275904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.950524892,745,714,681,659,631.950524892,880.950524892,784.950524892,810,652,630,652.049475108,0.444106130271,-0.0154822768452,0.0497278227848,0.999999902647,-0.00011485160917,-0.000425407632415,-2.33027648815e-05,1793245372577942784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.47490162,745,714,681,659,632,881,785,810,652,630,652,0.44344238783,-0.0154697332515,0.0497347905274,0.999999905377,-0.000119830267658,-0.000417386721219,-2.59942830723e-05,1793245372594609408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.099616901,881,785,810,652,630,652.099616901,0.442770739792,-0.0154575826344,0.0497386735417,0.999999907907,-0.000119427161301,-0.000411189559597,-2.90820474104e-05,1793245372611276288
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.675920313,881,785,810,652,630,652.675920313,0.442079422791,-0.0154495911972,0.0497437752306,0.999999917081,-9.54645263789e-05,-0.000394533732322,-3.26740183175e-05,1793245372627943168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.741112185,785,810,652,630.258887815,653,0.44138664314,-0.0154444273118,0.0497672795503,0.999999935966,-6.12180258333e-05,-0.000350900740735,-3.44856821033e-05,1793245372644609536
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.149581979,785,810,652,630.850418021,653,0.440691984051,-0.0154428965186,0.0498144292289,0.99999996217,-1.37578845132e-05,-0.000272605053626,-3.40098472072e-05,1793245372661276160
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.567647942,714,680.567647942,659,632.567647942,880,785,810,652,630.567647942,653,0.439928431674,-0.0154440733342,0.0498295211523,0.999999967691,-2.65333253029e-05,-0.000250324797243,-3.53858179714e-05,1793245372677942784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.010988413,714,680.010988413,659,632.010988413,880,785,810,652,630,653,0.439140193892,-0.0154460072601,0.049832913807,0.999999966673,-5.95758433109e-05,-0.000248394728874,-3.74913910453e-05,1793245372694609408
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.587067707,714,680.587067707,659,632.587067707,880,785,810,652,630,653,0.438281615454,-0.0154397486035,0.0497926463786,0.999999944693,-8.64327970942e-05,-0.000318007673093,-4.48855952084e-05,1793245372711276032
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785.162642005,810.162642005,652,630.162642005,652.837357995,0.437429640745,-0.0154353660255,0.0497665591437,0.999999925485,-0.000113055929118,-0.000365612703633,-5.07564946808e-05,1793245372727942912
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785.736938103,810.736938103,652,630.736938103,652.263061897,0.436594380419,-0.0154357318861,0.0497763626067,0.999999925027,-0.000139087247354,-0.00035751473301,-5.27718428412e-05,1793245372744609792
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.911651423,633,880,785.088348577,810.088348577,652,630.088348577,652.911651423,0.434851651466,-0.0154256815806,0.0497883672507,0.999999925898,-0.000157600819127,-0.000346311750471,-5.86064828971e-05,1793245372777943040
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.068625493,633,880.862749015,786,809.931374507,652.068625493,630,652,0.433114467126,-0.0154224589672,0.0497741419677,0.999999932957,-7.31905279353e-05,-0.000355914988512,-4.5309335186e-05,1793245372811276288
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.642538845,633,879.71492231,786,809.357461155,652.642538845,630,652,0.432257952681,-0.0154227133702,0.0498008290702,0.999999947405,-2.40228144971e-05,-0.000322374925622,-2.62241752422e-05,1793245372827942912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.777568965,659.777568965,633,879.222431035,786,809,652.777568965,630,652,0.431373490176,-0.0154188715118,0.0498130513119,0.999999953254,-1.37662308763e-06,-0.00030527284065,-1.72679382961e-05,1793245372844609536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.187802897,659.187802897,633,879.812197103,786,809,652.187802897,630,652,0.430442872547,-0.0154082648583,0.0498013854789,0.99999994972,-2.25295466081e-05,-0.000315317346643,-2.50391675522e-05,1793245372861276160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.394858296,745,714,680,659,633,879.605141704,785.605141704,808.605141704,652,630,652,0.429504024212,-0.0154089145285,0.0497806223671,0.999999939394,-2.20559914842e-05,-0.000346020628736,-3.15318554247e-05,1793245372877942784
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.974199957,745,714,680,659,633,879.025800043,785.025800043,808.025800043,652,630,652,0.428561330431,-0.0154148233125,0.0497556088791,0.999999924591,-1.14782392668e-05,-0.000386375981296,-3.74271902254e-05,1793245372894609664
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.552710308,659,633,879.552710308,785.552710308,808.552710308,652.552710308,630,652,0.427638200312,-0.0154167304371,0.0497707090776,0.999999927228,-3.89715294101e-05,-0.000377615418724,-3.78261003652e-05,1793245372911276288
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.870389885,745,714,680.870389885,659,633.129610115,879.870389885,786,809,653,630,652,0.426718505613,-0.015416909993,0.0497804419271,0.999999928367,-6.28022679545e-05,-0.000371281040221,-3.83692423058e-05,1793245372927943168
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.298849451,745,714,680.298849451,659,633.701150549,879.298849451,786,809,653,630,652,0.425807415573,-0.0154118350284,0.0497654988171,0.99999992428,-6.80944988428e-05,-0.000381024816972,-4.02776749552e-05,1793245372944609536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.717500639,879,786,808.717500639,652.717500639,629.717500639,652,0.42492176905,-0.0154128941171,0.0497759568863,0.999999935296,-7.91224623749e-05,-0.000348608651035,-4.02423907985e-05,1793245372961275904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.125402597,879,786,808.125402597,652.125402597,629.125402597,652,0.424064006826,-0.015420675681,0.0498142527951,0.999999958178,-9.64363695572e-05,-0.000269988262628,-3.80769345696e-05,1793245372977942528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.455761771,745,714,680,659,633,879,786,808,652,629.455761771,652,0.4231745481,-0.0154228743161,0.049829762999,0.999999966285,-7.94188000616e-05,-0.000244334202499,-3.77184580941e-05,1793245372994609408
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633.033832005,879,786,808.033832005,652.033832005,630,652,0.4222746495,-0.0154233852424,0.0498366908194,0.999999969621,-5.57007046633e-05,-0.000237085577598,-3.8024867177e-05,1793245373011276032
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633.609400074,879,786,808.609400074,652.609400074,630,652,0.421343961172,-0.0154208928988,0.049804231164,0.999999952526,-7.24055482406e-05,-0.00029666060783,-4.12030300659e-05,1793245373027942656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.815585983,745,714,680,659,634,878.815585983,786,809,652.815585983,630,652,0.420438536399,-0.015418786345,0.0497875885634,0.999999939971,-8.68030877798e-05,-0.000332695869782,-4.28614512152e-05,1793245373044609280
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.656927173,659,634,878.343072827,785.656927173,808.656927173,652,629.656927173,652,0.41870427383,-0.0154138274872,0.0498006216215,0.99999993922,-8.37959645553e-05,-0.000335815603397,-4.20260291748e-05,1793245373077943040
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.064126318,659,634,878.935873682,785.064126318,808.064126318,652,629.064126318,652,0.417800168169,-0.0154084316282,0.04978198558,0.999999927258,-5.52076909114e-05,-0.000374787299677,-4.43910906758e-05,1793245373094609408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.516376614,659,634,879,785,808.516376614,652,629.516376614,652,0.416989602289,-0.0154106118467,0.0497803617602,0.999999929588,-6.59711603005e-05,-0.000366600035048,-4.55741980522e-05,1793245373111276032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808.905489091,652,630,652,0.416197632686,-0.0154142141011,0.0497853249219,0.999999935641,-8.06134596993e-05,-0.000346557750545,-4.60170215113e-05,1793245373127942656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808.331800978,652,630,652,0.415442422345,-0.0154203670333,0.0498132223561,0.999999951308,-9.07211121116e-05,-0.000295411543757,-4.34334315068e-05,1793245373144609536
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.751746753,785,808,652,630,652,0.414677799329,-0.0154229358825,0.0498223539485,0.999999955661,-9.60217844527e-05,-0.000278624411627,-4.2732030516e-05,1793245373161275904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.162960066,785,808,652,630,652,0.413900264838,-0.01542058838,0.0498057440959,0.999999946787,-9.47286352005e-05,-0.000308968244692,-4.46124623396e-05,1793245373177942528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.579894222,658.579894222,634,878.420105778,785.420105778,808,652,629.579894222,652,0.41311803418,-0.0154178183361,0.0497851910523,0.999999936043,-9.53099895479e-05,-0.000341530891815,-4.67663205657e-05,1793245373194609408
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.999026216,786,808,652,629,652,0.412334194541,-0.0154148936515,0.049763209409,0.999999923881,-9.66137734516e-05,-0.000374835875229,-4.90171449332e-05,1793245373211276288
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.423217678,786,808,652,629,652,0.411661489536,-0.0154161379479,0.0497887041505,0.999999934268,-0.000100912577921,-0.00034510361408,-4.67391885255e-05,1793245373227942912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.151433613,658.151433613,634,878.151433613,786,808.151433613,652.151433613,629.151433613,652,0.410990594274,-0.0154169345688,0.0498077180394,0.999999941433,-0.000104097700867,-0.000322920800786,-4.49407347131e-05,1793245373244609792
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.722875355,658.722875355,634,878.722875355,786,808.722875355,652.722875355,629.722875355,652,0.41032471826,-0.0154164895413,0.0498087569897,0.999999941845,-0.00010419397779,-0.000321676724294,-4.44722031117e-05,1793245373261276160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.692919321,634,878.692919321,785.692919321,808.692919321,653,630,652,0.409680186949,-0.0154150757493,0.0498002170935,0.99999993771,-0.000102672584292,-0.000334627539095,-4.54196257019e-05,1793245373277942784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.096696033,634,878.096696033,785.096696033,808.096696033,653,630,652,0.409055753531,-0.015412749783,0.0497826578975,0.999999928759,-9.96280162784e-05,-0.000360944052727,-4.77002897449e-05,1793245373294609408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.482889068,634,878.482889068,785.482889068,808,653,630,652,0.408482030336,-0.0154159950439,0.0497965167455,0.999999936732,-0.000108889666712,-0.000335461364053,-4.63106159817e-05,1793245373311275776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.941085239,658.941085239,634,879.058914761,785.941085239,807.941085239,653,629.941085239,652,0.407922979507,-0.0154199273706,0.0498156457823,0.999999946159,-0.000119835577833,-0.000302250358306,-4.43319411336e-05,1793245373327942656
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.206468377,745,714,679.206468377,658,634,879.587063246,785.206468377,807.206468377,652.793531623,629,652,0.406882563625,-0.0154199859034,0.0498262558895,0.999999946294,-0.000130402365347,-0.000297455054295,-4.39139554937e-05,1793245373361276416
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.783488496,745,714,679.783488496,658,634,878.433023008,785.783488496,807.783488496,652.216511504,629,652,0.406346122756,-0.0154177782645,0.049800621778,0.999999930116,-0.000137651288993,-0.000344403836415,-4.69610256052e-05,1793245373377943040
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.629366624,745,714,680,658.370633376,634,878,786,807.629366624,652.370633376,629.370633376,652,0.405853108271,-0.0154172749853,0.0497814484928,0.999999917251,-0.000145352870245,-0.00037675651631,-4.92519083114e-05,1793245373394609920
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.667057184,714,679,658.332942816,634,879,786,807.332942816,652.332942816,630,652,0.402090479613,-0.0154346318279,0.0498115207472,0.999999928863,-0.000133015797667,-0.00034864488943,-5.50299532738e-05,1793245373594609408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.073907747,714,679,658.926092253,634,879,786,807.926092253,652.926092253,630,652,0.401909880741,-0.0154358693865,0.0498055589241,0.999999924825,-0.0001402719454,-0.000357185878646,-5.56141137387e-05,1793245373611276032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.495904986,634,878.495904986,786,807.495904986,653,630,652,0.401770898626,-0.0154311155839,0.0498091097917,0.999999936542,-7.98615991835e-05,-0.000344610358422,-4.22023938949e-05,1793245373627943168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.079925913,714,679.079925913,658,634,878.079925913,786,807,653,629.920074087,652,0.401640900767,-0.0154261781971,0.0498142266084,0.999999945009,-2.03381019237e-05,-0.000329734552575,-2.90394712695e-05,1793245373644610048
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.655658329,714,679.655658329,658,634,878.655658329,786,807,653,629.344341671,652,0.401529888846,-0.0154253921561,0.0498206581178,0.999999948262,-2.60633467993e-05,-0.000319234532651,-2.97778295824e-05,1793245373661276416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.762671667,658,634,878.762671667,786,807,652.762671667,629,652,0.401430800995,-0.0154262288475,0.0498264868609,0.999999951334,-3.39108435135e-05,-0.000308645719163,-3.03302757558e-05,1793245373677943040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.172165742,658,634,878.172165742,786,807,652.172165742,629,652,0.401349457824,-0.0154294803906,0.0498314186034,0.999999954143,-4.49165460143e-05,-0.000297924769129,-3.06060587446e-05,1793245373694609408
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.590305958,714,679.409694042,658,634,878.409694042,786,807,652,629.409694042,652,0.401277291004,-0.0154320922501,0.0498333781926,0.999999954611,-5.33096258786e-05,-0.000294868572165,-3.1440869601e-05,1793245373711276032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.012004463,714,679.987995537,658,634,878.987995537,786,807,652,629.987995537,652,0.401208900665,-0.0154344408511,0.0498341146076,0.999999954131,-6.06274942144e-05,-0.000294966764732,-3.25057454625e-05,1793245373727942656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.439218696,744.560781304,714,679.439218696,658.560781304,634,878.439218696,785.439218696,807.560781304,652.560781304,629.439218696,652,0.401157981482,-0.0154415883478,0.0498341209669,0.9999999538,-7.19380670275e-05,-0.000293578575167,-3.21866076695e-05,1793245373744609536
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.626513765,745,714,680,659,634,878.373486235,785.373486235,807.373486235,652.373486235,629.626513765,652,0.400986394582,-0.0154394188242,0.0498431674389,0.99999995946,-7.81242153049e-05,-0.000271576260132,-3.49655024548e-05,1793245373911276288
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.045244229,745,714,680,659,634,878.954755771,785.954755771,807.954755771,652.954755771,629.045244229,652,0.400985718843,-0.0154410357245,0.0498442633982,0.99999995998,-7.98288776316e-05,-0.000269162971066,-3.48984879982e-05,1793245373927942912
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.474730787,658.474730787,633.474730787,878.474730787,786,807.474730787,652.474730787,629.525269213,652,0.400983319828,-0.0154398644607,0.0498433980604,0.999999959415,-8.01805314481e-05,-0.000271121703402,-3.51283786081e-05,1793245373944609792
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.677573797,745,714,679,658.677573797,633,878,786,807,652.677573797,630,652,0.400981122054,-0.0154382984548,0.0498425947132,0.999999959313,-7.87866695751e-05,-0.000271850015286,-3.55503154882e-05,1793245373977943040
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.436449859,658.436449859,634,878.563550141,785.436449859,807,652.436449859,629.436449859,652,0.400982441304,-0.0154366377928,0.0498453232716,0.999999960555,-7.64012462906e-05,-0.000267868829422,-3.60504266682e-05,1793245374027942656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.985931324,658.985931324,634,878,785.985931324,807.014068676,652.985931324,629.985931324,652,0.400983215506,-0.0154378962858,0.0498460946852,0.999999960522,-7.92713117453e-05,-0.000267142044384,-3.61491073513e-05,1793245374044609280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.412379025,658.412379025,634,878,785.412379025,807.587620975,652.412379025,629.412379025,652,0.400984037532,-0.0154381214075,0.0498462713155,0.999999961005,-7.83826130282e-05,-0.000265676165989,-3.55174012781e-05,1793245374061276160
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.838395133,679.161604867,658.161604867,634,878.161604867,785,807.838395133,652,629,652,0.400984093749,-0.015438528151,0.0498464208595,0.999999961214,-7.85208571559e-05,-0.000264899004437,-3.51473652063e-05,1793245374077943040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.263306999,679.736693001,658.736693001,634,878.736693001,785,807.263306999,652,629,652,0.400982190564,-0.015439399593,0.0498465011003,0.999999960721,-8.12866439903e-05,-0.000265883998375,-3.54468397428e-05,1793245374094609664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.322086835,679.677913165,658.677913165,634,878.677913165,785.322086835,807,652,629.322086835,652,0.400982158061,-0.0154388579104,0.0498466477559,0.999999960825,-8.18436416359e-05,-0.000265263660596,-3.58727461852e-05,1793245374111276288
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.916184064,679.083815936,658.083815936,634,878.083815936,785.916184064,807,652,629.916184064,652,0.400983705397,-0.0154371228086,0.0498468505003,0.999999961434,-8.05352613951e-05,-0.000263287579958,-3.64054275209e-05,1793245374127942656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.493130955,658.493130955,634,878.493130955,786,807,652.493130955,630,652,0.40098272464,-0.0154381229887,0.049846432788,0.999999960969,-8.08463622453e-05,-0.000264972474504,-3.62683333468e-05,1793245374144609536
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.932593221,659,634,878.932593221,785.932593221,807,653,629.932593221,652,0.400981758344,-0.0154393343398,0.0498460870664,0.999999960488,-8.12865970024e-05,-0.000266679214094,-3.60407960158e-05,1793245374161276160
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357217833,659,634,878.357217833,785.357217833,807,653,629.357217833,652,0.400984030292,-0.0154387513179,0.0498470518583,0.999999961245,-8.06953749106e-05,-0.000264019021103,-3.59607387967e-05,1793245374177942784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.223235961,658.776764039,634,878.223235961,785.223235961,807.223235961,652.776764039,629,652,0.400985531785,-0.0154383820213,0.0498480723488,0.999999961896,-8.02526042419e-05,-0.000261695980914,-3.58185426451e-05,1793245374194609664
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.812005385,658.187994615,634,878.812005385,785.812005385,807.812005385,652.187994615,629,652,0.400985771712,-0.015438362685,0.0498491840418,0.999999962382,-8.00529124285e-05,-0.000259925004721,-3.55745982728e-05,1793245374211276544
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.395508378,634,878.604491622,786,807.604491622,652,629,652,0.400985141818,-0.0154392755838,0.0498491073207,0.999999962292,-8.04039838294e-05,-0.000260176327441,-3.54847140897e-05,1793245374227943168
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.976540971,634,878.023459029,786,807.023459029,652,629,652,0.400984103908,-0.0154406257734,0.0498484731409,0.999999961931,-8.10134060581e-05,-0.000261376265863,-3.54670961414e-05,1793245374244609792
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c01cefd022cd28b643fc362252791812dec9b0f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575670961335,-0.010122112605,1.0400506628,0.546242592617,-0.00144643310542,1.03971716077
+395,6.583333333,pose2_to_pose3_retreat,0.575670901784,-0.0101221131952,1.04005065761,0.546242533077,-0.00144643364061,1.03971715594
+396,6.600000000,pose2_to_pose3_retreat,0.575670742188,-0.0101221147771,1.04005064372,0.546242373514,-0.00144643507492,1.03971714299
+397,6.616666667,pose2_to_pose3_retreat,0.575670462197,-0.0101221191571,1.04005062392,0.546242093608,-0.00144643911101,1.03971712469
+398,6.633333333,pose2_to_pose3_retreat,0.575670299418,-0.0101221458005,1.04005068111,0.546241931282,-0.00144646427915,1.03971718029
+399,6.650000000,pose2_to_pose3_retreat,0.575670000912,-0.0101221946598,1.04005078599,0.546241633607,-0.00144651043291,1.03971728224
+400,6.666666667,pose2_to_pose3_retreat,0.575669818086,-0.0101222245847,1.04005085022,0.546241451288,-0.00144653870085,1.03971734469
+401,6.683333333,pose2_to_pose3_retreat,0.575669669994,-0.0101222214722,1.04005088643,0.546241303269,-0.00144653541644,1.03971737904
+402,6.700000000,pose2_to_pose3_retreat,0.575669577102,-0.0101221913949,1.04005089055,0.54624121008,-0.0014465064252,1.03971738108
+403,6.716666667,pose2_to_pose3_retreat,0.57566957715,-0.0101221926718,1.04005088735,0.546241210158,-0.00144650763139,1.03971737707
+404,6.733333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a52385e9bfc08b4d25242b854abebb84a8b04100
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832f969ba7155a0a41820f5f8ac4cc687d7804ccd4895cb64d7855479c821d27
+size 25680912
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b72639ec9991bf904371eb8becf4ba644feb8017
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+50,0.833333333,BASELINE,765,745,714,679.013629444,659,634,878,786,807,652.013629444,629.013629444,652,0.400984960814,-0.0154367115353,0.0498509334903,0.999999963372,-7.58591534324e-05,-0.000257233936073,-3.64979651726e-05,1793245375222630912
+51,0.850000000,BASELINE,765,745,714,679.60587767,659,634,878,786,807,652.60587767,629.60587767,652,0.400985323497,-0.0154355302669,0.0498512238106,0.999999963671,-7.37979470981e-05,-0.000256645956777,-3.66591760683e-05,1793245375239297536
+52,0.866666667,BASELINE,765.193415581,745,714,680,659,634,878,786,807,652.806584419,630,652,0.400985300335,-0.0154354864614,0.049851305303,0.999999963789,-7.29543711311e-05,-0.000256431246682,-3.66377790834e-05,1793245375255963904
+53,0.883333333,BASELINE,765.771583453,745,714,680,659,634,878,786,807,652.228416547,630,652,0.400984509631,-0.0154377053564,0.0498509713839,0.999999963551,-7.45329686709e-05,-0.00025695906305,-3.62531290361e-05,1793245375272630528
+54,0.900000000,BASELINE,765.654685076,745,714,679.654685076,659,634,878,786,807,652.345314924,629.654685076,652,0.400984712263,-0.0154383092438,0.0498513671103,0.999999963674,-7.52865454728e-05,-0.00025625851324,-3.62599744194e-05,1793245375289297408
+55,0.916666667,BASELINE,765.083850963,745,714,679.083850963,659,634,878,786,807,652.916149037,629.083850963,652,0.400985563626,-0.0154378583977,0.0498522393555,0.999999964033,-7.55013154757e-05,-0.000254755738758,-3.65224986943e-05,1793245375305964032
+56,0.933333333,BASELINE,765,745,714,679,659,634,878.50578829,786,807.50578829,652.49421171,629.50578829,652,0.400985542756,-0.0154368625782,0.0498517384491,0.999999963925,-7.49438553393e-05,-0.000255323383038,-3.66543124092e-05,1793245375322630400
+57,0.950000000,BASELINE,765,745,714,679,659,634,879,786,807.903703914,652.096296086,630,652,0.400985477191,-0.0154359428154,0.0498512573679,0.999999963803,-7.41847940509e-05,-0.000256010369524,-3.67321403844e-05,1793245375339297280
+58,0.966666667,BASELINE,765,745,714,679,659,634,879,786,807.325064613,652.674935387,630,652,0.400985940016,-0.0154358740396,0.0498520598861,0.999999964015,-7.30819426974e-05,-0.000255509471547,-3.66522892542e-05,1793245375355963904
+59,0.983333333,BASELINE,765,745,714,679,659,634,878.747299863,785.747299863,807,653,630,652,0.400986567899,-0.0154361379443,0.049852517364,0.999999964121,-7.31011599318e-05,-0.00025509723123,-3.65969374969e-05,1793245375372630784
+60,1.000000000,BASELINE,765,745,714,679,659,634,878.170656147,785.170656147,807,653,630,652,0.400987407375,-0.0154368283216,0.049852532525,0.999999964091,-7.45587890322e-05,-0.000254798643646,-3.65729921797e-05,1793245375389297408
+61,1.016666667,BASELINE,765,745,714,679,659,634,878,785.403190099,807,653,629.596809901,652,0.400986469154,-0.0154363375638,0.0498520690663,0.999999963907,-7.44992928714e-05,-0.00025551112341,-3.67351599542e-05,1793245375405963776
+62,1.033333333,BASELINE,765,745,714,679,659,634,878,785.9758604,807,653,629.0241396,652,0.40098478368,-0.0154353503179,0.0498514044209,0.999999963659,-7.38020758659e-05,-0.000256648603454,-3.6975560019e-05,1793245375422630400
+63,1.050000000,BASELINE,765,745,714,679.56768373,659,634,878,785.43231627,807,653,629,652,0.400984908339,-0.0154348648572,0.0498517681715,0.999999963814,-7.24815994749e-05,-0.000256418723968,-3.69800161249e-05,1793245375439297280
+64,1.066666667,BASELINE,765,744.843232849,714,679.843232849,659,634,878,785.156767151,807,652.843232849,629.156767151,652,0.400985034533,-0.0154339877697,0.049852050166,0.999999964014,-7.12316938429e-05,-0.000255972629261,-3.7093665809e-05,1793245375455963904
+65,1.083333333,BASELINE,765,744.263808953,714,679.263808953,659,634,878,785.736191047,807,652.263808953,629.736191047,652,0.400984950096,-0.015431995289,0.0498519897218,0.999999964289,-7.02460014058e-05,-0.000255105836101,-3.75297044639e-05,1793245375472630528
+66,1.100000000,BASELINE,764.688378171,744.311621829,714,679,659,634,878,785.688378171,807.311621829,652.311621829,630,652,0.400985214276,-0.0154315792745,0.0498517819235,0.999999964311,-7.01788652976e-05,-0.000255001241953,-3.77698948478e-05,1793245375489297664
+67,1.116666667,BASELINE,764.11628509,744.88371491,714,679,659,634,878,785.11628509,807.88371491,652.88371491,630,652,0.400985769849,-0.0154324809601,0.0498514509582,0.999999964123,-7.08795108695e-05,-0.000255533737141,-3.78463840845e-05,1793245375505965056
+68,1.133333333,BASELINE,764.470228348,745,714,679,659,634,878,785.470228348,807.529771652,653,630,652,0.400984864535,-0.0154309017731,0.0498509355955,0.999999963905,-6.86826946453e-05,-0.000256918123679,-3.82957853075e-05,1793245375522631424
+69,1.150000000,BASELINE,765,745,714,679,659,634,878,785.940671807,807.059328193,653,630,652,0.400983898712,-0.0154274479888,0.0498505309799,0.999999963835,-6.45215595277e-05,-0.00025812724643,-3.92000430245e-05,1793245375539297792
+70,1.166666667,BASELINE,765,745,714,679,659,634,878,785.361151391,807.638848609,653,630,652,0.400985670194,-0.0154131070953,0.0498515098774,0.999999965092,-4.9618497672e-05,-0.000255894059302,-4.3258338783e-05,1793245375555964160
+71,1.183333333,BASELINE,765,745,714,679,659,634,878.217150289,785.217150289,807.782849711,652.782849711,630,652,0.400986711193,-0.0154022429206,0.0498521880821,0.999999965756,-3.82841976436e-05,-0.000254716309821,-4.62862250132e-05,1793245375572630784
+72,1.200000000,BASELINE,765,745,714,679,659,634,878.793436444,785.793436444,807.206563556,652.206563556,630,652,0.400986544077,-0.015397128745,0.0498523689836,0.999999965742,-3.28521225602e-05,-0.00025528410465,-4.76099602828e-05,1793245375589297152
+73,1.216666667,BASELINE,764.630925127,745,714,679,659,634,878.630925127,785.630925127,807,652,629.630925127,652,0.400987376388,-0.0154000355232,0.0498532562508,0.999999965941,-3.62563720552e-05,-0.000254169803592,-4.69165247171e-05,1793245375605963776
+74,1.233333333,BASELINE,764.055648616,745,714,679,659,634,878.055648616,785.055648616,807,652,629.055648616,652,0.400988767078,-0.0154074235979,0.0498545381636,0.999999966208,-4.45974645856e-05,-0.000252115717768,-4.50960984246e-05,1793245375622630400
+75,1.250000000,BASELINE,764.533085783,745,714,679.533085783,659,634,878.533085783,785.533085783,807.533085783,652,629,652,0.400988997345,-0.0154029880151,0.0498540897883,0.999999966248,-4.01611318559e-05,-0.000252483761456,-4.62898276293e-05,1793245375639297280
+76,1.266666667,BASELINE,765,745,714,680,658.87937349,634,878.87937349,786,807.87937349,652,629.12062651,652,0.400989019852,-0.015399037734,0.0498536905239,0.999999966258,-3.58326233701e-05,-0.00025291457409,-4.7273721868e-05,1793245375655964160
+77,1.283333333,BASELINE,765,745,714,680,658.301813858,634,878.301813858,786,807.301813858,652,629.698186142,652,0.400988726111,-0.0154017222665,0.0498541792154,0.999999966339,-3.70959581537e-05,-0.000252600572666,-4.62400120319e-05,1793245375672631040
+78,1.300000000,BASELINE,765,745,714,680,658,634,878,786,807,652,630,652,0.40098774719,-0.0154020975716,0.0498537941841,0.999999966181,-3.70355137413e-05,-0.000253278553213,-4.60101344658e-05,1793245375689297664
+79,1.316666667,BASELINE,765,745,714,680,658,634,878,786,807,652,630,652,0.400986018315,-0.0153999453429,0.0498524528311,0.999999965757,-3.5526144562e-05,-0.000255042294286,-4.66600807485e-05,1793245375705964032
+80,1.333333333,BASELINE,765,745,714,679.579632022,658,634,878.420367978,786,807,652.420367978,630,652,0.400987233274,-0.0153995939815,0.0498528115299,0.999999966036,-3.54542956557e-05,-0.000253903033509,-4.69423063748e-05,1793245375722630400
+81,1.350000000,BASELINE,765,745,714,679.012555849,658,634,878.987444151,786,807,652.987444151,630,652,0.40098947563,-0.0153998711217,0.0498537635456,0.999999966558,-3.58841404153e-05,-0.000251750626818,-4.70961977457e-05,1793245375739297024
+82,1.366666667,BASELINE,765,745,713.412912546,679,658,634,878.412912546,786,807,652.412912546,629.412912546,652,0.400988338444,-0.0154028146227,0.0498535907675,0.999999966116,-4.0291712504e-05,-0.000252937396913,-4.65621314455e-05,1793245375755963648
+83,1.383333333,BASELINE,765,744.81942888,713.18057112,679,658,634,878.18057112,786,807,652.18057112,629,652,0.400987844726,-0.0154034206609,0.0498535807345,0.999999965979,-4.16474717731e-05,-0.000253282448614,-4.643712759e-05,1793245375772630784
+84,1.400000000,BASELINE,765,744.241136355,713.758863645,679,658,634,878.758863645,786,807,652.758863645,629,652,0.400988936838,-0.0153987452854,0.0498539852557,0.99999996658,-3.60830074427e-05,-0.000251607020429,-4.72474242967e-05,1793245375789297408
+85,1.416666667,BASELINE,765,744,714,679,658,634,878.665350743,786,807,652.665350743,629.334649257,652,0.400988298156,-0.0153985943866,0.049853539306,0.999999966527,-3.54562033924e-05,-0.000251925001777,-4.7145334529e-05,1793245375805964032
+86,1.433333333,BASELINE,765,744,714,679,658,634,878.091358126,786,807,652.091358126,629.908641874,652,0.400986421597,-0.0154016794238,0.049852485094,0.999999966014,-3.83608469159e-05,-0.00025366868289,-4.63906998815e-05,1793245375822630656
+87,1.450000000,BASELINE,765,744.495514001,714,679,658.495514001,634,878,786,807,652.495514001,629.504485999,652,0.400986180006,-0.0154005205751,0.0498528494546,0.999999965942,-3.66640824961e-05,-0.000254178717313,-4.65391742819e-05,1793245375839297536
+88,1.466666667,BASELINE,765.083370023,745,713.916629977,679.083370023,658.916629977,634,878,786,807,653,629,652,0.400986307108,-0.0153991281124,0.0498533364451,0.99999996596,-3.47725105385e-05,-0.000254325840861,-4.678025462e-05,1793245375855963904
+89,1.483333333,BASELINE,765.662578037,745,713.337421963,679.662578037,658.337421963,634,878,786,807,653,629,652,0.400986786351,-0.0154011239849,0.049852955749,0.999999966053,-3.69025677251e-05,-0.000253703406044,-4.65553887484e-05,1793245375872630784
+90,1.500000000,BASELINE,765.758570836,744.758570836,713.241429164,679.758570836,658.241429164,634,878,786,807.241429164,652.758570836,629.241429164,652,0.400987313304,-0.0154017112608,0.0498528843738,0.999999966133,-3.73110753813e-05,-0.000253335893409,-4.65018954919e-05,1793245375889297408
+91,1.516666667,BASELINE,765.180217808,744.180217808,713.819782192,679.180217808,658.819782192,634,878,786,807.819782192,652.180217808,629.819782192,652,0.400987906835,-0.0154003327847,0.0498532446679,0.9999999662,-3.53170929894e-05,-0.000253324134729,-4.66875594581e-05,1793245375905964032
+92,1.533333333,BASELINE,765,744.391710501,714,679,659,634,878,786,807.608289499,652.391710501,630,652,0.400987726423,-0.0153996600926,0.0498534073922,0.999999966192,-3.4231597261e-05,-0.00025349805336,-4.67137316708e-05,1793245375922630912
+93,1.550000000,BASELINE,765,744.960730678,714,679,659,634,878,786,807.039269322,652.960730678,630,652,0.400987195681,-0.0153993068771,0.0498534806856,0.999999966152,-3.35573322971e-05,-0.000253756019733,-4.66677091762e-05,1793245375939297536
+94,1.566666667,BASELINE,764.44679205,745,714,679,659,634,878.55320795,786,807,652.44679205,629.44679205,652,0.400986926642,-0.0154006531546,0.0498532494794,0.999999966202,-3.64313326028e-05,-0.000253185193678,-4.65486805311e-05,1793245375955964416
+95,1.583333333,BASELINE,764.143990374,744.856009626,714,679,659,634,879,785.856009626,807,652.143990374,629.143990374,652,0.400987086805,-0.0154017170262,0.0498534042301,0.999999966363,-3.86613670593e-05,-0.000252233820047,-4.64489430732e-05,1793245375972631296
+96,1.600000000,BASELINE,764.724366641,744.275633359,714,679,659,634,879,785.275633359,807,652.724366641,629.724366641,652,0.400988488944,-0.0154015432197,0.0498547970925,0.999999966866,-3.81426197742e-05,-0.000250315329484,-4.64240719253e-05,1793245375989297664
+97,1.616666667,BASELINE,765,744.301966795,714,679,659,634,878.698033205,785,807,653,629.698033205,652,0.400988701436,-0.0154014611726,0.0498548896631,0.999999966882,-3.79095474022e-05,-0.000250280455599,-4.64570971107e-05,1793245376005964032
+98,1.633333333,BASELINE,765,744.87705598,714,679,659,634,878.12294402,785,807,653,629.12294402,652,0.400987837917,-0.0154014621199,0.0498538061481,0.999999966458,-3.79348617998e-05,-0.000251949272098,-4.65424882704e-05,1793245376022630656
+99,1.650000000,BASELINE,765,745,714,679.460797654,658.539202346,634,878,785.460797654,807,653,629.460797654,652,0.400988078741,-0.0154005264639,0.0498540565636,0.999999966615,-3.61648188012e-05,-0.000251573942034,-4.660832928e-05,1793245376039297280
+100,1.666666667,BASELINE,765,745,714,680,658.046353107,634,878,785.953646893,807,653,629.953646893,652,0.400988511692,-0.0153994050626,0.0498545343902,0.99999996687,-3.40882164255e-05,-0.000250837907923,-4.66714104151e-05,1793245376055964160
+101,1.683333333,BASELINE,765,745,714,680,658.625711442,634,878,785.374288558,807,653,629.374288558,652,0.400987700974,-0.0153990762634,0.0498534564098,0.999999966486,-3.41000393096e-05,-0.000252345582168,-4.67638831877e-05,1793245376072630784
+102,1.700000000,BASELINE,765,745,714,679.795711113,658.795711113,634.204288887,878,785.204288887,807,653,629.204288887,652,0.400987545635,-0.0153992657598,0.0498530981072,0.999999966357,-3.42401745563e-05,-0.000252829584855,-4.68039615154e-05,1793245376089297408
+103,1.716666667,BASELINE,765,745,714,679.218558995,658.218558995,634.781441005,878,785.781441005,807,653,629.781441005,652,0.400988586478,-0.0154004012373,0.0498540533436,0.999999966696,-3.4614502483e-05,-0.000251445206326,-4.67484107344e-05,1793245376105964288
+104,1.733333333,BASELINE,765,745,714,679,658,634.642561956,878,785.642561956,807,653,630,652,0.40098829356,-0.0154008512487,0.0498542003328,0.999999966708,-3.48541364018e-05,-0.00025138361287,-4.66467483321e-05,1793245376122630912
+105,1.750000000,BASELINE,765,745,714,679,658,634.06726887,878,785.06726887,807,653,630,652,0.400987187728,-0.0154008834752,0.0498538547033,0.999999966521,-3.50116756574e-05,-0.000252128244028,-4.65169813356e-05,1793245376139297536
+106,1.766666667,BASELINE,765,745,714,679.520345272,658.520345272,634,878,785.520345272,807,652.479654728,630,652,0.400986314367,-0.0154014560255,0.0498526364621,0.999999966134,-3.64678446134e-05,-0.000253452455024,-4.6525887028e-05,1793245376155963904
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,786,807,653,630,652,0.400988441666,-0.0153994989034,0.0498533424919,0.999999966536,-3.43124264676e-05,-0.000252136782879,-4.66668746433e-05,1793245376198342144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.422341626,786,807,652.422341626,630,652,0.4009882178,-0.0154008318094,0.0498532313,0.999999966421,-3.63271680869e-05,-0.000252343521375,-4.64798722205e-05,1793245376215008768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.845912075,714,678.845912075,659,634,879,786,807,652.154087925,630,652,0.400988360557,-0.0154015432844,0.0498532804544,0.999999966441,-3.75732446685e-05,-0.00025209828716,-4.64000213904e-05,1793245376231675392
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.272823849,714,678.272823849,659,634,879,786,807,652.727176151,630,652,0.400989500246,-0.015400564947,0.049853765627,0.999999966833,-3.67291456956e-05,-0.000250624035841,-4.66115402015e-05,1793245376248342016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.309624168,714,678.309624168,659,634,878.690375832,786,807,652.690375832,629.690375832,652.309624168,0.40098945805,-0.015401229199,0.0498539050536,0.999999966837,-3.72434281015e-05,-0.00025054024001,-4.65753172629e-05,1793245376265008384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.900576569,714,678.900576569,659,634,878.099423431,786,807,652.099423431,629.099423431,652.900576569,0.400988341979,-0.0154033859274,0.0498537303312,0.999999966486,-3.89919521652e-05,-0.000251719828794,-4.63139931874e-05,1793245376281674752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.518470476,714,679.481529524,659,634,878,786,807,652.481529524,629,652.518470476,0.400988532328,-0.0154011598667,0.0498543392112,0.999999966539,-3.68318136778e-05,-0.000251786133906,-4.65781910885e-05,1793245376298341376
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.060178893,714,679.939821107,659,634,878,786,807,653,629.060178893,652,0.400989055866,-0.01539847537,0.049855033559,0.999999966653,-3.40618311046e-05,-0.000251669571321,-4.68537017658e-05,1793245376315008000
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.636418927,714,679.363581073,659,634,878,786,807,653,629.636418927,652,0.400990170543,-0.0153994619149,0.049855101604,0.999999966657,-3.28420835486e-05,-0.000251915925421,-4.63146599629e-05,1793245376331674624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.783571096,629.783571096,652,0.400996682383,-0.0154008943705,0.0498573399549,0.99999996776,-3.31550513465e-05,-0.000247567720522,-4.57304601755e-05,1793245376348341504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.197115745,629.197115745,652,0.401012421699,-0.0154030891955,0.0498632888573,0.999999970635,-3.60884882009e-05,-0.000235364241535,-4.50690542595e-05,1793245376365008128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.616591554,745,714,679,659,634,878,786,807,652.383408446,629,652,0.401049278036,-0.0154047084119,0.0498768045313,0.999999976773,-3.69660679717e-05,-0.000207773756638,-4.37956871333e-05,1793245376381674752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.039070154,745,714,679,659,634,878,786,807,652.960929846,629,652,0.401096825548,-0.0154060362081,0.0498941511293,0.999999983572,-3.68028036762e-05,-0.00017239309988,-4.2212494703e-05,1793245376398341376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539341398,745,714,679,659,634,878,785.460658602,807,653,629.539341398,652,0.401162196392,-0.0154113778495,0.0499118333389,0.999999988652,-3.82651408509e-05,-0.000140188572315,-3.97366419016e-05,1793245376415008000
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.883342382,714,679,658.883342382,634,878,785.116657618,807,652.883342382,630,652,0.401231365887,-0.0154168915292,0.049927845852,0.999999992171,-3.9902888372e-05,-0.000112564954299,-3.73433408783e-05,1793245376431674624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.310561204,714,679,658.310561204,634,878,785.689438796,807,652.310561204,630,652,0.401310331301,-0.015421939118,0.0499372347527,0.9999999933,-4.17652868394e-05,-0.000101951294052,-3.55260640926e-05,1793245376448341248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.271386907,714,679,658,634,878,785.728613093,807,652,629.728613093,652,0.40139637295,-0.0154272724603,0.0499436722203,0.999999994049,-4.36252828048e-05,-9.40111942872e-05,-3.4070621061e-05,1793245376465008128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.864191874,714,679,658,634,878,785.135808126,807,652,629.135808126,652,0.401490795359,-0.0154329442355,0.0499466141471,0.999999994438,-4.548243325e-05,-8.92375361394e-05,-3.30437172497e-05,1793245376481674752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.552955678,714,679,658,634,878.447044322,785,807,652,629,652,0.401602040081,-0.015438346645,0.0499473546653,0.999999994346,-4.62280380214e-05,-9.01246976629e-05,-3.23716386048e-05,1793245376498341376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.026610026,714,679,658.026610026,634,878.973389974,785.026610026,807,652.026610026,629,652,0.401719391043,-0.0154438413062,0.0499474049194,0.99999999411,-4.67208124664e-05,-9.26690916515e-05,-3.17871138367e-05,1793245376515007744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.599420737,714,679,658.599420737,634,878.400579263,785.599420737,807,652.599420737,629,652,0.401859465802,-0.0154528726331,0.0499467150018,0.99999999385,-4.8804227748e-05,-9.4699866776e-05,-3.08353485921e-05,1793245376531674368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.826722149,629.173277851,652,0.402009484623,-0.015462262964,0.049945616225,0.999999993485,-5.11180443289e-05,-9.76015900562e-05,-2.98463466711e-05,1793245376548340992
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807,652.250431371,629.749568629,652,0.402182631516,-0.0154724882723,0.0499435665158,0.999999992874,-5.39677323487e-05,-0.00010252898086,-2.87707391112e-05,1793245376565007616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.335314087,878,786,807,652.335314087,630,652,0.402378153192,-0.0154825860583,0.0499438660512,0.999999992653,-5.57767786101e-05,-0.000104123839845,-2.72073889806e-05,1793245376581674496
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.928325774,878,786,807,652.928325774,630,652,0.402590870489,-0.0154925858413,0.0499459710421,0.999999992748,-5.67860649088e-05,-0.000103157561948,-2.5269195881e-05,1793245376598341120
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.492370462,634.492370462,878.507629538,786,807.507629538,653,630,652,0.402846362287,-0.0155030750958,0.0499528581157,0.999999994323,-5.47539954123e-05,-8.85294990046e-05,-2.27829088837e-05,1793245376615008000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.084010816,634,878.915989184,785.915989184,807.915989184,653,630,651.915989184,0.403112271567,-0.0155129369967,0.0499603373531,0.999999995889,-5.11096067374e-05,-7.21684185544e-05,-2.00490840508e-05,1793245376631674624
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.654383642,634,878.345616358,785.345616358,807.345616358,653,630,651.345616358,0.403404445652,-0.0155187773987,0.0499674386473,0.99999999744,-4.05517233272e-05,-5.66480759476e-05,-1.63184307331e-05,1793245376648341248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.765289658,745,714,679,659,634,878,785.234710342,807,652.765289658,630,651.234710342,0.403718549278,-0.0155168504682,0.0499743810336,0.999999998763,-2.17874878688e-05,-4.2568556505e-05,-1.3666318307e-05,1793245376665007872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.169656554,745,714,679,659,634,878,785.830343446,807,652.169656554,630,651.830343446,0.404066374752,-0.0155029794232,0.0499810790608,0.999999999402,9.59595762041e-06,-3.07046449808e-05,-1.26727182675e-05,1793245376681674752
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.412841233,745,714,679,659,634,878,785.587158767,807,652.412841233,629.587158767,652,0.404437645047,-0.0155003218283,0.0499873633957,0.999999999326,3.09392867926e-05,-1.71779257726e-05,-9.76755292228e-06,1793245376698341376
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990107515,745,714,679,659,634,878,785.009892485,807,652.990107515,629.009892485,652,0.404818252861,-0.0155021302897,0.0499934829663,0.999999998811,4.82838706781e-05,-2.98894926804e-06,-6.10105565256e-06,1793245376715007744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.434918762,714,679.565081238,658.434918762,634,878,785.565081238,807,652.434918762,629.565081238,652,0.405210944422,-0.0155121868298,0.0499798481259,0.999999998008,5.6155923334e-05,-2.85061531474e-05,-4.27085015315e-06,1793245376731674368
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.139955536,634,878,785.860044464,807.139955536,652,629.860044464,652,0.405609841118,-0.0155194209158,0.0499638203568,0.999999996004,6.74723259486e-05,-5.85831881462e-05,-2.76666601583e-06,1793245376748340992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.714645045,634,878,785.285354955,807.714645045,652,629.285354955,652,0.406027357869,-0.0155174411042,0.0499414294823,0.99999999088,9.00006892325e-05,-0.000100673656786,-2.17572780824e-06,1793245376765007616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679.70094214,658.70094214,634,878,785.29905786,807.70094214,652,629,652,0.406487630696,-0.0155160659516,0.0499267084114,0.999999985449,0.000114309016589,-0.000126626349821,-5.26834064978e-07,1793245376781674752
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679.106939685,658.106939685,634,878,785.893060315,807.106939685,652,629,652,0.406990071579,-0.0155152871414,0.0499195516504,0.999999980807,0.000140372829036,-0.000136663232595,2.16546407924e-06,1793245376798341376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.472616559,714,679,658.472616559,634,878.472616559,785.527383441,807,652,629.472616559,652,0.407544388005,-0.0155162683402,0.0499307035109,0.999999980002,0.00016641314526,-0.000110722606146,6.58580266183e-06,1793245376815008000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.951140071,714,679,659,634,878.951140071,785.048859929,807,652,629.951140071,652,0.408114510068,-0.0155179190304,0.0499470505628,0.999999978558,0.000192337672907,-7.58650178197e-05,1.15702957835e-05,1793245376831674880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.376414454,714,679,659,634,878.376414454,785.623585546,807,652,629.376414454,652,0.408732158811,-0.0155226162522,0.049976047518,0.999999975816,0.00021707154457,-3.00539042558e-05,1.85431544325e-05,1793245376848341248
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.198975095,714,679.198975095,659.198975095,634,878.39795019,785.801024905,807.198975095,652,629.198975095,652,0.409350416968,-0.0155277019832,0.0499964375892,0.999999970791,0.000240434910842,6.92557019334e-07,2.46822081473e-05,1793245376865007872
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.775624821,714,679.775624821,659.775624821,634,879.551249643,785.224375179,807.775624821,652,629.775624821,652,0.409969831819,-0.0155335251433,0.0500004909321,0.999999965457,0.0002611969202,2.84479866503e-06,2.92386163597e-05,1793245376881674752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.638054046,659.638054046,634,879.276108093,785,807.638054046,652,630,652,0.410587000661,-0.0155335602801,0.0499818222316,0.999999957205,0.000287923903732,-4.11400023386e-05,3.15683606995e-05,1793245376898341632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.045572902,659.045572902,634,878.091145804,785,807.045572902,652,630,652,0.411202738924,-0.0155299088358,0.0499486811199,0.999999942211,0.000318450171802,-0.000114510991487,3.24798698187e-05,1793245376915008768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.469707113,679,659,633.469707113,878.530292887,785,807.530292887,652,630,652,0.41190189345,-0.0155293057765,0.0499419180378,0.999999934038,0.000343456608445,-0.000112881254802,3.49150195468e-05,1793245376931674880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.894922521,713.105077479,679,659,633.105077479,879,785,808,652,630,652,0.412622870507,-0.0155293859265,0.0499434981385,0.999999937876,0.00033680009952,-9.68260697728e-05,3.79375898716e-05,1793245376948341248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.318778247,713.681221753,679,659,633.681221753,879,785,808,652,630,652,0.413410517374,-0.0155313901665,0.0499726271994,0.999999980002,0.000190259260015,-4.41185627038e-05,4.30244131082e-05,1793245376965007872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.263015036,714,679,659.263015036,634,879,785,808,652,630,652,0.41417069118,-0.0155388015833,0.0499810729874,0.999999996565,6.86100197935e-05,-3.11369791944e-05,3.45394512461e-05,1793245376981674752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.851805364,714,679,659.851805364,634,879,785,808,652,630,652,0.414896836449,-0.0155529104295,0.0499639000945,0.999999997442,-2.22080414602e-05,-6.73606533207e-05,9.24422661532e-06,1793245376998341376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.434073794,745,714,679,659.565926206,634,879,785.434073794,808.434073794,652,630,652,0.415683885505,-0.0155573581138,0.0499441030218,0.999999995175,-1.52616446952e-05,-9.69253781922e-05,4.75221532839e-06,1793245377015008000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985990042,744.985990042,714,679,659.014009958,634,879,786,808.985990042,652,630,652,0.416492542758,-0.0155585052749,0.0499246120369,0.999999992181,2.46944340233e-05,-0.000122363461224,7.38635755549e-06,1793245377031674624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411597185,744.411597185,714,679,659.588402815,634,879,786,808.411597185,652,630,652,0.417346127549,-0.0155576130804,0.0499526689834,0.999999994839,6.97122877829e-05,-7.23276875856e-05,1.51795517648e-05,1793245377048341248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.836461487,744,714,679,659.836461487,634,879,786,808.163538513,652,630,652,0.41819566068,-0.0155561969271,0.0499734778914,0.999999993061,0.000109377903799,-3.81615226753e-05,2.14256437514e-05,1793245377065007872
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.259447695,744,714,679,659.259447695,634,879,786,808.740552305,652,630,652,0.419034949929,-0.0155534560465,0.0499759615442,0.999999989563,0.000135511427096,-4.41185762043e-05,2.37601887729e-05,1793245377081674752
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.650537501,744,714,679.32526875,659.32526875,634,879.32526875,786,809,652,630,652,0.419879331749,-0.0155536844994,0.0499679358273,0.999999987147,0.000149070207211,-5.40382781312e-05,2.3750550092e-05,1793245377098341632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.832556286,744,714,679.916278143,659.916278143,634,879.916278143,786,809,652,630,652,0.420727874098,-0.0155563388623,0.0499513240822,0.999999985898,0.0001523555727,-6.71954156835e-05,2.18257415171e-05,1793245377115008768
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504544347,744.495455653,714,680,660,633.504544347,880,785.504544347,809,652,630,652,0.421675731471,-0.0155596648244,0.0499727918035,0.999999988088,0.000150781905835,-2.23316279707e-05,2.42751216919e-05,1793245377131675392
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072404384,745,714,679.927595616,660,633.072404384,880,785.072404384,809,652,630,652,0.422628992781,-0.0155624025998,0.0499953001289,0.99999998864,0.000146748178302,2.14004637964e-05,2.69774591026e-05,1793245377148341504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.6474364,745,714,679.3525636,660,633.6474364,880,785.6474364,809,652,630,652,0.423505983509,-0.0155602877676,0.0499814050952,0.999999991001,0.000131203768203,-9.19749416226e-06,2.64243587696e-05,1793245377165008128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77153439,745,714,679.22846561,660,634,880,786,809,652,630.22846561,652.22846561,0.424395831179,-0.0155603260917,0.0499749369029,0.999999991332,0.00012703060592,-2.21154558567e-05,2.66500248713e-05,1793245377181674752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.181000852,745,714,679.818999148,660,634,880,786,809,652,630.818999148,652.818999148,0.425306054421,-0.0155637766967,0.0499802386244,0.999999989657,0.000140878377306,-7.01450258333e-06,2.81098650611e-05,1793245377198341376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,809,652,631,652.598482774,0.426234402554,-0.0155657214312,0.0499940785358,0.999999987253,0.000156609182909,6.40050271861e-06,3.04242470025e-05,1793245377215008000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786,809,652,631,652.019507317,0.427170761277,-0.0155670006172,0.0500116920635,0.999999984276,0.000173172230692,1.90703701032e-05,3.31163099488e-05,1793245377231674368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554749568,744.445250432,714,680,660.554749568,634,879.445250432,786,809.554749568,652,631,652.554749568,0.428045434645,-0.0155614105838,0.0499694238338,0.999999980816,0.000184554117894,-5.85166819349e-05,2.97298585119e-05,1793245377248341248
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.132149117,714,680,660.867850883,634,879.132149117,786.132149117,809.867850883,652,631,653,0.428933956885,-0.0155572753307,0.0499379887272,0.999999976178,0.000184995206784,-0.000112605722764,2.72235016995e-05,1793245377265008384
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.72097758,714,680,660.27902242,634,879.72097758,786.72097758,809.27902242,652,631,653,0.429877770633,-0.0155589951975,0.0499512060574,0.999999985821,0.000148251522024,-7.46150987114e-05,2.84909971824e-05,1793245377281674752
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.695443596,880,786.695443596,809.304556404,652,631,653,0.430791930832,-0.0155587498808,0.0499529824444,0.999999987071,0.000142101876059,-6.94426113015e-05,2.90251557751e-05,1793245377298341376
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.116592816,880,786.116592816,809.883407184,652,631,653,0.431679383935,-0.0155567346493,0.0499444547084,0.999999981813,0.000163506316295,-9.38273120415e-05,2.88988449337e-05,1793245377315008000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.539772701,745,713.539772701,680,660,633.460227299,880,786,810,652,630.539772701,652.539772701,0.432584464462,-0.0155535749279,0.049940673575,0.999999978589,0.000183309691807,-9.17699377057e-05,2.82434298729e-05,1793245377331674624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.036480183,680,660,633.963519817,880,786,810,652,630,652,0.43349547723,-0.0155505021891,0.0499400915581,0.999999975928,0.000201958961597,-8.11522202245e-05,2.77592988352e-05,1793245377348340992
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.611919162,680,660,633.388080838,880,786,810,652,630,652,0.434428445706,-0.0155529793274,0.0499690857454,0.999999976638,0.000209523593633,-4.25968181708e-05,3.17773594874e-05,1793245377365007616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.192095673,744.807904327,714,680,660,633,880,786,810,652,630.192095673,652,0.435318441159,-0.0155529893289,0.0499823785811,0.999999977553,0.000206312824592,-3.38938756726e-05,3.43567679443e-05,1793245377381674496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.782085296,744.217914704,714,680,660,633,880,786,810,652,630.782085296,652,0.436119425377,-0.015547889071,0.0499631487072,0.999999979296,0.000180782622018,-8.70252862707e-05,3.39562505608e-05,1793245377398341120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634744106,744.365255894,714,680.365255894,660.365255894,633.365255894,880,786,810,652,631,652.365255894,0.436959902378,-0.015547207357,0.049955174932,0.99999997827,0.000181761075436,-9.6376862917e-05,3.36692658058e-05,1793245377415008000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05556727,744.94443273,714,680.94443273,660.94443273,633.94443273,880,786,810,652,631,652.94443273,0.437823509234,-0.0155491134703,0.0499537935642,0.999999976579,0.000198264965618,-8.00877186066e-05,3.34487742352e-05,1793245377431674624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.480541612,660.480541612,633.480541612,880,786,810,652.519458388,631,652.480541612,0.438670723631,-0.0155498002931,0.049968400535,0.999999976903,0.000205316151182,-5.39411875103e-05,3.36107785475e-05,1793245377448341248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.094113461,745,714,680,660,633,880,786,810,652.905886539,631,652,0.439506397971,-0.0155502615764,0.0499787694328,0.999999977119,0.000208266774327,-3.55613148226e-05,3.34879056059e-05,1793245377465008128
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.669125961,745,714,680,660,633,880,786,810,652.330874039,631,652,0.440291994237,-0.0155502315847,0.049958812753,0.999999978474,0.000195390323327,-6.22126967785e-05,3.17019576631e-05,1793245377481674752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748808368,744.748808368,714,680.251191632,659.748808368,633,880,786,810.251191632,652.251191632,631,652.251191632,0.441066426499,-0.0155530373454,0.0499517626393,0.999999980533,0.000181547820123,-7.05710829633e-05,3.1539963044e-05,1793245377498341376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.157183777,744.157183777,714,680.842816223,659.157183777,633,880,786,810.842816223,652.842816223,631,652.842816223,0.441825728436,-0.0155596863216,0.0499622044334,0.999999984127,0.000166396054683,-5.41374840685e-05,3.35788668784e-05,1793245377515008256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.425067836,713.574932164,680.574932164,659.850135672,633.425067836,880.425067836,786,810.574932164,652.574932164,631,652.574932164,0.442554931039,-0.0155629192989,0.0499691660445,0.999999984264,0.000168461137038,-4.34652292106e-05,3.46814241653e-05,1793245377531675136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.003898742,680.003898742,660.992202516,633.992202516,880.996101258,785.996101258,810,652,631,652,0.443272406593,-0.0155649177041,0.0499744477231,0.999999983124,0.000176717341302,-3.56052425957e-05,3.54179110941e-05,1793245377548341760
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.153170946,745,714,681,659,632.153170946,880,785,810,652.153170946,631,652.153170946,0.444471655127,-0.015570798901,0.0498673091,0.99999995987,0.000180335477986,-0.000216537829196,2.91587509458e-05,1793245377581675008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.72864855,745,714,681,659,632.72864855,880,785,810,652.72864855,631,652.72864855,0.44510152519,-0.0155785800046,0.0498315417668,0.999999951903,0.000176429898839,-0.000253662720732,2.68665032695e-05,1793245377598341632
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687450033,745,714,681,659,632.687450033,880,785,810,652.687450033,630.687450033,652.687450033,0.445720798753,-0.0155893394625,0.0498188213754,0.999999951229,0.000171582682208,-0.000259550907448,2.71005490625e-05,1793245377615008000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.096032644,745,714,681,659,632.096032644,880,785,810,652.096032644,630.096032644,652.096032644,0.446330617728,-0.0156027563063,0.04982666423,0.999999957582,0.000165895305788,-0.000237568670628,2.95886376173e-05,1793245377631674368
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765.213530554,744,714.213530554,681,659,631,880.213530554,784,810.213530554,652,630,653,0.44833272988,-0.0156192660785,0.0497280766705,0.999999907303,0.00016914626227,-0.000395026152514,2.71694507272e-05,1793245377698341888
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.801198532,744,714.801198532,681,659,631,880.801198532,784,810.801198532,652,630,653,0.44880174826,-0.0156260934821,0.0497249537721,0.999999904753,0.000165832272939,-0.000402720041618,2.84771094678e-05,1793245377715008512
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,682.048045907,658,628.048045907,880,781.951954093,810,652,627.048045907,652.951954093,0.453820997206,-0.0157544211234,0.0496952072137,0.999999890927,-5.94653271426e-05,-0.000461951078001,3.47974979346e-05,1793245378181674496
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,682.62084173,658,628.62084173,880,781.37915827,810,652,627.62084173,652.37915827,0.45382735501,-0.0157537903189,0.0496947382179,0.999999890798,-6.12979490449e-05,-0.000461988507045,3.48239162162e-05,1793245378198341120
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.199297584,745,715,682.800702416,658,629,880,781.199297584,810.199297584,652.199297584,627.800702416,652.199297584,0.453832283903,-0.0157521809219,0.0496939336384,0.999999890398,-6.1306825584e-05,-0.000462875718091,3.45164497727e-05,1793245378215007744
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.788836206,745,715,682.211163794,658,629,880,781.788836206,810.788836206,652.788836206,627.211163794,652.788836206,0.453834414872,-0.0157486553604,0.0496924719586,0.999999889459,-5.77446587884e-05,-0.00046542687209,3.35552096105e-05,1793245378231674368
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.627961363,745,715,682,658,628.627961363,880,782,811,653,627,653,0.453836277078,-0.0157484990876,0.0496919886784,0.999999888873,-5.92865562965e-05,-0.000466504200084,3.33668999989e-05,1793245378248341248
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048295059,745,715,682,658,628.048295059,880,782,811,653,627,653,0.453837989292,-0.0157502231508,0.0496920514244,0.999999888476,-6.36769348472e-05,-0.000466759013811,3.36099482151e-05,1793245378265008128
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.528311552,880.528311552,782,811,652.471688448,627.528311552,653,0.453838540396,-0.0157504619413,0.0496917330854,0.999999888365,-6.34324490384e-05,-0.000467035156937,3.35439645245e-05,1793245378281674496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.104093647,715,682,658,629,880.895906353,782,811,652.104093647,627.895906353,653,0.453839112198,-0.0157499439987,0.0496912926825,0.999999888312,-6.20702979828e-05,-0.000467343215016,3.33839993203e-05,1793245378298341120
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.677412426,715,682,658,629,880.322587574,782,811,652.677412426,627.322587574,653,0.453840253006,-0.015746623424,0.0496904581785,0.999999888389,-5.75689091597e-05,-0.000467786398142,3.29270008191e-05,1793245378315007744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.741049324,715,682.258950676,658,628.741049324,880,781.741049324,811,652.741049324,627.258950676,653,0.45384124372,-0.0157454568913,0.0496903749045,0.999999888473,-5.61481361324e-05,-0.000467789903258,3.27766462441e-05,1793245378331674368
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.148935926,715,682.851064074,658,628.148935926,880,781.148935926,811,652.148935926,627.851064074,653,0.453842041324,-0.0157470617217,0.0496912581536,0.999999888582,-5.86908444874e-05,-0.000467227724178,3.30208158717e-05,1793245378348341248
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.432656339,745,715,682.567343661,658,628.432656339,880,781.432656339,811,652.432656339,628,653,0.453841733535,-0.0157460066708,0.0496905424446,0.999999888131,-5.95225413485e-05,-0.000468105264045,3.27482142335e-05,1793245378365007872
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.989372404,653,628,653,0.453841041821,-0.015744108485,0.0496892909002,0.999999887489,-5.97683176395e-05,-0.000469474651076,3.23138780557e-05,1793245378381674752
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,629,880,782,810.415913331,653,628,653,0.453839691138,-0.015744898255,0.0496881196719,0.999999886658,-5.94362297074e-05,-0.000471268230303,3.25115371549e-05,1793245378398341376
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.838440728,745,715,682,658,628.838440728,880.161559272,782,810,652.838440728,628,653,0.453839048311,-0.0157452438025,0.0496873327502,0.999999886166,-5.91935998255e-05,-0.000472336272808,3.25964766328e-05,1793245378415008000
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.250372635,745,715,682,658,628.250372635,880.749627365,782,810,652.250372635,628,653,0.453840274192,-0.0157444166237,0.0496875603799,0.999999886573,-5.9187134978e-05,-0.000471488932641,3.238384164e-05,1793245378431675136
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.333505195,745,715,682,658,628,880.666494805,782,810,652,627.666494805,652.666494805,0.453841476872,-0.0157437254446,0.0496881674471,0.999999886808,-5.93373813619e-05,-0.000470976998125,3.23040171507e-05,1793245378448341760
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.914276274,745,715,682,658,628,880.085723726,782,810,652,627.085723726,652.085723726,0.453842662351,-0.0157431350979,0.0496890558351,0.999999886916,-5.96038158646e-05,-0.000470713738561,3.23226604221e-05,1793245378465008128
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.506816033,745,715,682,658.493183967,628.493183967,880.493183967,782,810,652.493183967,627.493183967,652.493183967,0.453842046881,-0.0157430157004,0.0496892457898,0.999999887044,-5.81131334643e-05,-0.000470628048712,3.23254449277e-05,1793245378481674496
+245,4.083333333,HOLD_POSE2,765,745,714,682,658,629,880,782,810,652,627,652,0.453844470385,-0.0157435645873,0.049689743182,0.999999887661,-5.94856373843e-05,-0.000469165540769,3.19845539131e-05,1793245378525191168
+246,4.100000000,HOLD_POSE2,765,745,714.586890512,682,658,629,880.586890512,782,810,652,627,652.586890512,0.453844880757,-0.0157425573655,0.0496902177783,0.999999888146,-5.64652925824e-05,-0.000468475014859,3.24127379256e-05,1793245378541857280
+247,4.116666667,HOLD_POSE2,765.171401768,745,715,682.171401768,658,628.828598232,880.828598232,782,810,652.171401768,627,653,0.453845253279,-0.01574254949,0.0496903524134,0.999999888326,-5.59103522103e-05,-0.000468130681622,3.28085781968e-05,1793245378558523648
+248,4.133333333,HOLD_POSE2,765.750257212,745,715,682.750257212,658,628.249742788,880.249742788,782,810,652.750257212,627,653,0.453845535824,-0.015744917245,0.0496896788981,0.99999988778,-6.12161331469e-05,-0.000468609312204,3.31275315046e-05,1793245378575190784
+249,4.150000000,HOLD_POSE2,766,745,715,682.672049743,658,628,880,781.672049743,810,653,627,653,0.453845078733,-0.015744887116,0.0496891961241,0.999999887346,-6.27188684003e-05,-0.000469361593682,3.27836943472e-05,1793245378591857664
+250,4.166666667,HOLD_POSE2,766,745,715,682.095238804,658,628,880,781.095238804,810,653,627,653,0.453844060381,-0.0157430373846,0.0496888580918,0.999999887008,-6.13357127865e-05,-0.000470321531473,3.19369074567e-05,1793245378608524032
+251,4.183333333,HOLD_POSE2,766,745,715,682,658,628,880.480026076,781,810,652.519973924,627,653,0.453843995838,-0.0157438088895,0.0496894391168,0.999999886992,-6.03706356709e-05,-0.000470457884839,3.22685371322e-05,1793245378625190400
+252,4.200000000,HOLD_POSE2,766,745,715,682.056399547,658,628,880.943600453,781.056399547,810,652.056399547,627.056399547,653,0.453844003698,-0.0157448773206,0.0496899384528,0.999999886958,-5.97850675173e-05,-0.000470572794729,3.27229121072e-05,1793245378641857024
+253,4.216666667,HOLD_POSE2,766,745,715,682.646148008,658,628,880.353851992,781.646148008,810,652.646148008,627.646148008,653,0.45384291242,-0.0157438514287,0.049687946466,0.999999886157,-6.20064792379e-05,-0.000472025190644,3.21341660553e-05,1793245378658523648
+254,4.233333333,HOLD_POSE2,765.768248249,745,715,682.768248249,657.768248249,628,880.231751751,782,810,653,627.768248249,652.768248249,0.453842816684,-0.0157429460597,0.0496872935318,0.999999886056,-6.27186799559e-05,-0.000472164514691,3.18552871426e-05,1793245378675190016
+255,4.250000000,HOLD_POSE2,765.188861763,745,715,682.188861763,657.188861763,628,880.811138237,782,810,653,627.188861763,652.188861763,0.453844214294,-0.0157422214789,0.0496886492181,0.999999887009,-6.11670176752e-05,-0.000470334190527,3.20412184975e-05,1793245378691856896
+256,4.266666667,HOLD_POSE2,765,745,714.612116986,682,657.387883014,628,880.612116986,782,810,653,627,652.387883014,0.453843902747,-0.0157425640569,0.049688379252,0.999999886596,-6.0311637833e-05,-0.000471304140646,3.22879170658e-05,1793245378708523520
+257,4.283333333,HOLD_POSE2,765,745,714.036649714,682,657.963350286,628,880.036649714,782,810,653,627,652.963350286,0.453842764635,-0.0157434227239,0.0496873231036,0.99999988552,-5.97929872764e-05,-0.000473628332347,3.25640033065e-05,1793245378725190400
+258,4.300000000,HOLD_POSE2,765,745,714.549951203,682,658,628,880,782,810,652.450048797,627,653,0.453843600475,-0.0157411528214,0.0496883867544,0.999999886301,-5.8293533332e-05,-0.000472204866548,3.19616671074e-05,1793245378741856768
+259,4.316666667,HOLD_POSE2,765,745,714.864572081,682,658,628,880,782,810,652,627,653,0.453844372297,-0.0157392632196,0.0496892359839,0.999999886966,-5.68918827052e-05,-0.000470998035902,3.14886114145e-05,1793245378758523648
+260,4.333333333,HOLD_POSE2,765,745,714.285262061,682,658,628,880,782,810,652,627,653,0.453844494222,-0.015739317584,0.0496889098321,0.999999886851,-5.6029454848e-05,-0.000471336757202,3.16351243585e-05,1793245378775190272
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628,880,782,811,653,627,653,0.453843391962,-0.0157410376864,0.0496880914748,0.999999885978,-6.0372629474e-05,-0.000472606378779,3.2272469734e-05,1793245378812260096
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.43884729,745,714.43884729,682,658,628.56115271,880,781.43884729,810.43884729,652.43884729,627,653,0.453844031911,-0.0157401743671,0.0496883917657,0.999999885821,-6.06079339577e-05,-0.000472946790698,3.17177746718e-05,1793245378828926464
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.131716742,745,714.131716742,682,658,628.868283258,880,781.131716742,810,652.131716742,627,653,0.453844609879,-0.0157394581097,0.0496885021607,0.999999885746,-6.03770390831e-05,-0.000473161664566,3.13223311086e-05,1793245378845592832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.736049956,745,714.736049956,682,658,628.263950044,880,781.736049956,810,652.736049956,627,653,0.453844965448,-0.0157392695288,0.0496879311852,0.999999885965,-5.84733615071e-05,-0.000472926091988,3.14983020852e-05,1793245378862259456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.325606217,658,628,880.325606217,782,810,653,627,653,0.453845821483,-0.0157388654121,0.0496880472612,0.999999886333,-5.84075223867e-05,-0.000472161653178,3.13972491076e-05,1793245378878926080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.903703658,658,628,880.903703658,782,810,653,627,653,0.453847065604,-0.0157382941582,0.0496886961111,0.999999886817,-5.97668345537e-05,-0.000470987105249,3.10813779931e-05,1793245378895592704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.518059534,745,715,682.518059534,658,628.481940466,880.518059534,782,810,652.518059534,627.481940466,653,0.453845147113,-0.0157400491958,0.0496878369405,0.999999886072,-6.04290122853e-05,-0.000472447639597,3.15778838946e-05,1793245378912259584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.059803796,745,715,682,658,628.940196204,880,782,810,652,628,653,0.453842719001,-0.0157418874553,0.049686736439,0.999999885189,-6.06171184561e-05,-0.000474251541834,3.21354439127e-05,1793245378928926208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.634213722,745,715,682,658,628.365786278,880,782,810,652,628,653,0.453841344851,-0.0157404409818,0.0496861528621,0.999999885251,-5.79248428673e-05,-0.000474478171475,3.18212099662e-05,1793245378945592832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.785681566,745,715,682.214318434,658,628,880,782,810.214318434,652,627.785681566,653,0.453835356877,-0.0157390931155,0.0496832943123,0.999999883152,-5.72033677637e-05,-0.00047900258986,3.13001916201e-05,1793245378962259456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.195592074,745,715,682.804407926,658,628,880,782,810.804407926,652,627.195592074,653,0.453821279347,-0.0157379181406,0.0496764469829,0.99999987717,-5.99373576417e-05,-0.000491062452489,3.04166118985e-05,1793245378978926080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.227590556,658,628,880,782,811,652,627,653,0.453792178416,-0.015736148375,0.049662792962,0.999999866114,-5.98582916703e-05,-0.000513168905429,2.91022188733e-05,1793245378995592960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.072219907,658,628,880,782,811,652,627,653,0.45375562887,-0.0157340837115,0.0496457641776,0.999999851977,-5.83845106295e-05,-0.000540256466462,2.75742281809e-05,1793245379012259584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.540579139,745,715,682.081158278,658,628,880.540579139,781.459420861,810.459420861,652.540579139,627,652.459420861,0.453694686398,-0.015729569466,0.0496245119454,0.999999831948,-5.70367013746e-05,-0.000576390475818,2.49962454771e-05,1793245379028926464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.880635968,745,715,682.880635968,658,628,880.880635968,781.119364032,810,652.880635968,627,652,0.453630781831,-0.0157250196642,0.0496046770732,0.999999813281,-5.56140232007e-05,-0.000608139336888,2.26310479089e-05,1793245379045593088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.29337517,745,715,682.29337517,658,628,880.29337517,781.70662483,810,652.29337517,627,652,0.453561641498,-0.0157209707148,0.0495915019781,0.999999805913,-5.38649407437e-05,-0.000620334396705,2.13743785162e-05,1793245379062259456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880,782,810,652.289611493,627,652.289611493,0.453484497295,-0.0157167231185,0.0495820093593,0.999999799011,-5.20143880218e-05,-0.000631553474252,2.02976335745e-05,1793245379078926080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880,782,810,652.86833141,627,652.86833141,0.453399363128,-0.0157122772206,0.049576192821,0.999999792606,-5.00625414008e-05,-0.000641798264149,1.94005006221e-05,1793245379095592960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628,880.446051559,782,809.553948441,652.553948441,627,653,0.453296047972,-0.0157065208872,0.0495754269801,0.999999791465,-4.78684533877e-05,-0.00064375310361,1.89715820733e-05,1793245379112259328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.023376927,880.976623073,782,809.023376927,652,627,653,0.453186580662,-0.0157002537454,0.0495763617481,0.999999792055,-4.55332941546e-05,-0.000643015593042,1.86611967147e-05,1793245379128925952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,628.598335412,880.401664588,782,809.598335412,652,627,653,0.453058299381,-0.0156910407462,0.0495823233003,0.999999796498,-4.15529723637e-05,-0.000636361897048,1.78938092127e-05,1793245379145592576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.177670548,628.822329452,880,782,810,652.177670548,627.177670548,653,0.452918928665,-0.0156813939918,0.0495870388341,0.99999979934,-3.65188553327e-05,-0.000632212055082,1.71742717663e-05,1793245379162259456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.767149905,628.232850095,880,782,810,652.767149905,627.767149905,653,0.45275385462,-0.0156707418706,0.0495888663174,0.999999798548,-2.90422284573e-05,-0.000633865703495,1.65656423671e-05,1793245379178926336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.350478973,745,714.649521027,681.649521027,658.649521027,628,880,782,810,652.649521027,628,653,0.452572014184,-0.0156604413087,0.0495912090167,0.999999798237,-2.40614725019e-05,-0.00063458118074,1.59312570131e-05,1793245379195592960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.929792456,745,714.070207544,681.070207544,658.070207544,628,880,782,810,652.070207544,628,653,0.45237922663,-0.0156503702854,0.0495938881106,0.999999798257,-2.07103182729e-05,-0.000634684108031,1.52800550374e-05,1793245379212259584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.494608388,745,714.505391612,681.505391612,658,628.505391612,880.505391612,782,810,652,628,653,0.452150899228,-0.0156380782113,0.0495937766045,0.999999794429,-1.6615822912e-05,-0.000640835922025,1.39492872081e-05,1793245379228926208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880.919642828,782.080357172,810,652,628,653,0.451912610113,-0.0156256363835,0.0495934185397,0.999999790437,-1.26131339966e-05,-0.00064715359974,1.25742086389e-05,1793245379245592832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880.345422992,782.654577008,810,652,628,653,0.451643218997,-0.0156141566032,0.0495939102924,0.999999789049,-9.80467834151e-06,-0.000649364015657,1.15027577741e-05,1793245379262259456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782.764002929,810,652.235997071,628.235997071,653,0.451355257069,-0.015603035367,0.0495920708264,0.99999978678,-9.1553324777e-06,-0.000652889759679,9.5152811896e-06,1793245379278926336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,629,880,782.171712455,810,652.828287545,628.828287545,653,0.451039258122,-0.0155924554387,0.0495867118345,0.999999783166,-1.17656737462e-05,-0.000658401302467,6.14484716086e-06,1793245379295592960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.410587545,745,715,682,658,629,880.410587545,782,810,652.589412455,628.589412455,653,0.4507148531,-0.0155868010895,0.0495890869487,0.999999792396,-1.81500837788e-05,-0.000644101717077,3.40427046374e-06,1793245379312259584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.988808646,745,715,682,658,629,880.988808646,782,810,652.011191354,628.011191354,653,0.450387016075,-0.0155831577423,0.0495946197226,0.999999806396,-2.60753601796e-05,-0.000621713698188,9.20850270856e-07,1793245379328926208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.561219973,881,782.561219973,810,652,628,653,0.450029071637,-0.0155826061414,0.0496106824492,0.999999823702,-3.74812198385e-05,-0.000592612757452,5.03301228726e-07,1793245379345592832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.862101729,880.862101729,783,810,652.137898271,628.137898271,653,0.449654152767,-0.0155792910786,0.0496252062965,0.999999838088,-4.64875962652e-05,-0.000567152412214,-3.75306786674e-07,1793245379362259712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,629.271024028,880.271024028,783,810,652.728975972,628.728975972,653,0.449225403171,-0.0155666938289,0.0496339898833,0.999999845364,-4.73827167526e-05,-0.000554091689385,-2.90310320011e-06,1793245379378926336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.68693152,745,714.68693152,682,658,629.31306848,880,783,810,652.68693152,629,653,0.448769236928,-0.0155540250677,0.049636469285,0.999999846904,-4.96501917187e-05,-0.000551080691357,-6.05951509069e-06,1793245379395592960
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,630.04173166,880,783.04173166,810,652.04173166,629.04173166,652.95826834,0.447249779545,-0.0155251325693,0.049620250243,0.999999835467,-7.08522371881e-05,-0.00056898037223,-1.75214537287e-05,1793245379445592832
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.200310255,745,714,681.799689745,659,631,879.799689745,784,809.799689745,652.799689745,630,652.200310255,0.446126422808,-0.0155031734818,0.0496182737597,0.999999833224,-8.97146760973e-05,-0.000569995813418,-2.46698965274e-05,1793245379478926080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.791327011,745,714,681.208672989,659,631,879.208672989,784,809.208672989,652.208672989,630,652.791327011,0.445543026875,-0.0154934729961,0.04963566124,0.9999998478,-9.82979555284e-05,-0.00054221458823,-2.72362287176e-05,1793245379495592704
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.047189378,745,714,681.952810622,659,631,880.905621243,784.952810622,809.952810622,652,630,653,0.444352592657,-0.0154815683872,0.0497164393736,0.999999896959,-0.000125032322927,-0.000435610225394,-2.63134470881e-05,1793245379528926208
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,785,809,652,630,652.776081205,0.431526835424,-0.0154087735957,0.0498115767385,0.99999995469,1.47429754569e-05,-0.000300097804623,-1.85388588335e-05,1793245379795593216
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.602503192,714,680,658.602503192,633.397496808,880,785.397496808,809,652,630,652,0.429668369987,-0.0154038709633,0.0497819900734,0.999999942092,-1.05062558875e-05,-0.000338658508952,-3.18669004704e-05,1793245379828926208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.023942886,714,680,658.023942886,633.976057114,880,785.976057114,809,652,630,652,0.428691215736,-0.0154063224099,0.0497515519484,0.999999924005,-2.43398564366e-06,-0.000387843570429,-3.95152064009e-05,1793245379845593088
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.999457354,744,714,680,658.999457354,633.000542646,879,786,808,652,629,652,0.412438783249,-0.0154067298103,0.0497621908861,0.999999923937,-9.15670734585e-05,-0.000375652855694,-5.12411647293e-05,1793245380162259712
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.426091783,744,714,680,658.426091783,633.573908217,879,785.426091783,808,652,629,652,0.411748733394,-0.0154086881644,0.0497883965025,0.999999935052,-9.58857249136e-05,-0.000343983561695,-4.87487684265e-05,1793245380178926336
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.15203689,714,679.84796311,658,634,878.84796311,785.15203689,808,652,629,652,0.411067409074,-0.0154096618387,0.0498092159651,0.99999994336,-9.77354208527e-05,-0.000318668702329,-4.66683577094e-05,1793245380195593216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.740740658,714,679.259259342,658,634,878.259259342,785.740740658,808,652,629,652,0.410410916961,-0.0154077888995,0.0498144273613,0.999999946067,-9.24732815888e-05,-0.0003117974136,-4.5785987767e-05,1793245380212259840
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.323753893,658,634,878,786,808,652.323753893,629,652,0.409765938686,-0.0154058858972,0.0498046924711,0.999999941459,-9.15587780617e-05,-0.000326356216494,-4.68066018688e-05,1793245380228926208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.902288874,658,634,878,786,808,652.902288874,629,652,0.409130021371,-0.0154039592366,0.0497831954635,0.999999930356,-9.40656865091e-05,-0.000357779626263,-4.93247866962e-05,1793245380245592832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.520910258,714,680,658.479089742,634,878.479089742,785.520910258,808,653,629,652,0.408559931368,-0.0154066921157,0.0497945938999,0.999999937042,-0.0001010227216,-0.000336770309402,-4.79257822302e-05,1793245380262259712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.944509775,634,878.944509775,785.055490225,808,653,629,652,0.408004884641,-0.015410444092,0.0498121912539,0.999999945885,-0.000109168010746,-0.000306935676354,-4.58466424969e-05,1793245380278926592
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.368559317,634,878.368559317,785.631440683,808,653,629,652,0.407465464851,-0.0154148732919,0.0498252305936,0.999999948501,-0.000119976246637,-0.000294263833056,-4.48545699264e-05,1793245380295593216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,713.787645389,680,658,634,878.212354611,785.787645389,807.787645389,652.787645389,629,652,0.406933720467,-0.0154161615472,0.0498264727917,0.999999946116,-0.000127891696942,-0.000298937545678,-4.52460056989e-05,1793245380312259840
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,713.197910832,680,658,634,878.802089168,785.197910832,807.197910832,652.197910832,629,652,0.40641561627,-0.0154118679618,0.0498067500343,0.999999934383,-0.000130666314559,-0.000334436419997,-4.80961039883e-05,1793245380328926464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.385050184,713.385050184,680,658.385050184,634,879,785.385050184,807.385050184,652,629.385050184,652,0.405923385025,-0.0154113476074,0.0497874458164,0.999999922964,-0.000136949048268,-0.000364336480474,-5.07495338731e-05,1793245380345593088
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.964589925,713.964589925,680,658.964589925,634,879,785.964589925,807.964589925,652,629.964589925,652,0.405444222209,-0.0154127331185,0.0497683530017,0.999999911466,-0.000145003738099,-0.000391408572867,-5.3303626429e-05,1793245380362259712
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.540058932,744.459941068,714,679.459941068,658.459941068,634,878.459941068,785.459941068,807.459941068,652,630,652,0.405031122182,-0.0154111405762,0.0497727207895,0.99999991185,-0.000148822534272,-0.000388963592533,-5.34670822915e-05,1793245380378926336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.882461211,744.117538789,714,679.117538789,658.117538789,634,878,785.117538789,807.117538789,652,630,652,0.40463659299,-0.0154111434458,0.0497813800954,0.999999915245,-0.000154235657832,-0.000378013623127,-5.31732508928e-05,1793245380395593216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.295900082,744.704099918,714,679.704099918,658.704099918,634,878,785.704099918,807.704099918,652,630,652,0.404299012917,-0.0154182859243,0.0498010718904,0.999999926633,-0.000167110698512,-0.00034079062763,-5.16754756765e-05,1793245380412260352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.71285129,634,878,786,807.71285129,652,630,652,0.403974636949,-0.0154244259011,0.0498228660149,0.999999935749,-0.000179090647518,-0.000306505027784,-4.98224649827e-05,1793245380428927488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.133378178,634,878,786,807.133378178,652,630,652,0.403663703104,-0.0154295453064,0.0498468003609,0.999999942916,-0.000190159370615,-0.00027520977084,-4.76078160038e-05,1793245380445593600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.555449887,714,680,658.444550113,634,878.444550113,786,807.444550113,652.444550113,629.555449887,652,0.403366931329,-0.015430572677,0.0498512119,0.999999942179,-0.000196149701259,-0.0002736138269,-4.79917220379e-05,1793245380462260224
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,713.978170995,679.978170995,659,634,878.978170995,785.978170995,808,652.978170995,629,652,0.403075229942,-0.0154303124155,0.0498493928551,0.999999939577,-0.000197917566457,-0.000281525378687,-4.91830087507e-05,1793245380478926592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,713.405622568,679.405622568,659,634,878.405622568,785.405622568,808,652.405622568,629,652,0.402804621304,-0.01542843367,0.0498376475664,0.999999943455,-0.000131464912379,-0.000305272572032,-5.11421904389e-05,1793245380495593216
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.172688203,713.172688203,679,658.827311797,634,878,785,807.827311797,652,629.172688203,652,0.402545614391,-0.0154273237451,0.0498258163336,0.999999941225,-8.73940034828e-05,-0.000327247181029,-5.31133914978e-05,1793245380512260096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.76500113,713.76500113,679,658.23499887,634,878,785,807.23499887,652,629.76500113,652,0.402314799199,-0.0154280820208,0.049813776262,0.999999934225,-9.77097603444e-05,-0.000344914487775,-5.51137993276e-05,1793245380528926720
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878,785.349212092,807.349212092,652,630,652,0.402112121119,-0.0154289766852,0.0498065413167,0.999999929793,-0.000103490338155,-0.000355793054338,-5.58089831095e-05,1793245380545593344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878,785.928094597,807.928094597,652,630,652,0.401927948282,-0.0154299610501,0.0498024666139,0.999999927206,-0.000106288212586,-0.0003622067923,-5.56457450847e-05,1793245380562259968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.505741448,634,878,786,807.494258552,652.505741448,629.494258552,652,0.401789144745,-0.0154268212654,0.049808169982,0.999999936703,-5.9602713964e-05,-0.000348016516947,-4.38883866965e-05,1793245380578926848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.08275778,659,634,878,786,807,652.91724222,629.08275778,652,0.4016593495,-0.0154223974164,0.0498147158413,0.999999944159,-1.19017873117e-05,-0.000332400682281,-3.23998651288e-05,1793245380595593472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.657070239,659,634,878,786,807,652.342929761,629.657070239,652,0.401544839897,-0.015413820961,0.0498180284454,0.999999946447,1.43973742401e-07,-0.000325675014262,-3.22754309801e-05,1793245380612260352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.762254182,714,679.762254182,659,634,878,785.762254182,807.237745818,652,629.762254182,652,0.401442023887,-0.0154116897346,0.0498218061408,0.999999949085,2.8420672374e-06,-0.00031748583807,-3.19970329282e-05,1793245380628926976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.172147928,714,679.172147928,659,634,878,785.172147928,807.827852072,652,629.172147928,652,0.401356538829,-0.015419110911,0.0498262731424,0.999999952306,-8.31391430524e-06,-0.000307127613088,-3.14904466944e-05,1793245380645593600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.409365633,714,679,658.590634367,634,878,785.409365633,807.590634367,652.409365633,629,652,0.401285001618,-0.0154248335105,0.0498304989996,0.999999954505,-1.98165818378e-05,-0.000299336790542,-3.15475672355e-05,1793245380662259968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.987340037,714,679,658.012659963,634,878,785.987340037,807.012659963,652.987340037,629,652,0.401219209224,-0.0154298565029,0.0498346255347,0.99999995619,-3.14620414855e-05,-0.000292603425258,-3.18368663046e-05,1793245380678926336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.5587949,786,807,653,629.5587949,652,0.40116652656,-0.0154341323337,0.0498340211597,0.999999955661,-4.066677892e-05,-0.000293209672122,-3.24521633831e-05,1793245380695592960
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.135028232,633.864971768,878.864971768,786,807.135028232,652.864971768,629.864971768,652,0.401117892874,-0.0154374532233,0.049833560936,0.999999955284,-4.78806316957e-05,-0.000293344369432,-3.29974582546e-05,1793245380712259328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.727961207,633.272038793,878.272038793,786,807.727961207,652.272038793,629.272038793,652,0.401081994398,-0.0154375924791,0.0498339488393,0.999999955834,-4.85283967072e-05,-0.0002913225595,-3.32806055141e-05,1793245380728926208
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.686514779,679,658.686514779,633,878,785.686514779,807.686514779,652,629,652,0.40105446549,-0.0154370565231,0.0498354299292,0.999999956858,-4.962693317e-05,-0.000287562854933,-3.36082861603e-05,1793245380745593088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.107271664,679,658.107271664,633,878,785.107271664,807.107271664,652,629,652,0.401034031899,-0.0154359481546,0.049837837771,0.999999958262,-5.11076123496e-05,-0.000282329845532,-3.39737201294e-05,1793245380762260224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,658,633.471195874,878,785.471195874,807.471195874,652,629,652,0.401017780723,-0.0154368519006,0.0498392864432,0.999999958433,-5.30870318316e-05,-0.000281385329002,-3.37357426929e-05,1793245380778926848
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.049995624,679,658.049995624,634,878,786,807.950004376,652.049995624,629.049995624,652,0.401003305823,-0.015438196228,0.049840518939,0.999999958415,-5.52487557697e-05,-0.000281072181693,-3.34214786012e-05,1793245380795593472
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.634229334,679,658.634229334,634,878,786,807.365770666,652.634229334,629.634229334,652,0.40099765387,-0.015439361672,0.0498417709679,0.99999995935,-5.81472456115e-05,-0.000277090233444,-3.37575376088e-05,1793245380812259840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.21645129,786,807,652.78354871,630,652,0.400993707726,-0.0154392965765,0.0498429131321,0.999999960269,-5.87635657442e-05,-0.000273589517931,-3.40168030006e-05,1793245380828926208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.79530495,786,807,652.20469505,630,652,0.400992617601,-0.0154371712002,0.0498438713508,0.999999961182,-5.55588703173e-05,-0.000270894526129,-3.41474935406e-05,1793245380845592832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.373577309,659,634,879,785.626422691,807,652,630,652,0.400990567972,-0.0154366478819,0.0498445957124,0.999999961414,-5.57479338567e-05,-0.000269977335282,-3.43106171119e-05,1793245380862259968
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.95153163,659,634,879,785.04846837,807,652,630,652,0.400987993417,-0.0154370010192,0.0498451921352,0.999999961276,-5.77936582258e-05,-0.00027003274548,-3.44914841712e-05,1793245380878927360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.472262147,679.472262147,658.472262147,633.472262147,879,785.527737853,807.527737853,652,630,652,0.400987251139,-0.015437677311,0.0498461381335,0.999999961655,-5.68518941676e-05,-0.000268890228416,-3.39906334619e-05,1793245380895593728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,658.105926752,633.105926752,878.894073248,785.894073248,807.894073248,652,630,652,0.400986963855,-0.0154384162565,0.0498470125619,0.999999962073,-5.61185837187e-05,-0.000267543836826,-3.35536084327e-05,1793245380912260352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,658.693865661,633.693865661,878.306134339,785.306134339,807.306134339,652,630,652,0.400987983766,-0.0154393056957,0.0498474157043,0.999999962458,-5.7578234224e-05,-0.00026576871322,-3.36909802445e-05,1793245380928926976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.722663387,713.277336613,679,659,634,878.554673226,785.277336613,807,652.277336613,630,652,0.400987727616,-0.0154392603037,0.049847587643,0.9999999627,-5.74402380148e-05,-0.000264890305633,-3.3675747617e-05,1793245380945593344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.144046063,713.855953937,679,659,634,879.711907875,785.855953937,807,652.855953937,630,652,0.400986085237,-0.0154381993712,0.0498475084167,0.999999962786,-5.55666610499e-05,-0.000264986032606,-3.34947353302e-05,1793245380962259712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.433159538,714,679,659,634,879.566840462,786,807,653,629.566840462,652,0.40098483011,-0.0154390164955,0.0498472575487,0.999999962629,-5.74360097843e-05,-0.000265156223612,-3.36966269532e-05,1793245380978926336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.990160773,634,878.990160773,785.990160773,807,653,629.009839227,652,0.400983752816,-0.0154404112155,0.0498469821679,0.999999962399,-6.04458150023e-05,-0.000265313381152,-3.40188340057e-05,1793245380995592704
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.416799254,634,878.416799254,785.416799254,807,653,629.583200746,652,0.400985508984,-0.0154392333377,0.0498485613361,0.999999963091,-5.77168669592e-05,-0.000263310439302,-3.39627764128e-05,1793245381012259584
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.161691264,785.161691264,807,653,629.838308736,651.838308736,0.400986842913,-0.0154387503265,0.049849724138,0.999999963531,-5.66362331439e-05,-0.000261885140665,-3.38557577166e-05,1793245381028926464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.75383614,785.75383614,807,653,629.24616386,651.24616386,0.400987052758,-0.0154401171858,0.0498497784917,0.999999963317,-5.99437327531e-05,-0.000261997640809,-3.36130706494e-05,1793245381045593600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.661666705,679.338333295,658,634,878.661666705,786,807,653,629,651.338333295,0.400987065904,-0.0154399300437,0.0498500012924,0.999999963355,-5.97048033325e-05,-0.000261902804118,-3.36551308296e-05,1793245381062260480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.082610892,679.917389108,658,634,878.082610892,786,807,653,629,651.917389108,0.4009869391,-0.015438637237,0.0498503439424,0.999999963571,-5.69426065055e-05,-0.000261660448257,-3.38997873224e-05,1793245381078926848
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.493837861,680,658,634,878.493837861,786,807,652.506162139,629,652,0.400986186766,-0.015439505143,0.0498504499901,0.999999963462,-5.86958103257e-05,-0.000261708877614,-3.37672129356e-05,1793245381095593216
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a822438bb06d5fa2fc5f3ae8d6958cdcc0458164
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+353,5.883333333,pose2_to_pose3_retreat,0.579842316446,-0.0101222138056,1.04005080838,0.550413949862,-0.00144652716823,1.03971730294
+354,5.900000000,pose2_to_pose3_retreat,0.579453888013,-0.0101222348388,1.04005096012,0.550025522742,-0.00144654405941,1.03971744665
+355,5.916666667,pose2_to_pose3_retreat,0.579096091434,-0.0101221314339,1.04005080585,0.549667724947,-0.00144644455841,1.03971729832
+356,5.933333333,pose2_to_pose3_retreat,0.578766703726,-0.0101220648431,1.04005088076,0.549338335153,-0.00144638491627,1.03971737617
+357,5.950000000,pose2_to_pose3_retreat,0.578465848974,-0.0101222102725,1.04005091385,0.549037482959,-0.0014465219116,1.03971740322
+358,5.966666667,pose2_to_pose3_retreat,0.578184721927,-0.0101221656915,1.0400509456,0.548756355186,-0.00144647926853,1.03971744856
+359,5.983333333,pose2_to_pose3_retreat,0.577921099771,-0.0101222195612,1.04005100531,0.548492733858,-0.00144653064816,1.03971749989
+360,6.000000000,pose2_to_pose3_retreat,0.577668922636,-0.0101222465803,1.04005104514,0.548240556826,-0.00144655767519,1.03971753046
+361,6.016666667,pose2_to_pose3_retreat,0.577427898452,-0.0101222171136,1.04005107726,0.547999531847,-0.00144653082368,1.03971756485
+362,6.033333333,pose2_to_pose3_retreat,0.577200498812,-0.0101222039048,1.04005108937,0.547772132051,-0.00144651790135,1.03971758318
+363,6.050000000,pose2_to_pose3_retreat,0.576989131108,-0.0101221874748,1.04005098977,0.547560763956,-0.00144650288365,1.03971748134
+364,6.066666667,pose2_to_pose3_retreat,0.57679612346,-0.0101221445779,1.04005094287,0.547367755333,-0.00144646369777,1.03971742399
+365,6.083333333,pose2_to_pose3_retreat,0.576625239712,-0.0101221222798,1.0400508911,0.547196871739,-0.00144644043927,1.03971738349
+366,6.100000000,pose2_to_pose3_retreat,0.576476366307,-0.0101220732849,1.04005089088,0.547047998069,-0.00144639228229,1.039717385
+367,6.116666667,pose2_to_pose3_retreat,0.576347187273,-0.0101221332305,1.0400510039,0.546918820628,-0.00144644685765,1.03971749708
+368,6.133333333,pose2_to_pose3_retreat,0.576234998221,-0.010122203113,1.04005113132,0.546806632463,-0.00144651401592,1.03971761719
+369,6.150000000,pose2_to_pose3_retreat,0.576139428336,-0.0101222570008,1.04005109324,0.54671106317,-0.00144656594996,1.03971757824
+370,6.166666667,pose2_to_pose3_retreat,0.57605526764,-0.0101222409774,1.0400510252,0.546626902529,-0.00144654953942,1.03971751569
+371,6.183333333,pose2_to_pose3_retreat,0.575981960091,-0.0101222344744,1.04005095339,0.546553594645,-0.00144654402955,1.03971744738
+372,6.200000000,pose2_to_pose3_retreat,0.575919068964,-0.0101223483458,1.04005081141,0.546490703184,-0.00144665930189,1.03971729835
+373,6.216666667,pose2_to_pose3_retreat,0.575865542584,-0.0101221659517,1.04005091825,0.546437175006,-0.00144648311629,1.03971740219
+374,6.233333333,pose2_to_pose3_retreat,0.575820334103,-0.0101222709984,1.04005111372,0.546391967852,-0.00144658357613,1.0397175999
+375,6.250000000,pose2_to_pose3_retreat,0.575782590749,-0.0101223892017,1.04005100183,0.546354226566,-0.00144669471097,1.03971748941
+376,6.266666667,pose2_to_pose3_retreat,0.575752428175,-0.0101223435265,1.04005097085,0.546324063682,-0.0014466499178,1.03971746275
+377,6.283333333,pose2_to_pose3_retreat,0.575728408951,-0.0101222391934,1.04005099919,0.546300042525,-0.00144655195817,1.03971749588
+378,6.300000000,pose2_to_pose3_retreat,0.575710120812,-0.0101221845607,1.04005099613,0.546281752936,-0.00144650225758,1.0397174925
+379,6.316666667,pose2_to_pose3_retreat,0.575696760496,-0.010122146972,1.04005103067,0.546268392648,-0.00144646488378,1.03971751904
+380,6.333333333,pose2_to_pose3_retreat,0.575687480271,-0.010122215429,1.04005074983,0.546259112412,-0.00144653344425,1.03971723638
+381,6.350000000,pose2_to_pose3_retreat,0.575681233498,-0.0101221587351,1.04005079719,0.546252865427,-0.00144647731279,1.03971728792
+382,6.366666667,pose2_to_pose3_retreat,0.5756771993,-0.010122110661,1.04005089584,0.54624883138,-0.00144642860773,1.03971738968
+383,6.383333333,pose2_to_pose3_retreat,0.575675095211,-0.0101221732756,1.04005090444,0.546246728733,-0.00144648647647,1.03971739453
+384,6.400000000,pose2_to_pose3_retreat,0.575673665763,-0.0101222158138,1.04005091028,0.546245300265,-0.00144652579053,1.03971739783
+385,6.416666667,pose2_to_pose3_retreat,0.575672750581,-0.0101222268503,1.04005095681,0.54624438515,-0.00144653656521,1.03971744523
+386,6.433333333,pose2_to_pose3_retreat,0.575672127619,-0.0101222259816,1.04005101063,0.546243761945,-0.00144653645091,1.03971750093
+387,6.450000000,pose2_to_pose3_retreat,0.575671745768,-0.0101222254491,1.04005104361,0.546243379944,-0.00144653638085,1.03971753507
+388,6.466666667,pose2_to_pose3_retreat,0.575671489237,-0.0101222250914,1.04005106577,0.546243123312,-0.00144653633378,1.039717558
+389,6.483333333,pose2_to_pose3_retreat,0.575671163759,-0.0101222246375,1.04005109389,0.546242797707,-0.00144653627407,1.0397175871
+390,6.500000000,pose2_to_pose3_retreat,0.575670741852,-0.0101222170692,1.0400511205,0.546242375558,-0.00144652947515,1.03971761509
+391,6.516666667,pose2_to_pose3_retreat,0.575670499488,-0.0101221522418,1.04005105055,0.546242132385,-0.00144646732897,1.03971754679
+392,6.533333333,pose2_to_pose3_retreat,0.575670412846,-0.0101221290668,1.04005102554,0.546242045453,-0.0014464451125,1.03971752238
+393,6.550000000,pose2_to_pose3_retreat,0.575670318093,-0.0101221037224,1.04005099819,0.546241950384,-0.00144642081632,1.03971749568
+394,6.566666667,pose2_to_pose3_retreat,0.575670099134,-0.0101220451553,1.040050935,0.546241730693,-0.00144636467155,1.03971743398
+395,6.583333333,pose2_to_pose3_retreat,0.575669796279,-0.0101219890242,1.0400508482,0.546241427141,-0.00144631085665,1.0397173485
+396,6.600000000,pose2_to_pose3_retreat,0.575669749722,-0.0101220302246,1.04005083607,0.546241381104,-0.00144635034127,1.03971733508
+397,6.616666667,pose2_to_pose3_retreat,0.575669656473,-0.0101221127451,1.04005081177,0.546241288898,-0.00144642942515,1.03971730821
+398,6.633333333,pose2_to_pose3_retreat,0.5756695778,-0.0101221823664,1.04005079127,0.546241211104,-0.00144649614713,1.03971728554
+399,6.650000000,pose2_to_pose3_retreat,0.575669530445,-0.0101222242729,1.04005077893,0.546241164279,-0.00144653630839,1.0397172719
+400,6.666666667,pose2_to_pose3_retreat,0.575669529586,-0.010122225033,1.04005077871,0.546241163429,-0.00144653703688,1.03971727165
+401,6.683333333,pose2_to_pose3_retreat,0.575669519308,-0.0101222341289,1.04005077603,0.546241153266,-0.00144654575396,1.03971726869
+402,6.700000000,pose2_to_pose3_retreat,0.575669524115,-0.0101222337543,1.04005078324,0.546241158042,-0.00144654556663,1.03971727383
+403,6.716666667,pose2_to_pose3_retreat,0.575669549944,-0.0101222235385,1.0400508094,0.546241183653,-0.00144653633551,1.03971729351
+404,6.733333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.00144652634691,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6328a121617e76d68a3217d0d4f0dd1823c6e076
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b91c78b487499ae320faf8fa80bbce52e0cdd250d0e5192fe4f9eb717cd171
+size 25797973
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa4acca7faab6e4c637db07247487ed65808096e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+29,0.483333333,BASELINE,765,745,714,679,658.840555669,634,878,786,807.840555669,652.840555669,629.159444331,652,0.400988138605,-0.0154423080111,0.0498531681928,0.999999965204,-5.99237618135e-05,-0.000254737551604,-3.33187372005e-05,1793245381823676672
+30,0.500000000,BASELINE,765,745,714,679,659,634,878,786,808,653,629.415413083,652,0.400988854885,-0.0154425814256,0.0498537886992,0.99999996538,-6.0626811996e-05,-0.000253876584726,-3.3336104783e-05,1793245381840343296
+31,0.516666667,BASELINE,765,745,714,679,659,634,878,786,808,653,629.990020348,652,0.400989343502,-0.015442647757,0.0498548688637,0.999999965606,-6.14483094537e-05,-0.000252771337697,-3.34522522235e-05,1793245381857009664
+32,0.533333333,BASELINE,765,745,714,679,658.417619872,634,878.582380128,786,807.417619872,652.417619872,629.417619872,652,0.400988248326,-0.015441933798,0.049854409078,0.999999965589,-6.02691273334e-05,-0.000253106046029,-3.35629625184e-05,1793245381873676544
+33,0.550000000,BASELINE,765,744.829484851,714,678.829484851,658,634,878.829484851,785.829484851,807,652,629,652,0.400987579138,-0.0154415855987,0.0498540225325,0.999999965573,-5.97145345621e-05,-0.000253300577725,-3.35836489432e-05,1793245381890343680
+34,0.566666667,BASELINE,765,744.252177338,714,678.252177338,658,634,878.252177338,785.252177338,807,652,629,652,0.400987992996,-0.015442142882,0.0498538756475,0.999999965568,-6.07343649671e-05,-0.000253099977329,-3.33897976382e-05,1793245381907010304
+35,0.583333333,BASELINE,765,744.322857762,714,678.645715524,658,634,878.322857762,785.322857762,807.322857762,652,629.322857762,652,0.400987887809,-0.0154429601298,0.0498536991466,0.999999965329,-6.24101051196e-05,-0.000253643741063,-3.33403694684e-05,1793245381923676928
+36,0.600000000,BASELINE,765,744.896130396,714,679.792260792,658,634,878.896130396,785.896130396,807.896130396,652,629.896130396,652,0.400987380039,-0.0154439790111,0.049853499675,0.999999964903,-6.45945819652e-05,-0.000254764848328,-3.34029587206e-05,1793245381940343552
+37,0.616666667,BASELINE,765,744.528733209,714,679.528733209,658.471266791,634,878.528733209,785.528733209,808,652,629.528733209,652,0.400988338791,-0.0154437737074,0.0498539060566,0.999999965288,-6.38485978056e-05,-0.000253433011753,-3.3455239706e-05,1793245381957010176
+38,0.633333333,BASELINE,765,744.04844207,713.95155793,679.04844207,658.95155793,634,878.04844207,785.04844207,808,652.04844207,629,652,0.400989441198,-0.0154433021217,0.0498543967439,0.999999965785,-6.24374789638e-05,-0.00025181626894,-3.34776287501e-05,1793245381973676800
+39,0.650000000,BASELINE,765,744.643987075,713.356012925,679.643987075,658.356012925,634,878.643987075,785.643987075,808,652.643987075,629,652,0.400988501007,-0.0154428825534,0.0498543254696,0.999999965566,-6.08379573078e-05,-0.000253112031114,-3.31881810681e-05,1793245381990343168
+40,0.666666667,BASELINE,765,745,713.231980126,679.768019874,658.231980126,634,879.231980126,785.768019874,807.768019874,653,629.231980126,651.768019874,0.400987426439,-0.0154427738404,0.0498539359952,0.999999965198,-6.06864770102e-05,-0.000254602987418,-3.31548519046e-05,1793245382007009792
+41,0.683333333,BASELINE,765,745,713.808748787,679.191251213,658.808748787,634,879.808748787,785.191251213,807.191251213,653,629.808748787,651.191251213,0.400986152147,-0.0154431271469,0.0498530735847,0.999999964608,-6.26871986796e-05,-0.000256384057714,-3.35021878214e-05,1793245382023676416
+42,0.700000000,BASELINE,765,744.618059182,714,679.381940818,659,634,879.618059182,785.381940818,807.381940818,652.618059182,630,651.381940818,0.400986644076,-0.0154423966683,0.0498533779657,0.99999996482,-6.21990498194e-05,-0.000255668635739,-3.35522139493e-05,1793245382040342784
+43,0.716666667,BASELINE,765,744.046641499,714,679.953358501,659,634,879.046641499,785.953358501,807.953358501,652.046641499,630,651.953358501,0.400988012209,-0.015441128535,0.0498542611799,0.999999965426,-6.04761981244e-05,-0.00025371472987,-3.34547477738e-05,1793245382057009664
+44,0.733333333,BASELINE,765,744.541591254,714,679.458408746,659,634,879,785.458408746,808,652,629.458408746,652,0.400988171816,-0.0154426135158,0.0498539182221,0.999999965341,-6.1280090896e-05,-0.000253843771818,-3.35688591884e-05,1793245382073676288
+45,0.750000000,BASELINE,765,745,714,679,659,634,879,785.129760132,807.870239868,652.129760132,629,652,0.400988159746,-0.0154437734208,0.0498536524112,0.999999965209,-6.22877116348e-05,-0.00025410726332,-3.36511044138e-05,1793245382090342912
+46,0.766666667,BASELINE,765,745,714,679,659,634,879,785.712488864,807.287511136,652.712488864,629,652,0.400987923338,-0.0154429443663,0.0498540363376,0.999999965131,-6.32225620818e-05,-0.00025419383874,-3.35564666668e-05,1793245382107009536
+47,0.783333333,BASELINE,765,745,714,679,659,634,878.709241441,786,807.290758559,653,629,652,0.400988005009,-0.0154425458539,0.0498543122273,0.99999996515,-6.36307917551e-05,-0.000254018158325,-3.35428544963e-05,1793245382123676416
+48,0.800000000,BASELINE,765,745,714,679,659,634,878.135314314,786,807.864685686,653,629,652,0.400988396455,-0.0154425666447,0.0498544829007,0.999999965264,-6.35261477279e-05,-0.00025358706804,-3.36081527916e-05,1793245382140343040
+49,0.816666667,BASELINE,765,745,714,679.439400504,659,634,878.439400504,786,808,653,629.439400504,652,0.400988639605,-0.0154429405973,0.0498541360777,0.999999965218,-6.36009275e-05,-0.000253755001062,-3.35870711708e-05,1793245382157009664
+50,0.833333333,BASELINE,765,745,714,679.985227828,659,634.014772172,879,786,807.985227828,652.985227828,629.985227828,652,0.400988813641,-0.0154434060357,0.0498536415944,0.999999965122,-6.37463177698e-05,-0.000254103252416,-3.35380643055e-05,1793245382173676288
+51,0.850000000,BASELINE,765,745,714,679.393696888,659,634.606303112,879,786,807.393696888,652.393696888,629.393696888,652,0.400988075464,-0.0154431895206,0.0498536152436,0.999999965033,-6.4487409477e-05,-0.000254276454779,-3.34392144557e-05,1793245382190342912
+52,0.866666667,BASELINE,765,745,714,679,659,634.806582156,878.806582156,786,807,652,629.193417844,652,0.400987449978,-0.0154428343874,0.0498535943617,0.999999964993,-6.45570964851e-05,-0.000254417466077,-3.34323641556e-05,1793245382207009792
+53,0.883333333,BASELINE,765,745,714,679,659,634.228255874,878.228255874,786,807,652,629.771744126,652,0.400987048748,-0.0154422033993,0.0498535843631,0.999999965049,-6.32906640442e-05,-0.000254494415991,-3.36085962612e-05,1793245382223676416
+54,0.900000000,BASELINE,765,745,714,679,659,634,878.347433659,786,807,652,629.652566341,652,0.400987911789,-0.0154421643763,0.0498541344397,0.999999965374,-6.30090984772e-05,-0.000253296577652,-3.35184651241e-05,1793245382240343040
+55,0.916666667,BASELINE,765,745,714,679,659,634,878.921403933,786,807,652,629.078596067,652,0.400989599171,-0.0154425113314,0.0498550497014,0.999999965872,-6.33696941381e-05,-0.000251267541155,-3.32546575793e-05,1793245382257009664
+56,0.933333333,BASELINE,765,745,714,679.510437447,659,634.510437447,879,786,807,652,629.510437447,652,0.400988966127,-0.0154430270551,0.0498549065876,0.999999965537,-6.45424247373e-05,-0.000252287468009,-3.33474458703e-05,1793245382273676288
+57,0.950000000,BASELINE,765.099559518,745,714,679.900440482,658.900440482,634.900440482,879,785.900440482,807,652.099559518,630,652,0.400988206652,-0.015443390302,0.0498545764592,0.999999965193,-6.51910801898e-05,-0.00025346432557,-3.34777020534e-05,1793245382290342912
+58,0.966666667,BASELINE,765.677620541,745,714,679.322379459,658.322379459,634.322379459,879,785.322379459,807,652.677620541,630,652,0.400988608966,-0.0154428920225,0.0498541545673,0.99999996545,-6.27016398924e-05,-0.000253070435726,-3.3516113905e-05,1793245382307009536
+59,0.983333333,BASELINE,765.745565464,745,714,679,658.254434536,634,878.745565464,785.254434536,807,653,629.745565464,652,0.400988900698,-0.0154421219308,0.0498543425778,0.999999965705,-6.11262052865e-05,-0.000252432608037,-3.36496243867e-05,1793245382323676160
+60,1.000000000,BASELINE,765.170323726,745,714,679,658.829676274,634,878.170323726,785.829676274,807,653,629.170323726,652,0.400989053004,-0.015441009121,0.0498552995917,0.99999996596,-6.07032067014e-05,-0.000251487207984,-3.39030412594e-05,1793245382340342784
+61,1.016666667,BASELINE,765,745,714,679,659,634,878,786,807.404147696,653,629,652,0.400988897867,-0.0154415552024,0.0498556931421,0.99999996587,-6.14047323161e-05,-0.000251716318716,-3.35763108867e-05,1793245382357009664
+62,1.033333333,BASELINE,765,745,714,679,659,634,878,786,807.978295059,653,629,652,0.400988613409,-0.0154427990757,0.0498558496787,0.999999965634,-6.25792749776e-05,-0.000252439472755,-3.30055488254e-05,1793245382373676288
+63,1.050000000,BASELINE,765,745,714,679.569931853,659,634,878,786,808,653,629.569931853,652,0.400988278648,-0.0154438913878,0.0498554616143,0.999999965588,-6.42420805306e-05,-0.000252199878009,-3.30557780575e-05,1793245382390342912
+64,1.066666667,BASELINE,765,745,714,679.841483971,659,634,878,786,807.841483971,652.841483971,630,652,0.400988465765,-0.0154445042958,0.0498553599176,0.999999965689,-6.51558830616e-05,-0.000251550140434,-3.31396923552e-05,1793245382407009536
+65,1.083333333,BASELINE,765,745,714,679.262812278,659,634,878,786,807.262812278,652.262812278,630,652,0.400990041386,-0.0154438622995,0.0498560739685,0.999999966169,-6.40335641556e-05,-0.000249913554795,-3.32482221108e-05,1793245382423676160
+66,1.100000000,BASELINE,765,745,714,679,659,634,878,786,807,652.313644847,630,652,0.400990185031,-0.0154431953445,0.0498559110086,0.999999966243,-6.28294742544e-05,-0.000249912242793,-3.33143511915e-05,1793245382440342784
+67,1.116666667,BASELINE,765,745,714,679,659,634,878,786,807,652.888259303,630,652,0.400989137192,-0.0154425076226,0.0498550183278,0.999999965981,-6.1557346484e-05,-0.000251271567672,-3.33452005943e-05,1793245382457009408
+68,1.133333333,BASELINE,765,745,714,679,659,634,878,786,807,653,630,652,0.400989363092,-0.0154422125389,0.049855604094,0.999999966101,-6.09292130032e-05,-0.000250951825698,-3.33065699125e-05,1793245382473676288
+69,1.150000000,BASELINE,765,745,714,679,659,634,878.057940102,786,807,653,630,652,0.40098982208,-0.0154421524013,0.049856417421,0.999999966271,-6.07838136673e-05,-0.000250315646114,-3.32544978897e-05,1793245382490342912
+70,1.166666667,BASELINE,765,745,714,679,659,634,878.640218054,786,807,653,630,652,0.400989607765,-0.0154433606701,0.0498560602128,0.999999966054,-6.36000928493e-05,-0.000250483980405,-3.32325757076e-05,1793245382507009536
+71,1.183333333,BASELINE,765,745,714,679,658.779491595,634,878.779491595,786,807,653,630,652,0.400988950558,-0.0154440586622,0.0498555074799,0.99999996575,-6.49164945114e-05,-0.000251356648715,-3.32372693997e-05,1793245382523676160
+72,1.200000000,BASELINE,765,745,714,679,658.202415155,634,878.202415155,786,807,653,630,652,0.400987577183,-0.0154439315233,0.0498546385785,0.999999965313,-6.38075542405e-05,-0.000253368244143,-3.32850016748e-05,1793245382540342784
+73,1.216666667,BASELINE,765.372448674,745,714,679,658.372448674,634,878.372448674,786,807,653,630,652,0.400987996949,-0.0154426039619,0.049854890501,0.999999965509,-6.24788987256e-05,-0.000252895328112,-3.35015452846e-05,1793245382557009408
+74,1.233333333,BASELINE,765.94611708,745,714,679,658.94611708,634,878.94611708,786,807,653,630,652,0.400989385479,-0.0154406278582,0.0498557479617,0.999999966045,-6.1031539559e-05,-0.000251080125721,-3.380929118e-05,1793245382573676032
+75,1.250000000,BASELINE,765.467388613,745,714,679,659,634,879,786,807,652.467388613,630,652,0.400987505916,-0.0154417334925,0.0498546853277,0.999999965591,-6.21321947994e-05,-0.000252610611051,-3.38422834513e-05,1793245382590343168
+76,1.266666667,BASELINE,765,745,714,679,658.880862963,634,878.880862963,786,807,652,630,652,0.400986231388,-0.0154428565739,0.0498538695373,0.99999996525,-6.31138410515e-05,-0.000253722414625,-3.3798740134e-05,1793245382607010304
+77,1.283333333,BASELINE,765,745,714,679,658.299375573,634,878.299375573,786,807,652,630,652,0.40098861966,-0.0154428075772,0.049854784161,0.999999965759,-6.26085644727e-05,-0.000251863411911,-3.35687090824e-05,1793245382623676928
+78,1.300000000,BASELINE,765,745,714,679.278871106,658,634,878.278871106,786,807.278871106,652.278871106,630,652,0.400989105952,-0.0154423456634,0.0498551412352,0.9999999659,-6.23414765874e-05,-0.000251369923524,-3.35600865988e-05,1793245382640343296
+79,1.316666667,BASELINE,765,745,714,679.853678723,658,634,878.853678723,786,807.853678723,652.853678723,630,652,0.400987573871,-0.0154414455645,0.049854906641,0.999999965653,-6.23271532896e-05,-0.000252325511684,-3.37864217066e-05,1793245382657009920
+80,1.333333333,BASELINE,765,745,714,679.563793029,658.436206971,634,878.563793029,786,807.563793029,653,630,652,0.400987650954,-0.0154428874,0.0498550596409,0.99999996563,-6.44136072902e-05,-0.000251908649517,-3.36548984832e-05,1793245382673676288
+81,1.350000000,BASELINE,765,745,714,679,658.978710475,634,878,785.978710475,807,653,629.978710475,652,0.400988241059,-0.0154450165584,0.0498553170502,0.999999965675,-6.69777981727e-05,-0.000251095173834,-3.34005234241e-05,1793245382690342912
+82,1.366666667,BASELINE,765,745,714,679,658.395796747,634,878,785.395796747,807,653,629.395796747,652,0.400987868788,-0.0154441802869,0.0498548371854,0.999999965655,-6.32200694445e-05,-0.000252182571744,-3.31290306765e-05,1793245382707009536
+83,1.383333333,BASELINE,765,745,714,679,658.184805227,634,878.184805227,785.184805227,807,653,629.184805227,652,0.400987585019,-0.0154433997433,0.0498545945114,0.999999965643,-6.11029650591e-05,-0.000252771444123,-3.29800844369e-05,1793245382723676416
+84,1.400000000,BASELINE,765,745,714,679,658.760517398,634,878.760517398,785.760517398,807,653,629.760517398,652,0.400987488451,-0.0154427370773,0.0498548535522,0.999999965673,-6.24561700937e-05,-0.000252305816818,-3.30903531155e-05,1793245382740343040
+85,1.416666667,BASELINE,765,744.664288269,714,679,659,634,879,786,807,652.664288269,630,652,0.400988127678,-0.0154431891829,0.0498552599301,0.999999965827,-6.3542555941e-05,-0.000251404759111,-3.32141974114e-05,1793245382757009920
+86,1.433333333,BASELINE,765,744.089462804,714,679,659,634,879,786,807,652.089462804,630,652,0.400989290983,-0.0154444352948,0.0498557712502,0.999999966069,-6.44388973144e-05,-0.000250193562168,-3.33477110579e-05,1793245382773676544
+87,1.450000000,BASELINE,765,744,714,679.496432121,659,634,879.496432121,786,807.496432121,652.496432121,629.503567879,652,0.400988599754,-0.015443685878,0.0498549954162,0.99999996584,-6.35512511434e-05,-0.000251300745606,-3.36060675789e-05,1793245382790342912
+88,1.466666667,BASELINE,765.083625438,744.083625438,714,679.916374562,659,634,879.916374562,786,807.916374562,653,629.083625438,652,0.400987938602,-0.0154428253535,0.0498543432824,0.999999965648,-6.25452710208e-05,-0.000252296748959,-3.37385408205e-05,1793245382807009536
+89,1.483333333,BASELINE,765.666390261,744.666390261,714,679.333609739,659,634,879.333609739,786,807.333609739,653,629.666390261,652,0.400989497266,-0.0154434970742,0.0498558455712,0.999999966215,-6.2795673612e-05,-0.000250078534898,-3.29822998502e-05,1793245382823676416
+90,1.500000000,BASELINE,765.754603554,744.754603554,714,679,658.754603554,634,878.754603554,786,807,653,629.754603554,652,0.400989830235,-0.0154432562506,0.0498562107566,0.999999966395,-6.19158634062e-05,-0.000249594639231,-3.2851383559e-05,1793245382840343296
+91,1.516666667,BASELINE,765.180630097,744.180630097,714,679,658.180630097,634,878.180630097,786,807,653,629.180630097,652,0.40098852204,-0.015441793563,0.0498550534014,0.999999966056,-5.95227389156e-05,-0.000251432933664,-3.35577545715e-05,1793245382857009920
+92,1.533333333,BASELINE,765,744.394330163,714,679.394330163,658,634,878,786,807.394330163,652.605669837,629.394330163,652,0.400987182766,-0.0154415594622,0.0498542904365,0.999999965728,-5.93004510942e-05,-0.00025276553141,-3.37142034036e-05,1793245382873677056
+93,1.550000000,BASELINE,765,744.969743633,714,679.969743633,658,634,878,786,807.969743633,652.030256367,629.969743633,652,0.40098582922,-0.0154418895499,0.0498537085824,0.999999965406,-6.00750492167e-05,-0.000253865904555,-3.36181184174e-05,1793245382890344704
+94,1.566666667,BASELINE,764.438808034,745,714,679.438808034,658.561191966,633.438808034,878.561191966,785.438808034,807.438808034,652,629.438808034,652,0.400988101974,-0.0154412823443,0.0498551061526,0.999999965963,-5.96781095364e-05,-0.00025172466021,-3.38748894193e-05,1793245382907010560
+95,1.583333333,BASELINE,764.149268614,745,714,679,659,633.149268614,878.850731386,785.149268614,807,652.149268614,629,652,0.400989668756,-0.0154412885432,0.0498560850591,0.999999966329,-6.00221720171e-05,-0.000250174155005,-3.3940551118e-05,1793245382923676672
+96,1.600000000,BASELINE,764.725165153,745,714,679,659,633.725165153,878.274834847,785.725165153,807,652.725165153,629,652,0.400988642554,-0.0154431966069,0.0498555533847,0.999999966021,-6.26699460604e-05,-0.000250826260478,-3.34040268254e-05,1793245382940343296
+97,1.616666667,BASELINE,765,745,714,679,658.69938706,634,878.30061294,786,807,652.69938706,629.30061294,652,0.400987750244,-0.015443397376,0.0498551218837,0.999999965794,-6.30723633318e-05,-0.000251659558815,-3.31964947428e-05,1793245382957010176
+98,1.633333333,BASELINE,765,745,714,679,658.124348968,634,878.875651032,786,807,652.124348968,629.875651032,652,0.400986980163,-0.0154420395807,0.0498547818296,0.999999965641,-6.14250271176e-05,-0.000252658265428,-3.32892948647e-05,1793245382973676800
+99,1.650000000,BASELINE,765,744.53673606,714,679,658,634,878.53673606,785.53673606,807,652.46326394,629.53673606,652,0.400987774084,-0.0154419580931,0.0498548526684,0.999999965708,-6.13580732027e-05,-0.000252411474219,-3.32698771967e-05,1793245382990343424
+100,1.666666667,BASELINE,765,744.053214161,714,679,658,634,878.053214161,785.053214161,807.053214161,652.946785839,629.053214161,652,0.400988845159,-0.0154423688499,0.0498550408098,0.999999965815,-6.18599323441e-05,-0.00025187189957,-3.32248231366e-05,1793245383007009792
+101,1.683333333,BASELINE,765,744.631982732,714,679,658,634,878.631982732,785.631982732,807.631982732,652.368017268,629.631982732,652,0.40098839167,-0.0154441632684,0.0498552678024,0.99999996571,-6.3673077328e-05,-0.000251834629246,-3.3232364369e-05,1793245383023676416
+102,1.700000000,BASELINE,765,745,714,679,658.209258828,634,879,786,807.790741172,652.209258828,630,652,0.40098852301,-0.0154447885871,0.0498554432669,0.999999965758,-6.41059065597e-05,-0.000251524026524,-3.33069792199e-05,1793245383040343040
+103,1.716666667,BASELINE,765,745,714,679,658.78392868,634,879,786,807.21607132,652.78392868,630,652,0.400989675588,-0.0154433724052,0.0498555287522,0.999999966075,-6.21284067335e-05,-0.000250736126515,-3.34987190677e-05,1793245383057009664
+104,1.733333333,BASELINE,765,745,714,679,659,634,879,786,807,653,630,652,0.400989171262,-0.0154440036569,0.049855374656,0.999999965853,-6.36579588604e-05,-0.00025123734243,-3.3497409839e-05,1793245383073676544
+105,1.750000000,BASELINE,765,745,714,679,659,634,879,786,807,653,630,652,0.400987668579,-0.0154458685771,0.0498550762015,0.999999965296,-6.73006637288e-05,-0.000252515307268,-3.33797800757e-05,1793245383090343680
+106,1.766666667,BASELINE,765,745,713.478255608,679,659,634,877.956511217,786,807,652.478255608,630,652,0.400986919377,-0.0154438692166,0.049854322611,0.99999996531,-6.41428045624e-05,-0.000253245860737,-3.36478377755e-05,1793245383107010560
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,808,652,630,652,0.400986574678,-0.0154426242608,0.049855262336,0.999999965851,-5.97390468037e-05,-0.000252247056589,-3.31880647354e-05,1793245383149312000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.57453352,786,807.42546648,652.57453352,630,652,0.400988320012,-0.0154435320079,0.0498557950722,0.999999966167,-6.18380450348e-05,-0.000250488995949,-3.3140322983e-05,1793245383165978368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.84746762,634,878.84746762,786,807,653,630,652,0.400989800032,-0.0154438171293,0.0498561425408,0.999999966363,-6.31473674819e-05,-0.000249355939218,-3.32828563186e-05,1793245383182644736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.259577862,634,878.259577862,786,807,653,630,652,0.400990522797,-0.0154423251553,0.0498559612194,0.999999966237,-6.22028006007e-05,-0.000250006766019,-3.39684721236e-05,1793245383199310848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.323173021,634,878,786,807,653,630,652,0.400990809374,-0.0154421493813,0.0498560452135,0.999999966209,-6.19630449498e-05,-0.000250176869124,-3.39605929425e-05,1793245383215977216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.901860848,634,878,786,807,653,630,652,0.400990751084,-0.015443014253,0.0498563389778,0.999999966261,-6.22805441156e-05,-0.000249966890892,-3.34044060806e-05,1793245383232644096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.479440434,745,714,679,659,634,878,785.520559566,807,653,629.520559566,652,0.400990135131,-0.0154433259715,0.0498566191486,0.999999966386,-6.31170290926e-05,-0.000249258960442,-3.33695557044e-05,1793245383249310976
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.943195946,745,714,679.056804054,659,634,878,785,807,652.943195946,629.056804054,652,0.400989476007,-0.0154435160099,0.0498567950593,0.999999966478,-6.4003008799e-05,-0.000248657064641,-3.34151309387e-05,1793245383265977600
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.36573731,745,714,679.63426269,659,634,878,785,807,652.36573731,629.63426269,652,0.40098946505,-0.0154436261843,0.0498560407865,0.999999966137,-6.43711742695e-05,-0.00024995916211,-3.32219979996e-05,1793245383282643968
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785.215639589,807,652.215639589,630,652,0.40099608977,-0.015443959426,0.0498584390652,0.999999967158,-6.43322692398e-05,-0.000245892320817,-3.28867590825e-05,1793245383299310336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,785.803785019,807,652.803785019,630,652,0.401014177267,-0.0154446780046,0.0498662832079,0.999999970416,-6.35901716758e-05,-0.000232550925176,-3.23060397149e-05,1793245383315976704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.614496543,659,634,878,786,807,652.614496543,630,652,0.401050546543,-0.0154463337607,0.0498796383589,0.999999976289,-6.34144953488e-05,-0.000206000280384,-3.10539336669e-05,1793245383332643584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.035995644,659,634,878,786,807,652.035995644,630,652,0.401096068362,-0.0154484587029,0.0498957525273,0.999999982612,-6.35223905449e-05,-0.000172836590316,-2.94657062706e-05,1793245383349310464
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.461676353,634,878,786,807,652.538323647,630,652,0.401163346503,-0.0154520865825,0.0499129274701,0.999999988031,-6.28471401275e-05,-0.000138725570058,-2.72517558943e-05,1793245383365977088
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.112194013,658.112194013,634,878.112194013,786,807.112194013,653,630,652,0.401233532109,-0.0154563120731,0.0499285938411,0.999999991683,-6.27486684882e-05,-0.000109864704343,-2.50268339245e-05,1793245383382643968
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.685360029,658.685360029,634,878.685360029,786,807.685360029,653,630,652,0.401309732536,-0.0154625832472,0.0499377727585,0.999999992322,-6.52335080163e-05,-0.000102833417442,-2.2927414252e-05,1793245383399310848
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.731660223,659,634,878.731660223,786,808,653,630,652,0.401394803589,-0.0154683016663,0.0499438188479,0.999999992871,-6.68891307583e-05,-9.65676651078e-05,-2.14059419069e-05,1793245383415977472
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.136736675,659,634,878.136736675,786,808,653,630,652,0.401490670663,-0.0154733473528,0.0499460521185,0.999999993346,-6.75355524532e-05,-9.12336094518e-05,-2.05878623026e-05,1793245383432643840
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.555179875,714,679.444820125,659,634,878.444820125,786,807.555179875,653,630,652,0.401603795241,-0.0154799351754,0.0499481120102,0.999999993374,-6.97105602889e-05,-8.95044651461e-05,-1.9547764163e-05,1793245383449310208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.0223185,744.0223185,714,679.9776815,659,634,878.9776815,785.9776815,807,652.9776815,630,652.0223185,0.401722875482,-0.0154870919389,0.0499499011331,0.999999993243,-7.23526187573e-05,-8.91037739303e-05,-1.8453887129e-05,1793245383465977088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.598096409,744.598096409,714,679.401903591,659,634,878.401903591,785.401903591,807,652.401903591,630,652.598096409,0.401861930913,-0.0154969448031,0.0499462587655,0.999999992502,-7.52643537078e-05,-9.49681002479e-05,-1.76694440449e-05,1793245383482643712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822086444,745,714,679.177913556,659,634,878,785.177913556,807,652,630,652.822086444,0.402009955264,-0.0155067553571,0.0499430883914,0.999999991692,-7.8786031453e-05,-0.00010062173661,-1.68311962786e-05,1793245383499310336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.232932842,745,714,679.767067158,659,634,878,785.767067158,807,652,630,652.232932842,0.402178710893,-0.0155164681111,0.0499410090121,0.999999990774,-8.37175670994e-05,-0.000105788370783,-1.58685812579e-05,1793245383515977216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.649808855,659,634,878,786,807,652,629.649808855,652,0.402379306004,-0.0155262680813,0.0499439395809,0.99999999105,-8.47683504061e-05,-0.000102545140287,-1.41299421632e-05,1793245383532643840
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.070627576,659,634,878,786,807,652,629.070627576,652,0.40260072098,-0.0155361250831,0.0499501461566,0.999999992062,-8.32815086597e-05,-9.38026963587e-05,-1.18838605135e-05,1793245383549310464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.495999896,634,878,786,807,652,629.504000104,652,0.402850213105,-0.015544970801,0.0499553185838,0.999999993112,-7.9807964333e-05,-8.54976411432e-05,-9.83228666922e-06,1793245383565977600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.921850894,714,679,658.078149106,634,878,785.921850894,807,652.078149106,630,652,0.403109569975,-0.0155533945565,0.0499604882843,0.9999999942,-7.56463978448e-05,-7.6287823165e-05,-7.54875382236e-06,1793245383582644736
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.346724068,714,679,658.653275932,634,878,785.346724068,807,652.653275932,630,652,0.403406863111,-0.0155600280553,0.0499665539893,0.999999995766,-6.88640748707e-05,-6.09380021277e-05,-3.61832513017e-06,1793245383599310592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.235466254,714,679,659,634,878,785.235466254,807,653,629.764533746,652,0.403720254214,-0.0155577387742,0.0499737849265,0.999999997709,-5.02618366716e-05,-4.53240028729e-05,-8.49586005065e-07,1793245383615976960
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.828379196,714,679,659,634,878,785.828379196,807,653,629.171620804,652,0.40405808262,-0.0155419043748,0.0499827847301,0.999999999476,-1.3716519973e-05,-2.93089719675e-05,1.55664135033e-07,1793245383632643584
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.411819511,659,634,878.411819511,786,807,652.588180489,629,652,0.404422872399,-0.0155301717652,0.0499892211569,0.999999999753,1.66151371563e-05,-1.47370200535e-05,-8.24322163397e-07,1793245383649310464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.99140097,659,634,878.99140097,786,807,652.00859903,629,652,0.40479864536,-0.0155201100925,0.0499946133468,0.99999999901,4.44155494579e-05,-7.52932231405e-07,-2.61302959603e-06,1793245383665977344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.435459438,659,634,878.435459438,785.435459438,807.564540562,652,629.564540562,652,0.405204444342,-0.0155126290425,0.0499812731789,0.999999997035,7.23128858803e-05,-2.63818536847e-05,-2.37980284555e-06,1793245383682643456
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.141502465,659,634,878,785,807.858497535,652,629.858497535,652,0.405611150485,-0.0155070818051,0.0499653130602,0.999999993513,9.85137684479e-05,-5.71426112028e-05,-2.02961275048e-06,1793245383699310080
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.730869175,659,634,878,785,807.269130825,652,629.269130825,652,0.406019296545,-0.0155075322,0.0499419535311,0.99999998765,0.000119340642136,-0.000102257753834,-1.40560393407e-06,1793245383715976960
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.685196966,659,634,878.314803034,785.314803034,807.314803034,652.314803034,629.314803034,652,0.406473354331,-0.0155103198928,0.0499263693613,0.999999982107,0.000137896227801,-0.000129502075049,3.38648933055e-07,1793245383732643584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.105828889,659,634,878.894171111,785.894171111,807.894171111,652.894171111,629.894171111,652,0.406965997043,-0.0155150718846,0.0499173197136,0.99999997801,0.000154542992453,-0.000141727503382,3.02437124519e-06,1793245383749310208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.470829254,659.470829254,634.470829254,879,786,807.529170746,653,630,652,0.407531515609,-0.0155171488182,0.0499295686097,0.999999976843,0.000181512582514,-0.000115338791626,7.96673833914e-06,1793245383765977088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.953697081,634.953697081,879,786,807.046302919,652.953697081,630,652,0.408115374735,-0.0155187518725,0.0499473489384,0.999999974619,0.000210325959941,-7.96457303711e-05,1.34614678793e-05,1793245383782643456
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.38475666,634.38475666,879,786,807.61524334,652.38475666,630,652,0.408722417406,-0.0155217540624,0.049973837795,0.999999971793,0.000233910958858,-3.63374081418e-05,1.94984039935e-05,1793245383799310080
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.80648346,659,634,879,785.80648346,807.80648346,652,630,652,0.409333274901,-0.0155252598271,0.0499931955677,0.999999966601,0.000257160909092,-6.57734664057e-06,2.49782595589e-05,1793245383815976704
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.208714284,659,634,879,785.208714284,807.208714284,652,630,652,0.40995210146,-0.0155298175505,0.0499976566305,0.999999960439,0.00027971094806,-5.11936528795e-06,2.92943834111e-05,1793245383832643584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.37607051,659,634,879,785.37607051,807.37607051,652.37607051,630,652.37607051,0.410566402577,-0.0155305231202,0.0499792864498,0.9999999515,0.000306377257125,-4.62481868867e-05,3.1521632612e-05,1793245383849310976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.95388962,659,634,879,785.95388962,807.95388962,652.95388962,630,652.95388962,0.411178275933,-0.0155291621449,0.0499486681099,0.999999937196,0.000335251798408,-0.000110223330235,3.26282737737e-05,1793245383865978368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.470742936,659,634,878.470742936,786,807.470742936,653,630,652.470742936,0.411888970554,-0.01552913621,0.0499390332661,0.999999925794,0.000365346581468,-0.000116990992151,3.53234485125e-05,1793245383882644224
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.104219045,659,634,878.104219045,785.895780955,807,652.895780955,630,652,0.412620376025,-0.0155296708834,0.0499384655733,0.999999929147,0.000358458487352,-0.000108247103875,3.86897348534e-05,1793245383899310336
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.678311383,659,634,878.678311383,785.321688617,807,652.321688617,630,652,0.413406518996,-0.0155322110896,0.0499705730804,0.999999980669,0.000184355365789,-5.19363202184e-05,4.4460646916e-05,1793245383915976960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,807.261338263,652.261338263,630,652,0.414167577311,-0.01553923221,0.0499803174681,0.999999997606,4.63794300996e-05,-3.6859812375e-05,3.57608306283e-05,1793245383932643840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785,807.8557523,652.8557523,630,652,0.414896665323,-0.0155519642586,0.049961560051,0.999999996162,-4.55524046541e-05,-7.43364073544e-05,8.61806433405e-06,1793245383949310464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.435626158,808,652.564373842,630,652,0.415669280148,-0.0155579865413,0.0499426826545,0.999999994146,-3.88402139317e-05,-0.000100907812875,4.19557058674e-06,1793245383965977600
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.010856646,634,879,786,808,652,630,652,0.416457571582,-0.0155617617072,0.0499246086597,0.999999992446,-4.0558673891e-07,-0.00012270493996,7.13835707557e-06,1793245383982644736
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.586909956,634,879,786,808,652,630,652,0.417335888992,-0.0155604822215,0.04995036113,0.999999995897,4.39501625518e-05,-7.78702321081e-05,1.45050984708e-05,1793245383999311104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.833959857,714,680,659.833959857,634,879,786,808,652,630,652,0.418198138859,-0.0155588435752,0.0499702556904,0.999999995133,8.45382358279e-05,-4.64772207989e-05,2.06721470306e-05,1793245384015977472
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.247030236,714,680,659.247030236,634,879,786,808,652,630,652,0.419019659608,-0.0155562945046,0.0499753012342,0.99999999183,0.000115575753728,-4.91571096412e-05,2.37981349293e-05,1793245384032644096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.334931328,744.334931328,714,680,659,634,879,786,808,652,630,652.334931328,0.419863365564,-0.0155548141159,0.0499672198056,0.999999988461,0.000137638217251,-5.9610849922e-05,2.40866542226e-05,1793245384049310208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.913282209,744.913282209,714,680,659,634,879,786,808,652,630,652.913282209,0.420723195126,-0.0155541104182,0.049949598028,0.999999985153,0.000153177838663,-7.57144271741e-05,2.23129735213e-05,1793245384065976832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508509424,744.508509424,714,680,659.491490576,634,879.491490576,786,808.982981153,652,630.491490576,652.508509424,0.421659060397,-0.0155571794014,0.0499699104145,0.999999986795,0.000157862259182,-3.05712074579e-05,2.35697611827e-05,1793245384082643712
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.069410497,714,680,660,634,880,786,809.930589503,652,630.930589503,652,0.42260345881,-0.0155601682282,0.0499920627651,0.999999987134,0.000157696381848,1.51583980314e-05,2.51850115931e-05,1793245384099310336
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.645408382,714,680,660,634,880,786,809.354591618,652,630.354591618,652,0.423512250749,-0.0155577152806,0.0499788094339,0.999999990319,0.000136105397817,-1.36783385349e-05,2.55152048629e-05,1793245384115977216
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226371571,744.773628429,714,680,660,633.773628429,880,786,809,652,630.226371571,652.226371571,0.424425761528,-0.0155580831316,0.0499748331337,0.999999991119,0.000128742593652,-2.19607675092e-05,2.65701832437e-05,1793245384132644096
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.815286998,744.184713002,714,680,660,633.184713002,880,786,809,652,630.815286998,652.815286998,0.425346829876,-0.0155629686132,0.0499857143973,0.99999998919,0.000144166831333,2.67541107241e-06,2.87859363879e-05,1793245384149310976
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.398421691,714,680,660,633,880.398421691,786,809,652,630.601578309,653,0.426270367418,-0.0155672410796,0.0499990221155,0.999999986963,0.000157875513085,1.26501794691e-05,3.14440671116e-05,1793245384165977344
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.97891466,714,680,660,633,880.97891466,786,809,652,630.02108534,653,0.427195033282,-0.0155712334093,0.0500134386774,0.999999984698,0.000170800216873,1.59249554865e-05,3.43043560051e-05,1793245384182643712
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680.552501233,660,633,880.447498767,786.552501233,809.552501233,652,630,653,0.428056936138,-0.0155631864509,0.0499722170113,0.999999981225,0.000181944759919,-5.95611719688e-05,2.9988141334e-05,1793245384199310080
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680.871003887,659.871003887,633.128996113,879.871003887,786.871003887,810,652,630.128996113,653,0.428940269412,-0.0155568503473,0.0499405545609,0.999999976543,0.000182966123652,-0.0001128008689,2.67160086768e-05,1793245384215976704
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680.283239989,659.283239989,633.716760011,879.283239989,786.283239989,810,652,630.716760011,653,0.429908232192,-0.015558212681,0.0499503472865,0.999999985704,0.000148223575051,-7.63643806342e-05,2.81191127661e-05,1793245384232643584
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.299557319,634,879.299557319,786,810,652,630.700442681,653,0.430838944712,-0.0155570369916,0.0499499325268,0.999999986506,0.000144797596755,-7.21576330018e-05,2.8558901931e-05,1793245384249310464
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.877735134,634,879.877735134,786,810,652,630.122264866,653,0.431735010434,-0.0155535006679,0.0499400237083,0.999999980275,0.000170499395922,-9.79280093995e-05,2.81027046487e-05,1793245384265977856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.54213446,745,714,680,660,634,880.45786554,786,810,652,630.45786554,653,0.432644563359,-0.015551520404,0.0499381560096,0.999999977008,0.000188748785449,-9.78012464649e-05,2.81447751884e-05,1793245384282644224
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.037635395,744.962364605,713.962364605,680,660,633.962364605,880.962364605,786,810,652.037635395,631,653,0.433557681335,-0.015550227733,0.0499404046169,0.999999974858,0.000204130416463,-8.83172612211e-05,2.85475822284e-05,1793245384299310848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.604960344,744.395039656,713.395039656,680,660,633.395039656,880.395039656,786,810,652.604960344,631,653,0.434470067976,-0.0155527392644,0.0499702369238,0.999999976994,0.000207278675323,-4.488293028e-05,3.21468329069e-05,1793245384315977216
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.818959605,744.181040395,713.181040395,680,660,633.181040395,880,786,810,652.818959605,631,653,0.435358874573,-0.0155529564373,0.0499839976217,0.999999978021,0.000204189304465,-3.27434730671e-05,3.45377972767e-05,1793245384332643840
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.222804527,744.777195473,713.777195473,680,660,633.777195473,880,786,810,652.222804527,631,653,0.436193613733,-0.0155479127854,0.0499609070971,0.999999977705,0.000186797426476,-9.23612616776e-05,3.41582349027e-05,1793245384349310464
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.362151712,660,634,880,786,810,652,631,653,0.437060989972,-0.0155472505095,0.0499551017134,0.999999977285,0.000188291241599,-9.3902074703e-05,3.40395719053e-05,1793245384365976832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.94042478,660,634,880,786,810,652,631,653,0.437947842997,-0.0155492029086,0.0499596115883,0.99999997736,0.000201055477076,-6.07842747794e-05,3.40766059278e-05,1793245384382643712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.483464379,660,633.483464379,880,786,810,652,630.483464379,653,0.438786999605,-0.0155488933822,0.0499687848606,0.999999978197,0.00019993603228,-5.04395275802e-05,3.29721836213e-05,1793245384399310336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.092132696,744.907867304,714,680,660,633.092132696,880,786,810.092132696,652,630.092132696,652.907867304,0.439612349542,-0.0155489338835,0.0499740722697,0.99999997932,0.000195194981868,-4.74005224816e-05,3.18198720302e-05,1793245384415977216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.666340964,744.333659036,714,680,660,633.666340964,880,786,810.666340964,652,630.666340964,652.333659036,0.440394121463,-0.0155521652195,0.0499562247091,0.99999998097,0.000179847895248,-6.89022042393e-05,3.11029649591e-05,1793245384432643840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.751841678,744.248158322,714,680,660,633.751841678,880.248158322,786,810.751841678,652.248158322,631,652.248158322,0.441181174311,-0.0155573387657,0.0499518578637,0.999999982375,0.000170756289858,-7.12689041313e-05,3.18160896958e-05,1793245384449310208
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.159470015,744.840529985,714,680,660,633.159470015,880.840529985,786,810.159470015,652.840529985,631,652.840529985,0.441975552116,-0.0155652062963,0.0499661897359,0.999999983787,0.000170341485642,-4.70940139529e-05,3.45127708905e-05,1793245384465976832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.423856771,660,633,880.576143229,786,810.423856771,652.576143229,631,653,0.442717321843,-0.0155657972974,0.0499700220558,0.999999983,0.000176000811572,-4.20595907635e-05,3.54248495546e-05,1793245384482643456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003807361,745,714,680.996192639,659.996192639,633,880,786,810.996192639,652,631,653,0.443438849102,-0.0155637413728,0.049969577645,0.999999981462,0.000183847094126,-4.47821628363e-05,3.56519941073e-05,1793245384499310080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.577125706,745,714,680.422874294,659.422874294,633,880,786,810.422874294,652,631,653,0.444031281386,-0.0155667059921,0.0499079601714,0.99999997082,0.00018412456355,-0.000153128952087,3.17609018861e-05,1793245384515976960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.845564201,744.845564201,714,680.154435799,659,632.845564201,880.154435799,785.845564201,810,652,630.845564201,653,0.444636362183,-0.0155712267601,0.0498544256162,0.999999954069,0.000183393021248,-0.000239623424848,2.84661993209e-05,1793245384532644096
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.257033806,744.257033806,714,680.742966194,659,632.257033806,880.742966194,785.257033806,810,652,630.257033806,653,0.445276996086,-0.0155801216168,0.0498236108516,0.999999948439,0.000179825311893,-0.000264694522449,2.68478537291e-05,1793245384549311488
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.326005653,714,681,659,632,880.673994347,785,810.326005653,652,630.326005653,652.673994347,0.445912232819,-0.0155900429227,0.0498151238862,0.999999949535,0.000176192688519,-0.000262956412882,2.71894878909e-05,1793245384565978112
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.90478755,714,681,659,632,880.09521245,785,810.90478755,652,630.90478755,652.09521245,0.446543284692,-0.01560076011,0.0498239493131,0.999999955795,0.00017250973272,-0.000240431144877,2.90508391037e-05,1793245384582644480
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880.480383806,784.519616194,810.519616194,652,630.519616194,652.480383806,0.447084982684,-0.0156086956366,0.0497995081488,0.999999946849,0.000169377728299,-0.000277076700668,2.90216315169e-05,1793245384599311360
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.05520557,681.05520557,659,631.94479443,880.94479443,784,810,652.05520557,629.94479443,653,0.447605297999,-0.0156154860397,0.0497685809161,0.999999932677,0.000166829036321,-0.000325577492918,2.85102404416e-05,1793245384615977728
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.628645037,681.628645037,659,631.371354963,880.371354963,784,810,652.628645037,629.371354963,653,0.448090041514,-0.0156166681766,0.0497382540984,0.999999914712,0.000168737767997,-0.000376000743413,2.69667884632e-05,1793245384632644096
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.209541727,745,715,682,659,631,880,784,810,653,629,653,0.448580086532,-0.0156207893316,0.0497210454906,0.999999903788,0.000166794297473,-0.000404843425532,2.65508808919e-05,1793245384649310720
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.804141913,745,715,682,659,631,880,784,810,653,629,653,0.44907987365,-0.0156303112904,0.0497279431956,0.999999909527,0.000157771936401,-0.000394029179316,2.82069738413e-05,1793245384665977088
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612890578,745,715,682,659,631,880.387109422,784,810.387109422,652.612890578,629.387109422,653,0.449557060056,-0.0156379987611,0.0497423241687,0.999999922416,0.000124793931784,-0.000372392308973,3.03047671484e-05,1793245384682643712
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.035636872,745,715,682,659,631,880.964363128,784,810.964363128,652.035636872,629.964363128,653,0.450023145261,-0.0156447851504,0.0497603808491,0.9999999366,8.00491530546e-05,-0.000345439471876,3.26195193442e-05,1793245384699310592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.10985895,745,714.89014105,681,659,630.89014105,881.10985895,783,811,652,629.89014105,652.10985895,0.450795894601,-0.015658996267,0.0497569430888,0.999999932036,2.32646254642e-05,-0.000366765988752,2.94841054982e-05,1793245384732644352
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.684541761,745,714.315458239,681,659,630.315458239,881.684541761,783,811,652,629.315458239,652.684541761,0.451127832529,-0.0156622601007,0.0497428970892,0.999999921942,-3.17559345465e-05,-0.000393693500616,1.06597441574e-05,1793245384749310976
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.73172908,745,714.26827092,681.26827092,659,630,881.46345816,783,811,652.26827092,629,653,0.451440536221,-0.0156669826717,0.0497257272993,0.999999906765,-5.98249946644e-05,-0.000427656161277,7.54276197032e-07,1793245384765977344
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.136991183,745,714.863008817,681.863008817,659,630,880.273982367,783,811,652.863008817,629,653,0.451729833171,-0.0156734804238,0.0497047560756,0.999999887946,-5.5095958131e-05,-0.000470180106155,1.70247985892e-06,1793245384782643968
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.554426241,682,659,629.554426241,880,783,810.554426241,653,629,653,0.452017733906,-0.0156783832381,0.0496991871748,0.999999886453,-4.86782018022e-05,-0.000474036934709,3.67266926267e-06,1793245384799310336
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.024249947,682,658.975750053,629.024249947,880,783,810.024249947,652.975750053,628.975750053,653,0.452303926234,-0.0156834385589,0.0496988639635,0.999999890694,-4.23333955794e-05,-0.000465597515061,6.27853090877e-06,1793245384815976960
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.597364822,682,658.402635178,629.597364822,880,783,810.597364822,652.402635178,628.402635178,653,0.452560908646,-0.0157027491942,0.0497129400961,0.999999901525,-4.90784929719e-05,-0.000440766153575,1.63494165638e-05,1793245384832643840
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,682.17540196,658,629.82459804,880,783,811,652.17540196,628,653,0.452802614405,-0.0157242953145,0.0497237395016,0.999999908697,-6.00368331883e-05,-0.000422328087499,2.5327082707e-05,1793245384849310464
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,682.765064304,658,629.234935696,880,783,811,652.765064304,628,653,0.453008240075,-0.0157511211498,0.049726800005,0.999999908445,-8.09459141843e-05,-0.000418989566081,3.1722806307e-05,1793245384865976832
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.349975438,745.349975438,715,682.650024562,658.349975438,629,880,782.650024562,810.650024562,653,628,653,0.453192392675,-0.0157607752737,0.049721879991,0.999999904934,-8.57802785133e-05,-0.000426189514911,3.37151774974e-05,1793245384882643456
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.931739901,745.931739901,715,682.068260099,658.931739901,629,880,782.068260099,810.068260099,653,628,653,0.453362323663,-0.0157590565617,0.0497116744739,0.999999899302,-7.99683466906e-05,-0.000440369101048,3.27912053575e-05,1793245384899310080
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.514128697,745.514128697,715,682.485871303,658.514128697,629,880.485871303,782.485871303,810.485871303,652.514128697,627.514128697,653,0.453497393381,-0.0157548537379,0.0497052104648,0.999999895985,-7.09504021485e-05,-0.000449370686318,3.2585719365e-05,1793245384915977472
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,683,658,629,880.96032799,782.96032799,811,652,627.03967201,653,0.453627245447,-0.0157507524199,0.0496995533111,0.999999893052,-6.20520350408e-05,-0.000457150794924,3.25333497562e-05,1793245384932644864
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,683,658,629,880.359223251,782.359223251,811,652,627.640776749,653,0.453748839362,-0.0157527607195,0.0496982761116,0.999999892992,-6.08770720171e-05,-0.000457385630181,3.32962414587e-05,1793245384949310720
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682.762667177,658,629,880,782,811,652,627.762667177,653,0.453858567603,-0.0157541531229,0.0496987567723,0.999999893714,-6.02558580896e-05,-0.000455851881295,3.37635989549e-05,1793245384965977088
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,682.172866457,658,629,880,782,811,652,627.172866457,653,0.45395067388,-0.0157546308459,0.0497018480675,0.999999895589,-6.04570284976e-05,-0.000451691571405,3.3792052427e-05,1793245384982643968
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652,627,653,0.454026731572,-0.0157570860824,0.0497007942784,0.999999894996,-6.15818660636e-05,-0.000452819329397,3.41988540096e-05,1793245384999310592
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,682,658,629,880,782,811,652,627,653,0.454096135306,-0.0157603612219,0.0496980218826,0.999999893374,-6.30896682074e-05,-0.000456139590161,3.47625237067e-05,1793245385015977216
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658,628.435637804,880,782,811,652,627,653,0.454145162406,-0.0157616486214,0.0496961236053,0.999999891982,-6.53065567553e-05,-0.000458861980408,3.48878918333e-05,1793245385032644096
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.140226259,745,715,682,658,628.140226259,880.140226259,782,811,652,627,653.140226259,0.454189820022,-0.0157614380507,0.0496943533655,0.999999890752,-6.55794266467e-05,-0.000461499596867,3.48255723579e-05,1793245385049310720
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.713917744,745,715,682,658,628.713917744,880.713917744,782,811,652,627,653.713917744,0.454222332901,-0.0157567298556,0.0496929204801,0.999999890018,-5.9795574489e-05,-0.000463915128256,3.42123757525e-05,1793245385065977088
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.701734418,745,715,682.298265582,658,628.701734418,880.701734418,782,811,652.298265582,627,653.701734418,0.454248272718,-0.0157556165661,0.0496909320652,0.99999988869,-5.73226096605e-05,-0.000467087814853,3.40943729175e-05,1793245385082643712
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.10678673,745,715,682.89321327,658,628.10678673,880.10678673,782,811,652.89321327,627,653.10678673,0.454267674373,-0.0157580790964,0.0496883910701,0.999999886789,-5.81429541353e-05,-0.000471013637254,3.44689348212e-05,1793245385099310336
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,683,658,628,880,782,811,653,627,653,0.454282520564,-0.0157579803907,0.0496872256968,0.999999885708,-5.92418855478e-05,-0.000473176761544,3.43301542607e-05,1793245385115976960
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.046715108,745,715,683,658,628.046715108,880.046715108,782,811,653,627,653,0.45429578623,-0.0157571458619,0.0496863129025,0.999999884823,-6.00436547607e-05,-0.000474959062221,3.40860249267e-05,1793245385132643840
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.620337939,745,715,683,658,628.620337939,880.620337939,782,811,653,627,653,0.454302464831,-0.0157543313339,0.0496848548439,0.999999884144,-5.68063088017e-05,-0.000476795189429,3.39202460525e-05,1793245385149310720
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.800361822,745,715,682.800361822,658,628.800361822,880.800361822,782,811,653,627,653,0.454308632515,-0.015752540746,0.0496843068299,0.999999883787,-5.52132621589e-05,-0.000477750191161,3.36582583423e-05,1793245385165977600
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.209948565,745,715,682.209948565,658,628.209948565,880.209948565,782,811,653,627,653,0.454313800123,-0.0157527544354,0.0496855401524,0.999999884078,-5.68387944404e-05,-0.000476980463182,3.32079498731e-05,1793245385182643968
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,682.372963602,658,628.372963602,880,781.627036398,810.627036398,653,627,653,0.454313871312,-0.0157528309039,0.0496836609329,0.999999882499,-5.69436216623e-05,-0.000480269627839,3.3169801647e-05,1793245385199310336
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,682.951736489,658,628.951736489,880,781.048263511,810.048263511,653,627,653,0.45431113019,-0.0157528316508,0.0496800641463,0.999999879864,-5.6209291285e-05,-0.00048579857619,3.33590922635e-05,1793245385215976960
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.527457506,745,715,683,658,628.472542494,880.527457506,781.527457506,810.527457506,653,627,653,0.454313972305,-0.0157531574756,0.0496809871394,0.999999880942,-5.6224579132e-05,-0.000483548554157,3.36855225616e-05,1793245385232643584
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.894898969,745,715,683,658.105101031,628,880.894898969,782,810.894898969,653,627,653,0.454316401738,-0.0157527615022,0.0496817417275,0.999999881788,-5.59821387541e-05,-0.000481819889427,3.37588856956e-05,1793245385249310208
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.307152053,745,715,683,658.692847947,628,880.307152053,782,810.307152053,653,627,653,0.454314603482,-0.0157489150696,0.0496798346917,0.999999880028,-5.42429811264e-05,-0.000485735304253,3.26128172587e-05,1793245385265977088
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.276325748,745,715,683,658.723674252,628,880,782,810.276325748,652.723674252,627,653,0.454314371436,-0.0157475343622,0.0496789484515,0.999999879351,-5.31003914343e-05,-0.000487259979475,3.24947793058e-05,1793245385282644224
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.855130452,745,715,683,658.144869548,628,880,782,810.855130452,652.144869548,627,653,0.454315853837,-0.0157488527513,0.0496791796213,0.999999879875,-5.26108324067e-05,-0.000486167640939,3.35020709726e-05,1793245385299311104
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.566693383,745,715,683,658,628,880,782,811,652,627,653,0.454316366653,-0.0157496657391,0.0496786779288,0.999999879429,-5.40684497632e-05,-0.000486948074786,3.31632187765e-05,1793245385315977728
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.011219549,745,715,682.988780451,658,628.011219549,880,782,810.988780451,652.011219549,627,653,0.45431655298,-0.0157502911682,0.0496779450223,0.999999878669,-5.6134679176e-05,-0.000488324648436,3.23904169825e-05,1793245385332644096
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.58645005,745,715,682.41354995,658,628.58645005,880,782,810.41354995,652.58645005,627,653,0.454316598867,-0.0157499699972,0.0496778883857,0.999999878712,-5.61170015553e-05,-0.000488239035637,3.2394865558e-05,1793245385349310720
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.834331778,745,715,682,658.165668222,628.834331778,880.165668222,782,810,652.834331778,627,653,0.454316555339,-0.015749419346,0.0496778920922,0.99999987873,-5.60686328901e-05,-0.000488207536426,3.24074444316e-05,1793245385365977344
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.244913892,745,715,682,658.755086108,628.244913892,880.755086108,782,810,652.244913892,627,653,0.454316283104,-0.0157482817258,0.0496780501455,0.999999878684,-5.59417620265e-05,-0.000488314450089,3.2440819152e-05,1793245385382643712
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,682.338249252,658.661750748,628,881,782,810.338249252,652.338249252,627,653,0.454316631518,-0.015748183364,0.04967826364,0.999999878668,-5.50680856623e-05,-0.000488434924448,3.259360245e-05,1793245385399310592
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682.916965768,658.083034232,628,881,782,810.916965768,652.916965768,627,653,0.454317421163,-0.0157488238291,0.0496785165487,0.999999878673,-5.36634923134e-05,-0.000488565039336,3.28312753765e-05,1793245385415977216
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.493174418,745,715,682.506825582,658,628,880.506825582,782,811,653,627,653,0.454318096114,-0.0157484749229,0.0496786842704,0.99999987917,-5.23313627499e-05,-0.000487697046363,3.27473854116e-05,1793245385432644096
+245,4.083333333,HOLD_POSE2,765,745,715,682,658,628,880,782,810,653,627,653,0.454315047047,-0.0157424292288,0.049676796235,0.999999877386,-5.0156421114e-05,-0.000491622023871,3.19246420195e-05,1793245385476278784
+246,4.100000000,HOLD_POSE2,765,745,715,682,658,628,880,782,810.590923563,652.409076437,627,653,0.454316573713,-0.0157445949173,0.0496767824197,0.99999987787,-5.29171580408e-05,-0.000490329324092,3.2216596291e-05,1793245385492944896
+247,4.116666667,HOLD_POSE2,765,745,715,682.178175305,658,628,880,781.821824695,811,652.178175305,627,653,0.454317623085,-0.0157460467838,0.0496768560311,0.999999878301,-5.46479970675e-05,-0.000489249075905,3.23566502407e-05,1793245385509611264
+248,4.133333333,HOLD_POSE2,765,745,715,682.757167169,658,628,880,781.242832831,811,652.757167169,627,653,0.454317598754,-0.0157458928636,0.0496771263143,0.999999878634,-5.40620165089e-05,-0.000488646750698,3.21549949161e-05,1793245385526277632
+249,4.150000000,HOLD_POSE2,765,745,715,682.666758937,658,628,880.333241063,781.333241063,811,653,627,653,0.454317097932,-0.0157458585916,0.0496770260829,0.999999878265,-5.52441649829e-05,-0.000489295063857,3.17477792454e-05,1793245385542944256
+250,4.166666667,HOLD_POSE2,765,745,715,682.092792948,658,628,880.907207052,781.907207052,811,653,627,653,0.454316252906,-0.0157459107505,0.0496766582011,0.999999877383,-5.77035652496e-05,-0.000490846806619,3.11920719842e-05,1793245385559610624
+251,4.183333333,HOLD_POSE2,765.480673214,745,715,682,658,628,880.519326786,782,811,653,627,653,0.454316691772,-0.0157444176688,0.049676389675,0.999999877656,-5.57342511711e-05,-0.000490514877819,3.12566759627e-05,1793245385576278272
+252,4.200000000,HOLD_POSE2,766,745,715,682.056125785,658,628,880.056125785,782,811,653,627,653,0.454317284379,-0.015742886643,0.049676149782,0.999999878052,-5.31715341083e-05,-0.000489981392132,3.1426490966e-05,1793245385592945408
+253,4.216666667,HOLD_POSE2,766,745,715,682.65159309,658,628,880.65159309,782,811,653,627,653,0.454316975084,-0.0157438545842,0.049676000917,0.999999877553,-5.31136602663e-05,-0.000491001805105,3.14577910242e-05,1793245385609611264
+254,4.233333333,HOLD_POSE2,765.760522358,745.239477642,714.760522358,682.521044715,658,628,880.760522358,782,811,653,627,653,0.454317286889,-0.0157447514579,0.0496761578828,0.999999877469,-5.31193995864e-05,-0.000491151608121,3.17952846715e-05,1793245385626277632
+255,4.250000000,HOLD_POSE2,765.183331124,745.816668876,714.183331124,681.366662248,658,628,880.183331124,782,811,653,627,653,0.454318474572,-0.0157455481115,0.049676746134,0.999999877968,-5.32148467823e-05,-0.00049007366882,3.25645753539e-05,1793245385642944000
+256,4.266666667,HOLD_POSE2,765.39073593,745.60926407,714.39073593,681.78147186,658,628,880.39073593,782,811,653,627,653,0.454318682353,-0.0157458191575,0.0496766605896,0.999999877652,-5.43670712622e-05,-0.00049059555439,3.25096704537e-05,1793245385659610880
+257,4.283333333,HOLD_POSE2,765.963348814,745.036651186,714.963348814,682.926697627,658,628,880.963348814,782,811,653,627,653,0.454318434017,-0.0157458455475,0.0496762614117,0.999999876953,-5.60111968489e-05,-0.000491862114851,3.20711249818e-05,1793245385676277504
+258,4.300000000,HOLD_POSE2,766,745,715,682.449029074,659.101941851,628.550970926,880.449029074,781.449029074,811,653,627,653,0.454318093489,-0.0157462311618,0.0496765345023,0.999999877219,-5.689074143e-05,-0.000491235739373,3.18207067773e-05,1793245385692944128
+259,4.316666667,HOLD_POSE2,765.862358874,745,715,682,659.724717748,628.862358874,880,781.137641126,811,653,627,653,0.454318018094,-0.0157467003428,0.0496768815289,0.999999877484,-5.72436213145e-05,-0.000490660181791,3.17367375115e-05,1793245385709611008
+260,4.333333333,HOLD_POSE2,765.282050929,745,715,682,658.564101859,628.282050929,880,781.717949071,811,653,627,653,0.454318815662,-0.015747359279,0.0496773184891,0.999999877536,-5.60708519115e-05,-0.000490664371166,3.21467089475e-05,1793245385726278144
+261,4.350000000,HOLD_POSE2,765,745,715,682,658,628,880,781.703387253,811,653,627,653,0.454318547163,-0.0157466516229,0.049676829762,0.999999877332,-5.51945283443e-05,-0.000491175380789,3.21783214617e-05,1793245385742945024
+262,4.366666667,HOLD_POSE2,765,745,715,682,658,628,880,781.126278537,811,653,627,653,0.454317270521,-0.0157446516297,0.0496754656458,0.999999876889,-5.4598542975e-05,-0.000492165672024,3.18521335743e-05,1793245385759611392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,628,880,782,811,652,627,653,0.454317051755,-0.0157420267276,0.0496751190589,0.999999876332,-5.01826660932e-05,-0.000493779164463,3.16281955228e-05,1793245385792392704
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.591974341,658,628,880,781.408025659,810.408025659,652.591974341,627,653,0.454317446691,-0.015744762119,0.0496756220168,0.99999987659,-5.41115083256e-05,-0.000492813845325,3.20284131476e-05,1793245385809058816
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.819891664,658,628,880.180108336,781,810.180108336,653,627,653,0.454317462472,-0.0157460911283,0.0496754330181,0.999999876566,-5.66903676873e-05,-0.00049257621273,3.19961847039e-05,1793245385825724928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.24027602,658,628,880.75972398,781,810.75972398,653,627,653,0.454316637233,-0.0157443005715,0.0496737091559,0.999999875941,-5.62747632799e-05,-0.000493952697883,3.1004726084e-05,1793245385842391808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.663907448,745,715,682.336092552,658,628,880.663907448,781,811,653,627,653,0.454317169531,-0.0157446177844,0.0496741670712,0.999999876171,-5.55406705033e-05,-0.000493545595875,3.14041343958e-05,1793245385859058944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.089838062,745,715,682.910161938,658,628,880.089838062,781,811,653,627,653,0.454318663058,-0.0157464274446,0.0496761698364,0.999999877002,-5.45810658997e-05,-0.000491875590387,3.27883730072e-05,1793245385875726080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.5037803,658,628,880,781.4962197,811,653,627,653,0.454318283469,-0.0157465035088,0.0496757229013,0.999999876858,-5.51643758856e-05,-0.000492116896501,3.25929196905e-05,1793245385892392192
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.083060541,745,715,682.083060541,658,628,880,781.916939459,810.916939459,653,627,653,0.454316557259,-0.0157460600387,0.0496744248551,0.999999876235,-5.57697406668e-05,-0.000493346045153,3.20857299833e-05,1793245385909058560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.661309915,745,715,682.661309915,658,628,880,781.338690085,810.338690085,653,627,653,0.454308874592,-0.0157444367019,0.0496707622156,0.999999873827,-5.48000159899e-05,-0.000498350446437,3.14672896432e-05,1793245385925724928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.760702121,745,715,682.760702121,658,628,880,781.239297879,810,653,627,653,0.454294265043,-0.0157422100486,0.0496637791922,0.999999868374,-5.34159106401e-05,-0.000509386331198,3.04041229276e-05,1793245385942391552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.183083787,745,715,682.183083787,658,628,880,781.816916213,810,653,627,653,0.454269862239,-0.015739130424,0.0496521017949,0.999999858371,-5.14459520351e-05,-0.000528949554828,2.87122000369e-05,1793245385959058176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.391971683,745,715,682,658,628,880,782,810.391971683,652.608028317,627,653,0.454227430124,-0.0157374918668,0.0496338224011,0.999999841658,-5.12176106746e-05,-0.000559739751825,2.74218332229e-05,1793245385975724800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.965837905,745,715,682,658,628,880,782,810.965837905,652.034162095,627,653,0.454176631502,-0.015736522037,0.0496124793486,0.999999820859,-5.17974669288e-05,-0.000595739829277,2.63178084128e-05,1793245385992391424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.444253931,745,715,682.555746069,658,628,880,781.444253931,810.444253931,652.555746069,627,653,0.454112598793,-0.0157313293694,0.0495940458932,0.99999980744,-4.90388161453e-05,-0.000618179123683,2.38506541202e-05,1793245386009058560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,628,880,781.143730286,810,652.856269714,627,653,0.454045452655,-0.0157263374918,0.0495786172725,0.999999796234,-4.72386355608e-05,-0.000636265242272,2.16201198538e-05,1793245386025725952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,628,880,781.72281147,810,652.27718853,627,653,0.453971413418,-0.0157227634208,0.0495717322778,0.999999791376,-4.89816832329e-05,-0.000643765791811,2.03676403522e-05,1793245386042392064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.300376475,628,880,781.699623525,810,652,627,653,0.453885321787,-0.0157176810471,0.0495680197414,0.999999788679,-4.73319414381e-05,-0.000648090228981,1.95095998761e-05,1793245386059058176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.876549336,628,880,781.123450664,810,652,627,653,0.453788164024,-0.0157112137968,0.0495672200583,0.999999787989,-4.25670452139e-05,-0.000649498457598,1.9013721186e-05,1793245386075724800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.550166042,628,880.449833958,781.449833958,810,652.449833958,627,653,0.453675541683,-0.0157040099508,0.0495678765389,0.999999787577,-3.86462394049e-05,-0.000650396715352,1.8355988254e-05,1793245386092391424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.976857262,658,628,880.976857262,782,810,652.976857262,627,653,0.453557477546,-0.0156965274404,0.049569014694,0.999999787335,-3.48909968517e-05,-0.000650999522905,1.76701063498e-05,1793245386109057792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.383549602,658,628,880.383549602,782,810,652.383549602,627,653,0.453409237275,-0.0156871280414,0.049572237135,0.999999789623,-2.95440195215e-05,-0.000647749401384,1.73780766095e-05,1793245386125724672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.204760451,745,715,682,658,628.204760451,880.204760451,782,810,652.204760451,627,653,0.45324916482,-0.0156769978237,0.0495746345535,0.999999790275,-2.44282409748e-05,-0.000646972923477,1.67106110844e-05,1793245386142391296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.783932149,745,715,682,658,628.783932149,880.783932149,782,810,652.783932149,627,653,0.453067456841,-0.0156655312809,0.0495755233908,0.999999787969,-1.97352176281e-05,-0.000650719585004,1.53566488587e-05,1793245386159058432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.360351704,658,629,881,782,810,653,627,653,0.452864019164,-0.0156533050816,0.0495750423459,0.999999784929,-1.53275235199e-05,-0.000655520589982,1.41125838975e-05,1793245386175725312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.935133631,658,629,881,782,810,653,627,653,0.452647651035,-0.0156406268415,0.0495737461413,0.999999781428,-1.10896164536e-05,-0.000660948990975,1.29339140705e-05,1793245386192391936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,628.478479924,880.478479924,782,810.521520076,652.478479924,627,653,0.452411548804,-0.0156283640047,0.04957836145,0.999999783402,-5.42819868487e-06,-0.000658043393584,1.20548044563e-05,1793245386209058048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.10772594,715,683,658,628.10772594,880.10772594,782,810.89227406,652,627.10772594,653,0.452162295854,-0.0156166580341,0.049583097794,0.999999785287,-9.86848456351e-07,-0.000655212591581,1.09998149854e-05,1793245386225724672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.686684578,715,683,658,628.686684578,880.686684578,782,810.313315422,652,627.686684578,653,0.451866498068,-0.0156071568395,0.049585074053,0.999999783904,-2.67464973655e-06,-0.000657346534276,9.00876812918e-06,1793245386242391296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.735088373,745.735088373,715,682.735088373,658,629,880.735088373,782,810,652.264911627,628,653,0.451552763615,-0.0155984260029,0.0495846358049,0.999999781327,-6.73911585283e-06,-0.000661254091999,6.59242356966e-06,1793245386259058176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.157724237,745.157724237,715,682.157724237,658,629,880.157724237,782,810,652.842275763,628,653,0.45121787361,-0.0155906037731,0.0495813497437,0.999999777287,-1.36067615406e-05,-0.000667253556465,3.67445775676e-06,1793245386275724800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.581389886,682,658,629,880,782.418610114,810,652.581389886,628,653,0.450867622392,-0.015587107753,0.0495806474985,0.999999781135,-2.30061542559e-05,-0.000661210682015,1.42560280002e-06,1793245386292391680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.005442598,682,658,629,880,782.994557402,810,652.005442598,628,653,0.450511597575,-0.0155852377656,0.0495809163963,0.999999787776,-3.33571194259e-05,-0.000650641620541,-5.71762681187e-07,1793245386309058816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,629.583118694,880.583118694,783,810,652,628.583118694,653,0.450138488052,-0.0155807510654,0.0495994305972,0.999999808896,-4.11761749915e-05,-0.00061685512657,-1.4674155412e-06,1793245386325725440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.169119603,682,658,629.830880397,880.830880397,782.830880397,810,652,629,653,0.449744065216,-0.0155740771967,0.0496169176407,0.999999827655,-4.72710755281e-05,-0.000585190529649,-2.84239814492e-06,1793245386342392064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.748615538,682,658,629.251384462,880.251384462,782.251384462,810,652,629,653,0.449298320215,-0.0155621566403,0.0496314898743,0.999999842414,-4.92408468071e-05,-0.000559212281988,-5.40599955475e-06,1793245386359058432
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.67558977,681.67558977,658,629.32441023,880,782.32441023,810,652,629,653,0.44882637788,-0.0155511253998,0.0496390396756,0.999999848517,-5.44008873434e-05,-0.000547667651986,-8.14257458282e-06,1793245386375724800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.102630745,681.102630745,658,629.897369255,880,782.897369255,810,652,629,653,0.448334364256,-0.0155407755126,0.0496412092007,0.999999848313,-6.20051715541e-05,-0.000547181419993,-1.10116746337e-05,1793245386392391680
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.928538177,745,714.928538177,682,658,631,880,783.071461823,810.071461823,652,629,653,0.447268422051,-0.0155200119865,0.0496264918103,0.999999839193,-7.58470980025e-05,-0.000561689676151,-1.91158763111e-05,1793245386425724672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.350656739,745,714.350656739,682,658,631,880,783.649343261,810.649343261,652,629,653,0.446678556072,-0.0155092018042,0.0496175881292,0.999999831714,-8.47531999854e-05,-0.000573418570798,-2.40952534662e-05,1793245386442392064
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.227987863,631,880,784.227987863,810.772012137,652,629.227987863,653,0.446078305871,-0.0154997128155,0.0496180150602,0.999999831795,-9.56233269074e-05,-0.000571383694976,-2.80337422441e-05,1793245386459059200
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.807810158,631,880,784.807810158,810.192189842,652,629.807810158,653,0.44546203061,-0.0154922627141,0.0496328411379,0.99999984333,-0.000109524367235,-0.000548108352769,-3.03659155159e-05,1793245386475725568
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.382229207,682,659,631.382229207,880,784.617770793,810,652,630,652.617770793,0.444851558053,-0.0154847886856,0.0496703499571,0.999999868065,-0.000120805506984,-0.000498377733164,-2.99199474949e-05,1793245386492391936
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.953969287,682,659,631.953969287,880,784.046030713,810,652,630,652.046030713,0.44424396252,-0.0154773027941,0.0497191049761,0.999999896209,-0.00013078768805,-0.000435530473206,-2.80965649974e-05,1793245386509058304
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,744.456786502,714.456786502,682,659,632,880,784.543213498,810,652,630,652.543213498,0.443570761075,-0.0154639178611,0.0497359243436,0.999999903748,-0.000136982174928,-0.000415719084918,-3.03007220995e-05,1793245386525724928
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.131362821,714,681.868637179,659,632.131362821,880,785.131362821,810,652,630,652.868637179,0.442880189393,-0.0154512074128,0.0497463108133,0.999999907905,-0.000145301209662,-0.000402448801788,-3.3345932604e-05,1793245386542391552
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.288511757,745,714,681,659.288511757,632.711488243,880,786,810,652.288511757,630,652,0.441420085748,-0.0154387042112,0.0497658950222,0.999999921839,-0.000164302084037,-0.000357377890041,-4.0098060965e-05,1793245386575724800
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744,714,681.008892417,659.008892417,633,880.991107583,785.008892417,809,652,630,652,0.439113917982,-0.0154366586413,0.0498329776957,0.999999967373,7.38109139061e-06,-0.000251509379192,-4.40765654075e-05,1793245386625724928
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,681.603029694,659.603029694,633,880.396970306,785.603029694,809,652,630,652,0.438240454057,-0.0154322764341,0.0497911684023,0.999999946978,-2.53180980405e-05,-0.000320601686652,-5.11714229815e-05,1793245386642391552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.191564511,714,682,659.808435489,633,880,786,809.191564511,652,630,652,0.437372178228,-0.0154294528441,0.0497660380215,0.999999930432,-5.84890607416e-05,-0.000364001755119,-5.67204680856e-05,1793245386659057920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.768819462,714,682,659.231180538,633,880,786,809.768819462,652,630,652,0.436514348014,-0.0154297673291,0.0497744884829,0.99999993071,-9.26098763436e-05,-0.000355673812094,-5.91572191482e-05,1793245386675724544
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.906547055,633,880,786,809.093452945,652,630,652,0.43297658207,-0.0154059996993,0.0497746273741,0.999999937683,4.88031245315e-05,-0.000349373256463,-1.37746434307e-05,1793245386742391552
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,880.5937187,785.4062813,809.5937187,652,630,652,0.429291445078,-0.015403816075,0.0497765499907,0.999999937714,-2.19018399299e-05,-0.000350574203716,-3.4500550364e-05,1793245386809058048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,880.019121237,785.980878763,809.019121237,652,630,652,0.428332088833,-0.0154058095056,0.0497598365694,0.999999928796,-1.32311976514e-05,-0.000374905072759,-4.09801821805e-05,1793245386825724672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.431707049,745,714,681,659,633,880,786,809.568292951,652,630,652,0.427414060702,-0.0154085675527,0.0497710095075,0.999999928084,-4.05353178801e-05,-0.000374831740352,-4.11187521377e-05,1793245386842391552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.846079806,633.153920194,880,786,810,652.153920194,630,652,0.426496990155,-0.0154098488481,0.0497771677505,0.999999927386,-6.28507755126e-05,-0.000373600932164,-4.12372476638e-05,1793245386859057920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.266612779,633.733387221,880,786,810,652.733387221,630,652,0.425578633892,-0.0154069745638,0.0497668077872,0.99999992781,-6.79502216312e-05,-0.000371492583392,-4.19037249208e-05,1793245386875724800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.311599104,745,714,680.688400896,658.311599104,633.688400896,879.688400896,785.688400896,809.688400896,652.688400896,629.688400896,652,0.424690310594,-0.0154084749343,0.049782222552,0.999999940254,-7.71519804961e-05,-0.000334417787531,-4.12894092465e-05,1793245386892391680
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.888741329,745,714,680.111258671,658.888741329,633.111258671,879.111258671,785.111258671,809.111258671,652.111258671,629.111258671,652,0.423827581278,-0.015413703363,0.0498196024053,0.99999995939,-8.98497082233e-05,-0.000267544767885,-3.95836083774e-05,1793245386909058304
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.537332158,745,714,680,658.537332158,633,879,785.462667842,809,652,629.462667842,652,0.422913688595,-0.015415381082,0.0498273545201,0.999999964514,-7.17917164172e-05,-0.000253456772081,-3.97252964943e-05,1793245386925724672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.036909835,633.036909835,879,785.963090165,809,652.036909835,629.963090165,652,0.421988325313,-0.0154161314925,0.0498261246795,0.999999965335,-4.92680811124e-05,-0.00025547785458,-4.04307040248e-05,1793245386942391296
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.214972203,659,634,879,785.214972203,809,652.785027797,629,652,0.420190211521,-0.0154143446421,0.0497852484868,0.999999938632,-8.49181409913e-05,-0.000337032424696,-4.39837400091e-05,1793245386975724544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.79755167,659,634,879,785.79755167,809,652.20244833,629,652,0.419357849259,-0.0154114461088,0.0498062954408,0.999999944831,-9.02161806319e-05,-0.000316865900572,-4.23726660353e-05,1793245386992391424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.626886361,659,633.626886361,879,786,809,652,629.373113639,652,0.418472517162,-0.0154082356519,0.0497978772411,0.999999938304,-7.45588343079e-05,-0.000340519345649,-4.33502476556e-05,1793245387009058048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.05506177,659,633.05506177,879,786,809,652,629.94493823,652,0.417558974711,-0.0154048590725,0.0497737666395,0.999999922734,-4.77411753201e-05,-0.000387510206025,-4.57064822183e-05,1793245387025724928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.531166671,745,714,680,659,633.531166671,879,785.468833329,808.468833329,652,630,652,0.416759288944,-0.0154098015954,0.0497813760648,0.999999931588,-5.78326520436e-05,-0.000362473188516,-4.57496141069e-05,1793245387042391808
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.299457862,745,714,680,659.700542138,634,879,785.700542138,808,652,630,652,0.415198431827,-0.015417800207,0.0498171002176,0.999999953606,-8.86283524753e-05,-0.000288129909028,-4.37540764856e-05,1793245387075724800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.720416663,634,879.279583337,785.720416663,808,652,630,652,0.41441587412,-0.0154171179389,0.0498173710847,0.999999952812,-9.68814770276e-05,-0.000288185193543,-4.40324041615e-05,1793245387092391424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.145188881,634,879.854811119,785.145188881,808,652,630,652,0.413626066158,-0.0154127686953,0.0497942186849,0.999999939572,-9.66157745398e-05,-0.000330734755551,-4.62174566308e-05,1793245387109058048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.570729166,634,879.570729166,785,808,652.429270834,630,652,0.4128727728,-0.0154100799136,0.0497785092065,0.999999931372,-9.53983330031e-05,-0.00035465206422,-4.87549006161e-05,1793245387125724672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.003578071,634,878.996421929,785,808,652.996421929,629.996421929,652,0.41213220995,-0.0154079814491,0.0497655874802,0.999999925107,-9.38849002855e-05,-0.000371930555369,-5.1369746438e-05,1793245387142391296
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.1827036,785,808,652.1827036,629.1827036,652,0.410783062703,-0.0154119150244,0.0498165398947,0.999999946105,-9.7952798974e-05,-0.00031016624148,-4.46362021263e-05,1793245387175725056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.760020891,785,808,652.760020891,629.760020891,652,0.410107420191,-0.0154095175163,0.0498058539814,0.999999940594,-9.67004416224e-05,-0.000327662370157,-4.58094780508e-05,1793245387192391680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808,652.678233132,629.678233132,652,0.409474941497,-0.0154076991243,0.0497977912626,0.999999937141,-9.69889328392e-05,-0.000337853109264,-4.6553661981e-05,1793245387209058304
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,785,808,652.127564471,629.127564471,652,0.408873169159,-0.0154062927101,0.0497915946592,0.999999935285,-9.83735686977e-05,-0.000342846864902,-4.69925940124e-05,1793245387225724928
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.664141865,714,679.664141865,658.335858135,634,879,786,808,652.335858135,629,652,0.407241710144,-0.0154144134245,0.0498305428545,0.999999950304,-0.000121288659322,-0.000287569939338,-4.45512482107e-05,1793245387275724544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.759058168,658.240941832,634,879,786,807.759058168,652.240941832,629,652,0.406714884855,-0.0154142310667,0.0498211445694,0.999999943365,-0.000127844884685,-0.000307874659144,-4.62441025123e-05,1793245387292391424
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.029852948,714,679,659,634,879,786,807.970147052,653,629,652,0.405251281166,-0.015413279169,0.0497666029255,0.999999910448,-0.000134815606939,-0.000397591203402,-5.33861777572e-05,1793245387342392064
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.559443654,714,679.559443654,659,634,879,786,808,653,629,652,0.404853649524,-0.0154130961406,0.0497746144878,0.999999914473,-0.000142048518023,-0.000384743881691,-5.33760975475e-05,1793245387359058176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.853616364,786,807.853616364,653,629,652,0.404476559347,-0.0154146232562,0.0497882165611,0.999999921145,-0.000150903838713,-0.000363549883072,-5.26217509655e-05,1793245387375724800
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.617412037,745,714.617412037,679.382587963,658,634,878,786,807.617412037,653,629.382587963,652,0.402689034431,-0.0154296933717,0.0498325085254,0.99999992683,-0.000211914985688,-0.00031441582293,-5.07504945264e-05,1793245387475725056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.795012185,745,714.795012185,679,658,634,878.204987815,786,807.795012185,652.795012185,629,652,0.402437718369,-0.0154290648377,0.0498191619408,0.999999917915,-0.00021795225516,-0.000337475870065,-5.27017792938e-05,1793245387492391680
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.738834705,659,634,879,786,807.738834705,652.261165295,630,652,0.40141048312,-0.0154157961465,0.0498294833407,0.999999946864,-0.000114113592763,-0.000303892492584,-2.99757356995e-05,1793245387609058560
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.988072399,659,634,878.011927601,786,807,652.011927601,630,652,0.401193508361,-0.0154280833145,0.0498347175796,0.999999946663,-0.00013990084751,-0.000293547780343,-3.05138316824e-05,1793245387659058176
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2c31d91a5cabf133dcbb93cf4b91c3de1d9a9dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2199021efb359e87aa501956c43d3f2ddba26ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd1ebe2eb927a4baed46bb04744e5e24da7b2eda52c3ed47934013507720eeb
+size 25633449
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ea15c02b68ca608c1bfa8cb6bdaaaa10d74de74
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+11,0.183333333,BASELINE,764.604406773,744.604406773,714,679,658.604406773,634,879,786,807.395593227,652.395593227,629.604406773,652,0.401004875178,-0.0155015147142,0.0698369426038,0.999999982561,5.33085025733e-05,-0.000178717890848,9.76314921969e-06,1793245389910762752
+12,0.200000000,BASELINE,764.027477436,744.027477436,714,679,658.027477436,634,879,786,807.972522564,652.972522564,629.027477436,652,0.401004797954,-0.0155007562549,0.0698371850435,0.99999998241,5.47260218721e-05,-0.000179128763983,9.87280279582e-06,1793245389927429888
+13,0.216666667,BASELINE,764.562119198,744,714,679,658,634,879,786,807.437880802,652.437880802,629,652.562119198,0.401005520188,-0.0155012221462,0.0698382439952,0.999999982685,5.44079748425e-05,-0.000177670461502,1.01303516071e-05,1793245389944096256
+14,0.233333333,BASELINE,765,744.149096767,714.149096767,679,658,634,879,786,807,652,629.149096767,653,0.401005523792,-0.0155012032957,0.0698386109815,0.999999982719,5.44976149841e-05,-0.000177446777562,1.02345624049e-05,1793245389960762880
+15,0.250000000,BASELINE,765,744.726726052,714.726726052,679,658,634,879,786,807,652,629.726726052,653,0.401003347007,-0.0154996152231,0.0698368717667,0.999999981995,5.60084870113e-05,-0.000181040287877,9.87679289557e-06,1793245389977429248
+16,0.266666667,BASELINE,765,744.69786177,715,678.69786177,658,634,879,786,807.30213823,652,630,653,0.401002899304,-0.015498963961,0.0698365082727,0.999999981854,5.68984291085e-05,-0.000181543237301,9.83922764348e-06,1793245389994095616
+17,0.283333333,BASELINE,765,744.124440316,715,678.124440316,658,634,879,786,807.875559684,652,630,653,0.401004004104,-0.0154991538402,0.0698373800081,0.999999982242,5.72308518874e-05,-0.000179271240355,1.00891667217e-05,1793245390010762240
+18,0.300000000,BASELINE,764.540084017,744,715,678.919831966,658,634,879,786,807.540084017,652.459915983,630,653,0.401005229438,-0.0155013835951,0.0698386262093,0.999999982678,5.52269949567e-05,-0.000177439538356,1.04892852876e-05,1793245390027429120
+19,0.316666667,BASELINE,764.046940766,744.046940766,714.953059234,679.953059234,658,634,879.046940766,786,807,652.953059234,630,652.953059234,0.401006404342,-0.0155037499213,0.0698398469493,0.999999983084,5.28934446484e-05,-0.000175833051119,1.08377242713e-05,1793245390044095744
+20,0.333333333,BASELINE,764.629829792,744.629829792,714.370170208,679.370170208,658,634,879.629829792,786,807,652.370170208,630,652.370170208,0.401006622029,-0.0155012203599,0.0698395919875,0.999999983097,5.41887727581e-05,-0.000175404647828,1.01208657667e-05,1793245390060762880
+21,0.350000000,BASELINE,765,744.790293179,714,679.209706821,658,634,879.790293179,786,807,652.209706821,630,652.209706821,0.401006532926,-0.015499618552,0.0698393229923,0.999999983035,5.49465531146e-05,-0.000175549720846,9.63569820437e-06,1793245390077429760
+22,0.366666667,BASELINE,765,744.215657643,714,679.784342357,658,634,879.215657643,786,807,652.784342357,630,652.784342357,0.401005909949,-0.0154996312075,0.0698390295767,0.999999982844,5.47689006742e-05,-0.000176692748918,9.55371587269e-06,1793245390094096384
+23,0.383333333,BASELINE,765,744,714,679.640081604,658.359918396,634,879,786,807,652.640081604,629.640081604,653,0.401005891872,-0.0155001786102,0.0698394124096,0.999999982858,5.43483693462e-05,-0.000176735810661,9.7457450745e-06,1793245390110762752
+24,0.400000000,BASELINE,765,744,714,679.063940496,658.936059504,634,879,786,807,652.063940496,629.063940496,653,0.401006237191,-0.015501047265,0.069840201502,0.999999982994,5.3781927339e-05,-0.00017611806244,1.01023880179e-05,1793245390127429120
+25,0.416666667,BASELINE,765,744,714,679,658.477935769,634,879,786,807,652,629,652.477935769,0.40100552699,-0.0155005750887,0.0698396767483,0.99999998283,5.44849263199e-05,-0.000176833160854,1.00621505867e-05,1793245390144096256
+26,0.433333333,BASELINE,765,744,714,679,658,634,878.891695213,786,807,652,629.108304787,652,0.401004929476,-0.0154999612561,0.0698390448108,0.999999982645,5.55513929696e-05,-0.000177554513184,9.94128503045e-06,1793245390160762624
+27,0.450000000,BASELINE,765,744,714,679,658,634,878.309807461,786,807,652,629.690192539,652,0.40100540088,-0.0154994599153,0.0698386613728,0.999999982533,5.75142484178e-05,-0.000177575659432,9.68450051456e-06,1793245390177429248
+28,0.466666667,BASELINE,765,744,714,679,658,634,878.267640597,786,807,652,630,652,0.401005105021,-0.0155002163133,0.0698383918355,0.999999982533,5.63512539835e-05,-0.000177943646569,9.7085925483e-06,1793245390194095872
+29,0.483333333,BASELINE,765,744,714,679,658,634,878.840033311,786,807,652,630,652,0.401003935508,-0.0155024048505,0.0698382519926,0.999999982649,5.16289736815e-05,-0.00017870656816,1.00525079856e-05,1793245390210763008
+30,0.500000000,BASELINE,764.576143792,744,714,679,658,634,878.576143792,785.576143792,807,652,629.576143792,652,0.401003924675,-0.0155024647998,0.0698382807599,0.99999998264,5.10818123562e-05,-0.000178914228435,9.99893152295e-06,1793245390227430144
+31,0.516666667,BASELINE,764.011914142,744,714.011914142,679.011914142,658,634,878.011914142,785.011914142,807,652,629,652,0.401004343158,-0.0155016964142,0.0698383672966,0.999999982587,5.21491205043e-05,-0.000178914759537,9.79433366164e-06,1793245390244096512
+32,0.533333333,BASELINE,764.590537378,744,714.590537378,679.590537378,658,634,878.590537378,785.590537378,807,652,629,652,0.4010038056,-0.0155007984353,0.0698380909452,0.999999982473,5.29822201047e-05,-0.000179307173168,9.73970327064e-06,1793245390260762624
+33,0.550000000,BASELINE,765,744,714.830569029,679.830569029,658,634,879,786,807,652,629,652.169430971,0.401004194564,-0.0155000369715,0.0698382609206,0.999999982509,5.39719715272e-05,-0.000178816079932,9.68632031407e-06,1793245390277428992
+34,0.566666667,BASELINE,765,744,714.251021105,679.251021105,658,634,879,786,807,652,629,652.748978895,0.401006826225,-0.01549960595,0.0698395112547,0.999999982901,5.53409071502e-05,-0.000176186409841,9.63595684879e-06,1793245390294095616
+35,0.583333333,BASELINE,765,744,714.326091083,679,658,634,879,785.673908917,807,652,629.326091083,653,0.401006974904,-0.0154995929719,0.0698397653482,0.999999982932,5.61590700588e-05,-0.000175753976122,9.64014627082e-06,1793245390310762240
+36,0.600000000,BASELINE,765,744,714.901342232,679,658,634,879,785.098657768,807,652,629.901342232,653,0.401005226385,-0.0154998994129,0.069839258233,0.999999982689,5.65563980335e-05,-0.000177000409139,9.68601852344e-06,1793245390327428864
+37,0.616666667,BASELINE,765,744,714.513141863,679,658,634,879,785.486858137,807,652.486858137,629.513141863,653,0.401006376128,-0.0155004287081,0.0698401429833,0.999999983074,5.39343113823e-05,-0.000175642276406,9.6203295511e-06,1793245390344095744
+38,0.633333333,BASELINE,765,744.073339802,714,679.073339802,658,634,879,786,807.073339802,652.926660198,629,652.926660198,0.401007745113,-0.0155009035905,0.0698411072144,0.999999983472,5.14663402105e-05,-0.000174114284428,9.58067357037e-06,1793245390360762624
+39,0.650000000,BASELINE,765,744.651837909,714,679.651837909,658,634,879,786,807.651837909,652.348162091,629,652.348162091,0.401006491754,-0.0155006859273,0.0698406343248,0.999999983138,5.43651064076e-05,-0.000175130011707,9.87939912406e-06,1793245390377429248
+40,0.666666667,BASELINE,765,745,714.229978838,680,658,634,879,786,807.770021162,652,629,652,0.401005399961,-0.0155006242863,0.0698399308434,0.999999982847,5.56993065332e-05,-0.000176366167385,9.89777168748e-06,1793245390394096128
+41,0.683333333,BASELINE,765,745,714.807579842,680,658,634,879,786,807.192420158,652,629,652,0.40100455238,-0.015500798479,0.0698388788133,0.99999998263,5.46686026024e-05,-0.000177935509301,9.49237953097e-06,1793245390410762496
+42,0.700000000,BASELINE,765,744.620355395,714.620355395,679.620355395,658,634,879,786,807.379644605,652.379644605,629,652.379644605,0.401004962779,-0.0155009147289,0.0698390063332,0.999999982691,5.44368321252e-05,-0.000177659206452,9.57738406854e-06,1793245390427429120
+43,0.716666667,BASELINE,765,744.051056322,714.051056322,679.051056322,658,634,879,786,807.948943678,652.948943678,629,652.948943678,0.401006001613,-0.015501002033,0.0698397231067,0.999999982891,5.46041752095e-05,-0.000176460897104,9.90737016845e-06,1793245390444095744
+44,0.733333333,BASELINE,764.457739661,744.542260339,714.542260339,679,658,634,879,785.457739661,808,652.457739661,629.542260339,652.457739661,0.401006267543,-0.0155001157791,0.0698398166447,0.999999982863,5.62205930728e-05,-0.000176123009446,9.65581997109e-06,1793245390460762624
+45,0.750000000,BASELINE,764.134225381,744.865774619,714.865774619,679.134225381,658,634,879,785.134225381,807.865774619,652,629.865774619,652,0.40100604448,-0.0154997431848,0.0698396728552,0.999999982807,5.68135601624e-05,-0.00017626261286,9.51067400781e-06,1793245390477428992
+46,0.766666667,BASELINE,764.713853482,744.286146518,714.286146518,679.713853482,658,634,879,785.713853482,807.286146518,652,629.286146518,652,0.401004451454,-0.0155013933485,0.0698389452818,0.999999982728,5.35366661274e-05,-0.000177705399806,9.9087241664e-06,1793245390494095872
+47,0.783333333,BASELINE,764.708894186,744,714,679.708894186,658,634,879,785.708894186,807,652,629.291105814,652,0.40100409554,-0.0155018328442,0.0698388155314,0.999999982694,5.29922460606e-05,-0.000178053276217,1.00595842914e-05,1793245390510762496
+48,0.800000000,BASELINE,764.133958178,744,714,679.133958178,658,634,879,785.133958178,807,652,629.866041822,652,0.401004945821,-0.0155010919305,0.0698392686625,0.999999982708,5.511200674e-05,-0.00017733360741,9.96943246042e-06,1793245390527429376
+49,0.816666667,BASELINE,764.45046592,744,714,679,658,634,879,785,807,652,629.54953408,652,0.401005218646,-0.0155005194929,0.069839463522,0.999999982696,5.62453746225e-05,-0.000177050736214,9.86906466041e-06,1793245390544096000
+50,0.833333333,BASELINE,764.96275388,744,714,679,658,634,879,785.03724612,807,652,629.03724612,652,0.40100532436,-0.0155000051529,0.0698395823817,0.999999982676,5.70230203833e-05,-0.00017692365464,9.75949328054e-06,1793245390560762624
+51,0.850000000,BASELINE,764.383627846,744,714,679,658,634,879,785.616372154,807,652,629.616372154,652,0.401005550917,-0.0154995914706,0.0698397369834,0.999999982643,5.69847749431e-05,-0.000177132664983,9.56117196705e-06,1793245390577429248
+52,0.866666667,BASELINE,764.194736464,744,714,679,658.194736464,634,879,786,807.194736464,652,630,652,0.401005594871,-0.015499042163,0.0698397821871,0.999999982553,5.74652153798e-05,-0.000177490958834,9.42840188906e-06,1793245390594095616
+53,0.883333333,BASELINE,764.771606,744,714,679,658.771606,634,879,786,807.771606,652,630,652,0.401005280502,-0.0154982267166,0.0698396127183,0.99999998235,5.89634776623e-05,-0.000178142193009,9.42426358708e-06,1793245390610762240
+54,0.900000000,BASELINE,764.651608538,744,714,679,658.651608538,633.651608538,879,785.651608538,808,652,629.651608538,652.348391462,0.401004480712,-0.015498620521,0.0698392229919,0.999999982281,5.81025845052e-05,-0.00017880711264,9.46352778327e-06,1793245390627428864
+55,0.916666667,BASELINE,764.074878201,744,714,679,658.074878201,633.074878201,879,785.074878201,808,652,629.074878201,652.925121799,0.401003362772,-0.015499806879,0.0698386889067,0.999999982297,5.56954797559e-05,-0.000179481001815,9.53123836428e-06,1793245390644095744
+56,0.933333333,BASELINE,764,744,714,679,658,633.511659785,879,785.511659785,808,652,629.511659785,652.488340215,0.401002510021,-0.0154987545212,0.0698380613664,0.999999982026,5.72492201758e-05,-0.000180509029435,9.35658714878e-06,1793245390660762624
+57,0.950000000,BASELINE,764,744,714,679.098663945,658,634,879,786,808,652,629.901336055,652,0.401002195891,-0.0154976596156,0.0698376993785,0.999999981835,5.90176334393e-05,-0.00018100721594,9.17888581447e-06,1793245390677429504
+58,0.966666667,BASELINE,764,744,714,679.680781802,658,634,879,786,808,652,629.319218198,652,0.401004327134,-0.0154979929493,0.069838706924,0.999999982263,5.89421739689e-05,-0.000178650267222,9.1634294346e-06,1793245390694096128
+59,0.983333333,BASELINE,764.25832547,744,714,680,658.25832547,634,878.74167453,785.74167453,807.74167453,652,629,652,0.401004835878,-0.0154985778159,0.0698390730774,0.999999982475,5.81075899488e-05,-0.000177730341192,9.27266621924e-06,1793245390710762496
+60,1.000000000,BASELINE,764.830315138,744,714,680,658.830315138,634,878.169684862,785.169684862,807.169684862,652,629,652,0.40100337455,-0.0154994680991,0.0698386604394,0.999999982426,5.63512609809e-05,-0.000178555277912,9.53330805551e-06,1793245390727428864
+61,1.016666667,BASELINE,764.594777129,744,714,679.189554259,658.594777129,634,878.405222871,785,807.405222871,652,629,652,0.401003570956,-0.0155010089041,0.0698391900328,0.999999982636,5.4457537866e-05,-0.000177948513819,9.83033388037e-06,1793245390744095488
+62,1.033333333,BASELINE,764.018638645,744,714,678.037277291,658.018638645,634,878.981361355,785,807.981361355,652,629,652,0.401004466565,-0.0155028240873,0.0698401170424,0.999999982952,5.2505864512e-05,-0.000176737884394,1.01427057921e-05,1793245390760762368
+63,1.050000000,BASELINE,764,744,714,679.140953108,658,634,879,785.570476554,807.429523446,652,629,652,0.401003295375,-0.0155000471323,0.0698387884897,0.999999982538,5.48350863964e-05,-0.000178403310151,9.42902229399e-06,1793245390777429248
+64,1.066666667,BASELINE,764.157269834,744,714.157269834,680,658,634,879,786,807,652,629.157269834,652,0.40100293199,-0.015497964824,0.0698381891469,0.999999982332,5.65279924781e-05,-0.000179052914738,8.96326268437e-06,1793245390794096128
+65,1.083333333,BASELINE,764.736666356,744,714.736666356,680,658,634,879,786,807,652,629.736666356,652,0.401004922294,-0.0154981590918,0.0698397494758,0.999999982767,5.6128817673e-05,-0.000176717876003,9.25502778458e-06,1793245390810762752
+66,1.100000000,BASELINE,765,744,714.686472517,679.686472517,658,634,879,786,807,652,629.686472517,652,0.401005488441,-0.015498068333,0.069840304319,0.999999982789,5.66020504627e-05,-0.000176435944502,9.36258686985e-06,1793245390827429376
+67,1.116666667,BASELINE,765,744,714.111723832,679.111723832,658,634,879,786,807,652,629.111723832,652,0.401004868023,-0.0154977400992,0.069840021423,0.999999982468,5.78021457473e-05,-0.000177864597267,9.31667130245e-06,1793245390844096000
+68,1.133333333,BASELINE,764.52547812,744,714,679,658,634,878.52547812,785.52547812,807,652,629.47452188,652,0.401004069938,-0.0154980046856,0.0698393758252,0.999999982348,5.73142506823e-05,-0.000178698529441,9.29808746089e-06,1793245390860762624
+69,1.150000000,BASELINE,764.062370789,744.062370789,714,679,658,634,878.062370789,785.062370789,807,652,630,652,0.401003381797,-0.0154982638799,0.0698387464582,0.999999982295,5.67100190208e-05,-0.000179188886741,9.26627674644e-06,1793245390877428992
+70,1.166666667,BASELINE,764.640535927,744.640535927,714,679,658,634,878.640535927,785.640535927,807,652,630,652,0.401003957401,-0.0154972955506,0.069838975065,0.999999982401,5.85119761836e-05,-0.000178024670218,9.07054376947e-06,1793245390894096128
+71,1.183333333,BASELINE,765,744.781210829,714,679,658,633.781210829,879,786,807,652,629.781210829,652,0.401004630581,-0.01549700464,0.0698393960284,0.999999982558,5.90887579431e-05,-0.000176952911995,9.00556155896e-06,1793245390910763008
+72,1.200000000,BASELINE,765,744.202812681,714,679,658,633.202812681,879,786,807,652,629.202812681,652,0.40100546414,-0.0154978271564,0.0698401331552,0.999999982802,5.76518019596e-05,-0.000176033121048,9.1554855179e-06,1793245390927429376
+73,1.216666667,BASELINE,764.620170758,744,714,679,658,633,879,785.620170758,807,652,629,652,0.401004375461,-0.0154995451685,0.0698393743585,0.999999982655,5.5472559166e-05,-0.000177552325765,9.34362650779e-06,1793245390944096000
+74,1.233333333,BASELINE,764.035237272,744,714,679,658,633,879,785.035237272,807,652,629,652,0.401002248791,-0.0155017467398,0.069837807777,0.999999982286,5.28924885106e-05,-0.000180388565422,9.55240432853e-06,1793245390960762368
+75,1.250000000,BASELINE,764.543730007,744,714.543730007,679,658,633.543730007,879,785,807,652,629,652.543730007,0.401002838643,-0.0154993363301,0.0698377936332,0.999999982001,5.73853706898e-05,-0.000180603961278,9.38568552737e-06,1793245390977428992
+76,1.266666667,BASELINE,765,744,714.877355429,679,658,634,879.122644571,785.122644571,807,652,629,652.877355429,0.401003519224,-0.0154973266481,0.0698380141141,0.999999981809,6.09756333031e-05,-0.000180495106849,9.20173278748e-06,1793245390994095360
+77,1.283333333,BASELINE,765,744,714.297210875,679,658,634,879.702789125,785.702789125,807,652,629,652.297210875,0.401003888663,-0.0154979146308,0.0698387385893,0.999999982024,5.9507552379e-05,-0.000179803409778,9.04328251657e-06,1793245391010761984
+78,1.300000000,BASELINE,765,744,714,679,658,634,879.719327389,786,807,652,629,652,0.401004269539,-0.0154983365176,0.0698393522022,0.999999982199,5.88083586475e-05,-0.000179055709426,9.12278971047e-06,1793245391027429120
+79,1.316666667,BASELINE,765,744,714,679,658,634,879.143819103,786,807,652,629,652,0.401004662429,-0.0154985839271,0.0698398493588,0.999999982333,5.89168511338e-05,-0.000178249179846,9.45226198671e-06,1793245391044096256
+80,1.333333333,BASELINE,765,744,714,679,658,634,879,786,807.439910673,652.439910673,629,652,0.401005553415,-0.0154989130763,0.0698401045252,0.999999982473,5.82795852257e-05,-0.00017767293988,9.51207658713e-06,1793245391060762880
+81,1.350000000,BASELINE,764.973974271,744,714,679,658,634,879,786,807.973974271,652.973974271,629.026025729,652.026025729,0.401006508369,-0.0154992093849,0.0698402646325,0.999999982601,5.74478296704e-05,-0.000177224910985,9.47158567831e-06,1793245391077428736
+82,1.366666667,BASELINE,764.395370907,744,714,679,658,634,879,786,807.395370907,652.395370907,629.604629093,652.604629093,0.401005298224,-0.0154982302362,0.0698401181673,0.99999998247,5.776181588e-05,-0.00017787009814,9.20884068112e-06,1793245391094095616
+83,1.383333333,BASELINE,764,744,714,679,658,634,879,785.816897812,807,652,630,653,0.401004261416,-0.0154978136602,0.0698397836883,0.999999982368,5.75576052049e-05,-0.000178519790902,9.06163238441e-06,1793245391110762496
+84,1.400000000,BASELINE,764,744,714,679,658,634,879,785.238705697,807,652,630,653,0.401003598626,-0.0154986109786,0.069839043521,0.999999982324,5.62352519149e-05,-0.00017917920579,9.16372409938e-06,1793245391127429120
+85,1.416666667,BASELINE,764,744,714,679,658,634,878.663229431,785,807,652,629.663229431,652.663229431,0.401003473116,-0.0154996251433,0.0698388500951,0.999999982361,5.59255144527e-05,-0.000179058196035,9.35645956397e-06,1793245391144095744
+86,1.433333333,BASELINE,764,744,714,679,658,634,878.089662816,785,807,652,629.089662816,652.089662816,0.401003725388,-0.0155007917806,0.0698390411039,0.999999982456,5.63277853207e-05,-0.000178388440341,9.61293004994e-06,1793245391160762368
+87,1.450000000,BASELINE,764.497857844,744.497857844,714,679,658,634,878.497857844,785,807.497857844,652,629.497857844,652,0.401004350298,-0.0155001411695,0.069839585931,0.999999982544,5.62496608898e-05,-0.000177933577607,9.40963326386e-06,1793245391177429248
+88,1.466666667,BASELINE,764.913609298,744.913609298,714,679,658,633.913609298,878.913609298,785,807.913609298,652,629.913609298,652,0.401004821861,-0.0154992673812,0.0698400489549,0.999999982591,5.61466940268e-05,-0.000177715253403,9.15397854882e-06,1793245391194095616
+89,1.483333333,BASELINE,764.334057923,744.334057923,714,679,658,633.334057923,878.334057923,785,807.334057923,652,629.334057923,652,0.401004023902,-0.015499041745,0.0698396707616,0.999999982415,5.6410042795e-05,-0.000178619908907,9.08574857597e-06,1793245391210762240
+90,1.500000000,BASELINE,764,744,714,679,658,633.243648005,878.243648005,785.243648005,807,652.243648005,629,652,0.401003979513,-0.0154993746617,0.0698395624696,0.999999982348,5.68348115381e-05,-0.000178857009703,9.17278594993e-06,1793245391227429120
+91,1.516666667,BASELINE,764,744,714,679,658,633.818842673,878.818842673,785.818842673,807,652.818842673,629,652,0.401004960552,-0.0155004676352,0.0698398214488,0.999999982428,5.74792342404e-05,-0.000178185728121,9.47110505492e-06,1793245391244096000
+92,1.533333333,BASELINE,764.402273929,744,714,679,658,634,878.597726071,785.597726071,807,652.597726071,629,652.402273929,0.401004231901,-0.0155004029096,0.0698393295992,0.999999982284,5.69939642976e-05,-0.000179148237452,9.4426693925e-06,1793245391260762368
+93,1.550000000,BASELINE,764.98949198,744,714,679,658,634,878.01050802,785.01050802,807,652.01050802,629,652.98949198,0.401002717225,-0.0154998059356,0.0698384925586,0.999999982034,5.59893219163e-05,-0.000180861876745,9.26400932174e-06,1793245391277428992
+94,1.566666667,BASELINE,765,744,714,679,658,634,878.569103442,785,807,652,629,652.430896558,0.401003436674,-0.0154990257874,0.0698388121744,0.999999982125,5.69787560719e-05,-0.000180052718339,9.23778705262e-06,1793245391294095872
+95,1.583333333,BASELINE,764.851782767,744,714,679,658,633.851782767,879,785.148217233,807,652,629,652,0.401004020967,-0.0154985266791,0.0698390912506,0.999999982207,5.75887886823e-05,-0.000179399682112,9.20521142351e-06,1793245391310762496
+96,1.600000000,BASELINE,764.273710215,744,714,679,658,633.273710215,879,785.726289785,807,652,629,652,0.401004095231,-0.0154988523141,0.0698391916339,0.999999982254,5.69931193045e-05,-0.000179332738757,9.1461546966e-06,1793245391327429120
+97,1.616666667,BASELINE,764.303296163,744,714,679,658,633.303296163,879,786,807.303296163,652,629.303296163,652,0.401003807012,-0.0154990166981,0.0698387977476,0.999999982199,5.60472326967e-05,-0.00017993785588,9.13293365655e-06,1793245391344095488
+98,1.633333333,BASELINE,764.879343704,744,714,679,658,633.879343704,879,786,807.879343704,652,629.879343704,652,0.401003192816,-0.0154990360704,0.0698379593693,0.99999998205,5.47863990722e-05,-0.000181147350656,9.16093222096e-06,1793245391360762368
+99,1.650000000,BASELINE,765,744,714,679,658,634,879,786,807.53587642,652,630,652.46412358,0.401003008004,-0.0154992068028,0.0698381789248,0.999999982039,5.6051252201e-05,-0.000180817710374,9.25159844286e-06,1793245391377429248
+100,1.666666667,BASELINE,765,744.050828677,714,679,658.101657353,634,879,785.949171323,807,652,629.949171323,652.949171323,0.401002987275,-0.0154994178304,0.0698386289441,0.999999982066,5.77765699075e-05,-0.000180116604988,9.3412617592e-06,1793245391394096128
+101,1.683333333,BASELINE,765,744.633469879,714,679,659.266939758,634,879,785.366530121,807,652,629.366530121,652.366530121,0.401003493002,-0.0154996308696,0.0698385575279,0.999999982151,5.73181011161e-05,-0.000179795615006,9.24670835803e-06,1793245391410762496
+102,1.700000000,BASELINE,764.786974809,744.786974809,714,679,659.573949618,634,879,785.213025191,807,652,629,652.213025191,0.401003954323,-0.015499690885,0.0698387478092,0.999999982233,5.72337362064e-05,-0.000179368935868,9.24066822649e-06,1793245391427429120
+103,1.716666667,BASELINE,764.212653306,744.212653306,714,679,658.425306613,634,879,785.787346694,807,652,629,652.787346694,0.401004340331,-0.0154994913679,0.0698393819361,0.999999982308,5.7783861339e-05,-0.000178763005181,9.38474893155e-06,1793245391444095744
+104,1.733333333,BASELINE,764.362257366,744,714.362257366,679,658,634,879,786,807,652,629,652.637742634,0.4010045918,-0.015498612185,0.0698396291078,0.999999982273,5.80795960981e-05,-0.000178863916197,9.38459396329e-06,1793245391460762368
+105,1.750000000,BASELINE,764.937514512,744,714.937514512,679,658,634,879,786,807,652,629,652.062485488,0.401004764163,-0.0154973333727,0.069839648758,0.999999982173,5.82257546721e-05,-0.000179380435348,9.29963143917e-06,1793245391477428992
+106,1.766666667,BASELINE,764.476042112,744,714.476042112,679,658,634,878.476042112,786,807,652,629.523957888,652.523957888,0.401003416243,-0.0154963249867,0.0698388644589,0.999999981931,5.97083392773e-05,-0.000180254182487,8.97941810115e-06,1793245391494095872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629,652,0.401004282827,-0.0154973414196,0.0698405489165,0.999999982412,5.91853635233e-05,-0.000177738122942,9.03078959601e-06,1793245391536379392
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.576003479,634,878.423996521,785.576003479,807.576003479,652,629.576003479,652,0.401003916203,-0.0154993875763,0.0698398404247,0.999999982544,5.47930736325e-05,-0.000178400904102,9.1270775573e-06,1793245391553046016
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.844993778,744,714,679,659,634,878,785.844993778,807.844993778,652.155006222,630,652,0.401003467344,-0.0155007447152,0.0698393067269,0.999999982532,5.26532741386e-05,-0.000179100740295,9.26516187528e-06,1793245391569712128
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.257624987,744,714,679,659,634,878,785.257624987,807.257624987,652.742375013,630,652,0.401002789107,-0.0155001799607,0.0698392605859,0.999999982159,5.67963991133e-05,-0.000179903935138,9.51982979518e-06,1793245391586378240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.324203667,744,714,679,658.675796333,634,878,785.324203667,807,652.675796333,629.675796333,652.324203667,0.401002573661,-0.0154997110606,0.069839071536,0.999999982027,5.79585955785e-05,-0.000180264297503,9.61178793422e-06,1793245391603044608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901703842,744,714,679,658.098296158,634,878,785.901703842,807,652.098296158,629.098296158,652.901703842,0.401002719787,-0.0154993170503,0.0698387708331,0.999999982091,5.67918274604e-05,-0.000180278680022,9.57662282267e-06,1793245391619711232
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.479669659,786,807,652,629.479669659,653,0.401003621568,-0.0154999804674,0.0698395985428,0.999999982312,5.67543043109e-05,-0.000179060741936,9.5594378967e-06,1793245391636378368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.942377167,744,714,679.057622833,658,634,879,786,807,652,630,652.942377167,0.401004638421,-0.0155006463801,0.0698405848687,0.999999982457,5.69027790749e-05,-0.000178207336625,9.53054091288e-06,1793245391653045504
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.365398792,744,714,679.634601208,658,634,879,786,807,652,630,652.365398792,0.40100529537,-0.0154993798322,0.0698409146122,0.999999981623,5.66399256562e-05,-0.000182917766262,9.36284147122e-06,1793245391669712384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.784239116,658,634,879,785.784239116,807,652,629.784239116,652,0.401010355342,-0.0154986362107,0.0698433962839,0.999999981058,5.6951406434e-05,-0.000185878337984,9.48798971916e-06,1793245391686379008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.195858376,658,634,879,785.195858376,807,652,629.195858376,652,0.401023019352,-0.0154987956854,0.0698495943436,0.999999980988,5.8254764552e-05,-0.000185816898042,1.0118887043e-05,1793245391703045120
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,785.386194261,807,652,629,652.386194261,0.401054270175,-0.0155001835393,0.0698614422695,0.999999982783,5.83350468636e-05,-0.000175818712695,1.09018197618e-05,1793245391719711232
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,785.965089394,807,652,629,652.965089394,0.401094795334,-0.0155021843226,0.0698761093318,0.999999985322,5.78050463308e-05,-0.000160862350332,1.17606142349e-05,1793245391736377856
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.53998594,744,714,679,658,634,879,786,807,652,629.53998594,653,0.401156858844,-0.0155063057847,0.069890009996,0.999999988186,5.626989427e-05,-0.000142504436098,1.23942035645e-05,1793245391753044480
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.882783226,744,714,679,658,634,878.882783226,785.882783226,807,652,629.882783226,652.882783226,0.401222705401,-0.0155101974731,0.0699025188619,0.999999990468,5.52563771929e-05,-0.000125890726463,1.27192479576e-05,1793245391769711360
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.295154471,744,714,679,658,634,878.295154471,785.295154471,807,652,629.295154471,652.295154471,0.401298186854,-0.0155126208619,0.0699096395806,0.999999991466,5.65951501747e-05,-0.000117152883425,1.18640475632e-05,1793245391786377984
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679.287610339,658,634,878.287610339,785.287610339,807,652,629.287610339,652.287610339,0.401384070837,-0.0155147197959,0.0699145449104,0.999999992055,5.65866994838e-05,-0.00011214662874,1.05601338685e-05,1793245391803044864
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679.865466598,658,634,878.865466598,785.865466598,807,652,629.865466598,652.865466598,0.401480452674,-0.0155164913018,0.0699172145496,0.999999992287,5.52186794681e-05,-0.000110906158155,8.80339504435e-06,1793245391819711744
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.445116336,744.445116336,714,679.554883664,658,634,879,786,807,652,630,653,0.401595118969,-0.0155185784498,0.0699180073574,0.99999999201,5.75435676204e-05,-0.000112368136054,6.49084133208e-06,1793245391836378368
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.974948071,786,807,652,629.974948071,653,0.401716871399,-0.0155208555103,0.0699182866624,0.999999991593,6.07909701989e-05,-0.000114467654293,3.97852874421e-06,1793245391853044736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.400677362,786,807,652,629.400677362,653,0.40187232913,-0.0155251961135,0.0699197947982,0.999999991883,5.96941238408e-05,-0.000112564853587,7.8466713473e-07,1793245391869711360
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.177803654,744.822196346,714,679,658,634,878.177803654,786,807.177803654,652,629,653,0.402035684778,-0.0155288283106,0.0699219849633,0.999999992233,5.82021721794e-05,-0.000110185276767,-2.57115480172e-06,1793245391886377984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.766002554,744.233997446,714,679,658,634,878.766002554,786,807.766002554,652,629,653,0.402217269881,-0.0155308254082,0.0699257493455,0.99999999273,5.57982633815e-05,-0.000106705235479,-6.30080296811e-06,1793245391903044608
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.649490615,744,714,679,658.350509385,633.649490615,879,785.649490615,808,652,629,652.649490615,0.402421581246,-0.0155319790968,0.0699285441095,0.999999993209,5.27174691964e-05,-0.000103384278124,-1.06899894973e-05,1793245391919711232
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067422831,744,714,679,658.932577169,633.067422831,879,785.067422831,808,652,629,652.067422831,0.402640906369,-0.015532575601,0.069930698311,0.999999993653,4.91895013043e-05,-0.000100168416667,-1.55148898309e-05,1793245391936377856
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.493286057,633.506713943,879,785,807.493286057,652,629,652.506713943,0.402892331969,-0.0155272146117,0.0699327708023,0.999999994785,2.25411203847e-05,-9.74845952892e-05,-2.0446039516e-05,1793245391953044736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920264576,744,714,679,658.079735424,633.920264576,879,785,807,652,629.079735424,652.920264576,0.403156178701,-0.015521003431,0.0699360030918,0.999999995387,-1.1679799542e-06,-9.26602052643e-05,-2.52704195118e-05,1793245391969712128
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.347714207,744,714,679,658.652285793,633.347714207,879,785,807,652,629.652285793,652.347714207,0.403470803715,-0.0155143614004,0.069946469824,0.999999996746,1.20104349038e-05,-7.41749568767e-05,-2.93488664425e-05,1793245391986378496
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.233971414,744,714,679.233971414,658.766028586,633.233971414,879,785.233971414,807.233971414,652,630,652,0.403791523476,-0.0155137717008,0.0699538311127,0.999999997355,1.81174713738e-05,-6.30759999534e-05,-3.13431970311e-05,1793245392003044864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.829784871,744,714,679.829784871,658.170215129,633.829784871,879,785.829784871,807.829784871,652,630,652,0.404121668881,-0.0155225420676,0.0699563897627,0.999999997448,1.32884616613e-05,-6.34001097272e-05,-3.01143946914e-05,1793245392019711232
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679.587473465,658.412526535,634,879.412526535,786,807.587473465,652,630,652,0.404486914455,-0.015525522774,0.0699589323001,0.99999999773,9.90629769218e-06,-5.93698399401e-05,-3.02844775877e-05,1793245392036377856
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,679.009959789,658.990040211,634,879.990040211,786,807.009959789,652,630,652,0.404866198093,-0.0155261879454,0.0699614683932,0.999999998057,7.10278981147e-06,-5.35980660805e-05,-3.10140350115e-05,1793245392053044736
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.435168264,634,879.435168264,785.435168264,807,652,629.435168264,652.564831736,0.405283866235,-0.0155270427454,0.0699657352792,0.999999998283,-5.43501314243e-06,-4.78882887864e-05,-3.33231071061e-05,1793245392069711360
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.143202798,807.143202798,652,629.143202798,652.856797202,0.405709219386,-0.0155271424958,0.0699667673652,0.999999998173,-1.21923248338e-05,-4.74148527907e-05,-3.54431389126e-05,1793245392086378240
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.732882959,807.732882959,652,629.732882959,652.267117041,0.40615643263,-0.0155248777789,0.0699576193014,0.999999997318,-3.94638379444e-07,-6.32638790242e-05,-3.68873608216e-05,1793245392103045120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.316464759,633.683535241,879,785.683535241,807.683535241,652,629.683535241,652,0.406626686046,-0.0155211714959,0.0699448753604,0.999999995831,3.38683619666e-06,-8.23063156348e-05,-3.93991502854e-05,1793245392119711744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.894996522,633.105003478,879,785.105003478,807.105003478,652,629.105003478,652,0.40711601926,-0.0155162714404,0.0699291536438,0.999999993677,5.30022753651e-07,-0.000103993242701,-4.27950011514e-05,1793245392136378368
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,714,679.471372397,658.528627603,633.471372397,879,785,807.471372397,652,629,652.471372397,0.407667299055,-0.015516987274,0.0699317683157,0.999999994756,3.5918009147e-06,-9.270387744e-05,-4.33768098672e-05,1793245392153044992
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714.047098988,679.952901012,658,634,879,785,808,652,629.047098988,653,0.408236773554,-0.0155190598415,0.0699392693293,0.999999996375,6.96443923118e-06,-7.29407692358e-05,-4.33667329559e-05,1793245392169711360
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714.620911214,679.379088786,658,634,879,785,808,652,629.620911214,653,0.408856105414,-0.0155223785153,0.0699559438826,0.999999998236,-8.63585893397e-07,-4.0190153044e-05,-4.37158552648e-05,1793245392186377728
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714.799716557,679,658.200283443,634,879,785.200283443,807.799716557,652,630,653,0.409471974388,-0.0155239424738,0.0699633042449,0.999999998701,-5.86773670397e-06,-2.44351967147e-05,-4.43435887629e-05,1793245392203044864
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714.209520112,679,658.790479888,634,879,785.790479888,807.209520112,652,630,653,0.410081101758,-0.0155220903419,0.0699525316837,0.999999998078,-5.37435168548e-06,-4.17674944274e-05,-4.55137242365e-05,1793245392219711744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.374664631,786,807.374664631,652,630,652.625335369,0.410728691531,-0.0155188115837,0.0699485130147,0.999999997624,-2.30103286841e-06,-5.05817620759e-05,-4.67711899082e-05,1793245392236378624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.955540581,786,807.955540581,652,630,652.044459419,0.411397450571,-0.0155147476258,0.0699482116144,0.999999997345,2.19225329626e-06,-5.47077985095e-05,-4.80767211314e-05,1793245392253046016
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679.529625392,659,634,879.470374608,785.470374608,808,652,630,652,0.41213107592,-0.015517000432,0.0699738144855,0.99999999886,-7.29854252978e-07,-8.27924823881e-06,-4.70270395099e-05,1793245392269712384
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.103297487,714,680,659,634,879,785.103297487,808,652,630,652.103297487,0.412874566425,-0.0155195259438,0.0700008015079,0.999999998188,-5.85899247742e-06,3.87078433887e-05,-4.57371952948e-05,1793245392286379008
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.67765412,714,680,659,634,879,785.67765412,808,652,630,652.67765412,0.413638527024,-0.0155209075598,0.0700243097439,0.999999996465,-1.82499407698e-05,6.91343140875e-05,-4.42423371954e-05,1793245392303045376
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.740701226,714,679.740701226,659,634,879,785.740701226,808,652,630,652.740701226,0.414380457263,-0.015517884188,0.0700181248773,0.999999997476,-1.69747295856e-05,5.20669189049e-05,-4.5261120046e-05,1793245392319711744
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.149734416,714,679.149734416,659,634,879,785.149734416,808,652,630,652.149734416,0.415094208658,-0.0155092264141,0.0699739596838,0.999999998442,1.78081051798e-06,-2.57496883734e-05,-4.94950907329e-05,1793245392336378368
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,785.433043208,808,652,630,652.433043208,0.415862460349,-0.015505598567,0.0699364666492,0.999999994953,5.84073602906e-06,-8.38569924369e-05,-5.50297471844e-05,1793245392353044736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,679.012842214,659,634,879,786,808,652,630,653,0.416650530069,-0.0155038318815,0.0699026822781,0.999999989276,4.81200831968e-06,-0.000133147959368,-6.07987224449e-05,1793245392369711360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,679.58396671,659,634,879,786,808,652,630,653,0.417496119388,-0.0155087699807,0.0699316908294,0.999999994299,-6.34522483106e-07,-8.99346563904e-05,-5.75656445798e-05,1793245392386378496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.160780936,714,680,659,634,879.160780936,786,808,652,630,653,0.418354035112,-0.0155129575723,0.0699601383705,0.999999997314,-8.18504177258e-06,-4.76257188441e-05,-5.51078118646e-05,1793245392403045376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.752857867,714,680,659,634,879.752857867,786,808,652,630,653,0.419245016453,-0.0155151319216,0.0699870809962,0.999999998244,-2.13795246738e-05,-7.742750852e-06,-5.4729580112e-05,1793245392419712256
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.662926263,714,680,659.337073737,634,880,785.662926263,808,652,630,653,0.420143706776,-0.015517776868,0.0700107186238,0.99999999775,-2.82123022799e-05,2.89254457541e-05,-5.35430927564e-05,1793245392436378368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.084342785,714,680,659.915657215,634,880,785.084342785,808,652,630,653,0.421047920464,-0.0155207589921,0.0700319882542,0.999999996192,-3.04869852349e-05,6.32902911712e-05,-5.17774988856e-05,1793245392453044480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659.5071868,634,880,785,808.4928132,652,630,653,0.421914761899,-0.0155175363861,0.0700176926415,0.999999997313,-3.03853688184e-05,3.77910730157e-05,-5.49797260124e-05,1793245392469711104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659.069218703,633.930781297,880,785.069218703,809,652,630,653,0.422766035096,-0.0155133870244,0.069989142073,0.999999997722,-3.02528295187e-05,-9.69525912768e-06,-5.9562545224e-05,1793245392486377984
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659.641936858,633.358063142,880,785.641936858,809,652,630,653,0.423550454957,-0.015510198487,0.0699010484035,0.99999998695,-3.28451124656e-05,-0.000142805998318,-6.80211679992e-05,1793245392503044608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.222015289,714,680.222015289,660,633.222015289,880,786,809,652,630,653,0.424398857557,-0.0155089326191,0.0698524617113,0.999999973892,-3.67666722874e-05,-0.00021312096685,-7.37778955546e-05,1793245392519711488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.814371393,714,680.814371393,660,633.814371393,880,786,809,652,630,653,0.425353989055,-0.0155108739309,0.06986977608,0.9999999803,-4.29055827636e-05,-0.000178687151893,-7.50276297868e-05,1793245392536378624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.398118828,744.601881172,714,680.601881172,660,633.601881172,880,785.601881172,809,652,630,652.601881172,0.426313158118,-0.0155131321028,0.0699184648565,0.999999991018,-4.02308195582e-05,-0.000107500852979,-6.92077015982e-05,1793245392553045248
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.97793727,744.02206273,714,680.02206273,660,633.02206273,880,785.02206273,809,652,630,652.02206273,0.42727416985,-0.0155155348883,0.0699814727684,0.999999997437,-3.35335353282e-05,-1.95408896782e-05,-6.01612112689e-05,1793245392569712128
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.447750718,744,714,680.552249282,660,633.552249282,880,785,809,652,630,652.552249282,0.428226303887,-0.0155169430166,0.0700182790946,0.999999996976,-3.68931363417e-05,3.53890049736e-05,-5.85996551346e-05,1793245392586378496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129325296,744,714,681,660,634,880,785.129325296,809,652,630.129325296,653,0.429164074675,-0.01551827715,0.0700455385087,0.999999994443,-4.09630156025e-05,7.78489322933e-05,-5.81010074273e-05,1793245392603044864
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.716968581,744,714,681,660,634,880,785.716968581,809,652,630.716968581,653,0.430052187776,-0.0155194884867,0.0700426375111,0.999999993856,-4.61402463791e-05,8.07466292369e-05,-6.03199499823e-05,1793245392619711488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.698047267,744.301952733,714,681.301952733,660,633.698047267,880,785.698047267,809,652,630.698047267,653,0.430896922286,-0.0155158934965,0.069997750799,0.999999996909,-4.45444545419e-05,4.23619621333e-06,-6.46593599294e-05,1793245392636378112
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.115533894,744.884466106,714,681.884466106,660,633.115533894,880,785.115533894,809,652,630.115533894,653,0.431701351346,-0.0155078326876,0.0699138528852,0.999999986144,-3.66554794306e-05,-0.000146056632501,-7.09690097781e-05,1793245392653044736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.539861209,714,681.539861209,660,633,880,785.460138791,809,652,630,653,0.432568562162,-0.0155061216071,0.0698940123822,0.999999982296,-3.37240201438e-05,-0.00017001664733,-7.32493104106e-05,1793245392669711616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.034186961,660,633,880,785.965813039,809,652,630,653,0.433454384505,-0.0155062995641,0.0698943054798,0.999999984458,-3.30957261308e-05,-0.000156498502868,-7.41352461703e-05,1793245392686378496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681.609309083,660,633,880,785.390690917,809,652,630,653,0.434388922702,-0.0155115103191,0.0699624052274,0.999999995422,-4.95029805631e-05,-4.45216672819e-05,-6.87319646053e-05,1793245392703045376
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.189853887,880,785,809,652,630,653,0.435298800832,-0.0155161523679,0.0700154358512,0.999999995272,-5.9410852521e-05,4.25960331643e-05,-6.41316302647e-05,1793245392719711744
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.781885971,880,785,809,652,630,653,0.436156440323,-0.0155195896953,0.0700365447129,0.999999993614,-5.55507201652e-05,7.70532455479e-05,-6.12322248179e-05,1793245392736378112
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.634876844,880.365123156,785,809.365123156,652,630,653,0.436997605938,-0.0155218614935,0.070031729122,0.999999993299,-5.77711841615e-05,7.8788391122e-05,-6.21084080954e-05,1793245392753044736
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633.056769939,880.943230061,785,809.943230061,652,630,653,0.437829161955,-0.0155234534145,0.0700117912702,0.99999999397,-6.35385837036e-05,6.14360887352e-05,-6.51869691158e-05,1793245392769711360
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660,633,880.482159452,785.517840548,810,652,630,653,0.438547504282,-0.0155183451322,0.0699563901405,0.999999995063,-6.59216721814e-05,-2.4545413335e-05,-7.01848026942e-05,1793245392786377984
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,714,681.905614803,660,633,880,785.905614803,809.905614803,651.905614803,630,653,0.439245948751,-0.0155141465793,0.0698979277959,0.999999987912,-6.83542398267e-05,-0.000117779088689,-7.50493007969e-05,1793245392803044864
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,681.316947375,660,633,880,785.316947375,809.316947375,651.316947375,630,653,0.439904751832,-0.0155185329947,0.0698436574947,0.999999972266,-7.2975854097e-05,-0.000209855074771,-7.81210621452e-05,1793245392819711744
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.732874038,744.267125962,714,681.267125962,660,633,880,785,809,651.267125962,630,653,0.440610320443,-0.0155246377413,0.0698253433945,0.999999964525,-7.98283398733e-05,-0.000241428928267,-7.93014803939e-05,1793245392836378368
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.154159512,744.845840488,714,681.845840488,660,633,880,785,809,651.845840488,630,653,0.441370438571,-0.0155327468318,0.0698489703394,0.999999972462,-8.92830215654e-05,-0.000202430180831,-7.82757454221e-05,1793245392853045248
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.423727548,745,714,682,659.576272452,633,880,785,809.423727548,652,630,653,0.44209260045,-0.0155446323209,0.0698721718774,0.999999976187,-0.000108631173474,-0.000173263016525,-7.61881199445e-05,1793245392869711872
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.998695674,714,682,659,632.998695674,880.001304326,784.998695674,809.998695674,652,630,653,0.442800717559,-0.0155578781578,0.069895087822,0.999999977697,-0.000131554557035,-0.000147862895675,-7.37274808794e-05,1793245392886378240
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.425446228,714,682,659,632.425446228,880.574553772,784.425446228,809.425446228,652,630,653,0.443393686804,-0.0155663463455,0.0698605049445,0.999999964437,-0.000146947713191,-0.000208897335635,-7.67779259463e-05,1793245392903044864
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b74e9f763101e1f87fc547d91bcb0d3a0032847
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8ce9537892b8808fa341a439130d48f984e0454
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ecaefb0d0dbfc59cde57ba994157fca55a24a847f7b1874667f29006a9621af
+size 25633229
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e56bef90ee9bef6e80268f943f4f89c8efda6036
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+57,0.950000000,BASELINE,764,744,714,679,658,634,878.90411759,785,807,652,629.90411759,652,0.400957070721,-0.0153668250038,0.0698174607053,0.999999932428,0.000225106323028,-0.000290545804094,7.33626138557e-06,1793245397599440896
+58,0.966666667,BASELINE,764,744,714,679,658,634,878.324702058,785,807,652,629.324702058,652,0.400958375856,-0.0153662967811,0.0698180122143,0.999999932461,0.000226582666201,-0.00028927652034,7.5162571685e-06,1793245397616107520
+59,0.983333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.253658341,652,0.400958375328,-0.015365874946,0.0698177463429,0.999999932245,0.000227005628315,-0.000289695459693,7.42112192649e-06,1793245397632774144
+60,1.000000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629.830673765,652,0.400956710374,-0.0153655887309,0.0698164384959,0.999999931708,0.000226085767742,-0.000292266501962,6.97525680492e-06,1793245397649441024
+61,1.016666667,BASELINE,764,744,714,679,658,634,878.405090709,785.405090709,807,652,629.594909291,652,0.400956093462,-0.0153649241824,0.0698158694228,0.999999931498,0.000225763363698,-0.000293240809652,6.75593126681e-06,1793245397666107648
+62,1.033333333,BASELINE,764,744,714,679,658,634,878.978428387,785.978428387,807,652,629.021571613,652,0.400955911834,-0.0153641025002,0.0698156071859,0.999999931424,0.000225689102281,-0.000293551942873,6.63069480119e-06,1793245397682774016
+63,1.050000000,BASELINE,764.569776715,744,714,679,658,634,878.430223285,785.430223285,807,652,629,652,0.400956671376,-0.0153651227071,0.0698164474454,0.999999931333,0.000226591844017,-0.000293153878553,7.16322058744e-06,1793245397699441152
+64,1.066666667,BASELINE,764.841898142,744,714,679,658.158101858,634,878.158101858,785,807,652,629.158101858,652.158101858,0.400957556754,-0.0153655736231,0.069817300922,0.999999931396,0.000227546016197,-0.000292189662104,7.5237698616e-06,1793245397716108032
+65,1.083333333,BASELINE,764.263482123,744,714,679,658.736517877,634,878.736517877,785,807,652,629.736517877,652.736517877,0.400958678845,-0.0153643196398,0.0698180749474,0.999999931868,0.00022853537079,-0.000289794039839,7.35875417311e-06,1793245397732774144
+66,1.100000000,BASELINE,764.313188187,744,714,679,658.686811813,634,878.686811813,785,807.313188187,652,630,652.686811813,0.400958709489,-0.0153638338899,0.0698182101096,0.99999993192,0.000228957903497,-0.000289284226219,7.24508708271e-06,1793245397749440512
+67,1.116666667,BASELINE,764.888397963,744,714,679,658.111602037,634,878.111602037,785,807.888397963,652,630,652.111602037,0.400957826998,-0.0153639908647,0.0698178107818,0.999999931623,0.000228906217851,-0.000290352130509,7.17437960683e-06,1793245397766107136
+68,1.133333333,BASELINE,764.526152541,744,714,679,658,634,878.473847459,785,807.526152541,652,630,652.473847459,0.400957061826,-0.0153649801073,0.069817955435,0.999999931839,0.000227496260453,-0.000290712877031,7.30514390092e-06,1793245397782774016
+69,1.150000000,BASELINE,764.06087268,744,714,679,658,634,879,785,807,652,630,652.93912732,0.400956360635,-0.0153661839676,0.0698181479951,0.999999932156,0.000225873891183,-0.000290882256585,7.489399117e-06,1793245397799441152
+70,1.166666667,BASELINE,764.640322115,744,714,679,658,634,879,785,807,652,630,652.359677885,0.4009559639,-0.0153675093918,0.0698176331094,0.999999932303,0.000225227449558,-0.000290871574928,7.71617787425e-06,1793245397816107776
+71,1.183333333,BASELINE,765,744,714,679.21852568,658,634,879,785.21852568,807.21852568,652,630,652,0.400956061727,-0.0153676689564,0.0698174159183,0.999999932365,0.000224895049668,-0.000290916907618,7.65639526373e-06,1793245397832774144
+72,1.200000000,BASELINE,765,744,714,679.79469035,658,634,879,785.79469035,807.79469035,652,630,652,0.400956968955,-0.0153659204763,0.069817685934,0.999999932289,0.000225076610181,-0.000291053913346,7.12762653722e-06,1793245397849440768
+73,1.216666667,BASELINE,764.630718812,744,714,679.630718812,658,634,878.630718812,785.630718812,807.261437624,652,630,652.369281188,0.400957619185,-0.0153652497928,0.069818081423,0.999999931991,0.000226980649068,-0.00029060030414,7.05598120834e-06,1793245397866107136
+74,1.233333333,BASELINE,764.0569993,744,714,679.0569993,658,634,878.0569993,785.0569993,806.113998599,652,630,652.9430007,0.400958127139,-0.01536517579,0.0698185463755,0.999999931563,0.000229838271833,-0.000289819723684,7.23740469549e-06,1793245397882774016
+75,1.250000000,BASELINE,764,744,714,679,658,634,878.533066524,785,806.533066524,652,630,652.466933476,0.400957950811,-0.0153639156821,0.0698181458376,0.99999993168,0.000228783283577,-0.000290258642462,6.94334869524e-06,1793245397899440896
+76,1.266666667,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652,0.400957746948,-0.0153629262676,0.0698177540139,0.999999931782,0.000227794984388,-0.00029068889952,6.7177507126e-06,1793245397916107264
+77,1.283333333,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652,0.400957722288,-0.0153634375391,0.0698177515755,0.999999931612,0.000228668986232,-0.00029058401965,6.94403404662e-06,1793245397932774144
+78,1.300000000,BASELINE,764,744,714,679,658,634,879,785.27900655,807,652,630,652.27900655,0.400957543587,-0.0153640709218,0.0698175275049,0.99999993144,0.000229043069634,-0.000290877509761,7.02728117554e-06,1793245397949440768
+79,1.316666667,BASELINE,764,744,714,679,658,634,879,785.852994338,807,652,630,652.852994338,0.400957202024,-0.0153648334072,0.0698170691123,0.999999931268,0.000228888611405,-0.000291592178771,6.95930246082e-06,1793245397966107648
+80,1.333333333,BASELINE,764,744,714,679.428385112,658,634,879,785.571614888,807,652,630,653,0.400957240656,-0.0153657427601,0.0698168134249,0.999999931448,0.000227973389185,-0.000291690741722,6.97346546211e-06,1793245397982774272
+81,1.350000000,BASELINE,764.004377224,744,714,680,658,634,879.004377224,785,807,652,629.995622776,653,0.400957418179,-0.0153666823671,0.0698166374007,0.999999931748,0.000226819615396,-0.000291561088459,7.01679463485e-06,1793245397999440640
+82,1.366666667,BASELINE,764.596241179,744,714,680,658,634,879.596241179,785,807,652,629.403758821,653,0.400958668651,-0.0153648959512,0.0698177865761,0.99999993196,0.000228802692703,-0.000289270976066,7.17898400792e-06,1793245398016107264
+83,1.383333333,BASELINE,765,744.183603975,714,679.816396025,658,634,879.632792049,785.183603975,806.816396025,652,629,652.816396025,0.400959217603,-0.0153638009194,0.0698184339286,0.999999932171,0.000229257081235,-0.000288180223864,7.15867624857e-06,1793245398032773888
+84,1.400000000,BASELINE,765,744.761305359,714,679.238694641,658,634,878.477389282,785.761305359,806.238694641,652,629,652.238694641,0.400958260778,-0.0153641899114,0.069818004142,0.999999932389,0.000226430210672,-0.000289663842191,6.74664689922e-06,1793245398049440768
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+86,1.433333333,BASELINE,764.09023317,744.09023317,714,679.90976683,658,634,878.90976683,785.09023317,807.819533661,652,629,652,0.400959354217,-0.0153650607424,0.0698185679138,0.999999932648,0.000225556631652,-0.000289445195553,6.98811217475e-06,1793245398082774528
+87,1.450000000,BASELINE,764,744,714,679.504720199,658,634,878.504720199,785,807.504720199,652,629,652,0.400958759338,-0.0153649392112,0.0698181297876,0.999999932701,0.000225201102562,-0.000289545778298,6.82168723705e-06,1793245398099440896
+88,1.466666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.082279636,652,0.40095788165,-0.015364839544,0.0698175291902,0.999999932716,0.000224726733342,-0.000289865504555,6.62244900671e-06,1793245398116107776
+89,1.483333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.664484064,652,0.400957025504,-0.0153655185026,0.0698169688525,0.999999932573,0.00022414435111,-0.000290807798049,6.70715846178e-06,1793245398132774144
+90,1.500000000,BASELINE,764,744,714,679,658.244097261,634,878.244097261,785,807,652,629.755902739,652,0.400957166398,-0.0153660195374,0.0698171039094,0.999999932632,0.000224051379915,-0.000290672927274,6.82918265171e-06,1793245398149440512
+91,1.516666667,BASELINE,764,744,714,679,658.820186133,634,878.820186133,785,807,652,629.179813867,652,0.400958663346,-0.0153662785819,0.069818184758,0.999999932966,0.000224624046544,-0.00028907302769,7.00195782996e-06,1793245398166107136
+92,1.533333333,BASELINE,764,744.392856471,714,679,658.607143529,634,879,785,807.392856471,652,629.392856471,652,0.400958994375,-0.0153660905012,0.069818830556,0.999999933111,0.000224715616021,-0.000288500200683,6.98900917028e-06,1793245398182774016
+93,1.550000000,BASELINE,764,744.963975664,714,679,658.036024336,634,879,785,807.963975664,652,629.963975664,652,0.400958796356,-0.0153656995328,0.0698192789452,0.999999933171,0.000224588882695,-0.000288393418434,6.89178639678e-06,1793245398199440896
+94,1.566666667,BASELINE,764.553846734,744.446153266,714,679.553846734,658,634,879,785,807.446153266,652,629.446153266,652,0.400958693933,-0.0153658444799,0.069818722891,0.999999932825,0.000225086995452,-0.000289202430415,6.94239709789e-06,1793245398216107264
+95,1.583333333,BASELINE,765,744,714,679.857625231,658,634,879,785,807,652,629.142374769,652,0.4009586368,-0.0153662241831,0.0698183184513,0.999999932674,0.00022525369877,-0.000289591315141,7.01963706253e-06,1793245398232773888
+96,1.600000000,BASELINE,765,744,714,679.27711498,658,634,879,785,807,652,629.72288502,652,0.400958699233,-0.0153672152817,0.069818588678,0.99999993321,0.000224271089449,-0.000288497594834,7.14819669358e-06,1793245398249440768
+97,1.616666667,BASELINE,764.699621407,744,714,679,658,634,878.699621407,785,807,652,629.699621407,652,0.400958245963,-0.0153665458017,0.0698183341033,0.999999933103,0.000224573943454,-0.000288636613039,7.04373031861e-06,1793245398266107136
+98,1.633333333,BASELINE,764.12488324,744,714,679,658,634,878.12488324,785,807,652,629.12488324,652,0.400957321659,-0.0153643595837,0.0698176001857,0.999999932406,0.000226050913051,-0.000289901589091,6.726422817e-06,1793245398282773760
+99,1.650000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629,652,0.400957380036,-0.0153649447519,0.0698173352481,0.999999932038,0.00022725225859,-0.000290236541874,6.63630978164e-06,1793245398299440384
+100,1.666666667,BASELINE,764,744,714,679.042997273,658,634,878.042997273,785.042997273,806.957002727,652,629,652,0.400957767999,-0.0153662498763,0.0698172933721,0.999999931849,0.000228141117684,-0.000290188432438,6.6411084676e-06,1793245398316107264
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+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629.376987296,652.376987296,0.400990425999,-0.0153668338498,0.0698328157071,0.999999938633,0.000226767611654,-0.000266918195483,8.01821986208e-06,1793245398613014784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785,807,652,629.96361001,652.96361001,0.401021390993,-0.0153688044386,0.0698464446223,0.999999944567,0.000226063969269,-0.000244295555191,9.03965443008e-06,1793245398629681408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,785.54397133,807,652,630,652.45602867,0.40107779016,-0.0153706064115,0.0698652478332,0.999999951414,0.000227097275772,-0.000213293068794,1.0281602154e-05,1793245398646347776
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.876650589,786,807.123349411,652,629.876650589,652.123349411,0.401137564856,-0.0153727753737,0.0698824330685,0.999999956729,0.000227474698783,-0.000186203656363,1.1229238264e-05,1793245398663014400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.299366811,786,807.700633189,652,629.299366811,652.700633189,0.401203571485,-0.0153763359208,0.0698924047083,0.999999959213,0.00022501568113,-0.000175554136556,1.10401183534e-05,1793245398679681024
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714.277106509,679,658,634,878,785.722893491,808,652,629.277106509,653,0.401276930884,-0.0153798774244,0.0698994508619,0.99999996113,0.000222875860744,-0.000167219081665,1.0246538946e-05,1793245398696347648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714.852706785,679,658,634,878,785.147293215,808,652,629.852706785,653,0.401358210542,-0.0153833984146,0.0699033457377,0.999999962502,0.000221079873636,-0.00016137712423,8.8018474825e-06,1793245398713014272
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714.562089362,679,658,634,878.437910638,785.437910638,808,652,630,652.562089362,0.401458606642,-0.0153889377911,0.0699058973364,0.999999963251,0.000220308008561,-0.000157829134956,7.19774614126e-06,1793245398729681152
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.026009434,634,879,786,807.973990566,652,630,652,0.401566735996,-0.0153950833932,0.0699079389276,0.999999963823,0.000219716102609,-0.000155077276835,5.48688458529e-06,1793245398746347776
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.605433814,634,879,786,807.394566186,652,630,652,0.401699529772,-0.0153993589223,0.0699089579334,0.99999996516,0.000215459521302,-0.000152479551165,2.67087602402e-06,1793245398763014400
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.816718786,744.183281214,714,679,658.816718786,634,879,785.816718786,807,652,629.816718786,652,0.40184165254,-0.0154043812371,0.0699105734184,0.99999996664,0.000210757026612,-0.000149333734881,-3.56739989802e-07,1793245398779681024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.24223741,744.75776259,714,679,658.24223741,634,879,785.24223741,807,652,629.24223741,652,0.40200368733,-0.0154109975099,0.0699134620436,0.999999968444,0.000205102763408,-0.000145018060148,-3.83601606363e-06,1793245398796347648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.33997991,745,714.33997991,679,658,634,879,785,807,652,629.33997991,652,0.402185908232,-0.015418393192,0.0699159072489,0.999999970627,0.000197018605294,-0.000140949087006,-7.92713785508e-06,1793245398813014784
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.927837528,745,714.927837528,679,658,634,879,785,807,652,629.927837528,652,0.402382846748,-0.0154263571382,0.0699180291592,0.999999973015,0.000187162821954,-0.000137059982343,-1.24643537596e-05,1793245398829682688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.49174477,714.49174477,679.50825523,658,634,879,785,807,652,630,652.50825523,0.402612831165,-0.0154358737942,0.0699202785369,0.99999997622,0.000174683848221,-0.000129434992022,-1.70876319419e-05,1793245398846348800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679.912618659,658,634,879,785,807,652,629.912618659,652.912618659,0.402854994616,-0.015445795341,0.0699238468733,0.999999980996,0.000152649150076,-0.000119323640043,-2.16334692781e-05,1793245398863014400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.334898032,658,634,879,785,807,652,629.334898032,652.334898032,0.403139552053,-0.0154567696989,0.06993471644,0.999999991725,7.90524251904e-05,-9.81936234732e-05,-2.56771714819e-05,1793245398879681024
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.759113315,744,714,679,658,634,878.759113315,785,807,652,629.240886685,652,0.40343350449,-0.0154668850724,0.0699432074315,0.999999995493,3.48976805208e-05,-8.29988953834e-05,-3.01351647679e-05,1793245398896347648
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.185998617,744,714,679,658,634,878.185998617,785,807,652,629.814001383,652,0.403740414383,-0.0154758157442,0.0699484179202,0.999999996003,3.13489649761e-05,-7.59900475037e-05,-3.51645432455e-05,1793245398913014272
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.399347545,744,714,679.399347545,658.399347545,634,878,785,807,652,630,652,0.404078640618,-0.0154831848049,0.0699508382077,0.999999996025,2.71461662664e-05,-7.6128632188e-05,-3.76426684678e-05,1793245398929681152
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.990570572,744,714,679.990570572,658.990570572,634,878,785,807,652,630,652,0.404431913484,-0.0154898035542,0.0699519178803,0.999999995811,2.26290987371e-05,-7.97013613031e-05,-3.88949867166e-05,1793245398946348032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.430288538,634,878.569711462,785,807,652,630,652,0.404830972195,-0.0154819592107,0.0699586273512,0.99999999607,4.88647208334e-05,-6.59854810551e-05,-3.34482480111e-05,1793245398963014656
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.851955633,744,714,679.851955633,658.148044367,634,879,785,807,652,629.851955633,652,0.405237832708,-0.0154735020044,0.0699629567221,0.999999995568,6.92579930559e-05,-5.60257880314e-05,-3.04688274817e-05,1793245398979681536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.275394742,744,714,679.275394742,658.724605258,634,879,785,807,652,629.275394742,652,0.405665127635,-0.0154639493646,0.0699601327488,0.99999999518,7.12977987966e-05,-5.77494933307e-05,-3.49453675593e-05,1793245398996347648
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.306214263,744.306214263,714,679,659,634,879.306214263,785,807,652,629,652.306214263,0.406095708243,-0.0154631412499,0.0699493356182,0.999999993922,6.91150025769e-05,-7.69628680877e-05,-3.81583131365e-05,1793245399013014272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.892439471,744.892439471,714,679,659,634,879.892439471,785,807,652,629,652.892439471,0.406529293419,-0.0154703293739,0.0699312476078,0.999999990911,6.30709403662e-05,-0.000112169289309,-4.02157927928e-05,1793245399029681152
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.526461574,744.526461574,714,679.473538426,658.526461574,634,879.526461574,785,807,652,629,652.526461574,0.407047439982,-0.0154757799434,0.0699217335312,0.999999990372,5.32634639403e-05,-0.000120929148601,-4.2363484718e-05,1793245399046347776
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.053101864,744,714,680,658,634,879,785,807,652,629.053101864,652.053101864,0.407589892094,-0.0154804592101,0.0699164901987,0.999999990834,4.35130736675e-05,-0.000120293484662,-4.43644820401e-05,1793245399063014400
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.628889873,744,714,680,658,634,879,785,807,652,629.628889873,652.628889873,0.408184550273,-0.0154813896666,0.0699343200298,0.999999994421,4.26486323547e-05,-8.56723282669e-05,-4.47220186358e-05,1793245399079682048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.795599663,744,714,679.795599663,658,634,879.204400337,785,807.204400337,652,630,652.795599663,0.408784461835,-0.0154817254403,0.0699477864614,0.999999996374,4.32378221344e-05,-5.78406732912e-05,-4.51406322817e-05,1793245399096349184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.22059246,744,714,679.22059246,658,634,879.77940754,785,807.77940754,652,630,652.22059246,0.409393898492,-0.0154809829698,0.0699533414286,0.999999996982,4.64626518325e-05,-4.23193516988e-05,-4.56699873519e-05,1793245399113015296
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.364140464,744,714,679,658.364140464,634,879.635859536,785,807.635859536,652,630,652.364140464,0.410003912181,-0.0154797985507,0.0699489189647,0.999999996736,4.48403271512e-05,-4.80325757775e-05,-4.70092380017e-05,1793245399129681664
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.954926786,744,714,679,658.954926786,634,879.045073214,785,807.045073214,652,630,652.954926786,0.410614284999,-0.0154783390569,0.0699382864152,0.999999995757,4.02010691379e-05,-6.69624634114e-05,-4.88525783773e-05,1793245399146348032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.535474684,714,679.535474684,659,634,879.535474684,785,807,652,629.464525316,653,0.411321497547,-0.0154816468675,0.0699470823734,0.999999996707,3.38396069664e-05,-5.55476885275e-05,-4.85335339071e-05,1793245399163014656
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.885773069,744.885773069,714,680,659,634,880,785,807.114226931,652,629,652.885773069,0.412046500108,-0.0154856975907,0.0699630618568,0.999999997935,2.90563367707e-05,-3.19155029578e-05,-4.76122366278e-05,1793245399179681024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.31085249,744.31085249,714,680,659,634,880,785,807.68914751,652,629,652.31085249,0.412810993124,-0.0154911565122,0.0700015415457,0.999999998024,3.12118403931e-05,3.08829062535e-05,-4.49822960963e-05,1793245399196347904
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.269666096,744,714,679.730333904,659,634,880,785,808.269666096,652,629.269666096,652,0.413557682175,-0.0154927723732,0.0700235471661,0.999999996473,2.99023523945e-05,6.50581228284e-05,-4.38916121552e-05,1793245399213014528
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.856774554,744,714,679.143225446,659,634,880,785,808.856774554,652,629.856774554,652,0.414283413062,-0.015489864306,0.0700261600414,0.999999996557,2.45139867109e-05,6.55390345348e-05,-4.46128919963e-05,1793245399229681408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,679.437091413,659,634,880,785,808.562908587,652,630,652.437091413,0.415002869713,-0.0154837426727,0.0699841288774,0.999999998385,2.60194957184e-05,-8.62432812178e-06,-4.97785878094e-05,1793245399246348032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,785.015229202,808,652,630,653,0.415723664637,-0.015476896588,0.0699289064182,0.999999992505,2.94805083966e-05,-0.000104661397535,-5.62663299385e-05,1793245399263014656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,785.593824752,808,652,630,653,0.416568857675,-0.0154816089213,0.0699185841128,0.99999999095,2.29939794815e-05,-0.000118894317243,-5.86105532714e-05,1793245399279681280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,680.171344536,659,634,879.828655464,785.828655464,808,652,630,653,0.417418179065,-0.015486528123,0.0699215104308,0.999999991719,1.65170658044e-05,-0.000113038768022,-5.92619066447e-05,1793245399296347648
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680.746330077,659,634,879.253669923,785.253669923,808,652,630,653,0.418277225671,-0.0154919346502,0.0699556468932,0.999999996594,1.00628033708e-05,-5.98602628638e-05,-5.59253197962e-05,1793245399313014272
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714.328562861,680.671437139,659,633.671437139,879.328562861,785.328562861,808.328562861,652,630,652.671437139,0.419142658873,-0.0154966048954,0.0699853283408,0.99999999843,3.96292567318e-06,-1.46668672214e-05,-5.39437440569e-05,1793245399329681152
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714.916517118,680.083482882,659,633.083482882,879.916517118,785.916517118,808.916517118,652,630,652.083482882,0.420013134077,-0.0155006938659,0.0700114926745,0.999999998299,-1.85717465067e-06,2.42225001933e-05,-5.30319127269e-05,1793245399346347776
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714.502161687,680,659.497838313,633.497838313,880,785.502161687,808.502161687,652,630,652.497838313,0.420919013229,-0.0155030907806,0.0700294284887,0.999999997262,-1.08030358518e-05,5.07789026373e-05,-5.27375737493e-05,1793245399363014400
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.077581558,714,680,660,634,880,785,808.077581558,652,630,653,0.421821591664,-0.0155041765298,0.070036513333,0.999999996607,-1.81598444353e-05,6.00722171104e-05,-5.33531843673e-05,1793245399379681280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.65423501,714,680,660,634,880,785,808.65423501,652,630,653,0.422665247389,-0.0154986289997,0.0699825549759,0.99999999777,-1.19669590139e-05,-2.85565977292e-05,-5.9165029613e-05,1793245399396347904
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.769766655,744.769766655,714,680,660.230233345,634,880,785,809,652,630,653,0.423504909944,-0.0154947764823,0.0699231951886,0.999999990465,-1.45912095083e-05,-0.000120401459942,-6.60420518044e-05,1793245399413014272
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.1947493,744.1947493,714,680,660.8052507,634,880,785,809,652,630,653,0.424338592689,-0.0154934623161,0.0698557465265,0.999999973203,-3.04194869001e-05,-0.00021706249994,-7.45142217909e-05,1793245399429681152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.390093129,744.390093129,714,680.390093129,660.609906871,634,879.609906871,785,809,652,630,653,0.425245090878,-0.0154962114898,0.0698651911152,0.999999977623,-2.839069915e-05,-0.000196226781663,-7.37771117096e-05,1793245399446347776
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.979967306,744.979967306,714,680.979967306,660.020032694,634,879.020032694,785,809,652,630,653,0.426188880486,-0.0155010416496,0.0699140155716,0.99999999088,-1.72166501476e-05,-0.000115216643103,-6.83235897078e-05,1793245399463014656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.441041458,714,680.441041458,660,633.441041458,879.558958542,785.558958542,809,652,630,653,0.427154502462,-0.0155007428477,0.0699665027845,0.999999996537,-2.01076028113e-05,-4.93660190141e-05,-6.39111612082e-05,1793245399479681024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.136419187,714,680.136419187,660,633.136419187,880,786,809,652,630,653,0.428125074174,-0.0155022043367,0.0700146547538,0.999999997771,-2.4650903996e-05,1.56027314801e-05,-6.00602317844e-05,1793245399496348160
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.710199296,714,680.710199296,660,633.710199296,880,786,809,652,630,653,0.429109054076,-0.0155098873993,0.0700484950794,0.999999994626,-3.29064265244e-05,7.9452763893e-05,-5.78921351225e-05,1793245399513015552
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.708250488,714,681.291749512,660,634,880,786,809,652,630,653,0.43002173616,-0.0155115482312,0.0700477442448,0.999999994369,-3.66723592552e-05,8.03301350791e-05,-5.88595484076e-05,1793245399529682688
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.118770922,714,681.881229078,660,634,880,786,809,652,630,653,0.43086165884,-0.0155070633827,0.0700116931673,0.999999997227,-3.58566700745e-05,1.69439714776e-05,-6.30267462547e-05,1793245399546349056
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.462766483,714,681.537233517,660,633.537233517,880,786,809,652,630.462766483,653,0.431657530026,-0.0155011606513,0.0699384928358,0.999999991499,-3.21526404249e-05,-0.000105605539129,-6.93925000049e-05,1793245399563015424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.957941676,714,681,660,633,879.957941676,786,809.042058324,651.957941676,630.957941676,653,0.432454612626,-0.0154956319863,0.069865254296,0.999999971089,-2.81035068236e-05,-0.000226549571453,-7.55488319552e-05,1793245399579681280
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.381718461,714,681,660,633,879.381718461,786,809.618281539,651.381718461,630.381718461,653,0.433408249997,-0.015499398012,0.0699105811226,0.999999987536,-2.89275009915e-05,-0.000137504858634,-7.19997796816e-05,1793245399596347648
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,879.1946984,786,809.8053016,651.1946984,630,653,0.434353755116,-0.0155035596639,0.0699571155185,0.999999995759,-3.25845828911e-05,-5.26609561319e-05,-6.81750263993e-05,1793245399613014272
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.405427576,745,714,683,656,628.405427576,880.405427576,777,810,652,628.594572424,653,0.452731608246,-0.0157275683398,0.0695963037617,0.999999756073,-0.000329599722251,-0.000612181435248,-6.671503846e-05,1793245400629682176
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,714,683,656,628.170934175,880,777,810,652,628.829065825,653,0.452732103624,-0.0157281442016,0.0695960429651,0.999999755458,-0.000331808045542,-0.000611979283519,-6.68458201526e-05,1793245400646349056
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,714,683,656,628.746449282,880,777,810,652,628.253550718,653,0.452731947472,-0.0157279113754,0.0695961897103,0.999999755663,-0.00033093076492,-0.000612150112645,-6.65689056928e-05,1793245400663014912
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,714,682.678578239,656.321421761,629,880,777.321421761,810,652,628.321421761,653,0.452732283587,-0.0157270602646,0.0695964575165,0.999999756546,-0.00032941522408,-0.000611536795692,-6.64482372185e-05,1793245400679681280
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714,682.104033114,656.895966886,629,880,777.895966886,810,652,628.895966886,653,0.452733007367,-0.0157257222476,0.0695968206597,0.999999757961,-0.000327397045954,-0.000610305954591,-6.64506142832e-05,1793245400696348416
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+244,4.066666667,HOLD_POSE2,765,745,714,683,656,629,880,778,811,652,628,653,0.45273571932,-0.0157278768434,0.0695980011449,0.999999757936,-0.000329606832224,-0.000609237183405,-6.57072078561e-05,1793245400756411392
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.550166189,714,679.550166189,658,634,878,785,807.449833811,652,629.550166189,652.550166189,0.404901280779,-0.0153648645482,0.0698088383574,0.99999992312,0.000225133757266,-0.000320632848168,1.64037258819e-05,1793245402610395904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.876358608,744.876358608,714,679.876358608,658,633.876358608,878,785.123641392,807,652,629.876358608,653,0.404535641061,-0.015365781435,0.0698214130996,0.999999929866,0.000227245208091,-0.000297208925818,1.71414420209e-05,1793245402627062528
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.299181266,744.299181266,714,679.299181266,658,633.299181266,878,785.700818734,807,652,629.299181266,653,0.404198401245,-0.0153656793307,0.0698379420922,0.999999937993,0.000228914646403,-0.00026695689314,1.85937761223e-05,1793245402643729408
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.28521126,744,714,679,658,633.28521126,878,785.71478874,807,652,629,653,0.403869896758,-0.0153644304994,0.0698474861547,0.999999943314,0.000227189411722,-0.000247786947328,1.89609923434e-05,1793245402660395776
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.87736878,744,714,679,658,633.87736878,878,785.12263122,807,652,629,653,0.40355079331,-0.0153619475529,0.0698495129878,0.999999946304,0.000221810807382,-0.00024054361932,1.81603973892e-05,1793245402677062656
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,657.542977455,633.542977455,878.457022545,785,807,652,629.457022545,652.542977455,0.403247434517,-0.0153589423256,0.0698379870118,0.999999939273,0.000230284302549,-0.000261074200964,1.62443833154e-05,1793245402693729280
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.225989597,744,714,679,658,634,878,785,807,652,629.774010403,652,0.402251868138,-0.0153497491652,0.0698067564801,0.999999918803,0.000252869541663,-0.00031346122387,1.39106869724e-05,1793245402760395776
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879.871122289,785,807,652,629.064438856,652.935561144,0.401883973455,-0.0153574971003,0.069801504649,0.999999916747,0.000246362310451,-0.000324883433943,1.61932735287e-05,1793245402793729024
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.666442374,744,714,679.333557626,658,634,878.333557626,785.666442374,807,652,629,652.333557626,0.401486680044,-0.0153575951384,0.0697984219381,0.999999923867,0.000209236313279,-0.000329327905353,5.42467322844e-06,1793245402843729408
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.165598484,744,714,679,657.165598484,634,878.834401516,785.165598484,807,652,629,652.834401516,0.401297730399,-0.015360992266,0.0697970059665,0.999999921195,0.000225456650243,-0.000326759083268,2.93678726333e-06,1793245402877062656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.418009376,657.418009376,634,878.581990624,785,807,652,629.418009376,653,0.401226290311,-0.0153585032419,0.0697982366027,0.999999919504,0.000234869021221,-0.000325287918319,3.95577286779e-06,1793245402893729536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.999839275,657.999839275,634,878.000160725,785,807,652,629.999839275,653,0.401161128359,-0.0153537840102,0.069800158294,0.999999918683,0.000240261570474,-0.000323862276879,4.6589509248e-06,1793245402910396160
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879,785.799252503,807,652,629.799252503,652.799252503,0.400960124292,-0.0153548099396,0.0698096116303,0.999999924978,0.000240008189446,-0.000303953403428,7.17003848117e-06,1793245403077062656
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879,785.619116681,807.380883319,652,629.619116681,652.619116681,0.400958912271,-0.0153550843378,0.0698102184506,0.999999925232,0.000240246545976,-0.000302933404003,7.066246897e-06,1793245403093729280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879,785.03971249,807.96028751,652,629.03971249,652.03971249,0.400957245725,-0.0153551936362,0.0698099034601,0.999999924961,0.000240217542774,-0.0003038559378,6.7697919894e-06,1793245403110395904
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.538803624,658,633.461196376,879,785,807.461196376,652,629.538803624,652,0.400957603232,-0.0153545299007,0.0698106771032,0.999999925342,0.000241240481629,-0.000301777814511,7.07917660899e-06,1793245403127062528
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.883745877,658,633.116254123,879,785,807,652,630,652.116254123,0.40095770728,-0.0153543009042,0.0698113997261,0.999999925871,0.000241225768122,-0.000300025311073,7.28420659408e-06,1793245403143729152
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.310229872,658,633.689770128,879,785,807,652,630,652.689770128,0.40095622858,-0.0153560056016,0.0698116065925,0.999999926806,0.000236825200727,-0.000300422036598,6.90343292139e-06,1793245403160395776
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.269719804,658.269719804,633.730280196,878.730280196,785,807,652,629.730280196,652.730280196,0.400956178656,-0.0153569539343,0.0698123082952,0.999999927213,0.000235848049585,-0.000299839352223,6.84090382632e-06,1793245403177062656
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.85725035,658.85725035,633.14274965,878.14274965,785,807,652,629.14274965,652.14274965,0.400957812259,-0.015357011043,0.0698135930634,0.999999927004,0.000238904707921,-0.000298102629593,7.15336214456e-06,1793245403193729280
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.441496069,744,714,679.558503931,658.558503931,633.441496069,878.441496069,785,807,652,629,652.441496069,0.400958274049,-0.015357568124,0.0698142872002,0.999999927642,0.000237268239387,-0.000297270702029,7.06649482982e-06,1793245403210396160
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.024307512,658,634,879,785,807,652,629,652.975692488,0.400958352932,-0.0153582087909,0.0698147819079,0.999999928483,0.000234364663145,-0.000296748834169,6.85535949503e-06,1793245403227062528
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.598522323,658,634,879,785,807,652,629,652.401477677,0.400958277474,-0.0153571102718,0.0698150533337,0.999999927916,0.000236870725321,-0.000296671990013,6.73229601898e-06,1793245403243729152
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.823668405,658,634,878.823668405,785,807,652,629,652.176331595,0.400957915836,-0.0153564441926,0.0698151180659,0.999999927598,0.000238121966045,-0.000296747821034,6.60170287867e-06,1793245403260396032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.237504878,658,634,878.237504878,785,807,652,629,652.762495122,0.400956889055,-0.0153567831953,0.069814702398,0.999999927866,0.000236456736092,-0.000297178501476,6.45360921305e-06,1793245403277062656
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.346486966,658,634,878.346486966,785,807,652,629.346486966,652.653513034,0.400956996405,-0.0153572579847,0.0698147210282,0.999999927992,0.000236548324428,-0.000296671828247,6.80999421859e-06,1793245403293729280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.928999443,658,634,878.928999443,785,807,652,629.928999443,652.071000557,0.400957876322,-0.0153578252715,0.0698150355005,0.999999928021,0.000237836650305,-0.000295526633491,7.51002804849e-06,1793245403310396160
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.494763066,744,714,679.494763066,658,634,879,785,807.505236934,652,629.494763066,652,0.400957887913,-0.0153570868579,0.0698156586629,0.999999928298,0.000238342144531,-0.000294187857752,7.07485645825e-06,1793245403327062784
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.080408088,744,714,679,658,634,879,785.080408088,808,652,629.080408088,652.080408088,0.400957381985,-0.0153565068388,0.0698159901837,0.999999928486,0.000238403893052,-0.000293508638412,6.58460319168e-06,1793245403343729152
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.654379983,744,714,679,658,634,879,785.654379983,808,652,629.654379983,652.654379983,0.400954439227,-0.0153580115653,0.069814268529,0.999999927916,0.000236408813519,-0.000297042867126,6.72346307788e-06,1793245403360396032
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.235748148,714,679,658,633.764251852,878.764251852,785.764251852,807.764251852,652,630,652.764251852,0.400953373497,-0.0153587616135,0.0698134677742,0.99999992772,0.000235371319574,-0.000298521050729,6.76851078303e-06,1793245403377062656
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.828310961,714,679,658,633.171689039,878.171689039,785.171689039,807.171689039,652,630,652.171689039,0.400955148725,-0.0153583694245,0.0698140608395,0.99999992811,0.000235783171109,-0.000296887324743,6.671569856e-06,1793245403393729280
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.588577297,744.588577297,714,679,658,633.411422703,878.411422703,785,807,652,630,652.411422703,0.400956359813,-0.0153583074075,0.0698149528374,0.999999928807,0.000235256418842,-0.000294950408553,6.67680616095e-06,1793245403410395648
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.00932101,744.00932101,714,679,658,633.99067899,878.99067899,785,807,652,630,652.99067899,0.400957340769,-0.0153583800792,0.0698159667803,0.999999929626,0.00023434677752,-0.000292889810665,6.72372410708e-06,1793245403427062528
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a88b5266975951a23942feec28d6337b8c94a81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641744,1.05971735668
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+375,6.250000000,pose2_to_pose3_retreat,0.575740604946,-0.0101222627488,1.06005100424,0.54631223874,-0.00144657515349,1.05971749095
+376,6.266666667,pose2_to_pose3_retreat,0.57571994925,-0.0101222253853,1.06005088498,0.546291582609,-0.001446538969,1.05971737945
+377,6.283333333,pose2_to_pose3_retreat,0.575704318132,-0.0101221960192,1.06005097608,0.54627595211,-0.00144650766375,1.05971746644
+378,6.300000000,pose2_to_pose3_retreat,0.575692477125,-0.010122234177,1.06005089944,0.546264110975,-0.00144654647045,1.05971738417
+379,6.316666667,pose2_to_pose3_retreat,0.575684107342,-0.0101222372652,1.06005087776,0.546255740968,-0.00144655040801,1.05971736029
+380,6.333333333,pose2_to_pose3_retreat,0.575679005872,-0.0101221644385,1.06005102654,0.546250639675,-0.00144647690944,1.059717511
+381,6.350000000,pose2_to_pose3_retreat,0.575675865979,-0.0101222163445,1.0600509491,0.546247500596,-0.00144652590612,1.05971743737
+382,6.366666667,pose2_to_pose3_retreat,0.575674182068,-0.0101222510868,1.0600508955,0.546245817171,-0.00144655890999,1.05971738601
+383,6.383333333,pose2_to_pose3_retreat,0.575673343406,-0.0101222626486,1.06005092234,0.546244978685,-0.00144656990823,1.05971741183
+384,6.400000000,pose2_to_pose3_retreat,0.575673005194,-0.0101222644249,1.06005096007,0.546244640513,-0.00144657160926,1.05971744808
+385,6.416666667,pose2_to_pose3_retreat,0.575672527289,-0.010122266935,1.06005101339,0.546244162662,-0.00144657401288,1.05971749932
+386,6.433333333,pose2_to_pose3_retreat,0.575672191943,-0.0101222686962,1.0600510508,0.546243827355,-0.0014465756995,1.05971753526
+387,6.450000000,pose2_to_pose3_retreat,0.575672122443,-0.0101222690613,1.06005105856,0.546243757864,-0.00144657604905,1.05971754271
+388,6.466666667,pose2_to_pose3_retreat,0.575672040151,-0.0101222694935,1.06005106774,0.546243675581,-0.00144657646294,1.05971755153
+389,6.483333333,pose2_to_pose3_retreat,0.575671960946,-0.0101222699095,1.06005107658,0.546243596385,-0.0014465768613,1.05971756003
+390,6.500000000,pose2_to_pose3_retreat,0.575671709598,-0.0101222712296,1.06005110462,0.546243345066,-0.00144657812545,1.05971758697
+391,6.516666667,pose2_to_pose3_retreat,0.57567149649,-0.0101222723489,1.06005112839,0.546243131983,-0.00144657919728,1.05971760981
+392,6.533333333,pose2_to_pose3_retreat,0.575671383236,-0.0101222729437,1.06005114103,0.546243018742,-0.00144657976689,1.05971762195
+393,6.550000000,pose2_to_pose3_retreat,0.575671226502,-0.0101222737669,1.06005115852,0.546242862025,-0.00144658055518,1.05971763876
+394,6.566666667,pose2_to_pose3_retreat,0.575671170491,-0.0101222741257,1.06005116222,0.546242806019,-0.00144658091042,1.05971764221
+395,6.583333333,pose2_to_pose3_retreat,0.575671130016,-0.0101222745308,1.06005115915,0.546242765541,-0.00144658133284,1.05971763895
+396,6.600000000,pose2_to_pose3_retreat,0.57567107455,-0.0101222750859,1.06005115494,0.54624271007,-0.00144658191172,1.05971763448
+397,6.616666667,pose2_to_pose3_retreat,0.575670820016,-0.0101222776331,1.06005113563,0.546242455518,-0.00144658456819,1.05971761399
+398,6.633333333,pose2_to_pose3_retreat,0.5756704436,-0.0101222814002,1.06005110709,0.546242079075,-0.00144658849669,1.05971758369
+399,6.650000000,pose2_to_pose3_retreat,0.575670160206,-0.0101222842363,1.06005108559,0.54624179566,-0.00144659145436,1.05971756088
+400,6.666666667,pose2_to_pose3_retreat,0.575670011786,-0.0101222745714,1.06005105789,0.546241646953,-0.00144658271961,1.05971753424
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+402,6.700000000,pose2_to_pose3_retreat,0.575669767877,-0.0101222103726,1.06005094111,0.546241401381,-0.00144652380375,1.05971742684
+403,6.716666667,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..561a82146882288161e48dbaec8a9355b1746dcd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a9734130a6eb958465a9ec875f3516b97a6d23e5a472caf550567ac2f4b2b5
+size 25748262
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..004b2ff55e85c3a0b2d8bb576d691b0fbe5722ac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+44,0.733333333,BASELINE,764,744,714.471054929,680,658,634,878,785,807,652,629.528945071,652.528945071,0.400955742439,-0.0153606522093,0.0698169469731,0.999999930497,0.000231811631318,-0.000291946139927,6.04372331807e-06,1793245404304796416
+45,0.750000000,BASELINE,764,744,714,679.893595171,658,634,878,785.106404829,807,652,630,653,0.400955193195,-0.0153608489044,0.0698165349484,0.999999930531,0.000231110206072,-0.000292393173548,5.61034773867e-06,1793245404321463040
+46,0.766666667,BASELINE,764,744,714,679.297318307,658,634,878,785.702681693,807,652,630,653,0.400954677504,-0.0153611799647,0.0698161319862,0.999999930434,0.000230488350156,-0.000293209721989,5.86392244191e-06,1793245404338129664
+47,0.783333333,BASELINE,764,744,714,679,658,634,878,786,807,652,629.712221152,652.712221152,0.400954379471,-0.0153608934546,0.0698163491264,0.99999993015,0.000231724295966,-0.000293201861544,5.98445734935e-06,1793245404354796544
+48,0.800000000,BASELINE,764,744,714,679,658,634,878,786,807,652,629.138242299,652.138242299,0.400954297903,-0.0153599927623,0.069817182967,0.999999929673,0.000234807850952,-0.000292374115275,5.9726823887e-06,1793245404371463424
+49,0.816666667,BASELINE,764,744,714,679,658,634,878.438204889,785.561795111,807,652,629.438204889,652,0.400955309015,-0.0153596193906,0.069817433273,0.999999929895,0.000234719167194,-0.000291682283398,6.12654917691e-06,1793245404388130304
+50,0.833333333,BASELINE,764,744,714,679,658,634,878.984657241,785,807.015342759,652,630,652,0.400956613155,-0.0153594447057,0.0698175042442,0.999999930339,0.00023359478375,-0.000291058525274,6.32476339477e-06,1793245404404796928
+51,0.850000000,BASELINE,764,744,714,679,658,634,878.410882095,785,807.589117905,652,630,652,0.400955965103,-0.0153604124707,0.0698177862441,0.999999930766,0.000231405001481,-0.000291342997495,6.22436621949e-06,1793245404421463296
+52,0.866666667,BASELINE,764.168610489,744,714,679,658,633.831389511,878,785,807.831389511,652,629.831389511,652,0.400955858942,-0.0153607370076,0.069817986169,0.999999930987,0.000230587202537,-0.000291235133294,6.1319933383e-06,1793245404438129920
+53,0.883333333,BASELINE,764.762524725,744,714,679,658,633.237475275,878,785,807.237475275,652,629.237475275,652,0.400957119646,-0.0153594390633,0.0698179790677,0.999999930694,0.000233230099763,-0.000290137638178,6.05986097356e-06,1793245404454796544
+54,0.900000000,BASELINE,764.653726897,744,714,679,658,633.346273103,878.346273103,785,807,652,629,652.346273103,0.400956853028,-0.0153599259544,0.0698177893527,0.999999930586,0.000233298579131,-0.000290448845463,6.29433857842e-06,1793245404471463424
+55,0.916666667,BASELINE,764.076751484,744,714,679,658,633.923248516,878.923248516,785,807,652,629,652.923248516,0.400955568839,-0.0153616019811,0.0698174779726,0.999999930602,0.000231651868437,-0.000291698592043,6.73309317968e-06,1793245404488130048
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,785,807,652,629.493695944,652.506304056,0.400955655901,-0.0153625711599,0.069817096863,0.999999930591,0.00023130078342,-0.00029201689446,6.68458030875e-06,1793245404504796672
+57,0.950000000,BASELINE,764,744,714,679,658,634,878.933655357,785,807,652,630,652,0.40095587382,-0.0153631137363,0.0698167288189,0.999999930533,0.000231256505618,-0.000292251480592,6.55125056822e-06,1793245404521463552
+58,0.966666667,BASELINE,764,744,714,679,658,634,878.335324542,785,807,652,630,652,0.400955453946,-0.0153611052372,0.0698165513299,0.999999930137,0.000232078339757,-0.000292960756491,6.33730785486e-06,1793245404538130176
+59,0.983333333,BASELINE,764.253453494,744,714,679,658,634,878,785,807,652,630,652,0.400955856208,-0.0153606072174,0.0698170107548,0.999999930232,0.000232272209092,-0.000292483806864,6.29745860126e-06,1793245404554796544
+60,1.000000000,BASELINE,764.830052124,744,714,679,658,634,878,785,807,652,630,652,0.400957306665,-0.0153620350103,0.0698182822246,0.999999930951,0.000231665443407,-0.000290494457557,6.47957293685e-06,1793245404571463168
+61,1.016666667,BASELINE,765,744,714,679,658,634,878.405561041,785,807,652,629.594438959,652.405561041,0.400956858147,-0.0153609601392,0.0698184529967,0.999999930575,0.000233399309716,-0.000290403321777,6.31826082276e-06,1793245404588129792
+62,1.033333333,BASELINE,765,744,714,679,658,634,878.98061451,785,807,652,629.01938549,652.98061451,0.400955616009,-0.0153588393525,0.0698181637642,0.999999929736,0.000236111375047,-0.000291105489186,6.01342361313e-06,1793245404604796416
+63,1.050000000,BASELINE,764.444553569,744,714,679,658,634,878.444553569,785,807,652,629,652.444553569,0.400957335197,-0.01535951746,0.0698184086905,0.9999999305,0.000235310763408,-0.000289121423596,6.06134611907e-06,1793245404621463040
+64,1.066666667,BASELINE,764.134102036,744,714,679,658,634,878,785,807,652,629,652,0.400958807113,-0.0153605442903,0.0698188093533,0.999999931318,0.000233967207096,-0.000287378222249,6.1314345059e-06,1793245404638129920
+65,1.083333333,BASELINE,764.725832456,744,714,679,658,634,878,785,807,652,629,652,0.400959082654,-0.0153624279354,0.0698196778796,0.999999932136,0.000231189024582,-0.000286776782675,6.23516784286e-06,1793245404654796800
+66,1.100000000,BASELINE,764.69703314,744,714,679,658,634,878.30296686,785,807,652,629.30296686,652,0.400958046854,-0.015363297997,0.069819477932,0.999999932112,0.000229945603863,-0.000287856095003,6.36893826655e-06,1793245404671463424
+67,1.116666667,BASELINE,764.132500221,744,714,679,658,634,878.867499779,785,807,652,629.867499779,652,0.40095587891,-0.0153632929825,0.0698183555187,0.99999993136,0.000230027217968,-0.00029038648242,6.52864116619e-06,1793245404688130304
+68,1.133333333,BASELINE,764.449954722,744,714,679,658,634,879,785,807,651.550045278,629.550045278,652.449954722,0.400956232678,-0.0153618149772,0.0698179940926,0.999999930792,0.000232157272961,-0.000290650276352,6.43965368577e-06,1793245404704796672
+69,1.150000000,BASELINE,764.961754902,744,714,679,658,634,879,785.038245098,807,651.038245098,629.038245098,652.961754902,0.400957263865,-0.0153600358374,0.0698178720453,0.999999930313,0.000234682427488,-0.000290274765829,6.28216766206e-06,1793245404721463296
+70,1.166666667,BASELINE,764.368547175,744,714,679,658,634,879,785.631452825,807,651.631452825,629.631452825,652.368547175,0.400956902547,-0.0153604422598,0.0698178369401,0.999999930388,0.000233824596145,-0.000290709499002,6.23746430735e-06,1793245404738129920
+71,1.183333333,BASELINE,764.218289571,744,714,679,658,634,879,785.781710429,807,652,630,652,0.400956837286,-0.0153605377299,0.0698178294088,0.99999993037,0.000233707688965,-0.000290864671607,6.13385079485e-06,1793245404754796288
+72,1.200000000,BASELINE,764.794675056,744,714,679,658,634,879,785.205324944,807,652,630,652,0.400957257696,-0.0153601230943,0.0698178671115,0.999999930202,0.00023480624015,-0.00029056123558,5.93359735482e-06,1793245404771463168
+73,1.216666667,BASELINE,764.630316066,744,714,678.630316066,658.369683934,634,878.630316066,785,807,652,630,652,0.400956854365,-0.0153608121244,0.0698178301252,0.999999930454,0.000233572603886,-0.0002906876269,5.96489819146e-06,1793245404788130048
+74,1.233333333,BASELINE,764.056068961,744,714,678.056068961,658.943931039,634,878.056068961,785,807,652,630,652,0.40095599522,-0.0153621118637,0.0698177518102,0.999999930934,0.000231048460686,-0.000291051861531,6.12432870006e-06,1793245404804796928
+75,1.250000000,BASELINE,764,744,714,678.517115706,658.482884294,634,878,785,807,652,630,652.517115706,0.400956489384,-0.0153615236096,0.0698179920422,0.999999930778,0.000232805323601,-0.000290181466728,6.33461737169e-06,1793245404821463552
+76,1.266666667,BASELINE,764,744,714,679,658,634,878.094087615,785,807,652,629.905912385,653,0.400956973812,-0.0153610006226,0.06981825186,0.999999930658,0.000234188519971,-0.00028947599686,6.51769485566e-06,1793245404838130432
+77,1.283333333,BASELINE,764,744,714,679,658,634,878.691953264,785,807,652,629.308046736,653,0.400956622045,-0.0153619209305,0.0698184319929,0.99999993112,0.000231090721515,-0.000290368890533,6.52560881008e-06,1793245404854797056
+78,1.300000000,BASELINE,764,744,714,678.720705962,658,634,879,785,807,652,629.279294038,653,0.400956110802,-0.0153618511815,0.0698182069322,0.999999931147,0.000230477140829,-0.000290768146822,6.33413994878e-06,1793245404871463680
+79,1.316666667,BASELINE,764,744,714,678.144552048,658,634,879,785,807,652,629.855447952,653,0.400955430053,-0.0153607291072,0.0698175511939,0.999999930717,0.000232504019779,-0.000290642718989,5.93074834661e-06,1793245404888130304
+80,1.333333333,BASELINE,764,744,714,678.42882076,658,634,878.57117924,785,807,652,630,652.57117924,0.400955451241,-0.0153623918446,0.0698177313266,0.999999931321,0.000230436481507,-0.000290205877852,6.09466597701e-06,1793245404904796672
+81,1.350000000,BASELINE,764,743.99869831,714,679,658,634,878,785,806.99869831,652,630,652,0.400955705668,-0.0153649771133,0.0698181890738,0.999999932258,0.000227010908093,-0.000289669368804,6.44720851961e-06,1793245404921463552
+82,1.366666667,BASELINE,764,743.408330547,714,679,658,634,878,785,806.408330547,652,630,652,0.400955121521,-0.0153629656367,0.0698175899537,0.999999931218,0.000229589123325,-0.000291228407307,6.17603435633e-06,1793245404938130176
+83,1.383333333,BASELINE,764,743.178750142,714.178750142,679,658,634,878.178750142,785,806.178750142,652,629.821249858,652,0.400954801278,-0.0153620245645,0.0698174045537,0.999999930642,0.000231095724992,-0.000292016579685,6.14120599687e-06,1793245404954796800
+84,1.400000000,BASELINE,764,743.758457657,714.758457657,679,658,634,878.758457657,785,806.758457657,652,629.241542343,652,0.400955072999,-0.0153634845335,0.0698181471754,0.99999993112,0.000230198573215,-0.000291075609936,6.63652873054e-06,1793245404971463424
+85,1.416666667,BASELINE,764,744,714.664495072,679,658,634,879,785.335504928,807,652,629.335504928,652,0.400955571555,-0.0153625005994,0.0698182767111,0.999999930822,0.000231796310396,-0.000290837162351,6.40653252252e-06,1793245404988130304
+86,1.433333333,BASELINE,764,744,714.089347977,679,658,634,879,785.910652023,807,652,629.910652023,652,0.400956232133,-0.0153597710508,0.0698179683358,0.99999992996,0.000235176079864,-0.000291100507547,5.65846042802e-06,1793245405004796928
+87,1.450000000,BASELINE,764,744,714,679.495548121,658,634,878.504451879,785.504451879,807,652,629.504451879,652,0.400957112764,-0.0153609454727,0.0698191116118,0.999999930536,0.000234513704744,-0.000289643963134,6.14689264439e-06,1793245405021463552
+88,1.466666667,BASELINE,764.081284202,744,714,679.918715798,658,634,878.081284202,785,807,652,629.081284202,652.081284202,0.400957798435,-0.015362618503,0.0698201782138,0.9999999313,0.000233034681334,-0.000288182217975,6.71541982633e-06,1793245405038129920
+89,1.483333333,BASELINE,764.661174181,744,714,679.338825819,658,634,878.661174181,785,807,652,629.661174181,652.661174181,0.400957039939,-0.0153629456603,0.0698191367631,0.999999931621,0.000231106526831,-0.000288628919365,6.38025599356e-06,1793245405054796544
+90,1.500000000,BASELINE,764.761415234,744,714,679.238584766,658,634,878.761415234,785,807,652,629.761415234,653,0.400956634027,-0.0153628361563,0.0698185601371,0.999999931527,0.000230778112168,-0.000289223060683,6.09490983343e-06,1793245405071463424
+91,1.516666667,BASELINE,764.18748959,744,714,679.81251041,658,634,878.18748959,785,807,652,629.18748959,653,0.400956723686,-0.0153621129065,0.0698186368418,0.999999930851,0.000232698199006,-0.000290024434953,5.87958452669e-06,1793245405088130048
+92,1.533333333,BASELINE,764,744,714,679.610623749,658,633.610623749,878.389376251,785,807,652,629.389376251,652.610623749,0.400957227,-0.0153612288839,0.0698189749388,0.999999930876,0.000233594171169,-0.000289215295085,6.00837904224e-06,1793245405104796928
+93,1.550000000,BASELINE,764,744,714,679.032331345,658,633.032331345,878.967668655,785,807,652,629.967668655,652.032331345,0.400957931008,-0.0153602668581,0.0698194398572,0.99999993124,0.000233993267267,-0.00028762477189,6.30413234338e-06,1793245405121463552
+94,1.566666667,BASELINE,764,744,714,679,658,633.556232605,878.443767395,785,807,652,630,652.556232605,0.400957002335,-0.0153606473267,0.0698182691537,0.999999930991,0.000232822482624,-0.000289441813382,5.98963567482e-06,1793245405138129920
+95,1.583333333,BASELINE,764.143004813,744,714,679,658,634,878,785,807,652,630,653,0.400956210738,-0.0153612019386,0.0698174737193,0.999999930801,0.000231882278049,-0.000290851793075,5.81310427474e-06,1793245405154796288
+96,1.600000000,BASELINE,764.722452454,744,714,679,658,634,878,785,807,652,630,653,0.400956132571,-0.0153620453928,0.0698181191971,0.999999930918,0.000231929521011,-0.000290403581711,6.16792785724e-06,1793245405171462912
+97,1.616666667,BASELINE,765,744,714,679,658,634,878,785.298956011,807,652,630,653,0.400955909131,-0.0153629551114,0.06981817823,0.999999930791,0.000232102252503,-0.000290697429866,6.44848796094e-06,1793245405188129536
+98,1.633333333,BASELINE,765,744,714,679,658,634,878,785.872752931,807,652,630,653,0.400955552138,-0.0153639257493,0.0698176981232,0.999999930438,0.000232390350066,-0.00029167347979,6.66077498217e-06,1793245405204796416
+99,1.650000000,BASELINE,764.542065477,744,714,679.457934523,658,633.542065477,878,785.542065477,807,652,630,652.542065477,0.400954813443,-0.0153623885963,0.0698171185011,0.999999930028,0.000233159209697,-0.000292476101047,6.1835502152e-06,1793245405221463296
+100,1.666666667,BASELINE,764,744,714,680,658,633.045656222,878,785,807,652,629.954343778,652,0.400954180319,-0.015360381668,0.0698166625376,0.999999929731,0.000233821125269,-0.000292975153039,5.58096467163e-06,1793245405238129664
+101,1.683333333,BASELINE,764,744,714,680,658,633.625146218,878,785,807,652,629.374853782,652,0.400956053338,-0.0153612374625,0.0698179840173,0.999999930961,0.000231630779853,-0.000290502568461,5.80994432613e-06,1793245405254796544
+102,1.700000000,BASELINE,764,743.795708258,714,680,658,634,878.204291742,785,807,652,629,652,0.400957133467,-0.0153618450415,0.0698188133884,0.999999931756,0.000230256361275,-0.000288850988519,5.97915139118e-06,1793245405271463168
+103,1.716666667,BASELINE,764,743.217193806,714,680,658,634,878.782806194,785,807,652,629,652,0.400956761175,-0.0153619979379,0.0698187413117,0.99999993177,0.000230376562111,-0.000288703329562,6.03886668045e-06,1793245405288129792
+104,1.733333333,BASELINE,764,743.345484077,714,679.654515923,658,634,878.654515923,785,807,652,629.345484077,652,0.400957958971,-0.0153620670322,0.06981947023,0.999999931988,0.000231164408569,-0.000287310114875,6.2714948842e-06,1793245405304796416
+105,1.750000000,BASELINE,764,743.898642476,714,679.101357524,658,634,878.101357524,785,807,652,629.898642476,652,0.400960100565,-0.015362085752,0.0698206806352,0.999999932324,0.00023235358425,-0.000285168182763,6.60806297043e-06,1793245405321463040
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633,879,785,807,652,629,652,0.400955547299,-0.0153634416952,0.069817596705,0.999999931136,0.000230060046212,-0.000291136989659,6.31355471352e-06,1793245405353621760
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.378633846,633.621366154,879,785,807,652,629.621366154,652,0.40095515576,-0.0153630023161,0.069817420091,0.999999930584,0.000232556106103,-0.0002910499434,6.30787345142e-06,1793245405370288640
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.775203933,785,806.775203933,651.775203933,629.775203933,652,0.400955298216,-0.0153623170778,0.0698175338916,0.999999930433,0.000233839444345,-0.000290540422338,6.199250229e-06,1793245405386955776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.199752358,785,806.199752358,651.199752358,629.199752358,652,0.400956273641,-0.015361248328,0.0698181007048,0.999999930916,0.000233231079393,-0.000289371890106,5.93004961789e-06,1793245405403622656
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,806.372385265,651.372385265,629,652,0.400956531951,-0.0153609904802,0.0698180790785,0.999999930654,0.000233730389163,-0.000289871741024,6.07895997724e-06,1793245405420289024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,806.942760888,651.942760888,629,652,0.400956408984,-0.0153611637741,0.0698177445897,0.999999929994,0.000234818629128,-0.000291258640465,6.45017222086e-06,1793245405436955392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400956734215,-0.0153618819163,0.0698180335344,0.999999930168,0.000234234897145,-0.000291130247385,6.46875893199e-06,1793245405453621760
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400957113954,-0.0153623464068,0.0698184269648,0.999999930477,0.000233454768347,-0.000290694460767,6.43304571638e-06,1793245405470288384
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.400957509922,-0.0153616797652,0.0698189461005,0.999999930939,0.00023263905216,-0.000289760911342,6.34349552118e-06,1793245405486955264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.279150193,744,714,679,658,634,878,785,807,652,629,652.279150193,0.40095986617,-0.0153614010297,0.069820102923,0.999999931522,0.000232382006851,-0.000287948061011,6.31835291356e-06,1793245405503622144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.854266341,744,714,679,658,634,878,785,807,652,629,652.854266341,0.400964300783,-0.0153615335675,0.0698219358458,0.999999932231,0.000232717286313,-0.000285202941517,6.36149775585e-06,1793245405520288768
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.560203967,744,714,679,658,634,878,785,807,652,629.439796033,652.560203967,0.40098102524,-0.0153633536515,0.0698294865264,0.999999935807,0.000231655272366,-0.000273252656916,7.3807137406e-06,1793245405536955648
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.028410492,658,634,878,785,807,652,630,652,0.401003465771,-0.0153657531897,0.0698394631769,0.999999940394,0.000230110540221,-0.000257264702315,8.70868015663e-06,1793245405553622272
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679.60829647,658,634,878,785,807,652,630,652,0.401055893623,-0.0153682827046,0.0698588608626,0.999999948884,0.000228401346328,-0.000223546582445,9.5992969455e-06,1793245405570288896
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.187676369,744,714,679.812323631,658,634,878,785,807,652,629.812323631,652,0.401111782423,-0.0153703799643,0.0698764983361,0.999999954609,0.000228452346908,-0.000196174456594,1.03564765563e-05,1793245405586955264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.766002968,744,714,679.233997032,658,634,878,785,807,652,629.233997032,652,0.401174875228,-0.0153715774812,0.0698904719139,0.999999956426,0.000232167209892,-0.000182011574567,1.08359055366e-05,1793245405603622144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.658524106,744,714,679,658,634,878,785.341475894,807,652,629,652,0.401245409672,-0.0153748923839,0.0698989673372,0.999999958647,0.000230898106413,-0.000171123385255,1.04494317901e-05,1793245405620288768
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.084990493,744,714,679,658,634,878,785.915009507,807,652,629,652,0.401321001247,-0.0153796462042,0.0699037399551,0.999999961166,0.000226242034808,-0.000162460588807,9.47451409778e-06,1793245405636955392
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.501649997,744,714,679,658,633.498350003,878.501649997,785.498350003,807,652,629,652,0.401414006983,-0.015383742289,0.0699062855706,0.999999961995,0.000225630869372,-0.000158252760545,7.52280691375e-06,1793245405653622272
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.910861811,744,714,679,658,633.089138189,879,785,807,652,629.089138189,652,0.401514204932,-0.0153877636948,0.0699081012143,0.999999962549,0.000225159937322,-0.000155491857811,5.27058917044e-06,1793245405670288640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.331255514,744,714,679,658,633.668744486,879,785,807,652,629.668744486,652,0.401637307562,-0.0153920037926,0.0699080320526,0.999999963212,0.00022158872756,-0.000156428012268,2.29987003772e-06,1793245405686955520
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.753125562,785,807,652,629.753125562,652,0.401773442733,-0.0153971860874,0.0699094020725,0.999999964421,0.000217971870853,-0.000153773921188,-4.75078211412e-07,1793245405703622144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.176964837,785,807,652,629.176964837,652,0.40192696097,-0.0154036251038,0.0699126917029,0.999999966328,0.000214294129578,-0.000146331085441,-2.98890292366e-06,1793245405720288768
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.4021021548,-0.0154111002859,0.0699160957753,0.999999968482,0.000207846233989,-0.000140695893753,-6.44474100218e-06,1793245405736955392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629,652,0.402286957507,-0.0154190348044,0.0699195505803,0.999999970683,0.000200170319302,-0.00013586203613,-1.03181770058e-05,1793245405753621760
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.564250291,807,652,629.564250291,652,0.402502434237,-0.0154292973721,0.0699212312562,0.999999973776,0.000187843413812,-0.000130210935708,-1.44350905398e-05,1793245405770288640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.151738754,785.848261246,807,652,630,652,0.402733018907,-0.0154393397831,0.0699237699902,0.999999977411,0.000172277129922,-0.000123031129559,-1.90399920312e-05,1793245405786955520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.730664511,785.269335489,807,652,630,652,0.403002114704,-0.015448457139,0.0699289570231,0.999999982473,0.000148200927839,-0.000111654745507,-2.49867920642e-05,1793245405803622144
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.306983617,744,714,679.306983617,658,634,879,785,807,652,630,652.306983617,0.403288792123,-0.0154574091901,0.069936389052,0.999999989386,0.000103540699317,-9.80008252689e-05,-3.00392382188e-05,1793245405820289280
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.881034971,744,714,679.881034971,658,634,879,785,807,652,630,652.881034971,0.403590765079,-0.01546621743,0.0699457741687,0.99999999518,4.0972906117e-05,-8.23655083963e-05,-3.43136194019e-05,1793245405836956416
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.533281975,744,714,679.533281975,658,633.533281975,878.533281975,785,807,652,630,652.533281975,0.40391097428,-0.0154743756904,0.0699474563891,0.99999999578,1.99440429021e-05,-8.0483643781e-05,-3.95529379372e-05,1793245405853623040
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.054531467,744,714,679,658.054531467,633.054531467,878.054531467,785,807,652,629.945468533,652,0.404241992564,-0.01548169792,0.0699480127336,0.999999995695,1.27596070311e-05,-8.069370885e-05,-4.3987286194e-05,1793245405870289664
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.633589197,744,714,679,658.633589197,633.633589197,878.633589197,785,807,652,629.366410803,652,0.404631126685,-0.0154826129018,0.069957108187,0.999999996473,3.42935069498e-05,-6.64430141562e-05,-3.82525003567e-05,1793245405886955776
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.78836803,634,878.78836803,785,807.21163197,651.78836803,629.21163197,652.21163197,0.405033103667,-0.0154776130698,0.0699629735376,0.99999999625,5.57427471092e-05,-5.70897778014e-05,-3.36595771772e-05,1793245405903622144
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.212074183,634,878.212074183,785,807.787925817,651.212074183,629.787925817,652.787925817,0.405457210072,-0.0154624214544,0.0699632731151,0.999999994973,7.70461083e-05,-5.61753263257e-05,-3.10341918427e-05,1793245405920288768
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.639758342,744,714,679,658,634,878.360241658,785,807.639758342,651.360241658,630,652.639758342,0.405887578406,-0.015458469666,0.0699551389751,0.999999993557,8.31110817121e-05,-6.96163240129e-05,-3.36485996195e-05,1793245405936955648
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.069758718,744,714,679,658,634,878.930241282,785,807.069758718,651.930241282,630,652.069758718,0.406321592915,-0.0154610624917,0.0699420941331,0.999999991824,8.03031987794e-05,-9.14160711423e-05,-3.93139822629e-05,1793245405953622272
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.4780905,785,807,652,629.4780905,652.5219095,0.406797407591,-0.0154691079613,0.0699272130997,0.999999991056,6.11498682589e-05,-0.000111246577048,-4.21081575304e-05,1793245405970288896
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.113920059,744.113920059,714,679,658,634,878.113920059,785,807,651.886079941,629,653,0.407298621805,-0.0154769054003,0.0699172450348,0.999999990642,4.39697640424e-05,-0.000121800612712,-4.41244197737e-05,1793245405986956032
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.694944706,744.694944706,714,679,658,634,878.694944706,785,807,651.305055294,629,653,0.407880080751,-0.0154805681032,0.0699284714392,0.999999993473,4.42265332583e-05,-9.54444766181e-05,-4.45927336478e-05,1793245406003622656
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.727753741,714,679,658.272246259,633.727753741,879,785,807,651.272246259,629.272246259,653,0.408482964607,-0.0154822343855,0.0699412136283,0.999999995733,4.40758530683e-05,-6.75739697908e-05,-4.49983652949e-05,1793245406020289024
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.154567712,714,679,658.845432288,633.154567712,879,785,807,651.845432288,629.845432288,653,0.409109531427,-0.0154816938335,0.0699556313582,0.999999997304,4.3474780151e-05,-3.80294860677e-05,-4.53347082639e-05,1793245406036955648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679.419288122,658.580711878,633.419288122,879,785,807.419288122,652,629.580711878,652.580711878,0.409715987771,-0.015479595395,0.0699505671765,0.999999997003,4.23224938486e-05,-4.48075239519e-05,-4.68621472709e-05,1793245406053622272
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679.993391258,658.006608742,633.993391258,879,785,807.993391258,652,629.006608742,652.006608742,0.410315018649,-0.0154769217335,0.0699383096298,0.999999995856,4.09666813778e-05,-6.49970363306e-05,-4.88293782337e-05,1793245406070288896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.412922706,744,714,679.412922706,658,633.412922706,879,785,808,652,629.587077294,652.587077294,0.410969387464,-0.0154795754571,0.0699400828479,0.999999995746,3.86009253626e-05,-6.78860241836e-05,-4.90814696662e-05,1793245406086955264
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.175648836,744,714,679,658.175648836,633.175648836,879,785,807.824351164,652,630,653,0.411654264895,-0.0154826500583,0.0699508752291,0.999999996765,3.58561931132e-05,-5.30153283918e-05,-4.87258822488e-05,1793245406103621888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.75203155,744,714,679,658.75203155,633.75203155,879,785,807.24796845,652,630,653,0.412407275843,-0.0154865433289,0.0699818715945,0.999999998371,3.22736788788e-05,1.91353208961e-06,-4.70294751269e-05,1793245406120289024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679.325599507,658.674400493,633.674400493,879,785,807,652,629.674400493,652.674400493,0.413172269143,-0.0154893964921,0.0700073539504,0.999999997892,2.24586169835e-05,4.0077593654e-05,-4.58808363558e-05,1793245406136955648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679.897042249,658.102957751,633.102957751,879,785,807,652,629.102957751,652.102957751,0.413946309773,-0.0154914643246,0.0700286729682,0.999999996799,7.93768253396e-06,6.5583434287e-05,-4.51457888106e-05,1793245406153622272
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.472984285,633,879,785,807.472984285,652,629.472984285,652,0.414664905278,-0.0154861115201,0.069995536682,0.999999998669,1.81427209897e-05,5.36268771136e-06,-4.79909492031e-05,1793245406170288896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.051635389,714,680,659,633.051635389,879,785,808,652,630,652.051635389,0.415377484713,-0.0154797181768,0.069951438394,0.99999999563,3.20777219369e-05,-7.0901206809e-05,-5.17986169741e-05,1793245406186955264
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.648449918,714,680,659,633.648449918,879,785,808,652,630,652.648449918,0.416155198054,-0.0154795571049,0.0699179564065,0.999999991037,2.80214680408e-05,-0.000117636219112,-5.74613127438e-05,1793245406203621888
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.763853048,714,680,659,634,879,785.236146952,808,652,630.236146952,653,0.416968467046,-0.0154831596775,0.0699105543255,0.999999989953,2.00616347109e-05,-0.00012704147027,-5.95954545966e-05,1793245406220288512
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.18922462,714,680,659,634,879,785.81077538,808,652,630.81077538,653,0.417832699716,-0.015492156874,0.0699405339069,0.999999994933,6.50660207998e-06,-8.29400673596e-05,-5.66719397964e-05,1793245406236955136
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.614039805,879.385960195,785.614039805,808,651.614039805,630.614039805,653,0.41872121011,-0.015496786925,0.0699685848539,0.999999997679,-2.46196423979e-07,-4.06388065639e-05,-5.46863278218e-05,1793245406253622272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.038581832,879.961418168,785.038581832,808,651.038581832,630.038581832,653,0.419621640294,-0.0154992728056,0.0699956888839,0.99999999858,-3.65925052823e-06,7.78623650389e-07,-5.31612050903e-05,1793245406270289408
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633,880.552620828,785,808,651.552620828,630,653,0.420521134029,-0.0155059063723,0.0700211035437,0.999999997775,-1.31130603593e-05,4.01605509156e-05,-5.16228281539e-05,1793245406286955776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.141281364,714,680,659.141281364,633.141281364,880.717437272,785,808,651.858718636,630,653,0.421409712365,-0.0155113758272,0.0700349591219,0.999999996695,-2.14303978439e-05,5.94883213642e-05,-5.11143174256e-05,1793245406303622144
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.718603856,714,680,659.718603856,633.718603856,879.562792289,785,808,651.281396144,630,653,0.422264809684,-0.0155123325105,0.0700135142309,0.999999998093,-2.49003949009e-05,1.73737718261e-05,-5.3787255405e-05,1793245406320288512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.70589359,714,680,660,634,879.29410641,785.29410641,808.29410641,651.29410641,630,653,0.423092462295,-0.0155110118592,0.0699583114033,0.999999995371,-2.87993821473e-05,-6.99212109659e-05,-5.94933781566e-05,1793245406336955392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.132121545,714,680,660,634,879.867878455,785.867878455,808.867878455,651.867878455,630,653,0.423894017847,-0.0155075256918,0.0698710081686,0.999999977099,-3.31062960261e-05,-0.00020017824908,-6.80837543998e-05,1793245406353622016
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.54577719,879.54577719,785.54577719,809,652,630,653,0.42481068233,-0.0155191729828,0.0698631415513,0.999999975975,-4.62779503062e-05,-0.000203396290746,-6.73685130031e-05,1793245406370288384
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,714,682,656,629,880,776,809.304180634,651.304180634,628,652.695819366,0.453216380661,-0.0157422372344,0.0696105658588,0.99999976226,-0.000349098884149,-0.000590869259265,-6.69551538154e-05,1793245407353622016
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745,714,682,655.728138586,628.728138586,880,776.271861414,809.271861414,651,628,653,0.453223494197,-0.0157435385331,0.0696098159148,0.999999761384,-0.0003503070357,-0.00059167817589,-6.65945814264e-05,1793245407370288640
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,714,682,655.153222365,628.153222365,880,776.846777635,809.846777635,651,628,653,0.453227728098,-0.0157443773146,0.069608171667,0.999999759489,-0.000351857634268,-0.000594022087491,-6.5992703742e-05,1793245407386955264
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745,714,682.431609659,655.431609659,628.431609659,880,777,810.431609659,651.431609659,628.431609659,653,0.453230611414,-0.0157414567995,0.0696075563569,0.999999760145,-0.000348371542504,-0.000594958527808,-6.61114166118e-05,1793245407403622144
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,745,714,682.980241676,656,628.980241676,879.980241676,776.980241676,810.980241676,651.980241676,628.980241676,653,0.453232928821,-0.0157373358645,0.0696073222329,0.999999761603,-0.000343319113185,-0.000595403652651,-6.64799997072e-05,1793245407420289024
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,714,682.400210106,656,628.400210106,879.400210106,776.400210106,810.400210106,651.400210106,628.400210106,653,0.453233114582,-0.0157379084517,0.0696072957287,0.999999760161,-0.000345745452647,-0.000596418425039,-6.65095496632e-05,1793245407436955904
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,714,682,656,628.178936669,879.178936669,776.178936669,810,651.178936669,628,653,0.453232940461,-0.0157387163678,0.0696066876188,0.999999758714,-0.0003474942051,-0.000597851092974,-6.62787298899e-05,1793245407453622528
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,714,682,656,628.756114171,879.756114171,776.756114171,810,651.756114171,628,653,0.45323196539,-0.0157400480308,0.0696047850892,0.999999757269,-0.000347734921931,-0.000600213827665,-6.54684321445e-05,1793245407470288896
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682.90518249,656,629,880,777,810,651.09481751,628,653,0.453234880825,-0.0157383742126,0.0696067065426,0.999999758666,-0.000345995440601,-0.000598889793247,-6.54659918977e-05,1793245407503621888
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,714,682.506960059,656,629,880,776.506960059,810,651.493039941,628.493039941,653,0.45323645478,-0.0157390245781,0.0696066230739,0.999999758513,-0.000347833666639,-0.000598096473967,-6.53229881311e-05,1793245407520288768
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,714,682,656,628.340622513,880,776.659377487,810,652,629,653,0.453235759598,-0.0157374878824,0.069604390003,0.999999757831,-0.000344812796041,-0.000600955550458,-6.55329883239e-05,1793245407553622016
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,714,682.236027768,656.236027768,628.236027768,879.763972232,776.763972232,810,651.763972232,629,653,0.453235073593,-0.0157365160103,0.0696036733022,0.999999757576,-0.00034335346477,-0.000602201244978,-6.5656525748e-05,1793245407570289152
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.614709044,682.614709044,656.614709044,628.614709044,879.385290956,776,810,651,628.614709044,653,0.453235452918,-0.0157362309167,0.0696036640602,0.999999756696,-0.000346156590403,-0.000602082165758,-6.54266295763e-05,1793245407603622912
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.0414941,682.0414941,656.0414941,628.0414941,879.9585059,776,810,651,628.0414941,653,0.453234456985,-0.0157344013696,0.0696024903025,0.999999755802,-0.000344644404459,-0.000604425545961,-6.54689696206e-05,1793245407620289024
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+244,4.066666667,POSE1_TO_POSE2_PRESS,763.14287646,745,713.85712354,683,656,628.85712354,880,776.14287646,809.14287646,652,628.14287646,653,0.453237553373,-0.0157351621956,0.0696050577965,0.99999975784,-0.000345400566722,-0.000600654104217,-6.50583498784e-05,1793245407653622016
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+247,4.116666667,HOLD_POSE2,764,744.424018975,713,682,656,628,880,776,810,652,628,653,0.453237811788,-0.015733546499,0.069603872764,0.999999758284,-0.000342414941496,-0.000601634979169,-6.495665512e-05,1793245407724097536
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+256,4.266666667,HOLD_POSE2,764,745,714,683,656,628,880,776,810,652,628.18570517,653,0.45323929327,-0.0157354934467,0.0696041277489,0.999999758329,-0.000342822670358,-0.000601402110113,-6.42644502656e-05,1793245407874097408
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+260,4.333333333,HOLD_POSE2,764,745,713.862872984,682,656,628,880,776,810,652,628,653,0.453239955584,-0.0157325483906,0.069603106952,0.999999758289,-0.000339049901816,-0.000603568753947,-6.45919994698e-05,1793245407940764160
+261,4.350000000,HOLD_POSE2,764,745,713.280425263,682,656,628,880,776,810,652,628,653,0.453240986848,-0.015733744646,0.06960422786,0.999999758909,-0.000341092437487,-0.000601383016845,-6.46313085007e-05,1793245407957430784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,655,629,880,776,810,652,628,653,0.453240164921,-0.0157323273372,0.0696026662756,0.9999997585,-0.000339221126787,-0.000603074858707,-6.50426478557e-05,1793245407994436608
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.574000973,683,655.574000973,629,879.425999027,776,809.425999027,651.425999027,628,653,0.453241243467,-0.0157331011853,0.0696040325565,0.999999759358,-0.000340066068896,-0.000601231438087,-6.44982389176e-05,1793245408011104256
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,682,655.670851401,628,879.670851401,776,810,652,628,653,0.453241290938,-0.0157310194618,0.0696032912572,0.999999759644,-0.000337354350218,-0.000602318795979,-6.4162284298e-05,1793245408061103616
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,682,655.092419584,628,879.092419584,776,810,652,628,653,0.453242694464,-0.0157306405334,0.0696042587549,0.999999760407,-0.000336822293023,-0.000601319237573,-6.44412659048e-05,1793245408077770240
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.482541428,655.482541428,628,879.482541428,776.482541428,809.517458572,652,628,653,0.453242742012,-0.0157321460176,0.069604102112,0.999999759776,-0.00033920135403,-0.000601041490213,-6.43413488491e-05,1793245408094436608
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,683,656,628,880,776.352036515,810.29592697,652,628,653,0.453240245723,-0.0157307401622,0.0696029841873,0.999999759035,-0.000338466243264,-0.000602688788495,-6.43125555261e-05,1793245408127770112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.766807975,656,628,879.766807975,776.233192025,810.766807975,652,628,653,0.453233925723,-0.0157292494229,0.0695998343671,0.99999975636,-0.00033738913718,-0.000607656274779,-6.4823008648e-05,1793245408144437248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,682.1880664,656,628,879.1880664,776.8119336,810.1880664,652,628,653,0.453221351011,-0.0157297096561,0.0695930744276,0.999999749565,-0.000339270038253,-0.000617592857765,-6.59197617274e-05,1793245408161104640
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.965261628,745,713.034738372,682,656,628.965261628,879.965261628,776.034738372,810,652,628,653,0.453166773358,-0.0157295825776,0.0695715171611,0.999999727153,-0.000340477753615,-0.000652260857988,-6.57690775268e-05,1793245408194437632
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82df503de7b206094710f425971ccae1d1251f20
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+343,5.716666667,pose2_to_pose3_retreat,0.585115675648,-0.0101221523098,1.0600508277,0.555687307148,-0.00144647225249,1.05971732002
+344,5.733333333,pose2_to_pose3_retreat,0.584554772344,-0.0101221659577,1.0600508787,0.55512640478,-0.00144648278642,1.05971736946
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+346,5.766666667,pose2_to_pose3_retreat,0.583442733693,-0.0101222610083,1.06005099644,0.554014368472,-0.00144657010468,1.05971748157
+347,5.783333333,pose2_to_pose3_retreat,0.582890507416,-0.0101221699921,1.06005080476,0.553462140298,-0.00144648550922,1.0597172902
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+349,5.816666667,pose2_to_pose3_retreat,0.581842193048,-0.0101222319124,1.06005112219,0.55241382741,-0.00144654219408,1.05971761336
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+355,5.916666667,pose2_to_pose3_retreat,0.579323450785,-0.0101222534582,1.06005100282,0.549895084369,-0.00144656640414,1.05971749339
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+361,6.016666667,pose2_to_pose3_retreat,0.577585530423,-0.0101221352374,1.06005112613,0.548157163763,-0.00144644924542,1.05971761066
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+368,6.133333333,pose2_to_pose3_retreat,0.576324094337,-0.0101221350003,1.06005089002,0.546895727061,-0.00144645076835,1.05971738331
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+370,6.166666667,pose2_to_pose3_retreat,0.576117224694,-0.0101221165972,1.06005083769,0.546688856538,-0.00144643585267,1.059717318
+371,6.183333333,pose2_to_pose3_retreat,0.57603332329,-0.0101222834127,1.06005089908,0.546604957691,-0.00144659381591,1.05971738465
+372,6.200000000,pose2_to_pose3_retreat,0.575960453685,-0.0101222528141,1.06005077073,0.546532089671,-0.00144655760698,1.05971726224
+373,6.216666667,pose2_to_pose3_retreat,0.575898135863,-0.0101221417019,1.06005091644,0.546469770005,-0.00144645244878,1.05971741563
+374,6.233333333,pose2_to_pose3_retreat,0.575845791038,-0.0101222243548,1.06005124286,0.54641742596,-0.00144653265791,1.05971773675
+375,6.250000000,pose2_to_pose3_retreat,0.575802669114,-0.0101221652459,1.06005103333,0.546374302997,-0.00144647720493,1.05971752373
+376,6.266666667,pose2_to_pose3_retreat,0.575767796578,-0.0101221310857,1.06005082372,0.546339429645,-0.00144644581536,1.05971731406
+377,6.283333333,pose2_to_pose3_retreat,0.57574160593,-0.0101221918317,1.06005086116,0.546313239145,-0.00144650607999,1.05971735093
+378,6.300000000,pose2_to_pose3_retreat,0.575720999103,-0.0101221838561,1.06005079084,0.546292631183,-0.00144650202695,1.05971727876
+379,6.316666667,pose2_to_pose3_retreat,0.575705385434,-0.0101221860681,1.06005097379,0.546277018394,-0.0014465011573,1.05971746426
+380,6.333333333,pose2_to_pose3_retreat,0.575694431236,-0.0101222022673,1.06005091125,0.546266064082,-0.00144651755789,1.05971740659
+381,6.350000000,pose2_to_pose3_retreat,0.575686739052,-0.0101222110472,1.0600509152,0.546258372886,-0.00144652294537,1.05971741166
+382,6.366666667,pose2_to_pose3_retreat,0.575680812314,-0.0101222061378,1.06005109724,0.546252449286,-0.00144650758279,1.05971758872
+383,6.383333333,pose2_to_pose3_retreat,0.57567682119,-0.0101222052306,1.06005093362,0.546248456417,-0.00144651284818,1.05971741849
+384,6.400000000,pose2_to_pose3_retreat,0.575674822676,-0.0101222050411,1.0600508201,0.546246456605,-0.0014465172077,1.0597173013
+385,6.416666667,pose2_to_pose3_retreat,0.575673406743,-0.0101221854394,1.06005081713,0.546245040488,-0.00144649793108,1.05971730611
+386,6.433333333,pose2_to_pose3_retreat,0.575672526366,-0.0101221700209,1.06005082814,0.546244160118,-0.00144648223381,1.05971732368
+387,6.450000000,pose2_to_pose3_retreat,0.575672277494,-0.0101221656622,1.06005083126,0.546243911247,-0.00144647779637,1.05971732864
+388,6.466666667,pose2_to_pose3_retreat,0.575672271333,-0.0101221655543,1.06005083133,0.546243905087,-0.00144647768652,1.05971732876
+389,6.483333333,pose2_to_pose3_retreat,0.575672075194,-0.0101221621192,1.06005083379,0.54624370895,-0.00144647418933,1.05971733268
+390,6.500000000,pose2_to_pose3_retreat,0.575672025833,-0.0101221612548,1.0600508344,0.546243659589,-0.00144647330921,1.05971733366
+391,6.516666667,pose2_to_pose3_retreat,0.57567184767,-0.0101221581345,1.06005083663,0.546243481427,-0.00144647013254,1.05971733722
+392,6.533333333,pose2_to_pose3_retreat,0.575671797115,-0.0101221572491,1.06005083726,0.546243430873,-0.00144646923114,1.05971733823
+393,6.550000000,pose2_to_pose3_retreat,0.575671695014,-0.0101221554609,1.06005083854,0.546243328772,-0.00144646741065,1.05971734027
+394,6.566666667,pose2_to_pose3_retreat,0.575671372747,-0.0101221479837,1.06005086492,0.546243006422,-0.0014464602687,1.05971736534
+395,6.583333333,pose2_to_pose3_retreat,0.575671069057,-0.0101221393827,1.06005090874,0.546242702579,-0.00144645235462,1.05971740477
+396,6.600000000,pose2_to_pose3_retreat,0.575670768387,-0.0101221308673,1.06005095212,0.546242401758,-0.00144644451926,1.05971744381
+397,6.616666667,pose2_to_pose3_retreat,0.575670697651,-0.010122128864,1.06005096233,0.546242330986,-0.0014464426759,1.059717453
+398,6.633333333,pose2_to_pose3_retreat,0.57567055875,-0.0101221249301,1.06005098237,0.546242192016,-0.00144643905618,1.05971747103
+399,6.650000000,pose2_to_pose3_retreat,0.575670408588,-0.0101221206773,1.06005100404,0.546242041778,-0.00144643514301,1.05971749053
+400,6.666666667,pose2_to_pose3_retreat,0.575670356749,-0.0101221192092,1.06005101152,0.546241989913,-0.00144643379209,1.05971749726
+401,6.683333333,pose2_to_pose3_retreat,0.575669915759,-0.0101221217109,1.0600510149,0.546241548556,-0.00144643747986,1.05971750212
+402,6.700000000,pose2_to_pose3_retreat,0.575669753997,-0.010122124763,1.06005100756,0.54624138664,-0.00144644099393,1.05971749645
+403,6.716666667,pose2_to_pose3_retreat,0.575669549645,-0.0101221530912,1.06005086554,0.546241183248,-0.0014464658557,1.05971735988
+404,6.733333333,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
+405,6.750000000,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641744,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b62ff24588224a0bf502dca1f7e6e35352706e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ed35fafae627f511997164c8293497def32bb77098277083ffc9e697fe313d
+size 25755262
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40af971859541d975ac1ebe414dddde0dc28e9ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,764.206120702,744,714,679,658,634,879,785,807,652,629,652,0.400958796435,-0.0153610004563,0.0698183588876,0.999999931178,0.000231885229598,-0.000289545247559,6.0858530145e-06,1793245410872399872
+22,0.366666667,BASELINE,764.781353725,744,714,679,658,634,879,785,807,652,629,652,0.400958230955,-0.015362522506,0.0698184975882,0.99999993172,0.000229229506838,-0.000289788199399,5.9764077385e-06,1793245410889067776
+23,0.383333333,BASELINE,765,744,714,679,658,633.645789453,878.645789453,785,807,651.645789453,629.354210547,652,0.400958334834,-0.0153621963454,0.0698186290016,0.999999931292,0.000230989514402,-0.000289865768844,6.06505256537e-06,1793245410905734400
+24,0.400000000,BASELINE,765,744,714,679,658,633.074389577,878.074389577,785,807,651.074389577,629.925610423,652,0.40095884914,-0.0153607369281,0.0698187559466,0.999999930256,0.000235457090725,-0.000289841931696,6.27515919781e-06,1793245410922400512
+25,0.416666667,BASELINE,765,744,714,679,658,633.517680306,878.517680306,785,807.517680306,651.517680306,630,652,0.400957767874,-0.0153607559169,0.0698176469426,0.999999929893,0.000235051240225,-0.000291417944019,6.41955702627e-06,1793245410939066880
+26,0.433333333,BASELINE,765,744,714,679,658,634,878.890249788,785,808,652,630,652,0.400956757976,-0.0153608453786,0.0698165782621,0.999999929735,0.000234081588964,-0.000292737037624,6.45934558963e-06,1793245410955733504
+27,0.450000000,BASELINE,765,744,714,679,658,634,878.31140303,785,808,652,630,652,0.400957073869,-0.0153602902611,0.0698164726186,0.999999930033,0.000233819855406,-0.000291934516826,6.09404774093e-06,1793245410972399872
+28,0.466666667,BASELINE,765,744,713.734936631,679,658,634,878,785,807.734936631,651.734936631,629.734936631,652,0.400957460964,-0.0153603843647,0.0698168184557,0.999999930309,0.000233631382798,-0.000291139625644,5.99873250131e-06,1793245410989066496
+29,0.483333333,BASELINE,765,744,713.161241883,679,658,634,878,785,807.161241883,651.161241883,629.161241883,652,0.400957930965,-0.0153612344007,0.0698176899826,0.99999993056,0.000233528212927,-0.000290353618191,6.21777646991e-06,1793245411005733376
+30,0.500000000,BASELINE,765,744,713.422744786,679,658,634,878,785,807,651.422744786,629,652,0.400957490594,-0.0153617694568,0.0698180226025,0.999999930495,0.000233568343457,-0.000290543117134,6.30116151298e-06,1793245411022400000
+31,0.516666667,BASELINE,765,744,714,679,658,634,878.0106088,785,807,652,629.0106088,652,0.400956716032,-0.0153621323486,0.0698181336365,0.999999930308,0.000233672445085,-0.000291101777265,6.32090139006e-06,1793245411039066624
+32,0.533333333,BASELINE,765,744,714,679,658,634,878.590630782,785,807,652,629.590630782,652,0.400957106462,-0.0153598637279,0.0698176591485,0.999999930216,0.000234203257137,-0.000291005752848,5.77108490678e-06,1793245411055733248
+33,0.550000000,BASELINE,764.830438115,744,714,679,658,633.830438115,878.830438115,785,807,652,630,652.169561885,0.400957291922,-0.015358313031,0.0698173652327,0.999999930122,0.000234545274153,-0.000291056966326,5.46808254274e-06,1793245411072401664
+34,0.566666667,BASELINE,764.254123943,744,714,679,658,633.254123943,878.254123943,785,807,652,630,652.745876057,0.40095698569,-0.0153584845205,0.0698175044813,0.999999930029,0.000234434401502,-0.000291461380367,5.75714850458e-06,1793245411089073408
+35,0.583333333,BASELINE,764,744.319536475,714,679,658,633.319536475,878.319536475,785,807,652,629.680463525,652.680463525,0.400957081721,-0.0153590790482,0.0698178910439,0.999999930142,0.000234348266418,-0.000291140391701,5.89120753743e-06,1793245411105739520
+36,0.600000000,BASELINE,764,744.891103834,714,679,658,633.891103834,878.891103834,785,807,652,629.108896166,652.108896166,0.400957495032,-0.0153600072426,0.0698184726727,0.999999930417,0.000234281642807,-0.000290247249658,5.90300658876e-06,1793245411122401024
+37,0.616666667,BASELINE,764.480568026,744.519431974,714,679,658,633.519431974,879,785,807,652,629.480568026,652,0.4009582574,-0.0153594255859,0.0698185566406,0.99999993054,0.000234703446468,-0.000289479607455,5.95300240015e-06,1793245411139066624
+38,0.633333333,BASELINE,765,744,714,679.072399189,658,633.072399189,878.927600811,785.072399189,807,652,629.927600811,652.072399189,0.400959030554,-0.0153587845277,0.0698185926646,0.999999930626,0.00023514150351,-0.000288823680883,6.03819917678e-06,1793245411155733248
+39,0.650000000,BASELINE,765,744,714,679.651320482,658,633.651320482,878.348679518,785.651320482,807,652,629.348679518,652.651320482,0.4009593044,-0.0153602140991,0.0698191127413,0.999999930708,0.000234888998065,-0.000288742687345,6.30677317719e-06,1793245411172400128
+40,0.666666667,BASELINE,764.771505003,744,714,679.771505003,658,634,878,785.771505003,807,652,629,652.771505003,0.400959199205,-0.0153612087834,0.0698191712339,0.999999930656,0.000234887373927,-0.000288918124166,6.50163698961e-06,1793245411189066752
+41,0.683333333,BASELINE,764.196975855,744,714,679.196975855,658,634,878,785.196975855,807,652,629,652.196975855,0.400958519987,-0.015361544872,0.0698185307007,0.999999930403,0.000235265685914,-0.000289481900617,6.58487364885e-06,1793245411205733376
+42,0.700000000,BASELINE,764,744,714,679,658,634,878,785,806.623115067,652,629.376884933,652,0.400958420559,-0.0153611742618,0.0698185691976,0.999999930665,0.000234130672191,-0.000289503331218,6.39793410587e-06,1793245411222400256
+43,0.716666667,BASELINE,764,744,714,679,658,634,878,785,806.04960299,652,629.95039701,652,0.400958623616,-0.0153604349551,0.0698189619557,0.999999931191,0.000232206131243,-0.000289241810946,6.07003913819e-06,1793245411239067136
+44,0.733333333,BASELINE,764,744,714,679,658,634,878,785,806.541864332,652,629.458135668,652.541864332,0.400957571312,-0.0153603961471,0.0698183454605,0.999999930784,0.000232635081475,-0.000290306963639,5.87004402877e-06,1793245411255733760
+45,0.750000000,BASELINE,764,744.131856037,714,679,658,633.868143963,878.131856037,785,807,652,629.131856037,652.868143963,0.400957227507,-0.0153606362742,0.0698181056224,0.999999930608,0.000232840963939,-0.000290751773198,5.78335878197e-06,1793245411272400128
+46,0.766666667,BASELINE,764,744.711073446,714,679,658,633.288926554,878.711073446,785,807,652,629.711073446,652.288926554,0.400959690756,-0.0153615977545,0.0698194679052,0.999999931514,0.000231534019553,-0.000288665719768,6.04002672767e-06,1793245411289066496
+47,0.783333333,BASELINE,764,744.712040719,714,679,658,633.287959281,878.712040719,785.287959281,807,652,630,652,0.400959810176,-0.0153616509166,0.0698194690922,0.999999931441,0.000231962350642,-0.000288573730384,6.05904348254e-06,1793245411305733120
+48,0.800000000,BASELINE,764,744.13747543,714,679,658,633.86252457,878.13747543,785.86252457,807,652,630,652,0.400957596781,-0.0153608000293,0.06981811558,0.999999930392,0.000234117802068,-0.000290466433631,5.84152592648e-06,1793245411322399744
+49,0.816666667,BASELINE,764.446752738,744,714,679,658,634,878,786,807,652,630,652.446752738,0.400956914355,-0.0153612611695,0.0698178714945,0.999999930663,0.000233045107513,-0.00029039450756,5.99784760167e-06,1793245411339066624
+50,0.833333333,BASELINE,765,744,714,679.033545645,658,634,878.033545645,785.966454355,807,652,629.966454355,652.966454355,0.400956783417,-0.0153620887374,0.0698180037159,0.999999931313,0.000231057179096,-0.000289736189358,6.249491211e-06,1793245411355733504
+51,0.850000000,BASELINE,765,744,714,679.612623127,658,634,878.612623127,785.387376873,807,652,629.387376873,652.387376873,0.40095779019,-0.0153621643807,0.0698185809572,0.999999931439,0.000230697060864,-0.000289590651494,6.13914068626e-06,1793245411372400384
+52,0.866666667,BASELINE,764.808926147,744,714.191073853,680,658,634,878.808926147,785,807,652,629.191073853,652.191073853,0.400958189104,-0.0153620841073,0.0698189302311,0.999999931549,0.000230072422077,-0.00028971105815,5.96044024716e-06,1793245411389067008
+53,0.883333333,BASELINE,764.231741964,744,714.768258036,680,658,634,878.231741964,785,807,652,629.768258036,652.768258036,0.400957359693,-0.015361688767,0.0698188188424,0.999999931626,0.000228913256383,-0.000290368869198,5.64362249745e-06,1793245411405733632
+54,0.900000000,BASELINE,764,744,714.656699996,679.656699996,658,634,878.343300004,785,807,652,630,653,0.40095756696,-0.0153614155342,0.0698188975004,0.999999931633,0.000229392106688,-0.000289967440152,5.72269191067e-06,1793245411422400000
+55,0.916666667,BASELINE,764,744,714.08309517,679.08309517,658,634,878.91690483,785,807,652,630,653,0.400958469686,-0.015361224218,0.0698191036523,0.999999931589,0.000230969829686,-0.000288855413645,6.06734456366e-06,1793245411439066624
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,785,807,652,630,652.496044504,0.400958388729,-0.0153602341406,0.0698189285144,0.999999931355,0.000232573010441,-0.000288381666752,5.96100940844e-06,1793245411455733248
+57,0.950000000,BASELINE,764,744,714,679,658,634,879,785.092111538,807,652,629.907888462,652,0.400957864988,-0.0153593744381,0.0698185350272,0.999999930992,0.000233934241355,-0.000288542302492,5.82261476224e-06,1793245411472399872
+58,0.966666667,BASELINE,764,744,714,679,658,634,879,785.674032895,807,652,629.325967105,652,0.400955872842,-0.0153599275602,0.069817323928,0.999999930121,0.000233985952699,-0.000291501334388,5.92000375514e-06,1793245411489066496
+59,0.983333333,BASELINE,764,744,714,679,658,634,878.747862598,785.747862598,807,652,629.252137402,652,0.40095555372,-0.0153609843015,0.0698168052619,0.999999930227,0.000232507522197,-0.000292323068295,5.82718225845e-06,1793245411505733376
+60,1.000000000,BASELINE,764,744,714,679,658,634,878.174618909,785.174618909,807,652,629.825381091,652,0.400957365254,-0.0153626824206,0.069817168435,0.999999931573,0.000229080399592,-0.000290422874742,5.49212069704e-06,1793245411522400000
+61,1.016666667,BASELINE,764.399649818,744,714,679,658,633.600350182,878.399649818,785,807.399649818,652,629.600350182,652.399649818,0.400957891091,-0.015362498198,0.0698180980909,0.999999931491,0.000230350837768,-0.000289696793268,5.71499086777e-06,1793245411539066368
+62,1.033333333,BASELINE,764.974367531,744,714,679,658,633.025632469,878.974367531,785,807.974367531,652,629.025632469,652.974367531,0.400957853725,-0.0153614894096,0.0698192758964,0.999999930777,0.000233679057854,-0.000289485035505,6.18226485988e-06,1793245411555732992
+63,1.050000000,BASELINE,765,744,714,679,658,633.56912939,878.43087061,785,807.43087061,652,629.56912939,652.43087061,0.400958543019,-0.0153634332614,0.0698203323548,0.999999932107,0.000229985693937,-0.000287845207726,6.08458864625e-06,1793245411572399616
+64,1.066666667,BASELINE,764.841036781,744,714,679,658,634,878.158963219,785,807,652,630,652,0.400958924826,-0.0153640998603,0.0698206393491,0.999999932695,0.000228269362635,-0.000287172006771,5.898698102e-06,1793245411589066240
+65,1.083333333,BASELINE,764.26653124,744,714,679,658,634,878.73346876,785,807,652,630,652,0.400958414159,-0.0153610673068,0.0698190019936,0.99999993112,0.000232577999003,-0.000289199912695,5.55114968189e-06,1793245411605732864
+66,1.100000000,BASELINE,764,744,714,679,658,634,878.691142693,785,807.308857307,652,629.691142693,652,0.400958280155,-0.0153604888619,0.0698184796526,0.999999930502,0.000234358228628,-0.000289898958923,5.62059490699e-06,1793245411622399488
+67,1.116666667,BASELINE,764,744,714,679,658,634,878.114989994,785,807.885010006,652,629.114989994,652,0.40095847213,-0.0153620342844,0.0698189222822,0.999999930725,0.000233950290694,-0.000289447965645,6.05092032811e-06,1793245411639066368
+68,1.133333333,BASELINE,764.472742825,744,714,679.472742825,658,634,878,785,807.527257175,652,629.472742825,652,0.400957380103,-0.0153614543257,0.0698183700813,0.999999930611,0.000233275216829,-0.00029038968098,5.83472285423e-06,1793245411655733248
+69,1.150000000,BASELINE,764.937877407,744,714,680,658,634,878.062122593,785,807,652,629.937877407,652,0.400956373145,-0.0153606088995,0.0698178659894,0.999999930516,0.000232692356175,-0.000291188448575,5.55297070506e-06,1793245411672399872
+70,1.166666667,BASELINE,764.358820688,744,714,680,658,634,878.641179312,785,807,652,629.358820688,652,0.400958738211,-0.0153619643625,0.0698198263687,0.999999931291,0.000233431093076,-0.000287908026206,6.06717848135e-06,1793245411689066496
+71,1.183333333,BASELINE,764.218373206,744,714,679.781626794,658,634,879,785.218373206,807,652,629,652,0.400959518409,-0.015362816012,0.0698203489027,0.999999931681,0.000232955392858,-0.000286934942661,6.2140899223e-06,1793245411705733120
+72,1.200000000,BASELINE,764.792532174,744,714,679.207467826,658,634,879,785.792532174,807,652,629,652,0.400957716454,-0.0153628468207,0.0698185288193,0.999999931449,0.000230501064324,-0.000289721103227,5.76258184477e-06,1793245411722399744
+73,1.216666667,BASELINE,765,744,714,679,658,634,878.624445063,785.624445063,807,652,629,652.375554937,0.400957035775,-0.0153625106303,0.069818319775,0.999999931291,0.000230509244545,-0.00029026126377,5.64185551765e-06,1793245411739066368
+74,1.233333333,BASELINE,765,744,714,679,658,634,878.036407345,785.036407345,807,652,629,652.963592655,0.400956989495,-0.0153619667978,0.06981902223,0.999999931178,0.000231910671697,-0.000289530674433,5.70828006861e-06,1793245411755732992
+75,1.250000000,BASELINE,765,744,714,679,658,634,878,785,807.543777054,652,629,652.456222946,0.400957070976,-0.0153611757791,0.0698188386291,0.999999930649,0.000233597081196,-0.000290006794884,5.60858182722e-06,1793245411772399872
+76,1.266666667,BASELINE,765,744,714,679.122468062,658,634,878.122468062,785,807.877531938,652,629.122468062,652,0.400956922101,-0.0153608532577,0.0698184731631,0.999999930366,0.000234172144123,-0.000290516715854,5.53690777007e-06,1793245411789066496
+77,1.283333333,BASELINE,765,744,714,679.697555342,658,634,878.697555342,785,807.302444658,652,629.697555342,652,0.400955890711,-0.0153623225099,0.0698176516857,0.999999931104,0.000230570362916,-0.000290857214156,5.60932690521e-06,1793245411805733120
+78,1.300000000,BASELINE,765,744,714,679.726079722,658,634,879,785,807,652,630,652,0.400956088962,-0.0153628233069,0.0698179407704,0.999999931452,0.000229731691237,-0.000290320073648,5.77898900279e-06,1793245411822399744
+79,1.316666667,BASELINE,765,744,714,679.148297509,658,634,879,785,807,652,630,652,0.400957651263,-0.0153622497888,0.0698194618105,0.999999931374,0.000231958159084,-0.000288809361435,6.05652348397e-06,1793245411839066368
+80,1.333333333,BASELINE,765,744,714.437720529,679,658,634,878.562279471,785,807,652,630,652,0.400958498215,-0.0153617153722,0.0698198269415,0.999999931015,0.000233996866117,-0.00028840598805,6.14021546209e-06,1793245411855733760
+81,1.350000000,BASELINE,764.973863129,744,714.973863129,679,658,634,878.026136871,785,807.026136871,652,629.973863129,652.026136871,0.400959053382,-0.0153611843988,0.0698197765275,0.999999930571,0.000235894407364,-0.000288398847936,6.14331742351e-06,1793245411872401152
+82,1.366666667,BASELINE,764.3948703,744,714.3948703,679,658,634,878.6051297,785,807.6051297,652,629.3948703,652.6051297,0.400958661305,-0.015360440674,0.0698193788061,0.999999930423,0.000236177312438,-0.000288685267458,5.85752478737e-06,1793245411889067008
+83,1.383333333,BASELINE,764,744,714,679,658,634,878.816705829,785.183294171,807.816705829,652,629,652.816705829,0.400958044565,-0.0153600401104,0.0698190155516,0.999999930439,0.000235453573096,-0.00028922684334,5.64778325563e-06,1793245411905733376
+84,1.400000000,BASELINE,764,744,714,679,658,634,878.240317753,785.759682247,807.240317753,652,629,652.240317753,0.400956946009,-0.0153603754925,0.0698187262151,0.999999930798,0.000232570977456,-0.000290315629309,5.60114137682e-06,1793245411922400000
+85,1.416666667,BASELINE,764,744,714,679,658,634,878,786,807,652,629.332802835,652,0.400956858366,-0.0153604825412,0.0698190162795,0.999999931074,0.000232041562322,-0.000289786373116,5.64348132488e-06,1793245411939066624
+86,1.433333333,BASELINE,764,744,714,679,658,634,878,786,807,652,629.903586868,652,0.400957493609,-0.0153604263128,0.0698197206629,0.999999931293,0.000233194863536,-0.000288100084616,5.74945054638e-06,1793245411955733248
+87,1.450000000,BASELINE,764.494479841,744,714,679,658,634,878,785.505520159,807,652,630,652,0.400957726909,-0.0153613903991,0.069819405482,0.999999931593,0.000231965605106,-0.000288048776054,5.83808513691e-06,1793245411972399616
+88,1.466666667,BASELINE,764.913226044,744,714,679.086773956,658,634,878,785,807,652,629.913226044,652.086773956,0.400957983142,-0.015362176614,0.0698191106753,0.999999931797,0.000230917201506,-0.000288181231011,5.90108978278e-06,1793245411989066496
+89,1.483333333,BASELINE,764.336109334,744,714,679.663890666,658,634,878,785,807,652,629.336109334,652.663890666,0.400958830586,-0.0153607858871,0.0698201019613,0.999999931371,0.000233627127486,-0.000287474334165,5.83917330569e-06,1793245412005733120
+90,1.500000000,BASELINE,764,744,714,680,657.760075231,634,878.479849539,785,807,652,629.239924769,652.760075231,0.400959301968,-0.0153603685761,0.0698208001702,0.999999931445,0.000234180893324,-0.000286765362196,5.87577666639e-06,1793245412022399744
+91,1.516666667,BASELINE,764,744,714,680,657.18555098,634,879.628898041,785,807,652,629.81444902,652.18555098,0.400959248893,-0.0153613087926,0.0698210896533,0.99999993222,0.000231727674426,-0.000286053496319,6.04977596146e-06,1793245412039066368
+92,1.533333333,BASELINE,764,744,714,679.610502954,657.389497046,634,879.610502954,785,807,652,629.610502954,652,0.400958830593,-0.0153620568245,0.069820795791,0.99999993238,0.000230251411358,-0.000286682241659,6.11995668425e-06,1793245412055733248
+93,1.550000000,BASELINE,764,744,714,679.035205023,657.964794977,634,879.035205023,785,807,652,629.035205023,652,0.40095823807,-0.0153627131791,0.0698202236567,0.999999932248,0.00022924118308,-0.000287950495639,6.14061308622e-06,1793245412072399872
+94,1.566666667,BASELINE,764,744,714,679,658,634,878.442124394,785,807,652,629.557875606,652,0.400958990206,-0.0153615806476,0.069819973912,0.999999931925,0.00023079812338,-0.00028782923677,5.9996034194e-06,1793245412089066240
+95,1.583333333,BASELINE,764,744,714,679.147800178,658,634,878,785,807,652,630,652,0.40095935016,-0.0153609658657,0.069819679058,0.999999931733,0.000231692887024,-0.000287782214871,5.86446554278e-06,1793245412105733376
+96,1.600000000,BASELINE,764,744,714,679.725182749,658,634,878,785,807,652,630,652,0.400958315482,-0.0153621948416,0.0698191920153,0.999999931959,0.000230176664638,-0.0002882142144,5.77702259338e-06,1793245412122400000
+97,1.616666667,BASELINE,764.298996011,744,714,679.701003989,658,634,878.298996011,785,807,652,629.701003989,652,0.400957914381,-0.0153623062418,0.0698191922398,0.999999931797,0.000230701286857,-0.000288357461115,5.74864890097e-06,1793245412139067136
+98,1.633333333,BASELINE,764.869567268,744,714,679.130432732,658,634,878.869567268,785,807,652,629.130432732,652,0.400958088751,-0.0153614025584,0.0698196350445,0.99999993128,0.000233079588996,-0.000288238436357,5.77392726057e-06,1793245412155734784
+99,1.650000000,BASELINE,764.569028454,744,714,679,658,634,879,785,807,652,629.430971546,652,0.40095804005,-0.0153610717805,0.0698196572868,0.999999931102,0.00023370839986,-0.000288342348982,5.84940119277e-06,1793245412172400896
+100,1.666666667,BASELINE,764.010340772,744,714,679,658,634,879,785,807,652,629.989659228,652,0.400957925243,-0.0153609107801,0.0698195548977,0.999999931027,0.000233818758205,-0.000288512327922,5.93975031666e-06,1793245412189066496
+101,1.683333333,BASELINE,764,744,714,679.605100715,658,634,878.394899285,785,807,652,629.394899285,652,0.400958430022,-0.0153609383466,0.0698200681567,0.99999993169,0.000232304485662,-0.000287437831792,5.87030416223e-06,1793245412205733120
+102,1.700000000,BASELINE,764,744,714,679.793038182,658,634,878,785,807,652,629,652,0.400959084604,-0.0153613287244,0.0698206810007,0.999999932253,0.000231134108498,-0.000286420663795,5.93069882958e-06,1793245412222400000
+103,1.716666667,BASELINE,764,744,714,679.217283669,658,634,878,785,807,652,629,652,0.400959985306,-0.0153623592718,0.0698214506105,0.999999932617,0.000230631124957,-0.000285547470192,6.22783127076e-06,1793245412239066880
+104,1.733333333,BASELINE,764.358000076,744,714,679.358000076,658,634,878.358000076,785,807,652,629.358000076,652,0.400958994257,-0.0153628202011,0.0698207802483,0.999999932174,0.000230941157762,-0.000286844772433,6.18770337533e-06,1793245412255733760
+105,1.750000000,BASELINE,764.932998526,744,714,679.932998526,658,634,878.932998526,785,807,652,629.932998526,652,0.400956856541,-0.0153629358619,0.0698192370607,0.999999931237,0.000231743992714,-0.000289457700195,5.94314833341e-06,1793245412272400384
+106,1.766666667,BASELINE,765,744,714,679.477069062,658,634,878.477069062,785,807,652,629.477069062,652.522930938,0.400957126916,-0.0153631268686,0.0698194449529,0.99999993167,0.000231216081438,-0.000288383295967,5.86793495112e-06,1793245412289066752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,786,807,652,630,652,0.400958640022,-0.0153618556651,0.0698214097686,0.999999932126,0.000231582637065,-0.000286500786374,5.95580059439e-06,1793245412331382528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679.426854838,658,634,878.573145162,785.426854838,807,652,630,652.573145162,0.400956998427,-0.0153602960787,0.0698197460957,0.99999993106,0.000233378453488,-0.000288758899515,5.70935469307e-06,1793245412348048896
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.849151572,785.150848428,807,652,630,652.849151572,0.400956211019,-0.0153595055818,0.069818718244,0.999999930477,0.000234321985505,-0.000290012378119,5.64039201563e-06,1793245412364715264
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.258148257,785.741851743,807,652,630,652.258148257,0.400957916014,-0.0153609591814,0.0698195456304,0.99999993132,0.000232778669713,-0.000288334472368,6.0893008257e-06,1793245412381382144
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.32629561,744,714,679,658,634,878.32629561,785.67370439,807,652,630,652,0.400958054982,-0.0153621709983,0.0698197816356,0.999999931674,0.000231550886979,-0.00028809091026,6.24496989207e-06,1793245412398049024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905652214,744,714,679,658,634,878.905652214,785.094347786,807,652,630,652,0.400956979406,-0.0153631952985,0.0698195589907,0.999999931651,0.000230567818353,-0.000288959764157,6.1732146622e-06,1793245412414715648
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.517917073,744,714,679,658,634,878.517917073,785,807,652,630,652.482082927,0.400957878907,-0.0153625002101,0.0698200419233,0.999999931626,0.000231263994789,-0.000288491116579,6.11291432896e-06,1793245412431382016
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.057749053,744,714,678.942250947,658,634,878.057749053,785,807,652,629.942250947,652.942250947,0.400959369146,-0.0153616960461,0.0698207380801,0.999999931706,0.000232013507596,-0.000287614059463,6.07206217091e-06,1793245412448048384
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.631668517,744,714,678.368331483,658,634,878.631668517,785,807,652,629.368331483,652.368331483,0.400962705378,-0.0153629064872,0.0698221132662,0.999999932727,0.000230320008118,-0.000285412115715,6.18512406935e-06,1793245412464715264
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,678.424443282,658,634,879,785,807,652,629,652,0.400972390997,-0.0153640462013,0.0698263201848,0.999999934725,0.00022983808359,-0.00027871481943,6.51294766396e-06,1793245412481381632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679.609319138,658,634,879,785,807,652,629,652,0.400993452175,-0.0153650592006,0.0698356004351,0.999999938333,0.000231526816866,-0.000263963649847,7.2255382951e-06,1793245412498048256
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679.613751243,658,634,878.613751243,785,807,652,629.386248757,652,0.401034034938,-0.0153661664875,0.0698513469748,0.999999945081,0.00023176398644,-0.000236758948644,8.31048424337e-06,1793245412514714880
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.037498722,658,634,878.037498722,785,807,652,629.962501278,652,0.401084220775,-0.0153673201564,0.069870274417,0.999999952516,0.000231287101715,-0.00020342809577,9.57859954119e-06,1793245412531382016
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.461432951,744,714,679,658,634,878,785.538567049,807.538567049,652,630,652,0.401146566131,-0.0153712785249,0.0698837189711,0.999999955488,0.000230622942831,-0.00018903053872,1.02661554884e-05,1793245412548048640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.11722723,785.88277277,807.88277277,652,629.88277277,652,0.401212190711,-0.0153754213872,0.0698954707812,0.999999958099,0.000229363425013,-0.000176298032326,1.06180241284e-05,1793245412564715264
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.706384415,785.293615585,807.293615585,652,629.293615585,652,0.401287609563,-0.0153795210909,0.0699019443261,0.999999960862,0.000225759603555,-0.000164963438982,9.7811681876e-06,1793245412581382144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.709444819,785,807,652,629,652,0.401372443339,-0.0153832877929,0.0699058297368,0.999999962111,0.000224724994808,-0.000158767296575,8.32692743648e-06,1793245412598049024
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.130228008,785,807,652,629,652,0.401466630678,-0.0153867236633,0.06990714388,0.999999961957,0.000226242855413,-0.000157676118441,6.25932543228e-06,1793245412614715136
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,652,629.445698109,652.445698109,0.401581707295,-0.015390766356,0.0699086899458,0.99999996305,0.000223192303269,-0.000155152767755,3.59705212308e-06,1793245412631381504
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.020653924,744,714,679.020653924,658,634,878,785,806.979346076,651.979346076,629.979346076,652.979346076,0.401704018656,-0.0153950827432,0.0699102818162,0.999999964477,0.000218763513135,-0.000152275389173,7.56668981419e-07,1793245412648048128
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.595185073,744,714,679.595185073,658,634,878,785,806.404814927,651.404814927,629.404814927,652.404814927,0.40185786329,-0.015402018815,0.069911298089,0.999999965925,0.000212908536811,-0.000151043770045,-2.23461486561e-06,1793245412664715008
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679.825000831,658,634,878,785,806.174999169,651.174999169,629.174999169,652,0.402020675203,-0.0154093704157,0.0699135483542,0.999999967797,0.000206492371019,-0.000147435195473,-5.42908460882e-06,1793245412681381888
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714.747234151,679,658,633.747234151,878.252765849,785,807,652,629.747234151,652.747234151,0.403772770435,-0.0154726621161,0.0699525538825,0.999999996887,7.176640154e-06,-6.93737842623e-05,-3.69155519809e-05,1793245412798049280
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714.166937172,679,658,633.166937172,878.833062828,785,807,652,629.166937172,652.166937172,0.404100595238,-0.0154799741224,0.0699509384303,0.999999996153,7.34829433705e-06,-7.60779407713e-05,-4.30300903358e-05,1793245412814715648
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.410244653,878.589755347,785,807,652,629.410244653,652,0.404463234887,-0.0154825396753,0.0699530527833,0.99999999624,-1.60466886262e-06,-7.21628291719e-05,-4.80696531863e-05,1793245412831382272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.986168397,878.013831603,785,807,652,629.986168397,652,0.404839934655,-0.0154831883521,0.0699566734344,0.999999996466,-1.42426485342e-05,-6.39590797234e-05,-5.26750823404e-05,1793245412848049152
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+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.68514981,785,807,652,630,652.68514981,0.40658975437,-0.0154654492709,0.0699376197437,0.999999992157,6.94888743053e-05,-9.63691791689e-05,-3.96324607298e-05,1793245412914715136
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764.468452721,744,714,679.468452721,658.468452721,634,878.468452721,785,807,652,629.531547279,652.468452721,0.407623614706,-0.0154840022709,0.069923527203,0.999999992735,3.44314587587e-05,-0.000106957350668,-4.36325056386e-05,1793245412948049152
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.368481773,744,714,680,658.368481773,633.368481773,879,785,807,652,629,652.368481773,0.408810084807,-0.0154863612493,0.0699456885772,0.999999996624,3.91488990745e-05,-5.70575413678e-05,-4.43213689823e-05,1793245412981382912
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.216857441,744.216857441,714,679.783142559,658,633,879,785,807,652,629,652,0.409425402831,-0.0154862608391,0.069950748344,0.999999997272,3.76163302244e-05,-4.51283266815e-05,-4.47821349858e-05,1793245412998049792
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.796784425,744.796784425,714,679.203215575,658,633,879,785,807,652,629,652,0.410031982985,-0.0154842117833,0.0699422868452,0.99999999649,3.70521071439e-05,-5.96552171406e-05,-4.57075721853e-05,1793245413014716160
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.625400588,744.625400588,714,679,658.374599412,633,879,785,807.374599412,652,629,652.374599412,0.410675346446,-0.0154862782104,0.0699403160049,0.999999996126,3.39598522849e-05,-6.66824430776e-05,-4.63437225526e-05,1793245413031382528
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.048724929,744.048724929,714,679,658.951275071,633,879,785,807.951275071,652,629,652.951275071,0.411338552505,-0.0154905647195,0.0699418465262,0.999999996042,2.95038601924e-05,-6.9664002672e-05,-4.68238181964e-05,1793245413048049152
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,679.522566457,659,633,878.477433543,785,807.477433543,652,629,652.477433543,0.412070434051,-0.015495695382,0.0699707724547,0.999999998618,2.1209814161e-05,-1.68567624696e-05,-4.50551394092e-05,1793245413064715776
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.097211618,744,714,680,659,633.097211618,878.097211618,785.097211618,807,652,629.097211618,652,0.412815192671,-0.0155002457692,0.0700005194629,0.999999998334,1.26924558666e-05,3.60313673051e-05,-4.32825437108e-05,1793245413081382400
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.691548434,744,714,680,659,633.691548434,878.691548434,785.691548434,807,652,629.691548434,652,0.413593390306,-0.0155014303095,0.0700215357918,0.999999997098,4.84452526867e-06,6.3003038203e-05,-4.25512510152e-05,1793245413098048768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.278449209,714,680,658.721550791,633.721550791,879,785.721550791,807,652,630,652.278449209,0.414340663893,-0.0154987108996,0.0700141251053,0.999999998075,7.09794506905e-06,4.31349669208e-05,-4.40299698564e-05,1793245413114715392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.857327049,714,680,658.142672951,633.142672951,879,785.142672951,807,652,630,652.857327049,0.415054572533,-0.0154917793808,0.069976043516,0.999999998276,2.02500656617e-05,-2.72701444022e-05,-4.78931475496e-05,1793245413131382528
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.566815061,714,680,658.433184939,633,879,785.433184939,807.433184939,652,630,652.566815061,0.415817134055,-0.0154916898152,0.0699378709363,0.999999994676,2.09407215206e-05,-8.64150181737e-05,-5.23556794428e-05,1793245413148049152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.008075885,713.991924115,679.991924115,659,633.008075885,879,785.991924115,808,651.991924115,630,652,0.416596660115,-0.0154939066105,0.0699006019627,0.999999988353,1.7353620122e-05,-0.000140542518984,-5.69192764996e-05,1793245413164715520
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.584434062,713.415565938,679.415565938,659,633.584434062,879,785.415565938,808,651.415565938,630,652,0.417450164312,-0.0155009442913,0.0699290118073,0.999999993421,-4.39935808813e-07,-0.000100771546111,-5.48000472038e-05,1793245413181381888
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.835218768,713.164781232,679.164781232,659.164781232,634,879,785,808,651.164781232,630,652.164781232,0.418314523119,-0.015507022165,0.0699566783158,0.99999999663,-1.46747481212e-05,-6.10414408911e-05,-5.29002131909e-05,1793245413198048512
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.244562125,713.755437875,679.755437875,659.755437875,634,879,785,808,651.755437875,630,652.755437875,0.419206935505,-0.0155106194264,0.0699824236775,0.999999998247,-1.97120227829e-05,-2.14169604332e-05,-5.15674043527e-05,1793245413214715136
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.661575544,879.338424456,785,808,652,630,653,0.420111472143,-0.0155153548963,0.0700085090966,0.999999998259,-2.49538540957e-05,1.91306965121e-05,-4.9933421628e-05,1793245413231381504
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,680,660,633.084008913,879.915991087,785,808,652,630,653,0.421024576152,-0.0155208946626,0.0700348348107,0.999999996564,-3.03402318318e-05,6.03306995026e-05,-4.80866192701e-05,1793245413248048128
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509706775,744,714,680,660,633,879.509706775,785,808.490293225,652,630,653,0.421892719127,-0.0155231407583,0.0700209216365,0.999999997545,-3.65898374894e-05,3.27782977474e-05,-4.99701197236e-05,1793245413264715520
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.065167311,744,714,680,659.934832689,633,879.065167311,785,809,652,630,652.934832689,0.422744043887,-0.0155242563609,0.0699928894953,0.999999997561,-4.22038311303e-05,-1.66729946303e-05,-5.3098874388e-05,1793245413281382912
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.649015908,744,714,680,659.350984092,633,879.649015908,785,809,652,630,652.350984092,0.423522419032,-0.0155208362048,0.0699069948442,0.999999986424,-4.15893866889e-05,-0.000147280348196,-6.10852695281e-05,1793245413298049280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680.233680693,659.233680693,633.233680693,880,785,808.766319307,652,630,652.233680693,0.42438232314,-0.0155236616236,0.0698599355821,0.999999973784,-4.75404532195e-05,-0.000214194932403,-6.55192352599e-05,1793245413314715648
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680.819575762,659.819575762,633.819575762,880,785,808.180424238,652,630,652.819575762,0.425365111597,-0.015535900662,0.0698714108064,0.999999978772,-6.33873630502e-05,-0.000185108844143,-6.45988170995e-05,1793245413331381760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.602421301,880,785,808.397578699,652,630,653,0.426336579932,-0.0155482052004,0.0699193221465,0.99999998881,-7.50946960242e-05,-0.000115443367243,-5.84228001099e-05,1793245413348048384
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633.027930196,880,785,808.972069804,652,630,653,0.427303011042,-0.0155605388839,0.0699834466304,0.999999994761,-8.49600211934e-05,-2.77210958463e-05,-4.99081750414e-05,1793245413364715264
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.45215194,744,714,680.45215194,660,633,879.45215194,785,809,652,630,653,0.42827460374,-0.0155608640374,0.0700215008617,0.999999994776,-8.45159190387e-05,3.21724577533e-05,-4.76469259165e-05,1793245413381381888
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.127009383,744,714,680.127009383,660,633,879.127009383,785.127009383,809,652,630.127009383,653,0.429232357605,-0.0155604380687,0.0700495266751,0.999999992325,-8.43419653052e-05,7.79992261871e-05,-4.64059747739e-05,1793245413398048256
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.718296914,744,714,680.718296914,660,633,879.718296914,785.718296914,809,652,630.718296914,653,0.430138559887,-0.0155595095989,0.0700457639066,0.999999992058,-8.70813355126e-05,7.76037902044e-05,-4.77265528563e-05,1793245413414714880
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.30315414,714,680.69684586,660,633,879.69684586,786,809,652,630.69684586,653,0.430996313558,-0.0155552372093,0.069999337834,0.999999995178,-8.33768766501e-05,-2.97073324808e-06,-5.180552131e-05,1793245413431381504
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.882160144,714,680.117839856,660,633,879.117839856,786,809,652,630.117839856,653,0.431809981885,-0.0155479220558,0.0699140907445,0.999999983325,-7.38089228028e-05,-0.000156503359689,-5.83944565762e-05,1793245413448048128
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.54244458,680.91511084,660,633,879.45755542,786,809,652,630.45755542,653,0.432704745618,-0.0155483111611,0.0698993370788,0.999999980928,-7.36043590406e-05,-0.000170489140079,-6.0491150978e-05,1793245413464714752
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.967200526,713.032799474,681.967200526,660.032799474,633,880,786,809,652,630.967200526,652.967200526,0.433620847971,-0.0155507630203,0.0699059579151,0.999999984793,-7.65830263294e-05,-0.000144272886315,-6.11102246409e-05,1793245413481381632
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.378892145,713.621107855,681.378892145,660.621107855,633,880,786,809,652,630.378892145,652.378892145,0.434547393093,-0.0155548088885,0.0699695127623,0.999999993259,-9.29524297168e-05,-4.10935012416e-05,-5.61446924542e-05,1793245413498048000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,681.206211687,660.793788313,633,880,785.793788313,809,651.793788313,630,652.206211687,0.435465748207,-0.0155585169166,0.0700171029629,0.99999999261,-0.000103488434557,3.65843567949e-05,-5.22709145621e-05,1793245413514714624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,681.7855177,660.2144823,633,880,785.2144823,809,651.2144823,630,652.7855177,0.436369285475,-0.0155616136985,0.0700358086858,0.999999991058,-0.00010347020238,6.81228728971e-05,-5.03724240279e-05,1793245413531380992
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,681.636236573,660,633,879.636236573,785,809.363763427,651.363763427,630,653,0.437241259276,-0.0155635293059,0.0700276002277,0.999999991077,-0.000103733530537,6.71007876337e-05,-5.08310437186e-05,1793245413548047872
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,681.05861423,660,633,879.05861423,785,809.94138577,651.94138577,630,653,0.438094676652,-0.015564750493,0.0700035687439,0.999999992086,-0.000104162389877,4.69361083098e-05,-5.2675424165e-05,1793245413564714752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,681.51604319,660,633,880.032086379,785.51604319,809.48395681,652,630.51604319,653,0.438821797071,-0.0155611664578,0.0699387945251,0.999999991113,-0.000104348455232,-5.96930808922e-05,-5.76368357002e-05,1793245413581381376
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,714,681.907261122,660,633,881,785.907261122,809.092738878,652,631,653,0.439534036222,-0.0155582832141,0.0698738750264,0.999999978284,-0.000105648629228,-0.000168322358522,-6.27509790968e-05,1793245413598048256
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,714,681.31785616,660,633,881,785.31785616,809.68214384,652,631,653,0.440242966122,-0.0155620594125,0.0698328198072,0.999999963679,-0.000113062303169,-0.000235367056174,-6.67978199684e-05,1793245413614714624
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.733112766,744.266887234,714,681,660,632.733112766,881,784.733112766,810,652,630.733112766,653,0.440997073691,-0.0155710519511,0.0698294138978,0.999999960491,-0.000125062068262,-0.00024257560671,-6.73325831325e-05,1793245413631381248
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.153825922,744.846174078,714,681,660,632.153825922,881,784.153825922,810,652,630.153825922,653,0.441804063044,-0.015586150374,0.0698700776517,0.99999997167,-0.000142429991866,-0.000179744125762,-6.37563524846e-05,1793245413648047616
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.421486991,744.578513009,714,681.421486991,660,632,881,784.421486991,810,651.578513009,630,653,0.442542182081,-0.0155974345537,0.0698849579801,0.999999971494,-0.00015957204619,-0.000166412477445,-6.20944421579e-05,1793245413664714496
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764.428946691,744.571053309,714,682,659.428946691,632,880.428946691,784.428946691,810,651.571053309,630,653,0.443878968655,-0.0156171493495,0.0698453016093,0.99999994807,-0.00019295507908,-0.000250124859374,-6.37716539948e-05,1793245413698047744
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.150952532,745,714,682,659,632,880,783.849047468,810,652,630,653,0.444492504598,-0.0156257992003,0.0698007634329,0.999999923913,-0.00020707824922,-0.00032383720196,-6.65029111752e-05,1793245413714714368
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.743111076,745,714,682,659,632,880,783.256888924,810,652,630,653,0.445078854391,-0.0156310614225,0.0697594113252,0.999999902367,-0.000214790350533,-0.000379888520722,-6.93943365555e-05,1793245413731381248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.674971313,632,880,783,810,652,630,653,0.445661674292,-0.0156371039444,0.0697339784221,0.999999887949,-0.000221811175488,-0.000412061528064,-7.14667207567e-05,1793245413748048384
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.100900504,632,880,783,810,652,630,653,0.446241789501,-0.015643744344,0.069720743068,0.999999880569,-0.000228302333439,-0.000425938592636,-7.29115425843e-05,1793245413764716288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.523037839,745,714,682.476962161,658,631.523037839,880,783,809.523037839,651.523037839,630,653,0.446785082725,-0.0156502092575,0.0697073755523,0.999999863335,-0.000242989675381,-0.000457000963844,-7.37349975299e-05,1793245413781382912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.056523577,745,714,682.943476423,658,631,880,782.943476423,809.056523577,651,630,653,0.447316284065,-0.0156565704201,0.0696942595648,0.999999844043,-0.000257816996301,-0.000489823582693,-7.42800092149e-05,1793245413798049280
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c78cc7de20beb05fb60b3e294363d8964e5c2dfd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de94d0f016eeaad1695bf3413eb753c8fea4104f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09f61ad51f78d08fbef4a2d46b842755d9b7cf0ef60d537e18f01b0f67ccede
+size 25881467
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5d6fd3e23cee0a14fac016fbe51eee586e58f0d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+7,0.116666667,BASELINE,764,744,714,679,658.939770914,634,878,785,807,652,630,653,0.400957942309,-0.0153633818245,0.0698174333517,0.999999931592,0.000227616537852,-0.000291501353627,5.72381202236e-06,1793245417589294848
+8,0.133333333,BASELINE,764,744,714,679,658.364118511,634,878,785,807,652,630,653,0.40096053989,-0.0153618581596,0.0698191448439,0.999999931505,0.00023023679997,-0.000289730698411,6.02072297726e-06,1793245417605961472
+9,0.150000000,BASELINE,764.211458487,744,714,679,658,634,878,785,807,652,629.788541513,652.788541513,0.400961853357,-0.015361409956,0.0698200522076,0.999999931698,0.00023087437025,-0.000288553330902,6.1171934063e-06,1793245417622628096
+10,0.166666667,BASELINE,764.786905631,744,714,679,658,634,878,785,807,652,629.213094369,652.213094369,0.400960956446,-0.0153628129706,0.0698195754052,0.999999932382,0.0002280990844,-0.000288397204197,5.86864063442e-06,1793245417639295232
+11,0.183333333,BASELINE,764.62805895,744,714,679,658,634,878,785.37194105,807,652,629.37194105,652,0.400959665802,-0.0153632515992,0.0698188005844,0.999999932302,0.000226853213852,-0.000289658389629,5.64379598189e-06,1793245417655962112
+12,0.200000000,BASELINE,764.03738475,744,714,679,658,634,878,785.96261525,807,652,629.96261525,652,0.400958143609,-0.0153631230866,0.0698178505032,0.999999931773,0.000226506770044,-0.000291753075804,5.43289370758e-06,1793245417672628992
+13,0.216666667,BASELINE,764,744,714,679,658,634,878,785.457295411,807.542704589,652,630,652,0.400959374002,-0.0153636176745,0.0698189897925,0.999999932075,0.000227159583504,-0.00029020445139,5.53567167338e-06,1793245417689295616
+14,0.233333333,BASELINE,764.120995597,744,714,679,658,633.879004403,878,785,807.879004403,652,629.879004403,652,0.400960409457,-0.0153638571518,0.0698199565615,0.999999932219,0.000228251588437,-0.000288843278252,5.71511760765e-06,1793245417705961984
+15,0.250000000,BASELINE,764.69522946,744,714,679,658,633.30477054,878,785,807.30477054,652,629.30477054,652,0.400960018005,-0.0153629832995,0.0698197482575,0.999999931571,0.000230735847962,-0.000289106416332,6.10236092484e-06,1793245417722628608
+16,0.266666667,BASELINE,764.729438918,744,714,679,658,633.270561082,878.270561082,785,807,652,629.270561082,652,0.400959321323,-0.0153625334177,0.0698191233201,0.999999931253,0.000231295368976,-0.000289757005336,6.06254350595e-06,1793245417739295232
+17,0.283333333,BASELINE,764.152865735,744,714,679,658,633.847134265,878.847134265,785,807,652,629.847134265,652,0.400958279417,-0.0153625630585,0.0698180271586,0.999999931313,0.00022967795711,-0.000290845812087,5.5397085064e-06,1793245417755961856
+18,0.300000000,BASELINE,764,744,714,679,658,634,878.566622705,785,807,652,630,652,0.400958897467,-0.0153636362845,0.069818820413,0.999999932147,0.000227706725823,-0.000289519636135,5.75495147047e-06,1793245417772628480
+19,0.316666667,BASELINE,764.02263413,744,714,679,658,634,878,785,807,652,630,652.02263413,0.400960064476,-0.0153649401377,0.0698202364526,0.999999933184,0.000225762688436,-0.000287445056146,6.20387563423e-06,1793245417789295104
+20,0.333333333,BASELINE,764.600246964,744,714,679,658,634,878,785,807,652,630,652.600246964,0.400960007435,-0.0153626671043,0.0698202087629,0.999999932496,0.000227615388395,-0.000288383355,5.85337564482e-06,1793245417805961984
+21,0.350000000,BASELINE,764.822949376,744,714,679,658,634,878.177050624,785,807,651.822949376,630,653,0.400959195246,-0.0153608487044,0.0698196426471,0.999999931601,0.000229583009554,-0.000289929061976,5.58932265131e-06,1793245417822628864
+22,0.366666667,BASELINE,764.247964476,744,714,679,658,634,878.752035524,785,807,651.247964476,630,653,0.400956685808,-0.0153600521268,0.0698178663791,0.999999930239,0.000231808924297,-0.000292839963179,5.5195656761e-06,1793245417839295488
+23,0.383333333,BASELINE,764.335999573,744,714,679,658,634,878.664000427,785.335999573,807,651.335999573,630,652.664000427,0.400957492128,-0.0153602341232,0.0698179919406,0.999999930251,0.000232439596503,-0.000292297684015,5.68730024428e-06,1793245417855962112
+24,0.400000000,BASELINE,764.926772156,744,714,679,658,634,878.073227844,785.926772156,807,651.926772156,630,652.073227844,0.400960812633,-0.0153611581272,0.0698195595717,0.999999931302,0.000231860669953,-0.00028913701742,6.03511371161e-06,1793245417872629248
+25,0.416666667,BASELINE,764.492459044,744.507540956,714,679.507540956,658,634,878.507540956,785.492459044,807,652,630,652,0.40096042004,-0.0153626228539,0.069819683437,0.99999993199,0.000229224607145,-0.000288860274332,5.98947122092e-06,1793245417889295360
+26,0.433333333,BASELINE,764,744.913627029,714,679.913627029,658,634,879,785,807,652,630,652.086372971,0.400959793165,-0.0153639564565,0.0698197912696,0.999999932523,0.0002271066289,-0.000288686788821,5.97579948304e-06,1793245417905961984
+27,0.450000000,BASELINE,764,744.337749393,714,679.337749393,658,634,879,785,807,652,630,652.662250607,0.400960815976,-0.0153641133434,0.0698209659607,0.999999932504,0.000229574377499,-0.00028678594916,6.45881967738e-06,1793245417922628352
+28,0.466666667,BASELINE,764,744,714,679.242279418,658,634,878.757720582,785,807,652,630,652.757720582,0.400960925591,-0.0153649205499,0.0698213137483,0.999999932627,0.000229474381625,-0.000286432528007,6.69579943443e-06,1793245417939295232
+29,0.483333333,BASELINE,764,744,714,679.828196016,658,634,878.171803984,785,807,652,630,652.171803984,0.400959739975,-0.0153666501378,0.0698204886967,0.99999993295,0.00022573242344,-0.000288273889086,6.58380753671e-06,1793245417955961856
+30,0.500000000,BASELINE,764.409675195,744,714,680,658,633.590324805,878,785,807,652,630,652,0.400958792909,-0.0153661126674,0.0698196683191,0.999999932511,0.000225667457962,-0.000289851387375,6.27266974865e-06,1793245417972628480
+31,0.516666667,BASELINE,764.989313396,744,714,680,658,633.010686604,878,785,807,652,630,652,0.400957944811,-0.0153646346566,0.0698188498806,0.999999931756,0.000227127976028,-0.00029131941618,5.87891179404e-06,1793245417989295104
+32,0.533333333,BASELINE,764.431980842,744,714.568019158,679.431980842,658,633.568019158,878,785,807,652,630,652.568019158,0.400960081456,-0.0153638425336,0.0698198285366,0.999999932394,0.000227534125618,-0.000288797662866,6.06081271166e-06,1793245418005961472
+33,0.550000000,BASELINE,764,744,714.854488785,679,658,634,878,785,807,652,630,652.854488785,0.40096143837,-0.0153634419657,0.0698206390858,0.999999932872,0.000227842635333,-0.000286887257007,6.22614707846e-06,1793245418022628096
+34,0.566666667,BASELINE,764,744,714.280519025,679,658,634,878,785,807,652,630,652.280519025,0.400960334288,-0.0153641564003,0.0698208552518,0.999999932822,0.000227921957349,-0.000286997628615,6.31086339579e-06,1793245418039294976
+35,0.583333333,BASELINE,764,744,714,679,658,633.698803174,878.301196826,785,807,652,630,652.301196826,0.400960413893,-0.0153645578141,0.0698210612093,0.999999932913,0.000227921696476,-0.00028667842603,6.35311684519e-06,1793245418055961600
+36,0.600000000,BASELINE,764,744,714,679,658,633.109682517,878.890317483,785,807,652,630,652.890317483,0.400961625021,-0.0153646600012,0.0698212574082,0.99999993314,0.000227845359741,-0.000285948579532,6.35477866949e-06,1793245418072628480
+37,0.616666667,BASELINE,764,744,714,679,658,633,878.529010314,785.470989686,807,652,629.529010314,652.529010314,0.400960984271,-0.0153632468184,0.0698204152165,0.99999993268,0.000228432667376,-0.000287092137664,5.99703540392e-06,1793245418089294848
+38,0.633333333,BASELINE,764,744,714,679,657.950526553,633,878.049473447,785.950526553,807,652,629,652,0.400959989188,-0.0153617163669,0.0698194676592,0.999999932144,0.000229053325701,-0.00028847109493,5.60848268503e-06,1793245418105961472
+39,0.650000000,BASELINE,764,744,714,679,657.374762096,633,878.625237904,785.374762096,807,652,629,652,0.400959731587,-0.0153626263119,0.0698199263203,0.999999932484,0.000228413684178,-0.000287794977174,5.76685056571e-06,1793245418122628096
+40,0.666666667,BASELINE,764,744,714,679,657.201295811,633.201295811,878.798704189,785,807,652,629,652,0.400959782078,-0.0153630299428,0.0698203551929,0.999999932558,0.000228857118364,-0.000287180098877,5.92350398493e-06,1793245418139294976
+41,0.683333333,BASELINE,764,744,714,679,657.77790081,633.77790081,878.22209919,785,807,652,629,652,0.400960406993,-0.0153624895684,0.0698207285257,0.999999932135,0.000231319910371,-0.000286679399505,6.07696083957e-06,1793245418155961856
+42,0.700000000,BASELINE,764.362684353,744,714,679.362684353,658,634,878,785,807,652,629.362684353,652,0.400960325557,-0.0153627606345,0.069820294786,0.999999932135,0.000230557580413,-0.000287292808332,5.93353983898e-06,1793245418172628480
+43,0.716666667,BASELINE,764.952591762,744,714,679.952591762,658,634,878,785,807,652,629.952591762,652,0.40095980159,-0.0153635400709,0.0698193554123,0.999999932397,0.000227774699812,-0.000288604209985,5.60412378485e-06,1793245418189295104
+44,0.733333333,BASELINE,764.467384973,744,714,679.467384973,658,634,878,785,807,652,630,652,0.400959428099,-0.015362793423,0.0698197469669,0.999999931882,0.000230450712055,-0.000288262333788,5.80571264218e-06,1793245418205961728
+45,0.750000000,BASELINE,764,744,714,679.110680824,658,634,878.110680824,785,807,652,629.889319176,652,0.400959293743,-0.0153622226507,0.0698201732392,0.999999931563,0.000232386540747,-0.00028781073665,5.98838300808e-06,1793245418222628352
+46,0.766666667,BASELINE,764,744,714,679.684173127,658,634,878.684173127,785,807,652,629.315826873,652,0.400960104349,-0.0153629449562,0.0698202583419,0.999999932379,0.000229232531807,-0.000287504474595,5.89790849241e-06,1793245418239294976
+47,0.783333333,BASELINE,764,744,714,679.741481963,658,634,878.741481963,785,807,652,629.258518037,652,0.400960668447,-0.0153631202771,0.0698203742636,0.99999993278,0.000227854078785,-0.000287209777974,5.70649779731e-06,1793245418255962112
+48,0.800000000,BASELINE,764,744,714,679.166091915,658,634,878.166091915,785,807,652,629.833908085,652,0.400960930393,-0.0153626251452,0.0698205279609,0.99999993268,0.000228651968556,-0.000286929257356,5.39136709524e-06,1793245418272629504
+49,0.816666667,BASELINE,764,744,714.421329216,679,658,634,878,785,806.578670784,652,630,652,0.400960951291,-0.0153617698827,0.0698207429689,0.999999932472,0.000229644863289,-0.000286857805175,5.56296118269e-06,1793245418289295872
+50,0.833333333,BASELINE,764,744,714.986668117,679,658,634,878,785,806.013331883,652,630,652,0.400960874966,-0.0153608302984,0.0698209622661,0.999999932233,0.000230642198159,-0.000286885736297,5.92219297148e-06,1793245418305961472
+51,0.850000000,BASELINE,764,744,714.407425485,679,658,634,878,785,806.592574515,652,630,652,0.400960823785,-0.0153625147586,0.0698203075357,0.999999932547,0.000228469003968,-0.000287531029181,5.86230716396e-06,1793245418322628352
+52,0.866666667,BASELINE,764,744,714,679.169386948,658,634,878.338773896,785.169386948,807,652,630,652.169386948,0.40096103308,-0.015363892014,0.0698202009822,0.999999932925,0.000226867987186,-0.000287482189954,5.84421071978e-06,1793245418339294976
+53,0.883333333,BASELINE,764,744,714,679.740436678,658,634,879.480873357,785.740436678,807,652,630,652.740436678,0.400961860034,-0.0153645408028,0.0698213943059,0.999999933466,0.000226623759667,-0.000285787373602,5.9252082896e-06,1793245418355961856
+54,0.900000000,BASELINE,764.322455687,744,714,680,658,634,879.677544313,785.677544313,807,652,630,652.677544313,0.400961242147,-0.0153643873312,0.0698211885885,0.999999933159,0.00022747964037,-0.000286179160164,6.04338697655e-06,1793245418372628992
+55,0.916666667,BASELINE,764.913615425,744,714,680,658,634,879.086384575,785.086384575,807,652,630,652.086384575,0.400959420267,-0.0153635653317,0.0698198170426,0.999999932141,0.000229252247158,-0.000288309724196,6.19254888351e-06,1793245418389296128
+56,0.933333333,BASELINE,765,744.494821196,714.494821196,679.505178804,658,634,879,785,807,652,629.505178804,652,0.40096137485,-0.0153634403752,0.0698212428534,0.999999932837,0.000229230076604,-0.000285907510062,6.05204138666e-06,1793245418405962496
+57,0.950000000,BASELINE,764.926263232,744.926263232,714.926263232,679,657.926263232,634,878.926263232,785.073736768,807,652,629.073736768,652.073736768,0.400963438923,-0.0153634693003,0.0698227642589,0.99999993366,0.00022877568357,-0.000283385335386,5.90479730143e-06,1793245418422629120
+58,0.966666667,BASELINE,764.35133595,744.35133595,714.35133595,679,657.35133595,634,878.35133595,785.64866405,807,652,629.64866405,652.64866405,0.400961854384,-0.0153637333576,0.0698216815181,0.999999933406,0.000227471161914,-0.000285320346443,6.04871000599e-06,1793245418439295488
+59,0.983333333,BASELINE,764.223713467,744,714,679.223713467,657.223713467,634,878.223713467,785.776286533,807,652,630,653,0.400961498247,-0.0153635253218,0.0698212987535,0.999999933342,0.000227071202751,-0.000285863704235,6.01442670229e-06,1793245418455961856
+60,1.000000000,BASELINE,764.798954888,744,714,679.798954888,657.798954888,634,878.798954888,785.201045112,807,652,630,653,0.400963072338,-0.0153625754713,0.0698220158832,0.99999993358,0.000228092610675,-0.000284220314102,5.70013846962e-06,1793245418472628480
+61,1.016666667,BASELINE,764.615635212,744,714,679.615635212,658,633.615635212,878.615635212,785,807,651.615635212,629.615635212,652.615635212,0.400962954248,-0.0153630071755,0.0698219880979,0.999999933663,0.000227446269014,-0.000284446505677,5.72793293388e-06,1793245418489295104
+62,1.033333333,BASELINE,764.02476211,744,714,679.02476211,658,633.02476211,878.02476211,785,807,651.02476211,629.02476211,652.02476211,0.400961926998,-0.0153641811498,0.0698215600908,0.99999993366,0.000225903892678,-0.000285677170647,5.93951876089e-06,1793245418505961728
+63,1.050000000,BASELINE,764,744,714,679,658,633.552784415,878,785,807,651.552784415,629,652,0.400961328531,-0.0153646915454,0.0698212581101,0.999999933501,0.000226008792525,-0.000286148064237,6.07260254398e-06,1793245418522628864
+64,1.066666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.12960023,652,0.400961156139,-0.0153651346628,0.0698212188011,0.999999933484,0.000226187352789,-0.000286066648443,6.15100484235e-06,1793245418539296000
+65,1.083333333,BASELINE,764,744,714,679,658,634,878,785,807,652,629.705906596,652,0.400962387695,-0.0153654459309,0.0698220658685,0.999999933976,0.000226371453254,-0.000284196079751,6.05276637269e-06,1793245418555962624
+66,1.100000000,BASELINE,764,744,714,679,658,634,878.28749038,785,807,652,630,652,0.400962772659,-0.0153647051696,0.0698222602118,0.999999933819,0.000227505877241,-0.000283844659269,5.97029886759e-06,1793245418572628992
+67,1.116666667,BASELINE,764,744,714,679,658,634,878.874573711,785,807,652,630,652,0.400962275393,-0.0153628680913,0.0698217743531,0.999999932983,0.000229630630795,-0.000285076339156,5.90426624827e-06,1793245418589295360
+68,1.133333333,BASELINE,764,744,714,679,658,634,878.544069624,785,807,652,629.544069624,652,0.400961217579,-0.0153622719066,0.0698214021764,0.999999932657,0.000230035985926,-0.000285896408103,5.6834788613e-06,1793245418605961984
+69,1.150000000,BASELINE,764,744,714,679.035582995,658,634,878.035582995,785,807,652,629.035582995,652.035582995,0.40096019006,-0.0153621203074,0.0698211538721,0.999999932542,0.000229858661275,-0.000286444083512,5.45810649405e-06,1793245418622628352
+70,1.166666667,BASELINE,764,744,714,679.612978568,658,634,878.612978568,785,807,652,629.612978568,652.612978568,0.40096194277,-0.0153636048316,0.0698223214471,0.999999933525,0.00022792202049,-0.000284546891688,5.80312617357e-06,1793245418639295232
+71,1.183333333,BASELINE,764,744,714,680,658,634,878.810797001,785,807,652,629.810797001,652.810797001,0.400962393464,-0.0153645139533,0.0698225665825,0.999999933944,0.000226567017958,-0.000284154031745,5.9359447983e-06,1793245418655962112
+72,1.200000000,BASELINE,764,744,714,680,658,634,878.236953343,785,807,652,629.236953343,652.236953343,0.40096019722,-0.0153642533094,0.0698209364424,0.999999933224,0.000226394457865,-0.000286819406323,5.63736887691e-06,1793245418672629504
+73,1.216666667,BASELINE,764,744,714,679.653205082,658,633.653205082,878,785,807.346794918,652,629.346794918,652,0.400960251568,-0.0153637335576,0.0698209641445,0.999999933417,0.000226402240466,-0.000286142246459,5.60852370319e-06,1793245418689295872
+74,1.233333333,BASELINE,764,744,714,679.062490408,658,633.062490408,878,785,807.937509592,652,629.937509592,652,0.400961888881,-0.015363031561,0.0698221578973,0.999999934247,0.000226536867916,-0.00028311409989,5.7693948746e-06,1793245418705962240
+75,1.250000000,BASELINE,764,744,714.519072881,679.519072881,658.519072881,633.519072881,878.519072881,785,807.480927119,652,629.480927119,652.519072881,0.400962179963,-0.0153637192421,0.0698220470266,0.999999934205,0.000226671605185,-0.00028315544212,5.79238157967e-06,1793245418722628608
+76,1.266666667,BASELINE,764,744,714.900281674,679.900281674,658.900281674,634,878.900281674,785,807,652,629,652.900281674,0.400962104773,-0.0153646639587,0.0698217895252,0.999999934059,0.000226584147295,-0.0002837404985,5.81869906254e-06,1793245418739295232
+77,1.283333333,BASELINE,764,744,714.318840171,679.318840171,658.318840171,634,878.318840171,785,807,652,629,652.318840171,0.400961029553,-0.0153660561688,0.0698215692691,0.999999933906,0.000225423237617,-0.00028519793212,5.93990821184e-06,1793245418755962112
+78,1.300000000,BASELINE,764,744,714,679,658,634,878.2554572,785,807,652,629.2554572,652,0.400961016993,-0.0153664439371,0.0698218502074,0.999999933871,0.0002251919776,-0.000285501440017,6.02412680042e-06,1793245418772628480
+79,1.316666667,BASELINE,764,744,714,679,658,634,878.821080408,785,807,652,629.821080408,652,0.400962294673,-0.0153656121518,0.0698227396762,0.999999933981,0.000226089461438,-0.000284403896936,6.0634329076e-06,1793245418789295104
+80,1.333333333,BASELINE,764,744,714,679,658.405628591,634,879,785,807,652,630,652,0.400962557724,-0.0153652767957,0.0698224930082,0.999999933817,0.000226937692988,-0.000284304352075,6.02025025284e-06,1793245418805961984
+81,1.350000000,BASELINE,764,744,714,679,658.998933013,634,879,785,807,652,630,652,0.400962351328,-0.015365171127,0.0698217206738,0.999999933527,0.000227763136616,-0.000284666559936,5.93890178363e-06,1793245418822629120
+82,1.366666667,BASELINE,764,744,714,679,658.422382521,634,879,785,807,652,629.422382521,652,0.400959801088,-0.0153643970387,0.0698206578778,0.999999932823,0.000227972786034,-0.000286960552753,5.95970315852e-06,1793245418839295488
+83,1.383333333,BASELINE,764,744,714,679,658.155284689,634,878.844715311,785,807,652,629.155284689,652,0.40095846026,-0.0153637299044,0.0698199575604,0.999999932409,0.000228068702093,-0.000288328083155,5.85876999661e-06,1793245418855961600
+84,1.400000000,BASELINE,764,744,714,679,658.730273775,634,878.269726225,785,807,652,629.730273775,652,0.400960399653,-0.0153633551006,0.0698202383666,0.999999932788,0.000227860217558,-0.000287182159149,5.42831458504e-06,1793245418872628224
+85,1.416666667,BASELINE,764.305129561,744,714,679,658.694870439,634,878,785,807,652,630,652,0.400961727289,-0.0153637691877,0.0698208838477,0.999999933394,0.000227014996862,-0.000285739204282,5.42010735123e-06,1793245418889295104
+86,1.433333333,BASELINE,764.879867529,744,714,679,658.120132471,634,878,785,807,652,630,652,0.400962514384,-0.0153648803284,0.0698218515505,0.999999934196,0.000225607164602,-0.000284033796977,5.78499299819e-06,1793245418905961728
+87,1.450000000,BASELINE,764.546713901,744,714,679,658,633.546713901,878,785.453286099,806.546713901,652,629.546713901,652.453286099,0.400963184232,-0.0153644500647,0.0698223213808,0.999999934199,0.000226298668089,-0.000283471025651,5.88028918256e-06,1793245418922628352
+88,1.466666667,BASELINE,764.027447826,744,714,679,658,633.027447826,878,785.972552174,806.027447826,652,629.027447826,652.972552174,0.400963746042,-0.0153636483993,0.0698226490972,0.999999934004,0.000227487482472,-0.000283208890956,5.89564173446e-06,1793245418939294976
+89,1.483333333,BASELINE,764.624257746,744,714,679,658,633.624257746,878,785.375742254,806.624257746,652,629.624257746,652.375742254,0.400962709443,-0.0153635919275,0.0698227580146,0.999999934087,0.000227484539802,-0.000282919532789,5.73046717946e-06,1793245418955961600
+90,1.500000000,BASELINE,765,744,714.213417046,679.213417046,658,634,878.213417046,785,807,652,630,652,0.400961605759,-0.0153635419096,0.069822265272,0.999999933894,0.000227583149903,-0.000283524501612,5.56955397389e-06,1793245418972628480
+91,1.516666667,BASELINE,765,744,714.789572753,679.789572753,658,634,878.789572753,785,807,652,630,652,0.400960388054,-0.0153635028614,0.0698207499054,0.999999933229,0.000227854366254,-0.000285649531681,5.41588367515e-06,1793245418989295104
+92,1.533333333,BASELINE,764.6267178,744,714.6267178,679.6267178,658,634,879,785,807,651.6267178,629.6267178,652,0.400960244722,-0.0153633748313,0.0698204905724,0.999999932772,0.000228915973404,-0.000286397366281,5.42497687275e-06,1793245419005961728
+93,1.550000000,BASELINE,764.038662142,744,714.038662142,679.038662142,658,634,879,785,807,651.038662142,629.038662142,652,0.400960719546,-0.0153631956041,0.0698209539168,0.999999932436,0.000230432343665,-0.000286352811209,5.52771845121e-06,1793245419022628352
+94,1.566666667,BASELINE,764,744,714,679.542432759,658,634,879,785,807,651.542432759,629,652.542432759,0.400962195121,-0.0153628643033,0.0698223766521,0.999999933083,0.000230078209252,-0.000284369756034,5.66853114581e-06,1793245419039295232
+95,1.583333333,BASELINE,764.121620981,744,714,679.878379019,658,633.878379019,879,785,807.121620981,652,629.121620981,652.878379019,0.400962926209,-0.0153626504433,0.0698232879445,0.99999993347,0.000229875128629,-0.000283168754106,5.7784731402e-06,1793245419055961600
+96,1.600000000,BASELINE,764.695540282,744,714,679.304459718,658,633.304459718,879,785,807.695540282,652,629.695540282,652.304459718,0.400960626705,-0.0153629131351,0.0698220461418,0.999999932645,0.000230723332484,-0.000285383465741,5.76364604916e-06,1793245419072628224
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+98,1.633333333,BASELINE,764.152434353,744,714,679,658,633.847565647,879,785,807.152434353,652,629.152434353,652.847565647,0.400960332386,-0.0153627967349,0.0698228693633,0.999999933077,0.000229389712505,-0.000284944816631,5.65988065152e-06,1793245419105961728
+99,1.650000000,BASELINE,764,744,714,679,658,634,878.56372211,785,807,652,629.43627789,652.56372211,0.400960920768,-0.0153624464618,0.0698224661443,0.999999932918,0.00022986860815,-0.00028511784563,5.6881303816e-06,1793245419122628352
+100,1.666666667,BASELINE,764,744,714,679.028428159,658,634,878,785,807,652,629.971571841,652,0.400961482332,-0.0153620869412,0.0698215862156,0.99999993252,0.00023083812502,-0.000285727325955,5.74490723356e-06,1793245419139294976
+101,1.683333333,BASELINE,764,744,714,679.6041643,658,634,878,785,807,652,629.3958357,652,0.400961814299,-0.0153627682083,0.0698212919863,0.999999932754,0.000229546958336,-0.000285948929301,5.70418111448e-06,1793245419155961600
+102,1.700000000,BASELINE,764,744,714,679.82076834,658,634,878.17923166,785,807,652,629.17923166,652.17923166,0.400962152909,-0.0153631336353,0.0698213085858,0.999999932992,0.000228842945007,-0.000285683103082,5.61903817114e-06,1793245419172628480
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+105,1.750000000,BASELINE,764,744,714,679,658,634,878.070749132,785,807.929250868,652,630,652.070749132,0.400960319819,-0.015362280544,0.0698211980764,0.999999931838,0.000232775239395,-0.000286546598255,5.59055545388e-06,1793245419222628352
+106,1.766666667,BASELINE,764.508775551,744,714.508775551,679.508775551,658,634,878,785,807.491224449,652,630,652.508775551,0.400960289751,-0.0153627718169,0.0698215046999,0.999999932118,0.000231986619277,-0.000286202345468,5.78717191091e-06,1793245419239295232
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764.586872099,744,714,678.413127901,658,634,878.413127901,785,807,651.586872099,630,652,0.400963143856,-0.0153658501108,0.0698234169364,0.999999934714,0.000225506784009,-0.000282279473869,6.0448919346e-06,1793245419299069440
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.671110285,744.328889715,714,679,658,634,878,785,807,651.328889715,629.328889715,652,0.400964005843,-0.015363553986,0.0698239134327,0.999999933532,0.000231403541411,-0.00028168715055,6.41537962459e-06,1793245419349069568
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+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.354450623,807,652,629.354450623,652,0.402261075095,-0.0154222587448,0.0699163117486,0.99999997136,0.000193746714064,-0.000140101955879,-1.06715110956e-05,1793245419665735936
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785.929523631,807,652,629.929523631,652,0.402459988054,-0.0154276815527,0.0699169192589,0.999999972378,0.000189063520074,-0.00013882106479,-1.50934345238e-05,1793245419682402560
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505324571,744,714,679,658,634,878,785.494675429,807,652,629.494675429,652,0.402697378575,-0.0154378126475,0.0699218379392,0.999999976098,0.000175814158584,-0.000128414915335,-2.0097493079e-05,1793245419699069184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.082969172,785,807.082969172,652,629,652.082969172,0.40294769833,-0.015448671621,0.0699281828256,0.99999998192,0.000149499353715,-0.0001148180359,-2.50481843285e-05,1793245419715736320
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.671222797,785,807.671222797,652,629,652.671222797,0.403244029077,-0.0154599585952,0.0699395463247,0.999999994269,5.09019100311e-05,-8.95513400596e-05,-2.91787132204e-05,1793245419732402944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.743039039,744,714,679,658.256960961,634,879,785,808,652,629,652.743039039,0.403543576765,-0.0154696678807,0.0699469526978,0.999999996602,-2.18475760038e-06,-7.51588055021e-05,-3.3800670093e-05,1793245419749069312
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.160488196,744,714,679,658.839511804,634,879,785,808,652,629,652.160488196,0.403847200553,-0.015477378109,0.0699493450784,0.999999996456,2.39433724068e-06,-7.45446965522e-05,-3.90453051775e-05,1793245419765735936
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.414322288,744,714,679,658.585677712,633.585677712,879,785,807.585677712,652,629,652.414322288,0.404196354971,-0.0154826990092,0.0699510156587,0.999999996214,-2.47494775979e-06,-7.44902672294e-05,-4.49222963889e-05,1793245419782402816
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.98618951,744,714,679,658.01381049,633.01381049,879,785,807.01381049,652,629,652.98618951,0.404562822281,-0.0154871113738,0.0699524117764,0.999999995851,-1.09369538199e-05,-7.46486545834e-05,-5.10397391889e-05,1793245419799069440
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679.560278622,658,633,879,785,807,652,629.560278622,652.439721378,0.404961632813,-0.0154835849902,0.0699584156382,0.99999999652,3.95308467595e-05,-6.50295853044e-05,-3.41971189277e-05,1793245419815736064
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.139465864,714,680,658.139465864,633.139465864,878.860534136,785,807,652,629.860534136,652.139465864,0.405371384031,-0.0154776208856,0.0699625952578,0.999999994652,8.28238525102e-05,-5.78588624757e-05,-2.20863501646e-05,1793245419832402944
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.735150032,714,680,658.735150032,633.735150032,878.264849968,785,807,652,629.264849968,652.735150032,0.405814305856,-0.0154643252209,0.0699604344338,0.999999993068,9.78762112526e-05,-5.94886496229e-05,-2.73130324609e-05,1793245419849069312
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.681097707,744.681097707,714,679.681097707,659,633.681097707,878,785,807,652,629,653,0.406260709115,-0.0154635641671,0.0699475796943,0.999999992498,8.56982331239e-05,-8.08421576236e-05,-3.3532225115e-05,1793245419865735936
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.106897496,744.106897496,714,679.106897496,659,633.106897496,878,785,807,652,629,653,0.406709899491,-0.0154728377219,0.0699261639173,0.99999999088,5.17209515249e-05,-0.00011798553294,-4.05459745813e-05,1793245419882402560
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.530553016,633.469446984,878.469446984,785.469446984,807,652,629.469446984,653,0.407230417472,-0.0154796497859,0.0699201064365,0.99999999087,4.40041525187e-05,-0.000120497522223,-4.24833265063e-05,1793245419899069440
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.047361128,744,714,679,658.047361128,633.952638872,878.952638872,785.952638872,807,652,630,652.952638872,0.407771879479,-0.0154855709437,0.0699193089118,0.999999991854,4.17652622035e-05,-0.00011260165811,-4.32189497985e-05,1793245419915736320
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.637646593,744,714,679,658.637646593,633.362353407,878.362353407,785.362353407,807,652,630,652.362353407,0.408366389594,-0.0154877340307,0.069938534453,0.999999995591,3.34588644742e-05,-7.62100982481e-05,-4.34905198517e-05,1793245419932402944
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.776737877,744,714,679.223262123,659,633.223262123,878.223262123,785,807.223262123,652,630,652.223262123,0.408971599339,-0.0154886462302,0.0699497509377,0.999999997221,2.9661899314e-05,-5.23171140698e-05,-4.4054710933e-05,1793245419949069568
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.198546378,744,714,679.801453622,659,633.801453622,878.801453622,785,807.801453622,652,630,652.801453622,0.40959381871,-0.01548756984,0.0699482350806,0.999999997272,3.30337731584e-05,-4.82936542627e-05,-4.50840942795e-05,1793245419965735936
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.376364595,744.376364595,714,680,659,634,879,785,807.623635405,652,630,653,0.41022111913,-0.0154872074254,0.0699445633222,0.999999996835,3.50535939747e-05,-5.4845671699e-05,-4.57457705666e-05,1793245419982402816
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.949559903,744.949559903,714,680,659,634,879,785,807.050440097,652,630,653,0.410851076811,-0.0154872184051,0.069939764073,0.999999996031,3.6366319576e-05,-6.69284399272e-05,-4.62151438101e-05,1793245419999069696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.461918777,744.461918777,714,680,659,634,879,785,807,652,629.461918777,653,0.41154233756,-0.0154904424706,0.0699528306652,0.999999997618,2.51152825164e-05,-4.45972798475e-05,-4.63053132551e-05,1793245420015736320
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.125733631,744.125733631,714,680,659,634,879,785.125733631,807,652,629.125733631,653,0.412256578426,-0.0154944070374,0.0699722307702,0.999999998762,1.54515733614e-05,-1.18887480351e-05,-4.57823397732e-05,1793245420032402688
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.704919035,744.704919035,714,680,659,634,879,785.704919035,807,652,629.704919035,653,0.41303236334,-0.0154999240853,0.0700082553578,0.999999997871,1.58844497694e-05,4.62697879409e-05,-4.31800545731e-05,1793245420049069568
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.716942109,714,680,659,634,879,785.716942109,807,652,630,653,0.413797782262,-0.0155010567706,0.0700222119706,0.999999996892,1.51867070533e-05,6.44431687934e-05,-4.27974346267e-05,1793245420065736192
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.139890164,714,680,659,634,879,785.139890164,807,652,630,653,0.414552434788,-0.0154976357009,0.0700132479999,0.999999998067,1.3314662955e-05,4.10865442689e-05,-4.47202382011e-05,1793245420082402560
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879.435660492,785.435660492,807.435660492,652,630,653,0.415281123961,-0.0154916883345,0.0699645401136,0.999999997676,1.73092470076e-05,-4.26484626721e-05,-5.02925145285e-05,1793245420099071744
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.98900239,744,714,680,659,634,879.98900239,785.98900239,808,652,630,653,0.416003455369,-0.015485202704,0.0699044003427,0.99999998782,2.28095430933e-05,-0.000143531951786,-5.69131272052e-05,1793245420115741696
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.399628511,744,714,680,659,634,879.399628511,785.399628511,808,652,630,653,0.41682836345,-0.0154929240884,0.0699118936835,0.999999989851,8.7676796844e-06,-0.000130168048108,-5.72501223593e-05,1793245420132404992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,879,785,808,652,630,653,0.4176710311,-0.0154995999749,0.0699279477574,0.999999993017,-2.63649430373e-06,-0.000103748932273,-5.65249237582e-05,1793245420149069568
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,879,785,808,652,630,653,0.418551102665,-0.0155040739061,0.0699620318506,0.999999997288,-8.48534975974e-06,-4.98338388249e-05,-5.35626065808e-05,1793245420165736192
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.341495324,744,714,680,659,633.658504676,879,785,808,652,630,653,0.419457133705,-0.0155076931802,0.0699919757612,0.999999998591,-1.1172653775e-05,-5.29950222302e-06,-5.16184890669e-05,1793245420182402560
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.915414467,744,714,680,659,633.084585533,879,785,808,652,630,653,0.420380832887,-0.0155107307693,0.0700191018365,0.999999998123,-1.17081861938e-05,3.28502313281e-05,-5.03673646423e-05,1793245420199069184
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680.501071163,659.501071163,633.501071163,880.002142326,785.501071163,808,652,630,653,0.421265130321,-0.0155135349564,0.0700292782712,0.999999997358,-2.13382368558e-05,4.79271975879e-05,-5.03203477465e-05,1793245420215735808
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714.087563945,680.912436055,659.912436055,634,880.912436055,785.912436055,808,651.912436055,630,653,0.422133015985,-0.0155152536376,0.0700253637186,0.999999997391,-3.01980852062e-05,4.06313832175e-05,-5.15317131218e-05,1793245420232402944
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714.667351117,680.332648883,659.332648883,634,880.332648883,785.332648883,808,651.332648883,630,653,0.422946932104,-0.0155110971581,0.0699587092916,0.999999995494,-2.58913360024e-05,-7.00089724104e-05,-5.86468032447e-05,1793245420249069568
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.246050354,714.753949646,680.246050354,659.246050354,634,880,785.246050354,808,651,630,653,0.423789065468,-0.0155072295398,0.0698985965594,0.999999984481,-2.81490995482e-05,-0.000160973374299,-6.58203062635e-05,1793245420265736192
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.823285307,714.176714693,680.823285307,659.823285307,634,880,785.823285307,808,651,630,653,0.42466917945,-0.0155037507291,0.0698472889609,0.999999971145,-3.92427188689e-05,-0.000225453892879,-7.3072434819e-05,1793245420282403072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.601458982,714,681,659.601458982,633.601458982,879.601458982,785.601458982,808.398541018,651.398541018,630,653,0.425633313121,-0.0155077128896,0.0698758189523,0.999999980609,-3.73781428303e-05,-0.000180349169659,-6.97033473023e-05,1793245420299069440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.027076572,714,681,659.027076572,633.027076572,879.027076572,785.027076572,808.972923428,651.972923428,630,653,0.4266345173,-0.0155149581019,0.0699395743121,0.999999993881,-2.9796244447e-05,-8.6894031873e-05,-6.16480426066e-05,1793245420315736064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.438422143,659.561577857,633.561577857,879,785.561577857,809,651.438422143,630.561577857,653,0.427597283928,-0.0155162233927,0.0699915403768,0.999999997604,-3.20475546948e-05,-1.97471989453e-05,-5.8088417203e-05,1793245420332403456
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.14826515,714,680.14826515,660.14826515,634,879.14826515,786,809,651.14826515,630.85173485,653.14826515,0.428559255299,-0.0155175554091,0.0700356813682,0.999999996946,-3.53858478352e-05,4.20301235835e-05,-5.55790583145e-05,1793245420349070592
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.727187695,714,680.727187695,660.727187695,634,879.727187695,786,809,651.727187695,630.272812305,653.727187695,0.429524440156,-0.0155199405539,0.0700587874296,0.999999993411,-4.04684078893e-05,9.19914297078e-05,-5.54743212467e-05,1793245420365736448
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.694975345,714,680.694975345,660.694975345,633.694975345,880,786,809,652,630,653.694975345,0.430419254973,-0.0155187377325,0.0700352845699,0.999999996012,-4.16122762206e-05,5.37294875738e-05,-5.7944926594e-05,1793245420382402816
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.118105914,714,680.118105914,660.118105914,633.118105914,880,786,809,652,630,653.118105914,0.43125135439,-0.0155143372354,0.0699702427989,0.999999995269,-3.92458939961e-05,-6.31589844622e-05,-6.27107340436e-05,1793245420399069440
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,714,680.457168779,660,633,880,786,809,652,630,652.542831221,0.432117730312,-0.0155112586926,0.0699168866882,0.999999986239,-3.74601418854e-05,-0.000146767389506,-6.76635023411e-05,1793245420415736576
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,714,681.032906803,660,633,879.967093197,785.967093197,809.032906803,652,630,652.032906803,0.432997708667,-0.0155089077943,0.0698728795465,0.999999974442,-3.65050156259e-05,-0.000211148126467,-7.21168324158e-05,1793245420432403456
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,714,681.623452979,660,633,879.376547021,785.376547021,809.623452979,652,630,652.623452979,0.433958656582,-0.0155131203535,0.069936319833,0.999999992125,-4.70926092549e-05,-9.48856387282e-05,-6.7291023292e-05,1793245420449069824
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.209958507,714,681.790041493,660,633.209958507,879.209958507,785.209958507,809.790041493,652,630.209958507,653,0.434902883256,-0.0155164547871,0.06998959768,0.999999996672,-5.18081717151e-05,-1.70664663608e-06,-6.30009003738e-05,1793245420465736448
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.789354318,714,681.210645682,660,633.789354318,879.789354318,785.789354318,809.210645682,652,630.789354318,653,0.435817687847,-0.0155182440957,0.0700249939838,0.999999995861,-4.61914696705e-05,5.08552689208e-05,-5.96533567986e-05,1793245420482402816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.366034886,660.366034886,633.633965114,880,786,809,652,630.633965114,653,0.43670702299,-0.0155220667246,0.0700344941038,0.999999994185,-5.33808620465e-05,7.22540792288e-05,-5.96680855604e-05,1793245420499069440
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.941164356,660.941164356,633.058835644,880,786,809,652,630.058835644,653,0.437581808856,-0.0155270508719,0.070029201228,0.999999992922,-6.78856367464e-05,7.58512046766e-05,-6.16034865271e-05,1793245420515736320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.485770228,633.514229772,880,785.485770228,809.514229772,652,630,653,0.438378783166,-0.0155254608126,0.0699808496845,0.999999995456,-6.92303328397e-05,6.72475998787e-06,-6.51893509798e-05,1793245420532402944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.090208374,660,633.909791626,880,785,810,652,630.090208374,653,0.439152297318,-0.0155230711909,0.0699251734722,0.999999992217,-6.90339639773e-05,-7.75597846939e-05,-6.91793386284e-05,1793245420549069824
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.683754162,660,633.316245838,880,785,810,652,630.683754162,653,0.439844386979,-0.0155204004577,0.0698560065979,0.999999974845,-6.86067467709e-05,-0.000200180855442,-7.43747712943e-05,1793245420565736960
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.730364022,660,633,880,785,809.730364022,652,630.730364022,653,0.440586828791,-0.0155250975698,0.0698275232462,0.9999999632,-7.54240755742e-05,-0.000249057863699,-7.66856630549e-05,1793245420582403840
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.153222596,660,633,880,785,809.153222596,652,630.153222596,653,0.441386694497,-0.0155381973166,0.0698454372862,0.999999970176,-9.05034234255e-05,-0.000213833697492,-7.57068903681e-05,1793245420599070464
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.577035637,714,682,660,633,880,785,809.422964363,652,630,653,0.442151381517,-0.0155515861969,0.0698710780362,0.999999974291,-0.000111405235101,-0.000183293043558,-7.3550477167e-05,1793245420615736832
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.001193617,714,682,660,633,880,785,809.998806383,652,630,653,0.4429033535,-0.0155650795836,0.0698995115558,0.999999976522,-0.000134411538757,-0.000154445210974,-7.09684134873e-05,1793245420632403200
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.587230768,714,682,659.412769232,632.412769232,880,785,810,651.412769232,630,653,0.443567173339,-0.0155841238353,0.0698665264643,0.999999962888,-0.000156821138976,-0.000211951847309,-6.86058083323e-05,1793245420649069568
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+251,4.183333333,HOLD_POSE2,764,745,714,682.308808998,655.308808998,628,880.308808998,775,810,652,628,653,0.454199462785,-0.0157441290484,0.0695993453517,0.999999745109,-0.000355321800039,-0.00061590683904,-6.47070757302e-05,1793245421704151040
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+256,4.266666667,HOLD_POSE2,764,745,714,682,655.212962676,628,880,775,810,652,628,653.787037324,0.454200027636,-0.0157423421996,0.0695988165672,0.999999745679,-0.000353065334825,-0.000616238369059,-6.50862288886e-05,1793245421787484160
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..548e2304a065238a4ef01558f50a820f55368bc0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.575671195533,-0.0101221390178,1.06005102976,0.546242829459,-0.00144645088236,1.059717519
+394,6.566666667,pose2_to_pose3_retreat,0.575670964689,-0.0101221330749,1.06005107497,0.546242598557,-0.00144644514507,1.05971756394
+395,6.583333333,pose2_to_pose3_retreat,0.575670734099,-0.0101221271385,1.06005112014,0.54624236791,-0.00144643941409,1.05971760883
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+398,6.633333333,pose2_to_pose3_retreat,0.575670323346,-0.010122187831,1.06005105727,0.546241957243,-0.0014464998733,1.05971754442
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+400,6.666666667,pose2_to_pose3_retreat,0.575670131224,-0.0101222290487,1.06005100205,0.546241765195,-0.00144654087396,1.0597174883
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+404,6.733333333,pose2_to_pose3_retreat,0.5756697831,-0.010122275251,1.06005090532,0.546241416929,-0.00144658757727,1.05971739115
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74ca0987b11b46643b1ff4b497781b359fc6e2c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f7a48ec7a3454ad97bc46fe45cfe0fe416a463a2ec9a39cae879f665b58421f
+size 25648965
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..422e005f819a90560550cafc3dda2d0fad542553
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+50,0.833333333,BASELINE,763.013888482,745,714,679,658.986111518,634,878,785,807,652,629.013888482,652,0.401034337593,-0.0154973009544,0.0798668094273,0.999999981452,0.00011718997739,-0.00014708267285,4.15777795553e-05,1793245426405872640
+51,0.850000000,BASELINE,763.590057394,745,714,679,658.409942606,634,878,785,807,652,629.590057394,652,0.401034440563,-0.0154964218692,0.0798665195115,0.999999981535,0.00011654951331,-0.00014716669324,4.109176182e-05,1793245426422539264
+52,0.866666667,BASELINE,764,745,714.170391592,679,658,634,878,785,807,652,630,652,0.401035253439,-0.0154959377755,0.07986676967,0.999999981671,0.000116519499047,-0.000146323590752,4.08649123097e-05,1793245426439205888
+53,0.883333333,BASELINE,764,745,714.760998064,679,658,634,878,785,807,652,630,652,0.401037817067,-0.0154964277988,0.079868351744,0.999999981934,0.00011799495873,-0.000143194044294,4.12772161048e-05,1793245426455872512
+54,0.900000000,BASELINE,764,745,714.656637682,679,658,634,878,785.343362318,807,652,629.656637682,652,0.40103796545,-0.0154968421401,0.0798687451003,0.999999981972,0.000117832800171,-0.000142996866717,4.15213158552e-05,1793245426472539136
+55,0.916666667,BASELINE,764,745,714.079876071,679,658,634,878,785.920123929,807,652,629.079876071,652,0.401036472078,-0.0154972050369,0.0798683304299,0.999999981857,0.000116557476479,-0.000144792956404,4.1651079498e-05,1793245426489205760
+56,0.933333333,BASELINE,764,745,714,679,658,634,878,785.503525736,807,652,629.496474264,652.496474264,0.401035497851,-0.015497178543,0.0798676475497,0.999999981871,0.000115139250736,-0.000145923538568,4.13235389685e-05,1793245426505872384
+57,0.950000000,BASELINE,764,744.92576646,714,679,658,633.92576646,878,785,807,652,630,652.92576646,0.40103466758,-0.015497015676,0.0798669088453,0.999999981849,0.00011420008168,-0.000146917075363,4.09374294685e-05,1793245426522539264
+58,0.966666667,BASELINE,764,744.337799343,714,679,658,633.337799343,878,785,807,652,630,652.337799343,0.401034256007,-0.015496342233,0.0798660821917,0.999999981452,0.000116735205315,-0.000147702562397,4.06547419821e-05,1793245426539205632
+59,0.983333333,BASELINE,764,744.246341151,714,679.246341151,658,633.246341151,878.246341151,785,807,652,630,652.246341151,0.401034398735,-0.0154964170439,0.0798660641418,0.999999981357,0.000117479748049,-0.000147722487415,4.07846661693e-05,1793245426555872512
+60,1.000000000,BASELINE,764,744.825314672,714,679.825314672,658,633.825314672,878.825314672,785,807,652,630,652.825314672,0.401035289933,-0.0154975022158,0.0798671379425,0.999999981673,0.000115806484913,-0.000146708680635,4.1471736366e-05,1793245426572539136
+61,1.016666667,BASELINE,764,745,714,679.596879274,658.403120726,634,878.596879274,785,807,652,629.596879274,653,0.401035033078,-0.0154975225619,0.0798669615698,0.999999981619,0.000115990448223,-0.000146914543431,4.15296838823e-05,1793245426589205760
+62,1.033333333,BASELINE,764,745,714,679.019577694,658.980422306,634,878.019577694,785,807,652,629.019577694,653,0.401034280171,-0.0154970828167,0.0798662450207,0.999999981405,0.000116976884111,-0.00014764740248,4.13157993278e-05,1793245426605872640
+63,1.050000000,BASELINE,764,745,714,679,658.44348082,633.44348082,878,785,807,652,629,652.44348082,0.401034717023,-0.015497630029,0.0798670998938,0.999999981556,0.000116746818279,-0.000146750549361,4.1507848358e-05,1793245426622539008
+64,1.066666667,BASELINE,764,745,714,679,658,633.135376423,878,785,807,651.864623577,629.135376423,652.135376423,0.401035018993,-0.0154979554933,0.0798676853023,0.999999981704,0.000116203505365,-0.00014615604601,4.15631717246e-05,1793245426639205888
+65,1.083333333,BASELINE,764,745,714,679,658,633.723608981,878,785,807,651.276391019,629.723608981,652.723608981,0.401034730048,-0.0154974232816,0.0798671847837,0.999999981801,0.000114755177441,-0.000146764320316,4.11134588795e-05,1793245426655872512
+66,1.100000000,BASELINE,764,744.692834875,714,679,658,633.692834875,878,785.307165125,807,651.307165125,629.692834875,653,0.401035048559,-0.0154975635262,0.0798670199244,0.999999981858,0.000114175727907,-0.000146868207802,4.09686071974e-05,1793245426672539136
+67,1.116666667,BASELINE,764,744.113423553,714,679,658,633.113423553,878,785.886576447,807,651.886576447,629.113423553,653,0.401035905469,-0.0154982997814,0.0798671525663,0.999999981881,0.000114366381616,-0.000146525047783,4.10939596901e-05,1793245426689205760
+68,1.133333333,BASELINE,764,744,714,679,658,633,878,786,807,652,629.462629185,652.537370815,0.401035110156,-0.015498011826,0.0798666852364,0.999999981559,0.00011619158834,-0.000147231983134,4.12831657966e-05,1793245426705872640
+69,1.150000000,BASELINE,764,744,714,679,658.037841976,633.037841976,878.037841976,785.962158024,807,651.962158024,630,652.037841976,0.401033984491,-0.0154975256702,0.0798661328107,0.999999981182,0.000118236467736,-0.000148104458113,4.14868363109e-05,1793245426722539008
+70,1.166666667,BASELINE,764,744,714,679,658.612735525,633.612735525,878.612735525,785.387264475,807,651.387264475,630,652.612735525,0.401033877917,-0.0154977646829,0.0798664452441,0.999999981291,0.000117752551431,-0.000147698827624,4.16752097593e-05,1793245426739205888
+71,1.183333333,BASELINE,764,744,714,678.806969932,658.806969932,634,878.806969932,785.193030068,807,651.193030068,630,653,0.40103407504,-0.0154979394846,0.0798668628231,0.999999981438,0.000117208568451,-0.000147109940061,4.17701281521e-05,1793245426755872512
+72,1.200000000,BASELINE,764,744,714,678.21552768,658.21552768,634,878.21552768,785.78447232,807,651.78447232,630,653,0.401034898993,-0.0154979817557,0.0798674974211,0.999999981662,0.000116540608347,-0.000146142811608,4.1672156254e-05,1793245426772539136
+73,1.216666667,BASELINE,764,744,714,678.367445682,658,633.632554318,878,785.632554318,807,652,630,653,0.401034619892,-0.0154980960337,0.0798670707987,0.999999981604,0.000116270396164,-0.000146780354293,4.15891606112e-05,1793245426789205760
+74,1.233333333,BASELINE,764,744,714,678.945563436,658,633.054436564,878,785.054436564,807,652,630,653,0.401033708363,-0.0154982515962,0.0798660357338,0.999999981382,0.000116228229642,-0.000148337922531,4.15147514915e-05,1793245426805872384
+75,1.250000000,BASELINE,764,744.519959147,714,679,658,633,878,785,807,651.480040853,629.480040853,652.480040853,0.401034283941,-0.0154981486509,0.0798662928416,0.999999981597,0.000115229897585,-0.000147732252724,4.12818170055e-05,1793245426822539264
+76,1.266666667,BASELINE,764,744.903500927,714,679,658.096499073,633,878,785,807,651.096499073,629.096499073,652.096499073,0.401034788506,-0.0154978785145,0.0798666594129,0.999999981769,0.000114627053862,-0.000147087441738,4.10792874805e-05,1793245426839205632
+77,1.283333333,BASELINE,764,744.314030633,714,679,658.685969367,633,878,785,807,651.685969367,629.685969367,652.685969367,0.401034140588,-0.0154968915489,0.0798668989969,0.9999999815,0.000116552341913,-0.000147391428249,4.11162658301e-05,1793245426855872512
+78,1.300000000,BASELINE,764,744.270533293,714,679,658.729466707,633.270533293,878,785,807,651.729466707,630,653,0.401034785819,-0.0154966856111,0.0798675132845,0.9999999816,0.000116848435315,-0.000146467405427,4.11619957706e-05,1793245426872539136
+79,1.316666667,BASELINE,764,744.849503395,714,679,658.150496605,633.849503395,878,785,807,651.150496605,630,653,0.401036905377,-0.0154973701285,0.0798685547741,0.999999982116,0.000115287072917,-0.000144143320967,4.12177034558e-05,1793245426889205760
+80,1.333333333,BASELINE,764,745,714,679,658,634,878,785,807,651.427016694,629.572983306,652.572983306,0.401036497939,-0.0154973996912,0.0798681605785,0.999999981942,0.000115990448445,-0.000144798644706,4.11654649892e-05,1793245426905872640
+81,1.350000000,BASELINE,764,744.996009543,714.003990457,679.003990457,658,634,877.996009543,785,807,652,629.003990457,652.003990457,0.401035201635,-0.0154972036588,0.0798672614914,0.999999981525,0.000117473666397,-0.00014650279441,4.10759318424e-05,1793245426922539264
+82,1.366666667,BASELINE,764,744.42301382,714.57698618,679.57698618,658,634,877.42301382,785,807,652,629.57698618,652.57698618,0.401033721917,-0.0154976422324,0.0798662735742,0.999999981311,0.000116729320174,-0.00014854081526,4.10748377083e-05,1793245426939206144
+83,1.383333333,BASELINE,764,744,714.845090059,679.845090059,658,634,877.154909941,785,807,652,630,653,0.40103279789,-0.015497827309,0.0798657670961,0.999999981213,0.00011624338063,-0.000149593553389,4.10366257808e-05,1793245426955872768
+84,1.400000000,BASELINE,764,744,714.253266961,679.253266961,658,634,877.746733039,785,807,652,630,653,0.401033441149,-0.0154972974146,0.0798666184848,0.999999981447,0.000116486259721,-0.000147867367801,4.08937255926e-05,1793245426972539392
+85,1.416666667,BASELINE,764,744,714,679,658,634,878,785,807,651.66953788,630,653,0.401033964103,-0.0154976917628,0.0798671251834,0.999999981643,0.000115946836023,-0.000146963461932,4.08959446304e-05,1793245426989206016
+86,1.433333333,BASELINE,764,744,714,679,658,634,878,785,807,651.091863803,630,653,0.401034397059,-0.0154987775181,0.0798673740265,0.99999998181,0.000114822187585,-0.000146674686818,4.10067244033e-05,1793245427005872640
+87,1.450000000,BASELINE,763.515785228,743.515785228,714,679,658,633.515785228,877.515785228,785.484214772,807,651,630,652.515785228,0.401034375512,-0.0154987053604,0.0798668898265,0.999999981858,0.0001141147702,-0.000147033240216,4.05333879606e-05,1793245427022539264
+88,1.466666667,BASELINE,763.061289677,743.061289677,714,679,658,633.061289677,877.061289677,785.938710323,807,651.061289677,629.938710323,652.061289677,0.401034172247,-0.0154984182629,0.0798663152683,0.999999981849,0.000113611586544,-0.00014761037889,4.00714737332e-05,1793245427039205888
+89,1.483333333,BASELINE,763.64952456,743.64952456,714,679,658,633.64952456,877.64952456,785.35047544,807,651.64952456,629.35047544,652.64952456,0.401033145553,-0.0154981656817,0.0798661555957,0.999999981552,0.000114186009722,-0.000149014430779,4.06573948268e-05,1793245427055872512
+90,1.500000000,BASELINE,764,744,714,679,658,634,878,785,807,652,629.234036964,653,0.401033261613,-0.0154982033648,0.0798665348912,0.999999981477,0.000114830394783,-0.000148910208895,4.10608562061e-05,1793245427072539136
+91,1.516666667,BASELINE,764,744,714,679,658,634,878,785,807,652,629.813062098,653,0.401035062177,-0.0154986689192,0.0798677086663,0.999999981729,0.000115577908902,-0.000146582677361,4.11953581255e-05,1793245427089205760
+92,1.533333333,BASELINE,764,744,714,679,658,634,878,785,807,652,630,652.610434353,0.401036116301,-0.0154978807151,0.0798684430376,0.999999981747,0.000117341733921,-0.000145066562622,4.11509853396e-05,1793245427105873152
+93,1.550000000,BASELINE,764,744,714,679,658,634,878,785,807,652,630,652.035132986,0.40103681454,-0.0154964947484,0.0798689679116,0.999999981649,0.000119590112096,-0.000143937312084,4.10213293209e-05,1793245427122541056
+94,1.566666667,BASELINE,763.457857735,744,714,679,658,634,878,785.542142265,807,652,629.457857735,652,0.40103560957,-0.0154968219189,0.0798678797636,0.999999981598,0.000118334655668,-0.000145349204125,4.09104812444e-05,1793245427139207424
+95,1.583333333,BASELINE,763.121909689,744,714,679,658.243819377,634,878,785.878090311,807,652,629.121909689,652.121909689,0.401034540105,-0.015497311795,0.0798669453547,0.999999981572,0.000116917918317,-0.000146683103528,4.08615287914e-05,1793245427155873536
+96,1.600000000,BASELINE,763.710730532,744,714,679,659.421461064,634,878,785.289269468,807,652,629.710730532,652.710730532,0.401034463722,-0.0154979980791,0.0798670015742,0.999999981641,0.00011575630021,-0.000147085282889,4.10449498989e-05,1793245427172540160
+97,1.616666667,BASELINE,764,744,714,678.705539829,659.411079658,634,878.294460171,785,807,652,630,653,0.401034522966,-0.0154975451769,0.0798670458755,0.999999981611,0.000115994206772,-0.000147090381538,4.10774073112e-05,1793245427189206784
+98,1.633333333,BASELINE,764,744,714,678.126726676,658.253453353,634,878.873273324,785,807,652,630,653,0.40103471318,-0.0154959921903,0.0798670786677,0.999999981486,0.000117583600131,-0.000146712029038,4.09640827657e-05,1793245427205873152
+99,1.650000000,BASELINE,764,744.449693952,714,678.449693952,658,634,879,785,807,652,629.550306048,653,0.401034630887,-0.0154962778698,0.0798673416833,0.999999981429,0.000117913704155,-0.000146761197116,4.12280036495e-05,1793245427222539776
+100,1.666666667,BASELINE,764,745,714,679,658,634,878.974039633,785.025960367,807,652,629.025960367,652.974039633,0.401034394422,-0.0154970451661,0.0798675675741,0.999999981379,0.000117867333666,-0.000147045148372,4.15620612573e-05,1793245427239206400
+101,1.683333333,BASELINE,764,745,714,679,658,634,878.386603221,785.613396779,807,652,629.613396779,652.386603221,0.401032475651,-0.0154970816646,0.0798655947471,0.999999981051,0.000117313205109,-0.000149815103402,4.11259197978e-05,1793245427255872768
+102,1.700000000,BASELINE,764.198009044,745,714,679,658,634,878,785.801990956,807,652,630,652,0.401032056703,-0.0154971260253,0.0798649234716,0.999999981012,0.000116900298213,-0.000150461234098,4.08898371173e-05,1793245427272539392
+103,1.716666667,BASELINE,764.777184767,745,714,679,658,634,878,785.222815233,807,652,630,652,0.401034524913,-0.0154971855207,0.0798667576782,0.999999981534,0.000116759242555,-0.00014701901047,4.10388668988e-05,1793245427289206272
+104,1.733333333,BASELINE,764.289935685,745,714,679,658,634,878,785.355032157,807,652,629.644967843,652.355032157,0.401035248416,-0.0154978395231,0.0798670025434,0.99999998184,0.000115000528314,-0.00014632038963,4.10573237653e-05,1793245427305873152
+105,1.750000000,BASELINE,763.13590188,745,714,679,658,634,878,785.93204906,807,652,629.06795094,652.93204906,0.401034881037,-0.0154988652425,0.0798662536691,0.999999982008,0.000112230368981,-0.000147337212962,4.09941396041e-05,1793245427322540032
+106,1.766666667,BASELINE,763.507756131,744.492243869,714.507756131,679,658,634,878,786,807,652,629,653,0.401034430509,-0.0154975271922,0.0798662728517,0.999999981619,0.000115437875689,-0.000147534679926,4.08537535611e-05,1793245427339206400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,715,679,658,634,878,785,807,651,629,653,0.401034246509,-0.0154975063251,0.0798669867654,0.999999981881,0.000113635757888,-0.000147154856159,4.08613529373e-05,1793245427381768960
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,715,679,658,634,878.579707959,785,806.420292041,651.579707959,629,653,0.401035239739,-0.0154975311915,0.0798675076147,0.999999981964,0.000114811744138,-0.000145662389151,4.09070560232e-05,1793245427398436096
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841942015,744,715,679.158057985,658,634,879,785,806.158057985,651.841942015,629.158057985,652.841942015,0.401035680333,-0.0154973402965,0.0798677898567,0.999999981918,0.000116152142938,-0.000144906370302,4.09295189153e-05,1793245427415103232
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.267171981,744,715,679.732828019,658,634,879,785,806.732828019,651.267171981,629.732828019,652.267171981,0.401034663929,-0.015496580557,0.0798674430223,0.999999981539,0.000117926007538,-0.000146091960206,4.0890710198e-05,1793245427431770112
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.30823854,744,714.69176146,679.69176146,658.30823854,634,878.69176146,785,807,651.30823854,630,652,0.401034646839,-0.0154966701823,0.0798672634488,0.999999981391,0.000118708823482,-0.000146483596697,4.0858537584e-05,1793245427448436736
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.884205338,744,714.115794662,679.115794662,658.884205338,634,878.115794662,785,807,651.884205338,630,652,0.401035497728,-0.0154974975445,0.0798672291537,0.999999981445,0.000118630839333,-0.000146185625108,4.08321289251e-05,1793245427465103104
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.527640795,744.472359205,714,678.527640795,658.527640795,634,878,785,807,652,630,652.472359205,0.401034224738,-0.0154972477771,0.0798664774141,0.999999981331,0.000117949437235,-0.000147512510558,4.08140936173e-05,1793245427481769728
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.062087536,745,714,678.062087536,658,634,878,785.062087536,807.062087536,651.937912464,629.937912464,653,0.40103264366,-0.0154968015341,0.0798656963593,0.999999981162,0.000117137467907,-0.000149294999366,4.08114369583e-05,1793245427498436096
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.639432231,745,714,678.639432231,658,634,878,785.639432231,807.639432231,651.360567769,629.360567769,653,0.401032941051,-0.0154969741077,0.0798661702432,0.999999980906,0.000116502039474,-0.000151465337538,4.09189200333e-05,1793245427515102464
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.783928622,714.216071378,679,658,633.783928622,878,785.783928622,807.783928622,651.216071378,629.216071378,652.783928622,0.401035448625,-0.015497133415,0.0798679044751,0.999999980659,0.000116389302153,-0.00015315152081,4.09990704329e-05,1793245427531769088
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.208463079,714.791536921,679,658,633.208463079,878,785.208463079,807.208463079,651.791536921,629.791536921,652.208463079,0.401041632426,-0.0154972706565,0.0798717350593,0.999999980434,0.000117145963413,-0.000154032403104,4.10337580492e-05,1793245427548435968
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.375840356,714.624159644,679,658,633.375840356,878,785.375840356,807,652,630,652.375840356,0.401061252032,-0.0154973603981,0.0798794968693,0.999999981124,0.000118266836575,-0.000148474655008,4.14805692855e-05,1793245427565102848
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.965163907,714.034836093,679,658,633.965163907,878,785.965163907,807,652,630,652.965163907,0.401088503385,-0.0154974231592,0.0798894916773,0.999999982263,0.000119594587851,-0.000139259664322,4.21614731774e-05,1793245427581769728
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.454818124,744.454818124,714,679,658,634,878,785.454818124,807,652,629.454818124,653,0.401141387987,-0.0155010420549,0.0799041739301,0.999999984749,0.000117699995409,-0.000121868663376,4.23937427344e-05,1793245427598436352
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.123671153,744,714,679,658,634,878,785,807,651.876328847,629.123671153,653,0.401200577579,-0.0155044851272,0.0799189162788,0.999999987,0.000116074491131,-0.000103569651242,4.24163003956e-05,1793245427615103232
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.698714974,744,714,679,658,634,878,785,807,651.301285026,629.698714974,653,0.401276901315,-0.0155064710611,0.0799328031361,0.999999988866,0.000116169983612,-8.38313532495e-05,4.1776327552e-05,1793245427631769600
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.273535074,744,714,679,658,633.726464926,878,785,807,651.273535074,629.726464926,652.726464926,0.401361279646,-0.0155096544556,0.0799431485984,0.999999990202,0.000115235241299,-6.84254419345e-05,4.04242235888e-05,1793245427648435968
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.848108926,744,714,679,658,633.151891074,878,785,807,651.848108926,629.151891074,652.151891074,0.40145452245,-0.0155141557139,0.0799495965807,0.999999991194,0.000113166675045,-5.77875360285e-05,3.828838442e-05,1793245427665102592
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.564012996,744,714.435987004,679,658,633.435987004,878,785,807,652,629,652,0.401558078433,-0.0155168382475,0.0799524479093,0.999999991611,0.000111696397796,-5.5419011761e-05,3.5093475467e-05,1793245427681769216
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714.97222935,679.02777065,658,634,878,785,807,652,629,652.02777065,0.401666934175,-0.0155189141203,0.0799540343484,0.999999991843,0.00011050355865,-5.57888327678e-05,3.14882642092e-05,1793245427698435840
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714.397679506,679.602320494,658,634,878,785,807,652,629,652.602320494,0.401807168822,-0.0155219133732,0.0799561635827,0.999999992188,0.000110540164183,-5.1566025303e-05,2.72977825622e-05,1793245427715102976
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679.822369006,658,634,878.177630994,785,807,652,629.177630994,652.822369006,0.401956362678,-0.0155243904377,0.0799588382805,0.999999992659,0.000109455695578,-4.6692117051e-05,2.28282444267e-05,1793245427731769856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679.245348307,658,634,878.754651693,785,807,652,629.754651693,652.245348307,0.402125700612,-0.0155256934011,0.079962739411,0.999999993426,0.00010585057752,-4.0354259054e-05,1.77312696878e-05,1793245427748435712
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658.329614831,633.670385169,878.670385169,785,807,651.670385169,629.670385169,652.329614831,0.402306022539,-0.0155254940748,0.0799627939451,0.999999994047,9.95103693587e-05,-4.32529774348e-05,1.15615414068e-05,1793245427765102336
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.903055989,633.096944011,878.096944011,785,807,651.096944011,629.096944011,652.903055989,0.402494469683,-0.0155241834583,0.0799600030328,0.999999994432,9.11469297216e-05,-5.29842775368e-05,4.59826348278e-06,1793245427781769984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.504107434,633.495892566,878,785.495892566,807,651.495892566,629.495892566,653,0.402709976543,-0.0155228872701,0.0799547315765,0.999999996413,5.4476971749e-05,-6.47461277341e-05,-3.75280947117e-06,1793245427798436352
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.089238486,785.910761514,807,652,630,652.910761514,0.402939949935,-0.0155212651004,0.0799498022999,0.999999996947,1.80007190211e-05,-7.50432283929e-05,-1.22726015653e-05,1793245427815102464
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878.663890763,785.336109237,807,652,630,652.336109237,0.403218667937,-0.0155178537824,0.0799494794713,0.999999996878,1.39042642998e-05,-7.51256504427e-05,-2.01743069535e-05,1793245427831769344
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.238644116,714,679,658,633.761355884,878.761355884,785.238644116,807,652,630,652.238644116,0.403511791742,-0.0155149375451,0.0799492461339,0.999999996715,1.26198993183e-05,-7.63010992194e-05,-2.42558482402e-05,1793245427848435712
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.813539851,714,679,658,633.186460149,878.186460149,785.813539851,807,652,630,652.813539851,0.403825213429,-0.015512718881,0.0799491388903,0.999999996498,1.5297793303e-05,-7.90166320908e-05,-2.2954744857e-05,1793245427865102336
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,678.602659654,658.397340346,633.397340346,878,786,807,652,630,652.602659654,0.404166954473,-0.0155136088592,0.0799514854118,0.999999996872,1.44022781439e-05,-7.37872897102e-05,-2.45581542518e-05,1793245427881769216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,678.014584637,658.985415363,633.985415363,878,786,807,652,630,652.014584637,0.404522289603,-0.0155159910741,0.0799550098104,0.999999997455,1.17914248467e-05,-6.4744181077e-05,-2.75558124549e-05,1793245427898436096
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.433231925,714,678.566768075,658.433231925,634,878.566768075,786,807,652,630,652.566768075,0.404934677423,-0.0155187429885,0.079956451327,0.999999997853,2.51723669517e-06,-5.85047195479e-05,-2.94226526231e-05,1793245427915102720
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.146525308,714,679.146525308,658,634,878.853474692,786,807,652,630,653,0.405356497191,-0.0155211012356,0.0799553242235,0.999999997801,-6.3745467847e-06,-5.77098336221e-05,-3.20452080907e-05,1793245427931769344
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.722111107,714,679.722111107,658,634,878.277888893,786,807,652,630,653,0.40580168719,-0.0155222792012,0.0799468307074,0.999999996585,-1.3650346247e-05,-7.26491592509e-05,-3.6964885841e-05,1793245427948435712
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.701909958,658.298090042,634,878,785.701909958,807,652,629.701909958,652.701909958,0.406260636761,-0.0155216561053,0.0799384062685,0.999999995447,-6.67383426463e-06,-8.76315758396e-05,-3.71677442518e-05,1793245427965102848
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.125563978,658.874436022,634,878,785.125563978,807,652,629.125563978,652.125563978,0.406732430429,-0.0155193517858,0.0799300463096,0.999999994095,1.36066780725e-05,-0.000102654217939,-3.29676282817e-05,1793245427981770496
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.462301271,658.537698729,634,878,785,807,652,629.462301271,652.462301271,0.407227370047,-0.0155162177452,0.0799256642348,0.999999992934,1.60425847725e-05,-0.000112274022029,-3.56192210256e-05,1793245427998437632
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.947942116,658.052057884,634,878,785.052057884,807,652,630,652.947942116,0.407734119924,-0.0155131702695,0.079921893884,0.999999991797,1.30322581198e-05,-0.000120996999348,-3.99404064325e-05,1793245428015103744
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.371455472,658.628544528,634,878,785.628544528,807,652,630,652.371455472,0.408294896995,-0.0155133230984,0.0799131237898,0.999999989883,5.23003307428e-06,-0.000135846130933,-4.18546219585e-05,1793245428031770368
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.795383302,714,679.204616698,659,633.795383302,878,786,807.204616698,652,630,652.204616698,0.408891799459,-0.015514139796,0.0799168704264,0.999999990565,-2.66563833075e-07,-0.000130486230464,-4.29341382994e-05,1793245428048437248
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.220062071,714,679.779937929,659,633.220062071,878,786,807.779937929,652,630,652.779937929,0.409554150346,-0.015516159226,0.0799432936529,0.999999995178,-1.58604856134e-06,-8.85135799367e-05,-4.25014280919e-05,1793245428065103872
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,679.646707727,659,633.353292273,878.353292273,786,808,652,630,652.646707727,0.410227945447,-0.015518947517,0.0799712715131,0.999999998197,-2.82201148534e-06,-4.39693890813e-05,-4.07929632669e-05,1793245428081770240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,679.074571775,659,633.925428225,878.925428225,786,808,652,630,652.074571775,0.410908829539,-0.0155222120718,0.0800002123762,0.999999999256,-4.00623753657e-06,2.16771747104e-06,-3.82942438448e-05,1793245428098436096
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.516749888,714,679.516749888,659,633.483250112,878.483250112,785.483250112,808.516749888,652,630,652.516749888,0.411559016871,-0.0155202761291,0.0799838789062,0.999999998753,-4.36782135314e-06,-2.71164498504e-05,-4.17014186915e-05,1793245428115102720
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714.108215512,679.891784488,659.108215512,633.108215512,878.108215512,785.108215512,808.891784488,652,629.891784488,653,0.412216107328,-0.0155175852345,0.0799588142184,0.999999996627,-5.39139525508e-06,-6.77228779995e-05,-4.61593113606e-05,1793245428131769600
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714.687783528,679.312216472,659.687783528,633.687783528,878.687783528,785.687783528,808.312216472,652,629.312216472,653,0.412923304334,-0.0155150009069,0.0799252743061,0.999999992757,-9.83541104064e-06,-0.000108410295988,-5.13384156818e-05,1793245428148435968
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714.735919095,679,659.735919095,634,879,785.735919095,808,652,629.264080905,653,0.413670188215,-0.0155139601303,0.0799141618,0.999999991729,-1.16661150455e-05,-0.00011608508706,-5.41379102332e-05,1793245428165102336
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714.163441137,679,659.163441137,634,879,785.163441137,808,652,629.836558863,653,0.414463419029,-0.0155147219319,0.0799292403007,0.999999994849,-1.04449607734e-05,-8.52073163062e-05,-5.41584668295e-05,1793245428181769216
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,679.423720822,659,634,879,785,808,651.576279178,630,653,0.415252791319,-0.0155149767351,0.0799488767235,0.9999999969,-1.40535569153e-05,-5.63555517843e-05,-5.31690490561e-05,1793245428198435840
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,808,651.016281601,630,653,0.416040338791,-0.0155149890551,0.0799691777902,0.999999998013,-1.943015433e-05,-3.00543288023e-05,-5.18868753134e-05,1793245428215102464
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,785,808,651.592723482,630,653,0.416818149884,-0.0155136286715,0.0799496869887,0.999999996309,-1.92384236712e-05,-6.36512373617e-05,-5.44168950217e-05,1793245428231769088
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744.830563848,714,680,659,633.830563848,879,785,808,652,630,653,0.417634422175,-0.0155139208776,0.0799457573196,0.999999996059,-1.95497793551e-05,-6.63854586294e-05,-5.56199667014e-05,1793245428248435712
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.253199273,714,680,659,633.253199273,879,785,808,652,630,653,0.418543292225,-0.0155181917996,0.0799792920777,0.999999998327,-2.10723477314e-05,5.18422522631e-06,-5.36283255186e-05,1793245428265102336
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.329709643,744.329709643,714,680.329709643,659.329709643,633.329709643,879,785,808,652,630,653,0.419419029656,-0.0155182702074,0.0799897332716,0.999999997898,-2.2867954739e-05,2.80452612559e-05,-5.37924065377e-05,1793245428281768960
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.916949108,744.916949108,714,680.916949108,659.916949108,633.916949108,879,785,808,652,630,653,0.420268887796,-0.0155150739234,0.0799821365278,0.99999999806,-2.48768269245e-05,1.28609117312e-05,-5.56402806903e-05,1793245428298435584
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.502422054,744.502422054,714,681,659.502422054,633.502422054,879,785,808,651.502422054,630,653,0.421140466365,-0.0155160001385,0.079971892686,0.999999998051,-2.42807846628e-05,-4.58675247083e-06,-5.7330434036e-05,1793245428315101952
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.076555719,744.076555719,714,680.923444281,659.076555719,633.076555719,879,785.076555719,808,651.076555719,630,653,0.422020650181,-0.0155178634127,0.0799667266755,0.999999997934,-2.30619978039e-05,-1.44248458673e-05,-5.82477059122e-05,1793245428331768576
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.651870828,744.651870828,714,680.348129172,659.651870828,633.651870828,879,785.651870828,808,651.651870828,630,653,0.422933587144,-0.0155214075084,0.0799974834283,0.999999997929,-2.05815311976e-05,2.77422119267e-05,-5.42989253376e-05,1793245428348435456
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.226989484,680.226989484,660,633.773010516,879,785.773010516,808,651.773010516,630,653,0.42382453863,-0.0155218205653,0.0800071498735,0.999999997996,-1.46650475406e-05,3.18374470039e-05,-5.27258128734e-05,1793245428365102080
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.801807192,680.801807192,660,633.198192808,879,785.198192808,808,651.198192808,630,653,0.424681800725,-0.0155174357635,0.0799844985078,0.999999998242,-3.48336934926e-06,-2.24068179485e-05,-5.47930641347e-05,1793245428381768704
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612898444,745,714.612898444,681,660,633.387101556,879,785.387101556,808,651,630,652.612898444,0.425564250202,-0.0155166190521,0.0799502310534,0.999999995725,-6.19363697382e-06,-7.10153438092e-05,-5.88961104064e-05,1793245428398435328
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633.44260426,879,786,808,651,630,652.55739574,0.427371485035,-0.0155182891076,0.0799080761822,0.999999991004,-1.97699516254e-05,-0.00011618187236,-6.40503585364e-05,1793245428431768576
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+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,879,785.290552281,808,651.709447719,630,653,0.429190701319,-0.0155191122626,0.079934598409,0.999999993899,-2.50549023593e-05,-8.80950045262e-05,-6.17520070968e-05,1793245428465103360
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,681.290474114,660,633.290474114,879.290474114,785,808.290474114,652,630,653,0.430128604146,-0.01552241359,0.0799709591411,0.999999997177,-2.60699071416e-05,-3.86093433389e-05,-5.89491545375e-05,1793245428481770496
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,681.878537927,660,633.878537927,879.878537927,785,808.878537927,652,630,653,0.431097102944,-0.0155287895251,0.0800224067045,0.999999997363,-2.58371423365e-05,3.97238027087e-05,-5.50398003009e-05,1793245428498436864
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.770198408,714,682.540396816,660,633.770198408,879.229801592,785,808.229801592,651,630,653,0.435352695695,-0.0155191756459,0.0799210232794,0.999999992812,-3.19501637809e-05,-9.46295769539e-05,-6.63379979096e-05,1793245428581768704
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764.479371706,744.479371706,714,682,660.479371706,633,880,785,808.479371706,651,630,653,0.437894151317,-0.0155369088425,0.0799976768544,0.999999996616,-5.49381865693e-05,6.34412400976e-07,-6.12302229524e-05,1793245428631768832
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.202005073,777,809,651,628.797994927,653,0.452237992763,-0.0157521444038,0.0796311777708,0.999999780013,-0.000353009389872,-0.000556958888074,-7.18004878687e-05,1793245429398436096
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.778298586,777,809,651,628.221701414,653,0.452237927201,-0.0157529716664,0.0796295825874,0.999999777929,-0.000353727615486,-0.000560285297865,-7.14017107407e-05,1793245429415102720
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,880,777,809,651,628.953438539,653,0.45223886015,-0.0157549325358,0.0796261557621,0.999999775792,-0.000354347325176,-0.000563742949367,-7.10452292069e-05,1793245429448435456
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,880,776.466537336,809.533462664,651,628.466537336,653,0.452240608149,-0.0157530379811,0.0796278418621,0.999999777585,-0.000351215628762,-0.000562542089074,-7.08807032472e-05,1793245429465102336
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.888557139,776,809.888557139,651,628.111442861,653,0.452241902091,-0.0157515066785,0.0796289932262,0.999999778683,-0.000348976653565,-0.000561990452694,-7.08298452087e-05,1793245429481768960
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.315414854,776,809.315414854,651,628.684585146,653,0.452240905181,-0.0157525132817,0.0796267130937,0.99999977601,-0.000351622699059,-0.000565032950273,-7.12636740224e-05,1793245429498435840
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879,776,809,651,629,653,0.452241272463,-0.015752539834,0.0796259310055,0.999999775517,-0.000351707821342,-0.000565867173603,-7.11441166309e-05,1793245429515102720
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879,776,809,651,629,653,0.452243309285,-0.0157513669695,0.0796269822706,0.999999777697,-0.00034865880566,-0.00056399884191,-7.03473078661e-05,1793245429531769088
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.016111527,745,713.983888473,683.016111527,657,629,879.983888473,776.983888473,809.983888473,651,629,653,0.452242595966,-0.015755569446,0.0796262500111,0.999999775213,-0.000353539618784,-0.000565403231912,-7.00182012738e-05,1793245429565102336
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.594420125,745,713.405579875,683.594420125,657,629,879.405579875,776.405579875,809.405579875,651,629,653,0.452242420418,-0.0157520589467,0.079625161261,0.99999977549,-0.000349973377869,-0.000567086395825,-7.03723735384e-05,1793245429581768960
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.828405292,745,713.171594708,683.828405292,657.171594708,629,879.171594708,776,809,651,629,653,0.452243164681,-0.0157498211042,0.0796247912091,0.99999977636,-0.00034704709374,-0.000567331463352,-7.05161469933e-05,1793245429598435584
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.253893492,745,713.746106508,683.253893492,657.746106508,629,879.746106508,776,809,651,629,653,0.452246068726,-0.0157505715539,0.0796261087138,0.99999977865,-0.000345623475792,-0.000564199773912,-7.0165888433e-05,1793245429615102464
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714,683,657.671629121,629,880,776.328370879,809,651,628.671629121,653,0.452246220841,-0.0157518250716,0.079626105603,0.999999778309,-0.000346704077861,-0.000564164083591,-6.99847197325e-05,1793245429631769088
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+244,4.066666667,HOLD_POSE2,764,745,714,683,657,629,880,776,809,651,628,653,0.452243404765,-0.0157536247298,0.0796246256901,0.999999774303,-0.000352145624227,-0.000567900098424,-6.9831529982e-05,1793245429679554048
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+247,4.116666667,HOLD_POSE2,764,745,714,683,657,629,879.265581568,776.734418432,810,651,629,653,0.452247108012,-0.0157510045738,0.0796264673902,0.999999776918,-0.000349295995206,-0.000565052152258,-6.98047616613e-05,1793245429729554176
+248,4.133333333,HOLD_POSE2,764,745,713.68263991,683,656.68263991,629,879.31736009,777,809.68263991,651,628.68263991,653,0.452247119477,-0.0157511292986,0.0796267652124,0.999999777022,-0.000349601754993,-0.000564683298371,-6.97662600916e-05,1793245429746220800
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+256,4.266666667,HOLD_POSE2,764,745,714,682.037356742,657,628.037356742,879.037356742,776,809.037356742,651,629,653,0.452246119476,-0.0157486851301,0.0796237604613,0.999999775462,-0.000345955105999,-0.000569555050614,-7.06902764499e-05,1793245429879554304
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+260,4.333333333,HOLD_POSE2,764,745,714,683,657,629,880,777,809.726158466,651,629,653,0.452248751191,-0.0157493771453,0.0796258838449,0.999999777132,-0.000347373712158,-0.00056596328288,-6.89487064773e-05,1793245429946220544
+261,4.350000000,HOLD_POSE2,764,745,714,683,657,629,880,777,809.137544904,651,629,653,0.452248454318,-0.0157488431116,0.0796248952303,0.999999777072,-0.000344639756197,-0.00056772674823,-6.90388332495e-05,1793245429962887168
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,745,713,683,657,629,880,776,809,651,629,653,0.452248239474,-0.0157499600391,0.079625446207,0.999999776127,-0.000348448620829,-0.000566978678681,-6.97503814372e-05,1793245429995503360
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,683,657,629,879,776,809.720017169,651,628.279982831,653,0.452247428176,-0.0157495236742,0.0796244832405,0.999999775941,-0.000346214310466,-0.000568752109078,-6.90944030929e-05,1793245430045504512
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.521072077,683,656.521072077,629,879.478927923,776,810,651,629,653,0.452245986847,-0.0157493424686,0.0796227234768,0.999999774051,-0.000348476769483,-0.000570672680387,-6.92489190382e-05,1793245430095504640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,683,656.057741179,629,879.942258821,776,810,651,629,653,0.452244188962,-0.015748735465,0.0796224750256,0.99999977414,-0.000347034274924,-0.00057138222619,-6.93541626246e-05,1793245430112171264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,683,656.631684715,629,879.368315285,776,810,651,629,653,0.452241761151,-0.0157479435162,0.0796208259077,0.999999773644,-0.000346136497215,-0.000572759603529,-6.96203465785e-05,1793245430128837376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,656.789127552,628.789127552,879,776,810,651,629,652.789127552,0.452232047473,-0.0157469276193,0.0796157322252,0.999999769584,-0.000345307174139,-0.00058025576478,-6.99841353309e-05,1793245430145503744
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.381684769,683,656.381684769,628.381684769,879.381684769,776,810,651,629,652.381684769,0.452167014601,-0.0157448816273,0.0795860752387,0.999999739599,-0.000345551075552,-0.000629526573364,-7.13636833634e-05,1793245430178837248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.960634618,683,656.960634618,628.960634618,879.960634618,776,810,651,629,652.960634618,0.452114664889,-0.0157446599525,0.0795639967479,0.999999714789,-0.00034735823365,-0.000666728863186,-7.23608614884e-05,1793245430195503872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.460821418,682.460821418,657,629,880,776,810,651.539178582,629,653.539178582,0.452046680469,-0.0157408089766,0.0795449983575,0.999999695782,-0.000345189205312,-0.000695685038964,-7.28234073506e-05,1793245430212170496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.116632442,682.116632442,657,629,879.883367558,776,810,651.883367558,629,653.883367558,0.451975831799,-0.0157369144127,0.0795285563676,0.999999679245,-0.000343219095242,-0.000719989830302,-7.29786371923e-05,1793245430228837120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.689934162,682.689934162,657,629,879.310065838,776,810,651.310065838,629,653.310065838,0.45189823435,-0.0157338858986,0.0795212440107,0.99999967321,-0.000343163647253,-0.000728437857312,-7.20833036064e-05,1793245430245503744
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,744,713.257626804,680,658,633.257626804,878.515253609,785,807,651,629.742373196,652,0.408928982051,-0.0153724496468,0.0798199574106,0.999999925019,0.000258207335884,-0.000285245964564,4.38885267795e-05,1793245431395505152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,744,713.326519548,679.673480452,658,633,878,785,807,651,630,652,0.408349678709,-0.0153723718532,0.0798312054497,0.999999929307,0.000258560069016,-0.000269206173385,4.54008307749e-05,1793245431412171520
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,744.482268535,714,679.482268535,658,633.482268535,878,785,807,651.482268535,630,652,0.407187932772,-0.0153656189551,0.0797980147043,0.999999908395,0.000265490173227,-0.000333114648037,4.19547479917e-05,1793245431445504512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,744.943101048,713.943101048,679.943101048,658,633.943101048,878,784.943101048,807.056898952,651.943101048,629.943101048,652,0.406633479567,-0.0153611133393,0.0797662074706,0.999999887396,0.000270745197644,-0.000387868563348,3.82492604845e-05,1793245431462170880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,744.372464465,713.372464465,679.372464465,658,633.372464465,878,784.372464465,807.627535535,651.372464465,629.372464465,652,0.406173797477,-0.0153638122829,0.0797676144114,0.999999892376,0.000266334269541,-0.000377909410091,3.8723352852e-05,1793245431478837248
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.206703493,744,713.206703493,679.206703493,658,633.206703493,878,784.206703493,807.793296507,651,629.206703493,652,0.405731184812,-0.0153655031145,0.0797739845405,0.999999899848,0.000263058768676,-0.000359977796423,3.89884822948e-05,1793245431495503872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.801906101,744,713.801906101,679.801906101,658,633.801906101,878,784.801906101,807.198093899,651,629.801906101,652,0.405320654174,-0.0153652991998,0.0797896829794,0.99999991146,0.000261917303102,-0.000327061948216,3.88608659473e-05,1793245431512171264
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.035039212,744,714,680,658,634,878,785,806.035039212,651.964960788,630,652,0.404523957749,-0.0153645913451,0.0798221036605,0.999999921526,0.000270002835249,-0.000286683381372,4.31240262591e-05,1793245431545505280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,744,714,680,658.539932379,633.460067621,878,785,806.539932379,652,629.460067621,652.539932379,0.404167263639,-0.0153641277461,0.0798269906411,0.999999919623,0.000279427490646,-0.000283907226107,4.55089414215e-05,1793245431562171648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.885682569,658.885682569,633.114317431,878,785,807.114317431,651.885682569,629.114317431,653,0.403819498865,-0.0153629629229,0.0798295317532,0.999999918154,0.000283789946325,-0.000284638591549,4.62128624594e-05,1793245431578838016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.31266165,658.31266165,633.68733835,878,785,807.68733835,651.31266165,629.68733835,653,0.403497421881,-0.0153590050221,0.0798256142071,0.999999919933,0.000266716146614,-0.000295598526481,4.02228339688e-05,1793245431595504128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.269697869,658.269697869,634,878.269697869,785,807.730302131,651.269697869,630,652.730302131,0.403202600718,-0.0153577331086,0.0798248814665,0.999999920535,0.000260008505078,-0.000299817872411,3.7879267094e-05,1793245431612170496
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,744,714,680,658.554043405,634,879,785,807,652,629.554043405,652.445956595,0.402690969934,-0.0153582661052,0.0798291731804,0.999999918097,0.000272251376846,-0.00029654164079,4.180875575e-05,1793245431645503744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.974894967,658,634,878.974894967,785,807,651.974894967,629.025105033,653,0.402447649915,-0.0153559258166,0.0798299039616,0.999999915729,0.000278822205698,-0.000298161130856,4.35831060399e-05,1793245431662170624
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.239622557,744,714,679,658,633.239622557,878,785,807,651.760377443,630,653,0.401927131708,-0.0153556189075,0.0798366101469,0.999999918572,0.000285120777194,-0.000282231610508,4.36757600661e-05,1793245431712171008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,744,714,679,658,633,878,785.345436052,807,651.654563948,629.654563948,652.654563948,0.401788281411,-0.0153557173658,0.0798399830315,0.999999920926,0.000283978523814,-0.000274947075385,4.36746873799e-05,1793245431728837632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,744,714,679,658,633,878,785.930259334,807,651.069740666,629.069740666,652.069740666,0.4016589172,-0.0153557116956,0.0798447033845,0.999999923975,0.00028150026967,-0.000266268447869,4.37000431475e-05,1793245431745504256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.50501544,744,714,679,658,633.50501544,878.50501544,785.49498456,807,651.50501544,629.50501544,652.50501544,0.401546061326,-0.01535613197,0.0798455983445,0.999999924006,0.000281183887716,-0.000266581589614,4.30975312586e-05,1793245431762170880
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,744.669658113,714,679.669658113,658,633.330341887,879,785,807,651.330341887,630,653,0.401348898003,-0.0153536144849,0.079839201697,0.999999919533,0.000284566973339,-0.000279858840647,4.04309489285e-05,1793245431795504128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744.745625887,714,679.745625887,658,633,878.745625887,785.254374113,807,651,629.745625887,652.745625887,0.401269020634,-0.0153534044054,0.07983454504,0.999999917115,0.000285673299591,-0.00028743976866,3.92311873014e-05,1793245431812170752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,744.166508741,714,679.166508741,658,633,878.166508741,785.833491259,807,651,629.166508741,652.166508741,0.40120135012,-0.0153562167883,0.0798314928761,0.999999916394,0.000284369635212,-0.000291271494678,3.88279597653e-05,1793245431828837376
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.410890916,744.410890916,714,679,658.410890916,633.410890916,878.410890916,785.589109084,807,651.410890916,629.410890916,652.410890916,0.401150748674,-0.0153571404771,0.0798306695053,0.999999916649,0.000283713254478,-0.000291007592704,3.90310430726e-05,1793245431845504000
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.435081858,745,714,679.564918142,658.435081858,633.435081858,878.435081858,785,807,652,630,652.435081858,0.401073851463,-0.0153565694855,0.079830414537,0.999999917327,0.000282489280842,-0.000289886435418,3.88849555661e-05,1793245431878837504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,744.855375075,714,680,658,633.144624925,878,785,807,652,630,652,0.401043788148,-0.0153559781176,0.0798300479098,0.99999991703,0.000282530067205,-0.000290920487162,3.84858118089e-05,1793245431895503872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,744.268411725,714,680,658,633.731588275,878,785,807,652,630,652,0.401022561774,-0.0153558784867,0.0798295997737,0.999999915784,0.000285259667858,-0.00029250170637,3.87521952953e-05,1793245431912170496
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.106794056,658,634,878.893205944,785,807,651.106794056,630,652.893205944,0.400996033852,-0.0153588823537,0.0798298175857,0.999999917221,0.000280402141219,-0.000292235021516,3.91317037603e-05,1793245431945503744
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658.047928121,634,877.952071879,785.047928121,807,651.952071879,630,653,0.400986421344,-0.0153601276752,0.0798314284533,0.999999918684,0.000279469364973,-0.000288098183472,3.90914480829e-05,1793245431978837504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744,714,679,658.622383083,634,877.377616917,785.622383083,807,651.377616917,630,653,0.400983739006,-0.0153584096029,0.0798316976601,0.999999918682,0.000280021846533,-0.000287623635219,3.86959074887e-05,1793245431995505152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.201878059,659,633.798121941,877.201878059,785.798121941,807.201878059,651.201878059,630,653,0.400981554932,-0.0153578812353,0.0798319949586,0.999999918675,0.000280486219387,-0.000287225525181,3.84562068205e-05,1793245432012172032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.79104183,659,633.20895817,877.79104183,785.20895817,807.79104183,651.79104183,630,653,0.400980326735,-0.0153596352144,0.0798323461485,0.999999918662,0.000280781563227,-0.000286974055321,3.85154716866e-05,1793245432028837632
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,744.956649405,714,679.043350595,659.956649405,633.956649405,878,785.956649405,807.043350595,652,629.043350595,653,0.400982359905,-0.0153610300984,0.079835077985,0.999999921174,0.000277252476866,-0.000281566705762,3.876062618e-05,1793245432062170368
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,744.470104433,714,679.529895567,658.940208867,634,878,785.470104433,807,651.470104433,629.529895567,652.470104433,0.400979872263,-0.0153607353995,0.0798342290637,0.999999920454,0.000277970740897,-0.000283453230109,3.84592250719e-05,1793245432078837248
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.897087729,658,634,877.897087729,785,807,651.102912271,630,652.102912271,0.400977792026,-0.015360616756,0.0798336282669,0.999999919843,0.000278733932213,-0.000284887391524,3.82070930222e-05,1793245432095503872
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.322098246,658,634,877.322098246,785,807,651.677901754,630,652.677901754,0.400979054497,-0.0153615882043,0.0798350650293,0.999999920588,0.000278621552185,-0.000282354746441,3.83426989666e-05,1793245432112170752
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.738229062,744,714.261770938,679.261770938,658,634,877.261770938,785,807,651.738229062,629.738229062,653,0.400979257607,-0.0153614162402,0.0798356190999,0.999999920601,0.000279327850909,-0.000281604423881,3.83820165148e-05,1793245432128837376
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878,785.165048777,807.834951223,651.834951223,629.834951223,653,0.400980638974,-0.0153616004115,0.0798378505543,0.999999921933,0.000277879695633,-0.000278281732326,3.84296015134e-05,1793245432212170496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878,785.753145713,807.246854287,651.246854287,629.246854287,653,0.400979445522,-0.0153616107379,0.0798363891193,0.999999921454,0.000277599335363,-0.000280337260803,3.79765797616e-05,1793245432228837120
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b22de055d5187c407d7c7a71162f13259602558
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+374,6.233333333,pose2_to_pose3_retreat,0.575776329557,-0.0101222397785,1.07005107092,0.546347962946,-0.00144655378855,1.06971755155
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+376,6.266666667,pose2_to_pose3_retreat,0.575725240525,-0.0101221220736,1.07005092082,0.546296874623,-0.00144643315311,1.0697174151
+377,6.283333333,pose2_to_pose3_retreat,0.575707952902,-0.010122211533,1.07005100545,0.546279586476,-0.00144652436895,1.06971750032
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+379,6.316666667,pose2_to_pose3_retreat,0.575686584077,-0.0101219830571,1.0700507351,0.546258214862,-0.00144630515584,1.06971723528
+380,6.333333333,pose2_to_pose3_retreat,0.575680949535,-0.0101220587386,1.07005082342,0.546252580873,-0.0014463790763,1.06971732057
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+382,6.366666667,pose2_to_pose3_retreat,0.575675192497,-0.0101222047127,1.07005078555,0.546246825323,-0.00144652032849,1.06971727436
+383,6.383333333,pose2_to_pose3_retreat,0.575673866686,-0.01012221259,1.07005078371,0.546245499713,-0.00144652755798,1.06971727159
+384,6.400000000,pose2_to_pose3_retreat,0.575673327495,-0.010122181604,1.07005080188,0.546244960369,-0.0014464970482,1.06971729092
+385,6.416666667,pose2_to_pose3_retreat,0.575672814152,-0.0101221521034,1.07005081918,0.546244446879,-0.00144646800098,1.06971730932
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+387,6.450000000,pose2_to_pose3_retreat,0.575672145694,-0.0101221136887,1.0700508417,0.54624377823,-0.00144643017667,1.06971733328
+388,6.466666667,pose2_to_pose3_retreat,0.575671933037,-0.0101221014679,1.07005084886,0.546243565513,-0.00144641814365,1.0697173409
+389,6.483333333,pose2_to_pose3_retreat,0.575671369018,-0.010122069055,1.07005086787,0.546243001333,-0.00144638622898,1.06971736112
+390,6.500000000,pose2_to_pose3_retreat,0.575671136796,-0.0101220676883,1.07005089896,0.546242768951,-0.0014463854117,1.06971739203
+391,6.516666667,pose2_to_pose3_retreat,0.575671124523,-0.010122068031,1.07005090141,0.546242756666,-0.00144638579532,1.06971739445
+392,6.533333333,pose2_to_pose3_retreat,0.575671057314,-0.0101220699075,1.07005091482,0.546242689393,-0.00144638789612,1.06971740768
+393,6.550000000,pose2_to_pose3_retreat,0.575670911527,-0.0101220739779,1.07005094391,0.546242543467,-0.00144639245312,1.06971743638
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+395,6.583333333,pose2_to_pose3_retreat,0.575670738127,-0.0101220788192,1.07005097851,0.546242369902,-0.00144639787321,1.06971747052
+396,6.600000000,pose2_to_pose3_retreat,0.575670621827,-0.0101220820663,1.07005100171,0.54624225349,-0.00144640150851,1.06971749342
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+398,6.633333333,pose2_to_pose3_retreat,0.575670005113,-0.0101221012244,1.07005109542,0.546241636247,-0.0014464225294,1.06971758541
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..544782621bd30d630dd89fbdbea328def0d1af26
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac13b25e023ea74668367bd16a33df4bd0ea3e9fe963fe6b2e6d5ae3c0be06c6
+size 25650195
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ece97b314daa8c55178961fc6fbb25446a96f8b6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+27,0.450000000,BASELINE,764,744,714,680,658,634,877.328156796,786,807.671843204,651.671843204,629.328156796,652,0.400976890221,-0.0153651918922,0.079836304473,0.999999923363,0.000272081579878,-0.000279031375942,3.7253374657e-05,1793245432944533760
+28,0.466666667,BASELINE,764.255947853,744,714,680,658.255947853,634,877.255947853,785.744052147,807.744052147,651.744052147,629.255947853,652.255947853,0.400976857789,-0.0153654302392,0.0798368064419,0.999999923718,0.000271361716969,-0.000278448519405,3.7324933104e-05,1793245432961200384
+29,0.483333333,BASELINE,764.835339541,744,714,680,658.835339541,634,877.835339541,785.164660459,807.164660459,651.164660459,629.835339541,652.835339541,0.400976788958,-0.0153651206339,0.0798379650373,0.99999992376,0.000272059729464,-0.000277624124918,3.72677139467e-05,1793245432977867008
+30,0.500000000,BASELINE,764.586343236,744,714,680,658.586343236,634,878.413656764,785,807,651.413656764,630,653,0.400977765966,-0.0153658023472,0.0798386381364,0.99999992405,0.000272005778648,-0.000276630193772,3.72661381337e-05,1793245432994533888
+31,0.516666667,BASELINE,764.008452621,744,714,680,658.008452621,634,878.991547379,785,807,651.991547379,630,653,0.400979158204,-0.015366877643,0.0798391184791,0.999999924438,0.000271653276355,-0.000275568951627,3.72866543595e-05,1793245433011200768
+32,0.533333333,BASELINE,764,744,714,679.434162908,658,634,878.434162908,785,806.434162908,651.434162908,630,653,0.400977785127,-0.0153658910491,0.0798380592078,0.999999923744,0.000272715501917,-0.000277048798389,3.71802889206e-05,1793245433027867136
+33,0.550000000,BASELINE,764,744.143528712,714,679,658,633.856471288,878,785,806.143528712,651,629.856471288,653,0.400976426497,-0.015364898123,0.0798371751054,0.999999923048,0.00027388064413,-0.000278422049431,3.70656817819e-05,1793245433044533760
+34,0.566666667,BASELINE,764,744.731930245,714,679,658,633.268069755,878,785,806.731930245,651,629.268069755,653,0.400975239878,-0.0153639804355,0.0798369047821,0.999999922405,0.000275299690196,-0.000279347989859,3.69313668832e-05,1793245433061200384
+35,0.583333333,BASELINE,764,744.68298885,714,679.31701115,658,633.31701115,878,785,807,651,629.31701115,653,0.400976559593,-0.0153637995132,0.0798378359853,0.999999922874,0.000275429309668,-0.00027751957706,3.70661446046e-05,1793245433077868032
+36,0.600000000,BASELINE,764,744.100686751,714,679.899313249,658,633.899313249,878,785,807,651,629.899313249,653,0.400979976735,-0.015364235153,0.0798397726867,0.99999992426,0.000274479871956,-0.000273386182386,3.74261126135e-05,1793245433094536192
+37,0.616666667,BASELINE,764,744.474094836,714,679.525905164,658,634,878,785,807,651.474094836,630,653,0.400979490283,-0.0153643209901,0.0798395710865,0.999999924382,0.000273808930998,-0.000273629717898,3.73138817685e-05,1793245433111201792
+38,0.633333333,BASELINE,764,744.951363085,714,679,658.048636915,634,878,785,807,652,630,653,0.400978309698,-0.0153643200808,0.0798389865729,0.999999924243,0.000273228758448,-0.000274740144558,3.71277092327e-05,1793245433127867136
+39,0.650000000,BASELINE,764,744.362003878,714,679,658.637996122,634,878,785,807,652,630,653,0.400978484943,-0.0153641677909,0.0798391149272,0.999999924141,0.00027301041361,-0.000275315239573,3.72169893538e-05,1793245433144534016
+40,0.666666667,BASELINE,764,744.222773417,714,679,658.777226583,634,878,785.222773417,807.222773417,651.777226583,629.777226583,652.777226583,0.400978507454,-0.0153643219276,0.0798390452972,0.999999923934,0.000273255545668,-0.000275811115205,3.73114518408e-05,1793245433161200640
+41,0.683333333,BASELINE,764,744.800255182,714,679,658.199744818,634,878,785.800255182,807.800255182,651.199744818,629.199744818,652.199744818,0.400978286775,-0.0153649639685,0.0798386604292,0.999999923559,0.000274238643363,-0.000276180854673,3.74141658832e-05,1793245433177867008
+42,0.700000000,BASELINE,764,745,714,679.37763589,658,634,878,786,808,651.37763589,629.37763589,652,0.40097715524,-0.0153648716499,0.0798377990818,0.999999922762,0.000275759974538,-0.000277547519026,3.74120167179e-05,1793245433194533632
+43,0.716666667,BASELINE,764,745,714,679.954963141,658,634,878,786,808,651.954963141,629.954963141,652,0.400975542049,-0.0153643910068,0.0798366857754,0.999999921737,0.000277565919982,-0.000279441350652,3.73544165784e-05,1793245433211200512
+44,0.733333333,BASELINE,764,744.472186683,714.527813317,679.472186683,658.527813317,634,878,786,807.472186683,652,629.472186683,652,0.400976240912,-0.0153651002101,0.0798373028075,0.999999922262,0.000276755095044,-0.000278378103917,3.72474967511e-05,1793245433227867136
+45,0.750000000,BASELINE,764,744.103917918,714.896082082,679,659,634,878,785.896082082,807,651.896082082,629.103917918,652.103917918,0.400977367219,-0.0153658010348,0.0798382407527,0.999999923029,0.000275618443792,-0.000276758190049,3.71747350851e-05,1793245433244534016
+46,0.766666667,BASELINE,764,744.697129255,714.302870745,679,659,634,878,785.302870745,807,651.302870745,629.697129255,652.697129255,0.400979585053,-0.0153659883965,0.0798400003705,0.999999924315,0.000273990123592,-0.000273695274598,3.72824538277e-05,1793245433261200384
+47,0.783333333,BASELINE,764,744.717096268,714,679.282903732,658.717096268,634,878,785.282903732,807,651,629.717096268,653,0.400979655427,-0.0153653793009,0.0798401897261,0.999999924449,0.000273652812437,-0.00027356966308,3.70848630378e-05,1793245433277867264
+48,0.800000000,BASELINE,764,744.139079529,714,679.860920471,658.139079529,634,878,785.860920471,807,651,629.139079529,653,0.400977485665,-0.0153639393752,0.0798387410519,0.999999923383,0.000274662226192,-0.000276508120322,3.65687864877e-05,1793245433294534144
+49,0.816666667,BASELINE,763.564120199,744,714,679.564120199,658,634,878.435879801,785.564120199,807,651,629.435879801,653,0.400978909726,-0.0153646619652,0.0798393421992,0.999999923976,0.000274141211755,-0.000274865261447,3.66665565668e-05,1793245433311200768
+50,0.833333333,BASELINE,763.010134477,744,714,679,658.010134477,634,878.989865523,785,807,651.010134477,629.989865523,652.989865523,0.400981379782,-0.0153660234195,0.0798405364902,0.999999925045,0.000273177902342,-0.000271880962585,3.69481285088e-05,1793245433327867392
+51,0.850000000,BASELINE,763.599485348,744,714,679,658.599485348,634,878.400514652,785,807,651.599485348,629.400514652,652.400514652,0.400978550358,-0.0153647364084,0.0798385100469,0.999999923747,0.000274650974576,-0.000275193420928,3.66182424585e-05,1793245433344533760
+52,0.866666667,BASELINE,764,744,714,679,658.814454989,633.814454989,878,785,807,652,629.185545011,652,0.4009774766,-0.0153644480026,0.0798377906425,0.99999992329,0.000275033720613,-0.000276464169052,3.66497558762e-05,1793245433361200384
+53,0.883333333,BASELINE,764,744,714,679,658.235375892,633.235375892,878,785,807,652,629.764624108,652,0.400980126546,-0.0153662776013,0.0798398434195,0.999999924631,0.000273103925141,-0.000273404525337,3.7447784181e-05,1793245433377867008
+54,0.900000000,BASELINE,764,744,714,679.343046677,658.343046677,633.343046677,878,785,807,651.656953323,630,652,0.400979552582,-0.0153662486238,0.0798397999218,0.999999924449,0.000273175240031,-0.000273980444492,3.75687503665e-05,1793245433394533632
+55,0.916666667,BASELINE,764,744,714,679.921019618,658.921019618,633.921019618,878,785,807,651.078980382,630,652,0.400976770811,-0.0153649468505,0.0798383208469,0.999999923223,0.000274616961453,-0.000277046080944,3.72260487891e-05,1793245433411200256
+56,0.933333333,BASELINE,763.504201681,744,714,679.504201681,658.504201681,634,878,785,807,651.495798319,630,652.495798319,0.400977654272,-0.015365964073,0.0798382777563,0.999999923741,0.000273122501843,-0.000276652121597,3.72244892516e-05,1793245433427867136
+57,0.950000000,BASELINE,763,744,714,679,658,633.928054008,878,785,807,651.928054008,630,653,0.400978804366,-0.0153672261651,0.0798384872433,0.999999924444,0.000271329625211,-0.000275865590243,3.7287058083e-05,1793245433444533760
+58,0.966666667,BASELINE,763,744,714,679,658,633.338418199,878,785,807,651.338418199,630,653,0.400977698672,-0.0153676091034,0.0798388787096,0.99999992451,0.000270733516288,-0.000276194451345,3.74225357503e-05,1793245433461200384
+59,0.983333333,BASELINE,763.246713741,744,714,679,658,633,878,785,807,651,629.753286259,653,0.400977097749,-0.0153680858314,0.0798388429457,0.999999924574,0.000270387364951,-0.000276291132569,3.74917633261e-05,1793245433477867008
+60,1.000000000,BASELINE,763.825778547,744,714,679,658,633,878,785,807,651,629.174221453,653,0.40097717681,-0.0153686889049,0.0798382316551,0.999999924637,0.000270377934417,-0.000276075041517,3.7471744621e-05,1793245433494533632
+61,1.016666667,BASELINE,764,744,714.401719127,679.401719127,658,633,878,785.401719127,807,651,629.401719127,652.598280873,0.40097797501,-0.0153667670567,0.0798384192975,0.999999924173,0.000272598539804,-0.000275607740122,3.72002528993e-05,1793245433511200256
+62,1.033333333,BASELINE,764,744,714.976315184,679.976315184,658,633,878,785.976315184,807,651,629.976315184,652.023684816,0.400979082687,-0.0153637586265,0.0798389507548,0.999999923474,0.00027577882507,-0.000275032332179,3.6820541579e-05,1793245433527866880
+63,1.050000000,BASELINE,764,744,714.451558423,679.451558423,658,633,878,785.451558423,807,651,630,652,0.400978498268,-0.0153640330956,0.0798391051216,0.999999922931,0.000277077455388,-0.000275658172421,3.71419451167e-05,1793245433544533504
+64,1.066666667,BASELINE,764,744,714,679.125277225,658,633,878,785,807,651,630,652,0.400977744136,-0.0153644711717,0.079839024856,0.999999922567,0.000277686913434,-0.000276321763129,3.74376072205e-05,1793245433561200128
+65,1.083333333,BASELINE,764,744,714,679.720163782,658,633,878,785,807,651,630,652,0.400976626514,-0.0153649934714,0.0798381258277,0.999999922857,0.000276016211563,-0.000276933272481,3.75237854127e-05,1793245433577867008
+66,1.100000000,BASELINE,764,744,714,680,658,633.306871909,878.306871909,785,807,651,629.693128091,652.306871909,0.400976834699,-0.0153647865003,0.0798383763953,0.999999923079,0.000275564684868,-0.000276596945087,3.7418891238e-05,1793245433594533888
+67,1.116666667,BASELINE,764,744,714,680,658,633.886315703,878.886315703,785,807,651,629.113684297,652.886315703,0.400978220501,-0.0153639317712,0.0798396480648,0.99999992324,0.000276196062454,-0.000275418723563,3.71442814424e-05,1793245433611200512
+68,1.133333333,BASELINE,764,744,714,679.539141452,658,634,878.539141452,785,807,651.460858548,629.460858548,653,0.400977440821,-0.0153645797156,0.0798389597765,0.999999923266,0.000275148563025,-0.000276373547738,3.7139232442e-05,1793245433627867136
+69,1.150000000,BASELINE,764,744,714,679,658,634,878,785,807,651.964887058,630,653,0.400976286533,-0.0153654222952,0.0798378953743,0.999999923246,0.000273905732859,-0.000277672322355,3.71826440043e-05,1793245433644533504
+70,1.166666667,BASELINE,764,744,714,679,658,634,878,785,807,651.376324782,630,653,0.400977558825,-0.0153635515623,0.0798384431066,0.999999923078,0.000276043150904,-0.000276186092433,3.69528243043e-05,1793245433661200128
+71,1.183333333,BASELINE,764,744,714,679,658,633.791198988,878,785,807,651,630,652.791198988,0.400978507636,-0.015362957778,0.0798388761243,0.999999923107,0.000277195576638,-0.000274929654833,3.68963306522e-05,1793245433677866752
+72,1.200000000,BASELINE,764,744,714,679,658,633.21216643,878,785,807,651,630,652.21216643,0.400978882874,-0.0153646281906,0.0798391057378,0.999999923496,0.00027660148234,-0.000274080668875,3.71471667489e-05,1793245433694533632
+73,1.216666667,BASELINE,764,744,714,679,658,633.365958276,878,785.365958276,807,651,630,652.365958276,0.400978875313,-0.0153653281658,0.0798390478284,0.999999923884,0.000275308133401,-0.000273966364802,3.71520390821e-05,1793245433711200768
+74,1.233333333,BASELINE,764,744,714,679,658,633.943557919,878,785.943557919,807,651,630,652.943557919,0.40097864637,-0.0153654669167,0.0798388236386,0.99999992427,0.000273610390836,-0.000274276942761,3.70146653836e-05,1793245433727867904
+75,1.250000000,BASELINE,764,744,714,679,658.514622746,634,878.514622746,786,807,651.514622746,630,653,0.400978220755,-0.0153651239461,0.0798386878745,0.999999924237,0.000273580535086,-0.000274457019483,3.67739398812e-05,1793245433744534272
+76,1.266666667,BASELINE,764,744,714.088519176,679.088519176,658.911480824,633.911480824,878.911480824,785.911480824,807,651.911480824,630,653,0.400977891069,-0.0153647894546,0.0798386103167,0.999999924098,0.000273934536329,-0.000274639576857,3.65772852818e-05,1793245433761200896
+77,1.283333333,BASELINE,764,744,714.682631108,679.682631108,658.317368892,633.317368892,878.317368892,785.317368892,807,651.317368892,630,653,0.400978230959,-0.0153648013769,0.079838810515,0.999999923601,0.000275449278751,-0.000274917028643,3.66962809478e-05,1793245433777867008
+78,1.300000000,BASELINE,764,744,715,679.729480684,658,633.270519316,878,785,807,651,630,652.729480684,0.400978058301,-0.0153652614589,0.079838746536,0.999999923687,0.000274669645987,-0.00027537327414,3.67738749661e-05,1793245433794533632
+79,1.316666667,BASELINE,764,744,715,679.148729882,658,633.851270118,878,785,807,651,630,652.148729882,0.400977297853,-0.0153662354905,0.0798383795983,0.999999924435,0.00027125882422,-0.000276034560201,3.68039895765e-05,1793245433811200256
+80,1.333333333,BASELINE,764,744,714.572871278,679,658,634,878,785,807,651.427128722,630,652,0.400978055045,-0.0153668685794,0.0798390000044,0.999999924538,0.000271773463992,-0.000275109199056,3.71144943719e-05,1793245433827866880
+81,1.350000000,BASELINE,764,744.001298474,714,679.001298474,658,634,878.001298474,785,807,651.998701526,629.998701526,652.001298474,0.400979333387,-0.0153673811766,0.0798399602503,0.999999924419,0.000273635519791,-0.000273637814877,3.75199521032e-05,1793245433844533504
+82,1.366666667,BASELINE,764,744.573409386,714,679.573409386,658,634,878.573409386,785,807,651.426590614,629.426590614,652.573409386,0.400980031176,-0.0153665235513,0.0798408903518,0.999999924777,0.000273745776317,-0.000272256514716,3.72327046229e-05,1793245433861200384
+83,1.383333333,BASELINE,764,744.848036155,714,680,658.151963845,633.848036155,878.848036155,785.151963845,807,651.151963845,629.151963845,652.848036155,0.400980299223,-0.0153658325358,0.0798413685474,0.999999924866,0.000274192419117,-0.000271510014631,3.70025830297e-05,1793245433877867520
+84,1.400000000,BASELINE,764,744.250592392,714,680,658.749407608,633.250592392,878.250592392,785.749407608,807,651.749407608,629.749407608,652.250592392,0.400979307487,-0.0153656299346,0.0798405219872,0.999999924171,0.000275625173674,-0.000272624421895,3.69399251198e-05,1793245433894533888
+85,1.416666667,BASELINE,764,744,714,679.666129941,658.666129941,633.333870059,878,785.666129941,807,651.666129941,629.666129941,652,0.400978996584,-0.0153655206174,0.0798402023415,0.999999924152,0.000275370395088,-0.000272936148669,3.70597281738e-05,1793245433911200512
+86,1.433333333,BASELINE,764,744,714,679.091046233,658.091046233,633.908953767,878,785.091046233,807,651.091046233,629.091046233,652,0.400979177567,-0.015365478696,0.0798402633799,0.99999992462,0.000273896411465,-0.000272667956677,3.73113551963e-05,1793245433927867136
+87,1.450000000,BASELINE,764,744,714,679,658,633.517788705,878,785,807,651,629,652.482211295,0.400978708051,-0.015365318356,0.0798398106661,0.999999924658,0.000273203111152,-0.000273277595559,3.69183204734e-05,1793245433944533504
+88,1.466666667,BASELINE,764,744,714,679,658.057130033,633.057130033,878.057130033,785,807,651.057130033,629,653,0.400978070328,-0.0153651265664,0.0798393167588,0.999999924612,0.000272678563264,-0.000274031994489,3.64501881513e-05,1793245433961200128
+89,1.483333333,BASELINE,764,744,714,679,658.650878919,633.650878919,878.650878919,785,807,651.650878919,629,653,0.400977001934,-0.0153648485926,0.079839343614,0.999999924546,0.000272359794492,-0.000274595174532,3.64156493643e-05,1793245433977866752
+90,1.500000000,BASELINE,764,744,714,679,658.762019857,634,878.762019857,785.237980143,807,651.762019857,629.237980143,652.762019857,0.400976631279,-0.0153652019579,0.0798392825941,0.999999924294,0.000272765428693,-0.0002750821182,3.66078354431e-05,1793245433994533888
+91,1.516666667,BASELINE,764,744,714,679,658.184405907,634,878.184405907,785.815594093,807,651.184405907,629.815594093,652.184405907,0.400977256403,-0.0153664563401,0.0798390961631,0.999999923778,0.000274204895985,-0.000275460260937,3.71235923425e-05,1793245434011201792
+92,1.533333333,BASELINE,763.608104989,744,714,679,658,633.608104989,878.391895011,785.608104989,807,651,629.608104989,652.391895011,0.400977760494,-0.0153665476334,0.07983958458,0.999999923737,0.000274777318752,-0.000275015864029,3.72799597984e-05,1793245434027868416
+93,1.550000000,BASELINE,763.032419803,744,714,679,658,633.032419803,878.967580197,785.032419803,807,651,629.032419803,652.967580197,0.400978207822,-0.0153660934637,0.0798403894859,0.99999992392,0.000274943116757,-0.000274185714081,3.72677815243e-05,1793245434044534528
+94,1.566666667,BASELINE,763.552136816,744,714,679.552136816,658.552136816,633.552136816,878.447863184,785,807,651.552136816,629.552136816,652.447863184,0.400978686682,-0.0153657316985,0.0798401075759,0.999999924019,0.000274933654862,-0.000273848891593,3.71520221925e-05,1793245434061200640
+95,1.583333333,BASELINE,763.864128307,744.135871693,714,679.864128307,658.864128307,634,878.135871693,785,807,652,630,652.135871693,0.400979124313,-0.0153655213398,0.0798399317447,0.999999924159,0.000274822025583,-0.000273460688511,3.70595001637e-05,1793245434077867008
+96,1.600000000,BASELINE,763.284803125,744.715196875,714,679.284803125,658.284803125,634,878.715196875,785,807,652,630,652.715196875,0.400979421242,-0.0153657871384,0.0798403138063,0.99999992445,0.00027441108081,-0.000272808706721,3.70629935039e-05,1793245434094533888
+97,1.616666667,BASELINE,763.293932346,744.706067654,714,679.293932346,658.293932346,633.706067654,878.706067654,785.293932346,807,652,630,652.706067654,0.400979230592,-0.0153657196714,0.0798403294127,0.999999924348,0.000274771898653,-0.000272797503267,3.72171167162e-05,1793245434111200512
+98,1.633333333,BASELINE,763.87209753,744.12790247,714,679.87209753,658.87209753,633.12790247,878.12790247,785.87209753,807,652,630,652.12790247,0.400978568454,-0.0153653299362,0.0798399906564,0.999999923866,0.000275879011651,-0.000273405933071,3.75168991476e-05,1793245434127866880
+99,1.650000000,BASELINE,764,744,714,680,659,633.448607557,878,785.551392443,806.551392443,652,630,652.448607557,0.400979396616,-0.0153651414715,0.0798403642758,0.999999924445,0.000275171048378,-0.000272014809241,3.73889691598e-05,1793245434144534016
+100,1.666666667,BASELINE,764,744,714,680,659,634,878,785,806.025111604,652,630,653,0.400980546867,-0.0153649926125,0.0798408943531,0.999999925249,0.000274037291074,-0.00027023191945,3.71394546004e-05,1793245434161201408
+101,1.683333333,BASELINE,764,744,714,680,659,634,878,785,806.612000242,652,630,653,0.400979432084,-0.0153644507488,0.0798403975738,0.999999924433,0.000274912466841,-0.000272391530023,3.68879762167e-05,1793245434177867520
+102,1.700000000,BASELINE,764,744.197431548,714,680,659,634,878.197431548,785,807,652,630,653,0.400978479129,-0.01536464168,0.0798399592592,0.999999924076,0.000274836858394,-0.000273797928507,3.67111459951e-05,1793245434194533632
+103,1.716666667,BASELINE,764,744.780019771,714,680,659,634,878.780019771,785,807,652,630,653,0.40097784187,-0.0153662621744,0.0798396349996,0.999999924623,0.000272906425276,-0.000273734933083,3.66799421645e-05,1793245434211200256
+104,1.733333333,BASELINE,764,744.643247216,714,680,659,634,878.643247216,785.356752784,807,651.643247216,630,652.643247216,0.400977784291,-0.0153658601465,0.079839384768,0.999999924586,0.000272909358166,-0.00027387710606,3.66085493772e-05,1793245434227866880
+105,1.750000000,BASELINE,764,744.070066278,714,680,659,634,878.070066278,785.929933722,807,651.070066278,630,652.070066278,0.40097807838,-0.0153642311325,0.0798391794462,0.999999924195,0.00027408518946,-0.000274143746786,3.65127754971e-05,1793245434244533760
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,878,785,807,652,630,653,0.400979325557,-0.0153673000537,0.0798408192307,0.999999925796,0.00027106811081,-0.000271214145997,3.70400253619e-05,1793245434275590912
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679.409822371,658.590177629,634,878,785,807,652,630,653,0.400978240924,-0.015365991307,0.0798403587976,0.999999924874,0.000272964803565,-0.000272738707113,3.68212538276e-05,1793245434292258560
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.177372207,714,679.177372207,658.822627793,634,878,785.177372207,807,652,630,652.822627793,0.400977471311,-0.0153649273753,0.079839745687,0.999999924133,0.000274297753899,-0.000274136715603,3.66698380142e-05,1793245434308925696
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.757788493,714,679.757788493,658.242211507,634,878,785.757788493,807,652,630,652.242211507,0.400977417522,-0.0153644197383,0.0798387856463,0.999999923813,0.000274349708847,-0.000275247158001,3.66714750235e-05,1793245434325592320
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.665363217,714,680,658.334636783,634,878,786,807,652,630,652,0.400978960509,-0.0153658564374,0.0798395341138,0.999999924585,0.000272826438322,-0.000273928376966,3.68579952629e-05,1793245434342258432
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.091070246,714,680,658.908929754,634,878,786,807,652,630,652,0.400981647055,-0.015368685608,0.0798415061604,0.999999926126,0.000270175041562,-0.000270869863541,3.71769229724e-05,1793245434358924288
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679.531885617,658.531885617,634,878,786,807,651.531885617,630,652.468114383,0.400979769489,-0.015367950019,0.0798407549104,0.999999925537,0.000271160862207,-0.000272077591481,3.70478204093e-05,1793245434375590912
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.027082426,634,878,786,807,651,630,652.972917574,0.400977199775,-0.0153665779814,0.0798395730919,0.999999924579,0.000272777981787,-0.000274000335542,3.68472683689e-05,1793245434392257536
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.64327717,634,878,786,807,651,630,652.35672283,0.400978285021,-0.0153659755803,0.079840189682,0.99999992446,0.000273216399716,-0.000273986705765,3.69292440199e-05,1793245434408924160
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679.242171502,658.757828498,634,878,785.757828498,807,651.242171502,630,652.242171502,0.400982618595,-0.0153658434913,0.0798422537279,0.999999925171,0.000273375734472,-0.000271221016038,3.69100621408e-05,1793245434425590528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.817281121,658.182718879,634,878,785.182718879,807,651.817281121,630,652.817281121,0.40099141798,-0.0153663579888,0.0798463077401,0.999999926993,0.000273151384785,-0.000264671785899,3.67518085732e-05,1793245434442257408
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.60753657,658,634,878.39246343,785,807,651.60753657,630,653,0.401014650599,-0.0153672983902,0.0798565872136,0.99999993142,0.00027327010095,-0.000247121198895,3.76149743407e-05,1793245434458924032
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.032320363,658,634,878.967679637,785,807,651.032320363,630,653,0.401044604133,-0.0153684371162,0.0798697656081,0.999999936638,0.000273548567501,-0.000224447768245,3.89537696687e-05,1793245434475590912
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.442091291,744,714,679,658.557908709,634,878.442091291,785.557908709,807,651,630,653,0.401097814586,-0.0153711433301,0.0798857188907,0.999999943744,0.000272252589088,-0.000191904657339,3.95464969288e-05,1793245434492257536
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.145999472,744,714,679,658.854000528,634,878.145999472,785.854000528,807,651.145999472,629.854000528,652.854000528,0.401157174144,-0.0153740161126,0.0799019697462,0.999999949565,0.000270725797471,-0.000161186266391,3.99512633473e-05,1793245434508924160
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.725095948,744,714,679,658.274904052,634,878.725095948,785.274904052,807,651.725095948,629.274904052,652.274904052,0.4012306674,-0.0153771061896,0.079918613286,0.999999953608,0.000268792364121,-0.000137623766571,3.99302140841e-05,1793245434525590784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.301314923,634,878.698685077,785,806.698685077,652,629.301314923,652,0.401311603466,-0.0153805233886,0.0799312901775,0.999999956265,0.000268207280434,-0.000118358828522,3.90651409705e-05,1793245434542257408
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.874933416,634,878.125066584,785,806.125066584,652,629.874933416,652,0.401399265725,-0.0153842362131,0.0799403823383,0.999999957859,0.000268840724105,-0.000102977673714,3.7437308739e-05,1793245434558924288
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679.46009604,659,633.53990396,878,785,806.46009604,651.53990396,630,652.46009604,0.401499437839,-0.0153880807357,0.0799434152908,0.999999958892,0.000267275207089,-9.79324000736e-05,3.44861332846e-05,1793245434575590912
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.952265835,744,714,680,659,633.047734165,878,785,807.047734165,651,629.952265835,652.952265835,0.401605387148,-0.0153919050064,0.0799448373718,0.999999959826,0.00026504604116,-9.55583318485e-05,3.10959666037e-05,1793245434592257536
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.372905587,744,714,680,659,633.627094413,878,785,807.627094413,651,629.372905587,652.372905587,0.401736831363,-0.0153950947656,0.0799471345613,0.999999961123,0.000262254131902,-9.08379189453e-05,2.6926052232e-05,1793245434608924416
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.206301516,744,714,679.793698484,658.793698484,634,878.206301516,785,807.793698484,651.206301516,629.206301516,652.206301516,0.401878962699,-0.0153988683957,0.0799502491098,0.999999962836,0.000258262984662,-8.43919628798e-05,2.24851798915e-05,1793245434625591296
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.785231939,744,714,679.214768061,658.214768061,634,878.785231939,785,807.214768061,651.785231939,629.785231939,652.785231939,0.402040397464,-0.0154036966329,0.0799548400001,0.999999965268,0.000252105732752,-7.48292718119e-05,1.75548943834e-05,1793245434642257664
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.638849107,879,785,807,652,630,652.638849107,0.402215641811,-0.0154098035565,0.0799554672781,0.999999967575,0.000243534911277,-7.35021552651e-05,1.17180099769e-05,1793245434658924032
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.064706141,879,785,807,652,630,652.064706141,0.4023990305,-0.0154166645976,0.0799537569796,0.999999969748,0.000233540664258,-7.70320439343e-05,5.34645002628e-06,1793245434675590400
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679.521460271,658,633.521460271,879,785.521460271,807,652,630,652.521460271,0.402607900359,-0.0154235597853,0.0799491992567,0.999999974538,0.000208326706181,-8.67120282593e-05,-2.32858972504e-06,1793245434692257024
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.107605669,714,679.892394331,658.107605669,634,878.892394331,785.892394331,807,652,630,652.892394331,0.402829015534,-0.0154308073922,0.0799449646032,0.99999998012,0.000174991286834,-9.50309715522e-05,-1.0344184163e-05,1793245434708923904
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.686963939,714,679.313036061,658.686963939,634,878.313036061,785.313036061,807,652,630,652.313036061,0.403089626245,-0.0154395810228,0.0799437318868,0.999999988845,0.000114525687103,-9.3958346287e-05,-1.91269662668e-05,1793245434725590784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.735366335,714,679,658.735366335,634,878.52926733,785,807.264633665,652,630,652.264633665,0.403372040429,-0.0154487422507,0.0799449266055,0.999999992635,7.73192204096e-05,-8.98855281044e-05,-2.59128639068e-05,1793245434742257920
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.159681362,714,679,658.159681362,634,879.680637275,785,807.840318638,652,630,652.840318638,0.403680082473,-0.0154583590611,0.07994897454,0.999999993879,6.74516215425e-05,-8.2286273361e-05,-3.03516163154e-05,1793245434758925568
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,679.414279216,658,634,879.171441568,785,807.585720784,652,629.585720784,652.585720784,0.40401742297,-0.0154648328612,0.0799525051983,0.999999994369,6.87302967905e-05,-7.60277352522e-05,-2.75295779769e-05,1793245434775591936
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,679.987577879,658,634,878.024844241,785,807.012422121,652,629.012422121,652.012422121,0.404366009557,-0.015470100229,0.0799558373021,0.999999994531,7.42874257356e-05,-7.02838261217e-05,-2.19205135686e-05,1793245434792257280
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.579851146,714,679.420148854,658.579851146,634,878.579851146,785,807,652,629,652.579851146,0.404762494275,-0.0154789144741,0.0799538215793,0.999999995445,6.01440606769e-05,-6.95172970153e-05,-2.56883273593e-05,1793245434808923648
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.831522475,714,679.168477525,658.831522475,634,878.831522475,785.168477525,807,652,629.168477525,652.831522475,0.405169773466,-0.0154865825263,0.0799512891478,0.999999996037,4.6262568641e-05,-7.00509429681e-05,-2.96515871735e-05,1793245434825590272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.25279971,714,679.74720029,658.25279971,634,878.25279971,785.74720029,807,652,629.74720029,652.25279971,0.405600754152,-0.0154912682978,0.0799477869314,0.999999996155,3.40811901575e-05,-7.34821044821e-05,-3.35850657349e-05,1793245434842256896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679.67594769,658,634,878.64810462,785.67594769,807,651.67594769,630,652,0.406049823154,-0.0154860980385,0.0799420767628,0.99999999488,4.6337605789e-05,-8.3624214524e-05,-3.31487088009e-05,1793245434858924032
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679.100546637,658,634,879.798906727,785.100546637,807,651.100546637,630,652,0.406512922267,-0.0154732830234,0.0799346540122,0.999999991665,7.75490117277e-05,-9.89716217328e-05,-2.93229221432e-05,1793245434875590912
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744.473866546,714,679,658,633.526133454,879.052266907,785,807,651,630,652.473866546,0.407007632631,-0.0154666121983,0.0799301084399,0.999999990172,8.18446682916e-05,-0.000108841615701,-3.33243200756e-05,1793245434892257792
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.950414119,744.950414119,714,679,658,633.049585881,878,785,807,651,630,652.950414119,0.407512416671,-0.0154625724592,0.0799255085782,0.999999989118,7.88210561556e-05,-0.000118570995893,-3.86331103544e-05,1793245434908924672
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.358109085,744.358109085,714,679,658,633.641890915,878,785,807,651,630,652.358109085,0.408054197985,-0.0154730907363,0.079913646585,0.999999987786,5.80656848991e-05,-0.000139455394533,-4.01116726636e-05,1793245434925591296
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.227983254,744,714,679,658.455966508,634,878,785,807.227983254,651,630,652.227983254,0.408628529822,-0.0154811834881,0.0799124616008,0.999999988009,4.31486726846e-05,-0.000142943254948,-4.10845847299e-05,1793245434942257664
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.804575725,744,714,679,659.60915145,634,878,785,807.804575725,651,630,652.804575725,0.409252634636,-0.0154855673684,0.0799276028328,0.999999991278,3.71590971824e-05,-0.00011983006577,-4.12843068944e-05,1793245434958924032
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.380761867,679.380761867,659.619238133,634,878.380761867,785,808,651,630,652.619238133,0.409918467598,-0.015488168683,0.0799581580194,0.999999996191,3.62712980937e-05,-6.85946060068e-05,-3.99559275776e-05,1793245434975590400
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714.956739668,679.956739668,659.043260332,634,878.956739668,785,808,651,630,652.043260332,0.410605694487,-0.0154898560793,0.0799966159127,0.999999998558,3.79991707726e-05,-2.94090853021e-06,-3.78440932032e-05,1793245434992257024
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714.455545783,680,659.544454217,634,879,785,807.455545783,651,630,652,0.411271354589,-0.0154867080372,0.0799876406945,0.999999998153,3.85973298199e-05,-2.34056533412e-05,-4.06977401825e-05,1793245435008924160
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,679.869053919,659.869053919,633.869053919,878.869053919,785,807.130946081,651,629.869053919,652.130946081,0.411939351446,-0.015483800185,0.079969286064,0.999999996747,3.77454825417e-05,-5.58872957423e-05,-4.42533529549e-05,1793245435025591296
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,679.290007782,659.290007782,633.290007782,878.290007782,785,807.709992218,651,629.290007782,652.709992218,0.412621337805,-0.0154830579958,0.0799320161665,0.999999992716,3.22456230201e-05,-0.000105559400046,-4.88312401858e-05,1793245435042258432
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,679.287837009,659.287837009,633.287837009,878,785,807.712162991,651,629,653,0.41334374674,-0.0154851878897,0.0799140353586,0.999999990599,2.66294870003e-05,-0.000124142612426,-5.1786717692e-05,1793245435058924800
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744,714,679.864476495,659.864476495,633.864476495,878,785,807.135523505,651,629,653,0.41410671392,-0.0154901995002,0.0799154083354,0.999999992151,2.08966838594e-05,-0.000111532660199,-5.31143441984e-05,1793245435075590912
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.437913676,714,680,660,634,878.437913676,785,807,651.437913676,629.437913676,653,0.414896215175,-0.0154938653226,0.0799398846704,0.999999996014,1.60132067692e-05,-7.1157640422e-05,-5.14964716752e-05,1793245435092257536
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.989274014,714,680,660,634,879,785,807.010725986,651.989274014,629.989274014,653,0.415693663777,-0.015497024835,0.0799706109196,0.999999998447,1.15234853744e-05,-2.38044764271e-05,-4.9055286209e-05,1793245435108924160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,744.396996785,714,680,660,634,879,785,807.603003215,651.396996785,629.396996785,653,0.416480017377,-0.0154951503963,0.0799553541521,0.99999999676,1.42350148226e-05,-6.06033639769e-05,-5.1039932942e-05,1793245435125590784
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659.80870285,633.80870285,879,785,808,651,629.19129715,653,0.417298023816,-0.0154947658341,0.0799511693161,0.999999996156,1.40144927417e-05,-6.90349724955e-05,-5.22095142024e-05,1793245435142257408
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.228506817,633.228506817,879,785,808,651,629.771493183,653,0.418180379069,-0.015497410127,0.079969493242,0.999999998436,7.83323575859e-06,-1.97971196954e-05,-5.17221023005e-05,1793245435158924288
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659.347240783,633,879,785,808,651,630,653,0.419048903504,-0.0155000725085,0.0799797520391,0.999999998602,1.97393200568e-06,5.16815445842e-06,-5.25934448595e-05,1793245435175591168
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659.920098033,633,879,785,808,651,630,653,0.419908441459,-0.0155027466429,0.0799847705931,0.999999998413,-3.67618538596e-06,1.43625446793e-05,-5.43476255516e-05,1793245435192257536
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.50542224,714,680,660,633.50542224,879,785,808,651,630,653,0.420751836411,-0.0155029845287,0.0799706674517,0.99999999842,-3.48137345603e-06,-8.68358719069e-06,-5.54313734593e-05,1793245435208923904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,744.907797717,714,680.092202283,660,634,879,785.092202283,808,651,630,653,0.421610758209,-0.0155032640175,0.0799605726398,0.999999998103,-2.34195237693e-06,-2.59662323043e-05,-5.58010472476e-05,1793245435225590272
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,744.324029611,714,680.675970389,660,634,879,785.675970389,808,651,630,653,0.422566409283,-0.0155058705962,0.0799883718245,0.99999999848,-1.21736233813e-06,1.53391970507e-05,-5.29430726847e-05,1793245435242256896
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,744.255137326,714,681,660,634,879,785.744862674,807.744862674,651,630,653,0.423485703501,-0.0155081327441,0.0800029937917,0.999999998213,2.9889312031e-06,3.10590860028e-05,-5.09951604076e-05,1793245435258923776
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,744.828564279,714,681,660,634,879,785.171435721,807.171435721,651,630,653,0.424359641841,-0.015509965207,0.0800011768836,0.99999999857,1.10397202159e-05,1.48604360507e-05,-5.01825712536e-05,1793245435275590656
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.41322503,745,714,681,660,633.58677497,879,785,807.82645006,651,630,653,0.425209365286,-0.0155093908579,0.0799655305917,0.999999997256,9.2178595383e-06,-4.94058829394e-05,-5.44271187055e-05,1793245435292257280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.0026286,633.0026286,879,785,808.9973714,651,630,653,0.426049221422,-0.0155078093382,0.0799156782204,0.99999998921,3.17414304882e-06,-0.000133691066283,-6.08041151901e-05,1793245435308923904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.581513317,633.581513317,879,785,808.418486683,651,630,653,0.426989828997,-0.0155104487011,0.0799142769944,0.999999991725,-5.39144480596e-06,-0.000112666427212,-6.18651815658e-05,1793245435325590528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.839880566,744.839880566,714,681,661,633.839880566,879.160119434,785.160119434,808.160119434,651,630,653,0.427926596659,-0.0155116183714,0.0799159323662,0.999999993206,-1.00604956067e-05,-9.80968397126e-05,-6.21666197395e-05,1793245435342257152
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.262001367,744.262001367,714,681,661,633.262001367,879.737998633,785.737998633,808.737998633,651,630,653,0.428853345737,-0.0155089535385,0.0799255625576,0.999999993123,-4.56328207806e-06,-0.000100368812236,-6.04861492145e-05,1793245435358923776
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.314255655,744.314255655,714,681.314255655,660.685744345,633.314255655,880,785.685744345,809,651,630,653,0.429796498612,-0.0155124354364,0.0799558793633,0.999999996272,-5.11228639025e-06,-6.36603069639e-05,-5.8109274267e-05,1793245435375591168
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.88916715,744.88916715,714,681.88916715,660.11083285,633.88916715,880,785.11083285,809,651,630,653,0.430753257386,-0.0155210156716,0.0800033544495,0.999999998408,-1.06762587768e-05,5.38012036762e-06,-5.51547743207e-05,1793245435392259072
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.524450295,745,714,682,660.475549705,634,879.524450295,785,809,651,630,653,0.431653377667,-0.015524546192,0.0800268736005,0.99999999756,-1.09897349156e-05,4.340489874e-05,-5.36207480639e-05,1793245435408924928
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633.936439296,879.063560704,785,808.936439296,651,630,653,0.432531646845,-0.0155258405606,0.0800348113835,0.999999996805,-1.09344892635e-05,5.86537932845e-05,-5.31908550732e-05,1793245435425590528
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633.357439125,879.642560875,785,808.357439125,651,630,653,0.43334240872,-0.015518780931,0.079962789375,0.999999996812,-1.80578488273e-05,-5.07276936325e-05,-5.89637721885e-05,1793245435442257152
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,744.779905295,714,682,661,633,880,785.220094705,808,651,630,653,0.434187116621,-0.0155146139628,0.0799174318327,0.999999990935,-2.53810576902e-05,-0.000116144847781,-6.32181763772e-05,1793245435458924032
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.204736987,714,682,661,633,880,785.795263013,808,651,630,653,0.435086588972,-0.0155151136563,0.0799150914343,0.999999991221,-3.302668013e-05,-0.000110635397929,-6.50228012794e-05,1793245435475591168
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,744.369704237,714,682,661,633,880,785.630295763,808.369704237,651,630,653,0.435959762426,-0.0155190952835,0.0799389931341,0.999999994324,-3.53200196935e-05,-7.81840767537e-05,-6.31856027846e-05,1793245435492258048
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,744.943743569,714,682,661,633,880,785.056256431,808.943743569,651,630,653,0.436818400455,-0.0155250013713,0.0799773988106,0.999999997164,-3.46551583181e-05,-3.08420153418e-05,-5.93355725813e-05,1793245435508924672
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.534221699,744.465778301,714,682.534221699,661,633,880,785,809,651,630,653,0.437645718029,-0.0155319282684,0.079996678935,0.999999997476,-4.04423047282e-05,-2.53201480636e-06,-5.8363923966e-05,1793245435525591040
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.876637943,744.123362057,714,683,660.876637943,633,880,785,809,651,630,653,0.438455533448,-0.0155386706391,0.080004016071,0.999999997062,-4.85874558997e-05,7.59275533978e-06,-5.8795826047e-05,1793245435542257408
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.299000946,744.700999054,714,683,660.299000946,633,880,785,809,651,630,653,0.439213429096,-0.0155443250803,0.0799750257285,0.999999995159,-6.28344405903e-05,-4.16341199765e-05,-6.32446150643e-05,1793245435558924032
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.722038856,785,809,651,630,653,0.439919614847,-0.0155482424591,0.0799131419352,0.999999985467,-7.08892028157e-05,-0.00013919902613,-6.82981202385e-05,1793245435575590912
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,633,879.145801038,785,809,651,630,653,0.440570311295,-0.0155502958174,0.0798159605874,0.999999952993,-7.22991655962e-05,-0.000288634871827,-7.40005376002e-05,1793245435592257536
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,682.571965529,660,632.571965529,879.428034471,784.571965529,809,651,630,653,0.441214866668,-0.0155610458172,0.0797407867211,0.999999913564,-9.20634988409e-05,-0.0003977759696,-7.85565825809e-05,1793245435608924672
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.998904113,632,880,784,809,651,630,653,0.441857497575,-0.0155747744974,0.0796732851018,0.999999868111,-0.000118067636421,-0.000492949035236,-8.27034297501e-05,1793245435625591808
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.404405456,632,880,784,809,651,630,653,0.442584403449,-0.0156063083226,0.0797236639793,0.999999898668,-0.00015634251771,-0.000415349247077,-7.55391100549e-05,1793245435642257920
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,784,809.18427251,651,630,653,0.443291642411,-0.0156329707797,0.0797690569651,0.999999919106,-0.000187786899575,-0.000348779340687,-6.98292526114e-05,1793245435658924032
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,784,809.760567612,651,630,653,0.443957041985,-0.0156492698612,0.0798038429405,0.999999930072,-0.000204700039566,-0.000305674470259,-6.72136276209e-05,1793245435675590912
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,744.664585696,714,682.335414304,659,631.664585696,879.664585696,784,809.664585696,651,630,653,0.444580771397,-0.0156587740985,0.0798070642011,0.999999928315,-0.000213922221951,-0.000305224722941,-6.66654146416e-05,1793245435692257536
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,744.090768527,714,682.909231473,659,631.090768527,879.090768527,784,809.090768527,651,630,653,0.445174882812,-0.0156634487545,0.079787850166,0.999999917881,-0.000217677891375,-0.000335093016073,-6.75866589885e-05,1793245435708924160
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,744.494394162,714,683,659,631.494394162,879.494394162,783.505605838,809.494394162,651,630,653,0.445713877731,-0.0156658485093,0.0797673150624,0.999999907304,-0.000221013416541,-0.000362976845823,-6.92271175457e-05,1793245435725591296
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,744.918947529,714,683,659,631.918947529,880,782.918947529,810,651,629.918947529,653,0.446241219621,-0.0156681410735,0.0797476556863,0.999999896988,-0.000224970560251,-0.000387802666396,-7.08624257327e-05,1793245435742257920
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,744.336227471,714,683,659,631.336227471,880,782.336227471,810,651,629.336227471,653,0.446760538669,-0.0156724159886,0.0797349530077,0.999999891817,-0.000233263805559,-0.000396009200634,-7.16293823462e-05,1793245435758924544
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.243549212,714,683.243549212,659,631,880,781.756450788,810,651,629,653,0.447256254134,-0.0156785446999,0.0797227498069,0.999999884714,-0.000243764515057,-0.000407273745655,-7.26513379342e-05,1793245435775591680
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,744.819310944,714,683.819310944,659,631,880,781.180689056,810,651,629,653,0.447719773168,-0.0156872020759,0.0797112279181,0.999999874823,-0.000257276308286,-0.000422709559737,-7.40211239812e-05,1793245435792258560
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,714,683.604966455,658.604966455,630.604966455,880,781,810,651,629,653,0.448145447939,-0.0156956370449,0.0796936440654,0.999999856751,-0.000273041415485,-0.000454259981896,-7.47921579549e-05,1793245435808924928
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,714,683.029261702,658.029261702,630.029261702,880,781,810,651,629,653,0.448553814426,-0.0157039702954,0.0796732877323,0.999999833549,-0.000289837091555,-0.000493180527519,-7.5289348718e-05,1793245435825591296
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713.123686979,683.876313021,657.123686979,630,879,779.123686979,809.876313021,651.123686979,629,653,0.450369886867,-0.0157297967647,0.079715837864,0.999999858108,-0.000318746519703,-0.000421076259487,-6.98542658474e-05,1793245435908925184
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8848f204ceffe58fd12c16b1efa9bcbf46d3e6e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575674653183,-0.0101221882869,1.07005093861,0.546246286437,-0.00144650199477,1.06971743907
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+384,6.400000000,pose2_to_pose3_retreat,0.575673151915,-0.0101221726806,1.07005090984,0.54624478537,-0.00144648589079,1.06971740555
+385,6.416666667,pose2_to_pose3_retreat,0.575672820988,-0.0101221692404,1.0700509035,0.546244454487,-0.00144648234096,1.06971739816
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+387,6.450000000,pose2_to_pose3_retreat,0.575672168584,-0.0101221624584,1.070050891,0.54624380217,-0.00144647534268,1.06971738359
+388,6.466666667,pose2_to_pose3_retreat,0.575671787444,-0.0101221584963,1.0700508837,0.546243421081,-0.00144647125422,1.06971737508
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+390,6.500000000,pose2_to_pose3_retreat,0.575671160923,-0.010122129565,1.07005087748,0.54624279356,-0.00144644567938,1.06971736984
+391,6.516666667,pose2_to_pose3_retreat,0.575670897346,-0.0101221163035,1.07005087514,0.54624252951,-0.00144643400322,1.06971736806
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+394,6.566666667,pose2_to_pose3_retreat,0.575670486785,-0.0101220956466,1.07005087149,0.546242118211,-0.00144641581584,1.06971736529
+395,6.583333333,pose2_to_pose3_retreat,0.575670442421,-0.0101220934145,1.0700508711,0.546242073767,-0.00144641385057,1.06971736499
+396,6.600000000,pose2_to_pose3_retreat,0.575670062143,-0.0101221091536,1.07005081016,0.54624169333,-0.00144643007605,1.06971730545
+397,6.616666667,pose2_to_pose3_retreat,0.575669896055,-0.0101221410433,1.07005074225,0.546241527548,-0.00144646088627,1.06971723858
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..684d8877334e64f18a6caba3ac6370ab32ebfe58
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b039774745759af910674b43f338290d6724f1f7ec83cbebc9629726f6290e
+size 25777064
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4deaf1aa26276d7491817258ef0036eaa3c4856
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+10,0.166666667,BASELINE,764,744,714,679.187420709,658.812579291,634,877.187420709,785,807,651.187420709,630,653,0.400981916752,-0.0153646481413,0.0798418228094,0.999999924909,0.000273406423813,-0.000272126221277,3.71172380083e-05,1793245439583217408
+11,0.183333333,BASELINE,764,744,714,679,659,634,877.389583342,785.389583342,807,651.389583342,630,653,0.400981679754,-0.0153646121319,0.0798412229448,0.999999925065,0.000272331552023,-0.000272650830147,3.6982239299e-05,1793245439599884288
+12,0.200000000,BASELINE,764,744,714,679,659,634,877.965824846,785.965824846,807,651.965824846,630,653,0.400980878144,-0.0153651820833,0.0798399587697,0.999999925317,0.000269980348679,-0.00027407137779,3.68953574398e-05,1793245439616550912
+13,0.216666667,BASELINE,764,744,714,679,659,634,878,785.45951418,807,652,630,653,0.400981714669,-0.0153651719147,0.0798403368583,0.999999925183,0.000270804243391,-0.0002737568526,3.681926826e-05,1793245439633217536
+14,0.233333333,BASELINE,764,744,714,679,658.881790286,634.118209714,878.118209714,785,807,651.881790286,630,653,0.400982449003,-0.0153650848134,0.0798407767133,0.999999925083,0.000271635597352,-0.000273310107344,3.67378174835e-05,1793245439649884160
+15,0.250000000,BASELINE,764,744,714,679,658.291434484,634.708565516,878.708565516,785,807,651.291434484,630,653,0.40098236267,-0.0153648365152,0.0798410497258,0.999999925217,0.000271697208211,-0.00027277217361,3.66322339633e-05,1793245439666551040
+16,0.266666667,BASELINE,764,744,714,679.293327142,658.293327142,634.706672858,878.706672858,785,807,651.293327142,629.706672858,652.706672858,0.400981338907,-0.0153651663711,0.079840755852,0.99999992506,0.000271633659659,-0.000273393226631,3.67674702178e-05,1793245439683217664
+17,0.283333333,BASELINE,764,744,714,679.87263467,658.87263467,634.12736533,878.12736533,785,807,651.87263467,629.12736533,652.12736533,0.400979401193,-0.0153660599007,0.0798399092904,0.999999924616,0.000271448086472,-0.000275144238126,3.71374946126e-05,1793245439699884032
+18,0.300000000,BASELINE,764,744,714,680,658.550857347,633.550857347,878,785,807,651.550857347,629,652,0.40097949777,-0.0153644691694,0.0798397525212,0.999999924148,0.000273146856739,-0.000275204401315,3.68444903456e-05,1793245439716550912
+19,0.316666667,BASELINE,764,744,714,680,658,633.025306859,877.974693141,785,807,651.025306859,629.025306859,652.025306859,0.400980154257,-0.0153623389747,0.0798398105816,0.999999923734,0.000275156878295,-0.000274764698533,3.63942164874e-05,1793245439733217536
+20,0.333333333,BASELINE,764,744,714,680,658,633.61133514,877.38866486,785,807,651.61133514,629.61133514,652.61133514,0.400980514104,-0.0153637681817,0.0798403213921,0.999999924772,0.000272297033654,-0.000273807523203,3.65994243097e-05,1793245439749884160
+21,0.350000000,BASELINE,764,744,714,680,658,634,877.195010186,785,807,651.804989814,629.804989814,652.804989814,0.400981096047,-0.015364549418,0.0798408147508,0.999999925425,0.00027071477218,-0.000272978286488,3.66957692436e-05,1793245439766550784
+22,0.366666667,BASELINE,764,744,714,680,658,634,877.774050971,785,807,651.225949029,629.225949029,652.225949029,0.400982115362,-0.0153640546152,0.0798412737416,0.999999925333,0.000271648436198,-0.000272400997459,3.65777321196e-05,1793245439783217408
+23,0.383333333,BASELINE,764,744,714,679.646976839,658,634,878,785,807,651.353023161,629.353023161,652.353023161,0.400982477551,-0.0153645286867,0.0798418111042,0.999999925226,0.000272600585826,-0.000271831305336,3.66816203971e-05,1793245439799884032
+24,0.400000000,BASELINE,764,744,714,679.068048488,658,634,878,785,807,651.931951512,629.931951512,652.931951512,0.400982419236,-0.0153656227564,0.0798423986181,0.999999925107,0.000273564564785,-0.000271266474537,3.6927522292e-05,1793245439816550912
+25,0.416666667,BASELINE,764,744.506669147,714,679.506669147,658.506669147,634,878,785,807,652,630,653,0.400981602492,-0.0153662619846,0.0798413277403,0.999999925479,0.00027068306624,-0.000272788882575,3.68547023216e-05,1793245439833217280
+26,0.433333333,BASELINE,764,745,714,680,658.919361508,634,878,785,807,651.919361508,630,653,0.400981064527,-0.0153666070683,0.0798404154188,0.999999925838,0.000268229450601,-0.000273905967048,3.67657018879e-05,1793245439849883904
+27,0.450000000,BASELINE,764,745,714,680,658.346535898,634,878,785,807,651.346535898,630,653,0.400982844724,-0.0153655265887,0.0798418191291,0.999999925781,0.00027151382186,-0.000270852195876,3.68370610067e-05,1793245439866550784
+28,0.466666667,BASELINE,764,744.763837031,714,679.763837031,658.236162969,634,878,785,807,651,629.763837031,653,0.400983272172,-0.0153656272478,0.0798424845282,0.999999925714,0.000272820683171,-0.000269770530936,3.69388418677e-05,1793245439883217664
+29,0.483333333,BASELINE,764,744.166018476,714,679.166018476,658.833981524,634,878,785,807,651,629.166018476,653,0.400981628043,-0.015367536681,0.0798420192912,0.999999925652,0.000271099222265,-0.000271708913059,3.70872100166e-05,1793245439899884032
+30,0.500000000,BASELINE,764,744,714.41628955,679,659,634,878,785,807,651,629.41628955,653,0.400981392771,-0.0153671723146,0.0798415902853,0.99999992549,0.000271081015199,-0.000272355239198,3.68590281882e-05,1793245439916550656
+31,0.516666667,BASELINE,764,744,714.992634075,679,659,634,878,785,807,651,629.992634075,653,0.400981699177,-0.0153659337179,0.0798411752096,0.99999992529,0.000271717675082,-0.000272504795708,3.64860704494e-05,1793245439933217536
+32,0.533333333,BASELINE,764,744,714.43397615,679,658.43397615,633.43397615,878.56602385,785.56602385,807,651.56602385,630,652.43397615,0.400981170517,-0.0153648256699,0.079841120684,0.999999925548,0.000271131655328,-0.000272142686247,3.64610494525e-05,1793245439949884160
+33,0.550000000,BASELINE,764,744,714,679,658.143929219,633,878.856070781,785.856070781,807,651.856070781,630,652,0.400980800199,-0.0153640991009,0.0798411118812,0.999999925586,0.000271148539131,-0.000271982971839,3.64902798444e-05,1793245439966550784
+34,0.566666667,BASELINE,764,744,714,679,658.736013883,633,878.263986117,785.263986117,807,651.263986117,630,652,0.400980956576,-0.0153645550891,0.0798412309131,0.999999924917,0.000273091982596,-0.000272474084416,3.66744086602e-05,1793245439983217408
+35,0.583333333,BASELINE,764,744,714,679.64113196,658.67943402,633,878,785,807,651,630,652,0.400981135658,-0.0153654461209,0.0798412047165,0.999999925119,0.000272033968976,-0.000272794321198,3.66409013142e-05,1793245439999884032
+36,0.600000000,BASELINE,764,744,714,680.798114962,658.100942519,633,878,785,807,651,630,652,0.40098133301,-0.0153666871863,0.0798410616699,0.999999926016,0.000268561000666,-0.000272977072362,3.64322851994e-05,1793245440016550656
+37,0.616666667,BASELINE,764,744,714,680.525986324,658,633.474013676,878,785,807,651.474013676,630,652.474013676,0.40098227473,-0.0153663808105,0.0798417061994,0.99999992577,0.000270312076754,-0.000272124368917,3.66028706628e-05,1793245440033217280
+38,0.633333333,BASELINE,764,744.049446438,714,679.950553562,658,633.950553562,878,785,807,651.950553562,630,653,0.400983200425,-0.0153657612175,0.0798424058874,0.999999925291,0.00027299121315,-0.000271174812793,3.68398997303e-05,1793245440049884160
+39,0.650000000,BASELINE,764,744.638228674,714,679.361771326,658,633.361771326,878,785,807,651.361771326,630,653,0.400982235124,-0.0153652929665,0.0798418913942,0.999999924978,0.000273748687092,-0.000271556162557,3.69273808577e-05,1793245440066550784
+40,0.666666667,BASELINE,764,744.776679381,714.223320619,679.223320619,658.223320619,633,878.223320619,785,807,651,630,653,0.400982263087,-0.0153650174506,0.0798421147162,0.999999925214,0.000273538993524,-0.000270896052474,3.69212835105e-05,1793245440083217664
+41,0.683333333,BASELINE,764,744.197468429,714.802531571,679.802531571,658.802531571,633,878.802531571,785,807,651,630,653,0.400983873947,-0.0153650490833,0.0798435138423,0.999999926323,0.000271787993198,-0.000268576241193,3.67660567367e-05,1793245440099884288
+42,0.700000000,BASELINE,764,744,714.620762458,680,658.620762458,633.379237542,878.620762458,785,807,651.379237542,630,652.620762458,0.400984256795,-0.0153654630789,0.0798433852181,0.999999926655,0.000270414266665,-0.0002687272767,3.67573538214e-05,1793245440116550656
+43,0.716666667,BASELINE,764,744,714.045352287,680,658.045352287,633.954647713,878.045352287,785,807,651.954647713,630,652.045352287,0.400984004417,-0.0153660748638,0.0798424663166,0.999999926586,0.000269235697006,-0.000270156436037,3.68244450175e-05,1793245440133217536
+44,0.733333333,BASELINE,764,744.539944128,714,680,658.539944128,634,878,785,807,652,630,652.539944128,0.400981487336,-0.0153672176696,0.0798405796034,0.999999925953,0.000268480129994,-0.000273250512796,3.66899177006e-05,1793245440149884160
+45,0.750000000,BASELINE,764,744.875334244,714,679.875334244,658.875334244,634,878,785,807,652,630,652.875334244,0.400979692791,-0.0153677163524,0.0798393780302,0.999999925316,0.000268755176613,-0.000275319202589,3.65844029521e-05,1793245440166551040
+46,0.766666667,BASELINE,764,744.295796377,714,679.295796377,658.295796377,634,878,785,807,652,630,652.295796377,0.400981241599,-0.015365699023,0.0798409784912,0.999999924858,0.000272658600919,-0.000273126758492,3.66476905133e-05,1793245440183217664
+47,0.783333333,BASELINE,764,744,714,679,658.283511126,634,878.283511126,785,807,652,630,652.283511126,0.40098251544,-0.0153653890398,0.0798423171479,0.999999925365,0.000273062224609,-0.000270851632917,3.66910080729e-05,1793245440199884288
+48,0.800000000,BASELINE,764,744,714,679,658.862578548,634,878.862578548,785,807,652,630,652.862578548,0.40098350263,-0.0153668589405,0.0798433828777,0.999999926882,0.000269817356669,-0.000268490312814,3.6713507199e-05,1793245440216550912
+49,0.816666667,BASELINE,764,744,714,679.43962198,659,634,878.56037802,785,807,651.56037802,630,652.56037802,0.400983022356,-0.0153661643364,0.0798426368433,0.999999926326,0.000270819364665,-0.000269565442563,3.65961690462e-05,1793245440233217536
+50,0.833333333,BASELINE,764,744,714,679.983715467,659,634,878.016284533,785.016284533,807,651.016284533,629.983715467,652,0.400982099883,-0.0153648603662,0.0798413502492,0.999999925169,0.000273001198843,-0.00027167208291,3.64343763163e-05,1793245440249884160
+51,0.850000000,BASELINE,764,744,714,679.398353585,659,634,878.601646415,785.601646415,807,651.601646415,629.398353585,652,0.400981681117,-0.0153657976691,0.0798408738442,0.999999925713,0.000270233964804,-0.000272458943746,3.62396236735e-05,1793245440266550784
+52,0.866666667,BASELINE,764,744,714,679,659,634,878.814852071,786,807,651.814852071,629.185147929,652.185147929,0.400980946519,-0.0153663288326,0.0798404135136,0.99999992592,0.000268553557978,-0.000273381669439,3.60883531243e-05,1793245440283217408
+53,0.883333333,BASELINE,764,744,714,679,659,634,878.235313433,786,807,651.235313433,629.764686567,652.764686567,0.400979539159,-0.0153659948631,0.079839987424,0.999999925419,0.00026918824369,-0.000274593806035,3.60297054638e-05,1793245440299884032
+54,0.900000000,BASELINE,764,744,714.341703077,679.341703077,659,634,878,785.658296923,807,651,630,653,0.400979553315,-0.0153659333159,0.0798404818035,0.999999925288,0.000270170456668,-0.000274063901506,3.63307758826e-05,1793245440316551424
+55,0.916666667,BASELINE,764,744,714.916995429,679.916995429,659,634,878,785.083004571,807,651,630,653,0.400980539225,-0.0153660579976,0.0798416054185,0.999999925408,0.000271390240327,-0.00027234313226,3.68777506883e-05,1793245440333219072
+56,0.933333333,BASELINE,764,744,714.505854662,680,659,634,878,785,807,651.494145338,629.505854662,653,0.40098108212,-0.0153651210272,0.0798419263508,0.999999925435,0.000271829392858,-0.000271853136292,3.65256448178e-05,1793245440349885184
+57,0.950000000,BASELINE,764,744,714,680,658.927026163,633.927026163,878,785,807,652,629.072973837,652.927026163,0.400981393871,-0.0153642607321,0.0798420615277,0.999999925403,0.00027216094361,-0.00027168948725,3.61489911855e-05,1793245440366551296
+58,0.966666667,BASELINE,764,744,714,680,658.338552623,633.338552623,878,785,807,652,629.661447377,652.338552623,0.400980600452,-0.0153652066074,0.0798418405638,0.999999925064,0.000272662177886,-0.000272365248598,3.66698132562e-05,1793245440383217920
+59,0.983333333,BASELINE,764,744,714,680,658.245955109,633.245955109,878,785,807,651.754044891,630,652.245955109,0.400980762511,-0.0153659556234,0.0798419613232,0.999999925191,0.000272305305147,-0.000272219899348,3.69308804401e-05,1793245440399884544
+60,1.000000000,BASELINE,764,744,714,680,658.825090682,633.825090682,878,785,807,651.174909318,630,652.825090682,0.400982218899,-0.0153664379662,0.0798425449946,0.999999925949,0.000270786006965,-0.000270962241479,3.68400735103e-05,1793245440416551168
+61,1.016666667,BASELINE,764,744,714,679.598349006,659,634,878,785,807,651,630,652.598349006,0.400982895825,-0.0153662170883,0.0798426473772,0.999999926302,0.000270019488122,-0.000270458458698,3.65611279271e-05,1793245440433218048
+62,1.033333333,BASELINE,764,744,714,679.022903049,659,634,878,785,807,651,630,652.022903049,0.400983235477,-0.0153656919257,0.0798425415055,0.999999926483,0.000269578698075,-0.00027028087883,3.62007744832e-05,1793245440449884928
+63,1.050000000,BASELINE,764,744,714,679,658.447963102,634,878,785,807,651,630,652,0.400983611115,-0.0153657396267,0.0798428958115,0.999999926091,0.000271605239211,-0.000269635055956,3.66835058215e-05,1793245440466551296
+64,1.066666667,BASELINE,764,744,714,679,658.130578277,634,878.130578277,785,806.869421723,651,629.869421723,652.130578277,0.400983536515,-0.0153658451797,0.0798428970403,0.999999925828,0.000272523932273,-0.00026964854803,3.6941383088e-05,1793245440483217920
+65,1.083333333,BASELINE,764,744,714,679,658.721901262,634,878.721901262,785,806.278098738,651,629.278098738,652.721901262,0.400981867984,-0.0153660710778,0.0798415851338,0.999999926107,0.000269172725071,-0.000272056913015,3.62825569423e-05,1793245440499884288
+66,1.100000000,BASELINE,764,744.30679389,714,679.30679389,659,634,878.69320611,785,806.30679389,651,629,653,0.400981857937,-0.0153662886938,0.0798416982365,0.99999992643,0.000268317143152,-0.000271715555759,3.62781081004e-05,1793245440516550912
+67,1.116666667,BASELINE,764,744.885977242,714,679.885977242,659,634,878.114022758,785,806.885977242,651,629,653,0.400983320387,-0.0153664989564,0.0798430765453,0.999999926796,0.000269677322705,-0.000268932835024,3.68546535285e-05,1793245440533217536
+68,1.133333333,BASELINE,764,744.539311456,714,679.539311456,658.539311456,633.539311456,878,785.460688544,807,651,629.460688544,653,0.400982980035,-0.0153665842542,0.0798428226379,0.99999992631,0.000270714888114,-0.000269685809212,3.69186810442e-05,1793245440549884416
+69,1.150000000,BASELINE,763.964798824,744.035201176,714,679.035201176,658.035201176,633.035201176,878,785.964798824,807,651.035201176,630,653,0.400982171901,-0.0153666165549,0.079842175685,0.999999925664,0.00027151624518,-0.000271280229744,3.68405426531e-05,1793245440566551040
+70,1.166666667,BASELINE,763.376175976,744.623824024,714,679.623824024,658.623824024,633.623824024,878,785.376175976,807,651.623824024,630,653,0.400980957072,-0.0153662972408,0.0798416396113,0.999999925803,0.000269847294769,-0.000272477787365,3.6502451707e-05,1793245440583217920
+71,1.183333333,BASELINE,763.209047486,745,714,679.790952514,659,634,878,785.209047486,807,651.790952514,630,653,0.400980366933,-0.0153665833492,0.079841461961,0.99999992609,0.000268679641105,-0.000272583234038,3.64518005455e-05,1793245440599884800
+72,1.200000000,BASELINE,763.788251811,745,714,679.211748189,659,634,878,785.788251811,807,651.211748189,630,653,0.400980882921,-0.0153679414686,0.079841918965,0.999999926646,0.00026839962481,-0.000270754898578,3.69101140785e-05,1793245440616551680
+73,1.216666667,BASELINE,764,744.633913081,714,679,659,633.633913081,878.732173838,785.633913081,807,651,630,653,0.400981653048,-0.0153674444335,0.0798420224142,0.999999926261,0.000270386895031,-0.000270172417309,3.71016701049e-05,1793245440633218048
+74,1.233333333,BASELINE,764,744.056867025,714,679,659,633.056867025,879.886265949,785.056867025,807,651,630,653,0.400982569623,-0.0153658783578,0.0798419221259,0.999999925327,0.000273680698721,-0.0002703078649,3.71395059611e-05,1793245440649884416
+75,1.250000000,BASELINE,764,744,714,679.518516218,658.481483782,633.518516218,878.962967565,785,807,651,629.481483782,652.481483782,0.400982397915,-0.0153661478974,0.0798418066315,0.999999925376,0.000273062225565,-0.000270811289519,3.6679464837e-05,1793245440666551040
+76,1.266666667,BASELINE,764,744,714,680,658,634,878.095979073,785,807,651.095979073,629.095979073,652.095979073,0.400982084409,-0.0153662893666,0.0798417240338,0.999999925476,0.000272234993614,-0.000271332918791,3.62657728539e-05,1793245440683217664
+77,1.283333333,BASELINE,764,744,714,680,658,634,878.685060049,785,807,651.685060049,629.685060049,652.685060049,0.400981653632,-0.0153647418839,0.0798418189869,0.99999992528,0.000272532583494,-0.000271741400969,3.63698380592e-05,1793245440699884288
+78,1.300000000,BASELINE,764,744,714,679.730326436,658.269673564,634,878.730326436,785,807,652,630,652.730326436,0.400981838094,-0.0153646433005,0.0798419152578,0.999999925564,0.000271966977043,-0.000271259145367,3.64023916805e-05,1793245440716550912
+79,1.316666667,BASELINE,764,744,714,679.15084529,658.84915471,634,878.15084529,785,807,652,630,652.15084529,0.400982729358,-0.0153662092481,0.0798420130425,0.999999926395,0.000270409709528,-0.000269753588405,3.63527910391e-05,1793245440733217792
+80,1.333333333,BASELINE,763.575963038,744,714,679,658.575963038,634,878,785.424036962,807,652,630,652,0.400983168105,-0.0153663207316,0.0798424089871,0.999999926226,0.000271123021441,-0.000269657262629,3.64085848084e-05,1793245440749884416
+81,1.350000000,BASELINE,763.002699178,744,714,679,658.002699178,634,878,785.997300822,807,652,630,652,0.400983447604,-0.0153659203607,0.0798429098599,0.999999925703,0.000272635394517,-0.000270056872735,3.65014689273e-05,1793245440766551296
+82,1.366666667,BASELINE,763.585908982,744,714,679,658,634,878,786,807,651.414091018,630,652,0.400983507942,-0.0153668103963,0.0798432197907,0.999999926226,0.000271240417134,-0.000269519354796,3.65594940639e-05,1793245440783217920
+83,1.383333333,BASELINE,764,744,714,679,658.171791945,633.828208055,878,786,807,651,629.828208055,652,0.400983366877,-0.0153671384398,0.0798432641834,0.99999992666,0.000269722682803,-0.000269440377595,3.64983175357e-05,1793245440799884288
+84,1.400000000,BASELINE,764,744,714,679,658.751039248,633.248960752,878,786,807,651,629.248960752,652,0.400982750583,-0.0153661190747,0.0798426809165,0.999999926875,0.000267946415126,-0.000270459479972,3.61548101788e-05,1793245440816550912
+85,1.416666667,BASELINE,764,744,714,679,659,633.327817622,878,785.672182378,807,651,629.327817622,652,0.400982449502,-0.0153656765731,0.079842419822,0.999999926552,0.000268677460191,-0.000270933118456,3.61055723503e-05,1793245440833217536
+86,1.433333333,BASELINE,764,744,714,679,659,633.902734953,878,785.097265047,807,651,629.902734953,652,0.40098238602,-0.0153656688953,0.0798424015719,0.999999925821,0.000271298447228,-0.000270995601529,3.62781466408e-05,1793245440849884160
+87,1.450000000,BASELINE,764,744,714,679,659,634,878.478816323,785,807,651.478816323,630,652,0.400982055684,-0.0153656983839,0.0798424463016,0.999999925599,0.000272326522631,-0.00027075946831,3.64626068665e-05,1793245440866551040
+88,1.466666667,BASELINE,764,744,714,679.056674021,659,634,878.943325979,785,807,651.943325979,630,652,0.400981726668,-0.0153657119713,0.0798425053112,0.999999925567,0.000272735930248,-0.000270447665296,3.6591563475e-05,1793245440883217920
+89,1.483333333,BASELINE,764,744,714,679.649082559,659,634,878.350917441,785,807,651.350917441,630,652,0.400981923805,-0.0153655037045,0.0798425780759,0.999999926349,0.000270363338267,-0.000269995372013,3.61729699394e-05,1793245440899884544
+90,1.500000000,BASELINE,764,744,714.235413118,680,659,634,878,785,807,651.235413118,630,652.235413118,0.400981587468,-0.0153652944782,0.0798424068221,0.999999926569,0.000269170803602,-0.000270405567796,3.59247714182e-05,1793245440916551168
+91,1.516666667,BASELINE,764,744,714.812911546,680,659,634,878,785,807,651.812911546,630,652.812911546,0.400980475926,-0.0153650838576,0.0798418809784,0.999999925977,0.000269693043055,-0.000272069070332,3.59241786408e-05,1793245440933217792
+92,1.533333333,BASELINE,764,744,714.611057095,680,659,634,878,785.388942905,807,652,630,653,0.400980120255,-0.0153657725451,0.0798419176458,0.999999925746,0.000269987189746,-0.000272601241346,3.61137700455e-05,1793245440949884416
+93,1.550000000,BASELINE,764,744,714.03572872,680,659,634,878,785.96427128,807,652,630,653,0.400980126805,-0.0153668921904,0.0798422238743,0.999999925688,0.00027017203207,-0.000272591266717,3.63944996813e-05,1793245440966551040
+94,1.566666667,BASELINE,764,744,714,679.448268054,659,634,877.448268054,785.448268054,807,651.448268054,630,653,0.40097899251,-0.0153657722595,0.0798408283805,0.99999992473,0.000272028363661,-0.000274280547311,3.62080562552e-05,1793245440983218176
+95,1.583333333,BASELINE,764,744.137893934,714,678.862106066,659,634,877.137893934,785,807,651,630,652.862106066,0.400978571877,-0.0153651118536,0.0798399825447,0.999999924376,0.000272696961113,-0.000274927911605,3.60360768044e-05,1793245440999884800
+96,1.600000000,BASELINE,764,744.71732546,714,678.28267454,659,634,877.71732546,785,807,651,630,652.28267454,0.400980678274,-0.0153663976765,0.0798412575105,0.999999926156,0.000269208041699,-0.000271878782179,3.60094591653e-05,1793245441016551424
+97,1.616666667,BASELINE,764,744.704249164,714,678.295750836,659,634,878.295750836,785,807,651,630,652.295750836,0.400982180857,-0.01536628612,0.0798419764416,0.999999926694,0.000268943105421,-0.000270149044855,3.60808950947e-05,1793245441033218048
+98,1.633333333,BASELINE,764,744.126782225,714,678.873217775,659,634,878.873217775,785,807,651,630,652.873217775,0.40098310828,-0.0153648434961,0.0798421657245,0.999999926057,0.000271749159704,-0.000269676088614,3.62457315031e-05,1793245441049884672
+99,1.650000000,BASELINE,764,744,714,679.44764354,659,633.55235646,878.55235646,785,806.55235646,651,629.55235646,652.55235646,0.400982732022,-0.0153651173327,0.0798421931783,0.999999926204,0.000271315435001,-0.00026957319131,3.61841000312e-05,1793245441066551296
+100,1.666666667,BASELINE,764,744,714,680,659,633.021822997,878.021822997,785.021822997,806.021822997,651,629.043645995,652.021822997,0.400981996493,-0.015365884539,0.079842177088,0.999999926561,0.000269970393761,-0.000269615610862,3.60799583838e-05,1793245441083217920
+101,1.683333333,BASELINE,764,744,714,680,659,633.611864949,878.611864949,785.611864949,806.611864949,651,630.223729897,652.611864949,0.400981455388,-0.015366925444,0.0798422125492,0.999999926605,0.000268627082575,-0.00027073118369,3.65277506867e-05,1793245441099884288
+102,1.700000000,BASELINE,764,744,714,680,659,634,878.603801579,786,807,651,630.603801579,652.801900789,0.400981137648,-0.0153674941802,0.0798422537791,0.999999926565,0.000268035061871,-0.000271440571325,3.67093047707e-05,1793245441116550912
+103,1.716666667,BASELINE,764,744,714,680,659,634,877.445972586,786,807,651,629.445972586,652.222986293,0.400981249292,-0.015367155244,0.0798423060984,0.999999926367,0.000268887281804,-0.000271369130227,3.63790567465e-05,1793245441133217280
+104,1.733333333,BASELINE,764,744.354763578,714,680,658.645236422,634,877.354763578,785.645236422,807,651,629.354763578,652.354763578,0.40098161363,-0.0153663746801,0.0798423707624,0.99999992618,0.000270361583235,-0.00027060866734,3.62808372678e-05,1793245441149884160
+105,1.750000000,BASELINE,764,744.931783877,714,680,658.068216123,634,877.931783877,785.068216123,807,651,629.931783877,652.931783877,0.400982136279,-0.0153653174397,0.0798424431602,0.999999925994,0.000272225614139,-0.000269416537464,3.63279818996e-05,1793245441166551040
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633,878,785,807,651,630,653,0.400980869209,-0.0153648911491,0.0798425325071,0.99999992577,0.000271496310609,-0.000271003221721,3.61402302899e-05,1793245441198550528
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,633.611451127,878,785.611451127,807,651,629.388548873,652.388548873,0.400979179803,-0.0153650738425,0.0798418536464,0.99999992552,0.000270316361936,-0.000273113070391,3.60384816721e-05,1793245441215217152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744,714,679.788915404,658.211084596,634,878,785.788915404,807,651.211084596,629.211084596,652.211084596,0.400978592811,-0.0153656371104,0.0798414092019,0.999999925569,0.000269407788858,-0.000273836211032,3.59949641244e-05,1793245441231883520
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679.209881619,658.790118381,634,878,785.209881619,807,651.790118381,629.790118381,652.790118381,0.400979927478,-0.0153668637713,0.0798413733768,0.999999926146,0.000268972260193,-0.000272142131142,3.60529512431e-05,1793245441248550144
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.632611158,634,878,785.367388842,807,651.632611158,630,653,0.400980923771,-0.0153666286807,0.0798416172109,0.999999926054,0.000270089073854,-0.000271365494241,3.61335647777e-05,1793245441265216768
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.05634327,634,878,785.94365673,807,651.05634327,630,653,0.400981727681,-0.0153655625107,0.0798420200452,0.999999925577,0.000272088472276,-0.000271110469955,3.62270425651e-05,1793245441281883648
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,679.517878761,658,634,878,785.482121239,807,651,629.482121239,653,0.40098077387,-0.0153662683622,0.0798418030541,0.9999999255,0.000271530502546,-0.000271930167381,3.64046854616e-05,1793245441298550272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.905363644,658,634,878,785.094636356,806.905363644,651,629,652.905363644,0.400980136054,-0.0153669473343,0.0798417529628,0.999999925596,0.000270697095219,-0.000272390148961,3.65312797662e-05,1793245441315216640
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.314137717,658,634,878,785.685862283,806.314137717,651,629,652.314137717,0.400982155895,-0.0153664776103,0.0798429311132,0.999999926379,0.000269872606632,-0.000270351442338,3.63421444401e-05,1793245441331883264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744.271277955,714,679,658.271277955,634,878,785.728722045,806.271277955,651,629.271277955,652.271277955,0.4009868566,-0.0153663839775,0.0798452506565,0.999999927489,0.000269502280235,-0.000266601841781,3.62412772095e-05,1793245441348550144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.85010644,714,679,658.85010644,634,878,785.14989356,806.85010644,651,629.85010644,652.85010644,0.400994596627,-0.0153667167231,0.0798488642082,0.999999928951,0.000269646842105,-0.000260912583793,3.62404804136e-05,1793245441365217536
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.573966609,714,679,658.573966609,634,878,785,807,651,629.573966609,653,0.401020051651,-0.0153684733934,0.0798592598198,0.99999993367,0.000269275250463,-0.000242439142264,3.70713161863e-05,1793245441381884160
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.999028027,744,714,679,658,634,878,785.000971973,806.999028027,651,629,652.999028027,0.401051740417,-0.0153707280805,0.0798720331662,0.999999939079,0.000268722263225,-0.000219479650169,3.81918694998e-05,1793245441398550272
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.408600931,744,714,679,658,634,878,785.591399069,806.408600931,651,629,652.408600931,0.401109592157,-0.0153732367196,0.0798894807836,0.999999946295,0.000267548950779,-0.00018527133674,3.87660708547e-05,1793245441415216896
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.178209361,744,714,679,658.178209361,633.821790639,878,785.821790639,806.178209361,651,629.178209361,652.178209361,0.401172650786,-0.015376029579,0.079906236036,0.999999951781,0.000266250762303,-0.000154966782486,3.91548865538e-05,1793245441431883264
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.756892059,744,714,679,658.756892059,633.243107941,878,785.243107941,806.756892059,651,629.756892059,652.756892059,0.401247410388,-0.0153794611404,0.0799214354044,0.999999955306,0.000264671951813,-0.000133434777176,3.91271024813e-05,1793245441448550144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.333071055,878.333071055,785,807,651,630,653,0.401330381528,-0.0153819987568,0.0799323370714,0.999999957445,0.000264898152736,-0.000116160896326,3.80276003367e-05,1793245441465217024
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.907436205,878.907436205,785,807,651,630,653,0.401419301532,-0.0153838887523,0.0799401252577,0.999999958654,0.000266431998455,-0.000101971824868,3.61516895668e-05,1793245441481883648
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+127,2.116666667,POSE1_TO_POSE2_PRESS,763,744,714,679.761514892,659,633,878,785,806.761514892,652,629.761514892,652,0.401909819962,-0.0154014303262,0.0799488915953,0.999999964498,0.000251912137937,-8.43952577344e-05,2.05504999334e-05,1793245441548550144
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+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679.553439202,659.106878405,634,878.446560798,785.446560798,807,651,629.553439202,652.446560798,0.402648666823,-0.0154267627313,0.0799497566274,0.999999975194,0.000205698658502,-8.53235600216e-05,-4.55300871276e-06,1793245441615216896
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679.859948252,659.719896504,634,878,785.140051748,807,651,630,652.140051748,0.402874548827,-0.0154345813977,0.0799465511224,0.999999981221,0.000170395995683,-9.14551527197e-05,-1.26368921764e-05,1793245441631883520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679.281023882,658.562047764,634,878,785.718976118,807,651,630,652.718976118,0.403144327268,-0.0154451176572,0.0799458759452,0.999999991023,9.68514684188e-05,-9.02392413179e-05,-2.07312111751e-05,1793245441648550144
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.702922668,878.297077332,786,807,651,630,653,0.40343886843,-0.015454792797,0.079949235956,0.999999994524,5.74911404201e-05,-8.30370675845e-05,-2.74156282007e-05,1793245441665216768
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,633.125598012,878.874401988,786,807,651,630,653,0.403756769442,-0.0154636556005,0.0799564025537,0.999999995731,5.037841516e-05,-7.01877653007e-05,-3.27700165325e-05,1793245441681883648
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,679.448240829,658.448240829,633.448240829,878.551759171,785.551759171,807,651,629.551759171,652.551759171,0.404094865226,-0.0154699832189,0.0799575408073,0.999999995378,6.22196107353e-05,-6.8048073306e-05,-2.72535995627e-05,1793245441698550272
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,679.978212178,659,634,878,785,807,651,629.021787822,652.021787822,0.404440385642,-0.0154756993688,0.0799569694744,0.999999994413,7.79685944186e-05,-6.87417609295e-05,-1.92184014618e-05,1793245441715216640
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,714,679.386961249,659,634,878,785,807,651,629.613038751,652.613038751,0.404833205378,-0.0154838570608,0.0799555234378,0.999999995859,5.81152042457e-05,-6.56634208886e-05,-2.43492283532e-05,1793245441731883520
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.400449914,785,807,651,630,652.799775043,0.405242347664,-0.0154907926661,0.0799527784771,0.999999996508,4.16080942382e-05,-6.63595838601e-05,-2.91301222538e-05,1793245441748550400
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,879.559423568,785,807,651,630,652.220288216,0.405682407736,-0.0154954134195,0.079947573122,0.9999999962,3.14394395051e-05,-7.42053308456e-05,-3.32481799278e-05,1793245441765217024
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,879.289347384,785,807,651,630,652.355326308,0.406139960189,-0.0154871081681,0.0799413511522,0.999999994701,4.61776645482e-05,-8.58228732739e-05,-3.31588133551e-05,1793245441781883648
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.142867815,785,807,651,630,652.928566093,0.406608240361,-0.0154708756947,0.0799345057155,0.999999991657,7.61907068226e-05,-9.975357205e-05,-3.04891303397e-05,1793245441798550528
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.486360247,744,714,679.513639753,659,634,878.513639753,785.513639753,807,651,629.486360247,652.486360247,0.4070934396,-0.0154680724824,0.0799303985875,0.999999990399,7.81804933863e-05,-0.000109426319725,-3.33912092249e-05,1793245441815216896
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.099868707,744,714,680,659,634,879,785.900131293,807.099868707,651,629.099868707,652.099868707,0.407591365692,-0.0154692014986,0.0799254113703,0.999999989447,7.25129338346e-05,-0.00012037690093,-3.68361576144e-05,1793245441831883520
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.683533757,744,714,680,659,634,879,785.316466243,807.683533757,651,629.683533757,652.683533757,0.408139277442,-0.0154801185862,0.0799142723573,0.999999988169,4.90757505586e-05,-0.00014045403845,-3.90686154854e-05,1793245441848550144
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714.263024198,680.263024198,659,633.736975802,879,785,807.736975802,651,630,653,0.408731233939,-0.0154885565025,0.0799163201043,0.999999989189,3.37992850539e-05,-0.000137343156809,-4.02100829485e-05,1793245441865217024
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714.83757026,680.83757026,659,633.16242974,879,785,807.16242974,651,630,653,0.409375356329,-0.0154940581251,0.07993398605,0.999999993101,2.81882510741e-05,-0.000106768736496,-4.00593978254e-05,1793245441881883648
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.586504937,680.586504937,659,633.413495063,879,785,807.413495063,651,629.586504937,653,0.410051037844,-0.0154941033494,0.0799637414035,0.999999997157,3.16649401098e-05,-5.62774497234e-05,-3.89278487354e-05,1793245441898550272
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714.010036738,680.010036738,659,633.989963262,879,785,807.989963262,651,629.010036738,653,0.41073915792,-0.0154919980124,0.0799982616231,0.999999998548,3.87234246263e-05,2.06378318153e-06,-3.74097061059e-05,1793245441915216896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.57697031,634,878.42302969,785,807.42302969,651,629.57697031,652.42302969,0.411379872577,-0.0154898729267,0.0799854068819,0.999999998283,3.49817693545e-05,-2.48351817218e-05,-3.99187344128e-05,1793245441931883520
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714,680,660,634,878.162732226,785,807,651,630,652.162732226,0.412035329285,-0.0154886556799,0.0799654271255,0.999999996878,3.08084692231e-05,-5.86887521721e-05,-4.30178878205e-05,1793245441948549888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,680,660,634,878.7448043,785,807,651,630,652.7448043,0.412730938782,-0.0154897787187,0.0799292502808,0.999999992857,2.60160133889e-05,-0.000106571350732,-4.74538352841e-05,1793245441965216512
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659.677069663,634,879,785,807,651,630,653,0.413476723959,-0.0154931494371,0.0799167178752,0.999999991672,2.01975628465e-05,-0.000117180815905,-5.01748941959e-05,1793245441981883392
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659.102024275,634,879,785,807,651,630,653,0.41426168188,-0.0154982749422,0.0799226449237,0.999999993709,1.35781071461e-05,-9.86907658776e-05,-5.15571224153e-05,1793245441998550016
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.473254269,714,680.473254269,659.473254269,633.526745731,879,785,807,651,630,652.526745731,0.415057249272,-0.0155018272962,0.0799444984514,0.999999996696,6.72978693524e-06,-6.38896338464e-05,-4.98042016423e-05,1793245442015216640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.049962278,745,714,681,660,633,879,785.049962278,807.049962278,651,630,652.049962278,0.415851709326,-0.0155043871654,0.0799661372367,0.999999998341,8.38844424883e-07,-3.2154734073e-05,-4.77743645135e-05,1793245442031883520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.641623959,745,714,681,660,633,879,785.641623959,807.641623959,651,630,652.641623959,0.416609353663,-0.015499865177,0.079948203546,0.999999996151,5.86314861366e-06,-7.18080308651e-05,-5.00737280158e-05,1793245442048550144
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.772060646,660,633.227939354,879,785.772060646,807.772060646,651.227939354,630,653,0.417422771697,-0.0154981797622,0.079947269418,0.999999996048,8.50055080234e-06,-7.2353045428e-05,-5.09594267824e-05,1793245442065216768
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.193958312,660,633.806041688,879,785.193958312,807.193958312,651.806041688,630,653,0.418321869862,-0.0155008519237,0.0799724502091,0.999999998656,7.47116718472e-06,-1.28194778405e-05,-4.96734378372e-05,1793245442081883648
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.618210738,744.618210738,714,680,660,634,879,785,807.381789262,651.618210738,630,653,0.419210516672,-0.0155035196735,0.0799838171052,0.999999998652,1.88228497823e-06,1.14760152837e-05,-5.0606152204e-05,1793245442098550272
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.043652124,744.043652124,714,680,660,634,879,785,807.956347876,651.043652124,630,653,0.420093886458,-0.0155061851959,0.0799882092219,0.999999998434,-6.00873524845e-06,1.79794378638e-05,-5.2659112945e-05,1793245442115216896
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.543922616,714,680.543922616,660,634,879,785,808,651,630,653,0.420902266104,-0.0155073110707,0.0799727245753,0.999999998471,-6.73607129069e-06,-8.23440650687e-06,-5.42654481796e-05,1793245442131883776
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.869638655,744.869638655,714,681,660,634,879,785,808,651,630,653,0.421741836246,-0.0155083652647,0.0799664700774,0.99999999829,-6.21968100129e-06,-1.95472363017e-05,-5.47705849754e-05,1793245442148550400
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.290790208,744.290790208,714,681,660,634,879,785,808,651,630,653,0.4227099246,-0.015509608374,0.0799975929765,0.999999998222,-3.45085033019e-06,2.96592357823e-05,-5.16135639319e-05,1793245442165216768
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.286968985,744,714,680.713031015,660,634,879,785,808,651,630,652.713031015,0.423633302372,-0.0155109363972,0.0800075627079,0.999999998042,2.02179394358e-06,3.74895673041e-05,-5.00662003323e-05,1793245442181883648
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.863628662,744,714,680.136371338,660,634,879,785,808,651,630,652.136371338,0.424511545628,-0.0155123501399,0.0799961786518,0.999999998684,1.0223895992e-05,3.55133951845e-06,-5.01437603568e-05,1793245442198550528
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680.87852136,660.43926068,634,879.43926068,785,808,651,630,652.43926068,0.425403305841,-0.0155126193393,0.0799564317694,0.999999996689,6.36054077793e-06,-6.00413579672e-05,-5.45584668874e-05,1793245442215217152
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.014929454,744,714,682,661,633.985070546,880,785,808.014929454,651,630,653,0.426299527191,-0.0155125456482,0.0799090614903,0.999999989645,-1.13958316388e-06,-0.000130706785847,-6.02028773159e-05,1793245442231883520
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.604260111,744,714,682,661,633.395739889,880,785,808.604260111,651,630,653,0.427206312045,-0.0155129186865,0.0799063781078,0.999999990886,-4.78120309655e-06,-0.00012010668179,-6.14747508142e-05,1793245442248550400
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,682,660.809662943,633,879.809662943,785,809,651,630,653,0.428115860073,-0.0155126932506,0.0799104866458,0.999999992054,-6.55978001779e-06,-0.000109796120676,-6.15886526068e-05,1793245442265217024
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,714,682,660.230237294,633,879.230237294,785,809,651,630,653,0.429031056553,-0.0155112444088,0.079928479284,0.999999993222,-4.52990873556e-06,-0.000100077446302,-5.93354189611e-05,1793245442281883648
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.346701572,714,681.653298428,660,633,879.346701572,785,809,651,630,653,0.429984894998,-0.0155155678777,0.0799669309107,0.999999997224,-6.80246773367e-06,-4.78764405464e-05,-5.6691112433e-05,1793245442298550272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.922000754,714,681.077999246,660,633,879.922000754,785,809,651,630,653,0.430964211978,-0.0155236973184,0.0800188721666,0.99999999796,-1.19118333128e-05,3.23352816992e-05,-5.37889518753e-05,1793245442315216896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.496591828,660,633,880,785,808.503408172,651,630,653,0.431882221309,-0.0155252859593,0.0800288368888,0.999999997505,-9.547373034e-06,4.59105341177e-05,-5.28337164811e-05,1793245442331883520
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.926798014,714,682,660.073201986,633,880,785,808.073201986,651,630,653,0.432777221075,-0.0155247536015,0.0800226476075,0.999999997931,-7.26234495455e-06,3.54602338516e-05,-5.31815862517e-05,1793245442348550144
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.33510012,714,682,660.66489988,633,880,785,808.66489988,651,630,653,0.433577351402,-0.0155164645285,0.0799486719667,0.999999995538,-1.38429895015e-05,-7.11353279934e-05,-6.05965244841e-05,1793245442365216768
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.74952194,744.25047806,714,682,661,633,879.74952194,785,808.74952194,651,630,653,0.434415394992,-0.0155137578395,0.0799111550013,0.99999999024,-2.19731074656e-05,-0.000122011266842,-6.44161866591e-05,1793245442381883392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.171935634,744.828064366,714,682,661,633,879.171935634,785,808.171935634,651,630,653,0.435302950977,-0.0155183413839,0.0799212507124,0.999999992453,-3.21267391984e-05,-0.00010012097498,-6.35406511005e-05,1793245442398550016
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633,879.403625058,785.403625058,808.403625058,651,630,653,0.436182114108,-0.0155229275314,0.0799504616534,0.999999995501,-3.66442591518e-05,-6.25104445963e-05,-6.12134399791e-05,1793245442415216640
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,682,661,633,879.978327155,785.978327155,808.978327155,651,630,653,0.437057719863,-0.015527514782,0.0799877746105,0.999999997384,-3.87729046546e-05,-1.82368705554e-05,-5.82709341189e-05,1793245442431883264
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.566490636,745,714,682.566490636,661,633,879.433509364,785.433509364,809,651,630,653,0.437903713992,-0.0155370749894,0.0800030654452,0.999999997171,-4.74588128367e-05,6.69672566708e-06,-5.7972118301e-05,1793245442448550144
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.847338411,745,714,683,661,633,879,785.152661589,809,651,630,653,0.438724277095,-0.015544986855,0.0800034135424,0.999999996653,-5.62020275906e-05,7.43443980407e-06,-5.89902144868e-05,1793245442465216768
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.268207461,745,714,683,661,633,879,785.731792539,809,651,630,653,0.439477038861,-0.0155477495498,0.0799644291323,0.999999994276,-6.43874567863e-05,-5.73032071043e-05,-6.33977585372e-05,1793245442481883392
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660.69009754,633,879,785.69009754,809.30990246,651,630,653,0.440160342933,-0.0155501832717,0.0798892328938,0.999999979631,-7.16061912928e-05,-0.000175523708943,-6.92911062891e-05,1793245442498550016
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660.112868404,633,879,785.112868404,809.887131596,651,630,653,0.440783731681,-0.0155523332163,0.0797827997717,0.999999936276,-7.79910382378e-05,-0.000339879345902,-7.64661299211e-05,1793245442515216640
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,632.540782932,879,785,810,651,630,653,0.441450865779,-0.0155609232942,0.0797225352047,0.99999990218,-9.45151302966e-05,-0.000424299227113,-8.17091407512e-05,1793245442531884544
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,714,683,660,632,879.031240989,784.968759011,809.968759011,651,630,653,0.442132936956,-0.015572219858,0.0796792847224,0.999999874057,-0.000114483149482,-0.000481078723672,-8.56871234033e-05,1793245442548551936
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,632,879.624654033,784.375345967,809.375345967,651,630,653,0.442892460884,-0.0156040507818,0.0797402643966,0.999999909507,-0.000152076279454,-0.00039010283712,-7.53515889925e-05,1793245442565217792
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,683,659.787125,632,879.787125,783.787125,809,651,630,653,0.443615995943,-0.0156330598808,0.0797871139698,0.999999928594,-0.000185066824645,-0.000322419653123,-6.78847785809e-05,1793245442581883904
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,683,659.207840753,632,879.207840753,783.207840753,809,651,630,653,0.444277585599,-0.0156572119437,0.0798096422393,0.999999932324,-0.00021013521881,-0.000294828821438,-6.53557337396e-05,1793245442598550528
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,714,683,659,632,879.368509215,783,809,651,630,653.368509215,0.444889384526,-0.0156677724727,0.0798043220624,0.999999925764,-0.000222786668288,-0.000307454907576,-6.5650103499e-05,1793245442615217408
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,714,683,659,632,879.943217278,783,809,651,630,653.943217278,0.445473323076,-0.0156707278753,0.0797834193226,0.999999912934,-0.000228490231057,-0.000342584318749,-6.75243113076e-05,1793245442631884288
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+253,4.216666667,HOLD_POSE2,764,745,713,684,656.218744327,628,879,775,810,651,628,653,0.453224625236,-0.0157675393508,0.0796111546874,0.999999752992,-0.00037498735948,-0.000590109782277,-7.1909517195e-05,1793245443673731328
+254,4.233333333,HOLD_POSE2,764,745,713,684,656.807082052,628,879,775,810,651,628,653,0.453226759353,-0.0157680074461,0.0796130806115,0.999999753278,-0.000377073163832,-0.000588295978357,-7.18930237061e-05,1793245443690398208
+255,4.250000000,HOLD_POSE2,764,745,713.388676489,683.611323511,656.611323511,628,879.388676489,775,809.611323511,651,628,653,0.453226978379,-0.0157684935515,0.0796127958773,0.999999752744,-0.00037800452718,-0.000588612772841,-7.18333709969e-05,1793245443707064832
+256,4.266666667,HOLD_POSE2,764,745,713.966981054,683.033018946,656.033018946,628,879.966981054,775,809.033018946,651,628,653,0.453226263068,-0.0157689884438,0.0796114326039,0.999999751811,-0.000378372660284,-0.000589969046748,-7.17526617004e-05,1793245443723731456
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11ef9a5425ef41a5623ae5f3dbcb085f8ddf0321
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575671109439,-0.0101220954658,1.0700510694,0.54624274178,-0.00144641262009,1.06971756093
+397,6.616666667,pose2_to_pose3_retreat,0.575671006304,-0.010122087104,1.07005107959,0.546242638467,-0.00144640488789,1.06971757037
+398,6.633333333,pose2_to_pose3_retreat,0.575670938559,-0.0101220816115,1.07005108628,0.546242570605,-0.00144639980893,1.06971757657
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+400,6.666666667,pose2_to_pose3_retreat,0.575670759739,-0.0101220671135,1.07005110394,0.546242391479,-0.00144638640259,1.06971759294
+401,6.683333333,pose2_to_pose3_retreat,0.575670485269,-0.0101220448607,1.07005113106,0.546242116537,-0.0014463658252,1.06971761807
+402,6.700000000,pose2_to_pose3_retreat,0.575670229052,-0.0101220448137,1.0700510785,0.54624186025,-0.00144636601983,1.0697175654
+403,6.716666667,pose2_to_pose3_retreat,0.575669997648,-0.0101220518418,1.07005100447,0.546241628909,-0.00144637281501,1.06971749186
+404,6.733333333,pose2_to_pose3_retreat,0.575669613979,-0.0101220548778,1.0700508868,0.546241245139,-0.00144637612348,1.06971737601
+405,6.750000000,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362314,1.06971733846
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40a9b2be5a05ce22c4c096347f68a3105a843711
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea78c4d9dffc3a0c9a97b2be7ebe61076a28312cdfdc870809b8480d7916f42
+size 25838380
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d01092b7bd7f96b3994e3d57ab0940fc22f10688
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+51,0.850000000,BASELINE,764.415059966,745,714,680,659,634,878,785.584940034,807,652,630,653,0.400982614117,-0.0153664407961,0.0798441361069,0.999999925971,0.000272144996639,-0.000269470482535,3.71605161708e-05,1793245447188579840
+52,0.866666667,BASELINE,764,744.834819344,714,679.834819344,659,634,878,785.834819344,807,651.834819344,630,652.834819344,0.40098236413,-0.0153664917406,0.0798440002702,0.99999992576,0.000272641125815,-0.000269713752135,3.74362572798e-05,1793245447205246208
+53,0.883333333,BASELINE,764,744.238210009,714,679.238210009,659,634,878,785.238210009,807,651.238210009,630,652.238210009,0.400984952456,-0.0153658559439,0.0798452780929,0.999999926699,0.000271479038899,-0.000267402227065,3.73741804923e-05,1793245447221912832
+54,0.900000000,BASELINE,764,744,714,679,659,634,878,785,807,651,630,652,0.400984805805,-0.015365470332,0.0798447862988,0.999999926481,0.000271654393717,-0.000268047851079,3.73067650909e-05,1793245447238579456
+55,0.916666667,BASELINE,764,744,714,679,659,634,878,785,807,651,630,652,0.400982841353,-0.0153652510055,0.0798431183293,0.999999925491,0.000272718678753,-0.00027065894327,3.72358013842e-05,1793245447255246080
+56,0.933333333,BASELINE,764,744,714,679.495667619,659,633.504332381,878,785,807,651,630,652.495667619,0.400981829285,-0.0153660797101,0.0798428856649,0.999999925537,0.00027196484011,-0.000271254170877,3.71925712381e-05,1793245447271912704
+57,0.950000000,BASELINE,764,744,714,680,659,633,878,785,807,651.074046581,630,652.925953419,0.400981231422,-0.0153670927215,0.0798430457926,0.999999925856,0.000270795009331,-0.000271253888359,3.71399530729e-05,1793245447288579328
+58,0.966666667,BASELINE,764,744,714,680,659,633,878,785,807,651.664057967,630,652.335942033,0.400982434741,-0.0153681959913,0.0798443077106,0.999999926901,0.00026879786961,-0.000269400679166,3.69903216005e-05,1793245447305245952
+59,0.983333333,BASELINE,764,744,714,680,659,633.249329487,878.249329487,785,807,651.750670513,629.750670513,652.249329487,0.400983178388,-0.015368521797,0.079845042597,0.999999927282,0.000268555404198,-0.000268246330186,3.68542250203e-05,1793245447321912832
+60,1.000000000,BASELINE,764,744,714,680,659,633.828333822,878.828333822,785,807,651.171666178,629.171666178,652.828333822,0.400983314235,-0.0153678196043,0.0798450806184,0.999999926788,0.000270633049115,-0.000268016045878,3.6736024873e-05,1793245447338579456
+61,1.016666667,BASELINE,764,744,714,679.5972551,659,634,878.5972551,785,807,651.4027449,629.4027449,653,0.40098310272,-0.015367206933,0.0798443427931,0.999999926432,0.000270980654644,-0.00026900645034,3.66177575541e-05,1793245447355246336
+62,1.033333333,BASELINE,764,744,714,679.024779811,659,634,878.024779811,785,807,651.975220189,629.975220189,653,0.400982744814,-0.0153666319891,0.0798432779997,0.999999926134,0.000270599162651,-0.000270511294551,3.6499461934e-05,1793245447371912960
+63,1.050000000,BASELINE,764,744,714,679,659,634,878,785,807,651.448593595,629.448593595,653,0.400983327327,-0.0153658954188,0.0798441263226,0.999999925841,0.000272655044344,-0.000269469352634,3.69217690715e-05,1793245447388579584
+64,1.066666667,BASELINE,764,744,714,679,659,633.868557485,878,785,807,651,629.131442515,653,0.400983975897,-0.01536538073,0.0798450003806,0.999999925632,0.000274432658781,-0.000268389987812,3.72859713397e-05,1793245447405246208
+65,1.083333333,BASELINE,764,744,714,679,659,633.275593157,878,785,807,651,629.724406843,653,0.400984707012,-0.0153656707892,0.0798456608814,0.999999925731,0.000274846017538,-0.000267583806569,3.73602751068e-05,1793245447421912832
+66,1.100000000,BASELINE,764,744,714,679,659,633.308916863,878.308916863,785,807,651.308916863,630,653,0.400984603043,-0.0153659153017,0.0798456031508,0.999999925856,0.000274245702564,-0.000267746595607,3.72668502538e-05,1793245447438579712
+67,1.116666667,BASELINE,764,744,714,679,659,633.88608545,878.88608545,785,807,651.88608545,630,653,0.400983773919,-0.0153661202633,0.0798449217352,0.999999926001,0.000272765151626,-0.000268750801843,3.70277762049e-05,1793245447455247360
+68,1.133333333,BASELINE,764,744,714,679.428613914,659,634,878.571386086,785,807,651.571386086,630,653,0.400982538392,-0.0153664667713,0.0798444086995,0.999999926149,0.000271511847564,-0.000269445483298,3.71826384854e-05,1793245447471913728
+69,1.150000000,BASELINE,764,744,714,679.962624384,659,634,878.037375616,785,807,651.037375616,630,653,0.400981202931,-0.0153668480858,0.0798439370684,0.999999926297,0.000270314423606,-0.0002700640524,3.74343700529e-05,1793245447488579840
+70,1.166666667,BASELINE,764,744,714,680,659,634,877.405262041,785.594737959,807,651.594737959,630,653,0.400983258099,-0.0153659457846,0.0798449938371,0.99999992642,0.000271778696597,-0.000268207090642,3.69071611983e-05,1793245447505246464
+71,1.183333333,BASELINE,764,744,714,680,659,634,877.211035575,785.788964425,807,652,629.788964425,652.788964425,0.400984217868,-0.0153654621635,0.0798454753837,0.999999926499,0.000272387132466,-0.00026734531309,3.65304397303e-05,1793245447521912832
+72,1.200000000,BASELINE,764,744,714,680,659,634,877.787195464,785.212804536,807,652,629.212804536,652.212804536,0.400982840942,-0.0153658700602,0.0798447626976,0.999999926514,0.000271168264387,-0.000268527691281,3.65155086565e-05,1793245447538579712
+73,1.216666667,BASELINE,764,744,714,680,659,633.634354327,878,785.365645673,807,652,629,652.365645673,0.400982650196,-0.0153669905033,0.0798443350668,0.99999992673,0.000269783929124,-0.000269080232208,3.67689531347e-05,1793245447555246336
+74,1.233333333,BASELINE,764,744,714,680,659,633.054562792,878,785.945437208,807,652,629,652.945437208,0.400983154156,-0.0153685282598,0.0798440743828,0.999999927064,0.000268302685605,-0.000269263899445,3.71795757727e-05,1793245447571912704
+75,1.250000000,BASELINE,764,744,714.519538087,679.480461913,659,633.519538087,878.519538087,786,807,651.480461913,629.519538087,653,0.400983729898,-0.0153674928649,0.0798445652769,0.99999992696,0.000269620808556,-0.000268316828312,3.7279807398e-05,1793245447588579584
+76,1.266666667,BASELINE,764,744,714.904104427,679.095895573,658.904104427,634,878.904104427,786,807,651,630,653,0.400984125113,-0.0153664314761,0.0798449472198,0.999999926763,0.000271028834249,-0.00026763012953,3.72980278611e-05,1793245447605246464
+77,1.283333333,BASELINE,764,744,714.31304219,679.68695781,658.31304219,634,878.31304219,786,807,651,630,653,0.400983549653,-0.0153666161421,0.0798443634237,0.999999926332,0.000271399459688,-0.00026889443531,3.70592736479e-05,1793245447621912832
+78,1.300000000,BASELINE,764.272513484,744,714,679.727486516,658.272513484,634,878,785.727486516,807.272513484,651,630,652.727486516,0.400983449623,-0.015365727496,0.0798444208024,0.999999925772,0.000273178288526,-0.000269199344369,3.68837943781e-05,1793245447638579456
+79,1.316666667,BASELINE,764.851868894,744,714,679.148131106,658.851868894,634,878,785.148131106,807.851868894,651,630,652.148131106,0.400983884911,-0.015363630333,0.0798452001246,0.99999992506,0.000276542711691,-0.000268424001704,3.67795607928e-05,1793245447655246080
+80,1.333333333,BASELINE,764.572171016,744,714,679.427828984,659,634,878,785.427828984,807.572171016,651.427828984,630,652,0.400983689249,-0.0153643015467,0.0798448284873,0.999999925129,0.000275922678303,-0.000268792274038,3.68655942968e-05,1793245447671912704
+81,1.350000000,BASELINE,764,744,714,680,659,634,878,786,807,651.997320362,630,652.002679638,0.400983281996,-0.0153659216637,0.0798440698989,0.99999992547,0.000273928431116,-0.000269542897558,3.7016155932e-05,1793245447688579328
+82,1.366666667,BASELINE,764,744,714,680,659,634,878,786,807,651.410066889,630,652.589933111,0.400983998246,-0.0153670902129,0.0798451478341,0.999999926755,0.000270734018049,-0.000268003913844,3.69854144662e-05,1793245447705245952
+83,1.383333333,BASELINE,764,744,714,679.824457877,659,634,878,785.824457877,807,651.175542123,629.824457877,653,0.400984441315,-0.0153677361353,0.0798458372967,0.999999927441,0.000269112699029,-0.000267068401744,3.70206504253e-05,1793245447721912576
+84,1.400000000,BASELINE,764,744,714,679.242654565,659,634,878,785.242654565,807,651.757345435,629.242654565,653,0.400984252154,-0.0153671725306,0.0798456277087,0.999999926765,0.000271132027277,-0.000267529517645,3.7208579458e-05,1793245447738579456
+85,1.416666667,BASELINE,764,744,714,679.334182734,659,634,878,785,807,651.665817266,629.334182734,653,0.400984042702,-0.0153664187973,0.0798456030629,0.999999926766,0.000271104686216,-0.000267571216076,3.70898317625e-05,1793245447755246080
+86,1.433333333,BASELINE,764,744,714,679.907466909,659,634,878,785,807,651.092533091,629.907466909,653,0.400983818733,-0.0153655290305,0.0798457107398,0.999999927251,0.000269612991763,-0.000267312829195,3.67516626436e-05,1793245447771912704
+87,1.450000000,BASELINE,764.483592096,744.483592096,714,680,659,634,878,785.483592096,807,651,630,653,0.400983389168,-0.0153667479722,0.0798453567683,0.999999926995,0.000269897054559,-0.000267989892417,3.66952433832e-05,1793245447788579328
+88,1.466666667,BASELINE,764.938119693,745,714,680,658.938119693,633.938119693,878,786,807,651.061880307,630,653,0.400983061024,-0.0153681343655,0.07984503399,0.999999926674,0.000270432612971,-0.000268646944562,3.6695249126e-05,1793245447805246208
+89,1.483333333,BASELINE,764.345982138,745,714,680,658.345982138,633.345982138,878,786,807,651.654017862,630,653,0.400983941071,-0.0153674776819,0.0798457399249,0.999999927021,0.000270194424656,-0.000267589642267,3.67140630573e-05,1793245447821912576
+90,1.500000000,BASELINE,764,745,714,679.759826518,658.240173482,633.240173482,878,785.759826518,807,651.759826518,629.759826518,652.759826518,0.400984751492,-0.0153665479582,0.079846290586,0.999999927124,0.000270676476693,-0.000266725188742,3.66657060306e-05,1793245447838579200
+91,1.516666667,BASELINE,764,745,714,679.182078814,658.817921186,633.817921186,878,785.182078814,807,651.182078814,629.182078814,652.182078814,0.400985464049,-0.0153652344648,0.0798466230032,0.999999926881,0.000272170857728,-0.000266131792596,3.65229373146e-05,1793245447855246080
+92,1.533333333,BASELINE,764,744.606729419,714,679.393270581,659,634,878,785,807.393270581,651,629.393270581,652.393270581,0.400984378605,-0.015365250601,0.0798457172531,0.999999926353,0.000272713947371,-0.000267535643378,3.66842153628e-05,1793245447871912448
+93,1.550000000,BASELINE,764,744.032483625,714,679.967516375,659,634,878,785,807.967516375,651,629.967516375,652.967516375,0.400982465757,-0.0153658786059,0.0798442417235,0.999999925689,0.00027281927198,-0.000269858586975,3.69854096042e-05,1793245447888579072
+94,1.566666667,BASELINE,764,744,714,680,659,633.457992184,878.542007816,785.542007816,807.457992184,651.542007816,630,653,0.400982459851,-0.0153674809063,0.0798447265786,0.999999926773,0.00026967244979,-0.000269013075566,3.69224908619e-05,1793245447905245696
+95,1.583333333,BASELINE,764,744,714,679.879582581,659,633.120417419,878.879582581,785.879582581,807,651.879582581,630,653,0.400982497525,-0.015368447955,0.0798451215654,0.999999927386,0.000268088078606,-0.000268322261216,3.68742916695e-05,1793245447921912576
+96,1.600000000,BASELINE,764,744,714,679.285829218,659,633.714170782,878.285829218,785.285829218,807,651.285829218,630,653,0.400982257061,-0.0153666883321,0.0798447012611,0.999999925763,0.000273411867225,-0.000268986292953,3.69697687237e-05,1793245447938579200
+97,1.616666667,BASELINE,764,744,714,679.299075915,659,634,878,785,807,651.299075915,629.700924085,653,0.400983471057,-0.0153661259014,0.0798453699523,0.99999992575,0.000274764188011,-0.000267639173546,3.70747566708e-05,1793245447955245824
+98,1.633333333,BASELINE,764,744,714,679.875767682,659,634,878,785,807,651.875767682,629.124232318,653,0.400986035148,-0.0153666747593,0.0798470494987,0.999999927239,0.000272430011598,-0.000264425212237,3.71885730555e-05,1793245447971912448
+99,1.650000000,BASELINE,764,744,714,679.549355383,659,634,878,785,807,651.549355383,629.450644617,653,0.400985649653,-0.0153664565615,0.0798468141505,0.999999927198,0.000272546913332,-0.000264513499335,3.68105307732e-05,1793245447988579072
+100,1.666666667,BASELINE,764,744,714,679.02571003,659.02571003,634,878,785,807,651,630,653,0.400984495898,-0.0153660650276,0.0798460688985,0.999999926776,0.000273213561785,-0.000265484160185,3.63402025998e-05,1793245448005245696
+101,1.683333333,BASELINE,764,744,714,679.615853038,659.615853038,634,878,785,807,651,630,653,0.400984255708,-0.0153664918257,0.0798456720718,0.999999927198,0.000271174433359,-0.000265920719536,3.68087137215e-05,1793245448021912320
+102,1.700000000,BASELINE,764,744,714,679.798103165,659.798103165,634,878,785.201896835,807,651.201896835,630,653,0.400983953311,-0.0153667216766,0.0798453518367,0.999999927191,0.000270544339768,-0.00026655503182,3.70333114986e-05,1793245448038578944
+103,1.716666667,BASELINE,764,744,714,679.219703752,659.219703752,634,878,785.780296248,807,651.780296248,630,653,0.40098353491,-0.0153665842549,0.0798451744318,0.99999992639,0.000272541851965,-0.000267558118972,3.68030531443e-05,1793245448055245824
+104,1.733333333,BASELINE,764,744,714,679,659.355936555,634,878,786,806.644063445,651.644063445,630,653,0.400984050798,-0.0153660955761,0.0798454262311,0.999999926116,0.000274088998901,-0.000266988234855,3.68966706042e-05,1793245448071912448
+105,1.750000000,BASELINE,764,744,714,679,659.929886945,634,878,786,806.070113055,651.070113055,630,653,0.400985138945,-0.0153653917496,0.0798459409213,0.999999926164,0.000275360293896,-0.000265454894025,3.71886644294e-05,1793245448088579072
+106,1.766666667,BASELINE,764,744.506660857,714,679.506660857,659.493339143,634,878,786,807.013321714,651.506660857,630,653,0.400984349875,-0.015366311481,0.0798456189497,0.999999926089,0.000273816703551,-0.00026735907258,3.69571913653e-05,1793245448105245696
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,878,785,807,651,630,653,0.400985186473,-0.0153660851453,0.0798459536897,0.999999927123,0.000271992229441,-0.000265382252513,3.66864561031e-05,1793245448147702016
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.422256462,714,679,659,634,878,785,807,651,630,653,0.400983888995,-0.0153658679124,0.0798453747941,0.999999926211,0.000273294336736,-0.000267502174845,3.64671588811e-05,1793245448164368640
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.155081471,714.155081471,679.155081471,659,634,878,785,807.155081471,651.155081471,630,653,0.400982907246,-0.0153658142335,0.0798448607074,0.999999925685,0.000273674033606,-0.000269097032109,3.63129706059e-05,1793245448181035264
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.731318034,714.731318034,679.731318034,659,634,878,785,807.731318034,651.731318034,630,653,0.40098278292,-0.0153662047183,0.0798445226222,0.999999926218,0.000271548738751,-0.000269265969489,3.63355987916e-05,1793245448197701888
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.313494872,744.686505128,714.686505128,679.686505128,659,633.686505128,878,785.313494872,807.686505128,652,630,652.686505128,0.400982280145,-0.0153664805083,0.0798441154487,0.999999926348,0.000270932412823,-0.000269394872934,3.64122690516e-05,1793245448214368768
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.900861145,744.099138855,714.099138855,679.099138855,659,633.099138855,878,785.900861145,807.099138855,652,630,652.099138855,0.400981446754,-0.0153666560998,0.0798436479192,0.999999926128,0.000271634333252,-0.000269488802429,3.65361508596e-05,1793245448231035392
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518291236,744,714,679.481708764,658.518291236,633.481708764,878,785.518291236,807,651.518291236,630,652.481708764,0.400982357581,-0.0153673361982,0.0798444357013,0.999999926353,0.000271676264223,-0.000268593415156,3.6664906407e-05,1793245448247702272
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.060866134,634,878,785,807,651.060866134,630,653,0.400983673441,-0.0153678359858,0.0798454880181,0.999999926615,0.000271768504104,-0.000267507169514,3.67589659568e-05,1793245448264368896
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.636920683,634,878,785,807,651.636920683,630,653,0.400985419738,-0.0153659424504,0.0798466218675,0.99999992644,0.000273420928333,-0.000266505829672,3.65509719071e-05,1793245448281035520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.787836861,659,634,878,785.212163139,807,652,630,653,0.400990068569,-0.0153648748067,0.0798487536636,0.999999927052,0.000274156177154,-0.000263441376703,3.65227039915e-05,1793245448297702144
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679.213978918,659,634,878,785.786021082,807,652,630,653,0.400999665625,-0.0153652151394,0.0798525867549,0.99999992898,0.000273327829119,-0.000256859737478,3.68008324334e-05,1793245448314368768
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679.370659662,659,634,878,785.629340338,807,652,630,653,0.401026169295,-0.0153670292168,0.0798629282987,0.999999934065,0.000271725139747,-0.000237980050394,3.74407740123e-05,1793245448331035392
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679.961708311,659,634,878,785.038291689,807,652,630,653,0.401062725398,-0.0153697195618,0.0798771396764,0.999999940481,0.000269662037754,-0.000211788117448,3.82958445653e-05,1793245448347702272
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.543905175,744,714,680,659,633.456094825,878,785,807,651.456094825,630,653,0.40112366643,-0.0153723270614,0.0798966298242,0.999999947369,0.00027061163279,-0.000174578942971,3.94221651379e-05,1793245448364368640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.876433893,744,714,679.876433893,659,633.123566107,878,785.123566107,807,651,629.876433893,653,0.401189390411,-0.015374890778,0.0799149098189,0.999999952384,0.000271305394097,-0.000141483149054,4.01028066386e-05,1793245448381035520
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.303761059,744,714,679.303761059,659,633.696238941,878,785.696238941,807,651,629.303761059,653,0.40126635863,-0.0153773162231,0.0799274623757,0.99999995475,0.000270310781802,-0.000126111533418,3.90953122329e-05,1793245448397702144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.724532694,878,785.724532694,807,651,629,653,0.401349268336,-0.0153804280055,0.079936851095,0.999999956869,0.000268821268725,-0.00011218415685,3.75729717107e-05,1793245448414368768
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.137899277,878,785.137899277,807,651,629,653,0.401438889503,-0.0153843150701,0.0799426659627,0.999999958798,0.00026677271897,-9.98881844435e-05,3.54690643673e-05,1793245448431035392
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,633.445616909,878,785,807,651,629.445616909,653,0.4015448558,-0.0153880949693,0.0799454584476,0.999999960097,0.000264670769986,-9.33532362381e-05,3.22717813041e-05,1793245448447702016
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.027810782,785.027810782,807,651,630,652.972189218,0.401657092666,-0.0153919540641,0.0799473806327,0.999999961238,0.000262403111053,-8.85601081289e-05,2.87252606023e-05,1793245448464368896
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.602835463,785.602835463,807,651,630,652.397164537,0.401793877555,-0.0153980194329,0.0799504538917,0.999999963153,0.00025719777711,-8.32045367112e-05,2.49183168773e-05,1793245448481035776
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.17787069,744,714,679,659,634,878.82212931,785.82212931,807.17787069,651,630,652.17787069,0.401941821708,-0.0154040616618,0.0799536088055,0.999999965084,0.00025187176178,-7.7217985615e-05,2.07156708248e-05,1793245448497702400
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.752929392,744,714,679,659,634,878.247070608,785.247070608,807.752929392,651,630,652.752929392,0.402114684653,-0.0154100522182,0.0799569460553,0.999999967114,0.000246276263752,-6.98224478294e-05,1.5629415847e-05,1793245448514368768
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.662876882,744,714.337123118,679.337123118,659,634,877.662876882,785,807.662876882,651,630,653,0.402293372943,-0.0154159150431,0.0799561713001,0.999999969114,0.00023772242596,-7.19281313886e-05,9.26024319924e-06,1793245448531035392
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.071801759,744,714.928198241,679.928198241,659,634,877.071801759,785,807.071801759,651,630,653,0.402476449434,-0.0154216816496,0.0799522990066,0.999999970951,0.000226940095122,-8.11910041694e-05,1.92465894059e-06,1793245448547702016
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,715,679.49165028,659.50834972,634,877.50834972,785.50834972,807.50834972,651.50834972,629.49165028,653,0.402691826447,-0.0154296738238,0.0799473521593,0.999999976135,0.000199031403272,-8.99162709346e-05,-5.68774321716e-06,1793245448564368896
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714.913713742,679.086286258,659.913713742,633.913713742,878,785.913713742,807.913713742,652,629.086286258,652.913713742,0.402920069631,-0.0154383824289,0.0799436355225,0.999999982071,0.00016271101167,-9.59458587295e-05,-1.33257747225e-05,1793245448581035520
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714.339758589,679.660241411,659.339758589,633.339758589,878,785.339758589,807.339758589,652,629.660241411,652.339758589,0.403195786892,-0.0154494008753,0.0799477114856,0.99999999173,9.2233782133e-05,-8.71602625288e-05,-2.08923301691e-05,1793245448597702144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.240078278,714,680,659,633.240078278,878,785.240078278,807,651.759921722,630,652.240078278,0.403488719357,-0.0154594405899,0.0799514449943,0.999999995331,4.72613809768e-05,-7.95607242082e-05,-2.78153044897e-05,1793245448614368768
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.828447953,714,680,659,633.828447953,878,785.828447953,807,651.171552047,630,652.828447953,0.403806626608,-0.0154680604174,0.0799546816901,0.999999995942,3.9289884411e-05,-7.36818496916e-05,-3.38046089662e-05,1793245448631035392
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744.589776887,714,679.589776887,659,634,878.820446227,785.589776887,807,651,630,653,0.404155106932,-0.0154746208625,0.0799568387921,0.999999995863,5.35145229991e-05,-6.79409102577e-05,-2.81671303617e-05,1793245448647702016
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.010715883,714,679.010715883,659,634,879.978568235,785.010715883,807,651,630,653,0.404516170382,-0.0154803337156,0.0799585515592,0.99999999495,7.68745530008e-05,-6.22567416685e-05,-1.77443494841e-05,1793245448664368640
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.567319359,744,714,679.567319359,659,634,878.865361282,785,807,651,630,653,0.404914201752,-0.0154883706089,0.079955334476,0.999999996236,5.41789690518e-05,-6.35478368647e-05,-2.35236170231e-05,1793245448681035520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.85533265,744,714,680,659,634,878,785.14466735,807,651,630,653,0.405321491192,-0.0154958239205,0.0799510487085,0.999999996677,3.40827490477e-05,-6.82414098304e-05,-2.87768092936e-05,1793245448697702144
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.279973211,744,714,680,659,634,878,785.720026789,807,651,630,653,0.405754267858,-0.0155014093843,0.0799438580632,0.999999995789,2.43103559048e-05,-8.26730308595e-05,-3.15543543189e-05,1793245448714368768
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.698525994,807,651,629.698525994,653,0.406210539692,-0.015495534514,0.0799376176098,0.999999994498,3.42781783355e-05,-9.36564693173e-05,-3.25097575609e-05,1793245448731035392
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.111308584,807,651,629.111308584,653,0.40668908079,-0.0154787972988,0.0799322777675,0.999999992376,6.29561910885e-05,-0.000101371649459,-3.17380968089e-05,1793245448747702016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,679.530677331,659,633.530677331,878,785,807,651,629.469322669,653,0.407194649188,-0.0154745787911,0.0799287191513,0.999999991056,6.88729603966e-05,-0.000109727305548,-3.32244525986e-05,1793245448764368896
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744,714.048144531,679.048144531,659,633.048144531,878.048144531,785,807,651,629.951855469,653,0.407709457944,-0.0154743533124,0.0799250112873,0.999999990026,6.76125923164e-05,-0.00011888216351,-3.52576626153e-05,1793245448781035520
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714.624018426,679.624018426,659,633.624018426,878.624018426,785,807,651,629.375981574,653,0.408256263717,-0.0154858024905,0.0799151009125,0.999999989104,4.60343318021e-05,-0.000135155368334,-3.74962345007e-05,1793245448797702144
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714.800017395,680,659.199982605,634,879,785.199982605,807,651,629.199982605,653,0.408836573734,-0.0154946949706,0.0799163891161,0.99999998986,3.0055508666e-05,-0.000133662226177,-3.88765765947e-05,1793245448814369024
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.223883432,680,659.776116568,634,879,785.776116568,807,651,629.776116568,653,0.409479902536,-0.0154987785049,0.079938740955,0.999999994075,2.46087827183e-05,-9.8751998994e-05,-3.86426566613e-05,1793245448831035648
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.360030642,744,714,680,660,634,878.639969358,785.639969358,807.360030642,651.360030642,630,653,0.410155999802,-0.0154995011832,0.0799678006126,0.99999999763,2.7628152578e-05,-5.10314219024e-05,-3.70442890699e-05,1793245448847702272
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.948889578,744,714,680,660,634,878.051110422,785.051110422,807.948889578,651.948889578,630,653,0.410852924025,-0.0154980877683,0.0800011236251,0.999999998741,3.60284041665e-05,4.83115676149e-06,-3.45787057049e-05,1793245448864368640
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.470077686,744,714,680,660,633.470077686,878,785.529922314,807.470077686,652,630,653,0.411517551885,-0.0154934198715,0.079984600168,0.999999998346,3.51512074085e-05,-2.54471373593e-05,-3.77516448935e-05,1793245448881035520
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,744,714,679.890801245,660,633.109198755,878.109198755,785.890801245,807.109198755,652,630,653,0.412184628246,-0.0154896703812,0.0799609256323,0.999999996521,3.20732719286e-05,-6.45936421729e-05,-4.19080593447e-05,1793245448897702144
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744,714,679.315843321,660,633.684156679,878.684156679,785.315843321,807.684156679,652,630,653,0.41287524053,-0.0154911574563,0.079926957323,0.99999999289,2.33696457657e-05,-0.000106644480717,-4.79734277234e-05,1793245448914368768
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744.25940408,714,679,660,633.74059592,879,785,807.74059592,651.74059592,629.74059592,653,0.413605687675,-0.0154939848718,0.0799133381554,0.999999991493,1.67600446816e-05,-0.000118810269774,-5.11587462165e-05,1793245448931035392
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.83500441,714,679,660,633.16499559,879,785,807.16499559,651.16499559,629.16499559,653,0.414384690947,-0.0154984460728,0.0799245232278,0.999999994158,1.27029191933e-05,-9.45481851015e-05,-5.0833477113e-05,1793245448947702272
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.577034697,714,679.422965303,660,633.422965303,879,785,807,651,629.422965303,653,0.415187830904,-0.0155023155878,0.0799461050211,0.999999996854,7.9645746417e-06,-6.16754288725e-05,-4.9249971404e-05,1793245448964368896
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015395987,744.015395987,714,680,660,634,879,785,807.015395987,651,630,653,0.415999849762,-0.0155056847179,0.0799706599574,0.999999998505,3.2274915112e-06,-2.72648214476e-05,-4.72918624657e-05,1793245448981035520
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589778828,744.589778828,714,680,660,634,879,785,807.589778828,651,630,653,0.416782095608,-0.0154995186682,0.0799514781113,0.999999996747,8.47488805844e-06,-6.26448749202e-05,-5.00900440375e-05,1793245448997702400
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.834935034,745,714,680,660,634,879,785,808,651,630,653,0.417597244344,-0.0154965121332,0.079946054916,0.999999996171,1.12484953968e-05,-6.97849112036e-05,-5.15891290594e-05,1793245449014369024
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.257391695,745,714,680,660,634,879,785,808,651,630,653,0.418494613569,-0.0155014008624,0.0799750130087,0.999999998707,7.84038755164e-06,-6.3563886536e-06,-4.9841920974e-05,1793245449031035648
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.326493869,745,714,680.326493869,660,633.673506131,879,785.326493869,807.673506131,651,630,653,0.419376047878,-0.0155059167466,0.0799852579091,0.999999998587,1.04003173589e-06,1.80870440138e-05,-4.99746359215e-05,1793245449047702016
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.915478349,745,714,680.915478349,660,633.084521651,879,785.915478349,807.084521651,651,630,653,0.420244670981,-0.0155101328751,0.0799804580008,0.999999998569,-8.48758259584e-06,1.11877102859e-05,-5.16187489578e-05,1793245449064368640
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.503940434,714,680.503940434,660,633,879,785.503940434,807,651,630,653,0.421119494691,-0.0155093956946,0.0799706992847,0.999999998477,-1.00159922225e-05,-7.29212626326e-06,-5.37877555034e-05,1793245449081035264
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.925293412,744,714,680.074706588,660.074706588,633,879,785.074706588,807.074706588,651,630,653,0.422002575371,-0.0155082857103,0.0799657111683,0.999999998251,-9.47441059664e-06,-1.88813849352e-05,-5.52340528921e-05,1793245449097702144
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.350171667,744,714,680.649828333,660.649828333,633,879,785.649828333,807.649828333,651,630,653,0.422934005231,-0.015510237652,0.0799982437652,0.999999998267,-4.04472045295e-06,2.86821034806e-05,-5.12502590692e-05,1793245449114368768
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.228043436,744,714,681,660.771956564,633,879.228043436,786,808,651,630,653,0.423828075652,-0.0155107790761,0.0800094022477,0.999999998146,3.34462973847e-06,3.52705852154e-05,-4.95276009103e-05,1793245449131035136
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.811073946,744,714,681,660.188926054,633,879.811073946,786,808,651,630,653,0.424663990112,-0.0155091247983,0.0799872884148,0.999999998348,1.37845135811e-05,-2.19252556924e-05,-5.13247713276e-05,1793245449147702016
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,879.606526876,785.606526876,808,651,630,653,0.425564560027,-0.0155104672535,0.079952099298,0.999999995876,9.54870675016e-06,-7.13607967354e-05,-5.53501538408e-05,1793245449164368640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,633,879.024430381,785.024430381,808,651,630,653,0.42649612446,-0.0155132462843,0.0799106421457,0.999999991318,-1.72234167155e-06,-0.000117076197288,-6.04436977839e-05,1793245449181035264
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.554678296,714,681.554678296,660,633,879,785,808.554678296,651,630,653,0.427416342348,-0.0155136900822,0.0799078428342,0.999999991079,-2.98766804979e-06,-0.00011931173387,-5.99881909568e-05,1793245449197702144
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+174,2.900000000,POSE1_TO_POSE2_PRESS,764,744.876114369,714,682,660.123885631,633.876114369,879.123885631,786,808,651,630.876114369,653,0.431173099898,-0.0155275770114,0.0800223709095,0.999999997663,-1.88348572053e-05,4.03524386337e-05,-5.18825445172e-05,1793245449264368640
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745,713.224006395,683.224006395,657,628.775993605,880.55198721,775,810,651,629,653,0.453685724917,-0.0157854001847,0.0796007059215,0.999999732884,-0.000402282880131,-0.000605609378049,-7.5082426556e-05,1793245450181036544
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713,683,657,628,879,775,809.4690821,651,628,653,0.45369181315,-0.0157805948279,0.07959847674,0.999999734425,-0.00039377070438,-0.000608641500108,-7.5172246712e-05,1793245450231036416
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,683,657,628,879,775,809.108943902,651,628.108943902,653,0.453692295343,-0.0157790234452,0.0795975080735,0.999999734582,-0.000391750754077,-0.00060971021851,-7.49736800256e-05,1793245450247703552
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.589763053,682.589763053,656.410236947,628.410236947,879.589763053,775,809,651,628,653,0.453692342762,-0.0157799208518,0.0795941600614,0.999999730763,-0.000391794706022,-0.000616062308202,-7.37431671722e-05,1793245450347702528
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,683.351507239,656,628,879.648492761,774,809.351507239,651,628.351507239,653,0.453695008758,-0.0157732639653,0.0795909640512,0.999999731148,-0.000384713577973,-0.000620072119734,-7.21833739331e-05,1793245450923844352
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,656.137280278,628.137280278,879,774,809.862719722,651,628.137280278,653,0.453475761708,-0.0157635406499,0.0795098870619,0.999999641803,-0.000382031497026,-0.000751500197243,-7.54477123038e-05,1793245451023844352
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,633,878,785,807.094725466,651,629,652,0.408952081969,-0.0153651262758,0.0798202587006,0.99999992161,0.000265210663785,-0.000291053988303,4.16124574704e-05,1793245452223844096
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,744.649028845,714,679,658,633,878,784.649028845,807,651,629.649028845,652.350971155,0.407242770796,-0.0153576210381,0.0797987291164,0.999999903202,0.000274653223546,-0.000341407991519,4.00302954904e-05,1793245452273844480
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,744,714,680,658,634,878.033554605,784.033554605,808,651,630,652.033554605,0.405344363348,-0.0153616444754,0.0797981945884,0.999999914599,0.000261678322317,-0.000317766421624,3.67484721606e-05,1793245452340512256
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.802755179,658.802755179,633.802755179,878,784.197244821,807.197244821,651,629.197244821,652.197244821,0.402486118904,-0.0153479831228,0.07982961828,0.999999912102,0.000287290837701,-0.000302585708398,4.12652251566e-05,1793245452490511616
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,744,714,679.423987416,658,633,877.423987416,784.576012584,806.423987416,652,629.423987416,652.423987416,0.40116113192,-0.015360906459,0.0798360315885,0.999999918212,0.000280327955954,-0.000289320008996,3.58660991655e-05,1793245452673844736
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,744,714,679,658.3205889,633.3205889,878,785,807,652,629,653,0.401047835353,-0.0153589888432,0.0798316230181,0.999999916607,0.000280151493026,-0.000294896406455,3.65778509589e-05,1793245452723844608
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,633.932271376,878.067728624,785,807,651,629,653,0.400992756575,-0.0153582624435,0.0798291881995,0.999999915331,0.00028038014613,-0.00029890102101,3.71860085387e-05,1793245452773845504
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.774889594,744,714,679,658.225110406,633,878.774889594,785,807,651,629.225110406,653,0.400981119761,-0.0153590585706,0.079830314094,0.999999916378,0.000279041241227,-0.000296607143458,3.74738224319e-05,1793245452807178240
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.378060862,744,714,679,658.621939138,633,878,785,807,651,629.621939138,653,0.400979298098,-0.0153593558849,0.0798336731223,0.999999918049,0.000279104880031,-0.000290833174386,3.76758463256e-05,1793245452840511232
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.402621663,658.402621663,633,878.402621663,785,807,651,629,652,0.400977329724,-0.015362600357,0.0798372824401,0.99999992027,0.000278534010582,-0.000283614474351,3.79617090839e-05,1793245452990511616
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97c8d19c11b1823b5e5e291034ce8c4d4fc53a5f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+372,6.200000000,pose2_to_pose3_retreat,0.576077956664,-0.0101221670204,1.07005102141,0.546649590601,-0.00144647897303,1.06971750771
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+374,6.233333333,pose2_to_pose3_retreat,0.57593441753,-0.0101222399895,1.07005092112,0.546506051336,-0.00144655207848,1.0697174151
+375,6.250000000,pose2_to_pose3_retreat,0.575877007938,-0.0101222860833,1.07005098509,0.546448641088,-0.00144660086976,1.06971746679
+376,6.266666667,pose2_to_pose3_retreat,0.575828923823,-0.0101222615198,1.07005104617,0.546400557101,-0.00144657598926,1.0697175248
+377,6.283333333,pose2_to_pose3_retreat,0.575788934598,-0.0101221830715,1.07005103015,0.546360568317,-0.00144649587049,1.06971751323
+378,6.300000000,pose2_to_pose3_retreat,0.575756904793,-0.0101221348597,1.07005095698,0.546328538063,-0.00144644908255,1.06971744264
+379,6.316666667,pose2_to_pose3_retreat,0.575731228287,-0.010122144828,1.07005075416,0.546302861042,-0.00144646061028,1.06971724472
+380,6.333333333,pose2_to_pose3_retreat,0.575711557233,-0.0101222495667,1.07005073388,0.546283190899,-0.00144656213112,1.06971722777
+381,6.350000000,pose2_to_pose3_retreat,0.57569684562,-0.0101221446088,1.07005083691,0.546268478361,-0.00144646022552,1.06971733304
+382,6.366666667,pose2_to_pose3_retreat,0.57568637278,-0.0101220994598,1.07005104878,0.546258005949,-0.00144641365877,1.06971754417
+383,6.383333333,pose2_to_pose3_retreat,0.575679950536,-0.0101221160466,1.0700510004,0.546251582739,-0.00144643333152,1.06971750086
+384,6.400000000,pose2_to_pose3_retreat,0.575676037551,-0.0101221389003,1.07005095272,0.546247669634,-0.00144645661168,1.06971745263
+385,6.416666667,pose2_to_pose3_retreat,0.575674166375,-0.0101221497963,1.07005098821,0.546245799646,-0.00144646377751,1.0697174802
+386,6.433333333,pose2_to_pose3_retreat,0.575673130788,-0.0101221558266,1.07005100786,0.546244764717,-0.00144646774339,1.06971749545
+387,6.450000000,pose2_to_pose3_retreat,0.57567269826,-0.0101221754245,1.0700509966,0.546244332596,-0.00144648596276,1.06971748408
+388,6.466666667,pose2_to_pose3_retreat,0.575672618644,-0.0101221821857,1.07005099093,0.54624425308,-0.00144649237481,1.06971747871
+389,6.483333333,pose2_to_pose3_retreat,0.575672527794,-0.0101221899008,1.07005098446,0.546244162343,-0.00144649969161,1.06971747259
+390,6.500000000,pose2_to_pose3_retreat,0.575672123051,-0.0101222242721,1.07005095566,0.546243758107,-0.00144653228833,1.06971744529
+391,6.516666667,pose2_to_pose3_retreat,0.575671972703,-0.0101222370399,1.07005094496,0.546243607946,-0.00144654439694,1.06971743515
+392,6.533333333,pose2_to_pose3_retreat,0.575671778722,-0.010122253513,1.07005093115,0.546243414208,-0.00144656001953,1.06971742207
+393,6.550000000,pose2_to_pose3_retreat,0.575671537054,-0.0101222740359,1.07005091395,0.546243172842,-0.00144657948281,1.06971740578
+394,6.566666667,pose2_to_pose3_retreat,0.575671207027,-0.0101223020622,1.07005089046,0.546242843228,-0.00144660606212,1.06971738352
+395,6.583333333,pose2_to_pose3_retreat,0.57567115452,-0.0101223065212,1.07005088672,0.546242790786,-0.00144661029091,1.06971737998
+396,6.600000000,pose2_to_pose3_retreat,0.575671026844,-0.0101223173636,1.07005087763,0.54624266327,-0.00144662057352,1.06971737137
+397,6.616666667,pose2_to_pose3_retreat,0.575670541252,-0.0101223288242,1.07005085403,0.546242177457,-0.00144663274903,1.06971734865
+398,6.633333333,pose2_to_pose3_retreat,0.575670391787,-0.0101223080396,1.07005085571,0.546242027248,-0.00144661450662,1.06971734985
+399,6.650000000,pose2_to_pose3_retreat,0.575670340625,-0.0101223009251,1.07005085629,0.546241975832,-0.0014466082623,1.06971735026
+400,6.666666667,pose2_to_pose3_retreat,0.575670222665,-0.0101222845216,1.07005085761,0.546241857285,-0.00144659386514,1.0697173512
+401,6.683333333,pose2_to_pose3_retreat,0.575670043197,-0.0101222595648,1.07005085963,0.546241676923,-0.00144657196082,1.06971735264
+402,6.700000000,pose2_to_pose3_retreat,0.575669864267,-0.0101222346828,1.07005086164,0.546241497102,-0.00144655012211,1.06971735407
+403,6.716666667,pose2_to_pose3_retreat,0.575669816313,-0.0101222280144,1.07005086218,0.54624144891,-0.00144654426935,1.06971735445
+404,6.733333333,pose2_to_pose3_retreat,0.575669731473,-0.0101221948196,1.07005084397,0.546241363621,-0.00144651263259,1.06971733531
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdd2060b6bacc664b079c09b162b2c5f49cb57eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698b70bb032e89c40fbedbfa2dc28dc77396b9faecf8a2ed1098633804735f83
+size 25907035
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89c2c8a233cf9377fbb03532fc9b32ad535f2d4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+28,0.466666667,BASELINE,764,744,714,680,659,634,879,785.235163244,807,651,630,652.764836756,0.400977411519,-0.0153659628241,0.0798415393097,0.999999924193,0.000271834129695,-0.000276380711405,3.6533640794e-05,1793245453784230912
+29,0.483333333,BASELINE,764,744,714,680,659,634,879,785.825020574,807,651,630,652.174979426,0.400976163124,-0.0153658156185,0.0798401533726,0.999999923692,0.000271700690115,-0.000278293410746,3.66985730232e-05,1793245453800897536
+30,0.500000000,BASELINE,764,744,714,679.592650837,659,634,878.592650837,785.592650837,807,651,630,652,0.400976616403,-0.0153658509879,0.0798407175274,0.999999923758,0.000272323715709,-0.000277401429328,3.70322182358e-05,1793245453817564160
+31,0.516666667,BASELINE,764,744,714,679.013497595,659,634,878.013497595,785.013497595,807,651,630,652,0.400977787381,-0.0153659633603,0.0798421041554,0.99999992406,0.000273265788981,-0.000275326542281,3.7437020038e-05,1793245453834230784
+32,0.533333333,BASELINE,764,744,714,679,659,633.438407232,878,785,807,651,630,652,0.400977702554,-0.0153645997731,0.0798420018586,0.999999924069,0.000273010337394,-0.00027559928195,3.70387116185e-05,1793245453850897408
+33,0.550000000,BASELINE,764,744,714,679.136128256,658.863871744,633.136128256,878,785,807,651.136128256,629.863871744,652,0.400977667529,-0.0153637265222,0.0798418339084,0.9999999242,0.000272256293593,-0.00027592061843,3.66616533087e-05,1793245453867564288
+34,0.566666667,BASELINE,764,744,714,679.709193803,658.290806197,633.709193803,878,785,807,651.709193803,629.290806197,652,0.400977888537,-0.015364540172,0.0798415692653,0.99999992474,0.000269993613952,-0.000276218132343,3.64143131994e-05,1793245453884231168
+35,0.583333333,BASELINE,764,744,714,680,658,633.708087868,878,785,807,651.708087868,629,652,0.400978758279,-0.0153657767006,0.0798418825597,0.99999992513,0.000269305769448,-0.000275465146852,3.65156743243e-05,1793245453900897792
+36,0.600000000,BASELINE,764,744,714,680,658,633.115424397,878,785,807,651.115424397,629,652,0.400980296399,-0.0153674489131,0.0798427912917,0.999999925365,0.0002702404464,-0.000273629852482,3.69762954566e-05,1793245453917564928
+37,0.616666667,BASELINE,764.466434901,744,714,679.533565099,658,633,878,785,807,651,629.466434901,652.466434901,0.400979122275,-0.0153666720172,0.0798421391859,0.999999924473,0.00027221154456,-0.000274938070449,3.69418986282e-05,1793245453934231296
+38,0.633333333,BASELINE,764.954560209,744,714.045439791,679,658,633.045439791,878,785,807,651,630,653,0.400977340977,-0.015365320584,0.0798411770997,0.999999923342,0.000274391601192,-0.000276897196446,3.67975301692e-05,1793245453950897408
+39,0.650000000,BASELINE,764.378373608,744,714.621626392,679,658,633.621626392,878,785,807,651,630,653,0.400976129733,-0.015364177065,0.0798410036792,0.999999922688,0.000276084489665,-0.000277578769326,3.6767075805e-05,1793245453967564288
+40,0.666666667,BASELINE,764,744,714.798762626,679,658,634,878,785,807.201237374,651.201237374,630,652.798762626,0.400975809527,-0.0153636769497,0.0798410277704,0.999999922558,0.000276378085069,-0.000277746519265,3.68207623557e-05,1793245453984231168
+41,0.683333333,BASELINE,764,744,714.212601572,679,658,634,878,785,807.787398428,651.787398428,630,652.212601572,0.400977193683,-0.015364407527,0.0798414296589,0.999999923432,0.000273995134639,-0.000276931436734,3.7035392325e-05,1793245454000897536
+42,0.700000000,BASELINE,764,744,714.369086258,679,658.369086258,634,878,785.369086258,807.630913742,652,630,652,0.400978006574,-0.0153652404699,0.0798417559513,0.999999923955,0.000273286868334,-0.000275716487882,3.7219861329e-05,1793245454017564160
+43,0.716666667,BASELINE,764,744,714.948228251,679,658.948228251,634,878,785.948228251,807.051771749,652,630,652,0.400978494345,-0.0153661316714,0.0798420392201,0.999999924278,0.000273531704528,-0.00027427396566,3.73871650054e-05,1793245454034230784
+44,0.733333333,BASELINE,764,744,714.474433156,679,658.474433156,634,878,785.474433156,806.474433156,651.474433156,630,652,0.400977711786,-0.0153650409435,0.0798416673782,0.999999923402,0.000275661473719,-0.000275357395752,3.72175333108e-05,1793245454050897920
+45,0.750000000,BASELINE,764,744,714,679.102426618,658.102426618,634,878,785,806.102426618,651,630,652.102426618,0.400977060525,-0.0153641912448,0.0798413984651,0.999999922721,0.000277216595065,-0.000276292271846,3.7042333047e-05,1793245454067564800
+46,0.766666667,BASELINE,764,744,714,679.677892498,658.677892498,634,878,785,806.677892498,651,630,652.677892498,0.40097759158,-0.0153653532627,0.0798419019244,0.999999923509,0.000275263216644,-0.000275395862925,3.69941748726e-05,1793245454084231424
+47,0.783333333,BASELINE,764,744,714,680,658.740938565,634,878,785,807,651,629.740938565,652.740938565,0.400978422514,-0.0153660913463,0.0798424799713,0.99999992412,0.000273839857112,-0.000274592895999,3.70308427549e-05,1793245454100898048
+48,0.800000000,BASELINE,764,744,714,680,658.152518959,634,878,785,807,651,629.152518959,652.152518959,0.400979634698,-0.0153662904605,0.0798431528455,0.999999924507,0.000273090337676,-0.000273908726584,3.71753543738e-05,1793245454117564416
+49,0.816666667,BASELINE,763.568198036,744,714,679.568198036,658,633.568198036,877.568198036,785,807,651,629.431801964,652,0.400978506007,-0.0153661280124,0.0798422230019,0.999999924329,0.00027256361371,-0.000275118264388,3.68852576571e-05,1793245454134231040
+50,0.833333333,BASELINE,763.014441396,744,714,679,658,633,877.014441396,785,807,651,629.985558604,652,0.400976627579,-0.0153658523037,0.0798407852764,0.999999923972,0.000272108675875,-0.000276917852647,3.64592134352e-05,1793245454150897920
+51,0.850000000,BASELINE,763.587512696,744,714,679,658,633,877.587512696,785,807,651,629.412487304,652,0.400977430672,-0.0153660890533,0.0798413938215,0.999999924432,0.000271415118542,-0.000275911179135,3.66567029501e-05,1793245454167564288
+52,0.866666667,BASELINE,764,744,714,679,658,633.160708505,878,785,807,651.160708505,629.160708505,652.160708505,0.400977982469,-0.0153663916199,0.079842005586,0.999999924707,0.000271225310327,-0.000275070520976,3.68631566301e-05,1793245454184230912
+53,0.883333333,BASELINE,764,744,714,679,658,633.734224099,878,785,807,651.734224099,629.734224099,652.734224099,0.400977888765,-0.0153668632484,0.0798426256202,0.999999924512,0.000272329467323,-0.00027465630151,3.70926362795e-05,1793245454200897536
+54,0.900000000,BASELINE,764,744,714,679.319194814,658.319194814,634,878,785,807,651.680805186,629.680805186,652.680805186,0.40097771536,-0.0153666997996,0.0798426610445,0.999999924177,0.000273460697713,-0.000274739642711,3.71935501315e-05,1793245454217564160
+55,0.916666667,BASELINE,764,744,714,679.914058582,658.914058582,634,878,785,807,651.085941418,629.085941418,652.085941418,0.400977473121,-0.0153659878735,0.0798421915771,0.99999992372,0.000274615309671,-0.000275252696517,3.71834295895e-05,1793245454234230784
+56,0.933333333,BASELINE,764,744,714,680,659,633.505121627,878,785.494878373,807,651,629.494878373,652,0.400977675668,-0.0153662180284,0.0798420814734,0.999999924127,0.000272999342184,-0.000275429539614,3.6809364217e-05,1793245454250897152
+57,0.950000000,BASELINE,764,744,714,679.927310875,658.927310875,633,878.072689125,785.927310875,807,651,630,652.072689125,0.400977947286,-0.0153665169542,0.0798420863648,0.999999924574,0.000271354610352,-0.000275475778736,3.64815899901e-05,1793245454267564032
+58,0.966666667,BASELINE,764,744,714,679.353891518,658.353891518,633,878.646108482,785.353891518,807,651,630,652.646108482,0.400978177301,-0.0153661937116,0.079842465376,0.999999924311,0.000272734699783,-0.000275013440395,3.68960704798e-05,1793245454284230656
+59,0.983333333,BASELINE,764,744,714,679.224361187,658.224361187,633.224361187,878.775638813,785,807,651,630,652.775638813,0.400978085413,-0.0153657035801,0.079842464735,0.999999924055,0.000273727663922,-0.000274941271155,3.70257503203e-05,1793245454300897280
+60,1.000000000,BASELINE,764,744,714,679.810405617,658.810405617,633.810405617,878.189594383,785,807,651,630,652.189594383,0.400977474602,-0.0153649444138,0.0798418520728,0.999999923813,0.000274096559859,-0.000275498077061,3.66963150638e-05,1793245454317563904
+61,1.016666667,BASELINE,764,744,714,680,659,634,878,785,807,651,630.393877575,652,0.400977381248,-0.0153662280464,0.0798419199535,0.999999924399,0.000272101729035,-0.000275350819589,3.66582742495e-05,1793245454334230528
+62,1.033333333,BASELINE,764,744,714,680,659,634,878,785,807,651,630.976119263,652,0.400977535358,-0.015368488607,0.0798423132903,0.999999925374,0.000268976492893,-0.00027486685778,3.67595870492e-05,1793245454350897152
+63,1.050000000,BASELINE,764,744.55195644,714,679.44804356,659,634,878,785,807,651,630.44804356,652.55195644,0.400978186114,-0.0153672072441,0.0798426376131,0.999999924982,0.00027066493013,-0.000274602687608,3.7019720962e-05,1793245454367563776
+64,1.066666667,BASELINE,764,744.87242959,714,679.12757041,658.87242959,633.87242959,878,785.12757041,807,651,630,653,0.400978660431,-0.0153659928826,0.0798428610431,0.999999924532,0.000272479633813,-0.00027441914564,3.72133969235e-05,1793245454384230400
+65,1.083333333,BASELINE,764,744.296637479,714,679.703362521,658.296637479,633.296637479,878,785.703362521,807,651,630,653,0.400978440192,-0.0153655461813,0.0798427403541,0.999999924097,0.000274014621344,-0.000274485864484,3.71497050292e-05,1793245454400897024
+66,1.100000000,BASELINE,764,744,714,680,658.286224633,633.286224633,878,786,807,651,630,652.713775367,0.400978166589,-0.015365720291,0.0798426173803,0.999999924077,0.000274077330281,-0.000274522358547,3.69354803092e-05,1793245454417563904
+67,1.116666667,BASELINE,764,744,714,680,658.876599485,633.876599485,878,786,807,651,630,652.123400515,0.400977836281,-0.0153665540917,0.0798424919786,0.9999999245,0.000272575555124,-0.000274526734918,3.65612952448e-05,1793245454434230528
+68,1.133333333,BASELINE,764,744,714,679.542968122,659,634,878,785.542968122,807,651,630,652.457031878,0.400978272081,-0.0153666068876,0.0798431394528,0.999999924836,0.000272368616199,-0.000273501895046,3.66196401346e-05,1793245454450897152
+69,1.150000000,BASELINE,764,744.034694527,714,679.034694527,659,634,878,785,807,651.034694527,629.965305473,652.965305473,0.400978933315,-0.0153665195581,0.0798439547642,0.999999925167,0.000272348680802,-0.000272285851632,3.67884884537e-05,1793245454467563776
+70,1.166666667,BASELINE,764,744.610137121,714,679.610137121,659,634,878,785,807,651.610137121,629.389862879,652.389862879,0.400979952802,-0.0153674649469,0.079844202755,0.999999925812,0.000269910362735,-0.000272328727428,3.68981882627e-05,1793245454484230656
+71,1.183333333,BASELINE,764,744.810415831,714,679.810415831,658.810415831,634,878,785,807,651.810415831,629,652.189584169,0.400980070423,-0.0153678876836,0.0798440835864,0.999999925911,0.000269022141581,-0.000272831966061,3.69772815644e-05,1793245454500897536
+72,1.200000000,BASELINE,764,744.222556181,714,679.222556181,658.222556181,634,878,785,807,651.222556181,629,652.777443819,0.40097829342,-0.0153672124413,0.0798431930948,0.999999924869,0.000271390339519,-0.000274302327811,3.69920772114e-05,1793245454517564160
+73,1.216666667,BASELINE,764,744,714,679,658.360035108,634,878.360035108,785,807,651,629,652.639964892,0.400977675273,-0.0153663981933,0.0798425173852,0.999999924357,0.000272557829272,-0.00027502698492,3.68612744936e-05,1793245454534230784
+74,1.233333333,BASELINE,764,744,714,679,658.939416685,634,878.939416685,785,807,651,629,652.060583315,0.400977763143,-0.0153654992581,0.0798419725286,0.999999924172,0.000272993803831,-0.000275297331577,3.66417679608e-05,1793245454550897408
+75,1.250000000,BASELINE,764,744.517900038,714,679.517900038,658.482099962,633.482099962,878.482099962,785,807,651,629.517900038,652.517900038,0.400978352412,-0.0153658473418,0.0798424794647,0.999999924339,0.000272952852866,-0.00027472082265,3.66939309802e-05,1793245454567564032
+76,1.266666667,BASELINE,764,744.905137366,714,680,658.094862634,633.094862634,878.094862634,785,807,651.094862634,630,653,0.40097893278,-0.0153663201756,0.0798431302866,0.999999924645,0.000272527707731,-0.000274018628408,3.67799533782e-05,1793245454584230656
+77,1.283333333,BASELINE,764,744.335264519,714,680,658.664735481,633.664735481,878.664735481,785,807,651.664735481,630,653,0.40097917539,-0.0153666884957,0.0798438865701,0.999999925432,0.000270457645811,-0.000273182273824,3.68766655968e-05,1793245454600897536
+78,1.300000000,BASELINE,764.244156547,744,714,680,659,634,878.755843453,785,807,651.755843453,630,652.755843453,0.400979720617,-0.0153668860683,0.0798443672733,0.999999925912,0.000269431765331,-0.000272434536164,3.69148061024e-05,1793245454617563904
+79,1.316666667,BASELINE,764.837222338,744,714,680,659,634,878.162777662,785,807,651.162777662,630,652.162777662,0.400980698298,-0.0153668396359,0.0798444541612,0.999999925957,0.000269898061113,-0.00027181343562,3.68692453335e-05,1793245454634230528
+80,1.333333333,BASELINE,764.579730808,744,714.420269192,679.579730808,659,634,878,785,807,651.420269192,630,652.420269192,0.400980457596,-0.0153668783684,0.0798441989572,0.999999925853,0.000270523681963,-0.000271545241474,3.70671617449e-05,1793245454650897152
+81,1.350000000,BASELINE,764.000474064,744,714.999525936,679.000474064,659,634,878,785,807,651.999525936,630,652.999525936,0.400979755981,-0.0153669493189,0.0798438143401,0.999999925693,0.000271209575418,-0.00027141055153,3.73571854063e-05,1793245454667564032
+82,1.366666667,BASELINE,764.576393271,744.576393271,714.423606729,679,659,634,878,785,807,652,630,653,0.400979233807,-0.015366749589,0.0798433171788,0.999999925171,0.000271630417978,-0.000272917469885,3.7307530131e-05,1793245454684230656
+83,1.383333333,BASELINE,764.849220751,745,714,679,658.849220751,634,878,785,807,651.849220751,630,653,0.400978746749,-0.0153667225882,0.0798428289514,0.999999924855,0.000271572118997,-0.000274143325384,3.72045840367e-05,1793245454700897536
+84,1.400000000,BASELINE,764.281687702,745,714,679,658.281687702,634,878,785,807,651.281687702,630,653,0.40097835634,-0.0153671736233,0.0798423656718,0.999999925116,0.000270190073077,-0.000274588607121,3.6955111126e-05,1793245454717565184
+85,1.416666667,BASELINE,764,744.699199202,714,679.300800798,658.300800798,634,878.300800798,785,807,651.300800798,630,652.699199202,0.400978325659,-0.0153674220675,0.0798420574129,0.999999925316,0.00026917352317,-0.000274901023655,3.66581453753e-05,1793245454734232064
+86,1.433333333,BASELINE,764,744.101972814,714,679.898027186,658.898027186,634,878.898027186,785,807,651.898027186,630,652.101972814,0.400978649473,-0.0153674708677,0.07984190192,0.999999925455,0.000268517153146,-0.00027508250751,3.63143775927e-05,1793245454750897664
+87,1.450000000,BASELINE,764,744,714,679.520811199,658.520811199,634,878.520811199,785,807,651.520811199,630,652.479188801,0.400978606001,-0.0153680641219,0.0798423462179,0.999999925554,0.000268160837901,-0.000275041845026,3.65167809452e-05,1793245454767564544
+88,1.466666667,BASELINE,764,744,714,679,658.056670575,634,878,785,807,651,630,653,0.40097847589,-0.0153687365179,0.0798428458434,0.999999925576,0.000268120645457,-0.000274963505935,3.68136591255e-05,1793245454784231424
+89,1.483333333,BASELINE,764,744,714,679,658.630755009,634,878,785,807,651,630,653,0.400978245201,-0.0153691079698,0.0798427230681,0.999999924958,0.000270402642169,-0.000274958787059,3.69463587115e-05,1793245454800898304
+90,1.500000000,BASELINE,764,744,714,679,658.789505937,634,878.210494063,784.789505937,807,651,630,652.789505937,0.400977986762,-0.0153688637647,0.0798423811351,0.999999924604,0.000271484987074,-0.000275185021859,3.69032862038e-05,1793245454817564928
+91,1.516666667,BASELINE,764,744,714,679,658.19957389,634,878.80042611,784.19957389,807,651,630,652.19957389,0.400977678299,-0.0153675097721,0.0798416441472,0.999999924732,0.000270404831476,-0.000275827575285,3.65433657471e-05,1793245454834231040
+92,1.533333333,BASELINE,764,744,714,679.383167254,658,634,878.616832746,784.383167254,807,651,630,652,0.400978057397,-0.0153671008331,0.0798420874941,0.999999924737,0.000271151637143,-0.000275064474131,3.66324874768e-05,1793245454850897664
+93,1.550000000,BASELINE,764,744,714,679.96223204,658,634,878.03776796,784.96223204,807,651,630,652,0.400978788016,-0.0153671750608,0.0798431342971,0.999999924675,0.000272832492263,-0.000273582720124,3.69511858278e-05,1793245454867564288
+94,1.566666667,BASELINE,764,744,714,680,658.539216923,633.460783077,879.078433847,785,807,651,630,652.539216923,0.400978405486,-0.0153676325136,0.0798431117259,0.999999925627,0.000269245144375,-0.000273714382613,3.65203386975e-05,1793245454884230912
+95,1.583333333,BASELINE,764,744,714,679.884088526,658.884088526,633.115911474,879.768177053,785,807,651,630,652.884088526,0.400978166465,-0.0153679148545,0.0798429889506,0.99999992637,0.000266282733612,-0.000273941012532,3.61856957686e-05,1793245454900897536
+96,1.600000000,BASELINE,764,744,714,679.307970341,658.307970341,633.692029659,878.615940683,785,807,651,630,652.307970341,0.400978805595,-0.0153673957814,0.0798427645724,0.999999926057,0.00026726093697,-0.000274097742326,3.64406557824e-05,1793245454917564160
+97,1.616666667,BASELINE,764,744,714,679,658.273574297,634,878,785,807,651,629.726425703,652.273574297,0.400979121115,-0.0153670549857,0.0798428763342,0.999999925653,0.000269118606131,-0.000273725445439,3.66480992903e-05,1793245454934231040
+98,1.633333333,BASELINE,764,744,714,679,658.861351233,634,878,785,807,651,629.138648767,652.861351233,0.400979064968,-0.0153669189431,0.0798433741559,0.999999925139,0.000271986349936,-0.000272745556448,3.68009696309e-05,1793245454950897920
+99,1.650000000,BASELINE,764,744,714,679.442666494,659,634,878,785,807,651,629.442666494,653,0.400979392273,-0.01536658513,0.0798437089655,0.999999925339,0.000272019303853,-0.000271968971602,3.68718699799e-05,1793245454967564800
+100,1.666666667,BASELINE,764,744,714,679.978892882,659,634,878,785,807,651,630,653,0.400979799456,-0.0153662020746,0.0798439551141,0.99999992573,0.000271208900755,-0.000271335017503,3.69107221568e-05,1793245454984231168
+101,1.683333333,BASELINE,764,744,714,679.422755462,659,634,878,785,807,651,630,653,0.400979230823,-0.0153661184024,0.0798432294569,0.999999925358,0.000271203584247,-0.000272725620619,3.6778637701e-05,1793245455000897792
+102,1.700000000,BASELINE,764,744,714,679,659,634,878,785,807,651.142488792,630,652.857511208,0.4009788667,-0.0153665197501,0.0798426907157,0.999999925139,0.000270973785913,-0.000273769932115,3.66790670491e-05,1793245455017564416
+103,1.716666667,BASELINE,764,744,714,679,659,634,878,785,807,651.736597139,630,652.263402861,0.400979150775,-0.0153684583733,0.079842744407,0.999999925408,0.000270032490348,-0.000273716668831,3.66825492267e-05,1793245455034231040
+104,1.733333333,BASELINE,764,744,714,679,659,634,878,785,807,651.670354008,629.670354008,652.329645992,0.400979391686,-0.0153683059092,0.0798430225508,0.999999925221,0.000270841852014,-0.000273587395718,3.67863525031e-05,1793245455050897920
+105,1.750000000,BASELINE,764,744,714,679,659,634,878,785,807,651.078148963,629.078148963,652.921851037,0.400979598217,-0.0153664879196,0.0798434794681,0.999999924667,0.00027304559092,-0.000273397581687,3.69700603236e-05,1793245455067564800
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,878,785,807,651,630,653,0.400978337969,-0.0153675089352,0.0798431319419,0.999999925224,0.000271398912241,-0.000273026424041,3.67583985159e-05,1793245455098738432
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679.579395368,658,634,877.420604632,785,806.420604632,651,630,653,0.400979406542,-0.0153659283283,0.0798437060372,0.999999925198,0.00027195559007,-0.000272597603275,3.65445131187e-05,1793245455115405312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.161453982,744,714,679.838546018,658,634,877.161453982,785,806,651,629.838546018,652.838546018,0.400980011878,-0.0153652662111,0.0798440759403,0.999999925352,0.000271646988885,-0.000272356760847,3.63989005193e-05,1793245455132072192
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.750567122,744,714,679.249432878,658,634,877.750567122,785,806,651,629.249432878,652.249432878,0.400979390195,-0.0153670369882,0.0798439049797,0.999999925984,0.000269046437572,-0.00027261383517,3.64341287972e-05,1793245455148738560
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.666352819,744,714,679.333647181,658.333647181,634,878.333647181,785,806,651.333647181,629,652,0.400979240553,-0.0153674952778,0.0798437924145,0.999999925903,0.000269304269073,-0.000272639826136,3.65530692588e-05,1793245455165405184
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.087702985,744,714,679.912297015,658.912297015,634,878.912297015,785,806,651.912297015,629,652,0.400979437539,-0.015366989786,0.0798437227301,0.999999925298,0.000271661058584,-0.000272496128748,3.67334809615e-05,1793245455182071296
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744,714,680,658.512124447,634,878.512124447,785.487875553,806,652,629,652,0.400979210296,-0.0153669800271,0.079843577424,0.999999925008,0.000272395269404,-0.00027283138276,3.67107877851e-05,1793245455198737920
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679.937517728,658,634,878,785.937517728,806.062482272,651.937517728,629,652,0.400979013543,-0.0153669598714,0.079843495235,0.999999924764,0.000272989781897,-0.00027313707383,3.66690065097e-05,1793245455215404544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.36635602,658,634,878,785.36635602,806.63364398,651.36635602,629,652,0.400979681986,-0.0153661341074,0.0798440368736,0.999999924435,0.000274806773396,-0.000272505527365,3.67672100236e-05,1793245455232071424
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679.213358003,658,634,878,785,807,651,629,652.213358003,0.40098320612,-0.0153660455059,0.0798458100655,0.999999925137,0.000274942409601,-0.000269757095809,3.69343552331e-05,1793245455248738048
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679.808370324,658,634,878,785,807,651,629,652.808370324,0.400991838505,-0.0153672755391,0.0798497862574,0.999999927653,0.000272070441003,-0.000263221984987,3.72248231826e-05,1793245455265404416
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.393019474,714,680,658.393019474,634,878,785,807,651.393019474,629.393019474,653,0.401014253764,-0.0153686447793,0.079858806409,0.999999932133,0.000270237027438,-0.000247554299207,3.77333643835e-05,1793245455282070784
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.972745581,714,680,658.972745581,634,878,785,807,651.972745581,629.972745581,653,0.401043216675,-0.0153700801508,0.0798702227291,0.999999937223,0.000268896986318,-0.000227548119565,3.83455028117e-05,1793245455298737408
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.451999964,714,679.451999964,658.451999964,634,878.548000036,785,807,651.451999964,630,652.451999964,0.401099914259,-0.0153733511816,0.0798894898398,0.999999945266,0.000268099043233,-0.000189840430184,3.93984955293e-05,1793245455315404544
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.126210019,714,679.126210019,658.126210019,633.873789981,878.873789981,785,807,651,630,652.126210019,0.40116183388,-0.0153765564679,0.0799082439153,0.999999951561,0.000267323412708,-0.000154285483056,4.01610295989e-05,1793245455332071424
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.716088553,714,679.716088553,658.716088553,633.283911447,878.283911447,785,807,651,630,652.716088553,0.401237911683,-0.0153791875386,0.0799236903817,0.999999955259,0.000266531507875,-0.000129847361653,3.97765834562e-05,1793245455348738048
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.699884414,714,680,659,633.300115586,878,785,807,651,630,653,0.401319964525,-0.015382500189,0.0799357028351,0.999999958124,0.000264543313801,-0.000110767388978,3.87138048387e-05,1793245455365404672
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.121287111,714,680,659,633.878712889,878,785,807,651,630,653,0.401407561691,-0.015386445287,0.0799445288159,0.999999960466,0.000261445065258,-9.66593237055e-05,3.70215914609e-05,1793245455382071552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.544177522,651,630,653,0.401506530528,-0.0153893476049,0.0799462740966,0.999999961142,0.00026057684389,-9.30709810731e-05,3.39739476656e-05,1793245455398738432
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.03240122,651,630,653,0.401609989824,-0.0153920562945,0.0799462576215,0.999999961446,0.000260197759577,-9.20447233434e-05,3.05372882515e-05,1793245455415404800
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,806.606700899,651,630,653,0.401738109318,-0.0153961520606,0.0799481841567,0.999999962534,0.000258107622473,-8.72062551739e-05,2.66067424858e-05,1793245455432071424
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679.814063475,658.814063475,634,878.185936525,785,807,651,629.814063475,653,0.401878652974,-0.0154009908208,0.0799515717773,0.999999964205,0.00025424766407,-8.02812017308e-05,2.24171797305e-05,1793245455448738048
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744,714,679.224102526,658.224102526,634,878.775897474,785,807,651,629.224102526,653,0.402046193272,-0.0154074440437,0.0799581342134,0.999999967084,0.000246542033165,-6.88221746976e-05,1.76647953634e-05,1793245455465404416
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.358460019,633.641539981,878.283079962,785,807,651.358460019,629.358460019,652.641539981,0.402221155983,-0.0154136542774,0.0799582275381,0.99999996927,0.000237846480203,-6.89113323321e-05,1.18616501993e-05,1793245455482071296
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658.93649081,633.06350919,877.127018379,785,807,651.93649081,629.93649081,652.06350919,0.40240066523,-0.0154197156711,0.0799543582797,0.999999970975,0.000228544560533,-7.6074203316e-05,5.41487251848e-06,1793245455498737920
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.488854577,633.511145423,877.511145423,785,807,651.488854577,629.488854577,652.511145423,0.402608577096,-0.0154295907831,0.0799502655963,0.999999974075,0.000211053971727,-8.54541257282e-05,-2.06107630628e-06,1793245455515405056
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679.085062241,658,634,878,785,807,651,629.085062241,652.914937759,0.402826422254,-0.0154394111587,0.0799464650753,0.999999978905,0.000182584951285,-9.35810363559e-05,-9.74843957178e-06,1793245455532071936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679.657141085,658,634,878,785,807,651,629.657141085,652.342858915,0.403081067357,-0.0154462229656,0.0799444952001,0.999999990809,9.70468462645e-05,-9.29671310625e-05,-1.7918917918e-05,1793245455548738304
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658.239099557,634,878,785,807,651,629.760900443,652.239099557,0.40336049477,-0.0154543729347,0.0799450645348,0.999999994688,4.37775972604e-05,-8.97033792474e-05,-2.57124035176e-05,1793245455565404672
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,680,658.835835585,634,878,785,807,651,629.164164415,652.835835585,0.403676990653,-0.0154645244781,0.079949431928,0.999999995305,3.87749421184e-05,-8.2476083672e-05,-3.29419966756e-05,1793245455582071040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,807.418679124,651.418679124,629.418679124,652.581320876,0.404019037537,-0.0154746286024,0.0799550283036,0.999999995499,5.65527292393e-05,-7.17599914052e-05,-2.55970925061e-05,1793245455598737664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785,807.996250338,651.996250338,629.996250338,652.003749662,0.404370781224,-0.0154847147307,0.0799610910877,0.999999994693,8.29758772405e-05,-5.97198728762e-05,-1.27210493509e-05,1793245455615404544
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,714,679.430487687,659,633.430487687,878.569512313,785,807.430487687,651.430487687,630,652.569512313,0.404760240702,-0.0154868380624,0.0799587388532,0.999999996097,6.29188458349e-05,-5.85330166962e-05,-2.05069197534e-05,1793245455632070912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679.146914967,659,633.146914967,878.853085033,785,807,651,630,652.853085033,0.405155434252,-0.0154913608175,0.0799551916428,0.999999996843,4.37298031558e-05,-6.05105623826e-05,-2.72214711949e-05,1793245455648737536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679.73688972,659,633.73688972,878.26311028,785,807,651,630,652.26311028,0.405567177045,-0.015503276569,0.0799482065081,0.999999996568,2.80743728899e-05,-7.18172934186e-05,-3.029800808e-05,1793245455665404672
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.679035657,878,785,807,651,629.679035657,652.320964343,0.406017076906,-0.0155011594974,0.0799412819869,0.999999995485,3.15070541371e-05,-8.40623708063e-05,-3.11657660539e-05,1793245455682071808
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.099710293,878,785,807,651,629.099710293,652.900289707,0.406497691436,-0.0154877466724,0.0799344062558,0.999999993566,5.03047549835e-05,-9.70627735558e-05,-3.02555624551e-05,1793245455698738432
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.47676012,878,785,807,651.47676012,629.47676012,653,0.406997479351,-0.0154768716925,0.0799331501788,0.999999992307,6.41025272135e-05,-0.000101135530729,-3.23723260006e-05,1793245455715404800
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.052146027,807,652,630,653,0.407503222271,-0.0154684655396,0.0799317994013,0.999999991111,7.36073978094e-05,-0.000105493379031,-3.5084311122e-05,1793245455732071424
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.622651773,807,652,630,653,0.408028537711,-0.0154793561373,0.0799178936513,0.999999989411,5.07713828309e-05,-0.000131135093872,-3.74575811601e-05,1793245455748738304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.798495715,807,651.798495715,629.798495715,652.798495715,0.408584739594,-0.0154888176341,0.0799137633524,0.999999988917,3.37213362152e-05,-0.000139683413963,-3.89650253737e-05,1793245455765405184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,785.203337183,807,651.203337183,629.203337183,652.203337183,0.409201280508,-0.0154954872707,0.0799287301562,0.999999992263,2.79746289836e-05,-0.000114838460364,-3.87810116018e-05,1793245455782071808
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.618686562,878.381313438,785,807,651,629,652.381313438,0.409878590215,-0.0154997322,0.0799583616245,0.999999996839,2.50582792872e-05,-6.5301391164e-05,-3.78251328952e-05,1793245455798738432
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,633.039489081,878.960510919,785,807,651,629,652.960510919,0.410587436098,-0.0155027188181,0.0799956033752,0.999999999052,2.36107543876e-05,-2.95025623186e-06,-3.64686918683e-05,1793245455815405312
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.534833584,744.534833584,714,679.465166416,659,633.534833584,878.465166416,785,807.534833584,651,629.534833584,653,0.411245564001,-0.0154956797914,0.0799898562623,0.999999998709,2.78185545667e-05,-1.84675211606e-05,-3.82960929244e-05,1793245455832071936
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.888513164,744.888513164,714,679.111486836,659.111486836,634,878.111486836,785.111486836,807.888513164,651,630,652.888513164,0.411901129063,-0.0154895778258,0.0799754588978,0.999999997677,3.0390414089e-05,-4.52286231844e-05,-4.09498221095e-05,1793245455848738560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.300370826,744.300370826,714,679.699629174,659.699629174,634,878.699629174,785.699629174,807.300370826,651,630,652.300370826,0.412561602428,-0.0154906184663,0.0799375257981,0.999999994063,2.41987863721e-05,-9.57030554993e-05,-4.61404892292e-05,1793245455865404672
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.284507877,744.284507877,714,680,660,634,879,785.715492123,807,651,629.715492123,652,0.413274552078,-0.0154925925099,0.0799163555968,0.999999991563,1.78981763684e-05,-0.000118611900036,-4.98526891104e-05,1793245455882071296
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.865980127,744.865980127,714,680,660,634,879,785.134019873,807,651,629.134019873,652,0.414042275643,-0.0154955408234,0.0799126822126,0.999999992225,1.14838118365e-05,-0.000112748269954,-5.20216913364e-05,1793245455898737920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.557380753,785,807,651,629.442619247,652,0.414855194774,-0.0154998420779,0.079936186585,0.99999999603,6.95612248065e-06,-7.33294554764e-05,-5.01341508222e-05,1793245455915404288
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.98223565,714,680,660.01776435,633.98223565,878.01776435,785,807.01776435,651,630,652.01776435,0.415679894815,-0.0155043378653,0.0799663979359,0.999999998531,3.25618224011e-06,-2.65169777052e-05,-4.71534598262e-05,1793245455932070912
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.408541776,714,680,660.591458224,633.408541776,878.591458224,785,807.591458224,651,630,652.591458224,0.416449644328,-0.0155022399743,0.0799517566154,0.999999996844,7.77598865182e-06,-6.28451480828e-05,-4.79861960868e-05,1793245455948737792
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.170767088,714,679.829232912,660.829232912,633,879,785,808,651,630,653,0.417247785025,-0.0155001354104,0.0799466235108,0.999999995971,1.15905133462e-05,-7.44316369084e-05,-4.88220732242e-05,1793245455965404672
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.763965891,714,679.236034109,660.236034109,633,879,785,808,651,630,653,0.418116157805,-0.0154980143393,0.0799650111688,0.999999998365,1.3660361048e-05,-2.48138772175e-05,-4.9665720053e-05,1793245455982071552
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.65287341,744.65287341,714,679.694253181,660.34712659,633.34712659,879,785,808,651,629.65287341,653,0.418991102329,-0.0154995409481,0.079977411222,0.999999998653,7.96277457875e-06,4.24471098779e-06,-5.11046113397e-05,1793245455998737920
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.076346464,744.076346464,714,680.847307072,660.923653536,633.923653536,879,785,808,651,629.076346464,653,0.419870389788,-0.0155034781446,0.0799858543358,0.9999999984,-2.86795994827e-06,1.97166651998e-05,-5.29368729327e-05,1793245456015404288
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744,714,680.499552457,660.499552457,634,879,785.500447543,808,651,629.500447543,653,0.420755066909,-0.0155067696339,0.0799716022649,0.999999998492,-6.51849142205e-06,-5.89652899209e-06,-5.42051684703e-05,1793245456032071168
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.07874076,744.07874076,714,680,660,634,879,785.92125924,808,651,630,653,0.421643728461,-0.0155095980503,0.0799600253161,0.999999998084,-8.1869001838e-06,-2.76437377454e-05,-5.47805282316e-05,1793245456048737792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.666461106,744.666461106,714,680,660,634,879,785.333538894,808,651,630,653,0.422552827248,-0.015510070254,0.0799881325353,0.999999998539,-4.12722847533e-06,1.61354092192e-05,-5.14331937971e-05,1793245456065404416
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.749481751,744.749481751,714,680.250518249,660.250518249,633.749481751,879,785,808,651,630,653,0.423453177997,-0.0155101152179,0.0800031615965,0.999999998195,1.7094649206e-06,3.40025595324e-05,-4.94994711117e-05,1793245456082071040
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.170231408,744.170231408,714,680.829768592,660.829768592,633.170231408,879,785,808,651,630,653,0.424342049625,-0.0155095995544,0.0800010293958,0.99999999857,9.87798124493e-06,1.78677823107e-05,-4.94207009355e-05,1793245456098737920
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.40662774,744,714,681,661,633.40662774,879,785,808,651,630,653,0.425220714466,-0.0155093321368,0.079963667154,0.99999999737,9.17082416571e-06,-4.79994586605e-05,-5.35863579475e-05,1793245456115404544
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.982491652,744,714,681,661,633.982491652,879,785,808,651,630,653,0.426095131245,-0.0155091680379,0.0799116423679,0.999999989164,4.76966133698e-06,-0.00013456506923,-5.95185212767e-05,1793245456132070912
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.443120088,744.556879912,714,681,661,634,879,785,808.556879912,651,630,653,0.427049099621,-0.0155118668893,0.0799057837677,0.999999990334,-3.97917673378e-06,-0.000124887276717,-6.09783835465e-05,1793245456148738304
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.135037012,745,714,681.135037012,661,633.864962988,879.135037012,785.135037012,808.864962988,651,630,653,0.427993991736,-0.0155139164409,0.0799056313333,0.999999991577,-1.03445122809e-05,-0.000113831673188,-6.14846865522e-05,1793245456165405440
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.726077241,745,714,681.726077241,661,633.273922759,879.726077241,785.726077241,808.273922759,651,630,653,0.428899810782,-0.0155134702334,0.0799198594374,0.999999992345,-8.20068587471e-06,-0.000108314457819,-5.92445042195e-05,1793245456182071808
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.68919259,744.68919259,714,682,661,633,879.68919259,786,808,651,630,653,0.429846105135,-0.015517378995,0.0799541234771,0.999999996237,-9.16309630202e-06,-6.52229410369e-05,-5.64598691427e-05,1793245456198738432
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.109913014,744.109913014,714,682,661,633,879.109913014,786,808,651,630,653,0.430827361584,-0.015525049533,0.0800056943459,0.999999998449,-1.28086414416e-05,1.03248613475e-05,-5.32049413903e-05,1793245456215405824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.465484246,744.465484246,714,682,660.534515754,633.465484246,879.465484246,785.534515754,808,651,630,653,0.431756132869,-0.0155265132596,0.0800250733762,0.99999999775,-1.29092478766e-05,4.0038307937e-05,-5.22471548182e-05,1793245456232071936
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.959140739,745,714,682,660.040859261,633.959140739,879.959140739,785,808,651,630,653,0.432666346626,-0.0155260630164,0.080030841289,0.999999997302,-1.26808072366e-05,4.99521189357e-05,-5.23503833264e-05,1793245456248738048
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.371906715,745,714,682,660.628093285,633.371906715,879.371906715,785,808,651,630,653,0.433492757539,-0.0155194548922,0.0799554049391,0.999999996166,-1.9152895562e-05,-6.13718847168e-05,-5.94483840948e-05,1793245456265404416
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,744.787442022,714,682,661,633,879.212557978,785,808.212557978,651,630,653,0.434349607293,-0.0155170735303,0.0799096392163,0.999999989665,-2.66760246981e-05,-0.000125947518561,-6.3995216996e-05,1793245456282070784
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,744.207760335,714,682,661,633,879.792239665,785,808.792239665,651,630,653,0.435259030228,-0.015521992503,0.0799151196908,0.999999991269,-3.60144811212e-05,-0.000109780801874,-6.41357521462e-05,1793245456298737152
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.371649911,744.371649911,713.628350089,682,661,633,879.628350089,785.371649911,809,651,630,653,0.43615333136,-0.01552603585,0.0799408896047,0.999999994358,-4.01105309765e-05,-7.66319214134e-05,-6.16607191851e-05,1793245456315404032
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.950908494,744.950908494,713.049091506,682,661,633,879.049091506,785.950908494,809,651,630,653,0.437039185195,-0.0155295900602,0.0799779934739,0.999999996904,-4.12781009535e-05,-3.39965752843e-05,-5.7724594383e-05,1793245456332070656
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.47554963,745,713.52445037,682.52445037,661,633,879.52445037,785.47554963,808.47554963,651,630,653,0.437907756995,-0.0155380192603,0.0799969100799,0.999999997161,-4.83064147467e-05,-2.24140981207e-06,-5.77924217388e-05,1793245456348738048
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,744.899798321,714,682.899798321,660.899798321,633,879.899798321,785,808.100201679,651,630,653,0.438758238775,-0.0155460448513,0.0800048726076,0.999999996623,-5.62349984998e-05,1.20177047438e-05,-5.87159015804e-05,1793245456365405184
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,744.310683738,714,682.310683738,660.310683738,633,879.310683738,785,808.689316262,651,630,653,0.439528262191,-0.0155498985765,0.0799676041053,0.999999994438,-6.59083512494e-05,-5.41757533476e-05,-6.20053551118e-05,1793245456382071296
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,744,713.72626298,682,660,632.72626298,879,785,809,651,630,653,0.440238423804,-0.0155531864786,0.0798924957042,0.999999979746,-7.6502920803e-05,-0.000173228277135,-6.81765065258e-05,1793245456398737664
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744,713.14707981,682,660,632.14707981,879,785,809,651,630,653,0.440881789294,-0.0155558430136,0.079775164111,0.999999931416,-8.81254168954e-05,-0.000351262944458,-7.75631642282e-05,1793245456415404800
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,744,713,682.430534657,660,632,879,785,809,651,630,653,0.441573605381,-0.0155638769963,0.0797153774552,0.999999896679,-0.000101553264599,-0.000435227273503,-8.31003429701e-05,1793245456432071424
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,744,713,683,659.992428159,632,879.007571841,784.992428159,809.007571841,651,630,653,0.442282728174,-0.0155739207016,0.0796764842519,0.999999871727,-0.000115796781451,-0.000485326553318,-8.71516381301e-05,1793245456448737792
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,744,713,683,659.418634326,632,879.581365674,784.418634326,809.581365674,651,630,653,0.443052795458,-0.0155973754788,0.0797352721974,0.999999907451,-0.000145083043345,-0.000397434987299,-7.80719857114e-05,1793245456465404416
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,744.159897438,713,682.840102562,659,632,879.840102562,783.840102562,809.840102562,651,630,653,0.443800255767,-0.0156227934072,0.0797833657026,0.999999928775,-0.000174858575187,-0.000326996381149,-7.03474000912e-05,1793245456482071040
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,744.751212696,713,682.248787304,659,632,879.248787304,783.248787304,809.248787304,651,630,653,0.444486720574,-0.015653508101,0.0798026046492,0.999999930494,-0.000205954211103,-0.000303647435337,-6.6278907357e-05,1793245456498737664
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713.335256899,682.335256899,659,631.664743101,879.335256899,782.664743101,809,651,629.664743101,653,0.445135079576,-0.0156732228665,0.0797999823115,0.999999923289,-0.000227126160046,-0.000312358928107,-6.53276140222e-05,1793245456515404800
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.914019902,682.914019902,659,631.085980098,879.914019902,782.085980098,809,651,629.085980098,653,0.445755761267,-0.0156849480863,0.0797814815338,0.999999909426,-0.000241090266238,-0.000344356781315,-6.66404267094e-05,1793245456532071680
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713.511411142,683,659,631,879.511411142,782.488588858,809.488588858,651,629.488588858,653,0.446336482745,-0.0156828686393,0.0797601369056,0.999999900291,-0.000243305879679,-0.000368073550041,-6.8867624395e-05,1793245456548738304
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.063986482,745,713,683,658.936013518,631,879,782.872027035,809.936013518,651,629.936013518,653,0.446906940257,-0.0156794073874,0.0797388131571,0.999999891487,-0.000244539549397,-0.000390076271887,-7.11860812623e-05,1793245456565405184
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.652167682,745,713,683,658.347832318,631,879,781.695664636,809.347832318,651,629.347832318,653,0.447450430762,-0.0156843580819,0.0797217253932,0.999999880951,-0.000254521890842,-0.000409873844949,-7.29451578324e-05,1793245456582071808
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.763391067,745,713,683,658,630.763391067,879,781,809,651,629,652.763391067,0.447962867828,-0.0156908552689,0.0797011473007,0.999999864425,-0.000266521082223,-0.00044110413742,-7.44517552137e-05,1793245456598738688
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.184362312,745,713,683,658,630.184362312,879,781,809,651,629,652.184362312,0.448430364392,-0.0156995905354,0.0796755180156,0.999999838037,-0.000281439052326,-0.000488879829022,-7.5592965137e-05,1793245456615405568
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,683,658,630,879,781,809,651,629,652.393187793,0.448901055917,-0.015707809539,0.0796663436781,0.999999828467,-0.000293683133341,-0.000500963748678,-7.64941754661e-05,1793245456632072448
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713,683,658,630,879,781,809,651,629,652.970047221,0.449373239961,-0.0157157873789,0.0796648560141,0.999999827405,-0.000304678149664,-0.000496374810198,-7.72832738238e-05,1793245456648739072
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.801460834,683,657,629,879.801460834,776.801460834,809.198539166,651,628,653,0.452405779707,-0.0157644210349,0.0796367997951,0.999999785161,-0.000354082202337,-0.000546926408874,-7.19428402156e-05,1793245456798737920
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745,713.220965768,683,657,629,879.220965768,776.220965768,809.779034232,651,628,653,0.452651688403,-0.0157685575102,0.0796397730937,0.999999789575,-0.000354875536276,-0.000538437487019,-7.07027378252e-05,1793245456815404544
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,745,713,683,657,629,879,776,810,651,628,653,0.452865270231,-0.01577135966,0.0796412640571,0.999999787811,-0.000361962439531,-0.000537019958967,-7.05101002094e-05,1793245456832071424
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,713,683,657,629,879,776,810,651,628,653,0.453058984068,-0.0157733417369,0.0796418439812,0.999999782176,-0.000372917355079,-0.000539948491318,-7.09612317461e-05,1793245456848738304
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,713.511098901,683,657,629,879.511098901,776,810,651,628,653,0.453222574588,-0.0157788243235,0.079639358441,0.9999997742,-0.000385825460157,-0.000545483405302,-7.20139543408e-05,1793245456865404672
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.914285285,776,810,651,628,653,0.453376834122,-0.0157839827347,0.0796356366196,0.999999766041,-0.000397316244332,-0.000551993631696,-7.32126149759e-05,1793245456882071040
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657,629,879.343335034,776,810,651,628,653,0.453499679175,-0.0157848181596,0.0796270947718,0.999999759424,-0.000399395372192,-0.000562172798517,-7.4809887841e-05,1793245456898737664
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,713.761687632,683,657,629,879,775.761687632,809.761687632,651,628.238312368,653,0.453612079751,-0.0157859697677,0.0796180745369,0.99999975133,-0.000400908127362,-0.000575120195031,-7.64776142517e-05,1793245456915404288
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,713.16390467,683,657,629,879,775.16390467,809.16390467,651,628.83609533,653,0.453708725861,-0.0157875983069,0.0796083327032,0.999999740934,-0.000401566565293,-0.000592243191085,-7.82516127531e-05,1793245456932070656
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713.995047722,683,656.004952278,628.004952278,879,775,809.995047722,651,629,653,0.453874617896,-0.0157938743276,0.0796002477542,0.999999733246,-0.000407061874972,-0.000601442238217,-7.79530602018e-05,1793245456965403904
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,713.743358647,683.256641353,657,628.743358647,879,774,809.743358647,651,628,653,0.454038677678,-0.0157941212503,0.0796029846564,0.999999732067,-0.000406663984616,-0.000603972724634,-7.55470431879e-05,1793245457015403776
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,713.099518537,683,657,628.099518537,879.900481463,774,809.099518537,651,628.900481463,653,0.454111043925,-0.0157940732539,0.0796034192996,0.999999734523,-0.000405149603225,-0.000601127678006,-7.3843513373e-05,1793245457048737280
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,713.622637591,683,656.377362409,628,879,774,810,651,628.377362409,653,0.454167328029,-0.0157958459914,0.0796047227616,0.999999735294,-0.000405127202905,-0.000600084918391,-7.19793437808e-05,1793245457098737408
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,683,656,628,879,774,809,651,628.317024919,653,0.454188623922,-0.015793552242,0.0795980554951,0.999999730701,-0.000401462531516,-0.000610339015661,-7.00829084551e-05,1793245457215404288
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763,745,713.44167787,683,656,628.44167787,880,774.55832213,809,651,628,653,0.454189097003,-0.0157910771754,0.0795957579966,0.999999731244,-0.000396047333928,-0.000613021487245,-6.97307315509e-05,1793245457265403904
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763.604632831,745,713.395367169,683.604632831,656,628.395367169,879.395367169,774,809,651,628,653,0.454189702936,-0.0157902627223,0.0795956627476,0.999999730085,-0.000397666130678,-0.000613869493494,-6.96835064787e-05,1793245457298737408
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.188888311,683.811111689,656,628,879.188888311,774,809.188888311,651,628,653,0.454190727608,-0.0157897790775,0.0795958519762,0.999999730335,-0.00039765736093,-0.000613488879004,-6.94965203668e-05,1793245457315404032
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.768139444,683.231860556,656,628,879.768139444,774,809.768139444,651,628,653,0.454190954073,-0.0157909438228,0.0795962460891,0.999999730152,-0.000398598932936,-0.000613173168083,-6.95293179434e-05,1793245457332070656
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.652860205,683,656.347139795,628,880,774,810,650.652860205,628,653,0.454191040317,-0.0157927099908,0.0795963909303,0.999999729202,-0.000400953785239,-0.00061322879081,-6.91516053821e-05,1793245457348737280
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.074027257,683,656.925972743,628,880,774,810,650.074027257,628,653,0.454191032973,-0.0157948775691,0.079596369399,0.999999727733,-0.00040425190984,-0.000613532254516,-6.84999040997e-05,1793245457365403904
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,683,656.498951947,628,879.498951947,774,809.498951947,650.501048053,628.501048053,653,0.454191109916,-0.0157921039369,0.0795956245287,0.999999728348,-0.000401275374025,-0.000614473783057,-6.85907446412e-05,1793245457382070528
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745,713,683,656,628,879,774,809.077399462,651,628.922600538,653,0.454191345392,-0.0157891205824,0.079594889608,0.999999729263,-0.000397807333342,-0.00061522409866,-6.87253257172e-05,1793245457398737408
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+246,4.100000000,HOLD_POSE2,765,745,713,683,656,628,879,774,809,651,628,653,0.454191197888,-0.0157928499353,0.0795932541358,0.999999728728,-0.000397345660259,-0.000616476625264,-6.79482001812e-05,1793245457453641216
+247,4.116666667,HOLD_POSE2,764.424668983,745,713,683.575331017,656,628,879,774,809,651,628,653,0.454190617439,-0.0157896293885,0.0795928069954,0.999999729143,-0.000394180385946,-0.000617779054183,-6.84391901622e-05,1793245457470309120
+248,4.133333333,HOLD_POSE2,763.84931387,744.84931387,713,683.84931387,656,628,879.15068613,773.84931387,809,651,628,653,0.454190743626,-0.0157871464599,0.0795927062962,0.999999729857,-0.000391840213457,-0.000618087432572,-6.86715859786e-05,1793245457486976256
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+250,4.166666667,HOLD_POSE2,763.309536088,744.309536088,713,683,656,628,879.690463912,773,809,651,628,653,0.454193802266,-0.0157878994641,0.0795942253683,0.999999731979,-0.000392080418982,-0.00061458950886,-6.77858342612e-05,1793245457520308480
+251,4.183333333,HOLD_POSE2,763.900232778,744.900232778,713,683,656,628,879.099767222,773,809,651,628,653,0.454193673557,-0.0157904738518,0.0795946574011,0.999999731589,-0.000392579565591,-0.000614937765142,-6.74939995126e-05,1793245457536974848
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+253,4.216666667,HOLD_POSE2,764,745,714,683,656.060283342,627.060283342,879.939716658,773,809.060283342,651,628.060283342,653,0.454190807938,-0.0157886346899,0.0795916891958,0.999999728501,-0.000393453904697,-0.000619343118471,-6.78660603937e-05,1793245457570309120
+254,4.233333333,HOLD_POSE2,764,745,714,683,656.633821771,627.633821771,879.366178229,773,809.633821771,651,628.633821771,653,0.454192411325,-0.0157884141268,0.0795928770892,0.999999729984,-0.000392671455387,-0.000617457276078,-6.77277144658e-05,1793245457586976000
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+256,4.266666667,HOLD_POSE2,764,745,713.217811173,683,656.217811173,628,879,773,809.217811173,651.782188827,628.217811173,653,0.454191228843,-0.0157877138376,0.0795914532794,0.999999728842,-0.000393290058778,-0.000618872093706,-6.80883642616e-05,1793245457620308992
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e376444f118d7a2e1f59e5190879f6cd93f3fd60
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b400fafcc19796f35b5f75014f4db8a028b825b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a599b1267a6542e702c5e83fe3251bef528cf251f04b2eecb22e6756a75e270
+size 25599530
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d84cb43c26f228f7cebe48e0a0d16326bfc265a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+6,0.100000000,BASELINE,763,745,713,679,661,634,878,785,806,653,629,652.473475064,0.400925032376,0.00441593944898,0.0599343197806,0.999999972214,-0.000108486412219,-0.000206400923471,-3.46664024281e-05,1793245461976930048
+7,0.116666667,BASELINE,763,745,713,679,661,634,878,785,806.065943901,653,629,652.934056099,0.400925264357,0.00441617078051,0.0599338864107,0.999999972032,-0.000108448475645,-0.00020727708398,-3.48061597804e-05,1793245461993596672
+8,0.133333333,BASELINE,763,745,713,679,661,634,878,785,806.641586383,653,629,652.358413617,0.400925018796,0.00441716552311,0.0599340847715,0.999999972253,-0.000106906758848,-0.000206987193969,-3.49388590194e-05,1793245462010263296
+9,0.150000000,BASELINE,763.216982406,745,713,679,661,634,878,785,807,653,629,652,0.400925303305,0.00441768995549,0.0599344699415,0.999999972472,-0.000106370359226,-0.000206193770567,-3.50034634737e-05,1793245462026929920
+10,0.166666667,BASELINE,763.79197173,745,713,679,661,634,878,785,807,653,629,652,0.400926462397,0.00441743840637,0.0599351633347,0.999999972687,-0.000107492667988,-0.000204569549708,-3.49557159296e-05,1793245462043596800
+11,0.183333333,BASELINE,764,745,713,679,661,634,878,785,807,653,629,652.37388328,0.40092730957,0.00441708524308,0.0599358531393,0.999999972874,-0.000108539116375,-0.000203098827342,-3.49622440177e-05,1793245462060263424
+12,0.200000000,BASELINE,764,745,713,679,661,634,878,785,807,653,629,652.959719058,0.400927979917,0.00441667447524,0.0599365409097,0.999999973043,-0.000109542560012,-0.000201715122326,-3.49995406763e-05,1793245462076930304
+13,0.216666667,BASELINE,764,745,713,679,661,634,878,785,807,653,629,652.458422353,0.400926841785,0.00441641612165,0.0599356544644,0.999999972742,-0.000109576248448,-0.000203227535055,-3.47391748573e-05,1793245462093596928
+14,0.233333333,BASELINE,763.877965715,745,713,679,661,634,878,785,807,653,629,652.122034285,0.400925752272,0.00441623389134,0.059934818187,0.99999997245,-0.00010935772127,-0.000204820733773,-3.44977918122e-05,1793245462110263552
+15,0.250000000,BASELINE,763.301634763,745,713,679,661,634,878,785,807,653,629,652.698365237,0.400925340844,0.00441629315161,0.059934601366,0.999999972324,-0.000108466823203,-0.000205918634322,-3.44088926998e-05,1793245462126930432
+16,0.266666667,BASELINE,763.273791658,745,713,679.273791658,660.726208342,634,878.273791658,785,807,652.726208342,629,652.726208342,0.400924918866,0.00441706901284,0.0599341227357,0.999999972293,-0.000107087612729,-0.000206770069932,-3.45293094684e-05,1793245462143597056
+17,0.283333333,BASELINE,763.848224807,745,713,679.848224807,660.151775193,634,878.848224807,785,807,652.151775193,629,652.151775193,0.400924485304,0.00441863174967,0.0599333566214,0.999999972364,-0.000105172202736,-0.000207350870543,-3.48795690325e-05,1793245462160263680
+18,0.300000000,BASELINE,764,745,713,679.564859243,660.435140757,634,879,785,807,652.435140757,629.435140757,652,0.400924606006,0.00441884896114,0.0599332073436,0.999999972495,-0.000104853639754,-0.000206914113992,-3.46668566525e-05,1793245462176930304
+19,0.316666667,BASELINE,764,745,713,679.025912365,661,634,878.974087635,784.974087635,806.974087635,652.974087635,629.974087635,652,0.400924956905,0.00441861356482,0.0599333194844,0.999999972655,-0.000105064374407,-0.000206097489009,-3.4281497798e-05,1793245462193597184
+20,0.333333333,BASELINE,764,745,713,679.603341771,661,634,878.396658229,784.396658229,806.396658229,652.396658229,629.396658229,652,0.400925971073,0.0044190287392,0.0599342811647,0.999999972954,-0.000104335949308,-0.000204972954693,-3.45243350695e-05,1793245462210263808
+21,0.350000000,BASELINE,763.819469416,745,713,679.819469416,661,634,877.819469416,784.180530584,806.180530584,652.180530584,629.180530584,652.180530584,0.400926213303,0.00441869739903,0.0599346550462,0.99999997293,-0.000104945223452,-0.00020476605155,-3.4615191779e-05,1793245462226930176
+22,0.366666667,BASELINE,763.242808602,745,713,679.242808602,661,634,877.242808602,784.757191398,806.757191398,652.757191398,629.757191398,652.757191398,0.400924761703,0.00441672801514,0.0599337391468,0.999999972188,-0.000108489751632,-0.000206572665816,-3.43725642699e-05,1793245462243596800
+23,0.383333333,BASELINE,763.341270162,745,713.341270162,679,661,633.658729838,877.682540325,785.341270162,807,653,630,653,0.400924901335,0.00441649837668,0.059933283618,0.999999972063,-0.000109261998067,-0.000206749825381,-3.45037576452e-05,1793245462260263680
+24,0.400000000,BASELINE,763.930744015,745,713.930744015,679,661,633.069255985,878.861488031,785.930744015,807,653,630,653,0.400926198259,0.00441753404417,0.0599331629138,0.999999972392,-0.000108017981405,-0.000205741892751,-3.49068286259e-05,1793245462276930304
+25,0.416666667,BASELINE,763.489168478,745,713.489168478,679,661,633.510831522,878.489168478,785.489168478,807,653,629.489168478,652.489168478,0.400925027448,0.00441794460119,0.0599328039569,0.999999972123,-0.000107543935422,-0.000207338289322,-3.46383220965e-05,1793245462293596672
+26,0.433333333,BASELINE,763.089000017,745,713,679,661,634,878,785,806.910999983,653,629,652,0.400924097122,0.00441831462846,0.0599327041751,0.999999971944,-0.000107061026597,-0.000208489343675,-3.43701665208e-05,1793245462310263296
+27,0.450000000,BASELINE,763.663516901,745,713,679,661,634,878,785,806.336483099,653,629,652,0.400926270892,0.00441891754272,0.0599341912881,0.999999972709,-0.000105970577289,-0.000205319553386,-3.45916586563e-05,1793245462326929920
+28,0.466666667,BASELINE,764,744.761672203,713,679.238327797,661,634,878,785,806.238327797,653,629,652,0.400927241645,0.00441913102193,0.0599348065485,0.999999973141,-0.000104812352824,-0.00020378372312,-3.47202207202e-05,1793245462343596544
+29,0.483333333,BASELINE,764,744.186445726,713,679.813554274,661,634,878,785,806.813554274,653,629,652,0.400926511818,0.00441879399816,0.0599341893632,0.999999973113,-0.000103558321888,-0.000204557648687,-3.47174174046e-05,1793245462360263168
+30,0.500000000,BASELINE,763.598997552,744.401002448,713,679.598997552,660.598997552,633.598997552,878,785,806.598997552,652.598997552,629,652,0.400925986158,0.00441778439787,0.0599338212721,0.999999972901,-0.000104623819997,-0.000205094380801,-3.44709049778e-05,1793245462376929792
+31,0.516666667,BASELINE,763.005688293,744.994311707,713,679.005688293,660.005688293,633.005688293,878,785,806.005688293,652.005688293,629,652,0.400925558409,0.00441645225332,0.0599335726379,0.999999972596,-0.0001068016835,-0.00020551736317,-3.41075181478e-05,1793245462393596416
+32,0.533333333,BASELINE,763.571171113,745,713,679,660,633.571171113,878,785,806,652.571171113,629,652.571171113,0.400927879436,0.00441636067165,0.0599357969765,0.999999973116,-0.000107666551233,-0.000202516441844,-3.4106958429e-05,1793245462410263296
+33,0.550000000,BASELINE,764,745,713,679.147608904,660.147608904,633.852391096,878,785,806.147608904,653,629,652.852391096,0.400929102244,0.00441621357934,0.0599368892171,0.999999973347,-0.000108357578769,-0.000201007455966,-3.40823248471e-05,1793245462426929920
+34,0.566666667,BASELINE,764,745,713,679.723285699,660.723285699,633.276714301,878,785,806.723285699,653,629,652.276714301,0.40092706303,0.00441587067942,0.0599346289339,0.999999972736,-0.000108581326534,-0.00020392122269,-3.39776911739e-05,1793245462443596800
+35,0.583333333,BASELINE,764,745,713.30584548,679.69415452,661,633.30584548,878,785,806.69415452,653,629,652,0.400927198514,0.00441601266774,0.0599341991134,0.999999972656,-0.000108569854198,-0.000204297297154,-3.40913800327e-05,1793245462460263424
+36,0.600000000,BASELINE,764,745,713.894776098,679.105223902,661,633.894776098,878,785,806.105223902,653,629,652,0.40092934686,0.00441660345996,0.0599354635363,0.999999973072,-0.000108340666346,-0.000202324529125,-3.4407144333e-05,1793245462476930048
+37,0.616666667,BASELINE,763.524284943,745,713.524284943,679,661,634,878,785,806,653,629.475715057,652,0.400928226737,0.00441791261634,0.0599345138277,0.999999973091,-0.000106642898835,-0.000203108876531,-3.45388938895e-05,1793245462493596672
+38,0.633333333,BASELINE,763,745,713,679,661,634,878,785,806,653,630,652,0.400926628466,0.0044192604704,0.0599332203721,0.999999973016,-0.00010487865085,-0.000204374687301,-3.46295770943e-05,1793245462510263296
+39,0.650000000,BASELINE,763,745,713,679,661,634,878,785,806,653,630,652,0.400927253373,0.00441948584363,0.0599332435373,0.999999972917,-0.000105529721313,-0.00020451097823,-3.47103655812e-05,1793245462526930176
+40,0.666666667,BASELINE,763.203469267,745,713,679.203469267,661,634,878,785,806.203469267,653,629.796530733,652.203469267,0.40092702875,0.00441929968936,0.0599330719056,0.999999972761,-0.000105970510296,-0.000205045049208,-3.47045298267e-05,1793245462543596800
+41,0.683333333,BASELINE,763.778942286,745,713,679.778942286,661,634,878,785,806.778942286,653,629.221057714,652.778942286,0.400925250928,0.00441836113751,0.0599325441258,0.999999972501,-0.000106026840691,-0.000206306383185,-3.45403185873e-05,1793245462560263424
+42,0.700000000,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.635580685,0.400924422301,0.00441835287458,0.0599320599968,0.999999972292,-0.000106025857631,-0.000207330160665,-3.44730142388e-05,1793245462576930304
+43,0.716666667,BASELINE,764,745,713,680,661,634,878,785,807,653,629,652.043863927,0.40092418571,0.00441892485616,0.059931603094,0.999999972114,-0.000105989126733,-0.00020820576817,-3.44661531489e-05,1793245462593596928
+44,0.733333333,BASELINE,764,745,713,679.466220468,661,634,878,785,806.466220468,653,629,652,0.400925998315,0.00441789787171,0.0599328459655,0.999999972407,-0.000107669899765,-0.000205967033802,-3.42261754333e-05,1793245462610263808
+45,0.750000000,BASELINE,764,745,713,679.109918586,661,634,878,785.109918586,806.109918586,653,629,652.109918586,0.400927545043,0.0044172031223,0.0599338581378,0.999999972689,-0.000108663959074,-0.000204100114469,-3.40211354878e-05,1793245462626930176
+46,0.766666667,BASELINE,764,745,713,679.684461276,661,634,878,785.684461276,806.684461276,653,629,652.684461276,0.400927274395,0.00441845387005,0.0599333198871,0.999999972801,-0.000106174027977,-0.000204858851707,-3.40426716383e-05,1793245462643596800
+47,0.783333333,BASELINE,764,745,713,679.740721512,661,634,878,785.740721512,806.740721512,653,629,652.740721512,0.400926706337,0.00441903618601,0.0599328963434,0.999999972794,-0.000104607896239,-0.000205681157955,-3.41246919047e-05,1793245462660263680
+48,0.800000000,BASELINE,764,745,713,679.165569778,661,634,878,785.165569778,806.165569778,653,629,652.165569778,0.400925775951,0.00441880416646,0.0599326125444,0.999999972649,-0.000104167208483,-0.000206580909023,-3.4280398634e-05,1793245462676930560
+49,0.816666667,BASELINE,763.5763472,745,713,679,661,634,878,785,806.4236528,653,629,652.4236528,0.400926754262,0.00441869995851,0.0599331868485,0.999999972771,-0.000105284115336,-0.000205409801652,-3.43487943491e-05,1793245462693597184
+50,0.833333333,BASELINE,763.017963735,745,713,679,661,634,878,785,806.982036265,653,629.017963735,652.982036265,0.400928424522,0.0044186711116,0.0599340816858,0.999999972994,-0.000106894330851,-0.000203481087022,-3.43737673079e-05,1793245462710263296
+51,0.850000000,BASELINE,763.593658048,745,713,679,661,634,878,785,806.406341952,653,629.593658048,652.406341952,0.400927622614,0.00441937791711,0.059934158507,0.999999973168,-0.000104271684107,-0.000204021223246,-3.41463832845e-05,1793245462726929920
+52,0.866666667,BASELINE,764,745,713,679.168992458,661,634,878,785,806,653,629.831007542,652.168992458,0.400926951352,0.00441985093451,0.0599341275526,0.999999973223,-0.000102856032267,-0.000204496459087,-3.40049224083e-05,1793245462743596800
+53,0.883333333,BASELINE,764,745,713,679.743463286,661,634,878,785,806,653,629.256536714,652.743463286,0.400926593559,0.00441976300361,0.0599338380025,0.999999973002,-0.000104336428919,-0.00020481597374,-3.40696244608e-05,1793245462760263424
+54,0.900000000,BASELINE,764,745,713,680,661,634,878,785,806,653,629.317482222,652.682517778,0.400927306571,0.0044182011006,0.0599340983177,0.999999972822,-0.000107419492666,-0.000204086274048,-3.41422108162e-05,1793245462776930048
+55,0.916666667,BASELINE,764,745,713,680,661,634,878,785,806,653,629.891136505,652.108863495,0.400928883599,0.00441544986967,0.0599348023115,0.99999997266,-0.000111795726491,-0.000202509977636,-3.4221158904e-05,1793245462793596672
+56,0.933333333,BASELINE,764,745,713,680,661,634,878,785,806.482660839,652.517339161,630,652,0.40092733461,0.004416604985,0.0599335287862,0.999999972519,-0.000109082101628,-0.00020466297712,-3.4295043601e-05,1793245462810263296
+57,0.950000000,BASELINE,764.075793449,745,713.075793449,679.924206551,661.075793449,634,878,785,807,652.075793449,629.924206551,652.075793449,0.400925440153,0.00441843826092,0.0599321311376,0.999999972409,-0.000105428934353,-0.000207095270937,-3.43343835035e-05,1793245462826930176
+58,0.966666667,BASELINE,764.651912848,745,713.651912848,679.348087152,661.651912848,634,878,785,807,652.651912848,629.348087152,652.651912848,0.40092609844,0.00441870847291,0.0599329716327,0.999999972605,-0.000106535529903,-0.000205605256739,-3.41535157437e-05,1793245462843596800
+59,0.983333333,BASELINE,764.545711228,745,713.772855614,679,661.772855614,634,878,785,806.772855614,652.772855614,629,653,0.400926400389,0.00441896115558,0.0599334160968,0.99999997269,-0.000106971398583,-0.000204967997978,-3.41490144867e-05,1793245462860263424
+60,1.000000000,BASELINE,763.397958589,745,713.198979294,679,661.198979294,634,878,785,806.198979294,652.198979294,629,653,0.400926158394,0.00441918708008,0.0599332560267,0.999999972607,-0.000106383414594,-0.000205632455255,-3.44137335851e-05,1793245462876930048
+61,1.016666667,BASELINE,763,745.386253811,713,679.386253811,661,634,878,785,806,652.386253811,629,652.613746189,0.400925236557,0.00441948538298,0.0599324795448,0.999999972375,-0.000105900530748,-0.000206993612161,-3.44828953502e-05,1793245462893596672
+62,1.033333333,BASELINE,763,745.977514577,713,679.977514577,661,634,878,785,806,652.977514577,629,652.022485423,0.400923953888,0.00441982210121,0.0599313758979,0.999999972061,-0.000105473429585,-0.000208724547305,-3.4448263655e-05,1793245462910263552
+63,1.050000000,BASELINE,763.556808065,745.443191935,713,679.443191935,661,634,878,785,806.556808065,653,629,652,0.400927440968,0.00441943041113,0.0599337271034,0.999999972819,-0.000106510104902,-0.000204541356544,-3.43433957021e-05,1793245462926930176
+64,1.066666667,BASELINE,763.865553967,745,713,679,661,634,878,785,807,653,629,652.134446033,0.400929807074,0.0044190882332,0.059935148141,0.999999973331,-0.00010692944727,-0.000201819138037,-3.42627267459e-05,1793245462943596544
+65,1.083333333,BASELINE,763.291779803,745,713,679,661,634,878,785,807,653,629,652.708220197,0.400927894017,0.00441900194276,0.0599330833725,0.999999972948,-0.000105142442808,-0.000204634923495,-3.42702058938e-05,1793245462960263424
+66,1.100000000,BASELINE,763,745,713,679,660.710275184,633.710275184,878,785,806.710275184,653,629,652.710275184,0.400926992828,0.00441900169482,0.0599324227167,0.999999972801,-0.000104516026743,-0.000205660920985,-3.43268559552e-05,1793245462976930048
+67,1.116666667,BASELINE,763,745,713,679,660.120771891,633.120771891,878,785,806.120771891,653,629,652.120771891,0.400927138621,0.00441909047514,0.0599332148974,0.999999972906,-0.000105090472442,-0.000204835023399,-3.4434383196e-05,1793245462993596672
+68,1.133333333,BASELINE,763,744.537682142,713,679.462317858,660.462317858,633.462317858,878,785,806,653,629,652,0.400926201598,0.00441932560241,0.0599331121395,0.999999972795,-0.000104883189452,-0.000205521388633,-3.42056133455e-05,1793245463010263296
+69,1.150000000,BASELINE,763.043204933,744.043204933,713,679.956795067,661,634,878,785,806.043204933,653,629.043204933,652.043204933,0.400925121005,0.00441961456346,0.0599327547361,0.999999972646,-0.000104466312269,-0.000206503991329,-3.39360941103e-05,1793245463026929920
+70,1.166666667,BASELINE,763.617330634,744.617330634,713,679.382669366,661,634,878,785,806.617330634,653,629.617330634,652.617330634,0.40092570456,0.00442010169325,0.0599321016945,0.999999972724,-0.000103948960553,-0.000206338761267,-3.42306127146e-05,1793245463043596800
+71,1.183333333,BASELINE,764,745,713,679,661,634,878,785,807,652.807627204,629.807627204,652.807627204,0.400926349551,0.00442009277794,0.0599318340248,0.999999972724,-0.000104239571962,-0.00020615676696,-3.44213420743e-05,1793245463060263424
+72,1.200000000,BASELINE,764,745,713,679,661,634,878,785,807,652.230753181,629.230753181,652.230753181,0.400927117338,0.00441909240263,0.0599323366093,0.999999972569,-0.000106145083202,-0.000205941265426,-3.44046248373e-05,1793245463076930048
+73,1.216666667,BASELINE,763.646938243,745,713,679.353061757,661,634,878,785,806.646938243,652.353061757,629,652.353061757,0.400926356187,0.0044186537472,0.0599321240898,0.999999972372,-0.000106938369746,-0.0002065162436,-3.42242987967e-05,1793245463093596672
+74,1.233333333,BASELINE,763.058495945,745,713,679.941504055,661,634,878,785,806.058495945,652.941504055,629,652.941504055,0.400924575719,0.00441858958136,0.0599314348221,0.999999972148,-0.000106990154025,-0.000207618221776,-3.39348974236e-05,1793245463110263552
+75,1.250000000,BASELINE,763.517328614,745,713,680,661,634,878,785,806.517328614,653,629,652.482671386,0.400925838467,0.00441847609668,0.0599322997981,0.999999972519,-0.0001059600136,-0.000206379818109,-3.38058316696e-05,1793245463126930176
+76,1.266666667,BASELINE,764,745,713,680,661,633.907093079,878,785,806.907093079,653,629.092906921,652,0.400927164639,0.00441842400224,0.0599331643709,0.999999972881,-0.000104978506572,-0.000205135989864,-3.37152700229e-05,1793245463143597056
+77,1.283333333,BASELINE,764,745,713,680,661,633.325484019,878,785,806.325484019,653,629.674515981,652,0.400927057476,0.00441872346357,0.0599331244015,0.999999972873,-0.000104881001655,-0.00020522249404,-3.37341512005e-05,1793245463160263680
+78,1.300000000,BASELINE,764,745,713.252703915,679.747296085,661,633.252703915,878,785,806,653,629.747296085,652,0.400926685322,0.00441932800584,0.0599329711414,0.999999972856,-0.000104531159139,-0.000205469662519,-3.38263701974e-05,1793245463176930304
+79,1.316666667,BASELINE,764,745,713.826544234,679.173455766,661,633.826544234,878,785,806,653,629.173455766,652,0.400925976419,0.00442032024525,0.0599326739114,0.999999972826,-0.000103860645742,-0.000205921003357,-3.4011786971e-05,1793245463193596928
+80,1.333333333,BASELINE,763.587163722,745,713.587163722,679.412836278,661,634,878,785,806.412836278,653,629,652,0.400926091446,0.00442023260244,0.059932732323,0.999999972868,-0.000103287439441,-0.000206008527099,-3.39904057e-05,1793245463210263552
+81,1.350000000,BASELINE,763.004439071,745,713,679.995560929,661,634,878,785,807,653,629,652,0.400926561291,0.00441967735329,0.059932938927,0.99999997294,-0.000102763773711,-0.000205939242947,-3.38791278653e-05,1793245463226930176
+82,1.366666667,BASELINE,763.585178925,745,713,679.414821075,661,634,878,785,807,653,629,652,0.400926755015,0.0044191511135,0.0599323821922,0.999999972893,-0.000103198856759,-0.000205974599439,-3.37280066706e-05,1793245463243596800
+83,1.383333333,BASELINE,763.835849583,745,713,679,661,634,878,785,807,653,629.164150417,652,0.400927042547,0.00441902453628,0.0599321369808,0.999999972926,-0.000103316989437,-0.000205762473308,-3.36912683632e-05,1793245463260263424
+84,1.400000000,BASELINE,763.261299129,745,713,679,661,634,878,785,807,653,629.738700871,652,0.400927564613,0.00441989717376,0.0599326706231,0.999999973158,-0.000102642699956,-0.000204931604453,-3.39405039607e-05,1793245463276930048
+85,1.416666667,BASELINE,763.314750209,745,713,679.314750209,661,634,878,785,806.685249791,653,629.685249791,652,0.400927820806,0.00442100482345,0.0599330930735,0.999999973452,-0.000101536537061,-0.000203998088142,-3.42112273477e-05,1793245463293596672
+86,1.433333333,BASELINE,763.892049808,745,713,679.892049808,661,634,878,785,806.107950192,653,629.107950192,652,0.400927855222,0.0044223085089,0.0599334227729,0.999999973798,-0.000100070126302,-0.00020297894834,-3.44998747935e-05,1793245463310263552
+87,1.450000000,BASELINE,764,745,713,679.52181574,661,634,878,785,806,653,629,652,0.40092884304,0.00442120554957,0.0599339189517,0.999999973722,-0.000102656662803,-0.000202099479855,-3.42642375395e-05,1793245463326929920
+88,1.466666667,BASELINE,764,745,713,679.065163073,661,634,878,785,806.065163073,653,629,652,0.400929795439,0.00441975878212,0.0599343419438,0.999999973545,-0.000105559188136,-0.000201530891703,-3.39519970175e-05,1793245463343596544
+89,1.483333333,BASELINE,764,745,713,679.642801633,661,634,878,785,806.642801633,653,629,652,0.400928744735,0.00441996135354,0.059933888226,0.999999973418,-0.000103615701976,-0.000203154582079,-3.39856534167e-05,1793245463360263424
+90,1.500000000,BASELINE,764,745,713,679.780491803,661,634,878,785,806.780491803,653,629,652,0.400927834216,0.00441998755978,0.0599333217621,0.999999973154,-0.000103604824746,-0.000204446117878,-3.40513397932e-05,1793245463376930048
+91,1.516666667,BASELINE,764,745,713,679.205295487,661,634,878,785,806.205295487,653,629,652,0.400927150852,0.00441972798626,0.0599325726063,0.999999972668,-0.000106725521126,-0.000205199434731,-3.41689271092e-05,1793245463393596672
+92,1.533333333,BASELINE,763.620945981,745,713,679,661,634,878,785,806.379054019,653,629,652,0.400927168503,0.00441975442764,0.0599324894816,0.999999972812,-0.000106376701886,-0.000204686136771,-3.41139357793e-05,1793245463410263552
+93,1.550000000,BASELINE,763.031516387,745,713,679,661,634,878,785,806.968483613,653,629,652,0.400927575218,0.0044199396077,0.0599327760052,0.999999973305,-0.000104102296319,-0.00020346986567,-3.39631630407e-05,1793245463426930176
+94,1.566666667,BASELINE,763.548386089,745,713,679.548386089,661.548386089,634,878,785,806.451613911,653,629.548386089,652,0.400925736662,0.0044186872174,0.0599319476663,0.999999972559,-0.000106158273466,-0.000206079251515,-3.38142332903e-05,1793245463443596544
+95,1.583333333,BASELINE,764,745,713.126766213,680,661.873233787,634,878.126766213,785,806.126766213,653,629.873233787,652,0.400924596237,0.00441793915878,0.0599314269862,0.99999997206,-0.000107280730919,-0.000207935129076,-3.36821320328e-05,1793245463460263680
+96,1.600000000,BASELINE,764,745,713.701667336,680,661.298332664,634,878.701667336,785,806.701667336,653,629.298332664,652,0.40092637217,0.00441926105811,0.0599322165553,0.999999972709,-0.000104238305071,-0.000206363280067,-3.3609153586e-05,1793245463476930304
+97,1.616666667,BASELINE,764,745,713.717550295,679.717550295,661,634,879,785,807,653,629.282449705,652,0.4009275354,0.00441945001407,0.059932740521,0.999999972929,-0.000104689292341,-0.000205051447658,-3.37103740411e-05,1793245463493596928
+98,1.633333333,BASELINE,764,745,713.130423899,679.130423899,661,634,879,785,807,653,629.869576101,652,0.40092803771,0.00441841687117,0.059932977982,0.999999972679,-0.000108908602186,-0.000204020093588,-3.39995017419e-05,1793245463510263552
+99,1.650000000,BASELINE,764,745,713,679,661,634,878.54949646,785,806.54949646,653,629.54949646,652.45050354,0.400927243331,0.00441800072168,0.0599330920308,0.99999997257,-0.000108948874814,-0.00020458369655,-3.36882349943e-05,1793245463526930176
+100,1.666666667,BASELINE,764,745,713.029675969,679,661,634,878.029675969,785,806.029675969,653,629,653,0.400926132111,0.0044178132781,0.0599331019686,0.999999972499,-0.000107848976691,-0.000205581323785,-3.32574503669e-05,1793245463543596800
+101,1.683333333,BASELINE,764,745,713.609131473,679,661,634,878.609131473,785,806.609131473,653,629,653,0.400926011361,0.00441859857537,0.0599318360643,0.99999997237,-0.000107735920505,-0.000206181393256,-3.37889325189e-05,1793245463560263424
+102,1.700000000,BASELINE,764,745,714,679,661.186651208,634,879,785.186651208,806.813348792,653,629.186651208,653,0.400926396429,0.00441927320148,0.059931417833,0.9999999725,-0.000106691568739,-0.00020605632251,-3.40386182758e-05,1793245463576930048
+103,1.716666667,BASELINE,764,745,714,679,661.760158766,634,879,785.760158766,806.239841234,653,629.760158766,653,0.400927829863,0.00441971844868,0.0599327565027,0.999999973158,-0.000103716998523,-0.000204428314201,-3.3704248145e-05,1793245463593596928
+104,1.733333333,BASELINE,764,745,713.657418304,679.342581696,661.657418304,634,879,786,806.342581696,653,630,652.657418304,0.400927379346,0.00441968284723,0.0599327981153,0.999999973025,-0.000104305613558,-0.000204779210593,-3.37136256622e-05,1793245463610263552
+105,1.750000000,BASELINE,764,745,713.068586893,679.931413107,661.068586893,634,879,786,806.931413107,653,630,652.068586893,0.400925574635,0.00441930160903,0.0599319073958,0.999999972318,-0.000107455466562,-0.000206552555022,-3.39700909528e-05,1793245463626930176
+106,1.766666667,BASELINE,764,745.511986056,713.511986056,680,661,634,878.488013944,786,807,653,629.488013944,652,0.400925715766,0.00441926216231,0.0599324979991,0.999999972542,-0.000105959542784,-0.000206230135095,-3.40165317085e-05,1793245463643596800
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,679,661,634,878,785,806,653,629,652,0.400930197247,0.00442001895425,0.0599339562622,0.999999974149,-0.000100783875617,-0.000201008764437,-3.37609117569e-05,1793245463686524928
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.416168644,713.416168644,679.583831356,661,634,878,785.583831356,806.583831356,653,629,652,0.400928961881,0.00441980818096,0.0599330617797,0.999999973539,-0.000103382113286,-0.000202675103863,-3.40145256612e-05,1793245463703191552
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.833142821,745,713,680,661,634,877.833142821,785.833142821,807,653,629,652,0.400928359553,0.00441975813198,0.0599327393652,0.999999973196,-0.000105207769303,-0.000203399446899,-3.41637701999e-05,1793245463719857920
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.252116351,745,713,680,661,634,877.252116351,785.252116351,807,653,629,652,0.400929328537,0.00442010702942,0.0599338369256,0.999999973537,-0.000105115740364,-0.000201785587179,-3.40539514053e-05,1793245463736524800
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.327888225,745,713.327888225,680,661,634,877.65577645,785,807,653,629.327888225,652.327888225,0.400929842862,0.00441987608067,0.0599338339305,0.999999973561,-0.000105521646918,-0.000201449219048,-3.40680168275e-05,1793245463753191680
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.907109464,745,713.907109464,680,661,634,878.814218927,785,807,653,629.907109464,652.907109464,0.40093000868,0.00441920066796,0.059932987337,0.999999973345,-0.000106309231191,-0.000202092074385,-3.41770420359e-05,1793245463769858304
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.51838713,745,713.51838713,680,661,634,878.51838713,785,807,653.48161287,629.51838713,652.51838713,0.400933647184,0.00441928423181,0.0599344551616,0.999999973848,-0.000106092080188,-0.000199708339923,-3.41303699569e-05,1793245463786524672
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.056686891,745.056686891,713,680,661.056686891,634,878,785.056686891,806.943313109,653.886626219,629.056686891,652,0.400938772401,0.00441949580947,0.0599365691849,0.999999974593,-0.000105776268264,-0.000196124499982,-3.40680962751e-05,1793245463803191552
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.645578311,745.645578311,713,680,661.645578311,634,878,785.645578311,806.354421689,652.708843378,629.645578311,652,0.400951628297,0.00441954822532,0.05994059976,0.999999976335,-0.000106335899137,-0.000186700844966,-3.41385479003e-05,1793245463819858176
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.769329771,713,680,661.769329771,634,878,785.769329771,806.230670229,652.230670229,629.769329771,652,0.400969962929,0.00441981396839,0.0599451556535,0.999999978493,-0.000106406729522,-0.000174678081037,-3.43471213149e-05,1793245463836524800
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.189981188,713,680,661.189981188,634,878,785.189981188,806.810018812,652.810018812,629.189981188,652,0.400996579152,0.00442040217433,0.0599505056115,0.999999981208,-0.00010573869489,-0.000158726536068,-3.47644779622e-05,1793245463853191424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679.613527136,661,634,878,785,807,653,629,652.386472864,0.401032912403,0.00442103690708,0.059956076016,0.999999984151,-0.00010474731666,-0.000139513063838,-3.55398269626e-05,1793245463869858048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679.038485339,661,634,878,785,807,653,629,652.961514661,0.401073986815,0.00442169434137,0.059961753982,0.999999986922,-0.000103598171617,-0.000118708021369,-3.64898486318e-05,1793245463886524672
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.536443722,679.536443722,661,634,878,785,807,653,629,653,0.401123728155,0.00442093907844,0.0599630701895,0.999999987757,-0.000106355486558,-0.000108521332589,-3.73722998518e-05,1793245463903191552
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.110916089,713.889083911,679.889083911,661,634,878,785,807,653,629,653,0.401177166222,0.00442029949346,0.0599640517156,0.999999988328,-0.000108986463104,-0.000100006874389,-3.82772118153e-05,1793245463919858432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.683521301,713.316478699,679.316478699,661,634,878,785,807,653,629,653,0.401243404346,0.0044205631967,0.0599649423849,0.999999988647,-0.000109925234323,-9.52828464878e-05,-3.92957910773e-05,1793245463936525312
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.267815741,745.732184259,713.267815741,679.267815741,661,634,877.732184259,785,807,653,629,652.732184259,0.401318191462,0.00442051947753,0.0599657647121,0.999999988753,-0.000111562484607,-9.185943615e-05,-4.0114082944e-05,1793245463953191936
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.866553757,745.133446243,713.866553757,679.866553757,661,634,877.133446243,785,807,653,629,652.133446243,0.401403542,0.00442009589669,0.0599665025935,0.999999988613,-0.000114062799419,-9.00431135749e-05,-4.06848928053e-05,1793245463969858560
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.553561929,745,713.553561929,680,661,634,877.892876142,785,807,653,629,652,0.401512435738,0.00442154635425,0.0599692678186,0.999999989184,-0.000113618193275,-8.34618145709e-05,-4.19093974662e-05,1793245463986525184
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.021395509,680,661,634,878.978604491,785,807,653,629,652.021395509,0.401629240782,0.00442341964562,0.0599727407619,0.99999998991,-0.000112469124355,-7.52055746528e-05,-4.32917140398e-05,1793245464003191808
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.609067638,680,661,634,878.390932362,785,807,653,629,652.609067638,0.401776723552,0.00442225868125,0.0599795558,0.999999990693,-0.000115029260413,-5.87884752166e-05,-4.38887914776e-05,1793245464019858432
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.80620205,679.80620205,661,634,878,785,807,653,629.19379795,652.80620205,0.401930436036,0.00442229421036,0.0599831546846,0.999999991203,-0.000115470547566,-4.75185179845e-05,-4.47390352194e-05,1793245464036524800
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.227317353,679.227317353,661,634,878,785,807,653,629.772682647,652.227317353,0.402096527271,0.00442470723525,0.0599803629021,0.999999991619,-0.00011170156994,-4.64762057537e-05,-4.60923337078e-05,1793245464053191424
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.350187964,713,679.350187964,661,634,878,785,807,653,629.649812036,652,0.402282441411,0.00442447284305,0.0599783199691,0.999999991754,-0.0001108827569,-4.45839726972e-05,-4.70132432463e-05,1793245464069859072
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.926801456,713,679.926801456,661,634,878,785,807,653,629.073198544,652,0.402481172717,0.00442252667663,0.0599767612292,0.999999991708,-0.000111971469267,-4.21421953206e-05,-4.76545776454e-05,1793245464086527232
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.498457361,745.498457361,713,679.498457361,661,634,878.501542639,785,806.498457361,653,629,652.501542639,0.402720034098,0.00442417271363,0.0599764059156,0.999999991944,-0.00011125541151,-3.64362730434e-05,-4.90604999304e-05,1793245464103193344
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.078190672,745,713,679,661,634,878.921809328,785,806,653,629,653,0.402970164472,0.004426021657,0.0599767197693,0.999999992202,-0.000110376765291,-2.94189765146e-05,-5.04778616381e-05,1793245464119859200
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.669128692,745,713,679,661,634,878.330871308,785,806,653,629,653,0.403255928722,0.00442577599263,0.0599802743124,0.999999992477,-0.000110152784459,-1.69145306434e-05,-5.12411983491e-05,1793245464136525824
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.255058596,679.255058596,661.255058596,634,878,785,806.255058596,653,629.255058596,653,0.403551677731,0.00442579896665,0.0599797563012,0.999999992591,-0.000109179377204,-1.39787791655e-05,-5.19799134956e-05,1793245464153192192
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.834616864,679.834616864,661.834616864,634,878,785,806.834616864,653,629.834616864,653,0.403860129884,0.00442616371731,0.0599740569608,0.999999992591,-0.000107252508176,-2.32168513513e-05,-5.26873036833e-05,1793245464169858816
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,661.587783717,634,878,785,806.587783717,653,629.587783717,653,0.404188974182,0.00442705910154,0.0599635721203,0.999999992472,-0.0001030482983,-4.05940877945e-05,-5.28135817666e-05,1793245464186525440
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661.010966495,634,878,785,806.010966495,653,629.010966495,653,0.404525961203,0.00442816637158,0.0599511763952,0.999999991941,-9.79347297758e-05,-6.1221351098e-05,-5.27078175518e-05,1793245464203191808
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.440164103,745,713.440164103,679.440164103,661,634,878.559835897,785,806.559835897,653,629,653,0.404896603848,0.00443079340203,0.0599356269803,0.999999990753,-9.06175416648e-05,-8.63381636318e-05,-5.31792840909e-05,1793245464219858432
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.135964917,745,713.135964917,679.135964917,661,634,879,785,807,653,629,652.864035083,0.405288379236,0.00443284142261,0.0599252571495,0.999999989701,-8.42833226858e-05,-0.00010309373215,-5.35386548052e-05,1793245464236525056
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.730450151,745,713.730450151,679.730450151,661,634,879,785,807,653,629,652.269549849,0.40574922174,0.00443283749459,0.0599325607737,0.999999991083,-8.14080381387e-05,-9.13588869179e-05,-5.34822734146e-05,1793245464253191680
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.314717411,714,680,661,634,878.685282589,785,807,653,629.314717411,652.314717411,0.406246300644,0.00443301203149,0.0599537510746,0.999999993846,-7.97505681247e-05,-5.55607081982e-05,-5.34917378912e-05,1793245464269858560
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.890508424,714,680,661,634,878.109491576,785,807,653,629.890508424,652.890508424,0.406773439479,0.00443333461383,0.0599864610589,0.999999995437,-7.91033347749e-05,1.99192848896e-07,-5.35558246293e-05,1793245464286525184
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.533272626,746,714,680,661.466727374,634,878,785.466727374,807,653,630,652.533272626,0.407323296195,0.00443306244147,0.0600127691674,0.999999994622,-7.82450021705e-05,4.19152836363e-05,-5.36332796925e-05,1793245464303192576
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.04400357,745.95599643,714,680,661.95599643,634,878.04400357,785.95599643,807.04400357,653,629.95599643,652.04400357,0.407877333613,0.00443285144182,0.060034633298,0.999999992759,-7.78642019862e-05,7.44233124174e-05,-5.36637480656e-05,1793245464319860480
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.633132807,745.366867193,714,680,661.366867193,634,878.633132807,785.366867193,807.633132807,653,629.366867193,652.633132807,0.408417079527,0.00443512832754,0.0600200667308,0.999999994494,-8.40132365135e-05,3.37115638971e-05,-5.30732490808e-05,1793245464336526848
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.781380413,680,661,634,878.781380413,785,807.781380413,653,629.218619587,652.781380413,0.408976591461,0.0044370056146,0.0600061525554,0.999999994009,-9.57986209054e-05,-1.71373316519e-06,-5.29336343425e-05,1793245464353193216
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.201905931,680,661,634,878.201905931,785,807.201905931,653,629.798094069,652.201905931,0.409568729284,0.00443822332141,0.0599933152227,0.999999991332,-0.000116887400377,-2.84131769546e-05,-5.35382521545e-05,1793245464369859328
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.374695921,713.374695921,680,661.374695921,634,878,785,807,652.625304079,630,652,0.410216130895,0.00443909282617,0.0599946395771,0.999999990796,-0.000122194130083,-2.11536570959e-05,-5.50356769175e-05,1793245464386525696
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.949761607,713.949761607,680,661.949761607,634,878,785,807,652.050238393,630,652,0.410893084963,0.00443977612881,0.0600035369363,0.999999991278,-0.000119061360766,4.26552103541e-06,-5.70105328423e-05,1793245464403192064
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.477031575,714,680,661.477031575,634,878.522968425,785,807,652.522968425,629.477031575,652.522968425,0.411577643519,0.00443954289945,0.0600051899523,0.999999991594,-0.00011568210613,1.12926076687e-05,-5.7462168657e-05,1793245464419859200
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.900464186,680,661,634,879,785,807,652.900464186,629.099535814,653,0.412263577331,0.0044396828064,0.0600012550941,0.999999992238,-0.000110370385816,6.09833562004e-06,-5.74823308345e-05,1793245464436526080
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.306313375,680,661,634,879,785,807,652.306313375,629.693686625,653,0.412952727626,0.00444211287679,0.0599729988076,0.999999992556,-9.55730723218e-05,-5.1077918289e-05,-5.60829594909e-05,1793245464453192704
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.280343953,680,661,634,879,785,807,652.280343953,630,653,0.41366225979,0.00444408825688,0.0599480976409,0.999999989855,-8.56191824658e-05,-9.91860635684e-05,-5.58702738984e-05,1793245464469859072
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.859026872,680,661,634,879,785,807,652.859026872,630,653,0.414393482203,0.00444557976083,0.0599267669525,0.999999985641,-8.08196093604e-05,-0.000137644034059,-5.69204462143e-05,1793245464486525184
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661.434204798,634,879,785,807,653,630,652.565795202,0.415218486695,0.00444584621593,0.0599577323259,0.999999991916,-8.03133071949e-05,-8.00806061878e-05,-5.74821707046e-05,1793245464503191808
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.008262066,714,680,662.008262066,633.991737934,879,785,807.008262066,653,630,652.008262066,0.416073465963,0.0044457231815,0.0600052435321,0.999999995005,-8.11241119181e-05,7.76922880735e-06,-5.78738369167e-05,1793245464519858432
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.582883396,714,680,662.582883396,633.417116604,879,785,807.582883396,653,630,652.582883396,0.416912709557,0.00444594712864,0.0600323853467,0.999999994013,-7.743631909e-05,5.180329934e-05,-5.7391940377e-05,1793245464536525056
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.837025854,714,680,662.837025854,633.162974146,879,785.162974146,808,653,630,653,0.417750907654,0.00444654680207,0.0600451363962,0.999999992922,-7.44518603374e-05,7.29604385114e-05,-5.73591891274e-05,1793245464553191680
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.242450585,714,680,662.242450585,633.757549415,879,785.757549415,808,653,630,653,0.418586336933,0.0044481415038,0.060019776673,0.999999995037,-7.33300274325e-05,3.35330622394e-05,-5.85159004608e-05,1793245464569858560
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.659181079,680,662,634,879,785.659181079,808,653,630,652.659181079,0.419423682633,0.00444819187184,0.0599971294094,0.999999995382,-7.52118144068e-05,-3.86393641943e-06,-5.97042866117e-05,1793245464586525440
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.083696024,680,662,634,879,785.083696024,808,653,630,652.083696024,0.420262347824,0.00444717891029,0.0599763497734,0.999999994217,-7.91617021615e-05,-3.98629451238e-05,-6.09144819527e-05,1793245464603192064
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.491065651,745,713.491065651,680,662,634,879,785,808,653,630,652.491065651,0.421076894488,0.00444816565176,0.0599403864036,0.999999989906,-7.75944204647e-05,-0.000102103833322,-6.1171722684e-05,1793245464619858688
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.067666705,662,633.932333295,879,785,808.067666705,653,630,653,0.421895850231,0.00444955342616,0.0599062581749,0.999999982374,-7.5393641423e-05,-0.00016062766047,-6.13695531607e-05,1793245464636525056
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.659468557,662,633.340531443,879,785,808.659468557,653,630,653,0.422780751528,0.00445141144783,0.0599063604608,0.999999983069,-7.55588493449e-05,-0.000155766636219,-6.23634255008e-05,1793245464653191680
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.754343574,745,714,680.754343574,662.245656426,633.245656426,879.245656426,785,809,653,630,653,0.423719479481,0.00445108015597,0.0599367757071,0.999999989592,-7.78111423032e-05,-0.000104229939314,-6.24225415032e-05,1793245464669858304
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.175763912,745,714,680.175763912,662.824236088,633.824236088,879.824236088,785,809,653,630,653,0.424731155556,0.00444778182072,0.060008272268,0.999999994635,-8.2891934175e-05,1.05634642123e-05,-6.12148385583e-05,1793245464686524928
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.398432453,745,714,680,662.601567547,633.601567547,880,785,809,653,630,652.601567547,0.425674781858,0.00444600881342,0.0600409105017,0.999999992478,-8.53700473407e-05,6.32215030665e-05,-6.13098414281e-05,1793245464703191808
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.970716183,745,714,680,662.029283817,633.029283817,880,785,809,653,630,652.029283817,0.426588715387,0.0044449013651,0.0600565933606,0.99999999038,-8.67125124771e-05,8.87675055096e-05,-6.1973264802e-05,1793245464719858944
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.450597512,745,713.450597512,680,662,633.549402488,880,785,809,652.450597512,630,652.549402488,0.427492119095,0.00444542806797,0.0600335662694,0.999999992079,-8.74869389146e-05,6.40214924499e-05,-6.39552770257e-05,1793245464736525824
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.130991221,713.130991221,680.130991221,662.130991221,634,880,785,809.130991221,652,630,653,0.428383232099,0.00444584778309,0.0600090372388,0.999999993409,-8.75513031818e-05,3.4972735026e-05,-6.55249025738e-05,1793245464753192704
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.721551381,713.721551381,680.721551381,662.721551381,634,880,785,809.721551381,652,630,653,0.429233216726,0.0044455829506,0.0599865629933,0.999999994229,-8.52319657122e-05,3.43836285057e-07,-6.5398227007e-05,1793245464769858816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.694839023,713.694839023,680.694839023,662.389678047,633.694839023,880,785,809.694839023,652,630,653,0.430095096238,0.00444562430272,0.0599594501158,0.999999993322,-8.32042180968e-05,-4.67019712318e-05,-6.52125651103e-05,1793245464786525184
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.117430368,713.117430368,680.117430368,661.234860735,633.117430368,880,785,809.117430368,652,630,653,0.43096758766,0.00444593881574,0.0599281989096,0.999999989079,-8.14366107339e-05,-0.000104825453369,-6.49742787752e-05,1793245464803192320
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.457187856,745,713.457187856,680.457187856,661.457187856,633,880,785,809,652,630,652.542812144,0.431906433216,0.00444303401912,0.0599594930691,0.999999993151,-8.61847977613e-05,-4.44836739218e-05,-6.55115237535e-05,1793245464819858432
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.967992412,745,713.967992412,681,662.032007588,633,880,784.967992412,809,652,630,652.032007588,0.432857416795,0.00443950256347,0.060005143993,0.999999992671,-9.21125353217e-05,4.23520058319e-05,-6.61784195093e-05,1793245464836524800
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.377219347,745,713.377219347,681,662.622780653,633,880,784.377219347,809,652,630,652.622780653,0.433724571241,0.00443937905534,0.0600226749567,0.999999991801,-8.95926578753e-05,6.37272448145e-05,-6.56523114662e-05,1793245464853191680
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.209494426,681,662.371516723,633,880,784.209494426,809,652,630,653,0.43457922041,0.00443843864543,0.0600221800913,0.999999992078,-9.03461350619e-05,5.79479515612e-05,-6.57567884912e-05,1793245464869858560
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.789037996,681,660.632886011,633,880,784.789037996,809,652,630,653,0.43541178051,0.00443605526726,0.0599898445598,0.999999993055,-9.68816370778e-05,4.20313044263e-06,-6.69751253628e-05,1793245464886525440
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.364946086,745,714,681,660.729892172,633,880,785,809,652,630,653,0.436233987078,0.00443441388104,0.0599645766398,0.999999991971,-9.89834762401e-05,-4.16909459034e-05,-6.72396364316e-05,1793245464903192064
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.938773331,745,714,681,661.877546661,633,880,785,809,652,630,653,0.43705026763,0.00443319718272,0.0599433539519,0.99999998945,-9.85476562136e-05,-8.30915534305e-05,-6.69582140601e-05,1793245464919858688
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.487246207,633,880,785,809.512753793,652,630,652.487246207,0.437807573392,0.00443355220443,0.0599263131034,0.999999986048,-9.3846860897e-05,-0.000121671248478,-6.5512848261e-05,1793245464936525056
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.910238753,745,714,681,661,633,880,785,810.089761247,652,630.089761247,652.089761247,0.43856632882,0.00443359837606,0.0599159534272,0.999999982965,-9.04071141153e-05,-0.0001474972076,-6.43488885244e-05,1793245464953191680
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.316332982,745,714,681,661,633,880,785,810.683667018,652,630.683667018,652.683667018,0.439372789736,0.00443085549551,0.059940313189,0.999999987791,-9.69112276196e-05,-0.00010358415969,-6.55462834192e-05,1793245464969858304
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713.730736509,681,661.269263491,633,880,785,810.730736509,652,630.730736509,653,0.440166589716,0.00443146849048,0.0599706402699,0.999999991417,-9.82356488121e-05,-5.59731739075e-05,-6.61983629952e-05,1793245464986524928
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.154609681,681,661.845390319,633,880,785,810.154609681,652,630.154609681,653,0.440945960739,0.00443590597427,0.0600077679422,0.999999993412,-9.36570870784e-05,-4.14787473311e-06,-6.62289795415e-05,1793245465003191808
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+245,4.083333333,HOLD_POSE2,764,745.409385874,713.590614126,682.590614126,652,627,880,783,810,653,630,653,0.452345463098,0.00460037467726,0.0596897391851,0.999999877077,0.000127354731174,-0.000473710009635,-7.22833922169e-05,1793245466001253888
+246,4.100000000,HOLD_POSE2,764,745,713.822342781,682.822342781,652,627,880,783,810,652.822342781,630,653,0.452345526042,0.00460080613453,0.0596897993283,0.999999877018,0.000126893260938,-0.000473974278523,-7.21810719101e-05,1793245466017920768
+247,4.116666667,HOLD_POSE2,764,745,713.243366363,682.243366363,652,627,880,783,810,652.243366363,630,653,0.452345031198,0.00460144801866,0.0596891562419,0.999999877029,0.000125872755867,-0.000474123423309,-7.28405332607e-05,1793245466034587648
+248,4.133333333,HOLD_POSE2,764,745,713,682.332576234,652,627,880,783,810,652.332576234,630,652.667423766,0.452346345815,0.00460198169848,0.0596894711137,0.999999877554,0.000126325704266,-0.000472871773213,-7.2975918203e-05,1793245466051254784
+249,4.150000000,HOLD_POSE2,764,745,713,682.906318834,652,627,880,783,810,652.906318834,630,652.093681166,0.452348972554,0.00460243691434,0.0596904806452,0.999999878448,0.000127847121793,-0.00047060434213,-7.2731271131e-05,1793245466067922432
+250,4.166666667,HOLD_POSE2,764.48197195,745.48197195,713,683,652,627,880,783,810,653,630,652.48197195,0.452347013047,0.00460185436639,0.0596892341091,0.999999877342,0.000127609578273,-0.000472988567598,-7.28966968725e-05,1793245466084588288
+251,4.183333333,HOLD_POSE2,764.940691821,745.940691821,713.059308179,682.940691821,652,627,880,783.059308179,810,653,630,653,0.452344672602,0.00460128829757,0.0596878753913,0.999999876082,0.000126955091629,-0.000475785308355,-7.31213854161e-05,1793245466101254144
+252,4.200000000,HOLD_POSE2,764.351652275,745.351652275,713.648347725,682.351652275,652,627,880,783.648347725,810,653,630,653,0.45234692349,0.0046026782366,0.0596894470013,0.999999877017,0.00012564239763,-0.000474158749209,-7.31606444788e-05,1793245466117920768
+253,4.216666667,HOLD_POSE2,764,745,713.766298542,682,652,627,880.233701458,783.766298542,810,653,630,653,0.452348524111,0.00460278086444,0.059690489157,0.999999877844,0.000125079889517,-0.000472590251666,-7.29819784695e-05,1793245466134587392
+254,4.233333333,HOLD_POSE2,764,745,713.186404816,682,652,627,880.813595184,783.186404816,810,653,630,653,0.452349161462,0.00460097654134,0.0596907470086,0.999999878511,0.000125628664932,-0.00047110776348,-7.24804904454e-05,1793245466151254528
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+256,4.266666667,HOLD_POSE2,764,745,713,682,652.964317195,627,881,783,810,653,630,653,0.452347934604,0.00459930577956,0.0596894479904,0.999999877639,0.00012501258949,-0.000473155892945,-7.2232427063e-05,1793245466184588032
+257,4.283333333,HOLD_POSE2,764,745,713.538793239,682,652.461206761,627,880.461206761,783,810,652.461206761,630,652.461206761,0.452348492911,0.00459961725943,0.0596891531159,0.999999877981,0.00012354468533,-0.000472793684407,-7.23897074901e-05,1793245466201254656
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+259,4.316666667,HOLD_POSE2,764.708787428,745,713.291212572,682,652.708787428,627,880,783,810,652.708787428,630,652.708787428,0.45234903051,0.00460047147793,0.0596897689344,0.999999877793,0.000125879977794,-0.000472671474436,-7.1759333046e-05,1793245466234587648
+260,4.333333333,HOLD_POSE2,765,745.293858189,713.293858189,682,652.706141811,627,880,783.293858189,810,653,630,653,0.452349025641,0.00460039224471,0.0596898801773,0.999999877535,0.000126826392659,-0.000472980899057,-7.164907251e-05,1793245466251254016
+261,4.350000000,HOLD_POSE2,765,745.872169762,713.872169762,682,652.127830238,627,880,783.872169762,810,653,630,653,0.452349004464,0.00459978914025,0.0596894324687,0.99999987745,0.000125804989202,-0.000473373303051,-7.20528669783e-05,1793245466267920640
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,652,627,881,784,810,653,630,653,0.452349122615,0.0046006132155,0.0596901294967,0.999999877359,0.000128827684421,-0.000472838718078,-7.14814707379e-05,1793245466300612864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.423801886,745.576198114,714,682,652,627,881,784,810,653,630,653,0.452348302835,0.00460108523797,0.059689096251,0.999999877004,0.000127572794313,-0.000473886947822,-7.17450614784e-05,1793245466317279488
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.751493939,746,714,682.751493939,652,627,880.248506061,783.248506061,810,653,630,653,0.452350037025,0.00460070048332,0.0596900953467,0.999999877938,0.00012554129392,-0.000472361375737,-7.23718605545e-05,1793245466350612224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.665344913,745.665344913,714,682.665344913,652,627,880,783.334655087,810,653,630,652.665344913,0.452349544677,0.00460165706533,0.0596896128808,0.999999877362,0.00012602528307,-0.000473422150206,-7.25659803122e-05,1793245466367278592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.090194305,745.090194305,714,682.090194305,652,627,880,783.909805695,810,653,630,652.090194305,0.452347370253,0.00460371705781,0.0596877839802,0.999999875684,0.000127487077585,-0.000476550425535,-7.26535606014e-05,1793245466383944960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.482465699,745,713.517534301,682,652,627,880,783.517534301,810,653,630,652.482465699,0.452347880336,0.00460283879808,0.0596878306228,0.999999875949,0.000127663950873,-0.000475951450268,-7.26187107889e-05,1793245466400611328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.943156595,745.056843405,713.056843405,682,652,626.943156595,880,783,810,653,630,653,0.452348398219,0.00460143147294,0.0596880673432,0.999999876477,0.000127327720654,-0.000474943509329,-7.25409134534e-05,1793245466417278208
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.760664604,713.760664604,682,651.760664604,626.239335396,880,783,810,652.760664604,630,652.760664604,0.452333549762,0.00459972947076,0.0596822079771,0.999999872783,0.00012317140254,-0.000483798692879,-7.21207593535e-05,1793245466450611968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.183859339,713.183859339,682,651.183859339,626.816140661,880,783,810,652.183859339,630,652.183859339,0.452313561717,0.004600374212,0.0596729238367,0.999999865311,0.000124353534373,-0.000498709883516,-7.21351355462e-05,1793245466467278592
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,651.96853283,627,880,783,810,652.96853283,630,652.96853283,0.45223510269,0.0046053024658,0.0596460368614,0.999999840981,0.000129921928537,-0.000543888517864,-7.30985662418e-05,1793245466500612096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.556714135,745,713.556714135,682,652,627,880.556714135,783,810,652.443285865,630,653,0.452175371866,0.00460387922067,0.0596308276426,0.999999831276,0.000130336880097,-0.000561335288089,-7.32347978109e-05,1793245466517278720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.856844134,745,714,682,652,626.856844134,880.856844134,783,810,652.143155866,630,653,0.452109983055,0.00460236008554,0.0596171476099,0.99999982199,0.000130053518169,-0.000577711261334,-7.31817685811e-05,1793245466533945344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.277827388,745,714,682,652,626.277827388,880.277827388,783,810,652.722172612,630,653,0.452030332358,0.00460129353462,0.0596082953209,0.999999813931,0.000128114253856,-0.000591987776553,-7.26288683313e-05,1793245466550611968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.298982113,745,713.701017887,682,652,626.298982113,880,783,810,653,629.701017887,653,0.45194309153,0.00460213328048,0.0596020400766,0.999999808745,0.000129927375121,-0.000600318042735,-7.24300287197e-05,1793245466567278592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.873755541,745,713.126244459,682,652,626.873755541,880,783,810,653,629.126244459,653,0.451848849311,0.00460473145969,0.0595981804356,0.999999806325,0.000135201825161,-0.000603163284884,-7.25577867776e-05,1793245466583945216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,652,627,880,783.446687132,810,652.553312868,629.446687132,653,0.451732769373,0.00460456415815,0.0595967213463,0.999999804119,0.00013671479579,-0.000606630052194,-7.12114125089e-05,1793245466600611840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.980150473,745,713.019849527,682,652,627,880.019849527,784,810,652,630,653,0.451609618349,0.00460369371936,0.0595958954823,0.999999801921,0.000137253472678,-0.000610321316847,-6.9483091296e-05,1793245466617278464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.385284066,745,713.614715934,682,652,627,880.614715934,784,810,652,630,653,0.451459683624,0.00460500301345,0.0595938401258,0.999999798418,0.000140237834486,-0.000615448299796,-6.87097910439e-05,1793245466633945088
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.217728087,682,652,627.782271913,881,783.217728087,810,652.782271913,630,653,0.451109694914,0.00460506927436,0.05958284062,0.999999783499,0.000148317425143,-0.000637721008363,-6.57006648295e-05,1793245466667279360
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.297923827,659.297923827,633.702076173,878,785.297923827,807,653,630,652.702076173,0.403232359509,0.00453453945642,0.0597879515544,0.999999931175,0.0001688447669,-0.000329058067508,2.93754429426e-05,1793245467917278976
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.19421281,680,660.19421281,634,878,785,807,652.80578719,629.19421281,653,0.400958342778,0.00451736332272,0.0598305982682,0.999999950963,0.000129256107955,-0.000284010434782,2.65628236203e-05,1793245468333944832
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.291448313,745,714,680,660,633.291448313,878.291448313,785.291448313,807.708551687,653,629,652,0.400957913585,0.004516619444,0.0598338642682,0.999999952782,0.000126031159421,-0.000279069126457,2.59454157209e-05,1793245468417278208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,633.287324615,878,785,807.712675385,653,629.287324615,652,0.40095842043,0.00451676784925,0.0598344855324,0.999999953066,0.000125993177421,-0.000278083602697,2.57700845539e-05,1793245468433944832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,633.865580182,878,785,807.134419818,653,629.865580182,652,0.400959329975,0.00451760098719,0.0598352439322,0.999999953289,0.000127491305731,-0.000276618058775,2.55111023062e-05,1793245468450611456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,660,634,878.439584145,785,807,653,630,652,0.400959096262,0.00451752972889,0.0598352149865,0.999999953173,0.000128256143774,-0.000276672886256,2.56087299295e-05,1793245468467278080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.987319925,679.987319925,660,634,879,785,807,653,629.987319925,652,0.400958525366,0.00451716805125,0.0598349624497,0.99999995297,0.000128735819712,-0.000277166080249,2.58099641679e-05,1793245468483944960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.396927297,679.396927297,660,634,879,785,807,653,629.396927297,652,0.400958367387,0.00451605396305,0.0598353871221,0.999999953417,0.000126341609478,-0.000276652739564,2.58109130778e-05,1793245468500611328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.189973119,745,713.189973119,679.189973119,660.189973119,634,878.810026881,785,807,653,629.189973119,652,0.400957907087,0.00451534080475,0.0598355257954,0.999999953572,0.000125141174263,-0.000276641738777,2.57692036771e-05,1793245468517277952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.769708628,745,713.769708628,679.769708628,660.769708628,634,878.230291372,785,807,653,629.769708628,652,0.400956826524,0.00451545022288,0.059835077693,0.999999953136,0.000126389973097,-0.000277661374356,2.56399734464e-05,1793245468533944832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.653426175,745,714,680,661,634,878.346573825,785.346573825,807,653,630,652,0.400956972857,0.00451527783983,0.0598351369897,0.999999953331,0.000125481879044,-0.000277364624068,2.57285879872e-05,1793245468550611456
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.078452601,745,714,680,661,634,878.921547399,785.921547399,807,653,630,652,0.400957927742,0.00451491974361,0.0598355306737,0.999999953936,0.000123152345234,-0.00027620034659,2.5960767014e-05,1793245468567278080
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.506131287,745,713.493868713,679.493868713,660.493868713,634,878.493868713,785.493868713,807,653,630,652,0.400956620773,0.00451531450155,0.0598350967019,0.999999953742,0.000122981505416,-0.000276999096651,2.57629916689e-05,1793245468583944704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.908432862,745.091567138,713.091567138,679.091567138,660,634,878,785,807,653,629.908432862,652,0.400955305526,0.00451600456291,0.0598346450068,0.999999953397,0.000123602682587,-0.000277988109,2.55286218869e-05,1793245468600611584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.326566095,745.673433905,713.673433905,679.673433905,660,634,878,785,807,653,629.326566095,652,0.400955859573,0.00451763889126,0.0598347986437,0.999999952922,0.000126638399233,-0.000278335084589,2.54620651858e-05,1793245468617278208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745.747570273,713.747570273,680,660,634,878,785,807,653,629.252429727,652,0.400956380258,0.00451832607223,0.0598351559342,0.999999952925,0.000127343960682,-0.000278008848596,2.5384679793e-05,1793245468633944832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745.172246724,713.172246724,680,660,634,878,785,807,653,629.827753276,652,0.400956858265,0.00451780171609,0.059835773727,0.999999953544,0.000125068919865,-0.000276821478489,2.52934429418e-05,1793245468650611456
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94d3e9ddece9c5d408326a72d13a2850998b09de
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+4,0.066666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+379,6.316666667,pose2_to_pose3_retreat,0.575684572332,0.00987786508516,1.05005100316,0.546256206175,0.0185535531432,1.04971749763
+380,6.333333333,pose2_to_pose3_retreat,0.575678782845,0.00987784970876,1.05005086262,0.546250416322,0.0185535365007,1.04971735647
+381,6.350000000,pose2_to_pose3_retreat,0.575674884229,0.00987789485205,1.05005084823,0.546246516761,0.0185535784008,1.04971734099
+382,6.366666667,pose2_to_pose3_retreat,0.575672299882,0.00987803323083,1.050051025,0.546243931068,0.0185537121368,1.04971751567
+383,6.383333333,pose2_to_pose3_retreat,0.575671209512,0.00987789059689,1.05005104351,0.546242842301,0.018553574732,1.04971752889
+384,6.400000000,pose2_to_pose3_retreat,0.575671099295,0.00987787545945,1.05005104518,0.546242732254,0.0185535601488,1.04971753
+385,6.416666667,pose2_to_pose3_retreat,0.575671084303,0.00987787340034,1.05005104541,0.546242717285,0.0185535581651,1.04971753016
+386,6.433333333,pose2_to_pose3_retreat,0.575671071766,0.00987787167847,1.0500510456,0.546242704767,0.0185535565063,1.04971753028
+387,6.450000000,pose2_to_pose3_retreat,0.57567102428,0.00987786515671,1.05005104632,0.546242657355,0.0185535502234,1.04971753077
+388,6.466666667,pose2_to_pose3_retreat,0.575670943609,0.00987785407705,1.05005104754,0.546242576807,0.0185535395494,1.04971753158
+389,6.483333333,pose2_to_pose3_retreat,0.575670852989,0.00987784163117,1.05005104891,0.546242486328,0.0185535275593,1.0497175325
+390,6.500000000,pose2_to_pose3_retreat,0.575670831247,0.00987783864501,1.05005104924,0.546242464619,0.0185535246825,1.04971753272
+391,6.516666667,pose2_to_pose3_retreat,0.575670751485,0.00987782769037,1.05005105045,0.54624238498,0.0185535141289,1.04971753353
+392,6.533333333,pose2_to_pose3_retreat,0.575670701277,0.00987782079466,1.05005105121,0.546242334849,0.0185535074858,1.04971753404
+393,6.550000000,pose2_to_pose3_retreat,0.575670644481,0.00987781299421,1.05005105207,0.546242278141,0.0185534999709,1.04971753462
+394,6.566666667,pose2_to_pose3_retreat,0.575670379016,0.00987780661835,1.05005104549,0.546242012627,0.0185534934713,1.04971752912
+395,6.583333333,pose2_to_pose3_retreat,0.575670164345,0.00987783007359,1.05005103007,0.546241797482,0.0185535154389,1.04971751688
+396,6.600000000,pose2_to_pose3_retreat,0.575670103927,0.00987783667498,1.05005102573,0.54624173693,0.0185535216216,1.04971751343
+397,6.616666667,pose2_to_pose3_retreat,0.575669927349,0.00987785596817,1.05005101304,0.546241559962,0.0185535396912,1.04971750337
+398,6.633333333,pose2_to_pose3_retreat,0.575669677074,0.00987787420051,1.05005098185,0.546241309245,0.0185535565874,1.04971747637
+399,6.650000000,pose2_to_pose3_retreat,0.575669616978,0.00987785381799,1.05005093844,0.546241249347,0.0185535369661,1.0497174353
+400,6.666666667,pose2_to_pose3_retreat,0.575669580148,0.0098778413265,1.05005091184,0.546241212638,0.0185535249411,1.04971741013
+401,6.683333333,pose2_to_pose3_retreat,0.57566951368,0.00987781878282,1.05005086383,0.546241146389,0.0185535032394,1.04971736471
+402,6.700000000,pose2_to_pose3_retreat,0.57566949892,0.00987781377669,1.05005085317,0.546241131678,0.0185534984202,1.04971735462
+403,6.716666667,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f38ec26df38fa9835a0eb257e5c9bfde395de1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afcd6388bdf0e864fe50a89c79e04f4316f548d31c0325c309dd68280085ee0
+size 25608655
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daf1788da2e728e26010b0ddc8fe921594005243
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+21,0.350000000,BASELINE,764,745,714,679,661,634,878,786,807,653,630,653,0.400958384362,0.00451634069926,0.0598384127996,0.999999955139,0.000123575059143,-0.000271730505113,2.47626834505e-05,1793245469149821696
+22,0.366666667,BASELINE,764,745,714,679,661,634,878,786,807,653,630,653,0.400959145225,0.00451660563628,0.0598390494291,0.999999955552,0.000123879509935,-0.00027007477807,2.46687125359e-05,1793245469166488320
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+27,0.450000000,BASELINE,765,745,714,679.304592776,660.695407224,634,878.695407224,785,807,653,630,652.695407224,0.400957105527,0.00451497512027,0.0598373517522,0.999999954785,0.000123914111195,-0.000272846109679,2.51022222747e-05,1793245469249822464
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+43,0.716666667,BASELINE,764,745,713,679.018445837,661,633.981554163,878.018445837,785.018445837,807,652.018445837,630,652,0.400957941857,0.00451776656869,0.0598387064755,0.999999955107,0.00012558779783,-0.000270964221567,2.43342755591e-05,1793245469516487936
+44,0.733333333,BASELINE,764,745,713,679.561440905,660.438559095,634,878,785,807,652.561440905,629.438559095,652,0.400957124375,0.00451592334681,0.0598379928591,0.999999955097,0.000123656857573,-0.000271855764075,2.46708408011e-05,1793245469533154560
+45,0.750000000,BASELINE,764,745,713,680,660.140998018,634,878,785,807,653,629,652,0.40095656273,0.00451474279496,0.0598374017748,0.999999955077,0.000122243648845,-0.000272547897939,2.48986281599e-05,1793245469549821184
+46,0.766666667,BASELINE,764,745,713,680,660.720073487,634,878,785,807,653,629,652,0.400956970436,0.0045158580681,0.0598373384128,0.999999955071,0.000122617076228,-0.000272418319804,2.4727370575e-05,1793245469566487808
+47,0.783333333,BASELINE,764,745,713,679.703559963,661,634,878,785,807,652.703559963,629,652,0.400957253053,0.00451662819421,0.0598376516713,0.999999955105,0.000123614613802,-0.000271849591018,2.46412667611e-05,1793245469583154944
+48,0.800000000,BASELINE,764,745,713,679.129728199,661,634,878,785,807,652.129728199,629,652,0.400957418619,0.00451707535148,0.0598383173498,0.999999955174,0.000125196158241,-0.000270869930013,2.46348449831e-05,1793245469599822336
+49,0.816666667,BASELINE,764,745,713,679,661,633.544497453,878,785,807,652.455502547,629,652,0.400955922358,0.00451728918873,0.0598373284633,0.999999954213,0.000127718644461,-0.000273225037019,2.46829072338e-05,1793245469616488704
+50,0.833333333,BASELINE,764,745,713,679,661,633,878,785,806.956643004,653,629,652,0.400954275569,0.00451744308837,0.0598360983925,0.999999953123,0.000130190231623,-0.000276028919818,2.47425325489e-05,1793245469633155072
+51,0.850000000,BASELINE,764,745,713,679,661,633,878,785,806.377513307,653,629,652,0.400956767368,0.00451769854077,0.0598378604386,0.999999954335,0.000128636328448,-0.000272340910786,2.47483742667e-05,1793245469649821952
+52,0.866666667,BASELINE,764,745,713,679.198456913,661,633.198456913,878.198456913,785,806.198456913,653,629,652,0.400958446923,0.0045171421942,0.0598390997984,0.999999955199,0.000127078241658,-0.000269878962495,2.48802975643e-05,1793245469666488576
+53,0.883333333,BASELINE,764,745,713,679.768511188,661,633.768511188,878.768511188,785,806.768511188,653,629,652,0.400958605602,0.00451506580805,0.0598393604631,0.999999955432,0.000125512321421,-0.000269712731567,2.52483002285e-05,1793245469683154944
+54,0.900000000,BASELINE,764,745,713,680,660.654231764,633.654231764,879,785,807,653,629.345768236,652,0.400958260991,0.00451429103,0.059838874704,0.999999955535,0.000123208215932,-0.000270402374437,2.51434743636e-05,1793245469699821568
+55,0.916666667,BASELINE,764,745,713,680,660.072049957,633.072049957,879,785,807,653,629.927950043,652,0.400957572262,0.004514406206,0.0598378785893,0.999999955542,0.000120399387994,-0.000271677207503,2.47153594429e-05,1793245469716488448
+56,0.933333333,BASELINE,764,745,713,679.482719388,660.517280612,633,878.482719388,785,807,652.482719388,629.482719388,652,0.400957164781,0.00451557771203,0.0598379966883,0.999999955341,0.000121641531923,-0.000271878612621,2.45430962921e-05,1793245469733155328
+57,0.950000000,BASELINE,763.894456744,745,713.105543256,679.105543256,660.894456744,633.105543256,878,785,807,652.105543256,629.105543256,652.105543256,0.400956966968,0.00451658603059,0.0598383390393,0.999999955203,0.000123095867253,-0.000271738568948,2.44695081968e-05,1793245469749821696
+58,0.966666667,BASELINE,763.315513089,745,713.684486911,679.684486911,660.315513089,633.684486911,878,785,807,652.684486911,629.684486911,652.684486911,0.400957531419,0.00451619320348,0.0598389813841,0.999999955487,0.000122935651429,-0.000270747022589,2.4676430991e-05,1793245469766488320
+59,0.983333333,BASELINE,763.263622928,745,713.736377072,679.736377072,660.263622928,634,878,785,807,653,630,652.736377072,0.400957123513,0.00451611952367,0.0598390544146,0.999999955442,0.000123197506922,-0.000270779823437,2.48155768296e-05,1793245469783155200
+60,1.000000000,BASELINE,763.842989414,745,713.157010586,679.157010586,660.842989414,634,878,785,807,653,630,652.157010586,0.400955551008,0.00451642808943,0.0598384455723,0.999999955004,0.000123964881016,-0.000272039494043,2.48735456243e-05,1793245469799821824
+61,1.016666667,BASELINE,764,745,713,679,660.575077657,634,878,785,807,653,629.575077657,652,0.400955805222,0.00451594273419,0.0598380122182,0.9999999551,0.000122575103571,-0.000272339757694,2.46189220685e-05,1793245469816488448
+62,1.033333333,BASELINE,764,745.007756179,713,679.007756179,660.007756179,634,878,785,807,653,629.007756179,652.007756179,0.400956735746,0.00451517844074,0.0598376544173,0.999999955386,0.000120445693137,-0.000272272559892,2.4256660383e-05,1793245469833155328
+63,1.050000000,BASELINE,764,745.586677472,713,679.586677472,660.586677472,634,878,785,807,653,629.586677472,652.586677472,0.400957462172,0.0045156072228,0.0598380562618,0.999999955315,0.000122903086355,-0.000271409871858,2.45253383199e-05,1793245469849822208
+64,1.066666667,BASELINE,764,745.83445769,713.16554231,679.83445769,661,634,878,785,807,653,629.83445769,652.83445769,0.40095768385,0.00451611205301,0.0598381993346,0.99999995519,0.000124581768935,-0.000271091954676,2.46789737322e-05,1793245469866489088
+65,1.083333333,BASELINE,764,745.255733794,713.744266206,679.255733794,661,634,878,785,807,653,629.255733794,652.255733794,0.400956645718,0.00451680669382,0.0598376965321,0.999999954943,0.000124316846162,-0.000272133746038,2.45454713411e-05,1793245469883155200
+66,1.100000000,BASELINE,764,745,713.680663215,679,661,634,878.319336785,785,807,653,629.319336785,652,0.40095684779,0.00451680690317,0.0598383812788,0.999999955152,0.000124103101468,-0.000271460472029,2.45620895567e-05,1793245469899821824
+67,1.116666667,BASELINE,764,745,713.108485249,679,661,634,878.891514751,785,807,653,629.891514751,652,0.400958031821,0.00451625728272,0.0598400062909,0.99999995572,0.000123929878038,-0.000269429261223,2.46975687219e-05,1793245469916488448
+68,1.133333333,BASELINE,764,745,713.478776888,679.478776888,660.521223112,634,878.521223112,785,806.521223112,653,630,652,0.400958473543,0.00451605262903,0.0598398666675,0.999999955846,0.000123332060977,-0.000269260978201,2.44201024266e-05,1793245469933155072
+69,1.150000000,BASELINE,764.068178715,745,714,679.931821285,660.068178715,633.931821285,878.068178715,785,806.068178715,652.931821285,630,652,0.400958786846,0.00451573101657,0.0598394081845,0.999999955914,0.000122454621263,-0.000269434171758,2.41403199544e-05,1793245469949821696
+70,1.166666667,BASELINE,764.647170519,745,714,679.352829481,660.647170519,633.352829481,878.647170519,785,806.647170519,652.352829481,630,652,0.400959439182,0.00451392843061,0.0598396539245,0.999999956317,0.000120226438704,-0.000268900298996,2.45670305029e-05,1793245469966488832
+71,1.183333333,BASELINE,764.775182788,745,713.775182788,679.224817212,660.775182788,633,878.775182788,785,807,652.224817212,630,652,0.400959312198,0.00451326233165,0.0598394695199,0.999999956327,0.000119797393958,-0.000269025012255,2.4882264271e-05,1793245469983155712
+72,1.200000000,BASELINE,764.199634476,745,713.199634476,679.800365524,660.199634476,633,878.199634476,785,807,652.800365524,630,652,0.400957969417,0.00451436923428,0.059838614059,0.999999955726,0.000122175133889,-0.000270177167225,2.50235862705e-05,1793245469999822336
+73,1.216666667,BASELINE,764,745,713.383176282,679.616823718,660.383176282,633.383176282,878,785.383176282,806.616823718,652.616823718,630,652.383176282,0.40095724584,0.00451492919362,0.0598383807055,0.999999955301,0.00012408452222,-0.000270884087864,2.4947002138e-05,1793245470016488448
+74,1.233333333,BASELINE,764,745,713.969843832,679.030156168,660.969843832,633.969843832,878,785.969843832,806.030156168,652.030156168,630,652.969843832,0.4009568511,0.0045151986908,0.0598384777312,0.999999954971,0.000125745185564,-0.00027135456035,2.47546958157e-05,1793245470033154816
+75,1.250000000,BASELINE,764,745,713.450513695,679,661.549486305,634,878,785.450513695,806.549486305,652.549486305,629.450513695,652.450513695,0.400956361169,0.00451513835815,0.0598382912194,0.999999954927,0.000125173423848,-0.00027180690532,2.44757494594e-05,1793245470049821952
+76,1.266666667,BASELINE,764,745,713,679.128532108,661.871467892,633.871467892,878,785,807,653,629.128532108,652.128532108,0.400956471198,0.00451508752838,0.0598383557051,0.999999955036,0.000124584624603,-0.00027168886747,2.43326829728e-05,1793245470066488576
+77,1.283333333,BASELINE,764,745,713,679.706822071,661.293177929,633.293177929,878,785,807,653,629.706822071,652.706822071,0.400958698649,0.00451513249113,0.0598393522408,0.999999955627,0.000124359505799,-0.000269578390802,2.46815136611e-05,1793245470083155200
+78,1.300000000,BASELINE,764,745,713,680.283283434,661,633,878.283283434,785,807.283283434,653,630,652.716716566,0.400958916096,0.00451520492473,0.0598393176571,0.999999955643,0.000124113898873,-0.000269611961326,2.48960447218e-05,1793245470099821824
+79,1.316666667,BASELINE,764,745,713,680.857864431,661,633,878.857864431,785,807.857864431,653,630,652.142135569,0.400957066677,0.00451530560633,0.0598382227836,0.999999955068,0.000123847224226,-0.000271850234575,2.49724767776e-05,1793245470116488704
+80,1.333333333,BASELINE,764,745,713,680.556944327,661,633.443055673,878.556944327,785,807.556944327,653,630,652,0.400957323105,0.00451577050231,0.0598387252456,0.999999955316,0.000123565104393,-0.000271070466411,2.49012443762e-05,1793245470133155584
+81,1.350000000,BASELINE,764,745,713,680,661,634,878,785,806.96878335,653,629.96878335,652.03121665,0.400958159313,0.00451632021306,0.0598396373707,0.99999995577,0.00012336244369,-0.000269494813588,2.47790541365e-05,1793245470149822720
+82,1.366666667,BASELINE,764,745,713,680,661,634,878,785,806.389707659,653,629.389707659,652.610292341,0.400957023484,0.00451625751299,0.059838525128,0.999999955111,0.000124643402282,-0.000271360428639,2.46143278239e-05,1793245470166488832
+83,1.383333333,BASELINE,764,745,713,679.811226438,660.811226438,634,878,785,806.188773562,653,629.188773562,652.811226438,0.400956868221,0.00451569456409,0.0598381920688,0.999999954937,0.000124971123865,-0.000271851914953,2.46085165175e-05,1793245470183155200
+84,1.400000000,BASELINE,764,745,713,679.233968494,660.233968494,634,878,785,806.766031506,653,629.766031506,652.233968494,0.400958730904,0.00451410213385,0.059839462521,0.999999955764,0.000123337142531,-0.000269515529161,2.49297424933e-05,1793245470199821568
+85,1.416666667,BASELINE,764.341384202,745,713,679.341384202,660.341384202,634,878,785,807,653,629.658615798,652,0.400959246853,0.00451427486472,0.0598400016336,0.99999995606,0.000122642833785,-0.000268738064982,2.48784144944e-05,1793245470216488192
+86,1.433333333,BASELINE,764.915438343,745,713,679.915438343,660.915438343,634,878,785,807,653,629.084561657,652,0.400958844937,0.00451565063883,0.0598400423024,0.999999955997,0.000122588957712,-0.000269023081852,2.45731728208e-05,1793245470233154816
+87,1.450000000,BASELINE,764.496864655,745,713,679.496864655,661,633.496864655,878,785,807,653,629.503135345,652,0.40095884988,0.00451467476354,0.0598400362419,0.999999956167,0.000122513453477,-0.000268400264076,2.48711463715e-05,1793245470249821696
+88,1.466666667,BASELINE,764,745,713,679,661,633.091474547,878,785,807,653,630,652,0.400958736093,0.00451365295152,0.0598399863486,0.999999956303,0.000122315840141,-0.000267957287159,2.51373752537e-05,1793245470266488832
+89,1.483333333,BASELINE,764,745,713,679,661,633.670671571,878,785,807,653,630,652,0.400957614513,0.00451455228513,0.0598397457896,0.999999956052,0.000121487088907,-0.000269309376108,2.4678735623e-05,1793245470283155712
+90,1.500000000,BASELINE,764,745,713.247886398,679.247886398,660.752113602,633.752113602,878,785.247886398,807,652.752113602,629.752113602,652,0.40095641459,0.00451543556441,0.0598391479223,0.999999955579,0.000121915327553,-0.000270889816032,2.44538416658e-05,1793245470299822592
+91,1.516666667,BASELINE,764,745,713.82248863,679.82248863,660.17751137,633.17751137,878,785.82248863,807,652.17751137,629.17751137,652,0.400955111411,0.00451629768392,0.0598380791204,0.999999954809,0.00012400028685,-0.00027277122387,2.4537026016e-05,1793245470316489472
+92,1.533333333,BASELINE,764,745,714,679.603303672,660,633.396696328,878,785.603303672,806.603303672,652.396696328,629.396696328,652,0.400955625576,0.00451666023699,0.0598380904586,0.99999995481,0.000124603435564,-0.00027247567703,2.47010594232e-05,1793245470333155584
+93,1.550000000,BASELINE,764,745,714,679.029272293,660,633.970727707,878,785.029272293,806.029272293,652.970727707,629.970727707,652,0.400956952146,0.00451679946909,0.0598385846515,0.999999955158,0.000124544171078,-0.000271206966896,2.49012347694e-05,1793245470349821440
+94,1.566666667,BASELINE,764,745,713.437556911,679.562443089,660.562443089,634,878,785,806.562443089,653,630,652,0.40095601539,0.00451647021742,0.059837821339,0.999999954787,0.000125006859066,-0.00027237996046,2.46727258306e-05,1793245470366488320
+95,1.583333333,BASELINE,764,745,713,679.848274391,661,634,878,785,807,653,629.848274391,652,0.400955224001,0.00451607346374,0.0598373759821,0.999999954561,0.000125088760623,-0.000273185203383,2.45283489914e-05,1793245470383155200
+96,1.600000000,BASELINE,764,745,713,679.268535358,661,634,878,785,807,653,629.268535358,652,0.400955185765,0.00451555730306,0.0598380181849,0.999999954854,0.000124017355951,-0.000272582912005,2.46862875312e-05,1793245470399821824
+97,1.616666667,BASELINE,764,745,713,679.308590571,660.691409429,634,878,785,807,653,629.308590571,652,0.400956259082,0.00451547788156,0.0598388085215,0.999999955284,0.000123404534032,-0.000271276402119,2.47573688043e-05,1793245470416488704
+98,1.633333333,BASELINE,764,745,713,679.883461638,660.116538362,634,878,785,807,653,629.883461638,652,0.400958291547,0.00451577531905,0.0598397266814,0.999999955828,0.000123187419806,-0.000269362227385,2.47535015819e-05,1793245470433155584
+99,1.650000000,BASELINE,764,745,713,679.532127699,660.467872301,634,878,785,807,653,629.532127699,652.467872301,0.400957668763,0.00451515128295,0.0598396289683,0.999999955768,0.000121993028719,-0.000270113212254,2.49028666036e-05,1793245470449821952
+100,1.666666667,BASELINE,764,745,713.054273532,679.054273532,661,633.945726468,878,785,807,652.945726468,629.054273532,652.945726468,0.400956507256,0.00451453165598,0.0598392629845,0.999999955546,0.000120909320692,-0.000271409442982,2.50248887998e-05,1793245470466488320
+101,1.683333333,BASELINE,764,745,713.636443509,679.636443509,661,633.363556491,878,785,807,652.363556491,629.636443509,652.363556491,0.400956672616,0.00451623384797,0.0598388000387,0.999999955262,0.000123319123969,-0.000271417744289,2.45019937316e-05,1793245470483154944
+102,1.700000000,BASELINE,764.216271467,745,713.783728533,679.783728533,660.783728533,633.216271467,878,785,807,652.216271467,629.783728533,652,0.400956616948,0.00451633328825,0.0598384439586,0.999999955197,0.000123678525032,-0.000271505971606,2.43559697784e-05,1793245470499821568
+103,1.716666667,BASELINE,764.792204564,745,713.207795436,679.207795436,660.207795436,633.792204564,878,785,807,652.792204564,629.207795436,652,0.400956193705,0.00451376733606,0.0598382655973,0.999999955498,0.000120628086288,-0.000271727116686,2.48366863433e-05,1793245470516488192
+104,1.733333333,BASELINE,764.632708114,745,713.367291886,679.367291886,660,634.367291886,878,785,806.632708114,653,629.367291886,652,0.400956473555,0.00451340173879,0.0598383985562,0.99999995566,0.000119999757454,-0.000271403322914,2.48883074126e-05,1793245470533154816
+105,1.750000000,BASELINE,764.058098136,745,713.941901864,679.941901864,660,634.941901864,878,785,806.058098136,653,629.941901864,652,0.400957150265,0.00451427813273,0.0598387072399,0.999999955747,0.000120738589508,-0.000270771938151,2.46977253557e-05,1793245470549821696
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807,653,629,652,0.400954149471,0.00451694777607,0.059837055335,0.999999954236,0.000125371582309,-0.000274252867,2.44144522576e-05,1793245470579717632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713.425010874,679.574989126,661,634,878,785,807,652.425010874,629,652,0.400954913191,0.00451589718662,0.0598372655611,0.999999954736,0.000123192862684,-0.000273423579321,2.43092972041e-05,1793245470596384768
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.15020442,679.84979558,660.84979558,634,878,785,807,652.15020442,629.15020442,652,0.400955236614,0.00451540768121,0.059837268589,0.999999954949,0.000122201737942,-0.000273099012848,2.42179494084e-05,1793245470613051904
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.726060765,679.273939235,660.273939235,634,878,785,807,652.726060765,629.726060765,652,0.400954312311,0.00451650818541,0.0598366844549,0.999999954354,0.000124576039961,-0.000274204734017,2.41657288388e-05,1793245470629718272
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.690397863,745,714,679,660.309602137,634,878,785,806.690397863,653,629.690397863,652.309602137,0.40095518534,0.00451732390658,0.0598375924229,0.999999954559,0.000125617424496,-0.000272974885701,2.42350907212e-05,1793245470646384384
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.099883652,745,714,679,660.900116348,634,878,785,806.099883652,653,629.099883652,652.900116348,0.400957689146,0.00451788123477,0.0598398542238,0.999999955484,0.000125449409563,-0.00026962589927,2.44147683137e-05,1793245470663050496
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.481039908,745,713.518960092,679.481039908,661,633.518960092,878,785.481039908,806.481039908,652.518960092,629.481039908,652.518960092,0.400956898491,0.00451751544248,0.0598395436226,0.999999955425,0.000124657468793,-0.000270216671225,2.43666645843e-05,1793245470679717376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.059636729,713,680,661.059636729,633.059636729,878,785.940363271,807,652,629.940363271,652,0.400955632659,0.00451695705314,0.0598388122829,0.999999955197,0.00012375734502,-0.000271475365852,2.43162221814e-05,1793245470696384512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.634997126,713,680,661.634997126,633.634997126,878,785.365002874,807,652,629.365002874,652,0.400956057601,0.00451635831213,0.0598389712876,0.999999955253,0.000123020120625,-0.000271574033401,2.46465710223e-05,1793245470713051136
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.785171903,713,680,661.785171903,634,878,785,807,652.214828097,629,652,0.400959187967,0.00451594847861,0.0598403042171,0.999999955793,0.000122977616245,-0.000269581999944,2.48385096097e-05,1793245470729717504
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.197583857,713,680,661.197583857,634,878,785,807,652.802416143,629,652,0.40096701266,0.00451586642883,0.0598436740877,0.999999957149,0.000124140558535,-0.000263962277102,2.47902849811e-05,1793245470746383872
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.384256805,679.615743195,661,633.615743195,878,785,807,653,629.384256805,652,0.400988435691,0.00451568012712,0.0598525242367,0.999999961106,0.000124523951001,-0.000248317415601,2.48963003642e-05,1793245470763050496
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.96318578,679.03681422,661,633.03681422,878,785,807,653,629.96318578,652,0.401016747912,0.0045154410093,0.0598641508045,0.999999966034,0.000124512408021,-0.000227593618082,2.50804568041e-05,1793245470779717120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.459119122,679.540880878,661,633.540880878,878,785,807,653,629.459119122,652,0.401071300298,0.0045148134958,0.0598819717859,0.999999973145,0.000123894118711,-0.000194252539276,2.50386903556e-05,1793245470796383744
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679.881775576,661,634,878,785,807,653,629.118224424,652,0.401130714342,0.00451421320594,0.0598995516537,0.99999997879,0.000123233066462,-0.000163104451126,2.50937484306e-05,1793245470813050368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713,679.305469355,661,634,878,785,807,653,629.694530645,652,0.401202061358,0.00451382059489,0.0599145673914,0.999999981826,0.000122565971194,-0.000143773398014,2.55834163119e-05,1793245470829716992
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.276133918,713,679,661,634,878,785,807,653,629.723866082,652,0.40128231498,0.00451389739813,0.0599268515676,0.999999984515,0.000120770148182,-0.000125445979352,2.54407891546e-05,1793245470846383616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.863711551,713,679,661,634,878,785,807,653,629.136288449,652,0.401372614109,0.00451450364065,0.0599360548911,0.999999986912,0.000117701264799,-0.000108250533064,2.45850140976e-05,1793245470863050496
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.555041233,713.444958767,679.444958767,661,633.555041233,878,785,807.444958767,653,629,652,0.401476153102,0.004514489525,0.0599416917753,0.999999988119,0.000116155587167,-9.84725200741e-05,2.39311853786e-05,1793245470879717376
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.024171835,745,713.975828165,680,661,633.024171835,878,785.024171835,807.975828165,653,629.024171835,652,0.401584875802,0.00451432393042,0.0599462851709,0.999999988999,0.000114999595672,-9.07430874747e-05,2.32937936362e-05,1793245470896384512
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.60058926,745,713.39941074,680,661,633.60058926,878,785.60058926,807.39941074,653,629.60058926,652,0.401720678563,0.00451497780005,0.0599516455091,0.999999990375,0.000112237049433,-7.8639204514e-05,2.16385735365e-05,1793245470913050880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.823133444,745,713.176866556,680,661,634,878,785.823133444,807,653,629.823133444,652,0.401861399218,0.00451523972609,0.0599541228398,0.999999991239,0.000109784849311,-7.12000173145e-05,1.99967677346e-05,1793245470929716992
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.247172423,745,713.752827577,680,661,634,878,785.247172423,807,653,629.247172423,652,0.402013216947,0.00451461724225,0.0599500947437,0.999999991236,0.000108032936977,-7.42865880341e-05,1.83852311532e-05,1793245470946383616
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661,633.663740688,878,785,807,653,629.336259312,652,0.402188996509,0.00451356355211,0.0599485606362,0.999999991768,0.000103896850278,-7.34211955265e-05,1.67094707986e-05,1793245470963050240
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661,633.074692656,878,785,807,653,629.925307344,652,0.402382789806,0.00451218569515,0.0599489014272,0.999999992668,9.79684193049e-05,-6.95848470103e-05,1.49854289478e-05,1793245470979716864
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.495302556,680,661,633,878,785,806.495302556,653,629.495302556,652,0.402613240189,0.00451112254842,0.0599510200005,0.999999993756,9.29131793049e-05,-6.07475281939e-05,1.28048017463e-05,1793245470996383744
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.917822494,661.082177506,633.082177506,878,785,806.082177506,652.917822494,629,652,0.402854258846,0.00451042337777,0.0599538604898,0.999999994774,8.82431955162e-05,-5.05577081639e-05,1.04742770432e-05,1793245471013050368
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679.34338254,661.65661746,633.65661746,878,785,806.65661746,652.34338254,629,652,0.403126696843,0.00451163074883,0.0599594789707,0.999999995678,8.51214147205e-05,-3.66163203075e-05,7.64300393719e-06,1793245471029716992
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661.762973596,634,878,785,807,652.237026404,629.237026404,652.237026404,0.403405453324,0.00451229178468,0.0599602230584,0.999999996201,8.07364408371e-05,-3.25300723461e-05,4.69323416671e-06,1793245471046383616
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661.173693962,634,878,785,807,652.826306038,629.826306038,652.826306038,0.40369359991,0.00451214089256,0.0599537231396,0.999999996297,7.44741917264e-05,-4.30898932966e-05,1.56736252984e-06,1793245471063049984
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.408416165,679,661,634,878,785,807,652.591583835,629.591583835,652.591583835,0.404017424087,0.00451169832637,0.0599436306825,0.999999996035,6.71632834814e-05,-5.84393154751e-05,-1.96575232808e-06,1793245471079716864
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.987529785,679,661,634,878,785,807,652.012470215,629.012470215,652.012470215,0.404356159698,0.00451113385507,0.0599320367249,0.999999995347,5.94140885016e-05,-7.57905502368e-05,-5.66907432889e-06,1793245471096383488
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.433711501,745,713.433711501,679.566288499,661,634,877.433711501,785.566288499,807,652.566288499,629,652,0.404713530062,0.00451064819206,0.0599166853521,0.999999993072,5.20422951579e-05,-0.000105187437354,-9.08657853349e-06,1793245471113050112
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.143378168,745,713.143378168,680,660.856621832,634,877.286756336,785.856621832,807,653,629,652,0.405090081321,0.00451014206989,0.059905887284,0.999999990929,4.43247095329e-05,-0.000126567384699,-1.25764336703e-05,1793245471129716992
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.715500136,745,713.715500136,680,660.284499864,634,878.431000273,785.284499864,807,653,629,652,0.405522762833,0.00450956958257,0.0599089522358,0.999999991648,3.55482665034e-05,-0.000123181567429,-1.63014483372e-05,1793245471146383872
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.297217939,745,713.702782061,680,660.297217939,634,878.702782061,785,807,652.702782061,629,652.297217939,0.405989435835,0.00450882890678,0.0599245847946,0.999999994614,2.75964961709e-05,-9.80802922398e-05,-1.97652685092e-05,1793245471163050752
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.888427481,745,713.111572519,680,660.888427481,634,878.111572519,785,807,652.111572519,629,652.888427481,0.406489731397,0.00450792186815,0.0599526485378,0.999999998201,2.04604455197e-05,-5.14992824894e-05,-2.29707298981e-05,1793245471179717888
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.53093794,745,713,680,661,634,878,785,807,652.46906206,629.46906206,652.53093794,0.407044350928,0.00450695546642,0.0599809759428,0.999999999576,9.34513347687e-06,-5.53932468897e-06,-2.70170146542e-05,1793245471196384512
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.047132257,679.952867743,661,634,878,785,807,653,630,652,0.407609159363,0.00450596326913,0.0600067872983,0.999999998895,-2.27784653616e-06,3.51372050853e-05,-3.11531797761e-05,1793245471213050880
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.624028884,679.375971116,661,634,878,785,807,653,630,652,0.40814645433,0.00450483634245,0.0600036290201,0.999999999213,-9.20273196034e-06,1.80521009741e-05,-3.41011636868e-05,1793245471229717248
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.199973694,652.800026306,629.800026306,652,0.408697246642,0.0045043211619,0.0599966954173,0.999999999179,-1.53770937076e-05,-3.21390644494e-06,-3.73514086708e-05,1793245471246383872
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.774137434,652.225862566,629.225862566,652,0.409273295105,0.00450495067853,0.0599826974414,0.999999998428,-2.01470778744e-05,-3.23032038301e-05,-4.11672432915e-05,1793245471263050752
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.641168288,652,629.358831712,652,0.409891854062,0.00450327340081,0.0599808589576,0.999999998085,-2.47784286952e-05,-3.61761080007e-05,-4.36762877045e-05,1793245471279717888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,807.049645304,652,629.950354696,652,0.410537979739,0.00450010023826,0.059986905529,0.999999998262,-2.93198798966e-05,-2.36969596182e-05,-4.53379189294e-05,1793245471296385024
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.469935687,679.530064313,661.530064313,634,878,785,807,652,630,652,0.411249804759,0.00449742255295,0.0599936345184,0.999999999336,8.05708865101e-06,-3.35209121418e-06,-3.53899481005e-05,1793245471313051392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.108275765,745,713.108275765,679.891724235,661.891724235,634,878,785,807,652,629.891724235,652,0.411960403863,0.00449190239897,0.0599956704843,0.999999998964,3.64651830912e-05,6.25414051155e-06,-2.65223316565e-05,1793245471329717760
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.684689058,745,713.684689058,679.315310942,661.315310942,634,878,785,807,652,629.315310942,652,0.412639678066,0.00447389637692,0.059977145532,0.999999999025,9.49130572026e-06,-3.36845634412e-05,-2.69244176881e-05,1793245471346383616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.734436367,679,660.734436367,633.734436367,878.265563633,784.734436367,807,652,629.265563633,652,0.413315131941,0.00446425828939,0.0599507055497,0.999999995791,-5.77084529398e-06,-8.70850395818e-05,-2.83141444833e-05,1793245471363050240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.148174206,679,660.148174206,633.148174206,878.851825794,784.148174206,807,652,629.851825794,652,0.413985972421,0.00446472543961,0.0599147072593,0.999999987215,-6.88974778634e-06,-0.000156742153868,-3.08965607258e-05,1793245471379716864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.566803534,745.433196466,713.433196466,679.433196466,660.433196466,633.433196466,878.566803534,784.433196466,807.433196466,652.433196466,630,652,0.414792848731,0.00446723216727,0.0599342851748,0.999999992388,9.68408930497e-07,-0.000119033339381,-3.24722404629e-05,1793245471396383744
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.987149247,714,680,661.025701506,633.987149247,878.012850753,785,807.987149247,652.987149247,630,652,0.415646009546,0.0044702614533,0.0599725471229,0.999999998332,1.16690308969e-05,-4.54596655475e-05,-3.36590021757e-05,1793245471413050368
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.410212221,714,680,662.179575557,633.410212221,878.589787779,785,807.410212221,652.410212221,630,652,0.416511164621,0.00446594767005,0.0600058283159,0.999999999333,1.38610528598e-05,8.38553124032e-06,-3.27207980372e-05,1793245471429717248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.834173687,679.834173687,662.668347374,633,878.834173687,785,807.165826313,652,630,652.165826313,0.417363935393,0.00446414246996,0.0600263397618,0.999999998441,1.78730970965e-05,4.16048598674e-05,-3.26815252795e-05,1793245471446384384
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.260345849,679.260345849,661.520691699,633,878.260345849,785,807.739654151,652,630,652.739654151,0.418186235592,0.0044685094254,0.0600154323301,0.999999998755,2.636315113e-05,2.40759927985e-05,-3.4853996897e-05,1793245471463051008
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.322939409,745,713,679.322939409,661.322939409,633.322939409,878.322939409,784.677060591,808,652.322939409,630,653,0.419011209772,0.00446834584794,0.0599997637836,0.999999998903,2.94540543377e-05,-7.36322733617e-07,-3.64050377613e-05,1793245471479717120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.914078998,745,713,679.914078998,661.914078998,633.914078998,878.914078998,784.085921002,808,652.914078998,630,653,0.419838404643,0.00446441967672,0.0599801411466,0.999999998406,2.80609790559e-05,-3.15975187986e-05,-3.74399821818e-05,1793245471496383488
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.525734726,745,713.474265274,680,662,633.525734726,879,784.474265274,808,652.525734726,630,652.525734726,0.420660335604,0.00446648458338,0.0599455594369,0.999999995357,2.72463451176e-05,-8.35464731092e-05,-3.95484258568e-05,1793245471513050112
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.031714134,745.031714134,714,680,661.968285866,633.031714134,879,784.968285866,808,652,630,652,0.421484898808,0.00446937290434,0.0599093828498,0.999999989278,2.27194517577e-05,-0.000138526226016,-4.16811112798e-05,1793245471529716736
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.634674484,745.634674484,714,680,661.365325516,633.634674484,879,784.365325516,808,652,630,652,0.422372998822,0.00446874034178,0.0598903030424,0.999999981053,-5.04459146253e-05,-0.000183499456961,-4.09619889437e-05,1793245471546383360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.769196069,713.769196069,680.230803931,661.230803931,634,879,784.230803931,808,652,630,652,0.423292980721,0.0044662627042,0.0599041588872,0.999999980802,-9.63556640427e-05,-0.000165623111613,-4.09904818516e-05,1793245471563050240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.183567952,713.183567952,680.816432048,661.816432048,634,879,784.816432048,808,652,630,652,0.424261976061,0.00446094855832,0.0599686480348,0.999999992768,-0.000100364265555,-5.11255857831e-05,-4.21683137027e-05,1793245471579717120
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.602281918,745,713,680.602281918,662,633.602281918,879,785,808.397718082,652,630,652,0.425209314278,0.00446182928584,0.0600117526524,0.999999994473,-9.36023099951e-05,2.07218783308e-05,-4.31575042302e-05,1793245471596384000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.022978377,745,713,680.022978377,662,633.022978377,879,785,808.977021623,652,630,652,0.426146764481,0.00446553839635,0.060045093768,0.999999993002,-8.1922859668e-05,7.30966702547e-05,-4.40605671057e-05,1793245471613050880
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661.445479939,633,879.554520061,785,808.445479939,652,630,652.554520061,0.427071481553,0.004461253734,0.0600314725355,0.999999993531,-8.17052998169e-05,6.44124594373e-05,-4.5959831523e-05,1793245471629717504
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713.130645978,680.130645978,661.130645978,633,879.869354022,785,808,652,629.869354022,652.869354022,0.427987703423,0.00445785295956,0.0600137123901,0.999999994626,-7.95383261924e-05,4.63295612819e-05,-4.76985601608e-05,1793245471646384128
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713.702389574,680.702389574,661.702389574,633,879.297610426,785,808,652,629.297610426,652.297610426,0.428877018733,0.00445855119922,0.0599885271725,0.999999996405,-6.91911821861e-05,5.02893775663e-06,-4.87563508908e-05,1793245471663050496
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680.715673069,661.715673069,633,879,785,808.284326931,652,629.568653861,652,0.429734879577,0.00445903240136,0.0599578248271,0.9999999959,-5.80058566703e-05,-4.9517225957e-05,-4.8817079512e-05,1793245471679716864
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.122668978,661.122668978,633,879,785,808.877331022,652,630.754662044,652,0.430558592085,0.00445927797849,0.0599211328596,0.99999999079,-4.59105669446e-05,-0.000118443297083,-4.77953557981e-05,1793245471696383488
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458327797,745,713.541672203,680.458327797,661.458327797,633,879.458327797,785,809,652,630.541672203,652.458327797,0.43149013749,0.00445663176469,0.0599410594581,0.999999994771,-4.73269984753e-05,-7.58538539341e-05,-4.96356952122e-05,1793245471713050368
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.963902497,745,713,680.963902497,662.036097503,633,879.963902497,785,808.963902497,652,630,652.963902497,0.432446920189,0.00445344779788,0.059975442754,0.999999997285,-5.17900525949e-05,-5.93897069431e-06,-5.20783066508e-05,1793245471729717248
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.38756152,745,713,680.38756152,662.61243848,633,879.38756152,785,808.38756152,652,630,652.38756152,0.433360497208,0.00445350343034,0.0600051850358,0.999999996715,-4.9108306612e-05,3.76482990355e-05,-5.23629673558e-05,1793245471746384128
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713.188606985,680,662.622786031,633,879.377213969,785,808.188606985,652,630,652,0.434256995822,0.00445143321849,0.0600158344564,0.999999996125,-4.86532901804e-05,5.10416048286e-05,-5.27110462259e-05,1793245471763051008
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.764421511,680,661.471156979,633,880.528843021,785,808.764421511,652,630,652,0.435118432873,0.00444499867756,0.0599872865015,0.99999999719,-5.2769718436e-05,2.44712663211e-06,-5.31893218559e-05,1793245471779717120
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.349184567,745,713.650815433,680,661.349184567,633,880.301630866,785,809.349184567,652,630,652.349184567,0.43594070889,0.00444272031329,0.0599594149871,0.999999996046,-5.13877146988e-05,-4.90445463738e-05,-5.34989679792e-05,1793245471796383232
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.940143526,745,713.059856474,680,661.940143526,633,879.119712949,785,809.940143526,652,630,652.940143526,0.436735869868,0.00444331967418,0.0599320118399,0.999999992234,-4.6198612132e-05,-0.000102542225748,-5.36918554262e-05,1793245471813049856
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.481448298,745,713.518551702,680.518551702,662,633,879,785,809.481448298,652,630,652.481448298,0.437509777913,0.00444522614244,0.0599165679953,0.999999988543,-3.84594728614e-05,-0.000136053913796,-5.40681335631e-05,1793245471829716736
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713.904756275,681,661.904756275,632.904756275,879.095243725,785,809.095243725,652,630,652,0.438287875272,0.0044458839538,0.0599062558154,0.999999985269,-3.32185241242e-05,-0.000159336239759,-5.45069940719e-05,1793245471846383360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.32958427,681,661.32958427,632.32958427,879.67041573,785,809.67041573,652,630,652,0.439099151913,0.00443950753874,0.0599150101311,0.999999987454,-4.20139993739e-05,-0.000142423398938,-5.51570563519e-05,1793245471863050240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.251774058,745,713,681.251774058,661.251774058,632.251774058,880,785,810,652,630,652.251774058,0.439915884077,0.00443577297811,0.0599415470331,0.999999992481,-4.53738972342e-05,-9.95797574265e-05,-5.53381519896e-05,1793245471879716864
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.841434525,745,713,681.841434525,661.841434525,632.841434525,880,785,810,652,630,652.841434525,0.44073993761,0.00443558384563,0.0599919485624,0.999999997394,-4.14391279717e-05,-2.1936403257e-05,-5.48898836512e-05,1793245471896383488
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.576795053,745,713,681.576795053,660.730385159,632.576795053,880,785,809.576795053,652,630,652.576795053,0.441459920708,0.00443855875681,0.0599858478437,0.999999997388,-3.14998924774e-05,-3.53609973333e-05,-5.4603819066e-05,1793245471913050112
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.002064641,745,713.002064641,681.002064641,659,632,880.002064641,784.997935359,809.002064641,652,630,652.002064641,0.442141378188,0.0044426971588,0.059958828288,0.999999994935,-1.93706453461e-05,-8.24470217568e-05,-5.43853682988e-05,1793245471929716480
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.578515873,745,713.578515873,681.578515873,659,632,880.578515873,784.421484127,809.578515873,652,630,652.578515873,0.442754270313,0.00444674962117,0.0598939279773,0.999999982955,-1.24030806016e-05,-0.000175377776941,-5.63791890778e-05,1793245471946383104
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.842416676,745,713.842416676,681.842416676,659,632,880.842416676,784.157583324,810,652,630,652.842416676,0.443369559661,0.00445039885777,0.0598404191568,0.999999966256,-6.41992703073e-06,-0.00025317112579,-5.78853196994e-05,1793245471963049984
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.256233426,745,713.256233426,681.256233426,659,632,880.256233426,784.743766574,810,652,630,652.256233426,0.443991369188,0.00445295138952,0.0598178932446,0.999999956319,-3.11420366908e-06,-0.000289793319588,-5.8065017313e-05,1793245471979716608
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,681.326095699,658.673904301,632,880,784.673904301,810,652,630,652.326095699,0.444601113524,0.0044570389334,0.0598093695977,0.999999951045,-4.1008539875e-05,-0.000304807690468,-5.76217179018e-05,1793245471996383232
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,681.905431741,658.094568259,632,880,784.094568259,810,652,630,652.905431741,0.445201488202,0.00446231854128,0.0598117198719,0.999999946326,-0.00011089813772,-0.000303041792523,-5.66946094693e-05,1793245472013049856
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,681.516136062,657.516136062,631.516136062,880.483863938,784,810,652,630,652.516136062,0.445729637455,0.00448240216161,0.0597873079374,0.999999932315,-9.43502611183e-05,-0.000351166946862,-5.61264366897e-05,1793245472029716480
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.061752507,713,681,657,630.938247493,880.938247493,784,810,652.061752507,630.061752507,652,0.446242780804,0.00450561648609,0.0597591736894,0.999999914783,-6.16371185943e-05,-0.000404322342364,-5.61943019391e-05,1793245472046383104
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745.636589252,713,681,657,630.363410748,880.363410748,784,810,652.636589252,630.636589252,652,0.446748311699,0.00453084770936,0.0597434895991,0.999999910007,-3.47144373468e-05,-0.000418406159117,-6.09650453406e-05,1793245472063049728
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.21624753,745.78375247,713,681.21624753,656.78375247,630,880,784,810.21624753,653,630.78375247,652,0.447253701866,0.00455332816406,0.0597395402195,0.999999910294,-1.1286572064e-05,-0.000418224787864,-6.61256242658e-05,1793245472079716608
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.804193262,745.195806738,713,681.804193262,656.195806738,630,880,784,810.804193262,653,630.195806738,652,0.44775885009,0.00457108044316,0.0597557611108,0.999999919962,6.1342076236e-06,-0.000393523622064,-7.19562735776e-05,1793245472096383232
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.613443035,745,713.386556965,682,655.613443035,630,880,784,810.613443035,653,630,652.386556965,0.448226699807,0.00458744195178,0.0597662780243,0.999999926222,2.32638850417e-05,-0.000375701941516,-7.6568317151e-05,1793245472113049856
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.033866554,745,713.966133446,682,655.033866554,630,880,784,810.033866554,653,630,652.966133446,0.448675925302,0.00460310900849,0.0597739467715,0.99999993067,4.02482079052e-05,-0.000361315392555,-8.05718747521e-05,1793245472129716736
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713.456285734,681.456285734,655,629.456285734,880,784,810,652.456285734,630,652.456285734,0.449027067665,0.0045982488603,0.0597455349731,0.999999912129,3.60051825855e-05,-0.000409899631631,-8.01795211166e-05,1793245472146383104
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.120584264,745,713,681.120584264,655,629,879.879415736,784,810,652,630,652.120584264,0.449368140866,0.00459374553481,0.0597163288469,0.999999891354,3.26121432411e-05,-0.000458112480393,-7.97521106295e-05,1793245472163049728
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.695244109,745,713,681.695244109,655,629,879.304755891,784,810,652,630,652.695244109,0.449694218835,0.00459538294416,0.0596925633583,0.99999987593,3.73805280342e-05,-0.000490210964428,-8.0219985501e-05,1793245472179716352
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.723012315,745,713,682,655,629,879.276987685,784,810.276987685,652,629.723012315,653,0.450012637672,0.00459822869167,0.0596771906695,0.999999865549,6.09211560003e-05,-0.000509484104794,-7.4947302754e-05,1793245472196383232
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.133270344,745,713,682,655,629,879.866729656,784,810.866729656,652,629.133270344,653,0.450322408354,0.00460243880637,0.0596712945195,0.999999860182,0.00010565803113,-0.000514275800459,-6.3192801058e-05,1793245472213049600
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745.448240896,713,682,654.551759104,628.551759104,880,783.551759104,810.551759104,652,629.448240896,653,0.450619432644,0.00460348619555,0.0596812953268,0.999999869,0.00011171032576,-0.000495608509759,-6.23934431948e-05,1793245472229716480
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.972917428,713,682,654,628,880,783,810,652.027082572,630,652.972917428,0.450910065269,0.00460356653978,0.0596955055075,0.999999881382,0.000106578461051,-0.000470836302249,-6.4739142655e-05,1793245472246383104
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745.399452942,713,682,654,628,880,783,810,652.600547058,630,652.399452942,0.451146826382,0.0046027659912,0.0597010029893,0.999999886152,0.00010366775634,-0.000461076295743,-6.6007923728e-05,1793245472263050752
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713,682,653.825507329,628,880,783.174492671,810,652.825507329,630,652.174492671,0.451370036258,0.00460279783867,0.0597037451573,0.999999888353,0.000102538329109,-0.000456366780485,-6.71461024972e-05,1793245472279717888
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713,682,652,627,880,783.013788944,810,652.013788944,629.013788944,653,0.452622878805,0.00460757451364,0.0597010505895,0.999999889648,0.000102551169416,-0.000452791981809,-7.18800046822e-05,1793245472446383104
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764.411086488,745,714,682.411086488,652,626.411086488,880,783,810,653,630,652.588913512,0.452824039419,0.00461474140378,0.0596909922654,0.999999879113,0.000115992998382,-0.000472587028144,-7.05832704971e-05,1793245472746383872
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+256,4.266666667,HOLD_POSE2,764.963533647,745,713.036466353,682.036466353,651,626,880,784,810,653,630,652,0.452823049407,0.00461210443349,0.0596845810627,0.999999874847,0.00011578115329,-0.000481806580014,-6.90144403836e-05,1793245473106525184
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+259,4.316666667,HOLD_POSE2,765,745,713.705779817,682,651,626,880.705779817,783,809.294220183,653,630,652.705779817,0.452825254954,0.0046158144357,0.0596866418505,0.999999875877,0.00011868267631,-0.00047881746745,-6.99583335913e-05,1793245473156525056
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.524443472,745,713.524443472,680,660,633,878,785,807.475556528,652,629,652,0.416524827386,0.00456711144274,0.059825309487,0.999999948613,0.000146388361764,-0.000283227523518,3.35621057051e-05,1793245474443830528
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.899046062,745,713.899046062,680.100953938,659.798092124,633,878.100953938,785,807.100953938,652,629.100953938,652,0.415724689415,0.00456789937893,0.0598469217427,0.999999952754,0.000159605648914,-0.000260371240412,3.49942231607e-05,1793245474460497408
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.50900278,659,633,878,785,807,652.49099722,630,652,0.408145980036,0.00455089857619,0.0598537142142,0.999999952795,0.000178767519029,-0.000247320837071,3.58415234897e-05,1793245474643830784
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.640346095,745,713,679,659,633,878,785,807,652.359653905,630,652,0.407039645675,0.00454996099369,0.0598226617855,0.999999943905,0.000165482854845,-0.000289245342082,3.38087092228e-05,1793245474677164288
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.780536671,745,713.219463329,679.219463329,659.219463329,633,878,785,807,652,630,652.219463329,0.40652685947,0.00454840116888,0.0598127414561,0.999999941168,0.000157139815971,-0.000303116024937,3.30348676011e-05,1793245474693830912
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.390999424,745,713.609000576,679.609000576,660,633,878,785.390999424,807,652.390999424,630,652.609000576,0.405611893304,0.00454335743758,0.0598229571295,0.999999950189,0.000137926195959,-0.000282130218329,3.16411166333e-05,1793245474727164416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.972156287,745,713.027843713,679.027843713,660,633,878,785.972156287,807,652.972156287,630,652.027843713,0.405173266656,0.00453961716589,0.059826351634,0.999999953378,0.000129664967894,-0.000274635419741,3.17302062782e-05,1793245474743831040
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.127021547,745,713,680,659.127021547,633.127021547,878.127021547,785,807,653,629.872978453,652,0.40434386938,0.00454182187636,0.0597864037004,0.999999934803,0.000126847436702,-0.000336635817209,3.12954523858e-05,1793245474777164288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.714434372,745,713,680,659.714434372,633.714434372,878.714434372,785,807,653,629.285565628,652,0.403962980817,0.00453998081673,0.0597641383147,0.999999921239,0.000123562940827,-0.000375852845234,3.14508078882e-05,1793245474793830912
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.877144523,680,660,633.122855477,878.122855477,785,807,653,629,652,0.40335493896,0.00453421110893,0.0597816672708,0.999999935565,0.000116192674827,-0.000338076204551,3.277387356e-05,1793245474827164160
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.062686514,745,714,680,660,633,878,785,807,653,630,652,0.401848994457,0.00452158274061,0.0598258555315,0.999999943704,0.000175605027769,-0.000285154665345,2.09927591114e-05,1793245474943831552
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.322844612,660.677155388,633,878,785.322844612,807,652.677155388,629.677155388,652,0.40147180423,0.00452199664356,0.0598252624952,0.99999994216,0.000174251170394,-0.00029117858085,2.30462829371e-05,1793245474993831936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.260297481,745,713,679,660.739702519,633,878,785,807,653,630,652,0.401377318836,0.00452125515692,0.0598261680172,0.999999942887,0.000173946643568,-0.000288806995009,2.36331542487e-05,1793245475010498048
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.41857435,679.41857435,660.41857435,633.41857435,878,785.41857435,807,653,629.58142565,652,0.40122436429,0.00451974785696,0.0598268404263,0.999999944015,0.00017142121534,-0.000286347791451,2.42697630445e-05,1793245475043830784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.997717712,679.997717712,660.997717712,633.997717712,878,785.997717712,807,653,629.002282288,652,0.401155657923,0.00451921689851,0.0598242999319,0.999999942783,0.000170554878187,-0.000291076193948,2.48966993226e-05,1793245475060497664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.429046707,679.429046707,660.429046707,633.429046707,878.570953293,784.858093413,807,653,629.570953293,652,0.401108416768,0.00451876293563,0.0598227248168,0.999999941942,0.00017199417827,-0.000293087297507,2.51745487555e-05,1793245475077164544
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.262690458,745,713.737309542,679,660,633,878.262690458,784.737309542,807,653,630,652,0.401030792163,0.00451762938997,0.059820491027,0.999999941178,0.000166671248851,-0.000298724905979,2.5066854722e-05,1793245475110498560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.678974178,679.321025822,660,633.321025822,878,785,807,652.678974178,629.678974178,652,0.401006279292,0.00451770774401,0.0598210709796,0.999999941353,0.000166322110611,-0.000298337834372,2.49920414044e-05,1793245475127165184
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745.054949925,714,679.945050075,660.945050075,633.945050075,877.054949925,785,806.945050075,653,630,652.945050075,0.400970913269,0.00451655504601,0.0598261963864,0.99999994432,0.000166875854429,-0.000287869612528,2.53603685692e-05,1793245475177164800
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.209274981,745.790725019,714,679,660,633.209274981,878,785,806.209274981,653,629.790725019,652,0.400959972456,0.00451779751421,0.0598273483958,0.999999944953,0.000165537538774,-0.000286505727189,2.4598034979e-05,1793245475210497792
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.735907158,745,714,679,660,633.264092842,878,785,806.735907158,652.264092842,629.264092842,652,0.400956141587,0.00451816355283,0.059831700602,0.999999947154,0.000163192694796,-0.00028011286991,2.44354488611e-05,1793245475327164416
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee8bda00ce48a31170cda57fbfe011b38083903a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575672162293,0.00987785899464,1.05005079496,0.546243794941,0.0185535430522,1.04971729077
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+390,6.500000000,pose2_to_pose3_retreat,0.575671399423,0.00987785815074,1.05005084513,0.546243032091,0.0185535421808,1.04971733849
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80c6fdf87d3154aceb73de49ac96e03648731a89
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1223828baafefee6f2cb53b517cab052aa1555a6bcf460be09e7dbf75ff536b6
+size 25669788
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba51e3c166c025a9970e81ae8dd05238cce22303
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+14,0.233333333,BASELINE,764,745,713.117954992,679.117954992,660,633.882045008,877.882045008,785,807,653,629.882045008,652,0.400956068574,0.00451534099456,0.0598364024846,0.999999950396,0.000154009117403,-0.000273693639165,2.41097616406e-05,1793245475925940736
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+16,0.266666667,BASELINE,764,745,713.705752709,679.705752709,660,633.294247291,877.294247291,785.294247291,807,653,629,652,0.400955116032,0.00451609164484,0.0598360901526,0.999999949892,0.000156793455998,-0.000273966058334,2.39759228622e-05,1793245475959273728
+17,0.283333333,BASELINE,764,745,713.127407121,679.127407121,660,633.872592879,877.872592879,785.872592879,807,653,629,652,0.400956663733,0.00451758619156,0.059837152459,0.999999950228,0.000158493735563,-0.000271764299737,2.38188537949e-05,1793245475975940864
+18,0.300000000,BASELINE,764,745,713,679.448150816,660,634,878.448150816,785.551849184,807,653,629,652,0.400955991147,0.00451700407022,0.0598366702948,0.999999950105,0.000158127064488,-0.000272422545144,2.39187146597e-05,1793245475992608000
+19,0.316666667,BASELINE,764,745,713.022845289,680,660,634,879,785,807,652.977154711,629.022845289,652.022845289,0.400954731317,0.00451582724787,0.0598357831682,0.999999949868,0.000157113633059,-0.000273860531736,2.40730108426e-05,1793245476009274368
+20,0.333333333,BASELINE,764,745,713.595713866,680,660,634,879,785,807,652.404286134,629.595713866,652.595713866,0.400954436261,0.00451445868427,0.0598356522401,0.999999950061,0.000154588978017,-0.000274616739652,2.37901572459e-05,1793245476025940736
+21,0.350000000,BASELINE,764,745,713.825084208,680,660,633.825084208,878.825084208,785,807,652.174915792,630,652.825084208,0.40095486431,0.00451369521862,0.0598360321298,0.999999950345,0.000153201005463,-0.000274368397929,2.36969312662e-05,1793245476042607360
+22,0.366666667,BASELINE,764,745,713.230694041,680,660,633.230694041,878.230694041,785,807,652.769305959,630,652.230694041,0.400957026475,0.00451438286906,0.0598376370373,0.999999950856,0.000154538968839,-0.000271710994982,2.40584608733e-05,1793245476059274240
+23,0.383333333,BASELINE,764,745,713,679.646677707,660,633,878,785,807,652.646677707,630,652,0.400956922581,0.00451520921799,0.0598376756134,0.999999950683,0.000155823493103,-0.000271623143393,2.39609199947e-05,1793245476075940864
+24,0.400000000,BASELINE,764,745,713,679.069241485,660,633,878,785,807,652.069241485,630,652,0.400955381316,0.00451612354405,0.0598367206584,0.999999950076,0.000157074120827,-0.000273165169604,2.35721886635e-05,1793245476092607488
+25,0.416666667,BASELINE,764,745,713.504739216,679,660,633.504739216,878,785.504739216,807,652.504739216,630,652,0.400956892905,0.00451566326485,0.059838245096,0.99999995086,0.00015680087419,-0.000270441874868,2.35645302429e-05,1793245476109274112
+26,0.433333333,BASELINE,764,745,713.919369634,679.080630366,660,634,878,786,807,653,630,652,0.400958336128,0.0045150800338,0.0598394979874,0.999999951616,0.000155964103985,-0.000268117641954,2.35995875661e-05,1793245476125940736
+27,0.450000000,BASELINE,764,745,713.328406533,679.671593467,660,634,878,786,807,653,630,652,0.400956713962,0.00451490401605,0.0598368940449,0.999999951045,0.000152874766676,-0.000271997446962,2.35763812634e-05,1793245476142607104
+28,0.466666667,BASELINE,764,745.257461465,713.257461465,679.742538535,660.257461465,634,878,785.742538535,807,653,630,652.257461465,0.400955708456,0.00451539868938,0.0598356409305,0.999999950616,0.000152692593553,-0.000273679723295,2.3514965693e-05,1793245476159273728
+29,0.483333333,BASELINE,764,745.836956458,713.836956458,679.163043542,660.836956458,634,878,785.163043542,807,653,630,652.836956458,0.400955474269,0.004516732265,0.0598360774358,0.999999950376,0.000156146709802,-0.000272613324319,2.34057578644e-05,1793245476175940352
+30,0.500000000,BASELINE,764,745.586334021,713.586334021,679.413665979,661,633.586334021,878.413665979,785,807,653,629.586334021,652.586334021,0.400954766915,0.00451611392323,0.0598361163133,0.999999950194,0.000156229464973,-0.000273239614565,2.33528277147e-05,1793245476192606976
+31,0.516666667,BASELINE,764,745.010715043,713.010715043,679.989284957,661,633.010715043,878.989284957,785,807,653,629.010715043,652.010715043,0.400953874314,0.00451473139271,0.0598359995168,0.999999950034,0.00015499230965,-0.000274528603989,2.33219306554e-05,1793245476209273600
+32,0.533333333,BASELINE,764.575009664,745,713,680,660.424990336,633.575009664,878.424990336,785,807,653,629.575009664,652,0.400955538128,0.00451576232899,0.0598368972078,0.999999950531,0.00015558486165,-0.000272376747031,2.33055912265e-05,1793245476225940224
+33,0.550000000,BASELINE,764.840894682,745,713.159105318,679.840894682,660,634,878,785,807,653,629.840894682,652,0.400956316023,0.00451645216346,0.059837283485,0.999999950741,0.000156062803113,-0.000271330443397,2.33044900667e-05,1793245476242606848
+34,0.566666667,BASELINE,764.261607516,745,713.738392484,679.261607516,660,634,878,785,807,653,629.261607516,652,0.400954626233,0.00451612028434,0.0598362683492,0.999999950169,0.000156146414615,-0.000273376160445,2.33429024867e-05,1793245476259273472
+35,0.583333333,BASELINE,764,745,713.682567878,679,660,634,878,785,807,653,629.317432122,652.317432122,0.400954640499,0.0045161353104,0.0598361527705,0.99999995009,0.000156412057701,-0.000273523056069,2.32409477443e-05,1793245476275940352
+36,0.600000000,BASELINE,764,745,713.103732015,679,660,634,878,785,807,653,629.896267985,652.896267985,0.400956058046,0.0045164360111,0.0598367779724,0.999999950417,0.000156827602881,-0.000272106282118,2.30234013607e-05,1793245476292606976
+37,0.616666667,BASELINE,764,745,713,679.472227343,660.472227343,633.527772657,878,785,807,653,630,653,0.400957045391,0.00451497792529,0.0598377014037,0.999999950983,0.000155916870751,-0.000270510000177,2.33988749617e-05,1793245476309273600
+38,0.633333333,BASELINE,764.048477364,745,713,680,661,633.048477364,878,785,807,653,629.951522636,653,0.400957751342,0.00451336027862,0.059838508092,0.99999995152,0.000154730482066,-0.000269167602809,2.38372512896e-05,1793245476325940480
+39,0.650000000,BASELINE,764.634922976,745,713,680,661,633.634922976,878,785,807,653,629.365077024,653,0.400956376943,0.00451423336134,0.0598372966583,0.99999995117,0.000153698531591,-0.000271077575941,2.35368295614e-05,1793245476342607104
+40,0.666666667,BASELINE,765,745,713,679.780088518,660.780088518,633.780088518,878,785,807,652.780088518,629,652.780088518,0.400955742578,0.00451491576769,0.0598366386168,0.999999950939,0.000153549729548,-0.000272019488573,2.34448012563e-05,1793245476359273472
+41,0.683333333,BASELINE,765,745,713,679.197503078,660.197503078,633.197503078,878,785,807,652.197503078,629,652.197503078,0.400956328666,0.00451528371403,0.0598368932196,0.999999950909,0.000154857399659,-0.000271364893583,2.36964515551e-05,1793245476375940352
+42,0.700000000,BASELINE,764.621298088,745,713,679,660.378701912,633.378701912,877.621298088,785,807,652.378701912,629.378701912,652,0.400955087626,0.00451591972326,0.0598365157614,0.999999950376,0.000156589050116,-0.000272334526319,2.36872575612e-05,1793245476392606976
+43,0.716666667,BASELINE,764.048365554,745,713,679,660.951634446,633.951634446,877.048365554,785,807,652.951634446,629.951634446,652,0.400952909479,0.00451669321797,0.0598358141284,0.99999994958,0.000158538153797,-0.000274137201505,2.35442803707e-05,1793245476409273600
+44,0.733333333,BASELINE,763.471755129,745,713.528244871,679,660.471755129,634,877.528244871,785.528244871,807,653,629.471755129,652,0.400955426638,0.00451692004191,0.0598367254986,0.99999995024,0.000158068691469,-0.000272005564903,2.33774648656e-05,1793245476425940224
+45,0.750000000,BASELINE,763.107292468,745,714,679.107292468,660.107292468,634,878,785.892707532,807,653,629,652,0.400957752032,0.00451696655451,0.0598376651019,0.999999950846,0.000157575840068,-0.000270064801259,2.32965002352e-05,1793245476442606592
+46,0.766666667,BASELINE,763.695748889,745,714,679.695748889,660.695748889,634,878,785.304251111,807,653,629,652,0.400957275995,0.00451643048238,0.0598380643665,0.999999950629,0.000157978137375,-0.00027060680379,2.36103993761e-05,1793245476459273472
+47,0.783333333,BASELINE,764,745,713.719916722,679.719916722,661,634,878,785,807,653,629,652.280083278,0.400956647555,0.00451604060205,0.0598380900758,0.999999950737,0.000156892607891,-0.000270838550819,2.36066263644e-05,1793245476475940096
+48,0.800000000,BASELINE,764,745,713.139995031,679.139995031,661,634,878,785,807,653,629,652.860004969,0.400955855959,0.0045158072248,0.0598377158818,0.999999951189,0.000154214310657,-0.000270738159135,2.32627748432e-05,1793245476492606976
+49,0.816666667,BASELINE,764,745,713.436744391,679.436744391,661,633.563255609,878,785,807,653,629.436744391,652.563255609,0.400955703556,0.00451514228471,0.0598374845023,0.999999951222,0.00015341353673,-0.000271066351012,2.33036428427e-05,1793245476509273600
+50,0.833333333,BASELINE,764.01245287,745,713.98754713,679.98754713,660.98754713,633,878,785,807,652.98754713,630,652,0.400955755038,0.00451436061818,0.059837317249,0.99999995113,0.00015322734712,-0.00027149825999,2.34681358931e-05,1793245476525939968
+51,0.850000000,BASELINE,764.587337832,745,713.412662168,679.412662168,660.412662168,633,878,785,807,652.412662168,630,652,0.400955828157,0.00451450966314,0.0598379936435,0.999999951317,0.000153814024939,-0.000270454711736,2.36867474394e-05,1793245476542606592
+52,0.866666667,BASELINE,764.832880865,745,713,679,660,633,878,785.167119135,807,652.167119135,629.832880865,652,0.400956030449,0.00451419006452,0.0598384132203,0.99999995147,0.00015412227536,-0.000269698000712,2.38799581849e-05,1793245476559273216
+53,0.883333333,BASELINE,764.24064429,745,713,679,660,633,878,785.75935571,807,652.75935571,629.24064429,652,0.400956561327,0.00451267833098,0.0598381795045,0.999999951535,0.000153722262497,-0.000269670945919,2.40085543933e-05,1793245476575939840
+54,0.900000000,BASELINE,764.342712288,745,713,679,660.342712288,633.342712288,878,785.657287712,806.657287712,653,629.342712288,652,0.400956619148,0.00451305655433,0.0598378427152,0.999999951466,0.0001536209178,-0.000269991100651,2.39421170957e-05,1793245476592606720
+55,0.916666667,BASELINE,764.919991007,745,713,679,660.919991007,633.919991007,878,785.080008993,806.080008993,653,629.919991007,652,0.400956353189,0.00451472834222,0.0598374353783,0.999999951304,0.000153723993938,-0.000270548899908,2.37421908137e-05,1793245476609273344
+56,0.933333333,BASELINE,764.505461558,745,713.494538442,679.494538442,661,634,878,785,806.494538442,653,629.505461558,652,0.400955725759,0.0045161231906,0.0598366423625,0.999999950763,0.000155260549959,-0.000271711729567,2.32602128732e-05,1793245476625939968
+57,0.950000000,BASELINE,764,745,714,679.931439807,661,634,878,785,807,653,629,652,0.400955132833,0.00451716742416,0.0598359578391,0.99999995028,0.000156660998257,-0.000272718639696,2.2853269213e-05,1793245476642606848
+58,0.966666667,BASELINE,764,745,714,679.358053276,661,634,878,785,807,653,629,652,0.400955222213,0.00451595808653,0.0598365290966,0.999999950705,0.000155360973136,-0.000271860680249,2.33329755706e-05,1793245476659273472
+59,0.983333333,BASELINE,764,745,713.775847234,679,660.775847234,634,877.775847234,785,807,652.775847234,629,652.224152766,0.40095600646,0.00451545799713,0.0598370980593,0.99999995106,0.000155160674109,-0.000270647400948,2.35824140084e-05,1793245476675940096
+60,1.000000000,BASELINE,764,745,713.17897613,679,660.17897613,634,877.17897613,785,807,652.17897613,629,652.82102387,0.400957946123,0.00451613723636,0.0598376632062,0.999999951295,0.00015678898529,-0.000268843300218,2.34489659856e-05,1793245476692606720
+61,1.016666667,BASELINE,764,745,713,679,660.402789255,633.597210745,877.402789255,785,807,652.402789255,629,652.597210745,0.400957832297,0.0045156687929,0.0598375413396,0.999999951168,0.000156896171017,-0.000269251248875,2.3485520591e-05,1793245476709273600
+62,1.033333333,BASELINE,764,745,713,679,660.978085127,633.021914873,877.978085127,785,807,652.978085127,629,652.021914873,0.400956839003,0.00451470881975,0.0598371252389,0.999999950885,0.000156351888911,-0.000270606574337,2.35948839442e-05,1793245476725940224
+63,1.050000000,BASELINE,764,745,713,679,661,633.551596844,878,785.551596844,807,653,629,652,0.400955469882,0.00451503656617,0.059836356539,0.999999950694,0.00015540496153,-0.000271860945857,2.35206243617e-05,1793245476742606848
+64,1.066666667,BASELINE,764,745,713.128559691,679,660.871440309,633.871440309,878.128559691,785.871440309,807,653,629.128559691,652,0.400954662093,0.00451536275607,0.0598360428719,0.999999950572,0.000155042486896,-0.00027252020564,2.34771285558e-05,1793245476759273216
+65,1.083333333,BASELINE,764,745,713.71815212,679,660.28184788,633.28184788,878.71815212,785.28184788,807,653,629.71815212,652,0.400955920695,0.00451550048539,0.0598374110898,0.999999950687,0.000156833122915,-0.000271059650024,2.35700335478e-05,1793245476775939840
+66,1.100000000,BASELINE,764,745,713.697023714,679,660,633.302976286,878.394047429,785,807,653,630,652,0.400956380497,0.00451556082845,0.0598377462878,0.999999950718,0.000157461377706,-0.000270585918197,2.35218465392e-05,1793245476792606720
+67,1.116666667,BASELINE,764,745,713.116566595,679,660,633.883433405,877.233133191,785,807,653,630,652,0.400956108718,0.0045155502973,0.0598371353943,0.999999950674,0.00015702506554,-0.000271015969022,2.33444404159e-05,1793245476809273344
+68,1.133333333,BASELINE,764,745,713,679,660,634,877.459115231,785,807,653,630,652,0.400956121723,0.00451566047243,0.0598369404889,0.999999950776,0.000156605609317,-0.000270888805173,2.32822013889e-05,1793245476825940736
+69,1.150000000,BASELINE,764,745,713,679,660,634,878,785,807,653,630,652,0.400956179174,0.00451580784207,0.0598368907819,0.999999950916,0.000156161622577,-0.000270631533483,2.32367279882e-05,1793245476842608384
+70,1.166666667,BASELINE,764,745,713,679,660,634,878,785,807,653,630,652,0.400955800115,0.00451606570586,0.0598374958051,0.999999951089,0.000155254527659,-0.00027053379288,2.29952702481e-05,1793245476859275008
+71,1.183333333,BASELINE,764,745,713,679,660.188224449,634,878,785,807,653,630,652,0.400955391109,0.00451577353169,0.0598376675039,0.999999951213,0.000154198913061,-0.000270686651183,2.29233768499e-05,1793245476875941632
+72,1.200000000,BASELINE,764,745,713,679,660.782076104,634,878,785,807,653,630,652,0.400954917567,0.00451429601548,0.0598369053802,0.99999995123,0.000152823235606,-0.000271379554795,2.32168977311e-05,1793245476892608512
+73,1.216666667,BASELINE,764,745,713,679,660.634951102,633.634951102,878,785,807,653,629.634951102,652,0.400955430198,0.00451455073966,0.0598374595018,0.999999951382,0.000153177957435,-0.00027060288469,2.33973350142e-05,1793245476909274880
+74,1.233333333,BASELINE,764,745,713,679,660.058284775,633.058284775,878,785,807,653,629.058284775,652,0.400956514511,0.00451580963694,0.0598387766456,0.999999951609,0.000154535785086,-0.000268974308371,2.35122181573e-05,1793245476925940992
+75,1.250000000,BASELINE,764,745,713,679.513747456,660.513747456,633.513747456,878,785,807,653,629.513747456,652,0.40095625261,0.00451559495241,0.0598381262903,0.999999951231,0.000155241671284,-0.000269969858231,2.35604107577e-05,1793245476942607360
+76,1.266666667,BASELINE,764,745,713,679.911422687,660.911422687,633.911422687,878,785,806.911422687,653,630,652,0.400956033,0.00451541858304,0.0598375055868,0.999999950897,0.000155779509898,-0.000270893648427,2.35565900941e-05,1793245476959273728
+77,1.283333333,BASELINE,764,745,713,679.317665615,660.317665615,633.317665615,878,785,806.317665615,653,630,652,0.400956917852,0.00451640567312,0.0598383156589,0.999999951219,0.000155776987885,-0.000269725447005,2.32988895507e-05,1793245476975940864
+78,1.300000000,BASELINE,764,745,713,679,660,633.268932416,878,785,806,653,629.731067584,652,0.400956926391,0.00451647386012,0.0598386815665,0.999999951329,0.000155897094996,-0.000269247923048,2.32953850452e-05,1793245476992608000
+79,1.316666667,BASELINE,764,745,713,679,660,633.847293352,878,785,806,653,629.152706648,652,0.40095592666,0.00451548477467,0.059838536427,0.999999951197,0.000156158296847,-0.000269565079516,2.35843536806e-05,1793245477009274624
+80,1.333333333,BASELINE,764,745,713,679,660,633.577723627,878,785,806.422276373,652.577723627,629.422276373,652.422276373,0.400955444412,0.00451611173313,0.0598381839011,0.999999950824,0.00015720438472,-0.000270347734801,2.34587103715e-05,1793245477025941248
+81,1.350000000,BASELINE,764,745,713,679,660,633.003952411,878,785,806.996047589,652.003952411,629.996047589,652.996047589,0.400955147814,0.00451731845948,0.0598377569738,0.999999950364,0.00015853205641,-0.00027129739133,2.31843219156e-05,1793245477042607872
+82,1.366666667,BASELINE,764,745,713,679,660,633.58576508,877.41423492,785,807,652,630,652.41423492,0.400955354858,0.00451704505676,0.0598384381282,0.999999950961,0.000156334550727,-0.000270367603342,2.32195634407e-05,1793245477059273984
+83,1.383333333,BASELINE,764,745,713,679,660,633.827571568,877.172428432,785,807,652.172428432,629.827571568,652,0.400955368617,0.00451647249361,0.0598386808182,0.999999951356,0.000154472183907,-0.000269970465794,2.32818687683e-05,1793245477075940608
+84,1.400000000,BASELINE,764,745,713,679,660,633.248373926,877.751626074,785,807,652.751626074,629.248373926,652,0.400954918165,0.00451521841211,0.0598378710126,0.999999951269,0.000153458112399,-0.000270860636469,2.34029527736e-05,1793245477092607232
+85,1.416666667,BASELINE,764,745,713,679.329568945,660,633.329568945,878,785,807,653,629.329568945,652,0.400956382995,0.00451503554213,0.0598384717639,0.999999951448,0.000154376683985,-0.000269668704927,2.34593115278e-05,1793245477109273856
+86,1.433333333,BASELINE,764,745,713,679.906569732,660,633.906569732,878,785,807,653,629.906569732,652,0.400959285769,0.00451565691014,0.0598401315249,0.999999951819,0.000156746234087,-0.00026691358483,2.34670762298e-05,1793245477125940480
+87,1.450000000,BASELINE,764,745,713.48163687,680,660.48163687,633.51836313,878,785,807,653,630,652.48163687,0.400957406587,0.00451605438772,0.0598390367596,0.999999951474,0.000156799715677,-0.000268164820977,2.35303295749e-05,1793245477142607360
+88,1.466666667,BASELINE,764,745,713.942195197,679.942195197,660.942195197,633,878,785,807,652.942195197,629.942195197,652.942195197,0.400954893237,0.00451626099464,0.0598376099869,0.999999951051,0.000156295273876,-0.000270027185287,2.35722566115e-05,1793245477159274240
+89,1.483333333,BASELINE,764,745,713.352459569,679.352459569,660.352459569,633,878,785,807,652.352459569,629.352459569,652.352459569,0.400955046222,0.00451510923879,0.0598380254235,0.999999951195,0.000154774563518,-0.000270390175328,2.33192789827e-05,1793245477175941120
+90,1.500000000,BASELINE,764,745,713.232664849,679.232664849,660,633.232664849,878,785,806.767335151,652,629.232664849,652,0.400955219577,0.00451420949978,0.0598384162104,0.999999951332,0.000153744740692,-0.000270472408781,2.33241096815e-05,1793245477192608000
+91,1.516666667,BASELINE,764,745,713.810939537,679.810939537,660,633.810939537,878,785,806.189060463,652,629.810939537,652,0.40095542319,0.00451368411696,0.0598387703814,0.999999951459,0.000153444102325,-0.000270137594936,2.37118993883e-05,1793245477209274112
+92,1.533333333,BASELINE,764,745,713.611908637,679.611908637,660.388091363,634,878,785,806,652.388091363,630,652,0.400956733427,0.00451484675822,0.0598388750672,0.999999951519,0.000154379498579,-0.000269397636394,2.35550606775e-05,1793245477225940224
+93,1.550000000,BASELINE,764,745,713.035302187,679.035302187,660.964697813,634,878,785,806,652.964697813,630,652,0.400958581204,0.00451682935585,0.0598388585657,0.999999951542,0.000155915297685,-0.00026846087909,2.31336691594e-05,1793245477242606848
+94,1.566666667,BASELINE,764,745,713,679,661,633.463942213,878.536057787,785,806.536057787,653,629.463942213,652.536057787,0.400958591557,0.00451475020576,0.0598384905607,0.999999951922,0.00015327803141,-0.000268531903415,2.35139734242e-05,1793245477259273472
+95,1.583333333,BASELINE,764,745,713.111568196,679,661,633.111568196,879,785,807,653,629.111568196,653,0.400958144353,0.00451294946632,0.0598381895398,0.999999952198,0.000150901759502,-0.000268822420163,2.38204369326e-05,1793245477275940608
+96,1.600000000,BASELINE,764,745,713.706544513,679,661,633.706544513,879,785,807,653,629.706544513,653,0.400956233832,0.00451350278563,0.059838278077,0.999999951956,0.000150835539645,-0.000269779190573,2.35804205814e-05,1793245477292607744
+97,1.616666667,BASELINE,764,745,713.706599775,679,661,634,878.706599775,785,807,653,630,652.706599775,0.400955809743,0.00451387697996,0.059838560153,0.99999995175,0.000151860088629,-0.000269960694637,2.36498593141e-05,1793245477309274624
+98,1.633333333,BASELINE,764,745,713.127647487,679,661,634,878.127647487,785,807,653,630,652.127647487,0.400956832326,0.00451407684068,0.0598390305907,0.999999951577,0.000153946229484,-0.000269387669894,2.4020475532e-05,1793245477325941504
+99,1.650000000,BASELINE,764,745,713.448373194,679.448373194,661,633.551626806,878,785,807,653,629.551626806,652,0.4009559979,0.00451429295891,0.0598381969843,0.999999951391,0.000153327912175,-0.000270451886753,2.3766345506e-05,1793245477342607616
+100,1.666666667,BASELINE,764,745,713.975941588,680,661,633,878,785,807,652.975941588,629.024058412,652,0.400954778645,0.00451450542239,0.0598371066579,0.999999951236,0.000152047365982,-0.000271780543745,2.33586497772e-05,1793245477359273728
+101,1.683333333,BASELINE,764,745,713.388698744,680,661,633,878,785,807,652.388698744,629.611301256,652,0.400956846231,0.0045145246904,0.0598386408869,0.999999951958,0.000153170990795,-0.000268459255353,2.34925953828e-05,1793245477375940352
+102,1.700000000,BASELINE,764,745,713,679.80409605,661,633,878,785,807,652.19590395,630,652,0.400957699325,0.00451450053814,0.0598392236802,0.999999952167,0.000153876186946,-0.000267268643337,2.35572000717e-05,1793245477392606976
+103,1.716666667,BASELINE,764,745,713,679.224662168,661,633,878,785,807,652.775337832,630,652,0.400956174753,0.00451439138011,0.059837943805,0.999999951385,0.000153762206444,-0.000270249352251,2.34860529281e-05,1793245477409273600
+104,1.733333333,BASELINE,764,745.353252582,713,679,660.646747418,633.353252582,878,785,807,653,630,652,0.400956777851,0.00451410959089,0.0598385439703,0.999999951761,0.00015298694518,-0.000269299411121,2.34661036748e-05,1793245477425940480
+105,1.750000000,BASELINE,764,745.930205386,713,679,660.069794614,633.930205386,878,785,807,653,630,652,0.400958728313,0.0045137184815,0.0598403346871,0.999999952863,0.000151792922201,-0.000265860352497,2.34785759166e-05,1793245477442607872
+106,1.766666667,BASELINE,764,745.495033795,713,679,660.504966205,634,878,785,807,653,629.495033795,652,0.400958929696,0.00451440356201,0.0598404865804,0.999999952646,0.000153384376943,-0.000265766144595,2.34488444126e-05,1793245477459274752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,785,807,652,629,652,0.400956426049,0.00451300780364,0.0598380312119,0.999999951994,0.000149950082893,-0.000270138746268,2.34926965502e-05,1793245477501896448
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.421951166,744.421951166,713.421951166,679.578048834,660,634,878.578048834,785,807,652.578048834,629,652,0.400956709017,0.00451379682003,0.0598386291448,0.999999951903,0.000151945290971,-0.00026936732358,2.33914847096e-05,1793245477518563072
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.156081421,744.156081421,713.156081421,680,660.156081421,634,879,785,807,653,629.156081421,652,0.400957285026,0.00451438255983,0.0598393061186,0.99999995191,0.000153623843455,-0.000268387195286,2.34119010024e-05,1793245477535229696
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.734070216,744.734070216,713.734070216,680,660.734070216,634,879,785,807,653,629.734070216,652,0.400958653161,0.00451441881809,0.0598401967501,0.999999952188,0.000154446437166,-0.000266842909772,2.3761093153e-05,1793245477551896064
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.690455848,660.690455848,634,878.690455848,785,807,653,630,652,0.400958511733,0.0045140399951,0.0598401752823,0.99999995234,0.000153167320639,-0.000267015002477,2.37213385433e-05,1793245477568562688
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.117125053,660.117125053,634,878.117125053,785,807,653,630,652,0.400957083888,0.00451330744909,0.0598393765436,0.999999952376,0.000150097173336,-0.00026864975462,2.3350132133e-05,1793245477585229824
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.528055072,679,660,634,878,785.471944928,807,653,630,652,0.400956100786,0.00451401472002,0.0598388376004,0.999999951766,0.000151672721864,-0.000270039469032,2.32962092339e-05,1793245477601896448
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.063336553,679.063336553,660,634,878.063336553,785.936663447,806.936663447,653,630,652,0.400955730907,0.00451499374109,0.0598385964705,0.999999951152,0.000154130269568,-0.000270915711427,2.33153210706e-05,1793245477618562560
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.640773581,679.640773581,660,634,878.640773581,785.359226419,806.359226419,653,630,652,0.40095941173,0.00451517807377,0.0598402312848,0.999999951913,0.00015406567837,-0.000268134761275,2.32660572973e-05,1793245477635229184
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.217179351,745,714,680,660,634,878.782820649,785,806.217179351,652.782820649,630,652,0.400966833022,0.00451526592066,0.0598434830734,0.999999953469,0.000153859086544,-0.000262386921348,2.32890631866e-05,1793245477651896064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.791887369,745,714,680,660,634,878.208112631,785,806.791887369,652.208112631,630,652,0.400980412013,0.00451519492908,0.0598493967844,0.999999956267,0.000153418728035,-0.00025175487818,2.34310420662e-05,1793245477668563456
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.623411471,745,714,680,660.376588529,634,878.376588529,785,807,652.376588529,629.623411471,652,0.401011293201,0.00451479506218,0.059861495003,0.999999961376,0.000153692595737,-0.000230360241608,2.36616404624e-05,1793245477685229568
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.033037246,745,714,680,660.966962754,634,878.966962754,785,807,652.966962754,629.033037246,652,0.401051996681,0.00451420849591,0.0598771041077,0.999999967223,0.00015437192268,-0.00020285578285,2.39425473078e-05,1793245477701895680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,878.453603216,785,806.453603216,652.453603216,629.546396784,652,0.401117335863,0.00451338828863,0.0598972103852,0.999999973259,0.000153416288918,-0.000171312565641,2.44478517017e-05,1793245477718562560
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.875429656,679.875429656,661,634,878,785.124570344,806.124570344,652.124570344,630,652,0.40118694216,0.00451270742697,0.059915851586,0.999999978114,0.000151911634057,-0.00014172218753,2.47012485976e-05,1793245477735229696
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.299473432,679.299473432,661,634,878,785.700526568,806.700526568,652.700526568,630,652,0.401266718978,0.00451258167411,0.0599282180658,0.999999981437,0.000148768755729,-0.000120075491065,2.39936493622e-05,1793245477751896832
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785.718349605,807,653,629.718349605,652,0.401350973234,0.00451308466988,0.0599364351369,0.99999998342,0.000146322993571,-0.000105883883377,2.32141306688e-05,1793245477768563200
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785.131628502,807,653,629.131628502,652,0.40144007724,0.00451426869713,0.0599401577595,0.999999984314,0.000144632315709,-9.97672850557e-05,2.23567121895e-05,1793245477785229312
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.449418497,745.449418497,713,679.449418497,661,634,878,785.449418497,807,653,629,652,0.40155195836,0.00451285573042,0.0599443640087,0.999999985283,0.000142645850626,-9.28197296892e-05,2.16810113435e-05,1793245477801895936
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.971273007,745.971273007,713,680,661,634,878.028726993,785.971273007,807,653,629,652,0.401671663716,0.00451091677432,0.0599485032119,0.999999986203,0.000140672760254,-8.58151592876e-05,2.10118731577e-05,1793245477818562560
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.393823974,745.393823974,713,680,661,634,878.606176026,785.393823974,807,653,629,652,0.401814984144,0.0045132784874,0.0599486898394,0.99999998654,0.000140589292918,-8.23123549271e-05,1.94641460052e-05,1793245477835228928
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.817453141,745,713,679.817453141,661,634,879,785,807,653,629.182546859,652,0.401966730198,0.00451446169392,0.0599489757854,0.999999987213,0.000138528748835,-7.78838073622e-05,1.783016867e-05,1793245477851895552
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.243394813,745,713,679.243394813,661,634,879,785,807,653,629.756605187,652,0.402136546825,0.0045131173363,0.0599494747415,0.999999988576,0.00013222793339,-7.14698024668e-05,1.60112092458e-05,1793245477868562432
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.339811235,745,713.339811235,679,661,634,879,785,807.339811235,653,630,652,0.40232660296,0.00451310573887,0.0599510632775,0.999999989596,0.000128126860923,-6.47904406137e-05,1.39253022904e-05,1793245477885229568
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.9297508,745,713.9297508,679,661,634,879,785,807.9297508,653,630,652,0.402531557015,0.00451407515971,0.0599534538318,0.999999990362,0.000125644975099,-5.79157540839e-05,1.16429003477e-05,1793245477901896704
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.510338989,660.489661011,633.489661011,879,785,807.489661011,653,629.489661011,652.510338989,0.402774049762,0.00451321965143,0.0599547593257,0.999999991227,0.000121842047929,-5.11207797858e-05,9.30852205796e-06,1793245477918563072
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660.088889268,633,878.911110732,785,807,653,629.088889268,652.911110732,0.403027014721,0.00451225776617,0.0599553411447,0.999999992013,0.000117705258471,-4.55245469679e-05,6.89986681917e-06,1793245477935229184
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660.663213759,633,878.336786241,785,807,653,629.663213759,652.336786241,0.403309458462,0.00451206211985,0.0599527718861,0.999999992561,0.000112720407612,-4.64159419719e-05,4.12394447097e-06,1793245477951895808
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.761983258,660.761983258,633,878,785,807,652.761983258,630,652,0.40360301572,0.0045115916234,0.0599479528313,0.999999993052,0.000105959434351,-5.16479977536e-05,1.07440655442e-06,1793245477968562432
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.186501893,660.186501893,633,878,785,807,652.186501893,630,652,0.403912329917,0.00451073143928,0.0599399439731,0.999999993337,9.66802415721e-05,-6.30343241133e-05,-2.36306850406e-06,1793245477985229056
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.399912906,660.399912906,633.399912906,878,785,807,652,630,652,0.404234380759,0.00450991965355,0.059927469175,0.999999992342,8.94970940313e-05,-8.52792574381e-05,-5.7396060567e-06,1793245478001895680
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.991569882,660.991569882,633.991569882,878,785,807,652,630,652,0.404562538362,0.00450913107316,0.0599128531172,0.999999990134,8.33189261403e-05,-0.00011273050774,-9.08692613165e-06,1793245478018563072
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.569447928,745,713.430552072,679.430552072,660.430552072,634,878,784.430552072,806.430552072,652.569447928,629.430552072,652,0.404951939962,0.00451136850949,0.0599050579701,0.999999988833,7.69942196055e-05,-0.000127442353683,-1.28571526745e-05,1793245478035229440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.853539477,745,713,679,660,633.853539477,878.146460523,784.146460523,806.146460523,652.853539477,629.146460523,652,0.405362979739,0.00451224881351,0.0599022027224,0.999999988534,6.89229731062e-05,-0.000133813868581,-1.66057853258e-05,1793245478051896320
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.278476807,745,713,679,660,633.278476807,878.721523193,784.721523193,806.721523193,652.278476807,629.721523193,652,0.405834750858,0.00450902960706,0.0599135150823,0.999999991476,5.5746850792e-05,-0.000116317095889,-2.02733364222e-05,1793245478068562944
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.295892019,679.295892019,660.295892019,633.295892019,878.704107981,784.704107981,807,652.295892019,629.704107981,652,0.406336509517,0.00450744856419,0.0599359166248,0.99999999564,4.47325496319e-05,-7.83585599062e-05,-2.40739335066e-05,1793245478085229824
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.869609433,679.869609433,660.869609433,633.869609433,878.130390567,784.130390567,807,652.869609433,629.130390567,652,0.406866424786,0.00450740566124,0.0599687302659,0.999999998745,3.57480711506e-05,-2.11876162024e-05,-2.79994534096e-05,1793245478101896704
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.459014599,713.540985401,679.540985401,661,633.540985401,878,784.459014599,807,653,629.459014599,652,0.407402305678,0.00450704041992,0.0599883182753,0.999999999142,2.65615885831e-05,5.68642691748e-06,-3.12697774771e-05,1793245478118563584
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.948520355,713,679,660.948520355,633,878,785,807,652.948520355,630,652,0.407940937359,0.00450641694887,0.0600016810728,0.999999999074,1.73094455317e-05,1.92759182468e-05,-3.43569980638e-05,1793245478135230464
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.371908698,713,679,660.371908698,633,878,785,807,652.371908698,630,652,0.408489731301,0.00450412642604,0.0599912219141,0.999999999194,7.99356814476e-06,-1.1749450005e-05,-3.75421648126e-05,1793245478151897088
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679.20395409,660.20395409,633,877.79604591,784.79604591,807,652,629.79604591,652,0.409060807702,0.0045028905735,0.0599802797781,0.999999998324,-1.43311472035e-06,-4.04674763009e-05,-4.13709289938e-05,1793245478168563712
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679.778456284,660.778456284,633,877.221543716,784.221543716,807,652,629.221543716,652,0.409672367311,0.00450357086841,0.0599684601595,0.999999996752,-1.10611107532e-05,-6.4993473065e-05,-4.63689944553e-05,1793245478185230592
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.361343457,713,680,661,633,877.722686914,784.361343457,807,652.361343457,629.361343457,652,0.410322261535,0.00450281489256,0.0599722774208,0.999999997159,-2.07396884222e-05,-5.11626307424e-05,-5.13330591971e-05,1793245478201896960
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.949493661,713,680,661,633,878.898987322,784.949493661,807,652.949493661,629.949493661,652,0.41099621747,0.00450115740346,0.0599859095826,0.999999997865,-3.04500146055e-05,-1.32561061668e-05,-5.62757822535e-05,1793245478218563328
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.46796488,713.53203512,679.46796488,661.53203512,633.53203512,878.46796488,784.46796488,807,652.46796488,630,652,0.411689778079,0.00449967756037,0.0599853801266,0.999999997701,-3.18419674957e-05,-1.50487924421e-05,-5.79465835484e-05,1793245478235229696
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679.113075449,661.886924551,633.886924551,878,784.113075449,807,652,630,652,0.412381052057,0.00449689460703,0.0599778214891,0.999999997823,-1.86715877814e-05,-3.21227141381e-05,-5.45264086295e-05,1793245478251896064
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679.690118143,661.309881857,633.309881857,878,784.690118143,807,652,630,652,0.413055386766,0.00448869630352,0.0599468795816,0.999999993536,5.10441156341e-05,-9.65959309691e-05,-3.14782851064e-05,1793245478268562432
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.735000407,679.735000407,661,633,878,784.735000407,807.264999593,652,630,652,0.413772868559,0.00447795042836,0.059924715301,0.999999987218,7.49967392732e-05,-0.0001396612894,-2.08514242849e-05,1793245478285229056
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.162625724,679.162625724,661,633,878,784.162625724,807.837374276,652,630,652,0.414540397078,0.00446424960398,0.0599127322539,0.999999986179,4.58684203666e-05,-0.000157895515585,-2.46320798766e-05,1793245478301895936
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,679.424466949,661.424466949,633,878,784.424466949,807.575533051,652.424466949,630,652,0.415375676644,0.00446497865911,0.0599487089455,0.99999999477,4.09924402451e-05,-8.91685523873e-05,-2.87729097506e-05,1793245478318562560
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.016956719,745,713.016956719,680,662,633,878.016956719,785,807.016956719,653,630,652.016956719,0.416236432948,0.00447121652875,0.0600022351879,0.999999998351,4.57464429241e-05,1.10236098429e-05,-3.29064863341e-05,1793245478335229952
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.594751211,745,713.594751211,680,662,633,878.594751211,785,807.594751211,653,630,652.594751211,0.417050454795,0.00447023498699,0.0600066376099,0.999999998149,5.06474775828e-05,1.03737881782e-05,-3.20721576886e-05,1793245478351896576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.171408689,714,680,661.828591311,633,879.171408689,785,808,652.828591311,630,652.828591311,0.417873196868,0.00446831641704,0.0600059053269,0.999999998122,5.1922471801e-05,5.97873024941e-06,-3.20189298088e-05,1793245478368563200
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.745395691,714,680,661.254604309,633,879.745395691,785,808,652.254604309,630,652.254604309,0.418716419619,0.00446419709975,0.0599931134401,0.999999998405,4.46811807491e-05,-7.21256139259e-06,-3.3800231077e-05,1793245478385230080
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.671651734,713.671651734,680,661.328348266,633,879.671651734,785,808,652,630,652,0.419559961572,0.00446592296191,0.0599719803901,0.999999998533,-1.10075681167e-05,-3.87769049515e-05,-3.61778800052e-05,1793245478401896448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.081552047,713.081552047,680,661.918447953,633,879.081552047,785,808,652,630,652,0.420403757944,0.00447230846219,0.059944197964,0.999999990081,-0.000105317476858,-8.49878072706e-05,-3.90309227052e-05,1793245478418562304
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.499284357,680,661.500715643,633,879,785,808,652,630,652,0.421229463091,0.00446938709827,0.0599082848589,0.999999981461,-0.000111453547665,-0.000152148517165,-3.88278138196e-05,1793245478435229184
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.921862726,745,714,680,660.921862726,633,879,785,808,652.078137274,630,652,0.422065199406,0.00446596898033,0.0598776237587,0.999999972033,-0.000103461179646,-0.00020914753578,-3.85671449717e-05,1793245478451895808
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.346181119,745,714,680,660.346181119,633,879,785,808,652.653818881,630,652,0.422983282793,0.00446889117422,0.0598887075663,0.999999978384,-9.55410977568e-05,-0.000180049010467,-4.10606575533e-05,1793245478468562944
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.228811786,745,714,680,660.686435357,633,879,785,808,653,630.228811786,652.228811786,0.423927840337,0.00446955608047,0.0599234883885,0.999999987864,-8.95816637222e-05,-0.000120209676476,-4.23833803052e-05,1793245478485229568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.802765931,745,714,680,662.408297793,633,879,785,808,653,630.802765931,652.802765931,0.424912331947,0.00446681606822,0.0599940140649,0.999999995274,-8.65796919147e-05,-1.40005436682e-05,-4.19400701442e-05,1793245478501896192
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.388907719,714,680,662.611092281,633,879,785,808.388907719,652.611092281,630.611092281,653,0.425870403618,0.00446404113754,0.0600260013198,0.999999995067,-8.14055905562e-05,3.85145857272e-05,-4.18939947348e-05,1793245478518562560
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.981430386,714,680,662.018569614,633,879,785,808.981430386,652.018569614,630.018569614,653,0.426814642915,0.00446124792526,0.060037811551,0.999999994317,-7.50942583381e-05,6.29178942449e-05,-4.20558941108e-05,1793245478535228928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.441224948,714,680,661.441224948,633.558775052,879,785.558775052,809,652,630,652.441224948,0.427725838678,0.00446196663763,0.0600146430654,0.999999995758,-7.11673112522e-05,3.70612669641e-05,-4.52277676753e-05,1793245478551895552
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.135228749,661.135228749,633.864771251,879,785.864771251,809,652,630,652.135228749,0.428620525837,0.00446292061541,0.0599888664035,0.999999996732,-6.52190145279e-05,3.92515840506e-06,-4.7618957616e-05,1793245478568562176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.710381461,661.710381461,633.289618539,879,785.289618539,809,652,630,652.710381461,0.429464985358,0.00446427031364,0.0599582864863,0.99999999638,-5.24439323082e-05,-4.7602422112e-05,-4.71536309032e-05,1793245478585229056
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.707488462,661.414976924,633,879,785,809,652.292511538,630.292511538,652.707488462,0.430336877805,0.00446309370912,0.0599348424207,0.999999994052,-4.59180845082e-05,-8.69748023867e-05,-4.7152609156e-05,1793245478601895936
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.118281248,660.236562496,633,879,785,809,652.881718752,630.881718752,652.118281248,0.431236595533,0.00445935466507,0.059918636281,0.99999999132,-4.5730862148e-05,-0.000114018109219,-4.76225339791e-05,1793245478618563328
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.463288707,661.38986612,633,879,785,809.463288707,652.536711293,631,652,0.432197461546,0.00445583923674,0.0599564931966,0.999999996664,-4.79494360619e-05,-4.40348502943e-05,-4.93241878011e-05,1793245478635229952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.957448835,745,714,681,663,633,879.085102331,785.042551165,809.957448835,652,631,652,0.433165960658,0.00445264078612,0.0600039430146,0.999999996531,-5.01201993176e-05,4.24873519222e-05,-5.11986960368e-05,1793245478651896320
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.383052335,745,714,681,663,633,880.23389533,785.616947665,809.383052335,652,631,652,0.434037899915,0.00445270222675,0.0600015722484,0.999999997222,-4.41407892934e-05,3.11305207644e-05,-5.13669020865e-05,1793245478668562944
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,681,662.422608884,633.192463705,880.807536295,785.807536295,809.192463705,652,631,652.192463705,0.434897449614,0.00445098339429,0.0599886041888,0.999999997788,-4.16004032214e-05,4.85876521928e-06,-5.16634671536e-05,1793245478685229312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660.689336813,633.770221062,880.229778938,785.229778938,809.770221062,652,631,652.770221062,0.435732196778,0.00444570062794,0.0599544213765,0.999999996267,-4.59446080445e-05,-5.12712228977e-05,-5.22169944465e-05,1793245478701895936
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.353129771,713.646870229,681.353129771,660.706259542,633.646870229,880.353129771,785,809.646870229,652,631,653,0.436558803507,0.00444441210273,0.0599335734243,0.999999993781,-4.35874748228e-05,-8.80514321604e-05,-5.27727699863e-05,1793245478718562304
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.939440013,713.060559987,681.939440013,661.878880025,633.060559987,880.939440013,785,809.060559987,652,631,653,0.437380034852,0.00444576107574,0.0599215308178,0.999999991623,-3.68052793104e-05,-0.000112054492411,-5.33300301174e-05,1793245478735228928
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.477629785,713.522370215,681.477629785,661.477629785,633,880.477629785,785,809,652,631,653,0.438162871989,0.00444186003578,0.0599044418805,0.999999985886,-3.67610357756e-05,-0.000155264042064,-5.26191697736e-05,1793245478751896064
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.103232001,745,714,681,661,633,880,784.896767999,809.103232001,652,630.896767999,652.896767999,0.438953732548,0.00443779512665,0.0598974366038,0.999999981795,-3.79165378426e-05,-0.000179600711818,-5.21239755293e-05,1793245478768563200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.676449413,745,714,681,661,633,880,784.323550587,809.676449413,652,630.323550587,652.323550587,0.439801255961,0.00443573736204,0.0599389856938,0.999999991915,-4.10006415065e-05,-0.000107942423181,-5.32756701391e-05,1793245478785229824
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.748681162,745.251318838,714,681.251318838,661,633,880.251318838,784.251318838,810,652,630.251318838,652.251318838,0.440608882489,0.00443593715712,0.0599688616636,0.999999996035,-3.74219887111e-05,-6.0559307986e-05,-5.35069250228e-05,1793245478801896192
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.171670892,745.828329108,714,681.828329108,661,633,880.828329108,784.828329108,810,652,630.828329108,652.828329108,0.441364805411,0.00443906259,0.0599836100922,0.999999997306,-2.52088749085e-05,-4.46351061188e-05,-5.25453553179e-05,1793245478818562560
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.413506025,745.586493975,714,682,660.172987949,632.586493975,880.586493975,785,810,652,630.586493975,652.586493975,0.442051021861,0.00444013397772,0.0599491334997,0.999999993464,-1.66776146089e-05,-0.00010019472687,-5.24785079987e-05,1793245478835228928
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880,785,810,652,630,652.002095726,0.442707604662,0.00444034934579,0.0598938308578,0.999999981267,-9.70792239782e-06,-0.000185970675831,-5.27944823879e-05,1793245478851895296
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880,785,810,652,630,652.578078701,0.443333694959,0.00444437582076,0.0598445322542,0.999999965849,-3.34506250534e-06,-0.000255649963391,-5.41745166562e-05,1793245478868562176
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.845289339,745,714,682,658.845289339,632,880,784.845289339,810,652,630,653,0.443962810758,0.00444886693816,0.0598086898045,0.999999951612,3.70176345529e-06,-0.000306117823671,-5.52586652714e-05,1793245478885229056
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.26687991,745,714,682,658.26687991,632,880,784.26687991,810,652,630,653,0.444600212491,0.00445463055066,0.059809699076,0.999999952179,1.26217363261e-05,-0.00030397227528,-5.55324867781e-05,1793245478901896192
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.691723423,681.691723423,658,631.691723423,880,784,810,652,630,652.691723423,0.445194592339,0.0044602565909,0.0598024025203,0.999999946006,-2.88913684286e-05,-0.000322624951627,-5.53743098427e-05,1793245478918563072
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+251,4.183333333,HOLD_POSE2,765,745,713,682,651,626,880,783,810,652.515826436,630,653,0.453293443205,0.00462109798453,0.0596777214768,0.999999868488,0.000118658734807,-0.000494368639526,-6.74034084467e-05,1793245479928627712
+252,4.200000000,HOLD_POSE2,764.94023715,745,713,682,651,626,880,783,810,652.05976285,630,653,0.453292464196,0.00462240612851,0.0596763447655,0.999999867227,0.000120618777986,-0.000496431834753,-6.74760866431e-05,1793245479945294592
+253,4.216666667,HOLD_POSE2,764.370136116,745,713,682,651,626,880,783,810,652.629863884,630,653,0.453294178717,0.00462326775328,0.0596770147606,0.999999868069,0.000121143701047,-0.000494550326552,-6.78616831867e-05,1793245479961960960
+254,4.233333333,HOLD_POSE2,764.208304423,745,713,682,651,626,880,783,810,653,630,653,0.453294951161,0.00462339297449,0.0596771524057,0.999999868368,0.00012117627617,-0.000493919143612,-6.80016455925e-05,1793245479978627584
+255,4.250000000,HOLD_POSE2,764.802181365,745,713,682,651,626,880,783,810,653,630,653,0.453293979815,0.00462215510899,0.0596763046682,0.999999867663,0.000120297512768,-0.000495602319129,-6.76869379522e-05,1793245479995293952
+256,4.266666667,HOLD_POSE2,765,745.382137425,713.382137425,682,651,626,880,783,810,653,630,653,0.453293742924,0.00462228799575,0.0596763194314,0.99999986737,0.000120507010723,-0.000496161825505,-6.75382866042e-05,1793245480011960320
+257,4.283333333,HOLD_POSE2,765,745.955140496,713.955140496,682,651,626,880,783,810,653,630,653,0.453293872872,0.00462310553013,0.0596767649865,0.999999867284,0.000121260060979,-0.000496160094578,-6.74725751323e-05,1793245480028626944
+258,4.300000000,HOLD_POSE2,764.465959696,745.465959696,713.465959696,682,651,626,880,783.534040304,810,653,630,653,0.453293634201,0.00462250813792,0.0596757825567,0.999999867023,0.000121059519923,-0.000496716795578,-6.76026957044e-05,1793245480045293824
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+260,4.333333333,HOLD_POSE2,764,745,713.688042252,682,651,626,880.688042252,783.311957748,810.688042252,653,630,653,0.453296734059,0.00462152581046,0.0596774064723,0.999999868649,0.000120005183314,-0.000493710625133,-6.74593728873e-05,1793245480078627072
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,746,713,682,651,626,880,783,810,653,630,653,0.453293437295,0.00462266853478,0.0596761617377,0.999999867069,0.000117561852362,-0.000497376454609,-6.8244545972e-05,1793245480115813632
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.423124559,745.423124559,713,682,651,626,880,783,810,652.423124559,630,653,0.453294800853,0.0046221968892,0.0596768217532,0.999999867688,0.000119203730201,-0.000495774238889,-6.79943263302e-05,1793245480132480512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.153579413,682,651,626,880,783,810,652,630,653,0.453296049195,0.00462206322424,0.0596773534625,0.999999868151,0.00012090918967,-0.000494467056218,-6.76916940943e-05,1793245480149147136
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.31354208,745,713.68645792,682.31354208,651,626,880.31354208,783,810,652,630,653,0.45329669343,0.00462326519532,0.0596774186181,0.999999867958,0.000123419460682,-0.000494294488825,-6.72580329655e-05,1793245480182480128
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.903892241,745,713.096107759,682.903892241,651,626,880.903892241,783,810,652,630,653,0.45329533083,0.00462332555314,0.0596770473191,0.999999867472,0.000122945208706,-0.000495339270358,-6.76774257376e-05,1793245480199146752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.515373015,745,713.484626985,682.515373015,651,626,880.515373015,783,810,652.484626985,630,653,0.45329524328,0.00462335450446,0.0596763554498,0.999999867376,0.000122481275765,-0.000495660173373,-6.758099278e-05,1793245480215813376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.062943121,745,713.937056879,682.062943121,651,625.937056879,880,783.062943121,810,652.937056879,630,653,0.453295260766,0.00462323134464,0.0596756298667,0.999999867367,0.000121962412878,-0.00049583029275,-6.7404973219e-05,1793245480232480000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.63680423,745,713.36319577,682.63680423,651,625.36319577,880,783.63680423,810,652.36319577,630,653,0.453294118292,0.00462192305025,0.0596751366181,0.999999867443,0.000120981388309,-0.000495919061719,-6.73971256073e-05,1793245480249146624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.210616772,682.789383228,651,625.210616772,880,783.789383228,810,652,630,653,0.453289830502,0.00462150051637,0.0596731712544,0.999999866088,0.000120308887956,-0.000498790156145,-6.75098971766e-05,1793245480265813248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.784345522,682.215654478,651,625.784345522,880,783.215654478,810,652,630,653,0.453280120058,0.00462260507016,0.059668667904,0.999999862229,0.000120168296138,-0.000506458094064,-6.78306211736e-05,1793245480282480128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.628739901,745.371260099,714,682,651,626,880,783,810,652,630,652.628739901,0.453253769704,0.00462316512412,0.0596575589959,0.999999852349,0.000121571917112,-0.00052527639353,-6.78779742295e-05,1793245480299146752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.033883946,745.966116054,714,682,651,626,880,783,810,652,630,652.033883946,0.453217397764,0.00462339724664,0.0596424718108,0.999999838332,0.00012390555872,-0.000550810132684,-6.77606863474e-05,1793245480315813376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.543195934,745.456804066,714,682,651,626,880.543195934,783,810,652.543195934,630,652.543195934,0.453165193618,0.00462309918931,0.0596252924428,0.999999824593,0.00012311817751,-0.000575361447975,-6.79371456574e-05,1793245480332480256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,651,626,880.880705495,783,810,653,630,653,0.453108657762,0.00462333577696,0.0596088645256,0.999999811406,0.000122810080961,-0.000597868831971,-6.82588045672e-05,1793245480349146880
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.721678696,745,714,682,651,626,880,783,810,653,630,653,0.452965629407,0.00462699995036,0.0595881204912,0.999999796577,0.000128320302087,-0.000620987740384,-6.89442546001e-05,1793245480382479872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.132262895,745,714,682,651,626,880,783,810,653,630,653,0.452887504702,0.00462696812627,0.0595864582182,0.999999795622,0.000132706335686,-0.00062173211455,-6.77747973793e-05,1793245480399146496
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.028439572,745,714,682,651,626,880,783.971560428,810.943120856,652.971560428,630,652.028439572,0.452686477802,0.00462739852248,0.0595861797614,0.999999797171,0.000131668275827,-0.000619507214477,-6.7320806541e-05,1793245480432480000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.605373608,745,714,682,651,626,880,783.394626392,809.789252785,652.394626392,630,652.605373608,0.452556651468,0.00462677675132,0.0595865606345,0.9999997959,0.000133835540388,-0.000621252448759,-6.58248837507e-05,1793245480449146624
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.818665665,682,651,626,880.181334335,783.181334335,809.181334335,652.181334335,630,653,0.452418569218,0.00462699711346,0.0595870253575,0.999999795026,0.000137057088778,-0.000622100080696,-6.44562354096e-05,1793245480465813248
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.244811851,682,651,626,880.755188149,783.755188149,809.755188149,652.755188149,630,653,0.452262616083,0.00462904037217,0.0595876715836,0.999999795007,0.000142560758129,-0.000621004746647,-6.33630877643e-05,1793245480482480128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.661056202,745,713.338943798,682,651,626,881,783.661056202,810,653,630.338943798,653,0.452088044686,0.00463103681032,0.0595880797273,0.999999793594,0.000148232126592,-0.000622066766986,-6.22184479269e-05,1793245480499146496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.069933386,745,713.930066614,682,651,626,881,783.069933386,810,653,630.930066614,653,0.45189962102,0.00463299841352,0.0595883107344,0.999999791129,0.000154028266158,-0.000624733889618,-6.1035497049e-05,1793245480515813376
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.490824135,682,651,626.509175865,881,783,810,652.490824135,630.490824135,652.490824135,0.451669608975,0.00463159048168,0.0595865411489,0.999999788572,0.000156254308335,-0.000628489298788,-5.86668993101e-05,1793245480532481024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.086408139,745,713,682,651.086408139,627,880.913591861,783,810,652.086408139,630,652,0.451428640156,0.00463006745348,0.0595843330598,0.999999785487,0.00015862038746,-0.000633017859185,-5.61512837784e-05,1793245480549148672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.662139998,745,713,682,651.662139998,627,880.337860002,783,810,652.662139998,630,652,0.451157224861,0.00463045299846,0.0595811619121,0.999999779526,0.000164492242929,-0.000641097787047,-5.37040343429e-05,1793245480565814528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.757041026,745,713,682,652,627,880,783.242958974,810,653,630.242958974,652.242958974,0.450872697144,0.00463170397392,0.0595754293685,0.999999771812,0.00017128274306,-0.000651449542966,-5.15030488586e-05,1793245480582480640
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.168996628,745,713,682,652,627,880,783.831003372,810,653,630.831003372,652.831003372,0.450569545288,0.0046341841587,0.0595660587607,0.999999761548,0.000179378034657,-0.000665028076686,-4.96518431491e-05,1793245480599147264
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627,880,783.58843866,809.58843866,653,630.58843866,653,0.450231427162,0.00463594241077,0.0595610856488,0.999999755165,0.000186640503129,-0.000672737562865,-4.75286902702e-05,1793245480615813888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627,880,783.010899889,809.010899889,653,630.010899889,653,0.449879207594,0.00463740951653,0.0595578859911,0.999999750344,0.000193567104476,-0.000678080136798,-4.52958646158e-05,1793245480632480512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,745,713.566781515,682,652.566781515,627,880,783.566781515,809.566781515,653,630,653,0.449475887934,0.00463786526828,0.0595508342388,0.999999743344,0.00020127258684,-0.000686315931309,-4.20958287618e-05,1793245480649148160
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745.905505811,714,680,660,633,878,785,807.094494189,652,629.094494189,652,0.408962189744,0.00455639808431,0.0598525570619,0.999999951928,0.000182480281834,-0.000248301668001,3.45162137013e-05,1793245481549148160
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745.212183881,714,680,659.212183881,633,878,785,807,652.212183881,630,652,0.406255358124,0.00454588495114,0.0598175942773,0.999999946338,0.000141869766954,-0.000293560058573,3.19398383604e-05,1793245481632480512
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.374264,745,713.625736,680,659.374264,633,878,785,807.374264,652.374264,630,652.374264,0.405797762466,0.00454496877013,0.0598238473646,0.999999950343,0.000136718895236,-0.000282158625529,3.17638885063e-05,1793245481649147392
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.257008224,713.257008224,679,660,633,878,785,806.742991776,653,629.257008224,652,0.400961097743,0.00451460201178,0.0598387270053,0.999999953414,0.000141945037454,-0.000269335751174,2.1929836664e-05,1793245482349146880
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.494314311,745,713,679.494314311,660,634,877.494314311,785,806.505685689,652.494314311,629,652,0.400959731374,0.00451567917673,0.0598383317292,0.999999952879,0.000143962885313,-0.00027025218463,2.19332991598e-05,1793245482399147520
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.854176726,745,713.072911637,679.927088363,660,633.927088363,877.927088363,785,806.072911637,653,629.072911637,652,0.400959741469,0.00451592069969,0.0598392362182,0.999999953112,0.000144294713952,-0.000269223415858,2.17549516196e-05,1793245482415814912
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.801808472,745.801808472,713.198191528,679,660,633,877,785,807,653,630,652,0.400961959502,0.0045158494202,0.0598402150451,0.99999995388,0.00014299466431,-0.000267061076831,2.17077707417e-05,1793245482465814272
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745.022637669,713.977362331,679.977362331,660,633,877.977362331,785,807,653,629.022637669,652,0.400963261496,0.00451629661446,0.0598411347293,0.999999954171,0.000143703483902,-0.00026560083436,2.15486845678e-05,1793245482499146752
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65c46218b07a276b80f274f74e8c852b38d735dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575671987634,0.00987782075351,1.05005093087,0.546243621035,0.0185535071598,1.04971742142
+392,6.533333333,pose2_to_pose3_retreat,0.575671818615,0.0098778194721,1.05005095037,0.546243452089,0.0185535060923,1.04971744005
+393,6.550000000,pose2_to_pose3_retreat,0.57567124974,0.00987781515922,1.05005101599,0.54624288346,0.0185535024992,1.04971750278
+394,6.566666667,pose2_to_pose3_retreat,0.575670987814,0.00987782434935,1.05005104019,0.546242621231,0.0185535106703,1.04971752714
+395,6.583333333,pose2_to_pose3_retreat,0.575670715417,0.00987784425117,1.0500510598,0.546242348135,0.0185535282623,1.04971754829
+396,6.600000000,pose2_to_pose3_retreat,0.575670571941,0.00987785473379,1.05005107012,0.546242204291,0.0185535375283,1.04971755943
+397,6.616666667,pose2_to_pose3_retreat,0.575670519383,0.00987785857376,1.05005107391,0.546242151599,0.0185535409226,1.04971756352
+398,6.633333333,pose2_to_pose3_retreat,0.575670450834,0.00987786358206,1.05005107884,0.546242082874,0.0185535453497,1.04971756884
+399,6.650000000,pose2_to_pose3_retreat,0.575670266738,0.00987787703247,1.05005109209,0.546241898306,0.018553557239,1.04971758313
+400,6.666666667,pose2_to_pose3_retreat,0.575670056762,0.00987789237367,1.0500511072,0.546241687792,0.0185535707997,1.04971759944
+401,6.683333333,pose2_to_pose3_retreat,0.575669804511,0.00987788919018,1.05005103558,0.546241435949,0.0185535690986,1.04971753026
+402,6.700000000,pose2_to_pose3_retreat,0.575669511111,0.00987785144408,1.05005087438,0.546241144205,0.0185535371088,1.0497173727
+403,6.716666667,pose2_to_pose3_retreat,0.575669459857,0.00987774790511,1.05005097619,0.546241093921,0.0185534368014,1.04971747299
+404,6.733333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b31f8ae248537096437f91ab6c8c19040d6d110
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d8487478ad0995d59ff8f80270cb433f09aa8629c41cc76767580ecc6fc849c
+size 25730111
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdefa0523e05a9dbe18e949bbb100cf56358f190
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,764,745,714,680,660,633.569365119,878.569365119,785,807,652.569365119,629.569365119,652,0.400962571731,0.00451609791447,0.0598419705135,0.999999954532,0.000143133341115,-0.000264561074798,2.13570413413e-05,1793245482660312576
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+22,0.366666667,BASELINE,764,745.774849277,713.225150723,679.774849277,660,633.774849277,878,785,806.774849277,653,629.774849277,652,0.400962551748,0.00451288308292,0.0598418745017,0.999999955622,0.000137214731967,-0.000263540570764,2.18008886753e-05,1793245483010312192
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+29,0.483333333,BASELINE,764,745,713,679,660,633,878,785,807,653,630,652,0.400963724175,0.00451330359461,0.0598429020412,0.999999955846,0.000138126162058,-0.000262216207784,2.17389774911e-05,1793245483126978560
+30,0.500000000,BASELINE,763.588887939,745,713.411112061,679,660,633.411112061,878,785.411112061,807,653,630,652.411112061,0.400962843397,0.00451387833418,0.0598420134201,0.999999955313,0.000138711394509,-0.000263944971135,2.15999760829e-05,1793245483143645184
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+48,0.800000000,BASELINE,764.143548718,745.856451282,713.856451282,679,660.143548718,633.856451282,878,785,807,653,629.143548718,652,0.4009629958,0.00451555419813,0.0598431706268,0.999999955684,0.000139884972371,-0.000261973314797,2.08338919844e-05,1793245483443645440
+49,0.816666667,BASELINE,764,745.564374731,713.564374731,679.435625269,660,633.564374731,877.564374731,785,806.564374731,653,629.435625269,652,0.400962402597,0.00451554883944,0.059842992379,0.999999955496,0.000140305313552,-0.000262448412869,2.10593876126e-05,1793245483460312064
+50,0.833333333,BASELINE,764.00884779,745,713.00884779,679.99115221,660,633.00884779,877.00884779,785,806.00884779,652.99115221,630,652,0.400961497648,0.00451500154384,0.0598428908309,0.999999955377,0.000140155087626,-0.000262946641998,2.14913044979e-05,1793245483476978688
+51,0.850000000,BASELINE,764.584578913,745,713.584578913,679.415421087,660,633.584578913,877.584578913,785,806.584578913,652.415421087,630,652,0.400962295275,0.0045141350565,0.0598435895449,0.999999955855,0.000138270543257,-0.000262114731679,2.16258255305e-05,1793245483493645056
+52,0.866666667,BASELINE,764.834590711,745.165409289,714,679,660,633.834590711,878,785,807,652,630,652,0.40096273183,0.00451364499318,0.0598438444327,0.999999956074,0.000137263499655,-0.000261799520197,2.16966688961e-05,1793245483510311680
+53,0.883333333,BASELINE,764.240546372,745.759453628,714,679,660,633.240546372,878,785,807,652,630,652,0.400962232712,0.00451413038015,0.0598429492069,0.999999955633,0.000138530376749,-0.000262823261585,2.16025004803e-05,1793245483526978304
+54,0.900000000,BASELINE,764,745.657221482,713.657221482,679,660,633.342778518,878,785.342778518,807,652.342778518,629.657221482,652.342778518,0.40096216999,0.00451367849773,0.0598428282783,0.999999955655,0.000138268106752,-0.000262870761711,2.16847107757e-05,1793245483543645184
+55,0.916666667,BASELINE,764,745.081190929,713.081190929,679,660,633.918809071,878,785.918809071,807,652.918809071,629.081190929,652.918809071,0.400962404225,0.00451258882738,0.0598432342391,0.999999955992,0.000136965291121,-0.000262253954525,2.18869422877e-05,1793245483560311808
+56,0.933333333,BASELINE,764,745,713,679.493358457,660,634,878,785.506641543,807,653,629.493358457,652.506641543,0.400962012688,0.00451355261187,0.0598428177057,0.999999955547,0.0001385021836,-0.000263159692911,2.16669786492e-05,1793245483576978432
+57,0.950000000,BASELINE,764,745,713,680,660,634,878,785,807,653,630,652,0.400961828074,0.00451466343671,0.0598425204904,0.999999955142,0.000140141844005,-0.000263853200834,2.13959796273e-05,1793245483593645568
+58,0.966666667,BASELINE,764,745,713,680,660,634,878,785,807,653,630,652,0.400963961567,0.0045143525262,0.0598441271186,0.999999956022,0.000139062354048,-0.000261087158801,2.12615259416e-05,1793245483610311936
+59,0.983333333,BASELINE,764,745,713.244415305,679.755584695,660.244415305,634,878,785,806.755584695,653,630,652,0.400964103468,0.00451467436084,0.059844386093,0.99999995613,0.000138956679202,-0.000260734035536,2.11776733989e-05,1793245483626978560
+60,1.000000000,BASELINE,764,745,713.821342445,679.178657555,660.821342445,634,878,785,806.178657555,653,630,652,0.40096153593,0.0045158570059,0.0598428116684,0.999999955192,0.000140175819148,-0.000263663537932,2.11626605477e-05,1793245483643645440
+61,1.016666667,BASELINE,764,745,713.602080803,679.397919197,660.602080803,634,878,785,806.397919197,653,629.602080803,652,0.400961816644,0.00451577512606,0.0598433992495,0.999999955391,0.00014057072593,-0.000262688461416,2.12759125337e-05,1793245483660311808
+62,1.033333333,BASELINE,764,745,713.025661265,679.974338735,660.025661265,634,878,785,806.974338735,653,629.025661265,652,0.400963375039,0.00451512600001,0.0598449566728,0.999999956096,0.000140595894505,-0.000259961851563,2.14467021247e-05,1793245483676978688
+63,1.050000000,BASELINE,764,745,713.546902091,680,660.546902091,634,878.546902091,785,806.453097909,653,629,652,0.400962352463,0.00451487298474,0.0598438537055,0.999999955514,0.000141497440184,-0.000261688338719,2.16777784414e-05,1793245483693645312
+64,1.066666667,BASELINE,764,745,713.875944884,680,661,633.875944884,878.875944884,785,806.124055116,653,629,652,0.400961279149,0.0045145054367,0.0598426768804,0.999999955039,0.000141426180809,-0.000263522438924,2.18201282401e-05,1793245483710311936
+65,1.083333333,BASELINE,764,745,713.280675922,680,661,633.280675922,878.280675922,785,806.719324078,653,629,652,0.400960469891,0.00451363274167,0.0598416903434,0.999999955206,0.000137504696124,-0.000264977196729,2.16147877015e-05,1793245483726978560
+66,1.100000000,BASELINE,764,745,713,680,660.694305371,633,878,785,806.694305371,652.694305371,629,652,0.400959966475,0.00451389815462,0.0598413212926,0.999999955148,0.000136984785098,-0.000265477998089,2.14775040213e-05,1793245483743645184
+67,1.116666667,BASELINE,764,745,713,680,660.1158739,633,878,785,806.1158739,652.1158739,629,652,0.400959735929,0.00451517897302,0.059841503155,0.999999954895,0.000139499714842,-0.000265127691622,2.1400939812e-05,1793245483760311808
+68,1.133333333,BASELINE,764,745,713.460320393,679.539679607,660,633,878,785,806.460320393,652.460320393,629.460320393,652,0.400961995377,0.0045143100613,0.0598436101648,0.999999955827,0.000139323362228,-0.000261660297372,2.16748484226e-05,1793245483776978432
+69,1.150000000,BASELINE,764,745,714,679,660.035782958,633,878.035782958,785.035782958,807,653,630,652,0.400964646584,0.0045131349398,0.0598459710907,0.999999956919,0.000138674007915,-0.000257775743964,2.19726876071e-05,1793245483793645056
+70,1.166666667,BASELINE,764,745,714,679,660.608673643,633,878.608673643,785.608673643,807,653,630,652,0.400963815391,0.00451544686844,0.0598449044952,0.999999956195,0.000141044447305,-0.000259350284906,2.13118981531e-05,1793245483810311936
+71,1.183333333,BASELINE,763.81217569,745,714,679,660.81217569,633.18782431,878.81217569,786,807,652.81217569,629.81217569,652,0.400962984226,0.00451647417487,0.0598439170121,0.999999955716,0.00014148489772,-0.000260980673007,2.09387010777e-05,1793245483826978304
+72,1.200000000,BASELINE,763.219532745,745,714,679,660.219532745,633.780467255,878.219532745,786,807,652.219532745,629.219532745,652,0.400962153123,0.00451473272929,0.0598431000401,0.999999955772,0.000137765634099,-0.000262731429051,2.11853531092e-05,1793245483843645184
+73,1.216666667,BASELINE,763.365404556,745,713.634595444,679,660,634,878.365404556,785.634595444,807,652.365404556,629,652,0.400961946787,0.00451410807094,0.0598429503121,0.999999955626,0.000137901835805,-0.000263184344056,2.1552387148e-05,1793245483860312064
+74,1.233333333,BASELINE,763.945807932,745,713.054192068,679,660,634,878.945807932,785.054192068,807,652.945807932,629,652,0.400962108054,0.00451414051433,0.0598431931809,0.999999955364,0.000140306538441,-0.000262873627832,2.19902522248e-05,1793245483876978944
+75,1.250000000,BASELINE,764,745,713,679,660,634,878.479949632,785,806.479949632,653,629.520050368,652.520050368,0.400963657101,0.00451361772639,0.0598443001258,0.999999955858,0.000140056222547,-0.000261138832492,2.1789235136e-05,1793245483893645568
+76,1.266666667,BASELINE,764,745,713,679,660,633.903920572,878,785,806.096079428,653,629.903920572,652.903920572,0.400964786932,0.00451319072697,0.0598450763088,0.999999956262,0.000139550407764,-0.000259877270396,2.15632880479e-05,1793245483910312448
+77,1.283333333,BASELINE,764,745,713,679,660,633.315484611,878,785,806.684515389,653,629.315484611,652.315484611,0.400963036107,0.0045135476144,0.0598437014989,0.999999955821,0.000139136470637,-0.000261792331725,2.15467552614e-05,1793245483926978816
+78,1.300000000,BASELINE,764,745,713.269606839,679,660,633.269606839,878,785,807,653,629,652,0.400962184294,0.00451326561392,0.0598431108162,0.999999955786,0.000138139670968,-0.00026244742435,2.1619927385e-05,1793245483943645184
+79,1.316666667,BASELINE,764,745,713.850832569,679,660,633.850832569,878,785,807,653,629,652,0.400962371586,0.00451224516943,0.059843426449,0.999999956221,0.000136469183005,-0.000261646210865,2.17967828765e-05,1793245483960312064
+80,1.333333333,BASELINE,764,745,713.57301379,679,660,634,878,785,806.57301379,653,629.42698621,652,0.400961921157,0.00451326337838,0.0598431986608,0.999999956045,0.000136570464298,-0.000262294343131,2.14579878476e-05,1793245483976978688
+81,1.350000000,BASELINE,764,745,713.001389948,679,660,633.998610052,878,785.001389948,806.001389948,653,630,652,0.400961258666,0.00451498243337,0.059842788965,0.99999995566,0.000137280328621,-0.000263431121668,2.09430456995e-05,1793245483993645056
+82,1.366666667,BASELINE,764,745,713.57628066,679,660,633.42371934,878,785.57628066,806.57628066,653,630,652,0.400963942552,0.00451546535284,0.0598447343089,0.999999956703,0.000136703891963,-0.000259724687383,2.12039812241e-05,1793245484010311936
+83,1.383333333,BASELINE,764,745,713.844290504,679,660,633,878,785.844290504,807,652.844290504,630,652,0.400965055559,0.00451551042485,0.0598456184019,0.999999957113,0.000136798179702,-0.000258073183535,2.14145364399e-05,1793245484026979072
+84,1.400000000,BASELINE,764,745,713.252141595,679,660,633,878,785.252141595,807,652.252141595,630,652,0.400961765536,0.00451432825078,0.0598435279061,0.999999955771,0.000138772446176,-0.000262181460075,2.14838803385e-05,1793245484043645696
+85,1.416666667,BASELINE,764.329882789,745,713.329882789,679,660,633,878,785,806.670117211,652.329882789,629.670117211,652,0.400959928553,0.00451319882456,0.0598421057748,0.999999955045,0.000139007910697,-0.00026480229667,2.15891764781e-05,1793245484060312064
+86,1.433333333,BASELINE,764.904399024,745,713.904399024,679,660,633,878,785,806.095600976,652.904399024,629.095600976,652,0.400959169112,0.00451210851501,0.0598411792871,0.999999954785,0.000137953919786,-0.00026632008196,2.1721133964e-05,1793245484076978432
+87,1.450000000,BASELINE,764.520845426,745,713.520845426,679,660,633.479154574,878,785,806.479154574,652.520845426,629,652,0.400960126742,0.00451388977851,0.0598418983914,0.999999955061,0.000138492922551,-0.000265026185306,2.14208793416e-05,1793245484093645312
+88,1.466666667,BASELINE,764.055739486,745,713,679,660.055739486,634,877.944260514,785,807,652.055739486,629,652,0.400961267179,0.00451592088547,0.0598428296398,0.999999955431,0.000138988672838,-0.000263393057233,2.10743750749e-05,1793245484110311936
+89,1.483333333,BASELINE,764.649521772,745,713,679,660.649521772,634,877.350478228,785,807,652.649521772,629,652,0.400960863605,0.00451483047167,0.0598426377953,0.999999955707,0.000135997387302,-0.000263903201067,2.11142579787e-05,1793245484126978560
+90,1.500000000,BASELINE,764.763639324,745,713.236360676,679.236360676,660.763639324,634,877.236360676,785,807.236360676,653,629,652,0.400960631519,0.00451367973686,0.059842450526,0.999999955862,0.000134694377438,-0.000263977344502,2.11849710644e-05,1793245484143645184
+91,1.516666667,BASELINE,764.186802377,745,713.813197623,679.813197623,660.186802377,634,877.813197623,785,807.813197623,653,629,652,0.400960646459,0.00451244211005,0.0598422698475,0.999999955853,0.000135823319772,-0.000263423431687,2.13000948561e-05,1793245484160312064
+92,1.533333333,BASELINE,764,745,714,679.612324295,660.387675705,634,878,785,807.612324295,653,629,652,0.400961181131,0.00451271052513,0.0598424299512,0.999999955913,0.000136139086051,-0.000263033327586,2.13121730799e-05,1793245484176978688
+93,1.550000000,BASELINE,764,745,714,679.038975913,660.961024087,634,878,785,807.038975913,653,629,652,0.400961964721,0.00451370024098,0.0598427532686,0.999999956005,0.000136065391411,-0.000262721677677,2.12748988621e-05,1793245484193645312
+94,1.566666667,BASELINE,764,745,714,679,661,634,878.536328207,785,806.463671793,653,629.536328207,652,0.400963253893,0.00451262782577,0.0598441022362,0.999999956526,0.000135054562304,-0.000261231353572,2.15820816405e-05,1793245484210311936
+95,1.583333333,BASELINE,764,745,714,679,660.884676237,633.884676237,878.884676237,785,806.115323763,652.884676237,629.884676237,652,0.400963983701,0.00451193991922,0.0598450026685,0.999999956833,0.000134467065599,-0.000260342699773,2.17694360754e-05,1793245484226978304
+96,1.600000000,BASELINE,764,745,714,679,660.29095919,633.29095919,878.29095919,785,806.70904081,652.29095919,629.29095919,652,0.400962240145,0.00451347098365,0.0598437321338,0.999999956133,0.000135919206608,-0.00026230655747,2.13554905641e-05,1793245484243644928
+97,1.616666667,BASELINE,764,745,714,679.292895564,660,633.292895564,878,785,807,652.292895564,629,652,0.400961598781,0.00451384960015,0.0598430552431,0.999999955963,0.000136442555114,-0.000262697051849,2.11419117731e-05,1793245484260311808
+98,1.633333333,BASELINE,764,745,714,679.867272333,660,633.867272333,878,785,807,652.867272333,629,652,0.400962016655,0.00451312068039,0.0598429488617,0.999999956308,0.000136073306772,-0.000261575497946,2.11208912856e-05,1793245484276978432
+99,1.650000000,BASELINE,764,745.443130986,713.556869014,679.556869014,660.443130986,634,878,785,807,653,629.443130986,652,0.400961849692,0.00451385916003,0.0598431315821,0.99999995599,0.000137587484249,-0.000261977492969,2.13954307098e-05,1793245484293645056
+100,1.666666667,BASELINE,764,745.980018787,713,679,660.980018787,634,878,785,807,652.980018787,630,652,0.400961558583,0.00451497050325,0.0598434317485,0.999999955517,0.000139520469297,-0.000262729111375,2.17401924058e-05,1793245484310311936
+101,1.683333333,BASELINE,764,745.387517289,713,679,660.387517289,634,878,785,807,652.387517289,630,652,0.400962746325,0.00451412971774,0.0598446076334,0.999999956452,0.000137235356269,-0.000260379198155,2.15519643172e-05,1793245484326978560
+102,1.700000000,BASELINE,764,745,713.199344563,679,660,634,878,785,806.800655437,652.199344563,629.800655437,652,0.400963263013,0.00451344118482,0.0598450022734,0.999999956926,0.00013551762717,-0.000259471750762,2.13737461708e-05,1793245484343645696
+103,1.716666667,BASELINE,764,745,713.775544749,679,660,634,878,785,806.224455251,652.775544749,629.224455251,652,0.400962511091,0.00451304048147,0.0598439199901,0.999999956543,0.00013487252264,-0.000261291247127,2.12144515769e-05,1793245484360312064
+104,1.733333333,BASELINE,764.351761341,745,714,679,660.351761341,634,878,785,806.351761341,652.648238659,629.351761341,652,0.400961366069,0.0045134222872,0.0598429248292,0.999999955855,0.000136531290433,-0.000263048962174,2.13179028399e-05,1793245484376978432
+105,1.750000000,BASELINE,764.92798846,745,714,679,660.92798846,634,878,785,806.92798846,652.07201154,629.92798846,652,0.400959970201,0.00451430342722,0.0598419852626,0.999999954964,0.000139660204058,-0.000264767253533,2.15890173468e-05,1793245484393645056
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660,634,877,785,807,653,630,652,0.400961844976,0.00451388926808,0.0598428916034,0.999999955938,0.000137515380729,-0.000262244108362,2.10153389163e-05,1793245484424835840
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.404428139,745,713.595571861,679,660.595571861,633.404428139,877.595571861,785,807,653,629.404428139,652,0.400962172912,0.00451466260291,0.0598436584739,0.999999955904,0.000139199278068,-0.000261478136892,2.1069700228e-05,1793245484441502976
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.1847866,745,714,679,660.8152134,633.1847866,877.8152134,785,807,653,629,652,0.40096250932,0.00451496447432,0.0598441775569,0.999999955928,0.000139945451192,-0.000260982357872,2.11435213444e-05,1793245484458169856
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.760550839,745,714,679,660.239449161,633.760550839,877.239449161,785,807,653,629,652,0.400962863655,0.00451426880786,0.0598441723628,0.999999956078,0.00013870755653,-0.000261058260886,2.12585161732e-05,1793245484474836480
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.335869028,633.664130972,877,785,807,653,629.335869028,652,0.400962263992,0.00451389653796,0.059843931453,0.999999956005,0.000137785679338,-0.000261821044789,2.13452223126e-05,1793245484491502848
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.910869605,633.089130395,877,785,807,653,629.910869605,652,0.400960985105,0.00451375451952,0.0598435227186,0.99999995577,0.000137088799886,-0.000263072873158,2.14117875047e-05,1793245484508169216
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660.500591601,633.499408399,877.499408399,785,806.500591601,653,629.500591601,652,0.400961812043,0.00451323841573,0.059843771893,0.999999955906,0.000136952035912,-0.000262630027199,2.13993338493e-05,1793245484524835840
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.911463394,679,660.088536606,634,878,785,806.088536606,653,629,652,0.400962667224,0.00451283963202,0.0598440106272,0.999999955987,0.000137175706397,-0.000262200781541,2.14177003523e-05,1793245484541502464
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.33282025,679,660.66717975,634,878,785,806.66717975,653,629,652,0.400961540316,0.00451347016759,0.0598435234721,0.999999955395,0.000138825822855,-0.000263567737373,2.1686918473e-05,1793245484558169088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.243733429,652,0.400964642536,0.00451366972348,0.0598449227634,0.999999955872,0.000139618542448,-0.000261319129655,2.17938894701e-05,1793245484574835712
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.81745813,652,0.400973470582,0.00451328577489,0.0598488761191,0.999999957767,0.000139250430237,-0.000254175401681,2.16811936759e-05,1793245484591502592
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.606913687,652,0.400997866936,0.00451352868503,0.0598588893512,0.999999962211,0.000138861322327,-0.000236281729648,2.16189350052e-05,1793245484608169728
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,878,785,807,653,629.030397211,652,0.4010295281,0.00451406411308,0.0598717303698,0.999999967417,0.000138462416874,-0.000213371692993,2.15802123414e-05,1793245484624836608
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,633.439429516,878,785,807,652.439429516,629.560570484,652,0.401084127072,0.00451466767134,0.059889549874,0.999999974031,0.000137912717426,-0.000180165692382,2.14037617169e-05,1793245484641502976
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.851412604,713.148587396,679,660.851412604,633,878,785,806.851412604,652.148587396,629.851412604,652,0.401143499449,0.00451469549853,0.059906468776,0.999999979037,0.000136914452836,-0.000150739625809,2.1407704838e-05,1793245484658169600
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.274227206,713.725772794,679,660.274227206,633,878,785,806.274227206,652.725772794,629.274227206,652,0.401212957952,0.00451305170021,0.0599199906066,0.999999981734,0.000134646519596,-0.000133869744532,2.19541033164e-05,1793245484674836224
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.302115095,714,679,660.302115095,633.302115095,878,785,806.302115095,653,629.302115095,652,0.401292635903,0.00451175080688,0.0599300072067,0.999999983971,0.000132241004192,-0.000118723454782,2.18162249686e-05,1793245484691502848
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.87769422,714,679,660.87769422,633.87769422,878,785,806.87769422,653,629.87769422,652,0.401381564139,0.00451076029925,0.0599368509938,0.999999985839,0.000129710954363,-0.000105137300896,2.10589631074e-05,1793245484708169728
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.536347531,679.463652469,660.536347531,633.536347531,878,785,807,653,629.536347531,652,0.401481896852,0.00451156080992,0.0599407932874,0.999999986483,0.000130092371552,-9.84571729608e-05,2.03934848658e-05,1793245484724836096
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679.948470871,660,633,878,785,807,653,629,652,0.401587892723,0.00451275941711,0.0599439471262,0.999999986899,0.00013082137828,-9.32747859338e-05,1.96836254539e-05,1793245484741503232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679.369621734,660,633,878,785,807,653,629,652,0.401720351378,0.00451308644138,0.0599470441596,0.999999988203,0.000127068085207,-8.43500582369e-05,1.82661551442e-05,1793245484758169856
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.791265019,745.208734981,713.208734981,679,660.417469962,633,878,785,807,653,629.208734981,652,0.401861196084,0.0045133339344,0.0599487093781,0.99999998913,0.000123782736868,-7.83533090336e-05,1.66864139478e-05,1793245484774836480
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.213778277,745.786221723,713.786221723,679,661.572443447,633,878,785,807,653,629.786221723,652,0.402016855596,0.00451344092727,0.0599478451483,0.999999989525,0.000121324061327,-7.75291352167e-05,1.48200047335e-05,1793245484791503360
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.362076678,745.637923322,714,679.362076678,661.275846643,633.362076678,878,785,807,653,630,652,0.402200040013,0.00451276981501,0.0599497027718,0.99999999045,0.000117773991756,-7.11214462441e-05,1.30917240212e-05,1793245484808169728
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.936972567,745.063027433,714,679.936972567,660.126054866,633.936972567,878,785,807,653,630,652,0.402399402864,0.00451164135291,0.0599531602293,0.999999991597,0.000113582429048,-6.14319128843e-05,1.14446314538e-05,1793245484824836096
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.475232187,660,634,878,785.524767813,807,653,630,652,0.402621383806,0.004511060267,0.0599529781474,0.99999999243,0.000108601631711,-5.71324057251e-05,9.04452461227e-06,1793245484841502464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.104878157,660.104878157,634,878,785.895121843,807,653,629.895121843,652,0.402855153162,0.00451040873989,0.0599527201055,0.999999993237,0.000103387005097,-5.2869536081e-05,6.54538031706e-06,1793245484858169088
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.646382604,660.646382604,634,878,785.353617396,807,653,629.353617396,652,0.403126405335,0.00450918335719,0.0599540115315,0.999999994171,9.76034822943e-05,-4.59961550701e-05,4.01993549948e-06,1793245484874835968
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.784827915,661,634,878.215172085,785,807,653,629,652,0.403407635381,0.00450864474483,0.0599545652581,0.999999994965,9.12450924748e-05,-4.17569911657e-05,1.21329862423e-06,1793245484891502592
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.164686008,661,634,878.835313992,785,807,653,629,652,0.403707644508,0.00450939868526,0.0599537305794,0.999999995584,8.38047606497e-05,-4.24756196434e-05,-2.12256240673e-06,1793245484908169216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.57879969,878.57879969,785,807,653,629,652,0.404027937973,0.00450931624612,0.0599424777123,0.99999999515,7.76109306784e-05,-6.03840539733e-05,-5.46922738419e-06,1793245484924835840
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.00529969,878.00529969,785,807,653,629,652,0.404355565943,0.0045089313847,0.0599274577851,0.999999993808,7.18678171263e-05,-8.45080631803e-05,-8.81979883073e-06,1793245484941502464
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.411095232,633,878,785,807,653,629,652,0.404711160977,0.00450766376352,0.0599137900366,0.999999991875,6.14982890389e-05,-0.000110974524428,-1.23568128344e-05,1793245484958169344
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.822411338,679,660,633.177588662,878,785,807,653,629.177588662,652,0.40508806607,0.0045064943579,0.0599045504675,0.999999990046,5.25270160543e-05,-0.000129997428104,-1.58294403692e-05,1793245484974835968
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.246541681,679,660,633.753458319,878,785,807,653,629.753458319,652,0.405512178512,0.00450556368783,0.0599052137654,0.999999989973,4.6788410202e-05,-0.000132277540379,-1.91537668218e-05,1793245484991502592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.329216954,633.670783046,878,785,807,653,629.670783046,652,0.405986888722,0.00450530902236,0.0599224731976,0.999999993569,3.88133187638e-05,-0.000104096002813,-2.2798487159e-05,1793245485008169216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.904892535,633.095107465,878,785,807,653,629.095107465,652,0.406499477513,0.00450556042785,0.0599521568397,0.999999997808,2.91639472216e-05,-5.31102434574e-05,-2.66830612944e-05,1793245485024836096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,633.492103482,878,785,807,653,629.492103482,652,0.407046432502,0.00450428239778,0.0599807325485,0.999999999346,1.95879647965e-05,-4.74543589427e-06,-3.00292113283e-05,1793245485041502976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.07999965,679,661,633.92000035,878.07999965,785,807,652.92000035,629.92000035,652,0.407597582145,0.00450280013213,0.0600045086504,0.999999998834,1.01399330511e-05,3.34828388152e-05,-3.32733846953e-05,1793245485058169600
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.657951306,679,661,633.342048694,878.657951306,785,807,652.342048694,629.342048694,652,0.40813250723,0.00450193065679,0.0599997747718,0.999999999261,1.39791241839e-06,1.18456513226e-05,-3.65460730229e-05,1793245485074836736
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.235296547,713.764703453,679.235296547,661,633,878.764703453,785,807,652,629.235296547,652,0.408682898985,0.00450102539589,0.0599916499799,0.999999999093,-7.33283170868e-06,-1.19927038957e-05,-4.02029584581e-05,1793245485091503616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.811762479,713.188237521,679.811762479,661,633,878.188237521,785,807,652,629.811762479,652,0.409255716681,0.00450006824758,0.0599786085166,0.999999998123,-1.60472248837e-05,-3.9022651773e-05,-4.44169121829e-05,1793245485108169728
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.613210427,713,680,661,633,878,784.613210427,807,652,629.613210427,652,0.409881730255,0.00449876878761,0.0599767836089,0.999999997526,-2.63064034798e-05,-4.3547938033e-05,-4.85741007046e-05,1793245485124836096
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.038880988,713,680,661,633,878,784.038880988,807,652,629.038880988,652,0.410533536515,0.00449730335349,0.0599803971918,0.999999997224,-3.7314590769e-05,-3.71615508396e-05,-5.27037657747e-05,1793245485141502976
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,633,878,784.535925608,807,652.535925608,629.535925608,652,0.411245634726,0.0044926952031,0.059989458676,0.999999996874,-5.24402358913e-05,-1.41607706652e-05,-5.74639672366e-05,1793245485158169344
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.885083729,745,713,679.885083729,661,633.114916271,877.885083729,785,807,652.885083729,630,652,0.41195406741,0.00448517459988,0.0599934447956,0.999999997237,-4.96299359718e-05,-2.29042484299e-06,-5.52870413761e-05,1793245485174835968
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.288708612,745,713,679.288708612,661,633.711291388,877.288708612,785,807,652.288708612,630,652,0.412628800204,0.00446640794073,0.0599745095192,0.999999998392,2.95783244945e-05,-4.21072410567e-05,-2.38541589442e-05,1793245485191502848
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.592627798,745,713.296313899,679,660.407372202,633.703686101,877.592627798,785,807.296313899,652,630,652,0.413307469665,0.00446181849889,0.0599461589419,0.99999999242,7.3658461126e-05,-9.80799195668e-05,-1.06963795337e-05,1793245485208169728
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.741366796,745,713.870683398,679,659.258633204,633.129316602,878.741366796,785,807.870683398,652,630,652,0.4139898333,0.00447053269904,0.0599089732145,0.999999981982,8.47750112665e-05,-0.0001692129715,-1.46876224924e-05,1793245485224836352
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.554209514,745,713.554209514,679,659.891580971,633,878.554209514,784.554209514,808,652,630,652,0.414799795492,0.00446980793074,0.0599279057434,0.999999988756,7.2341592334e-05,-0.000129709515519,-2.07356349772e-05,1793245485241502720
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.021723068,745,713,679.021723068,661.021723068,633,878.021723068,784,808,652,630,652,0.415647253818,0.00446633206306,0.0599632334535,0.999999996487,5.3561823604e-05,-5.84538148767e-05,-2.72007631657e-05,1793245485258169088
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.61370069,745,713,679.61370069,661.61370069,633,878.61370069,784,808,652,630,652,0.4165057525,0.0044626338532,0.0600009029372,0.999999998436,4.78140437946e-05,2.43794243512e-06,-2.89273530199e-05,1793245485274835968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.799795187,745,713.200204813,680,661.599590374,633,878.799795187,784.200204813,808,652,630,652,0.417353897766,0.00446262379893,0.060021814821,0.999999997654,4.95166583234e-05,3.60771544068e-05,-3.06212731349e-05,1793245485291502592
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.22357127,745,713.77642873,680,660.44714254,633,878.22357127,784.77642873,808,652,630,652,0.418182597482,0.004469540736,0.0600112530448,0.999999997182,6.52123966008e-05,1.85313910948e-05,-3.2253833909e-05,1793245485308169216
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.64790164,680,660.35209836,633,878.35209836,784.64790164,808,652,630,652,0.419016838428,0.0044688333687,0.0599935136311,0.999999997006,6.89118460172e-05,-1.01525749463e-05,-3.37180115439e-05,1793245485324835840
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.072583432,680,660.927416568,633,878.927416568,784.072583432,808,652,630,652,0.419854592317,0.00446329241982,0.05997122381,0.999999996219,6.50060058467e-05,-4.589782826e-05,-3.50754392074e-05,1793245485341502720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713,680.515784722,661.515784722,633,879,784.515784722,808,652,630,652,0.420697220244,0.00446696961752,0.0599387087159,0.999999992526,6.91240399073e-05,-9.33566699234e-05,-3.81469743728e-05,1793245485358169344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713,680.896042147,661.896042147,633,879,785,808,652,630,652,0.421543536772,0.00447069036534,0.0599071874431,0.999999987762,5.18486002746e-05,-0.000141886515497,-4.06958929258e-05,1793245485374835968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713,680.317363528,661.317363528,633,879,785,808,652,630,652,0.422403483509,0.00446853250791,0.0598869459065,0.999999979277,-6.84096663584e-05,-0.00018758435093,-3.97281937531e-05,1793245485391502336
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.259760672,745,713.259760672,680,661.259760672,633,879,785,808,652,630,652.259760672,0.423325405079,0.00446513897557,0.0599052137811,0.999999977229,-0.000134271572981,-0.000161050485054,-3.97011942357e-05,1793245485408168960
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.83499713,745,713.83499713,680,661.83499713,633,879,785,808,652,630,652.83499713,0.42432259435,0.00446024473265,0.0599702508063,0.999999989085,-0.000134069860197,-4.679221279e-05,-4.08166617019e-05,1793245485424835840
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.590246473,745,714,680,662.409753527,633,879.409753527,785,808,652,630,652.590246473,0.425275676816,0.00446095322042,0.0600117316503,0.999999991087,-0.000125000611655,2.2154982909e-05,-4.13541201223e-05,1793245485441502464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.015683199,745,714,680,662.984316801,633,879.984316801,785,808,652,630,652.015683199,0.426211018724,0.00446391522083,0.0600437377989,0.999999990164,-0.000112364691542,7.28772960864e-05,-4.16590935773e-05,1793245485458169344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.575066421,745,714,680,661.849867158,633,879.424933579,785,808,652.575066421,630,652,0.427153343318,0.00445959594634,0.0600303679514,0.999999990863,-0.000110869931093,6.38219710392e-05,-4.36800603347e-05,1793245485474835968
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.837053833,745,713.837053833,680,661.162946167,633,879.162946167,785,808.162946167,652.837053833,630,652,0.42807969243,0.00445657223664,0.0600120138929,0.999999992163,-0.000107817549411,4.45007013414e-05,-4.54884360974e-05,1793245485491502592
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.257669436,745,713.257669436,680,661.742330564,633,879.742330564,785,808.742330564,652.257669436,630,652,0.428964712493,0.0044573817676,0.0599841760208,0.999999993909,-9.99853753231e-05,3.23004112829e-06,-4.66304311922e-05,1793245485508169216
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.31903269,745,713.31903269,680,661.68096731,633,880,785,809,652,630.31903269,652.31903269,0.429826553176,0.00445793040533,0.0599513851522,0.999999993352,-8.96563416454e-05,-5.54547730822e-05,-4.67091780648e-05,1793245485524836096
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.89358649,745,713.89358649,680,661.10641351,633,880,785,809,652,630.89358649,652.89358649,0.430669828882,0.00445827008723,0.0599146273083,0.999999987752,-7.73275119267e-05,-0.000128087008494,-4.59363431348e-05,1793245485541502976
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.479399461,713.520600539,680.479399461,661.479399461,633,880,785,809,652,630.520600539,653,0.431608219687,0.00445538065621,0.0599377883144,0.999999992793,-7.61418961537e-05,-7.97287782656e-05,-4.75438830295e-05,1793245485558169344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.933292901,713,680.933292901,662.066707099,633,880,785.066707099,809,652,630,653,0.432566586101,0.00445217708213,0.0599735409604,0.999999995793,-7.68041430475e-05,-8.02383304046e-06,-4.95009800772e-05,1793245485574835968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.354164008,713,680.354164008,662.645835992,633,880,785.645835992,809,652,630,653,0.433512314756,0.00445219881459,0.0600013923537,0.99999999564,-7.22035721158e-05,3.17578424188e-05,-4.9986818318e-05,1793245485591502848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.223644069,680.223644069,662.552711862,633,879.776355931,785.776355931,809,652,630,652.776355931,0.434422945607,0.00444985006705,0.0600074607275,0.999999995474,-7.10057596877e-05,3.8145010532e-05,-5.05489409417e-05,1793245485608169728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.799372866,680.799372866,661.401254269,633,879.200627134,785.200627134,809,652,630,652.200627134,0.435278321835,0.00444376945305,0.0599792359161,0.99999999583,-7.51649377567e-05,-8.04106737259e-06,-5.12311588089e-05,1793245485624836352
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.62433266,745,713.62433266,681,661.37566734,633,879.37566734,785,809,652,630.37566734,652.37566734,0.436115435045,0.00444166590609,0.0599532480492,0.999999994422,-7.37014087907e-05,-5.52810448873e-05,-5.16531969649e-05,1793245485641502976
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.04773566,745,713.04773566,681,661.95226434,633,879.95226434,785,809,652,630.95226434,652.95226434,0.436942780035,0.00444168953595,0.0599284566375,0.999999990942,-6.9230515038e-05,-0.00010308470893,-5.19360751452e-05,1793245485658169344
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.539959572,745,713.539959572,681,661.460040428,633,880,785,809,652,631,652.460040428,0.437714642472,0.00444391392591,0.0599084418109,0.999999986149,-5.93407684791e-05,-0.000146550817606,-5.19887104303e-05,1793245485674836224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.873446098,680.873446098,661.126553902,633,880,785.126553902,809.126553902,652,630.873446098,652,0.43850324746,0.00444405233782,0.0598968759922,0.999999982181,-5.30981162535e-05,-0.000173502175691,-5.21187992798e-05,1793245485691502848
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.29437026,680.29437026,661.70562974,633,880,785.70562974,809.70562974,652,630.29437026,652,0.439369626121,0.00443602157246,0.0599139798619,0.99999998652,-6.16454011768e-05,-0.000142801271062,-5.26001517366e-05,1793245485708169472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.282379603,680.282379603,661.717620397,633,880,785.717620397,810,652,630,652.282379603,0.440213237827,0.00443300979423,0.0599452367716,0.999999992168,-6.2453843624e-05,-9.47860570189e-05,-5.27204370266e-05,1793245485724836096
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.856724499,680.856724499,661.143275501,633,880,785.143275501,810,652,630,652.856724499,0.441033309674,0.00443518737873,0.0599911271607,0.99999999668,-5.52607392878e-05,-2.88687817171e-05,-5.2467398162e-05,1793245485741502720
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.567219446,681,660.567219446,632.567219446,880,785,809.567219446,652,630,652.567219446,0.441750809077,0.00443809080083,0.0599706792238,0.999999995721,-4.44850482853e-05,-6.2144460286e-05,-5.21183844213e-05,1793245485758169600
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.00961988,680.99038012,659.99038012,632,880,785,809.019239759,652,630.00961988,652.00961988,0.442433402449,0.00444125888633,0.059927914878,0.999999989853,-3.249722334e-05,-0.000128680874421,-5.17671138036e-05,1793245485774836736
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.599394212,680.400605788,659.400605788,632,880,785,810.198788424,652,630.599394212,652.599394212,0.443066914156,0.00444583907306,0.0598690249621,0.999999975756,-1.92199856186e-05,-0.000212811883245,-5.3203530794e-05,1793245485791503616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.185760739,714,680.371521478,658.814239261,632,880.185760739,784.814239261,811,652,630.814239261,652.814239261,0.443711040827,0.00445047058448,0.0598247275618,0.999999960037,-8.40030998824e-06,-0.000277268641539,-5.45629779937e-05,1793245485808169984
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.764910601,714,681.529821202,658.235089399,632,880.764910601,784.235089399,811,652,630.235089399,652.235089399,0.444377647132,0.00445521078805,0.0598113330037,0.999999953423,-2.78505905308e-06,-0.000300060876049,-5.5759425709e-05,1793245485824836352
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.658541299,714,681.658541299,658,631.658541299,880.658541299,784,810.658541299,652,630,652,0.445001976279,0.00446019619776,0.0598003773614,0.999999946057,4.79315753509e-06,-0.000323650513024,-5.57979948811e-05,1793245485841502720
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.083770963,714,681.083770963,658,631.083770963,880.083770963,784,810.083770963,652,630,652,0.445597418283,0.00446534915146,0.0597910881802,0.999999937914,1.3712627423e-05,-0.000347784997078,-5.50454096198e-05,1793245485858169600
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,880,784,810,652,630,652.502458287,0.446137957073,0.00448506858184,0.0597643762622,0.999999921441,3.67604718809e-05,-0.000390820629827,-5.5008995881e-05,1793245485874836736
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.91072603,745,714,681,657.821452059,631,880,784,810,652.08927397,630,653,0.446673055459,0.00450927556049,0.0597392284069,0.999999904583,6.39554049199e-05,-0.000428472001299,-5.61685571412e-05,1793245485891503872
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.33142271,745,714,681,656.66284542,631,880,784,810,652.66857729,630,653,0.447229708293,0.00454447334966,0.0597389822411,0.999999905208,0.000100682633015,-0.000418867885388,-6.32221886845e-05,1793245485908170240
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713.753522137,681.246477863,656,630.753522137,880,784,810.246477863,652.753522137,630,652.753522137,0.44777998699,0.00457259927966,0.0597471969343,0.999999908948,0.000127127635246,-0.000401236283717,-7.03723891887e-05,1793245485924836864
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.177497118,681.822502882,656,630.177497118,880,784,810.822502882,652.177497118,630,652.177497118,0.448321743262,0.00459126995174,0.0597667240105,0.999999917693,0.000139825037806,-0.000372871731086,-7.76517043282e-05,1793245485941503744
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.396534172,745.396534172,713.396534172,682,656,630,880.396534172,784,810.603465828,652.396534172,630,652.396534172,0.448780503658,0.00460030256074,0.0597590756027,0.999999913626,0.000130506834702,-0.000386106113809,-8.14712427291e-05,1793245485958170368
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.969677541,745.969677541,713.969677541,682,656,630,880.969677541,784,810.030322459,652.969677541,630,652.969677541,0.449202299229,0.00460504255121,0.0597393237243,0.999999902983,0.000111383277338,-0.000417867912207,-8.37498592865e-05,1793245485974836992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,682,655.439143699,629.439143699,880.439143699,784,810.560856301,652.439143699,630,653,0.449573654047,0.00460106485488,0.0597066340918,0.999999886567,3.66292109153e-05,-0.000467379937699,-8.41440795614e-05,1793245485991503360
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.850285496,745.850285496,713.850285496,682,654.850285496,629,880,784,811,652,630,653,0.449942540777,0.00459899735527,0.0596782687855,0.999999867034,-1.96360195138e-05,-0.000508239696564,-8.50757154143e-05,1793245486008169728
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.270976685,745.270976685,713.270976685,682,654.270976685,629,880,784,811,652,630,653,0.450312430675,0.00460380836317,0.0596643855682,0.999999860101,-1.39320343951e-05,-0.000521427301986,-8.78514730673e-05,1793245486024836352
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,713,682,654,628.694631096,880.305368904,784,811,652.305368904,630,652.694631096,0.450675811741,0.00460411693223,0.0596665291043,0.999999865053,1.85070621277e-05,-0.000513227480551,-7.84134741529e-05,1793245486041502976
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713,682,654,628.12088976,880.87911024,784,811,652.87911024,630,652.12088976,0.451033472521,0.00460046854781,0.0596827576994,0.999999877323,7.44422208078e-05,-0.000486231388716,-5.82414560324e-05,1793245486058169856
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.464289946,745,713,682,653.535710054,628,880.535710054,784,811,653,630,652.464289946,0.451342359026,0.00460468241706,0.059692735884,0.999999884241,9.67648497892e-05,-0.000468266772664,-5.36750900011e-05,1793245486074836224
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,682,653,628,880.051631296,784,810.948368704,652.948368704,630,653,0.451635472177,0.00461055712071,0.0597009591808,0.999999890048,0.000108518851088,-0.000453056100938,-5.3559332803e-05,1793245486091503104
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,682,653,628,880.629876236,784,810.370123764,652.370123764,630,653,0.451900506626,0.00461196431843,0.059708301992,0.999999895613,0.000103997643562,-0.000441343563211,-5.63468078467e-05,1793245486108169728
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.208383203,682,653,627.791616797,881,784,810.208383203,652.208383203,630,653,0.45214884353,0.00461278654024,0.0597122358937,0.99999989895,9.97043746022e-05,-0.000434400270839,-5.87874930351e-05,1793245486124836352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.787356101,682,653,627.212643899,881,784,810.787356101,652.787356101,630,653,0.452367485415,0.00461256843795,0.0597101073737,0.999999898551,9.58164731938e-05,-0.000435938628777,-6.06114451867e-05,1793245486141503232
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.635077251,745.364922749,713.635077251,682,652.635077251,627,880.635077251,783.635077251,811,652.635077251,630,653,0.452563712339,0.00461312096078,0.0597065061083,0.999999896983,9.27345689014e-05,-0.000439941372804,-6.23429075326e-05,1793245486158169600
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.058326837,745.941673163,713.058326837,682,652.058326837,627,880.058326837,783.058326837,811,652.058326837,630,653,0.452746928012,0.00461412081038,0.0597020499545,0.999999894711,9.01205234974e-05,-0.00044537462562,-6.40206822499e-05,1793245486174835968
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,713.887806741,682,652,626.887806741,880.887806741,783,810,652,630,652.112193259,0.453032158079,0.00461566392474,0.0597016892614,0.999999891037,8.71758691998e-05,-0.000453817123423,-6.61577445051e-05,1793245486208169728
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,713.305918947,682,652,626.305918947,880.305918947,783,810,652,630,652.694081053,0.45314930892,0.00461711548719,0.0596953711989,0.999999886675,8.94448062647e-05,-0.000462752774686,-6.71503025591e-05,1793245486224836864
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,713.272835022,682,652,626,880,783,810,652,630,652.727164978,0.453256169598,0.00461940595171,0.0596914689901,0.999999883393,9.23392096222e-05,-0.000469130818471,-6.78533366327e-05,1793245486241503488
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,713.848115027,682,652,626,880,783,810,652,630,652.151884973,0.453351623343,0.00462262636172,0.0596902448205,0.999999881361,9.59269591117e-05,-0.000472673684837,-6.82354255054e-05,1793245486258169600
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,713,682,651,626,880.651382294,784,810,652,629.348617706,653,0.453745950554,0.00462531503477,0.0596741127617,0.999999867451,9.96279840059e-05,-0.000500341698862,-6.95004241667e-05,1793245486424835840
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.236903477,745,713.236903477,682,651,626,880.763096523,783.763096523,810,652.236903477,629.236903477,653,0.453752147012,0.0046260174348,0.0596724009436,0.99999986565,0.00010130377418,-0.000503606910762,-6.9411187731e-05,1793245486441502976
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.811614076,745,713.811614076,682,651,626,880.188385924,783.188385924,810,652.811614076,629.811614076,653,0.453756253565,0.00462675005453,0.059670873162,0.999999864005,0.00010292814174,-0.000506506346622,-6.96153051873e-05,1793245486458170368
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.613145635,745,714,682,651,626,880,783,810.386854365,653,630,652.613145635,0.45376039828,0.00462637758178,0.0596708354522,0.999999864373,0.000102857307409,-0.000505807796175,-6.95136414655e-05,1793245486474837248
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.037647067,745,714,682,651,626,880,783,810.962352933,653,630,652.037647067,0.453764561603,0.00462546622588,0.0596715243555,0.99999986572,0.000101959831178,-0.000503354737178,-6.92628677582e-05,1793245486491503616
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,713.451056791,682,651,625.451056791,880,783,810.451056791,653,630,652.548943209,0.453763719585,0.00462886430361,0.0596703002515,0.999999863902,0.000106788075317,-0.0005058797603,-6.9839985012e-05,1793245486508170240
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713.134981647,682,651,625.134981647,880,783,810,653,630,652.865018353,0.453762880193,0.00463093041909,0.0596690761082,0.999999862262,0.000110064165472,-0.000508369925883,-7.01535345288e-05,1793245486524836608
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713.716624862,682,651,625.716624862,880,783,810,653,630,652.283375138,0.453763208818,0.00462759085555,0.0596682949225,0.999999862038,0.000106877912231,-0.000509591731171,-6.94031694404e-05,1793245486541502976
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,713.129817272,682,651,625.129817272,879.129817272,783,810,652.129817272,630,652,0.453764132267,0.00462794272336,0.0596679041521,0.999999861854,0.000105376243529,-0.000510264565982,-6.94151110692e-05,1793245486574835968
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.431302567,745,713,682,650.568697433,625.431302567,879.431302567,783,810,652,630,652.431302567,0.453764047096,0.00462889879169,0.0596670746484,0.99999986137,0.000107280644847,-0.00051079879693,-6.95359308166e-05,1793245486591502336
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.988314873,745,713,682,650.011685127,625.988314873,879.988314873,783,810,652,630,652.988314873,0.45376379003,0.00462975225528,0.0596660053343,0.999999860753,0.000109730351489,-0.000511473791748,-6.96192305677e-05,1793245486608169216
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.403631493,745,713,682,650.596368507,626,880,783.596368507,810.596368507,652,629.403631493,653,0.453765169728,0.00462861083689,0.059667350353,0.999999861608,0.000106833448659,-0.000510483878679,-6.91132697223e-05,1793245486624836096
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.195813035,682,650.804186965,626,880,783.804186965,810.804186965,652.195813035,629.195813035,653,0.453766080942,0.00462787348558,0.0596681479085,0.999999862131,0.000105332581439,-0.000509816376905,-6.87831911682e-05,1793245486641502976
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.776201292,682,650.223798708,626,880,783.223798708,810.223798708,652.776201292,629.776201292,653,0.453766003174,0.00462801367123,0.0596677686461,0.999999861954,0.000106798523272,-0.000509852154208,-6.8823342433e-05,1793245486658169856
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.647711522,682,650.352288478,625.647711522,880,783,810.352288478,652.647711522,630,653,0.453765536967,0.00462815986959,0.0596672554804,0.999999861406,0.000108113575477,-0.000510648131676,-6.88333715984e-05,1793245486674836736
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.074323749,682,650.925676251,625.074323749,880,783,810.925676251,652.074323749,630,653,0.453764826971,0.00462830984156,0.0596666582759,0.999999860623,0.000109333927988,-0.000511921217339,-6.8824495872e-05,1793245486691503104
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+244,4.066666667,HOLD_POSE2,764,745,713,682,651,626,880,784,810,653,630,652,0.453765904959,0.00462737067277,0.059666622603,0.999999860822,0.000108165013044,-0.0005118043834,-6.86554465877e-05,1793245486750694144
+245,4.083333333,HOLD_POSE2,764,745,713,682,651,625.424606734,880.575393266,783.424606734,810.575393266,652.424606734,629.424606734,652.575393266,0.453765793802,0.00462835505148,0.0596653373683,0.999999860196,0.000109626874025,-0.000512693626079,-6.88165184226e-05,1793245486767360768
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+247,4.116666667,HOLD_POSE2,764.723774686,745,713,682,650.276225314,625,880.276225314,783.723774686,810.276225314,652.723774686,629.723774686,652.276225314,0.45376722272,0.00462860877499,0.0596654454346,0.999999860144,0.000110315008303,-0.000512679643972,-6.85662122615e-05,1793245486800694784
+248,4.133333333,HOLD_POSE2,764.692635003,745,713,682,650,625,880.307364997,784,810,653,630,652,0.4537679701,0.00462835134942,0.0596662503758,0.999999860594,0.000110496345462,-0.000511784461412,-6.84039841028e-05,1793245486817361664
+249,4.150000000,HOLD_POSE2,764.099656961,745,713,682,650,625,880.900343039,784,810,653,630,652,0.453768299486,0.00462820274979,0.059667025415,0.999999861157,0.000111133803577,-0.000510550897593,-6.83628202026e-05,1793245486834027520
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+253,4.216666667,HOLD_POSE2,764.206988179,745.206988179,713.206988179,682,650.206988179,625.206988179,881,783,810,653,630,652.206988179,0.453767247902,0.00462925403157,0.0596671154343,0.999999860202,0.000110179441899,-0.00051254406903,-6.89567513009e-05,1793245486900694528
+254,4.233333333,HOLD_POSE2,764.778273516,745.778273516,713.778273516,682,650.778273516,625.778273516,881,783,810,653,630,652.778273516,0.45376754602,0.00463105899022,0.0596660886543,0.999999859862,0.000112377762603,-0.000512772264349,-6.86484509108e-05,1793245486917361152
+255,4.250000000,HOLD_POSE2,764.634613958,745.634613958,714,682,651,626,880.634613958,783,810,653,630.365386042,653,0.453766995155,0.00463031747536,0.0596645515476,0.999999859131,0.000111908351765,-0.000514379427855,-6.80367915805e-05,1793245486934027776
+256,4.266666667,HOLD_POSE2,764.037462128,745.037462128,714,682,651,626,880.037462128,783,810,653,630.962537872,653,0.453765905775,0.00462796072265,0.0596626907386,0.999999858145,0.000109746788654,-0.000516861276261,-6.72327104643e-05,1793245486950694656
+257,4.283333333,HOLD_POSE2,764.542737739,745,714,681.457262261,650.457262261,626,880.542737739,783.542737739,810.542737739,653,630.457262261,653,0.453767090112,0.00462686370529,0.0596633062367,0.999999858758,0.000108709469133,-0.000515834407773,-6.76891434913e-05,1793245486967361280
+258,4.300000000,HOLD_POSE2,764.879763131,745,714,681,650,626,880.879763131,784,811,653,630,653,0.453767804345,0.00462634866395,0.0596637676894,0.999999859169,0.00010813105583,-0.000515100652042,-6.81300674443e-05,1793245486984027392
+259,4.316666667,HOLD_POSE2,764.308143078,745,714,681,650,626,880.308143078,784,811,653,630,653,0.453766182414,0.00462770188535,0.0596630285985,0.999999858427,0.000108992932915,-0.000516348935396,-6.81960303937e-05,1793245487000694016
+260,4.333333333,HOLD_POSE2,764.272209268,745,714,681.272209268,650.272209268,626,880.272209268,784,811,653,630,653,0.453765872314,0.00462805983895,0.0596632519902,0.999999858433,0.000109385384906,-0.000516243770627,-6.82783548514e-05,1793245487017360640
+261,4.350000000,HOLD_POSE2,764.86277422,745,714,681.86277422,650.86277422,626,880.86277422,784,811,653,630,653,0.453767096434,0.00462725380137,0.0596646010299,0.999999859313,0.000109228832219,-0.00051455571367,-6.83798145069e-05,1793245487034027264
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,651,626,880,783,810,652,630,653,0.453766406179,0.00462756007613,0.0596644893599,0.999999858349,0.000108834646415,-0.000516512994515,-6.83498080011e-05,1793245487066721024
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.424434913,682,651,625.424434913,880,783,810,652.575565087,630,653,0.45376737999,0.00462990391591,0.0596640843569,0.99999985857,0.000110826024702,-0.00051561524661,-6.86972514224e-05,1793245487083387904
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.149048691,745,713,682,650.850951309,625.149048691,880.149048691,783.149048691,810,653,630,653,0.453767854471,0.00463135493731,0.0596637482401,0.99999985871,0.000111978897602,-0.000515067771416,-6.88835572138e-05,1793245487100054528
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.716686775,745,713,682,650.283313225,625.716686775,880.716686775,783.716686775,810,653,630,653,0.453766926626,0.00463029856186,0.0596636055836,0.999999858638,0.000110776906522,-0.000515504004369,-6.86173230314e-05,1793245487116721152
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.300327352,682,650.300327352,626,881,783.699672648,810,653,630,653,0.45376717825,0.00462920339161,0.0596640198802,0.999999858895,0.00010985189236,-0.000515203863342,-6.86061970769e-05,1793245487133387520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.899913451,682,650.899913451,626,881,783.100086549,810,653,630,653,0.453768605146,0.00462806956466,0.0596649891482,0.999999859482,0.000109202869666,-0.000514169968426,-6.88492716557e-05,1793245487150053888
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.519241735,745.480758265,713.519241735,682,650.519241735,625.519241735,880.519241735,783,810,653,630,652.519241735,0.453768026742,0.00462755703098,0.0596643684334,0.999999859241,0.000108557956436,-0.000514796120606,-6.86867134248e-05,1793245487166720256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.942342225,713.057657775,682,650,625,880,783.057657775,810,653,630,652.057657775,0.453766819201,0.00462732803185,0.0596633749778,0.999999858725,0.000108270307368,-0.00051589097615,-6.84416033963e-05,1793245487183386624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745.367148524,713.632851476,682,650,625,880,783.632851476,810,653,630,652.632851476,0.453763571172,0.00462852660867,0.0596618954721,0.999999857225,0.00011118206867,-0.000518207228325,-6.81850608993e-05,1793245487200053504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,650.212770122,625,880,783.787229878,810,652.787229878,630,653,0.453754932028,0.00462893763543,0.0596577726909,0.99999985383,0.000112223345934,-0.000524505915015,-6.8114928607e-05,1793245487216720128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,682,650.801027068,625,880,783.198972932,810,652.198972932,630,653,0.453736778898,0.00462795883031,0.0596489851801,0.999999846985,0.000109963679551,-0.000537832616816,-6.83737644036e-05,1793245487233386496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.382777704,745,713.617222296,682,650.617222296,625,880.382777704,783,810,652.382777704,630,653,0.453698489329,0.00462777393279,0.0596328056907,0.999999832001,0.000110025003551,-0.000565000723012,-6.83189783359e-05,1793245487250053120
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.961202851,745,713.038797149,682,650.038797149,625,880.961202851,783,810,652.961202851,630,653,0.453649907511,0.00462799482161,0.0596128479719,0.999999811944,0.000111272644604,-0.000599243524572,-6.81038920984e-05,1793245487266720000
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.977872725,745,713,682.977872725,650.977872725,626,880,784,810,653,630,652.022127275,0.453078989299,0.0046337881701,0.0595793257304,0.999999787998,0.000126604452004,-0.000635306570604,-6.60411005458e-05,1793245487383386368
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,658.844125689,633,879,784.422062845,807.422062845,653,629.422062845,652,0.411295672852,0.00456494479416,0.0597431780169,0.999999879907,0.000236673162171,-0.00042788622372,3.29513017733e-05,1793245488433387264
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.260548946,746,713.260548946,680,660.218353162,633,878.260548946,784.739451054,807,653,629.739451054,652.739451054,0.410059219807,0.00456162309977,0.059786475099,0.999999915064,0.000210868061788,-0.000352592957868,3.29229768272e-05,1793245488466720256
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.520507207,745,713,680,659,633,878,785,807.520507207,652.520507207,630,652,0.408280643481,0.00455535208422,0.0598525720993,0.99999995228,0.000180384653512,-0.000248349834912,3.49943195957e-05,1793245488516720384
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.208759264,745,713.791240736,679,660.582481471,633,878,785,807,652.208759264,630,652,0.406644507176,0.0045510061992,0.0598168024137,0.999999942953,0.000153865363568,-0.00029897421794,3.21542362276e-05,1793245488566720512
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.802172076,745,713.197827924,679,659.395655848,633,878,785,807,652.802172076,630,652,0.406184369205,0.00454789094983,0.0598226914932,0.999999948985,0.000144276948326,-0.000283184476085,3.19589077064e-05,1793245488583387136
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.035361295,745,713,679.964638705,660.929277411,633,878,785,807,653,630,652,0.405290895742,0.00454684657189,0.0598314880051,0.999999954075,0.000136362487978,-0.000268698838874,3.24924781383e-05,1793245488616720128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.543614175,745,713,679.456385825,659.91277165,633,878,785,807,653,630,652,0.404851253671,0.00454506440128,0.05981167217,0.999999945877,0.000134466094563,-0.000298534597796,3.22846027199e-05,1793245488633386752
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,659,633,878,785.696309883,807,652.303690117,629.303690117,652,0.404045673237,0.00454510888003,0.0597671176447,0.999999921171,0.000138033819274,-0.000370871619865,3.25311353998e-05,1793245488666720000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.722544909,745,713.277455091,679.277455091,659.277455091,633,878,785.722544909,807,652.277455091,629.554910182,652,0.403712811618,0.00454340841538,0.0597612975052,0.999999918679,0.000138676823774,-0.000377219453637,3.34069146364e-05,1793245488683386624
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.552429369,660,633,878,785,807,652.552429369,630.552429369,652,0.403174057805,0.00453720731646,0.0597946947435,0.99999993981,0.000141923579774,-0.000314532403402,3.61540058581e-05,1793245488716720640
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633,878,785,807,652,630,652,0.402699545204,0.00453640092937,0.0598314568868,0.999999940436,0.00022745326879,-0.000256690082599,3.87822336156e-05,1793245488750053888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745.177625446,713.822374554,679,660,633,878,785,807,652.177625446,630,652,0.402478454268,0.00453541110392,0.0598403893325,0.999999931039,0.000277514299429,-0.000243507615126,4.01564788958e-05,1793245488766720000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.751401876,713.248598124,679,660,633,878,785,807,652.751401876,630,652,0.402266188462,0.00453387077656,0.0598358499487,0.999999928185,0.000276141115967,-0.000256225396971,4.15357588027e-05,1793245488783386624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.664746851,713.335253149,679,660,633,878,785,807,652.664746851,630,652,0.402071541867,0.00453375968273,0.0598287220898,0.999999924229,0.000274219523782,-0.000273066568448,4.21984947705e-05,1793245488800053504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745.073193319,713.926806681,679,660,633,878,785,807,652.073193319,630,652,0.401890365103,0.00453474123499,0.0598196153461,0.999999919204,0.000271878673985,-0.000293060064581,4.23134344236e-05,1793245488816719872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.492425811,679,660,633,878,785,807,652.507574189,630,652.507574189,0.401746062117,0.00453238023931,0.0598193277863,0.999999919837,0.000267222469461,-0.000295115074194,4.27149376013e-05,1793245488833387008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.085912327,745,713.085912327,679.085912327,660,633,878,785,807,653,630,652.914087673,0.401611495019,0.00452977495293,0.0598204565519,0.999999924297,0.000251684046832,-0.000294011076133,4.023363257e-05,1793245488850053632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.659109882,745,713.659109882,679.659109882,660,633,878,785,807,653,630,652.340890118,0.401502617271,0.00452846105592,0.0598225554487,0.999999942376,0.000176277203681,-0.000289356112612,2.11718547156e-05,1793245488866720512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.761004995,745,714,679.761004995,660,633,878.238995005,785,807,653,629.761004995,652,0.401406233869,0.004524411372,0.0598265572683,0.999999951835,0.000128706072114,-0.000282216342826,1.09337024348e-05,1793245488883387136
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.171306509,745,714,679.171306509,660,633,878.828693491,785,807,653,629.171306509,652,0.401328184793,0.00451634716916,0.0598333514544,0.99999995563,0.00012198132684,-0.000271430347645,1.36434211968e-05,1793245488900053760
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.588902299,679.411097701,659.588902299,633.411097701,878.588902299,785,807,652.588902299,629.411097701,652.411097701,0.401256283274,0.00451797540263,0.0598338063558,0.999999955496,0.000123750131124,-0.000271106364485,1.39752686067e-05,1793245488916720640
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745.567306442,713,680,659.567306442,634,878.567306442,785.567306442,807,652.567306442,630,653,0.401132677763,0.00452053898874,0.0598277556262,0.999999951888,0.000128875862048,-0.000281784363742,1.45989400737e-05,1793245488950053632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,746,713,679.853741476,660,633.853741476,878.853741476,785.853741476,807,653,629.853741476,652.853741476,0.401083431248,0.00451759542829,0.0598248067386,0.999999950362,0.000128113695677,-0.000287426595703,1.576601276e-05,1793245488966720512
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,746,713.891032117,679,660,633,878,785.891032117,807,653,629,652,0.400999241448,0.00451822809798,0.0598234982582,0.999999948814,0.000130832066472,-0.00029151675849,1.65375720827e-05,1793245489016720128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745.529769085,713.529769085,679,660,633.470230915,878,785.529769085,807,653,629,652,0.400988273433,0.00451702866381,0.0598256211877,0.999999949944,0.000130151306749,-0.000287893826466,1.70028849461e-05,1793245489033387008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.050103109,679,659.949896891,633.949896891,878,785,807,652.949896891,629,652,0.400980002132,0.00451537453856,0.0598283980536,0.999999951381,0.000128921708143,-0.000283389097431,1.75477101429e-05,1793245489050053376
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.6337477,679,659.3662523,633.3662523,878,785,807,652.3662523,629,652,0.400974516353,0.00451811131862,0.0598307220716,0.999999951814,0.000133559714285,-0.000279709297254,1.72093711478e-05,1793245489066720000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.215644057,633,878,785,807,652.215644057,629.215644057,652,0.400970056237,0.0045191528268,0.0598321508866,0.999999952263,0.000135301012732,-0.000277265546699,1.70842585731e-05,1793245489083386880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.794595038,633,878,785,807,652.794595038,629.794595038,652,0.400967324111,0.00451733822083,0.0598320715057,0.999999952779,0.000132162074589,-0.000276904234403,1.73183798221e-05,1793245489100053504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.626505803,678.626505803,659.626505803,633,878,785,807,653,629.626505803,652,0.400965410108,0.00451635045685,0.0598326119906,0.99999995328,0.000130476820382,-0.000275874586523,1.75590189523e-05,1793245489116720128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.04763516,678.04763516,659.04763516,633,878,785,807,653,629.04763516,652,0.400963945973,0.00451581735561,0.0598334933263,0.999999953776,0.000129590915889,-0.000274477435252,1.78032421178e-05,1793245489133386752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745.529596738,713,678.529596738,659.529596738,633.529596738,878,785,807,653,629.529596738,652,0.400964376819,0.00451629914127,0.0598346046306,0.999999954143,0.000129350430717,-0.000273261673704,1.7602600818e-05,1793245489150053632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,746,713.106392228,679,660,633.893607772,878,785,806.893607772,653,629.893607772,652,0.400964592825,0.00451634495639,0.0598353413297,0.999999954475,0.000128669734986,-0.000272379789965,1.74074357111e-05,1793245489166720512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,746,713.681911185,679,660,633.318088815,878,785,806.318088815,653,629.318088815,652,0.400963112265,0.00451406712774,0.0598343353152,0.9999999547,0.000125792781904,-0.000272898391139,1.74123104367e-05,1793245489183387136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745.736458099,714,679.263541901,660,633,878.263541901,785,806.263541901,653,629.263541901,652,0.40096292855,0.00451405407865,0.0598341915145,0.999999954721,0.000126530843366,-0.000272481552769,1.7381453437e-05,1793245489200053504
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.162913054,745.162913054,713.837086946,680,660,633.162913054,878,785,807,652.162913054,629.837086946,652,0.400961271788,0.00451695536395,0.0598358934452,0.999999954609,0.000129528308214,-0.000271477123534,1.74784232897e-05,1793245489283386624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.739042875,745.739042875,713.260957125,680,660,633.739042875,878,785,807,652.739042875,629.260957125,652,0.400961097008,0.00451554206299,0.059835794843,0.999999954434,0.000129592191306,-0.000272061944369,1.7900009248e-05,1793245489300053760
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dde461f9ce47e6830b861219a6e07ea96be4520
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.621492859144,0.00987785671709,1.05005099609,0.592064491826,0.0185535495546,1.04971749187
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+385,6.416666667,pose2_to_pose3_retreat,0.575674461926,0.00987769881849,1.05005099432,0.546246096514,0.0185533894685,1.04971749057
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+388,6.466666667,pose2_to_pose3_retreat,0.575672832106,0.00987775843411,1.05005107318,0.546244465813,0.0185534459588,1.04971756591
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+390,6.500000000,pose2_to_pose3_retreat,0.575672683682,0.00987776428077,1.05005108064,0.546244317304,0.0185534515066,1.04971757303
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+392,6.533333333,pose2_to_pose3_retreat,0.575672195015,0.00987778353015,1.05005110519,0.546243828359,0.0185534697719,1.04971759648
+393,6.550000000,pose2_to_pose3_retreat,0.575671973629,0.00987779225087,1.05005111631,0.546243606848,0.0185534780468,1.04971760711
+394,6.566666667,pose2_to_pose3_retreat,0.575671539314,0.00987780935922,1.05005113812,0.546243172287,0.0185534942806,1.04971762795
+395,6.583333333,pose2_to_pose3_retreat,0.575671228879,0.00987780055139,1.05005113997,0.546242861986,0.0185534859128,1.0497176294
+396,6.600000000,pose2_to_pose3_retreat,0.57567108872,0.00987779456256,1.05005113948,0.546242721916,0.0185534802246,1.04971762877
+397,6.616666667,pose2_to_pose3_retreat,0.575670911834,0.00987778700445,1.05005113888,0.546242545144,0.0185534730458,1.04971762797
+398,6.633333333,pose2_to_pose3_retreat,0.575670451494,0.0098777673347,1.05005113729,0.5462420851,0.0185534543633,1.04971762589
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ba85019df312eef6041c39c417a492b5a09d7c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61837a606ba003ff687552476236829c0dd2d7a7b8caba1cb4489eaccb24f2d
+size 25871933
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..728da4e0057300554297e6f18dedfecf03544ed4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+18,0.300000000,BASELINE,764,745.55296031,713.44703969,680,660,633.55296031,878,785.44703969,807,653,629.44703969,652,0.400962971576,0.00451594323516,0.0598393492931,0.999999956211,0.000128912610846,-0.00026576923868,1.80592511211e-05,1793245489865643264
+19,0.316666667,BASELINE,764,745,713.975389988,679.975389988,660,633,877.975389988,785.975389988,807,653,629.975389988,652,0.400964350731,0.00451647515702,0.0598403641005,0.999999956694,0.000129595621384,-0.000263620770071,1.79165369415e-05,1793245489882310144
+20,0.333333333,BASELINE,764,745,713.399158381,679.399158381,660,633,877.399158381,785.399158381,807,653,629.399158381,652,0.400966049556,0.00451543104045,0.0598414640538,0.999999957205,0.000129348711136,-0.000261779799502,1.81991094066e-05,1793245489898976768
+21,0.350000000,BASELINE,764,745,713,679,660,633,877.180536717,785,807,653,629.180536717,652,0.40096678069,0.00451499802107,0.0598420232743,0.999999957348,0.00012986963384,-0.000260958048455,1.8385684644e-05,1793245489915643392
+22,0.366666667,BASELINE,764,745,713,679,660,633,877.768039138,785,807,653,629.768039138,652,0.400965330457,0.00451594253653,0.0598413635752,0.999999956668,0.000132121404923,-0.000262433821374,1.83558629797e-05,1793245489932310016
+23,0.383333333,BASELINE,764,745,713,679,660,633,878,785,807,653,629.649370716,652,0.400964680759,0.0045163041771,0.0598412818651,0.999999956533,0.000131570472506,-0.000263231447336,1.82557287463e-05,1793245489948976640
+24,0.400000000,BASELINE,764,745,713,679,660,633,878,785,807,653,629.069985358,652,0.400964553342,0.00451628554098,0.059841577244,0.999999956752,0.000129191012351,-0.000263586639671,1.81097214811e-05,1793245489965643264
+25,0.416666667,BASELINE,764,745,713.507013946,679.507013946,660,633.507013946,878.507013946,785.507013946,807,653,629.507013946,652,0.400964811338,0.00451608709289,0.059841203337,0.999999956641,0.000129994892256,-0.000263609856289,1.81244286508e-05,1793245489982309888
+26,0.433333333,BASELINE,764,745,713.916650685,679.916650685,660,634,878.83330137,785.916650685,807,653,629.916650685,652,0.400964830574,0.00451592746582,0.0598406308083,0.999999956465,0.000130945384156,-0.000263807266247,1.81419362772e-05,1793245489998976768
+27,0.450000000,BASELINE,764,745,713.342295141,679.342295141,660,634,877.684590281,785.342295141,807,653,629.342295141,652,0.400963131359,0.004516142061,0.0598394298931,0.999999956171,0.00013018314219,-0.000265299522173,1.80458679723e-05,1793245490015643392
+28,0.466666667,BASELINE,764,745,713,679,660,633.761908835,877.238091165,785,807,653,629,652,0.400961519224,0.00451604625794,0.0598387432495,0.999999955921,0.000129393442773,-0.000266624639851,1.80686836271e-05,1793245490032309760
+29,0.483333333,BASELINE,764,745,713,679,660,633.172627034,877.827372966,785,807,653,629,652,0.400960035534,0.00451549260943,0.0598388151702,0.999999955736,0.000128563242949,-0.000267703224193,1.82668562071e-05,1793245490048976384
+30,0.500000000,BASELINE,764,745,713.410443271,679,660,633,878,785,806.589556729,653,629,652,0.400961842076,0.00451540402793,0.059840047431,0.999999956295,0.000129012464564,-0.000265393888514,1.82314239772e-05,1793245490065643008
+31,0.516666667,BASELINE,764,745,713.990940036,679,660,633,878,785,806.009059964,653,629,652,0.400965011815,0.00451550813146,0.05984176044,0.999999957149,0.00012999177184,-0.000261680881028,1.80992053727e-05,1793245490082309888
+32,0.533333333,BASELINE,764,745,713.433910857,679,660,633.566089143,877.433910857,785,806.566089143,653,629.566089143,652.566089143,0.400963261476,0.00451605512198,0.0598403870721,0.99999995652,0.000129614087438,-0.000264245085197,1.82680532356e-05,1793245490098976768
+33,0.550000000,BASELINE,764,745,713,679,660,634,877.144046679,785,807,653,629.855953321,653,0.40096186714,0.0045164026861,0.059839264162,0.999999955993,0.000129368438955,-0.000266345122946,1.83730745684e-05,1793245490115643392
+34,0.566666667,BASELINE,764,745,713,679,660,634,877.730897948,785,807,653,629.269102052,653,0.40096180696,0.00451611562092,0.0598390615918,0.999999955868,0.000129594810615,-0.000266712357856,1.82672174979e-05,1793245490132310016
+35,0.583333333,BASELINE,764,745,713,679,660,634,878,784.686548774,806.686548774,653,629.313451226,652.686548774,0.400962359036,0.00451639900016,0.0598394999665,0.999999955909,0.000130365976067,-0.000266192484122,1.8094340407e-05,1793245490148976640
+36,0.600000000,BASELINE,764,745,713,679,660,634,878,784.107635404,806.107635404,653,629.892364596,652.107635404,0.400963429632,0.0045171654893,0.059840481158,0.99999995609,0.000131598527933,-0.000264921317263,1.78647039846e-05,1793245490165643264
+37,0.616666667,BASELINE,764,745,713,679.470451665,660,633.529548335,878,784.470451665,806.470451665,653,630,652,0.400962983133,0.00451684632125,0.0598405140929,0.999999956055,0.000132128958019,-0.000264770995385,1.80944309472e-05,1793245490182310144
+38,0.633333333,BASELINE,764,745,713.048147561,679.951852439,660,633,878,785,807,653,630,652,0.400962240774,0.00451625810503,0.0598403218315,0.999999955987,0.000132350991974,-0.000264898123605,1.84073009113e-05,1793245490198976768
+39,0.650000000,BASELINE,764,745,713.623626516,679.376373484,660,633,878,785,807,653,630,652,0.40096205295,0.004515438854,0.0598400351234,0.999999956074,0.000130951652514,-0.000265260287869,1.84817239222e-05,1793245490215643392
+40,0.666666667,BASELINE,764,745,714,679.203322763,660,633,878,785,807,653,630,652,0.400961864615,0.00451496930889,0.0598398205766,0.999999956129,0.000129726153932,-0.000265654659467,1.84700480492e-05,1793245490232310016
+41,0.683333333,BASELINE,764,745,714,679.790991017,660,633,878,785,807,653,630,652,0.400961675315,0.00451516082061,0.0598397424379,0.999999956127,0.000128829270663,-0.000266109913274,1.82956175588e-05,1793245490248976640
+42,0.700000000,BASELINE,764,745.372351188,713.627648812,679.627648812,660,633.372351188,878,785,807,653,630,652,0.400961721302,0.00451471852468,0.0598393845834,0.99999995605,0.000128747783333,-0.00026643496849,1.83300103338e-05,1793245490265643264
+43,0.716666667,BASELINE,764,745.95022946,713.04977054,679.04977054,660,633.95022946,878,785,807,653,630,652,0.400961897161,0.00451392638524,0.059838872334,0.999999955932,0.000129116371001,-0.000266688157836,1.84796675163e-05,1793245490282310144
+44,0.733333333,BASELINE,764,745.474903133,713,679,660,633.474903133,878,785,807,652.474903133,630,652,0.400962575431,0.00451406979204,0.0598399538129,0.999999956283,0.000128885436693,-0.000265469400183,1.86747161723e-05,1793245490298976768
+45,0.750000000,BASELINE,764,745,713.100185049,679,660,633,877.899814951,785,807,652.100185049,629.899814951,652,0.400963185492,0.00451428805643,0.0598409141565,0.99999995661,0.000128746543443,-0.000264290004446,1.88273053396e-05,1793245490315643392
+46,0.766666667,BASELINE,764,745,713.677676754,679,660,633,877.322323246,785,807,652.677676754,629.322323246,652,0.400963245007,0.00451444290265,0.0598405818002,0.999999956626,0.000129315341089,-0.000263959040403,1.87572261305e-05,1793245490332310016
+47,0.783333333,BASELINE,764,745,713.738185044,679,660,633,877.261814956,785,807,653,629.261814956,652,0.400963219598,0.00451490833851,0.0598402306022,0.999999956507,0.000130501027877,-0.000263840793033,1.8542313197e-05,1793245490348976896
+48,0.800000000,BASELINE,764,745,713.145651051,679,660,633,877.854348949,785,807,653,629.854348949,652,0.400963086915,0.00451576610455,0.0598398556038,0.999999956216,0.000132465955875,-0.000263991244756,1.81444493993e-05,1793245490365643520
+49,0.816666667,BASELINE,763.566083079,745,713,679,660,633,877.566083079,785,807,653,630,652,0.400962560336,0.00451560651391,0.0598397989805,0.999999956033,0.000132463194818,-0.000264684319446,1.81435065397e-05,1793245490382310144
+50,0.833333333,BASELINE,763.009252298,745,713,679,660,633,877.009252298,785,807,653,630,652,0.400961916544,0.00451512677881,0.0598398581402,0.999999955894,0.000131802601053,-0.000265529132406,1.8268362565e-05,1793245490398976768
+51,0.850000000,BASELINE,763.584184895,745,713,679,660,633,877.584184895,785,807,653,630,652,0.40096195557,0.00451534642691,0.0598406519529,0.999999956298,0.000130132565282,-0.000264838309135,1.81750602233e-05,1793245490415643648
+52,0.866666667,BASELINE,764,745.163673198,713.163673198,679.163673198,660,633.163673198,878,785,807,652.836326802,630,652,0.400962113659,0.00451533503762,0.0598411543044,0.999999956641,0.000128707826994,-0.000264236231068,1.8189205951e-05,1793245490432310528
+53,0.883333333,BASELINE,764,745.755066705,713.755066705,679.755066705,660,633.755066705,878,785,807,652.244933295,630,652,0.400962582892,0.00451471988796,0.0598408949925,0.999999956834,0.000127924114437,-0.000263866067171,1.84841412203e-05,1793245490448976896
+54,0.900000000,BASELINE,763.662939024,745.662939024,713.662939024,679.662939024,660,633.662939024,877.662939024,785,807,652,630,652,0.400962202738,0.00451440061087,0.0598402679118,0.999999956674,0.000128008602651,-0.000264427301379,1.85383830399e-05,1793245490465643264
+55,0.916666667,BASELINE,763.087589656,745.087589656,713.087589656,679.087589656,660,633.087589656,877.087589656,785,807,652,630,652,0.400961222101,0.00451429050366,0.0598393808333,0.999999956263,0.000128706873509,-0.000265646996158,1.84224643734e-05,1793245490482309888
+56,0.933333333,BASELINE,763.489152386,745,713,679,660,633.489152386,877.489152386,785,807,652.489152386,629.510847614,652,0.400962366516,0.00451621444032,0.0598402479728,0.999999956189,0.000130711566797,-0.000264953459963,1.83254755085e-05,1793245490498976768
+57,0.950000000,BASELINE,764,745,713,679,660,633.934537746,877.934537746,785,807,653,629,652,0.400963492382,0.00451799500336,0.0598410860256,0.999999956153,0.0001324793009,-0.000264215199898,1.82453518524e-05,1793245490515643648
+58,0.966666667,BASELINE,764,745,713,679,660,633.363497451,877.363497451,785,807,653,629,652,0.400961527774,0.00451584725325,0.059839266516,0.999999955983,0.000130605077661,-0.000265784982932,1.82692279403e-05,1793245490532310016
+59,0.983333333,BASELINE,764,745,713,679.217567829,660.217567829,633,877.217567829,785,807,653,629,652,0.400960621998,0.00451472102784,0.0598385293587,0.999999955871,0.000129789898377,-0.000266608038478,1.82378738983e-05,1793245490548976640
+60,1.000000000,BASELINE,764,745,713,679.816191302,660.816191302,633,877.816191302,785,807,653,629,652,0.400961570695,0.00451538393491,0.0598396878698,0.999999955867,0.000130829564134,-0.000266123250543,1.8109787946e-05,1793245490565643520
+61,1.016666667,BASELINE,764,745,713.397678998,679.602321002,660.602321002,633,878,785,807,652.602321002,629.397678998,652,0.400962288453,0.00451589278612,0.0598402420942,0.999999955953,0.000131501644268,-0.000265471047776,1.80888886822e-05,1793245490582310144
+62,1.033333333,BASELINE,764,745,713.971573621,679.028426379,660.028426379,633,878,785,807,652.028426379,629.971573621,652,0.40096290388,0.00451633337358,0.0598405285528,0.999999956078,0.000132010843396,-0.000264744661818,1.81154849425e-05,1793245490598977024
+63,1.050000000,BASELINE,764,745,713.452630719,679.547369281,660.547369281,633.547369281,878,785,807,652,630,652,0.400962180815,0.00451593122541,0.0598399958806,0.999999955894,0.000131781991609,-0.00026554755982,1.81465124815e-05,1793245490615643648
+64,1.066666667,BASELINE,764,745,713,679.873289715,660.873289715,633.873289715,878,784.873289715,806.873289715,652.126710285,629.873289715,652,0.400961630372,0.00451579604305,0.0598395426114,0.999999955745,0.000131543825007,-0.00026622792637,1.81376141107e-05,1793245490632310528
+65,1.083333333,BASELINE,764,745,713,679.281293878,660.281293878,633.281293878,878,784.281293878,806.281293878,652.718706122,629.281293878,652,0.400961969942,0.00451680243962,0.0598395376658,0.999999955782,0.000131412690247,-0.000266165702595,1.7981258114e-05,1793245490648977152
+66,1.100000000,BASELINE,764,745,713,679,660,633,878,784.303919565,806.303919565,653,629,652,0.400963190142,0.00451674718892,0.0598402592775,0.999999956063,0.000132136130807,-0.000264731913517,1.81767502127e-05,1793245490665643520
+67,1.116666667,BASELINE,764,745,713,679,660,633,878,784.88299254,806.88299254,653,629,652,0.400965207619,0.00451573077641,0.0598416386775,0.99999995656,0.000133633260662,-0.000262056378559,1.86907877972e-05,1793245490682309888
+68,1.133333333,BASELINE,764,745,713,679,660,633.457220521,878,785,806.542779479,652.542779479,629,652,0.400963943092,0.00451443808748,0.0598412783773,0.999999956537,0.000130954671917,-0.000263493186858,1.86501307863e-05,1793245490698976512
+69,1.150000000,BASELINE,764,745,713,679,660,633.969645835,878,785,806.030354165,652,629.030354165,652,0.400961937033,0.00451323408183,0.0598404944825,0.999999956364,0.000127535035038,-0.000265830197992,1.84715794913e-05,1793245490715643136
+70,1.166666667,BASELINE,764,745,713,679,660,633.394132422,878,785,806.605867578,652,629.605867578,652,0.400961539471,0.00451487931491,0.0598400149107,0.999999956128,0.000129797150098,-0.000265632096718,1.83391739997e-05,1793245490732310016
+71,1.183333333,BASELINE,764,745,713,679,660,633,878,785,806.81341999,652.18658001,629.81341999,652,0.400961387886,0.0045158066023,0.0598398451858,0.999999956067,0.000130590746987,-0.000265473806926,1.83089225972e-05,1793245490748976640
+72,1.200000000,BASELINE,764,745,713,679,660,633,878,785,806.221410218,652.778589782,629.221410218,652,0.400961770795,0.0045151738271,0.059840348744,0.999999956393,0.00012819332201,-0.000265402025617,1.85006472965e-05,1793245490765643264
+73,1.216666667,BASELINE,764,745,713.362375812,679,660.362375812,633,878,785,806.362375812,653,629.362375812,652,0.40096260885,0.00451507705886,0.0598410782789,0.99999995691,0.000126958720246,-0.000264048572239,1.84491833537e-05,1793245490782310144
+74,1.233333333,BASELINE,764,745,713.941248632,679,660.941248632,633,878,785,806.941248632,653,629.941248632,652,0.400963718825,0.00451530052146,0.0598419428207,0.999999957539,0.000126418833167,-0.000261929399527,1.82524293122e-05,1793245490798977024
+75,1.250000000,BASELINE,764,745.516467256,713.483532744,679.516467256,660.483532744,633.516467256,878,785,807,653,630,652,0.400962966804,0.00451421085638,0.0598413923381,0.999999957265,0.000127103511201,-0.000262630062373,1.84259925503e-05,1793245490815643648
+76,1.266666667,BASELINE,763.909641912,745.909641912,713.090358088,679.909641912,660,633.909641912,877.909641912,785,807,653,629.909641912,652,0.400962162366,0.00451345263637,0.0598407053963,0.999999956871,0.000128002994915,-0.000263683577319,1.85423858025e-05,1793245490832310016
+77,1.283333333,BASELINE,763.340598572,745.340598572,713.659401428,679.340598572,660,633.340598572,877.340598572,785,807,653,629.340598572,652,0.40096219447,0.00451523607934,0.0598401423017,0.999999956384,0.000129307655671,-0.000264918970456,1.81343124196e-05,1793245490848976640
+78,1.300000000,BASELINE,763.24047727,745,714,679,660,633.24047727,877.24047727,785,807,653,629,652,0.400962586692,0.00451606605304,0.059840178104,0.999999956199,0.000130804006243,-0.000264891518908,1.80210453728e-05,1793245490865643520
+79,1.316666667,BASELINE,763.839492855,745,714,679,660,633.839492855,877.839492855,785,807,653,629,652,0.40096351583,0.00451547445662,0.0598411068286,0.999999956463,0.000132586155614,-0.000262981235636,1.83473183127e-05,1793245490882310144
+80,1.333333333,BASELINE,764,745,714,679,660,633.577388957,878,785,807,652.577388957,629.422611043,652,0.400962804108,0.00451459865162,0.0598409814093,0.999999956538,0.000130685364008,-0.00026363726402,1.8435658169e-05,1793245490898976768
+81,1.350000000,BASELINE,764,745,714,679,660,633.000089643,878,785,807,652.000089643,629.999910357,652,0.400961491781,0.00451361881775,0.0598404701419,0.999999956536,0.000127436506078,-0.00026523263901,1.84369074321e-05,1793245490915643392
+82,1.366666667,BASELINE,764,745,714,679.574649293,660,633.574649293,878,785,806.425350707,652.574649293,630,652,0.400960280276,0.00451517850424,0.0598396372156,0.999999955809,0.000130080091865,-0.000266684723125,1.84489128196e-05,1793245490932310272
+83,1.383333333,BASELINE,764,745,713.846872638,680,660,633.846872638,878,785,806.153127362,653,630,652,0.400959835503,0.00451592949051,0.0598393124902,0.999999955458,0.000131494728294,-0.000267305094815,1.84627637737e-05,1793245490948976640
+84,1.400000000,BASELINE,764,745,713.2577469,680,660,633.2577469,878,785,806.7422531,653,630,652,0.400961573795,0.00451437674814,0.0598404349034,0.999999956196,0.000129407581519,-0.000265557401722,1.84818648421e-05,1793245490965643264
+85,1.416666667,BASELINE,763.673544164,745.326455836,713.326455836,679.673544164,660,633,878,785,806.673544164,653,630,652,0.400961617492,0.00451396434156,0.0598404375603,0.999999956417,0.000128196306511,-0.000265312434667,1.84765723166e-05,1793245490982309888
+86,1.433333333,BASELINE,763.093170579,745.906829421,713.906829421,679.093170579,660,633,878,785,806.093170579,653,630,652,0.40096034313,0.00451443888964,0.0598395692692,0.99999995624,0.000127666285755,-0.000266236289867,1.84523064226e-05,1793245490998976512
+87,1.450000000,BASELINE,763.484211773,745.515788227,714,679.484211773,660,633.484211773,878,785,806.484211773,653,630,652,0.400961188463,0.00451405496494,0.0598404080587,0.9999999566,0.00012730678562,-0.000265053249194,1.84180037642e-05,1793245491015643136
+88,1.466666667,BASELINE,764,745,713.939511942,679.939511942,660.060488058,633.939511942,877.939511942,785,807,652.939511942,630,652,0.400962385463,0.00451365248001,0.0598414051162,0.999999957001,0.000127185679717,-0.000263596161464,1.83939831068e-05,1793245491032310016
+89,1.483333333,BASELINE,764,745,713.367749575,679.367749575,660.632250425,633.367749575,877.367749575,785,807,652.367749575,630,652,0.400963128617,0.00451448076418,0.05984098058,0.99999995689,0.000128803964827,-0.000263228315827,1.84730944793e-05,1793245491048976896
+90,1.500000000,BASELINE,764,745,713,679,661,633,877,785,807,652,629.787463783,652,0.400963167562,0.00451553702781,0.0598405764466,0.999999956654,0.000130486134681,-0.00026330532482,1.83410505935e-05,1793245491065643520
+91,1.516666667,BASELINE,764,745,713,679,661,633,877,785,807,652,629.191813891,652,0.400961937114,0.00451700424272,0.0598402090908,0.999999956195,0.000132283461766,-0.000264184220215,1.7828382312e-05,1793245491082309888
+92,1.533333333,BASELINE,764,745,713.390847446,679.390847446,660.609152554,633.390847446,877.390847446,785,807,652.390847446,629.390847446,652,0.400962576679,0.00451593325412,0.059840724952,0.999999956506,0.000131197000718,-0.000263537490676,1.79605839232e-05,1793245491098976512
+93,1.550000000,BASELINE,764,745,713.967339533,679.967339533,660.032660467,633.967339533,877.967339533,785,807,652.967339533,629.967339533,652,0.400964104462,0.00451365667027,0.0598416603235,0.999999957178,0.000128740798718,-0.000262166120189,1.83990856616e-05,1793245491115643136
+94,1.566666667,BASELINE,764,745,713.459249186,680,660,633.459249186,878,785,807,653,630,652,0.400963218475,0.0045135757447,0.0598409934988,0.999999957004,0.000128110325261,-0.000263129363594,1.84936829805e-05,1793245491132309760
+95,1.583333333,BASELINE,763.882562939,745,713,680,660,633,877.882562939,785,806.882562939,653,630,652.117437061,0.400962471662,0.00451359312893,0.0598404234556,0.999999956855,0.000127725839598,-0.000263881323599,1.85376441669e-05,1793245491148976384
+96,1.600000000,BASELINE,763.291935145,745,713,680,660,633,877.291935145,785,806.291935145,653,630,652.708064855,0.400962869727,0.00451347531714,0.0598406310827,0.99999995701,0.000127890716236,-0.000263217014648,1.84607963402e-05,1793245491165643008
+97,1.616666667,BASELINE,763.292568266,745,713,679.707431734,660,633.292568266,877.292568266,785,806.292568266,652.707431734,630,652.707431734,0.400963114846,0.00451400515164,0.0598410387769,0.99999995705,0.000128611217668,-0.000262719462011,1.83972363445e-05,1793245491182309888
+98,1.633333333,BASELINE,763.871085817,745,713,679.128914183,660,633.871085817,877.871085817,785,806.871085817,652.128914183,630,652.128914183,0.400963210479,0.00451516798027,0.0598416420119,0.999999956975,0.000129874773588,-0.000262384893079,1.83466635643e-05,1793245491198976512
+99,1.650000000,BASELINE,764,745,713.448337039,679.448337039,660,634,878,785,807,652.448337039,630,652,0.40096314248,0.00451569504358,0.0598415052174,0.999999956983,0.000129653304672,-0.000262459983913,1.84011100285e-05,1793245491215643136
+100,1.666666667,BASELINE,764,745,713.974468922,679.974468922,660,634,878,785.025531078,807,653,630,652,0.400963087908,0.004515916525,0.0598411947998,0.999999957033,0.000128947668028,-0.000262612044838,1.84829243929e-05,1793245491232309760
+101,1.683333333,BASELINE,764,745,713.390584606,679.390584606,660,634,878,785.609415394,807,653,630,652,0.400964353036,0.00451344171557,0.0598417277734,0.999999957478,0.000126965538095,-0.000261878583234,1.85047258917e-05,1793245491248977408
+102,1.700000000,BASELINE,764,745,713,679,660.192575077,634,878,785.807424923,807,653,630,652,0.400965121772,0.00451228079593,0.0598420658759,0.9999999577,0.000126138294061,-0.000261429817731,1.85149075939e-05,1793245491265644544
+103,1.716666667,BASELINE,764,745,713,679,660.774270484,634,878,785.225729516,807,653,630,652,0.400964887487,0.00451377474361,0.0598420102188,0.999999957476,0.000127644631477,-0.000261556313887,1.85016101442e-05,1793245491282310144
+104,1.733333333,BASELINE,764,745,713,679,660.646339157,634,878,785,807,652.646339157,629.646339157,652,0.400963447832,0.00451524666611,0.0598414010553,0.999999956727,0.000130307698017,-0.000263108603074,1.84262632347e-05,1793245491298976512
+105,1.750000000,BASELINE,764,745,713,679,660.068410449,634,878,785,807,652.068410449,629.068410449,652,0.400961243813,0.00451670462185,0.0598404408954,0.999999955632,0.00013370428434,-0.0002655650341,1.83115687394e-05,1793245491315643136
+106,1.766666667,BASELINE,764,745,713,679,660,634,877.494143829,785.505856171,807,652,629.505856171,652.505856171,0.400962165483,0.0045164081931,0.0598406153016,0.999999956079,0.000131750020657,-0.000264856428231,1.83064580899e-05,1793245491332310272
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,660,634,878,785,807,653,630,652,0.400961591441,0.00451381190827,0.0598402609672,0.999999956506,0.00012964342073,-0.00026423739065,1.8970797644e-05,1793245491374921984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,746,713.422016697,679.422016697,660,634,878,785,807,653,630,652,0.400963318598,0.00451524165044,0.0598412291638,0.999999956881,0.000130288184004,-0.000262535974894,1.83932466964e-05,1793245491391588608
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.844177757,713,679.155822243,660,633.844177757,878,785,807,652.844177757,629.844177757,652,0.40096417134,0.00451613244444,0.0598417473178,0.999999957073,0.000130593912125,-0.000261676817756,1.80398705444e-05,1793245491408255232
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.266729311,713,679.733270689,660,633.266729311,878,785,807,652.266729311,629.266729311,652,0.400962658077,0.0045155649446,0.0598410477395,0.999999956775,0.0001299822739,-0.000263096656473,1.82930698491e-05,1793245491424922112
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660,633,878,785,807,652.307990233,629.307990233,652,0.400961893523,0.00451487758396,0.0598408564556,0.999999956652,0.00012966958536,-0.000263695909719,1.85863162929e-05,1793245491441588992
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713,680,660,633,878,785,807,652.88036718,629.88036718,652,0.400961771681,0.00451408733178,0.0598411015047,0.999999956681,0.000129613522936,-0.000263590751265,1.89139402133e-05,1793245491458255360
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.468344677,713,680,660,633.468344677,878,785,807,653,629.531655323,652,0.400962201792,0.00451402925374,0.0598411816515,0.999999956704,0.000129311061436,-0.000263659926891,1.88184455397e-05,1793245491474921984
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.940969497,713.059030503,679.940969497,660,634,878,785,807,653,629,652,0.400962865947,0.00451411714732,0.0598412888073,0.999999956787,0.000128749480959,-0.000263633918689,1.86210741686e-05,1793245491491588608
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.362720404,713.637279596,679.362720404,660,634,878,785,807,653,629,652,0.40096430586,0.00451378726298,0.0598420167909,0.999999957412,0.000126481427895,-0.000262365510476,1.85110261939e-05,1793245491508255232
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.785522485,679,660,634,878,785,807,653,629,652,0.400968494899,0.00451363474882,0.05984396346,0.999999958259,0.000125839990427,-0.000259429385007,1.85292879808e-05,1793245491524922112
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.210093679,679,660,634,878,785,807,653,629,652,0.400977310533,0.00451378073681,0.0598479610947,0.999999959462,0.000127936038281,-0.000253686603223,1.87634865132e-05,1793245491541588480
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.363570769,679,660,633.636429231,878,785,807,653,629,652,0.401003411868,0.00451339275691,0.059859039687,0.999999964217,0.000127281660988,-0.000234539264622,1.8886937616e-05,1793245491558255104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.936220641,679,660,633.063779359,878,785,807,653,629,652,0.401039453715,0.00451269770741,0.059874190335,0.999999970436,0.000125045593348,-0.000207683349887,1.89467010655e-05,1793245491574921728
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,633,878.529010734,785,807,653,629.529010734,652,0.401096072452,0.00451283888333,0.0598921347597,0.999999976117,0.000125859598014,-0.000177647215405,1.91636751742e-05,1793245491591588352
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.120057976,745,713.879942024,679,660,633.120057976,878.879942024,785,806.879942024,653,629.879942024,652,0.401158408504,0.00451283492396,0.0599094562552,0.99999998065,0.0001264353648,-0.000149459476524,1.94054856695e-05,1793245491608254976
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.694939924,745,713.305060076,679,660,633.694939924,878.305060076,785,806.305060076,653,629.305060076,652,0.401232633642,0.00451188408552,0.0599230913405,0.999999983615,0.000124660376505,-0.000129784153554,1.96667395801e-05,1793245491624921856
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.729459529,745,713.270540471,678.729459529,660,633.729459529,877.729459529,785,806.270540471,652.729459529,629.270540471,652,0.401313791131,0.00451088038257,0.0599326297108,0.999999985818,0.000121813632451,-0.000114671705072,1.93974416949e-05,1793245491641588736
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.15304657,745,713.84695343,678.15304657,660,633.15304657,877.15304657,785,806.84695343,652.15304657,629.84695343,652,0.401402786317,0.00450981691117,0.0599375363428,0.999999987412,0.000117755163722,-0.000104718034122,1.85283030523e-05,1793245491658255360
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.867356187,660,633,877.433678094,785,807,652,630,652,0.401510881654,0.0045109606791,0.0599429468037,0.999999988298,0.000118446632758,-9.52300576679e-05,1.74551424583e-05,1793245491674921984
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.976526699,680,660,633.023473301,878,785,807,652,629.976526699,652,0.401626745244,0.00451278363596,0.0599484199119,0.9999999889,0.000120584029336,-8.59819351291e-05,1.630948636e-05,1793245491691588352
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.402153514,680,660,633.597846486,878,785,807,652,629.402153514,652,0.40176287608,0.00451182018571,0.0599510887738,0.999999990041,0.000116357264419,-7.84119927349e-05,1.51933598576e-05,1793245491708254976
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.826807964,660,633.826807964,878,785,807,652.173192036,629.173192036,652,0.401906058659,0.00451129419672,0.0599525236891,0.999999990968,0.000112276846692,-7.25699319027e-05,1.38484011227e-05,1793245491724921856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679.249191912,660,633.249191912,878,785,807,652.750808088,629.750808088,652,0.402065707877,0.00451178973195,0.059951077192,0.999999991534,0.000108538167677,-7.07626812468e-05,1.19690920475e-05,1793245491741588736
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.327670007,679,660,633.327670007,877.672329993,785,806.672329993,653,629.672329993,652,0.402245792898,0.00451258745514,0.0599502642219,0.999999992055,0.000105203325938,-6.87156855987e-05,1.00155189063e-05,1793245491758255360
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.903959788,679,660,633.903959788,877.096040212,785,806.096040212,653,629.096040212,652,0.402441383611,0.00451361446364,0.0599499319407,0.999999992538,0.000102174895528,-6.6486783132e-05,8.00559767142e-06,1793245491774921984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.50516903,679,660,634,877,785,806.49483097,653,629.49483097,652,0.402676445738,0.00451233372808,0.0599513243291,0.999999993518,9.73956090965e-05,-5.86867265491e-05,5.77188965146e-06,1793245491791588608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.085995938,745,713.085995938,679,660.085995938,633.914004062,877.085995938,785,807,653,630,652.085995938,0.402924539224,0.00451076249485,0.0599534394745,0.999999994503,9.23698200058e-05,-4.94876473475e-05,3.48180600428e-06,1793245491808255232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.662213256,745,713.662213256,679,660.662213256,633.337786744,877.662213256,785,807,653,630,652.662213256,0.403201921344,0.00451016607529,0.0599577086062,0.999999995386,8.79347916459e-05,-3.86644622729e-05,1.12546551451e-06,1793245491824921856
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.762397954,745,714,679,660.762397954,633.237602046,878,785,807,653,630,652.762397954,0.403485614648,0.004510008297,0.0599573503256,0.999999995887,8.26458912214e-05,-3.7322922576e-05,-1.60791967025e-06,1793245491841588480
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.188182979,745,714,679,660.188182979,633.811817021,878,785,807,653,630,652.188182979,0.403778249044,0.00451047194575,0.0599504363488,0.999999995868,7.61473029334e-05,-4.94141146814e-05,-4.8754672789e-06,1793245491858255104
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.60233439,679,660,633.60233439,877.60233439,785,807,652.60233439,630,652,0.40409986951,0.00450999174171,0.0599385182317,0.999999995203,6.89225008594e-05,-6.90820773933e-05,-8.50153822047e-06,1793245491874921984
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.01081466,679,660,633.01081466,877.01081466,785,807,652.01081466,630,652,0.404435620105,0.00450905142809,0.0599241606954,0.99999999377,6.13436840874e-05,-9.24435655321e-05,-1.23023820963e-05,1793245491891588608
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679.568879924,660.568879924,633.568879924,877.568879924,785,807,652,630,652,0.404801228515,0.00450749437186,0.0599103632456,0.999999991351,5.40113475127e-05,-0.00011893398439,-1.53238354799e-05,1793245491908255232
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,680,660.852094687,633.852094687,878,785,806.852094687,652,629.852094687,652,0.405188967318,0.0045062756383,0.0599020450665,0.999999989578,4.582454138e-05,-0.000135647880055,-1.85569570871e-05,1793245491924922112
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660.27437412,633.27437412,878,785,806.27437412,652,629.27437412,652,0.405639401448,0.00450607345415,0.0599096194277,0.99999999147,3.51412947242e-05,-0.000123781698417,-2.24473698741e-05,1793245491941588736
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679.700628178,660.299371822,633,878,785,806.299371822,652.299371822,629.299371822,652,0.406117831765,0.00450535941343,0.0599279309904,0.999999994911,2.65980724091e-05,-9.38231500306e-05,-2.58247508484e-05,1793245491958255104
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679.130477183,660.869522817,633,878,785,806.869522817,652.869522817,629.869522817,652,0.406621584438,0.00450418240293,0.059955954258,0.999999998259,1.99904819701e-05,-4.75002140134e-05,-2.87380994804e-05,1793245491974921728
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.541787827,633,878,785,807,652.541787827,629.541787827,652,0.407173489079,0.0045025150715,0.0599835744783,0.999999999434,1.03925084065e-05,-3.17589330872e-06,-3.18398717878e-05,1793245491991588352
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713,679.051023137,660,633,878,784.948976863,807,652,629,652,0.407736866201,0.00450068606453,0.0600078242851,0.999999998807,-5.09995613572e-08,3.40705651517e-05,-3.50055448284e-05,1793245492008255232
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,679.629568716,660,633,878,784.370431284,807,652,629,652,0.408271118539,0.00449868989356,0.0599984644005,0.999999999209,-1.00614304869e-05,4.27190423195e-06,-3.82537692368e-05,1793245492024921856
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679.793160114,660,633,877.793160114,784,807,652,629,652,0.408822468518,0.0044961170179,0.0599869985865,0.99999999857,-2.12687525821e-05,-2.57423150871e-05,-4.17729882153e-05,1793245492041588480
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679.218157355,660,633,877.218157355,784,807,652,629,652,0.409404251263,0.00449251764182,0.0599717843423,0.999999996778,-3.46064702103e-05,-5.61402139213e-05,-4.57745614754e-05,1793245492058255360
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.364992533,679,660.364992533,633,877.364992533,784.364992533,807,652,629.364992533,652,0.410031880081,0.00448722462582,0.0599729239226,0.999999996095,-4.97487189036e-05,-5.37483279947e-05,-4.94559370698e-05,1793245492074922240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.953123145,679,660.953123145,633,877.953123145,784.953123145,807,652,629.953123145,652,0.410687536859,0.00448089620368,0.0599840614093,0.999999995931,-6.5994166637e-05,-3.13104155771e-05,-5.29415597588e-05,1793245492091589120
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.531481479,745,714,679.531481479,661,633.531481479,878,785,807,652,630,652,0.411403442209,0.00446527342335,0.0599909643645,0.999999994226,-9.17846640661e-05,-1.23113900752e-05,-5.45140170973e-05,1793245492108255488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.890934267,745,714,679.890934267,660.890934267,634,877.890934267,785,807,652,629.890934267,652.109065733,0.412116711228,0.0044534535728,0.0599915473345,0.999999994713,-8.9648237279e-05,-5.68734718835e-06,-5.00470687371e-05,1793245492124921856
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.313039484,745,714,679.313039484,660.313039484,634,877.313039484,785,807,652,629.313039484,652.686960516,0.41279621747,0.00446144118444,0.0599665397495,0.999999997843,3.60881870882e-05,-5.09780363607e-05,-2.03314368467e-05,1793245492141588480
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.263907213,714,679,660,633.736092787,877.263907213,784.736092787,807,652,629,652.736092787,0.413489853175,0.00447119651301,0.0599404810552,0.999999989331,0.000104555586985,-0.000101724678584,-7.57087281568e-06,1793245492158255104
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.839733417,714,679,660,633.160266583,877.839733417,784.160266583,807,652,629,652.160266583,0.414200188958,0.00448304115453,0.0599131800235,0.999999981714,0.000105335213021,-0.000158919864321,-1.48499531232e-05,1793245492174921728
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.588551099,713.588551099,679.411448901,660.411448901,633,878.411448901,784.411448901,807.411448901,652.411448901,629.411448901,652,0.415007512267,0.00447679946255,0.0599371960738,0.999999989708,8.40592355582e-05,-0.000114529081502,-2.00289474924e-05,1793245492191588608
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.018421007,713.018421007,679.981578993,660.981578993,633,878.981578993,784.981578993,807.981578993,652.981578993,629.981578993,652,0.415852240168,0.00446358251505,0.0599810032968,0.99999999775,5.42771966374e-05,-3.09602037775e-05,-2.43980129374e-05,1793245492208255488
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.579593708,680,661.579593708,633,878.420406292,785,808.579593708,652.420406292,630,652,0.416719217397,0.00446776106355,0.0600096977175,0.999999997923,5.56256996274e-05,1.56859267337e-05,-2.85386388306e-05,1793245492224922112
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.828580742,680,661.828580742,633,878.171419258,785,808.828580742,652,630,652,0.417575998049,0.00447117635299,0.0600253056699,0.999999996842,5.97377466433e-05,4.17502276884e-05,-3.16977706985e-05,1793245492241588480
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.253521142,680,661.253521142,633,878.746478858,785,808.253521142,652,630,652,0.418407019546,0.00447142674859,0.0600112871414,0.999999996916,6.79095892402e-05,2.22534632504e-05,-3.25637419432e-05,1793245492258255104
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.321767629,680,661.321767629,633,879,785,808,652,630,652,0.419244379082,0.00446999319763,0.0599913149905,0.999999996955,6.937056668e-05,-1.14155427229e-05,-3.38785991925e-05,1793245492274921728
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.897237067,680,661.897237067,633,879,785,808,652,630,652,0.420086735889,0.00446723191743,0.0599666486303,0.999999995638,6.55402760709e-05,-5.62588330854e-05,-3.55473862747e-05,1793245492291588352
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485432549,745,714,679.514567451,662,633,879,785,808,652.485432549,630,652,0.420903220945,0.00447386153907,0.0599319493004,0.99999999274,-2.7234329127e-05,-0.000111211345929,-3.75509276801e-05,1793245492308254976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.074443059,713.925556941,679.074443059,661.925556941,633,879,785,808.074443059,652.925556941,630,652,0.421726923101,0.00448025848299,0.0598986632386,0.99999997809,-0.000124828956469,-0.000163383692096,-3.9287822972e-05,1793245492324921856
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.650308518,713.349691482,679.650308518,661.349691482,633,879,785,808.650308518,652.349691482,630,652,0.422637120242,0.00447133726753,0.0598895875609,0.999999974914,-0.000124650041872,-0.000182027047428,-3.87385112384e-05,1793245492341588480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.772953621,713,680,661.454092759,633,879,785,808.772953621,652,630,652,0.423583228752,0.00446650920844,0.0599118434576,0.999999980873,-0.000123253534897,-0.000146684862784,-3.93259292978e-05,1793245492358255104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.194866832,713,680,662.610266336,633,879,785,808.194866832,652,630,652,0.424584860601,0.0044680096492,0.0599825416523,0.999999991546,-0.000119974485687,-2.78746844356e-05,-4.16708648771e-05,1793245492374921472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.389408379,680,662.610591621,633.389408379,879,785,808.389408379,652,630,652.389408379,0.425532481478,0.004468531682,0.0600221611826,0.9999999921,-0.000112333660969,3.74871878272e-05,-4.21342918629e-05,1793245492391588096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.976830361,680,662.023169639,633.976830361,879,785,808.976830361,652,630,652.976830361,0.426452637793,0.00446855619569,0.0600459772523,0.999999991019,-0.000102474880287,7.56706660876e-05,-4.16409744395e-05,1793245492408254720
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.443939398,745.556060602,714,680,661.443939398,633.443939398,879,785.556060602,809,652,630,652.443939398,0.427390144299,0.00446462084947,0.060030385988,0.999999991833,-0.000101658998855,6.42198943181e-05,-4.33128271029e-05,1793245492424921600
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.865563837,713.865563837,680,661.268872325,633,879,785.865563837,809,652,630,652.134436163,0.428318086164,0.00446174080785,0.0600096475474,0.999999993267,-9.84237819245e-05,4.20279840253e-05,-4.48693601426e-05,1793245492441588224
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.288893301,713.288893301,680,662.422213398,633,879,785.288893301,809,652,630,652.711106699,0.429212221012,0.00446286712993,0.0599773002534,0.999999995216,-8.60085515075e-05,-8.79297027607e-06,-4.57540781834e-05,1793245492458255104
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679.715667981,662.147003944,633,879.284332019,785,809,652,630.284332019,652.715667981,0.430088556092,0.00446284338743,0.0599462282345,0.999999994123,-7.55917162965e-05,-6.25747382347e-05,-4.60992855591e-05,1793245492474921728
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679.145901274,660.437703823,633,879.854098726,785,809,652,630.854098726,652.145901274,0.430947022321,0.00446166512021,0.0599164364385,0.99999998957,-6.71810270056e-05,-0.00011932879906,-4.5902889918e-05,1793245492491588352
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679.442320182,660.884640365,633,880,784.557679818,809,652,631,652,0.431896342084,0.0044596580805,0.0599465585077,0.999999994704,-6.69186017825e-05,-6.20548066709e-05,-4.75634292902e-05,1793245492508254976
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036023069,745,713,680,662.036023069,633,880,784.036023069,809,652,630.963976931,652.036023069,0.43287300575,0.00445738680025,0.0599949956319,0.999999995948,-6.90959223462e-05,2.93504586112e-05,-4.96915811567e-05,1793245492524921600
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.616559607,745,713,680,662.616559607,633,880,784.616559607,809,652,630.383440393,652.616559607,0.433790273547,0.00445543349999,0.06000854179,0.999999995686,-6.57557597604e-05,4.33782381008e-05,-4.92262718836e-05,1793245492541588224
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.805013809,745,713.194986191,680,662.415041428,633,880,785,809,652,630.194986191,652.805013809,0.434693097242,0.00445240842162,0.0600058599872,0.999999996153,-6.46351095009e-05,3.30680660907e-05,-4.92177422152e-05,1793245492558254848
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.230691931,745,713.769308069,680,660.692075792,633,880,785,809,652,630.769308069,652.230691931,0.435567820835,0.00444729825325,0.0599716075164,0.999999996142,-6.78324065446e-05,-2.45903467099e-05,-5.00978537925e-05,1793245492574921728
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660.697673088,633,880,785,809.348836544,652,630.651163456,652.348836544,0.436402938291,0.00444547787999,0.059947858223,0.9999999944,-6.49010388374e-05,-6.6537735499e-05,-5.05949820047e-05,1793245492591588096
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661.86372074,633,880,785,809.93186037,652,630.06813963,652.93186037,0.437211466584,0.00444586607203,0.0599311601153,0.999999992238,-5.78552644918e-05,-9.79377109371e-05,-5.08349988548e-05,1793245492608254976
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.517850187,713.482149813,680.517850187,661.482149813,633,879.482149813,785,810,652,630,653,0.438005985582,0.00444678477602,0.0599071217297,0.999999986027,-5.15203654836e-05,-0.000150621627501,-5.10339058702e-05,1793245492624921600
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.897689286,713,681,661,633,879.102310714,785,810,652,630,652.897689286,0.438812727346,0.0044463290402,0.0598923423685,0.999999980281,-4.80160390285e-05,-0.000185748291741,-5.1290955033e-05,1793245492641588480
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745.322118509,713,681,661,633,879.677881491,785,810,652,630,652.322118509,0.439684584118,0.00443919077828,0.0599248860685,0.999999989004,-5.71699577648e-05,-0.000126630837654,-5.18421196453e-05,1793245492658255104
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,681,661,632.746950542,880,785,810,652,630.253049458,652.253049458,0.44053339331,0.00443861657548,0.0599560219918,0.999999994224,-5.50853941389e-05,-7.6178358894e-05,-5.20972606799e-05,1793245492674921728
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713,681,661,632.17229456,880,785,810,652,630.82770544,652.82770544,0.441352910722,0.00444638479078,0.059985368736,0.999999997225,-3.87175776454e-05,-3.67384064468e-05,-5.19761784416e-05,1793245492691588608
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.411563799,745,713,681,660.176872402,632,880,784.588436201,810,652,630.588436201,653,0.44206428303,0.00444746377151,0.0599583146879,0.999999995004,-2.88217978758e-05,-8.06352348971e-05,-5.15667625311e-05,1793245492708255488
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.999362744,745,713,681,659.001274513,632,880,784.000637256,810,652,630.000637256,653,0.442729346749,0.00444567836534,0.0599071093397,0.999999985628,-2.16973981519e-05,-0.000160217583295,-5.10338794074e-05,1793245492724922112
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.417872437,745,713,681,658.417872437,632,880,784.582127563,810,652,630,653,0.443382085958,0.00444711040066,0.0598502363398,0.999999968844,-1.60985273317e-05,-0.000243603407873,-5.20514871297e-05,1793245492741588480
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.162408628,745,713,681,658,632,880,785,810,652,630,652.837591372,0.444037705267,0.00445038292549,0.0598090195194,0.999999952463,-9.73797351929e-06,-0.000303550900613,-5.32547321427e-05,1793245492758255360
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.736409087,745,713,681,658,632,880,785,810,652,630,652.263590913,0.444700657639,0.00445831094952,0.0598074956975,0.999999952256,-1.44289123023e-06,-0.00030408824004,-5.49241736906e-05,1793245492774921984
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,681.309965148,658,631.690034852,880,784.690034852,810,652,630,652.309965148,0.445327952351,0.00446930878696,0.0597952252379,0.999999943718,1.22570841257e-05,-0.000330818342226,-5.45240074767e-05,1793245492791588608
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,681.883143804,658,631.116856196,880,784.116856196,810,652,630,652.883143804,0.445924967562,0.00448291342136,0.0597738290422,0.999999926042,3.05467390447e-05,-0.000379790586153,-5.23663895332e-05,1793245492808255232
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.526712869,745,713,681.526712869,657.053425738,631,880,784,810,652,630,652.526712869,0.446492241958,0.00451803796352,0.0597486262296,0.999999910627,6.77500640966e-05,-0.000413380975645,-5.72073049405e-05,1793245492824921856
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.065212445,745,713.065212445,681.065212445,656,630.934787555,880,784,810,652.065212445,630,652.065212445,0.447052229568,0.00455620934178,0.0597272635092,0.999999896977,0.00010644212355,-0.000436617988704,-6.38833147164e-05,1793245492841588480
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.637224322,745,713.637224322,681.637224322,656,630.362775678,880,784,810,652.637224322,630,652.637224322,0.447614776495,0.0045752314351,0.0597433198516,0.999999906347,0.000119062890436,-0.000410005777368,-7.08926650874e-05,1793245492858255104
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.788389419,745,714,682,656,630,880,784,810.211610581,652.788389419,630,653,0.448161531737,0.00459025394758,0.0597558950211,0.999999913781,0.000126095313851,-0.000388175753859,-7.65319173734e-05,1793245492874921728
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.209886492,745,714,682,656,630,880,784,810.790113508,652.209886492,630,653,0.448680907152,0.00459834194854,0.0597624344994,0.999999919021,0.000123438615493,-0.000374637134228,-7.9795680526e-05,1793245492891588608
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+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713.038306289,682,655.038306289,629.038306289,880.961693711,784,810.038306289,652,630,653,0.449548381172,0.0045987578641,0.0597105319434,0.999999890059,-9.21360980131e-06,-0.000461469672068,-8.27170012271e-05,1793245492924921856
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,714,682,654,628.874233261,880.125766739,784,810,652.874233261,630,652.874233261,0.450345233356,0.00459824608018,0.0596639916819,0.999999859281,-7.86117487698e-06,-0.000523784964686,-8.38239686764e-05,1793245492958255360
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713.433983181,681.566016819,653.566016819,628,880,784,810.433983181,652.433983181,630,653,0.451772977761,0.00461088129858,0.0597034132913,0.999999892728,0.000112203193993,-0.000446188035451,-5.35714887657e-05,1793245493024922368
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.396176655,681,652.396176655,627.396176655,880,784,811,652.396176655,630,652.396176655,0.452342066158,0.00461304813424,0.0597115006819,0.999999899498,0.000102526173339,-0.000432496969901,-5.86472414665e-05,1793245493058255360
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+259,4.316666667,HOLD_POSE2,764,745,713,682,650,625,880,783,810,652.969118328,630,652.030881672,0.454259680298,0.00463520265954,0.0596687576881,0.999999861754,0.000125387751431,-0.000506114893276,-6.79486611779e-05,1793245493930723328
+260,4.333333333,HOLD_POSE2,764.557430645,745,713.557430645,682,650,625,880,783,810,653,630,652.557430645,0.454262092749,0.00463438083437,0.0596705112869,0.999999863181,0.000123393935351,-0.000503760292655,-6.80988509451e-05,1793245493947389952
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+262,4.366666667,HOLD_POSE2,764.276789147,745,714,682,650,625,880,783,810,652.276789147,630,653,0.454263699448,0.00463303628984,0.059670846908,0.999999864414,0.000120358378356,-0.000502049541445,-6.80642332186e-05,1793245493980723712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,683,650,625,880,783,810,652,630,653,0.454261468807,0.00463586697663,0.0596691234542,0.999999862155,0.000123774516279,-0.000505683372426,-6.82147225114e-05,1793245494017786368
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,649.846087204,625,880.153912796,783,810,652.846087204,630,652.846087204,0.454262640701,0.00463196179492,0.0596704467203,0.999999863565,0.000121054879958,-0.000503647540708,-6.74854317695e-05,1793245494051119616
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,649.253862569,625,880.746137431,783,810,652.253862569,630,652.253862569,0.454263656416,0.00463359836822,0.0596706073083,0.999999863424,0.000123448281216,-0.000503304754397,-6.77988435354e-05,1793245494067786240
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.910513455,681.089486545,649.910513455,625,880.089486545,783,810,652.910513455,629.089486545,652,0.454263663905,0.00463229474863,0.0596716536469,0.999999863883,0.000122940588693,-0.000502581582055,-6.73166515871e-05,1793245494101119488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.514965447,681.485034553,649.514965447,625,880,783,810,653,629.485034553,652,0.45426425816,0.00463408744141,0.0596717300611,0.999999863993,0.000123919309942,-0.000502093384757,-6.75299688179e-05,1793245494117786112
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,649,625,880,783,810,653,630,652,0.454260482048,0.00463537465596,0.0596689311873,0.999999862216,0.000124508082581,-0.000505438309608,-6.78139771531e-05,1793245494151119360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.216248556,745,713.216248556,682,649.216248556,625,880,783,810,652.783751444,630,652,0.454253574277,0.00463487504456,0.0596650950919,0.999999859505,0.000123608966018,-0.000510959213225,-6.80503859947e-05,1793245494167786240
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.809811206,745,713.809811206,682,649.809811206,625,880,783,810,652.190188794,630,652,0.454241660526,0.00463481016602,0.0596589631627,0.999999854936,0.000122107249696,-0.000520092922855,-6.8710058418e-05,1793245494184452864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.606094298,682,650,625,880.393905702,783.393905702,810,652,630.393905702,652,0.45421410498,0.00463544511022,0.059647430379,0.999999844833,0.000123007353605,-0.000538947599363,-6.88430626537e-05,1793245494201119488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.026463939,682,650,625,880.973536061,783.973536061,810,652,630.973536061,652,0.454179174401,0.00463641001749,0.0596333511175,0.999999831682,0.000125039904098,-0.000562385665907,-6.87277453815e-05,1793245494217786112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.455759207,745,713.544240793,682,650,625,880.455759207,784,810.544240793,652,630.455759207,652.544240793,0.454119573063,0.00463672867141,0.0596126578317,0.999999814367,0.000125417407239,-0.000592237936933,-6.92213881723e-05,1793245494234452736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.118952022,745,714,682,650,625,880,783.881047978,810.881047978,652.118952022,630,653,0.454056692728,0.0046366873884,0.0595935668484,0.999999798061,0.000125633549253,-0.00061908004674,-6.95289645345e-05,1793245494251119616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.711307832,745,714,682,650,625,880,783.288692168,810.288692168,652.711307832,630,653,0.45398545989,0.00463533667725,0.0595821119679,0.999999789575,0.000125522623658,-0.000632721123901,-6.89800926251e-05,1793245494267786240
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.1238435,745,714,682,650,625,880.8761565,783,810,653,630,653,0.453818940844,0.00463555120533,0.05957184592,0.999999778186,0.000128814731087,-0.000650002035421,-6.73274824711e-05,1793245494301119488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.546760082,681.546760082,650,625,880.546760082,783,810,653,630,653,0.453717939785,0.0046359350189,0.0595698631969,0.999999775732,0.000131520903879,-0.00065331305816,-6.64783898849e-05,1793245494317786112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.029625742,745,713,681.029625742,650,625,880,783,810,653,630,653,0.453611677887,0.00463632845195,0.059568177422,0.999999773909,0.000134405983122,-0.000655595326043,-6.56586555565e-05,1793245494334452992
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,650,625,880,783,810,652.816803623,629.816803623,653,0.45333746637,0.00463947131864,0.0595663013574,0.999999771792,0.000142247646742,-0.00065730265998,-6.43094056799e-05,1793245494367785984
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.354577265,681.645422735,650,625.354577265,880.354577265,783.354577265,809.645422735,652.354577265,629.354577265,652.645422735,0.453006211573,0.00464153990107,0.0595744061817,0.999999777162,0.000150818918211,-0.000647418799489,-6.14654110102e-05,1793245494401119744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.929462882,681.070537118,650,625.929462882,880.929462882,783.929462882,809.070537118,652.929462882,629.929462882,652.070537118,0.452818842172,0.00464093937885,0.0595792013364,0.999999779789,0.000153275558841,-0.000642988401091,-5.91202322203e-05,1793245494417786368
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.492786669,745,714,681.507213331,650.507213331,625.492786669,880.492786669,783.492786669,809.507213331,652.492786669,630,652.507213331,0.45260432192,0.00464086322281,0.0595823681592,0.99999978302,0.00015868089359,-0.000636775622223,-5.74282204661e-05,1793245494434452992
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.915037583,682.084962417,651,625.084962417,880,783,809.915037583,652.084962417,630,653,0.452379664197,0.00464092912686,0.0595850926122,0.999999785908,0.000163998868597,-0.000631015073728,-5.57599701813e-05,1793245494451119616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.339609094,682.660390906,651,625.660390906,880,783,809.339609094,652.660390906,630,653,0.452118405999,0.00464139175305,0.0595865780354,0.999999786696,0.000166431872928,-0.000629304160741,-5.37015448886e-05,1793245494467785984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,682.757575019,651,626,880,783,809.242424981,652.757575019,630,653,0.451842191355,0.00464266419926,0.059587463356,0.999999786033,0.000172026778927,-0.000629033223631,-5.15546222499e-05,1793245494484452608
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,682.166028115,651,626,880,783,809.833971885,652.166028115,630,653,0.451544437598,0.00464510288634,0.0595874844546,0.999999783215,0.00018217521379,-0.00063083602974,-4.92802526201e-05,1793245494501118976
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.414944531,745,713,682,651,626,880,783.414944531,810,652,630,653,0.451195437155,0.00464652732594,0.059583318967,0.99999977644,0.000190033615902,-0.000639404374287,-4.65776255533e-05,1793245494517786112
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.99179132,745,713,682,651,626,880,783.99179132,810,652,630,653,0.450826441385,0.00464755602834,0.0595775199653,0.999999767992,0.000196998497179,-0.000650612483475,-4.37079018713e-05,1793245494534453504
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,651.568381865,626.568381865,881.13676373,783.431618135,810,652.568381865,630,653,0.450434871639,0.00464871815033,0.0595704424769,0.999999759969,0.000204171732074,-0.00066084319532,-4.07791511542e-05,1793245494551119872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.851996149,745,713,682,652,627,881.703992298,783.148003851,810,653,630,653,0.450029412005,0.00464981441322,0.0595628615751,0.999999751264,0.000211807660007,-0.000671698909448,-3.78107707807e-05,1793245494567786496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.263337688,745,713,682,652,627,880.526675376,783.736662312,810,653,630,653,0.449583568041,0.00465070885806,0.0595538368015,0.999999740777,0.000220812216297,-0.000684457460961,-3.47269377983e-05,1793245494584452864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.320042111,745,713.320042111,682,652,627.320042111,880.320042111,784,810,652.679957889,630,653,0.449121222352,0.0046513300405,0.0595485335138,0.999999733367,0.000230512181532,-0.0006922133603,-3.11453755247e-05,1793245494601119232
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.89914905,745,713.89914905,682,652,627.89914905,880.89914905,784,810,652.10085095,630,653,0.448645518947,0.00465173002504,0.0595462426603,0.999999728493,0.000240775061175,-0.000695919758892,-2.71609154611e-05,1793245494617785856
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.923908291,660,632.076091709,879,785.923908291,809,652,630,652,0.433746304119,0.00462358524826,0.0597565832335,0.999999912025,0.000231949575316,-0.000349293288757,1.19624984279e-05,1793245494967785984
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.917346127,745,713,680,659.917346127,633,878,784.917346127,807,652.917346127,630,652,0.409488537881,0.00455895622394,0.0598300013089,0.999999932247,0.000227485305998,-0.000287364332666,3.43224059487e-05,1793245495451119104
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,659,633,877.637184928,785,807,653,630,652,0.407702266348,0.00455646347117,0.0598403742685,0.999999944193,0.000196171567199,-0.00026838401831,3.31804063656e-05,1793245495501118976
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.781689607,745,713,679,659,633,878,785,807,652.781689607,630,652,0.407150642047,0.00455426005005,0.0598256654207,0.999999941407,0.000184291502548,-0.000286672140326,3.22665789381e-05,1793245495517785856
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.122491231,745,713.877508769,679.877508769,659.755017537,633.877508769,877.877508769,785,807,652,629.122491231,652,0.403719738688,0.00454518713426,0.0597638880792,0.999999919121,0.000149656871278,-0.000371798542178,3.35676644811e-05,1793245495651119104
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.559390736,659.440609264,633,877.559390736,785,807,652.559390736,629.440609264,652,0.400963409373,0.00451256307326,0.0598407167838,0.999999964324,1.44788345233e-05,-0.000266118925059,1.79560182461e-05,1793245496417786112
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47ce98b6d0439fdeb5c3b576bb74a2eeeb9756cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.575672282314,0.00987788020162,1.05005090518,0.546243916381,0.0185535688974,1.0497173965
+400,6.666666667,pose2_to_pose3_retreat,0.575671928447,0.00987788780211,1.05005089485,0.546243562769,0.0185535773466,1.04971738579
+401,6.683333333,pose2_to_pose3_retreat,0.575671363966,0.00987786056414,1.05005090214,0.546242998233,0.0185535498413,1.04971739099
+402,6.700000000,pose2_to_pose3_retreat,0.575670560071,0.00987781141387,1.05005091879,0.546242194138,0.0185534998835,1.04971740426
+403,6.716666667,pose2_to_pose3_retreat,0.575670063722,0.00987783491437,1.05005094256,0.546241696993,0.0185535207414,1.04971742953
+404,6.733333333,pose2_to_pose3_retreat,0.575669906778,0.00987787541165,1.05005095835,0.546241539384,0.0185535590865,1.04971744802
+405,6.750000000,pose2_to_pose3_retreat,0.575669755409,0.00987791447035,1.05005097359,0.546241387374,0.0185535960694,1.04971746585
+406,6.766666667,pose2_to_pose3_retreat,0.575669552646,0.00987787429069,1.05005098677,0.546241185017,0.0185535573896,1.04971748224
+407,6.783333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ba5c7573f90ad92d99331ef4ef679f088d38589
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b6a49ffdb52930ef46c56068a81ae9153c0c61e0189a275cf898c3447cdfcf
+size 25648676
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1b0492cc941f22170f5f8e09ebf2407e3056ea9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,713,679,662,633,878,786,807,653,629,653,0.400941432957,0.00455998343933,0.049933279337,0.999999974573,8.83819505066e-05,-0.000206058403705,-2.41173575503e-05,1793245497665614080
+1,0.016666667,BASELINE,765,745,713,679.588240545,662,633,878,786,807,653,629.588240545,653,0.400942618382,0.00455876704224,0.0499343301831,0.999999975418,8.44632309086e-05,-0.000203623332096,-2.38380739101e-05,1793245497682281216
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+4,0.066666667,BASELINE,764.330979937,745,713,679.330979937,662,633,878,786,807,653.669020063,630,652.330979937,0.400943708724,0.00455933909648,0.0499347014313,0.999999975594,8.5914295372e-05,-0.00020213920356,-2.38835895237e-05,1793245497732281344
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+9,0.150000000,BASELINE,765,745,713,679.237086184,663,633.762913816,877.762913816,786,806.762913816,653,630,652,0.400943450567,0.00455881829443,0.0499349960253,0.999999975606,8.41931263618e-05,-0.000202830241689,-2.36579816573e-05,1793245497815614208
+10,0.166666667,BASELINE,765,745,713,679.811499609,663,633.188500391,877.188500391,786,806.188500391,653,630,652,0.400942797022,0.00455977201982,0.0499337979617,0.999999975451,8.31848151154e-05,-0.000203937347166,-2.42559091463e-05,1793245497832280832
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+12,0.200000000,BASELINE,765,745,713,679.037773071,663.962226929,633.962226929,877.962226929,786,806,653,629.037773071,652,0.400942501976,0.00456056474332,0.0499337138666,0.999999975221,8.60443951299e-05,-0.00020392149744,-2.38792955765e-05,1793245497865614080
+13,0.216666667,BASELINE,765,745,713,679,662.899632702,633.449816351,878,786,806.550183649,653,629.550183649,652,0.400944387306,0.00455906841402,0.0499343582087,0.999999975777,8.4131762593e-05,-0.000202025482352,-2.35250506467e-05,1793245497882280960
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+16,0.266666667,BASELINE,764,745,713,679,662.292166225,634,878,786,807,653,630,652,0.400940311483,0.00455923122997,0.0499314725465,0.999999974664,8.54351577116e-05,-0.000206882034811,-2.3914600164e-05,1793245497932280832
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+20,0.333333333,BASELINE,765,745,713,679.611648517,662.611648517,633.611648517,878,786,807.388351483,653.388351483,630,652,0.400943730566,0.00455728276291,0.0499338381328,0.99999997581,8.16902485005e-05,-0.000202892563995,-2.32855682057e-05,1793245497998947328
+21,0.350000000,BASELINE,765,745,713,680,663,634,878,786,807,653,630,652,0.400943465906,0.00455841623337,0.0499335202279,0.999999975676,8.27575575762e-05,-0.000203095122498,-2.34897034768e-05,1793245498015614208
+22,0.366666667,BASELINE,765,745,713,680,663,634,878,786,807,653,630,652,0.400941792328,0.00455707899151,0.0499321611601,0.999999975378,8.24556717588e-05,-0.000204690540863,-2.33730553552e-05,1793245498032281088
+23,0.383333333,BASELINE,765,745,713,679.646743627,662.646743627,634,877.646743627,785.646743627,807,653,629.646743627,652,0.400942270344,0.00455765960641,0.0499325176881,0.999999975339,8.38128001289e-05,-0.000204314604595,-2.35353169766e-05,1793245498048947712
+24,0.400000000,BASELINE,765,745,713,679.070354833,662.070354833,634,877.070354833,785.070354833,807,653,629.070354833,652,0.4009441074,0.00455945162472,0.0499339578624,0.999999975456,8.62178355422e-05,-0.000202693473305,-2.38737503724e-05,1793245498065614336
+25,0.416666667,BASELINE,764.483009728,745,713,679,662.516990272,633.483009728,877.516990272,785,807,653.516990272,629,652,0.400944083314,0.00455920613928,0.0499336990252,0.999999975418,8.62545395668e-05,-0.000202866023295,-2.38609724887e-05,1793245498082280960
+26,0.433333333,BASELINE,764.104239101,745,713,679.104239101,662.895760899,633,878.104239101,785.104239101,807,653.895760899,629.104239101,652,0.400943723058,0.00455859352082,0.0499331705375,0.999999975401,8.54626385927e-05,-0.000203295652467,-2.37753238257e-05,1793245498098947328
+27,0.450000000,BASELINE,764.684098468,745,713,679.684098468,662.315901532,633,878.684098468,785.684098468,807,653.315901532,629.684098468,652,0.400943009585,0.00455759828958,0.0499324894983,0.999999975569,8.2392396765e-05,-0.000203760416898,-2.35799802638e-05,1793245498115613952
+28,0.466666667,BASELINE,765,745,713,679.738855465,662.261144535,633.261144535,878.738855465,786,806.738855465,653,630,652.261144535,0.400942797938,0.00455765561614,0.049932523848,0.999999975554,8.23907743836e-05,-0.000203844937784,-2.34622936674e-05,1793245498132280576
+29,0.483333333,BASELINE,765,745,713,679.165176357,662.834823643,633.834823643,878.165176357,786,806.165176357,653,630,652.834823643,0.400943186869,0.00455897263103,0.0499334143664,0.999999975321,8.60616382724e-05,-0.000203474387835,-2.34375459857e-05,1793245498148947200
+30,0.500000000,BASELINE,765,745,713,679.407866731,663,633.592133269,878,786,806.407866731,653.407866731,630,653,0.400942776214,0.00455862166399,0.0499330895585,0.999999975378,8.50484346943e-05,-0.000203607879698,-2.35464399759e-05,1793245498165613824
+31,0.516666667,BASELINE,765,745,713,679.980652633,663,633.019347367,878,786,806.980652633,653.980652633,630,653,0.40094204225,0.00455759625553,0.0499322733385,0.999999975549,8.21412483428e-05,-0.000203945178723,-2.37093714061e-05,1793245498182280704
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+33,0.550000000,BASELINE,764.835727573,745,713.164272427,679.835727573,663,634,878,786,807,653.164272427,629.164272427,652.835727573,0.400943126469,0.00455763203363,0.0499329813456,0.999999975496,8.40552056534e-05,-0.000203471087103,-2.32775863174e-05,1793245498215614464
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+36,0.600000000,BASELINE,764.894190262,745,713.105809738,679.894190262,663,634,878,786,807,653.105809738,630,652,0.400943063721,0.00455816419332,0.0499327968666,0.999999975654,8.31348334892e-05,-0.000203049469562,-2.34960512394e-05,1793245498265614336
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+38,0.633333333,BASELINE,765,745,713,680,662,633.933043191,878,786,807.066956809,653,630,652.066956809,0.40093992428,0.00455723127534,0.0499308676889,0.999999974841,8.38232298292e-05,-0.000206776120335,-2.31432222866e-05,1793245498298947328
+39,0.650000000,BASELINE,765,745,713,680,662,633.354739209,878,786,807.645260791,653,630,652.645260791,0.400943141036,0.00455732805903,0.0499322374075,0.999999975576,8.25668717464e-05,-0.000203686823944,-2.33021563501e-05,1793245498315613952
+40,0.666666667,BASELINE,765,745,713,680,662.223020585,633,878,786,807.55395883,653,630,652.776979415,0.400944849952,0.00455719212203,0.0499330653571,0.999999975999,8.21435812984e-05,-0.000201767342652,-2.33489903003e-05,1793245498332280832
+41,0.683333333,BASELINE,765,745,713,680,662.799916858,633,878,786,806.400166285,653,630,652.200083142,0.40094416632,0.0045566869178,0.0499330336601,0.99999997594,8.30421526813e-05,-0.000201704053977,-2.32179505053e-05,1793245498348947712
+42,0.700000000,BASELINE,765,745,713,680,662.624986884,633.375013116,878,785.624986884,806.375013116,653,630,652.375013116,0.4009429283,0.00455670896127,0.0499318240436,0.99999997563,8.25216270447e-05,-0.000203443537361,-2.32567713232e-05,1793245498365614336
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+47,0.783333333,BASELINE,765,745,713,680,663,633.715833757,878,786,807.284166243,653,630,652,0.400942442447,0.00455828790973,0.0499325515326,0.999999975448,8.47468213047e-05,-0.000203400954986,-2.34552972295e-05,1793245498448947456
+48,0.800000000,BASELINE,765,745,713,680,663,633.139007072,878,786,807.860992928,653,630,652,0.400941951974,0.00455714150324,0.0499325956667,0.999999975573,8.30736344915e-05,-0.000203533631815,-2.29673954114e-05,1793245498465614080
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+51,0.850000000,BASELINE,764.595715278,745,713,679.595715278,662.595715278,634,878,785.595715278,807.595715278,653,630,652.404284722,0.400944003323,0.00455710716895,0.049932137368,0.999999975762,8.40204574527e-05,-0.00020219211202,-2.31221159354e-05,1793245498515614464
+52,0.866666667,BASELINE,765,745,713,680,663,634,878.185070212,786,807.814929788,653,630,652,0.400944854848,0.0045572124896,0.0499323401895,0.999999975976,8.33891664646e-05,-0.00020136281133,-2.33955888357e-05,1793245498532280832
+53,0.883333333,BASELINE,765,745,713,680,663,634,878.76422984,786,807.23577016,653,630,652,0.400946305148,0.00455798796764,0.0499334097316,0.999999976307,8.25964638033e-05,-0.000200018968516,-2.35669420668e-05,1793245498548947456
+54,0.900000000,BASELINE,764.659041704,745,713,680,663,634,878.659041704,785.659041704,807,653,630,652,0.400946266261,0.00455763180273,0.0499336980282,0.999999976354,8.23259502149e-05,-0.000199911256376,-2.34516265932e-05,1793245498565614336
+55,0.916666667,BASELINE,764.083982506,745,713,680,663,634,878.083982506,785.083982506,807,653,630,652,0.400945204901,0.00455649865528,0.0499334499239,0.999999976206,8.24139700464e-05,-0.000200652267754,-2.31394852753e-05,1793245498582280704
+56,0.933333333,BASELINE,764,745,712.510588615,679.510588615,663,633.510588615,877.510588615,785.489411385,807,653,630,652,0.400944450948,0.00455472416304,0.0499330556005,0.999999976302,7.90749208526e-05,-0.000201524692533,-2.30372544352e-05,1793245498598947584
+57,0.950000000,BASELINE,764,745,712.065228861,679,663,633,877,785.934771139,807,653,629.934771139,652,0.400943757367,0.00455313523616,0.0499326046356,0.999999976367,7.58630472097e-05,-0.000202439659396,-2.2994169967e-05,1793245498615614208
+58,0.966666667,BASELINE,764,745,712.663164641,679,663,633,877,785.336835359,807,653,629.336835359,652,0.400943127497,0.00455395750877,0.0499318953111,0.999999975943,7.84762061523e-05,-0.000203518517042,-2.31409465884e-05,1793245498632280832
+59,0.983333333,BASELINE,764,745,713,679,662.748560137,633.251439863,877.251439863,785,806.748560137,653,629.251439863,652,0.400943200126,0.00455477525339,0.0499316684528,0.999999975758,8.0319786492e-05,-0.000203700968637,-2.31875899867e-05,1793245498648947456
+60,1.000000000,BASELINE,764,745,713,679,662.172747541,633.827252459,877.827252459,785,806.172747541,653,629.827252459,652,0.400944179019,0.00455558715673,0.0499320640051,0.99999997589,8.11705639317e-05,-0.000202727001988,-2.31050554502e-05,1793245498665614336
+61,1.016666667,BASELINE,764,745,713.403494679,679,662.403494679,633.596505321,878,785.403494679,806.403494679,653,630,652,0.400945140836,0.00455622021071,0.049932717029,0.999999976075,8.20107249441e-05,-0.000201450963994,-2.3258016775e-05,1793245498682280960
+62,1.033333333,BASELINE,764,745,713.979920995,679,662.979920995,633.020079005,878,785.979920995,806.979920995,653,630,652,0.400946095334,0.00455677661254,0.0499334804013,0.999999976283,8.28463358671e-05,-0.000200045462908,-2.35119080227e-05,1793245498698947584
+63,1.050000000,BASELINE,764,745,713.43197479,679,663,633.56802521,878.56802521,786,807,653,630,652,0.400945018435,0.00455798837804,0.0499333067333,0.999999976049,8.35609890997e-05,-0.000200900224885,-2.36458029589e-05,1793245498715614208
+64,1.066666667,BASELINE,764,745,713,679,663,633.845867813,878.845867813,786,806.845867813,653,629.845867813,652,0.400943786067,0.00455816912729,0.0499328221925,0.999999975827,8.32249709757e-05,-0.000202148704399,-2.35598282819e-05,1793245498732280832
+65,1.083333333,BASELINE,764,745,713,679,663,633.266434852,878.266434852,786,806.266434852,653,629.266434852,652,0.400942327013,0.00455543970254,0.0499315731685,0.999999975677,8.00018549364e-05,-0.000204258487513,-2.28791118823e-05,1793245498748947456
+66,1.100000000,BASELINE,764.310490505,745,713,679.310490505,662.689509495,633,878,786,806.310490505,653,629,652,0.40094232682,0.00455440407766,0.0499316102029,0.999999975796,7.86836798558e-05,-0.000204205754223,-2.27263542554e-05,1793245498765614336
+67,1.116666667,BASELINE,764.885281272,745,713,679.885281272,662.114718728,633,878,786,806.885281272,653,629,652,0.400943568463,0.00455481027399,0.0499327419749,0.99999997615,7.89870566049e-05,-0.00020231221203,-2.30230134408e-05,1793245498782281216
+68,1.133333333,BASELINE,764.529641064,745,713,680,662.470358936,633.470358936,878,786,807,653,629.470358936,652,0.400945113494,0.00455433000419,0.04993329154,0.9999999766,7.78060973907e-05,-0.000200541295061,-2.30021325357e-05,1793245498798947840
+69,1.150000000,BASELINE,764,745,713,679.94283829,663,634,878,786,807,653,630,652.05716171,0.400946390497,0.00455386711373,0.0499335612937,0.999999976962,7.66245238638e-05,-0.00019919584036,-2.29361488206e-05,1793245498815614208
+70,1.166666667,BASELINE,764,745,713,679.363705654,663,634,878,786,807,653,630,652.636294346,0.400944529216,0.00455558134361,0.0499326016006,0.999999976333,7.88170701249e-05,-0.000201456277377,-2.31813262298e-05,1793245498832280576
+71,1.183333333,BASELINE,764,745,713,679.214593884,662.785406116,634,878,786,807,653,630,653,0.400943515726,0.00455670673689,0.0499320778032,0.999999975853,8.1308316644e-05,-0.000202832452885,-2.32620423349e-05,1793245498848947456
+72,1.200000000,BASELINE,764,745,713,679.791486996,662.208513004,634,878,786,807,653,630,653,0.400943933563,0.00455683799657,0.049932289929,0.999999975634,8.43038596834e-05,-0.000202715728514,-2.30650981732e-05,1793245498865614080
+73,1.216666667,BASELINE,764.367039018,745,713,680,662.367039018,634,878,786,807,653,630,652.632960982,0.400944500015,0.00455714768962,0.0499328193838,0.999999975802,8.41505728614e-05,-0.000201936200011,-2.3168253019e-05,1793245498882280448
+74,1.233333333,BASELINE,764.941831911,745,713,680,662.941831911,634,878,786,807,653,630,652.058168089,0.400945150586,0.00455755838072,0.0499335284551,0.999999976189,8.22149641519e-05,-0.000200781506694,-2.3441271921e-05,1793245498898947072
+75,1.250000000,BASELINE,765,745,713,679.471358314,663.528641686,633.471358314,878,786,807,653,630,652,0.400944260753,0.00455607586345,0.0499334206196,0.999999976192,8.08131066151e-05,-0.00020134865635,-2.33216343141e-05,1793245498915614720
+76,1.266666667,BASELINE,765,745,713,679.115884023,663.884115977,633.115884023,877.884115977,786,807,653,630,652.115884023,0.40094347776,0.00455507680598,0.0499332372757,0.999999976174,8.00611442574e-05,-0.000201751331406,-2.32219708554e-05,1793245498932281856
+77,1.283333333,BASELINE,765,745,713,679.699411919,663.300588081,633.699411919,877.300588081,786,807,653,630,652.699411919,0.400943825817,0.00455688892556,0.0499331203922,0.999999976248,8.1689283896e-05,-0.000200707939242,-2.33813199032e-05,1793245498948948224
+78,1.300000000,BASELINE,765,745.278003419,713,680,663,634,877.278003419,785.721996581,807,653,630,652.721996581,0.400943125268,0.00455718912042,0.0499323894436,0.999999976085,8.1873792029e-05,-0.000201444387596,-2.33810634442e-05,1793245498965614592
+79,1.316666667,BASELINE,765,745.851350578,713,680,663,634,877.851350578,785.148649422,807,653,630,652.148649422,0.400941310708,0.00455588308491,0.0499310061279,0.999999975666,8.05246227676e-05,-0.000204071693186,-2.32112461554e-05,1793245498982280960
+80,1.333333333,BASELINE,765,745.571771144,713,679.571771144,663,634,877.571771144,785.428228856,807,653.428228856,629.571771144,652,0.400942352822,0.00455531888151,0.049931455911,0.999999975726,8.11688737311e-05,-0.000203562004824,-2.28690653092e-05,1793245498998947328
+81,1.350000000,BASELINE,764.993566137,745,713,679.006433863,662.993566137,633.993566137,877.006433863,786,807,653.993566137,629.006433863,652,0.40094438278,0.00455502663718,0.0499325403638,0.99999997595,8.25078903834e-05,-0.000201960292765,-2.24739316262e-05,1793245499015614208
+82,1.366666667,BASELINE,764.407181124,745,713,679.592818876,662.407181124,633.407181124,877.592818876,786,807,653.407181124,629.592818876,652,0.400945328617,0.00455584390931,0.0499329994765,0.999999976069,8.35804547385e-05,-0.000200896072338,-2.27437239036e-05,1793245499032280832
+83,1.383333333,BASELINE,764.176987784,745,713,679.823012216,662.176987784,633.176987784,878,786,806.823012216,653,630,652,0.400945804917,0.00455655740918,0.0499333501202,0.999999976129,8.42144735918e-05,-0.000200302685796,-2.30035929233e-05,1793245499048947200
+84,1.400000000,BASELINE,764.756121446,745,713,679.243878554,662.756121446,633.756121446,878,786,806.243878554,653,630,652,0.400945214347,0.00455703512126,0.0499334543041,0.999999976058,8.38520438506e-05,-0.000200779112467,-2.32409146931e-05,1793245499065614592
+85,1.416666667,BASELINE,765,745,713,679,662.667702254,634,878,786,806.332297746,653,630,652,0.400944669309,0.00455685026873,0.0499333672228,0.999999976078,8.26037344373e-05,-0.000201191378687,-2.32980068108e-05,1793245499082281472
+86,1.433333333,BASELINE,765,745,713,679,662.093677295,634,878,786,806.906322705,653,630,652,0.400944157393,0.00455618343908,0.0499331410073,0.999999976161,8.07109992981e-05,-0.000201556971895,-2.32239923631e-05,1793245499098948096
+87,1.450000000,BASELINE,764.507555303,745,713,679.492444697,662.492444697,634,878,786,807,653,630,652.492444697,0.40094393432,0.00455649717948,0.0499325324049,0.999999976117,8.1121953104e-05,-0.000201613429624,-2.31976142045e-05,1793245499115614208
+88,1.466666667,BASELINE,764.080097894,745,713,679.919902106,663,633.919902106,878.080097894,786,807,653,629.919902106,653,0.400943775912,0.0045568532453,0.0499318989507,0.99999997605,8.1550861626e-05,-0.000201766896356,-2.32090550883e-05,1793245499132280576
+89,1.483333333,BASELINE,764.662558282,745,713,679.337441718,663,633.337441718,878.662558282,786,807,653,629.337441718,653,0.400943669776,0.00455627539957,0.0499315773418,0.999999975998,7.92746545373e-05,-0.000202906904398,-2.33994259154e-05,1793245499148947200
+90,1.500000000,BASELINE,765,745,713,679.242197,663,633.242197,878.757803,786,807,653,629.242197,653,0.400944029284,0.00455612484822,0.0499318216958,0.999999976083,7.86787060746e-05,-0.000202713938744,-2.34699906084e-05,1793245499165614080
+91,1.516666667,BASELINE,765,745,713,679.817949643,663,633.817949643,878.182050357,786,807,653,629.817949643,653,0.400945030084,0.00455656277016,0.0499328454987,0.999999976358,8.03968233988e-05,-0.000200685190976,-2.33755573209e-05,1793245499182280704
+92,1.533333333,BASELINE,765,745.391602266,713,680,663,634,878,786,807,653,630,653,0.400944060178,0.00455566970533,0.0499325026213,0.999999976236,7.95208818354e-05,-0.000201683707531,-2.29716922885e-05,1793245499198947328
+93,1.550000000,BASELINE,765,745.964283876,713,680,663,634,878,786,807,653,630,653,0.400942179005,0.00455416118391,0.0499315277824,0.999999975925,7.74454313185e-05,-0.000204082049919,-2.24247440673e-05,1793245499215614208
+94,1.566666667,BASELINE,765,745.447995183,713,679.447995183,663,634,878.552004817,785.447995183,807,653,630,653,0.400942669083,0.0045565671401,0.0499312185542,0.999999975779,8.061867137e-05,-0.000203496697081,-2.30392705384e-05,1793245499232281088
+95,1.583333333,BASELINE,765,745,713,679,663,634,878.860800151,785.139199849,807,653,630,652.860800151,0.400943455368,0.00455818914127,0.0499312325571,0.999999975732,8.29978224499e-05,-0.000202728484026,-2.3433409543e-05,1793245499248947968
+96,1.600000000,BASELINE,765,745,713,679,663,634,878.278463708,785.721536292,807,653,630,652.278463708,0.400944682509,0.00455648657881,0.0499321346106,0.999999975994,8.17376338159e-05,-0.000202009931168,-2.28800163991e-05,1793245499265614336
+97,1.616666667,BASELINE,765,745,713,679.299729087,663,634,878,786,807,653,630,652,0.400945273155,0.00455601621075,0.0499330274436,0.9999999761,8.20736523924e-05,-0.000201383870711,-2.25280569752e-05,1793245499282280704
+98,1.633333333,BASELINE,765,745,713,679.874124681,663,634,878,786,807,653,630,652,0.400945280529,0.00455667500424,0.049933911827,0.999999976064,8.38724074839e-05,-0.000200842568719,-2.2360687931e-05,1793245499298947328
+99,1.650000000,BASELINE,764.551290052,745,713,680,663,633.551290052,878,785.551290052,807,653,629.551290052,652,0.400944467,0.00455535401849,0.0499326923455,0.999999975994,8.21196684224e-05,-0.000201900759173,-2.24457976801e-05,1793245499315613952
+100,1.666666667,BASELINE,764,745,713,680,662.975915547,633,878,785.024084453,807,653,629,652,0.400943539445,0.00455365309452,0.0499310332566,0.999999975922,7.95982657677e-05,-0.000203246955442,-2.25967013718e-05,1793245499332280832
+101,1.683333333,BASELINE,764,745,713,680,662.383162635,633,878,785.616837365,807,653,629,652,0.400945359252,0.00455610018976,0.0499329355613,0.999999976185,8.2461407686e-05,-0.000200794427345,-2.26280565774e-05,1793245499348947968
+102,1.700000000,BASELINE,764,745,713,679.795783752,662.204216248,633,878,786,807,653,629.204216248,652.204216248,0.400946010292,0.00455755304787,0.0499337222482,0.999999976268,8.41371631427e-05,-0.000199664622664,-2.27974727959e-05,1793245499365614848
+103,1.716666667,BASELINE,764,745,713,679.21822947,662.78177053,633,878,786,807,653,629.78177053,652.78177053,0.400944524654,0.00455718829062,0.0499324694177,0.999999976041,8.36421971421e-05,-0.000200952955723,-2.32192853204e-05,1793245499382281216
+104,1.733333333,BASELINE,764,745,713,679.35642357,663,633,878,785.64357643,807,653,629.64357643,652.64357643,0.400943657255,0.00455668166411,0.0499320699073,0.999999976015,8.22643196174e-05,-0.000201640368774,-2.33055113638e-05,1793245499398947584
+105,1.750000000,BASELINE,764,745,713,679.929314649,663,633,878,785.070685351,807,653,629.070685351,652.070685351,0.400943165333,0.00455608887581,0.0499321886456,0.999999976109,8.03502214526e-05,-0.000201962823884,-2.31879249742e-05,1793245499415614208
+106,1.766666667,BASELINE,764,745,713,680,663,633,878,785.518314555,807,653,629.518314555,652.518314555,0.400943258512,0.00455606523801,0.0499321335743,0.999999975919,8.14155630708e-05,-0.000202501316691,-2.29543483208e-05,1793245499432280576
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629,653,0.40094187403,0.00455700100077,0.0499310966517,0.999999975232,8.37794640411e-05,-0.000204892072456,-2.31764045669e-05,1793245499474684416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.424139536,745,713,679,663,633.424139536,878,785.575860464,807,653,629.575860464,653,0.400942787747,0.00455648874784,0.0499311409721,0.999999975621,8.27806815229e-05,-0.000203391952427,-2.31908646849e-05,1793245499491351296
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.154641173,679,663,633,878.154641173,785.845358827,807,653,629.845358827,652.845358827,0.400943167077,0.00455608317259,0.0499310392249,0.999999975833,8.17364828731e-05,-0.000202767127608,-2.31968597842e-05,1793245499508018176
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.741585629,679,663,633,878.741585629,785.258414371,807,653,629.258414371,652.258414371,0.400942052518,0.00455597581733,0.0499305291419,0.999999975558,8.05653220593e-05,-0.000204589212194,-2.31791907137e-05,1793245499524684544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.676438855,679,662.676438855,633,878.676438855,785,807,653,629,652,0.40094207105,0.00455659000914,0.0499307966787,0.999999975448,8.13698936218e-05,-0.000204814590012,-2.31279553016e-05,1793245499541351168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.098371831,679,662.098371831,633,878.098371831,785,807,653,629,652,0.400942980846,0.00455777175358,0.0499316758736,0.999999975465,8.37285316631e-05,-0.000203784034284,-2.30503173651e-05,1793245499558017280
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662,633,877.5184888,785,807,653,629,652,0.40094801099,0.00455766957753,0.0499328457338,0.999999976216,8.32171522786e-05,-0.000200301876621,-2.28552912732e-05,1793245499574683648
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.061087862,633.061087862,877,785.061087862,807,653,629,652,0.400954957857,0.00455729266166,0.049934486629,0.999999977255,8.22409969553e-05,-0.000195474490055,-2.27152670337e-05,1793245499591350272
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.634966657,633.634966657,877,785.634966657,807,653,629,652,0.400970901399,0.00455681967892,0.0499395811808,0.999999979493,8.23039150291e-05,-0.000183575099363,-2.3239021976e-05,1793245499608017152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.213929639,713,679.213929639,663,634,877.213929639,786,807,653,629,652,0.400992416396,0.0045563839975,0.0499454646901,0.999999982232,8.14273777238e-05,-0.000168367120376,-2.3633130719e-05,1793245499624683776
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.801779025,713,679.801779025,663,634,877.801779025,786,807,653,629,652,0.401023669533,0.00455601351373,0.0499527271885,0.999999985744,7.89088008985e-05,-0.000147376182828,-2.38006355811e-05,1793245499641350656
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.383697561,745.616302439,713,680,663,634,878,786,807,653,629.383697561,652,0.401061700525,0.00455626999056,0.0499576605163,0.999999988494,7.9786914221e-05,-0.000126685393765,-2.4426550553e-05,1793245499658017792
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.962598866,745.037401134,713,680,663,634,878,786,807,653,629.962598866,652,0.401103179711,0.00455684542964,0.0499614088937,0.999999990652,8.23930722618e-05,-0.00010614730145,-2.52856788242e-05,1793245499674684928
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713,679.454140505,662.454140505,634,878,786,807,653.545859495,630,652.545859495,0.401156802983,0.00455599004839,0.0499652903663,0.999999992834,8.04072835492e-05,-8.48228136223e-05,-2.58996291843e-05,1793245499691350784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713,679.126545044,662.126545044,634,878,785.873454956,807,653.873454956,630,653,0.401213745155,0.00455536992267,0.0499685485754,0.999999994187,7.86700409383e-05,-6.89109149503e-05,-2.62506707343e-05,1793245499708016896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713,679.697138213,662.697138213,634,878,785.302861787,807,653.302861787,630,653,0.40127939009,0.00455592209292,0.0499695874885,0.99999999395,7.89178793258e-05,-7.21824482676e-05,-2.57385849131e-05,1793245499724683776
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.724208175,745,713,680,663,634,878,785,807,653,630,652.724208175,0.401357275058,0.00455559542654,0.0499714662421,0.999999994095,7.86895079336e-05,-7.06265492659e-05,-2.51152194678e-05,1793245499741350400
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.136436505,745,713,680,663,634,878,785,807,653,630,652.136436505,0.401449006129,0.00455427460696,0.0499742950356,0.999999994644,7.79224408828e-05,-6.36097862597e-05,-2.43659728738e-05,1793245499758016768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.444373214,745,713,679.555626786,663,633.555626786,878,785.444373214,807,653,630,652,0.401554804135,0.00455436734131,0.0499748141268,0.999999994884,7.60055832132e-05,-6.23427735533e-05,-2.38282674813e-05,1793245499774683904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.977064306,745,713,679,662.977064306,633.022935694,878,785.977064306,807,653,629.977064306,652.022935694,0.401666086003,0.00455473387337,0.0499746842943,0.999999995046,7.36610790865e-05,-6.27549657371e-05,-2.33092312913e-05,1793245499791350784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.401936522,745,713,679,662.401936522,633.598063478,878,785.401936522,807,653,629.401936522,652.598063478,0.401807016915,0.00455140447739,0.0499757411175,0.999999995451,6.93888321397e-05,-6.17486761191e-05,-2.17000798537e-05,1793245499808017664
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662.177065883,634,878,785.177065883,807,653,629.177065883,652.822934117,0.401956102654,0.00454911183684,0.0499768635202,0.999999995767,6.62750739058e-05,-6.04872740946e-05,-2.03550469974e-05,1793245499824684544
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.765060298,634,878,785.765060298,807,653,629.765060298,652.234939702,0.402124113822,0.00454922526378,0.0499781381175,0.99999999592,6.58498978238e-05,-5.86338159395e-05,-1.96229718664e-05,1793245499841351168
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679.346874774,663,634,878,785.653125226,807,653,630,652,0.402312050032,0.00454714229113,0.049974937401,0.999999995874,6.19149799353e-05,-6.38872286961e-05,-1.83818874995e-05,1793245499858017536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679.924576879,663,634,878,785.075423121,807,653,630,652,0.402513245349,0.00454359772748,0.0499687585934,0.999999995582,5.56445092577e-05,-7.38698984943e-05,-1.68020835787e-05,1793245499874683904
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.49582693,663,634,878,785,807,653,630,652,0.402748510168,0.00454132032523,0.0499677241124,0.999999995682,5.26762527906e-05,-7.50327734139e-05,-1.5230593876e-05,1793245499891350528
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.083260498,745,713,679,662.916739502,634,878,785,807,653,629.916739502,652.083260498,0.402996615968,0.00453899137101,0.0499685568811,0.999999996045,4.94781346116e-05,-7.26463725853e-05,-1.35986802755e-05,1793245499908017152
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.657669232,745,713,679,662.342330768,634,878,785,807,653,629.342330768,652.657669232,0.403290291388,0.00453523586936,0.0499758476157,0.999999997418,4.19989923399e-05,-5.71355536878e-05,-1.16029647096e-05,1793245499924683776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713,679.237369303,662.237369303,634,878,785,807,653,629,652.762630697,0.403598038691,0.00453229085384,0.0499837473764,0.999999998454,3.68094271469e-05,-4.05630266023e-05,-9.52448773194e-06,1793245499941350400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713,679.824874423,662.824874423,634,878,785,807,653,629,652.175125577,0.403926542958,0.00453054136053,0.0499925454913,0.999999999109,3.49971438318e-05,-2.24244088953e-05,-7.32393218172e-06,1793245499958017024
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.592798889,745,713,679.592798889,663,633.592798889,878,785.407201111,807,653,629,652.407201111,0.404296478195,0.00452732495832,0.0500015506865,0.999999999531,2.97199378406e-05,-5.70040560458e-06,-4.72464869021e-06,1793245499974683904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.012671343,745,713,679.012671343,663,633.012671343,878,785.987328657,807,653,629,652.987328657,0.404684007947,0.00452348560272,0.0500106438224,0.99999999968,2.29712803003e-05,1.04228517452e-05,-1.9560371281e-06,1793245499991350528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.563924948,745,713,679,663,633.563924948,878.563924948,785.436075052,807,653,629,652.436075052,0.405097688731,0.00451995176325,0.0500139081471,0.999999999634,1.70854364458e-05,2.09534167407e-05,2.84704770794e-07,1793245500008017152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713.140003753,679.140003753,663,633.859996247,878.859996247,785.140003753,807,653,629,652,0.405510861061,0.00451584581292,0.0500104183906,0.999999999781,1.09323486436e-05,1.75977234782e-05,2.80502419877e-06,1793245500024683776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.714720491,679.714720491,663,633.285279509,878.285279509,785.714720491,807,653,629,652,0.405920641375,0.00450994227059,0.0499863612881,0.999999999567,3.88964366324e-06,-2.84871657668e-05,6.23003398941e-06,1793245500041350400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713.702695067,680,663,633.297304933,878.297304933,786,807,653,629.297304933,652,0.406354024897,0.00450498827596,0.0499644730827,0.999999997608,-1.24648299608e-06,-6.8483120367e-05,9.59683460766e-06,1793245500058017024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713.112355869,680,663,633.887644131,878.887644131,786,807,653,629.887644131,652,0.406810672625,0.00450097018846,0.049944722616,0.999999994656,-4.5034194089e-06,-0.000102477610948,1.29062626167e-05,1793245500074683648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.530912146,878.530912146,786,807,653,630,652.469087854,0.407346398381,0.00449723154289,0.0499413067249,0.999999994372,-3.4938379004e-06,-0.000104822078734,1.6009850721e-05,1793245500091350272
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.951838521,745,713,680,663,633,878,785.951838521,807,653,630,653,0.407905892152,0.00449303889062,0.0499440053517,0.999999995252,7.4946925828e-07,-9.55401190842e-05,1.91642427821e-05,1793245500108016896
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.375823496,745,713,680,663,633,878,785.375823496,807,653,630,653,0.408522156782,0.00448315036055,0.0499716367819,0.999999998478,2.94428263706e-05,-4.03716015619e-05,2.34057578786e-05,1793245500124683776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.203908495,745,713,680,663,633,878,785.203908495,807,653,630,652.796091505,0.409138988941,0.00447521983491,0.0499958313857,0.999999998702,4.32051043152e-05,3.73475992911e-06,2.67406318779e-05,1793245500141350400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.790618382,745,713,680,663,633,878,785.790618382,807,653,630,652.209381618,0.409756886495,0.00447096510972,0.050013573967,0.999999998812,2.89369747229e-05,2.70739167375e-05,2.83734507477e-05,1793245500158017024
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785.627195418,807.372804582,653,630,652,0.410382524245,0.00446329586511,0.0500102177312,0.999999999498,4.24225889547e-06,1.36353197997e-05,2.82746579986e-05,1793245500174683648
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785.047519458,807.952480542,653,630,652,0.411012457053,0.00445373188443,0.0499951536416,0.999999999081,-2.6238228361e-05,-2.02114622948e-05,2.72149840363e-05,1793245500191350528
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,785,807.470031206,653,630,652,0.411675533311,0.00444652714958,0.049963372374,0.999999995611,-3.74280674177e-05,-8.10427558079e-05,2.84586948046e-05,1793245500208016896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,680.106403773,663,633,878,785,807,653,629.893596227,652,0.412362168983,0.00444012738514,0.0499409657958,0.999999991252,-4.44615107951e-05,-0.000121011285774,2.95937658876e-05,1793245500224683520
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,680.679079106,663,633,878,785,807,653,629.320920894,652,0.413139074932,0.00443633189861,0.049966181511,0.999999996995,-4.08297294297e-05,-5.89980236867e-05,2.93514443193e-05,1793245500241350144
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.739825568,745,713.260174432,680.739825568,663,633,878,785,807,652.739825568,629.260174432,652,0.413904133199,0.0044340676629,0.0499829520224,0.999999998677,-3.39144945348e-05,-2.40567543189e-05,3.02759368986e-05,1793245500258017024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.147996881,745,713.852003119,680.147996881,663,633,878,785,807,652.147996881,629.852003119,652,0.41465408888,0.0044337553704,0.0499889571141,0.999999998926,-2.28137160361e-05,-2.3625176776e-05,3.26878119846e-05,1793245500274683648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.433747114,745,713.566252886,680,663,633.433747114,878,785.433747114,807.433747114,652.433747114,630,652,0.415412743162,0.00444447382059,0.0499656499234,0.999999997325,-1.91078705844e-05,-6.31623396123e-05,3.15471250469e-05,1793245500291350272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012081421,745.012081421,713,680,663,633.987918579,878.012081421,785.987918579,808,653,630,652,0.416176292853,0.00445856907368,0.0499335033792,0.999999992869,-1.78802675499e-05,-0.000114389839728,2.92928542594e-05,1793245500308016896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.588226711,745.588226711,713,680,663,633.411773289,878.588226711,785.411773289,808,653,630,652,0.417032980745,0.00445859117278,0.0499450060412,0.999999995415,-1.72307880423e-05,-8.91722976555e-05,3.0354740112e-05,1793245500324683776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.835701799,745.835701799,713.164298201,680,663.164298201,633,879,785,808,653,630,652,0.417891049911,0.00445665424405,0.0499599585135,0.999999997591,-1.70223292886e-05,-5.9590767515e-05,3.12668785118e-05,1793245500341350400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.259815224,745.259815224,713.740184776,680,663.740184776,633,879,785,808,653,630,652,0.418752579295,0.00444980969569,0.049983553209,0.999999999152,-1.79186849645e-05,-1.90768808711e-05,3.18038799988e-05,1793245500358017024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.674396891,633,879,785,808,653,630.325603109,652,0.419583329177,0.00444562545203,0.0499824091301,0.999999998878,-2.13201786392e-05,-2.69364208551e-05,3.26130119655e-05,1793245500374683648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.081143344,633,879,785,808,653,630.918856656,652,0.420388777822,0.00444362801743,0.0499609294217,0.999999996296,-2.67809317073e-05,-7.45596150563e-05,3.36458390466e-05,1793245500391350272
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497611993,745,713.502388007,680,663,633,878.502388007,785,808.497611993,652.502388007,630.502388007,652,0.421309744723,0.00444245525097,0.0499753237992,0.999999998484,-3.1405872175e-05,-3.12021045544e-05,3.27467886233e-05,1793245500408016896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,713.073609854,680,663.073609854,633.073609854,878.073609854,785.073609854,808.926390146,652.073609854,630,652,0.422245285498,0.00444188288916,0.0499935773358,0.999999998692,-3.47344008344e-05,1.99094465833e-05,3.18384345938e-05,1793245500424683264
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,713.64648575,680,663.64648575,633.64648575,878.64648575,785.64648575,808.35351425,652.64648575,630,652,0.423155527572,0.0044444965639,0.0499994522597,0.999999998669,-3.01681321533e-05,2.58369300696e-05,3.29431597262e-05,1793245500441349888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779256748,745,713.779256748,680,663.779256748,633.779256748,879,785.779256748,808.220743252,653,630,652,0.424058743118,0.00444618588649,0.0499978945948,0.999999998758,-2.90870807351e-05,2.23766462459e-05,3.37185704716e-05,1793245500458016768
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.202772617,745,713.202772617,680,663.202772617,633.202772617,879,785.202772617,808.797227383,653,630,652,0.424950635137,0.00444638556103,0.0499843588718,0.999999998851,-3.36226634898e-05,3.78741801344e-06,3.3963271664e-05,1793245500474683648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.385051802,633,879,785,809.385051802,652.614948198,630,652,0.425856318287,0.00444249681609,0.0499937044059,0.999999998558,-3.85146754288e-05,1.12867554451e-05,3.56725083491e-05,1793245500491350272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.979029326,633,879,785,809.979029326,652.020970674,630,652,0.426769484331,0.00443638973068,0.0500154651096,0.999999997778,-4.36000824261e-05,3.29415203244e-05,3.81763890904e-05,1793245500508016896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.55388798,785,809.44611202,652,630,652.55388798,0.427625013798,0.00443737535689,0.0499934307916,0.999999998475,-2.92894005933e-05,-2.51248678176e-05,3.95198659861e-05,1793245500524683520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,680.128313311,663.871686689,633,880,785,809,652,630,653,0.428494604705,0.00443839739038,0.0499710464976,0.999999996226,-1.92985484335e-05,-7.45356872314e-05,4.02383455178e-05,1793245500541350144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680.703666677,663.296333323,633,880,785,809,652,630,653,0.42942053419,0.00443864190933,0.0499530269831,0.999999995386,-2.68309643709e-05,-8.36258918342e-05,3.89273090967e-05,1793245500558016768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.286090034,680.713909966,663.286090034,633,880,785.286090034,809,652,630.286090034,653,0.430332489745,0.00443881956365,0.0499492967662,0.999999995757,-3.09734464365e-05,-7.7779164373e-05,3.84277866831e-05,1793245500574683648
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.876022039,680.123977961,663.876022039,633,880,785.876022039,809,652,630.876022039,653,0.431229604228,0.00443892620436,0.0499607425014,0.999999997179,-3.15156481298e-05,-5.60686648991e-05,3.87901329432e-05,1793245500591350272
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.542549322,680,664,633,879.542549322,785.542549322,809.457450678,652.457450678,630.542549322,652.542549322,0.432095014717,0.00443720887108,0.0499484810562,0.999999995574,-3.4202385645e-05,-7.82523487736e-05,3.94820612768e-05,1793245500608017152
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.036352651,785,810,652.963647349,630.036352651,652,0.432954854771,0.0044349549865,0.0499325250237,0.999999992741,-3.73839878436e-05,-0.000107240814537,4.02365903912e-05,1793245500624683776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.611340131,785,810,652.388659869,630.611340131,652,0.433857146634,0.00443194187844,0.0499552895414,0.999999996349,-3.94433644234e-05,-6.40071935092e-05,4.06193292132e-05,1793245500641350400
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.809541803,745,713,680.190458197,664,633,879.809541803,785,810,652.190458197,630.809541803,652,0.434741474167,0.00443036412311,0.0499744585742,0.999999997775,-4.10201784975e-05,-3.24477053632e-05,4.14164967335e-05,1793245500658017024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.221807654,745,713,680.778192346,664,633,879.221807654,785,810,652.778192346,630.221807654,652,0.435588330149,0.00443178036343,0.0499861278045,0.999999997889,-4.1590417985e-05,-2.52392339723e-05,4.30781195306e-05,1793245500674683904
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.360968919,745,713,680.639031081,664,633,879.360968919,785,810,652.639031081,630,652.360968919,0.436397976545,0.00443345736815,0.0499731435719,0.999999996279,-4.14997303772e-05,-6.10575878365e-05,4.46193271568e-05,1793245500691350272
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.940740406,745,713,680.059259594,664,633,879.940740406,785,810,652.059259594,630,652.940740406,0.43718506817,0.00443529243603,0.0499452155562,0.999999990538,-4.10084193461e-05,-0.000122956801938,4.60875444708e-05,1793245500708016896
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713,680.519555284,663.480444716,633,880,785,810,652,630.519555284,652.480444716,0.438032497498,0.00443502307869,0.0499656526297,0.999999996316,-3.0270233174e-05,-6.70083005746e-05,4.42938607509e-05,1793245500724683776
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,681,663.09713793,633,880,785,810,652.09713793,631,652.09713793,0.438870332137,0.00443473367854,0.0499866035952,0.999999998844,-1.9135898283e-05,-1.1565084965e-05,4.25740693093e-05,1793245500741350400
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713,681,663.669228109,633,880,785,810,652.669228109,631,652.669228109,0.439627666369,0.00443551772675,0.049983144361,0.999999998712,-1.17686237988e-05,-2.41934219682e-05,4.30313383841e-05,1793245500758017280
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713,681,663.75082422,633,880,785,810,652.75082422,630.75082422,653,0.440369373425,0.00443463720322,0.0499722721629,0.999999997989,-1.25391723847e-05,-4.43384460773e-05,4.35751076956e-05,1793245500774683648
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713,681,663.160106433,633,880,785,810,652.160106433,630.160106433,653,0.44108966045,0.00443147507276,0.0499512391115,0.999999995926,-2.44641299857e-05,-7.47864945397e-05,4.42374416977e-05,1793245500791350272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713,681,663,632.576994832,880,785,810.423005168,652,630,652.576994832,0.441804338145,0.00443362208356,0.0499517181256,0.999999996099,-2.88652601081e-05,-7.11196906702e-05,4.37011321767e-05,1793245500808017152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713,681.003256929,663,632.003256929,880,785,810.996743071,652.003256929,630.003256929,652.003256929,0.442516479308,0.00443777438848,0.0499601113505,0.999999997117,-3.03713601408e-05,-5.49276827104e-05,4.27295625799e-05,1793245500824683776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713,681.577926603,663,632.577926603,880,785,810.422073397,652.577926603,630.577926603,652.577926603,0.443149499021,0.00444741668951,0.0499537264244,0.99999999672,-1.47572458213e-05,-6.66500449206e-05,4.35843692401e-05,1793245500841350400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,681.844205246,662.844205246,633,879.844205246,785,810.155794754,653,631,653,0.443757600374,0.00445746902081,0.0499332822191,0.9999999938,2.1927627291e-06,-0.000102353891577,4.38003311488e-05,1793245500858017280
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,681.25749014,662.25749014,633,879.25749014,785,810.74250986,653,631,653,0.444296778956,0.00446865547715,0.049873950762,0.999999977959,2.28377902305e-05,-0.000204389304853,4.22492809469e-05,1793245500874683904
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.324809882,681,661.675190118,632.350380236,879.324809882,785,811,653,631,653,0.444845382982,0.00448030203896,0.0498331183478,0.999999963686,3.76888973537e-05,-0.000263821408669,4.00844360302e-05,1793245500891350528
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.903656787,681,661.096343213,631.192686427,879.903656787,785,811,653,631,653,0.445401358708,0.00449230845314,0.0498067542218,0.999999956116,4.80085209184e-05,-0.000289933037641,3.74395365156e-05,1793245500908017152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.51748032,681,661,631,880.48251968,785,811,653,630.51748032,653,0.4459608872,0.0045056076332,0.0498110148739,0.999999960231,5.96007859308e-05,-0.000273593794809,3.36410173094e-05,1793245500924683776
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,680.939119041,660.939119041,631,880.939119041,785,811.060880959,652.939119041,630.060880959,653,0.446511329382,0.00451964816039,0.0498192625842,0.999999964918,7.21609968235e-05,-0.000253131878752,2.96949048268e-05,1793245500941350400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,680.36501325,660.36501325,631,880.36501325,785,811.63498675,652.36501325,630.63498675,653,0.446979194075,0.00453776218589,0.0498095721638,0.999999959253,9.07388019075e-05,-0.000269371046782,2.6446406592e-05,1793245500958017024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630.785972193,880,785,811.785972193,652,631,653,0.447425221639,0.00455342633977,0.0497899677684,0.999999949032,0.000108991399663,-0.000299153895712,2.37333188277e-05,1793245500974683904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630.198315694,880,785,811.198315694,652,631,653,0.447833128043,0.00456481374688,0.0497530565317,0.999999929579,0.00012667628037,-0.000352579968413,2.19548983059e-05,1793245500991350528
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630,880,784.61476298,811,652,631,653,0.448230938391,0.00456968192053,0.0497321877271,0.999999917289,0.000134448095159,-0.000383256411685,2.14756823649e-05,1793245501008016896
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,680,660,630,880,784.033300528,811,652,631,653,0.448623606221,0.00457122943979,0.0497194903384,0.999999909417,0.000137170563999,-0.000402345043667,2.16582328459e-05,1793245501024683520
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.542488885,680.542488885,660,630,880.542488885,784.542488885,811,652.542488885,631,653,0.449010421525,0.00457438271204,0.0497367582975,0.999999918808,0.000143326803368,-0.000375974926729,2.19991306432e-05,1793245501041350400
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.116625551,714,681,660,629.883374449,880.883374449,785,811,652.883374449,631,652.883374449,0.449384479694,0.00457740287115,0.0497542882403,0.99999992756,0.000148165504756,-0.000349899205504,2.23058243001e-05,1793245501058017024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.685687694,714,681,660,629.314312306,880.314312306,785,811,652.314312306,631,652.314312306,0.449710427277,0.00457952820319,0.0497657725616,0.999999932591,0.000147083717627,-0.000335678866115,2.24425088653e-05,1793245501074683648
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.733276474,713.733276474,681,659.733276474,629,880,784.733276474,811,652.266723526,631,652,0.450022919865,0.00458108898369,0.0497726604376,0.999999935388,0.000148032361295,-0.000326796687866,2.26710563527e-05,1793245501091350272
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.137467447,713.137467447,681,659.137467447,629,880,784.137467447,811,652.862532553,631,652,0.450318811561,0.00458195321609,0.0497738771842,0.999999935611,0.000151486165904,-0.000324500774064,2.30129450032e-05,1793245501108017152
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.446460861,713,681,659,628.553539139,880.446460861,784.446460861,811,653,631,652.446460861,0.450560074482,0.00458254862474,0.0497693834728,0.999999931785,0.000152714928467,-0.000335487607856,2.35894647148e-05,1793245501124683776
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.97345999,713,680.97345999,659,627.97345999,881,784.97345999,811,653,630.97345999,653,0.450784264112,0.00458332646756,0.0497632347748,0.999999926573,0.000153606445647,-0.000350251185566,2.41659821346e-05,1793245501141350144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.399279061,713,680.399279061,659,627.399279061,881,784.399279061,811,653,630.399279061,653,0.450994240018,0.00458953244847,0.0497582769843,0.999999921651,0.000161309367564,-0.000360742072001,2.32903712923e-05,1793245501158016768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713,680.178900217,659,627.178900217,880.821099783,784.178900217,811,653,630,652.821099783,0.451190487481,0.00459394183857,0.0497536018789,0.999999917309,0.000166738751699,-0.00037022318135,2.26958843926e-05,1793245501174683648
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713,680.766207142,659,627.766207142,880.233792858,784.766207142,811,653,630,652.233792858,0.451355394601,0.00459424983681,0.049749572109,0.999999914586,0.000166977933837,-0.000377399095205,2.27431682453e-05,1793245501191350272
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627.651243272,880.348756728,784.651243272,811,652.651243272,630.348756728,652.348756728,0.451504865577,0.00459524776131,0.0497461028335,0.999999910698,0.00016810944518,-0.000387065347483,2.28801274083e-05,1793245501208016896
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627.071839847,880.928160153,784.071839847,811,652.071839847,630.928160153,652.928160153,0.451644128033,0.00459670196152,0.049743004235,0.99999990596,0.000169831089332,-0.000398378560311,2.3076392424e-05,1793245501224683520
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.507404153,681,659.507404153,627,880.492595847,784.507404153,811,652.507404153,630.492595847,652.492595847,0.451759324204,0.00459875876819,0.0497397606035,0.999999902144,0.000174160894853,-0.000406002740001,2.32841491796e-05,1793245501241350144
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.085482168,714,681,659.829035663,627,880.085482168,784.914517832,811,653,630,652.085482168,0.451868125431,0.00460085211687,0.0497370569717,0.999999898911,0.000178336292555,-0.000412098593826,2.34371075271e-05,1793245501258017024
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.657058368,714,681,658.685883264,627,880.657058368,784.342941632,811,653,630,652.657058368,0.45195993184,0.00460266824928,0.049737540776,0.999999898546,0.000179534451038,-0.000412472782129,2.32692057947e-05,1793245501274683648
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.764127023,713.764127023,681,658.235872977,627,880.764127023,784,811,653,630,653,0.452044462475,0.00460418914722,0.0497386631295,0.999999898972,0.000181016591187,-0.00041080300162,2.30253262173e-05,1793245501291351040
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.174455159,713.174455159,681,658.825544841,627,880.174455159,784,811,653,630,653,0.452118079769,0.00460526720656,0.049740743278,0.999999900567,0.000182924691021,-0.000406067359532,2.26674832897e-05,1793245501308019456
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,681,658.591569258,626.591569258,880.816861484,784.408430742,811,653,630,653,0.45217568999,0.00460749641682,0.0497403377492,0.999999899773,0.000186170664483,-0.000406565789369,2.23416880252e-05,1793245501324685312
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713,681,658.011534524,626.011534524,881.976930952,784.988465476,811,653,630,653,0.452226574768,0.00461020928823,0.0497388878521,0.999999897963,0.000189978751449,-0.000409263337907,2.20293577374e-05,1793245501341350400
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880.870648052,784.435324026,811,653,630,653,0.452259993037,0.00460937213619,0.0497351843329,0.999999896171,0.000187751729849,-0.000414652518106,2.16973082232e-05,1793245501358017280
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.140029623,713,681,658.140029623,626,880,784.140029623,811,653,630.140029623,653,0.452290373147,0.00460886643768,0.0497316007487,0.999999894467,0.000186304534379,-0.000419404211142,2.13729782295e-05,1793245501374683904
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.712974014,713,681,658.712974014,626,880,784.712974014,811,653,630.712974014,653,0.452312456108,0.00460960813998,0.0497285293175,0.999999893123,0.00018764680695,-0.000422016214764,2.1073750844e-05,1793245501391350784
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.703848024,713.296151976,681,658.703848024,626,880.296151976,785,811,653,630.703848024,652.703848024,0.452331237754,0.004609843227,0.0497279638923,0.999999892542,0.000188606722958,-0.00042296547815,2.10765561196e-05,1793245501408017664
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.110396778,713.889603222,681,658.110396778,626,880.889603222,785,811,653,630.110396778,652.110396778,0.452346705299,0.00460956973621,0.049729914181,0.999999892731,0.000189182801312,-0.000422245560146,2.13825640976e-05,1793245501424684544
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,626,881,784.529596963,811,653,630,652.470403037,0.452354988919,0.00461119062932,0.0497282321943,0.999999891454,0.000191067685822,-0.00042442043373,2.1277369748e-05,1793245501441351168
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.048119579,713.951880421,681,658,626,880.951880421,784,811,653,630,653,0.452361423917,0.00461306967677,0.0497259135908,0.999999889979,0.000192978194327,-0.000427032901798,2.10675864126e-05,1793245501458017792
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.623732612,713.376267388,681,658,626,880.376267388,784,811,653,630,653,0.452365591766,0.0046130326949,0.0497257161572,0.999999890128,0.000191890677784,-0.000427190091569,2.07414593218e-05,1793245501474684416
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.796893445,713,681,658,626,880,784.203106555,811,653,630,653,0.452368332714,0.00461307001819,0.049724924724,0.999999889783,0.000191331252144,-0.000428263736216,2.04036032972e-05,1793245501491350784
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.210420773,713,681,658,626,880,784.789579227,811,653,630,653,0.452368380367,0.00461324759335,0.0497230121094,0.999999888502,0.000191768604629,-0.000431067200684,2.00436087857e-05,1793245501508017152
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880,785,810.628009355,652.628009355,630,653,0.452368712326,0.00461407824715,0.0497222174699,0.999999887867,0.000192194736801,-0.000432358820158,1.98313726455e-05,1793245501524684288
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,681,658,626,880,785,810.04787044,652.04787044,630,653,0.452369203368,0.00461527433268,0.049722048396,0.999999887596,0.000192614590605,-0.000432804483001,1.97018150727e-05,1793245501541351168
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713.530246549,680.469753451,658,626,880.530246549,784.469753451,810.530246549,652.530246549,630.530246549,652.469753451,0.452369501238,0.00461446883717,0.0497215030404,0.999999887375,0.00019159585951,-0.000433764966246,1.97011141436e-05,1793245501558018304
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.106262109,658,626,881,784,811,653,630.893737891,652.106262109,0.45236983225,0.00461362459082,0.0497209603435,0.999999887236,0.000190317283271,-0.00043465253313,1.96299368791e-05,1793245501574685184
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.673942168,658,626,881,784,811,653,630.326057832,652.673942168,0.452370382614,0.00461339375287,0.0497205761405,0.999999887432,0.000188472199995,-0.000435022425722,1.92024106876e-05,1793245501591351808
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.253700352,745,714,681,658,626,880.746299648,784.253700352,811,653,630,653,0.452370943084,0.00461414878104,0.049720445648,0.999999887199,0.000189794216589,-0.000434995463386,1.89666433961e-05,1793245501608018176
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.849757485,745,714,681,658,626,880.150242515,784.849757485,811,653,630,653,0.45237151719,0.0046162341895,0.0497206575258,0.999999886365,0.000195390086319,-0.0004344329639,1.8989645726e-05,1793245501624684288
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.566911963,745.433088037,713.566911963,681.433088037,658,626,880,785,811,653,630,652.566911963,0.452370948427,0.00461543774272,0.0497198692341,0.9999998862,0.000193014598014,-0.0004358742176,1.89691860153e-05,1793245501641350912
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.987953334,713.012046666,681.987953334,658,626,880,784.987953334,811,653,630,652,0.452370067841,0.00461374221583,0.0497188128892,0.999999886247,0.000188168226503,-0.000437881951639,1.89381739055e-05,1793245501658017280
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.412871417,713.587128583,681.412871417,658,626,880,784.412871417,811,653,630,652,0.452372614696,0.00461541762431,0.049720981948,0.999999886589,0.000193394683674,-0.000434804711553,1.90985344987e-05,1793245501674684416
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.165817167,714,681,658,626,880.165817167,784.165817167,811,653,630,652.165817167,0.452374156859,0.00461637740397,0.0497221153638,0.999999886567,0.000197006133213,-0.000433225242072,1.92544590618e-05,1793245501691351552
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.753685698,714,681,658,626,880.753685698,784.753685698,811,653,630,652.753685698,0.452373141802,0.00461551570671,0.0497206127766,0.999999885692,0.000196506933454,-0.000435458020573,1.93990926717e-05,1793245501708018432
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.663402952,714,681,658,626,880.663402952,784.663402952,811,653,630,653,0.452372511137,0.00461594083602,0.0497195473027,0.999999885276,0.000195901975133,-0.000436703679846,1.89575222208e-05,1793245501724685312
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.084066533,714,681,658,626,880.084066533,784.084066533,811,653,630,653,0.452372157678,0.00461729396956,0.0497187970562,0.999999885192,0.00019522074829,-0.000437237470926,1.80932065087e-05,1793245501741352448
+244,4.066666667,HOLD_POSE2,765,745,714,681,658,625,880,784,811,653,630,653,0.452371921385,0.00461591292394,0.0497184983018,0.999999885102,0.000194520003808,-0.000437760700877,1.7981882993e-05,1793245501772523520
+245,4.083333333,HOLD_POSE2,765,745,714,681,658,625.573525911,880,784.573525911,811,653,630,653,0.45237223309,0.00461541464278,0.0497185294988,0.999999885057,0.000194348529964,-0.000437923975432,1.83872804448e-05,1793245501789189632
+246,4.100000000,HOLD_POSE2,765,745,714,681,658,625.84909793,880,785,811,653,630,653,0.452372554518,0.00461521853883,0.0497185968403,0.999999885086,0.000194299952066,-0.000437866666467,1.86662031371e-05,1793245501805855744
+247,4.116666667,HOLD_POSE2,765,745,714,681,658,625.260555294,880,785,811,653,630,653,0.452372904143,0.00461589879787,0.0497187690063,0.999999885333,0.000194607792379,-0.00043716962943,1.85783285343e-05,1793245501822522368
+248,4.133333333,HOLD_POSE2,765,745,714,681,658,625,880,785,811,653,630.322957487,653,0.452372942434,0.00461644368444,0.04971870345,0.999999885094,0.000195153387537,-0.000437481138623,1.83535094291e-05,1793245501839189248
+249,4.150000000,HOLD_POSE2,765,745,714,681,658,625,880,785,811,653,630.902474483,653,0.452372733399,0.00461688103022,0.0497184490457,0.999999884469,0.00019588785666,-0.000438593843485,1.80199007336e-05,1793245501855856128
+250,4.166666667,HOLD_POSE2,765,745,713.521608402,681.478391598,658,625.478391598,880,784.521608402,811,653,630.521608402,653,0.452372796642,0.00461708095211,0.0497176646495,0.999999883989,0.000196550314493,-0.00043938834781,1.81074824944e-05,1793245501872522240
+251,4.183333333,HOLD_POSE2,765,745,713.054465523,681.945534477,658,626,880,784,811,653,629.945534477,652.945534477,0.452372999406,0.00461718530515,0.049717035699,0.999999883647,0.000197157645139,-0.000439885526908,1.82921789889e-05,1793245501889189120
+252,4.200000000,HOLD_POSE2,765,745,713.639157013,681.360842987,658,626,880,784,811,653,629.360842987,652.360842987,0.452374024092,0.0046168269617,0.0497189639915,0.999999884377,0.000197370155058,-0.000438115008347,1.85926412638e-05,1793245501905855488
+253,4.216666667,HOLD_POSE2,765,745,714,681,658,625.777235173,880,784,811,653,629.222764827,652,0.452374684191,0.00461610324176,0.0497198516745,0.99999988499,0.000196763824945,-0.000436976137647,1.88658348098e-05,1793245501922535936
+254,4.233333333,HOLD_POSE2,765,745,714,681,658,625.195374297,880,784,811,653,629.804625703,652,0.452374756579,0.00461479053635,0.0497190618985,0.999999885415,0.000194837527815,-0.000436855481056,1.90950712402e-05,1793245501939238912
+255,4.250000000,HOLD_POSE2,765,745,713.615772337,681,658.384227663,625,880,784,811,653,630,652,0.452374890044,0.00461444244252,0.0497190728108,0.999999885515,0.000194378694441,-0.000436829971725,1.91177685169e-05,1793245501955894016
+256,4.266666667,HOLD_POSE2,765,745,713.037312237,681,658.962687763,625,880,784,811,653,630,652,0.452375054385,0.00461458197315,0.049719488482,0.999999885452,0.000194661684264,-0.000436852560651,1.90360573951e-05,1793245501972524800
+257,4.283333333,HOLD_POSE2,765,745,713,681,658.46276255,625,880.53723745,784,811,652.46276255,630.53723745,652.53723745,0.452376342063,0.00461507211925,0.0497191517824,0.999999886249,0.000193155498062,-0.000435713597803,1.85927125099e-05,1793245501989189376
+258,4.300000000,HOLD_POSE2,764.888555842,745,713.111444158,681,658,625.111444158,880.888555842,784,811,652.111444158,630.888555842,653,0.452377120881,0.00461557949412,0.0497187582817,0.999999886743,0.000191966530434,-0.000435123545452,1.81847577594e-05,1793245502005856000
+259,4.316666667,HOLD_POSE2,764.314653359,745,713.685346641,681,658,625.685346641,880.314653359,784,811,652.685346641,630.314653359,653,0.452375466677,0.00461605804452,0.0497183443436,0.999999885742,0.000192605841862,-0.000437143644286,1.80271320611e-05,1793245502022522368
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,625,880,785,811,653,630,652,0.452373902657,0.00461567474653,0.0497181946874,0.999999884801,0.000193146549923,-0.000439040759583,1.8336744907e-05,1793245502059709696
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745.576149154,713.576149154,680.576149154,657,625.576149154,880,784.423850846,811,653,630,652,0.452373890083,0.00461730145434,0.049717011542,0.999999884157,0.000195746051756,-0.000439359804364,1.82240094181e-05,1793245502076376576
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.848119136,713.848119136,681,657.151880864,625.848119136,880,784,811,653,630,652.151880864,0.452373995507,0.0046181876512,0.0497163759061,0.999999883809,0.000197362369773,-0.000439431832909,1.8173470428e-05,1793245502093043712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.273549053,713.273549053,681,657.726450947,625.273549053,880,784,811,653,630,652.726450947,0.452374429323,0.00461701298316,0.0497172640065,0.999999884297,0.000196242456931,-0.000438816407583,1.82960262227e-05,1793245502109710336
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625,880,784,811,652.698379321,630,653,0.452374028898,0.00461673707711,0.0497174054776,0.999999884113,0.000196289199023,-0.00043920962239,1.84074980074e-05,1793245502126376704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625,880,784,811,652.122664698,630,653,0.452372870366,0.0046172779096,0.0497168684587,0.999999883317,0.000197396123965,-0.000440519426082,1.85088973321e-05,1793245502143043328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.531803266,657.531803266,625,880,784,810.531803266,652.468196734,630,652.531803266,0.452374005112,0.00461627760691,0.0497179863593,0.99999988439,0.000194757182683,-0.000439257389239,1.84901940998e-05,1793245502159709952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.061070228,713.061070228,680.061070228,657.061070228,625.061070228,880,784,810,653,630,652.061070228,0.4523752366,0.00461499214719,0.0497190972171,0.999999885643,0.000191581530165,-0.000437800164325,1.84572556414e-05,1793245502176376320
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.636354423,713.636354423,680.636354423,657.636354423,625.636354423,880,784,810,653,630,652.636354423,0.452372054556,0.00461481906098,0.0497163759658,0.999999884266,0.000192426396551,-0.000440562609334,1.85782601643e-05,1793245502193042944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.788527875,714,681,658,625.788527875,880,784,810.211472125,653,630.211472125,653,0.452366130535,0.00461490357209,0.0497128117098,0.999999882028,0.000193198528641,-0.000445287554912,1.83543615088e-05,1793245502209709568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.213696309,714,681,658,625.213696309,880,784,810.786303691,653,630.786303691,653,0.452355495142,0.00461543069671,0.0497077989712,0.999999878279,0.000193845685805,-0.000453384543239,1.75378370922e-05,1793245502226376192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.371509346,880,784.371509346,811,653,630.628490654,652.628490654,0.452327532603,0.00461611433485,0.0496955540774,0.999999868502,0.000193779017578,-0.000474499392238,1.71952134921e-05,1793245502243042560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.962853767,880,784.962853767,811,653,630.037146233,652.037146233,0.452289316982,0.00461689058755,0.0496790296639,0.999999854509,0.000193289953833,-0.000503317365225,1.71330134931e-05,1793245502259709440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.458560384,745,714,680.458560384,658,626,880,785,811,653,630.541439616,652.541439616,0.452224087313,0.0046183570487,0.0496554926614,0.99999983336,0.000195949360152,-0.000542778147305,1.66296045009e-05,1793245502276376576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.118389262,745,714,680.118389262,658,625.881610738,880.118389262,784.881610738,811,653,630.881610738,653,0.452155929042,0.00461968357691,0.0496335147048,0.999999812867,0.000198783756544,-0.000578353551255,1.6047138763e-05,1793245502293043712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.692333703,745,714,680.692333703,658,625.307666297,880.692333703,784.307666297,811,653,630.307666297,653,0.452083469012,0.00462029363569,0.0496193445208,0.999999801839,0.000201479465731,-0.00059623330338,1.52742619501e-05,1793245502309710080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.726340302,681,658.273659698,625,880.726340302,784,811,653,630,653,0.452005504663,0.00462095869343,0.0496107224166,0.999999795199,0.000202484085188,-0.000606950599574,1.45977875381e-05,1793245502326376448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.136485456,681,658.863514544,625,880.136485456,784,811,653,630,653,0.451921180453,0.0046216872987,0.0496085107418,0.999999793914,0.000201534765506,-0.000609392164743,1.40326995871e-05,1793245502343042816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.43578548,681,658.56421452,625.43578548,880,784,811,653,630,653,0.451825754549,0.00462250947463,0.0496125421039,0.999999796119,0.000203048710638,-0.000605255608234,1.4078948137e-05,1793245502359709440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.00286953,713.99713047,681,658,626,880,784,810.99713047,653,630.00286953,653,0.451726814753,0.00462336823972,0.0496184299166,0.999999799325,0.000205313213232,-0.00059916009399,1.43032801793e-05,1793245502376376320
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.591744658,713.408255342,681,658,626,880,784,810.408255342,653,630.591744658,653,0.451592798196,0.00462594650883,0.0496196214877,0.999999799524,0.000209415508457,-0.00059742775363,1.33109976944e-05,1793245502393042944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,713.17613599,681,658,626,880,784.17613599,810,653,630.82386401,653,0.451452028307,0.00462799138341,0.0496204666163,0.999999800024,0.000213490176991,-0.000595164276201,1.23898580519e-05,1793245502409709824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.750392507,681,658,626,880,784.750392507,810,653,630.249607493,653,0.451295993867,0.00462883062495,0.0496205286798,0.999999801224,0.00021750240031,-0.000591700268855,1.16295228522e-05,1793245502426376960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.333479623,746,713.666520377,681.333479623,658,626,880.333479623,785,810,653,630,652.666520377,0.451118561846,0.00463018062931,0.0496200888948,0.999999801712,0.000220739479069,-0.000589690461747,1.0746902951e-05,1793245502443044096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.923356236,746,713.076643764,681.923356236,658,626,880.923356236,785,810,653,630,652.076643764,0.450924678202,0.00463192333556,0.0496192632618,0.999999801661,0.000223380585609,-0.000588798721289,9.77026394303e-06,1793245502459710720
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.49481306,745.49481306,713.50518694,681.49481306,658,626,880.49481306,784.49481306,810,652.49481306,630,652,0.450707721932,0.00463259854991,0.0496236622868,0.999999806337,0.000227107117955,-0.000579366983883,9.11946093949e-06,1793245502476376832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.084803359,714,681,658.084803359,626.084803359,880,784.084803359,810,652.084803359,630,652.084803359,0.450481457996,0.0046334858511,0.0496286773185,0.99999981134,0.000231193343966,-0.000569032766644,8.41654819473e-06,1793245502493043200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.65858054,714,681,658.65858054,626.65858054,880,784.65858054,810,652.65858054,630,652.65858054,0.450221393221,0.00463651521713,0.0496327454702,0.999999814752,0.000236418935402,-0.000560848347141,7.13260655386e-06,1793245502509709824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.767504194,714,681,658.767504194,627,880.232495806,784.767504194,810.232495806,652.767504194,630,653,0.44994473562,0.00463959010981,0.0496352952065,0.999999816916,0.000242566923938,-0.000554342159076,5.8865432537e-06,1793245502526376704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.193386062,714,681,658.193386062,627,880.806613938,784.193386062,810.806613938,652.193386062,630,653,0.449643697035,0.00464273189778,0.0496356138285,0.999999817305,0.00025007025465,-0.000550301914191,4.69613732233e-06,1793245502543043072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.606465639,681,658,627.393534361,880.606465639,784.393534361,810.606465639,652.393534361,630.393534361,652.606465639,0.449300771431,0.00464444960741,0.0496341366735,0.999999813586,0.000255856361438,-0.000554391677178,3.96243882965e-06,1793245502559710208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.013042538,681,658,627.986957462,880.013042538,784.986957462,810.013042538,652.986957462,630.986957462,652.013042538,0.448936570074,0.00464544398182,0.0496317473856,0.999999807728,0.000260770234804,-0.000562610932353,3.46071674824e-06,1793245502576377088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.566176602,681,658,627.433823398,880,784.433823398,810,653,631,652,0.448545259126,0.00465015784986,0.0496284820792,0.999999804218,0.000269039784449,-0.000564960613491,1.30023908625e-06,1793245502593043712
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.14381355,714,681,658.14381355,627.14381355,880,784.14381355,810,653,631,652,0.448141075086,0.00465482591478,0.049623855434,0.999999799726,0.000277054566138,-0.000569024122695,-8.87138629481e-07,1793245502609710336
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.717673647,714,681,658.717673647,627.717673647,880,784.717673647,810,653,631,652,0.447700218377,0.00465910706598,0.0496152168377,0.999999792251,0.000284082012958,-0.000578606933633,-3.04348808795e-06,1793245502626376704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.707926435,714,681,659,628.292073565,880,784.707926435,810,652.707926435,630.707926435,652,0.447246555561,0.00466126223256,0.0496102563882,0.999999787815,0.00028884775933,-0.00058387745834,-4.92807235016e-06,1793245502643043328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.133003675,714,681,659,628.866996325,880,784.133003675,810,652.133003675,630.133003675,652,0.446780491034,0.00466135855862,0.04960885792,0.999999786419,0.000291423235939,-0.000584971890158,-6.54947465607e-06,1793245502659710208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.543912198,681,659.456087802,629,880,784.456087802,810,652.456087802,630,652.456087802,0.446279433552,0.00466223507294,0.0496174542442,0.999999793082,0.000294924179474,-0.000571655133444,-8.15401428067e-06,1793245502676377088
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,629.047955407,880,785,810,653,630,652.952044593,0.445766997013,0.00466324345355,0.0496310576521,0.999999803272,0.000298535760258,-0.000551578250392,-9.70660103058e-06,1793245502693043712
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,629.623452167,880,785,810,653,630,652.376547833,0.445245239406,0.00466311936378,0.049666651036,0.999999827416,0.000300300343253,-0.000504848789873,-1.07435026439e-05,1793245502709710848
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,660,630.775813375,880,785,810,652.224186625,630.775813375,652.775813375,0.444117778002,0.00466341269852,0.0497212886298,0.999999860574,0.000308776557269,-0.000428175920414,-1.32027948006e-05,1793245502743044608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.642447792,660.357552208,631,880,785,810,652.357552208,631,652.642447792,0.443495169682,0.00466301384605,0.0497219854097,0.999999858241,0.000310400408098,-0.000432348995712,-1.56069222337e-05,1793245502759710976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.057383822,660.942616178,631,880,785,810,652.942616178,631,652.057383822,0.442848083014,0.00466218411022,0.0497083025029,0.999999845652,0.000309595536722,-0.000460974384206,-1.86987448853e-05,1793245502776376832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.47347137,745,713,680.52652863,661.52652863,631.52652863,880,785.52652863,810,652.47347137,631,652,0.442191567271,0.00464295696968,0.0497294894675,0.999999870828,0.000290556110267,-0.000416447822482,-2.21856947858e-05,1793245502793043200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.108369234,745,713,681,662.108369234,632,879.891630766,785.891630766,810,652,630.891630766,652,0.441534438602,0.0046218106103,0.0497590503876,0.999999904272,0.000249290940262,-0.000358734331694,-2.48896164216e-05,1793245502809709824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.681854848,745,713,681,662.681854848,632,879.318145152,785.318145152,810,652,630.318145152,652,0.440879080385,0.00460101383841,0.0498082768416,0.999999953573,0.00012114456414,-0.000278565975879,-2.40483898594e-05,1793245502826376704
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.256096343,713.256096343,680.743903657,662.743903657,632,879.256096343,785,810,652,630,652.256096343,0.44017292179,0.00459592351564,0.0498331431312,0.999999968759,5.99686915903e-05,-0.00024125723297,-2.60717298604e-05,1793245502843043328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.831279716,713.831279716,680.168720284,662.168720284,632,879.831279716,785,810,652,630,652.831279716,0.439403467624,0.00461040287296,0.0498276575198,0.999999963003,8.22356946353e-05,-0.000257350054397,-3.16642193961e-05,1793245502859710464
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.416249561,745.583750439,713.583750439,680.416249561,662,632,880,785.416249561,810,652.416249561,630,652.583750439,0.438594345584,0.00462141905513,0.0497971097191,0.999999945816,0.000102408227656,-0.000310699774274,-3.66942389952e-05,1793245502876377088
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.994790511,745,713,681,662,632,880,785.994790511,809.994790511,652.994790511,630,652,0.43776870462,0.00463092403879,0.0497566667313,0.999999920026,0.000121618922836,-0.00037873047048,-4.14712960111e-05,1793245502893043712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.413808701,745,713,681,662,632,880,785.413808701,809.413808701,652.413808701,630,652,0.436937196315,0.00463228832802,0.0497723662986,0.999999925663,0.000130613371591,-0.000360096891038,-4.40948651256e-05,1793245502909710080
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.112384368,713,680,662.112384368,632,880,785,809,652.887615632,630,652,0.433555905999,0.00463133698442,0.0497747644031,0.999999926086,0.000131149745361,-0.000357359976616,-5.40446101412e-05,1793245502976376320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.479229786,632.479229786,879.520770214,785,809,653,630,652,0.432716569956,0.0046220507747,0.0497966860379,0.999999932229,0.000164234012686,-0.000326908542174,-4.12268551412e-05,1793245502993043200
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.927857263,745.072142737,713.072142737,680,663,633,879.072142737,785,809,652.927857263,630,652,0.431867926713,0.00461405711514,0.0498207349661,0.999999936638,0.000197579786236,-0.000294847597543,-2.74160966215e-05,1793245503009710080
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.352753617,745.647246383,713.647246383,680,663,633,879.647246383,785,809,652.352753617,630,652,0.430935309729,0.00462344122772,0.0498037481194,0.999999935682,0.00016589439623,-0.000316191879318,-3.37247911546e-05,1793245503026376192
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.221856595,745.778143405,713.778143405,680,662.778143405,633,879.778143405,785.221856595,809,652,630,652,0.430009184849,0.00462887022921,0.0497851029071,0.999999929866,0.000147673580718,-0.000341986548622,-3.88146154406e-05,1793245503043042816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.795684071,745.204315929,713.204315929,680,662.204315929,633,879.204315929,785.795684071,809,652,630,652,0.429093359412,0.0046280245305,0.0497638267297,0.999999917494,0.000150814028429,-0.000374841669035,-4.19707283975e-05,1793245503059709184
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.381796599,680.381796599,662.381796599,633,879.381796599,786,809,652,629.618203401,652,0.428195767283,0.00463013264223,0.0497682373897,0.999999915852,0.000157659293806,-0.000376205329205,-4.36897555856e-05,1793245503076375808
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.974701926,680.974701926,662.974701926,633,879.974701926,786,809,652,629.025298074,652,0.427308257043,0.00463387401939,0.0497868512041,0.999999920279,0.000166553082633,-0.000360156254661,-4.46141674687e-05,1793245503093042432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.447613206,681,663,633,879.447613206,785.447613206,808.447613206,652,629.552386794,652,0.42638150891,0.00463950774359,0.0497751063048,0.999999914315,0.000175772578325,-0.00037223288995,-4.37787519082e-05,1793245503109709056
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.870916506,662.870916506,633,879,785.129083494,808,652,630,652,0.425467909325,0.00464220392664,0.0497722158589,0.999999915675,0.000180028356741,-0.000366541097754,-4.34336531159e-05,1793245503126375936
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.29529152,662.29529152,633,879,785.70470848,808,652,630,652,0.424605844596,0.00463444644213,0.0498046365615,0.999999941504,0.000167062815356,-0.000295046127212,-4.50560501218e-05,1793245503143042560
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.28668576,662.28668576,633,879,785.71331424,808.28668576,652,630,652,0.423738914665,0.00462795554108,0.0498268457192,0.999999955048,0.000159103349395,-0.000249898261255,-4.62730261464e-05,1793245503159708928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.875354243,662.875354243,633,879,785.124645757,808.875354243,652,630,652,0.42286685999,0.00462279880626,0.0498382984627,0.99999995963,0.000156417074217,-0.000232503332806,-4.70629488383e-05,1793245503176375552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.543103114,662.543103114,633,878.543103114,785.456896886,809,652.456896886,629.543103114,652,0.421946152039,0.00462602860644,0.0498128724664,0.999999946554,0.000159937399477,-0.000281140099659,-4.76644814235e-05,1793245503193042432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.036311095,745,713,680,662,633.036311095,878,785.963688905,809,653,629.036311095,652,0.421016506222,0.00463143001611,0.0497805801155,0.99999992659,0.000164556891205,-0.000342674712992,-4.81239614538e-05,1793245503209709056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.612538293,745,713,680,662,633.612538293,878,785.387461707,809,653,629.612538293,652,0.420148291581,0.00463562432445,0.0497934902574,0.999999930773,0.000160729947258,-0.000332248640363,-4.72236986603e-05,1793245503226375680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.811465727,745.188534273,713,680,662,633.622931455,878,785,808.811465727,653,630,652,0.419268132888,0.00463888712431,0.049797823552,0.999999929855,0.000159180081946,-0.000335824164534,-4.66217690346e-05,1793245503243042304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.235944246,745.764055754,713,680,662,632.471888493,878,785,808.235944246,653,630,652,0.418363457563,0.00464023790192,0.0497845519319,0.999999917978,0.000162304168732,-0.000368139495004,-4.66322006685e-05,1793245503259708928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.652054764,745.652054764,713,680,662,632.347945236,878.347945236,785,808,653,630,652,0.41752914451,0.00463958494535,0.0497791771547,0.999999915829,0.000163196071419,-0.000373406169834,-4.77153463513e-05,1793245503276375808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.062351083,745.062351083,713,680,662,632.937648917,878.937648917,785,808,653,630,652,0.416743720453,0.00463753975908,0.049779289243,0.999999920807,0.000162537013362,-0.000359878963063,-4.95438325646e-05,1793245503293042432
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.51760872,745,713,680,662.51760872,633,878.48239128,785.51760872,807.48239128,653,630,652,0.415978283228,0.00463450601645,0.0498035056422,0.999999936223,0.000163722952388,-0.000313531621609,-4.94649791164e-05,1793245503309709056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.904189894,633,878,786,807,652.904189894,630,652,0.415208803871,0.00463212407708,0.0498231239123,0.999999946862,0.000164189629477,-0.00027729241736,-4.92707910146e-05,1793245503326375680
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.329022256,633,878,786,807,652.329022256,630,652,0.414407277709,0.00463358802276,0.0498054779076,0.999999937601,0.000159966286574,-0.000311041029428,-4.96278465534e-05,1793245503343042304
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.416153347,745,713,679.583846653,662.416153347,633,878.167693307,785.583846653,808,653,630,652,0.412147480573,0.00463789706553,0.0497786097191,0.999999919001,0.000167741408466,-0.000362298963512,-5.0995024712e-05,1793245503393042432
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.285079234,745,713,679.285079234,663,633,878,786,806.714920766,653,629.714920766,652,0.401045579564,0.00461666892718,0.0498422700681,0.999999951445,0.000141506914428,-0.000273792034097,-4.60850449307e-05,1793245503976376064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.296985729,745,713,679,663,633.296985729,878,786,807,653,629.703014271,652,0.401025419211,0.00461597234704,0.049842316923,0.999999951731,0.000140659173244,-0.000273218489055,-4.58799910298e-05,1793245503993042688
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.7900222,662.2099778,633,878,786,806.2099778,653,629,652,0.400981407234,0.00461554059765,0.0498420417378,0.999999952189,0.000137951319692,-0.000272933182405,-4.58161475784e-05,1793245504093042688
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.919725041,633,878.919725041,786,806.919725041,653,629.919725041,652.919725041,0.400984211258,0.00461428564868,0.049846775113,0.999999954759,0.000135493124534,-0.000264698206608,-4.53781356528e-05,1793245504126375936
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,663,633.512884772,878.487115228,786,807,653,629.487115228,652.487115228,0.400983731727,0.00461428775835,0.0498473213792,0.999999954694,0.00013736604213,-0.00026397983657,-4.53547241293e-05,1793245504143042560
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.892835249,745,713,680,662.892835249,633.892835249,878,786,806.892835249,653,629.107164751,652,0.400982835681,0.00461416437221,0.0498473364097,0.999999954436,0.000138847723248,-0.000264191697997,-4.53030171716e-05,1793245504159709696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.317840113,745,713,680,662.317840113,633.317840113,878,786,806.317840113,653,629.682159887,652,0.400982027049,0.00461284603482,0.0498467829606,0.99999995451,0.000136129735776,-0.00026538855821,-4.49161854931e-05,1793245504176376064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.742481038,662.257518962,633.257518962,878,786,806.257518962,653,629.742481038,652.257518962,0.400982000389,0.00461214764034,0.0498468235991,0.99999995485,0.000134228758041,-0.000265099300953,-4.47720397083e-05,1793245504193042176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.166672062,662.833327938,633.833327938,878,786,806.833327938,653,629.166672062,652.833327938,0.400982940233,0.00461221548688,0.0498475985219,0.999999955524,0.000133337593111,-0.000262973222423,-4.49278504094e-05,1793245504209709056
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663.010299447,633,877.989700553,785.010299447,807,653,629,652,0.40097964139,0.00461481324068,0.0498463893511,0.99999995343,0.00014117284523,-0.000266855835187,-4.47109932929e-05,1793245504243042560
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.158171362,745,713,679.158171362,663.841828638,633,877.158171362,786,807,653,629.158171362,652,0.400984589061,0.00461231228753,0.0498503104466,0.999999956311,0.000134687758356,-0.000259343128725,-4.44781886439e-05,1793245504276375808
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.710966443,745,713,680,663,633,878.289033557,786,807,653,629.710966443,652,0.400982993534,0.00461392747028,0.0498492726019,0.999999955582,0.000137125615338,-0.000260785210104,-4.49836268959e-05,1793245504309709056
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70833441f95e00890bef0d4655b5ff3f72cba957
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.579199600392,0.0098778377282,1.04005091167,0.549771233694,0.0185535241191,1.03971740965
+353,5.883333333,pose2_to_pose3_retreat,0.578865961839,0.00987790807806,1.04005103103,0.549437593907,0.0185535900896,1.03971752417
+354,5.900000000,pose2_to_pose3_retreat,0.578561378319,0.00987786878878,1.04005080637,0.54913301057,0.0185535515489,1.03971730279
+355,5.916666667,pose2_to_pose3_retreat,0.578277778452,0.0098777893145,1.04005108558,0.548849412375,0.0185534778264,1.03971758416
+356,5.933333333,pose2_to_pose3_retreat,0.578010754763,0.00987782855526,1.04005111822,0.548582388211,0.0185535153124,1.0397176132
+357,5.950000000,pose2_to_pose3_retreat,0.577752491994,0.00987776875589,1.04005091815,0.548324126585,0.0185534592328,1.03971740897
+358,5.966666667,pose2_to_pose3_retreat,0.577502920861,0.00987776824641,1.04005090954,0.548074555358,0.0185534583512,1.039717399
+359,5.983333333,pose2_to_pose3_retreat,0.577267894574,0.00987779152539,1.04005095566,0.547839528279,0.0185534791036,1.03971744929
+360,6.000000000,pose2_to_pose3_retreat,0.577050105066,0.00987776903692,1.04005086604,0.547621738641,0.0185534563519,1.03971736425
+361,6.016666667,pose2_to_pose3_retreat,0.576855841211,0.00987778873965,1.04005090787,0.547427474588,0.0185534753537,1.03971740528
+362,6.033333333,pose2_to_pose3_retreat,0.5766839484,0.00987778944864,1.04005101713,0.547255582763,0.0185534793876,1.03971751419
+363,6.050000000,pose2_to_pose3_retreat,0.576534752088,0.00987769430165,1.04005112572,0.547106386533,0.0185533843822,1.03971761922
+364,6.066666667,pose2_to_pose3_retreat,0.576403711368,0.00987770416244,1.04005115278,0.546975346326,0.0185533957426,1.03971763995
+365,6.083333333,pose2_to_pose3_retreat,0.576289357798,0.0098776659595,1.04005107096,0.546860993832,0.0185533612353,1.03971755938
+366,6.100000000,pose2_to_pose3_retreat,0.576187658519,0.00987776653513,1.04005096681,0.546759293105,0.0185534569958,1.03971745773
+367,6.116666667,pose2_to_pose3_retreat,0.576097560111,0.00987784002197,1.04005090205,0.546669193696,0.0185535271236,1.03971739424
+368,6.133333333,pose2_to_pose3_retreat,0.576019179902,0.00987774841004,1.04005089582,0.546590815229,0.0185534413912,1.03971738762
+369,6.150000000,pose2_to_pose3_retreat,0.575950059823,0.00987761828346,1.0400509051,0.546521697057,0.0185533176967,1.03971739592
+370,6.166666667,pose2_to_pose3_retreat,0.575890094423,0.00987782884043,1.04005078561,0.546461727643,0.0185535147815,1.03971728008
+371,6.183333333,pose2_to_pose3_retreat,0.575840438492,0.00987783752532,1.0400508428,0.54641207148,0.0185535227533,1.03971733903
+372,6.200000000,pose2_to_pose3_retreat,0.575800007493,0.00987769404107,1.04005087982,0.5463716422,0.0185533850511,1.03971737472
+373,6.216666667,pose2_to_pose3_retreat,0.575767575184,0.00987763373463,1.04005089402,0.546339210633,0.0185533271764,1.03971738676
+374,6.233333333,pose2_to_pose3_retreat,0.575741767377,0.00987770164373,1.04005089698,0.546313402193,0.0185533929234,1.03971738939
+375,6.250000000,pose2_to_pose3_retreat,0.575722485221,0.00987773386521,1.04005087,0.546294120134,0.018553425635,1.03971736651
+376,6.266666667,pose2_to_pose3_retreat,0.575706927016,0.009877781894,1.0400510133,0.54627856132,0.0185534711454,1.03971749812
+377,6.283333333,pose2_to_pose3_retreat,0.575694867772,0.00987779008954,1.04005098806,0.546266502226,0.0185534798881,1.03971747388
+378,6.300000000,pose2_to_pose3_retreat,0.575686102625,0.00987776563733,1.04005089692,0.546257737576,0.0185534573737,1.03971738932
+379,6.316666667,pose2_to_pose3_retreat,0.575679961189,0.00987772268902,1.04005089488,0.546251596354,0.0185534151739,1.03971738796
+380,6.333333333,pose2_to_pose3_retreat,0.575675828525,0.00987773105306,1.04005092739,0.546247463002,0.0185534209209,1.03971741317
+381,6.350000000,pose2_to_pose3_retreat,0.575673340988,0.00987775259529,1.04005093733,0.546244975192,0.0185534414471,1.03971742081
+382,6.366666667,pose2_to_pose3_retreat,0.575672389616,0.00987777321352,1.04005092861,0.546244023929,0.0185534625134,1.03971741399
+383,6.383333333,pose2_to_pose3_retreat,0.575671970657,0.00987778229323,1.04005092478,0.546243605018,0.0185534717904,1.03971741099
+384,6.400000000,pose2_to_pose3_retreat,0.575671910238,0.00987778360262,1.04005092422,0.546243544607,0.0185534731282,1.03971741055
+385,6.416666667,pose2_to_pose3_retreat,0.575671836624,0.00987778519799,1.04005092355,0.546243471001,0.0185534747582,1.03971741002
+386,6.433333333,pose2_to_pose3_retreat,0.57567182697,0.00987778540721,1.04005092346,0.546243461348,0.018553474972,1.03971740996
+387,6.450000000,pose2_to_pose3_retreat,0.575671676014,0.00987778867875,1.04005092208,0.546243310409,0.0185534783146,1.03971740887
+388,6.466666667,pose2_to_pose3_retreat,0.575671433605,0.00987779393226,1.04005091986,0.546243068028,0.0185534836823,1.03971740713
+389,6.483333333,pose2_to_pose3_retreat,0.575671071945,0.00987779696161,1.0400509148,0.546242706339,0.0185534866518,1.03971740315
+390,6.500000000,pose2_to_pose3_retreat,0.575670999339,0.00987779745017,1.04005091375,0.546242633725,0.0185534871226,1.03971740232
+391,6.516666667,pose2_to_pose3_retreat,0.575670707934,0.00987779941102,1.0400509095,0.54624234229,0.0185534890123,1.03971739897
+392,6.533333333,pose2_to_pose3_retreat,0.57567061667,0.00987780002514,1.04005090817,0.546242251015,0.0185534896041,1.03971739792
+393,6.550000000,pose2_to_pose3_retreat,0.575670470009,0.00987780101201,1.04005090604,0.546242104339,0.0185534905552,1.03971739624
+394,6.566666667,pose2_to_pose3_retreat,0.575670167604,0.00987780304688,1.04005090163,0.546241801902,0.0185534925162,1.03971739276
+395,6.583333333,pose2_to_pose3_retreat,0.57567012027,0.00987780336539,1.04005090094,0.546241754563,0.0185534928231,1.03971739222
+396,6.600000000,pose2_to_pose3_retreat,0.575669925541,0.00987782682933,1.04005090005,0.546241559348,0.018553514636,1.03971739123
+397,6.616666667,pose2_to_pose3_retreat,0.575669877731,0.00987783550266,1.04005090009,0.546241511358,0.0185535226931,1.03971739115
+398,6.633333333,pose2_to_pose3_retreat,0.575669725288,0.00987786315764,1.04005090021,0.54624135834,0.0185535483834,1.0397173909
+399,6.650000000,pose2_to_pose3_retreat,0.575669658739,0.00987787523041,1.04005090026,0.54624129154,0.0185535595985,1.03971739079
+400,6.666666667,pose2_to_pose3_retreat,0.575669601699,0.00987788557826,1.0400509003,0.546241234284,0.0185535692112,1.0397173907
+401,6.683333333,pose2_to_pose3_retreat,0.57566956708,0.00987787803153,1.04005089665,0.546241199343,0.0185535605817,1.03971738731
+402,6.700000000,pose2_to_pose3_retreat,0.575669557008,0.00987786704152,1.04005089324,0.546241189055,0.0185535488718,1.03971738421
+403,6.716666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7357719d3cfce27da16ffe3c99516a9154ad1e27
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd788c0fa0add8fc525708b683f826f6638d8c4bbc3f0c5f80f79d96bdad072
+size 25778075
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21c953136fb46520c854cf63e2a0a4cca0192ab3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,765,745,713,680,662.426842933,634,878,786.426842933,807,653,629.426842933,652.426842933,0.400985678986,0.00461527313816,0.0498516448431,0.999999956308,0.000142109703628,-0.000255406926611,-4.42289221277e-05,1793245504575268352
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+28,0.466666667,BASELINE,764.229781648,745,713,679.770218352,663,633.770218352,878,786,806.770218352,653,629.229781648,652,0.40098400289,0.0046126384483,0.0498518478669,0.999999957214,0.000136662874115,-0.000254840029803,-4.41877890431e-05,1793245505025267968
+29,0.483333333,BASELINE,764.822804567,745,713,679.177195433,663,633.177195433,878,786,806.177195433,653,629.822804567,652,0.400984560502,0.0046118409447,0.0498524254269,0.999999957918,0.000133215369047,-0.000253893391455,-4.42231306223e-05,1793245505041934848
+30,0.500000000,BASELINE,765,745,713,679,663,633,878,786,806.405029512,653,629.594970488,652.405029512,0.40098427385,0.00461191766021,0.04985259001,0.999999957825,0.00013369002409,-0.000254039599926,-4.40515061197e-05,1793245505058601472
+31,0.516666667,BASELINE,765,745,713,679,663,633,878,786,806.982653131,653,629.017346869,652.982653131,0.400983627433,0.00461236690432,0.0498525786123,0.999999957392,0.000135836018476,-0.000254651500219,-4.37916877316e-05,1793245505075267840
+32,0.533333333,BASELINE,765,745.558648256,713,679,663,633,878,786,807,653,629,652.441351744,0.400984201406,0.00461115325243,0.0498528403529,0.999999957735,0.00013433582388,-0.000254142044538,-4.35382158495e-05,1793245505091934720
+33,0.550000000,BASELINE,765,746,713,679,663,633,878,786,807,653,629,652.133782891,0.400984535612,0.00461040732176,0.0498529096306,0.999999957917,0.00013352545633,-0.000253880898611,-4.33783081209e-05,1793245505108601344
+34,0.566666667,BASELINE,765,746,713,679,663,633,878,786,807,653,629,652.706261065,0.400983959679,0.00461136395186,0.0498523200608,0.999999957496,0.000135347327271,-0.000254547847531,-4.35245677761e-05,1793245505125267968
+35,0.583333333,BASELINE,765,745.711105557,713,679,662.711105557,633,878,786,807,653,629,652.711105557,0.400983678642,0.0046130187051,0.0498519132398,0.999999957109,0.000137200223076,-0.000254996280089,-4.39871360282e-05,1793245505141934848
+36,0.600000000,BASELINE,765,745.117770424,713,679,662.117770424,633,878,786,807,653,629,652.117770424,0.40098370837,0.00461540914962,0.0498516990019,0.999999956758,0.000139085813508,-0.000255214437368,-4.47830343765e-05,1793245505158601216
+37,0.616666667,BASELINE,765,745,713,679,662,633,878,785.537058295,807,653,629.462941705,652,0.400984887674,0.00461400962687,0.0498526280966,0.999999957301,0.000138054714034,-0.000253676303734,-4.4576125549e-05,1793245505175267840
+38,0.633333333,BASELINE,764.95954704,745,713,679,662.04045296,633.04045296,878,785.04045296,807,653,629.95954704,652,0.400986137324,0.00461184685982,0.0498537069369,0.999999957977,0.000136537533807,-0.000251904489967,-4.41236844004e-05,1793245505191934720
+39,0.650000000,BASELINE,764.383027453,745,713,679,662.616972547,633.616972547,878,785.616972547,807,653,629.383027453,652,0.400984546639,0.00461200730619,0.0498530181043,0.999999957548,0.000138150619855,-0.000252799607354,-4.3708429221e-05,1793245505208601088
+40,0.666666667,BASELINE,764,745,713,679.197291223,663,634,878.197291223,786,807,653,629.197291223,652,0.400983564287,0.00461253255032,0.0498523946928,0.999999957279,0.000138449927377,-0.000253703761266,-4.36799906216e-05,1793245505225267456
+41,0.683333333,BASELINE,764,745,713,679.785130352,663,634,878.785130352,786,807,653,629.785130352,652,0.400983786161,0.00461377992996,0.0498519007857,0.999999957328,0.000136148544084,-0.000254625803383,-4.44172749366e-05,1793245505241934080
+42,0.700000000,BASELINE,764.369209051,745,713,679.630790949,663,633.630790949,878.630790949,786,807,653,630,652,0.400984338314,0.00461392224414,0.0498522985443,0.999999957463,0.000136207373824,-0.000254067399397,-4.44064502505e-05,1793245505258600704
+43,0.716666667,BASELINE,764.951121325,745,713,679.048878675,663,633.048878675,878.048878675,786,807,653,630,652,0.400985080743,0.00461342792441,0.0498532099961,0.999999957646,0.000137625934452,-0.000252656102802,-4.39646361143e-05,1793245505275267584
+44,0.733333333,BASELINE,765,745,713,679,663,633,878,786,806.472973185,653,630,652,0.400985132075,0.00461345500183,0.0498530310755,0.999999957704,0.000137548532976,-0.000252422741639,-4.42198270324e-05,1793245505291934208
+45,0.750000000,BASELINE,765,745,713,679,663,633,877.895507848,786,806.104492152,653,629.895507848,652,0.400984832027,0.00461344180992,0.0498527105688,0.999999957685,0.00013742060203,-0.000252526249115,-4.4449808292e-05,1793245505308600832
+46,0.766666667,BASELINE,765,745,713,679,663,633,877.308292032,786,806.691707968,653,629.308292032,652,0.40098320147,0.00461302170936,0.049852197882,0.999999957362,0.000137692963833,-0.00025368699198,-4.42680605637e-05,1793245505325267712
+47,0.783333333,BASELINE,765,745,713,679,663,633.274964525,877.54992905,786,807,653,629.274964525,652,0.400982641277,0.00461281687184,0.0498520967488,0.999999957274,0.000137761502567,-0.000254029188836,-4.40858659795e-05,1793245505341934592
+48,0.800000000,BASELINE,765,745,713,679,663,633.85384502,878.707690039,786,807,653,629.85384502,652,0.400983264148,0.00461284996267,0.0498524505024,0.999999957446,0.00013760475742,-0.000253466653839,-4.39031774666e-05,1793245505358601472
+49,0.816666667,BASELINE,765,745,713,679,663,633.569813228,878.569813228,786,807,652.569813228,629.569813228,652,0.400983891005,0.00461271298248,0.0498527372124,0.999999957619,0.000137283030993,-0.00025297854333,-4.37791087348e-05,1793245505375268096
+50,0.833333333,BASELINE,764.994331831,745,713,679,663,633.005668169,878,786,807,652.005668169,629,652,0.40098450731,0.00461252322857,0.0498529937739,0.999999957788,0.000136908116365,-0.0002525321389,-4.36773157889e-05,1793245505391934720
+51,0.850000000,BASELINE,764.419136647,745,713,679,663,633.580863353,878,786,807,652.580863353,629,652,0.400983928024,0.00461280255903,0.0498524963261,0.99999995749,0.000136787907727,-0.000253750541081,-4.38243756029e-05,1793245505408601344
+52,0.866666667,BASELINE,764.160406889,745,713,679,662.839593111,634,877.839593111,785.839593111,807,653,629,652,0.400983693482,0.00461273476237,0.0498522049413,0.999999957378,0.000136543412157,-0.000254306018718,-4.39127213429e-05,1793245505425267968
+53,0.883333333,BASELINE,764.751629042,745,713,679,662.248370958,634,877.248370958,785.248370958,807,653,629,652,0.400984384842,0.00461173466369,0.049852466993,0.999999957771,0.000135965111055,-0.000253081036516,-4.38433748489e-05,1793245505441934592
+54,0.900000000,BASELINE,765,745,713,679,662.335210632,634,877.335210632,785.335210632,807,653,629.335210632,652,0.40098458646,0.00461128596768,0.0498525417418,0.999999957963,0.000135327711959,-0.000252674789866,-4.37615935077e-05,1793245505458601216
+55,0.916666667,BASELINE,765,745,713,679,662.91325716,634,877.91325716,785.91325716,807,653,629.91325716,652,0.400984433293,0.00461123672313,0.049852480803,0.999999958012,0.000134647500658,-0.000252861658055,-4.36708040208e-05,1793245505475267840
+56,0.933333333,BASELINE,764.510948027,745,713,679,663,634,878,786,807,653,630,652,0.400985720061,0.00461117920706,0.04985392727,0.999999958576,0.000134137548687,-0.000250893543507,-4.36773587586e-05,1793245505491934720
+57,0.950000000,BASELINE,764,745,713,679,662.935564789,634,878,786,807,653,629.935564789,652,0.400986848475,0.0046111943983,0.0498551920287,0.999999959046,0.000133886309963,-0.000249139324102,-4.37269629145e-05,1793245505508601088
+58,0.966666667,BASELINE,764,745,713,679,662.36029303,634,878,786,807,653,629.36029303,652,0.400984705954,0.00461179758442,0.0498529062683,0.999999958083,0.000135447810813,-0.000252097227894,-4.39816039501e-05,1793245505525267712
+59,0.983333333,BASELINE,764.22081779,745,713,679,662.22081779,634,878,785.77918221,806.77918221,653,629,652.22081779,0.400983956801,0.00461230800473,0.0498519592617,0.999999957652,0.000136542288679,-0.000253173022236,-4.42149716752e-05,1793245505541934080
+60,1.000000000,BASELINE,764.811714663,745,713,679,662.811714663,634,878,785.188285337,806.188285337,653,629,652.811714663,0.400985542859,0.00461266295446,0.0498532559362,0.999999958125,0.000136854060676,-0.000251094499938,-4.44126864844e-05,1793245505558600960
+61,1.016666667,BASELINE,765,745,713,679,663,634,878.39415239,785,806.39415239,653,629.39415239,652.60584761,0.40098607951,0.0046119119438,0.049853698559,0.99999995839,0.000134954251853,-0.000251096890117,-4.4248923661e-05,1793245505575267584
+62,1.033333333,BASELINE,765,745,713,679,663,634,878.972634078,785,806.972634078,653,629.972634078,652.027365922,0.400986125396,0.0046106437197,0.0498537417759,0.999999958551,0.000132020175173,-0.000252072439907,-4.39161122035e-05,1793245505591934464
+63,1.050000000,BASELINE,765,745.54865953,713,679,663,633.45134047,878.45134047,785.54865953,807,653,630,652.54865953,0.40098712016,0.00461065264994,0.0498545694617,0.999999959205,0.000131158623123,-0.000249917815523,-4.39228439025e-05,1793245505608600832
+64,1.066666667,BASELINE,765,745.873495373,713,679.126504627,662.873495373,633.126504627,878,785.873495373,807,653,630,652.873495373,0.400987316177,0.00461104757284,0.0498548372326,0.999999959422,0.000131582984939,-0.000248817427572,-4.39496342223e-05,1793245505625267712
+65,1.083333333,BASELINE,765,745.288615093,713,679.711384907,662.288615093,633.711384907,878,785.288615093,807,653,630,652.288615093,0.4009844473,0.00461261131063,0.0498529350703,0.999999957967,0.000136293823629,-0.000252100134697,-4.39880137374e-05,1793245505641934336
+66,1.100000000,BASELINE,764.705388666,745,713,679.705388666,662,634,878,785.294611334,807,653,629.705388666,652,0.400983130235,0.00461360547733,0.0498520127594,0.999999957334,0.000138176644722,-0.000253565051025,-4.40992058688e-05,1793245505658600960
+67,1.116666667,BASELINE,764.123773421,745,713,679.123773421,662,634,878,785.876226579,807,653,629.123773421,652,0.400983324914,0.00461404478027,0.0498520449984,0.999999957523,0.000137304472714,-0.000253259115173,-4.42813304555e-05,1793245505675267584
+68,1.133333333,BASELINE,764,745,713,679,662.453294689,633.546705311,878,786,807,653,629,652,0.400983288484,0.00461242020959,0.0498520005641,0.999999957481,0.000137572561906,-0.000253371109852,-4.37492514126e-05,1793245505691934464
+69,1.150000000,BASELINE,764,745,713,679,663,633,877.970890688,785.970890688,807,653,629,652,0.400983269333,0.00461040768218,0.0498519850058,0.999999957426,0.000138003787993,-0.000253467261976,-4.30862546023e-05,1793245505708601344
+70,1.166666667,BASELINE,764,745,713,679,663,633,877.39553119,785.39553119,807,653,629,652,0.400984746827,0.0046115851572,0.0498529002879,0.999999958304,0.000135711720583,-0.000251145926179,-4.35897353424e-05,1793245505725267712
+71,1.183333333,BASELINE,764.179527438,745,713,679,663,633,877.179527438,785.179527438,807,653,629,652,0.400985583457,0.00461206060811,0.0498533672661,0.999999958748,0.000134135463785,-0.000250168241639,-4.39048573384e-05,1793245505741934592
+72,1.200000000,BASELINE,764.753924412,745,713,679,663,633,877.753924412,785.753924412,807,653,629,652,0.40098501051,0.00461099196137,0.0498528482029,0.999999958256,0.000134133627754,-0.000252145909653,-4.38056854887e-05,1793245505758601728
+73,1.216666667,BASELINE,765,745.340537029,713,679.340537029,662.659462971,633.340537029,878,786,807,653,629,652.340537029,0.40098455893,0.00461105819211,0.0498527105853,0.999999957927,0.00013529284384,-0.000252834432995,-4.37860508204e-05,1793245505775268352
+74,1.233333333,BASELINE,765,745.936305185,713,679.936305185,662.063694815,633.936305185,878,786,807,653,629,652.936305185,0.400984198313,0.004611975009,0.0498528588598,0.999999957718,0.000137322263801,-0.000252556747494,-4.38260289543e-05,1793245505791934720
+75,1.250000000,BASELINE,765,745.487882997,713,679.487882997,662,634,877.487882997,785.487882997,806.487882997,653,629,652.487882997,0.400985031684,0.00461142358379,0.0498532458415,0.999999957876,0.000136361744505,-0.000252495258338,-4.35884032793e-05,1793245505808601344
+76,1.266666667,BASELINE,765,745,713,679,662.086151433,634,877.086151433,785.086151433,806.086151433,653,629,652,0.400985828747,0.0046108072789,0.0498536295405,0.999999958084,0.000135242988468,-0.000252307490346,-4.33808134628e-05,1793245505825268224
+77,1.283333333,BASELINE,765,745,713,679,662.66367414,634,877.66367414,785.66367414,806.66367414,653,629,652,0.400985603489,0.00461082341196,0.0498538315318,0.999999958341,0.000135263183367,-0.000251251867141,-4.35340773742e-05,1793245505841934848
+78,1.300000000,BASELINE,765,745.247474987,713,679.247474987,663,633.752525013,878,786,807,653,629,652,0.40098591862,0.00461094242927,0.0498540560339,0.999999958556,0.00013536543587,-0.000250332171207,-4.357057082e-05,1793245505858601472
+79,1.316666667,BASELINE,765,745.840030047,713,679.840030047,663,633.159969953,878,786,807,653,629,652,0.40098698727,0.00461120490877,0.0498543119251,0.999999958714,0.00013558210981,-0.00024960201287,-4.3444239067e-05,1793245505875267840
+80,1.333333333,BASELINE,765,745.57899325,713,679.57899325,663,633.42100675,878,786,807,652.57899325,629,652,0.400986224458,0.00461208226283,0.0498544122137,0.999999958613,0.000135543860532,-0.000249993791001,-4.36534921544e-05,1793245505891934464
+81,1.350000000,BASELINE,765,745.002298176,713,679.002298176,663,633.997701824,878,786,807,652.002298176,629,652,0.400984784371,0.00461318699757,0.0498544549605,0.999999958414,0.000135411340648,-0.000250800461255,-4.39868445282e-05,1793245505908601344
+82,1.366666667,BASELINE,765,745,713,679,663,633.429109281,878,785.429109281,807,652.570890719,629,652,0.400986351029,0.00461284197051,0.0498545440756,0.9999999588,0.000135872136459,-0.000249037238017,-4.38131350329e-05,1793245505925267712
+83,1.383333333,BASELINE,764.851285211,745,713,679.148714789,663,633,878,785.148714789,807,653,629,652,0.400987336038,0.00461234359759,0.0498545218518,0.999999959071,0.000135657194517,-0.000248076778855,-4.37458417941e-05,1793245505941934592
+84,1.400000000,BASELINE,764.259613028,745,713,679.740386972,663,633,878,785.740386972,807,653,629,652,0.400986552739,0.00461140575054,0.0498541674446,0.999999958997,0.000133422449811,-0.000249538034459,-4.4001559597e-05,1793245505958601216
+85,1.416666667,BASELINE,764,745,713,679.674984994,663,633,878,785.674984994,807,653,629,652,0.400985450783,0.00461105793011,0.0498537321909,0.999999958699,0.000132985573787,-0.000250948438707,-4.40711098086e-05,1793245505975267840
+86,1.433333333,BASELINE,764,745,713,679.095864307,663,633,878,785.095864307,807,653,629,652,0.400984099695,0.0046111714088,0.049853233729,0.999999958228,0.000133954321145,-0.000252319085877,-4.39951090554e-05,1793245505991934208
+87,1.450000000,BASELINE,764,745,713,679,663,633.478994586,878,785.478994586,807,653,629.478994586,652,0.400984332673,0.00461161502738,0.0498530790536,0.999999958072,0.000134912781306,-0.000252453148149,-4.38419105967e-05,1793245506008601088
+88,1.466666667,BASELINE,764,745,713,679,663,634,878,786,806.94693689,653,630,652,0.400984843642,0.00461207296622,0.0498530362479,0.999999957997,0.000135821865559,-0.000252286536474,-4.37105378757e-05,1793245506025267712
+89,1.483333333,BASELINE,764,745,713,679,663,634,878,786,806.372327264,653,630,652,0.4009849984,0.00461202796461,0.0498534226871,0.999999958105,0.000136265701601,-0.00025157569733,-4.39442023748e-05,1793245506041934336
+90,1.500000000,BASELINE,764.20913087,745,713,679.20913087,663,633.79086913,877.79086913,786,806.20913087,653,630,652,0.400984410781,0.00461179092412,0.0498532159809,0.999999958089,0.000135918977955,-0.00025181242036,-4.40220469173e-05,1793245506058601216
+91,1.516666667,BASELINE,764.803194513,745,713,679.803194513,663,633.196805487,877.196805487,786,806.803194513,653,630,652,0.400982456721,0.00461120041091,0.0498519175129,0.999999957841,0.000134117125542,-0.000253793255837,-4.38130843821e-05,1793245506075267840
+92,1.533333333,BASELINE,765,745,713,680,663,633.38496693,877.38496693,786,807,653,630,652,0.400984191435,0.00461145247301,0.0498528028329,0.999999958263,0.000134546387372,-0.000251897675732,-4.38066378852e-05,1793245506091934208
+93,1.550000000,BASELINE,765,745,713,680,663,633.960650207,877.960650207,786,807,653,630,652,0.400987753601,0.00461212195504,0.0498547700226,0.999999959005,0.000136080964653,-0.00024808168196,-4.39005197768e-05,1793245506108601088
+94,1.566666667,BASELINE,764.464907385,745,713,680,663,633.464907385,878,786,807,653,629.464907385,652,0.400987501661,0.00461176284698,0.0498549463673,0.999999959116,0.000135086125644,-0.000248195218593,-4.38155623421e-05,1793245506125267968
+95,1.583333333,BASELINE,764.112757831,745,713,679.887242169,663,633,878,786,807,653,629.112757831,652.112757831,0.400987030725,0.00461154613545,0.04985496301,0.999999959155,0.000134343700569,-0.000248444903131,-4.37780538292e-05,1793245506141934592
+96,1.600000000,BASELINE,764.704500136,745,713,679.295499864,663,633,878,786,807,653,629.704500136,652.704500136,0.400986818222,0.00461225488186,0.0498548593902,0.999999959093,0.000135461825411,-0.000248048250228,-4.39978409817e-05,1793245506158600960
+97,1.616666667,BASELINE,765,745,713,679,663,633,877.710217399,786,807,653,629.710217399,653,0.400986278061,0.00461256017435,0.0498548107229,0.999999958942,0.000135782342097,-0.000248478485667,-4.40125868564e-05,1793245506175267584
+98,1.633333333,BASELINE,765,745,713,679,663,633,877.131378616,786,807,653,629.131378616,653,0.400985411063,0.00461246302424,0.0498548168701,0.999999958702,0.000135307249985,-0.000249733536647,-4.38228054325e-05,1793245506191934464
+99,1.650000000,BASELINE,765,745,713,679,663,633.44317984,877,786,807,653,629.44317984,653,0.400985855728,0.00461187554408,0.0498545442457,0.999999958861,0.000134613419713,-0.000249503470744,-4.36523262404e-05,1793245506208601344
+100,1.666666667,BASELINE,765,745,713,679,662.983476325,634,877.016523675,786,806.983476325,653,629.983476325,653,0.40098669361,0.00461121098101,0.0498542163211,0.999999959124,0.000133929688589,-0.000248839119763,-4.35085157932e-05,1793245506225268224
+101,1.683333333,BASELINE,765,745,713,679,662.408709042,634,877.591290958,786,806.408709042,653,629.408709042,653,0.400987805129,0.00461280601494,0.0498547853725,0.999999959004,0.00013575691276,-0.000248234213654,-4.40742272406e-05,1793245506241934592
+102,1.700000000,BASELINE,764.828790698,745,713,679,662.171209302,633.828790698,878,786,806,653,629.171209302,652.828790698,0.400987729981,0.00461355582286,0.0498547181582,0.99999995873,0.000136857370722,-0.000248687750677,-4.43226956216e-05,1793245506258601216
+103,1.716666667,BASELINE,764.236194448,745,713,679,662.763805552,633.236194448,878,786,806,653,629.763805552,652.236194448,0.400984734167,0.00461222532765,0.0498530849422,0.999999958082,0.000136169083345,-0.000251746368906,-4.37903530297e-05,1793245506275267840
+104,1.733333333,BASELINE,764.347212413,745,713,679,663,633,878,786,806.347212413,653,630,652.347212413,0.40098346583,0.00461139796856,0.0498523273708,0.999999957791,0.000135952588346,-0.000253062795273,-4.35182600683e-05,1793245506291934720
+105,1.750000000,BASELINE,764.924529345,745,713,679,663,633,878,786,806.924529345,653,630,652.924529345,0.400983342327,0.00461090404757,0.049852150106,0.999999957741,0.000136048759399,-0.000253224637017,-4.34186396205e-05,1793245506308601088
+106,1.766666667,BASELINE,765,745,713,679,663,633.500831574,878,786,807,653,629.499168426,652.499168426,0.400983724864,0.00461203819231,0.0498529295257,0.999999958165,0.000134654688285,-0.000252264177163,-4.36081242025e-05,1793245506325267968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,807,653,629,652,0.400983606572,0.00461228360039,0.0498525083558,0.999999957518,0.000135804344116,-0.000254180673932,-4.37351717798e-05,1793245506368688128
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.407033062,745,713,679,662.407033062,633.592966938,877.407033062,786,807,653,629,652,0.400984146216,0.00461202862655,0.0498527148522,0.999999957991,0.000134886386031,-0.000252764829549,-4.39638011561e-05,1793245506385355008
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.181085875,745,713,679,662.181085875,633.818914125,877.181085875,786,807,653,629,652,0.400984536898,0.00461174807488,0.0498529684558,0.999999958401,0.000133699864786,-0.00025174510397,-4.41222893289e-05,1793245506402021888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.758592027,745,713,679,662.758592027,633.241407973,877.758592027,786,807,653,629,652,0.400984601481,0.00461141153003,0.049853325183,0.999999958675,0.000131925424059,-0.00025159253315,-4.41272294267e-05,1793245506418688256
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,806.664680848,653,629.335319152,652,0.400985396534,0.00461164859242,0.0498539633369,0.999999958686,0.000133656181527,-0.000250672577773,-4.39030017718e-05,1793245506435354624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,806.088513304,653,629.911486696,652,0.400986716259,0.00461229765747,0.0498548036301,0.999999958494,0.00013790460425,-0.000249201436066,-4.35141706808e-05,1793245506452020992
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.502454684,745,713,679,663,633.497545316,878,786,806.497545316,653,630,652,0.400986371769,0.00461070115359,0.0498545532319,0.999999958767,0.000135398187288,-0.000249520193524,-4.32816855152e-05,1793245506468687872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.084146717,745,713,679.084146717,663,634,878,786,807,653,629.915853283,652.084146717,0.400985995721,0.00460912884971,0.0498542960944,0.999999959074,0.000132302402874,-0.000249971487281,-4.31589831533e-05,1793245506485354752
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.663378726,745,713,679.663378726,663,634,878,786,807,653,629.336621274,652.663378726,0.400987211249,0.00461009702059,0.0498551640784,0.999999959142,0.000132952658114,-0.000249291098998,-4.35152332605e-05,1793245506502021376
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.758957205,745,713,679.758957205,663,633.758957205,878,786,807,653,629.241042795,652.758957205,0.400991259926,0.00461081611831,0.0498569240797,0.999999959768,0.000133301841657,-0.000246558427791,-4.36388868197e-05,1793245506518688256
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.183468692,745,713,679.183468692,663,633.183468692,878,786,807,653,629.816531308,652.183468692,0.400999239585,0.00461118962814,0.0498599217507,0.999999961146,0.000133233289611,-0.000240978223957,-4.34398137571e-05,1793245506535354880
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.390956986,744.609043014,713,679,663,633,878,786,807,653,630,652,0.401024763409,0.00461086775473,0.0498692016777,0.999999965542,0.000133328343205,-0.000221958614579,-4.32871051557e-05,1793245506552021504
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.964885299,744.035114701,713,679,663,633,878,786,807,653,630,652,0.401058498058,0.00461022043584,0.0498814217563,0.999999970822,0.000133499965609,-0.000196649243946,-4.3156095492e-05,1793245506568688384
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.555958525,713,679,663,633.555958525,878,786,807,653,630,652,0.401117633515,0.00460889928684,0.0499004248822,0.999999978069,0.000132673289435,-0.000156321729526,-4.26974253077e-05,1793245506585355008
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.855125429,634,877.855125429,786,806.855125429,653,630,652,0.40118208597,0.00460801601874,0.0499185003081,0.999999983162,0.000131655039153,-0.000120696841943,-4.21380416436e-05,1793245506602021632
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.276023843,634,877.276023843,786,806.276023843,653,630,652,0.401257513269,0.00460857681511,0.049932470228,0.99999998545,0.000130257591861,-0.000102100484387,-4.13407962063e-05,1793245506618688256
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.300004894,633.699995106,877.300004894,785.699995106,806.300004894,653,629.699995106,652,0.401337358001,0.00460814512055,0.0499420270683,0.999999986784,0.000130073317649,-8.87439782582e-05,-4.0460720895e-05,1793245506635354880
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.873235043,633.126764957,877.873235043,785.126764957,806.873235043,653,629.126764957,652,0.401421225843,0.00460680952875,0.0499475647571,0.999999987427,0.000130993923932,-8.01595945413e-05,-3.95052094916e-05,1793245506652021760
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713,679.448250195,662.551749805,633.448250195,878,785.448250195,807,653,629.448250195,652,0.401518648086,0.00460621496933,0.0499479011611,0.999999987547,0.000128933314828,-8.23497693639e-05,-3.87364385988e-05,1793245506668688384
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679.975491131,662.024508869,634,878,785.975491131,807,653,629.975491131,652,0.401621079221,0.00460577293522,0.0499468013007,0.999999987527,0.000125965495539,-8.73725007475e-05,-3.80127973562e-05,1793245506685355264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679.382133368,662.617866632,634,878,785.382133368,807,653,629.382133368,652,0.401750442918,0.00460398759951,0.0499466423148,0.999999988124,0.000121587601535,-8.71343308057e-05,-3.7105991957e-05,1793245506702021632
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629.205494212,652.205494212,0.401894053362,0.00460265381448,0.0499482000004,0.999999988694,0.000118787726919,-8.48638937527e-05,-3.60560733462e-05,1793245506718688256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,785,807,653,629.782755055,652.782755055,0.402063438071,0.00460213694548,0.0499528633751,0.999999989221,0.000118842701825,-7.89168125332e-05,-3.474724381e-05,1793245506735354624
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.641528103,634,878,785.358471897,807,653,629.641528103,652.641528103,0.402242232014,0.00460051176935,0.0499515520375,0.999999989154,0.000116493253458,-8.37806971529e-05,-3.31898865736e-05,1793245506752021248
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.066742906,634,878,785.933257094,807,653,629.066742906,652.066742906,0.402426703801,0.00459821780554,0.0499466353696,0.999999988626,0.000112692899901,-9.51682605102e-05,-3.14825597193e-05,1793245506768687872
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.479678749,745,713,679,662.520321251,633.479678749,878,786,807,653,629.520321251,652,0.402646684824,0.00459511187837,0.0499473015352,0.999999989323,0.000108404703201,-9.32531314986e-05,-3.0098982874e-05,1793245506785354752
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.892570145,633,878,786,807,653,629.892570145,652,0.402881270706,0.00459202899857,0.0499494053885,0.99999999023,0.000103965296575,-8.89553615457e-05,-2.85966336449e-05,1793245506802021376
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662.312364745,633,878,786,807,653,629.312364745,652,0.40315960007,0.00458951697513,0.0499546085186,0.999999991387,9.91424894677e-05,-8.18629615073e-05,-2.63844186251e-05,1793245506818688000
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.265824125,633,878,785.734175875,807,653,629,652,0.403462704776,0.00458618726117,0.0499617699531,0.999999992934,9.40670892805e-05,-6.85721890158e-05,-2.40892257098e-05,1793245506835354880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662.841661216,633,878,785.158338784,807,653,629,652,0.403794703298,0.00458190392938,0.0499712152269,0.999999994676,8.86971068773e-05,-4.80526680951e-05,-2.16972613296e-05,1793245506852021504
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.416353848,745,713,679,663,633.416353848,878,785,807,653,629,652,0.4041496003,0.00457898725549,0.0499811201385,0.999999995778,8.49149768989e-05,-2.95851432074e-05,-1.89103963055e-05,1793245506868688128
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990612423,745,713,679,663,633.990612423,878,785,807,653,629,652,0.404513181682,0.004576588895,0.0499911993703,0.999999996461,8.17350497103e-05,-1.18958507484e-05,-1.59737628636e-05,1793245506885354752
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.418056556,745,713,679,663,633.418056556,878,785.581943444,807,653,629.581943444,652,0.404911971464,0.00457217306823,0.0499980242262,0.999999997067,7.52069706602e-05,4.97964611524e-06,-1.3586192388e-05,1793245506902021376
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.16977171,745,713,679,663,633,878,786,807,653,630,652.16977171,0.405315528632,0.00456780767514,0.0499978604168,0.999999997544,6.8815048561e-05,7.34557552244e-06,-1.10723608335e-05,1793245506918687744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.748479243,745,713,679,663,633,878,786,807,653,630,652.748479243,0.405729159712,0.0045636445251,0.0499809930074,0.999999997671,6.28851231886e-05,-2.52056887976e-05,-8.23242016258e-06,1793245506935354624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.325149576,713,679,663,633,878.325149576,786,807,652.674850424,629.674850424,652.674850424,0.406166811641,0.0045596986201,0.049960646178,0.99999999628,5.79531005645e-05,-6.36658875376e-05,-5.24736331008e-06,1793245506952021504
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.900253897,713,679,663,633,878.900253897,786,807,652.099746103,629.099746103,652.099746103,0.406622929347,0.00455591971911,0.0499376245854,0.999999992862,5.37882027496e-05,-0.000106668510469,-2.15074986906e-06,1793245506968688128
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.525535905,713,679.474464095,663,633,878.525535905,785.525535905,807,652,629.474464095,652,0.407122623475,0.00455133177792,0.0499273469306,0.999999990981,4.91487493909e-05,-0.000124980655027,1.11214059364e-06,1793245506985355008
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.050028314,878,785.050028314,807,652.050028314,630,652.050028314,0.407638755621,0.00454641141434,0.0499225882443,0.999999990245,4.41277911073e-05,-0.00013244823232,4.44511424394e-06,1793245507002021632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.642302406,878,785.642302406,807,652.642302406,630,652.642302406,0.408233948597,0.0045397280268,0.0499486643886,0.999999996234,3.60510825085e-05,-7.85284869521e-05,8.1595359824e-06,1793245507018688256
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.228524247,713,679.771475753,663,633.771475753,878.228524247,786,807,653,630,652.771475753,0.408847222763,0.00453316650872,0.0499738508932,0.999999998829,3.54352790595e-05,-3.06897958157e-05,1.20479237409e-05,1793245507035355136
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.805517184,713,679.194482816,663,633.194482816,878.805517184,786,807,653,630,652.194482816,0.409488068274,0.00452679082557,0.0499976808158,0.999999998771,4.61963513955e-05,7.87610341293e-06,1.62015860389e-05,1793245507052022016
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.381961003,745.618038997,713,679.381961003,663,633.381961003,878.618038997,786,807,652.618038997,630,652,0.410130622597,0.00452021263043,0.050001725312,0.999999996018,8.64930576916e-05,8.95746442244e-06,2.00708743365e-05,1793245507068688640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958125613,745.041874387,713,679.958125613,663,633.958125613,878.041874387,786,807,652.041874387,630,652,0.410774045726,0.00451353147062,0.0499957101387,0.999999989622,0.00014180681125,-9.01975099869e-06,2.37955758255e-05,1793245507085355264
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.455264464,745,713,679.455264464,663,633.455264464,878,786,807,652.544735536,629.455264464,652,0.411387281051,0.00450661187706,0.0499628902491,0.999999989084,0.000122433600727,-7.86792655578e-05,2.55281199236e-05,1793245507102021888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,679.13079329,663,633,878,785.86920671,807,653,629,652,0.412029778508,0.00449874519246,0.0499376219988,0.999999987835,8.54556541361e-05,-0.000128283283579,2.38768204003e-05,1793245507118688512
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,679.712128901,663,633,878,785.287871099,807,653,629,652,0.412781224715,0.00448768044531,0.0499456033786,0.999999995408,7.99837018858e-06,-9.48494614563e-05,1.11070589382e-05,1793245507135354880
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.290472911,633,878,785,807.290472911,653,629.290472911,652,0.413551637795,0.00448020225824,0.0499618958122,0.999999997922,-2.0814755925e-05,-6.05843961098e-05,7.25199991744e-06,1793245507152021504
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.865882407,633,878,785,807.865882407,653,629.865882407,652,0.414340656334,0.00447624227116,0.0499863408945,0.999999999599,-1.9108762907e-06,-2.55039271919e-05,1.21417303386e-05,1793245507168688128
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.549050435,713,679.549050435,663.549050435,633,878,785,808,653,630,652,0.415098458254,0.00448037819804,0.0499679572466,0.999999998278,9.42343101753e-06,-5.58452421503e-05,1.53738867416e-05,1793245507185355008
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.038369425,713,679.038369425,663,633,878.038369425,785.038369425,808.038369425,652.961630575,630,652,0.41585146558,0.00448794907586,0.049938480009,0.999999994375,1.92589490655e-05,-0.000102773868821,1.77905240789e-05,1793245507202021376
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.617579708,713,679.617579708,663,633,878.617579708,785.617579708,808.617579708,652.382420292,630,652,0.416670621112,0.00450925526593,0.0499361076829,0.999999993729,4.03957503423e-05,-0.00010324760154,1.58128747017e-05,1793245507218688000
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.19625447,633,879,786,808.80374553,652,630,652,0.417506633507,0.00451997872434,0.0499454534711,0.999999994826,5.43918902524e-05,-8.45999192961e-05,1.5234178786e-05,1793245507235354880
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.773888525,633,879,786,808.226111475,652,630,652,0.418375403645,0.0045101368522,0.049977570968,0.999999997949,5.45116444562e-05,-2.87937595596e-05,1.73740569133e-05,1793245507252021504
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.347094952,680,663.652905048,633,879,786,808,652,630,652.347094952,0.419212939419,0.00450031953274,0.0499817921577,0.999999998579,4.06091335835e-05,-2.91161183977e-05,1.86035855345e-05,1793245507268688128
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.917453353,680,663.082546647,633,879,786,808,652,630,652.917453353,0.420030384141,0.00449051800681,0.0499680694789,0.99999999751,1.76870179871e-05,-6.55422792076e-05,1.92475458572e-05,1793245507285355008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.492807326,679.492807326,663.507192674,633,879,786,808,652,630,653,0.420935271288,0.0044880685715,0.0499707682568,0.999999998863,1.02507347205e-05,-4.2789772428e-05,1.8366396511e-05,1793245507302021632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713,679.097543606,664,633,879.097543606,786,808.097543606,652,630,652.902456394,0.421854169723,0.00448753013222,0.0499776379908,0.999999999752,7.9872885316e-06,-1.13320405403e-05,1.74315218235e-05,1793245507318688512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713,679.674774041,664,633,879.674774041,786,808.674774041,652,630,652.325225959,0.422769204687,0.00449027122638,0.0499913538312,0.999999999586,1.82754564009e-05,1.3689022003e-05,1.75015776115e-05,1793245507335354880
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.747775022,633,879.747775022,785.747775022,808.747775022,652,630,652,0.423668525312,0.00449403503443,0.0499910205678,0.999999999474,2.39434509301e-05,1.23821141898e-05,1.80271316589e-05,1793245507352021504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.170039435,633,879.170039435,785.170039435,808.170039435,652,630,652,0.424547565821,0.004499118713,0.0499725561426,0.999999999275,2.3648851696e-05,-2.29025259483e-05,1.91405319951e-05,1793245507368688128
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.404748744,633,879.404748744,785.404748744,808.404748744,652.404748744,630,652.404748744,0.425467553603,0.00449959133982,0.0499804015304,0.999999999537,1.96981377995e-05,-1.13299330608e-05,2.02453214431e-05,1793245507385355008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.978307602,633,879.978307602,785.978307602,808.978307602,652.978307602,630,652.978307602,0.42640461937,0.00449814081726,0.0499992200539,0.999999999475,1.42225541241e-05,1.97855881259e-05,2.13465194374e-05,1793245507402021632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,880,785.429873401,809,653,630,652.429873401,0.427264807735,0.00448980641975,0.049998521604,0.999999999405,2.41582661981e-05,-6.99080738932e-06,2.36156567206e-05,1793245507418688000
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.841474355,633,880,785,809,652.841474355,630.158525645,652.158525645,0.428137196296,0.00448407458059,0.0499876709109,0.999999998407,3.04084577378e-05,-4.05135485901e-05,2.49162340672e-05,1793245507435354624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.264010137,633,880,785,809,652.264010137,630.735989863,652.735989863,0.429049812374,0.00448593565411,0.0499520180901,0.999999995717,2.53179597636e-05,-8.58512695064e-05,2.35358571214e-05,1793245507452021248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.312436789,633.312436789,880.312436789,785,809,652,630.687563211,653,0.429971575824,0.00448795297538,0.0499430551723,0.999999995503,2.1714905553e-05,-8.93430924506e-05,2.32407095492e-05,1793245507468687872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.888026862,633.888026862,880.888026862,785,809,652,630.111973138,653,0.430901043703,0.00449010189792,0.0499565721174,0.99999999787,1.93646672974e-05,-5.75897505516e-05,2.3859608299e-05,1793245507485354496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.473849327,713.473849327,679.526150673,664.473849327,633.526150673,880.526150673,785,809,652,630,653,0.43178703704,0.00449430690916,0.0499448174674,0.999999996117,1.99820742309e-05,-8.25073223152e-05,2.36546421411e-05,1793245507502021120
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.938876833,745.938876833,713.938876833,679.061123167,664.877753666,633,880,785,809,652,630,653,0.432665181411,0.0044975161578,0.0499300665538,0.999999993006,2.13730197105e-05,-0.00011394237344,2.34258276173e-05,1793245507518688000
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.360239119,745.360239119,713.360239119,679.639760881,663.720478237,633,880,785,809,652,630,653,0.433565770934,0.0044880900429,0.0499416248259,0.999999995841,2.32447952625e-05,-8.46731296924e-05,2.46798136505e-05,1793245507535354880
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.217832631,745,713,680,663.217832631,633,880,785,809.217832631,652,630,653,0.434458924664,0.00448180073457,0.0499583513164,0.99999999794,2.20978938817e-05,-5.43696747215e-05,2.59802326097e-05,1793245507552021504
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.794970939,745,713,680,663.794970939,633,880,785,809.794970939,652,630,653,0.435339813513,0.00448068545396,0.0499836025653,0.999999999248,1.59718133819e-05,-2.23603276431e-05,2.7357240918e-05,1793245507568688128
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.629499955,633,880,785,810.370500045,652,630,653,0.436153257027,0.00448076367908,0.0499735249262,0.999999997988,1.02970407593e-05,-5.53891528047e-05,2.91467255723e-05,1793245507585355008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.054857539,633,880,785,810.945142461,652,630,653,0.436929538683,0.00448149951576,0.0499439813692,0.999999991783,4.87093526409e-06,-0.000124253458722,3.1163480995e-05,1793245507602021376
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.533752066,713,680,663,633,880,785.533752066,810.466247934,652,630.533752066,653,0.437796735979,0.00448565099056,0.0499569680752,0.999999996268,2.61980448268e-06,-8.18742036241e-05,2.74369649322e-05,1793245507618688000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.878491846,713.121508154,680,663.121508154,632.878491846,880,785.878491846,810,652,631,652.878491846,0.438655598157,0.00449006376169,0.0499722329007,0.999999998949,8.52346845193e-06,-3.79688149785e-05,2.42482753576e-05,1793245507635354368
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.299499313,713.700500687,680,663.700500687,632.299499313,880,785.299499313,810,652,631,652.299499313,0.439446951971,0.00449410309059,0.0499791751599,0.999999998187,4.38687433969e-05,-3.25211372395e-05,2.53666733577e-05,1793245507652020992
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.277592418,745,714,680,664,632.277592418,880,785,810,652,630.722407582,652.277592418,0.440208081138,0.00449460708323,0.0499715465814,0.99999999699,5.71469150681e-05,-4.52777239316e-05,2.65174685295e-05,1793245507668687616
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.852647251,745,714,680,664,632.852647251,880,785,810,652,630.147352749,652.852647251,0.440936822132,0.00449132268086,0.049948304188,0.999999995516,4.67784234735e-05,-7.75416320922e-05,2.77029797867e-05,1793245507685354496
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.572736466,745,713.572736466,680,663.572736466,632.572736466,880,785.427263534,810.427263534,652,630,652.572736466,0.441660519639,0.00448581270981,0.0499495420646,0.999999996298,3.41470008517e-05,-7.33206546731e-05,2.93546172204e-05,1793245507702021120
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.001783924,713,680.001783924,663,632,880,785.998216076,811,652,630.001783924,652,0.442382346965,0.00447958309814,0.049959176268,0.999999997696,2.08145508495e-05,-5.65967985238e-05,3.11640348168e-05,1793245507718687744
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.594575727,713,680.594575727,663,632,880,785.405424273,811,652,630.594575727,652,0.443060228745,0.00448896322161,0.0499563325362,0.999999996999,3.35230314114e-05,-6.2058536345e-05,3.20422869904e-05,1793245507735354368
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.817380309,713,680.817380309,662.817380309,632,880.182619691,785,810.817380309,652,631,652.182619691,0.443698868996,0.00450073288736,0.0499360593852,0.999999993416,5.12993908102e-05,-9.73018627959e-05,3.26928511256e-05,1793245507752021248
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.239609574,713,680.239609574,662.239609574,632,880.760390426,785,810.239609574,652,631,652.760390426,0.444252598864,0.00451767302759,0.0498780725939,0.999999976855,8.00415885879e-05,-0.000196986356364,3.28507456263e-05,1793245507768687872
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,680,661.66287101,632,880.66287101,785,810.33712899,652,631,653,0.44481583323,0.00453315418361,0.0498353088544,0.999999960353,0.000104346541903,-0.000259522741449,3.24749068588e-05,1793245507785354496
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,680,661.086863843,632,880.086863843,785,810.913136157,652,631,653,0.445385802129,0.00454760155185,0.0498033316569,0.999999947891,0.000125507412794,-0.000295737230771,3.17208829092e-05,1793245507802021120
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.498456025,713,680.498456025,661,631.501543975,880,785,811,652,630.501543975,653,0.445952350068,0.0045512828181,0.0498064787087,0.999999951651,0.00013029378847,-0.000280535480621,3.19587672883e-05,1793245507818687744
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.915636812,713.084363188,681,661,631,880.084363188,785,811,652,630.084363188,652.915636812,0.446510513895,0.00455325338948,0.049812955526,0.999999956452,0.000131451114366,-0.00026225867822,3.22048720476e-05,1793245507835354368
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.335990825,713.664009175,681,661,631,880.664009175,785,811,652,630.664009175,652.335990825,0.447023022509,0.00455640510641,0.0498023615489,0.999999952195,0.00012837434568,-0.000279533511211,3.14651084214e-05,1793245507852020992
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.758258327,680.758258327,660.758258327,630.758258327,880.758258327,785,811,652.241741673,631,652.241741673,0.447496338649,0.00455961944711,0.0497800962394,0.99999994454,0.000108638380048,-0.000313830476667,2.50601079223e-05,1793245507868687872
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.183164504,680.183164504,660.183164504,630.183164504,880.183164504,785,811,652.816835496,631,652.816835496,0.447915609886,0.00456292014325,0.0497417366277,0.999999928724,6.59300443702e-05,-0.000371600283178,1.08429711009e-05,1793245507885355008
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680.390540384,660.390540384,630,880,785,811,653,630.609459616,652.609459616,0.448334267603,0.0045609604806,0.0497239002291,0.999999920121,4.9095109166e-05,-0.000396601487207,7.41528831458e-06,1793245507902021632
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,680.963596216,660.963596216,630,880,785,811,653,630.036403784,652.036403784,0.448752638634,0.00455654243806,0.0497156551617,0.99999991644,4.43518654506e-05,-0.000406288592674,9.02995615499e-06,1793245507918688256
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.555129145,680.444870855,660.444870855,629.444870855,880,784.444870855,811,653,630.555129145,652.555129145,0.449154343347,0.0045604975866,0.0497333868243,0.99999992688,5.05619061494e-05,-0.000378909250369,1.05929695776e-05,1793245507935354880
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.144636186,659.855363814,629,880,784.144636186,811,652.855363814,630.855363814,653,0.449547420202,0.00456450008273,0.0497509824098,0.999999936034,5.73671642125e-05,-0.000352831250748,1.23030853188e-05,1793245507952021248
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.724280596,659.275719404,629,880,784.724280596,811,652.275719404,630.275719404,653,0.44991794826,0.0045669366784,0.0497628689438,0.999999940665,6.37279047938e-05,-0.000338229489653,1.44661654016e-05,1793245507968688384
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,628.698254254,880.301745746,785,811,652,630,653,0.450251147898,0.00457314883472,0.0497676525603,0.999999938264,0.000109133005973,-0.000333611827359,1.62645382072e-05,1793245507985355264
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,628.122766154,880.877233846,785,811,652,630,653,0.450550483345,0.00458278616218,0.049765992442,0.999999924661,0.000189958971041,-0.000338051692941,1.77320500381e-05,1793245508002022144
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.549557316,745,714,680.549557316,659,628,880.549557316,785,811,652.450442684,630,653,0.450809592921,0.00460009426559,0.0497588101799,0.999999912611,0.000221361458456,-0.000354217959445,1.74978535364e-05,1793245508018688512
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.047760399,745,714,680.023880199,659,627.976119801,880,785,811,653,630.023880199,653,0.451056489479,0.004618830941,0.0497503056125,0.999999901767,0.000238580566497,-0.000373178105188,1.68414353404e-05,1793245508035354624
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.235041399,745,714,680.617520699,659,627.382479301,880,785,811,653,630.617520699,653,0.451272253991,0.0046220224953,0.049745980047,0.999999898413,0.000237164604089,-0.000382928425479,1.71211612029e-05,1793245508052021248
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.795409192,745,714,681,659,627,880,784.795409192,811,653,630.795409192,653,0.451476087413,0.00462216151181,0.0497399290639,0.999999894316,0.000233217060635,-0.000395811264572,1.766615458e-05,1793245508068687616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.22024019,745,714,681,659,627,880,784.22024019,811,653,630.22024019,653,0.451658309862,0.00461677142357,0.0497307528083,0.999999888733,0.000224684029114,-0.000414368077707,1.86916306864e-05,1793245508085354240
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.643977402,681,659,626.643977402,880,784,811,653,630,652.643977402,0.451825182834,0.00461559243075,0.0497268733449,0.99999988563,0.000220511349339,-0.000423967489771,1.91615691772e-05,1793245508102021120
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.067035842,681,659,626.067035842,880,784,811,653,630,652.067035842,0.451982531173,0.00461702650419,0.0497262806433,0.999999884228,0.000219044352015,-0.000428008661759,1.92867858526e-05,1793245508118687744
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.520291698,713,681,659,626,880,784,811,653,630,652.520291698,0.452119321152,0.00461576069744,0.0497283037284,0.999999886784,0.000215817704234,-0.000423627221571,1.98541442162e-05,1793245508135354368
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.893131832,713.106868168,680.893131832,659,626,880,784.106868168,811.106868168,653,630,652.893131832,0.45224955012,0.00461473667247,0.0497308809285,0.999999889738,0.000212880858106,-0.000418085006419,2.02750415377e-05,1793245508152020992
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.315871128,713.684128872,680.315871128,659,626,880,784.684128872,811.684128872,653,630,652.315871128,0.452362796544,0.00461633921076,0.0497343834594,0.999999892283,0.000212237859094,-0.000412307398669,1.97954208232e-05,1793245508168687616
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.261034306,659,626,880.261034306,784.738965694,812,653,630,652.261034306,0.452462042324,0.00461766366112,0.0497351493782,0.999999893019,0.000212239522995,-0.00041053374065,1.94381042488e-05,1793245508185354496
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.837510387,659,626,880.837510387,784.162489613,812,653,630,652.837510387,0.452544369295,0.0046186520615,0.0497326082919,0.999999891594,0.00021302021716,-0.000413598577316,1.92285837372e-05,1793245508202021120
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.587691196,626,880.587691196,784.412308804,812,653,630,653,0.452609568902,0.00461858123154,0.049730075587,0.999999890828,0.000212297059498,-0.000415812843155,1.93165801454e-05,1793245508218687744
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.013551275,626,880.013551275,784.986448725,812,653,630,653,0.45266804602,0.00461809465387,0.049727546172,0.999999890319,0.000210983640299,-0.000417693260053,1.95213518855e-05,1793245508235354624
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.420453778,745,714,681,658,626,880.579546222,784.420453778,811.420453778,653,630,653,0.452708738564,0.00462012327804,0.049725220087,0.99999988814,0.000212747815094,-0.000422021792647,1.88471688761e-05,1793245508252021504
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.335299852,745,713.832350074,681,658,626,881,784,811,653,630,653,0.452747107547,0.0046220916142,0.0497238813694,0.99999988686,0.00021497161207,-0.000423952255627,1.81900616224e-05,1793245508268688384
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.485021672,745,713.257489164,681,658,626,881,784,811,653,630,653,0.452780876975,0.00462376583323,0.0497249289658,0.99999988789,0.000218131099614,-0.000419914217653,1.76260385699e-05,1793245508285355008
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.682055523,745,713.317944477,681,658,626,880.682055523,784.317944477,811,653,630,653,0.45280542387,0.00462553722576,0.0497250805534,0.999999887452,0.000220814403542,-0.000419550017361,1.77358376132e-05,1793245508302021632
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.106157153,745,713.893842847,681,658,626,880.106157153,784.893842847,811,653,630,653,0.452822488369,0.00462738745704,0.0497245051935,0.999999885829,0.00022311137175,-0.000422166465154,1.83923202013e-05,1793245508318688000
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,626,880,785,811,652.518296477,630.481703523,653,0.452831823684,0.00462787357394,0.0497211180602,0.999999883221,0.000223787904712,-0.000427953443098,1.82627392729e-05,1793245508335354624
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.070884887,714,681,658,626,880.070884887,784.929115113,811,652.070884887,630.929115113,653,0.452839270604,0.00462812170327,0.0497175752744,0.999999880661,0.000224281459058,-0.000433651238006,1.79829589222e-05,1793245508352020992
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.650150067,714,681,658,626,880.650150067,784.349849933,811,652.650150067,630.349849933,653,0.452845701485,0.0046288739437,0.049717473442,0.99999988029,0.000226089085348,-0.000433570672625,1.79000017887e-05,1793245508368687616
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,713.772316062,681,658.227683938,625.772316062,880.772316062,784,811.227683938,653,630,652.772316062,0.452849716138,0.00462973915261,0.0497168085105,0.999999879477,0.000227914338858,-0.000434485279723,1.79690371908e-05,1793245508385354496
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,713.197422409,681,658.802577591,625.197422409,880.197422409,784,811.802577591,653,630,652.197422409,0.452850046133,0.00463077663429,0.0497152848735,0.999999877988,0.000229766473125,-0.000436917488618,1.82698556795e-05,1793245508402021376
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.621966814,713.378033186,681,658.621966814,625,880.378033186,784.378033186,811.621966814,653,630,652.378033186,0.452850781345,0.00463071529466,0.0497141233685,0.999999877113,0.00022966530731,-0.000438967953774,1.83147529469e-05,1793245508418688256
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.046217333,713.953782667,681,658.046217333,625,880.953782667,784.953782667,811.046217333,653,630,652.953782667,0.452851728492,0.00463007925709,0.0497131512631,0.999999876557,0.000228542539979,-0.00044081876189,1.82258000633e-05,1793245508435355136
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.542704709,745,714,681,658,625.542704709,880.457295291,784.457295291,811,653,630,653,0.45285249544,0.00463175140473,0.0497133510352,0.999999876297,0.000230845241941,-0.000440220386742,1.7962596784e-05,1793245508452021504
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.869470655,745,714,681,658,625.869470655,880,784,811,653,630,653,0.452853210868,0.00463290428869,0.0497135806155,0.99999987614,0.000232534557275,-0.000439693293862,1.7823607335e-05,1793245508468687872
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.28938539,745,714,681,658,625.28938539,880,784,811,653,630,653,0.452853803021,0.00463157493791,0.0497135605928,0.999999876271,0.000231081614053,-0.000440147927347,1.81648021783e-05,1793245508485354496
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,625.289769125,880,784,811,653,630.289769125,653,0.45285433437,0.00463048792154,0.0497132029236,0.999999876394,0.000229801558136,-0.000440539187297,1.81488938007e-05,1793245508502021120
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,625.867997167,880,784,811,653,630.867997167,653,0.45285480519,0.0046296421437,0.0497125091345,0.99999987651,0.000228693607631,-0.000440867360315,1.77774969045e-05,1793245508518687488
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.557370228,681,658,625.557370228,880,784,811,653,630.557370228,653,0.452855468693,0.00463114876385,0.0497127615964,0.999999876321,0.00022998211945,-0.000440629882236,1.76478896511e-05,1793245508535354368
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.01665252,681,658,625,880.01665252,784,811,653,630,653,0.452856161921,0.00463331471217,0.0497132603847,0.999999876024,0.000231960197364,-0.000440268850906,1.75764489566e-05,1793245508552021248
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.606289247,681,658,625,880.606289247,784,811,653,630,653,0.452855916729,0.00463422267222,0.049712603241,0.999999875224,0.000233272203483,-0.000441414153176,1.70453165795e-05,1793245508568688128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.807463122,681,658,625,880.807463122,784.192536878,811,653,630,653,0.452856164999,0.00463482428503,0.0497122536435,0.999999874733,0.000234665639553,-0.000441798443755,1.67425826365e-05,1793245508585355264
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.22802587,681,658,625,880.22802587,784.77197413,811,653,630,653,0.452857404875,0.00463481029696,0.0497125220563,0.999999874869,0.000236222707982,-0.000440653491084,1.68988124337e-05,1793245508602021632
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,681.34956759,658,625,880,785,811,653,630,653,0.452857988494,0.0046350279069,0.0497126624652,0.999999875094,0.000235922147847,-0.000440300676295,1.6986886258e-05,1793245508618688256
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,681.925964616,658,625,880,785,811,653,630,653,0.452858146276,0.00463539579749,0.0497127198142,0.999999875376,0.000234416198898,-0.000440461868556,1.7030734635e-05,1793245508635354624
+244,4.066666667,HOLD_POSE2,765,745,713,681,658,625,880,785,810,653,630,653,0.452858158718,0.00463124569421,0.0497125000636,0.999999875741,0.00023189614111,-0.000440934925362,1.78565811687e-05,1793245508665945600
+245,4.083333333,HOLD_POSE2,765,745,713.579085308,681,658.579085308,625,880.579085308,784.420914692,810.579085308,653,630,653,0.452857712243,0.00463194425404,0.0497115117618,0.999999875235,0.000231310535745,-0.000442391585459,1.77652948114e-05,1793245508682612224
+246,4.100000000,HOLD_POSE2,765,745,714,681,658.842344093,625,880.842344093,784.157655907,811,653,630,652.842344093,0.452857323587,0.00463237134949,0.0497108609804,0.999999874783,0.000231277701252,-0.000443430752102,1.77346875738e-05,1793245508699279104
+247,4.116666667,HOLD_POSE2,765,745,714,681,658.265143085,625,880.265143085,784.734856915,811,653,630,652.265143085,0.452857088794,0.00463207603923,0.0497111083891,0.999999874479,0.000232715869629,-0.000443358908781,1.78655562029e-05,1793245508715945728
+248,4.133333333,HOLD_POSE2,765,745,714,681,658,625,880.31058649,784.68941351,811,653,630,652.31058649,0.452856759428,0.00463201372059,0.0497111188774,0.999999874326,0.000232640460318,-0.000443749815037,1.76776614927e-05,1793245508732612096
+249,4.150000000,HOLD_POSE2,765,745,714,681,658,625,880.885065813,784.114934187,811,653,630,652.885065813,0.452856349706,0.00463214936558,0.0497109280639,0.999999874302,0.000231279024922,-0.000444533900973,1.72189264036e-05,1793245508749278464
+250,4.166666667,HOLD_POSE2,765,745,714,681,657.529348558,625,880.529348558,784,811,653,630,652.529348558,0.452856968413,0.00463300339286,0.0497111449075,0.99999987422,0.00023248644289,-0.000444087924365,1.71835163537e-05,1793245508765945088
+251,4.183333333,HOLD_POSE2,765,745,713.941677368,681,657.058322632,625,880,784.058322632,811,653,630,652.058322632,0.452857758107,0.00463397829528,0.0497114564385,0.999999874151,0.000234097028319,-0.000443395524115,1.72437440014e-05,1793245508782611456
+252,4.200000000,HOLD_POSE2,765,745,713.360214769,681,657.639785231,625,880,784.639785231,811,653,630,652.639785231,0.45285777436,0.00463442581794,0.0497117027655,0.99999987434,0.000233561027969,-0.00044325225443,1.7212142044e-05,1793245508799278080
+253,4.216666667,HOLD_POSE2,765,745,713,681,658,625,880,785,811,653,630,653,0.45285707222,0.00463438207896,0.0497111305359,0.99999987397,0.000233422347835,-0.000444160404293,1.72155101217e-05,1793245508815944704
+254,4.233333333,HOLD_POSE2,765,745,713,681,658,625,880,785,811,653,630,653,0.452855200463,0.0046335385144,0.0497092256105,0.999999872683,0.000233930546807,-0.000446780375651,1.72758130935e-05,1793245508832611584
+255,4.250000000,HOLD_POSE2,765,745,713.370313177,681,658,625,880,785,811,653,630,652.629686823,0.452855374379,0.00463428974793,0.0497095374399,0.999999872553,0.000233868597749,-0.000447107548365,1.71717169802e-05,1793245508849278464
+256,4.266666667,HOLD_POSE2,765,745,713.945999496,681,658,625,880,785,811,653,630,652.054000504,0.452856682812,0.00463592544545,0.0497110786661,0.999999873066,0.00023349044856,-0.000446163150955,1.69764462698e-05,1793245508865945088
+257,4.283333333,HOLD_POSE2,765,745.533675421,713.466324579,681,658,625,880,784.466324579,811,653,630,652.533675421,0.452856865769,0.00463465162078,0.0497106793578,0.999999873411,0.000232807019213,-0.000445738953004,1.72115449061e-05,1793245508882611456
+258,4.300000000,HOLD_POSE2,765,746,713.120416313,681,658,625.120416313,880.120416313,784,811,653,630,653,0.452857004424,0.00463372230224,0.0497100258985,0.999999873594,0.000232332270349,-0.000445572347308,1.73132525057e-05,1793245508899278336
+259,4.316666667,HOLD_POSE2,765,746,713.698879805,681,658,625.698879805,880.698879805,784,811,653,630,653,0.452857417708,0.00463524904354,0.049709169757,0.99999987323,0.000232771515438,-0.000446180761914,1.67381036941e-05,1793245508915944960
+260,4.333333333,HOLD_POSE2,765,746,714,681,657.725176002,625.725176002,880.725176002,784.274823998,811,653,630,653,0.452857433638,0.00463639736613,0.0497093293719,0.999999872816,0.000233896130767,-0.00044653438503,1.635914242e-05,1793245508932611584
+261,4.350000000,HOLD_POSE2,765,746,714,681,657.151967126,625.151967126,880.151967126,784.848032874,811,653,630,653,0.452857018147,0.00463713482777,0.0497105918248,0.999999872345,0.000235764873645,-0.00044661137314,1.61931880321e-05,1793245508949278208
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,625,880,785,811,652,630,653,0.452858898649,0.00463477819345,0.0497112422653,0.999999873292,0.000235167668035,-0.000444780621392,1.67924034368e-05,1793245508981971456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.578844105,657.578844105,625,880.578844105,785,811,652.578844105,630,653,0.452858345798,0.00463529971918,0.0497109599159,0.999999873052,0.0002352150548,-0.000445302098931,1.66318584273e-05,1793245508998637824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.157685059,681,658,625,880.842314941,785,811,653,630,652.842314941,0.452858541562,0.00463518638303,0.0497110512306,0.99999987329,0.000234785179952,-0.000444996639021,1.65707412704e-05,1793245509015304448
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.736517726,681,658,625,880.263482274,785,811,653,630,652.263482274,0.452860736734,0.00463337744837,0.0497121405329,0.999999874801,0.000233080627677,-0.00044248258235,1.67751774699e-05,1793245509031971072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.311696912,714,681,657.688303088,625,880,784.688303088,811,652.688303088,630,652,0.452859967006,0.00463401669101,0.0497116424113,0.999999874169,0.000233608053333,-0.000443633118967,1.66978723498e-05,1793245509048637952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.883823501,714,681,657.116176499,625,880,784.116176499,811,652.116176499,630,652,0.452856720037,0.00463670144014,0.0497098179618,0.999999871735,0.000236000346105,-0.00044784550462,1.63851661023e-05,1793245509065304576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.530133654,745.530133654,714,681,657.469866346,625,880,784.469866346,811,652.469866346,630,652.469866346,0.452857299497,0.0046374058711,0.0497102066993,0.99999987207,0.00023697001361,-0.000446586499152,1.62793983141e-05,1793245509081970944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.058508936,745,714,681,658,625,880.058508936,784.941491064,811,653,630,653,0.452858508244,0.00463733790363,0.0497109618545,0.99999987304,0.000237244009752,-0.000444263679407,1.63029669476e-05,1793245509098637568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.638715371,745,714,681,658,625,880.638715371,784.361284629,811,653,630,653,0.452856634619,0.00463488198276,0.049709955954,0.999999873387,0.000234547145938,-0.000444886004406,1.70096169693e-05,1793245509115304192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,880.782927237,784.217072763,811,653,630,653,0.452849498702,0.00463372024645,0.0497067311563,0.999999871394,0.000233414433492,-0.000449926273854,1.71891503138e-05,1793245509131970816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,880.207621362,784.792378638,811,653,630,653,0.452833678477,0.00463469429082,0.0496998445338,0.999999865443,0.000234863025386,-0.000462257434817,1.64987879579e-05,1793245509148637696
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.367402783,658,625,880,784.632597217,810.632597217,653,630,653,0.452800260409,0.00463643936516,0.049685155776,0.999999853094,0.000237067898803,-0.00048720241502,1.56684227437e-05,1793245509165304320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.942267896,658,625,880,784.057732104,810.057732104,653,630,653,0.452756905319,0.0046386198192,0.0496660613645,0.999999836342,0.000239699823717,-0.000519270075691,1.47590016568e-05,1793245509181970944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.467956631,658,625,880,784,810.532043369,653,630,652.467956631,0.452694632803,0.00463889817048,0.0496459151631,0.999999820259,0.000238248908981,-0.000550012320573,1.43407642008e-05,1793245509198637824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,879.879345782,784,811,653,630.120654218,652,0.4526282945,0.00463888030487,0.0496278131114,0.999999805254,0.000237186592316,-0.000577095168314,1.40180691414e-05,1793245509215304448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625,879.301456389,784,811,653,630.698543611,652,0.452554551733,0.00463854460875,0.049617902611,0.999999796702,0.000239324246742,-0.000590870998821,1.38496395428e-05,1793245509231970816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.725118908,681,658,625,879.274881092,784,811,653,630.725118908,652.274881092,0.452473098182,0.00463868267301,0.0496114403631,0.99999979043,0.000240944528005,-0.000600749714226,1.36361881006e-05,1793245509248637440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.150473858,681,658,625,879.849526142,784,811,653,630.150473858,652.849526142,0.452383235853,0.00463933738354,0.0496087385121,0.999999786781,0.000242000602206,-0.00060637853798,1.33736393462e-05,1793245509265304064
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.434599366,681,658,625,880,784.434599366,811,653,630,653,0.452281031942,0.00464020741279,0.0496089256806,0.999999785119,0.000244881163844,-0.000607963334958,1.32864658083e-05,1793245509281971200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.02312728,880.02312728,784.97687272,811,653,630,653,0.452172982249,0.00464116985779,0.0496101956724,0.999999784182,0.00024837414292,-0.000608087883786,1.32368243762e-05,1793245509298637824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.6057362,880.6057362,784.3942638,811,653,630,653,0.452029428446,0.00464252013683,0.0496128675474,0.99999978383,0.000251024881874,-0.000607592213997,1.25900930261e-05,1793245509315304448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.814158592,880.814158592,784,810.814158592,653,630,652.814158592,0.451876966042,0.00464409369346,0.0496141471721,0.999999782245,0.000253983534286,-0.000608984606186,1.18496208373e-05,1793245509331970816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,625.23929449,880.23929449,784,810.23929449,653,630,652.23929449,0.451705855239,0.00464613463795,0.0496125123922,0.999999778065,0.000257586743058,-0.000614329287458,1.09129205905e-05,1793245509348637440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.664359074,681,658,625,880,784,810.335640926,653,630,652,0.451517748228,0.00464838409108,0.0496104499062,0.999999775158,0.000261980523501,-0.000617207117856,1.02274254358e-05,1793245509365304320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.089372745,681,658,625,880,784,810.910627255,653,630,652,0.45131752121,0.00465078223184,0.049608082423,0.999999773161,0.00026693806064,-0.000618325838485,9.72106443021e-06,1793245509381970944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.499334597,681,658,625.499334597,880,784.499334597,810.500665403,652.500665403,630,652.499334597,0.451093548413,0.00465078481144,0.0496065731517,0.99999977379,0.000268748682748,-0.000616530474785,9.22024675848e-06,1793245509398637568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626,880,784.91125541,810,652.08874459,630,653,0.450860529455,0.00465154915091,0.0496074894225,0.999999776974,0.00027131737334,-0.000610219223037,8.39212369719e-06,1793245509415304192
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626,880,784.331920602,810,652.668079398,630,653,0.450601661125,0.00465896182698,0.0496209412222,0.999999791116,0.000281278421309,-0.000581908411895,5.74897911231e-06,1793245509431970816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626.245296227,880,784.245296227,810,653,630,652.754703773,0.450322986666,0.00466320344577,0.0496304773179,0.999999800503,0.000288096454428,-0.000562119581098,3.88739679657e-06,1793245509448637184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,626.81967163,880,784.81967163,810,653,630,652.18032837,0.450017741146,0.00466319090609,0.0496347602679,0.999999804416,0.000290697949721,-0.000553763485511,3.07432594992e-06,1793245509465303808
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.597565289,681,658,627,880,784.597565289,810,653,630,652.402434711,0.44968338796,0.00466479510314,0.0496344675171,0.999999803453,0.000295798673915,-0.000552804651266,1.92259949681e-06,1793245509481970944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.010963758,681,658,627,880,784.010963758,810,653,630,652.989036242,0.449335714195,0.00466713916992,0.0496320807813,0.999999800244,0.000302043124027,-0.00055523103741,6.15893576119e-07,1793245509498637824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.569637985,713.569637985,681,658,627.569637985,880,784.569637985,810.569637985,653,630.569637985,653,0.448928397354,0.00467083836052,0.049629595658,0.999999793217,0.000308893444489,-0.000564048590636,-1.93275136509e-07,1793245509515304192
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.850781406,713.850781406,681,658.149218594,628,880,785,811,653,631,653,0.448508123472,0.00467432087426,0.0496261569155,0.999999786938,0.000315099607691,-0.000571694214249,-1.49934662019e-06,1793245509531970560
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.27380058,713.27380058,681,658.72619942,628,880,785,811,653,631,653,0.448053962439,0.00467710825449,0.0496199898227,0.999999783299,0.000319426095562,-0.000575631331785,-4.25704545895e-06,1793245509548637440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,659,628.301094171,880.301094171,785,810.698905829,653,630.698905829,653,0.447584487278,0.00467746345303,0.0496148820276,0.999999779963,0.000322316210662,-0.000579781584355,-6.34495646766e-06,1793245509565304320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,659,628.874105063,880.874105063,785,810.125894937,653,630.125894937,653,0.447101181949,0.00467562216011,0.0496107308787,0.99999977691,0.000323909144811,-0.00058412431862,-7.8279855725e-06,1793245509581971456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.461554506,713,680.538445494,659,629,881,785,810,653,630.461554506,653,0.446597188329,0.00467693294862,0.0496099010806,0.999999775222,0.000326199498433,-0.000585709709325,-9.66037146718e-06,1793245509598637824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,713,680,659.051926888,629.051926888,881,785,809.948073112,653,630.948073112,653,0.446085847997,0.00467891285752,0.0496131123755,0.999999776777,0.000328751200907,-0.000581579095864,-1.15486454931e-05,1793245509615304192
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,713,680,659.630707372,629.630707372,881,785,809.369292628,653,630.369292628,653,0.445559070215,0.00467867671842,0.0496478363009,0.999999805777,0.000331962151991,-0.000527330816343,-1.3005909352e-05,1793245509631970816
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,713.20886769,680.20886769,660,630,881,785,809.20886769,653,630,652.79113231,0.445004663947,0.00467809110965,0.0496813186273,0.999999828469,0.000335129190674,-0.000480154416612,-1.42119324821e-05,1793245509648637440
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,713.785934725,680.785934725,660,630,881,785,809.785934725,653,630,652.214065275,0.444401553239,0.00467688944341,0.049712612217,0.999999843481,0.000338218819973,-0.000445444581516,-1.49750595356e-05,1793245509665304064
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.631678813,713.631678813,680.631678813,660,630.368321187,880.631678813,785,810,653,630,652,0.443772722955,0.00467725744216,0.0497208897511,0.999999845271,0.000342241251156,-0.00043820920487,-1.73924637101e-05,1793245509681970944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.046155458,713.046155458,680.046155458,660,630.953844542,880.046155458,785,810,653,630,652,0.443128725637,0.00467855108588,0.0497155945185,0.999999839661,0.000346813763648,-0.000447175753758,-2.07854092907e-05,1793245509698638336
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.533369559,713,680.533369559,660.533369559,631.533369559,880,785,810,653,630,652.533369559,0.442472866486,0.00465594267844,0.049723531877,0.99999985735,0.000322585116054,-0.000425009881129,-2.45879854909e-05,1793245509715304960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.888182238,713.111817762,681,661.223635523,632,880,785,809.888182238,652.888182238,630.111817762,652.888182238,0.441815599518,0.00463016363376,0.0497413458333,0.999999887893,0.000269828169603,-0.000388151426231,-2.72950841829e-05,1793245509731971328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.312074031,713.687925969,681,662.375851939,632,880,785,809.312074031,652.312074031,630.687925969,652.312074031,0.441156701902,0.00459971227843,0.0497954676869,0.99999994835,0.000108849398353,-0.00030134823711,-2.53079834252e-05,1793245509748638208
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.735803548,680.735803548,663,632,880,785,809.264196452,652,631,652.264196452,0.440442587034,0.00458941010195,0.0498289396615,0.999999967996,3.15477270771e-05,-0.000249622571565,-2.64749767625e-05,1793245509765304832
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.159341191,680.159341191,663,632,880,785,809.840658809,652,631,652.840658809,0.439663208276,0.00460292316027,0.0498380046037,0.99999996945,5.31478400792e-05,-0.000239356637449,-3.13699390881e-05,1793245509781971456
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.573464974,632,879.573464974,785.426535026,810,652,630.573464974,652.573464974,0.438847876353,0.00461399006026,0.0498115123482,0.999999956266,7.27570507352e-05,-0.000284363849815,-3.62037395194e-05,1793245509798637824
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632,879.015737284,785.984262716,810,652.015737284,630,652,0.438018993014,0.00462386382938,0.0497725992169,0.999999934139,9.13548939365e-05,-0.000348853246216,-4.09496897406e-05,1793245509815304192
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632,879.595265438,785.404734562,810,652.595265438,630,652,0.43719665561,0.00462446989681,0.0497753166698,0.999999930997,0.000100966459148,-0.000354866196971,-4.33854253333e-05,1793245509831971072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.173294449,680.173294449,662.173294449,632.173294449,879.826705551,785.173294449,809.826705551,652.826705551,630,652.173294449,0.436366767052,0.00462670500803,0.0497821804906,0.999999930981,0.000110968759914,-0.000351585118923,-4.59646682043e-05,1793245509848637696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.747852157,680.747852157,662.747852157,632.747852157,879.252147843,785.747852157,809.252147843,652.252147843,630,652.747852157,0.435519393851,0.00463271216981,0.0497986452252,0.999999937985,0.000121875808172,-0.00032678371869,-4.88762019914e-05,1793245509865304576
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.67677727,745,713.67677727,681,662.67677727,633,879.32322273,785.67677727,809,652,630.32322273,653,0.434646618454,0.00463473185553,0.049795108082,0.99999993619,0.000125281561507,-0.00033034481201,-5.28784728161e-05,1793245509881971200
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.100771004,745,713.100771004,681,662.100771004,633,879.899228996,785.100771004,809,652,630.899228996,653,0.433753976745,0.00463363304649,0.0497759280239,0.999999927392,0.000122820759526,-0.000356087426305,-5.77337786931e-05,1793245509898637824
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.929495257,663,632,880,785,809,652,630,652,0.432067271639,0.00460587491453,0.0498114919538,0.999999948416,5.98381831238e-05,-0.000309570850279,-6.12684313786e-05,1793245509931971072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.348478794,663,632,880,785,809,652,630,652,0.431167784784,0.00460359778742,0.0498067468419,0.99999994993,2.79446738444e-05,-0.000309024939299,-6.21424471335e-05,1793245509948637952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.770248621,632.229751379,879.770248621,785,809,652,630,652,0.430251137213,0.00460438659167,0.0497919736982,0.99999994328,5.00951792196e-05,-0.000328744056218,-5.34637915238e-05,1793245509965304320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.196193872,632.803806128,879.196193872,785,809,652,630,652,0.429308772615,0.00460976997304,0.0497621726346,0.999999916038,0.000153235558772,-0.000378832160783,-3.04695872981e-05,1793245509981970944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632.621424004,879,785,808.621424004,652.378575996,630,652,0.428376898574,0.00461563255232,0.0497632927443,0.999999907905,0.000191734988458,-0.000383116518903,-2.54870653137e-05,1793245509998637568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632.046282863,879,785,808.046282863,652.953717137,630,652,0.427450471523,0.00462174394157,0.0497804678221,0.999999914105,0.000196671382512,-0.000363618543788,-2.98566140103e-05,1793245510015304192
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.547011961,662.547011961,632.547011961,879,785,808,653,629.452988039,652,0.426527039025,0.00462441871927,0.0497697453391,0.999999910333,0.000186596635411,-0.000378661541023,-3.36364935166e-05,1793245510031971072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.862590336,662.862590336,632.862590336,879,785.137409664,808,652.862590336,629,652,0.425625492011,0.00462436258878,0.0497674797964,0.999999914454,0.000172422413883,-0.00037415250046,-3.70459260306e-05,1793245510048637696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.286513267,662.286513267,632.286513267,879,785.713486733,808,652.286513267,629,652,0.424792975755,0.00461654841978,0.0498000063261,0.999999943793,0.000149354854722,-0.000297575280763,-3.94374843405e-05,1793245510065304320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.289092008,632.289092008,879,786,808,652,629.289092008,652,0.423930584632,0.00460795775927,0.0498249513889,0.9999999594,0.00013611983934,-0.000247091490971,-4.02079642895e-05,1793245510081970944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.864230424,632.864230424,879,786,808,652,629.864230424,652,0.423038633422,0.00459859878811,0.0498423948539,0.999999965695,0.000132613783363,-0.000222426241188,-3.93744440518e-05,1793245510098637568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.450567611,713,680,662.549432389,633,879,785.549432389,808,652,629.549432389,652,0.422107236652,0.00459829868486,0.0498193438426,0.999999954111,0.000137461442652,-0.000267083181751,-3.93649032794e-05,1793245510115304192
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.960368059,713,680,662,633,879,785,808,652.039631941,629.039631941,652,0.421168109705,0.00460120609124,0.0497866597337,0.999999934787,0.000144300131293,-0.000328692278786,-3.9552240892e-05,1793245510131970816
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.381286936,713,680,662,633,879,785,808,652.618713064,629.618713064,652,0.420289676165,0.00460967003262,0.0497931783417,0.999999934727,0.000143103199868,-0.000329469909482,-3.8953654906e-05,1793245510148637440
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.771556269,633,878.228443731,785.771556269,808,652.228443731,630,652,0.418529774677,0.00462047510731,0.049786464525,0.999999922281,0.000144253853939,-0.000364908960869,-3.83498687719e-05,1793245510181970944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.29190887,633,878.354045565,785.645954435,807.645954435,652,630,652,0.417687312966,0.00461955151914,0.0497808086982,0.999999920034,0.000146085071408,-0.000370166676782,-3.95920332509e-05,1793245510198637824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,661.117213376,633,878.941393312,785.058606688,807.058606688,652,630,652,0.416870045828,0.0046154493655,0.0497768318655,0.999999922725,0.000148170696391,-0.000361733281103,-4.17557163352e-05,1793245510215304704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.04298381,633,879,785,807.521491905,652.521491905,630,652.521491905,0.416093756563,0.00460747024239,0.0497998633407,0.999999938312,0.000143043456288,-0.000318134476871,-4.13025128896e-05,1793245510231971072
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.899600087,633,879,785.100399913,808,652.899600087,629.899600087,652.899600087,0.415317786916,0.00460090506798,0.049819312069,0.999999949896,0.000136434170241,-0.000282722093876,-4.07783930219e-05,1793245510248637440
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.322529816,633,879,785.677470184,808,652.322529816,629.322529816,652.322529816,0.4145217703,0.00460309316217,0.04980753791,0.99999994472,0.000126584293848,-0.000304682186824,-4.12947089875e-05,1793245510265304064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.746847733,662,633,878.746847733,786,808,652.253152267,629.253152267,652,0.413738602625,0.00460610815031,0.0497896431693,0.999999935222,0.000125695217552,-0.000334614478732,-4.22959159239e-05,1793245510281970688
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.172924678,662,633,878.172924678,786,808,652.827075322,629.827075322,652,0.412971715984,0.00461017090069,0.0497639930031,0.999999919585,0.000136160426673,-0.000374648390936,-4.39115311153e-05,1793245510298637312
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.412478087,713,679.412478087,662.412478087,633,878,786,808,653,630,652,0.412256884791,0.00461313401691,0.0497745541835,0.999999922689,0.000146610104829,-0.000362291590308,-4.32605193561e-05,1793245510315304448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.997226823,745.997226823,713,680,662.997226823,633,878,786,808,652.997226823,629.997226823,652,0.411564545609,0.00461561375792,0.0498006300804,0.999999933198,0.000156925129515,-0.000327483382583,-4.16419397871e-05,1793245510331971328
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.419004578,745.419004578,713,680,662.419004578,633,878,786,808,652.419004578,629.419004578,652,0.410881320093,0.00461618978536,0.049805769009,0.999999937376,0.000140688439964,-0.000322000604854,-4.20739350689e-05,1793245510348637952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.157624656,745,713,680,662.157624656,633,878.157624656,786,807.842375344,652.157624656,629.157624656,652,0.410210071361,0.00461533929454,0.0498051184629,0.999999937725,0.000130123929824,-0.000325312621667,-4.23086279471e-05,1793245510365304576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.730061775,745,713,680,662.730061775,633,878.730061775,786,807.269938225,652.730061775,629.730061775,652,0.409570341148,0.00461073471126,0.0497892320638,0.999999928203,0.000134486590443,-0.000351769432543,-4.2024090638e-05,1793245510381970944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.698790815,663,633,878.698790815,786,807,652.698790815,629.698790815,652,0.40897585461,0.0046039130874,0.049789137044,0.999999929735,0.000132794323679,-0.000348060244454,-4.18183882773e-05,1793245510398637568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.128794326,663,633,878.128794326,786,807,652.128794326,629.128794326,652,0.408421741797,0.00459511306345,0.049803133635,0.99999994085,0.000125698876061,-0.000317432096174,-4.16830351488e-05,1793245510415304192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.464467572,663,633,877.535532428,786,807,652.464467572,629,652,0.407867647343,0.00459486991294,0.0498182497342,0.999999947317,0.000118922060385,-0.000299231036591,-4.10442499679e-05,1793245510431970816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.937721246,633,877.062278754,786,807.062278754,653,629,652,0.40731492929,0.00459716889564,0.049830098798,0.999999950752,0.000113201537714,-0.000289915939881,-4.03828542308e-05,1793245510448637696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.358521204,633,877.641478796,786,807.641478796,653,629,652,0.406773591009,0.00459983505974,0.0498121185619,0.999999939935,0.000115476348113,-0.000324245267366,-4.07535763326e-05,1793245510465304832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878,785.780795883,807.780795883,653,629,652,0.40624987701,0.00460171147692,0.0497918158176,0.999999927531,0.000118384511605,-0.000359456772784,-4.13949285187e-05,1793245510481971456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878,785.205466494,807.205466494,653,629,652,0.405754795975,0.00460230484843,0.0497677398617,0.999999913168,0.000122321638478,-0.000396101486515,-4.24759540601e-05,1793245510498638336
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.035691253,662,633,878,785,807,653,629,652.964308747,0.404911309734,0.00461213024742,0.0497735048947,0.999999914326,0.000135088171412,-0.000388764943753,-4.42874113686e-05,1793245510531971072
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,785.543669999,807,653,629.543669999,652.456330001,0.404557746784,0.00461279481567,0.0498041219815,0.99999993167,0.000139525125816,-0.000339546232153,-4.35942139792e-05,1793245510548637696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,786,807,653,629.877787159,652.122212841,0.404214129985,0.00461309957308,0.0498335016645,0.999999945936,0.000143102426421,-0.000292912504544,-4.30423636984e-05,1793245510565304320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,878,786,807,653,629.300458509,652.699541491,0.403894957529,0.00461331501757,0.0498529993904,0.999999953627,0.000144075874471,-0.000264774573804,-4.33932000648e-05,1793245510581970688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.275065152,662.275065152,633,878,786,807.275065152,653,629,652.724934848,0.403577107311,0.00461467029228,0.0498577746356,0.999999954296,0.000146291083712,-0.00026087980186,-4.41518814575e-05,1793245510598637312
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.84863001,662.84863001,633,878,786,807.84863001,653,629,652.15136999,0.403260692,0.00461726250657,0.0498465730971,0.999999947616,0.000149853847673,-0.000283293619671,-4.53531547841e-05,1793245510615304192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.56447548,745,713,679.56447548,663,633,878,786,807.56447548,653,629.43552452,652,0.402972792368,0.00461628549073,0.0498337988914,0.999999940447,0.000150139807833,-0.000307321408183,-4.60129607008e-05,1793245510631971328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.026646297,745,713,679,662.973353703,633.026646297,878.026646297,786,807,653,629.973353703,652,0.402696670717,0.00461386917658,0.0498207042043,0.999999932602,0.000150846105179,-0.000331552552222,-4.5973734916e-05,1793245510648638208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.60631559,745,713,679,662.39368441,633.60631559,878.60631559,786,807,653,629.39368441,652,0.402452805677,0.00460814010849,0.0498126604388,0.999999921772,0.00018465897288,-0.000347994585352,-3.54557311444e-05,1793245510665304576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.184659579,633.815340421,878.815340421,786,807,653,629,652,0.402230310171,0.00460028918939,0.0498082820519,0.99999991903,0.000186731175791,-0.000355347020301,-2.82821849376e-05,1793245510681970688
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.760198152,633.239801848,878.239801848,786,807,653,629,652,0.402053048757,0.00458794683335,0.0498116623726,0.999999933225,0.000121616179465,-0.000343459005271,-2.81880356586e-05,1793245510698637312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.33475294,663,633,878,786,807,653,629,652,0.401896346289,0.00458291955045,0.0498170972703,0.999999940689,9.51960865855e-05,-0.000329695892214,-2.9338187964e-05,1793245510715303936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.908605114,663,633,878,786,807,653,629,652,0.401754328149,0.00458311709977,0.0498239996618,0.999999945375,9.64140469259e-05,-0.000314593478962,-3.13770899562e-05,1793245510731970560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.502383719,663,633,878,786,807,653,629,652,0.401637199616,0.00458614139111,0.0498314267894,0.99999994968,9.80798921976e-05,-0.000299866545415,-3.31685450352e-05,1793245510748637696
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.912450668,633,878,786,807,653,629,652,0.401526664263,0.00458862615686,0.0498376418466,0.999999953143,9.94161387533e-05,-0.000287458587762,-3.4618611228e-05,1793245510765304576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.333462043,633,878,786,807,653,629,652,0.401426671671,0.00458507657085,0.0498364952278,0.999999953187,9.8425992125e-05,-0.000287668425844,-3.44154902412e-05,1793245510781971456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.244149117,633,878,786,807,653,629,652,0.401335940454,0.00458463463963,0.0498344082318,0.999999952434,9.95287155315e-05,-0.000289859613507,-3.47548110614e-05,1793245510798638080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.819889434,633,878,786,807,653,629,652,0.401257787581,0.00458841337095,0.0498310440624,0.999999950568,0.000103473871102,-0.000294741771719,-3.58308494063e-05,1793245510815304448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.597519863,633,878,786,807,653,629,652,0.401198794445,0.00458903453379,0.0498318781935,0.999999951254,0.000105155001316,-0.00029172382044,-3.64889825632e-05,1793245510831970816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.011810536,633,878,786,807,653,629,652,0.401148523787,0.00458821821263,0.049834623602,0.999999953076,0.000105805433266,-0.000285109342048,-3.69568642404e-05,1793245510848637440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.429074894,745,713,679.570925106,662,633,878,785.429074894,806.429074894,653,629,652,0.401113533551,0.00458657743616,0.0498382764495,0.999999955121,0.000106425370534,-0.000277709766792,-3.61700228666e-05,1793245510865304064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.151642246,745,713,679.848357754,662,633,877.848357754,785,806.151642246,653,629.151642246,652,0.401081163195,0.00458626491284,0.0498412502585,0.999999956683,0.000107502232828,-0.000271647623411,-3.58401864495e-05,1793245510881971200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.726891629,745,713,679.273108371,662,633,877.273108371,785,806.726891629,653,629.726891629,652,0.401055232941,0.00458971021333,0.0498422750306,0.999999957007,0.000109857251662,-0.000269366682631,-3.68591085562e-05,1793245510898638336
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662,633,877.872477129,785,807,653,630,652.872477129,0.401014695764,0.0045890281121,0.0498405385659,0.999999956444,0.000107817901216,-0.000272220345966,-3.71953532313e-05,1793245510931971584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.056616582,679.056616582,663,633.943383418,878,786,807,653,629,652,0.400995648778,0.00458766106436,0.0498403090978,0.999999956949,0.000107552499343,-0.000270505120115,-3.69010716985e-05,1793245510965304832
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.632840753,679.632840753,663,633.367159247,878,786,807,653,629,652,0.40099147819,0.00458757937862,0.0498409629089,0.999999957082,0.000110112747609,-0.000269025177444,-3.65666153114e-05,1793245510981971200
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.79103742,679.79103742,663,633,878,786,807.20896258,653,629.20896258,652.20896258,0.400988755502,0.00458663300467,0.0498419531973,0.999999957542,0.000110022239235,-0.000267383644844,-3.62811592567e-05,1793245510998637824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.215095361,679.215095361,663,633,878,786,807.784904639,653,629.784904639,652.784904639,0.400988575613,0.00458416806778,0.049843534406,0.999999958573,0.000105276479575,-0.000265458328565,-3.60817574638e-05,1793245511015304448
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cabdf83810a9ce1139d5da6d7aa354b06fbaf891
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ccf324b84ad7ad3ea4853b6fc2c9ceaed0eee1e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4b79fa18b4c8b21e5f628683eb5148f18900c11e8b6260b8f7ea39bacf1035
+size 25706627
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da12e5c5527f000f9eba2828da45b8c57f6abad9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+8,0.133333333,BASELINE,764.363882337,745,713,679,662.636117663,633.363882337,877.363882337,786,807,653,629,652,0.400985839122,0.0045873533196,0.0498495806894,0.999999961402,0.000106587456948,-0.000254044189402,-3.60054584242e-05,1793245511614071552
+9,0.150000000,BASELINE,764.210842839,745,713,679.210842839,663,633.210842839,877.210842839,786,807,653,629,652,0.400985105706,0.004587744929,0.0498490678502,0.999999961107,0.000107230393243,-0.000254932278323,-3.60220436929e-05,1793245511630738176
+10,0.166666667,BASELINE,764.784408758,745,713,679.784408758,663,633.784408758,877.784408758,786,807,653,629,652,0.400985375203,0.00458640741823,0.0498496664736,0.999999961309,0.000108069563452,-0.000253866492817,-3.54272274736e-05,1793245511647405312
+11,0.183333333,BASELINE,765,745,713.370381949,679.629618051,663,633.629618051,878,786,807,653.370381949,629,652,0.400985465468,0.00458719402368,0.0498500128891,0.999999961311,0.000108585923789,-0.000253613203588,-3.55989352254e-05,1793245511664072192
+12,0.200000000,BASELINE,765,745,713.963827512,679.036172488,663,633.036172488,878,786,807,653.963827512,629,652,0.400985447789,0.00458925988421,0.0498502074119,0.999999961193,0.000108907871014,-0.000253849242519,-3.62322842261e-05,1793245511680738560
+13,0.216666667,BASELINE,765,745,713.457963205,679,663,633.542036795,878,785.457963205,807,653.457963205,629.542036795,652,0.400985444294,0.00458798246888,0.0498503079521,0.99999996158,0.000107238538117,-0.00025304762294,-3.614420039e-05,1793245511697404928
+14,0.233333333,BASELINE,765,745,713,679,663,634,878,785.118941995,807,653,630,652,0.400985848753,0.00458645343717,0.0498505540872,0.999999962019,0.000105606818836,-0.000252019613648,-3.59962851516e-05,1793245511714071552
+15,0.250000000,BASELINE,765,745,713,679,663,634,878,785.694637343,807,653,630,652,0.400987816272,0.00458479151724,0.0498513827524,0.999999962542,0.000104615891758,-0.000250380886284,-3.57984353089e-05,1793245511730738176
+16,0.266666667,BASELINE,765,745,713,679,663,633.723737044,878,786,807,653,629.723737044,652,0.400987618057,0.00458465050754,0.0498510760379,0.999999962445,0.00010400246291,-0.000251031933043,-3.57208820213e-05,1793245511747405056
+17,0.283333333,BASELINE,765,745,713,679,663,633.135412749,878,786,807,653,629.135412749,652,0.400984973471,0.00458622748897,0.0498494868202,0.999999961645,0.000103815448884,-0.000254269464842,-3.57792134275e-05,1793245511764072192
+18,0.300000000,BASELINE,765,745,713,679.44596585,663,633,878,785.55403415,807,653,629,652,0.40098411888,0.00458643186306,0.04984937222,0.999999961279,0.000105212451212,-0.000255135555626,-3.57467039415e-05,1793245511780738816
+19,0.316666667,BASELINE,764.974897847,745.025102153,713,680,663,633,877.974897847,785.025102153,807,653,629,652.025102153,0.400983805552,0.00458624073396,0.0498496686317,0.999999961054,0.000107029674465,-0.000255268123697,-3.56919017189e-05,1793245511797405696
+20,0.333333333,BASELINE,764.399393531,745.600606469,713,680,663,633,877.399393531,785.600606469,807,653,629,652.600606469,0.400983625659,0.00458637593144,0.0498493100262,0.999999961086,0.000107676622789,-0.000254863433454,-3.5743818457e-05,1793245511814072064
+21,0.350000000,BASELINE,764.175983032,745.824016968,713,679.824016968,663,633,877.175983032,785.824016968,807,653,629,652.824016968,0.400983653734,0.00458624741997,0.0498490255852,0.99999996118,0.000107636592259,-0.000254521298846,-3.56872701822e-05,1793245511830738688
+22,0.366666667,BASELINE,764.751069791,745.248930209,713,679.248930209,663,633,877.751069791,785.248930209,807,653,629,652.248930209,0.400984153453,0.0045855208552,0.0498489093383,0.999999961412,0.000106038594272,-0.000254321031301,-3.53847391457e-05,1793245511847405056
+23,0.383333333,BASELINE,765,745,713,679.335138678,663,633,878,785.335138678,807,653,629,652,0.400984392233,0.00458551929819,0.0498490632726,0.999999961504,0.000104606205466,-0.000254543643674,-3.54534386966e-05,1793245511864071680
+24,0.400000000,BASELINE,765,745,713,679.926062995,663,633,878,785.926062995,807,653,629,652,0.40098443186,0.0045860710839,0.0498494234154,0.999999961488,0.000103300213272,-0.00025508900782,-3.58054700402e-05,1793245511880738304
+25,0.416666667,BASELINE,765,745,713,680,662.493656221,633,877.493656221,786,807,653,629,652,0.40098478418,0.00458590071835,0.0498499540536,0.999999961664,0.000103814141857,-0.000254209798226,-3.56589960248e-05,1793245511897405184
+26,0.433333333,BASELINE,765,745,713,680,662.084782181,633,877.084782181,786,807,653,629,652,0.400985179089,0.00458563259245,0.0498504818027,0.999999961861,0.00010440072314,-0.000253218530456,-3.54787362046e-05,1793245511914071808
+27,0.450000000,BASELINE,765,745,713,680,662.661363457,633,877.661363457,786,807,653,629,652,0.400985561633,0.00458539647602,0.0498508513502,0.999999962028,0.00010389895026,-0.000252759058771,-3.55160503259e-05,1793245511930738432
+28,0.466666667,BASELINE,765,745.236777009,713,679.763222991,663,633,877.763222991,786,807,653,629,652.236777009,0.400985968405,0.00458560000507,0.0498511488189,0.999999962154,0.000104357228872,-0.000252053020086,-3.56444307567e-05,1793245511947405312
+29,0.483333333,BASELINE,765,745.810528655,713,679.189471345,663,633,877.189471345,786,807,653,629,652.810528655,0.400986409654,0.00458642922569,0.0498513437069,0.999999962219,0.000106181826838,-0.000250996073937,-3.59024142941e-05,1793245511964072448
+30,0.500000000,BASELINE,765,745.603376447,713,679,663,633.396623553,877.396623553,785.603376447,807,653,629,652.603376447,0.400985801063,0.00458631956107,0.0498512004873,0.999999962232,0.000105563450175,-0.000251215491861,-3.583275501e-05,1793245511980739072
+31,0.516666667,BASELINE,765,745.011195663,713,679,663,633.988804337,877.988804337,785.011195663,807,653,629,652.011195663,0.400984674845,0.00458574697436,0.0498508905621,0.999999962217,0.000103740552576,-0.000252064227517,-3.56015497839e-05,1793245511997405696
+32,0.533333333,BASELINE,765,745,713,679,663,633.434069368,878,785.565930632,807,653,629.565930632,652,0.400984475361,0.0045850629994,0.0498500451427,0.999999961991,0.000103567579819,-0.000253040474753,-3.55412654375e-05,1793245512014071552
+33,0.550000000,BASELINE,765,745,713,679,663,633,878,785.856159074,807,653,629.856159074,652,0.400984684459,0.00458474038237,0.0498495808584,0.99999996189,0.000103532392557,-0.000253446781434,-3.55695456558e-05,1793245512030737920
+34,0.566666667,BASELINE,765,745,713,679,663,633,878,785.274983182,807,653,629.274983182,652,0.400986081512,0.00458552296681,0.0498503067543,0.999999962187,0.000103819461762,-0.00025211276586,-3.58570841185e-05,1793245512047404544
+35,0.583333333,BASELINE,765,745,713,679,663,633.299749146,878,785.299749146,807,653,629,652,0.400985950426,0.0045853772543,0.0498504503707,0.999999962249,0.000103588120381,-0.000251971469446,-3.58034780229e-05,1793245512064071680
+36,0.600000000,BASELINE,765,745,713,679,663,633.868694753,878,785.868694753,807,653,629,652,0.400984446961,0.00458439786394,0.0498500710578,0.999999962099,0.00010289120875,-0.000252901321142,-3.5443499419e-05,1793245512080738816
+37,0.616666667,BASELINE,765,745,713,679,663,633.543217681,877.543217681,785.543217681,807,653,629,652,0.400984947563,0.00458459640917,0.0498503002407,0.999999962139,0.000103681705946,-0.000252415035349,-3.54744221344e-05,1793245512097405440
+38,0.633333333,BASELINE,765,745,713,679,662.950800565,633,877.098398871,785.049199435,807,653.049199435,629.049199435,652,0.400986018816,0.0045851738711,0.0498507281161,0.999999962233,0.000104868943396,-0.000251532965507,-3.56124680639e-05,1793245512114071808
+39,0.650000000,BASELINE,765,745,713,679,662.373554996,633,878.252890009,785.626445004,807,653.626445004,629.626445004,652,0.400986761341,0.00458602502593,0.0498513290619,0.999999962306,0.00010552461936,-0.000250963215509,-3.56414807875e-05,1793245512130738176
+40,0.666666667,BASELINE,764.797626899,745,713,679.202373101,662,633,878.797626899,786,807,653.797626899,630,652,0.40098713557,0.00458640766098,0.0498516333797,0.999999962367,0.000105735931007,-0.000250630746147,-3.56484102363e-05,1793245512147404800
+41,0.683333333,BASELINE,764.224114995,745,713,679.775885005,662,633,878.224114995,786,807,653.224114995,630,652,0.400986834369,0.00458593106186,0.0498513937014,0.999999962406,0.000105132308021,-0.000250733433722,-3.56148404263e-05,1793245512164071424
+42,0.700000000,BASELINE,764.359771503,745,713,679.640228497,662.359771503,633.359771503,878,786,807,653,630,652,0.400986725952,0.00458493290085,0.0498512027742,0.999999962497,0.000103361043262,-0.000251099575693,-3.56475931188e-05,1793245512180738048
+43,0.716666667,BASELINE,764.950312594,745,713,679.049687406,662.950312594,633.950312594,878,786,807,653,630,652,0.400986741193,0.00458360019245,0.0498510431175,0.999999962617,0.000100840813676,-0.000251634706203,-3.57228873045e-05,1793245512197404928
+44,0.733333333,BASELINE,765,745,713.52923931,679,663,634,878,786,807,653,630,652.52923931,0.400987397027,0.0045839681992,0.0498516630558,0.999999962718,0.000103145670115,-0.000250358350819,-3.53077667919e-05,1793245512214071808
+45,0.750000000,BASELINE,765,745,713.893258633,679,663,633.893258633,878,786,807,653,630,652.893258633,0.40098777141,0.00458443239179,0.0498520954445,0.999999962773,0.000105009541083,-0.000249405230651,-3.49972144478e-05,1793245512230738688
+46,0.766666667,BASELINE,765,745,713.317328879,679,663,633.317328879,878,786,807,653,630,652.317328879,0.40098664998,0.00458463260311,0.0498513886359,0.999999962671,0.00010298659618,-0.000250604414388,-3.53443343556e-05,1793245512247405568
+47,0.783333333,BASELINE,765,745,713,679,663,633,878,785.736443217,806.736443217,653,629.736443217,652,0.400985760466,0.00458515332901,0.0498508948959,0.99999996241,0.000102856239517,-0.000251650768828,-3.56585448055e-05,1793245512264071936
+48,0.800000000,BASELINE,765,745,713,679,663,633,878,785.149476084,806.149476084,653,629.149476084,652,0.400985155536,0.00458606735815,0.0498506626122,0.999999961956,0.000105048276322,-0.000252509586703,-3.59323721285e-05,1793245512280738560
+49,0.816666667,BASELINE,765,745,713,679,662.568053637,633,878,785.431946363,806.431946363,653,629.431946363,652,0.400986114196,0.00458562064323,0.0498512702644,0.99999996244,0.000104514496698,-0.000250860486267,-3.55776723867e-05,1793245512297405184
+50,0.833333333,BASELINE,764.988565378,745,713,679.011434622,662.011434622,633,878,785.988565378,806.988565378,653,630,652,0.400987565369,0.00458473858265,0.0498521276754,0.999999963217,0.000103080544171,-0.000248421297605,-3.50278520007e-05,1793245512314072064
+51,0.850000000,BASELINE,764.411043457,745,713,679.588956543,662.588956543,633,878,785.411043457,806.411043457,653,630,652,0.400986951508,0.00458532067955,0.0498511425022,0.999999962975,0.00010318859173,-0.000249288325273,-3.54496464734e-05,1793245512330738432
+52,0.866666667,BASELINE,764.165191718,745,713,679.834808282,663,633,878,785,806.165191718,653,629.834808282,652,0.400986468713,0.00458597848657,0.0498504185976,0.999999962693,0.000103999500775,-0.000250039927994,-3.57399949769e-05,1793245512347405056
+53,0.883333333,BASELINE,764.738249821,745,713,679.261750179,663,633,878,785,806.738249821,653,629.261750179,652,0.400986309525,0.00458682322554,0.049850339778,0.99999996231,0.000106545809001,-0.000250506540858,-3.57057969649e-05,1793245512364071936
+54,0.900000000,BASELINE,765,745,713,679,663,633.320940399,877.679059601,785,806.679059601,653,629,652,0.400986606482,0.00458764683134,0.0498510702596,0.999999962318,0.000107174286342,-0.000250184717351,-3.58591642024e-05,1793245512380738816
+55,0.916666667,BASELINE,765,745,713,679,663,633.911730008,877.088269992,785,806.088269992,653,629,652,0.400987286968,0.00458845266815,0.049852481208,0.999999962657,0.00010619023627,-0.00024919997032,-3.61702377773e-05,1793245512397405952
+56,0.933333333,BASELINE,764.507270546,745,713,679,663,633.507270546,877.492729454,785.492729454,806.492729454,653,629.492729454,652.492729454,0.400986182387,0.00458672767199,0.0498516381843,0.999999962451,0.000105240499752,-0.000250478840698,-3.580409311e-05,1793245512414072576
+57,0.950000000,BASELINE,764.071588973,745,713,679,663,633,878,786,807,653,630,652.928411027,0.400985018991,0.00458488128424,0.0498505876253,0.9999999622,0.000104306521347,-0.000251928678489,-3.53767372428e-05,1793245512430739200
+58,0.966666667,BASELINE,764.647487841,745,713,679,663,633,878,786,807,653,630,652.352512159,0.400985650121,0.00458531141444,0.0498508641551,0.999999962328,0.000103441092029,-0.000251781890037,-3.53561705283e-05,1793245512447405312
+59,0.983333333,BASELINE,765,745,713,679.223116401,663,633,878,786,807,653,629.776883599,652.223116401,0.400985592232,0.00458539977981,0.0498508252792,0.999999962371,0.000102684882033,-0.000251918006661,-3.538169929e-05,1793245512464071680
+60,1.000000000,BASELINE,765,745,713,679.798318493,663,633,878,786,807,653,629.201681507,652.798318493,0.400984447046,0.00458494882808,0.049850288682,0.99999996228,0.000102101023922,-0.000252500557626,-3.54799683654e-05,1793245512480738816
+61,1.016666667,BASELINE,765,745,713,680,663,633.383337067,878,786,807,653,629.383337067,652.616662933,0.400985119889,0.00458577059274,0.0498512511119,0.999999962434,0.000103418758667,-0.000251356753547,-3.54327722016e-05,1793245512497405440
+62,1.033333333,BASELINE,765,745,713,680,663,633.97365599,878,786,807,653,629.97365599,652.02634401,0.400986774372,0.00458727955732,0.0498530229375,0.999999962713,0.000105763253579,-0.000249280808501,-3.53070324529e-05,1793245512514071808
+63,1.050000000,BASELINE,765,745,713,679.447326952,663,633.447326952,878,786,807,653,629.447326952,652.552673048,0.400987185014,0.00458564266989,0.0498522887524,0.999999962884,0.000102991767527,-0.000249748806073,-3.53590198231e-05,1793245512530738432
+64,1.066666667,BASELINE,765,745,713,679,663,633,878,786,807,653,629.130478667,652.869521333,0.400987329759,0.00458466841116,0.0498515713744,0.999999962925,0.000101298022868,-0.000250261104479,-3.54663114337e-05,1793245512547405056
+65,1.083333333,BASELINE,765,745,713,679,663,633,878,786,807,653,629.705953136,652.294046864,0.400986765819,0.00458645519957,0.049851310545,0.999999962564,0.000104094919838,-0.000250519219009,-3.57339040254e-05,1793245512564071680
+66,1.100000000,BASELINE,765,745,713,679,663,633.28718475,878,786,807,653,629.71281525,652,0.400985593566,0.00458781233404,0.0498506616953,0.999999962108,0.000105954600404,-0.000251534212923,-3.58866993851e-05,1793245512580738048
+67,1.116666667,BASELINE,765,745,713,679,663,633.874431623,878,786,807,653,629.125568377,652,0.400983785724,0.00458872054877,0.0498496074264,0.999999961557,0.000106835039579,-0.000253340024695,-3.59195499852e-05,1793245512597404672
+68,1.133333333,BASELINE,765,745,713,679,663,633.544515267,878,786,806.544515267,653,629.455484733,652,0.40098337084,0.00458703936571,0.0498493492264,0.999999961624,0.00010468149346,-0.000254000475163,-3.57369213966e-05,1793245512614071296
+69,1.150000000,BASELINE,765,745,713,679,663,633.034734716,878,786,806.034734716,653,629.965265284,652,0.400983387003,0.00458482723846,0.0498493512854,0.999999961852,0.000101917128649,-0.000254258805989,-3.55103359847e-05,1793245512630738176
+70,1.166666667,BASELINE,765,745,713,679,663,633.61213215,878,786,806.61213215,653,629.38786785,652,0.400984218475,0.00458532300004,0.049850036733,0.999999962086,0.00010250190871,-0.000253101661076,-3.55126240926e-05,1793245512647404800
+71,1.183333333,BASELINE,764.811765969,744.811765969,713,679.188234031,663,633.811765969,878,786,807,653,629.188234031,652,0.400985258146,0.0045859482715,0.049850902931,0.999999962329,0.000103499791165,-0.000251718775674,-3.55933041375e-05,1793245512664071168
+72,1.200000000,BASELINE,764.238315301,744.238315301,713,679.761684699,663,633.238315301,878,786,807,653,629.761684699,652,0.400986723893,0.00458683858205,0.0498521390306,0.999999962591,0.000105343078326,-0.000249873917314,-3.58344114885e-05,1793245512680737792
+73,1.216666667,BASELINE,764.345277763,744.345277763,713,679.654722237,662.654722237,633,878,786,806.654722237,653,630,652,0.400986411497,0.00458638449839,0.0498520490446,0.999999962475,0.000106183944825,-0.000250019300638,-3.55691925591e-05,1793245512697404672
+74,1.233333333,BASELINE,764.936083064,744.936083064,713,679.063916936,662.063916936,633,878,786,806.063916936,653,630,652,0.400984834661,0.00458497441392,0.0498510160771,0.999999962092,0.000106311988369,-0.000251579947944,-3.49439242324e-05,1793245512714071552
+75,1.250000000,BASELINE,764.482601262,745,713,679,662.517398738,633,878,785.482601262,806.517398738,653,629.482601262,652,0.400984163645,0.00458529264661,0.049850453441,0.999999962122,0.000103621454624,-0.00025252840643,-3.53194633879e-05,1793245512730738176
+76,1.266666667,BASELINE,764.096686429,745,713,679,663,633.096686429,878,785.096686429,807,653,629,652,0.400983872567,0.00458553549672,0.0498501514392,0.999999962242,0.000101330425107,-0.000252939448895,-3.56277910142e-05,1793245512747404800
+77,1.283333333,BASELINE,764.671637,745,713,679,663,633.671637,878,785.671637,807,653,629,652,0.400984917322,0.00458436835735,0.0498508564469,0.999999962598,0.000102706897661,-0.000251059490963,-3.50031021166e-05,1793245512764071424
+78,1.300000000,BASELINE,765,745,713,679,663,633.75380941,878,785.75380941,806.75380941,653,629,652,0.400985459913,0.00458404342664,0.0498514548487,0.999999962727,0.000103768705889,-0.000250144389077,-3.47281445334e-05,1793245512780738048
+79,1.316666667,BASELINE,765,745,713,679,663,633.179784496,878,785.179784496,806.179784496,653,629,652,0.400985333805,0.00458484000483,0.049851911291,0.999999962561,0.00010441149813,-0.000250514116833,-3.49188990695e-05,1793245512797404672
+80,1.333333333,BASELINE,765,745,713,679,663,633,878,785,806.408584973,653,629.408584973,652,0.400985553475,0.00458533876834,0.0498520384488,0.999999962684,0.000104479799204,-0.000249949391187,-3.52258894937e-05,1793245512814071296
+81,1.350000000,BASELINE,764.996614165,745,713,679,662.996614165,633.003385835,878,785.003385835,807,653,629.996614165,652.003385835,0.400985935938,0.00458569940743,0.049852020372,0.999999962938,0.000104292620153,-0.000248959576034,-3.55826862686e-05,1793245512830738176
+82,1.366666667,BASELINE,764.42045083,745,713,679,662.42045083,633.57954917,878,785.57954917,807,653,629.42045083,652.57954917,0.400987182701,0.00458566880153,0.0498528360181,0.999999963051,0.000105205663623,-0.000248146895403,-3.5398067028e-05,1793245512847404800
+83,1.383333333,BASELINE,764.155161689,745,713,679,662.155161689,633.844838311,878,785.844838311,807,653,629,652.844838311,0.40098788964,0.00458510741089,0.0498531783669,0.999999963101,0.000105143277576,-0.000247992360147,-3.52470828752e-05,1793245512864071424
+84,1.400000000,BASELINE,764.729287033,745,713,679,662.729287033,633.270712967,878,785.270712967,807,653,629,652.270712967,0.400987138958,0.00458311280878,0.0498522427308,0.999999962979,0.00010244706169,-0.000249614932161,-3.51869192916e-05,1793245512880738048
+85,1.416666667,BASELINE,765,745,713.310362143,679.310362143,663,633,878,785.310362143,807,653,629,652.310362143,0.400986727257,0.00458302877803,0.0498517937221,0.999999962908,0.00010143098531,-0.000250300605834,-3.5281475687e-05,1793245512897404672
+86,1.433333333,BASELINE,765,745,713.897637992,679.897637992,663,633,878,785.897637992,807,653,629,652.897637992,0.400986618004,0.00458464941211,0.0498517788958,0.999999962889,0.000101913976121,-0.000250150352749,-3.55140775391e-05,1793245512914071296
+87,1.450000000,BASELINE,765,745,713.51950345,679.51950345,663,633,878,786,807,653,629.48049655,652.51950345,0.400986013047,0.00458611858471,0.049851791165,0.999999962752,0.000102756655142,-0.000250342472234,-3.55829671334e-05,1793245512930738176
+88,1.466666667,BASELINE,765,745,713,679,662.938245894,633,878,785.938245894,807,653,630,652,0.40098543282,0.00458713151803,0.0498517631258,0.999999962605,0.000103506286892,-0.000250623112314,-3.55655222611e-05,1793245512947404800
+89,1.483333333,BASELINE,765,745,713,679,662.362552152,633,878,785.362552152,807,653,630,652,0.400985929269,0.00458461355229,0.0498513520246,0.999999962584,0.00010284964862,-0.000251038974693,-3.51171797335e-05,1793245512964071424
+90,1.500000000,BASELINE,765,745,713,679,662.217215852,633.217215852,877.782784148,785.217215852,807,653,629.782784148,652,0.400986172223,0.00458299200219,0.0498509420106,0.999999962637,0.000101538834358,-0.000251393690995,-3.48763427384e-05,1793245512980738304
+91,1.516666667,BASELINE,765,745,713,679,662.803914084,633.803914084,877.196085916,785.803914084,807,653,629.196085916,652,0.400985983985,0.00458289524799,0.0498505338459,0.999999962814,9.91152721743e-05,-0.000251644398279,-3.49884709955e-05,1793245512997404928
+92,1.533333333,BASELINE,765,745,713,679,663,633.613822211,877.386177789,785.613822211,807.386177789,652.613822211,629,652,0.400985976522,0.00458377048219,0.0498508372094,0.999999962878,0.000100196996494,-0.000250941358476,-3.51239491186e-05,1793245513014071296
+93,1.550000000,BASELINE,765,745,713,679,663,633.03378457,877.96621543,785.03378457,807.96621543,652.03378457,629,652,0.400986059808,0.00458513365103,0.0498514977575,0.99999996288,0.000103038361725,-0.000249759541111,-3.52711487996e-05,1793245513030737920
+94,1.566666667,BASELINE,765,745,713,679,663,633.544652915,878,785.544652915,807.455347085,652.544652915,629.544652915,652,0.400985809388,0.00458650603576,0.0498514291463,0.999999962425,0.000106004879299,-0.00025033855956,-3.52732697981e-05,1793245513047404800
+95,1.583333333,BASELINE,765,745,713,679,663,633.882110922,878,786,807,653,629.882110922,652,0.400985568467,0.00458716631839,0.0498513903225,0.999999962138,0.000107591872418,-0.000250806437348,-3.52801768164e-05,1793245513064071168
+96,1.600000000,BASELINE,765,745,713,679,663,633.327764883,878,786,807,653,629.327764883,652,0.400985439125,0.00458518809833,0.0498516287402,0.999999962598,0.000104042840085,-0.000250459651453,-3.53380226809e-05,1793245513080737792
+97,1.616666667,BASELINE,765,745,713,679,663,633.250037557,878,785.749962443,807,653,629,652,0.400985817776,0.00458399185938,0.0498517033756,0.999999962904,0.000102436694432,-0.000249907266756,-3.52839010732e-05,1793245513097404672
+98,1.633333333,BASELINE,765,745,713,679,663,633.861771224,878,785.138228776,807,653,629,652,0.400986931273,0.00458392680869,0.0498515410889,0.999999963,0.000103641064982,-0.000249057469619,-3.50678109989e-05,1793245513114071552
+99,1.650000000,BASELINE,765,745,713,679.448123323,663,633.551876677,878,785,807,653,629.448123323,652,0.400986673174,0.00458421219306,0.0498512932127,0.999999963142,0.00010198700605,-0.000249099586867,-3.55401820814e-05,1793245513130737920
+100,1.666666667,BASELINE,765,745,713.026800995,679.973199005,662.973199005,633,878.026800995,785,807,653,630,652,0.400986022084,0.00458464043286,0.0498510244336,0.99999996326,9.97711332253e-05,-0.000249435036265,-3.61647756344e-05,1793245513147404800
+101,1.683333333,BASELINE,765,745,713.600078149,679.399921851,662.399921851,633,878.600078149,785,807,653,630,652,0.400985522195,0.00458589557546,0.0498508389071,0.999999962682,0.000103114394789,-0.00025044251277,-3.57951906981e-05,1793245513164071424
+102,1.700000000,BASELINE,765,745.174570805,713.825429195,679.174570805,662.174570805,633,878.825429195,785.174570805,807,653,630,652,0.400985627163,0.00458646212977,0.0498510121185,0.9999999625,0.000104893572596,-0.000250467934313,-3.5546183687e-05,1793245513180738048
+103,1.716666667,BASELINE,765,745.75186748,713.24813252,679.75186748,662.75186748,633,878.24813252,785.75186748,807,653,630,652,0.400987127503,0.00458544014613,0.0498520129198,0.999999963248,0.000103064489146,-0.000248227805423,-3.55753438004e-05,1793245513197404672
+104,1.733333333,BASELINE,765,745.663087517,713,679.663087517,663,633,878,786,807,653,630,652,0.400986888056,0.0045847751407,0.0498518362905,0.99999996328,0.000101471855986,-0.000248763793632,-3.54860956655e-05,1793245513214071296
+105,1.750000000,BASELINE,765,745.072201559,713,679.072201559,663,633,878,786,807,653,630,652,0.400985337112,0.00458437923472,0.0498507720832,0.999999962772,0.00010005746507,-0.000251392491554,-3.53075882875e-05,1793245513230737920
+106,1.766666667,BASELINE,765,745.507168517,713,679.507168517,662.492831483,633,878,786,807,653,629.492831483,652,0.400985308431,0.00458457730474,0.0498509883635,0.999999962664,0.000100996135926,-0.000251457094241,-3.52308100808e-05,1793245513247404800
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662,634,878,785,807,653,629,652,0.400986051924,0.00458571478695,0.0498520941869,0.999999963195,0.000103144766179,-0.000248412023998,-3.55424929405e-05,1793245513290694656
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.577194112,633.422805888,878,785.577194112,807,653,629,652,0.400984914205,0.00458603614061,0.0498514327131,0.999999962789,0.000103400323173,-0.000249967799227,-3.53134398337e-05,1793245513307361280
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.158580935,713,679,663,633.158580935,878,786,807,653,629,652,0.400983963663,0.00458652184628,0.0498507051883,0.999999962308,0.000104180665732,-0.000251577829042,-3.51989935359e-05,1793245513324027648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.751450001,713,679,663,633.751450001,878,786,807,653,629,652,0.40098352572,0.00458745764476,0.0498497967767,0.999999961624,0.000106398180751,-0.000253336440259,-3.53984082249e-05,1793245513340694272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.665018173,713,679.334981827,663,634,878,786.334981827,807,653,629,652,0.400983891465,0.00458789587626,0.0498498144014,0.999999961728,0.000106206460745,-0.000252959301576,-3.57200665277e-05,1793245513357360896
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.088226557,713,679.911773443,663,634,878,786.911773443,807,653,629,652,0.40098483736,0.00458797493427,0.0498505004941,0.9999999624,0.00010427561159,-0.000251040451586,-3.61299675233e-05,1793245513374027520
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,634,878,786.512498955,807,653,629.487501045,652,0.400984852141,0.00458733818375,0.049850747646,0.999999962304,0.000104552782889,-0.000251340437631,-3.58922352066e-05,1793245513390694144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713,679.935509496,663,633.935509496,878,786,807,653,630,652.064490504,0.400984820801,0.00458650698949,0.0498509280028,0.999999962138,0.000104855724207,-0.000251923436896,-3.55489314695e-05,1793245513407360768
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713,679.346698714,663,633.346698714,878,786,807,653,630,652.653301286,0.400985781539,0.00458514586224,0.0498512097453,0.999999962523,0.000102126420483,-0.000251549748965,-3.52981506479e-05,1793245513424027392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.229608824,878,786,807,653,630,652.770391176,0.400992326296,0.00458458279176,0.0498540494795,0.999999963912,0.000101716948203,-0.000246165175312,-3.50916053206e-05,1793245513440694016
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.788011967,878,786,807,653,630,652.211988033,0.401006867235,0.00458516251953,0.0498605521964,0.99999996663,0.000104629419049,-0.000233605133673,-3.49484041763e-05,1793245513457360896
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.629284322,745.370715678,713,679,663,633.629284322,878,786,807,653,630,652,0.401037590091,0.00458528716627,0.0498720770901,0.999999971787,0.000103910805106,-0.0002107451899,-3.4867355119e-05,1793245513474027520
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.031709869,745.968290131,713,679,663,633.031709869,878,786,807,653,630,652,0.401078215442,0.00458513332707,0.049886675296,0.99999997781,0.000100970155751,-0.000181582238696,-3.48243398808e-05,1793245513490694144
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,746,713,679.555250032,663,633.555250032,878,786,807,653,629.444749968,652.555250032,0.40114392245,0.00458492730708,0.0499066763864,0.99999998429,0.000101577843384,-0.000141061364758,-3.47027696343e-05,1793245513507360768
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.139983252,745.860016748,713,679.860016748,663,633.860016748,878,786,807,653,629.139983252,652.860016748,0.401212565003,0.00458436429649,0.0499249390677,0.999999988501,0.000101698977013,-0.000107166557408,-3.42240892209e-05,1793245513524027392
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.71959166,745.28040834,713,679.28040834,663,633.28040834,878,786,807,653,629.71959166,652.28040834,0.401286012689,0.00458268932034,0.0499367913295,0.999999989885,9.96675890852e-05,-9.60801521534e-05,-3.26377095837e-05,1793245513540694016
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713,679.298344348,663,633,878,786,807,653,630,652,0.401366723527,0.00458150159219,0.0499442837472,0.999999990778,9.87868653045e-05,-8.77392535715e-05,-3.14121057681e-05,1793245513557360640
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713,679.876295027,663,633,878,786,807,653,630,652,0.401454241338,0.00458077050969,0.0499476901473,0.999999991275,9.89845364081e-05,-8.19714261827e-05,-3.0524618741e-05,1793245513574027520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.548069863,745.451930137,713,679.548069863,663,633.451930137,878,786,807,653,629.548069863,652,0.401557142641,0.0045794819037,0.0499462162878,0.999999991148,9.7235553615e-05,-8.58717515219e-05,-2.95754198635e-05,1793245513590693888
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.02754581,745.97245419,713,679,662.97245419,633.97245419,878,786,807,653,629.02754581,652,0.401665412176,0.0045780824568,0.049943568925,0.999999990843,9.48820574202e-05,-9.21583095085e-05,-2.86163340462e-05,1793245513607360768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.615597698,745.384402302,713,679,662.384402302,633.384402302,878,786,807,653,629.615597698,652,0.401797668879,0.0045775170746,0.0499440865208,0.999999991108,9.1015063378e-05,-9.34249725659e-05,-2.77980384384e-05,1793245513624027392
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.201160567,633,877.798839433,785.798839433,807,653,629.798839433,652,0.401943528619,0.00457641500664,0.049945808434,0.999999991491,8.78477399402e-05,-9.26478275101e-05,-2.67811969635e-05,1793245513640694016
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.78202518,633,877.21797482,785.21797482,807,653,629.21797482,652,0.40211506499,0.00457429990841,0.0499498035769,0.999999992106,8.60010920716e-05,-8.80128576036e-05,-2.53895869585e-05,1793245513657360640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.640385467,745,713,679.359614533,663,633.359614533,877.359614533,785,807,653,629,652,0.402304390299,0.00457147047712,0.0499508415078,0.999999992501,8.19215609885e-05,-8.7911129913e-05,-2.36486244534e-05,1793245513674027008
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.064763388,745,713,679.935236612,663,633.935236612,877.935236612,785,807,653,629,652,0.402504400802,0.0045682119714,0.0499501031478,0.99999999274,7.65008169052e-05,-9.05323577014e-05,-2.16978183034e-05,1793245513690693888
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.509222835,745,713,679.490777165,663,633.490777165,878,785,807,652.490777165,629,652,0.402737761679,0.00456650667003,0.0499488573703,0.999999992625,7.38014551915e-05,-9.43280758473e-05,-2.01555080181e-05,1793245513707360512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.085970774,679,663,633.085970774,878,785,807,652.085970774,629.085970774,652,0.402982682223,0.00456501108405,0.0499488028031,0.999999992714,7.12976578749e-05,-9.56248542917e-05,-1.85725337795e-05,1793245513724027392
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.680274827,679,663,633.680274827,878,785,807,652.680274827,629.680274827,652,0.403270954317,0.00456359124182,0.0499561720547,0.999999994257,6.79102710914e-05,-8.12653584563e-05,-1.64429122849e-05,1793245513740694272
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713.733596313,679,663,634,878.266403687,785.266403687,807,653,629.733596313,652,0.403578955452,0.00456107027275,0.0499648554749,0.999999995792,6.46856951945e-05,-6.34695190919e-05,-1.42311693401e-05,1793245513757360896
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713.156986846,679,663,634,878.843013154,785.843013154,807,653,629.156986846,652,0.403909929462,0.00455726712965,0.0499750691389,0.99999999716,6.16506997431e-05,-4.1672333453e-05,-1.19238026622e-05,1793245513774027520
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.582627362,634,878.582627362,785.582627362,807,652.582627362,629.417372638,652,0.404267779065,0.00455354173222,0.0499820660309,0.999999997941,5.69236513551e-05,-2.81538395098e-05,-9.26326125646e-06,1793245513790694144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.009109641,634,878.009109641,785.009109641,807,652.009109641,629.990890359,652,0.404635683204,0.00454984542064,0.0499878594821,0.999999998492,5.1563581793e-05,-1.7732523211e-05,-6.47059217772e-06,1793245513807360768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662,633.421596749,878,785.578403251,807,652.578403251,630,652,0.405049846944,0.00454620896801,0.0499931647327,0.999999998847,4.75713638037e-05,-5.31571351356e-06,-3.91899448266e-06,1793245513824027392
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713,679,662.163819558,633.163819558,878,786,807,653,630,652.163819558,0.405464496976,0.00454274628328,0.0499912474209,0.999999999016,4.36796635174e-05,-7.59908552159e-06,-1.34992115563e-06,1793245513840694272
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.743342352,633.743342352,878,786,807,653,630,652.743342352,0.405878486295,0.00453972209531,0.0499710223615,0.999999998083,3.99870115246e-05,-4.72668962056e-05,1.27337088397e-06,1793245513857360896
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.678213972,878.321786028,785.678213972,807,653,630,652.678213972,0.406319417055,0.00453494962319,0.0499519066987,0.999999995954,3.53394079241e-05,-8.26060851877e-05,4.34807103645e-06,1793245513874027264
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.100628066,878.899371934,785.100628066,807,653,630,652.100628066,0.406781764629,0.00452878737358,0.049933672935,0.999999992966,2.99326767999e-05,-0.000114504293412,7.78161284308e-06,1793245513890693888
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878.52472074,785,807.47527926,653,630,652,0.407295896679,0.00452355421436,0.0499267112225,0.999999991735,2.24848665344e-05,-0.000126137533351,1.07095540135e-05,1793245513907360768
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.051985867,807.948014133,653,630,652,0.407829503906,0.00451838657221,0.0499250230635,0.999999991657,1.46697904208e-05,-0.000127610335503,1.36259608879e-05,1793245513924027392
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.640599173,807.359400827,653,630,652,0.408451366761,0.00451187181711,0.0499532227288,0.999999997483,7.508735123e-06,-6.83353074488e-05,1.75244253283e-05,1793245513940694016
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.774496605,807,653,630,652,0.409080524018,0.00450540557765,0.0499781953122,0.999999999543,2.79288819836e-06,-2.10524629305e-05,2.15166679087e-05,1793245513957360640
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.195408192,807,653,630,652,0.409721118721,0.00449901541017,0.0499981078912,0.999999999641,1.91108176533e-06,7.42686299643e-06,2.56559526568e-05,1793245513974027520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785,807.381488011,653,630,652,0.410346484407,0.00449296169347,0.0499965408616,0.999999997699,6.07795380861e-05,-3.25481095431e-06,2.99486813992e-05,1793245513990693888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785,807.957267705,653,630,652,0.410964093941,0.0044870793312,0.0499840342756,0.999999987575,0.00015007877772,-3.38811665277e-05,3.43195587646e-05,1793245514007360512
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.457122984,633,878,785,807.457122984,653,630,652,0.411615051226,0.00448054308336,0.0499555048877,0.999999984839,0.000142640187495,-9.21834413446e-05,3.84343448002e-05,1793245514024027392
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,679.127681619,662.127681619,633,878,785.127681619,807,653,630,652,0.412295952176,0.00447424716882,0.0499366355794,0.999999983109,0.000126311088591,-0.000126796129905,4.18323090522e-05,1793245514040694016
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,679.706854163,662.706854163,633,878,785.706854163,807,653,630,652,0.41307328265,0.00446898644939,0.0499564670042,0.999999991035,0.000105967069352,-6.97954470552e-05,4.27681367762e-05,1793245514057360640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.286212015,745,713,679.713787985,663.286212015,633,878,785.713787985,807.286212015,652.713787985,630,652,0.413848088793,0.00446210297184,0.0499702966804,0.999999997666,4.42133698142e-05,-3.99195123595e-05,3.34655277827e-05,1793245514074027264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.865759857,745,713,679.134240143,663.865759857,633,878,785.134240143,807.865759857,652.134240143,630,652,0.41462030787,0.0044535563451,0.0499779752272,0.999999997392,-5.99806992168e-05,-3.78434533632e-05,1.36696474229e-05,1793245514090693888
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.559235395,745,713,679,663.559235395,633,878.440764605,785.440764605,807.559235395,652.440764605,630,652,0.415371779621,0.00446707099672,0.0499566001304,0.999999995638,-5.11651495825e-05,-7.72851318082e-05,1.15250817822e-05,1793245514107360768
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.014741627,879,785.985258373,807,653,629.985258373,652,0.416119442141,0.00448700921574,0.0499274298393,0.999999991738,-8.69687618662e-06,-0.000127412117303,1.46621314533e-05,1793245514124027136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.601994748,879,785.398005252,807,653,629.398005252,652,0.416962067197,0.00449813508817,0.0499356653591,0.999999994045,1.76711810367e-05,-0.000106452570329,1.62667766967e-05,1793245514140694016
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.811869924,879,785,807.188130076,652.811869924,629.188130076,652,0.417818816621,0.00450258601165,0.0499509299731,0.999999996396,3.54969544582e-05,-7.50595415535e-05,1.77007457515e-05,1793245514157360640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.228085454,879,785,807.771914546,652.228085454,629.771914546,652,0.418705270804,0.00449299891916,0.0499809774008,0.999999998963,3.53575385427e-05,-2.17239676095e-05,1.8775767403e-05,1793245514174027264
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713,679.349952902,663,633,879,785.349952902,808,652,630,652.349952902,0.419548861143,0.00448538745291,0.0499778637215,0.999999998994,2.26716448863e-05,-3.33000883552e-05,1.97474165198e-05,1793245514190693888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713,679.924306645,663,633,879,785.924306645,808,652,630,652.924306645,0.420364965798,0.00447904282092,0.0499534860931,0.999999996044,1.94055384534e-06,-8.64996376842e-05,2.06527798374e-05,1793245514207360512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713,679.504353718,663,633,879,786,808,652.495646282,630,652.504353718,0.421272149064,0.0044773781124,0.0499677969738,0.999999998805,-7.16282848277e-06,-4.3751340638e-05,2.05883514119e-05,1793245514224027136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.069467124,679.069467124,663.069467124,633,879.069467124,786,808.069467124,652.930532876,630,652,0.422193867921,0.00447717306467,0.0499864789144,0.999999999704,-1.03133319009e-05,8.03591509924e-06,2.05218793572e-05,1793245514240693760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.665566232,679.665566232,663.665566232,633,879.665566232,786,808.665566232,652.334433768,630,652,0.423120972309,0.00448264832229,0.0499937771741,0.99999999944,1.82845108481e-05,1.79357728609e-05,2.15559023834e-05,1793245514257360640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.747632378,679.747632378,663.747632378,633,879.747632378,786,809,652,630,652,0.424033219868,0.00448870255534,0.0499918159639,0.999999999207,3.0239445735e-05,1.3927193308e-05,2.18618239817e-05,1793245514274027264
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.172714299,679.172714299,663.172714299,633,879.172714299,786,809,652,630,652,0.424926479075,0.00449549677623,0.0499780202482,0.999999999525,2.09231235644e-05,-7.85772554957e-06,2.12371610284e-05,1793245514290693888
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,679.403230843,663.403230843,633,879,785.596769157,809,652,630,652,0.425851264317,0.00449174009327,0.0499887827295,0.999999999699,8.21648929499e-06,2.6859955224e-06,2.29515556167e-05,1793245514307360512
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,679.979616991,663.979616991,633,879,785.020383009,809,652,630,652,0.426789587408,0.00448345264295,0.0500100909875,0.999999999285,-5.94601153951e-06,2.71122757748e-05,2.56703878362e-05,1793245514324027136
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,664,633,879.569950945,785,809,652,630,652,0.427640674319,0.00447694842583,0.0499914525097,0.999999999038,1.88466130979e-05,-2.85094493593e-05,2.74973598509e-05,1793245514340694016
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.842455667,633,879.842455667,785,809,652,630,652,0.428512582903,0.00447229257805,0.0499704205703,0.999999996196,3.34397008911e-05,-7.54398042739e-05,2.82567195045e-05,1793245514357360640
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.263559483,633,879.263559483,785,809,652,630,652,0.429448732167,0.00447240534872,0.0499469039739,0.999999995346,1.69347332997e-05,-9.12766661836e-05,2.62481972175e-05,1793245514374027264
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.31337781,680,663.31337781,633,879.31337781,785,809,652,630,652,0.430377182667,0.00447448331254,0.0499433080326,0.999999995953,6.45749123743e-06,-8.58697696875e-05,2.60475819224e-05,1793245514390693888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.888677827,680,663.888677827,633,879.888677827,785,809,652,630,652,0.431299198468,0.00447820379125,0.0499563618417,0.999999997659,1.01824287081e-06,-6.27072690834e-05,2.73580213484e-05,1793245514407360512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633,880.46466172,785.46466172,809,652,630,652.46466172,0.432183892125,0.00448395153625,0.0499438467455,0.999999996061,3.8139606999e-06,-8.44757191887e-05,2.69710404775e-05,1793245514424026880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.958152926,680,663.958152926,633,880.958152926,785.958152926,809.041847074,652,630,652.958152926,0.433061129285,0.00448902077014,0.0499281848442,0.999999993384,8.99650673158e-06,-0.000111622654023,2.62977841813e-05,1793245514440693504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.367359903,680,663.367359903,633,880.367359903,785.367359903,809.632640097,652,630,652.367359903,0.433958018883,0.00447880878025,0.0499517184814,0.999999997132,1.95706817087e-05,-6.79093195659e-05,2.72116185509e-05,1793245514457360384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.219025885,633,880,785,810,652,630,652.219025885,0.434850302773,0.00447136426735,0.0499712423447,0.999999998644,2.08905290743e-05,-3.81486475874e-05,2.86427672958e-05,1793245514474027008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.798165564,633,880,785,810,652,630,652.798165564,0.435735014279,0.00446846993026,0.0499841734985,0.999999999007,6.99477462989e-06,-3.1328390823e-05,3.09244643195e-05,1793245514490693632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.62717182,633,880,785.37282818,810,652,630.37282818,652.62717182,0.436563183941,0.00446900083997,0.0499704698043,0.999999997338,-2.549211272e-06,-6.54865524557e-05,3.2064941871e-05,1793245514507361280
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.054904183,633,880,785.945095817,810,652,630.945095817,652.054904183,0.437361107244,0.0044713640399,0.0499425181531,0.999999992032,-9.76527585633e-06,-0.000121565572136,3.25949390843e-05,1793245514524028928
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,880,786,810.51815492,652,631,652.51815492,0.438219925469,0.00447660256802,0.0499628843452,0.999999997052,-4.86115758313e-07,-7.04998441256e-05,3.04272593893e-05,1793245514540695040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.094993566,633,879.905006434,785.905006434,810.905006434,652,631,652.905006434,0.439069461191,0.00448173480241,0.0499829060833,0.999999999276,1.36736796636e-05,-2.10299949627e-05,2.86074619177e-05,1793245514557361408
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.691336256,633,879.308663744,785.308663744,810.308663744,652,631,652.308663744,0.439835899992,0.00448469561351,0.0499740476776,0.999999997763,4.43533185429e-05,-3.99931621627e-05,3.01346235208e-05,1793245514574028544
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.722348561,632.722348561,879.555302879,785,810,652,630.722348561,652.277651439,0.44059811434,0.00448376043483,0.0499611981441,0.999999996157,5.33744669461e-05,-6.20520439543e-05,3.1424975756e-05,1793245514590695424
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.146792378,632.146792378,880.706415243,785,810,652,630.146792378,652.853207622,0.441355796035,0.00447864507292,0.0499440663502,0.999999994884,3.9157242813e-05,-8.74324562447e-05,3.2461244462e-05,1793245514607362048
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.429093352,680,663,632.429093352,880.570906648,785,810,652,630,653,0.442093456671,0.00447564448925,0.0499484890815,0.999999996205,3.0642018806e-05,-7.4186088354e-05,3.38890907559e-05,1793245514624028416
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.994822991,680.005177009,662.994822991,632.994822991,880,785,810,652,630,652.994822991,0.442823299167,0.00447346203296,0.0499600396436,0.999999997914,2.42362800683e-05,-4.82476045708e-05,3.54460276699e-05,1793245514640695296
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.409203043,680.590796957,662.409203043,632.409203043,880,785,810,652,630,652.409203043,0.443445086303,0.00448183091849,0.0499433789865,0.999999995346,3.54712195561e-05,-8.19816234541e-05,3.64456500086e-05,1793245514657361152
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,680.824212675,662.175787325,632,880,785,810.175787325,652.175787325,630,652,0.444051433928,0.0044941305251,0.0499123422113,0.999999988396,5.3124485374e-05,-0.000137895281741,3.70169027002e-05,1793245514674027520
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,680.240682517,662.759317483,632,880,785,810.759317483,652.759317483,630,652,0.444621969369,0.00451554753338,0.0498479596886,0.999999965586,8.56652120639e-05,-0.000245255141409,3.65945419065e-05,1793245514690694912
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,680,662.325647462,632,879.662823731,785,811,652.662823731,630,652.337176269,0.445216044251,0.0045361512466,0.0498128076416,0.999999950924,0.000113912195475,-0.000289761508459,3.48462494101e-05,1793245514707361792
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,680,661.177892679,632,879.088946339,785,811,652.088946339,630,652.911053661,0.445826644024,0.00455618401725,0.0497981756854,0.99999994771,0.000139144926628,-0.000290144088436,3.21671397947e-05,1793245514724028928
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.51303505,745,713,680.48696495,661,631.51303505,879.48696495,785,810.51303505,652,630,653,0.446404012713,0.00456150367526,0.0498043010962,0.999999950874,0.000146661814582,-0.000275018802012,3.32805416142e-05,1793245514740695552
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,680.935442125,660.935442125,630.935442125,879.935442125,784.935442125,810.064557875,652,630.064557875,653,0.446963209321,0.00456402818432,0.0498099731823,0.999999953212,0.000150698338419,-0.00026390574576,3.49133475268e-05,1793245514757361920
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,680.347234894,660.347234894,630.347234894,879.347234894,784.347234894,810.652765106,652,630.652765106,653,0.447424447066,0.00456577026641,0.0497810857623,0.999999940142,0.000152861848257,-0.000308409488952,3.51167725595e-05,1793245514774028544
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.237774502,745,713,680.237774502,660,630,879.237774502,784.237774502,811,652,630.762225498,652.762225498,0.447878378112,0.00456838571479,0.0497521054721,0.999999924703,0.000156194913697,-0.000353478015243,3.53540537976e-05,1793245514790695424
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.818175851,745,713,680.818175851,660,630,879.818175851,784.818175851,811,652,630.181824149,652.181824149,0.448321780357,0.00457225966104,0.049722991361,0.999999906626,0.000161213278143,-0.000399360375586,3.56401209531e-05,1793245514807362560
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680.605869821,660,629.605869821,880,785,811,652.394130179,630,652.394130179,0.448768938283,0.00457311140863,0.0497189605923,0.999999904578,0.000160799077308,-0.000404625499622,3.55901797268e-05,1793245514824029184
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,680.031944097,660,629.031944097,880,785,811,652.968055903,630,652.968055903,0.449217809527,0.00457258448047,0.0497263724191,0.999999910325,0.000157906632281,-0.000391361729301,3.53869571824e-05,1793245514840695296
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.554383091,713.554383091,680.554383091,660,628.445616909,880,785,811,652.445616909,630,652.445616909,0.449615642057,0.0045754383872,0.0497425716274,0.999999926114,0.000103548226983,-0.000369817797492,1.68503942402e-05,1793245514857362176
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.138909386,745.861090614,713.861090614,680.861090614,659.861090614,628,880,785,811,652.138909386,630,652.138909386,0.450000632068,0.00457677191265,0.0497569681867,0.999999936493,6.3089231559e-05,-0.000350753463464,2.57815299483e-06,1793245514874028800
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.715459187,745.284540813,713.284540813,680.284540813,659.284540813,628,880,785,811,652.715459187,630,652.715459187,0.45035463868,0.00457268761551,0.0497640536801,0.999999938947,7.5977741712e-05,-0.00034103877004,5.14519316891e-06,1793245514890694912
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706146411,745,713,680.293853589,659.293853589,628,880,784.706146411,811,652.706146411,630,653,0.450681425099,0.00457493721043,0.0497653336755,0.999999934994,0.000110774683005,-0.000343052477767,7.44979543107e-06,1793245514907361280
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.125954619,745,713,680.874045381,659.874045381,628,880,784.125954619,811,652.125954619,630,653,0.450981687469,0.00458335870661,0.0497609566498,0.99999992248,0.000166919740229,-0.000356494629324,9.49867153318e-06,1793245514924027648
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.449088179,745,713.449088179,681,659.101823641,627.550911821,880,784,811,652.449088179,630,652.550911821,0.4512461399,0.00459989855766,0.0497524568229,0.99999991188,0.000191766024717,-0.000373320853994,9.85417043882e-06,1793245514940694272
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.976603162,745,713.976603162,681,658.023396838,627,880.023396838,784.023396838,811,652.976603162,630,652,0.451498753431,0.00461833991232,0.0497427035002,0.999999901803,0.000207606227041,-0.000391405375732,9.72555320302e-06,1793245514957361152
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.385463148,745,713.385463148,681,658.614536852,627,880.614536852,784.614536852,811,652.385463148,630,652,0.451705038138,0.00462829744715,0.049730273858,0.999999889686,0.000215504209177,-0.000417253346594,9.24356294257e-06,1793245514974027776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.1938187,681,659,627,881,785,811.1938187,652.1938187,630,652.1938187,0.451907663341,0.00463319861049,0.0497214172892,0.999999881474,0.000218413142534,-0.000435038703843,9.47643197968e-06,1793245514990694144
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713.750876857,681,659,627,881,785,811.750876857,652.750876857,630,652.750876857,0.452103430172,0.00462862352696,0.049719257089,0.999999881676,0.000211972000315,-0.000437713755118,1.10490330198e-05,1793245515007361024
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.667285248,681,658.667285248,626.667285248,880.667285248,785,812,652.667285248,630.332714752,653,0.452288037721,0.00462626434162,0.04972220258,0.999999885301,0.000207339725147,-0.000431581128368,1.20950336404e-05,1793245515024027648
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.06540018,681,658.06540018,626.06540018,880.06540018,785,812,652.06540018,630.93459982,653,0.452463617294,0.00462569784461,0.0497292786377,0.999999891579,0.00020417084489,-0.000418322982292,1.2715008231e-05,1793245515040694272
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.520804396,681,658,626,880,784.479195604,812,652,630.479195604,653,0.452604789888,0.00462801492786,0.0497325595461,0.999999893422,0.00020647819684,-0.000412738388582,1.30607002125e-05,1793245515057360896
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.104134071,714,681,658,626,880,784.104134071,811.895865929,652.104134071,630,653,0.452736206968,0.00463028908614,0.0497346213747,0.999999894315,0.000209398510118,-0.000409076283513,1.34047875683e-05,1793245515074027520
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.683071412,714,681,658,626,880,784.683071412,811.316928588,652.683071412,630,653,0.452842267898,0.00463076474561,0.0497332342232,0.999999893402,0.000212069788565,-0.000409914643437,1.3894013292e-05,1793245515090694144
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658.261555542,625.738444458,880,784.738444458,811,653,630,653,0.452937215352,0.00463070806218,0.0497308809775,0.999999891914,0.000213804133193,-0.000412615533149,1.43964814084e-05,1793245515107360768
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,681,658.839491431,625.160508569,880,784.160508569,811,653,630,653,0.453018719823,0.00463000745113,0.0497273591343,0.999999889722,0.000214405152619,-0.000417569358509,1.49149676335e-05,1793245515124027392
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.585600616,713.585600616,680.585600616,658.585600616,625.414399384,880,784.414399384,811,653,630,652.585600616,0.453083424025,0.00463199539796,0.0497242401637,0.999999887314,0.000216206656744,-0.00042237773364,1.49630471649e-05,1793245515140694016
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.011856974,713.011856974,680.011856974,658.011856974,625.988143026,880,784.988143026,811,653,630,652.011856974,0.453141668209,0.00463501714524,0.0497212761052,0.999999884805,0.000218469769509,-0.000427130180336,1.48302465756e-05,1793245515157360896
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.490667176,745,713.490667176,680.490667176,658,625.509332824,880,784.509332824,811.490667176,652.509332824,630,652.490667176,0.453175002627,0.00463590774286,0.0497199757247,0.999999883795,0.000219835891922,-0.000428796402985,1.46933149342e-05,1793245515174027520
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.991688478,745,713.991688478,680.991688478,658,625.008311522,880,784.008311522,811.991688478,652.008311522,630,652.991688478,0.453207811399,0.00463675336886,0.0497187104512,0.999999882812,0.000221183086058,-0.0004303975,1.45562961107e-05,1793245515190694144
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.31069988,745,714,681.68930012,658,625,880,784.68930012,812,652.68930012,630,653,0.453250038175,0.00463824436587,0.0497158625428,0.999999880545,0.000222972259559,-0.000434737693837,1.40153418073e-05,1793245515207360512
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.319618167,625,880.319618167,784.680381833,812,653,630,652.680381833,0.453279632004,0.00463782579134,0.0497144117068,0.999999879519,0.000222398825285,-0.000437380754807,1.40715434248e-05,1793245515224027136
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.893716636,625,880.893716636,784.106283364,812,653,630,652.106283364,0.453299040979,0.00463587814615,0.0497140944775,0.999999879506,0.000219938344277,-0.00043863576825,1.46086264242e-05,1793245515240693760
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.469756459,745,714,681.530243541,658.530243541,625,880.530243541,784,811.530243541,653,630.469756459,652.469756459,0.453309924184,0.00463641230227,0.0497115274462,0.999999877787,0.000220949777116,-0.00044203792107,1.44558395924e-05,1793245515257360384
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.952501429,745,713.952501429,681,658,625,880,784.047498571,811,653,630.952501429,653,0.453318546017,0.00463766856675,0.0497085441364,0.999999875693,0.000222741243566,-0.000445870207647,1.41387829519e-05,1793245515274027264
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.360295248,745,713.360295248,681,658,625,880,784.639704752,811,653,630.360295248,653,0.453323447727,0.00464073980105,0.0497066486231,0.999999873902,0.000224432323492,-0.000449041065743,1.37352856369e-05,1793245515290693888
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.226230584,681,658,625,880.226230584,784.773769416,811,653,630,653,0.453327927406,0.00464132490653,0.049705830188,0.999999873255,0.000224345645173,-0.000450522421911,1.37293100531e-05,1793245515307360768
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.803931432,681,658,625,880.803931432,784.196068568,811,653,630,653,0.453331751421,0.00463804757939,0.0497066850943,0.999999874396,0.000221497053903,-0.000449378979435,1.43409214925e-05,1793245515324027392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713.620649665,681,658,625,881,784,811,653,630,653,0.453332873875,0.00463751454897,0.0497055437294,0.999999873762,0.000221189362844,-0.00045094091884,1.42835070464e-05,1793245515340694016
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713.046403159,681,658,625,881,784,811,653,630,653,0.453332608367,0.0046383914368,0.0497033767541,0.999999872211,0.000222187092418,-0.000453892783422,1.38823718272e-05,1793245515357360640
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,681,658,624.471306948,881,784.528693052,811,653,630.528693052,653,0.453333942785,0.00464102171285,0.0497036315336,0.9999998718,0.000225676400618,-0.000453078532721,1.37644228032e-05,1793245515374027264
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.107164113,681,658,624.107164113,881,785,811.107164113,653,630.892835887,653,0.453335353575,0.00464291673185,0.049704104957,0.9999998716,0.000228381336559,-0.000452163370335,1.37716660117e-05,1793245515390693888
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.700610204,681,658,624.700610204,881,785,811.700610204,653,630.299389796,653,0.453336472683,0.00464077589652,0.0497046044521,0.999999871956,0.000226533070445,-0.000452292661287,1.42340305295e-05,1793245515407360512
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.715114434,880.715114434,785,811.715114434,653,630.284885566,653,0.453337614218,0.00464057566078,0.0497050134485,0.999999872339,0.000225537262667,-0.000451948317755,1.40880533526e-05,1793245515424027136
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.140176066,880.140176066,785,811.140176066,653,630.859823934,653,0.453338778586,0.00464235122283,0.0497053303048,0.999999872751,0.00022540937484,-0.000451121749005,1.33227004756e-05,1793245515440693760
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624,880,785,811,653,630.563176316,652.563176316,0.453338607865,0.00464227595811,0.0497052797399,0.999999872335,0.000226049525888,-0.000451726125865,1.32306391502e-05,1793245515457360640
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.014445977,880.014445977,785,811,653,630,652.014445977,0.453338009456,0.00464164819682,0.0497050868056,0.999999871646,0.000226931400128,-0.00045280350114,1.33460685473e-05,1793245515474027264
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.590433631,880.590433631,785,811,653,630,652.590433631,0.453337518772,0.00464274039679,0.0497039646206,0.999999870808,0.000227583625112,-0.000454333071911,1.30886416844e-05,1793245515490693888
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.828462573,658,625,880.828462573,784.828462573,811,653,630,653,0.453337108824,0.00464306890108,0.0497029911995,0.999999870246,0.000227656636893,-0.000455533499454,1.30239785885e-05,1793245515507360768
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.234767874,658,625,880.234767874,784.234767874,811,653,630,653,0.45333689757,0.00464151793389,0.0497023838896,0.99999987037,0.000226304192573,-0.000455923898402,1.3433711255e-05,1793245515524027392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.347968178,745,714,680.347968178,658,625,880,784.347968178,811,653,630,652.652031822,0.453337082258,0.00464104860574,0.0497023274455,0.999999870418,0.000226267420764,-0.000455826851591,1.37473828451e-05,1793245515540694016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.923536346,745,714,680.923536346,658,625,880,784.923536346,811,653,630,652.076463654,0.453337525924,0.00464128675909,0.0497026313132,0.999999870417,0.000227091207727,-0.000455410974895,1.39982225245e-05,1793245515557360640
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.50256893,745,713.50256893,681,657.50256893,625,880,784.50256893,811,653,630,652.49743107,0.453337361477,0.00464272921897,0.0497018787531,0.999999869656,0.000228861526271,-0.00045620977318,1.35393552239e-05,1793245515574027264
+245,4.083333333,HOLD_POSE2,764,745,714,681,658,625,880,784,811,653,630,653,0.453338843,0.00463947956644,0.0497023428276,0.999999871196,0.00022301736209,-0.00045572695487,1.35347276824e-05,1793245515616767232
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+248,4.133333333,HOLD_POSE2,765,745.729620445,714,680.729620445,657.729620445,625,880,784.270379555,811,652.729620445,630,652.270379555,0.453339924338,0.00464322527654,0.0497031033636,0.999999870378,0.000229360210854,-0.000454378410814,1.33833580881e-05,1793245515666767360
+249,4.150000000,HOLD_POSE2,765,745.687641237,714,681,658,624.687641237,880,784,811,653,630,652.312358763,0.453339517123,0.00464385691948,0.0497027638967,0.999999869748,0.000230385609065,-0.000455243285741,1.3417624254e-05,1793245515683433984
+250,4.166666667,HOLD_POSE2,765,745.099208433,714,681,658,624.099208433,880,784,811,653,630,652.900791567,0.453337947809,0.00464452222907,0.0497012126764,0.999999868499,0.000230424777582,-0.000457969101711,1.31012192969e-05,1793245515700100864
+251,4.183333333,HOLD_POSE2,765,745,714,681,658,624.481578877,880,784.481578877,811,653,630.481578877,652.518421123,0.453338187057,0.0046431050176,0.0497012686822,0.999999869178,0.000228271706308,-0.000457561435565,1.31716029184e-05,1793245515716767232
+252,4.200000000,HOLD_POSE2,765,745,714,681,657.939452082,624.939452082,880,785,811.060547918,653,630.939452082,652,0.453338797512,0.00464162877004,0.0497016223702,0.999999870062,0.000226189341058,-0.000456659128392,1.33013695467e-05,1793245515733434112
+253,4.216666667,HOLD_POSE2,765,745,714,681,657.362766381,624.362766381,880,785,811.637233619,653,630.362766381,652,0.453339445928,0.0046432492212,0.0497017353049,0.999999869401,0.000228499319968,-0.000456956970097,1.32687218519e-05,1793245515750101504
+254,4.233333333,HOLD_POSE2,765,745,714,681.212572125,657.212572125,624.212572125,880.212572125,785,811.574855749,653,630,652.212572125,0.453339890316,0.00464392233679,0.0497017970653,0.999999869143,0.000229369033764,-0.000457088747876,1.31765902511e-05,1793245515766768640
+255,4.250000000,HOLD_POSE2,765,745,714,681.785625987,657.785625987,624.785625987,880.785625987,785,810.428748026,653,630,652.785625987,0.453339988714,0.00464298895199,0.0497017720436,0.999999869574,0.000227796332694,-0.000456938912914,1.29835853066e-05,1793245515783435264
+256,4.266666667,HOLD_POSE2,765,745,713.62928466,681.62928466,658,625,880.62928466,784.62928466,810.37071534,653,630,653,0.453339783186,0.00464255723988,0.049701396398,0.999999869265,0.00022826616498,-0.00045737546778,1.31020787661e-05,1793245515800101376
+257,4.283333333,HOLD_POSE2,765,745,713.037001938,681.037001938,658,625,880.037001938,784.037001938,810.962998062,653,630,653,0.45333939601,0.00464242536504,0.0497008111932,0.999999868514,0.000229956768746,-0.000458162493317,1.34067470931e-05,1793245515816767488
+258,4.300000000,HOLD_POSE2,765,745,713,681,658,624.457284877,880.542715123,784,811,653,630,653,0.453339205558,0.00464265070605,0.0497008415855,0.999999868654,0.000228524261232,-0.0004585791012,1.31510255531e-05,1793245515833434112
+259,4.316666667,HOLD_POSE2,765,745,713.120534306,681,658,624,880.879465694,784,811,653,630,653,0.453339194922,0.00464303375475,0.0497009396376,0.99999986888,0.000227382408708,-0.000458662561556,1.28839135073e-05,1793245515850100736
+260,4.333333333,HOLD_POSE2,765,745,713.69436522,681,658,624,880.30563478,784,811,653,630,653,0.453339811224,0.00464392038022,0.04970113787,0.999999869208,0.00022811628606,-0.000457585972363,1.27143993264e-05,1793245515866767616
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,881,785,811,653,631,653,0.45334221933,0.00464557453959,0.0497027600643,0.999999869778,0.000229421944023,-0.000455680732661,1.28437913471e-05,1793245515904036608
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.42035055,745,714,680.42035055,658,624,881,785,811,653,630.42035055,652.42035055,0.453342361364,0.00464320434966,0.0497030648996,0.99999987044,0.000226793529108,-0.000455536405674,1.30687674212e-05,1793245515920703232
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.157605493,745,713.842394507,680.157605493,657.842394507,624,880.842394507,785,811,653,630,652.157605493,0.453341996494,0.00464186720228,0.0497028168178,0.999999870577,0.000225439938432,-0.000455905393176,1.31517357485e-05,1793245515937370112
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.731093178,745,713.268906822,680.731093178,657.268906822,624,880.268906822,785,811,653,630,652.731093178,0.453340294029,0.004643256,0.0497011097239,0.999999869338,0.000227450295303,-0.000457628891535,1.2859980553e-05,1793245515954036480
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.304461015,681,657.304461015,624.304461015,880,785,811.304461015,653,630.304461015,653,0.453339780734,0.00464382975221,0.0497002626706,0.999999868815,0.00022837583403,-0.000458320723654,1.25134473962e-05,1793245515970703104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.877723006,681,657.877723006,624.877723006,880,785,811.877723006,653,630.877723006,653,0.453340317329,0.00464368392116,0.0497001749256,0.999999868928,0.000228343613971,-0.000458101723482,1.2118552172e-05,1793245515987369984
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.541550828,625,880,785,811.541550828,653,630.541550828,652.541550828,0.45334067285,0.0046434708342,0.049700377943,0.999999869013,0.000228547936186,-0.000457800879886,1.25401894522e-05,1793245516004035840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.041912188,745,713.958087812,681,657.041912188,624.958087812,880,785,811.041912188,653,630,652.041912188,0.453340841216,0.00464330080313,0.0497006093661,0.999999869039,0.000228793859343,-0.000457605692908,1.31128931655e-05,1793245516020702208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.634748321,745,713.365251679,681,657.634748321,624.365251679,880,785,811.634748321,653,630,652.634748321,0.453339194806,0.00464393642751,0.049700177906,0.999999868374,0.000228743585817,-0.000459091019914,1.2761225926e-05,1793245516037369088
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.77981565,745,713.22018435,681,658.22018435,624,880,784.77981565,811.77981565,653,630,653,0.453334202366,0.00464436580358,0.0496979773449,0.999999866565,0.000229168347422,-0.000462811103672,1.25434243869e-05,1793245516054035456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.206256146,745,713.793743854,681,658.793743854,624,880,784.206256146,811.206256146,653,630,653,0.453323839864,0.00464446417046,0.0496929375433,0.999999862884,0.000230355495689,-0.000470117761482,1.25404647278e-05,1793245516070701824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.629947007,658.259894014,624,880,784,811,653,630,652.629947007,0.453296845454,0.00464508461233,0.0496805190228,0.999999853399,0.000229800475699,-0.000490144314219,1.23365733971e-05,1793245516087368448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.052093779,657.104187559,624,880,784,811,653,630,652.052093779,0.453260511531,0.00464599822115,0.0496639570425,0.999999840068,0.000228267155334,-0.000517313620431,1.20198505201e-05,1793245516104035072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.533752921,657,624,880,784.533752921,811,653,630,652.533752921,0.453205153433,0.00464540622834,0.0496434013201,0.999999821376,0.000230188922737,-0.000551468344399,1.19887655819e-05,1793245516120701440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.119618808,624.119618808,880.119618808,784.880381192,811,653,630,653,0.453145006447,0.00464551653426,0.0496239939865,0.9999998034,0.000232920556802,-0.000582076403513,1.16585130758e-05,1793245516137368064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.702491887,624.702491887,880.702491887,784.297508113,811,653,630,653,0.45307361328,0.00464892440569,0.0496105665689,0.999999793987,0.000237462807677,-0.000596268641683,1.00600520061e-05,1793245516154034944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.719570242,681,658,625,880.719570242,784.280429758,811,653,630,653,0.452996180629,0.00465038055342,0.0496021655195,0.99999978745,0.00023926792612,-0.000606439378325,9.11101619517e-06,1793245516170702080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.146777622,681,658,625,880.146777622,784.853222378,811,653,630,653,0.452912451501,0.00464980192572,0.0495990047258,0.999999784059,0.000238219438932,-0.000612417486068,8.83904067828e-06,1793245516187368960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.427601026,745,713.427601026,681,658,625,880,784.572398974,811,653,630,652.572398974,0.452818026935,0.00464970280635,0.0496008138064,0.999999784828,0.00023838523322,-0.000611099260704,8.66650671137e-06,1793245516204035584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.997405458,745,714,681,658,625,880,784,811,653,630,652,0.452719795899,0.0046497816038,0.0496043281906,0.999999787012,0.000238982322839,-0.000607281557689,8.52604299614e-06,1793245516220702464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.406904763,745,714,681,658,625,880,784,811,653,630,652,0.452594032654,0.00465274013194,0.0496062567824,0.999999786508,0.000242509564717,-0.000606720847468,7.88911928737e-06,1793245516237368832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.819697381,681,657.819697381,625,880,784,811,652.819697381,630.180302619,652,0.452457205597,0.00465445202738,0.0496078599661,0.999999785249,0.00024580356523,-0.000607475554763,7.43020797152e-06,1793245516254035200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.239789067,681,657.239789067,625,880,784,811,652.239789067,630.760210933,652,0.45229585777,0.00465340100348,0.0496087419459,0.999999782327,0.000248580631144,-0.000611145629283,7.36582659477e-06,1793245516270701568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.336751471,681.336751471,657.336751471,625,880,784,811,652.336751471,630.663248529,652.336751471,0.452111550625,0.00465554863571,0.0496072184563,0.999999777525,0.000254101813909,-0.000616714218422,6.79619347143e-06,1793245516287368192
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.910917738,681.910917738,657.910917738,625,880,784,811,652.910917738,630.089082262,652.910917738,0.451911056802,0.00465995136797,0.0496039990751,0.999999771325,0.000261557640132,-0.000623621288933,5.87035034581e-06,1793245516304034560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.504268342,658,625,880,784.495731658,811,652.504268342,630,653,0.451689975659,0.00466142730331,0.0496009757945,0.999999767183,0.000263364555299,-0.000629482093926,4.96014474859e-06,1793245516320701696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.918424368,681,658,625.081575632,880,785,810.918424368,652.081575632,630,653,0.451460738657,0.00466253269955,0.0495985449861,0.999999764141,0.00026496407498,-0.000633637148095,4.00311364105e-06,1793245516337368320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.338235914,681,658,625.661764086,880,785,810.338235914,652.661764086,630,653,0.451204759473,0.00466465851969,0.049599515411,0.999999765571,0.000271636706621,-0.000628540592513,2.74231892005e-06,1793245516354035200
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.24110876,745,713.24110876,681,658,626,880,785,810.24110876,653,630,653,0.450937792131,0.00466698021078,0.0496043164137,0.99999977171,0.000277689464486,-0.000616007608783,1.61122625695e-06,1793245516370702080
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.819273844,745,713.819273844,681,658,626,880,785,810.819273844,653,630,653,0.450655463985,0.00466957571815,0.0496144723461,0.999999784119,0.00028287567361,-0.000593078921871,6.61449763599e-07,1793245516387368448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.60549387,745,713.60549387,681,658,626,880,785,811,653,630,653,0.450338277403,0.00467297663311,0.0496254687866,0.999999794595,0.000289383302322,-0.000571898197523,-7.48430369153e-07,1793245516404035072
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.03159522,745,713.03159522,681,658,626,880,785,811,653,630,653,0.450005239765,0.00467674378843,0.0496368474283,0.999999803961,0.000296491815757,-0.000551512319133,-2.3675319414e-06,1793245516420701696
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,626.556886836,880,785,810.443113164,652.443113164,630,653,0.449629682704,0.00467891645797,0.0496371665356,0.99999980272,0.000302192515784,-0.000550662368287,-3.39050454654e-06,1793245516437368320
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.14366334,681,658.14366334,627,880,785,810.14366334,652.14366334,630,653,0.449238728906,0.00468102846011,0.0496359861012,0.999999799704,0.000307489008242,-0.000553192400973,-4.49425397251e-06,1793245516454035200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.72269624,681,658.72269624,627,880,785,810.72269624,652.72269624,630,653,0.448808622812,0.00468323813186,0.0496322139949,0.999999793158,0.000311809117612,-0.000562516168082,-5.94804837497e-06,1793245516470702080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.700796126,745,713.700796126,681,658.700796126,627.299203874,880,784.700796126,810.700796126,652.700796126,630.299203874,652.700796126,0.448353893832,0.00468596458582,0.049625867511,0.999999786704,0.000317138740547,-0.000570920006623,-8.04616243435e-06,1793245516487368960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.126609268,745,713.126609268,681,658.126609268,627.873390732,880,784.126609268,810.126609268,652.126609268,630.873390732,652.126609268,0.447876535166,0.00468916598815,0.0496171550477,0.999999780331,0.000323396156287,-0.000578478386918,-1.07364379187e-05,1793245516504035584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.449349768,745,713,681,658.449349768,628.449349768,880,784.449349768,810.449349768,652.449349768,630.550650232,652.449349768,0.447360138453,0.00468991924557,0.0496107146532,0.999999775475,0.000326651197682,-0.000584958941694,-1.31288406642e-05,1793245516520702464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.026615879,745,713,681,659,629,880,785,810.973384121,653,630,653,0.446832202372,0.00468993373195,0.049605387894,0.99999977134,0.000329029258711,-0.000590613238298,-1.53757857687e-05,1793245516537369088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.621073548,745,713,681,659,629,880,785,810.378926452,653,630,653,0.446293674733,0.00468896153283,0.0496101080654,0.99999977395,0.000330816807516,-0.000585144346393,-1.63171274181e-05,1793245516554035200
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.791032131,745,713,680.791032131,659.208967869,629.208967869,880,785,810,652.791032131,630.208967869,652.791032131,0.445752315522,0.00468798205924,0.0496268319315,0.999999786896,0.00033264920392,-0.00056146623703,-1.75430158653e-05,1793245516570701824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.214676898,745,713,680.214676898,659.785323102,629.785323102,880,785,810,652.214676898,630.785323102,652.214676898,0.445205978142,0.00468698979642,0.0496646595478,0.999999815945,0.000334560446294,-0.00050577441842,-1.92691672457e-05,1793245516587368448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.358936129,680.358936129,660.358936129,630.358936129,880,785,810.358936129,652.358936129,630.641063871,652.358936129,0.44461968497,0.00468644103255,0.0496988339023,0.999999837596,0.00033856671915,-0.00045797623846,-2.09487852804e-05,1793245516604035584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.930921479,680.930921479,660.930921479,630.930921479,880,785,810.930921479,652.930921479,630.069078521,652.930921479,0.444009675757,0.00468615551082,0.0497308398346,0.999999854584,0.000343816512838,-0.000414863388574,-2.26007830319e-05,1793245516620703232
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.495670388,681,661,631,880,785,810.495670388,652.495670388,630,653,0.443312717229,0.00466612640444,0.0497239433404,0.999999853631,0.000324378793496,-0.000432262869274,-2.57755546139e-05,1793245516637369856
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.081395424,681,661.081395424,631,880,785.081395424,810,652,630.081395424,653,0.442610704632,0.0046420989484,0.0497169192285,0.999999854467,0.000300601184562,-0.00044708807535,-2.85884666274e-05,1793245516654036736
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.680481569,681,661.680481569,631,880,785.680481569,810,652,630.680481569,653,0.441952508718,0.00460988974339,0.0497430696459,0.999999885854,0.00027078871508,-0.000392675199073,-2.77695442442e-05,1793245516670702848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.731815424,745,713.731815424,680.731815424,662,631.268184576,880,785.731815424,810,652,630.731815424,652.731815424,0.441281360141,0.00459602211145,0.0497796422589,0.999999925064,0.000206079183324,-0.000326420751925,-2.91913599151e-05,1793245516687369216
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.157122149,745,713.157122149,680.157122149,662,631.842877851,880,785.157122149,810,652,630.157122149,652.157122149,0.440595407854,0.00460311709654,0.0498281264235,0.999999963886,0.000101485722217,-0.000246632539225,-3.31741192961e-05,1793245516704035584
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.418443116,745,713,680,662.418443116,632,880,785,810,652,630.418443116,652.418443116,0.43982446201,0.0046140740347,0.0498357164899,0.999999969262,5.84858194195e-05,-0.000238025795725,-3.74081684388e-05,1793245516720702208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.994336457,745,713,680,662.994336457,632,880,785,810,652,630.994336457,652.994336457,0.439021535148,0.00462648413382,0.0498279190736,0.999999965562,3.8662118892e-05,-0.000256202957113,-4.17367718439e-05,1793245516737368832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.581821145,680,663,632,880,785,809.418178855,652,631,652.418178855,0.438151414606,0.00463007448354,0.0497871794145,0.999999944241,5.26048166381e-05,-0.000326708108236,-4.48627228453e-05,1793245516754035968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.832869365,680.167130635,662.832869365,632,879.832869365,785.167130635,809,652,630.832869365,652,0.437292815411,0.00463376308955,0.0497648568529,0.999999929048,6.74277417843e-05,-0.000367505099063,-4.79392423089e-05,1793245516770702848
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.253213076,680.746786924,662.253213076,632,879.253213076,785.746786924,809,652,630.253213076,652,0.436464301462,0.00463791043649,0.0497888004784,0.999999939534,8.35955310051e-05,-0.000333691126699,-5.09232341431e-05,1793245516787369472
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.675643014,745,713.324356986,680.675643014,662.324356986,632.324356986,879,786,809,652,630,652,0.43560496882,0.0046419227785,0.0497931267703,0.999999937643,9.88393514321e-05,-0.000334722813169,-5.38964187507e-05,1793245516804035584
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.099691208,745,713.900308792,680.099691208,662.900308792,632.900308792,879,786,809,652,630,652,0.434721731,0.0046458304007,0.0497822364335,0.999999926152,0.000113366473845,-0.000362783323153,-5.68612203489e-05,1793245516820701440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.47393004,745,713.52606996,680.47393004,662.52606996,632.52606996,879.47393004,785.52606996,809,652,630.47393004,652,0.433864366806,0.00463743585405,0.0497805601353,0.999999929544,0.000105994846202,-0.000354821088977,-6.14823498572e-05,1793245516837368320
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.95135623,662.04864377,632.04864377,879.95135623,785,809,652,630.95135623,652,0.433009842339,0.00462637589727,0.0497828549284,0.999999936369,9.2298385112e-05,-0.000338192648466,-6.60900149921e-05,1793245516854034944
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.358978377,662.641021623,632.641021623,879.358978377,785,809,652,630.358978377,652,0.432126522583,0.00461430645998,0.0498079794412,0.999999948295,5.91415687793e-05,-0.000308979051083,-6.66717612748e-05,1793245516870701568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.227591209,662.772408791,632.772408791,879,785.227591209,809,652,630,652,0.431221007849,0.00460914376823,0.0498119973845,0.999999948762,7.39374975976e-05,-0.000306324481072,-5.63442794727e-05,1793245516887368448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.805227521,662.194772479,632.194772479,879,785.805227521,809,652,630,652,0.430281356144,0.00461460394737,0.0497835525167,0.999999927025,0.000162486812858,-0.000344518835678,-2.92379338295e-05,1793245516904035584
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.619323947,662.380676053,632,879,785.619323947,809,652,630,652,0.429362601705,0.00462221987593,0.0497695468935,0.999999915077,0.000198006430038,-0.000360643082861,-2.39976553026e-05,1793245516920702208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.044988427,662.955011573,632,879,785.044988427,809,652,630,652,0.428454478286,0.00463093248803,0.0497628868784,0.999999911413,0.000206548503644,-0.000365539711147,-2.98811958297e-05,1793245516937368832
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.456632882,632,879.543367118,785.543367118,808.456632882,652.543367118,630,652,0.427506549514,0.00463089780636,0.0497696042409,0.999999908621,0.000202812238638,-0.000374939743074,-3.2341214955e-05,1793245516954035200
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,632,879.290643865,785.290643865,808,652.290643865,630,652,0.425675622597,0.00463083635605,0.0497729787587,0.999999922729,0.000163616403682,-0.000355343929001,-3.87521777864e-05,1793245516987368448
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.28734731,745,713,680.28734731,662.28734731,632.28734731,879,785,808,652.28734731,630,652.28734731,0.424802555995,0.00462534442872,0.0497925667182,0.999999940904,0.000144362201678,-0.000309302656884,-4.10393958891e-05,1793245517004035072
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.864469411,745,713,680.864469411,662.864469411,632.864469411,879,785,808,652.864469411,630,652.864469411,0.423949395065,0.00461386879259,0.0498341374105,0.999999961423,0.000134899568578,-0.00023919239088,-4.17399865147e-05,1793245517020701440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.560677765,745,713,680.560677765,663,632.560677765,879,785.439322235,808.439322235,653,629.560677765,652.560677765,0.423053977675,0.00460638878199,0.0498354528338,0.999999961651,0.000136463653816,-0.000237431640443,-4.1254743286e-05,1793245517037368064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.986136608,662.972273217,632.013863392,878.986136608,786,808.986136608,653,629,652,0.422144922797,0.00460038422594,0.0498240377232,0.999999956044,0.00014157126874,-0.000257367419784,-4.04012337586e-05,1793245517054034944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.39559037,661.79118074,632.60440963,878.39559037,786,808.39559037,653,629,652,0.421208067402,0.00460474335661,0.0497969973308,0.999999940283,0.000153304358167,-0.000307216364658,-3.93681343279e-05,1793245517070701824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.190991222,661.381982444,633,878,786,808,652.809008778,629.190991222,652,0.420294584839,0.00460850680101,0.0497849509553,0.999999931246,0.000151648753554,-0.000336232698535,-3.81974928023e-05,1793245517087368448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.769528146,662.539056292,633,878,786,808,652.230471854,629.769528146,652,0.41942852858,0.00461106152231,0.0498033293596,0.999999939625,0.000122825773138,-0.000322977001247,-3.67477606751e-05,1793245517104035072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.346302119,745.346302119,713,680,663,633,878.346302119,786,807.653697881,652.346302119,629.653697881,652,0.41855512711,0.00461303125139,0.0497958817819,0.999999932685,0.00012348969712,-0.000343572105249,-3.65927592198e-05,1793245517120701696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.921908716,745.921908716,713,680,663,633,878.921908716,786,807.078091284,652.921908716,629.078091284,652,0.417676862049,0.00461461362682,0.0497713334896,0.99999991426,0.000143678421573,-0.000386581569502,-3.72950656998e-05,1793245517137368320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.492780909,745.492780909,713,680,662.492780909,633,878.492780909,786,807,653,629,652,0.416896779244,0.00460834240652,0.0497812974508,0.999999923519,0.000146268946295,-0.000360725114872,-3.8020408144e-05,1793245517154034944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.093269909,633,878,786,807.093269909,653,629,652.093269909,0.416126045928,0.0046017816938,0.0497967751738,0.99999993625,0.000143767689041,-0.000324534622386,-3.88473750839e-05,1793245517170701568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.6752199,633,878,786,807.6752199,653,629,652.6752199,0.415323554151,0.00460016294827,0.0498127591795,0.999999948572,0.00012906108517,-0.000290834605401,-4.01878508283e-05,1793245517187368448
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.254111732,680,662.745888268,633,878,786,808,653,629,652.745888268,0.414520860697,0.00459959999084,0.0498087971299,0.999999947737,0.000120553638048,-0.000297208811096,-4.07498929507e-05,1793245517204035072
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.829141367,680,662.170858633,633,878,786,808,653,629,652.170858633,0.413717912605,0.00460037038917,0.0497796451906,0.999999929276,0.000119875111789,-0.000354192785927,-4.03288505057e-05,1793245517220701696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.404214285,713.595785715,680,662,633,878,786,808,653,629,652,0.412971931749,0.00460409821312,0.0497710695136,0.999999923001,0.00013028288439,-0.000367889969542,-4.10079800425e-05,1793245517237368576
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.979305548,713.020694452,680,662,633,878,786,808,653,629,652,0.412250033075,0.00460907625509,0.0497711922144,0.999999922555,0.000145377263413,-0.000363288160991,-4.2152194728e-05,1793245517254034944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.42777613,713,680,662.57222387,633,878.57222387,786,807.42777613,653,629.57222387,652,0.411583513796,0.0046090733322,0.0497986894758,0.999999935951,0.000142335170889,-0.000325922038571,-4.01632937457e-05,1793245517270701824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.839338136,633,878.839338136,785.839338136,807,653,629.839338136,652,0.410908390469,0.00460919762827,0.049814469429,0.999999942313,0.000138611025821,-0.000307667830093,-3.87592127279e-05,1793245517287368448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.264175883,633,878.264175883,785.264175883,807,653,629.264175883,652,0.410205735675,0.00461012983144,0.049797382974,0.999999931698,0.000134873834245,-0.000341876835362,-3.91656728714e-05,1793245517304035072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878.311457598,785,807,653,629.311457598,652,0.409559540201,0.00460759378729,0.049788757255,0.999999928051,0.000132708154788,-0.000353161238648,-3.95335740498e-05,1793245517320701952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878.887491343,785,807,653,629.887491343,652,0.408961305676,0.00460211154587,0.0497873187399,0.999999931007,0.000131877439448,-0.000344971712166,-3.98687202667e-05,1793245517337369088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.471817011,680,662.471817011,633,878.528182989,785,807.471817011,653,630,652,0.408415784074,0.004595063439,0.0498045802869,0.999999940958,0.000119813391154,-0.000319619564864,-3.9649375666e-05,1793245517354035968
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.942348258,745,713.942348258,679.942348258,662.942348258,633,877.942348258,785,807.942348258,653,629.942348258,652,0.407882425762,0.00458867147558,0.0498246358201,0.999999950655,0.000106683926943,-0.000292850752136,-3.93408261317e-05,1793245517370702592
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.217650481,745,713,679.217650481,662.217650481,633,877.217650481,785.217650481,807,653,629,652,0.406800298107,0.00459424583753,0.049818928686,0.999999944562,0.000111507119567,-0.000311228153972,-3.97340673735e-05,1793245517404034816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.792249702,745,713,679.792249702,662.792249702,633,877.792249702,785.792249702,807,653,629,652,0.406250798753,0.00459603977499,0.0497858546915,0.999999924965,0.000115860668981,-0.000367451186752,-4.03286699311e-05,1793245517420701440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.634136565,633,878,786,807,653,629,652,0.405760619537,0.0045984552997,0.0497687753716,0.999999913574,0.000119695404149,-0.000396011865377,-4.12339332559e-05,1793245517437368320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.061080871,633,878,786,807,653,629,652,0.405304033878,0.0046012228359,0.0497607539987,0.999999907909,0.000123236329963,-0.000408907071552,-4.23151270956e-05,1793245517454034688
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.58532549,745,712.41467451,679,662.58532549,633,878,786,806.41467451,653,629.58532549,652,0.400986224618,0.00458075517412,0.0498474747316,0.999999960481,0.000109031495181,-0.000257224358638,-3.14080747046e-05,1793245518070701824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.011765764,745,712.988234236,679,662.011765764,633,878,786,806.988234236,653,629.011765764,652,0.400985160683,0.0045807240418,0.0498475324246,0.999999960294,0.000109689810446,-0.000257643871916,-3.16229992802e-05,1793245518087368960
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.581886895,745,713,679,662,633,878,786,806.418113105,653,629,652.581886895,0.400984977201,0.00458037891503,0.0498471799213,0.9999999603,0.000109308556619,-0.000257804456275,-3.1428604784e-05,1793245518104035584
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.828773287,745,713,679,662.171226713,633,878,786,806.171226713,653,629.171226713,652.828773287,0.400984780958,0.00457984895774,0.0498468903192,0.99999996031,0.000108642077001,-0.000258071732663,-3.12503002053e-05,1793245518120702208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.250681501,745,713,679,662.749318499,633,878,786,806.749318499,653,629.749318499,652.250681501,0.400984510577,0.00457889543619,0.049846770595,0.999999960315,0.000107349584193,-0.000258605413789,-3.11305978065e-05,1793245518137368576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.325728604,745,713,679,662.674271396,633,878.325728604,786,807,653.325728604,629.674271396,652.325728604,0.40098451259,0.00457847467853,0.0498468765057,0.999999960572,0.000106164605041,-0.000258061592707,-3.14450254391e-05,1793245518154034944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.900851103,745,713,679,662.099148897,633,878.900851103,786,807,653.900851103,629.099148897,652.900851103,0.400984723161,0.00457846183124,0.0498471551738,0.99999996102,0.000105061943711,-0.00025669278273,-3.2091844456e-05,1793245518170701568
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.486703356,713,679,662,633.486703356,878.513296644,785.513296644,807,653.513296644,629.486703356,652.513296644,0.400985525612,0.00457958534813,0.0498480739388,0.999999961272,0.000105872829794,-0.00025539667103,-3.19326346663e-05,1793245518187368192
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.347004844,713,678.347004844,662,633.347004844,878,785.652995156,807,653,629.347004844,652,0.400984596429,0.00457935599558,0.0498476323512,0.999999961153,0.000106621729396,-0.000255622713281,-3.13585583345e-05,1793245518220701952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.76908919,745,712.76908919,678.23091081,662,633,878,786,807,653,629,652,0.400983637798,0.00457895581958,0.0498469493051,0.999999960993,0.000106304196952,-0.00025638553171,-3.12890748294e-05,1793245518237368832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.193270327,745,712.193270327,678.806729673,662,633,878,786,807,653,629,652,0.400983549327,0.00457983511522,0.0498470480669,0.999999960997,0.00010591889491,-0.000256506615449,-3.14981992696e-05,1793245518254035456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,712.38167302,679,662.38167302,633,878,786,807,652.61832698,629.38167302,652,0.400983880028,0.00457964385492,0.0498476309112,0.999999961153,0.00010521320556,-0.000256191015795,-3.14794266594e-05,1793245518270701824
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,712.956174007,679,662.956174007,633,878,786,807,652.043825993,629.956174007,652,0.400984422502,0.00457891173074,0.0498484583226,0.999999961385,0.000104345650892,-0.000255654795953,-3.13455164126e-05,1793245518287368192
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f8e9caec66c7614f8bd00117d0c41d885ed04ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575670412364,0.00987774206283,1.0400510871,0.546242048176,0.0185534369943,1.0397175867
+393,6.550000000,pose2_to_pose3_retreat,0.575670212564,0.00987773231768,1.0400510536,0.546241848346,0.0185534270786,1.03971755138
+394,6.566666667,pose2_to_pose3_retreat,0.575670087028,0.00987772320076,1.04005100889,0.546241722744,0.0185534176599,1.03971750465
+395,6.583333333,pose2_to_pose3_retreat,0.575670054946,0.00987772087087,1.04005099747,0.546241690646,0.0185534152529,1.03971749271
+396,6.600000000,pose2_to_pose3_retreat,0.575670014734,0.00987771795046,1.04005098315,0.546241650412,0.0185534122359,1.03971747774
+397,6.616666667,pose2_to_pose3_retreat,0.575669915255,0.00987771072594,1.04005094773,0.546241550881,0.0185534047723,1.03971744072
+398,6.633333333,pose2_to_pose3_retreat,0.57566990896,0.00987771026876,1.04005094548,0.546241544582,0.0185534043,1.03971743837
+399,6.650000000,pose2_to_pose3_retreat,0.575669844815,0.0098777056103,1.04005092264,0.546241480404,0.0185533994874,1.0397174145
+400,6.666666667,pose2_to_pose3_retreat,0.575669759536,0.00987771641687,1.04005089943,0.546241394731,0.0185534089228,1.03971739032
+401,6.683333333,pose2_to_pose3_retreat,0.575669642922,0.0098777947249,1.04005089445,0.546241276278,0.0185534809977,1.03971738552
+402,6.700000000,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+403,6.716666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+404,6.733333333,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83baf637ea8753db44e5b3fb0ed7741259880fa6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1a6a5614289f16263f8925c946eb6e96cb0682d45ceac2ab398ddd41d78b0b
+size 25769009
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbc9b5e5a04f58c18aefd3162662d9313b6488ba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+3,0.050000000,BASELINE,765,745,713,679,663,633.724372357,878,785.724372357,807,653,629,652,0.400985799272,0.00458005713862,0.049849839628,0.999999962074,0.000106541167526,-0.000251934902012,-3.20901754877e-05,1793245518481586944
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+21,0.350000000,BASELINE,765,745,713,679,662,633,877.169912747,786,807,652.830087253,629.169912747,652,0.400986095601,0.0045768887102,0.0498507231195,0.99999996272,0.000103447320628,-0.000250849492632,-3.05616106185e-05,1793245518781586944
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+27,0.450000000,BASELINE,765,745,713,679,663,633.655339696,878,785,807,653,629,652,0.400987091222,0.00457824383545,0.0498513121078,0.999999963236,0.000103768664355,-0.000248558926176,-3.12704597044e-05,1793245518881586944
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+30,0.500000000,BASELINE,764.598678352,745,713,679.401321648,662.401321648,633,878,786,807,652.598678352,629.401321648,652.598678352,0.40098636901,0.00457877523493,0.049851216017,0.999999963137,0.000101971465401,-0.000249677361734,-3.14496605375e-05,1793245518931587072
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+40,0.666666667,BASELINE,764.19610482,745,713,679,662.80389518,633,878,786,807,653,629,652,0.400985813409,0.00457813084483,0.0498500016359,0.999999963063,0.000100881869832,-0.000250372484774,-3.17785456888e-05,1793245519098253568
+41,0.683333333,BASELINE,764.771617482,745,713,679,662.228382518,633,878,786,807,653,629,652,0.400986838954,0.00457702395061,0.0498510382293,0.999999963346,0.000101820949336,-0.00024892624297,-3.12448535261e-05,1793245519114920192
+42,0.700000000,BASELINE,765,745,713,679,662.357512296,633,877.642487704,786,807,653,629,652,0.400987200775,0.0045774345665,0.0498514407161,0.999999963472,0.000101923570768,-0.000248375973564,-3.1261263942e-05,1793245519131586816
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+51,0.850000000,BASELINE,764.584806582,745,713,678.415193418,663,633,877,786,807,653,629.415193418,652,0.400986210389,0.00457789542693,0.0498520640346,0.999999963483,0.000101791082262,-0.000248346862709,-3.15516497549e-05,1793245519281587712
+52,0.866666667,BASELINE,765,745,713,678.163278352,662.836721648,633.163278352,877.163278352,786,807,652.836721648,629.163278352,652,0.400986544198,0.00457763170832,0.0498521114335,0.999999963558,0.000101287140424,-0.00024829020027,-3.12540420301e-05,1793245519298254848
+53,0.883333333,BASELINE,765,745,713,678.751939252,662.248060748,633.751939252,877.751939252,786,807,652.248060748,629.751939252,652,0.400987544516,0.00458011862001,0.0498522398894,0.999999963459,0.000103931602426,-0.000247528962976,-3.17653816069e-05,1793245519314920704
+54,0.900000000,BASELINE,764.66515531,745,713,679.33484469,662.33484469,633.66515531,878,786,806.66515531,652.33484469,629.66515531,652,0.400987345315,0.0045800029153,0.0498518617578,0.999999963387,0.000103876497634,-0.000247835392022,-3.18443417067e-05,1793245519331586816
+55,0.916666667,BASELINE,764.086441628,745,713,679.913558372,662.913558372,633.086441628,878,786,806.086441628,652.913558372,629.086441628,652,0.400986272496,0.00457799171248,0.0498511146761,0.999999963333,0.000101855285301,-0.000248919407609,-3.16083977402e-05,1793245519348253440
+56,0.933333333,BASELINE,764,745,713,679.507751961,662.507751961,633,878,786,806,653,629.492248039,652,0.400985452019,0.00457765938682,0.0498506464093,0.999999963137,0.000101681716868,-0.000249827105165,-3.12026679795e-05,1793245519364920064
+57,0.950000000,BASELINE,764.070235977,745,713,679,662.070235977,633,878,785.929764023,806.070235977,653,629.929764023,652,0.400984908932,0.00457787656626,0.0498503819702,0.999999962973,0.000101987999262,-0.0002503993141,-3.08782646658e-05,1793245519381586688
+58,0.966666667,BASELINE,764.643230735,745,713,679,662.643230735,633,878,785.356769265,806.643230735,653,629.356769265,652,0.400986034272,0.00457991691517,0.0498512261031,0.999999963213,0.000103406724925,-0.000248791671759,-3.13494196131e-05,1793245519398253824
+59,0.983333333,BASELINE,765,745,713.222701106,679.222701106,662.777298894,633,878,785,807,652.777298894,629,652,0.400986227004,0.00458079813319,0.0498515325011,0.999999963237,0.000104264766834,-0.000248306763375,-3.15946216637e-05,1793245519414920448
+60,1.000000000,BASELINE,765,745,713.812856249,679.812856249,662.187143751,633,878,785,807,652.187143751,629,652,0.400984880944,0.00457976680007,0.0498509516433,0.999999962908,0.000104197687794,-0.000249674351718,-3.14670043374e-05,1793245519431586816
+61,1.016666667,BASELINE,765,745,713.604409656,679.604409656,662,633,878,785.395590344,806.604409656,652,629,652,0.400984684092,0.00457951568644,0.0498508670448,0.999999962834,0.000104229817404,-0.000249944737524,-3.15698790415e-05,1793245519448253696
+62,1.033333333,BASELINE,765,745,713.025121659,679.025121659,662,633,878,785.974878341,806.025121659,652,629,652,0.40098502089,0.00457962687821,0.0498510128909,0.999999962878,0.000104308015879,-0.000249705622613,-3.17797858023e-05,1793245519464920064
+63,1.050000000,BASELINE,764.449108271,745,713,679,662,633,878,786,806,652.550891729,629,652,0.400986280108,0.00457900381908,0.0498515404047,0.999999963432,0.000103120925506,-0.000247991802761,-3.16411471992e-05,1793245519481586688
+64,1.066666667,BASELINE,764.126164917,745,713,679,662.126164917,633,878,785.873835083,806,653,629,652,0.400987143565,0.00457837395995,0.0498519690901,0.999999963834,0.000102155529192,-0.000246799338894,-3.14204052626e-05,1793245519498253824
+65,1.083333333,BASELINE,764.699341444,745,713,679,662.699341444,633,878,785.300658556,806,653,629,652,0.400986456659,0.00457783794027,0.0498519863177,0.999999963625,0.000102178836779,-0.000247690938826,-3.09647470711e-05,1793245519514920448
+66,1.100000000,BASELINE,765,745.281721778,713,679,663,633,878,785.281721778,806.281721778,653,629,652,0.400986172845,0.00457763607572,0.0498520314148,0.999999963535,0.0001023690544,-0.000247984248866,-3.0905445387e-05,1793245519531587328
+67,1.116666667,BASELINE,765,745.874256277,713,679,663,633,878,785.874256277,806.874256277,653,629,652,0.400986333746,0.00457780287159,0.0498521072593,0.999999963575,0.000102743417391,-0.000247617488793,-3.12834285087e-05,1793245519548253952
+68,1.133333333,BASELINE,765,745.545525262,713,679,662.545525262,633,878,786,807,653,629,652,0.400987059897,0.00457850284363,0.0498519533829,0.99999996372,0.000102663696966,-0.000247045318093,-3.14478168779e-05,1793245519564920320
+69,1.150000000,BASELINE,765,745,713,679,662.031395068,633,878,785.968604932,806.968604932,652.968604932,629.031395068,652,0.400987831888,0.00457924497607,0.0498517265849,0.999999963867,0.000102403382902,-0.000246542462376,-3.1549823618e-05,1793245519581587200
+70,1.166666667,BASELINE,765,745,713,679,662.608654612,633,878,785.391345388,806.391345388,652.391345388,629.608654612,652,0.400986753452,0.00457822292018,0.0498513078419,0.999999963585,0.000101129879104,-0.000248206861839,-3.15676139707e-05,1793245519598253824
+71,1.183333333,BASELINE,765,745,713,679.189208008,662.810791992,633,878,785.189208008,806.189208008,652.189208008,629.810791992,652,0.400986239825,0.0045775585214,0.0498512964821,0.999999963447,0.00010085758684,-0.00024888033963,-3.14869871183e-05,1793245519614920448
+72,1.200000000,BASELINE,765,745,713,679.776695,662.223305,633,878,785.776695,806.776695,652.776695,629.223305,652,0.400986915109,0.00457764698336,0.0498521426554,0.99999996362,0.000102692824136,-0.00024746794788,-3.11991940664e-05,1793245519631586816
+73,1.216666667,BASELINE,765,745,713,679.641146215,662,633,878,786,807,653,629,652,0.400986692524,0.00457884021609,0.0498521153342,0.999999963497,0.000103795236547,-0.000247485515142,-3.13495211482e-05,1793245519648253440
+74,1.233333333,BASELINE,765,745,713,679.062254556,662,633,878,786,807,653,629,652,0.400985919392,0.00458071085957,0.0498515524137,0.999999963194,0.000104448303636,-0.000248379888464,-3.17684897585e-05,1793245519664920064
+75,1.250000000,BASELINE,765,745.514888221,713,679,662.514888221,633.514888221,878,786,807,653,629,652.514888221,0.400985293016,0.0045798689244,0.0498510443096,0.999999963064,0.000103256582888,-0.00024941148263,-3.16914099835e-05,1793245519681586944
+76,1.266666667,BASELINE,765,745.908469033,713,679,663,633.908469033,878.091530967,785.908469033,807,653,629,652.908469033,0.400984588067,0.00457869014822,0.0498505628728,0.999999962955,0.000101917331066,-0.000250419016574,-3.15279778457e-05,1793245519698253568
+77,1.283333333,BASELINE,765,745.333354705,713,679,663,633.333354705,878.666645295,785.333354705,807,653,629,652.333354705,0.400983374568,0.00457745866395,0.0498501874289,0.999999962861,0.000100973083897,-0.00025121207444,-3.12241228979e-05,1793245519714920192
+78,1.300000000,BASELINE,765,745,713,679,663,633,878.751972315,785,806.751972315,653,629,652,0.400983260201,0.00457721449813,0.0498499711593,0.999999962803,0.000101176245753,-0.000251375556096,-3.11034928008e-05,1793245519731586816
+79,1.316666667,BASELINE,765,745,713,679,663,633,878.161947144,785,806.161947144,653,629,652,0.400984661391,0.00457833171445,0.0498499743701,0.999999962794,0.000102961533506,-0.000250670935071,-3.12355056492e-05,1793245519748253440
+80,1.333333333,BASELINE,765,745,713,679.419900443,663,633.419900443,878,785,806.419900443,653,629.419900443,652,0.40098463698,0.00457787717176,0.0498502283076,0.999999963041,0.000102163095286,-0.000250021429274,-3.11452549984e-05,1793245519764920064
+81,1.350000000,BASELINE,765,745,713,679.998654397,663,633.998654397,878,785,806.998654397,653,629.998654397,652,0.400984073248,0.00457682801337,0.0498505770981,0.999999963383,0.000100387201843,-0.000249392774188,-3.0970919338e-05,1793245519781586688
+82,1.366666667,BASELINE,765,745,713,679.426146204,663,634,878,785.573853796,807,653,630,652,0.400984838225,0.0045753923766,0.0498507706673,0.999999963632,9.77588373654e-05,-0.000249448636627,-3.08854693562e-05,1793245519798253568
+83,1.383333333,BASELINE,765,745,713,679,663,633.847814402,878,786,806.847814402,653,629.847814402,652,0.400985474701,0.00457502790678,0.0498509483498,0.999999963667,9.71869350763e-05,-0.000249534092001,-3.08618493155e-05,1793245519814919936
+84,1.400000000,BASELINE,765,745,713,679,663,633.260502675,878,786,806.260502675,653,629.260502675,652,0.400985734916,0.00457772867167,0.0498510816433,0.999999963091,0.000102500509341,-0.000249699597939,-3.10144199783e-05,1793245519831586816
+85,1.416666667,BASELINE,765,745,713,679.32252599,663,633.32252599,878,786,806.32252599,653,629,652,0.400986068656,0.00457936340992,0.049850975855,0.999999962801,0.000105313142984,-0.000249657603561,-3.1265479316e-05,1793245519848253440
+86,1.433333333,BASELINE,765,745,713,679.902140551,663,633.902140551,878,786,806.902140551,653,629,652,0.400986461004,0.00458014840792,0.0498506794924,0.999999962756,0.000106132252474,-0.000249450208676,-3.15950449155e-05,1793245519864920064
+87,1.450000000,BASELINE,764.520562298,745,713,679.520562298,663,634,878,785.520562298,807,653,629,652.479437702,0.400987020042,0.00457893322211,0.0498513599673,0.999999963251,0.000103667158905,-0.000248528698064,-3.13799374348e-05,1793245519881586944
+88,1.466666667,BASELINE,764.056066565,745,713,679,663,633.943933435,877.943933435,785,807,653,629,652.943933435,0.400987603826,0.00457755776973,0.0498522353036,0.999999963814,0.000100997076403,-0.000247394080257,-3.11091586487e-05,1793245519898253568
+89,1.483333333,BASELINE,764.630867705,745,713,679,663,633.369132295,877.369132295,785,807,653,629,652.369132295,0.400988103279,0.00457845864384,0.0498530776585,0.999999964078,0.000102602720838,-0.000245629873445,-3.13469572081e-05,1793245519914920192
+90,1.500000000,BASELINE,764.78906168,745,713,679,663,633,877.21093832,785,806.78906168,653,629.21093832,652,0.400987872892,0.0045789826839,0.0498531631518,0.999999964074,0.000103218846855,-0.000245362796032,-3.15495167238e-05,1793245519931586560
+91,1.516666667,BASELINE,764.199533532,745,713,679,663,633,877.800466468,785,806.199533532,653,629.800466468,652,0.400986332596,0.00457883038616,0.0498518902377,0.999999963592,0.000102058995681,-0.00024778275056,-3.16888295574e-05,1793245519948253184
+92,1.533333333,BASELINE,764.383300994,745,713,679.383300994,663,633,878,785,806.383300994,653,629.616699006,652,0.400985881332,0.00457962211799,0.0498512677366,0.999999963184,0.000103456486727,-0.000248843412141,-3.17062117801e-05,1793245519964920320
+93,1.550000000,BASELINE,764.962710905,745,713,679.962710905,663,633,878,785,806.962710905,653,629.037289095,652,0.400985987251,0.0045808968452,0.049850978007,0.999999962811,0.000106162394868,-0.000249208616655,-3.16612104565e-05,1793245519981587200
+94,1.566666667,BASELINE,765,745.540126089,713,679.459873911,663,633.540126089,878,785.540126089,807,653,629.540126089,652,0.400986287566,0.0045790878432,0.0498514738112,0.999999963211,0.000103486733818,-0.000248763937678,-3.1375924794e-05,1793245519998254080
+95,1.583333333,BASELINE,765,745.883828718,713,679,663,633.883828718,878,785.883828718,806.883828718,653,629.883828718,652,0.400986726513,0.00457769893066,0.0498519937222,0.999999963571,0.000101552278361,-0.000248140718086,-3.1168738207e-05,1793245520014920704
+96,1.600000000,BASELINE,765,745.312612203,713,679,663,633.312612203,878,785.312612203,806.312612203,653,629.312612203,652,0.400987656103,0.00457878635702,0.049852396416,0.999999963591,0.000103971080584,-0.000247036355892,-3.13322063234e-05,1793245520031587072
+97,1.616666667,BASELINE,765,745,713,679,663,633,878.259650933,785.259650933,806.259650933,653,629.259650933,652,0.400987548848,0.00457918689849,0.0498521915181,0.999999963435,0.000104888389104,-0.000247281083046,-3.13204600827e-05,1793245520048253440
+98,1.633333333,BASELINE,765,745,713,679,663,633,878.833179238,785.833179238,806.833179238,653,629.833179238,652,0.400986188207,0.00457875710347,0.0498512521369,0.99999996307,0.000103990626409,-0.000249156648304,-3.10969070767e-05,1793245520064920064
+99,1.650000000,BASELINE,765,745,713,679,663,633,878.575263332,786,806.575263332,653,630,652,0.400985661743,0.00457783875585,0.0498510941807,0.999999963123,0.000102586749242,-0.000249547224077,-3.09178832901e-05,1793245520081586688
+100,1.666666667,BASELINE,764.977297936,745,713,679,663,633,878,785.977297936,806.022702064,653,629.977297936,652,0.400985485434,0.00457684063524,0.0498512385622,0.999999963331,0.000101154522484,-0.000249317598763,-3.0777727953e-05,1793245520098253312
+101,1.683333333,BASELINE,764.403302967,745,713,679,663,633,878,785.403302967,806.596697033,653,629.403302967,652,0.400985503344,0.00457877159116,0.0498509414083,0.999999963144,0.000104075055596,-0.00024881848694,-3.11379098969e-05,1793245520114920192
+102,1.700000000,BASELINE,764.175135075,745,713,679,662.824864925,633,878,785,807,653,629,652,0.400985951113,0.00457996488224,0.0498510765956,0.999999963161,0.00010523909624,-0.00024822627967,-3.13976722341e-05,1793245520131587328
+103,1.716666667,BASELINE,764.764070917,745,713,679,662.235929083,633,878,785,807,653,629,652,0.400987414533,0.00457941525392,0.0498522332979,0.999999963672,0.00010225298021,-0.000247414111013,-3.1420167884e-05,1793245520148253952
+104,1.733333333,BASELINE,765,745,713,679,662,633,878,785.347342391,806.652657609,653,629,652,0.400988133107,0.00457865160543,0.0498527076629,0.999999963947,0.000101352361576,-0.000246673650634,-3.13964390632e-05,1793245520164920576
+105,1.750000000,BASELINE,765,745,713,679,662,633,878,785.92682819,806.07317181,653,629,652,0.400988353871,0.00457774491829,0.0498527259936,0.999999964069,0.000101845567552,-0.000245981115805,-3.13418165028e-05,1793245520181586688
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,877,786,807,653,630,652,0.400987024147,0.00457630197026,0.049852209393,0.99999996395,9.97052734002e-05,-0.000247412264199,-3.07566126772e-05,1793245520212576512
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,877,786,807,653,629.42831038,652,0.400987863458,0.00457726223901,0.0498528598604,0.999999964174,0.000101840212743,-0.000245573704382,-3.12101486114e-05,1793245520229243136
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713,679.148649496,663,634,877.148649496,785.851350504,807,653,629.148649496,652,0.400987880562,0.00457793214349,0.0498530562794,0.999999964216,0.000102900713096,-0.000244921082009,-3.15083407315e-05,1793245520245910016
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713,679.741353118,663,634,877.741353118,785.258646882,807,653,629.741353118,652,0.40098544152,0.00457773465575,0.0498518963397,0.999999963728,0.000100751589455,-0.000247811158141,-3.13424811925e-05,1793245520262576896
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713,679.675822748,663,633.675822748,878,785.324177252,807,653,629.675822748,652,0.400984895542,0.00457797049718,0.0498512591369,0.999999963567,0.000100241299108,-0.000248670288419,-3.13114855149e-05,1793245520279243520
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713,679.100647945,663,633.100647945,878,785.899352055,807,653,629.100647945,652,0.400985815287,0.00457854184816,0.0498510266688,0.999999963666,0.000100999892321,-0.000247956937933,-3.13849095709e-05,1793245520295910144
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.52513619,745,713,679.47486381,662.52513619,633.47486381,878,786,807,653,629.47486381,652,0.400986314296,0.00457852948586,0.049851331808,0.999999963598,0.000101450772531,-0.000248060161218,-3.1260002788e-05,1793245520312576512
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679.948189501,662.051810499,633.948189501,878,785.948189501,807,653,629.948189501,652,0.400986726255,0.00457837652903,0.0498517948995,0.999999963524,0.000101772018576,-0.000248249187516,-3.10900218999e-05,1793245520329243136
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679.35704955,662.64295045,633.35704955,878,785.35704955,807,653,629.35704955,652,0.400987161009,0.0045780488152,0.049852715232,0.999999963744,0.000101423218859,-0.00024752847593,-3.08887308282e-05,1793245520345909760
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.229293534,745,713,679,663,633,878,785,807,653,629,652,0.400990441074,0.00457739100994,0.0498545792035,0.999999964526,0.000100566414693,-0.000244729621863,-3.0692805976e-05,1793245520362576384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.808320076,745,713,679,663,633,878,785,807,653,629,652,0.400998060988,0.00457622972837,0.049857882473,0.999999966137,9.89347700212e-05,-0.000238761053418,-3.05050660394e-05,1793245520379243008
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.385983196,878,785.385983196,807,653,629,652,0.401019438852,0.00457628942486,0.0498660663039,0.999999969684,0.000100626812633,-0.000222663995889,-3.04379386663e-05,1793245520395909888
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.962971673,878,785.962971673,807,653,629,652,0.401047624892,0.00457695332696,0.0498766652999,0.999999973821,0.000103963594597,-0.000201554815661,-3.04304968596e-05,1793245520412576768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.460962716,878,786,807,653,629,652,0.401106463578,0.00457643867855,0.0498960824428,0.999999981486,0.000100384298399,-0.000161350651588,-3.02715667865e-05,1793245520429243392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.117614714,713,679,663,633.117614714,878.117614714,786,807,653,629.117614714,652,0.401168794651,0.00457569841446,0.0499148795825,0.999999987011,9.71733761896e-05,-0.000125080874857,-2.98318473255e-05,1793245520445910272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.706510747,713,679,663,633.706510747,878.706510747,786,807,653,629.706510747,652,0.401236696866,0.00457437795626,0.0499287692971,0.999999988831,9.73389507706e-05,-0.000109823138744,-2.83086334207e-05,1793245520462576640
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.290479622,745.709520378,713,679.290479622,663,633.709520378,879,785.709520378,807,653,630,652,0.401312210171,0.00457398154722,0.0499388592747,0.999999990118,9.80418133853e-05,-9.70076028893e-05,-2.7236973243e-05,1793245520479243264
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.869553286,745.130446714,713,679.869553286,663,633.130446714,879,785.130446714,807,653,630,652,0.401395285155,0.00457450318919,0.0499451741796,0.999999990966,9.92784763548e-05,-8.6618415255e-05,-2.66139357323e-05,1793245520495909888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.552377884,745,713,679.552377884,663,633.447622116,878.552377884,785.447622116,807,653,630,652,0.401488517903,0.00457368712829,0.049944664146,0.999999991097,9.70973945487e-05,-8.7720369684e-05,-2.61301436786e-05,1793245520512576512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,786,807,653,629.974876912,652,0.40158601281,0.00457243767167,0.0499423197235,0.999999991036,9.3895578599e-05,-9.19392302912e-05,-2.56536952497e-05,1793245520529243136
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,786,807,653,629.403371364,652,0.401711967457,0.00457022186521,0.0499432394925,0.999999991475,9.01074155463e-05,-9.12786780085e-05,-2.44564104342e-05,1793245520545909760
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,786,807,653,629,652,0.401848220642,0.00456836702007,0.0499449746881,0.999999991858,8.7465850094e-05,-8.99987016132e-05,-2.31269582085e-05,1793245520562576640
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,634,878,786,807,653,629,652,0.402009181062,0.00456737815878,0.0499486661762,0.99999999213,8.75750913111e-05,-8.72326628644e-05,-2.14804228823e-05,1793245520579243264
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663.351466025,634,878,786,807,653,629,652,0.402183610817,0.0045661208397,0.0499487602802,0.999999992166,8.48556608929e-05,-8.97849848337e-05,-2.01475983762e-05,1793245520595909888
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663.930363188,634,878,786,807,653,629,652,0.402366756499,0.00456468980342,0.0499465265432,0.999999992008,8.03058173945e-05,-9.57787795271e-05,-1.90177737239e-05,1793245520612576512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.494657015,745,713,679,662.98931403,634,878,785.494657015,807,653,629.505342985,652,0.402581038457,0.00456236545015,0.0499463044854,0.99999999222,7.58565496346e-05,-9.74490818509e-05,-1.75722267668e-05,1793245520629243392
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.081683101,745.081683101,713,679,662.081683101,633.918316899,878,785.081683101,807,653,629.918316899,652,0.402807667203,0.00455971704283,0.0499473911188,0.999999992664,7.15403122934e-05,-9.64378684963e-05,-1.5954728555e-05,1793245520645910016
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.669778018,745.669778018,713,679,662.669778018,633.330221982,878,785.669778018,807,653,629.330221982,652,0.403084446631,0.00455581690668,0.0499548858498,0.999999994198,6.796355987e-05,-8.24672914152e-05,-1.35388365268e-05,1793245520662576384
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.745920466,713,679,663,633.254079534,878,785.745920466,807,653,629.254079534,652.254079534,0.403378311525,0.00455291306431,0.0499628635412,0.999999995606,6.43013822247e-05,-6.72948439142e-05,-1.11778567563e-05,1793245520679243008
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.166476667,713,679,663,633.833523333,878,785.166476667,807,653,629.833523333,652.833523333,0.403694055376,0.00455128503682,0.0499714596922,0.999999996849,6.0529812613e-05,-5.05833292266e-05,-8.88719561028e-06,1793245520695909632
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.590328172,878.409671828,785,807,653,630,652.590328172,0.4040374095,0.00454906190587,0.0499785317106,0.999999997696,5.72440643697e-05,-3.58847777733e-05,-6.65215441509e-06,1793245520712577536
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.015508105,878.984491895,785,807,653,630,652.015508105,0.404391893958,0.00454659887491,0.0499849893155,0.999999998282,5.41541621015e-05,-2.19976990046e-05,-4.43953497008e-06,1793245520729245440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713,679.557112747,663,633.557112747,878.442887253,785.557112747,807,653,629.442887253,652,0.404781518306,0.00454153949497,0.0499899029641,0.999999998742,4.90925328568e-05,-1.0097769341e-05,-1.78203193802e-06,1793245520745911296
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,713,679.865371309,663,634,878,786,807,653.134628691,629,652,0.405179454675,0.00453683999116,0.0499916040348,0.999999999024,4.38439531614e-05,-5.36000046949e-06,9.45623333255e-07,1793245520762577408
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713,679.270928397,663,634,878,786,807,653.729071603,629,652,0.405602452304,0.0045336154924,0.0499824789975,0.999999998955,3.81435815734e-05,-2.48958756561e-05,3.87074734681e-06,1793245520779244032
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.684619279,878,786,807,653.369238558,629.315380721,652.315380721,0.406032753591,0.00452974373165,0.0499651004612,0.999999997718,3.39419805219e-05,-5.80044856953e-05,6.84048142594e-06,1793245520795910912
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.105121773,878,786,807,652.210243545,629.894878227,652.894878227,0.4064691714,0.00452532991855,0.0499408099998,0.99999999422,3.0995529887e-05,-0.000102479636266,9.84757468819e-06,1793245520812578048
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.470296869,878.470296869,786,807,652.470296869,629.529703131,652.529703131,0.406957839968,0.00451885680626,0.0499283096645,0.999999991977,2.27569949275e-05,-0.000123935908639,1.29886737183e-05,1793245520829244672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.954158755,878.954158755,785.954158755,807,653,629.045841245,652,0.407463838987,0.00451210649217,0.0499205443651,0.999999990516,1.37119962211e-05,-0.00013608217377,1.61733493289e-05,1793245520845911296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.366443238,878.366443238,785.366443238,807,653,629.633556762,652,0.408037827003,0.00450747372032,0.0499378665561,0.99999999492,8.99646898834e-06,-9.84750292092e-05,1.95221085917e-05,1793245520862578176
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.21823944,878,785.21823944,807,653,630,652.21823944,0.408644403549,0.0045019110214,0.0499607773387,0.999999998267,1.96374242999e-06,-5.40462042121e-05,2.32656450198e-05,1793245520879245056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.797899479,878,785.797899479,807,653,630,652.797899479,0.409304949067,0.00449480829496,0.0499929432399,0.999999999576,-8.90643673249e-06,1.67982415534e-06,2.76629613226e-05,1793245520895911680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713,679.360693789,663,633.639306211,878.360693789,786,807.360693789,652.639306211,630,652.639306211,0.40994293415,0.00448904201869,0.050003077225,0.999999999196,1.98334252017e-05,1.44912652037e-05,3.16988066568e-05,1793245520912578048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,679.914460173,663,633.085539827,878.914460173,786,807.914460173,652.085539827,630,652.085539827,0.410568843035,0.00448399111927,0.0500014179392,0.999999996925,6.97757967928e-05,4.33133371966e-06,3.55411632121e-05,1793245520929244416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.504401827,679.495598173,663,633,878.495598173,786,807.495598173,652,630,652,0.411183506818,0.00447787580654,0.049970965799,0.999999988749,0.000130606660293,-6.21052916299e-05,3.98273927281e-05,1793245520945911296
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.899502144,679.100497856,663,633,878,786,807,652.100497856,630,652,0.411815471503,0.00447152140126,0.0499417293201,0.999999975474,0.000179538763604,-0.000122032387348,4.38866296259e-05,1793245520962577664
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.305637307,679.694362693,663,633,878,786,807,652.694362693,630,652,0.412542455374,0.00446494786991,0.0499442840288,0.999999981122,0.000160291638127,-9.9530261366e-05,4.64334150395e-05,1793245520979244032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.280648302,633,878.280648302,785.719351698,807,652.719351698,630,652,0.413308621595,0.00445654209583,0.0499569337358,0.999999993416,8.33629302565e-05,-7.05484933777e-05,3.52275606908e-05,1793245520995910656
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.858896948,633,878.858896948,785.141103052,807,652.141103052,630,652,0.414116336991,0.00444619340497,0.049980288211,0.999999997856,-5.47315132844e-05,-3.46956886535e-05,9.4383635397e-06,1793245521012577280
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713,679.565111528,663.565111528,633,879,785,807.434888472,652,630,652,0.414881017741,0.00444888325872,0.0499702386319,0.999999995514,-7.98585632503e-05,-5.03538826103e-05,7.72839550872e-06,1793245521029243904
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.009924261,745,713,679,663,633.009924261,879,785,808,652,630,652,0.415632278777,0.00445609520077,0.0499495110872,0.999999994195,-6.79884013801e-05,-8.24593477684e-05,1.3697733602e-05,1793245521045910272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.572315581,745,713,679,663,633.572315581,879,785,808,652,630,652,0.416409769151,0.00448075758295,0.0499345889288,0.999999994079,-2.64309717817e-05,-0.000104567442962,1.44869654307e-05,1793245521062576896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.854735889,745,713,679.145264111,663.145264111,633.854735889,878.854735889,785.145264111,808,652,629.854735889,652.145264111,0.417212596852,0.00449875218282,0.0499314237505,0.999999994028,1.20324030157e-05,-0.000107479330935,1.57374343197e-05,1793245521079243264
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.24826904,745,713,679.75173096,663.75173096,633.24826904,878.24826904,785.75173096,808,652,629.24826904,652.75173096,0.418095868631,0.00449557706882,0.0499655861096,0.99999999778,4.06723815294e-05,-4.94446891901e-05,1.84522965382e-05,1793245521095909888
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.341000376,713,680,664,633.341000376,878.341000376,786,808,652,629.341000376,653,0.418962977952,0.0044880650404,0.0499766661579,0.999999998382,3.6885469942e-05,-3.81518087625e-05,2.05044223347e-05,1793245521112576768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.918350126,713,680,664,633.918350126,878.918350126,786,808,652,629.918350126,653,0.419818884942,0.00447754707112,0.0499717477187,0.999999997944,1.06232882739e-05,-5.92559214823e-05,2.20972015127e-05,1793245521129243392
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.492331983,745.507668017,713,680,664,633.507668017,879.492331983,786,808,652,629.507668017,652.507668017,0.42070354585,0.00447629024108,0.049968746901,0.99999999865,-3.5563244228e-06,-4.72842670106e-05,2.12336654082e-05,1793245521145910528
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.932210638,745.067789362,713.067789362,680,664,633,879.932210638,785.932210638,808.067789362,652.067789362,629.067789362,652,0.421595267936,0.00447670600381,0.0499687242891,0.999999999338,-1.21665071045e-05,-2.77189212204e-05,2.01846385624e-05,1793245521162577664
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.341079667,745.658920333,713.658920333,680,664,633,879.341079667,785.341079667,808.658920333,652.658920333,629.658920333,652,0.422504938323,0.00447825764004,0.0499892552638,0.999999999724,6.85540700448e-06,8.41047360554e-06,2.08271245243e-05,1793245521179243776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.754903363,714,679.754903363,663.754903363,633,879.245096637,785,809,652.754903363,630,652,0.423408006403,0.00448344701534,0.0499935238048,0.999999999419,2.22640974932e-05,1.45396723808e-05,2.13164544227e-05,1793245521195909888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.175485334,714,679.175485334,663.175485334,633,879.824514666,785,809,652.175485334,630,652,0.424302068806,0.00449359840912,0.0499756097537,0.999999999026,3.2744212456e-05,-2.0252563536e-05,2.15968735739e-05,1793245521212576512
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.599876467,745,713.599876467,679.400123533,663,633,879.599876467,785.400123533,809,652.400123533,630,652,0.425244294709,0.00449357077886,0.0499805312896,0.999999999477,2.14221359463e-05,-9.88816760013e-06,2.21171051459e-05,1793245521229243136
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.025922494,745,713.025922494,679.974077506,663,633,879.025922494,785.974077506,809,652.974077506,630,652,0.426207444803,0.00448912095317,0.049995373563,0.999999999539,6.28272709666e-07,2.00941646035e-05,2.27415212542e-05,1793245521245909760
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.561808252,745,713,680,663.561808252,633,879,786,809,652.438191748,630.561808252,652.561808252,0.427093837029,0.00447854027465,0.0500014450389,0.999999999631,-6.91404730392e-06,5.55350314169e-06,2.56736552914e-05,1793245521262576640
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.147920589,680,663.852079411,633,879.147920589,786,809,652,630.852079411,652.852079411,0.42797286538,0.00447045725095,0.0499951430067,0.999999999337,-6.8496872029e-06,-2.25624801943e-05,2.77465617118e-05,1793245521279243264
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.72740982,680,663.27259018,633,879.72740982,786,809,652,630.27259018,652.27259018,0.428841001982,0.00447050739392,0.049953950808,0.999999996004,1.35789237453e-05,-8.41410481537e-05,2.69941364491e-05,1793245521295910144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.693806478,680,663.306193522,633,880,785.693806478,809,652,630,652,0.429760769738,0.0044715045066,0.0499422874886,0.999999995193,1.59292516768e-05,-9.29611698418e-05,2.68089799499e-05,1793245521312577280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.115649462,680,663.884350538,633,880,785.115649462,809,652,630,652,0.430726396644,0.00447334272524,0.0499568519541,0.999999998121,2.22230542877e-06,-5.49208215962e-05,2.71276761073e-05,1793245521329243904
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.459179462,680,664,632.540820538,879.540820538,785,809.459179462,652,630,652,0.431634409042,0.00448102010422,0.0499456373206,0.999999996421,2.06487003064e-06,-8.01182149223e-05,2.71214988853e-05,1793245521345910272
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.965923018,680.034076982,663.965923018,632.034076982,879.034076982,785,810,652,630,652.034076982,0.432528193914,0.00448919111022,0.0499295587552,0.999999992749,6.12985835354e-06,-0.000117176968133,2.70750535326e-05,1793245521362576384
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.37634217,680.62365783,663.37634217,632.62365783,879.62365783,785,810,652,630,652.62365783,0.433424894242,0.0044816076104,0.0499392707385,0.999999995299,2.37965142234e-05,-8.98260441374e-05,2.7696414736e-05,1793245521379243008
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.209528588,713,680.790471412,663.209528588,633,880,785,810,652,630.209528588,653,0.434324504755,0.00447412672279,0.0499561505292,0.999999997525,2.78286606122e-05,-5.79032801665e-05,2.86769925229e-05,1793245521395909888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.788851555,713,680.211148445,663.788851555,633,880,785,810,652,630.788851555,653,0.435229251568,0.00446682693294,0.049985680695,0.99999999935,7.79743501783e-06,-1.79117286205e-05,3.02915472636e-05,1793245521412576512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.635592016,713,680.364407984,664,633,880.364407984,785.364407984,810,652,631,652.635592016,0.436068515942,0.00446608884184,0.049978674182,0.999999998408,-2.62572979565e-06,-4.65650838874e-05,3.17581412655e-05,1793245521429243136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.062195735,713,680.937804265,664,633,880.937804265,785.937804265,810,652,631,652.062195735,0.436870226026,0.00446911389115,0.0499507138501,0.999999992857,-7.53866216125e-06,-0.000114586355334,3.3139879462e-05,1793245521445910272
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,680.485483201,664,633,880.485483201,785.485483201,810.514516799,652,631,652,0.437758677365,0.00447353192253,0.0499568845632,0.999999996106,-6.12817334952e-06,-8.23174640481e-05,3.12071971285e-05,1793245521462577152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.093367296,745,713,680,664,633,880,785.093367296,811,652,631,652.093367296,0.43864063637,0.00447805032417,0.0499663970418,0.999999998564,2.30909779637e-06,-4.47537261573e-05,2.94060203461e-05,1793245521479244032
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.681407337,745,713,680,664,633,880,785.681407337,811,652,631,652.681407337,0.439432284375,0.00448220258039,0.0499716136698,0.999999997615,4.38991278556e-05,-4.37845316892e-05,3.04380645419e-05,1793245521495910144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.733417972,745,713,680,663.733417972,633,880,786,811,652,631,653,0.440209789806,0.00448316272727,0.0499650259994,0.999999996111,6.0283108944e-05,-5.61538801148e-05,3.14853738481e-05,1793245521512576512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.151631292,745,713,680,663.151631292,633,880,786,811,652,631,653,0.440970573103,0.00448034854702,0.0499444810123,0.999999994819,4.68636381505e-05,-8.42946247427e-05,3.25507324626e-05,1793245521529243136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.425348843,680.425348843,663,633,880,786,810.574651157,652,631,653,0.441729388604,0.00447693458025,0.0499464687143,0.999999995777,3.53438938328e-05,-7.77790594333e-05,3.38740026593e-05,1793245521545909760
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.999366963,681,663,633,880,786,810.000633037,652.000633037,630.999366963,653,0.442487445181,0.00447332031947,0.0499563808865,0.999999997332,2.45152114129e-05,-5.90795111106e-05,3.52881074835e-05,1793245521562576640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.425589347,681,663,633,880,786,810.574410653,652.574410653,630.425589347,653,0.443186353969,0.00447978587965,0.0499496491722,0.999999996347,3.30640986812e-05,-6.97960803665e-05,3.66295790052e-05,1793245521579243520
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.153370152,680.846629848,662.846629848,632.846629848,880.153370152,786,811,652.846629848,630.153370152,653,0.443851039836,0.00448918278719,0.0499281363302,0.999999992514,4.7024035506e-05,-0.000106466932329,3.77640437079e-05,1793245521595910144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.747211904,680.252788096,662.252788096,632.252788096,880.747211904,786,811,652.252788096,630.747211904,653,0.444417439303,0.00450699838297,0.0498641728085,0.999999972647,7.65242445558e-05,-0.000217677220854,3.83039949355e-05,1793245521612576768
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.669615656,631.669615656,881,785.669615656,811,652,631,652.669615656,0.445006631783,0.00452536748969,0.0498220256993,0.999999955414,0.000103745748086,-0.000277536899912,3.71838980184e-05,1793245521629243136
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.094351317,631.094351317,881,785.094351317,811,652,631,652.094351317,0.44561271835,0.00454414685617,0.0497960488607,0.999999946236,0.000129278279892,-0.000299335638995,3.48333780467e-05,1793245521645909760
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.519244219,680.480755781,661.480755781,631,880.519244219,785,811,652.480755781,631,652,0.446219358054,0.00455499627112,0.0498003832015,0.999999949441,0.000141156229511,-0.000282903201851,3.40365158484e-05,1793245521662577152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,681,661.8884259,630.94421295,880,785,811,652.94421295,631,652.05578705,0.446817317092,0.00456374292119,0.0498071878169,0.999999953052,0.000149782343462,-0.000265196607142,3.36361608975e-05,1793245521679244544
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,681,660.73919995,630.369599975,880,785,811,652.369599975,631,652.630400025,0.447333535711,0.00456740267576,0.0497816602317,0.999999941068,0.000153080283066,-0.000305397132132,3.40885514047e-05,1793245521695911168
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,680.787491417,660,630,880,785,811,652.212508583,631,653,0.447828469042,0.00457063173283,0.049754140194,0.999999926384,0.000157385858428,-0.00034823626174,3.454324634e-05,1793245521712578304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,680.191869794,660,630,880,785,811,652.808130206,631,653,0.448285028943,0.00457308432281,0.0497230281418,0.999999907678,0.000163508011483,-0.000395832295519,3.50020957054e-05,1793245521729245184
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,680,660,629.609561095,880,785,811,653,630.609561095,652.609561095,0.44874445236,0.00457585773559,0.0497169513477,0.999999903015,0.000168197692389,-0.000405503715556,3.53090523305e-05,1793245521745911552
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,680,660,629.033578876,880,785,811,653,630.033578876,652.033578876,0.449205236609,0.00457878360912,0.0497227717381,0.999999905676,0.000172206638425,-0.000397152708302,3.55438269642e-05,1793245521762578176
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.540266723,745,713,680.540266723,659.459733277,628.459733277,880,785,811,653,630,652.540266723,0.449641347378,0.00457862312022,0.0497406562061,0.999999917606,0.000162265383474,-0.00037063697186,3.29602059711e-05,1793245521779244288
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.882991737,745.117008263,713,681,659,628,880.117008263,785,811,653,630,653,0.45006660534,0.00457916023384,0.0497572666886,0.999999929547,0.000143073071408,-0.000345964103965,2.72942597614e-05,1793245521795910400
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.294035854,745.705964146,713,681,659,628,880.705964146,785,811,653,630,653,0.450454250126,0.00458328176523,0.0497657261955,0.999999940365,9.00504147523e-05,-0.000333260115557,9.89964872658e-06,1793245521812576768
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.709129956,713,681,659,628,881,785,811,653,630.290870044,653,0.450807611496,0.00458622922679,0.0497673227133,0.999999941331,6.54250141035e-05,-0.000336233441645,2.2177860409e-06,1793245521829243392
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.128261937,713,681,659,628,881,785,811,653,630.871738063,653,0.451126792213,0.00458800613831,0.0497620768178,0.999999934648,6.91117339004e-05,-0.000354837080944,4.21955259416e-06,1793245521845910272
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627.55295846,880.55295846,785,811,652.55295846,630.55295846,653,0.45140367658,0.0045936235604,0.0497495502665,0.999999923875,8.1120951313e-05,-0.000381621190961,5.81348398869e-06,1793245521862576896
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.020732847,681,659,627,880,784.979267153,811,652.020732847,630,653,0.451667426988,0.00460065589179,0.0497349734561,0.999999910881,9.8037082312e-05,-0.000410576561365,7.25489043204e-06,1793245521879244032
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.593485547,681,659,627,880,784.406514453,811,652.593485547,630,653,0.451900617076,0.00461638313751,0.0497207420253,0.999999888379,0.000182806385203,-0.000435618945297,7.71247822502e-06,1793245521895910144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626.826552247,880,784.173447753,811.173447753,653,630,653,0.45213311422,0.00463161285111,0.049711340226,0.99999986808,0.000245835597475,-0.000450937875155,7.70719193006e-06,1793245521912576768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626.228960204,880,784.771039796,811.771039796,653,630,653,0.452363916824,0.00464562591127,0.0497137486745,0.999999869393,0.000255702189779,-0.000442479345338,6.57000632375e-06,1793245521929243392
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626,880.355268682,785,812,653,630,653,0.452573408595,0.00464705972422,0.049720708703,0.999999875217,0.000255059786367,-0.000429480955355,7.54844240569e-06,1793245521945910016
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626,880.93119766,785,812,653,630,653,0.452769664054,0.00464068046482,0.0497304957554,0.999999883668,0.000247890160357,-0.000413662820057,9.84090837475e-06,1793245521962576384
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.492858274,626,880.492858274,785,812,652.492858274,630,652.492858274,0.452931459777,0.00463893970397,0.0497328649769,0.999999887174,0.000243168448637,-0.000407943108835,1.02070942089e-05,1793245521979243008
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.084553387,745,714,681,658.084553387,626,880.084553387,785,812,652.084553387,630.084553387,652.084553387,0.453083199035,0.00463852947432,0.0497335831611,0.999999889175,0.00023978369972,-0.000405028418507,1.03011152697e-05,1793245521995909632
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.670658594,745,714,681,658.670658594,626,880.670658594,785,812,652.670658594,630.670658594,652.670658594,0.453203017806,0.00464227873544,0.0497304774063,0.999999886271,0.000242359506761,-0.000410625578989,1.03309274752e-05,1793245522012576256
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.745273639,745,713.745273639,680.745273639,658.745273639,625.745273639,880.745273639,785,812,653,630.745273639,653,0.453310900931,0.00464392918183,0.049725329286,0.999999882636,0.000243838474812,-0.000418521407515,1.05598640531e-05,1793245522029242880
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.163819255,745,713.163819255,680.163819255,658.163819255,625.163819255,880.163819255,785,812,653,630.163819255,653,0.45340347464,0.00464288755644,0.0497175614998,0.999999878015,0.000243910568148,-0.000429365651638,1.10442100504e-05,1793245522045909504
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.412497437,745,713.412497437,680.412497437,658,625,880.412497437,785,811.587502563,653,630,653,0.45348181642,0.00464151325525,0.049713844931,0.999999876397,0.000241450802375,-0.000434479872613,1.1595477142e-05,1793245522062576384
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.986798833,745,713.986798833,680.986798833,658,625,880.986798833,785,811.013201167,653,630,653,0.453554575659,0.00464000846053,0.0497117174703,0.999999875968,0.000237997903575,-0.000437346466203,1.21729943198e-05,1793245522079243264
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.436065361,745.563934639,714,681,658,625,880.436065361,784.436065361,811,653,630,653,0.453608977504,0.00463908124603,0.0497074011019,0.999999874719,0.000235502098861,-0.000441537245955,1.20984932272e-05,1793245522095909632
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.855463211,714,681,658,624.855463211,880,784,811.144536789,653,630,653,0.453660238625,0.00463945323338,0.0497039301178,0.999999873488,0.000234653990231,-0.000444773007775,1.17924533827e-05,1793245522112576256
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.264357398,714,681,658,624.264357398,880,784,811.735642602,653,630,653,0.453703130394,0.00464379732327,0.0497032301965,0.999999872427,0.000238827124604,-0.000444961834743,1.08184343691e-05,1793245522129243136
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624,880.318136423,784,811.681863577,652.681863577,630.318136423,653,0.453737102571,0.00464602166357,0.0497028532467,0.999999871722,0.00024132165239,-0.000445203421687,1.06866981811e-05,1793245522145909760
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624,880.893662734,784,811.106337266,652.106337266,630.893662734,653,0.453763858313,0.00464653101018,0.0497027375985,0.999999871314,0.000242458095456,-0.000445487694381,1.12364150803e-05,1793245522162576384
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.468492413,880.531507587,784,811,652.468492413,630.531507587,653,0.453779701642,0.00464683432366,0.0497006998143,0.999999869689,0.000242845571463,-0.000448910946077,1.13115247604e-05,1793245522179243264
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.043421921,714,681,658,624.956578079,880,784,811.043421921,653,630,653,0.453792734702,0.00464703198766,0.0496982468208,0.99999986784,0.000242983028755,-0.000452937659323,1.12905671136e-05,1793245522195910144
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.621525292,714,681,658,624.378474708,880,784,811.621525292,653,630,653,0.453801617154,0.00464650371398,0.0496960453289,0.999999866819,0.000242132041649,-0.000455635016266,1.1411190538e-05,1793245522212576768
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.204598223,745.795401777,714,681,658,624,880.204598223,784.204598223,812,653,630,653,0.453808297997,0.00464675559849,0.049693551278,0.999999865215,0.000242583043712,-0.000458905901143,1.13347029641e-05,1793245522229243392
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.797092875,745.202907125,714,681,658,624,880.797092875,784.797092875,812,653,630,653,0.453810804822,0.00464848657983,0.0496905025667,0.999999862498,0.000245502478546,-0.000463264133704,1.0884513935e-05,1793245522245910016
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,714,681,658,624,880.621275897,784.621275897,812,653,630,653,0.453813968546,0.00464943811493,0.0496899902338,0.999999861593,0.000247574915982,-0.000464115583576,1.08540715811e-05,1793245522262576640
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,714,681,658,624,880.045302635,784.045302635,812,653,630,653,0.453817474399,0.00464998369452,0.0496907989116,0.999999861638,0.000249206215511,-0.000463140611579,1.1042244e-05,1793245522279243264
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.471792129,745,714,681,658,624,880.528207871,784.528207871,812,653,630,653,0.453818543891,0.0046501604639,0.0496903416184,0.999999861454,0.000249092324605,-0.000463596772775,1.11050221658e-05,1793245522295909888
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.104201195,714,681,658,624,881,784.895798805,811.895798805,653,630,653,0.453819282691,0.00465033391182,0.0496895740475,0.999999861128,0.0002490000265,-0.000464348693676,1.11165865568e-05,1793245522312576256
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.692711225,714,681,658,624,881,784.307288775,811.307288775,653,630,653,0.45381945119,0.00465063825811,0.0496878666703,0.99999986023,0.000249700542016,-0.000465907410668,1.09398720509e-05,1793245522329242880
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.721580437,713.721580437,681,658,624,880.721580437,784.278419563,811,653,630,652.721580437,0.453818868235,0.0046512464109,0.0496867843208,0.999999859431,0.000249802663281,-0.000467570459439,1.06977413356e-05,1793245522345909504
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.138933415,713.138933415,681,658,624,880.138933415,784.861066585,811,653,630,652.138933415,0.45381746417,0.00465218653135,0.0496863849353,0.99999985874,0.000249250922673,-0.000469347511142,1.03841306816e-05,1793245522362576128
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.437451335,681,658,624,880.437451335,785,811.437451335,653,630,652,0.453817678643,0.00465256650712,0.0496864611576,0.999999858438,0.000250448799303,-0.000469349489528,1.04828674429e-05,1793245522379243008
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.988105359,745,713.988105359,681,658,624,881,784.988105359,812,653,630.011894641,652.011894641,0.453818404936,0.00465276556743,0.049686676771,0.999999858252,0.000252181202642,-0.000468812852527,1.07073783214e-05,1793245522395909632
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.412742861,745,713.412742861,681,658,624,881,784.412742861,812,653,630.587257139,652.587257139,0.453819369551,0.00465270286605,0.0496864409798,0.999999857843,0.000253283341558,-0.000469090380185,1.07737602263e-05,1793245522412576256
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.167309899,745,713.167309899,681,658,624,880.832690101,784,811.832690101,653,630.832690101,653,0.453819615205,0.00465318714845,0.0496859169071,0.999999857313,0.000253672340089,-0.00047001356205,1.05852041483e-05,1793245522429242880
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.759266922,745,713.759266922,681,658,624,880.240733078,784,811.240733078,653,630.240733078,653,0.453818036076,0.00465505972338,0.0496846611507,0.999999856473,0.000252251326029,-0.000472575470618,9.7495932192e-06,1793245522445909504
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.657175211,681,658,624,880.342824789,784.342824789,811,653,630,652.657175211,0.453819300608,0.00465493866442,0.0496859682617,0.999999857368,0.000251236955634,-0.000471221320113,9.66767042287e-06,1793245522462576384
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713.07937425,681,658,624,880.92062575,784.92062575,811,653,630,652.07937425,0.453822514219,0.00465345114511,0.0496890319924,0.999999859444,0.000250501303684,-0.000467183056202,1.01023344387e-05,1793245522479243008
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713.494589114,681,658,624,880.505410886,785,811,653,630,652,0.45382244315,0.00465417580902,0.0496881043548,0.999999858835,0.00025244184071,-0.000467440319832,1.00884415883e-05,1793245522495909632
+244,4.066666667,HOLD_POSE2,765,745,714,681,658,624,880,785,812,653,630,652,0.45382220699,0.00465419734103,0.0496863506234,0.999999858616,0.000250493591228,-0.000468967100548,9.55565700192e-06,1793245522539607808
+245,4.083333333,HOLD_POSE2,765,745,714,681,658,624,880,784.40488251,811.40488251,653,630,652.59511749,0.453822241897,0.00465356106721,0.0496867653767,0.999999858198,0.000250949418432,-0.000469598745318,1.02920117817e-05,1793245522556274688
+246,4.100000000,HOLD_POSE2,765,745,714,681,657.816388945,624,880,784.183611055,811,653,630.183611055,652.816388945,0.453822381259,0.00465351459085,0.0496869960469,0.999999857812,0.000251713273809,-0.000470000015048,1.07612411484e-05,1793245522572941568
+247,4.116666667,HOLD_POSE2,765,745,714,681,657.241993158,624,880,784.758006842,811,653,630.758006842,652.241993158,0.453822742934,0.00465472339741,0.0496868349276,0.999999857497,0.000253132714567,-0.000469910971018,1.06619398904e-05,1793245522589608192
+248,4.133333333,HOLD_POSE2,765.332437286,745,713.667562714,681,657.332437286,624,880.332437286,784.667562714,811,653,630.667562714,652.332437286,0.453823627582,0.00465434040028,0.0496874374946,0.999999858188,0.000252106688917,-0.000468993448261,1.05640667379e-05,1793245522606274816
+249,4.150000000,HOLD_POSE2,765.906892927,745,713.093107073,681,657.906892927,624,880.906892927,784.093107073,811,653,630.093107073,652.906892927,0.453824892959,0.00465279855079,0.0496885960344,0.999999859604,0.000249300334132,-0.000467472782997,1.04672332695e-05,1793245522622941184
+250,4.166666667,HOLD_POSE2,765.503392509,745,713.496607491,681,657.503392509,624,880.503392509,784,811,653,630,653,0.45382392818,0.0046530427129,0.0496872859001,0.99999985898,0.000250025229109,-0.00046842397831,1.02876074147e-05,1793245522639608064
+251,4.183333333,HOLD_POSE2,765,745,713.91277591,681,657.08722409,624,880.08722409,784,811,653,630,653,0.453822857503,0.00465359849279,0.0496859963933,0.99999985823,0.00025102744751,-0.000469492914822,1.00818238053e-05,1793245522656274688
+252,4.200000000,HOLD_POSE2,765,745,713.333715907,681,657.666284093,624,880.666284093,784,811,653,630,653,0.45382362214,0.00465396340179,0.049687515792,0.999999859006,0.000249741879653,-0.000468529698537,9.81884479311e-06,1793245522672941312
+253,4.216666667,HOLD_POSE2,765,745,713.243058314,681,658,624,880.756941686,784.243058314,811,653,630,652.756941686,0.453823388933,0.00465450249241,0.0496872832984,0.999999858518,0.000250371277524,-0.000469237146845,9.68343583689e-06,1793245522689608192
+254,4.233333333,HOLD_POSE2,765,745,713.816723378,681,658,624,880.183276622,784.816723378,811,653,630,652.183276622,0.453821798465,0.00465527850402,0.0496846678894,0.9999998563,0.000253605402659,-0.000472217025163,9.72154707805e-06,1793245522706275584
+255,4.250000000,HOLD_POSE2,765,745,713.599589943,681,658,623.599589943,880.400410057,784.599589943,811,653,629.599589943,652.400410057,0.453821386953,0.00465447719027,0.0496843605679,0.999999856137,0.000252361396865,-0.000473227792289,9.77963727667e-06,1793245522722942208
+256,4.266666667,HOLD_POSE2,765,745,713.011198339,681,658,623.011198339,880.988801661,784.011198339,811,653,629.011198339,652.988801661,0.453821528928,0.00465293536557,0.0496851368301,0.999999856934,0.000249015031632,-0.000473314115944,9.84710705151e-06,1793245522739608320
+257,4.283333333,HOLD_POSE2,765,745,713,681,657.432235034,623,880.432235034,784,811,653,629.567764966,652.432235034,0.453822165347,0.00465442495211,0.049685733444,0.999999857092,0.000250994101236,-0.000471932178395,9.84828330868e-06,1793245522756275456
+258,4.300000000,HOLD_POSE2,765,745,713.145805034,681,657.145805034,623,880,784,811,652.854194966,630,652.145805034,0.453822666689,0.00465567144963,0.0496860365223,0.999999857264,0.000252055196451,-0.000471004174707,9.71782541627e-06,1793245522772942592
+259,4.316666667,HOLD_POSE2,765,745,713.721661678,681,657.721661678,623,880,784,811,652.278338322,630,652.721661678,0.453822741327,0.00465602748669,0.0496854840984,0.999999857526,0.000250103984571,-0.00047149906777,9.20290650277e-06,1793245522789609728
+260,4.333333333,HOLD_POSE2,765,745,714,681,657.7021149,623.2978851,880,784.2978851,811,652.2978851,630,653,0.453822523054,0.00465630851922,0.0496852611487,0.999999857041,0.000250931254304,-0.00047208685255,9.26418405158e-06,1793245522806276096
+261,4.350000000,HOLD_POSE2,765,745,714,681,657.12554838,623.87445162,880,784.87445162,811,652.87445162,630,653,0.453822030753,0.00465651938252,0.0496853464331,0.999999855851,0.000254357886132,-0.000472761540589,9.86451259079e-06,1793245522822941952
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,880,784,812,653,630,652,0.453822753778,0.00465651546733,0.0496851172016,0.999999855618,0.000255669944436,-0.000472549371902,9.65791171643e-06,1793245522854863872
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.579412389,745,714,681,657.420587611,624,880,784.579412389,812,653,630,652.579412389,0.453824616544,0.00465649131861,0.0496866157509,0.999999857063,0.000254034325272,-0.000470367065003,9.74973057979e-06,1793245522871530496
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,657.315310133,623.842344933,880,784.842344933,811.842344933,653,630,652.842344933,0.453825573681,0.00465603207785,0.0496871205295,0.999999857853,0.000252566451307,-0.000469473401308,9.93508076326e-06,1793245522888197376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.46560066,623.26719967,880,784.26719967,811.26719967,653,630,652.26719967,0.453824132602,0.0046544206593,0.0496849936799,0.999999856921,0.00025154278711,-0.000471992224397,1.03681135193e-05,1793245522904864512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.685571589,745,714,681,658.685571589,623.314428411,880,784,811,653,630,652,0.453823306584,0.00465418532312,0.0496842016337,0.999999856441,0.000251645660853,-0.000472952306472,1.03971589258e-05,1793245522921531136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.098318503,745,714,681,658.098318503,623.901681497,880,784,811,653,630,652,0.453823014245,0.00465514399245,0.0496845677759,0.999999856358,0.00025272601423,-0.000472559892896,1.00756707231e-05,1793245522938197504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.51782115,623.51782115,880,784.48217885,811,653,630,652.48217885,0.453822320324,0.00465632332182,0.0496845339143,0.999999855701,0.000254260234629,-0.000473134130956,9.70128601222e-06,1793245522954863872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,623.06112669,880,784.93887331,811,652.93887331,630,653,0.453821443684,0.00465743147289,0.0496843623564,0.999999854959,0.000255751277573,-0.00047390448292,9.39713961898e-06,1793245522971530240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,623.638461405,880,784.361538595,811,652.361538595,630,653,0.453819705949,0.00465756381537,0.0496837072378,0.999999854492,0.000256106953433,-0.000474689466541,9.77597459825e-06,1793245522988197120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.785031363,681.214968637,657,623.785031363,880,784.214968637,811,652,630,653,0.453811455763,0.00465696187358,0.0496799491052,0.999999851855,0.000255569538199,-0.000480495359207,9.91134238425e-06,1793245523004864000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.20991053,681.79008947,657,623.20991053,880,784.79008947,811,652,630,653,0.453792294807,0.0046551297333,0.0496709922735,0.999999845443,0.000253535864083,-0.000494713136528,9.63881228524e-06,1793245523021530624
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.373699925,681.626300075,657,623.373699925,880,785,811,652.373699925,630,652.626300075,0.453755101485,0.00465559440844,0.0496541780333,0.999999831363,0.000253692846418,-0.000522331787396,9.12832502436e-06,1793245523038197504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.962189985,681.037810015,657,623.962189985,880,785,811,652.962189985,630,652.037810015,0.453707543763,0.00465737921557,0.0496328476183,0.999999811935,0.000255108943886,-0.00055765281001,8.48106796473e-06,1793245523054864640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.542316714,624,880,784.457683286,811,653,630,652.542316714,0.453642236857,0.00465833398844,0.0496124311168,0.999999793551,0.000257827499819,-0.000588522243077,7.98035997621e-06,1793245523071531008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.878899565,681,657.878899565,624,880,784,811,653,630,653,0.453574061633,0.00465869935025,0.0495942542018,0.999999777154,0.000259539307855,-0.000615041130205,7.46651236956e-06,1793245523088197376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.303002846,681,657.303002846,624,880,784,811,653,630,653,0.453499691082,0.00465706519159,0.0495842524554,0.999999770748,0.000257134397892,-0.000626369296046,6.86552973341e-06,1793245523104863744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.272382414,681,657,624,880.272382414,784.272382414,811,653,630,652.727617586,0.453419453463,0.00465722594558,0.049579769336,0.999999767635,0.000256678160835,-0.000631513231329,6.12455817981e-06,1793245523121530368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.84719975,681,657,624,880.84719975,784.84719975,811,653,630,652.15280025,0.453332701453,0.00465937964872,0.0495814137254,0.999999768287,0.000258385597925,-0.000629790616631,5.22815248176e-06,1793245523138196992
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.433768403,624,880.566231597,784.566231597,811,652.566231597,630,652.433768403,0.453230373146,0.00466214391563,0.0495867551052,0.999999769483,0.000263656888519,-0.000625692523957,5.29782111487e-06,1793245523154863872
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,880.02410775,784.02410775,811,652.02410775,630,653,0.453121059806,0.00466496274179,0.0495932836877,0.999999770806,0.000269974550331,-0.000620861210396,5.71168939772e-06,1793245523171530240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,880.603300446,784.603300446,811,652.603300446,630,653,0.452980770612,0.00466394768704,0.0495963269261,0.999999771799,0.000270674129245,-0.000618951129752,5.99689138088e-06,1793245523188197120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.819393105,624,880.819393105,784.819393105,811,653,630,652.819393105,0.452832288826,0.00466404829747,0.0495991194638,0.999999772348,0.000272377915385,-0.000617315721534,5.95577299126e-06,1793245523204864256
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.246187013,624,880.246187013,784.246187013,811,653,630,652.246187013,0.452665998189,0.00466657411585,0.0496013670338,0.999999771926,0.000276264624459,-0.000616277390289,5.20530669617e-06,1793245523221530880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,624,880,784,811,653,630,652.328652381,0.452474355541,0.00466781286893,0.0496009376665,0.999999767351,0.000279744352214,-0.00062210669985,4.82979534655e-06,1793245523238197248
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,624,880,784,811,653,630,652.90472142,0.45226362733,0.00466808269152,0.049598493043,0.999999759556,0.000282917695964,-0.000633106118581,4.73655815389e-06,1793245523254863872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.98928317,624.494641585,880.494641585,784,810.505358415,653,630,652.505358415,0.452026254972,0.0046707114115,0.0495984741888,0.999999755807,0.00028915694002,-0.000636207041366,3.86688060121e-06,1793245523271530496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.915018031,681,658.915018031,625,881,784.084981969,810,653,630,652,0.451777208867,0.00467403378588,0.049598014822,0.999999752106,0.000296172843188,-0.000638797692207,2.80319655043e-06,1793245523288197376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.338133326,681,658.338133326,625,881,784.661866674,810,653,630,652,0.451491154138,0.00467866542177,0.0495922230891,0.999999744115,0.000304167481636,-0.000647494895674,1.50717606974e-06,1793245523304864000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625.238179395,880.761820605,784.761820605,810,653,630,652,0.451199636738,0.00468152719162,0.0495901658712,0.999999742679,0.000309393203761,-0.000647238144266,9.75791832974e-08,1793245523321530624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,625.813682002,880.186317998,784.186317998,810,653,630,652,0.45090038281,0.00468188237621,0.0495933976864,0.999999750564,0.000310697428556,-0.000634300291938,-1.47287099424e-06,1793245523338197760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.387233979,745,713,681,658,626,880,784.387233979,810,653,630,652,0.450581087589,0.00468515166905,0.0496069400376,0.999999765419,0.000318306197714,-0.000606493981896,-2.94645026233e-06,1793245523354864384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.959852095,745,713,681,658,626,880,784.959852095,810,653,630,652,0.450252197823,0.00468981606013,0.0496254184478,0.999999782546,0.000328933199885,-0.000571569555993,-4.37365356729e-06,1793245523371530752
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.445501411,745,713,681,658,626.554498589,880,784.445501411,810,652.445501411,630,652.554498589,0.449864500268,0.00469289298565,0.0496358504631,0.999999791974,0.000332370964234,-0.000552761177501,-6.05500884973e-06,1793245523388197632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.145712422,627,880,784.145712422,810,652.145712422,630,652.854287578,0.449457427903,0.00469542876863,0.049641862277,0.999999796485,0.000335211338942,-0.000542774308919,-7.68835510651e-06,1793245523404864256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.721879004,627,880,784.721879004,810,652.721879004,630,652.278120996,0.449006218649,0.00469671953481,0.0496366084703,0.999999788719,0.000337888273312,-0.00055525768905,-9.12326613113e-06,1793245523421531136
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.702965013,627.297034987,880,785,810.297034987,653,630.297034987,652.297034987,0.448538113982,0.00469783915603,0.0496304106487,0.999999782771,0.000341029736947,-0.000563947606224,-1.09578855924e-05,1793245523438197760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.128752002,627.871247998,880,785,810.871247998,653,630.871247998,652.871247998,0.448054243316,0.00469879907358,0.0496233319194,0.999999778601,0.000344604676133,-0.000569097657155,-1.31654929143e-05,1793245523454864128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.458464245,628,880,784.541535755,810.541535755,652.541535755,630.541535755,653,0.447524006808,0.00469986697425,0.0496157527874,0.999999771728,0.000349500757875,-0.00057806226933,-1.54012149674e-05,1793245523471531520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.048330863,745,713.048330863,680.951669137,659.048330863,628.096661726,880.048330863,784.048330863,810,652.048330863,630,653,0.446978624747,0.0047010956942,0.049608640438,0.999999764511,0.000354699436695,-0.000587242692901,-1.76864790387e-05,1793245523488198656
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.626061624,745,713.626061624,680.373938376,659.626061624,629.252123247,880.626061624,784.626061624,810,652.626061624,630,653,0.446414134833,0.00470374410598,0.0496082253102,0.999999763226,0.000359029998644,-0.000586710351687,-2.04254014768e-05,1793245523504865536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.796868984,745,713.796868984,680,660,630,880.796868984,785,810.203131016,652.796868984,630.203131016,653,0.44584879827,0.00470487276207,0.049620469741,0.999999772493,0.000362654044595,-0.00056832152509,-2.25056360949e-05,1793245523521531904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.221013171,745,713.221013171,680,660,630,880.221013171,785,810.778986829,652.221013171,630.778986829,653,0.445281908225,0.00470321282056,0.0496559431772,0.99999979939,0.000364981704505,-0.000517167859093,-2.33772452116e-05,1793245523538198784
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.353286358,660.353286358,630.353286358,880.353286358,785.353286358,810.646713642,652,630.646713642,652.646713642,0.444683282647,0.00469842117007,0.0496897850385,0.999999821781,0.000364340382981,-0.00047232530286,-2.45697199947e-05,1793245523554865152
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.926616537,660.926616537,630.926616537,880.926616537,785.926616537,810.073383463,652,630.073383463,652.073383463,0.444064890666,0.00469167893993,0.0497226106748,0.999999841136,0.000361849836145,-0.000431413612657,-2.59620453847e-05,1793245523571531008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.481095683,661,631,879.962191366,785.481095683,810,652.518904317,630.518904317,652,0.4433576613,0.00466200622201,0.0497207484906,0.999999846713,0.00033257771148,-0.000441856224391,-2.70022451411e-05,1793245523588197376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.110380973,680,661,631,879.110380973,785,810,652.889619027,631,652,0.442646480332,0.0046312115884,0.0497198265251,0.999999854897,0.00030062656284,-0.0004461442302,-2.8025548536e-05,1793245523604864000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.686687891,680,661,631,879.686687891,785,810,652.313312109,631,652,0.441973661427,0.00460988854264,0.04974436516,0.999999884965,0.000273960395085,-0.000392635119854,-2.91957008486e-05,1793245523621530624
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.73862723,680.26137277,661.522745539,631.26137277,880,785,810,652.26137277,630.73862723,652,0.441289325465,0.00459846831577,0.0497812042922,0.999999928651,0.000190794516028,-0.000324599719689,-3.0493698254e-05,1793245523638197248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.165874653,680.834125347,662.668250694,631.834125347,880,785,810,652.834125347,630.165874653,652,0.440591268863,0.00459884555772,0.0498326973123,0.999999970055,4.03191338392e-05,-0.000239258779874,-3.19440002572e-05,1793245523654863616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.579133887,662.579133887,632,880,785.420866113,809.579133887,652.579133887,630,652.420866113,0.439817334698,0.00460229452764,0.0498399214441,0.999999972413,7.27100715596e-06,-0.000232186360078,-3.47872540179e-05,1793245523671530240
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.013008871,745,713,680.013008871,662,632,879.986991129,785.986991129,809,652,630,652.986991129,0.439010255084,0.00460709696643,0.0498284182759,0.999999965729,2.22607288896e-05,-0.000258041542515,-3.82208360819e-05,1793245523688196864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.592070358,745,713,680.592070358,662,632,879.407929642,785.407929642,809,652,630,652.407929642,0.438106925832,0.00461630278142,0.0497873304856,0.999999944229,4.44514974804e-05,-0.000328251502592,-4.26314676174e-05,1793245523704863488
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.830198184,745,713,681,662,632,879,785.169801816,809,652,630.169801816,652,0.437225194866,0.00462336389784,0.0497652578417,0.999999929204,6.37373641435e-05,-0.000367912393656,-4.65736730579e-05,1793245523721529856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.255637168,745,713,681,662,632,879,785.744362832,809,652,630.744362832,652,0.436394948119,0.00462531266279,0.049788511897,0.999999939855,7.60987705558e-05,-0.000334752998546,-4.93992841875e-05,1793245523738196736
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.680813838,662,632,879,785.680813838,809,652,630.680813838,652,0.43552856061,0.00462627654825,0.0497927637944,0.999999938578,8.52846946076e-05,-0.000335850000859,-5.26866842374e-05,1793245523754863360
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.480635283,662,632,879.480635283,785,809,652,630,652,0.433779539369,0.00461615333262,0.0497799299626,0.999999931148,8.21641397998e-05,-0.000356925633822,-5.96381256047e-05,1793245523788197120
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.068519737,745,713,680.931480263,662.068519737,632,880,785,809,652,630,652,0.432928342981,0.00460398698421,0.0497833529401,0.999999938441,6.6442250827e-05,-0.000338829941222,-6.24355671016e-05,1793245523804863488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.648220901,745,713,680.351779099,662.648220901,632,880,785,809,652,630,652,0.432025447272,0.00459549083119,0.0498108003601,0.999999951853,3.38343076678e-05,-0.000302139572002,-6.21409159531e-05,1793245523821530112
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.773241551,745,713,680.226758449,662.773241551,632,880,785.226758449,809,652.226758449,630,652,0.431102758994,0.00459499513758,0.0498147593061,0.999999952428,5.422824984e-05,-0.000299188418774,-5.18576126427e-05,1793245523838196736
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.196499859,745,713,680.803500141,662.196499859,632,880,785.803500141,809,652.803500141,630,652,0.430149522357,0.00460684750175,0.049782465705,0.999999926763,0.000156426290628,-0.000348310996802,-2.61576358533e-05,1793245523854863360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.620735661,662,632,880,786,809,652.620735661,630,652,0.429220311114,0.00461360116513,0.0497676300622,0.999999914393,0.000192470599309,-0.000365676054347,-2.12119432313e-05,1793245523871529984
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.045476643,662,632,880,786,809,652.045476643,630,652,0.428303515672,0.004617719942,0.0497618162739,0.999999913545,0.000194328246898,-0.000366629588741,-2.69915665526e-05,1793245523888196608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.545735387,745,713,680,662,632,879.454264613,786,809,652,629.454264613,652,0.427370069848,0.00462228959343,0.0497664481822,0.999999908755,0.000194334160687,-0.000379208763308,-3.04029135227e-05,1793245523904863232
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.865584971,745,713,680,662,632.134415029,879,785.865584971,808.865584971,652,629.134415029,652,0.426441506416,0.00462544819557,0.0497708876904,0.999999908888,0.000186322156751,-0.000382573247506,-3.38360222287e-05,1793245523921529856
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.289719766,745,713,680,662,632.710280234,879,785.289719766,808.289719766,652,629.710280234,652,0.425533672001,0.00462384547373,0.0497717504683,0.999999925558,0.00015249948805,-0.000352397055482,-3.80082641015e-05,1793245523938196736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.285464302,633,879,785,808,652,630,652,0.424656358909,0.00461657943482,0.0497948997909,0.999999945405,0.000131746184695,-0.000300377518028,-4.00881545329e-05,1793245523954863872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.859958689,633,879,785,808,652,630,652,0.423809948444,0.00460357933749,0.0498406140431,0.999999965889,0.000124225500081,-0.000226241787252,-4.00495572464e-05,1793245523971531520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.444345579,745,713,680,662.555654421,633,879,785.444345579,808,652,630,652,0.42291921599,0.00460065030352,0.049838560144,0.999999963515,0.00013304528121,-0.000231757871785,-3.94540320155e-05,1793245523988198400
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.96834682,745,713,680,661.96834682,633,879,785.96834682,808,652,629.96834682,652,0.422013218691,0.00460131805516,0.0498207434922,0.999999953665,0.000147084600254,-0.000263693859131,-3.87428272505e-05,1793245524004864768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.385705664,745,713,680,661.385705664,633,879,785.385705664,808,652,629.385705664,652,0.421090196395,0.00460808672523,0.0497965698344,0.99999993877,0.000160294684546,-0.000308597876908,-3.91428926872e-05,1793245524021531136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.805978725,661.194021275,633,879,785.194021275,808,652,629.194021275,652,0.42017487335,0.00461403081218,0.0497860778311,0.999999930365,0.000159167357762,-0.000335252338875,-3.92537024257e-05,1793245524038197760
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.231959287,661.768040713,633,879,785.768040713,808,652,629.768040713,652,0.419274629423,0.00461835992244,0.0498023818725,0.999999937611,0.000129959660398,-0.00032616434974,-3.87979938924e-05,1793245524054864384
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.342087296,662,633,879,785.657912704,808,652,630,652,0.418395591454,0.00461974299508,0.0497943345733,0.999999930708,0.000131721376776,-0.000346013683079,-3.88236919815e-05,1793245524071531264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.916152253,662,633,879,785.083847747,808,652,630,652,0.417530933813,0.00461912828817,0.0497697740409,0.999999913,0.000154484202443,-0.000385486114051,-3.91758435125e-05,1793245524088198400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878.493457421,785,808,652.506542579,629.493457421,652,0.416753146569,0.00461376975727,0.0497841103924,0.999999924605,0.000157522954678,-0.000352672778962,-3.99731839737e-05,1793245524104865024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.09710623,633,878.09710623,785.09710623,808,653,629.09710623,652,0.415986738837,0.00460804313933,0.0498036713781,0.999999939149,0.000153099592594,-0.000310807424479,-4.0757382828e-05,1793245524121531648
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662,633,878,785.590325243,807.590325243,653,629.590325243,652,0.412842927621,0.00461089624208,0.0497714001808,0.99999992268,0.00014128652297,-0.000364532156346,-4.23593313144e-05,1793245524188197376
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.848835517,713,680,662.848835517,633,878,785.151164483,807.151164483,652.151164483,630,652,0.410797493654,0.00461577372441,0.0498163557338,0.999999942483,0.000149372328696,-0.000301811976864,-4.03896040082e-05,1793245524238198272
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,663,633,878.209494112,785.790505888,807.209494112,653,629,652,0.40670747876,0.00460088015667,0.049812120667,0.999999939926,0.000118545366208,-0.000323043075774,-4.16833451892e-05,1793245524354863872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,663,633,878.789234274,785.210765726,807.789234274,653,629,652,0.406170481039,0.0046024270908,0.0497811485986,0.999999921036,0.00012250208769,-0.00037567920339,-4.22643266617e-05,1793245524371531008
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.869147702,663,633,878.869147702,786,807.869147702,653.869147702,630,652,0.401033612423,0.0045868454036,0.0498422531063,0.99999995629,0.000124266968301,-0.000266633553689,-2.97358871391e-05,1793245524804864768
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.047757333,745,713,679.047757333,662,633.952242667,878,786,807,653,629.952242667,652.047757333,0.401004575024,0.00458874311483,0.0498414600594,0.9999999561,0.000121443939217,-0.000268529811946,-3.07116504509e-05,1793245524838197504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.627058795,745,713,679.627058795,662,633.372941205,878,786,807,653,629.372941205,652.627058795,0.401000462828,0.00458638222494,0.0498442924798,0.999999957673,0.000118648927157,-0.000263947714818,-3.01231195373e-05,1793245524854863872
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.406026305,680,662.593973695,633,878,786,807,653,630,652.593973695,0.400987423446,0.00458610515375,0.0498474227038,0.999999959672,0.000118434895791,-0.000256328045951,-3.04143858335e-05,1793245525054863616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.828878004,663,633,878,786,807.171121996,653,630,653,0.400987775536,0.00458572486656,0.0498479141455,0.999999959943,0.000117422268881,-0.000255724815355,-3.05244910357e-05,1793245525071530240
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.383496827,663,633,878.383496827,786,807,653,629,652,0.400987571113,0.00458597888864,0.0498496235409,0.999999960465,0.000118895510402,-0.000252921272246,-3.1048326219e-05,1793245525221530880
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..903c7149b2ed726bad3fc467964e2adea3c81717
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+356,5.933333333,pose2_to_pose3_retreat,0.579001619663,0.00987778906178,1.04005075234,0.54957325266,0.0185534747066,1.03971725813
+357,5.950000000,pose2_to_pose3_retreat,0.578685126595,0.00987774586896,1.04005081303,0.549256759475,0.0185534310077,1.03971731609
+358,5.966666667,pose2_to_pose3_retreat,0.578391353559,0.00987768261619,1.04005066894,0.548962986842,0.0185533686778,1.03971716051
+359,5.983333333,pose2_to_pose3_retreat,0.57811003878,0.00987779772989,1.04005071095,0.54868167258,0.0185534858969,1.03971721151
+360,6.000000000,pose2_to_pose3_retreat,0.577840362644,0.00987781842019,1.04005083443,0.548411996137,0.0185535054815,1.03971733329
+361,6.016666667,pose2_to_pose3_retreat,0.577582560508,0.00987776550981,1.04005091775,0.548154194507,0.0185534538434,1.039717405
+362,6.033333333,pose2_to_pose3_retreat,0.577338831331,0.0098776455922,1.04005105122,0.547910466128,0.018553336563,1.03971753669
+363,6.050000000,pose2_to_pose3_retreat,0.577114661067,0.00987760375328,1.04005102984,0.547686296616,0.0185532974698,1.03971752041
+364,6.066666667,pose2_to_pose3_retreat,0.576911072672,0.00987780737619,1.0400509507,0.547482706833,0.0185534964531,1.03971744312
+365,6.083333333,pose2_to_pose3_retreat,0.5767297597,0.00987799412601,1.04005096862,0.547301391887,0.0185536765957,1.0397174634
+366,6.100000000,pose2_to_pose3_retreat,0.57657051859,0.00987785809839,1.04005090163,0.547142152672,0.0185535471157,1.03971739935
+367,6.116666667,pose2_to_pose3_retreat,0.576431795416,0.00987773137821,1.04005100443,0.547003431207,0.0185534261469,1.03971750109
+368,6.133333333,pose2_to_pose3_retreat,0.57631080469,0.0098777301165,1.04005104837,0.546882439642,0.0185534215354,1.03971753189
+369,6.150000000,pose2_to_pose3_retreat,0.576205089328,0.00987769977081,1.04005084401,0.546776723845,0.018553389792,1.03971732962
+370,6.166666667,pose2_to_pose3_retreat,0.576113790101,0.00987777981322,1.04005097003,0.546685424809,0.0185534704733,1.03971745601
+371,6.183333333,pose2_to_pose3_retreat,0.576032789147,0.00987781036532,1.04005082565,0.546604422927,0.0185534981166,1.03971731795
+372,6.200000000,pose2_to_pose3_retreat,0.575961494159,0.00987789290024,1.04005071104,0.546533125682,0.0185535733095,1.03971721137
+373,6.216666667,pose2_to_pose3_retreat,0.575900122617,0.00987798808528,1.04005083055,0.546471753237,0.0185536654815,1.03971733209
+374,6.233333333,pose2_to_pose3_retreat,0.575848015501,0.00987780456443,1.04005079684,0.546419649748,0.0185534940041,1.03971729163
+375,6.250000000,pose2_to_pose3_retreat,0.575805417311,0.00987759234808,1.04005097475,0.546377052355,0.0185532846392,1.03971747333
+376,6.266666667,pose2_to_pose3_retreat,0.575771227981,0.0098777237325,1.04005091904,0.546342862649,0.0185534144921,1.0397174109
+377,6.283333333,pose2_to_pose3_retreat,0.575745100787,0.00987775186913,1.04005095132,0.546316736377,0.0185534459811,1.03971744911
+378,6.300000000,pose2_to_pose3_retreat,0.575724245825,0.009877772741,1.04005102651,0.546295881232,0.0185534659104,1.03971751597
+379,6.316666667,pose2_to_pose3_retreat,0.57570805321,0.0098777730655,1.04005098091,0.546279687896,0.0185534634447,1.03971746139
+380,6.333333333,pose2_to_pose3_retreat,0.575695518741,0.00987768929564,1.04005061594,0.546267154052,0.0185533825995,1.03971711745
+381,6.350000000,pose2_to_pose3_retreat,0.575686536217,0.00987775601049,1.04005092158,0.546258171104,0.0185534476202,1.03971741649
+382,6.366666667,pose2_to_pose3_retreat,0.57568073292,0.00987780566941,1.04005096549,0.546252366929,0.0185534941019,1.03971745514
+383,6.383333333,pose2_to_pose3_retreat,0.575677204594,0.00987783794577,1.04005092536,0.546248837822,0.0185535235987,1.03971741152
+384,6.400000000,pose2_to_pose3_retreat,0.575675633851,0.0098778187834,1.04005097315,0.546247267318,0.0185535051921,1.03971745791
+385,6.416666667,pose2_to_pose3_retreat,0.575674320408,0.00987780111532,1.04005101633,0.546245954104,0.0185534882537,1.03971749993
+386,6.433333333,pose2_to_pose3_retreat,0.575673167855,0.00987778561147,1.04005105423,0.546244801751,0.0185534733901,1.0397175368
+387,6.450000000,pose2_to_pose3_retreat,0.57567222831,0.00987778174643,1.04005104158,0.546243862416,0.0185534703724,1.03971752771
+388,6.466666667,pose2_to_pose3_retreat,0.57567151355,0.00987778053612,1.04005102338,0.546243147824,0.0185534698708,1.03971751307
+389,6.483333333,pose2_to_pose3_retreat,0.575671124579,0.00987777987748,1.04005101347,0.546242758944,0.0185534695978,1.03971750511
+390,6.500000000,pose2_to_pose3_retreat,0.575670893988,0.00987777948702,1.0400510076,0.546242528408,0.018553469436,1.03971750039
+391,6.516666667,pose2_to_pose3_retreat,0.575670668889,0.00987777613713,1.04005100342,0.54624230335,0.0185534662576,1.03971749702
+392,6.533333333,pose2_to_pose3_retreat,0.57567058141,0.00987776923189,1.04005100473,0.546242215865,0.0185534593212,1.03971749807
+393,6.550000000,pose2_to_pose3_retreat,0.5756704846,0.00987776159009,1.04005100618,0.546242119048,0.018553451645,1.03971749922
+394,6.566666667,pose2_to_pose3_retreat,0.575670252723,0.00987774328661,1.04005100966,0.546241887155,0.0185534332591,1.03971750198
+395,6.583333333,pose2_to_pose3_retreat,0.575670090607,0.00987773048986,1.04005101209,0.546241725028,0.0185534204047,1.03971750392
+396,6.600000000,pose2_to_pose3_retreat,0.575670041946,0.00987772664872,1.04005101282,0.546241676363,0.0185534165463,1.0397175045
+397,6.616666667,pose2_to_pose3_retreat,0.575669996999,0.00987772310078,1.0400510135,0.546241631413,0.0185534129823,1.03971750503
+398,6.633333333,pose2_to_pose3_retreat,0.575669844489,0.0098777110622,1.04005101578,0.546241478892,0.0185534008895,1.03971750685
+399,6.650000000,pose2_to_pose3_retreat,0.575669832077,0.00987771008245,1.04005101597,0.546241466479,0.0185533999054,1.039717507
+400,6.666666667,pose2_to_pose3_retreat,0.57566977041,0.00987771304406,1.04005101048,0.546241404683,0.018553402421,1.03971750138
+401,6.683333333,pose2_to_pose3_retreat,0.575669753503,0.00987772154145,1.04005100267,0.546241387617,0.0185534103798,1.0397174936
+402,6.700000000,pose2_to_pose3_retreat,0.575669734539,0.00987773107268,1.04005099391,0.546241368474,0.018553419307,1.03971748487
+403,6.716666667,pose2_to_pose3_retreat,0.575669697673,0.00987774960113,1.04005097689,0.546241331262,0.0185534366611,1.03971746791
+404,6.733333333,pose2_to_pose3_retreat,0.575669582392,0.00987780754023,1.04005092366,0.546241214896,0.018553490928,1.03971741487
+405,6.750000000,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6011e6b660b4907410ceb6fab1ff9ed36848366
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73c970a09451550119e85dc9a7204752a7011673fa8e998499de746ed2d6a1d
+size 25766823
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6efde32a7587cb4c8825206e63383213ddd665e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,765,745,713,679.42471585,663,633,878.42471585,786,806.57528415,653,629.57528415,652,0.400990591619,0.004584534403,0.0498520312744,0.999999961773,0.000116079370775,-0.000249082645432,-3.06139961025e-05,1793245525399288320
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+17,0.283333333,BASELINE,765,745,713,679,663,633.86434133,878,785.13565867,806.86434133,653,629,652,0.4009873267,0.00458505893035,0.0498511798824,0.999999961142,0.000115949101638,-0.000251679611279,-3.04977506816e-05,1793245525665954304
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+21,0.350000000,BASELINE,765,745,713,679,663,633,878,785.174690036,807,653.825309964,630,652,0.40098927613,0.00458635560283,0.0498525692772,0.999999962045,0.00011643691124,-0.000247795710574,-3.08042686463e-05,1793245525732621056
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+27,0.450000000,BASELINE,765,745.351055542,713,680,662.648944458,633.351055542,878.648944458,785.648944458,807.648944458,652.648944458,629,652.351055542,0.400988572658,0.0045849526067,0.0498523323665,0.999999962328,0.000113026537692,-0.000248257673063,-3.06046984347e-05,1793245525832621312
+28,0.466666667,BASELINE,765,745.230162147,713,680,663,633.230162147,878.769837853,786,807.769837853,653,629,652,0.400988617047,0.00458474496199,0.0498521801619,0.999999962316,0.000112751547585,-0.000248426721349,-3.06599201668e-05,1793245525849287936
+29,0.483333333,BASELINE,765,745.826456149,713,680,663,633.826456149,878.173543851,786,807.173543851,653,629,652,0.400989198089,0.00458307425752,0.0498524203832,0.999999962571,0.000111389978525,-0.000248060738085,-3.02627531528e-05,1793245525865954816
+30,0.500000000,BASELINE,765,745.589872612,713,679.589872612,663,633.589872612,877.589872612,786,807,653,629,652,0.400989658754,0.00458245621743,0.0498528086864,0.999999962752,0.000111203196836,-0.000247429418667,-3.0153167025e-05,1793245525882621184
+31,0.516666667,BASELINE,765,745.011383179,713,679.011383179,663,633.011383179,877.011383179,786,807,653,629,652,0.400990070003,0.0045822703083,0.0498532577788,0.999999962901,0.000111498679012,-0.000246689175689,-3.01616361937e-05,1793245525899287808
+32,0.533333333,BASELINE,765,745,713,679.552013213,663,633,878.104026427,786,807.552013213,653,629,652,0.400988833309,0.00458282093183,0.0498521649833,0.999999962317,0.000113204054688,-0.000248271274222,-3.02148950227e-05,1793245525915954432
+33,0.550000000,BASELINE,764.877126522,745.122873478,713,679.877126522,663.122873478,633,879,786,808,653,629,652,0.400987973261,0.00458347805597,0.0498514799075,0.999999961905,0.000114530370689,-0.000249306117968,-3.03278516556e-05,1793245525932621056
+34,0.566666667,BASELINE,764.276038475,745.723961525,713,679.276038475,663.723961525,633,879,786,808,653,629,652,0.400988707825,0.00458449213445,0.0498525020996,0.999999962241,0.000114271272549,-0.000248029663862,-3.06696487703e-05,1793245525949287680
+35,0.583333333,BASELINE,764.313178175,745.686821825,713,679,663.686821825,633,878.686821825,786,807.686821825,653,629,652.313178175,0.400988861815,0.00458495798137,0.0498525651238,0.999999962251,0.000114939530127,-0.000247661185673,-3.08462459045e-05,1793245525965954304
+36,0.600000000,BASELINE,764.892313466,745.107686534,713,679,663.107686534,633,878.107686534,786,807.107686534,653,629,652.892313466,0.400988522768,0.00458495825929,0.0498518136038,0.999999961981,0.000116395316541,-0.000248063778496,-3.08825519767e-05,1793245525982620928
+37,0.616666667,BASELINE,765.468776725,745.468776725,713,679,663,633,878,786,807,653,629,652.531223275,0.400988430336,0.00458383992675,0.0498518572641,0.999999962086,0.000114982961174,-0.000248343512182,-3.0519837017e-05,1793245525999287808
+38,0.633333333,BASELINE,765.955410254,745.955410254,713,679,663,633.044589746,878.044589746,786,807,653,629,652.044589746,0.400988359011,0.00458259736047,0.049852048958,0.99999996225,0.000113102960638,-0.000248598626909,-3.01185864351e-05,1793245526015954432
+39,0.650000000,BASELINE,765.38007175,745.38007175,713,679,663,633.61992825,878.61992825,786,807,653,629,652.61992825,0.400987868421,0.00458291735094,0.0498518407306,0.999999962129,0.00011345457844,-0.000248894736241,-3.03435160216e-05,1793245526032620800
+40,0.666666667,BASELINE,765,745,713,679,663,633.799476288,878.799476288,786,807,653,629,652.799476288,0.400987707336,0.00458343579304,0.0498519996944,0.999999962101,0.00011383548973,-0.000248818322101,-3.04937794098e-05,1793245526049287680
+41,0.683333333,BASELINE,765,745,713,679,663,633.208648598,878.208648598,786,807,653,629,652.208648598,0.400988187608,0.00458434050595,0.0498528733678,0.99999996225,0.000114273418519,-0.000248016819662,-3.04987107736e-05,1793245526065954304
+42,0.700000000,BASELINE,765,745,713,679,663,633,878.374603337,786,807,653,629,652.374603337,0.400988312474,0.00458349781191,0.0498531654738,0.999999962354,0.000113624730269,-0.000247902776482,-3.04278598528e-05,1793245526082620928
+43,0.716666667,BASELINE,765,745,713,679,663,633,878.953719311,786,807,653,629,652.953719311,0.400988243309,0.0045817011306,0.0498531400762,0.999999962433,0.000112382809396,-0.000248164047935,-3.03156360094e-05,1793245526099287808
+44,0.733333333,BASELINE,765,745,713,679,663,633.528470645,878.471529355,786,807,653,629.528470645,652.471529355,0.400989026507,0.00458289474094,0.0498528875305,0.999999962493,0.000112978989653,-0.000247631365293,-3.04584942222e-05,1793245526115954944
+45,0.750000000,BASELINE,765,745,713,679,663,633.897685498,878,786,807,653,629.897685498,652,0.400989711672,0.00458395443603,0.0498527013697,0.99999996259,0.000113389434727,-0.000247036381566,-3.05760622511e-05,1793245526132621824
+46,0.766666667,BASELINE,765,745,713,679,663,633.326264386,878,786,807,653,629.326264386,652,0.400989607917,0.00458320929268,0.0498529100384,0.999999962865,0.000112216294343,-0.000246471932419,-3.04760930512e-05,1793245526149287936
+47,0.783333333,BASELINE,765,745,713,679.255584691,663,633,878.255584691,786,807,653,629,652,0.400989019366,0.00458322675377,0.0498529483233,0.999999962837,0.000112251468523,-0.000246585318722,-3.03650675423e-05,1793245526165954560
+48,0.800000000,BASELINE,765,745,713,679.851311805,663,633,878.851311805,786,807,653,629,652,0.400987785627,0.0045842591195,0.0498527598546,0.999999962404,0.000113894716329,-0.000247600795723,-3.02393278368e-05,1793245526182620928
+49,0.816666667,BASELINE,765,745,713,679.565495662,663,633,878.565495662,786,807,653,629.434504338,652,0.40099008143,0.00458371811764,0.049854090963,0.999999963064,0.000114019153103,-0.000244900004308,-2.9927102444e-05,1793245526199287552
+50,0.833333333,BASELINE,765,745,713,679.013419759,663,633,878.013419759,786,807,653,629.986580241,652,0.400993409616,0.00458272723539,0.0498558618832,0.999999964032,0.000113671998568,-0.000241123289045,-2.95807243656e-05,1793245526215954176
+51,0.850000000,BASELINE,765,745,713,679.587820989,663,633,878.587820989,786,807,653,629.412179011,652,0.400990819894,0.00458480601954,0.0498548901437,0.999999963179,0.000114728392288,-0.000244040521593,-3.03995409637e-05,1793245526232620800
+52,0.866666667,BASELINE,765,745,713,680,663,633,879,786,807,653,629,652,0.400989104223,0.00458553058439,0.0498540698161,0.999999962588,0.000114849335845,-0.00024633500748,-3.08615110093e-05,1793245526249287680
+53,0.883333333,BASELINE,765,745,713,680,663,633,879,786,807,653,629,652,0.400989609364,0.00458281430903,0.0498536342004,0.999999962683,0.000112593460119,-0.00024704720021,-3.04167948157e-05,1793245526265954560
+54,0.900000000,BASELINE,765.325659643,745,713,679.674340357,663,633,879,786,807,653,629.325659643,652.325659643,0.40098963636,0.00458299112522,0.0498537183788,0.999999962718,0.000112907969943,-0.000246770919298,-3.03270302387e-05,1793245526282621440
+55,0.916666667,BASELINE,765.916438886,745,713,679.083561114,663,633,879,786,807,653,629.916438886,652.916438886,0.400989274097,0.00458552320813,0.0498542257217,0.999999962704,0.000115315031425,-0.000245689921702,-3.05262318869e-05,1793245526299288064
+56,0.933333333,BASELINE,766,745,713,679,663,633,878.506857329,786,807,653,629.506857329,653,0.400989409167,0.00458511842955,0.049854074211,0.999999962916,0.000114521711427,-0.000245206283716,-3.04521117894e-05,1793245526315954432
+57,0.950000000,BASELINE,766,745,713,679,663,633,878,786,807,653,629,652.930636618,0.40098972504,0.00458424304348,0.0498538720468,0.999999963147,0.000113300443787,-0.000244839735288,-3.03627573719e-05,1793245526332621056
+58,0.966666667,BASELINE,766,745,713,679,663,633,878,786,807,653,629,652.340637032,0.400990783034,0.0045834669061,0.049854104391,0.999999963252,0.000112824483622,-0.000244613384062,-3.0497032848e-05,1793245526349287680
+59,0.983333333,BASELINE,765.755202058,745,713,679,663,633,878,786,807,653,629.244797942,652.244797942,0.400990579159,0.00458323799807,0.0498538071737,0.999999963126,0.000112251195888,-0.000245378497361,-3.059690859e-05,1793245526365954304
+60,1.000000000,BASELINE,765.176002403,745,713,679,663,633,878,786,807,653,629.823997597,652.823997597,0.400988651534,0.0045837566225,0.0498527865589,0.999999962682,0.000111544955557,-0.00024749798246,-3.06497932287e-05,1793245526382620928
+61,1.016666667,BASELINE,765,745,713,679,663,633,878,786,807,653,630,652.60032014,0.400987754829,0.00458366573973,0.0498519146215,0.999999962294,0.000111918233373,-0.000248891917563,-3.0632254237e-05,1793245526399287552
+62,1.033333333,BASELINE,765,745,713,679,663,633,878,786,807,653,630,652.026173311,0.400987308138,0.00458330879681,0.0498511075843,0.999999961932,0.000112762739022,-0.000249969137787,-3.05839741452e-05,1793245526415954176
+63,1.050000000,BASELINE,765,745.550079229,713,679,663,633,878.550079229,785.449920771,807,653,630,652.550079229,0.400989451117,0.00458485285327,0.0498530600055,0.999999962599,0.000114506304966,-0.000246464051268,-3.07392795732e-05,1793245526432620800
+64,1.066666667,BASELINE,765,745.871057329,713.128942671,679.128942671,663,633,879,785.128942671,807,653,629.871057329,652.871057329,0.400990706579,0.00458602176007,0.0498542168613,0.999999962991,0.000115733503757,-0.000244268251858,-3.09264903792e-05,1793245526449287680
+65,1.083333333,BASELINE,765,745.2832607,713.7167393,679.7167393,663,633,879,785.7167393,807,653,629.2832607,652.2832607,0.400988363559,0.004585532547,0.0498520735972,0.999999962274,0.00011497034914,-0.00024751053022,-3.11926355018e-05,1793245526465954048
+66,1.100000000,BASELINE,765,745,713.698175872,679.698175872,663,633,878.698175872,786,807,653,629,652,0.40098831314,0.00458493703277,0.0498520836495,0.999999962311,0.000113717466139,-0.000247968513101,-3.09590317709e-05,1793245526482620928
+67,1.116666667,BASELINE,765,745,713.115613429,679.115613429,663,633,878.115613429,786,807,653,629,652,0.400990395158,0.00458424264373,0.0498540965848,0.999999963051,0.000112009067832,-0.000245836714697,-3.02605922537e-05,1793245526499287552
+68,1.133333333,BASELINE,765,745,713,679.460224978,663,633,878,785.539775022,807,653,629,652,0.400990942176,0.00458398656851,0.0498545430114,0.999999963354,0.000111696065782,-0.000244735384018,-3.03258788447e-05,1793245526515954432
+69,1.150000000,BASELINE,765,745,713,680,663,633.034439078,878,785.034439078,807,653,629,652,0.400991013924,0.00458386664372,0.0498545455712,0.999999963517,0.000111775667045,-0.000244004224353,-3.05759406529e-05,1793245526532620800
+70,1.166666667,BASELINE,765,745,713,680,663,633.609288289,878,785.609288289,807,653,629,652,0.400989591606,0.00458418023385,0.0498536692382,0.999999963157,0.000112594548486,-0.000245078155264,-3.07582416247e-05,1793245526549287680
+71,1.183333333,BASELINE,765,745,713,679.811056962,663,633.811056962,878.188943038,785.811056962,807,653,629.188943038,652,0.400988506143,0.00458423561639,0.0498531128004,0.999999962834,0.000112960600927,-0.000246210819673,-3.08638077162e-05,1793245526565954304
+72,1.200000000,BASELINE,765,745,713,679.221205483,663,633.221205483,878.778794517,785.221205483,807,653,629.778794517,652,0.400988135436,0.00458374312171,0.0498532351315,0.999999962592,0.000112365819139,-0.00024746810785,-3.08065540765e-05,1793245526582620928
+73,1.216666667,BASELINE,765,745,713,679.362852316,663,633.362852316,878.637147684,785.362852316,807,653,630,652.362852316,0.400987951098,0.00458440080092,0.049852805058,0.999999962394,0.000113627255975,-0.000247674954856,-3.0947906157e-05,1793245526599287552
+74,1.233333333,BASELINE,765,745,713,679.943433592,663,633.943433592,878.056566408,785.943433592,807,653,630,652.943433592,0.400987878591,0.0045857486402,0.0498520435148,0.999999962218,0.000116002513908,-0.000247251486218,-3.12084312898e-05,1793245526615954432
+75,1.250000000,BASELINE,765,745.517866876,713,679.482133124,663,634,878,786,807,653,629.482133124,652.482133124,0.400988479919,0.00458447815386,0.0498526239201,0.999999962579,0.000113409098002,-0.00024703840006,-3.08677363869e-05,1793245526632621056
+76,1.266666667,BASELINE,765.091820878,745.908179122,713,679.091820878,663,633.908179122,878,786,807,653,629.091820878,652.091820878,0.400988932054,0.00458310937056,0.0498532279501,0.999999962906,0.000110970406812,-0.000246862990315,-3.0522753978e-05,1793245526649287680
+77,1.283333333,BASELINE,765.666744971,745.333255029,713,679.666744971,663,633.333255029,878,786,807,653,629.666744971,652.666744971,0.400988216515,0.00458271050063,0.0498531941131,0.999999962797,0.000112167759251,-0.000246766322317,-3.04966790166e-05,1793245526665954304
+78,1.300000000,BASELINE,765.75126968,745,713,679.75126968,663,633.24873032,878,786,806.75126968,653,630,652.75126968,0.400987550532,0.0045822045536,0.0498528138007,0.999999962572,0.000112598739908,-0.000247495542684,-3.03774583365e-05,1793245526682620928
+79,1.316666667,BASELINE,765.159547102,745,713,679.159547102,663,633.840452898,878,786,806.159547102,653,630,652.159547102,0.400986952886,0.00458155095025,0.0498519557086,0.999999962186,0.000111972914896,-0.000249363640357,-3.01297922793e-05,1793245526699287808
+80,1.333333333,BASELINE,765,745,713,679.423668115,663,634,878,786,806.423668115,653,630,652,0.40098708691,0.00458246059585,0.0498520907166,0.999999962278,0.000111369268726,-0.000249252076384,-3.0227000992e-05,1793245526715954432
+81,1.350000000,BASELINE,765,745,713,679.996310962,663,634,878,786,807,653,629.996310962,652,0.400987490192,0.00458393777191,0.0498525936425,0.999999962545,0.000110789309099,-0.00024841021614,-3.04506312648e-05,1793245526732621056
+82,1.366666667,BASELINE,765,745,713,679.42455323,663,634,878,786,807,653,629.42455323,652,0.40098776192,0.00458394012901,0.049853295687,0.999999962529,0.000112595981057,-0.000247651436931,-3.05361986144e-05,1793245526749287680
+83,1.383333333,BASELINE,765,745,713,679,663,634,878,786,807,653,629,652,0.400988069752,0.00458430684544,0.0498537824783,0.999999962515,0.000114333055061,-0.000246901741256,-3.063227427e-05,1793245526765954304
+84,1.400000000,BASELINE,765,745,713,679,663,634,878,786,807,653,629,652,0.400988481712,0.00458572441276,0.0498536484562,0.999999962512,0.000115869401626,-0.000246178243276,-3.07586570125e-05,1793245526782620928
+85,1.416666667,BASELINE,764.687737363,745,713,679.312262637,663,633.687737363,878,786,807,653,629.312262637,652.312262637,0.400988693598,0.00458512357685,0.0498535837555,0.999999962645,0.000115504650219,-0.000245822908682,-3.0649467581e-05,1793245526799287552
+86,1.433333333,BASELINE,764.097617674,745,713,679.902382326,663,633.097617674,878,786,807,653,629.902382326,652.902382326,0.400988727455,0.00458272672845,0.049853580738,0.999999962897,0.000113448266688,-0.000245795172699,-3.03306616773e-05,1793245526815954432
+87,1.450000000,BASELINE,764.481242141,745,713,679.518757859,663,633.481242141,878.481242141,786,807.481242141,653,629.518757859,652.518757859,0.400988003409,0.00458285713454,0.0498525516753,0.999999962598,0.000113302700535,-0.000247064925329,-3.04193155312e-05,1793245526832621312
+88,1.466666667,BASELINE,765,745,713,679.05762117,663.05762117,633.94237883,879,786,807.94237883,652.94237883,629.05762117,652,0.400987341942,0.00458345716914,0.0498515823239,0.999999962294,0.000113476738563,-0.00024819477904,-3.05782987636e-05,1793245526849287680
+89,1.483333333,BASELINE,765,745,713,679.631768216,663.631768216,633.368231784,879,786,807.368231784,652.368231784,629.631768216,652,0.400988588056,0.00458377669084,0.0498529712775,0.999999962932,0.000113120685297,-0.000245765220537,-3.06437653989e-05,1793245526865955584
+90,1.500000000,BASELINE,765,745,713,679.788125367,663.788125367,633.211874633,879,786,807,652.211874633,629.788125367,652,0.400988964319,0.00458342784501,0.0498535766555,0.999999963275,0.000111588662586,-0.000245056254735,-3.07491728144e-05,1793245526882622976
+91,1.516666667,BASELINE,765,745,713,679.19736206,663.19736206,633.80263794,879,786,807,652.80263794,629.19736206,652,0.400987785054,0.00458188377876,0.0498527807897,0.999999963085,0.000107953691115,-0.000247424170452,-3.09260050508e-05,1793245526899288832
+92,1.533333333,BASELINE,765,745,713.385584204,679,663,633.614415796,879,786,807,653,629.385584204,652,0.400987718907,0.00458234430043,0.049852857898,0.999999962916,0.000108846471481,-0.000247727296211,-3.08344379378e-05,1793245526915955200
+93,1.550000000,BASELINE,765,745,713.964608856,679,663,633.035391144,879,786,807,653,629.964608856,652,0.40098821119,0.00458381048657,0.0498533729611,0.999999962755,0.000112010740683,-0.000246994555337,-3.06082198624e-05,1793245526932621568
+94,1.566666667,BASELINE,765,745,713.459686439,679,663,633.540313561,878.459686439,786,807,653,629.459686439,652.540313561,0.400986384839,0.0045831490114,0.0498523385474,0.999999962037,0.000113117809381,-0.000249404923399,-3.04446771122e-05,1793245526949287936
+95,1.583333333,BASELINE,765.11808714,745,713,679.11808714,663,633.88191286,878,786,807,653,629,652.88191286,0.400985427176,0.00458279794007,0.0498517558187,0.999999961641,0.000113888425675,-0.00025064859736,-3.03750295784e-05,1793245526965954560
+96,1.600000000,BASELINE,765.704931425,745,713,679.704931425,663,633.295068575,878,786,807,653,629,652.295068575,0.400988517037,0.0045842288833,0.0498533665152,0.99999996268,0.000113855096261,-0.000246448722345,-3.06619103632e-05,1793245526982621184
+97,1.616666667,BASELINE,765.420360913,745,713,679.710180457,663,633,878.289819543,786,807,653,629,652.289819543,0.400989782338,0.00458443410068,0.0498543443966,0.999999963359,0.000112613293732,-0.000244256901343,-3.06294179879e-05,1793245526999287808
+98,1.633333333,BASELINE,764.254541232,745,713,679.127270616,663,633,878.872729384,786,807,653,629,652.872729384,0.400989202487,0.00458339975924,0.0498546823212,0.999999963684,0.000110149379888,-0.000244095796473,-3.02739481553e-05,1793245527015954432
+99,1.650000000,BASELINE,764.448338965,745,713,679,663,633,878.551661035,786,807,653,629,652.551661035,0.400989457723,0.00458324869766,0.0498544616351,0.999999963561,0.000110621036746,-0.000244364518388,-3.04621982229e-05,1793245527032621056
+100,1.666666667,BASELINE,765,745,713,679,663,633,878,786,807,653,629,652,0.400989912782,0.00458330415253,0.0498541219086,0.999999963335,0.000111793477769,-0.000244715796491,-3.07794154947e-05,1793245527049287680
+101,1.683333333,BASELINE,765,745,713,679,663,633,878,786,807,653,629,652,0.400989525935,0.00458234729986,0.0498547136225,0.99999996369,0.000109964839517,-0.000244122744039,-3.05198685917e-05,1793245527065954304
+102,1.700000000,BASELINE,765,745,713,679,663.176609978,633,878.176609978,785.823390022,807,653,629,652,0.400988963569,0.00458191698971,0.0498547804264,0.999999963782,0.000109057618083,-0.000244173516939,-3.03720940398e-05,1793245527082620928
+103,1.716666667,BASELINE,765,745,713,679,663.769638314,633,878.769638314,785.230361686,807,653,629,652,0.400987987355,0.00458272818355,0.0498536095754,0.999999963255,0.000110322951829,-0.000245742328134,-3.04878610253e-05,1793245527099287552
+104,1.733333333,BASELINE,765,745,713,679,663.646974471,633.353025529,878.646974471,785.353025529,807,653,629.353025529,652.353025529,0.400989111902,0.00458315812844,0.0498540522352,0.999999963245,0.000112369156223,-0.000244846772719,-3.05590994783e-05,1793245527115954432
+105,1.750000000,BASELINE,765,745,713,679,663.069711128,633.930288872,878.069711128,785.930288872,807,653,629.930288872,652.930288872,0.40099157083,0.00458334590839,0.0498555197786,0.999999963554,0.000114911360923,-0.00024238587972,-3.06020539235e-05,1793245527132621568
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,786,807,653,630,652,0.400987609394,0.00458265599696,0.0498531084311,0.999999963031,0.000109494698794,-0.000246964440352,-3.09519050695e-05,1793245527163586304
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.411169047,745,713,679,663,633.588830953,878.588830953,786,807,653,629.411169047,652,0.400987553492,0.00458460308905,0.0498531017508,0.999999962543,0.000114066227945,-0.000246864192432,-3.10126223245e-05,1793245527180253184
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.174848395,745,713,679,663,633.825151605,879,786,807,653,629,652,0.400987585654,0.0045852906805,0.0498531182456,0.999999962354,0.000116144670758,-0.000246662449606,-3.09722050175e-05,1793245527196920064
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.754354545,745,713,679,663,633.245645455,879,786,807,653,629,652,0.400987821622,0.00458306336599,0.0498531883752,0.999999962892,0.000112453277592,-0.000246225813559,-3.06977284702e-05,1793245527213586176
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.667290214,745,713,679,663,633,878.667290214,786.332709786,806.667290214,653,629,652,0.400987732821,0.0045818558821,0.0498525945523,0.999999963019,0.000109932591711,-0.000246857288627,-3.06376225731e-05,1793245527230253056
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.089781815,745,713,679,663,633,878.089781815,786.910218185,806.089781815,653,629,652,0.400987405066,0.00458139876135,0.0498515122117,0.999999962846,0.000108273279935,-0.00024827465019,-3.07352446586e-05,1793245527246919680
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.483286401,745,713,679,663,633.483286401,878.483286401,786.516713599,806.483286401,653,629,652,0.400988324236,0.00458275974703,0.0498528334893,0.999999962815,0.00011159453745,-0.000246935314301,-3.06606689942e-05,1793245527263586048
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713,679.057378157,663,634,878.942621843,785.942621843,807,653,629,652,0.400989304532,0.00458408540191,0.0498544034688,0.999999962829,0.000115052091282,-0.000245303476162,-3.05169770604e-05,1793245527280252672
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713,679.648597478,663,634,878.351402522,785.351402522,807,653,629,652,0.400988717941,0.00458196849914,0.0498541707081,0.999999963184,0.000111247588969,-0.000245671577201,-3.00251540803e-05,1793245527296919552
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713,679.765122093,663,633.765122093,878.234877907,785.234877907,807,653,629,652.234877907,0.400991055055,0.00458136595636,0.0498551487038,0.999999963822,0.000109719051006,-0.000243770853421,-2.9875206937e-05,1793245527313586176
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713,679.186078652,663,633.186078652,878.813921348,785.813921348,807,653,629,652.813921348,0.400997676261,0.00458298239858,0.0498579008155,0.999999964872,0.000111525473626,-0.00023854563088,-3.02262089511e-05,1793245527330252800
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,879,786,807,653,629,652.61023787,0.401019798335,0.00458322797148,0.0498664881665,0.999999968726,0.000111605463362,-0.000221771369559,-3.01685180628e-05,1793245527346919168
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,879,786,807,653,629,652.035913577,0.401049260461,0.00458282440346,0.0498778386504,0.999999973501,0.000110867943856,-0.000199528347593,-2.99173008332e-05,1793245527363585792
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.540327489,679,663,633.540327489,879,786,807,653,629,652,0.401104182,0.00458324822763,0.0498956295859,0.99999997995,0.000113069358409,-0.000162551414244,-2.98751211167e-05,1793245527380252416
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713.88046117,679,663,633.88046117,878.88046117,786,806.88046117,653,629.11953883,652,0.401163450058,0.00458328561017,0.0499130620566,0.999999984747,0.000114307980769,-0.000128696999456,-2.95957021923e-05,1793245527396919296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713.290053232,679,663,633.290053232,878.290053232,786,806.290053232,653,629.709946768,652,0.401233149918,0.00458158338694,0.0499273903194,0.999999987278,0.000110981927099,-0.000111013599293,-2.83268631566e-05,1793245527413586176
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713,679.294011972,663,633.294011972,878.294011972,786,806.294011972,653,629.705988028,652,0.401309266091,0.004580245104,0.0499373956645,0.999999989002,0.000108082183419,-9.77994915486e-05,-2.73615895494e-05,1793245527430253056
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713,679.871951949,663,633.871951949,878.871951949,786,806.871951949,653,629.128048051,652,0.401391578508,0.00457925827911,0.0499432263576,0.999999990117,0.000105594128448,-8.89013903654e-05,-2.66894698225e-05,1793245527446920192
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633.552463614,879,785.552463614,807.447536386,653,629.447536386,652,0.401486113483,0.00457940331522,0.0499441687445,0.999999990063,0.000106192395783,-8.90041693333e-05,-2.59809741748e-05,1793245527463586560
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713,679.977667137,663,633.022332863,878.977667137,785.022332863,808,653,630,652,0.401585007821,0.00457973479133,0.0499436671788,0.999999989705,0.000107484742694,-9.16514123347e-05,-2.52341620431e-05,1793245527480252672
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679.405762568,663,633.594237432,878.405762568,785.594237432,808,653,630,652,0.401705571768,0.00457672669278,0.0499418701137,0.999999989878,0.000104240611885,-9.38713913705e-05,-2.37992258196e-05,1793245527496919296
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.826874869,878,786,807.826874869,653,630,652.173125131,0.401838675466,0.00457461757551,0.0499420435111,0.999999990184,0.00010162570084,-9.37997077232e-05,-2.24809336567e-05,1793245527513585920
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.230932613,878,786,807.230932613,653,630,652.769067387,0.402002404518,0.00457470400754,0.0499470292963,0.999999990832,0.000100547510502,-8.81311804781e-05,-2.14475171928e-05,1793245527530252544
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.645937278,807,653,629.645937278,652.645937278,0.402176407637,0.00457356489818,0.0499472165918,0.999999990919,9.76614170048e-05,-9.06875257001e-05,-2.00241378815e-05,1793245527546919424
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878,785.067867733,807,653,629.067867733,652.067867733,0.402356910923,0.00457165041879,0.0499443680009,0.999999990602,9.36315072922e-05,-9.84475459769e-05,-1.83540385139e-05,1793245527563586304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.50470356,878,785.50470356,807,653,629.50470356,652,0.402576717073,0.00456899088649,0.0499469620691,0.999999991567,8.89869663437e-05,-9.30387204202e-05,-1.70838587644e-05,1793245527580252928
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713,679.0791997,663,634,878.0791997,786,807,652.9208003,629.9208003,652,0.402806638929,0.00456633441486,0.0499505622599,0.99999999261,8.45032276836e-05,-8.59775303056e-05,-1.56936701854e-05,1793245527596919552
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713,679.670884003,663,634,878.670884003,786,807,652.329115997,629.329115997,652,0.403068187425,0.00456433905358,0.0499559880747,0.99999999342,8.15890505246e-05,-7.95593593272e-05,-1.31826970816e-05,1793245527613586176
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713,679.742894137,663,634,878.742894137,786,807,652.257105863,629,652,0.403356688577,0.00456131724328,0.0499624497968,0.999999994634,7.68510533058e-05,-6.86061089285e-05,-1.09394458325e-05,1793245527630252544
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713,679.163519206,663,634,878.163519206,786,807,652.836480794,629,652,0.403678973489,0.00455700883166,0.0499702099755,0.999999996171,6.98269909518e-05,-5.19683684719e-05,-9.0317704034e-06,1793245527646918912
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.586577625,878.413422375,785.586577625,807,653,629,652,0.404025328854,0.0045537540633,0.0499791242037,0.999999997252,6.56990078181e-05,-3.37105830189e-05,-6.60492994348e-06,1793245527663585792
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.010592878,878.989407122,785.010592878,807,653,629,652,0.404381148988,0.00455091359952,0.049988492217,0.999999997916,6.2709796069e-05,-1.48157778633e-05,-3.97394794192e-06,1793245527680252672
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633,878.424880589,785.575119411,807,652.424880589,629,652,0.40475974531,0.00454695307387,0.0499918824221,0.99999999817,6.00573716063e-05,-7.13772229316e-06,-1.19597353875e-06,1793245527696919552
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.159931865,878,786,807,652.159931865,629.159931865,652.159931865,0.405149665707,0.0045428337155,0.0499916535775,0.999999998404,5.61062376882e-05,-6.42655018944e-06,1.59087887289e-06,1793245527713586176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.741888841,878,786,807,652.741888841,629.741888841,652.741888841,0.405568341762,0.00453835060754,0.0499821703898,0.999999998527,4.87114444563e-05,-2.35449142529e-05,4.39389082863e-06,1793245527730253056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.679486954,878,785.679486954,807.320513046,652.679486954,629.679486954,652.679486954,0.406001131017,0.00453426723261,0.0499650043406,0.999999997439,4.37396748374e-05,-5.6192437851e-05,7.18132506988e-06,1793245527746919680
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663,633.103518966,878,785.103518966,807.896481034,652.103518966,629.103518966,652.103518966,0.406445168803,0.00453050245196,0.049941714905,0.999999994,4.06990998626e-05,-0.000101216996154,9.95634387164e-06,1793245527763586048
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713,679.468727907,663,633,878,785.468727907,807.531272093,652.468727907,629.468727907,652.468727907,0.406931056025,0.00452641503119,0.0499291765429,0.999999991927,3.49598373871e-05,-0.000121498154126,1.27385759302e-05,1793245527780252672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,786,807,653,630,652.958186259,0.407431678904,0.00452224865769,0.0499209059999,0.999999990653,2.85234014437e-05,-0.000132817089382,1.55140000807e-05,1793245527796919296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663,633,878,786,807,653,630,652.363215082,0.408005934877,0.0045179730271,0.0499379312562,0.999999994888,2.06865257285e-05,-9.72963310372e-05,1.8178455562e-05,1793245527813586176
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.225384971,745,713,679.774615029,663.225384971,633,878.225384971,785.774615029,807,653,629.774615029,652,0.408606341456,0.00451196692321,0.0499598948627,0.999999998145,1.0687501893e-05,-5.59261396419e-05,2.16456888933e-05,1793245527830253056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.80399997,745,713,679.19600003,663.80399997,633,878.80399997,785.19600003,807,653,629.19600003,652,0.40924773201,0.00450324877039,0.0499895979974,0.999999999634,-2.70010430874e-06,-5.38854494584e-06,2.63710593801e-05,1793245527846920448
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.621773834,745,713,679.378226166,664,633.378226166,879,785.378226166,807,653,629,652,0.409890575161,0.00449619711221,0.0500008999448,0.999999999417,-1.10244978656e-05,9.9385041211e-06,3.07415533022e-05,1793245527863587840
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.049795885,745,713,679.950204115,664,633.950204115,879,785.950204115,807,653,629,652,0.410534162407,0.00448999914012,0.0500027756189,0.999999999223,-1.67551876439e-05,7.22844410187e-06,3.49302564884e-05,1793245527880254720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.524085445,679.475914555,663.475914555,634,878.475914555,786,807.524085445,653,629.524085445,652,0.411147522502,0.0044840171926,0.0499717775393,0.999999991378,0.000109849088622,-6.03098209539e-05,3.92313810444e-05,1793245527896920832
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.897996995,679.102003005,663,633.897996995,878.102003005,785.897996995,808,653,629.897996995,652.102003005,0.411776815134,0.00447798839763,0.0499433187696,0.999999967421,0.000221787545454,-0.000118765909886,4.31516325993e-05,1793245527913586688
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.301388329,679.698611671,663,633.301388329,878.698611671,785.301388329,808,653,629.301388329,652.698611671,0.412497340394,0.00447163255476,0.0499423737689,0.999999973369,0.000201420745491,-0.00010320657721,4.51730758804e-05,1793245527930252800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,680,663.285377297,633,879,785.285377297,807.714622703,653,629.285377297,653,0.413256088737,0.00446360162717,0.0499544043522,0.999999989482,0.000120724105129,-7.32579583825e-05,3.30938109986e-05,1793245527946919424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.862094302,633,879,785.862094302,807.137905698,653,629.862094302,653,0.414053858847,0.00445386061642,0.0499796816194,0.999999999336,-2.15628570503e-05,-2.86194135728e-05,6.61923027239e-06,1793245527963586048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.436525513,745,713,680,663.563474487,633,879,786,807.436525513,652.563474487,630,653,0.41482759926,0.00445086032533,0.0499700724648,0.999999997207,-5.75242702806e-05,-4.72584835053e-05,6.56389723755e-06,1793245527980252416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.989453605,745,713.010546395,679.989453605,663,633,879,785.989453605,808,652,630,652.989453605,0.415594056142,0.00445060038254,0.0499495739605,0.99999999448,-5.92668225629e-05,-8.55178100115e-05,1.46485836997e-05,1793245527996919296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.398478077,745,713.601521923,679.398478077,663,633,879,785.398478077,808,652,630,652.398478077,0.416375282101,0.00448456912434,0.0499331724227,0.999999993809,-1.67706558121e-05,-0.000109134065015,1.37742629756e-05,1793245528013586432
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.188778333,745,713.811221667,679.188778333,663.188778333,633,879.188778333,785.188778333,808,652,630,652,0.417176026267,0.00450586615468,0.0499321714814,0.999999993963,1.89343366542e-05,-0.00010726643431,1.44695844615e-05,1793245528030253312
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.768335976,745,713.231664024,679.768335976,663.768335976,633,879.768335976,785.768335976,808,652,630,652,0.418017173916,0.00450093219256,0.0499630504411,0.999999997621,4.05813021765e-05,-5.26460574304e-05,1.84141332465e-05,1793245528046919680
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,713.345188507,680,663.654811493,633,879.654811493,786,808.345188507,652.345188507,630,652,0.418876927428,0.00449107874868,0.0499761655293,0.999999998345,3.78462305865e-05,-3.77585561715e-05,2.12695990286e-05,1793245528063586048
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,713.920239669,680,663.079760331,633,879.079760331,786,808.920239669,652.920239669,630,652,0.419749070639,0.00447794939892,0.0499774515706,0.999999998331,1.88750447135e-05,-4.93293663601e-05,2.33998391699e-05,1793245528080252672
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,713.50643942,680,663,633,879,785.50643942,809,652.50643942,630,652.49356058,0.420655633554,0.00447445437175,0.0499733204214,0.99999999895,-5.5246479096e-07,-4.02861964992e-05,2.18479619964e-05,1793245528096919296
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,713,680,663.067094009,633,879.067094009,785.067094009,809,652,630,652.932905991,0.421569636763,0.00447262342318,0.0499712484113,0.99999999935,-1.62472259795e-05,-2.50989444908e-05,2.01534920858e-05,1793245528113585920
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,713,680,663.64436179,633,879.64436179,785.64436179,809,652,630,652.35563821,0.422498067316,0.00447164861511,0.0499914672027,0.999999999689,-2.9998920267e-06,1.1565121344e-05,2.1883543532e-05,1793245528130252544
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.772760863,745,713.227239137,680,664,633,880,786,809,652.227239137,630,652,0.423403837809,0.00447559272951,0.0499966528162,0.999999999474,1.07700039005e-05,2.02171076847e-05,2.29537440294e-05,1793245528146919424
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.180882028,745,713.819117972,680,664,633,880,786,809,652.819117972,630,652,0.42427324694,0.00448743000175,0.0499777154163,0.999999999285,2.53784319197e-05,-1.60805350137e-05,2.29651137804e-05,1793245528163586560
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.600456733,680,664,633,879.600456733,785.600456733,809,652.600456733,630,652,0.425196159714,0.00449048298967,0.0499812658391,0.999999999508,1.90849368137e-05,-8.92261318032e-06,2.32604477135e-05,1793245528180253184
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.025072242,680,664,633,879.025072242,785.025072242,809,652.025072242,630,652,0.42614261969,0.00448966996428,0.0499947132794,0.999999999562,3.59238765054e-06,1.73603476296e-05,2.36807558611e-05,1793245528196919552
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.547182462,680,664,633,879.547182462,785.547182462,809.547182462,652,630.547182462,652,0.427066483357,0.00447791057867,0.0500003628325,0.999999999626,-3.7899725954e-06,2.52104101416e-06,2.69706096118e-05,1793245528213585920
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.875273995,680,663.875273995,633,879.875273995,786,809.875273995,652,630.875273995,652,0.427979240749,0.00446769717958,0.0499963447887,0.999999999297,-6.16880203689e-06,-2.24860623971e-05,2.93602953185e-05,1793245528230252288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.27711389,680,663.27711389,633,879.27711389,786,809.27711389,652,630.27711389,652,0.428853748696,0.00446524505054,0.0499569790871,0.999999996453,9.04218896898e-06,-7.89764784916e-05,2.78368802461e-05,1793245528246919168
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,680,663.308721892,633,879.308721892,785.691278108,809,652,630,652,0.429767711633,0.00446566141659,0.0499444465623,0.999999995626,9.11144485286e-06,-8.89564233101e-05,2.74226533783e-05,1793245528263585792
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,680,663.883919796,633,879.883919796,785.116080204,809,652,630,652,0.430715730446,0.00446855374949,0.0499550753319,0.999999997873,-3.88902162607e-06,-5.8790443748e-05,2.7965832162e-05,1793245528280252416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.458388103,680,664,633,880.458388103,785,809,652,630.458388103,652,0.431612754065,0.00447617096577,0.0499447489917,0.999999996214,-2.88762552631e-06,-8.21901890147e-05,2.84390670901e-05,1793245528296919552
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.033706921,713.966293079,680.033706921,663.966293079,633,880.966293079,785.033706921,809,652,630.966293079,652,0.432499617935,0.00448416197596,0.0499305493544,0.999999992911,2.67582348367e-06,-0.000115492317686,2.88499514239e-05,1793245528313586432
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.626182126,713.373817874,680.626182126,663.373817874,633,880.373817874,785.626182126,809,652,630.373817874,652,0.433431795132,0.00447854613828,0.0499399698525,0.999999995365,2.51798473649e-05,-8.84397440712e-05,2.85203882121e-05,1793245528330252800
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.213167004,745.786832996,713,680.786832996,663.213167004,633,880,786,809.213167004,652,630,652,0.434356992912,0.00447194284661,0.0499564604776,0.999999997459,3.09094068103e-05,-5.72601038905e-05,2.91176402104e-05,1793245528346919424
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.790765681,745.209234319,713,680.209234319,663.790765681,633,880,786,809.790765681,652,630,652,0.435270258786,0.00446365139636,0.0499850382382,0.999999999298,7.96123824347e-06,-1.90247999732e-05,3.12993813754e-05,1793245528363586048
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.266446085,745,713,680,664,633,880,785.633223042,810,652,630.366776958,652.366776958,0.436111765625,0.00446359195256,0.0499774766484,0.999999998237,-2.9478570511e-06,-4.91776536658e-05,3.3153875352e-05,1793245528380252672
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.116226914,745,713,680,664,633,880,785.058113457,810,652,630.941886543,652.941886543,0.436912512629,0.00446820836333,0.0499493875791,0.999999992386,-7.01864851627e-06,-0.000118175601192,3.48224897323e-05,1793245528396919296
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.529129466,745,713,680.529129466,663.470870534,633,880,785,810.529129466,652,630.470870534,652.470870534,0.437802458921,0.00447062037831,0.0499572878216,0.999999996013,-9.54263476295e-06,-8.25372872173e-05,3.27225399898e-05,1793245528413586176
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713,681,663.115882837,633,880,785.115882837,811,652,630,652.115882837,0.438686798042,0.00447363527681,0.049967950446,0.999999998532,-2.24853309199e-06,-4.44694081189e-05,3.08730420022e-05,1793245528430252800
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,681,663.695223712,633,880,785.695223712,811,652,630,652.695223712,0.439508612208,0.00448005232023,0.0499734817538,0.99999999759,4.36163385394e-05,-4.37243334064e-05,3.17193614583e-05,1793245528446919680
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.273346492,680.726653508,663.726653508,633,880,785.726653508,811,652,630,652.726653508,0.440306787163,0.0044812184021,0.0499672948945,0.999999996137,6.01480851928e-05,-5.5035476986e-05,3.28474400549e-05,1793245528463586304
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.850117104,680.149882896,663.149882896,633,880,785.149882896,811,652,630,652.149882896,0.441078721716,0.00447655573344,0.0499481004613,0.999999995261,4.41190390175e-05,-7.9729442649e-05,3.42882810854e-05,1793245528480252928
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.425549734,663,632.574450266,879.574450266,785,811,652,630.425549734,652.425549734,0.441841276653,0.00447350868676,0.0499510748032,0.999999996333,3.29694580624e-05,-7.04197805424e-05,3.58867449931e-05,1793245528496919552
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.999473913,681,663,632.000526087,879.000526087,785,811,652,630.999473913,653,0.442600483148,0.00447103862428,0.0499618114078,0.999999997807,2.35514898909e-05,-4.92110255898e-05,3.75397949092e-05,1793245528513586176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.409425722,681,663,632.590574278,879.590574278,785,811,652,630.409425722,653,0.443297764238,0.00447947134336,0.0499486449894,0.999999996026,3.47559732593e-05,-7.2591453464e-05,3.8345155069e-05,1793245528530252800
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.177208878,745,713.177208878,680.822791122,662.822791122,632.645582244,880,785,810.822791122,652,630,652.822791122,0.443961448568,0.00449038469129,0.0499189839717,0.999999990235,5.08469185134e-05,-0.000124170367474,3.90696105254e-05,1793245528546919424
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.75610584,745,713.75610584,680.24389416,662.24389416,631.487788319,880,785,810.24389416,652,630,652.24389416,0.444548977603,0.00450692100434,0.0498519338317,0.999999967452,7.80142492696e-05,-0.00023966818166,3.96106751599e-05,1793245528563586304
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.668231294,745,713.668231294,680,661.668231294,631,880,785,810.331768706,652.331768706,630.331768706,652.331768706,0.445161235718,0.00452424339009,0.0498130565712,0.999999951696,0.000101155963625,-0.00029138399648,3.83438388046e-05,1793245528580253184
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.094923002,745,713.094923002,680,661.094923002,631,880,785,810.905076998,652.905076998,630.905076998,652.905076998,0.445791497459,0.00454213806414,0.0497946901873,0.999999947991,0.000121366882988,-0.00029666420992,3.57607855557e-05,1793245528596920064
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,680.481348301,661.481348301,631,880,785,811,652.518651699,631,652.518651699,0.446404685246,0.0045517017464,0.0497994812284,0.999999951012,0.000133272147409,-0.0002810491518,3.50217936435e-05,1793245528613587456
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,681,661.881382992,630.940691496,880.059308504,785,811,652,630.940691496,652,0.447005130316,0.00455920019936,0.049804735004,0.999999953188,0.00014308236995,-0.000268238807505,3.46247870617e-05,1793245528630254848
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,681,660.705842427,630.352921214,880.647078786,785,811,652,630.352921214,652,0.447522220171,0.00456302612318,0.0497731688429,0.999999937975,0.000148909625732,-0.000317363071276,3.40146420138e-05,1793245528646921472
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.232343701,681,660,630,881,784.767656299,811,652,630,652.232343701,0.448025852682,0.00456837406206,0.049744055313,0.999999920938,0.000158661341568,-0.000363078835394,3.35199731588e-05,1793245528663587840
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.813843603,681,660,630,881,784.186156397,811,652,630,652.813843603,0.448509262024,0.00457600921988,0.0497186274952,0.999999902781,0.000174310568263,-0.000403672447704,3.31988371108e-05,1793245528680253696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.610419596,681,660,629.610419596,881,784.389580404,811,652,630,653,0.448988723685,0.00458329040048,0.0497179570048,0.99999990051,0.000184692436835,-0.000404711302041,3.28260552356e-05,1793245528696919808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.037396431,681,660,629.037396431,881,784.962603569,811,652,630,653,0.449466326533,0.00459040490355,0.0497289440608,0.999999905995,0.000192594051895,-0.00038712490589,3.24289547329e-05,1793245528713586176
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.538113169,745,713.538113169,680.461886831,660,628.461886831,880.461886831,785,811.538113169,652,630.538113169,653,0.449918686851,0.00459417166528,0.0497480703525,0.999999926592,0.000133443962913,-0.000358904458697,1.40109541852e-05,1793245528730253056
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.882471555,745,714,680.117528445,660,628,880,785,812,652.117528445,631,653,0.45035766131,0.00459613336134,0.0497644521185,0.999999940182,8.08529023536e-05,-0.000336298760783,-1.30063803441e-06,1793245528746919936
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.287908001,745,714,680.712091999,660,628,880,785,812,652.712091999,631,653,0.450749457492,0.00459171719043,0.0497673876317,0.999999939641,7.38855811652e-05,-0.000339496233533,1.10316968904e-06,1793245528763586816
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.702252825,681,659.702252825,627.702252825,880,785,811.702252825,653,630.702252825,653,0.451107101397,0.00459173249783,0.0497645506238,0.99999993601,7.21104878689e-05,-0.000350390144087,2.62026705708e-06,1793245528780253440
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.124961444,681,659.124961444,627.124961444,880,785,811.124961444,653,630.124961444,653,0.451432680925,0.00459590836249,0.0497562940014,0.999999929266,7.5210192627e-05,-0.000368509965432,3.30486354119e-06,1793245528796919552
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713,681,659,627,880,785,811,652.552150991,630.447849009,653,0.451711933424,0.00459718557648,0.0497376003338,0.999999914443,7.74736362782e-05,-0.00040631418054,4.62082756438e-06,1793245528813586176
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.019589896,681,659,626.980410104,880,784.980410104,811,652.019589896,630.980410104,653,0.451978327786,0.00459780203707,0.0497165711353,0.999999896389,7.95690328048e-05,-0.000448167048062,6.09035508767e-06,1793245528830252800
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.596116986,681,659,626.403883014,880,784.403883014,811,652.596116986,630.403883014,653,0.452243023498,0.00460239960561,0.0497111164976,0.999999895009,8.34549380927e-05,-0.000450519788818,6.96686073796e-06,1793245528846919936
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626,880,784.177696798,811,653,630,653,0.452503594677,0.00461097944455,0.0497111501297,0.999999896604,9.31582392988e-05,-0.000445032104593,7.73150782781e-06,1793245528863586816
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,626,880,784.771096849,811,653,630,653,0.452754516902,0.00462887539193,0.0497240230013,0.999999904478,0.000116470735018,-0.000421202557688,8.23447327496e-06,1793245528880253184
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.645640892,626,880,784.645640892,811,653,630,653,0.452974483281,0.00464442526501,0.049731581404,0.999999907326,0.000137414070493,-0.000407924487674,7.8970658048e-06,1793245528896919808
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.068745084,626,880,784.068745084,811,653,630,653,0.453175009487,0.00465850181061,0.0497358023339,0.999999907161,0.000156869581112,-0.000401272718455,7.0319061385e-06,1793245528913586688
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.503853047,745,713.496146953,681,658,625.496146953,880,784,811,653,630,652.496146953,0.453333538158,0.00465507866186,0.0497309972999,0.999999889911,0.000230095925362,-0.000408860253602,8.23610463614e-06,1793245528930253056
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,713.078885054,681,658.078885054,624.921114946,880,784.078885054,811,653,630,652.078885054,0.453483012604,0.00465050299983,0.0497248326903,0.999999867507,0.000299956458254,-0.000418237464319,9.48226571072e-06,1793245528946919424
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,713.673635657,681,658.673635657,624.326364343,880,784.673635657,811,653,630,652.673635657,0.453610432171,0.00465387231893,0.0497177623657,0.999999863842,0.000300235957527,-0.000426720840298,9.17210076736e-06,1793245528963586048
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.740250521,745,714,681,658.740250521,624.259749479,880,785,811,653,630,653,0.453728515319,0.00465536622647,0.0497118091359,0.999999861053,0.000299269558781,-0.000433879882159,8.97016140357e-06,1793245528980252672
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.164639272,745,714,681,658.164639272,624.835360728,880,785,811,653,630,653,0.453835245143,0.00465457958713,0.0497072143213,0.99999985937,0.000296788117323,-0.000439428500594,8.8998270314e-06,1793245528996919296
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.588451374,880.411548626,785,811,652.588451374,630,653,0.453924575247,0.00465391561556,0.0497036083604,0.999999858924,0.000294067620135,-0.000442257794456,9.22553879408e-06,1793245529013585920
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,624.012032479,880.987967521,785,811,652.012032479,630,653,0.454006934855,0.00465330078589,0.0497003985437,0.999999858972,0.00029125135502,-0.000443997701063,9.70991038271e-06,1793245529030252800
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.577205446,745,714,681.577205446,658,624,880.422794554,784.422794554,811,652,630,653,0.454069355658,0.00465502539112,0.0497016398939,0.999999858792,0.000294171509817,-0.000442475753706,9.74581976022e-06,1793245529046919680
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.836138292,745,714,681.836138292,657.836138292,624,880,784,811,652.163861708,630,653,0.4541265864,0.00465633674023,0.0497022453621,0.999999858521,0.000295793333901,-0.000442008734429,9.66319867925e-06,1793245529063586304
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.256722317,745,714,681.256722317,657.256722317,624,880,784,811,652.743277683,630,653,0.454171733127,0.00465647358383,0.0497009975703,0.999999858051,0.000293812434557,-0.000444393376551,9.30423046106e-06,1793245529080252928
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.679523108,745,713.679523108,681,657.320476892,624,880,784,811.320476892,653,629.679523108,652.679523108,0.454206876094,0.00465523536927,0.0496982866922,0.99999985678,0.0002914564108,-0.000448778098487,9.59260198524e-06,1793245529096919552
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.104087408,745,713.104087408,681,657.895912592,624,880,784,811.895912592,653,629.104087408,652.104087408,0.454234060468,0.00465290321256,0.0496944118401,0.999999854842,0.000288801952596,-0.000454754005493,1.03959715051e-05,1793245529113586176
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.470005679,745,713.470005679,681,657.529994321,623.529994321,880,784,811.529994321,653,629.470005679,652.470005679,0.454254171494,0.00465527190541,0.0496923157673,0.999999852507,0.00029126945894,-0.000458307930222,1.01090568318e-05,1793245529130253056
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681.04515328,657.04515328,623.04515328,880.04515328,784.04515328,811,653,630,652.95484672,0.454272135374,0.00465864205147,0.0496907117175,0.999999850187,0.000294747341598,-0.000461147622304,9.58756700784e-06,1793245529146919680
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681.63664807,657.63664807,623.63664807,880.63664807,784.63664807,811,653,630,652.36335193,0.45428301918,0.00466156897509,0.0496903081619,0.999999849286,0.00029676476342,-0.000461816767897,9.14098971284e-06,1793245529163586304
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681.776457915,657.776457915,624,881,784.776457915,811.223542085,653,630,652,0.454292881486,0.00466218737174,0.0496904657987,0.999999849526,0.00029657200643,-0.000461420525625,9.14051785327e-06,1793245529180252672
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681.196891365,657.196891365,624,881,784.196891365,811.803108635,653,630,652,0.4543011169,0.00465912909101,0.049691517219,0.999999851577,0.000292859206405,-0.000459327492547,9.85053617107e-06,1793245529196919808
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.380464771,623.619535229,880.619535229,784,812,653,630,652.380464771,0.4543045941,0.00465925924343,0.0496905073855,0.999999850987,0.000292480655688,-0.000460855201634,9.62357509563e-06,1793245529213586432
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.956683603,623.043316397,880.043316397,784,812,653,630,652.956683603,0.454305623136,0.00466102988615,0.0496884370102,0.999999849034,0.000293817619603,-0.000464245829596,8.91452594618e-06,1793245529230252800
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.541745106,745,714,681,658,623,880.541745106,784,812,653,630,653,0.454303122263,0.00466249056584,0.0496852060422,0.999999845842,0.000296842156995,-0.000469166735921,9.11232485649e-06,1793245529246919424
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,681,658,623,881,784,812,652.873893362,630,653,0.454301504672,0.00466347017484,0.0496826344475,0.999999843444,0.000298869480796,-0.000472970709384,9.31992609648e-06,1793245529263586048
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681,658,623,881,784,812,652.294630115,630,653,0.454304092148,0.00466281162175,0.0496827712681,0.999999844365,0.00029682045548,-0.000472314073454,9.29787113942e-06,1793245529280252928
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.717302511,745,714,681,658,623.282697489,881,784,811.717302511,652.282697489,630,653,0.454304771725,0.00466249964037,0.0496824423534,0.999999844414,0.000295842583711,-0.000472824384582,9.3306723145e-06,1793245529296919552
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.141978465,745,714,681,658,623.858021535,881,784,811.141978465,652.858021535,630,653,0.454303476391,0.00466254640312,0.0496816313458,0.99999984356,0.000295973486929,-0.000474542628897,9.42025630866e-06,1793245529313586176
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,623.567271907,880.567271907,784.432728093,811,653,630,652.567271907,0.454304198291,0.00466328617313,0.0496815531835,0.999999843323,0.0002974664385,-0.000474111875764,9.30501001332e-06,1793245529330253312
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.007451261,745,714,681,658,623.007451261,880,784.992548739,811.007451261,652.992548739,630,652.007451261,0.45430557545,0.0046642376717,0.0496817248772,0.99999984329,0.000299365664491,-0.000472986779496,9.12709323073e-06,1793245529346920448
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.599348236,745,714,681,658,623.599348236,880,784.400651764,811.599348236,652.400651764,630,652.599348236,0.454306509191,0.00466398724495,0.0496826614314,0.999999843829,0.000298129188865,-0.000472625650741,9.29733233572e-06,1793245529363586816
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.812908214,745,714,681,658.187091786,623.812908214,880,784.187091786,811.812908214,652.187091786,630,653,0.454307271486,0.00466386574457,0.0496830750292,0.999999844085,0.000297443861312,-0.000472514776949,9.30567078829e-06,1793245529380252928
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.233865975,745,714,681,658.766134025,623.233865975,880,784.766134025,811.233865975,652.766134025,630,653,0.454307674609,0.00466401434026,0.0496823930526,0.999999843753,0.000297913168902,-0.000472928178176,8.97483328158e-06,1793245529396919552
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.342920658,745,714,681,658.314158683,623,880,785,811,652.657079342,630,653,0.454307351619,0.00466444023559,0.049681180432,0.999999843076,0.000298164370038,-0.000474201427373,8.87069079011e-06,1793245529413585920
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.918179035,745,714,681,657.163641929,623,880,785,811,652.081820965,630,653,0.454306536669,0.00466505400868,0.0496796082863,0.999999842163,0.000298267798326,-0.000476057246048,8.9201401165e-06,1793245529430252544
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.50704145,745,714,681,657.49295855,623,880,785,811,652.49295855,630,652.50704145,0.454307714952,0.00466534970622,0.0496805601305,0.999999842353,0.000299166479924,-0.000475093952761,8.93434519157e-06,1793245529446919424
+244,4.066666667,HOLD_POSE2,765,745,714,681,658,623,880,784,812,653,630,653,0.454306409868,0.00466439596096,0.049679077203,0.999999841261,0.00029797525067,-0.000478125473658,9.20465922568e-06,1793245529489807360
+245,4.083333333,HOLD_POSE2,765.576621491,745,714,680.423378509,657.423378509,623,880.576621491,784.576621491,811.423378509,653,630,652.423378509,0.454307648138,0.00466341135129,0.0496802655224,0.9999998429,0.000296055765461,-0.000475881487353,9.33253160987e-06,1793245529506474240
+246,4.100000000,HOLD_POSE2,765.846851705,745,714,680.153148295,657.153148295,623,880.846851705,784.846851705,811.153148295,653,630,652.153148295,0.454308531643,0.00466326542589,0.0496810282827,0.999999843908,0.000295256725527,-0.000474258772868,9.31837098131e-06,1793245529523140864
+247,4.116666667,HOLD_POSE2,765.270586373,745,714,680.729413627,657.729413627,623,880.270586373,784.270586373,811.729413627,653,630,652.729413627,0.454308435006,0.00466543661132,0.0496806153116,0.999999843186,0.000297553243536,-0.000474352503317,8.91180256741e-06,1793245529539806976
+248,4.133333333,HOLD_POSE2,765,745,714,681,657.688055325,623,880,784.311944675,812,653,630,653,0.454308835285,0.00466597086491,0.0496806634773,0.999999843034,0.000297776411954,-0.000474537482974,8.68014765248e-06,1793245529556473344
+249,4.150000000,HOLD_POSE2,765,745,714,681,657.099977915,623,880,784.900022085,812,653,630,653,0.454309675433,0.00466505610993,0.0496811198404,0.999999843387,0.000296164255771,-0.00047480323622,8.60332580376e-06,1793245529573139968
+250,4.166666667,HOLD_POSE2,765,745,714,681,657.480627345,623,880,784.519372655,811.519372655,652.519372655,630,653,0.45430895891,0.00466562498992,0.0496801455116,0.999999842426,0.000297322227142,-0.000476098980111,8.78166253433e-06,1793245529589806592
+251,4.183333333,HOLD_POSE2,765,745.059590511,714,681,657.940409489,623,880.059590511,784.059590511,811,652.059590511,630,652.940409489,0.454308123168,0.00466636454914,0.0496790413445,0.999999841393,0.000298737000805,-0.000477377857357,8.96767069375e-06,1793245529606473472
+252,4.200000000,HOLD_POSE2,765,745.63758314,714,681,657.36241686,623,880.63758314,784.63758314,811,652.63758314,630,652.36241686,0.454309024138,0.00466594521491,0.0496793570237,0.999999842114,0.000297449688687,-0.000476674655858,8.76574652752e-06,1793245529623140608
+253,4.216666667,HOLD_POSE2,765,745.786129593,714,681,657,623,881,784.786129593,811.213870407,653,630,652.213870407,0.454309253565,0.00466566827384,0.0496795202946,0.999999842145,0.000297167848681,-0.000476786550104,8.71120755732e-06,1793245529639807232
+254,4.233333333,HOLD_POSE2,765,745.212709368,714,681,657,623,881,784.212709368,811.787290632,653,630,652.787290632,0.454308354022,0.00466563071813,0.049679427343,0.999999841016,0.000298576365697,-0.000478268748671,8.90444632199e-06,1793245529656473600
+255,4.250000000,HOLD_POSE2,765,745,714,681.371284066,657,623,880.257431867,784,811.628715934,653,630,653,0.454307330829,0.00466468845991,0.0496784038143,0.999999840872,0.000296569454172,-0.000479815990811,8.88125609521e-06,1793245529673140224
+256,4.266666667,HOLD_POSE2,765,745,714,681.961512525,657,623,879.07697495,784,811.038487475,653,630,653,0.45430623472,0.00466321270305,0.0496768315286,0.999999841296,0.000292548481321,-0.000481401588962,8.7304387722e-06,1793245529689806848
+257,4.283333333,HOLD_POSE2,765,745,714,681.458393029,657.541606971,623,880.083213942,784,811,652.458393029,629.458393029,652.458393029,0.454308498407,0.0046645535437,0.0496785326629,0.999999841679,0.000295019283929,-0.0004790893307,8.8767811596e-06,1793245529706473472
+258,4.300000000,HOLD_POSE2,765,745,714,681,658,623,880.880139856,784.119860144,811,652.119860144,629.119860144,652.119860144,0.45431062758,0.0046657695973,0.0496800627181,0.999999842042,0.000297446328588,-0.00047682544677,8.95186539399e-06,1793245529723140096
+259,4.316666667,HOLD_POSE2,765,745,714,681,658,623,880.30618409,784.69381591,811,652.69381591,629.69381591,652.69381591,0.454311359227,0.00466576853255,0.0496800795489,0.999999842382,0.000297991978744,-0.000475774937932,8.67845292281e-06,1793245529739806720
+260,4.333333333,HOLD_POSE2,765,745,714,680.732728209,657.732728209,623,880.267271791,784.732728209,811,652.732728209,630,653,0.454311054915,0.00466600432634,0.0496796607726,0.999999842029,0.000298238690575,-0.000476362260806,8.60579320242e-06,1793245529756473600
+261,4.350000000,HOLD_POSE2,765,745,714,680.159843959,657.159843959,623,880.840156041,784.159843959,811,652.159843959,630,653,0.454309566031,0.0046665109565,0.0496787439006,0.999999840881,0.000298143580749,-0.000478822365671,8.76268463027e-06,1793245529773140736
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,623,881,784,811,653,630,653,0.454308096318,0.00466275442908,0.0496774448229,0.999999841308,0.000295326095814,-0.000479678327801,8.62194878793e-06,1793245529805867264
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,744.419382141,714,681,657.580617859,623,880.419382141,784,811,653,630,653,0.454310275602,0.00466345143785,0.0496791356504,0.999999842561,0.000295178077471,-0.000477151825882,8.63214823119e-06,1793245529822533632
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744.159563689,714,681,657.840436311,623,880,784.159563689,811,653,630,653,0.454311585138,0.00466432261997,0.0496799390471,0.999999843285,0.00029495897081,-0.000475769698621,8.50370209281e-06,1793245529839199744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744.734160613,714,681,657.265839387,623,880,784.734160613,811,653,630,653,0.454310632415,0.00466564683594,0.0496784341915,0.999999842648,0.000294554959811,-0.000477364147243,8.01463177946e-06,1793245529855866368
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.314276408,745,714,681,657,623,880.314276408,785,811,653,630,652.685723592,0.45431070447,0.00466650439116,0.0496782024232,0.999999842567,0.000294773503324,-0.000477402102561,7.85999524924e-06,1793245529872532992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.899143901,745,714,681,657,623,880.899143901,785,811,653,630,652.100856099,0.454311658857,0.00466696015274,0.0496790667795,0.999999842964,0.000295528064511,-0.000476099921513,7.99330527623e-06,1793245529889199616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.518010369,745,714,681,657,623,880.518010369,784.518010369,811,653,630,652,0.454311027677,0.0046649999722,0.0496787328296,0.999999842698,0.000294121218012,-0.000477523136963,8.32682724698e-06,1793245529905866240
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.063473588,657,623,879.936526412,784,811,653,630,652.063473588,0.454309808623,0.00466294525777,0.0496781181155,0.999999842156,0.000292804314344,-0.000479457467611,8.63901360615e-06,1793245529922533120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.637394277,657,623,879.362605723,784,811,653,630,652.637394277,0.454306518933,0.00466417878173,0.0496772535691,0.999999840557,0.00029583265785,-0.000480935095384,8.44412017201e-06,1793245529939200000
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.787503795,681.787503795,657.212496205,623,879.212496205,784.212496205,811,652.787503795,630,652.787503795,0.454298559519,0.00466511802366,0.0496737172089,0.999999837462,0.000297007001477,-0.00048661395689,8.34169300091e-06,1793245529955866624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.21037498,681.21037498,657.78962502,623,879.78962502,784.78962502,811,652.21037498,630,652.21037498,0.454282587096,0.00466555229259,0.049665596153,0.999999831701,0.000294999975886,-0.000499501920204,8.39793322273e-06,1793245529972532992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.626216145,623,880.373783855,784.626216145,811,652.373783855,630,652.373783855,0.454250312493,0.00466588618224,0.0496510429525,0.999999819089,0.000295453973747,-0.000523890030562,8.25314819739e-06,1793245529989199616
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.038024738,623,880.961975262,784.038024738,811,652.961975262,630,652.961975262,0.454208686732,0.00466616249301,0.0496328001847,0.999999801826,0.000297319648041,-0.000554874783968,7.99305233007e-06,1793245530005866240
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.544353996,681,657,623,880.455646004,784.544353996,811,653,630,653,0.454145822218,0.00466582409894,0.0496115308646,0.999999783346,0.000296929063577,-0.000587442945625,7.17470181238e-06,1793245530022533120
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.124574647,623.124574647,880,784.875425353,811,653,630,652.875425353,0.454079245283,0.00466604408554,0.0495918035245,0.999999766071,0.000296884734594,-0.000616181026475,6.26317190568e-06,1793245530039199744
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.698460748,623.698460748,880,784.301539252,811,653,630,652.301539252,0.454004572927,0.00466843125425,0.0495783922008,0.999999756493,0.000298651711679,-0.000630710203319,5.15472811449e-06,1793245530055866624
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.726680158,681,657.726680158,623.726680158,880,784,811,653,630,652,0.453924756099,0.00467017991061,0.0495707527301,0.999999750155,0.000300581269312,-0.000639783101143,4.34933359538e-06,1793245530072533248
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.150743811,681,657.150743811,623.150743811,880,784,811,653,630,652,0.453839243377,0.0046712216135,0.0495695037877,0.999999747576,0.000302690834153,-0.000642814870453,3.87947172195e-06,1793245530089199616
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.43715115,681,657,623,880.43715115,784,811,653,630,652.43715115,0.453736614398,0.00467185478583,0.0495721627966,0.99999974827,0.000304893988416,-0.000640689592747,3.97280732019e-06,1793245530105866496
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,623,880.971505662,784,811,653,630,653,0.453626623743,0.00467240977265,0.049576140345,0.999999749953,0.000307247328058,-0.000636925559351,4.23387189598e-06,1793245530122532864
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,623,880.395373651,784,811,653,630,653,0.453491774247,0.00467424573899,0.0495788311859,0.999999748607,0.000311849409198,-0.000636805016227,3.88104110344e-06,1793245530139199488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.819361289,681,657.180638711,623,880,784,811,653,630,653,0.453348305131,0.00467619170009,0.049582449601,0.999999747992,0.000316214245895,-0.000635618854482,3.55732768542e-06,1793245530155866112
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.243610715,681,657.756389285,623,880,784,811,653,630,653,0.453185982296,0.00467837825297,0.0495880969031,0.999999748999,0.000320060156159,-0.000632101860366,3.29730287791e-06,1793245530172532736
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.329377208,681,658,623,880,784,811,653,630,652.670622792,0.453002472123,0.00468015265054,0.0495902678177,0.999999747882,0.000323519661093,-0.000632110409135,2.71589329601e-06,1793245530189199616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.900338901,681,658,623,880,784,811,653,630,652.099661099,0.4528034219,0.00468162474957,0.0495898889473,0.999999745208,0.000326695754187,-0.000634704796628,1.89876132057e-06,1793245530205866752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.506648612,681,658,623.493351388,880,784.493351388,810.506648612,653,630,652.493351388,0.452570001302,0.00468272322873,0.0495914768913,0.99999974197,0.000330000786756,-0.00063808715416,1.79198741398e-06,1793245530222533120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.087655003,681,658,624,880,785,810.087655003,652.912344997,630,652.912344997,0.452324769036,0.00468408455266,0.0495935127915,0.999999738838,0.000333768113595,-0.000641030956247,1.67700515872e-06,1793245530239199232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.663192046,681,658,624,880,785,810.663192046,652.336807954,630,652.336807954,0.452054246643,0.00468734859366,0.0495957271044,0.999999737026,0.000339956783519,-0.000640606370763,6.80264861244e-07,1793245530255866112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,880.238443822,784.761556178,810.761556178,652,630,652.238443822,0.451763895365,0.00469060916251,0.0495950294858,0.999999733494,0.000345455194678,-0.000643172948796,-5.32159647228e-07,1793245530272532992
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,624,880.813293098,784.186706902,810.186706902,652,630,652.813293098,0.451445568771,0.00469386483254,0.0495902236053,0.999999727531,0.0003499797626,-0.000649959572124,-2.0488794409e-06,1793245530289199360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.396565703,658,624.396565703,881,784,810,652.396565703,630,652.603434297,0.45111748689,0.00469579195043,0.0495887419233,0.999999728014,0.00035519607303,-0.000646371623837,-3.24227852986e-06,1793245530305865984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.983890137,658,624.983890137,881,784,810,652.983890137,630,652.016109863,0.450784712465,0.00469707999903,0.04958885927,0.999999731532,0.000360745129991,-0.000637793228297,-4.28015164992e-06,1793245530322532608
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.434487958,681.434487958,658.565512042,625.565512042,881,784,810,653,630,652,0.450409569666,0.00470152462385,0.0496083008952,0.999999750906,0.000367603886672,-0.000602509854432,-6.13987050149e-06,1793245530339200000
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.145508024,745,713,680.854491976,658.854491976,626,880.854491976,784,810,653,630,652.145508024,0.450022281947,0.0047053258012,0.0496254306404,0.999999766996,0.000373407634178,-0.000571412167778,-7.86616210956e-06,1793245530355867136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.72117273,745,713,680.27882727,658.27882727,626,880.27882727,784,810,653,630,652.72117273,0.449602623427,0.00470696161501,0.0496341147605,0.999999775311,0.000375983325705,-0.00055491489603,-9.12948957848e-06,1793245530372534016
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.703643267,745,713.296356733,680.296356733,658,626.296356733,880,784.296356733,810,653,630,652.703643267,0.449148776722,0.00470749760159,0.0496367791532,0.999999775612,0.000379022254062,-0.000552272548752,-1.06082151693e-05,1793245530389200384
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.128910734,745,713.871089266,680.871089266,658,626.871089266,880,784.871089266,810,653,630,652.128910734,0.448662816092,0.00470700049125,0.049633789056,0.999999768488,0.000382496313497,-0.000562644500498,-1.22892701212e-05,1793245530405866496
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.459134369,627.459134369,880,785,810,652.540865631,630,652,0.448149710516,0.00470888966227,0.0496247594618,0.999999761633,0.000386849994465,-0.000571710258602,-1.51353452845e-05,1793245530422532864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,628,880,785,810,652,630,652,0.447623314881,0.00471124712171,0.0496142749171,0.999999754703,0.000391254106136,-0.00058067364792,-1.82293298047e-05,1793245530439199744
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,628,880,785,810,652,630,652,0.447039248376,0.0047112546068,0.0496068788565,0.999999746812,0.000393496885674,-0.000592555233081,-2.03804119326e-05,1793245530455866624
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.795966316,681,659.204033684,628.204033684,880,785,810,652.204033684,630.204033684,652,0.446455594645,0.00471202426944,0.0496051714963,0.999999743596,0.000397772115384,-0.000595046643072,-2.24783190019e-05,1793245530472533248
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.222202167,681,659.777797833,628.777797833,880,785,810,652.777797833,630.777797833,652,0.445872688937,0.00471417507785,0.0496137726588,0.999999748889,0.00040573035816,-0.000580522068689,-2.44798671517e-05,1793245530489200384
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.361588205,681,660.361588205,629.361588205,880,785,810,652.638411795,630.638411795,652.361588205,0.445289663804,0.00471309957129,0.0496452192611,0.999999772126,0.000408066537423,-0.000537197811801,-2.54608437285e-05,1793245530505867520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.951715557,681,660.951715557,629.951715557,880,785,810,652.048284443,630.048284443,652.951715557,0.44470656321,0.00470998489618,0.0496911051539,0.999999803773,0.000406849331605,-0.000475670927954,-2.57967754546e-05,1793245530522534400
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.468234512,680.468234512,661,630.531765488,880,785,810,652.531765488,630.531765488,653,0.444039128741,0.00468928920549,0.0497162222712,0.999999852289,0.000317136727839,-0.000440463304976,-2.89528217402e-05,1793245530539200768
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,661,631,880,785,810,652.889393847,630.889393847,653,0.443352891978,0.00466387704457,0.0497342497192,0.999999890069,0.000216668935355,-0.000414656985246,-3.12582958818e-05,1793245530555867136
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,661,631,880,785,810,652.311867284,630.311867284,653,0.442619006948,0.00462516811071,0.049730161172,0.999999906536,0.000104088816651,-0.000418637177099,-2.89122314004e-05,1793245530572533248
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.263406625,661.52681325,631,880,785,810,652,630,652.736593375,0.4419079752,0.00459796101479,0.0497485065701,0.999999924806,4.16768389987e-05,-0.000384582991248,-2.73294934975e-05,1793245530589199616
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.836036133,662.672072266,631,880,785,810,652,630,652.163963867,0.441223771681,0.00458425635128,0.0497931880144,0.999999952136,3.81591034005e-05,-0.000305878831236,-2.66428530932e-05,1793245530605866240
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.421792907,680.578207093,663,631.421792907,880,785,810,652,630.421792907,652,0.44049655878,0.00457953181932,0.0498284711381,0.999999967834,4.25886540396e-05,-0.000248483417983,-2.78137931517e-05,1793245530622533120
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.012563548,663,632,879.987436452,785,810,652.012563548,631,652,0.439749009373,0.00457871364768,0.0498583935431,0.999999977819,5.05448514998e-05,-0.000202287044694,-2.98007834457e-05,1793245530639200256
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.59192083,663,632,879.40807917,785,810,652.59192083,631,652,0.438862488989,0.00459158189037,0.0498165869417,0.999999958684,7.37521492483e-05,-0.000275624744022,-3.4979884013e-05,1793245530655866624
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.829898245,680.829898245,663,632,879.170101755,785,810,652.829898245,631,652,0.437977554998,0.00460152955768,0.0497850797004,0.999999939642,9.14801638351e-05,-0.000332847873198,-3.94951123692e-05,1793245530672532992
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.25452009,680.25452009,663,632,879.74547991,785,810,652.25452009,631,652,0.437096400726,0.00460451879938,0.0497781112301,0.999999932639,9.61534968772e-05,-0.000351677188212,-4.24286302836e-05,1793245530689199360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.326850002,663,632,879.673149998,785.326850002,810,652.326850002,631,652,0.436232382144,0.00460707653284,0.0497839611653,0.99999993511,8.88968229795e-05,-0.00034608372847,-4.58583425818e-05,1793245530705865984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.912973162,663,632,879.087026838,785.912973162,810,652.912973162,631,652,0.435381956457,0.00460929197306,0.0497999792772,0.999999944603,7.21766929867e-05,-0.000321116946984,-4.96816599903e-05,1793245530722532864
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,662.506987621,632,879,785.506987621,810,652.506987621,630.506987621,652.493012379,0.434493608174,0.0046009710222,0.049785234886,0.999999938142,5.93535955986e-05,-0.000342568850219,-5.32897228405e-05,1793245530739199744
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.927950033,662.072049967,632,879,785.072049967,809.927950033,652,630,652.927950033,0.433600565725,0.00459087147309,0.0497707643401,0.999999930976,4.72040862176e-05,-0.000364165787793,-5.65988321809e-05,1793245530755866368
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.348495683,662.651504317,632,879,785.651504317,809.348495683,652,630,652.348495683,0.432721033506,0.00458118475336,0.0497959978931,0.999999943323,3.50128007474e-05,-0.000329783151143,-5.80669181228e-05,1793245530772533504
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,663,632,879.45814245,785.770928775,809,652.229071225,630,652,0.431820184014,0.00457609642639,0.0498116316065,0.999999950642,5.61303469829e-05,-0.000305559798401,-4.68872969924e-05,1793245530789200128
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,663,632,880.607580484,785.196209758,809,652.803790242,630,652,0.430887168548,0.00457794665739,0.0498127800327,0.999999947727,0.000127507910228,-0.00029666588163,-1.66234281747e-05,1793245530805867008
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.386838627,662.613161373,632,880.226322746,785,809,652.613161373,630,652,0.429946760983,0.00458924665509,0.0497888041405,0.999999930089,0.000167628870311,-0.000334073972227,-1.08668379743e-05,1793245530822533120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.974204713,662.025795287,632,879.051590574,785,809,652.025795287,630,652,0.429002521593,0.00460544517517,0.0497518044305,0.999999903292,0.000191547185277,-0.0003954838642,-1.78142092467e-05,1793245530839199488
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.553620257,680.446379743,662,632,879.553620257,785,809,652,630,652,0.42808779943,0.00460812096487,0.0497690940874,0.999999911434,0.000189196399113,-0.000375269711996,-2.25858430567e-05,1793245530855866368
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.867731522,680,662.132268478,632,879.867731522,785,808.867731522,652,629.867731522,652,0.427165506077,0.004609979228,0.0497807406989,0.999999917115,0.000185431359435,-0.000361460398557,-2.70608198151e-05,1793245530872533504
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.290436302,680,662.709563698,632,879.290436302,785,808.290436302,652,629.290436302,652,0.426213177113,0.00461117678603,0.049765010524,0.999999910257,0.000180967820873,-0.000381815521401,-3.0873930102e-05,1793245530889200640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.714091162,632.285908838,879,785.285908838,808.285908838,652,629.285908838,652.285908838,0.425301894585,0.00460717372942,0.0497750900777,0.999999924528,0.000158111371515,-0.000353265419319,-3.38899977625e-05,1793245530905867008
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.138707987,632.861292013,879,785.861292013,808.861292013,652,629.861292013,652.861292013,0.424432170431,0.00459790520247,0.0498113012276,0.999999954679,0.000116632637169,-0.000275200203818,-3.60990826551e-05,1793245530922533120
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,662.445883492,632.554116508,879,786,809,652.445883492,630,652.554116508,0.423555394914,0.00459218070413,0.0498299486594,0.999999963607,0.000114669050577,-0.000241504291459,-3.62356280244e-05,1793245530939200256
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.03307914,745,713,679.96692086,662.96692086,632,879,785.96692086,808.96692086,652.96692086,629.96692086,652,0.422672474099,0.00458821147466,0.0498402886101,0.999999965732,0.00012579108437,-0.000226793204656,-3.57538908275e-05,1793245530955867392
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.614951697,745,713,679.385048303,662.385048303,632,879,785.385048303,808.385048303,652.385048303,629.385048303,652,0.421724761555,0.00459468624537,0.0498053628284,0.999999945739,0.000145769085737,-0.000293227171149,-3.59366067169e-05,1793245530972533248
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,713,679.194044138,662,632.194044138,878.805955862,785.194044138,808,652.194044138,629.194044138,652,0.420802685827,0.00460130715019,0.0497865838635,0.999999931751,0.000154229715859,-0.000333778800187,-3.60890631978e-05,1793245530989199360
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,713,679.767697928,662,632.767697928,878.232302072,785.767697928,808,652.767697928,629.767697928,652,0.41993076338,0.00460821393915,0.0497993930016,0.999999937133,0.0001401588518,-0.00032369667937,-3.6182323332e-05,1793245531005866240
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.657551568,745,713,680.342448432,662.342448432,633,878.342448432,786,808,652.657551568,630,652.342448432,0.41903441739,0.00461393564735,0.0497962966388,0.999999931886,0.000138783459908,-0.000340102473865,-3.6021850893e-05,1793245531022532864
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.082054743,745,713,680.917945257,662.917945257,633,878.917945257,786,808,652.082054743,630,652.917945257,0.418121450359,0.00461885086533,0.0497823760139,0.99999991856,0.000146047791102,-0.000374534241336,-3.56887043371e-05,1793245531039199232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.509230476,745,713,680.490769524,662.490769524,633,878.490769524,786,808,652,630,652.490769524,0.417306190856,0.00461455616049,0.0497782909815,0.999999919168,0.000151847222887,-0.000370420464451,-3.73555939123e-05,1793245531055865856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.900024821,745,713,680,662.099975179,633,878.099975179,786,808,652.099975179,629.900024821,652,0.416513866656,0.0046083073867,0.0497809578466,0.999999924959,0.000155249675609,-0.000352787089079,-3.9008478901e-05,1793245531072532480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.324344581,745,713,680,662.675655419,633,878.675655419,786,808,652.675655419,629.324344581,652,0.415753362978,0.00460004804112,0.0498079694023,0.999999942829,0.000148405846328,-0.000301323449261,-3.90122004575e-05,1793245531089199360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.250875904,745,713,680,662.749124096,633,878.749124096,785.749124096,808,652.749124096,629.250875904,652,0.414973274797,0.00459712589273,0.0498153116765,0.99999994848,0.000137369336379,-0.000287448601479,-3.92886967969e-05,1793245531105865984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.825503039,745,713,680,662.174496961,633,878.174496961,785.174496961,808,652.174496961,629.825503039,652,0.414167913196,0.00460109131024,0.0497972710642,0.999999940024,0.000120922241722,-0.000322081476466,-3.99172045747e-05,1793245531122532608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.408931662,713,680,662,633,878.408931662,785,808,652.408931662,630,652,0.413389101225,0.00460594150047,0.0497770240697,0.999999928123,0.000129373813103,-0.000354030719956,-4.09699878944e-05,1793245531139199232
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.996198668,713,680,662,633,878.996198668,785,808,652.996198668,630,652,0.412621867495,0.00461117754097,0.0497558148689,0.999999914017,0.000148683706276,-0.000384809632856,-4.22077980593e-05,1793245531155865856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.421103703,713,680,662.578896297,633.578896297,878.421103703,785.578896297,807.421103703,653,629.421103703,652,0.411934241803,0.00461397375874,0.0497835123313,0.999999925754,0.000157227087355,-0.000349376247213,-4.13181541623e-05,1793245531172532480
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.840299696,745,713,680,663,633.840299696,878.159700304,786,807.159700304,653,629,652.159700304,0.411251045899,0.0046154860465,0.0498052945079,0.999999935255,0.000155646009345,-0.000321934871481,-4.02667364463e-05,1793245531189199360
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.264353543,745,713,680,663,633.264353543,878.735646457,786,807.735646457,653,629,652.735646457,0.410578043897,0.00461369330653,0.0498108284925,0.999999941002,0.000127859181498,-0.000316448367156,-3.88297947597e-05,1793245531205865984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.317114119,680,662.682885881,633,878.682885881,786,808,653,629.317114119,653,0.409921371101,0.00461034374217,0.0498023387587,0.999999937568,0.000122138849638,-0.000329356386873,-3.83498222834e-05,1793245531222532608
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.903266164,680,662.096733836,633,878.096733836,786,808,653,629.903266164,653,0.409278551956,0.0046056733764,0.0497819513766,0.999999926085,0.000135139616855,-0.000357870222868,-3.8681737455e-05,1793245531239199232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.516468189,679.516468189,662.483531811,633,878.483531811,786,807.516468189,653,629.516468189,652.516468189,0.408704002171,0.00459900193775,0.0497954429802,0.999999935226,0.000129391730826,-0.000333552653822,-3.93372168585e-05,1793245531255865856
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.062401022,663,633,878.937598978,785.937598978,807,653,629.062401022,652,0.408145877546,0.00459287509049,0.049814745378,0.999999946505,0.000120816641223,-0.000301315734535,-4.0017224744e-05,1793245531272532480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.639349097,663,633,878.360650903,785.360650903,807,653,629.639349097,652,0.407611926953,0.00459450016973,0.0498267468535,0.999999950031,0.00011948533506,-0.00028988145114,-4.03721484224e-05,1793245531289199104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.784217531,663,633,878,785.215782469,807,652.784217531,630,652.215782469,0.407075583031,0.00459639067507,0.0498245056462,0.999999946789,0.000119886900909,-0.000300662274209,-4.06353725524e-05,1793245531305865984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.208642426,663,633,878,785.791357574,807,652.208642426,630,652.791357574,0.406535248563,0.00459872374795,0.04979851639,0.999999930863,0.000123177832998,-0.000348484252132,-4.07456980607e-05,1793245531322532608
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.375162815,662.624837185,633,878.375162815,786,807,652.375162815,629.624837185,652.624837185,0.40602773052,0.00460092282557,0.0497787410284,0.999999918539,0.000125846141778,-0.000381230608127,-4.18146812047e-05,1793245531339199232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.963647867,662.036352133,633,878.963647867,786,807,652.963647867,629.036352133,652.036352133,0.405538872253,0.00460304571205,0.0497624989622,0.999999908668,0.000128160419569,-0.000405404782842,-4.34287690168e-05,1793245531355865856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.456650688,662.543349312,633,879,785.456650688,807.543349312,653,629,652,0.405130933852,0.00460730949299,0.0497735536309,0.999999914744,0.0001365677012,-0.000387211941398,-4.39134320722e-05,1793245531372532480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.121888155,663,633,878.878111845,785.121888155,807.878111845,653,629,652.121888155,0.404741052225,0.00460998061247,0.0497889696229,0.999999923253,0.000142674787497,-0.000362201940805,-4.4140198201e-05,1793245531389199104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.698248565,663,633,878.301751435,785.698248565,807.301751435,653,629,652.698248565,0.404398632045,0.0046061877685,0.0498139462014,0.999999937528,0.000138709600808,-0.00032217410919,-4.36826312404e-05,1793245531405865984
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.726447034,663,633,878,785.726447034,807,653,629,652.726447034,0.404067984156,0.00460521035523,0.049834450267,0.999999947062,0.00013749107868,-0.000291697079706,-4.34225511975e-05,1793245531422532608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.152303054,663,633,878,785.152303054,807,653,629,652.152303054,0.403750272157,0.00460732665085,0.0498500397539,0.999999952444,0.000139290702563,-0.000271714858946,-4.3379477806e-05,1793245531439199232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.433891202,663,633,878.433891202,785.433891202,807,653,629,652,0.40343770583,0.00461150789417,0.0498504146537,0.999999950335,0.00014547748772,-0.000276089786312,-4.40576777438e-05,1793245531455865856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.976025332,663,633,879,786,807,653,629,652.023974668,0.403128476154,0.0046162384547,0.0498450332187,0.99999994536,0.000152949996924,-0.000289595590837,-4.49622062037e-05,1793245531472532480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.396632355,663,633,879,786,807,653,629,652.603367645,0.402853506446,0.00461642322617,0.0498335542031,0.99999993887,0.000153513372965,-0.000310905854387,-4.50771442374e-05,1793245531489199104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.818617856,713,679,662.818617856,633,878.818617856,786,807,653,629,653,0.402591642671,0.00461694765191,0.0498220823763,0.999999932312,0.00015307995379,-0.00033148554738,-4.53781256362e-05,1793245531505865728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.243595045,713,679,662.243595045,633,878.243595045,786,807,653,629,653,0.4023582218,0.00461820920494,0.0498106261521,0.999999926198,0.000150483261422,-0.000350479732866,-4.60828636269e-05,1793245531522532352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.337033743,744.337033743,713,679,662.337033743,633,878.337033743,786,807,653,629.337033743,653,0.402159270478,0.00461765823488,0.0498059009203,0.999999929286,0.00011518901609,-0.00035506306311,-4.57149315062e-05,1793245531539198976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.921782912,744.921782912,713,679,662.921782912,633,878.921782912,786,807,653,629.921782912,653,0.401985653803,0.00461577508402,0.0498061228793,0.999999936527,5.58624931946e-05,-0.000349054602871,-4.45586007319e-05,1793245531555865856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.496597142,745,713,679.503402858,663,633,878.496597142,786,807,653,629.496597142,652.496597142,0.401835072606,0.00461544085063,0.0498108112077,0.99999993757,9.94135209561e-05,-0.000337281673951,-3.48867649496e-05,1793245531572532736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.91600186,663,633,878,786,807,653,629,652,0.401693245441,0.00461240324204,0.0498165865346,0.999999936357,0.000146865784545,-0.000324148727073,-2.53845497459e-05,1793245531589199360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.338586943,663,633,878,786,807,653,629,652,0.401581945919,0.00459208066035,0.0498246957517,0.999999944509,0.000123917739792,-0.000308255599775,-2.46028313198e-05,1793245531605865984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,663,633,878.23831222,786,806.76168778,653,629,652,0.401477813416,0.00457873030355,0.0498294840935,0.999999949227,0.000108816419404,-0.000298506261908,-2.44681300541e-05,1793245531622532608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,663,633,878.814480161,786,806.185519839,653,629,652,0.401383841615,0.00457526448548,0.0498295644231,0.999999949942,0.000104839417698,-0.000297466988116,-2.52507064096e-05,1793245531639199232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,663,633,878.602038874,786,806,653,629.397961126,652,0.401305107899,0.00457798347458,0.0498296677918,0.999999950269,0.000106484484745,-0.000295624048555,-2.69994509151e-05,1793245531655866112
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,663,633,878.01508495,786,806,653,629.98491505,652,0.401233610792,0.00458363964513,0.0498297821019,0.999999950394,0.000110799487302,-0.000293399446007,-2.92070312209e-05,1793245531672532736
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.567548681,679,662.432451319,633,878.567548681,786,806,653,629.432451319,652,0.401180662444,0.00458051343731,0.049831905206,0.999999951792,0.000108786569035,-0.000289449693223,-2.83064298843e-05,1793245531689199360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.852057186,679,662.147942814,633,879,786,806.147942814,653.147942814,629,652,0.40113238821,0.00457891089329,0.0498339137624,0.999999953086,0.000107957672102,-0.000285296943253,-2.7898552344e-05,1793245531705865984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.277788302,679,662.722211698,633,879,786,806.722211698,653.722211698,629,652,0.401096173386,0.00458236667069,0.0498354395299,0.999999954019,0.000111021776481,-0.000280690354132,-2.91468209768e-05,1793245531722532864
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.296753257,663,633,878.703246743,785.703246743,807,653.703246743,629,652,0.401067094592,0.00458279836772,0.0498376837051,0.999999955287,0.000111039866363,-0.000276083997153,-2.9563040579e-05,1793245531739199488
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.871550368,663,633,878.128449632,785.128449632,807,653.128449632,629,652,0.401044701919,0.00458039664399,0.0498406009947,0.99999995687,0.000108203984197,-0.000271477857146,-2.91996694951e-05,1793245531755866112
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.54069668,662.54069668,633,878,785.45930332,807,653,629.45930332,652,0.401027664068,0.0045811455486,0.0498423539876,0.999999957719,0.000107870757287,-0.000268450927291,-2.93276865022e-05,1793245531772532480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.049658683,633,878.049658683,786,807,653,629.950341317,652.049658683,0.401012794414,0.00458260264222,0.0498437458873,0.999999958328,0.000108294031416,-0.000265968414727,-2.96033970215e-05,1793245531789199360
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a04b5db37fdfe7cbbadfafb867d5a9a05252810d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1731ca1351a0d93871cd152cbd3fbda4583dcc34
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019a68c61f69c28657e30ab173bec87ddde611bd1049012c733dde380cd243e1
+size 25688350
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0babbece783e08ca5cd80e6880678c1183d78341
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+5,0.083333333,BASELINE,765,744.120341906,713.879658094,679,658,633,878.879658094,785,807.120341906,652,629.120341906,652,0.401021435936,0.00447578382258,0.0698485033338,0.999999987144,6.31880389706e-06,-0.000158980929058,1.99223771009e-05,1793245533824114944
+6,0.100000000,BASELINE,765,744.469094718,714,679,658,633,879,785,807,652,629.469094718,652,0.401021726542,0.00447656675235,0.0698491388687,0.999999987274,8.02067487337e-06,-0.000158106625015,1.97650897792e-05,1793245533840781312
+7,0.116666667,BASELINE,765,745,714,679.060929373,657.939070627,633,878.939070627,785,807.060929373,652,629.939070627,652,0.401021897471,0.00447764020981,0.0698498884056,0.999999987367,1.01867416862e-05,-0.00015741353333,1.95817006025e-05,1793245533857448192
+8,0.133333333,BASELINE,765,745,714,679.637854681,657.362145319,633,878.362145319,785,807.637854681,652,629.362145319,652,0.401019303245,0.0044755683511,0.0698482480455,0.999999986747,8.16431408187e-06,-0.000161367757256,1.99920235022e-05,1793245533874114816
+9,0.150000000,BASELINE,765,745,714,679.786544931,657.213455069,633.213455069,878,785,808,652,629,652,0.401018620849,0.00447519574156,0.0698477188374,0.999999986542,7.17498932288e-06,-0.000162676510802,2.00035162933e-05,1793245533890781184
+10,0.166666667,BASELINE,765,745,714,679.21317858,657.78682142,633.78682142,878,785,808,652,629,652,0.401021162032,0.0044776882736,0.0698490631674,0.999999987057,7.92760218289e-06,-0.0001595246782,1.93425328313e-05,1793245533907447808
+11,0.183333333,BASELINE,765,745,714,679.371408471,658,633.628591529,878,785,808,652.371408471,629,652,0.401021277616,0.00447848060309,0.069849393987,0.999999987114,9.013875422e-06,-0.000159105492466,1.94126660215e-05,1793245533924114432
+12,0.200000000,BASELINE,765,745,714,679.962636595,658,633.037363405,878,785,808,652.962636595,629,652,0.401019957599,0.00447826666085,0.0698491249564,0.9999999869,1.02976270199e-05,-0.000160303634877,1.99155135882e-05,1793245533940781312
+13,0.216666667,BASELINE,765,745,714,680,658,633.542232175,878.542232175,785,808,652.457767825,629,652.542232175,0.401019001158,0.00447778516518,0.0698487357268,0.999999986821,9.25877612479e-06,-0.000160887302477,1.96633355621e-05,1793245533957447936
+14,0.233333333,BASELINE,765,745,714,680,658,634,879,785,808,652,629.120325452,652.879674548,0.401018878878,0.00447754835647,0.0698488015361,0.999999986867,8.71857013896e-06,-0.000160663827154,1.94266991344e-05,1793245533974114816
+15,0.250000000,BASELINE,765,745,714,680,658,634,879,785,808,652,629.695705111,652.304294889,0.401021818527,0.00447830517866,0.0698506189052,0.999999987344,1.06567174923e-05,-0.000157544615362,1.94414626432e-05,1793245533990781440
+16,0.266666667,BASELINE,765,745,714,680,658,633.729607287,878.729607287,785,807.729607287,652,630,652,0.401022814836,0.00447845113673,0.0698512378035,0.999999987464,1.14213466601e-05,-0.000156720759755,1.95113526295e-05,1793245534007448064
+17,0.283333333,BASELINE,765,745,714,680,658,633.155696558,878.155696558,785,807.155696558,652,630,652,0.401021629731,0.00447791139481,0.0698505114085,0.999999987191,1.0868692023e-05,-0.000158473460286,1.96431225337e-05,1793245534024114688
+18,0.300000000,BASELINE,765,745,714,680,658,633,878.431651066,785,807.431651066,652,629.568348934,652,0.401021064742,0.00447655551,0.0698500250114,0.999999987062,8.81157021536e-06,-0.000159407003484,1.96804203507e-05,1793245534040781312
+19,0.316666667,BASELINE,765.023438891,745,714,679.976561109,658,633,879,785,808,652.023438891,629.023438891,652,0.401020712159,0.00447502386603,0.0698496153757,0.999999986978,6.39733147116e-06,-0.000160047548341,1.96897774914e-05,1793245534057447936
+20,0.333333333,BASELINE,765.601913813,745,714,679.398086187,658,633,879,785,808,652.601913813,629.601913813,652,0.401019922514,0.00447652521741,0.0698489076737,0.999999986808,8.78967813697e-06,-0.000160971425496,1.98703478517e-05,1793245534074114560
+21,0.350000000,BASELINE,765.82095847,745,714,679.17904153,658,633.17904153,879,785,807.82095847,653,629.82095847,652,0.401019916279,0.00447770922242,0.069848767096,0.999999986793,1.0639079504e-05,-0.00016094807156,1.98984974981e-05,1793245534090781440
+22,0.366666667,BASELINE,765.246803874,745,714,679.753196126,658,633.753196126,879,785,807.246803874,653,629.246803874,652,0.401021638891,0.00447819289976,0.0698498780618,0.99999998713,1.12902960727e-05,-0.000158834345606,1.95902814974e-05,1793245534107448064
+23,0.383333333,BASELINE,765,745,714,680,658,633.664224783,879,785,807,652.664224783,629,652,0.401021787861,0.00447830617036,0.0698503385332,0.999999987206,1.12026322651e-05,-0.00015837264391,1.95333825818e-05,1793245534124114688
+24,0.400000000,BASELINE,765,745,714,680,658,633.07529404,879,785,807,652.07529404,629,652,0.401020750394,0.00447814017527,0.0698503085689,0.999999987085,1.05578945043e-05,-0.000159156474864,1.96659625048e-05,1793245534140781312
+25,0.416666667,BASELINE,765,745,714,680,658,633,878.494839569,785,807,652,629,652.505160431,0.401020900328,0.00447672065289,0.0698502756116,0.999999987068,9.92626707356e-06,-0.000159295257442,1.97849147244e-05,1793245534157448192
+26,0.433333333,BASELINE,765,745,714,680,658,633,878,785,807.083714056,652.083714056,629,652.916285944,0.401021204184,0.00447551150203,0.0698502762784,0.999999987073,9.59950472297e-06,-0.000159272199516,1.98629407048e-05,1793245534174114816
+27,0.450000000,BASELINE,765,745,714,680,658,633,878,785,807.658406973,652.658406973,629,652.341593027,0.401021389931,0.00447661388128,0.069850476722,0.999999987127,1.10494894403e-05,-0.000158854531164,1.9712652666e-05,1793245534190782464
+28,0.466666667,BASELINE,765,745,714,680,658,633,878.233366338,785,807.766633662,652.766633662,629,652,0.401021957519,0.00447714574082,0.0698508071655,0.999999987236,1.16307355163e-05,-0.000158140409782,1.96157360308e-05,1793245534207449344
+29,0.483333333,BASELINE,765,745,714,680,658,633,878.808716129,785,807.191283871,652.191283871,629,652,0.401023084672,0.00447684154011,0.0698513281156,0.999999987425,1.09389005484e-05,-0.000156991855458,1.95970317859e-05,1793245534224115200
+30,0.500000000,BASELINE,765,745,714,679.612899717,658,633.387100283,879,785,807.387100283,652,629,652,0.401022704024,0.00447599546252,0.069851210176,0.999999987389,8.87785611948e-06,-0.000157331159969,1.97270708229e-05,1793245534240781568
+31,0.516666667,BASELINE,765,745,714,679.033004317,658,633.966995683,879,785,807.966995683,652,629,652,0.401021572416,0.00447487950341,0.0698507740376,0.999999987235,6.13487756944e-06,-0.000158411491922,1.99311913835e-05,1793245534257448192
+32,0.533333333,BASELINE,765,745,714,679,658,633.442210869,878.442210869,785,808,652,629,652.557789131,0.401020001151,0.00447704573965,0.0698497333551,0.99999998694,1.01425026408e-05,-0.000160088009679,1.97294106748e-05,1793245534274115072
+33,0.550000000,BASELINE,765,745.144967386,714,679.144967386,658,633,878,785,807.855032614,652,629,652.855032614,0.401019060616,0.00447868726055,0.0698490533062,0.999999986745,1.31069341723e-05,-0.000161105531714,1.95768881436e-05,1793245534290781952
+34,0.566666667,BASELINE,765,745.719484646,714,679.719484646,658,633,878,785,807.280515354,652,629,652.280515354,0.401020067602,0.00447818708955,0.0698495499477,0.999999986928,1.17731646941e-05,-0.000160063787557,1.96429043279e-05,1793245534307448832
+35,0.583333333,BASELINE,765,745.706778692,713.706778692,679.706778692,658,633.293221308,878,784.706778692,807.293221308,652,629,652,0.401020680733,0.00447760603925,0.0698498473979,0.999999987028,1.04330315748e-05,-0.000159518814721,1.97125766544e-05,1793245534324115712
+36,0.600000000,BASELINE,765,745.133786751,713.133786751,679.133786751,658,633.866213249,878,784.133786751,807.866213249,652,629,652,0.401020918076,0.00447694781969,0.069849954794,0.999999987051,9.08682657178e-06,-0.000159447825144,1.97857374158e-05,1793245534340781824
+37,0.616666667,BASELINE,765,745,713.456862143,679,658,634,878,784.456862143,807.543137857,652.456862143,629,652,0.401020548634,0.00447491322961,0.0698497664091,0.999999986981,7.5272465309e-06,-0.000159940599246,2.00012441588e-05,1793245534357448448
+38,0.633333333,BASELINE,765,745,714,679,658,633.948944896,878,785,807.051055104,652.948944896,629,652,0.401020052276,0.00447291929761,0.0698495466668,0.999999986896,6.22635917924e-06,-0.000160502276068,2.02176407019e-05,1793245534374114816
+39,0.650000000,BASELINE,765,745,714,679,658,633.373589887,878,785,807.626410113,652.373589887,629,652,0.401020150687,0.00447564837423,0.0698499301489,0.999999986965,8.2495292938e-06,-0.000160008003648,1.99978968006e-05,1793245534390781696
+40,0.666666667,BASELINE,765,745,714,679.201362087,658,633,878,785,807.798637913,652,629,652,0.401020154727,0.00447683507782,0.0698501464094,0.999999987004,8.94664882115e-06,-0.000159739407098,1.98838911701e-05,1793245534407448576
+41,0.683333333,BASELINE,765,745,714,679.775567763,658,633,878,785,807.224432237,652,629,652,0.401019984026,0.00447516591148,0.0698500530411,0.999999986993,7.18844276141e-06,-0.000159888673754,1.99656713486e-05,1793245534424115456
+42,0.700000000,BASELINE,765,745,714,680,658,633.358425912,878,785,807.358425912,652,629,652,0.40102036624,0.00447554632874,0.0698505012659,0.999999987075,7.87939769988e-06,-0.000159339537342,1.9981408727e-05,1793245534440782592
+43,0.716666667,BASELINE,765,745,714,680,658,633.946835899,878,785,807.946835899,652,629,652,0.401021103232,0.00447724186189,0.0698512970041,0.999999987213,1.01418574692e-05,-0.000158342270421,1.99547697231e-05,1793245534457449728
+44,0.733333333,BASELINE,765,745,714,680,658,633.470351793,878,785,808,652,629,652.529648207,0.401020836707,0.00447790558171,0.0698508378489,0.999999987152,9.85157291725e-06,-0.000158809697686,1.94394887884e-05,1793245534474115840
+45,0.750000000,BASELINE,765,745,714,679.889343171,658,633,878,785,808,652,629.110656829,652.889343171,0.401020670404,0.00447846620064,0.0698504999634,0.999999987111,9.85861836636e-06,-0.000159118487579,1.90110190477e-05,1793245534490781952
+46,0.766666667,BASELINE,765,745,714,679.313578932,658,633,878,785,808,652,629.686421068,652.313578932,0.40102134431,0.00447902423662,0.0698511956909,0.999999987237,1.21811177084e-05,-0.000158149013558,1.91514304011e-05,1793245534507448576
+47,0.783333333,BASELINE,765.260217815,745,714,679.260217815,657.739782185,633,878.260217815,785,808,652.260217815,629.739782185,652,0.401021433253,0.00447913896797,0.0698515382008,0.999999987302,1.25784715103e-05,-0.000157696477062,1.92369457765e-05,1793245534524115200
+48,0.800000000,BASELINE,765.831661478,745,714,679.831661478,657.168338522,633,878.831661478,785,808,652.831661478,629.168338522,652,0.401020822568,0.00447872349795,0.0698514582553,0.999999987297,1.0673312046e-05,-0.000157862208327,1.92568044542e-05,1793245534540781824
+49,0.816666667,BASELINE,765.580431028,745,714,679.580431028,657.419568972,633,878.580431028,785,807.580431028,652.580431028,629.419568972,652,0.401020297717,0.00447849552992,0.0698508467436,0.999999987148,1.01969805394e-05,-0.000158850121651,1.91620102812e-05,1793245534557448448
+50,0.833333333,BASELINE,765,745,714,679.013906493,658,633,878.013906493,785,807,652,629.986093507,652,0.401019821647,0.00447832636584,0.0698500443528,0.999999986944,1.02735019615e-05,-0.000160139725307,1.90333472693e-05,1793245534574115072
+51,0.850000000,BASELINE,765,745,714,679.590234437,658,633,878.590234437,785,807,652,629.409765563,652,0.401019868765,0.004477368653,0.0698504999553,0.999999987014,8.57731999485e-06,-0.000159744611076,1.94713201178e-05,1793245534590782208
+52,0.866666667,BASELINE,765,745,714,680,658.166331301,633,879,785,807,652.166331301,629.166331301,652,0.401020059559,0.00447727588932,0.0698510384538,0.999999987123,8.51386452487e-06,-0.000159035693127,1.97257763509e-05,1793245534607449344
+53,0.883333333,BASELINE,765,745,714,680,658.741859643,633,879,785,807,652.741859643,629.741859643,652,0.401020603816,0.00447931101526,0.0698517808876,0.99999998732,1.24671327146e-05,-0.000157554776471,1.95287573631e-05,1793245534624115968
+54,0.900000000,BASELINE,765,745,714,680,658.685222062,633,879,785,807.314777938,652.685222062,629.685222062,652,0.401020336791,0.0044796163034,0.0698516052612,0.999999987207,1.36088862884e-05,-0.000158195828769,1.93814972422e-05,1793245534640782336
+55,0.916666667,BASELINE,765,745,714,680,658.114426618,633,879,785,807.885573382,652.114426618,629.114426618,652,0.401019409929,0.00447851466705,0.0698506829513,0.999999986846,1.2463957947e-05,-0.000160562736519,1.92747073783e-05,1793245534657448704
+56,0.933333333,BASELINE,765,745,714,680,658,633,878.521884046,785,807.521884046,652,629,652,0.401020417692,0.00447799960648,0.0698509836768,0.999999986977,1.21564127277e-05,-0.000159762427087,1.93371862765e-05,1793245534674115072
+57,0.950000000,BASELINE,765,745,714,680,658,633.07328786,878.07328786,785,807.07328786,652,629,652,0.401021765346,0.00447762938291,0.0698515663566,0.999999987215,1.20288606437e-05,-0.000158266231725,1.94166930982e-05,1793245534690781696
+58,0.966666667,BASELINE,765,745,714,680,658,633.649099919,878.649099919,785,807.649099919,652,629,652,0.401022117499,0.00447724382234,0.0698519796657,0.999999987351,1.16958343796e-05,-0.000157443649073,1.93219445527e-05,1793245534707448320
+59,0.983333333,BASELINE,765,745,714,679.775449397,658,633.775449397,879,785,808,652,629.224550603,652,0.401021597049,0.0044768584949,0.0698516886078,0.999999987313,1.05865308262e-05,-0.00015775513484,1.93476232812e-05,1793245534724115200
+60,1.000000000,BASELINE,765,745,714,679.200562433,658,633.200562433,879,785,808,652,629.799437567,652,0.401019715195,0.00447647353113,0.0698502986199,0.999999987001,8.26610528027e-06,-0.000159835956213,1.95611886124e-05,1793245534740781824
+61,1.016666667,BASELINE,765,745,713.615104915,679.384895085,658,633,878.615104915,784.615104915,808,652,629.615104915,652,0.40101993569,0.00447674055299,0.0698506419968,0.999999987096,8.55690168612e-06,-0.000159230483799,1.94997737791e-05,1793245534757448448
+62,1.033333333,BASELINE,765,745,713.023983749,679.976016251,658,633,878.023983749,784.023983749,808,652,629.023983749,652,0.401021282621,0.00447735690756,0.0698519141075,0.999999987408,1.02467861656e-05,-0.000157185699972,1.9291025065e-05,1793245534774114816
+63,1.050000000,BASELINE,765,745,713.555741763,679.444258237,658,633,878.555741763,784.555741763,807.444258237,652,629,652,0.401020617002,0.00447826879857,0.0698516803079,0.999999987269,1.16397700976e-05,-0.000157979756988,1.92068396895e-05,1793245534790781696
+64,1.066666667,BASELINE,765,745,714,679,657.86616375,633,879,785,807,652,629,652,0.401020061476,0.0044788840278,0.0698512895311,0.999999987141,1.21746564624e-05,-0.000158758189815,1.9139220723e-05,1793245534807448320
+65,1.083333333,BASELINE,765,745,714,679,657.291851208,633,879,785,807,652,629,652,0.401020148393,0.00447848176328,0.0698505917103,0.999999987113,9.92673045397e-06,-0.000159090090387,1.91087876821e-05,1793245534824114944
+66,1.100000000,BASELINE,765,745.289074985,714,679.289074985,657.289074985,633,879,785,807,652,629,652,0.401019959154,0.0044777129378,0.0698502833214,0.99999998706,8.95328299989e-06,-0.000159471735504,1.91768374841e-05,1793245534840781568
+67,1.116666667,BASELINE,765,745.876834648,714,679.876834648,657.876834648,633,879,785,807,652,629,652,0.401019484579,0.00447656536585,0.0698503773103,0.999999986985,9.29668161669e-06,-0.000159904778801,1.93466439875e-05,1793245534857448192
+68,1.133333333,BASELINE,765,745.542271444,714,680.457728556,658,633,879,785,807,652,629,652.457728556,0.401019852156,0.00447683026578,0.0698511243029,0.999999987107,9.95985320715e-06,-0.000159097400547,1.93518488642e-05,1793245534874115072
+69,1.150000000,BASELINE,765,745,713.963285744,680.963285744,658,633.036714256,879,785.036714256,807,652,629,653,0.401020314598,0.00447742588358,0.0698518920922,0.99999998725,1.0581824969e-05,-0.000158162419295,1.93231162311e-05,1793245534890781696
+70,1.166666667,BASELINE,765,745,713.385598457,680.385598457,658,633.614401543,879,785.614401543,807,652,629,653,0.401018885233,0.00447737711334,0.0698504155468,0.999999986937,9.34762909416e-06,-0.000160192595827,1.94372935566e-05,1793245534907448320
+71,1.183333333,BASELINE,765,745,713.190460936,679.809539064,658,634,878.809539064,785.809539064,807,652,629.190460936,652.809539064,0.401018634615,0.00447742879285,0.0698498671448,0.99999998683,9.03852529166e-06,-0.000160867939736,1.94660308214e-05,1793245534924114944
+72,1.200000000,BASELINE,765,745,713.763252606,679.236747394,658,634,878.236747394,785.236747394,807,652,629.763252606,652.236747394,0.401020750212,0.0044776821149,0.0698511818948,0.999999987145,1.05864484227e-05,-0.00015882359691,1.93232559758e-05,1793245534940781568
+73,1.216666667,BASELINE,765,745,714,679.346574413,658,634,878,785,807,652,630,652,0.401020997089,0.00447701324006,0.069851786355,0.999999987186,9.96276643229e-06,-0.000158589249023,1.9471695401e-05,1793245534957448192
+74,1.233333333,BASELINE,765,745,714,679.937314798,658,634,878,785,807,652,630,652,0.401019927428,0.00447569466607,0.0698518904072,0.999999987032,7.80916161259e-06,-0.000159630065138,1.98252988998e-05,1793245534974114816
+75,1.250000000,BASELINE,765,745,714,680.519831531,658,633.480168469,878,785,807.519831531,652,629.480168469,652,0.401019939361,0.00447670251579,0.0698514212182,0.999999987057,9.9826361655e-06,-0.000159383102107,1.95789311374e-05,1793245534990781696
+76,1.266666667,BASELINE,765,745,714,680.899982281,658,633.100017719,878,785,808,652,629,652,0.401019982866,0.00447766114653,0.0698510074105,0.999999987071,1.18371037517e-05,-0.000159202181129,1.93079200213e-05,1793245535007448320
+77,1.283333333,BASELINE,765,745,714,680.3262111,658,633.6737889,878,785,808,652,629,652,0.401019567746,0.00447707851469,0.0698511782552,0.999999986958,9.7474544873e-06,-0.000160058187931,1.92575393231e-05,1793245535024114944
+78,1.300000000,BASELINE,765,745,714,679.752127573,658,633.752127573,878.247872427,785,807.752127573,652.247872427,629.247872427,652,0.401019171733,0.00447656039008,0.0698510547647,0.99999998691,8.39291548139e-06,-0.000160429701109,1.92582419424e-05,1793245535040781824
+79,1.316666667,BASELINE,765,745,714,679.177632513,658,633.177632513,878.822367487,785,807.177632513,652.822367487,629.822367487,652,0.401018800897,0.00447612726701,0.0698505434275,0.999999986955,8.00703480117e-06,-0.000160162794753,1.93262572876e-05,1793245535057448448
+80,1.333333333,BASELINE,765,745,714,679.41028694,658,633.41028694,879,785,807.41028694,652.58971306,630,652,0.401018490484,0.00447651571516,0.0698500094429,0.999999986913,8.38039276667e-06,-0.000160403640227,1.93735088247e-05,1793245535074114816
+81,1.350000000,BASELINE,765,745,714,679.99590823,657.99590823,634,878.99590823,785,807.99590823,652,630,652,0.401018211987,0.00447727001739,0.0698494751344,0.999999986832,9.1057870155e-06,-0.000160863578818,1.94106017422e-05,1793245535090781696
+82,1.366666667,BASELINE,765,745,714,679.419357352,657.419357352,634,878.419357352,785,807.419357352,652,630,652,0.401018615107,0.00447776203768,0.0698503136971,0.999999986918,1.15390092799e-05,-0.000160180130053,1.93266897006e-05,1793245535107448320
+83,1.383333333,BASELINE,765,745,714,679.157160649,657,634,878,785,807,652,630,652,0.40101917281,0.00447817261159,0.0698509799132,0.999999986986,1.30319428962e-05,-0.000159644762892,1.92896365863e-05,1793245535124114944
+84,1.400000000,BASELINE,765,745,714,679.733591067,657,634,878,785,807,652,630,652,0.401020142911,0.00447836590469,0.0698511863471,0.999999987019,1.20163954e-05,-0.000159504444474,1.93775926824e-05,1793245535140781568
+85,1.416666667,BASELINE,765,745,713.685305726,680,657.314694274,633.685305726,878.314694274,785,807.314694274,652.314694274,630,652,0.401020127399,0.00447809786831,0.0698512069089,0.999999986962,1.12888552881e-05,-0.000159907376355,1.9426808296e-05,1793245535157448448
+86,1.433333333,BASELINE,765,745,713.100187114,680,657.899812886,633.100187114,878.899812886,785,807.899812886,652.899812886,630,652,0.401019264926,0.00447743340042,0.0698510677464,0.999999986828,1.0808806891e-05,-0.000160777136259,1.94427332786e-05,1793245535174115072
+87,1.450000000,BASELINE,765,745,713.482847176,679.517152824,658,633.482847176,879.482847176,785,807.517152824,652.517152824,629.517152824,652,0.401019287023,0.00447748088227,0.0698506244477,0.999999986902,1.11804781743e-05,-0.000160306733557,1.9300251898e-05,1793245535190781696
+88,1.466666667,BASELINE,765,745,714,679.06452907,657.93547093,633.93547093,879.870941861,785.06452907,807,652.06452907,629,652,0.401019468593,0.00447760513189,0.0698502111906,0.999999986998,1.15454781235e-05,-0.000159697788532,1.91539796897e-05,1793245535207448320
+89,1.483333333,BASELINE,765,745,714,679.638927692,657.361072308,633.361072308,878.722144615,785.638927692,807,652.638927692,629,652,0.401019466225,0.00447717374422,0.0698505317865,0.999999986931,1.04673906468e-05,-0.000160181890679,1.92363423e-05,1793245535224114944
+90,1.500000000,BASELINE,765,745,714,680,657.213753468,633,878,785.786246532,807.213753468,652.786246532,629.213753468,652.213753468,0.401020142729,0.00447729357013,0.069851237083,0.999999987043,9.92333993216e-06,-0.000159514070415,1.92809539674e-05,1793245535240781568
+91,1.516666667,BASELINE,765,745,714,680,657.789302177,633,878,785.210697823,807.789302177,652.210697823,629.789302177,652.789302177,0.401021968281,0.0044783463702,0.0698525935171,0.999999987453,1.02831902583e-05,-0.000156896527132,1.92616690656e-05,1793245535257448192
+92,1.533333333,BASELINE,765,745,714,679.625370497,658,633.374629503,878,785,807.625370497,652,629.625370497,652.625370497,0.401021668171,0.00447803208359,0.0698524811696,0.999999987438,1.04507251095e-05,-0.000156990677191,1.9178310151e-05,1793245535274115072
+93,1.550000000,BASELINE,765,745,714,679.034396059,658,633.965603941,878,785,807.034396059,652,629.034396059,652.034396059,0.401020140514,0.00447692831767,0.0698515206149,0.999999987178,1.05071996582e-05,-0.000158650803822,1.90579491084e-05,1793245535290781696
+94,1.566666667,BASELINE,765,745,714,679.544463538,658,633.455536462,878,785,807.544463538,652,629,652,0.401020598839,0.00447927568179,0.0698518205511,0.999999987344,1.30073086202e-05,-0.000157426840247,1.89633150498e-05,1793245535307448320
+95,1.583333333,BASELINE,764.877775075,745,714,680,658,633.122224925,878.122224925,785,807.877775075,652,629.122224925,652,0.401020925844,0.00448081116623,0.0698520098452,0.999999987447,1.47162764478e-05,-0.000156619990461,1.89392569015e-05,1793245535324114944
+96,1.600000000,BASELINE,764.301312498,745,714,680,658,633.698687502,878.698687502,785,807.301312498,652,629.698687502,652,0.401020308685,0.00447853675179,0.0698514984505,0.999999987247,1.29238106583e-05,-0.000158025696365,1.9171578848e-05,1793245535340781568
+97,1.616666667,BASELINE,764,745,713.719839508,680,658,633.719839508,879,785.280160492,807.280160492,652,630,652,0.401020039134,0.00447731259811,0.0698513061523,0.999999987166,1.1808081052e-05,-0.000158600878086,1.93484673209e-05,1793245535357448704
+98,1.633333333,BASELINE,764,745,713.132879728,680,658,633.132879728,879,785.867120272,807.867120272,652,630,652,0.40102015024,0.00447723856838,0.0698514632917,0.999999987221,1.14334345554e-05,-0.000158266565933,1.94646514674e-05,1793245535374116096
+99,1.650000000,BASELINE,764.447889271,745,713.447889271,680,658,633.447889271,878.552110729,785.552110729,808,652,629.552110729,652.447889271,0.401020077996,0.00447755666643,0.0698514743966,0.999999987138,1.15858295327e-05,-0.000158774275041,1.94818296926e-05,1793245535390782208
+100,1.666666667,BASELINE,765,745,714,679.973268368,658,634,878.026731632,785,807.973268368,652.026731632,629,652.973268368,0.401019973005,0.00447795068159,0.0698514513335,0.999999987022,1.18826753587e-05,-0.000159481767639,1.94798704443e-05,1793245535407448320
+101,1.683333333,BASELINE,765,745,714,679.396790851,658,634,878.603209149,785,807.396790851,652.603209149,629,652.396790851,0.401020298004,0.0044775460775,0.0698516044491,0.999999987057,1.19783930437e-05,-0.000159230473631,1.96801742118e-05,1793245535424114944
+102,1.700000000,BASELINE,765,745,714,679.179485115,658,633.820514885,879.179485115,785,807.179485115,652.820514885,629.179485115,652,0.401020317963,0.00447737513085,0.0698515270116,0.999999987056,1.18472249629e-05,-0.000159241002204,1.97330516719e-05,1793245535440781568
+103,1.716666667,BASELINE,765,745,714,679.755315935,658,633.244684065,879.755315935,785,807.755315935,652.244684065,629.755315935,652,0.401019664321,0.00447772015529,0.0698509404579,0.999999986975,1.12150392869e-05,-0.000159829697169,1.94603768536e-05,1793245535457448704
+104,1.733333333,BASELINE,765,745,714,680,658,633.338896161,879.661103839,785,807.661103839,652,629.661103839,652,0.401020121905,0.00447683799717,0.0698512884912,0.999999987134,9.1780342197e-06,-0.000158983648753,1.9298346102e-05,1793245535474115584
+105,1.750000000,BASELINE,765,745,714,680,658,633.928202479,879.071797521,785,807.071797521,652,629.071797521,652,0.401021400574,0.00447504907465,0.06985232709,0.99999998746,6.10300893416e-06,-0.000157077469428,1.9218070152e-05,1793245535490782720
+106,1.766666667,BASELINE,765,745,713.491341907,680,658,633.491341907,878.491341907,785,807.508658093,652,629,652,0.401019302193,0.00447573205619,0.0698506555556,0.999999986964,6.92652062427e-06,-0.000160180687251,1.91134768164e-05,1793245535507448832
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,680,658,633,878,785,807,652,629,652,0.401019089388,0.00447681165816,0.0698502540776,0.999999986855,1.01346834297e-05,-0.000160677855197,1.92086326905e-05,1793245535550640896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.574758457,680,658,633.574758457,878,785,807,652,629,652,0.401018506466,0.00447699503956,0.0698503998791,0.999999986906,9.41121993674e-06,-0.000160417354289,1.91108100253e-05,1793245535567307776
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.154223453,745,714,680,658,633.845776547,878.154223453,785,807.154223453,652,629,652.154223453,0.401018387792,0.00447697114602,0.0698506597002,0.99999998698,8.97692688471e-06,-0.000159978575341,1.91267991349e-05,1793245535583974656
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.747074467,745,714,680,658,633.252925533,878.747074467,785,807.747074467,652,629,652.747074467,0.401019589485,0.004476357741,0.0698512438054,0.999999987121,9.36506451048e-06,-0.000159032755021,1.94664807608e-05,1793245535600641536
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.668237074,745,714,680,658,633,878.668237074,785,808,652,629,652.668237074,0.401019471496,0.00447658740764,0.0698510408794,0.999999987046,9.4862218592e-06,-0.000159505496719,1.94057707901e-05,1793245535617308160
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.089622094,745,714,680,658,633,878.089622094,785,808,652,629,652.089622094,0.401018371582,0.00447744437156,0.0698502523536,0.999999986808,9.40872941227e-06,-0.000161033735996,1.90471447867e-05,1793245535633974528
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.485030208,878.485030208,785,807.514969792,652,629.485030208,652,0.401019509496,0.00447599915057,0.0698510468036,0.999999986938,8.75576781318e-06,-0.000160218359605,1.94179833346e-05,1793245535650641152
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.939487185,878.939487185,785,807,652.060512815,629.939487185,652.060512815,0.401020932746,0.00447444671067,0.0698520885406,0.999999987063,8.19492718309e-06,-0.000159407927455,1.98746341066e-05,1793245535667307776
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.350408166,878.350408166,785,807,652.649591834,629.350408166,652.649591834,0.401021265808,0.00447564330799,0.0698527560883,0.999999986572,9.36001241871e-06,-0.000162392579735,1.99130350836e-05,1793245535683973632
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.765348348,633,878,785,807,652.765348348,629,652.765348348,0.401025054326,0.00447702556531,0.0698547095007,0.99999998617,1.01196221882e-05,-0.000164804327918,1.99107798667e-05,1793245535700640000
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.18618943,633,878,785,807,652.18618943,629,652.18618943,0.401033916021,0.004478680402,0.069858550774,0.99999998591,1.02839270993e-05,-0.000166374958281,1.98488346586e-05,1793245535717306624
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.391146852,633,878,785,807,652,629,652,0.401059590037,0.00447798328293,0.0698691813699,0.999999987169,8.96663035119e-06,-0.000158669254899,2.01574115183e-05,1793245535733973504
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.967619618,633,878,785,807,652,629,652,0.401093229754,0.00447617180416,0.0698830287564,0.999999989022,6.94734872292e-06,-0.000146568412013,2.06415422328e-05,1793245535750640384
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.457451578,658,633,878,785,807,652,629.542548422,652.542548422,0.401145998004,0.00447637501322,0.0698962309561,0.999999991281,8.71315808462e-06,-0.000130133610597,2.06898834171e-05,1793245535767306496
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633,878,785,807.120568124,652,630,652.879431876,0.401203202217,0.00447660790344,0.0699080225039,0.999999993113,9.75233413363e-06,-0.000115143316572,2.05053350514e-05,1793245535783973376
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633,878,785,807.71099133,652,630,652.28900867,0.401273257112,0.00447648921236,0.0699144663648,0.999999994083,7.08197065875e-06,-0.000106787413835,1.95142829052e-05,1793245535800639744
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,657.704395744,633.295604256,878,785,808,652,629.704395744,652.295604256,0.401354071364,0.00447635035402,0.0699182694184,0.999999994642,3.75513480803e-06,-0.000101864400002,1.80339097934e-05,1793245535817306368
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,657.125353987,633.874646013,878,785,808,652,629.125353987,652.874646013,0.401445202124,0.00447619215847,0.0699195403569,0.999999994847,-2.01153554144e-07,-0.000100232981527,1.60843557058e-05,1793245535833972992
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,657.451176496,634,878,785,808,652,629.451176496,652.548823504,0.40155083833,0.00447649851267,0.0699178015126,0.999999994302,-1.9798428992e-06,-0.000105828671657,1.38375889194e-05,1793245535850639616
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,657.972490719,634,878,785,808,652,629.972490719,652,0.40166174874,0.00447689501213,0.0699154027203,0.99999999353,-3.26708909859e-06,-0.000113123779744,1.15131054842e-05,1793245535867306240
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,657.386077186,634,878,785,808,652,629.386077186,652,0.40179838747,0.00447651520386,0.0699164914397,0.999999993393,-6.79382518517e-06,-0.000114375962468,9.27808209172e-06,1793245535883972864
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,657.197922124,633.802077876,878.197922124,785,808,652,629.197922124,652,0.401947729864,0.00447646725585,0.0699178512867,0.999999993246,-1.07183012367e-05,-0.000115548760197,6.44612147532e-06,1793245535900639744
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,657.777268814,633.222731186,878.777268814,785,808,652,629.777268814,652,0.402121554043,0.00447705885059,0.0699197336356,0.999999993084,-1.54092793293e-05,-0.000116568571411,2.4637767346e-06,1793245535917306368
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.355363274,658,633,878.644636726,785,807.644636726,652,630,652,0.402318285207,0.0044779904517,0.0699229345539,0.999999993349,-1.9542680457e-05,-0.000113654671468,-1.69559713457e-06,1793245535933972992
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.932675687,658,633,878.067324313,785,807.067324313,652,630,652,0.402529323397,0.00447913441053,0.0699269590108,0.999999993847,-2.33278363567e-05,-0.000108283894774,-5.9655384237e-06,1793245535950639616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.509004186,878.509004186,785,807.509004186,652,630,652,0.402775375228,0.00448104706725,0.0699284642061,0.999999993889,-2.7943447098e-05,-0.00010637651775,-1.12207054523e-05,1793245535967306240
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.086873112,745,714,680,658,633.913126888,879,785.086873112,808,652,629.913126888,652,0.403030416423,0.00448262564072,0.0699298236171,0.999999993856,-3.29177360076e-05,-0.000104561794036,-1.64854279852e-05,1793245535983972864
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.674367746,745,714,680,658,633.325632254,879,785.674367746,808,652,629.325632254,652,0.403310624238,0.00448169422277,0.0699322594228,0.99999999394,-3.93272127152e-05,-0.000100646255372,-2.10557177292e-05,1793245536000639488
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.741279839,745,714,680,658,633,878.741279839,785.741279839,808,652,629,652,0.403617597613,0.0044821522874,0.069939879977,0.999999994941,-4.12821861323e-05,-8.82889548081e-05,-2.48842941799e-05,1793245536017306368
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160834884,745,714,680,658,633,878.160834884,785.160834884,808,652,629,652,0.403957854594,0.00448433820735,0.0699539478915,0.999999996762,-3.76978763033e-05,-6.54341188453e-05,-2.77905318841e-05,1793245536033972992
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.415449606,878,785,807.584550394,652,629,652,0.404315694313,0.00448687668858,0.0699594439174,0.999999997646,-2.32073649119e-05,-5.84606985321e-05,-2.74025140768e-05,1793245536050639872
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.990139392,878,785,807.009860608,652,629,652,0.404680273416,0.0044895503051,0.0699616543723,0.999999998001,-4.53654994508e-06,-5.75745621495e-05,-2.57518211707e-05,1793245536067306496
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.434374389,879.131251222,785,807,652,629,652,0.405102316304,0.00449030193132,0.0699653480584,0.999999998394,1.02127714267e-06,-4.97499196205e-05,-2.71270060964e-05,1793245536083973376
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,879.855141592,785.144858408,807,652.144858408,629.144858408,652,0.405528374149,0.0044915911122,0.0699682722981,0.999999998647,5.06051536914e-07,-4.35707524199e-05,-2.8422247141e-05,1793245536100640000
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,879.264420016,785.735579984,807,652.735579984,629.735579984,652,0.40596370192,0.0044946381204,0.0699687485406,0.999999998491,-1.7996964015e-05,-4.282906433e-05,-2.93088359794e-05,1793245536117306624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.32002611,658,633.32002611,879,785.67997389,807.32002611,652.67997389,629.67997389,652.32002611,0.406412665976,0.00449809656987,0.0699587346809,0.99999999747,-1.86532334131e-05,-6.17024634383e-05,-3.00763244831e-05,1793245536133973248
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.899386957,658,633.899386957,879,785.100613043,807.899386957,652.100613043,629.100613043,652.899386957,0.406872680308,0.00450188843313,0.0699402201153,0.999999994862,-4.84730601685e-06,-9.64710450888e-05,-3.07472995128e-05,1793245536150639872
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.525953991,658,633.525953991,879,785,807.525953991,652,629.474046009,652.525953991,0.407400223413,0.00450745382082,0.0699314103872,0.999999994134,9.78408537324e-06,-0.000102832175896,-3.25845331508e-05,1793245536167306240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680.048903556,658,633,878.951096444,785,807.048903556,652,629.951096444,652.048903556,0.407947468177,0.00451328070144,0.069926477403,0.999999994027,2.41468504537e-05,-0.00010082065272,-3.46097401529e-05,1793245536183972864
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680.636840889,658,633,878.363159111,785,807.636840889,652,629.363159111,652.636840889,0.408555445546,0.00451788158014,0.0699417945964,0.999999996171,3.36365774054e-05,-7.23269761171e-05,-3.6005282919e-05,1793245536200639744
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.777587142,658,633.222412858,878.222412858,785,808,652.222412858,629,652.777587142,0.409170103166,0.00452345481069,0.0699517180576,0.999999997309,3.68826803788e-05,-5.11811369025e-05,-3.74380363443e-05,1793245536217306624
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.195836766,658,633.804163234,878.804163234,785,808,652.804163234,629,652.195836766,0.409795553584,0.00453059900456,0.069952927227,0.999999997913,3.00413788613e-05,-4.19067068845e-05,-3.89309084878e-05,1793245536233973248
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.620302234,680,658,633.620302234,879,784.620302234,808,653,629,652.379697766,0.410425064405,0.00453785956792,0.069948676313,0.999999997395,3.67534591644e-05,-4.78500379381e-05,-3.96247051314e-05,1793245536250640640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.047922028,680,658,633.047922028,879,784.047922028,808,653,629,652.952077972,0.41105663571,0.00454517918424,0.0699416546105,0.999999996044,5.03433749061e-05,-6.15158148291e-05,-3.99130007375e-05,1793245536267308288
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.527631014,680.527631014,658.527631014,633,879,784.527631014,808,652.472368986,629.527631014,653,0.411768766712,0.00455139699421,0.0699543373887,0.999999996326,6.35992380012e-05,-4.03591044062e-05,-4.09098843073e-05,1793245536283973888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.893109923,658.893109923,633,879,785,808,652,629.893109923,653,0.412500065402,0.00455758946485,0.0699729741584,0.999999996189,7.60281266125e-05,-1.00552101687e-05,-4.17183592841e-05,1793245536300640000
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.298256177,658.298256177,633,879,785,808,652,629.298256177,653,0.413285262153,0.00456412585684,0.0700105720916,0.99999999442,8.48211361359e-05,4.74808623052e-05,-4.13711549575e-05,1793245536317306624
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.286724236,633,879,785,808,652,629.286724236,652.713275764,0.414051179775,0.00457109215109,0.0700269444378,0.99999999254,9.08978525379e-05,7.01815439471e-05,-4.16213077714e-05,1793245536333973504
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.861776172,633,879,785,808,652,629.861776172,652.138223828,0.414797710546,0.00457849075254,0.0700219725002,0.999999992984,9.42430866154e-05,5.78520299998e-05,-4.24721584172e-05,1793245536350640128
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.437429944,745,714,680,659,633,879,785,808,652,630,652.437429944,0.415521456167,0.00458605540867,0.0699741391788,0.999999993141,0.000105774273973,-2.44602609716e-05,-4.39451615037e-05,1793245536367306752
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.98638757,745,714,680,659,633,879.01361243,785,808,652,630,652.98638757,0.416241280972,0.00459351090562,0.069914306164,0.999999983877,0.000119307413618,-0.00012621897635,-4.56201520163e-05,1793245536383973632
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.395867089,745,714,680,659,633,879.604132911,785,808,652,630,652.395867089,0.417100498798,0.00459411328189,0.0699207046464,0.999999986593,0.000107908022687,-0.000113636012445,-4.75122459262e-05,1793245536400640000
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.190546742,659,633,879.809453258,785,808,652,630,652,0.417961700274,0.00459480035719,0.069935024266,0.999999989486,0.000103704777652,-8.90503641114e-05,-4.84144647121e-05,1793245536417306624
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.768608834,659,633,879.231391166,785,808,652,630,652,0.418826935853,0.00459565968511,0.06996545312,0.999999991565,0.000114136351721,-4.00548293571e-05,-4.73035719994e-05,1793245536433973248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.654851516,658.654851516,633,879,785,808,652,630,652,0.419712702719,0.00459214535168,0.0699933627881,0.999999992483,0.000112885583777,1.90890786523e-06,-4.78214270494e-05,1793245536450639872
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.079328067,658.079328067,633,879,785,808,652,630,652,0.420612173492,0.00458571174688,0.0700195909835,0.99999999262,0.000103837246404,3.91791555712e-05,-4.94264163044e-05,1793245536467306752
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.493709899,680,658.506290101,633,879.506290101,785,808,652,630,652.506290101,0.421491300725,0.00457947699883,0.0700314825845,0.999999993071,9.00669485171e-05,5.71027554924e-05,-4.98521239698e-05,1793245536483973632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.092321893,680,659,633,879.907678107,785,808,652,630,653,0.422360415529,0.004575169137,0.0700288540547,0.999999994203,7.98123732681e-05,5.19516106163e-05,-5.02449099439e-05,1793245536500640256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.67201729,680,659,633,879.32798271,785,808,652,630,653,0.423193843232,0.00458086560902,0.0699616725478,0.999999992713,9.21027730808e-05,-5.86845214666e-05,-5.14591879824e-05,1793245536517306880
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.250581664,659,633,879.250581664,785,808,652,630,653,0.424040042882,0.0045868256781,0.0699017259915,0.999999982661,9.81426635468e-05,-0.000148658758421,-5.42748476032e-05,1793245536533973504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.827672391,659,633,879.827672391,785,808,652,630,653,0.424902884552,0.00459312921615,0.0698512065996,0.999999971227,9.603811415e-05,-0.000211710466738,-5.91771154704e-05,1793245536550640128
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.595485694,713.595485694,681,659.404514306,632.595485694,880,785,808.404514306,652,630,652.595485694,0.42583711032,0.00459513426928,0.0698786933491,0.999999979576,9.59122021312e-05,-0.000168179731708,-5.79999900993e-05,1793245536567306752
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.018749744,713.018749744,681,659.981250256,632.018749744,880,785,808.981250256,652,630,652.018749744,0.426801727758,0.00459530924551,0.0699393911542,0.999999990719,9.66286929842e-05,-7.92716017261e-05,-5.42345672859e-05,1793245536583973632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.567975726,744.567975726,713.567975726,681,660,632.567975726,880.567975726,785,809,652.567975726,630,652,0.427734799717,0.00459640199958,0.0699865375833,0.999999993065,0.000102434465414,-2.07192073345e-05,-5.4289568675e-05,1793245536600640256
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,713.84708511,681,659.84708511,633,880.84708511,785,809,652.84708511,630,652,0.428678147681,0.00459721118665,0.0700269602073,0.999999992162,0.000107335335907,3.43371919041e-05,-5.45576703509e-05,1793245536617307136
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,713.268059065,681,659.268059065,633,880.268059065,785,809,652.268059065,630,652,0.429653084415,0.00459714425115,0.0700499152413,0.999999989115,0.000109238073367,8.2494085308e-05,-5.506186453e-05,1793245536633974016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690431379,745,713.309568621,681,659,633,880,785,809,652,630,652.309568621,0.430545843149,0.00459690849544,0.0700343864425,0.999999990738,0.000109518260472,5.90012465824e-05,-5.52139214439e-05,1793245536650640896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114009135,745,713.885990865,681,659,633,880,785,809,652,630,652.885990865,0.431367762943,0.00459652721371,0.0699856838983,0.999999992264,0.000108399779937,-2.62549306269e-05,-5.5062429556e-05,1793245536667307520
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.459295679,659.459295679,633,880,785,809,652,630,653,0.432172126865,0.00459826324533,0.0699253933929,0.999999984408,0.000109354071821,-0.000126773879721,-5.6157677015e-05,1793245536683973888
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,785,809,652,630.03296267,653,0.432979628934,0.00460019632106,0.0698687487604,0.999999968206,0.000110235368035,-0.000219369560446,-5.75549637997e-05,1793245536700640000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,785,809,652,630.625836713,653,0.433913959209,0.00459660912669,0.0699225641829,0.999999986711,0.000101195990396,-0.000113458242659,-5.88614235128e-05,1793245536717306368
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.213755347,633,880,785,809,652,631,653,0.43483938671,0.00459299237327,0.0699717547332,0.999999993426,9.5210578817e-05,-2.43152097291e-05,-5.90984392088e-05,1793245536733973248
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.793196522,633,880,785,809,652,631,653,0.435749583783,0.00458932505059,0.0700130332086,0.999999993233,9.44497948228e-05,3.61411920557e-05,-5.75058851901e-05,1793245536750639872
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.630924227,633,880,785,809,652,631,652.630924227,0.436608150467,0.00458649180136,0.0700258325004,0.999999992515,9.0411133573e-05,5.89558979703e-05,-5.76263432056e-05,1793245536767307008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.057021779,633,880,785,809,652,631,652.057021779,0.437438063683,0.00458412143967,0.0700228266437,0.999999992849,8.45533427884e-05,6.08805175641e-05,-5.86974749045e-05,1793245536783974400
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.51841342,660,633,880,785.51841342,809.51841342,652,631,652.51841342,0.438206361554,0.00458620251644,0.0699903934631,0.999999994226,8.63446079003e-05,2.30833515592e-05,-5.96707588699e-05,1793245536800640768
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096749578,745,714,682.903250422,659.903250422,632.903250422,880,785.903250422,810,652,630.903250422,653,0.438948024563,0.00458944441969,0.0699485051312,0.999999993541,9.03615510259e-05,-3.34442743757e-05,-6.02897708148e-05,1793245536817307136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.689079163,745,714,682.310920837,659.310920837,632.310920837,880,785.310920837,810,652,630.310920837,653,0.439588073913,0.00459611697091,0.0698748137066,0.999999979743,0.000101456695625,-0.000163468608057,-5.91493888077e-05,1793245536833973504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.725890373,745,714,682.274109627,659,632,880,785,810,652,630,652.725890373,0.440274412338,0.00460381147607,0.0698286860848,0.999999963195,0.000111772848506,-0.000240087569634,-5.894609174e-05,1793245536850640128
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.148924547,745,714,682.851075453,659,632,880,785,810,652,630,652.148924547,0.441011894248,0.00461263510963,0.0698130129568,0.99999995766,0.000121228315547,-0.000257700396281,-5.97781549899e-05,1793245536867306752
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,632,880,785,810,652,630.427055241,652.427055241,0.44174494618,0.00462031917248,0.0698417851613,0.999999966193,0.000132539681834,-0.000215843190312,-5.88146040467e-05,1793245536883973376
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.002750274,745,714,683,659,632,880,785,810,652,630.997249726,653,0.442475884761,0.00462761125075,0.069885753952,0.999999976109,0.000144471705049,-0.000153731961024,-5.72392721602e-05,1793245536900640000
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.590845357,745,714,683,659,632,880,785,810,652,630.409154643,653,0.443085056381,0.00463586009008,0.0698729219485,0.999999969844,0.000151072323338,-0.000184597278275,-5.84203759261e-05,1793245536917307392
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.823836438,745,713.823836438,683,658.823836438,631.823836438,880.176163562,785,810,652,630,653,0.44368386154,0.00464339975044,0.0698503077221,0.999999959326,0.000159680914958,-0.000228819548734,-5.90895725625e-05,1793245536933974528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.244867563,745,713.244867563,683,658.244867563,631.244867563,880.755132437,785,810,652,630,653,0.444258963476,0.00464931784519,0.0698053260336,0.999999937258,0.000172880822131,-0.000303583053957,-5.85882723788e-05,1793245536950641408
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.332623211,683,657.667376789,631,880.667376789,784.667376789,810,652,630.332623211,653,0.444822754117,0.00465510315891,0.0697669272657,0.999999915027,0.000186911622591,-0.000362950397888,-5.72427409638e-05,1793245536967308032
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.909030628,683,657.090969372,631,880.090969372,784.090969372,810,652,630.909030628,653,0.445378254518,0.0046607911552,0.0697333532151,0.999999893686,0.000201551395742,-0.000411033675513,-5.52784607546e-05,1793245536983974400
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656.51794128,631,880,784,810.48205872,652,630.51794128,653,0.445902085008,0.00466767844897,0.0697215322428,0.999999887777,0.000207737817044,-0.000421999881175,-5.66281690577e-05,1793245537000641024
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.943585793,683,656,630.943585793,880,784,810.943585793,652,630,653,0.446414852825,0.00467455706941,0.0697144213289,0.999999884734,0.000212260160695,-0.000426711511634,-5.82655647242e-05,1793245537017307392
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.350581147,683,656,630.350581147,880,784,810.350581147,652,630,653,0.446878846568,0.00467921551239,0.0697133370573,0.999999879096,0.000216022055494,-0.000438091097278,-5.67323348814e-05,1793245537033974016
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,683,655.763322445,630,880,784,810.236677555,652.236677555,630,653,0.447327158832,0.00468525059318,0.069704522472,0.999999868813,0.000221552061132,-0.000458411252845,-5.61105146625e-05,1793245537050640640
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,683,655.184373299,630,880,784,810.815626701,652.815626701,630,653,0.447752793265,0.00469327650033,0.0696845286824,0.999999851154,0.000229639022352,-0.000491660825288,-5.68067308896e-05,1793245537067307776
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,683.393044037,655,630,880.393044037,784,810.606955963,652.606955963,630,653,0.44817305969,0.0047032876788,0.0696798099941,0.999999844058,0.000240879848414,-0.00050045531925,-5.83537645092e-05,1793245537083974400
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,683.969745657,655,630,880.969745657,784,810.030254343,652.030254343,630,653,0.448590817845,0.00471422651518,0.0696822288964,0.999999842113,0.000253594380819,-0.000497822698278,-6.02983594173e-05,1793245537100641024
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,744.861183362,713,683,653,629,880,783,810.861183362,652,630.138816638,652.861183362,0.449331699093,0.00475846033482,0.0697115702592,0.999999851815,0.000298862932756,-0.000449450071781,-7.10329796797e-05,1793245537133974272
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,744.282112298,713,683,653,629,880,783,810.282112298,652,630.717887702,652.282112298,0.449662002299,0.00476532998591,0.0697176308925,0.999999852832,0.000308243761464,-0.00044074621053,-7.11589963256e-05,1793245537150640384
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.294859976,744.294859976,713,683.294859976,652.705140024,629,880,783.294859976,810,652,630.705140024,652.294859976,0.449961129305,0.00476776836592,0.069715387562,0.999999850689,0.00031280950396,-0.000442463337815,-7.07011347754e-05,1793245537167306752
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.869838356,744.869838356,713,683.869838356,652.130161644,629,880,783.869838356,810,652,630.130161644,652.869838356,0.450230638753,0.00476599701656,0.0697052554256,0.999999845555,0.0003128008907,-0.000454080455154,-6.96885861075e-05,1793245537183973376
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.556597771,745,713,684,652,628.556597771,880,784,810.443402229,652,630,653,0.450453147548,0.0047690837569,0.0696817175648,0.999999826099,0.000317672588481,-0.00049196989528,-6.96492790865e-05,1793245537200640256
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652,628,880,783.982863256,811,652,630,653,0.450661589952,0.00477349176823,0.0696547269632,0.999999801173,0.00032388035889,-0.000536535877184,-6.9884158764e-05,1793245537217306880
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684,652,628,880,783.389471734,811,652,630,653,0.450859502994,0.00477452713106,0.0696435417519,0.999999794446,0.000326994579459,-0.000547097492293,-6.97625344201e-05,1793245537233973504
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713,684,652,628,880,783.19869466,811,652,630,653,0.451050858966,0.0047754685267,0.0696371314905,0.999999790564,0.000328711317053,-0.000553147203869,-6.96353217282e-05,1793245537250640128
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652,628,880,783.77688138,811,652,630,653,0.451229691399,0.00477623045183,0.0696398410306,0.999999792303,0.000327758965548,-0.000550579513335,-6.94974357333e-05,1793245537267306752
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651.646331798,628,880,784,811,652.353668202,630,653,0.451391675388,0.00477878740087,0.0696438024852,0.999999795087,0.000330222911917,-0.000543975347725,-6.97835270533e-05,1793245537283973632
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,684,651.070424592,628,880,784,811,652.929575408,630,653,0.451543072124,0.00478247231207,0.0696485506215,0.999999798446,0.000334833600885,-0.000534834730434,-7.03360383936e-05,1793245537300640256
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.505081147,684,651,628,880,783.494918853,810.494918853,653,630,653,0.451660999334,0.00478308212608,0.0696430326635,0.999999795322,0.000333838257649,-0.000541216851064,-7.06554970755e-05,1793245537317306624
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744.917224209,713.917224209,684,651,628,880,783,810,652.917224209,630,653,0.451770554207,0.00478343375158,0.0696365584899,0.999999791378,0.000332610150731,-0.000549163640569,-7.09418472115e-05,1793245537333973248
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,744.259584621,713,684,650.740415379,628,880,783,810.259584621,652,629.740415379,653,0.45193512138,0.00478690546878,0.0696292315918,0.999999785205,0.000336656834544,-0.000557822827572,-7.131170038e-05,1793245537367306496
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,744.837336135,713,684,650.162663865,628,880,783,810.837336135,652,629.162663865,653,0.452001960103,0.00478980787645,0.0696252134219,0.999999782134,0.000338272581066,-0.000562351975321,-7.11601380803e-05,1793245537383973120
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.413148735,745,713,684,650,627.586851265,880,783,811,652,629.413148735,653,0.452056532722,0.00478911660587,0.0696225863915,0.999999781028,0.000337573388152,-0.00056473471649,-7.11585839518e-05,1793245537400639744
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.42331905,745,713,684,649.42331905,627,880.57668095,783,810.42331905,652,630,653,0.452138679131,0.00478652019906,0.0696165485261,0.999999777252,0.000336904911199,-0.000571848497138,-7.0568771564e-05,1793245537433973760
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649.16265355,627,880.83734645,783,810.16265355,652,630,653,0.452168144401,0.00478669481352,0.0696135601748,0.999999774273,0.000338634429126,-0.000576087544339,-7.00211455406e-05,1793245537450640384
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649.741492107,627,880.258507893,783,810.741492107,652,630,653,0.452191081922,0.00478850162105,0.0696131481959,0.999999772707,0.000342253134167,-0.00057669947419,-6.9765647819e-05,1793245537467306752
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.318534065,745,713,684,650,627,880,783,811,652,630,653,0.452208565613,0.00478992034985,0.0696127163754,0.999999771845,0.000343410532646,-0.000577508275338,-6.97390715146e-05,1793245537483973376
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,744.045731261,713,683.045731261,649.045731261,627.954268739,880,782.954268739,810,652,630,653,0.452236423473,0.00478801484503,0.0696090348515,0.999999770495,0.000337820772887,-0.000583154896844,-6.94108750871e-05,1793245537533973248
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,744.637518089,713,683.637518089,649.637518089,627.362481911,880,782.362481911,810,652,630,653,0.452239700914,0.00478869939708,0.0696085038084,0.999999769656,0.000338765454282,-0.000584042765447,-6.94264947349e-05,1793245537550639872
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.22445823,684,649.77554177,627,880,782.22445823,810.22445823,652,630,653,0.45224272564,0.00478906589398,0.0696084253314,0.999999769275,0.000339779402084,-0.000584125642943,-6.92609232059e-05,1793245537567306752
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.803736764,684,649.196263236,627,880,782.803736764,810.803736764,652,630,653,0.452245350876,0.00478892961384,0.0696090622645,0.999999769618,0.000340902845162,-0.000582936002153,-6.88089272991e-05,1793245537583973376
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.955532308,745,713.044467692,684,649.955532308,627,880,783,811,652,629.044467692,653,0.452246311429,0.00478869340854,0.0696059584159,0.999999766531,0.000342717163559,-0.0005872277946,-6.81690436893e-05,1793245537617306624
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,683.876037514,649,627,879.123962486,783,811,652,630,653,0.452246458413,0.00478428735643,0.06960531541,0.999999767834,0.000335799763702,-0.000589061203711,-6.76530245126e-05,1793245537650640384
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,683.294205279,649,627,879.705794721,783,811,652,630,653,0.452248944536,0.00478598415175,0.0696060688718,0.99999976765,0.000339799338855,-0.00058707561768,-6.76602477528e-05,1793245537667307776
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,683.86331023,649,627,880.86331023,783,810.13668977,652,630,653,0.452247746044,0.00478646092741,0.0696049955089,0.999999766568,0.000339664981662,-0.000588929438504,-6.82254995327e-05,1793245537700640000
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649,627,880.561150498,783,810,652,630,653,0.452248175613,0.00478654274195,0.0696054097877,0.999999766758,0.000339578758937,-0.000588679657586,-6.80238013834e-05,1793245537717306368
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649,627,880,783,810,652,630,653,0.452249229861,0.00478674062782,0.0696062055006,0.999999767183,0.000339908210069,-0.00058780870592,-6.76518030759e-05,1793245537733972992
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649,627,880,783,810,652,630,653,0.452249557255,0.00478741516203,0.0696050123416,0.999999766474,0.00034003617666,-0.000588941741842,-6.76354515047e-05,1793245537750639616
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+248,4.133333333,HOLD_POSE2,765,745,713,683.334270473,648.665729527,627,880,783,810,652,630,653,0.452252263764,0.00478528703433,0.0696048513325,0.999999767404,0.000337565043429,-0.000588804933313,-6.74562925014e-05,1793245537915287552
+249,4.150000000,HOLD_POSE2,765,745,713,683.909139578,648.090860422,627,880,783,810,652,630,653,0.452251322926,0.00478279498421,0.0696047122696,0.999999767728,0.00033539298294,-0.000589561193484,-6.68796011123e-05,1793245537931954176
+250,4.166666667,HOLD_POSE2,765,745,713,684,648.458426636,627,880,783,810.458426636,652,630,653,0.452251937486,0.00478148803462,0.0696046392921,0.9999997686,0.000333556900731,-0.000589134677509,-6.67875985315e-05,1793245537948620800
+251,4.183333333,HOLD_POSE2,765,745,713,684,648.996641113,627,880,783,810.996641113,652,630,653,0.452252829943,0.00478043082833,0.0696045760484,0.999999769548,0.000331825848321,-0.000588501829541,-6.6787467707e-05,1793245537965287424
+252,4.200000000,HOLD_POSE2,765,745,713,684,648.368447796,627,880,783,810.368447796,652,630,653,0.45225110132,0.00478444660683,0.06960401573,0.999999766154,0.000337900063598,-0.000590790379038,-6.69517185717e-05,1793245537981954048
+253,4.216666667,HOLD_POSE2,765,745,713,684,648,627,880,783,810,652.238773948,630,653,0.452250110426,0.00478609440315,0.0696035725874,0.999999764457,0.000340399838629,-0.000592212168433,-6.70707012869e-05,1793245537998620928
+254,4.233333333,HOLD_POSE2,765,745,713,684,648,627,880,783,810,652.816247564,630,653,0.452250165998,0.00478438322808,0.069603295658,0.999999765211,0.000337829287282,-0.000592404462727,-6.71254713442e-05,1793245538015287552
+255,4.250000000,HOLD_POSE2,765,745,713,684,648.3915091,627,880.3915091,783,810,652.6084909,630,652.6084909,0.452250534278,0.00478376433941,0.0696031381946,0.999999765791,0.000336073788243,-0.00059240852049,-6.7261639499e-05,1793245538031954432
+256,4.266666667,HOLD_POSE2,765,745,713,684,648.965738294,627,880.965738294,783,810,652.034261706,630,652.034261706,0.452251048502,0.00478365522846,0.0696030364866,0.99999976629,0.000334698679711,-0.000592324726936,-6.74357967322e-05,1793245538048621056
+257,4.283333333,HOLD_POSE2,765,745,713,684,648.445647927,627,881,783,810,652,630,652.554352073,0.452252303441,0.00478298087876,0.0696040225244,0.99999976726,0.000334140421731,-0.000591020417551,-6.72621610614e-05,1793245538065287680
+258,4.300000000,HOLD_POSE2,765,745,713.141533887,684,648,627,880.858466113,783,810,652,630,653,0.452253200434,0.00478229361518,0.0696046843627,0.999999768,0.00033352065056,-0.000590149873707,-6.69804847822e-05,1793245538081954304
+259,4.316666667,HOLD_POSE2,765,745,713.72145344,684,648,627,880.27854656,783,810,652,630,653,0.452252843148,0.00478167744058,0.0696041282508,0.999999767939,0.00033254981016,-0.00059086274326,-6.64325176072e-05,1793245538098621184
+260,4.333333333,HOLD_POSE2,765.299038991,745,713.700961009,684,648,627,880,783,810,652.299038991,629.700961009,652.700961009,0.452252858059,0.00478147363018,0.0696039231929,0.999999767997,0.00033257617804,-0.000590754955335,-6.63920779991e-05,1793245538115287552
+261,4.350000000,HOLD_POSE2,765.874467286,745,713.125532714,684,648,627,880,783,810,652.874467286,629.125532714,652.125532714,0.452253216977,0.0047816509509,0.0696040425998,0.999999768164,0.000333524224123,-0.000589888667786,-6.68207250484e-05,1793245538131954176
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,713,684,648,626,880,783,810,653,630,653,0.452252843562,0.00478119795765,0.0696039500393,0.999999768856,0.000329278800879,-0.000591077016666,-6.70196485488e-05,1793245538164514560
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.40732637,744.40732637,713,684,648,626.59267363,880,783,810,652.40732637,630,653,0.452254444502,0.00477955562834,0.0696047612817,0.999999770051,0.000328547262314,-0.000589497264035,-6.6687978247e-05,1793245538181181184
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744.180645764,713,684,648.180645764,627,880,783,810.180645764,652,630,653,0.452255079089,0.00477905927159,0.0696051591149,0.999999770278,0.000329064052754,-0.000588848777648,-6.64670987772e-05,1793245538197848064
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744.758285819,713,684,648.758285819,627,880,783,810.758285819,652,630,653,0.45225358998,0.00478108134925,0.0696046484238,0.999999768374,0.000332324220364,-0.000590246878577,-6.64896975683e-05,1793245538214514688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648.667321031,627,880,783,810.667321031,652,630,653,0.452253044792,0.00478193011596,0.0696041876139,0.999999767542,0.000333435687269,-0.000591022060008,-6.65597639891e-05,1793245538231181312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648.095264214,627,880,783,810.095264214,652,630,653,0.452253178798,0.00478193463126,0.0696037626958,0.999999767486,0.000333001064809,-0.000591349022076,-6.66639855557e-05,1793245538247847936
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652.49304794,630,653,0.452253030806,0.00478232346338,0.0696037773601,0.999999767466,0.000332807677655,-0.000591493476656,-6.66488634976e-05,1793245538264514560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.082765215,744.917234785,713,684,648,627,880,783,810,652.917234785,630,653,0.452252534772,0.00478244955325,0.0696036936313,0.999999767383,0.000332567377118,-0.000591776804212,-6.65822549423e-05,1793245538281181184
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.661441268,744.338558732,713,684,648,627,880,783,810,652.338558732,630,653,0.45225029095,0.00478054125691,0.0696024940976,0.999999766877,0.000331757182179,-0.000593110720479,-6.63500253732e-05,1793245538297848064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.761343295,744.238656705,713,684,648,627,880,783,810,652,630,653,0.452240549433,0.00477965173445,0.0695977735794,0.999999762587,0.000331809010623,-0.000600284770042,-6.6231935252e-05,1793245538314514688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.186187333,744.813812667,713,684,648,627,880,783,810,652,630,653,0.452220236378,0.00478019865473,0.069588088572,0.999999752795,0.000333076267861,-0.000615693243427,-6.62747785574e-05,1793245538331181312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.452185490901,0.00478064998235,0.0695743564271,0.99999973779,0.000333963034845,-0.000639160679148,-6.60433216956e-05,1793245538347847936
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.452143837063,0.00478105555273,0.0695586870405,0.99999971974,0.00033466767271,-0.000666485694632,-6.56805657019e-05,1793245538364514816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,744.436756421,713,684,648.563243579,627,880,783,810,652,629.436756421,653,0.452084600551,0.00477910809634,0.0695428410953,0.999999705244,0.000333189763935,-0.000688679266006,-6.49441473157e-05,1793245538381181184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,744.142346045,713,684,649,627,880,783,810,652,629.142346045,653,0.452021160944,0.00477772209816,0.0695289010918,0.9999996918,0.000332732352791,-0.000708213455667,-6.4203364818e-05,1793245538397847808
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,744.718947348,713,684,649,627,880,783,810,652,629.718947348,653,0.451946487314,0.00477826150741,0.0695207914933,0.999999682405,0.000335585340926,-0.000720098234355,-6.3483024351e-05,1793245538414514432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,630,653,0.451862539382,0.00477885378885,0.0695175255053,0.999999677443,0.00033791422475,-0.000725962654091,-6.25042833591e-05,1793245538431181312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,630,653,0.451769772038,0.00477949634918,0.0695188655596,0.999999676797,0.00033974471033,-0.000726102000049,-6.12798158885e-05,1793245538447847936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,630,653,0.451661896851,0.00477719877511,0.0695199598888,0.999999676462,0.000338465528562,-0.0007273289428,-5.9247400572e-05,1793245538464514560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,629.955857972,653,0.451547129298,0.00477414723498,0.0695208658243,0.999999675836,0.000336681582807,-0.000729201914777,-5.69058466973e-05,1793245538481181440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,629.377007951,653,0.451402390711,0.0047723778892,0.0695203601476,0.99999967068,0.000339799064643,-0.00073504772029,-5.36816952352e-05,1793245538497848064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,809.799034598,652,629.200965402,653,0.451247857585,0.00477095262871,0.069520291489,0.999999666996,0.000342472488823,-0.000739025076306,-5.06254076661e-05,1793245538514514432
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,809.222698783,652,629.777301217,653,0.451075029886,0.00477017006331,0.0695210391086,0.999999666137,0.000344316485798,-0.000739512474472,-4.78826626862e-05,1793245538531181056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,809.354271306,652,630,653,0.450876942963,0.00476814591306,0.0695217498534,0.999999663045,0.000347188460415,-0.000742573260089,-4.42083273929e-05,1793245538547847936
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,809.931640876,652,630,653,0.450662949318,0.004765339889,0.0695224373767,0.999999658509,0.000350707792253,-0.000747254606768,-3.99473335839e-05,1793245538564514560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627,880,783,810,652,630,653,0.450428488858,0.00476199910344,0.0695248655575,0.999999656403,0.000352938099263,-0.000749252364353,-3.53380952517e-05,1793245538581181184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,744.895061234,713,684,649.104938766,627,880,783.104938766,810,652,630,653,0.4501851548,0.00475873919316,0.069527882968,0.999999655407,0.000355068673449,-0.000749782165455,-3.06542645318e-05,1793245538597847808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,744.315703166,713,684,649.684296834,627,880,783.684296834,810,652,630,653,0.449914130301,0.00475616959265,0.0695325073965,0.999999658012,0.000357530996426,-0.000745304801628,-2.58446431387e-05,1793245538614514432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,744.261308217,713,684,650,627.261308217,879.738691783,783.738691783,809.738691783,652,630,653,0.449630115088,0.00475267008707,0.069541359432,0.999999665343,0.000360564616614,-0.000734095430074,-2.02518981557e-05,1793245538631181312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744.83550962,713,684,650,627.83550962,879.16449038,783.16449038,809.16449038,652,630,653,0.449330544675,0.00474805710362,0.069555273648,0.999999678068,0.000364282313801,-0.000714825082257,-1.37214330933e-05,1793245538647847936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.419116296,745,713,684,650,628,879.419116296,783,809.419116296,652,630,653,0.448993123211,0.0047441770697,0.0695664086856,0.999999689916,0.000366092769602,-0.000697191575765,-8.29806516436e-06,1793245538664514560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.993594275,745,713,684,650.006405725,628,880,783,809.993594275,652,630,653,0.448639913435,0.00474057617631,0.069576338378,0.999999701125,0.000367146860835,-0.000680398202739,-3.31006608641e-06,1793245538681181440
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.414639895,745,713,684,650.585360105,628,880,783,809.414639895,652,630,653,0.448233797506,0.00473562353954,0.0695782628507,0.99999970073,0.000369036922999,-0.000679959341009,2.49197165695e-06,1793245538697848064
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,651.163763439,628,880,783.163763439,809.163763439,652,630,652.836236561,0.447813309506,0.00473048277073,0.0695770294921,0.999999697954,0.000369530171028,-0.000683722501624,7.9293833693e-06,1793245538714514688
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651.740776146,628,880,783.740776146,809.740776146,652,630,652.259223854,0.44735655433,0.00472486726038,0.0695678274958,0.999999689098,0.000366498624548,-0.000698089266299,1.24466777119e-05,1793245538731181568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.684438945,652.315561055,628.315561055,880,784,809.684438945,652,630,652.315561055,0.446874768528,0.004718770599,0.0695563236347,0.999999687195,0.000341064001561,-0.000713579966537,9.42400982616e-06,1793245538747848192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.111471214,652.888528786,628.888528786,880,784,809.111471214,652,630,652.888528786,0.446372564916,0.00471228145673,0.069542942116,0.999999689349,0.000297354938005,-0.000729987473982,2.50911027503e-07,1793245538764515072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.476854888,745,713,683.476854888,653,629,879.523145112,784,809.476854888,652,630,653,0.445874723401,0.00470352997484,0.0695570927916,0.999999713722,0.000282189931484,-0.000702081222728,2.68162771339e-06,1793245538781181696
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.932641696,745,713,683.932641696,653.134716608,629.067358304,879.067358304,784,809.932641696,652,630,653,0.445372916045,0.00469421493263,0.0695788495109,0.999999743211,0.000272824830442,-0.0006626356962,7.61360352236e-06,1793245538797848832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.353774712,745,713,683.353774712,654.292450576,629.646225288,879.646225288,784,809.353774712,652,630,653,0.444832991311,0.00468476996857,0.0696078647223,0.999999777149,0.000255146672084,-0.000616844728676,1.02555792949e-05,1793245538814515200
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.222782158,654.777217842,630,880,784,809,652,630,653,0.444270100747,0.00467541044386,0.0696318866062,0.999999805508,0.000235991766275,-0.0005771835955,1.22944923175e-05,1793245538831181824
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.795708218,654.204291782,630,880,784,809,652,630,653,0.443671115111,0.00466618520369,0.0696480605387,0.999999827212,0.000214515876769,-0.000547156649531,1.33855791031e-05,1793245538847848192
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.630413442,654.739173115,630.369586558,880,784,809.369586558,652.369586558,630,653,0.443040828594,0.00465639827894,0.0696645274323,0.999999844451,0.00019089757571,-0.000523863908322,1.49537180444e-05,1793245538864515072
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.130458477,631.130458477,880,785,809,652,630.869541523,653,0.441062122904,0.00462627830917,0.06973303997,0.999999904142,0.000145248018826,-0.000412634783505,1.87644922935e-05,1793245538914514688
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.705822921,631.705822921,880,785,809,652,630.294177079,653,0.440387273806,0.00461745323353,0.0697715587617,0.99999991535,0.000229126638875,-0.000341114004503,2.10270486787e-05,1793245538931181568
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.143204354,745,713,683,657,632,879.143204354,785,809.856795646,652,630.856795646,652.143204354,0.438885540279,0.00460525219536,0.0697761581629,0.999999918452,0.000223876160852,-0.000335554921062,1.94576545306e-05,1793245538964514816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.44452547,745,713.44452547,682.55547453,657,632,879.44452547,785,809.55547453,652,630.55547453,652.44452547,0.438069924009,0.00459935082429,0.0697478591836,0.999999910532,0.000194188574162,-0.000375320657028,1.89878530881e-05,1793245538981181696
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.964472353,682.035527647,657.035527647,632,879.964472353,785,809,652,630,652.964472353,0.437243354155,0.00459337559555,0.0697173163128,0.999999899439,0.000166180151488,-0.000416103919472,1.90906233071e-05,1793245538997848320
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.385243168,682.614756832,657.614756832,632,879.385243168,785,809,652,630,652.385243168,0.436445037328,0.00459000397104,0.069744488094,0.999999917597,0.000150451610081,-0.000376465545727,2.10542990781e-05,1793245539014515200
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.807465984,658,632.192534016,879,785,809,652,630,652.192534016,0.435641560675,0.00458538961049,0.069775826676,0.999999934914,0.000135882064391,-0.00033342591824,2.31341958233e-05,1793245539031181568
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.232572411,658,632.767427589,879,785,809,652,630,652.767427589,0.434827837004,0.00457830726026,0.0698154402412,0.999999951813,0.000123614207102,-0.000283631633305,2.5444899485e-05,1793245539047847936
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.349457756,682,658,633,879,785,809,652,630,653,0.433995537411,0.0045733017014,0.06983337318,0.999999956596,0.0001276531777,-0.000264173979713,2.69197677552e-05,1793245539064514560
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.904526382,682,657,632.095473618,879,784.904526382,809,652,629.904526382,652.904526382,0.431330909944,0.00455991048458,0.0698224352097,0.999999955565,0.000116024970517,-0.000273223776949,2.75098146933e-05,1793245539114514944
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.326527664,682,657,632.673472336,879,784.326527664,809,652,629.326527664,652.326527664,0.430350713687,0.00455472583386,0.0697578786115,0.999999919641,0.000116313739793,-0.000382524921743,2.94046798555e-05,1793245539131181824
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.824987756,713,681.175012244,657,633,879,784.824987756,809.824987756,652,629.824987756,652,0.428537414895,0.0045415438682,0.0697284852197,0.999999906576,0.000103094537844,-0.000418963791961,2.62422892958e-05,1793245539164515072
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.590518749,713,681.409481251,657.818962503,633,879,785,809.590518749,652,630,652,0.427705108272,0.00453588077515,0.069780436984,0.999999937811,9.44217711985e-05,-0.000338646555477,2.79454444343e-05,1793245539181181696
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.001815702,713,681.998184298,658.996368597,633,879,785,809.001815702,652,630,652,0.426892668212,0.00453086610751,0.0698529687708,0.999999969141,8.60345620242e-05,-0.000230894827332,3.1685007034e-05,1793245539197848064
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,657.845653177,633,878.422826588,785,808.422826588,652,630,652,0.425951844606,0.00452260883196,0.0698567862014,0.999999969149,7.93979140428e-05,-0.000232987717508,3.33743080627e-05,1793245539214514688
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.844670638,657,633,878.155329362,785,808,652,629.844670638,652.155329362,0.425017630311,0.00451383132117,0.0698516238985,0.999999966942,7.16959682578e-05,-0.000244574575083,3.40426758674e-05,1793245539231181312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.268689648,657,633,878.731310352,785,808,652,629.268689648,652.731310352,0.424102390568,0.00450367211551,0.0698227190507,0.999999958156,6.10943943005e-05,-0.000280951984034,3.19634045941e-05,1793245539247848192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.306662381,633,879,785,808,652,629,652.693337619,0.423144930755,0.00449835165456,0.06977459987,0.999999931432,5.49541976741e-05,-0.000364846597818,3.16788678326e-05,1793245539264515072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.881464428,633,879,785,808,652,629,652.118535572,0.422150554577,0.00449726209912,0.0697096800491,0.999999877875,5.27149432008e-05,-0.000490289332471,3.29636120405e-05,1793245539281181952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.468787752,681,657.531212248,633,879,785,808.468787752,652,629.468787752,652,0.421264558532,0.00448742117035,0.0696922079487,0.999999867756,4.00780749653e-05,-0.00051166015903,3.29353786375e-05,1793245539297848576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.941764719,681,657.058235281,633,879.058235281,785,808.941764719,652,629.941764719,652.058235281,0.42041399615,0.00447569819411,0.0696964961091,0.999999878162,2.44127264829e-05,-0.000491955133673,3.25724138147e-05,1793245539314514944
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.362418131,681,657.637581869,633,879.637581869,785,808.362418131,652,629.362418131,652.637581869,0.419628552474,0.00446747862504,0.0697851996791,0.999999939387,5.81915364518e-06,-0.000346628012797,3.2266477005e-05,1793245539331181568
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.783916972,658.216083028,633,879.783916972,785,808,652,629,652.783916972,0.418832756747,0.00445997368093,0.0698519197403,0.999999970458,-2.02618721285e-06,-0.000240786932288,3.32009462118e-05,1793245539347848192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.206828163,658.793171837,633,879.206828163,785,808,652,629,652.206828163,0.418019665922,0.00445366264574,0.0698819123885,0.999999979129,8.08533452041e-06,-0.000200914409755,3.62077388626e-05,1793245539364514816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.375106301,745,713.375106301,680.375106301,658.624893699,633,879,785,808,652,629.375106301,652.375106301,0.417194269022,0.0044484616266,0.0698654267417,0.999999974223,3.96550416318e-06,-0.000224115754253,3.61971638999e-05,1793245539381181440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.959747521,745,713.959747521,680.959747521,658.040252479,633,879,785,808,652,629.959747521,652.959747521,0.41636199798,0.00444388066438,0.0698229782509,0.999999959455,-8.10398053456e-06,-0.000282550253378,3.450108279e-05,1793245539397848320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.460763323,745,714,680.460763323,657.460763323,633,879,785,808,652,629.460763323,652.460763323,0.415526429257,0.004443247407,0.0697979545319,0.999999949835,-1.10608071344e-05,-0.000314797055866,3.33212057879e-05,1793245539414515200
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.881890553,745,714,680,657,633,879,785,808,652.118109447,629,652,0.414690172527,0.0044462768866,0.0697738902468,0.999999937779,-7.67811485248e-06,-0.000351153966602,3.27769820237e-05,1793245539431181824
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.303934463,745,714,680,657,633,879,785,808,652.696065537,629,652,0.413852186491,0.00446243037912,0.0697485451693,0.999999914763,1.7763469649e-05,-0.000411052068882,3.4559002013e-05,1793245539447848448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.272870105,745,714,680,657,633,878.727129895,785,807.727129895,652.727129895,629.272870105,652,0.413102899704,0.00447709560125,0.0697567472715,0.999999919286,3.55303179671e-05,-0.000398713566974,3.45462680496e-05,1793245539464515072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.848397409,745,714,680,657,633,878.151602591,785,807.151602591,652.151602591,629.848397409,652,0.412451994827,0.00449011008907,0.0698021586379,0.999999951572,4.47846373863e-05,-0.000306252950892,3.2542860672e-05,1793245539481181440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.433105258,633,878,785,807,652,630,652,0.411821012958,0.0044823410104,0.0698475799992,0.99999997243,3.4142939637e-05,-0.000229944182063,3.31768181746e-05,1793245539497848064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633,878,785,807.020806816,652,630,652,0.411194414972,0.00446752965291,0.0698905571187,0.999999985892,1.70258857698e-05,-0.000163470503189,3.46894342519e-05,1793245539514514688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633,878,785,807.600730223,652,630,652,0.410494164959,0.00446320567455,0.0698677569137,0.999999978028,1.71012740442e-05,-0.000206067431596,3.44686203479e-05,1793245539531181312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.820543306,633,878,785,808,652,630,652,0.409798686689,0.00446132910674,0.0698370643384,0.999999965253,1.64259471894e-05,-0.000260935733204,3.37188733744e-05,1793245539547847936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.24446212,633,878,785,808,652,630,652,0.409113754508,0.00446486165905,0.0697889285122,0.999999940596,1.40914344867e-05,-0.000342925500512,3.18001099717e-05,1793245539564515072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878,785,808,652,629.668121556,652,0.408493501853,0.00446654657473,0.0697656365883,0.999999928666,1.3129085894e-05,-0.000376265301641,3.03395170849e-05,1793245539581182208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878,785,808,652,629.091589819,652,0.407920929525,0.00446686945419,0.0697606590308,0.999999929645,1.31782658807e-05,-0.000373741442828,2.92166773799e-05,1793245539597848576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878,785,808,652,629.496062359,652,0.40740458716,0.0044724425798,0.0697795886357,0.999999938926,2.28295971118e-05,-0.00034750137778,2.95043877903e-05,1793245539614514944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.083941786,785,807.916058214,652,629.916058214,652,0.406899306898,0.00447902675361,0.0697999143508,0.999999947246,3.28118193926e-05,-0.000321765256547,2.99618270345e-05,1793245539631181056
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.660822005,785,807.339177995,652,629.339177995,652,0.406396622731,0.00448572512645,0.0698019230514,0.999999946066,3.4087384925e-05,-0.000325292208228,2.98515337858e-05,1793245539647847680
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,879,785,807,652,629,652,0.405912435324,0.00448748378082,0.0698021641497,0.999999944819,3.20088327604e-05,-0.000329319296368,2.97797342544e-05,1793245539664514560
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,879,785,807,652,629,652,0.405454641035,0.00448219393694,0.0697998830516,0.999999943443,2.51442808503e-05,-0.000334060030265,2.97628615212e-05,1793245539681181440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.60562622,785,807,652,629.39437378,652,0.405053812552,0.00448050471263,0.0698084944541,0.999999948799,2.75373202578e-05,-0.000317473569656,2.92189927178e-05,1793245539697848064
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.016343405,785,807,652,629.983656595,652,0.404681137903,0.00448059500089,0.069822489193,0.99999995685,3.45056839697e-05,-0.000290346695301,2.84146697245e-05,1793245539714514688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.434660214,745,714,680,657,633,878.565339786,785,807,652,629.434660214,652.565339786,0.404335377864,0.00447912251482,0.0698354227217,0.999999963779,3.34386298923e-05,-0.000265573833843,2.81900755388e-05,1793245539731181568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.145202787,745,713.854797213,680,656.854797213,633,878.854797213,785,807,652,629,652.854797213,0.403994667384,0.00447641337658,0.0698439708651,0.999999968317,2.84207156319e-05,-0.000248551478013,2.79220767116e-05,1793245539747848192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.720318599,745,713.279681401,680,656.279681401,633,878.279681401,785,807,652,629,652.279681401,0.403666634292,0.00447017477547,0.0698396244924,0.999999967217,1.23838397505e-05,-0.000254277818262,2.74766038335e-05,1793245539764514816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.704705648,656.295294352,633,878,784.704705648,807,652.295294352,629.295294352,652,0.403349482308,0.00446763438609,0.0698319556166,0.999999963918,3.75407196147e-06,-0.000267237862878,2.71063293179e-05,1793245539781181440
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.458929902,657,633,878,784.458929902,807,653,630,652,0.402779154296,0.00447067441334,0.0698137168161,0.999999954385,7.12410521358e-07,-0.0003008783072,2.64812827925e-05,1793245539814514688
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.626196633,680,657,633,878,785,807,652.373803367,630,652,0.40231687133,0.00447476878439,0.0698004356157,0.999999947128,3.76900940944e-06,-0.000324113616793,2.60906147435e-05,1793245539847848192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.797891584,745,713.797891584,680,657,633,878,785,807,652,630,652,0.40211519266,0.00447845620989,0.0697955737588,0.999999944407,1.4163987156e-05,-0.000332139486859,2.5857946596e-05,1793245539864514816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.221933091,745,713.221933091,680,657,633,878,785,807,652,630,652,0.401937463487,0.00448573458167,0.0697943207782,0.999999943152,3.64642280671e-05,-0.000334252433559,2.53412420483e-05,1793245539881181440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713.352068708,680,657,633,878,785,807,652,630,652.352068708,0.401779968619,0.00449340885582,0.0697942320313,0.999999942714,5.22804446427e-05,-0.000333509799742,2.47087678458e-05,1793245539897848320
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.095941605,714,679.095941605,657,633,878.095941605,785,807,652,629,652,0.400966776196,0.00449320714759,0.0698248973659,0.999999960648,3.03886809586e-05,-0.000278111779833,2.08500829979e-05,1793245540464514816
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.679122775,714,679.679122775,657,633,878.679122775,785,807,652,629,652,0.400968501237,0.00449319382342,0.0698268405562,0.999999961297,3.07729704779e-05,-0.000275713261446,2.09901600132e-05,1793245540481181440
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.176895819,785,807,652,629.823104181,652.823104181,0.400966619739,0.00449384587512,0.0698263419852,0.999999960857,3.2340995368e-05,-0.000277124447349,2.10193520302e-05,1793245540514514432
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea7689be89a4d9ef9180b69135e2f8671d420b65
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+403,6.716666667,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e703f5e7e731f0d3a47ab64a992849cd8daaa632
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067b98d1b9b0675a1fdc018dfa4d95f0502ea5d25b8b096dca69f0280718ca36
+size 25696901
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54b9bbe9776fb22cc03911cf5b3c8ed6c3a61f90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+56,0.933333333,BASELINE,764.504028257,745,714,679,657,633,878,785,806.495971743,652,629.504028257,652,0.400968580823,0.00449328864988,0.0698302786579,0.999999962983,3.06946586749e-05,-0.00026958251056,2.04310819907e-05,1793245541596114944
+57,0.950000000,BASELINE,764.075816298,745,714,679,657,633,878,785,807.075816298,652,629,652,0.400967365252,0.00449376098534,0.0698292280496,0.999999962614,3.13920063866e-05,-0.000270873913701,2.03673721998e-05,1793245541612781312
+58,0.966666667,BASELINE,764.650609642,745,714,679,657,633,878,785,807.650609642,652,629,652,0.40096847387,0.00449450900848,0.0698297832437,0.999999962802,3.22827626686e-05,-0.000270084138074,2.02076579738e-05,1793245541629447936
+59,0.983333333,BASELINE,765,745,714,679.226106241,657.226106241,633,878,785,807.773893759,652,629,652,0.400968777312,0.00449458064423,0.0698299617534,0.999999962766,3.26763946581e-05,-0.000270172917906,2.01907842024e-05,1793245541646114816
+60,1.000000000,BASELINE,765,745,714,679.802693022,657.802693022,633,878,785,807.197306978,652,629,652,0.400967832677,0.00449360383218,0.0698295563759,0.999999962381,3.22994492482e-05,-0.000271623520226,2.03953231342e-05,1793245541662781696
+61,1.016666667,BASELINE,764.610370968,745,714,680,657.610370968,633.389629032,878,785,807,652,629.389629032,652,0.400967338019,0.00449378061232,0.0698294674043,0.999999962301,3.26627436921e-05,-0.00027187879623,2.0345002562e-05,1793245541679448320
+62,1.033333333,BASELINE,764.018051172,745,714,680,657.018051172,633.981948828,878,785,807,652,629.981948828,652,0.400967077445,0.00449455750818,0.0698295430316,0.999999962379,3.34111218395e-05,-0.000271512245782,2.01621003079e-05,1793245541696114944
+63,1.050000000,BASELINE,764.557811142,745,714,679.442188858,657.557811142,633.442188858,878,785.557811142,807,652,630,652,0.400967795011,0.0044942395445,0.069829140785,0.999999962484,3.24389389544e-05,-0.000271247088226,2.01383661319e-05,1793245541712781568
+64,1.066666667,BASELINE,764.866889479,745,714,679.133110521,657.866889479,633,878,785.866889479,807,652,629.866889479,652,0.400968829907,0.00449409175792,0.0698291453223,0.999999962715,3.2134735689e-05,-0.000270427434714,2.01368846428e-05,1793245541729448192
+65,1.083333333,BASELINE,764.29174163,745,714,679.70825837,657.29174163,633,878,785.29174163,807,652,629.29174163,652,0.400970816493,0.00449462338705,0.0698305506018,0.999999963364,3.42283790745e-05,-0.000267755810895,2.0192685818e-05,1793245541746114816
+66,1.100000000,BASELINE,764.291122182,745,714,680,657.582244364,633,878,785,807,652,629.291122182,652,0.400971085987,0.00449505358862,0.0698310827468,0.999999963496,3.52489865666e-05,-0.000267123592421,2.0238299297e-05,1793245541762781696
+67,1.116666667,BASELINE,764.881928859,745,714,680,658.763857719,633,878,785,807,652,629.881928859,652,0.400969587888,0.00449537937948,0.0698307160771,0.999999963106,3.51649985415e-05,-0.000268590761238,2.02734254419e-05,1793245541779448320
+68,1.133333333,BASELINE,765,745,714,680,658.076710099,633,878,785,807,652,630,652,0.400969878802,0.00449460072137,0.0698314270848,0.999999963351,3.48953131887e-05,-0.000267703777407,2.03640491249e-05,1793245541796115456
+69,1.150000000,BASELINE,765,745,714,680,657,633,878,785,807,652,629.961329505,652,0.400970484043,0.00449356510669,0.0698322408914,0.999999963696,3.44199226943e-05,-0.000266465890309,2.04623295109e-05,1793245541812782848
+70,1.166666667,BASELINE,765,745,714,680,657,633,878,785,807,652,629.383196154,652,0.400969240877,0.00449279304477,0.0698307338866,0.999999963232,3.17219084872e-05,-0.000268535237352,2.0474056251e-05,1793245541829448704
+71,1.183333333,BASELINE,764.802629572,745,714,679.802629572,657,633,878,785,807,652,629.197370428,652,0.400968880598,0.00449250395823,0.0698300972384,0.999999963083,2.98886459872e-05,-0.000269301416427,2.04235070663e-05,1793245541846115072
+72,1.200000000,BASELINE,764.217279778,745,714,679.217279778,657,633,878,785,807,652,629.782720222,652,0.40097025585,0.0044931642766,0.0698311714868,0.999999963573,2.97552618622e-05,-0.000267505903713,2.02505394755e-05,1793245541862781952
+73,1.216666667,BASELINE,764,745,714,679.364232798,657,633,878,785,807,652,630,652,0.400971753131,0.00449273022215,0.0698315512282,0.999999963969,2.96311527494e-05,-0.000266028853456,2.03057576766e-05,1793245541879448576
+74,1.233333333,BASELINE,764,745,714,679.943480146,657,633,878,785,807,652,630,652,0.400973322449,0.00449165013556,0.069831520987,0.999999964311,2.95125188861e-05,-0.000264739798629,2.0495678929e-05,1793245541896115712
+75,1.250000000,BASELINE,764.520461846,745,714,679.479538154,657.520461846,633,878,785,807,652,630,652,0.400971454083,0.00449259992736,0.0698311441092,0.999999963757,3.07008391752e-05,-0.000266683345344,2.05726774589e-05,1793245541912782592
+76,1.266666667,BASELINE,765,744.90302471,714,679,657.90302471,633,878,785,807,652,630,652,0.400969560252,0.00449367813283,0.069830728462,0.999999963196,3.17563030552e-05,-0.000268654779175,2.0591896846e-05,1793245541929449216
+77,1.283333333,BASELINE,765,744.327612865,714,679,657.327612865,633,878,785,807,652,630,652,0.400969374606,0.00449430705218,0.0698303064536,0.999999963106,3.14591204834e-05,-0.000269039384241,2.03862954568e-05,1793245541946115584
+78,1.300000000,BASELINE,765,744.253834543,714,679.253834543,657,633,878,785,807,652,629.746165457,652,0.400969512645,0.00449407362691,0.0698301957036,0.999999963214,3.10340291533e-05,-0.000268694923728,2.02748593443e-05,1793245541962781952
+79,1.316666667,BASELINE,765,744.843261469,714,679.843261469,657,633,878,785,807,652,629.156738531,652,0.400970078628,0.00449270010348,0.0698304964654,0.999999963583,3.043983082e-05,-0.00026738657209,2.0287918319e-05,1793245541979448576
+80,1.333333333,BASELINE,765,745,714,680,657,633,878,785,807.425051901,652,629,652,0.400970041469,0.00449230613662,0.0698304430456,0.999999963596,2.98744583594e-05,-0.00026741692414,2.00725843567e-05,1793245541996115200
+81,1.350000000,BASELINE,764.995944725,745,714,680,657,633,878,785,807.995944725,652,629.004055275,652,0.400969782026,0.00449227707375,0.0698302582343,0.99999996348,2.93408271297e-05,-0.000267934627675,1.97761082853e-05,1793245542012781568
+82,1.366666667,BASELINE,764.419880245,745,714,680,657,633,878,785,807.419880245,652,629.580119755,652,0.400968986615,0.00449366786145,0.0698296373451,0.999999963175,3.18115277121e-05,-0.000268792949211,1.97041545836e-05,1793245542029448448
+83,1.383333333,BASELINE,764,745,713.844332117,679.844332117,657,633,878,785,807,652.155667883,630,652,0.400968703123,0.00449477022546,0.0698294351963,0.999999963007,3.36650309149e-05,-0.000269190717165,1.971114161e-05,1793245542046115328
+84,1.400000000,BASELINE,764,745,713.270172001,679.270172001,657,633,878,785,807,652.729827999,630,652,0.400969795854,0.00449509720138,0.0698303587746,0.999999963222,3.38592822681e-05,-0.000268350348761,1.99303501842e-05,1793245542062781952
+85,1.416666667,BASELINE,764.313114656,745,713,679.313114656,657.313114656,633,878,785,807,653,630,652,0.400970002633,0.00449430531417,0.0698305694272,0.999999963268,3.24695400088e-05,-0.00026834188094,2.00822501663e-05,1793245542079448320
+86,1.433333333,BASELINE,764.90451257,745,713,679.90451257,657.90451257,633,878,785,807,653,630,652,0.400969422014,0.00449251902801,0.0698301464612,0.999999963156,2.96720102274e-05,-0.000269072771735,2.01743290636e-05,1793245542096114944
+87,1.450000000,BASELINE,764.515372022,745,713.484627978,679.515372022,657.515372022,633.484627978,878.484627978,785,807,652.515372022,630,652.484627978,0.400969509999,0.00449300886068,0.0698304834892,0.999999963186,3.07814768424e-05,-0.000268836125571,2.01802478985e-05,1793245542112781568
+88,1.466666667,BASELINE,764.062347872,745,714,679.062347872,657.062347872,634,878.937652128,785,807,652,629.937652128,652.937652128,0.400969597082,0.00449370864447,0.0698308586062,0.999999963237,3.2219155626e-05,-0.000268480468752,2.01710331342e-05,1793245542129448192
+89,1.483333333,BASELINE,764.638230448,745,714,679.638230448,657.638230448,634,878.361769552,785,807,652,629.361769552,652.361769552,0.400968616353,0.00449252788865,0.0698303421297,0.999999963247,3.01638643917e-05,-0.000268679039209,2.01738149646e-05,1793245542146115072
+90,1.500000000,BASELINE,764.786868181,745,714,680,657.786868181,633.786868181,878,785.213131819,806.786868181,652,629.213131819,652,0.400968551742,0.00449214667417,0.0698303183386,0.999999963373,2.91942486501e-05,-0.000268313319908,2.02365693032e-05,1793245542162781696
+91,1.516666667,BASELINE,764.213624729,745,714,680,657.213624729,633.213624729,878,785.786375271,806.213624729,652,629.786375271,652,0.400970035021,0.00449311638029,0.069831126998,0.999999963697,3.00590113673e-05,-0.000266994165733,2.04006543481e-05,1793245542179448576
+92,1.533333333,BASELINE,764,745,714,680,657.372113017,633,878.372113017,786,806.372113017,652,630,652,0.400969771043,0.00449257972867,0.0698309705174,0.999999963642,2.98056939868e-05,-0.000267231747164,2.03774557098e-05,1793245542196115456
+93,1.550000000,BASELINE,764,745,714,680,657.965272819,633,878.965272819,786,806.965272819,652,630,652,0.400968469139,0.00449114825347,0.0698302407134,0.99999996336,2.88882020975e-05,-0.000268394078168,2.02430047144e-05,1793245542212782336
+94,1.566666667,BASELINE,764,745,714,680,657.457731317,633,878.457731317,785.457731317,807,652,629.457731317,652,0.40096876783,0.00449268467385,0.0698301126912,0.999999963173,2.91964131175e-05,-0.000269066046056,2.01195007537e-05,1793245542229448448
+95,1.583333333,BASELINE,764,745,714,680,657,633,878,785,807,652,629.118051968,652,0.400969032137,0.00449396858656,0.0698300037177,0.999999963061,2.96132228782e-05,-0.000269442208258,2.00458043946e-05,1793245542246115072
+96,1.600000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629.693032683,652,0.400968778096,0.00449356078148,0.0698298236253,0.999999963218,3.01553468265e-05,-0.000268791463007,2.01622570145e-05,1793245542262781952
+97,1.616666667,BASELINE,764,745,714,680,657.275360273,633,878,785,807.275360273,652,629.724639727,652,0.400969146815,0.00449328394221,0.0698299755823,0.999999963334,3.0038623199e-05,-0.000268362289177,2.03024648486e-05,1793245542279448320
+98,1.633333333,BASELINE,764,745,714,680,657.866102522,633,878,785,807.866102522,652,629.133897478,652,0.400970228808,0.00449315710377,0.06983050785,0.999999963403,2.91672930472e-05,-0.000268186890673,2.04698805452e-05,1793245542296114944
+99,1.650000000,BASELINE,764.449247324,745,714,679.550752676,657.550752676,633,878,785,807.101505353,652,629.449247324,652,0.400969998531,0.00449349419685,0.0698309249101,0.999999963453,2.96275091246e-05,-0.000267963557462,2.03089027148e-05,1793245542312781568
+100,1.666666667,BASELINE,765,745,714,679.029732094,657,633,878,785,806.029732094,652,630,652,0.400969366943,0.00449389192265,0.0698312306463,0.999999963471,3.04286581548e-05,-0.000267822626293,2.00672364342e-05,1793245542329448448
+101,1.683333333,BASELINE,765,745,714,679.602306249,657,633,878,785,806.602306249,652,630,652,0.400968430529,0.00449291407421,0.0698301203547,0.999999963038,3.03291073845e-05,-0.000269442682036,2.01096797024e-05,1793245542346115072
+102,1.700000000,BASELINE,764.824888113,745,714,680,657,633,878,785,807,652,629.824888113,652,0.40096783211,0.00449257937831,0.0698293375835,0.999999962716,3.09752026127e-05,-0.000270555732432,2.01800462332e-05,1793245542362781952
+103,1.716666667,BASELINE,764.25155614,745,714,680,657,633,878,785,807,652,629.25155614,652,0.400968002325,0.00449370726895,0.0698292996232,0.999999962649,3.33169635208e-05,-0.000270515807119,2.03139127538e-05,1793245542379448576
+104,1.733333333,BASELINE,764.335035631,745,714,680,657,633,878,785,807,652,629,652,0.400968981531,0.00449384988359,0.0698300405002,0.999999963127,3.26261000404e-05,-0.000268834088106,2.02503835532e-05,1793245542396115456
+105,1.750000000,BASELINE,764.931993638,745,714,680,657,633,878,785,807,652,629,652,0.400970593186,0.00449322223451,0.0698313902525,0.999999964019,2.95644078176e-05,-0.000265868856326,2.0032535388e-05,1793245542412781824
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,679,657,633,878,785,806,652,629,653,0.400970814212,0.00449566475874,0.0698316456606,0.999999963924,3.18933033188e-05,-0.000265985448972,1.9643122204e-05,1793245542444669184
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.594786876,745,713.594786876,680.189573753,657.594786876,633,878,785,806.594786876,652,629.594786876,652.405213124,0.400971334047,0.00449496804244,0.0698321958044,0.999999964177,3.27267163102e-05,-0.000264909801324,1.99453441136e-05,1793245542461336576
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.623049825,657.811524912,633,878,785,807,652,629.811524912,652,0.400971599924,0.00449425160433,0.0698325318387,0.999999964314,3.28593664302e-05,-0.0002643575199,2.01732529669e-05,1793245542478003712
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.440369963,657.220184981,633,878,785,807,652,629.220184981,652,0.400971322964,0.00449349301079,0.0698324102148,0.999999964207,3.14941385115e-05,-0.00026492393176,2.02423179781e-05,1793245542494670336
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.636241898,745,713.636241898,679.363758102,657,633,878,785,807,652,629.363758102,652,0.400970434347,0.00449344456966,0.0698317747777,0.999999963797,3.18970985201e-05,-0.000266414028268,2.03240017011e-05,1793245542511336704
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.056686976,745,713.056686976,679.943313024,657,633,878,785,807,652,629.943313024,652,0.400969182869,0.00449381742126,0.0698308345248,0.999999963202,3.3349023102e-05,-0.000268452093872,2.0413171378e-05,1793245542528003328
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.095247542,745,714,680,657.904752458,633,878.904752458,786,807,652,630,652,0.400971530302,0.00449392724014,0.0698321700683,0.999999963872,3.17137571615e-05,-0.000266178004537,1.99818439272e-05,1793245542561336064
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.682646854,745,714,680,657.317353146,633,878.317353146,786,807,652,630,652,0.400971209628,0.00449337461548,0.0698321286136,0.999999963905,3.13147924702e-05,-0.000266092242068,2.01270034631e-05,1793245542578002944
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.266136052,633,878,785.733863948,807,652,630,652,0.400973833134,0.00449358367045,0.069833323051,0.999999964312,3.14541034418e-05,-0.000264525944008,2.03006338917e-05,1793245542594669568
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.845030119,633,878,785.154969881,807,652,630,652,0.400979916584,0.00449468783681,0.0698359698854,0.999999965153,3.22259857373e-05,-0.000261219748752,2.050772276e-05,1793245542611336192
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.576413564,658,633,878,785,807,652,630.423586436,652,0.401002158108,0.00449468158223,0.06984593618,0.99999996933,3.25872152815e-05,-0.000244675183225,2.03147974261e-05,1793245542628003072
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.997991632,745,714,679.002008368,657.997991632,633,878,785.002008368,807,652,630.997991632,652,0.40103038499,0.00449427137795,0.069858590911,0.999999974338,3.27882771076e-05,-0.000223270842067,1.99756325476e-05,1793245542644669696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.422699539,745,714,679.577300461,657.422699539,633,878,785.577300461,807,652,630.422699539,652,0.401081049481,0.00449442527937,0.0698748795829,0.999999980134,3.01207754532e-05,-0.000196057556729,1.96335645184e-05,1793245542661336320
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.155804006,745,714,679.844195994,657,633,878,785.844195994,807,652,630,652,0.401136083936,0.00449424648513,0.0698901988985,0.999999984494,2.8369944684e-05,-0.000172726290866,1.93172461686e-05,1793245542678002944
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.743203788,745,714,679.256796212,657,633,878,785.256796212,807,652,630,652,0.401203223728,0.00449314608405,0.0699028329847,0.999999986569,2.91584016101e-05,-0.000160148678524,1.90722574741e-05,1793245542694669568
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.32608277,657.32608277,633,878.32608277,785,807,652.32608277,630,652,0.401276409746,0.00449265093308,0.0699090167897,0.999999988022,2.72049134298e-05,-0.000151296032336,1.80439686368e-05,1793245542711335936
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.905450188,657.905450188,633,878.905450188,785,807,652.905450188,630,652,0.401354292163,0.00449262590992,0.0699101903409,0.999999989037,2.31216205461e-05,-0.000145336752733,1.64072517731e-05,1793245542728002560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.518568827,658,633,878.518568827,785,807,652.518568827,630,652,0.401447794691,0.00449357549324,0.0699081514994,0.999999988631,2.17941548425e-05,-0.000148532448484,1.41780163607e-05,1793245542744669184
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.056851468,657.943148532,633,878,785,807,652,630,652,0.401547053814,0.00449466074301,0.0699058840556,0.999999988013,2.09029821812e-05,-0.000152960311206,1.18324718909e-05,1793245542761336064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.633183144,657.366816856,633,878,785,807,652,630,652,0.401671078651,0.00449524888843,0.0699072522672,0.99999998817,1.9087530938e-05,-0.000152332860405,9.48002615996e-06,1793245542778003456
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.785583751,745,714,680,657.214416249,633,878.214416249,785,807,652,630,652,0.401809293116,0.00449636423563,0.0699100760337,0.999999988755,1.72970316872e-05,-0.000148817351235,6.62335268219e-06,1793245542794670336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.195769325,745,714,680,657.804230675,633,878.804230675,785,807,652,630,652,0.401972350649,0.0044984026032,0.0699154481737,0.999999990041,1.55502183662e-05,-0.000140245453645,2.88388172235e-06,1793245542811336448
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.612926025,633,878.612926025,785,807,652,630,652,0.402155027968,0.00449959194459,0.069918613034,0.999999990813,1.16963039509e-05,-0.000135043957196,-1.06166665047e-06,1793245542828002816
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.033546064,633,878.033546064,785,807,652,630,652,0.402347452799,0.00450035947321,0.0699206812748,0.999999991316,6.79553999836e-06,-0.000131516941735,-5.10959868211e-06,1793245542844669440
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.541230115,745,714,680,657.541230115,633,878.541230115,785,807,652,629.458769885,652,0.402568718273,0.00450083030772,0.0699213277549,0.999999991558,1.21432260974e-06,-0.000129543834842,-1.00678122102e-05,1793245542861336064
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.884937301,658,633,879,785,807,652,629.115062699,652,0.402800599831,0.00450164506766,0.0699227206682,0.999999991959,-4.33809826084e-06,-0.000125820006347,-1.52189085363e-05,1793245542878002432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.313723625,658,633,879,785,807,652,629.686276375,652,0.403067540686,0.00450389556266,0.069927419121,0.999999993148,-9.61057261693e-06,-0.000114777071157,-2.09128805887e-05,1793245542894669056
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.731494499,745,714,679.268505501,657.731494499,633.268505501,878.462988998,785,807.268505501,652,630,652,0.403361916574,0.00450465932567,0.0699361476841,0.999999994764,-1.51274653945e-05,-9.78296111074e-05,-2.59314566623e-05,1793245542911335936
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.13584428,745,714,679.86415572,657.13584428,633.86415572,877.271688561,785,807.86415572,652,630,652,0.403689719049,0.0045036116675,0.0699497864976,0.999999996612,-2.09421550852e-05,-7.36881310353e-05,-3.01271359234e-05,1793245542928002816
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.448378007,745,714,680,657.448378007,633.551621993,877.448378007,785,807.551621993,652,630,652,0.40403038788,0.00450125726332,0.0699552339861,0.999999996856,-2.54823471415e-05,-6.71567075705e-05,-3.3583228875e-05,1793245542944669696
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,878,785,807,652,630,652,0.404377148805,0.00449785401563,0.0699584062116,0.99999999681,-2.82810158595e-05,-6.54149469936e-05,-3.60700288486e-05,1793245542961336320
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,878,785,807,652,630,652,0.404767151606,0.004481940367,0.0699643110242,0.999999998127,-5.31468458016e-06,-5.58771349924e-05,-2.43851824846e-05,1793245542978003200
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.179346759,878,785,807,652,630,652,0.405163342458,0.0044729767249,0.0699676837884,0.999999998488,1.2732906573e-05,-5.04076432487e-05,-1.79316786027e-05,1793245542994670080
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.767091478,878,785,807,652,630,652,0.405573624325,0.00447983923374,0.0699652907192,0.999999998066,1.95798269959e-05,-5.42022940422e-05,-2.33906837548e-05,1793245543011336192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.648869097,878,785,807,652,629.648869097,652,0.406020914292,0.00448690350904,0.0699611347593,0.999999997266,3.49207511054e-05,-5.97086519619e-05,-2.61372466251e-05,1793245543028002816
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.067261707,878,785,807,652,629.067261707,652,0.406492495802,0.00449410022117,0.069955821667,0.999999995873,5.58369986916e-05,-6.63385463389e-05,-2.7103408009e-05,1793245543044669440
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.509283684,878,785,807,652,629.509283684,652,0.406982168235,0.00449805664404,0.0699389391349,0.99999999534,2.68081155208e-08,-9.19672277415e-05,-2.93561571945e-05,1793245543061336576
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.915713417,878.084286583,785,807,652,630,652,0.407485770503,0.00450252103124,0.0699241593194,0.999999991804,-5.04292123254e-05,-0.000113355459816,-3.16004849626e-05,1793245543078003712
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.34578371,878.65421629,785,807,652,630,652,0.408056002859,0.00451235370524,0.0699302122854,0.999999994779,-1.2223741846e-05,-9.59958489813e-05,-3.28268739999e-05,1793245543094670080
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713.765065537,680,658,633,878.765065537,785,807,652,629.765065537,652.234934463,0.408647278739,0.00452008335347,0.0699401799418,0.999999996612,1.638247239e-05,-7.29734630807e-05,-3.43977352029e-05,1793245543111336448
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.167704337,680,658,633,878.167704337,785,807,652,629.167704337,652.832295663,0.409271017832,0.00452456872286,0.0699561866799,0.999999998029,3.01801838281e-05,-4.12152757952e-05,-3.65000038211e-05,1793245543128002816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.412597216,680,658,633,878.412597216,785,807,652,629,652.587402784,0.409899902731,0.00453236340718,0.0699547706449,0.999999997758,3.70604305087e-05,-4.08246853804e-05,-3.79857884217e-05,1793245543144669440
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.986240008,680,658,633,878.986240008,785,807,652,629,652.013759992,0.410530796134,0.00454144978824,0.0699465541262,0.999999996993,4.12406414636e-05,-5.26775440257e-05,-3.92309459958e-05,1793245543161336064
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.440891333,714,680,658,633,879,784.440891333,807,652,629.559108667,652,0.411191692212,0.00454853282228,0.0699448988049,0.999999995847,5.37965764383e-05,-6.1941076084e-05,-3.9690329699e-05,1793245543178002688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.136312866,714,680,658.136312866,633,879,784.136312866,807.136312866,652,629.863687134,652,0.41187226661,0.00455537322912,0.0699510622619,0.99999999541,6.69386696177e-05,-5.55362014906e-05,-4.01832345121e-05,1793245543194669312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.728066159,714,680,658.728066159,633,879,784.728066159,807.728066159,652,629.271933841,652,0.41261612527,0.00456156748528,0.0699828105913,0.999999995852,8.1351434995e-05,3.0064029564e-06,-4.08526607361e-05,1793245543211335936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,878.686087796,785,807.686087796,652,629.313912204,652,0.413377902078,0.004568585985,0.070009149363,0.999999994425,8.62697446655e-05,4.47590515114e-05,-4.12860888785e-05,1793245543228002560
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,878.105264458,785,807.105264458,652,629.894735542,652,0.414154914289,0.00457630531762,0.0700308885363,0.999999993075,8.31151748902e-05,7.22356571445e-05,-4.15188543208e-05,1793245543244669440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.53000152,633,878.46999848,785,807.46999848,652,630,652.46999848,0.414895430895,0.00458468502971,0.0699990495415,0.999999994125,9.86060496238e-05,1.40535404908e-05,-4.27774598962e-05,1793245543261336320
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,879,784.955788729,808,652,630,652.955788729,0.415631869756,0.00459312551619,0.069956020898,0.99999999032,0.000116875673428,-6.10554014406e-05,-4.44199018799e-05,1793245543278003200
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,879,784.379401091,808,652,630,652.379401091,0.416416463923,0.00460053804032,0.0699210549544,0.999999985543,0.000118914460678,-0.000111685199319,-4.79493802162e-05,1793245543294669824
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.202730544,658.405461088,633,879,784.202730544,807.797269456,652,629.797269456,652.202730544,0.417222755284,0.00460638466449,0.0699080218449,0.999999983008,0.000119747798805,-0.000131062772691,-4.96772690516e-05,1793245543311336448
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.795925229,659.591850459,633,879,784.795925229,807.204074771,652,629.204074771,652.795925229,0.418070835937,0.00460921532539,0.0699372319292,0.999999987786,0.000118259411757,-9.0247770688e-05,-4.79352509987e-05,1793245543328002816
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.622913045,681,659.622913045,633,879,785,807.377086955,652,629.377086955,653,0.418944245437,0.00461346460491,0.0699664171294,0.999999989709,0.000126957984145,-4.66679862896e-05,-4.7815650933e-05,1793245543344669440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.048062049,681,659.048062049,633,879,785,807.951937951,652,629.951937951,653,0.419830938678,0.00461845788183,0.0699955892782,0.99999998888,0.000140999128576,-1.63820722433e-06,-4.85469313648e-05,1793245543361336320
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.528216132,680.471783868,659.528216132,633,879,785,808,652,630,653,0.420763070554,0.00461276263164,0.0700210346154,0.999999989249,0.000132571959575,3.82870142592e-05,-4.96126337447e-05,1793245543378002944
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,808,652,630,653,0.421683017534,0.004603102818,0.0700371764379,0.999999989757,0.000118246267658,6.28293073242e-05,-5.05550394686e-05,1793245543394669312
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,808,652,630,653,0.422529324926,0.00457996295678,0.0700128991325,0.999999994761,8.65660445997e-05,2.01053671565e-05,-5.08038784693e-05,1793245543411335936
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.256985837,659.743014163,633,879,785,808,652,630,653,0.423350942697,0.0045695181335,0.0699601314627,0.99999999397,7.29404454503e-05,-6.3408915176e-05,-5.21512829372e-05,1793245543428002560
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.85684144,659.14315856,633,879,785,808,652,630,653,0.424139619764,0.00457601099014,0.0698693520272,0.999999974741,8.34032684764e-05,-0.000201345560335,-5.49643897764e-05,1793245543444669184
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.439606655,745,714,681,659.439606655,633,879,785,808,652,630,653,0.425052226092,0.0045854716475,0.0698605632377,0.999999973456,8.40257706303e-05,-0.000206614637337,-5.77729744825e-05,1793245543461336064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.983115765,745,714,681,660.016884235,633,879,785,808.016884235,652,630,652.983115765,0.426004470768,0.00459564747221,0.0698788160466,0.999999980547,8.20922028149e-05,-0.000168885713267,-6.03762776038e-05,1793245543478002688
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.410131724,745,714,681,660.589868276,633,879,785,808.589868276,652,630,652.410131724,0.426982765005,0.00459873764168,0.0699412162463,0.999999990073,9.75661968588e-05,-8.46722295572e-05,-5.62651072717e-05,1793245543494669568
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.163506733,660.836493267,633,879,785,809,652,630,652.163506733,0.427954268008,0.00460148977626,0.0699960658321,0.99999999251,0.000109691349109,-8.53196079791e-06,-5.36282988939e-05,1793245543511336448
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.738793251,660.261206749,633,879,785,809,652,630,652.738793251,0.428908667723,0.0046033905944,0.0700318997432,0.999999990958,0.000113382687866,4.72764984046e-05,-5.470456464e-05,1793245543528003328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.324890243,633,879,785,809,652,630,653,0.429831787605,0.00460328916965,0.0700463181615,0.999999989666,0.000111737249372,7.14501622979e-05,-5.54843886714e-05,1793245543544669952
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.919977814,633,879,785,809,652,630,653,0.430728893339,0.00460152256497,0.0700429262279,0.999999990447,0.000105653441378,6.93145164282e-05,-5.6017674848e-05,1793245543561336320
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.501688193,681.501688193,660.501688193,633,879,785,809,652,630,652.501688193,0.43152481643,0.00460503253363,0.0699678129611,0.999999990303,0.000112003892522,-6.05494254103e-05,-5.64197031083e-05,1793245543578002688
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.075365,681.075365,659.924635,633,879.075365,785,809.075365,652,630.075365,652.075365,0.432320052877,0.00460861272807,0.0698927693417,0.999999973423,0.00011881576836,-0.000189199283481,-5.69332803123e-05,1793245543594669568
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.661375926,681.661375926,659.338624074,633,879.661375926,785,809.661375926,652,630.661375926,652.661375926,0.433217149905,0.00460711417812,0.0698936976025,0.999999976268,0.000115664750223,-0.000175165295205,-5.83408531745e-05,1793245543611336192
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.755579908,745,714,682,659.733260275,633,880,785,809.755579908,652,630.755579908,653,0.434132575654,0.00460287757197,0.0699221570761,0.99999998518,0.000107339880677,-0.000120973441163,-5.90295145853e-05,1793245543628002816
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.176596572,745,714,682,661.470210283,633,880,785,809.176596572,652,630.176596572,653,0.435073089964,0.00459489310282,0.0699883013892,0.99999999398,9.19330202789e-05,-1.18133290869e-05,-5.87341266946e-05,1793245543644669696
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.400377622,745,714,682,661.599622378,633,880,785,809,652,630,653,0.435962243233,0.00458678216239,0.0700206973764,0.999999993642,8.63606033173e-05,4.3683170356e-05,-5.78829887791e-05,1793245543661336320
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+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.447089058,633,879.447089058,785,809,652,630.552910942,653,0.437648889752,0.00458060758397,0.0700207173316,0.999999993405,7.72377769663e-05,6.08287448511e-05,-5.93592953297e-05,1793245543694669568
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.132193401,660,633,879,785,809,652,630.867806599,653,0.438441207932,0.00458464030644,0.0699911613529,0.99999999506,7.44045337459e-05,2.39965101254e-05,-6.13858905379e-05,1793245543711335936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.721244854,660,633,879,785,809,652,630.278755146,653,0.43914459455,0.00459423121924,0.0699253369864,0.999999990725,8.99388587259e-05,-8.21014585184e-05,-6.09902570455e-05,1793245543728002560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659.694957598,633,879.305042402,785,809.305042402,652,630,653,0.439838624485,0.00460174229787,0.0698651938173,0.999999976347,0.000104712762576,-0.000180704540439,-6.07182371244e-05,1793245543744669184
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659.115879935,633,879.884120065,785,809.884120065,652,630,653,0.440524248794,0.00460738495412,0.0698101543632,0.999999953961,0.000118803540262,-0.000272574574597,-6.0557265709e-05,1793245543761336064
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.038929854,745,713,683.961070146,658.961070146,632,880,784.038929854,810,652,630,653,0.442025726952,0.00462100977689,0.0698570040727,0.999999969537,0.000134872702618,-0.000198061194717,-5.9228679909e-05,1793245543794669824
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,683,657.634580694,631.634580694,880,784.365419306,809.365419306,652,630,652.365419306,0.444552960825,0.00464625819702,0.0697897344681,0.999999928777,0.000173933421201,-0.000330089796748,-5.68630717178e-05,1793245543861336064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,683,657.055841927,631.055841927,880,784.944158073,809.944158073,652,630,652.944158073,0.445120235104,0.00465162793516,0.0697454223981,0.999999901073,0.000191432887765,-0.00039762831544,-5.56663106555e-05,1793245543878002688
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,683,656.480253002,631,880,784.480253002,810,652,630.519746998,653,0.445673617388,0.00465880714004,0.0697313000858,0.99999989413,0.000202428264705,-0.00040938715944,-5.62492183851e-05,1793245543894669312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,683.096959843,655.903040157,631,880,784,810,652,630.903040157,652.903040157,0.446219086736,0.00466560132498,0.0697218967747,0.999999889376,0.000211928262655,-0.000416062350841,-5.68081839961e-05,1793245543911335936
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,683.732404899,655,630.732404899,880,784,810.267595101,652,630,652.267595101,0.447214570328,0.00467334866592,0.0697103075177,0.999999871301,0.000225393194297,-0.000451197055199,-5.49336885081e-05,1793245543944669440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,683.15309796,655,630.15309796,880,784,810.84690204,652,630,652.84690204,0.447661616795,0.0046772315583,0.0696913648308,0.999999850462,0.000236390018073,-0.000490333095442,-5.26166677341e-05,1793245543961336320
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,683.424972329,654.575027671,629.575027671,880,784,810.575027671,652,630,653,0.448107702964,0.00468052490713,0.0696876090159,0.999999845052,0.000245745018789,-0.000496776211833,-5.21375571804e-05,1793245543978002944
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,629,880,783.997413763,810,652,630,653,0.448553287719,0.00468362610966,0.0696893686945,0.999999845507,0.000254530104932,-0.000491389504741,-5.23218237067e-05,1793245543994669312
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713,683.255203829,653.255203829,629,880,783.744796171,810,652,630,653,0.449732794084,0.00470096185546,0.0697257438496,0.999999864451,0.00028557569451,-0.000432021127037,-5.38808226603e-05,1793245544044669440
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.214530138,745,713,684,651,628,880.214530138,783.214530138,810,652.214530138,630,653,0.451279082455,0.00477408928775,0.069639083324,0.999999802975,0.000286631990672,-0.000554339135114,-6.7830604175e-05,1793245544144669440
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765.543303089,745,713.543303089,684,650,627.456696911,880.456696911,783,810.543303089,652,630,653,0.451981106776,0.00478225324307,0.0696384858657,0.999999797588,0.000320077563098,-0.000545871937131,-6.6312311555e-05,1793245544211336192
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.291281879,745,713.291281879,684.708718121,650,627,880.708718121,783,811,652,630,653,0.452215065047,0.00478632624484,0.0696284420928,0.999999788608,0.000326694672498,-0.000557949713609,-6.8893914907e-05,1793245544244669696
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765.793782281,745,713,684,648,627,880,783,810,652.793782281,630,653,0.452723412073,0.00479867772625,0.0695977188293,0.999999757522,0.000339426973667,-0.0006042453042,-6.80619889288e-05,1793245544661336064
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.20424689,745,713,684,648,627,880,783,810,652.20424689,630,653,0.452722470482,0.00479647508812,0.0695969215463,0.999999756839,0.000338496690347,-0.000605939516218,-6.76633653675e-05,1793245544678002688
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684.377909942,648,626.622090058,880,783,810,652,630,653,0.452721646079,0.00479543523132,0.0695964764935,0.999999756458,0.000337422019564,-0.000607207661378,-6.72993817052e-05,1793245544694669568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,684.956155277,648,626.043844723,880,783,810,652,630,653,0.452720883799,0.0047950117814,0.069596218163,0.999999756236,0.00033627080698,-0.000608249942429,-6.69537611549e-05,1793245544711336448
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684.468747732,648,626.531252268,880,783,810,652,630,653,0.452722720774,0.00479597854359,0.0695969170645,0.999999756761,0.000337968106407,-0.000606411928963,-6.72389094977e-05,1793245544728003072
+244,4.066666667,HOLD_POSE2,765,745,713,684,648,627,881,783,810,653,630,653,0.452724928624,0.00479759167835,0.0695981614793,0.999999756301,0.000342067693222,-0.000604962323623,-6.63965559883e-05,1793245544770575104
+245,4.083333333,HOLD_POSE2,765,745,713,684,648,627,880.407217642,783,810,652.407217642,630,652.407217642,0.452723759243,0.00479638087092,0.0695967957459,0.999999756691,0.000337231998513,-0.000606989254984,-6.67519827965e-05,1793245544787241984
+246,4.100000000,HOLD_POSE2,765,745,713,684,648,627,880,783.180436294,810,652,630,652.180436294,0.452722767861,0.00479603822147,0.0695956622355,0.999999756219,0.000335336882875,-0.000608799015014,-6.69019134623e-05,1793245544803908864
+247,4.116666667,HOLD_POSE2,765,745,713,684,648,627,880,783.756836131,810,652,630,652.756836131,0.452722167094,0.00479760072571,0.0695950383329,0.999999753887,0.000339894803493,-0.000610132197666,-6.66008873592e-05,1793245544820575744
+248,4.133333333,HOLD_POSE2,765.331888448,745,713,684,648,627,880,784,810,652,630,653,0.452722052629,0.00479771380889,0.0695950227405,0.999999753889,0.000340030399416,-0.000610062016007,-6.65216566773e-05,1793245544837242368
+249,4.150000000,HOLD_POSE2,765.905957438,745,713,684,648,627,880,784,810,652,630,653,0.45272229302,0.00479676924272,0.0695954510348,0.999999755597,0.000336939004184,-0.000608967792814,-6.66042711636e-05,1793245544853908992
+250,4.166666667,HOLD_POSE2,765.505000828,745,713,684,648,627,880,783.505000828,810,652,630,653,0.452723873155,0.00479769162253,0.0695966962558,0.999999756196,0.000338232947829,-0.000607272931321,-6.65221533835e-05,1793245544870575360
+251,4.183333333,HOLD_POSE2,765,745,713,684,648,627,880,783,810,652,630,653,0.45272564413,0.00479839308906,0.0695980596806,0.999999756796,0.000339657783376,-0.000605498632762,-6.64173202613e-05,1793245544887241472
+252,4.200000000,HOLD_POSE2,765,745,713,684,648,627,880,783,810,652,630,653,0.452726999199,0.00479568816392,0.0695991801611,0.999999758687,0.000336854189464,-0.000603946337447,-6.63679814383e-05,1793245544903908096
+253,4.216666667,HOLD_POSE2,765,745,713,684,648,627,879.758640672,783,810,652,630,653,0.452726753098,0.00479505759824,0.0695988799668,0.999999758488,0.00033645667727,-0.000604497644354,-6.63584776806e-05,1793245544920574720
+254,4.233333333,HOLD_POSE2,765,745,713,684,648,627,879.182989587,783,810,652,630,653,0.452724289316,0.00479730009874,0.0695966120846,0.999999755393,0.000339391679094,-0.000607962519683,-6.64041469924e-05,1793245544937241344
+255,4.250000000,HOLD_POSE2,765,745,713,684,647.608006054,627,879.391993946,783,810,652,630,653,0.452724893092,0.00479746178505,0.0695965978594,0.999999755535,0.00033912086798,-0.00060787645168,-6.64367305495e-05,1793245544953908224
+256,4.266666667,HOLD_POSE2,765,745,713,684,647.033333567,627,879.966666433,783,810,652,630,653,0.452726926422,0.00479665376244,0.0695976338922,0.999999757187,0.000337356071722,-0.000606135559573,-6.64632158367e-05,1793245544970575104
+257,4.283333333,HOLD_POSE2,765,745,713,684,647,627,880,783,810,652,630,653,0.452725442076,0.00479515566661,0.0695965412751,0.999999756323,0.000336873194893,-0.000607846704467,-6.6284881097e-05,1793245544987241472
+258,4.300000000,HOLD_POSE2,765,745,713,684,647.146145205,627,880,783,810.146145205,652,630,653,0.452723999016,0.00479456809819,0.0695955332339,0.999999755248,0.000337199829571,-0.000609439459835,-6.62032417487e-05,1793245545003908096
+259,4.316666667,HOLD_POSE2,765,745,713,684,647.722978198,627,880,783,810.722978198,652,630,653,0.452723315953,0.00479678906389,0.0695951607092,0.999999754017,0.000339679460532,-0.000610056902948,-6.64437297308e-05,1793245545020574720
+260,4.333333333,HOLD_POSE2,765.299326163,745,713,684,647.700673837,627,880,783,810.700673837,652,630,653,0.452723859481,0.00479736041879,0.0695956109363,0.999999754088,0.000340497089,-0.00060949230785,-6.63692875266e-05,1793245545037241344
+261,4.350000000,HOLD_POSE2,765.875225931,745,713,684,647.124774069,627,880,783,810.124774069,652,630,653,0.452725536362,0.00479640755397,0.0695968213756,0.999999755365,0.000339779047941,-0.00060783552429,-6.60038537807e-05,1793245545053908224
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,685,648,627,880,783,810,652,630,653,0.452726024139,0.00479504985925,0.0695969401944,0.999999756142,0.000336477730401,-0.00060844430111,-6.55271951158e-05,1793245545085891072
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.441972278,647.441972278,627,879.441972278,783,810,652,630,653,0.452723721864,0.00479592930923,0.0695948912701,0.999999754292,0.000336545038019,-0.000611440736539,-6.5518931561e-05,1793245545102557696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.122889676,745,713,684,647,627,879.122889676,783,810,652,630,653,0.452722365595,0.00479657103905,0.0695935890127,0.999999753115,0.000336706169606,-0.000613267560288,-6.55946242438e-05,1793245545119224320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.713778504,745,713,684,647,627,879.713778504,783,810,652,630,653,0.452724611988,0.00479630746261,0.0695951302769,0.999999754522,0.000337224609822,-0.000610640168,-6.59900463727e-05,1793245545135891456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.699089018,745,713,684,647.300910982,627,880,783,810,652,630,653,0.452725260521,0.00479688091555,0.0695959097721,0.999999754765,0.000338648127892,-0.00060941914388,-6.62997134521e-05,1793245545152558080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.1154855,745,713,684,647.8845145,627,880,783,810,652,630,653,0.452724407935,0.00479824072055,0.0695959736191,0.999999753916,0.000340921926483,-0.000609519340511,-6.6528817438e-05,1793245545169224448
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.526016764,627,880,783,810,652,630,653,0.452724768025,0.00479760328493,0.0695964859126,0.999999755121,0.000339132507052,-0.000608560475772,-6.63352418305e-05,1793245545185890816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.936345734,880,783,809.936345734,652,630,653,0.452725184973,0.00479665905968,0.0695968830522,0.999999756447,0.000336954611683,-0.00060761989646,-6.60772415237e-05,1793245545202557184
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.356762878,880,783,809.356762878,652,630,653,0.45272363796,0.00479722185248,0.0695954501554,0.99999975469,0.00033975269632,-0.000608945179082,-6.61422408185e-05,1793245545219224064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.21998593,626.21998593,880,783,809.21998593,652,630,653,0.45271606131,0.00479783135019,0.0695915926959,0.999999751031,0.000340694110586,-0.000614392829375,-6.62399377133e-05,1793245545235890688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.792197016,626.792197016,880,783,809.792197016,652,630,653,0.452698830452,0.00479851562829,0.0695838532064,0.999999744236,0.000338662761645,-0.000626440908885,-6.63899875678e-05,1793245545252557568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.375909206,745,713,684.375909206,647.624090794,627,880,783,810,652,630,652.624090794,0.452662496391,0.00479739158309,0.0695693424976,0.999999729854,0.000337162173723,-0.000649802125286,-6.61122150582e-05,1793245545269224192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.966179932,745,713,684.966179932,647.033820068,627,880,783,810,652,630,652.033820068,0.452615268763,0.00479523634499,0.069550970513,0.999999710475,0.000335964250858,-0.0006796146375,-6.55904776165e-05,1793245545285890816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.454181612,745,713,684.454181612,647,626.454181612,880,783,810,652,630,652,0.452555466856,0.00479718063634,0.0695381107121,0.999999698069,0.00034005222897,-0.000695656428603,-6.54807620265e-05,1793245545302557440
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.123959234,626,880,783,810.123959234,652,629.876040766,652.123959234,0.452491842976,0.00479898109447,0.0695268827401,0.999999686788,0.000344073497267,-0.000709774394166,-6.52532420785e-05,1793245545319224064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.699002024,626,880,783,810.699002024,652,629.300997976,652.699002024,0.452417092091,0.00479935145656,0.069520373807,0.99999967867,0.000346682930261,-0.000719937295217,-6.45059091725e-05,1793245545335890688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,626,880,783,810.725709888,652.274290112,629.274290112,652.725709888,0.452335143525,0.00479838941504,0.0695179897612,0.999999675409,0.000347496265053,-0.000724177468459,-6.32100095584e-05,1793245545352557312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,626,880,783,810.150152408,652.849847592,629.849847592,652.150152408,0.45224528937,0.00479596392397,0.0695201362982,0.999999677567,0.000346336849871,-0.000721912395305,-6.13115901057e-05,1793245545369223936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,626.435003569,880,783,810,652.564996431,630,652.435003569,0.45213513965,0.00479474014213,0.0695216554191,0.999999677704,0.000347204097467,-0.000721507063341,-5.88963832557e-05,1793245545385890560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.4520162985,0.00479389238139,0.0695226815708,0.999999676834,0.00034874168528,-0.000722178113392,-5.63047475931e-05,1793245545402557440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451860798367,0.00479188959406,0.0695171930211,0.999999668989,0.000349199605853,-0.000732925698857,-5.38565516373e-05,1793245545419224064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451696669453,0.00479057209858,0.0695125495595,0.999999661084,0.000351068673896,-0.000742938727272,-5.12279338859e-05,1793245545435890688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451513940579,0.00479073180084,0.0695097277486,0.9999996532,0.000355979575042,-0.000751368362164,-4.8210403887e-05,1793245545452557312
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451316661502,0.00479002408542,0.0695100672872,0.999999648845,0.00036041374241,-0.000755272922196,-4.44371277382e-05,1793245545469223936
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451108592055,0.00478867309788,0.0695127512647,0.999999647134,0.000364494367177,-0.000755821712741,-4.01033941271e-05,1793245545485890560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.492661089,745,713,684,648.985322178,627,880,783,810,652,630,653,0.45086529355,0.00478435696585,0.0695161626829,0.99999964728,0.000365003475929,-0.00075563295465,-3.50767962526e-05,1793245545502557440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.915772043,745,713,684,649.915772043,627.084227957,880,783,810,652,630,653,0.450610421514,0.00478005950289,0.0695201951049,0.999999648046,0.000365863883312,-0.000754426198954,-2.98900874692e-05,1793245545519223808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.338208054,745,713,684,649.338208054,627.661791946,880,783,810,652,630,653,0.450330187619,0.00477944229494,0.0695269887887,0.999999650241,0.000373083060163,-0.00074814510169,-2.45999955961e-05,1793245545535890688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649.238092339,628,880,783.238092339,810,652,630,653,0.450035542905,0.00477828266499,0.0695335799967,0.999999652222,0.000379509396547,-0.000742405946987,-1.90379365119e-05,1793245545552557568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649.812607248,628,880,783.812607248,810,652,630,653,0.449720535834,0.00477635659714,0.0695398851077,0.999999653969,0.000384815455288,-0.000737432553216,-1.30915902551e-05,1793245545569223936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,628,880,783.611088494,809.611088494,652,630,653,0.449385463255,0.00477155566858,0.0695520053077,0.999999666174,0.000386632502075,-0.000719801448987,-7.27294787083e-06,1793245545585890560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,628,880,783.033918088,809.033918088,652,630,653,0.449040677653,0.00476536311728,0.0695669403955,0.999999682969,0.000386760635902,-0.000696043175259,-1.51612277912e-06,1793245545602557184
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.556672488,745,713,684,650.556672488,628,880.556672488,783,809,652,630,653,0.448634802543,0.00475968479664,0.0695761178664,0.999999692092,0.000384630703383,-0.000684002734927,4.02911729158e-06,1793245545619223808
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.855680713,745,713,684,651.144319287,628,880.855680713,783,809,652,630,653,0.448213721468,0.00475347626539,0.0695817104457,0.999999698155,0.000382234768341,-0.000676388693522,9.23883594799e-06,1793245545635890432
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.279354125,745,713,684,651.720645875,628,880.279354125,783,809,652,630,653,0.447758540025,0.00474558448872,0.0695776480272,0.999999696825,0.000379464598463,-0.000679834698387,1.34837432912e-05,1793245545652557312
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.626884731,713,683.373115269,653.626884731,629.626884731,880,783.373115269,810,652.626884731,630,653,0.445179221216,0.00466210041285,0.0695864402966,0.999999765667,0.000214409121801,-0.000650088226616,8.92520339426e-06,1793245545735890432
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.216599144,713,683.783400856,654.783400856,630,879.216599144,783.783400856,809.216599144,652.216599144,630,653,0.444011555394,0.00465618401111,0.0696405503655,0.999999823511,0.000189217973362,-0.000563061753291,1.16613738124e-05,1793245545769223680
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.64322243,745,713,683.64322243,655,630,879,784,809,651.64322243,630,653,0.443381169265,0.00464833452915,0.0696595024922,0.99999984279,0.000169578985324,-0.000534298335703,1.37030637327e-05,1793245545785890304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.072468074,745,713,683.072468074,655,630,879,784,809,651.072468074,630,653,0.442732166289,0.00463787371992,0.0696743968196,0.999999857536,0.000148355032852,-0.000512480800726,1.67764286381e-05,1793245545802556928
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.521148493,745,713,683.521148493,655.521148493,630.521148493,879.521148493,784.521148493,809,651.521148493,630,653,0.4420665993,0.00463280754563,0.0696938687048,0.999999875739,0.000125448305471,-0.000482164368916,1.73657356409e-05,1793245545819223808
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.886326198,656.113673802,631,880,784.886326198,809,652,630,653,0.441395789943,0.00462765714181,0.0697186234985,0.999999897742,0.000103463544689,-0.00043987279188,1.79551305414e-05,1793245545835890176
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.311708672,656.688291328,631,880,784.311708672,809,652,630,653,0.440713491476,0.00461898379769,0.0697621007797,0.999999933414,8.62097239005e-05,-0.000354034461529,2.00098123219e-05,1793245545852557056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.260502676,683,657,631.260502676,880,784.260502676,809,652,630.260502676,653,0.439995257237,0.00461120371365,0.0697869743874,0.999999944017,0.000128157914464,-0.000308394649187,2.08305501844e-05,1793245545869224192
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.829861299,683,657,631.829861299,880,784.829861299,809,652,630.829861299,653,0.439234416909,0.00460448269123,0.0697897912018,0.999999922746,0.000240296910035,-0.000310414801154,2.01883055388e-05,1793245545885890816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.58052624,683,657,632,879.58052624,785,809.41947376,652,630.58052624,653,0.4384271069,0.0046001335723,0.0697620833322,0.999999905001,0.000255273764865,-0.000352759476643,1.98438100451e-05,1793245545902557184
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.017148302,745,713,683,657,632,879,784.982851698,809.982851698,652,630,652.982851698,0.437600111588,0.00459672978178,0.0697227888901,0.999999889503,0.000228814915804,-0.000410183743436,1.96848672077e-05,1793245545919223808
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.596159295,745,713,683,657,632,879,784.403840705,809.403840705,652,630,652.403840705,0.436777015166,0.00459117908279,0.0697300982913,0.999999900032,0.000201459938239,-0.000398610831869,2.14478665892e-05,1793245545935890432
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.826673172,745,713,682.826673172,657.173326828,632,879,784.173326828,809,652,630.173326828,652,0.435951861666,0.00458589216668,0.0697492587826,0.99999991557,0.000174399333178,-0.000371354445899,2.32612021526e-05,1793245545952557056
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.680208276,658,632,879,785,809,652,630.680208276,652,0.434277681394,0.00457712461453,0.0698232273226,0.999999952936,0.00013338525684,-0.000274996557078,2.67130012694e-05,1793245545985890304
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.10616023,658,632,879,785,809,652,630.10616023,652,0.433421957167,0.00457350495494,0.0698356106444,0.999999955955,0.000128095052054,-0.000266276798481,2.79118550998e-05,1793245546002556928
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.484806134,658,632,879.484806134,785,809,652,630,652.484806134,0.43256322594,0.00456711832341,0.0698401472216,0.999999960086,0.000129336289838,-0.000249607387536,2.82323850842e-05,1793245546019223552
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,657.922899872,632.077100128,879.845799744,784.922899872,809,652,630,653,0.431686667561,0.00456042789658,0.0698350194403,0.999999960567,0.00013012526669,-0.000247224138454,2.85293731041e-05,1793245546035890432
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,657.34685584,632.65314416,878.69371168,784.34685584,809,652,630,653,0.430699158585,0.00455583426258,0.0697788713883,0.999999931654,0.000118397331299,-0.00034896454651,2.99636607101e-05,1793245546052557312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,657,633,878.228290043,784.228290043,809,652,630,652.771709957,0.429736052103,0.00455027093881,0.0697383950217,0.999999906813,0.000110911017149,-0.000416142700657,2.99521945239e-05,1793245546069223936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,657,633,878.802076745,784.802076745,809,652,630,652.197923255,0.428809876476,0.0045432400752,0.0697216363477,0.999999900696,0.000109844018871,-0.000431013980043,2.77527092654e-05,1793245546085890560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.614761004,657.385238996,632.614761004,878.614761004,785,809,652,630,652,0.427951281525,0.00453611307052,0.0697633133513,0.999999927363,0.000101627041999,-0.000366183455605,2.92606971752e-05,1793245546102557184
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.026661785,657.973338215,632.026661785,878.026661785,785,809,652,630,652,0.427128273451,0.00452893544002,0.0698357615777,0.999999961807,8.9645008589e-05,-0.000259383329015,3.27209764836e-05,1793245546119223808
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.556532541,745,713.556532541,681,658,632.556532541,878.556532541,785,808.443467459,652,630,652.556532541,0.426236267301,0.0045235252304,0.0698569415232,0.999999969735,8.36937109276e-05,-0.000228845212888,3.40001461642e-05,1793245546135890688
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.72527332,745,713.86263666,681.13736334,657.86263666,633,879,785,808,651.86263666,630,652.86263666,0.425334515109,0.00451720934805,0.0698646963098,0.99999997275,7.74664253361e-05,-0.000217500395615,3.45448855714e-05,1793245546152557312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.577158632,745,713.288579316,681.711420684,657.288579316,633,879,785,808,651.288579316,630,652.288579316,0.424412195893,0.00450774739746,0.0698375109932,0.99999996436,6.94512746896e-05,-0.000255659934155,3.30840706662e-05,1793245546169224192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.285446149,745,713.285446149,681.714553851,657,633,879,785,808.285446149,651.285446149,630,652,0.423444859037,0.00450162413307,0.0697923598541,0.999999941913,6.26014678687e-05,-0.000333475919541,3.23767179958e-05,1793245546185890560
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.859439353,745,713.859439353,681.140560647,657,633,879,785,808.859439353,651.859439353,630,652,0.422432015556,0.00449887582483,0.069729047725,0.999999895982,5.69296643283e-05,-0.000451379149138,3.24310124858e-05,1793245546202557184
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744.554082348,713.554082348,681,657,633,878.554082348,785,808.554082348,652,630,652,0.421513809497,0.00449043491077,0.0696982925514,0.999999873127,5.02496126144e-05,-0.000500114417382,3.32523929697e-05,1793245546219223808
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.035817966,713.035817966,681,657,633,878,785,808,652,630,652,0.420633611113,0.00448029351608,0.0696842894251,0.999999865228,4.19409575237e-05,-0.000516354737759,3.40978573558e-05,1793245546235890688
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.616187261,713.616187261,681,657,633,878,785,808,652,630,652,0.419864657763,0.00447236590645,0.0697644546811,0.999999927363,1.38432042383e-05,-0.000379588639535,3.15274507899e-05,1793245546252557312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.805256108,681,657.194743892,633,878,785,808,652,629.805256108,652.194743892,0.419083407953,0.00446443620509,0.0698329728385,0.999999963861,-2.47708749289e-06,-0.00026702953342,3.11057074368e-05,1793245546269223936
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.230238931,681,657.769761069,633,878,785,808,652,629.230238931,652.769761069,0.418278146904,0.00445650241782,0.0698787479069,0.999999979034,4.20027702079e-06,-0.000201739020328,3.48796248277e-05,1793245546285890560
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.655188981,713,681,657.655188981,633,878,785,808,652,629.344811019,652.655188981,0.417428021785,0.00444752961164,0.0698737623762,0.999999977016,8.22924311816e-07,-0.000211331083559,3.61553738859e-05,1793245546302557184
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.080117178,713,681,657.080117178,633,878,785,808,652,629.919882822,652.080117178,0.416547937011,0.00443786296121,0.0698348795059,0.999999962616,-9.2688518598e-06,-0.000270928862898,3.57628749648e-05,1793245546319223808
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.508214278,713,681,657,632.491785722,878,785,808,652,629.491785722,652,0.415723340333,0.00443325018669,0.0698049958045,0.999999951916,-2.08590400038e-05,-0.000307541217988,3.39402443115e-05,1793245546335890432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.90330007,632.09669993,878,784.90330007,808,652,629.09669993,652.09669993,0.414906025223,0.00442997504645,0.0697768364175,0.999999939482,-2.9225373085e-05,-0.000345132205203,3.26554200851e-05,1793245546352557312
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.32474119,632.67525881,878,784.32474119,808,652,629.67525881,652.67525881,0.414080238143,0.00442928896516,0.0697500106867,0.999999916699,-2.03185221939e-05,-0.000406139612976,3.5204036265e-05,1793245546369223936
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.251428054,633,878,784,807.748571946,652,630,652.748571946,0.413321386416,0.00444338024729,0.0697506707253,0.999999915838,-2.44774334044e-06,-0.000408752358344,3.51994242817e-05,1793245546385890816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.824539889,633,878,784,807.175460111,652,630,652.175460111,0.412648173632,0.00447637808368,0.0697864967949,0.999999942461,2.6891724123e-05,-0.000336653404971,3.19281436419e-05,1793245546402557440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.409082247,680.590917753,657.818164494,633,878,784.409082247,807.409082247,652,629.590917753,652.409082247,0.411997949585,0.00448891764296,0.0698343040966,0.999999966239,3.90676171758e-05,-0.000254859564609,3.22983379492e-05,1793245546419224064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.998668267,680.001331733,658.997336533,633,878,784.998668267,807.998668267,652,629.001331733,652.998668267,0.411357869047,0.0044924301788,0.0698873980097,0.999999984214,4.36702435047e-05,-0.000168787937373,3.4275299096e-05,1793245546435890944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.419556492,745,713.419556492,680,657.258669476,633,878,785,808,652,629,652.419556492,0.410664294563,0.00447512161097,0.069872472529,0.999999979219,3.44141310046e-05,-0.000197971678533,3.44248531993e-05,1793245546452557056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.160027567,745,713.160027567,680.160027567,656.160027567,633,878,785,808,652,629.160027567,652,0.409977968851,0.00446312046426,0.0698486111353,0.999999970087,2.61215565566e-05,-0.000240768525155,3.42580170381e-05,1793245546469223936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.733989677,745,713.733989677,680.733989677,656.733989677,633,878,785,808,652,629.733989677,652,0.409310706245,0.00446496965439,0.0698020340119,0.999999948643,2.04024657138e-05,-0.000318102735487,3.32834924738e-05,1793245546485891584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.691120294,680.691120294,657,632.691120294,877.691120294,785,807.691120294,652,630,652,0.408683001894,0.00446565338273,0.0697730120677,0.999999933462,1.74139930213e-05,-0.000362970063373,3.20124404282e-05,1793245546502558720
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.115428759,680.115428759,657,632.115428759,877.115428759,785,807.115428759,652,630,652,0.408089468199,0.00446533037927,0.0697591543776,0.999999927273,1.67842422976e-05,-0.000379792333078,3.04852466441e-05,1793245546519224832
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.52610288,745,713.47389712,680,657,632.47389712,877.47389712,785,807,652,629.52610288,652,0.407551853485,0.00447003498363,0.0697760867368,0.999999936972,2.45174259532e-05,-0.000352899253336,3.02811928068e-05,1793245546535890944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.064706538,745,713.935293462,680,657,633,878,785,807,652,629,652,0.407030752938,0.00447653367751,0.0697986877269,0.999999948082,3.3846000753e-05,-0.000319008052933,3.04085556334e-05,1793245546552557312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.640233946,745,713.359766054,680,657,633,878,785,807,652,629,652,0.406529311948,0.00448724184987,0.0698050801292,0.999999948704,3.92120543353e-05,-0.000316419828248,3.05326659046e-05,1793245546569224704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,632.785500102,877.785500102,785,807,652,629,652,0.406044372067,0.00449226112523,0.0698068517852,0.999999947415,4.15951638122e-05,-0.000320150426181,3.07052352878e-05,1793245546585891584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,657,632.213337595,877.213337595,785,807,652,629,652,0.405586946611,0.00448779458733,0.0698009186897,0.999999942843,3.90044355349e-05,-0.000334417190616,3.09586066172e-05,1793245546602557696
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.372360377,680,657,632.372360377,877.372360377,784.627639623,807,652,629.372360377,652,0.405172395473,0.00448346203956,0.0698081311324,0.999999947565,3.809181931e-05,-0.000320125912313,3.06212412123e-05,1793245546619224320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.96610585,680,657,632.96610585,877.96610585,784.03389415,807,652,629.96610585,652,0.404783335014,0.00447920915457,0.0698231591918,0.999999957105,3.81769163743e-05,-0.000288855586247,2.99326560856e-05,1793245546635890944
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713.298648527,680,657,633,878,785,807,652,629.298648527,652,0.403753297848,0.00447101531399,0.0698438962652,0.999999969037,1.04992136192e-05,-0.000247026753612,2.81626059235e-05,1793245546685890560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.275912739,745,713.275912739,680,657,633,877.724087261,785,807,652,629.275912739,652,0.403438812138,0.00446808250833,0.0698372783865,0.999999966418,-1.36859919625e-06,-0.000257680285188,2.76096098279e-05,1793245546702557184
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.848803074,745,713.848803074,680,657,633,877.151196926,785,807,652,629.848803074,652,0.403138759235,0.00446798928615,0.0698260955113,0.999999960961,-8.69480865085e-06,-0.000277998011125,2.68275430163e-05,1793245546719223808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.563766093,745,714,680,657,633,877.436233907,785,807,652,630,652,0.402859196237,0.00446676210752,0.0698158306393,0.99999995529,-1.62102289973e-05,-0.000297412545967,2.65037472024e-05,1793245546735890432
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.028198424,744.971801576,713.971801576,680,657,633,878,785,807,652,629.971801576,652,0.402589557261,0.00446519413036,0.0698060714417,0.999999949436,-2.36128100712e-05,-0.000316031050223,2.63644852648e-05,1793245546752557056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.60689256,744.39310744,713.39310744,680,657,633,878,785,807,652,629.39310744,652,0.402370235266,0.00446491028875,0.0697997584356,0.999999946315,-2.74881145907e-05,-0.000325431287886,2.66200048665e-05,1793245546769223936
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.816152913,744.183847087,713,680,657,633,878.183847087,785,807,652,629.183847087,652,0.402164326657,0.00446557002412,0.0697960467587,0.999999944396,-2.77121897991e-05,-0.000331232123487,2.69384620853e-05,1793245546785890560
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.242883276,744.757116724,713,680,657,633,878.757116724,785,807,652,629.757116724,652,0.401986830135,0.00446822843223,0.0697978451848,0.999999945166,-2.02022772794e-05,-0.000329408750512,2.73902329316e-05,1793245546802557184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.331602201,745,713.331602201,679.668397799,657.331602201,633,878.668397799,785,807,652.331602201,630,652,0.401828433494,0.00447786367078,0.0697992054971,0.999999946049,2.00076591209e-05,-0.00032672195819,2.74745571249e-05,1793245546819224064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.906981562,745,713.906981562,679.093018438,657.906981562,633,878.093018438,785,807,652.906981562,630,652,0.401684078101,0.00449262792234,0.0698002437307,0.999999943784,8.42569993091e-05,-0.000323400422403,2.72887530889e-05,1793245546835890688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.50215771,744.50215771,713.50215771,679.49784229,657.50215771,633,878,785,807,652.50215771,630,652,0.401559608019,0.004504426478,0.0697991369232,0.999999943874,8.81019189832e-05,-0.000322461995765,2.25292418251e-05,1793245546852557312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,744.088996905,713,679.911003095,657,633,878,785,807,652,630,652,0.401443221931,0.00451241544229,0.0697976026167,0.999999944723,7.84318879514e-05,-0.000322622211363,1.78408488479e-05,1793245546869223936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,744.665410776,713,679.334589224,657,633,878,785,807,652,630,652,0.401350108373,0.00450267229439,0.0697959924598,0.999999944888,5.8539063169e-05,-0.000326282550288,1.83724414001e-05,1793245546885890816
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,657,632.759260016,877.759260016,785,807,652,630,652,0.401266287055,0.00449833074324,0.0697943532685,0.999999944638,4.8458132135e-05,-0.000328674951115,1.8690491925e-05,1793245546902557696
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.145948197,679.145948197,657,633,878.145948197,785,807,652,629.145948197,652,0.401035163129,0.00449718155217,0.0698075514272,0.999999951899,4.63196088386e-05,-0.000305918551777,2.16880075669e-05,1793245546985890560
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,713.719332242,679.719332242,657,633,878.719332242,785,807,652,629.719332242,652,0.40101747132,0.00449811524526,0.0698112973863,0.999999953939,4.58332163002e-05,-0.000299257546555,2.15843331637e-05,1793245547002557440
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,713.136028599,679.136028599,657,633,877.272057198,785,806.136028599,652,630,652,0.400989177138,0.0044940984321,0.0698158750132,0.99999995667,4.01675318921e-05,-0.000290795038827,2.20146422175e-05,1793245547035890944
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,657,633,877.455594575,785,806.455594575,652,630,652,0.40097824824,0.00449461428999,0.0698153208482,0.999999956097,3.99024607795e-05,-0.000292825783493,2.1627080629e-05,1793245547052557312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.051732332,679,657,633,878,785,807,652,629.948267668,652,0.400968829842,0.00449605988957,0.0698142959808,0.999999955174,4.06563186088e-05,-0.000295896016185,2.11092630334e-05,1793245547069223680
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.631376056,679,657,633,878,785,807,652,629.368623944,652,0.400968235963,0.00449591967127,0.0698160167099,0.999999956246,4.12105793176e-05,-0.000292141769389,2.15103637715e-05,1793245547085890304
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633,878.208348987,785,807,652,629.208348987,652,0.400968128218,0.00449529755466,0.0698178203577,0.999999957293,4.130359832e-05,-0.000288503502493,2.17831414245e-05,1793245547102556928
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633,878.780656358,785,807,652,629.780656358,652,0.400968869685,0.00449383362485,0.0698197688533,0.999999958306,4.059088846e-05,-0.00028506783752,2.18317554371e-05,1793245547119223808
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.363968707,657,633,878.636031293,785,807,652,629.636031293,652,0.400967227489,0.00449384355694,0.0698199801502,0.999999958323,4.076707766e-05,-0.00028499748872,2.162119248e-05,1793245547135890432
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.9541199,657,633,878.0458801,785,807,652,629.0458801,652,0.400964104004,0.00449476939682,0.0698191118929,0.999999957723,4.14956588813e-05,-0.000287018461545,2.12495681706e-05,1793245547152557312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.534157616,657,633,878.534157616,785.534157616,807,652,629,652,0.400964562028,0.00449551709066,0.0698204518639,0.99999995807,4.34076865926e-05,-0.000285515093048,2.13956374886e-05,1793245547169223680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,744.888027533,714,680.776055066,657,633,878.776055066,785.888027533,807,652,629,652,0.400965785198,0.00449604253132,0.0698220823345,0.999999958663,4.47022851011e-05,-0.00028321852487,2.1512966695e-05,1793245547185890560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,744.315844951,714,679.631689901,657,633,877.631689901,785.315844951,807,652,629,652,0.400968912286,0.00449571622525,0.0698241417026,0.999999959958,4.30492132738e-05,-0.000278882929096,2.13328126473e-05,1793245547202557184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,744.25898029,714,679,657,633,877.25898029,785,807,652,629.25898029,652.25898029,0.400970362132,0.00449480673191,0.0698252098811,0.999999960644,4.16894256279e-05,-0.00027661235383,2.14430988019e-05,1793245547219224064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,744.837061745,714,679,657,633,877.837061745,785,807,652,629.837061745,652.837061745,0.400969745374,0.00449317866749,0.069825056771,0.999999960599,4.06910062805e-05,-0.000276886181847,2.19112492585e-05,1793245547235890944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,744.575463713,713.575463713,679.424536287,657,633.424536287,878,785,807,652,630,652.575463713,0.400967969411,0.00449323853382,0.0698246541402,0.99999996022,3.88866843989e-05,-0.000278520756137,2.17889558316e-05,1793245547252557568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744.015363341,713,679.984636659,656.984636659,633.984636659,878,785,807.015363341,652,630,652,0.400965813857,0.00449393983729,0.069824183617,0.999999959725,3.68197810464e-05,-0.000280597870295,2.14425592955e-05,1793245547269224192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744.593941818,713,679.406058182,656.406058182,633.406058182,878,785,807.593941818,652,630,652,0.400966421729,0.00449386932739,0.0698248143896,0.999999960088,3.67224028436e-05,-0.000279319339339,2.13761818825e-05,1793245547285890816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.171105948,679.171105948,656.171105948,633,878,785,807.828894052,652,630,652,0.400966540069,0.00449374045029,0.0698247812048,0.99999996017,3.68717439414e-05,-0.000279008080159,2.13278847754e-05,1793245547302557440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.744941115,679.744941115,656.744941115,633,878,785,807.255058885,652,630,652,0.400965506203,0.00449347419525,0.0698231852743,0.999999959593,3.76017841556e-05,-0.000280973472527,2.13221429876e-05,1793245547319224064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.683367274,680,657,633,878,785,807,652,630,652,0.400964741822,0.00449378944289,0.0698224074861,0.99999995936,3.91880826217e-05,-0.000281581027878,2.13479862701e-05,1793245547335890944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.113390789,680,657,633,878,785,807,652,630,652,0.40096419306,0.00449456996169,0.0698222843089,0.999999959402,4.14594892733e-05,-0.000281102152374,2.13991013574e-05,1793245547352557568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,713.479997844,679.520002156,657,633,878,785,807,652,629.520002156,652,0.400966480713,0.00449455343189,0.0698238227957,0.999999960046,3.98342932983e-05,-0.000279041586476,2.13833551e-05,1793245547369224192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.076203859,745,714,679.076203859,657.076203859,633,877.923796141,785,807,652,629.076203859,652,0.400969031226,0.00449437940097,0.0698256312784,0.999999960776,3.77245781574e-05,-0.000276711685897,2.13280177755e-05,1793245547385890560
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.652733018,745,714,679.652733018,657.652733018,633,877.347266982,785,807,652,629.652733018,652,0.400968682702,0.00449447089637,0.0698265030435,0.999999961159,3.87872567754e-05,-0.000275192444954,2.11217606868e-05,1793245547402557440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.771304236,745,714,680,657.771304236,633,877,785,807,652,629.771304236,652,0.400968031608,0.00449478089226,0.0698266525604,0.999999961197,4.03246994257e-05,-0.000274840141305,2.10420542369e-05,1793245547419224320
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.19619936,745,714,680,657.19619936,633,877,785,807,652,629.19619936,652,0.400966922209,0.00449542185436,0.0698257080766,0.999999960711,4.25812748729e-05,-0.000276255415921,2.11540360224e-05,1793245547435890688
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..522e4bf2845edce233dc33160b37d181eeb5b18a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+1,0.016666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+2,0.033333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+3,0.050000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+4,0.066666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+5,0.083333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+6,0.100000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+7,0.116666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+8,0.133333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+9,0.150000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+16,0.266666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+17,0.283333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+18,0.300000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+21,0.350000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+381,6.350000000,pose2_to_pose3_retreat,0.575680345473,0.00987789544492,1.06005064076,0.546251977166,0.0185535762153,1.05971713534
+382,6.366666667,pose2_to_pose3_retreat,0.5756773505,0.00987788283574,1.06005084179,0.546248982912,0.0185535659643,1.05971733417
+383,6.383333333,pose2_to_pose3_retreat,0.575675730454,0.00987786547982,1.06005099203,0.546247363613,0.0185535511091,1.05971748345
+384,6.400000000,pose2_to_pose3_retreat,0.575675035757,0.00987785803738,1.06005105646,0.546246669236,0.0185535447391,1.05971754747
+385,6.416666667,pose2_to_pose3_retreat,0.57567449569,0.00987785225152,1.06005110654,0.546246129418,0.0185535397869,1.05971759723
+386,6.433333333,pose2_to_pose3_retreat,0.575674160763,0.00987784987316,1.06005112908,0.546245794591,0.0185535377366,1.05971761951
+387,6.450000000,pose2_to_pose3_retreat,0.5756741553,0.00987784991649,1.06005112887,0.546245789126,0.0185535377724,1.05971761929
+388,6.466666667,pose2_to_pose3_retreat,0.575673753338,0.00987785310489,1.06005111331,0.546245387009,0.0185535404106,1.05971760314
+389,6.483333333,pose2_to_pose3_retreat,0.575673029934,0.00987785884302,1.06005108533,0.546244663326,0.0185535451586,1.05971757408
+390,6.500000000,pose2_to_pose3_retreat,0.575672592998,0.00987786230885,1.06005106842,0.546244226222,0.0185535480263,1.05971755653
+391,6.516666667,pose2_to_pose3_retreat,0.575672589323,0.009877862338,1.06005106828,0.546244222546,0.0185535480505,1.05971755638
+392,6.533333333,pose2_to_pose3_retreat,0.575672269953,0.00987786487127,1.06005105592,0.546243903053,0.0185535501466,1.05971754355
+393,6.550000000,pose2_to_pose3_retreat,0.575671779842,0.00987786875889,1.06005103696,0.546243412753,0.0185535533634,1.05971752386
+394,6.566666667,pose2_to_pose3_retreat,0.57567125217,0.00987786380256,1.06005100687,0.546242885053,0.0185535483163,1.05971749394
+395,6.583333333,pose2_to_pose3_retreat,0.575670879533,0.00987784308368,1.06005096737,0.546242512726,0.018553528723,1.05971745637
+396,6.600000000,pose2_to_pose3_retreat,0.575670692406,0.00987783267928,1.06005094754,0.546242325755,0.0185535188838,1.05971743751
+397,6.616666667,pose2_to_pose3_retreat,0.575670685596,0.00987783230064,1.06005094682,0.546242318951,0.0185535185257,1.05971743682
+398,6.633333333,pose2_to_pose3_retreat,0.575670397983,0.00987781630914,1.06005091634,0.546242031577,0.018553503403,1.05971740783
+399,6.650000000,pose2_to_pose3_retreat,0.575670031244,0.00987779591821,1.06005087747,0.546241665143,0.0185534841198,1.05971737085
+400,6.666666667,pose2_to_pose3_retreat,0.57566980128,0.00987783107836,1.0600510346,0.546241435863,0.0185535214258,1.05971752339
+401,6.683333333,pose2_to_pose3_retreat,0.575669609685,0.00987785815932,1.06005116932,0.546241244683,0.0185535497779,1.05971765461
+402,6.700000000,pose2_to_pose3_retreat,0.575669574247,0.00987785865628,1.06005119206,0.546241209112,0.0185535498239,1.05971767733
+403,6.716666667,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7ad92a7139089d29b6b6086e5443994a321333c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3937c86c6e7b98e13ef17a3a42cdc4efa7a7f6b4a408b7a5ca8e0e0cc150fe9
+size 25689310
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6db1b1e84f4bb569eefa6ba1dd044e69079385df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+45,0.750000000,BASELINE,764,745,714,679,657,633,878,785,807,652,630,652,0.400968054206,0.00449708710252,0.0698287258166,0.999999961768,4.49850323818e-05,-0.000272052895,2.07001076977e-05,1793245548334953472
+46,0.766666667,BASELINE,764,745,714,679,657,633,878,785,807,652,630,652,0.400969715954,0.00449511933821,0.0698298286261,0.999999962419,4.20867982564e-05,-0.000270105207303,2.08441002877e-05,1793245548351620352
+47,0.783333333,BASELINE,764,745,714,679,657,633,877.737103274,785,807,652,629.737103274,652,0.400970302797,0.00449451699143,0.069830272539,0.999999962698,4.02807132445e-05,-0.000269352740149,2.07405890266e-05,1793245548368286976
+48,0.800000000,BASELINE,764,745,714,679,657,633,877.161834513,785,807,652,629.161834513,652,0.400969612447,0.0044955370239,0.0698299335559,0.999999962547,3.97723117278e-05,-0.00027002042536,2.03429954536e-05,1793245548384953600
+49,0.816666667,BASELINE,764,745,714,679,657.427332071,633,877.427332071,785,807,652.427332071,629.427332071,652,0.400968767331,0.00449541372385,0.0698295466812,0.999999962278,3.91509326583e-05,-0.000271110139914,2.02662020265e-05,1793245548401620224
+50,0.833333333,BASELINE,764.021173386,745,714,679.021173386,657.978826614,633,877.978826614,785,807.021173386,652.978826614,629.978826614,652,0.40096791657,0.00449481770007,0.069829168702,0.99999996199,3.84450951104e-05,-0.000272268079894,2.03189209801e-05,1793245548418286848
+51,0.850000000,BASELINE,764.595035755,745,714,679.595035755,657.404964245,633,877.404964245,785,807.595035755,652.404964245,629.404964245,652,0.400968499812,0.00449356444899,0.0698295122668,0.999999962425,3.66890126352e-05,-0.00027089472107,2.04744471876e-05,1793245548434953472
+52,0.866666667,BASELINE,764.830659723,745,714,680,657,633,877,785,807.830659723,652,629.169340277,652,0.400969183477,0.00449311486166,0.069829795038,0.999999962732,3.63315460645e-05,-0.000269801160328,2.05598942049e-05,1793245548451620096
+53,0.883333333,BASELINE,764.255295095,745,714,680,657,633,877,785,807.255295095,652,629.744704905,652,0.400970107921,0.00449459220558,0.0698299320452,0.999999962735,3.93275175724e-05,-0.000269378466853,2.04773135099e-05,1793245548468286720
+54,0.900000000,BASELINE,764.329661983,745,714,680,657.329661983,633,877.329661983,785,807,652,630,652,0.400969625624,0.00449468290685,0.069829434226,0.99999996249,3.98290534314e-05,-0.000270201383038,2.05995714886e-05,1793245548484953600
+55,0.916666667,BASELINE,764.922270201,745,714,680,657.922270201,633,877.922270201,785,807,652,630,652,0.400968021277,0.00449366758892,0.0698284300541,0.99999996205,3.83409679769e-05,-0.000272017827118,2.08852136666e-05,1793245548501620480
+56,0.933333333,BASELINE,764.498990409,745,714,680,657.498990409,633,878,785,807,652,630,652,0.400969888312,0.00449367900641,0.0698300732141,0.999999962792,3.82960192065e-05,-0.000269286643697,2.08173428123e-05,1793245548518287360
+57,0.950000000,BASELINE,764,745,714,680,657,633,878,785,807,652,630,652,0.400971669348,0.00449393705764,0.0698315968472,0.9999999635,3.83356072883e-05,-0.000266652239383,2.06664894429e-05,1793245548534953728
+58,0.966666667,BASELINE,764,745,714,680,657,633,878,785,807,652,630,652,0.400969530285,0.00449478389848,0.0698297843306,0.999999962895,3.75184579274e-05,-0.000269051238133,2.03253476204e-05,1793245548551620352
+59,0.983333333,BASELINE,764,745,713.767987649,680,657,633,878,785,806.767987649,652,629.767987649,652,0.400968357815,0.0044949145811,0.0698287356639,0.999999962558,3.68529072753e-05,-0.00027040428836,2.01590320188e-05,1793245548568286976
+60,1.000000000,BASELINE,764,745,713.17674153,680,657,633,878,785,806.17674153,652,629.17674153,652,0.400968681959,0.00449393640813,0.0698288696954,0.999999962644,3.64220826894e-05,-0.000270137856089,2.0263406618e-05,1793245548584953600
+61,1.016666667,BASELINE,764,745,713,680,657,633,878,785,806.405962993,652,629,652,0.40096965879,0.00449413262236,0.0698299210183,0.9999999629,3.83139397083e-05,-0.000268915760351,2.03887189358e-05,1793245548601620480
+62,1.033333333,BASELINE,764,745,713,680,657,633,878,785,806.985025411,652,629,652,0.400970913921,0.0044948295861,0.0698313634668,0.99999996322,4.11961699084e-05,-0.000267286177245,2.05229589256e-05,1793245548618287104
+63,1.050000000,BASELINE,764,745,713.560344408,680,657,633.560344408,877.439655592,785,807,652,629.560344408,652,0.400969904515,0.00449510478403,0.0698305864471,0.999999962938,3.96520041713e-05,-0.000268595698818,2.01792972535e-05,1793245548634953984
+64,1.066666667,BASELINE,764,745,714,679.864957925,657,633.864957925,877.135042075,785,807,652,629.864957925,652,0.400968857662,0.00449490567045,0.0698297295307,0.999999962638,3.82198227794e-05,-0.000269933677256,1.9982565818e-05,1793245548651620608
+65,1.083333333,BASELINE,764,745,714,679.291953076,657,633.291953076,877.708046924,785,807,652,629.291953076,652,0.400967884326,0.00449320460154,0.0698288045815,0.999999962339,3.75319135136e-05,-0.000271110904468,2.03034971497e-05,1793245548668287232
+66,1.100000000,BASELINE,764,745,713.708633733,679,657,633,877.708633733,785,807,652,629.291366267,652,0.400968117103,0.0044932213174,0.0698290908819,0.999999962437,3.82919809495e-05,-0.000270634595199,2.04151378143e-05,1793245548684953600
+67,1.116666667,BASELINE,764,745,713.11459986,679,657,633,877.11459986,785,807,652,629.88540014,652,0.400969602773,0.00449502244655,0.0698306354133,0.999999962941,4.05561883803e-05,-0.000268440612993,2.03093699511e-05,1793245548701619968
+68,1.133333333,BASELINE,764,745,713.465557163,679,657,633,877.465557163,784.534442837,807,652,630,652,0.400969230424,0.00449521995011,0.0698303552171,0.999999962829,4.10233298832e-05,-0.000268787728192,2.03228651377e-05,1793245548718287104
+69,1.150000000,BASELINE,764,745,714,679.042319698,657,633,878,784.042319698,807,652,630,652,0.400968534819,0.00449491040862,0.0698296987767,0.999999962604,4.08273020165e-05,-0.000269649855149,2.03613770807e-05,1793245548734953472
+70,1.166666667,BASELINE,764,745,714,679.618104962,657,633,878,784.618104962,807,652,630,652,0.400969362841,0.00449304120138,0.0698297977067,0.999999962809,3.76864286548e-05,-0.000269347339916,2.03558843635e-05,1793245548751620096
+71,1.183333333,BASELINE,764,745.198217276,714,680,657.198217276,633,878,785,806.801782724,652,630,652,0.400969322821,0.0044925237131,0.069829481725,0.999999962722,3.6649913331e-05,-0.000269814856616,2.03242106986e-05,1793245548768286976
+72,1.200000000,BASELINE,764,745.786852452,714,680,657.786852452,633,878,785,806.213147548,652,630,652,0.400967573066,0.00449466863259,0.0698283485141,0.999999962067,3.97582382145e-05,-0.000271799063717,2.02409698297e-05,1793245548784953856
+73,1.216666667,BASELINE,764,745.63052656,714,680,657.63052656,633.36947344,878,785,806.36947344,652,629.63052656,652,0.400968327032,0.0044953371601,0.0698291926728,0.999999962321,4.01844493014e-05,-0.000270799376305,2.02505285175e-05,1793245548801620736
+74,1.233333333,BASELINE,764,745.051319593,714,680,657.051319593,633.948680407,878,785,806.948680407,652,629.051319593,652,0.40097050225,0.00449516760586,0.0698311592958,0.999999963089,3.90881443029e-05,-0.000268105865476,2.03127653632e-05,1793245548818287360
+75,1.250000000,BASELINE,764,745,714,679.472124717,657.527875283,634,878,785,807,652,629.527875283,652,0.400968582556,0.00449436134867,0.0698297572015,0.999999962602,3.8113416677e-05,-0.000270042015529,2.04915371665e-05,1793245548834953984
+76,1.266666667,BASELINE,764,745,714,679.106100933,658,633.893899067,878,785,807,652.106100933,630,652,0.400967094753,0.00449372034201,0.0698285892758,0.999999962221,3.71413188883e-05,-0.000271582758592,2.05444610473e-05,1793245548851620352
+77,1.283333333,BASELINE,764,745,714,679.68005791,658,633.31994209,878,785,807,652.68005791,630,652,0.400969266806,0.00449408095666,0.0698298980327,0.999999962861,3.6128699501e-05,-0.000269395288633,1.99924973829e-05,1793245548868286976
+78,1.300000000,BASELINE,764,745,714,680,658,633,878,785,807,652.739436724,629.739436724,652,0.400970118472,0.00449407384335,0.0698307441358,0.999999963233,3.57968270541e-05,-0.000268062345615,1.98694477689e-05,1793245548884953600
+79,1.316666667,BASELINE,764,745,714,680,658,633,878,785,807,652.15068344,629.15068344,652,0.400969307056,0.00449360356175,0.0698310075074,0.999999963275,3.63223830505e-05,-0.000267805714085,2.028663283e-05,1793245548901620224
+80,1.333333333,BASELINE,764,745,713.569846495,679.569846495,657.569846495,633,878,785,807,652,629,652,0.400968643249,0.00449401433138,0.0698299418134,0.999999962857,3.74177515814e-05,-0.000269213912992,2.02646987768e-05,1793245548918286848
+81,1.350000000,BASELINE,764,745,713,679,657,633,878,785,806.991766129,652,629,652,0.400968061024,0.00449469800685,0.0698284644084,0.999999962292,3.86785471124e-05,-0.000271139382067,2.01003016643e-05,1793245548934953728
+82,1.366666667,BASELINE,764,745,713,679,657,633,878,785,806.416003959,652,629,652,0.400969602366,0.00449330352414,0.0698301196611,0.999999962827,3.78321182594e-05,-0.000269247461937,2.05273806995e-05,1793245548951620352
+83,1.383333333,BASELINE,764,745,713,679,657,633,878,785,806.159579051,652,629,652,0.400970810216,0.00449239239263,0.0698312379853,0.999999963235,3.69300314837e-05,-0.000267834559716,2.07623538066e-05,1793245548968286976
+84,1.400000000,BASELINE,764,745,713,679,657,633,878,785,806.734695656,652,629,652,0.400971149669,0.00449273988825,0.0698309581695,0.999999963323,3.58830134892e-05,-0.000267669000838,2.04970907452e-05,1793245548984953600
+85,1.416666667,BASELINE,764,745,713.318836471,679,657,633,878,785,807,652,629,652,0.400970729832,0.00449337572582,0.0698305399137,0.99999996316,3.64942098555e-05,-0.000268203105098,2.03718360003e-05,1793245549001620224
+86,1.433333333,BASELINE,764,745,713.910705035,679,657,633,878,785,807,652,629,652,0.400969659784,0.00449425848183,0.0698300031065,0.999999962779,3.85253998483e-05,-0.000269336358174,2.03664758475e-05,1793245549018286848
+87,1.450000000,BASELINE,763.508303359,745,714,679,657,633,878,785.491696641,807,652,629.491696641,652,0.400970384701,0.00449412072887,0.0698308081227,0.999999963231,3.86956357893e-05,-0.000267640373069,2.02493403489e-05,1793245549034954240
+88,1.466666667,BASELINE,763.140328035,745,714,679.070164018,657,633.070164018,878.070164018,785.929835982,807,652,629.929835982,652,0.400971104038,0.00449380387226,0.0698315831636,0.99999996367,3.84789917597e-05,-0.000266035801233,2.01317370646e-05,1793245549051621632
+89,1.483333333,BASELINE,764.288761901,745,714,679.644380951,657,633.644380951,878.644380951,785.355619049,807,652,629.355619049,652,0.400969492191,0.00449350293301,0.069830430152,0.999999962981,3.7858365446e-05,-0.000268699193077,2.01534440114e-05,1793245549068288256
+90,1.500000000,BASELINE,764.781347368,745,714,680,657,633.781347368,878.781347368,785,807,652,629,652,0.400968184944,0.00449324901761,0.0698294602416,0.999999962468,3.70415358292e-05,-0.00027071023627,2.01753455663e-05,1793245549084954880
+91,1.516666667,BASELINE,764.206986677,745,714,680,657,633.206986677,878.206986677,785,807,652,629,652,0.400967373226,0.00449307160149,0.0698287882036,0.999999962252,3.59055191887e-05,-0.000271660026614,2.01975637116e-05,1793245549101621248
+92,1.533333333,BASELINE,764,745,714,680,657.379683797,633,877.620316203,785.379683797,807,652,629.379683797,652,0.400966556991,0.00449268142811,0.0698280784593,0.999999961997,3.63534235653e-05,-0.000272521161994,2.03982982318e-05,1793245549118287616
+93,1.550000000,BASELINE,764,745,714,680,657.973289933,633,877.026710067,785.973289933,807,652,629.973289933,652,0.40096573821,0.00449217138253,0.0698273474704,0.99999996172,3.76937443413e-05,-0.000273332347276,2.06996128701e-05,1793245549134953984
+94,1.566666667,BASELINE,764,745,714,679.448720639,657.448720639,633,877.551279361,785.448720639,807,652,630,652,0.400969261362,0.00449293950716,0.0698301996757,0.999999962848,3.84427249385e-05,-0.000269069173949,2.07041029411e-05,1793245549151620352
+95,1.583333333,BASELINE,764,745,713.872256128,679,657,633,877.872256128,785,807.127743872,652,629.872256128,652,0.400971500459,0.0044936714798,0.0698320957326,0.999999963567,3.89072338345e-05,-0.000266317296621,2.06639832217e-05,1793245549168286720
+96,1.600000000,BASELINE,764,745,713.298546338,679,657,633,877.298546338,785,807.701453662,652,629.298546338,652,0.400968542604,0.00449406699957,0.0698300643951,0.999999962687,3.84758934762e-05,-0.00026967616414,2.05169504683e-05,1793245549184953600
+97,1.616666667,BASELINE,764,745,713.283271414,679.283271414,657.283271414,633.283271414,877.283271414,785,807.716728586,652,629.283271414,652,0.400966937622,0.00449464358445,0.0698288689761,0.999999962144,3.95918073708e-05,-0.000271525486986,2.0460905184e-05,1793245549201620480
+98,1.633333333,BASELINE,764,745,713.87388609,679.87388609,657.87388609,633.87388609,877.87388609,785,807.12611391,652,629.87388609,652,0.400966800479,0.00449541662098,0.0698285805105,0.999999961971,4.23864581739e-05,-0.000271736986817,2.05035793146e-05,1793245549218287360
+99,1.650000000,BASELINE,764,745,714,680,657.544159908,634,878.455840092,785,807,652,630,652,0.400967002199,0.00449469952563,0.0698285814771,0.99999996204,4.14770656782e-05,-0.000271630657717,2.03987847487e-05,1793245549234953984
+100,1.666666667,BASELINE,764,745,714,680,657,633.964898011,878.929796022,785,807,652,630,652,0.400967382692,0.00449362414376,0.0698287503386,0.999999962209,3.9559108165e-05,-0.000271304782843,2.02673853317e-05,1793245549251620352
+101,1.683333333,BASELINE,764,745,714,680,657,633.390866765,877.781733531,785,807,652,630,652,0.40096909539,0.00449325947162,0.0698302904425,0.999999962924,3.7596599787e-05,-0.000268933029127,2.03422339341e-05,1793245549268286976
+102,1.700000000,BASELINE,764.182822406,745,714,679.817177594,657,633,877.182822406,785,807,652,630,652,0.400970176023,0.00449340842282,0.0698313596074,0.999999963355,3.71472284789e-05,-0.000267385974113,2.03843868946e-05,1793245549284953856
+103,1.716666667,BASELINE,764.75578153,745,714,679.24421847,657,633,877.75578153,785,807,652,630,652,0.400969907851,0.00449465342859,0.0698314238045,0.999999963191,3.99268398086e-05,-0.000267598798034,2.03567684722e-05,1793245549301620224
+104,1.733333333,BASELINE,764.658477144,745,714,679.341522856,657,633,878,785,807,652,630,652,0.400969808724,0.00449461763203,0.069831275156,0.999999963197,3.98374728757e-05,-0.000267590468508,2.0347168649e-05,1793245549318286848
+105,1.750000000,BASELINE,764.063239972,745,714,679.936760028,657,633,878,785,807,652,630,652,0.400969835179,0.00449363033885,0.0698309683863,0.999999963329,3.76167676037e-05,-0.000267417846063,2.03509546813e-05,1793245549334953728
+106,1.766666667,BASELINE,764,745,714,680,657,633.517479519,878,785,807,652,629.482520481,652,0.400970212305,0.00449451344681,0.0698311874448,0.999999963295,3.87086124721e-05,-0.000267401588056,2.02082075323e-05,1793245549351620352
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658,634,878,785,807,652,630,652,0.400968433457,0.00449521260565,0.0698299183758,0.999999962996,3.66605485924e-05,-0.000268845319649,1.96338582892e-05,1793245549394681856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.591748797,680,657.408251203,633.408251203,878.591748797,785,807,652,630,652,0.400969993095,0.00449547933494,0.069831023559,0.999999963169,4.03940069385e-05,-0.000267646140334,1.9915989644e-05,1793245549411347968
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.179573673,745,714,680,657,633.179573673,878.820426327,785,807,652,629.820426327,652.179573673,0.400970780738,0.00449548543735,0.0698314906144,0.999999963232,4.1794193878e-05,-0.000267179153917,2.01032868224e-05,1793245549428014080
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.758668599,745,714,680,657,633.758668599,878.241331401,785,807,652,629.241331401,652.758668599,0.400969850821,0.00449491168879,0.0698305379429,0.999999963073,3.80032446671e-05,-0.000268341173459,2.0079593946e-05,1793245549444680448
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.664849308,744.664849308,713.664849308,680,657,634,878,784.664849308,806.664849308,652,629.335150692,652.664849308,0.400969743326,0.00449486098708,0.0698304647016,0.999999962999,3.77767329298e-05,-0.000268629767811,2.03281540641e-05,1793245549461347072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.090234114,744.090234114,713.090234114,680,657,634,878,784.090234114,806.090234114,652,629.909765886,652.090234114,0.40097022345,0.00449518400136,0.0698310198116,0.999999962989,4.00970048958e-05,-0.000268294301536,2.0771238406e-05,1793245549478013696
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.485303268,713,680,657.485303268,633.514696732,878,784.485303268,806.485303268,652,629.514696732,652,0.400969901431,0.00449553959877,0.0698306978987,0.999999963037,3.96253495708e-05,-0.000268215366203,2.04124271568e-05,1793245549494680320
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679.93730663,658,633,878.06269337,785,806.93730663,652,629,652,0.400969843758,0.00449571772182,0.0698304678365,0.999999963124,3.8708961026e-05,-0.000268054541348,2.00034270997e-05,1793245549511347456
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679.345736315,658,633,878.654263685,785,806.345736315,652,629,652,0.400973276668,0.00449434747876,0.0698323908678,0.999999963462,3.8428369892e-05,-0.000266799761705,2.04312230736e-05,1793245549528014080
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.240510578,745,713,679.240510578,658,633,878.518978845,785,806.240510578,652,629.240510578,652,0.400985085723,0.00449369262742,0.0698379063934,0.999999965551,3.79727794753e-05,-0.000258903842987,2.06141978579e-05,1793245549544680448
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.819270662,745,713,679.819270662,658,633,877.361458677,785,806.819270662,652,629.819270662,652,0.401008674829,0.00449404388949,0.0698484743346,0.999999969895,3.72710734077e-05,-0.000241667952504,2.04528607323e-05,1793245549561346816
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.606044553,745,713.393955447,679.606044553,657.606044553,633,877.393955447,785,807,652,630,652,0.401051447097,0.00449359273468,0.0698650491478,0.999999976384,3.72951515464e-05,-0.000213131469093,2.04080077577e-05,1793245549578013696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.033210143,745,713.966789857,679.033210143,657.033210143,633,877.966789857,785,807,652,630,652,0.401102929652,0.00449277723542,0.0698843514353,0.999999982979,3.76487783449e-05,-0.000179463849588,2.0416045413e-05,1793245549594680576
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.555955121,745,714,679.555955121,657,633.555955121,878.555955121,785,807,652,630,652,0.401159916462,0.00449356889575,0.0698950053502,0.999999984779,3.51679304089e-05,-0.000169742844092,1.98349143246e-05,1793245549611346944
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.856571617,745,714,680,657.143428383,633.856571617,878.856571617,785,807,652,630,652,0.401222266289,0.00449448684828,0.0699037373272,0.999999986329,3.36175349325e-05,-0.000160787657446,1.89678188188e-05,1793245549628013568
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.277293994,745,714,680,657.722706006,633.277293994,878.277293994,785,807,652,630,652,0.401299883839,0.00449548801118,0.0699082463253,0.99999998802,3.54246858986e-05,-0.000149681216661,1.73419207632e-05,1793245549644680704
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.700140337,633,878,785,807,652,630,652,0.401386324752,0.00449601011722,0.0699095503641,0.999999988618,3.42339577728e-05,-0.000146125219181,1.54814025223e-05,1793245549661347328
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.124937028,633,878,785,807,652,630,652,0.401480867638,0.00449609233322,0.0699079114756,0.999999988276,3.0290451957e-05,-0.000149502354245,1.34054463431e-05,1793245549678013696
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.449586518,745,714,680,657,633.449586518,878,785,807,652,630,652,0.401592347155,0.00449708244461,0.0699059267283,0.999999987843,2.81970248854e-05,-0.000152972782499,1.08872841676e-05,1793245549694680320
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.976028739,745,713.976028739,679.976028739,657,633.976028739,878,785,806.976028739,652,630,652,0.401710077374,0.00449831877944,0.0699041150681,0.999999987429,2.65461320047e-05,-0.000156110646146,8.22356951224e-06,1793245549711347200
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.400497673,745,713.400497673,679.400497673,657,633.400497673,878,785,806.400497673,652,630,652,0.401863500284,0.0044994241089,0.0699084941219,0.999999988316,2.32658664255e-05,-0.000151000836148,5.03404825286e-06,1793245549728013824
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.181351246,679,657,633.181351246,878,785,806.181351246,652,630,652,0.40202668811,0.00450016467451,0.0699126418787,0.999999989307,1.95519214613e-05,-0.000144920845459,1.54336188349e-06,1793245549744680448
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.7776561,679,657,633.7776561,878,785,806.7776561,652,630,652,0.402212219226,0.00450007061612,0.0699162603995,0.999999990554,1.48456660065e-05,-0.000136620964595,-2.63642628373e-06,1793245549761347072
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.640546319,679,657,633.640546319,878,785,807,652,630,652,0.402422029156,0.00450130324474,0.0699199894693,0.999999991499,1.11297461199e-05,-0.000129708837131,-7.32442259073e-06,1793245549778013696
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.067374193,679,657,633.067374193,878,785,807,652,630,652,0.402646274429,0.00450332467455,0.0699237842678,0.999999992251,8.00264428661e-06,-0.000123621817963,-1.23145818836e-05,1793245549794680576
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.506055121,745,713.506055121,679.506055121,657,633.506055121,878,785,807,652,629.493944879,652,0.402899968684,0.00450447131781,0.0699275628999,0.999999993084,2.46758942867e-06,-0.000116305827004,-1.72639979552e-05,1793245549811347200
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.835007092,745,714,680,657,633.917503546,878,785,807,652,629.082496454,652,0.403163609612,0.00450569113214,0.0699318023637,0.99999999396,-3.06409820044e-06,-0.000107587470657,-2.22742969968e-05,1793245549828013824
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.645130108,745,714,680,657,633.322565054,878,785,807,652,629.677434946,652,0.403464669581,0.00450808927857,0.0699389177471,0.999999995438,-6.58248381527e-06,-9.11749340008e-05,-2.76964958079e-05,1793245549844680192
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.263361467,745,713.736638533,680,657,633,878,785,807,652,630,652,0.403783617641,0.00450960396727,0.0699460727248,0.999999996342,-1.08552039131e-05,-7.82241193343e-05,-3.28511107846e-05,1793245549861346816
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.838615303,745,713.161384697,680,657,633,878,785,807,652,630,652,0.4041237501,0.00451007239904,0.0699532745926,0.999999996755,-1.60212631737e-05,-6.93729360343e-05,-3.76888326302e-05,1793245549878013440
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.411458595,680,657.411458595,633,878,785,807,652,629.588541405,652,0.404496443968,0.00450917683656,0.0699591195385,0.999999997175,-1.02133571511e-05,-6.38941305496e-05,-3.82478268941e-05,1793245549894680064
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.983361903,680,657.983361903,633,878,785,807,652,629.016638097,652,0.404881834868,0.00450774939635,0.0699644353642,0.999999997527,-1.2624834627e-07,-5.97303547712e-05,-3.71383683015e-05,1793245549911346688
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.578149827,745,714,680,658,633,878,785,807,652,629.578149827,652,0.405298739641,0.0044921676232,0.0699676300269,0.999999998097,2.24199786677e-05,-5.0842956041e-05,-2.68173762446e-05,1793245549928013568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.832292614,744.832292614,713.832292614,680,657.832292614,633,878,785,807,652,630,652,0.405722843669,0.00448232523849,0.0699677371072,0.99999999781,4.08583276966e-05,-4.77784115746e-05,-2.06731986611e-05,1793245549944680192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.25710936,744.25710936,713.25710936,680,657.25710936,633,878,785,807,652,630,652,0.406162145224,0.00448745823999,0.0699604967672,0.999999996754,4.84087612423e-05,-5.92054582292e-05,-2.53479927476e-05,1793245549961346816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.319102277,744.319102277,713.319102277,679.680897723,657.319102277,633,878,785,807,652,630,652,0.406625007748,0.00449566377748,0.0699469160807,0.99999999478,5.50106716112e-05,-8.1317301353e-05,-2.8293618775e-05,1793245549978013440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.89614525,744.89614525,713.89614525,679.10385475,657.89614525,633,878,785,807,652,630,652,0.407106915414,0.0045063529458,0.0699282102863,0.999999991424,6.08458607854e-05,-0.000112066012427,-2.98415027911e-05,1793245549994680320
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.482901396,658,633,878,785,807,652,630,652,0.407654240436,0.0045104720698,0.0699253973296,0.999999993383,1.1531400269e-05,-0.000109949391137,-3.18042436786e-05,1793245550011346944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.929381262,745,714,680,658,633,878,785,807,652,630,652,0.408223345649,0.00451399507962,0.0699278929216,0.999999993916,-3.79403377345e-05,-9.7913611917e-05,-3.37899917471e-05,1793245550028013568
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.350095747,745,714,680,658,633,878,785,807,652,630,652,0.408845915205,0.00452361089817,0.06994350092,0.999999997173,-1.35860138554e-06,-6.63871129947e-05,-3.52856128031e-05,1793245550044680448
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.227673811,658,633.227673811,878,785,807.227673811,652,630,652,0.409463560455,0.00453191602816,0.0699514276237,0.999999997781,2.74870872224e-05,-4.81842448552e-05,-3.68808784585e-05,1793245550061347328
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.803127656,658,633.803127656,878,785,807.803127656,652,630,652,0.41007368361,0.00453821903308,0.069947620869,0.999999996996,4.45156791383e-05,-5.03337097513e-05,-3.86283548708e-05,1793245550078013952
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.378977843,745,713.621022157,680.621022157,658,634,878,785,807.621022157,652,630,652.378977843,0.410715567783,0.00454474146527,0.0699434110762,0.999999996017,5.35152589019e-05,-5.93927068887e-05,-3.96910852637e-05,1793245550094680320
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955034119,745,713.044965881,680.044965881,658,634,878,785,807.044965881,652,630,652.955034119,0.411373968502,0.00455137800521,0.069938991693,0.999999994887,5.83395408926e-05,-7.20448422322e-05,-4.0397729682e-05,1793245550111346944
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.544259849,680,658.544259849,633.455740151,878.544259849,784.455740151,807,652,629.455740151,652.455740151,0.41211334354,0.00456182085777,0.0699615181258,0.999999995566,7.85424475e-05,-3.20142019945e-05,-4.09210591672e-05,1793245550128013568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.132106111,714,680,659,633,879,784.132106111,807.132106111,652,629,652,0.41286716771,0.00457105351056,0.0699874551657,0.999999994592,9.46434181643e-05,1.2106697926e-05,-4.13799696727e-05,1793245550144680192
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.711506233,714,680,659,633,879,784.711506233,807.711506233,652,629,652,0.413646701539,0.00457509742071,0.0700172154661,0.999999993347,9.24471493786e-05,5.49740109315e-05,-4.16733172704e-05,1793245550161346816
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.71251106,714,680,658.71251106,633,879,785,808,652,629.28748894,652,0.414394677865,0.00458237008912,0.0700187201492,0.999999993165,9.63249980425e-05,5.08349268143e-05,-4.25036247361e-05,1793245550178013440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.139917357,714,680,658.139917357,633,879,785,808,652,629.860082643,652,0.415111358491,0.00459284473982,0.0699922035454,0.999999993396,0.000106226590514,7.92798254834e-08,-4.38664390107e-05,1793245550194680064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.436622738,633,878.563377262,785,807.563377262,652,630,652,0.415865497016,0.00460019482943,0.0699480110627,0.999999989079,0.000121292450247,-7.07493801915e-05,-4.60911568767e-05,1793245550211346944
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.014780782,633,878.014780782,785,807,652,630,652,0.416634287063,0.00460646533646,0.0698998925231,0.999999978858,0.000137157972589,-0.000145316711391,-4.85262497796e-05,1793245550228013568
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.606275635,633,878.606275635,785,807,652,630,652,0.417502126429,0.00461003687841,0.0699216121396,0.999999985419,0.000119064777892,-0.000112488857529,-4.82947102818e-05,1793245550244680192
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.806311521,633.193688479,879,785,807.193688479,652,630,652,0.418373870033,0.00461452551124,0.0699456984428,0.999999989327,0.000114456019665,-7.68726564327e-05,-4.83324384034e-05,1793245550261347072
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.227025236,633.772974764,879,785,807.772974764,652,630,652,0.419253386201,0.00462083990157,0.0699744963787,0.999999988824,0.000136692272556,-3.57053756831e-05,-4.89062284276e-05,1793245550278013696
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.349096386,659,633.650903614,879,785,808,652,630,652.349096386,0.420147223606,0.00462188162142,0.0700004731078,0.999999988103,0.000145882450141,5.86278445463e-06,-4.97710347444e-05,1793245550294680320
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.923178422,659,633.076821578,879,785,808,652,630,652.923178422,0.421050290727,0.00461952521017,0.0700246316244,0.999999986816,0.000146664691757,4.768930174e-05,-5.08233952073e-05,1793245550311347200
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.49045643,659.50954357,633,879.50954357,785,808,652,629.49045643,653,0.4219466489,0.0045978232143,0.0700247382524,0.999999991788,0.00010892864097,4.39817328191e-05,-5.12223135402e-05,1793245550328013568
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.903634374,633,879.903634374,785,808.096365626,652,629.096365626,652.903634374,0.422825574313,0.00457721409767,0.0700074148066,0.999999995871,7.36580205766e-05,1.19684086475e-05,-5.18644185957e-05,1793245550344680192
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.324037033,633,879.324037033,785,808.675962967,652,629.675962967,652.324037033,0.423622279118,0.00457707229476,0.0699213200764,0.999999987254,8.05905313846e-05,-0.000126710790848,-5.42322195532e-05,1793245550361346816
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.74608153,745,713.74608153,680.25391847,659,633,878.74608153,785,808.74608153,652,630,652.25391847,0.424474789865,0.00458198345648,0.0698698990327,0.999999974471,8.25137910247e-05,-0.000202452256062,-5.711651004e-05,1793245550378013440
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.170207715,745,713.170207715,680.829792285,659,633,878.170207715,785,808.170207715,652,630,652.829792285,0.425398059739,0.00459330151318,0.0698624423992,0.999999975432,7.8085584559e-05,-0.000198391986219,-6.065568361e-05,1793245550394680320
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.402973892,745,713.402973892,681,659.805947785,633,878.402973892,785,808,652,630,652.597026108,0.42634158539,0.004598954236,0.0699034542021,0.999999984797,9.05583846669e-05,-0.000137279341693,-5.7963063184e-05,1793245550411346688
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.97502588,745,713.97502588,681,660.950051759,633,878.97502588,785,808,652,630,652.02497412,0.427293609821,0.00460222992112,0.0699648021886,0.999999991186,0.00011012243787,-5.22289005473e-05,-5.26557321944e-05,1793245550428013312
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.446249679,633,879,785,808.553750321,652,630.553750321,652.553750321,0.42826762531,0.00460710656221,0.0700080257936,0.999999991174,0.000121106684797,9.70034265246e-06,-5.37650564551e-05,1793245550444680960
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.136286416,660,633,879.136286416,785.136286416,809,652,630.863713584,653,0.429235838434,0.0046107779348,0.0700421318764,0.999999988589,0.000126914912414,6.06620355344e-05,-5.50844199067e-05,1793245550461348352
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.730609124,660,633,879.730609124,785.730609124,809,652,630.269390876,653,0.430181176798,0.00461015297512,0.070048376144,0.999999988556,0.000116643722,7.8310893987e-05,-5.61252333623e-05,1793245550478014208
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.311589565,745,714,681.688410435,660,633,879.688410435,785.688410435,809,652,630,653,0.431038552577,0.00460930515348,0.0700088171034,0.99999999165,0.000115731192943,1.04396361441e-05,-5.65368915444e-05,1793245550494680320
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.88150832,745,714,681.11849168,660,633,879.11849168,785.11849168,809,652,630,653,0.431823001275,0.00460827256397,0.0699312839685,0.999999982661,0.000122577636905,-0.000128333683731,-5.6426935834e-05,1793245550511346944
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039120845,745,713,681.960879155,660.039120845,633,879.039120845,785,809,652,631,653,0.433567316905,0.00460144850815,0.0698867673748,0.999999975554,0.00011223366778,-0.000181149960651,-5.89925885031e-05,1793245550544680704
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.632282083,745,713,681.367717917,660.632282083,633,879.632282083,785,809,652,631,653,0.43453754989,0.00459583046072,0.0699542730663,0.999999991483,9.48623576652e-05,-6.73711172979e-05,-5.91267131042e-05,1793245550561347072
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.219393543,681.219393543,661,633,879.780606457,785.219393543,809,652,630.780606457,653,0.435475031734,0.0045912945846,0.0700048243417,0.999999994333,8.71715807033e-05,1.73952007999e-05,-5.85798899713e-05,1793245550578013440
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.796637372,681.796637372,661,633,879.203362628,785.796637372,809,652,630.203362628,653,0.436359093723,0.00458852382476,0.0700277214746,0.999999992338,9.52706089472e-05,5.48395392263e-05,-5.69223818101e-05,1793245550594680320
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.369295393,660.261409215,633,879.369295393,785.630704607,809,652,630.369295393,653,0.43720557321,0.00458670484914,0.0700273806059,0.999999992333,8.9340944628e-05,6.32088928735e-05,-5.79425887372e-05,1793245550611346944
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.939459051,659.121081898,633,879.939459051,785.060540949,809,652,630.939459051,653,0.438031610654,0.00458540357106,0.0700144000517,0.999999993749,7.57807510114e-05,5.57636907279e-05,-6.04192666639e-05,1793245550628013568
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.486574998,745,714,682.486574998,660.026850003,632.486574998,879.486574998,785,809,652,630.486574998,653,0.438762967288,0.0045922062549,0.0699591561538,0.999999994197,8.42508236162e-05,-2.70388520059e-05,-6.14547627441e-05,1793245550644680448
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.908318611,682,660.816637222,632.091681389,879,785,809.091681389,652,630.091681389,652.908318611,0.439480361817,0.00459951421346,0.0698982246206,0.999999985979,9.61294161603e-05,-0.000122321395207,-6.19626910374e-05,1793245550661347072
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713.308798812,682,659.617597624,632.691201188,879,785,809.691201188,652,630.691201188,652.308798812,0.440182720605,0.00460428833304,0.0698335988251,0.999999963735,0.000112391821504,-0.000237145438102,-6.04966749022e-05,1793245550678013952
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.278987377,745,713,682.278987377,659,632.721012623,879.278987377,785,810,652,630.721012623,652,0.440919898977,0.00461007854804,0.0698130071223,0.999999953691,0.000119787653647,-0.000273338179471,-5.96186135396e-05,1793245550694680576
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.570478816,745,713,683,658.570478816,632,880,785,809.570478816,652,630,652.429521184,0.442416302479,0.0046261025493,0.0698616224015,0.999999970186,0.000127675944523,-0.000199746483887,-5.85449572075e-05,1793245550728013568
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.004827021,745,713,682.995172979,658,631.995172979,880,784.995172979,809.004827021,652,630,653,0.443120195248,0.00463598168925,0.069882349552,0.999999971893,0.000141625982282,-0.00018123053988,-5.75449222687e-05,1793245550744680192
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,682.182659212,657.634681576,631.182659212,880,784,810,652,630.182659212,653,0.444343380011,0.00464417516723,0.0698132611087,0.999999940295,0.000169278641923,-0.000295652432165,-5.78344518437e-05,1793245550778013440
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,682.758115277,656.483769446,631.758115277,880,784,810,652,630.758115277,653,0.444942801938,0.00464997430078,0.069767488331,0.999999914469,0.000186747007544,-0.000364733287258,-5.61882871573e-05,1793245550794680064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,683,656,631.665349852,880,784,810,652,630.665349852,653,0.445524365483,0.0046564764119,0.0697385366091,0.999999897425,0.000200973252008,-0.000402007360731,-5.61166918502e-05,1793245550811346944
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,683,656,631.088032735,880,784,810,652,630.088032735,653,0.446092979233,0.00466348827723,0.0697217824482,0.999999889094,0.000212848516136,-0.000416217179038,-5.71868741853e-05,1793245550828013824
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,683,656,630.513894237,879.513894237,784,810.486105763,652,630,653,0.446621633932,0.00466963845393,0.0697180459236,0.999999882709,0.000219742388821,-0.000427862450807,-5.68169058121e-05,1793245550844680704
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,744.938440744,713,683.061559256,655.938440744,630,879.061559256,783.938440744,810.938440744,652,630,653,0.447136890476,0.00467522745377,0.0697148468229,0.999999875308,0.000225960982501,-0.000441794645385,-5.60598937072e-05,1793245550861347328
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,744.239273283,713,684,654.760726717,630,880,783,810,652,630,653,0.448066561825,0.00467988576062,0.0696859654851,0.999999844511,0.000242727794252,-0.000499235829104,-5.315525987e-05,1793245550894680064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,744.817226241,713,684,654.182773759,630,880,783,810,652,630,653,0.448543072966,0.00468312593561,0.0696880000761,0.999999844814,0.000252113929821,-0.000493937561864,-5.32598899878e-05,1793245550911346688
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.948027067,684,647.948027067,627,880.051972933,783,810.051972933,652,630.051972933,653,0.453208207524,0.00480182931683,0.0696115933218,0.999999765867,0.000343207854594,-0.000587963029971,-6.90901965292e-05,1793245551378013696
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.357267383,684,647.357267383,627,880.642732617,783,810.642732617,652,630.642732617,653,0.453214572814,0.00479963827874,0.069612660832,0.999999767397,0.000341466093091,-0.000586468584361,-6.82687105619e-05,1793245551394680576
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684,647.228580595,627,880.771419405,783,811,652,630.771419405,653,0.453219271812,0.00479875832016,0.0696130036263,0.99999976804,0.000340733038909,-0.000585864229803,-6.77037269296e-05,1793245551411347456
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647.806913119,627,880.193086881,783,811,652,630.193086881,653,0.453221421211,0.00479988444885,0.0696122375304,0.999999767331,0.000341543411258,-0.000586621806612,-6.75312184222e-05,1793245551428014080
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647.617567368,627,880,783,810.617567368,652,630,653,0.453222812328,0.00480181105061,0.0696119913214,0.999999766159,0.000344187725906,-0.000587031909399,-6.78938597641e-05,1793245551444680448
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,684,647.043457765,627,880,783,810.043457765,652,630,653,0.453223823391,0.00480413885308,0.0696120056821,0.999999764745,0.000347751220727,-0.0005872678566,-6.85247206428e-05,1793245551461347072
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647.52494468,626.47505532,880,783,810,652.52494468,630,653,0.45322358078,0.00480136898457,0.0696104758916,0.999999764032,0.000346247853699,-0.000589490046071,-6.74523591175e-05,1793245551478013696
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647.901595018,626.098404982,880,783,810,652.901595018,630,653,0.453223296359,0.00479877027098,0.0696087982809,0.999999763317,0.000344680545765,-0.000591727503406,-6.64832683131e-05,1793245551494680320
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,684,647.299874751,626.700125249,880,783,810,652.299874751,630,653,0.453223323212,0.00479918223914,0.069607011411,0.999999762341,0.000344908561507,-0.000593211070875,-6.67558113873e-05,1793245551511347200
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647.289479703,627,879.710520297,783,810,652,630,652.710520297,0.453224136852,0.00480103535817,0.0696064750042,0.999999761735,0.000346200932401,-0.000593429269709,-6.71984228578e-05,1793245551528014080
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647.86654915,627,879.13345085,783,810,652,630,652.13345085,0.453225732142,0.00480432021911,0.0696071808963,0.999999761494,0.000348550709493,-0.000592390361444,-6.78099924118e-05,1793245551544680704
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,684,647.560610964,626.560610964,879.439389036,783,810,652,630,652.439389036,0.453226115276,0.00480388615529,0.0696075589739,0.999999761649,0.000347821639559,-0.000592576410751,-6.76375951794e-05,1793245551561347072
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647.011381225,626,880,783,810,652,629.988618775,653,0.45322611182,0.00480237113591,0.0696078071032,0.9999997619,0.000346180399002,-0.000593158579561,-6.72442169343e-05,1793245551578013696
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647.605103305,626,880,783,810,652,629.394896695,653,0.453224985483,0.00480278939754,0.0696064519704,0.999999761009,0.000345256438992,-0.000595154162191,-6.76108963872e-05,1793245551594680320
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.193734921,713,684,647.806265079,626.193734921,880,783,810,652,629.193734921,653.193734921,0.453224613176,0.00480234766256,0.0696056613665,0.999999760571,0.000344772842179,-0.000596164668969,-6.76553364719e-05,1793245551611346944
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.772256086,713,684,647.227743914,626.772256086,880,783,810,652,629.772256086,653.772256086,0.453225738485,0.00480019784694,0.0696059920006,0.99999976104,0.000345163871952,-0.000595218669103,-6.70597614278e-05,1793245551628013568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.651250332,713,684,647.348749668,627,880.348749668,783,810,652.348749668,630,653.651250332,0.453226585481,0.00480110138681,0.0696062485716,0.999999761193,0.000345658562239,-0.000594665799368,-6.71344848834e-05,1793245551644680192
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.076073192,713,684,647.923926808,627,880.923926808,783,810,652.923926808,630,653.076073192,0.453227251781,0.00480398733313,0.0696064570566,0.999999761141,0.000346220554619,-0.000594368171381,-6.7644403028e-05,1793245551661346816
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647.489482254,627,880.489482254,783.510517746,810,652.489482254,630,653,0.453226162681,0.00480277256525,0.069605777656,0.999999760509,0.000346199766186,-0.000595492710914,-6.72041447715e-05,1793245551678013696
+245,4.083333333,HOLD_POSE2,765,745,713,685,647,627,880,783,810,652,630,653,0.453227364828,0.00480202979884,0.0696062658453,0.999999760683,0.000346782379585,-0.000594894473431,-6.690827078e-05,1793245551720647424
+246,4.100000000,HOLD_POSE2,765,745,713,684.426705576,647,627,880,783,810.573294424,652,629.426705576,652.426705576,0.453228192465,0.00480263287999,0.0696068264359,0.999999760551,0.000348580723711,-0.000594085022925,-6.6724111512e-05,1793245551737314048
+247,4.116666667,HOLD_POSE2,765,745,713,684,647,626.852868839,880,783,811,652,629.147131161,652.147131161,0.453228860785,0.00480277901872,0.0696072818547,0.999999760675,0.000349055690758,-0.000593614653089,-6.6576064233e-05,1793245551753980928
+248,4.133333333,HOLD_POSE2,765,745,713,684,647,626.277453343,880,783,811,652,629.722546657,652.722546657,0.453229065348,0.00480159504314,0.0696074311285,0.999999761544,0.00034567843776,-0.000594131313535,-6.65331353574e-05,1793245551770647296
+249,4.150000000,HOLD_POSE2,765,745,713,684.306983704,647,626.306983704,880,783,810.693016296,652,630,653,0.453229003321,0.00480139849551,0.069607196439,0.99999976165,0.000344290123056,-0.000594753183603,-6.65804570389e-05,1793245551787313920
+250,4.166666667,HOLD_POSE2,765,745,713,684.899821313,647,626.899821313,880,783,810.100178687,652,630,653,0.453228693055,0.00480212141087,0.0696066042144,0.999999761053,0.000344753847502,-0.000595473021648,-6.67118173017e-05,1793245551803980544
+251,4.183333333,HOLD_POSE2,765,745,713,684.524498171,647,626.524498171,880,783,810.475501829,652,630,653,0.453227549549,0.00480148597308,0.0696059538088,0.999999760668,0.000343853465521,-0.000596644946929,-6.66560640181e-05,1793245551820647168
+252,4.200000000,HOLD_POSE2,764.951635505,745,713,684,647,626.048364495,879.951635505,783,810.951635505,652,630,652.951635505,0.453226632122,0.00480075755603,0.0696054838877,0.999999760465,0.000342907935566,-0.000597536735594,-6.65813887565e-05,1793245551837314304
+253,4.216666667,HOLD_POSE2,764.371394488,745,713,684,647,626.628605512,879.371394488,783,810.371394488,652,630,652.371394488,0.453230064235,0.00480204418931,0.0696071289055,0.999999761811,0.000344516334281,-0.000594336828167,-6.67170494577e-05,1793245551853980928
+254,4.233333333,HOLD_POSE2,764.206421246,745,713,684,647,626.793578754,879.206421246,783,810,652,630,652.206421246,0.453231272177,0.00480296198743,0.0696075321111,0.999999761802,0.000346095744487,-0.000593423190899,-6.68065941193e-05,1793245551870647552
+255,4.250000000,HOLD_POSE2,764.779924009,745,713,684,647,626.220075991,879.779924009,783,810,652,630,652.779924009,0.453228524845,0.00480322388121,0.0696057269858,0.999999759396,0.000347623603892,-0.000596575257144,-6.68141300307e-05,1793245551887313920
+256,4.266666667,HOLD_POSE2,765,745,713,684.367127017,647,626.367127017,880.367127017,783,810,652,630,653,0.453228520516,0.00480132255154,0.0696050654153,0.999999759573,0.000345973751784,-0.000597274871589,-6.6480589105e-05,1793245551903980544
+257,4.283333333,HOLD_POSE2,765,745,713,684.962861115,647,626.962861115,880.962861115,783,810,652,630,653,0.453230224233,0.00479807419982,0.0696051159271,0.999999761351,0.000342345164062,-0.00059644736405,-6.5934662338e-05,1793245551920647424
+258,4.300000000,HOLD_POSE2,764.461692159,745,713,685,647,627,880.461692159,783,810,652,630,653,0.453229635804,0.00480099504645,0.0696047477531,0.999999759784,0.000344929313737,-0.000597515030525,-6.65702400443e-05,1793245551937314048
+259,4.316666667,HOLD_POSE2,764.112419166,744.887580834,713,684.887580834,647,627,880,783,810,652,630,653,0.453229128561,0.00480339835477,0.0696044626752,0.999999758623,0.000346874084009,-0.000598271044507,-6.71096919243e-05,1793245551953980672
+260,4.333333333,HOLD_POSE2,764.686585828,744.313414172,713,684.313414172,647,627,880,783,810,652,630,653,0.45322958072,0.00480199123333,0.0696046332402,0.99999976008,0.000344496087681,-0.0005972294445,-6.69316697001e-05,1793245551970647552
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880,783,810,652,629,653,0.453226317209,0.00480355948589,0.0696034976466,0.999999758023,0.000345032232396,-0.00060039670487,-6.65621330306e-05,1793245552008886784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.398531647,880,783,810,652,629.601468353,653,0.453229138518,0.00480263456444,0.0696042579403,0.999999759099,0.000345734994854,-0.000598209484637,-6.64466553481e-05,1793245552025553408
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626,880,782.805545892,810,652,630,653,0.453231339312,0.00480195351442,0.0696050508799,0.99999976011,0.000346138878286,-0.000596281357547,-6.64571970543e-05,1793245552042220032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626,880,782.229218347,810,652,630,653,0.453232321523,0.00480175138455,0.0696059079303,0.999999761001,0.000345955816365,-0.000594862043133,-6.67152185048e-05,1793245552058886656
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.345933845,880,782.345933845,810,652,630,653,0.453231828731,0.00480142324142,0.0696058161837,0.99999976073,0.000345816352477,-0.000595423506429,-6.6497698919e-05,1793245552075553024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.920309842,880,782.920309842,810,652,630,653,0.4532303619,0.00480101188372,0.0696050978859,0.999999759689,0.000345705679156,-0.000597293003495,-6.59661492826e-05,1793245552092219392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880.508609509,783,810,652,630,652.491390491,0.453230095267,0.00479964424245,0.0696037777336,0.999999760261,0.00034235858948,-0.000598275607389,-6.58455073327e-05,1793245552108886272
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,646.902677878,627,880.902677878,783,810,652,630,652.097322122,0.453230107114,0.00479883225771,0.0696028276822,0.999999760907,0.000339742317287,-0.00059867566333,-6.59376765352e-05,1793245552125553152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,646.323034874,627,880.323034874,783,810,652,630,652.676965126,0.453230540901,0.00480153752375,0.0696041923192,0.999999760691,0.000343331750796,-0.000596896718414,-6.67564683242e-05,1793245552142219776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.254151936,646.254151936,627,880,783,810,652,630,653,0.453225729948,0.00480246307042,0.0696025794256,0.999999758551,0.000345350711064,-0.000599277583702,-6.70592166693e-05,1793245552158886400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.828246687,646.828246687,627,880,783,810,652,630,653,0.453214316581,0.00480114819158,0.0695972182248,0.999999753966,0.000345392658265,-0.000606895085917,-6.67123362515e-05,1793245552175552768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.587953875,647,626.587953875,880,783,810,652,630,653,0.453186714026,0.00480059016823,0.0695856595918,0.999999742348,0.000345220326564,-0.000625890438958,-6.62377005917e-05,1793245552192219648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.000011606,647,626.000011606,880,783,810,652,630,653,0.453152200555,0.00480035523472,0.0695714553701,0.999999727261,0.000344956522342,-0.00064974282159,-6.57085281268e-05,1793245552208886272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,744.421096006,713,684,647,626,880,783,810,652,629.421096006,653,0.453092849257,0.00480211266089,0.0695526278036,0.9999997091,0.000346835964773,-0.000676127170658,-6.60094657553e-05,1793245552225552640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,744.157395918,713,684,647,626.157395918,880,783,810,652,629.157395918,653,0.453029899118,0.00480289650487,0.0695363587382,0.999999693137,0.000348319144481,-0.000698607733952,-6.59361992133e-05,1793245552242219520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,744.734757988,713,684,647,626.734757988,880,783,810,652,629.734757988,653,0.452957347793,0.00480108251767,0.0695269165429,0.999999684557,0.00034874489809,-0.000710672030877,-6.48644319264e-05,1793245552258886144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880.310090505,783,810.310090505,652,630,653,0.4528748943,0.00479946917972,0.0695202563276,0.99999967807,0.000349238327453,-0.000719625486026,-6.35025390446e-05,1793245552275552768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880.883698259,783,810.883698259,652,630,653,0.452784025875,0.00479802635512,0.0695159602605,0.999999673417,0.000349789268178,-0.000725935323711,-6.18940953141e-05,1793245552292219392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880.529139387,783,811,652,630,653,0.452683022022,0.00479802774992,0.0695158404044,0.999999672088,0.000351702910313,-0.000726989524995,-6.01206955292e-05,1793245552308886016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.9397272,880,783,810.9397272,652,630,653,0.452576241862,0.00479829713351,0.0695166807972,0.999999671459,0.000353962042084,-0.000726909059089,-5.82686189853e-05,1793245552325552640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.360621966,880,783,810.360621966,652,630,653,0.452441927306,0.00479771170083,0.0695166445262,0.999999669578,0.000356211949423,-0.000728566928505,-5.61004088029e-05,1793245552342219264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.217112268,880,783,809.782887732,652,630,653,0.452294002334,0.00479715979994,0.0695154263978,0.999999666268,0.000359126384192,-0.000731854639391,-5.36827211342e-05,1793245552358885888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.792583513,880,783,809.207416487,652,630,653,0.452123612429,0.00479666324569,0.0695122575311,0.999999660574,0.000363137667715,-0.000737832517389,-5.08532536455e-05,1793245552375552768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.375485538,627,880,783.375485538,809,652,630,653,0.451934399811,0.00479414949771,0.0695096952862,0.999999653988,0.000365271238802,-0.000745912604057,-4.70702870974e-05,1793245552392219392
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.962575218,627,880,783.962575218,809,652,630,653,0.451734579672,0.00479049896411,0.0695074749015,0.999999646835,0.000366346629064,-0.000755177386832,-4.27499777468e-05,1793245552408886016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783.457619084,809.542380916,652,630,653,0.451501185777,0.00478985766067,0.0695075376464,0.99999964174,0.000370499119924,-0.000760109079826,-3.85374565656e-05,1793245552425552640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.451258688554,0.00478918644871,0.0695087170527,0.999999637966,0.000374861035938,-0.000763137051076,-3.41762308516e-05,1793245552442219520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,810,652,630,653,0.450990554324,0.00478763228118,0.0695135111045,0.99999963878,0.000379222637421,-0.000760115500616,-2.92282006402e-05,1793245552458885888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648.274273452,627.274273452,880,783,810,652,630,653,0.45069948825,0.00478477648534,0.0695171604325,0.999999639193,0.000382799384949,-0.000757965974876,-2.37949748335e-05,1793245552475553024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648.847525407,627.847525407,880,783,810,652,630,653,0.450383424773,0.00478050181773,0.0695195619258,0.99999963918,0.000385520582918,-0.00075676702126,-1.78328499661e-05,1793245552492219648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,628,880.43373898,783,810,652,630,653,0.450053410043,0.00477924943503,0.0695258019574,0.999999641362,0.000391546389109,-0.000750884521787,-1.18165884642e-05,1793245552508886272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627.975816776,880.975816776,783,809.975816776,652,630,653,0.449716914557,0.00477889416768,0.0695337390888,0.999999644765,0.00039849567402,-0.000742723501915,-5.80094567121e-06,1793245552525552896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,627.396081065,880.396081065,783,809.396081065,652,630,653,0.44934767548,0.00477398912105,0.0695487093301,0.99999966027,0.000399150631386,-0.000721206837679,-2.50171822409e-07,1793245552542219776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.182458871,649.182458871,627.182458871,880,783,809,652,630,653,0.448962830917,0.00476918821466,0.0695642095339,0.999999676415,0.000399831325653,-0.000698053271507,5.21349166693e-06,1793245552558886400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.758419852,649.758419852,627.758419852,880,783,809,652,630,653,0.448544330643,0.0047646119042,0.0695808526857,0.999999694349,0.000400567525791,-0.000671369464263,1.04892868367e-05,1793245552575553280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.667783232,713,684.667783232,650.332216768,628,880,783,809.332216768,652,630,653,0.448081624575,0.00475896933597,0.0695860470635,0.999999701004,0.000396007036096,-0.000664045856434,1.46201972247e-05,1793245552592219904
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744.493958756,713,684,651.493958756,628.493958756,880,783.493958756,809.506041244,652,630,653,0.447054895586,0.00474459020776,0.0695639950206,0.999999697225,0.000341092279238,-0.00069938806247,7.91262943227e-06,1793245552625552896
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.169008006,629,880,784,809,652,630,652.915495997,0.446515495082,0.00473451646529,0.0695458127567,0.999999694399,0.000292010406461,-0.000725207362478,-2.31738231424e-06,1793245552642219520
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,629.237758038,880,784,809,652,630,652.237758038,0.445428235227,0.00468902012595,0.0695663882615,0.999999739737,0.000243832222497,-0.000678992677528,6.43529921369e-06,1793245552675553280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,629.815170399,880,784,809,652,630,652.815170399,0.444864023489,0.00465771495753,0.0695971364208,0.999999780821,0.000201837864956,-0.000630453947416,1.213305785e-05,1793245552692219648
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,654.987632658,630,879.012367342,784,809,652,630,653,0.443634470775,0.00464283682636,0.0696507528543,0.999999843203,0.000154513283722,-0.000538097259493,1.30621315624e-05,1793245552725552896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,655,630,879,784,809,652,630,652.433212411,0.442960965378,0.00464155383499,0.0696722496961,0.999999859099,0.000144900354196,-0.00051043908834,1.60409486899e-05,1793245552742219520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.854904309,655.145095691,630,879.145095691,784,809,652,630,652.145095691,0.442284948547,0.00463762315534,0.0696947450636,0.99999987627,0.00012957134277,-0.000479929490985,1.83914834693e-05,1793245552758886144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.278554004,655.721445996,630,879.721445996,784,809,652,630,652.721445996,0.441604602829,0.00462572026722,0.0697204995272,0.999999898454,9.65787509747e-05,-0.000439790762355,1.8650365402e-05,1793245552775552768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.591885551,630.591885551,880,784,809,652,630.295942775,652.704057225,0.440915535209,0.00461684694265,0.0697514630262,0.999999923655,7.48358357513e-05,-0.000382997503203,2.00855694084e-05,1793245552792219392
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.542976563,657.542976563,632,879.542976563,784.457023437,809,652,630.542976563,652.457023437,0.439425594097,0.00460420755965,0.0697865231224,0.999999937579,0.000162174007181,-0.000313106193909,2.24946486136e-05,1793245552825552896
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,657,632,879.62806501,785,809,651.37193499,630,652.37193499,0.437759331003,0.00459579175781,0.069736134064,0.999999891682,0.000253303575004,-0.000389930510921,2.06806285302e-05,1793245552858886144
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.530353769,657,632.469646231,879,784.469646231,809,652,630,652.469646231,0.433566357809,0.00457060751418,0.0698318508654,0.999999957001,0.000125078870306,-0.000263756781606,2.80198700275e-05,1793245552942219520
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.314169989,745,713,682.314169989,657,632.685830011,879,784.685830011,809,652,630,652.685830011,0.431790700638,0.00456097024177,0.0698415052427,0.999999961802,0.000124507445876,-0.000245039779655,2.91393218091e-05,1793245552975553024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.261925634,745,713.261925634,682,657,632.738074366,879,785,809,652,630,653,0.430851625844,0.00455554264315,0.0698115683374,0.999999949183,0.000123325547361,-0.000292461234938,2.98638645821e-05,1793245552992220160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.837130844,745,713.837130844,682,657,632.162869156,879,785,809,652,630,653,0.429861420843,0.00454935432483,0.0697409272648,0.999999908818,0.000114201840828,-0.000410294625524,3.13045600725e-05,1793245553008887296
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632.422874671,879,785,809,652,630.422874671,652.577125329,0.428940175381,0.00454148897533,0.0697321016833,0.999999905934,0.000107915861553,-0.000418974623124,3.07634753782e-05,1793245553025553664
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.025108507,633,879,785,808.987445747,652,630.987445747,652,0.428047026255,0.00453310495599,0.0697488653182,0.999999920937,0.000102645029178,-0.000383039405317,2.95134724673e-05,1793245553042220032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.183979092,633,879,785,808.408010454,652,630.408010454,652,0.427192613493,0.00453121155171,0.0698185787328,0.999999956196,9.25999526555e-05,-0.00027934635931,3.15989223562e-05,1793245553058886656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.836144445,658.672288889,633,879,785,808,652,630,652,0.426318483306,0.00452675060369,0.0698649549708,0.999999973082,8.50879873212e-05,-0.000213228118428,3.3612069541e-05,1793245553075553024
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.706011179,681.293988821,657,633,879,785,808.293988821,652,630,652,0.424477058738,0.00450788402431,0.0698376686019,0.99999996103,7.65634937568e-05,-0.00026615660464,3.51808528645e-05,1793245553108886528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.106408306,681.893591694,657,633,879,785,808.893591694,652,630,652,0.423557416635,0.00450195689534,0.0698102486315,0.999999951734,6.37433150584e-05,-0.000302320596998,3.2711674033e-05,1793245553125552896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.514737907,657,633,879,785,808.514737907,652,630,652,0.422552739535,0.00449523776541,0.0697441329118,0.999999908764,5.52403187227e-05,-0.000422264857036,3.3371033093e-05,1793245553142219520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,657,633,879,784.926133938,808,652,629.926133938,652,0.421552982704,0.0044878806345,0.0696822889802,0.999999854894,4.68519667586e-05,-0.000535572369422,3.43243468451e-05,1793245553158886400
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,657,633,879,784.346802352,808,652,629.346802352,652,0.420712441392,0.00447732697531,0.069706807313,0.999999883836,3.28742509105e-05,-0.000479771457473,3.26702244883e-05,1793245553175553024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.230788872,633,878.769211128,784,807.769211128,652,629.230788872,652,0.419899850924,0.00446892668308,0.0697540250042,0.999999921084,1.7723678998e-05,-0.00039557391726,3.2225345347e-05,1793245553192219648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.805784544,633,878.194215456,784,807.194215456,652,629.805784544,652,0.419128947224,0.00446373799796,0.0698350973362,0.999999963249,8.23865253787e-07,-0.000269024615759,3.35839744235e-05,1793245553208886272
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.02443441,745,713.97556559,681,658,633,878,784,807,652,629.02443441,652.97556559,0.417520573843,0.00444471906201,0.0698862799635,0.999999978697,1.22209544702e-05,-0.000202472598357,3.82254638394e-05,1793245553242219776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.554828765,745,713.445171235,681,657.445171235,633,878,784.554828765,807.554828765,652,629.554828765,652.445171235,0.416650133211,0.00443778807757,0.0698447582088,0.999999968062,-5.2980905007e-06,-0.00025012828484,3.58265464854e-05,1793245553258886912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.133233727,633,878.133233727,785,808,652,629.866766273,652.133233727,0.415784713979,0.00443262686585,0.0698042907349,0.999999953996,-2.08496184837e-05,-0.000300744116919,3.35671666174e-05,1793245553275553792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.709886705,633,878.709886705,785,808,652,629.290113295,652.709886705,0.414944607789,0.00443285595556,0.0697754052292,0.999999937098,-2.58323036884e-05,-0.000352250923096,3.24828161149e-05,1793245553292219904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.284804214,681,657.430391573,633,878.715195786,785,808,652,629.284804214,652.715195786,0.414135700168,0.00443968505151,0.0697572339453,0.999999923266,-1.45024412089e-05,-0.000390063929498,3.32695871978e-05,1793245553308886016
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.857964573,681,656.284070855,633,878.142035427,785,808,652,629.857964573,652.142035427,0.413358380258,0.00445319646559,0.0697499105073,0.999999913562,1.33434109474e-05,-0.000414012351302,3.59508156327e-05,1793245553325552896
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.004600683,681,657.004600683,633,878,785,807,652.004600683,629.004600683,652,0.412054419167,0.0044971163332,0.0698337619503,0.999999967784,4.2628018562e-05,-0.000248427481553,2.99922818711e-05,1793245553358886656
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.602359046,681,657.602359046,633,878,785,807,652.602359046,629.602359046,652,0.411388935816,0.00448432580702,0.0698704018949,0.999999980459,4.00425258411e-05,-0.000190859603096,3.24239744549e-05,1793245553375553024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.808141602,657.808141602,633,878,785,807.191858398,652.808141602,630,652,0.41071619022,0.00447323235523,0.0698842359525,0.999999983898,3.43386300021e-05,-0.000172826782101,3.39911057283e-05,1793245553392219904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.235053119,657.235053119,633,878,785,807.764946881,652.235053119,630,652,0.410029014144,0.00446551105386,0.0698527538336,0.999999971949,2.2438345766e-05,-0.000233351645411,3.3840320643e-05,1793245553408886528
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.061685937,680.938314063,657,633,878,785,808,652.938314063,630,652.938314063,0.408725658632,0.00446625999817,0.0697742907293,0.999999930561,1.34443436471e-05,-0.000370968057072,3.28676177361e-05,1793245553442220288
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.094997384,745,713.905002616,680.905002616,656,633,878,785,807.905002616,652,630,652.905002616,0.407600268098,0.00447150526475,0.0697746582137,0.999999937662,3.23864334154e-05,-0.000350425956217,2.8778789447e-05,1793245553475553024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.67514313,745,713.32485687,680.32485687,656,633,878,785,807.32485687,652,630,652.32485687,0.407072409207,0.0044788375601,0.069796665513,0.999999946618,3.56686939253e-05,-0.000323421656718,2.98411662911e-05,1793245553492219392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.252431071,656.252431071,633,878,784.747568929,807,652,630,652.252431071,0.406560604239,0.00448439149223,0.0698082655585,0.999999949992,3.89202825331e-05,-0.000312341275573,3.07335927939e-05,1793245553508886272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.826082392,656.826082392,633,878,784.173917608,807,652,630,652.826082392,0.406069228038,0.00448768244455,0.0698066223012,0.99999994693,4.21328407108e-05,-0.0003215241908,3.14097562736e-05,1793245553525552896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.589682854,745,713,680.589682854,657,633,878,784,807,652,630,652.589682854,0.405623715817,0.00448660324098,0.0698047394664,0.999999945057,4.25570847502e-05,-0.000327244125991,3.14191547173e-05,1793245553542220032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.000843371,745,713,680.000843371,657,633,878,784,807,652,630,652.000843371,0.40519815823,0.00448362265374,0.0698027523951,0.999999943711,4.17681787967e-05,-0.000331457375515,3.11384545636e-05,1793245553558887424
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745.579068486,713,680,657,633,878,784.579068486,807,652,630,652,0.404829388447,0.00448331830738,0.0698202381769,0.999999955471,3.83844692239e-05,-0.000294489501511,2.93189125568e-05,1793245553575553536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745.842654791,713,680,657,633,878,785,807,652,630,652,0.404465592543,0.00448216474967,0.0698363822481,0.999999964605,3.28027999468e-05,-0.000262543369789,2.80003476001e-05,1793245553592219904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745.268673725,713,680,657,633,878,785,807,652,630,652,0.404114751261,0.00447875239294,0.0698488996383,0.999999969598,2.14109867505e-05,-0.000244050752647,2.80141685935e-05,1793245553608886528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.304727806,745,713.304727806,680,657,633,878,785,807,652,630,652.304727806,0.403779415722,0.00447393698839,0.0698488137063,0.999999969914,9.28907301807e-06,-0.000243513897578,2.80511764368e-05,1793245553625553152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.877619303,745,713.877619303,680,657,633,878,785,807,652,630,652.877619303,0.403457725423,0.00446788688713,0.0698376367169,0.999999966116,-3.47533622261e-06,-0.000258778304144,2.81085889526e-05,1793245553642219776
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,630,652.640707385,0.402630553745,0.00446625452042,0.0698095339766,0.999999951871,-2.74639601775e-05,-0.000307904728487,2.64087153149e-05,1793245553692219904
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.791388555,785,807,652,630,652.208611445,0.402182502262,0.0044680746634,0.0697986914259,0.999999945303,-2.85574524262e-05,-0.000328287290234,2.83934162308e-05,1793245553725553408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.624852375,785,807,652,630,652,0.402003271887,0.00447138162746,0.0697988779432,0.99999994547,-2.05617685944e-05,-0.000328236589608,2.99687469122e-05,1793245553742219776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.035373373,785,807,652,630,652,0.401842144157,0.00447674284778,0.0698010970217,0.999999947064,-7.95147927158e-06,-0.000323749858084,3.15275801425e-05,1793245553758886400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.544252491,745,713.455747509,680,657,633,878,785,807,652,630,652,0.401704064638,0.00449327667705,0.0698008077221,0.999999945476,6.66966133066e-05,-0.000321957764834,3.07104757564e-05,1793245553775553024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.877419032,745,713.122580968,680,657,633,878,785,807,652,629.877419032,652,0.40157257481,0.00450660260655,0.0697997871776,0.999999940689,0.000119738772406,-0.000321733851981,2.77997019541e-05,1793245553792219648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.30156189,745,713.69843811,680,657,633,878,785,807,652,629.30156189,652,0.401460011329,0.00450542905252,0.0697966547872,0.999999943425,7.824250227e-05,-0.000326672616126,1.77078869754e-05,1793245553808886272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.273636441,745,713.726363559,680,657,633,878,785,807,652,629,652,0.401359553524,0.00450211000974,0.0697947818845,0.999999944379,5.32501985464e-05,-0.000328967819921,1.36886043582e-05,1793245553825553152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.848110437,745,713.151889563,680,657,633,878,785,807,652,629,652,0.401272404779,0.00449643220374,0.0697942936702,0.999999944881,4.64024577794e-05,-0.000328356677698,1.63455011277e-05,1793245553842219776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.434987684,680,657,633,878,785,807,652,629.434987684,652,0.401206097826,0.00449793038173,0.0697961582226,0.999999945933,4.99269267563e-05,-0.000324552396174,1.75483114351e-05,1793245553858886400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.974213612,745,714,680,657,633,878.025786388,785,807,652,630,652,0.401148114823,0.00450162824806,0.0697989193131,0.999999947166,5.66787890162e-05,-0.000319565068123,1.82611145354e-05,1793245553875553024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.394933507,745,714,680,657,633,878.605066493,785,807,652,630,652,0.401108007134,0.00449717867498,0.0698027725881,0.999999949177,5.26835362845e-05,-0.000313819262949,1.96744190833e-05,1793245553892219648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.183336265,745,714,679.816663735,657.183336265,633,878.816663735,785,807,652,630,652,0.401072133357,0.00449464874402,0.0698065596136,0.99999995114,5.08517934601e-05,-0.000307736038168,2.07938808925e-05,1793245553908886528
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.759441486,745,714,679.240558514,657.759441486,633,878.240558514,785,807,652,630,652,0.40104533007,0.00449623134333,0.0698102047096,0.999999953055,5.36550289951e-05,-0.000300929945988,2.12838309211e-05,1793245553925553152
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.334520363,657.665479637,633.334520363,878,785,807,652.334520363,630,652,0.401022991691,0.00449506171144,0.0698130692611,0.999999954605,5.13240301389e-05,-0.000296129310477,2.15142594425e-05,1793245553942219776
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.908863497,657.091136503,633.908863497,878,785,807,652.908863497,630,652,0.40100385427,0.004491918963,0.0698153742285,0.999999955885,4.53122202939e-05,-0.000292766416865,2.15586330704e-05,1793245553958886400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.502416642,745,714,680,657,633.502416642,878,785.497583358,806.502416642,652.502416642,629.502416642,652,0.400991265336,0.0044917228266,0.0698161969357,0.999999956202,4.40169488514e-05,-0.000291888466026,2.14371634355e-05,1793245553975553280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,713.913217125,680,657,633,878,785.913217125,806.086782875,652,629.086782875,652,0.400981003705,0.00449247393094,0.0698168051412,0.999999956383,4.42978441805e-05,-0.000291233924193,2.13146366235e-05,1793245553992219904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.336614685,680,657,633,878,785.336614685,806.663385315,652,629.663385315,652,0.400976906703,0.00449543466453,0.0698177805806,0.999999956781,4.84539947594e-05,-0.000289195027984,2.13626894532e-05,1793245554008886528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633.238982488,878,785,807,652,629.761017512,652,0.400973243413,0.00449626199645,0.0698188579183,0.99999995715,4.9387500125e-05,-0.000287753199946,2.14407319296e-05,1793245554025553152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633.813169609,878,785,807,652,629.186830391,652,0.400970188461,0.00449409694942,0.0698200781818,0.999999957491,4.58008179667e-05,-0.000287148839327,2.156083886e-05,1793245554042219776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.398610397,745,713.398610397,679.601389603,657,633.601389603,878,785,807,652,629.398610397,652,0.400968382674,0.00449361575475,0.0698213106993,0.999999957883,4.46047030709e-05,-0.000285968365063,2.15766608268e-05,1793245554058886400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.989479052,745,713.989479052,679.010520948,657,633.010520948,878,785,807,652,629.989479052,652,0.400967179386,0.00449394671789,0.0698225491271,0.999999958302,4.45616096205e-05,-0.000284510018973,2.15421839384e-05,1793245554075553024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.431432834,745,714,679.568567166,657,633,878,785,806.431432834,652,629.431432834,652,0.400966772358,0.00449385989265,0.069822094459,0.999999958341,4.54240307027e-05,-0.000284218959784,2.17610420607e-05,1793245554092219648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.853935829,657,633,878,785,806.146064171,652,629.146064171,652,0.400966736657,0.00449329332488,0.0698220582784,0.999999958521,4.51027771287e-05,-0.000283625445517,2.19291465837e-05,1793245554108886272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.28046979,657,633,878,785,806.71953021,652,629.71953021,652,0.400967745266,0.00449134513337,0.0698233364575,0.999999959122,4.12699099947e-05,-0.000282084989404,2.19353011295e-05,1793245554125553152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.705404378,679,657,633,878.294595622,785,807,652,630,652,0.400968878125,0.00449113332774,0.069824250672,0.999999959708,3.96859583745e-05,-0.000280236738608,2.18086266927e-05,1793245554142220032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.128807902,679,657,633,878.871192098,785,807,652,630,652,0.400970129921,0.00449258367251,0.0698248164827,0.999999960289,4.0254774522e-05,-0.000278093852012,2.15548020771e-05,1793245554158886656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.462434079,679.462434079,657,633.462434079,878.537565921,785,807,652,630,652,0.400970935507,0.00449088530396,0.0698257983014,0.999999960814,3.9266863777e-05,-0.000276336614373,2.16594169761e-05,1793245554175553280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.944118662,877.944118662,785,807,652,629.944118662,652,0.400971333272,0.0044888649713,0.0698266703377,0.999999961193,3.84637977129e-05,-0.000275059823071,2.18336235867e-05,1793245554192219648
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.369313503,877.369313503,785,807,652,629.369313503,652,0.400969135846,0.00449226566351,0.0698254116756,0.999999960393,4.35355585946e-05,-0.000277214393707,2.16966076373e-05,1793245554208886272
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.205588057,745,714,680,657,633.205588057,877,785,807,652,629,652,0.400968078985,0.00449406712982,0.0698248653664,0.999999959944,4.57875726369e-05,-0.000278476770301,2.15761166854e-05,1793245554225552896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.780662836,745,714,680,657,633.780662836,877,785,807,652,629,652,0.400969071966,0.00449299443708,0.0698255993112,0.999999960166,4.29718843356e-05,-0.000278135678863,2.14853247791e-05,1793245554242219520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.636105307,657,633.636105307,877.363894693,785,807,652,629,652,0.40096967408,0.00449299928232,0.0698265041514,0.999999960402,4.27483403407e-05,-0.000277330594486,2.13669246655e-05,1793245554258886144
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.047844063,657,633.047844063,877.952155937,785,807,652,629,652,0.400970035197,0.00449366850519,0.0698275143605,0.999999960647,4.41230348746e-05,-0.000276239425991,2.12315021629e-05,1793245554275553024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657,633,878.535375146,785,807,652,629.535375146,652,0.40096917195,0.00449378821517,0.0698260559922,0.999999960371,4.45717593774e-05,-0.000277159425356,2.13271657481e-05,1793245554292219648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.883620327,714,679,657,633,879,785,807,652,629.883620327,652,0.400968337221,0.0044940057662,0.0698248639295,0.999999960155,4.48817776253e-05,-0.00027788282401,2.13893026061e-05,1793245554308886528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.309569908,714,679,657,633,879,785,807,652,629.309569908,652,0.400968040911,0.00449479940026,0.0698255785835,0.999999960362,4.49687070689e-05,-0.000277132875282,2.12391391671e-05,1793245554325553152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.26531785,714,679,657,633,878.73468215,785,807.26531785,652,629.26531785,652,0.400967881076,0.00449473139793,0.0698258417189,0.999999960417,4.45407032247e-05,-0.000277003868131,2.12148586314e-05,1793245554342219776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.841185776,714,679,657,633,878.158814224,785,807.841185776,652,629.841185776,652,0.400967880982,0.00449365486481,0.0698255763596,0.999999960294,4.35099786512e-05,-0.000277601662542,2.13379218943e-05,1793245554358886400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.574090424,745,714,679,657,633,878.425909576,785,807.574090424,652,629.574090424,652.425909576,0.400968295386,0.00449340490976,0.0698261564285,0.999999960503,4.35797491348e-05,-0.000276836897693,2.13529176394e-05,1793245554375552768
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e4137900a3c277fe37eed34af9f414a3acd1d6e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+359,5.983333333,pose2_to_pose3_retreat,0.577817557956,0.00987774663026,1.06005088369,0.548389191737,0.0185534345066,1.05971737828
+360,6.000000000,pose2_to_pose3_retreat,0.57756193219,0.0098776993802,1.06005084095,0.548133566139,0.0185533876518,1.05971733108
+361,6.016666667,pose2_to_pose3_retreat,0.577323337855,0.00987778274927,1.06005098615,0.547894970651,0.0185534670029,1.05971747352
+362,6.033333333,pose2_to_pose3_retreat,0.577103870787,0.00987785014658,1.06005087053,0.547675503764,0.0185535352558,1.05971736416
+363,6.050000000,pose2_to_pose3_retreat,0.576904111981,0.00987787184953,1.06005081697,0.547475744883,0.0185535572375,1.05971732442
+364,6.066666667,pose2_to_pose3_retreat,0.576725303165,0.00987782220765,1.06005095087,0.547296934915,0.0185535033968,1.05971745077
+365,6.083333333,pose2_to_pose3_retreat,0.57656621244,0.00987785828434,1.06005087942,0.547137844136,0.0185535390867,1.05971737417
+366,6.100000000,pose2_to_pose3_retreat,0.576425512572,0.00987780118014,1.06005099229,0.546997145136,0.0185534846784,1.05971748048
+367,6.116666667,pose2_to_pose3_retreat,0.57630195386,0.00987777562161,1.06005100737,0.546873588403,0.0185534659422,1.05971749839
+368,6.133333333,pose2_to_pose3_retreat,0.576191949065,0.00987780959135,1.0600510814,0.546763583671,0.0185535001192,1.0597175724
+369,6.150000000,pose2_to_pose3_retreat,0.5760947726,0.00987779946318,1.06005099917,0.546666406922,0.0185534891009,1.05971749247
+370,6.166666667,pose2_to_pose3_retreat,0.576010022473,0.00987772538478,1.06005096457,0.546581657107,0.018553416162,1.05971746028
+371,6.183333333,pose2_to_pose3_retreat,0.575937970779,0.00987770274971,1.0600509936,0.546509605511,0.0185533938183,1.059717488
+372,6.200000000,pose2_to_pose3_retreat,0.575878505654,0.00987777760584,1.06005077561,0.54645014022,0.0185534681405,1.05971727078
+373,6.216666667,pose2_to_pose3_retreat,0.575830051987,0.00987782646607,1.06005086202,0.546401686261,0.0185535159908,1.0597173566
+374,6.233333333,pose2_to_pose3_retreat,0.575792020912,0.0098777945412,1.06005086554,0.546363655823,0.0185534863047,1.05971736206
+375,6.250000000,pose2_to_pose3_retreat,0.575761481177,0.00987789110476,1.06005095888,0.546333114324,0.0185535768201,1.05971745369
+376,6.266666667,pose2_to_pose3_retreat,0.575737673278,0.00987783919036,1.06005098015,0.546309306181,0.0185535240731,1.05971747482
+377,6.283333333,pose2_to_pose3_retreat,0.575718553391,0.00987777005508,1.06005094345,0.546290186601,0.0185534559216,1.05971743677
+378,6.300000000,pose2_to_pose3_retreat,0.5757036979,0.00987777829216,1.06005087953,0.546275331101,0.0185534640269,1.05971737025
+379,6.316666667,pose2_to_pose3_retreat,0.575692831253,0.00987773273516,1.06005082173,0.546264465046,0.0185534209803,1.05971732546
+380,6.333333333,pose2_to_pose3_retreat,0.575685101033,0.00987784427579,1.06005093105,0.546256733954,0.0185535292371,1.0597174264
+381,6.350000000,pose2_to_pose3_retreat,0.575679965833,0.00987791496138,1.06005104212,0.54625159847,0.0185535986561,1.0597175296
+382,6.366666667,pose2_to_pose3_retreat,0.575676590951,0.00987785897957,1.06005110744,0.546248224951,0.0185535473289,1.05971759585
+383,6.383333333,pose2_to_pose3_retreat,0.575674594993,0.00987785529257,1.0600511629,0.546246228923,0.0185535433665,1.05971765021
+384,6.400000000,pose2_to_pose3_retreat,0.57567320279,0.0098779024121,1.06005122999,0.546244835196,0.0185535851796,1.05971771377
+385,6.416666667,pose2_to_pose3_retreat,0.575672308927,0.0098779326652,1.06005127307,0.546243940353,0.0185536120256,1.05971775458
+386,6.433333333,pose2_to_pose3_retreat,0.575671973294,0.00987794402481,1.06005128925,0.546243604352,0.0185536221059,1.05971776991
+387,6.450000000,pose2_to_pose3_retreat,0.575671905231,0.0098779463284,1.06005129253,0.546243536215,0.0185536241501,1.05971777302
+388,6.466666667,pose2_to_pose3_retreat,0.57567154278,0.00987795348194,1.06005120585,0.546243173806,0.0185536316168,1.05971769085
+389,6.483333333,pose2_to_pose3_retreat,0.575671041616,0.00987796200662,1.06005105815,0.546242672815,0.0185536410274,1.05971755085
+390,6.500000000,pose2_to_pose3_retreat,0.57567048827,0.00987797141888,1.06005089508,0.546242119662,0.0185536514179,1.05971739628
+391,6.516666667,pose2_to_pose3_retreat,0.57567032087,0.00987797426631,1.06005084575,0.54624195232,0.0185536545612,1.05971734952
+392,6.533333333,pose2_to_pose3_retreat,0.575670227188,0.0098779753752,1.06005082322,0.546241858687,0.0185536558832,1.05971732824
+393,6.550000000,pose2_to_pose3_retreat,0.575670135694,0.00987797003342,1.06005086849,0.546241767453,0.0185536513794,1.05971737228
+394,6.566666667,pose2_to_pose3_retreat,0.575670026602,0.00987796366428,1.06005092247,0.546241658672,0.0185536460095,1.05971742479
+395,6.583333333,pose2_to_pose3_retreat,0.575669914341,0.0098779571101,1.06005097802,0.546241546731,0.0185536404835,1.05971747883
+396,6.600000000,pose2_to_pose3_retreat,0.575669911218,0.00987795692781,1.06005097956,0.546241543618,0.0185536403298,1.05971748033
+397,6.616666667,pose2_to_pose3_retreat,0.575669888885,0.00987795562393,1.06005099061,0.546241521349,0.0185536392304,1.05971749108
+398,6.633333333,pose2_to_pose3_retreat,0.575669799717,0.00987795041798,1.06005103473,0.546241432435,0.0185536348411,1.05971753401
+399,6.650000000,pose2_to_pose3_retreat,0.575669644227,0.00987793684952,1.06005111461,0.546241277438,0.0185536228464,1.05971761126
+400,6.666666667,pose2_to_pose3_retreat,0.575669454241,0.00987788696563,1.06005123404,0.546241088429,0.0185535759954,1.05971772345
+401,6.683333333,pose2_to_pose3_retreat,0.575669446459,0.0098778669936,1.06005126186,0.546241080851,0.0185535565964,1.05971774815
+402,6.700000000,pose2_to_pose3_retreat,0.57566944792,0.009877866049,1.06005126264,0.546241082317,0.0185535556618,1.05971774878
+403,6.716666667,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..023e65ff4e7d7bc62a3d5574cbf3bc4631e4a355
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac5dddac5943eea52b1b663cb846cd34cb778750324bca3b503ba09f60eb51c8
+size 25883129
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed4991c3268ea91ef78758b895654d6993536540
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+32,0.533333333,BASELINE,764,745,714,680,657,633.56052515,878.43947485,785.43947485,806.43947485,652.56052515,630,652,0.400971538645,0.00449200297258,0.0698308897123,0.999999962935,3.97480476725e-05,-0.000268543805939,2.08189497063e-05,1793245555068914176
+33,0.550000000,BASELINE,764,745,713.862002176,680,657,633.862002176,878,785,806.137997824,652.862002176,630,652,0.400971360066,0.00449339227803,0.0698305687452,0.999999962806,4.13751655769e-05,-0.000268793381684,2.06464004348e-05,1793245555085581056
+34,0.566666667,BASELINE,764,745,713.268631575,680,657,633.268631575,878,785,806.731368425,652.268631575,630,652,0.400969243294,0.00449551611451,0.0698290076414,0.999999961697,4.65466202176e-05,-0.000272044392388,2.07427003427e-05,1793245555102247680
+35,0.583333333,BASELINE,764,745,713.316879305,679.683120695,657,633,878,785,807,652,630,652,0.400968513717,0.00449577011742,0.0698285500274,0.999999961401,4.70146270699e-05,-0.000273060559438,2.06363764327e-05,1793245555118914048
+36,0.600000000,BASELINE,764,745,713.895888508,679.104111492,657,633,878,785,807,652,630,652,0.400968931661,0.00449447735095,0.0698290052455,0.999999961789,4.35918335749e-05,-0.000272228012434,2.03624374199e-05,1793245555135580672
+37,0.616666667,BASELINE,764,745,714,679.470144151,657,633,878,785,807,652,630,652,0.400970032078,0.00449376087595,0.0698295580857,0.999999962123,4.24644097732e-05,-0.000271151746864,2.0661717198e-05,1793245555152247296
+38,0.633333333,BASELINE,764,745,713.955421409,679.955421409,657,633,878,785,807,652,630,652,0.400971161917,0.00449315111622,0.0698300734164,0.999999962437,4.17222991396e-05,-0.00027007952638,2.10445871406e-05,1793245555168913920
+39,0.650000000,BASELINE,764,745,713.366066203,679.366066203,657,633,878,785,807,652,630,652,0.400970822875,0.0044923015306,0.06982986882,0.999999962628,3.95393913869e-05,-0.000269709687432,2.091326163e-05,1793245555185580800
+40,0.666666667,BASELINE,764,745,713,679,657,633,877.780435684,785,807,652,629.780435684,652,0.400970584839,0.00449244068456,0.0698299521513,0.999999962719,3.96018960033e-05,-0.000269369256241,2.0813258329e-05,1793245555202247936
+41,0.683333333,BASELINE,764,745,713,679,657,633,877.200911554,785,807,652,629.200911554,652,0.400970512394,0.00449420080559,0.0698305075193,0.999999962644,4.33455919109e-05,-0.000269077036959,2.0764605533e-05,1793245555218914048
+42,0.700000000,BASELINE,764,745,713,679.376271864,657,633,877.376271864,784.623728136,806.623728136,652,629,652,0.400969581559,0.00449401566552,0.0698297420613,0.999999962168,4.46912396018e-05,-0.000270613325127,2.08617786472e-05,1793245555235580416
+43,0.716666667,BASELINE,764,745,713,679.952213161,657,633,877.952213161,784.047786839,806.047786839,652,629,652,0.400968195217,0.00449279826861,0.0698282757043,0.99999996148,4.47643579925e-05,-0.000273119914516,2.103633458e-05,1793245555252247040
+44,0.733333333,BASELINE,764,745,713.527931634,680,657,633,878,784.527931634,806.527931634,652,629,652,0.400970711725,0.0044933470098,0.0698302461398,0.999999962215,4.46301861991e-05,-0.000270437246548,2.10433847812e-05,1793245555268913664
+45,0.750000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629,652,0.400972900065,0.0044942503515,0.0698320294793,0.999999962902,4.47109639833e-05,-0.000267877238002,2.09570269854e-05,1793245555285580544
+46,0.766666667,BASELINE,764,745,714,680,657,633,878,785,807,652,629,652,0.400971984888,0.00449604108078,0.0698315440236,0.999999962822,4.58563441394e-05,-0.000268014793202,2.05142046285e-05,1793245555302247680
+47,0.783333333,BASELINE,764,745,714,680,657.257921184,633,878,785,807,652,629,652,0.400971447167,0.00449652063006,0.0698308626701,0.999999962729,4.64274067431e-05,-0.000268284272954,2.02290528835e-05,1793245555318914560
+48,0.800000000,BASELINE,764,745,714,680,657.853148258,633,878,785,807,652,629,652,0.400971403075,0.00449528543583,0.0698299251238,0.999999962621,4.6247384655e-05,-0.000268726281897,2.01501006048e-05,1793245555335581184
+49,0.816666667,BASELINE,764,745,713.564424426,680,657.564424426,633.435575574,878.435575574,785,807,652,629,652,0.400969704432,0.00449422327501,0.0698291294446,0.999999962073,4.3742684879e-05,-0.000271161998885,2.02949149709e-05,1793245555352247808
+50,0.833333333,BASELINE,764.013983596,745,713,680,657,633.986016404,878.972032808,785,807,652,629.013983596,652,0.400967560303,0.00449323710622,0.0698284255016,0.999999961396,4.05833687682e-05,-0.000274115716137,2.05146458063e-05,1793245555368914432
+51,0.850000000,BASELINE,764.599458347,745,713,680,657,633.400541653,877.801083306,785,807,652,629.599458347,652,0.400969356446,0.00449304052531,0.0698295717588,0.99999996204,4.17872400479e-05,-0.000271553054075,2.08009314824e-05,1793245555385581056
+52,0.866666667,BASELINE,764.81693739,745,713.18306261,679.81693739,657,633,877.18306261,785,807,652,630,652,0.400970196026,0.0044928154198,0.069830003501,0.999999962334,4.2157225837e-05,-0.000270402625775,2.0898360275e-05,1793245555402247680
+53,0.883333333,BASELINE,764.237384403,745,713.762615597,679.237384403,657,633,877.762615597,785,807,652,630,652,0.400968963811,0.0044925285336,0.0698288876944,0.999999961882,4.07211214207e-05,-0.000272310916719,2.05867490113e-05,1793245555418914304
+54,0.900000000,BASELINE,764,745,714,679.340863649,657,633.340863649,878,785,807,652,630,652,0.400969223859,0.00449255833723,0.0698289135647,0.999999961957,4.11258632077e-05,-0.00027197701543,2.05496022732e-05,1793245555435581184
+55,0.916666667,BASELINE,764,745,714,679.918206359,657,633.918206359,878,785,807,652,630,652,0.400970519185,0.00449280784898,0.0698297314897,0.999999962396,4.2807718597e-05,-0.000270087560938,2.0702869262e-05,1793245555452247808
+56,0.933333333,BASELINE,764.492705691,745,713.507294309,679.507294309,657,633.507294309,877.507294309,785,807,652,630,652,0.400970678981,0.00449304623369,0.0698298392029,0.999999962462,4.26285356484e-05,-0.000269882070349,2.05342072351e-05,1793245555468914176
+57,0.950000000,BASELINE,764.931417415,744.931417415,713.068582585,679.068582585,657,633,877.068582585,785,807,652,629.931417415,652,0.40097073035,0.00449343653543,0.069829825245,0.999999962481,4.25770173229e-05,-0.00026983766149,2.03343274234e-05,1793245555485580800
+58,0.966666667,BASELINE,764.341501696,744.341501696,713.658498304,679.658498304,657,633,877.658498304,785,807,652,629.341501696,652,0.400971382245,0.00449499560109,0.0698297774914,0.999999962589,4.58309617298e-05,-0.000268904878953,2.03010637295e-05,1793245555502247424
+59,0.983333333,BASELINE,764,744.243994149,713.756005851,679.756005851,657,633.243994149,878.243994149,785,806.756005851,652,629.243994149,652,0.400971119608,0.00449550514901,0.0698297384267,0.999999962483,4.6986059833e-05,-0.00026909832488,2.03123661947e-05,1793245555518914304
+60,1.000000000,BASELINE,764,744.82341395,713.17658605,679.17658605,657,633.82341395,878.82341395,785,806.17658605,652,629.82341395,652,0.40096959974,0.00449457189544,0.0698297113068,0.999999962091,4.5255815061e-05,-0.000270840028776,2.03849350139e-05,1793245555535580928
+61,1.016666667,BASELINE,764,744.598849775,713,679.401150225,657,633.598849775,878.598849775,785,806.401150225,652,629.598849775,652,0.400969647809,0.00449558292077,0.069829722776,0.999999962021,4.65136255994e-05,-0.000270886408675,2.03690131556e-05,1793245555552247296
+62,1.033333333,BASELINE,764,744.021851525,713,679.978148475,657,633.021851525,878.021851525,785,806.978148475,652,629.021851525,652,0.400970383199,0.00449744623934,0.069829751161,0.999999962088,4.90812787669e-05,-0.000270189627034,2.0314300561e-05,1793245555568913920
+63,1.050000000,BASELINE,764,744.550800252,713.550800252,680,657,633,878,785,807,652,629.550800252,652,0.400969672752,0.00449458235578,0.069829688565,0.999999962256,4.43753947838e-05,-0.000270366469587,2.05304447474e-05,1793245555585580800
+64,1.066666667,BASELINE,764,745,714,680,657.127541557,633,878,785,807,652,630,652,0.400969188338,0.00449255209246,0.0698297699202,0.999999962385,4.11321647575e-05,-0.000270388830506,2.06720104778e-05,1793245555602247680
+65,1.083333333,BASELINE,764,745,714,680,657.719807259,633,878,785,807,652,630,652,0.400969734881,0.00449423728519,0.06983038884,0.999999962435,4.42616077057e-05,-0.000269723008104,2.05029871349e-05,1793245555618914304
+66,1.100000000,BASELINE,764,745.30537928,713.69462072,680,657.69462072,633,878,785,807,652,629.69462072,652,0.400970643519,0.00449426182329,0.0698311765602,0.99999996277,4.45900522356e-05,-0.000268426693722,2.04870746635e-05,1793245555635580928
+67,1.116666667,BASELINE,764,745.884941391,713.115058609,680,657.115058609,633,878,785,807,652,629.115058609,652,0.400971877262,0.00449279535316,0.0698321158365,0.99999996336,4.24036380989e-05,-0.000266564296191,2.0608631817e-05,1793245555652247808
+68,1.133333333,BASELINE,764,745.540236531,713.459763469,680,657,633,878,785,807,652,629,652,0.400970947202,0.00449255017154,0.0698312932054,0.999999962977,4.17114877178e-05,-0.000268102036041,2.06867475842e-05,1793245555668914432
+69,1.150000000,BASELINE,764,745,714,679.965697036,657,633,878,785,807,652,629.034302964,652,0.40096948676,0.00449259435439,0.0698300422709,0.999999962367,4.14051393681e-05,-0.000270410183458,2.0743353637e-05,1793245555685581056
+70,1.166666667,BASELINE,764,745,714,679.37674286,657,633,878,785,807,652,629.62325714,652,0.400968116789,0.00449242588701,0.0698289227173,0.999999962061,4.13521527492e-05,-0.000271557146327,2.06261540384e-05,1793245555702247680
+71,1.183333333,BASELINE,764.20864694,745,714,679,657.20864694,633.20864694,878,785,807,652,630,652,0.400967370246,0.00449245166678,0.0698283570404,0.999999961831,4.1963166824e-05,-0.000272309647633,2.05989591491e-05,1793245555718914048
+72,1.200000000,BASELINE,764.78770893,745,714,679,657.78770893,633.78770893,878,785,807,652,630,652,0.400967730486,0.00449282229734,0.0698287746715,0.999999961737,4.37529944847e-05,-0.0002723618537,2.07315513856e-05,1793245555735580672
+73,1.216666667,BASELINE,765,745,714,679.365352905,657.634647095,633.634647095,878,785,807,652,629.634647095,652,0.400968917034,0.00449257902815,0.0698295822798,0.99999996209,4.47442373276e-05,-0.000270887827606,2.09286170335e-05,1793245555752247296
+74,1.233333333,BASELINE,765,745,714,679.942176081,657.057823919,633.057823919,878,785,807,652,629.057823919,652,0.40097058186,0.00449198042703,0.0698306156112,0.999999962697,4.52732504027e-05,-0.000268530401578,2.1163000592e-05,1793245555768914176
+75,1.250000000,BASELINE,764.481090844,745,714,679.481090844,657,633,878,785,807,652,629.518909156,652,0.40096834918,0.00449276823929,0.0698287092743,0.999999961997,4.37686647728e-05,-0.00027140926041,2.06511166918e-05,1793245555785581056
+76,1.266666667,BASELINE,764.097467974,745,713.902532026,679,657,633,877.902532026,785,807,652,630,652,0.400966217007,0.00449339041361,0.0698270524588,0.999999961318,4.21909511871e-05,-0.000274182820258,2.02054918207e-05,1793245555802247680
+77,1.283333333,BASELINE,764.685261929,745,713.314738071,679,657,633,877.314738071,785,807,652,630,652,0.400966774942,0.00449240226005,0.0698282985337,0.999999961534,4.13851583876e-05,-0.000273491801617,2.05114635598e-05,1793245555818914304
+78,1.300000000,BASELINE,765,745,713,679.269071648,657,633,877.269071648,785,807,652,630,652,0.400968100674,0.0044925016587,0.0698294415725,0.999999961957,4.15545815795e-05,-0.00027191188625,2.05683498418e-05,1793245555835580672
+79,1.316666667,BASELINE,765,745,713,679.848288896,657,633,877.848288896,785,807,652,630,652,0.400970311407,0.00449385462512,0.0698304658467,0.999999962612,4.28480881325e-05,-0.000269307383577,2.03381275988e-05,1793245555852247296
+80,1.333333333,BASELINE,764.575470008,745,713,679.575470008,657,633,878,785,807,652,630,652,0.400970706074,0.00449365374255,0.0698310963275,0.999999962958,4.33506532162e-05,-0.000267910633225,2.06788115639e-05,1793245555868913920
+81,1.350000000,BASELINE,764.000285027,745,713,679.000285027,657,633,878,785,807,652,630,652,0.400970456264,0.00449290143826,0.0698315870609,0.999999963196,4.35725332211e-05,-0.000266942483506,2.12220957282e-05,1793245555885580800
+82,1.366666667,BASELINE,764.573810936,745,713.573810936,679,657,633,878,785,807,651.426189064,629.426189064,652,0.400970604715,0.00449272281595,0.0698312272987,0.999999963123,4.25540695251e-05,-0.00026740725114,2.08736622102e-05,1793245555902247424
+83,1.383333333,BASELINE,764.847393702,744.847393702,714,679.152606298,657,633,878,785,807,651.152606298,629.152606298,652,0.400970713265,0.00449225128465,0.0698309922691,0.999999963061,4.18913321808e-05,-0.000267760137982,2.06748333875e-05,1793245555918914304
+84,1.400000000,BASELINE,764.255055429,744.255055429,714,679.744944571,657,633,878,785,807,651.744944571,629.744944571,652,0.400970706274,0.00449093492241,0.0698311178687,0.999999963033,4.2255384871e-05,-0.000267788595619,2.09083613055e-05,1793245555935580928
+85,1.416666667,BASELINE,764,744.329449251,714,680,657,633.329449251,878,785,807,652.329449251,630,652.329449251,0.400970233644,0.00449133676623,0.0698308004604,0.999999962748,4.27188380637e-05,-0.000268778942047,2.09168481934e-05,1793245555952247808
+86,1.433333333,BASELINE,764,744.908030083,714,680,657,633.908030083,878,785,807,652.908030083,630,652.908030083,0.400969408895,0.00449303792829,0.0698301480467,0.999999962265,4.32574585154e-05,-0.000270496674789,2.0755157634e-05,1793245555968914432
+87,1.450000000,BASELINE,764.48412546,745,714,680,657.48412546,634,878,785,807,653,630,652.51587454,0.400969060671,0.00449362019611,0.0698297038583,0.999999962207,4.48624388913e-05,-0.000270452919465,2.06890527409e-05,1793245555985580800
+88,1.466666667,BASELINE,764.939032693,745,714,680,658,634,878,785,807,652.939032693,629.939032693,652,0.400968918803,0.00449393101999,0.0698294463161,0.999999962266,4.63444050144e-05,-0.000269991215262,2.06268044479e-05,1793245556002247424
+89,1.483333333,BASELINE,764.351690286,745,714,680,658,634,878,785,807,652.351690286,629.351690286,652,0.400969780972,0.00449372406292,0.0698304604471,0.999999962652,4.50242322481e-05,-0.00026879541984,2.04418779709e-05,1793245556018914048
+90,1.500000000,BASELINE,764.232370671,745,714,680,658,633.767629329,878,785,807,652,629.232370671,652,0.400970013751,0.00449321299827,0.069830744826,0.999999962816,4.33867827291e-05,-0.000268455458283,2.04133814806e-05,1793245556035580672
+91,1.516666667,BASELINE,764.811534298,745,714,680,658,633.188465702,878,785,807,652,629.811534298,652,0.400969307219,0.0044922480796,0.0698299401135,0.999999962649,4.12758254503e-05,-0.000269392754223,2.06183431167e-05,1793245556052247296
+92,1.533333333,BASELINE,764.611115279,745,714,680,658,633,877.611115279,785,807,652,630,652,0.400970980203,0.00449275204248,0.0698308918373,0.999999963052,4.19102072981e-05,-0.000267795622731,2.06037757938e-05,1793245556068914176
+93,1.550000000,BASELINE,764.034639463,745,714,680,658,633,877.034639463,785,807,652,630,652,0.400973801025,0.00449396456769,0.0698326908347,0.999999963722,4.38688918843e-05,-0.000264975928457,2.04833116106e-05,1793245556085581056
+94,1.566666667,BASELINE,764.540631329,745,714,680,657.459368671,633,877.540631329,785,807,652,630,652,0.400973130169,0.00449267549147,0.0698320630551,0.999999963582,4.14415294825e-05,-0.000265886130391,2.05678025033e-05,1793245556102247424
+95,1.583333333,BASELINE,764.881248954,745,714,680,657,633,878,785,807,651.881248954,630,652.118751046,0.400972176998,0.00449169411577,0.0698312744055,0.999999963358,3.98160220101e-05,-0.000266971221229,2.06127797865e-05,1793245556118914048
+96,1.600000000,BASELINE,764.291524539,745,714,680,657,633,878,785,807,651.291524539,630,652.708475461,0.400970989462,0.00449256737591,0.069830463043,0.999999963029,4.24827936322e-05,-0.000267804220226,2.04490777318e-05,1793245556135580672
+97,1.616666667,BASELINE,764.292895905,745,714,679.707104095,657.292895905,633,878,785,807,651.292895905,630,652.707104095,0.400970670365,0.00449267386943,0.0698303336692,0.999999962935,4.29891035212e-05,-0.000268080112036,2.03786792893e-05,1793245556152247296
+98,1.633333333,BASELINE,764.872131074,745,714,679.127868926,657.872131074,633,878,785,807,651.872131074,630,652.127868926,0.400971200267,0.00449203076078,0.0698308710174,0.999999963074,4.13833146801e-05,-0.000267811367768,2.03994958146e-05,1793245556168913920
+99,1.650000000,BASELINE,764.552233368,745,714,679.447766632,657.552233368,633,878.447766632,785,807,652,630,652,0.400971832741,0.00449243504919,0.069831231827,0.999999963264,4.09885688804e-05,-0.000267167305259,2.03454361054e-05,1793245556185580544
+100,1.666666667,BASELINE,764,745,713.977131543,680,657,633,878.977131543,785,807,652,629.977131543,652,0.400972391124,0.00449309498771,0.0698314941466,0.99999996344,4.09326688813e-05,-0.000266522240124,2.02769670583e-05,1793245556202247424
+101,1.683333333,BASELINE,764,745,713.3900383,680,657,633,878.3900383,785,807,652,629.3900383,652,0.400970404555,0.00449274161659,0.0698305603892,0.999999962922,4.07722977664e-05,-0.000268475755168,2.03763354628e-05,1793245556218914304
+102,1.700000000,BASELINE,764,745,713.194639615,680,657.194639615,633.194639615,878,785,807,652.194639615,629.194639615,652,0.400969233936,0.00449273574716,0.0698301239049,0.99999996264,4.11181769545e-05,-0.00026946664858,2.0436646625e-05,1793245556235580928
+103,1.716666667,BASELINE,764,745,713.77453671,680,657.77453671,633.77453671,878,785,807,652.77453671,629.77453671,652,0.40096967836,0.00449341770086,0.0698306716922,0.99999996283,4.24660963513e-05,-0.000268552188708,2.04196503124e-05,1793245556252247296
+104,1.733333333,BASELINE,764.341216125,745,714,679.658783875,657.658783875,633.658783875,878,785,807,652.658783875,630,652,0.400970019714,0.0044929430597,0.0698308503418,0.9999999629,4.21702451872e-05,-0.000268328223771,2.05186262586e-05,1793245556268914176
+105,1.750000000,BASELINE,764.899487534,745,714,679.100512466,657.100512466,633.100512466,878,785,807,652.100512466,630,652,0.400970295504,0.0044917326825,0.0698307941747,0.999999962895,4.08287545817e-05,-0.000268543498166,2.06913747758e-05,1793245556285580800
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633,878,786,807,652,629,652,0.400971829795,0.00449362015384,0.0698318027047,0.999999963311,4.29320040781e-05,-0.0002667047891,2.0079374188e-05,1793245556316676096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745.590862831,714,679,657.409137169,633,878.590862831,785.409137169,807,652,629.590862831,652,0.400972125377,0.00449307511359,0.0698320350285,0.999999963532,4.16339568143e-05,-0.000266063937045,2.03300563644e-05,1793245556333342976
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.821944425,745.821944425,713.821944425,679.178055575,657.178055575,633,878.821944425,785,807,652,630,652,0.400972143417,0.00449266132737,0.0698319776429,0.999999963575,4.09035053422e-05,-0.000265997275347,2.05382286206e-05,1793245556350010112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.243014405,745.243014405,713.243014405,679.756985595,657.756985595,633,878.243014405,785,807,652,630,652,0.400971536602,0.00449254304646,0.0698312680053,0.999999963224,4.14509391819e-05,-0.000267223346103,2.06506940617e-05,1793245556366676992
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.334937658,680.334937658,658,633.334937658,878.334937658,785,807,652,630,652,0.400971097563,0.00449249324045,0.0698308825661,0.999999963027,4.1808512525e-05,-0.000267898376983,2.06988011416e-05,1793245556383343360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.912182192,680.912182192,658,633.912182192,878.912182192,785,807,652,630,652,0.400970779898,0.00449249297184,0.0698307316648,0.999999962944,4.20287333968e-05,-0.000268174764196,2.0700348883e-05,1793245556400009984
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680.026828781,657.51341439,633.51341439,878.51341439,785,806.51341439,652,630,652,0.400969417445,0.00449399694645,0.0698303462685,0.999999962433,4.48001094621e-05,-0.000269635783358,2.0592564582e-05,1793245556416676352
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.062306914,657,633.062306914,878.062306914,785.062306914,806.062306914,652,630,652.062306914,0.400968232301,0.00449537169441,0.069830055238,0.999999961979,4.73882544823e-05,-0.000270880637722,2.04881634656e-05,1793245556433343232
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.653543496,657,633.653543496,878.653543496,785.653543496,806.653543496,652,630,652.653543496,0.400970143772,0.00449335816293,0.0698309224714,0.999999962754,4.45350162161e-05,-0.00026848601745,2.05790169811e-05,1793245556450009856
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.760339171,657.239660829,634,878.760339171,785.760339171,807,652,629.760339171,653,0.400974462878,0.00449263539486,0.0698329722043,0.999999963777,4.34956812304e-05,-0.000264823589435,2.0555743402e-05,1793245556466676224
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.181467562,657.818532438,634,878.181467562,785.181467562,807,652,629.181467562,653,0.400982189699,0.00449373954571,0.0698366956215,0.999999965143,4.5023706142e-05,-0.000259366733835,2.0370936782e-05,1793245556483343104
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.392163769,745,714,679.392163769,658,633.607836231,878.392163769,785,807,652,629.392163769,652.607836231,0.401003238225,0.0044929728791,0.0698459858112,0.999999969014,4.331456991e-05,-0.000244276249626,2.06020950903e-05,1793245556500009728
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.963402269,745,714,679.963402269,658,633.036597731,878.963402269,785,807,652,629.963402269,652.036597731,0.401030369876,0.0044913519365,0.0698578179705,0.999999973709,4.01272407289e-05,-0.0002247867367,2.10231964916e-05,1793245556516676352
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.44605543,745,714,680,658,633,878.44605543,785,807,652,630,652,0.401083347865,0.00449115728353,0.0698754765647,0.999999980119,3.9604568067e-05,-0.000194373195105,2.03310955329e-05,1793245556533342976
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.857243696,658,633,878,785,807,652,630,652,0.401139614833,0.00449164700019,0.0698911803769,0.999999984665,3.94744026419e-05,-0.000169487516906,1.96506831826e-05,1793245556550009856
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.277768373,658,633,878,785,807,652,630,652,0.401200530931,0.00449393165489,0.0698996840206,0.9999999856,3.99869848202e-05,-0.000163800238578,1.92391448959e-05,1793245556566676480
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.300789521,657.699210479,633,878,785,807,652,630,652,0.401270523149,0.0044945509461,0.0699051069545,0.999999986652,3.97798145534e-05,-0.000157412488959,1.83095633904e-05,1793245556583343104
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.878502745,657.121497255,633,878,785,807,652,630,652,0.401348871349,0.00449363701013,0.0699076936136,0.999999987793,3.89099997903e-05,-0.000150379846523,1.69030422697e-05,1793245556600009472
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.454028091,633,878,785,807,652,630,652,0.401441783906,0.0044935105478,0.0699064475147,0.999999987749,3.49083492697e-05,-0.000151885553916,1.46188615838e-05,1793245556616676352
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.029642168,745,714,680,657.970357832,633.029642168,878,785,807,652,630,652,0.401539928278,0.00449368236084,0.0699042491853,0.999999987361,3.03032351579e-05,-0.000155605397503,1.20880298556e-05,1793245556633343232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.617909253,745,714,680,657.382090747,633.617909253,878,785,807,652,630,652,0.401663572785,0.00449552312557,0.0699033416146,0.999999986992,3.0043766965e-05,-0.000158199097641,9.31376977309e-06,1793245556650010112
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.797035639,745,714,680,657.202964361,633.797035639,878,785,807,652,630,652,0.401799949435,0.00449702526145,0.0699041554141,0.999999987145,2.89916680613e-05,-0.000157574725331,6.31011664433e-06,1793245556666676736
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.217933107,745,714,680,657.782066893,633.217933107,878,785,807,652,630,652,0.40195992157,0.00449789984244,0.069908159296,0.999999988247,2.64706479208e-05,-0.000150986547665,2.88134741214e-06,1793245556683343104
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.402141374448,0.00449798009351,0.0699131779992,0.999999989739,2.1540366315e-05,-0.000141624677217,-6.49368476998e-07,1793245556700009728
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.402335789031,0.00449758103823,0.0699188090558,0.999999991349,1.51563125356e-05,-0.000130589132767,-4.24160030568e-06,1793245556716676352
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.492745726,658,633,878,785,807,652,630,652,0.40255740814,0.00450005726945,0.0699211909047,0.99999999184,1.20370523818e-05,-0.000126831482777,-9.46283222365e-06,1793245556733342976
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.085964167,745,714,679,657.914035833,633,878,785,807,652,630,652,0.402788858484,0.00450297066577,0.0699231399912,0.999999992193,9.03149382737e-06,-0.000123732487072,-1.49453765243e-05,1793245556750009600
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.678162226,745,714,679,657.321837774,633,878,785,807,652,630,652,0.403056359788,0.00450614973223,0.0699251495823,0.999999992737,4.07400078009e-06,-0.000118668352134,-2.06587364687e-05,1793245556766676480
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.735692466,745,714,679.264307534,657.264307534,633,878,785,807,652,630,652,0.403346918533,0.004507957152,0.0699307852127,0.999999993963,-1.83754072378e-06,-0.000106718090475,-2.61271221003e-05,1793245556783343104
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.156752405,745,714,679.843247595,657.843247595,633,878,785,807,652,630,652,0.403664924914,0.00450813175901,0.0699407372916,0.999999995723,-8.88478423576e-06,-8.65705620212e-05,-3.13038891837e-05,1793245556800009472
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.579927276,680,658,633,878.420072724,785,807,652,629.579927276,652,0.404000124831,0.00451037773136,0.0699466834767,0.999999996152,-1.35080164677e-05,-7.83890621664e-05,-3.69858235967e-05,1793245556816676352
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.003887405,680,658,633,878.996112595,785,807,652,629.003887405,652,0.40434170846,0.00451339277279,0.0699511423291,0.999999996147,-1.7231246945e-05,-7.46503823812e-05,-4.28553194838e-05,1793245556833342720
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.580875792,745,713.580875792,680,658,633,879,785,807,652,629,652,0.404733064835,0.00450858705505,0.0699575344483,0.999999996521,-2.20023282194e-05,-6.63030606635e-05,-4.55763168382e-05,1793245556850009600
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.834972721,633,878.834972721,785,807,652,629.165027279,652,0.405135601781,0.0045019073471,0.0699630706628,0.999999997342,-1.05211622261e-05,-5.8532762813e-05,-4.21726805274e-05,1793245556866676224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.252518526,633,878.252518526,785,807,652,629.747481474,652,0.40556556388,0.00449062189751,0.0699664086899,0.999999997474,4.20871280107e-05,-5.23012182191e-05,-2.33312485457e-05,1793245556883342848
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.674331257,679.674331257,657.325668743,633,878,785,807,652,629.674331257,652.325668743,0.406007215026,0.00448888884906,0.0699625617541,0.999999995985,6.64331814564e-05,-5.70463909505e-05,-1.90383811604e-05,1793245556900009472
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713.099409648,679.099409648,657.900590352,633,878,785,807,652,629.099409648,652.900590352,0.406457812512,0.00449446679691,0.0699532157567,0.999999994811,6.91485385649e-05,-7.01926710206e-05,-2.5880358196e-05,1793245556916676096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.525393115,745,713.474606885,679.474606885,658,633.474606885,877.525393115,785,807,652,629,652.525393115,0.406936356657,0.00450294284301,0.06993565969,0.999999994628,2.38748167689e-05,-9.66799642111e-05,-2.87693142004e-05,1793245556933343488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.949848434,633.949848434,877.050151566,785,807,652,629,652,0.407429645712,0.00451160169256,0.0699186405576,0.999999991743,-2.71710786652e-05,-0.000121763245528,-3.08236953899e-05,1793245556950010880
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.355674132,633.355674132,877.644325868,785,807,652,629,652,0.40801950492,0.00451567129242,0.0699260644223,0.999999993813,-3.2002731163e-05,-0.000101362037651,-3.27895240628e-05,1793245556966677248
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.231754148,745,713.768245852,680,657.231754148,633,878,785,807,652,629.231754148,652,0.408622580123,0.00452170048598,0.0699361284572,0.999999996141,-2.18157517154e-05,-7.76749043779e-05,-3.47542670858e-05,1793245556983343616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.809122083,745,713.190877917,680,657.809122083,633,878,785,807,652,629.809122083,652,0.409245364236,0.00453065201145,0.0699501297641,0.999999998063,1.0768437901e-05,-4.9087488342e-05,-3.67173909391e-05,1793245557000009984
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713,680,658,633,878,785,807.383407362,652,630,652.383407362,0.409860541819,0.00453756077122,0.0699486449521,0.999999997399,3.65621410918e-05,-4.92045758831e-05,-3.80077296695e-05,1793245557016676608
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,680,658,633,878,785,807.956170174,652,630,652.956170174,0.410471962706,0.00454346065906,0.0699395119271,0.999999995484,5.90021893487e-05,-6.34981114498e-05,-3.89657963442e-05,1793245557033343232
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.453059258,745,713,680,658,633,878,784.453059258,807.453059258,652,630,652.453059258,0.411125919144,0.00455040156683,0.0699373971083,0.999999994301,6.85123230398e-05,-7.18291126461e-05,-3.92982316751e-05,1793245557050010112
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.13599537,745,713.13599537,680,658.13599537,633,878.13599537,784,807,652,629.86400463,652,0.411811996998,0.0045578832444,0.0699439921926,0.999999994164,7.73419713699e-05,-6.41111731257e-05,-3.9745053029e-05,1793245557066676992
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.714608476,745,713.714608476,680,658.714608476,633,878.714608476,784,807,652,629.285391524,652,0.41259114712,0.00456684418014,0.0699770422102,0.999999995331,8.74440144833e-05,-5.76756812282e-06,-4.07328910478e-05,1793245557083343616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,878.708028089,784.291971911,807,652,629.291971911,652,0.413364269523,0.00457425436129,0.0700043852079,0.999999994175,9.23264048145e-05,3.73269251769e-05,-4.16208304019e-05,1793245557100010240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,878.131880887,784.868119113,807,652,629.868119113,652,0.414131525259,0.00458015519921,0.070026173586,0.999999992706,9.21285257969e-05,6.55795156083e-05,-4.2411538914e-05,1793245557116677376
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.558882404,745,714,680,658.558882404,633,878,785,807,652,630,652.441117596,0.414857779526,0.00458944045043,0.0700009559599,0.999999993529,0.000103615169206,1.7616683119e-05,-4.3548448736e-05,1793245557133343744
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.013688008,633,878.013688008,784.986311992,807.013688008,652,630,652.986311992,0.415573299565,0.00459959527939,0.0699617581268,0.999999990583,0.00011851938747,-5.271206731e-05,-4.48132364193e-05,1793245557150010112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.607740747,633,878.607740747,784.392259253,807.607740747,652,630,652.392259253,0.416349753712,0.00460402244483,0.0699214396106,0.999999983994,0.000131261841758,-0.000112072062928,-4.7142587919e-05,1793245557166676736
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.196233674,633,879,784.196233674,808,652,630,652,0.417164623182,0.00460856326122,0.06990475552,0.999999980483,0.000133985563856,-0.000136908663909,-4.83539946162e-05,1793245557183343104
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.773919043,633,879,784.773919043,808,652,630,652,0.418054166792,0.00461332499939,0.0699340135555,0.999999987527,0.000117234226729,-9.46364563611e-05,-4.73922680376e-05,1793245557200009984
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.348883411,745,714,680,659.651116589,633,878.651116589,785,808,652,630,652.348883411,0.418935919764,0.00462007234589,0.0699614786182,0.999999989441,0.000126383274299,-5.30905481775e-05,-4.82300349521e-05,1793245557216676608
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.922098157,745,714,680,659.077901843,633,878.077901843,785,808,652,630,652.922098157,0.419812663335,0.00462809643438,0.0699877908016,0.999999987086,0.000152186217929,-1.20116506258e-05,-5.02248725724e-05,1793245557233343232
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.504051396,745,714,680,659.495948604,633,878.495948604,785,808,652,630,653,0.420720309147,0.00461684240946,0.0700106846403,0.999999988604,0.000140259531434,2.32882327047e-05,-5.07663173968e-05,1793245557250010368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680.072663141,660,633,879,784.927336859,808,652,630,652.927336859,0.421626779786,0.00460166010382,0.0700281140314,0.999999990325,0.000119695763423,4.91541879005e-05,-5.10597781321e-05,1793245557266677248
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680.669309739,660,633,879,784.330690261,808,652,630,652.330690261,0.422489727789,0.00458001477973,0.0700100154876,0.999999995426,7.96400343478e-05,1.35451151939e-05,-5.12133624212e-05,1793245557283343616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.255950467,745,714,680.744049533,659.744049533,633,879.255950467,784,808,652,630.255950467,652,0.423335073462,0.00457173432697,0.0699598997817,0.99999999411,6.78141880337e-05,-6.65981679694e-05,-5.23956296235e-05,1793245557300009984
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.830149966,745,714,680.169850034,659.169850034,633,879.830149966,784,808,652,630.830149966,652,0.4241585325,0.0045800717639,0.0698699739061,0.999999973921,9.10893964379e-05,-0.000202115331486,-5.48569615101e-05,1793245557316676608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.405633504,659,633,879.594366496,784.405633504,808,652,630.594366496,652,0.425071919732,0.00458655007,0.0698588915578,0.999999972484,8.56374195722e-05,-0.00021082124273,-5.70380409419e-05,1793245557333343232
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.981656378,659,633,879.018343622,784.981656378,808,652,630.018343622,652,0.426023081922,0.00459224743385,0.069880928025,0.999999982112,6.81183738368e-05,-0.000166259137123,-5.91013982746e-05,1793245557350009600
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.430607344,681,660.138785312,633,879,785,808,652,630,652.569392656,0.426965153246,0.00459640042583,0.0699354812098,0.999999990329,8.92806612681e-05,-9.07865387291e-05,-5.59285627427e-05,1793245557366676480
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.155581865,681.155581865,660.68883627,633,879,785,808.155581865,652,630.155581865,653,0.427917835204,0.00460081293426,0.0699869640544,0.999999992431,0.000109109213419,-1.87062430485e-05,-5.37026704315e-05,1793245557383343616
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.736488432,681.736488432,659.527023136,633,879,785,808.736488432,652,630.736488432,653,0.42890034158,0.00460607377203,0.0700271293556,0.99999999024,0.000121813369735,4.13207696091e-05,-5.45363468347e-05,1793245557400010496
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.685709705,745,714,681.685709705,659.314290295,633,879.314290295,785,809,652,630.685709705,653,0.429855847724,0.00460768172961,0.070040001561,0.999999989303,0.000121039333382,6.08306447806e-05,-5.51716604557e-05,1793245557416677120
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.110485497,745,714,681.110485497,659.889514503,633,879.889514503,785,809,652,630.110485497,653,0.430788937358,0.0046062569483,0.0700302141584,0.999999991413,0.000109075267505,4.67018861099e-05,-5.56422869821e-05,1793245557433343488
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.46264475,745,714,681,660,633,880,785,809,652,630,653,0.43159757078,0.00460334842262,0.0699584530366,0.999999989345,0.000111593324709,-7.56389246201e-05,-5.59948416975e-05,1793245557450009856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.036722607,659.963277393,633,880,785,809.036722607,652,630,653,0.4323849564,0.0045997033802,0.0698778661357,0.999999969064,0.000115981706777,-0.000212704943912,-5.63550040054e-05,1793245557466676736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.632816961,659.367183039,633,880,785,809.632816961,652,630,653,0.433299379292,0.00459021252811,0.0698872668257,0.999999977114,9.6415579755e-05,-0.000182203053226,-5.72586361782e-05,1793245557483343360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.443083252,633,879.778458374,785,809.778458374,652,630,652.778458374,0.434227302226,0.0045848400942,0.0699179011363,0.999999987161,8.37269651182e-05,-0.000123745459078,-5.79290437721e-05,1793245557500009728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.596890204,633,879.201554898,785,809.201554898,652,630,652.201554898,0.435176879924,0.00458607377039,0.0699825950463,0.999999994728,8.20701587544e-05,-2.04457649643e-05,-5.82253493929e-05,1793245557516676352
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,661,633,879.372892446,785,809,652,630,652.372892446,0.436095810894,0.00458850664546,0.0700149114666,0.999999993779,8.96763378851e-05,3.23371921625e-05,-5.79198012219e-05,1793245557533343488
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,661,633,879.946020861,785,809,652,630,652.946020861,0.436998285112,0.00459158346687,0.0700298418026,0.999999991449,0.000102256559859,5.79936409748e-05,-5.7291069476e-05,1793245557550010368
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.467009452,683.065981095,660.467009452,633,879.467009452,785,809.532990548,652,630,653,0.437816163579,0.00459012048464,0.0700131732074,0.999999993179,8.89522793616e-05,4.80766821123e-05,-5.84562606713e-05,1793245557566676736
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713,683.879977333,660,633,879,785,809.879977333,652,630.120022667,653,0.438603752414,0.0045899102084,0.0699816133083,0.999999994973,7.98879719369e-05,1.09416442566e-05,-5.95975257045e-05,1793245557583343360
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713,683.298241354,660,633,879,785,809.298241354,652,630.701758646,653,0.439308657472,0.00459633479689,0.0699054073602,0.999999986646,9.74877420964e-05,-0.000116669393953,-5.99292081767e-05,1793245557600009984
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.719595314,745,713.280404686,683,659.719595314,632.719595314,879,785,809.280404686,652,630.719595314,652.719595314,0.440022415288,0.00460313975003,0.0698449804306,0.999999968732,0.000111972939045,-0.000215369479659,-6.01114216469e-05,1793245557616676608
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.144199982,745,713.855800018,683,659.144199982,632.144199982,879,785,809.855800018,652,630.144199982,652.144199982,0.440745486316,0.00461034485305,0.06980115331,0.999999950375,0.000123181550199,-0.000283654729493,-6.01363916635e-05,1793245557633343232
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.427872924,745,713.572127076,682.572127076,658.572127076,632,879.427872924,785,810,652,630.427872924,652.427872924,0.441527754115,0.00461728759824,0.0698227254613,0.999999958826,0.000124684273335,-0.000251559143977,-5.93348045226e-05,1793245557650009856
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.998834792,745,713.001165208,682.001165208,658.001165208,632,879.998834792,785,810,652,630.998834792,652.998834792,0.442329818513,0.00462414260651,0.069866168385,0.999999973467,0.000122941161168,-0.000185894278919,-5.82568005895e-05,1793245557666676736
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.405310293,713,682.594689707,658,632,879.405310293,785,809.405310293,652,631,653,0.443010175715,0.00463418110069,0.0698660686761,0.999999968608,0.000143119604778,-0.00019726594552,-5.82043150043e-05,1793245557683343616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.184504824,713,683,657.815495176,631.815495176,879.184504824,784.815495176,809.369009648,652,630.815495176,653,0.443670185385,0.00464196705945,0.0698521222555,0.999999959195,0.000160829867143,-0.000228877103121,-5.79610053587e-05,1793245557700010496
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.761367885,713,683,657.238632115,631.238632115,879.761367885,784.238632115,810.522735771,652,630.238632115,653,0.44428745446,0.00464494905297,0.0698089195007,0.999999937396,0.000173196098619,-0.000303193489539,-5.73074394867e-05,1793245557716676864
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,683.334159157,656.665840843,631,880,784,810.665840843,652,630,653,0.444889651535,0.00464924545079,0.0697706854363,0.999999915343,0.00018762410164,-0.00036189030998,-5.60857815366e-05,1793245557733343488
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,683.904077623,656.095922377,631,880,784,810.095922377,652,630,653,0.445481214826,0.00465446920008,0.0697359569347,0.999999893937,0.000203506745728,-0.000409567053784,-5.44633176704e-05,1793245557750010112
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,684,656,631,880,784,810,652,630.480339344,653,0.446072623115,0.00466384993342,0.0697245880242,0.999999887255,0.000210785820182,-0.000421736763251,-5.65473888686e-05,1793245557766676736
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,683.940426148,655.940426148,630.940426148,880,784,810,652,630.940426148,653,0.446655950107,0.0046735285587,0.0697179627423,0.999999882825,0.000217097107964,-0.000428673210193,-5.88052985877e-05,1793245557783343104
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,683.346027664,655.346027664,630.346027664,880,784,810,652,630.346027664,653,0.447167008836,0.00467832921103,0.0697114843183,0.999999869241,0.000230350825617,-0.000453136263551,-5.58899084101e-05,1793245557800010240
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,683,654.759669927,630,880,784,810,652.240330073,630,653,0.447665459857,0.00468273051066,0.0697014118186,0.999999855882,0.000241049528749,-0.000476638085194,-5.42836992118e-05,1793245557816677120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,683,654.184514521,630,880,784,810,652.815485479,630,653,0.44814634591,0.00468657543589,0.069686332091,0.999999843315,0.000248188611505,-0.000498800727081,-5.45014274654e-05,1793245557833344000
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,683,654,629.606834985,880,784,810.393165015,652.606834985,630,653,0.448633921505,0.00469182532517,0.0696929244469,0.999999847857,0.000257291783896,-0.000484800402716,-5.52760229159e-05,1793245557850010624
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713,683,654,629.027963156,880,784,810.972036844,652.027963156,630,653,0.449124656869,0.00469773883283,0.0697097533521,0.999999859753,0.000267322671085,-0.000453718933361,-5.63136479365e-05,1793245557866676736
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713,683.560863027,653.439136973,629,880.560863027,783.439136973,810.439136973,652,630,653,0.449564786273,0.00472475910818,0.0697218625058,0.999999859688,0.000296723122539,-0.000434410398479,-6.21774146057e-05,1793245557883343360
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.147639561,745,713,684,652.852360439,628.852360439,880.852360439,783.147639561,810,652,630,653,0.449981490758,0.00474970309157,0.0697275724946,0.999999854709,0.000323783255378,-0.000425645259571,-6.76256249617e-05,1793245557900009984
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.726946197,745,713,684,652.273053803,628.273053803,880.273053803,783.726946197,810,652,630,653,0.450337216053,0.00476544405955,0.0697152731134,0.999999839846,0.00034112622782,-0.000445959614201,-7.1142607008e-05,1793245557916676352
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.726276446,745,713,683.726276446,651.726276446,628,880,783.726276446,810,652,630,653,0.450661757004,0.00477022856436,0.0696931211595,0.999999822138,0.00034709226888,-0.000479586733176,-7.24395521348e-05,1793245557933343232
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.208502095,745,713,683.208502095,651.208502095,628,880,783.208502095,810,652,630,653,0.450958494101,0.00476524433073,0.0696621846932,0.999999800774,0.000342914683259,-0.000525083456371,-7.17571211782e-05,1793245557950009856
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713,683.39521906,651,628.39521906,880,783,810.39521906,652,630,652.60478094,0.451248105538,0.00476913832278,0.0696437829949,0.999999798988,0.000309651875686,-0.000548496566215,-7.27455305759e-05,1793245557966676480
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650.950232634,628.900465268,880,783,810.950232634,652,629.950232634,652.049767366,0.451530894296,0.00477831894634,0.0696347041391,0.999999808269,0.000262443115033,-0.000555949706675,-7.41988134053e-05,1793245557983343616
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650.371337456,627.742674912,880,783,810.371337456,652,629.371337456,652.628662544,0.451792219543,0.00478006988915,0.0696348993507,0.999999807357,0.000275437458474,-0.000552006833366,-6.86184070095e-05,1793245558000009984
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684,650,627,880,783,810.20636858,652,629,653,0.452039927532,0.00478151864106,0.069634474631,0.999999805774,0.00028766247688,-0.000549143619096,-6.43747740624e-05,1793245558016676352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650,627,880,783,810.781947084,652,629,653,0.452263273126,0.00478242674903,0.0696329408048,0.999999803223,0.000298511109831,-0.000548212001895,-6.2522736527e-05,1793245558033342976
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649.64428577,627,880,783,810.64428577,652,629.35571423,653,0.452457672395,0.00478545989797,0.0696304075595,0.999999798544,0.000306112661331,-0.00055246399799,-6.31655243095e-05,1793245558050009600
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649.071623305,627,880,783,810.071623305,652,629.928376695,653,0.452634417475,0.00478978909828,0.0696272647737,0.999999792546,0.000311733836015,-0.000559877452407,-6.53298927211e-05,1793245558066676480
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,744.108501136,713,684,649,627,880,783,810,652,630,653,0.452932878185,0.00478807761877,0.0696164658469,0.999999780417,0.000315195819448,-0.000579163663527,-6.62373547719e-05,1793245558100009728
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744.688156412,713,684,649,627,880,783,810,652,630,653,0.453056955112,0.00479175002092,0.0696155858967,0.999999776729,0.00032122013831,-0.000582087433368,-6.73372831166e-05,1793245558116676864
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,684,648.733716505,627,880,783,810,652,630,653,0.453172310449,0.00479478494235,0.0696162646726,0.999999775781,0.000325252560542,-0.000581361777962,-6.83126741709e-05,1793245558133343744
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713,684,648.41872342,627,880,783,810.41872342,652,630,653,0.453364154112,0.00479768510315,0.0696213129693,0.999999779464,0.000329226624651,-0.000572592083939,-6.94313046119e-05,1793245558166676992
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,684,648.994719852,627,880,783,810.994719852,652,630,653,0.453443828357,0.00479765970856,0.0696238903026,0.999999780556,0.000331693488862,-0.000569240881966,-6.95159338873e-05,1793245558183343360
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713,683.750024469,647,627,880,783,810,652,630,653,0.453593853685,0.00480264629715,0.0696222199882,0.999999776571,0.000337758181424,-0.000572601793125,-7.00280768762e-05,1793245558233342976
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.346057067,745,713,684,647,627,880,783,810,652,630,652.653942933,0.453700906044,0.00480512928205,0.0696239318006,0.999999774997,0.000341327163977,-0.000573377236815,-6.88562318948e-05,1793245558316676608
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,713,684.806264696,647,626.193735304,880,783,810,652,630,653,0.453714458657,0.00480569434544,0.0696228731375,0.999999773553,0.000343500410935,-0.000574639270076,-6.84861888239e-05,1793245558350009600
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.382416857,745,713,684.617583143,647,626.382416857,880,783,810,652,630,653,0.453716434702,0.0048050841727,0.0696213372506,0.999999771911,0.000344109005092,-0.00057714990281,-6.82942088995e-05,1793245558366676224
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,647,627,880.864130011,782.135869989,810,652,630,653,0.453719479623,0.00480542135199,0.0696190925429,0.99999976943,0.00034684881137,-0.000579911117767,-6.73727690862e-05,1793245558416676608
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647,627,880.284672598,782.715327402,810,652,630,653,0.453720732111,0.00480575684335,0.0696195181356,0.999999769959,0.00034541596977,-0.000579806451109,-6.77873199266e-05,1793245558433343232
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.60979978,745,713,684,647.219599559,626.60979978,880,782.780400441,810,652.60979978,630,653,0.45372122241,0.00480672607798,0.0696173277585,0.999999768147,0.000346272941745,-0.000582480132451,-6.72125795353e-05,1793245558516676096
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,647.606836174,626.803418087,880,782.196581913,810,652.803418087,630,653,0.453721059572,0.0048064977466,0.0696174680155,0.999999768407,0.000345619419192,-0.00058242525941,-6.71791923175e-05,1793245558533342976
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.650900712,745,713,684.349099288,646.349099288,626,880,783,810,652,630,653,0.45372014415,0.00480661226965,0.0696152771881,0.999999765753,0.000346763266754,-0.000586291990273,-6.7160283838e-05,1793245558566676480
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.07658582,745,713,684.92341418,646.92341418,626,880,783,810,652,630,653,0.453719928834,0.00480726890818,0.0696148008731,0.999999765571,0.000346738414067,-0.000586636988886,-6.69951141725e-05,1793245558583343104
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+252,4.200000000,HOLD_POSE2,765,745,713,684.518790464,646,626.518790464,880,783,810,652,629.518790464,653,0.453721283163,0.00480662861398,0.0696142746398,0.999999763601,0.000348628651708,-0.000588961491371,-6.61793426958e-05,1793245558771597824
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+256,4.266666667,HOLD_POSE2,765,745,713,684,646,626.812137777,880,783,810,652,630,653,0.453723988659,0.00480640413879,0.0696152163367,0.999999765728,0.000347130422587,-0.000586174287308,-6.66570684754e-05,1793245558838264832
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,646,627,880.11357991,782.11357991,810,652,630,653,0.453580243649,0.00480573805749,0.0695609108501,0.999999713476,0.000349214899134,-0.000668452203603,-6.53326429136e-05,1793245559191905280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,646,627,880.687182111,782.687182111,810,652,630,653,0.453513754955,0.00480486947508,0.0695472652799,0.999999703828,0.000349661726382,-0.000682551146057,-6.48420984484e-05,1793245559208571904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,646,626.730208632,881,783,809.730208632,652,630,653,0.453440919555,0.00480426559996,0.0695377821137,0.999999695744,0.000349598115474,-0.000694387020515,-6.41888812565e-05,1793245559225238528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,646,626.136795201,881,783,809.136795201,652,630,653,0.453360471114,0.00480397924847,0.0695332918648,0.999999689659,0.000348922220173,-0.00070350828278,-6.33405337551e-05,1793245559241904896
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,744.554317919,713,684,646.445682081,626.445682081,880.108635838,782.554317919,809.445682081,652,630,653,0.453264967046,0.00480417949935,0.0695308150102,0.999999686172,0.000351818483879,-0.000707164335933,-6.16271521476e-05,1793245559258571776
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744.024661907,713,684,646.975338093,627,879.024661907,782.024661907,810,652,630,653,0.453163784798,0.00480448756045,0.0695288475629,0.999999683352,0.000355691831295,-0.000709379722116,-5.96597074855e-05,1793245559275238656
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,744.59871498,713,684,646.40128502,627,879.59871498,782.59871498,810,652,630,653,0.453036588331,0.0048039498177,0.0695247911641,0.999999678119,0.000357491745049,-0.000715975161568,-5.78055787025e-05,1793245559291905536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,744.822851781,713,684,646.177148219,627,880,783,809.822851781,652,629.822851781,653,0.45289799455,0.00480276381035,0.0695199918924,0.999999671439,0.000359467455723,-0.000724444345905,-5.55379276985e-05,1793245559308572160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,744.234244898,713,684,646.765755102,627,880,783,809.234244898,652,629.234244898,653,0.452732928472,0.00480007209169,0.0695134671655,0.999999661383,0.000361851486168,-0.000737265639492,-5.23097970679e-05,1793245559325238784
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,744.927487262,713,684,647,626.072512738,880,782.072512738,809.927487262,652,629.927487262,653,0.452373079884,0.00479836656313,0.0695087837618,0.999999654389,0.000364792120792,-0.000745672361726,-4.60478693466e-05,1793245559358571520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626,880.505702522,782,810,652,630,652.494297478,0.452161509569,0.00479565932756,0.0695100798432,0.999999653233,0.000367710869317,-0.000746022668357,-4.21049966088e-05,1793245559375238656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.082938259,880.917061741,782.082938259,809.917061741,652,630,652,0.451939855787,0.00479298291231,0.0695114262408,0.999999651417,0.000371232461617,-0.000746934739874,-3.79604767069e-05,1793245559391905536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,626.655012115,880.344987885,782.655012115,809.344987885,652,630,652,0.451682340163,0.00479244000714,0.0695108749636,0.999999645212,0.000376894596685,-0.000752605766113,-3.33327143354e-05,1793245559408571904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.234979411,627,880,783,809,652,630,652.234979411,0.45140546598,0.00479072758543,0.0695095606436,0.999999638565,0.000381644151387,-0.000759221566366,-2.82819901536e-05,1793245559425238784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.826938347,627,880,783,809,652,630,652.826938347,0.451099182389,0.00478723844021,0.0695070871128,0.999999631276,0.000385007318321,-0.000767272662168,-2.25887048231e-05,1793245559441905408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,809,652,630,653,0.450778199664,0.00478484583955,0.0695113764019,0.999999631738,0.000391217364918,-0.000763668148877,-1.68639704919e-05,1793245559458572288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,648,627,880,783,809,652,630,653,0.450451144203,0.00478290626124,0.0695184596567,0.999999635296,0.000398603560477,-0.000755248281089,-1.11262435791e-05,1793245559475238656
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.730520001,713,684,649,627,879.269479999,783,809.269479999,652,630,653,0.449323321214,0.00476894342826,0.0695489029093,0.999999659422,0.000400398628529,-0.00072166215432,6.37093895891e-06,1793245559525238272
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,653,629,879.373788042,783.626211958,809,652.626211958,630,653,0.445161975364,0.00466073809978,0.0695769647104,0.999999760483,0.000201147668301,-0.00066213573652,1.22217433156e-05,1793245559658571520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,653,629,879.953176663,783.046823337,809,652.046823337,630,653,0.444562722073,0.00466520721191,0.0696118204066,0.999999797469,0.000194113759544,-0.000605987745041,1.26405058563e-05,1793245559675238400
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,630.106178713,879,784,809,652,630,652.106178713,0.443276206738,0.0046445129123,0.0696651488654,0.999999858322,0.00014125655736,-0.000512987787349,1.56991980106e-05,1793245559708571648
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.144452618,655.855547382,631,879.855547382,784,809,652,630,653,0.441205276324,0.00462487052641,0.0697354061041,0.999999913658,7.4909708981e-05,-0.00040827066744,1.96773561347e-05,1793245559758571776
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.58309694,745,713,682.41690306,656,631.41690306,880,784.41690306,809,652,630,653,0.440478692437,0.00461780220947,0.0697653500515,0.999999922326,0.000174489438099,-0.000352782909232,2.1117475408e-05,1793245559775238144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.027687739,745,713,682.972312261,656,631.972312261,880,784.972312261,809,652,630,653,0.439745284623,0.00460929422899,0.069796408202,0.99999990685,0.000314332052381,-0.000294865242802,2.34385253483e-05,1793245559791904768
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.835199106,657,632,879,785,809,652,630.835199106,652.835199106,0.438043635259,0.00459712004152,0.0697508085227,0.999999894839,0.000263791985077,-0.000374446963464,2.29341039406e-05,1793245559825238272
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.246630983,657,632,879,785,809,652,630.246630983,652.246630983,0.437224271793,0.00459315642583,0.0697265839096,0.99999989088,0.000235349820263,-0.000402906803423,2.27166999044e-05,1793245559841905408
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.663219879,713,683,657,632,879,785,809,652,630,652,0.436395278637,0.0045890753618,0.0697390355348,0.999999905167,0.00020784700754,-0.000381978376023,2.36124224093e-05,1793245559858572288
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.083528434,713,683,657,632,879,785,809,652,630,652,0.435559339857,0.0045849095853,0.0697779408413,0.999999930344,0.000181021727435,-0.000325427388355,2.53110160187e-05,1793245559875238912
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.932449083,713.067550917,682.932449083,657.067550917,632,878.135101834,784,809,652,630,652,0.433815762685,0.00457401609823,0.0698383644414,0.999999959547,0.00012988796503,-0.000251353457809,2.92567195251e-05,1793245559908572416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.359541856,713.640458144,682.359541856,657.640458144,632,879.280916288,784,809,652,630,652,0.43294238515,0.00456820542541,0.0698442013741,0.999999962569,0.000124340864912,-0.000241928666122,2.95442349022e-05,1793245559925239040
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.221047089,713.778952911,682,657.778952911,632,879.778952911,784,809,652,630,652,0.432047131097,0.00456268592987,0.0698389719561,0.999999960708,0.000122530565163,-0.000250335086622,3.00461442419e-05,1793245559941905664
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.814580589,713.185419411,682,657.185419411,632,879.185419411,784,809,652,630,652,0.431115012784,0.00455765709618,0.0698150946338,0.999999949756,0.000127017146053,-0.000288788877892,3.09093288305e-05,1793245559958572288
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.601823708,713,682.398176292,656.601823708,632,878.601823708,784,809,652,629.601823708,652,0.430141224621,0.00455338309497,0.0697628102812,0.999999923585,0.00012042569888,-0.000370673496772,3.04851639414e-05,1793245559975238656
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.022743102,713,682.977256898,656.022743102,632,878.022743102,784,809,652,629.022743102,652,0.429148504559,0.00454945203877,0.0696976197014,0.999999882118,0.000108801145487,-0.000472290134005,2.94761144155e-05,1793245559991905024
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.222066458,681.222066458,657,633,878.777933542,784,807.777933542,652,629.222066458,652,0.420087573477,0.00446941251926,0.0697381459823,0.999999909127,1.22342776872e-05,-0.000424965937492,3.16426032289e-05,1793245560158571776
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.638712568,713,681,657.361287432,633,878.638712568,784.361287432,807.638712568,652,629,652,0.419307552769,0.00446317915704,0.0698055200602,0.999999949783,-1.7470866844e-06,-0.000315244904276,3.24196109177e-05,1793245560175238400
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.057048317,713,681,657.942951683,633,878.057048317,784.942951683,807.057048317,652,629,652,0.418526876979,0.00445990943237,0.0698789252875,0.999999979132,-6.42879656955e-06,-0.000201102772173,3.53932345583e-05,1793245560191905280
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.908124049,680.908124049,657,633,878,785,807.908124049,652,629,652,0.416821640559,0.00443991358952,0.0698497247715,0.999999965625,8.09351016737e-06,-0.000259242181826,3.84546354941e-05,1793245560225238528
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.579015532,632.579015532,878.579015532,784.579015532,807,652,629,652,0.413530782745,0.00444485068987,0.0697460605351,0.999999914119,2.77454486065e-06,-0.000412917611705,3.53951736231e-05,1793245560291905280
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.000035192,680.999964808,656.000105576,632.000035192,878.000035192,784,807,652,629.000035192,652,0.412805239555,0.00447034298137,0.0697576397062,0.999999922827,3.01579259436e-05,-0.000390077240402,3.57290187102e-05,1793245560308571904
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.574506411,680.425493589,657.723519233,632.574506411,878.574506411,784,807,652,629.574506411,652,0.412177594226,0.00448842372859,0.069819571553,0.999999959514,3.85042331928e-05,-0.000279878909796,3.40211191147e-05,1793245560325238784
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.277359481,744.277359481,713.277359481,680,657.554718962,633,879,784.722640519,807,652,629.277359481,652,0.410851048,0.00447873195731,0.0698761165039,0.999999980516,4.90932244039e-05,-0.000188060415869,3.45075398334e-05,1793245560358572032
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.308555065,744,713.308555065,680,656.691444935,632.691444935,878.691444935,784.691444935,807,652,629.308555065,652,0.410167556082,0.00446876581533,0.0698579961487,0.999999973793,4.08277267248e-05,-0.00022256693627,3.48032687097e-05,1793245560375238656
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.48164316,713.51835684,680,656,632.48164316,877.51835684,784,807,652,630,652,0.40885666371,0.00446850933779,0.0697820314387,0.99999993752,2.0109563634e-05,-0.000351385822644,3.29312581766e-05,1793245560408571648
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.946044587,745,713,680,656.053955413,633,877.053955413,784.053955413,807.053955413,652,629.946044587,652,0.408246465059,0.00447076586898,0.069755464997,0.999999921575,2.20462687512e-05,-0.00039415231247,3.17478389525e-05,1793245560425238272
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.213128158,745,713,680,657,633,878,785,808,652,629,652,0.40718408317,0.00447089542265,0.0697900335059,0.999999944293,2.78958904103e-05,-0.000331197867637,3.07329887251e-05,1793245560458572032
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.806251568,745,713,680,657,633,878,785,808,652,629,652,0.406675697764,0.00447787195352,0.0698078193304,0.999999950046,3.34150483069e-05,-0.000312713860365,3.16512197899e-05,1793245560475239168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,656.613337523,633,878,785,807.613337523,652,629.386662477,652,0.406182311573,0.00448323239092,0.0698074376483,0.999999946847,4.23418546595e-05,-0.000321712499744,3.18346736109e-05,1793245560491905536
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.293228577,745,714,680.706771423,656.706771423,633,878.706771423,785,807.706771423,652,629.293228577,652,0.404530850364,0.00448312223989,0.0698288292028,0.999999960365,3.46328475637e-05,-0.000277831472746,2.96544711306e-05,1793245560558572032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.708831491,680.708831491,657,633,879,785,807.708831491,652,629,652,0.404182204675,0.00448015908792,0.0698399592084,0.999999966535,2.40326125163e-05,-0.000255962845533,2.88912455668e-05,1793245560575238656
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.554778197,656.554778197,633,879,785,807,652,629.445221803,652,0.403529417746,0.00447073844792,0.0698386235659,0.999999966416,-3.18899032757e-06,-0.000257594767751,2.83254533406e-05,1793245560608571904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.022513226,745,713,679.022513226,656.045026451,633,878.954973549,785,807,652,630,652,0.403213182993,0.0044657184315,0.0698247688778,0.999999959719,-1.59978849784e-05,-0.000281991088305,2.80394774823e-05,1793245560625238784
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.59706,745,713,679.59706,657.194120001,633,877.805879999,785,807,652,630,652,0.402940865273,0.00446575379901,0.0698177281116,0.999999955335,-2.35786144777e-05,-0.000296707431202,2.71877024397e-05,1793245560641905408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.823173863,745,713.176826137,680,657.823173863,633,877.176826137,785,807,652,630,652,0.402679080118,0.00446498779922,0.0698112961739,0.999999951356,-3.01140072438e-05,-0.000309280988811,2.6959835084e-05,1793245560658572032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.231152525,745,713.768847475,680,657.231152525,633,877.768847475,785,807,652,630,652,0.402442025907,0.00446234015534,0.0698062937919,0.999999948829,-3.41949043808e-05,-0.000316823194606,2.8196929326e-05,1793245560675238656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,784.646947253,807,652,629.646947253,652,0.402230549284,0.00446210919759,0.0698016984799,0.999999946474,-3.27463096776e-05,-0.000324173933814,2.98414141796e-05,1793245560691905280
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.493244362,680,657,633,878,784.506755638,807,652.506755638,629.506755638,652,0.401875215174,0.00447229950148,0.0697987401613,0.999999944362,4.16876464502e-05,-0.000329275467269,3.33898888461e-05,1793245560725238272
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.080776605,679.919223395,657,633,878,785,807,652.919223395,630,652,0.40172373103,0.00448307302102,0.0698002403337,0.999999939888,0.000111587005198,-0.000326443202964,3.47468395348e-05,1793245560741905152
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713.655646458,679.344353542,657,633,878,785,807,652.344353542,630,652,0.401597572093,0.00449934754802,0.0697978713391,0.99999993726,0.0001320518671,-0.000326873945809,3.45664670294e-05,1793245560758572544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.237561509,657,633,878,785,807,652,630,652,0.40148011198,0.00450808322685,0.0697961923242,0.999999937752,0.000127748796425,-0.0003274819102,3.05401002753e-05,1793245560775239424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.830000897,657,633,878,785,807,652,630,652,0.401375646489,0.00450555710371,0.0697955440258,0.999999942139,8.64465009929e-05,-0.000328354614199,2.07684497597e-05,1793245560791905792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.587856316,679.587856316,657,633,878,785,806.587856316,652,629.587856316,652,0.401290702426,0.00449818932242,0.0697947575195,0.999999943609,5.77810172869e-05,-0.000330381351303,1.70807862284e-05,1793245560808571904
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.009857117,679.009857117,657,633,878,785,806.009857117,652,629.009857117,652,0.401213614209,0.00448887315344,0.0697939153954,0.999999943888,3.4200860371e-05,-0.000332872496211,1.58414506103e-05,1793245560825238528
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.565122303,745,713,679.565122303,656.434877697,633,878,784.434877697,806.565122303,652,629,652,0.401158752941,0.00449258670097,0.0697964691239,0.999999945198,4.03964644628e-05,-0.000328154837895,1.69331249067e-05,1793245560841905152
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.856634834,745,713.143365166,680,656.143365166,633,878,784.143365166,807,652,629,652,0.401109046999,0.00449480765102,0.0697994090529,0.999999946717,4.47834761928e-05,-0.00032285278932,1.8091785766e-05,1793245560858571776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.268095835,745,713.731904165,680,656.731904165,633,878,784.731904165,807,652,629,652,0.401074151798,0.00449169186247,0.0698033652531,0.999999948966,4.19503537644e-05,-0.000316124474901,1.9332870619e-05,1793245560875238656
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.894656765,745,714,679.105343235,657,633,877.105343235,785,807,652,629.894656765,652,0.40102308892,0.00449294771006,0.0698104667243,0.999999953304,4.61899158026e-05,-0.00030136141047,2.09829096284e-05,1793245560908571904
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.953763983,745,713,679,657,633,878,785,806.046236017,652,629.953763983,652,0.400993044213,0.00448935480404,0.0698159096694,0.999999955997,3.86836689533e-05,-0.000293371313995,2.10305897982e-05,1793245560941904640
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.377908294,745,713,679,657,633,878,785,806.622091706,652,629.377908294,652,0.400984848989,0.00448960752813,0.0698172789024,0.999999956317,4.08005047304e-05,-0.000291962900823,2.14219985276e-05,1793245560958571520
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.793090628,679,657,633.793090628,878,785,806.206909372,652.793090628,629,652,0.400975971004,0.00449164191843,0.0698222800836,0.99999995835,3.97756133963e-05,-0.000285087444235,2.10715087857e-05,1793245560991905024
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78d0028c55a933d490bb141b00e149c80a9077c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29a7b036aa928c5fbc2a4ebe5ae753efb4db518b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d9ca95ad33d8f2489ba38b97d5cb2226e65749a7f9cf86a8c1dd11454cd2e5
+size 25944374
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05cd41a8b6e6a69448720d40501699abf94519f7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+10,0.166666667,BASELINE,764.817011615,745,714,679,656.817011615,633,878,785,806.817011615,652,629,652,0.400968291468,0.00449122913707,0.0698284715564,0.999999961403,4.0222812554e-05,-0.000274126476264,2.07566706029e-05,1793245561653381120
+11,0.183333333,BASELINE,764.608048119,745,713.608048119,679.391951881,657,633,878,785,807,652,629.391951881,652,0.400969417511,0.00449114839514,0.0698286617913,0.999999961708,3.9660566804e-05,-0.000273098405714,2.06978190152e-05,1793245561670048000
+12,0.200000000,BASELINE,764.036128816,745,713.036128816,679.963871184,657,633,878,785,807,652,629.963871184,652,0.400971573113,0.00449106388876,0.0698292028855,0.999999962352,3.84640739709e-05,-0.00027091973151,2.04529096966e-05,1793245561686714880
+13,0.216666667,BASELINE,764,745,713.538472033,680,657,633,878,785,807,652,630,652,0.400971437166,0.00449029125435,0.0698296502935,0.99999996229,3.98791070913e-05,-0.000270909351017,2.09053870639e-05,1793245561703381248
+14,0.233333333,BASELINE,764,745,714,680,657,633.117578391,878,785,807,652,629.882421609,652,0.400970942914,0.00449014891965,0.0698298948166,0.999999962148,4.1577834829e-05,-0.000271156884218,2.12086466039e-05,1793245561720047872
+15,0.250000000,BASELINE,764,745,714,680,657,633.714308772,878,785,807,652,629.285691228,652,0.400969618213,0.00449276425567,0.0698293382931,0.999999961876,4.37150398243e-05,-0.000271859629378,2.07121817375e-05,1793245561736714496
+16,0.266666667,BASELINE,764.299610944,745,714,679.700389056,657,633.700389056,878,785,807,652,629.299610944,652,0.400969730284,0.00449342672252,0.0698292311785,0.999999962044,4.29526873709e-05,-0.000271383066029,2.04512590475e-05,1793245561753381120
+17,0.283333333,BASELINE,764.874416208,745,714,679.125583792,657,633.125583792,878,785,807,652,629.874416208,652,0.400971162039,0.00449229546803,0.0698295368484,0.999999962608,3.95270751394e-05,-0.000269823301212,2.04066831869e-05,1793245561770047744
+18,0.300000000,BASELINE,764.538750934,745,713.538750934,679.461249066,657,633,878,785,807,652,630,652,0.40097043207,0.00449090440177,0.0698291854742,0.999999962272,3.83145748947e-05,-0.000271231849162,2.05299867894e-05,1793245561786714368
+19,0.316666667,BASELINE,764,745,713,680,657,633.050496609,878,785,807,652,630,652,0.400969233019,0.00448969269465,0.069828705473,0.999999961741,3.79984117362e-05,-0.000273212938251,2.06919322781e-05,1793245561803381248
+20,0.333333333,BASELINE,764,745,713,680,657,633.629819058,878,785,807,652,630,652,0.400969450343,0.00449111997182,0.0698288020403,0.999999961833,4.05898577576e-05,-0.000272499697193,2.07670577449e-05,1793245561820047872
+21,0.350000000,BASELINE,764.207910077,745,713.207910077,679.792089923,657,633.792089923,878,785,807,652,629.792089923,652,0.400969888417,0.00449245724434,0.0698290364758,0.999999961946,4.28098780068e-05,-0.000271745702012,2.07457908603e-05,1793245561836714496
+22,0.366666667,BASELINE,764.783821403,745,713.783821403,679.216178597,657,633.216178597,878,785,807,652,629.216178597,652,0.400970717217,0.00449363520829,0.0698295149382,0.999999962106,4.43724736305e-05,-0.000270919572028,2.05539093156e-05,1793245561853381376
+23,0.383333333,BASELINE,764.641934953,745,714,679.358065047,657,633,878,785.358065047,807.358065047,652,629.358065047,652,0.400970944291,0.00449366913787,0.0698298238491,0.999999962146,4.41782030022e-05,-0.00027081080065,2.04404119814e-05,1793245561870048000
+24,0.400000000,BASELINE,764.068693433,745,714,679.931306567,657,633,878,785.931306567,807.931306567,652,629.931306567,652,0.400970809764,0.0044930155688,0.0698300308693,0.999999962114,4.29281570833e-05,-0.000271133120399,2.03740190251e-05,1793245561886715136
+25,0.416666667,BASELINE,764,745,713.478504749,680,657,633,878,785.478504749,807.478504749,652,629.478504749,652,0.400970688494,0.00449271516751,0.0698303302055,0.99999996228,4.11427159378e-05,-0.00027080224001,2.03126786903e-05,1793245561903381760
+26,0.433333333,BASELINE,764,745,713,679.888783923,657,633,878,785,807,652,629.111216077,652,0.400970576492,0.00449239360806,0.0698304899182,0.999999962419,3.99873846075e-05,-0.000270465857975,2.02916940487e-05,1793245561920048128
+27,0.450000000,BASELINE,764,745,713,679.310712413,657,633,878,785,807,652,629.689287587,652,0.400970495813,0.00449178139156,0.069830010769,0.999999962339,4.17830719689e-05,-0.000270479694944,2.0437224178e-05,1793245561936714496
+28,0.466666667,BASELINE,764,745,713.265773719,679,657,633,878,785,807.265773719,652,629.734226281,652,0.400970212852,0.00449160633402,0.0698297820926,0.999999962252,4.26497339811e-05,-0.000270651512761,2.06155164948e-05,1793245561953380864
+29,0.483333333,BASELINE,764,745,713.840417362,679,657,633,878,785,807.840417362,652,629.159582638,652,0.400969694809,0.00449193932246,0.0698298445041,0.99999996216,4.24367255884e-05,-0.000271006928616,2.08318835023e-05,1793245561970047744
+30,0.500000000,BASELINE,764,745,714,679,657,633,878,785,807.574528691,652,629,652,0.400969971183,0.00449165738781,0.069829991355,0.999999962281,4.02208451743e-05,-0.00027091062022,2.06710731958e-05,1793245561986714368
+31,0.516666667,BASELINE,764,744.985718506,713.985718506,679.014281494,657,633,878,785,807,652,629,652,0.400970529801,0.00449113490627,0.0698301730612,0.999999962471,3.73158813409e-05,-0.000270646332805,2.03761869066e-05,1793245562003380992
+32,0.533333333,BASELINE,764,744.406648724,713.406648724,679.593351276,657,633,878,785,807,652,629,652,0.400970171169,0.00449044944026,0.0698304492851,0.999999962468,3.761344869e-05,-0.000270607458427,2.05139879121e-05,1793245562020047616
+33,0.550000000,BASELINE,764,744.171565879,713,679.828434121,657.171565879,633,878,785,807,652,629.171565879,652.171565879,0.400970153432,0.00449032375069,0.0698305819728,0.99999996247,3.84767954015e-05,-0.000270473666528,2.05555605536e-05,1793245562036713984
+34,0.566666667,BASELINE,764,744.747763495,713,679.252236505,657.747763495,633,878,785,807,652,629.747763495,652.747763495,0.400970939685,0.00449151827315,0.0698303761354,0.999999962484,4.06745116278e-05,-0.000270116015198,2.03701821628e-05,1793245562053380864
+35,0.583333333,BASELINE,764,745,713.32418643,679.32418643,657.67581357,633,877.67581357,785,807,652,629.67581357,652.67581357,0.400970765231,0.00449161992961,0.0698300848967,0.999999962454,4.08456399513e-05,-0.00027020760844,2.03010759113e-05,1793245562070047744
+36,0.600000000,BASELINE,764,745,713.90078486,679.90078486,657.09921514,633,877.09921514,785,807,652,629.09921514,652.09921514,0.400969842769,0.00449087067924,0.0698297271644,0.99999996239,3.94388643779e-05,-0.000270648984089,2.03224992877e-05,1793245562086714624
+37,0.616666667,BASELINE,764.48728446,745,714,680,657,633,877.48728446,785,807,652,629,652,0.400969831865,0.00449298937043,0.0698296610844,0.99999996217,4.23641359832e-05,-0.000271033977935,2.01220820049e-05,1793245562103381248
+38,0.633333333,BASELINE,764.925315468,745,713.925315468,680,657,633,878,785,807,652,629,652,0.400970029872,0.00449503304277,0.0698296502352,0.999999961988,4.51600580771e-05,-0.000271269404862,1.99521187877e-05,1793245562120047616
+39,0.650000000,BASELINE,764.345738846,745,713.345738846,680,657,633,878,785,807,652,629,652,0.400970359448,0.00449254008475,0.0698296029913,0.999999962349,4.09949778123e-05,-0.00027057292708,2.02997227819e-05,1793245562136714496
+40,0.666666667,BASELINE,764.232109551,745,713.232109551,680,657,633,878.232109551,785,807,652.232109551,629,652,0.400970301783,0.00449083504842,0.0698298378835,0.999999962507,3.87356455134e-05,-0.000270304953179,2.05349741641e-05,1793245562153381120
+41,0.683333333,BASELINE,764.807402663,745,713.807402663,680,657,633,878.807402663,785,807,652.807402663,629,652,0.400969671568,0.004490294987,0.0698304899258,0.999999962384,3.92940405577e-05,-0.000270670540013,2.0604107548e-05,1793245562170047744
+42,0.700000000,BASELINE,764.618758426,745,714.381241574,680,657,633.381241574,878.618758426,785,807,652.618758426,629.381241574,652,0.400968895652,0.00449120402581,0.0698304513439,0.999999962163,4.08672190939e-05,-0.000271255988469,2.06010102417e-05,1793245562186714880
+43,0.716666667,BASELINE,764.04565138,745,714.95434862,680,657,633.95434862,878.04565138,785,807,652.04565138,629.95434862,652,0.40096804641,0.0044928423458,0.0698300651951,0.999999961887,4.29511024452e-05,-0.000271952085533,2.05615617679e-05,1793245562203381504
+44,0.733333333,BASELINE,764.546098987,745,714.453901013,680,657,633.453901013,878,785,807,652,630,652.546098987,0.4009697645,0.00449197386407,0.0698302987535,0.999999962197,4.18961898403e-05,-0.000270981033623,2.04876377351e-05,1793245562220048128
+45,0.750000000,BASELINE,764.863978516,745,714,680,657,633,878,785,806.863978516,652,629.863978516,652.863978516,0.400971123266,0.00449099275676,0.0698305976861,0.999999962489,4.07740115909e-05,-0.000270073193017,2.04831380509e-05,1793245562236715008
+46,0.766666667,BASELINE,764.285256816,745,714,680,657,633,878,785,806.285256816,652,629.285256816,652.285256816,0.400970589372,0.00449035123351,0.0698309348231,0.999999962566,4.03170734011e-05,-0.000269840700172,2.07143006562e-05,1793245562253381632
+47,0.783333333,BASELINE,764,745,713.708538937,679.708538937,657.291461063,633,878,785.291461063,806.291461063,652,629.291461063,652,0.400970018251,0.00449032102388,0.0698306611015,0.999999962418,4.07656983042e-05,-0.000270315218592,2.07704807776e-05,1793245562270048256
+48,0.800000000,BASELINE,764,745,713.133768765,679.133768765,657.866231235,633,878,785.866231235,806.866231235,652,629.866231235,652,0.400969410943,0.00449088502981,0.0698297936066,0.999999962051,4.20945583062e-05,-0.000271476973659,2.06565725751e-05,1793245562286714624
+49,0.816666667,BASELINE,764,745,713.450518299,679.450518299,657.549481701,633,878,785.549481701,807,652.450518299,630,652,0.400970250242,0.00449167119083,0.0698308000769,0.999999962323,4.18944187809e-05,-0.000270512183052,2.05448952924e-05,1793245562303381248
+50,0.833333333,BASELINE,764,744.962884849,714,680,657,633,877.962884849,785,807,652.962884849,630,652,0.400971438188,0.00449245328084,0.0698322000667,0.999999962743,4.13400586305e-05,-0.000269049574031,2.04295095394e-05,1793245562320047872
+51,0.850000000,BASELINE,764,744.38469859,714,680,657,633,877.38469859,785,807,652.38469859,630,652,0.400971311896,0.00449219365571,0.0698310501966,0.999999962519,4.23830303292e-05,-0.000269733246224,2.02501958508e-05,1793245562336714496
+52,0.866666667,BASELINE,764,744.192843212,714,680,657,633,877.385686423,785,807,652,629.807156788,652,0.4009713951,0.00449219349294,0.0698306009167,0.999999962552,4.26476813195e-05,-0.000269572144901,2.01996528237e-05,1793245562353381376
+53,0.883333333,BASELINE,764,744.769103648,714,680,657,633,878.538207296,785,807,652,629.230896352,652,0.400971894831,0.00449270920181,0.0698315445731,0.999999963096,4.13648493799e-05,-0.000267731437004,2.04051358773e-05,1793245562370048000
+54,0.900000000,BASELINE,764,745,714,679.655021151,657,633,878.655021151,785,807,652,629.344978849,652.344978849,0.400972632476,0.00449258479559,0.069831987111,0.999999963366,4.09417761262e-05,-0.000266788761866,2.03866289471e-05,1793245562386714368
+55,0.916666667,BASELINE,764,745,714,679.079403526,657,633,878.079403526,785,807,652,629.920596474,652.920596474,0.400973529181,0.00449203243452,0.0698320946215,0.999999963454,4.10935024861e-05,-0.000266446474848,2.02183714488e-05,1793245562403380992
+56,0.933333333,BASELINE,764,745,714,679.510855332,657,633,878,785,807,652,629.489144668,652.489144668,0.40097147954,0.0044916061534,0.069831071679,0.999999963015,4.02954431135e-05,-0.000268214027132,2.01921311291e-05,1793245562420047872
+57,0.950000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629.100737457,652,0.40096969242,0.00449136544559,0.069830169698,0.999999962628,3.98068837644e-05,-0.000269726565457,2.01703390935e-05,1793245562436714752
+58,0.966666667,BASELINE,764,745,714,680,657,633,878,785,807,652,629.677761112,652,0.400971375614,0.00449190673962,0.0698306948863,0.999999962908,4.15002163545e-05,-0.000268437162446,2.00621329374e-05,1793245562453381120
+59,0.983333333,BASELINE,764,745,714,680,657,633,878,785,807,652.255243074,630,652,0.400970970851,0.00449204556597,0.069830068447,0.99999996265,4.16475709427e-05,-0.000269370601165,2.0118789684e-05,1793245562470048000
+60,1.000000000,BASELINE,764,745,714,680,657,633,878,785,807,652.83330476,630,652,0.400967925347,0.0044916753715,0.069827985487,0.999999961703,3.98396504892e-05,-0.0002731153782,2.03839567285e-05,1793245562486714368
+61,1.016666667,BASELINE,764,745,714,680,657.417631868,633,878,785,807,652.582368132,630,652,0.400969439279,0.00449177998632,0.0698292220954,0.999999961951,4.0403103752e-05,-0.000272119508073,2.04179321346e-05,1793245562503380992
+62,1.033333333,BASELINE,764.00444159,745,714,679.99555841,657.99555841,633.00444159,878,785,807,652,630,652,0.400972761271,0.00449207649115,0.069831779797,0.999999962672,4.19177870875e-05,-0.000269230162709,2.03585966176e-05,1793245562520047872
+63,1.050000000,BASELINE,764.583968918,745,714,679.416031082,657.416031082,633.583968918,878,785,807,652,630,652,0.400970965093,0.00449230648098,0.0698312205908,0.999999962479,4.21758199181e-05,-0.000269907266977,2.03475945193e-05,1793245562536714496
+64,1.066666667,BASELINE,765,745,714,679.163211282,657,634,878.163211282,785,807,652,629.836788718,652,0.400969524603,0.00449189525775,0.0698305780722,0.99999996227,4.180727592e-05,-0.000270732980384,2.03949029167e-05,1793245562553381120
+65,1.083333333,BASELINE,765,745,714,679.741728491,657,634,878.741728491,785,807,652,629.258271509,652,0.400968989197,0.00448985240959,0.0698297235576,0.999999962019,3.98443502649e-05,-0.000271936843198,2.05905876664e-05,1793245562570047744
+66,1.100000000,BASELINE,764.682351473,745,714,680,657,633.682351473,878.682351473,785,807,652,629.317648527,652,0.400969070675,0.0044890700042,0.0698293788894,0.999999962031,3.86479482131e-05,-0.000272065682236,2.0623083262e-05,1793245562586714368
+67,1.116666667,BASELINE,764.108526031,745,714,680,657,633.108526031,878.108526031,785,807,652,629.891473969,652,0.400969649657,0.00448930411971,0.0698294454017,0.999999962255,3.80697315633e-05,-0.00027132753695,2.05239701973e-05,1793245562603380992
+68,1.133333333,BASELINE,764,745,714,680,657,633,878,785,807,652,630,652,0.400969996154,0.00449000782959,0.0698303431379,0.999999962485,3.90529517151e-05,-0.000270343920075,2.0487688769e-05,1793245562620047616
+69,1.150000000,BASELINE,764,745,713.933186321,679.933186321,657.066813679,633,878,785,807,652,629.933186321,652,0.400970131375,0.00449078416306,0.0698312166763,0.999999962645,4.03329623692e-05,-0.000269565969183,2.04394483608e-05,1793245562636714240
+70,1.166666667,BASELINE,764,745,713.353913651,679.353913651,657.646086349,633,878,785,807,652,629.353913651,652,0.400969062017,0.00449127744189,0.0698304176101,0.999999962284,4.10960341175e-05,-0.000270804604355,2.01870810694e-05,1793245562653380864
+71,1.183333333,BASELINE,764,745,713.223621022,679.223621022,657.776378978,633,878,785,807,651.776378978,629,652,0.400968942954,0.00449207871413,0.0698304376696,0.999999962213,4.2629399647e-05,-0.000270836523744,2.01014445063e-05,1793245562670047488
+72,1.200000000,BASELINE,764,745,713.79842636,679.79842636,657.20157364,633,878,785,807,651.20157364,629,652,0.400970316276,0.0044933636729,0.0698317441199,0.999999962592,4.53724686171e-05,-0.000268973363644,2.02776491923e-05,1793245562686714112
+73,1.216666667,BASELINE,764,745,714,679.618646638,657,633,878,785,807,651.381353362,629,652,0.400970839492,0.00449320189113,0.0698318979592,0.999999962713,4.46102827717e-05,-0.000268648006861,2.02982244915e-05,1793245562703380992
+74,1.233333333,BASELINE,764,745,714,679.031333353,657,633,878,785,807,651.968666647,629,652,0.400970903585,0.00449225875897,0.0698314293005,0.999999962693,4.19549916055e-05,-0.000269153181361,2.02347480321e-05,1793245562720047616
+75,1.250000000,BASELINE,764,745,714,679,657.548597514,633,877.451402486,785,807,652,629.548597514,652,0.400969399147,0.00449176994931,0.0698303856347,0.999999962208,4.23143081876e-05,-0.000270876449032,2.04713460736e-05,1793245562736714496
+76,1.266666667,BASELINE,764.127758015,745,714,679.127758015,657.872241985,633,877.255516029,785,806.872241985,652,630,652,0.400968454053,0.00449118580342,0.0698297932529,0.999999961954,4.21733784025e-05,-0.000271819693196,2.06558343011e-05,1793245562753380864
+77,1.283333333,BASELINE,764.705670056,745,714,679.705670056,657.294329944,633,878.411340112,785,806.294329944,652,630,652,0.40096979127,0.00449017552508,0.0698309051462,0.999999962612,3.96712153003e-05,-0.000269772651893,2.05971273635e-05,1793245562770047488
+78,1.300000000,BASELINE,764.718354588,745,714,679.718354588,657,633,878.718354588,785,806.281645412,652,629.718354588,652,0.400970489332,0.00449008749704,0.0698318457569,0.999999962989,3.8467948511e-05,-0.000268564672966,2.03664945512e-05,1793245562786714368
+79,1.316666667,BASELINE,764.144389354,745,714,679.144389354,657,633,878.144389354,785,806.855610646,652,629.144389354,652,0.400970524015,0.00449095667282,0.0698326085932,0.999999963082,3.86128065866e-05,-0.000268227557152,1.99574198477e-05,1793245562803380992
+80,1.333333333,BASELINE,764,745,714,679.441299339,657,633,878,785,807,652.441299339,629.441299339,652,0.400970842196,0.00449122358108,0.0698325240128,0.999999963157,4.02616472706e-05,-0.000267665310418,2.04935517386e-05,1793245562820047616
+81,1.350000000,BASELINE,764.030402957,745,714,680,657,633,878.030402957,785,807,653,630,652,0.400971182187,0.00449135441539,0.069832113659,0.999999963188,4.23695335565e-05,-0.000267164582121,2.12629737023e-05,1793245562836714240
+82,1.366666667,BASELINE,764.610011667,745,714,680,657,633,878.610011667,785,807,653,630,652,0.400970194805,0.00449268400313,0.0698309637731,0.999999962619,4.3637897961e-05,-0.000269142078204,2.05075311617e-05,1793245562853380864
+83,1.383333333,BASELINE,764.811092546,745,713.811092546,680,657.188907454,633,878.811092546,785,807,652.811092546,630,652,0.400969849458,0.00449314014971,0.0698305382158,0.999999962348,4.4182242384e-05,-0.000270087962827,2.01222264901e-05,1793245562870047744
+84,1.400000000,BASELINE,764.233662905,745,713.233662905,680,657.766337095,633,878.233662905,785,807,652.233662905,630,652,0.400970824574,0.00449179990756,0.0698316023703,0.999999962698,4.32375096124e-05,-0.000268912153139,2.04981768385e-05,1793245562886714624
+85,1.416666667,BASELINE,764,745,713.339761888,680,657.660238112,633,878,785,807,652,630,652,0.400970885539,0.00449185596182,0.0698315373785,0.999999962674,4.25041845182e-05,-0.000269136242952,2.02916058432e-05,1793245562903381248
+86,1.433333333,BASELINE,764,745,713.910464496,680,657.089535504,633,878,785,807,652,630,652,0.400970325142,0.00449286109759,0.0698307048908,0.999999962394,4.191455612e-05,-0.00027031186334,1.968908724e-05,1793245562920047616
+87,1.450000000,BASELINE,764.500110187,745,714,680,657,633,878.500110187,785,807.500110187,652,630,652,0.400970190315,0.0044924171624,0.0698308090478,0.999999962551,4.10092465553e-05,-0.000269866935555,1.96998194232e-05,1793245562936714240
+88,1.466666667,BASELINE,765,745,714,680,657,633,878.908934762,785,807.908934762,652,630,652,0.40097020907,0.00449168344039,0.0698311753413,0.999999962786,4.01342488407e-05,-0.000269114510319,1.98883104297e-05,1793245562953380864
+89,1.483333333,BASELINE,765,745,714,680,657,633,878.329852889,785,807.329852889,652,630,652,0.400970626489,0.00449084176757,0.0698320123985,0.999999963002,3.97364882715e-05,-0.000268330220146,2.04178747222e-05,1793245562970047744
+90,1.500000000,BASELINE,765,745,714,680,657.247401863,633.247401863,878,785,807,652,630,652,0.400970341445,0.00449047927143,0.0698321794976,0.999999963,3.98290617145e-05,-0.000268296720189,2.07491168548e-05,1793245562986714624
+91,1.516666667,BASELINE,765,745,714,680,657.822238385,633.822238385,878,785,807,652,630,652,0.400969126697,0.0044907509624,0.0698314599118,0.999999962711,4.05705888749e-05,-0.00026925688597,2.08178809334e-05,1793245563003380992
+92,1.533333333,BASELINE,764.593891968,745,714,680,657.593891968,633.593891968,877.593891968,785.406108032,807,652,629.593891968,652,0.400970295549,0.00449137787334,0.0698318774252,0.99999996302,4.09063343268e-05,-0.000268077242097,2.05125605448e-05,1793245563020047616
+93,1.550000000,BASELINE,764.005978341,745,714,680,657.005978341,633.005978341,877.005978341,785.994021659,807,652,629.005978341,652,0.400972531485,0.00449216380842,0.0698328039929,0.999999963594,4.10604203357e-05,-0.000265939652792,2.00397708097e-05,1793245563036714496
+94,1.566666667,BASELINE,764.573442308,745,714,680,657.573442308,633,877.573442308,785.426557692,807,652,629.573442308,652,0.400970095091,0.00449170852151,0.0698311312103,0.999999962707,4.03620512674e-05,-0.000269363163825,2.00172020392e-05,1793245563053380608
+95,1.583333333,BASELINE,764.848046683,745,714,679.848046683,657.848046683,633,878,785,807,652.151953317,629.848046683,652,0.400968255927,0.00449137402122,0.0698298756507,0.999999962028,3.98315499251e-05,-0.000271947352911,2.00478845879e-05,1793245563070047744
+96,1.600000000,BASELINE,764.271831696,745,714,679.271831696,657.271831696,633,878,785,807,652.728168304,629.271831696,652,0.400968218277,0.00449141236581,0.0698298595574,0.999999962004,3.97941952127e-05,-0.000272028600811,2.02143337854e-05,1793245563086715136
+97,1.616666667,BASELINE,764,745,714,679.300075383,657.300075383,633,878,785,807,652.699924617,629,652,0.400968423393,0.00449240534252,0.0698299250267,0.99999996195,4.12294378525e-05,-0.000272007749606,2.02835198632e-05,1793245563103382272
+98,1.633333333,BASELINE,764,745,714,679.86813522,657.86813522,633,878,785,807,652.13186478,629,652,0.400968845314,0.00449425086024,0.0698300633362,0.999999961864,4.39797940305e-05,-0.000271895718063,2.02658444102e-05,1793245563120049152
+99,1.650000000,BASELINE,764,745,714,679.540764736,657.540764736,633.459235264,877.540764736,785,806.540764736,652,629,652,0.400968894627,0.00449375817439,0.0698303914882,0.999999962036,4.33051151172e-05,-0.000271369521672,2.02547706723e-05,1793245563136715264
+100,1.666666667,BASELINE,764,745,713.94450663,679,657.05549337,634,877.05549337,785,806.05549337,652,629,652,0.40096890709,0.00449260733031,0.0698307727857,0.999999962286,4.16264304325e-05,-0.000270713379164,2.0242310931e-05,1793245563153381376
+101,1.683333333,BASELINE,764,745,713.365303165,679,657.634696835,634,877.634696835,785,806.634696835,652,629,652,0.400969634829,0.00449191605529,0.069831114019,0.999999962533,4.02441349136e-05,-0.000270012492037,2.01979364694e-05,1793245563170048256
+102,1.700000000,BASELINE,764,745,713.212304192,679,657.787695808,634,878,785,807,652.212304192,629,652,0.40096965498,0.00449175131674,0.0698311205028,0.999999962569,3.99783844189e-05,-0.000269925086884,2.01038110447e-05,1793245563186714880
+103,1.716666667,BASELINE,764,745,713.787185624,679,657.212814376,634,878,785,807,652.787185624,629,652,0.400968466698,0.0044924858075,0.0698305552949,0.999999962246,4.16194914432e-05,-0.000270885398289,1.99247199593e-05,1793245563203381248
+104,1.733333333,BASELINE,764,744.638585187,714,679,657,633.638585187,878,785.361414813,807.361414813,652.638585187,629,652,0.400969294654,0.00449177981373,0.0698311227364,0.999999962635,4.11540576625e-05,-0.0002694931647,2.02217515473e-05,1793245563220048384
+105,1.750000000,BASELINE,764,744.064739316,714,679,657,633.064739316,878,785.935260684,807.935260684,652.064739316,629,652,0.400971307706,0.00449022713736,0.0698323559223,0.999999963436,3.94504493018e-05,-0.000266718161036,2.07986367361e-05,1793245563236715776
+106,1.766666667,BASELINE,764,744.526217378,714,679.526217378,657.526217378,633,878,786,807.473782622,652,629.526217378,652,0.400970627427,0.00449040786739,0.0698318042178,0.99999996299,3.92612846494e-05,-0.000268423003447,2.06678477156e-05,1793245563253382400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633,879,785,807,652,630,652,0.400969696723,0.00449382200702,0.0698310543679,0.999999962623,4.59355785868e-05,-0.000268756522798,2.03580754208e-05,1793245563295527424
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.57467649,745,713.57467649,680,657.42532351,633,878.42532351,785,807,652,630,652,0.400970273069,0.00449293759844,0.0698311152972,0.999999962629,4.27839319891e-05,-0.000269249960147,2.04101647877e-05,1793245563312194048
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.846901194,745,714,680,657,633.153098806,878,785,807,652,630,652,0.400970616838,0.00449201916833,0.0698311890979,0.99999996263,4.05099826288e-05,-0.00026958444724,2.05653442765e-05,1793245563328860672
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.25781148,745,714,680,657,633.74218852,878,785,807,652,630,652,0.400970298278,0.00449100385237,0.0698312995537,0.999999962643,4.07355165501e-05,-0.00026946627993,2.10141012208e-05,1793245563345527040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657,634,878.325782175,785,807,652,630,652,0.400969811203,0.00449103579685,0.0698313488578,0.999999962636,4.08984065865e-05,-0.000269472625077,2.09752912323e-05,1793245563362193664
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,634,878.905098584,785,807,652,630,652,0.400969192985,0.00449188275336,0.0698313505716,0.999999962612,4.10125451109e-05,-0.000269575869854,2.05570408494e-05,1793245563378860800
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.519116308,657,633.519116308,879,785.480883692,807,652,629.519116308,652,0.400970311252,0.00449255245901,0.0698312529731,0.999999962649,4.23684893274e-05,-0.000269242606213,2.03726737192e-05,1793245563395527424
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.055908715,657.055908715,633,878.944091285,785.944091285,807,652,629.055908715,652,0.400971775038,0.0044930203923,0.0698312952598,0.999999962727,4.36802857315e-05,-0.000268751360856,2.02633578883e-05,1793245563412194048
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.630300627,657.630300627,633,878.369699373,785.369699373,807,652,629.630300627,652,0.400973288218,0.00449193917182,0.0698328152387,0.999999963094,4.23265375511e-05,-0.00026758808754,2.04251265089e-05,1793245563428860160
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.788779042,680,657.788779042,633.211220958,877.788779042,785,807,652.211220958,630,652,0.400979429341,0.00449120867109,0.0698360764821,0.999999964337,4.10797637268e-05,-0.000263101271029,2.04200419014e-05,1793245563445526528
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.196067664,680,657.196067664,633.803932336,877.196067664,785,807,652.803932336,630,652,0.400993929088,0.00449111161248,0.0698424826583,0.99999996709,4.00261985831e-05,-0.000252611736408,2.01136003034e-05,1793245563462193152
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386958691,745,713.386958691,680,657.386958691,633.613041309,877.386958691,785,807,652.613041309,630,652.386958691,0.401028400648,0.0044914214321,0.0698572120911,0.999999973055,4.04317678468e-05,-0.000227704774485,2.01429704611e-05,1793245563478859776
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.965197626,745,713.965197626,680,657.965197626,633.034802374,877.965197626,785,807,652.034802374,630,652.965197626,0.401072744617,0.00449193237852,0.0698760558515,0.999999979786,4.15586118722e-05,-0.000195671032551,2.03383380224e-05,1793245563495526400
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460693026,745,714,680,658,633.539306974,878,785.539306974,807,652,629.460693026,652.460693026,0.40112863217,0.00449185690512,0.0698910807849,0.999999983637,3.99928845258e-05,-0.000175258215279,2.02610020325e-05,1793245563512193024
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.886202593,657.886202593,633.886202593,878,785.886202593,807,652,629.113797407,652,0.401187229845,0.00449166493893,0.069903615474,0.999999986536,3.79875420559e-05,-0.000158390840387,1.99085028874e-05,1793245563528859392
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.30908365,657.30908365,633.30908365,878,785.30908365,807,652,629.69091635,652,0.40125385179,0.00449115158098,0.0699070069656,0.999999987526,3.48943889841e-05,-0.000152928527665,1.85067932243e-05,1793245563545526272
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.275448644,657,633,878,785,807,652,630,652,0.401330458012,0.00449166734536,0.0699096065227,0.999999988225,3.41116110295e-05,-0.000148665076645,1.68936397893e-05,1793245563562192896
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.868529574,657,633,878,785,807,652,630,652,0.40141857755,0.00449336983727,0.0699112928641,0.999999988613,3.5993031274e-05,-0.000145784087589,1.50366610645e-05,1793245563578859520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.44888648,745,714,679.55111352,657,633,878,785,807,652,630,652,0.401522591907,0.00449426310928,0.0699090167886,0.999999988042,3.47872851244e-05,-0.000150156831607,1.25710670355e-05,1793245563595525888
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.949108882,745,714,679,657,633,878,785,806.974554441,652,630,652,0.401632561777,0.00449494477154,0.0699058889509,0.999999987243,3.26161391642e-05,-0.000156050215823,9.90677410647e-06,1793245563612192768
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.803473009,745,714,679,657,633,878,785,806.401736505,652,630,652,0.401773261746,0.0044960321983,0.0699087147718,0.999999988287,2.85917821981e-05,-0.000150213763966,6.69694179443e-06,1793245563628859392
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.175855842,745,714,679.175855842,657,633,878,785,806.175855842,652.175855842,630,652,0.401922538059,0.00449744801303,0.0699120779674,0.999999989263,2.51523431455e-05,-0.000144328512622,3.35720129209e-06,1793245563645526016
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.764659461,745,714,679.764659461,657,633,878,785,806.764659461,652.764659461,630,652,0.402091953475,0.004499634954,0.0699167030355,0.999999990166,2.30864191818e-05,-0.0001383286703,-2.87591451886e-07,1793245563662192896
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633.347959659,878,785,807,652.652040341,630,652,0.402283559704,0.00450037225388,0.0699194531908,0.999999990934,1.92122370025e-05,-0.000133200282648,-4.45670182545e-06,1793245563678859520
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633.927595663,878,785,807,652.072404337,630,652,0.4024899409,0.00450014436291,0.0699209550038,0.999999991584,1.41340913364e-05,-0.000128652120941,-8.97491047823e-06,1793245563695526144
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.504759539,745,714,680,657.504759539,633.495240461,878,785,807,652.504759539,630,652,0.402735760488,0.00450298273178,0.069924668262,0.999999992641,8.7460395081e-06,-0.00012014949316,-1.43117082463e-05,1793245563712192768
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.91913975,745,714,680,658,633,878,785,807,652.91913975,630,652,0.402991923052,0.00450570018299,0.0699289542483,0.999999993673,3.01744118115e-06,-0.000110705278203,-1.9715909569e-05,1793245563728859904
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.347351142,745,714,680,658,633,878,785,807,652.347351142,630,652,0.403276702132,0.00450502614704,0.0699348009124,0.999999994784,-4.5101471551e-06,-9.8971502012e-05,-2.48199154764e-05,1793245563745526272
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.765750317,680,657.765750317,633,878.234249683,785,807,652,630,652,0.403577475746,0.00450558531255,0.0699428223332,0.999999995846,-1.06273994777e-05,-8.53853064914e-05,-3.00609073695e-05,1793245563762192896
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.168963627,680,657.168963627,633,878.831036373,785,807,652,630,652,0.403903003319,0.00450805304489,0.0699542095203,0.999999996888,-1.45619418885e-05,-6.8932211062e-05,-3.55139056024e-05,1793245563778859776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.412087217,680,657.412087217,633,878.175825565,785,807,652,630,652,0.404254035662,0.00451065890064,0.0699586720123,0.999999996954,-1.90028821787e-05,-6.33151070087e-05,-4.14944369556e-05,1793245563795526400
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.986923363,680,657.986923363,633,877.026153274,785,807,652,630,652,0.404615140802,0.00451331930652,0.0699603996783,0.999999996663,-2.3643818175e-05,-6.19775488198e-05,-4.76833110903e-05,1793245563812193024
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.437249172,680,658,633.562750828,877,785,807,652,630,652,0.405032506599,0.0045124135124,0.0699666018456,0.999999997773,1.05219832144e-05,-5.23345278186e-05,-4.005367522e-05,1793245563828859648
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.134636757,679.865363243,658,634,877.269273514,785,807,652,630,652,0.405453372462,0.00451005011794,0.0699717951484,0.999999997554,4.44636572634e-05,-4.34865444517e-05,-3.19939632558e-05,1793245563845526784
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.694015322,679.305984678,658,634,878.388030644,785,807,652,630,652,0.405881148447,0.00450335028313,0.0699734771726,0.999999996208,7.48484662963e-05,-3.77566045996e-05,-2.35922529801e-05,1793245563862194176
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.276053672,658,634,879,785,807,652,629.723946328,652,0.406324777247,0.00449798880526,0.0699659162872,0.999999994705,8.7181603612e-05,-5.03103664842e-05,-2.14115996446e-05,1793245563878860800
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679.885454828,658,634,879,785,807,652,629.114545172,652,0.406787549106,0.00449424345395,0.0699471941643,0.999999993015,7.77165225453e-05,-8.49425369049e-05,-2.67431570786e-05,1793245563895526912
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.549294487,680,658,633.549294487,878.549294487,784.549294487,807,652,629,652,0.407286462112,0.00450381007546,0.0699351041002,0.999999994698,8.08555744803e-06,-9.82680940869e-05,-2.9687680113e-05,1793245563912193536
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.99385602,713.00614398,679.99385602,658,633,878.00614398,784,807,652,629.00614398,652,0.407795096661,0.00451634695833,0.0699248177689,0.999999991071,-7.44278558332e-05,-0.000106250665683,-3.20718723066e-05,1793245563928860160
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.399407658,713.600592342,679.399407658,658,633,878.600592342,784,807,652,629.600592342,652,0.408433564617,0.00451824728584,0.0699402504958,0.999999995007,-5.69514009172e-05,-7.48686354915e-05,-3.37092368029e-05,1793245563945526784
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.194833432,744.194833432,713.805166568,679.194833432,658,633,878.610333136,784,807,652,629.805166568,652,0.409061658715,0.00452315092788,0.0699509941858,0.99999999752,-3.33520064653e-05,-5.08698547914e-05,-3.54955072305e-05,1793245563962193664
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.788650034,744.788650034,713.211349966,679.788650034,658,633,877.422699933,784,807,652,629.211349966,652,0.40966850901,0.00453420480768,0.0699521355863,0.999999998408,2.78604513348e-06,-4.19906182332e-05,-3.75867096661e-05,1793245563978860800
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.627745858,745,713.372254142,680,658,633,877.372254142,784.372254142,807,652,629.372254142,652,0.410292880151,0.00454243655908,0.0699480421075,0.9999999975,3.36482097738e-05,-4.84881829147e-05,-3.89347261771e-05,1793245563995527680
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.049785163,745,713.950214837,680,658,633,877.950214837,784.950214837,807,652,629.950214837,652,0.410926933241,0.0045491088102,0.0699410558496,0.999999995293,6.15949334602e-05,-6.34829233657e-05,-3.98720602333e-05,1793245564012194304
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.526425026,785,807,652,630,652,0.41163036449,0.00455523007435,0.0699510716747,0.999999995355,7.24580476034e-05,-4.84639002822e-05,-4.11331186975e-05,1793245564028860416
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.104593673,745,713.895406327,680,658.104593673,633,879,784.895406327,807,652,630,652,0.412352795892,0.00456182990948,0.0699678091493,0.999999995596,8.08184877309e-05,-2.23509925225e-05,-4.216162668e-05,1793245564045527040
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.692575891,745,713.307424109,680,658.692575891,633,879,784.307424109,807,652,630,652,0.413132815048,0.00457088152276,0.0700082047658,0.999999994622,8.50546484473e-05,4.19585003633e-05,-4.19743600418e-05,1793245564062193408
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.27624213,713.27624213,680.27624213,659,633.27624213,878.72375787,784.27624213,807,652,630,652,0.413902198285,0.00457805280283,0.0700288577927,0.999999992463,8.87275131175e-05,7.36513531351e-05,-4.21481162634e-05,1793245564078860032
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.855179169,713.855179169,680.855179169,659,633.855179169,878.144820831,784.855179169,807,652,630,652,0.414659927212,0.00458316369127,0.0700278776966,0.999999992453,9.17831416817e-05,6.96042243578e-05,-4.27174667962e-05,1793245564095526656
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.5666323,714,680.5666323,659,633.5666323,878,785,807.4333677,652,630,652,0.415394076628,0.00459128098508,0.0699866465832,0.999999993144,0.000108394544267,-2.41326337672e-06,-4.42244288306e-05,1793245564112193792
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,878.02251906,785,807.98874047,652,629.98874047,652,0.41612249452,0.00460033919264,0.0699329432035,0.999999986048,0.000129129596617,-9.54389603607e-05,-4.60506755238e-05,1793245564128860928
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,879.173595491,785,807.413202255,652,629.413202255,652,0.416957890654,0.00460628921642,0.0699271222451,0.999999984896,0.000129891367655,-0.000104939703045,-4.82026067218e-05,1793245564145527552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.165935469,633,879.834064531,785,807.165935469,652,629.165935469,652,0.417803490834,0.00461173141135,0.0699319516981,0.999999985649,0.00012945787932,-9.75011038792e-05,-4.93512337396e-05,1793245564162194176
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.754235176,633,879.245764824,785,807.754235176,652,629.754235176,652,0.418675063857,0.00461588100254,0.0699638902014,0.999999989813,0.000125982034487,-4.69459101853e-05,-4.79460978915e-05,1793245564178860288
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.662485032,714,680,659.662485032,633,878.662485032,785,808,652,630,652,0.419564827037,0.00461853785276,0.069990505471,0.999999989878,0.000133629320371,-7.3779585294e-06,-4.82909379297e-05,1793245564195527168
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.082806994,714,680,659.082806994,633,878.082806994,785,808,652,630,652,0.420467641407,0.00462012367851,0.0700133013809,0.999999987321,0.000149257323518,2.43067723899e-05,-4.98913654127e-05,1793245564212193792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.49325223,714,680,659.49325223,633,878.49325223,785,808,652,630,652.49325223,0.421380149528,0.0046053419759,0.0700330626719,0.999999990485,0.000117112557699,5.31250480357e-05,-4.99195910677e-05,1793245564228860160
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.931609095,745,713.931609095,680,659.931609095,633,879,785,808,652,630,652.931609095,0.422282610498,0.00458801513888,0.0700423448414,0.999999993351,8.05704586584e-05,6.57817719716e-05,-4.97932158335e-05,1793245564245527040
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.358812012,745,713.358812012,680,659.358812012,633,879,785,808,652,630,652.358812012,0.423099054749,0.00457203524971,0.0699780699224,0.999999995562,7.03165197787e-05,-3.72351502763e-05,-5.04590811089e-05,1793245564262194176
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.221779166,745,713.221779166,680.221779166,658.778220834,633,879,785,808,652,630,652,0.423936535678,0.00456799341102,0.0699150238955,0.999999987201,7.20990482939e-05,-0.000132847657049,-5.24596425326e-05,1793245564278861056
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.815439641,745,713.815439641,680.815439641,658.184560359,633,879,785,808,652,630,652,0.424809291229,0.00458396940079,0.0698540384756,0.999999970631,9.40644332054e-05,-0.000216044389722,-5.66982351115e-05,1793245564295527680
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.796722913,633,879,785,808,652,630,652,0.425760942115,0.00459024675386,0.0698761957964,0.999999978099,9.2674902314e-05,-0.000178858776411,-5.6764496508e-05,1793245564312194048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.952877251,633,879,785,808,652,630,652,0.426748185577,0.00459214868916,0.0699358619126,0.999999991414,8.0749095937e-05,-8.7364190468e-05,-5.49484631334e-05,1793245564328860416
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879,785.551493018,808.551493018,652,630,652.551493018,0.427720325445,0.00459595725551,0.0699911128213,0.999999993271,0.00010164558676,-1.70656925513e-05,-5.32380384252e-05,1793245564345527040
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.870498555,633,879,785.870498555,809,652,630,653,0.428692519288,0.00460013862241,0.0700388715052,0.999999990446,0.000118822848206,4.744683353e-05,-5.232073413e-05,1793245564362193408
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.281554217,633,879,785.281554217,809,652,630,653,0.429667181365,0.0046053551886,0.0700607149779,0.999999987109,0.000117857289689,9.46271985291e-05,-5.42013290103e-05,1793245564378859776
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.697881161,681.302118839,659.604237679,633,879,785,809,652,630.302118839,653,0.430571072701,0.00460632773903,0.0700418013382,0.999999989669,0.000115447878514,6.56557782397e-05,-5.49889263656e-05,1793245564395526656
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.119036372,681.880963628,660.761927256,633,879,785,809,652,630.880963628,653,0.431410141476,0.00460341298016,0.0699855561936,0.999999991713,0.000111715968914,-3.30669228709e-05,-5.47753914901e-05,1793245564412194048
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.456264639,681.543735361,660.087470722,633,879,785,808.543735361,652,631,652.543735361,0.432241132327,0.00459645983382,0.0699233930792,0.999999983401,0.000108165631751,-0.000135637733766,-5.56857617041e-05,1793245564428860672
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.969302846,681.030697154,659.030697154,633,879,785,808.030697154,652,631,652.030697154,0.433077827214,0.00458861260712,0.0698664662794,0.999999967164,0.000103622756117,-0.00022738044658,-5.68612351741e-05,1793245564445527552
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.394003108,681.605996892,659.605996892,633,879,785,808.605996892,652,631,652.605996892,0.434052817962,0.0045834511813,0.0699296182477,0.999999989113,8.0637193481e-05,-0.000109346327374,-5.7577996688e-05,1793245564462193920
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.186800579,682,660.186800579,633,879,785,809,652,630.813199421,653,0.435013290478,0.00458075287671,0.0699845426659,0.999999995792,7.06194835295e-05,-1.13273179087e-05,-5.7449192015e-05,1793245564478860288
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.779565838,682,660.779565838,633,879,785,809,652,630.220434162,653,0.435942211407,0.0045834075536,0.0700215865586,0.999999993587,8.87841795107e-05,4.3193839398e-05,-5.54827606951e-05,1793245564495526656
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.63680019,745,714,682,660.27360038,633,879.36319981,785,809,652,630.36319981,653,0.43683802236,0.00458575670962,0.0700355536582,0.999999991788,9.10619694784e-05,7.03018900648e-05,-5.6474099326e-05,1793245564512193024
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.058572323,745,714,682,659.117144645,633,879.941427677,785,809,652,630.941427677,653,0.437714230897,0.00458792498555,0.0700358584192,0.999999991429,8.39341077988e-05,8.11803391037e-05,-5.92165500874e-05,1793245564528859648
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.517908661,745,714,682.517908661,659.517908661,633,880.517908661,785,809,652,630.482091339,652.482091339,0.438505909082,0.00458921622402,0.0699936133782,0.999999994331,8.46183710809e-05,2.49332954486e-05,-5.96254904647e-05,1793245564545526528
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.904023748,745,713.904023748,683,659.904023748,632.904023748,880.904023748,785,809.095976252,652,630,652.095976252,0.439268683742,0.00459162079929,0.0699409543855,0.999999992881,8.94955551119e-05,-5.17665508115e-05,-5.95668402242e-05,1793245564562192896
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.316827952,745,713.316827952,683,659.316827952,632.316827952,880.316827952,785,809.683172048,652,630,652.683172048,0.439932290434,0.00460022953314,0.0698595416828,0.999999973194,0.000111325987321,-0.000194422983403,-5.84611633386e-05,1793245564578860032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.266863336,745,713.266863336,683,658.733136664,632,880,785,809.733136664,652,630,652.733136664,0.440663501282,0.00460810139266,0.0698177399273,0.999999956392,0.00011825208901,-0.000264255243275,-5.83265349477e-05,1793245564595526912
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.846447859,745,713.846447859,683,658.153552141,632,880,785,809.153552141,652,630,652.153552141,0.441473933352,0.00461510975259,0.069822355878,0.999999961501,0.000107712697528,-0.000248749203495,-5.9329821384e-05,1793245564612193280
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.577137567,683,658,632,880,785,809.422862433,652,630.422862433,652.422862433,0.442241689785,0.00462283454709,0.0698495023535,0.999999968224,0.000121250133618,-0.000213076043245,-5.87362170625e-05,1793245564628860160
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.001865469,683,658,632,880,785,809.998134531,652,630.998134531,652.998134531,0.442994064971,0.00463081756219,0.0698847693656,0.999999973579,0.000143465429097,-0.000170134172126,-5.75670553532e-05,1793245564645526784
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713,683,658,631.428725767,879.428725767,784.428725767,810,652,630.428725767,653,0.44364928105,0.00463677582731,0.0698573478385,0.999999961291,0.000158152495982,-0.000221735845951,-5.69136450861e-05,1793245564662193152
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.850462533,713,683,657.700925065,631,879.149537467,784,810,652,630,652.850462533,0.444293799041,0.00464277308842,0.0698249953466,0.999999944733,0.00017272678064,-0.000278422773827,-5.64009582916e-05,1793245564678860032
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.256967457,713,683,656.513934914,631,879.743032543,784,810,652,630,652.256967457,0.444907494361,0.00464890568145,0.0697786089323,0.99999991992,0.000187038946033,-0.000349294019616,-5.63010801032e-05,1793245564695526656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.327846449,713,683,656,631,879.672153551,784,810,652,630,652,0.445525468017,0.00465600942391,0.0697480137132,0.999999902564,0.000199573640686,-0.000389660040394,-5.66419064147e-05,1793245564712193536
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.90603151,713,683,656,631,879.09396849,784,810,652,630,652,0.446146708508,0.00466385472107,0.0697294764158,0.999999893433,0.000210751085073,-0.000406732727452,-5.73192481936e-05,1793245564728860928
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.631963169,745,713,683,655,630.368036831,880,784,810.631963169,652,630,653,0.447768420292,0.00468053854016,0.0696966184194,0.999999855626,0.000237862897532,-0.000478682240696,-5.50753869082e-05,1793245564778860288
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.214297313,745,713,683,654.785702687,629.785702687,880,784,810.785702687,652,630,653,0.448275568387,0.00468684421768,0.0696882113867,0.999999845641,0.000247321735228,-0.000494492988062,-5.50166609291e-05,1793245564795526912
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649.40517855,628,880,783,811,652,630,653,0.452356068837,0.00478211314587,0.0696382218857,0.999999802458,0.00031304882446,-0.000540920481679,-6.70038604989e-05,1793245564978859776
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+251,4.183333333,HOLD_POSE2,765,745,713,684,645.302145001,626.302145001,880,783,810,652.302145001,629.302145001,653,0.454204851711,0.00480924062025,0.0696161891443,0.999999766357,0.00034198939724,-0.000588108652267,-6.6756493649e-05,1793245565717334272
+252,4.200000000,HOLD_POSE2,765,745,713,684,645.900198431,626.900198431,880,783,810,652.900198431,629.900198431,653,0.454206793292,0.00480982438368,0.0696176227917,0.999999767559,0.000341754668919,-0.00058616392728,-6.70643780425e-05,1793245565734000896
+253,4.216666667,HOLD_POSE2,765.481864415,745,713,683.518135585,645.518135585,626.518135585,880,783,810,652.518135585,630,653,0.454205311286,0.00480996412277,0.0696159831065,0.999999766623,0.000340967013299,-0.000588188154861,-6.73040192489e-05,1793245565750667520
+254,4.233333333,HOLD_POSE2,765.879886044,745,713,683.060056978,645,626,879.939943022,782.939943022,810,652,630,653,0.454203363231,0.00480992763837,0.0696139942567,0.999999765426,0.000339976354639,-0.000590774326629,-6.74537498651e-05,1793245565767334400
+255,4.250000000,HOLD_POSE2,764.726785393,745,713,683.636607303,645,626,879.363392697,782.363392697,810,652,630,653,0.454203304682,0.00480914050776,0.0696142967588,0.999999765721,0.000338192342639,-0.000591356249363,-6.69478015638e-05,1793245565784000000
+256,4.266666667,HOLD_POSE2,764.216547284,744.783452716,713,684,645,626,879.216547284,782,810,652,630,653,0.454203839106,0.00480924462937,0.069614600921,0.999999765886,0.000338458302294,-0.000590949530412,-6.6723661094e-05,1793245565800666112
+257,4.283333333,HOLD_POSE2,764.802265916,744.197734084,713,684,645,626,879.802265916,782,810,652,630,653,0.454205384438,0.00481086816419,0.0696149079131,0.999999765823,0.000342219068351,-0.000588857368037,-6.69799486664e-05,1793245565817334016
+258,4.300000000,HOLD_POSE2,764.61592099,744.38407901,713,684,645,626,880,782,810,652,629.61592099,653,0.454206398802,0.00481091579224,0.0696155725331,0.999999766252,0.000342124107734,-0.000588176980724,-6.70410544384e-05,1793245565834000896
+259,4.316666667,HOLD_POSE2,764.036098277,744.963901723,713,684,645,626,880,782,810,652,629.036098277,653,0.454207142562,0.00481016026843,0.069616419416,0.999999766934,0.000340064098096,-0.000588216096423,-6.70026869295e-05,1793245565850667008
+260,4.333333333,HOLD_POSE2,764.541451086,744.458548914,713,684,645.541451086,626,880,782.541451086,810,652,629.541451086,652.458548914,0.45420663858,0.00481106500683,0.0696159599729,0.999999766739,0.00034068462834,-0.000588167050789,-6.72016279284e-05,1793245565867334144
+261,4.350000000,HOLD_POSE2,765,744.117795245,713,684.117795245,645.882204755,626,880,783,810,652,630,652.117795245,0.454206093896,0.0048114095752,0.069615519904,0.999999766378,0.000341367320927,-0.000588374436907,-6.72876047891e-05,1793245565884001024
+262,4.366666667,HOLD_POSE2,765,744.690071936,713,684.690071936,645.309928064,626,880,783,810,652,630,652.690071936,0.45420571179,0.00480916759989,0.0696154892016,0.999999765607,0.000341603227603,-0.000589593778943,-6.68769529962e-05,1793245565900669440
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,783,810,652,630,653,0.454205352869,0.00480697916883,0.0696136617147,0.999999765239,0.00033982156807,-0.000591308423346,-6.63157470149e-05,1793245565937852416
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744.420879318,713,684,645,626,879.420879318,783,810,652.579120682,630,653,0.454204094699,0.00480828259561,0.069612627938,0.999999764252,0.000339662373964,-0.000593046730608,-6.64867656799e-05,1793245565954519296
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744.156331285,713,684,645.156331285,626,879.156331285,783,810,652.843668715,630,653,0.454203530518,0.00480871748414,0.0696122591154,0.999999763846,0.00033954824464,-0.000593790514593,-6.65381039343e-05,1793245565971185920
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,744.728461718,713,684,645.728461718,626,879.728461718,783,810,652.271538282,630,653,0.454204812163,0.00480684229494,0.0696136588914,0.999999764989,0.000339553975474,-0.000591889134679,-6.62711245409e-05,1793245565987852288
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.310452738,684,645.689547262,626,880.310452738,783,810,652,630,652.689547262,0.454205554613,0.00480677366703,0.0696143949275,0.999999765282,0.00034066641781,-0.000590778131067,-6.60636251059e-05,1793245566004518656
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.90135123,684,645.09864877,626,880.90135123,783,810,652,630,652.09864877,0.454205809983,0.00480833698632,0.0696145313778,0.999999764804,0.00034277860182,-0.000590381109603,-6.59098565764e-05,1793245566021185024
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.518099317,684,645,626,880.518099317,782.518099317,810,652.481900683,630,652.481900683,0.45420459582,0.00481003507209,0.0696132095737,0.999999763786,0.000342130328579,-0.000592394664328,-6.66519784005e-05,1793245566037852160
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,782.060339885,810,652.939660115,630,653,0.45420334536,0.00481143145668,0.0696118979522,0.999999762859,0.000341066557782,-0.000594483432207,-6.74134633032e-05,1793245566054519296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,782.638467927,810,652.361532073,630,653,0.454204310602,0.00481000712689,0.0696131814762,0.999999763698,0.000341184493296,-0.000593072140026,-6.68004398753e-05,1793245566071186176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,645.216051638,626,880,783,810,652,630,653,0.454203102139,0.00480915130665,0.0696129806487,0.999999763559,0.000341310612811,-0.000593285751095,-6.63424753139e-05,1793245566087852544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,645.792726718,626,880,783,810,652,630,653,0.454198265427,0.00480924441651,0.06961030221,0.999999761784,0.000341450392668,-0.000596211575967,-6.61433279323e-05,1793245566104518656
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,645.623727686,626,880,783,810,652,630,653,0.454181388514,0.00480868371137,0.0696024417043,0.999999755209,0.000340998600866,-0.000607374212033,-6.63216456409e-05,1793245566121185280
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,645.036326952,626,880,783,810,652,630,653,0.454157755778,0.00480775614713,0.0695916735127,0.999999745738,0.000340214874967,-0.000623158567312,-6.67117610102e-05,1793245566137851648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,783,810,652.54333323,630,653,0.454108970883,0.00480939943262,0.0695741579528,0.999999727534,0.000342361850985,-0.000650614671715,-6.6494123275e-05,1793245566154518272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,783,810,652.877735497,630,653,0.454055332937,0.00481016951384,0.0695569992247,0.999999710351,0.000343735963728,-0.000675845424218,-6.61600195287e-05,1793245566171184896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,783,810,652.299619272,630,653,0.453989782665,0.00480705207798,0.0695428292578,0.99999970155,0.000341508228719,-0.000689910515358,-6.55410554223e-05,1793245566187851776
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,782.723597185,810,652,630,653,0.453918710258,0.00480631793034,0.0695347856826,0.999999694953,0.000342490108488,-0.000698988268472,-6.48820650486e-05,1793245566204518912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626,880,782.149828098,810,652,630,653,0.453841696897,0.0048081478289,0.0695333331493,0.999999690868,0.000346925032807,-0.000702700423822,-6.41800127069e-05,1793245566221185792
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.435566398,645,626,880.435566398,782.435566398,810,652.435566398,630,653,0.45375162975,0.00480688918272,0.0695337432865,0.999999690986,0.000347412091552,-0.00070244814026,-6.24474556341e-05,1793245566237852416
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.975368723,645,626,881,783,810,652.975368723,630,653,0.453655686238,0.00480476521312,0.0695347475816,0.999999692358,0.000346830835331,-0.000700962779891,-6.0359572964e-05,1793245566254518784
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.396170431,645,626,881,783,810,652.396170431,630,653,0.453531308118,0.00480773457093,0.0695343077337,0.999999688483,0.000353610307541,-0.000703260451949,-5.84714548484e-05,1793245566271185152
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626.182181162,880.817818838,783,810.182181162,652,630,653,0.453394904379,0.0048087986156,0.0695322623425,0.999999683502,0.000358222762973,-0.000708170486698,-5.6273039802e-05,1793245566287851520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,645,626.758699971,880.241300029,783,810.758699971,652,630,653,0.453232470772,0.0048057385414,0.0695267416954,0.99999967615,0.000358144632153,-0.000718735073714,-5.34029761882e-05,1793245566304518144
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.340541049,713,684,645.681082099,627,880,783,810.659458951,652,630,653,0.453054949573,0.00480354665441,0.0695203568204,0.999999668287,0.000359627609684,-0.000729080926976,-5.03497245706e-05,1793245566321185024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.926213309,713,684,646.852426618,627,880,783,810.073786691,652,630,653,0.452866567876,0.00480197971315,0.0695133498489,0.999999660021,0.000362234317737,-0.000739269330479,-4.71646086784e-05,1793245566337851904
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.494218628,713,684,646.494218628,627,880.505781372,783,810,652,630,653.505781372,0.452644463676,0.00480211717185,0.0695074718963,0.999999650556,0.000367549744755,-0.000749602753285,-4.34874305883e-05,1793245566354519296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.084422718,745.084422718,713,684,646.084422718,627,880.915577282,783,809.915577282,652,630,653.915577282,0.452413882819,0.00480199768855,0.069502781233,0.999999642217,0.000372808765397,-0.000758292450724,-3.96517834146e-05,1793245566371186432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.662790377,745.662790377,713,684,646.662790377,627,880.337209623,783,809.337209623,652,630,653.337209623,0.452162147143,0.00479893741518,0.0695040850285,0.999999642186,0.000375453278213,-0.000757242650176,-3.53039517958e-05,1793245566387852288
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.759595045,745.759595045,713,684,647,627,880,783,809,652,630,653,0.451888866039,0.00479518673532,0.0695049977559,0.999999641303,0.00037761321867,-0.000757549806425,-3.03449656394e-05,1793245566404518656
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.183033531,745.183033531,713,684,647,627,880,783,809,652,630,653,0.451585458126,0.00479047066512,0.0695053636553,0.999999639229,0.000379095584848,-0.00075975438589,-2.45314066495e-05,1793245566421185024
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880,783,809.400330689,652,630,653,0.451264278105,0.00478641056192,0.0695070566802,0.999999635987,0.000382186909476,-0.00076263807025,-1.8504975435e-05,1793245566437851648
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,647,627,880,783,809.986858894,652,630,653,0.450934832119,0.00478265555519,0.0695093669635,0.999999632161,0.000386026575546,-0.000765837612503,-1.23795355363e-05,1793245566454518528
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,647.569101072,627,880,783.569101072,809.430898928,652.569101072,630,653,0.450555814968,0.0047801299136,0.0695094282815,0.999999628141,0.000391346717701,-0.000768457059711,-6.29443876139e-06,1793245566471185152
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,712.850911047,684,648.149088953,627,879.850911047,783.850911047,809,653,630,653,0.450170070878,0.00477665246771,0.0695127588639,0.999999627486,0.000395337391352,-0.000767291236146,-1.39639981461e-07,1793245566487851776
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,712.277065927,684,648.722934073,627,879.277065927,783.277065927,809,653,630,653,0.449768398464,0.00477038304962,0.0695255504641,0.999999636494,0.000395443725509,-0.000755379008735,6.21637375324e-06,1793245566504518912
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,712.296055092,684,649.296055092,627.296055092,879.296055092,783,809.296055092,653,630,653,0.449346152953,0.00476333620874,0.0695413561173,0.999999654158,0.000392694954241,-0.000733033790909,1.16432533409e-05,1793245566521185792
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,712.868500174,684,649.868500174,627.868500174,879.868500174,783,809.868500174,653,630,653,0.44890470084,0.00475556358369,0.0695599756201,0.999999679211,0.000387280724221,-0.000700948579581,1.62027161265e-05,1793245566537852160
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,628,880,783,810,652.540500874,630,653,0.448425047533,0.00473942426385,0.0695744420979,0.999999705006,0.000354517211305,-0.00068125642189,1.3980309312e-05,1793245566554518528
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.945724128,650.108551744,628.054275872,880,783,809.945724128,652,630,653,0.447927427717,0.0047199311463,0.069585206573,0.999999727432,0.000312579246188,-0.000668827595195,1.00215702205e-05,1793245566571184896
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.367880216,651.264239567,628.632119784,880,783,809.367880216,652,630,653,0.447366391506,0.00469215501408,0.0695722073139,0.999999727337,0.000260818510359,-0.000690811829358,8.82338688957e-06,1793245566587851520
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.20821888,652,629,880,783,809,652,630,653,0.446792563982,0.00467461524209,0.0695579699501,0.999999721696,0.000226604911095,-0.000710758245322,9.02278784961e-06,1793245566604518144
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.781260826,652,629,880,783,809,652,630,653,0.446196324659,0.00467501073459,0.0695415632871,0.999999710675,0.000223135887279,-0.000727134174621,1.16709149336e-05,1793245566621185280
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.365055487,629.365055487,880,783.365055487,809,652,630.365055487,653,0.445605623033,0.00467414663402,0.0695503035257,0.999999728059,0.000211313433091,-0.000706461342572,1.18737590053e-05,1793245566637852160
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.955488628,629.955488628,880,783.955488628,809,652,630.955488628,653,0.445018340286,0.00467250488692,0.0695745689382,0.999999761333,0.000194333744751,-0.000662915375134,1.05669361572e-05,1793245566654519296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.464902833,653,630,880,784,809,652,630.464902833,652.464902833,0.444387906888,0.00466087334568,0.069610488635,0.999999802469,0.000165101907603,-0.000606349301677,1.19628819317e-05,1793245566671185664
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.113273056,653.226546113,630.113273056,879.886726944,784,809,652,630,652,0.443743531637,0.00465019057745,0.069644612156,0.999999837199,0.000138625634407,-0.00055334341742,1.40103477196e-05,1793245566687852288
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.689202054,654.378404107,630.689202054,879.310797946,784,809,652,630,652,0.443056582113,0.00464670982491,0.0696675181866,0.999999856923,0.00012748450861,-0.000519214876068,1.7818821855e-05,1793245566704518912
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.735262548,655.264737452,631,879.264737452,784,809,652,630,652.264737452,0.442354371771,0.00464196740701,0.0696890520005,0.999999874947,0.000109079739854,-0.000487663448672,1.98032938012e-05,1793245566721185280
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.160188469,655.839811531,631,879.839811531,784,809,652,630,652.839811531,0.441634271953,0.00463574601027,0.069708977246,0.99999989103,8.21602149797e-05,-0.000459133020693,1.96495924271e-05,1793245566737851648
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,631,880,784,809,652,630,653,0.440914314663,0.00462533733898,0.0697427297376,0.999999906133,0.000176552816215,-0.000395127535166,2.09182739509e-05,1793245566754518528
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,631.015805331,880,784.015805331,809,652,630,653,0.440191601216,0.0046134612044,0.0697807217276,0.999999899495,0.000313446113486,-0.000319761432572,2.26953022847e-05,1793245566771185152
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.251478598,656.748521402,632,880,785,809,652,630,653,0.437670848182,0.0045978231266,0.0697222806586,0.999999883616,0.000246828550457,-0.000413911127583,2.28521933572e-05,1793245566821185792
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.497638676,745,713.497638676,683,657,632,879.502361324,784.502361324,809,652,630,652,0.435133599933,0.00458678967411,0.0697844247493,0.999999932801,0.000168507469488,-0.000324489823126,2.66231605343e-05,1793245566871185408
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.711485619,745,713,682.288514381,657.711485619,633,879,785,808.288514381,652,629.711485619,652,0.426940805637,0.0045320476034,0.0698242898407,0.999999957663,9.29664319557e-05,-0.000273791661627,3.26896480998e-05,1793245567021185536
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.100481135,745,714,681,657.899518865,633,878,785,807,652,629,652,0.417183896266,0.00444631567722,0.0698643052319,0.999999971142,1.91333997527e-05,-0.000236337149276,3.86577114982e-05,1793245567204517888
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.750245029,745,713.750245029,681,657,633,878,785,807.249754971,652,629.249754971,652,0.415499656369,0.00443362048599,0.0697875750685,0.999999944963,-2.2669250202e-05,-0.00032911690789,3.52379809874e-05,1793245567237852928
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.590472455,633,878,785,808,652,629.590472455,652,0.413866791531,0.00444538658366,0.0697415671555,0.999999910551,-3.36229712484e-06,-0.000421426295337,3.5874398532e-05,1793245567271185920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.003772489,633,878,784.996227511,808,652,629,652,0.413096645388,0.00446554056641,0.0697312558858,0.999999899849,3.31509003524e-05,-0.000444756493382,3.73437649718e-05,1793245567287852032
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,656.581533351,633,878,784.418466649,808,652,629,652,0.412450117923,0.00448623729424,0.0697939404562,0.999999945631,3.83926522663e-05,-0.000325749600146,3.39157666602e-05,1793245567304518656
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,657.734576725,633,878,784.734576725,807.265423275,652,629.734576725,652.734576725,0.411149431119,0.00447813433663,0.0698735347836,0.999999980775,4.056988707e-05,-0.000188773326661,3.41768361467e-05,1793245567337851648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.683025967,657.683025967,633,878,785,807.316974033,652,629.683025967,652.683025967,0.410480722348,0.00446674447996,0.0698665610225,0.999999977566,3.31581369877e-05,-0.000206251574131,3.50664517665e-05,1793245567354518272
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.935894755,785,807,652.935894755,629.935894755,652,0.408499856242,0.00446992698628,0.0697563077506,0.999999920474,1.802047845e-05,-0.000397080994185,3.24628334523e-05,1793245567404518912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633,878.359738187,785,807,652.359738187,629.359738187,652,0.40793476714,0.00447239465277,0.0697635475241,0.999999928031,2.78312177202e-05,-0.000377058396216,3.14821146706e-05,1793245567421185280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,656.784027098,633,878,785,807,652,629,652,0.407392567031,0.00447516063692,0.0697764484059,0.999999935987,3.73011011072e-05,-0.000354492816298,3.11233731054e-05,1793245567437851648
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.877557884,745,713.877557884,680,657,633,877.877557884,785,807,652,629.877557884,652,0.405061526854,0.00448793235752,0.0698036795164,0.99999994462,4.37638041886e-05,-0.00032845568207,3.10032206211e-05,1793245567521185536
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.816997219,745,713.816997219,680,657,633,878,785,807,652,629.183002781,652,0.40279479247,0.00446525801473,0.0698141915643,0.999999952841,-2.92459795683e-05,-0.000304513676133,2.70999241671e-05,1793245567637851904
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.077764595,680,657,633,878,785,807,652,629.077764595,652,0.400970128206,0.00448769950172,0.0698273759404,0.999999961157,3.54828842578e-05,-0.000275688326254,2.05692104855e-05,1793245568237851392
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.203283972,745,714,679.203283972,657,633,878,785,807,652,629.203283972,652,0.400968846046,0.00448598489102,0.0698277428543,0.999999961105,3.47668020431e-05,-0.00027594222919,2.09029655284e-05,1793245568287851264
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.97990636,745,714,679.97990636,657,633,878,785,807,652,629,652,0.400968936597,0.00448775944819,0.0698267652874,0.999999960842,3.62937754235e-05,-0.000276734375193,2.04199863497e-05,1793245568321184512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.442911133,745,714,680,657,633,878,785,807,652,629,652,0.400969369725,0.00448806835345,0.0698271692506,0.99999996117,3.50339283765e-05,-0.000275718453952,2.03139794122e-05,1793245568337851136
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc849f490a5b8a1e17769a68fb9f674902fc6817
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575670576962,0.00987806606379,1.06005093946,0.546242207421,0.0185537426014,1.05971743301
+395,6.583333333,pose2_to_pose3_retreat,0.575670399423,0.0098780391358,1.06005101554,0.546242030394,0.0185537173489,1.05971750746
+396,6.600000000,pose2_to_pose3_retreat,0.575670242079,0.00987801527097,1.06005108297,0.546241873504,0.0185536949691,1.05971757343
+397,6.616666667,pose2_to_pose3_retreat,0.575670203662,0.00987800944411,1.06005109944,0.546241835198,0.0185536895048,1.05971758954
+398,6.633333333,pose2_to_pose3_retreat,0.575670202573,0.00987800927898,1.0600510999,0.546241834112,0.0185536893499,1.05971759
+399,6.650000000,pose2_to_pose3_retreat,0.575670199051,0.00987800874481,1.06005110141,0.5462418306,0.018553688849,1.05971759147
+400,6.666666667,pose2_to_pose3_retreat,0.575670011212,0.00987798025467,1.06005118191,0.546241643303,0.0185536621316,1.05971767024
+401,6.683333333,pose2_to_pose3_retreat,0.575669875808,0.00987795971756,1.06005123994,0.546241508291,0.0185536428724,1.05971772701
+402,6.700000000,pose2_to_pose3_retreat,0.575669774499,0.00987795456335,1.06005127431,0.546241407125,0.0185536381127,1.05971775889
+403,6.716666667,pose2_to_pose3_retreat,0.575669687618,0.00987796233067,1.06005129299,0.546241320192,0.0185536455481,1.05971777357
+404,6.733333333,pose2_to_pose3_retreat,0.575669622239,0.00987796817565,1.06005130705,0.546241254774,0.0185536511434,1.05971778461
+405,6.750000000,pose2_to_pose3_retreat,0.575669537168,0.00987791768724,1.06005128971,0.546241170594,0.0185536038051,1.05971777058
+406,6.766666667,pose2_to_pose3_retreat,0.575669477425,0.00987787502677,1.06005127312,0.546241111594,0.0185535637877,1.05971775721
+407,6.783333333,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc4ec1f9d421e370d8d8e5c9bc6bdc99fc8e6d2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe7299d7f005ecdbb8a64db52fce230ff08c780a5e6422ad31a409d6e64d195
+size 25562540
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..420080003775f9876315d190df82a4cc9eb0dcf1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,680,658,633,878,785,807,652,630,652,0.401030173377,0.00447894138708,0.0798610813384,0.999999981279,0.000108874898611,-0.000151419339328,5.15740098131e-05,1793245569614559232
+1,0.016666667,BASELINE,764.411094104,745,714,680,657.411094104,633,878,785,807,652,629.411094104,652,0.401029188554,0.00447956016248,0.0798600083076,0.999999981134,0.000109006454773,-0.000152294681451,5.15370511645e-05,1793245569631225344
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+3,0.050000000,BASELINE,764,745,714,680,657.754125828,633,878,785,807.754125828,652,629.754125828,652,0.40102955923,0.00447675856534,0.0798598785596,0.999999981469,0.000105170226882,-0.00015273920172,5.16828152976e-05,1793245569664558336
+4,0.066666667,BASELINE,764,745,714,679.668262793,658,633,877.668262793,785,807.668262793,652,630,652,0.401029326487,0.00447683719529,0.0798598743606,0.999999981313,0.000106264236362,-0.000153039323524,5.15857455263e-05,1793245569681224704
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+21,0.350000000,BASELINE,764,745,714,680,657,633.801741402,878,785,807,652,629.198258598,652,0.401027656837,0.00448061960075,0.079860731785,0.999999980859,0.000111164097251,-0.000152670828584,5.11407959316e-05,1793245569964558080
+22,0.366666667,BASELINE,764,745,714,680,657,633.222763335,878,785,807,652,629.777236665,652,0.401027965081,0.00448081183093,0.0798611526072,0.999999981126,0.000109766451955,-0.000152034794239,5.0844050266e-05,1793245569981224704
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+27,0.450000000,BASELINE,764.671723414,745,714,679.671723414,658,633,878,785,807.328276586,652,630,652,0.401027175944,0.00448129426365,0.0798608184929,0.999999980406,0.000112811548506,-0.000154434578209,5.10938050092e-05,1793245570064559104
+28,0.466666667,BASELINE,764.740879317,745,714.259120683,679.740879317,658,633,878,785,807,652,630,652,0.401026725924,0.00448147038854,0.079860605439,0.999999980383,0.000112846795598,-0.00015457049383,5.10624839628e-05,1793245570081225216
+29,0.483333333,BASELINE,764.160817749,745,714.839182251,679.160817749,658,633,878,785,807,652,630,652,0.401026526454,0.00447986472007,0.0798601729551,0.999999980617,0.000111420921502,-0.000154144407508,5.0900209312e-05,1793245570097891584
+30,0.500000000,BASELINE,764,745.415967288,714.584032712,679,657.584032712,633.415967288,878.415967288,785,807,652,630,652,0.401027516105,0.00447968912657,0.0798605606801,0.999999980968,0.000110165201803,-0.000152830915122,5.0706316213e-05,1793245570114557952
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+40,0.666666667,BASELINE,764,745,714,680,657.775485994,633,878,785,807,652,629.775485994,652,0.401025783261,0.00448130097153,0.0798599850521,0.999999980158,0.000114672867495,-0.00015471098318,5.0967928963e-05,1793245570281225472
+41,0.683333333,BASELINE,764,745,714,680,657.195900982,633,878,785,807,652,629.195900982,652,0.401027197782,0.00448227694708,0.0798613499753,0.999999980267,0.000115503087274,-0.000153383683844,5.0966409555e-05,1793245570297892096
+42,0.700000000,BASELINE,764,745,714,679.619753796,657,633,878,785,807,652,629,652,0.401028648568,0.00448259052189,0.0798622460983,0.999999980488,0.000115384357491,-0.000152114653493,5.071184838e-05,1793245570314558976
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+45,0.750000000,BASELINE,764,745,714,680,657.12777233,633,877.87222767,784.87222767,807,652,630,652.12777233,0.401026724274,0.00448169702375,0.079861299289,0.99999998031,0.000113837226223,-0.000154328212264,5.10217751488e-05,1793245570364558336
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+47,0.783333333,BASELINE,764,745,714,680,658,633.284726097,877,784.284726097,807,652,630,652.715273903,0.401029229288,0.00448174206325,0.0798622044399,0.999999980247,0.000117101282522,-0.000152271108027,5.10634053593e-05,1793245570397891584
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+51,0.850000000,BASELINE,764,745,714,679,657.399860739,633,878,785,807,652,629.399860739,652,0.401028014065,0.00448088838944,0.0798621209805,0.999999980693,0.000112760288563,-0.000152754401282,5.06556169868e-05,1793245570464558336
+52,0.866666667,BASELINE,764,745,714,679.187358525,657.187358525,633,878,785,807,652,629.187358525,652,0.401027746238,0.00448036790437,0.0798624065245,0.999999980709,0.000112801977812,-0.000152532868063,5.08970234549e-05,1793245570481225472
+53,0.883333333,BASELINE,764,745,714,679.766645636,657.766645636,633,878,785,807,652,629.766645636,652,0.401026859308,0.00447991669362,0.0798614040818,0.999999980515,0.000112698570929,-0.000153735335761,5.13292798486e-05,1793245570497892608
+54,0.900000000,BASELINE,764,745,714,679.654935486,658,633,878,785,807,652,630,652,0.401026973747,0.00448027128195,0.0798615658519,0.999999980504,0.000113165907105,-0.000153469630953,5.12991735828e-05,1793245570514558976
+55,0.916666667,BASELINE,764,745,714,679.077102313,658,633,878,785,807,652,630,652,0.401027763675,0.00448116943464,0.07986251296,0.999999980617,0.000114018246933,-0.000152213547392,5.09571733426e-05,1793245570531225344
+56,0.933333333,BASELINE,764,744.502682126,714,679.497317874,658,633,878.497317874,785,807,652,629.502682126,652,0.401027580445,0.00448047206008,0.0798617513515,0.999999980629,0.000112607020956,-0.000153161601319,5.10193878594e-05,1793245570547891456
+57,0.950000000,BASELINE,764,744.073146006,714,679.926853994,658,633,878.926853994,785,807,652,629.073146006,652,0.401027273072,0.0044799299158,0.0798608871503,0.999999980617,0.000111238776641,-0.000154227709351,5.1047307559e-05,1793245570564558336
+58,0.966666667,BASELINE,764,744.662622048,714,679.337377952,658,633,878.337377952,785,807,652,629.662622048,652,0.401027147135,0.00448221774581,0.0798611560058,0.99999998057,0.000112634263908,-0.000153731414919,5.0393792285e-05,1793245570581224960
+59,0.983333333,BASELINE,764,745,714,679.247495692,657.752504308,633,878,785,807,652,630,652,0.401026672004,0.00448360870603,0.0798612257933,0.99999998042,0.00011416595175,-0.000153667128147,5.01157246965e-05,1793245570597891584
+60,1.000000000,BASELINE,764,745,714,679.826210117,657.173789883,633,878,785,807,652,630,652,0.401025729552,0.00448379940294,0.0798610291721,0.999999980133,0.000115879914401,-0.000154180988866,5.03401114483e-05,1793245570614558720
+61,1.016666667,BASELINE,764,745,714,679.59580636,657.40419364,633,878,785,807,652,630,652,0.401024537192,0.00448272783927,0.0798606297998,0.99999997993,0.000115727126869,-0.00015548633273,5.07004954788e-05,1793245570631225088
+62,1.033333333,BASELINE,764,745,714,679.018136568,657.981863432,633,878,785,807,652,630,652,0.401023237575,0.00448111452509,0.0798601434086,0.999999979762,0.000114773147414,-0.000157131373766,5.1119248263e-05,1793245570647891712
+63,1.050000000,BASELINE,764.554198581,745,714,679.554198581,658,633,878,785,807,652,630,652,0.401024555872,0.00448202577996,0.079860927467,0.999999980118,0.000114131888519,-0.000155426751892,5.08033127618e-05,1793245570664558336
+64,1.066666667,BASELINE,764.868776909,745,714,679.868776909,658,633,878,785,807,652,630,652,0.401025806782,0.00448270822174,0.0798615849881,0.99999998041,0.000113647249546,-0.000153966628572,5.0589023512e-05,1793245570681224704
+65,1.083333333,BASELINE,764.2745983,745,714,679.2745983,658,633,878,785,807,652,630,652,0.401026520581,0.00448229471097,0.0798616508016,0.999999980427,0.000113679404816,-0.000153752150494,5.08173584766e-05,1793245570697891328
+66,1.100000000,BASELINE,764,745,714,679.31079105,657.68920895,633,878,785,807,652,630,652,0.401026550764,0.00448327741667,0.0798616118221,0.999999980214,0.000115225218668,-0.00015399327958,5.08133356557e-05,1793245570714558208
+67,1.116666667,BASELINE,764,745,714,679.88862823,657.11137177,633,878,785,807,652,630,652,0.401025993553,0.00448545981656,0.0798614827994,0.999999979794,0.000118071638395,-0.00015462588755,5.06096602027e-05,1793245570731224832
+68,1.133333333,BASELINE,764,745,714,679.537769368,657.462230632,633,878.462230632,785,807.462230632,652,630,652,0.401024910165,0.00448347140356,0.0798606147869,0.999999979863,0.000116176132045,-0.000155549003313,5.0804986225e-05,1793245570747891456
+69,1.150000000,BASELINE,764,745,714,679.035991007,657.964008993,633,878.928017985,785,807.964008993,652,630,652,0.401023787755,0.00448085687023,0.0798596690967,0.999999980015,0.00011352950468,-0.000156444102212,5.10439736274e-05,1793245570764557824
+70,1.166666667,BASELINE,764,745,714,679.6278049,657.3721951,633,877.744390199,785,807.3721951,652,630,652,0.401024002853,0.00448395159545,0.0798602486159,0.999999979766,0.000116767518089,-0.000155835361047,5.04860370972e-05,1793245570781224448
+71,1.183333333,BASELINE,764,745,714,679.785994386,657.214005614,633,877.214005614,785,807,652,630,652,0.401024174162,0.00448509431077,0.0798605703959,0.999999979683,0.00011792662776,-0.000155570775001,5.02593707819e-05,1793245570797891328
+72,1.200000000,BASELINE,764,745,714,679.209306415,657.790693585,633,877.790693585,785,807,652,630,652,0.401024271258,0.00448292889119,0.0798604553771,0.999999979892,0.000115562551388,-0.000155889439861,5.05941189095e-05,1793245570814557952
+73,1.216666667,BASELINE,763.634121222,745,714,679.365878778,658,633,878,785,807,652,630,652,0.401024036153,0.00448232799171,0.0798603506065,0.999999979945,0.000114692986597,-0.000156165969146,5.06744085468e-05,1793245570831224576
+74,1.233333333,BASELINE,763.059792233,745,714,679.940207767,658,633,878,785,807,652,630,652,0.401023611783,0.00448261843825,0.0798602516746,0.999999979911,0.00011467488225,-0.000156418492731,5.06097268535e-05,1793245570847891200
+75,1.250000000,BASELINE,763.515633396,745,714,680,657.484366604,633,878,785,807,652,629.484366604,652,0.401022886454,0.00448269657004,0.0798598113505,0.99999997994,0.000113652201296,-0.000157020039105,5.04790959828e-05,1793245570864557824
+76,1.266666667,BASELINE,764,745,714,680,657.094094912,633,878,785,807,652,629.094094912,652,0.401022672664,0.00448254359541,0.0798596154426,0.99999998004,0.000112532493689,-0.000157202358515,5.04354944861e-05,1793245570881224704
+77,1.283333333,BASELINE,764,745,714,680,657.688005593,633,878,785,807,652,629.688005593,652,0.401025361847,0.00448129407842,0.079860928561,0.999999980483,0.000111517488165,-0.000154942377559,5.08948860249e-05,1793245570897891072
+78,1.300000000,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.401026184342,0.00448158652237,0.079861546169,0.999999980548,0.000112241211375,-0.000153999682858,5.08825686693e-05,1793245570914557696
+79,1.316666667,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.401024940987,0.00448358544159,0.0798613940614,0.999999980195,0.000114889171103,-0.000154514817914,5.03482150207e-05,1793245570931224320
+80,1.333333333,BASELINE,764,745,714,679.572568259,657.572568259,633,878,785,807,652,630,652,0.401025300754,0.00448239593803,0.0798617276431,0.999999980332,0.000114048343731,-0.000154219376335,5.04461998252e-05,1793245570947891200
+81,1.350000000,BASELINE,764,745,714,679.002692114,657.002692114,633,878.002692114,785,807,652,630,652,0.401026210552,0.00448012573505,0.0798622259746,0.999999980634,0.000112018525283,-0.000153645799491,5.07596629997e-05,1793245570964557824
+82,1.366666667,BASELINE,764,745,714,679.590816022,657.590816022,633,878.590816022,785,807,652,630,652,0.401026208616,0.00448254952272,0.0798620370532,0.999999980479,0.000113714704119,-0.000153527376934,5.03923953451e-05,1793245570981224448
+83,1.383333333,BASELINE,764,745,714,680,658,633.17618673,878.647626541,785,807,652,630,652,0.401025943739,0.00448418515275,0.0798616287711,0.999999980283,0.000115174587686,-0.000153783954141,5.01829612659e-05,1793245570997891072
+84,1.400000000,BASELINE,764,745,714,680,658,633.755261777,877.489476446,785,807,652,630,652,0.401025077588,0.00448401849367,0.0798607188743,0.999999979998,0.000116094132351,-0.000154898047802,5.03344470526e-05,1793245571014557696
+85,1.416666667,BASELINE,764,745,714,679.667329928,658,633.667329928,877.332670072,785,807,652,630,652,0.401024874314,0.00448336102253,0.0798606213184,0.999999979922,0.000116148454658,-0.000155266576284,5.05832391132e-05,1793245571031224576
+86,1.433333333,BASELINE,764,745,714,679.091141749,658,633.091141749,877.908858251,785,807,652,630,652,0.401025156274,0.00448234427163,0.079861118405,0.99999998,0.000115569424744,-0.000155089342886,5.09032604146e-05,1793245571047891200
+87,1.450000000,BASELINE,764,745,714,679.485082268,657.514917732,633,878,785,807,652,630,652,0.401025602842,0.00448264747924,0.079861140349,0.999999979997,0.000116183636163,-0.000154713807693,5.07147843319e-05,1793245571064557824
+88,1.466666667,BASELINE,764.062708673,745,714,680,657.062708673,633.062708673,878,785,807,652,630,652,0.401026186092,0.00448311004679,0.0798612248335,0.999999980022,0.000116753086653,-0.000154194839595,5.04861209351e-05,1793245571081224448
+89,1.483333333,BASELINE,764.652056049,745,714,680,657.652056049,633.652056049,878,785,807,652,630,652,0.401027657469,0.00448282799481,0.0798625843406,0.999999980422,0.000115063639073,-0.000152784225204,5.0722388677e-05,1793245571097891072
+90,1.500000000,BASELINE,764.762820073,745,714,680,658,633.762820073,878,785,807,652,630,652.237179927,0.401028133771,0.00448244117918,0.079863203712,0.99999998054,0.000114512918789,-0.00015238764481,5.08489525736e-05,1793245571114557696
+91,1.516666667,BASELINE,764.183783733,745,714,680,658,633.183783733,878,785,807,652,630,652.816216267,0.401027175835,0.00448190336377,0.0798627562978,0.999999980253,0.000115603489433,-0.000153452630146,5.08173961426e-05,1793245571131224320
+92,1.533333333,BASELINE,764,745,714,679.607788271,657.607788271,633,878,785,807,652,630,652.607788271,0.40102589049,0.00448090444579,0.0798618888426,0.999999980322,0.000113486470947,-0.000154599049248,5.07459174657e-05,1793245571147891712
+93,1.550000000,BASELINE,764,745,714,679.0332067,657.0332067,633,878,785,807,652,630,652.0332067,0.401024452906,0.00447969112518,0.0798608260774,0.999999980546,0.000109877994032,-0.000155783333359,5.06558758173e-05,1793245571164559616
+94,1.566666667,BASELINE,764,745,714,679,657.553372572,633,878,785,807,652,630,652,0.401025405868,0.00448305736968,0.0798613434267,0.999999980214,0.0001144991583,-0.000154706513824,5.02689925268e-05,1793245571181226240
+95,1.583333333,BASELINE,764,745,714,679.138747316,658,633,878,785,807,652,630,652,0.401025906256,0.00448545118816,0.0798616472766,0.999999979917,0.000117790184138,-0.000154239522871,5.00193579466e-05,1793245571197893120
+96,1.600000000,BASELINE,764,745,714,679.717962088,658,633,878,785,807,652,630,652,0.401024504411,0.00448386619653,0.0798609656667,0.999999979904,0.000115256052666,-0.000156148782916,5.02632350907e-05,1793245571214560000
+97,1.616666667,BASELINE,763.703456685,745,714,680,658,633.296543315,878,785,807,652,630,652,0.401024498731,0.0044821251234,0.0798610861397,0.99999998015,0.000113100387358,-0.000156048487556,5.05719395967e-05,1793245571231226624
+98,1.633333333,BASELINE,763.125476764,745,714,680,658,633.874523236,878,785,807,652,630,652,0.40102581809,0.00448023592007,0.0798619678351,0.999999980644,0.000111303908287,-0.000154041008795,5.09421689713e-05,1793245571247892480
+99,1.650000000,BASELINE,763.450296112,745,714,680,658,633.549703888,878,785,807,652,630,652,0.401025448921,0.00448057349131,0.0798620506067,0.999999980468,0.000112139846409,-0.000154532788941,5.10720183164e-05,1793245571264558592
+100,1.666666667,BASELINE,764,745,714,680,658,633,877.973953451,784.973953451,807,652,630,652,0.401024647396,0.00448153919679,0.0798618933824,0.999999980122,0.000113649818837,-0.000155655306818,5.11087810725e-05,1793245571281225216
+101,1.683333333,BASELINE,764,745,714,680,658,633,877.385472133,784.385472133,807,652,630,652,0.401024620297,0.0044827351162,0.0798613375766,0.999999980149,0.000113952259341,-0.000155432688861,5.05748190946e-05,1793245571297891584
+102,1.700000000,BASELINE,764,745,714,679.800377509,657.800377509,633.199622491,877.199622491,784.199622491,807.199622491,652,630,652,0.401024502632,0.004483590697,0.0798608178668,0.999999980062,0.000114503038372,-0.000155655432935,5.03558756443e-05,1793245571314557952
+103,1.716666667,BASELINE,764,745,714,679.221713577,657.221713577,633.778286423,877.778286423,784.778286423,807.778286423,652,630,652,0.401024212997,0.00448380004568,0.0798603666962,0.999999979759,0.000115525360393,-0.000156723826566,5.07350866806e-05,1793245571331224832
+104,1.733333333,BASELINE,764,745,714,679.35495758,657.35495758,634,877.64504242,785,807.290084839,652,630,652.35495758,0.401023933221,0.00448257135187,0.0798599275442,0.999999979863,0.000113944215579,-0.000157194566194,5.07959199403e-05,1793245571347891712
+105,1.750000000,BASELINE,764,745,714,679.930391016,657.930391016,634,877.069608984,785,806.139217969,652,630,652.930391016,0.401023659569,0.00448044944246,0.0798594958575,0.999999980214,0.000110745971786,-0.000157294083322,5.06589983038e-05,1793245571364558592
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,877,785,807,652,630,652,0.401023236859,0.00448346281917,0.079859935806,0.999999979824,0.000114892762866,-0.000156868297797,5.04303460487e-05,1793245571394945792
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.421233002,658.157533996,633,877.578766998,785,807,652,629.421233002,652,0.401024319446,0.00448464310308,0.0798603798087,0.999999979816,0.000115997561134,-0.00015612361038,5.03760587876e-05,1793245571411613184
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.157738057,658.684523886,633,878,785,807,652,629,652,0.401024772128,0.00448493868701,0.0798604896712,0.999999979815,0.00011636689587,-0.000155861093885,5.03585023565e-05,1793245571428280320
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.737254887,657.525490227,633,878,785,807,652,629,652,0.401023540496,0.00448286865522,0.07985970607,0.999999979835,0.000114769661005,-0.000156887863173,5.0439161174e-05,1793245571444946432
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.685850768,657.314149232,633,877.685850768,785,807,652,629.314149232,652,0.401023130752,0.00448170313378,0.0798596914229,0.99999997998,0.00011288698481,-0.000157351399659,5.03726531437e-05,1793245571461612800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.111131667,657.888868333,633,877.111131667,785,807,652,629.888868333,652,0.401023402719,0.00448128785508,0.079860314582,0.999999980227,0.000110767550499,-0.000157347764809,5.0184078134e-05,1793245571478279424
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.474267086,658,633,877.474267086,785.474267086,807,652,630,652,0.401023654728,0.00448145542071,0.0798606439606,0.999999980348,0.000110576935261,-0.000156729928566,5.01194819411e-05,1793245571494946304
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.938673809,657.938673809,633,877.938673809,785.938673809,807,652,630,652,0.401024016293,0.00448194078178,0.079860951888,0.999999980388,0.000111167498038,-0.000156065937172,5.00903063295e-05,1793245571511612928
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.359216754,657.359216754,633,877.359216754,785.359216754,807,652,630,652,0.401025343898,0.00448393066078,0.0798616735877,0.999999979987,0.000114451524214,-0.000156255963031,5.01092908105e-05,1793245571528279296
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.218838502,657.218838502,633.218838502,877.218838502,785,807.218838502,652,629.781161498,652,0.401027738719,0.00448435230286,0.0798630192172,0.999999979682,0.000116025079089,-0.000156920020894,5.04990190629e-05,1793245571544945920
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.794607335,657.794607335,633.794607335,877.794607335,785,807.794607335,652,629.205392665,652,0.401031874192,0.00448221611637,0.0798653824896,0.999999979545,0.000114808817936,-0.000158357235195,5.14934384279e-05,1793245571561612544
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.628952856,878,785,807.628952856,652,629,652,0.401047633218,0.00448273292653,0.0798717162455,0.999999979895,0.000116264338116,-0.000155071699218,5.14303524509e-05,1793245571578279424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.052140904,878,785,807.052140904,652,629,652,0.401069838103,0.00448472096019,0.0798802518398,0.999999980481,0.000119201498942,-0.000149167154376,5.0780825225e-05,1793245571594946304
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.464148745,680,658,633,877.464148745,785,807,652,629,652,0.401113498607,0.0044842631107,0.0798922281799,0.999999982616,0.000117001041557,-0.000136105124197,5.05428185285e-05,1793245571611612416
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.122733853,680,658,633.122733853,877.122733853,785,807,651.877266147,629.122733853,652,0.40116496245,0.00448362533233,0.0799046816805,0.999999984868,0.000114058500581,-0.000121432796679,5.00814988814e-05,1793245571628279296
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.701367992,680,658,633.701367992,877.701367992,785,807,651.298632008,629.701367992,652,0.401237491915,0.00448322208547,0.0799176374847,0.999999987391,0.000110255982711,-0.000103421094852,4.86387627097e-05,1793245571644946176
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.278120811,714,680,658,633.721879189,878,785,807,651.278120811,630,652,0.401316539123,0.0044829919122,0.0799272481184,0.999999989034,0.000108115570286,-8.98066328482e-05,4.66755949278e-05,1793245571661613056
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.852867104,714,680,658,633.147132896,878,785,807,651.852867104,630,652,0.401402537727,0.00448294632796,0.0799332910111,0.999999989949,0.000107747851158,-8.08819805718e-05,4.41573688987e-05,1793245571678279680
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.437578817,745.562421183,714,679.562421183,658,633,878,785,807,652,630,652,0.401503706725,0.00448516046776,0.0799367608626,0.999999990497,0.000106715882525,-7.70215834068e-05,4.10654304213e-05,1793245571694946048
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.974686376,745,714,679.025313624,658,633,878,785.025313624,807,652,630,652,0.401611452452,0.00448815660348,0.0799395004927,0.999999990937,0.000105527286883,-7.46102597716e-05,3.77213990574e-05,1793245571711612416
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.395825176,745,714,679.604174824,658,633,878,785.604174824,807,652,630,652,0.401748870593,0.00449125052714,0.0799456319739,0.999999991677,0.000105911569818,-6.57822987702e-05,3.31814213131e-05,1793245571728279040
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.816616859,658,633,877.816616859,785.816616859,807.183383141,652,630,652,0.40189606448,0.00449299131969,0.0799518946076,0.999999992541,0.000104361406567,-5.66300297116e-05,2.86380466204e-05,1793245571744945664
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.236657956,658,633,877.236657956,785.236657956,807.763342044,652,630,652,0.402064398918,0.00449180589408,0.0799584408648,0.999999993752,9.86279008574e-05,-4.67764284397e-05,2.40873264391e-05,1793245571761612288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,877.338830382,785,807.661169618,652,630,652,0.402248396545,0.00449435220561,0.079963854789,0.999999994597,9.47302968392e-05,-3.86071835249e-05,1.84604609244e-05,1793245571778279424
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,877.91123695,785,807.08876305,652,630,652,0.402443191767,0.00449947102813,0.0799684881285,0.999999995187,9.20982898222e-05,-3.15990658694e-05,1.20917431717e-05,1793245571794946304
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.502250204,633,878.497749796,785,807,652,629.502250204,652,0.402653272704,0.00450285116174,0.079962874109,0.999999995348,8.49048563187e-05,-4.55567145786e-05,4.43490755737e-06,1793245571811612928
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679,657,633,878.914645936,785,807,652,629,652,0.402872033449,0.0045058613235,0.079955577425,0.99999999513,7.61938400526e-05,-6.26248289749e-05,-3.56468525777e-06,1793245571828279296
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657,633,878.335701275,785,807,652,629,652,0.40312476524,0.00450857730992,0.0799494259311,0.999999995062,6.3548020667e-05,-7.54287884242e-05,-1.21792829218e-05,1793245571844945920
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.242391119,657.242391119,633,878.242391119,784.757608881,807,652,629,652,0.403398602443,0.00451183073635,0.0799459240286,0.99999999476,5.65808628319e-05,-8.3226345807e-05,-1.87852669966e-05,1793245571861612544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.819307261,657.819307261,633,878.819307261,784.180692739,807,652,629,652,0.403701567297,0.00451582588586,0.0799460788386,0.999999994556,5.74508509408e-05,-8.4114545492e-05,-2.26191543315e-05,1793245571878279168
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.392226477,745,714,680,658,633.392226477,878.607773523,784.392226477,807,652,629.392226477,652,0.40403882938,0.00452284805169,0.0799506243907,0.99999999515,5.41879267908e-05,-7.88724990871e-05,-2.32917359254e-05,1793245571894946048
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.96332293,745,714,680,658,633.96332293,878.03667707,784.96332293,807,652,629.96332293,652,0.404391732276,0.00453125065032,0.0799571722857,0.999999996035,4.90402397107e-05,-7.08348306575e-05,-2.25226435009e-05,1793245571911612928
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.44424682,745,714,680,658,633.44424682,878,785,807,652,630,652,0.404797676106,0.00453745572181,0.0799605359218,0.999999996104,6.10870763763e-05,-5.83991130636e-05,-2.55126352343e-05,1793245571928279552
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,629.854101623,652,0.405213627875,0.00454376315992,0.0799619754338,0.999999995648,7.31579708449e-05,-5.02303014484e-05,-2.87854951204e-05,1793245571944946176
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,629.275086446,652,0.405648483004,0.00455082219903,0.0799583516991,0.999999994591,8.17971440707e-05,-5.56243529152e-05,-3.2132222983e-05,1793245571961612800
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,784.697489601,807,652,629.302510399,652,0.406096885742,0.00455693942785,0.0799514071264,0.999999993051,8.96863851579e-05,-6.95756443942e-05,-3.18377964102e-05,1793245571978279680
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,784.121176424,807,652,629.878823576,652,0.406557550496,0.00456220422308,0.079941456856,0.999999990741,9.68968621014e-05,-9.12721117806e-05,-2.82477539356e-05,1793245571994946304
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.4656297,784.4656297,807,652,629.5343703,652,0.407063939811,0.00456240099925,0.0799363456709,0.999999989839,9.94357497172e-05,-9.81164459297e-05,-2.84311782126e-05,1793245572011612416
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.945785852,784.945785852,807,652,629,652,0.407584126967,0.00456163461027,0.0799316585956,0.999999989214,0.000100386772546,-0.000103055657103,-2.95678630739e-05,1793245572028278784
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.367024884,784.367024884,807,652,629,652,0.408120027896,0.00456460443177,0.0799186094346,0.999999986572,9.80085431183e-05,-0.000127821199547,-3.02072884097e-05,1793245572044945664
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.209973771,745,714,680,658,633,878.209973771,784.209973771,807,652,629.209973771,652,0.40868491013,0.00457118081389,0.0799136973207,0.999999984698,0.000103239167113,-0.000137766648631,-3.10826320601e-05,1793245572061612544
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.783917584,745,714,680,658,633,878.783917584,784.783917584,807,652,629.783917584,652,0.409300028731,0.00458400883393,0.0799228900235,0.999999984631,0.000121659032443,-0.000122022840062,-3.23669181867e-05,1793245572078279680
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.633048643,745,714,680,658.366951357,633,878.633048643,784.633048643,807,652,629.633048643,652.366951357,0.409956772133,0.004591825063,0.0799500456347,0.999999988265,0.000127368033007,-7.82465403884e-05,-3.35334779251e-05,1793245572094946560
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.044526228,745,714,680,658.955473772,633,878.044526228,784.044526228,807,652,629.044526228,652.955473772,0.410638649227,0.00459661509263,0.079988047535,0.999999991384,0.000125402010532,-1.75437777247e-05,-3.46289524618e-05,1793245572111613184
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,784.535507958,807.535507958,652,629.535507958,652.464492042,0.411329467181,0.00459258641246,0.0799882866044,0.999999991781,0.000121324865775,-1.98954855028e-05,-3.63703417695e-05,1793245572128279296
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.114346729,658.885653271,633,878,784.885653271,807.885653271,651.885653271,629.885653271,652,0.412018215191,0.00458726563108,0.0799785928888,0.99999999172,0.000117206195613,-3.70187662705e-05,-3.81120226205e-05,1793245572144945664
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.691160498,658.308839502,633,878,784.308839502,807.308839502,651.308839502,629.308839502,652,0.41269563152,0.00457963836434,0.0799412276562,0.999999988434,0.000113618440283,-9.30112100046e-05,-3.96410600825e-05,1793245572161612288
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633,878.267381067,784.267381067,807.267381067,651.267381067,629.267381067,652,0.413411615617,0.00457835022963,0.0799195269252,0.999999985788,0.000111072614874,-0.000119557629736,-4.23479825854e-05,1793245572178279168
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633,878.84291805,784.84291805,807.84291805,651.84291805,629.84291805,652,0.414172049044,0.00458436792547,0.0799158794827,0.999999986612,0.000109727610567,-0.000112167598412,-4.64124145409e-05,1793245572194945792
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633,878.572151798,785,808,652,630,652,0.414953456871,0.00459069808038,0.0799354140157,0.999999988162,0.000123963654614,-7.86123126884e-05,-4.61488498501e-05,1793245572211612416
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633,878.032066264,784.983966868,808,652,630,652,0.415743067029,0.00459714098111,0.0799626218257,0.99999998807,0.000143223696896,-3.71748237936e-05,-4.43383001804e-05,1793245572228279552
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633,879.18939899,784.405300505,808,652,630,652,0.416544218768,0.00460342434089,0.0799537236165,0.999999988024,0.000133536426827,-6.38104245016e-05,-4.52537660463e-05,1793245572244946432
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,658.172749912,633,879.827250088,784.172749912,808,652,630,652,0.417366365452,0.00460852860616,0.079951331587,0.999999988027,0.000129693602261,-7.0215504876e-05,-4.68535619957e-05,1793245572261613312
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658.749360317,633,879.250639683,784.749360317,808,652,630,652,0.418237594766,0.00461087634469,0.0799641499215,0.999999988585,0.000139514117462,-2.9325000213e-05,-5.00532075449e-05,1793245572278279424
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,879,784.675175861,808,652,630,652.324824139,0.419110813613,0.0046090169358,0.0799770841283,0.999999989655,0.000134044891795,2.22034462236e-06,-5.21282718113e-05,1793245572294945792
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,879,784.100593676,808,652,630,652.899406324,0.419985562176,0.00460392264125,0.079990107429,0.999999991401,0.000116819347919,2.65801721328e-05,-5.33386427442e-05,1793245572311612672
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680.512672968,659,633.487327032,879,784.487327032,808,652,629.512672968,652.512672968,0.420826911489,0.00460465318855,0.0799728240352,0.999999991082,0.000122298715949,-3.76575246556e-06,-5.35264127223e-05,1793245572328279040
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680.076536129,659,633.923463871,879,785,808,652,629.076536129,652,0.42167534717,0.0046066098431,0.0799553319602,0.999999989226,0.000132158271511,-3.54244249948e-05,-5.31699943984e-05,1793245572344945664
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680.655617232,659,633.344382768,879,785,808,652,629.655617232,652,0.422616854672,0.00460850025899,0.0799787024731,0.999999989037,0.000139139025136,5.30495596617e-07,-5.06653825813e-05,1793245572361612800
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681.23307948,659,633,879,785,808,652,630,652.23307948,0.423535339811,0.00461106183918,0.0799940580053,0.999999988364,0.000142988877642,1.98605962637e-05,-4.93086045046e-05,1793245572378279936
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.808166397,659,633,879,785,808,652,630,652.808166397,0.424420043394,0.00461460824759,0.0799976528187,0.999999988542,0.000142244626964,1.47963965885e-05,-4.96360914242e-05,1793245572394947072
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.384698014,714,681.615301986,659,633,879,784.615301986,808,652,630,653,0.425253578889,0.00461647116887,0.0799649311265,0.999999987689,0.000140531574955,-4.83097973599e-05,-5.03962873119e-05,1793245572411613184
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.961952725,714,681.038047275,659,633,879,784.038047275,808,652,630,653,0.426061502663,0.00461749143749,0.0799140315747,0.999999979247,0.000138333598294,-0.000140468323512,-5.13730709185e-05,1793245572428279296
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745.449529835,714,681,659,633,879.550470165,784.550470165,808,652,630,652.449529835,0.427013460628,0.00461845020137,0.0799087864638,0.999999981577,0.00013801248749,-0.00012183828729,-5.4354214312e-05,1793245572444945920
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.137097322,633,880,784.862902678,808,652,630,652.137097322,0.427964441698,0.00461795511258,0.0799089585768,0.999999983595,0.000137401348295,-0.00010373819878,-5.63001548357e-05,1793245572461612800
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.71508969,633,880,784.28491031,808,652,630,652.71508969,0.42887959677,0.00461279849566,0.0799161921561,0.99999998302,0.000135431599411,-0.000112482592761,-5.4462127342e-05,1793245572478279168
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.291088759,745,714,681.291088759,660,633,880,784,808,652,630,652.708911241,0.429811489894,0.00461094096929,0.0799431124894,0.999999986549,0.00013202395224,-8.11171857152e-05,-5.37695462789e-05,1793245572494945536
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.865150072,745,714,681.865150072,660,633,880,784,808,652,630,652.134849928,0.430759654325,0.00461229054778,0.0799891706658,0.999999990382,0.000127218498224,-1.07603276421e-05,-5.41904739498e-05,1793245572511612416
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.549556585,745.450443415,714,682,660,633,880,784.450443415,808.450443415,652,630,652,0.431662996586,0.00461455974673,0.0800197785332,0.999999989458,0.000130030349198,3.63791163182e-05,-5.34074186718e-05,1793245572528278784
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.961448654,714,682,660,633,879.961448654,784.961448654,808.961448654,652,630,652,0.432546623734,0.00461716314803,0.0800392933009,0.999999987329,0.000134848451119,6.64262852516e-05,-5.23905008952e-05,1793245572544945408
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.7304372,744.2695628,712.2695628,685,648.2695628,627,880,782,810,652,629.2695628,653,0.4522093827,0.00483498275575,0.0796012960367,0.99999974679,0.000368855511859,-0.000604539971044,-6.99807813946e-05,1793245573528279296
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,713,685,648.571640453,627,880,782,810,652,630,653,0.452212382611,0.00483350745049,0.0796025126109,0.999999749356,0.000365781350789,-0.000602172733143,-6.98568446828e-05,1793245573561612544
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.597829165,745,713,684.402170835,648,627,879.402170835,782,809.402170835,652.597829165,629.402170835,653,0.452213308423,0.00483214973835,0.0796019941595,0.999999748639,0.000367502613381,-0.000602381828927,-6.92835542134e-05,1793245573594945536
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764.249154579,745,713,684,648,627,879.750845421,782,809.750845421,652.249154579,629,653,0.452212014878,0.00483203217642,0.079601165675,0.99999974736,0.00036720360221,-0.000604657617921,-6.94958526401e-05,1793245573628279040
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+244,4.066666667,HOLD_POSE2,764,744,712,684,648,627,880,782,810,652,629,653,0.452213275142,0.00483180457759,0.0795993090649,0.999999747045,0.000365466973974,-0.000606271996516,-6.91279949467e-05,1793245573721696256
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,744.940482518,713,684,647.940482518,627.940482518,880,782,809.940482518,652,630,653,0.452215376083,0.00482828980818,0.0795999125238,0.999999748393,0.00036206883428,-0.000606137643109,-6.86780155445e-05,1793245574125300736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,744.364878823,713,684,647.364878823,627.364878823,880,782,809.364878823,652,630,653,0.452216268711,0.0048242041516,0.0796001861211,0.9999997505,0.000356964058118,-0.000605799476311,-6.77019789892e-05,1793245574141967360
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.935797511,744.064202489,713.064202489,680.935797511,657,633,877.935797511,784,807,652,629.935797511,652,0.407171117707,0.00448119211197,0.079781810245,0.999999927985,9.529423718e-05,-0.000363224635369,5.49278870441e-05,1793245575475300608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.361647617,744.638352383,713.638352383,680.361647617,657,633,877.361647617,784,807,652,629.361647617,652,0.406658194823,0.00448420114759,0.0797667938328,0.999999921049,0.000104415790554,-0.000379593908078,5.39208895446e-05,1793245575491966976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,744.782383352,713.782383352,680,657,633,877.217616648,784,807,652,629.217616648,652,0.406176319486,0.0044868324041,0.0797651844718,0.999999922862,0.000109695384927,-0.000373418587609,5.29318315314e-05,1793245575508633600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,744.194415239,713.194415239,680,657,633,877.805584761,784,807,652,629.805584761,652,0.405747282549,0.00448882073594,0.0797863919374,0.999999938691,0.00010843653027,-0.000328875690104,5.19733039368e-05,1793245575525300224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,744.387815978,713.387815978,680,657,633,878,784,807,652,629.612184022,652,0.405331718036,0.00448946200819,0.0798031707059,0.999999947097,0.000108832275204,-0.000302065753253,5.2139017674e-05,1793245575541966848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,744.96721322,713.96721322,680,657,633,878,784,807,652,629.03278678,652,0.404922808868,0.00448943783257,0.0798177616978,0.999999952215,0.00011004539299,-0.000284015902862,5.28601070553e-05,1793245575558633472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713.45587128,680,657,633,878,784.54412872,807.54412872,652,629.54412872,652,0.404545722561,0.00448970852298,0.0798264260865,0.999999954531,0.000111090991831,-0.000275120318318,5.39031381902e-05,1793245575575300096
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,807.877207678,652,630,652,0.404174376045,0.00448980319126,0.0798323735876,0.999999955329,0.000112051124876,-0.000271556414527,5.51603507645e-05,1793245575591967232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,807.291390866,652,630,652,0.403817475305,0.00448916742384,0.0798294167462,0.999999951108,0.000112726873729,-0.00028602666675,5.71523809498e-05,1793245575608634112
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,807,652,630,652,0.403493379559,0.00448784104463,0.0798280565194,0.99999995005,0.000108042784353,-0.00029176640817,5.56669181413e-05,1793245575625300736
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,807,652,630,652,0.403201750654,0.00448583117289,0.0798282764483,0.999999952184,9.80541090963e-05,-0.000288865637207,5.07398102782e-05,1793245575641967104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.448911654,680,657,633,878,785,807,652,629.551088346,652,0.402934473152,0.00448171634714,0.0798286995238,0.999999950856,9.94383507713e-05,-0.000292640511332,5.25507368358e-05,1793245575658633728
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629,652,0.402469299582,0.00446929273754,0.0798319908259,0.999999952743,8.85004997572e-05,-0.000288844412631,5.70149796107e-05,1793245575691967232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.81874002,784.81874002,807,652,629.18125998,651.81874002,0.40227185972,0.00446200236067,0.0798355932178,0.999999956471,7.4191479524e-05,-0.000279698431066,5.76423592141e-05,1793245575708633856
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.230200066,784.230200066,807,652,629.769799934,651.230200066,0.402096628389,0.00445534768248,0.0798412066927,0.999999960087,6.07471491593e-05,-0.000269814914235,5.77621256148e-05,1793245575725300736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.64798879,714,680,657,633,877.35201121,784.35201121,807,652,630,651.35201121,0.401938381357,0.00445419343833,0.0798456914931,0.999999961921,5.7508566763e-05,-0.000263619183418,5.79358739537e-05,1793245575741967616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.069843046,714,680,657,633,877.930156954,784.930156954,807,652,630,651.930156954,0.401791045143,0.00445657271194,0.0798494512255,0.999999962714,6.08262289833e-05,-0.00025979251193,5.81443006958e-05,1793245575758634240
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,744.5074419,713.4925581,680,657,633.5074419,878,785,807,652,630,652,0.401660413092,0.0044648936715,0.0798457349873,0.999999960397,7.84042290515e-05,-0.000264151944765,5.72912402997e-05,1793245575775300608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713.084076376,680,657,633.915923624,878.084076376,785,807,652,630,652,0.401535198852,0.00447421918096,0.0798408531628,0.999999956966,9.86762302389e-05,-0.000270497827613,5.62266068103e-05,1793245575791966976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.657612866,680,657,633.342387134,878.657612866,785,807,652,630,652,0.401428163031,0.00448463994856,0.0798351658885,0.999999951185,0.000123224606859,-0.000281859864959,5.47793763036e-05,1793245575808633856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.761728822,745.238271178,714,680,657,633,878.523457644,785,807,652,629.761728822,652,0.401332068759,0.00448894995523,0.0798303508308,0.999999947499,0.000133781532724,-0.000290127975951,5.41371441518e-05,1793245575825300736
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.170521434,745.829478566,714,680,657,633,877.341042867,785,807,652,629.170521434,652,0.401252181524,0.0044842084729,0.0798268277334,0.999999947701,0.00012361379531,-0.000293813246668,5.46873059015e-05,1793245575841967104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,745.587626459,714,680,657,633.412373541,877.412373541,785,807,652,629,652,0.401190672456,0.00448198581919,0.079824413499,0.999999947872,0.00011683977866,-0.000296041560325,5.44379294837e-05,1793245575858633984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,745.008100864,714,680,657,633.991899136,877.991899136,785,807,652,629,652,0.401136612822,0.00448078415102,0.0798224487327,0.999999948033,0.000111441377668,-0.00029767930893,5.38644671605e-05,1793245575875301120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.566478052,745,714,680,657,633.433521948,878,785,807,652,629.566478052,652,0.401097818501,0.00448189915383,0.0798234417696,0.9999999482,0.000113175186351,-0.000296358103446,5.44421042503e-05,1793245575891968000
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.855685874,680,657,633,878.144314126,785,807,652,629.855685874,652,0.40106160895,0.00448187019754,0.0798237287723,0.999999948147,0.000113494800058,-0.000296320973148,5.49390060688e-05,1793245575908634624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.267618804,680,657,633,878.732381196,785,807,652,629.267618804,652,0.401032681897,0.00447822268197,0.0798217158475,0.999999947414,0.000109154985417,-0.000300361244796,5.51374756026e-05,1793245575925300992
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.315724535,680.315724535,657.315724535,633,878.684275465,785,807,652,629,652,0.401010649788,0.00447826461136,0.0798210646314,0.999999946857,0.000110547695049,-0.000301672340003,5.53100985137e-05,1793245575941967360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,713.895122965,680.895122965,657.895122965,633,878.104877035,785,807,652,629,652,0.400994375913,0.00448138773999,0.0798215506313,0.999999946438,0.000116727859212,-0.000300704193769,5.54611359214e-05,1793245575958633728
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.473855619,745,713.526144381,680.526144381,657.526144381,633,878,785,807,652,629.473855619,652,0.400987254785,0.00448093379165,0.0798239131496,0.999999947788,0.000115470599294,-0.000296733109694,5.51342549327e-05,1793245575975300096
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.948113027,745,713.051886973,679.948113027,657,633,878,785,807,652,630,652,0.400982229235,0.00447987258766,0.0798264722883,0.999999949361,0.000112881117165,-0.000292477648125,5.47061569728e-05,1793245575991966976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.375641146,745,713.624358854,679.375641146,657,633,878,785,807,652,630,652,0.400977932773,0.00448065081549,0.0798268430084,0.999999949453,0.000113417641193,-0.000292027934177,5.43223131169e-05,1793245576008633856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.797144334,679.202855666,657,633,878,785,807,652.202855666,629.797144334,652,0.400974617792,0.00448092851051,0.0798271145684,0.999999949576,0.000113204033653,-0.000291721718669,5.41438697407e-05,1793245576025300736
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713.207149296,679.792850704,657,633,878,785,807,652.792850704,629.207149296,652,0.400973175911,0.00448025096495,0.0798271968869,0.999999949759,0.000111558839423,-0.000291689362414,5.43574224033e-05,1793245576041967616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.376034753,679.623965247,657,633,878,785,807.376034753,652.623965247,629.376034753,652,0.400973737815,0.00448000847113,0.0798286375846,0.999999950657,0.000110428284745,-0.000289086249441,5.40527535888e-05,1793245576058634240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.955533508,679.044466492,657,633,878,785,807.955533508,652.044466492,629.955533508,652,0.40097538392,0.00448000137412,0.079830813271,0.999999951928,0.00010957619008,-0.000285092157446,5.34676867049e-05,1793245576075300864
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.532849159,657,633,878,785,807.467150841,652,630,652,0.400972684261,0.00448040196614,0.0798293931701,0.99999995132,0.000109217343638,-0.000287365354444,5.34048901569e-05,1793245576091967488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,630,652,0.400970531204,0.00448093838127,0.0798283644446,0.999999950809,0.000109530799539,-0.000289022780088,5.3400419009e-05,1793245576108633856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,630,652,0.400972233913,0.00448190778349,0.0798302674102,0.999999951384,0.000112525717274,-0.000285852342329,5.34593181603e-05,1793245576125300480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.738478505,785,807,652,630,652,0.400972973394,0.00448179317278,0.0798308831869,0.999999951659,0.000113535878182,-0.000284478790222,5.35146126571e-05,1793245576141967104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.145213449,785,807,652,630,652,0.400972491006,0.0044803034771,0.0798298661474,0.999999951568,0.000112028348563,-0.000285384611492,5.356533461e-05,1793245576158633984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.562742656,657.437257344,633,877.437257344,785.437257344,807,652,630,652,0.400972711622,0.00448089525581,0.079830820133,0.999999951728,0.000113083168808,-0.000284378339534,5.3721293783e-05,1793245576175300608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.016079241,657.983920759,633,878,785.983920759,807,652,630,652,0.400973087815,0.00448220188273,0.0798323333289,0.999999951932,0.000114989513791,-0.000282856647144,5.38972896478e-05,1793245576191967744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.589684758,657.410315242,633,878,785.410315242,807,652,630,652,0.400970958292,0.00448490387565,0.0798310865561,0.999999951048,0.000117626353307,-0.000284951021716,5.35854040516e-05,1793245576208634112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744.832375074,713.832375074,680,657,633,878,785,807,652,630,652.167624926,0.400969964572,0.00448603718163,0.0798307404486,0.99999995078,0.000118202984837,-0.000285698123018,5.33374030514e-05,1793245576225300480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744.243542845,713.243542845,680,657,633,878,785,807,652,630,652.756457155,0.400971824893,0.00448322869668,0.0798326575297,0.999999952068,0.000113602733119,-0.000283059800847,5.32499310498e-05,1793245576241967104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744.341273573,713.341273573,680,657,633,877.658726427,785,807,652,630,652.658726427,0.400971611996,0.00448235966195,0.079832774416,0.999999952192,0.000112789170169,-0.00028295155157,5.32199618188e-05,1793245576258633984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,744.923257495,713.923257495,680,657,633,877.076742505,785,807,652,630,652.076742505,0.400969936795,0.00448285857897,0.0798316215717,0.999999951505,0.000114646471059,-0.000284627837686,5.32305509978e-05,1793245576275300608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.498698274,785,807,652,629.501301726,652,0.400971136769,0.00448284071757,0.0798322047139,0.999999952012,0.000114166949794,-0.000283090245557,5.29309708624e-05,1793245576291967232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.926909887,680,657.073090113,633,878,785,807,652,629.073090113,652,0.40097255303,0.00448281045088,0.0798329827948,0.9999999526,0.000113460621552,-0.00028134307903,5.26659016966e-05,1793245576308634112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,713.352895846,680,657.647104154,633,878,785,807,652,629.647104154,652,0.400972458553,0.00448323313015,0.0798332897307,0.999999952519,0.000113632498225,-0.000281505235878,5.29602398602e-05,1793245576325300480
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.227635235,680,657.772364765,633,878,785,807,652,629.772364765,652,0.400971981715,0.00448317062615,0.0798331862072,0.999999952406,0.000113665824683,-0.000281864644833,5.31002057517e-05,1793245576341967104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.818567347,680,657.181432653,633,878,785,807,652,629.181432653,652,0.40097089464,0.00448233378883,0.0798324276068,0.999999952243,0.000113478030479,-0.000282538860418,5.29937996185e-05,1793245576358633472
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629.402108491,652,0.400972100315,0.00448222450007,0.0798331881244,0.999999952543,0.000114529621331,-0.00028102825987,5.31131367474e-05,1793245576375300352
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629.982374962,652,0.400974321814,0.00448243755866,0.0798346217017,0.99999995304,0.000116130333496,-0.000278549655777,5.33324915754e-05,1793245576391966976
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0280e0c4de04a7c5705d2636296c54d62b77c145
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+1,0.016666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+2,0.033333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+275,4.583333333,pose2_to_pose3_retreat,0.618822143318,0.00987779979183,1.07005101955,0.589393776511,0.018553489234,1.0697175037
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+357,5.950000000,pose2_to_pose3_retreat,0.577807140139,0.00987784211861,1.0700508035,0.54837877411,0.0185535306665,1.06971729863
+358,5.966666667,pose2_to_pose3_retreat,0.577554332829,0.00987780929313,1.07005079342,0.548125966383,0.0185534963282,1.06971728613
+359,5.983333333,pose2_to_pose3_retreat,0.57732679984,0.00987787369027,1.07005090507,0.54789843247,0.0185535574604,1.06971739447
+360,6.000000000,pose2_to_pose3_retreat,0.577120825459,0.00987778684173,1.07005095156,0.547692460547,0.0185534793773,1.0697174522
+361,6.016666667,pose2_to_pose3_retreat,0.576934556501,0.0098778577199,1.07005098824,0.547506189029,0.0185535412667,1.0697174808
+362,6.033333333,pose2_to_pose3_retreat,0.576766886533,0.00987777446424,1.07005076214,0.547338521121,0.0185534653885,1.06971726481
+363,6.050000000,pose2_to_pose3_retreat,0.576617930757,0.00987779550657,1.07005074015,0.547189564912,0.0185534846824,1.06971723567
+364,6.066666667,pose2_to_pose3_retreat,0.576482004443,0.00987781502981,1.07005081067,0.547053637685,0.0185535008861,1.0697173004
+365,6.083333333,pose2_to_pose3_retreat,0.576358364727,0.00987778689336,1.07005089761,0.546929998471,0.0185534745208,1.0697173892
+366,6.100000000,pose2_to_pose3_retreat,0.576246319107,0.00987777579534,1.07005101286,0.546817954713,0.0185534697089,1.06971750366
+367,6.116666667,pose2_to_pose3_retreat,0.576144821643,0.00987789742376,1.07005109755,0.546716455091,0.0185535841696,1.06971759224
+368,6.133333333,pose2_to_pose3_retreat,0.57605486013,0.00987780206594,1.07005080578,0.546626494197,0.0185534907427,1.06971729682
+369,6.150000000,pose2_to_pose3_retreat,0.575976617542,0.00987794224831,1.07005083436,0.546548251051,0.0185536291724,1.06971732895
+370,6.166666667,pose2_to_pose3_retreat,0.575910486181,0.00987791751488,1.07005086963,0.546482119381,0.0185536033097,1.06971736192
+371,6.183333333,pose2_to_pose3_retreat,0.57585584243,0.00987786778046,1.07005100524,0.546427475924,0.0185535544844,1.06971749522
+372,6.200000000,pose2_to_pose3_retreat,0.575811290242,0.00987785395242,1.07005100519,0.546382923601,0.0185535402757,1.06971749718
+373,6.216666667,pose2_to_pose3_retreat,0.575775327438,0.00987784389618,1.07005091357,0.546346960598,0.0185535297234,1.06971741022
+374,6.233333333,pose2_to_pose3_retreat,0.575746001806,0.00987780624489,1.07005102359,0.546317636306,0.0185534967486,1.06971752357
+375,6.250000000,pose2_to_pose3_retreat,0.575723183139,0.00987763663189,1.07005073415,0.546294819778,0.0185533343342,1.0697172327
+376,6.266666667,pose2_to_pose3_retreat,0.575705508384,0.0098777515428,1.07005092372,0.546277143632,0.0185534445324,1.06971742245
+377,6.283333333,pose2_to_pose3_retreat,0.57569315782,0.00987776007165,1.07005091501,0.54626479227,0.018553450022,1.06971740505
+378,6.300000000,pose2_to_pose3_retreat,0.575684832612,0.00987778686008,1.07005087901,0.546256466496,0.0185534749152,1.06971736971
+379,6.316666667,pose2_to_pose3_retreat,0.575679458221,0.00987782170666,1.07005084237,0.546251091653,0.0185535083905,1.06971733728
+380,6.333333333,pose2_to_pose3_retreat,0.575676404036,0.00987783108563,1.07005077717,0.54624803704,0.018553516274,1.06971727105
+381,6.350000000,pose2_to_pose3_retreat,0.575674463854,0.00987783636261,1.07005074504,0.546246096613,0.0185535206955,1.06971723828
+382,6.366666667,pose2_to_pose3_retreat,0.575673549924,0.0098778322819,1.07005081951,0.546245182834,0.0185535171231,1.06971731261
+383,6.383333333,pose2_to_pose3_retreat,0.575672849187,0.0098778291531,1.0700508766,0.546244482212,0.0185535143841,1.06971736959
+384,6.400000000,pose2_to_pose3_retreat,0.575672303579,0.00987782671695,1.07005092106,0.546243936695,0.0185535122514,1.06971741396
+385,6.416666667,pose2_to_pose3_retreat,0.575672177812,0.0098778261554,1.07005093131,0.546243810948,0.0185535117598,1.06971742419
+386,6.433333333,pose2_to_pose3_retreat,0.575672075753,0.0098778256997,1.07005093962,0.546243708906,0.0185535113609,1.06971743249
+387,6.450000000,pose2_to_pose3_retreat,0.575671689515,0.00987782397514,1.07005097109,0.546243322732,0.0185535098511,1.0697174639
+388,6.466666667,pose2_to_pose3_retreat,0.575671685862,0.00987782395883,1.07005097139,0.546243319079,0.0185535098368,1.0697174642
+389,6.483333333,pose2_to_pose3_retreat,0.575671368877,0.00987782054672,1.07005100211,0.546243002043,0.0185535062082,1.06971749387
+390,6.500000000,pose2_to_pose3_retreat,0.57567123627,0.00987781686333,1.07005102049,0.546242869296,0.0185535019903,1.06971751067
+391,6.516666667,pose2_to_pose3_retreat,0.575670923486,0.00987780817528,1.07005106385,0.546242556183,0.0185534920416,1.06971755031
+392,6.533333333,pose2_to_pose3_retreat,0.57567085424,0.00987780625186,1.07005107344,0.546242486864,0.0185534898391,1.06971755908
+393,6.550000000,pose2_to_pose3_retreat,0.575670739928,0.00987780307667,1.07005108929,0.546242372432,0.0185534862032,1.06971757357
+394,6.566666667,pose2_to_pose3_retreat,0.575670412362,0.00987779397802,1.07005113469,0.546242044522,0.0185534757843,1.06971761508
+395,6.583333333,pose2_to_pose3_retreat,0.575670393808,0.00987779346266,1.07005113726,0.546242025948,0.0185534751942,1.06971761743
+396,6.600000000,pose2_to_pose3_retreat,0.57567012865,0.0098777859603,1.07005116547,0.546241760627,0.0185534670401,1.06971764315
+397,6.616666667,pose2_to_pose3_retreat,0.575670074658,0.00987778404551,1.0700511471,0.546241706927,0.0185534661693,1.06971762614
+398,6.633333333,pose2_to_pose3_retreat,0.575670043156,0.00987778292829,1.07005113638,0.546241675595,0.0185534656612,1.06971761622
+399,6.650000000,pose2_to_pose3_retreat,0.575669961541,0.00987778003388,1.07005110862,0.546241594423,0.0185534643449,1.06971759052
+400,6.666666667,pose2_to_pose3_retreat,0.57566987944,0.00987777712224,1.07005108069,0.546241512767,0.0185534630208,1.06971756466
+401,6.683333333,pose2_to_pose3_retreat,0.575669728728,0.00987777177734,1.07005102942,0.54624136287,0.0185534605901,1.06971751719
+402,6.700000000,pose2_to_pose3_retreat,0.575669597217,0.00987774597398,1.07005096407,0.54624123168,0.018553435915,1.0697174529
+403,6.716666667,pose2_to_pose3_retreat,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3cae5b251828cbdcd30c3d57590e3d1b1537ddc8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc061abb9c818cf9fa9d425d873f4f2ac6e40f1921f300cd813d197e97914f15
+size 25621748
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d41ce9d5f3d301704e4c2f80ea1cb5ffec09f423
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+33,0.550000000,BASELINE,764,745,713.137802109,680,657.862197891,633,877.137802109,785,806.862197891,652,629.862197891,652,0.400972144673,0.00448575019415,0.0798352554079,0.999999953322,0.000115973254678,-0.000277931962749,5.15824745022e-05,1793245577057411584
+34,0.566666667,BASELINE,764,745,713.72675741,680,657.27324259,633,877.72675741,785,806.27324259,652,629.27324259,652,0.40097185819,0.00448632269221,0.0798350424219,0.999999952784,0.000117767087759,-0.000279033417524,5.19934296077e-05,1793245577074078464
+35,0.583333333,BASELINE,764,745,714,679.688332939,657.311667061,633.311667061,878,785,806.311667061,652,629.311667061,652,0.400971837639,0.00448618561735,0.0798350483721,0.999999952557,0.000119026187136,-0.000279264887763,5.22513721768e-05,1793245577090744832
+36,0.600000000,BASELINE,764,745,714,679.106924646,657.893075354,633.893075354,878,785,806.893075354,652,629.893075354,652,0.400972047247,0.00448543442224,0.0798352438068,0.999999952601,0.000119822486035,-0.000278743404955,5.23768856858e-05,1793245577107411200
+37,0.616666667,BASELINE,764,745,714,679.467740094,657.532259906,633.532259906,878.467740094,785,807,652,630,652,0.400973270615,0.00448573519923,0.0798359536455,0.999999953038,0.000119462457958,-0.000277331488671,5.23465625378e-05,1793245577124077824
+38,0.633333333,BASELINE,763.95896542,745,714,680,657,633,878.95896542,784.95896542,807,652,629.95896542,652,0.400974592612,0.00448625336372,0.0798366741033,0.999999953504,0.000119073677477,-0.000275824972998,5.22871014073e-05,1793245577140744192
+39,0.650000000,BASELINE,763.383725468,745,714,680,657,633,878.383725468,784.383725468,807,652,629.383725468,652,0.400974224564,0.00448651540614,0.0798360237024,0.999999953221,0.000121702895228,-0.000275699180882,5.23054868305e-05,1793245577157411072
+40,0.666666667,BASELINE,763.19672001,745,714,680,657.19672001,633,878,784.19672001,807,652,629.19672001,652,0.400974073178,0.00448663919004,0.0798360550281,0.999999953259,0.000122489879274,-0.000275226177183,5.22422292624e-05,1793245577174077952
+41,0.683333333,BASELINE,763.787595437,745,714,680,657.787595437,633,878,784.787595437,807,652,629.787595437,652,0.400974355908,0.0044864859541,0.0798374522864,0.999999953943,0.000119585696248,-0.000274057487645,5.20153888063e-05,1793245577190744576
+42,0.700000000,BASELINE,764,745,714,680,658,633,877.629306856,785,807,652,630,652,0.400973056387,0.00448607955765,0.0798368880042,0.999999953847,0.000118028214176,-0.000275105875091,5.18925506275e-05,1793245577207411200
+43,0.716666667,BASELINE,764,745,714,680,658,633,877.050574164,785,807,652,630,652,0.40097086888,0.00448553108304,0.0798352228708,0.999999953311,0.000117226524596,-0.000277398525391,5.18280803739e-05,1793245577224077824
+44,0.733333333,BASELINE,764,745,714,680,657.476563018,633,877.523436982,785,807,652,630,652,0.400972144201,0.00448443673038,0.0798357470125,0.999999953507,0.00011743590374,-0.000276531723189,5.22007238407e-05,1793245577240744704
+45,0.750000000,BASELINE,764,745,714,679.900330318,657,633,878.099669682,785,807,652,630,652,0.400973344616,0.00448375456543,0.0798361496201,0.999999953634,0.00011788849489,-0.000275818750616,5.25209919534e-05,1793245577257411072
+46,0.766666667,BASELINE,764,745,714,679.310961482,657,633,878.689038518,785,807,652,630,652,0.400972547844,0.00448535438858,0.0798349251178,0.99999995308,0.000119060364087,-0.000277348000718,5.23782799501e-05,1793245577274077952
+47,0.783333333,BASELINE,764,745,714,679.273561444,657.273561444,633,878.726438556,785,807,652,630,652,0.400972611127,0.0044859949936,0.0798350306763,0.999999953223,0.000118548105528,-0.000277087551395,5.21778407296e-05,1793245577290744576
+48,0.800000000,BASELINE,764,745,714,679.852671904,657.852671904,633,878.147328096,785,807,652,630,652,0.400973635031,0.0044855642192,0.0798366218194,0.999999954141,0.00011615479411,-0.00027482813308,5.19129242236e-05,1793245577307411200
+49,0.816666667,BASELINE,764,745,714,680,657.569964255,633,878.430035745,785,807,652,630,652,0.400973416772,0.00448505635322,0.0798361895014,0.999999954068,0.000115537234655,-0.000275378219957,5.17923146516e-05,1793245577324077824
+50,0.833333333,BASELINE,764,745,714,680.006794182,657,633,878.993205818,785,807,652,630,652,0.400972787883,0.00448452591983,0.079835096227,0.999999953665,0.000115533897687,-0.000276850680397,5.17275240489e-05,1793245577340744448
+51,0.850000000,BASELINE,764,745,714,680.582764678,657,633,878.417235322,785,807,652,630,652,0.400973265477,0.00448430854362,0.0798364715108,0.999999953991,0.000116227532592,-0.000275285892175,5.22139767233e-05,1793245577357411328
+52,0.866666667,BASELINE,764,745,714,680.675301268,657,633,878,785,807,652,630,652,0.40097354418,0.00448439899192,0.0798371933672,0.999999954083,0.000117279873941,-0.00027445103621,5.25020259967e-05,1793245577374077952
+53,0.883333333,BASELINE,764,745,714,679.497132154,657,633,878,785,807,652,630,652,0.400973300098,0.00448529855675,0.07983619769,0.999999953561,0.000119275074877,-0.000275534806747,5.22685720442e-05,1793245577390744576
+54,0.900000000,BASELINE,764,745,714,679.336229571,657.336229571,633,878,785,807,652,630,652,0.400972925517,0.00448577771634,0.0798358238871,0.999999953478,0.0001189187351,-0.000276050728711,5.19481969099e-05,1793245577407411200
+55,0.916666667,BASELINE,764,745,714,679.917894445,657.917894445,633,878,785,807,652,630,652,0.400972455676,0.00448594999544,0.0798359040297,0.999999953714,0.000116845856418,-0.000276152141916,5.15643724985e-05,1793245577424078080
+56,0.933333333,BASELINE,764,745,714,680,657.50773857,633,878,785,806.50773857,652,629.50773857,652,0.400972241541,0.00448512575939,0.0798355864011,0.999999953731,0.000115573409095,-0.000276567856375,5.18654270469e-05,1793245577440744448
+57,0.950000000,BASELINE,764,744.934680058,714,679.934680058,657,633,878,785,806.065319942,652,629.065319942,652,0.400972183232,0.00448432252668,0.0798353281279,0.999999953722,0.000114749345349,-0.000276879165365,5.22170151999e-05,1793245577457411328
+58,0.966666667,BASELINE,764,744.362467871,714,679.362467871,657,633,878,785,806.637532129,652,629.637532129,652,0.400973008024,0.00448495326493,0.0798360377889,0.999999953789,0.000116383912829,-0.000275979404452,5.20872386847e-05,1793245577474078208
+59,0.983333333,BASELINE,764,744.217936098,714,679.217936098,657.217936098,633,878,785,807,652,630,652,0.400973517232,0.00448568649067,0.0798366492516,0.999999953939,0.000117140578243,-0.0002751477792,5.19021262988e-05,1793245577490744832
+60,1.000000000,BASELINE,764,744.812496725,714,679.812496725,657.812496725,633,878,785,807,652,630,652,0.400973481066,0.00448659682942,0.0798370910135,0.999999954238,0.000116380104477,-0.000274433901901,5.16213856484e-05,1793245577507411456
+61,1.016666667,BASELINE,763.603872729,745,713.603872729,680,657.603872729,633,877.603872729,785,807,652,630,651.603872729,0.400972849629,0.00448576120814,0.0798361853434,0.999999953907,0.000116876531594,-0.000275396932045,5.17875896805e-05,1793245577524078080
+62,1.033333333,BASELINE,763.025276953,745,713.025276953,680,657.025276953,633,877.025276953,785,807,652,630,651.025276953,0.400971943993,0.00448412134346,0.0798346590044,0.999999953282,0.000117951926282,-0.000277132397802,5.21596703107e-05,1793245577540744704
+63,1.050000000,BASELINE,763.549576918,745,713.549576918,680,657,633.549576918,877.549576918,785,807,652,630,651.549576918,0.40097231938,0.00448272569049,0.0798354302976,0.999999953888,0.000114283412439,-0.000276492721185,5.21081831843e-05,1793245577557411072
+64,1.066666667,BASELINE,764,745,714,680,657,633.872197681,877.872197681,785,807,652,630,652,0.400972690739,0.00448217175245,0.0798361121772,0.999999954319,0.000112119606095,-0.000275831966611,5.20460510517e-05,1793245577574077440
+65,1.083333333,BASELINE,764,745,714,680,657,633.281131397,877.281131397,785,807,652,630,652,0.400972835369,0.00448462846353,0.079836089477,0.99999995395,0.000116195688481,-0.000275488112003,5.20154717811e-05,1793245577590744064
+66,1.100000000,BASELINE,764,745,714,680,657,632.697000966,877.605998067,785,807,652,630,652,0.400972699073,0.00448590674333,0.0798359482712,0.999999953472,0.000118801157405,-0.000276130431783,5.18971455108e-05,1793245577607410944
+67,1.116666667,BASELINE,764,745,714,680,657,632.119161843,878.761676314,785,807,652,630,652,0.400972307958,0.00448611610816,0.079835699573,0.999999952905,0.000120072682794,-0.000277667276738,5.16992269318e-05,1793245577624078080
+68,1.133333333,BASELINE,764,745,713.543176303,680,657.456823697,632.456823697,879,785,807,652,629.543176303,652.456823697,0.40097303476,0.00448566555034,0.0798362725473,0.999999953459,0.000118428677822,-0.000276374830182,5.17117358095e-05,1793245577640745216
+69,1.150000000,BASELINE,764,745,713.032018397,680,657.967981603,633,878.935963207,785,806.967981603,652,629.032018397,652.967981603,0.400973928054,0.00448505003974,0.0798369789218,0.999999954235,0.00011614813008,-0.000274516177647,5.17759695965e-05,1793245577657411840
+70,1.166666667,BASELINE,764,745,713.602015622,680,657.397984378,633,877.795968756,785,806.397984378,652,629.602015622,652.397984378,0.400972738944,0.00448454360151,0.0798363400154,0.999999953994,0.000115898902181,-0.000275494213497,5.17907546595e-05,1793245577674078208
+71,1.183333333,BASELINE,764,745,714,680,657,633,877.179620618,785,806.179620618,651.820379382,630,652,0.400972466767,0.00448467686372,0.0798361690866,0.999999953919,0.000116005100491,-0.000275718250898,5.18052685131e-05,1793245577690744576
+72,1.200000000,BASELINE,764,745,714,680,657,633,877.774827753,785,806.774827753,651.225172247,630,652,0.40097431609,0.00448629019464,0.0798370809132,0.999999954228,0.000116933644993,-0.000274197769437,5.1819154875e-05,1793245577707411200
+73,1.216666667,BASELINE,764,745,714,680,657.360094908,633,877.639905092,785,807,651.360094908,630,652,0.400974083768,0.00448620375066,0.0798367925618,0.999999954091,0.000117100906192,-0.000274635623264,5.1766032362e-05,1793245577724077568
+74,1.233333333,BASELINE,764,745,714,680,657.939313389,633,877.060686611,785,807,651.939313389,630,652,0.400972584731,0.00448508296607,0.0798357738826,0.999999953682,0.000116804914137,-0.000276265155865,5.16721338644e-05,1793245577740744192
+75,1.250000000,BASELINE,764,744.484494137,714,680,657.484494137,633,877.515505863,785,807,652,630,652,0.400972933959,0.00448539955897,0.0798359066288,0.999999953848,0.000116623714271,-0.000275734276733,5.17071526285e-05,1793245577757411072
+76,1.266666667,BASELINE,764,744.093063624,713.906936376,680,657.093063624,633,878,785,807,652,629.906936376,652,0.400973359143,0.00448580047851,0.079836248315,0.999999954058,0.000116514578562,-0.000275002200333,5.17873489638e-05,1793245577774077696
+77,1.283333333,BASELINE,764,744.679741355,713.320258645,680,657.679741355,633,878,785,807,652,629.320258645,652,0.400973039869,0.00448575640165,0.0798369834692,0.999999954148,0.000116716416133,-0.000274544064832,5.20271424696e-05,1793245577790744832
+78,1.300000000,BASELINE,764,745,713.26269755,680,657.73730245,633,878,785,807,652,629.26269755,652,0.400973027083,0.00448562414097,0.0798373407265,0.999999954241,0.000116522578646,-0.000274274019577,5.2107314191e-05,1793245577807411456
+79,1.316666667,BASELINE,764,745,713.841180096,680,657.158819904,633,878,785,807,652,629.841180096,652,0.400973382722,0.00448538587576,0.0798372437191,0.999999954336,0.000115853105772,-0.00027423007497,5.19956068137e-05,1793245577824077824
+80,1.333333333,BASELINE,764,745,714,680,657,633,878,785,807,652,629.581210468,652,0.400974170448,0.00448474088618,0.0798377476334,0.999999954684,0.000114997948671,-0.000273315325185,5.20282189403e-05,1793245577840744448
+81,1.350000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629.003931409,652,0.400975121695,0.00448394197309,0.0798384789645,0.999999955124,0.00011407251993,-0.000272071022026,5.21154483008e-05,1793245577857411072
+82,1.366666667,BASELINE,764,744.427819855,714,680,657.572180145,633,878,785,807,652,629.572180145,652,0.400974740988,0.00448567092736,0.0798380515535,0.999999954534,0.000117316449262,-0.000272922041852,5.17935099832e-05,1793245577874077952
+83,1.383333333,BASELINE,764,744.151651492,714,680,657.848348508,633,878,785,807,652,630,652,0.400973979154,0.00448698597604,0.0798373393371,0.999999953935,0.000119665156153,-0.000274139306632,5.15604626204e-05,1793245577890744320
+84,1.400000000,BASELINE,764,744.740839563,714,680,657.259160437,633,878,785,807,652,630,652,0.400972144067,0.00448705683795,0.0798358283394,0.999999953356,0.000119348533544,-0.000276371789191,5.15919731683e-05,1793245577907411200
+85,1.416666667,BASELINE,764,745,714,680,657.32332204,633,878,785,807,652,630,652,0.400972144341,0.00448674069953,0.0798357314852,0.999999953399,0.000119128281988,-0.000276308915504,5.16148628309e-05,1793245577924078080
+86,1.433333333,BASELINE,764,745,714,680,657.900538786,633,878,785,807,652,630,652,0.400973585868,0.00448612066181,0.0798367451139,0.999999953929,0.000118983707633,-0.000274443570059,5.16309827794e-05,1793245577940745216
+87,1.450000000,BASELINE,764,744.523512051,714,679.523512051,657.523512051,633.476487949,878,785,807,652,629.523512051,652,0.400974196418,0.00448634853885,0.0798368529712,0.999999954057,0.000118308907332,-0.000274275369967,5.16010199667e-05,1793245577957411840
+88,1.466666667,BASELINE,764,744.051981921,714,679.051981921,657.051981921,633.948018079,878,785,807,651.948018079,629,652.051981921,0.400974449596,0.00448666308755,0.0798367513539,0.999999954055,0.000117661832616,-0.000274561773754,5.1581691192e-05,1793245577974078208
+89,1.483333333,BASELINE,764,744.625556392,714,679.625556392,657.625556392,633.374443608,878,785,807,651.374443608,629,652.625556392,0.400972852731,0.00448607606193,0.0798364399525,0.9999999536,0.000118400572604,-0.000275864480997,5.17653299441e-05,1793245577990744576
+90,1.500000000,BASELINE,764,745,714,679.793708648,657.793708648,633,877.793708648,785,806.793708648,651.206291352,629.206291352,652.793708648,0.400972228324,0.00448593412088,0.079836446218,0.999999953513,0.000118794095392,-0.000275995982399,5.18565985318e-05,1793245578007411200
+91,1.516666667,BASELINE,764,745,714,679.199509244,657.199509244,633,877.199509244,785,806.199509244,651.800490756,629.800490756,652.199509244,0.400973432518,0.00448662911217,0.0798370498211,0.999999954117,0.000118538475369,-0.000273925160719,5.17741752298e-05,1793245578024077824
+92,1.533333333,BASELINE,764,745,714,679.383507421,657.383507421,633,877.383507421,785,806.383507421,652,629.616492579,652,0.400972619439,0.00448594539339,0.0798361286665,0.999999953932,0.00011735466268,-0.000275158281449,5.15003485175e-05,1793245578040744704
+93,1.550000000,BASELINE,764,745,714,679.960871452,657.960871452,633,877.960871452,785,806.960871452,652,629.039128548,652,0.400970786661,0.00448456475973,0.0798344367725,0.99999995334,0.000115701664043,-0.000278061489806,5.11297705639e-05,1793245578057411328
+94,1.566666667,BASELINE,764,745,714,680,657.464423566,633,877.464423566,785,807,652,629.535576434,652,0.400972721174,0.00448455445499,0.0798361419277,0.999999953905,0.000116683197948,-0.000275545751692,5.14656297125e-05,1793245578074078208
+95,1.583333333,BASELINE,764,745,714,679.886908165,657,633,877,785,807,652,630,652,0.400974461375,0.00448503597081,0.0798375875511,0.999999954353,0.00011782500666,-0.000273376946582,5.17319249084e-05,1793245578090745088
+96,1.600000000,BASELINE,764,745,714,679.296720902,657,633,877,785,807,652,630,652,0.40097422646,0.00448717204577,0.0798368964688,0.999999953984,0.000118834982883,-0.000274333651849,5.14880988111e-05,1793245578107411200
+97,1.616666667,BASELINE,764,745,714,679.288077146,657,633,877.288077146,784.711922854,807,652,629.711922854,652,0.400973351149,0.0044878855294,0.0798361702752,0.999999953564,0.000119715130722,-0.000275517300019,5.12973717618e-05,1793245578124077568
+98,1.633333333,BASELINE,764,745,714,679.867426177,657,633,877.867426177,784.132573823,807,652,629.132573823,652,0.40097182834,0.0044871606452,0.079835408581,0.99999995309,0.000120464010341,-0.000276930407801,5.11603326368e-05,1793245578140744192
+99,1.650000000,BASELINE,763.550546542,745,714,680,657,633,878,784.449453458,807,652,629.449453458,652,0.400972547779,0.00448564851278,0.0798362171938,0.999999953702,0.000117557510565,-0.000275964791037,5.11883660372e-05,1793245578157410816
+100,1.666666667,BASELINE,763.03144548,745,714,680,657,633,878,785,807,652,630,652,0.400973890752,0.00448407144707,0.079837423809,0.999999954556,0.00011396293887,-0.000274361079329,5.12541724569e-05,1793245578174077440
+101,1.683333333,BASELINE,763.599279922,745,714,680,657,633,878,785,807,652,630,652,0.400974520355,0.00448537152381,0.0798374711345,0.999999954319,0.000117133585893,-0.000273913128197,5.11287655261e-05,1793245578190744320
+102,1.700000000,BASELINE,764,745,714,679.826027735,657,633,878,785,807,652,630,652,0.400974469487,0.00448647805267,0.0798373510491,0.999999954063,0.000119361790244,-0.000273886561326,5.11177504813e-05,1793245578207411456
+103,1.716666667,BASELINE,764,745,714,679.234891061,657,633,878,785,807,652,630,652,0.400972786931,0.00448712047694,0.0798368295331,0.999999953783,0.000119330130814,-0.000274870422923,5.13810333373e-05,1793245578224078336
+104,1.733333333,BASELINE,764,745,714,679,657,633,878,785,807,652,629.652105501,652,0.400971386337,0.00448755902017,0.0798360891187,0.999999953185,0.000120829493982,-0.000276327209218,5.16978675513e-05,1793245578240744960
+105,1.750000000,BASELINE,764,745,714,679,657,633,878,785,807,652,629.074826202,652,0.400970171655,0.00448786313417,0.0798352043733,0.999999952371,0.000123338339371,-0.000278095819271,5.20500109659e-05,1793245578257411072
+106,1.766666667,BASELINE,764,745,714,679.50208737,657.50208737,633,878,785,806.49791263,652,629.50208737,652,0.400971892328,0.00448578368478,0.0798359955781,0.999999953411,0.000118754258269,-0.000276376792339,5.18767267078e-05,1793245578274077952
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,878,784,807,652,629,653,0.400972641296,0.00448560593602,0.0798363295911,0.999999953894,0.000116954991282,-0.000275427061529,5.17088148924e-05,1793245578316839168
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.420399413,745,714,680,657,633,878,784.579600587,807,652,629.579600587,652.420399413,0.40097273061,0.00448534031871,0.0798359562945,0.999999953575,0.000118335956282,-0.000275988521865,5.1740333448e-05,1793245578333506304
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.158215065,745,713.841784935,680,657.158215065,633,877.841784935,785,806.841784935,652,629.841784935,652,0.400972513887,0.00448517881778,0.0798356640888,0.999999953357,0.000118868531878,-0.000276551045227,5.17268236247e-05,1793245578350173184
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.734225671,745,713.265774329,680,657.734225671,633,877.265774329,785,806.265774329,652,629.265774329,652,0.400971489021,0.00448529225496,0.0798355860186,0.999999953409,0.000117160781856,-0.00027711637583,5.15944082168e-05,1793245578366839808
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.310709116,680,657.689290884,633,877.310709116,785,806.310709116,652,629.310709116,652,0.400971443485,0.00448611007566,0.07983590705,0.99999995343,0.000117896597778,-0.000276697446348,5.17667368614e-05,1793245578383506176
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.887597601,680,657.112402399,633,877.887597601,785,806.887597601,652,629.887597601,652,0.400972236927,0.00448753133009,0.0798365699852,0.999999953418,0.000120725776395,-0.000275435317469,5.22001347113e-05,1793245578400172288
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.473837912,657.473837912,633,878,784.526162088,807,652,630,652,0.400973679381,0.00448595647291,0.0798376264364,0.9999999541,0.000118635748607,-0.000273849789103,5.22698552942e-05,1793245578416838656
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.938728246,680.938728246,658,633,878,784,806.938728246,652,630,652,0.400975224071,0.0044840395091,0.0798387473118,0.999999954855,0.000115986357212,-0.000272228960978,5.22265884676e-05,1793245578433505024
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.36032136,680.36032136,658,633,878,784,806.36032136,652,630,652,0.400976306073,0.00448535449663,0.0798396081999,0.999999954896,0.000118663044125,-0.000270970721849,5.19724894634e-05,1793245578450171648
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.782638148,745,713.217361852,680,658,633,878,784.217361852,806.217361852,652,630,652,0.400981558281,0.00448580118115,0.0798421071874,0.999999955895,0.000119411828843,-0.000266955913101,5.18174979909e-05,1793245578466838528
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.206150646,745,713.793849354,680,658,633,878,784.793849354,806.793849354,652,630,652,0.400993700515,0.00448481325373,0.0798473126453,0.999999958434,0.000116975329768,-0.000258386695114,5.18262521858e-05,1793245578483505408
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.37025597,745,714,680,658,633.37025597,878,785,807,652,630,652,0.401022329487,0.00448413907684,0.0798578711865,0.999999963365,0.000114924446019,-0.000239586449669,5.15771255741e-05,1793245578500172032
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.946617616,745,714,680,658,633.946617616,878,785,807,652,630,652,0.401060135923,0.00448363955137,0.079871409561,0.999999969164,0.000113088217563,-0.000215091027556,5.11844477149e-05,1793245578516838912
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.465191717,878,785,807,652,630,652,0.401127223582,0.00448439802361,0.0798901658302,0.999999976487,0.000113667215,-0.000177774431109,5.00151059244e-05,1793245578533505280
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680.121738169,658,633,877.878261831,785,807,652,629.878261831,652,0.40119818014,0.00448537815441,0.0799073446253,0.999999981743,0.000113989360957,-0.000145468655711,4.85702325856e-05,1793245578550171904
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.699423994,658,633,877.300576006,785,807,652,629.300576006,652,0.401272432813,0.00448670753673,0.0799166205007,0.999999983243,0.000112426182877,-0.000136831473607,4.6390323843e-05,1793245578566838784
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.724568115,745,714,680.724568115,657.724568115,633,877,785.275431885,807,652,629,652,0.401355498444,0.00448841506675,0.0799229369565,0.999999984476,0.000111661800834,-0.000129048841012,4.38923303397e-05,1793245578583505664
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.150380282,745,714,680.150380282,657.150380282,633,877,785.849619718,807,652,629,652,0.401448123326,0.00449053276662,0.0799260433833,0.999999985446,0.00011176385839,-0.000122193123224,4.10493162246e-05,1793245578600172032
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.436111528,745,714,680,657.436111528,633,877.436111528,785.563888472,807,652,629.436111528,652,0.401558960496,0.00449164319404,0.0799296575327,0.999999986656,0.000109589655022,-0.000115148521865,3.76715811695e-05,1793245578616838656
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.973595344,633,878,785,806.973595344,652,630,652,0.401677876814,0.00449238991579,0.0799335913256,0.999999987917,0.00010664268065,-0.000107853689313,3.40767457986e-05,1793245578633505280
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.395105364,633,878,785,806.395105364,652,630,652,0.401830599405,0.00449300504662,0.0799404416134,0.999999989422,0.000104425796015,-9.67281966329e-05,2.99097554234e-05,1793245578650172672
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.182355187,633.182355187,878,785,806.182355187,652,630,652,0.401991785941,0.00449505266914,0.079947151606,0.999999990829,0.000102333152395,-8.50899576717e-05,2.51079361345e-05,1793245578666839808
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.75759774,633.75759774,878,785,806.75759774,652,630,652,0.402171208173,0.00450018661939,0.0799535593292,0.999999992153,0.000100508188463,-7.2346999544e-05,1.89383676534e-05,1793245578683505920
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.660054669,680,658,633.660054669,878,785,807,652,629.660054669,652,0.402364968317,0.00450299782255,0.0799591742888,0.999999993549,9.4607264501e-05,-6.1640709412e-05,1.23489199869e-05,1793245578700172288
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.072532532,680,658,633.072532532,878,785,807,652,629.072532532,652,0.402569170556,0.00450411740629,0.0799642118919,0.999999994936,8.57378831423e-05,-5.24176910338e-05,5.45368031223e-06,1793245578716838656
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633,877.492567312,785,807,652,629,652,0.402792086104,0.00450671962796,0.0799581048768,0.999999994894,7.73329345213e-05,-6.50211996234e-05,-2.09248464236e-06,1793245578733505280
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.08641145,680,658,633,877,785,807,652,629,652,0.403025931462,0.00450986500642,0.0799509604218,0.999999994397,6.94786307104e-05,-7.92469346212e-05,-9.89931662159e-06,1793245578750172160
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.665834777,680,658,633,877,785,807,652,629,652,0.403307098495,0.00451491791828,0.0799468523681,0.999999994124,6.43927710794e-05,-8.51891153454e-05,-1.8670301173e-05,1793245578766839552
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.757091948,680,658,633,877,785,807,652,629.242908052,652,0.403608189411,0.00452058270956,0.0799469015459,0.999999993153,7.76247573018e-05,-8.4785747076e-05,-2.18984488342e-05,1793245578783506176
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.183220662,680,658,633,877,785,807,652,629.816779338,652,0.403936426683,0.0045270811888,0.0799526149691,0.999999990271,0.000115814885048,-7.5736541428e-05,-1.75744575935e-05,1793245578800172288
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.401710503,680,658,633,877.401710503,784.598289497,807,652,629.598289497,652,0.404283807461,0.00453550087183,0.0799555699062,0.999999991921,0.000104150233378,-7.03989674824e-05,-1.88159175741e-05,1793245578816838656
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.991828891,680,658,633,877.991828891,784.008171109,807,652,629.008171109,652,0.404640166804,0.00454482162631,0.0799572310744,0.999999995124,6.91029867612e-05,-6.68022013042e-05,-2.26676526845e-05,1793245578833505024
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,784.5706676,807.5706676,652,629.5706676,652,0.405063502593,0.00454935345392,0.0799605659438,0.999999996207,5.99537138315e-05,-5.76368440632e-05,-2.58620773787e-05,1793245578850171904
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,877.851389067,785,807.851389067,652,629.851389067,652,0.405494738473,0.00455506377522,0.0799609879906,0.999999996338,5.95728839884e-05,-5.40866732978e-05,-2.91483356586e-05,1793245578866838528
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,877.275564494,785,807.275564494,652,629.275564494,652,0.405945981346,0.00456435522487,0.0799529689536,0.999999993753,8.33534647191e-05,-6.690331766e-05,-3.27251200211e-05,1793245578883505152
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,877,785,807,652,629.306186968,652,0.40640774519,0.00457258839746,0.0799447484656,0.999999990509,0.000106237689623,-8.14871618832e-05,-3.24778927837e-05,1793245578900171776
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,877,785,807,652,629.893377917,652,0.406879164738,0.00457985033427,0.0799363430943,0.999999986585,0.00012829928408,-9.76928603873e-05,-2.87211681792e-05,1793245578916838400
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680.455907172,658,633,877.455907172,785,807,652,630,652,0.407392623058,0.00458954690633,0.0799329950683,0.999999984842,0.000134628988551,-0.000105852665298,-3.13914943012e-05,1793245578933505792
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633.013967047,878,784.986032953,807,652,630,652,0.407916236733,0.00459970816846,0.0799305570671,0.999999983577,0.000137603557816,-0.000112509078936,-3.53863811541e-05,1793245578950172928
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,681,658,633.614088536,878,784.385911464,807,652,630,652,0.408474615639,0.00460670205622,0.0799192208038,0.999999980109,0.000146253852811,-0.000130988530058,-3.51264224343e-05,1793245578966839552
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.794203602,658,633.794203602,878,784.205796398,807.205796398,652,630,652.205796398,0.409072182162,0.00460694328781,0.0799200977481,0.999999980106,0.000147222071144,-0.000130157660536,-3.42542386786e-05,1793245578983505920
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.217653396,658,633.217653396,878,784.782346604,807.782346604,652,630,652.782346604,0.409740347353,0.00459501922842,0.0799429774747,0.999999985985,0.000134350594965,-9.45381592008e-05,-3.2279097029e-05,1793245579000172032
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.366702103,658,633,878,784.633297897,807.633297897,652,629.633297897,652.633297897,0.410421558546,0.00458781925459,0.0799727776533,0.999999991236,0.000119721929279,-4.59928357103e-05,-3.28507024075e-05,1793245579016838656
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.955791109,658,633,878,784.044208891,807.044208891,652,629.044208891,652.044208891,0.411110681478,0.00458348420821,0.080006774747,0.999999993924,0.000104027614244,1.03913660074e-05,-3.49667853947e-05,1793245579033505536
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.46463735,658.53536265,633,878,784.53536265,807.53536265,652,629.53536265,652,0.411774588584,0.00457612691102,0.0799902783763,0.999999994053,0.000100856914208,-2.05560160185e-05,-3.60421749904e-05,1793245579050172160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.113287025,659,633,878,785,807.886712975,652,630,652,0.412444400552,0.00457033714043,0.0799662666135,0.999999992512,9.96047684524e-05,-6.04502916295e-05,-3.74320851987e-05,1793245579066838528
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.68765015,659,633,878,785,807.31234985,652,630,652,0.413146571754,0.00457192517859,0.0799283412139,0.999999988154,0.000102025577655,-0.000107919764711,-4.04457443251e-05,1793245579083505408
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.736964063,659,633,878.263035937,784.736964063,807.263035937,652,630,652,0.413894440838,0.0045795452264,0.0799136475372,0.999999985453,0.000111812676913,-0.000121500583485,-4.27824933993e-05,1793245579100172032
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.160359069,659,633,878.839640931,784.160359069,807.839640931,652,630,652,0.414696787141,0.00459435612291,0.0799266487379,0.999999986036,0.000130381240637,-9.46822394455e-05,-4.43122883738e-05,1793245579116838912
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,879,784,807.575396498,652,630,652,0.415488201298,0.0046002654817,0.0799459233216,0.999999989441,0.00012196524937,-6.53655437892e-05,-4.43894111597e-05,1793245579133505280
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.987375693,784,807.012624307,652,630,652,0.416275498796,0.00460277290251,0.0799667572047,0.999999992955,0.000104076496954,-3.6436624924e-05,-4.39477733202e-05,1793245579150171648
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878.406622544,784,807.593377456,652,630,652,0.417067071897,0.004606512795,0.0799490000902,0.999999988484,0.000127727952039,-6.82734625222e-05,-4.53459606498e-05,1793245579166838528
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.172397086,659,633,878.172397086,784,808,652,630,652,0.417893366859,0.00460794979214,0.0799459085951,0.999999986443,0.000141314020834,-7.04432110695e-05,-4.67118362283e-05,1793245579183505408
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.747368643,659,633,878.747368643,784,808,652,630,652,0.418800742813,0.00460400916411,0.0799770636428,0.99999999021,0.000131395818855,-3.33561139838e-06,-4.80022586766e-05,1793245579200172032
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.320875606,745,713.679124394,681,659.320875606,633,879,784.320875606,808,652,629.679124394,652,0.419686391901,0.00460168518847,0.0799864145843,0.999999990569,0.00012688640011,1.80907718155e-05,-4.93361834054e-05,1793245579216838656
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.893234682,745,713.106765318,681,659.893234682,633,879,784.893234682,808,652,629.106765318,652,0.420555012702,0.0046006282503,0.0799786767456,0.999999990692,0.000126616069014,3.71489537442e-06,-5.07042027256e-05,1793245579233505792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713,681.485069151,659.514930849,633,879,785,808,652,629.485069151,652,0.421424246011,0.00460442876346,0.0799698541644,0.999999990691,0.000125517266914,-1.22664800764e-05,-5.20875111288e-05,1793245579250172416
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.921346399,713.078653601,682,659,633,879,784.921346399,808,652,629.921346399,652,0.422300125667,0.00460915864213,0.0799659115554,0.999999990422,0.000126157232894,-2.08427159012e-05,-5.29715241546e-05,1793245579266839296
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.344949393,713.655050607,682,659,633,879,784.344949393,808,652,629.344949393,652,0.423217176147,0.00461272096781,0.079994424984,0.99999998886,0.000139002870857,1.97727917838e-05,-5.06736600873e-05,1793245579283505408
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.230583681,714,682,659,633,879,784.230583681,808.230583681,652,629,652,0.424108576137,0.00461602731297,0.0800004013243,0.999999987758,0.000147571732623,1.79973037967e-05,-4.88200537209e-05,1793245579300172032
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.804829237,714,682,659,633,879,784.804829237,808.804829237,652,629,652,0.424961746778,0.00461895214535,0.0799727883971,0.999999986548,0.000149766489758,-4.69577099866e-05,-4.76285685664e-05,1793245579316838912
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,879,784.612084938,808.612084938,652,629.387915062,652,0.425845560943,0.00462157927214,0.0799384107545,0.999999983369,0.000147186601196,-9.53631515788e-05,-5.00380934202e-05,1793245579333505536
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,879,784.02444764,808.02444764,652,629.97555236,652,0.426745152203,0.00462405312184,0.0799005502272,0.999999979277,0.000142148434913,-0.000135247864284,-5.43016370204e-05,1793245579350171904
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.445561247,745,713.445561247,682,659,633,879.554438753,784.554438753,808.554438753,652,630,652.554438753,0.427662800926,0.00461908571875,0.0799004771783,0.999999979349,0.000144441644149,-0.000132392791691,-5.39486806006e-05,1793245579366838784
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713.132775034,682,659.132775034,633,880,785,808.867224966,652,630,652.867224966,0.428582329706,0.00461372378553,0.0799076994821,0.999999980868,0.000143138875622,-0.000122198152277,-5.33228801102e-05,1793245579383505664
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713.710540728,682,659.710540728,633,880,785,808.289459272,652,630,652.289459272,0.429505532299,0.00460812218629,0.0799338744009,0.999999985957,0.000128717717606,-9.3623200343e-05,-5.24542819364e-05,1793245579400172544
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879.713348696,784.713348696,808,652,630,652.286651304,0.430447030206,0.00460907439596,0.0799702973749,0.999999989778,0.000125946755529,-4.31334369847e-05,-5.2163724107e-05,1793245579416839168
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,879.138899891,784.138899891,808,652,630,652.861100109,0.431406896529,0.0046166066208,0.0800170093802,0.999999989098,0.000134872574082,2.93587643401e-05,-5.2453517846e-05,1793245579433505536
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.448137364,745,714,682.448137364,660,633,879.448137364,784.448137364,808,652,630,653,0.432293960403,0.00462427813419,0.0800171265609,0.999999988131,0.000142273859341,2.60006273146e-05,-5.31123756044e-05,1793245579450172160
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.961514387,682.961514387,660,633,880,785,808.038485613,652,630,652.961514387,0.433155407345,0.00463133426942,0.0799990339033,0.999999987543,0.000148256871072,-5.36905311384e-06,-5.39018853987e-05,1793245579466838784
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.38107433,682.38107433,660,633,880,785,808.61892567,652,630,652.38107433,0.433983061142,0.00462909911515,0.0799337610498,0.999999984437,0.000141114207247,-9.05641722537e-05,-5.4873821769e-05,1793245579483505408
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.19707627,713.19707627,682.19707627,660,633,880,784.80292373,809,652,630,652.19707627,0.434824916054,0.00462558170754,0.0798980752163,0.99999998032,0.000134268431622,-0.000134921252407,-5.59392580436e-05,1793245579500172288
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.770850823,713.770850823,682.770850823,660,633,880,784.229149177,809,652,630,652.770850823,0.435693915605,0.00461961335691,0.0799189430073,0.999999985052,0.000127990138473,-0.000101219132037,-5.71834139764e-05,1793245579516838912
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.294333272,714,683,660,633,880,784.352833364,808.647166636,652,630,653,0.436557562868,0.00461451765599,0.0799463964194,0.999999987937,0.000127750463189,-6.84045691312e-05,-5.59111838479e-05,1793245579533505792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.119452911,714,683,660,633,880,784.940273545,808.059726455,652,630,653,0.437417651223,0.00461000219978,0.0799782287573,0.999999989293,0.000131526000693,-3.61801650994e-05,-5.29657521008e-05,1793245579550172928
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.51987785,714,683,660,633,880,784.48012215,808.51987785,652,630,653,0.438235425208,0.00461644674732,0.0799864632023,0.99999999043,0.000125763759251,-2.16454496307e-05,-5.34290778668e-05,1793245579566839040
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.901864612,745,714,683,659.901864612,632.901864612,880,784,809,652,630,653,0.439031265695,0.00462506081384,0.0799824993054,0.999999990355,0.000125354106882,-2.52364931041e-05,-5.42169734197e-05,1793245579583505152
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.325846655,745,714,683,659.325846655,632.325846655,880,784,809,652,630,653,0.439743619493,0.00463819910087,0.0799321398558,0.999999980533,0.00015626623264,-0.000107343652072,-5.47066908685e-05,1793245579600171520
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.248333937,745,714,683,659,632,880,784,809,652,630,652.751666063,0.440408286927,0.00465048837803,0.079859536778,0.999999958701,0.000174101227512,-0.000221858083424,-5.53725139554e-05,1793245579616838400
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.592080332,745,713.592080332,683.407919668,658.592080332,632,879.592080332,784,809,652,630,652.407919668,0.441672885191,0.00467193890862,0.0797014431676,0.999999875983,0.000187025090673,-0.000458069385178,-5.68146051207e-05,1793245579650171904
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764.581096334,745,713,684,658,631.418903666,879.581096334,784,809,652,630,653,0.443089368718,0.00468696823853,0.0797267535514,0.999999890438,0.000214085347614,-0.000412492600769,-5.60389494925e-05,1793245579683505664
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.84132207,745,713,684,657.84132207,631.15867793,879.84132207,784,809,652,630,653,0.443789301912,0.00469284563022,0.079775486713,0.999999914812,0.000224209610703,-0.000342210066797,-5.47505744288e-05,1793245579700172288
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.265149852,745,713,684,657.265149852,631.734850148,879.265149852,784,809,652,630,653,0.444418165774,0.00470048754708,0.07979286244,0.999999919407,0.000235234866142,-0.000320983687908,-5.31105881239e-05,1793245579716838656
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,684.308040776,656.691959224,631.691959224,879.616081551,783.691959224,809,652,630,653,0.445001414979,0.00471132408266,0.0797857012588,0.999999910788,0.00024997088159,-0.000336398304024,-5.2681775854e-05,1793245579733505280
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,684.878689531,656.121310469,631.121310469,880.757379062,783.121310469,809,652,630,653,0.445545777175,0.00472488406362,0.079757622106,0.99999988934,0.000267870357667,-0.000383049751973,-5.32855021199e-05,1793245579750171904
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,684,655.936545137,631,880,783.936545137,809.063454863,652,630,653,0.446617747588,0.00474009978923,0.079714551429,0.999999861522,0.000285119105948,-0.00043892181042,-5.48709104142e-05,1793245579783505664
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655.36006126,631,880,783.36006126,809.63993874,652,630,653,0.447117699064,0.00476394578838,0.0797057720353,0.999999856099,0.000299255569425,-0.000440871446762,-6.22864893374e-05,1793245579800172288
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,684,655,630.78440316,880,783,810,652,630,653,0.447594414464,0.00478628435893,0.0796963331657,0.999999846808,0.000317581527184,-0.000448327985114,-6.72964369828e-05,1793245579816838656
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,684,655,630.210118961,880,783,810,652,630,653,0.448032472073,0.00480611502582,0.0796857971304,0.999999830797,0.000342877523665,-0.000464946327873,-6.83041474067e-05,1793245579833505536
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,685,648.599027699,628,880.400972301,782,810,652,630,653,0.45247884257,0.00482910080747,0.0796164622968,0.999999762224,0.000358423106375,-0.000584359849594,-7.48919833458e-05,1793245580166838784
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713,685,648.010430565,628,880.989569435,782,810,652,630,653,0.452530819868,0.00483341587194,0.07961516191,0.999999757705,0.000364479132327,-0.000588296257651,-7.51819994932e-05,1793245580183505408
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,685,648,627.429931301,880.429931301,782,810,652,630,653,0.452564661439,0.00483499902975,0.0796093839391,0.999999752329,0.000365786432013,-0.000596583771165,-7.50385600056e-05,1793245580200171776
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,712.850851447,685,648.149148553,627,880,782,809.850851447,652,630,653,0.452596960193,0.00483550437183,0.0796049171457,0.999999748407,0.000366445953104,-0.000602744517455,-7.4844651682e-05,1793245580216838400
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,712.275411059,685,648.724588941,627,880,782,809.275411059,652,630,653,0.452625784449,0.00483307000046,0.0796044288009,0.999999748863,0.000365498874249,-0.000602602242835,-7.4528845425e-05,1793245580233505024
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.700351006,745,712,685,648.700351006,627,880,782,809.299648994,652,629.700351006,653,0.452649440609,0.00483309398038,0.0796047023518,0.999999749111,0.000366318492091,-0.00060174228009,-7.41334762797e-05,1793245580250171904
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.125640015,745,712,685,648.125640015,627,880,782,809.874359985,652,629.125640015,653,0.452668352732,0.00483537459702,0.0796056752826,0.999999749161,0.00036875984435,-0.000600223517424,-7.36650725561e-05,1793245580266838784
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.463928779,745,712.463928779,684.536071221,647.536071221,627,880,782,810,652,629.463928779,653,0.452678275855,0.00483460547131,0.0796041921111,0.999999748508,0.000367370385583,-0.000602153823523,-7.37143011425e-05,1793245580283505664
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,712.943991367,684,647.056008633,627,880,782.056008633,810,652,630,653,0.452685367178,0.00483321590033,0.079602174957,0.999999747629,0.000365207823705,-0.000604902929993,-7.3870450115e-05,1793245580300172032
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,712.367214008,684,647.632785992,627,880,782.632785992,810,652,630,653,0.452689512181,0.00483399094581,0.0796015820696,0.999999746577,0.00036582231631,-0.000606292930526,-7.36741902284e-05,1793245580316838656
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,744.790739132,712,684.209260868,647.790739132,627,880,782.790739132,810,652,630,653,0.452692680581,0.00483508175495,0.0796004793211,0.999999745478,0.000366215609489,-0.000607900149426,-7.33927510707e-05,1793245580333505280
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,744.214794327,712,684.785205673,647.214794327,627,880,782.214794327,810,652,630,653,0.452694137701,0.00483672587088,0.0795984831526,0.999999744298,0.000366221298987,-0.000609887995959,-7.29620538681e-05,1793245580350171904
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.461857638,745,712.538142362,685,647,627,880,782,810,652,629,653,0.452698850804,0.00483219560374,0.0795995723371,0.999999746535,0.00036186568154,-0.000609002589322,-7.1406991172e-05,1793245580400172032
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.116075187,745,713,685,647.116075187,627,880.116075187,782,810,652,629,653,0.45269969149,0.00483091240426,0.0795996201373,0.999999747131,0.000360752417965,-0.000608722349401,-7.10827437253e-05,1793245580416838912
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.689642033,745,713,685,647.689642033,627,880.689642033,782,810,652,629,653,0.4526994167,0.00482963092546,0.0795989539633,0.999999747087,0.000358551202424,-0.000610101738743,-7.10151228973e-05,1793245580433505792
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,685,647.736912341,627,880.736912341,782.263087659,810,652,629.263087659,653,0.452699361791,0.0048305745477,0.0795981012643,0.999999746084,0.000359262202362,-0.000611313481158,-7.11178046275e-05,1793245580450172416
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,685,647.163609576,627,880.163609576,782.836390424,810,652,629.836390424,653,0.45269956615,0.00483414185787,0.0795970286277,0.999999743945,0.000363407088787,-0.000612327545877,-7.14212955625e-05,1793245580466838784
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,685,647.42571345,627,880,782.57428655,809.57428655,652,629.57428655,653,0.452699179301,0.00483496904983,0.0795963353855,0.999999743353,0.000363372463827,-0.00061328179519,-7.16956996169e-05,1793245580483505408
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,685,647.979266842,627,880,782,809.020733158,652,629,653,0.45269855933,0.00483463805616,0.0795957787321,0.999999743371,0.000361665495027,-0.000614233344068,-7.19320646995e-05,1793245580500171776
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,685,647.403026933,627,880,782,809.596973067,652,629,653,0.452698019044,0.00483259420784,0.0795948222951,0.999999743118,0.000359870903124,-0.000615752551549,-7.14604685753e-05,1793245580516838656
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,685,647.172695162,627,880.172695162,782,810,652,629.172695162,653,0.45269822878,0.00483104265086,0.0795946221058,0.999999743079,0.000359169732642,-0.000616281071477,-7.09756662643e-05,1793245580533505280
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,685,647.747212388,627,880.747212388,782,810,652,629.747212388,653,0.452700183646,0.00483063654308,0.0795961815317,0.999999743545,0.000361012703317,-0.000614504488436,-7.04601362127e-05,1793245580550172416
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.669446808,745,712.669446808,685,647.669446808,627,880.669446808,782,810,652,630.330553192,653,0.452701108093,0.00483008126015,0.0795967680772,0.999999744172,0.000360711672356,-0.000613663540039,-7.04260438762e-05,1793245580566839040
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764,744.499341547,712.500658453,685,647,627,880,782,810,652,630.499341547,653,0.452700445952,0.00483078366556,0.0795959950326,0.999999743429,0.00036114336556,-0.000614586696365,-7.07115448664e-05,1793245580600172032
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+246,4.100000000,HOLD_POSE2,764.426416947,744.426416947,712.573583053,684.426416947,647.426416947,627,880,782,810,652,629.573583053,653,0.452702573994,0.00483007680695,0.0795964471764,0.999999744587,0.000359725645611,-0.000613581299188,-7.02918362327e-05,1793245580660099840
+247,4.116666667,HOLD_POSE2,764.150816733,744.150816733,712.849183267,684,647,627,880,782,810,652,630,653,0.452702257847,0.00482876343269,0.079595690647,0.999999744781,0.000357582730903,-0.000614518373741,-7.02894527122e-05,1793245580676766208
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+249,4.150000000,HOLD_POSE2,765,744.676856793,712,684.323143207,647,627,880,782,810,652,630,653,0.452702150763,0.00482976161892,0.0795949730629,0.999999743335,0.000358978632761,-0.000616070896026,-7.01524528427e-05,1793245580710099968
+250,4.166666667,HOLD_POSE2,765,744.094981528,712,684.905018472,647,627,880,782,810,652,630,653,0.452701666711,0.00482933960911,0.0795949527768,0.999999743639,0.000358859755822,-0.000615653075774,-7.00896474161e-05,1793245580726766592
+251,4.183333333,HOLD_POSE2,765,744.48095091,712.48095091,685,647,627,880,782,810,652,630,653,0.452702292098,0.00483119293493,0.0795947742744,0.999999743727,0.000359531532443,-0.000615072022592,-7.04892930646e-05,1793245580743432704
+252,4.200000000,HOLD_POSE2,765,745,713,684.944337927,647,627,880,782,810,652,630,653,0.452702984334,0.00483307689371,0.0795946159172,0.999999743701,0.000360285040129,-0.000614630818356,-7.08688646956e-05,1793245580760099072
+253,4.216666667,HOLD_POSE2,765,745,713,684.370203954,647,627,880,782,810,652,630,653,0.452702283316,0.00483111175155,0.0795949326955,0.999999743006,0.000360363172838,-0.000615788861087,-7.02211498578e-05,1793245580776765952
+254,4.233333333,HOLD_POSE2,765,745,713,684,647,627,880,782,809.788958917,652,630,653,0.45270195866,0.00482999559857,0.0795950851895,0.999999742442,0.000360713227373,-0.000616549745106,-6.97686717078e-05,1793245580793432576
+255,4.250000000,HOLD_POSE2,765,745,713,684,647,627,880,782,809.194804886,652,630,653,0.452702317231,0.00483042065636,0.0795949394499,0.99999974212,0.000361556914563,-0.00061658964784,-6.96706161026e-05,1793245580810099200
+256,4.266666667,HOLD_POSE2,765,744.612734862,713,684,647,627,880,782,809.387265138,652,630,653,0.452702640417,0.0048309655382,0.0795949164996,0.999999742382,0.000361318667681,-0.00061629432083,-6.97627901704e-05,1793245580826765568
+257,4.283333333,HOLD_POSE2,765,744.036559436,713,684,647,627,880,782,809.963440564,652,630,653,0.452702946342,0.00483156887097,0.0795949534466,0.999999742928,0.000360552646862,-0.000615835466718,-6.99477594196e-05,1793245580843432192
+258,4.300000000,HOLD_POSE2,765,744.537790026,712.462209974,684.537790026,647,627,880,782,809.462209974,652,629.462209974,653,0.452703764018,0.00483151413467,0.0795948689344,0.999999743388,0.000359988678027,-0.000615390853666,-7.01849211437e-05,1793245580860098816
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+260,4.333333333,HOLD_POSE2,764.293366366,745,712,685,647,627,880,782,809,652,629.706633634,653,0.452705216422,0.00483061253126,0.0795957956719,0.999999744659,0.000359082135501,-0.000613928301638,-6.95333144548e-05,1793245580893432320
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,744,712,684,647,627,880,782,810,652,630,653,0.452703729465,0.00482855713985,0.0795947295039,0.999999744414,0.000355858315435,-0.000616181026795,-6.96990885009e-05,1793245580930496000
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,744.572924853,712.572924853,684.572924853,647,627,880,782,810,652,630,653,0.452703810175,0.00482878357145,0.0795950720127,0.999999744297,0.000356983146379,-0.000615715095283,-6.97421749314e-05,1793245580947162624
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.849922794,647,627,880,782,809.849922794,652,629.849922794,653,0.452704120348,0.00482909623061,0.0795953042916,0.999999744248,0.00035781304215,-0.000615311915654,-6.97562657035e-05,1793245580963829504
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.260391393,647,627,880,782,809.260391393,652,629.260391393,653,0.452705102432,0.00482966138026,0.0795952137967,0.9999997444,0.000357779312704,-0.000615092485195,-6.96854517616e-05,1793245580980496128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.322893803,647,627,880,782,809.322893803,652,629.322893803,653,0.45270493881,0.00482956002647,0.0795946536561,0.999999744113,0.000357334069311,-0.000615830340604,-6.95634020431e-05,1793245580997162752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.901237424,647,627,880,782,809.901237424,652,629.901237424,653,0.45270386879,0.00482893138417,0.0795937219663,0.999999743478,0.000356563266362,-0.00061732553017,-6.9400818352e-05,1793245581013829376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,685,647,627,879.521963212,782,810,652,630,653,0.45270380825,0.00482809751423,0.0795935450829,0.999999743165,0.000356714062804,-0.000617758170633,-6.9276355907e-05,1793245581030496768
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,712.945480209,685,647,627,879.054519791,782,810,652.054519791,629.945480209,653,0.452703934788,0.00482752347885,0.0795935664383,0.999999742936,0.000357212517352,-0.000617848717936,-6.92121615305e-05,1793245581047164160
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,685,647,627,880,782,809.689696265,652,630,653,0.452438257038,0.00482855557831,0.079504508191,0.999999647073,0.000360200477094,-0.000756103541661,-6.64660794133e-05,1793245581180496640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,712.726820179,685,647,627,879.726820179,782,810,652,630,653,0.452362771665,0.00482868852583,0.0794975842816,0.999999639256,0.000362902243216,-0.000765230195652,-6.49013016721e-05,1793245581197163008
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.598612786,744.598612786,713,684.401387214,647.598612786,627.401387214,880.401387214,782,809.598612786,652,629.598612786,653,0.451942583693,0.00482288523898,0.0795056275743,0.999999642742,0.000369031309099,-0.000758591602318,-5.35762935756e-05,1793245581263830016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.823129347,744.823129347,712.823129347,684.176870653,648,627,879.823129347,782,810,652,629.823129347,653,0.451805462851,0.00482142913168,0.0795076895618,0.99999964308,0.000372506972449,-0.000756706085944,-4.9741454407e-05,1793245581280497152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.235071095,744.235071095,712.235071095,684.764928905,648,627,879.235071095,782,810,652,629.235071095,653,0.451647367356,0.00482076794223,0.0795073628457,0.999999638613,0.000376602620815,-0.000760855604675,-4.52010248928e-05,1793245581297164032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,744.347694852,712,684.652305148,648,627,879.347694852,782,810,652,629,653,0.451471496564,0.0048169900491,0.0795104056934,0.999999640041,0.00037696147333,-0.000759088967805,-4.00329760989e-05,1793245581313830656
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,712,684,648,627,880,782,809.496508478,652,629,653,0.45106689222,0.00480933437504,0.079523947933,0.999999653602,0.000379035630096,-0.000740484282115,-2.84765531304e-05,1793245581347163392
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,712.653363272,684.653363272,648,627,880,782,809,652,629.653363272,653,0.45058686378,0.0048070704819,0.0795414462756,0.999999671251,0.000392384811471,-0.00070942830284,-1.56240347275e-05,1793245581380496128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,744.765699671,713,685,648.234300329,627.234300329,880,782,809,652,630,653,0.450313708529,0.00480447638095,0.0795467431531,0.999999676114,0.000399252992253,-0.000698781485937,-8.60016269687e-06,1793245581397163008
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744.408913207,713,685,649,628,880,782,809.408913207,652,630,653,0.449679414716,0.00479288594866,0.0795483244548,0.999999677864,0.000403635715493,-0.000693776592581,4.98310512935e-06,1793245581430496512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,744.988511436,713,685,649,628,880,782,809.988511436,652,630,653,0.449334220217,0.00478548843152,0.079550642279,0.999999682451,0.000400000890865,-0.000689192544245,1.05247884484e-05,1793245581447163136
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.436224175,649,628,880,782.563775825,809.436224175,652,629.436224175,653,0.448922129331,0.00478245485166,0.0795445165813,0.999999680672,0.00038080668227,-0.000702529485393,9.72100914262e-06,1793245581463829760
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.141743961,649.283487922,628,880.141743961,783,809,652,629.141743961,653,0.44850388694,0.00477875897675,0.0795370622733,0.999999677438,0.000360468958416,-0.000717713324263,8.53723579235e-06,1793245581480496384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.728475199,650.456950398,628,880.728475199,783,809,652,629.728475199,653,0.448070579727,0.00477270686263,0.079525973006,0.99999967102,0.000337529116804,-0.000737557535116,6.56336606119e-06,1793245581497163520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,712.689191016,685,651,628.310808984,880.689191016,782.689191016,809,652,630,653,0.447625537858,0.00476539155441,0.0795238763942,0.999999675557,0.000321270753053,-0.000738649576158,8.28023810725e-06,1793245581513830400
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,712.467898944,684.532101056,651.467898944,629,880,782.467898944,809,652,630,653,0.446687606068,0.00475111847814,0.0795513936968,0.999999717644,0.000293257527052,-0.00069173597111,1.45774040914e-05,1793245581547163648
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,712.953787338,684.046212662,652.046212662,629,880,783,809.046212662,652,630,653,0.446192229345,0.00474544755684,0.0795765773229,0.9999997446,0.000280577583612,-0.000657148171694,1.52601492219e-05,1793245581563830528
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,712.201881219,685,653.201881219,629,880,783,809.798118781,652,630,653,0.445056623654,0.00472576861166,0.0796124281552,0.99999974005,0.000372528161385,-0.000617060031129,1.8944537258e-05,1793245581597162240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,712.790123265,685,653.790123265,629,880,783,809.209876735,652,630,653,0.444474434877,0.00471795530201,0.0796240118925,0.999999761668,0.000342836319512,-0.000598924163783,2.03980644882e-05,1793245581613828864
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.048931048,654,629.951068952,879.048931048,783,809,652,630,653,0.44323118775,0.00469918455338,0.0796429030587,0.999999791503,0.000283141588786,-0.000579830124527,2.49525152531e-05,1793245581647162880
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.432247535,745,713,684,657,632,879.567752465,784,809,651.567752465,630,653,0.438935757443,0.00463370379794,0.0796573951612,0.999999839156,0.000210352180883,-0.000525897330066,2.95333797606e-05,1793245581747163392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,657.011789345,632,879,784,809,651.011789345,630,653,0.438195340008,0.00461894882431,0.079684565571,0.999999866277,0.000200228341099,-0.000475870293797,3.00354986108e-05,1793245581763830016
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,657.587092659,632,879,784,809,651.587092659,630,653,0.437469896081,0.00461028070137,0.0797722423851,0.999999921466,0.000184252888178,-0.000349375432579,3.2505991212e-05,1793245581780496640
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.752711161,683.247288839,658,632,879,784,809,651.247288839,630,652.247288839,0.435913508951,0.0045935927349,0.0798753278492,0.999999966339,0.000174564298767,-0.000188546591325,3.60598096299e-05,1793245581813829632
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.087797511,683.912202489,658,632,879,784.912202489,809,651.912202489,630,652,0.434155372653,0.00457063167782,0.0798313246996,0.999999954501,0.000153399231131,-0.000256608276248,4.02314905173e-05,1793245581847162880
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,682.604283475,657,632.395716525,879,784.604283475,808.604283475,652,630,652,0.428766159958,0.00450390456508,0.0798368147559,0.999999959241,9.67960760983e-05,-0.000264260760504,4.81216391637e-05,1793245581947163392
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.91064985,745,713.91064985,681.91064985,657,633,878,784.91064985,807.08935015,652,629,652.91064985,0.415515531488,0.00447785929732,0.079792989786,0.99999993614,8.52022083238e-05,-0.000343106671218,5.23366308628e-05,1793245582197163776
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.900632232,745,713.900632232,680.198735535,657,633,877,784.900632232,807,652,629,652,0.408623744657,0.0045018490893,0.0798393802138,0.999999960179,0.000114760292157,-0.000252510330905,5.2072502522e-05,1793245582363830016
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.05808028,657,633,878,785,807,652,629,652.05808028,0.407440465206,0.00449112817482,0.0798011473853,0.999999939652,0.000105553541627,-0.000326472860161,5.45036769865e-05,1793245582397163520
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.198760994,680.198760994,657,633,878,785,806.198760994,652,629.801239006,652.198760994,0.405956421862,0.00448754989922,0.0797735499337,0.999999929707,0.000106129699218,-0.00035598548384,5.09571460684e-05,1793245582447163648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,806.386578019,652,630,652,0.405525804767,0.00449154237255,0.0797907486909,0.999999940019,0.000108923916178,-0.000324846177412,5.07172060263e-05,1793245582463830272
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,630,652,0.403653036325,0.00449852696064,0.0798284160718,0.999999949668,0.00011988641928,-0.000289054108714,5.23352607537e-05,1793245582547162880
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629,652.348600696,0.402012801708,0.00445704988855,0.0798375130948,0.999999958455,4.92029783344e-05,-0.000278078727852,5.78066046168e-05,1793245582663829760
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713.495497942,679.495497942,657,633.504502058,878,785,807,652,629,652.495497942,0.401721692887,0.00445588613233,0.0798438120865,0.999999961198,4.42740486494e-05,-0.000268808317895,5.81946647259e-05,1793245582697162752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.080337412,679.080337412,657,633.919662588,877.919662588,785,807,652,629,652,0.401592196858,0.00446638583088,0.0798421775678,0.999999959884,6.36722683401e-05,-0.0002700599073,5.6976319502e-05,1793245582713829376
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.469728746,785,807.234864373,652,629.234864373,652,0.40137912445,0.00448697505463,0.0798314743974,0.999999946886,0.00014786097028,-0.000285724785593,5.22091837987e-05,1793245582747162880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.654162668,785,807.827081334,652,629.827081334,652,0.401292456728,0.00448687162663,0.0798272494766,0.99999994566,0.000140131737961,-0.000293866085568,5.18169888978e-05,1793245582763829760
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.010131174,680.989868826,657,633,878.010131174,785,808,652,630,652,0.401158147636,0.00448326450559,0.0798210752033,0.999999944584,0.000129321735762,-0.000302122599897,5.32039138673e-05,1793245582797163008
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.144307003,680.855692997,657,633,878,785,807,652,630,652,0.401071904457,0.0044821504114,0.0798193332343,0.999999944314,0.000123715444611,-0.0003052320546,5.38492559473e-05,1793245582830495744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.730470359,680.269529641,657,633,878,785,807,652,630,652,0.40104457278,0.00448053502313,0.0798207849206,0.999999945278,0.000120925001517,-0.000303157905653,5.39988211141e-05,1793245582847162368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.313185646,785,807,652,629.686814354,652,0.401021538961,0.00448100652462,0.0798210635465,0.99999994558,0.000120484197787,-0.000302362244637,5.38483365497e-05,1793245582863829248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.89296588,785,807,652,629.10703412,652,0.401002163626,0.00448325445958,0.0798203436224,0.999999945325,0.000122043489049,-0.000302654877085,5.34424391647e-05,1793245582880496128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.529987563,745,713.529987563,680,657.470012437,633,878.529987563,785,807,652,629.470012437,652,0.400991219188,0.00448383380306,0.0798211181618,0.999999945854,0.000121957950142,-0.000300937302284,5.34252981719e-05,1793245582897162752
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629.198504308,652,0.400974911473,0.00448338999064,0.0798249708422,0.999999947998,0.000121361138512,-0.000293911820784,5.37751628446e-05,1793245582947162368
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785,807,652,629.625334191,652,0.400970088883,0.00448592084928,0.079825053185,0.999999947705,0.000123115738641,-0.000294335214601,5.29097054387e-05,1793245582980496384
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.856745109,680,657,633.856745109,878,785,807,652,629.856745109,652,0.400969529831,0.00448538532847,0.0798287396242,0.999999949454,0.000123022462346,-0.000288398977941,5.27592566318e-05,1793245583080496384
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36b21ddc7e0e4dcecc5643513dcc1ae659ff47b7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e36a6591a3ef6dc7a67167455366b0ef1765be1e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45880166ee68bbf2c5e5bf42e775627948e9700c7d31471d66e99a992a1f8689
+size 25754003
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08255fe56b8bd18e65b98c0c6260d215064fcff7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+20,0.333333333,BASELINE,764,745,714,680,657.596655381,633,878.403344619,785,807,652,630,652,0.400970095307,0.00448590709439,0.0798328435231,0.999999952083,0.000118357178626,-0.000281406913287,5.13464115224e-05,1793245583762697728
+21,0.350000000,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400969938805,0.00448587046427,0.0798328722419,0.999999951956,0.000119125759686,-0.000281512737918,5.14534107703e-05,1793245583779364352
+22,0.366666667,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400969522067,0.00448551138086,0.0798329981646,0.999999951899,0.000119252946149,-0.000281623683531,5.16635586304e-05,1793245583796030976
+23,0.383333333,BASELINE,764,745,714,680,657.652725336,633,877.652725336,785,807,652,629.652725336,652,0.400969368017,0.00448549041098,0.0798332184493,0.999999951871,0.000119354966757,-0.00028166804072,5.17300700438e-05,1793245583812697600
+24,0.400000000,BASELINE,764,745,714,680,657.073986072,633,877.073986072,785,807,652,629.073986072,652,0.400969389054,0.00448569479961,0.0798335016278,0.999999951862,0.000119440213897,-0.000281668015579,5.17008452903e-05,1793245583829364224
+25,0.416666667,BASELINE,764,745,714,680,657,633,877.501664906,785,806.498335094,652,629,652,0.400970887188,0.00448569035631,0.079834058865,0.99999995212,0.000120057587149,-0.000280520574218,5.15124836844e-05,1793245583846030848
+26,0.433333333,BASELINE,764,745,714,680,657.078713253,633,878,785,806.078713253,652,629,652,0.40097224235,0.00448555439181,0.0798345455758,0.999999952393,0.000120359154412,-0.00027944928719,5.13478705857e-05,1793245583862697728
+27,0.450000000,BASELINE,764,745,714,680,657.667756455,633,878,785,806.667756455,652,629,652,0.400971266831,0.00448476418111,0.0798343145899,0.99999995251,0.000118107528634,-0.000279962162202,5.14884610049e-05,1793245583879364352
+28,0.466666667,BASELINE,764.252226557,745,714,680,658,633,878,785,807,652,629.252226557,652,0.400970432598,0.00448538982648,0.0798340508581,0.999999952354,0.000118161084416,-0.00028049478774,5.15005162073e-05,1793245583896030976
+29,0.483333333,BASELINE,764.830780015,745,714,680,658,633,878,785,807,652,629.830780015,652,0.40096978116,0.00448784728506,0.0798337447602,0.999999951842,0.00012119704933,-0.000281052966178,5.13462744843e-05,1793245583912697600
+30,0.500000000,BASELINE,764.59202522,745,714,680,658,633,878,785,807,652,629.59202522,652.40797478,0.400970937906,0.00448596031028,0.0798343682998,0.999999952535,0.000118180549457,-0.000279876399355,5.13024432573e-05,1793245583929364480
+31,0.516666667,BASELINE,764.015392158,745,714,680,658,633,878,785,807,652,629.015392158,652.984607842,0.400972842163,0.00448227733064,0.0798353761549,0.9999999537,0.000112661938186,-0.000277982682407,5.13042561399e-05,1793245583946030848
+32,0.533333333,BASELINE,764,745,714,680,657.441034605,633,878,785,807,652,629.558965395,652.441034605,0.400971211853,0.00448451576922,0.0798345031911,0.999999952773,0.000117144795351,-0.000279499366608,5.10972502831e-05,1793245583962697728
+33,0.550000000,BASELINE,764,745,714,680,657,633,878.137159276,784.862840724,807,652,630,652,0.400970179032,0.00448626508651,0.0798340529326,0.999999952131,0.000120491174454,-0.000280392396852,5.09886333028e-05,1793245583979364608
+34,0.566666667,BASELINE,764,745,714,680,657,633,878.728256159,784.271743841,807,652,630,652,0.400971444461,0.00448585816341,0.0798351723587,0.999999952692,0.00011916851496,-0.000278911856148,5.12245943521e-05,1793245583996031232
+35,0.583333333,BASELINE,764,745,714,680,657.313265388,633.313265388,878.686734612,784.313265388,807,652,630,652,0.400972274042,0.00448531928161,0.0798354082513,0.999999952967,0.000118277581536,-0.000278247045456,5.15201240024e-05,1793245584012697856
+36,0.600000000,BASELINE,764,745,714,680,657.893094575,633.893094575,878.106905425,784.893094575,807,652,630,652,0.400972732751,0.00448466811346,0.0798348923276,0.999999953003,0.000117754012335,-0.000278276355629,5.18663417961e-05,1793245584029364480
+37,0.616666667,BASELINE,763.530119887,745,714,680,658,633.530119887,878,785,807,652,630,652,0.400972620115,0.00448495884998,0.0798350861776,0.999999953062,0.000117605798151,-0.000278193319171,5.15049267302e-05,1793245584046030848
+38,0.633333333,BASELINE,763.045766729,745,714,680,658,633,878,785,807,652,630,652,0.400972368712,0.00448543724452,0.0798353893495,0.999999953096,0.000117646594302,-0.000278139373366,5.10537703557e-05,1793245584062697728
+39,0.650000000,BASELINE,763.619222133,745,714,680,658,633,878,785,807,652,630,652,0.400972006474,0.00448562437478,0.0798351030652,0.999999952771,0.00011888835746,-0.000278713658804,5.14122545633e-05,1793245584079364352
+40,0.666666667,BASELINE,763.801024833,745,714,680,658,633,878,785,807,652,630,652.198975167,0.400971336967,0.00448573380635,0.079834738589,0.999999952489,0.000119494121047,-0.000279438240578,5.15595469637e-05,1793245584096031232
+41,0.683333333,BASELINE,763.208826179,745,714,680,658,633,878,785,807,652,630,652.791173821,0.400970060223,0.00448568968634,0.0798342195864,0.999999952294,0.000118842994204,-0.000280459844559,5.12894727933e-05,1793245584112697856
+42,0.700000000,BASELINE,763.373742085,745,714,680.373742085,657.626257915,633,878,785,807,652,630,652.626257915,0.40096974373,0.00448656637535,0.0798342876883,0.999999952219,0.000119385440167,-0.000280523663129,5.11396404422e-05,1793245584129364480
+43,0.716666667,BASELINE,763.951064576,745,714,680.951064576,657.048935424,633,878,785,807,652,630,652.048935424,0.400969950293,0.00448794463666,0.0798346755908,0.999999952209,0.000120578035135,-0.000280065768029,5.1055304814e-05,1793245584146031104
+44,0.733333333,BASELINE,764,745,714,681,657.526005143,633,878,785,807,652,629.473994857,652,0.400969738571,0.00448834276504,0.0798343526609,0.999999951923,0.000122089535778,-0.000280478547298,5.07922636555e-05,1793245584162697728
+45,0.750000000,BASELINE,763.897173818,744.897173818,714,680.794347635,658,633.102826182,878,785,807,652,629,652,0.40096960837,0.00448804274273,0.0798340605947,0.999999951763,0.000122865361417,-0.000280740881629,5.06299481661e-05,1793245584179364608
+46,0.766666667,BASELINE,763.310465692,744.310465692,714,679.620931385,658,633.689534308,878,785,807,652,629,652,0.400970044087,0.00448488450719,0.0798342235618,0.999999952317,0.000120040243926,-0.000279915791303,5.10195134535e-05,1793245584196031232
+47,0.783333333,BASELINE,763.274284159,744.274284159,714,679.274284159,657.725715841,633.725715841,878,785,807,652,629.274284159,652,0.400970592166,0.00448364603429,0.0798346100702,0.999999952673,0.000118439707066,-0.000279282157856,5.12532386544e-05,1793245584212697856
+48,0.800000000,BASELINE,763.856833204,744.856833204,714,679.856833204,657.143166796,633.143166796,878,785,807,652,629.856833204,652,0.400971266527,0.00448456516067,0.0798352478141,0.999999952814,0.00011821546226,-0.000278863700539,5.13118169829e-05,1793245584229364480
+49,0.816666667,BASELINE,764,745,714,679.566061433,657,633,877.566061433,785,807,652,630,652,0.400971217274,0.00448646029252,0.0798353084746,0.999999952606,0.00011985086838,-0.000278937702384,5.11627011285e-05,1793245584246031104
+50,0.833333333,BASELINE,764,745,714,679.009281988,657,633,877.009281988,784.990718012,807,652,630,652.009281988,0.400970922775,0.00448862460972,0.0798351723447,0.999999952281,0.000122050003961,-0.000279187237332,5.09465002521e-05,1793245584262697984
+51,0.850000000,BASELINE,764,745,714,679.585348558,657,633,877.585348558,784.414651442,807,652,630,652.585348558,0.40097005031,0.00448780705881,0.079834501576,0.999999952009,0.000121671515274,-0.000280357106917,5.07662849986e-05,1793245584279364608
+52,0.866666667,BASELINE,764,745,714,680,657.165323193,633,878,784.165323193,807,652,629.834676807,652.834676807,0.400969566542,0.00448704255925,0.0798341518753,0.999999951907,0.000121306769915,-0.000280883871352,5.07434259729e-05,1793245584296030976
+53,0.883333333,BASELINE,764,745,714,680,657.755337029,633,878,784.755337029,807,652,629.244662971,652.244662971,0.400970081284,0.00448641434075,0.0798346269504,0.999999952243,0.000120977329145,-0.000279758594442,5.11247916538e-05,1793245584312697600
+54,0.900000000,BASELINE,764,745,714,680.337143043,657.662856957,633,878,785,807,652,629.337143043,652.337143043,0.400970280624,0.00448589727854,0.0798346467388,0.999999952334,0.000121287193128,-0.000279274948339,5.12605025211e-05,1793245584329364992
+55,0.916666667,BASELINE,764,745,714,680.913134219,657.086865781,633,878,785,807,652,629.913134219,652.913134219,0.400970256519,0.00448545896474,0.0798343439805,0.999999952251,0.000122049970958,-0.000279245864004,5.12221798423e-05,1793245584346032640
+56,0.933333333,BASELINE,764,745,714,680.511066102,657.488933898,633,877.511066102,785,807,652,630,652.511066102,0.400969916159,0.00448589679146,0.079834174782,0.999999951996,0.000122346107579,-0.000280031746406,5.12015965057e-05,1793245584362699264
+57,0.950000000,BASELINE,764,745,714,680,658,633,877.066306575,785,807,652,630,652,0.400969602835,0.00448631182048,0.0798340988799,0.999999951822,0.000122057395167,-0.000280782537505,5.11787660785e-05,1793245584379365888
+58,0.966666667,BASELINE,764,745,714,680,658,633,877.656372773,785,807,652,630,652,0.400969946723,0.00448531769572,0.0798345725697,0.999999952523,0.000117803541589,-0.000280112882899,5.11133005383e-05,1793245584396032512
+59,0.983333333,BASELINE,764,745,714,680,658,633,877.757964157,785,807,652,630,652,0.400969923501,0.00448460908651,0.0798344686676,0.999999952703,0.000116159461317,-0.000280157929052,5.11161542263e-05,1793245584412698880
+60,1.000000000,BASELINE,764,745,714,680,658,633,877.178440597,785,807,652,630,652,0.40096938839,0.0044842985917,0.0798335593884,0.999999952172,0.000118154372196,-0.000281199532998,5.12142702442e-05,1793245584429364736
+61,1.016666667,BASELINE,764,744.60197352,714,680,658,633,877.39802648,785,807,652,630,652,0.400969707648,0.00448484578674,0.0798337181908,0.999999952219,0.000119621942034,-0.000280437485978,5.10572318793e-05,1793245584446031360
+62,1.033333333,BASELINE,764,744.026866296,714,680,658,633,877.973133704,785,807,652,630,652,0.400970407013,0.00448577456535,0.0798343521796,0.999999952522,0.000120854899362,-0.000278873000188,5.07866761172e-05,1793245584462697984
+63,1.050000000,BASELINE,764,744.546810298,714,679.453189702,657.453189702,633,877.453189702,785,807,652,630,652.546810298,0.400971219327,0.00448611748641,0.0798349344492,0.999999952565,0.00012099920598,-0.000278671824166,5.07053623822e-05,1793245584479364864
+64,1.066666667,BASELINE,764,745,714,679.248993505,657.124496752,633,877.124496752,785,807,652,630,652.875503248,0.400971725872,0.00448608806149,0.079835315783,0.999999952634,0.0001207833837,-0.000278521634055,5.06919523719e-05,1793245584496031488
+65,1.083333333,BASELINE,764,745,714,680.435076355,657.717538177,633,877.717538177,785,807,652,630,652.282461823,0.400971060817,0.00448476535822,0.0798349504319,0.999999952846,0.000119412991815,-0.000278311895968,5.08991969298e-05,1793245584512698368
+66,1.100000000,BASELINE,763.696978499,745,714,680.696978499,658,633,878,785,807,652,630,652,0.400970105036,0.00448481808986,0.0798344517652,0.999999952743,0.000119222774499,-0.000278753678982,5.09520723799e-05,1793245584529365248
+67,1.116666667,BASELINE,763.118369049,745,714,680.118369049,658,633,878,785,807,652,630,652,0.400968884848,0.00448612173376,0.0798338318526,0.999999952353,0.000120105886669,-0.00027978799872,5.08645542635e-05,1793245584546031872
+68,1.133333333,BASELINE,763.456762984,745,714,680,657.543237016,633,877.543237016,785,807,652,630,652,0.40096993164,0.00448567635302,0.0798348529046,0.999999952815,0.000119200103557,-0.0002785686618,5.06034402423e-05,1793245584562698496
+69,1.150000000,BASELINE,764,745,713.968224209,680,657.031775791,633.031775791,877.031775791,785,807,652,630,652,0.400971456533,0.00448485554364,0.0798361760757,0.999999953433,0.000117917051638,-0.00027693719258,5.0343747809e-05,1793245584579365120
+70,1.166666667,BASELINE,764,745,713.379629278,680,657.620370722,633.620370722,877.620370722,785,807,652,630,652,0.400971142499,0.00448533851524,0.079835397842,0.999999953024,0.000118085225691,-0.000278240624475,5.08913340791e-05,1793245584596031488
+71,1.183333333,BASELINE,764,745,713.205248616,680,657.794751384,633.794751384,878,784.794751384,807,652,630,652,0.400970987889,0.00448533373051,0.0798347454146,0.99999995282,0.000118050579492,-0.000278930270421,5.12002094599e-05,1793245584612698112
+72,1.200000000,BASELINE,764,745,713.783373845,680,657.216626155,633.216626155,878,784.216626155,807,652,630,652,0.400971122908,0.00448444283551,0.0798343215403,0.999999952993,0.000117647468332,-0.000278504847317,5.10754171726e-05,1793245584629364736
+73,1.216666667,BASELINE,764.361119813,745,714,680,657,633,878,784.361119813,806.638880187,652,630,652,0.400969463903,0.00448415886154,0.0798337653708,0.999999952584,0.000118448979014,-0.000279626698459,5.10862990265e-05,1793245584646031616
+74,1.233333333,BASELINE,764.938638478,745,714,680,657,633,878,784.938638478,806.061361522,652,630,652,0.40096672984,0.00448423858138,0.0798331299244,0.999999951823,0.000119972352028,-0.000281675744306,5.11784827912e-05,1793245584662698240
+75,1.250000000,BASELINE,764.486927506,745,714,680,657,633,878,785,806.513072494,651.486927506,630,652,0.400968750774,0.00448727841116,0.0798348237633,0.999999951909,0.000124132110357,-0.00027953871795,5.12947886449e-05,1793245584679364864
+76,1.266666667,BASELINE,764,745,713.910292937,680,657,633,878,785,807,651.089707063,629.910292937,652,0.400970752352,0.00448980707266,0.0798361900255,0.999999952043,0.000127098708075,-0.000277713582222,5.13358068497e-05,1793245584696031232
+77,1.283333333,BASELINE,764,745,713.319312814,680,657,633,878,785,807,651.680687186,629.319312814,652,0.40096948705,0.00448751299242,0.0798341784896,0.999999951988,0.000121646716034,-0.000280412049376,5.0940101857e-05,1793245584712697856
+78,1.300000000,BASELINE,764,745,713.266425185,680,657,633,878,784.733574815,807,652,629.266425185,652,0.400968410198,0.00448617342085,0.0798327630741,0.999999951949,0.00011838130598,-0.00028199048508,5.0694842337e-05,1793245584729364480
+79,1.316666667,BASELINE,764,745,713.846001646,680,657,633,878,784.153998354,807,652,629.846001646,652,0.400967554848,0.00448595576143,0.0798320483278,0.99999995196,0.000117685964677,-0.000282252456181,5.06264136955e-05,1793245584746031104
+80,1.333333333,BASELINE,763.577694868,745,714,680,657.422305132,633,878.422305132,784,807,652,629.577694868,652,0.400968192556,0.00448688918911,0.0798331888433,0.99999995201,0.000119480753843,-0.000281323167515,5.06110292434e-05,1793245584762697728
+81,1.350000000,BASELINE,763.002575683,745,714,680,657.997424317,633,878.997424317,784,807,652,629.002575683,652,0.400969370539,0.00448823914567,0.0798350006982,0.999999952066,0.000122176614001,-0.000279962813226,5.06148391946e-05,1793245584779364352
+82,1.366666667,BASELINE,763.554263045,745,714,680.554263045,658,633,878.445736955,785.108526091,807,652,629.554263045,652,0.400970066977,0.00448928502501,0.0798347591047,0.999999952045,0.000124470391026,-0.000279024171575,5.06287306015e-05,1793245584796031488
+83,1.383333333,BASELINE,764,745,714,680.87802538,657.87802538,633,878,785.87802538,806.87802538,652,630,652.12197462,0.400970483783,0.00448967776343,0.07983451826,0.99999995204,0.000125823665167,-0.000278418264561,5.07102637949e-05,1793245584812698112
+84,1.400000000,BASELINE,764,745,714,680.266329598,657.266329598,633,878,785.266329598,806.266329598,652,630,652.733670402,0.400969786575,0.00448745367069,0.079834317511,0.999999952122,0.000123408136798,-0.000279140650983,5.1063192829e-05,1793245584829365248
+85,1.416666667,BASELINE,764,745,714,680,657.326314914,633.326314914,878,785,806.326314914,652,630,652.673685086,0.400970830066,0.00448625018312,0.0798351434084,0.999999952622,0.000122101494549,-0.000277896541934,5.11999694126e-05,1793245584846031872
+86,1.433333333,BASELINE,764,745,714,680,657.904267978,633.904267978,878,785,806.904267978,652,630,652.095732022,0.400973215899,0.00448583373662,0.0798367610055,0.999999953442,0.00012164997135,-0.000275135967422,5.1170059745e-05,1793245584862697984
+87,1.450000000,BASELINE,764,745,714,680,658,633.520186228,878.479813772,785,807,652,630,652,0.400972219087,0.00448579546617,0.0798363939418,0.999999953365,0.000120887785804,-0.000275727670627,5.12892927701e-05,1793245584879364352
+88,1.466666667,BASELINE,764,745,714,680,657.943857221,633,878.943857221,785,807,652,630,652,0.400970582323,0.00448585812453,0.0798356235958,0.999999953088,0.000120159171557,-0.000277024607457,5.1413898298e-05,1793245584896030976
+89,1.483333333,BASELINE,764,745,714,680,657.355574957,633,878.355574957,785,807,652,630,652,0.400969244896,0.00448616581772,0.0798347652787,0.999999952607,0.000120333319862,-0.000278698108888,5.13087893491e-05,1793245584912697600
+90,1.500000000,BASELINE,764,745,714,680.228714301,657.228714301,633.228714301,878,785,807,652,629.771285699,652,0.40096923364,0.00448542818542,0.0798345103831,0.999999952579,0.000119739424212,-0.000279078553871,5.11908584272e-05,1793245584929364736
+91,1.516666667,BASELINE,764,745,714,680.806902225,657.806902225,633.806902225,878,785,807,652,629.193097775,652,0.400971248763,0.00448309330411,0.0798351775106,0.99999995324,0.000117971963527,-0.000277483218792,5.10533356427e-05,1793245584946031616
+92,1.533333333,BASELINE,763.615569278,745,714,680.615569278,657.615569278,633.615569278,878.384430722,785,807,652,629.384430722,652,0.400971034192,0.00448381891897,0.0798349392267,0.999999953126,0.000118549749935,-0.0002776677123,5.09304636662e-05,1793245584962698496
+93,1.550000000,BASELINE,763.038371388,745,714,680.038371388,657.038371388,633.038371388,878.961628612,785,807,652,629.961628612,652,0.400969701574,0.00448607917469,0.0798342469375,0.999999952623,0.000120303526071,-0.000278744674701,5.08149381109e-05,1793245584979365376
+94,1.566666667,BASELINE,763.547333302,745,714,680,657,633,878.452666698,784.452666698,807,652,629.452666698,652,0.4009707765,0.00448726634234,0.0798353810612,0.999999952719,0.000122773729183,-0.00027729783153,5.09339610345e-05,1793245584996031744
+95,1.583333333,BASELINE,764,744.86810625,714,680,657.13189375,633,877.86810625,784.13189375,807,652,629,652,0.400971578187,0.00448795942332,0.0798362783004,0.999999952851,0.00012414947773,-0.000276186701588,5.10416015296e-05,1793245585012698112
+96,1.600000000,BASELINE,764,744.289473216,714,680,657.710526784,633,877.289473216,784.710526784,807,652,629,652,0.400970873666,0.00448723781179,0.0798359326431,0.999999952983,0.00012164537696,-0.000276821428075,5.10541139188e-05,1793245585029364480
+97,1.616666667,BASELINE,764,744.289009711,713.710990289,679.710990289,657.710990289,633,877.289009711,785,807,652,629,652,0.400970940961,0.00448670769272,0.0798358297936,0.999999953077,0.000120687223082,-0.000276900782759,5.10452187057e-05,1793245585046031104
+98,1.633333333,BASELINE,764,744.867342335,713.132657665,679.132657665,657.132657665,633,877.867342335,785,807,652,629,652,0.40097178091,0.00448636927368,0.079835970015,0.99999995314,0.000121276691604,-0.000276424163743,5.10148926905e-05,1793245585062697728
+99,1.650000000,BASELINE,764,745,713.443717453,679.443717453,657,633.443717453,878,785,807,652,629.443717453,652,0.40097117958,0.0044861758074,0.07983560335,0.999999952967,0.000121578150897,-0.000276922505381,5.09836808232e-05,1793245585079364608
+100,1.666666667,BASELINE,764,745,714,680,657,633.980083185,877.980083185,785,807,652,630,652,0.40097024777,0.00448606314697,0.0798351357805,0.99999995275,0.000121754142324,-0.000277636332882,5.09399710887e-05,1793245585096031744
+101,1.683333333,BASELINE,764,745,714,680,657,633.392281498,877.392281498,785,807,652,630,652,0.400972125218,0.00448702427554,0.079836093089,0.999999953278,0.000120797025255,-0.000276219776427,5.05474299286e-05,1793245585112698112
+102,1.700000000,BASELINE,764,745,714,680,657,633,877.192712225,785,807,652,629.807287775,652,0.40097318302,0.00448764015141,0.0798366304331,0.999999953481,0.00012100164345,-0.000275401745334,5.05000215385e-05,1793245585129364224
+103,1.716666667,BASELINE,764,745,714,680,657,633,877.772072126,785,807,652,629.227927874,652,0.400972596327,0.00448756333033,0.0798363251828,0.999999953033,0.000123537106311,-0.000275784564223,5.1145069439e-05,1793245585146030848
+104,1.733333333,BASELINE,764.350993631,745,714,679.649006369,657,633,878,785,807,652,629.350993631,652,0.400972099514,0.00448710654391,0.0798360634626,0.999999953025,0.000122942679254,-0.00027606385194,5.12291963077e-05,1793245585162697472
+105,1.750000000,BASELINE,764.929630863,745,714,679.070369137,657,633,878,785,807,652,629.929630863,652,0.400971660994,0.00448640332373,0.0798358299746,0.9999999533,0.000120318302752,-0.000276275992579,5.09495272257e-05,1793245585179364352
+106,1.766666667,BASELINE,764.496328845,744.496328845,714,679.503671155,657.503671155,633.503671155,878,785,807,652,629.496328845,652,0.400971151977,0.00448648043167,0.079835604696,0.999999952998,0.000121061307638,-0.000277090471931,5.06792547847e-05,1793245585196030976
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657,633,878,785,807,652,629,652,0.400970313704,0.00448453408635,0.0798353773773,0.999999953203,0.000117905599615,-0.000277610947095,5.12242447818e-05,1793245585238740992
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.580358806,657.580358806,633.580358806,878,785,806.419641194,652,629.580358806,651.419641194,0.400970265364,0.00448413629409,0.0798352160841,0.99999995319,0.000117580155483,-0.000277787197337,5.12704001936e-05,1793245585255407616
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.840876393,877.840876393,785,806.159123607,652,630,651.159123607,0.400970366951,0.0044842920326,0.0798349918898,0.999999953108,0.000117955014106,-0.000277925300629,5.12682515681e-05,1793245585272074240
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.266273487,877.266273487,785,806.733726513,652,630,651.733726513,0.400970860009,0.00448589306615,0.0798346034579,0.999999952841,0.000120158396421,-0.000277963800455,5.11399788154e-05,1793245585288740864
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.691438448,680,658,633.308561552,877.308561552,785,806.691438448,652,630,652,0.400970791171,0.00448664591561,0.0798347731003,0.999999952737,0.000121453308611,-0.000277795353505,5.1034833362e-05,1793245585305407744
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.116402975,680,658,633.883597025,877.883597025,785,806.116402975,652,630,652,0.400970237081,0.00448666627274,0.0798354246961,0.999999952776,0.000121963665378,-0.000277448187206,5.09496606645e-05,1793245585322074368
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.471612431,680,657.528387569,633.528387569,878,785,806.471612431,652,630,652,0.400970687916,0.00448703095579,0.079835911339,0.99999995295,0.00012191044479,-0.000276864811077,5.0829341847e-05,1793245585338741248
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.938466122,745,714,680,657.061533878,633,878,785,807,652,629.938466122,652,0.400971590353,0.00448732084424,0.0798364307922,0.999999953193,0.000121606804785,-0.00027614386713,5.06970539432e-05,1793245585355407872
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.360203045,745,714,680,657.639796955,633,878,785,807,652,629.360203045,652,0.400974143294,0.00448624877945,0.0798375773357,0.999999953725,0.000120401435796,-0.000274771138773,5.05391634387e-05,1793245585372074496
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.216176992,745,714,679.783823008,657.783823008,633.216176992,878,785,807,652,629,652,0.400979913388,0.00448562299077,0.0798401003632,0.99999995481,0.000120095696045,-0.000270926579805,5.05541066845e-05,1793245585388741376
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.789446471,745,714,679.210553529,657.210553529,633.789446471,878,785,807,652,629,652,0.400990997745,0.00448573438443,0.0798448971389,0.999999956769,0.000121276011134,-0.000262998921603,5.08545457915e-05,1793245585405408768
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.373122955,657,633.626877045,878,785,807,652,629.373122955,652,0.401019859141,0.00448655496635,0.0798565113355,0.999999961917,0.000121306685251,-0.000242683241196,5.05455651066e-05,1793245585422075392
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.962840673,657,633.037159327,878,785,807,652,629.962840673,652,0.401059039961,0.00448778722615,0.0798720829885,0.999999968325,0.000120670002416,-0.000215176416361,4.98828213156e-05,1793245585438741760
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.542224019,633,878,785,807,652,630,652,0.401121303561,0.00448854080461,0.0798881162661,0.999999974876,0.000121786119665,-0.000181781164732,4.86925500735e-05,1793245585455408384
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.881793042,745,714,680,657.881793042,633,878,785,807,652,630,652,0.401188009517,0.00448905924651,0.0799034784526,0.999999979828,0.000122068147721,-0.000152303430388,4.73932595928e-05,1793245585472074496
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.316052716,745,714,680,657.316052716,633,878,785,807,652,630,652,0.401265657258,0.004488809334,0.0799161823491,0.999999982218,0.00011874602507,-0.000139156708465,4.58155331218e-05,1793245585488741120
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.258545483,745,714,680,657,633,878,784.741454517,807,652,629.741454517,652,0.40135149104,0.00449013476082,0.0799248416341,0.999999984036,0.000117317201482,-0.000127544746092,4.35523086516e-05,1793245585505407744
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.844355878,745,714,680,657,633,878,784.155644122,807,652,629.155644122,652,0.401447686646,0.00449345424021,0.0799283812797,0.99999998524,0.0001182849017,-0.000117875471522,4.04213861132e-05,1793245585522074368
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.56618283,744.56618283,714,680,657.43381717,633,878,784.43381717,807,652,629,652,0.401558591378,0.00449381819539,0.0799322190992,0.999999986544,0.000114708594813,-0.000111393220433,3.66806222109e-05,1793245585538741504
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,744.024124639,714,680,657.975875361,633,878,785,807,652,629,652,0.401676124282,0.00449323923619,0.0799362409262,0.999999987866,0.000109585319383,-0.000105788318765,3.2691719646e-05,1793245585555408640
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,744.603504283,714,680,657.396495717,633,878,785,807,652,629,652,0.401823717839,0.00449557095547,0.0799420147732,0.999999989511,0.00010669825088,-9.38358172349e-05,2.80702426073e-05,1793245585572075264
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.181363807,745,714,680.181363807,657.181363807,633,877.818636193,785,807,652,629,652,0.401981456893,0.00449778462779,0.079948617524,0.999999991032,0.000103977673904,-8.1135064976e-05,2.3270588857e-05,1793245585588741888
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.755927611,745,714,680.755927611,657.755927611,633,877.244072389,785,807,652,629,652,0.402161191545,0.00449974237189,0.0799570173521,0.999999992441,0.000101618053949,-6.68120932509e-05,1.80846453974e-05,1793245585605408768
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680.662089098,658,633,877.337910902,785,807,652,629.337910902,652,0.402354930934,0.00450315445079,0.0799611670114,0.999999993479,9.69396231917e-05,-5.92497447004e-05,1.16059592327e-05,1793245585622075136
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680.074626354,658,633,877.925373646,785,807,652,629.925373646,652,0.402559013031,0.0045076405761,0.0799621778633,0.999999994285,9.05487185673e-05,-5.66802077343e-05,4.17256428393e-06,1793245585638741504
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.504893515,877.495106485,785,807,651.495106485,630,652,0.402781656054,0.00450987128913,0.0799567929371,0.999999994225,8.25571220172e-05,-6.87357040057e-05,-3.24230590787e-06,1793245585655408128
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.91675185,714,680,657.91675185,633.91675185,877.08324815,785,807,651.08324815,629.91675185,652,0.403013791066,0.00451226002305,0.0799511294359,0.999999993844,7.49877657977e-05,-8.10787363509e-05,-1.07278824415e-05,1793245585672075008
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.338452944,714,680,657.338452944,633.338452944,877.661547056,785,807,651.661547056,629.338452944,652,0.403286310483,0.00451754016494,0.0799493438789,0.999999993882,7.13144860288e-05,-8.24759847169e-05,-1.86499608865e-05,1793245585688741632
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.761516251,744.238483749,714,680,657.238483749,633,877.761516251,785,807,652,629.238483749,652,0.403581326203,0.00452227546289,0.0799504247736,0.999999993283,8.02853611363e-05,-8.04578348899e-05,-2.2688402744e-05,1793245585705408256
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.186501847,744.813498153,714,680,657.813498153,633,877.186501847,785,807,652,629.813498153,652,0.403908087026,0.00452624191701,0.0799555505934,0.999999991329,0.000107098734044,-7.3620127233e-05,-2.12465429632e-05,1793245585722074880
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.39780602,745,714,680,658,633,877.39780602,785,807,652,629.60219398,652,0.404259136127,0.00453543318931,0.0799567009696,0.999999987962,0.000136126162494,-7.14846306735e-05,-2.08480353326e-05,1793245585738741760
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.986575111,745,714,680,658,633,877.986575111,785,807,652,629.013424889,652,0.40462184458,0.00454713258674,0.0799559429712,0.999999983403,0.000166216426814,-7.16063868635e-05,-2.09503792032e-05,1793245585755408640
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.567999707,745,713.432000293,680,658,633,877.432000293,785,807,652,629.567999707,652,0.405043374157,0.00455039804807,0.0799590067988,0.999999994561,8.20601911928e-05,-5.96491608228e-05,-2.42046107324e-05,1793245585772074752
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.852614906,745,713.147385094,680,658.147385094,633,877.294770188,785,807,652,630,652,0.405469410475,0.00455452393418,0.0799597912455,0.999999997879,2.51095544373e-05,-5.34350470075e-05,-2.75035966245e-05,1793245585788741120
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.278635915,745,713.721364085,680,658.721364085,633,878.442728171,785,807,652,630,652,0.405904518486,0.00456170985344,0.0799537200967,0.999999995946,5.46191840752e-05,-6.46596796491e-05,-3.07192500055e-05,1793245585805408000
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.699458483,633,878.699458483,785,807,652,630,652,0.406363617142,0.00457083775498,0.0799450623369,0.999999992126,9.11851310323e-05,-8.04942576031e-05,-3.08698517987e-05,1793245585822074880
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.11537661,633,878.11537661,785,807,652,630,652,0.406845349382,0.00458179778475,0.0799339642858,0.999999985504,0.000134408233836,-0.00010067800471,-2.81287875129e-05,1793245585838741760
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.407362966094,0.00459125251708,0.0799311069453,0.999999983489,0.000143214531845,-0.000107590770983,-3.06023205313e-05,1793245585855408384
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.948175531,658,633.051824469,878,784.948175531,807,651.948175531,629.948175531,651.948175531,0.407892121125,0.00460028440946,0.0799295193042,0.99999998274,0.000143884875586,-0.000112501057504,-3.40765542275e-05,1793245585872075008
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.371996998,658,633.628003002,878,784.371996998,807,651.371996998,629.371996998,651.371996998,0.408448645251,0.00460878718768,0.079920253846,0.999999979976,0.000147955794257,-0.00013020347386,-3.46881777399e-05,1793245585888741888
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.202201802,745,714,679.202201802,658,633.797798198,878,784.202201802,807,651.202201802,629.202201802,651.202201802,0.40903357566,0.00461331763305,0.0799213003878,0.999999979404,0.000151762531524,-0.000130254457486,-3.45445660347e-05,1793245585905408512
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.772793707,745,714,679.772793707,658,633.227206293,878,784.772793707,807,651.772793707,629.772793707,651.772793707,0.409670259254,0.00461061091144,0.0799411342936,0.999999982612,0.000155087958189,-9.81464136104e-05,-3.3024996329e-05,1793245585922075136
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.642962166,745,713.642962166,680.357037834,658,633,878,784.642962166,807,652,630,652,0.410353972485,0.00460497477007,0.0799701814737,0.999999988063,0.00014237877768,-5.00895087717e-05,-3.30799373963e-05,1793245585938741760
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.049684861,745,713.049684861,680.950315139,658,633,878,784.049684861,807,652,630,652,0.411068803559,0.00459740033402,0.0800053247551,0.999999992292,0.000119060056885,8.52019941964e-06,-3.41766772436e-05,1793245585955408128
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,680.466194391,658,633,878,784.533805609,807.533805609,652,629.466194391,652,0.411744260024,0.00458618660512,0.0799897277547,0.999999992518,0.000115421753634,-2.03769180464e-05,-3.50357829532e-05,1793245585972075008
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.114520656,680,658.114520656,633,878,784.885479344,808,651.885479344,629,652,0.412420689872,0.00457549034109,0.0799660534478,0.999999991386,0.000111191133828,-5.94775383873e-05,-3.64228661075e-05,1793245585988742144
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.687702461,680,658.687702461,633,878,784.312297539,808,651.312297539,629,652,0.413115431681,0.00456819877322,0.0799286033824,0.999999988689,9.7383934535e-05,-0.000107410476062,-4.00115157485e-05,1793245586005408512
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.73920977,745,714,680.26079023,658.73920977,633.26079023,878,784.26079023,808,651.26079023,629.26079023,652,0.413845070693,0.00457094627911,0.0799130409753,0.999999986767,9.87884278338e-05,-0.000122068719716,-4.25071112133e-05,1793245586022075136
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.166234494,745,714,680.833765506,658.166234494,633.833765506,878,784.833765506,808,651.833765506,629.833765506,652,0.41461648431,0.00458571129213,0.0799236796967,0.999999987342,0.000118402431923,-9.68947189928e-05,-4.36942411429e-05,1793245586038741760
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.420182252,745,713.579817748,681,658.420182252,633.579817748,878.420182252,784.579817748,808,652,629.579817748,652,0.415422420366,0.00459743855281,0.0799437149418,0.999999989481,0.000121365156855,-6.62899102416e-05,-4.37575250624e-05,1793245586055408384
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.011872184,681,659,633,878.988127816,784.011872184,808,652,629,652.011872184,0.416242014443,0.00460772282482,0.0799667918072,0.999999991496,0.000117980678293,-3.47334840867e-05,-4.33749626821e-05,1793245586072074752
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.592999382,681,659,633,878.407000618,784.592999382,808,652,629,652.592999382,0.417039973568,0.00460834726396,0.0799515708179,0.999999987677,0.000136564114822,-6.39733205729e-05,-4.36381863729e-05,1793245586088741376
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.828121608,659,633,878.171878392,785,808,652,629.171878392,652.828121608,0.417869255917,0.00460735122974,0.0799503491108,0.999999986366,0.000145250182113,-6.45962680515e-05,-4.46985087399e-05,1793245586105408256
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.254497509,659,633,878.745502491,785,808,652,629.745502491,652.254497509,0.418771752601,0.0046025675279,0.0799818490948,0.99999999031,0.000130802301122,1.66942906645e-06,-4.76219563177e-05,1793245586122075392
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.683011818,680.316988182,659.316988182,633.316988182,879,784.683011818,807.683011818,652,630,652,0.419639644902,0.0045975147917,0.0799912915784,0.999999991052,0.000122034119514,2.43552230333e-05,-4.91028324162e-05,1793245586138742016
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.113231495,680.886768505,659.886768505,633.886768505,879,784.113231495,807.113231495,652,630,652,0.420479940811,0.00459224750587,0.0799831436169,0.999999991765,0.000117795392827,1.22868571183e-05,-4.94332847535e-05,1793245586155408640
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713,681.478748719,659.521251281,633.521251281,879,784,807.957497438,651.521251281,629.521251281,652,0.421334118061,0.0045973004626,0.0799698415035,0.99999999163,0.000118447317211,-1.01376506516e-05,-5.10599127137e-05,1793245586172075008
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.073715155,682,659,633,879,784,808.926284845,651.073715155,629.073715155,652,0.422205547163,0.00460486333301,0.0799612437183,0.9999999908,0.000122287619998,-2.62596358686e-05,-5.24914461135e-05,1793245586188741632
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.651452925,682,659,633,879,784,808.348547075,651.651452925,629.651452925,652,0.423171394352,0.00461208656059,0.0799935518632,0.999999988814,0.000139634713883,1.82733723891e-05,-5.03909845233e-05,1793245586205408256
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879,784,808.227986435,652,630,652,0.42409389425,0.00461659408837,0.080003405774,0.999999987334,0.000150073323023,2.15071275692e-05,-4.84535746373e-05,1793245586222074880
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879,784,808.802688627,652,630,652,0.424950472876,0.00461697165262,0.0799791118828,0.999999986931,0.000150005693462,-3.80659251322e-05,-4.67641291822e-05,1793245586238741504
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879,784,808.613361012,652,630,652,0.425824343203,0.00461763320409,0.0799459858706,0.999999984507,0.00014651182503,-8.45969296156e-05,-4.86119963829e-05,1793245586255408384
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633,879,784,808.024575462,652,630,652,0.426707254102,0.00461844323263,0.0799082421598,0.999999980933,0.000141226615244,-0.00012430915307,-5.23092777621e-05,1793245586272075520
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.555794002,745,713.444205998,682,659.555794002,633,879,784.555794002,808.555794002,651.444205998,630,652,0.427650039996,0.00461203421155,0.0799047914569,0.999999980838,0.000139848831585,-0.000126639360203,-5.22379266759e-05,1793245586288741888
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.134798305,682,659.865201695,633,879,785,808.865201695,651,630,652,0.428590957697,0.00460650926917,0.079908812817,0.999999982011,0.000136559630989,-0.000120985945267,-5.18878173473e-05,1793245586305408768
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.710536116,682,659.289463884,633,879,785,808.289463884,651,630,652,0.42951723327,0.00460490481588,0.0799323899997,0.999999986226,0.00012646125148,-9.45434668236e-05,-5.11628169567e-05,1793245586322075136
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.708362393,745,714,682,659.291637607,633,879,784.708362393,808,651,630,652,0.430450801581,0.00460717367465,0.0799693153778,0.999999989838,0.000125893640574,-4.3382259314e-05,-5.09116458274e-05,1793245586338741760
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.12183749,745,714,682,659.87816251,633,879,784.12183749,808,651,630,652,0.431391743836,0.00461335900551,0.0800197376875,0.999999989048,0.000134962998797,3.27731141391e-05,-5.11395836421e-05,1793245586355408384
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.458819163,745,714,682,660,633,879,784,808,651,630,652,0.432280353111,0.00462025769639,0.0800201740161,0.99999998811,0.000142397813602,2.93834975505e-05,-5.13853536926e-05,1793245586372075008
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962164223,745,713.962164223,682.037835777,659.962164223,633,879,784,808.037835777,651,630,652,0.433153598416,0.00462687774498,0.080003877016,0.999999987652,0.000148376841071,7.6121821186e-07,-5.1770445659e-05,1793245586388741376
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.384595131,745,713.384595131,682.615404869,659.384595131,633,879,784,808.615404869,651,630,652,0.434003409951,0.00462685478956,0.0799358347932,0.999999984703,0.000139702368129,-9.02935534056e-05,-5.40762895416e-05,1793245586405408512
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,683,659,633,878.807592435,784.192407565,809,651,630,652,0.43486392399,0.00462451550095,0.0798974759267,0.999999979868,0.000133036660547,-0.000139432171627,-5.5888642065e-05,1793245586422075392
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713,683,659,633,878.231718461,784.768281539,809,651,630,652,0.435745768166,0.00461755978276,0.0799182756888,0.999999984377,0.000130374403107,-0.000105032320406,-5.67174722212e-05,1793245586438742272
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713,683,659.35179783,633,878.703595659,784.64820217,809,651,630,652,0.436602483942,0.00461189998031,0.0799462568418,0.999999987484,0.000130070182161,-7.11126483204e-05,-5.5295620083e-05,1793245586455408640
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713,683,659.940459624,633,879.880919248,784.059540376,809,651,630,652,0.437442280821,0.00460711271276,0.0799790731933,0.999999989299,0.00013135361715,-3.75162808295e-05,-5.23583931759e-05,1793245586472074752
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.501680847,745,713.501680847,683.501680847,659.498319153,632.498319153,879.498319153,784.501680847,809,651.501680847,630,652.501680847,0.43827145617,0.00461803459205,0.0799872981405,0.999999989834,0.00013040765037,-2.20305280949e-05,-5.33054279404e-05,1793245586488741120
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.935842059,683.935842059,659,632.064157941,879.064157941,785,809,652,630,653,0.439090071451,0.00463035259161,0.0799863480015,0.999999989543,0.000132524367369,-1.94306874695e-05,-5.45317664691e-05,1793245586505407744
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.33717736,683.33717736,659,632.66282264,879.66282264,785,809,652,630,653,0.439830667057,0.00463957491095,0.0799320130163,0.999999979609,0.000162246639727,-0.000107206555835,-5.44436221751e-05,1793245586522074368
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.75122747,745,713.24877253,683.24877253,658.75122747,632.75122747,880,784.75122747,809,652,630,653,0.44051382904,0.00464951568855,0.0798556146799,0.999999957011,0.000176169116432,-0.000227920064901,-5.47266464602e-05,1793245586538741248
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.181672858,745,713.818327142,683.818327142,658.181672858,632.181672858,880,784.181672858,809,652,630,653,0.441122932639,0.0046603828882,0.0797507665517,0.999999907577,0.000169718393578,-0.000391105315762,-5.54882769983e-05,1793245586555408128
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713.594648265,684,658,632,880,784,809,652,630.405351735,653,0.441781128211,0.00467072203046,0.0796967706812,0.999999873099,0.000182499417395,-0.000466132090491,-5.6712486796e-05,1793245586572074752
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713,684,657.999456352,631.999456352,879.999456352,784,809.000543648,652,630.999456352,653,0.442462377836,0.00468081219573,0.0796666805145,0.99999985257,0.000204280956854,-0.000499748712203,-5.81503319127e-05,1793245586588741632
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713,684,657.42041788,631.42041788,879.42041788,784,809.57958212,652,630.42041788,653,0.443208216357,0.00468914585567,0.079730172641,0.999999891914,0.000218513361498,-0.00040650478848,-5.63700737975e-05,1793245586605408256
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.15784122,745,713,684,657,631,879.15784122,784,810,652,630,653,0.443929159398,0.00469653947287,0.0797802195511,0.999999916284,0.000229792720841,-0.00033411530366,-5.47234158159e-05,1793245586622074624
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.734034752,745,713,684,657,631,879.734034752,784,810,652,630,653,0.444584118052,0.00470144154342,0.0797946304269,0.999999921127,0.000233245150423,-0.000316999725154,-5.34308607913e-05,1793245586638741248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,684,656.683406969,631,880,783.683406969,810,652,630,653,0.445185839503,0.00470890133716,0.0797867212704,0.999999912912,0.000244396362717,-0.000334134543888,-5.29249047461e-05,1793245586655408128
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,684,656.095392093,631,880,783.095392093,810,652,630,653,0.445741919544,0.00471855392035,0.0797596766815,0.999999891789,0.000262147902242,-0.000380632946833,-5.30933164868e-05,1793245586672074752
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,684.937590756,655,630,880,783.062409244,810,652,630,653.937590756,0.446814431746,0.00475190670431,0.0797146977617,0.99999986273,0.000289255644046,-0.000432835415552,-5.93720683379e-05,1793245586705408512
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,684.359021552,655,630,880,783.640978448,810,652,630,653.359021552,0.447324839001,0.00478062992628,0.079702478689,0.999999850921,0.000313072612937,-0.00044263037981,-6.49722682779e-05,1793245586722074880
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,712.782409397,684,654.782409397,630,880.217590603,783.782409397,810,652,630,653,0.447814130361,0.00479932004968,0.079689907184,0.999999837623,0.00033187695411,-0.000458225160931,-6.81221080083e-05,1793245586738741504
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,712.208997615,684,654.208997615,630,880.791002385,783.208997615,810,652,630,653,0.448268891308,0.00480160326248,0.0796767593554,0.999999822298,0.000342484252047,-0.000483304255566,-6.72649264911e-05,1793245586755408384
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,712.374956184,684,653.625043816,629.625043816,880.625043816,782.625043816,810,652,630,653,0.448687936462,0.00480208251317,0.0796619926611,0.999999809326,0.000347045227633,-0.000506318819886,-6.74386396712e-05,1793245586772075008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.877467637,745,713,685,653,629,880.122532363,783,810,652,629.877467637,653,0.449878412135,0.0048193433727,0.0796616181866,0.999999800825,0.000381779598001,-0.000498041285205,-6.74502584806e-05,1793245586822074624
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.301491568,745,713,685,653,629,880.698508432,783,810,652,629.301491568,653,0.450246851359,0.00481901228788,0.0796817330633,0.99999981176,0.000387111387059,-0.0004714825028,-6.57998884151e-05,1793245586838741504
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.273174055,745,713,684.726825945,652.453651891,629,880.726825945,782.726825945,810,652,629.273174055,653,0.450591770934,0.0048207942632,0.0796937332794,0.999999817738,0.000391358894743,-0.000455006692952,-6.58053141252e-05,1793245586855408640
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.84640026,745,713,684.15359974,651.30719948,629,880.15359974,782.15359974,810,652,629.84640026,653,0.450910856697,0.00482489720655,0.0796968204173,0.999999818859,0.000394415436529,-0.000449605939692,-6.76294525319e-05,1793245586872075264
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,684.432854902,651,628.567145098,880,782.432854902,810,652,630,653,0.45117498046,0.00483010731787,0.0796903155749,0.999999824452,0.000361999286378,-0.000464095761503,-6.83173794746e-05,1793245586888741888
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,744.976315845,713,685,650.976315845,628,880,782.976315845,810,652,630,653,0.451417120082,0.00483544277559,0.0796798347511,0.999999828552,0.000318922006411,-0.000486308845279,-6.84690394906e-05,1793245586905408256
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,744.396464824,713,685,650.396464824,628,880,782.396464824,810,652,630,653,0.451615443672,0.00483420495936,0.079658435887,0.999999808617,0.000330401186856,-0.00051891377916,-6.57941196455e-05,1793245586922074880
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,744.181828427,713,685,650,627.818171573,880.181828427,782,810,652,629.818171573,653,0.451808331588,0.00483520634105,0.07963974574,0.999999789489,0.000343302243515,-0.000546887142559,-6.38708979207e-05,1793245586938741504
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,685,649.661341534,627.338658466,880.661341534,782,810,652,629.338658466,653,0.452158825025,0.00484516675795,0.0796210705991,0.999999764683,0.00037024777841,-0.000573941925729,-6.43451254007e-05,1793245586972074752
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,685,649.074318458,627.925681542,880.074318458,782,810,652,629.925681542,653,0.45231954325,0.00484802032409,0.0796203582037,0.999999760361,0.000377548085987,-0.000576534382836,-6.59025209835e-05,1793245586988741632
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.089003101,745,712,684,648,627,880,782.910996899,810,652.089003101,629.089003101,653,0.452589447858,0.00485648657158,0.0796236536657,0.999999757605,0.000389313186053,-0.000572895082926,-7.08230314226e-05,1793245587022075136
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+217,3.616666667,POSE1_TO_POSE2_PRESS,764.185953466,745,712.814046534,684.814046534,648,627.814046534,880,782,810,652.185953466,630,653,0.452861114968,0.00483921134023,0.0796068740921,0.999999753924,0.000364384160957,-0.000594431260122,-7.76349371439e-05,1793245587072074752
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.398796325,745,712.601203675,685,648,627.601203675,880,782,810,652,630,653,0.452926334113,0.00483284799825,0.0796027504875,0.999999752201,0.000358808200238,-0.000600752016729,-7.71407112595e-05,1793245587088741376
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764.430696925,745,712.569303075,684.430696925,647.430696925,627,880,782,810,652,630,653,0.453028025583,0.00483903098798,0.0795965645226,0.999999742732,0.000368496799313,-0.000610567587612,-7.71618348838e-05,1793245587122074880
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,713,684.148808827,647,627,880,782,810.148808827,652,629.851191173,653,0.453068605654,0.00484236631408,0.0795954115453,0.999999740013,0.000373905657231,-0.000611815888005,-7.64814825095e-05,1793245587138741504
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,712.703094493,685,647,627,879.703094493,782,810.703094493,652,629.296905507,653,0.453129707709,0.0048357591681,0.0795991125782,0.999999745075,0.000371291690776,-0.000605469776848,-7.34706764638e-05,1793245587172075520
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745,712.130602475,685,647,627,879.130602475,782,810.130602475,652,629.869397525,653,0.453150525685,0.00484011145189,0.0795996001507,0.99999974304,0.00037589206278,-0.000605906138968,-7.41854826853e-05,1793245587188741888
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684.797708816,647,627,880.797708816,782,810,652,630,653,0.453178366888,0.00484017278056,0.07959193357,0.999999735305,0.000377394657523,-0.000617875803685,-7.20597077582e-05,1793245587255408128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684.223451443,647,627,880.223451443,782,810,652,630,653,0.453179770343,0.0048410930145,0.0795902851155,0.999999733426,0.000376237995262,-0.000621593320773,-7.221859044e-05,1793245587272075520
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.046921367,745,712.046921367,684.953078633,647,627,880,782,810,652,629.046921367,653,0.453184359322,0.00483829566527,0.079589807172,0.999999734138,0.000374168644545,-0.00062179273914,-7.1376607321e-05,1793245587305408000
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.534457707,745,712,685,647,627,880,782,810,652,629.534457707,653,0.453184389431,0.00483949405508,0.0795891667002,0.999999732859,0.000375222689849,-0.000623250190967,-7.10580270541e-05,1793245587322074368
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,712.113602849,684.886397151,647,627,880,782,810,652,630,653,0.453184517666,0.00484034924014,0.0795887480002,0.999999731937,0.000376131683798,-0.000624218294958,-7.07263200006e-05,1793245587338740992
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,744.733865463,713,684,647,627,880.266134537,782,810,652,630,653,0.453187047779,0.00483896547006,0.0795896264074,0.999999733554,0.000375412545803,-0.000622103077043,-7.03276503354e-05,1793245587372074752
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,744.148817491,713,684,647,627,880.851182509,782,810,652,630,653,0.45318788629,0.0048414808333,0.0795890497592,0.999999732695,0.000375179465112,-0.000623540571004,-7.10458227878e-05,1793245587388741632
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,744.434166248,712.565833752,684,647,627,880.565833752,782,810,652,630,653,0.453187714008,0.0048420934812,0.0795886235549,0.999999731646,0.000376660365533,-0.000624362083994,-7.07579368007e-05,1793245587405408256
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,712.016297727,684,646.983702273,627,880,782,810,651.983702273,630,653,0.453187218527,0.00484198151812,0.0795882572794,0.999999730599,0.000378563930589,-0.000624957247902,-7.01386496587e-05,1793245587422074624
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,712.593336306,684,646.406663694,627,880,782,810,651.406663694,630,653,0.453187467115,0.00483927152807,0.0795881870917,0.999999731974,0.000374891993533,-0.00062499466463,-6.99256911127e-05,1793245587438741248
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.16993709,745,713.16993709,684.16993709,646.16993709,627,880,782,809.83006291,651.16993709,630,653,0.45318763593,0.00483705859478,0.079588118649,0.999999733164,0.000371623978808,-0.000625068563962,-6.96979981443e-05,1793245587455407872
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.74549288,745,713.74549288,684.74549288,646.74549288,627,880,782,809.25450712,651.74549288,630,653,0.453187614335,0.00483603207431,0.0795880543714,0.999999733935,0.000369320076689,-0.000625229542746,-6.94351359564e-05,1793245587472074496
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,685,646.517078393,627,880,782,810,652,630,653,0.453188655119,0.00483930324803,0.0795877726281,0.999999733124,0.000371451533416,-0.000625180180322,-7.01780847859e-05,1793245587522075392
+245,4.083333333,HOLD_POSE2,764,745,713,684,646,627,880,782,810,652,629,653,0.453190384342,0.0048400008399,0.0795887617927,0.999999732639,0.000374980415677,-0.000623887454756,-6.98220047049e-05,1793245587565498368
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,744.560067675,712.560067675,684.439932325,649.560067675,628,880,782.439932325,810,652,629,653,0.449041620205,0.00478891062118,0.0795507748983,0.999999692544,0.000370189591829,-0.000691246364781,7.02928057958e-06,1793245588414867712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.134391415,650,628,880,782.134391415,810,652,629.134391415,653,0.448610380014,0.00478258096815,0.0795415595552,0.999999688624,0.000349818448426,-0.000707339533883,6.99931702633e-06,1793245588431534592
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.986874334,657,633,878,785,807.986874334,652,630,652,0.400971704098,0.00448472406364,0.0798318714088,0.999999950251,0.000126900002438,-0.00028419461828,5.12530854871e-05,1793245590064868352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.396989642,657,633,878,785,807.396989642,652,630,652,0.400969275857,0.00448373866884,0.0798310495942,0.999999950013,0.000125042803201,-0.000285860636031,5.1197815288e-05,1793245590081534720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.188529536,657,633,878,785,807,652,630,652,0.400968026506,0.00448332663618,0.0798306908589,0.99999994994,0.000123855652844,-0.000286638158461,5.11611442356e-05,1793245590098201344
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.341361071,633,878,785,807,652,630,652,0.400969344727,0.00448509499972,0.0798313594015,0.999999950179,0.000124959843415,-0.000285368691005,5.09089548984e-05,1793245590131534848
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.5100721,680,657.5100721,633,878,785,807,652,629.5100721,652,0.400968002307,0.00448517262015,0.0798305903082,0.999999949902,0.000125260761362,-0.000286224455682,5.08071074108e-05,1793245590164867840
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,878,785,807,652,629,652,0.400968633709,0.00448505984084,0.0798315186877,0.999999950233,0.000124630224101,-0.000285298097492,5.10527290554e-05,1793245590198201344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,713.248227498,680,657,633.248227498,878,785,807,652,629.248227498,652,0.400968158823,0.00448566371507,0.0798316288049,0.999999950097,0.000124979830643,-0.000285645026998,5.09125653136e-05,1793245590214867968
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.822801146,680,657,633.822801146,878,785,807,652,629.822801146,652,0.400965458196,0.00448565266404,0.079830232293,0.999999949406,0.000124920701814,-0.000288104167274,5.07773641565e-05,1793245590231534848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.599627042,680,657,633.599627042,878,785,807,652,629.599627042,652,0.400965205145,0.00448438888914,0.0798298184425,0.999999949273,0.000124667645833,-0.000288652695527,5.09046003201e-05,1793245590248201728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.020718311,680,657,633.020718311,878,785,807,652,629.020718311,652,0.400966043526,0.00448256649503,0.079829842784,0.999999949391,0.000124328113153,-0.00028834923654,5.11488635008e-05,1793245590264868352
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b1b3d6a1cba8564b2f832950267b1d47a69f5c7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d16d352880508d9fd5ab36cc9c4bac2ddccc206
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:162b2620852e99ca48e11e94b1b42041a74be0080041ea4da78f021e1368000a
+size 25759862
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2eaeb946f710f792e38f3f2e476c3071c1455c6f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/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,764,745,714,680,657,633,879,785,807,652,630,652,0.400965620631,0.00448297418885,0.0798308760309,0.999999949863,0.000125113431381,-0.000286340881815,5.12694191652e-05,1793245590380430848
+1,0.016666667,BASELINE,764,745,713.411872315,680,657,633,878.411872315,785,807,651.411872315,629.411872315,652,0.400967441376,0.00448464069304,0.0798317849996,0.999999950495,0.000125653546337,-0.000283997262545,5.06626907502e-05,1793245590397097728
+2,0.033333333,BASELINE,763.82606233,745,713.17393767,680,657.17393767,633,878,784.82606233,807,651.17393767,629.17393767,652,0.400968941647,0.0044855382901,0.0798326654899,0.999999951115,0.000125044396905,-0.000282153799486,5.024006063e-05,1793245590413764352
+3,0.050000000,BASELINE,763.245668217,745,713.754331783,680,657.754331783,633,878,784.245668217,807,651.754331783,629.754331783,652,0.400969693037,0.00448463911019,0.0798334794322,0.999999951711,0.000121749653855,-0.000281479097819,5.02476301159e-05,1793245590430430720
+4,0.066666667,BASELINE,763.332079896,745,713.667920104,680,657.667920104,633,878.332079896,784.332079896,807.332079896,652,629.667920104,652,0.400969902814,0.00448455390572,0.0798334290596,0.999999951656,0.00012176988675,-0.000281653599481,5.03027148798e-05,1793245590447097344
+5,0.083333333,BASELINE,763.907885972,745,713.092114028,680,657.092114028,633,878.907885972,784.907885972,807.907885972,652,629.092114028,652,0.400969715081,0.00448506610912,0.079832744333,0.999999951125,0.000124223107921,-0.000282451364099,5.03926729297e-05,1793245590463763712
+6,0.100000000,BASELINE,764,745,713.482643255,680,657,633,879,785,807.517356745,652,629.482643255,652,0.400968708211,0.0044845493845,0.0798326454023,0.999999950983,0.000124274315189,-0.000282923496103,5.04462858431e-05,1793245590480430080
+7,0.116666667,BASELINE,764,745,714,680,657,633,878.941216945,785,806.941216945,652,630,652,0.400967853125,0.00448402944654,0.0798328153887,0.999999950958,0.00012415372615,-0.000283057186945,5.04804548792e-05,1793245590497096704
+8,0.133333333,BASELINE,764,745,714,680,657,633,878.350766352,785,806.350766352,652,630,652,0.400969781773,0.00448525271496,0.0798344086149,0.99999995132,0.000126616644763,-0.000280690706118,5.04013648009e-05,1793245590513763840
+9,0.150000000,BASELINE,764,745,714,680,657,633,878,785,806.234556796,652,630,652,0.400969720044,0.00448630059657,0.0798341637105,0.999999951145,0.000128190894881,-0.000280612175796,5.03289750305e-05,1793245590530430720
+10,0.166666667,BASELINE,764,745,714,680,657,633,878,785,806.812376127,652,630,652,0.400966745496,0.00448709180795,0.0798312287908,0.999999950191,0.000128464621392,-0.000283881950659,5.02663908441e-05,1793245590547097344
+11,0.183333333,BASELINE,764.387830569,745,713.612169431,680,657,633,878,785,807,652,630,652,0.400966007825,0.00448672846304,0.0798309487826,0.99999995017,0.000126904523328,-0.000284660260853,5.02453961789e-05,1793245590563763968
+12,0.200000000,BASELINE,764.962147916,745,713.037852084,680,657,633,878,785,807,652,630,652,0.400966345745,0.00448580995443,0.0798319453778,0.999999950596,0.00012446263808,-0.00028424056052,5.02443996628e-05,1793245590580430336
+13,0.216666667,BASELINE,765,745,713,680.551767515,657,633.551767515,878,785,807,652,630,652,0.400967497945,0.00448560044297,0.0798321216086,0.999999950801,0.000124111943683,-0.000283637141444,5.04333856582e-05,1793245590597096704
+14,0.233333333,BASELINE,764.86024578,745,713.13975422,680.86024578,657,633.86024578,878,785,807,652.13975422,630,652,0.400968236507,0.00448577062376,0.0798320941704,0.999999950798,0.000124794686653,-0.00028332232756,5.05895696987e-05,1793245590613763072
+15,0.250000000,BASELINE,764.280793364,745,713.719206636,680.280793364,657,633.280793364,878,785,807,652.719206636,630,652,0.400967492911,0.00448697800974,0.0798316080582,0.999999950178,0.000128264627573,-0.000283956314482,5.06003768064e-05,1793245590630429696
+16,0.266666667,BASELINE,764,745,713.703579735,680,657,633,878,785,807,652.703579735,630,652,0.400966735524,0.00448686941331,0.0798314125184,0.999999949993,0.000128272431732,-0.000284609486531,5.056996305e-05,1793245590647096576
+17,0.283333333,BASELINE,764,745,713.128471003,680,657,633,878,785,807,652.128471003,630,652,0.400965965171,0.00448552355617,0.0798314901689,0.999999950217,0.000125025203227,-0.000285280696019,5.05007942525e-05,1793245590663763200
+18,0.300000000,BASELINE,764,745,713.446512731,680,657.446512731,633,878,785,807,652,630,652,0.400967033246,0.00448615460686,0.0798318447393,0.999999950379,0.00012562597833,-0.000284480813659,5.0302778046e-05,1793245590680430336
+19,0.316666667,BASELINE,764,745,714,680,657.977922302,633,878,785,807,652,630,652,0.40096852666,0.00448728541583,0.0798322599843,0.999999950518,0.000127227203903,-0.000283318565705,5.0084765472e-05,1793245590697097216
+20,0.333333333,BASELINE,764,745,714,680,657.386439218,633,878,785,807,652,630,652,0.40096735153,0.00448663974183,0.0798321857512,0.999999950536,0.000126084518527,-0.000283723884578,5.03068845133e-05,1793245590713763584
+21,0.350000000,BASELINE,764,745,714,680,657,633.200955723,878,785,807,652,629.799044277,652,0.400966699729,0.00448606892728,0.0798321617972,0.999999950537,0.000125554711269,-0.00028392556526,5.04847759274e-05,1793245590730429952
+22,0.366666667,BASELINE,764,745,714,680,657,633.780645818,878,785,807,652,629.219354182,652,0.400967034228,0.00448563919784,0.0798322326025,0.999999950505,0.000126179974549,-0.000283743455971,5.05793130221e-05,1793245590747096576
+23,0.383333333,BASELINE,764,745,714,680,657,633.643949106,878,785,807,652,629.356050894,652,0.400967549922,0.004484901825,0.0798328052305,0.999999950854,0.000125324988893,-0.000282876959201,5.0654248484e-05,1793245590763763200
+24,0.400000000,BASELINE,764,745,714,680,657,633.071152475,878,785,807,652,629.928847525,652,0.400968175918,0.00448397717443,0.0798336833428,0.999999951432,0.000123568902778,-0.000281593842006,5.07172514743e-05,1793245590780430080
+25,0.416666667,BASELINE,763.484307703,744.484307703,713.484307703,680,657.515692297,633,878,785,807,652,630,652,0.400968498509,0.00448492308471,0.0798341714922,0.999999951686,0.00012312882808,-0.00028096292304,5.02705488585e-05,1793245590797096448
+26,0.433333333,BASELINE,763.10260232,744,713.10260232,680,658,633,878,785,807,652,630,652,0.400968506731,0.00448577611165,0.0798343211376,0.999999951734,0.000123095345751,-0.000280863849586,4.99507919882e-05,1793245590813763072
+27,0.450000000,BASELINE,763.680582878,744,713.680582878,680,658,633,878,785,807,652,630,652,0.400967257805,0.00448496951826,0.0798331586933,0.999999951036,0.000124080851198,-0.000282800324849,5.05541635978e-05,1793245590830429952
+28,0.466666667,BASELINE,764,744.257510364,714,680,657.742489636,633,878,785,806.742489636,652,629.742489636,652,0.400966919037,0.00448551131504,0.0798327622731,0.999999950695,0.000125385231875,-0.000283409813124,5.06657081444e-05,1793245590847096576
+29,0.483333333,BASELINE,764,744.833136901,714,680,657.166863099,633,878,785,806.166863099,652,629.166863099,652,0.400967704637,0.00448771884958,0.0798333121633,0.999999950797,0.000127083535929,-0.000282380004065,5.0169672669e-05,1793245590863763200
+30,0.500000000,BASELINE,764,745,713.591286315,680,657,633,878,785,806.408713685,652,629,652,0.400968862963,0.00448766889293,0.0798338341607,0.999999951103,0.000127003272774,-0.000281363830437,4.99860058428e-05,1793245590880429824
+31,0.516666667,BASELINE,764,745,713.015729854,680,657,633,878,785,806.984270146,652,629,652,0.400970173442,0.00448669739602,0.079834344772,0.999999951492,0.000126196972991,-0.000280353223012,4.99298523816e-05,1793245590897096448
+32,0.533333333,BASELINE,764,744.424998728,713.575001272,680,657,633,878,785,807,652,629,652,0.400966930917,0.00448565815133,0.0798323886749,0.999999950748,0.000124798974132,-0.000283621569242,4.9872458889e-05,1793245590913763072
+33,0.550000000,BASELINE,764,744.163042197,713.836957803,680,657,633.163042197,877.836957803,785.163042197,807,652,629,652,0.40096486164,0.00448519001763,0.0798311989333,0.999999950316,0.000123750464219,-0.00028560784683,4.98095739266e-05,1793245590930429696
+34,0.566666667,BASELINE,764,744.743111492,713.256888508,680,657,633.743111492,877.256888508,785.743111492,807,652,629,652,0.400966120494,0.00448618753287,0.0798321466432,0.99999995079,0.00012363839679,-0.000284007346527,4.97327320868e-05,1793245590947096320
+35,0.583333333,BASELINE,763.678595151,745,713.321404849,680,657,633.678595151,877.321404849,785.678595151,807,652,629.321404849,652,0.400966889014,0.00448650153056,0.0798324927403,0.999999950938,0.000124043189794,-0.000283281161753,4.98905514625e-05,1793245590963762944
+36,0.600000000,BASELINE,763.10171338,745,713.89828662,680,657,633.10171338,877.89828662,785.10171338,807,652,629.89828662,652,0.400967267779,0.00448627221683,0.0798323606302,0.999999950828,0.00012485882261,-0.00028324994902,5.02348973401e-05,1793245590980429824
+37,0.616666667,BASELINE,763.470959789,745,714,680,657,633,878,785,807,652,630,652,0.400968516463,0.00448675006597,0.0798332053562,0.999999951179,0.000124913779005,-0.000282024888945,5.00109646427e-05,1793245590997096960
+38,0.633333333,BASELINE,764,745,714,680,657,633,878,785,807,652,629.955687076,652.044312924,0.400969586839,0.00448727858491,0.0798340336088,0.99999995152,0.000124828528035,-0.000280905285672,4.96944652387e-05,1793245591013764352
+39,0.650000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629.362761927,652.637238073,0.400966144285,0.00448656035041,0.0798320691814,0.999999950547,0.00012502333631,-0.000284255119085,4.97379583463e-05,1793245591030430464
+40,0.666666667,BASELINE,764,745,714,680,657,633,878,785,807,652,629.224597968,652.775402032,0.400964863271,0.00448635468761,0.0798313758765,0.999999950123,0.000125627191852,-0.000285461789316,4.98345030093e-05,1793245591047096576
+41,0.683333333,BASELINE,764,745,714,680,657,633,878,785,807,652,629.803186393,652.196813607,0.400966989075,0.00448695689278,0.0798326859969,0.999999950574,0.000126875749693,-0.000283290604593,5.00146626043e-05,1793245591063763200
+42,0.700000000,BASELINE,763.620831582,745,714,680,657,633,878,785,807,652,629.620831582,652,0.40096728086,0.00448628786063,0.0798328969118,0.999999950804,0.000125771234363,-0.000282946866795,5.01543297858e-05,1793245591080429824
+43,0.716666667,BASELINE,763.046193234,745,714,680,657,633,878,785,807,652,629.046193234,652,0.400966627167,0.00448496347674,0.0798325411613,0.999999950917,0.000123453656334,-0.000283545219455,5.02731222029e-05,1793245591097096448
+44,0.733333333,BASELINE,763.540823298,745,713.459176702,679.459176702,657,633,878.540823298,785,806.459176702,652,629,652,0.400966846962,0.00448621651266,0.0798329100422,0.999999950866,0.000125091750915,-0.000283048466823,5.00431830404e-05,1793245591113763584
+45,0.750000000,BASELINE,764,745,713.127021941,679.127021941,657,633,878.872978059,785,806.127021941,652,629,652,0.400967295114,0.00448702366643,0.0798334194444,0.999999950934,0.00012626486955,-0.000282311688747,4.98863561402e-05,1793245591130430720
+46,0.766666667,BASELINE,764,745,713.706453608,679.706453608,657,633,878.293546392,785,806.706453608,652,629,652,0.400968284653,0.00448544028878,0.0798342037311,0.999999951491,0.000124550348843,-0.000281060967878,5.00985040331e-05,1793245591147097344
+47,0.783333333,BASELINE,764,745,714,680,657,633,878,785,807,652,629,652,0.400968962378,0.00448405869981,0.0798345308341,0.999999951868,0.000122995585383,-0.000280380446433,5.02222647999e-05,1793245591163763712
+48,0.800000000,BASELINE,764,745,714,680,657,633,878,785,807,652,629,652,0.400969319935,0.0044828843069,0.079834388502,0.999999952063,0.000121604860157,-0.000280285404533,5.02552698576e-05,1793245591180430080
+49,0.816666667,BASELINE,764,744.566290116,714,680,657,633,878,785,807,652,629,652,0.400968562326,0.00448515772909,0.0798339476698,0.999999951661,0.000123741403376,-0.000280836040428,4.99642936775e-05,1793245591197096960
+50,0.833333333,BASELINE,764,744.005169849,714,680,657,633,877.994830151,785,807,652,629,652,0.400967468763,0.00448848509553,0.0798334235255,0.999999951071,0.000126948891124,-0.000281575855442,4.95750071548e-05,1793245591213763840
+51,0.850000000,BASELINE,764,744.599741632,714,680,657,633,877.400258368,785,807,652,629,652,0.400968394466,0.00448730908111,0.0798341938895,0.999999951637,0.000124718400803,-0.000280538059757,4.96916317229e-05,1793245591230429952
+52,0.866666667,BASELINE,764,745,714,680,657.189418483,633,877.189418483,785,807,652,629,652,0.400968716074,0.00448612768779,0.0798344796738,0.999999951974,0.000122723095333,-0.000280197805146,4.97953703403e-05,1793245591247096320
+53,0.883333333,BASELINE,764,745,714,680,657.769012424,633,877.769012424,785,807,652,629,652,0.400967793329,0.00448493521472,0.0798337672919,0.999999951847,0.000121212237745,-0.000281294387197,4.98725657034e-05,1793245591263763200
+54,0.900000000,BASELINE,764,745,714,680,657.655137612,633,878,784.655137612,807,652,629,652,0.400967025202,0.00448515265266,0.0798334250364,0.999999951594,0.000121323934187,-0.000282156714174,4.98014853247e-05,1793245591280429824
+55,0.916666667,BASELINE,764,745,714,680,657.08176844,633,878,784.08176844,807,652,629,652,0.400966359526,0.00448630430162,0.0798333280275,0.999999951258,0.000122510739535,-0.000282863823042,4.96321570213e-05,1793245591297096448
+56,0.933333333,BASELINE,764,745,713.494884914,680,657,633.505115086,877.494884914,784.505115086,806.494884914,652,629.505115086,652,0.400966993859,0.00448628666359,0.0798332083746,0.999999951114,0.000123852195883,-0.000282779205178,4.96871308444e-05,1793245591313763072
+57,0.950000000,BASELINE,764,745,713,680,657,633.907386184,877.092613816,785,806.092613816,652,630,652,0.400967909103,0.0044862230516,0.0798332630469,0.999999951086,0.000125190890823,-0.000282276218119,4.97561035327e-05,1793245591330429440
+58,0.966666667,BASELINE,764,745,713,680,657,633.328460668,877.671539332,785,806.671539332,652,630,652,0.400969163977,0.00448693928484,0.0798342528714,0.999999951504,0.000126380013349,-0.000280267882516,4.9702678707e-05,1793245591347096064
+59,0.983333333,BASELINE,764,745,713,680,657,633,878,785,807,652,630,652,0.400969740381,0.00448694376439,0.079835019869,0.999999951825,0.000126256004418,-0.000279172640932,4.97181979596e-05,1793245591363762688
+60,1.000000000,BASELINE,764,745,713,680,657,633,878,785,807,652,630,652,0.400969427038,0.00448601484698,0.0798354946505,0.999999952023,0.00012440994905,-0.000279274834748,4.98241307855e-05,1793245591380429568
+61,1.016666667,BASELINE,764,745,713.400080882,679.599919118,657.400080882,633,878,785,807,652,629.599919118,652,0.400968852743,0.00448515081502,0.0798352168431,0.999999952029,0.000123224346859,-0.000279748070082,4.99808282858e-05,1793245591397096704
+62,1.033333333,BASELINE,764,745,713.968969826,679.031030174,657.968969826,633,878,785,807,652,629.031030174,652,0.400968168342,0.00448431416056,0.0798346214922,0.999999951955,0.000122317412981,-0.000280377860751,5.01589451643e-05,1793245591413764352
+63,1.050000000,BASELINE,764,745,713.438876903,679,658,633,878,785,806.438876903,652,629,652,0.400968414291,0.00448519960249,0.0798341150556,0.99999995188,0.000122897360229,-0.000280455411226,4.98014855108e-05,1793245591430430464
+64,1.066666667,BASELINE,764,745,713.151451757,679.151451757,658,633,878,785,806.151451757,652,629,651.848548243,0.400968945028,0.00448575684933,0.079834056657,0.999999951986,0.000123153565658,-0.000280011109835,4.95509794987e-05,1793245591447096832
+65,1.083333333,BASELINE,764,745,713.732791652,679.732791652,658,633,878,785,806.732791652,652,629,651.267208348,0.400970131774,0.00448510052748,0.0798352554315,0.999999952602,0.000122247360665,-0.000278175990977,4.96917598445e-05,1793245591463763200
+66,1.100000000,BASELINE,764,744.689698037,714,680,657.689698037,633,877.689698037,785,806.689698037,651.689698037,629.310301963,651.310301963,0.400969773041,0.00448479163634,0.0798350246549,0.999999952571,0.000121879426187,-0.000278432206581,4.97836965116e-05,1793245591480429568
+67,1.116666667,BASELINE,764,744.115445299,714,680,657.115445299,633,877.115445299,785,806.115445299,651.115445299,629.884554701,651.884554701,0.400968099684,0.00448477827868,0.0798335778654,0.999999951989,0.000121969358402,-0.000280467364787,4.98340854907e-05,1793245591497096192
+68,1.133333333,BASELINE,764,744.459551092,713.540448908,679.540448908,657,633,877.459551092,785,806.459551092,651.459551092,630,652,0.400967913418,0.00448491019073,0.0798334999572,0.999999951661,0.000122627133605,-0.000281334869797,4.99081086071e-05,1793245591513763072
+69,1.150000000,BASELINE,764,745,713.035667404,679.035667404,657,633,877.964332596,785,806.964332596,651.964332596,630,651.964332596,0.400968104819,0.00448513687199,0.0798337719579,0.999999951417,0.000123430577908,-0.000281842568149,4.99640630542e-05,1793245591530429696
+70,1.166666667,BASELINE,764,745,713.626296872,679.626296872,657,633,877.373703128,785,806.373703128,651.373703128,630,651.373703128,0.400968350447,0.00448626936312,0.0798341290763,0.999999951474,0.000124277404463,-0.000281323327309,4.96463515487e-05,1793245591547096320
+71,1.183333333,BASELINE,764,744.787735463,714,680,657,633,877.212264537,785,806.212264537,651.212264537,629.787735463,651.212264537,0.400968442897,0.00448707861879,0.0798343090326,0.999999951587,0.000124768325799,-0.00028072924467,4.94973452658e-05,1793245591563763200
+72,1.200000000,BASELINE,764,744.209798678,714,680,657,633,877.790201322,785,806.790201322,651.790201322,629.209798678,651.790201322,0.400968271466,0.00448733103065,0.0798341837886,0.999999951798,0.000124646122426,-0.000280006230524,4.96389706997e-05,1793245591580430080
+73,1.216666667,BASELINE,764,744,714,679.6328045,657,633,878,784.6328045,807,652,629,652,0.400967261148,0.00448645635338,0.079833483094,0.999999951657,0.000122881837246,-0.000281293482272,4.95897632047e-05,1793245591597096960
+74,1.233333333,BASELINE,764,744,714,679.05634754,657,633,878,784.05634754,807,652,629,652,0.400965772755,0.00448493935798,0.0798324544552,0.999999951306,0.000120181744211,-0.000283726366766,4.94318017069e-05,1793245591613764096
+75,1.250000000,BASELINE,764,744.530219651,714,679,657.530219651,633,877.469780349,784.530219651,807,652,629,652,0.400966546365,0.00448637000343,0.0798327865166,0.999999951463,0.000121999093564,-0.000282413767031,4.93215270385e-05,1793245591630430208
+76,1.266666667,BASELINE,764,745,713.883772027,679.116227973,657.883772027,633,877.116227973,785,807,652,629.116227973,652,0.400967280291,0.00448772826913,0.0798331925719,0.999999951596,0.000123991036915,-0.000281079950872,4.92713216678e-05,1793245591647096576
+77,1.283333333,BASELINE,764,745,713.304355946,679.695644054,657.304355946,633,877.695644054,785,807,652,629.695644054,652,0.400966879461,0.00448752546107,0.0798333060296,0.99999995144,0.000124728385125,-0.000281278676569,4.94399140667e-05,1793245591663763200
+78,1.300000000,BASELINE,763.726375019,745,713,680,657,633,877.726375019,785,807,651.726375019,629.726375019,652,0.400966933443,0.00448671470333,0.0798332157997,0.999999951507,0.000124165583883,-0.000281292153133,4.94268710909e-05,1793245591680429568
+79,1.316666667,BASELINE,763.149982139,745,713,680,657,633,877.149982139,785,807,651.149982139,629.149982139,652,0.400967490676,0.00448523124516,0.0798329001879,0.999999951818,0.000122164158395,-0.000281100650255,4.92128473279e-05,1793245591697096192
+80,1.333333333,BASELINE,763.422240963,745,713.422240963,680,657,633,877,785,806.577759037,651.422240963,629.422240963,652,0.400968117622,0.00448505318452,0.0798336852123,0.99999995221,0.000121202615229,-0.000280093111244,4.93822576737e-05,1793245591713763328
+81,1.350000000,BASELINE,763.992997468,745,713.992997468,680,657,633,877,785,806.007002532,651.992997468,629.992997468,652,0.400968769088,0.00448533427348,0.0798348573653,0.999999952628,0.000120606831504,-0.000278798546419,4.96865339432e-05,1793245591730430208
+82,1.366666667,BASELINE,764,745,714.587921524,680,658.175843048,633,877.587921524,785,806.587921524,652,629.412078476,652,0.400970996879,0.00448618153723,0.0798362637688,0.999999953077,0.000122193265462,-0.000276493331807,4.96521160294e-05,1793245591747096832
+83,1.383333333,BASELINE,764,745,714.821629582,680,658.643259164,633,878,785,807,652,629.178370418,652,0.400971866567,0.00448686666741,0.0798368978182,0.999999953196,0.000123452733117,-0.000275506628269,4.9629692162e-05,1793245591763763456
+84,1.400000000,BASELINE,764,745,714.241925132,680,657.483850263,633,878,785,807,652,629.758074868,652,0.400969636463,0.00448717117333,0.0798357875217,0.999999952583,0.000123915537502,-0.000277514824071,4.96437207109e-05,1793245591780429568
+85,1.416666667,BASELINE,764,745,713.665709178,680,657.334290822,633,878,784.665709178,807,652,630,652,0.40096896858,0.00448650662669,0.0798351296165,0.99999995229,0.000124336603979,-0.000278372175977,4.97022764192e-05,1793245591797095936
+86,1.433333333,BASELINE,764,745,713.091991799,680,657.908008201,633,878,784.091991799,807,652,630,652,0.400969419594,0.00448514802295,0.0798347957242,0.999999952227,0.000124727776806,-0.000278405267647,4.97927234735e-05,1793245591813762560
+87,1.450000000,BASELINE,764,745,713,680,657.505839429,633,878.494160571,784.494160571,807,652,629.505839429,652,0.400968199075,0.00448690426436,0.079833842892,0.999999951745,0.000125530404656,-0.000279800068528,4.96431920076e-05,1793245591830429696
+88,1.466666667,BASELINE,764,745,713,680,657,633,879,785,807,651.918645218,629.081354782,652,0.400967031692,0.00448889025245,0.0798330833604,0.999999951314,0.00012629028665,-0.0002810193319,4.95015687255e-05,1793245591847096320
+89,1.483333333,BASELINE,764,745,713,680,657,633,879,785,807,651.339604266,629.660395734,652,0.400968142068,0.0044886429097,0.0798342293945,0.999999951708,0.000126308004828,-0.000279573982397,4.96886695226e-05,1793245591863763200
+90,1.500000000,BASELINE,764,745,713.238338573,680,657,633,878.523322854,785,807,651.238338573,629.761661427,652,0.400968867602,0.00448812385586,0.0798349396385,0.99999995201,0.000125760141581,-0.000278719082535,4.9797174126e-05,1793245591880430080
+91,1.516666667,BASELINE,764,745,713.814723859,680,657,633,877.370552283,785,807,651.814723859,629.185276141,652,0.400969047296,0.00448721942153,0.0798350317812,0.999999952184,0.000124410087819,-0.000278701645055,4.97942020669e-05,1793245591897096704
+92,1.533333333,BASELINE,764,745,713.612214178,680,657,633,877.387785822,785,807,652,629.387785822,652,0.400968252414,0.00448690582836,0.0798344528311,0.999999951923,0.000124372072892,-0.000279645208001,4.9834288712e-05,1793245591913763328
+93,1.550000000,BASELINE,764,745,713.040726487,680,657,633,877.959273513,785,807,652,629.959273513,652,0.400966995857,0.00448687212833,0.0798335559708,0.999999951455,0.000124955596777,-0.00028104401599,4.98947731226e-05,1793245591930429696
+94,1.566666667,BASELINE,764,745,713,680,657,633,878,785,807,652,630,652,0.400968862546,0.00448752453196,0.0798344619356,0.999999951777,0.000126270501567,-0.000279295288167,4.99539666407e-05,1793245591947096064
+95,1.583333333,BASELINE,764,744.857353998,713.142646002,680,657,633,878,784.857353998,807,652,630,652,0.400970568032,0.00448793828601,0.0798353080139,0.999999952142,0.0001270288155,-0.000277642766782,4.99433764315e-05,1793245591963762944
+96,1.600000000,BASELINE,764,744.279885864,713.720114136,680,657,633,878,784.279885864,807,652,630,652,0.400971051603,0.00448746409475,0.0798355498625,0.999999952466,0.000125919426174,-0.000277019715103,4.9720369218e-05,1793245591980429568
+97,1.616666667,BASELINE,764,744.296422201,713.703577799,680,657,633,877.703577799,784.296422201,806.703577799,652,629.703577799,652,0.40096985541,0.00448748399385,0.0798347911506,0.999999952128,0.000126195332309,-0.000278173614114,4.93708682747e-05,1793245591997096448
+98,1.633333333,BASELINE,764,744.871639148,713.128360852,680,657,633,877.128360852,784.871639148,806.128360852,652,629.128360852,652,0.400967079343,0.0044879686011,0.0798330913788,0.999999951161,0.000127774154066,-0.000280998793227,4.89023958668e-05,1793245592013763840
+99,1.650000000,BASELINE,764,745,713,680,657.457451364,633,877.457451364,785,806.457451364,652,629.457451364,652,0.400968265494,0.00448739933156,0.0798334015481,0.999999951638,0.000125256446114,-0.000280437606987,4.88828598567e-05,1793245592030430464
+100,1.666666667,BASELINE,764,745,713,680,657.954420382,633,877.954420382,785,807,652,629.954420382,652,0.400970256981,0.00448656094018,0.0798342114583,0.999999952417,0.000121975599067,-0.000279081695851,4.90009204075e-05,1793245592047096832
+101,1.683333333,BASELINE,764,745,713,680,657.374815516,633,877.374815516,785,807,652,629.374815516,652,0.400968349002,0.00448611630648,0.0798341119361,0.99999995201,0.000123540646507,-0.000279811516823,4.92201881124e-05,1793245592063762944
+102,1.700000000,BASELINE,764,745,713.203175229,680,657.203175229,633.203175229,877.203175229,785,807,652,629,652,0.400967101284,0.00448590986068,0.0798338392955,0.999999951657,0.000124545646954,-0.000280594220224,4.93993810137e-05,1793245592080429568
+103,1.716666667,BASELINE,764,745,713.77821167,680,657.77821167,633.77821167,877.77821167,785,807,652,629,652,0.400967062007,0.00448613935801,0.0798332498051,0.999999951408,0.000124525621916,-0.000281473711543,4.95052270314e-05,1793245592097096704
+104,1.733333333,BASELINE,764,744.647449965,714,680,657.647449965,633.647449965,878,785,807,652,629.352550035,652,0.400968473632,0.00448573553533,0.0798341888949,0.999999952043,0.000122942948991,-0.000279905737632,4.95248728591e-05,1793245592113763328
+105,1.750000000,BASELINE,764,744.073549834,714,680,657.073549834,633.073549834,878,785,807,652,629.926450166,652,0.400970796212,0.0044849340799,0.0798360877103,0.99999995322,0.000120379160681,-0.000276801111946,4.94903975262e-05,1793245592130429440
+106,1.766666667,BASELINE,764,744.515027259,714,680,657.515027259,633,877.484972741,785,806.484972741,652,630,652,0.400970171478,0.00448552006125,0.0798351585427,0.999999953069,0.000120597478377,-0.000277269964978,4.94021387916e-05,1793245592147096832
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.400969547575,0.00448643467399,0.0798352403591,0.999999952755,0.000122320500496,-0.000277667644281,4.92846797338e-05,1793245592189511424
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806.42464078,652,630,651.42464078,0.400967761003,0.00448665217695,0.0798341111315,0.999999951999,0.000123223412084,-0.000279984618544,4.92549067586e-05,1793245592206178048
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806.154057519,652,629.845942481,651.154057519,0.40096667707,0.00448685361779,0.0798333847352,0.999999951487,0.000123918955692,-0.000281511945301,4.9195514063e-05,1793245592222844672
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806.742163622,652,629.257836378,651.742163622,0.400967572779,0.00448700980457,0.0798337932939,0.999999951677,0.000124030251638,-0.000280814484199,4.90526694291e-05,1793245592239510528
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.675272399,633,877.675272399,785,807,652,629.324727601,652,0.40096780254,0.00448713882988,0.0798339047368,0.999999951793,0.000123880913311,-0.000280481285732,4.8965009453e-05,1793245592256176640
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.097035103,633,877.097035103,785,807,652,629.902964897,652,0.400967512405,0.00448724665063,0.0798337842261,0.999999951853,0.000123528101928,-0.000280432461379,4.89204312739e-05,1793245592272843520
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.480837203,633.480837203,877.480837203,785,807,652,629.519162797,652.480837203,0.400966919303,0.00448685842289,0.0798339972848,0.999999951978,0.000122966558578,-0.00028017875234,4.92283707238e-05,1793245592289510144
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744.941666639,713.941666639,680,657.941666639,633.941666639,878,784.941666639,807,652,629.058333361,652.941666639,0.400966535463,0.00448626792321,0.0798343418001,0.999999952139,0.000122177837452,-0.000279890048406,4.95635431588e-05,1793245592306177024
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744.366849203,713.366849203,680,657.366849203,633.366849203,878,784.366849203,807,652,629.633150797,652.366849203,0.400968545353,0.00448477216273,0.07983525467,0.9999999525,0.000119750357242,-0.000279657305248,4.95104434881e-05,1793245592322843904
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.213265166,713.213265166,680.213265166,657.213265166,633.213265166,878,784.426530331,807,652,629.786734834,652,0.400976899028,0.0044846765084,0.0798390277427,0.999999954134,0.000119843274371,-0.000273721951377,4.94626208207e-05,1793245592339510272
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.80272309,713.80272309,680.80272309,657.80272309,633.80272309,878,785.605446181,807,652,629.19727691,652,0.400996442932,0.00448705059556,0.079847846119,0.999999957831,0.000124382090003,-0.000257727379163,4.94241066107e-05,1793245592356176896
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.61472631,745,714,680.22945262,657.61472631,633.61472631,878,785.61472631,807,651.61472631,629.38527369,652,0.401030852157,0.00448678758172,0.0798611886092,0.999999964032,0.000122952506013,-0.000233247709231,4.91439640338e-05,1793245592372843264
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.035650217,745,714,679.071300433,657.035650217,633.035650217,878,785.035650217,807,651.035650217,629.964349783,652,0.401072739016,0.00448519803964,0.0798768068436,0.999999970878,0.000118520666501,-0.000204499819107,4.87422762479e-05,1793245592389509888
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.541304535,745,714,679.541304535,657,633,878,785,806.458695465,651.541304535,630,652,0.401136544903,0.00448675513267,0.0798931120648,0.999999976806,0.000121423248196,-0.000171492150049,4.7282428038e-05,1793245592406176768
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,877.882469036,785,806.117530964,652,630,652,0.401203905041,0.00448829491806,0.0799081052077,0.999999981024,0.000123794580177,-0.000143291280374,4.57687049039e-05,1793245592422843392
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,877.308530308,785,806.691469692,652,630,652,0.401279483437,0.00448896587244,0.0799178281509,0.999999982456,0.000122234432685,-0.000134841835968,4.43153406819e-05,1793245592439510272
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.72661871,745,714,680,657.27338129,633,877.27338129,785,807,652,629.72661871,652,0.401364548763,0.00448953311736,0.0799247192595,0.999999983832,0.000120390919781,-0.000126767392941,4.21040586038e-05,1793245592456177408
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.135438898,745,714,680,657.864561102,633,877.864561102,785,807,652,629.135438898,652,0.401460642389,0.00448997980275,0.0799283184346,0.999999985155,0.000118218002169,-0.00011912887961,3.90117171411e-05,1793245592472844288
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.446183232,745,714,680,657.553816768,633.446183232,878,785,807,652,629,652,0.401572928361,0.00449289178395,0.0799312536722,0.999999986036,0.000116680473635,-0.000114381409173,3.50830100519e-05,1793245592489510656
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633.975206091,878,785,806.975206091,652,629.024793909,652,0.401691543524,0.00449636509974,0.0799341896309,0.999999986845,0.000115127095769,-0.000110013854818,3.08784673635e-05,1793245592506176768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633.400390043,878,785,806.400390043,652,629.599609957,652,0.401843813381,0.00449603807601,0.0799415186999,0.999999989202,0.000109033216801,-9.50146090399e-05,2.60687251471e-05,1793245592522843392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,877.821364388,785,806.178635612,652,629.821364388,652,0.402002824263,0.00449693514126,0.0799480456572,0.999999990952,0.000104477587558,-8.204880116e-05,2.11822440395e-05,1793245592539510016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657,633,877.232675778,785,806.767324222,652,629.232675778,652,0.402177308959,0.00450064206818,0.0799527313884,0.999999991799,0.00010345296796,-7.37506945932e-05,1.61196116521e-05,1793245592556176640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.649818957,713.649818957,680,657,633.350181043,877,785,807.350181043,652,629,652,0.402375409976,0.00450387076263,0.0799573433133,0.999999993007,9.75446508828e-05,-6.6174177935e-05,9.60104352188e-06,1793245592572843520
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744.070773505,713.070773505,680,657,633.929226495,877,785,807.929226495,652,629,652,0.402588945701,0.00450678690371,0.0799619070016,0.999999994342,8.84445431446e-05,-5.90692629281e-05,2.13093315945e-06,1793245592589510656
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744.507001301,713.507001301,680,657.507001301,633.492998699,877.507001301,785,807.492998699,652,629,652,0.402815135106,0.00451080298844,0.0799580399171,0.999999994271,8.24367932379e-05,-6.80607723256e-05,-5.54007143174e-06,1793245592606177280
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.084065052,657.915934948,633,878,784.915934948,807,652,629.084065052,652,0.403049916219,0.00451479156667,0.0799533450955,0.999999993921,7.66636580232e-05,-7.81277376149e-05,-1.32648363148e-05,1793245592622844160
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680.65801645,657.34198355,633,878,784.34198355,807,652,629.65801645,652,0.403324497666,0.00451772731924,0.0799506676955,0.999999994031,6.97484787952e-05,-8.14006692999e-05,-2.11398778402e-05,1793245592639510528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.76139489,680.76139489,657.23860511,633,878,784.23860511,807,652,630,652,0.403619436051,0.00452155162778,0.0799513191419,0.999999993481,7.78653987444e-05,-7.97677851463e-05,-2.47484191224e-05,1793245592656177152
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.17102114,680.17102114,657.82897886,633,878,784.82897886,807,652,630,652,0.403944386065,0.00452668590862,0.0799568782108,0.999999991395,0.000108143709828,-7.09023977909e-05,-2.20669815222e-05,1793245592672844032
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.409897974,680,658,633,878,785,806.590102026,652,630,652,0.404306202052,0.00453604961498,0.0799601631982,0.999999988021,0.00013927513648,-6.41177023464e-05,-2.12113239118e-05,1793245592689510400
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.986961267,680,658,633,878,785,806.013038733,652,630,652,0.404683052776,0.00454713817303,0.0799625207655,0.999999983506,0.000170754481405,-5.81815585443e-05,-2.11002591867e-05,1793245592706176768
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,806.561771806,652,630,652,0.405094856709,0.00455098643708,0.079962587946,0.999999995005,8.04335556943e-05,-5.40579877956e-05,-2.44749548012e-05,1793245592722843904
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.140220157,745,714,680,658,633.140220157,877.859779843,785,807,652,629.859779843,652,0.405512949238,0.00455617515697,0.0799613543613,0.999999998068,1.74927532287e-05,-5.2742023885e-05,-2.7871654891e-05,1793245592739510528
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.730512019,745,714,680,658,633.730512019,877.269487981,785,807,652,629.269487981,652,0.405948632956,0.00456620364052,0.0799561155931,0.999999996374,5.14730110277e-05,-6.03032848013e-05,-3.10803375065e-05,1793245592756177408
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.684941148,745,714,680,658,633.684941148,877.315058852,784.684941148,807,652,629.315058852,652,0.40641038878,0.00457593290582,0.0799473600893,0.999999992497,9.08966563307e-05,-7.5877686479e-05,-3.14044377977e-05,1793245592772844032
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.105220305,745,714,680,658,633.105220305,877.894779695,784.105220305,807,652,629.894779695,652,0.406894046258,0.00458541081698,0.0799356503866,0.999999985653,0.000134892967725,-9.81834465082e-05,-2.93053742892e-05,1793245592789510400
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.469432307,878.469432307,784.469432307,807,652,630,652,0.407415643883,0.00459438071946,0.0799316236385,0.999999983097,0.000145765187972,-0.000107579845233,-3.13993811666e-05,1793245592806176768
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.957142542,878.957142542,784.957142542,807,652,630,652,0.407947817728,0.00460332599624,0.0799288847979,0.999999981692,0.000149325067073,-0.000114654997711,-3.42481320297e-05,1793245592822843392
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.384996181,878.384996181,784.384996181,807,652,630,652,0.408506705108,0.00461335838765,0.0799210110221,0.999999979395,0.000153291421434,-0.000128416429657,-3.49348020083e-05,1793245592839510016
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.194977019,878,784,807.194977019,652,629.805022981,652,0.409093134929,0.00462278717661,0.0799227260806,0.999999978463,0.000160711070949,-0.000126308846645,-3.59309625247e-05,1793245592856176640
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.791051169,878,784,807.791051169,652,629.208948831,652,0.409736223667,0.00463097426368,0.0799441668175,0.99999997975,0.000175234669049,-9.15563057875e-05,-3.7563791689e-05,1793245592872843776
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,784,807.624862265,652,629.375137735,652,0.410419612527,0.00463582304107,0.0799741393926,0.999999982811,0.000176098178514,-4.36395371895e-05,-3.82380012318e-05,1793245592889510656
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,784,807.047245952,652,629.952754048,652,0.411124753142,0.00463886998348,0.0800087169808,0.999999984818,0.000169588727716,1.13825515494e-05,-3.83948008551e-05,1793245592906177280
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.531015309,658.531015309,633.468984691,877.468984691,784,807,652,630,652,0.411810519961,0.00461659233144,0.0799893360435,0.999999987277,0.000153449112551,-2.25959405177e-05,-3.72652588084e-05,1793245592922843904
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.889234202,658.889234202,633,877.110765798,784,807,652,629.889234202,652,0.412495302887,0.00459129211523,0.0799632156366,0.999999988628,0.000131259761821,-6.45307744735e-05,-3.67592180594e-05,1793245592939510528
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.303342326,658.303342326,633,877.696657674,784,807,652,629.303342326,652,0.413183268163,0.00456270350492,0.0799288046133,0.999999989776,8.68000674418e-05,-0.000106586028341,-3.94191893674e-05,1793245592956177152
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.27939892,658.27939892,633.27939892,878,784.27939892,807,651.72060108,629.27939892,652,0.413914897741,0.00455485987232,0.0799152317276,0.999999989284,7.54678991381e-05,-0.000118490786406,-4.1180780725e-05,1793245592972843776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.858757754,658.858757754,633.858757754,878,784.858757754,807,651.141242246,629.858757754,652,0.414693404967,0.00456928783873,0.0799240304559,0.999999989344,9.97011093099e-05,-9.80262763496e-05,-4.19778806901e-05,1793245592989510400
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633.562822964,878,784.562822964,807.437177036,651.437177036,630,652,0.41550088182,0.00458317728983,0.0799451361674,0.999999991352,0.000105403650208,-6.6433468656e-05,-4.21020792615e-05,1793245593006177280
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,878.030342064,784,808,652,630,652,0.416317577166,0.00459663249099,0.0799690912884,0.999999992973,0.000105834999341,-3.29629364183e-05,-4.20172127148e-05,1793245593022843904
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,879.177324421,784,808,652,630,652,0.417129825645,0.00460049569741,0.0799518955823,0.999999988431,0.000132131314833,-6.24185819628e-05,-4.22219122274e-05,1793245593039510272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,879.832980265,784,808,652,630,652.167019735,0.41796546108,0.00460284385117,0.0799485260544,0.999999986111,0.000147477490941,-6.4580124031e-05,-4.3103070997e-05,1793245593056176896
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,879.242278216,784,808,652,630,652.757721784,0.418860422628,0.00460134874022,0.0799802296712,0.999999989834,0.000135046227135,2.49583576358e-06,-4.57002175444e-05,1793245593072843520
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,878.659510952,784,808,652,630,652.659510952,0.41972945171,0.00459603937909,0.0799887143239,0.99999999097,0.000123978941835,2.15170354071e-05,-4.71874542849e-05,1793245593089509888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,878.082261205,784,808,652,630,652.082261205,0.420580448489,0.00458807776081,0.0799810535569,0.999999992345,0.000113860106346,7.12312338998e-06,-4.79029098822e-05,1793245593106176768
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.495336758,745,714,681,659.495336758,633,878,784,808,652,630,652,0.421464236753,0.00459053524897,0.079973442232,0.999999992722,0.000109705081211,-8.34141781186e-06,-4.95039561986e-05,1793245593122843136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.927424961,633,878.072575039,784,808,651.927424961,630,652,0.422361044117,0.00459538631354,0.0799704109719,0.999999992567,0.000109564967375,-1.66542089842e-05,-5.08278763566e-05,1793245593139510016
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.35307385,633,878.64692615,784,808,651.35307385,630,652,0.423310186085,0.00460481468409,0.0799989889846,0.999999989965,0.000130331064618,2.57096035443e-05,-4.92182252832e-05,1793245593156176640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.77251823,681.22748177,659,633,879,784,808,651.22748177,630,652.22748177,0.424217030348,0.00461217933329,0.0800047294123,0.999999988129,0.00014453524852,2.42427866485e-05,-4.75774159399e-05,1793245593172843520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.182062498,681.817937502,659,633,879,784,808,651.817937502,630,652.817937502,0.425056383784,0.00461625107343,0.0799740297873,0.999999986843,0.000148269129748,-4.7160956577e-05,-4.58868896262e-05,1793245593189510400
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,682,659,633,879,784,808,652,630,652.598410815,0.4259449308,0.00461732865437,0.0799390661935,0.999999983978,0.000145890319896,-9.1903699202e-05,-4.80913691366e-05,1793245593206176768
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,682,659,633,879,784,808,652,630,652.017792424,0.426855408354,0.00461707143333,0.0799022017163,0.999999980953,0.000140786460852,-0.000124760913919,-5.20322496104e-05,1793245593222843392
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.555334592,682,659,633,879,784,808.555334592,652,630,652.555334592,0.42777462863,0.00460699922469,0.0799041920566,0.999999981785,0.000135466594531,-0.00012445066849,-5.08970877787e-05,1793245593239510528
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.868246422,745,714,682,659.131753578,633,879,784.131753578,808.868246422,652,630,653,0.428698507516,0.0045989262864,0.0799120970921,0.999999983346,0.000130285424327,-0.000117753989461,-4.96838237167e-05,1793245593256177408
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.279590117,745,714,682,659.720409883,633,879,784.720409883,808.279590117,652,630,653,0.4296375833,0.00459886253435,0.0799362538675,0.99999998664,0.000125608913318,-9.2546153524e-05,-4.87561896884e-05,1793245593272843776
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713.695334739,682,660,633,879.304665261,785,808.304665261,651.695334739,630,653,0.430597254135,0.00460305019892,0.0799741786003,0.99999999012,0.000125989781501,-3.86593137501e-05,-4.8906865233e-05,1793245593289510400
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713.115060596,682,660,633,879.884939404,785,808.884939404,651.115060596,630,653,0.431575555789,0.00461108381617,0.0800245582185,0.999999989327,0.000130945698782,4.11713693939e-05,-5.00330101943e-05,1793245593306177024
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.461570436,745,713,682.461570436,660,633,879.538429564,785,809,651.461570436,630,653,0.432452128929,0.00461621700875,0.0800156015194,0.999999989078,0.000136957503131,2.21960147094e-05,-5.09376857969e-05,1793245593322844160
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962699612,745,713.037300388,683,660,633,879.037300388,785,809,652,630,652.962699612,0.433303110732,0.00462042281755,0.0799895127819,0.999999988234,0.00014245656273,-2.35848744628e-05,-5.17915642202e-05,1793245593339511296
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.386970775,745,713.613029225,683,660,633,879.613029225,785,809,652,630,652.386970775,0.434147870586,0.0046215969122,0.0799279650649,0.999999983895,0.000136784486069,-0.000103547333313,-5.27028717117e-05,1793245593356178176
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713.806815375,683,660,633,879.806815375,785,809,652,630,652,0.43501015855,0.00462021845984,0.0798954223666,0.999999979468,0.000132411891279,-0.000143725219288,-5.3602092142e-05,1793245593372844800
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.217585019,683,660,633,879.217585019,785,809,652,630,652,0.435908380863,0.00461360705841,0.0799223425357,0.999999984738,0.000130703350678,-0.000102341193857,-5.44765337046e-05,1793245593389511168
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713,683,660,633,879.366098532,784.633901468,809,652,630,652.366098532,0.436769184397,0.00460726094227,0.0799531256595,0.999999988285,0.000128509943159,-6.39655233418e-05,-5.31407857043e-05,1793245593406177536
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713,683,660,633,879.946534593,784.053465407,809,652,630,652.946534593,0.437608080527,0.00460107014153,0.0799861704026,0.999999990408,0.00012603266354,-2.73511389388e-05,-5.05110511055e-05,1793245593422844160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.520103553,745,713,683,659.479896447,633,880,784.520103553,809,652,630,653,0.438461607466,0.00461028305954,0.0799915121798,0.999999990833,0.000124105672917,-1.54435038127e-05,-5.18950902387e-05,1793245593439511040
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.90443716,745,713,683.09556284,659,632.90443716,880,784.90443716,809,652,630,653,0.439295492255,0.00462207015017,0.0799836480383,0.99999999003,0.000128568986675,-2.35723405528e-05,-5.34227216016e-05,1793245593456177408
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,712,684,646,627,880,782,809.758578184,652,629,653,0.453669421461,0.0048469453137,0.0795778824018,0.999999720699,0.00037577443461,-0.000642052971797,-7.18528037264e-05,1793245594422843648
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.658737533,744.658737533,712,684.341262467,645.658737533,627,880,781.658737533,810,652,629,653,0.453668880052,0.00484678666426,0.0795772259668,0.999999719738,0.000376048496457,-0.000643404361283,-7.17138250017e-05,1793245594439510016
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.080933586,744.080933586,712,684.919066414,645.080933586,627,880,781.080933586,810,652,629,653,0.453668008414,0.00484597863046,0.0795764404726,0.999999718787,0.000375365741488,-0.000645337318825,-7.1183389562e-05,1793245594456177152
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,744.493811298,712.493811298,685,645,627,880,781,809.506188702,652,629.493811298,653,0.453668413243,0.00484576013725,0.0795770276181,0.999999719095,0.000375429652904,-0.000644805427667,-7.13321195474e-05,1793245594472843776
+245,4.083333333,HOLD_POSE2,764,745,712,684,645,626,881,781,809,652,630,653,0.453669088685,0.00484552856529,0.0795770768816,0.999999719316,0.000375239089648,-0.000644623113065,-7.0881319156e-05,1793245594516610048
+246,4.100000000,HOLD_POSE2,764.59694907,745,712.59694907,684.59694907,645.59694907,626.59694907,880.40305093,781.59694907,809.59694907,652,630,653,0.453670146831,0.00484588344777,0.0795773524147,0.999999718881,0.000377307992235,-0.000644115733518,-7.0652360631e-05,1793245594533276672
+247,4.116666667,HOLD_POSE2,765,744.812625948,712.812625948,684.812625948,645.812625948,627,880,782,809.812625948,652,629.812625948,653,0.453670860906,0.00484604996396,0.0795774880518,0.99999971895,0.000377932331671,-0.000643663869198,-7.04568313012e-05,1793245594549942784
+248,4.133333333,HOLD_POSE2,765,744.235762308,712.235762308,684.235762308,645.235762308,627,880,782,809.235762308,652,629.235762308,653,0.453670859771,0.0048458249281,0.0795773328909,0.999999720071,0.000375553895485,-0.000643327402849,-7.03307903316e-05,1793245594566609408
+249,4.150000000,HOLD_POSE2,765,744.339140292,712,684.339140292,645.339140292,627,880,782,809.339140292,652,629,653,0.453670662003,0.00484612783509,0.0795769385639,0.999999719517,0.000376624250507,-0.000643568872321,-7.02759422626e-05,1793245594583275776
+250,4.166666667,HOLD_POSE2,765,744.912687425,712,684.912687425,645.912687425,627,880,782,809.912687425,652,629,653,0.453670328327,0.00484679564539,0.0795763789304,0.999999717798,0.000380078339696,-0.00064420979924,-7.02703012791e-05,1793245594599942144
+251,4.183333333,HOLD_POSE2,765,745,712,684.498905121,645.498905121,627,880,781.498905121,810,652,629,653,0.453671489323,0.00484654223756,0.0795769595488,0.999999718855,0.000378992198552,-0.000643223476736,-7.01349324227e-05,1793245594616608768
+252,4.200000000,HOLD_POSE2,765,745,712,684.090046486,645,627,880,781.090046486,809.909953514,652,629.090046486,653,0.453672705062,0.00484620378918,0.0795775572984,0.999999720142,0.000377238922313,-0.000642267475079,-6.99972344714e-05,1793245594633275648
+253,4.216666667,HOLD_POSE2,765,745,712,684.66749962,645,627,880,781.66749962,809.33250038,652,629.66749962,653,0.453672764328,0.0048463004326,0.0795771394779,0.999999719994,0.000376287550836,-0.000643057242922,-6.99730219286e-05,1793245594649942528
+254,4.233333333,HOLD_POSE2,765,745,712,685,645,627,880,782,809,652,630,653,0.453671906204,0.00484599228033,0.0795764667504,0.999999719184,0.000375965016476,-0.000644513883207,-6.98821693229e-05,1793245594666609152
+255,4.250000000,HOLD_POSE2,765,745,712,685,645,627,880,782,809,652,630,653,0.453669802811,0.00484513465593,0.0795754480109,0.999999717472,0.00037649606946,-0.000646875740073,-6.9700859099e-05,1793245594683275776
+256,4.266666667,HOLD_POSE2,765,744.595628656,712,684.595628656,645,627,879.595628656,782,809.404371344,652,629.595628656,653,0.453670367163,0.00484424028493,0.0795759692358,0.999999718147,0.000375533324813,-0.000646366885117,-6.99273621511e-05,1793245594699942400
+257,4.283333333,HOLD_POSE2,765,744.00788802,712,684.00788802,645,627,879.00788802,782,809.99211198,652,629.00788802,653,0.453672141252,0.00484332925045,0.0795771887847,0.999999719902,0.000373893191429,-0.00064455625565,-7.03387952831e-05,1793245594716609280
+258,4.300000000,HOLD_POSE2,765,744.570584386,712.570584386,684.570584386,645,627,879.570584386,781.429415614,809.429415614,652,629.570584386,653,0.453671109512,0.00484496164056,0.0795762479286,0.999999718444,0.000375681486703,-0.000645803009672,-7.00974140073e-05,1793245594733275392
+259,4.316666667,HOLD_POSE2,765,745,712.85124056,685,645,626.85124056,880,781,809,652,630,653,0.453670632033,0.00484625976603,0.079575736573,0.999999717511,0.000376889226582,-0.000646553706671,-6.99992489455e-05,1793245594749942016
+260,4.333333333,HOLD_POSE2,765,745,712.2735592,685,645,626.2735592,880,781,809,652,630,653,0.453671862717,0.00484649433657,0.0795765483452,0.99999971823,0.000376288562324,-0.000645754189351,-7.03396283511e-05,1793245594766608896
+261,4.350000000,HOLD_POSE2,765,745,712,685,645,626.302686028,879.697313972,781.302686028,809.302686028,651.697313972,630,653,0.453672095421,0.00484616436393,0.0795764539886,0.999999718908,0.000374543000357,-0.000645711972215,-7.04049530008e-05,1793245594783275520
+262,4.366666667,HOLD_POSE2,765,745,712,685,645,626.877639416,879.122360584,781.877639416,809.877639416,651.122360584,630,653,0.453671430436,0.00484532658231,0.0795755445652,0.999999719544,0.000371767598104,-0.000646350949831,-7.02228647169e-05,1793245594799942400
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,712,684,645,627,880,781,809,652,629,653,0.45367113649,0.00484522972394,0.0795752960128,0.999999718154,0.000374534425147,-0.000646861775456,-7.06052470506e-05,1793245594831800064
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744.417638163,712.582361837,684.582361837,645,627,880,781.582361837,809.582361837,652,629,653,0.453672551566,0.0048440883677,0.0795764824882,0.99999971977,0.000372037968949,-0.000645826109706,-7.0406079522e-05,1793245594848466688
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744.161973873,713,685,645,627,880,782,810,652,629,653,0.453673491269,0.00484371713694,0.0795771572142,0.999999720692,0.00037086342373,-0.000645092508584,-7.02321965011e-05,1793245594865133312
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,744.734614222,713,685,645,627,880,782,810,652,629,653,0.453673225716,0.00484529847219,0.0795765344572,0.999999719869,0.000373040434086,-0.000645124758023,-7.01224194546e-05,1793245594881799680
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,712.691195355,685,645,627,880,781.691195355,809.691195355,652,629,653,0.453672312785,0.00484559828649,0.079575944535,0.999999719052,0.000373220661604,-0.000646300773929,-6.99863481128e-05,1793245594898466304
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,712.115666118,685,645,627,880,781.115666118,809.115666118,652,629,653,0.453670840691,0.00484479120948,0.0795753829732,0.999999718237,0.000371676202856,-0.000648464698042,-6.98275655412e-05,1793245594915132928
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,712.473903494,685,645.473903494,626.526096506,880,781.473903494,809.473903494,652,629.473903494,653,0.4536705795,0.00484446216875,0.0795750817534,0.99999971779,0.000372918062556,-0.000648446210696,-6.97851834824e-05,1793245594931799552
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,685,645.934795206,626.065204794,880,782,810,651.934795206,630,653,0.453670417926,0.00484441859913,0.0795747068469,0.999999717399,0.000374626100895,-0.000648061488942,-6.98081875288e-05,1793245594948465920
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,685,645.357625174,626.642374826,880,782,810,651.357625174,630,653,0.453668647131,0.00484567238927,0.0795732392374,0.999999716747,0.000374491794113,-0.000649111201716,-7.0114704518e-05,1793245594965132800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,744.781414705,712.781414705,684.781414705,645,627,880,781.781414705,810,651.218585295,629.781414705,653,0.45366217407,0.00484607443663,0.079569618749,0.999999713804,0.00037419529269,-0.000653777466267,-7.03179463695e-05,1793245594981799680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,744.206767362,712.206767362,684.206767362,645,627,880,781.206767362,810,651.793232638,629.206767362,653,0.453648041303,0.00484508904708,0.0795624913531,0.999999707053,0.000373634586125,-0.000664334871873,-7.03529593155e-05,1793245594998465792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,744,712,684,645,627,880,781,810,652,629.377914803,653,0.453616263528,0.00484432249461,0.079548990691,0.999999691691,0.000373337360665,-0.000687284107406,-6.98355173794e-05,1793245595015132160
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,744,712,684,645,627,880,781,810,652,629.968237107,653,0.45357456835,0.0048436789397,0.0795319079257,0.999999670798,0.000373188224789,-0.000717198187366,-6.90075674228e-05,1793245595031798784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,744.547326023,712,684.547326023,645,627,880.547326023,781.547326023,809.452673977,652,630,653,0.453511029645,0.00484387838383,0.0795139966773,0.999999650107,0.00037348849179,-0.000745369176319,-6.86827219474e-05,1793245595048465664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,744.87467319,712.12532681,685,645,627,880.749346381,782,809,652,630,653,0.45344423806,0.004844039417,0.0794982542501,0.999999631694,0.000374467990882,-0.000769245201218,-6.81713729154e-05,1793245595065132288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,744.29828942,712.70171058,685,645,627,879.59657884,782,809,652,630,653,0.453370209741,0.0048438896772,0.0794904870649,0.999999623739,0.000377800102628,-0.000778020207304,-6.68858224921e-05,1793245595081799424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.723874496,744.276125504,712.723874496,684.723874496,645,627,879.552251009,781.723874496,809,652,630,653,0.453289119112,0.00484387190567,0.0794870058311,0.999999619709,0.000379974767846,-0.000782284929695,-6.50459090133e-05,1793245595098466304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.151571429,744.848428571,712.151571429,684.151571429,645,627,880.696857143,781.151571429,809,652,630,653,0.453200453319,0.00484399568584,0.0794881217921,0.999999619958,0.000380907933332,-0.000781711833993,-6.26113750689e-05,1793245595115133440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,712,684.435793493,645,627,880.564206507,781.435793493,809.435793493,652,629.564206507,653,0.453093376163,0.00484235218664,0.0794875155349,0.999999619965,0.000381082202088,-0.000781828294293,-5.99143641874e-05,1793245595131799808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,744.972210101,712,684.972210101,645,627,880,782,810,651.972210101,629,653,0.452978051311,0.00484006982248,0.0794864388122,0.999999619821,0.000381145287453,-0.000782196982234,-5.70407372524e-05,1793245595148465920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,744.395898454,712,684.395898454,645,627,880,782,810,651.395898454,629,653,0.452830851694,0.00483774421975,0.0794883223281,0.99999961847,0.000384410186445,-0.00078264088088,-5.25474551494e-05,1793245595165132544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.181334694,744.181334694,712.181334694,684.181334694,645.181334694,627,880,781.818665306,809.818665306,651.181334694,629.181334694,653,0.452673808589,0.00483554334932,0.0794882889457,0.99999961515,0.000387733679017,-0.000785530395379,-4.80122192989e-05,1793245595181799424
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.760589909,744.760589909,712.760589909,684.760589909,645.760589909,627,880,781.239410091,809.239410091,651.760589909,629.760589909,653,0.452495164973,0.00483361619151,0.079484049125,0.999999607497,0.000391185748796,-0.000793786564747,-4.33849208128e-05,1793245595198465792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,685,646,627,880,781.343934675,809.343934675,652,630,653,0.452306218193,0.00483177442444,0.0794852667567,0.999999606337,0.000394318263359,-0.000793963887097,-3.82084159176e-05,1793245595215132672
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,685,646,627,880,781.930160461,809.930160461,652,630,653,0.452110013141,0.00482999281227,0.0794903289908,0.999999609746,0.000397225661721,-0.000788449917853,-3.26450119888e-05,1793245595231799552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,744.489596792,712.489596792,685,646,627,880,782,810,652,629.489596792,653,0.451879668395,0.00482602084047,0.0794986899001,0.999999615536,0.000401616705204,-0.000779070960971,-2.60787930376e-05,1793245595248465920
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.91052727,744.08947273,712,684.91052727,646.08947273,627,880,782,810,652,629,653,0.451637936504,0.00482214506876,0.0795071404237,0.999999621007,0.000406625709592,-0.000769592060809,-1.92103694382e-05,1793245595265132544
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.333441479,744.666558521,712,684.333441479,646.666558521,627,880,782,810,652,629,653,0.451359309781,0.0048204080296,0.0795136479659,0.999999623634,0.000413908954119,-0.000762417264813,-1.14341222003e-05,1793245595281799168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.242048093,745,712,684.242048093,647.242048093,627,880,782,809.757951907,652,629,653,0.451072335866,0.00481708303265,0.0795213798468,0.999999631151,0.000419649565709,-0.000749384110456,-3.91764500087e-06,1793245595298465792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.815353111,745,712,684.815353111,647.815353111,627,880,782,809.184646889,652,629,653,0.450773938352,0.00481158482297,0.0795307873061,0.999999645177,0.000423278993679,-0.000728333451451,3.24332129113e-06,1793245595315132160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,712,685,648,627,880,782,809,652,629,653,0.450447688406,0.00480746667172,0.0795414998795,0.999999658477,0.000425032801103,-0.000708733711812,9.44820224906e-06,1793245595331799040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,712,685,648,627,880,782,809,652,629,653,0.450108206108,0.00480400417003,0.0795528324969,0.999999671263,0.000425895523252,-0.000689823287253,1.5198858187e-05,1793245595348465664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,744.428929799,712,685,648.571070201,627.571070201,880,782,809.571070201,652,629,653,0.449707788341,0.00480042312034,0.0795597133913,0.99999969801,0.000378110093381,-0.000678970055627,3.37620893881e-06,1793245595365132544
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744.148700417,712.148700417,684.851299583,649.148700417,628,880,782,810,652,629.148700417,653,0.449289680904,0.00479541633785,0.0795621070115,0.999999713285,0.000342554824942,-0.000675333796616,-3.2499297909e-06,1793245595381799424
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,744.726154186,712.726154186,684.273845814,649.726154186,628,880,782,810,652,629.726154186,653,0.448822605358,0.00478630265156,0.0795517111318,0.999999701258,0.000343889563744,-0.000692237150053,5.69470414707e-06,1793245595398466048
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.404232632,745,714,679.702116316,657,633,878.297883684,785,807,652,630,652.297883684,0.404120410317,0.00450598251376,0.0798288912361,0.999999949351,0.000134795729443,-0.000283575345483,5.20879090442e-05,1793245596431799040
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.722831898,745,713.722831898,680,657,633,878,785,807,652,629.722831898,652,0.403776130659,0.00450329529689,0.0798284511767,0.999999948662,0.000125117452898,-0.000290407780033,5.18148631176e-05,1793245596448465664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.147112006,745,713.147112006,680,657,633,878,785,807,652,629.147112006,652,0.403457028613,0.00449998306035,0.0798279791935,0.999999949071,0.000113394508172,-0.000294059094927,5.02975718982e-05,1793245596465132032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.559273418,657,632.559273418,878,785,807,652,629.440726582,652,0.403175645884,0.00449705379303,0.0798310540472,0.99999995058,0.000106285389744,-0.000291589002605,5.0194927461e-05,1793245596481798656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.031986519,657,632.031986519,878,785,807,652,629.968013481,652,0.402908653191,0.00449431117591,0.0798349981782,0.999999952348,0.000100830619298,-0.000287362441715,5.05995752952e-05,1793245596498465536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.610630989,657,632.610630989,878,785,807,652,629.389369011,652,0.40266633114,0.00449251198909,0.0798329929992,0.999999952248,9.65847177888e-05,-0.000289025101155,5.13757658053e-05,1793245596515132160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713,680.186886498,657,633,878,785,807,652,629,652,0.402440511966,0.00449034386214,0.0798319720802,0.999999952756,8.98944669153e-05,-0.000289362771968,5.1741287959e-05,1793245596531798784
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713,680.758227473,657,633,878,785,807,652,629,652,0.402248641795,0.00448741676842,0.0798329759369,0.999999954453,7.81758112479e-05,-0.000286974735687,5.12620015856e-05,1793245596548465664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713.332515639,680.667484361,657,633,878,785,807,652,629.332515639,652,0.40207381194,0.00448081794931,0.0798349028673,0.99999995598,7.00092752604e-05,-0.000283353028709,5.33909670802e-05,1793245596565132288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.908965934,680.091034066,657,633,878,785,807,652,629.908965934,652,0.401911482901,0.00447152553907,0.079837506968,0.999999957402,6.44485857001e-05,-0.00027882629627,5.74333553829e-05,1793245596581798912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.500388609,657,633,878,785,807,652,630,652,0.401775478567,0.00446322596354,0.079839838342,0.999999959128,5.31206534053e-05,-0.000274454888145,5.99717075548e-05,1793245596598465536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745.091684262,714,680.908315738,657,633,878,785,807,652,630,652,0.401645919049,0.00445900850974,0.0798408264791,0.999999959948,4.59135272297e-05,-0.000272422794668,6.15004204735e-05,1793245596615132160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.667483092,714,680.332516908,657,633,878,785,807,652,630,652,0.401524321696,0.00447536246995,0.0798349920743,0.999999956131,6.61762144804e-05,-0.000282589024619,5.918736588e-05,1793245596631798784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745.757069214,714,680,657,633,878,785,807,652,630,652,0.401415477137,0.00448533789005,0.0798308292076,0.999999951902,9.45040584593e-05,-0.00029019600247,5.52414382751e-05,1793245596648465408
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745.182101486,714,680,657,633,878,785,807,652,630,652,0.401324063056,0.00448659514303,0.0798289509936,0.99999994653,0.000133855328962,-0.000294305002791,4.9063705699e-05,1793245596665132288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.596042581,680,656.596042581,633,878.403957419,785,807,652,629.596042581,652,0.401250307711,0.00448363580538,0.0798272584221,0.999999944602,0.000142517488816,-0.000296908443548,4.82729603422e-05,1793245596681798912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.004842707,680,656.004842707,633,878.995157293,785,807,652,629.004842707,652,0.40118473755,0.00447872199242,0.0798256518997,0.999999944728,0.000136954622495,-0.000298814026937,4.99791930007e-05,1793245596698465792
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.153147826,657,633,878,785.846852174,807,652,629.846852174,652,0.401092248627,0.00448541614311,0.0798246511393,0.999999943716,0.000142116699452,-0.000299693937025,5.05466181974e-05,1793245596731799040
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.727846629,657,633,878,785.272153371,807,652,629.272153371,652,0.401058477304,0.0044833768218,0.0798250262427,0.999999944178,0.000138521402521,-0.000299609976506,5.18658350781e-05,1793245596748465664
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.698793299,657,633,877.698793299,785,807,652,629,652,0.401031161627,0.00448296259989,0.0798252475837,0.999999944461,0.000136746599313,-0.000299409329239,5.22794435313e-05,1793245596765132032
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.126637411,657,633,877.126637411,785,807,652,629,652,0.401009653093,0.0044840102289,0.0798253306084,0.999999944592,0.000136609412964,-0.000299103716903,5.18784159849e-05,1793245596781798656
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.536600627,657,633,877.463399373,785,807,652,629.463399373,652,0.400996851392,0.00448484201238,0.0798260678771,0.999999945154,0.000136174405341,-0.000297396448168,5.20044321896e-05,1793245596798465536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,744.943411451,713.943411451,679.056588549,657,633,878,785,807,652,629.943411451,652,0.400987199381,0.00448532120052,0.0798271092215,0.999999945922,0.000135416635628,-0.000295110476721,5.22395474524e-05,1793245596815132160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,744.367921369,713.367921369,679.632078631,657,633,878,785,807,652,629.367921369,652,0.400983735078,0.00448312978089,0.0798292335906,0.999999947477,0.000132475487555,-0.000291171333339,5.21013478071e-05,1793245596831798784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,744.207946029,713,680,657,633.207946029,877.792053971,785,807,652,629,652,0.400979742715,0.00448198653258,0.079830569568,0.999999948274,0.000130823619987,-0.000289186745934,5.20434704269e-05,1793245596848465664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,744.784482194,713,680,657,633.784482194,877.215517806,785,807,652,629,652,0.400974814348,0.00448270119731,0.0798305080991,0.999999947757,0.000131457038246,-0.000290666663749,5.21279665115e-05,1793245596865132288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633.631310833,877.368689167,784.631310833,807,652,629,652,0.400973236044,0.00448272723319,0.0798311776815,0.999999948148,0.000131313055384,-0.000289368015054,5.22294820996e-05,1793245596881799168
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633.042524624,877.957475376,784.042524624,807,652,629,652,0.400973657631,0.00448234217703,0.0798322836808,0.999999949073,0.00013070498594,-0.000286410640408,5.23411578485e-05,1793245596898465792
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.53829934,679.46170066,657,633,877.46170066,784.53829934,806.46170066,652,629.53829934,652,0.400973909033,0.00448355880847,0.0798334752965,0.999999949295,0.000130872364346,-0.000285626445594,5.19648769974e-05,1793245596915132160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.116985147,657,633,877.116985147,785,806.116985147,652,630,652,0.400973980438,0.00448443006677,0.0798342860436,0.99999994946,0.000130822404997,-0.000285129842469,5.16376596468e-05,1793245596931799040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.689755282,657,633,877.689755282,785,806.689755282,652,630,652,0.40097340218,0.00448346993074,0.0798335869239,0.999999949617,0.000129690485995,-0.000285094602966,5.16495944611e-05,1793245596948465920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785.264124571,807,652,630,652,0.400972788181,0.00448264809393,0.0798334036239,0.999999949892,0.000128476213119,-0.000284710253442,5.14835947311e-05,1793245596965137408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878,785.840383766,807,652,630,652,0.400972131945,0.00448198969494,0.0798338299043,0.999999950305,0.000127164616714,-0.000283913335992,5.11073172079e-05,1793245596981814528
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.571443971,745,714,680,657.428556029,633,878,785.571443971,806.571443971,652,629.571443971,652,0.400973320509,0.00448344678738,0.0798352041105,0.999999950646,0.000128910743054,-0.000281921611306,5.10941544596e-05,1793245596998476288
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.020741284,745,714,680.020741284,657.958517432,633,878,784.979258716,806.020741284,652,629,652,0.400975060702,0.00448558618556,0.0798368125468,0.999999950925,0.00013162321861,-0.00027964735608,5.12117161766e-05,1793245597015132416
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.598141998,745,714,680.598141998,656.803716003,633,878,784.401858002,806.598141998,652,629,652,0.400972637865,0.00448428651972,0.0798349609776,0.999999950612,0.000128832071687,-0.000282075182602,5.11042374032e-05,1793245597031799040
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.825191097,744.825191097,713.825191097,680.825191097,656.174808903,633,878,784.174808903,807,652,629,652,0.40097128128,0.00448348780006,0.0798340451263,0.999999950446,0.000127334064551,-0.000283353600349,5.10332168302e-05,1793245597048465408
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.250204089,744.250204089,713.250204089,680.250204089,656.749795911,633,878,784.749795911,807,652,629,652,0.400972365593,0.00448383586241,0.0798352713505,0.999999950641,0.000128796354354,-0.000282000754791,5.10456575379e-05,1793245597065131776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.332879792,744.332879792,713.332879792,680,657,633,878,785,806.667120208,652,629.332879792,652,0.400972338015,0.00448346554085,0.0798353607542,0.999999950745,0.000128108277717,-0.000281944051743,5.1039385429e-05,1793245597081798400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.922201258,744.922201258,713.922201258,680,657,633,878,785,806.077798742,652,629.922201258,652,0.400971453866,0.00448254179556,0.0798345743819,0.999999950778,0.000125763616302,-0.000282885862228,5.10186974667e-05,1793245597098465280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877.49742676,785,806.50257324,652,630,652,0.400972327434,0.00448398004691,0.0798353548719,0.999999950882,0.000127775331286,-0.000281649416915,5.08219254386e-05,1793245597115132416
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877,785,807,652,630,652,0.400973229303,0.00448535808427,0.0798362398778,0.999999951003,0.000129928098541,-0.000280257860334,5.06754599513e-05,1793245597131799808
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,877,785,807,652,630,652,0.400972673759,0.00448417865543,0.0798363091393,0.999999951208,0.000128901105435,-0.000279940522451,5.09990055991e-05,1793245597148466688
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,713.772537015,680,657,633,877.227462985,785,806.772537015,652,630,652,0.400971727593,0.00448347950516,0.0798360472547,0.999999951269,0.000127844765756,-0.000280196556138,5.10637457652e-05,1793245597165133312
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.197053092,680,657,633,877.802946908,785,806.197053092,652,630,652,0.400970183769,0.00448351518638,0.0798352787126,0.999999951108,0.000126743525336,-0.00028132985476,5.07325106698e-05,1793245597181799424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,877.609827248,785,806.390172752,652,630,652,0.400970646832,0.004483539848,0.0798357350624,0.999999951422,0.000125761204231,-0.000280679356606,5.05790445192e-05,1793245597198465536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,877.016487292,785,806.983512708,652,630,652,0.400972154902,0.00448355877159,0.0798368292268,0.999999951983,0.000124840805775,-0.000279100015964,5.05181446149e-05,1793245597215132160
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26d0e338d47f42155a6fe860ff345e970923a423
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+1,0.016666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+2,0.033333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+3,0.050000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+4,0.066666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+5,0.083333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+6,0.100000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+7,0.116666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+8,0.133333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+9,0.150000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+10,0.166666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+11,0.183333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+12,0.200000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+13,0.216666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+14,0.233333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+15,0.250000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+16,0.266666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+17,0.283333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+265,4.416666667,pose2_to_pose3_retreat,0.622035469139,0.00987774295686,1.07005082942,0.592607101165,0.0185534333868,1.06971732048
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+373,6.216666667,pose2_to_pose3_retreat,0.57598063456,0.00987772486156,1.07005086375,0.546552269096,0.0185534153988,1.06971736175
+374,6.233333333,pose2_to_pose3_retreat,0.575913661365,0.0098777884224,1.07005103681,0.546485295221,0.0185534761136,1.06971752068
+375,6.250000000,pose2_to_pose3_retreat,0.575858050093,0.0098779124255,1.07005114607,0.546429685545,0.018553605577,1.06971763104
+376,6.266666667,pose2_to_pose3_retreat,0.575812526632,0.00987779175593,1.07005101857,0.546384161423,0.0185534828006,1.06971750708
+377,6.283333333,pose2_to_pose3_retreat,0.575775263221,0.00987786318653,1.07005108526,0.54634689759,0.0185535529712,1.06971757817
+378,6.300000000,pose2_to_pose3_retreat,0.575745632418,0.00987791626072,1.07005086575,0.546317264308,0.0185535976149,1.06971735809
+379,6.316666667,pose2_to_pose3_retreat,0.575722279481,0.00987790657693,1.07005085306,0.546293910529,0.0185535848444,1.06971733941
+380,6.333333333,pose2_to_pose3_retreat,0.575704915428,0.00987785065122,1.07005090255,0.546276548172,0.0185535346143,1.06971738743
+381,6.350000000,pose2_to_pose3_retreat,0.575692741185,0.009877852855,1.07005092809,0.546264374305,0.0185535381965,1.06971741568
+382,6.366666667,pose2_to_pose3_retreat,0.57568456159,0.00987794135092,1.07005102013,0.546256192286,0.0185536185325,1.06971750937
+383,6.383333333,pose2_to_pose3_retreat,0.575679055537,0.00987787567418,1.07005107794,0.546250688183,0.0185535596573,1.06971757213
+384,6.400000000,pose2_to_pose3_retreat,0.575675495534,0.00987793144328,1.07005092452,0.546247127778,0.0185536142093,1.06971742253
+385,6.416666667,pose2_to_pose3_retreat,0.575673529142,0.00987800709946,1.07005075265,0.546245160406,0.0185536866295,1.06971725306
+386,6.433333333,pose2_to_pose3_retreat,0.575672171603,0.00987795921544,1.0700507297,0.546243803735,0.0185536415334,1.06971722596
+387,6.450000000,pose2_to_pose3_retreat,0.575671395035,0.00987790216465,1.07005074493,0.546243028122,0.0185535875651,1.06971723708
+388,6.466666667,pose2_to_pose3_retreat,0.575671204721,0.00987788818315,1.07005074866,0.546242838042,0.018553574339,1.06971723981
+389,6.483333333,pose2_to_pose3_retreat,0.575671144364,0.00987788374898,1.07005074985,0.546242777759,0.0185535701444,1.06971724067
+390,6.500000000,pose2_to_pose3_retreat,0.575670938751,0.00987786864356,1.07005075388,0.546242572399,0.0185535558552,1.06971724362
+391,6.516666667,pose2_to_pose3_retreat,0.575670859437,0.00987786281674,1.07005075543,0.546242493182,0.0185535503432,1.06971724475
+392,6.533333333,pose2_to_pose3_retreat,0.575670713852,0.00987785212133,1.07005075829,0.546242347777,0.0185535402257,1.06971724684
+393,6.550000000,pose2_to_pose3_retreat,0.575670642337,0.0098778500629,1.07005077486,0.546242276222,0.0185535380572,1.069717264
+394,6.566666667,pose2_to_pose3_retreat,0.575670504691,0.00987784659108,1.07005080908,0.546242138481,0.0185535343132,1.0697172995
+395,6.583333333,pose2_to_pose3_retreat,0.575670483348,0.00987784605277,1.07005081438,0.546242117124,0.0185535337327,1.069717305
+396,6.600000000,pose2_to_pose3_retreat,0.575670393604,0.00987784378916,1.07005083669,0.546242027318,0.0185535312916,1.06971732815
+397,6.616666667,pose2_to_pose3_retreat,0.575670064143,0.00987783547922,1.0700509186,0.54624169763,0.0185535223301,1.06971741312
+398,6.633333333,pose2_to_pose3_retreat,0.575670035787,0.009877834764,1.07005092565,0.546241669254,0.0185535215588,1.06971742043
+399,6.650000000,pose2_to_pose3_retreat,0.575669861219,0.00987782674944,1.07005096141,0.546241494672,0.0185535135448,1.06971745754
+400,6.666666667,pose2_to_pose3_retreat,0.575669838869,0.00987781997492,1.07005095384,0.546241472487,0.0185535073208,1.0697174497
+401,6.683333333,pose2_to_pose3_retreat,0.575669794597,0.00987780655579,1.07005093885,0.546241428543,0.018553494992,1.06971743416
+402,6.700000000,pose2_to_pose3_retreat,0.575669702482,0.00987777863479,1.07005090765,0.546241337109,0.0185534693397,1.06971740184
+403,6.716666667,pose2_to_pose3_retreat,0.575669580594,0.00987774168952,1.07005086636,0.546241216123,0.0185534353964,1.06971735907
+404,6.733333333,pose2_to_pose3_retreat,0.575669537179,0.00987771286027,1.07005088222,0.546241171787,0.0185534032779,1.06971737062
+405,6.750000000,pose2_to_pose3_retreat,0.575669517869,0.00987769868774,1.0700508919,0.54624115196,0.0185533872668,1.06971737806
+406,6.766666667,pose2_to_pose3_retreat,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c572d8f59ae8e190babec0ae1cd21e05f6add305
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ffdf281f44d453ebb2537a975150d7e2cfb2fa999c9dfe6a289c5dfbe4f650
+size 25811586
diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c53c14d7d4733bf01c42f6d3b15ade24e2819
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+39,0.650000000,BASELINE,764,745,713.362432498,679.637567502,657,633,878,785,806.637567502,652,630,651.637567502,0.400971502301,0.0044837753023,0.0798385652445,0.999999952979,0.000124088465284,-0.000275906262729,5.01983723502e-05,1793245598009494016
+40,0.666666667,BASELINE,764,745,713.221092019,680,657.221092019,633,878,785,807,652,630,652,0.400971169198,0.00448402086576,0.0798387176264,0.999999953177,0.000122836047827,-0.000275789163251,4.99772953755e-05,1793245598026161152
+41,0.683333333,BASELINE,764,745,713.801042331,680,657.801042331,633,878,785,807,652,630,652,0.400972468133,0.00448523000227,0.0798392365234,0.999999953401,0.000124000842825,-0.000274460484972,4.99403693515e-05,1793245598042827264
+42,0.700000000,BASELINE,764,745,714,680,657.620730579,633,877.620730579,785,807,652,630,652,0.400973219904,0.00448636572472,0.0798394815939,0.999999953384,0.000125398437475,-0.000273917311316,4.97616335474e-05,1793245598059493632
+43,0.716666667,BASELINE,764,745,714,680,657.043403388,633,877.043403388,785,807,652,630,652,0.400973685939,0.00448746310967,0.0798395836697,0.999999953241,0.000126917602079,-0.000273784335007,4.95088434515e-05,1793245598076160000
+44,0.733333333,BASELINE,764,745,713.46693206,680,657,633.53306794,878.066135879,785,807,652,630,652,0.400973897733,0.0044857164538,0.0798397586172,0.999999953555,0.000125302824074,-0.000273325957601,4.98170647484e-05,1793245598092826368
+45,0.750000000,BASELINE,764,745,713.11159853,679.88840147,657,633.88840147,878.88840147,785,807,652,630,652,0.400974103335,0.00448437555871,0.0798400266706,0.999999953813,0.000124208687941,-0.000272831480724,5.00977251535e-05,1793245598109493248
+46,0.766666667,BASELINE,764,745,713.699209303,679.300790697,657,633.300790697,878.300790697,785,807,652,630,652,0.400974370678,0.00448575153859,0.0798406665904,0.999999953683,0.000126421960952,-0.00027229585493,5.00663021523e-05,1793245598126160128
+47,0.783333333,BASELINE,764,745,714,679.28258545,657.28258545,633,878,785,807,652,629.71741455,652,0.400973898269,0.00448582108946,0.0798402490173,0.999999953345,0.000127226955802,-0.000273147830763,5.01324052265e-05,1793245598142826752
+48,0.800000000,BASELINE,764,745,714,679.861520779,657.861520779,633,878,785,807,652,629.138479221,652,0.400972650074,0.00448452057676,0.0798387224421,0.999999952789,0.000126555077063,-0.000275454996722,5.03007847614e-05,1793245598159493376
+49,0.816666667,BASELINE,764,744.562089413,714,679.562089413,657.562089413,633,878,785,807,652,629.437910587,652,0.400971970905,0.00448516829624,0.0798385254031,0.99999995264,0.000127353436661,-0.000275674453767,5.00543001614e-05,1793245598176160512
+50,0.833333333,BASELINE,764,744.013445668,714,679.013445668,657.013445668,633,878,785,807,652,630,652,0.400971466972,0.00448634460105,0.0798387324319,0.999999952619,0.000128527561738,-0.000275268993857,4.96914207031e-05,1793245598192826880
+51,0.850000000,BASELINE,764,744.586716586,714,679.586716586,657.586716586,633,878,785,807,652,630,652,0.400970810352,0.00448402605438,0.0798383591522,0.999999952668,0.000126101130552,-0.00027617331634,4.99130386057e-05,1793245598209493504
+52,0.866666667,BASELINE,764,745,714,680,657.834874686,633,878,785,807,652,630,652,0.400970306653,0.00448272480286,0.0798380439158,0.999999952681,0.000124330161866,-0.000276905033488,5.00278569254e-05,1793245598226160128
+53,0.883333333,BASELINE,764,745,714,680,657.243193884,633,878,785,807,652,630,652,0.400970197983,0.00448405145158,0.0798378786184,0.99999995262,0.000124252399044,-0.000277190872537,4.98667881085e-05,1793245598242826752
+54,0.900000000,BASELINE,763.658028503,745,714,680,657.341971497,633,877.658028503,784.658028503,807.341971497,652,630,652,0.400970699621,0.00448538388355,0.0798380885621,0.999999952574,0.000125614274118,-0.000276775927228,4.96768212985e-05,1793245598259493632
+55,0.916666667,BASELINE,763.077409976,745,714,680,657.922590024,633,877.077409976,784.077409976,807.922590024,652,630,652,0.400971627166,0.00448672035134,0.0798385603702,0.999999952534,0.000127980809849,-0.000275871934991,4.94666878428e-05,1793245598276160512
+56,0.933333333,BASELINE,763.496829561,745,714,680,657.503170439,633,877.496829561,784.496829561,807.503170439,652,630,652,0.400971601258,0.00448504590588,0.0798385389186,0.999999952817,0.000125590313781,-0.000275900116755,4.97271783922e-05,1793245598292827136
+57,0.950000000,BASELINE,764,745,714,680.07189416,657.07189416,633,878,785,807,652,630,652,0.400971513357,0.00448344439064,0.0798385191128,0.999999953083,0.0001232599233,-0.000275941253146,4.99806651007e-05,1793245598309494016
+58,0.966666667,BASELINE,764,745,714,680.65992658,657.65992658,633,878,785,807,652,630,652,0.400972033386,0.00448569166683,0.079839055873,0.999999952926,0.000126614645882,-0.0002750459115,4.96641189603e-05,1793245598326160640
+59,0.983333333,BASELINE,763.754807427,744.754807427,714,680.754807427,657.754807427,633,878,785,807,652,630,652,0.400971865126,0.00448702965751,0.0798389577752,0.999999952692,0.0001280939122,-0.000275246071157,4.94650734252e-05,1793245598342827008
+60,1.000000000,BASELINE,763.173335481,744.173335481,714,680.173335481,657.173335481,633,878,785,807,652,630,652,0.400970752885,0.00448712057174,0.0798379889759,0.999999952364,0.000127001007877,-0.00027694870071,4.94271788517e-05,1793245598359493632
+61,1.016666667,BASELINE,763.403944797,744.403944797,714,680,657,633,878,785,807,652,629.596055203,652,0.400971345594,0.0044862935477,0.0798384330025,0.999999952738,0.000126147853684,-0.000275959174452,4.95680633988e-05,1793245598376160000
+62,1.033333333,BASELINE,763.979444841,744.979444841,714,680,657,633,878,785,807,652,629.020555159,652,0.400972662396,0.00448507667551,0.0798394770561,0.999999953408,0.000125396521372,-0.000273826290246,4.9784875392e-05,1793245598392826624
+63,1.050000000,BASELINE,764,745,714,680,657.553455498,633,878,785,807,652,629.553455498,652,0.400971293146,0.00448406746487,0.0798385369837,0.999999953064,0.000124882271594,-0.000275287596863,4.99409368585e-05,1793245598409493248
+64,1.066666667,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400970363616,0.00448358678294,0.0798378820009,0.999999952837,0.000124596161379,-0.000276231660438,4.99816827479e-05,1793245598426159872
+65,1.083333333,BASELINE,764,745,714,680,658,633,878,785,807,652,630,652,0.400971323891,0.00448493150763,0.0798384837593,0.999999953162,0.000125078847624,-0.000274896328978,4.962616203e-05,1793245598442826496
+66,1.100000000,BASELINE,764,745.306677107,714,680,657.693322893,633,878,785,807.306677107,652,629.693322893,652,0.400971033334,0.0044856043682,0.079838204798,0.999999953051,0.000124818991792,-0.000275459346387,4.93995295177e-05,1793245598459493120
+67,1.116666667,BASELINE,764,745.887085166,714,680,657.112914834,633,878,785,807.887085166,652,629.112914834,652,0.400969626323,0.00448567754257,0.0798371397322,0.999999952547,0.000123896364748,-0.000277716774148,4.92879388404e-05,1793245598476159744
+68,1.133333333,BASELINE,764,745.538814081,713.538814081,680,657.461185919,633,878.461185919,785,807.538814081,652,629,652,0.400970211566,0.00448425802802,0.0798377845517,0.999999952734,0.000123645253191,-0.000277079432216,4.97114413865e-05,1793245598492826624
+69,1.150000000,BASELINE,764,745,713,680,657.965297458,633,878.965297458,785,807,652,629.034702542,652,0.400971296504,0.00448255569211,0.0798388243979,0.999999953096,0.000123501975859,-0.00027574060822,5.02273542155e-05,1793245598509492992
+70,1.166666667,BASELINE,764,745,713,680,657.376791792,633,878.376791792,785,807,652,629.623208208,652,0.400972676662,0.00448209352488,0.0798395775285,0.999999953602,0.000122491212433,-0.000274365066044,5.01554777487e-05,1793245598526159616
+71,1.183333333,BASELINE,764,745,713,680,657,633,878,785,807,652,629.791628197,652,0.400973185418,0.00448227853581,0.0798397542728,0.999999953757,0.000122165552848,-0.000273963729004,5.00509897365e-05,1793245598542826240
+72,1.200000000,BASELINE,764,745,713,680,657,633,878,785,807,652,629.212412459,652,0.400972143324,0.00448361534406,0.0798389052097,0.99999995329,0.000123059187642,-0.000275296206291,4.98884622194e-05,1793245598559492864
+73,1.216666667,BASELINE,764.366367515,745,713.366367515,680.366367515,657.366367515,633,878,785,807,652,629.366367515,652,0.400971979477,0.0044848714854,0.0798385534514,0.999999953176,0.000124262617958,-0.000275198860122,4.97234748245e-05,1793245598576159744
+74,1.233333333,BASELINE,764.944895106,745,713.944895106,680.944895106,657.944895106,633,878,785,807,652,629.944895106,652,0.400972324214,0.00448608091318,0.0798384896777,0.999999953266,0.000125645447974,-0.000274273516187,4.95570629464e-05,1793245598592826624
+75,1.250000000,BASELINE,764.479267785,745,714,680.479267785,657.479267785,633.520732215,878,785,807,652,630,652,0.40097250331,0.0044854127266,0.0798388948553,0.999999953227,0.000126159504528,-0.00027416581456,4.96260272155e-05,1793245598609493248
+76,1.266666667,BASELINE,764,745,714,679.901892623,657.098107377,633.901892623,878.098107377,785,806.901892623,652,630,652,0.400972615416,0.00448465678968,0.079839241243,0.999999953235,0.000126104061809,-0.000274162091217,4.96359263544e-05,1793245598626159616
+77,1.283333333,BASELINE,764,745,714,679.315451875,657.684548125,633.315451875,878.684548125,785,806.315451875,652,630,652,0.400972480875,0.00448444798971,0.079839049259,0.999999953535,0.000123669173189,-0.000274247458558,4.92284833734e-05,1793245598642826240
+78,1.300000000,BASELINE,764,745,714,679.26932953,658,633,878.73067047,785,806.26932953,652,630,652,0.400972215878,0.00448408116284,0.0798390086813,0.999999953647,0.000122391635885,-0.000274414576104,4.92191882884e-05,1793245598659493120
+79,1.316666667,BASELINE,764,745,714,679.85217929,658,633,878.14782071,785,806.85217929,652,630,652,0.400971799021,0.00448353038055,0.079839144352,0.999999953544,0.000122461344448,-0.000274676857155,4.96733679207e-05,1793245598676160000
+80,1.333333333,BASELINE,764,745.427331863,714,680,658,633,878,785,807,652,630,652,0.400972106021,0.00448448072678,0.079839352413,0.999999953469,0.000123836296484,-0.000274349192602,4.95949695274e-05,1793245598692826624
+81,1.350000000,BASELINE,764,745.999869015,714,680,658,633,878,785,807,652,630,652,0.400972658984,0.00448594114914,0.0798395850719,0.999999953399,0.000125654763912,-0.000273821067421,4.93356037463e-05,1793245598709493248
+82,1.366666667,BASELINE,764,744.847744804,714,680.576127598,657.423872402,633,878,785,807,651.423872402,630,652,0.400972216028,0.00448630771028,0.0798390141809,0.999999953279,0.000126484069987,-0.000273864880253,4.94184154398e-05,1793245598726159872
+83,1.383333333,BASELINE,764,744.15704654,714,680.84295346,657,633,878,785,807,651.15704654,629.84295346,652,0.400971895381,0.00448655531972,0.0798387079745,0.999999953279,0.000126402526446,-0.000273899146638,4.94373596548e-05,1793245598742826496
+84,1.400000000,BASELINE,764,744.750926274,714,680.249073726,657,633,878,785,807,651.750926274,629.249073726,652,0.400971915572,0.00448647275514,0.0798391385136,0.999999953612,0.000123788036681,-0.000273906495047,4.92784353452e-05,1793245598759493120
+85,1.416666667,BASELINE,763.666046349,745,713.666046349,680,657.333953651,633,878,785,807,652,629.333953651,652,0.400971091424,0.00448568966451,0.079838966053,0.999999953376,0.000123469338681,-0.000274880196866,4.94344841888e-05,1793245598776159744
+86,1.433333333,BASELINE,763.090858306,745,713.090858306,680,657.909141694,633,878,785,807,652,629.909141694,652,0.40096965736,0.00448440054265,0.0798383580102,0.99999995273,0.00012480902646,-0.000276551952672,4.98180567034e-05,1793245598792826368
+87,1.450000000,BASELINE,763,745,713.485655333,680,658,633,877.514344667,785,807,652,630,652,0.400969329451,0.00448448224426,0.0798381387339,0.999999952712,0.000124005666814,-0.000277018036906,4.96001066793e-05,1793245598809493248
+88,1.466666667,BASELINE,763.063667661,745,714,680,658,633,877.063667661,785,807,652,630,652,0.400969145709,0.00448481731415,0.0798378601266,0.999999952779,0.000122874493222,-0.000277336129663,4.92873134842e-05,1793245598826159872
+89,1.483333333,BASELINE,763.651980576,745,714,680,658,633,877.651980576,785,807,652,630,652,0.400968439999,0.00448512113103,0.0798364916315,0.999999952583,0.000122354863268,-0.000278298517778,4.91228472479e-05,1793245598842826496
+90,1.500000000,BASELINE,764,745,713.763480736,680,658,633,878.236519264,784.763480736,807,652,630,652,0.400968989075,0.00448565909176,0.0798367181696,0.999999952598,0.000123566948247,-0.000277699454004,4.91779470197e-05,1793245598859493120
+91,1.516666667,BASELINE,764,745,713.184408344,680,658,633,878.815591656,784.184408344,807,652,630,652,0.400971355469,0.00448653616526,0.0798392548098,0.999999952903,0.000127287092673,-0.000274838924343,4.95510463675e-05,1793245598876160000
+92,1.533333333,BASELINE,764,745.391716131,713.391716131,680,658,633,878.608283869,784.391716131,807,652,630,652,0.400971757586,0.00448700463571,0.0798394322748,0.999999953059,0.000127606182511,-0.000274125785867,4.95363226887e-05,1793245598892826368
+93,1.550000000,BASELINE,764,745.966463231,713.966463231,680,658,633,878.033536769,784.966463231,807,652,630,652,0.400971241887,0.00448728218478,0.0798385074056,0.99999995315,0.000126336115968,-0.000274416024481,4.93403871427e-05,1793245598909492992
+94,1.566666667,BASELINE,764,745.446355304,714,680,657.446355304,633,878,785,807,652,630,652,0.400972211774,0.00448546006145,0.0798392589444,0.999999953605,0.000124222523933,-0.000273680913009,4.95698326558e-05,1793245598926160896
+95,1.583333333,BASELINE,764,745,714,680,657,633,878,785,806.86027896,652,630,652,0.400972758508,0.00448416303554,0.0798399344824,0.999999953885,0.000122893113552,-0.000273222503582,4.97676342711e-05,1793245598942828032
+96,1.600000000,BASELINE,764,745,714,680,657,633,878,785,806.280115024,652,630,652,0.400971681149,0.00448493141688,0.0798400429799,0.999999953555,0.000124200451056,-0.000273836630415,4.97825924748e-05,1793245598959493632
+97,1.616666667,BASELINE,764,745,714,680,657.298119023,633,878,785,806.298119023,652,630,652,0.400970915082,0.00448519009884,0.0798394523437,0.999999953283,0.000124528743047,-0.000274701982755,4.96543710542e-05,1793245598976160000
+98,1.633333333,BASELINE,764,745,714,680,657.87455136,633,878,785,806.87455136,652,630,652,0.400970439627,0.00448497294355,0.0798382090212,0.999999953066,0.000123943032895,-0.000275801870257,4.93924822286e-05,1793245598992826624
+99,1.650000000,BASELINE,764,744.550070356,714,680,658.449929644,633,877.550070356,785,807,652,630,652,0.400971017177,0.00448494919638,0.0798390224134,0.999999953172,0.000125407156525,-0.000274683951206,4.97709241121e-05,1793245599009493248
+100,1.666666667,BASELINE,764.025526767,744.025526767,714,680,658.948946465,633.025526767,877.025526767,785,807,652,629.974473233,652,0.400971871863,0.00448494661202,0.0798403348536,0.999999953379,0.000127207062394,-0.000273007237686,5.02765217991e-05,1793245599026159872
+101,1.683333333,BASELINE,764.612383787,744.612383787,714,680,657.775232426,633.612383787,877.612383787,785,807,652,629.387616213,652,0.400972379673,0.00448422634671,0.079840040683,0.999999953939,0.000123852252868,-0.000272608694221,4.96614529163e-05,1793245599042827264
+102,1.700000000,BASELINE,764.802236534,745,714,680,657.197763466,633.802236534,878,785,807,652,629.197763466,652,0.40097211638,0.00448399524064,0.0798394472119,0.999999953981,0.000122546357193,-0.000273101737352,4.93545991558e-05,1793245599059494144
+103,1.716666667,BASELINE,764.21973104,745,714,680,657.78026896,633.21973104,878,785,807,652,629.78026896,652,0.400970352932,0.00448471577715,0.0798382714621,0.999999953024,0.000125226553423,-0.000275329331625,4.96473674e-05,1793245599076160000
+104,1.733333333,BASELINE,764,745,714,680,658,633,878,785,807,652,629.64237504,652.35762496,0.400970897635,0.00448531332574,0.0798387934648,0.999999953061,0.00012661554629,-0.000274590881257,4.94653681673e-05,1793245599092826368
+105,1.750000000,BASELINE,764,745,714,680,658,633,878,785,807,652,629.068138011,652.931861989,0.400972840375,0.00448583638108,0.0798403437896,0.9999999537,0.000127222462485,-0.000272055909232,4.89958041212e-05,1793245599109492992
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.400973068897,0.00448548797402,0.0798405944522,0.999999953728,0.000124426782281,-0.000273146409799,4.95327674692e-05,1793245599140407552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713.409063845,679.409063845,658,633,878,785,807,652,630,652,0.40097307199,0.00448602768869,0.0798407420573,0.999999953736,0.000125284847447,-0.000272746710219,4.940471472e-05,1793245599157075200
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.178026881,679.178026881,657.821973119,633,878,785,807,652,630,652,0.400973054637,0.0044865144462,0.0798407930344,0.999999953648,0.000126332703782,-0.000272592328104,4.93773881441e-05,1793245599173742336
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.756468651,679.756468651,657.243531349,633,878,785,807,652,630,652,0.400972991298,0.00448688209351,0.0798406266775,0.999999953342,0.0001278074352,-0.000272989709582,4.95766130573e-05,1793245599190408960
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680.33363579,657,633,878,785,806.66636421,652,629.66636421,652,0.400972502696,0.00448682161843,0.0798399561167,0.999999953225,0.000127814249307,-0.000273416021523,4.95615417639e-05,1793245599207075328
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680.909876044,657,633,878,785,806.090123956,652,629.090123956,652,0.400971704864,0.00448644983259,0.0798389189222,0.999999953246,0.000126753661982,-0.00027386337033,4.9390644202e-05,1793245599223741184
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744.51736557,713.51736557,680.51736557,657.48263443,633,878,785,806.48263443,652,629.48263443,652,0.400970725564,0.0044859366717,0.0798384034647,0.999999953023,0.000126673198879,-0.00027469218421,4.95146110436e-05,1793245599240407552
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.056531277,713.056531277,680,657.943468723,633,878.056531277,785,807,652,629.943468723,652,0.40096998646,0.00448549264312,0.0798381491775,0.999999952823,0.000126781162846,-0.000275340381606,4.96743049426e-05,1793245599257074176
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744.647286927,713.647286927,680,657.352713073,633,878.647286927,785,807,652,629.352713073,652,0.400971835164,0.00448594960925,0.0798394488821,0.999999953277,0.000126952594257,-0.00027361341298,4.96550184833e-05,1793245599273740800
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.766413055,657,633,878.766413055,785,806.766413055,652,629,652,0.400974905453,0.00448567905849,0.0798410034025,0.999999953993,0.00012624274853,-0.000271304523909,4.97120039533e-05,1793245599290407424
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.186715097,657,633,878.186715097,785,806.186715097,652,629,652,0.400979785792,0.00448433052963,0.0798429354893,0.999999955092,0.000124227094698,-0.000268133390426,4.98820032517e-05,1793245599307074560
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679.389273017,657.389273017,633,878,785,806.778546034,652,629.389273017,652,0.400998686486,0.00448495999645,0.0798501699612,0.999999958504,0.000124449444088,-0.000255055680393,4.95034388231e-05,1793245599323741440
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.963498551,657.963498551,633,878,785,807.926997102,652,629.963498551,652,0.401024248573,0.00448652925414,0.0798599237176,0.999999962753,0.000125735119801,-0.000237271128837,4.88642392191e-05,1793245599340408320
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.550771505,807.449228495,652,630,652,0.401075987161,0.00448689158148,0.0798782980384,0.999999970239,0.000125898630303,-0.000203405617871,4.79391536021e-05,1793245599357074432
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.863024781,657.863024781,633,877.863024781,785.863024781,806.863024781,652,629.863024781,652,0.401133755946,0.00448702579854,0.0798960637976,0.999999976484,0.000125251514151,-0.00017072624518,4.68760286606e-05,1793245599373740800
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.283142112,657.283142112,633,877.283142112,785.283142112,806.283142112,652,629.283142112,652,0.401205277727,0.00448668733761,0.079909969629,0.999999980926,0.000122229556412,-0.000145411891238,4.54293055115e-05,1793245599390407424
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.295433673,657.295433673,633,877.295433673,785,806.295433673,652,629.295433673,652,0.401282638813,0.00448644004784,0.0799200057242,0.999999983563,0.000119918404789,-0.000128755514656,4.3774908505e-05,1793245599407074048
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.87276243,657.87276243,633,877.87276243,785,806.87276243,652,629.87276243,652,0.401365571609,0.00448627975123,0.0799263494177,0.999999984882,0.000118285485999,-0.000120360355153,4.19223546417e-05,1793245599423740672
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,807,652,630,652,0.401463696428,0.00448909727009,0.0799289538209,0.999999985424,0.000118419908891,-0.000116762059917,3.86772478101e-05,1793245599440407808
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.02403182,745,714,680,658,633,877.951936361,785,807,652,629.97596818,652,0.401567232853,0.00449265181337,0.079930652164,0.999999985793,0.00011888091929,-0.000114257412313,3.50250053077e-05,1793245599457074944
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.612718876,745,714,680,658,633,876.774562247,785,807,652,629.387281124,652,0.401697012838,0.00449374436563,0.0799358986768,0.999999987299,0.00011527645239,-0.000105587568986,3.10562479669e-05,1793245599473742080
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.801045275,745,714,680,657.801045275,633,876.198954725,785,807,652,629,652,0.401838084546,0.00449527289068,0.0799415619298,0.999999988854,0.000111729925594,-9.53823211627e-05,2.66663587269e-05,1793245599490408704
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.219522892,745,714,680,657.219522892,633,876.780477108,785,807,652,629,652,0.402000868961,0.00449763974247,0.079948026527,0.999999990525,0.000108294811547,-8.22246634353e-05,2.14666804624e-05,1793245599507074816
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.643102046,680,657.356897954,633,877,784.643102046,807,652,629,652,0.402180305953,0.00450026875629,0.0799534331664,0.999999991967,0.00010342489449,-7.1553564535e-05,1.58080370381e-05,1793245599523740928
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.069774807,680,657.930225193,633,877,784.069774807,807,652,629,652,0.40236984138,0.00450305675005,0.0799581982419,0.999999993234,9.76848869579e-05,-6.23903579931e-05,9.87106845229e-06,1793245599540407552
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.515928163,680.515928163,658,633,877.515928163,784.515928163,807,652,629.515928163,652,0.402579837932,0.00450616858835,0.0799579353526,0.99999999381,9.03350134751e-05,-6.49062495355e-05,2.68746874329e-06,1793245599557074176
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.898067825,658,633.101932175,877.898067825,785,807,652,629.898067825,652,0.402798070396,0.00450961657371,0.0799561314604,0.999999994044,8.32181577052e-05,-7.04468645009e-05,-4.84664142853e-06,1793245599573740800
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.31868585,658,633.68131415,877.31868585,785,807,652,629.31868585,652,0.403041599854,0.00451442888382,0.0799503728602,0.999999993443,7.82376179428e-05,-8.25750876326e-05,-1.32134319452e-05,1793245599590407424
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680.260073756,658,633.739926244,877.260073756,785,806.739926244,652,629,652,0.403309338042,0.0045183363087,0.0799477795559,0.999999993254,7.40797532364e-05,-8.69503387133e-05,-2.10604078272e-05,1793245599607074304
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680.838072519,658,633.161927481,877.838072519,785,806.161927481,652,629,652,0.403606669976,0.00452113756382,0.0799490556415,0.999999993735,7.09275611446e-05,-8.18480326643e-05,-2.82719401184e-05,1793245599623741440
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680.586696778,658,633,878,785,806.413303222,652,629,652,0.403941063771,0.00452760494998,0.0799543394328,0.99999999038,0.000117254119895,-7.10855573308e-05,-2.09510067835e-05,1793245599640408320
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680.012543369,658,633,878,785,806.987456631,652,629,652,0.404289881369,0.0045354991284,0.0799611829513,0.999999981565,0.000182836919155,-5.81202456383e-05,-7.97429866391e-06,1793245599657074688
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.423926357,714,680,657.423926357,633,877.423926357,785,807,652,629,652,0.404672983793,0.00454524383534,0.0799612952752,0.9999999927,0.000104326448788,-5.8741762755e-05,-1.62704320095e-05,1793245599673741056
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.162263841,714,680,657.162263841,633.162263841,877.162263841,785,807,652,629,652,0.405070764941,0.00455387398613,0.0799611530625,0.999999997069,4.41268436132e-05,-5.79066728462e-05,-2.37131056652e-05,1793245599690407680
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.741389473,714,680,657.741389473,633.741389473,877.741389473,785,807,652,629,652,0.405504289003,0.00455953461889,0.0799607431619,0.999999997465,3.92364053192e-05,-5.25499137893e-05,-2.77426037165e-05,1793245599707074304
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.680735439,714,680,658,633.680735439,878,784.680735439,807,652,629,652,0.405948991658,0.00456688003675,0.0799555699844,0.999999995948,5.92540158453e-05,-6.09248078544e-05,-2.96812003533e-05,1793245599723740928
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744.103869303,714,680,658,633.103869303,878,784.103869303,807,652,629,652,0.406402713912,0.00457558483972,0.0799465535128,0.999999991385,9.93689162444e-05,-8.03792130833e-05,-2.99327341605e-05,1793245599740407552
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744.470660955,714,680,658,633,877.529339045,784.470660955,807,651.529339045,629.470660955,652,0.406891547273,0.0045849584071,0.0799392921351,0.999999986916,0.000128982034473,-9.26088944944e-05,-3.09189317169e-05,1793245599757074688
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.953736639,714,680,658.046263361,633,877.046263361,785,807,651.046263361,630,652,0.407391409671,0.00459443775686,0.0799324254229,0.999999982296,0.000153807286506,-0.000103566458628,-3.20162558997e-05,1793245599773741312
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.359353786,714,680,658.640646214,633,877.640646214,785,807,651.640646214,630,652,0.407930591761,0.00460343043948,0.0799256682954,0.999999981345,0.000149229938279,-0.000118249217801,-3.25187702924e-05,1793245599790407936
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.227617791,714,680,658.772382209,633,878,784.772382209,807,652,629.772382209,652,0.4084916619,0.00461268664778,0.0799218644151,0.999999979747,0.000152531724843,-0.000126947460038,-3.35182901572e-05,1793245599807074304
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.803257668,714,680,658.196742332,633,878,784.196742332,807,652,629.196742332,652,0.409086198307,0.00462234577991,0.0799225759786,0.999999977285,0.000167880517858,-0.000126495520042,-3.52777193186e-05,1793245599823740672
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.375829034,745,713.624170966,680.375829034,658.375829034,633,878,784,807.375829034,652,629,652,0.409730399097,0.00462899674495,0.0799444792749,0.999999979767,0.000176054367306,-9.00676815128e-05,-3.68600651803e-05,1793245599840407552
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.94680706,745,713.05319294,680.94680706,658.94680706,633,878,784,807.94680706,652,629,652,0.41040038807,0.0046340857208,0.0799773863653,0.999999982363,0.000180502630881,-3.49593799253e-05,-3.83504605042e-05,1793245599857074176
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.463608522,745,713.536391478,680.463608522,658.463608522,633,878,784,807.463608522,652,629.536391478,652,0.411095620799,0.0046362374305,0.0799923822705,0.999999983639,0.000176059623137,-1.26526675235e-05,-3.95597473635e-05,1793245599873740800
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.1257359,658.1257359,633,878,784.1257359,807.1257359,652,630,652,0.411788924162,0.00463332920352,0.0799954009609,0.999999984833,0.000169079075077,-9.05215848466e-06,-4.08051083823e-05,1793245599890407680
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.707280846,658.707280846,633,878,784.707280846,807.707280846,652,630,652,0.412465831981,0.00461317192962,0.0799616710902,0.999999985042,0.000156210863258,-6.10482521624e-05,-4.22859318413e-05,1793245599907074816
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.714779515,680.714779515,659,633,878,785,808,651.714779515,629.714779515,652,0.413172278365,0.00459532190622,0.0799339532795,0.999999985475,0.000133544256506,-9.68193313921e-05,-4.2924342062e-05,1793245599923741440
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.140493712,680.140493712,659,633,878,785,808,651.140493712,629.140493712,652,0.413908661584,0.00457981023309,0.0799123285685,0.999999987248,0.000100947169036,-0.000116146685922,-4.27089833638e-05,1793245599940407808
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.434766322,680.434766322,659,633,878,784.565233678,808,651.434766322,629.434766322,652,0.41469065895,0.00457834815909,0.079926181331,0.999999989632,0.000104238320937,-8.98582976842e-05,-4.23835264855e-05,1793245599957074432
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.010587551,745,714,681,659,633,878.010587551,784.010587551,807.989412449,652,629.989412449,652,0.415487435494,0.00458158317995,0.0799511181779,0.999999990813,0.00011886773807,-4.97865768689e-05,-4.20255531796e-05,1793245599973740800
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.599837657,745,714,681,659,633,878.599837657,784.599837657,807.400162343,652,629.400162343,652,0.416284540891,0.00459284176342,0.0799538583482,0.999999990134,0.000117921615883,-6.38446161647e-05,-4.18392773558e-05,1793245599990407424
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.813047353,745,714,681,659,633,879,784.813047353,807.186952647,652,629.186952647,652,0.417101297381,0.00460162371498,0.0799558437856,0.999999988953,0.000125792132186,-6.70187765829e-05,-4.21853099103e-05,1793245600007074048
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.230450896,745,714,681,659,633,879,784.230450896,807.769549104,652,629.769549104,652,0.417959641001,0.00460516442372,0.0799562319977,0.999999986334,0.000152321108266,-4.71596206193e-05,-4.36578550729e-05,1793245600023740672
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.652886702,681,659,633,879,784.347113298,807.652886702,651.652886702,629.652886702,652.347113298,0.418841392577,0.00460253969297,0.0799721636114,0.99999998886,0.000141612384105,-1.20428919971e-05,-4.56174453027e-05,1793245600040407296
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.078615741,681,659,633,879,784.921384259,807.078615741,651.078615741,629.078615741,652.921384259,0.419738462739,0.00459588017907,0.0799982671281,0.999999992632,0.00010653458648,3.30586868732e-05,-4.7895767101e-05,1793245600057074432
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713.504647581,681,659,633,879,785,808.009295162,651.504647581,629.504647581,653,0.420577524414,0.0045916145888,0.0799820279257,0.999999992618,0.0001109753271,7.34256574909e-06,-4.89335171174e-05,1793245600073741824
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.910956406,680.910956406,659,633,879,784.910956406,808.910956406,652,630,652.910956406,0.421425151548,0.00458919663059,0.0799646204339,0.999999991374,0.000119863647111,-2.08064518856e-05,-4.95113636947e-05,1793245600090408960
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.328188472,680.328188472,659,633,879,784.328188472,808.328188472,652,630,652.328188472,0.422371287308,0.00459491799041,0.0799779734301,0.999999991778,0.000118658052234,-1.64552351952e-07,-4.86301834358e-05,1793245600107074816
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713,680.251386427,659,633,879,784,808,652,630,652.251386427,0.423303249945,0.00460142213943,0.0799939508981,0.999999990818,0.000125123917171,2.05054515862e-05,-4.78238446618e-05,1793245600123740928
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713,680.826845134,659,633,879,784,808,652,630,652.826845134,0.424216941573,0.00460893541403,0.0800133116791,0.999999988033,0.000141479367112,4.12116888638e-05,-4.71139869102e-05,1793245600140407552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713.402235804,681.402235804,659,633.402235804,878.597764196,784,808.402235804,651.597764196,630,652.597764196,0.425084414015,0.0046152232362,0.0799802098782,0.999999987589,0.000148014790931,-2.60347109394e-05,-4.7291058551e-05,1793245600157074176
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713.977597154,681.977597154,659,633.977597154,878.022402846,784,808.977597154,651.022402846,630,652.022402846,0.42593199329,0.00462098361327,0.0799245277561,0.999999978958,0.000150323593654,-0.000131136638936,-4.78498713917e-05,1793245600173740800
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764.845183532,745,713.845183532,682,659,633.845183532,879.845183532,784,809,652,629.845183532,652,0.427799713652,0.00460975665761,0.0799094431234,0.999999983664,0.000136784348366,-0.000105662897764,-5.28968282263e-05,1793245600207074560
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.265925856,745,713.265925856,682,659,633.265925856,879.265925856,784,809,652,629.265925856,652,0.428736791527,0.00460404777288,0.0799164060154,0.999999983338,0.000133197105202,-0.000114058854538,-5.07198497544e-05,1793245600223741184
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.30991643,745,713,682,659,633,879,784,809,651.69008357,629.30991643,652,0.429685981359,0.00460308034518,0.0799409050485,0.999999986671,0.000129666528611,-8.5629685696e-05,-5.01286649482e-05,1793245600240407808
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.882860033,745,713,682,659,633,879,784,809,651.117139967,629.882860033,652,0.430645450603,0.00460613700917,0.0799802870664,0.999999990408,0.00012618404497,-2.5946901444e-05,-5.08833488266e-05,1793245600257074176
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+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,713.944700997,682.055299003,660,633,879.055299003,784,808.055299003,651.055299003,630,653,0.432499787961,0.00461789869911,0.0800433921946,0.999999986321,0.000139725632187,7.28306170341e-05,-5.03123098336e-05,1793245600290407424
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,713.364817097,682.635182903,660,633,879.635182903,784,808.635182903,651.635182903,630,653,0.433327063076,0.00462298425131,0.0799751052,0.999999987078,0.000147969403346,-3.7872771877e-05,-5.01545242231e-05,1793245600307074048
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713,683,660,633,879.785583351,784.214416649,808.785583351,652,630,653,0.434187048691,0.00462492347419,0.0799247730356,0.999999981404,0.000147361194806,-0.000113326761657,-5.13184380706e-05,1793245600323740928
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,683,660,633,879.207452367,784.792547633,808.207452367,652,630,653,0.435102521166,0.00462152558864,0.0799048975863,0.999999981506,0.000131737402729,-0.000128987317188,-5.47243476647e-05,1793245600340408064
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.367926684,745,713,683,660,633,879,785,808.367926684,652,630,653,0.435996289628,0.00461292354944,0.0799206016182,0.999999984721,0.000127048858842,-0.000106810891927,-5.48459318621e-05,1793245600357074944
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.941765566,745,713,683,660,633,879,785,808.941765566,652,630,653,0.436877911264,0.00460140897715,0.0799562179044,0.999999988322,0.000128480287687,-6.34587905798e-05,-5.31294249569e-05,1793245600373741312
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713,683,660,633,879,784.470447939,809,652,630,652.470447939,0.437730488872,0.00460625182287,0.0799784771383,0.999999991981,0.000110295072845,-3.17309660885e-05,-5.35347112875e-05,1793245600390407680
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.88320404,745,713,683,659.88320404,633,879.11679596,784,809,652,630,652.11679596,0.438568830397,0.00461412228959,0.0799903656962,0.999999993231,0.00010195184247,-1.56021163581e-05,-5.38543178189e-05,1793245600407074048
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.304339001,745,713,683,659.304339001,633,879.695660999,784,809,652,630,652.695660999,0.439363828735,0.00462666166915,0.0799671940365,0.99999998705,0.00014131085252,-5.59919771576e-05,-5.28868765451e-05,1793245600423740928
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.273093884,745,713,683.273093884,659,632.726906116,879.726906116,784,809,652,630,652.726906116,0.440105959412,0.00463952057083,0.0799076792671,0.999999973904,0.000164435354304,-0.000149323786843,-5.34301091733e-05,1793245600440407552
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713,684,658.003129893,632,879.996870107,784,809.996870107,652,630,652.996870107,0.442122413553,0.00466987763024,0.079650659469,0.999999837442,0.000194921171144,-0.000532757710589,-5.7365921105e-05,1793245600490407936
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,684,656.0965122,630.0965122,880,783,809.0965122,652,630,653,0.445633121467,0.00471719458446,0.0797735228043,0.999999897975,0.000267563326217,-0.000360082014938,-5.29296399035e-05,1793245600573740800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,684.486930666,655.513069334,630,880,783.486930666,809.486930666,652,630,652.513069334,0.446208988512,0.00473822982666,0.0797495123077,0.99999988036,0.000289520720816,-0.000389995884892,-5.7974359193e-05,1793245600590407936
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764.367436606,745,713,685,655,630,879.367436606,783.367436606,810,652,629.367436606,652.632563394,0.447327902893,0.00478249615813,0.079708479006,0.999999855694,0.000310524034191,-0.000433247392003,-6.69564629691e-05,1793245600623741440
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.791809305,712.791809305,684.791809305,654.791809305,629.791809305,879.208190695,783,810,652,629.208190695,653,0.447858161476,0.00479653917789,0.0796915082728,0.999999843978,0.000316845322396,-0.000454884539894,-6.87929430302e-05,1793245600640407808
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.389533194,744.389533194,712.389533194,684.389533194,654,629,880,783,810,652,629.610466806,653,0.448811713677,0.00480042230278,0.0796594096453,0.999999808555,0.00034217757948,-0.000511011718511,-6.83505568488e-05,1793245600673741056
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+256,4.266666667,HOLD_POSE2,764.178966893,744.178966893,712,684.178966893,645,626.178966893,880,782,809.178966893,652,629,653,0.454154638463,0.00485210886992,0.0795667725849,0.999999710002,0.000373689946933,-0.000659493459263,-7.36153729984e-05,1793245601662278656
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diff --git a/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2de8f9b7c953c0e3b64dc1b90e362f2168b3ece5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70e4530a9d2ad70e54dea513853f06e66207d235
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b44357ee68257235bfd1583b364db96c6cba10bb30ecd8c162813ca83927f07
+size 26437279
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c40ca0790371c7e221b9db3d8bd907e1f91fd310
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+12,0.200000000,BASELINE,766,746,715,679,663,636,879,787.035976444,803.035976444,652,631.964023556,652,0.400787902684,-0.00543358768269,0.0598808673319,0.999999938529,-8.35296315239e-05,-0.000338376660325,-3.82884465401e-05,1793239890432797696
+13,0.216666667,BASELINE,766,746,715,679,662.461546329,636,879,787,803,652,632,652,0.400787181615,-0.00543400441739,0.0598808726959,0.999999938057,-8.42227734428e-05,-0.000339573483662,-3.85115942832e-05,1793239890449464064
+14,0.233333333,BASELINE,765.88443971,746,715,679.11556029,662.11556029,636,879,787,803.11556029,652,631.88443971,652.11556029,0.400786584602,-0.00543410278002,0.059880727992,0.999999937595,-8.51014253937e-05,-0.000340676264748,-3.88347721789e-05,1793239890466130944
+15,0.250000000,BASELINE,765.29596137,746,715,679.70403863,662.70403863,636,879,787,803.70403863,652,631.29596137,652.70403863,0.40078672063,-0.00543322373172,0.0598801370079,0.999999937391,-8.65494050985e-05,-0.00034084760381,-3.93702519442e-05,1793239890482797568
+16,0.266666667,BASELINE,765.288889485,745.711110515,715,680,662.711110515,636,879,787,803.711110515,652,631,652.711110515,0.400787080939,-0.00543294431724,0.0598798579366,0.999999937314,-8.67679713774e-05,-0.000341000786694,-3.95094798642e-05,1793239890499464192
+17,0.283333333,BASELINE,765.870070105,745.129929895,715,680,662.129929895,636,879,787,803.129929895,652,631,652.129929895,0.400787668172,-0.00543327159725,0.0598798944508,0.999999937367,-8.57426479e-05,-0.000341135599603,-3.92477900731e-05,1793239890516130816
+18,0.300000000,BASELINE,766,745,715,680,662.893958196,636,879,787.446979098,803.446979098,652,631.446979098,652,0.400787313919,-0.00543337100719,0.0598796773715,0.999999937162,-8.6541122966e-05,-0.000341564298115,-3.89975429044e-05,1793239890532797440
+19,0.316666667,BASELINE,766,745,715,680,663.977423606,636,879.022576394,787.977423606,804,652.022576394,632,652.022576394,0.400786685523,-0.00543336605029,0.0598794095728,0.999999936896,-8.77399846778e-05,-0.000342060728635,-3.87780769836e-05,1793239890549464064
+20,0.333333333,BASELINE,766,745,715,680,663.403821519,636,879.596178481,787.403821519,804,652.596178481,632,652.596178481,0.400785982451,-0.00543241517986,0.0598796860192,0.99999993701,-8.58941799418e-05,-0.000342144988236,-3.92294794323e-05,1793239890566131200
+21,0.350000000,BASELINE,766,745,715,679.825027169,663,636,879.825027169,787,803.825027169,652.825027169,631.825027169,652.825027169,0.400785388833,-0.00543222081568,0.0598797395233,0.999999937002,-8.51525241223e-05,-0.000342326993188,-3.94698355305e-05,1793239890582797824
+22,0.366666667,BASELINE,766,745,715,679.233883156,663,636,879.233883156,787,803.233883156,652.233883156,631.233883156,652.233883156,0.400785055551,-0.00543382579444,0.0598792627616,0.999999936708,-8.70370760556e-05,-0.000342741484497,-3.92082198667e-05,1793239890599464448
+23,0.383333333,BASELINE,766,745,715,679,663,636,879,787,803.349787731,652,631.349787731,652,0.40078545427,-0.00543435931961,0.0598794359563,0.999999936801,-8.76419407884e-05,-0.000342325599873,-3.9106460358e-05,1793239890616131072
+24,0.400000000,BASELINE,766,745,715,679,663,636,879,787,803.928566346,652,631.928566346,652,0.400786332198,-0.00543419141066,0.0598800346493,0.99999993715,-8.74090499019e-05,-0.000341366104118,-3.9109351727e-05,1793239890632797696
+25,0.416666667,BASELINE,766,745,715,679,663,636,879,787.504742362,804,652,631.495257638,652,0.400785861698,-0.0054328012583,0.059879663296,0.999999937153,-8.55904480981e-05,-0.000341807437037,-3.91848574577e-05,1793239890649464320
+26,0.433333333,BASELINE,765.917836646,745,715,679.082163354,663,636,879,787.917836646,804,652,631.082163354,652,0.400785361638,-0.00543147744678,0.0598793627368,0.999999937152,-8.37776828324e-05,-0.000342251108736,-3.92732380507e-05,1793239890666130944
+27,0.450000000,BASELINE,765.330507906,745,715,679.669492094,663,636,879,787.330507906,804,652,631.669492094,652,0.400785847138,-0.00543161958408,0.0598803371861,0.999999937439,-8.33735120127e-05,-0.000341496497707,-3.93779168184e-05,1793239890682797312
+28,0.466666667,BASELINE,765,745.253280758,715,680,662.746719242,635.746719242,879,787,803.746719242,652,631.746719242,652,0.400785798198,-0.00543195826998,0.0598804062334,0.999999937449,-8.32475837044e-05,-0.000341503835636,-3.93347091755e-05,1793239890699463936
+29,0.483333333,BASELINE,765,745.832513591,715,680,662.167486409,635.167486409,879,787,803.167486409,652,631.167486409,652,0.400785061474,-0.00543254989821,0.0598793101008,0.999999937101,-8.34797312775e-05,-0.000342491740976,-3.91011835444e-05,1793239890716130816
+30,0.500000000,BASELINE,765.409452624,746,715,680,662.409452624,635.409452624,879,787,803.409452624,652,631,652,0.40078392952,-0.00543193441425,0.0598785972596,0.99999993654,-8.43785486051e-05,-0.000343891197828,-3.92433279746e-05,1793239890732797696
+31,0.516666667,BASELINE,765.985458591,746,715,680,662.985458591,635.985458591,879,787,803.985458591,652,631,652,0.400782636796,-0.00543082791238,0.0598780403301,0.999999935888,-8.55485476703e-05,-0.000345458061764,-3.9538283996e-05,1793239890749464064
+32,0.533333333,BASELINE,766,745.438948118,715,679.438948118,663,636,879,787,804,652,631,652,0.400784044129,-0.00543337446848,0.0598786541261,0.999999936396,-8.65454647939e-05,-0.000343805912863,-3.89346089253e-05,1793239890766130944
+33,0.550000000,BASELINE,766,745,715,679,662.859861182,636,879,787,803.859861182,652,631.140138818,652,0.400785129386,-0.0054351307069,0.0598791324938,0.999999936756,-8.73594335659e-05,-0.000342588119781,-3.85933851584e-05,1793239890782797824
+34,0.566666667,BASELINE,766,745,715,679,662.269516442,636,879,787,803.269516442,652,631.730483558,652,0.400784955298,-0.00543404404916,0.0598790783813,0.99999993656,-8.76000684152e-05,-0.000343033556239,-3.91700734398e-05,1793239890799464448
+35,0.583333333,BASELINE,766,745,715,679,662.314798844,636,879,787,803,652.314798844,632,652,0.400785734205,-0.00543319519231,0.0598796152856,0.999999936907,-8.63119459061e-05,-0.000342339470711,-3.92406758183e-05,1793239890816130816
+36,0.600000000,BASELINE,766,745,715,679,662.894049066,636,879,787,803,652.894049066,632,652,0.40078731369,-0.00543254610345,0.0598806486823,0.999999937704,-8.37395684238e-05,-0.000340688113105,-3.88861333886e-05,1793239890832797440
+37,0.616666667,BASELINE,766,745,715,679,663,636,879,787,803.469775242,652.530224758,631.530224758,652,0.40078652423,-0.00543283516034,0.0598803455108,0.999999937526,-8.38733494561e-05,-0.000341177550496,-3.88845434104e-05,1793239890849464064
+38,0.633333333,BASELINE,766,745,714.954269133,679,663,636,879.045730867,787,804,652,631.045730867,652,0.400785243225,-0.00543316613365,0.0598797227482,0.999999937131,-8.44496461721e-05,-0.000342181261381,-3.89739781707e-05,1793239890866130944
+39,0.650000000,BASELINE,766,745,714.366237189,679,663,636,879.633762811,787,804,652,631.633762811,652,0.400784421835,-0.00543150376799,0.0598788581644,0.999999936749,-8.30897481348e-05,-0.000343600537209,-3.92058835394e-05,1793239890882797568
+40,0.666666667,BASELINE,765.781357523,745.218642477,714.218642477,679,663.218642477,636,879.781357523,787.218642477,804,652,632,652,0.400784179633,-0.00543130445643,0.0598786399321,0.999999936623,-8.28490081003e-05,-0.000344033489401,-3.91362239336e-05,1793239890899464192
+41,0.683333333,BASELINE,765.201683069,745.798316931,714.798316931,679,663.798316931,636,879.201683069,787.798316931,804,652,632,652,0.400784893813,-0.00543352100361,0.0598794889839,0.999999936921,-8.44562705633e-05,-0.000342837780986,-3.85686070994e-05,1793239890916130816
+42,0.700000000,BASELINE,765.377009656,745.622990344,715,679.377009656,663.622990344,636,879,788,804,652,632,652.377009656,0.400785167136,-0.00543464619115,0.0598795681598,0.999999936839,-8.60220895398e-05,-0.000342699434244,-3.84517852804e-05,1793239890932797440
+43,0.716666667,BASELINE,765.955178545,745.044821455,715,679.955178545,663.044821455,636,879,788,804,652,632,652.955178545,0.400785205232,-0.0054351890671,0.0598792365567,0.999999936555,-8.75657956627e-05,-0.000343125258932,-3.85754920133e-05,1793239890949463808
+44,0.733333333,BASELINE,765.471880748,745,715.528119252,679.471880748,663.528119252,636,879,787.471880748,804,652,632,653,0.400784330668,-0.00543363013472,0.0598788060396,0.999999936684,-8.38129686892e-05,-0.000343672246284,-3.86793501228e-05,1793239890966130944
+45,0.750000000,BASELINE,765.103242304,745,715.896757696,679.103242304,663.896757696,636,879,787,803.896757696,652,631.896757696,652.896757696,0.400783536289,-0.00543237404,0.0598784904438,0.999999936759,-8.08924611836e-05,-0.000344147454223,-3.87352278635e-05,1793239890982797568
+46,0.766666667,BASELINE,765.690660221,745,715.309339779,679.690660221,663.309339779,636,879,787,803.309339779,652,631.309339779,652.309339779,0.400783477646,-0.00543336651447,0.0598787527782,0.999999936481,-8.39627185906e-05,-0.000344238286172,-3.85739145608e-05,1793239890999464448
+47,0.783333333,BASELINE,766,745,715,679.724597151,663,636,879,787.275402849,803,652,631.275402849,652,0.400783696395,-0.00543336489175,0.0598786087803,0.99999993639,-8.43937489294e-05,-0.000344398472578,-3.85749889818e-05,1793239891016130816
+48,0.800000000,BASELINE,766,745,715,679.142830495,663,636,879,787.857169505,803,652,631.857169505,652,0.40078422372,-0.00543225741495,0.0598780127701,0.999999936509,-8.18888490601e-05,-0.000344635810325,-3.87567068339e-05,1793239891032797440
+49,0.816666667,BASELINE,765.566320365,745,715,679,662.566320365,636,879,787.566320365,803.433679635,652,631.566320365,652,0.400784268139,-0.00543279667223,0.0598777933517,0.999999936281,-8.37123251384e-05,-0.00034485421525,-3.8809057071e-05,1793239891049464064
+50,0.833333333,BASELINE,765.008497191,745,715,679.008497191,662.008497191,636,878.991502809,787,804,652,631,652,0.400784159092,-0.00543383068033,0.0598777162026,0.999999935946,-8.68761416245e-05,-0.000345041227455,-3.88241652428e-05,1793239891066130688
+51,0.850000000,BASELINE,765.584513132,745,715,679.584513132,662.584513132,636,878.415486868,787,804,652,631,652,0.400784295333,-0.00543211973517,0.0598789565214,0.999999936568,-8.54903252215e-05,-0.000343543024508,-3.91634907928e-05,1793239891082797312
+52,0.866666667,BASELINE,766,745,715,679.835791808,663,636,878.164208192,787,804,652,631,652.164208192,0.400784463223,-0.0054309977433,0.0598798171097,0.999999936996,-8.45281618263e-05,-0.000342504650562,-3.94185030003e-05,1793239891099464192
+53,0.883333333,BASELINE,766,745,715,679.24657436,663,636,878.75342564,787,804,652,631,652.75342564,0.40078471303,-0.00543140010056,0.0598796948665,0.999999936931,-8.46625117101e-05,-0.000342656421841,-3.94552925122e-05,1793239891116130816
+54,0.900000000,BASELINE,766,745,715,679.336964506,663,636,879,787,803.663035494,652,631,652.663035494,0.400784097037,-0.00543228415452,0.0598790339019,0.99999993647,-8.57052069172e-05,-0.000343741733775,-3.94405334451e-05,1793239891132797440
+55,0.916666667,BASELINE,766,745,715,679.916416902,663,636,879,787,803.083583098,652,631,652.083583098,0.400782857994,-0.00543351484917,0.0598779852602,0.99999993572,-8.74015696e-05,-0.000345498844359,-3.93886787596e-05,1793239891149464064
+56,0.933333333,BASELINE,766,745.491866753,715,679.508133247,663,636,879,787,803.491866753,652,631.491866753,652.491866753,0.400783226655,-0.00543411754136,0.0598784250772,0.999999935958,-8.8203173755e-05,-0.00034463259553,-3.91556156287e-05,1793239891166130688
+57,0.950000000,BASELINE,766,746,715,679,663,636.068126884,879,787,804,652,632,652.931873116,0.400783785652,-0.00543450085048,0.0598790377921,0.99999993632,-8.86233816742e-05,-0.000343495918258,-3.89317119387e-05,1793239891182797312
+58,0.966666667,BASELINE,766,746,715,679,663,636.655709151,879,787,804,652,632,652.344290849,0.40078372967,-0.00543401853016,0.05987905581,0.999999936376,-8.72854815277e-05,-0.000343668893977,-3.90105420917e-05,1793239891199463936
+59,0.983333333,BASELINE,766,745.758639015,715,679.241360985,663,636.758639015,879,787.241360985,804,652,632,652.241360985,0.400783508093,-0.00543390804814,0.0598787327364,0.999999936237,-8.72161334536e-05,-0.000344079846791,-3.90941037877e-05,1793239891216130560
+60,1.000000000,BASELINE,766,745.175718926,715,679.824281074,663,636.175718926,879,787.824281074,804,652,632,652.824281074,0.400783052176,-0.00543432376854,0.0598779269712,0.999999935824,-8.89419614499e-05,-0.000344827570068,-3.91843612815e-05,1793239891232797184
+61,1.016666667,BASELINE,766,745,715,679.599293984,663,636,879,787.599293984,804,652,632,652.599293984,0.400783754932,-0.00543424704525,0.0598786715412,0.999999936114,-8.90268686431e-05,-0.000343984080125,-3.89912974794e-05,1793239891249464064
+62,1.033333333,BASELINE,766,745,715,679.025671917,663,636,879,787.025671917,804,652,632,652.025671917,0.400784957688,-0.00543395781848,0.0598800851251,0.999999936707,-8.84036717068e-05,-0.000342453936347,-3.86759724694e-05,1793239891266130688
+63,1.050000000,BASELINE,766,745,715,679,663,636,879,787.549836499,803.450163501,652.549836499,631.450163501,652,0.40078266902,-0.00543319836846,0.0598778228266,0.999999935733,-8.73585970513e-05,-0.000345510933086,-3.90474949575e-05,1793239891282797312
+64,1.066666667,BASELINE,766,745,715,679,663,636,879,787.870841508,803,652.870841508,631,652,0.400781040804,-0.00543271442925,0.0598762139625,0.999999935045,-8.64724387717e-05,-0.000347690734879,-3.92883736217e-05,1793239891299463680
+65,1.083333333,BASELINE,766,745,715,679,663,636,879,787.278150294,803,652.278150294,631,652,0.400782369918,-0.00543329832589,0.0598775682558,0.999999935683,-8.62275454889e-05,-0.000345951111766,-3.89449013784e-05,1793239891316130560
+66,1.100000000,BASELINE,765.693958701,745,715,679.306041299,663,636,879,787,803.306041299,652,631.306041299,652.306041299,0.400783178523,-0.00543283642462,0.0598781376381,0.999999936035,-8.57556791089e-05,-0.000345042248454,-3.89985976028e-05,1793239891332797440
+67,1.116666667,BASELINE,765.117283401,745,715,679.882716599,663,636,879,787,803.882716599,652,631.882716599,652.882716599,0.400783526841,-0.00543144971848,0.0598780129193,0.999999936137,-8.50830991861e-05,-0.000344868030694,-3.94035121025e-05,1793239891349464320
+68,1.133333333,BASELINE,765.459171885,745,715,680,663,636,879,787,804,652,631.540828115,652.540828115,0.400783444863,-0.00543281597451,0.0598782815186,0.999999936168,-8.54287512971e-05,-0.000344727059951,-3.91100386986e-05,1793239891366130944
+69,1.150000000,BASELINE,765.964547107,745,715,680,663,636,879,787,804,652,631,652,0.400783236864,-0.00543469227532,0.0598785881416,0.999999936165,-8.59356890804e-05,-0.000344656867727,-3.86860761094e-05,1793239891382797568
+70,1.166666667,BASELINE,765.390062482,745,715,680,663,636,879,787,804,652,631,652,0.400782783088,-0.00543363735669,0.0598779461594,0.999999935936,-8.49424247765e-05,-0.000345533750956,-3.89890288732e-05,1793239891399464192
+71,1.183333333,BASELINE,765.189511873,745.189511873,715,680,663,635.810488127,879,787,803.810488127,652,631.189511873,652,0.400783034221,-0.00543310530793,0.059877736779,0.999999936001,-8.40760981507e-05,-0.000345546068392,-3.9090933461e-05,1793239891416130816
+72,1.200000000,BASELINE,765.779851385,745.779851385,715,680,663,635.220148615,879,787,803.220148615,652,631.779851385,652,0.400784776275,-0.0054336791564,0.0598784423737,0.999999936689,-8.34782512459e-05,-0.000343729783589,-3.87676105741e-05,1793239891432797696
+73,1.216666667,BASELINE,766,745.637598384,715,679.637598384,663,635.362401616,879,787,803.362401616,652.362401616,631.637598384,652.362401616,0.40078352136,-0.00543379771635,0.0598777793084,0.999999936001,-8.45774005301e-05,-0.00034544891808,-3.88562045317e-05,1793239891449464320
+74,1.233333333,BASELINE,766,745.059680391,715,679.059680391,663,635.940319609,879,787,803.940319609,652.940319609,631.059680391,652.940319609,0.400780484179,-0.00543364552103,0.0598763023155,0.99999993448,-8.66857353922e-05,-0.000349270528841,-3.91897610643e-05,1793239891466130944
+75,1.250000000,BASELINE,766.511883825,745,715,679,663.511883825,636,879,787,803.488116175,652.488116175,631,652.488116175,0.400780950877,-0.00543255862455,0.0598767960329,0.999999935099,-8.4555188466e-05,-0.000348035973805,-3.90340712884e-05,1793239891482797824
+76,1.266666667,BASELINE,766.914014951,745,715,679,663.914014951,636,879,787,803,652,631.085985049,652,0.400781715962,-0.00543151592709,0.0598774315675,0.999999935842,-8.23729196843e-05,-0.000346433847486,-3.89258335527e-05,1793239891499464192
+77,1.283333333,BASELINE,766.320624803,745,715,679,663.320624803,636,879,787,803,652,631.679375197,652,0.400781860719,-0.00543136924738,0.0598775647399,0.999999935905,-8.2766055633e-05,-0.000346098673748,-3.94300918019e-05,1793239891516130560
+78,1.300000000,BASELINE,765.733734459,745,715,679,663,636,879,787,803.266265541,652,632,652,0.400782940632,-0.00543178201292,0.0598782674891,0.999999936172,-8.34762790852e-05,-0.000345148520592,-3.94907616913e-05,1793239891532797440
+79,1.316666667,BASELINE,765.154484419,745,715,679,663,636,879,787,803.845515581,652,632,652,0.400785119785,-0.00543285238403,0.0598796397529,0.999999936675,-8.45592261952e-05,-0.000343475483736,-3.90300111593e-05,1793239891549464064
+80,1.333333333,BASELINE,765.421674754,745,715,679,663,636,879,787.421674754,803.578325246,652.421674754,632,652.421674754,0.40078433903,-0.00543277302768,0.0598789406875,0.999999936417,-8.42332734715e-05,-0.000344305523957,-3.90370715883e-05,1793239891566130688
+81,1.350000000,BASELINE,765.996709845,745,715,679,663,636,879,787.996709845,803.003290155,652.996709845,632,652.996709845,0.400782481775,-0.00543227552308,0.0598774882934,0.99999993588,-8.33949132225e-05,-0.000346045916728,-3.92142717527e-05,1793239891582797568
+82,1.366666667,BASELINE,766,745,715,679,663,636,879,787.415655434,803.584344566,652.415655434,632,652.415655434,0.400783321364,-0.00543217291133,0.0598781324976,0.999999936115,-8.43360812547e-05,-0.000345125785657,-3.93168510586e-05,1793239891599464448
+83,1.383333333,BASELINE,765.830397223,745,715,679,663,636,879,787.169602777,804,652,632,652,0.400784379127,-0.00543222064231,0.0598790765702,0.999999936505,-8.50322546153e-05,-0.000343827051791,-3.92840018805e-05,1793239891616130816
+84,1.400000000,BASELINE,765.251055407,745,715,679,663,636,879,787.748944593,804,652,632,652,0.40078592648,-0.00543262609249,0.0598807159395,0.999999937258,-8.51118121307e-05,-0.000341650648414,-3.89250118951e-05,1793239891632797440
+85,1.416666667,BASELINE,765.327239396,745,715,679,663,636,879,788,804,652,632,652,0.400785141591,-0.00543331059903,0.0598802447798,0.999999937028,-8.55450239388e-05,-0.00034223033817,-3.87808160348e-05,1793239891649464064
+86,1.433333333,BASELINE,765.904733467,745,715,679,663,636,879,788,804,652,632,652,0.400782573131,-0.00543420851248,0.0598781596036,0.999999936044,-8.62486910755e-05,-0.000344917736351,-3.8800882918e-05,1793239891666130688
+87,1.450000000,BASELINE,766,745,715,679,663,636,879,787.518587,803.518587,652.481413,632,652.481413,0.400783457071,-0.00543286364512,0.0598786387673,0.999999936503,-8.45775124374e-05,-0.000343993785935,-3.88372892384e-05,1793239891682797312
+88,1.466666667,BASELINE,766,745,715,679.059008141,663,635.940991859,879,787,803,652.940991859,631.940991859,653,0.400784845839,-0.00543136530922,0.0598795099807,0.999999937141,-8.28156580602e-05,-0.000342560466802,-3.88911311546e-05,1793239891699464192
+89,1.483333333,BASELINE,766,745,715,679.646240039,663,635.353759961,879,787,803,652.353759961,631.353759961,653,0.400784648258,-0.00543245942736,0.0598793557867,0.999999936863,-8.44419118321e-05,-0.000342953939078,-3.90721558875e-05,1793239891716130816
+90,1.500000000,BASELINE,766,745,715,680,663,635.230258667,879,787.230258667,803.230258667,652,631,652.769741333,0.400784601193,-0.00543358068637,0.0598791015113,0.99999993655,-8.66618543465e-05,-0.000343308467821,-3.91081857234e-05,1793239891732797440
+91,1.516666667,BASELINE,766,745,715,680,663,635.809408448,879,787.809408448,803.809408448,652,631,652.190591552,0.40078478219,-0.0054347430695,0.0598786955914,0.99999993618,-8.97813621028e-05,-0.000343603988746,-3.89245172704e-05,1793239891749464320
+92,1.533333333,BASELINE,766,745,715,679.613502832,663,636,879,787.613502832,803.613502832,652,631.386497168,652,0.400785695693,-0.0054345530525,0.0598791284429,0.999999936539,-8.9355937155e-05,-0.000342672760194,-3.88853986049e-05,1793239891766130944
+93,1.550000000,BASELINE,766,745,715,679.037425032,663,636,879,787.037425032,803.037425032,652,631.962574968,652,0.400786968495,-0.00543369967014,0.0598799727199,0.999999937253,-8.71916883939e-05,-0.000341139799074,-3.89171830045e-05,1793239891782797568
+94,1.566666667,BASELINE,766,745.536523848,715,679,663,636,879,787,803.536523848,652,631.463476152,652,0.400784587844,-0.00543318169982,0.0598792121322,0.999999936681,-8.60575576342e-05,-0.000343111159081,-3.88305826818e-05,1793239891799464448
+95,1.583333333,BASELINE,766,746,715,679,663,636,879,787.113979433,804,652,631.113979433,652,0.40078251364,-0.00543281862789,0.0598784471047,0.999999936126,-8.52413178528e-05,-0.000344933250529,-3.87679413579e-05,1793239891816131072
+96,1.600000000,BASELINE,766,746,715,679,663,636,879,787.706788315,804,652,631.706788315,652,0.400782793204,-0.00543300838559,0.0598781318575,0.999999936045,-8.54598697785e-05,-0.000345105413994,-3.88405065435e-05,1793239891832797440
+97,1.616666667,BASELINE,766,745.707352473,715,679,663,636,879,787.707352473,804,652,632,652,0.400783248953,-0.00543354113742,0.0598780347386,0.99999993609,-8.60837374517e-05,-0.00034481733473,-3.88762331342e-05,1793239891849464320
+98,1.633333333,BASELINE,766,745.128294844,715,679,663,636,879,787.128294844,804,652,632,652,0.400783877131,-0.00543440957287,0.0598781510989,0.999999936256,-8.71042820504e-05,-0.000344078822237,-3.88759062954e-05,1793239891866131200
+99,1.650000000,BASELINE,766,745,715,679.444104903,663,636,879,787.444104903,804,652,631.555895097,652,0.400782985502,-0.00543335989018,0.0598783856135,0.999999936246,-8.56898830883e-05,-0.000344451383101,-3.89758205729e-05,1793239891882797824
+100,1.666666667,BASELINE,766,745,715,679.984831678,663,636,879,787.984831678,804,652.015168322,631,652,0.40078174125,-0.00543182494492,0.0598786605752,0.999999936194,-8.36477289001e-05,-0.000345087813649,-3.91032937727e-05,1793239891899464448
+101,1.683333333,BASELINE,766,745,715,679.392512534,663,636,879,787.392512534,804,652.607487466,631,652,0.400783538627,-0.00543259835699,0.0598791949722,0.999999936621,-8.40891413994e-05,-0.00034373192535,-3.91938046159e-05,1793239891916131072
+102,1.700000000,BASELINE,765.804400831,745,715,679.195599169,663,636,879,787.195599169,804,653,631,652,0.400784490072,-0.00543341690963,0.0598795355289,0.999999936755,-8.53363705041e-05,-0.000343027396754,-3.92413783826e-05,1793239891932797696
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+104,1.733333333,BASELINE,765,745,715,679.647329331,663,636,879,787.647329331,803.647329331,652.647329331,631,652,0.400783001756,-0.00543362580796,0.059878656815,0.999999935777,-8.80506841114e-05,-0.000345165424579,-3.94203371888e-05,1793239891966130944
+105,1.750000000,BASELINE,765,745,715,679.071760627,663,636,879,787.071760627,803.071760627,652.071760627,631,652,0.400782181074,-0.00543191271625,0.0598773138235,0.999999935177,-8.60727297304e-05,-0.000347352817517,-3.97956626928e-05,1793239891982797824
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,879,788,804,652,631,652,0.400783574533,-0.00543376986321,0.0598781865676,0.999999935972,-8.57784454887e-05,-0.000345189348438,-3.92770816156e-05,1793239892014242816
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.401675736,636,879,788,804,652,631,652,0.400784283261,-0.00543327258319,0.0598789955256,0.999999936551,-8.54540994284e-05,-0.000343616874837,-3.90201700335e-05,1793239892030909952
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.189941806,715.189941806,679.810058194,662.189941806,636,879,787.810058194,803.810058194,652,631.189941806,652,0.400784199505,-0.00543327360042,0.0598792907873,0.999999936706,-8.5557387773e-05,-0.000343157914049,-3.88736886942e-05,1793239892047576576
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.767860254,715.767860254,679.232139746,662.767860254,636,879,787.232139746,803.232139746,652,631.767860254,652,0.400782497015,-0.00543429244348,0.059878536769,0.999999935994,-8.65341654936e-05,-0.000344973423095,-3.8952773e-05,1793239892064243200
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.654522557,715.654522557,679,663,636,879,787,803,652,631.654522557,652,0.400783026682,-0.00543507887345,0.0598784720812,0.99999993605,-8.72340125981e-05,-0.000344638596317,-3.89109211213e-05,1793239892080909824
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.077107654,715.077107654,679,663,636,879,787,803,652,631.077107654,652,0.400785054915,-0.00543570927203,0.059878870178,0.999999936621,-8.77479413307e-05,-0.000342860134142,-3.87878783181e-05,1793239892097576448
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,803.495863197,652,631,652,0.400784231359,-0.00543448838537,0.0598784399803,0.999999936312,-8.50026195095e-05,-0.000344474335965,-3.85746310947e-05,1793239892114243072
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,803.929593501,652,631,652,0.400783501283,-0.00543340435701,0.0598781261638,0.999999935957,-8.26077888591e-05,-0.000346106708473,-3.83600087724e-05,1793239892130909696
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,803.338351172,652,631,652,0.400786714107,-0.00543544342395,0.0598796176338,0.999999936356,-8.65216569401e-05,-0.000344005471297,-3.823805753e-05,1793239892147576576
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,803.247593874,652,631,652,0.400792394926,-0.00543562309605,0.0598815656783,0.999999936919,-8.75493890228e-05,-0.00034210600767,-3.82150170761e-05,1793239892164243456
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,803.826451469,652,631,652,0.400801377756,-0.00543331502448,0.0598841245881,0.999999937715,-8.47156676288e-05,-0.000340476503467,-3.83243125229e-05,1793239892180910080
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.402674335,663,636,879,787,803.597325665,652.402674335,631.402674335,652.402674335,0.400820251617,-0.0054343978071,0.0598879263425,0.99999993863,-8.5538623959e-05,-0.000337605952585,-3.8007468417e-05,1793239892197576704
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.977769092,663,636,879,787,803.022230908,652.977769092,631.977769092,652.977769092,0.400843360702,-0.00543693251347,0.0598922602685,0.999999939585,-8.79273264947e-05,-0.00033420399995,-3.7508156369e-05,1793239892214243584
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.565241206,715,679.434758794,663,636,879.565241206,787,803.565241206,653,632,652.434758794,0.400880644094,-0.00543488044217,0.0598947666764,0.999999940938,-8.46933372745e-05,-0.000330889094747,-3.82508570289e-05,1793239892230909952
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.848979255,715,679,662.848979255,636,879.848979255,787,804,652.848979255,631.848979255,652.151020745,0.400921944524,-0.00543426362004,0.0598957023833,0.99999994167,-8.30232623361e-05,-0.000329021057868,-3.88984927588e-05,1793239892247576576
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.269414806,715,679,662.269414806,636,879.269414806,787,804,652.269414806,631.269414806,652.730585194,0.400973026571,-0.00543824289486,0.0598923895203,0.999999940636,-8.64325914052e-05,-0.000331248790759,-3.9134650344e-05,1793239892264242944
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.309324894,715,679,662.309324894,636,879,787.309324894,804,652,631,652.690675106,0.401035691731,-0.00544092979448,0.0598905953087,0.999999940155,-8.80769084557e-05,-0.000332195259005,-3.97328350795e-05,1793239892280909568
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.887348133,715,679,662.887348133,636,879,787.887348133,804,652,631,652.112651867,0.401108418682,-0.00544249405848,0.0598901202899,0.999999940164,-8.81880289253e-05,-0.000332028743023,-4.06454985183e-05,1793239892297575936
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.539129979,715,679.460870021,663,636,879,787.539129979,804,652,631,652.460870021,0.401199931989,-0.00544336884125,0.0598898255539,0.999999940769,-9.1203478857e-05,-0.000329210437207,-4.20025523996e-05,1793239892314242816
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.374262559,663,636,879,787,804,652.625737441,631,652.374262559,0.40142457574,-0.00544899568677,0.0598948384313,0.999999945481,-9.55605505398e-05,-0.000313004590319,-4.3980814914e-05,1793239892347576064
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.791991869,663,636,879,787,804,652.208008131,631,652.791991869,0.401728695716,-0.00545573288619,0.0599071520239,0.999999954061,-0.000102349929783,-0.000281461884927,-4.67149201385e-05,1793239892380909568
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+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.090679045,803.909320955,652,632,652.909320955,0.405945088568,-0.00546835818198,0.0598867655496,0.999999936933,-0.000208090173857,-0.00027369476742,-8.9010787885e-05,1793239892614243072
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+159,2.650000000,POSE1_TO_POSE2_PRESS,765.779058878,745.779058878,715,679,663.779058878,636,880,787,804,652.220941122,631,652.779058878,0.41695945729,-0.00549659235293,0.0599895912746,0.999999976924,-0.000173130324732,-9.69762120857e-05,-8.23072764652e-05,1793239892897576448
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.644195425,715,679,663.644195425,636,879.644195425,787,804,652,631,652.644195425,0.417753385027,-0.00549731860609,0.0599859169169,0.999999977113,-0.000169668852277,-0.000101515008789,-8.17418943537e-05,1793239892914243072
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.519793225,787.519793225,804,651.480206775,631.519793225,652.519793225,0.419351219448,-0.00549929643801,0.059945144302,0.999999968601,-0.000169048800302,-0.000164812395107,-8.4006594576e-05,1793239892947576064
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+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.686448958,715,679.686448958,663,636,880,788,804.686448958,651.686448958,632,652.313551042,0.420964540939,-0.00550103900319,0.0599000306575,0.999999956386,-0.00016486998395,-0.000229394725301,-8.61584911473e-05,1793239892980909312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.735720426,715,679.735720426,662.735720426,636.264279574,880,787.735720426,804.735720426,652,631.735720426,652,0.421776749421,-0.00550098006184,0.0598808600174,0.999999950076,-0.000159948867717,-0.000258355437338,-8.67036856242e-05,1793239892997575936
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+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.73993206,715,679,663.26006794,635.73993206,880,787,804,652,631,652.26006794,0.427065033565,-0.00551899138939,0.0599905381222,0.999999983845,-0.000151582078534,-5.3008200809e-05,-8.07608464348e-05,1793239893097576192
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+248,4.133333333,POSE1_TO_POSE2_PRESS,765.410045859,745.589954141,715,680,658,631,880,784.589954141,805,652,630.589954141,652.589954141,0.449271757117,-0.00556344922982,0.0596249930647,0.999999812706,-0.000116286302384,-0.000596819222118,-6.98039804526e-05,1793239894380909824
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.981989406,745.018010594,715,680,658,631,880,784.018010594,805,652,630.018010594,652.018010594,0.449272602364,-0.00556278780146,0.0596247935086,0.999999812715,-0.000114279345006,-0.000597170229446,-6.99786245335e-05,1793239894397576448
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.425131456,745,715,680,658,631,880.574868544,784.574868544,805,652,630,652,0.449273399436,-0.00556644429929,0.0596259276846,0.999999813164,-0.000118311214362,-0.000595729870312,-6.91467487678e-05,1793239894414243072
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.164594918,745.164594918,715,680,658.164594918,631,880.835405082,785,805,652,630.164594918,652,0.44927406977,-0.00556881977078,0.0596267498323,0.999999813564,-0.0001206373688,-0.000594665257457,-6.84907166901e-05,1793239894430909696
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,658.678910455,631,880,785,805,652,631,652,0.449273875267,-0.00556699038723,0.0596261919365,0.999999813449,-0.000117583396855,-0.000595499065419,-6.82396438077e-05,1793239894464242944
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+256,4.266666667,HOLD_POSE2,765,746,715,680,658,631,880,784.406862827,805,651.593137173,630,652.593137173,0.449274217712,-0.0055645533338,0.059626372771,0.999999813675,-0.000116484191637,-0.000595221782878,-6.92290375178e-05,1793239894529657344
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+262,4.366666667,HOLD_POSE2,766,746,715,680,658,631,880,784.08620828,805.91379172,652,630.91379172,652.91379172,0.449271872017,-0.00556255418133,0.0596233065668,0.99999981175,-0.000112225802122,-0.000599315350796,-6.87551791743e-05,1793239894629657088
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,658,631,881,785,805,652,630,652,0.449277656688,-0.00556469397964,0.0596260606132,0.999999814886,-0.000113128072586,-0.00059397354542,-6.80094815251e-05,1793239894803485696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.325439833,715,681,658,631,880.325439833,785,805.674560167,652,630,652.674560167,0.449278764571,-0.00556326192096,0.0596274166262,0.999999815269,-0.000113345415068,-0.000593230508763,-6.85076080984e-05,1793239894820152576
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.184049657,745.184049657,715,681,658,631,880.815950343,785,805.815950343,652,630.184049657,653,0.449279536508,-0.00556471184097,0.0596278073522,0.999999815987,-0.00011602263567,-0.000591597786218,-6.76480822925e-05,1793239894920152064
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,658,631,880.938335764,785,805,652,630.061664236,652.061664236,0.449260955805,-0.00556688711242,0.0596179248989,0.999999807464,-0.000119059594546,-0.000605246793872,-6.76215930665e-05,1793239894970152192
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.917785535,746,715,681,658,631,880.082214465,785,805,652,630,652.917785535,0.449195707708,-0.00556124503747,0.0595886026387,0.999999781061,-0.00011656964472,-0.00064751195413,-7.08299815436e-05,1793239895003485696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.322544834,746,715,681,658,631,880.677455166,785,805,652,630,652.322544834,0.449142505376,-0.00555892940824,0.059570480803,0.99999976893,-0.000112158176607,-0.000666638876414,-7.17782084063e-05,1793239895020152320
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.004198778,658,631,880,785,805.991602444,652,631,652,0.44883584016,-0.00554988695559,0.0595281061666,0.999999731657,-0.000107461974169,-0.000720999739859,-7.27821420668e-05,1793239895086818816
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.947994627,680.052005373,658,631,880,785,805,652,630.052005373,652,0.447813523312,-0.00552050813268,0.0595606123386,0.999999760614,-8.30103864792e-05,-0.000684098261183,-6.23765094499e-05,1793239895203485952
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.374485984,680.625514016,658,631,880,785,805,652,630.625514016,652,0.447583188759,-0.00551369545018,0.0595637025951,0.999999763817,-7.50527958971e-05,-0.000680489978088,-6.05564770627e-05,1793239895220152576
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.080205108,745.080205108,715,679,661,635.919794892,879,787.080205108,804,652.080205108,631.919794892,653,0.403641019926,-0.00535195109404,0.059772458755,0.999999898859,0.000249554933636,-0.000373489304514,2.25966990948e-05,1793239896353485824
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.674680058,745.674680058,715,679,661,635.325319942,879,787.674680058,804,652.674680058,631.325319942,653,0.403371537219,-0.00535615657339,0.0597918913279,0.999999912857,0.000244120506671,-0.000337894487996,2.27764089689e-05,1793239896370152448
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.158520985,746,715,679,661.841479015,635.841479015,879,788,804,652.158520985,631.841479015,652.158520985,0.402866787364,-0.00537167701497,0.0598280845812,0.999999937217,0.000221274316053,-0.000275656820668,2.48549098684e-05,1793239896403485696
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.582419746,715,679,661.582419746,636,879.417580254,787.582419746,804,652,632,652,0.402637408743,-0.00537501198212,0.0598398086117,0.999999943643,0.000214717395147,-0.00025681884476,2.5575577011e-05,1793239896420152320
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.674855919,745.674855919,715,679,661.325144081,636,879,787.674855919,804,652.325144081,632,652.325144081,0.401709538987,-0.00536610380909,0.0598336222767,0.999999934971,0.0002265799841,-0.000279462976104,2.49139076164e-05,1793239896503485696
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.098264112,745.098264112,715,679,661.901735888,636,879,787.098264112,804,652.901735888,632,652.901735888,0.401579830535,-0.00536490949731,0.0598352623887,0.999999933838,0.000231477308266,-0.000279495045175,2.49990985166e-05,1793239896520152320
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.712643017,661.712643017,635.712643017,879,787,804,652.287356983,631.712643017,652,0.401002301969,-0.00536358729269,0.0598344099943,0.999999928308,0.000252198763527,-0.000281409591153,2.42421691471e-05,1793239896686819072
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787.289774746,804,652,631.710225254,652,0.400991175815,-0.0053652496304,0.0598354776553,0.999999929525,0.000249411263124,-0.000279562015254,2.42582289183e-05,1793239896703485440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787.864488472,804,652,631.135511528,652,0.400984517774,-0.0053667204252,0.0598374360239,0.999999930858,0.000247881870418,-0.000276130066345,2.43100523812e-05,1793239896720152320
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.019314742,679.980685258,662,635.980685258,879.019314742,787.980685258,804,653,632,652.019314742,0.400975257521,-0.00536554902031,0.059840822396,0.999999931311,0.000251183914885,-0.000271476769569,2.42008353239e-05,1793239896753485824
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.60911389,679.39088611,662,635.39088611,879.60911389,787.39088611,804,653,632,652.60911389,0.400973976623,-0.00536685538572,0.0598412438898,0.999999931831,0.000250111013722,-0.000270526707797,2.4447428445e-05,1793239896770152448
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.804540595,679,662,635.195459405,879.804540595,787,804,653,632,652.804540595,0.400972616145,-0.00536784461982,0.0598413896106,0.999999932201,0.000249213193021,-0.000269976192175,2.45878736503e-05,1793239896786819072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.224981749,679,662,635.775018251,879.224981749,787,804,653,632,652.224981749,0.400971099283,-0.00536821065587,0.0598409934068,0.999999932277,0.000248659424683,-0.000270210828954,2.45197264544e-05,1793239896803485696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.351988351,714.351988351,679,662,635.648011649,879,787,804,652.648011649,632,652,0.400971406839,-0.00536739033299,0.0598419578382,0.999999932607,0.000248896420869,-0.00026879748751,2.41885605596e-05,1793239896820152320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.927315838,714.927315838,679,662,635.072684162,879,787,804,652.072684162,632,652,0.400972872002,-0.0053658172568,0.0598437856023,0.999999933092,0.000249635162859,-0.000266338492033,2.36905074157e-05,1793239896836818944
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.512681375,745.487318625,715,679,662,635.512681375,879,787.512681375,804,652.512681375,631.487318625,652,0.400970548477,-0.0053664588589,0.0598427260555,0.999999932784,0.000249155928916,-0.000267943246328,2.36454224031e-05,1793239896853485824
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.901781026,745,715,679,662,636,879,788,804,652.901781026,631.098218974,652,0.400968378554,-0.00536731877183,0.059841710577,0.999999932507,0.000248633472331,-0.000269453359035,2.37067307574e-05,1793239896870152448
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.322510001,745,715,679,662,636,879,788,804,652.322510001,631.677489999,652,0.400969644215,-0.00536767940715,0.0598429558249,0.999999932961,0.000248761933543,-0.000267621856558,2.39683200358e-05,1793239896886819072
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.254633693,662,636,879.254633693,788,804,652,631.745366307,652,0.400969944533,-0.00536789777212,0.0598433952816,0.999999933372,0.000248020149139,-0.00026677786558,2.39074346846e-05,1793239896903485696
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.829105269,662,636,879.829105269,788,804,652,631.170894731,652,0.400969032312,-0.00536793743549,0.0598428226077,0.999999933731,0.000246185274842,-0.000267174258842,2.34414984304e-05,1793239896920152320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.595205032,879.595205032,787.595205032,804,652,631.404794968,652,0.400968585856,-0.00536772355365,0.0598428027271,0.999999933426,0.000247253334958,-0.000267328897665,2.3429647229e-05,1793239896936819200
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.018999468,879.018999468,787.018999468,804,652,631.981000532,652,0.400968336628,-0.00536740230798,0.0598430169269,0.999999932837,0.000249550643689,-0.000267381165503,2.361007849e-05,1793239896953485568
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.442731944,662,635,879,787,804,652,632,652,0.400968065813,-0.00536663779001,0.0598425882613,0.999999932447,0.000250712522913,-0.000267774701771,2.33651099861e-05,1793239896970152192
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.137740774,879,787,804.137740774,652,632,652,0.400968055068,-0.00536661473432,0.0598425957778,0.999999932505,0.000250572842597,-0.000267695949962,2.32776867669e-05,1793239896986818816
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.732148579,879,787,804.732148579,652,632,652,0.400968909002,-0.00536910004035,0.0598441220905,0.999999934018,0.000246246318088,-0.000266012790327,2.37606811395e-05,1793239897003485440
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.316534935,745,715,679,662,636,879,787.316534935,804.683465065,652,632,652.316534935,0.400968772902,-0.00536973523138,0.0598444244257,0.999999934328,0.000245136145352,-0.000265858279507,2.3909584558e-05,1793239897020152320
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.892701363,745,715,679,662,636,879,787.892701363,804.107298637,652,632,652.892701363,0.400967824748,-0.00536885290219,0.0598437228174,0.999999933662,0.000246664121522,-0.000266957612612,2.378445648e-05,1793239897036819456
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.532938511,745,715,679,662,635.532938511,879,787.532938511,803.532938511,652.467061489,631.532938511,652.532938511,0.400968507448,-0.00536928298968,0.0598442135142,0.999999933793,0.00024686856221,-0.000266291881851,2.36533117649e-05,1793239897053486336
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.042074178,662,635,879.042074178,787,803,652.957925822,631,652,0.400969528429,-0.00536990797547,0.0598449530665,0.99999993407,0.000246886608222,-0.000265241658869,2.35493969592e-05,1793239897070153216
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.216314336,879.783685664,787,803,652.216314336,631.216314336,652,0.400970441436,-0.00536850772151,0.059845623531,0.999999933876,0.000249002318928,-0.00026396217359,2.3866170237e-05,1793239897103486464
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.795827982,879.204172018,787,803,652.795827982,631.795827982,652,0.400970416466,-0.0053680046531,0.0598455559469,0.999999934121,0.000247994011251,-0.000264010535415,2.35474824437e-05,1793239897120152832
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.628131452,662,636,879,787.371868548,803,653,631.628131452,652.371868548,0.400970094424,-0.00536756464533,0.0598454299506,0.999999934078,0.000248087691076,-0.000264104790675,2.33379047117e-05,1793239897136819456
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.053980059,662,636,879,787.946019941,803,653,631.053980059,652.946019941,0.400969610784,-0.0053671589402,0.0598452721802,0.999999933878,0.000248780811569,-0.000264224010284,2.31876788195e-05,1793239897153485824
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.521199751,662,636,879,787.478800249,803.521199751,652.478800249,631,652.478800249,0.400968382885,-0.00536720679589,0.0598447666782,0.999999933481,0.000249146441983,-0.000265363991756,2.33483253073e-05,1793239897170152448
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787,804,652,631.09941379,652,0.400967646654,-0.00536749463466,0.0598445195993,0.999999933363,0.000248980876708,-0.000265949650599,2.35280082611e-05,1793239897186818816
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787,804,652,631.692155397,652,0.400969733533,-0.0053687397908,0.0598457339787,0.999999934724,0.00024634796827,-0.000263258902546,2.36420695019e-05,1793239897203485440
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6785d76255194626709046000ba7214d3ae444a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+107,1.783333333,pose1_to_pose2_press,0.575664511747,9.08685277588e-05,1.05003226061,0.54623496152,0.00876260173553,1.04970038652
+108,1.800000000,pose1_to_pose2_press,0.575664538523,9.08481218675e-05,1.0500322598,0.546234988744,0.00876258283835,1.04970038537
+109,1.816666667,pose1_to_pose2_press,0.575664631193,9.08001732423e-05,1.05003227197,0.546235082445,0.0087625384009,1.0497003978
+110,1.833333333,pose1_to_pose2_press,0.575664635183,9.07987547604e-05,1.05003227292,0.546235086466,0.00876253708487,1.0497003988
+111,1.850000000,pose1_to_pose2_press,0.575664688872,9.07796723497e-05,1.0500322857,0.546235140552,0.00876251938067,1.04970041229
+112,1.866666667,pose1_to_pose2_press,0.575665013136,9.06644192047e-05,1.05003236293,0.546235467221,0.00876241245158,1.04970049374
+113,1.883333333,pose1_to_pose2_press,0.575666103548,9.06566835401e-05,1.0500321333,0.546236557046,0.00876240307605,1.04970027337
+114,1.900000000,pose1_to_pose2_press,0.575668357628,9.07993693819e-05,1.05003227123,0.546238809202,0.00876253897111,1.04970040448
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+117,1.950000000,pose1_to_pose2_press,0.575697902016,9.07459293848e-05,1.05003212923,0.546268354108,0.00876248745165,1.04970026655
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+120,2.000000000,pose1_to_pose2_press,0.575783531142,9.07891479975e-05,1.05003232706,0.546353983443,0.00876253085925,1.04970045055
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+381,6.350000000,pose2_to_pose3_retreat,0.575756520431,9.07263864372e-05,1.05003234657,0.546326971548,0.00876246438458,1.04970047824
+382,6.366666667,pose2_to_pose3_retreat,0.575729050239,9.07437605709e-05,1.05003203864,0.546299503177,0.00876248808139,1.04970017402
+383,6.383333333,pose2_to_pose3_retreat,0.575708665411,9.07450773337e-05,1.05003204912,0.546279118408,0.00876248986776,1.04970019153
+384,6.400000000,pose2_to_pose3_retreat,0.575695212751,9.06584379791e-05,1.05003213567,0.546265666068,0.00876240427677,1.04970027717
+385,6.416666667,pose2_to_pose3_retreat,0.575685420657,9.06561998562e-05,1.05003222492,0.546255873284,0.00876239960796,1.04970036413
+386,6.433333333,pose2_to_pose3_retreat,0.57567868155,9.08715418847e-05,1.05003229988,0.546249131241,0.00876260503284,1.04970044034
+387,6.450000000,pose2_to_pose3_retreat,0.575674396585,9.08602257599e-05,1.05003228153,0.546244846365,0.008762593859,1.04970041788
+388,6.466666667,pose2_to_pose3_retreat,0.575671646185,9.0804848859e-05,1.05003224833,0.546242096656,0.00876254066623,1.04970038044
+389,6.483333333,pose2_to_pose3_retreat,0.575669715109,9.08249928045e-05,1.0500322344,0.546240165402,0.00876256020735,1.04970036661
+390,6.500000000,pose2_to_pose3_retreat,0.575668569043,9.08676480399e-05,1.05003223101,0.546239018885,0.00876260139366,1.04970036488
+391,6.516666667,pose2_to_pose3_retreat,0.575668234215,9.08801099318e-05,1.05003223002,0.546238683925,0.0087626134264,1.04970036437
+392,6.533333333,pose2_to_pose3_retreat,0.575667753046,9.08980184813e-05,1.05003222859,0.546238202567,0.00876263071823,1.04970036364
+393,6.550000000,pose2_to_pose3_retreat,0.575667158265,9.09201555513e-05,1.05003222684,0.546237607552,0.00876265209296,1.04970036274
+394,6.566666667,pose2_to_pose3_retreat,0.575666960347,9.09219420809e-05,1.05003223151,0.546237409653,0.00876265394627,1.04970036744
+395,6.583333333,pose2_to_pose3_retreat,0.575666790085,9.08973551008e-05,1.05003226014,0.546237239863,0.0087626309171,1.04970039488
+396,6.600000000,pose2_to_pose3_retreat,0.575666343015,9.08327951651e-05,1.05003233534,0.546236794034,0.0087625704476,1.04970046693
+397,6.616666667,pose2_to_pose3_retreat,0.5756661145,9.07997959684e-05,1.05003237377,0.546236566153,0.00876253953919,1.04970050376
+398,6.633333333,pose2_to_pose3_retreat,0.575666109619,9.07990910313e-05,1.05003237459,0.546236561285,0.00876253887892,1.04970050455
+399,6.650000000,pose2_to_pose3_retreat,0.575665925839,9.07725520316e-05,1.0500324055,0.546236378015,0.0087625140214,1.04970053417
+400,6.666666667,pose2_to_pose3_retreat,0.575665705842,9.07407828683e-05,1.0500324425,0.546236158628,0.00876248426509,1.04970056962
+401,6.683333333,pose2_to_pose3_retreat,0.575665691485,9.07387095536e-05,1.05003244492,0.546236144311,0.00876248232314,1.04970057194
+402,6.700000000,pose2_to_pose3_retreat,0.575665669706,9.07355645919e-05,1.05003244858,0.546236122593,0.00876247937743,1.04970057545
+403,6.716666667,pose2_to_pose3_retreat,0.575665610106,9.07269579232e-05,1.0500324586,0.546236063158,0.00876247131607,1.04970058505
+404,6.733333333,pose2_to_pose3_retreat,0.575665558685,9.07195323427e-05,1.05003246725,0.546236011879,0.00876246436097,1.04970059334
+405,6.750000000,pose2_to_pose3_retreat,0.575665387136,9.06947594856e-05,1.05003249611,0.546235840806,0.00876244115769,1.04970062099
+406,6.766666667,pose2_to_pose3_retreat,0.575665250668,9.06763997022e-05,1.05003251673,0.546235704674,0.00876242390304,1.0497006407
+407,6.783333333,pose2_to_pose3_retreat,0.575665096173,9.06861848974e-05,1.05003248726,0.546235549588,0.0087624316836,1.04970061121
+408,6.800000000,pose2_to_pose3_retreat,0.575664856197,9.07013841481e-05,1.05003244149,0.546235308696,0.00876244376907,1.04970056541
+409,6.816666667,pose2_to_pose3_retreat,0.575664709254,9.07106910426e-05,1.05003241346,0.546235161191,0.00876245116932,1.04970053737
+410,6.833333333,pose2_to_pose3_retreat,0.575664701628,9.07111740174e-05,1.050032412,0.546235153536,0.00876245155335,1.04970053592
+411,6.850000000,pose2_to_pose3_retreat,0.575664562037,9.0740255058e-05,1.05003237387,0.546235013179,0.00876247804614,1.04970049807
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+414,6.900000000,pose2_to_pose3_retreat,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570657,1.04970062959
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ec019113d60088a733de38ef4dc408d0c9f1ac1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2456b284f74c54406c231b60f63bbbeb474612a17f0591fe59181501da77d33
+size 26496003
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b83ec3ea0b099a7385411f0109f154538db3b43f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+20,0.333333333,BASELINE,766,745,715,679,662.614436771,636,879.385563229,787,804,652,632,653,0.400970811846,-0.00537098493989,0.0598486123284,0.999999935896,0.000245807437087,-0.000259308562034,2.33824565195e-05,1793239897689385984
+21,0.350000000,BASELINE,766,745.200105481,715,679.200105481,662.799894519,636,879.200105481,787,804,652,631.799894519,652.799894519,0.400970743655,-0.00537095277938,0.0598481104321,0.999999935877,0.000245574754541,-0.000259621470862,2.31277537636e-05,1793239897706052864
+22,0.366666667,BASELINE,766,745.778896658,715,679.778896658,662.221103342,636,879.778896658,787,804,652,631.221103342,652.221103342,0.400970158707,-0.00537127490956,0.0598478324701,0.999999935982,0.000245261874733,-0.000259504492854,2.32207896695e-05,1793239897722719488
+23,0.383333333,BASELINE,766,745.644300895,715,680,662,636,879.644300895,787,804,652,631.355699105,652,0.400970680529,-0.0053706000439,0.0598479116463,0.999999936194,0.000245126221429,-0.000258825568499,2.3119207624e-05,1793239897739386112
+24,0.400000000,BASELINE,766,745.068727718,715,680,662,636,879.068727718,787,804,652,631.931272282,652,0.400971886496,-0.00536930888904,0.0598482115859,0.999999936471,0.000245100119994,-0.000257799279097,2.28973232287e-05,1793239897756052736
+25,0.416666667,BASELINE,766,745,715,679.493018414,662,636,879,787,803.493018414,652,631.493018414,652,0.400970653077,-0.00537056704383,0.0598483776362,0.999999936705,0.000243544468821,-0.000258338201773,2.31645433436e-05,1793239897772719104
+26,0.433333333,BASELINE,766,745,715,679,662,636,879,787,803.084882165,652,631,652,0.400969288134,-0.00537182527302,0.0598484541513,0.999999936834,0.000242143684374,-0.000259128491642,2.34491639718e-05,1793239897789385984
+27,0.450000000,BASELINE,766,745,715,679,662,636,879,787,803.675734837,652,631,652,0.400969110926,-0.00537102337468,0.0598481051802,0.999999936385,0.000242902351531,-0.000260152006702,2.34421703373e-05,1793239897806052864
+28,0.466666667,BASELINE,765.738678221,745,715,679.261321779,662,635.738678221,879,787.261321779,803.738678221,652,631.261321779,652,0.400969644081,-0.00537017448429,0.0598479200076,0.999999935864,0.00024468959972,-0.000260487719474,2.33347134693e-05,1793239897822719488
+29,0.483333333,BASELINE,765.159496313,745,715,679.840503687,662,635.159496313,879,787.840503687,803.159496313,652,631.840503687,652,0.400971041288,-0.00536926843491,0.0598479340721,0.999999935252,0.000247727967845,-0.000259986820231,2.31050576158e-05,1793239897839385856
+30,0.500000000,BASELINE,765.418170847,745,715,679.581829153,662,635.418170847,879,787.581829153,803.418170847,652,632,652.418170847,0.400971558736,-0.0053696616975,0.0598485613367,0.999999935597,0.000247248402006,-0.000259101680377,2.3235407085e-05,1793239897856052480
+31,0.516666667,BASELINE,765.995262333,745,715,679.004737667,662,635.995262333,879,787.004737667,803.995262333,652,632,652.995262333,0.400971741842,-0.0053705487475,0.0598494216403,0.999999936305,0.000245431888969,-0.000258070514661,2.35025721128e-05,1793239897872719104
+32,0.533333333,BASELINE,766,745,715,679,662,636,879,787,804,652,631.433231388,653,0.400972412507,-0.00536946850042,0.0598496182115,0.999999936014,0.000247347871713,-0.000257382082619,2.33499211234e-05,1793239897889385728
+33,0.550000000,BASELINE,766,745,715,679,662,636,879,787,804,652.143517146,631,652.856482854,0.400972496763,-0.00536900845012,0.0598494159941,0.99999993581,0.000248287380765,-0.000257285837608,2.31892309103e-05,1793239897906052864
+34,0.566666667,BASELINE,766,745,715,679,662,636,879,787,804,652.736840556,631,652.263159444,0.400970730472,-0.00537054323618,0.059847981127,0.99999993591,0.000246069628338,-0.00025903671241,2.30142358056e-05,1793239897922719232
+35,0.583333333,BASELINE,766,745,715,679.321676229,662.321676229,636,879.321676229,787.321676229,804,652.678323771,631,652,0.400969805526,-0.00537072966373,0.0598470790996,0.999999935695,0.000245462836255,-0.000260442311949,2.29832252546e-05,1793239897939385600
+36,0.600000000,BASELINE,766,745,715,679.899746757,662.899746757,636,879.899746757,787.899746757,804,652.100253243,631,652,0.400969551178,-0.00536984137283,0.0598466017757,0.999999935231,0.000246140071192,-0.000261572707604,2.30669785847e-05,1793239897956052224
+37,0.616666667,BASELINE,766,745,715,679.525041523,662.525041523,635.525041523,879.525041523,788,803.525041523,652,631,652,0.400970221847,-0.0053710709176,0.0598473263372,0.999999935934,0.000244251633034,-0.000260653191117,2.30683660512e-05,1793239897972718848
+38,0.633333333,BASELINE,766,745.05082292,715,679,662,635.05082292,879.05082292,788,803.05082292,652,631,652,0.400971025837,-0.00537245521055,0.0598482527481,0.999999936774,0.00024217363162,-0.000259368356647,2.30529718025e-05,1793239897989385472
+39,0.650000000,BASELINE,766,745.63995451,715,679,662,635.63995451,879.63995451,788,803.63995451,652,631,652,0.400971186263,-0.00537077204643,0.0598486461339,0.999999936537,0.000243789572762,-0.000258769707558,2.30428722e-05,1793239898006052608
+40,0.666666667,BASELINE,766.22530932,746,715,679,662,636,879.77469068,788,804,652.22530932,631.22530932,652,0.400970856297,-0.00536999437659,0.0598485718481,0.999999936361,0.000244327796878,-0.00025894485405,2.29903992202e-05,1793239898022719488
+41,0.683333333,BASELINE,766.804728281,746,715,679,662,636,879.195271719,788,804,652.804728281,631.804728281,652,0.400969755601,-0.00537063983597,0.0598477625415,0.999999936285,0.000243172216181,-0.000260336144124,2.28713297e-05,1793239898039386112
+42,0.700000000,BASELINE,766.620365661,745.620365661,715,679,662,636,879,787.620365661,804,652.620365661,631.620365661,652,0.400969203665,-0.00537012714066,0.0598476414756,0.999999935843,0.000244593807131,-0.000260711382859,2.2761990181e-05,1793239898056052480
+43,0.716666667,BASELINE,766.047753643,745.047753643,715,679,662,636,879,787.047753643,804,652.047753643,631.047753643,652,0.400968930679,-0.00536902572619,0.0598478702598,0.99999993521,0.000247325439255,-0.00026057013711,2.26575966696e-05,1793239898072719360
+44,0.733333333,BASELINE,766,745.5408981,715,679.5408981,662,636,879,787.5408981,804,652.5408981,631.5408981,652.5408981,0.400969774682,-0.00537031964523,0.0598485532136,0.999999936436,0.000244248425148,-0.000258725956279,2.30444793353e-05,1793239898089386240
+45,0.750000000,BASELINE,766,745.871387621,715,679.871387621,662,636,879,787.871387621,804,653,631.871387621,653,0.40097032298,-0.00537140994837,0.0598489642281,0.999999937417,0.000241517119966,-0.000257473462799,2.32986265284e-05,1793239898106052864
+46,0.766666667,BASELINE,766,745.292072769,715,679.292072769,662,636,879,787.292072769,804,653,631.292072769,653,0.400969478887,-0.00537102298431,0.0598482774654,0.999999936993,0.000241849323251,-0.000258837410154,2.29309843518e-05,1793239898122719232
+47,0.783333333,BASELINE,766.28579621,745,715,679,662,636,879,787.28579621,804,653,631.28579621,653,0.4009693821,-0.00537105736923,0.059847870677,0.999999936651,0.000242764913978,-0.000259301889618,2.29203647843e-05,1793239898139385856
+48,0.800000000,BASELINE,766.86219507,745,715,679,662,636,879,787.86219507,804,653,631.86219507,653,0.400970045188,-0.00537152018921,0.0598477485713,0.999999936392,0.000244273703434,-0.000258851774358,2.32727720869e-05,1793239898156052224
+49,0.816666667,BASELINE,766.563927614,745,715,679,662,636,879,787.563927614,804.436072386,653,631.563927614,653,0.400968950909,-0.00537219221258,0.0598471148712,0.999999936457,0.000242536960824,-0.000260233129218,2.3237086866e-05,1793239898172719360
+50,0.833333333,BASELINE,766.00947198,745.00947198,715,679.00947198,662,635.99052802,879,787.00947198,804.99052802,652.99052802,631,652.99052802,0.400967361723,-0.00537289791059,0.0598463620332,0.999999936606,0.000239890818898,-0.000262120935412,2.30864782307e-05,1793239898189386240
+51,0.850000000,BASELINE,766.602243586,745.602243586,715,679.602243586,662,635.397756414,879,787.602243586,804.397756414,652.397756414,631,652.397756414,0.400969298163,-0.00537162952418,0.0598481712096,0.999999936212,0.000244039417155,-0.000259760160139,2.33678097419e-05,1793239898206052864
+52,0.866666667,BASELINE,767,745.810093581,715,680,662,635.189906419,879,787.810093581,804,652.189906419,631.189906419,652.189906419,0.400970528658,-0.00537112717874,0.0598491433329,0.999999936238,0.000245462023319,-0.000258303541912,2.34806499284e-05,1793239898222719488
+53,0.883333333,BASELINE,767,745.232850726,715,680,662,635.767149274,879,787.232850726,804,652.767149274,631.767149274,652.767149274,0.400970319295,-0.00537218726388,0.0598484081881,0.99999993715,0.000241324648331,-0.000258691058281,2.32498322611e-05,1793239898239386112
+54,0.900000000,BASELINE,766.657288911,745,715,679.657288911,662.342711089,636,879,787.342711089,804,652.657288911,632,653,0.400971574015,-0.00537249739979,0.0598492797927,0.999999937847,0.000240148184265,-0.000257092039419,2.32122551564e-05,1793239898256052992
+55,0.916666667,BASELINE,766.082863706,745,715,679.082863706,662.917136294,636,879,787.917136294,804,652.082863706,632,653,0.400973818631,-0.00537230047934,0.0598512377542,0.999999938398,0.000240973654007,-0.000254149882633,2.33053320365e-05,1793239898272719360
+56,0.933333333,BASELINE,766,745,715,679.493724273,662.506275727,636,879,788,804,652.493724273,631.506275727,653,0.400971828885,-0.00537250907433,0.0598497319894,0.999999937584,0.000242045650391,-0.000256339483078,2.31378551662e-05,1793239898289385728
+57,0.950000000,BASELINE,766,745.072649347,715,679.927350653,662,636,879,788,804,652.927350653,631.072649347,652.927350653,0.400969673417,-0.0053726349181,0.0598480654281,0.999999936683,0.000243182928218,-0.000258781869291,2.29651368904e-05,1793239898306052352
+58,0.966666667,BASELINE,766,745.665703701,715,679.334296299,662,636,879,788,804,652.334296299,631.665703701,652.334296299,0.400971443941,-0.00537167832447,0.0598494295791,0.999999936863,0.000244490145253,-0.00025683829334,2.30694985079e-05,1793239898322718976
+59,0.983333333,BASELINE,766.250488773,745.749511227,715,679.250488773,662,636,879,787.749511227,804,652,631.749511227,652.250488773,0.400972097892,-0.00537190767015,0.0598499238469,0.999999937206,0.000243854700554,-0.000256092039558,2.32510831521e-05,1793239898339385856
+60,1.000000000,BASELINE,766.824590623,745.175409377,715,679.824590623,662,636,879,787.175409377,804,652,631.175409377,652.824590623,0.400971309316,-0.00537366916212,0.0598492942897,0.999999937756,0.000240709479905,-0.000256892637716,2.3532434283e-05,1793239898356052992
+61,1.016666667,BASELINE,766.598550981,745,715,679.598550981,662,636,879,787.401449019,804,652.401449019,631,652.598550981,0.400969663933,-0.00537323291753,0.059848420337,0.999999937213,0.000241339935051,-0.00025843070415,2.33117905356e-05,1793239898372719360
+62,1.033333333,BASELINE,766.020479847,745,715,679.020479847,662,636,879,787.979520153,804,652.979520153,631,652.020479847,0.400967641589,-0.00537182975334,0.0598474388598,0.999999936184,0.000243631542401,-0.000260293228192,2.28702883475e-05,1793239898389386240
+63,1.050000000,BASELINE,766,745,715,679,662,636,879,788,803.435922658,652.435922658,631.564077342,652,0.400969392026,-0.00537056848432,0.0598479996385,0.999999936149,0.000245325347558,-0.000258830779259,2.29096335941e-05,1793239898406052608
+64,1.066666667,BASELINE,766,745,715,679,662,636,879,788,803.147970604,652.147970604,632,652,0.400970768153,-0.00536975394195,0.0598484490486,0.999999936324,0.000245775382379,-0.000257727114566,2.28555127194e-05,1793239898422719488
+65,1.083333333,BASELINE,766,745,715,679,662,636,879,788,803.729222185,652.729222185,632,652,0.400970642481,-0.00537023222422,0.0598484064867,0.999999937018,0.00024264775665,-0.000258031622405,2.24759939956e-05,1793239898439386112
+66,1.100000000,BASELINE,766,745,715,679.307937627,662,636,879,787.692062373,804,652.692062373,632,652,0.400970623904,-0.00537042232864,0.0598485217987,0.999999936865,0.000243227257403,-0.000258063077812,2.26642089647e-05,1793239898456052480
+67,1.116666667,BASELINE,766,745,715,679.88444116,662,636,879,787.11555884,804,652.11555884,632,652,0.400970698729,-0.0053703611005,0.0598487747996,0.999999935968,0.000247039905873,-0.000257856392206,2.3347569401e-05,1793239898472719104
+68,1.133333333,BASELINE,766,745,715,680,662,636,879,787,804,652,631.54226087,652,0.400971070371,-0.00537002257484,0.0598490337892,0.999999936485,0.000245745173969,-0.000257109587454,2.31048477597e-05,1793239898489386240
+69,1.150000000,BASELINE,766,745,715,679.968669492,662,635.968669492,879,787,804,652,631,652,0.40097142951,-0.0053697282785,0.059849237795,0.999999937294,0.000243267156036,-0.000256359162426,2.26614521927e-05,1793239898506052864
+70,1.166666667,BASELINE,766,745,715,679.375402578,662,635.375402578,879,787,804,652,631,652,0.400970229783,-0.00537147413614,0.0598484286966,0.999999937055,0.000242531318584,-0.00025797244907,2.27829414589e-05,1793239898522719488
+71,1.183333333,BASELINE,766,745,715,679.212610623,662,635.212610623,879,787.212610623,804,652,631.212610623,652,0.40096949571,-0.00537258737775,0.0598482475318,0.999999936956,0.000242126750457,-0.000258725282902,2.28936770952e-05,1793239898539386112
+72,1.200000000,BASELINE,766,745,715,679.791571232,662,635.791571232,879,787.791571232,804,652,631.791571232,652,0.400969564007,-0.00537261055713,0.0598491483614,0.999999937102,0.000242292993352,-0.000257995468246,2.29858831401e-05,1793239898556052736
+73,1.216666667,BASELINE,766,745,715,679.632733131,662,636,879,787.632733131,804,652,632,652.367266869,0.400969023757,-0.00537234350696,0.0598484432884,0.999999936862,0.000242460770749,-0.000258776108603,2.28882722936e-05,1793239898572719104
+74,1.233333333,BASELINE,766,745,715,679.058874115,662,636,879,787.058874115,804,652,632,652.941125885,0.400968141193,-0.00537191319907,0.0598468348754,0.999999936402,0.00024262941131,-0.000260406398585,2.26838870977e-05,1793239898589385728
+75,1.250000000,BASELINE,766,745,715,679.512398378,662,636,879,787,803.487601622,652,631.487601622,652.487601622,0.400970176822,-0.00537108510494,0.0598479283171,0.999999936594,0.000244108392508,-0.000258276669316,2.27319932536e-05,1793239898606052608
+76,1.266666667,BASELINE,766,745,715,680,662,636,879,787.087283218,803.087283218,652.087283218,631.087283218,652,0.400972192239,-0.00537056405212,0.0598492552247,0.999999936963,0.000244962615872,-0.000256019180391,2.28312503474e-05,1793239898622719232
+77,1.283333333,BASELINE,766,745,715,680,662,636,879,787.685023388,803.685023388,652.685023388,631.685023388,652,0.400972138383,-0.00537210461867,0.0598501410804,0.999999937977,0.000241287001282,-0.000255528418888,2.30608400253e-05,1793239898639386112
+78,1.300000000,BASELINE,765.727744561,745,715,679.727744561,662,635.727744561,879,787.727744561,804,652.727744561,632,652.272255439,0.400971796382,-0.00537253918055,0.0598504609583,0.999999938285,0.000239969487975,-0.000255549241203,2.32283153422e-05,1793239898656052736
+79,1.316666667,BASELINE,765.152217773,745,715,679.152217773,662,635.152217773,879,787.152217773,804,652.152217773,632,652.847782227,0.40097113341,-0.00537174173929,0.0598501503809,0.999999937816,0.000241278716033,-0.000256139928071,2.33266000851e-05,1793239898672719360
+80,1.333333333,BASELINE,765.423477031,745,715,679.423477031,662,635.423477031,879.423477031,787.423477031,804,652.423477031,632,652.576522969,0.400970454984,-0.0053716004275,0.0598492071009,0.999999937068,0.000243228263099,-0.000257231774766,2.31690339309e-05,1793239898689386240
+81,1.350000000,BASELINE,765.999232299,745,715,679.999232299,662,635.999232299,879.999232299,787.999232299,804,652.999232299,632,652.000767701,0.400969771,-0.00537169505343,0.0598480363071,0.999999936213,0.000245408062785,-0.000258503833726,2.29194662806e-05,1793239898706052608
+82,1.366666667,BASELINE,766,745,715,679.409825505,662,636,878.81965101,788,804,653,632,652,0.400969947658,-0.00537285665124,0.0598483982526,0.999999937318,0.00024131153606,-0.000258081265354,2.2970949488e-05,1793239898722719232
+83,1.383333333,BASELINE,766,745,715,679,662,636,878.177468478,788,803.822531522,652.822531522,632,652,0.400970086156,-0.00537359654688,0.0598488807701,0.999999937999,0.000238975698286,-0.000257611718925,2.29804286657e-05,1793239898739385600
+84,1.400000000,BASELINE,766,745,715,679,662,636,878.756462555,788,803.243537445,652.243537445,632,652,0.400970135716,-0.00537337911095,0.0598496314537,0.999999937749,0.000240642409554,-0.000257041002903,2.2893963566e-05,1793239898756052480
+85,1.416666667,BASELINE,766,745,715,679,662.331711505,636,879,788,803,652,632,652,0.400970434744,-0.00537237251949,0.0598500711852,0.999999937744,0.000241280504252,-0.000256478898041,2.26687505346e-05,1793239898772719360
+86,1.433333333,BASELINE,766,745,715,679,662.904241503,636,879,788,803,652,632,652,0.400970914883,-0.0053707930108,0.0598502851693,0.99999993792,0.000241171835809,-0.00025592304481,2.23428082077e-05,1793239898789386240
+87,1.450000000,BASELINE,766,745,715,679,662.520878311,635.520878311,879,787.520878311,803.479121689,652.479121689,632,652,0.400972342975,-0.00537078291999,0.059850968529,0.999999937991,0.000242370070723,-0.00025446267781,2.28702306562e-05,1793239898806053120
+88,1.466666667,BASELINE,766,745,714.9436813,679.0563187,662,635,879,787.0563187,803.9436813,652.9436813,632,652,0.400973559562,-0.00537106754703,0.0598514529798,0.99999993796,0.000243630096723,-0.000253325270137,2.34489013708e-05,1793239898822719488
+89,1.483333333,BASELINE,766,745,714.348844361,679.651155639,662,635,879,787.651155639,803.348844361,652.348844361,632,652,0.400970933207,-0.00537115618938,0.0598491340308,0.999999937193,0.000242971056969,-0.000257013113557,2.28787179648e-05,1793239898839386112
+90,1.500000000,BASELINE,766,745,714.238552088,680,662,635.238552088,879.238552088,788,803,652,631.761447912,652,0.400969802418,-0.00537159147042,0.0598483403886,0.999999937135,0.000241765988296,-0.000258395554218,2.26238799009e-05,1793239898856052736
+91,1.516666667,BASELINE,766,745,714.81539706,680,662,635.81539706,879.81539706,788,803,652,631.18460294,652,0.400970792507,-0.00537251832295,0.059849709798,0.999999938093,0.000239786591106,-0.000256508681956,2.28162359832e-05,1793239898872719360
+92,1.533333333,BASELINE,766,745,715,679.610887462,662.389112538,636,879.610887462,788,803,652,631.389112538,652,0.400971363223,-0.00537193224078,0.0598500422181,0.999999937725,0.000241959457328,-0.000255895409669,2.28930597792e-05,1793239898889385728
+93,1.550000000,BASELINE,766,745,715,679.038644783,662.961355217,636,879.038644783,788,803,652,631.961355217,652,0.400971736567,-0.00537063411806,0.0598498865944,0.99999993672,0.000246086525571,-0.000255881538461,2.29155100069e-05,1793239898906052608
+94,1.566666667,BASELINE,766,745,715,679,662.447334785,636,879,787.447334785,803.552665215,652,631.447334785,652,0.400970848308,-0.00537225818947,0.0598493681533,0.999999937079,0.000243548128654,-0.000256901380213,2.29884265197e-05,1793239898922719232
+95,1.583333333,BASELINE,766,745,715,679,662.141919175,636,879,787.141919175,804,652,631,652.141919175,0.400970096945,-0.00537307658324,0.0598489137603,0.999999937318,0.000241635662231,-0.000257776975429,2.29493901821e-05,1793239898939386112
+96,1.600000000,BASELINE,766,745,715,679,662.720596026,636,879,787.720596026,804,652,631,652.720596026,0.400970048068,-0.00537076419019,0.0598487373415,0.999999936912,0.000243135118849,-0.000257978254099,2.2554569793e-05,1793239898956052736
+97,1.616666667,BASELINE,766,745,715,679,662.701380116,636,879,788,804,652.298619884,631.298619884,653,0.400970291381,-0.00537096563919,0.0598490722996,0.999999937162,0.000242557991678,-0.000257558438938,2.24629048252e-05,1793239898972719360
+98,1.633333333,BASELINE,766,745,715,679,662.123965933,636,879,788,804,652.876034067,631.876034067,653,0.400970807485,-0.00537351403461,0.059849884684,0.999999938022,0.0002400421465,-0.000256558764792,2.26542685987e-05,1793239898989385728
+99,1.650000000,BASELINE,766,744.548743672,715,679.451256328,662,636,879,788,804,652.548743672,631.548743672,652.548743672,0.400971480085,-0.00537255091748,0.0598501491426,0.999999938091,0.000240485939201,-0.000255896109026,2.24081910398e-05,1793239899006052608
+100,1.666666667,BASELINE,766,744.026603921,715,679.973396079,662,635.973396079,879,788,804,652,631,652,0.400972158679,-0.00537077873018,0.0598502845404,0.99999993794,0.000241733775975,-0.000255334990749,2.20901145766e-05,1793239899022719232
+101,1.683333333,BASELINE,766,744.617315391,715,679.382684609,662,635.382684609,879,788,804,652,631,652,0.40097205718,-0.00537220673546,0.0598508595782,0.999999937741,0.000242873973017,-0.000254973225889,2.27811535644e-05,1793239899039385856
+102,1.700000000,BASELINE,766,745,715,679,662,635.204005614,879.204005614,787.795994386,804,652,631.204005614,652,0.400971244462,-0.00537275327329,0.059850451936,0.999999937399,0.000243307370705,-0.000255863217361,2.31692598894e-05,1793239899056052224
+103,1.716666667,BASELINE,766,745,715,679,662,635.783298317,879.783298317,787.216701683,804,652,631.783298317,652,0.400969123392,-0.00537167827052,0.0598482365635,0.999999936792,0.000242440545851,-0.000259055929762,2.30000936456e-05,1793239899072719104
+104,1.733333333,BASELINE,766,745,715,679.359071907,662,636,879.640928093,787.359071907,804,652,632,652,0.400969835377,-0.00537240613256,0.0598487114008,0.999999937169,0.000241852284482,-0.000258148722425,2.30119843041e-05,1793239899089385984
+105,1.750000000,BASELINE,766,745,715,679.932742361,662,636,879.067257639,787.932742361,804,652,632,652,0.40097224053,-0.00537421147275,0.0598507940358,0.999999938129,0.00024143050589,-0.000254791207239,2.31320832115e-05,1793239899106052864
+106,1.766666667,BASELINE,766.501249867,745,715,680,662,636,879,787.498750133,804,652,631.498750133,652.501249867,0.400971445467,-0.00537355269935,0.0598502105509,0.999999937803,0.000241692117079,-0.000255807890555,2.32579663871e-05,1793239899122719488
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,631,652,0.400971676712,-0.00536955594737,0.0598499265502,0.999999937292,0.000243801751123,-0.000255865285965,2.25941556799e-05,1793239899165089792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.425721737,662.574278263,635.425721737,879,787.425721737,804,652,631.574278263,652.574278263,0.400971508863,-0.00537101801058,0.0598496865587,0.999999937795,0.000241267783037,-0.00025631211606,2.24319288071e-05,1793239899181756416
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766.726396941,745.726396941,715,679.726396941,663,635,879,787.726396941,804,652.726396941,631.273603059,653,0.400970322788,-0.00537247246691,0.0598488334384,0.999999937519,0.000240831720482,-0.000257754756418,2.28871321217e-05,1793239899215089664
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.690899115,746,715,680,663,635.309100885,879,787.690899115,804,652.690899115,631.309100885,653,0.400969962208,-0.0053724951761,0.0598487938563,0.999999937445,0.000240834514738,-0.000258034365301,2.29399754921e-05,1793239899231756288
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.522231679,715,679.522231679,662.522231679,636,879,787,804,652,631.522231679,653,0.400969638183,-0.00537291374653,0.0598489999539,0.999999937853,0.000238623479132,-0.000258534496322,2.26499025288e-05,1793239899265089280
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.056982681,636,879,787.056982681,804,652.056982681,631.056982681,652.943017319,0.400969719842,-0.00537358017434,0.0598489184552,0.999999937925,0.000237808456646,-0.000259001226631,2.27261271986e-05,1793239899281755648
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.633904455,636,879,787.633904455,804,652.633904455,631.633904455,652.366095545,0.400975104598,-0.00537280398811,0.0598511243904,0.999999938336,0.000240655757376,-0.000254753284397,2.26535081728e-05,1793239899298422784
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.789710951,636,879,788,803.789710951,652.789710951,632,652,0.400986963474,-0.00537308772948,0.0598562942666,0.999999940331,0.000242016786757,-0.000245428066403,2.30214484e-05,1793239899315089664
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.214259217,636,879,788,803.214259217,652.214259217,632,652,0.401010064528,-0.00537521201376,0.0598666109659,0.999999944887,0.000240796935631,-0.000227286262043,2.41544108707e-05,1793239899331756288
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,803.369977278,652.369977278,631.630022722,652,0.401050662742,-0.00537537947726,0.0598828903162,0.99999995085,0.00024166383759,-0.000198171003167,2.50215372875e-05,1793239899348422912
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,803.959424946,652.959424946,631.040575054,652,0.401101640267,-0.00537438615558,0.05990270671,0.999999956747,0.000243768600403,-0.000162546293063,2.57309699373e-05,1793239899365089536
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.538256971,715,679,662,636,879,787.461743029,804,652.461743029,631.538256971,652,0.401168933627,-0.00537849989305,0.0599198681962,0.999999961841,0.00023917478556,-0.000135670479711,2.6574396303e-05,1793239899381756160
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.88364631,715,679.11635369,662,635.88364631,879,787.11635369,804,652,631.88364631,652,0.401239248821,-0.0053821778948,0.0599351267587,0.999999965667,0.000235372527081,-0.00011191619712,2.72179022319e-05,1793239899398422784
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.305353103,715,679.694646897,662,635.305353103,879,787.694646897,804,652,631.305353103,652,0.401316772587,-0.00538262710153,0.0599436096546,0.999999966826,0.000236678812807,-9.79870875354e-05,2.70283721885e-05,1793239899415089408
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.276270357,715,680,662,635.276270357,879.276270357,788,804,652,631.276270357,652,0.401402048043,-0.00538405062774,0.059948749572,0.999999967776,0.000236357506801,-8.87764953557e-05,2.650875975e-05,1793239899431756288
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.861619519,715,680,662,635.861619519,879.861619519,788,804,652,631.861619519,652,0.401495995736,-0.00538656417857,0.0599501495155,0.999999968644,0.000234215324595,-8.48447682987e-05,2.56198660436e-05,1793239899448422912
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.557438999,715,679.557438999,662,636,879.557438999,788,804,652.442561001,632,652.442561001,0.401608304781,-0.00538929775939,0.0599515471336,0.999999969275,0.000233110220688,-8.05408921543e-05,2.49501374312e-05,1793239899465089536
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.022057242,662,636,879,788,804,652.977942758,631.977942758,653,0.401727218598,-0.00539214018542,0.0599528650205,0.999999969843,0.000232186741015,-7.6233921773e-05,2.43048564515e-05,1793239899481756160
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.599523341,662,636,879,788,804,652.400476659,631.400476659,653,0.401869301921,-0.0053960080676,0.0599521933779,0.999999971016,0.000227751791377,-7.47502264306e-05,2.25666130505e-05,1793239899498422784
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.823560604,662,635.823560604,879,788,804,652.176439396,631,653,0.402020938172,-0.0053998548536,0.0599522331014,0.999999972168,0.000223768917738,-7.18124793695e-05,2.08232550255e-05,1793239899515089152
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.247889217,662,635.247889217,879,788,804,652.752110783,631,653,0.402194189954,-0.00540365390443,0.0599538824437,0.999999973289,0.000220808963642,-6.55846285255e-05,1.90683243024e-05,1793239899531755776
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+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,879.433403585,787.433403585,804,652.433403585,631.566596415,652.566596415,0.405033039785,-0.00547669016146,0.0599180437595,0.999999984423,0.00014024965956,-0.000106665596363,-1.02805556974e-05,1793239899698422784
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.85682023,715,679.85682023,662,636,879,787.14317977,804,652,632,652.85682023,0.405435833836,-0.00548603585646,0.0599158497803,0.999999987661,0.000109527547869,-0.000111742688668,-1.39931913744e-05,1793239899715089408
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.285741095,715,679.285741095,662,636,879,787.714258905,804,652,632,652.285741095,0.405889278107,-0.00549693505507,0.0599299741653,0.999999995425,2.92045116043e-05,-8.95214738091e-05,-1.68452053822e-05,1793239899731756288
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.285145059,636,879,787.714854941,804,652.285145059,632,652.285145059,0.406371887409,-0.00550584419554,0.0599522994711,0.999999998362,-1.16232877218e-05,-5.2594370049e-05,-1.9356105473e-05,1793239899748423168
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.855838028,636,879,787.144161972,804,652.855838028,632,652.855838028,0.406883703003,-0.00551276046762,0.0599828372857,0.999999999685,-1.29000609216e-05,-9.40598586805e-07,-2.15254101184e-05,1793239899765090048
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.446390264,662.553609736,635.553609736,879,787.446390264,804,652.553609736,632,652.553609736,0.407424180163,-0.00551163239937,0.0600025905877,0.999999999335,-7.0950935763e-06,2.74142646084e-05,-2.29942131732e-05,1793239899781756672
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.957875742,662.042124258,635.042124258,879.042124258,788,804,652,632,652,0.407972677244,-0.00550740987485,0.0600165743925,0.999999998731,7.4615886403e-07,4.40383714271e-05,-2.44563726625e-05,1793239899798423808
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.381549373,662.618450627,635.618450627,879.618450627,788,804,652,632,652,0.408500030551,-0.00549842448758,0.060003616563,0.999999999507,4.05690107393e-06,1.17619952535e-05,-2.88367791547e-05,1793239899815090432
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.194418457,662.805581543,635.805581543,879.805581543,787.805581543,804,652,631.805581543,652.194418457,0.409045690163,-0.00549569334145,0.0599918108923,0.999999999316,-3.21037467068e-06,-1.66895978973e-05,-3.28365234896e-05,1793239899831757056
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.769683908,662.230316092,635.230316092,879.230316092,787.230316092,804,652,631.230316092,652.769683908,0.409627210027,-0.00550521365068,0.0599822621904,0.999999998153,-3.11989669212e-05,-3.76488082689e-05,-3.60905871573e-05,1793239899848423424
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.64460727,662,635.35539273,879,787.35539273,804,652,631,652.64460727,0.410250567277,-0.00551451706434,0.0599844546391,0.999999997808,-4.58745395792e-05,-2.93190947905e-05,-3.76851634471e-05,1793239899865089792
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.051925631,662,635.948074369,879,787.948074369,804,652,631,652.051925631,0.410901858524,-0.00552367566061,0.0599944864293,0.999999997936,-5.16612633156e-05,-1.43372788094e-06,-3.8171731716e-05,1793239899881756416
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.473449272,879.526550728,788,804,652,631,652,0.411593727939,-0.00552262329783,0.0599984235181,0.999999999386,-1.34459249941e-05,8.89657125797e-06,-3.11110384207e-05,1793239899898423040
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.103272906,880,788,804,652.103272906,631.103272906,652,0.41228113532,-0.00552017647679,0.059995882373,0.999999999532,1.57713966836e-05,5.46743716473e-06,-2.56380881064e-05,1793239899915089920
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.678213098,880,788,804,652.678213098,631.678213098,652,0.41293036753,-0.00551583902262,0.0599664267795,0.999999997999,-1.54045516327e-05,-5.31047218055e-05,-3.07266018096e-05,1793239899931756288
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.25976309,715,679.25976309,662,636,880,788,804,652.74023691,631.74023691,652.25976309,0.413595720198,-0.00551275240729,0.0599411030883,0.999999993676,-2.98184913458e-05,-0.000102608162745,-3.50848118171e-05,1793239899948422656
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.849714975,715,679.849714975,662,636,880,788,804,652.150285025,631.150285025,652.849714975,0.414281563913,-0.00551125575155,0.0599210315164,0.999999989114,-2.29259925176e-05,-0.000140584227088,-3.85147225384e-05,1793239899965089536
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679.567903686,662.432096314,636,880,788,804,652,631.432096314,652.567903686,0.415084587543,-0.00551706908342,0.059952627108,0.999999995638,-1.93644755769e-05,-8.32754879223e-05,-3.75934061932e-05,1793239899981756416
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.988212801,715,679,663,636,879.988212801,788,804,652,631.988212801,652.011787199,0.415927193787,-0.00552528040347,0.0600013194533,0.999999999218,-1.71349983135e-05,5.46736436289e-06,-3.52089001119e-05,1793239899998423040
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.413426533,715,679,663,636,879.413426533,788,804,652,631.413426533,652.586573467,0.416747290723,-0.0055286829009,0.0600230783959,0.999999998333,-2.41457637452e-05,3.99640789549e-05,-3.39768332458e-05,1793239900015089664
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.16114464,715,679,662.83885536,636,879.322289279,788,804,652,631,653,0.417557543947,-0.0055304633435,0.0600332749344,0.999999997387,-2.9178956209e-05,5.68256971005e-05,-3.38549474635e-05,1793239900031756288
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.735164675,715,679,662.264835325,636,880.470329351,788,804,652,631,653,0.418342576134,-0.00552808785166,0.0600138469539,0.9999999985,-2.91453261953e-05,2.85036977773e-05,-3.65775030476e-05,1793239900048422656
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.319387676,745.680612324,715,679,662.319387676,636,881,787.680612324,804,652,631.319387676,653,0.419132776196,-0.00552679223216,0.0599950214824,0.999999998754,-3.08264211488e-05,-2.1165155363e-06,-3.92171347023e-05,1793239900065089280
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.912350099,745.087649901,715,679,662.912350099,636,881,787.087649901,804,652,631.912350099,653,0.419927402812,-0.00552642158838,0.0599767120971,0.999999997948,-3.39762811266e-05,-3.47052858498e-05,-4.17857368724e-05,1793239900081756160
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.507953301,787.492046699,804.492046699,652,632,652.507953301,0.420725683094,-0.00552592242981,0.0599484862301,0.999999995298,-3.8802132661e-05,-7.70222518377e-05,-4.43425629039e-05,1793239900098422784
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.931181104,745.068818896,715,679.068818896,662.931181104,636,880.068818896,788,804.931181104,652,631.931181104,652,0.421529358696,-0.00552579313762,0.0599203094046,0.999999990789,-4.33240696209e-05,-0.00011982964554,-4.67592350629e-05,1793239900115089664
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.358968897,745.641031103,715,679.641031103,662.358968897,636,880.641031103,788,804.358968897,652,631.358968897,652,0.422367863564,-0.00552853238619,0.059905073293,0.999999986054,-4.34964559919e-05,-0.000153881299621,-4.8165656764e-05,1793239900131756288
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.214544423,746,715,680,662.214544423,636,880.785455577,788,804,652,631.214544423,652,0.423244883826,-0.00553159493879,0.0599193655861,0.999999988803,-4.6975039473e-05,-0.000133711451474,-4.80581235184e-05,1793239900148422912
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.790248103,746,715,680,662.790248103,636,880.209751897,788,804,652,631.790248103,652,0.424186740171,-0.0055352017346,0.0599833653292,0.999999997152,-5.60192005247e-05,-2.22663503127e-05,-4.54020324513e-05,1793239900165089536
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715,680,663.378514155,636,880,787.621485845,804,652.378514155,632,652,0.425082758188,-0.00553775031206,0.0600241142284,0.999999996555,-5.55196010731e-05,4.35666939944e-05,-4.37011595761e-05,1793239900181756160
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,663.973980524,636,880,787.026019476,804,652.973980524,632,652,0.425952503084,-0.00553969235238,0.0600515364835,0.999999994401,-4.95498228665e-05,8.3256358774e-05,-4.25477875513e-05,1793239900198422784
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.449803932,745.449803932,715,680,663.449803932,636,880,787.550196068,804.550196068,652.449803932,631.449803932,652,0.426809480424,-0.00554328650494,0.0600322445243,0.999999995505,-5.08679021339e-05,6.59554977295e-05,-4.52986634041e-05,1793239900215089664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,787.879002972,804.879002972,652,631.120997028,652.120997028,0.427658037193,-0.00554588150743,0.0600108757821,0.999999996354,-5.59243225134e-05,4.2975107726e-05,-4.81312597578e-05,1793239900231756288
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,787.324451639,804.324451639,652,631.675548361,652.675548361,0.428478511845,-0.00554462588224,0.0599897138202,0.999999996001,-7.31826953091e-05,8.97469075855e-06,-5.06174536763e-05,1793239900248422912
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.255365884,745,714.744634116,679.744634116,662.744634116,635.744634116,880.255365884,787,804.255365884,652,632,652.744634116,0.42929175117,-0.00554211051765,0.0599641080351,0.999999995047,-7.71600610521e-05,-3.47638093823e-05,-5.23752948406e-05,1793239900265089536
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.870809897,745,714.129190103,679.129190103,662.129190103,635.129190103,880.870809897,787,804.870809897,652,632,652.129190103,0.43009478827,-0.00553781886025,0.0599322362482,0.999999992389,-6.24105691025e-05,-9.22334703555e-05,-5.31061234731e-05,1793239900281755904
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,714.453847838,679,662.453847838,635.453847838,880.546152162,787,805,652,632,652,0.430941839373,-0.00553960482195,0.059936999161,0.999999993788,-5.88448824597e-05,-7.7863087081e-05,-5.38357868504e-05,1793239900298422784
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.971547887,745.028452113,715,679.028452113,663.028452113,635.971547887,880.028452113,787,805,652,631.971547887,652.028452113,0.431801893597,-0.00554302493899,0.05995311039,0.999999995884,-5.89337782311e-05,-4.23277546581e-05,-5.44672505742e-05,1793239900315089664
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.393542594,745.606457406,715,679.606457406,663.606457406,635.393542594,880.606457406,787,805,652,631.393542594,652.606457406,0.43268723543,-0.00554682027332,0.0600004162475,0.999999995421,-7.22190696722e-05,3.33473592511e-05,-5.32079648219e-05,1793239900331756288
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679.816288644,663.816288644,635.183711356,880.816288644,787,804.816288644,651.816288644,631,652.816288644,0.433543991345,-0.00554913462156,0.0600285301147,0.999999992526,-8.09906872477e-05,7.50895716771e-05,-5.24411281058e-05,1793239900348422912
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.240637539,663.240637539,635.759362461,880.240637539,787,804.240637539,651.240637539,631,652.240637539,0.434339760683,-0.00554828935464,0.0600156987602,0.999999994412,-8.01325919295e-05,4.44375101379e-05,-5.27249091095e-05,1793239900365089536
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.654424651,715,679.345575349,663,635.654424651,880,787,804,651.345575349,631.345575349,652.345575349,0.435101640081,-0.00554831511836,0.0599900115189,0.99999999529,-8.03412248347e-05,5.5293258464e-07,-5.44576733924e-05,1793239900381756416
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.060625355,715,679.939374645,663,635.060625355,880,787,804,651.939374645,631.939374645,652.939374645,0.435839176565,-0.00554896653632,0.0599550900001,0.99999999366,-8.13160798036e-05,-5.28364511178e-05,-5.72312303961e-05,1793239900398422784
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635,880.516968058,787,804.516968058,652,631.483031942,652.483031942,0.436570946384,-0.00555019083093,0.0599461151684,0.999999992234,-8.50084621993e-05,-7.03645044016e-05,-5.79226040309e-05,1793239900415089408
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.092692994,715,680,663,635.092692994,881,787.092692994,805,651.907307006,631.092692994,652,0.437295102277,-0.00555131183692,0.0599391057088,0.999999990579,-8.8709402336e-05,-8.69977301952e-05,-5.8336295001e-05,1793239900431756288
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.668283708,715,680,663,635.668283708,881,787.668283708,805,651.331716292,631.668283708,652,0.437983008302,-0.00555155539026,0.0599269650842,0.999999986935,-9.08451413017e-05,-0.000120212424802,-5.85367820045e-05,1793239900448422912
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.758098706,746,715,680.241901294,662.758098706,635.758098706,880.758098706,787.758098706,805,651,631.758098706,652,0.438679854519,-0.00555074705891,0.0599219782687,0.999999985322,-8.79755554141e-05,-0.000134799397675,-5.86951553213e-05,1793239900465089536
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.187165002,746,715,680.812834998,662.187165002,635.187165002,880.187165002,787.187165002,805,651,631.187165002,652,0.439388861065,-0.00554850796151,0.0599267220141,0.999999987512,-7.8297762386e-05,-0.000124049074115,-5.87962459468e-05,1793239900481756160
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.400338676,745.599661324,715,680.599661324,662,635,880,787.400338676,804.599661324,651.400338676,631,652,0.440059301496,-0.00554769392056,0.0599338809772,0.999999988374,-7.74472736832e-05,-0.000117750207653,-5.82215189062e-05,1793239900498422784
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.995923626,745.004076374,715,680.004076374,662,635,880,787.995923626,804.004076374,651.995923626,631,652,0.440710933191,-0.00554757488336,0.0599422178491,0.99999998863,-8.09018847445e-05,-0.00011362232812,-5.73171937403e-05,1793239900515089664
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,880,786.717684784,805,651.717684784,631.282315216,652,0.442812882325,-0.00554264575192,0.0597582644382,0.999999914636,-8.70870256784e-05,-0.000398052333537,-6.8549079144e-05,1793239900581756160
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,880,786.105988028,805,651.105988028,631.894011972,652,0.44335345966,-0.00554012503133,0.0597383675365,0.999999904112,-8.76522774855e-05,-0.00042315163944,-7.09596059357e-05,1793239900598423040
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681,658,631,880.299171272,785,805.700828728,652,631,653,0.449750165845,-0.00555334275084,0.0596072609326,0.999999799252,-0.000101603935855,-0.000621766868114,-6.766327741e-05,1793239901598422784
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+256,4.266666667,HOLD_POSE2,765.15399415,746,715,681,658.15399415,630.15399415,881,785,805,652,630.84600585,652.84600585,0.449750763557,-0.00555398508602,0.0596072038987,0.999999799514,-0.000100288639944,-0.000621669846445,-6.66349320524e-05,1793239901668555520
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+267,4.450000000,HOLD_POSE2,766,746,715,681,657.455737219,630.455737219,881,785,805,652,630.544262781,652.544262781,0.449752235845,-0.00555083302417,0.0596070392504,0.999999799447,-0.000100784986323,-0.000621598354684,-6.75620289393e-05,1793239901851888640
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.035814071,661,636,879,788,804,652.035814071,631.035814071,652.035814071,0.40368702367,-0.00534344170938,0.059774362405,0.999999895475,0.000267775991233,-0.000369790446089,2.45203243616e-05,1793239903501288448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.455227261,745.544772739,715,679,661.544772739,635.455227261,879,788,804,652,631.544772739,652,0.403410307294,-0.00534400363044,0.0597918649577,0.9999999063,0.000270198679384,-0.000337204210733,2.61859628973e-05,1793239903517955072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.123616778,745.876383222,715,679,661.876383222,635.123616778,879.123616778,788,804,652,631.876383222,652.123616778,0.403145420072,-0.00534673373371,0.0598109402465,0.999999917724,0.000268543842995,-0.000302756532236,2.78485439524e-05,1793239903534621440
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.69875323,745.30124677,715,679,661.30124677,635.69875323,879.69875323,788,804,652,631.30124677,652.69875323,0.40290441971,-0.0053566053979,0.0598291528484,0.999999930593,0.000251511167932,-0.000273343216531,2.89600494401e-05,1793239903551288064
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.273348156,661.273348156,635.726651844,880,787.726651844,804,652,631.273348156,653,0.402672464427,-0.00536711610017,0.0598403944977,0.999999943354,0.000216626543356,-0.000256371509395,2.5252720999e-05,1793239903567954688
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.847347434,661.847347434,635.152652566,880,787.152652566,804,652,631.847347434,653,0.40245045769,-0.00537832966926,0.0598439689102,0.999999954703,0.000162106855134,-0.000253084123452,1.62452366179e-05,1793239903584621056
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.564989437,662,635,879.564989437,787.435010563,803.564989437,652.435010563,631.564989437,652.564989437,0.402240450005,-0.00538005981291,0.0598410695862,0.99999995439,0.000151049278853,-0.000261129261367,1.47111142292e-05,1793239903601287680
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635,879,788,803.605260702,652.394739298,631.605260702,652.605260702,0.401879898137,-0.00537139505136,0.0598368254154,0.99999994818,0.000171536446991,-0.000271892304877,1.70136335534e-05,1793239903634621440
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.182134713,879,788,804,652.182134713,632,653,0.401731565579,-0.00536699525982,0.0598371457858,0.999999943353,0.000197126120936,-0.000272224511883,1.81620265673e-05,1793239903651288064
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.32872946,662,636,879,788,804,653,631.67127054,653,0.401492083183,-0.00536673134867,0.0598374520946,0.999999927197,0.000264961559732,-0.000273867470893,1.99558044685e-05,1793239903684621568
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.914943028,662,636,879,787.085056972,804,652.914943028,632,653,0.401240060727,-0.00536423702868,0.0598424113701,0.999999930707,0.00026150335268,-0.000264058697657,2.18092613892e-05,1793239903734620928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.341299407,662,636,879,787.658700593,804,652.341299407,632,653,0.401182665663,-0.0053637159192,0.0598406957348,0.999999930523,0.000259299453351,-0.000266913760088,2.17995303395e-05,1793239903751287552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.239287358,662,636,879,788,804,652,631.760712642,652.760712642,0.401130207724,-0.00536277245704,0.0598384238538,0.999999929679,0.000258189854547,-0.00027113361658,2.15981118329e-05,1793239903767954432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.830073141,662,636,879,788,804,652,631.169926859,652.169926859,0.401085002122,-0.0053612085848,0.0598353348821,0.999999927854,0.000258687716105,-0.000277358271512,2.11151162311e-05,1793239903784621824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.588593142,879,788,804.411406858,652,631.411406858,652.411406858,0.401051880623,-0.00536065936772,0.0598339104061,0.999999927041,0.000259494001175,-0.000279520946766,2.11944006939e-05,1793239903801288448
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.011075823,879,788,804.988924177,652,631.988924177,652.988924177,0.401023638227,-0.0053605198299,0.0598331579902,0.999999926646,0.000260424815933,-0.000280043548795,2.15007124971e-05,1793239903817954816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,879.567599527,787.432400473,804.432400473,652,632,652.432400473,0.401008757523,-0.00536084040852,0.0598344707139,0.999999927993,0.000258264515897,-0.000277233777524,2.1324345384e-05,1793239903834621440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.145096581,715,680,661.854903419,635,879.854903419,787.145096581,804,652,631.854903419,652,0.400996516798,-0.00536093800268,0.059836363314,0.999999929255,0.00025688391059,-0.000273955850688,2.11904431972e-05,1793239903851288064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.719044006,715,680,661.280955994,635,879.280955994,787.719044006,804,652,631.280955994,652,0.400991306659,-0.0053603499475,0.0598398504614,0.999999930185,0.000257986432308,-0.000269486818394,2.12099465012e-05,1793239903867954688
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.698165882,715,680,661.301834118,635,879,787.698165882,804,652,631.301834118,652.301834118,0.400986206387,-0.00536024080037,0.0598419318397,0.999999930746,0.00025833018368,-0.000267059316513,2.12807764886e-05,1793239903884621312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.10689625,715,680,661.89310375,635,879,787.10689625,804,652,631.89310375,652.89310375,0.400981211467,-0.00536059088884,0.0598426651951,0.999999930968,0.000257946333263,-0.000266589483465,2.14008247877e-05,1793239903901287936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.473208059,878.526791941,787.473208059,804,652,631.526791941,652.526791941,0.400978950542,-0.00536045737466,0.0598433902694,0.999999931169,0.000258352618666,-0.00026543968926,2.14006250128e-05,1793239903917954816
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.050918083,745.050918083,715,680,662,635.949081917,878.101836166,788,804,652,631,652,0.400977394977,-0.00536024655424,0.0598440399636,0.999999931389,0.00025876500948,-0.000264206427049,2.13702676714e-05,1793239903934621184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.629351521,745.629351521,715,680,662,635.370648479,879.258703043,788,804,652,631,652,0.400976896079,-0.00536034052622,0.0598439276478,0.999999931878,0.000257434115606,-0.000263663067132,2.13024063408e-05,1793239903951287808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.794380155,746,715,679.794380155,662,635.205619845,879.794380155,788,804,652,631,652,0.400976492682,-0.00536079302345,0.0598441262203,0.999999932395,0.000255800328915,-0.000263286019144,2.13563967898e-05,1793239903967954688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.221974015,746,715,679.221974015,662,635.778025985,879.221974015,788,804,652,631,652,0.400976259641,-0.00536188506084,0.0598448793578,0.999999932964,0.000253626239719,-0.000263205639711,2.16277474049e-05,1793239903984621312
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.637392309,715,679,661.637392309,636,879,787.637392309,804,652,631,652,0.400976015928,-0.00536238826885,0.0598457862172,0.999999933194,0.000253330309046,-0.00026260626395,2.17527398819e-05,1793239904001287936
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.045098263,715,679,661.045098263,636,879,787.045098263,804,652,631,652,0.400975765455,-0.00536251849501,0.0598467904487,0.99999993321,0.000254224059191,-0.000261678140684,2.17850248081e-05,1793239904017954560
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.530141096,636,879,787,804,652.530141096,631,652,0.400976168935,-0.00536272453993,0.059846421459,0.999999933215,0.00025473299525,-0.000261181619639,2.15513508246e-05,1793239904034621184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.104750003,715,679.104750003,662,636,879.104750003,787.104750003,804,652.895249997,631.104750003,652,0.400976699145,-0.0053629040021,0.0598462642345,0.999999933315,0.000255097966347,-0.00026045979484,2.13399569033e-05,1793239904051288064
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.682861595,715,679.682861595,662,636,879.682861595,787.682861595,804,652.317138405,631.682861595,652,0.400977558485,-0.00536293509978,0.0598475754117,0.999999933845,0.000254955684752,-0.000258559084576,2.13282995508e-05,1793239904067954688
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.741535689,715,680,662.258464311,636,879.741535689,788,804,652.258464311,632,652.258464311,0.400978045066,-0.00536253997658,0.0598485776569,0.999999934096,0.000255264186131,-0.000257270220498,2.143642134e-05,1793239904084621312
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.16898172,715,680,662.83101828,636,879.16898172,788,804,652.83101828,632,652.83101828,0.400978078663,-0.00536162690346,0.0598492044835,0.999999934012,0.000256120485634,-0.000256724880713,2.16901005139e-05,1793239904101287936
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.578981043,636,879.421018957,788,804,653,632,653,0.400978236929,-0.00536243374244,0.0598494560074,0.999999934704,0.000254258921609,-0.000255875500918,2.17289889325e-05,1793239904117954816
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.017637291,745,715,679.982362709,662,636,879.982362709,787.982362709,804,653,632,653,0.40097837381,-0.00536393996588,0.0598495045461,0.99999993566,0.000251342116675,-0.000255022709424,2.16785584937e-05,1793239904134621184
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.592533655,745,715,679.407466345,662,636,879.407466345,787.407466345,804,653,632,653,0.400976185724,-0.00536479000531,0.0598481047331,0.999999934951,0.000251040436791,-0.000258084421533,2.16476298192e-05,1793239904151287808
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,715,679.167376569,662,636,879,787.167376569,803.832623431,652.832623431,632,652.832623431,0.400974568417,-0.00536556459682,0.0598470321111,0.999999934674,0.000250077660182,-0.000260092191463,2.15701309435e-05,1793239904167954432
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.742089368,662,636,879,787.742089368,803.257910632,652.257910632,632,652.257910632,0.400974340186,-0.00536615557431,0.059846755758,0.999999935463,0.000247506004596,-0.000259535033301,2.13792964322e-05,1793239904184621056
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.674054068,745,715,680,662,636,879,788,803.325945932,652.325945932,632,652.325945932,0.400975603406,-0.00536512698783,0.0598480207973,0.999999935556,0.00024919294761,-0.000257551421647,2.140454514e-05,1793239904201287680
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.082753537,745,715,680,662,636,879,788,803.917246463,652.917246463,632,652.917246463,0.400978080826,-0.00536277990426,0.0598505406938,0.999999935059,0.000254346842204,-0.000254406525403,2.16057085417e-05,1793239904217954816
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.502567268,662,635.502567268,879,787.502567268,804,652.502567268,632,652.502567268,0.400977224865,-0.00536437868132,0.0598497259332,0.999999935041,0.000253133371922,-0.000255676553552,2.1694525018e-05,1793239904234621184
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.07516729,715,679,662,635.07516729,879,787.07516729,804,652,632,652.07516729,0.400976099922,-0.00536638782044,0.0598486672914,0.999999935188,0.000250960422748,-0.000257231569142,2.18016937658e-05,1793239904251287808
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.648638065,715,679,662,635.648638065,879,787.648638065,804,652,632,652.648638065,0.400976787703,-0.00536686076101,0.0598495891576,0.999999935935,0.000249295629893,-0.00025591324326,2.21517186146e-05,1793239904267954432
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,662,636,879,788,804,652,632,653,0.400976990427,-0.00536622271811,0.0598500583343,0.999999935967,0.000249849359392,-0.000255246394202,2.21701746515e-05,1793239904284621056
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,662,636,879,788,804,652,632,653,0.40097642582,-0.00536382717026,0.0598498113851,0.999999934861,0.000253912649557,-0.000255610139738,2.16641100206e-05,1793239904301287936
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.613169766,715,679,662,635.613169766,879,788,804,652,632,653,0.400976949304,-0.00536305469627,0.0598500458003,0.999999935036,0.000253803532825,-0.000255067120221,2.12708860342e-05,1793239904317954560
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.019276079,715,679,662,635.019276079,879,788,804,652,632,653,0.400978055223,-0.00536315102544,0.0598505378815,0.999999935897,0.000251460999462,-0.00025403872522,2.09380637001e-05,1793239904334621184
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.557614151,715,679,661.442385849,635.557614151,879.557614151,788,803.442385849,652,631.442385849,653,0.40097761399,-0.00536535663422,0.0598504854156,0.9999999361,0.00025045026729,-0.000254195273,2.14524889912e-05,1793239904351288064
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb4cff238cdf55bf1133fc146c516120e7984f2b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+107,1.783333333,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+108,1.800000000,pose1_to_pose2_press,0.575664527962,9.08561702218e-05,1.05003226012,0.546234978006,0.00876259029165,1.04970038582
+109,1.816666667,pose1_to_pose2_press,0.57566463789,9.07965484347e-05,1.05003225376,0.546235089178,0.00876253491391,1.04970038002
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+111,1.850000000,pose1_to_pose2_press,0.575664918493,9.06912228556e-05,1.05003223163,0.546235371801,0.00876243663832,1.04970036307
+112,1.866666667,pose1_to_pose2_press,0.575665042825,9.06553477592e-05,1.05003222374,0.546235496838,0.00876240322789,1.04970035702
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+114,1.900000000,pose1_to_pose2_press,0.575667888815,9.07997473205e-05,1.05003216925,0.5462383409,0.00876254105145,1.04970030163
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+117,1.950000000,pose1_to_pose2_press,0.575708493573,9.08368286256e-05,1.05003233472,0.546278943877,0.0087625720522,1.04970046602
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+120,2.000000000,pose1_to_pose2_press,0.575836431769,9.07018391558e-05,1.05003231008,0.546406885527,0.00876244910607,1.04970044953
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+389,6.483333333,pose2_to_pose3_retreat,0.575673235132,9.08419748898e-05,1.05003244839,0.546243685709,0.00876257820871,1.04970058203
+390,6.500000000,pose2_to_pose3_retreat,0.575671079531,9.08687611371e-05,1.05003238493,0.546241530034,0.00876260478038,1.04970051945
+391,6.516666667,pose2_to_pose3_retreat,0.575669661625,9.08884210536e-05,1.0500322781,0.546240112566,0.00876262586475,1.04970041107
+392,6.533333333,pose2_to_pose3_retreat,0.575668938809,9.08984432321e-05,1.05003222364,0.546239389973,0.00876263661309,1.04970035581
+393,6.550000000,pose2_to_pose3_retreat,0.575668510444,9.09043827028e-05,1.05003219136,0.546238961741,0.0087626429829,1.04970032307
+394,6.566666667,pose2_to_pose3_retreat,0.575668272584,9.0907680751e-05,1.05003217344,0.546238723954,0.00876264651991,1.04970030489
+395,6.583333333,pose2_to_pose3_retreat,0.575668166443,9.09091524438e-05,1.05003216544,0.546238617846,0.00876264809823,1.04970029677
+396,6.600000000,pose2_to_pose3_retreat,0.575668136305,9.09095703117e-05,1.05003216317,0.546238587718,0.00876264854637,1.04970029447
+397,6.616666667,pose2_to_pose3_retreat,0.575667946714,9.09121990887e-05,1.05003214889,0.546238398184,0.00876265136562,1.04970027998
+398,6.633333333,pose2_to_pose3_retreat,0.575667657416,9.09100488272e-05,1.05003213429,0.546238108972,0.00876264947805,1.04970026473
+399,6.650000000,pose2_to_pose3_retreat,0.575667347795,9.08892891888e-05,1.05003214026,0.546237799429,0.00876262891585,1.04970026897
+400,6.666666667,pose2_to_pose3_retreat,0.575667070996,9.08707301974e-05,1.05003214559,0.546237522698,0.00876261053337,1.04970027276
+401,6.683333333,pose2_to_pose3_retreat,0.575666846843,9.0855701095e-05,1.05003214991,0.546237298602,0.00876259564721,1.04970027583
+402,6.700000000,pose2_to_pose3_retreat,0.5756666631,9.08433813979e-05,1.05003215345,0.546237114905,0.00876258344468,1.04970027835
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+404,6.733333333,pose2_to_pose3_retreat,0.575665697361,9.07786300196e-05,1.05003217205,0.546236149407,0.00876251930915,1.04970029158
+405,6.750000000,pose2_to_pose3_retreat,0.575665382665,9.0761203933e-05,1.05003220877,0.546235834728,0.00876250194203,1.04970032837
+406,6.766666667,pose2_to_pose3_retreat,0.57566535542,9.07605406716e-05,1.05003221901,0.54623580747,0.00876250125127,1.04970033903
+407,6.783333333,pose2_to_pose3_retreat,0.575665258789,9.07581882494e-05,1.05003225531,0.546235710793,0.0087624988013,1.04970037684
+408,6.800000000,pose2_to_pose3_retreat,0.575665116372,9.07547212066e-05,1.05003230881,0.546235568309,0.00876249519049,1.04970043257
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa89b2f2d16744912bae9fcd41170fe46bb6c8d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1dc5bab7d2959eb1fe8616f948c8b9ef64031f700e67744cc465d7c4eeeb9b1
+size 26624985
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a886880bc09a61cc0badaf08dd64aa6b7825744
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
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+22,0.366666667,BASELINE,766,745,715,679,662,635.756892227,879,788,804,652,631,652.243107773,0.400975958466,-0.00536516658706,0.0598509286309,0.999999936543,0.000249771778825,-0.000253168669863,2.08118233999e-05,1793239904874124544
+23,0.383333333,BASELINE,766,745,715,679,662,636,879.334486552,787.665513448,804,652,631.334486552,652.334486552,0.400975879539,-0.00536463785638,0.0598513317247,0.999999936569,0.00024996443758,-0.000252890710121,2.06539400888e-05,1793239904890790912
+24,0.400000000,BASELINE,766,745,715,679,662,636,879.912326657,787.087673343,804,652,631.912326657,652.912326657,0.400976848074,-0.00536359924399,0.0598521475278,0.999999936571,0.000251179017681,-0.000251677183014,2.06188892753e-05,1793239904907457536
+25,0.416666667,BASELINE,766.497885574,745,715,679,662,636,879.502114426,787,803.502114426,652.497885574,631.502114426,652.502114426,0.400975484347,-0.00536419209736,0.0598513630576,0.999999936574,0.000249804597433,-0.000253039622645,2.05119161554e-05,1793239904924124416
+26,0.433333333,BASELINE,766.916241895,745,715,679,662,636,879.083758105,787,803.083758105,652.916241895,631.083758105,652.083758105,0.400974108732,-0.00536489247053,0.0598505169983,0.999999936502,0.000248666534495,-0.000254444501948,2.04595786679e-05,1793239904940791296
+27,0.450000000,BASELINE,766.336685165,745,715,679,662,636,879.663314835,787,803.663314835,652.336685165,631.663314835,652.663314835,0.400975132082,-0.00536450194874,0.0598510006898,0.999999936016,0.000251668726195,-0.000253373240072,2.08068011584e-05,1793239904957458176
+28,0.466666667,BASELINE,766,745.241514262,715,679.241514262,662,636,879.758485738,787,804,652,632,653,0.400976110884,-0.005364672509,0.0598515650652,0.999999935952,0.000252962069765,-0.00025230851145,2.11246953357e-05,1793239904974124800
+29,0.483333333,BASELINE,766,745.817832067,715,679.817832067,662,636,879.182167933,787,804,652,632,653,0.400977027931,-0.0053656208795,0.0598522412898,0.999999936484,0.000251886491326,-0.000251252839736,2.14019325839e-05,1793239904990791168
+30,0.500000000,BASELINE,766,745.607869673,715,679.607869673,662,636,879,787,803.215739347,652,631.607869673,653,0.400977353182,-0.00536535435541,0.0598524954697,0.999999936519,0.000252131699898,-0.000250868713464,2.13791953079e-05,1793239905007457792
+31,0.516666667,BASELINE,766,745.034504821,715,679.034504821,662,636,879,787,802.069009642,652,631.034504821,653,0.400977404916,-0.00536452633215,0.0598525545891,0.999999936325,0.000252987348936,-0.000250794961633,2.12178160041e-05,1793239905024124672
+32,0.533333333,BASELINE,766.557402635,745.557402635,715,679,662,636,879.557402635,787,803.114805269,652,631.557402635,652.442597365,0.400977438649,-0.00536577432628,0.059852232115,0.999999936977,0.000250725251418,-0.000250452473657,2.13504846387e-05,1793239905040791040
+33,0.550000000,BASELINE,766.85295641,745.85295641,715,679,662,636,880,787.14704359,804,652.14704359,631.85295641,652,0.400977165819,-0.00536689559329,0.0598518619543,0.999999937518,0.000248387712125,-0.000250625542643,2.13367249531e-05,1793239905057457664
+34,0.566666667,BASELINE,766.273472948,745.273472948,715,679,662,636,880,787.726527052,804,652.726527052,631.273472948,652,0.400975994808,-0.00536725322491,0.0598514234117,0.999999937578,0.000246415423346,-0.000252365417872,2.08369613596e-05,1793239905074124544
+35,0.583333333,BASELINE,766,745,715,679,662,636,880,788,804.302926306,652.697073694,631.302926306,652.302926306,0.40097698946,-0.00536753755532,0.0598523662814,0.999999937918,0.000246094978649,-0.000251324523206,2.09230743184e-05,1793239905090791424
+36,0.600000000,BASELINE,766,745,715,679,662,636,880,788,804.876569354,652.123430646,631.876569354,652.876569354,0.400979919506,-0.00536775637854,0.0598545436802,0.9999999385,0.000247250740451,-0.000247798532681,2.15327686617e-05,1793239905107457792
+37,0.616666667,BASELINE,766,745.46227651,715,679,662,636,880,787.53772349,804.53772349,652,632,652.53772349,0.400978680296,-0.00536677672352,0.0598534218263,0.999999937633,0.000249062921558,-0.000249497292198,2.12999521752e-05,1793239905124124416
+38,0.633333333,BASELINE,766,745.949558375,714.949558375,679.050441625,662,636,879.949558375,787.050441625,804,652.050441625,631.949558375,652.050441625,0.400976601446,-0.00536554650963,0.0598516439467,0.999999936497,0.000250896079862,-0.00025223306918,2.08595384555e-05,1793239905140791040
+39,0.650000000,BASELINE,766,745.370299295,714.370299295,679.629700705,662,636,879.370299295,787.629700705,804,652.629700705,631.370299295,652.629700705,0.400977703431,-0.00536513420589,0.0598524712829,0.999999936814,0.000251062456004,-0.000250823522616,2.06643006805e-05,1793239905157457920
+40,0.666666667,BASELINE,766,745,714.208078853,680,662,636,879,788,803.791921147,652.791921147,631,652.791921147,0.400978607627,-0.00536494581962,0.0598531909198,0.999999937147,0.000251177626358,-0.000249373327899,2.06881035709e-05,1793239905174124800
+41,0.683333333,BASELINE,766,745,714.784895861,680,662,636,879,788,803.215104139,652.215104139,631,652.215104139,0.400979161318,-0.00536515423924,0.0598537197016,0.999999937511,0.000251202054524,-0.00024785110036,2.11000701405e-05,1793239905190791168
+42,0.700000000,BASELINE,766,745,715,679.64310992,662,636,879,788,803.35689008,652,631,652.35689008,0.400978857564,-0.00536554344082,0.0598533785539,0.99999993724,0.00025166067549,-0.000248458308016,2.13187761402e-05,1793239905207457792
+43,0.716666667,BASELINE,766,745,715,679.073983749,662,636,879,788,803.926016251,652,631,652.926016251,0.400978043904,-0.00536604015016,0.0598525200748,0.99999993659,0.00025237750308,-0.000250331852419,2.14225535508e-05,1793239905224124416
+44,0.733333333,BASELINE,766,745,714.481190965,679,662,636,879,788,803.481190965,652,631.518809035,653,0.400977375273,-0.00536653297387,0.0598525973935,0.999999937164,0.000250278547684,-0.000250167040755,2.1194046261e-05,1793239905240791552
+45,0.750000000,BASELINE,766,745,714.111916113,679,662,635.888083887,879.111916113,788,803.111916113,652.111916113,631.888083887,653,0.400977267625,-0.00536665418638,0.0598529935136,0.999999937719,0.0002487592005,-0.000249483305122,2.09609010833e-05,1793239905257458432
+46,0.766666667,BASELINE,766,745,714.691557681,679,662,635.308442319,879.691557681,788,803.691557681,652.691557681,631.308442319,653,0.400979413901,-0.00536522476897,0.0598541376165,0.999999937447,0.000251420525521,-0.000247903728157,2.09158715745e-05,1793239905274124800
+47,0.783333333,BASELINE,766,745,714.732325655,679,662,635,879.732325655,787.732325655,803.732325655,652.732325655,631,652.732325655,0.400980466087,-0.00536459629251,0.0598548482469,0.999999937616,0.000251779043904,-0.000246855633475,2.09114774192e-05,1793239905290791424
+48,0.800000000,BASELINE,766,745,714.160217885,679,662,635,879.160217885,787.160217885,803.160217885,652.160217885,631,652.160217885,0.400980273935,-0.00536487874812,0.059855065877,0.999999938291,0.000249518517051,-0.000246412008069,2.09532989681e-05,1793239905307457792
+49,0.816666667,BASELINE,766,745,714.42481609,679.42481609,662.42481609,635,879,787.42481609,803,652,631,652,0.400979647435,-0.00536537274155,0.0598541425475,0.999999938279,0.000248735180291,-0.000247262035472,2.08295570858e-05,1793239905324124160
+50,0.833333333,BASELINE,766,745,715,679.985398917,662.985398917,635.014601083,879,788,803.014601083,652.014601083,631.014601083,652.014601083,0.400978891232,-0.00536592746125,0.0598528358791,0.999999938013,0.000248515738702,-0.000248570655784,2.06477334568e-05,1793239905340790784
+51,0.850000000,BASELINE,766,745,715,679.406323146,662.406323146,635.593676854,879,788,803.593676854,652.593676854,631.593676854,652.593676854,0.400979652425,-0.00536564874723,0.0598538671289,0.999999938272,0.000247882417779,-0.000248154466617,2.07102199452e-05,1793239905357457408
+52,0.866666667,BASELINE,766,745,715,679,662,635.827908255,879,787.827908255,803.827908255,652.827908255,631.827908255,652.827908255,0.400979810363,-0.0053654316364,0.0598544170318,0.999999938306,0.000247700697639,-0.000248190605882,2.08103759012e-05,1793239905374124288
+53,0.883333333,BASELINE,766,745,715,679,662,635.251047824,879,787.251047824,803.251047824,652.251047824,631.251047824,652.251047824,0.400978549418,-0.00536535941947,0.0598538347815,0.99999993781,0.000248581165945,-0.000249290645047,2.09991323896e-05,1793239905390791168
+54,0.900000000,BASELINE,766,745,715,679.325469746,662,635.325469746,879,787,803.325469746,652,631,652,0.400977365802,-0.00536602050273,0.0598531145073,0.999999937536,0.000248377305279,-0.000250585955467,2.10686166458e-05,1793239905407457792
+55,0.916666667,BASELINE,766,745,715,679.901723104,662,635.901723104,879,787,803.901723104,652,631,652,0.400976241771,-0.00536724661445,0.0598522878817,0.999999937431,0.000247337938538,-0.000252031727843,2.10461982767e-05,1793239905424124160
+56,0.933333333,BASELINE,766,745,715,680,662,636,879,787.488289585,804,652,631.488289585,652.488289585,0.400977310582,-0.00536648608029,0.0598532624797,0.999999937409,0.000248996606554,-0.000250470882394,2.11540664872e-05,1793239905440790784
+57,0.950000000,BASELINE,766,745,715,680,662,636,879,787.924246969,804.075753031,652.075753031,631.924246969,652.924246969,0.400978589268,-0.00536557923419,0.0598542887678,0.999999937411,0.000250783208128,-0.000248662478106,2.12818232102e-05,1793239905457457408
+58,0.966666667,BASELINE,766,745,715,680,662,636,879,787.344917296,804.655082704,652.655082704,631.344917296,652.344917296,0.400978265905,-0.00536641514596,0.0598531967264,0.999999937509,0.000249732540338,-0.000249317897597,2.13637129946e-05,1793239905474124032
+59,0.983333333,BASELINE,766,745,715,679.767619207,662,636,879,787,804.767619207,652.767619207,631,652.232380793,0.400978597538,-0.00536668959106,0.0598529593147,0.999999937644,0.000249554421598,-0.000248945410454,2.14584275662e-05,1793239905490790656
+60,1.000000000,BASELINE,766,745,715,679.193310331,662,636,879,787,804.193310331,652.193310331,631,652.806689669,0.400979892943,-0.00536613788703,0.0598539794159,0.999999937833,0.000250660182584,-0.000247060448381,2.15720127067e-05,1793239905507457280
+61,1.016666667,BASELINE,766,745,715,679.382450428,662,636,879.382450428,787.382450428,804,652,631,653,0.400979751159,-0.00536573959742,0.0598541139779,0.99999993778,0.000250445913846,-0.000247505734331,2.13727357853e-05,1793239905524124160
+62,1.033333333,BASELINE,766,745,715,679.958947805,662,636,879.958947805,787.958947805,804,652,631,653,0.400978880177,-0.00536541914697,0.0598537992367,0.999999937605,0.000249561890944,-0.000249133337076,2.10147195163e-05,1793239905540790784
+63,1.050000000,BASELINE,766,745.545908644,715,680,662.545908644,636,880,787.454091356,804,652,631.545908644,652.454091356,0.400979045451,-0.00536594367941,0.0598539608093,0.999999937758,0.000249486960107,-0.000248595270088,2.09773387674e-05,1793239905557457408
+64,1.066666667,BASELINE,766,745.867914778,715,679.867914778,662.867914778,636,879.867914778,787.132085222,803.867914778,652,631.867914778,652.132085222,0.400979139246,-0.00536639546983,0.0598540146483,0.999999937895,0.000249256065189,-0.000248278454299,2.09525498309e-05,1793239905574124288
+65,1.083333333,BASELINE,766,745.287127625,715,679.287127625,662.287127625,636,879.287127625,787.712872375,803.287127625,652,631.287127625,652.712872375,0.400978720325,-0.00536638007478,0.0598535784531,0.99999993789,0.000248284621949,-0.000249277292613,2.08870264255e-05,1793239905590790912
+66,1.100000000,BASELINE,766,745,715,679,662,635.709944784,879,788,803.290055216,652,631.290055216,653,0.400978848204,-0.00536582843246,0.0598534828396,0.999999938113,0.000247775726382,-0.000248917505126,2.05488792363e-05,1793239905607457536
+67,1.116666667,BASELINE,766,745,715,679,662,635.136286117,879,788,803.863713883,652,631.863713883,653,0.400979510723,-0.00536475247074,0.0598537202323,0.999999938558,0.000247719089987,-0.000247229312016,1.99441723027e-05,1793239905624124160
+68,1.133333333,BASELINE,766,745,714.564415444,679.435584556,662,635,879,787.564415444,803.564415444,652,632,652.564415444,0.400979210098,-0.00536460343463,0.0598536052447,0.999999938188,0.000248662742743,-0.000247754678847,2.0197641378e-05,1793239905640790528
+69,1.150000000,BASELINE,766.007231912,745.007231912,714,680,662,635.007231912,879.007231912,787.007231912,803.007231912,652.007231912,631.992768088,652,0.400978609214,-0.00536474114038,0.0598533831723,0.999999937569,0.000249909122526,-0.000248953853666,2.07117171078e-05,1793239905657457152
+70,1.166666667,BASELINE,766.606189718,745.606189718,714,680,662,635.606189718,879.606189718,787.606189718,803.606189718,652.606189718,631.393810282,652,0.400977996713,-0.00536470784562,0.0598533834421,0.999999937468,0.000250421966779,-0.000248848663662,2.06691888815e-05,1793239905674124288
+71,1.183333333,BASELINE,766.802811739,745.802811739,714.197188261,680,662,636,879.802811739,788,804,653,631,652.197188261,0.400977771428,-0.00536526532744,0.0598534672912,0.999999937609,0.000250018578944,-0.000248684920601,2.0720470618e-05,1793239905690791168
+72,1.200000000,BASELINE,766.227092051,745.227092051,714.772907949,680,662,636,879.227092051,788,804,653,631,652.772907949,0.400978289459,-0.00536695689051,0.0598537115832,0.999999938211,0.000247856351005,-0.00024840877645,2.09518341575e-05,1793239905707457792
+73,1.216666667,BASELINE,766,745,714.651693138,680,662,635.651693138,879,788,804,652.651693138,631.348306862,652.651693138,0.400979044495,-0.00536713846414,0.0598540574171,0.999999938399,0.000247888646739,-0.00024761555077,2.09829177349e-05,1793239905724124416
+74,1.233333333,BASELINE,766,745,714.076503209,680,662,635.076503209,879,788,804,652.076503209,631.923496791,652.076503209,0.400979953913,-0.00536633644801,0.0598544693942,0.999999938317,0.000249350429976,-0.000246485504171,2.08835412447e-05,1793239905740790528
+75,1.250000000,BASELINE,766.512561647,745,714.512561647,679.487438353,662,635.512561647,879,788,804,652,631.487438353,652,0.400978095178,-0.00536642042043,0.0598531471591,0.999999937642,0.0002494503965,-0.000249102432815,2.0922898855e-05,1793239905757457664
+76,1.266666667,BASELINE,766.898446346,745,715,679.101553654,662,636,879,787.898446346,804,652.101553654,631,652,0.400976310661,-0.00536662766681,0.0598519887539,0.999999937039,0.000249484569107,-0.00025147032191,2.10038204764e-05,1793239905774124288
+77,1.283333333,BASELINE,766.319796431,745,715,679.680203569,662,636,879,787.319796431,804,652.680203569,631,652,0.400976869865,-0.00536677550749,0.0598528498853,0.999999937236,0.000250191122605,-0.000249967736605,2.11800212145e-05,1793239905790790656
+78,1.300000000,BASELINE,766,745,715,679.743286066,662,635.743286066,879,787,804,652.743286066,631,652.256713934,0.400977408658,-0.00536639047488,0.059853279285,0.999999937321,0.000250684248527,-0.000249135766213,2.11296069732e-05,1793239905807457536
+79,1.316666667,BASELINE,766,745,715,679.169419013,662,635.169419013,879,787,804,652.169419013,631,652.830580987,0.400977922236,-0.0053653471125,0.0598531753086,0.999999937271,0.00025091369872,-0.000249132296387,2.0799224873e-05,1793239905824124672
+80,1.333333333,BASELINE,766,745.415162507,715,679.415162507,662,635.415162507,879.415162507,787.415162507,804,652.415162507,631.415162507,652.584837493,0.400977784121,-0.00536508798351,0.0598534426172,0.999999937306,0.000250741220709,-0.000249168125646,2.07740823027e-05,1793239905840791296
+81,1.350000000,BASELINE,766,745.995835349,714.995835349,679.995835349,662,636,879.995835349,787.995835349,804,653,631.995835349,652,0.400977376643,-0.00536515947398,0.0598538585564,0.999999937375,0.000250404831659,-0.000249223719869,2.08766042112e-05,1793239905857457920
+82,1.366666667,BASELINE,766,745.416175013,714.416175013,679.416175013,662,636,879.416175013,787.416175013,804,653,631.416175013,652,0.400977469888,-0.00536552286185,0.0598533214735,0.999999937175,0.000250683710867,-0.000249735740058,2.09518832918e-05,1793239905874124288
+83,1.383333333,BASELINE,766,745,714.162808595,679.162808595,662,635.837191405,879.162808595,787,804,652.837191405,631,652.162808595,0.400977415234,-0.00536595361585,0.0598529566193,0.999999937229,0.000250016596857,-0.000250184413457,2.09957260047e-05,1793239905890790912
+84,1.400000000,BASELINE,766,745,714.740069618,679.740069618,662,635.259930382,879.740069618,787,804,652.259930382,631,652.740069618,0.400976984085,-0.00536655585997,0.0598530301974,0.999999937922,0.000246941322654,-0.000250471828697,2.09595429886e-05,1793239905907457536
+85,1.416666667,BASELINE,766,745,715,679.684927467,662,635.315072533,880,787,804,652.315072533,631.315072533,653,0.400977517523,-0.00536691347395,0.0598533892732,0.999999938158,0.000246503308213,-0.000249963088076,2.09328501229e-05,1793239905924124160
+86,1.433333333,BASELINE,766,745,715,679.111774238,662,635.888225762,880,787,804,652.888225762,631.888225762,653,0.400978841069,-0.00536707070762,0.0598539822046,0.999999938022,0.00024822551347,-0.000248802204085,2.09139307855e-05,1793239905940790528
+87,1.450000000,BASELINE,766,745,715,679.4733024,662,636,879.5266976,787.4733024,803.5266976,652.5266976,631.5266976,653,0.400979144484,-0.00536678510598,0.0598543647661,0.999999937991,0.000249637558583,-0.000247512579196,2.08745843799e-05,1793239905957457408
+88,1.466666667,BASELINE,766,745,715,680,662,636,879,788,803.060289549,652.060289549,631,652.939710451,0.400979101856,-0.00536646030455,0.0598545713062,0.999999938005,0.000250543668032,-0.000246545034386,2.08329031103e-05,1793239905974124288
+89,1.483333333,BASELINE,766,745,715,680,662,636,879,788,803.638868615,652.638868615,631,652.361131385,0.400978208977,-0.0053667207821,0.0598537027737,0.99999993819,0.000247746366367,-0.00024861442746,2.08136920138e-05,1793239905990790912
+90,1.500000000,BASELINE,766,745,714.783250363,679.783250363,662,635.783250363,879,788,804,652.783250363,631.216749637,652,0.400977582996,-0.00536641859244,0.0598531320882,0.999999938051,0.000246906697791,-0.000250008433166,2.07583954115e-05,1793239906007457536
+91,1.516666667,BASELINE,766,745,714.206528688,679.206528688,662,635.206528688,879,788,804,652.206528688,631.793471312,652,0.400977400272,-0.00536518193999,0.0598530560589,0.999999937387,0.000249318214511,-0.000250280773277,2.06431689624e-05,1793239906024124160
+92,1.533333333,BASELINE,766,745,714.370344851,679,662,635.370344851,879,788,803.629655149,652.370344851,632,652,0.400977566518,-0.00536516326416,0.0598533741117,0.999999937477,0.000249380819222,-0.000249855360959,2.06660939638e-05,1793239906040790784
+93,1.550000000,BASELINE,766,745,714.947303167,679,662,635.947303167,879,788,803.052696833,652.947303167,632,652,0.400977927453,-0.00536582409102,0.0598539120209,0.999999937989,0.000248132978371,-0.000249040676219,2.07660929303e-05,1793239906057457664
+94,1.566666667,BASELINE,766.534971932,745,715,679,662,635.465028068,879,787.465028068,803.534971932,652.465028068,631.465028068,652,0.40097712723,-0.00536608790638,0.0598534341333,0.999999938108,0.00024726081568,-0.000249430021951,2.07449421148e-05,1793239906074124544
+95,1.583333333,BASELINE,766.878506407,745.121493593,715,679.121493593,662,635,879.121493593,787,804,652,631.121493593,652,0.400976824252,-0.00536639456275,0.0598532745541,0.999999938308,0.000246572409718,-0.000249306302961,2.08024028947e-05,1793239906090791168
+96,1.600000000,BASELINE,766.300342933,745.699657067,715,679.699657067,662,635,879.699657067,787,804,652,631.699657067,652,0.400978829024,-0.00536701224892,0.0598546952208,0.999999938956,0.000246432769032,-0.000246799170007,2.12011216514e-05,1793239906107457792
+97,1.616666667,BASELINE,766,745.723075626,715,679.723075626,662,635.276924374,879.723075626,787.276924374,804,652,631.723075626,652.276924374,0.400979326767,-0.00536698159865,0.0598549342757,0.999999938773,0.000247508871841,-0.00024644896626,2.13720870437e-05,1793239906124124416
+98,1.633333333,BASELINE,766,745.146777171,715,679.146777171,662,635.853222829,879.146777171,787.853222829,804,652,631.146777171,652.853222829,0.400978195307,-0.00536625005256,0.0598538959277,0.99999993769,0.000249899276056,-0.000248430549822,2.12968355363e-05,1793239906140791040
+99,1.650000000,BASELINE,766,745,715,679,662,636,879,788,804,652,631.437957222,652.562042778,0.400978212138,-0.00536767858549,0.0598539839291,0.999999938023,0.000248281727738,-0.00024870795566,2.13115682748e-05,1793239906157457664
+100,1.666666667,BASELINE,766,745,715,679,662,635.974789327,879,787.974789327,804,652.025210673,632,652.025210673,0.400978506375,-0.00536971046125,0.059854377683,0.99999993877,0.000245478969855,-0.000248486104739,2.13351000778e-05,1793239906174124032
+101,1.683333333,BASELINE,766,745,715,679,662,635.39552847,879,787.39552847,804,652.60447153,632,652.60447153,0.400976273477,-0.00536877974959,0.0598530320433,0.999999938072,0.000246728707873,-0.000250090514536,2.08762278468e-05,1793239906190790912
+102,1.700000000,BASELINE,766,745,715,679,662,635.183344892,879,787.183344892,804,652.816655108,632,653,0.400975127496,-0.00536778334418,0.0598522842877,0.999999937579,0.000247860436662,-0.000250962629962,2.06276411115e-05,1793239906207457792
+103,1.716666667,BASELINE,766,745,715,679,662,635.761384003,879,787.761384003,804,652.238615997,632,653,0.40097632137,-0.00536664551718,0.0598528236224,0.999999937533,0.000248738121884,-0.000250258304457,2.08317448169e-05,1793239906224124416
+104,1.733333333,BASELINE,766,745,715,679,662,636,879,788,803.66693014,652,632,653,0.400977112604,-0.00536663753969,0.0598533696409,0.999999937899,0.000248181857147,-0.000249346830097,2.080986975e-05,1793239906240791296
+105,1.750000000,BASELINE,766,745,715,679,662,636,879,788,803.099710592,652,632,653,0.40097762078,-0.00536742385164,0.0598539203582,0.999999938553,0.00024661751889,-0.000248289729039,2.06291305568e-05,1793239906257458176
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,788,804,652,631,653,0.400978195973,-0.00536522668424,0.0598550474225,0.999999938378,0.000247944219393,-0.000247668449864,2.07011637334e-05,1793239906288305408
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.579785418,662.420214582,635.579785418,879,788,803.420214582,652,631,652.420214582,0.400978439987,-0.00536603666391,0.0598543508131,0.999999938319,0.000248253528748,-0.000247599239049,2.0664343757e-05,1793239906304972288
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.841648477,680,662,636,879,788,803.158351523,652.158351523,631,652.158351523,0.400978433476,-0.00536677003595,0.0598539300288,0.999999938295,0.000248174946115,-0.000247773173665,2.06819201473e-05,1793239906321639168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.26629319,680,662,636,879,788,803.73370681,652.73370681,631,652.73370681,0.400977767231,-0.0053673016692,0.0598542356037,0.999999938362,0.000247074886669,-0.000248587408766,2.08427442184e-05,1793239906338305024
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.315471901,679.684528099,662,636,879,788,804,653,631.315471901,652.684528099,0.400978097624,-0.00536672698839,0.0598543283075,0.999999938526,0.000246898427262,-0.000248111884114,2.07382132207e-05,1793239906354971136
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.902759751,679.097240249,662,636,879,788,804,653,631.902759751,652.097240249,0.400979286737,-0.00536519908855,0.0598542375977,0.999999938772,0.000247517757406,-0.000246525080494,2.04050477767e-05,1793239906371637760
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.483311851,662,635.516688149,879,787.516688149,803.516688149,652.516688149,632,652.483311851,0.400978473261,-0.0053668685446,0.059854058688,0.999999938871,0.000245937873626,-0.000247695456545,2.04742084471e-05,1793239906388304640
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.937715199,662,635.062284801,879,787,803.062284801,652,631.937715199,653,0.400977390669,-0.00536882724897,0.0598538487374,0.999999938894,0.000244243160982,-0.00024926465025,2.06229177922e-05,1793239906404971264
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.360746711,662,635.639253289,879,787,803.639253289,652,631.360746711,653,0.400977367916,-0.00536793340033,0.0598535269065,0.999999938569,0.00024520563777,-0.000249608464989,2.07692722409e-05,1793239906421638400
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.214789372,715,679.214789372,662,636,879.214789372,787.214789372,804,652,631,653,0.400980085468,-0.00536739674386,0.0598545365372,0.999999938723,0.000246484293263,-0.000247706274916,2.09882029538e-05,1793239906438305024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.78793556,715,679.78793556,662,636,879.78793556,787.78793556,804,652,631,653,0.400987374974,-0.00536745603058,0.0598577675924,0.999999939653,0.00024829046448,-0.000242056827094,2.13282206429e-05,1793239906454971392
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.626861514,715,679.626861514,662,635.626861514,879.626861514,787.626861514,804,652,631,652.626861514,0.401005299108,-0.00536859105983,0.0598654674815,0.999999942643,0.000248088224765,-0.000229546786433,2.17943076917e-05,1793239906471637760
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.034577571,715,679.034577571,662,635.034577571,879.034577571,787.034577571,804,652,631,652.034577571,0.401029468996,-0.0053703578762,0.0598757919315,0.999999946632,0.00024670643884,-0.000213007496496,2.23344357166e-05,1793239906488304128
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.544983032,879,787,804,652.544983032,631,652,0.401084175207,-0.00537053720653,0.0598949936143,0.999999953666,0.000245967627074,-0.000177856346228,2.31359102889e-05,1793239906504970752
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.123300927,636,879.123300927,787.123300927,804.123300927,652.876699073,631,652.123300927,0.40114405337,-0.00537117761088,0.0599139331055,0.99999995909,0.000245682543871,-0.000144517390599,2.39681844814e-05,1793239906521637376
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.699950229,636,879.699950229,787.699950229,804.699950229,652.300049771,631,652.699950229,0.401215986597,-0.00537387515542,0.0599298849511,0.999999961754,0.000246919143105,-0.000122084157095,2.48541259147e-05,1793239906538304256
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.718753439,636,879.718753439,787.718753439,804.437506878,652.281246561,631,652.718753439,0.401292289544,-0.00537627484534,0.0599413887804,0.999999964069,0.000245875665698,-0.000103821155238,2.5085338532e-05,1793239906554971136
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.132416135,636,879.132416135,787.132416135,803.26483227,652.867583865,631,652.132416135,0.401373332672,-0.00537835142825,0.0599480674881,0.999999966271,0.000242358805955,-9.00819401001e-05,2.46063141499e-05,1793239906571638016
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.44898164,662,635.55101836,879,787.44898164,803.44898164,653,631,652.44898164,0.4014668316,-0.00538073583273,0.0599504009128,0.999999966756,0.000241727130282,-8.64962605781e-05,2.39505632795e-05,1793239906588304384
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.028797655,879,788,803.971202345,653,631.028797655,653,0.401565525174,-0.00538322409609,0.0599515818224,0.999999966857,0.000241777509753,-8.53843944209e-05,2.32154270377e-05,1793239906604971008
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.605932471,879,788,803.394067529,653,631.605932471,653,0.40169394349,-0.00538598012196,0.0599549538626,0.999999968438,0.000238788946673,-7.49778952737e-05,2.19503519069e-05,1793239906621637376
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.818651006,662,636,879,787.818651006,803.181348994,652.818651006,632,652.818651006,0.401828852193,-0.00538918478029,0.0599565741662,0.999999969612,0.000236001128307,-6.82127108253e-05,2.06388308449e-05,1793239906638304000
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.246933324,662,636,879,787.246933324,803.753066676,652.246933324,632,652.246933324,0.401977731973,-0.00539335515669,0.0599544237118,0.99999997012,0.000233645429957,-6.9285758394e-05,1.92273312479e-05,1793239906654970880
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.664727797,879,787.335272203,804,652,632,652.335272203,0.402142763555,-0.00539778551133,0.0599530347562,0.999999971079,0.000229971560559,-6.82036036563e-05,1.74433279191e-05,1793239906671637760
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.074548308,879,787.925451692,804,652,632,652.925451692,0.402320075361,-0.00540241352774,0.0599522247676,0.999999972359,0.000225295486127,-6.54828498061e-05,1.53761100419e-05,1793239906688304640
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,788,803.493674277,652,632,652.493674277,0.402538002849,-0.00540849338899,0.0599557178861,0.999999974011,0.000220726506251,-5.53952453954e-05,1.37311394663e-05,1793239906704971008
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.085433489,662,635,879.085433489,788,803.085433489,652,632,652,0.402766339295,-0.00541471452863,0.0599593047063,0.999999975516,0.000216279535304,-4.52287908664e-05,1.20377096024e-05,1793239906721637888
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.66212118,662,635,879.66212118,788,803.66212118,652,632,652,0.403020763459,-0.00542054106947,0.0599598529963,0.999999976557,0.000212445099034,-4.07332634196e-05,9.71460207362e-06,1793239906738304512
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.76329251,662,635,879.76329251,787.76329251,804,652,632,652,0.403288839396,-0.0054266742506,0.059959199782,0.999999977987,0.000205891165035,-3.98287263109e-05,6.98884131277e-06,1793239906754971136
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.191679372,662,635,879.191679372,787.191679372,804,652,632,652,0.403576230533,-0.00543324128147,0.059956846619,0.999999979917,0.000195489549273,-4.40049029695e-05,3.69338667361e-06,1793239906771637760
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.394712859,879.394712859,787.394712859,804,652,632,652,0.40388139286,-0.00544114188271,0.0599510158629,0.999999981258,0.000186555086038,-5.17819225372e-05,4.38507409478e-07,1793239906788303872
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.988561233,879.988561233,787.988561233,804,652,632,652,0.404195520874,-0.00544971527973,0.059943430636,0.999999982206,0.000178360812252,-6.13755934824e-05,-2.79590118224e-06,1793239906804970496
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.566767959,662,636,879.433232041,788,804,652.566767959,631.433232041,652.566767959,0.404535071657,-0.00545849412682,0.0599297084246,0.999999982482,0.000166266606617,-8.56965022613e-05,-6.83939521816e-06,1793239906821637888
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+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.278446912,662,636,879.721553088,788,804,652.278446912,631,653,0.405291186116,-0.00547651110555,0.0599126035934,0.999999982584,0.000143935185154,-0.000117900408292,-1.46252100377e-05,1793239906854971648
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.696285154,804,652,631.303714846,652.696285154,0.405729849174,-0.00548558863482,0.0599204795245,0.999999985676,0.000130803280737,-0.000105907003089,-1.79776395719e-05,1793239906871638272
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.109393216,804,652,631.890606784,652.109393216,0.406203772743,-0.00549460441576,0.0599407154379,0.999999990511,0.000115276263111,-7.2474436343e-05,-2.09192056262e-05,1793239906888304640
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.45501408,662,636,879.54498592,787.45501408,804,652,631.54498592,652,0.406729728039,-0.00550365063541,0.059971160759,0.999999998934,3.41275330583e-05,-2.06315448726e-05,-2.32767357128e-05,1793239906904971264
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.015184218,715,680,662.015184218,635.984815782,879,788,804,652,631,652,0.407267169745,-0.00551227973101,0.0600032749904,0.999999997347,-5.90974707486e-05,3.41183554376e-05,-2.547405979e-05,1793239906921638144
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.610261527,715,680,662.610261527,635.389738473,879,788,804,652,631,652,0.407788043012,-0.00550471234904,0.0600098005923,0.999999998116,-3.93772525287e-05,3.88109505681e-05,-2.6662959237e-05,1793239906938305280
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.198371934,745.801628066,715,679.801628066,662.801628066,635.198371934,879.198371934,788,804,652,631.198371934,652.198371934,0.408314902857,-0.00549621026013,0.0600089957178,0.999999998931,-2.09212394671e-05,2.90239904592e-05,-2.92790221258e-05,1793239906954972416
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.773258943,745.226741057,715,679.226741057,662.226741057,635.773258943,879.773258943,788,804,652,631.773258943,652.773258943,0.408853125351,-0.00548593407367,0.0599942774086,0.999999999355,-4.86472176706e-06,-8.2455413995e-06,-3.46038781631e-05,1793239906971639296
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.640862252,745,715,679,662,636,880,787.640862252,804,652.359137748,632,652.640862252,0.409432882049,-0.00549205209431,0.0599848234025,0.999999998668,-1.72762747044e-05,-2.9588980373e-05,-3.85983918554e-05,1793239906988306176
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.047824716,745,715,679,662,636,880,787.047824716,804,652.952175284,632,652.047824716,0.410039689185,-0.00550884735988,0.0599787979404,0.999999997144,-4.82285572757e-05,-4.05600475057e-05,-4.17264779163e-05,1793239907004972544
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.532773675,662,635.467226325,879.467226325,787,804,652.467226325,631.467226325,652,0.410707143238,-0.00552222889854,0.0599889333439,0.999999996258,-7.28302637638e-05,-1.41257132067e-05,-4.4501553339e-05,1793239907021638656
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.111662205,787,804,652,631,652.111662205,0.411379717976,-0.00553348446028,0.0599979860511,0.999999996033,-7.76279670551e-05,9.54393546863e-06,-4.26289405723e-05,1793239907038305280
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.6879759,787,804,652,631,652.6879759,0.412051463986,-0.00553713940379,0.0599966344991,0.999999999733,-2.33480145034e-06,8.05566787776e-06,-2.15451069855e-05,1793239907054971392
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.257332079,745,715,679.742667921,662,635.257332079,880,787.257332079,804,651.742667921,631,652.742667921,0.412705195866,-0.00553157434035,0.0599790384154,0.999999999094,2.96524509222e-05,-2.72763447361e-05,-1.373534577e-05,1793239907071638016
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.81847419,745,715,679.18152581,662,635.81847419,880,787.81847419,804,651.18152581,631,652.18152581,0.413337660088,-0.00551512400178,0.0599422637988,0.999999994452,1.05121159568e-05,-0.000102564779849,-2.15971466112e-05,1793239907088304640
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.589995172,745,715,679,662,636,880,787.589995172,804.410004828,651.410004828,631.410004828,652,0.414061578988,-0.00551187750239,0.0599281616501,0.999999991632,7.77260586271e-07,-0.000126313727321,-2.79341459124e-05,1793239907104971264
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.984658149,787.015341851,804.984658149,652,632,652,0.414831366187,-0.00551516501238,0.059926465476,0.99999999189,-4.56791205774e-06,-0.00012283014326,-3.33545027468e-05,1793239907121637632
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.405938318,787.594061682,804.405938318,652,632,652,0.415679603051,-0.0055265374115,0.0599822166672,0.999999999099,-1.38735814253e-05,-2.4338152548e-05,-3.18892207001e-05,1793239907138304768
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.170788932,662,636,879,787.829211068,804,652,631.829211068,652,0.416506339285,-0.00553556383873,0.0600230000405,0.999999998199,-2.44017972076e-05,4.53104671392e-05,-3.08874059879e-05,1793239907154971648
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.742834714,662,636,879,787.257165286,804,652,631.257165286,652,0.417282561218,-0.00553907856561,0.0600286175513,0.999999997692,-3.78023014406e-05,4.71935636394e-05,-3.09744766157e-05,1793239907171638528
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.674521567,662,636,879.325478433,787.325478433,804,652,631,652,0.418078279917,-0.00554041358309,0.0600198109631,0.999999998015,-4.30197027784e-05,3.28913301574e-05,-3.22067895233e-05,1793239907188305152
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.083222462,662,636,879.916777538,787.916777538,804,652,631,652,0.418889921733,-0.00553996841541,0.059999224105,0.999999998531,-4.15539020878e-05,5.37041649079e-06,-3.43744303487e-05,1793239907204971264
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.497785431,662.497785431,636,880,788,804,652,631,652,0.41969991985,-0.00553497115825,0.059975995253,0.99999999807,-3.80756313738e-05,-3.18400063243e-05,-3.73813008162e-05,1793239907221637888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.923315028,745.076684972,715,679.923315028,662.923315028,636,880,788,804.076684972,652,631.076684972,652.076684972,0.420507061448,-0.00553016664157,0.0599515543947,0.999999995925,-3.50800427034e-05,-7.27797733668e-05,-4.02874657039e-05,1793239907238305024
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.347168602,745.652831398,715,679.347168602,662.347168602,636,880,788,804.652831398,652,631.652831398,652.652831398,0.421297351285,-0.00553147387,0.0599220381653,0.999999990284,-3.73752431756e-05,-0.000127672091412,-4.16423864211e-05,1793239907254971648
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.466116219,745.76694189,715,679,662,635.76694189,880,788,804.76694189,652,631.76694189,652.76694189,0.422110227887,-0.00553424948553,0.0599058237642,0.999999986104,-4.01644009115e-05,-0.000155982196812,-4.299523846e-05,1793239907271638016
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.638942611,745.180528694,715,679,662,635.180528694,880,788,804.180528694,652,631.180528694,652.180528694,0.422957349921,-0.00553925142175,0.0599097771559,0.999999987695,-4.37024809812e-05,-0.000143989229252,-4.43449543898e-05,1793239907288304640
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.598793228,745.401206772,714.598793228,679.401206772,662.401206772,635,880,788,804,652,631.401206772,652,0.423887960262,-0.00554207919838,0.0599568076461,0.999999995495,-5.11937545661e-05,-6.74804793e-05,-4.28415129561e-05,1793239907304971520
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.01913835,745.98086165,714.01913835,679.98086165,662.98086165,635,880,788,804,652,631.98086165,652,0.424855704347,-0.00554393995549,0.0600229978991,0.999999996659,-6.04433225475e-05,3.77234970746e-05,-4.00690482702e-05,1793239907321638144
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714.551707903,679.448292097,663,635,880.551707903,787.448292097,804.551707903,652,631.448292097,652,0.425721724748,-0.0055453487116,0.0600371686405,0.999999995863,-5.31193719861e-05,6.20151753616e-05,-4.00900841627e-05,1793239907338304512
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.122979465,745.877020535,715,679,662.877020535,635,880.877020535,787,804.877020535,652,631.122979465,652,0.426583174643,-0.00554744353248,0.0600421623946,0.999999995229,-4.86518076697e-05,7.42717033357e-05,-4.07291489671e-05,1793239907354970880
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.696913436,745.303086564,715,679,662.303086564,635,880.303086564,787,804.303086564,652,631.696913436,652,0.427440601017,-0.0055521106824,0.0600200179919,0.999999996074,-5.67334133735e-05,5.25269260695e-05,-4.32847137246e-05,1793239907371637760
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.71940911,745.28059089,715,679.561181779,662.28059089,635,880,787.28059089,804.28059089,652,631.71940911,652.28059089,0.428280184627,-0.00555369531458,0.0599979713526,0.999999996289,-6.85725807542e-05,2.52374936654e-05,-4.56337055552e-05,1793239907388304384
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.12482844,745.87517156,715,680.750343121,662.87517156,635,880,787.87517156,804.87517156,652,631.12482844,652.87517156,0.42909980158,-0.00555183051486,0.0599760341149,0.999999995246,-8.46165739153e-05,-8.25657585469e-06,-4.77515357696e-05,1793239907404971008
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.542112102,663,635.457887898,880,788,805,652,631.457887898,652.542112102,0.429918714919,-0.00554957761052,0.0599485292314,0.999999994129,-7.56248019781e-05,-6.03474683296e-05,-4.87896709289e-05,1793239907421637376
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.962678837,880,788,804.962678837,652,631.962678837,652,0.430742764237,-0.00554737782504,0.0599236465792,0.999999990947,-6.10469413184e-05,-0.000109202752099,-4.95314315167e-05,1793239907438304256
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.385132801,880,788,804.385132801,652,631.385132801,652,0.431643862539,-0.00554743977806,0.0599581367001,0.999999996039,-6.19100181745e-05,-3.96900387325e-05,-5.01361943146e-05,1793239907454970880
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.191926901,663,635,880,788,804.191926901,651.808073099,631,652,0.432528300073,-0.00554983570188,0.0599922333206,0.999999996164,-6.83647169624e-05,2.26790990594e-05,-4.98361447899e-05,1793239907471637504
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.768013264,663,635,880,788,804.768013264,651.231986736,631,652,0.433379389701,-0.00555690328436,0.0600255423197,0.999999992659,-8.60115652948e-05,7.07497211819e-05,-4.77250300544e-05,1793239907488304128
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.351499811,746,715,681,663,635.351499811,880.351499811,787.648500189,805,651.351499811,631,652,0.434176350003,-0.00555994719007,0.0600230519832,0.999999993015,-8.81154540605e-05,6.25801215327e-05,-4.78526605361e-05,1793239907504970752
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.939975415,746,715,681,663,635.939975415,880.939975415,787.060024585,805,651.939975415,631,652,0.43493681709,-0.00556027839408,0.0599964262808,0.99999999546,-7.97405162894e-05,1.64942222955e-05,-4.94896188779e-05,1793239907521637376
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.959196307,746,715,680.479598153,663,635.479598153,880.479598153,787.520401847,805,651.479598153,631.520401847,652.520401847,0.435711645545,-0.00555883065314,0.0599687318336,0.999999994753,-8.15933130678e-05,-3.37353081506e-05,-5.19516423613e-05,1793239907538304000
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.099383451,745.900616549,715,680,663,635,880,787.900616549,805,651.099383451,631.900616549,652.900616549,0.436481216546,-0.00555749239553,0.0599453267131,0.999999992066,-8.49164413621e-05,-7.56690240716e-05,-5.41365852558e-05,1793239907554970624
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.67581832,745.32418168,715,680,663,635,880,787.32418168,805,651.67581832,631.32418168,652.32418168,0.437217720992,-0.00555764959462,0.0599430935358,0.999999991636,-8.97209084944e-05,-7.55227131206e-05,-5.45416656039e-05,1793239907571637248
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.256308185,715,680,663,635,880,787.256308185,805,652,631.256308185,652,0.437922973315,-0.0055563571527,0.0599347298517,0.999999990127,-8.83150750676e-05,-9.44605874608e-05,-5.49862673434e-05,1793239907588303872
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.842009259,715,680,663,635,880,787.842009259,805,652,631.842009259,652,0.438588062106,-0.00555320171354,0.0599184875846,0.999999985835,-7.89281115414e-05,-0.000137924385152,-5.54816596479e-05,1793239907604970496
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680.423212052,662.576787948,635,880.423212052,787.576787948,805,651.576787948,632,652,0.439291914029,-0.00555404729776,0.0599234082447,0.999999986587,-7.63500974591e-05,-0.000134135995472,-5.48144533094e-05,1793239907621637376
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.997254994,715,680.997254994,662,635,880.997254994,787,805,651.002745006,632,652,0.440009800757,-0.00555638118536,0.0599360691249,0.999999989251,-7.63682441547e-05,-0.000113052747696,-5.37193681999e-05,1793239907638303744
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.419456397,715,680.419456397,662,635,880.419456397,787,805,651.580543603,632,652,0.440668221431,-0.00556088879069,0.0599325790365,0.99999998638,-9.33596979856e-05,-0.000125383068749,-5.29532725702e-05,1793239907654970624
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.156966181,714.843033819,680,662,635,880.156966181,787,805,651.843033819,631.843033819,652.156966181,0.441293298583,-0.00556294581393,0.0599134297837,0.999999980306,-0.000103965830686,-0.000160320166558,-5.36370577259e-05,1793239907671637248
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.729743736,714.270256264,680,662,635,880.729743736,787,805,651.270256264,631.270256264,652.729743736,0.441830047199,-0.00555851112191,0.0598527986094,0.999999960991,-9.76569269904e-05,-0.000255143764964,-5.81616502216e-05,1793239907688304896
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.687917464,714,680,661.687917464,634.687917464,880.687917464,787,805,651,631.312082536,652.687917464,0.442357175567,-0.00555265107456,0.0598014005496,0.99999993889,-9.14113925422e-05,-0.000331616809197,-6.23960244707e-05,1793239907704972032
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.097037197,714,680,661.097037197,634.097037197,880.097037197,787,805,651,631.902962803,652.097037197,0.44287570969,-0.00554551769178,0.0597582508606,0.999999917453,-8.52224694574e-05,-0.00039169645175,-6.63711332784e-05,1793239907721638400
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.483724783,714.483724783,680,660.516275217,634,880,787,805,651.483724783,631.516275217,652,0.443412446965,-0.00554261534556,0.0597465105969,0.999999910591,-8.34295782078e-05,-0.000408891123919,-6.82992438095e-05,1793239907738305536
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.062232446,660.062232446,634,880.062232446,787,805,652,631,652.062232446,0.443950599341,-0.00554107541905,0.059742565781,0.999999907908,-8.30450554179e-05,-0.000415235845117,-6.97633246135e-05,1793239907754972416
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.638541702,660.638541702,634,880.638541702,787,805,652,631,652.638541702,0.44447089475,-0.00554392225003,0.0597520335569,0.999999913075,-8.71590406205e-05,-0.000401562576629,-7.07168440679e-05,1793239907771638784
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+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680.196764207,660.196764207,633.196764207,880.196764207,786.196764207,805.803235793,652,631,653,0.445366649147,-0.00555399289926,0.0597328626672,0.999999893516,-9.58471566835e-05,-0.000445421406537,-7.33566230658e-05,1793239907804971008
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+256,4.266666667,HOLD_POSE2,766,746,715,681,657,631,880,785,805,652,630,653,0.45024886837,-0.00556125590722,0.059612959902,0.999999807546,-9.69595831332e-05,-0.00060971595026,-6.12711439738e-05,1793239908816050944
+257,4.283333333,HOLD_POSE2,766,746,715,681,657.575346568,630.424653432,880,784.424653432,805,652,630,653,0.450248554958,-0.00556187395995,0.059612983834,0.99999980689,-9.83120396497e-05,-0.00061059581851,-6.10515212311e-05,1793239908832717568
+258,4.300000000,HOLD_POSE2,766,746,715,681,657.845729711,630,880.154270289,784,805.154270289,652,630,653,0.45024816769,-0.00556197531017,0.0596130139886,0.999999806462,-9.89731889827e-05,-0.000611194856415,-6.09944307406e-05,1793239908849384192
+259,4.316666667,HOLD_POSE2,766,746,715,681,657.256725436,630,880.743274564,784,805.743274564,652,630,653,0.450247572296,-0.00556062059183,0.0596130616779,0.999999806682,-9.76862335778e-05,-0.000611002514037,-6.13953564166e-05,1793239908866051072
+260,4.333333333,HOLD_POSE2,765.673102883,746,715,681,657.326897117,630,881,784,805.673102883,652,630,652.673102883,0.450247795412,-0.00555995328365,0.0596131982483,0.999999807106,-9.65521682275e-05,-0.000610494610946,-6.13406756353e-05,1793239908882717696
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+262,4.366666667,HOLD_POSE2,765,745.517220137,715,681,658,630,880.517220137,784.482779863,805,652,630,652,0.450248686869,-0.00556070600021,0.0596128365749,0.999999807358,-9.54248701382e-05,-0.00061031358558,-6.07918776577e-05,1793239908916050944
+263,4.383333333,HOLD_POSE2,765,745.059664314,715,680.940335686,657.940335686,630,880,784.940335686,805.059664314,652,630,652,0.450248702633,-0.0055617030812,0.0596122569588,0.999999806939,-9.58321587871e-05,-0.000610940241355,-6.07537099838e-05,1793239908932717824
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+266,4.433333333,HOLD_POSE2,765.809233313,746,715,680.809233313,657,630,880.809233313,784.809233313,805.190766687,652,630,652,0.450248386409,-0.00555945079216,0.059611672483,0.999999805825,-9.59741298967e-05,-0.000612648542925,-6.16523567722e-05,1793239908982717440
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+268,4.466666667,HOLD_POSE2,766,746,715,681,657.965643396,630.965643396,880.034356604,785,805,652,630,652,0.45025057713,-0.00556254427403,0.0596132577504,0.99999980718,-9.82860577604e-05,-0.000610110308759,-6.12009964172e-05,1793239909016050944
+269,4.483333333,HOLD_POSE2,766,746,715,681,658,630.459750244,880,785,805,652,630,652.540249756,0.450251624771,-0.00556122539867,0.0596140505719,0.999999808501,-9.71866091205e-05,-0.000608140539521,-6.0972611944e-05,1793239909032717568
+270,4.500000000,HOLD_POSE2,765.882288156,746,715,681,658,630.117711844,880.117711844,784.882288156,805,652,630,653,0.450252315652,-0.0055599865892,0.0596145559424,0.999999809352,-9.59464591402e-05,-0.00060695750002,-6.07705707648e-05,1793239909049384448
+271,4.516666667,HOLD_POSE2,765.292539221,746,715,681,658,630.707460779,880.707460779,784.292539221,805,652,630,653,0.450251724623,-0.00555996488692,0.0596140046808,0.999999808261,-9.49640474059e-05,-0.000608917745148,-6.06560654826e-05,1793239909066050816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,658,630,881,784,805,652,630,652,0.450249372903,-0.00555764465618,0.0596126547822,0.999999806739,-9.22892459305e-05,-0.000611779076298,-6.10834650694e-05,1793239909103097856
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.843868604,746,715,680.156131396,657.843868604,630.156131396,880.156131396,784.843868604,805,652,630,652.843868604,0.450251151409,-0.00556012079883,0.0596127283043,0.99999980708,-9.8334114388e-05,-0.000610265033268,-6.1213000938e-05,1793239909136431104
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,658,630,880.704130723,784,805,652,631,652,0.449989806478,-0.00555286068533,0.0595324093248,0.999999738874,-9.53867152031e-05,-0.000713384508703,-6.50821001264e-05,1793239909353098752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.712556549,715,681,658,630,881,784,805,652,630.712556549,652.287443451,0.449911879544,-0.00555042239183,0.0595263402243,0.999999732977,-9.38484304687e-05,-0.000721808997009,-6.50436251829e-05,1793239909369765120
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.730543178,635,879.730543178,787.269456822,804,652.269456822,631,653,0.402904552714,-0.00535167421166,0.0598304944661,0.999999926992,0.000269563400994,-0.000268798051864,3.31579141094e-05,1793239910719764992
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.136539362,635,879.136539362,787.863460638,804,652.863460638,631,653,0.402681639976,-0.00536480122622,0.059847643151,0.99999993886,0.000251914924617,-0.000239961527901,3.51840440136e-05,1793239910736431360
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.556100586,661,635.443899414,879,787.556100586,804,652.556100586,631.443899414,653,0.40246033767,-0.00537132215113,0.0598491295753,0.999999941519,0.000239883525026,-0.000241123697774,3.57369403146e-05,1793239910753097728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.020174024,715,679.020174024,661.020174024,635.979825976,879,787,804,652,632,652.979825976,0.402240753825,-0.00537560915688,0.0598458472136,0.999999941796,0.000228007215461,-0.000251344770708,3.53162051752e-05,1793239910769764352
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.593285667,715,679.593285667,661.593285667,635.406714333,879,787,804,652,632,652.406714333,0.40205509589,-0.00537270967325,0.059839986464,0.999999949615,0.000174430719838,-0.000264449112597,2.02617005056e-05,1793239910786431232
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.827925758,662,635,879.172074242,787.172074242,803.827925758,652.172074242,632,652,0.401881539782,-0.00537236985995,0.0598363117647,0.999999953345,0.000136104427266,-0.000273271911245,1.03630041005e-05,1793239910803098112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.235261507,662,635,879.764738493,787.764738493,803.235261507,652.764738493,632,652,0.401737563414,-0.00537828648476,0.0598379802887,0.999999953904,0.00013505323482,-0.000271629608836,1.30663207823e-05,1793239910819764736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.651149704,715,679.348850296,662,635,879.651149704,788,803.348850296,652.651149704,632,652.348850296,0.401611512975,-0.00537496058461,0.0598394750406,0.999999948505,0.00017380556306,-0.000269416705755,1.40359332376e-05,1793239910836431360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.072667519,715,679.927332481,662,635,879.072667519,788,803.927332481,652.072667519,632,652.927332481,0.401497262324,-0.00536555076171,0.0598408554066,0.999999935802,0.000238758692886,-0.000266828201775,1.38643292374e-05,1793239910853098240
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.922923278,661,635.077076722,879,787,804,652,631.922923278,652.922923278,0.40131899023,-0.00536905539048,0.0598457589159,0.999999932342,0.000262015510977,-0.000257610529001,1.73266324766e-05,1793239910886431232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.333108685,661,635.666891315,879,787,804,652,631.333108685,652.333108685,0.401246492675,-0.00536784829607,0.0598426337928,0.999999931356,0.000261862162845,-0.000261546685745,1.76026304703e-05,1793239910903097600
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.168218341,652,631.831781659,652,0.401125101471,-0.00536209434089,0.0598369347238,0.999999925888,0.000268568757695,-0.000275263736829,1.8038426588e-05,1793239910936431360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.591949553,787.408050447,803.408050447,652,632,652,0.401083958042,-0.00536194822004,0.0598357900368,0.999999925891,0.0002663379126,-0.000277403971721,1.81214385547e-05,1793239910953097984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.017020744,787.982979256,803.982979256,652,632,652,0.401048911492,-0.00536318765699,0.0598352982226,0.999999927303,0.00026125902705,-0.000277144296381,1.81586367958e-05,1793239910969764608
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.553837058,661,635.446162942,878.553837058,787.446162942,804,652,631.446162942,652.553837058,0.401028812113,-0.00536306204863,0.0598358600979,0.999999927658,0.000261436881458,-0.000275673052085,1.83976432859e-05,1793239910986431488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.129415642,879,787.129415642,804,652,631.129415642,652.870584358,0.401011362455,-0.00536281019199,0.0598369052536,0.99999992796,0.000262294811588,-0.000273737323681,1.8684374525e-05,1793239911003097856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.722346908,879,787.722346908,804,652,631.722346908,652.277653092,0.401001769804,-0.00536225531991,0.0598395661937,0.999999928178,0.000265014109653,-0.000270270383199,1.91199856674e-05,1793239911019764480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.310053815,715,680,661.310053815,635.689946185,879.310053815,787.689946185,804,652,631.689946185,652,0.400993604448,-0.0053617910965,0.0598412955922,0.999999928962,0.000264678508875,-0.000267677776395,1.92331665943e-05,1793239911036431360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.8931599,715,680,661.8931599,635.1068401,879.8931599,787.1068401,804,652,631.1068401,652,0.400986696052,-0.00536140670375,0.0598422046187,0.999999930248,0.000261652578447,-0.000265855160683,1.90623958875e-05,1793239911053097984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.531907506,714.531907506,679.531907506,662,635,880,787.468092494,804,652,631.468092494,652.468092494,0.400982424831,-0.00536258947177,0.0598432248798,0.999999930846,0.000260278676633,-0.000264932830021,1.93279598486e-05,1793239911069764608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.041247594,679,662,635,880,788,803.958752406,652,631.958752406,652.958752406,0.400978913287,-0.00536392973196,0.0598442144065,0.999999931215,0.000259545147179,-0.000264235144946,1.96672171882e-05,1793239911086431232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.615127016,679,662,635,880,788,803.384872984,652,631.384872984,652.384872984,0.400977572216,-0.00536276400009,0.0598444848402,0.999999930603,0.000262295232577,-0.000263830402772,1.96941215225e-05,1793239911103097856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635,879.805088252,788,803.194911748,652,631.194911748,652,0.400976583221,-0.00536195754758,0.0598448109021,0.999999930444,0.000263567695442,-0.000263168743565,1.96295614797e-05,1793239911119764224
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635,879.213278597,788,803.786721403,652,631.786721403,652,0.400976311154,-0.00536188269407,0.0598452502395,0.999999931217,0.000261831282099,-0.000261983925402,1.93787529401e-05,1793239911136430848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.370022452,879,787.629977548,804,652,631.629977548,652,0.400975299428,-0.00536072901636,0.0598450455956,0.999999930793,0.000262909952074,-0.000262544192611,1.90310136437e-05,1793239911153097472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.948529415,879,787.051470585,804,652,631.051470585,652,0.40097387095,-0.00535896748869,0.0598444781085,0.99999992969,0.000265574745497,-0.000264087706325,1.86286599363e-05,1793239911169764096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.474905718,879,787,804,652,631,652.525094282,0.40097344718,-0.00536185210733,0.0598438391475,0.999999930664,0.000262026853763,-0.000263915071724,1.90565169575e-05,1793239911186431232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.100067708,715,679.100067708,662,635.100067708,879.100067708,787,804,652,631.100067708,653,0.400973181052,-0.00536443376049,0.0598434980456,0.999999931621,0.000258834797263,-0.000263411496216,1.94208055726e-05,1793239911203098112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.668480255,715,679.668480255,662,635.668480255,879.668480255,787,804,652,631.668480255,653,0.400973193497,-0.00536347379837,0.059844583677,0.999999931619,0.000260147831961,-0.000262143438509,1.91081050872e-05,1793239911219764736
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.750517585,715,680,661.750517585,635.750517585,879.750517585,787,804,652,632,653,0.400973444898,-0.00536355489586,0.0598454777845,0.999999931928,0.000259799227497,-0.00026131624315,1.90472732629e-05,1793239911236431360
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.151896801,715,680,661.151896801,635.151896801,879.151896801,787,804,652,632,653,0.400974030704,-0.00536509290495,0.0598461038638,0.999999932668,0.00025712524093,-0.000261106012784,1.93389191986e-05,1793239911253098240
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.568692119,661,635,879,787,804,652,631.568692119,652.568692119,0.400973982699,-0.00536517796261,0.0598464773581,0.999999932595,0.000257853847383,-0.000260651999638,1.95188263559e-05,1793239911269764864
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.009188557,715,679,661.009188557,635,879,787,804,652,631.009188557,652.009188557,0.400973745803,-0.00536476441983,0.0598467672733,0.999999932258,0.000259700381668,-0.00026010294057,1.96590056047e-05,1793239911286431232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.582031256,715,679,661.582031256,635,879,787,804,652,631.582031256,652.582031256,0.400975141906,-0.00536407100843,0.0598471986332,0.999999932735,0.000259152404228,-0.000258808318051,1.96928127884e-05,1793239911303097856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.840209816,715,679.159790184,662,635.159790184,879,787.159790184,804,652.159790184,631.840209816,653,0.400976371174,-0.00536379453194,0.0598478107485,0.99999993335,0.000258182907642,-0.000257404213151,1.96340410467e-05,1793239911319764736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.249183169,715,679.750816831,662,635.750816831,879,787.750816831,804,652.750816831,631.249183169,653,0.400977150188,-0.00536464326562,0.0598489106806,0.999999934333,0.000256075829154,-0.000255704640904,1.93254203607e-05,1793239911336431360
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.335145365,787.664854635,803.664854635,652.664854635,631.335145365,652.664854635,0.400976343972,-0.00536402211734,0.0598488634884,0.999999934351,0.00025573621366,-0.000255992621738,1.91022790096e-05,1793239911353097984
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.914591355,787.085408645,803.085408645,652.085408645,631.914591355,652.085408645,0.400974382218,-0.00536232951432,0.0598479801121,0.999999933665,0.000256684971473,-0.000257729408177,1.89414469174e-05,1793239911369764608
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.511788381,787.488211619,803.488211619,652,632,652.488211619,0.400975013372,-0.0053637446436,0.0598482534431,0.999999934094,0.000255433189509,-0.000257289746982,1.91717852423e-05,1793239911386431488
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.061678672,745.061678672,715,680,661.938321328,635.938321328,879,787.938321328,804,652,632,653,0.400975865059,-0.00536560769489,0.0598486916993,0.999999934635,0.00025397030105,-0.000256616310797,1.9438055923e-05,1793239911403097856
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.642330515,745.642330515,715,680,661.357669485,635.357669485,879,787.357669485,804,652,632,653,0.400974800611,-0.00536671903051,0.0598488350803,0.999999934509,0.000253932100093,-0.000257141780559,1.94376589676e-05,1793239911419764480
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.773886292,745.773886292,715,679.773886292,661.226113708,635.226113708,879.226113708,787.226113708,804.226113708,652,632,653,0.400974238756,-0.00536699692089,0.0598486402753,0.99999993439,0.000253915613979,-0.000257631309635,1.93174518571e-05,1793239911436430848
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.185080239,745.185080239,715,679.185080239,661.814919761,635.814919761,879.814919761,787.814919761,804.814919761,652,632,653,0.400974483074,-0.00536593794332,0.0598479030112,0.99999993428,0.00025393395904,-0.000258063188984,1.90050661011e-05,1793239911453097728
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.396643909,745,715,679.396643909,661.603356091,636,879.603356091,788,804.603356091,652,632,653,0.400975273307,-0.00536456726226,0.0598485696976,0.999999934195,0.000255425647839,-0.000256924107958,1.89209193572e-05,1793239911469764864
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.975121461,745,715,679.975121461,661.024878539,636,879.024878539,788,804.024878539,652,632,653,0.400976313805,-0.00536305368688,0.0598498799978,0.999999934115,0.000257592762258,-0.000255064850842,1.89414043431e-05,1793239911486432000
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.449181441,745,715,679.449181441,661.550818559,636,879,788,804,652.550818559,632,653,0.400974729424,-0.00536416664621,0.0598486696248,0.99999993357,0.000257694164906,-0.000257072602049,1.91703145424e-05,1793239911503098368
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.129045078,661.870954922,636,879,787.870954922,804,653,632,652.870954922,0.400973738819,-0.00536531076375,0.0598478580519,0.999999933442,0.000256837845703,-0.000258411564227,1.93272451754e-05,1793239911519764992
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.716704981,661.283295019,636,879,787.283295019,804,653,632,652.283295019,0.400975277662,-0.00536614612693,0.0598488663598,0.999999934873,0.000252907785446,-0.000256756103346,1.91950788611e-05,1793239911536431872
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45975fe24b123528923a4c5ce417494e073aa22d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+107,1.783333333,pose1_to_pose2_press,0.575664463795,9.08743316951e-05,1.05003225097,0.546234913265,0.00876260661782,1.04970037964
+108,1.800000000,pose1_to_pose2_press,0.575664464876,9.08664566218e-05,1.0500322484,0.546234914478,0.00876259921201,1.04970037755
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+110,1.833333333,pose1_to_pose2_press,0.575664477225,9.07764518266e-05,1.05003221895,0.546234928346,0.00876251457047,1.04970035362
+111,1.850000000,pose1_to_pose2_press,0.575664526419,9.07317225623e-05,1.05003220407,0.546234978504,0.00876247322726,1.04970034171
+112,1.866666667,pose1_to_pose2_press,0.575664561844,9.07316358185e-05,1.05003220383,0.546235014103,0.00876247373843,1.04970034168
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+388,6.466666667,pose2_to_pose3_retreat,0.575682888039,9.0740306697e-05,1.05003221772,0.546253340132,0.00876248185646,1.04970035566
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+390,6.500000000,pose2_to_pose3_retreat,0.575674027125,9.07867894586e-05,1.05003264675,0.546244480327,0.00876253215894,1.0497007859
+391,6.516666667,pose2_to_pose3_retreat,0.575671454948,9.0840695372e-05,1.05003243808,0.54624190726,0.00876258318536,1.04970058105
+392,6.533333333,pose2_to_pose3_retreat,0.575669899438,9.08811134361e-05,1.05003223092,0.546240350937,0.00876262095914,1.04970037701
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+394,6.566666667,pose2_to_pose3_retreat,0.575668111582,9.08844718795e-05,1.05003205786,0.546238562587,0.00876262259984,1.04970020297
+395,6.583333333,pose2_to_pose3_retreat,0.575667547231,9.08326605338e-05,1.05003208304,0.54623799862,0.00876257186752,1.04970022223
+396,6.600000000,pose2_to_pose3_retreat,0.575667081776,9.07899285542e-05,1.05003210381,0.546237533482,0.00876253002549,1.04970023812
+397,6.616666667,pose2_to_pose3_retreat,0.575666655245,9.0750770107e-05,1.05003212284,0.546237107242,0.00876249168256,1.04970025268
+398,6.633333333,pose2_to_pose3_retreat,0.575666401524,9.07274768085e-05,1.05003213416,0.546236853694,0.00876246887437,1.04970026134
+399,6.650000000,pose2_to_pose3_retreat,0.575666379668,9.07254702636e-05,1.05003213513,0.546236831853,0.00876246690961,1.04970026208
+400,6.666666667,pose2_to_pose3_retreat,0.575666306403,9.0718744029e-05,1.0500321384,0.546236758638,0.00876246032346,1.04970026458
+401,6.683333333,pose2_to_pose3_retreat,0.575666229139,9.07116506341e-05,1.05003214185,0.546236681426,0.00876245337779,1.04970026722
+402,6.700000000,pose2_to_pose3_retreat,0.575665962574,9.0687178195e-05,1.05003215374,0.546236415043,0.00876242941502,1.04970027632
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+405,6.750000000,pose2_to_pose3_retreat,0.575665043041,9.07590543547e-05,1.05003221504,0.546235495075,0.00876250007723,1.04970034457
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+407,6.783333333,pose2_to_pose3_retreat,0.575664960894,9.07667643649e-05,1.05003222068,0.54623541288,0.00876250765428,1.04970035097
+408,6.800000000,pose2_to_pose3_retreat,0.575664906542,9.07718655571e-05,1.05003222442,0.546235358497,0.0087625126675,1.04970035521
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+414,6.900000000,pose2_to_pose3_retreat,0.575664466802,9.07723705121e-05,1.0500322637,0.546234918111,0.00876251073148,1.04970038802
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3559dce44091791f3ce7cb411f3a179daaae418
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e579dcb4a76445bee8df2de09fce6d4f44008589ff0f4245a534b67b30a98905
+size 26691830
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..808b1b6d2e62bf7b4f7f19106183d9fa5039f752
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
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+21,0.350000000,BASELINE,766,745.823794279,715,679.176205721,661.176205721,636,879,788,804,653,632,652.176205721,0.40097575287,-0.00536452644024,0.0598502727445,0.999999935145,0.000254919999566,-0.000253728763042,1.86320266018e-05,1793239912009331712
+22,0.366666667,BASELINE,766,745.246480087,715,679.753519913,661.753519913,636,879,788,804,653,632,652.753519913,0.40097466288,-0.0053674831459,0.0598495311141,0.999999935377,0.000252029734207,-0.000255647617219,1.92797127875e-05,1793239912025998080
+23,0.383333333,BASELINE,766,745,715,680,662,635.661924909,879.338075091,788,804,653,631.661924909,652.661924909,0.400974450748,-0.00536775573998,0.059849838797,0.999999935586,0.000251263704383,-0.000255577433973,1.93535954994e-05,1793239912042664704
+24,0.400000000,BASELINE,766,745,715,680,662,635.071974944,879.928025056,788,804,653,631.071974944,652.071974944,0.400974892644,-0.00536602860035,0.0598509282457,0.999999935783,0.000252080285839,-0.000254025365513,1.89999795353e-05,1793239912059331584
+25,0.416666667,BASELINE,766,745,715,679.492919437,661.492919437,635.507080563,879.492919437,788,804,653,631.507080563,652,0.400975959257,-0.00536552971012,0.0598509677348,0.999999935893,0.000252871906024,-0.000252813156477,1.88613393799e-05,1793239912075997952
+26,0.433333333,BASELINE,766,745.084245452,715,679.168490904,661.084245452,636,879.084245452,788,804,652.915754548,632,652.084245452,0.400976801094,-0.00536524040071,0.0598508532434,0.999999935898,0.000253691525664,-0.000251972141708,1.88163756454e-05,1793239912092664576
+27,0.450000000,BASELINE,766,745.659215833,715,680.318431665,661.659215833,636,879.659215833,788,804,652.340784167,632,652.659215833,0.400975827974,-0.00536517774013,0.0598506916643,0.999999935373,0.000254694444542,-0.000253018228964,1.91430698372e-05,1793239912109331712
+28,0.466666667,BASELINE,766,745.760078795,715,680.760078795,662,635.760078795,879.760078795,787.760078795,804,652.239921205,632,652.760078795,0.40097542872,-0.00536568809196,0.0598507540132,0.999999935319,0.000254450026226,-0.000253466460253,1.92848384509e-05,1793239912125998592
+29,0.483333333,BASELINE,766,745.171027987,715,680.171027987,662,635.171027987,879.171027987,787.171027987,804,652.828972013,632,652.171027987,0.400975864546,-0.00536703228254,0.0598511422187,0.99999993595,0.000252390502176,-0.000253044700783,1.91575062218e-05,1793239912142665472
+30,0.500000000,BASELINE,766,745,715,680,662,635,879,787.411247258,803.588752742,653,631.588752742,652.411247258,0.40097561231,-0.00536633148227,0.0598509518026,0.99999993582,0.000252835532285,-0.000253146305305,1.87148497225e-05,1793239912159331840
+31,0.516666667,BASELINE,766,745,715,680,662,635,879,787.990750366,803.009249634,653,631.009249634,652.990750366,0.400975078564,-0.00536479400362,0.0598505246519,0.999999935378,0.000254305264443,-0.000253462036623,1.81431828758e-05,1793239912175998208
+32,0.533333333,BASELINE,766,745.566527746,715,679.433472254,662,635.566527746,879,788,803.566527746,653,631,653,0.400975606021,-0.00536444205774,0.0598508596933,0.999999935542,0.00025444180612,-0.000252652947038,1.84728121795e-05,1793239912192664832
+33,0.550000000,BASELINE,766,745.858465869,715,679.141534131,662,636,879.141534131,787.858465869,804,652.858465869,631,652.858465869,0.400976271437,-0.00536464063753,0.0598513709605,0.99999993584,0.000254285848321,-0.000251603185594,1.88129505523e-05,1793239912209331456
+34,0.566666667,BASELINE,766,745.285624942,715,679.714375058,662,636,879.714375058,787.285624942,804,652.285624942,631,652.285624942,0.400977304809,-0.00536645827286,0.0598523815784,0.999999936516,0.000253304434774,-0.000249875606972,1.91405637189e-05,1793239912225998080
+35,0.583333333,BASELINE,766,745.289743668,715,679.710256332,662,636,879.710256332,787.289743668,804,652.289743668,631,652.289743668,0.400977191279,-0.00536723570986,0.059852134105,0.999999936739,0.000252099036293,-0.000250196816595,1.92208535396e-05,1793239912242664704
+36,0.600000000,BASELINE,766,745.867626028,715,679.132373972,662,636,879.132373972,787.867626028,804,652.867626028,631,652.867626028,0.400975937201,-0.00536697871072,0.0598506355093,0.999999936508,0.00025067089348,-0.00025255546541,1.90551900504e-05,1793239912259331584
+37,0.616666667,BASELINE,766,745.54119782,714.54119782,679.45880218,662,636,879.45880218,787.54119782,804,653,631,653,0.400975658211,-0.00536564402756,0.0598503032722,0.99999993608,0.000251580954957,-0.000253384033525,1.85449781743e-05,1793239912275998464
+38,0.633333333,BASELINE,766,745,714.052065269,680,661.947934731,636,879.947934731,787.052065269,804,652.947934731,631.052065269,652.947934731,0.400975646982,-0.00536412503752,0.0598503068536,0.999999935604,0.000253146501231,-0.000253741951511,1.80154072513e-05,1793239912292664832
+39,0.650000000,BASELINE,766,745,714.626632103,680,661.373367897,636,879.373367897,787.626632103,804,652.373367897,631.626632103,652.373367897,0.400975415303,-0.00536396992777,0.059850202635,0.999999935251,0.000254317992329,-0.000253939130692,1.83189505612e-05,1793239912309331200
+40,0.666666667,BASELINE,766,745,715,679.798650846,661.402698308,636,879,787.798650846,804,652,632,652.201349154,0.400975329797,-0.00536397921396,0.0598502166528,0.999999935096,0.000254894609387,-0.000253953325663,1.85459592231e-05,1793239912325997824
+41,0.683333333,BASELINE,766,745,715,679.22365507,662.552689861,636,879,787.22365507,804,652,632,652.77634493,0.400975515547,-0.00536429357217,0.0598504500834,0.999999935312,0.000254367309762,-0.000253627954104,1.86309413816e-05,1793239912342664448
+42,0.700000000,BASELINE,766,745,715,679.359941815,663,636,879,787.359941815,804,652.359941815,631.640058185,653,0.400975474116,-0.00536495063804,0.0598508387266,0.999999935589,0.000253512926802,-0.000253379576197,1.87855228813e-05,1793239912359331328
+43,0.716666667,BASELINE,766,745,715,679.949013936,663,636,879,787.949013936,804,652.949013936,631.050986064,653,0.400975288066,-0.00536582586336,0.0598513261746,0.999999935904,0.000252450330473,-0.000253180210612,1.89844096452e-05,1793239912375997952
+44,0.733333333,BASELINE,766,745,715,679.471279148,661.942558295,636,879,787.471279148,803.471279148,652.471279148,631.528720852,652.471279148,0.400975692358,-0.00536459833511,0.0598512111783,0.999999935401,0.000254810032339,-0.000252816567905,1.88025601433e-05,1793239912392664832
+45,0.750000000,BASELINE,766,745,715,679.107365129,661.107365129,635.892634871,879,787,803.107365129,652,631.892634871,652,0.400975942918,-0.00536379243094,0.059851158668,0.999999935031,0.000256565826617,-0.000252516793256,1.8656356972e-05,1793239912409331712
+46,0.766666667,BASELINE,766,745,715,679.685241258,661.685241258,635.314758742,879,787,803.685241258,652,631.314758742,652,0.400975274637,-0.00536570739085,0.0598516301561,0.999999935606,0.000254253990618,-0.000252565126106,1.88244678812e-05,1793239912425998336
+47,0.783333333,BASELINE,766,745,715,680,662,635,879,787,804,652.262243438,631,652,0.400975119183,-0.00536700546245,0.0598521050045,0.999999936104,0.000252603372218,-0.000252235035006,1.89854977359e-05,1793239912442664704
+48,0.800000000,BASELINE,766,745,715,680,662,635,879,787,804,652.83820022,631,652,0.400975577206,-0.00536756557077,0.0598525838727,0.999999936515,0.000251743746738,-0.000251452247584,1.91380567767e-05,1793239912459331328
+49,0.816666667,BASELINE,766,745,715,679.576242357,662,635,879,787.423757643,804,653,631.423757643,652,0.400975120903,-0.00536695988535,0.0598516346434,0.999999936352,0.000251808822057,-0.000252058389204,1.88120231476e-05,1793239912475997952
+50,0.833333333,BASELINE,766,745.012803857,715,679.012803857,662,635.012803857,879,788,804,652.987196143,632,652,0.400974364534,-0.00536591966395,0.0598501869409,0.999999935976,0.000252256061997,-0.000253137758596,1.83160495002e-05,1793239912492664576
+51,0.850000000,BASELINE,766,745.590300244,715,679.590300244,662,635.590300244,879,788,804,652.409699756,632,652,0.400976128147,-0.00536580153682,0.0598513609675,0.999999936125,0.000253625476297,-0.000251156859116,1.85712866649e-05,1793239912509331456
+52,0.866666667,BASELINE,766,745.833485527,715,680,662,636,879.166514473,788,804,652.166514473,632,652.166514473,0.400977280555,-0.00536575739132,0.0598521898131,0.999999936187,0.000254522974724,-0.000249979565837,1.8814423964e-05,1793239912525998080
+53,0.883333333,BASELINE,766,745.260401907,715,680,662,636,879.739598093,788,804,652.739598093,632,652.739598093,0.400976940617,-0.00536589388269,0.0598521758495,0.999999936051,0.000254268222272,-0.000250764393343,1.90280176776e-05,1793239912542665216
+54,0.900000000,BASELINE,766.313828638,745,715,680,662,635.686171362,879.686171362,788,804,652.686171362,632,653,0.400976847141,-0.00536543101258,0.0598518043271,0.999999935984,0.000253999398645,-0.000251313818629,1.89187303785e-05,1793239912559332096
+55,0.916666667,BASELINE,766.889014314,745,715,680,662,635.110985686,879.110985686,788,804,652.110985686,632,653,0.400976958919,-0.00536446899317,0.059851135029,0.999999935973,0.00025371885653,-0.000251667200497,1.85405471968e-05,1793239912575998720
+56,0.933333333,BASELINE,767,745,715,679.518679899,662,635.481320101,879.481320101,787.518679899,804,652,631.518679899,652.518679899,0.400976635887,-0.00536440764515,0.0598513633085,0.999999935734,0.000254318409622,-0.000252014507503,1.85403062059e-05,1793239912592665088
+57,0.950000000,BASELINE,766.92520804,745.07479196,715,679,662,636,879.92520804,787.07479196,804,652.07479196,631,652.07479196,0.400976208543,-0.00536465514046,0.0598517221939,0.999999935514,0.000254873689361,-0.000252315388289,1.86482612227e-05,1793239912609331456
+58,0.966666667,BASELINE,766.351271802,745.648728198,715,679,662,636,879.351271802,787.648728198,804,652.648728198,631,652.648728198,0.400975778837,-0.00536552664375,0.0598515205084,0.999999935801,0.000253729189546,-0.000252316124274,1.88752343205e-05,1793239912625998080
+59,0.983333333,BASELINE,766,745.777261971,715,679.222738029,662,636,879,788,804,652.777261971,631,653,0.400975865666,-0.00536625599225,0.0598514908707,0.99999993615,0.000252832527454,-0.00025182996985,1.89037658757e-05,1793239912642664960
+60,1.000000000,BASELINE,766,745.203135954,715,679.796864046,662,636,879,788,804,652.203135954,631,653,0.400976767373,-0.00536676107974,0.0598517326527,0.999999936598,0.000252326850054,-0.000250575704822,1.86192392291e-05,1793239912659331584
+61,1.016666667,BASELINE,766.38378517,745.38378517,715,680,662,635.61621483,879,788,804,652.38378517,631.38378517,653,0.400976441458,-0.0053668881951,0.0598515210455,0.999999936764,0.00025154485158,-0.000250704162869,1.85725681848e-05,1793239912675998464
+62,1.033333333,BASELINE,766.977712233,745.977712233,715,680,662,635.022287767,879,788,804,652.977712233,631.977712233,653,0.400975443356,-0.00536680835148,0.0598510611847,0.999999936774,0.000250611553303,-0.000251589732169,1.8656135192e-05,1793239912692665088
+63,1.050000000,BASELINE,767,745.444474889,715,679.444474889,662,635.555525111,879,788,804,653,632,652.444474889,0.400976553774,-0.00536694312749,0.0598521498122,0.99999993681,0.000251312087822,-0.00025072095823,1.90066795385e-05,1793239912709331712
+64,1.066666667,BASELINE,766.868688292,745,715,679.131311708,662,636,879.131311708,788,804,652.868688292,631.868688292,652.131311708,0.400977464082,-0.00536715981473,0.0598529732669,0.999999936941,0.000251537835613,-0.000249955964216,1.92272757546e-05,1793239912725998080
+65,1.083333333,BASELINE,766.297583948,745,715,679.702416052,662,636,879.702416052,788,804,652.297583948,631.297583948,652.702416052,0.400977428836,-0.00536762281538,0.0598527063906,0.999999937388,0.000249960063197,-0.000249767641358,1.89777833566e-05,1793239912742664704
+66,1.100000000,BASELINE,766,745,715,679.721912017,662,636,879.721912017,787.721912017,803.721912017,652,631,653,0.400977221024,-0.0053674803683,0.0598524439057,0.999999937486,0.000249652718699,-0.000249690023859,1.88706908868e-05,1793239912759331584
+67,1.116666667,BASELINE,766,745,715,679.141270693,662,636,879.141270693,787.141270693,803.141270693,652,631,653,0.400976825464,-0.00536667920797,0.0598521861986,0.999999937206,0.000250727570709,-0.000249732851265,1.89185262847e-05,1793239912775998208
+68,1.133333333,BASELINE,766.44883694,745.44883694,715,679.44883694,662,636,879,787.44883694,803.44883694,652,631.44883694,653,0.40097677021,-0.00536673276871,0.0598526149627,0.999999937299,0.0002502058319,-0.000249888709678,1.88301250354e-05,1793239912792664576
+69,1.150000000,BASELINE,766.959423368,745.959423368,715,679.959423368,662,635.959423368,879.040576632,788,804,652,632,653,0.400976768635,-0.00536705518435,0.059853153524,0.999999937464,0.000249274370346,-0.00025016740396,1.87239006003e-05,1793239912809331456
+70,1.166666667,BASELINE,766.386214299,745.386214299,715,679.386214299,662,635.386214299,879.613785701,788,804,652,632,653,0.400976035412,-0.00536729932223,0.0598522360368,0.999999936998,0.000249703198676,-0.000251581455998,1.89587171873e-05,1793239912825998336
+71,1.183333333,BASELINE,766.18805231,745,715,679.18805231,662,635.18805231,880,788,804,652,631.81194769,653,0.400975619881,-0.0053670552795,0.0598515657248,0.999999936517,0.000250769649616,-0.00025242600386,1.90416912861e-05,1793239912842665216
+72,1.200000000,BASELINE,766.764503243,745,715,679.764503243,662,635.764503243,880,788,804,652,631.235496757,653,0.400975860504,-0.00536580296054,0.0598514059223,0.999999936004,0.000253153030719,-0.000252094312046,1.88110536818e-05,1793239912859331584
+73,1.216666667,BASELINE,767,745.34807769,715,679.65192231,662,636,879.65192231,788,804,652.34807769,631,652.65192231,0.40097573391,-0.00536623267186,0.0598513912661,0.999999936057,0.000253298189383,-0.000251730584404,1.8934382142e-05,1793239912875997952
+74,1.233333333,BASELINE,767,745.936572307,715,679.063427693,662,636,879.063427693,788,804,652.936572307,631,652.063427693,0.400975353679,-0.00536782415996,0.0598514768624,0.9999999365,0.000251897409811,-0.000251344729667,1.93021946377e-05,1793239912892664576
+75,1.250000000,BASELINE,766.481004086,745.481004086,715,679,662,635.481004086,879.518995914,788,804,653,631,652,0.400976632893,-0.00536669012488,0.0598521235116,0.999999936904,0.000251735163789,-0.00024993522599,1.88332801749e-05,1793239912909331200
+76,1.266666667,BASELINE,766,745,715,679.099374297,662,635.099374297,879.900625703,788,804,652.900625703,631,652.099374297,0.400977467144,-0.00536534617832,0.0598524642521,0.999999937005,0.000252126332496,-0.000249167089761,1.84010773218e-05,1793239912925998080
+77,1.283333333,BASELINE,766,745,715,679.673485605,662,635.673485605,879.326514395,788,804,652.326514395,631,652.673485605,0.40097521805,-0.00536457230098,0.059851019809,0.999999935689,0.000254446563243,-0.000252053670854,1.86271219095e-05,1793239912942665472
+78,1.300000000,BASELINE,766.247051518,745.247051518,715,679.752948482,662,636,879.247051518,787.752948482,804,652,631,653,0.400975150805,-0.00536464816602,0.0598509078899,0.999999935483,0.000255014366668,-0.0002522846904,1.87967133884e-05,1793239912959332352
+79,1.316666667,BASELINE,766.819898155,745.819898155,715,679.180101845,662,636,879.819898155,787.180101845,804,652,631,653,0.400977960837,-0.00536584461487,0.0598525532149,0.999999936744,0.000253271185261,-0.000249013731692,1.88918582427e-05,1793239912975998976
+80,1.333333333,BASELINE,767,745.593623769,715,679.406376231,662,636,879.593623769,787,804,652,631.406376231,652.593623769,0.40097827129,-0.00536549767287,0.0598528146798,0.999999936782,0.000253474924948,-0.000248654506778,1.88977984397e-05,1793239912992665600
+81,1.350000000,BASELINE,767,745.000894642,715,679.999105358,662,636,879.000894642,787,804,652,631.999105358,652.000894642,0.400977435506,-0.00536444297463,0.059852441545,0.999999936261,0.000254571468626,-0.000249630522133,1.88628318573e-05,1793239913009332224
+82,1.366666667,BASELINE,766.421749461,745,715,678.843498922,662,636,879,787.578250539,804,652,632,652.578250539,0.40097624159,-0.00536567226672,0.0598519013154,0.99999993638,0.000253202134888,-0.000250540181297,1.89064828256e-05,1793239913025998848
+83,1.383333333,BASELINE,766.156612064,745,715,678.313224127,662,636,879,788,804,652,632,652.843387936,0.400975714677,-0.00536674546884,0.059851825976,0.999999936637,0.000251973263361,-0.000250749581271,1.89504644561e-05,1793239913042665216
+84,1.400000000,BASELINE,766.732928628,745,715,679.465857255,662,636,879,788,804,652,632,652.267071372,0.40097697672,-0.00536739111331,0.0598529971726,0.999999937265,0.000251130805452,-0.000249082626411,1.89950137542e-05,1793239913059331840
+85,1.416666667,BASELINE,766.685454998,745,715,679.685454998,662,636,879,788,804,652.314545002,632,652.314545002,0.400977273832,-0.00536696776616,0.0598531103148,0.999999937161,0.000251790244926,-0.000248842154773,1.88935482842e-05,1793239913075998464
+86,1.433333333,BASELINE,766.099261618,745,715,679.099261618,662,636,879,788,804,652.900738382,632,652.900738382,0.400976737608,-0.00536562121295,0.0598523096966,0.999999936424,0.000253746757951,-0.000249833627312,1.86659810628e-05,1793239913092665088
+87,1.450000000,BASELINE,766,745.481191505,715,679,662,636,879,788,804,653,631.518808495,653,0.4009765362,-0.0053657640671,0.0598524977434,0.999999936359,0.000253737498319,-0.00025008384333,1.88775872291e-05,1793239913109331456
+88,1.466666667,BASELINE,766,745.939886341,715,679,662,636,879,788,804,653,631.060113659,653,0.400976344685,-0.00536617979423,0.0598527334135,0.999999936433,0.000253274466402,-0.000250238195573,1.91282425331e-05,1793239913125998336
+89,1.483333333,BASELINE,766,745.364059556,715,679,662,636,879,788,804,653,631.635940444,653,0.400975652501,-0.00536633176547,0.059851648633,0.999999936512,0.000252356344309,-0.00025086646925,1.89458583455e-05,1793239913142664960
+90,1.500000000,BASELINE,766,745,715,679,662,636,879,788,804,653,631.788733473,653,0.400975889888,-0.00536633784589,0.0598515469238,0.999999936824,0.000251471567948,-0.000250520509791,1.87866305194e-05,1793239913159331840
+91,1.516666667,BASELINE,766,745,715,679,662,636,879,788,804,653,631.214268234,653,0.400977725345,-0.0053660931182,0.059853135261,0.999999937538,0.000250644117976,-0.000248499698004,1.86672119563e-05,1793239913175998464
+92,1.533333333,BASELINE,766,745,715,679.370885613,662,636,879,787.629114387,803.629114387,652.629114387,631,653,0.400978130208,-0.00536606393997,0.0598533187872,0.999999937448,0.0002512509305,-0.000248254707574,1.86175933188e-05,1793239913192664832
+93,1.550000000,BASELINE,766,745,715,679.962397785,662,636,879,787.037602215,803.037602215,652.037602215,631,653,0.400977684064,-0.00536616298437,0.0598526666418,0.999999936878,0.000252710934302,-0.00024906608943,1.8609496144e-05,1793239913209331712
+94,1.566666667,BASELINE,766,745,715,679.458015187,662,636,879,787.541984813,803.541984813,652,631,652.458015187,0.400976654908,-0.00536615746162,0.0598516087576,0.999999936596,0.000252537603113,-0.000250374766011,1.85786409505e-05,1793239913225998848
+95,1.583333333,BASELINE,766,745,715,679,662,636,879,788,803.879815912,652,631.120184088,652,0.400975840355,-0.00536604180283,0.059850999029,0.999999936398,0.000252512959433,-0.000251190490555,1.8587549124e-05,1793239913242665472
+96,1.600000000,BASELINE,766,745,715,679,662,636,879,788,803.303809467,652,631.696190533,652,0.400975989831,-0.00536553535363,0.0598521934855,0.999999936448,0.00025347277415,-0.000250008558235,1.87531273227e-05,1793239913259332096
+97,1.616666667,BASELINE,766,745.277138954,715,679.277138954,662,636,879,787.722861046,803.277138954,652.277138954,631.722861046,652.277138954,0.400976172309,-0.00536574434745,0.0598525986211,0.999999936594,0.000253346331325,-0.000249548228907,1.87832370599e-05,1793239913275998720
+98,1.633333333,BASELINE,766,745.863603268,715,679.863603268,662,636,879,787.136396732,803.863603268,652.863603268,631.136396732,652.863603268,0.400976391619,-0.00536675187455,0.0598521227654,0.999999936849,0.000252007474957,-0.00024989330828,1.86621452691e-05,1793239913292665344
+99,1.650000000,BASELINE,766,745.554959253,715,679.554959253,662,636,879,787.445040747,804,653,631.445040747,653,0.400977366029,-0.005366599929,0.0598531747069,0.99999993722,0.000252003188843,-0.000248392338435,1.88504505909e-05,1793239913309331968
+100,1.666666667,BASELINE,766,745.024882888,715,679.024882888,662,636,879,787.975117112,803.975117112,652.975117112,632,652.975117112,0.400978492408,-0.00536610391981,0.0598546021983,0.999999937589,0.00025244579238,-0.000246431568122,1.91122689725e-05,1793239913325998592
+101,1.683333333,BASELINE,766,745.603125982,715,679.603125982,662,636,879,787.396874018,803.396874018,652.396874018,632,652.396874018,0.400977909335,-0.00536577079068,0.0598540846654,0.999999937178,0.000253832135203,-0.000246687097423,1.89237046652e-05,1793239913342665216
+102,1.700000000,BASELINE,766,745.82052111,715,680,662.17947889,636,879.358957781,787,803.17947889,652.17947889,632,652.17947889,0.400977328497,-0.00536591698757,0.0598534249464,0.999999936946,0.000253982795589,-0.000247483350009,1.87616794457e-05,1793239913359331840
+103,1.716666667,BASELINE,766,745.248304405,715,680,662.751695595,636,880.503391191,787,803.751695595,652.751695595,632,652.751695595,0.400976752554,-0.00536711205134,0.0598524540939,0.999999937102,0.000251429520976,-0.000249462819604,1.86577273945e-05,1793239913375998464
+104,1.733333333,BASELINE,766,745,715,679.665341704,662.665341704,636,880.665341704,787,804,652.665341704,631.665341704,653,0.400976607284,-0.00536763905919,0.0598519412275,0.999999937272,0.000250231013027,-0.000249977520072,1.87332444593e-05,1793239913392664832
+105,1.750000000,BASELINE,766,745,715,679.074141284,662.074141284,636,880.074141284,787,804,652.074141284,631.074141284,653,0.400976792159,-0.00536765394932,0.0598517794437,0.99999993746,0.000250071040894,-0.000249369359056,1.89463388233e-05,1793239913409331456
+106,1.766666667,BASELINE,766,745,715,679.506811297,662,636,880,787.506811297,804,652.506811297,631.506811297,652.493188703,0.400977022364,-0.00536610062285,0.0598523806401,0.999999937333,0.000250836006908,-0.000249138436614,1.85963568665e-05,1793239913425998592
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+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.412270681,714.587729319,679.587729319,662,635.587729319,879,787,804,652.587729319,632,652,0.400975467539,-0.00536633333895,0.0598513485856,0.999999936665,0.000251434269887,-0.000251199601214,1.86867017871e-05,1793239913485855488
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.71416625,715,679.28583375,662,636,879,787.71416625,804,652.28583375,632,652.71416625,0.400976166582,-0.00536695955726,0.0598527632438,0.999999937082,0.000251276112848,-0.000249678534304,1.88958209795e-05,1793239913519188992
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879.278561812,787.721438188,804,652,631.721438188,653,0.40097767119,-0.00536653158017,0.0598538762229,0.999999937415,0.000251668183994,-0.000247946095071,1.88769359393e-05,1793239913535855104
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879.858558947,787.141441053,804,652,631.141441053,653,0.400978983902,-0.00536563139732,0.0598538473323,0.999999937383,0.000252369429256,-0.00024735860301,1.89083496088e-05,1793239913552521216
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,880,787.455704826,804.455704826,652,631.455704826,653,0.400977555427,-0.00536536097452,0.0598527893577,0.99999993713,0.000251897249369,-0.000248884329474,1.85464565115e-05,1793239913569188096
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.942974851,715,679,662,636,880,788,804.942974851,652,632,653,0.400975745501,-0.00536541990372,0.0598517077648,0.999999936942,0.000250897174206,-0.000250673929845,1.81251749847e-05,1793239913585854720
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.354299251,715,679,662,636,880,788,804.354299251,652,632,653,0.400978621589,-0.00536665582358,0.0598535002654,0.999999938061,0.000248503785029,-0.000248569543169,1.8332819806e-05,1793239913602521088
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.231606543,662,636,879.768393457,788,804,652,631.768393457,652.768393457,0.400983660542,-0.00536725088768,0.0598559318583,0.999999938938,0.000248740351806,-0.00024475071913,1.86845096131e-05,1793239913619187712
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.813325258,662,636,879.186674742,788,804,652,631.186674742,652.186674742,0.400991969031,-0.00536687719059,0.0598593295464,0.999999939419,0.000252952538727,-0.000238340235384,1.92539475788e-05,1793239913635854336
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.392171659,745,715,680,662,635.607828341,879.392171659,788,804,652,631.392171659,652.392171659,0.401018785187,-0.00536726403281,0.059870768636,0.999999943966,0.000253286364215,-0.00021799723627,1.97990391353e-05,1793239913652520704
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766.458154699,745,715,680,662,635.541845301,879.458154699,787.458154699,804,652,632,653,0.401108735087,-0.00537166044743,0.0599030922388,0.999999955862,0.000248544930291,-0.00016136636283,2.14818441665e-05,1793239913685854208
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.882597441,879,787.117402559,803.882597441,652.117402559,632,652.882597441,0.401168009922,-0.00537464669231,0.0599196916617,0.999999960572,0.000246107715913,-0.000133348512073,2.24760945025e-05,1793239913702520576
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.292268761,879,787.707731239,803.292268761,652.707731239,632,652.292268761,0.401242764631,-0.00537430978299,0.0599339243736,0.999999962807,0.000247304158778,-0.000112743977866,2.27085873502e-05,1793239913719187200
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.707086871,661.707086871,635.292913129,879.292913129,787.707086871,803.292913129,652.707086871,631.707086871,652,0.401319830465,-0.00537602167191,0.0599421934381,0.999999964129,0.00024766548136,-9.945064614e-05,2.26688273478e-05,1793239913735854080
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.449074753,636,880,787.449074753,804,652,631,652.449074753,0.401496763674,-0.00538312636297,0.0599460412391,0.999999965838,0.000244225412069,-9.06085672529e-05,2.16239572822e-05,1793239913769187072
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.975516815,787.975516815,803.975516815,652,631,653,0.4016005157,-0.00538635606103,0.0599473471629,0.999999966899,0.000240701247552,-8.8507802946e-05,2.07504752606e-05,1793239913785853696
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.387852333,787.387852333,803.387852333,652,631,653,0.401728031369,-0.0053882127468,0.0599522893692,0.999999967678,0.000240987480908,-7.86532172972e-05,1.95439412124e-05,1793239913802520576
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.196955102,745.196955102,715,679,662,636,879.196955102,787.196955102,803.196955102,652,631,653,0.401866080108,-0.00539098249389,0.0599555752377,0.999999968717,0.000239180744959,-7.08705481535e-05,1.83490547497e-05,1793239913819187200
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+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879.587385176,787.412614824,803.587385176,652.412614824,631.412614824,652.412614824,0.403977664015,-0.0054408289646,0.0599488084874,0.999999981222,0.000186012200881,-5.42508538256e-05,-3.54334339992e-06,1793239913969187328
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879.011619763,787.988380237,803.011619763,652.988380237,631.988380237,652.988380237,0.404293896437,-0.00545020430738,0.0599374698768,0.999999982186,0.000174620120089,-7.13087576233e-05,-7.10923978432e-06,1793239913985853952
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.561073055,715,679.561073055,662,635.561073055,879,787.438926945,803.561073055,652.438926945,632,653,0.404640288699,-0.00545795336722,0.0599248645696,0.999999981646,0.000165719865056,-9.55117318127e-05,-1.1065688623e-05,1793239914002520320
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.860815127,715,679.860815127,662,636,879.139184873,787.139184873,804,652,631.860815127,653,0.405001720323,-0.00546587298712,0.0599149124369,0.999999981027,0.000156777660761,-0.000114643579199,-1.49847145859e-05,1793239914019187200
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.264705849,715,679.264705849,662,636,879.735294151,787.735294151,804,652,631.264705849,653,0.405410484667,-0.00547446249519,0.0599137559569,0.999999982139,0.000147529254282,-0.000116644493283,-1.87544775881e-05,1793239914035853824
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.319510779,662,636,879.680489221,787.680489221,804,652,631,652.680489221,0.405867713169,-0.00548463476759,0.0599276900029,0.999999986297,0.000134482410721,-9.40736202624e-05,-2.17069302211e-05,1793239914052520448
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.89422831,662,636,879.10577169,787.10577169,804,652,631,652.10577169,0.406363652083,-0.00549607126165,0.0599536774891,0.999999991357,0.00011840159386,-5.18762233749e-05,-2.40065629245e-05,1793239914069187328
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.931951851,787.465975925,804,652,631.465975925,652.465975925,0.406885648366,-0.00550546464765,0.0599816361918,0.999999999406,2.20501247108e-05,-4.53457671135e-06,-2.60862044608e-05,1793239914085853696
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.038515699,745,715,680,662.038515699,636,880.961484301,788,804.038515699,652,632,653,0.407412744924,-0.00551305459303,0.0600083300017,0.999999995283,-8.3617597695e-05,4.0626026402e-05,-2.81411781088e-05,1793239914102520576
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.632127036,745,715,680,662.632127036,636,880.367872964,788,804.632127036,652,632,653,0.407928643425,-0.00550129454448,0.0600103861266,0.999999996865,-6.26173032688e-05,3.76306472174e-05,-3.0555765393e-05,1793239914119187456
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.7808103,745.2191897,715,679.7808103,662.7808103,636,880,788,804.7808103,652,632,653,0.408456762877,-0.00548696278897,0.0600058632345,0.999999998497,-3.65472092615e-05,2.1984152262e-05,-3.44536512033e-05,1793239914135854080
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.204419667,745.795580333,715,679.204419667,662.204419667,636,880,788,804.204419667,652,632,653,0.409004798083,-0.00546844007026,0.0599906188937,0.999999999065,-2.21515371903e-06,-1.42791431823e-05,-4.07687837e-05,1793239914152520448
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679.372051303,662,636,880,788,804,652.372051303,632,653,0.409605702727,-0.00547160931289,0.0599850848604,0.999999998595,-4.03581903318e-06,-2.67058374284e-05,-4.56103774045e-05,1793239914169187328
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679.948566402,662,636,880,788,804,652.948566402,632,653,0.410235662178,-0.00548669954863,0.0599848872054,0.999999998098,-2.57245051047e-05,-2.60329338541e-05,-4.96421757828e-05,1793239914185853952
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.476311673,715,679.476311673,662,636,880,788,804,652.476311673,631.476311673,653,0.410900741414,-0.00549921713919,0.0599938103892,0.999999996973,-5.63053975557e-05,-3.63185043e-06,-5.35828405953e-05,1793239914202520832
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.101951607,662.101951607,636,879.898048393,788,804,652,631.101951607,653,0.411568395873,-0.00551127087377,0.0600006755724,0.999999994581,-8.59072784133e-05,1.46863341846e-05,-5.69469216677e-05,1793239914219187712
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.696037188,662.696037188,636,879.303962812,788,804,652,631.696037188,653,0.412231875204,-0.00552230194612,0.059993293859,0.999999992659,-0.000106578785506,3.02197488699e-06,-5.75708464991e-05,1793239914235854080
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.281540795,715,679.718459205,662.718459205,636,879.281540795,787.718459205,804,652.281540795,632,653,0.412889096772,-0.0055256433871,0.0599705187803,0.999999995231,-7.60043846813e-05,-4.07982683943e-05,-4.57956196187e-05,1793239914252520960
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.858053103,715,679.141946897,662.141946897,636,879.858053103,787.141946897,804,652.858053103,632,653,0.413539762137,-0.00552092836926,0.0599316160051,0.999999992746,8.26057484121e-06,-0.000118308372199,-2.10297472095e-05,1793239914269187584
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.566014094,715,679.433985906,662,636,880,787.433985906,804,652.566014094,631.566014094,653,0.414292151711,-0.00551832999523,0.0599284437599,0.999999991862,2.5224679056e-05,-0.000123412054537,-2.02285212776e-05,1793239914285854208
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.009967797,715,680,662.019935594,636,880,788,804,652,631.009967797,653,0.415078496752,-0.0055166285024,0.0599377240536,0.999999994074,1.99990204134e-05,-0.000103509252052,-2.71502333431e-05,1793239914302520832
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.599819463,715,680,663.199638926,636,880,788,804,652,631.599819463,653,0.415907206129,-0.00552688202635,0.0599924676259,0.999999999594,2.75763312376e-06,-4.74473365816e-06,-2.79693907184e-05,1793239914319187712
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.813757339,715,680,663.627514679,636,880,788,804,652,632,652.813757339,0.416720969653,-0.0055361125662,0.0600291998277,0.999999997785,-1.67520401762e-05,5.77063228965e-05,-2.86160224751e-05,1793239914335854336
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.234567783,715,680,662.469135567,636,880,788,804,652,632,652.234567783,0.417503199394,-0.00554318474693,0.0600279304638,0.999999997792,-4.10474899592e-05,4.35408664366e-05,-2.88986488784e-05,1793239914352520704
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.657050225,662.342949775,635.657050225,880,788,804.342949775,652,632,652,0.41830092939,-0.00554396159654,0.060014764424,0.999999998281,-4.46396402414e-05,2.22012487417e-05,-3.08758758029e-05,1793239914369187328
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.08067074,662.91932926,635.08067074,880,788,804.91932926,652,632,652,0.419109209646,-0.00554045351137,0.0599935008789,0.999999998831,-3.41400316546e-05,-4.0214809941e-06,-3.40065372226e-05,1793239914385854208
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.49262454,663,635.49262454,880,788,804.50737546,652,632,652.49262454,0.419934153687,-0.00553503279758,0.05997047524,0.999999997973,-3.54625634474e-05,-3.76794571404e-05,-3.71012246867e-05,1793239914402520576
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.067726291,745,715,680,662.932273709,636,880,787.932273709,804.067726291,652,632,653,0.42075573093,-0.00553034439609,0.0599462408636,0.999999995577,-3.81914792416e-05,-7.61182258656e-05,-3.99148342157e-05,1793239914419187200
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.660731374,745,715,680,662.339268626,636,880,787.339268626,804.660731374,652,632,653,0.42153016242,-0.00553374982915,0.0599148557288,0.999999988377,-3.69064819903e-05,-0.000142251721784,-4.05938337145e-05,1793239914435853824
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,680.247921011,662,636,880,787.247921011,805,652,631.752078989,653,0.422355140302,-0.00553727190406,0.0599040421553,0.999999985075,-3.75974256107e-05,-0.00016344077124,-4.15141238712e-05,1793239914452520704
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,680.827334951,662,636,880,787.827334951,805,652,631.172665049,653,0.423247703417,-0.0055409499402,0.059920734625,0.999999990494,-4.09303817543e-05,-0.000124535019734,-4.27570418104e-05,1793239914469187328
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.595978637,745.404021363,715,680.191957274,662.404021363,635.595978637,880.404021363,787.595978637,805,652,631,653,0.424173179612,-0.00554304591289,0.0599695614722,0.999999996917,-4.92451746081e-05,-4.52759140523e-05,-4.11141922674e-05,1793239914485853952
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.020450095,745.979549905,715,679.040900191,662.979549905,635.020450095,880.979549905,787.020450095,805,652,631,653,0.425112627365,-0.005544470299,0.0600320293704,0.999999996182,-5.96747579257e-05,5.11131994544e-05,-3.82463332576e-05,1793239914502520576
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.554009905,662.445990095,635,880.445990095,787,805,652,631,652.445990095,0.42600683616,-0.00554683327588,0.0600366906833,0.999999995992,-5.19290588368e-05,6.18147145738e-05,-3.87062492567e-05,1793239914519187456
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.868357597,715,680,662.131642403,635,880,787.131642403,804.868357597,652,631.131642403,652,0.426888616675,-0.00554950330526,0.0600338698388,0.999999996135,-4.72111465145e-05,6.26076083686e-05,-3.97565775783e-05,1793239914535854080
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.279571548,715,680,662.720428452,635,880,787.720428452,804.279571548,652,631.720428452,652,0.427733026244,-0.0055531195293,0.0600124619574,0.999999996771,-5.53328785223e-05,3.9954312069e-05,-4.24314344921e-05,1793239914552520704
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.304416699,715,679.695583301,663,635.304416699,880,788,804.304416699,652,632,652.304416699,0.428565956949,-0.00555457854626,0.0599910833363,0.99999999673,-6.65424112618e-05,1.17562778068e-05,-4.44285229307e-05,1793239914569187072
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.884067056,715,679.115932944,663,635.884067056,880,788,804.884067056,652,632,652.884067056,0.42938850917,-0.00555408715754,0.0599697311716,0.999999995477,-8.05437308688e-05,-2.14549444367e-05,-4.58128172967e-05,1793239914585853952
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.540104622,715,679.459895378,662.540104622,636,880.459895378,788,805,652,632,652.540104622,0.430203622859,-0.0055513325909,0.0599442729075,0.999999993916,-7.18689588864e-05,-6.88232781964e-05,-4.76075170204e-05,1793239914602520832
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.034875301,715,680,662.034875301,636,880.965124699,787.965124699,805,652,632,652.034875301,0.431024830282,-0.00554837839122,0.0599223414887,0.999999990903,-5.86681855941e-05,-0.000110974791787,-4.93565479357e-05,1793239914619187456
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.611518917,715,680,662.611518917,636,880.388481083,787.388481083,805,652,632,652.611518917,0.431969588762,-0.0055511125811,0.0599711446548,0.999999996664,-6.32263605361e-05,-1.71034555302e-05,-4.88022348255e-05,1793239914635854080
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.807305022,715,680.192694978,663,636,880.192694978,787.192694978,805,652,632,653,0.432873034676,-0.00555421795125,0.0600098010202,0.999999994965,-7.0584398215e-05,5.28823135638e-05,-4.78651854675e-05,1793239914652520704
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.21677115,715,680.78322885,663,636,880.78322885,787.78322885,805,652,632,653,0.433691186661,-0.0055580896623,0.0600275082657,0.999999992726,-8.3723046522e-05,7.3553853337e-05,-4.61379378022e-05,1793239914669187328
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.365815279,715,680.634184721,663,635.634184721,880.634184721,787.634184721,804.634184721,652,631.634184721,652.634184721,0.434483864621,-0.00556009517548,0.0600149534662,0.999999993967,-8.59482013591e-05,4.95127969945e-05,-4.71928345604e-05,1793239914685853952
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.943792394,715,680.056207606,663,635.056207606,880.056207606,787.056207606,804.056207606,652,631.056207606,652.056207606,0.435261768365,-0.0055610183499,0.0599848475915,0.999999995408,-8.18438579521e-05,-4.60218869193e-07,-4.98612912535e-05,1793239914702520832
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.5180546,635,880.5180546,787.5180546,804.5180546,652,631.5180546,652,0.436018110038,-0.00555967331195,0.0599582352735,0.99999999381,-8.44940433672e-05,-5.01722710342e-05,-5.21916714539e-05,1793239914719187456
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.905546037,715,680,663.811092074,635.094453963,880.905546037,788,805,652,631.905546037,652,0.436769503428,-0.00555839787233,0.0599354455192,0.999999990336,-8.72139714486e-05,-9.3822453541e-05,-5.40326086432e-05,1793239914735854080
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.315842648,715,680,662.631685295,635.684157352,880.315842648,788,805,652,631.315842648,652,0.437507130496,-0.00555876851846,0.059930725295,0.999999989229,-8.64843993932e-05,-0.000105835901773,-5.34982119825e-05,1793239914752520704
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.269010145,635.730989855,880.269010145,788,805,652,631.269010145,652,0.438234498506,-0.00555706998867,0.0599244462076,0.9999999879,-8.15103754599e-05,-0.000121261003822,-5.34088755712e-05,1793239914769187584
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.848268722,635.151731278,880.848268722,788,805,652,631.848268722,652,0.438950034732,-0.00555298508574,0.059916369289,0.999999986098,-7.16412404996e-05,-0.000140620753071,-5.38328255678e-05,1793239914785854208
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.424441551,715,680,662.575558449,635,881,788,805,652,631.575558449,652,0.439663187374,-0.00555434056012,0.0599272099205,0.999999987776,-7.55206144228e-05,-0.000126342849736,-5.27381984654e-05,1793239914802520576
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.412649508,715,680,662,635,881,787.412649508,805,652,631,652.587350492,0.441003606959,-0.0055616818655,0.0599251656795,0.999999985003,-8.97032493491e-05,-0.000139010398256,-5.12291295642e-05,1793239914835854080
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.172694902,715,680,662,635,881,787,804.827305098,652,631.172694902,653,0.441607718006,-0.0055631002501,0.059891164022,0.999999975052,-9.26533628019e-05,-0.000196231667236,-5.29657871027e-05,1793239914852520960
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.752156867,715,680,662,635,881,787,804.247843133,652,631.752156867,653,0.442155461086,-0.005558306773,0.0598233109444,0.999999950297,-8.97833756938e-05,-0.000296517359159,-5.84962511966e-05,1793239914869187328
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.329900369,661.670099631,634.670099631,880.670099631,786.670099631,804.329900369,652,631.670099631,653,0.442704007485,-0.00555224176992,0.059776783865,0.999999927856,-8.62755954095e-05,-0.000364517277132,-6.30197762247e-05,1793239914885854208
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681,657,630,880.724086161,784.275913839,805,652,630.275913839,652.275913839,0.450744684413,-0.00556583580076,0.0596196497113,0.999999815451,-9.41518486363e-05,-0.000597264749212,-5.9238031018e-05,1793239915902521344
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,715,681,657,630,881,784,806,652,630,652.539488432,0.4507468077,-0.0055632306446,0.0596204022079,0.999999817274,-9.1933926077e-05,-0.000594509198481,-5.96516149172e-05,1793239915952521472
+257,4.283333333,HOLD_POSE2,766,746,715,681,657,630,880,784,805,652,630,652,0.450743315538,-0.0055675120864,0.0596172562793,0.999999813343,-9.41260023994e-05,-0.000600821507831,-5.88808417669e-05,1793239915996517888
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.729038834,879.270961166,788,804,653,631,652.729038834,0.400974446511,-0.00536707297018,0.0598481599224,0.999999936575,0.000244875210937,-0.000258088151538,1.66330429185e-05,1793239918717455360
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a96a4b65908a727e4d606379d3335bc03eed3cc5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,421 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+107,1.783333333,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+108,1.800000000,pose1_to_pose2_press,0.575664496598,9.0890625938e-05,1.05003223066,0.546234946465,0.00876262444309,1.04970036416
+109,1.816666667,pose1_to_pose2_press,0.575664498889,9.08895241895e-05,1.05003222874,0.546234948816,0.00876262355983,1.04970036266
+110,1.833333333,pose1_to_pose2_press,0.575664594767,9.08487377977e-05,1.05003221608,0.546235045671,0.00876258619162,1.04970035253
+111,1.850000000,pose1_to_pose2_press,0.575664809754,9.07597880862e-05,1.05003221977,0.546235262138,0.0087625022058,1.0497003547
+112,1.866666667,pose1_to_pose2_press,0.575664939583,9.07060718906e-05,1.05003222199,0.546235392861,0.00876245148727,1.04970035601
+113,1.883333333,pose1_to_pose2_press,0.575665206555,9.06653972934e-05,1.05003220627,0.546235660486,0.00876241301904,1.04970034005
+114,1.900000000,pose1_to_pose2_press,0.575665883486,9.06815907406e-05,1.05003213167,0.546236337046,0.0087624280392,1.0497002677
+115,1.916666667,pose1_to_pose2_press,0.575667761461,9.08099706875e-05,1.05003224743,0.546238213117,0.00876254974397,1.04970037778
+116,1.933333333,pose1_to_pose2_press,0.575673939832,9.08760137605e-05,1.05003245228,0.546244391284,0.00876261548716,1.04970059286
+117,1.950000000,pose1_to_pose2_press,0.575686842998,9.07875076838e-05,1.05003225122,0.546257293091,0.00876252210601,1.04970038492
+118,1.966666667,pose1_to_pose2_press,0.575708804024,9.06866904368e-05,1.05003209781,0.546279257702,0.00876243357343,1.04970023446
+119,1.983333333,pose1_to_pose2_press,0.575740652627,9.07332214808e-05,1.0500322794,0.546311104427,0.00876247343603,1.04970040839
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bd3c06065fcac76f0c1b97ca60630a5750b1910
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc192932a9570df64ce1e67da2bb5cc34c33dfa314f29bef95aae366bcf0b17
+size 26757483
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e031777e458f561950cf7119c3b6d75f6ec2b94
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
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+18,0.300000000,BASELINE,766,745,715,679,661.439050243,635.439050243,878.878100486,787,804,652,631.439050243,652.560949757,0.400976118259,-0.0053698897516,0.0598502549318,0.999999938848,0.000239873984669,-0.00025393359152,1.67830723546e-05,1793239919169203968
+19,0.316666667,BASELINE,766,745,715,679.004199848,662,636,880,787.004199848,804,652,631.995800152,652,0.400974883667,-0.00536830676386,0.0598490825053,0.999999938262,0.000240577768449,-0.000255603160879,1.62686102164e-05,1793239919185870336
+20,0.333333333,BASELINE,766,745,715,679.60589903,662,636,880,787.60589903,804,652,631.39410097,652,0.400976488535,-0.00536782081035,0.0598498444448,0.999999937996,0.000243588399387,-0.000253768574262,1.6565466031e-05,1793239919202536960
+21,0.350000000,BASELINE,766,745,715,679.799996,662,636,879.799996,787.799996,804,652,631,652.200004,0.400977095926,-0.00536811471951,0.0598502670304,0.999999937871,0.000244861986491,-0.000253013738931,1.68748970341e-05,1793239919219203840
+22,0.366666667,BASELINE,766,745,715,679.220307821,662,636,879.220307821,787.220307821,804,652,631,652.779692179,0.400975809721,-0.00536988910668,0.0598500453924,0.99999993803,0.000242837998898,-0.00025430868522,1.7208200527e-05,1793239919235870464
+23,0.383333333,BASELINE,766,745,715,679,661.64402344,636,879,787.35597656,803.64402344,652.35597656,631,653,0.40097525198,-0.00536936637212,0.0598499616933,0.999999937849,0.00024316814207,-0.000254718012523,1.70504178346e-05,1793239919252537344
+24,0.400000000,BASELINE,766,745,715,679,661.069825602,636,879,787.930174398,803.069825602,652.930174398,631,653,0.400975140802,-0.00536743545276,0.0598499625538,0.999999937458,0.000244941417763,-0.000254584436493,1.6591588796e-05,1793239919269204224
+25,0.416666667,BASELINE,766,745,715,679.515813972,661.515813972,635.484186028,879,787.484186028,803,653,631.515813972,653,0.400976291548,-0.00536836959469,0.0598510911186,0.999999937873,0.000244380448564,-0.000253465042654,1.69475941631e-05,1793239919285871360
+26,0.433333333,BASELINE,766,745.101851888,715,679.898148112,662,635.101851888,879.101851888,787,803.101851888,652.898148112,631.898148112,652.898148112,0.400977291437,-0.00536957987521,0.0598519665856,0.999999938442,0.000243001102782,-0.000252522149153,1.72833671438e-05,1793239919302537984
+27,0.450000000,BASELINE,766,745.682318448,715,679.317681552,662,635.682318448,879.682318448,787,803.682318448,652.317681552,631.317681552,652.317681552,0.400976761488,-0.00537022390113,0.0598509190876,0.999999939207,0.000239294645672,-0.000253049975661,1.6993975556e-05,1793239919319204096
+28,0.466666667,BASELINE,766,745.737946532,715,679,662,636,879.737946532,787.262053468,803.737946532,652.262053468,631,652,0.400976329104,-0.00537072247049,0.0598501981965,0.999999939461,0.000237649893014,-0.000253600590556,1.6969491278e-05,1793239919335870464
+29,0.483333333,BASELINE,766,745.159095908,715,679,662,636,879.159095908,787.840904092,803.159095908,652.840904092,631,652,0.400976014664,-0.00537104519699,0.0598498721414,0.999999939107,0.000238497540754,-0.000254178754365,1.72652541915e-05,1793239919352537344
+30,0.500000000,BASELINE,766,745,715,679,662,635.585245719,879,787.585245719,803.414754281,653,631.414754281,652,0.400977055578,-0.00536997996348,0.0598507218406,0.999999939111,0.000239980112446,-0.000252774182864,1.71190246764e-05,1793239919369203712
+31,0.516666667,BASELINE,766,745,715,679,662,635.013290813,879,787.013290813,803.986709187,653,631.986709187,652,0.400978610199,-0.00536838866384,0.0598520171754,0.999999939244,0.000241703333693,-0.000250618112828,1.68052706973e-05,1793239919385870336
+32,0.533333333,BASELINE,766,745,714.422943432,679.577056568,662,635,879,787.577056568,804,652.422943432,631.422943432,652,0.400977149003,-0.00537020149263,0.0598511550697,0.999999939484,0.000239193250643,-0.000252049566734,1.70456532477e-05,1793239919402536960
+33,0.550000000,BASELINE,766,745,714,679.835489161,662,635,879,787.835489161,803.835489161,652,631,652,0.400976311967,-0.00537140628077,0.0598506902205,0.999999939713,0.000237635511324,-0.000252605046949,1.71291626366e-05,1793239919419203584
+34,0.566666667,BASELINE,766,745,714,679.256427936,662,635,879,787.256427936,803.256427936,652,631,652,0.400977228548,-0.00537087479386,0.0598513557539,0.999999939928,0.000238731363945,-0.000250738094077,1.67841477044e-05,1793239919435870720
+35,0.583333333,BASELINE,766,745,714.320459244,679.320459244,662.320459244,635,879,787.320459244,803.320459244,652,631,652,0.40097714688,-0.00536995139672,0.0598514411217,0.999999939638,0.000239725200133,-0.000250960939686,1.65848501456e-05,1793239919452537088
+36,0.600000000,BASELINE,766,745,714.89561856,679.89561856,662.89561856,635,879,787.89561856,803.89561856,652,631,652,0.400976271808,-0.0053687165104,0.0598510653755,0.999999938945,0.000240637954076,-0.000252844750835,1.65013682931e-05,1793239919469203712
+37,0.616666667,BASELINE,766.481081316,745,715,679.518918684,662.037837369,635,879,787.518918684,804,652,631,652.481081316,0.400976626675,-0.00537092083874,0.0598512370443,0.999999939412,0.000238823971819,-0.000252696594296,1.68411056799e-05,1793239919485870336
+38,0.633333333,BASELINE,766.932251078,745,715,679.067748922,661.067748922,635.067748922,879,787,804.067748922,652,631,653,0.400977005611,-0.00537336933469,0.0598513846706,0.999999940025,0.000236583807655,-0.000252353426472,1.7187544654e-05,1793239919502537216
+39,0.650000000,BASELINE,766.35372291,745,715,679.64627709,661.64627709,635.64627709,879,787,804.64627709,652,631,653,0.400975510006,-0.0053719096171,0.0598504359623,0.999999939841,0.000235688602663,-0.000253936692381,1.68770464856e-05,1793239919519204096
+40,0.666666667,BASELINE,766.225170103,745,715,679.774829897,662,635.774829897,879.225170103,787,804.774829897,652,631,653,0.400975195698,-0.00537079378199,0.0598502308337,0.99999993957,0.00023654209012,-0.000254212306166,1.68339959443e-05,1793239919535870720
+41,0.683333333,BASELINE,766.80463715,745,715,679.19536285,662,635.19536285,879.80463715,787,804.19536285,652,631,653,0.400976740117,-0.00537021903354,0.0598511957009,0.999999939156,0.000240147081428,-0.000252430376924,1.72117645101e-05,1793239919552537344
+42,0.700000000,BASELINE,766.620813878,745,715,679,662,635,879.620813878,787.379186122,804,652,631,652.620813878,0.400976818853,-0.00537034476994,0.0598513230993,0.999999939293,0.000239780161993,-0.000252242234374,1.71052078829e-05,1793239919569204224
+43,0.716666667,BASELINE,766.048766353,745,715,679,662,635,879.048766353,787.951233647,804,652,631,652.048766353,0.400976152113,-0.00537082678652,0.0598510245447,0.999999939712,0.000237393051745,-0.000252864722645,1.67523140742e-05,1793239919585871104
+44,0.733333333,BASELINE,766,745,715,679,662.540679695,635,879,788,804,652,631,652.540679695,0.400977997458,-0.00537112941724,0.0598518542507,0.999999940102,0.000237325400334,-0.000251366377955,1.69533204618e-05,1793239919602537472
+45,0.750000000,BASELINE,766,745.129038435,715,679.129038435,662.870961565,635.129038435,879,788,803.870961565,652.129038435,631,653,0.400979194786,-0.0053711818077,0.0598523927048,0.999999940224,0.000237837922773,-0.000250385282976,1.70841910945e-05,1793239919619203840
+46,0.766666667,BASELINE,766,745.707953374,715,679.707953374,662.292046626,635.707953374,879,788,803.292046626,652.707953374,631,653,0.400977316694,-0.0053704200502,0.0598515491646,0.999999939424,0.000239619540392,-0.000251896589354,1.67905758741e-05,1793239919635870464
+47,0.783333333,BASELINE,766,745.71286972,715,679.71286972,662,635.71286972,879,787.71286972,803.28713028,652.71286972,631.28713028,652.71286972,0.400976286114,-0.00536985346837,0.0598510880842,0.999999938975,0.000240475464618,-0.000252870059079,1.67054809347e-05,1793239919652537344
+48,0.800000000,BASELINE,766,745.133426047,715,679.133426047,662,635.133426047,879,787.133426047,803.866573953,652.133426047,631.866573953,652.133426047,0.400976118345,-0.00536948558533,0.0598510163673,0.999999938885,0.00024038898558,-0.000253295983615,1.68326703298e-05,1793239919669204224
+49,0.816666667,BASELINE,766,745,715,679.448724477,661.551275523,635,879,787,804,652,631.551275523,652,0.400975679373,-0.00536917449173,0.0598510611597,0.999999938828,0.000240552240516,-0.000253375738517,1.67325058095e-05,1793239919685870592
+50,0.833333333,BASELINE,766,745,715,679.968506437,661.031493563,635,879,787,804,652,631.031493563,652,0.400975199735,-0.0053689722266,0.0598511096186,0.9999999388,0.000240677981369,-0.000253375240351,1.65909216193e-05,1793239919702537472
+51,0.850000000,BASELINE,766,745,715,679.389063187,661.610936813,635,879,787,804,652,631.610936813,652,0.400975424123,-0.00537036786397,0.0598506154569,0.99999993913,0.00023885119739,-0.000253780194359,1.69120263981e-05,1793239919719204096
+52,0.866666667,BASELINE,766,745,715,679,661.809498099,635.190501901,879,787.190501901,804,652,631.809498099,652.190501901,0.400975765849,-0.00537108308494,0.0598505685836,0.99999993922,0.000238497034907,-0.000253743197619,1.71437578048e-05,1793239919735870720
+53,0.883333333,BASELINE,766,745,715,679,661.229684054,635.770315946,879,787.770315946,804,652,631.229684054,652.770315946,0.400976347367,-0.00537040779811,0.0598514357949,0.99999993882,0.000241152340824,-0.000252803024606,1.71928446155e-05,1793239919752537344
+54,0.900000000,BASELINE,766,745,715,679,661.346206543,635.653793457,879,787.653793457,804,652,631,653,0.400977803539,-0.00536977508891,0.0598523316821,0.999999939204,0.000241265776934,-0.000251186552697,1.69687836567e-05,1793239919769203968
+55,0.916666667,BASELINE,766,745,715,679,661.919523349,635.080476651,879,787.080476651,804,652,631,653,0.400979833481,-0.00536917031052,0.0598532463805,0.9999999401,0.000239711755362,-0.000249126431149,1.65655387283e-05,1793239919785870848
+56,0.933333333,BASELINE,766,745,715,679,662,635.505880535,879.505880535,787.505880535,804,652,631,653,0.400978672887,-0.00536919381562,0.059851928036,0.999999939708,0.000239429518329,-0.000250974784233,1.63894565311e-05,1793239919802537216
+57,0.950000000,BASELINE,766,745.092963332,715,679,662,635.907036668,879.907036668,787.907036668,804,652,631,652.907036668,0.400977282884,-0.00536942509543,0.0598505997953,0.999999939223,0.000239358477706,-0.000252973397591,1.63283915028e-05,1793239919819203840
+58,0.966666667,BASELINE,766,745.672695569,715,679,662,635.327304431,879.327304431,787.327304431,804,652,631,652.327304431,0.40097741962,-0.0053702071191,0.0598511290283,0.99999993937,0.000239305892922,-0.000252416979876,1.66753442931e-05,1793239919835870464
+59,0.983333333,BASELINE,766,745.749149055,715,679,661.749149055,635,879.250850945,787.250850945,804,652.250850945,631.250850945,652.250850945,0.40097769265,-0.00537067989143,0.0598517086958,0.999999939766,0.000238742189951,-0.000251360390698,1.69536052508e-05,1793239919852537600
+60,1.000000000,BASELINE,766,745.173038199,715,679,661.173038199,635,879.826961801,787.826961801,804,652.826961801,631.826961801,652.826961801,0.400978142402,-0.00537075168046,0.0598523537582,0.999999940482,0.000237515757731,-0.000249655266008,1.71427986252e-05,1793239919869205248
+61,1.016666667,BASELINE,766,745,715,679.40209257,661,635,880,787.59790743,803.59790743,652.59790743,631.59790743,652.59790743,0.40097767652,-0.00537056414396,0.0598522751167,0.999999940399,0.000237311841313,-0.000250202260772,1.68626267164e-05,1793239919885871616
+62,1.033333333,BASELINE,766,745,715,679.976802555,661,635,880,787.023197445,803.023197445,652.023197445,631.023197445,652.023197445,0.400976817558,-0.0053702652796,0.0598518857908,0.999999939971,0.000237546888647,-0.000251716085338,1.63809573599e-05,1793239919902537728
+63,1.050000000,BASELINE,766,745,715,679.432707937,661.567292063,635,879.432707937,787.567292063,803,652,631.567292063,652.567292063,0.400975889881,-0.00537086811588,0.0598509786487,0.99999993959,0.000237589187689,-0.000253155431193,1.68214319135e-05,1793239919919204096
+64,1.066666667,BASELINE,766,745,715,679,662,635.154870327,879.154870327,787.845129673,803.154870327,652,632,652.845129673,0.400975348702,-0.00537115826344,0.0598502605548,0.999999939273,0.000237903025795,-0.000254097286978,1.70422327971e-05,1793239919935870464
+65,1.083333333,BASELINE,766,745,715,679,662,635.732685496,879.732685496,787.267314504,803.732685496,652,632,652.267314504,0.400975870929,-0.00537049089338,0.0598501182249,0.999999939128,0.000238980567207,-0.000253689071887,1.65571882761e-05,1793239919952537088
+66,1.100000000,BASELINE,766,745,715,679,661.69321531,636,879.69321531,787.30678469,804,652,632,652,0.400975660892,-0.00537021495952,0.0598503097734,0.999999939044,0.000239479335111,-0.000253555210377,1.64740803299e-05,1793239919969203712
+67,1.116666667,BASELINE,766,745,715,679,661.122315283,636,879.122315283,787.877684717,804,652,632,652,0.400974820439,-0.00537027601872,0.0598507887626,0.999999939014,0.00023947982855,-0.00025365754382,1.67370053677e-05,1793239919985870592
+68,1.133333333,BASELINE,766,745,715,679.46644951,661.46644951,636,879,787.53355049,804,652,632,652,0.400974961687,-0.00537072306261,0.059850809514,0.999999939143,0.000238989783669,-0.000253604560526,1.68283294901e-05,1793239920002536960
+69,1.150000000,BASELINE,766,745,714.941328328,679.941328328,662,636,879,787,804,652,631.941328328,652.058671672,0.400975369682,-0.00537124821668,0.0598507631984,0.999999939312,0.000238417499647,-0.000253470133705,1.68815230292e-05,1793239920019203584
+70,1.166666667,BASELINE,766,745,714.361660936,679.361660936,662,636,879,787,804,652,631.361660936,652.638339064,0.400975769398,-0.00537153240686,0.0598512308519,0.99999993946,0.000238302666873,-0.000252988563172,1.70116135303e-05,1793239920035870208
+71,1.183333333,BASELINE,766,745,714.216497227,679,662.216497227,635.783502773,879,787,804,652.216497227,631,652.783502773,0.400976147505,-0.00537130252985,0.0598516234206,0.999999939607,0.000238292598624,-0.000252420786484,1.69104132932e-05,1793239920052537088
+72,1.200000000,BASELINE,766,745,714.792151752,679,662.792151752,635.207848248,879,787,804,652.792151752,631,652.207848248,0.400976489763,-0.00537021984296,0.059851891428,0.999999939755,0.000238456329091,-0.000251709998326,1.64255141359e-05,1793239920069203712
+73,1.216666667,BASELINE,766,745.364224723,715,679.364224723,662.635775277,635,879,787,804,652.635775277,631,652,0.400976365379,-0.0053699301127,0.0598512540142,0.999999939271,0.000239803779166,-0.000252341545208,1.65975529653e-05,1793239920085870592
+74,1.233333333,BASELINE,766,745.934273714,715,679.934273714,662.065726286,635,879,787,804,652.065726286,631,652,0.400975977294,-0.00537008848421,0.0598501049447,0.999999938425,0.000241820152029,-0.000253731648899,1.71408290626e-05,1793239920102537216
+75,1.250000000,BASELINE,766,745.475355235,715,679.475355235,662,635,879,787.524644765,803.475355235,652,631.524644765,652.524644765,0.40097680502,-0.00536954879528,0.0598512770868,0.999999938746,0.000241872371718,-0.000252429501484,1.68990121612e-05,1793239920119203840
+76,1.266666667,BASELINE,766,745,715,679,661.884748586,635,879,787.884748586,803,652,632,652.884748586,0.400977421774,-0.00536917692091,0.0598523210703,0.999999939101,0.000241616620695,-0.000251284198943,1.65984871273e-05,1793239920135870464
+77,1.283333333,BASELINE,766,745,715,679,661.303889859,635,879,787.303889859,803,652,632,652.303889859,0.40097654608,-0.00536985053886,0.0598516251685,0.999999938988,0.000241150830731,-0.000252190027213,1.64741424439e-05,1793239920152536832
+78,1.300000000,BASELINE,766,745,715,679.274368227,661.274368227,635.274368227,879,787,803.274368227,652,632,652,0.400975926205,-0.00536999955852,0.0598509820429,0.999999938884,0.000240862804703,-0.000252882203839,1.63892210298e-05,1793239920169203712
+79,1.316666667,BASELINE,766,745,715,679.849772856,661.849772856,635.849772856,879,787,803.849772856,652,632,652,0.400975587015,-0.0053695729897,0.0598503968234,0.999999938791,0.000240769821024,-0.000253339962148,1.6347554775e-05,1793239920185870592
+80,1.333333333,BASELINE,766,745,715,680,662,636,879,787.421877744,804,652,631.578122256,652.421877744,0.400974239293,-0.00536944064967,0.0598496767529,0.999999938627,0.000239982033113,-0.000254732980402,1.63017182157e-05,1793239920202537216
+81,1.350000000,BASELINE,766,745,715,680,662,636,879,787.992816788,804,652,631.007183212,652.992816788,0.400972535227,-0.00536941226891,0.0598489090357,0.999999938435,0.000238948751273,-0.000256456452396,1.62544081666e-05,1793239920219203840
+82,1.366666667,BASELINE,766,745,715,679.413325713,662,636,879,788,804,652,631,653,0.400974053864,-0.00536967365681,0.05985020549,0.999999938952,0.000238708603563,-0.000254643110311,1.64609221906e-05,1793239920235870464
+83,1.383333333,BASELINE,766,745,715,679,662,635.823056241,879,788,804,652,631,653,0.400975326353,-0.00536983475756,0.0598512202701,0.999999939318,0.000238997212477,-0.00025291372538,1.66735656233e-05,1793239920252537088
+84,1.400000000,BASELINE,766,745,715,679,662,635.241655634,879,788,804,652,631,653,0.400975942341,-0.0053697581832,0.0598515310826,0.999999939323,0.0002404713497,-0.00025147925817,1.68928270551e-05,1793239920269203712
+85,1.416666667,BASELINE,765.665552628,745,715,679.334447372,661.665552628,635.334447372,879,788,803.665552628,652,631,653,0.400976748981,-0.00536933433903,0.0598515681694,0.999999939235,0.000241347327896,-0.000250999552337,1.67702326989e-05,1793239920285870592
+86,1.433333333,BASELINE,765.093217763,745,715,679.906782237,661.093217763,635.906782237,879,788,803.093217763,652,631,653,0.400977691229,-0.00536866348696,0.0598514105591,0.999999939082,0.000241797844292,-0.000251198954306,1.64044813384e-05,1793239920302537472
+87,1.450000000,BASELINE,765.492713139,745,715,680,661,635.507286861,879,788,803,652,631,652.507286861,0.400976234741,-0.00536974971036,0.0598506448797,0.999999939432,0.000238805359486,-0.000252661655493,1.64059878281e-05,1793239920319204096
+88,1.466666667,BASELINE,766,745,714.920021982,679.920021982,661.079978018,635.079978018,879,787.920021982,803.079978018,652,631,652,0.400974583819,-0.00537086362146,0.0598499351623,0.99999993975,0.000235931504727,-0.000254096818101,1.64874780033e-05,1793239920335870720
+89,1.483333333,BASELINE,766,745,714.34094021,679.34094021,661.65905979,635.65905979,879,787.34094021,803.65905979,652,631,652,0.400974631984,-0.005370016941,0.0598503129723,0.999999939331,0.000237978328824,-0.00025382627403,1.6622196198e-05,1793239920352537088
+90,1.500000000,BASELINE,766,745,714.237882492,679,661.762117508,636,879,787,804,652,631,652,0.40097471974,-0.00536945494728,0.0598504730764,0.999999938972,0.000239539174641,-0.00025376571005,1.67124719636e-05,1793239920369203712
+91,1.516666667,BASELINE,766,745,714.816334239,679,661.183665761,636,879,787,804,652,631,652,0.400974864176,-0.00536930053114,0.0598503214975,0.999999938703,0.000240404259702,-0.000254005768316,1.67391208199e-05,1793239920385870336
+92,1.533333333,BASELINE,766,745,715,679,661.390842172,635.609157828,879,787.390842172,803.609157828,652,631,652.390842172,0.400975515956,-0.00536952602661,0.059851100898,0.999999938766,0.00024114439184,-0.000253046983134,1.6884169346e-05,1793239920402537216
+93,1.550000000,BASELINE,766,745,715,679,661.96351538,635.03648462,879,787.96351538,803.03648462,652,631,652.96351538,0.400976403765,-0.0053699282679,0.0598523134169,0.99999993898,0.000241826392354,-0.000251530461471,1.70843008109e-05,1793239920419203840
+94,1.566666667,BASELINE,765.447245555,745,715,679.552754445,661.447245555,635,879,787.447245555,803.552754445,652,631.552754445,653,0.400977172507,-0.00536914339432,0.059852517936,0.999999939545,0.000240078042979,-0.000250998463683,1.64915660516e-05,1793239920435870464
+95,1.583333333,BASELINE,765.140557162,745,715,679.859442838,661.140557162,635,879,787,804,652.140557162,631.859442838,653,0.400977557702,-0.0053687200761,0.059852464532,0.999999939864,0.000238976433168,-0.000250804991888,1.61237290229e-05,1793239920452537344
+96,1.600000000,BASELINE,765.720349013,745,715,679.279650987,661.720349013,635,879,787,804,652.720349013,631.279650987,653,0.40097676965,-0.00536967902446,0.0598518194668,0.999999939347,0.000240412633227,-0.000251460053404,1.66272784994e-05,1793239920469204224
+97,1.616666667,BASELINE,766,745.297802974,715,679.297802974,662,635.297802974,879,787,804,652.702197026,631,652.702197026,0.400976478967,-0.00537006039656,0.0598517990459,0.99999993929,0.000240572041447,-0.000251523615306,1.67346121257e-05,1793239920485870848
+98,1.633333333,BASELINE,766,745.873078611,715,679.873078611,662,635.873078611,879,787,804,652.126921389,631,652.126921389,0.400976651699,-0.00536990362213,0.0598523606264,0.999999939665,0.000239541821327,-0.000251036057846,1.64727785989e-05,1793239920502537216
+99,1.650000000,BASELINE,766,746,715,679.54264559,662,636,879,787.45735441,804,652.45735441,631,652.45735441,0.400976995548,-0.00537066877283,0.059852709982,0.999999940212,0.000238191862322,-0.000250127961965,1.66304608796e-05,1793239920519203584
+100,1.666666667,BASELINE,766,745.956390276,715,679.043609724,661.956390276,636,879,788,803.956390276,652.956390276,631,653,0.40097726758,-0.00537153356608,0.0598528720448,0.999999940686,0.000236947522013,-0.000249396579392,1.68841004243e-05,1793239920535870208
+101,1.683333333,BASELINE,766,745.377115125,715,679.622884875,661.377115125,636,879,788,803.377115125,652.377115125,631,653,0.400976062474,-0.0053704166105,0.0598514714974,0.999999939682,0.000238112294408,-0.000252298071874,1.68576782276e-05,1793239920552536832
+102,1.700000000,BASELINE,766,745,715,679.798968337,661,636,879,788,803.201031663,652,631.201031663,652.798968337,0.40097578973,-0.00536969509367,0.0598507260552,0.999999939116,0.000239063841994,-0.000253641165692,1.68008397411e-05,1793239920569203712
+103,1.716666667,BASELINE,766,745,715,679.222926495,661,636,879,788,803.777073505,652,631.777073505,652.222926495,0.400977256244,-0.00536971123966,0.0598512026647,0.999999939381,0.000239617633835,-0.000252077178026,1.66872618465e-05,1793239920585870336
+104,1.733333333,BASELINE,766,745,715,679,661.353192364,635.646807636,879,788,804,652,632,652,0.400977001926,-0.00536949530971,0.0598516521202,0.999999939474,0.000239919838545,-0.000251416846466,1.67142363292e-05,1793239920602537216
+105,1.750000000,BASELINE,766,745,715,679,661.929359902,635.070640098,879,788,804,652,632,652,0.400975661225,-0.00536913286706,0.059852084433,0.999999939461,0.000240063212909,-0.000251327005221,1.68299434401e-05,1793239920619204096
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,662,635,879,788,804,652,632,653,0.400974020249,-0.00536809162084,0.0598508865245,0.99999993789,0.000243301826055,-0.000254468294443,1.64367456984e-05,1793239920649506048
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714.579470125,679.579470125,662,635.579470125,879,788,804,652.579470125,632,652.420529875,0.400974185442,-0.00536989229723,0.0598506767065,0.999999938817,0.000239631107005,-0.000254291204944,1.66774133536e-05,1793239920666173184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.157984784,715,680,662,635.842015216,879,788,804,653,632,652,0.400974426054,-0.00537147021043,0.0598506627294,0.999999939395,0.000237440467562,-0.000254055071353,1.69585712633e-05,1793239920682839808
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.684345406,715,679.684345406,662,635.315654594,879,788,804,652.684345406,632,652,0.400975330682,-0.00537220732878,0.0598514572754,0.99999993899,0.000240152914297,-0.000253069215794,1.73895435995e-05,1793239920716173056
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.097773474,715,679.097773474,662,635.902226526,879,788,804,652.097773474,632,652,0.400975816019,-0.0053708917417,0.0598515641153,0.999999939103,0.000240506228308,-0.000252303076873,1.71356045723e-05,1793239920732839680
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.482767233,662,635.517232767,879.482767233,787.517232767,804,652,631.517232767,652,0.40097657213,-0.00537073565455,0.059852067227,0.999999939303,0.000240615931398,-0.000251411178548,1.70409747926e-05,1793239920749506304
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.062010773,879.937989227,787,804,652,631.062010773,652,0.400977248143,-0.00537089185568,0.0598525470319,0.999999939498,0.000240479081506,-0.000250769228782,1.69881838285e-05,1793239920766172928
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.640498485,879.359501515,787,804,652,631.640498485,652,0.400976805922,-0.00537171732463,0.0598521725294,0.99999993951,0.000238694590543,-0.000252418572202,1.70184518645e-05,1793239920782839296
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.208697145,662,636,879,787.791302855,803.208697145,652,631.208697145,652.791302855,0.400984421206,-0.00537013709189,0.0598554814784,0.999999940688,0.000240424798463,-0.00024602967558,1.70187273522e-05,1793239920816172544
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.624836293,879,787.624836293,803.375163707,652,631,652.624836293,0.401000706402,-0.00537054617819,0.0598623330384,0.999999943698,0.000239955015938,-0.000233928368105,1.73916671174e-05,1793239920832839424
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.035348471,879,787.035348471,803.964651529,652,631,652.035348471,0.401023025312,-0.00537205641476,0.0598716310675,0.999999947748,0.000238040276928,-0.000217986176162,1.79853413785e-05,1793239920849506560
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.544482056,879.544482056,787,804,652,631,652,0.401074179622,-0.00537392142377,0.059889700519,0.999999954616,0.000237818333413,-0.000184007133728,1.87676190672e-05,1793239920866173184
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+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.698553521,661.301446479,635.301446479,879.301446479,787,804,652,631,652.698553521,0.4012000415,-0.00537723148958,0.0599254591019,0.999999963537,0.000237020852283,-0.000127762889354,2.0597606553e-05,1793239920899506688
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.72611482,661.27388518,635.27388518,879,787,804,652,631,653,0.401276031193,-0.0053789763834,0.0599378808159,0.999999965953,0.000236366709913,-0.000108547927755,2.10448821798e-05,1793239920916173312
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.151104424,661.848895576,635.848895576,879,787,804,652,631,653,0.401359298178,-0.00538098580738,0.0599448363025,0.999999967589,0.000235634669379,-9.41331943031e-05,2.08919334375e-05,1793239920932839680
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714.564139235,679.435860765,662,635.564139235,879,787,804,652,631.435860765,653,0.401450617736,-0.00538410069789,0.0599481510574,0.999999968609,0.000233960937948,-8.73580602072e-05,2.0337268018e-05,1793239920949506304
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.026485187,679.973514813,662,635,879,787,804,652,631.973514813,653,0.401546257992,-0.00538752719099,0.0599503409601,0.999999969467,0.000231951890438,-8.29381258088e-05,1.96285522341e-05,1793239920966172928
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.604569213,679.395430787,662,635,879,787,804,652,631.395430787,653,0.401672103215,-0.00538923654245,0.0599561320823,0.999999970877,0.000229950269096,-7.0854132e-05,1.86937524288e-05,1793239920982839552
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.244973561,635,879,787.755026439,803.244973561,652,631,652.244973561,0.401947803824,-0.00539482555869,0.0599584827155,0.999999972542,0.000225719081098,-6.10046940018e-05,1.56530148106e-05,1793239921016173056
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.241609669,745,715,680,661.241609669,636,879.758390331,787,804,652,631.241609669,652.758390331,0.403224242742,-0.00542938520072,0.0599595656589,0.999999980819,0.000192084243742,-3.8146918061e-05,3.27748776667e-06,1793239921116172800
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.830006555,745,715,680,661.830006555,636,879.169993445,787,804,652,631.830006555,652.169993445,0.403509898075,-0.00543508825797,0.0599608695565,0.999999982217,0.000185303769165,-3.50542651382e-05,4.13840166456e-07,1793239921132839424
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.412155509,804,652,631.587844491,652.412155509,0.403808278836,-0.00544250314277,0.0599515947068,0.999999983228,0.000176264533942,-4.96281907317e-05,-3.35088013377e-06,1793239921149506048
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.991765973,804,652,631.008234027,652.991765973,0.404111829813,-0.00545061352708,0.0599380218105,0.999999983595,0.00016630758533,-7.13798830956e-05,-7.48169782911e-06,1793239921166172928
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.430510848,879,787.430510848,804,652,631,652.430510848,0.40445257898,-0.00545802344139,0.059927640049,0.999999983702,0.000156768137898,-8.88093945996e-05,-1.14891113868e-05,1793239921182839552
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.854991058,662,635.145008942,879,787.145008942,804,652,631,652,0.404804949657,-0.00546532424931,0.0599186325893,0.999999983538,0.000147741942006,-0.000104203501934,-1.54079803825e-05,1793239921199506176
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.285836647,662,635.714163353,879,787.714163353,804,652,631,652,0.40518974478,-0.0054723354497,0.0599135104006,0.999999983512,0.000140199390407,-0.000113826314001,-1.90730609363e-05,1793239921216172800
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.703395691,804,652,631,652,0.405618368244,-0.00548080378416,0.0599192870943,0.999999985547,0.00013110738708,-0.000105901360094,-2.23803161294e-05,1793239921232839424
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.107549992,804,652,631,652,0.406091209767,-0.0054907422088,0.0599360595708,0.999999989203,0.000120452155022,-8.02726257338e-05,-2.53265650006e-05,1793239921249506048
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.474532913,715,679.474532913,662,635.525467087,879,787.474532913,804,652,631,652,0.406605941482,-0.00550237801885,0.0599645687082,0.999999998372,3.88028194184e-05,-3.17765113256e-05,-2.72036396558e-05,1793239921266172672
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.946814571,715,679.946814571,662,635,879,788,804,652,631,652.053185429,0.407130454118,-0.0055133541825,0.0599939438013,0.999999998067,-5.20572202251e-05,1.80494969226e-05,-2.88243673393e-05,1793239921282839552
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.372074923,715,679.372074923,662,635,879,788,804,652,631,652.627925077,0.407660403346,-0.00551419545116,0.0600064607178,0.999999995854,-7.99001976826e-05,3.15255978151e-05,-3.02405869132e-05,1793239921299507200
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.203071875,662,635.203071875,879,788,804,652,631.203071875,652.796928125,0.408189855779,-0.00550653654504,0.0600094005879,0.999999995533,-8.4082933679e-05,2.79436925445e-05,-3.2922366944e-05,1793239921316174592
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.778966132,662,635.778966132,879,788,804,652,631.778966132,652.221033868,0.408718396108,-0.0054832720539,0.0599947578295,0.999999998252,-4.482751314e-05,-6.95523598258e-06,-3.79276063014e-05,1793239921332840960
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.362697717,745,715,680,662.362697717,636,879.362697717,788,804,652.362697717,631.637302283,652,0.409285262824,-0.00548290263672,0.0599828774709,0.999999997928,-3.59396706377e-05,-3.3318510393e-05,-4.17425989572e-05,1793239921349507072
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.951310961,745,715,680,662.951310961,636,879.951310961,788,804,652.951310961,631.048689039,652,0.409876002088,-0.00549679400138,0.059972717744,0.999999996461,-4.59670504023e-05,-5.43651335629e-05,-4.48162159292e-05,1793239921366172928
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.467488415,745,715,679.467488415,661.934976829,635.467488415,879.467488415,788,804,652.467488415,631.532511585,652,0.410543205572,-0.00551896046182,0.0599858683576,0.99999999565,-7.74079164387e-05,-2.12616361588e-05,-4.75029383735e-05,1793239921382839552
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.111868416,715,679,661.223736831,635.111868416,879.111868416,788,804,652,632,652,0.41121676719,-0.00553873530527,0.0599979051249,0.999999992669,-0.000109684439874,9.07219213692e-06,-5.04834827017e-05,1793239921399506176
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.686364506,715,679,662.372729011,635.686364506,879.686364506,788,804,652,632,652,0.411888106959,-0.00554553370206,0.0599966425888,0.999999989023,-0.000137431141804,7.75816488887e-06,-5.4823399179e-05,1793239921416172800
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714.739695357,679.260304643,662.739695357,636,880,788,804.260304643,652,631.739695357,652.260304643,0.412549798653,-0.00554673626871,0.0599843178384,0.999999993164,-0.000106977097178,-1.68193683802e-05,-4.40911245697e-05,1793239921432839680
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,714.166423571,679.833576429,662.166423571,636,880,788,804.833576429,652,631.166423571,652.833576429,0.413199890451,-0.00554121090798,0.0599586928656,0.999999997457,-6.54765567154e-06,-6.93668715912e-05,-1.52373885259e-05,1793239921449506560
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.42087692,745.57912308,714.42087692,679.57912308,662,635.57912308,880,788,804.57912308,652,631,652.57912308,0.413904457254,-0.00552158067282,0.0599355877083,0.999999993018,3.70547669033e-05,-0.000111341394342,-1.392139726e-05,1793239921466173440
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.986494266,745,715,679.013505734,662.013505734,635.013505734,880,787.986494266,804,652,631,652,0.414633985464,-0.00549706132633,0.0599152924594,0.999999987497,5.63907901062e-05,-0.000145825547015,-2.37021775669e-05,1793239921482840064
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.410934744,745,715,679.589065256,662.589065256,635.589065256,880,787.410934744,804,652,631,652,0.41547496709,-0.00550918756089,0.0599690387106,0.999999997917,3.32376196523e-05,-4.85773501278e-05,-2.65040256263e-05,1793239921499506432
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.15947675,715,680,662.84052325,636,880,787.15947675,804,652,631,652.15947675,0.416305596141,-0.00552238743453,0.0600118652262,0.999999999202,5.50810655932e-06,2.73493010056e-05,-2.85940925455e-05,1793239921516172544
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.717037756,715,680,662.282962244,636,880,787.717037756,804,652,631,652.717037756,0.417110383149,-0.00553826731447,0.0600274340047,0.999999997764,-3.36448248536e-05,5.00533176613e-05,-2.89074189186e-05,1793239921532839168
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.698978416,715,680,662,635.698978416,880,788,804,652,631.301021584,652.698978416,0.417900853538,-0.00554537747653,0.0600253592388,0.999999997343,-4.78458492721e-05,4.60331733187e-05,-3.01098360478e-05,1793239921549506048
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.087767042,715,680,662,635.087767042,880,788,804,652,631.912232958,652.087767042,0.418676571217,-0.00554345082065,0.0600051035587,0.999999998716,-3.63350046763e-05,1.44749294952e-05,-3.22284229504e-05,1793239921566172928
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.496103167,715,680,662,635,880,787.503896833,804,652,631.503896833,652.496103167,0.419507722912,-0.00553640006384,0.0599843736408,0.999999998763,-2.90998936279e-05,-1.98882665752e-05,-3.50927745484e-05,1793239921582839808
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.074957485,745.925042515,715,680,662,635,880,787,804.074957485,652,631.074957485,652.925042515,0.420341229331,-0.00552921283151,0.0599618177409,0.999999997337,-2.36459671632e-05,-5.76794637312e-05,-3.79436117277e-05,1793239921599506944
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.650927144,745.349072856,715,680,662,635,880,787,804.650927144,652,631.650927144,652.349072856,0.421128348629,-0.00552685605145,0.0599275885597,0.999999992245,-2.53055265839e-05,-0.000115239691647,-3.98683301017e-05,1793239921616173312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.768823291,745.231176709,715,680,662,635.231176709,880,787.231176709,804.768823291,652,632,652.231176709,0.421931941367,-0.00552795265485,0.0599050238533,0.999999986839,-2.74728921626e-05,-0.000154424215272,-4.14762848247e-05,1793239921632839680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.181989152,745.818010848,715,680,662,635.818010848,880,787.818010848,804.181989152,652,632,652.818010848,0.422760878045,-0.0055343621698,0.0599004045359,0.999999984962,-3.0421500439e-05,-0.000165338357862,-4.25969099982e-05,1793239921649506048
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.399250681,745.600749319,715,680,662.399250681,636,880,787.600749319,804.399250681,651.600749319,632,653,0.423683867021,-0.00554067354747,0.0599457040587,0.999999994195,-4.40065579224e-05,-8.93411388512e-05,-4.11286950685e-05,1793239921666172672
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.977975682,745.022024318,715,680,662.977975682,636,880,787.022024318,804.977975682,651.022024318,632,653,0.424649135079,-0.00554694080931,0.0600134434932,0.999999996983,-6.23729954118e-05,2.572516378e-05,-3.8496723744e-05,1793239921682839296
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.443238655,745,715,680,663,635.443238655,880,787,804.443238655,651.556761345,631.443238655,652.443238655,0.425561622942,-0.00554583658533,0.0600345681462,0.999999996231,-5.30249520059e-05,5.73097143523e-05,-3.79721541869e-05,1793239921699506176
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.865002542,635,880,787,804,651.865002542,631.134997458,652,0.426461779477,-0.00554516285536,0.0600440148761,0.999999995557,-4.41866801468e-05,7.39430985067e-05,-3.8297253097e-05,1793239921716172544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.288571301,635,880,787,804,651.288571301,631.711428699,652,0.427328441221,-0.00554685043653,0.0600213058559,0.999999996953,-4.06006480402e-05,5.24867565148e-05,-4.11280917333e-05,1793239921732839168
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.292995658,715,680,662.292995658,635,880.292995658,787.292995658,804,651.292995658,631.707004342,652,0.428172238829,-0.00554942353435,0.0600007397593,0.999999997245,-5.35901615739e-05,2.73438842878e-05,-4.34889055313e-05,1793239921749506048
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.879710991,715,680,662.879710991,635,880.879710991,787.879710991,804,651.879710991,631.120289009,652,0.428993115752,-0.00555288433692,0.0599823218831,0.999999995508,-8.3196180571e-05,-1.49462665474e-06,-4.53785328072e-05,1793239921766172928
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.539394625,715,680,662.539394625,635,880.539394625,787.539394625,804,652,631,652,0.429804777062,-0.00554990680819,0.0599518706812,0.999999994545,-7.4030553237e-05,-5.68870214359e-05,-4.68436439714e-05,1793239921782839552
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,804.039880901,652,631.039880901,652,0.430622878635,-0.00554557006688,0.0599228183861,0.999999991201,-5.58687984728e-05,-0.000110269234368,-4.81445471386e-05,1793239921799505920
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,804.617569109,652,631.617569109,652,0.431559878535,-0.00554529512353,0.0599544803553,0.999999996525,-5.12313149801e-05,-4.41943080492e-05,-4.87074333524e-05,1793239921816172544
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.193894105,662.387788209,635,880.193894105,787.193894105,805,651.806105895,631.806105895,652.193894105,0.432471832984,-0.00554622678971,0.0599872043271,0.999999997285,-5.30778534588e-05,1.63862205686e-05,-4.84211159558e-05,1793239921832839168
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.767549217,663.535098433,635,880.767549217,787.767549217,805,651.232450783,631.232450783,652.767549217,0.433334733575,-0.00554952172133,0.0600220083429,0.999999994442,-6.76239973009e-05,6.62054329008e-05,-4.6471548665e-05,1793239921849506048
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.648642803,663.297285607,635,880.648642803,787.648642803,805,651.351357197,631,652.648642803,0.434148305799,-0.00555451629482,0.0600215598827,0.999999994174,-7.57987664688e-05,6.1053389903e-05,-4.66870712871e-05,1793239921866172928
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.057918059,662.115836118,635,880.057918059,787.057918059,805,651.942081941,631,652.057918059,0.434928272253,-0.00556066877552,0.0599970951237,0.999999995489,-7.9632936784e-05,1.84513223661e-05,-4.83775951507e-05,1793239921882839808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.478681006,745,714.478681006,680,662.521318994,635,880,787,805,652,631.521318994,652,0.435708237556,-0.00555912313377,0.0599699676781,0.999999994835,-8.19985760759e-05,-3.1540021021e-05,-5.10945661434e-05,1793239921899506432
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.098919834,745,714,680,662.901080166,635.098919834,880,787,805,651.901080166,632,652,0.436486708404,-0.00555719882008,0.0599461324757,0.99999999223,-8.40386339655e-05,-7.50007508546e-05,-5.34108375781e-05,1793239921916173056
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.674653031,745,714,680,662.325346969,635.674653031,880,787,805,651.325346969,632,652,0.437257976259,-0.00555748284467,0.0599395617209,0.999999991492,-8.5278796647e-05,-8.3110832118e-05,-5.32578263617e-05,1793239921932839680
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.995894451,635,880,787,805,652,631,652,0.440157916447,-0.00555177409752,0.0599403195827,0.999999990325,-7.53596412514e-05,-0.000104863658294,-5.17156870919e-05,1793239921999506176
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.417973637,635,880,787,805,652,631,652,0.440820864471,-0.00555566795982,0.0599325942536,0.999999987405,-8.3980193614e-05,-0.000124210410941,-5.20580643254e-05,1793239922016172800
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..521210763b0c500156fe7bdf14c027a9a5a7b57b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1525eacad82879635c8c4aa767b7322222a274ca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780996f13c37cd2aea6668d4c4cdd2d55af0f561daa7b6c044f0c30794d6b5e4
+size 26238524
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84013e2050ae09269adad53e7b3972707aaebc33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+16,0.266666667,BASELINE,766,745.723180584,714.723180584,679,665,635.276819416,879.276819416,787.723180584,804,653,632,653,0.400933824389,-0.00543568341446,0.0499305378754,0.999999973579,6.51719747276e-05,-0.000218824419388,-2.6645554932e-05,1793239927522156288
+17,0.283333333,BASELINE,766,745.13623914,714.13623914,679,665,635.86376086,879.86376086,787.13623914,804,653,632,653,0.400934921433,-0.00543583804468,0.0499314889337,0.999999974081,6.3641115711e-05,-0.000216973204593,-2.66646411001e-05,1793239927538822912
+18,0.300000000,BASELINE,766,745,714.444803821,679,665,636,879.555196179,787.444803821,804,653,632,652.555196179,0.400934356834,-0.0054349672154,0.0499311148437,0.999999973625,6.60471156015e-05,-0.000218358399346,-2.66085793804e-05,1793239927555489792
+19,0.316666667,BASELINE,766,745.023962568,715,679,665,636,879,788,804,653,631.976037432,652.023962568,0.400933398923,-0.00543389951248,0.0499303997912,0.99999997293,6.93796228606e-05,-0.000220504669644,-2.65337519558e-05,1793239927572156672
+20,0.333333333,BASELINE,766,745.600786444,715,679,665,636,879,788,804,653,631.399213556,652.600786444,0.400934955225,-0.00543544133487,0.0499310599562,0.999999973744,6.66319147485e-05,-0.000217638982411,-2.655006163e-05,1793239927588823296
+21,0.350000000,BASELINE,766,746,714.822775446,679,665,635.822775446,879,788,804,653,631,653,0.400936351984,-0.00543630282855,0.0499317528695,0.99999997436,6.50645616628e-05,-0.000215277208182,-2.6517742773e-05,1793239927605489920
+22,0.366666667,BASELINE,766,746,714.247204495,679,665,635.247204495,879,788,804,653,631,653,0.400937390141,-0.00543563515194,0.0499325193906,0.999999974556,6.61502847202e-05,-0.00021404807609,-2.6376121903e-05,1793239927622156544
+23,0.383333333,BASELINE,766,745.665043096,714.334956904,679,665.334956904,635.334956904,879,788,803.665043096,652.665043096,631,653,0.400936773309,-0.00543593482993,0.0499323264001,0.999999974324,6.71127410362e-05,-0.000214863812339,-2.60864601493e-05,1793239927638823168
+24,0.400000000,BASELINE,766,745.077920139,714.922079861,679,665.922079861,635.922079861,879,788,803.077920139,652.077920139,631,653,0.400934910551,-0.00543696276272,0.0499314110594,0.999999973767,6.79823984013e-05,-0.000217218989413,-2.56853485649e-05,1793239927655489792
+25,0.416666667,BASELINE,766,745,714.495114188,679,665.495114188,636,879,788,803,652,631,652.495114188,0.400935248798,-0.00543569931125,0.0499315464404,0.999999973789,6.80212050293e-05,-0.000217085814811,-2.58738912908e-05,1793239927672156416
+26,0.433333333,BASELINE,766,745.086226001,714,679,665,635.913773999,879,788,803.086226001,652.086226001,631,652.086226001,0.400935554077,-0.00543438416522,0.0499316003434,0.999999973814,6.80683671457e-05,-0.000216928739453,-2.60917497032e-05,1793239927688823040
+27,0.450000000,BASELINE,766,745.662985935,714,679,665,635.337014065,879,788,803.662985935,652.662985935,631,652.662985935,0.40093375574,-0.00543476967802,0.049930276027,0.999999973353,6.88863535096e-05,-0.000218801908768,-2.5963064353e-05,1793239927705489920
+28,0.466666667,BASELINE,766,745.761324374,714.238675626,679,665.238675626,635.238675626,879.238675626,788,804,653,631.238675626,653,0.400933461205,-0.00543470233195,0.0499301002112,0.999999973279,6.90898191715e-05,-0.000219074881736,-2.59585443822e-05,1793239927722156544
+29,0.483333333,BASELINE,766,745.187139172,714.812860828,679,665.812860828,635.812860828,879.812860828,788,804,653,631.812860828,653,0.400935280588,-0.00543399839596,0.0499315388587,0.999999973751,6.84294446706e-05,-0.000217098436812,-2.61285653828e-05,1793239927738823424
+30,0.500000000,BASELINE,766,745.396732558,715,679,665.603267442,636,879.603267442,788,804,653,632,653,0.400936483623,-0.00543515382579,0.0499326423511,0.999999974192,6.76284212673e-05,-0.000215347233586,-2.58624683956e-05,1793239927755489792
+31,0.516666667,BASELINE,766,745.985287768,715,679,665.014712232,636,879.014712232,788,804,653,632,653,0.400937388649,-0.00543720827053,0.0499335837938,0.999999974614,6.67593932667e-05,-0.000213704936173,-2.53855056522e-05,1793239927772156416
+32,0.533333333,BASELINE,766,746,714.437374838,679,665,636,879.562625162,788,804,653,631.437374838,653,0.400935316471,-0.00543589570309,0.0499316983298,0.999999974045,6.78246912074e-05,-0.00021596012796,-2.5923546405e-05,1793239927788823040
+33,0.550000000,BASELINE,766.140220153,746,714,679,665,635.859779847,879.859779847,788,804,653,631.140220153,652.859779847,0.400933939015,-0.00543492869568,0.0499303847153,0.999999973668,6.82383498774e-05,-0.000217520240487,-2.63224727648e-05,1793239927805489920
+34,0.566666667,BASELINE,766.719522259,746,714,679,665,635.280477741,879.280477741,788,804,653,631.719522259,652.280477741,0.400934976014,-0.00543531407878,0.049931088728,0.999999973993,6.6456188647e-05,-0.000216590898393,-2.62042926419e-05,1793239927822156544
+35,0.583333333,BASELINE,766.697970436,746,714,679,665,635.302029564,879,788,804,653,631.697970436,652.302029564,0.400936248296,-0.00543579089703,0.0499318735491,0.999999974271,6.63170712453e-05,-0.000215363329254,-2.60510224748e-05,1793239927838823168
+36,0.600000000,BASELINE,766.112454651,746,714,679,665,635.887545349,879,788,804,653,631.112454651,652.887545349,0.400937741416,-0.00543635353675,0.0499327342175,0.999999974505,6.77201214943e-05,-0.000213855842844,-2.58648166308e-05,1793239927855490048
+37,0.616666667,BASELINE,766,746,714,679,665.46790384,635.53209616,879.46790384,788.46790384,803.53209616,653,631,653,0.400935849706,-0.00543615764705,0.0499310907422,0.999999973972,6.75296790605e-05,-0.000216384847282,-2.59432400049e-05,1793239927872156672
+38,0.633333333,BASELINE,766,745.95313589,714.04686411,679,665.95313589,635.04686411,879.95313589,788.95313589,803,653,631,653,0.400933374442,-0.00543575299956,0.0499290562524,0.999999973307,6.71224909464e-05,-0.000219545249284,-2.61032990142e-05,1793239927888823296
+39,0.650000000,BASELINE,766,745.376123702,714.623876298,679,665.376123702,635.623876298,879.376123702,788.376123702,803,653,631,653,0.400933400123,-0.00543502659752,0.0499293324756,0.999999973321,6.85485369795e-05,-0.00021899353164,-2.64752266314e-05,1793239927905489920
+40,0.666666667,BASELINE,766,745.200783806,714.799216194,678.799216194,665,636,879,788,803.200783806,653,631,652.799216194,0.400933884294,-0.00543459535246,0.0499299402667,0.999999973489,6.9033824756e-05,-0.000218064139989,-2.65290004765e-05,1793239927922156288
+41,0.683333333,BASELINE,766,745.777495289,714.222504711,678.222504711,665,636,879,788,803.777495289,653,631,652.222504711,0.400935226895,-0.0054347167301,0.0499311688529,0.999999973946,6.77577300324e-05,-0.000216427629037,-2.59870947447e-05,1793239927938822912
+42,0.700000000,BASELINE,766,745.638403966,714.361596034,678.361596034,665,636,879.361596034,788,804,652.638403966,631.361596034,652.361596034,0.40093618522,-0.00543472787959,0.0499317973564,0.999999974143,6.83082488642e-05,-0.000215359513027,-2.58594551808e-05,1793239927955489792
+43,0.716666667,BASELINE,766,745.049661476,714.950338524,678.950338524,665,636,879.950338524,788,804,652.049661476,631.950338524,652.950338524,0.400936902153,-0.00543466978625,0.0499320489014,0.999999974175,7.00062050988e-05,-0.000214648449934,-2.59920482815e-05,1793239927972156416
+44,0.733333333,BASELINE,766,745.530615033,715,679,665.530615033,636,880,788,804,652.530615033,632,653,0.400936086185,-0.00543524373948,0.0499311467817,0.999999974019,6.83168501337e-05,-0.000215913968999,-2.59822652465e-05,1793239927988823040
+45,0.750000000,BASELINE,766,746,715,679,665.890555034,635.890555034,879.890555034,788,804,653,631.890555034,653,0.400935389918,-0.00543567895099,0.0499303632685,0.99999997387,6.70830127532e-05,-0.00021699128783,-2.59827796917e-05,1793239928005489920
+46,0.766666667,BASELINE,766,746,715,679,665.314567141,635.314567141,879.314567141,788,804,653,631.314567141,653,0.400935805882,-0.00543527452798,0.0499305383968,0.999999973837,6.91211587826e-05,-0.000216490140011,-2.60831015018e-05,1793239928022156544
+47,0.783333333,BASELINE,766,745.733787994,715,679.266212006,665,635.266212006,879,788,804,653,631,653,0.400936115498,-0.00543555939392,0.049930820035,0.999999973992,6.8016204725e-05,-0.000216105006406,-2.62511924759e-05,1793239928038823168
+48,0.800000000,BASELINE,766,745.147243462,715,679.852756538,665,635.852756538,879,788,804,653,631,653,0.400936297146,-0.00543667368024,0.0499312298365,0.999999974359,6.31291630773e-05,-0.000215859472474,-2.65008300012e-05,1793239928055489792
+49,0.816666667,BASELINE,766,745,715,679.566231096,665,636,879.433768904,788,804,653,631,653,0.400935993982,-0.00543718346343,0.0499309266966,0.999999974294,6.26058829165e-05,-0.000216332024859,-2.63284819717e-05,1793239928072156416
+50,0.833333333,BASELINE,766,745,715,679,665.012906685,636,880,788,803.987093315,653,631.012906685,653,0.400935519059,-0.00543748752053,0.0499303956101,0.999999974092,6.35282637463e-05,-0.00021703379713,-2.60204647404e-05,1793239928088823040
+51,0.850000000,BASELINE,766,745,715,679,665.591155431,636,880,788,803.408844569,653,631.591155431,653,0.400934638434,-0.00543765532051,0.0499303469921,0.999999974038,6.37073238494e-05,-0.000217233339808,-2.59652077941e-05,1793239928105489920
+52,0.866666667,BASELINE,766,745.167709824,715,679.167709824,665.832290176,635.832290176,880,788,803.167709824,653,632,653,0.400933835952,-0.00543738991805,0.0499300646632,0.999999973883,6.43401310811e-05,-0.000217763621245,-2.59672667846e-05,1793239928122156544
+53,0.883333333,BASELINE,766,745.740174986,715,679.740174986,665.259825014,635.259825014,880,788,803.740174986,653,632,653,0.400933222062,-0.0054360790133,0.0499292182903,0.999999973476,6.60680236568e-05,-0.000219092116357,-2.61076535809e-05,1793239928138823168
+54,0.900000000,BASELINE,766,746,715,680,665,635,879.677051881,788,804,653,632,653,0.400934642883,-0.00543596482139,0.049929807382,0.999999973673,6.67832940296e-05,-0.000217979334996,-2.60654419023e-05,1793239928155489792
+55,0.916666667,BASELINE,766,746,715,680,665,635,879.08571216,788,804,653,632,653,0.400937754687,-0.00543684517839,0.0499315894412,0.999999974366,6.66570071752e-05,-0.000214837688665,-2.58714786057e-05,1793239928172156416
+56,0.933333333,BASELINE,766,746,715,679.504490664,665,635.495509336,879,788,804,653,631.504490664,653,0.400937591925,-0.00543659195082,0.049931962283,0.999999974415,6.71160141717e-05,-0.000214468753315,-2.58405982449e-05,1793239928188823296
+57,0.950000000,BASELINE,766,745.925491023,715,679,665,635.925491023,879.074508977,788,804,653,631.074508977,653,0.400936993782,-0.00543609213911,0.049932054999,0.999999974351,6.76962645009e-05,-0.000214583413588,-2.58510327106e-05,1793239928205490176
+58,0.966666667,BASELINE,766,745.349898942,715,679,665,635.349898942,879.650101058,788,804,653,631.650101058,653,0.400937200717,-0.00543522632564,0.0499318703689,0.999999974255,6.84246453392e-05,-0.000214789372002,-2.59533970865e-05,1793239928222156800
+59,0.983333333,BASELINE,766,745,715,679,665,635.225095874,880,788,804,653,632,653,0.400936193094,-0.00543506949008,0.0499311419225,0.99999997402,6.8275748747e-05,-0.000215923020161,-2.59912630206e-05,1793239928238823424
+60,1.000000000,BASELINE,766,745,715,679,665,635.799164819,880,788,804,653,632,653,0.400933302504,-0.00543601180466,0.0499295703811,0.999999973565,6.67667820199e-05,-0.000218494894363,-2.59291350478e-05,1793239928255490048
+61,1.016666667,BASELINE,766,745.385092005,715,679,665.385092005,636,879.614907995,788,804,653,631.614907995,653,0.400933568178,-0.00543723599076,0.0499294705103,0.999999973749,6.45087231355e-05,-0.000218337027466,-2.58926875305e-05,1793239928272156672
+62,1.033333333,BASELINE,766,745.977400013,715,679,665.977400013,636,879.022599987,788,804,653,631.022599987,653,0.400935532222,-0.0054386118504,0.049930162538,0.999999974271,6.18475817505e-05,-0.000216710300934,-2.5870058536e-05,1793239928288823552
+63,1.050000000,BASELINE,766.55578356,746,715,679,665.44421644,636,879,788,804,653,631,653,0.400935747595,-0.00543698896752,0.0499303912379,0.999999974079,6.51992121071e-05,-0.000216620680416,-2.58357837223e-05,1793239928305489920
+64,1.066666667,BASELINE,766.867085929,746,715,679,665,636,879.132914071,788,804,653,631.132914071,653,0.400936055435,-0.00543579264312,0.0499307128253,0.999999973962,6.76702740164e-05,-0.000216405062193,-2.58158707201e-05,1793239928322156288
+65,1.083333333,BASELINE,766.292284868,746,715,679,665,636,879.707715132,788,804,653,631.707715132,653,0.400936901318,-0.00543640994767,0.0499314043333,0.999999974225,6.64207964425e-05,-0.000215567829628,-2.58452410045e-05,1793239928338823168
+66,1.100000000,BASELINE,766,746,715,679,665,635.712005908,879.712005908,788,804,653,631.712005908,653,0.400937215719,-0.00543689277943,0.0499315416649,0.999999974348,6.56281267197e-05,-0.000215250384965,-2.57582892194e-05,1793239928355490048
+67,1.116666667,BASELINE,766,746,715,679,665,635.126059673,879.126059673,788,804,653,631.126059673,653,0.400936980264,-0.00543723648867,0.0499311056582,0.999999974327,6.53080600959e-05,-0.000215470701105,-2.55509932628e-05,1793239928372156416
+68,1.133333333,BASELINE,766.454517,746,715,679,665,635.454517,879.454517,788,803.545483,653,631,653,0.400937307672,-0.00543626414843,0.0499314318093,0.999999974334,6.60348331506e-05,-0.000215189209866,-2.57917537467e-05,1793239928388823040
+69,1.150000000,BASELINE,766.966410698,746,715,679,665.033589302,636,880,788,803.033589302,653,631.033589302,653,0.400937774077,-0.00543502947216,0.0499319575217,0.999999974356,6.70038620391e-05,-0.000214748348784,-2.61268054248e-05,1793239928405489664
+70,1.166666667,BASELINE,766.387866725,746,715,679,665.612133275,636,880,788,803.612133275,653,631.612133275,653,0.400937992408,-0.00543539135457,0.049932331471,0.999999974513,6.72477754504e-05,-0.000213953491693,-2.59990538036e-05,1793239928422156288
+71,1.183333333,BASELINE,766,746,715,679,666,635.81053378,880,788.18946622,804,653,631.81053378,653,0.400938043911,-0.00543581400272,0.0499324909583,0.999999974601,6.71146665539e-05,-0.000213592411209,-2.59208591404e-05,1793239928438823168
+72,1.200000000,BASELINE,766,746,715,679,666,635.235664146,880,788.764335854,804,653,631.235664146,653,0.400937756062,-0.00543636025778,0.0499322141966,0.999999974549,6.62146363762e-05,-0.00021411369887,-2.59434709235e-05,1793239928455489792
+73,1.216666667,BASELINE,766,745.652678935,715,679,666,635.347321065,880,788.652678935,804,653,631.347321065,653,0.400936421466,-0.00543766141663,0.0499311502709,0.999999974311,6.4522892806e-05,-0.000215754753237,-2.57708171718e-05,1793239928472156416
+74,1.233333333,BASELINE,766,745.064055436,715,679,666,635.935944564,880,788.064055436,804,653,631.935944564,653,0.400934359639,-0.00543948704731,0.0499295394603,0.999999973936,6.22811038469e-05,-0.000218173769114,-2.54625020561e-05,1793239928488823296
+75,1.250000000,BASELINE,766,745,715,679.515476608,665.484523392,636,880,788,803.484523392,653,632,653,0.400934362122,-0.00543883825467,0.0499299921796,0.999999973885,6.4273282243e-05,-0.000217856191321,-2.52405406888e-05,1793239928505489920
+76,1.266666667,BASELINE,766,745.09363895,715,679.90636105,665.09363895,635.90636105,879.90636105,788,803.09363895,653,632,653,0.400934721572,-0.00543783718241,0.0499306423551,0.999999973924,6.640796607e-05,-0.000217049551947,-2.51355683053e-05,1793239928522156544
+77,1.283333333,BASELINE,766,745.670462047,715,679.329537953,665.670462047,635.329537953,879.329537953,788,803.670462047,653,632,653,0.400935622279,-0.0054365774574,0.0499310111865,0.999999974246,6.66101609804e-05,-0.000215443648308,-2.55798564345e-05,1793239928538823424
+78,1.300000000,BASELINE,766,745.752991392,715,679,665.752991392,635,879,788,804,653,632,653,0.400935799506,-0.0054362594692,0.049930798986,0.999999974288,6.5958040772e-05,-0.000215423340765,-2.58058507095e-05,1793239928555490048
+79,1.316666667,BASELINE,766,745.176813397,715,679,665.176813397,635,879,788,804,653,632,653,0.400935012609,-0.00543719646137,0.0499298124887,0.999999973953,6.41674404485e-05,-0.000217516035406,-2.57409415069e-05,1793239928572156672
+80,1.333333333,BASELINE,766,745.409110926,715,679,665.409110926,635,879,788,803.590889074,653,631.590889074,653,0.400935826361,-0.00543719305235,0.049929684249,0.999999974059,6.38975762959e-05,-0.000217087977379,-2.59185205836e-05,1793239928588823296
+81,1.350000000,BASELINE,766,745.999350359,715,679,665.999350359,635,879,788,803.000649641,653,631.000649641,653,0.40093734878,-0.00543677329311,0.0499299359914,0.99999997436,6.4300998018e-05,-0.000215543889293,-2.62034581657e-05,1793239928605489664
+82,1.366666667,BASELINE,766,746,715,679,666,635.577682391,879.577682391,788,803.577682391,653,631,653,0.400936216114,-0.00543619512406,0.0499303515507,0.99999997421,6.56287124527e-05,-0.000215864690033,-2.59965238454e-05,1793239928622156544
+83,1.383333333,BASELINE,766,746,714.844828363,679,666,636,880,788,804,653,631.155171637,653,0.400935267191,-0.00543623346031,0.0499304040112,0.999999974098,6.61987163455e-05,-0.000216229596366,-2.5831306018e-05,1793239928638823168
+84,1.400000000,BASELINE,766,746,714.269585016,679,666,636,880,788,804,653,631.730414984,653,0.400934823606,-0.00543794123654,0.0499294730233,0.999999974092,6.47147331844e-05,-0.000216708340164,-2.57804878211e-05,1793239928655489792
+85,1.416666667,BASELINE,766,745.687349529,714.312650471,679,665.687349529,635.687349529,880,788,804,653,631.687349529,653,0.400934525977,-0.0054385590665,0.0499291612896,0.999999974037,6.36387198815e-05,-0.000217287507716,-2.57514927873e-05,1793239928672156672
+86,1.433333333,BASELINE,766,745.098947139,714.901052861,679,665.098947139,635.098947139,880,788,804,653,631.098947139,653,0.400934357079,-0.00543821558397,0.0499293957267,0.999999973937,6.29225285206e-05,-0.000217955247128,-2.5741745382e-05,1793239928688823296
+87,1.450000000,BASELINE,766,745.480799173,715,679,665.480799173,635,880,788,804,653,631.480799173,653,0.4009361837,-0.00543825249205,0.04993045953,0.999999974323,6.27278389068e-05,-0.00021623977965,-2.56794870989e-05,1793239928705489920
+88,1.466666667,BASELINE,766,745.941174964,715,679,665.941174964,635,880,787.941174964,804,653,631.941174964,652.941174964,0.400937999938,-0.00543839860652,0.0499314573974,0.999999974708,6.27644659884e-05,-0.000214450451703,-2.55992587251e-05,1793239928722156800
+89,1.483333333,BASELINE,766,745.362889075,715,679,665.362889075,635,880,787.362889075,804,653,631.362889075,652.362889075,0.400936162125,-0.00543883001582,0.049930392446,0.999999974249,6.39127881753e-05,-0.000216263332882,-2.54540846385e-05,1793239928738823168
+90,1.500000000,BASELINE,766.218144392,745.218144392,714.781855608,679,665.218144392,635,880,787.218144392,804,652.781855608,631,652.218144392,0.400935699656,-0.0054387559821,0.0499302457673,0.999999974183,6.44298069868e-05,-0.000216417638201,-2.54186849773e-05,1793239928755490048
+91,1.516666667,BASELINE,766.803806773,745.803806773,714.196193227,679,665.803806773,635,880,787.803806773,804,652.196193227,631,652.803806773,0.40093755429,-0.00543783040497,0.0499316461455,0.999999974782,6.38832395632e-05,-0.000213777663554,-2.55682274039e-05,1793239928772156672
+92,1.533333333,BASELINE,766.614535122,745.614535122,714.385464878,679,665.614535122,635.385464878,880,788,803.614535122,652.385464878,631.385464878,652.614535122,0.400936881294,-0.00543789228821,0.0499313558389,0.999999974589,6.43083730634e-05,-0.000214539345812,-2.5669206606e-05,1793239928788823296
+93,1.550000000,BASELINE,766.034894099,745.034894099,714.965105901,679,665.034894099,635.965105901,880,788,803.034894099,652.965105901,631.965105901,652.034894099,0.400934935017,-0.00543845159996,0.0499302138578,0.999999973994,6.5222996349e-05,-0.000217014596726,-2.57457223222e-05,1793239928805489920
+94,1.566666667,BASELINE,766,745.543862699,715,679,665,636,880.543862699,788,803,653,632,652,0.400935621543,-0.00543811961073,0.0499307297885,0.999999974254,6.36556370465e-05,-0.000216282592444,-2.57240584988e-05,1793239928822156544
+95,1.583333333,BASELINE,766,746,715,679,665.121631801,635.878368199,880.756736398,788,803,653,631.878368199,652,0.400936490246,-0.00543802578928,0.0499313701599,0.999999974544,6.23809464754e-05,-0.000215325191772,-2.56105163816e-05,1793239928838823168
+96,1.600000000,BASELINE,766,746,715,679,665.695935987,635.304064013,879.608128026,788,803,653,631.304064013,652,0.400937409305,-0.00543903082781,0.0499320784226,0.999999974751,6.27871574055e-05,-0.000214293529972,-2.51784396972e-05,1793239928855489792
+97,1.616666667,BASELINE,766,745.725446382,715,679,665.725446382,635.274553618,879,788,803.274553618,653,631,652.274553618,0.400937284001,-0.00543893444865,0.0499320680044,0.99999997469,6.4022380745e-05,-0.00021421962737,-2.51164281003e-05,1793239928872156416
+98,1.633333333,BASELINE,766,745.14197546,715,679,665.14197546,635.85802454,879,788,803.85802454,653,631,652.85802454,0.40093598362,-0.00543759879609,0.0499312489535,0.999999974324,6.61903773346e-05,-0.000215223359098,-2.54707997096e-05,1793239928888823296
+99,1.650000000,BASELINE,766,745,714.557278074,679,665.442721926,635.557278074,879,788,803.557278074,653,631.442721926,653,0.400936877059,-0.00543845881753,0.0499313199468,0.999999974605,6.47941584896e-05,-0.000214344570791,-2.54729178299e-05,1793239928905489920
+100,1.666666667,BASELINE,766,745,714,679,665.972627656,635.027372344,879,788,803.054744688,652.972627656,631.972627656,653,0.400938441269,-0.00543984333669,0.0499317191084,0.999999975075,6.24801722e-05,-0.000212845054356,-2.53812510594e-05,1793239928922156544
+101,1.683333333,BASELINE,766,745,714,679,665.396820445,635.603179555,879,788,804.206359109,652.396820445,631.396820445,653,0.400939309949,-0.00543758962442,0.0499329587678,0.999999975306,6.47425833102e-05,-0.00021103798123,-2.56801331548e-05,1793239928938823424
+102,1.700000000,BASELINE,766,745,714.178471834,679,665.178471834,635.821528166,879.178471834,788,804.821528166,652.178471834,631,653,0.40093974442,-0.00543657484747,0.0499333430084,0.999999975326,6.60698526124e-05,-0.000210516029391,-2.58040099898e-05,1793239928955490048
+103,1.716666667,BASELINE,766,745,714.752622416,679,665.752622416,635.247377584,879.752622416,788,804.247377584,652.752622416,631,653,0.400939216234,-0.00543830683688,0.0499318307531,0.999999974889,6.53238771632e-05,-0.000212843239877,-2.55398935614e-05,1793239928972156928
+104,1.733333333,BASELINE,766,745,715,679,665.665014416,635,879.665014416,788,804,653,631,653,0.40093820491,-0.00543842818591,0.0499310028458,0.999999974578,6.58476983565e-05,-0.000214134400139,-2.55857616072e-05,1793239928988823296
+105,1.750000000,BASELINE,766,745,715,679,665.076433994,635,879.076433994,788,804,653,631,653,0.400936827835,-0.00543733022865,0.0499306930119,0.999999974363,6.73327962778e-05,-0.000214641237378,-2.58662978196e-05,1793239929005489920
+106,1.766666667,BASELINE,766,745,714.49395641,679.50604359,665,635.50604359,879,788,804,653,631,653,0.400936536482,-0.00543805747163,0.0499307772194,0.999999974522,6.50313043748e-05,-0.000214645346212,-2.55868388989e-05,1793239929022156800
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,880,788,803,653,631,653,0.400936630842,-0.00543634816344,0.0499297505825,0.999999974296,6.54590583929e-05,-0.000215519713735,-2.59664269895e-05,1793239929065337344
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679,665.575465046,635.575465046,879.424534954,788,803.575465046,653,631,653,0.400935709191,-0.00543756239211,0.0499299851591,0.999999974339,6.262694849e-05,-0.000216200858819,-2.56492893558e-05,1793239929082003968
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.15479018,714,679,666,636,879.15479018,788,803.84520982,653,631,652.84520982,0.40093527586,-0.00543852782395,0.0499302317687,0.999999974389,6.12437257728e-05,-0.000216395527149,-2.53921501385e-05,1793239929098670592
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.744973076,714,679,666,636,879.744973076,788,803.255026924,653,631,652.255026924,0.40093621607,-0.00543879344211,0.0499305122245,0.999999974476,6.39359219472e-05,-0.000215221837299,-2.53037739662e-05,1793239929115337472
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714.328342465,679,665.671657535,635.671657535,880,788,803,653,631.328342465,652.328342465,0.400937174019,-0.00543833105294,0.0499307425004,0.999999974634,6.46169547707e-05,-0.000214275670073,-2.53585437247e-05,1793239929132004096
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714.906527285,679,665.093472715,635.093472715,880,788,803,653,631.906527285,652.906527285,0.400938145468,-0.0054373147084,0.0499309345932,0.999999974849,6.37676529753e-05,-0.000213502629437,-2.55222360933e-05,1793239929148670720
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.517785333,714.517785333,679,665.482214667,635,880,788,803,653,631.517785333,653,0.400945128851,-0.00543737136795,0.0499331036672,0.999999976012,6.37055432005e-05,-0.000207961058283,-2.58671297502e-05,1793239929165337344
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.058774995,679,665.941225005,635.058774995,879.941225005,788,803.058774995,653,631,652.941225005,0.400954204784,-0.00543768781811,0.0499358347218,0.999999977433,6.37300250246e-05,-0.000200964309962,-2.61932504061e-05,1793239929182003968
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714.647549978,679,665.352450022,635.647549978,879.352450022,788,803.647549978,653,631,652.352450022,0.400971695783,-0.00543848102644,0.0499401955526,0.99999997978,6.31664628096e-05,-0.000189137770543,-2.60349887579e-05,1793239929198670592
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.232143176,715,679,665,636,879.232143176,788,804,653,631,652.232143176,0.400995074402,-0.00543975164647,0.0499452124224,0.999999982538,6.23406106279e-05,-0.000174302860762,-2.56085625631e-05,1793239929215337472
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.810499697,715,679,665,636,879.810499697,788,804,653,631,652.810499697,0.40102723369,-0.005441734268,0.0499512076943,0.999999985815,6.11235848713e-05,-0.000154981333114,-2.47822015383e-05,1793239929232004096
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.612079007,745.612079007,714.612079007,679,665.387920993,636,879.612079007,788,803.612079007,653,631.387920993,652.612079007,0.401069599794,-0.0054419397714,0.0499573438083,0.999999989197,6.13797060722e-05,-0.000131190771954,-2.50551875842e-05,1793239929248670720
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035113421,745.035113421,714.035113421,679,665.964886579,636,879.035113421,788,803.035113421,653,631.964886579,652.035113421,0.401116939965,-0.00544127923632,0.0499635485591,0.999999992186,6.23537322612e-05,-0.000105222325781,-2.58639156793e-05,1793239929265337600
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.540851375,745,714.540851375,678.459148625,665.459148625,635.459148625,879,788,803.540851375,653,631.459148625,652.540851375,0.401174770472,-0.00544254651126,0.0499682086454,0.99999999401,6.23900857529e-05,-8.61795053654e-05,-2.57077988695e-05,1793239929282004224
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.119647526,715,678.119647526,665,635.119647526,879.119647526,788,804,653,631,652.880352474,0.401234556132,-0.00544388134438,0.0499719974197,0.999999995121,6.25930948533e-05,-7.20705112595e-05,-2.54107017054e-05,1793239929298670592
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.709833786,715,678.709833786,665,635.709833786,879.709833786,788,804,653,631,652.290166214,0.401299357399,-0.00544499056286,0.0499727532367,0.999999994806,6.36904773235e-05,-7.55998149311e-05,-2.48050603487e-05,1793239929315337472
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679,665,636,879.706060002,788,804,653,631.293939998,652.293939998,0.401377388179,-0.00544855214662,0.0499733891207,0.999999994889,6.18862907303e-05,-7.62524916704e-05,-2.40189477533e-05,1793239929332004096
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665,636,879.127834181,788,804,653,631.872165819,652.872165819,0.401468213959,-0.00545448555003,0.0499739090108,0.999999995347,5.72758342309e-05,-7.4123021289e-05,-2.30582913579e-05,1793239929348670720
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.552944345,715,679,665.447055655,635.552944345,879,788,803.552944345,653,632,653,0.401575325363,-0.00545893812119,0.0499730366348,0.999999995464,5.50890724179e-05,-7.44038728224e-05,-2.23721772555e-05,1793239929365337856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.021573823,665.978426177,635.021573823,879,788,803.021573823,653,632,652.978426177,0.401688131697,-0.00546300677718,0.0499718980203,0.999999995507,5.35179756896e-05,-7.5160610928e-05,-2.17552948812e-05,1793239929382005504
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.611238093,665.388761907,635.611238093,879,788,803.611238093,653,632,652.388761907,0.40182918218,-0.00546803361486,0.0499741543588,0.999999996049,5.0044373191e-05,-7.04340878752e-05,-2.09095490088e-05,1793239929398671872
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.197014692,715,679.802985308,665,636,879,788,804,653,632,652.197014692,0.401980832955,-0.00547324225391,0.0499764122984,0.999999996492,4.69790450709e-05,-6.64577423614e-05,-1.98079523819e-05,1793239929415338240
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.775268273,715,679.224731727,665,636,879,788,804,653,632,652.775268273,0.402152996112,-0.0054788026923,0.049978673336,0.999999996791,4.47037603169e-05,-6.39330498059e-05,-1.82112645673e-05,1793239929432004352
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+131,2.183333333,POSE1_TO_POSE2_PRESS,765.066836271,745.066836271,715,679,665.933163729,636,879.933163729,788,804,653,631.066836271,653,0.402549167208,-0.00549101267465,0.0499731202316,0.999999996755,3.72716381789e-05,-6.95448742505e-05,-1.62589394933e-05,1793239929465338112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.008244398,745,714.495877801,679,665.495877801,636,879.495877801,787.495877801,804,653,631,652.495877801,0.402785084061,-0.00549933123843,0.0499753383843,0.999999997335,3.43065598874e-05,-6.27815369887e-05,-1.45291278529e-05,1793239929482004736
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.845446076,745,714.077276962,679,665,636,879.077276962,787.077276962,804,652.922723038,631,652.077276962,0.403030872544,-0.00550816405832,0.0499786237725,0.999999997987,3.09043750653e-05,-5.39486794962e-05,-1.26306403332e-05,1793239929498671360
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.655448368,745,714.672275816,679,665,636,879.672275816,787.672275816,804,652.327724184,631,652.672275816,0.403315193957,-0.00551862213042,0.0499836313828,0.999999998837,2.36136054184e-05,-4.07390280344e-05,-1.03916656238e-05,1793239929515337728
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.25952397,745,714.74047603,678.74047603,665,635.74047603,879.74047603,788,804,652.25952397,631,653,0.403620472381,-0.00552803959737,0.0499902284983,0.999999999456,1.97671850013e-05,-2.51308327033e-05,-8.04723965235e-06,1793239929532004352
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.837268414,745,714.162731586,678.162731586,665,635.162731586,879.162731586,788,804,652.837268414,631,653,0.403951447644,-0.00553618110503,0.0499987746167,0.99999999976,2.01441222848e-05,-6.58161593034e-06,-5.57351265438e-06,1793239929548670976
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.412809412,714.412809412,678.412809412,665,635.412809412,879,788,804,653,631,653,0.404312438989,-0.00554574478564,0.0500057075645,0.999999999816,1.7830682009e-05,6.63797207494e-06,-2.56073356752e-06,1793239929565337600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.987486397,714.987486397,678.987486397,665,635.987486397,879,788,804,653,631,653,0.404685199996,-0.00555586611732,0.0500120079684,0.999999999737,1.44623120749e-05,1.77677476069e-05,6.63414318585e-07,1793239929582004224
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.435719017,714.435719017,678.435719017,665,636,879.564280983,788,804,653,631.564280983,653,0.405091825554,-0.00556099763822,0.0500173061322,0.99999999937,2.02615566395e-05,2.88340822181e-05,4.1670443169e-06,1793239929598671104
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714,678.144434322,665,636,880,788,804,652.855565678,631.855565678,653,0.405495460441,-0.00556263061498,0.05001579557,0.999999999186,2.94271487061e-05,2.66966358159e-05,7.09291638787e-06,1793239929615337728
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714,678.734812228,665,636,880,788,804,652.265187772,631.265187772,653,0.405887534083,-0.00555380470875,0.0499933318235,0.999999998666,4.83563329969e-05,-1.62033653883e-05,8.21574168025e-06,1793239929632004352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635.682327862,880,787.682327862,804,652,631.317672138,653,0.406314679686,-0.00554727188232,0.049973747355,0.99999999655,6.52065561665e-05,-5.05723124787e-05,9.53179899898e-06,1793239929648671744
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635.105598703,880,787.105598703,804,652,631.894401297,653,0.406770426007,-0.00554260902825,0.0499565108936,0.99999999367,8.03614187792e-05,-7.79843133508e-05,1.10054343587e-05,1793239929665338880
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.530481241,745,714.469518759,679,665,635,879.530481241,787.469518759,804,652,631.530481241,653,0.407281393531,-0.00554463880723,0.0499491858702,0.999999991858,9.07678651342e-05,-8.86457378353e-05,1.3653320591e-05,1793239929682005760
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.045310118,745.045310118,715,679,665.045310118,635.045310118,879.045310118,787.954689882,804,652,631,652.954689882,0.407809135856,-0.0055483892563,0.0499463733186,0.999999990711,9.9746237808e-05,-9.13709173492e-05,1.67474331141e-05,1793239929698672640
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.633504492,745.633504492,715,679,665.633504492,635.633504492,879.633504492,787.366495508,804,652,631,652.366495508,0.408389568274,-0.00555478271367,0.0499710096207,0.999999993343,0.000104366117007,-4.39919122062e-05,2.20345368731e-05,1793239929715338752
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.780718827,715,679,665.780718827,636,880,787.219281173,804,652,631,652,0.408983161065,-0.00555958014626,0.0499917446145,0.999999994022,0.00010592367251,-8.1655523726e-06,2.58873476185e-05,1793239929732005376
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.198938924,715,679,665.198938924,636,880,787.801061076,804,652,631,652,0.409598509532,-0.00556173915336,0.0500060302647,0.999999994344,0.000102418830614,8.56286200062e-06,2.7369095487e-05,1793239929748671744
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714.621842885,679,665,635.621842885,880,788,804,652,631,652,0.410214099733,-0.00556184537891,0.0500088060823,0.999999994492,0.000100782788433,9.85872482575e-06,2.76095865894e-05,1793239929765338624
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.047180781,679,665,635.047180781,880,788,804,652,631,652,0.410829815529,-0.0055608849001,0.0500056009476,0.999999994613,0.000100117846621,3.13523941959e-06,2.72050728615e-05,1793239929782005504
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.529039319,679,665,635.529039319,880,787.470960681,803.470960681,652,631,652,0.411459706783,-0.00555884885083,0.0499745130149,0.999999992382,0.000103287254537,-6.1927491325e-05,2.70862593879e-05,1793239929798671872
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.892393302,745.107606698,714.892393302,679,665,635.892393302,880,787.107606698,803.107606698,652,631,652.107606698,0.412107582828,-0.00555782727332,0.0499500033164,0.99999998791,0.000105401320099,-0.000111051869467,2.71685128381e-05,1793239929815337984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.303960275,745.696039725,714.303960275,679,665,635.303960275,880,787.696039725,803.696039725,652,631,652.696039725,0.412830155779,-0.00556176860821,0.0499660316555,0.999999992325,0.000101267234791,-6.56410661289e-05,2.80350205663e-05,1793239929832004608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714.28015583,679,665,635,879.71984417,787.71984417,804,652,631,653,0.413565970051,-0.00556507699673,0.049981564746,0.999999994159,9.88205806039e-05,-3.22432759091e-05,2.96120173454e-05,1793239929848671232
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714.859659361,679,665,635,879.140340639,787.140340639,804,652,631,653,0.414315932819,-0.00556770907983,0.0499965686633,0.999999994602,9.81769533972e-05,-1.16814359253e-05,3.19481748535e-05,1793239929865337600
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.564955713,714.564955713,679,665,635,879,787.435044287,804,652,631,652.564955713,0.41504619734,-0.00556874389279,0.0499817635443,0.999999994171,9.67732225855e-05,-3.59543157913e-05,3.16114857612e-05,1793239929882004736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.009341154,745,714,679.009341154,665,635.009341154,879.009341154,788,804,652.009341154,631,652,0.415770989453,-0.00556925624619,0.0499576619619,0.999999992264,9.51174334869e-05,-7.41528275173e-05,3.04349335171e-05,1793239929898671872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.597781057,745,714,679.597781057,665,635.597781057,879.597781057,788,804,652.597781057,631,652,0.416546771145,-0.00556902283662,0.049947783695,0.999999991409,9.28939905552e-05,-8.74341375223e-05,3.01438028709e-05,1793239929915338752
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.816555525,745,714,679.816555525,665,635.816555525,880,788,804,652.816555525,631,652.183444475,0.417343236686,-0.00556944998065,0.0499508267352,0.999999992182,9.09145347272e-05,-8.0237205943e-05,3.05458352969e-05,1793239929932005120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.236889075,745,714,679.236889075,665,635.236889075,880,788,804,652.236889075,631,652.763110925,0.418184377256,-0.00557130385535,0.0499817785251,0.999999995057,8.94620669858e-05,-2.8809291146e-05,3.2445031575e-05,1793239929948671232
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.341238499,745.341238499,714.341238499,679,665,635,880.341238499,788,804,652,631.341238499,653,0.418995539964,-0.00557106451973,0.0499900168813,0.999999995289,8.88380317016e-05,-2.00312934531e-05,3.36046238908e-05,1793239929965337600
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918302551,745.918302551,714.918302551,679,665,635,880.918302551,788,804,652,631.918302551,653,0.419785985321,-0.00556937859322,0.0499825582732,0.999999994642,8.8786515615e-05,-4.07281089562e-05,3.42530853405e-05,1793239929982003968
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.506747622,714.506747622,679,665,635.493252378,880.506747622,788,804,652,632,652.506747622,0.42062433812,-0.0055671119919,0.049976948129,0.999999994698,9.02042448051e-05,-3.68503733409e-05,3.33112419481e-05,1793239929998670848
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.069611857,714,679,665.069611857,635.930388143,880,788,804,652.069611857,631.930388143,652.069611857,0.421475819931,-0.00556555143511,0.0499752610573,0.99999999502,9.12072525696e-05,-2.4241299955e-05,3.24697982254e-05,1793239930015337216
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.659102744,714,679,665.659102744,635.340897256,880,788,804,652.659102744,631.340897256,652.659102744,0.422366345054,-0.00556997900988,0.0500005957589,0.999999995328,8.73033620728e-05,2.33074277008e-05,3.43369253512e-05,1793239930032004352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714.244286613,679,666,635.244286613,880.244286613,788,804,652.755713387,631,652.755713387,0.423231012246,-0.00557288587913,0.050006709791,0.999999995121,8.5033283142e-05,3.55434078557e-05,3.55513533251e-05,1793239930048671232
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714.823564336,679,666,635.823564336,880.823564336,788,804,652.176435664,631,652.176435664,0.424060220491,-0.00557370740009,0.0499864664535,0.999999995744,8.50036554637e-05,-6.45102766731e-07,3.58707329241e-05,1793239930065338112
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.599792596,881,788,804.400207404,652.400207404,631.400207404,652.400207404,0.424909764981,-0.00557520193563,0.0499819801558,0.999999995953,8.16464597362e-05,-1.10726421512e-05,3.61152387559e-05,1793239930082004992
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.024303482,881,788,804.975696518,652.975696518,631.975696518,652.975696518,0.425768216233,-0.00557699123616,0.049984395083,0.999999996336,7.68318651695e-05,-1.02174618289e-05,3.63269515802e-05,1793239930098671104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.562619694,880.437380306,788,805,652.437380306,632,653,0.426649482158,-0.00557752154435,0.0500077042512,0.999999995967,7.88655409917e-05,1.77633263605e-05,3.911643066e-05,1793239930115337728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679.148078298,666,635.851921702,880,788,804.851921702,652.148078298,632,653,0.427509489608,-0.00557752891091,0.0500167051268,0.99999999568,8.04158083348e-05,2.22694112333e-05,4.09520118009e-05,1793239930132004352
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679.727798099,666,635.272201901,880,788,804.272201901,652.727798099,632,653,0.428304597168,-0.00557617374389,0.0499813124556,0.99999999502,7.9676757877e-05,-4.51386349736e-05,3.96757049859e-05,1793239930148670976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679.694119823,665.694119823,635,880,788,804.305880177,652.694119823,632,653,0.429139023585,-0.00557605123381,0.0499661428905,0.999999993942,7.90574746903e-05,-6.59712081283e-05,3.88976450578e-05,1793239930165337600
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679.11748742,665.11748742,635,880,788,804.88251258,652.11748742,632,653,0.430008253353,-0.0055770198197,0.0499688739679,0.999999995133,7.8544204688e-05,-4.55771341497e-05,3.85606124245e-05,1793239930182004224
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.458765029,665.458765029,635,880.458765029,788,805,652,632,653,0.430835568589,-0.00557803922955,0.0499676776686,0.999999995115,7.63589552268e-05,-4.92838003864e-05,3.88562888886e-05,1793239930198670848
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.964335114,715,679.964335114,665.964335114,635,880.964335114,788,805,652,631.964335114,653,0.43165152521,-0.00557909230884,0.0499647001507,0.999999994705,7.38437627669e-05,-5.99456388166e-05,3.92784833791e-05,1793239930215337472
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.375894775,715,679.375894775,665.375894775,635,880.375894775,788,805,652,631.375894775,653,0.432457663762,-0.00558046566821,0.0499496911154,0.99999999315,7.28457575014e-05,-8.28239156756e-05,3.91522939923e-05,1793239930232004096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.209295017,715,679.209295017,665.209295017,635,880,788,805,652,631.209295017,652.790704983,0.433270193771,-0.00558204475613,0.0499478210375,0.99999999334,7.09060106674e-05,-8.20448989672e-05,3.95132990653e-05,1793239930248670720
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.788736192,715,679.788736192,665.788736192,635,880,788,805,652,631.788736192,652.211263808,0.434094027448,-0.005583987683,0.0499691877007,0.999999996128,6.73007580346e-05,-3.94270671761e-05,4.07359259352e-05,1793239930265337344
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,880,788,805,652,631.632951826,652,0.434889107517,-0.00558226231899,0.0499871290478,0.999999996544,7.03826476933e-05,-1.37181268441e-05,4.20711187496e-05,1793239930282004224
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,880,788,805,652,631.05528782,652,0.435667688435,-0.00557843205371,0.0500031049139,0.999999996065,7.73016852266e-05,2.28832367671e-06,4.34709029492e-05,1793239930298670848
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.4711534,714.4711534,680,665.4711534,635,880,788,805.5288466,652,631.5288466,652,0.436351380772,-0.00557943537396,0.049978805962,0.999999994745,7.45489132867e-05,-5.49977536567e-05,4.39137612108e-05,1793239930315337472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714.112518186,680,665.112518186,635.112518186,880.112518186,788,806,652,632,652.112518186,0.437044925292,-0.00558094050509,0.0499586794923,0.999999991614,7.12556490225e-05,-9.87538942152e-05,4.40660853677e-05,1793239930332004096
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714.691432627,680,665.691432627,635.691432627,880.691432627,788,806,652,632,652.691432627,0.437820936475,-0.00558240513295,0.0499735172747,0.999999995136,6.99651332739e-05,-5.42732071104e-05,4.34339384715e-05,1793239930348670976
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.269886779,715,680,666,635.730113221,881,788,805.730113221,652,632,653,0.43856031808,-0.00558312716262,0.0499878299459,0.999999996336,7.02346922595e-05,-2.18875304388e-05,4.37611380617e-05,1793239930365337856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.847815528,715,680,666,635.152184472,881,788,805.152184472,652,632,653,0.439257891554,-0.00558300160933,0.0500015432674,0.999999996361,7.22848814299e-05,-3.30679704488e-06,4.51833116668e-05,1793239930382004480
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.57602977,746,715,680,665.57602977,635,881,788,805,652,632,653,0.439885210949,-0.00558370191427,0.0499791672152,0.999999995663,7.26059967972e-05,-3.72257499993e-05,4.48961474028e-05,1793239930398670848
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000509163,746,715,680,665.000509163,635,881,788,805,652,632,653,0.440487417713,-0.00558469742654,0.0499438908286,0.999999992376,7.23090456868e-05,-8.99109888538e-05,4.39979713871e-05,1793239930415337472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.588068053,746,715,679.411931947,665,635,880.411931947,788,805,652,631.411931947,653,0.441049719269,-0.00558376927946,0.0499182100466,0.999999987363,7.04823241142e-05,-0.000135873309775,4.29446356462e-05,1793239930432004352
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+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.82614637,680,661.17385363,631,881,786,805,652,630.82614637,653,0.449367504676,-0.00556839714794,0.0496781300412,0.999999882336,6.01004241834e-05,-0.000480605699213,2.71033627086e-05,1793239931415338240
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.598211924,746,715.598211924,680,661.401788076,631,880.598211924,786,805,652,630.598211924,653,0.449368873047,-0.00556900075524,0.0496794234348,0.999999883057,6.03181686805e-05,-0.000479046607022,2.76149082861e-05,1793239931432004864
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.024234113,746,715.024234113,680,661.975765887,631,880.024234113,786,805,652,630.024234113,653,0.449370691158,-0.00557025162073,0.0496814831796,0.999999884384,5.92848120231e-05,-0.000476359730688,2.82667943275e-05,1793239931448671232
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.564132018,746,715,680,661.435867982,631,880,786,805.564132018,652,630,653,0.449369699629,-0.00556893387089,0.0496805636254,0.999999883669,6.07401966114e-05,-0.00047772386713,2.74287123825e-05,1793239931465337600
+252,4.200000000,HOLD_POSE2,767,746,715,680,661,631,881,786,805,652,631,653,0.449368888496,-0.00557054555832,0.0496792708963,0.999999883169,5.73759031604e-05,-0.000479226756561,2.6693693555e-05,1793239931506455808
+253,4.216666667,HOLD_POSE2,766.423538839,746,715,680.576461161,661,631,880.423538839,786,805,652,630.423538839,653,0.449370059961,-0.00556853803573,0.0496797794831,0.999999883504,5.87350147966e-05,-0.000478350948342,2.68948794033e-05,1793239931523122176
+254,4.233333333,HOLD_POSE2,766,746,715,680.847591494,661,631,880,786,805,652,630.152408506,653,0.449370770623,-0.00556747125101,0.049679858133,0.99999988353,5.95542206937e-05,-0.000478185762812,2.70532038769e-05,1793239931539788800
+255,4.250000000,HOLD_POSE2,766,746,715,680.273067105,661,631,880,786,805,652,630.726932895,653,0.449370205032,-0.0055690099661,0.0496787460147,0.999999882705,5.88780852355e-05,-0.000479988742333,2.7092818046e-05,1793239931556455168
+256,4.266666667,HOLD_POSE2,766,746,715,680,661,631,880.310511466,786,805,652,630.689488534,653,0.449370606518,-0.00556984696433,0.0496788994804,0.999999882887,5.85021382611e-05,-0.000479646531864,2.72456477823e-05,1793239931573121536
+257,4.283333333,HOLD_POSE2,766,746,715,680,661,631,880.902291492,786,805,652,630.097708508,653,0.449371884006,-0.00557004833088,0.049680199342,0.99999988398,5.83981090883e-05,-0.000477361157937,2.75010308293e-05,1793239931589788160
+258,4.300000000,HOLD_POSE2,766,746,715,680,661.967585383,631,880.516207309,786,805,652.483792691,630.483792691,653,0.449371433576,-0.00557039543369,0.0496800757639,0.999999883949,5.71412027204e-05,-0.000477586002055,2.7361644657e-05,1793239931606454784
+259,4.316666667,HOLD_POSE2,766,746,715,680,662.937473062,631,880.062526938,786,805,652.937473062,630.937473062,653,0.449370703461,-0.00557071717389,0.0496797050542,0.999999883688,5.59740376002e-05,-0.000478280760078,2.71724809118e-05,1793239931623121664
+260,4.333333333,HOLD_POSE2,766,746,715,680,662.36472977,631,880.63527023,786,805,652.36472977,630.36472977,653,0.449370479518,-0.00557059677813,0.0496796148062,0.999999883377,5.73995838878e-05,-0.000478759185636,2.7214184246e-05,1793239931639788288
+261,4.350000000,HOLD_POSE2,766,746,715,680,661.791917597,631,881,786,805,652.208082403,630.208082403,653,0.449370612043,-0.00557019488811,0.0496796943272,0.999999883205,5.90335459274e-05,-0.000478925117782,2.71348508115e-05,1793239931656454912
+262,4.366666667,HOLD_POSE2,766,746,715,680,661.218984708,631,881,786,805,652.781015292,630.781015292,653,0.449371369599,-0.00556929942769,0.0496800715203,0.999999883275,6.10329427943e-05,-0.000478543125731,2.68432922006e-05,1793239931673121792
+263,4.383333333,HOLD_POSE2,766,746,715,680.367062719,661,631,880.632937281,786,805.367062719,652.632937281,631,652.632937281,0.449371563215,-0.00556963714841,0.0496801644502,0.999999883291,6.04091948162e-05,-0.000478582779235,2.69676524802e-05,1793239931689788416
+264,4.400000000,HOLD_POSE2,766,746,715,680.961224057,661,631,880.038775943,786,805.961224057,652.038775943,631,652.038775943,0.449371407927,-0.00557073782784,0.0496800815089,0.99999988327,5.81625293644e-05,-0.000478883301262,2.73493382533e-05,1793239931706454784
+265,4.416666667,HOLD_POSE2,766,745.458323541,715,680.458323541,661.541676459,631,880.541676459,786,805.458323541,652,630.458323541,652,0.449372175348,-0.00556985274951,0.0496806519048,0.999999883997,5.86361400659e-05,-0.000477319179588,2.70839280661e-05,1793239931723121408
+266,4.433333333,HOLD_POSE2,766,745.119714865,715,680,661.880285135,631,881,786,805,652,630.119714865,652.119714865,0.449372650752,-0.00556900657397,0.0496810111572,0.999999884427,5.90625096897e-05,-0.000476381029715,2.68194282963e-05,1793239931739788032
+267,4.450000000,HOLD_POSE2,766,745.69224295,715,680,661.30775705,631,881,786,805,652,630.69224295,652.69224295,0.449371777947,-0.00556883194827,0.0496803992388,0.999999883539,5.85918172071e-05,-0.000478302993528,2.67292584737e-05,1793239931756454656
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,630,881,786,806,652,631,653,0.449371182229,-0.00556956271896,0.0496805995688,0.999999883321,6.08267198999e-05,-0.000478451790625,2.72403503109e-05,1793239931793650176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.579256966,662,630,881,786.579256966,806,652.579256966,631,653,0.449372613253,-0.00556930552739,0.0496812851909,0.999999884088,5.99972102444e-05,-0.000476961612133,2.70453177416e-05,1793239931810317056
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.843111538,661.843111538,630.156888462,881,786.843111538,805.843111538,652.843111538,631,652.843111538,0.44937373405,-0.00556964872157,0.0496818466251,0.999999884754,5.90401041127e-05,-0.000475684290447,2.70434314666e-05,1793239931826984192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.269794396,661.269794396,630.730205604,881,786.269794396,805.269794396,652.269794396,631,652.269794396,0.449374031411,-0.00557158551819,0.0496820784275,0.999999885154,5.77443187686e-05,-0.000474971953763,2.7554212908e-05,1793239931843650816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.305570563,680,661,631,881,786,805.305570563,652,630.694429437,652.305570563,0.449373463059,-0.00557132017014,0.0496812703415,0.999999884527,5.81527025495e-05,-0.000476242519849,2.75121753148e-05,1793239931860316928
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.882755746,680,661,631,881,786,805.882755746,652,630.117244254,652.882755746,0.449372125194,-0.00556909738643,0.0496795379227,0.999999882979,6.00758829992e-05,-0.000479275642465,2.69787496135e-05,1793239931876983296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.530131646,746,715.530131646,680.469868354,661,630.530131646,881,786,805.530131646,652,630,653,0.44937176385,-0.00556941511975,0.0496792697584,0.999999883204,5.92616449578e-05,-0.000478908845013,2.69526854524e-05,1793239931893649920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.116896446,746,715,681,661,630.058448223,881,786,805,652,630,653,0.449371507412,-0.00557014868074,0.049679292698,0.999999883728,5.79653289586e-05,-0.000477967169459,2.70346778405e-05,1793239931910316800
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.275111461,746,715,681,661,630.63755573,881,786,805,652,630,653,0.449369968039,-0.00556881754052,0.0496785838287,0.999999882901,5.8590670393e-05,-0.000479624867788,2.69271447929e-05,1793239931926983168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.56989655,746,715,680.784948275,661,631,881,786,805,652.215051725,630.215051725,653,0.449365735157,-0.00556787929328,0.0496767321275,0.999999881418,5.88843711771e-05,-0.000482683037559,2.67055401469e-05,1793239931943650048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.420296302,746,715,680.210148151,661,631,881,786,805,652.789851849,630.789851849,653,0.449356996452,-0.00556759829561,0.049672968645,0.999999878823,5.86232881914e-05,-0.000488083980084,2.62931113038e-05,1793239931960316672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.373163497,746,715,680,661,631,881,786,805,652.626836503,631,653,0.449331004453,-0.00556725512932,0.0496632620492,0.999999869796,5.87325544106e-05,-0.000506247814545,2.59101190063e-05,1793239931976983296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.961380375,746,715,680,661,631,881,786,805,652.038619625,631,653,0.449295069413,-0.00556687613537,0.0496501304488,0.999999856542,5.90552520839e-05,-0.000531766878454,2.55440908788e-05,1793239931993650176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.540975468,661,631,881,786,805,652.540975468,630.459024532,653,0.449238563125,-0.00556511548239,0.0496325519914,0.999999840209,6.04649415821e-05,-0.000561544600983,2.43563623641e-05,1793239932010316544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.880523685,661.119476315,631,880.880523685,786,805,652.880523685,630.119476315,653,0.449176680615,-0.00556306924625,0.0496156522705,0.99999982442,6.16685880879e-05,-0.000588917599191,2.31067936039e-05,1793239932026983168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.303891461,661.696108539,631,880.303891461,786,805,652.303891461,630.696108539,653,0.449099757922,-0.00556030176367,0.0496025452513,0.999999814268,6.17915845631e-05,-0.000605944301535,2.18415357643e-05,1793239932043649792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.726691561,746,715,680,661.726691561,631,880.273308439,786,805.273308439,652,630.726691561,653,0.449019881073,-0.00555681632643,0.0495946523162,0.999999808827,6.41078432066e-05,-0.000614660699733,2.06771799437e-05,1793239932060316416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.148859184,746,715,680,661.148859184,631,880.851140816,786,805.851140816,652,630.148859184,653,0.448936712667,-0.0055525309346,0.0495925689844,0.999999808866,6.88678640679e-05,-0.000614117644383,1.96252505912e-05,1793239932076983040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.43683169,746,715,680,661.43683169,631,880.56316831,786.43683169,806,652,630.43683169,653,0.448839230171,-0.00554944366174,0.0495943758597,0.999999809953,7.0841712325e-05,-0.000612129131916,1.93213707351e-05,1793239932093649920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,631,880,786.975184932,805.975184932,652,630.975184932,653,0.448735218687,-0.00554657979037,0.0495973948878,0.999999811285,7.20341274213e-05,-0.000609812363866,1.92415577442e-05,1793239932110316800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,631,880,786.396892341,805.396892341,652,630.396892341,653,0.448596372308,-0.00553942547808,0.0495973404407,0.999999809957,7.73618185642e-05,-0.000611361708275,1.83695954247e-05,1793239932126983680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,631,880,786,805.180392208,652,630.180392208,653,0.448445304487,-0.00553300383708,0.0495954805767,0.999999807315,8.22701231085e-05,-0.000615060529176,1.73877272336e-05,1793239932143650560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,631,880,786,805.755471149,652,630.755471149,653,0.448267496944,-0.00552818523541,0.0495896705748,0.999999801796,8.62608356201e-05,-0.000623462268396,1.61653920661e-05,1793239932160316672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.661598989,746,714.661598989,680,662,631.338401011,880,786,805.661598989,652,631,652.661598989,0.448071090604,-0.00552207026037,0.049581392305,0.99999979313,8.94771544739e-05,-0.000636798485292,1.48584687775e-05,1793239932176983296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.07286124,746,714.07286124,680,662,631.92713876,880,786,805.07286124,652,631,652.07286124,0.447860925533,-0.00551499627505,0.0495712880999,0.999999781948,9.21206055169e-05,-0.000653785049728,1.34889701489e-05,1793239932193650176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.50616765,746,714.50616765,680,662,631.49383235,880.50616765,786,805,652,631,652.50616765,0.447630634005,-0.00550754117912,0.0495719437804,0.999999781056,9.7845867432e-05,-0.000654334398724,1.26847425096e-05,1793239932210316800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.916128324,745.916128324,715,680,662,631.083871676,881,786,805,652,631,653,0.447391968341,-0.00549961748875,0.0495742289513,0.999999781901,0.00010406042551,-0.000652095693484,1.18482807436e-05,1793239932226983680
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.338150753,745.338150753,715,680,662,631.661849247,881,786,805,652,631,653,0.447120715211,-0.0054892503133,0.0495771609102,0.999999784456,0.00011059327724,-0.000647108743737,1.03515802487e-05,1793239932243650304
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.243134047,745.243134047,715,680,662,632,881,786,805.243134047,652,631,653,0.446831080214,-0.00547806174422,0.0495784126403,0.999999784881,0.000118764721005,-0.000645023733434,8.73912114876e-06,1793239932260317184
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.386215691,635.613784309,879,788,804,653,631.386215691,652.613784309,0.400999302504,-0.00542462578585,0.0498617825417,0.99999996542,8.00831888198e-05,-0.00024790805346,-3.5879286635e-05,1793239934160316416
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a7bc02a6d6ef0402563b748396ad1138ae33e94
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+385,6.416666667,pose2_to_pose3_retreat,0.575669546277,9.06889677818e-05,1.04003239077,0.546239997997,0.00876242881516,1.03970051745
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+387,6.450000000,pose2_to_pose3_retreat,0.575667629645,9.07530877359e-05,1.04003247621,0.546238080882,0.00876249114639,1.03970059887
+388,6.466666667,pose2_to_pose3_retreat,0.575667336935,9.07628801889e-05,1.04003248926,0.546237788099,0.00876250066567,1.03970061131
+389,6.483333333,pose2_to_pose3_retreat,0.575667034216,9.07730075275e-05,1.04003250275,0.546237485303,0.00876251051049,1.03970062417
+390,6.500000000,pose2_to_pose3_retreat,0.575666563503,9.07887549774e-05,1.04003252374,0.546237014472,0.00876252581865,1.03970064416
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+392,6.533333333,pose2_to_pose3_retreat,0.57566625218,9.08054283975e-05,1.04003251779,0.546236703008,0.00876254201964,1.03970063833
+393,6.550000000,pose2_to_pose3_retreat,0.575666038949,9.08219813153e-05,1.04003249746,0.54623648963,0.00876255809981,1.0397006187
+394,6.566666667,pose2_to_pose3_retreat,0.575665793785,9.08410131916e-05,1.04003247408,0.546236244297,0.00876257658814,1.03970059613
+395,6.583333333,pose2_to_pose3_retreat,0.575665563963,9.08588541131e-05,1.04003245217,0.546236014317,0.00876259391953,1.03970057498
+396,6.600000000,pose2_to_pose3_retreat,0.575665375827,9.08734589245e-05,1.04003243423,0.546235826052,0.00876260810723,1.03970055766
+397,6.616666667,pose2_to_pose3_retreat,0.575665251263,9.08831287336e-05,1.04003242235,0.546235701402,0.00876261750087,1.0397005462
+398,6.633333333,pose2_to_pose3_retreat,0.575665084974,9.08960376292e-05,1.0400324065,0.546235534998,0.00876263004109,1.03970053089
+399,6.650000000,pose2_to_pose3_retreat,0.575664952513,9.08853481344e-05,1.04003239856,0.546235402597,0.00876261957163,1.03970052344
+400,6.666666667,pose2_to_pose3_retreat,0.575664934271,9.08814175472e-05,1.04003239801,0.546235384381,0.00876261573157,1.03970052297
+401,6.683333333,pose2_to_pose3_retreat,0.575664900118,9.08740585904e-05,1.04003239699,0.546235350276,0.00876260854209,1.03970052209
+402,6.700000000,pose2_to_pose3_retreat,0.575664883533,9.08704849649e-05,1.0400323965,0.546235333714,0.00876260505077,1.03970052167
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+404,6.733333333,pose2_to_pose3_retreat,0.575664801006,9.08527030611e-05,1.04003239404,0.546235251304,0.00876258767838,1.03970051954
+405,6.750000000,pose2_to_pose3_retreat,0.57566478153,9.08485065503e-05,1.04003239346,0.546235231856,0.00876258357852,1.03970051904
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a194bf57aa66083b04ef3c205dfda0d26ef9b19a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e340429932b2af8e5b7a39f0a9337ad76595ac8530cb63d4fa345f75e2a171a9
+size 26387752
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..935c64ddf67e948f96ec3cd17d4dbfe7b44d3a90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+26,0.433333333,BASELINE,766,745,714,679.875991504,665,635.875991504,879.875991504,787.875991504,804,653,631.124008496,653,0.400996540112,-0.0054274163039,0.0498628032616,0.999999966286,7.52096821787e-05,-0.000245984344407,-3.55439904336e-05,1793239934755949312
+27,0.450000000,BASELINE,766,745,714,679.302622352,665,635.302622352,879.302622352,787.302622352,804,653,631.697377648,653,0.400995806447,-0.00542722531774,0.0498620841302,0.999999965945,7.74943477136e-05,-0.000246647155087,-3.56426416909e-05,1793239934772615936
+28,0.466666667,BASELINE,766,745,714.280429836,679,665,635.280429836,879,787.280429836,804,652.719570164,632,653,0.400996097096,-0.00542773088138,0.0498618429737,0.999999965962,7.73933903056e-05,-0.000246624094597,-3.55364893983e-05,1793239934789282560
+29,0.483333333,BASELINE,766,745,714.874305028,679,665,635.874305028,879,787.874305028,804,652.125694972,632,653,0.400997532652,-0.00542901500092,0.049862136065,0.999999966379,7.46259460559e-05,-0.000245834414025,-3.52014216528e-05,1793239934805949184
+30,0.500000000,BASELINE,766,745,714.545152282,679,665,635.545152282,879.454847718,788,803.545152282,652,631.545152282,652.545152282,0.400999083958,-0.00542783295288,0.0498631082988,0.999999966623,7.6067537059e-05,-0.000244369682558,-3.53633382531e-05,1793239934822615808
+31,0.516666667,BASELINE,766,745.031669157,714,679,665,635,879.968330843,788,803.031669157,652.031669157,631,652,0.401000451094,-0.00542614118008,0.0498641416569,0.999999966792,7.83452826402e-05,-0.00024291454863,-3.5634519886e-05,1793239934839282688
+32,0.533333333,BASELINE,766,745.606060653,714,679,665,635,879.393939347,788,803.606060653,652.606060653,631,652,0.400998129497,-0.00542706080018,0.0498630978282,0.999999966567,7.55869258286e-05,-0.000244729754704,-3.54916116669e-05,1793239934855949312
+33,0.550000000,BASELINE,766,745.815486066,714,679.184513934,665,635,879,788,804,653,631,652,0.40099660115,-0.00542787034402,0.0498623134084,0.999999966387,7.37105914129e-05,-0.00024604089873,-3.54442486701e-05,1793239934872615680
+34,0.566666667,BASELINE,766,745.228165708,714,679.771834292,665,635,879,788,804,653,631,652,0.400996804524,-0.00542843958378,0.0498620952958,0.999999966326,7.37597720276e-05,-0.000246251640907,-3.56054673886e-05,1793239934889282560
+35,0.583333333,BASELINE,766,745,714.356402036,679.643597964,665,635,879.356402036,788,804,653,631.356402036,652.356402036,0.40099679287,-0.00542798134857,0.0498620746936,0.99999996616,7.53973738045e-05,-0.000246406787787,-3.57726190732e-05,1793239934905949184
+36,0.600000000,BASELINE,766,745,714.939221142,679.060778858,665,635,879.939221142,788,804,653,631.939221142,652.939221142,0.400996644613,-0.0054268703734,0.0498621795669,0.999999965921,7.80440766292e-05,-0.000246526615797,-3.59435399014e-05,1793239934922615808
+37,0.616666667,BASELINE,766,745,714.487511263,679,665,635.512488737,879.487511263,788.512488737,804,652.487511263,632,653,0.400997161349,-0.00542686388817,0.0498625702322,0.999999966212,7.70203768642e-05,-0.000245693933489,-3.5757140972e-05,1793239934939283456
+38,0.633333333,BASELINE,766,745.085042815,714.085042815,679,665,635.914957185,879.085042815,788.914957185,804,652.085042815,632,653,0.400997936002,-0.0054269076404,0.0498631415756,0.999999966557,7.61817255398e-05,-0.000244572893101,-3.55902802875e-05,1793239934955951104
+39,0.650000000,BASELINE,766,745.659892443,714.659892443,679,665,635.340107557,879.659892443,788.340107557,804,652.659892443,632,653,0.400999750217,-0.00542650011329,0.0498645619009,0.999999966864,7.88700804086e-05,-0.000242429757272,-3.57755539435e-05,1793239934972616960
+40,0.666666667,BASELINE,766,746,714.756979395,679,665.243020605,635,879.756979395,788,804,652.756979395,631.756979395,653,0.401000369147,-0.00542627655398,0.0498650509932,0.999999967014,7.95846693052e-05,-0.000241562464612,-3.58508094412e-05,1793239934989283072
+41,0.683333333,BASELINE,766,746,714.161856862,679,665.838143138,635,879.161856862,788,804,652.161856862,631.161856862,653,0.400999256282,-0.00542631953759,0.0498641908627,0.999999966948,7.74395548342e-05,-0.000242543685457,-3.57666644292e-05,1793239935005949440
+42,0.700000000,BASELINE,766,746,714.420129167,679,665.579870833,635.420129167,879.420129167,788,804,652.420129167,631,653,0.400999001076,-0.00542603051663,0.0498640148553,0.999999966825,7.74708470224e-05,-0.000243062039686,-3.5615717978e-05,1793239935022616320
+43,0.716666667,BASELINE,766,746,714.997207725,679,665.002792275,635.997207725,879.997207725,788,804,652.997207725,631,653,0.400999066269,-0.00542561746736,0.0498640944186,0.999999966682,7.83151884989e-05,-0.000243407478896,-3.54398162388e-05,1793239935039283456
+44,0.733333333,BASELINE,766,745.427623727,714.427623727,679,665.572376273,635.427623727,880,788,803.427623727,653,631.572376273,653,0.400999128834,-0.00542548955681,0.0498641311152,0.999999966556,7.96976431038e-05,-0.000243437825024,-3.56874973363e-05,1793239935055949824
+45,0.750000000,BASELINE,766,745,714.147695765,679,665.852304235,635,879.852304235,788,803,653,632,653,0.400998705018,-0.00542576232092,0.0498638667969,0.999999966396,8.01625799225e-05,-0.000243925782201,-3.57956986447e-05,1793239935072616192
+46,0.766666667,BASELINE,766,745,714.723479577,679,665.276520423,635,879.276520423,788,803,653,632,653,0.400996871491,-0.0054271924001,0.0498627306073,0.999999966136,7.79605582136e-05,-0.000245744540338,-3.54936559823e-05,1793239935089282816
+47,0.783333333,BASELINE,766,745.306898993,714.693101007,679,665,635,879,788,803.306898993,652.693101007,631.693101007,653,0.400996514089,-0.00542766416758,0.0498622393586,0.999999966031,7.75734916006e-05,-0.000246307918469,-3.53914591658e-05,1793239935105949440
+48,0.800000000,BASELINE,766,745.897373803,714.102626197,679,665,635,879,788,803.897373803,652.102626197,631.102626197,653,0.400997520633,-0.00542725045162,0.0498623440375,0.999999966074,7.88634500292e-05,-0.00024571132099,-3.54739206235e-05,1793239935122615808
+49,0.816666667,BASELINE,765.523847852,746,714,679,665,635.476152148,879,788,803.523847852,652.476152148,631.476152148,653,0.400998412885,-0.00542848633255,0.0498632215678,0.999999966487,7.75193870493e-05,-0.000244484617985,-3.52763529897e-05,1793239935139283200
+50,0.833333333,BASELINE,765.052099784,746,714.052099784,679,665,635.947900216,879.052099784,788,803.052099784,653,631.947900216,652.947900216,0.400999106546,-0.00542981106566,0.0498640964839,0.999999966892,7.58966691519e-05,-0.000243366360948,-3.50592423572e-05,1793239935155950080
+51,0.850000000,BASELINE,765.624351972,746,714.624351972,679,665,635.375648028,879.624351972,788,803.624351972,653,631.375648028,652.375648028,0.400998057548,-0.00542855833884,0.0498633221322,0.999999966485,7.70239860351e-05,-0.000244654172497,-3.52351455405e-05,1793239935172616448
+52,0.866666667,BASELINE,766,746,714.795958317,679,665,635,880,788,804,652.795958317,631,652.204041683,0.400997778506,-0.00542750060949,0.0498629929882,0.999999966281,7.7970456016e-05,-0.000245163527344,-3.5391535959e-05,1793239935189283072
+53,0.883333333,BASELINE,766,746,714.202057901,679,665,635,880,788,804,652.202057901,631,652.797942099,0.400998970601,-0.00542681545832,0.0498635144946,0.999999966469,7.85713850405e-05,-0.000244185499044,-3.55106436819e-05,1793239935205949696
+54,0.900000000,BASELINE,766,746,714,679,665,635,879.617646451,788,803.617646451,652.382353549,631.382353549,652.617646451,0.400998062639,-0.00542707308132,0.0498633370772,0.99999996638,7.82311344025e-05,-0.000244661453246,-3.55090678192e-05,1793239935222616064
+55,0.916666667,BASELINE,766,746,714,679,665,635,879.03812811,788,803.03812811,652.96187189,631.96187189,652.03812811,0.400996071758,-0.00542781685615,0.0498627992521,0.999999966146,7.74055541516e-05,-0.000245887169471,-3.54452601411e-05,1793239935239282688
+56,0.933333333,BASELINE,766,745.46504621,714,679,665,635,879,788,803.53495379,653,631.46504621,652.53495379,0.400996768702,-0.00542757793517,0.0498631200261,0.999999966258,7.78848727842e-05,-0.000245310430527,-3.52359689584e-05,1793239935255949312
+57,0.950000000,BASELINE,766,745,714,679.110781482,665,635,879,788,803.889218518,652.889218518,631.110781482,653,0.400997350933,-0.0054271224909,0.0498633169357,0.999999966301,7.85246855851e-05,-0.000244938545642,-3.51694023989e-05,1793239935272616192
+58,0.966666667,BASELINE,766,745,714,679.700437692,665,635,879,788,803.299562308,652.299562308,631.700437692,653,0.400996619036,-0.00542603024586,0.0498627170316,0.999999965945,7.94610134642e-05,-0.000246000907065,-3.57640809036e-05,1793239935289283072
+59,0.983333333,BASELINE,766,745,714.285214436,679.714785564,665,635,879.285214436,788,803.285214436,652,631.714785564,653,0.40099569827,-0.00542613240517,0.049862175376,0.99999996578,7.87778928258e-05,-0.000246879761558,-3.58513328601e-05,1793239935305949440
+60,1.000000000,BASELINE,766,745,714.86495252,679.13504748,665,635,879.86495252,788,803.86495252,652,631.13504748,653,0.400994582471,-0.00542746795328,0.0498616938699,0.999999965807,7.64224660376e-05,-0.000247569119701,-3.54145962681e-05,1793239935322616320
+61,1.016666667,BASELINE,766,745,715,679,665.442478981,635,879.557521019,788,803.557521019,652.442478981,631.442478981,653,0.400996867247,-0.00542663041931,0.0498626773613,0.999999966321,7.78061122112e-05,-0.000245046710673,-3.54408729238e-05,1793239935339282944
+62,1.033333333,BASELINE,766,745,715,679,665.980772002,635,879,788,803,652.980772002,631.980772002,653,0.401000022843,-0.00542521782381,0.0498640412234,0.999999966934,8.02050987883e-05,-0.000241725587939,-3.5599411222e-05,1793239935355949568
+63,1.050000000,BASELINE,766,745,715,679,665.407072816,635,879,788,803,652.407072816,631.407072816,653,0.400998509911,-0.0054262528461,0.0498635441886,0.999999966592,7.91386869595e-05,-0.000243498842625,-3.55171575374e-05,1793239935372616192
+64,1.066666667,BASELINE,766,745,714.829064653,679,665,635,879,788,803,652,631,652.829064653,0.400997457018,-0.00542684499391,0.049863237267,0.999999966358,7.82839644102e-05,-0.000244738772079,-3.54680712405e-05,1793239935389282816
+65,1.083333333,BASELINE,766,745,714.240529576,679,665,635,879,788,803,652,631,652.240529576,0.400997528017,-0.00542635518719,0.049863394797,0.999999966399,7.7946404628e-05,-0.000244675773296,-3.55000137848e-05,1793239935405949440
+66,1.100000000,BASELINE,766,745,714.342669784,679,665,635,879,788,803,652,631.342669784,652,0.400998006596,-0.00542693874698,0.0498636509543,0.99999996653,7.75506419171e-05,-0.000244276241407,-3.54256999306e-05,1793239935422615808
+67,1.116666667,BASELINE,766,745,714.922181254,679,665,635,879,788,803,652,631.922181254,652,0.400998766881,-0.00542826418117,0.0498639752794,0.999999966723,7.7114651338e-05,-0.000243644109299,-3.5277945271e-05,1793239935439282432
+68,1.133333333,BASELINE,766,745,715,679.495537773,665,635,879.495537773,788,803.495537773,652.495537773,631.504462227,652.495537773,0.40099755994,-0.00542740914508,0.0498634526726,0.999999966611,7.72647278389e-05,-0.000244018050747,-3.55467851479e-05,1793239935455949568
+69,1.150000000,BASELINE,766,745,715,679.931737903,665.068262097,635.068262097,879.931737903,788,804,653,631.068262097,652.931737903,0.400996294545,-0.00542642807343,0.0498629443068,0.999999966474,7.74761373511e-05,-0.000244469273114,-3.58241649552e-05,1793239935472616448
+70,1.166666667,BASELINE,766,745,715,679.356619155,665.643380845,635.643380845,879.356619155,788,804,653,631.643380845,652.356619155,0.400996860834,-0.00542702248923,0.0498635171214,0.999999966513,7.74679608444e-05,-0.00024433558953,-3.56851490687e-05,1793239935489282816
+71,1.183333333,BASELINE,766,745.226028919,715,679,665.773971081,635.773971081,879,787.773971081,804,653,631.773971081,652,0.40099732376,-0.0054271920334,0.0498636845101,0.9999999665,7.81489691872e-05,-0.000244185028271,-3.55852928401e-05,1793239935505949184
+72,1.200000000,BASELINE,766,745.820965903,715,679,665.179034097,635.179034097,879,787.179034097,804,653,631.179034097,652,0.400997617984,-0.00542666813286,0.049863190192,0.999999966402,7.99548152325e-05,-0.000244006920465,-3.55493501532e-05,1793239935522616064
+73,1.216666667,BASELINE,766,746,715,679,665,635.403388489,879,787.403388489,804,653,631,652,0.400998089062,-0.0054269298494,0.0498633999883,0.999999966515,7.89974167328e-05,-0.000243867695609,-3.54551408553e-05,1793239935539282688
+74,1.233333333,BASELINE,766,746,715,679,665,635.980423956,879,787.980423956,804,653,631,652,0.40099863627,-0.0054275297512,0.0498639128854,0.999999966717,7.68505219452e-05,-0.000243745208739,-3.53358494827e-05,1793239935555949312
+75,1.250000000,BASELINE,766,745.44706153,714.44706153,679,665,635.44706153,879,788,804,653,631,652,0.40099774534,-0.00542648883388,0.0498635386465,0.99999996662,7.67210557085e-05,-0.000244120419855,-3.576711374e-05,1793239935572616192
+76,1.266666667,BASELINE,765.870197409,745,714,679,665,635,879,788,804,653,631.129802591,652.129802591,0.400997115609,-0.00542590542067,0.0498633405852,0.99999996651,7.71922009164e-05,-0.000244395910987,-3.59572771958e-05,1793239935589282816
+77,1.283333333,BASELINE,765.277247046,745,714,679,665,635,879,788,804,653,631.722752954,652.722752954,0.40099759806,-0.00542716001804,0.0498638822992,0.999999966386,7.95536019203e-05,-0.000244253230778,-3.52181863273e-05,1793239935605949440
+78,1.300000000,BASELINE,765.294069231,745,714.294069231,679.294069231,665,635.294069231,879,788,804,652.705930769,631.705930769,652.705930769,0.400996937502,-0.00542784056268,0.0498634503722,0.999999966078,8.07825443933e-05,-0.000245148858603,-3.4930114947e-05,1793239935622615808
+79,1.316666667,BASELINE,765.846386671,745,714.846386671,679.846386671,665,635.846386671,879,788,804,652.153613329,631.153613329,652.153613329,0.400995273166,-0.00542801698077,0.0498621634046,0.999999965611,8.10169747129e-05,-0.000246956316585,-3.50381237217e-05,1793239935639282688
+80,1.333333333,BASELINE,766,745,714.563125534,679.563125534,665,635.563125534,879.436874466,788,803.563125534,652.436874466,631,652.436874466,0.400996109017,-0.00542778915724,0.0498630371862,0.999999966073,7.93413221978e-05,-0.000245592660786,-3.52649631073e-05,1793239935655949312
+81,1.350000000,BASELINE,766,745,714.040853004,679,665,635.040853004,880,788,803.040853004,653,631,653,0.400997744798,-0.00542747857774,0.0498645453428,0.999999966801,7.70990571762e-05,-0.000243300734869,-3.54872528133e-05,1793239935672616192
+82,1.366666667,BASELINE,766,745,714.628559132,679,665,635.628559132,880,788,803.628559132,653,631,653,0.40099719405,-0.00542814504491,0.0498634014668,0.999999966415,7.71231185686e-05,-0.000244937584993,-3.5035792153e-05,1793239935689282560
+83,1.383333333,BASELINE,766.212946474,745,714.787053526,679,665,635.787053526,879.787053526,788,804,653,631,653,0.400997276839,-0.00542825194222,0.0498630316348,0.999999966398,7.69894787757e-05,-0.000245056300811,-3.49750663907e-05,1793239935705949184
+84,1.400000000,BASELINE,766.791633813,745,714.208366187,679,665,635.208366187,879.208366187,788,804,653,631,653,0.40099844774,-0.00542739776453,0.0498639912423,0.999999967015,7.65849832784e-05,-0.000242567583465,-3.55854374602e-05,1793239935722616064
+85,1.416666667,BASELINE,766.631528115,745.368471885,714.368471885,679,665,635.368471885,879.368471885,788,804,653,631,653,0.400997798722,-0.00542732951796,0.0498635951535,0.999999966896,7.59150868076e-05,-0.00024323713067,-3.57903888896e-05,1793239935739282944
+86,1.433333333,BASELINE,766.055730592,745.944269408,714.944269408,679,665,635.944269408,879.944269408,788,804,653,631,653,0.400996125701,-0.0054277034861,0.0498624362639,0.99999996636,7.50958589515e-05,-0.000245683717839,-3.57672254964e-05,1793239935755949824
+87,1.450000000,BASELINE,766,745.480517587,714.480517587,679,665,636,880,788,804,652.480517587,631,653,0.400996608532,-0.0054281445881,0.0498623368495,0.999999966387,7.61403365691e-05,-0.000245316155406,-3.53398575679e-05,1793239935772616192
+88,1.466666667,BASELINE,766,745,714,679,665,635.902595625,879.902595625,788,804,652.097404375,631,652.902595625,0.400997181931,-0.00542834846352,0.0498624133377,0.999999966456,7.73177542366e-05,-0.000244715372049,-3.49789970469e-05,1793239935789282560
+89,1.483333333,BASELINE,766,745,714,679,665,635.310600334,879.310600334,788,804,652.689399666,631,652.310600334,0.400997042148,-0.00542731124234,0.0498628065168,0.999999966446,7.81561058429e-05,-0.000244461622285,-3.51757812113e-05,1793239935805949184
+90,1.500000000,BASELINE,766,745.27465928,714.27465928,679,665.27465928,635,879,788,804,653,631,652.27465928,0.400997366133,-0.00542747487949,0.0498633887414,0.999999966569,7.83807870694e-05,-0.000243905214271,-3.5055955032e-05,1793239935822616064
+91,1.516666667,BASELINE,766,745.8524841,714.8524841,679,665.8524841,635,879,788,804,653,631,652.8524841,0.400998202018,-0.00542896400937,0.0498641796321,0.999999966837,7.79281064146e-05,-0.000243014735816,-3.45866582318e-05,1793239935839282688
+92,1.533333333,BASELINE,766,745.570985648,715,679.429014352,665.570985648,635,879,788,803.570985648,653,631,653,0.400997472847,-0.00542865881114,0.0498636529523,0.999999966597,7.69414929245e-05,-0.000244287710337,-3.47793516871e-05,1793239935855949312
+93,1.550000000,BASELINE,766,745.005069844,714.994930156,679.994930156,665.005069844,635.005069844,879,788,803.005069844,653,631.005069844,653,0.400996218355,-0.00542775604636,0.0498626824924,0.999999966181,7.57884617363e-05,-0.000246282672295,-3.51948279581e-05,1793239935872615936
+94,1.566666667,BASELINE,766,745.577654125,714.422345875,679.422345875,665.577654125,635.577654125,879,788,803.577654125,653,631.577654125,653,0.40099621782,-0.00542881828889,0.0498625965453,0.99999996618,7.64960866013e-05,-0.000246075276994,-3.51450051901e-05,1793239935889283072
+95,1.583333333,BASELINE,766,745.844811966,714,679,665.844811966,635.844811966,879.155188034,788,804,653,631.844811966,652.844811966,0.40099619793,-0.00542949380306,0.0498626382993,0.999999966239,7.67259016112e-05,-0.000245768818729,-3.51210473196e-05,1793239935905949952
+96,1.600000000,BASELINE,766,745.25336367,714,679,665.25336367,635.25336367,879.74663633,788,804,653,631.25336367,652.25336367,0.400996123627,-0.00542908215751,0.0498630390432,0.999999966465,7.56125110708e-05,-0.000245183877379,-3.51698001152e-05,1793239935922616320
+97,1.616666667,BASELINE,766,745.332282486,714.332282486,679,665,635.332282486,880,788,804,652.667717514,631,652.332282486,0.400996482999,-0.00542896327785,0.0498631992489,0.999999966541,7.53321951187e-05,-0.000244976478783,-3.50556656389e-05,1793239935939282944
+98,1.633333333,BASELINE,766,745.913580431,714.913580431,679,665,635.913580431,880,788,804,652.086419569,631,652.913580431,0.400997167371,-0.00542906379958,0.049863179193,0.999999966505,7.56761927599e-05,-0.000245052014127,-3.48194619856e-05,1793239935955949312
+99,1.650000000,BASELINE,766,745.511126194,714.511126194,679,665,636,880,788,804,652,631,653,0.400997834417,-0.00542935963711,0.049863624783,0.999999966736,7.65356745993e-05,-0.000243838826351,-3.4831202414e-05,1793239935972616192
+100,1.666666667,BASELINE,766,745.062984634,714.062984634,679,665,635.937015366,880,788,804,652,631.062984634,653,0.40099839012,-0.00542967768163,0.0498641038024,0.999999966994,7.72128173266e-05,-0.000242557135186,-3.48847102037e-05,1793239935989282816
+101,1.683333333,BASELINE,766,745.636010503,714.636010503,679,665,635.363989497,880,788,804,652,631.636010503,653,0.400998068694,-0.00542989935686,0.049864195053,0.999999967112,7.56844488424e-05,-0.000242543113513,-3.49258234642e-05,1793239936005949440
+102,1.700000000,BASELINE,766,745.783645748,715,679,665,635,880,788,803.783645748,652.216354252,631.783645748,653,0.400997906915,-0.0054297469234,0.0498642598922,0.999999967155,7.54091511331e-05,-0.000242457497384,-3.48942351899e-05,1793239936022616064
+103,1.716666667,BASELINE,766,745.190559633,715,679,665,635,880,788,803.190559633,652.809440367,631.190559633,653,0.400998023126,-0.00542894306451,0.049864278742,0.999999967066,7.73157921562e-05,-0.000242247215748,-3.47360536762e-05,1793239936039282688
+104,1.733333333,BASELINE,766,745,714.608697301,679,665,635,879.608697301,788,803.391302699,652.608697301,631.391302699,653,0.400999149038,-0.00542850465585,0.049864661812,0.99999996725,7.75210865934e-05,-0.000241404120314,-3.4849765764e-05,1793239936055949312
+105,1.750000000,BASELINE,766,745,714.032148357,679,665,635,879.032148357,788,803.967851643,652.032148357,631.967851643,653,0.401000752952,-0.00542823925456,0.0498652173071,0.999999967563,7.6920948306e-05,-0.000240261445075,-3.50921947329e-05,1793239936072616192
+106,1.766666667,BASELINE,766,745.542603841,714.542603841,679,665,635,879.542603841,788,804.542603841,652.542603841,631.457396159,653,0.401000141969,-0.00542850661186,0.0498648994779,0.999999967407,7.71004334175e-05,-0.000240861445143,-3.50357869972e-05,1793239936089282816
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879,788,804,653,632,653,0.400997941283,-0.00542858519919,0.0498650726524,0.999999967162,7.49961546144e-05,-0.000242541269775,-3.50066250834e-05,1793239936132689152
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.378625297,680,665,635.378625297,879,788,804,653,632,653,0.400996666001,-0.00542919815035,0.0498638752358,0.999999966646,7.64496362278e-05,-0.000244240874312,-3.47725731145e-05,1793239936149355776
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.224906372,745,714,679.775093628,665.224906372,635,879.224906372,788.224906372,804,653,631.775093628,653,0.400996403787,-0.00542921914039,0.0498634765522,0.999999966515,7.7121520659e-05,-0.000244563265387,-3.48019870228e-05,1793239936166022656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.800607685,745,714,679.199392315,665.800607685,635,879.800607685,788.800607685,804,653,631.199392315,653,0.400997721692,-0.00542831682647,0.0498643236824,0.999999966986,7.65743187445e-05,-0.000242737565002,-3.52423385486e-05,1793239936182689280
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.624170801,745,714,679,665.624170801,635,880,788.624170801,804,653,631.375829199,653,0.40099810992,-0.00542782863286,0.0498644807482,0.999999967017,7.7869665161e-05,-0.00024219848841,-3.52409476972e-05,1793239936199355904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.049203549,745,714,679,665.049203549,635,880,788.049203549,804,653,631.950796451,653,0.400998005545,-0.00542755986642,0.0498642721743,0.999999966811,8.01413101193e-05,-0.000242341146494,-3.50054938007e-05,1793239936216022528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,880,787.459060805,804,653,631.459060805,653,0.400997364001,-0.00542725878914,0.0498639579684,0.999999966487,8.05606840874e-05,-0.000243507101386,-3.52122625751e-05,1793239936232689152
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.128747724,745.128747724,714.128747724,679.128747724,665,635,880,787.128747724,803.871252276,653,631.128747724,653,0.400996944317,-0.00542700623639,0.0498638374146,0.999999966334,8.04866555681e-05,-0.000244128628537,-3.54291006704e-05,1793239936249355520
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.703548864,745.703548864,714.703548864,679.703548864,665,635,880,787.703548864,803.296451136,653,631.703548864,653,0.400997467443,-0.00542693227561,0.0498644220279,0.999999966813,7.93037693169e-05,-0.000242532172949,-3.55374426214e-05,1793239936266022144
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.720911833,745.720911833,714.720911833,679.720911833,665,635,879.720911833,788,803.279088167,652.720911833,631.720911833,652.720911833,0.401000284826,-0.00542757223889,0.0498654995142,0.999999967336,7.87141337952e-05,-0.000240600601612,-3.52547308979e-05,1793239936282688768
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.144586401,745.144586401,714.144586401,679.144586401,665,635,879.144586401,788,803.855413599,652.144586401,631.144586401,652.144586401,0.401005545663,-0.0054289725527,0.0498671019249,0.999999967905,7.87563281626e-05,-0.000238312122054,-3.45555352796e-05,1793239936299355648
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,788,804,652,631,652,0.401029942306,-0.00543049057486,0.0498755301219,0.999999972007,7.75348267316e-05,-0.000220938508531,-3.40560622037e-05,1793239936316022272
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.03265769,679,665.03265769,635.03265769,879,788,804.03265769,652.03265769,631,652.03265769,0.401062340001,-0.00543203695994,0.0498867093745,0.999999977042,7.59924772378e-05,-0.00019751672133,-3.3580744914e-05,1793239936332689152
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.612044236,679,665.612044236,635.612044236,879,788,804.612044236,652.612044236,631,652.612044236,0.401121399723,-0.00543339823893,0.0499056757337,0.999999984185,7.61636737032e-05,-0.000157416259506,-3.23900786137e-05,1793239936349355776
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.189347118,714.810652882,679,665.810652882,636,879.189347118,788,805,652.810652882,631.189347118,653,0.401184008991,-0.00543461647903,0.049922920915,0.999999988943,7.69463827383e-05,-0.0001233982254,-3.10924211405e-05,1793239936366022656
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.762427324,714.237572676,679,665.237572676,636,879.762427324,788,805,652.237572676,631.762427324,653,0.401253811822,-0.00543554483507,0.0499366779407,0.999999991272,7.89683905314e-05,-0.000101706903724,-2.95779339635e-05,1793239936382689280
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.664107498,714.335892502,679,665,636,879.664107498,788,804.664107498,652.335892502,632,653,0.401330709872,-0.00543769968049,0.0499460991766,0.999999992654,7.80659452372e-05,-8.82356322321e-05,-2.84912774607e-05,1793239936399355904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.090369757,714.909630243,679,665,636,879.090369757,788,804.090369757,652.909630243,632,653,0.401412632037,-0.0054407230021,0.0499524502419,0.99999999355,7.5092696708e-05,-8.05849736849e-05,-2.77075676472e-05,1793239936416022528
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.501650125,635.498349875,879,788,803.498349875,653,631.498349875,653,0.401507643867,-0.00544495844634,0.0499519082295,0.999999993554,7.2442136032e-05,-8.32279924812e-05,-2.67643578465e-05,1793239936432689152
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.906273021,635,879.093726979,788,803.093726979,653,631,653,0.401608502162,-0.00544949862816,0.0499500965595,0.999999993401,6.95364086938e-05,-8.77246746058e-05,-2.58167926485e-05,1793239936449355520
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.33144823,635,879.66855177,788,803.66855177,653,631,653,0.401726808658,-0.00545443980238,0.0499483827333,0.999999993355,6.50112502423e-05,-9.18578027285e-05,-2.49999358877e-05,1793239936466022400
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.245349276,714.754650724,679,665,635.245349276,880,788,804,653,631,653,0.401862120419,-0.00545839113185,0.0499494307089,0.999999993625,6.28455815035e-05,-9.06779241024e-05,-2.40395955121e-05,1793239936482689280
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.824833322,714.175166678,679,665,635.824833322,880,788,804,653,631,653,0.402020591196,-0.00546099441721,0.0499542399102,0.999999994313,6.38932405583e-05,-8.22623999896e-05,-2.28838486153e-05,1793239936499355904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.589467341,714,679,665,636,880,788,804,653,631,653,0.402195182148,-0.00546801449777,0.049954332606,0.999999994504,6.02067808959e-05,-8.30913759375e-05,-2.15085001227e-05,1793239936516022272
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.001075239,714,679,665,636,880,788,804,653,631,653,0.402376757028,-0.00547694811387,0.0499523819203,0.99999999445,5.44693085638e-05,-8.79254445466e-05,-2.00380111878e-05,1793239936532688896
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635.422400268,879.422400268,788,804,653,631,652.422400268,0.402594928269,-0.00548460809486,0.0499535059739,0.999999994955,5.08295580125e-05,-8.46973308346e-05,-1.82285079767e-05,1793239936549355520
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.155278455,714.155278455,679,665.155278455,635.155278455,879.155278455,788,804,653,631,652.155278455,0.402824184297,-0.0054927038242,0.0499556863087,0.999999995593,4.6939797689e-05,-7.96246001322e-05,-1.64473085154e-05,1793239936566022144
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.730312297,714.730312297,679,665.730312297,635.730312297,879.730312297,788,804,653,631,652.730312297,0.403083224127,-0.00550198379212,0.0499607068116,0.999999996572,4.23638177745e-05,-6.96053206431e-05,-1.47442983461e-05,1793239936582689024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714.694975327,679,665.694975327,635.694975327,879.694975327,788.305024673,804,653,631,652.694975327,0.403366154311,-0.00551107769093,0.0499670560901,0.999999997621,3.83392463736e-05,-5.58792680441e-05,-1.28457368577e-05,1793239936599355648
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.12054691,679,665.12054691,635.12054691,879.12054691,788.87945309,804,653,631,652.12054691,0.403670184908,-0.00552000724933,0.0499745789689,0.999999998581,3.48016900035e-05,-3.88793216744e-05,-1.07744607273e-05,1793239936616022528
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679,665,635,879.466167315,788.533832685,804,652.533832685,631.466167315,652.466167315,0.404010285663,-0.00552958988861,0.0499825721011,0.999999999182,3.19675893014e-05,-2.35030482117e-05,-7.80686597386e-06,1793239936632689152
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.94453794,714.05546206,679,665,635,879.94453794,787.94453794,804,652,631.94453794,652.94453794,0.404363450898,-0.00553947339011,0.0499903987371,0.99999999952,2.93344975851e-05,-8.83884603935e-06,-4.61410434442e-06,1793239936649356288
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.361732299,714.638267701,679,665,635,879.361732299,787.361732299,804,652,631.361732299,652.361732299,0.404749748057,-0.00555056832781,0.0499954547711,0.999999999634,2.68362069118e-05,3.1550961989e-06,-1.54387837214e-06,1793239936666022656
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,879,787.217719516,804,652.217719516,631,652,0.4051414762,-0.00555697155976,0.0499952635829,0.999999999547,2.98809069821e-05,3.15966887578e-06,1.64330876415e-06,1793239936682689280
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,879,787.791683564,804,652.791683564,631,652,0.405542090777,-0.00555569796611,0.0499864866033,0.99999999897,4.19953506564e-05,-1.64534191251e-05,5.02187382565e-06,1793239936699355648
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.373313444,715,679,665,635,879.373313444,788,804,653,631,652.373313444,0.405949097609,-0.00554546124799,0.0499719830334,0.999999996852,6.36541622824e-05,-4.69156182129e-05,6.62583579365e-06,1793239936716022272
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.95931075,715,679,665,635,879.95931075,788,804,653,631,652.95931075,0.406359746271,-0.00553011806502,0.0499542169137,0.999999992365,9.07505852797e-05,-8.35587667075e-05,7.21877249408e-06,1793239936732688896
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.46130578,714.46130578,679,665,635,879.46130578,788,804,652.46130578,631,653,0.406850581869,-0.0055234866014,0.0499417721328,0.999999989137,0.00010964383063,-9.82019713099e-05,7.76047588566e-06,1793239936749355776
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635.117433432,879.117433432,788,803.882566568,652,631,652.882566568,0.407358781953,-0.00552038767118,0.0499346614766,0.999999986761,0.00012484581022,-0.000103966744632,9.05107106718e-06,1793239936766022400
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635.695581383,879.695581383,788,803.304418617,652,631,652.304418617,0.407911632785,-0.00552859732012,0.0499469198864,0.999999988416,0.000127967606906,-8.1339886693e-05,1.32947145135e-05,1793239936782689536
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.272329027,714,679.272329027,665.272329027,635.727670973,879.727670973,788,803.272329027,652,631,652.272329027,0.408488875789,-0.00553312228046,0.0499641301562,0.999999989356,0.000135540962555,-5.10330390156e-05,1.76681643175e-05,1793239936799356416
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.847519333,714,679.847519333,665.847519333,635.152480667,879.152480667,788,803.847519333,652,631,652.847519333,0.409093245668,-0.00553354944169,0.0499868474647,0.999999988718,0.000148064964785,-1.21851584908e-05,2.21859734908e-05,1793239936816022784
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.57985224,714,679.57985224,665.57985224,635,879,788,804,652,631,652.57985224,0.409699100288,-0.0055332795202,0.0499969740257,0.999999987103,0.000158438483129,-7.46851104713e-07,2.62988743735e-05,1793239936832689408
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.008147952,714,679.008147952,665.008147952,635,879,788,804,652,631,652.008147952,0.410305490473,-0.00553275814564,0.0500025588268,0.999999985424,0.00016803627446,8.04220172908e-07,3.02657158483e-05,1793239936849356288
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.588058187,679,665.588058187,635.588058187,879,788,803.411941813,652.588058187,631,652.588058187,0.410924405626,-0.00552475278682,0.0499801703719,0.999999981557,0.000184385329365,-4.43756876354e-05,3.03267269667e-05,1793239936866022656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.821084009,745,715,679,665.821084009,636,879.178915991,788,803.178915991,652.821084009,631,653,0.411559298524,-0.00551890552656,0.0499601039608,0.999999980179,0.000179524128481,-8.21206416122e-05,2.58651629718e-05,1793239936882689024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.242950538,745,715,679,665.242950538,636,879.757049462,788,803.757049462,652.242950538,631,653,0.412229438613,-0.00551811509695,0.0499461211901,0.999999986677,0.000127118418274,-0.000101768317985,1.14383249869e-05,1793239936899355904
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.331846876,745,714.668153124,679.331846876,665,636,880,788.331846876,804,652,631,652.668153124,0.412954942775,-0.00552280650198,0.049957152265,0.999999991359,0.000107496866634,-7.51754300706e-05,8.71955494273e-06,1793239936916022784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.904226275,745,714.095773725,679.904226275,665,636,880,788.904226275,804,652,631,652.095773725,0.413720576537,-0.00553147130438,0.0499863141208,0.99999999355,0.000111638246524,-1.50660023815e-05,1.44871406438e-05,1793239936932689664
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.5086555,745.4913445,714.4913445,679.5086555,665,635.5086555,880,788.5086555,804,652,631,652,0.414441383158,-0.00553260973692,0.0499872501298,0.999999992626,0.000118835819429,-1.80620613806e-05,1.72922572624e-05,1793239936949356288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.079943529,746,715,679,665,635,880.079943529,788,804,652,631,652,0.415160345416,-0.00553182740125,0.0499792439836,0.999999991121,0.000126468478319,-3.74151520947e-05,1.90974341821e-05,1793239936966023168
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.659291326,746,715,679,665,635,880.659291326,788,804,652,631,652,0.415924058937,-0.00552849413604,0.0499508091279,0.99999998781,0.00013298259159,-7.97321405429e-05,1.83748865609e-05,1793239936982689536
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.762911464,715,679,665.237088536,635,880.762911464,787.762911464,804,652,631,652.237088536,0.416706020629,-0.00552708841307,0.0499405391289,0.999999986364,0.000135207676605,-9.30385999963e-05,1.83041178366e-05,1793239936999355904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.187328085,715,679,665.812671915,635,880.187328085,787.187328085,804,652,631,652.812671915,0.417514035463,-0.00552843467115,0.0499562033689,0.999999989088,0.000131309251752,-6.49262916368e-05,1.91639036464e-05,1793239937016022272
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.396075096,666,635,880,787.396075096,803.603924904,652,631.396075096,653,0.418323433561,-0.00553007062023,0.0499756407845,0.999999991152,0.000127605739367,-3.1682848246e-05,2.02111345259e-05,1793239937032688896
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.983251213,666,635,880,787.983251213,803.016748787,652,631.983251213,653,0.419133499043,-0.00553184634137,0.0499968987073,0.999999992076,0.000123996269691,4.03629945284e-06,2.1348805142e-05,1793239937049355520
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.43830175,679.43830175,665.43830175,635,880,788,803.56169825,652,631.43830175,653,0.419932553445,-0.00552993300906,0.0499783226499,0.999999991163,0.000126590758959,-3.43949455362e-05,2.15823243907e-05,1793239937066022656
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.140192299,679,665.140192299,635,880.140192299,788,804,652,631.140192299,653,0.420760398444,-0.00552918444023,0.0499682408214,0.999999990188,0.000127770231946,-5.30383972076e-05,2.20361210319e-05,1793239937082689536
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.719636576,679,665.719636576,635,880.719636576,788,804,652,631.719636576,653,0.421679463275,-0.00553242470197,0.0499884378014,0.999999992044,0.00012394541669,-2.86092252486e-06,2.32632721414e-05,1793239937099356416
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.704026069,679.295973931,666,635.295973931,880.704026069,788,804,652,631.704026069,653,0.422561652868,-0.00553493223788,0.0500008325789,0.99999999202,0.000121292724666,2.57909451463e-05,2.41611452768e-05,1793239937116023040
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.130601129,679.869398871,666,635.869398871,880.130601129,788,804,652,631.130601129,653,0.423409275091,-0.00553675290449,0.0500059134411,0.999999991938,0.000119738800713,3.42643475998e-05,2.47503478072e-05,1793239937132689408
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.543433234,666,636,880,788,804,652,631,653,0.424234074768,-0.00553653771238,0.0499916800467,0.999999992601,0.000118839911926,8.54041042043e-06,2.45418721923e-05,1793239937149355776
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.046821908,745,714,679,666,635.953178092,880.046821908,788,804,652,631.046821908,652.953178092,0.425058699682,-0.00553609675436,0.0499751296867,0.999999992523,0.000117892183363,-2.15439703068e-05,2.43131749922e-05,1793239937166022144
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.626093067,745,714,679,666,635.373906933,880.626093067,788,804,652,631.626093067,652.373906933,0.425957881471,-0.00553991641919,0.0499970085828,0.999999993037,0.000114192162605,1.34786710768e-05,2.65298237351e-05,1793239937182689024
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.796171877,745,714.203828123,679,666,635,880.796171877,788,804,652,631.796171877,652,0.426837469554,-0.0055417370366,0.0500087442081,0.999999992993,0.000112466826029,2.36584868764e-05,2.8385750658e-05,1793239937199355904
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.221233643,745,714.778766357,679,666,635,880.221233643,788,804,652,631.221233643,652,0.4276813833,-0.00553991798572,0.0500020119666,0.999999992961,0.00011433679969,-1.13930622085e-05,2.95849108176e-05,1793239937216022528
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.352635041,715,679.352635041,665.647364959,635,880.352635041,788,804,652,631,652,0.428511451466,-0.00553787820744,0.0499815998094,0.999999991629,0.000116744124476,-4.76251630731e-05,2.90737671349e-05,1793239937232689152
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.925834726,715,679.925834726,665.074165274,635,880.925834726,788,804,652,631,652,0.429332859526,-0.00553570036961,0.0499526311979,0.999999988905,0.000119487549188,-8.45956690184e-05,2.74928699265e-05,1793239937249355520
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.482133268,665,635,881,788,804.517866732,652,631.517866732,652.517866732,0.430195075863,-0.00553963692911,0.049963714217,0.999999991678,0.000112871557905,-5.60108884282e-05,2.7684464978e-05,1793239937266022144
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.218601539,635,880.890699231,788,804.890699231,652,631.890699231,653,0.431051432485,-0.00554361564139,0.0499746706112,0.999999993463,0.000106424881085,-3.09710176831e-05,2.80692178941e-05,1793239937282688768
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+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.737795408,679.262204592,666.475590816,635,880.262204592,787.737795408,804,652,631,652.737795408,0.432676800784,-0.00554350723925,0.0499513313604,0.999999991044,0.000106635439211,-7.58372738037e-05,2.8087413484e-05,1793239937316022272
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.162867254,679.837132746,665.325734508,635,880.837132746,787.162867254,804,652,631,652.162867254,0.433514341368,-0.00554235045249,0.0499511063778,0.999999991746,0.000106323852642,-6.65403146432e-05,2.78424388916e-05,1793239937332688896
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.579153643,714.420846357,679.579153643,665.420846357,635,880.579153643,787.420846357,804.420846357,652,631,652.420846357,0.434324981977,-0.00554432630104,0.0499703355047,0.999999993058,0.000106671080898,-4.00428001021e-05,3.00448956471e-05,1793239937349355520
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.992075191,679.007924809,666,635,880,787.992075191,805,652,631,652.992075191,0.435124058287,-0.00554748994446,0.0499967535484,0.999999993668,0.000107265552031,-7.57906977687e-06,3.31766224464e-05,1793239937366022400
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.412753412,679.587246588,666,635,880,787.412753412,805,652,631,652.412753412,0.435855933568,-0.0055470210421,0.04998709687,0.999999993105,0.000106911601106,-3.51267628513e-05,3.35628331315e-05,1793239937382689280
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.165784848,714.165784848,680,665.834215152,635.165784848,880,787.165784848,805.165784848,652,631,652,0.436589913743,-0.00554591668423,0.049976368988,0.999999992041,0.000106210708933,-5.94891649427e-05,3.31549164212e-05,1793239937399356160
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+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.911246919,635.088753081,880.911246919,788,805.088753081,652,631.911246919,652.911246919,0.438842148294,-0.00554910803112,0.0500018584905,0.999999995123,9.31765108433e-05,9.06839860949e-06,3.14699828708e-05,1793239937449355520
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.508548042,715,680,665.508548042,635,881,788,805,652,632,652.508548042,0.439512086045,-0.00554902731275,0.049992990436,0.999999994569,9.85551654244e-05,-8.99194074725e-06,3.26873519792e-05,1793239937466022144
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.929702998,665,635,881,788,805,652,631.929702998,652.070297002,0.440158156513,-0.00554794103957,0.0499749630261,0.999999992878,0.00010572955641,-4.39559141831e-05,3.36579736606e-05,1793239937482689024
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.352334608,665,635,881,788,805,652,631.352334608,652.647665392,0.440749791377,-0.00554555537735,0.0499393951237,0.999999988296,0.000110021251565,-0.000101155405542,3.27340521315e-05,1793239937499355392
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.225265096,715,679.225265096,665,635,880.774734904,788,805,652,631,652.774734904,0.441342761966,-0.00554329074532,0.0499150751475,0.99999998317,0.000114234445166,-0.000139882811058,3.22892941196e-05,1793239937516022016
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.803227053,715,679.803227053,665,635,880.196772947,788,805,652,631,652.196772947,0.441937823986,-0.00554121560953,0.0499083660089,0.999999981265,0.000118324730238,-0.000149688538274,3.25947609316e-05,1793239937532688640
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.622144072,715,680,665,635,880,788,804.622144072,652,631,652.377855928,0.442512920413,-0.00554185187059,0.04990126864,0.99999997999,0.000118879317171,-0.000157508141802,3.28386887882e-05,1793239937549355520
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.049235796,715,680,665,635,880,788,804.049235796,652,631,652.950764204,0.4430777104,-0.0055438877772,0.0498939708637,0.99999997904,0.000117608747302,-0.000164302491302,3.30508497097e-05,1793239937566022144
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.457790976,634.457790976,880.542209024,787.457790976,804.542209024,652,631.542209024,653,0.443552833906,-0.00554476841873,0.0498658678279,0.999999969727,0.000119727835306,-0.000212374542263,3.32794300073e-05,1793239937582688768
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.708724741,715,680,663.291275259,634,881,787,805,652,631.291275259,653,0.444436207647,-0.00554263734045,0.0497891115454,0.999999934174,0.000122937176712,-0.000340001894365,3.0610517821e-05,1793239937616022016
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+260,4.333333333,HOLD_POSE2,766,746,715,680,661.526413906,630.526413906,880.947172188,786,805,652,631,652.473586094,0.4498752959,-0.00553521315662,0.0496877692049,0.999999888267,8.53898734448e-05,-0.000464674829208,1.58889048027e-05,1793239938700865024
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714.769777685,679,665,635,879.230222315,788,804,653,631.230222315,652.230222315,0.400996970181,-0.00540028388546,0.0498608696807,0.999999960907,0.000113265974714,-0.000252401435607,-4.06172027666e-05,1793239941121895168
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.078802101,745.078802101,714.078802101,679,665,635,879,787.078802101,804,652.078802101,631,652.921197899,0.400999164245,-0.00539663304945,0.0498622595561,0.99999996076,0.000120850862637,-0.000249436834529,-4.06889874523e-05,1793239941155228672
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c1620ce2d1e19f611b5e6313d2bef4d2d96cc6b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+385,6.416666667,pose2_to_pose3_retreat,0.575684494504,9.06892775779e-05,1.04003221853,0.546254948418,0.00876243705616,1.03970035781
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+387,6.450000000,pose2_to_pose3_retreat,0.575673883868,9.07351871172e-05,1.04003215974,0.546244337042,0.00876248047148,1.03970029955
+388,6.466666667,pose2_to_pose3_retreat,0.575671994643,9.07407611738e-05,1.04003211881,0.546242447538,0.00876248513702,1.03970025961
+389,6.483333333,pose2_to_pose3_retreat,0.575671168263,9.07431993625e-05,1.0400321009,0.546241621037,0.00876248717781,1.03970024214
+390,6.500000000,pose2_to_pose3_retreat,0.575670500479,9.07444891333e-05,1.04003208695,0.546240953154,0.00876248814991,1.03970022857
+391,6.516666667,pose2_to_pose3_retreat,0.575669954949,9.07343405703e-05,1.04003208416,0.546240407559,0.00876247779868,1.03970022633
+392,6.533333333,pose2_to_pose3_retreat,0.575669481697,9.0725536592e-05,1.04003208174,0.54623993425,0.0087624688189,1.03970022438
+393,6.550000000,pose2_to_pose3_retreat,0.575669210115,9.07204843202e-05,1.04003208035,0.546239662635,0.00876246366573,1.03970022327
+394,6.566666667,pose2_to_pose3_retreat,0.575669132793,9.07190458765e-05,1.04003207996,0.546239585303,0.00876246219857,1.03970022295
+395,6.583333333,pose2_to_pose3_retreat,0.575669068837,9.07178560963e-05,1.04003207963,0.54623952134,0.00876246098503,1.03970022269
+396,6.600000000,pose2_to_pose3_retreat,0.575669035833,9.07172421196e-05,1.04003207946,0.546239488332,0.00876246035879,1.03970022256
+397,6.616666667,pose2_to_pose3_retreat,0.575668803024,9.07129111445e-05,1.04003207827,0.546239255495,0.00876245594133,1.0397002216
+398,6.633333333,pose2_to_pose3_retreat,0.575668681621,9.07106526688e-05,1.04003207765,0.546239134077,0.00876245363775,1.0397002211
+399,6.650000000,pose2_to_pose3_retreat,0.575668175466,9.0701236593e-05,1.04003207506,0.546238627861,0.00876244403364,1.03970021903
+400,6.666666667,pose2_to_pose3_retreat,0.575667887103,9.06958721274e-05,1.04003207358,0.546238339463,0.00876243856205,1.03970021784
+401,6.683333333,pose2_to_pose3_retreat,0.575667611048,9.06907366375e-05,1.04003207217,0.546238063375,0.00876243332401,1.03970021671
+402,6.700000000,pose2_to_pose3_retreat,0.575667045983,9.06802246616e-05,1.04003206928,0.546237498242,0.00876242260212,1.03970021439
+403,6.716666667,pose2_to_pose3_retreat,0.575666765833,9.06817674209e-05,1.04003208765,0.546237218047,0.00876242396169,1.03970023196
+404,6.733333333,pose2_to_pose3_retreat,0.575666605924,9.06895204484e-05,1.04003211827,0.546237058101,0.00876243152967,1.03970026103
+405,6.750000000,pose2_to_pose3_retreat,0.575666586434,9.06904654094e-05,1.04003212201,0.546237038606,0.00876243245208,1.03970026457
+406,6.766666667,pose2_to_pose3_retreat,0.57566652769,9.06933135328e-05,1.04003213326,0.546236979849,0.00876243523222,1.03970027525
+407,6.783333333,pose2_to_pose3_retreat,0.575666230037,9.07077449559e-05,1.04003219026,0.546236682126,0.00876244931919,1.03970032936
+408,6.800000000,pose2_to_pose3_retreat,0.57566578465,9.07293390548e-05,1.04003227557,0.546236236636,0.00876247039788,1.03970041032
+409,6.816666667,pose2_to_pose3_retreat,0.575665332047,9.07512830375e-05,1.04003236225,0.546235783928,0.0087624918181,1.0397004926
+410,6.833333333,pose2_to_pose3_retreat,0.575664900348,9.07909868e-05,1.04003230713,0.546235351412,0.00876252877482,1.03970043814
+411,6.850000000,pose2_to_pose3_retreat,0.575664552728,9.08260208499e-05,1.04003224027,0.546235003017,0.00876256123014,1.0397003726
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01815f076b5a671316f58a4b373dd5c897194dfa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8795526ca812b7d61e0c2d03b9e6bc31248487d4fdce3bd6c5253a6d34e21c1f
+size 26377489
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6aa3cf49b03b6d2be7dc6e619a4d0642a5dbebfb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+36,0.600000000,BASELINE,766.898507216,746,715,679.898507216,665.898507216,635.898507216,879,788,804,653,631.898507216,653,0.400999563226,-0.00540029897095,0.0498644196962,0.999999962663,0.000116699960609,-0.000243809434245,-4.0141061259e-05,1793239942044629760
+37,0.616666667,BASELINE,767,746,715,680,665.525050253,636,879.474949747,788,804,653,632,653,0.400999643873,-0.00540072721392,0.0498648859917,0.999999962912,0.000116519246094,-0.000242902930036,-3.99603267947e-05,1793239942061296640
+38,0.633333333,BASELINE,766.948338425,745.948338425,715,679.948338425,665.051661575,636,879.948338425,788,804,653,631.948338425,653,0.400999651174,-0.00540106030438,0.0498653898342,0.999999963196,0.000116268776689,-0.000241883136078,-3.9780737276e-05,1793239942077963264
+39,0.650000000,BASELINE,766.361552054,745.361552054,715,679.361552054,665.638447946,636,879.361552054,788,804,653,631.361552054,653,0.400997908307,-0.00540188780666,0.0498643372993,0.999999962819,0.000115393106933,-0.000243854785048,-3.97649511001e-05,1793239942094629888
+40,0.666666667,BASELINE,766,745.222523087,715,679.222523087,665.777476913,636,879,788,804,652.777476913,631.222523087,653,0.400997545416,-0.00540168845838,0.0498639920399,0.999999962672,0.000115329979277,-0.000244454351938,-3.99630554976e-05,1793239942111296768
+41,0.683333333,BASELINE,766,745.802246053,715,679.802246053,665.197753947,636,879,788,804,652.197753947,631.802246053,653,0.400999397702,-0.00539984078269,0.0498647821177,0.999999962897,0.000116571165503,-0.000242851416669,-4.05045026394e-05,1793239942127963392
+42,0.700000000,BASELINE,766,746,715,679.618805034,665,635.618805034,879.381194966,788,804,652.381194966,631.618805034,653,0.40100014258,-0.00540004935628,0.0498653042568,0.99999996319,0.000115924404418,-0.000241970128194,-4.03860655772e-05,1793239942144630016
+43,0.716666667,BASELINE,766,746,715,679.040256884,665,635.040256884,879.959743116,788,804,652.959743116,631.040256884,653,0.401000314129,-0.00540132249631,0.049865687678,0.999999963519,0.000114300210624,-0.000241462452498,-3.99259916453e-05,1793239942161296640
+44,0.733333333,BASELINE,766,746,714.466361402,679.533638598,665,635.533638598,879.466361402,788,804,653,631,653,0.401000598715,-0.00540124271409,0.049865802398,0.999999963682,0.000113347854007,-0.000241183913923,-4.02356546553e-05,1793239942177963264
+45,0.750000000,BASELINE,766,746,714,679.892801381,665,635.892801381,879,788,804,653,631,653,0.401000789277,-0.00540091826491,0.0498656956671,0.999999963713,0.000113078274447,-0.000241129409555,-4.05391669416e-05,1793239942194630400
+46,0.766666667,BASELINE,766,746,714,679.319187158,665,635.319187158,879,788,804,653,631,653,0.401000533966,-0.00539996951246,0.0498647128478,0.999999963224,0.000115560812187,-0.000241975107067,-4.05654515011e-05,1793239942211298048
+47,0.783333333,BASELINE,766,745.737110404,714,679,665,635,879.262889596,788,804,653,631.262889596,653,0.401000497877,-0.00539992850143,0.0498647584351,0.999999963117,0.000116261728387,-0.000242110861987,-4.04003743462e-05,1793239942227965184
+48,0.800000000,BASELINE,766,745.144417047,714,679,665,635,879.855582953,788,804,653,631.855582953,653,0.401000736808,-0.00540102628215,0.0498660941926,0.999999963493,0.00011472754131,-0.000241355970374,-3.99952275449e-05,1793239942244631808
+49,0.816666667,BASELINE,766,745,714,679,665,635,879.562379161,788,804,653,632,653,0.400999823605,-0.00539982222045,0.0498657543244,0.999999963231,0.000115697786435,-0.000241937080572,-4.02368694345e-05,1793239942261297664
+50,0.833333333,BASELINE,766.016111321,745.016111321,714.016111321,679,665,635.016111321,879,788,804,653,632,653,0.400998637905,-0.00539797318532,0.049864935326,0.999999962792,0.000117410725056,-0.000242852879942,-4.06617182088e-05,1793239942277964032
+51,0.850000000,BASELINE,766.590630086,745.590630086,714.590630086,679,665,635.590630086,879,788,804,653,632,653,0.401000872207,-0.00539947188749,0.0498662198239,0.99999996345,0.000116900745338,-0.000240451153012,-4.02144331552e-05,1793239942294630400
+52,0.866666667,BASELINE,766.830679651,746,715,679,665,635.830679651,879.169320349,788,804,653,631.830679651,653,0.401002288174,-0.00540048595566,0.0498668842447,0.999999963848,0.000116491455804,-0.000239047761719,-3.98814009169e-05,1793239942311297024
+53,0.883333333,BASELINE,766.24164914,746,715,679,665,635.24164914,879.75835086,788,804,653,631.24164914,653,0.401001675655,-0.00540029871621,0.0498660116223,0.999999963612,0.000116331756465,-0.000240119038337,-3.98315778284e-05,1793239942327963904
+54,0.900000000,BASELINE,766,745.658322533,715,679,665,635,879.658322533,788.341677467,804,653,631,652.658322533,0.401001236668,-0.00540119737459,0.0498657649532,0.999999963579,0.000115745394088,-0.00024055052169,-3.97594205551e-05,1793239942344630528
+55,0.916666667,BASELINE,766,745.07896376,715,679,665,635,879.07896376,788.92103624,804,653,631,652.07896376,0.401000918396,-0.00540285141675,0.0498659537165,0.999999963687,0.000114862231848,-0.000240536945214,-3.96717269412e-05,1793239942361297408
+56,0.933333333,BASELINE,766,745,715,679,665,635,879.499359665,788.500640335,804,653,631.499359665,652.499359665,0.401001162392,-0.00540261620039,0.0498664017772,0.999999963957,0.000113365778555,-0.000240091450257,-3.98702804561e-05,1793239942377964032
+57,0.950000000,BASELINE,766,745.078411142,715,679,665,635,879.921588858,788,804,653,632,653,0.401001356863,-0.00540195868737,0.0498666935435,0.999999964128,0.000112359384522,-0.000239820522696,-4.00790311979e-05,1793239942394630656
+58,0.966666667,BASELINE,766,745.663219444,715,679,665,635,879.336780556,788,804,653,632,653,0.401000658468,-0.00540049928032,0.0498657116678,0.9999999635,0.000115142927917,-0.000241117171499,-4.00619156712e-05,1793239942411297280
+59,0.983333333,BASELINE,766,745.762589912,715,679,665.237410088,635.237410088,879.237410088,788,804,653,632,653,0.401000336313,-0.00539942510312,0.0498652948084,0.999999963169,0.000116805283399,-0.000241690328434,-4.00493700341e-05,1793239942427963904
+60,1.000000000,BASELINE,766,745.202816208,715,679,665.797183792,635.797183792,879.797183792,788,804,653,632,653,0.40100052503,-0.00539887400411,0.0498656451478,0.999999963252,0.000116945251606,-0.000241281103311,-4.00430295489e-05,1793239942444630528
+61,1.016666667,BASELINE,766,745.380589503,715,679,665.619410497,635.619410497,880,788,803.619410497,653,631.619410497,653,0.401000258246,-0.00539963759737,0.0498659292659,0.999999963336,0.000116229202416,-0.000241289301709,-3.99683976855e-05,1793239942461297408
+62,1.033333333,BASELINE,766,745.977422419,715,679,665.022577581,635.022577581,880,788,803.022577581,653,631.022577581,653,0.400999732656,-0.00540114817277,0.0498661757584,0.999999963421,0.000115026781098,-0.000241534671899,-3.98549640148e-05,1793239942477964032
+63,1.050000000,BASELINE,766.555333485,745.444666515,715,679,665.555333485,635.555333485,879.444666515,788,803.555333485,653,631,653,0.400999871751,-0.00540118936818,0.0498655588136,0.999999963287,0.000115806421943,-0.00024169629187,-3.99659441724e-05,1793239942494630912
+64,1.066666667,BASELINE,766.864883735,745.135116265,715,679,665.864883735,635.864883735,879.135116265,788,804,653,631,653,0.401000128894,-0.00540098952381,0.0498652037892,0.999999963225,0.000116384581998,-0.000241655040037,-4.00811338998e-05,1793239942511297536
+65,1.083333333,BASELINE,766.276322969,745.723677031,715,679,665.276322969,635.276322969,879.723677031,788,804,653,631,653,0.401000694499,-0.0054001746356,0.0498658416833,0.999999963435,0.000116025060205,-0.000240944009277,-4.01808407541e-05,1793239942527964160
+66,1.100000000,BASELINE,766,745.692573486,715,679.307426514,665.307426514,635,879.692573486,788,804,653,631,653,0.401001371813,-0.00539963165033,0.0498663713879,0.999999963541,0.000117300274186,-0.000239888379146,-4.01496050485e-05,1793239942544630528
+67,1.116666667,BASELINE,766,745.113081904,715,679.886918096,665.886918096,635,879.113081904,788,804,653,631,653,0.401002147988,-0.00539932929266,0.0498668053474,0.999999963549,0.000120022190017,-0.0002385277869,-4.00024883218e-05,1793239942561297152
+68,1.133333333,BASELINE,766,745,715,679.537180067,665.537180067,635.462819933,879,788,804,653,631.462819933,653,0.401001343912,-0.00539954705492,0.0498669261066,0.999999963601,0.000118073078248,-0.000239287588994,-3.99684641437e-05,1793239942577963776
+69,1.150000000,BASELINE,766,745,715,679.037988885,665,636,879.037988885,788,804,653,631.962011115,652.962011115,0.401000175589,-0.00539989025081,0.0498669014331,0.999999963629,0.000115226315524,-0.000240557076676,-3.99642069444e-05,1793239942594630656
+70,1.166666667,BASELINE,766,745,715,679.615107947,665,636,879.615107947,788,804,653,631.384892053,652.384892053,0.400999275311,-0.00540022393189,0.0498658904758,0.999999963281,0.00011571247571,-0.000241764005518,-3.99932646608e-05,1793239942611297280
+71,1.183333333,BASELINE,766,745.196517195,714.803482805,680,665,636,879.803482805,788,804,653,631,652.196517195,0.400998947116,-0.00540002992438,0.049865337392,0.999999963062,0.000116380284417,-0.000242327351622,-4.01230896217e-05,1793239942627963904
+72,1.200000000,BASELINE,766,745.786516697,714.213483303,680,665,636,879.213483303,788,804,653,631,652.786516697,0.400999764393,-0.00539877933702,0.0498657010989,0.999999963103,0.000117411804279,-0.000241602065571,-4.04546787532e-05,1793239942644630784
+73,1.216666667,BASELINE,766,745.63138956,714.36861044,680,665,635.63138956,879.36861044,788,804,653,631.36861044,652.63138956,0.400999947236,-0.00539858030089,0.0498656887315,0.999999963154,0.000117079854257,-0.000241525567396,-4.06241611593e-05,1793239942661297664
+74,1.233333333,BASELINE,766,745.053778386,714.946221614,680,665,635.053778386,879.946221614,788,804,653,631.946221614,652.053778386,0.400999770357,-0.00539897749041,0.0498654631313,0.999999963209,0.000115974821877,-0.000241816929552,-4.07017296423e-05,1793239942677964032
+75,1.250000000,BASELINE,766,745,715,679.478591002,665,635,880,788,804,653,631.478591002,652.521408998,0.400999900428,-0.00540022388368,0.049865949263,0.999999963494,0.000114671903191,-0.000241313313587,-4.03837851893e-05,1793239942694630656
+76,1.266666667,BASELINE,766.098800166,745.098800166,714.901199834,679,665,635,880,787.901199834,804,652.901199834,631.098800166,653,0.40099985216,-0.00540122142797,0.0498662362899,0.999999963635,0.00011398989865,-0.000241098952117,-4.00973132714e-05,1793239942711297280
+77,1.283333333,BASELINE,766.688374304,745.688374304,714.311625696,679,665,635,880,787.311625696,804,652.311625696,631.688374304,653,0.400998761491,-0.00540054979216,0.0498651713386,0.99999996295,0.000116493100303,-0.00024272682564,-4.01688732216e-05,1793239942727963904
+78,1.300000000,BASELINE,766.726818854,746,714,679,665,635.273181146,880,787.273181146,804.273181146,652.273181146,632,653,0.400999033853,-0.00539983105808,0.0498650937007,0.999999962873,0.000117888747345,-0.000242352191076,-4.02664064921e-05,1793239942744630528
+79,1.316666667,BASELINE,766.147356969,746,714,679,665,635.852643031,880,787.852643031,804.852643031,652.852643031,632,653,0.401000834395,-0.00539905951918,0.0498661230027,0.999999963481,0.00011804264438,-0.000239732417364,-4.03930600979e-05,1793239942761297152
+80,1.333333333,BASELINE,766,745.572407889,714.427592111,679,665,635.572407889,880,788,804.572407889,652.572407889,632,652.572407889,0.40100021588,-0.00539817623105,0.0498659529779,0.999999963251,0.000118201725522,-0.000240590339222,-4.05299740689e-05,1793239942777964032
+81,1.350000000,BASELINE,766,745.001009579,715,679,665.001009579,635,880,788,804,652.001009579,632,652.001009579,0.400998777979,-0.00539726050403,0.0498653767785,0.999999962735,0.000118358853742,-0.000242626997185,-4.06693179045e-05,1793239942794630656
+82,1.366666667,BASELINE,766,745.578598548,715,679,665.578598548,635,880,788,804,652.578598548,632,652.578598548,0.401000517859,-0.00539958299543,0.0498664119701,0.999999963491,0.000116390986849,-0.000240533265251,-4.01980613402e-05,1793239942811297280
+83,1.383333333,BASELINE,766,745.841040862,715,679,665.841040862,635.158959138,879.841040862,788,804,653,631.841040862,653,0.401001735317,-0.00540110481591,0.049867070831,0.999999963989,0.000115447126656,-0.000238961655441,-3.9898946777e-05,1793239942827964160
+84,1.400000000,BASELINE,766,745.253202175,715,679,665.253202175,635.746797825,879.253202175,788,804,653,631.253202175,653,0.401001543254,-0.00540046638752,0.0498667143335,0.999999963809,0.000117266086332,-0.000238798756266,-4.00642796722e-05,1793239942844630528
+85,1.416666667,BASELINE,766,745,715,679,665,635.669424262,879.330575738,788.330575738,804,653,631,653,0.401000771389,-0.00539943205659,0.049865913002,0.999999963328,0.000118516891547,-0.000240146903298,-4.03405220784e-05,1793239942861297152
+86,1.433333333,BASELINE,766,745,715,679,665,635.088718963,879.911281037,788.911281037,804,653,631,653,0.400999560817,-0.00539809816672,0.0498647750877,0.999999962614,0.000119337803563,-0.00024263838084,-4.07006839642e-05,1793239942877964032
+87,1.450000000,BASELINE,766,745.486625304,715,679,665,635,879.513374696,788.513374696,804,653,631.486625304,653,0.401000269895,-0.00539796121876,0.0498655001764,0.999999962987,0.000118538211748,-0.000241522492416,-4.05181883328e-05,1793239942894630656
+88,1.466666667,BASELINE,766.06231422,746,715,679,665,635.06231422,879.06231422,788,804,652.93768578,631.93768578,653,0.401001338305,-0.00539829421037,0.0498665019065,0.999999963558,0.000117335123145,-0.000239788099907,-4.02369132075e-05,1793239942911297536
+89,1.483333333,BASELINE,766.649039309,746,715,679,665,635.649039309,879.649039309,788,804,652.350960691,631.350960691,653,0.401002517521,-0.0054007655806,0.0498670045055,0.999999964168,0.000115195594831,-0.000238323051474,-3.99478697023e-05,1793239942927964928
+90,1.500000000,BASELINE,766.766871311,745.766871311,714.766871311,679,665,636,879.766871311,788,804,652,631,652.766871311,0.401003005806,-0.00540174583249,0.0498673246821,0.999999964435,0.000113965377219,-0.000237827922514,-3.97471481082e-05,1793239942944631808
+91,1.516666667,BASELINE,766.186705517,745.186705517,714.186705517,679,665,636,879.186705517,788,804,652,631,652.186705517,0.401002465567,-0.0054005063943,0.0498673733034,0.999999964198,0.000114088766487,-0.000238776623042,-3.96779031952e-05,1793239942961298432
+92,1.533333333,BASELINE,766,745,714.392613061,679,665.392613061,636,879,788,804,652.392613061,631,652.392613061,0.401001405885,-0.00540011337424,0.0498670066712,0.999999963817,0.0001151649637,-0.00023985613779,-3.96602062332e-05,1793239942977964544
+93,1.550000000,BASELINE,766,745,714.971529669,679,665.971529669,636,879,788,804,652.971529669,631,652.971529669,0.401000099715,-0.00540012199812,0.0498664429919,0.999999963365,0.000116693289283,-0.000240997726853,-3.96669699035e-05,1793239942994630656
+94,1.566666667,BASELINE,766,745.545164023,715,679,665.454835977,636,879.545164023,787.454835977,804,653,631.545164023,653,0.401000176096,-0.00540036641599,0.0498664791257,0.999999963427,0.000116273423009,-0.000240924530046,-3.97651750224e-05,1793239943011297536
+95,1.583333333,BASELINE,766,746,715,679.121885419,665,635.878114581,879.878114581,787.121885419,804,652.878114581,632,653,0.401000324533,-0.00540076851148,0.0498664898017,0.999999963518,0.000115686711283,-0.000240811880411,-3.98803276917e-05,1793239943027964160
+96,1.600000000,BASELINE,766,746,715,679.711501829,665,635.288498171,879.288498171,787.711501829,804,652.288498171,632,653,0.401000475068,-0.00540172888841,0.0498662837318,0.999999963614,0.000114846417641,-0.000240788945499,-4.00423665008e-05,1793239943044630784
+97,1.616666667,BASELINE,766.296008306,745.703991694,714.703991694,679.407983388,665,635,879,788,803.703991694,652.296008306,631.703991694,653,0.401000337232,-0.00540112379312,0.0498660863502,0.999999963493,0.000115644417794,-0.000240872481752,-4.02486287839e-05,1793239943061297408
+98,1.633333333,BASELINE,766.875618976,745.124381024,714.124381024,678.248762047,665,635,879,788,803.124381024,652.875618976,631.124381024,653,0.400999923113,-0.00539901883573,0.0498658972927,0.999999963162,0.000118012049609,-0.000241058026879,-4.04972610904e-05,1793239943077964288
+99,1.650000000,BASELINE,766.548339801,745.451660199,714.451660199,678.451660199,665,635.451660199,879.451660199,788,803,653,631.451660199,653,0.401000146791,-0.00539907719108,0.0498662059824,0.999999963338,0.000117514992344,-0.000240603104651,-4.03129746027e-05,1793239943094630912
+100,1.666666667,BASELINE,766,746,715,679,665,635.973222407,880,788,803.026777593,653,631.973222407,653,0.401000543211,-0.00539968785264,0.0498666249206,0.999999963634,0.000116301393413,-0.000240007639969,-4.00338442825e-05,1793239943111297792
+101,1.683333333,BASELINE,766,746,715,679,665,635.397049446,880,788,803.602950554,653,631.397049446,653,0.401000908387,-0.00539950308747,0.0498665155548,0.999999963582,0.000116445375911,-0.000240118995564,-4.0235657841e-05,1793239943127964160
+102,1.700000000,BASELINE,766,745.817135892,715,679,665,635.182864108,879.817135892,788,804,653,631.182864108,652.817135892,0.401000677056,-0.00539925068589,0.0498662308341,0.999999963422,0.000116752495196,-0.000240610915165,-4.03892255636e-05,1793239943144630528
+103,1.716666667,BASELINE,766,745.228930931,715,679,665,635.771069069,879.228930931,788,804,653,631.771069069,652.228930931,0.400999123489,-0.0053988483599,0.0498655574179,0.99999996302,0.000117421227272,-0.000241946401815,-4.0435850412e-05,1793239943161297152
+104,1.733333333,BASELINE,766,745.353914035,715,679.353914035,665,635.646085965,879.353914035,788,804,653,632,652,0.400998904354,-0.00539924994171,0.0498656272921,0.999999963031,0.000117699687219,-0.000241807911262,-4.01613246107e-05,1793239943177964032
+105,1.750000000,BASELINE,766,745.933343647,715,679.933343647,665,635.066656353,879.933343647,788,804,653,632,652,0.400999535524,-0.00540016377707,0.0498661707943,0.999999963307,0.000117729464118,-0.000240730196095,-3.96821602103e-05,1793239943194630656
+106,1.766666667,BASELINE,766,746,715,679.491592143,665,635.508407857,879.491592143,788,804,652.491592143,632,652.508407857,0.40099924509,-0.00539947180778,0.049865603924,0.999999962857,0.00011924345707,-0.000241807494172,-3.99433105411e-05,1793239943211297536
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,879,788,804,653,631,653,0.401001537252,-0.00539873374699,0.0498670683086,0.999999963853,0.000115312908607,-0.00023951025051,-4.03841350299e-05,1793239943253888000
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421116811,745.421116811,715,679.421116811,666,635.421116811,879,788,804.578883189,653,631.578883189,653,0.401000251225,-0.00540026543346,0.0498659174303,0.999999963531,0.000115689830078,-0.000240722311825,-4.00784313556e-05,1793239943270554368
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.842631343,665.842631343,635.157368657,879,788.157368657,804.842631343,653,632,653,0.400999471458,-0.00540133317704,0.0498653978109,0.999999963446,0.000115408609523,-0.00024124125093,-3.99010121506e-05,1793239943287220736
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678.265207364,665.265207364,635.734792636,879,788.734792636,804.265207364,653,632,653,0.401000043024,-0.00540116254426,0.0498665631751,0.999999963992,0.000113370647483,-0.00023991007809,-4.00660154114e-05,1793239943303887104
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.310335678,665,635.689664322,879,788.689664322,804,653,631.689664322,653,0.401000371971,-0.00540066906437,0.0498671278165,0.999999964129,0.000113359295878,-0.000239329674685,-4.01553946387e-05,1793239943320553728
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.884280954,665,635.115719046,879,788.115719046,804,653,631.115719046,653,0.401000494828,-0.00539990134725,0.0498671821836,0.999999963919,0.000115069415689,-0.000239387000255,-4.01805362503e-05,1793239943337220352
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.527194292,679.472805708,665,635,879.472805708,788,803.527194292,653,631,653,0.401000279099,-0.0053991228562,0.0498665170751,0.999999963525,0.000116859845576,-0.000240131879781,-4.03892355594e-05,1793239943353887232
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879.936620974,788,803.063379026,653,631,653,0.401000413659,-0.0053984927021,0.0498660227565,0.99999996324,0.000118416864085,-0.000240524480557,-4.05632760917e-05,1793239943370553600
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879.359292218,788,803.640707782,653,631,653,0.401004082135,-0.00539908749737,0.0498683867826,0.999999964242,0.000117916652252,-0.000236652388534,-4.00803633652e-05,1793239943387220480
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.21712328,714.21712328,679.78287672,665,635,879,788,804,653,631,653,0.401013516681,-0.0053994182308,0.0498724071835,0.999999966013,0.000118232127515,-0.000228972094243,-3.95952533244e-05,1793239943403887104
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.792033803,714.792033803,679.207966197,665,635,879,788,804,653,631,653,0.401032452858,-0.00539931382908,0.0498791570465,0.999999968932,0.000119891735226,-0.000215016442844,-3.91065224762e-05,1793239943420553728
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.633091462,714.633091462,679,665.366908538,635,879,788,804,653,631,653,0.401069307064,-0.00539979611735,0.0498919589155,0.999999974265,0.000120390880011,-0.000188401912125,-3.84889179194e-05,1793239943437220096
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.058236957,714.058236957,679,665.941763043,635,879,788,804,653,631,653,0.401116316341,-0.00540061091304,0.0499081907686,0.999999980105,0.000120232330735,-0.00015461294097,-3.77982739149e-05,1793239943453886720
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.535226484,714,679,665.464773516,635.535226484,879,788,804,653,631.535226484,653,0.40118134681,-0.00540314174335,0.0499242510863,0.999999984988,0.000118283858493,-0.000121086990573,-3.7018275576e-05,1793239943470553600
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.126303468,745.873696532,714,679,665,636,879,788,804,653,632,653,0.401250529738,-0.0054060906432,0.0499388855544,0.999999988296,0.000116118633502,-9.29006308881e-05,-3.59783740571e-05,1793239943487220224
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.701445358,745.298554642,714,679,665,636,879,788,804,653,632,653,0.401327249891,-0.00540983778402,0.0499485217716,0.999999989441,0.000113900176811,-8.35839386999e-05,-3.40506620888e-05,1793239943503887104
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.723015997,745.276984003,714.276984003,679,665,636,879,788,804,653,631.723015997,653,0.4014085299,-0.00541341265933,0.0499531239562,0.999999989987,0.000112344295005,-7.95915696868e-05,-3.2709687409e-05,1793239943520553984
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.147049119,745.852950881,714.852950881,679,665,636,879,788,804,653,631.147049119,653,0.401494731917,-0.00541680158708,0.0499522922903,0.999999989963,0.00011150361184,-8.13463975753e-05,-3.20020505101e-05,1793239943537220608
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714.561924647,679,665,635.561924647,879,788,804,652.561924647,631,652.561924647,0.401594922663,-0.00542001182158,0.0499500345619,0.999999989946,0.000108980457205,-8.50938665598e-05,-3.14737102932e-05,1793239943553887232
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.974064968,714.025935032,679,665,635,879.025935032,788,804,652.025935032,631.025935032,652.025935032,0.401701706244,-0.00542333583941,0.0499475995435,0.999999989956,0.000105807323562,-8.90753204639e-05,-3.09595172605e-05,1793239943570553600
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.394831691,714.605168309,679,665,635,879.605168309,788,804,652.605168309,631.605168309,652.605168309,0.401846826508,-0.00543039429327,0.0499518125829,0.999999990975,0.000101073294632,-8.34742362882e-05,-2.94357463529e-05,1793239943587220224
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.183815078,745,715,679,665,635.183815078,880,788,804,653,632,653,0.402000893317,-0.00543730834136,0.0499546407884,0.999999991674,9.7240605997e-05,-8.01006366418e-05,-2.79292145564e-05,1793239943603886848
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.76120597,745,715,679,665,635.76120597,880,788,804,653,632,653,0.40217411601,-0.00544391319399,0.0499545038551,0.999999991784,9.53378235458e-05,-8.14964181801e-05,-2.64595944963e-05,1793239943620553216
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.664045142,745,714.664045142,679,665,635.664045142,880,788,804,653,632,653,0.402362774532,-0.00545017216884,0.0499544647776,0.999999992044,9.2520599711e-05,-8.19637553403e-05,-2.51897429507e-05,1793239943637219840
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.091159459,745,714.091159459,679,665,635.091159459,880,788,804,653,632,653,0.402562319128,-0.00545618721543,0.0499544947124,0.999999992401,8.90584695391e-05,-8.17763109446e-05,-2.40607772035e-05,1793239943653886464
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714.498167287,679,665,635.498167287,879.501832713,788,804,653,631.501832713,653,0.402786822639,-0.00546176247262,0.0499545907445,0.999999992466,8.8234668365e-05,-8.22488942662e-05,-2.27374108154e-05,1793239943670553088
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,879.088324612,788,804,653,631.088324612,652.911675388,0.403025570237,-0.00546792270288,0.0499559113198,0.999999992776,8.71559124092e-05,-8.00130945606e-05,-2.12274838059e-05,1793239943687219712
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,879.665850415,788,804,653,631.665850415,652.334149585,0.403317051558,-0.00547778385818,0.0499639449625,0.999999994541,8.1899783739e-05,-6.20846633607e-05,-1.88880112953e-05,1793239943703886336
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714.757170408,679,665,636,879.757170408,788,804,653,631.757170408,652.242829592,0.403629000705,-0.00548764406494,0.0499730547433,0.999999995972,7.71931434175e-05,-4.27272385316e-05,-1.64876680775e-05,1793239943720552960
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.180941769,679,665,636,879.180941769,788,804,653,631.180941769,652.819058231,0.403969051658,-0.00549750296876,0.0499836420347,0.999999996991,7.32409373786e-05,-2.14078417423e-05,-1.40037510204e-05,1793239943737219584
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.401812337,679,665,635.598187663,879,788,804,653,631,652.598187663,0.40431826364,-0.00550661456119,0.0499910420497,0.999999997387,7.09298529889e-05,-8.37643642886e-06,-1.11733128352e-05,1793239943753886464
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714.987553447,679,665,635.012446553,879,788,804,653,631,652.012446553,0.404671669055,-0.00551538407308,0.0499969830952,0.99999999756,6.93699887815e-05,8.61157197282e-07,-8.18425538329e-06,1793239943770553344
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+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714.146102167,679.146102167,665.853897833,635,879,788,803.146102167,653,631,652.146102167,0.405472245579,-0.00552415740538,0.0499950722813,0.999999996637,8.19747804338e-05,-4.12209089227e-07,-2.34393179784e-06,1793239943803886336
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714.724396518,679.724396518,665.275603482,635,879,788,803.724396518,653,631,652.724396518,0.405877417422,-0.00551248765493,0.0499745386024,0.999999993585,0.000105138815443,-4.21355791475e-05,1.18380847125e-07,1793239943820552960
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.301296724,715,679.698703276,665.301296724,635.301296724,879.301296724,788,804,652.698703276,631.301296724,653,0.406315875602,-0.00550051813022,0.0499560389468,0.999999988842,0.000129200108378,-7.49772282324e-05,1.33500790294e-06,1793239943837219840
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.537760295,715,679,665.537760295,635.537760295,880,788,804,652.462239705,631.537760295,653,0.407278162914,-0.00549362639743,0.0499330813168,0.999999981309,0.000159534373248,-0.000109131431251,4.52736878848e-06,1793239943870553344
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+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714.111037427,679.888962573,665,635.888962573,879.888962573,788,804,653,631,652.888962573,0.412085039024,-0.00550365757607,0.0499378736241,0.999999963157,0.000239441658932,-0.000123377962664,3.36403666369e-05,1793239944003886848
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714.688864951,679.311135049,665,635.311135049,879.311135049,788,804,653,631,652.311135049,0.412824092494,-0.0055090680767,0.0499571868336,0.999999967936,0.000240130482976,-7.1610642693e-05,3.65818644821e-05,1793239944020553984
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735255096,746,715,679.264744904,665.264744904,635.264744904,879,788,804,652.735255096,631,652.264744904,0.413569108039,-0.00551793582496,0.0499743635841,0.999999979767,0.000195791363729,-3.5167550447e-05,2.99229738074e-05,1793239944037220608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.16164719,746,715,679.83835281,665.83835281,635.83835281,879,788,804,652.16164719,631,652.83835281,0.414321079299,-0.00553083695047,0.0499890478507,0.999999994897,9.89206722605e-05,-1.66023667195e-05,1.20638495211e-05,1793239944053886976
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.424116617,746,715,679.575883383,666,635.575883383,879.424116617,788,804,652.424116617,631,653,0.415058000109,-0.0055344300397,0.0499755795364,0.999999995671,8.37264903961e-05,-3.9580176203e-05,8.98577231713e-06,1793239944070553856
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665.985602618,635,880,788,804,652.985602618,631,652.985602618,0.415790293942,-0.00553430916747,0.0499514344328,0.999999991822,0.000100532149307,-7.81779559589e-05,1.17213309615e-05,1793239944087220224
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.405259089,635,880,788,804,652.405259089,631,652.405259089,0.416572849786,-0.0055317657631,0.0499418280923,0.999999989176,0.000115419829093,-9.00113202822e-05,1.49983864215e-05,1793239944103887104
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.826722261,715,679,665.173277739,635,880,788,804.173277739,652,631.173277739,652.173277739,0.417370743757,-0.00552956037377,0.0499446491728,0.99999998848,0.000126655754589,-8.17257981391e-05,1.78409919662e-05,1793239944120553728
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.252367345,715,679,665.747632655,635,880,788,804.747632655,652,631.747632655,652.747632655,0.418204140067,-0.00552813737086,0.0499762353737,0.999999991068,0.000129439148936,-2.68721109718e-05,1.96779981498e-05,1793239944137220608
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.67791665,635,880,787.67791665,804.67791665,652,631.67791665,653,0.419017485016,-0.00552850054388,0.0499861089532,0.999999991447,0.000127954635856,-1.70434613814e-05,2.10385899337e-05,1793239944153887232
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.103390914,635,880,787.103390914,804.103390914,652,631.103390914,653,0.419815114079,-0.00553026368536,0.0499789646196,0.999999991274,0.000123125023661,-4.25045241485e-05,2.20257777266e-05,1793239944170553856
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.48717722,665,635,879.51282278,787.48717722,804,652,631,653,0.420670861688,-0.00553032500655,0.0499755907107,0.999999991678,0.000122515718763,-3.41159031282e-05,2.16787208538e-05,1793239944187219968
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.078650999,715,679.921349001,665.078650999,635,879.078650999,788,804,652,631,653,0.42154134197,-0.00553043544777,0.0499764538643,0.999999992149,0.000122549019703,-1.51035380623e-05,2.13467906874e-05,1793239944203886592
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.653623541,715,679.346376459,665.653623541,635,879.653623541,788,804,652,631,653,0.422424307097,-0.00553321258726,0.0499988333093,0.999999992151,0.000120793036347,2.4073188811e-05,2.29580171339e-05,1793239944220553472
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665.770823246,635,880.229176754,788,804,652,631,653,0.423285287149,-0.00553563989617,0.0500050843951,0.999999992062,0.000118937480767,3.38453064004e-05,2.41634108515e-05,1793239944237220096
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.194390097,635,880.805609903,788,804,652,631,653,0.424112954802,-0.00553753713033,0.0499868972472,0.999999992857,0.000116931049838,-9.37432109431e-07,2.47538733096e-05,1793239944253886976
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.610291496,714.610291496,679,665,635.389708504,880.610291496,788,804,652,631,653,0.424980279323,-0.00554060979319,0.0499852452289,0.999999993205,0.000113596472115,-5.23673966816e-06,2.56530692887e-05,1793239944270553600
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.022292614,714.022292614,679,665,635.977707386,880.022292614,788,804,652,631,653,0.425867781891,-0.00554428053421,0.0499920065695,0.999999993621,0.000109586110659,5.97444779367e-06,2.67093541548e-05,1793239944287220224
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.557470837,714.557470837,679,665.557470837,636,880,788,803.442529163,652.557470837,631,652.442529163,0.426745970633,-0.00554111180365,0.0500068990458,0.999999992932,0.000113460686497,2.16848007334e-05,2.81610098959e-05,1793239944303886848
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803.27175631,652.864121845,631,652.135878155,0.427604499164,-0.00553776539483,0.0500092804233,0.999999992538,0.000117566033002,1.62220203177e-05,2.89599029933e-05,1793239944320553728
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804.421902058,652.289048971,631,652.710951029,0.42840066689,-0.00553471584656,0.049970186878,0.999999990552,0.000121412963451,-5.82510914043e-05,2.75985320319e-05,1793239944337220352
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.714371216,715,679.285628784,665.714371216,635.714371216,880,788,804.714371216,652,631,653,0.429239720831,-0.00553538432334,0.0499549973103,0.999999989209,0.000120142644504,-8.0153301744e-05,2.69062066261e-05,1793239944353886976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.140092795,715,679.859907205,665.140092795,635.140092795,880,788,804.140092795,652,631,653,0.430122114509,-0.00553981014774,0.0499639645347,0.999999991978,0.000113700955538,-4.89286085375e-05,2.68900028816e-05,1793239944370553600
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.448145653,714.551854347,680,665.448145653,635,880,788,804.448145653,652,631,652.551854347,0.430980240515,-0.00554290193962,0.0499667154817,0.999999992572,0.000109799975086,-4.49675970565e-05,2.78927832443e-05,1793239944387220224
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.03998293,745.96001707,714.03998293,679.96001707,666,635.03998293,880,787.96001707,805,652,631,652.03998293,0.431828030669,-0.00554536895911,0.0499663023224,0.999999992558,0.00010689618776,-5.11003181258e-05,2.90758523407e-05,1793239944403887104
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.619598917,745.380401083,714.619598917,679.380401083,666,635.619598917,880,787.380401083,805,652,631,652.619598917,0.432642001102,-0.00554521307349,0.0499502549286,0.999999991149,0.000106386928955,-7.47371570418e-05,2.82547705114e-05,1793239944420553984
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.809387631,745.190612369,715,679.190612369,666,635.809387631,880.190612369,787.190612369,805.190612369,652.190612369,631.190612369,653,0.433463932318,-0.00554566228073,0.0499484263598,0.999999991154,0.000105878611899,-7.53440779679e-05,2.83838688069e-05,1793239944437220608
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.254800633,745.745199367,715,679.745199367,666,635.254800633,880.745199367,787.745199367,805.745199367,652.745199367,631.745199367,653,0.434301064804,-0.00554726691375,0.0499737486578,0.999999993477,0.000105372092981,-3.1975336778e-05,3.03273374562e-05,1793239944453886976
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.677370181,715,679.677370181,666,635,880.677370181,788,805.354740362,652.677370181,632,653,0.435099469434,-0.00554710097471,0.0499885838113,0.999999993968,0.000104416150918,-1.29473318389e-05,3.15148078454e-05,1793239944470553344
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.080524185,715,679.080524185,666,635,880.080524185,788,804.16104837,652.080524185,632,653,0.435864957636,-0.00554543015451,0.0499945055134,0.999999994067,0.000103078226036,-1.46075090963e-05,3.20597245515e-05,1793239944487219968
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.512253109,666,635,880.512253109,788,804.512253109,652,631.487746891,653,0.436606382291,-0.00554353368123,0.0499731092464,0.999999992037,0.000104480877598,-6.33072538371e-05,3.16431238418e-05,1793239944503886848
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.101626855,715,680,666,635,880.898373145,788,805,652,631,653,0.437352159983,-0.00554271986111,0.049956143474,0.99999998913,0.000105226220825,-9.84357755939e-05,3.12552708724e-05,1793239944520553472
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.678063559,715,680,666,635,880.321936441,788,805,652,631,653,0.438135809278,-0.00554712871583,0.0499797825259,0.999999993763,0.000100903648737,-3.58830843197e-05,3.17023369158e-05,1793239944537220352
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,880,788,805,652,631,652.746556386,0.438878307718,-0.00555009189829,0.0499925483288,0.999999994539,9.91552943536e-05,-5.19265361633e-06,3.26138387652e-05,1793239944553887232
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,880,788,805,652,631,652.172513006,0.439568751309,-0.00555122634156,0.0499915597447,0.999999994242,0.000100663261003,-1.48071819496e-05,3.41128402559e-05,1793239944570554112
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.588423377,715,679.588423377,665.588423377,635,880.411576623,787.588423377,805,652,631,652.411576623,0.440203388647,-0.00554945152838,0.0499666835625,0.999999992649,0.000103308402871,-5.41138525619e-05,3.31678301158e-05,1793239944587220480
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.00001744,715,679.00001744,665.00001744,635,880.99998256,787.00001744,805,652,631,652.99998256,0.44081404951,-0.00554642678564,0.0499315443397,0.999999988212,0.000106442119305,-0.000106177422223,3.11727776421e-05,1793239944603886848
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.580972082,715,679.580972082,665,635,881,787.580972082,805,652,631.580972082,652.419027918,0.441436151947,-0.00554522258117,0.0499136080406,0.999999983818,0.00011102774666,-0.000137777105134,3.24815038025e-05,1793239944620553472
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714.839354853,680,664.839354853,635,881,787.839354853,805,652,632,652.160645147,0.44204784406,-0.00554385588206,0.0498991994616,0.999999979758,0.000116225160761,-0.000160799376367,3.34594708044e-05,1793239944637220352
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714.26308705,680,664.26308705,635,881,787.26308705,805,652,632,652.73691295,0.442632601742,-0.00554206863539,0.0498939165103,0.999999978809,0.000123005285272,-0.000161631662648,3.35814415504e-05,1793239944653886976
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714.317259642,680,664.317259642,634.682740358,881,787.317259642,805,652,631.682740358,652.682740358,0.443168448184,-0.00554275134313,0.0498795530574,0.999999974789,0.000125198862264,-0.0001832532302,3.4135525162e-05,1793239944670553600
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714.901032764,680,664.901032764,634.098967236,881,787.901032764,805,652,631.098967236,652.098967236,0.44366320678,-0.00554550893243,0.0498575615433,0.999999967037,0.000123539516431,-0.000222338801636,3.50526044831e-05,1793239944687219968
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.517590068,715,679.517590068,664.517590068,634,881,787.517590068,805,652,631.482409932,652,0.444127179846,-0.00554335658032,0.0498150744121,0.999999947275,0.000128002743924,-0.000296497913715,3.39847983319e-05,1793239944703886592
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.063249243,663.936750757,634,880.936750757,787,805,652,631.936750757,652.063249243,0.444587357045,-0.00554127262308,0.0497722043178,0.999999922449,0.000132514787388,-0.000369421100953,3.27188119214e-05,1793239944720553472
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.643689933,663.356310067,634,880.356310067,787,805,652,631.356310067,652.643689933,0.44506788386,-0.00554794381831,0.0497604148831,0.999999921537,0.000127205944305,-0.000373691839004,3.31455556926e-05,1793239944737220096
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,633.778091809,880.221908191,787,805,652,631,653,0.445537161945,-0.00555061878823,0.049756198516,0.999999923694,0.000126597984313,-0.000368023836302,3.38180782066e-05,1793239944753886464
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,633.203406699,880.796593301,787,805,652,631,653,0.445988557399,-0.00554694078763,0.0497640213786,0.999999930435,0.000133463219184,-0.000346555792909,3.48813256227e-05,1793239944770553088
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daa7c346c4803b782750a3643ca6b19f2325c043
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+403,6.716666667,pose2_to_pose3_retreat,0.575666312303,9.07181627162e-05,1.04003239625,0.546236763837,0.00876245752968,1.03970052691
+404,6.733333333,pose2_to_pose3_retreat,0.575666058012,9.0727648542e-05,1.04003242556,0.546236509247,0.00876246598559,1.03970055577
+405,6.750000000,pose2_to_pose3_retreat,0.575665858957,9.07350738785e-05,1.0400324485,0.546236309959,0.00876247260472,1.03970057836
+406,6.766666667,pose2_to_pose3_retreat,0.5756656941,9.0741223566e-05,1.0400324675,0.546236144908,0.0087624780867,1.03970059707
+407,6.783333333,pose2_to_pose3_retreat,0.57566534171,9.07678918239e-05,1.04003240961,0.546235792149,0.00876250352187,1.03970053965
+408,6.800000000,pose2_to_pose3_retreat,0.57566516122,9.07876613147e-05,1.04003233545,0.546235611491,0.0087625227475,1.03970046622
+409,6.816666667,pose2_to_pose3_retreat,0.575664909682,9.08152129697e-05,1.0400322321,0.546235359718,0.00876254954122,1.03970036388
+410,6.833333333,pose2_to_pose3_retreat,0.575664658149,9.08427639255e-05,1.04003212875,0.546235107951,0.00876257633425,1.03970026155
+411,6.850000000,pose2_to_pose3_retreat,0.575664559511,9.08135008501e-05,1.04003215143,0.546235009633,0.00876254819346,1.03970028516
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+414,6.900000000,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbe82a78c384d71605c92a8a425a8d532eec8e68
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40dd9d5eb36c28917f85b218ce39754cab77b3c9bc7e5eef969e35a9c5c05a46
+size 26388154
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6f05f19222ea2e5f5dd2cdf6b652e86f09bc3ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
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+51,0.850000000,BASELINE,766,745.580155048,715,679,665,635.580155048,879.580155048,788,805,653,631.419844952,653,0.400997478053,-0.00539825010095,0.0498634915479,0.999999960962,0.000129918989167,-0.000244451559959,-3.79494787335e-05,1793239949417473792
+52,0.866666667,BASELINE,766.158716417,746,715,679.158716417,665,635.841283583,880,788,804.841283583,653,631,653,0.400996919886,-0.00539757585082,0.0498628626501,0.999999960677,0.000130497595146,-0.000245277398846,-3.81522408266e-05,1793239949434140928
+53,0.883333333,BASELINE,766.748138555,746,715,679.748138555,665,635.251861445,880,788,804.251861445,653,631,653,0.400999930678,-0.00539650245135,0.0498647506577,0.999999961201,0.000132230279718,-0.000242227390186,-3.79229533025e-05,1793239949450807040
+54,0.900000000,BASELINE,766.668795763,745.668795763,715,679.668795763,665,635.331204237,880,788,804,653,631.331204237,653,0.401001609216,-0.00539659351599,0.0498660813997,0.999999961629,0.000132678365651,-0.000240213992061,-3.78775400156e-05,1793239949467473664
+55,0.916666667,BASELINE,766.090472797,745.090472797,715,679.090472797,665,635.909527203,880,788,804,653,631.909527203,653,0.401002293732,-0.00539755341282,0.0498669963535,0.999999961991,0.000132167984356,-0.000238974031876,-3.79693193309e-05,1793239949484141056
+56,0.933333333,BASELINE,766,745.486865556,715,679,665.486865556,635.513134444,879.513134444,788.486865556,804,653,631.513134444,653,0.401001819044,-0.00539759707119,0.0498663859769,0.999999961681,0.000132965443978,-0.00023984452443,-3.78408043958e-05,1793239949500807936
+57,0.950000000,BASELINE,766,745.936305425,715,679.063694575,665.936305425,635.063694575,879,788.936305425,804.063694575,653,631,653,0.401001133032,-0.00539764305991,0.0498656255587,0.999999961345,0.000133520744571,-0.000240965400639,-3.76452974071e-05,1793239949517474816
+58,0.966666667,BASELINE,766,745.36209554,715,679.63790446,665.36209554,635.63790446,879,788.36209554,804.63790446,653,631,653,0.401000476302,-0.00539906963031,0.0498659298131,0.999999961802,0.000130191142903,-0.000240956121312,-3.72402927641e-05,1793239949534141184
+59,0.983333333,BASELINE,766,745.218231035,714.781768965,680,665,636,879.218231035,788,804.781768965,653,631.218231035,653,0.400999984544,-0.00540015278518,0.0498658684407,0.999999961986,0.000128132873241,-0.000241320655054,-3.70674938275e-05,1793239949550807808
+60,1.000000000,BASELINE,766,745.808999368,714.191000632,680,665,636,879.808999368,788,804.191000632,653,631.808999368,653,0.400999774406,-0.00540064970334,0.049865182915,0.999999961721,0.000128244865359,-0.000242323316693,-3.7291087972e-05,1793239949567474688
+61,1.016666667,BASELINE,766.391271358,745.608728642,714.391271358,679.608728642,665,635.608728642,879.608728642,788,804,653,631.608728642,653,0.401000128509,-0.00539971744553,0.0498653063331,0.999999961709,0.000129675113792,-0.000241556534362,-3.76445729952e-05,1793239949584141312
+62,1.033333333,BASELINE,766.969483939,745.030516061,714.969483939,679.030516061,665,635.030516061,879.030516061,788,804,653,631.030516061,653,0.401000752193,-0.00539810235747,0.0498658162477,0.999999961812,0.000131735197353,-0.000239944348868,-3.8060117134e-05,1793239949600807936
+63,1.050000000,BASELINE,766.453546046,745.546453954,715,679.546453954,665.546453954,635,879,788,804,653,631,652.453546046,0.400999847498,-0.00539849411368,0.0498651956245,0.999999961597,0.000130996770539,-0.000241269858366,-3.78743178499e-05,1793239949617474304
+64,1.066666667,BASELINE,766,745.874411872,715,680,665.874411872,635,879.125588128,788,804,652.874411872,631.125588128,652.125588128,0.400998920791,-0.00539886896321,0.049864605416,0.999999961342,0.000130088224275,-0.000242833033229,-3.77421284059e-05,1793239949634140672
+65,1.083333333,BASELINE,766,745.287066071,715,680,665.287066071,635,879.712933929,788,804,652.287066071,631.712933929,652.712933929,0.400998226254,-0.00539877053176,0.0498643586359,0.999999961012,0.000129127487988,-0.000244668235203,-3.79302399214e-05,1793239949650807552
+66,1.100000000,BASELINE,766,745,715,679.703478056,665.296521944,635.296521944,880,788,804,652.296521944,631.703478056,653,0.400998102659,-0.00539880091334,0.0498643075409,0.999999960979,0.00012900472221,-0.000244853252753,-3.80266164008e-05,1793239949667474688
+67,1.116666667,BASELINE,766,745,715,679.123482501,665.876517499,635.876517499,880,788,804,652.876517499,631.123482501,653,0.400998524883,-0.00539895443958,0.0498644435199,0.999999961231,0.000129683052429,-0.000243460701505,-3.80352945983e-05,1793239949684142336
+68,1.133333333,BASELINE,766,745,715,679,665.549209304,635.549209304,879.549209304,788,804,653,631.450790696,652.549209304,0.400999556721,-0.00539828680293,0.0498648768392,0.999999961183,0.000132027714149,-0.000242441407876,-3.77403840419e-05,1793239949700808704
+69,1.150000000,BASELINE,766,745,714.976257455,679.023742545,665,635.023742545,879,788,803.976257455,653,631.976257455,652.023742545,0.401000650154,-0.00539750625302,0.0498653604222,0.999999961066,0.000134554565231,-0.000241589912424,-3.73896681312e-05,1793239949717474560
+70,1.166666667,BASELINE,766,745,714.398016915,679.601983085,665,635.601983085,879,788,803.398016915,653,631.398016915,652.601983085,0.400999331046,-0.00539927611295,0.0498651395342,0.999999961381,0.000130809816952,-0.000242299335807,-3.76534725533e-05,1793239949734141184
+71,1.183333333,BASELINE,766,745,714.184028143,679.815971857,665.184028143,636,879.184028143,788,803.184028143,653,631,653,0.400998687779,-0.00540020727372,0.049865077932,0.999999961643,0.000128674062399,-0.000242329594005,-3.7857894538e-05,1793239949750808064
+72,1.200000000,BASELINE,766,745,714.774475445,679.225524555,665.774475445,636,879.774475445,788,803.774475445,653,631,653,0.40099953708,-0.0053992861996,0.0498653681064,0.999999961812,0.000130091708604,-0.000240859941857,-3.79311727193e-05,1793239949767474944
+73,1.216666667,BASELINE,766,745,714.641591628,679,666,636,879.641591628,788,803.641591628,653,631,653,0.400999507473,-0.00539845279988,0.0498651394106,0.999999961516,0.000131630910715,-0.000241251984517,-3.7941149539e-05,1793239949784141312
+74,1.233333333,BASELINE,766,745,714.06168466,679,666,636,879.06168466,788,803.06168466,653,631,653,0.400998934695,-0.00539767358354,0.0498645900498,0.99999996093,0.000133245235045,-0.000242794566191,-3.79120057204e-05,1793239949800807168
+75,1.250000000,BASELINE,766,745,714.512793662,679,665.487206338,635.487206338,879,788,803.512793662,652.487206338,631,653,0.400998966566,-0.00539722187706,0.0498640617119,0.999999960971,0.000132694974803,-0.000242927594385,-3.78877172036e-05,1793239949817473536
+76,1.266666667,BASELINE,766,745.086901593,715,679.086901593,665,635,879.086901593,788,804,652.086901593,631.086901593,653,0.400999190747,-0.00539713862049,0.0498637639526,0.999999961191,0.000131523802932,-0.000242666894137,-3.78348873941e-05,1793239949834139904
+77,1.283333333,BASELINE,766,745.662560617,715,679.662560617,665,635,879.662560617,788,804,652.662560617,631.662560617,653,0.401000091734,-0.0053989083674,0.0498647489539,0.999999961988,0.000128309570386,-0.000241135405678,-3.76182833978e-05,1793239949850806784
+78,1.300000000,BASELINE,766,746,715,679.763708204,665,635,879.763708204,788,804,653,632,653,0.40100016095,-0.00539955778448,0.0498650190505,0.999999962214,0.000127226133223,-0.000240777678262,-3.75628215618e-05,1793239949867473664
+79,1.316666667,BASELINE,766,746,715,679.192707878,665,635,879.192707878,788,804,653,632,653,0.400999051957,-0.0053986202485,0.0498642764807,0.999999961645,0.000129160978834,-0.000242082589464,-3.77356184341e-05,1793239949884140288
+80,1.333333333,BASELINE,766,745.603483418,715,679,665,635.396516582,879,788,804,653,632,653,0.400998939077,-0.00539854262826,0.0498645188158,0.999999961563,0.000129533130451,-0.000242215575991,-3.77681653291e-05,1793239949900806912
+81,1.350000000,BASELINE,766,745.004975255,715,679,665,635.995024745,879,788,804,653,632,653,0.400999333632,-0.00539890306209,0.0498652628764,0.999999961732,0.000129109222142,-0.000241751566371,-3.7729266767e-05,1793239949917473280
+82,1.366666667,BASELINE,766,745.569758542,715,679,665,635.430241458,879,788,804,653,631.430241458,652.430241458,0.400998501795,-0.00539872695564,0.0498643592605,0.999999961342,0.000130193263555,-0.000242772527773,-3.77896622224e-05,1793239949934139904
+83,1.383333333,BASELINE,766,746,714.851613185,679,665,635.148386815,879.148386815,788,804,653,631.148386815,652.148386815,0.400998186025,-0.00539871235545,0.0498639494221,0.999999961138,0.000131226746087,-0.000243052389547,-3.78049529017e-05,1793239949950806528
+84,1.400000000,BASELINE,766,746,714.260778317,679,665,635.739221683,879.739221683,788,804,653,631.739221683,652.739221683,0.400999439674,-0.00539919273211,0.0498650530725,0.999999961507,0.000132071786564,-0.000241085383885,-3.76832719822e-05,1793239949967473152
+85,1.416666667,BASELINE,766,746,714.323220444,679,665,635.676779556,880,788,804.323220444,653,631.676779556,652.676779556,0.40099971062,-0.00539936166687,0.0498654212252,0.999999961736,0.000130819006509,-0.000240806290055,-3.77596339043e-05,1793239949984140032
+86,1.433333333,BASELINE,766,746,714.901817948,679,665,635.098182052,880,788,804.901817948,653,631.098182052,652.098182052,0.400999205129,-0.0053992845308,0.0498652082597,0.99999996185,0.000127908734585,-0.000241860818547,-3.79924698427e-05,1793239950000806656
+87,1.450000000,BASELINE,766.476549477,746,715,679,665,635.476549477,880,788,804.523450523,652.523450523,631,652,0.400999585555,-0.00539903810846,0.0498654317199,0.999999961864,0.000127870467237,-0.000241808122688,-3.80722040489e-05,1793239950017473280
+88,1.466666667,BASELINE,766.949431865,746,715,679,665,635.949431865,880,788,804,652.050568135,631,652.050568135,0.400999970858,-0.00539881285708,0.0498656394534,0.999999961841,0.00012829367341,-0.000241673105077,-3.81116269304e-05,1793239950034139904
+89,1.483333333,BASELINE,766.374612665,746,715,679,665,635.374612665,880,788,804,652.625387335,631,652.625387335,0.400998529683,-0.00539916576317,0.0498647594733,0.999999961626,0.000127416048917,-0.000243030559381,-3.8057516032e-05,1793239950050806784
+90,1.500000000,BASELINE,766,746,715,679,665,635,880,788,804,653,631,653,0.400997830402,-0.00539971720492,0.0498641570262,0.999999961557,0.000126998747468,-0.000243562881642,-3.78658442253e-05,1793239950067473408
+91,1.516666667,BASELINE,766,746,715,679,665,635,880,788,804,653,631,653,0.400998519298,-0.00540064013281,0.0498640738797,0.999999961764,0.000127442770716,-0.000242551273829,-3.74167779818e-05,1793239950084140032
+92,1.533333333,BASELINE,766,745.618583295,715,679,665,635.381416705,879.618583295,788,804,653,631.381416705,652.618583295,0.40099836256,-0.0054003077289,0.049864063388,0.999999961637,0.000128013954795,-0.000242769622929,-3.74474832893e-05,1793239950100806656
+93,1.550000000,BASELINE,766,745.038438665,715,679,665,635.961561335,879.038438665,788,804,653,631.961561335,652.038438665,0.400997765223,-0.00539932126489,0.0498640907514,0.999999961335,0.000128651392981,-0.000243628811154,-3.77281618867e-05,1793239950117473280
+94,1.566666667,BASELINE,766,745,714.464339048,679.535660952,665,635.464339048,879.535660952,788,804,652.464339048,631.464339048,652.535660952,0.400998731155,-0.00539865173268,0.0498649449173,0.999999961721,0.000128120908039,-0.000242311562905,-3.77823873851e-05,1793239950134139648
+95,1.583333333,BASELINE,766.112192072,745,714.112192072,679.887807928,665,635,879.887807928,788,804,652.112192072,631.112192072,653,0.400999521962,-0.0053982113215,0.049865681977,0.99999996204,0.000127744419997,-0.000241185760409,-3.78365044854e-05,1793239950150806528
+96,1.600000000,BASELINE,766.700871908,745,714.700871908,679.299128092,665,635,879.299128092,788,804,652.700871908,631.700871908,653,0.40099909789,-0.00539864849107,0.0498656725086,0.999999961872,0.000128373939952,-0.00024152894524,-3.79584064896e-05,1793239950167473408
+97,1.616666667,BASELINE,766.714786976,745,714.714786976,679,665,635.285213024,879,788,803.714786976,653,631.714786976,652.714786976,0.400998943916,-0.00539882669541,0.0498655291822,0.999999961634,0.000129744052126,-0.000241803341239,-3.78158060189e-05,1793239950184139776
+98,1.633333333,BASELINE,766.134928108,745,714.134928108,679,665,635.865071892,879,788,803.134928108,653,631.134928108,652.134928108,0.400999068973,-0.00539873736974,0.0498652475707,0.999999961321,0.000131879250008,-0.000242006673338,-3.73999552041e-05,1793239950200806400
+99,1.650000000,BASELINE,766,745,714.442792767,679,665,635.557207233,879,788,803.885585534,652.557207233,631,652.442792767,0.40100046559,-0.00539947396867,0.0498657657654,0.999999961819,0.000131348471057,-0.000240248533682,-3.72894457891e-05,1793239950217473024
+100,1.666666667,BASELINE,766,745,715,679,665,635,879.019772542,788,804.980227458,652.019772542,631,653,0.401002124225,-0.00540043090093,0.0498664638495,0.999999962512,0.00013004563966,-0.000238064591798,-3.72732164497e-05,1793239950234139904
+101,1.683333333,BASELINE,766,745,715,679,665,635,879.59415131,788,804.40584869,652.59415131,631,653,0.401000316193,-0.00540054260697,0.0498654044481,0.999999961935,0.000129764423545,-0.000240621730741,-3.73042035552e-05,1793239950250806528
+102,1.700000000,BASELINE,766,745,715,679,665,635.173153986,879.826846014,788,804,653,631,653,0.40099879229,-0.00540060282642,0.0498647701822,0.999999961532,0.000129400866575,-0.000242479957606,-3.73526286926e-05,1793239950267473152
+103,1.716666667,BASELINE,766,745,715,679,665,635.763291722,879.236708278,788,804,653,631,653,0.400997952619,-0.00540053905755,0.0498651597135,0.999999961559,0.000128839019102,-0.000242655086953,-3.74430475228e-05,1793239950284139520
+104,1.733333333,BASELINE,766.347588515,745,715,679,665,636,879,788,804,653,631.347588515,653,0.400998005658,-0.00540054078036,0.0498651342191,0.999999961656,0.000127924415955,-0.000242749515044,-3.73726780012e-05,1793239950300805888
+105,1.750000000,BASELINE,766.927973412,745,715,679,665,636,879,788,804,653,631.927973412,653,0.400998656587,-0.00540058636601,0.0498648307624,0.999999961799,0.000126773555679,-0.000242789893722,-3.71946209645e-05,1793239950317472768
+106,1.766666667,BASELINE,766.498244908,745,715,679,665,636,879,788,804,653,631.498244908,653,0.400999621483,-0.00539889475542,0.0498654373307,0.99999996168,0.000129806201471,-0.000241641409531,-3.74196296953e-05,1793239950334140160
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,879,788,804,652,631,653,0.400999024175,-0.00539859214305,0.0498648565241,0.99999996113,0.000132751694676,-0.000242258206937,-3.77878995229e-05,1793239950377715968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.597697269,715,679,665,635,879.597697269,788,804,652.597697269,631.597697269,653,0.400999599581,-0.00539772716089,0.0498651018095,0.999999961268,0.000132356887346,-0.000241882465563,-3.79390546344e-05,1793239950394382336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.812450899,745.812450899,714.812450899,679,665,635,880,788,804,652.812450899,632,653,0.401000006626,-0.00539734829948,0.0498653246942,0.99999996148,0.000131575206357,-0.000241420693748,-3.79974313801e-05,1793239950411048960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.238752128,745.238752128,714.238752128,679,665,635,880,788,804,652.238752128,632,653,0.401000067025,-0.00539797032443,0.0498655014573,0.999999961846,0.000129996981165,-0.000240781791576,-3.7864784388e-05,1793239950427715584
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.670079078,745.335039539,714,679.335039539,665,635,880,788,804.335039539,652.335039539,631.664960461,653,0.400999907944,-0.00539898704779,0.0498658350379,0.999999962181,0.000128609457691,-0.000240148802415,-3.77633037097e-05,1793239950444382208
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.817794777,745.908897389,714,679.908897389,665,635,880,788,804.908897389,652.908897389,631.091102611,653,0.400999592416,-0.00540028511462,0.0498662803992,0.999999962495,0.000127357867708,-0.000239520028123,-3.76840385856e-05,1793239950461048832
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.502038637,745.502038637,714.497961363,679.502038637,665.497961363,635.497961363,880,788,804.004077274,652.502038637,631,653,0.40099836174,-0.00540082867335,0.0498654926105,0.999999962033,0.000127423767459,-0.000241432631891,-3.75083855123e-05,1793239950477715200
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.087917927,715,679,665.912082073,636,879.912082073,788,803.087917927,652.087917927,631,653,0.400997504013,-0.00540088584446,0.0498647180867,0.99999996152,0.000127910127969,-0.000243308746468,-3.74206773456e-05,1793239950494381824
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.666833394,715,679,665.333166606,636,879.333166606,788,803.666833394,652.666833394,631,653,0.400999693593,-0.00539902186152,0.0498653172789,0.999999961559,0.000129356124054,-0.000242302681721,-3.7925702124e-05,1793239950511048448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665,635.756153346,879,788,804,653,631,653,0.401010416045,-0.0053987712023,0.049869542299,0.99999996349,0.00012969429931,-0.000234027658532,-3.78276453122e-05,1793239950527715328
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679,665,635.181718995,879,788,804,653,631,653,0.401032706678,-0.00540070775791,0.049878682925,0.999999967753,0.000128530579959,-0.000215897965632,-3.69119788929e-05,1793239950544382208
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.360063078,745.639936922,714.639936922,679,665,635,879,788,803.639936922,653,631.360063078,653,0.401072596777,-0.00540261920903,0.049892957958,0.999999973833,0.000127605777833,-0.000186460153675,-3.58118251518e-05,1793239950561049088
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.88673619,745.11326381,714.11326381,679,665,635,879,788,803.11326381,653,631.88673619,653,0.401120630583,-0.00540451904387,0.0499096088081,0.999999979842,0.000126791528357,-0.000151789795409,-3.46263044808e-05,1793239950577716224
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.539051064,745.460948936,714.460948936,679.460948936,665,635,879.460948936,787.539051064,803.460948936,653,631.539051064,652.539051064,0.401183769056,-0.00540605653627,0.0499247954586,0.999999984122,0.000126525829235,-0.000120844845436,-3.38182870519e-05,1793239950594382592
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.947373415,715,679.947373415,665.052626585,635.052626585,879.947373415,787.052626585,804,652.947373415,631.052626585,652.052626585,0.401251958223,-0.00540769264779,0.0499392187163,0.999999987217,0.000126176688023,-9.24985368896e-05,-3.30196536965e-05,1793239950611049216
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.306023312,715,679.306023312,665.693976688,635.693976688,879.306023312,787.693976688,804,652.306023312,631.693976688,652.693976688,0.401330354183,-0.00541154253892,0.0499495896896,0.999999988578,0.000123212841714,-8.18046856862e-05,-3.11689860109e-05,1793239950627715840
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.30102826,665.69897174,635.69897174,879,788,804,652.30102826,632,653,0.401413225913,-0.00541394842133,0.0499545687369,0.999999989021,0.000123106165741,-7.68045189387e-05,-3.00791920637e-05,1793239950644382464
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.876778542,665.123221458,635.123221458,879,788,804,652.876778542,632,653,0.401500182281,-0.00541503648371,0.0499546270469,0.999999988706,0.00012560697807,-7.70004779556e-05,-2.9683780782e-05,1793239950661048832
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.537846697,679.537846697,665,635,879,788,803.537846697,652.537846697,631.537846697,653,0.401606409886,-0.00541861382025,0.0499536847116,0.999999988664,0.000125144638956,-7.85796686977e-05,-2.8931568895e-05,1793239950677715456
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.049517066,714,679.049517066,665,635,879,788,803.049517066,652,631.049517066,653,0.401720390649,-0.00542284909922,0.049952683421,0.999999988717,0.000123814411416,-8.02992031238e-05,-2.80683776334e-05,1793239950694382080
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.630105906,714,679.630105906,665,635,879,788,803.630105906,652,631.630105906,653,0.401861245027,-0.00542687121711,0.0499539720894,0.999999989054,0.000121829567862,-7.94843738673e-05,-2.70569207673e-05,1793239950711048704
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714.208077475,679.791922525,665.208077475,635,879.208077475,788,804,652,632,652.791922525,0.402012918937,-0.00543173847314,0.0499554191448,0.999999989441,0.000119486787039,-7.85537149885e-05,-2.58756055467e-05,1793239950727715328
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714.781454124,679.218545876,665.781454124,635,879.781454124,788,804,652,632,652.218545876,0.402183587519,-0.00543808944661,0.0499571442628,0.999999989918,0.000116515614582,-7.74197066262e-05,-2.43960884468e-05,1793239950744381952
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,679.3557863,665.6442137,635,879.6442137,788,804.3557863,652.3557863,632,652.3557863,0.402369526199,-0.00544559174215,0.0499560080329,0.999999990382,0.000111425264383,-7.93407547746e-05,-2.29058329087e-05,1793239950761048576
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,679.930707056,665.069292944,635,879.069292944,788,804.930707056,652.930707056,632,652.930707056,0.402564869994,-0.00545380315593,0.0499531094532,0.999999990799,0.000105029678519,-8.3143460846e-05,-2.14089632509e-05,1793239950777715200
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.479136849,714.479136849,679.479136849,665,635.520863151,879,788,803.958273699,652.479136849,632,653,0.4028011768,-0.00546172828713,0.049954171905,0.999999991242,0.000101895378659,-8.21494326948e-05,-1.96237377396e-05,1793239950794381824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,679.110677986,665,635.889322014,879,788,803.110677986,652.110677986,631.889322014,653,0.403052268524,-0.00546968500827,0.049957303452,0.999999991952,9.92949430642e-05,-7.69559362292e-05,-1.77410748906e-05,1793239950811048704
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679.690202755,665,635.309797245,879,788,803.690202755,652.690202755,631.309797245,653,0.403342210792,-0.00547794174793,0.0499669004508,0.999999993557,9.70627393824e-05,-5.67575964433e-05,-1.56130542526e-05,1793239950827715072
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.267174975,714.267174975,679.732825025,665.267174975,635.267174975,879,788,804,652.732825025,631,652.732825025,0.403650416597,-0.00548727084109,0.0499763945817,0.999999994896,9.31774262732e-05,-3.67468829944e-05,-1.32358705864e-05,1793239950844381952
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.841215414,714.841215414,679.158784586,665.841215414,635.841215414,879,788,804,652.158784586,631,652.158784586,0.403979599082,-0.00549783159199,0.0499857705623,0.999999995982,8.73934242809e-05,-1.69516701492e-05,-1.05725093175e-05,1793239950861048576
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.572931036,679,665.572931036,635.572931036,879.427068964,788,804,652.427068964,631.427068964,652.427068964,0.404328542223,-0.00550793663167,0.0499925557377,0.99999999652,8.2933838134e-05,-4.72914428404e-06,-7.74578039559e-06,1793239950877715200
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714.016950604,679.016950604,665,635.016950604,879.983049396,788,804,652.983049396,631.983049396,653,0.404686620639,-0.00551771357232,0.0499982144898,0.999999996835,7.92818904057e-05,4.47594366189e-06,-4.84403789391e-06,1793239950894381824
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714.590768484,679.590768484,665,635.590768484,879.409231516,788,804,652.409231516,631.409231516,653,0.405096581104,-0.00552243634164,0.0499994133042,0.999999996295,8.55254411309e-05,9.67925496527e-06,-1.53014646451e-06,1793239950911048704
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.834794042,714.834794042,679.834794042,665,635.834794042,879,788,804,652.165205958,631,653,0.40550305599,-0.00552143122681,0.049994080608,0.999999995201,9.79571991906e-05,5.48868701209e-07,1.18668723427e-06,1793239950927715328
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.258816083,714.258816083,679.258816083,665,635.258816083,879,788,804,652.741183917,631,653,0.405900864188,-0.00550618416462,0.0499725078094,0.99999999111,0.000125775461293,-4.42211631037e-05,2.41898197107e-06,1793239950944381952
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.31953166,714.31953166,679,665.31953166,635.31953166,879,788,804,653,631,653,0.406334651358,-0.00549444094216,0.0499556638204,0.999999985892,0.000150236606815,-7.50443900623e-05,3.5145538397e-06,1793239950961048576
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.509760885,715,679,666,635.509760885,879.490239115,788,804,652.509760885,631,653,0.407292126562,-0.0054941937802,0.0499355175637,0.999999979737,0.000171837687156,-0.000104596014035,7.55480562089e-06,1793239950994382080
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+147,2.450000000,POSE1_TO_POSE2_PRESS,765.230571612,746,714.230571612,679,665.230571612,636,880,788,804,652,631,653,0.409020449979,-0.00551886133588,0.0499783246943,0.999999983859,0.000177044208336,-2.24600332496e-05,2.08295474381e-05,1793239951044382208
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.807034573,746,714.807034573,679,665.807034573,636,880,788,804,652,631,653,0.409637205694,-0.00551820808716,0.0499970307435,0.999999981773,0.000189101062636,2.51687450172e-06,2.62308573382e-05,1793239951061048576
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.608801715,715,679,665.608801715,636,880,788,804,652,631,652.608801715,0.410239027822,-0.00551294538725,0.0499990312972,0.999999978099,0.000207174329431,8.07540081898e-07,2.96816260195e-05,1793239951077715200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.020763216,715,679,665.020763216,636,880,788,804,652,631,652.020763216,0.410833335762,-0.00550536333833,0.0499926261046,0.999999973326,0.000228274889055,-1.43295780267e-05,3.21509358457e-05,1793239951094381568
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+152,2.533333333,POSE1_TO_POSE2_PRESS,765.137798414,745.862201586,714.137798414,678.137798414,665.862201586,635.862201586,879,788,804,652.862201586,631,653,0.412114112635,-0.00550533254052,0.0499417822712,0.999999960801,0.000252573638827,-0.00011494897999,3.73083149172e-05,1793239951127715328
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+154,2.566666667,POSE1_TO_POSE2_PRESS,765.713637991,745,714.713637991,679,665.286362009,635,879.286362009,788,804,652.286362009,631,652.713637991,0.413619224463,-0.00551963357331,0.0499761929812,0.999999979336,0.000198124513461,-3.28766413757e-05,3.15319995986e-05,1793239951161049088
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.141233409,745,714.141233409,679,665.858766591,635,879.858766591,788,804,652.858766591,631,652.141233409,0.414365381145,-0.00553283252091,0.0499940949376,0.999999996316,8.43370622743e-05,-1.27436529418e-05,9.59479013684e-06,1793239951177715712
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+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714.958259239,679.041740761,665,635,880,788,804,653,631.041740761,653,0.415795366738,-0.00553962523938,0.0499423437817,0.999999992625,7.952734911e-05,-9.14155652679e-05,8.29775126879e-06,1793239951211048960
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714.382063794,679.617936206,665,635,880,788,804,653,631.617936206,653,0.416581523017,-0.0055325094367,0.0499370208198,0.999999990032,0.000102489930531,-9.63955227053e-05,1.179990753e-05,1793239951227715584
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,714.194140322,679.805859678,665,635.194140322,879.805859678,788,804,652.805859678,631.805859678,653,0.417393292222,-0.00552751538793,0.0499441936756,0.99999998921,0.000120997502026,-8.18315421515e-05,1.56229874369e-05,1793239951244382208
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+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.520374634,714.520374634,679.479625366,665,635.520374634,880,788,804,652,631,652.479625366,0.420696620592,-0.00553187676365,0.0499749567282,0.999999991367,0.000124518795357,-3.57172839135e-05,2.20228348834e-05,1793239951311048960
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.901010806,715,679,665.098989194,635.901010806,879.901010806,788,804,652,631,652,0.421554191636,-0.00553337698613,0.0499743617162,0.999999992068,0.000122172868172,-2.17769557574e-05,2.15514715594e-05,1793239951327715328
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.32169976,715,679,665.67830024,635.32169976,879.32169976,788,804,652,631,652,0.422455234462,-0.00553372590247,0.0499990640429,0.999999992186,0.000120648410314,2.28707468686e-05,2.34415308954e-05,1793239951344381952
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,879.255291913,788,804,652,631,652,0.423336179517,-0.00553542927221,0.0500048348991,0.999999992094,0.000118932335376,3.24880392347e-05,2.47180904384e-05,1793239951361048576
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,879.829387277,788,804,652,631,652,0.424192026998,-0.0055388240564,0.0499869645157,0.999999992839,0.00011697697278,-1.63994015425e-06,2.52285239539e-05,1793239951377715456
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.415002296,665.584997704,635,880.415002296,788.415002296,804,652,631,652.415002296,0.425056423957,-0.00554276764025,0.0499868941772,0.999999993368,0.000112179023525,-2.25301252946e-06,2.59708468618e-05,1793239951394382080
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.994613567,665,635,880.994613567,788.994613567,804.005386433,652,631,653,0.425924508341,-0.00554686261028,0.0499944153424,0.999999993927,0.000106295617282,1.12986953858e-05,2.68183588565e-05,1793239951411048704
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.41509444,665,635,880.41509444,788.41509444,804.58490556,652,631,653,0.426800302301,-0.0055423586863,0.050008838263,0.99999999294,0.00011283309634,2.41037935001e-05,2.84263440959e-05,1793239951427715328
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.163086525,715,679,665,635,880,788,805,652,631,653,0.427656626656,-0.00553827681152,0.0500082908649,0.999999992532,0.000117984876415,1.26156359252e-05,2.92497367232e-05,1793239951444382208
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.737889231,715,679,665,635,880,788,805,652,631,653,0.428463799437,-0.00553526041121,0.0499699505061,0.999999990637,0.000119638422571,-6.02014793878e-05,2.80924046778e-05,1793239951461048832
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.68721475,715,679.31278525,665,635,880,788,805,652,631,653,0.429330785484,-0.00553697591034,0.0499574234601,0.999999990233,0.000114905595069,-7.47453929836e-05,2.72842114902e-05,1793239951477715712
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.112240541,715,679.887759459,665,635,880,788,805,652,631,653,0.430247909335,-0.00554265787475,0.049966534155,0.99999999333,0.000104819456963,-4.04424024047e-05,2.67686804125e-05,1793239951494382336
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.473255178,714.526744822,680,665.473255178,635,880.473255178,788,804.526744822,652,631.473255178,653,0.43108510866,-0.00554419894154,0.0499664716032,0.999999993146,0.000105170033843,-4.35328474153e-05,2.74360470907e-05,1793239951511049216
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679.939295756,665.939295756,635,880.939295756,788,804.060704244,652,631.939295756,653,0.431903320061,-0.00554453902666,0.0499627694882,0.999999992185,0.000107740361668,-5.67790465795e-05,2.82639226036e-05,1793239951527715840
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,679.356991784,665.356991784,635,880.356991784,788,804.643008216,652,631.356991784,653,0.432724955428,-0.00554319011629,0.0499469132912,0.999999990667,0.000107631764016,-7.93533458374e-05,2.80055840734e-05,1793239951544382208
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.222312979,679.222312979,665.222312979,635,880,788,804.777687021,652,631.222312979,653,0.433557830084,-0.00554354793174,0.0499480523631,0.999999991051,0.000106889833869,-7.51886215232e-05,2.86162715168e-05,1793239951561048832
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.796865789,679.796865789,665.796865789,635,880,788,804.203134211,652,631.796865789,653,0.434408512757,-0.00554660993826,0.049976119283,0.999999993593,0.000105144431243,-2.86577318478e-05,3.06038715937e-05,1793239951577715456
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.634737485,666,635,880,788,804,652,632,652.634737485,0.435211747645,-0.00554714945982,0.0499864866077,0.99999999392,0.000103766462901,-1.98937152179e-05,3.15633365599e-05,1793239951594382080
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.069707644,666,635,880,788,804,652,632,652.069707644,0.435989032606,-0.00554630939787,0.0499871737674,0.999999993722,0.000102589449832,-3.17849476564e-05,3.1960499543e-05,1793239951611048960
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.473783072,635,880,788,804.526216928,652,631.473783072,652.526216928,0.436732510449,-0.005543586903,0.0499659682796,0.999999991182,0.000104389352268,-7.58471291221e-05,3.13968464323e-05,1793239951627715584
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.122163859,665.122163859,635,880,788,805,652,631.122163859,652.877836141,0.437484023336,-0.00554234557029,0.049952599072,0.999999989042,0.000105062332849,-9.95745963662e-05,3.1038132771e-05,1793239951644382208
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.701908967,665.701908967,635,880,788,805,652,631.701908967,652.298091033,0.438283453307,-0.00554764441842,0.0499801219928,0.99999999404,9.99450529202e-05,-3.0177355255e-05,3.19535230824e-05,1793239951661048832
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.720629741,666.279370259,635,880,788,805,652,631.720629741,652,0.439034294398,-0.00555129888654,0.0499925826936,0.99999999465,9.79508110361e-05,-2.41591000502e-06,3.31615100443e-05,1793239951677715456
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679.145585583,666.854414417,635,880,788,805,652,631.145585583,652,0.439733710984,-0.0055532130107,0.0499891021633,0.999999994297,9.9261863822e-05,-1.87200692989e-05,3.46791692298e-05,1793239951694382080
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.559672807,715,679,666.119345615,635,880,787.559672807,805,652,631,652.440327193,0.440382256871,-0.00554955044196,0.0499577668623,0.999999991601,0.000105180372587,-6.77809589518e-05,3.37724060857e-05,1793239951711048704
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.029355996,665,635,880.029355996,787,804.970644004,652,631,652.970644004,0.441013153006,-0.0055443305346,0.0499184992797,0.999999985235,0.000112423404851,-0.000125912088935,3.22009282775e-05,1793239951727715328
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.607753,665,635,880.607753,787,804.392247,652,631,652.392247,0.441636479363,-0.00554534147261,0.0499074810946,0.99999998214,0.000115226472623,-0.000145997319781,3.35687880584e-05,1793239951744381952
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.814355322,635,880.814355322,787,804.185644678,652,631,652.185644678,0.442249195104,-0.00554586838995,0.049897671996,0.999999979342,0.000117958982905,-0.000161865530865,3.46680174622e-05,1793239951761048576
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.237528337,635,880.237528337,787,804.762471663,652,631,652.762471663,0.442839552735,-0.00554537540041,0.0498904106292,0.99999997786,0.000120542818146,-0.00016884782707,3.52012010193e-05,1793239951777715456
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714.654811488,680,664,634.654811488,880,787,805,652,631,653,0.443385617207,-0.00554420765212,0.049868613799,0.999999970841,0.000124027472449,-0.000204217736176,3.50852867128e-05,1793239951794382336
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714.067971433,680,664,634.067971433,880,787,805,652,631,653,0.44390067392,-0.00554256753444,0.0498366413203,0.999999957534,0.00012814275075,-0.000259460583968,3.4514966959e-05,1793239951811048960
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679.487312862,663.487312862,634,880,787,805,652,631,652.487312862,0.444377688126,-0.00554300779461,0.0497947070888,0.999999936776,0.000129998783306,-0.000329264677907,3.36741470628e-05,1793239951827715328
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.669409199,714.669409199,679.669409199,663,634,880.669409199,787,805,652,631,652.669409199,0.445344917791,-0.00554849752083,0.0497552589592,0.999999920367,0.000128074424956,-0.000376448191306,3.3910233149e-05,1793239951861048576
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.755213717,746,715,680,663,634,881,786.755213717,805,652,631,653,0.445820652631,-0.00554988205099,0.0497563989105,0.999999925212,0.000128567434462,-0.000363099769139,3.47229533122e-05,1793239951877715200
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.18239047,746,715,680,663,634,881,786.18239047,805,652,631,653,0.446274576503,-0.00554746997628,0.0497626598233,0.999999930265,0.000133460242709,-0.000346983818425,3.55009064488e-05,1793239951894382080
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.022527268,715,680,662,631.977472732,881,786,805.022527268,652,631,652,0.449140395495,-0.00556310395521,0.0497072603859,0.999999908393,3.01058719962e-05,-0.00042686218378,9.84590542694e-06,1793239952044382208
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.617415928,715,680,662,631.382584072,881,786,805.617415928,652,631,652,0.449348523123,-0.0055594262849,0.0497051271588,0.999999905573,3.8809479427e-05,-0.000432697885546,1.10139700876e-05,1793239952061049088
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.640008013,715,680.359991987,662,631,880.640008013,786,805.640008013,652,631,653,0.449879441336,-0.00554615333545,0.0496896687505,0.9999998925,6.18999402385e-05,-0.000459358084395,1.25920144832e-05,1793239952111049216
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.063234806,715,680.936765194,662,631,880.063234806,786,805.063234806,652,631,653,0.450035817406,-0.0055457253206,0.0496927733401,0.999999894831,6.29649053805e-05,-0.000454083780707,1.34494541875e-05,1793239952127715584
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680.476329005,662,631,880.523670995,786,805,652,631,652.476329005,0.450171320471,-0.00554820218832,0.049700864493,0.999999900667,6.14584917218e-05,-0.000441218342382,1.46782942748e-05,1793239952144381952
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680.91927333,662,630,880,786,805,652,630.08072667,653,0.450809738633,-0.005550023342,0.0496974565375,0.999999894413,6.54780509845e-05,-0.000454550344096,1.64353780554e-05,1793239952327715584
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715.656842887,680,661,630,880,786,805,652,630,652,0.450828312069,-0.00554673146069,0.0496926866734,0.999999889173,6.81333882389e-05,-0.000465572611487,1.59059623176e-05,1793239952377715968
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.76719755,680,661,630,880.23280245,786,805,652,630,652.23280245,0.450831752394,-0.00554590452023,0.0496913361546,0.999999888329,6.7994029096e-05,-0.000467417832459,1.54484998008e-05,1793239952394382848
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9060ce99d506611b9570ec600ef8b2ee918ced6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4102f020b5499bcf2f18b1223cfb2937a412e9e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:aec22125e130c9c9bc3060054672f413f26cc36389229f6467f2bcd1caabd3cc
+size 26643530
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31b46b8771f681e7e4350fa09466a2241bda77c7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/franka_data.csv
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,766.577287257,745.577287257,715,679,665,635,879.577287257,788,803.422712743,652.577287257,631,653,0.400999741946,-0.00539335200658,0.0498633977687,0.999999958412,0.000146061410626,-0.000246010289347,-3.63576414472e-05,1793239955707408896
+2,0.033333333,BASELINE,766.842478324,746,715,679.157521676,665,635,880,788,803.157521676,653,631,653,0.401000182498,-0.00539412045858,0.0498630654951,0.999999958569,0.00014404598997,-0.000246582906814,-3.61865457139e-05,1793239955724075776
+3,0.050000000,BASELINE,766.254184209,746,715,679.745815791,665,635,880,788,803.745815791,653,631,653,0.401001129287,-0.00539372238464,0.049863952161,0.999999959019,0.000144423634539,-0.000244463083751,-3.66194039442e-05,1793239955740742400
+4,0.066666667,BASELINE,766.32988565,745.67011435,715,679.67011435,665,635,879.67011435,788,804,653,631,653,0.401001604387,-0.00539401751572,0.0498646852581,0.999999959288,0.000144972940137,-0.00024303993607,-3.65761816271e-05,1793239955757409024
+5,0.083333333,BASELINE,766.910741745,745.089258255,715,679.089258255,665,635,879.089258255,788,804,653,631,653,0.401001720635,-0.00539484002343,0.0498653015229,0.999999959421,0.00014565284201,-0.000242146805298,-3.61707666674e-05,1793239955774075648
+6,0.100000000,BASELINE,766.513167633,745.486832367,715,679,665,635,879,788,804,653,631,653,0.400999986086,-0.00539398913539,0.0498640945435,0.999999958881,0.000145635933196,-0.000244350244997,-3.63407310712e-05,1793239955790742272
+7,0.116666667,BASELINE,766.062013403,745.937986597,714.937986597,679,665,635,879,788,804,653,631,653,0.400998279846,-0.00539313244594,0.0498628251414,0.999999958355,0.000145379740379,-0.000246615822375,-3.65425738657e-05,1793239955807409152
+8,0.133333333,BASELINE,766.636827885,745.363172115,714.363172115,679,665,635,879,788,804,653,631,653,0.40099958653,-0.00539474025094,0.0498637770064,0.999999959001,0.000144191065415,-0.000244745980109,-3.61441401046e-05,1793239955824075776
+9,0.150000000,BASELINE,766.782435664,745,714,679.217564336,665,635.217564336,879.217564336,788,804,653,631,653,0.401000143751,-0.00539528211679,0.0498641629618,0.999999959209,0.000144046439916,-0.000243995485007,-3.60479077962e-05,1793239955840742400
+10,0.166666667,BASELINE,766.191537346,745,714,679.808462654,665,635.808462654,879.808462654,788,804,653,631,653,0.400999414918,-0.00539399486236,0.0498635778326,0.999999958669,0.000145693372614,-0.000245165756808,-3.64702443046e-05,1793239955857408768
+11,0.183333333,BASELINE,766,745.390475668,714.390475668,680,665,635.609524332,880,788,804,653,631,653,0.40099967842,-0.00539377755548,0.049863787035,0.999999958707,0.0001462517621,-0.000244659222359,-3.65721397661e-05,1793239955874075648
+12,0.200000000,BASELINE,766,745.968227257,714.968227257,680,665,635.031772743,880,788,804,653,631,653,0.401000417856,-0.00539407340571,0.0498643772065,0.999999959024,0.000146288075843,-0.000243348475458,-3.6520348629e-05,1793239955890742528
+13,0.216666667,BASELINE,766.541585832,746,715,679.458414168,665,635,879.458414168,788.541585832,803.458414168,653,631,653,0.401000056696,-0.00539337701696,0.0498642357535,0.999999958758,0.00014698022437,-0.000244025449299,-3.65000997858e-05,1793239955907409152
+14,0.233333333,BASELINE,766.881750169,746,715,679,665,635,879,788.881750169,803.118249831,653,631.118249831,653,0.400999748417,-0.00539307901374,0.0498641031903,0.99999995861,0.000146998310874,-0.000244624912938,-3.64736682589e-05,1793239955924075520
+15,0.250000000,BASELINE,766.290852291,746,715,679,665,635,879,788.290852291,803.709147709,653,631.709147709,653,0.40099990751,-0.00539460416718,0.0498641763383,0.999999959066,0.000144169602436,-0.000244452215467,-3.641518751e-05,1793239955940742144
+16,0.266666667,BASELINE,766,745.706539113,715,679,665,635,879,788,804,653,631.706539113,653,0.401000331425,-0.0053954246701,0.0498643597967,0.999999959385,0.000143011305702,-0.000243834461994,-3.63601664216e-05,1793239955957409536
+17,0.283333333,BASELINE,766,745.128608916,715,679,665,635,879,788,804,653,631.128608916,653,0.401001012049,-0.00539556211276,0.0498646501857,0.999999959576,0.000143472239795,-0.000242785288951,-3.6308498994e-05,1793239955974077696
+18,0.300000000,BASELINE,766,745.448361488,715,679,665,635.448361488,879.448361488,788,804,653,631.448361488,653,0.401000370826,-0.00539530215786,0.0498643655024,0.999999959346,0.000144044973463,-0.000243411060797,-3.61885350371e-05,1793239955990744320
+19,0.316666667,BASELINE,766.024913958,745.975086042,715,679,665.024913958,636,880,788,804.024913958,653,631.975086042,653,0.400999434794,-0.00539486179544,0.0498639358072,0.999999958998,0.000144751981198,-0.000244436157374,-3.60716516462e-05,1793239956007410432
+20,0.333333333,BASELINE,766.59831375,745.40168625,715,679,665.59831375,636,880,788,804.59831375,653,631.40168625,653,0.401000337983,-0.00539295388435,0.0498639374066,0.999999958732,0.000147710566487,-0.000243697978179,-3.6452950973e-05,1793239956024076800
+21,0.350000000,BASELINE,766.821839314,745.178160686,715,679.178160686,665.821839314,635.821839314,880,788,804.821839314,653,631.178160686,653,0.401000916627,-0.00539286764355,0.049863961996,0.99999995881,0.000148040595261,-0.00024316426918,-3.6528441542e-05,1793239956040743168
+22,0.366666667,BASELINE,766.226910782,745.773089218,715,679.773089218,665.226910782,635.226910782,880,788,804.226910782,653,631.773089218,653,0.40100073607,-0.0053970428011,0.0498640403655,0.999999959692,0.000142221692211,-0.000243108873463,-3.58885595447e-05,1793239956057409536
+23,0.383333333,BASELINE,766,745.643885306,715,679.643885306,665,635,879.643885306,788,804,653,631.643885306,653,0.401001259941,-0.00539680950354,0.0498646484338,0.99999995993,0.000142015251529,-0.000242231647159,-3.5990181846e-05,1793239956074076160
+24,0.400000000,BASELINE,766,745.068198907,715,679.068198907,665,635,879.068198907,788,804,653,631.068198907,653,0.401002218145,-0.00539385805961,0.0498655831014,0.999999959777,0.00014526931879,-0.000240847699995,-3.65489976958e-05,1793239956090743040
+25,0.416666667,BASELINE,766,745.506173913,715,679,665,635,879,788,804,653,631.506173913,652.493826087,0.401001004242,-0.00539475018731,0.0498651801497,0.999999959729,0.000143976878192,-0.000241827491726,-3.64989981964e-05,1793239956107409408
+26,0.433333333,BASELINE,766,745.919296694,715,678.919296694,665,635.080703306,879.080703306,788,804,653,631.919296694,652,0.400999855138,-0.00539571844786,0.0498647324959,0.999999959664,0.000142641969946,-0.00024289997897,-3.64002281513e-05,1793239956124076032
+27,0.450000000,BASELINE,766,745.342720365,715,678.342720365,665,635.657279635,879.657279635,788,804,653,631.342720365,652,0.401000897739,-0.00539398079692,0.0498651146709,0.999999959425,0.000144800251662,-0.000242590245283,-3.65045017156e-05,1793239956140742912
+28,0.466666667,BASELINE,766,745.240150004,714.759849996,678.240150004,665,636,880,788,804,653,631,652.240150004,0.401001325573,-0.00539307552353,0.0498653926616,0.999999959373,0.000145514584778,-0.000242362202325,-3.65987288711e-05,1793239956157409536
+29,0.483333333,BASELINE,766,745.832244371,714.167755629,678.832244371,665,636,880,788,804,653,631,652.832244371,0.401000852453,-0.00539339011527,0.0498655179683,0.9999999596,0.000144112783832,-0.000242253878694,-3.66782328187e-05,1793239956174076160
+30,0.500000000,BASELINE,766,746,714.413676338,679,665.413676338,635.586323662,879.586323662,788,804,653,631,652.586323662,0.401001171042,-0.00539371275965,0.0498653448406,0.999999959681,0.000144567689489,-0.000241637784806,-3.67344652893e-05,1793239956190743040
+31,0.516666667,BASELINE,766,746,714.990893078,679,665.990893078,635.009106922,879.009106922,788,804,653,631,652.009106922,0.401001802621,-0.0053940385875,0.0498650537316,0.999999959704,0.000145756614795,-0.000240820951975,-3.67814977473e-05,1793239956207409664
+32,0.533333333,BASELINE,766,745.457247549,715,679,665.457247549,635.542752451,879.542752451,788,804,653,631.542752451,652.542752451,0.401000685564,-0.00539549789153,0.0498645370268,0.999999959478,0.000144799870186,-0.000242428207496,-3.61280461707e-05,1793239956224076288
+33,0.550000000,BASELINE,766,745.105460428,715,679,665,635.894539572,880,788,804,653,631.894539572,653,0.40100005758,-0.00539664895044,0.0498643787884,0.999999959414,0.000143865370242,-0.000243319422262,-3.56528969516e-05,1793239956240742656
+34,0.566666667,BASELINE,766,745.722797414,715,679,665,635.277202586,880,788,804,653,631.277202586,653,0.401001939474,-0.00539621567832,0.0498659780026,0.999999960163,0.000143205786939,-0.00024054655784,-3.60976817221e-05,1793239956257410048
+35,0.583333333,BASELINE,766,746,715,679,665,635,880,788,804,653,631,653,0.401001751803,-0.00539529344469,0.0498658445392,0.999999959844,0.000144767284578,-0.000240924297826,-3.62007209664e-05,1793239956274077184
+36,0.600000000,BASELINE,766,746,715,679,665,635,880,788,804,653,631,653,0.400999877479,-0.00539397271727,0.0498642989787,0.999999958642,0.000148138918176,-0.000243869716361,-3.60252445691e-05,1793239956290743808
+37,0.616666667,BASELINE,766,746,714.528648486,679,665,635,880,788,803.528648486,653,631,652.528648486,0.400999379358,-0.00539454730284,0.0498642673299,0.999999959221,0.000144766966843,-0.000243503358895,-3.61411430017e-05,1793239956307410176
+38,0.633333333,BASELINE,766,745.955511316,714,679,665,635,879.955511316,788,803.044488684,653,631,652,0.400999194239,-0.00539543353015,0.0498645346665,0.999999960057,0.000140455886836,-0.000242570263777,-3.62965959444e-05,1793239956324076288
+39,0.650000000,BASELINE,766,745.38137369,714,679,665,635,879.38137369,788,803.61862631,653,631,652,0.400999200385,-0.00539516134804,0.0498644726417,0.999999959602,0.000142286818151,-0.000243397135466,-3.61744865772e-05,1793239956340742912
+40,0.666666667,BASELINE,766,745.20023039,714,679,665,635,879,788,804,653,631,652.20023039,0.40099951331,-0.00539483028904,0.0498645499781,0.999999959341,0.000143911958681,-0.000243515384083,-3.61571870655e-05,1793239956357409536
+41,0.683333333,BASELINE,766,745.796606432,714,679,665,635,879,788,804,653,631,652.796606432,0.401000433183,-0.00539438274514,0.0498649030334,0.99999995947,0.00014512995249,-0.000242231657906,-3.63472485352e-05,1793239956374076160
+42,0.700000000,BASELINE,766,745.620120233,714,679,665,635.379879767,879.379879767,788,804,653,631,653,0.401001121474,-0.00539413238533,0.0498653240248,0.999999959612,0.000145084117724,-0.000241675129303,-3.63337346795e-05,1793239956390742784
+43,0.716666667,BASELINE,766,745.043628405,714,679,665,635.956371595,879.956371595,788,804,653,631,653,0.401001689907,-0.00539398408091,0.0498657801776,0.999999959761,0.000144384170849,-0.000241494971967,-3.62148575744e-05,1793239956407409152
+44,0.733333333,BASELINE,766,745,714.530722326,679,665,635.469277674,879.469277674,788,804,652.469277674,631,652.469277674,0.400999846032,-0.00539405115062,0.0498651445293,0.999999959463,0.000144643718384,-0.000242543429563,-3.63997073404e-05,1793239956424076032
+45,0.750000000,BASELINE,766,745,715,679,665.108027994,635,879,788,804.108027994,652,631.108027994,652.108027994,0.400998648849,-0.00539432085591,0.0498647278976,0.999999959318,0.00014475985096,-0.000243051229671,-3.65273910496e-05,1793239956440742912
+46,0.766666667,BASELINE,766,745,715,679,665.699337147,635,879,788,804.699337147,652,631.699337147,652.699337147,0.401001228337,-0.0053954181972,0.0498656909809,0.999999960025,0.000143882946149,-0.000240690287457,-3.62880828099e-05,1793239956457410048
+47,0.783333333,BASELINE,766,745,714.715886342,679,665.715886342,635,879.284113658,788,804.715886342,652.284113658,631.715886342,653,0.401001986038,-0.00539512826772,0.0498659470367,0.999999960195,0.000143309366497,-0.000240311779696,-3.63635240692e-05,1793239956474076672
+48,0.800000000,BASELINE,766,745,714.137867539,679,665.137867539,635,879.862132461,788,804.137867539,652.862132461,631.137867539,653,0.401000859168,-0.00539340325771,0.0498654716987,0.999999959814,0.000143049565479,-0.000241984027291,-3.67645620982e-05,1793239956490742784
+49,0.816666667,BASELINE,766,745,714,679,665,635,879.564697953,788,804,652.564697953,631,652.564697953,0.401000466777,-0.00539425084605,0.0498650819125,0.999999959834,0.000142145788812,-0.00024244460526,-3.67163913713e-05,1793239956507409152
+50,0.833333333,BASELINE,766,745.007134796,714.007134796,679,665,635.007134796,879,788,804,652.007134796,631.007134796,652.007134796,0.401000305723,-0.00539588637731,0.0498647298794,0.999999959978,0.000141064849616,-0.000242508411755,-3.65260834224e-05,1793239956524075520
+51,0.850000000,BASELINE,766,745.593758275,714.593758275,679,665,635.593758275,879,788,804,652.593758275,631.593758275,652.593758275,0.401000248403,-0.00539607083967,0.0498652676762,0.999999960183,0.000141977731189,-0.000241171735797,-3.62194165487e-05,1793239956540742144
+52,0.866666667,BASELINE,766,745.82078967,715,679.17921033,665,635.82078967,879,788,804,652.82078967,632,652.82078967,0.401000256571,-0.00539572835816,0.0498657626248,0.999999960291,0.000142799270852,-0.000240255016309,-3.61095354187e-05,1793239956557409024
+53,0.883333333,BASELINE,766,745.237975836,715,679.762024164,665,635.237975836,879,788,804,652.237975836,632,652.237975836,0.401000412222,-0.00539419913485,0.0498661610741,0.999999960184,0.000143415097354,-0.000240284090052,-3.64428397828e-05,1793239956574075904
+54,0.900000000,BASELINE,766,745,714.657906383,679.657906383,665,635,879,788,804,652.342093617,631.657906383,652.342093617,0.40100039595,-0.00539379116927,0.0498659363687,0.999999959931,0.000144329177689,-0.000240770942574,-3.6544091812e-05,1793239956590742784
+55,0.916666667,BASELINE,766,745,714.079730875,679.079730875,665,635,879,788,804,652.920269125,631.079730875,652.920269125,0.401000261032,-0.00539415699382,0.0498652816187,0.999999959578,0.000145449085658,-0.000241573712359,-3.64852024181e-05,1793239956607409408
+56,0.933333333,BASELINE,766,745.494855586,714,679,665,635,879.494855586,788,804.494855586,653,631.494855586,653,0.401000489399,-0.00539436177876,0.0498655349992,0.999999959659,0.000145253621204,-0.000241357990408,-3.64787406401e-05,1793239956624076544
+57,0.950000000,BASELINE,766,745.929217308,714.070782692,679,665,635,880,788,804.929217308,652.929217308,631.929217308,653,0.401000592745,-0.00539460745762,0.0498657129067,0.999999959778,0.000144639149827,-0.000241234369163,-3.64746308817e-05,1793239956640743424
+58,0.966666667,BASELINE,766,745.339245897,714.660754103,679,665,635,880,788,804.339245897,652.339245897,631.339245897,653,0.400999352827,-0.00539534203914,0.0498642717148,0.999999959664,0.000142494598515,-0.000242981296574,-3.64262599689e-05,1793239956657409536
+59,0.983333333,BASELINE,766,745,715,679,665,635.246301693,879.753698307,788,804,652.246301693,631,652.753698307,0.40099959997,-0.0053955750804,0.0498643839818,0.999999959872,0.000141667331768,-0.000242611958909,-3.64012884646e-05,1793239956674076160
+60,1.000000000,BASELINE,766,745,715,679,665,635.825863684,879.174136316,788,804,652.825863684,631,652.174136316,0.401001859194,-0.00539512950906,0.0498665981676,0.999999960515,0.000142622426176,-0.000239379193641,-3.64079776938e-05,1793239956690742528
+61,1.016666667,BASELINE,766,745,715,679,665,635.596425243,879,788,804,652.596425243,631,652.403574757,0.401001910884,-0.00539537330994,0.0498667423548,0.999999960577,0.000143208576968,-0.000238778643615,-3.63529980129e-05,1793239956707409152
+62,1.033333333,BASELINE,766,745,715,679,665,635.019509201,879,788,804,652.019509201,631,652.980490799,0.401001014404,-0.00539591320634,0.0498659974471,0.999999960392,0.000143636261002,-0.000239308668891,-3.62715306294e-05,1793239956724075776
+63,1.050000000,BASELINE,766,745.544671668,715,679.544671668,665,635.544671668,879.544671668,788,804,652,631.544671668,652.455328332,0.401000923598,-0.00539523389598,0.0498659573343,0.999999960303,0.000143206162261,-0.000239918170553,-3.63995652363e-05,1793239956740742656
+64,1.066666667,BASELINE,766,745.884169192,715,679.884169192,665,635.884169192,880,788,804.115830808,652.115830808,631.884169192,652.115830808,0.401000829718,-0.00539448543736,0.0498658021891,0.999999960164,0.000142959470481,-0.00024062030734,-3.6549606107e-05,1793239956757409536
+65,1.083333333,BASELINE,766,745.281827925,715,679.281827925,665,635.281827925,880,788,804.718172075,652.718172075,631.281827925,652.718172075,0.401000604483,-0.00539362577429,0.0498650602776,0.999999959803,0.000143609220591,-0.00024169984495,-3.67612792147e-05,1793239956774076160
+66,1.100000000,BASELINE,766.308457875,745,714.691542125,679,665.308457875,635,880,788,804.691542125,653,631.308457875,652.691542125,0.401000174046,-0.0053932287632,0.0498649062117,0.999999959641,0.000143874673945,-0.00024218837253,-3.69075856786e-05,1793239956790742528
+67,1.116666667,BASELINE,766.888143251,745,714.111856749,679,665.888143251,635,880,788,804.111856749,653,631.888143251,652.111856749,0.400999563173,-0.00539323856278,0.0498652690395,0.999999959656,0.000143802214513,-0.00024215722399,-3.69964151373e-05,1793239956807409152
+68,1.133333333,BASELINE,766.537524314,745.462475686,714.462475686,679,665.537524314,635.462475686,880,788,804,653,631.537524314,652.462475686,0.400998713181,-0.00539527447334,0.0498647988729,0.999999959669,0.00014242547496,-0.000242979591691,-3.6565502094e-05,1793239956824075776
+69,1.150000000,BASELINE,766,745.964380767,715,679,665,636,880,788,804,653,631,653,0.400997878694,-0.00539763349708,0.0498641962184,0.999999959694,0.000140781110786,-0.000243912094158,-3.60474470172e-05,1793239956840742400
+70,1.166666667,BASELINE,766,745.38986125,715,679,665,636,880,788,804,653,631,653,0.400998143775,-0.00539755175076,0.0498646023837,0.999999959948,0.000139805861016,-0.000243423347697,-3.60911076554e-05,1793239956857409280
+71,1.183333333,BASELINE,766.190481888,745,715,679,665,635.809518112,880,788,804,652.809518112,631,653,0.400998621429,-0.00539718952892,0.049865000127,0.999999960128,0.000139763213578,-0.00024269142142,-3.61971450114e-05,1793239956874075904
+72,1.200000000,BASELINE,766.783120302,745,715,679,665,635.216879698,880,788,804,652.216879698,631,653,0.400999547881,-0.00539623515072,0.0498653800896,0.99999996015,0.000141689530657,-0.000241446079571,-3.64348757576e-05,1793239956890742784
+73,1.216666667,BASELINE,766.636530463,745,715,679,665,635.363469537,879.636530463,788,804,652,631.363469537,653,0.401000076547,-0.00539598516623,0.0498657993412,0.999999960205,0.000142524928852,-0.00024075073277,-3.62711306625e-05,1793239956907409152
+74,1.233333333,BASELINE,766.063274309,745,715,679,665,635.936725691,879.063274309,788,804,652,631.936725691,653,0.401000375618,-0.00539614174235,0.0498662412697,0.999999960281,0.000142730672556,-0.000240372831082,-3.58756625326e-05,1793239956924075776
+75,1.250000000,BASELINE,766,745,715,679.514148592,665,636,879,788,804,652,631.485851408,652.485851408,0.401001087754,-0.00539538164964,0.0498661938028,0.999999960135,0.00014413833789,-0.000240088128395,-3.62058754784e-05,1793239956940742400
+76,1.266666667,BASELINE,766,745,715,679.906008175,665,636,879.093991825,788,804,652.093991825,631.093991825,652.093991825,0.401001605736,-0.00539481128791,0.0498660246244,0.999999960009,0.000145096122947,-0.000239985505148,-3.65542420898e-05,1793239956957409024
+77,1.283333333,BASELINE,766,745,715,679.316122996,665,636,879.683877004,788,804,652.683877004,631.683877004,652.683877004,0.401000828985,-0.00539584197607,0.0498655336606,0.999999960136,0.000142893606919,-0.000240782511118,-3.65233607286e-05,1793239956974075392
+78,1.300000000,BASELINE,766,745,715,679,665,636,879.731935292,788,804,653,631.731935292,653,0.401000521211,-0.00539580824873,0.0498653163749,0.999999960175,0.000142288554401,-0.000240974340718,-3.65504295437e-05,1793239956990742272
+79,1.316666667,BASELINE,766,745,715,679,665,636,879.154326706,788,804,653,631.154326706,653,0.40100075498,-0.00539454540281,0.0498654151149,0.999999960116,0.000143528150114,-0.000240467351532,-3.66444154958e-05,1793239957007408896
+80,1.333333333,BASELINE,766.422985025,745.422985025,715,679,665,636,879,788,804,653,631,652.577014975,0.401000126422,-0.00539430137429,0.049865580654,0.999999959934,0.000144180160258,-0.000240847138432,-3.6550499068e-05,1793239957024075776
+81,1.350000000,BASELINE,766.999813194,746,715,679,665,636,879,788,804,653,631.000186806,652.000186806,0.400999183929,-0.00539442922646,0.0498657703591,0.999999959708,0.000144616907702,-0.000241549972093,-3.63880946885e-05,1793239957040742656
+82,1.366666667,BASELINE,766.428015327,746,715,679,665,636,879,788,804,653,631.571984673,652.571984673,0.400999667259,-0.00539585553536,0.0498653830362,0.999999960129,0.000141896960331,-0.000241432902855,-3.62882365256e-05,1793239957057409536
+83,1.383333333,BASELINE,766.149842751,746,714.850157249,678.850157249,665,636,879.149842751,788,804,653,632,653,0.400999677962,-0.00539675166637,0.0498648715314,0.999999960272,0.000140348068198,-0.000241754060473,-3.62422959717e-05,1793239957074076160
+84,1.400000000,BASELINE,766.745741156,746,714.254258844,678.254258844,665,636,879.745741156,788,804,653,632,653,0.400998281733,-0.00539606955091,0.0498639903593,0.9999999596,0.000142285201987,-0.000243379742751,-3.63568586842e-05,1793239957090742528
+85,1.416666667,BASELINE,766.669150068,746,714,678.330849932,665,636,880,788,804,653,632,653,0.400998283481,-0.00539522960305,0.049864028192,0.999999959556,0.000143117867245,-0.000243038465592,-3.65744042897e-05,1793239957107409408
+86,1.433333333,BASELINE,766.092071305,746,714,678.907928695,665,636,880,788,804,653,632,653,0.400999325647,-0.00539427219145,0.0498647499769,0.999999959981,0.000143128552484,-0.000241233315824,-3.68685929669e-05,1793239957124076032
+87,1.450000000,BASELINE,766.480941394,746,714.480941394,679.480941394,665,635.519058606,880,788,804,653,631.519058606,653,0.400998941115,-0.00539495991303,0.0498644024682,0.999999959757,0.000143163124484,-0.000242162256927,-3.67199123009e-05,1793239957140742656
+88,1.466666667,BASELINE,766.944923793,746,715,679.944923793,665,635,880,788,803.944923793,653,631.055076207,652.944923793,0.400998279739,-0.00539585882394,0.0498638740681,0.99999995944,0.000143081255128,-0.00024354854908,-3.65054743273e-05,1793239957157409280
+89,1.483333333,BASELINE,766.352303558,746,715,679.352303558,665,635,880,788,803.352303558,653,631.647696442,652.352303558,0.400997559752,-0.00539577085938,0.049863561341,0.999999959429,0.000141818660514,-0.000244332896896,-3.64697880483e-05,1793239957174075904
+90,1.500000000,BASELINE,766,745.765294093,714.765294093,679,665.234705907,635,879.765294093,788,803.234705907,653,631.765294093,652.234705907,0.400997745174,-0.00539496915677,0.0498638645939,0.99999995938,0.000142664652381,-0.000244028229159,-3.65733189857e-05,1793239957190742784
+91,1.516666667,BASELINE,766,745.186510051,714.186510051,679,665.813489949,635,879.186510051,788,803.813489949,653,631.186510051,652.813489949,0.400999257923,-0.00539312111638,0.0498650708716,0.999999959261,0.00014660182563,-0.000242127067913,-3.68809419352e-05,1793239957207409152
+92,1.533333333,BASELINE,766,745,714.388815649,679,665.611184351,635.388815649,879,788,804,653,631,652.611184351,0.400999615014,-0.00539318892591,0.0498656220565,0.999999959478,0.000146026202612,-0.000241579504974,-3.68706352579e-05,1793239957224076032
+93,1.550000000,BASELINE,766,745,714.962497102,679,665.037502898,635.962497102,879,788,804,653,631,652.037502898,0.400999422637,-0.00539416764288,0.0498658617718,0.999999959855,0.000143304931453,-0.000241675522031,-3.67091661838e-05,1793239957240742656
+94,1.566666667,BASELINE,766,745,715,679,665,635.459276312,879,788,804,653,631,652,0.401000186376,-0.00539699435553,0.0498662237413,0.999999960501,0.000140716374488,-0.000240590661087,-3.62328783355e-05,1793239957257409280
+95,1.583333333,BASELINE,766,745,714.878780711,679,665,635,879,788,804,653,631,652.121219289,0.40100057057,-0.00539892083029,0.0498662134162,0.999999960861,0.000139012365929,-0.0002401305583,-3.59364589916e-05,1793239957274075904
+96,1.600000000,BASELINE,766,745,714.290771651,679,665,635,879,788,804,653,631,652.709228349,0.400999235697,-0.00539688293679,0.0498647365354,0.999999960064,0.000140678819358,-0.000242394327049,-3.64174690655e-05,1793239957290742528
+97,1.616666667,BASELINE,766,745.293877238,714.293877238,679,665,635,879,788,804,653,631,653,0.400999938622,-0.0053954233927,0.0498652125104,0.999999960021,0.0001422819913,-0.000241591445327,-3.66982360253e-05,1793239957307409152
+98,1.633333333,BASELINE,766,745.875239014,714.875239014,679,665,635,879,788,804,653,631,653,0.401002635015,-0.00539452961731,0.0498675988607,0.999999960709,0.000143823258216,-0.00023778862173,-3.67831157232e-05,1793239957324075776
+99,1.650000000,BASELINE,766.449833501,745.550166499,715,678.550166499,665,635.449833501,879,788,804,653,631.449833501,653,0.401002102831,-0.00539482972892,0.0498671050722,0.999999960652,0.000143372845932,-0.00023832757751,-3.66120997119e-05,1793239957340742656
+100,1.666666667,BASELINE,766.976821475,745,714.976821475,678.023178525,665,635.976821475,879,788,804,653,632,653,0.401000704373,-0.00539543468448,0.049865858031,0.999999960384,0.000142445421311,-0.000240038085391,-3.63859322565e-05,1793239957357409280
+101,1.683333333,BASELINE,766.388865657,745,714.388865657,678.611134343,665,635.388865657,879,788,804,653,632,653,0.400999693327,-0.00539551887814,0.0498654324449,0.999999959952,0.000143155209472,-0.000241388218136,-3.65196359307e-05,1793239957374075648
+102,1.700000000,BASELINE,766,745.196321038,714.196321038,679,665,635,879,788,804,653,631.803678962,653,0.400999058761,-0.00539522120921,0.0498652264022,0.999999959718,0.000143272153644,-0.000242272242963,-3.66239702404e-05,1793239957390742272
+103,1.716666667,BASELINE,766,745.776098973,714.776098973,679,665,635,879,788,804,653,631.223901027,653,0.400999159538,-0.00539417768109,0.0498654491747,0.999999959871,0.000142231146868,-0.000242245859367,-3.66709398959e-05,1793239957407409152
+104,1.733333333,BASELINE,766,745.645319484,715,679,665,635,879.354680516,788,804,653,631,652.645319484,0.400999174108,-0.00539454773512,0.0498652508991,0.999999959964,0.00014160930852,-0.000242240758114,-3.65822136174e-05,1793239957424075776
+105,1.750000000,BASELINE,766,745.067490597,715,679,665,635,879.932509403,788,804,653,631,652.067490597,0.40099913444,-0.00539580714873,0.0498647877199,0.999999960019,0.000141251191214,-0.000242249046713,-3.64081138168e-05,1793239957440742400
+106,1.766666667,BASELINE,766,745.50701552,715,679,665,635,880,788,804,653,631,652.50701552,0.400998730131,-0.00539602108953,0.0498643397345,0.999999959921,0.000141881705645,-0.000242284894995,-3.639540232e-05,1793239957457409280
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,636,880,788,804,653,631,652,0.400999896535,-0.00539523742489,0.0498650563983,0.99999996,0.000142848022305,-0.000241359875936,-3.66102847184e-05,1793239957499992064
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.4201859,665.4201859,635.4201859,880,788,804,653,631,652.5798141,0.400999244249,-0.0053950584875,0.0498647885016,0.99999995989,0.000142391946838,-0.000242049538583,-3.68269319112e-05,1793239957516658688
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.157685726,745,715,679,665,635.157685726,880,788,804,653,631,653,0.400999087614,-0.00539508373856,0.0498647249046,0.999999959917,0.000141993305208,-0.000242160476711,-3.69014510156e-05,1793239957533325312
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.730444346,745,715,679,665,635.730444346,880,788,804,653,631,653,0.401000235674,-0.00539564647062,0.0498651990812,0.999999960304,0.00014174584538,-0.000240748050338,-3.66018493223e-05,1793239957549992192
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.695509726,745.304490274,714.695509726,679,665,635.695509726,879.695509726,788,803.695509726,653,631.304490274,653,0.401000407311,-0.00539594024728,0.0498655800875,0.999999960387,0.000141956674619,-0.000240304229332,-3.6438985073e-05,1793239957566659072
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.470517978,679.470517978,665.470517978,635,879.470517978,788,803.941035957,653,632,653,0.401000384548,-0.00539578383959,0.0498660000647,0.999999960326,0.000142303579232,-0.0002403569183,-3.64279108413e-05,1793239957599992320
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.063488719,745.936511281,715,680,666,635.063488719,879.936511281,788.063488719,804.936511281,653,632,653,0.401001378018,-0.00539546150923,0.0498661501836,0.999999960497,0.000142106222545,-0.00023975431321,-3.64566373501e-05,1793239957616658944
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+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635.879187558,879,788,804,653,632,653,0.401226491915,-0.00540192164568,0.0499370511498,0.999999984909,0.000141411234962,-9.5816190448e-05,-3.16891425121e-05,1793239957733325824
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635.307481662,879,788,804,653,632,653,0.401299509766,-0.00540584871678,0.0499480926499,0.999999986469,0.000139559232613,-8.17525211368e-05,-3.0028298804e-05,1793239957749992192
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635.266094943,879,788,804,652.733905057,631.733905057,652.733905057,0.401377573917,-0.00540901942444,0.0499546584675,0.999999987193,0.000138636889429,-7.45471439811e-05,-2.89251821036e-05,1793239957766658816
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635.841848487,879,788,804,652.158151513,631.158151513,652.158151513,0.401461510516,-0.00541130994062,0.0499560158666,0.999999987126,0.000138796404425,-7.53228631542e-05,-2.84711006315e-05,1793239957783325696
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.590719636,679,665,635.590719636,879.409280364,788,804,652.409280364,631.409280364,652.409280364,0.401558136814,-0.00541446639102,0.049954708345,0.999999987223,0.00013619474992,-7.89226496034e-05,-2.78484641491e-05,1793239957799992576
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.026439298,679,665,635.026439298,879.973560702,788,804,652.973560702,631.973560702,652.973560702,0.40165956887,-0.00541795078228,0.0499523915821,0.999999987353,0.000132547403415,-8.3591948257e-05,-2.7161993629e-05,1793239957816658944
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.579656743,714.579656743,679.579656743,665,635.579656743,880,788,804,653,631.420343257,652.420343257,0.401792558747,-0.00542328696757,0.0499534630276,0.99999998812,0.000128224536651,-8.1538639106e-05,-2.58947247808e-05,1793239957833325568
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714.82234865,679.82234865,665,636,879.82234865,788,804,653,631,652.17765135,0.40193595793,-0.00542897968659,0.0499547628305,0.99999998875,0.000124919891255,-7.93274779272e-05,-2.45531909497e-05,1793239957849992192
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714.247087057,679.247087057,665,636,879.247087057,788,804,653,631,652.752912943,0.402099182579,-0.00543526663991,0.0499562009491,0.999999989046,0.000123968500949,-7.75026648127e-05,-2.31093425866e-05,1793239957866658816
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.674150495,714.325849505,679,665,635.674150495,879,787.674150495,804,653,631,652.674150495,0.402279135227,-0.00544052146225,0.0499550796649,0.999999988927,0.000123532705636,-8.00111233801e-05,-2.20039658187e-05,1793239957883325696
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.102964421,714.897035579,679,665,635.102964421,879,787.102964421,804,653,631,652.102964421,0.402471682634,-0.00544499917966,0.0499520313714,0.999999988473,0.000123485108773,-8.57821615292e-05,-2.11534288122e-05,1793239957899992832
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.490888326,715,679.490888326,665.490888326,635,879,787.490888326,804,652.509111674,631.490888326,652,0.402694801218,-0.00545246941842,0.0499532530504,0.999999989151,0.000119995681365,-8.31611796253e-05,-1.95954787915e-05,1793239957916659456
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.913779365,714.913779365,679.913779365,665.913779365,635,879,788,804,652,631.913779365,652,0.402930734406,-0.0054608718595,0.0499560257699,0.999999990142,0.000115682176203,-7.75829480932e-05,-1.7747505854e-05,1793239957933326336
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.338334308,714.338334308,679.338334308,665.338334308,635,879,788,804,652,631.338334308,652,0.403201233386,-0.00547082975045,0.0499622713282,0.999999991568,0.000110987364292,-6.56962516082e-05,-1.51365982714e-05,1793239957949993472
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714.238171768,679,665.238171768,635,879,787.761828232,804.238171768,652,631,652.238171768,0.403492727129,-0.00548078803481,0.0499695176363,0.99999999305,0.000105736107388,-5.059661273e-05,-1.26685316511e-05,1793239957966660608
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.816191779,679,665.816191779,635,879,787.183808221,804.816191779,652,631,652.816191779,0.403814178363,-0.00549074687995,0.049978191918,0.999999994499,9.96908571764e-05,-3.09124142749e-05,-1.04042855234e-05,1793239957983326976
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.399701365,715,679,665.600298635,635,879,787.399701365,804.600298635,652,631,652.600298635,0.404159813074,-0.00550104443423,0.0499870615649,0.999999995164,9.69571355641e-05,-1.47635826209e-05,-7.29668391918e-06,1793239957999992832
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.985770545,715,679,665.014229455,635,879,787.985770545,804.014229455,652,631,652.014229455,0.404516723747,-0.00551149991734,0.0499960223041,0.999999995407,9.57674727675e-05,-2.63178682038e-07,-3.7958530033e-06,1793239958016658944
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665,635,879,788,804,652,631,652.567620964,0.404914491382,-0.00551628077074,0.050000716545,0.999999995072,9.84916563699e-05,1.23622777468e-05,-1.4674856808e-06,1793239958033325568
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.85322459,715,679,665,635,879,788,804,652.14677541,631.14677541,652.85322459,0.405311463237,-0.00551833833351,0.0499997360629,0.999999994434,0.000104722317477,1.28509736525e-05,9.82627359025e-07,1793239958049992448
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.28157054,715,679,665,635,879,788,804,652.71842946,631.71842946,652.28157054,0.405703188425,-0.0055129213952,0.0499826359797,0.999999992459,0.000120821444043,-2.1658207158e-05,3.86961874614e-06,1793239958066659840
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.2928076,715,679,665,635,879,788,804,652.7071924,631.7071924,652,0.406117142362,-0.00550233023898,0.0499628437461,0.999999987912,0.000143772535968,-5.89792296458e-05,5.23927949771e-06,1793239958083326720
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.869829956,715,679,665,635,879,788,804,652.130170044,631.130170044,652,0.406552672761,-0.00548671670876,0.0499404383649,0.999999980054,0.000173374514639,-9.90295804505e-05,5.13613811442e-06,1793239958099993088
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.542002918,745.542002918,714.542002918,679,665,635.457997082,879.457997082,788,804.457997082,652,631,652,0.4070408701,-0.00548936300816,0.049929882611,0.999999977362,0.000179304485147,-0.000114328522984,7.37559601299e-06,1793239958116659456
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.048349661,714.048349661,679.048349661,665,635.951650339,880,788,804.951650339,652.048349661,631,652.048349661,0.407550892579,-0.00549759288511,0.0499251707961,0.999999977042,0.000178380825154,-0.000118262639086,1.04665090389e-05,1793239958133325824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.627063443,714.627063443,679.627063443,665,635.372936557,880,788,804.372936557,652.627063443,631,652.627063443,0.408132030004,-0.00550872316022,0.0499466986417,0.999999981118,0.000177919297402,-7.66231634314e-05,1.54117442955e-05,1793239958149992448
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,746,714.795803988,679.795803988,665,635.204196012,879.795803988,788,804,653,631,653,0.408721666996,-0.00551694200884,0.0499680633513,0.999999982608,0.000181268783849,-3.8783643607e-05,2.05235303062e-05,1793239958166659072
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,746,714.221537137,679.221537137,665,635.778462863,879.221537137,788,804,653,631,653,0.409326707985,-0.00551988438722,0.0499891324032,0.999999981292,0.000191525091268,-7.83090561357e-06,2.59371612056e-05,1793239958183325952
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.361692299,746,714,678.638307701,665,636,879,788,804,652.638307701,631.361692299,653,0.40994395064,-0.00551654598953,0.0499980525763,0.999999978066,0.000207255686397,3.5254250708e-06,3.00085636583e-05,1793239958199993344
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.950550797,746,714,678.049449203,665,636,879,788,804,652.049449203,631.950550797,653,0.410568856708,-0.0055092628574,0.0499993424655,0.99999997381,0.000226424488558,2.5739410443e-06,3.32369594767e-05,1793239958216660736
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.468796747,714.531203253,678.531203253,665,635.468796747,879.531203253,788,804,652,631.468796747,653,0.41117578712,-0.00550482044538,0.0499704067381,0.99999996791,0.000244042708851,-5.78980367896e-05,3.56538167554e-05,1793239958233327104
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,880,788,804,652.110141364,631,653,0.411800657234,-0.00550241457004,0.0499452683906,0.999999959933,0.000259009696484,-0.000107681096958,3.8123512774e-05,1793239958249993216
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,880,788,804,652.685019881,631,653,0.412508176214,-0.00550750296306,0.0499478445213,0.999999960476,0.00026338969214,-8.93395435196e-05,4.11300710324e-05,1793239958266659840
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.260861961,715,679.260861961,665.260861961,635,879.739138039,788,803.739138039,652.739138039,631,653,0.413242053555,-0.00551367782256,0.0499611424486,0.999999975079,0.00021282643987,-5.96958165065e-05,3.13679753265e-05,1793239958283326208
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.837871891,715,679.837871891,665.837871891,635,879.162128109,788,803.162128109,652.162128109,631,653,0.414007875634,-0.00552116941044,0.0499874345064,0.999999995271,9.56754918452e-05,-1.63545765632e-05,6.13108970132e-06,1793239958299992576
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.57529701,714.57529701,679.57529701,665.57529701,635,879,788,803,652,631.42470299,653,0.414751339019,-0.00553028133999,0.0499809350531,0.999999997434,6.64770565854e-05,-2.66249462819e-05,2.20743882053e-06,1793239958316659200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,678.984912416,665,635,879.030175169,788,803.015087584,652,631.984912416,652.984912416,0.415486887145,-0.00553965411162,0.0499617143029,0.999999995712,7.21044636877e-05,-5.772720091e-05,6.60046567036e-06,1793239958333325568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,678.405171447,665,635,880.189657106,788,803.594828553,652,631.405171447,652.405171447,0.41625320422,-0.00553509141913,0.0499459746541,0.999999991891,9.4784008621e-05,-8.43933082483e-05,1.05392212299e-05,1793239958349992448
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,678,665.172558517,635,880.827441483,788,804,652,631,652.172558517,0.417038107871,-0.00553099846999,0.0499424840535,0.999999989339,0.00011465613255,-8.92421279932e-05,1.45499229689e-05,1793239958366659328
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,678,665.745620955,635,880.254379045,788,804,652,631,652.745620955,0.417866150446,-0.00552799578349,0.0499674231827,0.999999990687,0.000128012302555,-4.34535774655e-05,1.87276097283e-05,1793239958383325952
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,678.319811705,665.680188295,635,880,788,804,652,631,652.680188295,0.418682522008,-0.00552768061687,0.0499812667728,0.999999990792,0.000131995598404,-2.33590568817e-05,2.11538565943e-05,1793239958399992576
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,678.894903068,665.105096932,635,880,788,804,652,631,652.105096932,0.419489577511,-0.0055295106788,0.0499862536959,0.999999991216,0.000128497291116,-2.37739916524e-05,2.21820713517e-05,1793239958416658944
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.483211674,679,665,635,879.516788326,788,804,652,631.483211674,652.483211674,0.420326760801,-0.00552982669076,0.0499747693169,0.999999991244,0.000125855334789,-3.49521588929e-05,2.12349700349e-05,1793239958433325824
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.073090249,635,879.073090249,788,804,652,631.926909751,652.926909751,0.421178751946,-0.0055301920966,0.0499650622809,0.999999991366,0.000123492064221,-4.00485242653e-05,2.03424598118e-05,1793239958449992448
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.653353967,635,879.653353967,788,804,652,631.346646033,652.346646033,0.422086746568,-0.00553324952591,0.0499932459762,0.999999992234,0.000121733837262,1.37575547328e-05,2.28937618414e-05,1793239958466659072
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.230176815,714.769823185,679.230176815,665.769823185,635.230176815,880,788,804.230176815,652,631.230176815,652.230176815,0.422967418524,-0.00553590853876,0.0500057495442,0.99999999189,0.00011943845324,3.67772017918e-05,2.45473794008e-05,1793239958483325952
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.801894125,714.198105875,679.801894125,665.198105875,635.801894125,880,788,804.801894125,652,631.801894125,652.801894125,0.423807548751,-0.00553797637455,0.0499949866619,0.999999992823,0.000116346026026,1.41153957992e-05,2.48689970577e-05,1793239958499993088
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.614528317,714.385471683,679.614528317,665,635.614528317,880,788,805,652,631.614528317,652.614528317,0.424656026099,-0.00554032117328,0.049986269857,0.999999993208,0.000113806549875,3.6121005689e-07,2.51330491106e-05,1793239958516659712
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.024661948,714.975338052,679.024661948,665,635.024661948,880,788,805,652,631.024661948,652.024661948,0.425508929423,-0.00554281283028,0.0499786379765,0.999999993418,0.000111560273826,-8.66974735859e-06,2.53665772355e-05,1793239958533326080
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.555933051,665.555933051,635,880,787.444066949,804.444066949,652,631,652,0.426429528727,-0.00554184392472,0.0500007932436,0.999999992963,0.000114236347374,1.66391917701e-05,2.73207534082e-05,1793239958549992704
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.865167836,665.865167836,635,879.865167836,787.134832164,804.134832164,652,631,652,0.427325071994,-0.00554083365712,0.050011082989,0.999999992616,0.000116113054489,2.11816864075e-05,2.89228153611e-05,1793239958566659328
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+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,635,879.8530204,787.1469796,805,652,631,652.8530204,0.429850855098,-0.00554339520815,0.0499562995481,0.999999991836,0.000107100924576,-6.39672568271e-05,2.76678935182e-05,1793239958616659200
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.960748284,635.039251716,880.039251716,787.039251716,804.039251716,652,631.960748284,652,0.431578512745,-0.00554412402657,0.0499689927071,0.99999999238,0.000111836634511,-4.36220976528e-05,2.8795266507e-05,1793239958649992448
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.383303498,635.616696502,880.616696502,787.616696502,804.616696502,652,631.383303498,652,0.432421187953,-0.00554434520624,0.0499493654389,0.999999990578,0.000109876750936,-7.72116530297e-05,2.84602853897e-05,1793239958666659328
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765.593455516,746,715,679.406544484,661,629,880.406544484,785,805.593455516,652,630,652.593455516,0.451320500447,-0.00554531344004,0.0496885140238,0.999999883714,6.77408481245e-05,-0.0004771867081,1.6587841786e-05,1793239959699993344
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.171513963,661,629,880.171513963,785.171513963,805.828486037,652,630,653,0.451321065288,-0.00554525422625,0.0496892810729,0.999999883761,6.71086756073e-05,-0.000477188166749,1.63232953613e-05,1793239959716659968
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.747474631,661,629,880.747474631,785.747474631,805.252525369,652,630,653,0.451323297104,-0.00554507822215,0.0496901510053,0.999999884675,6.72085403542e-05,-0.000475256145155,1.62646080545e-05,1793239959733326336
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,661.329500851,629,880.670499149,786,805,652,630,652.670499149,0.451324867944,-0.00554470100282,0.0496906580936,0.999999885094,6.76900719068e-05,-0.000474303259354,1.63241535385e-05,1793239959749992448
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661.916262784,629,880.083737216,786,805,652,630,652.083737216,0.45132592272,-0.00554416668269,0.0496908818877,0.999999885128,6.84695936274e-05,-0.0004741148437,1.64760104582e-05,1793239959766659072
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.502155589,746,715,680,661.502155589,629,880,785.502155589,805,652,630,652,0.45132424708,-0.00554362817942,0.0496890970012,0.999999884103,6.78721988628e-05,-0.000476360552674,1.63589282854e-05,1793239959783325696
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.077790049,746,715.077790049,680.077790049,661,629,880,785,805,652.077790049,630,652.077790049,0.451322474466,-0.00554321177444,0.0496873232074,0.999999883089,6.69879012125e-05,-0.000478615229435,1.62084428898e-05,1793239959799992320
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715.772074125,680.772074125,661,629,880.227925875,785,805,652.772074125,630,652.772074125,0.451322958056,-0.00554364952955,0.0496875729506,0.99999988314,6.56966875811e-05,-0.000478693999076,1.59726064369e-05,1793239959833326080
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.196733337,680.196733337,661,629,880.803266663,785,805,652.196733337,630,652.196733337,0.451322102925,-0.00554326281745,0.0496864448475,0.999999882389,6.7510275489e-05,-0.00048001805519,1.56924113702e-05,1793239959849992704
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765.017951006,746,715,680,661,629,880.017951006,785,805,652,630,652,0.451325765219,-0.00553967021295,0.0496902289476,0.999999884485,7.40570548721e-05,-0.000474666362366,1.53929511493e-05,1793239959883326464
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,715,680,661,629,880.558370421,785,805,652,630,652.558370421,0.451325982277,-0.00554174545609,0.0496899967904,0.999999884313,7.11794774649e-05,-0.000475450939084,1.59065096086e-05,1793239959899993344
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+262,4.366666667,HOLD_POSE2,766,746,715.331628691,680,661,629,881,785.668371309,805.331628691,652,630,652.331628691,0.451327499726,-0.0055423280872,0.0496886173633,0.999999884234,6.85991035893e-05,-0.000475999992209,1.58340271835e-05,1793239960104161792
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+267,4.450000000,HOLD_POSE2,766,746,715.429012441,680,661.429012441,629,880,786,805.429012441,652.570987559,630,652.570987559,0.451327417984,-0.00554296538895,0.0496891540625,0.999999883818,6.98104122693e-05,-0.000476692098799,1.59805626626e-05,1793239960187496448
+268,4.466666667,HOLD_POSE2,766,746,715.150085417,680,661,629,880.150085417,786,805,653,630,653,0.451328353931,-0.00554397486769,0.0496900127141,0.999999884544,6.81718263381e-05,-0.000475407905411,1.58743772045e-05,1793239960204162816
+269,4.483333333,HOLD_POSE2,766,746,715.726133491,680,661,629,880.726133491,786,805,653,630,653,0.451327864723,-0.00554244195739,0.0496894327144,0.999999883999,6.91571256213e-05,-0.000476423050749,1.54878489423e-05,1793239960220829184
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+271,4.516666667,HOLD_POSE2,766,745.124918845,715.124918845,680,661,629,881,786,805,653,630,653,0.451328114663,-0.00554157536236,0.0496899157819,0.999999883964,7.20562700869e-05,-0.000476046931163,1.60991257944e-05,1793239960254162176
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.30862173,746,715,680,661.69137827,629,880.69137827,785,805,652.30862173,630,653,0.451326996039,-0.00554286381389,0.0496882117088,0.99999988345,6.87472497997e-05,-0.000477612060038,1.61615124177e-05,1793239960352772864
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c44e0fdce31f7ee85b44ecd3d14b282d5a366ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1dc418bbb7b4eb7c0582719f4f400b94b4fceff3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd0a272356b7ae78e294a1e87efe3ca87527acbe912d7c4a857fc0c106cc8df
+size 26375236
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f09f284e9c6cd5e5443f2b571e71ce3b220afcb2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+9,0.150000000,BASELINE,765.422502136,745.211251068,715,679.211251068,661.211251068,635,879.211251068,788,803.788748932,652,631,653,0.401038954763,-0.00549614718813,0.0698656067473,0.999999990378,3.03900269665e-05,-0.000134462375133,1.54929966044e-05,1793239964514829568
+10,0.166666667,BASELINE,766.609699354,745.804849677,715,679.804849677,661.804849677,635,879.804849677,788,803.195150323,652,631,653,0.401038275163,-0.0054952663547,0.0698656076124,0.999999990262,3.25232263677e-05,-0.000134836724789,1.53979562005e-05,1793239964531496192
+11,0.183333333,BASELINE,766.611836596,745.611836596,715,680,661.611836596,635.388163404,879.611836596,788,803.388163404,652,631.388163404,653,0.401037550622,-0.00549669064103,0.0698651878204,0.999999990178,3.194103385e-05,-0.000135572313305,1.55880777183e-05,1793239964548162816
+12,0.200000000,BASELINE,766.033560102,745.033560102,715,680,661.033560102,635.966439898,879.033560102,788,803.966439898,652,631.966439898,653,0.40103680407,-0.00549924391945,0.0698645620006,0.999999990108,3.00289079442e-05,-0.00013648482795,1.59178646705e-05,1793239964564829184
+13,0.216666667,BASELINE,766,745,715,680,661.540849712,635.459150288,879.540849712,787.459150288,804,652,632,653,0.401035800286,-0.00549856562686,0.0698638574173,0.999999990029,2.89133045749e-05,-0.000137321090671,1.57839075452e-05,1793239964581495808
+14,0.233333333,BASELINE,766,745,715,679.881821026,661.881821026,635,879.881821026,787.118178974,804,652,631.881821026,653,0.40103487861,-0.00549740692728,0.0698632310038,0.999999989914,2.8751044236e-05,-0.000138219037035,1.55482458255e-05,1793239964598162688
+15,0.250000000,BASELINE,766,745,715,679.291886556,661.291886556,635,879.291886556,787.708113444,804,652,631.291886556,653,0.401034347964,-0.00549512527692,0.0698629360057,0.999999989655,3.21985112558e-05,-0.000139381970351,1.50206455256e-05,1793239964614830080
+16,0.266666667,BASELINE,766,745,715,679.292675202,661,635,879.292675202,787.707324798,804,652,631,653,0.401035339227,-0.00549459776539,0.0698635557002,0.999999989745,3.35083490301e-05,-0.000138427920404,1.4963369363e-05,1793239964631496960
+17,0.283333333,BASELINE,766,745,715,679.87197528,661,635,879.87197528,787.12802472,804,652,631,653,0.401037820935,-0.0054957881304,0.0698650711784,0.99999999018,3.27247474781e-05,-0.000135400650443,1.53666945969e-05,1793239964648162816
+18,0.300000000,BASELINE,765.553818857,745,715,679.553818857,661,635,880,787,804,652,631,652.553818857,0.401038266828,-0.00549586091932,0.0698654610691,0.999999990338,3.18480774967e-05,-0.00013446460126,1.51519829083e-05,1793239964664829184
+19,0.316666667,BASELINE,765.019535054,745,715.019535054,679,661,635,880,787.019535054,804,652,631,652.019535054,0.401038152841,-0.00549562961586,0.0698655210554,0.99999999041,3.10478588393e-05,-0.000134152073216,1.47915103013e-05,1793239964681496064
+20,0.333333333,BASELINE,765.610234737,745,715.610234737,679,661,635,880,787.610234737,804,652,631,652.610234737,0.401038555465,-0.00549577720009,0.0698652716912,0.999999990255,3.32548901878e-05,-0.000134724037383,1.52956992074e-05,1793239964698162688
+21,0.350000000,BASELINE,766,745.197159026,715.802840974,679.197159026,661.197159026,635.197159026,879.802840974,787.802840974,804,652,631.197159026,652.802840974,0.401038370966,-0.00549590625471,0.0698647955863,0.999999990101,3.44055895128e-05,-0.000135541423936,1.55602231829e-05,1793239964714829312
+22,0.366666667,BASELINE,766,745.776759875,715.223240125,679.776759875,661.776759875,635.776759875,879.223240125,787.223240125,804,652,631.776759875,652.223240125,0.401037047583,-0.00549599936626,0.0698638796584,0.999999989959,3.35072546007e-05,-0.000136834871737,1.53598538885e-05,1793239964731495936
+23,0.383333333,BASELINE,765.645433952,745.645433952,715,680,662,635.645433952,879,787.354566048,804.354566048,652,631.645433952,652.354566048,0.401035880411,-0.00549623513925,0.0698630308663,0.999999989814,3.23157782596e-05,-0.000138195708334,1.51852989436e-05,1793239964748162816
+24,0.400000000,BASELINE,765.068751988,745.068751988,715,680,662,635.068751988,879,787.931248012,804.931248012,652,631.068751988,652.931248012,0.401034811097,-0.0054965602817,0.0698622241308,0.999999989665,3.09406650229e-05,-0.000139598760392,1.5026915234e-05,1793239964764829440
+25,0.416666667,BASELINE,765.507585427,745,715,679.492414573,661.492414573,635,879,788,804.492414573,652,631,653,0.401036323551,-0.00549605849242,0.0698635231211,0.999999989829,3.35613044944e-05,-0.000137789531244,1.51537157298e-05,1793239964781496064
+26,0.433333333,BASELINE,766,745,715,679.083358419,661.083358419,635,879.083358419,787.916641581,804,652,631,652.916641581,0.401037855995,-0.00549569061609,0.0698648974034,0.999999990022,3.5630826652e-05,-0.000135841589709,1.52700906624e-05,1793239964798162688
+27,0.450000000,BASELINE,766,745,715,679.656091865,661.656091865,635,879.656091865,787.343908135,804,652,631,652.343908135,0.401037454202,-0.00549676602477,0.0698650403979,0.999999990198,3.12896782211e-05,-0.000135631930544,1.50986394518e-05,1793239964814829312
+28,0.466666667,BASELINE,766,745,715,679.761819596,661.761819596,635.238180404,879.761819596,787,804,652,631,652.238180404,0.40103750268,-0.00549684042997,0.0698650965022,0.999999990295,2.96887307837e-05,-0.000135294411398,1.49939809624e-05,1793239964831495936
+29,0.483333333,BASELINE,766,745,715,679.165671057,661.165671057,635.834328943,879.165671057,787,804,652,631,652.834328943,0.401038227885,-0.00549541039838,0.0698650220166,0.999999990288,3.22061099868e-05,-0.000134764727848,1.49897071728e-05,1793239964848162304
+30,0.500000000,BASELINE,766.414668956,745,715,679,661,635.585331044,879.414668956,787.414668956,804,652,631,653,0.40103825645,-0.00549460632386,0.069865397995,0.999999990284,3.37999603981e-05,-0.000134414672034,1.48870257814e-05,1793239964864829184
+31,0.516666667,BASELINE,766.988924979,745,715,679,661,635.011075021,879.988924979,787.988924979,804,652,631,653,0.401038016909,-0.00549404315155,0.0698659473364,0.999999990281,3.50383868689e-05,-0.000134133746712,1.47464718169e-05,1793239964881496320
+32,0.533333333,BASELINE,766.436552151,745.563447849,715,679.563447849,661,635.563447849,879.436552151,788,803.436552151,652,631,652.436552151,0.401038117087,-0.00549543270003,0.0698654885686,0.999999990211,3.45719736342e-05,-0.000134748991597,1.50028701898e-05,1793239964898162944
+33,0.550000000,BASELINE,766.141991177,745.858008823,715,680,661,636,879,788,803.141991177,652,631,652.141991177,0.401038077691,-0.00549639808496,0.0698652773751,0.999999990176,3.42095116658e-05,-0.000135080230887,1.52200588216e-05,1793239964914829312
+34,0.566666667,BASELINE,766.733238407,745.266761593,715,680,661,636,879,788,803.733238407,652,631,652.733238407,0.401037575549,-0.00549589993015,0.0698659122241,0.999999990256,3.42820235655e-05,-0.000134457124814,1.52884905688e-05,1793239964931495936
+35,0.583333333,BASELINE,766.6832757,745,715,679.6832757,661,635.6832757,879.3167243,788,804,652,631,653,0.401037403588,-0.00549656681739,0.0698662156093,0.99999999034,3.31106215417e-05,-0.000134134625248,1.52353096325e-05,1793239964948162560
+36,0.600000000,BASELINE,766.106170386,745,715,679.106170386,661,635.106170386,879.893829614,788,804,652,631,653,0.401037503071,-0.00549819149288,0.0698662464961,0.999999990422,3.09165901674e-05,-0.000134059256088,1.50821501617e-05,1793239964964829440
+37,0.616666667,BASELINE,766,745,715,679.470773221,661,635,880,787.529226779,804,652,631,653,0.401037905781,-0.00549691313243,0.0698667292613,0.999999990392,3.13723633476e-05,-0.000134213518846,1.47830468621e-05,1793239964981496064
+38,0.633333333,BASELINE,766,745,715,680,661,635,879.951434722,787,804,652,631,652.951434722,0.40103836055,-0.00549521443296,0.0698672279163,0.999999990339,3.2367409915e-05,-0.000134397140104,1.4518670222e-05,1793239964998162688
+39,0.650000000,BASELINE,766,745,715,680,661,635,879.363820241,787,804,652,631,652.363820241,0.401038634368,-0.00549611455002,0.0698667721911,0.99999999033,3.27174178583e-05,-0.000134332010102,1.50049410999e-05,1793239965014829312
+40,0.666666667,BASELINE,766,745,715,679.778861803,661,635,879,787,804,652.221138197,631,652,0.401038449359,-0.00549614524649,0.0698661972172,0.999999990259,3.37143950919e-05,-0.000134581464921,1.52483465225e-05,1793239965031495936
+41,0.683333333,BASELINE,766,745,715,679.198221303,661,635,879,787,804,652.801778697,631,652,0.401037518439,-0.00549476253399,0.0698654283817,0.999999990088,3.5763144238e-05,-0.000135342337353,1.50969278127e-05,1793239965048162560
+42,0.700000000,BASELINE,766,745,715,679.379413787,661.379413787,635,879,787.379413787,804,652.620586213,631,652.379413787,0.401037542609,-0.00549552911544,0.0698653853316,0.999999990106,3.53677089385e-05,-0.000135308667705,1.51006466924e-05,1793239965064829184
+43,0.716666667,BASELINE,766,745,715,679.95549105,661.95549105,635,879,787.95549105,804,652.04450895,631,652.95549105,0.401038061834,-0.00549740975138,0.0698657184815,0.999999990223,3.3705367035e-05,-0.000134863159,1.51847788317e-05,1793239965081495808
+44,0.733333333,BASELINE,766,745,715,680,661.47109945,635,879.52890055,788,804,652,631,653,0.401037115577,-0.00549625031743,0.0698651454228,0.999999990067,3.42627866135e-05,-0.000135890941879,1.50092505231e-05,1793239965098162432
+45,0.750000000,BASELINE,766,745,715,680,661.104875137,635.104875137,880,788,804,652.104875137,631,652.895124863,0.401036726249,-0.00549510986518,0.0698649580855,0.999999990009,3.46947030423e-05,-0.000136228481367,1.48520290395e-05,1793239965114829312
+46,0.766666667,BASELINE,766,745,715,680,661.693717471,635.693717471,880,788,804,652.693717471,631,652.306282529,0.401039473235,-0.0054952316764,0.0698669008918,0.999999990502,3.36897549585e-05,-0.000132811482316,1.48796196354e-05,1793239965131496192
+47,0.783333333,BASELINE,766,745,715,679.721989017,661.721989017,635.721989017,879.721989017,788,804,652.721989017,631,652.278010983,0.401039853608,-0.00549501461806,0.0698673534467,0.999999990601,3.38096595813e-05,-0.000132019768305,1.49996846905e-05,1793239965148162560
+48,0.800000000,BASELINE,766,745,715,679.142626156,661.142626156,635.142626156,879.142626156,788,804,652.142626156,631,652.857373844,0.401037668677,-0.00549443023982,0.0698661906339,0.999999990279,3.514885575e-05,-0.00013407374928,1.52199880625e-05,1793239965164829184
+49,0.816666667,BASELINE,766,745,715,679,661.431539626,635,879.431539626,787.568460374,804,652,631.431539626,652.568460374,0.401038363311,-0.00549607449125,0.0698663377261,0.999999990394,3.31252274034e-05,-0.000133718925703,1.53162314577e-05,1793239965181495808
+50,0.833333333,BASELINE,766,745,715,679,661.995946797,635.004053203,879.995946797,787,804.004053203,652,631.995946797,652,0.401039985562,-0.00549841529514,0.0698669065426,0.999999990641,3.00389902678e-05,-0.000132589418525,1.53692487672e-05,1793239965198162688
+51,0.850000000,BASELINE,766,745,715,679,661.41704342,635.58295658,879.41704342,787,804.58295658,652,631.41704342,652,0.401039796923,-0.00549632313002,0.0698666166956,0.99999999051,3.20012967195e-05,-0.000133156921158,1.50377020793e-05,1793239965214829056
+52,0.866666667,BASELINE,766,745.165679196,715,679,661,635.834320804,879,787,805,652,631.165679196,652,0.401039768486,-0.00549503320288,0.0698667492513,0.99999999046,3.35015164773e-05,-0.000133180650128,1.48260751034e-05,1793239965231495680
+53,0.883333333,BASELINE,766,745.75824231,715,679,661,635.24175769,879,787,805,652,631.75824231,652,0.401040152822,-0.00549581029752,0.0698679701568,0.999999990631,3.38111377579e-05,-0.00013180330857,1.49234295885e-05,1793239965248162304
+54,0.900000000,BASELINE,766,746,715,679,661,635,879,787,804.658215359,652,631.658215359,652.341784641,0.401039160035,-0.00549494650242,0.0698674414774,0.999999990474,3.51438564022e-05,-0.000132651027021,1.4847839597e-05,1793239965264828928
+55,0.916666667,BASELINE,766,746,715,679,661,635,879,787,804.080889728,652,631.080889728,652.919110272,0.401037218203,-0.00549295188762,0.0698657070711,0.999999990085,3.71816428928e-05,-0.000135032146309,1.46530648628e-05,1793239965281495552
+56,0.933333333,BASELINE,766,745.50645443,715,679,661.49354557,635.49354557,879.49354557,787,803.50645443,652.49354557,631.49354557,652.50645443,0.401036382328,-0.00549385221739,0.0698656107451,0.999999990053,3.69166227041e-05,-0.0001353250659,1.47786512055e-05,1793239965298162176
+57,0.950000000,BASELINE,766,745,715,679,661.93212287,635.93212287,880,787.06787713,803.06787713,652.93212287,631.93212287,652.06787713,0.401035956074,-0.00549511663662,0.0698657802486,0.999999990086,3.61575306819e-05,-0.000135268475467,1.49177837889e-05,1793239965314829056
+58,0.966666667,BASELINE,766,745,715,679,661.355036779,635.355036779,880,787.644963221,803.644963221,652.355036779,631.355036779,652.644963221,0.401037250878,-0.00549557373201,0.0698659416432,0.999999990164,3.4506832728e-05,-0.000135142441065,1.47669392897e-05,1793239965331495424
+59,0.983333333,BASELINE,766,745,715,679,661,635,879.771900691,787.771900691,803.771900691,652,631,653,0.401037395394,-0.00549560980643,0.0698659106149,0.999999990159,3.40659214676e-05,-0.000135294772835,1.47485582499e-05,1793239965348162304
+60,1.000000000,BASELINE,766,745,715,679,661,635,879.179091113,787.179091113,803.179091113,652,631,653,0.401035700704,-0.00549497270627,0.0698655719199,0.999999990023,3.5559350013e-05,-0.000135892187043,1.49419743389e-05,1793239965364828928
+61,1.016666667,BASELINE,766,745.403123134,715,679,661,635.403123134,879,787.403123134,803.403123134,652,631.403123134,653,0.401035843513,-0.00549531702018,0.0698652960286,0.999999989984,3.54530781214e-05,-0.000136211611397,1.48751399116e-05,1793239965381495552
+62,1.033333333,BASELINE,766,745.980750822,715,679,661,635.980750822,879,787.980750822,803.980750822,652,631.980750822,653,0.401036781742,-0.00549608617014,0.0698650473238,0.999999989988,3.46543253838e-05,-0.000136410699045,1.46956478335e-05,1793239965398162432
+63,1.050000000,BASELINE,765.4464117,745.4464117,715,679,661,635.4464117,879,787.4464117,804,652,632,653,0.401038363526,-0.00549470983096,0.0698662203653,0.999999990159,3.50644756492e-05,-0.000135069063743,1.44816128199e-05,1793239965414829056
+64,1.066666667,BASELINE,765.130117797,745,715,679.130117797,661,635,879,787,804,652,631.869882203,652.869882203,0.401039424295,-0.00549395854064,0.0698671411873,0.999999990297,3.52088240244e-05,-0.000134006122122,1.44414942173e-05,1793239965431495424
+65,1.083333333,BASELINE,765.720284753,745,715,679.720284753,661,635,879,787,804,652,631.279715247,652.279715247,0.401038564508,-0.00549567869907,0.0698669969634,0.999999990307,3.42660462545e-05,-0.000134116331319,1.50204910145e-05,1793239965448162304
+66,1.100000000,BASELINE,766,745,715,680,661,635,879,787,804,652,631.304900439,652.304900439,0.401037608713,-0.00549650737457,0.0698663750655,0.999999990268,3.29874704218e-05,-0.000134709187921,1.51736314554e-05,1793239965464828928
+67,1.116666667,BASELINE,766,745,715,680,661,635,879,787,804,652,631.88451443,652.88451443,0.401036566414,-0.00549653282897,0.0698653227859,0.999999990183,3.14063425057e-05,-0.000135736907071,1.49430777237e-05,1793239965481495552
+68,1.133333333,BASELINE,766,745,715,679.538978256,661,635,879,787.461021744,804,652,631.538978256,652.538978256,0.401036874891,-0.00549567697693,0.0698658135386,0.999999990093,3.45002056565e-05,-0.000135623600667,1.51565588173e-05,1793239965498162432
+69,1.150000000,BASELINE,766,745,715,679.037470268,661,635,879,788,804,652,631,652.037470268,0.401037404654,-0.00549464080709,0.0698665784539,0.999999989987,3.84567702652e-05,-0.00013530656973,1.54467137325e-05,1793239965514829312
+70,1.166666667,BASELINE,766,745,715,679.624391265,661,635,879,788,804,652,631,652.624391265,0.401036250782,-0.00549417609565,0.0698657336147,0.999999989891,3.80062996728e-05,-0.000136165391142,1.52410609607e-05,1793239965531495936
+71,1.183333333,BASELINE,766,745,715.208830094,679.791169906,661,635,879,788,804,652,631,652.791169906,0.401036073425,-0.00549426061764,0.0698654974566,0.999999989942,3.70529452299e-05,-0.000136074676755,1.5082497748e-05,1793239965548162560
+72,1.200000000,BASELINE,766,745,715.788856956,679.211143044,661,635,879,788,804,652,631,652.211143044,0.401037631827,-0.0054953214053,0.0698663432326,0.99999999025,3.52057115996e-05,-0.000134296156841,1.50076364791e-05,1793239965564829184
+73,1.216666667,BASELINE,766,745.366610395,715.633389605,679,661.366610395,635,879,787.633389605,804,652,631.366610395,652.366610395,0.401038185879,-0.00549511134068,0.0698667501149,0.999999990341,3.50538151225e-05,-0.000133676547079,1.48413763795e-05,1793239965581495808
+74,1.233333333,BASELINE,766,745.943062529,715.056937471,679,661.943062529,635,879,787.056937471,804,652,631.943062529,652.943062529,0.401038165056,-0.00549417386111,0.0698669057815,0.999999990309,3.58723017661e-05,-0.000133720278472,1.4622801102e-05,1793239965598162432
+75,1.250000000,BASELINE,766,745.48128609,715,679,661.48128609,635,879.51871391,787,804,652,631.48128609,652.48128609,0.401037033033,-0.00549437395349,0.069866161167,0.999999989999,3.76289695289e-05,-0.000135511730763,1.49373021007e-05,1793239965614829312
+76,1.266666667,BASELINE,766,745,715,679,661,635.09670837,879.90329163,787,804,652,631,652.09670837,0.401036217218,-0.00549453021132,0.069865606496,0.99999998976,3.92304330351e-05,-0.000136779024624,1.52517025599e-05,1793239965631495936
+77,1.283333333,BASELINE,766,745,715,679,661,635.687112235,879.312887765,787,804,652,631,652.687112235,0.401037637363,-0.0054938262294,0.0698665251872,0.999999990072,3.95146731912e-05,-0.000134392654184,1.52673367557e-05,1793239965648162560
+78,1.300000000,BASELINE,766,745,715.27190684,679,661,636,879,787,804,652,631.27190684,652.72809316,0.401038499105,-0.0054940004477,0.0698671423896,0.999999990301,3.86546399953e-05,-0.000132955312886,1.50848592556e-05,1793239965664829184
+79,1.316666667,BASELINE,766,745,715.850377199,679,661,636,879,787,804,652,631.850377199,652.149622801,0.40103873127,-0.00549516479985,0.0698674196759,0.999999990436,3.65044867313e-05,-0.000132587962168,1.46790191544e-05,1793239965681496064
+80,1.333333333,BASELINE,766,745,716,679,661.426476735,635.573523265,879,787.426476735,804,652.426476735,632,652,0.40103785241,-0.00549586852782,0.069866945775,0.999999990346,3.41042592909e-05,-0.000133919849807,1.45219569836e-05,1793239965698162688
+81,1.350000000,BASELINE,766.001745151,745.001745151,715.998254849,679,661.998254849,635,879,787.998254849,804,652.998254849,631.998254849,652,0.401036594097,-0.00549640714444,0.0698662154707,0.99999999017,3.16314917311e-05,-0.00013583435405,1.44523297581e-05,1793239965714829312
+82,1.366666667,BASELINE,766.5757024,745.5757024,715.4242976,679,661.4242976,635,879,787.4242976,804,652.4242976,631.4242976,652,0.401038017478,-0.00549550243859,0.0698673482665,0.999999990286,3.39818507171e-05,-0.000134391478239,1.45917487293e-05,1793239965731495936
+83,1.383333333,BASELINE,766.844990281,745.844990281,715,679,661,635,879,787.155009719,804,652,631,652,0.401038639453,-0.00549508395823,0.0698677817514,0.999999990323,3.51797309544e-05,-0.000133791093526,1.46905740859e-05,1793239965748162816
+84,1.400000000,BASELINE,766.250514929,745.250514929,715,679,661,635,879,787.749485071,804,652,631,652,0.401036989377,-0.00549604396795,0.069866232631,0.999999990153,3.31102372179e-05,-0.000135579241841,1.46743131515e-05,1793239965764829440
+85,1.416666667,BASELINE,766,745.332362718,715,679.332362718,661,635,879,787.667637282,804,652,631,652,0.401036310601,-0.00549567777864,0.0698654393452,0.999999989976,3.37123153074e-05,-0.000136738013277,1.46692544817e-05,1793239965781495808
+86,1.433333333,BASELINE,766,745.906793432,715,679.906793432,661,635,879,787.093206568,804,652,631,652,0.401036339248,-0.00549434568567,0.0698651965525,0.99999998979,3.62601654261e-05,-0.000137438393843,1.46723546996e-05,1793239965798162432
+87,1.450000000,BASELINE,766,745.521236825,715,679.521236825,661,635.478763175,879,787.478763175,804.478763175,652,631,652.478763175,0.401036132725,-0.00549318568784,0.0698650416929,0.999999989692,3.91603277673e-05,-0.00013735924459,1.46302172823e-05,1793239965814829312
+88,1.466666667,BASELINE,766,745,715,679,661,635.947991157,879,787.947991157,805,652,631.052008843,652.947991157,0.401035926196,-0.00549219033749,0.0698649661251,0.99999998962,4.17882000832e-05,-0.000137114897219,1.45900922344e-05,1793239965831495936
+89,1.483333333,BASELINE,766,745,715,679,661,635.356568418,879,787.356568418,805,652,631.643431582,652.356568418,0.401036192014,-0.00549255693114,0.0698655362959,0.99999998971,4.08842578882e-05,-0.000136723130254,1.46617135371e-05,1793239965848162816
+90,1.500000000,BASELINE,766,745,715,679,661.230473208,635.230473208,879,787.230473208,804.769526792,652,632,652.230473208,0.4010366282,-0.00549303773307,0.0698660662501,0.999999989838,3.9527296574e-05,-0.000136175027455,1.47466427774e-05,1793239965864829440
+91,1.516666667,BASELINE,766,745,715,679,661.810863137,635.810863137,879,787.810863137,804.189136863,652,632,652.810863137,0.401037323049,-0.00549369193206,0.0698665351454,0.999999990022,3.74825375428e-05,-0.000135389567284,1.4851776832e-05,1793239965881496064
+92,1.533333333,BASELINE,766,745.388309454,715,679.388309454,661.611690546,635.611690546,879,787.611690546,804,652.388309454,632,653,0.401036958312,-0.00549367075772,0.069866396565,0.999999989966,3.77500095074e-05,-0.00013572916787,1.48293580224e-05,1793239965898162688
+93,1.550000000,BASELINE,766,745.96433284,715,679.96433284,661.03566716,635.03566716,879,787.03566716,804,652.96433284,632,653,0.401036081357,-0.00549332309904,0.0698659643229,0.999999989794,3.91352443786e-05,-0.000136612637656,1.47452784781e-05,1793239965914829312
+94,1.566666667,BASELINE,766,746,715,680,661,635,879,787.539246907,804,652.460753093,631.460753093,653,0.401036278538,-0.00549343527992,0.0698660557993,0.999999989866,3.79977255391e-05,-0.000136391797709,1.48522507886e-05,1793239965931495936
+95,1.583333333,BASELINE,766,745.882560417,715,680,661,635,879,787.882560417,803.882560417,652,631,652.882560417,0.401036523317,-0.00549357703255,0.0698660706556,0.999999989928,3.67187829145e-05,-0.000136288105844,1.48596916167e-05,1793239965948162560
+96,1.600000000,BASELINE,766,745.290830906,715,680,661,635,879,787.290830906,803.290830906,652,631,652.290830906,0.401036673991,-0.00549371563201,0.0698656364655,0.999999989887,3.55411882106e-05,-0.000136951906821,1.44142365153e-05,1793239965964829184
+97,1.616666667,BASELINE,766,745,715,679.705567726,661,635.294432274,879,787.294432274,803.294432274,652,631,652.294432274,0.40103697129,-0.00549391888317,0.06986584012,0.999999989925,3.54529702126e-05,-0.000136698012078,1.43998769904e-05,1793239965981495808
+98,1.633333333,BASELINE,766,745,715,679.126554555,661,635.873445445,879,787.873445445,803.873445445,652,631,652.873445445,0.401037410306,-0.00549418462284,0.0698666602776,0.999999990039,3.64176796568e-05,-0.000135557126656,1.48021890897e-05,1793239965998162688
+99,1.650000000,BASELINE,766,745,715,679.448764652,661,635.551235348,879,788,804,652,631.448764652,652.551235348,0.401036979906,-0.0054947773977,0.0698665625586,0.999999990011,3.60956623142e-05,-0.000135856663254,1.47414394089e-05,1793239966014829312
+100,1.666666667,BASELINE,765.976400191,745.023599809,715,679.976400191,661,635.023599809,879,788,804,652,631.976400191,652.023599809,0.401036316441,-0.00549541539811,0.069866219159,0.999999989941,3.55156118422e-05,-0.000136544851825,1.45724861819e-05,1793239966031495936
+101,1.683333333,BASELINE,765.38843201,745.61156799,715,679.38843201,661,635.61156799,879,788,804,652,631.38843201,652.61156799,0.401035894872,-0.00549494743003,0.0698661400905,0.999999989821,3.7371684088e-05,-0.000136892502479,1.49133041278e-05,1793239966048162560
+102,1.700000000,BASELINE,765.197074475,745.802925525,715,679.197074475,661,635.802925525,879,787.802925525,804,652,631,653,0.401036091115,-0.0054945303757,0.0698664425132,0.999999989842,3.82575234108e-05,-0.000136473133202,1.5067743095e-05,1793239966064829184
+103,1.716666667,BASELINE,765.777788773,745.222211227,715,679.777788773,661,635.222211227,879,787.222211227,804,652,631,653,0.401037490033,-0.0054942124339,0.0698674875748,0.999999990142,3.7254634991e-05,-0.000134560625873,1.48593628486e-05,1793239966081495808
+104,1.733333333,BASELINE,766,745,715,679.644816818,661,635.355183182,879,787,804,652,631.355183182,653,0.401037240281,-0.00549364402955,0.0698670144637,0.999999990074,3.72020097012e-05,-0.000135098933001,1.47146821668e-05,1793239966098162432
+105,1.750000000,BASELINE,766,745,715,679.069480121,661,635.930519879,879,787,804,652,631.930519879,653,0.401035968631,-0.00549292038073,0.0698656003424,0.999999989775,3.77383867736e-05,-0.000137156330496,1.46094844237e-05,1793239966114829056
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652,631,652,0.40103854974,-0.00549499886181,0.0698671318007,0.999999990254,3.55003449315e-05,-0.000134205713885,1.48710894676e-05,1793239966148063232
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.642187643,715.642187643,679.642187643,661.357812357,635,879,787.642187643,804,652,631,652.642187643,0.40103650228,-0.00549550275325,0.069864865289,0.999999989758,3.68538238504e-05,-0.000137505533078,1.47840291693e-05,1793239966164730112
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.743935832,715.743935832,680,661,635,879,788,804,652,631,652.743935832,0.40103574278,-0.00549534763577,0.069864443923,0.999999989607,3.76856249585e-05,-0.00013837039667,1.48165449213e-05,1793239966181396992
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.165681408,715.165681408,680,661,635,879,788,804,652,631,652.165681408,0.401036603843,-0.00549436332677,0.0698663441931,0.999999989899,3.78610302071e-05,-0.000136171501456,1.49995160663e-05,1793239966198063360
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.59144359,661,635,879,787.59144359,803.59144359,652,631.40855641,652.40855641,0.401037258011,-0.00549462170922,0.0698668534303,0.999999990073,3.63941713977e-05,-0.000135296848601,1.49976995252e-05,1793239966214729984
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.018818799,661,635,879,787.018818799,803.018818799,652,631.981181201,652.981181201,0.401037829094,-0.00549537913268,0.0698668040553,0.999999990195,3.4267810977e-05,-0.000134953986092,1.4921675799e-05,1793239966231396608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.552809854,661,635,879,787.552809854,803.552809854,652.552809854,631.447190146,652.447190146,0.401037719914,-0.00549304307883,0.0698669349288,0.999999990119,3.6278431976e-05,-0.000135017520781,1.46963233712e-05,1793239966248063232
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.869591449,661,635.130408551,879.130408551,788,804,652.869591449,631.130408551,652,0.401037350122,-0.00549146431997,0.0698667927376,0.99999998998,3.80748086131e-05,-0.000135567522854,1.4525108655e-05,1793239966264730112
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.270410941,661,635.729589059,879.729589059,788,804,652.270410941,631.729589059,652,0.401036126617,-0.0054929856301,0.06986564696,0.999999989652,3.85957254958e-05,-0.000137816559654,1.45667399489e-05,1793239966281396736
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.315592976,661.315592976,636,879.684407024,788,804,652,631.684407024,652.315592976,0.401036332027,-0.00549382187128,0.0698658288007,0.999999989253,3.80923551397e-05,-0.000140805948402,1.47041393644e-05,1793239966298063360
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.890759199,661.890759199,636,879.109240801,788,804,652,631.109240801,652.890759199,0.401037712711,-0.00549409464745,0.0698671025992,0.999999988787,3.67465149134e-05,-0.000144404271882,1.49203074585e-05,1793239966314729728
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.532990666,662,635.532990666,879,788,804,652.467009334,631.467009334,652.532990666,0.401050452788,-0.00549451592288,0.069873017307,0.999999988818,3.70811808836e-05,-0.000144059009389,1.53645743373e-05,1793239966331396352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.044321916,715.044321916,679.044321916,662,635.044321916,879.044321916,788,804,652.955678084,631.955678084,652,0.401067674961,-0.00549498642727,0.0698805375978,0.999999989124,3.77630021027e-05,-0.000141678029914,1.58952946097e-05,1793239966348063232
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.631534856,715.631534856,679.631534856,662,635.631534856,879.631534856,788,804,652.368465144,631.368465144,652,0.401107174955,-0.0054956334594,0.0698943963529,0.999999991243,3.78708924818e-05,-0.000125687336942,1.68298994216e-05,1793239966364730112
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.782926302,715.782926302,680,661.782926302,636,880,788,804,652,631,652.217073698,0.401155353459,-0.0054968884212,0.0699078320921,0.999999993157,3.70519096666e-05,-0.000109607008861,1.73065391696e-05,1793239966381396480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.200207268,715.200207268,680,661.200207268,636,880,788,804,652,631,652.799792732,0.401218150306,-0.00549916739777,0.0699205552931,0.999999994895,3.46716743401e-05,-9.33756942082e-05,1.70117692154e-05,1793239966398063104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.377115521,715,679.622884479,661.377115521,636,879.622884479,787.622884479,804,652.377115521,631.377115521,653,0.401289012644,-0.00550175471819,0.0699276214904,0.999999995835,3.24227380404e-05,-8.37771400872e-05,1.60992678498e-05,1793239966414729728
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.951613874,715,679.048386126,661.951613874,636,879.048386126,787.048386126,804,652.951613874,631.951613874,653,0.40136409647,-0.00550450342611,0.0699317268026,0.999999996417,3.02425239937e-05,-7.76501837874e-05,1.48634449529e-05,1793239966431396608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.947781608,715,679,661.473890804,635.473890804,879,787.526109196,804.526109196,652.473890804,631.473890804,653,0.401452051705,-0.00550459787216,0.0699303493361,0.999999995934,3.17530662542e-05,-8.33906988908e-05,1.30556874161e-05,1793239966448063232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.103519377,715,679.103519377,661,635,879,788,804.896480623,652,631,652.896480623,0.401544866032,-0.00550462288646,0.0699282384368,0.999999995337,3.30060942056e-05,-9.008553183e-05,1.10141741337e-05,1793239966464730112
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.694661131,715,679.694661131,661,635,879,788,804.305338869,652,631,652.305338869,0.401654992741,-0.00550547071488,0.0699250479704,0.999999994852,3.14472204953e-05,-9.61344487763e-05,8.11933843524e-06,1793239966481396736
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.280101655,715,679.719898345,661,635,879,787.719898345,804,652,631,652.280101655,0.401783167024,-0.00550663563984,0.0699245855627,0.999999994646,2.99604156717e-05,-9.89127898185e-05,5.23228508606e-06,1793239966498063360
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.859451204,715,679.140548796,661,635,879,787.140548796,804,652,631,652.859451204,0.401930622507,-0.0055081393363,0.0699270376893,0.999999994768,2.85506060764e-05,-9.81969956333e-05,2.3535462314e-06,1793239966514729984
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.56726811,715,679.43273189,661,635.43273189,879.43273189,787.43273189,804,652,631,652.56726811,0.402106140126,-0.00550892352546,0.0699312365267,0.999999995174,2.84238368783e-05,-9.40312019559e-05,-1.29062080626e-06,1793239966531396864
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.995784331,879.995784331,787.995784331,804,652,631,652,0.402290820749,-0.00550948228772,0.0699359870184,0.999999995636,2.86762293074e-05,-8.87623001879e-05,-5.18317102895e-06,1793239966548063488
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.403817306,879.403817306,787.403817306,804,652,631,652,0.402499848332,-0.00551074271883,0.0699396470525,0.999999996147,2.44951975053e-05,-8.37630878042e-05,-9.52390770758e-06,1793239966564730112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.184097701,635.184097701,879,787.184097701,804,652,631.184097701,652.184097701,0.402720784733,-0.00551152961672,0.0699424358352,0.999999996464,2.10088842664e-05,-8.01884648614e-05,-1.41230463929e-05,1793239966581396480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.763316157,635.763316157,879,787.763316157,804,652,631.763316157,652.763316157,0.40296728054,-0.00551130019144,0.0699433546905,0.99999999646,1.90136139673e-05,-7.96713742947e-05,-1.92767826971e-05,1793239966598063104
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.658998604,662,635.658998604,879,788,804,652,631.658998604,653,0.403239660199,-0.00551328834902,0.0699460316192,0.999999996802,1.19155548977e-05,-7.54198633988e-05,-2.37968164323e-05,1793239966614729728
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.082372819,662,635.082372819,879,788,804,652,631.082372819,653,0.40352992501,-0.00551680880712,0.0699499233374,0.999999997258,1.29158225057e-06,-6.85879510271e-05,-2.78789754561e-05,1793239966631396864
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.490771189,662,635,879,788,804,652,631,652.509228811,0.403862004503,-0.00551777152653,0.06995753777,0.999999997946,-1.15312013284e-05,-5.56990585402e-05,-2.95283148218e-05,1793239966648063232
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.934286506,635,879,788,803.934286506,652.065713494,631.065713494,652.065713494,0.404203027505,-0.00551818182802,0.0699651152076,0.999999998345,-2.23011092388e-05,-4.32898231797e-05,-3.06512880148e-05,1793239966664730112
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.340219849,635,879,788,803.340219849,652.659780151,631.659780151,652.659780151,0.404559926988,-0.00551757791594,0.0699674067649,0.999999998515,-1.36189722885e-05,-4.28534985231e-05,-3.08021190576e-05,1793239966681396736
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.246355949,635,879,788,803.246355949,652.753644051,631.753644051,653,0.404938445126,-0.0055167143759,0.0699710264799,0.999999998779,-7.51088491559e-06,-3.74460267593e-05,-3.13565215209e-05,1793239966698063104
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.822892029,635,879,788,803.822892029,652.177107971,631.177107971,653,0.405345937775,-0.00551550286787,0.0699764262666,0.99999999914,-4.85268459174e-06,-2.53759434367e-05,-3.24518131393e-05,1793239966714729472
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.398071891,788,804,652,631.398071891,652.601928109,0.405772938755,-0.00551374928237,0.0699762550286,0.999999999137,-4.69407601506e-06,-2.39394595049e-05,-3.36145976019e-05,1793239966731396352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.972650452,788,804,652,631.972650452,652.027349548,0.406208589842,-0.00551175533745,0.0699736135766,0.999999999008,-5.64379618828e-06,-2.72179550367e-05,-3.48073087576e-05,1793239966748063232
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.55990315,715,679.44009685,662,635,880.55990315,788,804,652,632,652,0.40666060984,-0.0055110282599,0.0699547509818,0.999999997466,-8.35143170808e-06,-6.08582457929e-05,-3.59924704441e-05,1793239966764730112
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.854202965,715,679,662,635,880.70840593,788,803.854202965,652,631.854202965,652,0.40713397427,-0.00551241329995,0.0699392959993,0.999999995519,-1.21279387914e-05,-8.62551996582e-05,-3.70757242999e-05,1793239966781396480
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.274241579,715,679,662,635,879.548483159,788,803.274241579,652,631.274241579,652,0.407668463552,-0.0055198994015,0.0699364026029,0.999999995696,-1.88257770325e-05,-8.25858868406e-05,-3.78566340425e-05,1793239966798063104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.303256361,715,679.303256361,661.696743639,635,879,788,803.303256361,652,631,652.303256361,0.408231978816,-0.00552709531151,0.0699433072946,0.999999996845,-2.55035841388e-05,-6.47160781663e-05,-3.83609233867e-05,1793239966814729984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.878544468,715,679.878544468,661.121455532,635,879,788,803.878544468,652,631,652.878544468,0.408821531389,-0.00553403090894,0.06995900122,0.999999998155,-3.21634221853e-05,-3.41079195957e-05,-3.86170743166e-05,1793239966831396608
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.546917461,715,680,661,635,879,788,804,652,631,653,0.409420747346,-0.00553864838378,0.0699628917139,0.999999998352,-3.58177771059e-05,-2.24208616452e-05,-3.88624101078e-05,1793239966848062976
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.028334953,879.028334953,788,804,652,631.028334953,652.971665047,0.410023597367,-0.00554248937556,0.0699630916823,0.999999998342,-3.8637148625e-05,-1.70351626114e-05,-3.91641581554e-05,1793239966864729856
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.621839504,879.621839504,788,804,652,631.621839504,652.378160496,0.410647349576,-0.0055432167401,0.0699526869739,0.99999999768,-4.08451687418e-05,-3.63358194867e-05,-4.06488374104e-05,1793239966881396736
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.791501108,679.791501108,661,635.791501108,879.791501108,788,804.208498892,652,631.791501108,652.208498892,0.411293718575,-0.00554338142682,0.0699506606725,0.999999997361,-4.28324073674e-05,-4.14485893468e-05,-4.15316467511e-05,1793239966898063616
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.216862402,679.216862402,661,635.216862402,879.216862402,788,804.783137598,652,631.216862402,652.783137598,0.411979804303,-0.00554255800869,0.0699633474882,0.999999997923,-4.44319367871e-05,-2.16463553248e-05,-4.13575268904e-05,1793239966914730240
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714.358344579,679.358344579,661,635,879,788,804.641655421,652,631,653,0.412700710971,-0.00554408351161,0.0699893079406,0.999999997831,-4.72402965807e-05,2.09475457883e-05,-4.0825322401e-05,1793239966931396864
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714.933896071,679.933896071,661,635,879,788,804.066103929,652,631,653,0.413442724064,-0.00554703278901,0.0700233140739,0.999999994916,-5.07813766196e-05,7.73563853784e-05,-4.00760684494e-05,1793239966948063744
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.510788735,635,879.510788735,788,804,652,631,653,0.414176430048,-0.00554493375434,0.0700295943979,0.999999994583,-4.49501273808e-05,8.4936833165e-05,-3.99826106516e-05,1793239966964730368
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.090087919,745,715,680,662,635,880,787.909912081,804.090087919,652,631,653,0.414903756766,-0.00554224637114,0.0700233346054,0.999999995836,-4.06563953032e-05,7.08673560708e-05,-4.06521260077e-05,1793239966981396992
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.68181869,745,715,680,662,635,880,787.31818131,804.68181869,652,631,653,0.41560156379,-0.00553993040127,0.0699672795353,0.999999997241,-5.16959130391e-05,-2.84769341003e-05,-4.50963254238e-05,1793239966998063360
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.732238738,745,715,680,662,635,879.732238738,787,804.732238738,652,631,653,0.416348134777,-0.00553876096742,0.0699341332969,0.999999993684,-5.62848331909e-05,-8.44335477412e-05,-4.83153081828e-05,1793239967014730240
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.153028791,745,715,680,662,635,879.153028791,787,804.153028791,652,631,653,0.417151425922,-0.00553892513639,0.0699276336553,0.999999993277,-5.33706882584e-05,-8.9923427953e-05,-5.01091703917e-05,1793239967031396864
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.422162007,787,804,652,631,652.577837993,0.417969154251,-0.0055393959201,0.0699491663658,0.999999995867,-5.33393629664e-05,-5.47205886136e-05,-4.92514283534e-05,1793239967048063744
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.995909638,787,804,652,631,652.004090362,0.418792066519,-0.00553997679989,0.0699807646473,0.999999997386,-5.4343171074e-05,-4.90622265795e-06,-4.74415751829e-05,1793239967064730368
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.414743046,787,804,651.414743046,630.414743046,652.585256954,0.419647218089,-0.00554484974998,0.0699996489448,0.999999996851,-6.10415683975e-05,1.82706339418e-05,-4.73146845844e-05,1793239967081396736
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.171849638,662,635,879.171849638,787.171849638,804.171849638,651,630.343699277,652.828150362,0.420504546315,-0.00554815962161,0.0700172397567,0.999999995853,-6.61030874767e-05,4.10345707088e-05,-4.73348371541e-05,1793239967098063104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.751637376,662,635,879.751637376,787.751637376,804.751637376,651,631.503274751,652.248362624,0.421366491867,-0.00554768588614,0.0700319767874,0.999999994605,-6.71819069356e-05,6.32723445477e-05,-4.76753561935e-05,1793239967114729728
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.671007651,745,715,680.671007651,662,635,880,787.671007651,805,651,631.671007651,652.328992349,0.422196701188,-0.00554698211166,0.0700204250774,0.999999995449,-6.84304364e-05,4.47501916658e-05,-4.91587033043e-05,1793239967131396608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.095475676,745,715,680.095475676,662,635,880,787.095475676,805,651,631.095475676,652.904524324,0.423003128167,-0.00554610595096,0.0699891731652,0.999999996228,-6.98061428092e-05,-4.31655097028e-06,-5.14984605749e-05,1793239967148063232
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.474946769,745,715,680.474946769,662,635,880.474946769,787,805,651.474946769,631,652.525053231,0.423768540461,-0.0055436393004,0.0699232431732,0.999999990242,-7.19093535717e-05,-0.000105632623492,-5.64484934257e-05,1793239967164730112
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.953439645,745,715,680.953439645,662,635,880.953439645,787,804.953439645,652,631,652.046560355,0.424539577521,-0.00554130431751,0.0698589284171,0.999999974608,-7.47338852928e-05,-0.000203500222588,-6.1528828962e-05,1793239967181396992
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.355694938,745,715,680.355694938,662,635,880.355694938,787,804.355694938,652,631,652.644305062,0.425473766665,-0.00554427267973,0.0698953811128,0.99999998506,-8.4384629837e-05,-0.000137528595724,-6.20060610787e-05,1793239967198063872
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.233422509,745,715,679.766577491,662,635,880,787,804,652,631,652.766577491,0.426391622117,-0.00554644285661,0.0699387092886,0.999999992054,-8.69063459806e-05,-6.87247404473e-05,-6.01350145189e-05,1793239967214730496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.809862063,745,715,679.190137937,662,635,880,787,804,652,631,652.190137937,0.427285474965,-0.00554744009079,0.0699921410587,0.999999995372,-7.89518728907e-05,4.24110257657e-06,-5.48131456498e-05,1793239967231396864
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.76814139,662,635,880.384070695,787.384070695,804.384070695,652,631,652.384070695,0.428163595358,-0.0055494047719,0.0700212933839,0.999999994306,-8.04607516828e-05,4.51407232767e-05,-5.36314147923e-05,1793239967248063744
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.914362499,662,635,880.957181249,787.957181249,804.957181249,652,631,652.957181249,0.4290339722,-0.00555184563101,0.0700384953481,0.999999992295,-8.66274990777e-05,7.02573252649e-05,-5.44874629206e-05,1793239967264730368
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.532740564,715,680.467259436,662,635,880.467259436,788,805,652,631,653,0.429872224181,-0.00555357668784,0.0700369567543,0.999999992154,-8.76738462438e-05,7.08987316848e-05,-5.45825756719e-05,1793239967281396736
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.88812171,715,680.11187829,662.11187829,635,880.11187829,788,804.88812171,652,631,653,0.430691863945,-0.0055542661182,0.0700225444483,0.999999993384,-8.83604082798e-05,4.87038693662e-05,-5.52460803838e-05,1793239967298063360
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.294424776,715,680.705575224,662.705575224,635,880.705575224,788,804.294424776,652,631,653,0.431442518656,-0.00555071647396,0.0699592066749,0.999999992291,-8.92780842821e-05,-6.33273550871e-05,-5.86220487921e-05,1793239967314730240
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.708649912,662.708649912,635,881,788,804,652,631,653,0.432215895733,-0.00554824723102,0.0699169273761,0.99999998552,-8.82624273975e-05,-0.000131972450071,-6.12600405832e-05,1793239967331396608
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.130668734,662.130668734,635,881,788,804,652,631,653,0.43301162723,-0.00554684088971,0.0698953654601,0.999999981891,-8.53447527039e-05,-0.000157934154658,-6.31720096806e-05,1793239967348062976
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.557138591,745.442861409,715,680.442861409,662,635,880.557138591,788,804.442861409,652,631,652.557138591,0.433862396578,-0.00555005262666,0.0699425330587,0.999999991328,-8.94970057271e-05,-7.45676678744e-05,-6.14340839636e-05,1793239967364729856
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.015621388,745.984378612,715,680.984378612,662,635,880,787.984378612,804.984378612,652,631,652,0.434726693562,-0.00555457074532,0.0700085753053,0.999999992976,-9.55186326181e-05,3.85044524336e-05,-5.86574519108e-05,1793239967381396736
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.60795183,745.39204817,715,680.39204817,662,635,880,787.39204817,804.39204817,652,631,652,0.435496851914,-0.00555751434475,0.0700302205743,0.99999999154,-9.430843923e-05,6.92028117441e-05,-5.6896063318e-05,1793239967398063104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.195298095,715,680,662.195298095,635.195298095,880.195298095,787,804,652,631,652,0.436260042472,-0.0055598436147,0.0700386299183,0.9999999905,-9.53723937388e-05,8.20815097573e-05,-5.62678235421e-05,1793239967414729728
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37100bd7fe0bd2f791647114f3e4549f1d3f39bd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+32,0.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+35,0.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+36,0.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+40,0.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+41,0.683333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+42,0.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+43,0.716666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+47,0.783333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+48,0.800000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+49,0.816666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+50,0.833333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+51,0.850000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+53,0.883333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+55,0.916666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+56,0.933333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+57,0.950000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+59,0.983333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+61,1.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+62,1.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+70,1.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+76,1.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+91,1.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+94,1.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+100,1.666666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+102,1.700000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+104,1.733333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..864fe16beaa4acc8be3ed67b0b68864d1eb88110
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6dbbd16e0b4e7ae238aeaf4f2d529540060f28907d169659baa274c0411b4eb
+size 26377214
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b01f6409c443ef93819a70193f6397c06535622
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+21,0.350000000,BASELINE,766,745,715,679,661,635.164897521,879.835102479,787,803.164897521,652,631.164897521,652.835102479,0.400978914387,-0.00536595455706,0.0698373093427,0.999999944893,0.000198885158033,-0.000265368135615,1.54293066618e-05,1793239971808920576
+22,0.366666667,BASELINE,766,745,715,679,661,635.743070382,879.256929618,787,803.743070382,652,631.743070382,652.256929618,0.400978595133,-0.00536392462332,0.0698374301317,0.999999944369,0.000201400533429,-0.000265453780777,1.5320560521e-05,1793239971825587200
+23,0.383333333,BASELINE,766,745,715,679,661,635.669461613,879,787,804,652,631.669461613,652.330538387,0.400979345872,-0.00536303615357,0.0698378971517,0.999999944381,0.000202629061013,-0.00026447666526,1.5185675106e-05,1793239971842253824
+24,0.400000000,BASELINE,766,745,715,679,661,635.074559307,879,787,804,652,631.074559307,652.925440693,0.400980952389,-0.00536306062415,0.0698386410866,0.999999944825,0.000202828370648,-0.000262649555957,1.50298835418e-05,1793239971858920448
+25,0.416666667,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652.49723051,0.400980481229,-0.00536446535609,0.069837924261,0.999999944974,0.000200721489025,-0.000263674380925,1.54741161779e-05,1793239971875587072
+26,0.433333333,BASELINE,766,745,715,679,661,635,879,787,804,652,631.077471214,652,0.400979820813,-0.00536574650099,0.0698372441764,0.999999945097,0.000198598740618,-0.000264785755121,1.58891605861e-05,1793239971892253696
+27,0.450000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631.651474678,652,0.400979855493,-0.00536496795144,0.0698381410974,0.999999945375,0.000198492241426,-0.000263832705186,1.55660844302e-05,1793239971908920320
+28,0.466666667,BASELINE,766.23263373,745,715,679,661,635,879,787,804,652,631.76736627,652,0.400979867245,-0.00536398290943,0.069838550829,0.999999945231,0.000199853225233,-0.000263359723253,1.54465077588e-05,1793239971925587200
+29,0.483333333,BASELINE,766.824853259,745,715,679,661,635,879,787,804,652,631.175146741,652,0.400979843559,-0.00536267868865,0.0698382075037,0.999999944425,0.000203482521747,-0.000263628790414,1.56414836206e-05,1793239971942253824
+30,0.500000000,BASELINE,766.592453023,745,715,679.407546977,661,635,879,787,804,652,631,652,0.400979602565,-0.00536299055843,0.0698381384885,0.99999994428,0.000203316314332,-0.000264292116558,1.58517236624e-05,1793239971958920448
+31,0.516666667,BASELINE,766.013759616,745,715,679.986240384,661,635,879,787,804,652,631,652,0.400979270315,-0.00536398109389,0.0698381846679,0.999999944414,0.000201556212165,-0.00026512100893,1.60683737823e-05,1793239971975586816
+32,0.533333333,BASELINE,766,745,715,679.452875567,661.547124433,635,879,787,804,652,631,652.547124433,0.400980478707,-0.00536456313346,0.0698391770322,0.999999944988,0.000201005372613,-0.000263384152368,1.58201666131e-05,1793239971992253696
+33,0.550000000,BASELINE,766,745,715,679.113424475,661.886575525,635,879,787,804,652,631,653,0.400981179126,-0.00536475093442,0.069839672241,0.999999945311,0.000200935126478,-0.000262220739718,1.56126513859e-05,1793239972008920064
+34,0.566666667,BASELINE,766,745,715,679.704351097,661.295648903,635,879,787,804,652,631,653,0.400979583072,-0.00536332092804,0.069837977472,0.999999944543,0.000202764122451,-0.000263734533322,1.56241086699e-05,1793239972025586944
+35,0.583333333,BASELINE,765.704079406,745,715,679.704079406,661,635,879,787.295920594,804,652,631.295920594,652.704079406,0.400979018765,-0.00536274511509,0.0698374101492,0.999999944265,0.000203210113864,-0.000264445086935,1.56222247349e-05,1793239972042253824
+36,0.600000000,BASELINE,765.111866155,745,715,679.111866155,661,635,879,787.888133845,804,652,631.888133845,652.111866155,0.4009794875,-0.00536302456936,0.0698379716901,0.999999944481,0.00020227136207,-0.000264351390815,1.56069828082e-05,1793239972058920448
+37,0.616666667,BASELINE,765.466744688,745,715,679,661,635,879,787.533255312,804,652,631.533255312,652,0.400979288179,-0.00536443918187,0.0698380402188,0.999999944825,0.000200590759575,-0.000264330239115,1.56130607464e-05,1793239972075587072
+38,0.633333333,BASELINE,766,745,715,679,661,635,879,787,803.95782753,652,631,652,0.400978952201,-0.00536598803122,0.0698379748621,0.999999945151,0.000198870061792,-0.000264396723473,1.56225900943e-05,1793239972092253952
+39,0.650000000,BASELINE,766,745,715,679,661,635,879,787,803.382592026,652,631,652,0.400978855421,-0.00536589208348,0.069837668464,0.999999944905,0.00019882633871,-0.00026535738511,1.5612986299e-05,1793239972108920576
+40,0.666666667,BASELINE,766,745,715,679,661,635,879.198178475,787.198178475,803.198178475,652,631,652,0.4009793387,-0.00536523776738,0.0698380158098,0.999999944871,0.000199578217155,-0.000264925085849,1.55273932699e-05,1793239972125587200
+41,0.683333333,BASELINE,766,745,715,679,661,635,879.789941503,787.789941503,803.789941503,652,631,652,0.400980973983,-0.00536347452583,0.0698396614976,0.999999945249,0.000201910168668,-0.00026172635142,1.52908848175e-05,1793239972142253824
+42,0.700000000,BASELINE,766,745,715.373605667,679,661,635,880,787.626394333,804,652,631,652.373605667,0.400981003563,-0.00536250801739,0.0698397090432,0.999999944902,0.000203724636207,-0.000261642116407,1.53266352141e-05,1793239972158920192
+43,0.716666667,BASELINE,766,745,715.95281287,679,661,635,880,787.04718713,804,652,631,652.95281287,0.400980149497,-0.00536197996476,0.0698388771039,0.999999944159,0.000205254323461,-0.000263271843359,1.55122142814e-05,1793239972175586816
+44,0.733333333,BASELINE,766,745.527130207,715.472869793,679,661,635,879.472869793,787,804,652,631,652.472869793,0.400980050214,-0.00536392491451,0.0698388125734,0.999999944443,0.000203652159358,-0.000263410668758,1.59634912097e-05,1793239972192253696
+45,0.750000000,BASELINE,766,745.898807138,715,679,661,635.101192862,879,787,804,652,631,652.101192862,0.400979848618,-0.00536555940065,0.0698387612668,0.999999944752,0.000201952772616,-0.000263527708551,1.62515637643e-05,1793239972208920576
+46,0.766666667,BASELINE,766,745.323906609,715,679,661,635.676093391,879,787,804,652,631,652.676093391,0.400978854688,-0.0053647137451,0.0698384532378,0.999999944766,0.000201098605223,-0.000264161785289,1.56653205611e-05,1793239972225587200
+47,0.783333333,BASELINE,766,745,715,679,661,635.740972245,879,787,804,652,631,653,0.400978764548,-0.00536438652856,0.0698383065669,0.999999944931,0.000200328231845,-0.000264140924221,1.53502279014e-05,1793239972242254080
+48,0.800000000,BASELINE,766,745,715,679,661,635.147670167,879,787,804,652,631,653,0.400979840745,-0.00536472835546,0.069838368128,0.999999945292,0.000199665994208,-0.000263274868517,1.53850538948e-05,1793239972258920704
+49,0.816666667,BASELINE,766,745,715,679,661.435222482,635,879.435222482,787,804.435222482,652,631,652.564777518,0.400979868154,-0.00536578726108,0.069838306563,0.999999945351,0.000199246493358,-0.000263359510858,1.55322864712e-05,1793239972275587328
+50,0.833333333,BASELINE,766,745,715,679.014501811,662,635,879.985498189,787.014501811,804.985498189,652,631,652.014501811,0.400979535172,-0.00536700868301,0.0698382083926,0.999999945302,0.000198942155555,-0.000263763467333,1.57063662645e-05,1793239972292253952
+51,0.850000000,BASELINE,766,745,715,679.587469896,662,635,879.412530104,787.587469896,804.412530104,652,631,652.587469896,0.400978707319,-0.00536533784999,0.0698382717807,0.999999944949,0.000199975147758,-0.000264332206922,1.54798938185e-05,1793239972308920576
+52,0.866666667,BASELINE,766,745,715,679.83483492,661.83483492,635,879,787.83483492,804,652,631,652.83483492,0.400978383329,-0.00536407823837,0.0698384227733,0.99999994473,0.00020096836804,-0.000264415877826,1.53639931789e-05,1793239972325587200
+53,0.883333333,BASELINE,766,745,715,679.244985106,661.244985106,635,879,787.244985106,804,652,631,652.244985106,0.400979354909,-0.00536387598989,0.0698387990211,0.999999944855,0.000201859323739,-0.000263252304024,1.5532403003e-05,1793239972342253824
+54,0.900000000,BASELINE,766,745.338249354,715,679,661,635,879,787,804,652,631,652,0.400979966542,-0.00536399574292,0.0698390624574,0.999999944999,0.000201866415321,-0.000262708853197,1.53938552412e-05,1793239972358920960
+55,0.916666667,BASELINE,766,745.91678437,715,679,661,635,879,787,804,652,631,652,0.400980322476,-0.00536434423946,0.0698392457548,0.999999945156,0.000201245627247,-0.000262605925539,1.50372508636e-05,1793239972375588096
+56,0.933333333,BASELINE,766,745.50503527,715,679,661.49496473,635.49496473,879,787,804,652,631,652.49496473,0.400980430854,-0.00536470785679,0.0698394771673,0.999999945271,0.000200641718903,-0.000262619424739,1.52048058717e-05,1793239972392254464
+57,0.950000000,BASELINE,766,745,715,679,661.927473677,635.927473677,879,787,804,652,631,652.927473677,0.400980603698,-0.00536482518161,0.0698396832505,0.999999945363,0.000200349010094,-0.000262483638685,1.53858132811e-05,1793239972408920576
+58,0.966666667,BASELINE,766,745,715,679,661.353776426,635.353776426,879,787,804,652,631,652.353776426,0.400981509421,-0.00536322302309,0.069839658444,0.999999945339,0.000202187154227,-0.00026118109803,1.50512616434e-05,1793239972425587200
+59,0.983333333,BASELINE,766,745,715,679.226612584,661,635.226612584,879.226612584,787.226612584,804.226612584,652,631,652.226612584,0.400981611133,-0.00536277550015,0.0698395157375,0.999999945403,0.000202434501629,-0.000260752978231,1.49266957355e-05,1793239972442253824
+60,1.000000000,BASELINE,766,745,715,679.817766409,661,635.817766409,879.817766409,787.817766409,804.817766409,652,631,652.817766409,0.40098041947,-0.0053641853861,0.0698391833708,0.999999945609,0.000200122807779,-0.000261731498848,1.51399241616e-05,1793239972458920448
+61,1.016666667,BASELINE,766,745,715,679.600016702,661.399983298,635.600016702,880,788,804.600016702,652,631,652.600016702,0.400979602302,-0.00536367788541,0.0698387755781,0.999999945174,0.00020052119551,-0.000263089984082,1.50837672985e-05,1793239972475587072
+62,1.033333333,BASELINE,766,745,715,679.021782555,661.978217445,635.021782555,880,788,804.021782555,652,631,652.021782555,0.400978952027,-0.00536231590946,0.0698383341722,0.99999994445,0.00020212731966,-0.000264617798864,1.49075600192e-05,1793239972492253696
+63,1.050000000,BASELINE,766,745,715,679,661.448375744,635.551624256,879.448375744,787.448375744,804,652,631,652.551624256,0.40097921291,-0.00536272207839,0.0698382008807,0.999999944681,0.00020210180933,-0.000263749614689,1.51458857411e-05,1793239972508920576
+64,1.066666667,BASELINE,765.882656297,745,715,679,661,635.882656297,879,787,804,652,631,653,0.400979581636,-0.00536308297275,0.0698382079015,0.999999944885,0.000202208098934,-0.000262883392201,1.53219656401e-05,1793239972525587200
+65,1.083333333,BASELINE,765.343867686,745,715,679,661,635.343867686,879,787,804,652,631,653,0.400980209584,-0.00536303267345,0.0698386755412,0.99999994486,0.00020301714935,-0.000262361074974,1.52162067287e-05,1793239972542253824
+66,1.100000000,BASELINE,765.231424093,745,715,679.231424093,661,635,879,787,804,652,631.231424093,652.768575907,0.400980375073,-0.00536297998398,0.0698390702738,0.999999944728,0.000203700388996,-0.000262332946687,1.51924010656e-05,1793239972558920448
+67,1.116666667,BASELINE,765.871112478,745,715,679.871112478,661,635,879,787,804,652,631.871112478,652.128887522,0.40097972472,-0.00536292307791,0.0698393363878,0.999999944411,0.000204161680856,-0.000263176636498,1.53131723442e-05,1793239972575587072
+68,1.133333333,BASELINE,766,745,715,680,661,635.45980915,879,787.45980915,804,652,632,652.45980915,0.400980092321,-0.00536408021969,0.0698397147952,0.999999944996,0.000202001747326,-0.000262615784312,1.53913926012e-05,1793239972592253440
+69,1.150000000,BASELINE,766,745,715,680,661.035544464,636,879,788,804,652,632,652.964455536,0.400980680398,-0.00536540290348,0.0698401175296,0.999999945734,0.000199439063105,-0.000261759512946,1.54479328074e-05,1793239972608920320
+70,1.166666667,BASELINE,766,745,715,680,661.609840636,636,879,788,804,652,632,652.390159364,0.400980717075,-0.00536459158614,0.069840459524,0.999999945454,0.000200796747488,-0.000261797225303,1.53386026693e-05,1793239972625587200
+71,1.183333333,BASELINE,766,745,715,680,661.811199333,636,879,787.811199333,804,652,631.811199333,652.188800667,0.40098050946,-0.00536411719923,0.0698404504549,0.999999945328,0.000201386004454,-0.000261831795203,1.52535798617e-05,1793239972642253824
+72,1.200000000,BASELINE,766,745,715,680,661.222357146,636,879,787.222357146,804,652,631.222357146,652.777642854,0.400979784223,-0.00536435671941,0.0698396975326,0.999999945529,0.000200347074244,-0.000261859706694,1.52200607787e-05,1793239972658920448
+73,1.216666667,BASELINE,766,745,715,679.639372841,661,635.639372841,879,787,803.639372841,652,631,652.639372841,0.40097973737,-0.00536490282999,0.0698393238514,0.999999945486,0.00019999997772,-0.000262286142102,1.53261315997e-05,1793239972675587072
+74,1.233333333,BASELINE,766,745,715,679.059942721,661,635.059942721,879,787,803.059942721,652,631,652.059942721,0.40098010211,-0.00536563495787,0.069839180267,0.999999945293,0.000200072636831,-0.000262954373534,1.55168956683e-05,1793239972692253696
+75,1.250000000,BASELINE,766,745,715,679.516524751,661.516524751,635,879,787,803.516524751,652,631,652,0.400978784468,-0.00536507268509,0.0698385052475,0.999999944991,0.000200450452345,-0.000263819535258,1.5405202388e-05,1793239972708920320
+76,1.266666667,BASELINE,766,745,715,679.90753227,662,635.09246773,879,787,804,652,631,652,0.400977727848,-0.00536455308853,0.0698379687048,0.999999944781,0.000200663355946,-0.000264456827685,1.52918116853e-05,1793239972725587200
+77,1.283333333,BASELINE,766,745,715,679.332542366,662,635.667457634,879,787,804,652,631,652,0.400979046327,-0.0053650355826,0.0698384747634,0.999999945124,0.000199831960503,-0.000263786457954,1.53516812756e-05,1793239972742253824
+78,1.300000000,BASELINE,766,745,715,679,661.750973644,636,879,787,804,652,631.249026356,652.249026356,0.400980094609,-0.00536508485542,0.0698388992939,0.999999945385,0.000199745864903,-0.000262861700623,1.53260223027e-05,1793239972758920448
+79,1.316666667,BASELINE,766,745,715,679,661.160381431,636,879,787,804,652,631.839618569,652.839618569,0.400980772287,-0.00536453991967,0.0698392120002,0.999999945534,0.000200682026548,-0.00026158802398,1.51830518984e-05,1793239972775587072
+80,1.333333333,BASELINE,766,745,715,679,661.844524178,635.577737911,879.422262089,787,804,652,631.577737911,652.577737911,0.400980316483,-0.00536408354846,0.0698388768043,0.999999945442,0.000200954003577,-0.000261748379509,1.48825209585e-05,1793239972792253696
+81,1.350000000,BASELINE,766,745,715,679.001923254,662.998076746,635.001923254,879.998076746,787.001923254,804,652.001923254,631.001923254,652.001923254,0.400979442086,-0.00536366340035,0.0698383031226,0.999999945261,0.000200977945824,-0.000262442095185,1.4525840584e-05,1793239972808920576
+82,1.366666667,BASELINE,766,745,715,679.575888488,662.424111512,635.575888488,879.424111512,787.575888488,804,652.575888488,631.575888488,652.575888488,0.400979747301,-0.00536419697752,0.0698386366971,0.99999994519,0.000200874427218,-0.000262766018669,1.49391411852e-05,1793239972825587200
+83,1.383333333,BASELINE,766,745,715,680,661.846206959,635.846206959,879,787.846206959,804,652.846206959,632,652.846206959,0.400980311196,-0.00536411369027,0.0698390045993,0.999999945104,0.00020154328145,-0.000262567202069,1.52015296237e-05,1793239972842253824
+84,1.400000000,BASELINE,766,745,715,680,661.257153326,635.257153326,879,787.257153326,804,652.257153326,632,652.257153326,0.400981607202,-0.0053622845714,0.0698394696547,0.999999944966,0.000204398082804,-0.000260888941756,1.50368109435e-05,1793239972858920192
+85,1.416666667,BASELINE,766,745,715,679.673560334,661.326439666,635,879.326439666,787.326439666,803.673560334,652,632,652.326439666,0.400981289677,-0.00536276431331,0.0698393262085,0.999999945008,0.000203911942941,-0.000261116326288,1.49150578842e-05,1793239972875586816
+86,1.433333333,BASELINE,766,745,715,679.094198233,661.905801767,635,879.905801767,787.905801767,803.094198233,652,632,652.905801767,0.400979722002,-0.00536503293933,0.0698387113007,0.999999945185,0.000200837272531,-0.000262820186935,1.48265942007e-05,1793239972892253440
+87,1.450000000,BASELINE,766,745,715,679,662,635.482837052,879.517162948,787.517162948,803.482837052,652,631.517162948,652.517162948,0.400980565782,-0.00536506381303,0.0698394454275,0.999999945716,0.00019998550158,-0.000261447582704,1.48251479906e-05,1793239972908920320
+88,1.466666667,BASELINE,766,745,715,679,661.940917434,635.940917434,879,787,804,652,631,652.059082566,0.400981805921,-0.00536467863725,0.0698403869914,0.999999946231,0.000199800974636,-0.000259606372734,1.48962062944e-05,1793239972925587200
+89,1.483333333,BASELINE,766,745,715,679,661.367613677,635.367613677,879,787,804,652,631,652.632386323,0.40098242078,-0.00536445384004,0.0698408543222,0.999999946035,0.000201667422842,-0.000258885409249,1.54512574374e-05,1793239972942253824
+90,1.500000000,BASELINE,766,745,715,679,661.212513797,635.212513797,879,787,804,652,631,652.787486203,0.40098204479,-0.00536451426802,0.0698404068167,0.999999945725,0.000202429860737,-0.000259475681862,1.56518666894e-05,1793239972958920192
+91,1.516666667,BASELINE,766,745,715,679,661.804836703,635.804836703,879,787,804,652,631,652.195163297,0.400979897936,-0.00536508445645,0.0698383242965,0.99999994521,0.000201219188081,-0.000262409423157,1.52190099129e-05,1793239972975587072
+92,1.533333333,BASELINE,766,745,715,679,661.611645743,636,879,787,804,652,631.388354257,652,0.40097939611,-0.00536566494801,0.0698382457265,0.999999945461,0.000199055212027,-0.000263104767213,1.5189380895e-05,1793239972992253696
+93,1.550000000,BASELINE,766,745,715,679,661.032455065,636,879,787,804,652,631.967544935,652,0.400979702647,-0.00536625050254,0.069839151893,0.999999946085,0.000196422784688,-0.000262700168093,1.53578970647e-05,1793239973008920576
+94,1.566666667,BASELINE,766,745.541577639,715,679,661,636,879,787,804,652,632,652,0.400979472147,-0.00536465822717,0.0698383781115,0.999999945242,0.00020026183686,-0.000263032998665,1.50167416733e-05,1793239973025586944
+95,1.583333333,BASELINE,766,745.881797805,715,679.118202195,661.118202195,636,879,787,804,652.118202195,631.881797805,652,0.400979584409,-0.00536343478924,0.0698379047809,0.999999944657,0.000203255477387,-0.000262975053909,1.47680187955e-05,1793239973042253568
+96,1.600000000,BASELINE,766,745.29365115,715,679.70634885,661.70634885,636,879,787,804,652.70634885,631.29365115,652,0.40098118616,-0.00536419174729,0.0698390224529,0.999999945504,0.000201360640173,-0.000261189438329,1.50070723978e-05,1793239973058920448
+97,1.616666667,BASELINE,766,745,715,680,662,635.709710959,879,787,804,652.709710959,631,652.290289041,0.400981588017,-0.00536470042798,0.0698396487026,0.999999945843,0.000200689067072,-0.000260404850749,1.50408895091e-05,1793239973075587072
+98,1.633333333,BASELINE,766,745,715,680,662,635.129965205,879,787,804,652.129965205,631,652.870034795,0.400980793423,-0.00536496154313,0.0698397849389,0.99999994568,0.0002012372508,-0.000260618421088,1.48700585777e-05,1793239973092253696
+99,1.650000000,BASELINE,766,745,715,680,661.552173602,635.447826398,879.447826398,787,804,652,631,653,0.400980618555,-0.00536511546642,0.0698400769563,0.99999994579,0.000200954692873,-0.000260415920189,1.48414027963e-05,1793239973108920576
+100,1.666666667,BASELINE,766,745,715,680,661.024941294,636,879.975058706,787,804,652,631.024941294,653,0.40098061504,-0.00536518472437,0.0698403690796,0.999999945954,0.000200495026749,-0.000260140718138,1.48696489615e-05,1793239973125587456
+101,1.683333333,BASELINE,766,745,715,680,661.5995868,636,879.4004132,787,804,652,631.5995868,653,0.400980441412,-0.005364070615,0.0698396714486,0.99999994556,0.000201422479758,-0.000260912933884,1.52465685783e-05,1793239973142253824
+102,1.700000000,BASELINE,766,745,715,679.820986274,661.820986274,635.820986274,879,787,804,652,632,652.820986274,0.400980448782,-0.00536359273362,0.0698393936957,0.999999945317,0.000202233057078,-0.000261203957259,1.54713682433e-05,1793239973158920192
+103,1.716666667,BASELINE,766,745,715,679.230570974,661.230570974,635.230570974,879,787,804,652,632,652.230570974,0.400980872113,-0.00536457700392,0.0698400808884,0.999999945422,0.000202775035639,-0.000260389125117,1.5346572388e-05,1793239973175586816
+104,1.733333333,BASELINE,766,745,715,679,661.352938141,635,879,787,804,652,631.647061859,652.352938141,0.400980221149,-0.00536572367967,0.0698395919436,0.999999945631,0.00020081002485,-0.000261117165936,1.51987359654e-05,1793239973192253696
+105,1.750000000,BASELINE,766,745,715,679,661.932022162,635,879,787,804,652,631.067977838,652.932022162,0.400978881829,-0.00536697441715,0.0698383493864,0.999999945895,0.000197238655251,-0.000262833805866,1.50361362369e-05,1793239973208920576
+106,1.766666667,BASELINE,766,745,715,679,661.494106573,635.505893427,879.505893427,787,804,652,631,653,0.400980094176,-0.00536617929766,0.0698389679714,0.999999946242,0.000197145058948,-0.000261584787475,1.49191992685e-05,1793239973225587200
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,652,631,653,0.400978731214,-0.00536570187279,0.0698384346427,0.999999945618,0.000198713418707,-0.000262782838279,1.48886774103e-05,1793239973268900352
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.589754715,715,679.410245285,661.410245285,635.410245285,879,787.589754715,804,652,631,653,0.40097985615,-0.00536532023055,0.0698394335535,0.999999945594,0.000200392490372,-0.000261583551736,1.5147953635e-05,1793239973285566976
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.823096619,745.823096619,715,679,661,635,879,787.823096619,804,652,631,652.823096619,0.400980759159,-0.00536509393201,0.069840153562,0.999999945558,0.000201766899137,-0.000260652705575,1.52741239129e-05,1793239973302233344
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.241903621,745.241903621,715,679,661,635,879,787.241903621,804,652,631,652.241903621,0.400981154985,-0.00536522265116,0.0698402361757,0.999999945507,0.0002024450409,-0.000260335344682,1.50960979529e-05,1793239973318899968
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.334380612,879,787.334380612,804,652,631,652.334380612,0.400981587766,-0.00536445833886,0.0698403595975,0.99999994539,0.000203229848105,-0.000260175433405,1.50226244119e-05,1793239973335566592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.907165004,879,787.907165004,804,652,631,652.907165004,0.400982046894,-0.00536305732075,0.0698405121143,0.999999945227,0.000204090704668,-0.000260127779206,1.50236937553e-05,1793239973352233216
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478232943,745.478232943,715,679.478232943,661,635.521767057,879.478232943,787.521767057,804,652,631,653,0.400981682341,-0.00536308357712,0.0698403965974,0.999999944979,0.000205138330932,-0.000260253994043,1.51299893617e-05,1793239973368900096
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.948457518,715,679.948457518,661,635,879.948457518,787,804,652,631,652.948457518,0.400981442864,-0.005363451134,0.0698403445155,0.999999944817,0.000205942490843,-0.000260232429422,1.52608913002e-05,1793239973385566976
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.347725949,715,679.347725949,661,635,879.347725949,787,804,652,631,652.347725949,0.400984233655,-0.00536451369599,0.0698415207495,0.999999945766,0.000203767570447,-0.000258277923568,1.54371068383e-05,1793239973402233344
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.242081565,879,787,804,652,631,652,0.400992735315,-0.0053659370746,0.0698455189724,0.999999947864,0.000201176451107,-0.000252094939719,1.57490327054e-05,1793239973418900224
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.816875227,879,787,804,652,631,652,0.40100908588,-0.00536785635229,0.0698533956807,0.999999951439,0.00019801331636,-0.000240100419809,1.62474761377e-05,1793239973435566848
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.609221775,745,715,679,661,635.609221775,879,787,804,652,631.390778225,652.390778225,0.401044624836,-0.00536817423431,0.0698680934703,0.999999957115,0.000198402815484,-0.000214773125808,1.66773031099e-05,1793239973452233472
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035735155,745,715,679,661,635.035735155,879,787,804,652,631.964264845,652.964264845,0.401089135328,-0.00536774338379,0.0698859804578,0.99999996298,0.000200453348459,-0.000183212090844,1.70750484807e-05,1793239973468900096
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.553434151,745,715,679,661,635.553434151,879,787.553434151,804,652,631.446565849,653,0.401150049984,-0.00536922515368,0.0699025387917,0.999999967583,0.00019919146058,-0.000157671103116,1.7205414454e-05,1793239973485566720
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.140991129,715,679.140991129,661.140991129,635.859008871,879,788,804,652,631,652.859008871,0.401213554817,-0.00537053498454,0.0699157881561,0.999999970744,0.000198268572377,-0.000137523049588,1.69963590262e-05,1793239973502233344
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.720295974,715,679.720295974,661.720295974,635.279704026,879,788,804,652,631,652.279704026,0.401281723094,-0.00537091516464,0.0699190250738,0.999999971227,0.000199083877434,-0.000132896886853,1.57873468744e-05,1793239973518899968
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.702011802,715,679.702011802,661.702011802,635,879.297988198,788,804,652,631.297988198,652.297988198,0.40135909911,-0.00537257959444,0.069921187604,0.999999971756,0.00019845419564,-0.000129992619281,1.43694774875e-05,1793239973535566848
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.125825137,715,679.125825137,661.125825137,635,879.874174863,788,804,652,631.874174863,652.874174863,0.401445071366,-0.00537544298546,0.0699223470978,0.999999972336,0.000196475490146,-0.000128695894162,1.27566213819e-05,1793239973552233472
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.450056031,715,679,661.450056031,635.450056031,879.549943969,788,804,652,631.549943969,652.549943969,0.401545778997,-0.00537797695931,0.0699190547598,0.999999972489,0.000192691998964,-0.000133346729704,1.05514073757e-05,1793239973568900352
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.973508369,715,679,661.973508369,635.973508369,879,787.973508369,804,652,631,652,0.40165223076,-0.00538035050621,0.0699148161451,0.999999972492,0.000188536059661,-0.000139299122894,8.13316342279e-06,1793239973585566976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.383462532,715,679,661.383462532,635.383462532,879,787.383462532,804,652,631,652,0.401793299124,-0.00538126915494,0.0699169063675,0.999999973004,0.000187183580156,-0.000137590860279,4.70375598104e-06,1793239973602233600
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.202882322,715,679.202882322,661,635,879,787.202882322,804,652,631,652,0.401945971038,-0.00538297721066,0.0699199152266,0.999999974045,0.000184766113921,-0.000133306926917,1.2023155219e-06,1793239973618900224
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.782357303,715,679.782357303,661,635,879,787.782357303,804,652,631,652,0.402120181588,-0.00538615057321,0.0699246292703,0.999999976012,0.000180371806382,-0.000124242002075,-2.43283312678e-06,1793239973635566848
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.64245808,715,679.64245808,661,635.35754192,879,787.64245808,804,652,631.35754192,652.35754192,0.402312197752,-0.00539075485096,0.0699290594094,0.999999977998,0.000174426854567,-0.000116366508514,-6.17031397083e-06,1793239973652233472
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.069854069,715,679.069854069,661,635.930145931,879,787.069854069,804,652,631.930145931,652.930145931,0.40251492404,-0.00539621982703,0.0699333187799,0.999999979951,0.000167549187071,-0.000109206459079,-9.96934815884e-06,1793239973668900096
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.517885464,745,715,679,661.517885464,636,879.517885464,787.517885464,804,652,631.482114536,653,0.402744624339,-0.00540052541571,0.0699342247407,0.99999998154,0.000160582445749,-0.000104435538908,-1.50600252459e-05,1793239973685566976
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765.159154189,745.840845811,715,680,661,635.159154189,879.840845811,787.840845811,803.159154189,652,632,652,0.403905502056,-0.00542006340336,0.0699609121686,0.999999990668,0.000120094661279,-5.58840765677e-05,-3.34450172899e-05,1793239973752233472
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+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.422155653,661.577844347,635.577844347,879.422155653,787.577844347,804,652,631,652,0.404982031964,-0.00543518448704,0.0699684753397,0.999999994179,9.33518826909e-05,-4.66589834825e-05,-2.73853474826e-05,1793239973802233344
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.16683966,661.83316034,635.83316034,879.16683966,788,803.83316034,652,631,652,0.405390914179,-0.00544479339234,0.069974640875,0.999999995286,8.55045447038e-05,-3.51512717381e-05,-2.96974357428e-05,1793239973818899968
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.745082487,661.254917513,635.254917513,879.745082487,788,803.254917513,652,631,652,0.40582960231,-0.00546386942082,0.0699745444153,0.99999999704,6.13541996328e-05,-3.59796439807e-05,-2.93343560953e-05,1793239973835566848
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.322014084,745,715,679.677985916,661,635.322014084,879.677985916,788,803.322014084,652,631,652,0.406273806669,-0.00548252758162,0.069967268461,0.999999997892,3.12611386697e-05,-4.88756783296e-05,-2.91702043485e-05,1793239973852233472
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.897911937,745,715,679.102088063,661,635.897911937,879.102088063,788,803.897911937,652,631,652,0.406722360206,-0.00550085628738,0.0699543320176,0.999999997028,-3.51730726611e-06,-7.12861522545e-05,-2.91628921492e-05,1793239973868900096
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.516314186,745,715,679,661.483685814,635.516314186,879,788,804,652,631,652,0.407209279857,-0.00550229954673,0.0699441600432,0.999999996175,-1.25931798326e-06,-8.16852806021e-05,-3.12312748039e-05,1793239973885566720
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.070278933,661.929721067,635.070278933,879,787.929721067,804,652,631.070278933,652.070278933,0.407714476641,-0.00550116154371,0.0699369136802,0.999999995706,6.63571722305e-06,-8.61265934241e-05,-3.35631806441e-05,1793239973902233600
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.647433789,661.352566211,635.647433789,879,787.352566211,804,652,631.647433789,652.647433789,0.408291874212,-0.0055076463519,0.0699464718814,0.999999997204,-2.36706748633e-06,-6.62635653515e-05,-3.45701046633e-05,1793239973918900224
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680.224468868,661.224468868,635.775531132,879.224468868,787.224468868,804,652,632,653,0.408886222424,-0.00551573763407,0.0699550373647,0.999999998224,-1.20720371557e-05,-4.62851693918e-05,-3.55608982239e-05,1793239973935566848
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.801315883,661.801315883,635.198684117,879.801315883,787.801315883,804,652,632,653,0.409507180242,-0.00552635080823,0.0699620444484,0.99999999873,-2.287931787e-05,-2.61256665792e-05,-3.65263696413e-05,1793239973952233728
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680.242946448,661.621473224,635,879.621473224,787.621473224,804,652.378526776,632,652.621473224,0.410118362512,-0.00553266622395,0.0699587654431,0.999999998345,-3.04656472826e-05,-3.10102570404e-05,-3.76906140411e-05,1793239973968900352
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.088142339,661.044071169,635,879.044071169,787.044071169,804,652.955928831,632,652.044071169,0.410724408758,-0.0055367236276,0.0699500821994,0.999999997377,-3.63597114228e-05,-4.90528367913e-05,-3.89592923187e-05,1793239973985566976
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.544733695,661.544733695,635,879.544733695,787,804,652.455266305,631.455266305,652.544733695,0.411368807975,-0.0055418271056,0.0699530310172,0.999999997013,-4.56887424643e-05,-4.85260535897e-05,-3.91420055441e-05,1793239974002233600
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.867825471,745,715,680,662,635,879.867825471,787,804.132174529,652,631.132174529,652.867825471,0.41203931406,-0.00554409447205,0.0699635871179,0.999999997401,-5.05155030404e-05,-3.36808964107e-05,-3.88857127845e-05,1793239974018900224
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288192391,745,715,680,662,635,879.288192391,787,804.711807609,652,631.711807609,652.288192391,0.412787472124,-0.00553646794024,0.0699966426049,0.999999998234,-3.91395325519e-05,2.44424385087e-05,-3.7447019674e-05,1793239974035566848
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.288383613,745,715,680,662,635,879,787,805,652,631.711616387,652.288383613,0.413539713238,-0.00551884353479,0.0700201163629,0.999999997204,-1.55826207868e-05,6.29874998683e-05,-3.71707722313e-05,1793239974052233472
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861936682,745,715,680,662,635,879,787,805,652,631.138063318,652.861936682,0.414295991983,-0.00549133268531,0.070034115188,0.9999999957,2.00194718222e-05,8.21725027415e-05,-3.80440143887e-05,1793239974068900352
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.435987305,787,804.564012695,652,631,653,0.414994600311,-0.00549105555885,0.0700000341268,0.999999998845,1.38942232086e-05,2.00158321983e-05,-4.1417270596e-05,1793239974085566976
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.010497848,662,635,880,787,804,652,631,653,0.415676246597,-0.00549942208637,0.0699511274513,0.999999996706,-5.30554623832e-06,-6.69786042938e-05,-4.5546977034e-05,1793239974102233600
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680.601726705,662,635,880,787,804,652,631,653,0.416430983236,-0.0055083278181,0.0699252970765,0.999999993593,-1.59697398053e-05,-0.000101421055119,-4.76780780227e-05,1793239974118900480
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680.810651334,662,635,880,787.189348666,804,651.810651334,631.189348666,653,0.417215372031,-0.00551466035095,0.0699185752538,0.99999999261,-2.44419889449e-05,-0.000108655120806,-4.87485870345e-05,1793239974135566848
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.230474286,662,635,880,787.769525714,804,651.230474286,631.769525714,653,0.418060964821,-0.00551568162769,0.0699512947692,0.999999996679,-2.83899167188e-05,-5.9729247515e-05,-4.76299627726e-05,1793239974152233472
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.654417458,804,651.345582542,631.654417458,652.654417458,0.418911279788,-0.00551915134024,0.0699766962593,0.999999998086,-3.26737841297e-05,-2.38843690455e-05,-4.6790024991e-05,1793239974168899840
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.081076117,804,651.918923883,631.081076117,652.081076117,0.419764706908,-0.00552423471299,0.0699972747481,0.999999998239,-3.71790549682e-05,3.33937842795e-06,-4.61337577199e-05,1793239974185566464
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494625737,745,715,680,661.494625737,635,880,787,804,652,631,652.505374263,0.420614405208,-0.00552600680906,0.0700158456088,0.999999997342,-4.2760053395e-05,3.60664155121e-05,-4.67608759852e-05,1793239974202233344
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.092544737,745,715,680,661.092544737,635.092544737,880,787.092544737,804,651.907455263,631,653,0.421460760981,-0.0055261422151,0.0700293726785,0.999999995968,-4.65460316283e-05,6.02705933766e-05,-4.75885903285e-05,1793239974218900224
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.672141877,745,715,680,661.672141877,635.672141877,880,787.672141877,804,651.327858123,631,653,0.422292757233,-0.00552053411464,0.0700180950519,0.999999997425,-3.99525830645e-05,3.48496836786e-05,-4.83595832351e-05,1793239974235566848
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.250269495,715,680,662,635.749730505,880,788,804,651.250269495,631,652.749730505,0.423096352297,-0.00551711280967,0.0699783637392,0.999999997521,-3.66376264323e-05,-3.19243096098e-05,-5.0960189343e-05,1793239974252233216
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.826483326,715,680,662,635.173516674,880,788,804,651.826483326,631,652.173516674,0.423862958523,-0.00551653952824,0.0699015751009,0.999999986092,-3.75924892559e-05,-0.000152555462957,-5.59436346599e-05,1793239974268899840
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.598599643,715,680,662.401400357,635,880,787.598599643,804,652,631,652.401400357,0.424724547252,-0.00551857778969,0.0698815281691,0.999999982082,-4.82964353544e-05,-0.000172938773893,-5.99630528846e-05,1793239974285566464
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.024241422,715,680,662.975758578,635,880,787.024241422,804,652,631,652.975758578,0.425627062582,-0.0055217413289,0.0698859304589,0.999999984713,-6.32011267452e-05,-0.000150126668715,-6.35670850607e-05,1793239974302233344
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.432365439,635,879.432365439,787,804,651.432365439,631,652.432365439,0.426525699635,-0.00552436903069,0.0699434833879,0.999999994105,-6.05066963569e-05,-6.84818904362e-05,-5.86364958961e-05,1793239974318899968
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.155176025,715,680,662,635,879.155176025,787.155176025,804,651.155176025,631,652.155176025,0.427417550287,-0.0055271091239,0.0699939914911,0.99999999677,-5.90189248477e-05,7.93188262066e-07,-5.45521852762e-05,1793239974335566592
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.728942682,715,680,662,635,879.728942682,787.728942682,804,651.728942682,631,652.728942682,0.428291555435,-0.0055302160896,0.0700191780684,0.999999996137,-6.28781298481e-05,2.97073611777e-05,-5.37652308722e-05,1793239974352233472
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.694425924,746,715,680,662,635,880,787.694425924,804,651.694425924,631,653,0.429168926738,-0.00553309758728,0.0700363168986,0.99999999483,-6.50688708152e-05,5.69284401235e-05,-5.35215708428e-05,1793239974368899840
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.115229368,746,715,680,662,635,880,787.115229368,804,651.115229368,631,653,0.430049312174,-0.00553577719229,0.0700462494732,0.999999992978,-6.57656063594e-05,8.26334577239e-05,-5.37643970011e-05,1793239974385566720
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,715,680,662,635,880,787,804.459938163,651.459938163,631,652.540061837,0.43084308498,-0.00553426772919,0.0700032058882,0.999999996108,-6.78036854766e-05,8.15227980867e-06,-5.58666440646e-05,1793239974402233344
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.035333548,745.964666452,715,680,662,635,880.035333548,787,804.964666452,652,631,652,0.431614647819,-0.00553168052177,0.0699475125634,0.999999991852,-6.95581785083e-05,-8.97001022427e-05,-5.84168757065e-05,1793239974418899968
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.630181647,745.369818353,715,680,662,635,880.630181647,787,804.369818353,652,631,652,0.432375138715,-0.0055285016957,0.0698998516482,0.999999982873,-6.15468152424e-05,-0.000163629926981,-6.07483465462e-05,1793239974435566848
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.209782783,662.209782783,635,880.790217217,787.209782783,804,652,631,652.209782783,0.433182621565,-0.00552890527183,0.0698932969105,0.999999982274,-6.01379306455e-05,-0.000167472125947,-6.15529025195e-05,1793239974452233472
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.764326842,662.764326842,635,880.235673158,787.764326842,804,652,631,652.764326842,0.434067332067,-0.00553519623984,0.0699542968903,0.999999994213,-6.95796920268e-05,-5.61309111118e-05,-5.98480959328e-05,1793239974468900096
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880,787.656617015,804.343382985,651.656617015,631,652.656617015,0.434905931295,-0.00554180883383,0.0700002417954,0.999999995147,-7.71984140189e-05,2.02220960678e-05,-5.77773465135e-05,1793239974485566720
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880,787.05944436,804.94055564,651.05944436,631,652.05944436,0.435710450257,-0.00554865913681,0.0700350596969,0.999999992479,-8.34697522803e-05,7.07157905057e-05,-5.54361341227e-05,1793239974502233344
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.469482949,635,880,787,805,651,631.530517051,652,0.436471179343,-0.00554858862584,0.0700299736319,0.999999992789,-8.37901997971e-05,6.52382079333e-05,-5.60786805174e-05,1793239974518899968
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.882304725,662,635,880,787.117695275,804.882304725,651,632,652,0.437213999526,-0.00554805579545,0.0700149529878,0.999999993792,-8.35170644417e-05,4.6522933158e-05,-5.72324337907e-05,1793239974535566848
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.302917165,662,635,880,787.697082835,804.302917165,651,632,652,0.437905556622,-0.00554871061408,0.0699782656434,0.999999994768,-8.34960515831e-05,1.51204344141e-07,-5.90976244191e-05,1793239974552233472
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.724881721,804.275118279,651.275118279,631.724881721,652.275118279,0.43855389376,-0.00554734462368,0.0699276235971,0.999999991795,-8.32090021547e-05,-7.55527795539e-05,-6.14615077375e-05,1793239974568900096
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.148327772,804.851672228,651.851672228,631.148327772,652.851672228,0.43915487654,-0.00554376451672,0.0698616919661,0.999999977697,-8.26304669408e-05,-0.000183394893629,-6.43717873863e-05,1793239974585566720
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.424278427,661.575721573,635,880,787,805,651.575721573,631,653,0.439745680955,-0.00554045486679,0.0698091895069,0.999999958704,-7.8016195786e-05,-0.000268538020267,-6.628250334e-05,1793239974602233344
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.99551726,661.00448274,635,880,787,805,651.00448274,631,653,0.440332959865,-0.00553723889674,0.0697613386024,0.999999935311,-7.20040371523e-05,-0.000345818741315,-6.78469931962e-05,1793239974618900224
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.409828358,745,714.409828358,681,661,634.409828358,880,787,805,651,631,653,0.440985158782,-0.00553657408643,0.0697798348462,0.999999944272,-7.1861468808e-05,-0.000318933710043,-6.76233868203e-05,1793239974635566848
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.179456225,745,714.179456225,681,661,634,880.179456225,787,805,651,631,652.820543775,0.441623441252,-0.0055382359261,0.06980081071,0.999999953185,-7.413155238e-05,-0.000289235582706,-6.69119065739e-05,1793239974652233216
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.756435733,745,714.756435733,681,661,634,880.756435733,787,805,651,631,652.243564267,0.44222975932,-0.00554500695699,0.0698261168713,0.999999961999,-8.1643193673e-05,-0.000255131063965,-6.51510389596e-05,1793239974668900096
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714.667703436,681,661,634,881,786.667703436,805,651.332296564,631,652,0.442771320025,-0.00555082451996,0.0698196067775,0.999999957445,-8.42239449028e-05,-0.000271967265587,-6.36349496117e-05,1793239974685566720
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714.092659848,681,661,634,881,786.092659848,805,651.907340152,631,652,0.443265574583,-0.00555594556163,0.0697898544883,0.999999941455,-8.32026153009e-05,-0.00032601633704,-6.22976740159e-05,1793239974702233344
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.495367519,714.495367519,681,660.504632481,633.504632481,881,786,805,651.504632481,631,652.495367519,0.443734039089,-0.00555511435979,0.0697512022417,0.999999919287,-8.24939715049e-05,-0.000388074098547,-6.34021339953e-05,1793239974718900224
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.915827125,746,714.915827125,681,660,633,880.915827125,786,804.915827125,651.084172875,631,653,0.444195737875,-0.005553041326,0.0697139081358,0.99999989532,-8.16999674984e-05,-0.000445490978574,-6.49778696089e-05,1793239974735566848
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.337104153,746,714.337104153,681,660,633,880.337104153,786,804.337104153,651.662895847,631,653,0.44464679174,-0.0055503896769,0.0696946380846,0.999999885721,-8.00515440255e-05,-0.000466602242538,-6.65668198733e-05,1793239974752233472
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.760687392,714.239312608,681,659.760687392,633,880,786,804.239312608,652,631,652.760687392,0.445090399416,-0.00554801056671,0.0696854171548,0.999999882746,-7.85060437667e-05,-0.000473080064732,-6.73752305141e-05,1793239974768900096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.187488279,714.812511721,681,659.187488279,633,880,786,804.812511721,652,631,652.187488279,0.445523618206,-0.00554601170025,0.0696902166581,0.999999889371,-7.71041410911e-05,-0.000459141456939,-6.7094640141e-05,1793239974785566720
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.611290046,681,659.388709954,632.611290046,880,785.611290046,805.388709954,652,631,652.388709954,0.445920958689,-0.00554355272838,0.0696950434087,0.999999891645,-7.67553943001e-05,-0.000454285174588,-6.66611845162e-05,1793239974802233344
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.377515943,714,681.377515943,658,631,880.377515943,784.377515943,805,651.377515943,630,653,0.448461553786,-0.00556483392775,0.0696746384245,0.999999866843,-9.64965461412e-05,-0.000503439221374,-5.95891094949e-05,1793239974952233472
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+259,4.316666667,HOLD_POSE2,765,746,714,682,656.903334667,630,880.903334667,783.096665333,805,652,630,652.903334667,0.449787625236,-0.0055672249822,0.0696418382681,0.999999841084,-9.73380103665e-05,-0.00055248435218,-5.58467138975e-05,1793239975822302464
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+262,4.366666667,HOLD_POSE2,765.348462655,746,714,681.651537345,656,630,880,783.651537345,805,652,630,653,0.449788515951,-0.00557019640381,0.069643769278,0.999999841187,-0.000101308994697,-0.000551597302239,-5.56946884511e-05,1793239975872302336
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.822436849,679.822436849,661,635,879,787.822436849,804,652,631.822436849,652.822436849,0.401754094781,-0.00535806285174,0.0698108803667,0.99999992986,0.000196934218704,-0.000317933559252,2.03879304472e-05,1793239977725975040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.231117164,679.231117164,661,635,879,787.231117164,804,652,631.231117164,652.231117164,0.401619847691,-0.00535764930398,0.0698076950904,0.999999928097,0.000200447199874,-0.000321401511717,1.81039777847e-05,1793239977742641664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.339784092,714,679,661,635,879,787,804,652,631,652,0.401504724868,-0.0053575085929,0.0698070905936,0.99999992748,0.000207134132971,-0.000319230599587,1.50889932318e-05,1793239977759308288
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.897584302,714,679,661,635,879,787,804,652,631,652,0.40140187276,-0.00535754294234,0.0698081420053,0.999999927513,0.000215857573393,-0.000313441615584,1.1604955489e-05,1793239977775975168
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.513249054,714.486750946,679,661,635,879,787,803.513249054,652,631,652.486750946,0.401316963791,-0.0053593218475,0.069808928277,0.999999928597,0.000212203574865,-0.000312466554888,1.18481282702e-05,1793239977792641792
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.082060935,652,631,653,0.401238735453,-0.00536082782995,0.0698093656026,0.999999929631,0.000206764528938,-0.000312768396632,1.27806824861e-05,1793239977809308672
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.671736235,652,631,653,0.401176870002,-0.00535821855758,0.0698080132686,0.999999929006,0.000207502834406,-0.000314271859455,1.27923789956e-05,1793239977825975296
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.74302599,652,631,652.74302599,0.401124709139,-0.00535675357225,0.0698086214192,0.99999992924,0.000208292947871,-0.000312986654668,1.31959913457e-05,1793239977842641920
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.163360609,652,631,652.163360609,0.401084734676,-0.00535672550888,0.0698116914198,0.999999930536,0.000209148118424,-0.000308199621029,1.40917463068e-05,1793239977859308544
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.160776306,661,635,879,787,803.160776306,652,631,652.160776306,0.401002540391,-0.00535908508842,0.0698236801502,0.999999936644,0.00020828111556,-0.000288242146141,1.57618679766e-05,1793239977925975552
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.680324878,661,635,879,787,804,652,631,653,0.400985565286,-0.00535765219579,0.0698251343665,0.999999936979,0.000209785356907,-0.000285990524363,1.55623272203e-05,1793239977959308800
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,652.472871698,631.472871698,652.527128302,0.400982954931,-0.00535980512633,0.0698278594004,0.999999939537,0.000205886032222,-0.000279808170565,1.5657657666e-05,1793239977992642048
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.952571731,745,715,679,661,635,879,787,804,653,631.952571731,652.047428269,0.400984356138,-0.00536090948028,0.0698307703485,0.999999941382,0.000203510588082,-0.000274914527781,1.5550057144e-05,1793239978009308672
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.362625171,745,715,679,661,635,879,787,804,653,631.362625171,652.637374829,0.400983265053,-0.00535877603083,0.0698316684496,0.999999940501,0.000208341863076,-0.000274523809593,1.51004950244e-05,1793239978025975296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.222506921,745,715,679.222506921,661,635,879,787,804,652.777493079,631,653,0.400982199782,-0.00535796698302,0.0698322652996,0.999999940137,0.000210615211329,-0.000274125699215,1.493617992e-05,1793239978042641920
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.799958895,745,715,679.799958895,661,635,879,787,804,652.200041105,631,653,0.40098117569,-0.00535927063281,0.0698323815911,0.999999940623,0.000208808131446,-0.000273715796782,1.52268934595e-05,1793239978059308800
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.622546504,661,635,879,787,804,652,631,652.622546504,0.400981155033,-0.00535975382594,0.0698329831391,0.999999940989,0.000208874454056,-0.000272316038399,1.54007395022e-05,1793239978075975680
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.045029325,661,635,879,787,804,652,631,652.045029325,0.400981666231,-0.00535980214805,0.0698338418901,0.999999941288,0.000209933746198,-0.00027039162142,1.55126416356e-05,1793239978092642304
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.062350789,661,635,879.531175394,787,804,652,631,652.531175394,0.400981764636,-0.00535986696402,0.0698343869914,0.999999941644,0.00020853789705,-0.000270168187183,1.52504438216e-05,1793239978109308928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.890704012,661,635,879.890704012,787,804,652,631,653,0.400981600181,-0.00536000267289,0.069834792582,0.999999941892,0.000207304006142,-0.000270213021262,1.50624533702e-05,1793239978125975552
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.303725096,661,635,879.303725096,787,804,652,631,653,0.400980439448,-0.00536044212627,0.0698347043574,0.999999941649,0.000207685359101,-0.000270801666152,1.53370534713e-05,1793239978142642176
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.719840611,661,635.280159389,879,787,804.280159389,652,631,653,0.400980164455,-0.00536052193651,0.0698344785633,0.999999941394,0.000208468353902,-0.000271136947013,1.53980026922e-05,1793239978159308800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.139274124,661,635.860725876,879,787,804.860725876,652,631,653,0.400980839215,-0.00536021611149,0.0698341052572,0.999999941126,0.000209682018095,-0.000271200552767,1.52298600683e-05,1793239978175975424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.435914705,661,635.564085295,879,787,804.564085295,652,631.435914705,653,0.400980904417,-0.00536142352952,0.0698343570706,0.999999941394,0.000208888665715,-0.000270814154811,1.54054463639e-05,1793239978192642048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.009412702,715,680,661,635,879,787.009412702,804,652,631.990587298,652.990587298,0.400980754712,-0.00536303654213,0.0698347808431,0.99999994181,0.000207514384565,-0.000270316424071,1.56788108105e-05,1793239978209308672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.583295661,715,680,661,635,879,787.583295661,804,652,631.416704339,652.416704339,0.400979254057,-0.0053603322333,0.0698336855028,0.999999941083,0.000209288225213,-0.000271659181008,1.53102411053e-05,1793239978225975296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.837482682,715,679.837482682,661,635,879,787.837482682,804,652,631.162517318,652.162517318,0.400978868113,-0.00535806518982,0.0698335374439,0.999999940696,0.000210981382516,-0.000271790399671,1.49658880998e-05,1793239978242642176
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.244107365,715,679.244107365,661,635,879,787.244107365,804,652,631.755892635,652.755892635,0.400981437438,-0.00535695740308,0.0698359007716,0.99999994122,0.000212460635959,-0.000268709646967,1.46857372514e-05,1793239978259308800
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.339711124,661,635,879,787,804,652,631.660288876,652.660288876,0.400982593064,-0.00535804054757,0.0698370838112,0.999999941867,0.000211142243333,-0.000267328030473,1.48246349282e-05,1793239978275975424
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.916850211,661,635,879,787,804,652,631.083149789,652.083149789,0.40098276064,-0.00536065495883,0.069837441934,0.999999942599,0.000207868544032,-0.000267133959705,1.52564103904e-05,1793239978292642048
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.494826704,879,787,804,652,631,652.494826704,0.40098180259,-0.00536051589825,0.0698365656733,0.999999942167,0.000209292549849,-0.000267622306438,1.5494306088e-05,1793239978309308672
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.073977686,715,680,661.073977686,635.926022314,879,787,804,652,631,652.926022314,0.400980794286,-0.00535980293211,0.0698355977436,0.999999941598,0.000211306821191,-0.00026816048932,1.55873586546e-05,1793239978325975296
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.660286107,715,680,661.660286107,635.339713893,879,787,804,652,631,652.339713893,0.400980750112,-0.00535832516685,0.0698354339057,0.999999941453,0.000211932765,-0.000268248305054,1.49033124217e-05,1793239978342641664
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.756290851,715,679.756290851,662,635,878.756290851,787,804,652,631,652,0.400980719691,-0.00535780400094,0.0698356021772,0.999999941526,0.000211501207911,-0.000268334391249,1.45630145932e-05,1793239978359308288
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.176842686,715,679.176842686,662,635,878.176842686,787,804,652,631,652,0.400980708216,-0.00535860066688,0.0698362279698,0.999999941899,0.000209612814707,-0.000268418094809,1.46962719355e-05,1793239978375975168
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.399994024,715,679,661.600005976,635,878.799988049,787,804,652,631.399994024,652.399994024,0.400981499208,-0.00536009458477,0.0698367801606,0.999999942435,0.000208375950108,-0.000267370098951,1.49358293829e-05,1793239978392641792
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.97568363,715,679,661.02431637,635,879.95136726,787,804,652,631.97568363,652.97568363,0.400982642681,-0.00536189476742,0.0698373000221,0.99999994304,0.000207425266642,-0.000265825009196,1.52220786667e-05,1793239978409308416
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.550723567,661.550723567,635,879.449276433,787,804,652,632,653,0.400981644063,-0.00536135194337,0.0698372543922,0.999999942877,0.000207982787332,-0.000265997461132,1.52829373014e-05,1793239978425975296
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a184fd3c36afb97bafe3f3638b287c1c60149f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+374,6.233333333,pose2_to_pose3_retreat,0.576128124482,9.08294475173e-05,1.06003224005,0.546698575721,0.00876256802577,1.05970037571
+375,6.250000000,pose2_to_pose3_retreat,0.57603812895,9.07458980862e-05,1.06003239711,0.54660858086,0.00876248677,1.05970053376
+376,6.266666667,pose2_to_pose3_retreat,0.575961000455,9.08074387423e-05,1.06003227927,0.546531451407,0.00876254499832,1.05970041435
+377,6.283333333,pose2_to_pose3_retreat,0.575895037996,9.07383361109e-05,1.06003221929,0.546465488751,0.00876247517082,1.05970035284
+378,6.300000000,pose2_to_pose3_retreat,0.575840204892,9.07077742047e-05,1.06003207901,0.546410656107,0.00876244621027,1.05970021353
+379,6.316666667,pose2_to_pose3_retreat,0.575795499716,9.0765583198e-05,1.06003223633,0.546365951126,0.00876250435671,1.05970036229
+380,6.333333333,pose2_to_pose3_retreat,0.575760573037,9.07961892705e-05,1.06003246971,0.546331024197,0.00876253393511,1.05970059095
+381,6.350000000,pose2_to_pose3_retreat,0.575733549913,9.07795937208e-05,1.06003233467,0.546304001029,0.00876251765144,1.05970046807
+382,6.366666667,pose2_to_pose3_retreat,0.575712948994,9.07775236472e-05,1.06003232735,0.546283401429,0.00876252017154,1.05970046364
+383,6.383333333,pose2_to_pose3_retreat,0.575697635963,9.08066883119e-05,1.06003243372,0.546268088407,0.00876254933545,1.05970056922
+384,6.400000000,pose2_to_pose3_retreat,0.575686093681,9.07567820827e-05,1.06003251632,0.546256546266,0.00876249937546,1.05970063799
+385,6.416666667,pose2_to_pose3_retreat,0.575677819084,9.07393818066e-05,1.06003245634,0.546248270767,0.00876247890747,1.05970057782
+386,6.433333333,pose2_to_pose3_retreat,0.575672460063,9.07697587557e-05,1.06003236363,0.546242910813,0.00876250639428,1.05970049236
+387,6.450000000,pose2_to_pose3_retreat,0.575669763271,9.08183525001e-05,1.06003234302,0.54624021396,0.00876255490642,1.05970047518
+388,6.466666667,pose2_to_pose3_retreat,0.575668475024,9.08225781278e-05,1.06003234739,0.546238926014,0.00876256020096,1.05970048076
+389,6.483333333,pose2_to_pose3_retreat,0.575668016613,9.07949363552e-05,1.06003237077,0.546238468219,0.00876253464016,1.05970050392
+390,6.500000000,pose2_to_pose3_retreat,0.575667876126,9.07864650798e-05,1.06003237794,0.54623832792,0.00876252680663,1.05970051102
+391,6.516666667,pose2_to_pose3_retreat,0.575667630964,9.07716820425e-05,1.06003239044,0.546238083087,0.00876251313652,1.05970052341
+392,6.533333333,pose2_to_pose3_retreat,0.575667264575,9.07495891264e-05,1.06003240913,0.54623771719,0.00876249270683,1.05970054191
+393,6.550000000,pose2_to_pose3_retreat,0.575667060206,9.07372658056e-05,1.06003241955,0.546237513094,0.00876248131125,1.05970055224
+394,6.566666667,pose2_to_pose3_retreat,0.575666978535,9.07323411244e-05,1.06003242372,0.546237431533,0.00876247675732,1.05970055636
+395,6.583333333,pose2_to_pose3_retreat,0.575666878252,9.07262941745e-05,1.06003242883,0.546237331385,0.00876247116561,1.05970056143
+396,6.600000000,pose2_to_pose3_retreat,0.575666743327,9.0718158296e-05,1.06003243571,0.546237196641,0.00876246364223,1.05970056825
+397,6.616666667,pose2_to_pose3_retreat,0.57566663068,9.07113657953e-05,1.06003244146,0.546237084145,0.00876245736109,1.05970057394
+398,6.633333333,pose2_to_pose3_retreat,0.575666513511,9.07043005896e-05,1.06003244743,0.546236967133,0.00876245082778,1.05970057986
+399,6.650000000,pose2_to_pose3_retreat,0.575666398351,9.06973565296e-05,1.06003245331,0.546236852127,0.00876244440649,1.05970058567
+400,6.666666667,pose2_to_pose3_retreat,0.57566623689,9.06876206005e-05,1.06003246154,0.546236690883,0.00876243540352,1.05970059383
+401,6.683333333,pose2_to_pose3_retreat,0.575666060317,9.06769734015e-05,1.06003247055,0.546236514547,0.00876242555788,1.05970060275
+402,6.700000000,pose2_to_pose3_retreat,0.575665983682,9.06753079156e-05,1.06003247377,0.546236437919,0.00876242390969,1.05970060585
+403,6.716666667,pose2_to_pose3_retreat,0.575665803914,9.06950912453e-05,1.06003247581,0.546236257392,0.00876244108381,1.05970060696
+404,6.733333333,pose2_to_pose3_retreat,0.575665590368,9.07185916778e-05,1.06003247824,0.546236042946,0.00876246148478,1.05970060827
+405,6.750000000,pose2_to_pose3_retreat,0.575665319057,9.07484489947e-05,1.06003248132,0.546235770492,0.00876248740422,1.05970060994
+406,6.766666667,pose2_to_pose3_retreat,0.575665114002,9.07710150582e-05,1.06003248365,0.546235564572,0.00876250699405,1.0597006112
+407,6.783333333,pose2_to_pose3_retreat,0.575665040831,9.07790674202e-05,1.06003248448,0.546235491093,0.00876251398439,1.05970061165
+408,6.800000000,pose2_to_pose3_retreat,0.57566484612,9.07999699321e-05,1.06003249212,0.546235295735,0.00876253267267,1.05970061887
+409,6.816666667,pose2_to_pose3_retreat,0.575664658136,9.08172653555e-05,1.06003252931,0.546235108079,0.00876255119175,1.05970065888
+410,6.833333333,pose2_to_pose3_retreat,0.575664630349,9.08198219033e-05,1.06003253481,0.546235080341,0.00876255392917,1.0597006648
+411,6.850000000,pose2_to_pose3_retreat,0.575664461052,9.08353980095e-05,1.06003256831,0.54623491134,0.00876257060729,1.05970070083
+412,6.866666667,pose2_to_pose3_retreat,0.5756643857,9.08640158193e-05,1.06003250426,0.5462348356,0.00876259797804,1.05970063854
+413,6.883333333,pose2_to_pose3_retreat,0.575664312736,9.09096051215e-05,1.06003237715,0.546234761833,0.00876264092726,1.05970051364
+414,6.900000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066003,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b9f0d84a482427cbd6a0292c741abe1d8fa52ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d37e6421f59cd14b949884de838633a45410cf9957dcc88edc940ce6156704a
+size 26576646
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6456869c3393413836aa954afc49bbb3bbb9d8ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
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+34,0.566666667,BASELINE,765.714782502,745,715,679.714782502,661,635.714782502,879,787,804,651.714782502,631,652,0.400980976811,-0.00536116918258,0.0698380620487,0.999999943512,0.0002076658437,-0.000263896525726,1.44959232062e-05,1793239979148748032
+35,0.583333333,BASELINE,765.700321559,745,715,679.700321559,661,635.700321559,879,787,804,651.700321559,631,652,0.400980440747,-0.00536114896581,0.0698378627631,0.999999943398,0.000207767936998,-0.000264257378933,1.43185373149e-05,1793239979165414656
+36,0.600000000,BASELINE,765.110303656,745,715,679.110303656,661,635.110303656,879,787,804,651.110303656,631,652,0.400980752859,-0.00536138783555,0.0698389935782,0.999999943931,0.000206552098542,-0.000263201137332,1.41047770544e-05,1793239979182081024
+37,0.616666667,BASELINE,765,745,715,679.471216554,661,635,878.528783446,787,804,651.471216554,631,652,0.400981230406,-0.00536225499047,0.069839271156,0.999999944405,0.000204983430415,-0.000262621436324,1.41831103699e-05,1793239979198747648
+38,0.633333333,BASELINE,765.050248172,745.050248172,715,679.949751828,661,635,878,787,804.050248172,652,631,652,0.400981747415,-0.00536308693282,0.0698394147125,0.999999944806,0.000203674073534,-0.000262105920304,1.43284290929e-05,1793239979215414528
+39,0.650000000,BASELINE,765.623712909,745.623712909,715,679.376287091,661,635,878,787,804.623712909,652,631,652,0.400982279222,-0.00536204795129,0.0698402056098,0.999999944605,0.000205909592946,-0.000261117785002,1.44718999813e-05,1793239979232081408
+40,0.666666667,BASELINE,766,745.797567609,715,679,661.202432391,635.202432391,878.202432391,787,804.797567609,652,631,652,0.400982907081,-0.00536103161351,0.069840507406,0.99999994433,0.000207866612177,-0.000260614197812,1.45195209442e-05,1793239979248748032
+41,0.683333333,BASELINE,766,745.208820183,715,679,661.791179817,635.791179817,878.791179817,787,804.208820183,652,631,652,0.400983718243,-0.00536005848836,0.0698398758182,0.999999943925,0.000209292151076,-0.00026103530569,1.43842251875e-05,1793239979265414912
+42,0.700000000,BASELINE,766,745,715,679.374035489,661.625964511,636,878.625964511,787,803.625964511,652,631,652,0.400983315189,-0.00536006318984,0.0698393232682,0.999999943692,0.000209586491713,-0.000261693354776,1.43787993863e-05,1793239979282081280
+43,0.716666667,BASELINE,766,745,715,679.953652846,661.046347154,636,878.046347154,787,803.046347154,652,631,652,0.400982244763,-0.00536060533614,0.06983881416,0.999999943553,0.000209259089558,-0.000262481634315,1.44447542712e-05,1793239979298747904
+44,0.733333333,BASELINE,765.469937514,744.469937514,715,679.469937514,661,636,879.060124972,787,803.530062486,652,631,652.530062486,0.400983829368,-0.00536100723641,0.0698402331106,0.999999944181,0.00020989273649,-0.000259559286133,1.45315963032e-05,1793239979315414528
+45,0.750000000,BASELINE,765.106145145,744.106145145,715,679,661,636,879.893854855,787,804,652,631,652.893854855,0.400984753476,-0.00536112944851,0.0698411278646,0.999999944524,0.000210565707981,-0.000257687184037,1.45223560199e-05,1793239979332081152
+46,0.766666667,BASELINE,765.682014364,744.682014364,715,679,661,636,879.317985636,787,804,652,631,652.317985636,0.400981733547,-0.00536006789626,0.0698389613446,0.999999943338,0.000211043074961,-0.000261889874012,1.40798893091e-05,1793239979348747776
+47,0.783333333,BASELINE,766,745,715,679,661,635.735859793,879,787,804,652,631,652.264140207,0.40098032665,-0.00536015896899,0.0698379448466,0.999999943025,0.00020986891542,-0.000264022585626,1.40157768233e-05,1793239979365414144
+48,0.800000000,BASELINE,766,745,715,679,661,635.146019087,879,787,804,652,631,652.853980913,0.400980908715,-0.00536167129636,0.0698383463936,0.999999943799,0.00020665832605,-0.00026360289204,1.44181974189e-05,1793239979382081024
+49,0.816666667,BASELINE,766,745,715,679,661,635,879.436045271,787,804,652,631,652.563954729,0.400982164795,-0.00536211933739,0.0698395396523,0.999999944275,0.000206550922492,-0.00026188039264,1.43448087896e-05,1793239979398747904
+50,0.833333333,BASELINE,765.984563711,745,715,679,661,635,879.984563711,787,804,652,631,652,0.400983557388,-0.00536220649874,0.069840917809,0.999999944636,0.000207394594412,-0.000259838819677,1.41178804061e-05,1793239979415414528
+51,0.850000000,BASELINE,765.409337876,745,715,679,661,635,879.409337876,787,804,652,631,652,0.400981858833,-0.00536190471512,0.0698395551581,0.999999944483,0.000205703920621,-0.000261770192298,1.39998677194e-05,1793239979432081152
+52,0.866666667,BASELINE,765.165622562,745,715,679,661.165622562,635,879,787,804,652,631,652,0.400980772868,-0.00536130344624,0.0698386249578,0.999999944143,0.000205665541175,-0.000263100882761,1.39055381327e-05,1793239979448747776
+53,0.883333333,BASELINE,765.739928079,745,715,679,661.739928079,635,879,787,804,652,631,652,0.400981198503,-0.0053599631807,0.0698387618537,0.999999943345,0.000209704290745,-0.000262949356213,1.38696479298e-05,1793239979465414400
+54,0.900000000,BASELINE,766,745,715,679.323821211,661.676178789,635.323821211,878.676178789,787,804,652,631,652,0.400982031382,-0.00535943237795,0.0698391407474,0.999999943232,0.000211160143954,-0.000262205210685,1.39747920358e-05,1793239979482081280
+55,0.916666667,BASELINE,766,745,715,679.915649394,661.084350606,635.915649394,878.084350606,787,804,652,631,652,0.400983201313,-0.00535957151803,0.0698397199276,0.999999943696,0.000210478291919,-0.000260970590752,1.41966615986e-05,1793239979498747648
+56,0.933333333,BASELINE,765.504825402,745,715,680,661,636,878.495174598,787,804,652,631,652,0.400983909947,-0.0053599226545,0.0698406040028,0.999999944168,0.000209371534422,-0.000260051500619,1.41898136905e-05,1793239979515414272
+57,0.950000000,BASELINE,765.072511592,745,715,679.927488408,661,635.927488408,879,787,804,652,631,652,0.400984265929,-0.00536036642707,0.0698412895053,0.999999944554,0.00020820376563,-0.000259506210923,1.41565861644e-05,1793239979532081152
+58,0.966666667,BASELINE,765.648852869,745,715,679.351147131,661,635.351147131,879,787,804,652,631,652,0.400982704339,-0.00536120902299,0.0698402431455,0.999999944342,0.000207102801838,-0.000261193777642,1.42042139113e-05,1793239979548748032
+59,0.983333333,BASELINE,766,745,715,679,661,635.229875452,879,787,804,652,631,652,0.400982106853,-0.00536106707225,0.0698395412755,0.999999944075,0.000207332570179,-0.000262039170031,1.41039027306e-05,1793239979565414656
+60,1.000000000,BASELINE,766,745,715,679,661,635.818197725,879,787,804,652,631,652,0.400983012701,-0.00535938990935,0.0698393765714,0.999999943721,0.000209637360724,-0.000261571352811,1.37729090803e-05,1793239979582081024
+61,1.016666667,BASELINE,766,745,715,679,661,635.599835144,879,787,804,652,631,652,0.400982139926,-0.00535989402909,0.0698392373395,0.999999943702,0.000208805320659,-0.000262305514918,1.38421202741e-05,1793239979598747904
+62,1.033333333,BASELINE,766,745,715,679,661,635.02071017,879,787,804,652,631,652,0.400980471722,-0.00536137365338,0.0698391094992,0.999999943829,0.000206570439683,-0.000263577221413,1.40903094886e-05,1793239979615414528
+63,1.050000000,BASELINE,766,745,715,679,661,635,878.444491255,787,804,652,631,652,0.400980343079,-0.00536085845679,0.069838702819,0.999999943696,0.000206871930135,-0.000263846148779,1.40246532893e-05,1793239979632081152
+64,1.066666667,BASELINE,765.868592832,745,715,679.131407168,661,635.131407168,878.131407168,787,804,652,631,652,0.400980666,-0.00536044075361,0.0698387265613,0.999999943705,0.000207279800095,-0.000263492740769,1.39892678014e-05,1793239979648747776
+65,1.083333333,BASELINE,765.293412788,745,715,679.706587212,661,635.706587212,878.706587212,787,804,652,631,652,0.400982321065,-0.00536060213973,0.0698402387998,0.999999944222,0.000207729248707,-0.000261163250101,1.409541731e-05,1793239979665414656
+66,1.100000000,BASELINE,765.289337092,745,714.710662908,679.710662908,661,635.710662908,878.710662908,787,804,652,631,652.289337092,0.400982914297,-0.00536040617388,0.069840897904,0.999999944322,0.000208506656413,-0.000260157675188,1.41089621517e-05,1793239979682081280
+67,1.116666667,BASELINE,765.879969637,745,714.120030363,679.120030363,661,635.120030363,878.120030363,787,804,652,631,652.879969637,0.40098240181,-0.0053598380866,0.0698406686136,0.999999943992,0.000209625577799,-0.000260530733879,1.40260749505e-05,1793239979698747904
+68,1.133333333,BASELINE,766,745,714.460346642,679,661,635,878.460346642,787,804,652,631,653,0.400982420294,-0.00536046884325,0.0698401987735,0.999999944278,0.000208395960548,-0.000260424403574,1.39020812034e-05,1793239979715414528
+69,1.150000000,BASELINE,766,745,715,679.038033415,661,635,879,787.038033415,804,652.038033415,631,652.961966585,0.400982529217,-0.00536139326479,0.0698396849496,0.999999944667,0.000206766980794,-0.000260234698596,1.380357807e-05,1793239979732081152
+70,1.166666667,BASELINE,766,745,715,679.614664761,661,635,879,787.614664761,804,652.614664761,631,652.385335239,0.40098200103,-0.00536214621312,0.0698394171061,0.999999944319,0.000207965262653,-0.000260595818726,1.42145251945e-05,1793239979748747776
+71,1.183333333,BASELINE,766,745,715,680,661,635,879,787.810125449,804,652.810125449,631,652.189874551,0.400981831591,-0.00536142368044,0.0698395348383,0.999999943849,0.00020992999597,-0.000260811898907,1.4419953712e-05,1793239979765414400
+72,1.200000000,BASELINE,766,745,715,680,661,635,879,787.237779051,804,652.237779051,631,652.762220949,0.40098238479,-0.00535772902792,0.0698404292513,0.999999943129,0.000213438623099,-0.000260735819424,1.42113980151e-05,1793239979782081024
+73,1.216666667,BASELINE,766,745,715,679.654395168,661,635,879,787,804,652,631,652.654395168,0.400982518192,-0.00535765299147,0.0698406967905,0.999999943189,0.00021292707845,-0.000260926565184,1.41925087878e-05,1793239979798747648
+74,1.233333333,BASELINE,766,745,715,679.063166912,661,635,879,787,804,652,631,652.063166912,0.400982353242,-0.00536014872735,0.0698405188066,0.9999999438,0.000209558373432,-0.000261306945249,1.43084166687e-05,1793239979815414528
+75,1.250000000,BASELINE,766,745,715,679.516836114,661,635.516836114,879,787,804,652,631,652.516836114,0.400982542835,-0.00536024179833,0.0698406849242,0.999999944019,0.00020912985219,-0.000260811919781,1.42657288906e-05,1793239979832081408
+76,1.266666667,BASELINE,766,745,715,679.90517639,661,636,879,787,804,652,631,652.90517639,0.400982737006,-0.00536008522733,0.069840858802,0.999999944185,0.000208966923538,-0.000260309678377,1.42068495937e-05,1793239979848748032
+77,1.283333333,BASELINE,766,745,715,679.330592753,661,636,879,787,804,652,631,652.330592753,0.40098273976,-0.00536011973224,0.0698408636853,0.999999944313,0.000208368304244,-0.000260300740372,1.41620344844e-05,1793239979865414912
+78,1.300000000,BASELINE,766,745,715,679,661,635.750170799,879,787.249829201,804,652,631,652,0.400982839403,-0.0053603756204,0.0698407795157,0.99999994445,0.000207556358466,-0.000260422802872,1.41348047533e-05,1793239979882081536
+79,1.316666667,BASELINE,766,745,715,679,661,635.161838328,879,787.838161672,804,652,631,652,0.400983070325,-0.00536093146929,0.0698405746848,0.9999999446,0.000206455368418,-0.000260722363039,1.41314021363e-05,1793239979898747648
+80,1.333333333,BASELINE,766,745,715,679.422298884,661,635,879,788,804,652,631.422298884,652,0.400983266022,-0.00536089958275,0.069841021171,0.999999944534,0.000207704949828,-0.000259972802114,1.43144485948e-05,1793239979915414272
+81,1.350000000,BASELINE,766,745,715,680,661,635.004784291,879.004784291,788,804,652,631.995215709,652,0.400983453428,-0.00536064750676,0.0698417073653,0.999999944384,0.00020982336035,-0.000258832238494,1.45650539784e-05,1793239979932080640
+82,1.366666667,BASELINE,766,745,715,680,661,635.5801249,879.5801249,788,804,652,631.4198751,652,0.400984246121,-0.00536073338525,0.0698415060387,0.999999944596,0.000209184132009,-0.000258538275533,1.44350605521e-05,1793239979948747264
+83,1.383333333,BASELINE,765.845157836,745,715,679.845157836,661,635.845157836,879.845157836,788,803.845157836,652,631,652,0.400984502797,-0.00536080497778,0.0698412101483,0.999999944679,0.000208583922468,-0.000258708183526,1.4285686366e-05,1793239979965414144
+84,1.400000000,BASELINE,765.272123952,745,715,679.272123952,661,635.272123952,879.272123952,788,803.272123952,652,631,652,0.400983311821,-0.00536083798735,0.0698406588638,0.999999944416,0.000208089093245,-0.000260130896153,1.40839693466e-05,1793239979982081024
+85,1.416666667,BASELINE,765.311773325,745,715,679.311773325,661,635,879,787.688226675,803.311773325,652,631,652,0.400982349354,-0.00536008726611,0.069840223815,0.999999943832,0.000209144857111,-0.000261537187677,1.39176843508e-05,1793239979998747904
+86,1.433333333,BASELINE,765.905494735,745,715,679.905494735,661,635,879,787.094505265,803.905494735,652,631,652,0.400981593536,-0.00535862778828,0.0698398938826,0.999999942951,0.000211602879366,-0.000262928628907,1.37834418494e-05,1793239980015414528
+87,1.450000000,BASELINE,765.515242149,745,715,679.515242149,661,635.484757851,879,787,804,652,631,652,0.400980387189,-0.00535911758066,0.0698392494299,0.999999942593,0.000211887121626,-0.000264054047534,1.39010139834e-05,1793239980032081152
+88,1.466666667,BASELINE,765.061200882,745,715,679,661,635.938799118,879.061200882,787.061200882,804.061200882,652,631,652,0.400979429262,-0.00535993911679,0.0698387202111,0.999999942465,0.000211605971712,-0.000264754517504,1.40461422857e-05,1793239980048747776
+89,1.483333333,BASELINE,765.636945912,745,715,679,661,635.363054088,879.636945912,787.636945912,804.636945912,652,631,652,0.400981276974,-0.00536044732924,0.0698396604058,0.999999943443,0.000210031083606,-0.000262305647424,1.40221613479e-05,1793239980065414400
+90,1.500000000,BASELINE,766,745,715,679,661,635.217825645,879.782174355,787.782174355,804.782174355,652,631.217825645,652,0.400982434344,-0.00536115375389,0.0698402479697,0.999999944199,0.000208331128963,-0.000260770294238,1.40845714868e-05,1793239980082081024
+91,1.516666667,BASELINE,766,745,715,679,661,635.807470028,879.192529972,787.192529972,804.192529972,652,631.807470028,652,0.400982413331,-0.00536219851795,0.0698402336082,0.999999944587,0.000206417691434,-0.000260794274217,1.42944473731e-05,1793239980098747648
+92,1.533333333,BASELINE,766,745,715.389974136,679,661,635.610025864,879,787,804,652,631.610025864,652,0.400982169954,-0.00536206207841,0.0698399667442,0.99999994461,0.000206410146328,-0.000260711946838,1.42832325818e-05,1793239980115414272
+93,1.550000000,BASELINE,766,745,715.969016531,679,661,635.030983469,879,787,804,652,631.030983469,652,0.40098181877,-0.00536135296482,0.0698395774612,0.999999944457,0.000207326620693,-0.000260578079255,1.41648280611e-05,1793239980132081152
+94,1.566666667,BASELINE,766,745,715.456006198,679.543993802,661,635,879,787,804,652,631,652.543993802,0.400982604743,-0.00536095298796,0.0698395991314,0.999999944149,0.000208372789054,-0.000260934161835,1.3976331684e-05,1793239980148748288
+95,1.583333333,BASELINE,766,745,715,679.881276659,661,635,879,787,803.881276659,652,631,652.881276659,0.400983160827,-0.00536056603132,0.0698398216226,0.999999943952,0.000209103559124,-0.000261111216879,1.38488993025e-05,1793239980165414912
+96,1.600000000,BASELINE,766,745,715,679.306615763,661,635,879,787,803.306615763,652,631,652.306615763,0.400982587177,-0.00536016196108,0.0698407261134,0.999999944218,0.000208594936638,-0.000260494374925,1.39711905133e-05,1793239980182081280
+97,1.616666667,BASELINE,766,745,715,679,661,635,879,787,803.276520545,652,631,652.276520545,0.400982508832,-0.00536064281626,0.0698410227281,0.999999944335,0.000208205573076,-0.000260353479485,1.40043792158e-05,1793239980198747648
+98,1.633333333,BASELINE,766,745,715,679,661,635,879,787,803.869351806,652,631,652.869351806,0.400982997063,-0.00536213593401,0.0698406239959,0.999999944284,0.000207952629339,-0.000260757017347,1.39356439172e-05,1793239980215414272
+99,1.650000000,BASELINE,766,745,715,679.449287769,661,635,879,787,804,652,631,652.550712231,0.400982825193,-0.00536292656722,0.069840497616,0.999999944615,0.000206392398838,-0.000260713600161,1.41312961494e-05,1793239980232081152
+100,1.666666667,BASELINE,766,745,715,680,661.025293908,635,879,787,804,652,631,652,0.400982436896,-0.00536338235948,0.069840412487,0.999999944985,0.000204695469145,-0.000260621454056,1.43700585383e-05,1793239980248747776
+101,1.683333333,BASELINE,766,745,715,680,661.595172115,635,879,787,804,652,631,652,0.400981406328,-0.00536090432698,0.0698395579382,0.999999943894,0.000208011638625,-0.00026220037164,1.39279066887e-05,1793239980265414912
+102,1.700000000,BASELINE,766,745,715,680,661.832368426,635,879,787.167631574,804,652,631.167631574,652,0.400981210945,-0.00535942078956,0.0698393618544,0.999999943287,0.000210422893841,-0.000262600944215,1.37244524198e-05,1793239980282082048
+103,1.716666667,BASELINE,766,745,715,680,661.253577872,635,879,787.746422128,804,652,631.746422128,652,0.400983064065,-0.0053603765041,0.0698407808228,0.999999943892,0.000210614616678,-0.000260111326371,1.4106464614e-05,1793239980298748672
+104,1.733333333,BASELINE,766,745,715,680,661,635,879,787.666583936,804,652,631.666583936,652,0.400983294173,-0.00536140539614,0.0698409734207,0.999999944199,0.000209619362123,-0.000259732955274,1.41751616014e-05,1793239980315415040
+105,1.750000000,BASELINE,766,745,715,680,661,635,879,787.07319352,804,652,631.07319352,652,0.400982258771,-0.00536249134696,0.0698402097815,0.999999944272,0.000207698586258,-0.000261000785357,1.39995575089e-05,1793239980332081152
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652,0.400980787327,-0.00536284779867,0.0698390106625,0.999999943645,0.000208299929247,-0.000262915318899,1.40575679898e-05,1793239980364333824
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.397344648,745,715,679.602655352,661.602655352,635,879,787,804,652,631,652.602655352,0.400981735283,-0.00536289777046,0.069839353284,0.99999994449,0.000205224718179,-0.000262144867622,1.35452668422e-05,1793239980381000704
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.200737475,745,715,679.799262525,661.799262525,635,879,787,804,652,631.200737475,652.799262525,0.400982401069,-0.00536203027,0.0698399281969,0.999999944841,0.000204731422632,-0.000261203533381,1.32574271588e-05,1793239980397667328
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.789968977,745,715,679.210031023,661.210031023,635,879,787,804,652,631.789968977,652.210031023,0.400982520759,-0.00535938715445,0.0698409526712,0.999999944238,0.000209234995006,-0.000259931483418,1.34039952512e-05,1793239980414333952
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.37079191,635,879,787,804,652,631.62920809,652,0.400981914705,-0.00535994660405,0.069840466574,0.999999944045,0.000209138092074,-0.000260743818619,1.35789563032e-05,1793239980431000576
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.946957481,635,879,787,804,652,631.053042519,652,0.400980906678,-0.00536227988572,0.0698391438038,0.999999944077,0.000206493084573,-0.000262710649992,1.37696435956e-05,1793239980447667200
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.519555921,661.480444079,635,879,787,804,652,631,652.519555921,0.400981703209,-0.00536115172604,0.0698399241391,0.999999944146,0.000207663547066,-0.000261518649796,1.38671924625e-05,1793239980464333824
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.904638985,661.095361015,635,879,787,804,652,631,652.904638985,0.400982427192,-0.00535989949146,0.0698406283575,0.999999944132,0.000209074665321,-0.000260439909397,1.39419228155e-05,1793239980481000448
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.310157137,661.689842863,635,879,787,804,652,631,652.310157137,0.400981813766,-0.00535983485962,0.0698398180458,0.999999943686,0.000209720481001,-0.000261630387521,1.39466500072e-05,1793239980497667328
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.276949893,715,679.276949893,662,635.276949893,879,787,804,652,631,652,0.400984004889,-0.00536047594827,0.0698405165241,0.999999944162,0.000209020417307,-0.00026036627001,1.40208907163e-05,1793239980514334208
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.856012023,715,679.856012023,662,635.856012023,879,787,804,652,631,652,0.400989255371,-0.00536188687579,0.069842860874,0.999999945629,0.000206852194015,-0.00025642454394,1.41709606089e-05,1793239980531001088
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.568944043,745.568944043,715,679.568944043,661.568944043,635.568944043,879,787,803.568944043,652,631,652.431055957,0.401006563849,-0.00536184936477,0.0698514324289,0.999999948804,0.000207801508816,-0.000242905114424,1.44280972161e-05,1793239980547667456
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.004804389,745,715,679,661,635,878.995195611,787,803.004804389,652,631,652.995195611,0.401028095154,-0.00536135938093,0.0698621285006,0.999999952337,0.000209752891891,-0.000226082686062,1.47256303668e-05,1793239980564333568
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.582641148,745,715,679,661,635,878.417358852,787,803.582641148,652,631,652.417358852,0.401077324866,-0.00536407647045,0.0698804126928,0.999999959517,0.000208163975932,-0.000193366884249,1.56150838657e-05,1793239980581000192
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.163983274,661.163983274,635.163983274,878.163983274,787,803.836016726,652,631,652,0.401129685562,-0.00536563642787,0.0698973133106,0.999999964764,0.000207614363891,-0.000164647553307,1.61004313978e-05,1793239980597666816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.754442018,661.754442018,635.754442018,878.754442018,787,803.245557982,652,631,652,0.4011901891,-0.00536418700296,0.0699106156354,0.999999967173,0.000209767696095,-0.000146321939152,1.55348104909e-05,1793239980614333696
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.661702916,661.661702916,635.661702916,879,787,803.338297084,652,631,652,0.401257988257,-0.0053655866968,0.0699194948552,0.999999969329,0.000208162316609,-0.00013336698199,1.4988375271e-05,1793239980631000576
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.082549487,661.082549487,635.082549487,879,787,803.917450513,652,631,652,0.40133098165,-0.00536901486913,0.0699252249695,0.999999971395,0.000203880858484,-0.00012423575626,1.44555996618e-05,1793239980647667200
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652,0.401416038207,-0.00537072075266,0.069922272384,0.999999971309,0.000202452041343,-0.000127422556678,1.25564531797e-05,1793239980664333568
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.067779508,879,787,803.932220492,652,631.067779508,652.067779508,0.401506167734,-0.0053720661491,0.0699181792333,0.999999970844,0.000201519769737,-0.000132644967498,1.03442729757e-05,1793239980681000448
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.644538988,879,787,803.355461012,652,631.644538988,652.644538988,0.401619333953,-0.00537285439357,0.0699163594842,0.999999970329,0.000200755382339,-0.00013777733672,7.48700508211e-06,1793239980697667072
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.226530603,661,635.773469397,879.226530603,787,803.226530603,652,631.773469397,652.773469397,0.401745444509,-0.00537486419015,0.0699172612571,0.999999970973,0.000197836932636,-0.000137453876209,4.4809633891e-06,1793239980714333440
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.816926285,661,635.183073715,879.816926285,787,803.816926285,652,631.183073715,652.183073715,0.401892346912,-0.00537883610634,0.0699225344785,0.999999973432,0.000191458517593,-0.000128366981526,1.23595386069e-06,1793239980731000320
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.399052136,635.399052136,879.600947864,787,804,652,631,652.399052136,0.402058461048,-0.00538258886824,0.0699262453147,0.999999974972,0.000187218009256,-0.000122473926384,-2.19868321282e-06,1793239980747666944
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.977461104,635.977461104,879.022538896,787,804,652,631,652.977461104,0.402233210047,-0.00538624313003,0.0699292539263,0.999999976103,0.0001839383978,-0.000118016364441,-5.71855002267e-06,1793239980764333568
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.445343757,661.445343757,636,878.445343757,787,804,652,631,653,0.402439513114,-0.00538936875107,0.0699303367886,0.999999977466,0.000178357087472,-0.000114689086375,-1.01859598206e-05,1793239980781000192
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.1338688,636,878.267737599,787,804,652,631,652.8661312,0.402656706786,-0.00539265898657,0.0699323404054,0.99999997906,0.000172272263719,-0.000109455612676,-1.48643918398e-05,1793239980797667072
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.720064421,636,879.440128841,787,804,652,631,652.279935579,0.402906375557,-0.00539657786139,0.0699377189782,0.999999981452,0.000164801467528,-9.76264757116e-05,-2.01260272347e-05,1793239980814333952
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.698050326,636,879.698050326,787,804.301949674,652,631,652.301949674,0.403176424453,-0.00540074092793,0.0699437376028,0.999999983529,0.000158285834335,-8.51979724366e-05,-2.50741241237e-05,1793239980831000576
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.120104978,636,879.120104978,787,804.879895022,652,631,652.879895022,0.403465101692,-0.00540512719652,0.0699503412635,0.9999999853,0.000152643263815,-7.2221621926e-05,-2.9735632306e-05,1793239980847667200
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.459389994,661.459389994,635.540610006,879,787,804.540610006,652,631,652.540610006,0.40378256468,-0.00540973255955,0.069957785564,0.999999986908,0.000146281584191,-6.00079236846e-05,-3.44277481103e-05,1793239980864333568
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.386785339,715,679.386785339,662,635,879,787,803.386785339,652,631,652,0.404468018734,-0.00541983212346,0.0699655649772,0.99999999251,0.000107527130832,-5.05330459417e-05,-2.94151821134e-05,1793239980897666816
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.192185462,715,679.192185462,662,635.192185462,879,787,803.192185462,652,631.192185462,652,0.404841714169,-0.00542427742185,0.0699679630952,0.999999994527,8.94981313889e-05,-4.79478873268e-05,-2.52408039503e-05,1793239980914333696
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.780785236,715,679.780785236,662,635.780785236,879,787,803.780785236,652,631.780785236,652,0.405247388431,-0.00542677902897,0.0699740831325,0.99999999412,9.73499034776e-05,-3.66985486973e-05,-3.06036794526e-05,1793239980931000832
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.363795084,715,680,661.636204916,635.636204916,879,787,804,652,631.636204916,652.363795084,0.40567312383,-0.00543347306814,0.0699770488606,0.999999994563,9.3750052172e-05,-3.0363010149e-05,-3.40904175029e-05,1793239980947667456
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.943487598,715,680,661.056512402,635.056512402,879,787,804,652,631.056512402,652.943487598,0.406110764729,-0.00544265514363,0.0699781426364,0.999999995498,8.33541338393e-05,-2.69436088962e-05,-3.64637456047e-05,1793239980964333824
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.90721078,715,680,661.09278922,635.90721078,880,788,804,652,631,652,0.407015556556,-0.00545503181731,0.0699457935633,0.999999994803,4.66182488728e-05,-8.16096668438e-05,-3.95042322183e-05,1793239980997667328
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+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880,787,804,652,631.479330923,652,0.414006206809,-0.00554498927406,0.0700249419798,0.99999999547,-5.2083893313e-05,6.97995833434e-05,-3.83966412616e-05,1793239981181000960
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.948705756,661,635,880,787,804,652,631.948705756,652,0.41472990749,-0.00552086821761,0.0700234111812,0.9999999968,-2.34578242667e-05,6.61650845465e-05,-3.836804177e-05,1793239981197667584
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.367823167,661,635,880,787,804,652,631.367823167,652,0.415420674269,-0.00549733484242,0.0699711184637,0.999999998662,1.99911330615e-06,-2.89424674802e-05,-4.28304806036e-05,1793239981214333952
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.216634193,715,679.216634193,661.216634193,635,880,787,804,652,631,652.216634193,0.416153621087,-0.00548753087891,0.0699330858089,0.999999994365,1.05480213743e-05,-9.48356297937e-05,-4.65185375913e-05,1793239981231000320
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.807262955,715,679.807262955,661.807262955,635,880,787,804,652,631,652.807262955,0.416959386957,-0.00550142920197,0.0699196715518,0.999999992673,-1.00928833899e-05,-0.000110293428667,-4.88697117172e-05,1793239981247667200
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.611679436,715,680,662,635.388320564,880,787,804,652,631,652.611679436,0.417784545018,-0.00550984171791,0.0699383633975,0.999999995431,-2.14313103209e-05,-7.96909102606e-05,-4.82474057672e-05,1793239981264333824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.035258069,715,680,662,635.964741931,880,787,804,652,631,652.035258069,0.41861909655,-0.00551559693218,0.069972607301,0.999999998176,-2.82636565607e-05,-2.67769726743e-05,-4.61847587507e-05,1793239981281000192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.460272294,636,880,787,804,652,631.539727706,652,0.41946404197,-0.00552306489479,0.0699939960695,0.99999999814,-3.95368260841e-05,4.36102857686e-07,-4.6442288027e-05,1793239981297666816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.117727839,635.882272161,879.882272161,787,804,651.882272161,631.882272161,652,0.42031090825,-0.00552960646927,0.0700138283834,0.999999997304,-5.00447959839e-05,2.63735999481e-05,-4.68213060993e-05,1793239981314333696
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.708207983,635.291792017,879.291792017,787,804,651.291792017,631.291792017,652,0.42116276845,-0.00553197989968,0.0700307738017,0.999999995853,-5.63181538799e-05,5.39129021444e-05,-4.70811553889e-05,1793239981331000576
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.293159878,715,680,662,635.293159878,879,787,804,651.293159878,631,652.293159878,0.422010812297,-0.00552683079847,0.0700256469392,0.999999996487,-5.2286618856e-05,4.43396913579e-05,-4.82214532511e-05,1793239981347667200
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.872711227,715,680,662,635.872711227,879,787,804,651.872711227,631,652.872711227,0.422855128004,-0.00551433284435,0.0699989573975,0.999999998009,-3.81881085341e-05,-1.48918424613e-06,-5.02218720717e-05,1793239981364333568
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.550842493,715,680,662,635.550842493,879.449157507,787.449157507,804,652,631,653,0.423640826885,-0.0055085035251,0.0699320624417,0.999999992474,-3.26597919231e-05,-0.000104729636443,-5.49235536113e-05,1793239981381000448
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.024737837,662,635.024737837,880,788,804,652,631,652.975262163,0.424416038187,-0.00550535885291,0.0698583740319,0.999999974237,-3.08275765441e-05,-0.000216688678639,-6.01728126124e-05,1793239981397667072
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.600496447,662,635.600496447,880,788,804,652,631,652.399503553,0.425325121067,-0.0055202067236,0.0698854173721,0.999999983227,-5.75963845796e-05,-0.000162930051895,-6.06845542603e-05,1793239981414333696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.180468256,745,715,680.819531744,662.180468256,635.819531744,880,787.819531744,804.180468256,652,631,652,0.426229156463,-0.0055310536377,0.0699215152531,0.999999990336,-7.35411967534e-05,-0.000101927675591,-5.94214132992e-05,1793239981431000320
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.769989758,745,715,680.230010242,662.769989758,635.230010242,880,787.230010242,804.769989758,652,631,652,0.427121751065,-0.00553283189628,0.0699781363502,0.999999996125,-6.49521045993e-05,-2.45064638831e-05,-5.41352852237e-05,1793239981447667200
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.646715463,745,715,680.353284537,662.646715463,635.353284537,880,787.353284537,804.646715463,652,631.353284537,652.353284537,0.428028919449,-0.00553121268763,0.070013143193,0.999999996392,-6.19164962415e-05,2.43652578568e-05,-5.28105710222e-05,1793239981464333568
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.067404477,745,715,680.932595523,662.067404477,635.932595523,880,787.932595523,804.067404477,652,631.932595523,652.932595523,0.428945411897,-0.00552741982743,0.0700343215395,0.999999995081,-6.24339287114e-05,5.49714167733e-05,-5.40203136865e-05,1793239981480999936
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.50694792,715,681,662,635.49305208,880,787.49305208,804.50694792,652,631.49305208,652.49305208,0.42980779257,-0.00553092582882,0.0700383398363,0.999999994531,-6.32040337479e-05,6.37802311105e-05,-5.36264256864e-05,1793239981497667328
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.919177321,715,681,662,635,880,787.080822679,804.919177321,652,631,652,0.430647679315,-0.00553441091637,0.0700308777501,0.999999995076,-6.43580714213e-05,5.32475204648e-05,-5.35789267042e-05,1793239981514334464
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.344231218,715,681,662,635,880,787.655768782,804.344231218,652,631,652,0.431393605608,-0.00553189249846,0.0699670423367,0.999999994409,-6.76559433943e-05,-5.79859106059e-05,-5.69400725635e-05,1793239981531000832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.761328104,745,715,681,662,635,880,787.761328104,804.238671896,652,631,652,0.432160464571,-0.00552848685367,0.069918526747,0.999999986444,-6.66510345851e-05,-0.000138111918724,-5.99597185549e-05,1793239981547667200
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.16655288,745,715,681,662,635,880,787.16655288,804.83344712,652,631,652,0.432958555616,-0.00552375744795,0.0698928686363,0.999999981533,-5.92262907231e-05,-0.000171825036323,-6.2469841095e-05,1793239981564333824
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.41452788,745.41452788,715,680.58547212,662,635,880,787,804.58547212,652,631,652.41452788,0.433835362669,-0.00552908200621,0.0699325999669,0.999999991144,-6.47620723323e-05,-9.89868086894e-05,-6.09844031056e-05,1793239981581000704
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.990282279,745.990282279,715,680.009717721,662,635,880,787,804.009717721,652,631,652.990282279,0.434742785488,-0.0055383169546,0.0699977638753,0.999999995366,-7.53387218533e-05,1.52935138173e-05,-5.79449305473e-05,1793239981597667840
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.436833833,715,680.563166167,662.563166167,635,880,787.563166167,804.563166167,652,631,652.436833833,0.435534553734,-0.00554562900435,0.0700183577315,0.99999999435,-7.95169000557e-05,4.36421513624e-05,-5.54267288946e-05,1793239981614334208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.859902764,681,662.859902764,635,880,787.859902764,805,652,631,652,0.436311737367,-0.00555072930941,0.0700295738878,0.999999993296,-8.31299701971e-05,5.97526681029e-05,-5.40934646916e-05,1793239981631000832
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714.269813913,681,662.269813913,635,880,787.269813913,805,652,631,652,0.437048452854,-0.00554883153674,0.0700131266694,0.999999993913,-8.52807504168e-05,4.12929794431e-05,-5.65374690747e-05,1793239981647667456
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714.315110168,680.684889832,662,635,880,787,804.684889832,651.684889832,631,652.315110168,0.437758797918,-0.00554501571572,0.0699816771881,0.999999994873,-8.23699012263e-05,3.09026698753e-07,-5.88924210635e-05,1793239981664333824
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714.895683188,680.104316812,662,635,880,787,804.104316812,651.104316812,631,652.895683188,0.438446927325,-0.00553958404538,0.0699375891327,0.999999993523,-7.51949094896e-05,-5.96503691435e-05,-6.11723510701e-05,1793239981681000448
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680.472959475,662,635,880,787,804.472959475,651.472959475,631,653,0.439070705175,-0.00553850664674,0.0698703719983,0.999999979915,-7.72979294982e-05,-0.000173589685473,-6.37265254802e-05,1793239981697667328
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.050224177,715,681,661.949775823,635,880,787.050224177,805,652,631.050224177,653,0.439680552579,-0.00553817903489,0.0698021040376,0.99999995211,-8.02744551953e-05,-0.000291462525216,-6.62185245721e-05,1793239981714333952
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.635051399,715,681,661.364948601,635,880,787.635051399,805,652,631.635051399,653,0.440292153705,-0.00553568049543,0.0697765758389,0.999999942286,-7.09173502746e-05,-0.000325351770982,-6.74093194056e-05,1793239981731000576
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.783451803,715,681,661,634.783451803,880,787.783451803,805,652,631.783451803,653,0.440922185261,-0.00553494565928,0.0697733551033,0.999999941456,-6.7694538412e-05,-0.000328525836512,-6.76496492368e-05,1793239981747667456
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.207482661,715,681,661,634.207482661,880,787.207482661,805,652,631.207482661,653,0.44158280725,-0.00553713817063,0.0698071596984,0.999999955613,-7.46532617488e-05,-0.000280719667129,-6.63124226959e-05,1793239981764334080
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,652,631,653,0.442197613822,-0.00554224603352,0.0698221464291,0.99999995957,-7.99058870704e-05,-0.000264997500699,-6.52049987555e-05,1793239981781000704
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,652,631,653,0.442786623198,-0.00554899543493,0.0698265374366,0.999999958657,-8.41978643198e-05,-0.000267340785002,-6.4226969245e-05,1793239981797667328
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.470323826,745,715,681,660.470323826,634,880,786.470323826,805.529676174,652,631,653,0.443299822848,-0.00555445444934,0.0697893457968,0.999999940277,-8.42947138088e-05,-0.000329154565801,-6.32333564506e-05,1793239981814334208
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.304730858,880.695269142,786,805.304730858,652,630.304730858,652.304730858,0.444236454032,-0.00555423000037,0.0697193513037,0.999999898241,-8.17808820624e-05,-0.000438985480125,-6.41943362128e-05,1793239981847667200
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.278936612,745.278936612,715,681.278936612,660,633,880.721063388,786,805,651.721063388,630.278936612,652.278936612,0.444698871831,-0.00555106253137,0.0696984715599,0.999999885416,-8.08273179034e-05,-0.000467229447165,-6.58171603036e-05,1793239981864334080
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.857890725,745.857890725,715,681.857890725,660,633,880.142109275,786,805,651.142109275,630.857890725,652.857890725,0.445183486037,-0.00554867053141,0.0696884855519,0.999999881287,-8.09388168332e-05,-0.000475719477866,-6.7571158083e-05,1793239981881000960
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.409571377,746,714,681.590428623,655.590428623,630,880,783.590428623,805,652,630,653,0.450249010045,-0.0055682172178,0.0696295642484,0.999999824681,-0.000106114601582,-0.000579995865959,-5.4614702322e-05,1793239983194708224
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.757189905,745.242810095,714.757189905,682,655.242810095,630,880,783.242810095,805,652,630,652.242810095,0.45024844989,-0.00556932556502,0.0696289719928,0.999999824216,-0.000106583267667,-0.000580693423434,-5.48008467333e-05,1793239983228041728
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.090356988,745.909643012,714.090356988,682,655.909643012,630,880.909643012,783,805,652,630,652.909643012,0.450249636111,-0.00556899845736,0.0696293928257,0.999999825748,-0.000102873364833,-0.000578818172416,-5.37618018991e-05,1793239983261374976
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.286832025,714.713167975,682,656,629.713167975,881,783.713167975,805,652,630,653,0.449917989763,-0.00556133009377,0.0695386186094,0.999999734036,-0.000101170482448,-0.000720186920875,-5.49866505722e-05,1793239983428041728
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.516706451,661.516706451,635,879,787,804,652,631,652.483293549,0.400981440997,-0.00535979274508,0.0698281041145,0.999999938352,0.000210166136113,-0.000280899003877,1.48761715304e-05,1793239985144708608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.071579281,661,635,879,787,803.928420719,652,631,652.928420719,0.40098058356,-0.00536140244629,0.0698290169503,0.999999939263,0.000208107898269,-0.000279185429795,1.48548680258e-05,1793239985161375232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.650789665,661,635,879,787,803.349210335,652,631,652.349210335,0.400980804384,-0.00535943748377,0.0698299984907,0.999999938971,0.000211867100781,-0.000277401458811,1.47912493326e-05,1793239985178041856
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.771063323,661,635,879,787,803.228936677,652,631.228936677,652.228936677,0.400980998546,-0.00535810772038,0.0698309945668,0.99999993913,0.000213248751017,-0.000275776174171,1.45672662326e-05,1793239985194708480
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.194530868,661,635,879,787,803.805469132,652,631.805469132,652.805469132,0.400981152228,-0.00535774238336,0.0698320127124,0.99999993999,0.000211020550727,-0.000274391823967,1.40998010029e-05,1793239985211374848
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.619790861,745,715,679.380209139,661,635,878.619790861,787,804,652,631.619790861,652.619790861,0.40098007894,-0.0053590769898,0.0698318542344,0.999999940394,0.000208744505465,-0.000274666061509,1.39982783426e-05,1793239985228041728
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.045963661,745,715,679.954036339,661,635,878.045963661,787,804,652,631.045963661,652.045963661,0.400978380827,-0.00536127727708,0.0698310965714,0.999999940563,0.000206444095652,-0.000275784919885,1.4083108637e-05,1793239985244708864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.544153768,745,715,680,661,635,878.544153768,787,803.455846232,652,631,652,0.400977685718,-0.00536186055548,0.0698311706558,0.999999940637,0.000206049659735,-0.000275800426314,1.42708051749e-05,1793239985261375744
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803,652,631,652.709306927,0.400979632875,-0.00536038602425,0.0698333853372,0.999999940773,0.000209616816118,-0.000272591920072,1.44111608776e-05,1793239985294708992
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.86269461,715,679.13730539,661,635,879,787,803.86269461,652,631,653,0.40098045289,-0.00535923284623,0.0698338537363,0.999999941109,0.000209786129051,-0.00027124616033,1.40561917094e-05,1793239985328041984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.562815895,715,679,661,635,879.437184105,787,804,652,631,652.562815895,0.400980496481,-0.00536054437183,0.0698341462413,0.999999941665,0.000208001233491,-0.000270569989097,1.40283175486e-05,1793239985344708352
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.011403241,879.988596759,787.011403241,804,652,631,652.011403241,0.400980570957,-0.00536227599834,0.0698345956497,0.999999942298,0.000206036429575,-0.000269732473789,1.406056397e-05,1793239985361374976
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.605583877,879.394416123,787.605583877,804,652,631,652.605583877,0.40097971325,-0.00536015963524,0.0698341960085,0.999999941422,0.000208817680464,-0.000270849346567,1.38697809684e-05,1793239985378041600
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.806298392,879,787.806298392,804,652,631,653,0.40097931047,-0.00535901480307,0.0698341481341,0.999999940959,0.000210335819599,-0.000271387428031,1.37869277305e-05,1793239985394708480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.230151324,879,787.230151324,804,652,631,653,0.4009798059,-0.00535978816672,0.0698347947899,0.999999941326,0.000209360064173,-0.000270782740864,1.39171715889e-05,1793239985411374848
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.345298921,635,879,787,804,652,631,652.654701079,0.400980169672,-0.00536042881143,0.0698351189642,0.999999941321,0.000209708284523,-0.00027051679585,1.41794953449e-05,1793239985428041728
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.920285627,635,879,787,804,652,631,652.079714373,0.400980445869,-0.00536098117341,0.0698352286284,0.999999941069,0.000210937194204,-0.000270476177178,1.45296767084e-05,1793239985444708608
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.506514953,715,679.506514953,661.493485047,635,879,787,804,652,631,652,0.400980974446,-0.00536030346937,0.0698358069599,0.999999941336,0.00021147615741,-0.000269078124548,1.42426784629e-05,1793239985461375232
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.906761704,745.906761704,715,679.906761704,661.093238296,635,879,787,803.906761704,652,631,652,0.400981466954,-0.00535963571016,0.0698363915978,0.999999941748,0.000211338867032,-0.000267670608527,1.38791955534e-05,1793239985478041344
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.326904233,745.326904233,715,679.326904233,661.673095767,635,879,787,803.326904233,652,631,652,0.40098155922,-0.00536005312914,0.0698366154607,0.999999942483,0.00020825171329,-0.000267353968764,1.36517732852e-05,1793239985494707968
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.251273091,745,715,679,661.748726909,635,879,787,803,652,631,652,0.400981188839,-0.00536027399441,0.0698366264189,0.999999942733,0.000206998410213,-0.000267388407237,1.37238079988e-05,1793239985511374848
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.827279158,745,715,679,661.172720842,635,879,787,803,652,631,652,0.400980220557,-0.00536024084341,0.0698363622294,0.999999942365,0.000208115085048,-0.000267876561901,1.41828461447e-05,1793239985528041472
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.598259141,745,715,679,661,635,879,787,803,652,631,652,0.400980852505,-0.00536091288293,0.0698369727243,0.999999942703,0.000208082221029,-0.000266624866277,1.44055542094e-05,1793239985544708096
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.024458902,745,715,679,661,635,879,787,803,652,631,652,0.400982169808,-0.00536188694463,0.0698379578329,0.999999943341,0.00020755702728,-0.00026462801973,1.45270457381e-05,1793239985561374720
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.569690742,745,715,679.569690742,661.569690742,635,879,787,803.569690742,652,631,652,0.40098206417,-0.00536046050744,0.0698379290931,0.999999942689,0.000210250979244,-0.000264969837941,1.43747762102e-05,1793239985578041600
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e69a9bf1b42db0149b71f6109f632a456c7e066
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+404,6.733333333,pose2_to_pose3_retreat,0.575665305063,9.08479578242e-05,1.06003245248,0.54623575464,0.0087625805686,1.0597005801
+405,6.750000000,pose2_to_pose3_retreat,0.575665231713,9.08589544845e-05,1.06003246087,0.546235681147,0.00876259106734,1.05970058811
+406,6.766666667,pose2_to_pose3_retreat,0.575665194662,9.08645091416e-05,1.0600324651,0.546235644025,0.00876259637048,1.05970059215
+407,6.783333333,pose2_to_pose3_retreat,0.575665180481,9.08666352181e-05,1.06003246672,0.546235629816,0.00876259840029,1.0597005937
+408,6.800000000,pose2_to_pose3_retreat,0.575665037498,9.08880713207e-05,1.06003248307,0.546235486555,0.00876261886577,1.0597006093
+409,6.816666667,pose2_to_pose3_retreat,0.575664856464,9.0847120806e-05,1.06003248662,0.546235306264,0.00876258045048,1.05970061329
+410,6.833333333,pose2_to_pose3_retreat,0.575664720044,9.08006557733e-05,1.06003248536,0.546235170654,0.00876253675862,1.05970061268
+411,6.850000000,pose2_to_pose3_retreat,0.575664640746,9.07736466545e-05,1.06003248463,0.546235091827,0.00876251136149,1.05970061232
+412,6.866666667,pose2_to_pose3_retreat,0.575664623216,9.07676756228e-05,1.06003248447,0.5462350744,0.00876250574683,1.05970061224
+413,6.883333333,pose2_to_pose3_retreat,0.575664613728,9.07644440435e-05,1.06003248438,0.546235064968,0.00876250270812,1.0597006122
+414,6.900000000,pose2_to_pose3_retreat,0.575664559041,9.07458175896e-05,1.06003248388,0.546235010606,0.00876248519335,1.05970061195
+415,6.916666667,pose2_to_pose3_retreat,0.575664508301,9.07667724265e-05,1.06003246121,0.546234959554,0.00876250513768,1.05970059064
+416,6.933333333,pose2_to_pose3_retreat,0.575664408715,9.08379681986e-05,1.06003239928,0.54623485887,0.00876257274445,1.05970053222
+417,6.950000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066005,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3574c3e54c9af7181f52a3bc630e6559c13b5ec5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebefb94395710fb05d5711a6814fc04278081105038dc72a8f6148dd8cf185e1
+size 26638890
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..510e5a600be6758b2508ed5ccd0d593000670221
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+22,0.366666667,BASELINE,766,745,714.22937943,678.22937943,661,635,878.22937943,787,803,652,631,652.22937943,0.400980772889,-0.005362701045,0.0698382446171,0.99999994333,0.000208269702167,-0.000264131861569,1.40795997216e-05,1793239986100736256
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+27,0.450000000,BASELINE,765.32784986,745,715,680.34430028,661.67215014,635.32784986,879,787,803.67215014,652,631.32784986,652,0.400981488678,-0.00535969729431,0.0698384069549,0.999999942836,0.000211362154636,-0.000263568041888,1.36523880212e-05,1793239986184069632
+28,0.466666667,BASELINE,765.257092541,745,715,680.742907459,662,635.257092541,879.257092541,787,804,652,631,652,0.400983310859,-0.00536045071215,0.0698392674653,0.999999943386,0.000210871968504,-0.000261862744678,1.37596107263e-05,1793239986200736256
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+30,0.500000000,BASELINE,766,745,715,679.588387399,661.588387399,635.588387399,879.588387399,787,804,652,631,652,0.400982407957,-0.00536111490649,0.0698385696546,0.99999994346,0.000209188821306,-0.000262922673312,1.3872658831e-05,1793239986234069504
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+49,0.816666667,BASELINE,766,745,715,679.437954086,661,635,878.875908173,787,804,652,631,652,0.400980320928,-0.00536141876273,0.0698385333093,0.999999943228,0.000209174000861,-0.000263816662013,1.38341424788e-05,1793239986550736384
+50,0.833333333,BASELINE,766,745,715,679.985960052,661,635,879.985960052,787,804,652,631,652.014039948,0.400980452848,-0.00536057807452,0.0698390448643,0.999999942925,0.000210933680134,-0.000263567246036,1.37532638386e-05,1793239986567402752
+51,0.850000000,BASELINE,766,745,715,679.398553853,661,635,879.398553853,787,804,652,631,652.601446147,0.400981418112,-0.00536094375758,0.0698392794755,0.999999943057,0.000211284558122,-0.00026277047763,1.40472000927e-05,1793239986584069376
+52,0.866666667,BASELINE,765.813660907,745,715,679,661,635,879,787,804,652,631,652.813660907,0.400982301573,-0.00536088470004,0.0698394952159,0.999999943275,0.000211391325511,-0.000261845279249,1.41706907173e-05,1793239986600736256
+53,0.883333333,BASELINE,765.234071965,745,715,679,661,635,879,787,804,652,631,652.234071965,0.400983012397,-0.00535992927032,0.0698396711314,0.999999943677,0.000210982922092,-0.000260649042415,1.39344730246e-05,1793239986617403136
+54,0.900000000,BASELINE,765.343317019,745,715,679,661.343317019,635,879,787,804,652,631.343317019,652,0.400982541692,-0.00536006997091,0.069839682032,0.999999943853,0.000209862505188,-0.000260884033788,1.3794660502e-05,1793239986634069760
+55,0.916666667,BASELINE,765.919215608,745,715,679,661.919215608,635,879,787,804,652,631.919215608,652,0.400981270557,-0.00536095324966,0.0698395811425,0.999999943875,0.000208259731746,-0.000262088616828,1.37201580803e-05,1793239986650736640
+56,0.933333333,BASELINE,766,745,715,679.49612667,661.50387333,635.49612667,879,787,804,652,632,652,0.400981985416,-0.00536129410187,0.0698396303826,0.999999943814,0.000208728775618,-0.000261947929036,1.36598044491e-05,1793239986667403264
+57,0.950000000,BASELINE,766,745,715,679.925741543,661.074258457,635.925741543,879,787,804,652,632,652.074258457,0.400982452576,-0.00536142411487,0.0698394031897,0.999999943597,0.00020955195549,-0.000262123821417,1.35833737959e-05,1793239986684069888
+58,0.966666667,BASELINE,766,745,715,679.340344586,661.659655414,635.340344586,879,787,804,652,632,652.659655414,0.400978984319,-0.00536071206579,0.0698371046335,0.999999942383,0.000210485898365,-0.000265989670962,1.33803908577e-05,1793239986700736512
+59,0.983333333,BASELINE,765.756662692,745,715,679,661.756662692,635,879,787,803.756662692,652,631.756662692,652.756662692,0.400978380873,-0.00535984191918,0.06983680735,0.999999942021,0.000211396145191,-0.00026662430842,1.34479639216e-05,1793239986717403136
+60,1.000000000,BASELINE,765.175362705,745,715,679,661.175362705,635,879,787,803.175362705,652,631.175362705,652.175362705,0.400981756262,-0.00535875219631,0.0698392895639,0.999999942849,0.000212273481541,-0.000262771228955,1.38913027271e-05,1793239986734070016
+61,1.016666667,BASELINE,765.399836256,745,715,679.399836256,661,635,879,787,803,652,631,652,0.400982660354,-0.0053590493242,0.0698402139921,0.999999943408,0.000211485235067,-0.000261279766888,1.3785984862e-05,1793239986750736640
+62,1.033333333,BASELINE,765.972399573,745,715,679.972399573,661,635,879,787,803,652,631,652,0.400982496859,-0.00535994556404,0.0698404654654,0.999999943854,0.000209977465933,-0.000260808510762,1.344365031e-05,1793239986767403264
+63,1.050000000,BASELINE,766,745,715,679.449641766,661,635,879,787,803.550358234,652,631,652,0.40098217535,-0.00536074776983,0.0698397200719,0.999999943773,0.000209830313649,-0.000261235689575,1.34901031531e-05,1793239986784069632
+64,1.066666667,BASELINE,766,745,715,679,661.131835487,635,879.131835487,787,803.868164513,652,631,652.131835487,0.400982023874,-0.00536105478795,0.0698392167368,0.999999943637,0.00021003854002,-0.000261583203027,1.3543096065e-05,1793239986800736256
+65,1.083333333,BASELINE,766,745,715,679,661.724660696,635,879.724660696,787,803.275339304,652,631,652.724660696,0.400982494941,-0.00535964693414,0.0698397363488,0.999999943406,0.000211248461217,-0.000261493041356,1.35501051207e-05,1793239986817402880
+66,1.100000000,BASELINE,766,745,715,679.308824519,661.691175481,635,879.691175481,787,803.308824519,652,631,652.691175481,0.400982799179,-0.00535997505375,0.0698401280349,0.999999943616,0.000210463783159,-0.000261326251809,1.35053137523e-05,1793239986834069760
+67,1.116666667,BASELINE,766,745,715,679.885476734,661.114523266,635,879.114523266,787,803.885476734,652,631,652.114523266,0.400982958736,-0.00536180869431,0.0698404087774,0.999999944204,0.000207949291213,-0.000261093006831,1.34155985275e-05,1793239986850736384
+68,1.133333333,BASELINE,766,745.460452945,715,680,661,635,879,787,804.460452945,652,631.460452945,652.460452945,0.400983246556,-0.00536146926895,0.0698408186841,0.99999994425,0.000208367406393,-0.000260575847051,1.35617761575e-05,1793239986867403008
+69,1.150000000,BASELINE,766,745.964944019,715,680,661,635,879,787,804.929888038,652,632,652.964944019,0.400983448443,-0.00536063231823,0.069841164307,0.999999944128,0.000209484258503,-0.000260136971647,1.37437019875e-05,1793239986884069376
+70,1.166666667,BASELINE,766,745.389691857,715,680,661,635,879,787,803.779383713,652,632,652.389691857,0.400981836346,-0.00536042710744,0.0698400261021,0.999999943503,0.000210169456685,-0.000261988618774,1.35756773748e-05,1793239986900736256
+71,1.183333333,BASELINE,766,745,715,680,661,635.191858769,879,787,803.191858769,652,631.808141231,652,0.400980974404,-0.00536035916066,0.0698392277623,0.99999994317,0.000210598580477,-0.000262924929431,1.33575603172e-05,1793239986917402880
+72,1.200000000,BASELINE,766,745,715,680,661,635.786636794,879,787,803.786636794,652,631.213363206,652,0.400981687851,-0.0053605794796,0.0698391431671,0.999999943456,0.000210489927043,-0.000261938958269,1.30342449579e-05,1793239986934069760
+73,1.216666667,BASELINE,766,745.368760668,714.631239332,679.631239332,661,635.631239332,879,787.368760668,803.631239332,652,631,652,0.400981890075,-0.00536028926179,0.0698392717214,0.999999943502,0.000210447690184,-0.000261793488148,1.31102093639e-05,1793239986950736640
+74,1.233333333,BASELINE,766,745.943805784,714.056194216,679.056194216,661,635.056194216,879,787.943805784,803.056194216,652,631,652,0.400981806323,-0.00535971345009,0.0698395195115,0.999999943414,0.000210442606714,-0.000262118193754,1.34095305975e-05,1793239986967403264
+75,1.250000000,BASELINE,766,745.483007694,714.516992306,679,661,635,879,787.483007694,803.516992306,652,631,652.516992306,0.400982532344,-0.00536070482512,0.0698408556099,0.999999944041,0.000209468761432,-0.000260481894611,1.3820378853e-05,1793239986984069888
+76,1.266666667,BASELINE,765.906691592,744.906691592,715,679,661,635,879,787,803.906691592,652,631,652.906691592,0.400983034606,-0.00536165503913,0.069841776945,0.999999944493,0.00020872647951,-0.000259321443213,1.40996730047e-05,1793239987000736256
+77,1.283333333,BASELINE,765.312495062,744.312495062,715,679,661,635,879,787,803.312495062,652,631,652.312495062,0.40098186491,-0.00536147314721,0.0698398390589,0.999999943617,0.000209790481352,-0.000261855498675,1.36079316999e-05,1793239987017402880
+78,1.300000000,BASELINE,765.273596481,744.273596481,715,679,661,635,879.273596481,787,803.273596481,652,631,652,0.400981678507,-0.00536137834816,0.0698392573356,0.999999943246,0.00021057325137,-0.000262649659,1.34831973678e-05,1793239987034069504
+79,1.316666667,BASELINE,765.850697019,744.850697019,715,679,661,635,879.850697019,787,803.850697019,652,631,652,0.400982582886,-0.00536138016237,0.0698401800211,0.999999943441,0.000211044047277,-0.000261513731344,1.37655885737e-05,1793239987050736384
+80,1.333333333,BASELINE,766,745,715,679.42565149,661.42565149,635,879.14869702,787,804,652,631,652.42565149,0.400982674916,-0.00536195611796,0.0698401991221,0.99999994374,0.00020951870117,-0.00026159360226,1.38182334224e-05,1793239987067403008
+81,1.350000000,BASELINE,766,745,715,679.999857023,661.999857023,635,878.000285954,787,804,652,631,652.999857023,0.400982483434,-0.00536273245114,0.0698399028688,0.999999944071,0.000207296693694,-0.000262097791561,1.37906959124e-05,1793239987084069632
+82,1.366666667,BASELINE,766,745,715,680,661.426729755,635.573270245,879.146540489,787,804,652,631,653,0.400981365667,-0.00536190740239,0.0698394328193,0.999999943456,0.000209368986493,-0.000262792340881,1.38709561741e-05,1793239987100736512
+83,1.383333333,BASELINE,766,745,715,680,661,635.84738615,879.84738615,787,803.84738615,652,631,652.84738615,0.400980882673,-0.00536131503144,0.0698391728107,0.999999943123,0.000210543332103,-0.00026312252724,1.38584293111e-05,1793239987117403136
+84,1.400000000,BASELINE,766,745,715,680,661,635.250789208,879.250789208,787,803.250789208,652,631,652.250789208,0.40098224703,-0.00536140072513,0.0698395239777,0.999999943621,0.000209102265308,-0.000262392573785,1.35758887384e-05,1793239987134069760
+85,1.416666667,BASELINE,766,745,715,680,661,635,879.334359763,787.334359763,803.334359763,652,631,652.334359763,0.400982237926,-0.00536084178493,0.0698398041631,0.99999994373,0.000208878445922,-0.000262163343376,1.34475564849e-05,1793239987150736128
+86,1.433333333,BASELINE,766,745,715,680,661,635,879.911206318,787.911206318,803.911206318,652,631,652.911206318,0.400981232752,-0.0053598153387,0.0698400328708,0.999999943557,0.000209537407546,-0.000262297250981,1.34310603154e-05,1793239987167402752
+87,1.450000000,BASELINE,766,745,715,679.515041705,661,635,879.515041705,787.515041705,804,652,631,652.515041705,0.400981924666,-0.00535916205878,0.0698407208564,0.999999943838,0.000209796237018,-0.000261017366872,1.34151260365e-05,1793239987184069376
+88,1.466666667,BASELINE,766,745,715,679.059729363,661.059729363,635.059729363,879,787.059729363,804,652,631,652,0.400982680922,-0.00535871459745,0.0698412825063,0.999999944068,0.000210157528097,-0.000259841067692,1.34027572451e-05,1793239987200736256
+89,1.483333333,BASELINE,766,745,715,679.648513977,661.648513977,635.648513977,879,787.648513977,804,652,631,652,0.400981272238,-0.00535948882775,0.0698399850093,0.999999943137,0.000212071187045,-0.000261860591138,1.34210644183e-05,1793239987217402880
+90,1.500000000,BASELINE,766,745,715,679.767760588,661.767760588,635.767760588,879,787.767760588,804,652,631,652,0.400980918897,-0.00536009954386,0.0698393285474,0.999999942716,0.000212863903071,-0.000262822147483,1.34588728943e-05,1793239987234069760
+91,1.516666667,BASELINE,766,745,715,679.191528847,661.191528847,635.191528847,879,787.191528847,804,652,631,652,0.400982128728,-0.00536046806315,0.069839621585,0.999999943059,0.000211996281589,-0.000262216645907,1.35255666406e-05,1793239987250736640
+92,1.533333333,BASELINE,766,745,715,679.385002264,661,635,879,787,804,652,631.385002264,652,0.40098248091,-0.00536098786737,0.0698402164846,0.999999943373,0.000211231020519,-0.000261627905481,1.36241198885e-05,1793239987267403008
+93,1.550000000,BASELINE,766,745,715,679.961682473,661,635,879,787,804,652,631.961682473,652,0.4009824061,-0.00536158299061,0.0698409616698,0.999999943674,0.000210516720715,-0.000261047509735,1.37385347732e-05,1793239987284069632
+94,1.566666667,BASELINE,766,745,715,679.463169663,661,635,879,787,803.463169663,652,632,652.536830337,0.40098218657,-0.00536172173764,0.0698397838951,0.999999943803,0.000208748950398,-0.000261994937298,1.33145387946e-05,1793239987300736256
+95,1.583333333,BASELINE,766,745,715,679.115476925,661,635.115476925,879,787,803.115476925,652,631.884523075,652.884523075,0.400982015597,-0.00536158419859,0.0698389381649,0.999999943818,0.000207909851582,-0.000262614929387,1.30785796098e-05,1793239987317402880
+96,1.600000000,BASELINE,766,745,715,679.709060947,661,635.709060947,879,787,803.709060947,652,631.290939053,652.290939053,0.400982088312,-0.00536043724269,0.0698400338524,0.999999943424,0.000211226152596,-0.000261429025559,1.37798053198e-05,1793239987334069760
+97,1.616666667,BASELINE,766,745,715,679.706994545,661,635.706994545,879,787,803.706994545,652,631,652.293005455,0.400982044327,-0.00535960509243,0.0698403673658,0.999999943014,0.000213396010615,-0.000261235694429,1.38023516765e-05,1793239987350736384
+98,1.633333333,BASELINE,766,745,715,679.132316742,661,635.132316742,879,787,803.132316742,652,631,652.867683258,0.400981888154,-0.00535907557156,0.0698399681849,0.999999942595,0.000214463768511,-0.000261996544525,1.31724691572e-05,1793239987367403264
+99,1.650000000,BASELINE,766,745,715,679,661,635.443389054,879,787,803.443389054,652,631.443389054,653,0.400981394709,-0.0053604095559,0.069839922188,0.999999943151,0.000211469808327,-0.000262303597018,1.32600369728e-05,1793239987384070144
+100,1.666666667,BASELINE,766,745,715,679,661,635.98008776,879,787.01991224,804,652,631.98008776,652.98008776,0.400980880913,-0.00536220116222,0.0698399988212,0.999999943946,0.000207505182713,-0.000262425145773,1.3550253244e-05,1793239987400736768
+101,1.683333333,BASELINE,766,745,715,679,661,635.388936319,879,787.611063681,804,652,631.388936319,652.388936319,0.400982677388,-0.00536113029547,0.0698405627899,0.999999943652,0.000210547692219,-0.000261119011031,1.34976051571e-05,1793239987417403392
+102,1.700000000,BASELINE,766,745,715,679,661,635.198141996,879,787.801858004,803.801858004,652,631,652.198141996,0.400983616106,-0.00536050932974,0.0698409110501,0.999999943457,0.000212511436151,-0.000260275663228,1.34723912449e-05,1793239987434069760
+103,1.716666667,BASELINE,766,745,715,679,661,635.777386077,879,787.222613923,803.222613923,652,631,652.777386077,0.400982905032,-0.00536075369418,0.0698408444213,0.999999943468,0.00021240030506,-0.000260322430097,1.34999436452e-05,1793239987450736384
+104,1.733333333,BASELINE,766,745,715,679,661,635.646761845,878.646761845,787,803,652,631,653,0.400982329506,-0.00536005397745,0.0698408754553,0.999999943405,0.000212330290638,-0.000260626746081,1.33694314548e-05,1793239987467403008
+105,1.750000000,BASELINE,766,745,715,679,661,635.073027051,878.073027051,787,803,652,631,653,0.400981838589,-0.0053587649509,0.0698409674519,0.999999943297,0.000212285941857,-0.000261091828151,1.31402529412e-05,1793239987484069632
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,680,661,636,878,788,804,652,632,653,0.400983335635,-0.00535686566649,0.0698406839848,0.99999994276,0.000215522324593,-0.000260511583131,1.28271134292e-05,1793239987515238144
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.40564379,679.40564379,661.59435621,635.40564379,878.59435621,787.40564379,803.40564379,652,631.40564379,652.40564379,0.400982026671,-0.0053589694616,0.069840350398,0.999999943207,0.000212187436185,-0.000261520699818,1.29886401491e-05,1793239987531904768
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.823599144,679,661.823599144,635,879,787,803,652,631,652,0.400981309045,-0.00536044175288,0.0698401213083,0.999999943474,0.000210207155311,-0.000262089947252,1.31800712206e-05,1793239987548571392
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.268018521,679,661.268018521,635,879,787,803,652,631,652,0.400981862523,-0.00536055660513,0.0698401168387,0.999999943373,0.000211138649768,-0.000261713680641,1.34357827657e-05,1793239987565238016
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.306905762,679.306905762,661,635.306905762,879,787,803.306905762,652,631,652,0.400982380382,-0.00536090036759,0.069840348155,0.999999943478,0.000211449484409,-0.000261052369647,1.36155827147e-05,1793239987581904640
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.899859015,679.899859015,661,635.899859015,879,787,803.899859015,652,631,652,0.400982865042,-0.0053614574828,0.0698407992326,0.999999943774,0.000211181841149,-0.000260125386797,1.37246302404e-05,1793239987598571264
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.494240362,636,879,787,804,652,631,652,0.400983069056,-0.00536067369299,0.0698408627328,0.99999994367,0.000211595329863,-0.000260199647623,1.3572514823e-05,1793239987615238144
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.913427978,635.913427978,879,787,804,652,631,652,0.400983047142,-0.00535999862234,0.0698408094113,0.999999943522,0.000211783763013,-0.000260624551289,1.33932333681e-05,1793239987631904512
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.334406318,635.334406318,879,787,804,652,631,652,0.400982064476,-0.00536149191336,0.0698405395653,0.999999943588,0.000209904697177,-0.000261886702248,1.33612970292e-05,1793239987648571392
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.757430323,661,635,879,787,804,652.242569677,631,652,0.400983529822,-0.00536219448394,0.0698412448461,0.999999944012,0.0002086860059,-0.000261235836859,1.34555427152e-05,1793239987665238016
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.183250942,661,635,879,787,804,652.816749058,631,652,0.400988341774,-0.0053618160843,0.0698432831934,0.999999944923,0.00020837009296,-0.000257969744295,1.37222880523e-05,1793239987681904640
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.39095281,661,635,879,787,804,652.60904719,631,652,0.401005522786,-0.00536072097179,0.0698511321765,0.999999947645,0.00021114648024,-0.000244815647659,1.38386137609e-05,1793239987698571520
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.965168036,661,635,879,787,804,652.034831964,631,652,0.401028501899,-0.00535928989407,0.0698617049443,0.99999995094,0.000215372409162,-0.000227026465622,1.38844290235e-05,1793239987715237888
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.442273979,745,715,680,661,635,879,787.557726021,804,652,631,652,0.401077319818,-0.00536190367297,0.0698801737998,0.999999958638,0.000211983167605,-0.000193832445174,1.46912200627e-05,1793239987731904512
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.147317952,745,715,680,661.147317952,635.147317952,879,788,804,652,631.147317952,652,0.401130992292,-0.00536463090964,0.0698976711979,0.999999964582,0.00020886779732,-0.000164240572812,1.53560455106e-05,1793239987748571136
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.724790707,745,715,680,661.724790707,635.724790707,879,788,804,652,631.724790707,652,0.401193967463,-0.00536692673493,0.069910843148,0.999999967288,0.00020798802216,-0.000148071369011,1.54628551895e-05,1793239987765237760
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.299121348,745,715,680,661.700878652,635.700878652,879,787.700878652,804,652,632,652.299121348,0.401263096655,-0.00536814983594,0.0699185793567,0.999999969013,0.000207635121404,-0.000136543047429,1.47763250917e-05,1793239987781904384
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.870591075,745,715,680,661.129408925,635.129408925,879,787.129408925,804,652,632,652.870591075,0.401337829047,-0.00536839622712,0.0699213663513,0.999999969977,0.000207761937041,-0.000129240225137,1.3367463389e-05,1793239987798571264
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.543324726,745,715,680,661,635,879,787.456675274,804.456675274,652,632,652.543324726,0.401421092638,-0.00536979789051,0.0699204457922,0.999999970457,0.00020543948091,-0.000129431983753,1.13134101925e-05,1793239987815238144
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.953656969,661,635.046343031,879,787.953656969,804.953656969,652,631.953656969,652,0.401508803596,-0.00537172623447,0.0699183568787,0.999999970749,0.000202215854992,-0.000132396936072,9.06500641728e-06,1793239987831905024
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.372013302,661,635.627986698,879,787.372013302,804.372013302,652,631.372013302,652,0.401619038037,-0.00537583174999,0.0699153091921,0.99999997051,0.000196864914907,-0.00014205247014,6.75333662602e-06,1793239987848571648
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.202373824,661.202373824,636,879,787.202373824,804,652,631,652,0.401743826917,-0.0053789184669,0.0699147518197,0.999999970802,0.000193336016355,-0.000144919591774,4.04558940935e-06,1793239987865238016
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763883319,661.763883319,636,879,787.763883319,804,652,631,652,0.401894444316,-0.00538019720788,0.0699186137971,0.999999972155,0.000193040541058,-0.000135739892274,6.3495740655e-07,1793239987881904640
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.341888007,745,715,679.658111993,661.658111993,636,879,788,804,652.341888007,631,652,0.402064335355,-0.00538143833197,0.0699227244271,0.999999973639,0.000190728436655,-0.000127805684444,-3.17665312516e-06,1793239987898571008
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.931862259,745,715,679.068137741,661.068137741,636,879,788,804,652.931862259,631,652,0.402248212055,-0.00538265216002,0.0699270154888,0.999999975204,0.000186952993549,-0.00012077524925,-7.27922846409e-06,1793239987915237632
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.477915549,745,715,679,661,635.477915549,879,787.477915549,804,652.477915549,631,652.522084451,0.402453801938,-0.00538688755025,0.0699318210163,0.999999977374,0.000180757404245,-0.000111565178727,-1.14730219554e-05,1793239987931904512
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.110307542,635,879,787,804,652,631,652.889692458,0.402669990849,-0.00539136131031,0.0699362289003,0.999999979466,0.000174000951501,-0.000102672218522,-1.58446342769e-05,1793239987948571648
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.689888457,635,879,787,804,652,631,652.310111543,0.402919209116,-0.00539517071247,0.0699386593409,0.999999981329,0.000166202816128,-9.63390741138e-05,-2.09220591745e-05,1793239987965238272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.732682911,745.267317089,715,679,661.732682911,635.267317089,879,787,803.732682911,652,631.267317089,652.267317089,0.403189916998,-0.00539944714963,0.0699426604083,0.999999983037,0.000159972064373,-8.75377582252e-05,-2.59335724689e-05,1793239987981904896
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.15773121,745.84226879,715,679,661.15773121,635.84226879,879,787,803.15773121,652,631.84226879,652.84226879,0.403485355607,-0.0054042610611,0.0699484689889,0.999999984546,0.000155545093958,-7.58960145917e-05,-3.08692328794e-05,1793239987998571520
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.414207996,745.585792004,715,679.414207996,661.414207996,635.585792004,879,787,803.414207996,652,631.585792004,653,0.403803027232,-0.00541057518568,0.0699560544207,0.999999986951,0.000144140455266,-6.34902666377e-05,-3.59316852351e-05,1793239988015238144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.985008307,745.014991693,715,679.985008307,661.985008307,635.014991693,879,787,803.985008307,652,631.014991693,653,0.404129104094,-0.00541745646927,0.0699643115952,0.999999989405,0.000130097892591,-5.0795685284e-05,-4.10420714639e-05,1793239988031904768
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714.419455397,679.419455397,661.419455397,635.580544603,879,787,804,652,631,652.419455397,0.404480380296,-0.00542185964456,0.0699645595556,0.999999995679,6.35640887976e-05,-5.2952928494e-05,-4.24043202799e-05,1793239988048571648
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714.170889361,679.170889361,661,635.829110639,879,787,804,652,631,652,0.404848984752,-0.00542610760551,0.0699660678181,0.999999997363,3.03381673906e-05,-5.16774248086e-05,-4.10366254901e-05,1793239988065238272
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714.747330186,679.747330186,661,635.252669814,879,787,804,652,631,652,0.405257099211,-0.00543014584086,0.0699710796858,0.999999995427,7.95179360129e-05,-4.13047058671e-05,-3.34302022467e-05,1793239988081904896
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.676453256,745,715,680,661.323546744,635,879,787,804,652,631,652,0.405685642586,-0.00543637540858,0.0699734980752,0.999999994298,9.48155379958e-05,-3.71111248922e-05,-3.22090505129e-05,1793239988098571520
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.100411653,745,715,680,661.899588347,635,879,787,804,652,631,652,0.406130128666,-0.00544431508563,0.0699738925227,0.99999999514,8.36716092988e-05,-3.7739722655e-05,-3.59709437699e-05,1793239988115238400
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.485906469,745,715,679.514093531,661.514093531,635,879,787,804,652,631.485906469,652,0.406555580513,-0.00545023619967,0.0699588457475,0.999999995301,6.43211508125e-05,-6.18973293951e-05,-3.78206556273e-05,1793239988131904768
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.926741101,745,715,679.073258899,661,635,879,787,804,652,631.926741101,652.073258899,0.406992045798,-0.00545834472999,0.069941760787,0.999999994419,4.32602487948e-05,-8.82481774862e-05,-3.87755035576e-05,1793239988148571392
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.347233076,745,715,679.652766924,661,635,879,787,804,652,631.347233076,652.652766924,0.407532387276,-0.00548451404514,0.0699331179717,0.999999994537,2.2351790422e-05,-9.54292984187e-05,-3.63361130475e-05,1793239988165237760
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.230335685,745,715,680,661.230335685,635,879,787,804.230335685,652,631.230335685,653,0.408093524485,-0.00550590451955,0.0699342463959,0.999999995529,4.57546802962e-07,-8.78309801831e-05,-3.50372799488e-05,1793239988181904384
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.805005364,745,715,680,661.805005364,635,879,787,804.805005364,652,631.805005364,653,0.408685749668,-0.00552015099593,0.0699499820662,0.999999997419,-2.29103680864e-05,-5.81385455732e-05,-3.54434919007e-05,1793239988198571264
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.621111306,661.621111306,635,879,787,804.621111306,652,631.621111306,653,0.409294916747,-0.0055233832554,0.069957884696,0.999999998316,-2.44303081387e-05,-3.80557999228e-05,-3.63602134398e-05,1793239988215238400
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.047631849,661.047631849,635,879,787,804.047631849,652,631.047631849,653,0.409912784876,-0.00552095880071,0.0699617644094,0.999999998925,-1.4729500698e-05,-2.29084273459e-05,-3.75391239803e-05,1793239988231905280
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.543880965,661,635.543880965,879,787,804,652,631,652.456119035,0.41051626913,-0.00553388318537,0.0699509879612,0.999999997593,-3.62405475112e-05,-4.45681510064e-05,-3.89048696472e-05,1793239988248571648
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.134252538,635.865747462,879.268505077,787,803.865747462,652,631,652.134252538,0.41113793423,-0.00554588166273,0.0699443347416,0.999999995867,-5.59844197765e-05,-5.93859419323e-05,-4.00708482084e-05,1793239988265238272
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.715387841,635.284612159,880.430775681,787,803.284612159,652,631,652.715387841,0.411824454236,-0.0055501701923,0.0699558254531,0.99999999654,-6.04351049933e-05,-4.03312881742e-05,-4.05155337146e-05,1793239988281904896
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.29357029,715,679.70642971,662.29357029,635,880.41285942,787,803,652,631,652.70642971,0.412542261143,-0.00555320231554,0.0699782893266,0.99999999719,-6.32501560423e-05,-3.29810169929e-06,-4.01059814567e-05,1793239988298571776
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.868918566,715,679.131081434,662.868918566,635,879.262162868,787,803,652,631,652.131081434,0.413290098279,-0.00555502850102,0.0700112855871,0.999999995864,-6.44952744354e-05,5.09914475159e-05,-3.88765049313e-05,1793239988315238400
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.558290556,715,679.441709444,662.558290556,635.441709444,879,787,803.441709444,652,631,652.441709444,0.41403588705,-0.00553158748816,0.0700216829122,0.999999996455,-3.63602912218e-05,6.50735033299e-05,-3.91526606475e-05,1793239988331905024
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.01431952,715,680,662,636,879,787.01431952,804,652,631,652.98568048,0.414779670362,-0.00550115777769,0.0700240300564,0.999999997096,-1.86798465532e-07,6.49099982518e-05,-3.99384400787e-05,1793239988348571392
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.610234715,715,680,662,636,879,787.610234715,804,652,631,652.389765285,0.415466549622,-0.00548967182243,0.0699702326818,0.999999998493,1.03939861306e-05,-3.2011784026e-05,-4.33798811029e-05,1793239988365238016
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.80078342,715,680,662,636,879.19921658,787.80078342,804,651.80078342,631,652,0.41618970725,-0.00548720695685,0.069931535492,0.999999993963,1.0166013956e-05,-9.90979623286e-05,-4.63716431579e-05,1793239988381904640
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.224910356,715,680,662,636,879.775089644,787.224910356,804,651.224910356,631,652,0.416981455928,-0.00550179816195,0.0699213880503,0.999999992743,-1.04979501665e-05,-0.000109774303789,-4.85132028083e-05,1793239988398571520
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.648810646,745,715,679.648810646,662,635.648810646,879.648810646,787,804,651.351189354,631,652,0.417803563343,-0.00551157532457,0.0699377286637,0.99999999526,-2.25778369846e-05,-8.15541476539e-05,-4.81621947807e-05,1793239988415238144
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.072565716,745,715,679.072565716,662,635.072565716,879.072565716,787,804,651.927434284,631,652,0.418645125766,-0.005518267464,0.0699710438367,0.999999998104,-2.91567177568e-05,-2.84076269022e-05,-4.62138538252e-05,1793239988431904768
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.502270583,661.497729417,635,879,787,804,652,631,652,0.419511401823,-0.00552308786176,0.0699922864396,0.999999998126,-3.95632565623e-05,-9.31729932247e-07,-4.67122846861e-05,1793239988448571392
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.07965425,745,715,680,661.07965425,635,879,787,804,652,631,652,0.420374306714,-0.00552738589204,0.0700114167568,0.999999997366,-4.98696211152e-05,2.31240942593e-05,-4.74038008817e-05,1793239988465238016
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.674837919,745,715,680,661.674837919,635,879,787,804,652,631,652,0.421192348686,-0.00553004840242,0.0700281331379,0.999999996127,-5.59585740185e-05,4.89812663109e-05,-4.70635088417e-05,1793239988481904640
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.260540127,787,804,652,631,652.260540127,0.422024026095,-0.00552596040216,0.0700234133817,0.99999999669,-5.16546208823e-05,4.04771004203e-05,-4.80976878647e-05,1793239988498571264
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.834824762,787,804,652,631,652.834824762,0.422872123512,-0.00551374338327,0.0699928800594,0.999999998059,-3.48354477816e-05,-9.40526048836e-06,-5.07870158408e-05,1793239988515237888
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.40544859,804,652,631,653,0.423668020279,-0.00550722747855,0.0699308979986,0.999999992453,-2.87283705611e-05,-0.000105785723107,-5.5476141869e-05,1793239988531904768
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.115035019,746,714,682,655,630,880.115035019,783,805,652,630,652.884964981,0.450471170397,-0.0055555033901,0.0695283705575,0.999999721037,-0.000104761211604,-0.000737256243209,-5.83450316013e-05,1793239990591453952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.704272875,746,714,682,655,630,880.704272875,783,805,652,630,652.295727125,0.450396921709,-0.00555645633018,0.069523103173,0.999999715629,-0.000104968966631,-0.00074463395963,-5.69486392265e-05,1793239990608120576
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,656,630,881,783.23193589,805,652,630.23193589,653,0.449532188774,-0.00553790264551,0.0695400895143,0.999999731581,-8.56084143357e-05,-0.000726527685961,-4.08139016377e-05,1793239990724786944
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804,652,631,652.165499861,0.40098056269,-0.00536345202973,0.069836460137,0.999999942038,0.000205960930544,-0.000270757253468,1.39245437503e-05,1793239992574787584
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.661970141,661,635,879,787,804,652,631.338029859,652.661970141,0.400980612308,-0.00536296539607,0.0698368480102,0.999999941747,0.000208733842249,-0.000269709158569,1.38951769538e-05,1793239992608120832
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.085012663,661,635,879,787,804,652,631.914987337,652.085012663,0.400980243688,-0.00536388790976,0.0698373180389,0.999999942339,0.000207011054131,-0.000268836864878,1.39542902373e-05,1793239992624787456
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.471514199,661,635,879,787.471514199,804,652,631.528485801,652,0.400980381474,-0.0053632839187,0.0698375251644,0.999999942292,0.000207755015541,-0.000268441798533,1.3857685295e-05,1793239992641454336
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.400908805,879,786.801817611,803.400908805,652,631.599091195,652.599091195,0.400983083008,-0.00536245117989,0.0698389929621,0.999999942896,0.000208442980456,-0.000265660315869,1.35813107913e-05,1793239992724787200
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.978398834,879,787.956797669,803.978398834,652,631.021601166,652.021601166,0.400984374158,-0.00536358170281,0.0698400651554,0.999999943571,0.000207468111009,-0.00026387040797,1.37135059679e-05,1793239992741453824
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.552974645,661,635.447025355,879,787.447025355,804,652,631,652,0.400982786916,-0.00536274057503,0.0698394570058,0.999999942931,0.000209419742199,-0.00026475751923,1.35951054356e-05,1793239992758120448
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80cca6b524583b714cd3c8fbda1e4e1d28d81bf8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d85c9030cbb1be2d7f488a0293cc4c3f9a6633a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..214b973ac9d719b106d1fb714832a5458c76fa8d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
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+61,1.016666667,BASELINE,766,745.616712224,715,680,661,635.616712224,879,787,803.766575552,652,631,652.616712224,0.400982374082,-0.00536289966852,0.0698408736672,0.999999943759,0.000208677825911,-0.000262221518943,1.32560283651e-05,1793239993931063296
+62,1.033333333,BASELINE,766,745.021384747,715,680,661,635.021384747,879,787,804.957230506,652,631,652.021384747,0.400981780809,-0.00536362017186,0.069840894372,0.999999943309,0.000210199481964,-0.000262707973603,1.35519831277e-05,1793239993947729920
+63,1.050000000,BASELINE,766,745,715,680,661,635,879,787,804.44439386,652,631,652.55560614,0.400982392366,-0.00536438264878,0.0698411926807,0.999999943645,0.000209412660657,-0.000262043952518,1.37838682375e-05,1793239993964396800
+64,1.066666667,BASELINE,766,745,715,679.867906797,661,635,879,787.132093203,804,652,631,652.867906797,0.400982904966,-0.005364716981,0.0698414464563,0.999999943922,0.000208730956512,-0.000261526582669,1.38462655672e-05,1793239993981063680
+65,1.083333333,BASELINE,766,745,715,679.290815445,661,635,879,787.709184555,804,652,631,652.290815445,0.400982932972,-0.00536360370242,0.0698415153629,0.999999943905,0.00020869313347,-0.000261647662227,1.33457311899e-05,1793239993997730048
+66,1.100000000,BASELINE,766,745,715,679.291668222,661,635,879,787.708331778,804,652,631,652.291668222,0.400982310988,-0.00536286815406,0.0698412336688,0.999999943814,0.000208282364923,-0.000262335960346,1.30684385075e-05,1793239994014396672
+67,1.116666667,BASELINE,766,745,715,679.879629676,661,635,879,787.120370324,804,652,631,652.879629676,0.400981028706,-0.00536251632568,0.0698405958143,0.999999943646,0.000207492737044,-0.000263600471458,1.3017927515e-05,1793239994031063296
+68,1.133333333,BASELINE,766,745,715,680,661.460796273,635,879,787,804,652,631,652.539203727,0.400981059428,-0.00536383942712,0.0698408119219,0.999999943884,0.000206928265813,-0.000263123196982,1.34085950548e-05,1793239994047729664
+69,1.150000000,BASELINE,766,745,715,679.959984985,661.959984985,635,879,787,804,652,631,652,0.400981485424,-0.00536545276267,0.0698412472085,0.99999994423,0.00020640940583,-0.000262189908168,1.38599945693e-05,1793239994064396032
+70,1.166666667,BASELINE,766,745,715,679.383430816,661.383430816,635,879,787,804,652,631,652,0.400982679347,-0.00536517634858,0.0698416737347,0.999999944645,0.000205724951701,-0.000261154278194,1.36029040688e-05,1793239994081062912
+71,1.183333333,BASELINE,766,745,715,679,661,635.191961603,879,787.191961603,804,652,631,652,0.400983045919,-0.00536464323261,0.0698417559332,0.999999944653,0.000206138171085,-0.000260805664089,1.3436259444e-05,1793239994097729536
+72,1.200000000,BASELINE,766,745,715,679,661,635.765047564,879,787.765047564,804,652,631,652,0.400981769851,-0.00536360045563,0.0698411544972,0.99999994385,0.000208730733018,-0.000261821064676,1.34491878006e-05,1793239994114396416
+73,1.216666667,BASELINE,766,745,715,679,661,635.651499409,879,787.651499409,804,652,631.348500591,652.348500591,0.400982792093,-0.00536348675758,0.0698419267519,0.999999944012,0.000209280400808,-0.000260757947937,1.35455146795e-05,1793239994131063040
+74,1.233333333,BASELINE,766,745,715,679,661,635.060842849,879,787.060842849,804,652,631.939157151,652.939157151,0.400985411318,-0.00536401863098,0.069843653517,0.999999944842,0.000208410561498,-0.00025825057139,1.36997911004e-05,1793239994147729920
+75,1.250000000,BASELINE,766,745,715,679.519857102,661.519857102,635,879,787,804,652,631.480142898,652.480142898,0.400983975645,-0.00536263362562,0.069842188216,0.999999944241,0.000209640832628,-0.00025960284328,1.32474177891e-05,1793239994164396800
+76,1.266666667,BASELINE,766,745.098889695,715,680,661.901110305,635.098889695,879,787,804,652,631,652,0.400982595457,-0.00536161104427,0.069840861997,0.999999943758,0.000210261370705,-0.000260975880497,1.28835024933e-05,1793239994181063168
+77,1.283333333,BASELINE,766,745.675391679,715,680,661.324608321,635.675391679,879,787,804,652,631,652,0.400983732255,-0.00536340205626,0.0698419779544,0.999999944654,0.000206772247632,-0.000260308495426,1.32832890304e-05,1793239994197729792
+78,1.300000000,BASELINE,766,745.743649167,715,680,661.256350833,635.743649167,879,787,803.743649167,652,631,652,0.400984472114,-0.00536408191111,0.0698427972034,0.99999994501,0.000205715488142,-0.000259769329302,1.34723978677e-05,1793239994214396672
+79,1.316666667,BASELINE,766,745.156946225,715,680,661.843053775,635.156946225,879,787,803.156946225,652,631,652,0.40098470045,-0.00536332984889,0.0698432340926,0.999999944678,0.000207793247454,-0.000259395395383,1.33900122485e-05,1793239994231063296
+80,1.333333333,BASELINE,766,745,715,680,661.575583742,635,879,787,803,652,631.424416258,652.424416258,0.400983507866,-0.00536317833118,0.069842347866,0.999999943979,0.000209486407245,-0.000260716015613,1.3571636416e-05,1793239994247729664
+81,1.350000000,BASELINE,765.996193962,745,715,679.996193962,661,635,879,787,803,652,631.996193962,652.996193962,0.400981812936,-0.00536323692792,0.0698409902228,0.999999943148,0.000211038670694,-0.000262631338363,1.38452062481e-05,1793239994264396288
+82,1.366666667,BASELINE,765.42017603,745,715,679.42017603,661,635,879,787,803,652,631.42017603,652.42017603,0.400982609147,-0.00536191189938,0.0698414040003,0.999999943288,0.000212524549567,-0.000260916601724,1.34467176696e-05,1793239994281062912
+83,1.383333333,BASELINE,765.15613235,745,715,679,661,635,879,787,803.15613235,652,631,652,0.400983352931,-0.00536097116696,0.0698417812541,0.999999943508,0.000213193604266,-0.000259537945333,1.31202026131e-05,1793239994297729792
+84,1.400000000,BASELINE,765.733223956,745,715,679,661,635,879,787,803.733223956,652,631,652,0.400983955365,-0.00536106656167,0.0698420600336,0.999999943958,0.000211660363007,-0.00025906541782,1.2987740273e-05,1793239994314396416
+85,1.416666667,BASELINE,766,745,715,679,661,635,879,787,803.683286375,652,631,652.316713625,0.400983687226,-0.00536153610623,0.0698418403188,0.999999943937,0.000210528745908,-0.000260067341981,1.29881447163e-05,1793239994331063040
+86,1.433333333,BASELINE,766,745,715,679,661,635,879,787,803.094296373,652,631,652.905703627,0.400982670662,-0.00536232730465,0.0698411920521,0.999999943508,0.000209742402244,-0.000262336841445,1.31027737657e-05,1793239994347729664
+87,1.450000000,BASELINE,766,745,715,679.484929954,661,635,879,787.484929954,803.484929954,652,631,652.515070046,0.400982247181,-0.00536367352049,0.0698410770703,0.99999994359,0.000209176369184,-0.000262467450659,1.324383622e-05,1793239994364396544
+88,1.466666667,BASELINE,766,745,714.937266515,680,661.062733485,635,879.062733485,787.937266515,804,651.937266515,631,652.062733485,0.400982142257,-0.00536487766264,0.0698411118821,0.999999943806,0.000208603195436,-0.00026209414772,1.33578699472e-05,1793239994381062912
+89,1.483333333,BASELINE,766,745,714.355838886,680,661.644161114,635,879.644161114,787.355838886,804,651.355838886,631,652.644161114,0.40098373649,-0.00536403237216,0.0698415447347,0.999999944318,0.000207623759885,-0.000260925391827,1.32067638408e-05,1793239994397729792
+90,1.500000000,BASELINE,766,745,714.22085302,679.77914698,661.77914698,635,879.77914698,787,803.77914698,651.22085302,631,652.77914698,0.400983970356,-0.00536339926819,0.0698414644475,0.99999994449,0.000206781308527,-0.000260942058005,1.31016221244e-05,1793239994414396416
+91,1.516666667,BASELINE,766,745,714.790074844,679.209925156,661.209925156,635,879.209925156,787,803.209925156,651.790074844,631,652.209925156,0.400982058406,-0.00536310086274,0.0698405747446,0.999999944125,0.000206154933179,-0.00026282858357,1.30689836624e-05,1793239994431063296
+92,1.533333333,BASELINE,765.625236144,745,715,679.374763856,661,635.374763856,878.625236144,787,803.374763856,652,631,652,0.400981740475,-0.00536333472479,0.0698405885686,0.999999944057,0.000206706313238,-0.000262655082734,1.3096526381e-05,1793239994447730176
+93,1.550000000,BASELINE,765.031510109,745,715,679.968489891,661,635.968489891,878.031510109,787,803.968489891,652,631,652,0.400982353876,-0.00536387957318,0.0698411302935,0.99999994416,0.000207945816936,-0.000261277976491,1.31592309786e-05,1793239994464397056
+94,1.566666667,BASELINE,765.546429635,745,715,680,661,635.453570365,878.546429635,787,804,652,631,652,0.400982452823,-0.00536409970221,0.0698411922057,0.999999943979,0.000209031909895,-0.000261090051972,1.33739105667e-05,1793239994481063680
+95,1.583333333,BASELINE,766,745,715,680,661,635.122695987,879,787,804,652,631,652,0.400982478494,-0.00536414669547,0.0698412673608,0.999999943842,0.00020968259552,-0.000261086711926,1.35248013656e-05,1793239994497730304
+96,1.600000000,BASELINE,766,745,715,680,661,635.69606579,879,787,804,652,631,652,0.400982340924,-0.00536362459266,0.0698414899335,0.999999943923,0.000208765571277,-0.000261516559098,1.34101039888e-05,1793239994514396928
+97,1.616666667,BASELINE,766,745,715,680,661,635.72219407,879,787.27780593,804.27780593,652,631,652,0.400982781056,-0.00536340097168,0.0698418655839,0.999999944196,0.000208090051403,-0.000261020201046,1.32176050635e-05,1793239994531063552
+98,1.633333333,BASELINE,766,745,715,680,661,635.131011889,879,787.868988111,804.868988111,652,631,652,0.400983872858,-0.00536351405022,0.0698424139118,0.999999944685,0.000207686958216,-0.000259479046259,1.29373428722e-05,1793239994547729920
+99,1.650000000,BASELINE,765.549968967,745,715,680,661,635.450031033,879,787.549968967,804.099937934,652,631,652,0.400983987938,-0.00536411998716,0.0698428171092,0.999999945066,0.00020667845847,-0.000258803252509,1.31854350766e-05,1793239994564396800
+100,1.666666667,BASELINE,765,745,715,679.971967061,661,635.971967061,879,787,803,652,631,652,0.400983859258,-0.00536486613832,0.0698431625288,0.999999945396,0.000205538171703,-0.000258414703481,1.35727902027e-05,1793239994581063680
+101,1.683333333,BASELINE,765,745,715,679.396976324,661,635.396976324,879,787,803,652,631,652,0.400984400137,-0.00536561025895,0.0698431868204,0.999999945359,0.000205189535735,-0.000258823653285,1.37423766336e-05,1793239994597730048
+102,1.700000000,BASELINE,765.177457068,745,715,679,661,635,879,787,803.177457068,652,631,652,0.40098442893,-0.00536567122911,0.0698431216277,0.99999994517,0.000205405933261,-0.000259384702019,1.37229174213e-05,1793239994614396672
+103,1.716666667,BASELINE,765.750647487,745,715,679,661,635,879,787,803.750647487,652,631,652,0.400983315763,-0.00536420875785,0.0698428568829,0.999999944638,0.000206882368553,-0.000260284934811,1.32818820446e-05,1793239994631063040
+104,1.733333333,BASELINE,766,745,715,679,661,635,879,787,803.663365136,652,631,652,0.400983065327,-0.00536413893523,0.069842630469,0.999999944559,0.000206840423163,-0.000260626573449,1.31656820602e-05,1793239994647729920
+105,1.750000000,BASELINE,766,745,715,679,661,635,879,787,803.067524144,652,631,652,0.400983479188,-0.00536514144065,0.0698424335696,0.99999994483,0.000205629337066,-0.000260538099194,1.32996026584e-05,1793239994664396800
+106,1.766666667,BASELINE,766,745,715,679.511738409,661,635,879,787,803,652,631,652.511738409,0.400983998113,-0.00536408888968,0.0698428055952,0.999999944758,0.000207246486507,-0.000259521401367,1.34703816106e-05,1793239994681063680
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652,0.400982681414,-0.00536353708111,0.0698422046291,0.99999994421,0.00020810438368,-0.000260941820877,1.35155320633e-05,1793239994724168704
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.570382332,661,635.570382332,879,787.570382332,804,652,631,652.570382332,0.400982190254,-0.00536312993778,0.0698419655817,0.999999943725,0.000209961670705,-0.000261310920965,1.35397148949e-05,1793239994740835840
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.852867057,661.147132943,635.852867057,879,787.852867057,804,652,631,653,0.400981986878,-0.00536340711898,0.0698417532713,0.999999943619,0.000210121778778,-0.000261586987981,1.35584015469e-05,1793239994757502720
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.25668014,661.74331986,635.25668014,879,787.25668014,804,652,631,653,0.400982661831,-0.00536577287821,0.0698416225628,0.999999944663,0.000205102048303,-0.000261579115476,1.35603137064e-05,1793239994774169088
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.329795442,661.670204558,635.329795442,879,787,804,652,631,652.670204558,0.400983544783,-0.0053658875163,0.0698421610663,0.999999945091,0.000204084019319,-0.000260740634734,1.34932997582e-05,1793239994790835456
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.908928848,661.091071152,635.908928848,879,787,804,652,631,652.091071152,0.40098458499,-0.00536430022059,0.0698432055195,0.999999945062,0.000206091429965,-0.00025927418241,1.33741750369e-05,1793239994807501824
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.484782706,636,879,786.515217294,804,652,631,652,0.400984537228,-0.0053643131752,0.0698430584678,0.999999944967,0.000206724787731,-0.000259145403837,1.32121312332e-05,1793239994824168192
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.938719845,680,661.938719845,635.938719845,878.938719845,786.061280155,804,652,631,652.061280155,0.400984269932,-0.00536452049983,0.0698427158279,0.999999944833,0.000207142269073,-0.0002593361902,1.30926795825e-05,1793239994840835072
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+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.815310509,680,661.815310509,635,878.815310509,787,804,652,631.815310509,652.184689491,0.401005444952,-0.00536210944483,0.0698530772643,0.999999948257,0.000209775035002,-0.000243520212986,1.33527290909e-05,1793239994890835200
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.60762444,661.60762444,635,879,787,804,652,631.60762444,652.39237556,0.401037640468,-0.00536314943187,0.0698663661032,0.999999953772,0.000209284489713,-0.000220145409926,1.3853660244e-05,1793239994907502080
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765.118877492,745,715,680,661.881122508,635,879.118877492,787,804,652,631,652,0.40119694664,-0.00536948312579,0.0699127678346,0.999999968716,0.00020515807791,-0.000142318079209,1.49334607907e-05,1793239994957501952
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.709735296,745,715,680,661.290264704,635,879.709735296,787,804,652,631,652,0.40126495042,-0.00537017026027,0.069918156934,0.999999969772,0.000204860682511,-0.000135260360682,1.38734926994e-05,1793239994974168576
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.705808886,661,635,879.705808886,787,803.705808886,652,631,652.294191114,0.401340945921,-0.00537169796724,0.0699208380693,0.999999970655,0.000203571439791,-0.000130736831674,1.25025207582e-05,1793239994990835200
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.127535116,661,635,879.127535116,787,803.127535116,652,631,652.872464884,0.40142465854,-0.00537403736443,0.0699209042864,0.999999971399,0.000201324429815,-0.000128660417424,1.08312311771e-05,1793239995007501824
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.447979197,661,635,879,787,803,652,631,653,0.401521055842,-0.005374919627,0.0699185825621,0.999999971166,0.000199562011922,-0.000133314686615,8.37872012154e-06,1793239995024168704
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.976719156,679.976719156,661,635,878.976719156,787,803.023280844,652,631,652.976719156,0.401622507455,-0.00537546522872,0.0699158171868,0.999999970676,0.000197934978623,-0.000139415377975,5.70040316915e-06,1793239995040835584
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.387609612,679.387609612,661,635,878.387609612,787,803.612390388,652,631,652.387609612,0.401759570479,-0.00537784900026,0.0699186906861,0.999999971706,0.000196265916569,-0.000134384524613,2.90635508101e-06,1793239995057501952
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714.19819149,679,661.19819149,635,878.19819149,787,804,652,631,652,0.401907036385,-0.00538072511805,0.0699219086354,0.999999972917,0.000193530000281,-0.000129271809398,-6.21309558625e-08,1793239995074168576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714.777628333,679,661.777628333,635,878.777628333,787,804,652,631,652,0.40207451348,-0.00538454832328,0.069925789176,0.999999974494,0.000188741860746,-0.000124001623569,-3.36616920918e-06,1793239995090834944
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.354972336,662,635,879,787,804,652,631,652,0.40226132849,-0.00538759453706,0.069929812666,0.999999976249,0.000184091458897,-0.000116435944934,-7.38595250499e-06,1793239995107502336
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.931013023,662,635,879,787,804,652,631,652,0.40246018671,-0.00539015685935,0.0699339251818,0.999999978043,0.000179526836333,-0.000107440687307,-1.18514851579e-05,1793239995124170496
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.496318621,661.496318621,635,878.496318621,787,804,652,631,652,0.402685342471,-0.0053934309473,0.0699361337405,0.999999979838,0.000172199895097,-0.000101952297268,-1.66176273089e-05,1793239995140837120
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.921268219,745,715,679,661,635,878.078731781,787,803.921268219,652,631,652,0.402918087934,-0.00539676481354,0.0699379917102,0.999999981452,0.000164967098422,-9.70662641924e-05,-2.14593773725e-05,1793239995157502976
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.327638573,745,715,679,661,635,878.672361427,787,803.327638573,652,631,652,0.40317707028,-0.00539985630815,0.0699392509736,0.999999982394,0.000160807858793,-9.29992307653e-05,-2.65281204462e-05,1793239995174169088
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.259475081,745,715,679,661,635.259475081,879,787,803.259475081,652,631,652,0.403470273151,-0.00540544279844,0.0699456263884,0.999999984573,0.000152955106394,-8.03587344799e-05,-3.16293716062e-05,1793239995190835200
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.838562528,745,715,679,661,635.838562528,879,787,803.838562528,652,631,652,0.403805627658,-0.00541410253732,0.0699583037002,0.999999987813,0.000140552813823,-5.7157745539e-05,-3.67706647761e-05,1793239995207501824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.588361834,745,715,679,661,635.588361834,879,787,804,652,631,652.411638166,0.40414348983,-0.00541922070124,0.0699633934276,0.999999995146,7.26925922378e-05,-5.17961489341e-05,-4.17274199299e-05,1793239995224168448
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.01761,745,715,679,661,635.01761,879,787,804,652,631,652.98239,0.404482321301,-0.00542296991274,0.0699655502672,0.999999997354,-1.66042096251e-05,-5.33301501197e-05,-4.66128437857e-05,1793239995240835328
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.574424293,745,715,679.574424293,661.574424293,635.574424293,879,787,803.425575707,652,631.574424293,652.425575707,0.404867094705,-0.0054254905891,0.0699694152091,0.999999996817,6.17781782393e-05,-3.99549762363e-05,-3.08689657605e-05,1793239995257501952
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.836651284,636,879,787,803,652,631.836651284,652,0.405264952978,-0.0054285890673,0.0699721783139,0.999999992189,0.000118964269923,-3.18412388381e-05,-2.13651894635e-05,1793239995274168576
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.257370802,636,879,787,803,652,631.257370802,652,0.405692404702,-0.00543325838134,0.0699719973652,0.999999992937,0.000108585836295,-3.83332017e-05,-2.94227682105e-05,1793239995290835200
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.678684165,879,787,803.321315835,652,631,652.321315835,0.40613410166,-0.00544289127708,0.0699686301476,0.999999994465,8.84119388133e-05,-4.54514726089e-05,-3.44727885517e-05,1793239995307502080
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.100472251,879,787,803.899527749,652,631,652.899527749,0.406587187909,-0.00545649261976,0.0699627154679,0.999999996078,6.04064427699e-05,-5.30704854094e-05,-3.71182287137e-05,1793239995324168704
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.52641107,652,631,652.52641107,0.407067641375,-0.00547699130134,0.0699478694459,0.999999996201,3.25219073393e-05,-7.25669689551e-05,-3.56896583983e-05,1793239995340835328
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.951776186,661,635,879,787,803.048223814,652,631,652,0.407559609713,-0.00549822046727,0.0699331813271,0.999999995258,5.68590853256e-06,-9.11943810627e-05,-3.36800541037e-05,1793239995357501696
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.360861066,661,635,879,787,803.639138934,652,631,652,0.40811639169,-0.0055113461826,0.0699414081261,0.999999996762,-9.63658252672e-06,-7.1931031569e-05,-3.47737527292e-05,1793239995374168320
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.224480973,661,635,879,787.224480973,804,652,631,652.224480973,0.408699676077,-0.00551981642849,0.0699520688615,0.999999998011,-2.03620021726e-05,-4.78054646853e-05,-3.57481415771e-05,1793239995390835200
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.801081084,661,635,879,787.801081084,804,652,631,652.801081084,0.409324531909,-0.00552098413979,0.0699665474504,0.999999998919,-2.38764897919e-05,-1.60530619142e-05,-3.65353819552e-05,1793239995407502080
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787.621268308,804,652.378731692,631,652.621268308,0.409929148803,-0.00552884159306,0.0699629475295,0.999999998464,-3.45848066199e-05,-2.10432524211e-05,-3.78682015319e-05,1793239995424168704
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787.043064438,804,652.956935562,631,652.043064438,0.41052310614,-0.00554022243088,0.0699498259341,0.999999996986,-4.90820029342e-05,-4.53852047802e-05,-3.94883692758e-05,1793239995440835328
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652.456778819,631,652,0.411150140393,-0.00554410986046,0.0699477938007,0.999999996247,-5.46858373932e-05,-5.3672755455e-05,-4.04314096547e-05,1793239995457502208
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.871460437,745,715,680,661,635,879,787.128539563,804,652,631,652,0.411804608086,-0.0055485571898,0.0699532492311,0.999999996213,-6.03782330255e-05,-4.73840540238e-05,-4.1022377105e-05,1793239995474168832
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.291819072,745,715,680,661,635,879,787.708180928,804,652,631,652,0.412546010178,-0.00555708571241,0.0699818499698,0.999999996789,-6.88930568367e-05,5.52509947947e-06,-4.05689974095e-05,1793239995490835456
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.286565517,745,715,680,661.286565517,635,879,787.713434483,804,652,631,652,0.413298918624,-0.00555823129929,0.0700070303055,0.999999995644,-7.04716480695e-05,4.70483955135e-05,-3.91375629415e-05,1793239995507502080
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863675947,745,715,680,661.863675947,635,879,787.136324053,804,652,631,652,0.414063493298,-0.00555189142826,0.0700287427442,0.999999994246,-6.5017687777e-05,7.70277306291e-05,-3.6714491937e-05,1793239995524169216
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.561894848,745,715,680,662,635,879,787,804,652,631,652,0.414772885475,-0.00552016423422,0.0700070787221,0.999999998319,-2.679349615e-05,3.23113648352e-05,-3.99931879683e-05,1793239995540835584
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011983413,745,715,680,661.988016587,635.011983413,879,787,804,652,631,652.011983413,0.415466236591,-0.00548143650118,0.0699720689124,0.999999998168,2.04016556292e-05,-3.49694519015e-05,-4.49954065192e-05,1793239995557501696
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.599222568,745,715,680,661.400777432,635.599222568,879,787,804,652,631,652.599222568,0.416208817473,-0.00548356592995,0.0699403930037,0.999999995852,1.17178962439e-05,-7.6470404852e-05,-4.80827824477e-05,1793239995574168576
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,804,651.814964344,631,652.814964344,0.416982394046,-0.00549028243868,0.0699251677262,0.999999994222,-1.32552982653e-06,-9.52758709565e-05,-4.9765325138e-05,1793239995590835456
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,804,651.232216454,631,652.232216454,0.417822592145,-0.00550685833257,0.0699453011343,0.999999996414,-2.37395427005e-05,-6.53000728948e-05,-4.84283450405e-05,1793239995607501824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,803.653856041,651.346143959,631,652.346143959,0.418676299274,-0.00551569595578,0.069970101417,0.999999997818,-3.42572937824e-05,-3.10627285433e-05,-4.71655172943e-05,1793239995624168448
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,803.078402221,651.921597779,631,652.921597779,0.419538955694,-0.00551940720903,0.0699979933616,0.999999998246,-3.6894131818e-05,5.99775961093e-06,-4.59518132607e-05,1793239995640835328
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.505638635,879,787,803.494361365,652,631,652.505638635,0.420398749156,-0.00552440631357,0.0700154148375,0.999999997166,-4.64731970416e-05,3.5928030399e-05,-4.70880906725e-05,1793239995657502208
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.068819182,745,715,680,661.068819182,635,879.068819182,787,804,651.931180818,631,652,0.421254584808,-0.00552874624933,0.0700289023882,0.999999995512,-5.55080275093e-05,5.95789098021e-05,-4.84256156075e-05,1793239995674169088
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.659337006,745,715,680,661.659337006,635,879.659337006,787,804,651.340662994,631,652,0.42208384033,-0.00552654927485,0.0700250879308,0.999999996492,-5.21160586739e-05,4.41533870563e-05,-4.84787712613e-05,1793239995690835712
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.508094649,745,715,680,662,635,879.754047324,787,804,651,631,652,0.422894769021,-0.005519998399,0.069992199668,0.999999997633,-4.46789267895e-05,-1.35441093203e-05,-5.05383850833e-05,1793239995707502336
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.34550388,745,715,680,662,635,879.17275194,787,804,651,631,652,0.42368071022,-0.00550751122197,0.0699196708982,0.999999989661,-3.17264405418e-05,-0.000128877078373,-5.53336918754e-05,1793239995724168960
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.403553551,745,715,680,661.596446449,635.403553551,879,787,804,651.807107103,631,652,0.424541649655,-0.005508362204,0.0698872425388,0.999999983368,-3.81527478614e-05,-0.000168158438221,-5.94235775095e-05,1793239995740835584
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.97774904,745,715,680,661.02225096,635.97774904,879,787,804,652.955498079,631,652,0.425434301918,-0.00551485320478,0.0698717705744,0.999999981248,-5.27733461494e-05,-0.000175281497369,-6.32151769097e-05,1793239995757502208
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.554257153,714.445742847,680,661.554257153,635.445742847,879.554257153,787,804,651.891485694,631,652,0.42636028056,-0.00552305310783,0.0699323355445,0.999999992535,-5.88946758909e-05,-8.93983295727e-05,-5.89053569221e-05,1793239995774168832
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.865568784,714.134431216,680.134431216,661.865568784,635.134431216,880,787,803.865568784,651.134431216,631,652.134431216,0.427280713124,-0.00552974781838,0.0699897060779,0.999999996402,-6.39321933451e-05,-9.70317327356e-06,-5.49102604186e-05,1793239995790835456
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.27322501,714.72677499,680.72677499,661.27322501,635.72677499,880,787,803.27322501,651.72677499,631,652.72677499,0.428177677654,-0.00553108072934,0.0700257539714,0.99999999573,-6.64450508405e-05,3.61421028892e-05,-5.30996988577e-05,1793239995807502336
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.6898716,661,635.6898716,880,787,803.3101284,651.6898716,631,652.6898716,0.429069831846,-0.00553094519441,0.0700459791921,0.999999994236,-6.40533703389e-05,6.83416355077e-05,-5.2479864165e-05,1793239995824169216
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.114215643,661,635.114215643,880,787,803.885784357,651.114215643,631,652.114215643,0.429957867447,-0.00552955239678,0.0700526572619,0.999999993003,-5.74624936089e-05,8.88578729103e-05,-5.28795131438e-05,1793239995840836096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538340694,745,715,680.461659306,661.461659306,635,880,787,804,651,631,652,0.430779383849,-0.00552710395691,0.070012537784,0.999999996597,-5.76618793638e-05,2.13285232862e-05,-5.50198603797e-05,1793239995857502464
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.038310995,745,715,680.961689005,662,635,880,787,804,651,631,652,0.431581760069,-0.00552450008623,0.0699608895577,0.999999994297,-5.93068112789e-05,-6.75955441099e-05,-5.76073953627e-05,1793239995874168832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.625310191,745,715,680.374689809,662,635,880,787,804,651,631,652,0.432345819073,-0.00552341236311,0.0699100229932,0.999999985144,-5.75835291394e-05,-0.000150814883212,-6.04288153432e-05,1793239995890835712
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.210699691,662,635,880,787,804,651.210699691,631,652,0.433164253358,-0.00552459800296,0.0698986271425,0.999999982771,-5.96634756302e-05,-0.000164552627553,-6.18090033514e-05,1793239995907502592
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.793248451,662,635,880,787,804,651.793248451,631,652,0.434078650878,-0.00552979574105,0.0699568903703,0.999999994269,-6.84554726999e-05,-5.56672053028e-05,-6.06456629761e-05,1793239995924168960
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.370298934,715,680.629701066,662,635,880,787,804,651.629701066,631,652,0.434946038877,-0.00553503958879,0.0700017957143,0.999999995545,-7.150222411e-05,1.98299814967e-05,-5.8342622894e-05,1793239995940835328
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.944324406,715,680.055675594,662,635,880,787,804,651.055675594,631,652,0.435787563696,-0.00554030880428,0.0700393519777,0.999999992955,-7.13881261171e-05,7.69580305578e-05,-5.54125569438e-05,1793239995957501952
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.482190604,715,680.517809396,662,635,880,787,804,651,631,652,0.436589943684,-0.0055438504779,0.0700342002354,0.999999992687,-7.91431914628e-05,7.22354714908e-05,-5.6076755286e-05,1793239995974168576
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.185076365,714,681,659,633,880,786,804.185076365,651,631,653,0.446226335471,-0.00555505096105,0.0697001592086,0.999999892495,-9.61492357807e-05,-0.00044845161677,-6.82411401292e-05,1793239996240836096
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682,655,630,880.345139965,783,805.654860035,651.654860035,630,653,0.451198769117,-0.00556774539025,0.0696064431132,0.999999803868,-0.000117348042415,-0.000612469041424,-5.81021033449e-05,1793239996974169600
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.494531866,714,682,655,630,881,783,805,651.505468134,630,652.494531866,0.451199290013,-0.00556764898418,0.0696059794332,0.999999803741,-0.000118745232909,-0.000612373124019,-5.84505225479e-05,1793239997007502592
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.251573395,746,714.251573395,682,655,629,880,783,805,652,630,652.251573395,0.451199976647,-0.00556692069739,0.0696059665576,0.999999803589,-0.000118253962574,-0.000612693974463,-5.86886936421e-05,1793239997057501696
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+257,4.283333333,HOLD_POSE2,766,745,714,682,655,629,880,782,805,652,629,652,0.451199870212,-0.00556462713127,0.0696048695765,0.999999801934,-0.000114666040098,-0.000616077586646,-5.85859106205e-05,1793239997251258624
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.140441051,715,679.859558949,661,635,879,787,804,652,631,653,0.401021363179,-0.00536522497335,0.0698218654827,0.999999936888,0.000202998922224,-0.000291288295142,1.29064483136e-05,1793239999467243776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.71449315,715,679.28550685,661,635,879,787,804,652,631,653,0.401007770753,-0.00536291594829,0.0698240489187,0.999999936961,0.000207392545077,-0.000287916355176,1.30423051799e-05,1793239999483910400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.703968159,745.703968159,715,679.296031841,661,635.296031841,879,787,804,652,631,652.703968159,0.400997271872,-0.00536281532752,0.0698250118005,0.999999937293,0.00020809723585,-0.000286236383076,1.33213585557e-05,1793239999500577024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.115021641,745.115021641,715,679.884978359,661,635.884978359,879,787,804,652,631,652.115021641,0.400989833958,-0.00536489985666,0.0698247669807,0.999999937898,0.000205151838889,-0.000286230562317,1.37421006228e-05,1793239999517243648
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.046516878,745.953483122,715,679,661.046516878,635,878.046516878,787,803.046516878,652,631,653,0.400984957439,-0.00536322750202,0.0698279582074,0.999999938781,0.000208840583661,-0.000280430446289,1.34723965805e-05,1793239999550577152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.621631756,745.378368244,715,679,661.621631756,635,878.621631756,787,803.621631756,652,631,653,0.40098325539,-0.00536587790895,0.0698285433462,0.99999993948,0.000206130355957,-0.000279917682784,1.39798998709e-05,1793239999567244032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.200719556,661.799280444,635,878.799280444,787,804,652,631,652.799280444,0.40098235717,-0.00536703400022,0.0698295854406,0.999999940208,0.000204241621821,-0.000278693994063,1.40984750415e-05,1793239999583910656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.787447743,661.212552257,635,878.212552257,787,804,652,631,652.212552257,0.400983004813,-0.00536531633677,0.0698315063171,0.999999940999,0.000203932721988,-0.000276103107903,1.34690931147e-05,1793239999600577280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.630599037,661,635,878.369400963,787,804,652,631,652,0.400982901599,-0.00536457877805,0.0698324501935,0.999999941383,0.000203890336568,-0.000274751294225,1.32168017506e-05,1793239999617243904
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b8f7f6310b2914d5cc0b0d07b64e181b2b88dbd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,423 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0612aa3f1e848889f4f55273422dbb7305402947
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02df032a2f05fdcad4ee931a6258315393ba3b188fd28b12d3bd829d62fb39ce
+size 26310303
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0dc0072eb14679ef989558929698b7fbfa923cd1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+8,0.133333333,BASELINE,765,745,715,679.729159622,661,635.270840378,878,787,803.729159622,652,631,652.729159622,0.401043417422,-0.00550087529538,0.0798742302949,0.999999985517,0.00010303353165,-0.000128057833201,4.41790285389e-05,1793240001465884672
+9,0.150000000,BASELINE,765.312795972,745,715,679.687204028,661,635.312795972,878,787,804,652,631.312795972,653,0.401043415242,-0.00550123643525,0.0798746521962,0.999999985425,0.000104126148283,-0.000127795375929,4.44558410354e-05,1793240001482551552
+10,0.166666667,BASELINE,765.892145501,745,715,679.107854499,661,635.892145501,878,787,804,652,631.892145501,653,0.401043855461,-0.0055018105547,0.0798749006733,0.999999985203,0.000106379951662,-0.000127530454112,4.48785736518e-05,1793240001499218176
+11,0.183333333,BASELINE,766,745,715,679,661,636,878.470823847,787.470823847,804,652.470823847,631.529176153,652.529176153,0.401044455788,-0.00550159098377,0.0798751906974,0.999999985368,0.000105459298707,-0.000127061066761,4.4691538674e-05,1793240001515884544
+12,0.200000000,BASELINE,766,745,715,679.049013228,661,635.950986772,879,787.950986772,804,652.950986772,631,652.049013228,0.401044834213,-0.00550114148093,0.0798753259536,0.999999985555,0.000104103262129,-0.000126818681681,4.43803351836e-05,1793240001532550656
+13,0.216666667,BASELINE,766,745,715,679.623605258,661,635.376394742,879,787.376394742,804,652.376394742,631,652.623605258,0.401042440408,-0.00550017324116,0.0798736996898,0.999999985031,0.000105865248383,-0.000129512028746,4.42333667933e-05,1793240001549217280
+14,0.233333333,BASELINE,766,745,715.203529319,679.796470681,661,635,879,787,803.796470681,652,631,652.796470681,0.401041332994,-0.00549970412031,0.0798730133485,0.999999984813,0.000106582161173,-0.000130608404382,4.42273448779e-05,1793240001565883904
+15,0.250000000,BASELINE,766,745,715.793579494,679.206420506,661,635,879,787,803.206420506,652,631,652.206420506,0.401042668554,-0.00550018287195,0.0798741120059,0.999999985187,0.000105314383848,-0.000128671985179,4.44889932291e-05,1793240001582550528
+16,0.266666667,BASELINE,766,745,715.623839477,679.376160523,661,635,879,787,803.376160523,652,631,652,0.401042702812,-0.00549988036729,0.0798739026268,0.99999998511,0.000105804250632,-0.000128885115926,4.44212615826e-05,1793240001599217408
+17,0.283333333,BASELINE,766,745,715.045277423,679.954722577,661,635,879,787,803.954722577,652,631,652,0.401042036875,-0.00549915749027,0.0798729894294,0.999999984791,0.000107239856972,-0.000130254859915,4.41762996916e-05,1793240001615884032
+18,0.300000000,BASELINE,766,745,715,679.472437674,661,635,878.472437674,787,803.472437674,652,631,652,0.401043267289,-0.00550030611505,0.0798744049046,0.999999985304,0.000104644920208,-0.000128363723282,4.43224506596e-05,1793240001632550656
+19,0.316666667,BASELINE,766,745,715,679.100266388,660.899733612,635,878.100266388,787,803.100266388,652,631,652.100266388,0.40104430656,-0.00550113502853,0.0798756223028,0.999999985721,0.000102650015776,-0.000126674958267,4.44360904912e-05,1793240001649217280
+20,0.333333333,BASELINE,766,745,715,679.674626075,660.325373925,635,878.674626075,787,803.674626075,652,631,652.674626075,0.401043680756,-0.00549970092535,0.0798749682816,0.999999985401,0.000105110326805,-0.000127252153991,4.42389945815e-05,1793240001665883904
+21,0.350000000,BASELINE,766,745.258786849,715,679.741213151,660.258786849,635,878.741213151,787,804,652,631.258786849,653,0.401043230414,-0.0054994837868,0.0798746433296,0.999999985153,0.000106372421057,-0.000128156740685,4.42014979146e-05,1793240001682550016
+22,0.366666667,BASELINE,766,745.855755611,715,679.144244389,660.855755611,635,878.144244389,787,804,652,631.855755611,653,0.401043009367,-0.00550085697428,0.0798747484044,0.999999985007,0.000106068688863,-0.000129489160921,4.43725650972e-05,1793240001699216640
+23,0.383333333,BASELINE,765.565178224,745.565178224,715.434821776,679,661,635,878.434821776,787,804,652,632,652.565178224,0.401043038584,-0.00550067976809,0.0798747742034,0.999999985131,0.000105451943618,-0.000129047678597,4.43133635513e-05,1793240001715883264
+24,0.400000000,BASELINE,765.008226856,745,715.991773144,679,661,635.008226856,879,787,804,652,632,652,0.401043151026,-0.00550001383,0.0798747811916,0.999999985337,0.000104764444384,-0.000128056843276,4.41833589952e-05,1793240001732550144
+25,0.416666667,BASELINE,765.584593903,745,715.415406097,679,661,635.584593903,879,787,804,652,632,652,0.401043504254,-0.00549971014137,0.0798752334475,0.999999985183,0.000106078036272,-0.000128159735356,4.42304135868e-05,1793240001749217280
+26,0.433333333,BASELINE,765.8355428,745.1644572,715,679.1644572,661,635.8355428,879,787,804,652,631.8355428,652,0.401043754142,-0.00549932121322,0.0798755783977,0.999999985072,0.00010728102649,-0.000128018210727,4.42494692274e-05,1793240001765884160
+27,0.450000000,BASELINE,765.246656297,745.753343703,715,679.753343703,661,635.246656297,879,787,804,652,631.246656297,652,0.401043737333,-0.00549871229975,0.0798756464152,0.999999985074,0.000108198577438,-0.000127245898203,4.41962654982e-05,1793240001782550528
+28,0.466666667,BASELINE,765.336665531,745.663334469,715,680,661,635.336665531,879,787.336665531,804,652,631.336665531,652.336665531,0.401043483251,-0.0054990060352,0.0798753999807,0.999999984939,0.000108688155566,-0.000127881513458,4.4216998831e-05,1793240001799217152
+29,0.483333333,BASELINE,765.915976684,745.084023316,715,680,661,635.915976684,879,787.915976684,804,652,631.915976684,652.915976684,0.40104305816,-0.00549995033862,0.0798749269107,0.999999984704,0.000108869279934,-0.000129531867364,4.42910209735e-05,1793240001815883776
+30,0.500000000,BASELINE,766,745,715,679.507143179,661,635.507143179,879,787.507143179,804,651.507143179,631.507143179,652.507143179,0.401043068171,-0.00549963376008,0.0798745862424,0.999999984665,0.000109271312546,-0.000129569096699,4.40609454554e-05,1793240001832550144
+31,0.516666667,BASELINE,765.929718169,745,715,679,661,635,879,787,804,651.070281831,631.070281831,652.070281831,0.401042992285,-0.00549920614845,0.0798742740285,0.999999984663,0.000109459770455,-0.000129499999376,4.38479622402e-05,1793240001849216512
+32,0.533333333,BASELINE,765.345290158,745,715,679,661,635,879,787,804,651.654709842,631.654709842,652.654709842,0.401041748044,-0.00549953107968,0.0798740056576,0.999999984679,0.000107811668413,-0.000130655021979,4.41374149197e-05,1793240001865883648
+33,0.550000000,BASELINE,765.237576226,745.237576226,715,679,660.762423774,635,879,787,804,652,631.762423774,653,0.401040913159,-0.0054999379053,0.0798738009112,0.999999984597,0.000107526732828,-0.00013142186576,4.44087906945e-05,1793240001882550272
+34,0.566666667,BASELINE,765.818187734,745.818187734,715,679,660.181812266,635,879,787,804,652,631.181812266,653,0.40104066934,-0.00550046297785,0.0798736880321,0.999999984377,0.000109210067513,-0.000131628219723,4.46540652802e-05,1793240001899217152
+35,0.583333333,BASELINE,766,745.601887346,715,679.398112654,660.398112654,635,879,787,804,652,631,653,0.401041664767,-0.00550006129274,0.0798741769466,0.999999984511,0.000109213975813,-0.000130634282541,4.45585549422e-05,1793240001915884032
+36,0.600000000,BASELINE,766,745.022275391,715,679.977724609,660.977724609,635,879,787,804,652,631,653,0.401043225166,-0.00549923709946,0.0798749402184,0.999999984805,0.000108452234855,-0.00012909313342,4.43076809993e-05,1793240001932550400
+37,0.616666667,BASELINE,765.447009665,745,715,679.447009665,661,635.552990335,879,787,804,652,631,653,0.401043089068,-0.00549977284147,0.0798751761661,0.999999984837,0.00010838193321,-0.000128899155475,4.43235697444e-05,1793240001949216768
+38,0.633333333,BASELINE,765.130904009,745,715,679.130904009,661,635.869095991,879,787,804,652,631,653,0.401042926979,-0.00550011590321,0.0798753413803,0.999999984855,0.000108348787681,-0.000128793872623,4.42920722803e-05,1793240001965883392
+39,0.650000000,BASELINE,765.718665476,745,715,679.718665476,661,635.281334524,879,787,804,652,631,653,0.401042910821,-0.00549959681327,0.0798753332884,0.999999984864,0.000108348870481,-0.000128810223626,4.4057985977e-05,1793240001982550272
+40,0.666666667,BASELINE,766,745,715,680,661,635,879,787,804,652,631.302090023,653,0.401043191888,-0.00549984326679,0.0798754747245,0.999999985071,0.000106781327901,-0.000128555130506,4.39247859398e-05,1793240001999216640
+41,0.683333333,BASELINE,766,745,715,680,661,635,879,787,804,652,631.881532755,653,0.401043745842,-0.00550079257558,0.0798757534442,0.999999985454,0.00010377452844,-0.000128050821069,4.38842108857e-05,1793240002015883008
+42,0.700000000,BASELINE,766,745,715,680,661,635.457254582,879,787,804,652,631.542745418,653,0.40104315032,-0.00550090073888,0.0798755468416,0.999999985332,0.00010432893701,-0.000128497017811,4.40350209514e-05,1793240002032550144
+43,0.716666667,BASELINE,766,745,715,680,661,636,879,787,804,651.96791706,631,652.96791706,0.401042343955,-0.00550070097323,0.0798752271461,0.99999998508,0.000105867234379,-0.000129141871779,4.42142984431e-05,1793240002049217280
+44,0.733333333,BASELINE,766,745,715,680,661,636,879,787,804,651.392024515,631,652.392024515,0.401042970952,-0.00549894585008,0.0798751045996,0.999999984814,0.000108569751275,-0.000129013533749,4.40424184394e-05,1793240002065884160
+45,0.750000000,BASELINE,766,745,715,680,661,635.81094797,879,787.18905203,804,651.18905203,631,652.18905203,0.401042979283,-0.00549827258858,0.0798748181999,0.999999984661,0.00010965091118,-0.000129295660186,4.4021970608e-05,1793240002082551040
+46,0.766666667,BASELINE,766,745,715,680,661,635.218818711,879,787.781181289,804,651.781181289,631,652.781181289,0.401041668555,-0.00549990596104,0.0798741824492,0.999999984755,0.00010727518068,-0.000130452936623,4.43243908503e-05,1793240002099217664
+47,0.783333333,BASELINE,766,745,715,680,661,635,879,787.636925346,804,652,631,653,0.401042685393,-0.00550009684219,0.0798749083503,0.999999984843,0.000107969166625,-0.000129159951149,4.44391414371e-05,1793240002115883776
+48,0.800000000,BASELINE,766,745,715,680,661,635,879,787.061031772,804,652,631,653,0.40104506655,-0.00549944219642,0.0798764323936,0.999999984919,0.00011046248957,-0.000126430726461,4.44438880815e-05,1793240002132550144
+49,0.816666667,BASELINE,766,745,715,680,661,635,878.484982022,787,804,652,631,652.484982022,0.401044590854,-0.00549841534279,0.0798756611467,0.999999984759,0.000110766432952,-0.000127464341762,4.43320729047e-05,1793240002149217024
+50,0.833333333,BASELINE,766,745,715,680,661,635,878.090553339,787,804,652,631,652,0.401043652907,-0.00549780917453,0.0798747192024,0.999999984594,0.000110633063331,-0.000128901680133,4.42283597056e-05,1793240002165883904
+51,0.850000000,BASELINE,766,745,715,680,661,635,878.663251519,787,804,652,631,652,0.401042056869,-0.00549967783746,0.0798743170831,0.999999984556,0.000109553096893,-0.000130113665937,4.42413538359e-05,1793240002182550784
+52,0.866666667,BASELINE,766,745,715,679.754362249,661,635,879,787.245637751,804,652,631,652,0.401041249495,-0.0055006807929,0.0798742370118,0.999999984643,0.000108192959407,-0.000130606224889,4.4164660156e-05,1793240002199217664
+53,0.883333333,BASELINE,766,745,715,679.158149221,661,635,879,787.841850779,804,652,631,652,0.401041567707,-0.00550044820669,0.0798746165689,0.99999998491,0.000106432960635,-0.000130072014602,4.39599636381e-05,1793240002215884544
+54,0.900000000,BASELINE,766,745,715,679.423908804,661,635,878.576091196,787.576091196,804,652,631,652.423908804,0.401042748531,-0.00549995387265,0.0798755982051,0.999999984924,0.000107753621122,-0.000128783010097,4.42252540618e-05,1793240002232551168
+55,0.916666667,BASELINE,766,745,715,680,661,635,878.000852544,787,804,652,631,652.999147456,0.401044237982,-0.00549936528167,0.0798767953654,0.99999998484,0.000110180129052,-0.000127223787882,4.46589083858e-05,1793240002249217792
+56,0.933333333,BASELINE,766,745,715,680,661,635,878.575072068,787,804,652,631,652.424927932,0.40104385094,-0.00549893735639,0.0798767566633,0.999999985063,0.000108350781767,-0.000127195979963,4.42114331086e-05,1793240002265883904
+57,0.950000000,BASELINE,766,745,715,680,661,635,879,787,804,652,631.153242249,652.153242249,0.40104393137,-0.00549863367077,0.0798767865279,0.999999985214,0.000107417483016,-0.000126914212415,4.38789879885e-05,1793240002282550272
+58,0.966666667,BASELINE,766,745,715,680,661,635,879,787,804,652,631.742657064,652.742657064,0.401045342366,-0.00549868360786,0.0798770115535,0.999999985167,0.00010903460256,-0.000125909600984,4.38739526438e-05,1793240002299217152
+59,0.983333333,BASELINE,766,745,715,679.673741113,661,635.326258887,879,787,804,652,632,653,0.401044142893,-0.00549864034048,0.0798762136766,0.999999984982,0.000109265689902,-0.000127130210883,4.3993215457e-05,1793240002315883520
+60,1.000000000,BASELINE,766,745,715,679.094644074,661,635.905355926,879,787,804,652,632,653,0.401040920406,-0.00549852484319,0.0798746230894,0.999999984685,0.000108422655503,-0.000130075282049,4.42088045847e-05,1793240002332549888
+61,1.016666667,BASELINE,766,745,715,679.481963772,661,635.518036228,879,787,804,652,631.518036228,653,0.401041733002,-0.00549955730661,0.0798755428299,0.999999984919,0.000107593085159,-0.000128960035392,4.42191982894e-05,1793240002349216768
+62,1.033333333,BASELINE,766,745,715,680,661,635,879,787,804,652,631,653,0.40104335611,-0.00550054631045,0.0798768993891,0.999999985231,0.000106956774087,-0.000127067215831,4.41939554648e-05,1793240002365883648
+63,1.050000000,BASELINE,766,745,715,680,661,635,879,787,804,652,631,653,0.40104517727,-0.00549914756754,0.0798777778633,0.999999985337,0.00010802059493,-0.00012531407775,4.42084092227e-05,1793240002382550016
+64,1.066666667,BASELINE,766,745,715,680,661.229642952,635,879,787,804,652,631,653,0.401045321139,-0.00549831097794,0.0798775193407,0.99999998521,0.000108650100294,-0.00012584284651,4.40417964942e-05,1793240002399218688
+65,1.083333333,BASELINE,766,745,715,680,661.808538412,635,879,787,804,652,631,653,0.4010429141,-0.00549832933935,0.079875531616,0.999999984721,0.000108619076852,-0.000129842053626,4.35998087803e-05,1793240002415890688
+66,1.100000000,BASELINE,765.613128828,745,715,680,661.613128828,635.386871172,879.386871172,787,804,652,631,652.613128828,0.401042365114,-0.00549886188922,0.0798747848683,0.999999984655,0.000108418917658,-0.000130543228474,4.35220677306e-05,1793240002432555520
+67,1.116666667,BASELINE,765.03507416,745,715,680,661.03507416,635.96492584,879.96492584,787,804,652,631,652.03507416,0.401042734338,-0.00549964854008,0.079874651385,0.999999984802,0.000108135175179,-0.000129614585872,4.3624329641e-05,1793240002449217280
+68,1.133333333,BASELINE,765,745,715,679.459468481,661,635.459468481,879.459468481,787,804,652,631,652.540531519,0.401042209475,-0.00549858102263,0.0798751786768,0.999999984712,0.000109047542201,-0.000129409535728,4.402641232e-05,1793240002465883648
+69,1.150000000,BASELINE,765.118640615,745,715,679.118640615,661,635,879,787,804,652,631,652.881359385,0.401041764646,-0.00549756851015,0.079875521686,0.999999984619,0.00010983206551,-0.000129366057094,4.43166911732e-05,1793240002482550528
+70,1.166666667,BASELINE,765.707293941,745,715,679.707293941,661,635,879,787,804,652,631,652.292706059,0.401041865684,-0.0054972483999,0.0798749655359,0.999999984579,0.000109804025654,-0.000129777497299,4.40873164622e-05,1793240002499217408
+71,1.183333333,BASELINE,765.708666855,745,715,680,661,635,879,787,804,652,631,652.291333145,0.401041655519,-0.00549779867825,0.0798745601493,0.999999984572,0.000109485716164,-0.000130151916722,4.3928171754e-05,1793240002515884288
+72,1.200000000,BASELINE,765.129191169,745,715,680,661,635,879,787,804,652,631,652.870808831,0.40104113756,-0.00549920981288,0.0798743038752,0.999999984598,0.000108880315996,-0.000130489720853,4.38384878801e-05,1793240002532550656
+73,1.216666667,BASELINE,765,745,715,679.551106413,661,635,879,787,804,652,631,653,0.401042842197,-0.00549975399569,0.0798753557616,0.999999984913,0.000108228975097,-0.000128549404207,4.39921711412e-05,1793240002549217024
+74,1.233333333,BASELINE,765.02636878,745,715,679.02636878,661,635.02636878,879,787,803.97363122,652,631,652.97363122,0.401045022908,-0.00550000265404,0.0798766790918,0.999999985279,0.000107584699309,-0.000126154894874,4.41912466534e-05,1793240002565883392
+75,1.250000000,BASELINE,765.5994803,745,715,679.5994803,661,635.5994803,879,787,803.4005197,652,631,652.4005197,0.40104385269,-0.00549928120443,0.0798758485146,0.999999985095,0.000107360212142,-0.000127895315711,4.38837329716e-05,1793240002582550016
+76,1.266666667,BASELINE,766,745,715,680,661,635.822058446,879,787,803.177941554,652,631,652.177941554,0.401043016174,-0.00549887253938,0.079875258678,0.999999984946,0.000107363302301,-0.000129128413734,4.3663197062e-05,1793240002599216640
+77,1.283333333,BASELINE,766,745,715,680,661,635.231182537,879,787,803.768817463,652,631,652.768817463,0.401042954053,-0.00549918972785,0.0798752275086,0.999999984883,0.000107894512487,-0.000129184209257,4.36445033454e-05,1793240002615883520
+78,1.300000000,BASELINE,766,745,715,679.650889692,661,635,879,787,803.650889692,652,631,653,0.40104280265,-0.00549898459577,0.0798755100535,0.999999984902,0.000107857760583,-0.000129055113891,4.36845824121e-05,1793240002632550912
+79,1.316666667,BASELINE,766,745,715,679.07739883,661,635,879,787,803.07739883,652,631,653,0.401042593864,-0.00549844375726,0.0798759942292,0.999999984973,0.000107455967452,-0.000128807185252,4.37624359865e-05,1793240002649218304
+80,1.333333333,BASELINE,766.502249378,745,715,679,661,635,879,787,803,652,631,653,0.40104291716,-0.00549789675322,0.079876228598,0.99999998483,0.000109201108984,-0.00012843265498,4.38087478963e-05,1793240002665884416
+81,1.350000000,BASELINE,766.918439274,745,715,679,661,635,878.918439274,787,803.081560726,652,631,653,0.401043330587,-0.00549751824696,0.0798764276637,0.999999984704,0.0001108445017,-0.000127998320672,4.38296067206e-05,1793240002682550528
+82,1.366666667,BASELINE,766.346922638,745,715,679,661,635,878.346922638,787,803.653077362,652,631,653,0.401043786766,-0.00549815772825,0.0798766487822,0.999999984903,0.000109864482394,-0.000127323383927,4.37271243284e-05,1793240002699216896
+83,1.383333333,BASELINE,766,745.234473603,715,679.234473603,661,635,878.234473603,787,803.765526397,652,631.234473603,652.765526397,0.401043819943,-0.00549882849989,0.0798765428899,0.999999984923,0.00010952083212,-0.000127435104874,4.38012000086e-05,1793240002715883264
+84,1.400000000,BASELINE,766,745.831130625,715,679.831130625,661,635,878.831130625,787,803.168869375,652,631.831130625,652.168869375,0.401043199722,-0.00549954760479,0.0798759318754,0.999999984668,0.000110160159342,-0.000128761949161,4.41479989361e-05,1793240002732549888
+85,1.416666667,BASELINE,766,745.587550557,715,680,661,635,879,787,803.412449443,652,631.587550557,652.412449443,0.401041768201,-0.00549954786334,0.0798754054523,0.999999984494,0.000110047874002,-0.000130222183673,4.40899175334e-05,1793240002749216512
+86,1.433333333,BASELINE,766,745.012286535,715,680,661,635,879,787,803.987713465,652,631.012286535,652.987713465,0.401040016418,-0.00549926435698,0.0798749124218,0.99999998435,0.000109638889273,-0.00013173507395,4.38720094423e-05,1793240002765883136
+87,1.450000000,BASELINE,765.43543914,745,715,679.43543914,661,635,879,787.56456086,803.43543914,652,631,653,0.401040795877,-0.00549852593739,0.0798749108809,0.999999984462,0.000109849472784,-0.000130676047566,4.39594260745e-05,1793240002782549760
+88,1.466666667,BASELINE,765,745.144564392,715,679.144564392,661,635,879,787.855435608,803.144564392,652,631,653,0.401041728725,-0.00549811029542,0.079875080292,0.999999984602,0.000109825717225,-0.00012960020115,4.40252534179e-05,1793240002799216128
+89,1.483333333,BASELINE,765,745.734177846,715,679.734177846,661,635,879,787.265822154,803.734177846,652,631,653,0.401042963721,-0.00549871890555,0.0798757429665,0.999999984812,0.000109038909633,-0.000128645372692,4.40041031597e-05,1793240002815882752
+90,1.500000000,BASELINE,765,745.681753432,715,680,661,635,878.681753432,787,804,652,631,653,0.40104396018,-0.00549875722331,0.0798766250116,0.999999984953,0.00010919372212,-0.00012744009181,4.39256643881e-05,1793240002832549376
+91,1.516666667,BASELINE,765,745.102236784,715,680,661,635,878.102236784,787,804,652,631,653,0.401044760806,-0.00549832734953,0.0798776871527,0.999999985036,0.000110121574103,-0.000126029197685,4.38001936114e-05,1793240002849216256
+92,1.533333333,BASELINE,765.471421128,745,715,680,661,635.471421128,878.471421128,787,804,651.528578872,631,652.528578872,0.401042836964,-0.00549859560387,0.079876530778,0.999999984731,0.000110669404121,-0.000127860410456,4.40767414802e-05,1793240002865883392
+93,1.550000000,BASELINE,766,745,715,680,661,635.955839126,879,787.044160874,804,651.044160874,631,652,0.40104058632,-0.00549894220523,0.079875057044,0.999999984387,0.000111004093474,-0.000130129605932,4.43826080464e-05,1793240002882550528
+94,1.566666667,BASELINE,766,745,715,680,661,635.379037394,879,787.620962606,804,651.620962606,631,652,0.401041433032,-0.00549843007206,0.079875487353,0.999999984649,0.000109749850389,-0.000129305057294,4.40034293212e-05,1793240002899216896
+95,1.583333333,BASELINE,765.796958834,745,715.203041166,680,661,635,879,787.796958834,804,652,631,652.203041166,0.401041598924,-0.00549829973492,0.0798754630285,0.999999984788,0.000108632220604,-0.000129283348593,4.36970302305e-05,1793240002915883776
+96,1.600000000,BASELINE,765.204766541,745,715.795233459,680,661,635,879,787.204766541,804,652,631,652.795233459,0.401040459947,-0.00549890115255,0.0798745673483,0.99999998469,0.000107776425288,-0.000130800372378,4.3530121392e-05,1793240002932550912
+97,1.616666667,BASELINE,765.378209571,745,715.621790429,680,661,635,879,787,804.378209571,652,631,652.621790429,0.401041199034,-0.00549904269804,0.0798750186922,0.999999984732,0.000108460514597,-0.000129909368495,4.35359221496e-05,1793240002949217792
+98,1.633333333,BASELINE,765.956314612,745,715.043685388,680,661,635,879,787,804.956314612,652,631,652.043685388,0.401042930738,-0.00549894118683,0.0798761819802,0.999999984843,0.000109958480664,-0.000127745647338,4.36330052864e-05,1793240002965883904
+99,1.650000000,BASELINE,766,745,715,679.471125058,661,635.528874942,879,787.528874942,804.471125058,652,631,652,0.401043122238,-0.00549838119112,0.0798765538551,0.999999984814,0.000110558376259,-0.00012741261054,4.37500667473e-05,1793240002982550272
+100,1.666666667,BASELINE,766,745,715,679,661,635.896104949,879,787.896104949,804,652,631,652,0.40104338799,-0.0054979442126,0.0798769933745,0.999999984835,0.00011081953786,-0.000126990204267,4.38506084472e-05,1793240002999216896
+101,1.683333333,BASELINE,766,745,715,679,661,635.307494339,879,787.307494339,804,652,631,652,0.401044587545,-0.00549825601469,0.0798780503063,0.999999985136,0.000109842854782,-0.000125452683514,4.38664591573e-05,1793240003015883520
+102,1.700000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652,0.401044567518,-0.0054986596299,0.0798782899456,0.999999985287,0.000108681270968,-0.000125301115885,4.37394709885e-05,1793240003032550144
+103,1.716666667,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652,0.401043213473,-0.00549916367331,0.0798776356032,0.999999985275,0.000107317436662,-0.000126665549846,4.34562409159e-05,1793240003049216768
+104,1.733333333,BASELINE,766,745,715,679.436767122,661,635,879,787,803.563232878,652,631,652.436767122,0.40104296481,-0.00549976993836,0.0798769670758,0.999999985286,0.000106490828711,-0.00012723240677,4.35776038492e-05,1793240003065883648
+105,1.750000000,BASELINE,766,745,715,679.989359766,661,635,879,787,803.010640234,652,631,652.989359766,0.401043047343,-0.00550039189199,0.0798762887522,0.9999999853,0.000105857648496,-0.000127572158281,4.3817410225e-05,1793240003082550272
+106,1.766666667,BASELINE,766,745,715,679.413763292,661,635,879,787,803.586236708,652,631,652.413763292,0.401042295519,-0.00550014347303,0.0798753266572,0.999999985035,0.000106542662915,-0.00012914392194,4.36041650838e-05,1793240003099216896
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,653,0.401045283753,-0.00549712737194,0.079877347075,0.999999985338,0.000107193740407,-0.000126409992174,4.30657443521e-05,1793240003139448320
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.578192497,661,635,879,787.578192497,804,651.421807503,631,652.421807503,0.401044205854,-0.0054977562205,0.0798771684635,0.999999985118,0.000108671502225,-0.000126733199233,4.35218993199e-05,1793240003156114688
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.155561594,715,680,661,635.155561594,878.844438406,787.844438406,804,651.155561594,631,652.155561594,0.401043518875,-0.00549829620909,0.0798769976935,0.99999998497,0.000109632668645,-0.000126961636572,4.38271782416e-05,1793240003172780800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.730709914,715,680,661,635.730709914,878.269290086,787.269290086,804,651.730709914,631,652.730709914,0.401043886298,-0.00549859652131,0.079876848074,0.999999985025,0.000109200454373,-0.000126934457444,4.37255085788e-05,1793240003189447680
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.68702605,715,679.68702605,661,636,878.6259479,787,804,652,631,652.68702605,0.401044267673,-0.00549879943665,0.0798770256785,0.99999998509,0.000109106861409,-0.000126514961675,4.37017390557e-05,1793240003206114304
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.098497083,715,679.098497083,661,636,879.803005834,787,804,652,631,652.098497083,0.401044661335,-0.00549891659979,0.0798774913844,0.999999985162,0.000109311404467,-0.000125750054355,4.37465559959e-05,1793240003222781184
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.482507217,661,635.517492783,879.517492783,787,804,652,631.482507217,652,0.401044666763,-0.00549859160065,0.0798774991881,0.999999985123,0.000109588904735,-0.000125799149684,4.38018495174e-05,1793240003239447808
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.938415735,661,635,879,787.061584265,804,652,631.938415735,652,0.401044364206,-0.00549832165124,0.0798772390924,0.999999985005,0.00010990595503,-0.000126442659344,4.38600806297e-05,1793240003256114432
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.362800768,661,635,879,787.637199232,804,652,631.362800768,652,0.401042142307,-0.00549925301271,0.0798755111278,0.999999984399,0.000110430719528,-0.000130681953538,4.39252544634e-05,1793240003272780800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.212931978,661,635.212931978,879,787.787068022,804,652,631,652.212931978,0.401041702397,-0.00549967866139,0.079875322435,0.99999998393,0.000110452951794,-0.000134180741828,4.39976193192e-05,1793240003289447424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.788865453,661,635.788865453,879,787.211134547,804,652,631,652.788865453,0.40104430038,-0.00549924218253,0.0798777578572,0.999999983715,0.000109618478713,-0.000136417132394,4.40822432568e-05,1793240003306114048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,803.625820874,652,631,653,0.401058066963,-0.0055001022529,0.0798833330911,0.99999998418,0.000108215620331,-0.000134074042666,4.41942199331e-05,1793240003322780928
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879,787,803.035078171,652,631,653,0.401078297594,-0.00550171272675,0.0798907255536,0.999999985017,0.000106483797622,-0.000129080488268,4.43220275557e-05,1793240003339447808
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.455340806,879,787,804.089318387,652,631,653,0.40112328456,-0.00550284626471,0.0799042134579,0.999999987139,0.000105239573432,-0.000112649648263,4.42304418853e-05,1793240003356114176
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.122692258,878.877307742,787.122692258,804.877307742,652,631,653,0.401174098629,-0.0055035991618,0.0799172241171,0.999999988916,0.000104630092239,-9.63831488801e-05,4.39391431914e-05,1793240003372780800
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.697009367,878.302990633,787.697009367,804.302990633,652,631,653,0.401240609325,-0.0055030617636,0.0799270616478,0.999999989957,0.000106243767556,-8.3379287366e-05,4.29636905636e-05,1793240003389447424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.727912259,878.272087741,787.727912259,804,652,631.272087741,653,0.401314155089,-0.00550347960011,0.0799340959208,0.999999990866,0.00010571934641,-7.34038338692e-05,4.12813845241e-05,1793240003406114048
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.151983814,878.848016186,787.151983814,804,652,631.848016186,653,0.401395556918,-0.00550496414838,0.079937999792,0.99999999173,0.000102807310307,-6.68102080049e-05,3.88097345003e-05,1793240003422780416
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879.436493525,787.436493525,804,652,631.563506475,652.563506475,0.401488779138,-0.00550674671092,0.0799404198848,0.999999992066,0.000101495505428,-6.52260958363e-05,3.62158104428e-05,1793240003439447296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.971380325,661,635,879.942760651,787.971380325,804,652,631,652.028619675,0.401587787441,-0.00550860753999,0.0799424317857,0.999999992247,0.000100691248055,-6.51578999371e-05,3.34994193177e-05,1793240003456114176
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.395506505,661,635,878.79101301,787.395506505,804,652,631,652.604493495,0.401716405238,-0.00550992203935,0.0799468098233,0.999999992924,9.86223998847e-05,-5.97358376968e-05,2.92794585879e-05,1793240003472780544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.179497411,661,635,878.179497411,787,804,652,631,653,0.401855457238,-0.00551102650202,0.0799514212781,0.999999993604,9.65831118237e-05,-5.33416746148e-05,2.48774059925e-05,1793240003489447168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.752593736,661,635,878.752593736,787,804,652,631,653,0.402017389167,-0.00551167039957,0.0799565445655,0.999999994319,9.4608642951e-05,-4.4815905805e-05,2.00760659605e-05,1793240003506114304
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.335034804,879,787,804,652,631,653,0.402192055239,-0.00551272535982,0.0799622083504,0.999999995126,9.08432924762e-05,-3.57292430467e-05,1.47938541693e-05,1793240003522781184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.924574546,879,787,804,652,631,653,0.402376394661,-0.0055140925787,0.0799682827179,0.999999995941,8.57175212987e-05,-2.62165034141e-05,9.14635373918e-06,1793240003539447808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.506875546,715,680,661,635.493124454,879,787,804,652,631,653,0.402577799019,-0.00551794574883,0.0799651077827,0.999999996655,7.39308677998e-05,-3.49393028447e-05,1.93759399374e-06,1793240003556114176
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.912791358,715,680,661,635,879,787,804,652,631.087208642,652.912791358,0.402786608968,-0.00552158673414,0.0799602549088,0.999999997064,6.034158701e-05,-4.69012276166e-05,-5.65619555532e-06,1793240003572780800
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.337527878,715,680,661,635,879,787,804,652,631.662472122,652.337527878,0.403022852586,-0.00552199916941,0.0799536057095,0.99999999709,4.21329588287e-05,-6.201840086e-05,-1.41229052601e-05,1793240003589447424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.762621659,661,635,879,787.237378341,804,652,631.762621659,652,0.403285992958,-0.00552251574529,0.0799508261059,0.999999997183,2.24427411953e-05,-6.84921540233e-05,-2.0972086712e-05,1793240003606113792
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.1882227,661,635,879,787.8117773,804,652,631.1882227,652,0.403587320293,-0.00552318017595,0.0799535404053,0.999999997709,6.49021072001e-07,-6.26943116127e-05,-2.55247633901e-05,1793240003622780672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.397460955,679,661,635,879,788,804,652,631,652.397460955,0.403907508668,-0.00552451728951,0.0799573460831,0.999999997986,2.56711110761e-06,-5.76862284239e-05,-2.63487577133e-05,1793240003639447296
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.988644766,679,661,635,879,788,804,652,631,652.988644766,0.404236889925,-0.00552618226935,0.0799616836999,0.999999998142,1.60423610586e-05,-5.3063074816e-05,-2.53553885057e-05,1793240003656113920
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.567033333,715.432966667,679.567033333,661,635,879,787.432966667,804,652,631,653,0.404603391403,-0.00552564711439,0.0799585776983,0.999999997905,1.66042084436e-06,-5.78613869418e-05,-2.89802175099e-05,1793240003672780800
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.855570625,715,680,661,635,879,787,804,652,631,653,0.404983721471,-0.00552575752032,0.0799565920858,0.999999997672,-9.82043898464e-06,-5.9490258531e-05,-3.19569892801e-05,1793240003689447424
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.28038751,715,680,661,635,879,787,804,652,631,653,0.405403126483,-0.00552792178581,0.0799583827458,0.999999998097,-1.10218878432e-05,-5.11161375903e-05,-3.27312222485e-05,1793240003706114304
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787.302079296,804,652,631,652.697920704,0.40583693974,-0.00552963134871,0.0799546154769,0.999999997799,-1.1057312107e-05,-5.54510347781e-05,-3.47241250134e-05,1793240003722780928
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787.891473871,804,652,631,652.108526129,0.406284457093,-0.0055309084327,0.079945561921,0.99999999665,-9.98370094234e-06,-7.18738004731e-05,-3.78761356172e-05,1793240003739447552
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.530340394,745,715,680,661,635.469659606,879,787.530340394,803.530340394,652,631,652.469659606,0.406758511133,-0.00553931436111,0.0799390299975,0.999999995771,-1.60370498651e-05,-8.35138146104e-05,-3.50216953003e-05,1793240003756113920
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.045391759,745,715,680,661,635.954608241,879,787,803.045391759,652,631,653,0.40724142348,-0.00554934076871,0.0799335384383,0.999999994841,-2.4531001796e-05,-9.34722033762e-05,-3.13073962027e-05,1793240003772780800
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.622015165,745,715,680,661,635.377984835,879,787,803.622015165,652,631,653,0.40775791637,-0.00555950277988,0.0799335621852,0.999999993883,-4.27636565361e-05,-9.63826990264e-05,-3.33946788384e-05,1793240003789447424
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652,631,653,0.408290314116,-0.00556422500129,0.0799320391539,0.999999992883,-5.14341162729e-05,-0.00010172425749,-3.52140642027e-05,1793240003806114048
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652,631,653,0.408852976815,-0.0055585959704,0.0799275727936,0.999999992217,-4.19088924823e-05,-0.000111691829715,-3.65236738568e-05,1793240003822780672
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.356984778,715,679.643015222,661,635,879,787,804,652,631,653,0.409475923782,-0.00555690873953,0.0799434632436,0.999999994803,-3.83542604052e-05,-8.69301740434e-05,-3.69536263744e-05,1793240003839447552
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.954778196,715,679.045221804,661,635,879,787,804,652,631,653,0.410139536249,-0.00555788050042,0.0799730856401,0.999999997819,-3.8827167506e-05,-3.87414737878e-05,-3.67901948229e-05,1793240003856113920
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.469762725,715,679.530237275,661,635.530237275,879,787.530237275,804,652,631,652.469762725,0.410806598848,-0.00555913112428,0.0799956948611,0.999999998293,-4.49734774326e-05,-2.14124416482e-06,-3.72407201085e-05,1793240003872780800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.895529417,745,715,679.895529417,661,635.895529417,879,787.895529417,804,652,631.104470583,652,0.4114693325,-0.0055587136712,0.0800092054888,0.999999997927,-4.82070874565e-05,1.93695259817e-05,-3.80379949588e-05,1793240003889447680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.318573438,745,715,679.318573438,661,635.318573438,879,787.318573438,804,652,631.681426562,652,0.412111210585,-0.00555064885,0.0799841620077,0.999999998273,-3.61676375175e-05,-2.30750426777e-05,-4.01762582198e-05,1793240003906114304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679.257650109,661,635,879,787,804,652,631.742349891,652,0.412775795357,-0.00554438820882,0.0799570957281,0.999999996633,-3.14713705069e-05,-6.21614886364e-05,-4.33482439883e-05,1793240003922780672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679.83297068,661,635,879,787,804,652,631.16702932,652,0.413468376494,-0.00554035203561,0.0799275354297,0.999999993501,-3.58289009389e-05,-9.71075330169e-05,-4.77947612913e-05,1793240003939447296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.420970564,661,635,879.420970564,787.420970564,804.420970564,651.579029436,631,652,0.414216701286,-0.00554119917273,0.079931002424,0.999999994294,-4.13475572703e-05,-8.52477299052e-05,-4.9344154761e-05,1793240003956113920
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.013626929,745,715,680.986373071,661.013626929,635,879.986373071,787.986373071,804.986373071,651.013626929,631,652.013626929,0.414987732221,-0.00554402715877,0.0799480050632,0.999999996179,-4.71174672971e-05,-5.43562526888e-05,-4.96636549519e-05,1793240003972780544
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.584585883,745,715,680.415414117,661.584585883,635,879.415414117,787.415414117,804.415414117,651.584585883,631,652.584585883,0.415754747711,-0.00554616469497,0.0799660053661,0.999999997486,-4.37359498682e-05,-2.82211471144e-05,-4.81550156272e-05,1793240003989447424
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.841849652,635.158150348,879,787,804,652,631,653,0.416520296914,-0.00554677051446,0.0799741444742,0.999999997799,-4.25038131986e-05,-1.74425286686e-05,-4.78610024337e-05,1793240004006114048
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.261326677,635.738673323,879,787,804,652,631,653,0.417281930051,-0.00554328557321,0.0799559472576,0.999999996468,-4.7012034675e-05,-4.7676529901e-05,-5.08108951768e-05,1793240004022780672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.324885132,661,635.675114868,879.324885132,787,804,652,631,652.675114868,0.41810999379,-0.00554379405982,0.0799645618463,0.999999996873,-5.2975216977e-05,-2.6539508406e-05,-5.2382486071e-05,1793240004039447296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.915754373,661,635.084245627,879.915754373,787,804,652,631,652.084245627,0.418992444358,-0.00554757197397,0.0799951273147,0.999999996125,-6.01295782644e-05,3.66550738736e-05,-5.28256582001e-05,1793240004056113920
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.50401385,661,635,879.50401385,787,804,652,631,652.49598615,0.419823128611,-0.00554701467524,0.0799973594257,0.999999996089,-5.56293539596e-05,4.44675306457e-05,-5.24359069183e-05,1793240004072780800
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.073920945,715,680,661,635.073920945,879.073920945,787,804,651.926079055,631.073920945,652.926079055,0.420644686263,-0.00554595007509,0.0799932327695,0.999999996535,-5.11049096736e-05,3.96987859824e-05,-5.23709590505e-05,1793240004089447424
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.64828031,715,680,661,635.64828031,879.64828031,787,804,651.35171969,631.64828031,652.35171969,0.42146273357,-0.00554633148963,0.0799779543148,0.999999996618,-5.95367449253e-05,1.21032682762e-05,-5.54425726381e-05,1793240004106114048
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.776996173,715,680.223003827,661,635.776996173,879.776996173,787,804,651.223003827,631.776996173,652.223003827,0.422300978894,-0.00554727995348,0.0799790503631,0.999999996411,-6.28419646128e-05,9.74029495837e-06,-5.59888012934e-05,1793240004122780672
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.201697288,715,680.798302712,661,635.201697288,879.201697288,787,804,651.798302712,631.201697288,652.798302712,0.423171132593,-0.00554912422568,0.0800060143799,0.999999995819,-5.8048305201e-05,4.72389681647e-05,-5.25454996558e-05,1793240004139447552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,879,787,804,652,631,653,0.42402457495,-0.00554642934217,0.0800081300032,0.999999996466,-5.12828548177e-05,4.20517970941e-05,-5.16746195271e-05,1793240004156113920
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,879,787,804,652,631,653,0.42486899526,-0.0055412838929,0.0799968306587,0.999999997598,-4.34528888582e-05,1.38197073762e-05,-5.21925194032e-05,1793240004172780288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.442906687,745,715,681,661.557093313,635,879,787,804,651.442906687,631,653,0.425684606614,-0.00554019279729,0.0799520059173,0.999999995746,-4.98751968476e-05,-5.44905140849e-05,-5.52357724034e-05,1793240004189447168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,879.132745731,787,804,651.132745731,631,653,0.426512194417,-0.00554007496783,0.0799177742614,0.999999991368,-5.62982280462e-05,-0.000103669665345,-5.78484097222e-05,1793240004206114048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,879.706741787,787,804,651.706741787,631,653,0.427382868084,-0.0055427312788,0.0799225664898,0.999999992821,-6.11030321942e-05,-8.46993306904e-05,-5.8742510879e-05,1793240004222781184
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.575961067,745.287980533,715,681,662,635.287980533,880,787,804,651.712019467,631,653,0.428226390549,-0.00554475438887,0.0799275406169,0.999999993273,-6.07051945734e-05,-8.00201203028e-05,-5.80059528791e-05,1793240004239448064
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.753569886,745.876784943,715,681,662,635.876784943,880,787,804,651.123215057,631,653,0.429041550869,-0.00554611605842,0.0799327047547,0.999999992876,-5.48726877084e-05,-9.02693903127e-05,-5.55660116133e-05,1793240004256114176
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.090981001,745.5454905,715,681,661.5454905,635.5454905,879.5454905,787,804,651.4545095,631,653,0.429926127184,-0.00554680539531,0.0799607428334,0.999999995757,-5.86500809575e-05,-4.43519301186e-05,-5.5498094834e-05,1793240004272781056
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635.029599638,879.029599638,787,804,652,631,652.970400362,0.430826753461,-0.00554746477016,0.0799947356561,0.99999999621,-6.49120526658e-05,1.54935934629e-05,-5.59132835341e-05,1793240004289447680
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635.610232668,879.610232668,787,804,652,631,652.389767332,0.43168417937,-0.00555087871586,0.0800268912146,0.999999994429,-7.00828053092e-05,5.79127575251e-05,-5.36359236481e-05,1793240004306114048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.192053789,745,715,681.192053789,661.192053789,635.807946211,880,787,804.192053789,651.807946211,631,652,0.432492694546,-0.00555187055127,0.0800312487712,0.999999994295,-7.26098296583e-05,5.74071319401e-05,-5.33043175925e-05,1793240004322780672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.776301221,745,715,681.776301221,661.776301221,635.223698779,880,787,804.776301221,651.223698779,631,652,0.433201329117,-0.00554791618828,0.0799788399468,0.999999995474,-6.97380889583e-05,-3.07553335828e-05,-5.69461410112e-05,1793240004339447552
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.640542255,682,662,635,880,787.359457745,804.640542255,651.359457745,631,652,0.433954397235,-0.00554558618276,0.0799351110802,0.999999991994,-6.86909394244e-05,-8.8063118379e-05,-5.94789842542e-05,1793240004356114176
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.05806261,682,662,635,880,787.94193739,804.05806261,651.94193739,631,652,0.434735033652,-0.00554426399355,0.0798967676082,0.999999987788,-6.87758392389e-05,-0.000126227425216,-6.13237719346e-05,1793240004372780800
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.518400281,714.518400281,682,662,635,880.518400281,787.481599719,804.518400281,651.481599719,631,652.518400281,0.435534914891,-0.00554750428117,0.0799227114594,0.999999991487,-7.40367050548e-05,-8.87201692303e-05,-6.06025172621e-05,1793240004389447424
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714.905478573,681.905478573,662,635,880.905478573,787,805,651,631,652.905478573,0.436320699864,-0.00555098112232,0.0799494150483,0.999999993558,-7.92483475762e-05,-5.51835264579e-05,-5.96536213372e-05,1793240004406114560
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.327698778,681.327698778,662,635,880.327698778,787,805,651,631,652.327698778,0.437023521149,-0.00555308471349,0.0799436119181,0.999999991363,-8.12783767731e-05,-8.47826609353e-05,-5.89934231074e-05,1793240004422781184
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.751503086,745.751503086,714.248496914,681.248496914,661.751503086,635,880.248496914,787,805,651,631,652,0.437710925478,-0.00555362259026,0.0799276788337,0.999999987845,-8.3397219863e-05,-0.000117406844682,-5.9749001223e-05,1793240004439447808
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.1773832,745.1773832,714.8226168,681.8226168,661.1773832,635,880.8226168,787,805,651,631,652,0.43837812783,-0.00555210880122,0.0798984717588,0.999999982532,-8.56324418731e-05,-0.000153994960757,-6.23597706417e-05,1793240004456114176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.588941418,682,661,635,880.588941418,787,804.588941418,651,631,652,0.439012230751,-0.00555179638644,0.0798652233481,0.999999973867,-8.35826397585e-05,-0.000203292566704,-6.28674911968e-05,1793240004472780800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.005678591,714,681.994321409,661,635,880,786.994321409,804.005678591,651,631,652,0.439631060914,-0.00555200848191,0.079829938324,0.999999961432,-7.97104157272e-05,-0.000258609636879,-6.24796420057e-05,1793240004489447424
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,681.151362,661,634.848638,880.151362,786,805,651,631,652,0.440762547639,-0.00555002315562,0.0797143900999,0.999999898459,-8.93666313639e-05,-0.000436049660114,-7.04008560545e-05,1793240004522780672
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.022316226,714,682,655,630.022316226,880.977683774,783.022316226,805,651.022316226,630,653,0.449265844392,-0.00557559420177,0.0796197496257,0.999999831723,-0.000128257491867,-0.000562261587744,-6.29763163462e-05,1793240005522780928
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.557124529,714,682,655.557124529,630.557124529,881,783,805,651.557124529,630,653,0.449265454793,-0.00557614429866,0.0796189820758,0.999999830748,-0.000128698442821,-0.000563922315751,-6.27072276422e-05,1793240005539447552
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+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.291713486,714,682,655.291713486,630.291713486,881,783,805.708286514,652,630.708286514,653,0.449264829871,-0.00557719369257,0.0796177383557,0.999999830194,-0.000128855181245,-0.000564909163278,-6.23414735685e-05,1793240005572781312
+254,4.233333333,HOLD_POSE2,765,746,713,682,655,630,881,783,805,652,631,653,0.449267137689,-0.00557458834443,0.0796210788737,0.999999833266,-0.000124749086843,-0.000560353955161,-6.25175583742e-05,1793240005609527808
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+266,4.433333333,HOLD_POSE2,765,746,714,682,655.036425425,630,880.036425425,783,804.036425425,651.963574575,630,652.036425425,0.449268472342,-0.00557592929044,0.0796209415789,0.99999983206,-0.000127123085046,-0.000562024232971,-6.20410774246e-05,1793240005809527296
+267,4.450000000,HOLD_POSE2,765,745.456091703,714,682,655,630,880,783,805.087816594,652,630,652,0.44926836982,-0.0055765376216,0.0796200076335,0.999999830997,-0.000128691008445,-0.000563557343984,-6.20235804442e-05,1793240005826193920
+268,4.466666667,HOLD_POSE2,765,745.122946009,714,682,655,630,880.122946009,783,805.877053991,651.877053991,630,652.122946009,0.449268392276,-0.00557686046942,0.0796192716983,0.999999830273,-0.000129726127616,-0.000564603215067,-6.20391714733e-05,1793240005842860544
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,746,714.830270606,682,660.830270606,634,879.830270606,786.830270606,804.169729394,651.169729394,631,652.169729394,0.435577990531,-0.00542520180309,0.0798462646611,0.999999961323,0.000121376685509,-0.000247995745058,3.34725102151e-05,1793240006725464064
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.412135153,715,682,660.412135153,635,880,787,804.587864847,652,631,652.412135153,0.433096851627,-0.00541255602686,0.0797985646377,0.999999934002,0.000142718391623,-0.000332416222853,3.35812936123e-05,1793240006775464704
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.963443504,660.963443504,635,879,787,803.963443504,652,631,652,0.40348152921,-0.00538696112917,0.0798370240171,0.999999932142,0.000225113167733,-0.000288123904635,4.49983420121e-05,1793240007475464448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.542102087,745,715,679.457897913,661,635,879,787,804,652,631,652,0.403199830113,-0.0053913282179,0.079839763443,0.999999934175,0.000220556495468,-0.000284278511774,4.68027815207e-05,1793240007492131072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.880341242,745,715,679.119658758,661,635,879,787,804,652,631,652.119658758,0.402928374937,-0.00539453157684,0.0798419645751,0.999999935386,0.000218991342063,-0.000280957969067,4.83107605136e-05,1793240007508797440
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.303407212,745,715,679.696592788,661,635,879,787,804,652,631,652.696592788,0.402684797043,-0.00539178913255,0.0798417850205,0.999999933712,0.000226184601636,-0.000281409698616,4.71716781164e-05,1793240007525464064
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.727734534,635.272265466,879,787,804,652,631,652.727734534,0.402457300744,-0.00539105686451,0.0798404940345,0.999999932231,0.000230565882107,-0.000283201431287,4.6624141031e-05,1793240007542130432
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.153461035,635.846538965,879,787,804,652,631,652.153461035,0.402247642826,-0.00539255436667,0.079837970203,0.999999931001,0.000231827999481,-0.000286479550421,4.67327703629e-05,1793240007558797312
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.434823695,745,715,680,660,636,878.565176305,787,804,652,631,652.434823695,0.402072516303,-0.00539201436629,0.0798399666134,0.999999931792,0.000233853521429,-0.000281945492284,4.72781871539e-05,1793240007575463936
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.972673384,745,715,680,660.027326616,635.972673384,878.027326616,787,803.972673384,651.972673384,631,653,0.401911203056,-0.00539080896722,0.0798435783464,0.999999933296,0.000235903057716,-0.000274700507896,4.79380521947e-05,1793240007592130816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.398023955,745,715,680,660.601976045,635.398023955,878.601976045,787,803.398023955,651.398023955,631,653,0.401774333833,-0.00539115848486,0.0798465269213,0.999999935242,0.000232857586628,-0.000270219566683,4.76998502068e-05,1793240007608797184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.82432417,661,635,878.82432417,787,803.17567583,651.17567583,631,652.82432417,0.401643988652,-0.00539163588902,0.0798483818321,0.99999993653,0.000230194570196,-0.000267799530518,4.72570463858e-05,1793240007625463808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.252764474,661,635,878.252764474,787,803.747235526,651.747235526,631,652.252764474,0.401528345363,-0.00539240148421,0.0798477721804,0.999999936388,0.000228393412228,-0.000270023725507,4.63531742541e-05,1793240007642130432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.676916833,635,878.323083167,787,804,652,631,652.323083167,0.401422161082,-0.00539179814623,0.0798455364012,0.999999934703,0.000230909742533,-0.000274215359248,4.56218392189e-05,1793240007658797312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.097669329,635,878.902330671,787,804,652,631,652.902330671,0.401323476594,-0.00539010941641,0.0798420113072,0.999999931747,0.000236849298096,-0.000279966924826,4.50273043129e-05,1793240007675463936
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.494021971,660.494021971,635,879,787,804.494021971,652,631,653,0.401248971284,-0.00539122275005,0.0798382765964,0.999999930413,0.000236152542619,-0.000285397948473,4.42122662407e-05,1793240007692130560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.085742494,745,715,680,661,635,878.914257506,787,804.914257506,652,631,652.914257506,0.40118258728,-0.00539247102618,0.0798348191196,0.999999929387,0.00023470297328,-0.000290260685183,4.34768223597e-05,1793240007708797440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.663158931,745,715,680,661,635,878.336841069,787,804.336841069,652,631,652.336841069,0.401134653415,-0.00539123435933,0.0798331951667,0.999999928352,0.000236654437314,-0.000292237475334,4.34542367319e-05,1793240007725464064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.761567166,745,715,679.761567166,661,635,878.238432834,787,804,652,631,652.238432834,0.401093675133,-0.0053904941917,0.0798329342437,0.999999928106,0.000237733422243,-0.000292184714077,4.35705532693e-05,1793240007742130688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.189293163,745,715,679.189293163,661,635,878.810706837,787,804,652,631,652.810706837,0.401062435697,-0.00539044919634,0.0798345817639,0.999999928968,0.000237590807497,-0.00028929028109,4.38813533468e-05,1793240007758797312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.395828386,661,635,879,787,804,652,631,653,0.401036833056,-0.00539157219335,0.0798351779727,0.999999929505,0.000235879080087,-0.000288780273075,4.42293175321e-05,1793240007775463936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.987299981,661,635,879,787,804,652,631,653,0.401014016474,-0.00539327248545,0.0798352545575,0.999999929879,0.000233391798813,-0.000289448797477,4.45956505405e-05,1793240007792130816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.566389458,745,715,679.433610542,660.433610542,635,879,787,804,651.433610542,631,652.433610542,0.40100364317,-0.00539157448803,0.0798352880921,0.999999929789,0.000236289493083,-0.000287465269782,4.41952860076e-05,1793240007808797184
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.856065964,745,715,679.143934036,660.143934036,635,878.856065964,787,803.856065964,651.143934036,631,652.143934036,0.400994624158,-0.0053911255272,0.0798358220476,0.999999930158,0.000237322621984,-0.00028535595063,4.39844494272e-05,1793240007825464064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.282323448,745,715,679.717676552,660.717676552,635,878.282323448,787,803.282323448,651.717676552,631,652.717676552,0.400988833914,-0.00539462904981,0.0798378531552,0.999999931945,0.000232435028474,-0.000283044776184,4.43898096746e-05,1793240007842130688
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.700647607,715,680,660.700647607,635,878,787,803.299352393,652,631,652.700647607,0.400983827201,-0.00539510700742,0.0798386384565,0.999999932137,0.000232405782876,-0.00028237711689,4.44516181754e-05,1793240007858797312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.111285983,715,680,660.111285983,635,878,787,803.888714017,652,631,652.111285983,0.400979579562,-0.0053926538321,0.0798382168348,0.99999993079,0.000237083249518,-0.000283301676322,4.41805976559e-05,1793240007875463936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.469905188,715,680,660.469905188,635,878.469905188,786.530094812,804,652,631,652,0.400978942352,-0.00539377035689,0.0798384973415,0.999999931603,0.000235066433975,-0.000282113187869,4.41486607319e-05,1793240007892130816
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.048802804,745,715,679.951197196,660.951197196,635,879,786.048802804,804,652,631,652,0.400979284497,-0.00539549340412,0.0798390540283,0.999999932826,0.000231947787719,-0.000280357236022,4.4135964523e-05,1793240007908797440
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.623480661,745,715,679.376519339,660.376519339,635,879,786.623480661,804,652,631,652,0.400981123606,-0.00539479811723,0.0798408255391,0.999999933142,0.000233747703911,-0.00027778676051,4.37309004601e-05,1793240007925464064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.800747017,745,715,679,660.199252983,635,879,787,804,652,631,652,0.400981428155,-0.00539413935291,0.0798415783511,0.999999933056,0.000235247774954,-0.000276874567368,4.3434740117e-05,1793240007942130688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.222895146,745,715,679,660.777104854,635,879,787,804,652,631,652,0.400978816898,-0.00539354998488,0.0798403955424,0.999999932218,0.00023617811269,-0.000279113262522,4.33455068246e-05,1793240007958797056
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.362494559,745,715,679,661,635,879,787,804,652,631,652.362494559,0.400978028251,-0.00539421405245,0.079840616234,0.999999932486,0.000235482379641,-0.000278717859946,4.34993717678e-05,1793240007975463680
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.952617627,745,715,679,661,635,879,787,804,652,631,652.952617627,0.400978384113,-0.00539566521511,0.0798417182538,0.999999933445,0.000233765555181,-0.000276668375252,4.3805890285e-05,1793240007992130304
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.467627973,745,715,679.532372027,661,635,878.467627973,787,804,652,631,652.467627973,0.400979634848,-0.00539472410815,0.0798425432482,0.999999933525,0.000235489011867,-0.000274954677713,4.35292120387e-05,1793240008008797184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.89013898,661,635,878.10986102,786.89013898,803.89013898,651.89013898,631,652,0.400980474343,-0.00539393137594,0.0798430984121,0.999999933622,0.00023649232281,-0.000273787344572,4.32162892359e-05,1793240008025463552
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.318369086,661,635,878.681630914,786.318369086,803.318369086,651.318369086,631,652,0.400979256306,-0.0053946405898,0.0798426207628,0.999999934129,0.00023320500243,-0.000274793938086,4.29650450971e-05,1793240008042130176
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.262186009,745,715,679.262186009,660.737813991,635,879,786.262186009,803,651.262186009,631,652.262186009,0.40097808118,-0.00539463897015,0.0798422073728,0.999999934171,0.00023194700048,-0.000275748682798,4.26776696029e-05,1793240008058796800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.853778785,745,715,679.853778785,660.146221215,635,879,786.853778785,803,651.853778785,631,652.853778785,0.400976959965,-0.00539374426951,0.0798418747173,0.999999933639,0.000233238604851,-0.000276638285552,4.2344899155e-05,1793240008075463424
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.563815604,745,715,679.563815604,660.436184396,635,879,787,803.436184396,652,631,652.563815604,0.400976410922,-0.00539342205127,0.0798420248247,0.999999933605,0.00023331413416,-0.000276659564438,4.25839177613e-05,1793240008092130816
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.015507957,661,635,878.984492043,787,803.984492043,652,631,652,0.400976157477,-0.00539335991812,0.0798423733942,0.999999933772,0.000232950709797,-0.000276297943106,4.30051305399e-05,1793240008108798208
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.592451194,661,635,878.407548806,787,803.407548806,652,631,652,0.400979804756,-0.00539590917347,0.0798441688134,0.999999935251,0.00023115000273,-0.000272395000129,4.32260859524e-05,1793240008125464832
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.168297956,745,715,679.831702044,660.831702044,635,878,787,803.168297956,652,631,652,0.400981446388,-0.00539723263871,0.0798448808915,0.999999935826,0.000230719138802,-0.000270630384191,4.33146013642e-05,1793240008142131712
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.741506655,745,715,679.258493345,660.258493345,635,878,787,803.741506655,652,631,652,0.400978262604,-0.00539560695574,0.0798429865418,0.99999993425,0.000233584002505,-0.00027401040372,4.30844772475e-05,1793240008158798592
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.323258864,660,635,878.323258864,787,804,651.676741136,631,652,0.400976021772,-0.00539491298433,0.0798417226043,0.999999933664,0.000233798086788,-0.000276007434376,4.27766917011e-05,1793240008175465216
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.912028309,660,635,878.912028309,787,804,651.087971691,631,652,0.40097455544,-0.0053949842798,0.0798409764597,0.999999933899,0.000231834937575,-0.000276868538778,4.24051184917e-05,1793240008192131840
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.507090025,745,715,680,660.492909975,635,878.507090025,787,803.507090025,651,631,652,0.400975764488,-0.00539505178782,0.0798415219737,0.999999934248,0.000231644398192,-0.000275765865099,4.23990735603e-05,1793240008208798464
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,878.072234678,787.072234678,803.072234678,651.072234678,631,652,0.400977431909,-0.00539511234632,0.0798424061791,0.999999934578,0.000231955300312,-0.000274295711469,4.24569035788e-05,1793240008225464832
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,878.650358904,787.650358904,803.650358904,651.650358904,631,652,0.400979018147,-0.00539512889387,0.0798440733292,0.999999934639,0.000233597267157,-0.000272667865539,4.25123882316e-05,1793240008242131968
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.22583896,745,715,679.77416104,661,635,879,787.77416104,804,652,631,652,0.400979508283,-0.00539577323922,0.079844730646,0.999999934957,0.000232982017966,-0.000272025457634,4.25219120369e-05,1793240008258798848
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.797272807,745,715,679.202727193,661,635,879,787.202727193,804,652,631,652,0.400978321084,-0.00539737828558,0.0798438426442,0.999999935663,0.000228912616036,-0.000272891037041,4.24611032833e-05,1793240008275465216
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.382501149,660.617498851,635,878.617498851,786.617498851,804,652,631,652,0.400977986768,-0.00539577709037,0.0798435712252,0.999999935037,0.000231380764965,-0.000273127891002,4.23210826962e-05,1793240008292131584
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.975314128,660.024685872,635,878.024685872,786.024685872,804,652,631,652,0.400978121394,-0.005392412997,0.079843638824,0.999999933653,0.000237443476635,-0.000273019050783,4.21375088159e-05,1793240008308797952
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5c40c64ee31d20afe64f5a056d145236e5a3b4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+372,6.200000000,pose2_to_pose3_retreat,0.576488121418,9.07583383986e-05,1.0700323629,0.547058573993,0.00876250152996,1.06970050046
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+375,6.250000000,pose2_to_pose3_retreat,0.576146539693,9.10417418256e-05,1.07003232967,0.546716986594,0.00876276536033,1.06970045907
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+380,6.333333333,pose2_to_pose3_retreat,0.575805874397,9.07841845804e-05,1.07003231495,0.546376326471,0.00876252553737,1.06970044942
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+382,6.366666667,pose2_to_pose3_retreat,0.575741147672,9.07267519433e-05,1.07003223322,0.54631159897,0.00876246545348,1.06970036722
+383,6.383333333,pose2_to_pose3_retreat,0.575719253552,9.06977937082e-05,1.07003236153,0.54628970674,0.00876244257656,1.06970048682
+384,6.400000000,pose2_to_pose3_retreat,0.575702880777,9.08360795395e-05,1.07003234196,0.546273332066,0.0087625746546,1.06970047351
+385,6.416666667,pose2_to_pose3_retreat,0.575690917263,9.0736444402e-05,1.07003239103,0.546261369646,0.00876247886259,1.06970052595
+386,6.433333333,pose2_to_pose3_retreat,0.575682425375,9.06256912276e-05,1.07003240405,0.546252879233,0.00876237313638,1.06970053951
+387,6.450000000,pose2_to_pose3_retreat,0.575676982779,9.0719489862e-05,1.0700322694,0.546247435916,0.00876246442944,1.06970040332
+388,6.466666667,pose2_to_pose3_retreat,0.575673207647,9.07454165328e-05,1.07003237509,0.54624366019,0.00876248827019,1.06970050718
+389,6.483333333,pose2_to_pose3_retreat,0.57567094801,9.07342778317e-05,1.07003257397,0.546241400132,0.00876247564591,1.06970070445
+390,6.500000000,pose2_to_pose3_retreat,0.575669812229,9.07286790889e-05,1.07003267394,0.54624026414,0.00876246930046,1.0697008036
+391,6.516666667,pose2_to_pose3_retreat,0.575669459073,9.07268792543e-05,1.07003270462,0.546239910918,0.00876246727047,1.06970083403
+392,6.533333333,pose2_to_pose3_retreat,0.575669357056,9.07238306351e-05,1.07003269618,0.546239808908,0.00876246424215,1.06970082558
+393,6.550000000,pose2_to_pose3_retreat,0.575669234783,9.07201766724e-05,1.07003268607,0.546239686642,0.00876246061251,1.06970081546
+394,6.566666667,pose2_to_pose3_retreat,0.575669114345,9.0716577541e-05,1.07003267611,0.546239566212,0.00876245703735,1.06970080548
+395,6.583333333,pose2_to_pose3_retreat,0.575668915204,9.0710626485e-05,1.07003265965,0.546239367083,0.00876245112591,1.06970078899
+396,6.600000000,pose2_to_pose3_retreat,0.57566878762,9.07068137843e-05,1.0700326491,0.546239239506,0.00876244733859,1.06970077843
+397,6.616666667,pose2_to_pose3_retreat,0.575668728843,9.07050573258e-05,1.07003264424,0.546239180733,0.00876244559383,1.06970077356
+398,6.633333333,pose2_to_pose3_retreat,0.575668721763,9.07048457512e-05,1.07003264365,0.546239173654,0.00876244538366,1.06970077297
+399,6.650000000,pose2_to_pose3_retreat,0.575668531265,9.06991529626e-05,1.0700326279,0.546238983167,0.00876243972878,1.0697007572
+400,6.666666667,pose2_to_pose3_retreat,0.575668100023,9.06862658687e-05,1.07003259224,0.546238551951,0.00876242692748,1.06970072149
+401,6.683333333,pose2_to_pose3_retreat,0.575667522585,9.06690099336e-05,1.0700325445,0.546237974549,0.00876240978644,1.06970067368
+402,6.700000000,pose2_to_pose3_retreat,0.575667449223,9.06668175984e-05,1.07003253843,0.546237901192,0.0087624076087,1.0697006676
+403,6.716666667,pose2_to_pose3_retreat,0.575666999082,9.06533657538e-05,1.07003250121,0.546237451079,0.00876239424642,1.06970063033
+404,6.733333333,pose2_to_pose3_retreat,0.575666824838,9.06481586767e-05,1.0700324868,0.546237276844,0.00876238907401,1.0697006159
+405,6.750000000,pose2_to_pose3_retreat,0.575666772784,9.0646603116e-05,1.0700324825,0.546237224794,0.0087623875288,1.06970061159
+406,6.766666667,pose2_to_pose3_retreat,0.57566655849,9.06401992465e-05,1.07003246478,0.546237010513,0.00876238116757,1.06970059384
+407,6.783333333,pose2_to_pose3_retreat,0.575666018542,9.06552891482e-05,1.0700324345,0.546236470543,0.00876239611281,1.06970056182
+408,6.800000000,pose2_to_pose3_retreat,0.575665482122,9.06755043355e-05,1.07003240682,0.546235934091,0.00876241614211,1.06970053213
+409,6.816666667,pose2_to_pose3_retreat,0.575665381166,9.06793089247e-05,1.07003240162,0.546235833129,0.00876241991172,1.06970052655
+410,6.833333333,pose2_to_pose3_retreat,0.575664915294,9.06968654925e-05,1.07003237758,0.546235367229,0.00876243730685,1.06970050076
+411,6.850000000,pose2_to_pose3_retreat,0.575664654971,9.06605648501e-05,1.07003237095,0.546235108285,0.00876240573939,1.06970049544
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+414,6.900000000,pose2_to_pose3_retreat,0.575664387823,9.05509086277e-05,1.07003226924,0.546234843305,0.00876230358667,1.06970039767
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94f7e77f3b4aeb6d5a40730061833ef3ed05685c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f63dab048c4c8364407bbf25d96f97084f5dcdf3ceca44ec9b53bc43a074007
+size 26395140
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..009898d581154ee5ba979affe759c3162b824221
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+27,0.450000000,BASELINE,765,745,715,679.346289454,661,635,878.346289454,787,804,651.346289454,631,652,0.400979575573,-0.00539475356605,0.0798467119602,0.999999935859,0.000233470018225,-0.000268317961053,4.21910635058e-05,1793240008903271424
+28,0.466666667,BASELINE,765,745,715,679.236594843,661,635,878,787,804,651,631,652,0.400979166839,-0.00539482585651,0.0798466180797,0.999999936019,0.000232996087882,-0.000268142719461,4.21218603224e-05,1793240008919938304
+29,0.483333333,BASELINE,765,745,715,679.832528156,661,635,878,787,804,651,631,652,0.400977951174,-0.00539575370159,0.0798454666535,0.999999935514,0.000233153718274,-0.000269908839269,4.19703377897e-05,1793240008936604672
+30,0.500000000,BASELINE,765,745,715,680,661,635,878.413787128,787,804,651.413787128,631,652,0.400976751315,-0.0053957924795,0.0798446594958,0.999999935212,0.000233080662148,-0.000271134599191,4.16486335628e-05,1793240008953271296
+31,0.516666667,BASELINE,765,745,715,680,661,635,878.989310358,787,804,651.989310358,631,652,0.400975557633,-0.00539548374959,0.0798439869018,0.999999934991,0.000232917438069,-0.000272149149745,4.12604107798e-05,1793240008969937920
+32,0.533333333,BASELINE,765,745,715,680,661,635,879,787,804,652,631,652.562844436,0.400978153829,-0.00539646368282,0.0798456230818,0.999999935862,0.000232067022478,-0.000269600390764,4.16774278674e-05,1793240008986604544
+33,0.550000000,BASELINE,765.140296043,745,715,679.859703957,661,635,879,787,804,652,631.140296043,652.859703957,0.400980006727,-0.00539694871452,0.0798467314957,0.9999999364,0.000231802594418,-0.000267776672416,4.20005330417e-05,1793240009003271424
+34,0.566666667,BASELINE,765.730429182,745,715,679.269570818,661,635,879,787,804,652,631.730429182,652.269570818,0.400979246382,-0.0053957687251,0.079846007612,0.999999935823,0.000233458742415,-0.000268493907887,4.19736616862e-05,1793240009019938048
+35,0.583333333,BASELINE,765.685163674,745,715,679.314836326,660.685163674,635,879,787,803.685163674,652,631.685163674,652,0.400978685824,-0.00539535941098,0.0798457473407,0.999999935401,0.000234756144847,-0.000268928425591,4.20229735014e-05,1793240009036604672
+36,0.600000000,BASELINE,765.105571633,745,715,679.894428367,660.105571633,635,879,787,803.105571633,652,631.105571633,652,0.400978293273,-0.00539559818171,0.0798458769357,0.999999935109,0.000235751867096,-0.000269125197158,4.2136350125e-05,1793240009053271296
+37,0.616666667,BASELINE,765,745.470868361,715,680,660.470868361,635.470868361,879,787,803.470868361,652,631,652.470868361,0.400979430759,-0.00539521999731,0.0798462179487,0.999999935497,0.000235144745238,-0.000268222459569,4.20735308015e-05,1793240009069937920
+38,0.633333333,BASELINE,765.047097936,745.952902064,715,680,661,635.952902064,878.952902064,787,803.952902064,652,631,652.952902064,0.400980685407,-0.00539478514393,0.0798465596128,0.999999935946,0.000234385584183,-0.000267224892767,4.19835025597e-05,1793240009086604544
+39,0.650000000,BASELINE,765.628909068,745.371090932,715,680,661,635.371090932,878.371090932,787,803.371090932,652,631,652.371090932,0.400979401462,-0.00539526690854,0.0798463740903,0.999999935386,0.000235953137891,-0.000267930857348,4.20300833108e-05,1793240009103271168
+40,0.666666667,BASELINE,766,745,715,680,661,635,878.211662368,787,803.211662368,651.788337632,631,652,0.400979278395,-0.00539564372475,0.0798466596507,0.999999935357,0.000236414183614,-0.000267644890708,4.19697108516e-05,1793240009119938048
+41,0.683333333,BASELINE,766,745,715,680,661,635,878.796074845,787,803.796074845,651.203925155,631,652,0.400981199704,-0.0053958357205,0.0798477748165,0.99999993626,0.000234926602394,-0.00026561207372,4.17209873786e-05,1793240009136604672
+42,0.700000000,BASELINE,765.62360408,745,715,680,661,635,878.62360408,787,804,651.37639592,631,652.37639592,0.400980873544,-0.00539558039096,0.079847499086,0.999999936384,0.000233751903937,-0.00026616748211,4.1801517196e-05,1793240009153271296
+43,0.716666667,BASELINE,765.045475844,745,715,680,661,635,878.045475844,787,804,651.954524156,631,652.954524156,0.400979342835,-0.00539508531395,0.0798464778937,0.999999936089,0.000232744897478,-0.000268110070065,4.20585128804e-05,1793240009169937920
+44,0.733333333,BASELINE,765.528528709,745,715,679.471471291,661,635,878.528528709,787,804,652,631,652.471471291,0.400978142865,-0.00539437879773,0.0798453036167,0.999999935255,0.000234774512947,-0.000269508652122,4.16591013117e-05,1793240009186604544
+45,0.750000000,BASELINE,765.894880267,745,715,679,661,635,879,787,804,652,631,652.105119733,0.400977218157,-0.0053937451797,0.079844406553,0.999999934568,0.000236553596281,-0.000270552591472,4.13143478287e-05,1793240009203271168
+46,0.766666667,BASELINE,765.304730808,745,715,679,661,635,879,787,804,652,631,652.695269192,0.400977433241,-0.00539353121174,0.0798448488759,0.999999934799,0.000235980484515,-0.000270174485619,4.14803703363e-05,1793240009219937536
+47,0.783333333,BASELINE,765,745,715,679.280332575,661,635,879,787,803.719667425,652,631,652.719667425,0.400978178712,-0.00539362012473,0.0798455426572,0.999999935344,0.000234847595192,-0.000269130554829,4.15552037416e-05,1793240009236604416
+48,0.800000000,BASELINE,765,745,715,679.859965817,661,635,879,787,803.140034183,652,631,652.140034183,0.400979490458,-0.00539403241243,0.0798465049112,0.999999936221,0.000233117052117,-0.000267375747461,4.15326779537e-05,1793240009253271296
+49,0.816666667,BASELINE,765,745,715,679.563986679,661,635,879,787,803.436013321,652,631,652,0.400979363617,-0.00539445249484,0.0798465019901,0.999999936115,0.000233828542852,-0.0002671166551,4.17467204324e-05,1793240009269938176
+50,0.833333333,BASELINE,765.011157453,745,715,679,661,635,879,787,804,651.988842547,631,652.011157453,0.400978778999,-0.00539485478965,0.079846192053,0.999999935693,0.000235307448215,-0.000267354294305,4.20271279555e-05,1793240009286604800
+51,0.850000000,BASELINE,765.598641692,745,715,679,661,635,879,787,804,651.401358308,631,652.598641692,0.400978219393,-0.00539421002902,0.0798459048662,0.999999935135,0.000236244265147,-0.000268639057293,4.18429747784e-05,1793240009303271424
+52,0.866666667,BASELINE,766,745,715,679,661.183496195,635,879,787,803.816503805,651.183496195,631,652.816503805,0.400978396026,-0.00539387170586,0.079845994872,0.999999935015,0.000236473380031,-0.000268907790782,4.17008067089e-05,1793240009319938048
+53,0.883333333,BASELINE,766,745,715,679,661.762679955,635,879,787,803.237320045,651.762679955,631,652.237320045,0.400980160272,-0.00539419417842,0.0798468982483,0.999999935838,0.000235176420165,-0.000266985578286,4.16491745062e-05,1793240009336605440
+54,0.900000000,BASELINE,765.66129107,745,715,679,661.66129107,635,879,787,803.33870893,651.66129107,631,652.33870893,0.400980344249,-0.00539502267627,0.0798471403042,0.999999936052,0.000234657720604,-0.000266626117892,4.17347631761e-05,1793240009353272064
+55,0.916666667,BASELINE,765.087452154,745,715,679,661.087452154,635,879,787,803.912547846,651.087452154,631,652.912547846,0.400979431209,-0.00539620245423,0.079846923275,0.999999935846,0.000234679285376,-0.000267351511999,4.1915609868e-05,1793240009369937920
+56,0.933333333,BASELINE,765,745,715,679.485741791,661,635,878.514258209,787,804,651.485741791,631,653,0.40097883349,-0.00539626360155,0.0798469270583,0.999999936078,0.000233540543138,-0.000267491738261,4.18537298098e-05,1793240009386604544
+57,0.950000000,BASELINE,765.061165032,745,715,679.938834968,660.938834968,635,878,787,804,652,631,652.938834968,0.40097835528,-0.00539594850371,0.0798469082631,0.999999936244,0.000232727403015,-0.000267593307684,4.17516535421e-05,1793240009403271424
+58,0.966666667,BASELINE,765.657092414,745,715,679.342907586,660.342907586,635,878,787,804,652,631,652.342907586,0.400978426267,-0.00539410237861,0.0798463449529,0.999999935159,0.000236584961013,-0.000268276773386,4.16797052333e-05,1793240009419938304
+59,0.983333333,BASELINE,766,745,715,679,660.492241726,635,878,787,804,652,631,652,0.400978687806,-0.00539334489292,0.0798462631281,0.999999934821,0.000237863197567,-0.00026840966339,4.16570625483e-05,1793240009436604928
+60,1.000000000,BASELINE,766,745,715,679,661.651599091,635,878,787,804,652,631,652,0.400979207594,-0.00539406279664,0.0798468338412,0.999999935509,0.000235645782868,-0.000267796380142,4.17012418053e-05,1793240009453271296
+61,1.016666667,BASELINE,765.598325472,745,715,679.401674528,661.598325472,635,878.401674528,787,804,652,631,652.401674528,0.400979447444,-0.00539478628369,0.0798469024772,0.999999935707,0.000235026190153,-0.000267562847552,4.19490491943e-05,1793240009469937920
+62,1.033333333,BASELINE,765.02408466,745,715,679.97591534,661.02408466,635,878.97591534,787,804,652,631,652.97591534,0.400979567029,-0.00539551216937,0.0798467554121,0.999999935696,0.000235093049373,-0.000267492462412,4.2284338728e-05,1793240009486604288
+63,1.050000000,BASELINE,765,745,715,680,661,635.551103763,879,787,803.448896237,652,631,653,0.400979463424,-0.0053939447272,0.0798461389204,0.99999993514,0.000236657196286,-0.00026824520188,4.19163390477e-05,1793240009503270912
+64,1.066666667,BASELINE,765,745,715,680,661,635.870639536,879,787,803,652,631,653,0.40097930408,-0.00539300093528,0.0798457390724,0.999999934942,0.000237039609057,-0.000268704175716,4.15469519504e-05,1793240009519937792
+65,1.083333333,BASELINE,765,745,715,680,661,635.281627886,879,787,803,652,631,653,0.400978981403,-0.00539462987063,0.0798461820368,0.999999936096,0.000232990105498,-0.000267991283871,4.12820345183e-05,1793240009536604672
+66,1.100000000,BASELINE,765,745,715,679.69759592,661.30240408,635,879,787,803.30240408,652,631,653,0.400978533842,-0.00539533442114,0.0798460286248,0.99999993609,0.000232634629048,-0.000268315138179,4.13413000268e-05,1793240009553271552
+67,1.116666667,BASELINE,765,745,715,679.11812642,661.88187358,635,879,787,803.88187358,652,631,653,0.40097797186,-0.00539519204161,0.0798453288073,0.999999935023,0.000235663654694,-0.000269588868962,4.16975849646e-05,1793240009569938688
+68,1.133333333,BASELINE,765.458074152,745,715,679.458074152,661.541925848,635,879,787,804.458074152,652,631,653,0.400977382256,-0.00539468148122,0.0798454428835,0.999999934827,0.000236340502469,-0.000269740304214,4.15796636805e-05,1793240009586605312
+69,1.150000000,BASELINE,765.965875036,745,715,679.965875036,661,635,879,787,804.965875036,652,631.034124964,653,0.400976868876,-0.00539413025039,0.0798457543197,0.999999934875,0.000236343741309,-0.000269594228815,4.13641221094e-05,1793240009603271680
+70,1.166666667,BASELINE,765.378686735,745,715,679.378686735,661,635,879,787,804.378686735,652,631.621313265,653,0.400977705489,-0.00539444774616,0.0798458868859,0.999999935223,0.000235190833861,-0.000269283684273,4.15343030307e-05,1793240009619938304
+71,1.183333333,BASELINE,765,745,715,679.205857362,661,635,878.794142638,787,804,652,632,652.794142638,0.400978527405,-0.00539466376524,0.0798463581559,0.999999935464,0.000235031833966,-0.000268505156616,4.16862059088e-05,1793240009636604672
+72,1.200000000,BASELINE,765,745,715,679.785599077,661,635,878.214400923,787,804,652,632,652.214400923,0.400979322629,-0.00539469547934,0.07984744459,0.999999935506,0.00023667799876,-0.000266876663851,4.1804911682e-05,1793240009653271296
+73,1.216666667,BASELINE,765.360698494,745,715,679.639301506,661,635,878.360698494,787,804,652,631.639301506,652,0.400979308531,-0.00539440494665,0.0798471128483,0.999999935256,0.000237393005924,-0.000267167865671,4.1871787712e-05,1793240009669937664
+74,1.233333333,BASELINE,765.933073535,745,715,679.066926465,661,635,878.933073535,787,804,652,631.066926465,652,0.40097881948,-0.00539392530286,0.0798459488473,0.999999934835,0.00023756156149,-0.000268585643743,4.19082473587e-05,1793240009686604544
+75,1.250000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652.506833426,0.400978733135,-0.00539312668571,0.0798466003329,0.999999934933,0.000238050612452,-0.000267806752838,4.17885555048e-05,1793240009703271424
+76,1.266666667,BASELINE,766,745,715,679,661,635.083942412,879,787,804,652,631,652.916057588,0.400978648876,-0.0053926865899,0.079847256603,0.999999935107,0.000238186548361,-0.000267047718862,4.17007068373e-05,1793240009719938304
+77,1.283333333,BASELINE,766,745,715,679,661,635.680379129,879,787,804,652,631,652.319620871,0.400978251798,-0.00539469323682,0.0798464744375,0.999999935333,0.000235907518188,-0.000268185713815,4.19335041582e-05,1793240009736604416
+78,1.300000000,BASELINE,765.732723875,745,715,679.267276125,660.732723875,635.732723875,879,787,804,652,631,652,0.400978662485,-0.00539546993868,0.0798465262031,0.999999935604,0.000234930772798,-0.000268011300438,4.20595406888e-05,1793240009753270784
+79,1.316666667,BASELINE,765.156841802,745,715,679.843158198,660.156841802,635.156841802,879,787,804,652,631,652,0.400980005844,-0.00539482650473,0.0798475408536,0.999999935932,0.000235457689112,-0.000266321536458,4.20623076262e-05,1793240009769937920
+80,1.333333333,BASELINE,765.418265161,745,715,680,660.418265161,635,879,787,804,652,631,652,0.400980211827,-0.00539434578072,0.0798479264481,0.99999993593,0.000236158102254,-0.000265717146735,4.2008287309e-05,1793240009786604544
+81,1.350000000,BASELINE,765.993082056,745,715,680,660.993082056,635,879,787,804,652,631,652,0.400979992104,-0.00539392595707,0.0798480765943,0.999999935804,0.000236923453265,-0.000265518999704,4.19330121899e-05,1793240009803270912
+82,1.366666667,BASELINE,766,745,715,680,661,635,879,787,804,652,631,652,0.400979208914,-0.0053954856209,0.0798474392867,0.999999936024,0.000234452586464,-0.000266919697369,4.1684397984e-05,1793240009819937792
+83,1.383333333,BASELINE,765.834138875,745,715,679.834138875,661,635,879,786.834138875,803.834138875,652,631,652,0.40097896647,-0.00539636171965,0.079847169546,0.999999936216,0.000232978926379,-0.000267518997471,4.1497688955e-05,1793240009836604416
+84,1.400000000,BASELINE,765.276844196,745,715,679.276844196,661,635,879,786.276844196,803.276844196,652,631,652,0.400980016385,-0.00539556769189,0.0798477899044,0.999999936348,0.000233951718765,-0.000266181028502,4.1462059866e-05,1793240009853271296
+85,1.416666667,BASELINE,765.281644344,745,715,679,661,635,879,786.281644344,803.281644344,652,631,652.281644344,0.400980911344,-0.00539506684941,0.0798485275442,0.999999936561,0.000234367664333,-0.000265010728786,4.14528373459e-05,1793240009869938176
+86,1.433333333,BASELINE,765.841311359,745,715,679,661,635,879,786.841311359,803.841311359,652,631,652.841311359,0.400981653338,-0.00539485542217,0.0798493809573,0.999999936858,0.000234233923532,-0.00026400594234,4.1469681834e-05,1793240009886604800
+87,1.450000000,BASELINE,765.560087352,745,715,679.439912648,661,635,879,787,804,652,631,653,0.400980212902,-0.00539570031841,0.0798483383276,0.99999993669,0.000233132658138,-0.000265609907859,4.14861445009e-05,1793240009903271424
+88,1.466666667,BASELINE,765,745,715,679.94785471,661,635,878.94785471,787,804,652,631,652.94785471,0.40097819973,-0.00539693021646,0.0798467483839,0.999999936392,0.000231719624125,-0.000267953714469,4.15121178803e-05,1793240009919937792
+89,1.483333333,BASELINE,765,745,715,679.354079806,661,635,878.354079806,787,804,652,631,652.354079806,0.400979208829,-0.00539781690948,0.079847267524,0.999999936729,0.000231045440803,-0.000267258492793,4.16384479349e-05,1793240009936604416
+90,1.500000000,BASELINE,765.232759169,745,715,679.232759169,661,635,878,787,804,652,631.232759169,652.232759169,0.400979850422,-0.0053975170564,0.0798474488531,0.999999936798,0.000231309322356,-0.000266776799247,4.15966896996e-05,1793240009953271040
+91,1.516666667,BASELINE,765.809352273,745,715,679.809352273,661,635,878,787,804,652,631.809352273,652.809352273,0.400979949132,-0.00539546442667,0.0798471311647,0.999999936471,0.000232958921831,-0.000266610531429,4.13066299213e-05,1793240009969937920
+92,1.533333333,BASELINE,766,745,715,680,661,635,878.386536579,787,804,652,631.613463421,653,0.400980774899,-0.00539590444716,0.0798479611433,0.999999936619,0.0002335272558,-0.000265495353862,4.1706403698e-05,1793240009986604544
+93,1.550000000,BASELINE,766,745,715,680,661,635,878.964012977,787,804,652,631.035987023,653,0.400981959816,-0.005397575777,0.0798493580419,0.999999936999,0.000233561470639,-0.000263911437577,4.24469387134e-05,1793240010003271424
+94,1.566666667,BASELINE,766,745,715,679.449227599,661,635.550772401,879,787,804,652,631,652.449227599,0.400980661417,-0.00539608690684,0.0798485870584,0.999999936514,0.000234218350083,-0.00026522722022,4.20393030967e-05,1793240010019938560
+95,1.583333333,BASELINE,765.863655696,745,715,679,661,636,879,787,804,652,631,652,0.400979589287,-0.00539500072484,0.079847907956,0.99999993624,0.000234273521313,-0.000266270946617,4.16654803272e-05,1793240010036605440
+96,1.600000000,BASELINE,765.283951347,745,715,679,661,636,879,787,804,652,631,652,0.400979789606,-0.00539590694276,0.0798479961313,0.99999993684,0.000232237512943,-0.000265803354688,4.16497405121e-05,1793240010053271552
+97,1.616666667,BASELINE,765.293738092,745,715,679.293738092,661,635.706261908,879,787,804,652,631,652,0.40098051728,-0.00539606198999,0.0798482032986,0.999999937051,0.000232475389751,-0.000264792811467,4.16786141671e-05,1793240010069937920
+98,1.633333333,BASELINE,765.869492988,745,715,679.869492988,661,635.130507012,879,787,804,652,631,652,0.400981751267,-0.00539549584109,0.0798485247096,0.999999936887,0.000234896415032,-0.000263260982841,4.1750321043e-05,1793240010086604288
+99,1.650000000,BASELINE,766,745,715,679.555310933,661,635,879,787,804,652,631,652,0.400981324779,-0.00539568722482,0.0798484871364,0.999999936824,0.000234093709125,-0.000264214011973,4.17515711343e-05,1793240010103271168
+100,1.666666667,BASELINE,766,745,715,679,661,635,879,787,804,651.979742218,631.020257782,652,0.400980464071,-0.00539604461458,0.079848351197,0.999999936776,0.000232481275082,-0.000265820214227,4.17248597385e-05,1793240010119937792
+101,1.683333333,BASELINE,766,745,715,679,661,635,879,787,804,651.389068493,631.610931507,652,0.400981081143,-0.00539482417725,0.0798484083098,0.999999936408,0.00023467529524,-0.000265309908712,4.1492318977e-05,1793240010136605440
+102,1.700000000,BASELINE,766,745,715,679.1973679,661,635,879,787,804,651.1973679,631.8026321,652,0.400981359742,-0.0053946254791,0.0798483618833,0.999999936415,0.00023511893037,-0.00026491389926,4.13386912605e-05,1793240010153272832
+103,1.716666667,BASELINE,766,745,715,679.775626797,661,635,879,787,804,651.775626797,631.224373203,652,0.400980985138,-0.00539639858732,0.0798481156413,0.999999937148,0.000232184579766,-0.00026473846445,4.1337354134e-05,1793240010169939200
+104,1.733333333,BASELINE,765.647366255,745,715,680,661,635,879,787,804,652,631,652,0.40098046416,-0.00539673757065,0.0798478478279,0.999999937055,0.000231892471391,-0.000265345445408,4.13348502973e-05,1793240010186605568
+105,1.750000000,BASELINE,765.071153021,745,715,680,661,635,879,787,804,652,631,652,0.400979850378,-0.00539616727954,0.0798475663374,0.99999993644,0.000233275616941,-0.000266448499454,4.13316067342e-05,1793240010203271936
+106,1.766666667,BASELINE,765.504425592,745,715,679.495574408,661,635,879,787,804,652,631.504425592,652,0.400980464044,-0.00539509494782,0.0798483771459,0.999999936512,0.000234254481113,-0.000265313725301,4.13378001396e-05,1793240010219938304
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,880,787,804,652,631,653,0.400978851374,-0.00539488342361,0.0798468528412,0.99999993537,0.000236744235802,-0.000267324328107,4.18268303949e-05,1793240010262497024
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.578488148,745,715,679.421511852,661,635,879.421511852,787,804,652,631.578488148,652.421511852,0.400980026936,-0.00539453882931,0.0798478695171,0.999999936188,0.000235089948275,-0.000265761688199,4.15585045763e-05,1793240010279163648
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.156291547,879,787,803.843708453,651.843708453,631.843708453,652.156291547,0.40098087417,-0.0053942197944,0.0798485941529,0.99999993672,0.000234073885371,-0.000264682398016,4.13755120474e-05,1793240010295830016
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.73225639,879,787,803.26774361,651.26774361,631.26774361,652.73225639,0.400980839777,-0.00539396939135,0.0798485346044,0.999999936497,0.000234771579733,-0.000264900995807,4.14216559905e-05,1793240010312496640
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.69298379,745,715,679.30701621,661,635.69298379,878.69298379,787,803.30701621,651.30701621,631,652.69298379,0.400979999666,-0.00539386854336,0.0798475277068,0.999999936073,0.000234923568501,-0.000266382242153,4.13057158143e-05,1793240010329163008
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.119270775,745,715,679.880729225,661,635.119270775,878.119270775,787,803.880729225,651.880729225,631,652.119270775,0.40097845965,-0.00539389760988,0.0798456978722,0.999999935469,0.000234601517308,-0.00026896031766,4.10489774774e-05,1793240010345829120
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.470203734,745,715,679.529796266,661,635,878.470203734,787,804,652,631,652.470203734,0.40097859638,-0.00539428620191,0.0798458920446,0.999999935575,0.000234649993804,-0.000268509299665,4.11332424648e-05,1793240010362495744
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.061829774,661,635,879,787,804,652,631,653,0.400979706207,-0.00539479125116,0.079846898515,0.99999993598,0.000234744781344,-0.000266885971237,4.13212388888e-05,1793240010379162368
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.636974924,661,635,879,787,804,652,631,653,0.40098524126,-0.00539547975836,0.0798502385862,0.999999937302,0.000234416695171,-0.0002621301972,4.16274012871e-05,1793240010395829248
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.78734227,660.78734227,635,879,787,804,652,631,652.78734227,0.400994932961,-0.00539596820259,0.0798550838854,0.99999993928,0.000234225965338,-0.000254594550632,4.193846238e-05,1793240010412495872
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.210739372,660.210739372,635,879,787,804,652,631,652.210739372,0.401011738404,-0.00539611425639,0.0798625052507,0.999999942311,0.000234270308925,-0.000242301394992,4.22579071277e-05,1793240010429162496
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.625637547,745.374362453,715,679,660.374362453,635,879,787,804,652,631,652,0.401047976266,-0.00539656953031,0.0798762995613,0.999999948272,0.000233893338286,-0.000216710212519,4.2261725432e-05,1793240010445829120
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035640238,745.964359762,715,679,660.964359762,635,879,787,804,652,631,652,0.401095407311,-0.00539720291676,0.0798937647244,0.999999955078,0.000233273688115,-0.000183459291285,4.2083741144e-05,1793240010462495488
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542471264,745.457528736,715,679.542471264,661,635.542471264,879,787,804,652,631,652.542471264,0.401161187249,-0.00539957743086,0.0799099292815,0.999999960835,0.000231699352428,-0.00015131933741,4.17986934022e-05,1793240010479162368
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.88114651,680,661,635.88114651,879,787,804,651.88114651,631,652.88114651,0.401229527698,-0.00540140127056,0.0799240227404,0.99999996483,0.000230771158434,-0.000124061905058,4.11576264805e-05,1793240010495829248
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714.308449452,680,661,635.308449452,879,787,804,651.308449452,631,652.308449452,0.401303140922,-0.00540069491305,0.0799305269829,0.999999965561,0.000232544636917,-0.00011517569602,3.91833795327e-05,1793240010512496384
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.733023992,745,714.266976008,679.733023992,661,635,879,787,804,651,631,652.266976008,0.401384176204,-0.00540073336002,0.0799344063633,0.999999966228,0.00023272534859,-0.000109648759988,3.68727265414e-05,1793240010529163264
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.154413773,745,714.845586227,679.154413773,661,635,879,787,804,651,631,652.845586227,0.401473875059,-0.0054016411981,0.0799352218095,0.999999966888,0.000231046864533,-0.000108043017268,3.41693955697e-05,1793240010545829888
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.433658695,661,635,878.566341305,787,804,651.433658695,631,652.566341305,0.401584829353,-0.00540347719462,0.0799376225598,0.999999968351,0.00022736976617,-0.000103258814142,3.06341767685e-05,1793240010562496768
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.024516338,745,715,680,661,635,878.024516338,787,804,652,631,652,0.40170468753,-0.00540558875805,0.0799406605474,0.99999997003,0.000223112561959,-9.71829920395e-05,2.67594398429e-05,1793240010579163904
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.600544568,745,715,680,661,635,878.600544568,787,804,652,631,652,0.401850788961,-0.00540629892022,0.0799450519506,0.999999971198,0.000222171654343,-8.80789682851e-05,2.20591396019e-05,1793240010595830016
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.823585871,661,635.176414129,878.823585871,787,804,652,631,652.176414129,0.402006675347,-0.00540742263464,0.079949920431,0.999999972687,0.000219565954828,-7.82406616883e-05,1.7153502285e-05,1793240010612496384
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.24807534,661,635.75192466,878.24807534,787,804,652,631,652.75192466,0.402184697922,-0.00540948191579,0.0799558681878,0.999999974978,0.000213194046578,-6.674121024e-05,1.17833376878e-05,1793240010629163008
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.336403617,661,636,878,787,803.663596383,652,631,653,0.402372471486,-0.00541156039464,0.0799590300973,0.999999976685,0.000206896549586,-6.15681559071e-05,5.78992337289e-06,1793240010645829632
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.927677402,661,636,878,787,803.072322598,652,631,653,0.402567632731,-0.00541365341848,0.07996008136,0.999999977996,0.000200655428285,-6.11881817e-05,-6.75685480712e-07,1793240010662496256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491995505,745,715,680,661,635.491995505,878.508004495,787,803.508004495,652,631,652.491995505,0.402791921822,-0.00541587954387,0.0799538422524,0.999999979025,0.000190916327211,-7.36780113177e-05,-8.57193286939e-06,1793240010679162624
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.085960756,879,787,804,652,630.914039244,652,0.403025868178,-0.00541827594276,0.0799473594995,0.999999980374,0.00017774192303,-8.59396476857e-05,-1.65596934545e-05,1793240010695829248
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.659126477,879,787,804,652,630.340873523,652,0.403291542292,-0.0054215322782,0.0799452543097,0.99999998502,0.000147860011068,-8.67423945483e-05,-2.39361049409e-05,1793240010712495872
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.231666867,745,715,680,661,635.768333133,879,787,804,652,630.231666867,652.231666867,0.403578895911,-0.00542361794273,0.0799463583981,0.99999998747,0.000132186284169,-8.30457944057e-05,-2.62707349157e-05,1793240010729162752
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.803289591,745,715,680,661,635.196710409,879,787,804,652,630.803289591,652.803289591,0.40389806276,-0.00542398572466,0.0799521718905,0.999999987695,0.0001373621343,-7.27466991324e-05,-2.12068824182e-05,1793240010745829632
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.610006661,745,715,680,661.389993339,635,879,787,804,652,631,653,0.404240310489,-0.00542465359163,0.0799562173916,0.999999987872,0.000138893434735,-6.66125835998e-05,-2.2976388238e-05,1793240010762496000
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.015390161,745,715,680,661.984609839,635,879,787,804,652,631,653,0.40459466837,-0.00542547890832,0.0799593352562,0.999999988042,0.000138512499085,-6.26637654963e-05,-2.83312461443e-05,1793240010779162624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.565052195,745,715,680,661.434947805,635.565052195,879.565052195,787,804,652,631.565052195,653,0.405002519178,-0.00543132317887,0.0799552188282,0.999999991506,0.000108760071615,-6.45392222336e-05,-3.15193967078e-05,1793240010795829248
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879.856234215,787,804,652,631.856234215,652.856234215,0.405416708135,-0.0054358334635,0.079951157823,0.999999993082,9.00660717713e-05,-6.75539414071e-05,-3.40777348839e-05,1793240010812495616
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879.281573418,787,804,652,631.281573418,652.281573418,0.405845633754,-0.00543594583185,0.079947839044,0.999999990979,0.000106855448,-7.35194359182e-05,-3.49209464288e-05,1793240010829162240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.701485629,745.298514371,715,679.701485629,661,635.701485629,879,787,804,652,631,652.298514371,0.406289603503,-0.00543870846085,0.0799434889944,0.999999989556,0.000114473437588,-8.13483671697e-05,-3.41541113741e-05,1793240010845829120
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.116183979,745.883816021,715,679.116183979,661,635.116183979,879,787,804,652,631,652.883816021,0.406748026426,-0.00544401723543,0.0799381481869,0.999999988939,0.000113280339067,-9.0967531044e-05,-3.18404802615e-05,1793240010862496000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.534628074,715,679,661,635,879,787,804,652,631,652.534628074,0.407245663628,-0.00545032224564,0.0799348859625,0.99999998959,0.000100380031152,-9.77515095349e-05,-3.44786574477e-05,1793240010879162624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.045791833,660.954208167,635.045791833,879,787,804,652,631,652,0.407756467715,-0.00545839406483,0.0799317452645,0.999999990308,8.35466444024e-05,-0.000104756591555,-3.78125748036e-05,1793240010895829504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.623791152,660.376208848,635.623791152,879,787,804,652,631,652,0.408307425987,-0.00548413270802,0.079924033904,0.99999999039,5.47002494389e-05,-0.000122492330219,-3.49791219815e-05,1793240010912496640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.200903163,745,715,679.799096837,660.200903163,635.799096837,879.200903163,787,804,652,631,652.200903163,0.408881254282,-0.00550168848543,0.0799245886776,0.999999991031,3.46886913153e-05,-0.00012489058923,-3.37316196625e-05,1793240010929163776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.776360882,745,715,679.223639118,660.776360882,635.223639118,879.776360882,787,804,652,631,652.776360882,0.409497720356,-0.00550398850511,0.0799405544494,0.999999994017,3.11483958596e-05,-9.86943602018e-05,-3.54408902673e-05,1793240010945830400
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.359958821,715,679.359958821,661,635,879.640041179,787,803.640041179,651.640041179,631,653,0.410140468407,-0.00550499642786,0.0799658495565,0.99999999747,2.81072670145e-05,-5.43635936706e-05,-3.62474385107e-05,1793240010962496768
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.948731198,715,679.948731198,661,635,879.051268802,787,803.051268802,651.051268802,631,653,0.410799922991,-0.00550518300852,0.0799970750035,0.999999999011,2.53834414468e-05,1.49467951681e-06,-3.6480156765e-05,1793240010979162880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.471215087,715,679.471215087,661,635,879,787,803.528784913,651,631,653,0.411454428851,-0.00551490029323,0.0799926391488,0.99999999921,1.2512950308e-05,-1.05359662531e-05,-3.62393367878e-05,1793240010995829504
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.892654709,745,715,679,661,635,879,787,804,651.107345291,631,652.892654709,0.41211265176,-0.00552262210802,0.0799790338086,0.99999999868,1.29886088443e-06,-3.56882919596e-05,-3.69530747451e-05,1793240011012496128
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.316981474,745,715,679,661,635,879,787,804,651.683018526,631,652.316981474,0.41278915065,-0.00551767194613,0.0799402637508,0.99999999508,1.5337821127e-06,-8.98368536469e-05,-4.20284330407e-05,1793240011029163264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679.257875452,661.257875452,635,879.257875452,787,804,652,631,652.257875452,0.41349069073,-0.00551882826184,0.0799181828511,0.999999992166,-3.97689683244e-06,-0.000116462117794,-4.56993829661e-05,1793240011045830144
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679.83173221,661.83173221,635,879.83173221,787,804,652,631,652.83173221,0.414222914504,-0.00552746699816,0.0799165515932,0.999999992748,-1.65278047694e-05,-0.000109362397713,-4.76494766312e-05,1793240011062496512
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.580993297,635,880,787,804,651.580993297,631,652.580993297,0.414981914847,-0.00553245006886,0.0799350119058,0.999999995702,-2.3981047003e-05,-7.5739529346e-05,-4.7790354033e-05,1793240011079162880
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,879.988428258,787,804,651,631,652,0.415751819924,-0.00553586629091,0.0799611508893,0.999999997929,-2.92937676854e-05,-3.24891833892e-05,-4.72010844648e-05,1793240011095828992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,879.409401071,787,804,651,631,652,0.416511716977,-0.00553682018638,0.0799550830922,0.999999996701,-3.33492096533e-05,-5.67274233999e-05,-4.76145203645e-05,1793240011112495616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.168577132,635,879,786.831422868,804,651,631,652,0.417300113543,-0.0055398498427,0.0799547219709,0.999999996099,-3.96925365462e-05,-6.22353362082e-05,-4.85079445529e-05,1793240011129162240
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.744023526,635,879,786.255976474,804,651,631,652,0.418157295054,-0.00554788945064,0.0799681341951,0.999999997139,-5.15577868682e-05,-2.25366744412e-05,-5.0559844249e-05,1793240011145829120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.673951464,635.326048536,879.326048536,786.326048536,804,651,631,652.326048536,0.41899882131,-0.00555369776157,0.0799844559158,0.999999996791,-6.02784440046e-05,1.27048810606e-05,-5.12149665834e-05,1793240011162495744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.086655341,635.913344659,879.913344659,786.913344659,804,651,631,652.913344659,0.419827803695,-0.00555771823718,0.0800031088806,0.999999995518,-6.64794837385e-05,4.43751618726e-05,-5.0750915838e-05,1793240011179162624
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.493581394,661,635.506418606,880,787,804,651.493581394,631,652.506418606,0.420632838216,-0.00555414167491,0.0799789315695,0.999999996584,-6.34603803592e-05,1.02668094468e-05,-5.19502113741e-05,1793240011195829504
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072125436,745,715,681,661,635.072125436,879.927874564,787,804,652,631,652,0.421442681598,-0.0055467714838,0.0799537030632,0.999999996687,-5.5710910951e-05,-2.63539199898e-05,-5.31740614466e-05,1793240011212496384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.647385024,745,715,681,661,635.647385024,879.352614976,787,804,652,631,652,0.422314985887,-0.00552211056254,0.0799728564805,0.999999998278,-2.60959978618e-05,-1.07696788781e-06,-5.25608136628e-05,1793240011229162752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.772440526,745,715,681,661.227559474,635.772440526,879,787.227559474,804,651.772440526,631,652.227559474,0.423187463003,-0.00550608961888,0.0799920521564,0.99999999838,-5.35658258199e-06,2.32623143973e-05,-5.16656735327e-05,1793240011245829376
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.184482038,745,715,681,661.815517962,635.184482038,879,787.815517962,804,651.184482038,631,652.815517962,0.424060213972,-0.00550375230034,0.0800113147625,0.999999997669,1.32620140751e-06,4.61165590338e-05,-5.03240842833e-05,1793240011262496256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.397634009,745,715,681,662,635,879.397634009,787.602365991,804,651.397634009,631,653,0.4248837454,-0.005512536519,0.0799838013372,0.999999998606,-1.19835740451e-05,-6.75276008336e-06,-5.097840821e-05,1793240011279162880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.977078675,745,715,681,662,635,879.977078675,787.022921325,804,651.977078675,631,653,0.425684772069,-0.00552640585107,0.0799349004521,0.999999993586,-3.44345708239e-05,-9.42452528938e-05,-5.2545325558e-05,1793240011295828992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.446435693,745,714.446435693,681,661.446435693,635,880,787,804.553564307,651.446435693,631,653,0.426556120107,-0.00552736680494,0.0799211421881,0.999999993519,-3.78618118854e-05,-9.15920719469e-05,-5.60298444472e-05,1793240011312495872
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129783498,745,714.129783498,681,661.129783498,635,879.870216502,787,804.870216502,651.129783498,631,652.870216502,0.427424394996,-0.00552857107029,0.079913422184,0.999999993598,-4.04121120765e-05,-8.81422349305e-05,-5.8324106684e-05,1793240011329162752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.705505916,745,714.705505916,681,661.705505916,635,879.294494084,787,804.294494084,651.705505916,631,652.294494084,0.428272158674,-0.00553243812933,0.0799214764532,0.999999993023,-4.26414315626e-05,-9.47123225831e-05,-5.62572454932e-05,1793240011345829632
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.711771257,745,715,681.288228743,661.711771257,635,879.288228743,787.288228743,804,651.711771257,631,652,0.42913483298,-0.0055354423716,0.0799370335663,0.999999994237,-4.56983135296e-05,-8.01153545462e-05,-5.49437484424e-05,1793240011362496256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.121717844,745,715,681.878282156,661.121717844,635,879.878282156,787.878282156,804,651.121717844,631,652,0.430013121205,-0.00553754309725,0.0799604474367,0.999999996348,-4.96217944273e-05,-4.33528672274e-05,-5.44191522598e-05,1793240011379162880
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681.54147195,661.45852805,635,880,787.54147195,804,651,631,652,0.430896296658,-0.00553492076444,0.0799977797862,0.999999997374,-4.79457851647e-05,1.17398290943e-05,-5.30648148232e-05,1793240011395829248
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.036130826,745,715,681.036130826,662,635,880,787,804,651.036130826,631,652,0.431773532109,-0.00553094241769,0.0800342722817,0.999999995598,-4.45098289363e-05,6.44296308425e-05,-5.16884986929e-05,1793240011412495360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.612324916,745,715,681.612324916,662,635,880,787,804,651.612324916,631,652,0.432542993052,-0.00552504307583,0.0800041411543,0.999999997868,-3.65198393992e-05,9.9938412059e-06,-5.32070045351e-05,1793240011429162240
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.812177659,662,635,880,787,804,651.812177659,631,652,0.433307579245,-0.00552110816608,0.0799654339702,0.999999996689,-3.27793198858e-05,-4.97819742256e-05,-5.54023179884e-05,1793240011445829120
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.238112767,662,635,880,787,804,651.238112767,631,652,0.43406214102,-0.00552121296246,0.0799090907636,0.999999990282,-3.77775152406e-05,-0.0001205391619,-5.89894358867e-05,1793240011462496256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.654610036,745,715,681,662,635,880,787,804.345389964,651,631,652,0.434852686829,-0.00552512315792,0.079899952286,0.999999989099,-4.51279847478e-05,-0.000126958043828,-6.03842021273e-05,1793240011479163136
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.064418085,745,715,681,662,635,880,787,804.935581915,651,631,652,0.43566873699,-0.00553173050546,0.0799242710998,0.999999992868,-5.41456749594e-05,-8.7775871401e-05,-6.02250955061e-05,1793240011495830016
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.516686467,661.483313533,635,880,787,804.483313533,651.516686467,631,652.516686467,0.436420678636,-0.00553550459638,0.0799374701775,0.999999993062,-5.63490917454e-05,-8.56163169496e-05,-5.80571884108e-05,1793240011512496384
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,635,880,787,804.095818412,651.904181588,631,652.904181588,0.437155646997,-0.00553906817076,0.0799432910523,0.999999992302,-5.90839497227e-05,-9.33909463351e-05,-5.64215882818e-05,1793240011529162496
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,635,880,787,804.67065494,651.32934506,631,652.32934506,0.437845028995,-0.00554331471722,0.0799190375342,0.999999987711,-6.8649400545e-05,-0.000128152177712,-5.86775185663e-05,1793240011545829120
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,682.251049083,660.748950917,635,880.251049083,786.748950917,804.748950917,651,631,652,0.438510320514,-0.00554551695182,0.0798932806371,0.99999998166,-7.39463821422e-05,-0.000166138421552,-6.00853199754e-05,1793240011562496000
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,682.838899133,660.161100867,635,880.838899133,786.161100867,804.161100867,651,631,652,0.439143292813,-0.0055449765901,0.0798655068477,0.99999997375,-7.35168948897e-05,-0.000208451256015,-6.035529341e-05,1793240011579162624
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.579299673,682.158599345,660.420700327,634.579299673,880.579299673,786,804,651,631,652,0.439767556029,-0.00554522686924,0.0798178064316,0.999999955749,-7.3340903935e-05,-0.000281393250184,-6.27794943626e-05,1793240011595829760
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.999782331,745,714,681.000217669,660.999782331,634,880.000217669,786,804.000217669,651,631,652.000217669,0.440388499808,-0.00554577533898,0.0797625778629,0.999999928193,-7.32639958819e-05,-0.000365908156656,-6.60176670727e-05,1793240011612497152
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.421367,745,714,681.578633,660.421367,634,880.578633,786,804.578633,651,631,652.578633,0.440925113384,-0.00554557462848,0.0796921976851,0.999999880101,-8.21831282809e-05,-0.000477464853711,-7.12097239105e-05,1793240011629164032
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.155796495,745,714,682,660,634,880.844203505,786,804.844203505,651,631,653,0.441473818745,-0.00554538282758,0.0796424075745,0.999999839723,-8.60518457423e-05,-0.000554604923603,-7.45760955287e-05,1793240011645830656
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.729601391,745,714,682,660,634,880.270398609,786,804.270398609,651,631,653,0.44205496698,-0.00554521493146,0.079647861445,0.999999848938,-7.63700967046e-05,-0.000539403806772,-7.30440818745e-05,1793240011662496768
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.311539402,714,681.688460598,660,634,880.311539402,786,804.311539402,651,631,653,0.442645578236,-0.00554168069018,0.0796748919946,0.999999872399,-7.28596900923e-05,-0.000494819301689,-7.10456795407e-05,1793240011679163136
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.900725689,714,681.099274311,660,634,880.900725689,786,804.900725689,651,631,653,0.443244622994,-0.00553514633002,0.0797211518859,0.999999904935,-7.4849242976e-05,-0.000424048040084,-6.86316270048e-05,1793240011695829504
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.517681694,714,681.482318306,659.517681694,633.517681694,880.517681694,786,804.517681694,651,631,652.517681694,0.443755518127,-0.00553289982404,0.0797317882284,0.999999910858,-6.19172404227e-05,-0.000412243606048,-6.71197600957e-05,1793240011712496640
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.938255013,804.061744987,651,631,652.061744987,0.444241266542,-0.00553252779259,0.079732061558,0.999999909732,-5.07975924662e-05,-0.000416652933053,-6.59961127156e-05,1793240011729163776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.364033807,804.635966193,651,631,652.635966193,0.444666555806,-0.00554050209506,0.079706237044,0.99999989042,-7.981630131e-05,-0.000456460415171,-6.6577288579e-05,1793240011745830400
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.789556937,632.789556937,880.210443063,785,804.789556937,651,631,652.789556937,0.445083334747,-0.00554530571617,0.0796847828508,0.999999872838,-9.76874722184e-05,-0.000490150650526,-6.73299028333e-05,1793240011762496768
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.214637331,632.214637331,880.785362669,785,804.214637331,651,631,652.214637331,0.445485374203,-0.00554461787967,0.0796708978307,0.999999861319,-9.62516789014e-05,-0.000513246126877,-6.83794396934e-05,1793240011779163136
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880.628331598,784.628331598,804,651,630.628331598,652.371668402,0.44587312389,-0.00554488764872,0.0796660518747,0.999999859661,-8.9661026448e-05,-0.000517538802731,-6.922902929e-05,1793240011795829504
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880.035242549,784.035242549,804,651,630.035242549,652.964757451,0.446252360517,-0.00554572790914,0.0796665909204,0.999999863982,-7.99993776903e-05,-0.000510629753137,-6.99595008444e-05,1793240011812496128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.543903644,714,682,658,632,880,784.543903644,804.543903644,651,630,652.456096356,0.446607949214,-0.00555292110314,0.0796699481642,0.999999869942,-8.5182425353e-05,-0.000498167407626,-6.84832128609e-05,1793240011829162752
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.878353924,632,880,784.878353924,805,651,630,652.121646076,0.446953128787,-0.00555897081314,0.0796718915947,0.999999874068,-9.22663380244e-05,-0.00048869958946,-6.72562625104e-05,1793240011845829120
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657.302563509,632,880,784.302563509,805,651,630,652.697436491,0.447265025339,-0.00555925314529,0.0796678921105,0.999999871529,-0.000102945576855,-0.000491721094456,-6.74806494076e-05,1793240011862496000
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.272589095,745.727410905,714,682,657,632,880,784,805,651.272589095,630,653,0.447547692218,-0.00556016848983,0.0796616363535,0.999999867337,-0.000107719569297,-0.000499053803178,-6.83264514994e-05,1793240011879162368
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.847035371,745.152964629,714,682,657,632,880,784,805,651.847035371,630,653,0.447797990996,-0.00556178481375,0.0796528820664,0.999999861304,-0.000105954264205,-0.000511160612449,-6.98603905626e-05,1793240011895828992
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.565904286,745,714,682,656.565904286,631.565904286,880,784,805,651.565904286,630,653,0.44802591673,-0.00556445473787,0.0796453567739,0.999999853898,-0.000106672834486,-0.000525265277871,-7.01463859697e-05,1793240011912496128
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682.025105195,656,631,880,784,805,651.025105195,630,653,0.448244534087,-0.0055674471123,0.0796385467903,0.99999984617,-0.000108347019495,-0.000539476615439,-6.99053998382e-05,1793240011929163520
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682.602287839,656,631,880,784,805,651.602287839,630,653,0.448437010777,-0.00556912173509,0.0796376584374,0.999999845653,-0.000111212295437,-0.000540089165973,-6.803543371e-05,1793240011945829632
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.822087846,682.822087846,656,631,880,784,804.822087846,652,630,653,0.448620060466,-0.00557019238946,0.0796368258382,0.999999844818,-0.000113572846564,-0.000541422800136,-6.57693487282e-05,1793240011962496000
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.333273698,682.333273698,656,631,880.333273698,783.666726302,804.666547396,652,630,653,0.44893106466,-0.00557080178423,0.0796379907757,0.999999844433,-0.000116983651496,-0.000541845455125,-6.20698076914e-05,1793240011995829504
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.737670464,682,655,630,880.262329536,783,804.262329536,651.262329536,630,653,0.449753303351,-0.0055727779827,0.079623317191,0.99999983205,-0.000118069335994,-0.000564137668113,-6.08890633541e-05,1793240012495829760
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+256,4.266666667,HOLD_POSE2,765,746,714,682,655,630,880,783,805,652,630,653,0.449757762966,-0.00557153770514,0.0796228733865,0.999999832313,-0.000115642982214,-0.000564278090719,-5.99237675165e-05,1793240012761332480
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+269,4.483333333,HOLD_POSE2,765.461810576,746,714,682,655,630,880.461810576,783,804.538189424,651.538189424,630.538189424,653,0.449759384419,-0.00557287366143,0.0796235552269,0.999999832143,-0.000119018523553,-0.000563852878094,-6.01459878573e-05,1793240012977998848
+270,4.500000000,HOLD_POSE2,765,745.886884905,713.886884905,682.113115095,655,630,879.886884905,783,804.886884905,651.886884905,630.886884905,653,0.449760487278,-0.00557291953521,0.079624645251,0.999999833071,-0.000119619527348,-0.000562084894719,-6.00823068937e-05,1793240012994665216
+271,4.516666667,HOLD_POSE2,765,745.310950136,713.310950136,682.689049864,655,630,879.310950136,783,804.310950136,651.310950136,630.310950136,653,0.449759092047,-0.00557011144553,0.0796234822442,0.999999832287,-0.000117922149036,-0.000563761602787,-6.07787169419e-05,1793240013011331328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,655,630,881,783,805,652,630,653,0.449756774524,-0.00557049125187,0.0796208130472,0.999999830126,-0.000116543672413,-0.000567904596043,-6.04164991795e-05,1793240013048696832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.417932135,713.582067865,682,654.417932135,630,880.417932135,782.417932135,805,652,630,653,0.449758213231,-0.00557018633082,0.0796223004501,0.999999831648,-0.000114557644754,-0.000565687202605,-5.98268625683e-05,1793240013065363200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.162336776,714,682,654,630,880,782,805,651.837663224,630,653,0.449759079958,-0.00556970482626,0.0796231922447,0.999999832522,-0.000113197169958,-0.000564444401668,-5.95438065535e-05,1793240013082029568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.738025203,714,682,654,630,880,782,805,651.261974797,630,653,0.449758490273,-0.00556877369406,0.0796225674662,0.999999831766,-0.000113429515018,-0.000565683166241,-6.00413843471e-05,1793240013098695424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,713.687502484,682,654,630,880,782.312497516,804.687502484,651,630,653,0.449758083126,-0.00556874109707,0.0796221946851,0.999999831253,-0.000115104655187,-0.000566228062414,-6.02585610379e-05,1793240013115362048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,713.114045753,682,654,630,880,782.885954247,804.114045753,651,630,653,0.449757828413,-0.00556945884542,0.079622032341,0.999999830938,-0.000117984639086,-0.000566193525572,-6.02415814324e-05,1793240013132029440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.526231242,713.473768758,682.473768758,654,630,880,783,804.473768758,651.473768758,630,653,0.449758333938,-0.00556956184247,0.0796224215239,0.999999831509,-0.000116190388238,-0.000565571152099,-6.00979488615e-05,1793240013148695808
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.063688545,714,683,654.063688545,630,880,782.936311455,805,652,630,653,0.44975870911,-0.00556962726105,0.0796226827073,0.999999832088,-0.000113544692687,-0.000565105797972,-5.9894311764e-05,1793240013165361920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.641823645,714,683,654.641823645,630,880,782.358176355,805,652,630,653,0.449756506925,-0.00557062183454,0.0796208040514,0.999999831009,-0.000113394174907,-0.000567087500644,-5.94599498299e-05,1793240013182028544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,713.781066893,682.781066893,655,630,880,782,804.781066893,651.781066893,630,653,0.44974975058,-0.00557047681832,0.0796167521242,0.999999827647,-0.000113364913501,-0.000572988876296,-5.94786051975e-05,1793240013198695424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.205627616,682.205627616,655,630,880,782,804.205627616,651.205627616,630,653,0.449735578335,-0.00556847611758,0.079609161287,0.999999820469,-0.000113533103484,-0.00058527296656,-6.02349446582e-05,1793240013215361792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.622061546,713.377938454,682.377938454,655,630,880.377938454,782.377938454,804.377938454,651.377938454,630,652.622061546,0.449704460359,-0.00556797934881,0.0795930398857,0.999999805565,-0.000113710027875,-0.000610120013497,-6.07809517064e-05,1793240013232028928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.033976651,713.966023349,682.966023349,655,630,880.966023349,782.966023349,804.966023349,651.966023349,630,652.033976651,0.449663919989,-0.00556831881642,0.0795721752044,0.999999785589,-0.000113891808816,-0.000641952485834,-6.12100069113e-05,1793240013248696064
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.875436432,745.124563568,714,682.875436432,654.875436432,630,881,782.875436432,805,651.875436432,630,653,0.449530400245,-0.00556466939715,0.0795308611058,0.999999738882,-0.000114525626652,-0.000710860964637,-6.1613844525e-05,1793240013282029056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.30188356,745.69811644,714,682.30188356,654.30188356,630,881,782.30188356,805,651.30188356,630,653,0.44945669351,-0.00556310651983,0.0795203820595,0.999999730004,-0.000112184051705,-0.000723696652846,-6.05813212875e-05,1793240013298695424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.272419494,746,714,682,654.272419494,630,880.727580506,782.272419494,805,651,630,652.727580506,0.44937584924,-0.0055621729602,0.0795146776928,0.999999724816,-0.000111290563997,-0.000731094569594,-5.90103301328e-05,1793240013315362048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.847556129,746,714,682,654.847556129,630,880.152443871,782.847556129,805,651,630,652.152443871,0.449287073626,-0.00556193870912,0.0795142790314,0.99999972387,-0.000112006215435,-0.000732449942222,-5.68409844081e-05,1793240013332028672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,655.436487811,630,880,783,805,651,630,652.436487811,0.449182915248,-0.0055589326545,0.0795163510122,0.999999725277,-0.000106162677927,-0.000731634323292,-5.37306003819e-05,1793240013348695296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,713.970390944,682,655.970390944,630,880,782.970390944,805,651.029609056,630,653,0.449071454338,-0.00555503011288,0.07951927417,0.999999727492,-9.82570249465e-05,-0.000729955862445,-5.0259263751e-05,1793240013365361920
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,713.391834614,682,655.391834614,630,880,782.391834614,805,651.608165386,630,653,0.448927460625,-0.00555304017974,0.0795214583569,0.999999730202,-9.59773174022e-05,-0.000726796527817,-4.63880632364e-05,1793240013382028544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,713.186008003,682,655,630,880,782.186008003,805,651.813991997,630,653,0.448775226904,-0.00555115646655,0.0795249646214,0.999999732773,-9.33953907137e-05,-0.000723851098591,-4.20715235051e-05,1793240013398695168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,713.762352827,682,655,630,880,782.762352827,805,651.237647173,630,653,0.448605701584,-0.00554949565565,0.0795312452582,0.99999973508,-9.0179259023e-05,-0.000721354549154,-3.68204422487e-05,1793240013415361792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,630.345127108,880,783,804.654872892,651,630,653,0.448415235788,-0.00554633776042,0.0795303996367,0.999999732998,-8.58743001726e-05,-0.000724984203333,-3.2040530573e-05,1793240013432028672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,630.932412676,880,783,804.067587324,651,630,653,0.448210077088,-0.00554212943569,0.0795245538763,0.999999727774,-8.08053653322e-05,-0.000732912308425,-2.75912145297e-05,1793240013448695296
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.487073206,713.487073206,682,655,630.487073206,880.512926794,783.512926794,804.512926794,651.512926794,630,653,0.447968883207,-0.00554053786521,0.079522285947,0.999999722557,-7.46138878945e-05,-0.000740871121608,-2.06903701707e-05,1793240013465361920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.091686388,655,630.091686388,880.908313612,783.908313612,804.908313612,651.908313612,630,653,0.447718409218,-0.00553841449576,0.079521419848,0.999999719564,-6.73014385042e-05,-0.00074576015746,-1.36027416413e-05,1793240013482028288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.665847591,655,630.665847591,880.334152409,783.334152409,804.334152409,651.334152409,630,653,0.447443762074,-0.00553170187908,0.0795254819813,0.999999728743,-5.48583968908e-05,-0.00073447430856,-7.20993393468e-06,1793240013498695168
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655.240260644,630.759739356,880.240260644,783.240260644,804,651.240260644,630,653,0.447151422135,-0.00552539071864,0.0795290317102,0.999999733948,-4.14160661684e-05,-0.00072827723096,-6.6891439003e-07,1793240013515361536
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,655.8150243,630.1849757,880.8150243,783.8150243,804,651.8150243,630,653,0.446834449412,-0.00551963848626,0.0795318680436,0.999999733787,-2.65824753976e-05,-0.000729164998769,6.07845278142e-06,1793240013532028160
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.402212165,713,682.597787835,656,630.402212165,880.597787835,784,804.402212165,651.597787835,630,653,0.446492690287,-0.00551448831604,0.0795397092427,0.999999736952,8.61790091483e-06,-0.00072520432983,1.0063425485e-05,1793240013548695040
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.99529598,713,682.00470402,656,630.99529598,880.00470402,784,804.99529598,651.00470402,630,653,0.446139168669,-0.00550962385739,0.0795499255241,0.999999740049,5.34834294352e-05,-0.000718942811503,1.27374908589e-05,1793240013565361664
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.427263497,713,682,656,631,880,784,805,651.572736503,630,653,0.445736188242,-0.005506051917,0.0795566718634,0.999999747166,2.88122422371e-05,-0.000710450906403,9.90335783553e-06,1793240013582028288
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.850564887,656,631.149435113,880,784,805,651.850564887,630,653,0.445318166286,-0.0055017065936,0.0795627983963,0.999999753497,1.11709077549e-05,-0.00070199786075,8.89946320889e-06,1793240013598694912
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.275622811,656,631.724377189,880,784,805,651.275622811,630,653,0.444858440529,-0.00549512968794,0.079567239062,0.999999759184,1.51296308637e-05,-0.000693706242058,1.32324498544e-05,1793240013615361536
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.305489646,656.305489646,632,880.305489646,784,805,651,630.305489646,652.694510354,0.444388656285,-0.00548863144843,0.0795707701157,0.999999760993,3.23480833201e-05,-0.000690435921819,1.63259483056e-05,1793240013632028160
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.892284054,656.892284054,632,880.892284054,784,805,651,630.892284054,652.107715946,0.443909609808,-0.00548220564652,0.0795734635696,0.999999758638,6.17765245483e-05,-0.000691789374498,1.82780863643e-05,1793240013648694784
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.526999028,657,632,880.526999028,784.473000972,805,651,631,652,0.443399663281,-0.00547748257722,0.0795832375629,0.999999766074,5.53743192107e-05,-0.000681488203218,1.89808378748e-05,1793240013665361664
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.052161318,657,632,880,785,805,651,631,652,0.442879683718,-0.00547299311072,0.0795947275227,0.999999776394,4.20193080342e-05,-0.000667132329179,1.95360074227e-05,1793240013682028544
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.955220374,633.955220374,880,785.955220374,804.955220374,651,630.955220374,652.955220374,0.439810000127,-0.00544285628909,0.0795925675822,0.999999787804,8.43768383589e-05,-0.000645597719659,2.18360227266e-05,1793240013765361920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.464899927,879.464899927,786,804.464899927,651,631,653,0.439147717855,-0.0054381664957,0.0796039445912,0.999999803237,9.32921451826e-05,-0.000620076817309,1.81072963361e-05,1793240013782028288
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,746,714.745128311,682,660,635,880,787,804.254871689,651,631,652.745128311,0.432335857647,-0.0054015325743,0.0797674066251,0.999999910675,0.000158197968732,-0.000390500430787,3.36638329979e-05,1793240013932028672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.671053069,745.671053069,714.671053069,682,660,634.671053069,879.671053069,787,804,651,631,652.671053069,0.431444372395,-0.00540233031586,0.0797415405607,0.999999889711,0.000162038616794,-0.000439467584096,3.45064045853e-05,1793240013948695552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.07972795,745.07972795,714.07972795,682,660,634.07972795,879.07972795,787,804,651,631,652.07972795,0.430570540244,-0.0054069075014,0.0797316466406,0.999999882152,0.000165334805966,-0.000454992852584,3.6632569945e-05,1793240013965362176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.50129986,714,682,660,634.50129986,879.50129986,787,804.50129986,651.50129986,631.50129986,652.50129986,0.429766871938,-0.00542007648595,0.0797897065354,0.999999922937,0.000152227576324,-0.000359678596323,3.98005491696e-05,1793240013982028544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.91987902,714,682,660,635,880,787,804.91987902,652,631.91987902,653,0.428965196125,-0.00543248339119,0.0798506826202,0.999999955679,0.000139245650645,-0.000259613274079,4.30466085574e-05,1793240013998695168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.344776922,714,682,660,635,880,787,804.344776922,652,631.344776922,653,0.428108278117,-0.00543191025405,0.0798642504278,0.999999960689,0.000142830663248,-0.000236909846334,4.57720099152e-05,1793240014015361792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.235228557,635,880,787,804,651.764771443,631,652.764771443,0.427218455926,-0.00542839911134,0.0798513454246,0.999999955843,0.000149751003163,-0.00025245336411,4.64400852442e-05,1793240014032028416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.822574063,635,880,787,804,651.177425937,631,652.177425937,0.426279378869,-0.00542049002654,0.0797988128993,0.99999993307,0.000161664041679,-0.000325249270318,4.40285204622e-05,1793240014048695040
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.404545939,714.404545939,681.595454061,660.595454061,635,880,787,804,651,631,652.404545939,0.425380576906,-0.00541475515209,0.0797713560975,0.999999915903,0.000173353501166,-0.000369068159467,4.39572694887e-05,1793240014065361408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.984191906,714.984191906,681.015808094,660.015808094,635,880,787,804,651,631,652.984191906,0.424499207309,-0.00540996134379,0.0797547528496,0.999999901751,0.000184946188092,-0.000400344892761,4.48989790841e-05,1793240014082028288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.440320469,714.440320469,681.559679531,660,635,879.440320469,787,804,651.559679531,631,652.440320469,0.423555493695,-0.00540217663226,0.0797400745989,0.999999888272,0.000196134523647,-0.000427676689945,4.56037913415e-05,1793240014098694912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.729412572,660,635,879.135293714,787,804,651.864706286,631,652,0.422649127784,-0.0053964761923,0.0797426652109,0.999999888836,0.000204600651805,-0.00042227385432,4.63788447272e-05,1793240014115361536
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.576598774,660,635,879.711700613,787,804,651.288299387,631,652,0.421870229721,-0.00539784473676,0.0798013834575,0.999999929816,0.000204228223958,-0.000310503250212,4.74045677987e-05,1793240014132028416
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.292708026,745,714.292708026,680.292708026,660,635,879.707291974,787,804,651,631,652.292708026,0.421066865144,-0.00539666106655,0.0798493646988,0.999999952327,0.000206127390386,-0.000224656535257,4.88565069169e-05,1793240014148695040
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.878318982,745,714.878318982,680.878318982,660,635,879.121681018,787,804,651,631,652.878318982,0.420239017809,-0.00539292348217,0.079886601782,0.999999963029,0.000210299665039,-0.00016475097991,5.07349461368e-05,1793240014165361664
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.462136424,635,879,787,804,651,631,653,0.419348746508,-0.00538929134033,0.0798612096569,0.999999953005,0.000215790779585,-0.00021190526316,5.02050261563e-05,1793240014182028544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.955185125,745,714.955185125,681,660.955185125,635,879,787,804,651.044814875,631,652.955185125,0.418447396809,-0.00538606857686,0.0798218215161,0.999999934576,0.000220585785545,-0.000282483507454,4.8916009404e-05,1793240014198695168
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.380413487,745,714.380413487,681,660.380413487,635,879,787,804,651.619586513,631,652.380413487,0.417608656177,-0.00538735986374,0.0798111760588,0.999999931837,0.000213058447963,-0.000298001931507,4.61201401622e-05,1793240014215362560
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.194432016,745,714.194432016,681,660.194432016,635,879.194432016,787.194432016,804,652,631,652.194432016,0.416781116691,-0.00539606829919,0.0798082292257,0.999999931987,0.000199481407273,-0.000306922106862,4.50705147913e-05,1793240014232029440
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.769422193,745,714.769422193,681,660.769422193,635,879.769422193,787.769422193,804,652,631,652.769422193,0.415975500848,-0.00541929418155,0.0798203507642,0.999999937843,0.000174063394126,-0.000302927655785,4.74387795097e-05,1793240014248695296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.646768505,745,715,680.646768505,660.646768505,635,879.646768505,787.646768505,804,652,631,653,0.415174356721,-0.00542967235962,0.0798113534073,0.999999934077,0.000164773076183,-0.000320091048753,4.72990918856e-05,1793240014265361920
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.057054997,745,715,680.057054997,660.057054997,635,879.057054997,787.057054997,804,652,631,653,0.414376206376,-0.00543144923365,0.0797882173361,0.999999923394,0.000166279956169,-0.000351419230785,4.54803759496e-05,1793240014282028288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.525196535,745,714.474803465,680,660.525196535,635,879.525196535,787,804,652,631,653,0.413649479872,-0.00542173222055,0.0798002797779,0.999999930239,0.000183907146752,-0.000321825017926,4.61423043078e-05,1793240014298695168
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.894869083,745,714,680,660.894869083,635,879.894869083,787,804,652,631,652.894869083,0.412929995232,-0.0054133489507,0.0798127807063,0.999999935865,0.000198592375365,-0.00029432563376,4.6937852995e-05,1793240014315361792
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.321692319,745,714,680,660.321692319,635,879.321692319,787,804,652,631,652.321692319,0.412208691495,-0.00541638466896,0.0798104485679,0.999999933787,0.000192492564468,-0.000305204736542,4.7145331112e-05,1793240014332028416
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.25775377,714.25775377,680,660,635,879,787,804,652,631,652,0.411503968864,-0.00541576664337,0.0798048699596,0.999999929738,0.000192177855689,-0.000318430989362,4.68334740091e-05,1793240014348695040
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.845219372,714.845219372,680,660,635,879,787,804,652,631,652,0.410820456403,-0.00541047484469,0.0797951385528,0.999999923097,0.000199263297552,-0.000334659653805,4.58572969574e-05,1793240014365361664
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.573503314,714.573503314,680,660,635,879,787,804,652,631,652.426496686,0.410167898234,-0.00540624947873,0.0798039861063,0.999999925642,0.000207564280181,-0.000321648585692,4.66296608368e-05,1793240014382028544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.00554734,680.00554734,660,635,878.99445266,787,804,652,631,652.99445266,0.409527010376,-0.00540246230638,0.0798195328331,0.99999993105,0.000216213335073,-0.00029807021006,4.80253080526e-05,1793240014398695168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.58325443,680.58325443,660,635,878.41674557,787,804,652,631,652.41674557,0.408947734404,-0.00540452409312,0.0798405545381,0.999999940793,0.000215914557192,-0.000263390684082,4.91933143802e-05,1793240014415361792
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.264596371,680.264596371,660.735403629,635,878.735403629,787,803.264596371,652,631,652.735403629,0.407777267594,-0.00539780749786,0.0798315891463,0.999999933292,0.000222375210801,-0.000285689928995,4.84432230642e-05,1793240014448695040
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.318126848,680,660.681873152,635,879,787,803.318126848,652,631,652.681873152,0.407215776009,-0.00539650644168,0.0798068264765,0.999999919925,0.000223931074639,-0.000328289309509,4.72274798625e-05,1793240014465361664
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.907299389,680,660.092700611,635,879,787,803.907299389,652,631,652.092700611,0.406677376302,-0.00539956353733,0.0797770448345,0.999999903659,0.000222363887473,-0.000375654505128,4.60371851534e-05,1793240014482028288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.488299852,745.488299852,714.511700148,679.511700148,660,635.488299852,878.511700148,787,804,652,631,652,0.406201305182,-0.00539895654219,0.0797824500217,0.999999909898,0.000223603098419,-0.000357923133741,4.57971388741e-05,1793240014498694912
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.357626925,745.357626925,714.642373075,679,660.642373075,635.357626925,878.642373075,787,804,652,631,652,0.405329569033,-0.00539516071368,0.0798114677621,0.999999927117,0.000226992220822,-0.000303524314464,4.59642459548e-05,1793240014532028416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,804,652,631,652.217967464,0.404927017059,-0.00539460959937,0.0798254124977,0.999999932979,0.000226322642232,-0.000284015273504,4.64270403226e-05,1793240014548695040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.379911141,660.620088859,635,879,787,804,651.620088859,631.379911141,653,0.404173338647,-0.00539597384749,0.0798371393943,0.999999934103,0.00022861081731,-0.000277838439028,4.83415448995e-05,1793240014582028032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.970543015,660.029456985,635,879,787,804,651.029456985,631.970543015,653,0.403813507149,-0.00539292197548,0.0798348612297,0.999999927522,0.00024159236732,-0.000290079251513,4.94271722603e-05,1793240014598694656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,879.549452456,787,804,651,631.450547544,653,0.403500334511,-0.00539511957818,0.0798391450368,0.999999934273,0.00022247685084,-0.000282379903885,4.71229417191e-05,1793240014615361536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.126992584,745,715,679.873007416,660.126992584,635,879.873007416,787,804,651.126992584,631,652.873007416,0.403199497158,-0.00539681481718,0.0798426665456,0.99999993897,0.000208703634718,-0.000276467797269,4.54800819928e-05,1793240014632028416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.701873659,745,715,679.298126341,660.701873659,635,879.298126341,787,804,651.701873659,631,652.298126341,0.402933526821,-0.00539576643085,0.0798422846842,0.999999935413,0.000219714298494,-0.000280550648402,4.6797373114e-05,1793240014648694784
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.127866603,745,715,679.872133397,661,635,879,786.127866603,804,652,631,652,0.402466251677,-0.00539327723925,0.0798390536455,0.999999931596,0.000230114749573,-0.000286132741534,4.45229448623e-05,1793240014682028032
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.546184979,635,879,786.453815021,804,652,631.453815021,652,0.40226811146,-0.00539438828242,0.0798389022336,0.999999932995,0.00022577594521,-0.000284652915098,4.48122878605e-05,1793240014698694656
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.03329745,715,679.96670255,660,635,878.96670255,786.96670255,803.96670255,652,631.96670255,652.03329745,0.402078813052,-0.0053959565197,0.0798397272407,0.999999935135,0.000219868010526,-0.000281592426907,4.57518997415e-05,1793240014715361536
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.65479369,745,715,679.65479369,660.34520631,635,879,787,804,652,631,652.65479369,0.401535149908,-0.00539728832961,0.0798525677036,0.999999939949,0.000221675679182,-0.000262523521703,4.52101264219e-05,1793240014782028544
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.810047598,745,715,679,661,635,879,787,803.189952402,651.810047598,631,652,0.401091862711,-0.00539586325659,0.0798305828715,0.999999930054,0.000225416194799,-0.000295669942858,4.07352603729e-05,1793240014882028800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.397169051,652,631,652.397169051,0.40105984005,-0.00539678614604,0.0798311809928,0.999999930801,0.000223732155344,-0.000294331378858,4.1367907456e-05,1793240014898695168
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.3058511,661,635.6941489,879,787,803.3058511,651.6941489,631,652,0.400987135911,-0.0053974953324,0.079834409949,0.999999932255,0.000226653153595,-0.000286975623129,4.19994752713e-05,1793240014982028288
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.77967245,661,635,879.77967245,787,804,652,631,653,0.400976728728,-0.00539644226711,0.0798381533789,0.999999933782,0.000227386648901,-0.000281160779937,4.09865259106e-05,1793240015082028288
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.957658731,745,715,679.042341269,661,635,879.042341269,787,803.042341269,651.042341269,631,653,0.400976853589,-0.00539913217785,0.0798393356703,0.99999993445,0.000226291189482,-0.000279554179825,4.17388914944e-05,1793240015115361536
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.885521338,745,715,679.885521338,661,635,879,787,804,652,631.885521338,652.114478662,0.400976860684,-0.00539812764337,0.0798396801614,0.999999934656,0.000226684063087,-0.00027850664281,4.16620253593e-05,1793240015148695296
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.270611299,745,715,679.270611299,661,635,879,787,804,652,631,652.729388701,0.400977071007,-0.00539971523826,0.0798404954033,0.999999935501,0.000225250233601,-0.000276671942937,4.13981283167e-05,1793240015182028544
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.558294303,661,635,879,787,804,652,631,652.441705697,0.400977293115,-0.00539784942127,0.0798408947995,0.999999935241,0.000226153412117,-0.000276938461884,4.09536030466e-05,1793240015215361792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,652,631,652.97936086,0.400978317493,-0.00539790544677,0.0798416843302,0.999999935754,0.000225848194064,-0.000275325325581,4.09857255811e-05,1793240015232028416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,652,631,652.403620827,0.400976579484,-0.00539862747651,0.0798406325532,0.99999993558,0.000225075773822,-0.000276592372279,4.09655507675e-05,1793240015248695040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.171696523,660.828303477,635,879,787,804,651.828303477,631,652.171696523,0.400975752135,-0.00539890748753,0.0798400496056,0.999999935619,0.000224451490201,-0.000276985089816,4.07878061569e-05,1793240015265361920
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.746022642,660.253977358,635,879,787,804,651.253977358,631,652.746022642,0.400977060288,-0.00539815096136,0.0798405660666,0.999999936161,0.00022417458808,-0.000275327499036,4.02405592272e-05,1793240015282028800
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.669516771,745,715,680,660.330483229,635,879,787,804,651,631,652.669516771,0.400976580467,-0.00539753341099,0.0798407351265,0.999999935629,0.000226162926937,-0.000275630589411,4.02574546924e-05,1793240015298695424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.077021451,745,715,680,660.922978549,635,879,787,804,651,631,652.077021451,0.400974683115,-0.00539702604276,0.0798406287615,0.999999934233,0.000229947183023,-0.000277488137457,4.07216107843e-05,1793240015315362048
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,878.496963306,787,804,651.503036694,631,652.503036694,0.400975939471,-0.00539817126572,0.0798410771948,0.999999934974,0.000227991331897,-0.000276386349359,4.10174113233e-05,1793240015332028416
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.919362005,661,635,878.080637995,787,804,652,631,653,0.40097741245,-0.00539934395257,0.0798415144724,0.999999935868,0.000225571934905,-0.000275104809224,4.12189801845e-05,1793240015348695040
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.345422249,661,635,878.654577751,787,804,652,631,653,0.400977327916,-0.00539917406979,0.0798413763822,0.99999993579,0.000225563646109,-0.000275428670556,4.09979762518e-05,1793240015365361664
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.235014675,745,715,679.235014675,661,635,879,787,803.764985325,652,631,653,0.400977113737,-0.00539914917933,0.0798412663853,0.999999935839,0.00022531521037,-0.000275476053595,4.08417649135e-05,1793240015382028288
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.82527267,745,715,679.82527267,661,635,879,787,803.17472733,652,631,653,0.400976703589,-0.00539934345622,0.0798411988537,0.999999936081,0.000224703773481,-0.000275105517811,4.07834926866e-05,1793240015398695168
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.592115345,745,714.592115345,679.592115345,661,635,879,787,803.407884655,652,631,652.592115345,0.400976242138,-0.00539880128374,0.0798411489492,0.999999935573,0.000226550329885,-0.000275427160356,4.08580702567e-05,1793240015415361792
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.01271848,745,714.01271848,679.01271848,661,635,879,787,803.98728152,652,631,652.01271848,0.400975759114,-0.00539794944022,0.0798411064567,0.999999934742,0.000229430452688,-0.000276039858329,4.09885100987e-05,1793240015432028416
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.561365657,679.561365657,660.438634343,635,879,787,804,652,631,652.561365657,0.400975778864,-0.00539850905815,0.0798419687262,0.999999935014,0.000229005706218,-0.000275411777461,4.09475959823e-05,1793240015448695040
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d40f490c3ea10a4be4215243cf4ab6fefd6c15ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+396,6.600000000,pose2_to_pose3_retreat,0.575666419948,9.06949636858e-05,1.07003239255,0.546236871507,0.00876243451142,1.06970052552
+397,6.616666667,pose2_to_pose3_retreat,0.575666369662,9.06954625195e-05,1.07003238556,0.546236821169,0.00876243483008,1.06970051839
+398,6.633333333,pose2_to_pose3_retreat,0.575666346858,9.06956887331e-05,1.07003238238,0.546236798342,0.00876243497458,1.06970051516
+399,6.650000000,pose2_to_pose3_retreat,0.575666311347,9.06960409942e-05,1.07003237744,0.546236762795,0.0087624351996,1.06970051013
+400,6.666666667,pose2_to_pose3_retreat,0.575666255622,9.06965937813e-05,1.07003236969,0.546236707012,0.00876243555272,1.06970050223
+401,6.683333333,pose2_to_pose3_retreat,0.57566608201,9.06983159911e-05,1.07003234553,0.546236533223,0.00876243665286,1.06970047762
+402,6.700000000,pose2_to_pose3_retreat,0.575666013938,9.06989912579e-05,1.07003233605,0.546236465081,0.00876243708422,1.06970046798
+403,6.716666667,pose2_to_pose3_retreat,0.575665856765,9.07005504014e-05,1.07003231418,0.546236307746,0.00876243808019,1.0697004457
+404,6.733333333,pose2_to_pose3_retreat,0.575665796621,9.07011470178e-05,1.07003230581,0.546236247541,0.0087624384613,1.06970043718
+405,6.750000000,pose2_to_pose3_retreat,0.575665711693,9.07019894957e-05,1.07003229399,0.546236162526,0.00876243899947,1.06970042514
+406,6.766666667,pose2_to_pose3_retreat,0.575665278575,9.07062859829e-05,1.07003223372,0.546235728964,0.00876244174405,1.06970036376
+407,6.783333333,pose2_to_pose3_retreat,0.575665206598,9.0704858825e-05,1.0700322277,0.546235657006,0.00876244037059,1.06970035747
+408,6.800000000,pose2_to_pose3_retreat,0.575665037773,9.06920596249e-05,1.07003223123,0.546235488634,0.00876242907282,1.06970036003
+409,6.816666667,pose2_to_pose3_retreat,0.57566501056,9.06899965078e-05,1.07003223179,0.546235461494,0.00876242725172,1.06970036044
+410,6.833333333,pose2_to_pose3_retreat,0.575664956336,9.06858855834e-05,1.07003223293,0.546235407416,0.00876242362303,1.06970036126
+411,6.850000000,pose2_to_pose3_retreat,0.575664750888,9.06703099541e-05,1.07003223722,0.54623520252,0.00876240987452,1.06970036438
+412,6.866666667,pose2_to_pose3_retreat,0.575664720112,9.06679767248e-05,1.07003223786,0.546235171827,0.00876240781499,1.06970036484
+413,6.883333333,pose2_to_pose3_retreat,0.575664551997,9.06552313252e-05,1.07003224138,0.546235004162,0.00876239656471,1.06970036739
+414,6.900000000,pose2_to_pose3_retreat,0.575664432719,9.06430378831e-05,1.07003217157,0.546234886619,0.00876239031009,1.069700299
+415,6.916666667,pose2_to_pose3_retreat,0.575664331723,9.0632518573e-05,1.07003210799,0.546234787178,0.0087623851208,1.06970023676
+416,6.933333333,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571886,1.06970035246
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4297e3431035e5620545d4b016099fbce060d33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dba9ff266fcd73f794f7a25c0b3a4d1028e62a7eed4761fbf39d74ea908fb39
+size 26581732
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1831d79cddf77578334ff4e47882939fc8467
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765.333515084,745.333515084,715,679.666484916,661,635.333515084,878.666484916,787,803,652,631,652.333515084,0.400977223849,-0.00540001199686,0.0798431237447,0.999999936479,0.000225057409644,-0.000273363322514,4.07888446837e-05,1793240015596449280
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+21,0.350000000,BASELINE,766,745,715,679.687869539,661,635,879,787,803,652,631,652.687869539,0.400977067592,-0.00540106721866,0.0798438508253,0.999999937004,0.000225005450736,-0.000271548727645,4.03102791423e-05,1793240015929782016
+22,0.366666667,BASELINE,766,745,715,679.109418374,661,635,879,787,803,652,631,652.109418374,0.400976329966,-0.00540038712978,0.0798439222916,0.999999936687,0.000226300388994,-0.000271603468092,4.05688894188e-05,1793240015946448640
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+27,0.450000000,BASELINE,765.208586231,745.791413769,715,680,661,635.208586231,879.208586231,787,804,652,631.208586231,652,0.400976489004,-0.0054000602295,0.0798427356407,0.999999937076,0.000223865414291,-0.000272261287302,4.00755851484e-05,1793240016029781760
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+30,0.500000000,BASELINE,765.469000547,745,715,679,661,635.469000547,879,787,804,652,631,652.469000547,0.400976840505,-0.00539866467395,0.0798431823019,0.999999936313,0.000227551340084,-0.000271981353376,4.02659582178e-05,1793240016079781888
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+44,0.733333333,BASELINE,765.641081849,745.358918151,715,680,661,635,879.641081849,787,804,652,631,652.641081849,0.400976153486,-0.00539948268897,0.0798433422374,0.999999936357,0.000227268310619,-0.000272059321487,4.02445206194e-05,1793240016313116160
+45,0.750000000,BASELINE,766,745.227428217,715,679.772571783,660.772571783,635.227428217,879.772571783,787,804,652,631.227428217,652.772571783,0.400976399957,-0.00539928134153,0.07984344518,0.999999936536,0.000226587867907,-0.000271977999312,4.01772037809e-05,1793240016329783040
+46,0.766666667,BASELINE,766,745.82040486,715,679.17959514,660.17959514,635.82040486,879.17959514,787,804,652,631.82040486,652.17959514,0.400977277593,-0.00539986028915,0.0798447630475,0.999999937118,0.000226181644679,-0.000270165661327,4.01985033881e-05,1793240016346449664
+47,0.783333333,BASELINE,765.597994238,745.597994238,715,679,660.402005762,635.597994238,879,787,804,652,631.597994238,652.402005762,0.40097724343,-0.00539907433624,0.0798445191735,0.999999937031,0.000226211349263,-0.000270479326421,4.00795755734e-05,1793240016363116032
+48,0.800000000,BASELINE,765.021335519,745.021335519,715,679,660.978664481,635.021335519,879,787,804,652,631.021335519,652.978664481,0.400976813131,-0.00539769539708,0.079843596795,0.999999936654,0.000226430444336,-0.000271716641614,3.98997254148e-05,1793240016379782400
+49,0.816666667,BASELINE,765,745,715,679,660.447127089,635,879,787,803.447127089,652,631,652.447127089,0.400976214692,-0.00539917932614,0.0798437155334,0.999999936464,0.000226731432753,-0.000272135593081,4.00921816946e-05,1793240016396448768
+50,0.833333333,BASELINE,765.127157651,745,715.127157651,679.127157651,660.127157651,635,879,787,803.127157651,652,631,652.127157651,0.400975905376,-0.00540019201468,0.0798438881713,0.999999936358,0.000227064658382,-0.000272225124783,4.02358684412e-05,1793240016413115392
+51,0.850000000,BASELINE,765.702042713,745,715.702042713,679.702042713,660.702042713,635,879,787,803.702042713,652,631,652.702042713,0.400976636823,-0.00539915816175,0.0798441097511,0.999999936523,0.000227500314259,-0.000271265462779,4.0157470644e-05,1793240016429782784
+52,0.866666667,BASELINE,766,745,715.714629437,680,661,635,878.714629437,787,804,652,631.285370563,653,0.400977022843,-0.00539906103462,0.0798444289729,0.999999936771,0.000226996829822,-0.000270780231164,4.01147402942e-05,1793240016446449920
+53,0.883333333,BASELINE,766,745,715.122217698,680,661,635,878.122217698,787,804,652,631.877782302,653,0.400977037205,-0.0053999717669,0.0798448532514,0.999999937107,0.000225482888142,-0.000270805457529,4.01103859286e-05,1793240016463116800
+54,0.900000000,BASELINE,765.541216772,744.541216772,715,680,661,635,878,787,804,651.541216772,631.541216772,652.541216772,0.400975791596,-0.00539978038918,0.0798434157271,0.999999936557,0.000225623024512,-0.000272720736969,4.00378766855e-05,1793240016479783168
+55,0.916666667,BASELINE,765.036549671,744.036549671,715,679.963450329,661,635,878.036549671,787,804,651.036549671,631,652.036549671,0.400974467648,-0.00539942649916,0.0798417441891,0.999999935926,0.000225967088422,-0.000274758439155,3.99402932165e-05,1793240016496449792
+56,0.933333333,BASELINE,765.610369823,744.610369823,715,679.389630177,661,635,878.610369823,787,804,651.610369823,631,652.610369823,0.400976806363,-0.00540089478117,0.0798437464874,0.999999937527,0.000222988754561,-0.00027137400636,3.97345387191e-05,1793240016513116160
+57,0.950000000,BASELINE,765.810470813,745,715,679.189529187,661,635,879,787,804,652,631,653,0.40097847661,-0.00540143244163,0.0798452570362,0.999999938356,0.00022223762778,-0.000268922587467,3.97385852488e-05,1793240016529782528
+58,0.966666667,BASELINE,765.22001711,745,715,679.77998289,661,635,879,787,804,652,631,653,0.400978732797,-0.00540000149222,0.0798457273522,0.999999937578,0.000226197870295,-0.000268444839415,4.01864387803e-05,1793240016546449152
+59,0.983333333,BASELINE,765,745,715,679.636271299,661,635.363728701,878.636271299,787,804,652,631,653,0.400978128025,-0.00539955956462,0.0798451231375,0.99999993728,0.000226665466126,-0.000269173623263,4.01057795147e-05,1793240016563115776
+60,1.000000000,BASELINE,765,745,715,679.056509519,661,635.943490481,878.056509519,787,804,652,631,653,0.400977011893,-0.00539970505665,0.079843880716,0.999999937268,0.000225058639236,-0.000270619014809,3.97112153212e-05,1793240016579782400
+61,1.016666667,BASELINE,765,745,715,679,661,635.480092803,879.039814395,787,804,652,631,653,0.400976338945,-0.0053983552848,0.0798438005879,0.999999936538,0.000227202800314,-0.000271495196619,3.99059757928e-05,1793240016596448768
+62,1.033333333,BASELINE,765,745,715,679,661,635.097674094,879.902325906,787,804,652,631,653,0.400976127614,-0.00539738916096,0.0798439566289,0.999999936024,0.000228976808926,-0.000271868383813,4.01231185375e-05,1793240016613115648
+63,1.050000000,BASELINE,765,745,715,679,661,635.684003368,879.315996632,787,804,652,631,653,0.40097798626,-0.00539915028341,0.0798446662186,0.999999937,0.000226872324719,-0.000270032675101,4.0133826864e-05,1793240016629782528
+64,1.066666667,BASELINE,765.267144401,745,715,679.267144401,661,635.732855599,878.732855599,787,803.732855599,652,631,652.732855599,0.400978324275,-0.00539969060962,0.0798448141823,0.999999937319,0.000226121788016,-0.000269481946166,4.0139870417e-05,1793240016646449664
+65,1.083333333,BASELINE,765.846558608,745,715,679.846558608,661,635.153441392,878.153441392,787,803.153441392,652,631,652.153441392,0.400976884797,-0.00539880392544,0.0798443056514,0.999999936873,0.000226953904584,-0.000270433252893,4.01404612336e-05,1793240016663116544
+66,1.100000000,BASELINE,765.575151618,745,715,680,660.575151618,635,878.424848382,787,803.424848382,652,631,652,0.400977148601,-0.00539886911789,0.0798444960643,0.999999936886,0.000226995910805,-0.000270350059549,4.01518599576e-05,1793240016679782656
+67,1.116666667,BASELINE,765,745,715,680,660.002708559,635,879,787,804,652,631.002708559,652,0.400978016134,-0.00539927455192,0.0798449317477,0.999999937062,0.000226751933559,-0.000269901128687,4.01658458813e-05,1793240016696449280
+68,1.133333333,BASELINE,765,745,715,680,660.575403063,635,879,787,804,652,631.575403063,652,0.400976817889,-0.00539912490175,0.0798439998144,0.999999936922,0.000226218681472,-0.000270905053055,3.99050070634e-05,1793240016713115648
+69,1.150000000,BASELINE,765,745,715,680,661.153197581,635.153197581,878.846802419,787,804,652,631.846802419,652.153197581,0.400976356496,-0.00539886794131,0.0798436713021,0.999999936889,0.000226237405734,-0.00027102733631,3.97809516481e-05,1793240016729782016
+70,1.166666667,BASELINE,765,745,715,680,661.745613777,635.745613777,878.254386223,787,804,652,631.254386223,652.745613777,0.400978007663,-0.00539830332155,0.0798450728031,0.999999937164,0.000227838650424,-0.000268621947705,4.00490553189e-05,1793240016746448640
+71,1.183333333,BASELINE,765,745,715,680,661.66986611,635.66986611,878.33013389,787,803.66986611,652,631,652.66986611,0.400978682481,-0.00539853892645,0.0798456813406,0.999999937337,0.00022786391986,-0.000267940881921,4.01396350559e-05,1793240016763115520
+72,1.200000000,BASELINE,765,745,715,680,661.091288175,635.091288175,878.908711825,787,803.091288175,652,631,652.091288175,0.400978622542,-0.00539937674471,0.0798456931293,0.999999937437,0.000226703180762,-0.000268557464353,4.00966182243e-05,1793240016779782912
+73,1.216666667,BASELINE,765,745,715,679.516554042,661,635,878.516554042,787,803.483445958,652,631,652,0.400976968294,-0.005398963306,0.0798443471666,0.999999936901,0.00022742436653,-0.000269982203602,3.98234702274e-05,1793240016796449280
+74,1.233333333,BASELINE,765.059025008,745,715,679.059025008,661,635,878.059025008,787,804,652,631,652.059025008,0.400975215165,-0.00539839496406,0.0798429975103,0.999999936291,0.000228415368518,-0.000271436150208,3.95826576285e-05,1793240016813115136
+75,1.250000000,BASELINE,765.648673542,745,715,679.648673542,661,635,878.648673542,787,804,652,631,652.648673542,0.400975258142,-0.00539854136092,0.0798439012894,0.999999936121,0.000228662546075,-0.000271791618698,4.00201065299e-05,1793240016829781504
+76,1.266666667,BASELINE,766,745,715,680,661,635,878.765613713,787,804,652,631,653,0.400975615067,-0.00539916948869,0.0798444465584,0.9999999364,0.000227696195226,-0.000271546521264,4.02017320494e-05,1793240016846448128
+77,1.283333333,BASELINE,766,745,715,680,661,635,878.185703013,787,804,652,631,653,0.400976434804,-0.00540050776803,0.0798444633237,0.999999937338,0.000224940901428,-0.000270416089636,4.00062312806e-05,1793240016863114752
+78,1.300000000,BASELINE,766,745.391836407,715,680,661,635,878.391836407,787,804,652,631,653,0.400977127433,-0.00539971853789,0.0798446077818,0.999999937379,0.000225744053278,-0.000269621182927,3.98327244166e-05,1793240016879781376
+79,1.316666667,BASELINE,766,745.968258751,715,680,661,635,878.968258751,787,804,652,631,653,0.400977760184,-0.00539792708248,0.0798448123933,0.999999936994,0.000228223514531,-0.000268984335021,3.96695784265e-05,1793240016896448000
+80,1.333333333,BASELINE,766,745.457482313,715,680,661,635,879,787,804,652,631,653,0.400977796641,-0.00539861751358,0.0798454742742,0.999999937206,0.000227993510418,-0.000268360773777,3.98770374617e-05,1793240016913115648
+81,1.350000000,BASELINE,765.883328474,745,715,679.883328474,661,635,879,787,804,652,631,653,0.400977831738,-0.00539928549068,0.0798459500967,0.999999937476,0.000227305491204,-0.000267922188053,3.99816743874e-05,1793240016929783040
+82,1.366666667,BASELINE,765.309092514,745,715,679.309092514,661,635,879,787,804,652,631,653,0.400977997779,-0.00539929818774,0.0798455917264,0.999999937837,0.000225440451447,-0.000268206006135,3.95983622931e-05,1793240016946450176
+83,1.383333333,BASELINE,765,745,715,679,661,635.273848427,879,787,803.726151573,652,631.273848427,652.726151573,0.400978147594,-0.00539971073347,0.079845340854,0.999999937896,0.000224658596313,-0.000268629107065,3.96730260553e-05,1793240016963117056
+84,1.400000000,BASELINE,765,745,715,679,661,635.866937329,879,787,803.133062671,652,631.866937329,652.133062671,0.400978278494,-0.00540058940522,0.0798452152977,0.999999937607,0.000225139470014,-0.000269214577864,4.02815779145e-05,1793240016979783168
+85,1.416666667,BASELINE,765.447290465,745,715,679.447290465,661,636,879,787,803.447290465,652,631.552709535,652.447290465,0.400978337734,-0.00539951724553,0.0798458695809,0.999999937613,0.000225597852742,-0.000268798430736,4.03369538068e-05,1793240016996449024
+86,1.433333333,BASELINE,765.976019272,745,715,680,661,636,879,787.023980728,803.976019272,652,631,653,0.400978357674,-0.00539797425757,0.079846684264,0.999999937691,0.000226039854195,-0.000268154153182,4.02144775975e-05,1793240017013115392
+87,1.450000000,BASELINE,765.398844929,745,715,680,661,636,879,787.601155071,803.398844929,652,631,653,0.400977949168,-0.00539858699774,0.0798459956181,0.999999937455,0.000226254039791,-0.000268930596535,3.96803285202e-05,1793240017029782016
+88,1.466666667,BASELINE,765,745,715,679.818506462,661.181493538,635.818506462,879,787.818506462,803.181493538,652,631,652.818506462,0.400977273588,-0.00539905818696,0.0798451890461,0.999999937141,0.000226674504815,-0.000269778232922,3.94554502998e-05,1793240017046448896
+89,1.483333333,BASELINE,765,745,715,679.231091272,661.768908728,635.231091272,879,787.231091272,803.768908728,652,631,652.231091272,0.40097600068,-0.00539921278859,0.0798441187251,0.99999993665,0.00022755632667,-0.000270785096941,3.99222757334e-05,1793240017063116544
+90,1.500000000,BASELINE,765,745,715,679,661.648558541,635,879,787,803.648558541,652,631,652.351441459,0.400975883272,-0.00539926985195,0.0798439635458,0.999999936486,0.000227766278286,-0.000271189306594,4.00880142183e-05,1793240017079783424
+91,1.516666667,BASELINE,765,745,715,679,661.069192316,635,879,787,803.069192316,652,631,652.930807684,0.400976515256,-0.00539926365758,0.0798444018749,0.999999936535,0.000227540493381,-0.000271202669165,4.00584849657e-05,1793240017096449792
+92,1.533333333,BASELINE,765.505261622,745,715,679.505261622,661,635.505261622,879,787,803.505261622,652,631,652.494738378,0.400977661682,-0.00539860312501,0.079845152312,0.999999936761,0.00022907982383,-0.000269069188675,4.00190271903e-05,1793240017113115904
+93,1.550000000,BASELINE,765.920512033,745,715,680,661.079487967,636,879,787,804,652,631,652,0.400978710113,-0.00539807165097,0.0798458042083,0.999999936948,0.000230567762823,-0.000267097195097,4.00277863237e-05,1793240017129782016
+94,1.566666667,BASELINE,765.343540695,745,715,680,661.656459305,636,879,787,804,652,631,652,0.400978708561,-0.0053989033198,0.0798455744522,0.999999936781,0.000230235793135,-0.000267958172904,4.03467433645e-05,1793240017146448896
+95,1.583333333,BASELINE,765.239853873,745,715,680,661.760146127,635.760146127,879,787,804,652,631,652,0.400977869999,-0.00539964416432,0.0798451139891,0.999999936869,0.000228258376741,-0.000269318940454,4.03360206288e-05,1793240017163115520
+96,1.600000000,BASELINE,765.832701619,745,715,680,661.167298381,635.167298381,879,787,804,652,631,652,0.400975799604,-0.0054002513425,0.0798443139934,0.999999937317,0.000223859350025,-0.000271415250625,3.98401069399e-05,1793240017179782144
+97,1.616666667,BASELINE,766,745,715,680,661,635,879,787,804,652,631,652,0.400975317212,-0.00540026254686,0.079844160715,0.999999937161,0.000224120478208,-0.000271777574754,3.98010843819e-05,1793240017196449024
+98,1.633333333,BASELINE,766,745,715,680,661,635,879,787,804,652,631,652,0.400975459121,-0.00540003945301,0.0798442616839,0.999999936771,0.000226213676619,-0.000271458208169,3.99416817452e-05,1793240017213116160
+99,1.650000000,BASELINE,766,745,715,680,661,635.563302107,879,787,804,652,631,652.563302107,0.400975895904,-0.00539965482917,0.0798437962433,0.999999936756,0.000226645530442,-0.000271144740257,4.00091941395e-05,1793240017229783296
+100,1.666666667,BASELINE,766,745,715,680,660.859210637,635.859210637,879,787,804,652,631,652.859210637,0.400976253992,-0.00539940759175,0.0798434610685,0.999999936768,0.000226925700271,-0.000270860996865,4.00443422079e-05,1793240017246450176
+101,1.683333333,BASELINE,766,745,715,680,660.270474899,635.270474899,879,787,804,652,631,652.270474899,0.400976343957,-0.00539960719011,0.079843574429,0.999999936845,0.000226823194611,-0.00027067147251,3.99809136666e-05,1793240017263116544
+102,1.700000000,BASELINE,765.685558432,745,715,679.685558432,660.314441568,635,879,787,804,652,631.314441568,652.314441568,0.400977086057,-0.00539960266334,0.0798443809413,0.999999937131,0.000226938968509,-0.000269512079944,4.00036901876e-05,1793240017279782912
+103,1.716666667,BASELINE,765.103887813,745,715,679.103887813,660.896112187,635,879,787,804,652,631.896112187,652.896112187,0.400978382375,-0.00539942466023,0.0798457765306,0.999999937591,0.00022724024791,-0.000267528442159,4.00997283267e-05,1793240017296449792
+104,1.733333333,BASELINE,765.473522063,745,715,679,661,635,879,787,804.473522063,652,631.526477937,653,0.400977794545,-0.00540003343313,0.0798453078388,0.999999937866,0.000225129163042,-0.000268326833999,3.98265989944e-05,1793240017313116160
+105,1.750000000,BASELINE,765.950224195,745.049775805,715,679.049775805,661,635,879,787,804.950224195,652,631,653,0.400976897303,-0.00540060096676,0.0798445048958,0.999999938025,0.000222972467312,-0.00026957625815,3.95134601908e-05,1793240017329782784
+106,1.766666667,BASELINE,765.376389151,745.623610849,715,679.623610849,661,635,879,787,804.376389151,652,631,653,0.400977055772,-0.00539893317729,0.079844450662,0.999999937473,0.000225858107014,-0.000269205522028,3.96242086023e-05,1793240017346449152
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,879,787,804,651,631,653,0.400980987308,-0.00539871224229,0.0798466179121,0.999999938263,0.000226698826589,-0.000265468867252,4.01069393937e-05,1793240017385643264
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420232532,745,715,680.420232532,661,635,879.579767468,787,804,651.579767468,631.579767468,653,0.400979051939,-0.00539837283647,0.079845549623,0.999999937815,0.000226112216762,-0.000267690873148,3.98182683002e-05,1793240017402310144
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.158434901,745.158434901,715.158434901,679.841565099,661,635.158434901,879.841565099,787,804,652,631.841565099,653,0.400977649864,-0.00539832911721,0.0798448662507,0.999999937573,0.000225552531995,-0.000269089894211,3.96408656554e-05,1793240017418976768
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.734204849,745.734204849,715.734204849,679.265795151,661,635.734204849,879.265795151,787,804,652,631.265795151,653,0.400977652541,-0.00539906426896,0.0798451967919,0.999999937885,0.000225063770688,-0.000268321082721,3.97565563438e-05,1793240017435643392
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.683871216,715.683871216,679.316128784,660.683871216,636,879,787,804,652,631,653,0.400978022221,-0.00539917784767,0.0798454051131,0.999999937934,0.000225544159402,-0.000267719700876,3.98550974799e-05,1793240017452310272
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.096670434,715.096670434,679.903329566,660.096670434,636,879,787,804,652,631,653,0.400978706598,-0.00539875844404,0.0798455086339,0.999999937756,0.00022685556843,-0.000267261885531,3.99389333255e-05,1793240017468976896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.515860617,745,715,679.515860617,660.484139383,635.515860617,879,787,803.515860617,652,631,653,0.40097807936,-0.00539901102452,0.0798455461854,0.999999937318,0.000227788274164,-0.00026809605223,4.00024217891e-05,1793240017485643520
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.063511209,745,715,679.063511209,661.063511209,635,879,787,803,652,631,652.936488791,0.400977303728,-0.00539933362806,0.0798455121178,0.999999936913,0.000228479189129,-0.000269020474088,3.99953076406e-05,1793240017502310656
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.641437258,745,715,679.641437258,661.641437258,635,879,787,803,652,631,652.358562742,0.40097741977,-0.00539915075999,0.0798450032661,0.999999937195,0.000227816188889,-0.000268613647096,3.94488199458e-05,1793240017518977024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.783467212,635,879,787,803.216532788,652,631,652.216532788,0.400980206928,-0.00539946640991,0.0798459236322,0.999999937826,0.000227072835366,-0.000266906503771,3.93256484314e-05,1793240017535643392
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.212998392,635,879,787,803.787001608,652,631,652.787001608,0.400987360186,-0.00540059691784,0.0798491801419,0.999999939017,0.000226198139572,-0.000263073914239,3.98944130501e-05,1793240017552310016
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.627484424,661,635,879,787,804,651.627484424,631.372515576,652.627484424,0.401008105012,-0.00540139637959,0.0798585860613,0.999999943479,0.000224521886681,-0.00024698995595,4.03565262497e-05,1793240017568976384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.033005764,661,635,879,787,804,651.033005764,631.966994236,652.033005764,0.401036948362,-0.00540199858786,0.0798716561015,0.999999949446,0.000222368026499,-0.000223606029657,4.07550913297e-05,1793240017585642496
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.546285316,715,679.546285316,661,635,879,787,804,651,631.453714684,652.546285316,0.401088514709,-0.00540258579758,0.0798896889343,0.999999956562,0.000221976440853,-0.000189637888447,4.04901331133e-05,1793240017602309120
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.876175559,715,680,661,635,879,787,804,651.247648882,631,653,0.40114459436,-0.00540319533151,0.0799067816776,0.999999962192,0.000221656141942,-0.000157741298619,4.00252952047e-05,1793240017618975488
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.301762708,715,680,661,635,879,787,804,652.396474585,631,653,0.401212236903,-0.00540388931023,0.0799193919072,0.999999965572,0.000221218279892,-0.000135647017105,3.89750446695e-05,1793240017635641856
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652.726869812,631,652.726869812,0.401285979683,-0.0054047685922,0.0799280252832,0.999999967581,0.00022094810457,-0.000120870926554,3.75396763086e-05,1793240017652308480
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652.15144565,631,652.15144565,0.401366474055,-0.00540585296336,0.0799322571716,0.999999968453,0.000220863521027,-0.000114194436511,3.56780688054e-05,1793240017668975104
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,804,652,631,652.436843483,0.401458204662,-0.00540709059985,0.0799334017623,0.999999969235,0.000218844910299,-0.000112132947535,3.26098507536e-05,1793240017685642240
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.971074965,661,635,879,787,804,652,631,652.971074965,0.401555635774,-0.0054083452483,0.0799337819683,0.999999970031,0.000216224423665,-0.000111077217402,2.91176938131e-05,1793240017702309632
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.394204291,661,635,879,787,804,652,631,652.394204291,0.401685023085,-0.00540888506622,0.0799405727414,0.999999971707,0.000215289181814,-9.78459271964e-05,2.57593515566e-05,1793240017718976256
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652.181921423,0.401822239756,-0.00541008104543,0.0799468419781,0.999999973349,0.000212935371991,-8.64869886032e-05,2.19422553729e-05,1793240017735643136
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652.756439396,0.401976352605,-0.00541269305713,0.0799519857095,0.999999975187,0.000207520213754,-7.91686906853e-05,1.71351431363e-05,1793240017752309504
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,653,0.402149118397,-0.00541391383947,0.0799570513821,0.999999976714,0.000204139373379,-6.90249735008e-05,1.16462174649e-05,1793240017768975872
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,653,0.40233561142,-0.00541411077799,0.0799620596096,0.999999977917,0.000202255643096,-5.68019515064e-05,5.65552596202e-06,1793240017785642496
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787,804,652,631,652.492728655,0.402536802828,-0.00541670745074,0.0799596407293,0.999999979459,0.000192623506944,-6.3054354631e-05,-1.37203815434e-06,1793240017802309376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913619827,745,715,679,661,635,878.913619827,787,803.913619827,652,631.086380173,652.086380173,0.402743966489,-0.00541963290743,0.079955600122,0.99999998075,0.000182128582067,-7.24854497149e-05,-8.66095625892e-06,1793240017818976256
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.33721686,745,715,679,661,635,878.33721686,787,803.33721686,652,631.66278314,652.66278314,0.402973123416,-0.00542248284655,0.0799483659812,0.999999981284,0.000173005305797,-8.50077569419e-05,-1.65939836778e-05,1793240017835642112
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.239511019,745,715,679.239511019,661,635,878.239511019,787,803.239511019,652,631.760488981,652.760488981,0.403226118108,-0.00542492751887,0.0799439459381,0.999999984407,0.00014920090107,-9.14650304577e-05,-2.36408960491e-05,1793240017852308480
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.816696941,745,715,679.816696941,661,635,878.816696941,787,803.816696941,652,631.183303059,652.183303059,0.403512720487,-0.00542680082514,0.0799434933544,0.999999990092,0.000104698289823,-8.93715079336e-05,-2.9438517537e-05,1793240017868975104
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.401737271,679.598262729,661,635,879,787,804,651.598262729,631,652.401737271,0.403833786306,-0.0054275618505,0.0799489953516,0.999999990686,0.0001074855854,-7.98013356773e-05,-2.65735638833e-05,1793240017885641472
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.990432826,679.009567174,661,635,879,787,804,651.009567174,631,652.990432826,0.404170890524,-0.00542780524862,0.0799572684589,0.999999988829,0.000132280399191,-6.67517213077e-05,-1.96772684473e-05,1793240017902308352
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.862682889,745,715.431341444,679.568658556,661,635.568658556,879,787,804,651.568658556,631,652.431341444,0.404538588521,-0.00543028585163,0.0799574312528,0.99999998932,0.000127792734918,-6.61421040013e-05,-2.55850219089e-05,1793240017918974976
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.29251197,745,715,680,661,635.853744015,879,787,804,652,631,652.146255985,0.404917913519,-0.00543328527021,0.0799572927208,0.999999990238,0.000120264720575,-6.43168454835e-05,-3.03795514123e-05,1793240017935641856
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.445029166,745,715,680,661,635.277485417,879,787,804,652,631,652.722514583,0.405329936697,-0.00543770138109,0.0799566621862,0.999999992275,0.000105220113631,-5.83133105218e-05,-3.12792351191e-05,1793240017952308480
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.695117653,745,714.695117653,680,661,635,879,787,803.695117653,652,631,652.695117653,0.405755303898,-0.0054399888013,0.0799514687521,0.99999999184,0.000104113645146,-6.64294910228e-05,-3.26649609049e-05,1793240017968975104
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.107075938,745,714.107075938,680,661,635,879,787,803.107075938,652,631,652.107075938,0.406193064403,-0.00544029920132,0.0799420375268,0.99999998884,0.000115952215925,-8.76593514182e-05,-3.45020981901e-05,1793240017985641984
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.474038244,679.525961756,661,635.474038244,879,787,803.474038244,652,631,652.474038244,0.406671587801,-0.00544730518906,0.0799385054462,0.999999989862,0.00010334115725,-9.18542857822e-05,-3.40410661623e-05,1793240018002308608
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.05329197,745,715,679.106583941,661,636,879,787.05329197,804,652,631.05329197,653,0.407161423463,-0.00545618219289,0.079936321861,0.999999991443,8.5951157184e-05,-9.28671153849e-05,-3.32056010749e-05,1793240018018974976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.629424255,745,715,680.25884851,661,636,879,787.629424255,804,652,631.629424255,653,0.407673209753,-0.00546879123463,0.0799344834863,0.999999991626,7.50775681557e-05,-9.98677970771e-05,-3.37161991529e-05,1793240018035641600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680.794900133,661.205099867,635.794900133,879,787.794900133,804,652,631.794900133,653,0.408197176975,-0.00548384136232,0.0799299635298,0.999999991619,5.82561137529e-05,-0.000110545482405,-3.3880949786e-05,1793240018052308480
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.220047843,661.779952157,635.220047843,879,787.220047843,804,652,631.220047843,653,0.408743103858,-0.00550329225974,0.0799206092384,0.999999990797,3.07118951482e-05,-0.000127852040439,-3.34222093241e-05,1793240018068975104
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.634640386,745,715,680,661.634640386,635.365359614,879,787,804,652,631,652.634640386,0.409357365171,-0.00550854197272,0.0799346275442,0.999999993564,2.37978721217e-05,-0.000105641151896,-3.38354408594e-05,1793240018085641728
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.042686692,745,715,680,661.042686692,635.957313308,879,787,804,652,631,652.042686692,0.410014007113,-0.00550498418626,0.0799631414103,0.999999997219,2.96785871513e-05,-5.8921753359e-05,-3.47894647395e-05,1793240018102308352
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.534015337,661.534015337,635.465984663,879,787,804,652,631,652,0.410687652192,-0.00550922332055,0.0799906520112,0.99999999905,2.31309210371e-05,-1.2431021463e-05,-3.47827778458e-05,1793240018118975232
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.109176832,745,715,680.890823168,661.890823168,635,879,787,804,652,631,652,0.411355281057,-0.00551401204087,0.0800080659833,0.999999999138,1.48575913218e-05,1.64203735192e-05,-3.51297771215e-05,1793240018135641856
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.68282687,745,715,680.31717313,661.31717313,635,879,787,804,652,631,652,0.411991693128,-0.00551856099725,0.0799828573626,0.999999998858,3.351904646e-06,-2.96960288517e-05,-3.72991084146e-05,1793240018152308224
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.736307154,745,715,680,661,635.263692846,879,787,804.263692846,651.736307154,631,652,0.412642126563,-0.00552133296753,0.0799539493455,0.999999996448,-3.91211077826e-06,-7.39000394916e-05,-4.03306514229e-05,1793240018168975104
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.146517482,745,715,680,661,635.853482518,879,787,804.853482518,651.146517482,631,652,0.413309899658,-0.00552190742137,0.0799204664514,0.999999992298,-5.9306477937e-06,-0.000115739089337,-4.44284523664e-05,1793240018185641728
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.434882319,715,680,661,636,879.434882319,787,804.565117681,651.434882319,631,652.434882319,0.414059872868,-0.00552791948604,0.0799201204275,0.999999992918,-1.55102155523e-05,-0.000108661267178,-4.60091824141e-05,1793240018202308352
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.013466011,745.986533989,715,680,661,636,879.986533989,787,804,651.986533989,631,653,0.414837087271,-0.00553560211534,0.0799310587012,0.999999994916,-2.73282270027e-05,-8.50782226897e-05,-4.67142818869e-05,1793240018218974976
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.590254329,745.409745671,715,680,661,636,879.409745671,787,804,651.409745671,631,653,0.415617277249,-0.00553798192947,0.0799558589314,0.999999997438,-2.82383293281e-05,-4.74213632587e-05,-4.55934755378e-05,1793240018235641856
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.834318447,745,715,680,661,635.834318447,879.165681553,787,804,651.165681553,631,653,0.416390565534,-0.00554122196505,0.0799690252495,0.99999999803,-3.21124614868e-05,-2.92550591294e-05,-4.53067987388e-05,1793240018252308480
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.262229937,745,715,680,661,635.262229937,879.737770063,787,804,651.737770063,631,653,0.417146924331,-0.00554657207229,0.0799536542742,0.999999996222,-4.32571818547e-05,-5.88979257476e-05,-4.70661920936e-05,1793240018268974848
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.322031737,661,635,879.677968263,787,804.322031737,652,631,652.677968263,0.417955778883,-0.0055530100999,0.0799604841999,0.999999996379,-5.51611311835e-05,-4.25944477308e-05,-4.88299671241e-05,1793240018285641728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.916595396,661,635,879.083404604,787,804.916595396,652,631,652.083404604,0.418809059977,-0.00556036882229,0.0799861025052,0.999999996348,-6.77076069771e-05,1.25929188506e-05,-5.05974501386e-05,1793240018302308352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497694643,745,715,680.502305357,661.497694643,635,879.497694643,787,804.502305357,651.502305357,631,652.497694643,0.419664910656,-0.00556315416233,0.0799917255795,0.99999999587,-7.07644255854e-05,2.58953702449e-05,-5.08023135737e-05,1793240018318975232
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.924116063,745,715,680.075883937,662,635,879.924116063,787,804,651.075883937,631,653,0.420516102535,-0.00556521270698,0.0799915622855,0.999999995658,-7.29272925129e-05,2.76850854792e-05,-5.09909020303e-05,1793240018335641856
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.350602703,745,715,680.649397297,662,635,879.350602703,787,804,651.649397297,631,653,0.421333993182,-0.00556739868443,0.0799748485276,0.999999995458,-7.93819112696e-05,-1.20556299476e-06,-5.27447903478e-05,1793240018352308992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.770573234,635,879,787,804,652,631,653,0.422170337944,-0.00556066512017,0.0799753436307,0.999999996002,-7.23740535773e-05,-3.33396718732e-06,-5.24123112306e-05,1793240018368975616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.180294877,635,879,787,804,652,631,653,0.423035708202,-0.00553990254446,0.0800029055157,0.999999997162,-4.41918756473e-05,3.66303519397e-05,-4.87983102395e-05,1793240018385641728
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.401688641,745,715,681,661,635,879.401688641,787,804.401688641,651.598311359,631,653,0.423893476159,-0.00551793672262,0.0800096927208,0.999999997921,-1.18363333003e-05,4.12807749185e-05,-4.81051787227e-05,1793240018402308352
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980024375,745,715,681,661,635,879.980024375,787,804.980024375,651.019975625,631,653,0.424747900867,-0.00549544176102,0.0800073440253,0.999999998102,2.2354491245e-05,3.04015128402e-05,-4.86965325757e-05,1793240018418974976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.445189731,745,715,681,661,635.554810269,880,787,804.445189731,651.554810269,631,653,0.425582944267,-0.00550869992965,0.0799593976231,0.999999997489,-5.85737459029e-06,-4.79279031766e-05,-5.18716516208e-05,1793240018435642112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129719526,745,715,681,661.129719526,635.870280474,880,787,804.129719526,651.870280474,631,653,0.426427596037,-0.00552090896744,0.0799210241871,0.999999992296,-3.04292635419e-05,-0.000107170701215,-5.47413467793e-05,1793240018452308992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.705489638,745,715,681,661.705489638,635.294510362,880,787,804.705489638,651.294510362,631,653,0.42730767111,-0.00552511224831,0.0799211774241,0.999999993536,-3.48082251086e-05,-9.24851811611e-05,-5.62429725828e-05,1793240018468975616
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.712180757,745.287819243,715,681,662,635,880,787,804.712180757,651.287819243,631,653,0.428161212161,-0.00552694999231,0.0799247878589,0.999999994016,-3.48023257882e-05,-8.7336936053e-05,-5.59405128911e-05,1793240018485642240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.122982667,745.877017333,715,681,662,635,880,787,804.122982667,651.877017333,631,653,0.428986969076,-0.00552631075511,0.0799320183654,0.999999993851,-3.02049878157e-05,-9.21752824205e-05,-5.37489743948e-05,1793240018502308608
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.458498323,746,715,681,662,635,880,787,804,651.541501677,631,653,0.429870925337,-0.00553032563808,0.0799574057206,0.999999996605,-3.53160108238e-05,-5.24097618298e-05,-5.28684400003e-05,1793240018518975232
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879.962323804,787,804.037676196,651,631,653,0.430769661549,-0.00553505719568,0.0799877768503,0.999999997726,-4.25577002257e-05,-1.34690864977e-06,-5.22903481839e-05,1793240018535641856
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879.386963074,787,804.613036926,651,631,653,0.431660227716,-0.00553249569727,0.0800209192862,0.999999996816,-4.36585435003e-05,4.30270783934e-05,-5.10930833583e-05,1793240018552308736
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.811801763,745.811801763,715,681,662,635,879.376396474,787,804.811801763,651,631,653,0.432502786341,-0.00552831273555,0.0800253563961,0.999999996935,-4.03730894094e-05,4.32918517137e-05,-5.12442748398e-05,1793240018568975872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.237049945,745.237049945,715,681,662,635,880.52590011,787,804.237049945,651,631,653,0.433246739065,-0.00552079933596,0.0799708336262,0.999999997032,-2.80783111217e-05,-4.70423798535e-05,-5.41651551359e-05,1793240018585643008
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.348107688,715,681,661.651892312,635,880.651892312,787,804.348107688,651,631,653,0.434009625406,-0.0055190505438,0.0799282465052,0.999999992639,-2.81376434461e-05,-0.00010357129737,-5.66034154242e-05,1793240018602309376
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.940569652,715,681,661.059430348,635,880.059430348,787,804.940569652,651,631,653,0.434785802158,-0.00552134821967,0.0798940376191,0.999999988299,-3.68689475042e-05,-0.000136370561343,-5.87029004818e-05,1793240018618975488
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.518775864,745.481224136,715,681,661.518775864,635,880,787,804.481224136,651.518775864,631.518775864,653,0.435590695503,-0.00552581980244,0.0799206837489,0.999999992336,-4.61360470966e-05,-9.89241125808e-05,-5.8422583305e-05,1793240018635642368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.904762758,745,715,681,662,635,880.095237242,787,804.095237242,651.904762758,631.904762758,653,0.436388054276,-0.005530502124,0.0799476401543,0.999999994682,-5.41971152029e-05,-6.60066750805e-05,-5.78051925364e-05,1793240018652308736
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.329085282,745,715,681,662,635,880.670914718,787,804.670914718,651.329085282,631.329085282,653,0.437131251829,-0.00553502482762,0.0799419335814,0.999999992269,-5.58727944634e-05,-9.5446656208e-05,-5.68259099444e-05,1793240018668975360
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.250335493,745,714.749664507,681.250335493,662,634.749664507,880.749664507,787,804.749664507,651,631,652.749664507,0.437844954718,-0.00554019271577,0.079927450982,0.999999988526,-6.13878967662e-05,-0.00012610679159,-5.72381089637e-05,1793240018685641984
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.834751776,745,714.165248224,681.834751776,662,634.165248224,880.165248224,787,804.165248224,651,631,652.165248224,0.438519295966,-0.00554622162313,0.0799012564928,0.999999983091,-7.20268328312e-05,-0.000158395259819,-5.95072851602e-05,1793240018702308864
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.580619069,745.419380931,714,682,661.580619069,634.419380931,880,787,804.419380931,651,631,652.419380931,0.439174915854,-0.00554805274237,0.0798633789843,0.999999972296,-7.60629413598e-05,-0.000214206135713,-6.11410719698e-05,1793240018718975744
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714.004044215,682,660.995955785,634.995955785,880.004044215,787,805,651.004044215,631,653,0.439822633446,-0.00554821476773,0.0798207205726,0.999999955959,-7.74849431139e-05,-0.000279583025825,-6.25417773015e-05,1793240018735642112
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.581639008,682,660.418360992,634.418360992,880.581639008,787,805,651.581639008,631,653,0.440396342754,-0.00554636239581,0.0797532274712,0.999999920119,-7.73355447979e-05,-0.000386483844041,-6.64112229702e-05,1793240018752308736
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.841472931,714.841472931,681.841472931,660,634,880.841472931,786.841472931,805,651.841472931,631,653,0.440971865006,-0.00554570120061,0.0796913806356,0.999999877866,-7.80571915204e-05,-0.000482983238112,-7.0010008824e-05,1793240018768975104
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.266441569,714.266441569,681.266441569,660,634,880.266441569,786.266441569,805,651.266441569,631,653,0.441552150604,-0.00554816962959,0.0796443684373,0.99999984162,-8.10673702551e-05,-0.000552154600668,-7.28976820449e-05,1793240018785641728
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.316521042,659.683478958,634,880.316521042,786,805,651,631,653,0.442147083837,-0.00554852504081,0.0796422505111,0.999999841627,-8.12987063115e-05,-0.000552127117865,-7.27447026834e-05,1793240018802308352
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.906331593,659.093668407,634,880.906331593,786,805,651,631,653,0.442754664046,-0.00554705603737,0.0796788950455,0.999999873216,-7.91307434385e-05,-0.000492352202426,-6.9966373393e-05,1793240018818974976
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.478107424,714,682,659.478107424,633.521892576,880.521892576,786,805,651,631,652.521892576,0.443326765357,-0.00553972787726,0.0797143606284,0.999999899791,-7.110888258e-05,-0.000436693766124,-6.82608460074e-05,1793240018835641856
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.047686359,745.952313641,714,682,659.952313641,633,880.047686359,786,805,651.047686359,631,652.047686359,0.443885116196,-0.00553169707981,0.0797454696827,0.999999920302,-6.17852602424e-05,-0.00038872219443,-6.68799446e-05,1793240018852308736
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.630828949,745.369171051,714,682,659.369171051,633,880.630828949,786,805,651.630828949,631,652.630828949,0.444364278995,-0.0055281974396,0.0797301598174,0.999999908998,-5.02542586122e-05,-0.000418337639975,-6.68699349947e-05,1793240018868975616
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78316769,745.21683231,714,682,659,633,881,785.78316769,805,651.78316769,630.78316769,653,0.444825678081,-0.00552893704386,0.0797107810493,0.999999893521,-5.55441448889e-05,-0.000453194610674,-6.69813490648e-05,1793240018885642240
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.192228622,745.807771378,714,682,659,633,881,785.192228622,805,651.192228622,630.192228622,653,0.445256428894,-0.0055369907337,0.0796843820928,0.999999870146,-8.98555735238e-05,-0.000497094925687,-6.73022587006e-05,1793240018902308864
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,682,658.610287237,632.610287237,880.610287237,785,804.610287237,651,630,653,0.445683145028,-0.00554170991636,0.0796730758886,0.999999862884,-9.20063815577e-05,-0.000511022224465,-6.79866309177e-05,1793240018918975488
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658.032683816,632.032683816,880.032683816,785,804.032683816,651,630,653,0.446107915977,-0.00554482144709,0.0796690462903,0.999999864233,-7.86517211897e-05,-0.000510498756994,-6.88462379826e-05,1793240018935641856
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.455660637,714,682,657.455660637,632,880,784.455660637,804.544339363,651.544339363,630.544339363,652.455660637,0.446493599036,-0.00554610711013,0.0796689130932,0.999999867882,-7.46393674959e-05,-0.000503957010091,-6.84965051392e-05,1793240018952308736
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,784,805,652,630.879510476,652.120489524,0.446869515494,-0.00554812490777,0.0796692710841,0.999999871343,-7.6211543436e-05,-0.000496861007703,-6.80837792971e-05,1793240018968975616
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,784,805,652,630.306508174,652.693491826,0.447217557322,-0.00555330361748,0.0796705960914,0.999999873457,-9.66526482244e-05,-0.000489039101476,-6.77068901363e-05,1793240018985642240
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.725185539,682,657,632,880,784,804.725185539,651.725185539,630,653,0.447537320908,-0.00555671430877,0.0796671790938,0.999999870986,-0.000106679139831,-0.000491962860608,-6.79767914871e-05,1793240019002308864
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713.134293311,682,657,632,880,784,804.134293311,651.134293311,630,653,0.447824560265,-0.00555809151391,0.0796583080807,0.999999863487,-0.000104727266119,-0.000507245744,-6.8990598783e-05,1793240019018976000
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.448117164,682.448117164,656.551882836,631.551882836,880,784,804.448117164,651,630,653,0.448081422078,-0.00555939584225,0.0796460309108,0.999999852586,-0.00010133482727,-0.000528853976298,-6.98053947036e-05,1793240019035642624
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682.972092229,656,631,880,784,804.972092229,651,630,653,0.448328258562,-0.00556073981591,0.0796332563195,0.999999840777,-9.78264126082e-05,-0.00055128215553,-7.0460460352e-05,1793240019052309248
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682.394767092,656,631,880,784,804.394767092,651,630,653,0.448553620822,-0.00556328625746,0.0796304115138,0.999999839543,-0.000100376015189,-0.000553227253087,-6.91232577808e-05,1793240019068975616
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.184663634,714,682,656,631,880,784,804.184663634,651,630.184663634,653,0.448771460826,-0.00556570146987,0.0796302679896,0.999999839797,-0.000106649159867,-0.000551827719541,-6.72195610046e-05,1793240019085641984
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.768647456,714,682,656,631,880,784,804.768647456,651,630.768647456,653,0.448973034526,-0.00556783290957,0.0796359657686,0.999999843098,-0.000120974163086,-0.000543195691172,-6.40908664508e-05,1793240019102308864
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,880,783.649295656,805,651,631,653,0.449157830332,-0.00556810195622,0.0796423066685,0.999999847675,-0.000122438078233,-0.000534532835713,-6.2725243426e-05,1793240019118975744
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,880,783.068502922,805,651,631,653,0.449331618598,-0.00556714913338,0.0796490695047,0.999999853121,-0.000115464155089,-0.000525849754528,-6.25163274329e-05,1793240019135642624
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,713.490567909,682.509432091,656,630.490567909,880,783,805,651,630.490567909,653,0.449470156196,-0.00556854413295,0.0796453415102,0.999999851912,-0.00011468036001,-0.000528253106317,-6.3032497828e-05,1793240019152309248
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.913441502,713.086558498,682.913441502,656,630,880.086558498,783,805,651,630,653,0.449598867268,-0.00556995539426,0.079640011497,0.999999849201,-0.000114734532214,-0.000533270112297,-6.36907291553e-05,1793240019168975872
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,713.585800517,682.414199483,655,630.585800517,880.585800517,783,805,652,630,653,0.449949853951,-0.00557147965297,0.07963268051,0.99999983916,-0.000116400379838,-0.000551350008076,-6.4375648519e-05,1793240019235642112
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,713,682,655,630,880.704618204,783,805,651.295381796,630.704618204,653.704618204,0.450172049217,-0.00557155526318,0.0796361003808,0.999999840345,-0.000116306154311,-0.000549350130299,-6.323126313e-05,1793240019318975488
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,713,682,655,630,880.110639607,783,805,651.889360393,630.110639607,653.110639607,0.450194469107,-0.005571585073,0.0796356847382,0.999999839883,-0.000114150361501,-0.000550682682741,-6.28743548906e-05,1793240019335642112
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682.893305135,654.946652568,630,880,783,804.946652568,651,630,653,0.450225342278,-0.00557255129779,0.0796363647568,0.999999840498,-0.000117514206779,-0.000548904731141,-6.24310801336e-05,1793240019368975872
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681.7423938,654.3711969,630,880,783,804.3711969,651,630,653,0.450231212202,-0.00557131420144,0.079634245397,0.999999839023,-0.000117334589858,-0.00055162547306,-6.24132365503e-05,1793240019385642496
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.792125679,713.792125679,681.415748641,654.207874321,630,880,782.792125679,804.207874321,651,630,653,0.45023566168,-0.00557059462748,0.0796326731963,0.999999837599,-0.000116853092876,-0.000554301033916,-6.24365542677e-05,1793240019402309120
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.206483995,713.206483995,682.587032009,654.793516005,630,880,782.206483995,804.793516005,651,630,653,0.4502375298,-0.00557081554045,0.0796320953411,0.999999836271,-0.000115822993102,-0.000556894487638,-6.25346738958e-05,1793240019418975488
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,713.471019464,682.528980536,655,630,880.471019464,782.471019464,804.471019464,651.471019464,630,653,0.45024227253,-0.00556913627716,0.0796311068618,0.999999835252,-0.000115222267667,-0.000558897120943,-6.20777947858e-05,1793240019468975360
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,713.104517618,682.895482382,655,630,880,782.104517618,804.104517618,651,630,653,0.450243535621,-0.00556968874289,0.0796310300709,0.999999835077,-0.000116568940163,-0.00055895733809,-6.18379364581e-05,1793240019485642240
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,713.982474362,682.982474362,655,630,880.017525638,782,805,651,630,653,0.450244809302,-0.00556694510881,0.0796282418953,0.999999833683,-0.000113359582935,-0.000562111755846,-6.17621526584e-05,1793240019568975616
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+267,4.450000000,HOLD_POSE2,765,745.182580933,713.182580933,682,654,630,881,782.182580933,804.817419067,652,630,653,0.45025153129,-0.00556759976712,0.0796295432217,0.999999832604,-0.000116111521947,-0.000563653698813,-6.00410010454e-05,1793240020080183040
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+272,4.533333333,HOLD_POSE2,765,745.710507703,714,682.289492297,654,629.710507703,880.710507703,782.289492297,805,652,630,653,0.450252135562,-0.00556772663552,0.0796289174159,0.999999833574,-0.000112371944983,-0.000562761760957,-5.93562610279e-05,1793240020163516672
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.805622149,745,713.194377851,682,654.805622149,630,880.805622149,782,804.194377851,651,630,653,0.45023791912,-0.00556337299387,0.0796202802475,0.999999826945,-0.000108976204804,-0.000574998510876,-6.00884481708e-05,1793240020367157248
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.386590942,713,682.386590942,654.613409058,630,881,782,804,651,630,653,0.4502092137,-0.00556384500471,0.0796054638417,0.999999813177,-0.000109839846633,-0.000598271995004,-6.04256953254e-05,1793240020383823616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.96271088,713,682.96271088,654.03728912,630,881,782,804,651,630,653,0.450172111631,-0.00556537107558,0.0795864634522,0.999999794357,-0.000112826269003,-0.000628368111345,-6.09068252254e-05,1793240020400489984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.459615266,713.540384734,682.459615266,654,630,881,782,804.540384734,651,630,653,0.450110541969,-0.00556428071658,0.0795637737974,0.99999976982,-0.000113054867407,-0.000666181529025,-6.14822559896e-05,1793240020417156608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.120336948,714,682,654,630,881,782,805,651,630,653,0.450044680329,-0.00556293491453,0.0795426919907,0.999999746509,-0.000112853839863,-0.000700313413934,-6.1707067712e-05,1793240020433823232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.708732892,714,682,654,630,881,782,805,651,630,653,0.449968710736,-0.00556129982047,0.0795288570652,0.999999734129,-0.000111724084053,-0.000718048444944,-6.05427392994e-05,1793240020450490112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,654.585383714,630,880.707308143,782.292691857,805,651.292691857,630,653,0.449888263288,-0.0055592527046,0.0795214105947,0.999999728179,-0.000108989917575,-0.000726838922759,-5.8900292486e-05,1793240020467156480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,655.744602676,630,880.127698662,782.872301338,805,651.872301338,630,653,0.449803426329,-0.00555680169537,0.0795202265484,0.999999728745,-0.000104682992375,-0.000726861304835,-5.67891596865e-05,1793240020483823360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.448962611,655.102074778,630,880,783,805,652,630,653,0.449701707233,-0.00555464050262,0.0795211005184,0.999999730641,-0.000102951846001,-0.00072468216823,-5.4360286268e-05,1793240020500489984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.975290625,654.024709375,630,880,782.975290625,805,652,630,653,0.449594060609,-0.00555257632259,0.0795225906804,0.999999732908,-0.000101777800422,-0.000721903856119,-5.17689895643e-05,1793240020517157120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.401353433,654.598646567,630,880,782.401353433,805,652,630,653,0.449460695401,-0.00555084817423,0.0795248509843,0.999999735246,-9.68084144678e-05,-0.000719634963273,-4.75631357661e-05,1793240020533823488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.822890912,713.822890912,682.177109088,654.822890912,630,880,782.177109088,805,652,630.177109088,653,0.449314601317,-0.00554877635784,0.0795250796049,0.99999973467,-9.26720504943e-05,-0.000721237394472,-4.34620609509e-05,1793240020550489856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.233904558,713.233904558,682.766095442,654.233904558,630,880,782.766095442,805,652,630.766095442,653,0.449138905528,-0.00554590532211,0.0795205834301,0.999999727326,-9.0472927244e-05,-0.000731842810407,-3.96046562115e-05,1793240020567156992
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.649487724,654.350512276,630,880.350512276,782.649487724,805,652,631,653,0.448945776443,-0.00554272728089,0.0795192657666,0.999999724662,-8.56843745213e-05,-0.000736301915336,-3.45546206197e-05,1793240020583823872
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.068080932,654.931919068,630,880.931919068,782.068080932,805,652,631,653,0.448741163428,-0.00553934700431,0.0795200418975,0.99999972508,-7.91900751391e-05,-0.000736712234418,-2.87189575964e-05,1793240020600490240
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.508437967,682,655,630,880.491562033,782.508437967,805,651.491562033,630.491562033,653,0.448509556783,-0.00553626124453,0.0795226589981,0.999999724951,-7.26729949535e-05,-0.000737772409518,-2.25460810182e-05,1793240020617156352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.083789471,714,682.083789471,655,630,880.083789471,783,805,651.083789471,630,653,0.448268846191,-0.00553287191041,0.0795244909211,0.999999724118,-6.53677153422e-05,-0.000739747028331,-1.62923309287e-05,1793240020633823232
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.76361222,655,630,881,783,805,651.76361222,629.76361222,653,0.447706110825,-0.005521617544,0.0795179729379,0.99999971835,-3.99911195008e-05,-0.000749459769984,-3.17580298341e-06,1793240020667156992
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.171373625,655,630,881,783,805,651.171373625,629.171373625,653,0.44739085214,-0.00551502734697,0.0795183663824,0.999999721068,-2.40740750702e-05,-0.000746505629124,3.75842407976e-06,1793240020683823616
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.588165345,714,682,655.411834655,630.411834655,881,783,805,651,629.823669309,653,0.447058043792,-0.00551073789576,0.0795263878865,0.999999729153,7.55376181728e-06,-0.00073590401621,9.02675076888e-06,1793240020700490240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.008634168,714,682,655.991365832,630.991365832,881,783,805,651,630.982731663,653,0.446718089338,-0.00550738529417,0.0795375154892,0.99999973809,4.55789357594e-05,-0.000722188399097,1.36167329543e-05,1793240020717157120
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.434246859,745.565753141,714,682,656,631,880.434246859,783.565753141,805,651.565753141,631,653,0.446325623223,-0.00550418596874,0.0795495641744,0.999999745343,3.17284417581e-05,-0.000712882800453,1.02692748173e-05,1793240020733824512
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.471571837,745.528428163,714,682,656.471571837,632,880.471571837,784,805,651.528428163,630.471571837,652.471571837,0.444006698357,-0.00547505871727,0.0795788208945,0.999999766761,5.06262196437e-05,-0.000680863289814,1.84218735763e-05,1793240020817156864
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.921627032,682,660.921627032,634.921627032,880.921627032,787,804.078372968,651.921627032,631.921627032,653,0.431256737059,-0.00540683190218,0.0797104255186,0.999999864755,0.000163371889215,-0.000492495369348,3.53262021107e-05,1793240021117171712
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.38698414,745,715,681,660,635,880.38698414,787,804,652,631,653,0.418245654866,-0.00538338015629,0.0798191772796,0.999999935919,0.000217134116332,-0.00028096646905,4.55182971151e-05,1793240021367156224
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.648664109,660.648664109,635,879,787,804,652,631,652.648664109,0.405649550584,-0.00539891762234,0.0797975767322,0.999999923227,0.000218378680096,-0.000322309516622,4.44270399757e-05,1793240021683823104
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.134856117,745,715,679.134856117,660,635,879,787,803.865143883,652,631,652.865143883,0.402623326317,-0.00539628713467,0.0798363487866,0.999999931823,0.000222209717638,-0.000291538894144,4.45260734399e-05,1793240021833822720
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714.505487491,679.494512509,660.505487491,635,879,787,803.494512509,652,631,652.505487491,0.401402153964,-0.00539996754767,0.0798440546537,0.999999936288,0.000221321675566,-0.000277106497717,4.0656795963e-05,1793240021967156480
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.434239502,715,680,660.434239502,635,879,787.565760498,804,652,631,652.565760498,0.401027679436,-0.00539999707702,0.0798292128792,0.99999993015,0.00022304541472,-0.000297178531739,4.04354062493e-05,1793240022083822592
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea143a109a4cb538b92834c991c3abbbb1509c8c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,421 @@
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+417,6.950000000,pose2_to_pose3_retreat,0.575664329864,9.05667797975e-05,1.07003217261,0.546234785678,0.00876232062493,1.06970030199
+418,6.966666667,pose2_to_pose3_retreat,0.575664329586,9.05268977996e-05,1.07003220836,0.546234785586,0.00876228138261,1.06970033806
+419,6.983333333,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571872,1.06970035246
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfdcd9f26d29d049e5e6b712d753b1b7d1e6e153
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a64d3509d35e0c658eecf314024bdf7cca34657e28a97786694e6cd2cf03907
+size 26515043
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8166b7dc55cfc3e80c19ca277b49da4e795a608e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+54,0.900000000,BASELINE,765.342064239,744.657935761,715,679.657935761,661,635,879,787,804,651.657935761,631,653,0.400975796964,-0.00540171250835,0.0798430589632,0.999999937067,0.00022344056283,-0.000272754157988,3.93226547172e-05,1793240023656649984
+55,0.916666667,BASELINE,765.921561725,744.078438275,715,679.078438275,661,635,879,787,804,651.078438275,631,653,0.400975316758,-0.00540298324894,0.0798427142624,0.999999937391,0.000221710350142,-0.000272975717696,3.93164198372e-05,1793240023673316352
+56,0.933333333,BASELINE,765.50085128,744.998297439,715,679.49914872,661,635,879,787,803.50085128,651.49914872,631,653,0.400975541523,-0.00540352694591,0.0798425358851,0.999999937555,0.000220932128333,-0.000273016775169,3.9250076793e-05,1793240023689982976
+57,0.950000000,BASELINE,765,746,715,679.924049951,661,635,878.924049951,787,803.075950049,652,631,652.924049951,0.400975770825,-0.00540378864104,0.0798424018804,0.999999937636,0.000220521437772,-0.000273064148719,3.91800406009e-05,1793240023706649600
+58,0.966666667,BASELINE,765,746,715,679.350437248,661,635,878.350437248,787,803.649562752,652,631,652.350437248,0.40097530672,-0.00540294829164,0.0798423880186,0.999999937336,0.00022154248114,-0.000273338060425,3.91474616768e-05,1793240023723316224
+59,0.983333333,BASELINE,765.230085556,745.769914444,715,679.230085556,661,635,878.230085556,787,804,652,631,652.230085556,0.400975229165,-0.00540258355057,0.0798425325863,0.999999937208,0.000222080893013,-0.000273365019149,3.91903071241e-05,1793240023739983104
+60,1.000000000,BASELINE,765.821458911,745.178541089,715,679.821458911,661,635,878.821458911,787,804,652,631,652.821458911,0.400975758584,-0.00540296562498,0.079842925925,0.999999937349,0.000221861461422,-0.000273004204338,3.93515863599e-05,1793240023756649984
+61,1.016666667,BASELINE,766,745,715,680,661,635,879.404603141,787,804,652,631,653,0.400975765784,-0.00540232307838,0.0798424743137,0.999999937287,0.000222069330358,-0.000273105177461,3.90414894423e-05,1793240023773316608
+62,1.033333333,BASELINE,766,745,715,680,661,635,879.984188415,787,804,652,631,653,0.400975547135,-0.00540123740527,0.0798416572798,0.999999937138,0.00022246199757,-0.00027340586393,3.85275324937e-05,1793240023789983232
+63,1.050000000,BASELINE,766,745,715,680,661,635,879.440267995,787,804,652,631,653,0.400975236172,-0.00540356254736,0.0798417449815,0.999999937154,0.000221404588014,-0.000274138395746,3.89825908202e-05,1793240023806649856
+64,1.066666667,BASELINE,765.865395753,745,715,679.865395753,661,635,878.865395753,787,804,652,631,652.865395753,0.400975259506,-0.00540505754172,0.0798419863814,0.999999937215,0.00022082030086,-0.000274344501203,3.92901747552e-05,1793240023823316224
+65,1.083333333,BASELINE,765.292341118,745,715,679.292341118,661,635,878.292341118,787,804,652,631,652.292341118,0.400976380189,-0.00540353687618,0.079842645775,0.999999937407,0.00022190960109,-0.000272796411266,3.90288615862e-05,1793240023839982848
+66,1.100000000,BASELINE,765,745,715,679.289333621,661,635,878.289333621,787,804,652,631,652.289333621,0.400976489965,-0.00540260043426,0.0798430536763,0.999999937295,0.000223047859488,-0.000272277618597,3.90487031007e-05,1793240023856649728
+67,1.116666667,BASELINE,765,745,715,679.879985486,661,635,878.879985486,787,804,652,631,652.879985486,0.400975546964,-0.00540227241543,0.079843199668,0.999999936866,0.000224237103907,-0.000272830758289,3.93613451529e-05,1793240023873316352
+68,1.133333333,BASELINE,765.461697446,745,715,679.538302554,661,635,879,787,804,651.538302554,631,652.538302554,0.400975791414,-0.00540177623238,0.0798433088202,0.999999936753,0.000225063416544,-0.000272557952721,3.93940521263e-05,1793240023889982976
+69,1.150000000,BASELINE,765.959098058,745.040901942,715,679.040901942,661,635,879,787,804,651.040901942,631,652.040901942,0.400976405685,-0.00540136114742,0.0798434600292,0.999999936813,0.000225545223266,-0.00027194564048,3.93593294053e-05,1793240023906649344
+70,1.166666667,BASELINE,765.382874923,745.617125077,715,679.617125077,661,635,879,787,804,651.617125077,631,652.617125077,0.400977897048,-0.00540256871157,0.0798442846265,0.999999938066,0.000222729440107,-0.00026964646464,3.9376368575e-05,1793240023923316224
+71,1.183333333,BASELINE,765,746,715,680,661,635,879.196764358,787,804,652,631,653,0.400978024381,-0.00540330130492,0.079844110137,0.999999938506,0.000221070884901,-0.000269386292572,3.93187050017e-05,1793240023939982848
+72,1.200000000,BASELINE,765,746,715,680,661,635,879.783168517,787,804,652,631,653,0.400975450615,-0.00540309334435,0.07984195722,0.99999993735,0.000221703913269,-0.000273163828101,3.91131123952e-05,1793240023956649472
+73,1.216666667,BASELINE,765.365366472,745.634633528,715,679.634633528,661,635,879.269267055,787,804,652,631,652.634633528,0.40097492479,-0.00540235385192,0.0798413968099,0.999999936817,0.000222528912896,-0.000274439702161,3.91071318896e-05,1793240023973316352
+74,1.233333333,BASELINE,765.945096577,745.054903423,715,679.054903423,661,635,878.109806846,787,804,652,631,652.054903423,0.400975600509,-0.00540130250522,0.0798417707372,0.999999936656,0.000223466543665,-0.000274247829828,3.92182655225e-05,1793240023989983232
+75,1.250000000,BASELINE,765.477651897,745,715,679.522348103,661,635,878.522348103,787,804,652,631,652.522348103,0.400977432838,-0.00540254595844,0.0798432207675,0.999999937627,0.000222740291886,-0.000271284755265,3.92077252368e-05,1793240024006649600
+76,1.266666667,BASELINE,765.099132378,745,715,680,661,635,878.900867622,787,804,652,631,653,0.400978608047,-0.00540377198178,0.0798442998941,0.999999938443,0.000221756302602,-0.000269087619798,3.91222020346e-05,1793240024023315968
+77,1.283333333,BASELINE,765.674916712,745,715,680,661,635,878.325083288,787,804,652,631,653,0.400976041891,-0.00540375991005,0.0798430543468,0.999999937985,0.000220369985969,-0.000271967220213,3.87373453871e-05,1793240024039982848
+78,1.300000000,BASELINE,766,745,715,679.744874631,661,635,878.255125369,787,804,652,631,652.744874631,0.40097525647,-0.00540331375537,0.0798426863594,0.999999937612,0.000220697984747,-0.00027308483463,3.86426850439e-05,1793240024056649728
+79,1.316666667,BASELINE,766,745,715,679.158929015,661,635,878.841070985,787,804,652,631,652.158929015,0.400976780122,-0.00540230472674,0.0798434563015,0.999999937353,0.000223248930933,-0.000271917687231,3.89243213487e-05,1793240024073316096
+80,1.333333333,BASELINE,766,745,715,679.422125652,661,635,879,787,803.577874348,652,631,652.422125652,0.400977226624,-0.00540202754369,0.0798436806691,0.999999937348,0.000223738919661,-0.000271521593033,3.90107376401e-05,1793240024089982976
+81,1.350000000,BASELINE,765.998643373,745,715,679.998643373,661,635,879,787,803.001356627,651.998643373,631,652.998643373,0.400977267407,-0.00540202479976,0.0798436988079,0.999999937438,0.000223457916093,-0.000271416990697,3.90243375603e-05,1793240024106649600
+82,1.366666667,BASELINE,765.420858536,745,715,679.420858536,661,635,879,787,803.579141464,651.420858536,631,652.420858536,0.400975259936,-0.00540289626234,0.0798423682004,0.999999937381,0.000221504688489,-0.000273231959769,3.8970597647e-05,1793240024123316224
+83,1.383333333,BASELINE,765,745,715,679.156616197,661,635,879,787,804,651.156616197,631,652.156616197,0.400973939928,-0.00540352325471,0.0798414624264,0.999999937386,0.000219935315279,-0.000274478155022,3.89665592725e-05,1793240024139982592
+84,1.400000000,BASELINE,765,745,715,679.733259394,661,635,879,787,804,651.733259394,631,652.733259394,0.400974463619,-0.00540349460572,0.0798416960079,0.999999937576,0.000219395395895,-0.000274198963364,3.90958148162e-05,1793240024156649472
+85,1.416666667,BASELINE,765.31604925,745,715,679.68395075,661,635,879,787,804,652,631,652.68395075,0.400974359855,-0.0054032721466,0.0798413575816,0.999999937336,0.000219824897458,-0.000274734834669,3.90539460092e-05,1793240024173316352
+86,1.433333333,BASELINE,765.904129648,745,715,679.095870352,661,635,879,787,804,652,631,652.095870352,0.400973716025,-0.00540288287047,0.0798405268145,0.999999936724,0.000221088802848,-0.000275972250175,3.88647863732e-05,1793240024189982976
+87,1.450000000,BASELINE,766,745,715,679,661,635,879,787,803.514817304,652,631.485182696,652,0.400974978205,-0.0054028153369,0.0798417333624,0.99999993713,0.000221799380137,-0.000273924346456,3.88656705737e-05,1793240024206650112
+88,1.466666667,BASELINE,766,745.064266706,715,679,661,635,878.935733294,787,803,652,631.935733294,652,0.400976242291,-0.00540267054293,0.0798430715309,0.999999937581,0.000222458399956,-0.000271731370783,3.88940155018e-05,1793240024223316992
+89,1.483333333,BASELINE,766,745.638586571,715,679,661,635,878.361413429,787,803,652,631.361413429,652,0.400974575132,-0.00540141521021,0.0798423049531,0.999999936863,0.000223563587784,-0.000273465593288,3.88465261971e-05,1793240024239983104
+90,1.500000000,BASELINE,765.781704272,745.781704272,715,679.218295728,661,635,878.218295728,787.218295728,803.218295728,652,631,652.218295728,0.400974167608,-0.00540109447392,0.0798421445448,0.999999936762,0.000223327198669,-0.000274026231519,3.8857106274e-05,1793240024256649728
+91,1.516666667,BASELINE,765.192846731,745.192846731,715,679.807153269,661,635,878.807153269,787.807153269,803.807153269,652,631,652.807153269,0.400975898343,-0.00540236023584,0.0798430131227,0.999999937708,0.000220813452993,-0.000272594684386,3.89662604122e-05,1793240024273316608
+92,1.533333333,BASELINE,765,745,715,679.610841903,661,635,879,787.610841903,804,652,631,652.610841903,0.400977587767,-0.00540285395159,0.0798440203546,0.999999938195,0.000221086814711,-0.000270553712997,3.91431439837e-05,1793240024289983232
+93,1.550000000,BASELINE,765,745,715,679.032174114,661,635,879,787.032174114,804,652,631,652.032174114,0.400979257074,-0.00540297170138,0.0798450951073,0.999999938454,0.000222717423735,-0.000268215967998,3.93530100062e-05,1793240024306649856
+94,1.566666667,BASELINE,765,745,715,679,661,635,879,787,804,652,631,652,0.400977945791,-0.00540163481117,0.0798439202465,0.999999937812,0.000223104754162,-0.000270314981055,3.91039078439e-05,1793240024323316480
+95,1.583333333,BASELINE,765.121270679,745,715,679,661,635,879,787,804,651.878729321,631,652,0.400977030279,-0.00540071914266,0.0798432048035,0.999999937395,0.000223372199799,-0.000271662928051,3.8904626695e-05,1793240024339983360
+96,1.600000000,BASELINE,765.695787741,745,715,679,661,635,879,787,804,651.304212259,631,652,0.400978249802,-0.005401697858,0.0798447014268,0.99999993803,0.000223465148858,-0.000269227522993,3.89925413396e-05,1793240024356650240
+97,1.616666667,BASELINE,766,745,715,679,661,635,879,787,804,651.278512865,631.278512865,652,0.400978405209,-0.00540239718372,0.0798451285642,0.999999938383,0.000222668692149,-0.000268575970466,3.89883989871e-05,1793240024373316608
+98,1.633333333,BASELINE,766,745,715,679,661,635,879,787,804,651.870475649,631.870475649,652,0.400977363014,-0.00540278207275,0.0798443520576,0.99999993842,0.000220871261333,-0.000269932039634,3.88806518704e-05,1793240024389982976
+99,1.650000000,BASELINE,765.550757987,745,715,679,661,635,879,787,804,652,632,652,0.400976092928,-0.00540288024953,0.0798433856134,0.999999937895,0.000221713787292,-0.000271183421263,3.88966907435e-05,1793240024406649600
+100,1.666666667,BASELINE,765,745,715,679,661,635.024305059,879,787.024305059,804,652,631.975694941,652,0.400974840356,-0.00540287604172,0.0798424093256,0.999999937233,0.000223231688645,-0.000272367142871,3.89508998682e-05,1793240024423315968
+101,1.683333333,BASELINE,765,745,715,679,661,635.599206684,879,787.599206684,804,652,631.400793316,652,0.400975430516,-0.00540237165711,0.0798424152026,0.999999937127,0.000223298630437,-0.000272682369891,3.90843748279e-05,1793240024439982592
+102,1.700000000,BASELINE,765,745,715,679.174460508,661,635.825539492,879,787.825539492,804,652,631,652,0.400975734225,-0.00540175052997,0.0798423528566,0.99999993694,0.000224023213234,-0.000272770672202,3.91079081513e-05,1793240024456649472
+103,1.716666667,BASELINE,765,745,715,679.750525008,661,635.249474992,879,787.249474992,804,652,631,652,0.400975378528,-0.00540086066436,0.0798421334628,0.999999936563,0.000226261670164,-0.000272336599121,3.88783583918e-05,1793240024473316352
+104,1.733333333,BASELINE,765,745,715,680,661,635.336189543,879.336189543,787,804,652,631.336189543,652.336189543,0.400975279834,-0.00540098259457,0.0798422884764,0.999999936683,0.000225767491825,-0.000272338445585,3.86580618702e-05,1793240024489983232
+105,1.750000000,BASELINE,765,745,715,680,661,635.92918741,879.92918741,787,804,652,631.92918741,652.92918741,0.40097537746,-0.00540187741483,0.079842729492,0.99999993718,0.000223185909465,-0.000272673282038,3.84448336834e-05,1793240024506650112
+106,1.766666667,BASELINE,765.510575577,745.510575577,715,680,661,636,879.489424423,787,804.510575577,652,632,653,0.400976422838,-0.00540327567534,0.0798432984173,0.999999937674,0.000221916475269,-0.000271844206256,3.87925178858e-05,1793240024523316480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787,804,652,632,653,0.400978244963,-0.00540519684298,0.0798441716062,0.999999939149,0.000218457032201,-0.000269254101701,3.84839130091e-05,1793240024566603776
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.59228971,745,715,679.59228971,661,635.59228971,878.81542058,787,804,652,631.40771029,652.40771029,0.400978386652,-0.00540368049369,0.0798442423667,0.999999938299,0.000221750121113,-0.000269674737864,3.87941115618e-05,1793240024583270144
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.81981846,745,715,679.81981846,661,635.81981846,878.18018154,787,804,652,631,652.18018154,0.400977752109,-0.00540265701234,0.0798439297588,0.9999999376,0.000223657974671,-0.000270659405027,3.90038625984e-05,1793240024599936768
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.241640826,745,715,679.241640826,661,635.241640826,878.758359174,787,804,652,631,652.758359174,0.400975402979,-0.00540272220779,0.0798427703429,0.999999937251,0.00022250603561,-0.00027288993873,3.89917390281e-05,1793240024616603136
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.335993424,745,715,679.335993424,660.664006576,635,878.664006576,787,804.335993424,652,631,652.664006576,0.400974405197,-0.00540284163631,0.0798422113933,0.999999937326,0.000220873760383,-0.000273954786611,3.88817087863e-05,1793240024633269760
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.913237479,745,715,679.913237479,660.086762521,635,878.086762521,787,804.913237479,652,631,652.086762521,0.400974377712,-0.00540300000538,0.0798420835917,0.999999937705,0.000218896593349,-0.000274182646432,3.87013794127e-05,1793240024649936640
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.498964553,635,878.498964553,787,804.501035447,651.501035447,631,652,0.400975071143,-0.00540280299883,0.0798423001467,0.99999993763,0.000219987042758,-0.00027357474083,3.87545681759e-05,1793240024666603008
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.914921759,787,804,651.085078241,631,652.085078241,0.400976143,-0.00540277264232,0.0798427503276,0.999999937608,0.00022129362251,-0.00027258765573,3.88526074281e-05,1793240024683269632
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.335283572,787,804,651.664716428,631,652.664716428,0.400978673351,-0.00540407644705,0.0798442044816,0.999999938367,0.000220702210172,-0.000270255797637,3.89712414135e-05,1793240024699936256
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.242374471,787,804,652,631,653,0.400986087939,-0.00540452412826,0.0798475765846,0.999999939799,0.000220537177389,-0.000265025451515,3.90644244317e-05,1793240024716602880
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.817315477,787,804,652,631,653,0.401000204279,-0.00540379710629,0.0798535803409,0.999999942102,0.000220957187987,-0.000255818036067,3.91226856913e-05,1793240024733269504
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.606178958,745,715,680,661,635,879,787,804,652,631,652.606178958,0.401034121299,-0.00540442822079,0.0798673342153,0.999999948176,0.000220955860249,-0.000230832641899,3.92795169413e-05,1793240024749936128
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.028944685,745,715,680,661,635,879,787,804,652,631,652.028944685,0.401077260039,-0.00540569185651,0.0798846975322,0.999999955153,0.000220758303572,-0.00019849901047,3.94822549038e-05,1793240024766602752
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.556887978,879,787,804,651.443112022,631,652.556887978,0.401139459263,-0.00540549151181,0.0799011795018,0.999999961242,0.000221050723408,-0.000164716042683,3.90149370205e-05,1793240024783269632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.858395405,661,635.858395405,879,787,803.858395405,651.141604595,631,652.858395405,0.401205192069,-0.0054058482603,0.079916010503,0.999999965642,0.000220768441201,-0.000136024678777,3.83915921545e-05,1793240024799936512
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.278537531,661,635.278537531,879,787,803.278537531,651.721462469,631,652.278537531,0.401278746842,-0.00540816835061,0.0799258759089,0.999999967797,0.000218627455614,-0.000123328152445,3.73948337055e-05,1793240024816602880
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.300155516,745,715,679,661,635,879,787,803.300155516,652,631,652,0.40136025227,-0.00540987076993,0.0799312253786,0.999999969164,0.000216880224782,-0.000115695908504,3.53368688581e-05,1793240024833269504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.877771774,745,715,679,661,635,879,787,803.877771774,652,631,652,0.4014491072,-0.00541100222024,0.0799324003616,0.999999969903,0.000215496977036,-0.000112745037063,3.22979355486e-05,1793240024849935872
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.546906059,745,715,679,661,635,879,787,804,652,631,652,0.401554798492,-0.00541198275408,0.0799344036321,0.999999970843,0.000212921171927,-0.000110234104081,2.87563300773e-05,1793240024866602752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.971471587,679,661,635,879,787,804,652,631,652.028528413,0.401666427703,-0.00541289832444,0.0799368730805,0.999999971837,0.000210210953345,-0.000107282288151,2.5072114855e-05,1793240024883269120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.381714299,679,661,635,879,787,804,652,631,652.618285701,0.401805971693,-0.00541333276513,0.079944139931,0.999999973126,0.000211153436899,-9.3334171823e-05,2.12366112854e-05,1793240024899935744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.204364535,745,714.204364535,679.204364535,661,635,879,787,804,651.795635465,631,653,0.401957148247,-0.00541423601586,0.079950964855,0.999999974696,0.000209539633054,-8.01127274701e-05,1.68437011886e-05,1793240024916602624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.783694127,745,714.783694127,679.783694127,661,635,879,787,804,651.216305873,631,653,0.402129668048,-0.00541599943236,0.079956978938,0.999999976955,0.000203235590432,-6.8224571777e-05,1.14280701789e-05,1793240024933269504
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.639772152,661.360227848,635,879,787,804,651.360227848,631,652.639772152,0.402321362816,-0.00541883474559,0.079961841392,0.999999978967,0.00019632303329,-5.9097570094e-05,5.60373983615e-06,1793240024949936384
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.064904283,661.935095717,635,879,787,804,651.935095717,631,652.064904283,0.402524482912,-0.00542230874347,0.0799660176539,0.999999980798,0.000189047895101,-5.16157875409e-05,-4.64112547075e-07,1793240024966602752
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.521700833,661.478299167,635,879,787,804,652,631,652.521700833,0.402732567751,-0.00542431010097,0.0799597875281,0.999999981613,0.000180813959025,-6.3383486451e-05,-7.9730089951e-06,1793240024983269120
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.891798445,745,715,680,661,635,879,787,803.891798445,652,631,652.891798445,0.402949506993,-0.00542620403907,0.0799526456988,0.99999998208,0.000172521974055,-7.63645781414e-05,-1.5643960347e-05,1793240024999935744
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.312259549,745,715,680,661,635,879,787,803.312259549,652,631,652.312259549,0.403202264502,-0.0054284464969,0.0799473018155,0.999999982674,0.000164508688448,-8.39591995888e-05,-2.3221910407e-05,1793240025016602368
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.73396427,661,635,879,787,803.26603573,651.73396427,631,652.26603573,0.403483715063,-0.00543063456929,0.0799470330933,0.999999986341,0.000140548654326,-8.32742169697e-05,-2.50820519155e-05,1793240025033269248
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.157121927,661,635,879,787,803.842878073,651.157121927,631,652.842878073,0.403798687385,-0.00543275910364,0.0799526936264,0.999999992338,9.79582099257e-05,-7.29162635925e-05,-2.02621402122e-05,1793240025049935872
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.417588206,661,635,879,787,804,651.417588206,631,653,0.404142933369,-0.0054335864111,0.0799574465232,0.99999999226,0.000103475191024,-6.58659614696e-05,-2.08694707186e-05,1793240025066602752
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.991500135,661,635,879,787,804,651.991500135,631,653,0.404498137911,-0.00543392810293,0.0799618596472,0.999999989856,0.000127001139282,-6.00538754885e-05,-2.35084839787e-05,1793240025083269888
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.583105735,745,715,680,661,635.583105735,879,787,804,652,631,653,0.404888035506,-0.00543858034488,0.0799626327821,0.999999991464,0.000115597819404,-5.41540604376e-05,-2.78504293458e-05,1793240025099936256
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.82880805,878.82880805,787,804,651.82880805,631,652.82880805,0.405286110287,-0.00544332824818,0.079961113639,0.9999999926,0.000105081426803,-5.28643626776e-05,-3.10477385367e-05,1793240025116602624
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.24974081,878.24974081,787,804,651.24974081,631,652.24974081,0.405702425051,-0.00544814967821,0.0799542633773,0.999999992753,9.79292612725e-05,-6.25616944221e-05,-3.14568872251e-05,1793240025133268992
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.326355288,787,804,651.326355288,631,652.326355288,0.406145965794,-0.00545626798759,0.0799486564336,0.99999999251,9.3805873973e-05,-7.23366644643e-05,-3.07842060699e-05,1793240025149935616
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,878.900198313,787,804,651.900198313,631,652.900198313,0.406610153084,-0.00546688644758,0.0799439923448,0.999999991965,9.19793246795e-05,-8.21705116298e-05,-2.92911318727e-05,1793240025166602496
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.473786224,715,680,661,635,879,787.473786224,803.526213776,652,631,652.526213776,0.407111775386,-0.00548582050641,0.0799425333685,0.999999993987,6.273255978e-05,-8.51243275934e-05,-2.90443828961e-05,1793240025183269120
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.950916464,715,680,661.049083536,635,879,787.950916464,803.049083536,652,631,652,0.407621788172,-0.00550469854605,0.0799408245913,0.999999995175,3.10704980702e-05,-8.85036800989e-05,-2.91755116352e-05,1793240025199936000
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.356012523,715,680,661.643987477,635,879,787.356012523,803.643987477,652,631,652,0.408137463232,-0.00550348530561,0.0799288342107,0.999999992504,3.67455222007e-05,-0.000112722521059,-3.05908523733e-05,1793240025216602880
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.769171389,635.230828611,879,787,804,652,631,652,0.408682834771,-0.00550315356773,0.0799242267906,0.999999991188,3.87307536867e-05,-0.000122853088696,-3.21101211548e-05,1793240025233269760
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.194346043,635.805653957,879,787,804,652,631,652,0.409272462023,-0.00550413550589,0.0799306219685,0.999999992538,3.521720108e-05,-0.000111988337265,-3.37842706177e-05,1793240025249936384
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.619196838,745,715,680,661.380803162,635.619196838,879,787,804,652,631,652,0.409921568448,-0.0055109484754,0.0799579944893,0.999999997051,2.2072001721e-05,-6.50282480023e-05,-3.43837029099e-05,1793240025266603008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.043882225,745,715,680,661.956117775,635.043882225,879,787,804,652,631,652,0.410601056379,-0.00552073989273,0.0799960820819,0.999999999399,4.00702816691e-06,3.69073876621e-07,-3.44341774064e-05,1793240025283269632
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.543825259,745,715,680,661.456174741,635.543825259,879,787,804,652,631,652,0.411255290526,-0.00551925993169,0.079997947296,0.999999999355,7.79732630801e-06,-2.90705889653e-07,-3.5059012097e-05,1793240025299936000
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.869644989,745,715,680,661.130355011,635.869644989,879,787,804,652,631,652.130355011,0.411908612048,-0.00551841570862,0.0799893374032,0.999999999155,9.55220497278e-06,-1.66859284377e-05,-3.63331646051e-05,1793240025316602624
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.290690012,745,715,680,661.709309988,635.290690012,879,787,804,652,631,652.709309988,0.412565969004,-0.00552296223897,0.0799549719496,0.999999996867,-1.90807671937e-06,-6.84614648848e-05,-3.9678646817e-05,1793240025333269248
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.287617481,715,680,661.712382519,635,879,787,804,652,631,653,0.413252233123,-0.00552775183432,0.0799293724917,0.999999993843,-1.32328769433e-05,-0.000101250488049,-4.34453906526e-05,1793240025349936128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.865272111,715,680,661.134727889,635,879,787,804,652,631,653,0.413967647675,-0.00553278654005,0.0799126127718,0.999999991967,-2.44210573085e-05,-0.000114893274593,-4.76369405804e-05,1793240025366603008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.559714273,715,680,661,635,879,787,804,652,631,653,0.414733097388,-0.00553647390041,0.0799289976824,0.999999994879,-2.89625064471e-05,-8.47100126942e-05,-4.71887509198e-05,1793240025383269632
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014916418,745.014916418,715,680.014916418,661.014916418,635.014916418,879,787,804,651.985083582,631,653,0.415513464943,-0.00553975765546,0.0799548676027,0.99999999757,-3.14985576169e-05,-4.25302090177e-05,-4.53848692665e-05,1793240025399936512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.60578126,745.60578126,715,680.60578126,661.60578126,635.60578126,879,787,804,651.39421874,631,653,0.416282186153,-0.00554328179298,0.0799576938613,0.999999997008,-3.466712314e-05,-5.18703193756e-05,-4.57280896615e-05,1793240025416602880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.807637575,745.807637575,715,680.807637575,661.807637575,635.807637575,879.192362425,787,804,651,631,652.807637575,0.417067050567,-0.0055475310441,0.07995960873,0.999999996664,-4.14690588053e-05,-5.24871032986e-05,-4.68835581099e-05,1793240025433269248
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.229643984,745.229643984,715,680.229643984,661.229643984,635.229643984,879.770356016,787,804,651,631,652.229643984,0.417884277405,-0.00555323393858,0.0799596965248,0.999999996589,-5.55548532114e-05,-3.56161337584e-05,-4.96673495508e-05,1793240025449935872
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.348403639,635.348403639,880,787,804,651,631.348403639,652,0.418728751744,-0.00555823865241,0.0799757694195,0.999999996627,-6.4707816401e-05,-8.58400938381e-07,-5.0571220542e-05,1793240025466602752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.926486858,635.926486858,880,787,804,651,631.926486858,652,0.419591188535,-0.00556278310149,0.080002380238,0.999999995202,-7.06088880879e-05,4.56908965958e-05,-5.02357835655e-05,1793240025483269376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.511196737,745.511196737,715,680.511196737,661.488803263,636,879.488803263,787,804,651.511196737,631.488803263,652.511196737,0.420412866645,-0.00556594896365,0.0799876531467,0.999999995742,-7.3825503654e-05,2.21325816731e-05,-5.07474107195e-05,1793240025499936256
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.904077568,745.904077568,715,681,661.095922432,635.904077568,879.095922432,787.095922432,804,652,631,653,0.421236891575,-0.00556572159469,0.0799716037038,0.999999995945,-7.39364564727e-05,-4.27458078213e-06,-5.12294243599e-05,1793240025516602880
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.32414389,745.32414389,715,681,661.67585611,635.32414389,879.67585611,787.67585611,804,652,631,653,0.422102721888,-0.00554938592734,0.0799792716261,0.999999996861,-6.03501570988e-05,6.48332423056e-06,-5.09392890921e-05,1793240025533269248
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.254665417,715,681,662,635,880,787.745334583,804.254665417,652,631,653,0.422978255817,-0.00552881015343,0.079995556555,0.999999997766,-3.48599526621e-05,2.75220270357e-05,-4.99594838251e-05,1793240025549935872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.832049969,715,681,662,635,880,787.167950031,804.832049969,652,631,653,0.423866086558,-0.00550286119575,0.0800227611966,0.99999999693,5.71521491755e-06,6.15888455887e-05,-4.81057093316e-05,1793240025566602752
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.408435244,746,715,681,662,635,879.591564756,787,804.591564756,652,631,653,0.424691280462,-0.00550324969169,0.0800005583796,0.999999998705,2.94326969318e-06,1.37414792067e-05,-4.8916771438e-05,1793240025583269120
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.984410582,746,715,681,662,635,879.015589418,787,804.015589418,652,631,653,0.425490780689,-0.0055144418098,0.0799580886269,0.999999996261,-1.76096589431e-05,-6.77070790404e-05,-5.08209490803e-05,1793240025599935744
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.427719484,715,681,661.427719484,635,879.572280516,787,804.572280516,651.427719484,631,653,0.426375908464,-0.00552234592004,0.0799358677294,0.999999995242,-2.6923047583e-05,-7.69611067288e-05,-5.35498335163e-05,1793240025616602368
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.158138843,635.158138843,879.841861157,787,804.841861157,651.158138843,631,652.841861157,0.427255516913,-0.00552786115892,0.0799198537088,0.999999994234,-3.35201701311e-05,-8.55567848743e-05,-5.55809270332e-05,1793240025633268992
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.737753827,635.737753827,879.262246173,787,804.262246173,651.737753827,631,652.262246173,0.428114066266,-0.0055272532962,0.079918881099,0.999999993103,-3.37111691633e-05,-9.77506157503e-05,-5.56911009806e-05,1793240025649935872
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.685472072,745.314527928,715,680.685472072,662,635.685472072,879,787,804,651.685472072,631.314527928,652.314527928,0.428980657145,-0.00552958443427,0.0799295219177,0.999999993797,-3.78149912958e-05,-8.91525002377e-05,-5.50280842814e-05,1793240025666602752
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.111045462,745.888954538,715,680.111045462,662,635.111045462,879,787,804,651.111045462,631.888954538,652.888954538,0.429853892804,-0.00553434410851,0.0799497590694,0.999999995529,-4.51520320782e-05,-6.33737174165e-05,-5.37261696568e-05,1793240025683269376
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.464402467,745.535597533,715,680.464402467,661.535597533,635,879.464402467,787,804,651.464402467,632,653,0.430745965791,-0.0055335562108,0.0799885334956,0.99999999765,-4.39992257959e-05,-4.86405678074e-06,-5.23563980501e-05,1793240025699936000
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.958770857,745,715.041229143,681.041229143,661.041229143,635,880,787,804,651.958770857,631.958770857,653,0.431637379989,-0.00553116146062,0.080028011371,0.999999996386,-4.02707548607e-05,5.47742646286e-05,-5.1042079304e-05,1793240025716602624
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.366796663,745,715.633203337,681.633203337,661.633203337,635,880,787,804,651.366796663,631.366796663,653,0.432459691615,-0.00552506085858,0.0800175450155,0.99999999798,-2.9313620437e-05,2.47122324737e-05,-5.0685733853e-05,1793240025733269248
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.21990054,745,715.78009946,682,662,635,880,787,804,651,631,653,0.433260698129,-0.00552076389005,0.0799873076801,0.999999998054,-2.44732772977e-05,-2.43359655361e-05,-5.19658564641e-05,1793240025749935872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.798002026,745,715.201997974,682,662,635,880,787,804,651,631,653,0.434027000392,-0.00551940489985,0.0799248649484,0.999999992559,-2.95967115813e-05,-0.000104311161838,-5.59116585797e-05,1793240025766602496
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.627523732,661.627523732,635.372476268,880,787,804,651,631,652.627523732,0.434828592362,-0.00552089120874,0.0799127956716,0.999999991159,-3.66946085686e-05,-0.000113676676003,-5.84253331872e-05,1793240025783269376
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.054997648,661.054997648,635.945002352,880,787,804,651,631,652.054997648,0.435649137706,-0.00552390567295,0.0799277810092,0.999999993561,-4.48529511176e-05,-8.51190877004e-05,-6.01698395969e-05,1793240025799936000
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.466981169,745.533018831,714.466981169,681.533018831,661.533018831,635.466981169,880,787,804.533018831,651,631,652.533018831,0.436408666117,-0.00552748298118,0.0799456593894,0.999999994281,-4.68066491373e-05,-7.69096227501e-05,-5.77155441571e-05,1793240025816602624
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.120469296,745.879530704,714.120469296,682.120469296,661.879530704,635,880.120469296,787,805,651.120469296,631,653,0.437159281588,-0.00553135244869,0.0799552533495,0.999999994115,-4.88922757799e-05,-7.91889866507e-05,-5.57542052205e-05,1793240025833269248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.699499204,745.300500796,714.699499204,682.699499204,661.300500796,635,880.699499204,787,805,651.699499204,631,653,0.437900652369,-0.0055361063298,0.0799321427935,0.999999990494,-5.39899289289e-05,-0.000113162537253,-5.73677429715e-05,1793240025849935872
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,682.721773595,661,634.721773595,880.721773595,787,804.721773595,651.721773595,631,653,0.438611292972,-0.00553969216186,0.0799041083334,0.999999984414,-6.05914361702e-05,-0.000155074482128,-5.87602905268e-05,1793240025866602496
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,682.143373018,661,634.143373018,880.143373018,787,804.143373018,651.143373018,631,653,0.439288779213,-0.00554201780352,0.0798707615509,0.999999974712,-6.88154279853e-05,-0.000205551035672,-5.99144150096e-05,1793240025883269120
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.427863028,714.572136972,682.427863028,661,634,880,787,804.427863028,651,631,652.572136972,0.439908567604,-0.00553942538848,0.0798176935625,0.999999954667,-6.5964997199e-05,-0.000286994224413,-6.28343422797e-05,1793240025899935744
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.99673789,714.00326211,682.99673789,661,634,880,787,804.99673789,651,631,652.00326211,0.44050934043,-0.00553521211801,0.0797581260068,0.999999924346,-5.94647428935e-05,-0.000378643162597,-6.63362290221e-05,1793240025916602368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.407745794,746,714,682.407745794,660.407745794,634,880,787,804.407745794,651,631,652.592254206,0.441064420044,-0.00553818545882,0.0796853468229,0.999999872913,-7.17461324082e-05,-0.000493973787601,-7.08298546417e-05,1793240025933269248
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.817789903,714,682,660,634,880.182210097,786.817789903,804.182210097,651.182210097,631,653,0.441646328405,-0.00554188860488,0.0796394461574,0.999999834884,-7.89883601809e-05,-0.00056445001935,-7.3412209823e-05,1793240025949935872
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.240231938,714,682,660,634,880.759768062,786.240231938,804.759768062,651.759768062,631,653,0.442287019971,-0.00554708530525,0.0796520301028,0.999999850253,-7.50619114761e-05,-0.000537307732106,-7.18352043046e-05,1793240025966602496
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.662394304,659.662394304,634,881,786,804.662394304,651.662394304,631,653,0.442917902978,-0.0055507827556,0.0796871509579,0.999999879188,-7.99424435256e-05,-0.000479995259973,-6.95559798955e-05,1793240025983269120
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.084357534,659.084357534,634,881,786,804.084357534,651.084357534,631,653,0.44354180063,-0.00555341249175,0.0797383218182,0.999999913142,-9.10950018826e-05,-0.000401196627244,-6.67766593024e-05,1793240025999935744
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.511374965,880.511374965,786,804,651,631,653,0.444069982757,-0.00555073722699,0.0797430568931,0.999999915479,-7.98259033616e-05,-0.000397877201405,-6.60562329586e-05,1793240026016602624
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.062988509,714,681.125977018,659,633,880.062988509,785.937011491,804.062988509,651.062988509,631,653,0.444574712118,-0.00554701603638,0.0797368966682,0.999999910621,-6.86634139145e-05,-0.000411962146028,-6.58026310951e-05,1793240026033269248
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.656247764,714,682.312495528,659,633,880.656247764,785.343752236,804.656247764,651.656247764,631,653,0.445019692154,-0.00554212102618,0.0797058127405,0.999999886036,-9.06523763314e-05,-0.000463988119455,-6.65172487182e-05,1793240026049936128
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.757214802,714,682.757214802,658.757214802,633,881,785,805,651.757214802,631,653,0.445470056366,-0.00553799960559,0.0796841850014,0.999999869271,-9.49306337327e-05,-0.000497921673154,-6.72294965589e-05,1793240026066602752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.179938243,714,682.179938243,658.179938243,633,881,785,805,651.179938243,631,653,0.445927838459,-0.00553494397955,0.0796755852971,0.999999866406,-7.48083994094e-05,-0.000506928835719,-6.79384796384e-05,1793240026083269376
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.395098766,745,714,682,658,632.604901234,881,784.604901234,805,651.395098766,630.604901234,653,0.446356409377,-0.00553820324484,0.0796710153291,0.99999986797,-6.90636793697e-05,-0.000504598081556,-6.83424667389e-05,1793240026099936000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.969121623,745,714,682,658,632.030878377,881,784.030878377,805,651.969121623,630.030878377,653,0.446771751787,-0.00554432226622,0.0796682702633,0.999999871638,-6.9829946518e-05,-0.000497132848866,-6.86083336872e-05,1793240026116602624
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.442710523,745.557289477,714,682,658,632,881,784,805,651.442710523,630.557289477,653,0.447132828835,-0.00554900726187,0.0796710156268,0.999999874964,-8.58572429677e-05,-0.000487988002834,-6.75940412013e-05,1793240026133269248
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.856279829,714,682.143720171,657.856279829,632,881,784,805,651,631,653,0.447484147171,-0.00555254263743,0.0796710433347,0.999999875416,-9.85983370551e-05,-0.000484687895182,-6.72590356066e-05,1793240026149936128
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.277541168,714,682.722458832,657.277541168,632,881,784,805,651,631,653,0.447815265453,-0.00555284506025,0.0796619003343,0.999999868044,-9.87665045495e-05,-0.000499367922014,-6.9200414193e-05,1793240026166602752
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.29963208,745.29963208,714,683,657,631.70036792,881,784,805,651,630.70036792,653,0.44812016522,-0.00555470277286,0.0796513479934,0.999999858933,-9.82578476409e-05,-0.000517297237397,-6.98738282926e-05,1793240026183269376
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.875362831,745.875362831,714,683,657,631.124637169,881,784,805,651,630.124637169,653,0.448400905679,-0.00555799362118,0.0796394970036,0.999999848036,-9.71255247816e-05,-0.00053822063791,-6.9378865003e-05,1793240026199936000
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.550204385,714,683,656.550204385,631,880.550204385,784,805.449795615,651,630,653,0.448655695231,-0.00555777659808,0.0796314573449,0.999999841808,-9.51940872992e-05,-0.000550053360034,-6.90102563556e-05,1793240026216603136
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975317767,745.024682233,714,682.975317767,656,631,880.024682233,783.975317767,806,651.024682233,630,653,0.448902594861,-0.00555678231854,0.0796252343095,0.999999837403,-9.34857967575e-05,-0.000558343062231,-6.86119303129e-05,1793240026233270784
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.381703507,745.618296493,714,682.381703507,656,631,880.618296493,783.381703507,806,651.618296493,630,653,0.449132905637,-0.00556021296393,0.0796366113566,0.999999845221,-0.000102010494371,-0.000542861829118,-6.67238842191e-05,1793240026249936896
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.794115345,745.794115345,714,682.205884655,656,630.794115345,881,783.205884655,805.794115345,652,630,653,0.449352295502,-0.00556309045555,0.0796459330058,0.999999852086,-0.000107768537164,-0.00052915073852,-6.49105714757e-05,1793240026266603264
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.217381736,745.217381736,714,682.782618264,656,630.217381736,881,783.782618264,805.217381736,652,630,653,0.449552014094,-0.00556497158065,0.0796515523761,0.999999857622,-0.000108543152575,-0.000518628112298,-6.32318721261e-05,1793240026283270144
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713,682,655.491184279,630,880.491184279,783,805,651.491184279,630.491184279,653,0.450003779743,-0.00556413906998,0.0796417213397,0.999999847484,-0.000107772634953,-0.000537994774449,-6.30840116076e-05,1793240026333269504
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.085910895,713.085910895,682,655.085910895,630,880.085910895,783,804.914089105,651,630,653,0.450123917046,-0.00556591896165,0.0796388324261,0.999999843344,-0.000108271680772,-0.000545504315618,-6.33589783612e-05,1793240026349936128
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,682,654.041707579,629.041707579,880.041707579,782.958292421,804.041707579,651,630,653,0.450747478467,-0.0055651902163,0.0796369843065,0.999999841751,-0.000110380721498,-0.00054811512668,-6.2322581023e-05,1793240026633269504
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.513293335,713,682.513293335,654,629.513293335,880,782.486706665,804.513293335,651,630,653,0.450747633691,-0.00556505173052,0.0796362383149,0.99999984105,-0.00010823342686,-0.000549919679633,-6.14239807453e-05,1793240026649935872
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.073789868,746,713.073789868,682.926210132,654,630,880.073789868,782,805,651,630,653,0.45074757784,-0.00556520358062,0.0796354173535,0.999999840217,-0.00010674785892,-0.000551816248543,-6.05786273366e-05,1793240026666602752
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.692424057,746,713.692424057,682.307575943,654,630,880.692424057,782,805,651,630,653,0.450748340889,-0.00556682859135,0.0796351131054,0.999999839699,-0.000110506487162,-0.000551989101498,-6.08173284963e-05,1793240026683269888
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.710400688,746,713.710400688,682,654,630,880.710400688,782,804.710400688,651,630,653,0.450748415377,-0.00556654058954,0.0796347830622,0.999999839351,-0.000110781108887,-0.000552545813151,-6.09853797042e-05,1793240026699936512
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.134444066,746,713.134444066,682,654,630,880.134444066,782,804.134444066,651,630,653,0.450747809013,-0.00556436099113,0.0796344275126,0.999999839173,-0.00010761072725,-0.000553482086308,-6.10835719002e-05,1793240026716602880
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,713.438865007,682.438865007,654,630,880,782,804.438865007,651.438865007,630,653,0.450748676664,-0.00556496239895,0.0796345856102,0.999999839434,-0.000108237121287,-0.000552924959013,-6.07429548576e-05,1793240026733269504
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,683,654,630,880,782,805,652,630,653,0.450749973257,-0.00556639909513,0.0796348861304,0.999999839815,-0.000109988262595,-0.00055194275714,-6.02659041732e-05,1793240026749936128
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,683,654,630,880,782,805,652,630,653,0.450750287188,-0.0055672656681,0.0796344962356,0.999999839563,-0.000110189407993,-0.000552425489621,-5.96500098464e-05,1793240026766602752
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.804483718,713.804483718,682.804483718,654,630,880.195516282,782,804.804483718,651.804483718,630,653,0.450750498361,-0.00556760286533,0.0796341508255,0.999999839261,-0.000110219340714,-0.000552985985414,-5.94688023458e-05,1793240026783269376
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.227312747,713.227312747,682.227312747,654,630,880.772687253,782,804.227312747,651.227312747,630,653,0.450750508947,-0.00556690670236,0.0796338922507,0.99999983886,-0.000109915060231,-0.000553698277912,-6.0136118923e-05,1793240026799936256
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,682,654.348369149,630,880.651630851,782.348369149,804.348369149,651.348369149,630,653,0.450750381569,-0.00556529212304,0.0796340901584,0.999999838749,-0.000109222841265,-0.000553989674989,-6.05575626239e-05,1793240026816603136
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,682,654.923083528,630,880.076916472,782.923083528,804.923083528,651.923083528,630,653,0.450750164553,-0.00556308082282,0.0796345846555,0.999999838826,-0.000108278567769,-0.000554007604449,-6.0819255778e-05,1793240026833270016
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713.508917598,682,654.491082402,630,880,782.491082402,804.491082402,652,630,653,0.4507505758,-0.00556393813812,0.0796344138986,0.999999838909,-0.000107529418824,-0.000554054515544,-6.03596999967e-05,1793240026849936384
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713.904829113,682,654,630,880.095170887,782,804,651.904829113,630,653,0.4507511135,-0.00556518448174,0.0796341466492,0.999999838949,-0.000107293727934,-0.000554078836741,-5.98922493031e-05,1793240026866602752
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.254393488,745.254393488,713.254393488,682,654,629.745606512,880.745606512,782,804,651,630,653,0.450752489429,-0.0055659509446,0.0796339159139,0.999999838851,-0.000110405591296,-0.000553622568273,-6.00822684773e-05,1793240026899935744
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.833899679,745.833899679,713.833899679,682,654,629.166100321,880.166100321,782,804,651,630,653,0.450753179949,-0.00556480568568,0.0796342266256,0.99999983928,-0.000109583730919,-0.000552986686287,-6.03029729544e-05,1793240026916602368
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.427786364,713.572213636,682.427786364,654,629.572213636,880.572213636,782.427786364,805,651,630,653,0.450751787568,-0.00556496670489,0.0796337839797,0.999999838254,-0.000110277707937,-0.000554729662387,-6.00517632376e-05,1793240026966602752
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+256,4.266666667,HOLD_POSE2,764,745,713,683,654,629,880,782,805,651,630,653,0.450754591288,-0.00556539352014,0.0796355516334,0.99999983976,-0.000111690865924,-0.000551772435312,-5.9603755439e-05,1793240027064811520
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+260,4.333333333,HOLD_POSE2,765,745.68907299,713,682.68907299,654,629.68907299,880,782,804.68907299,651,630,653,0.450755040253,-0.00556479070026,0.0796342920922,0.999999839259,-0.00011086422468,-0.00055282475699,-5.98021618848e-05,1793240027131478016
+261,4.350000000,HOLD_POSE2,765,745.120008219,713,682.120008219,654,629.120008219,880,782,804.120008219,651,630,653,0.450753407909,-0.00556536143553,0.0796333269718,0.9999998376,-0.000111489663668,-0.000555695762861,-5.97750673385e-05,1793240027148144640
+262,4.366666667,HOLD_POSE2,765,745.466998608,713,682.466998608,654,629.466998608,880,782,804.466998608,651,630,653,0.450752677093,-0.0055642259913,0.0796321688894,0.999999837197,-0.000108484490549,-0.000557042488248,-5.94983230631e-05,1793240027164811264
+263,4.383333333,HOLD_POSE2,765.057789372,746,713,682.942210628,654,630,880.057789372,782,805,651.057789372,630,653,0.450752376817,-0.00556287319662,0.0796312050064,0.99999983722,-0.000105119687897,-0.000557673209836,-5.92569635053e-05,1793240027181478144
+264,4.400000000,HOLD_POSE2,765.639415948,746,713,682.360584052,654,630,880.639415948,782,805,651.639415948,630,653,0.450753795281,-0.005563683376,0.0796324689058,0.999999838154,-0.000107290036285,-0.000555506170708,-5.9941120887e-05,1793240027198144768
+265,4.416666667,HOLD_POSE2,765.780945342,746,713.219054658,682.219054658,654,630,880.780945342,782,805,651.780945342,630,653,0.450754450106,-0.00556458560868,0.0796329653134,0.999999838332,-0.000109366415248,-0.000554748965735,-6.02455434403e-05,1793240027214811136
+266,4.433333333,HOLD_POSE2,765.204549472,746,713.795450528,682.795450528,654,630,880.204549472,782,805,651.204549472,630,653,0.450753859217,-0.0055656380067,0.0796322097207,0.999999837281,-0.000111289502813,-0.000556291606371,-5.99305090979e-05,1793240027231478016
+267,4.450000000,HOLD_POSE2,765,745.622884417,714,682.622884417,654,629.622884417,880.377115583,782,805,651.377115583,630,653,0.450753946278,-0.0055660257075,0.0796322777487,0.999999837417,-0.000110777268562,-0.000556195131273,-5.95156766583e-05,1793240027248144640
+268,4.466666667,HOLD_POSE2,765,745.038320776,714,682.038320776,654,629.038320776,880.961679224,782,805,651.961679224,630,653,0.450754406274,-0.00556604776414,0.0796327988433,0.999999838203,-0.000108925384774,-0.000555196992761,-5.90459461089e-05,1793240027264811264
+269,4.483333333,HOLD_POSE2,765,745.54154563,714,682,654,629,881,782,805,651.45845437,630,653,0.450754476305,-0.00556520654443,0.0796327099151,0.999999838078,-0.000108443028031,-0.000555511130105,-5.90848257664e-05,1793240027281477888
+270,4.500000000,HOLD_POSE2,765,745.879776139,713.879776139,682.120223861,654,629.120223861,881,782,805,651,630,652.879776139,0.45075459584,-0.00556450124647,0.0796327966492,0.999999837984,-0.000108410275983,-0.000555675361741,-5.91959753339e-05,1793240027298144512
+271,4.516666667,HOLD_POSE2,765,745.304348842,713.304348842,682.695651158,654,629.695651158,881,782,805,651,630,652.304348842,0.450755006393,-0.00556453989344,0.0796337105289,0.999999838244,-0.000109716085478,-0.000554923436918,-5.94456625248e-05,1793240027314811392
+272,4.533333333,HOLD_POSE2,765,745.272770879,713.272770879,682.727229121,653.727229121,630,881,782,804.727229121,651,630,652.272770879,0.450755444377,-0.00556474464363,0.0796341600946,0.999999838557,-0.000109727546475,-0.000554352772465,-5.94912482897e-05,1793240027331478016
+273,4.550000000,HOLD_POSE2,765,745.851790709,713.851790709,682.148209291,653.148209291,630,881,782,804.148209291,651,630,652.851790709,0.450755913157,-0.00556513588346,0.0796340883596,0.999999838928,-0.00010828579923,-0.000553985615112,-5.93076825716e-05,1793240027348144384
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,713,682,654,629,880,782,804,652,630,653,0.450757059187,-0.00556343125393,0.0796343205471,0.999999839555,-0.000106650175333,-0.000553216225133,-5.88925008431e-05,1793240027380760576
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,713.879807442,682.120192558,653.879807442,630,880.879807442,782,805,651.879807442,629.879807442,652.879807442,0.450491127471,-0.00555757504579,0.0795319601031,0.999999737066,-0.000105816329172,-0.000714841026666,-6.06067333076e-05,1793240027614093824
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713.303081437,682.696918563,653.303081437,630,880.303081437,782,805,651.303081437,629.303081437,652.303081437,0.45041204658,-0.0055555701302,0.0795236295704,0.999999730178,-0.000103952287351,-0.000724762433532,-5.96386162313e-05,1793240027630760448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.728359584,713,682.728359584,653.271640416,630,880,782,804.728359584,651.271640416,629.271640416,652.271640416,0.450324993465,-0.00555406189018,0.079519659386,0.999999726803,-0.000102421487204,-0.000729764212826,-5.78659241687e-05,1793240027647427072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.155857512,713,682.155857512,653.844142488,630,880,782,804.155857512,651.844142488,629.844142488,652.844142488,0.45022911053,-0.00555310375485,0.0795205186069,0.999999727398,-0.000101259776739,-0.000729317143736,-5.52021064445e-05,1793240027664093952
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,629.5795888,880.4204112,782,804,652,630,653,0.450114396799,-0.00555192836832,0.079521828227,0.999999728145,-9.83456372001e-05,-0.000728935809897,-5.18794368685e-05,1793240027680760576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,629.001911085,880.998088915,782,804,652,630,653,0.449992638887,-0.00555067171295,0.0795233063315,0.999999728928,-9.4775952791e-05,-0.000728579066155,-4.83103054697e-05,1793240027697426944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.59222233,713,682,654,629,881,782,804.59222233,652,630,653,0.449849562202,-0.00554655170543,0.079527089625,0.99999973346,-8.96733980756e-05,-0.000723227087397,-4.4512320949e-05,1793240027714093568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.820001731,713.179998269,682,654,629.179998269,880.820001731,782.179998269,804.820001731,652,630,653,0.449693695452,-0.00554300027519,0.0795285633849,0.999999735525,-8.54302040357e-05,-0.000721116512258,-4.0517572669e-05,1793240027730760704
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.2462525,713.7537475,682,654,629.7537475,880.2462525,782.7537475,804.2462525,652,630,653,0.449510004906,-0.00554071341366,0.0795249682412,0.999999732263,-8.30780147497e-05,-0.000726132863414,-3.60940606451e-05,1793240027747428096
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.32659466,713.67340534,682,654,630,880,783,804.32659466,651.67340534,630,653,0.449303249653,-0.00553776949676,0.0795210016955,0.999999726709,-7.75837231396e-05,-0.000734584443541,-3.07880549967e-05,1793240027764094464
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.89876359,713.10123641,682,654,630,880,783,804.89876359,651.10123641,630,653,0.44907915148,-0.00553433152412,0.0795167558836,0.999999719287,-6.97268100114e-05,-0.000745619054228,-2.48184809922e-05,1793240027780760320
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.510010387,713,682.489989613,654,630,880.489989613,782.510010387,804.510010387,651.489989613,630,653,0.448834245063,-0.00553050050998,0.0795190960613,0.999999720846,-6.17673690972e-05,-0.000744413936154,-1.8436251291e-05,1793240027797426944
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.082895478,683,654,630.082895478,880.917104522,782,804.082895478,652,630,653,0.448578871329,-0.00552631362428,0.0795220877471,0.99999972332,-5.29685013492e-05,-0.000741899649382,-1.18389279405e-05,1793240027814093824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.661353209,683,654,630.661353209,880.338646791,782,804.661353209,652,630,653,0.448287663408,-0.00552050438803,0.0795205104314,0.999999719998,-3.9283165234e-05,-0.000747288527664,-4.48605233081e-06,1793240027830760448
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.762009641,682.762009641,654.237990359,630.762009641,880.237990359,782.237990359,805,651.762009641,630,653,0.447980351874,-0.00551459055634,0.0795182979092,0.999999716998,-2.39341267523e-05,-0.000751949330378,2.00146784461e-06,1793240027847427072
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.187943438,682.187943438,654.812056562,630.187943438,880.812056562,782.812056562,805,651.187943438,630,653,0.447650299792,-0.00550852902153,0.0795151883864,0.999999714502,-6.23570748044e-06,-0.000755581987758,7.26698405797e-06,1793240027864093952
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.39702701,745,713.39702701,682,655,630.39702701,880.60297299,783,805,651.39702701,630,653,0.447301922791,-0.00550330451137,0.0795210367313,0.999999720684,1.81753194658e-05,-0.000747133158226,9.64478867709e-06,1793240027880760576
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.987305033,745,713.987305033,682,655,630.987305033,880.012694967,783,805,651.987305033,630,653,0.446944626233,-0.00549848741915,0.0795312452758,0.999999730392,4.58536757822e-05,-0.000732803721699,1.06170132336e-05,1793240027897426944
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.566203397,713.433796603,682,655,630.433796603,880.566203397,783.566203397,805,652,630,653,0.446544888581,-0.00549324910632,0.0795454027751,0.999999743095,3.41137146954e-05,-0.000715934205789,9.23479009437e-06,1793240027914093568
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.856022262,745.856022262,713.143977738,682,655,630.143977738,880.856022262,784,805,652,630,653,0.446130948678,-0.00548829703672,0.0795576668474,0.999999753315,2.7510951589e-05,-0.000701804400408,9.16641431005e-06,1793240027930760192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.280865169,745.280865169,713.719134831,682,655,630.719134831,880.280865169,784,805,652,630,653,0.445677270071,-0.00548422992515,0.079564000617,0.999999756916,3.88875311274e-05,-0.00069604658195,1.31876791981e-05,1793240027947427072
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.705990092,745,714,682,655.294009908,631,880.294009908,784,805,651.705990092,630,653,0.445197917371,-0.00547840724457,0.0795698896043,0.999999761476,4.3976265434e-05,-0.00068911560685,1.53086185391e-05,1793240027964093696
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.131384095,745,714,682,655.868615905,631,880.868615905,784,805,651.131384095,630,653,0.44469406187,-0.00547090909007,0.0795753541029,0.999999767026,4.3064030623e-05,-0.000681064998235,1.56159326923e-05,1793240027980760576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.45796747,745,713.54203253,682,656,631.45796747,880.084065061,784,804.54203253,651,630,653,0.444157715164,-0.0054648843657,0.0795796543336,0.999999768201,6.05005608908e-05,-0.000677972451039,1.70562504033e-05,1793240027997427456
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.049991747,745.049991747,713,682,656.049991747,632,879.049991747,784,804,651.049991747,630.049991747,652.950008253,0.443609881342,-0.00545861430055,0.0795838400314,0.999999768314,8.11929698187e-05,-0.000675600795178,1.85114431076e-05,1793240028014094080
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.624207586,745.624207586,713,682,656.624207586,632,879.624207586,784,804,651.624207586,630.624207586,652.375792414,0.443042587252,-0.0054451914904,0.0795904437511,0.999999775379,7.89914902409e-05,-0.000665376804273,1.66007640608e-05,1793240028030760448
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.223938247,745.223938247,713.776061753,682,657.776061753,632.776061753,880,784.776061753,804,651.223938247,631,652.776061753,0.441877841344,-0.00541193186913,0.0796214223517,0.999999806624,0.000107648449162,-0.000612383629059,1.22357241996e-05,1793240028064093440
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.359701203,714,682,658,633,880,785,804.359701203,651.359701203,631,653,0.44124297371,-0.00541311780038,0.0796332104965,0.999999820153,0.000112932397291,-0.000588883604046,1.24805365554e-05,1793240028080760320
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.947707464,714,682,658,633,880,785,804.947707464,651.947707464,631,653,0.440579442258,-0.00542660153723,0.0796399064587,0.999999830364,0.000107372817643,-0.000572308967158,1.43499138999e-05,1793240028097427200
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.528165717,745.471834283,714,682,658.528165717,633.528165717,880.528165717,785.528165717,804.471834283,652,631,653,0.439848628906,-0.00543090972439,0.079610618129,0.999999806411,0.000102004193172,-0.000613642617337,1.47016828346e-05,1793240028114093824
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.107285122,714,682,659,634,880.892714878,786,804,651.892714878,631,653,0.439123229742,-0.00543232909146,0.0795928320025,0.999999792009,9.908617273e-05,-0.000637126638585,1.52618957179e-05,1793240028130760448
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.683771288,714,682,659,634,880.316228712,786,804,651.316228712,631,653,0.438450231881,-0.00542503152836,0.079640711355,0.99999983856,0.000106804113763,-0.00055782597184,1.73815853385e-05,1793240028147427072
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.740925805,745.740925805,714,682,659.259074195,634,880,786,804,651,631,652.740925805,0.43777685807,-0.00542054520559,0.079704883526,0.999999887085,0.000114031022211,-0.000460838718839,2.12981118175e-05,1793240028164093696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.167060551,745.167060551,714,682,659.832939449,634,880,786,804,651,631,652.167060551,0.437103027367,-0.00541947471152,0.0797888524786,0.99999993374,0.000120661296435,-0.000342361164926,2.73979056223e-05,1793240028180760320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.580608552,660,634,880,786,804,651,631,652.419391448,0.436359407621,-0.00542015295494,0.0798357455583,0.999999956542,0.000122840821684,-0.000266172519694,3.12730442189e-05,1793240028197426688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.01077784,660,634,880.01077784,786.01077784,804,651.01077784,631,653,0.435585897613,-0.00542142551138,0.0798665150677,0.999999969968,0.000123388888526,-0.000208975470597,3.41762230955e-05,1793240028214093568
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.589800158,660,634,880.589800158,786.589800158,804,651.589800158,631,653,0.434747518049,-0.0054161691913,0.0798499497085,0.999999962213,0.000134287056258,-0.000237454355628,3.40018838868e-05,1793240028230760192
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.16744368,745,714,682,660,634,880.83255632,786.83255632,804,652,631,653,0.433894591141,-0.00541227936963,0.0798286782824,0.999999951368,0.000142994714851,-0.000275039080229,3.42123388955e-05,1793240028247426816
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.741737007,745,714,682,660,634,880.258262993,786.258262993,804,652,631,653,0.433006317583,-0.00541170982524,0.0797959721969,0.999999932633,0.000146379939104,-0.000334748899771,3.53577553881e-05,1793240028264093696
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.684060915,745,714,682,660,634.315939085,880.315939085,786,804.315939085,652,631,652.684060915,0.432097026685,-0.00541138318227,0.0797557007267,0.9999999044,0.000152528624068,-0.000408236109721,3.57437630884e-05,1793240028280760576
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.109933434,745,714,682,660,634.890066566,880.890066566,786,804.890066566,652,631,652.109933434,0.431170560263,-0.00541125504065,0.0797092467546,0.999999864904,0.000160935634445,-0.00049298232846,3.55091745911e-05,1793240028297427456
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.073323218,714,681.926676782,660,635,880,787,804,651.926676782,631,652,0.429509056205,-0.00541899147663,0.0797974676466,0.999999933177,0.000157950656605,-0.000327172371684,4.06965360108e-05,1793240028330760192
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.64912535,714,681.35087465,660,635,880,787,804,651.35087465,631,652,0.428672141464,-0.00542316172824,0.0798484636242,0.99999995229,0.000159136670336,-0.0002607599508,4.58130902204e-05,1793240028347426816
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.224562509,745.775437491,714,681,660,634.775437491,880,787,804,651.224562509,631,652.224562509,0.427802314269,-0.00542410838954,0.0798652154086,0.999999957557,0.000160689001224,-0.000238266591882,4.78972286931e-05,1793240028364093952
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.799430419,745.200569581,714,681,660,634.200569581,880,787,804,651.799430419,631,652.799430419,0.426881145295,-0.00542002642451,0.0798285481072,0.999999945313,0.000162812767948,-0.000284284591104,4.52509631856e-05,1793240028380760832
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.049647864,745,714.950352136,681.950352136,660,634.950352136,880,787,804,651.049647864,631,653,0.425039839357,-0.00541904489236,0.0797599659773,0.999999910705,0.000175589609355,-0.000381833795982,4.42914090197e-05,1793240028414094080
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.544032647,745,714.455967353,681.455967353,660,635,880,787,804.544032647,651,631,653,0.424077630086,-0.00541045500281,0.0797389508958,0.999999890687,0.000185153419921,-0.000427045032541,4.44705339016e-05,1793240028430760960
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.710292863,681,660,635,880,786.289707137,804.289707137,651,631,653,0.422325892779,-0.0053996037896,0.0797636716585,0.999999908747,0.000197061474893,-0.000376256052629,4.587856375e-05,1793240028464093952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.718324883,681,660,635,880,786.281675117,804.281675117,651.281675117,631,652.718324883,0.421525345961,-0.00539876715487,0.0798098657338,0.999999937345,0.000198827525243,-0.000289056074336,4.71560910479e-05,1793240028480760576
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.387477906,660,635,879.387477906,787,804.387477906,651.612522094,631,652,0.418108175504,-0.00538570079056,0.0798166538571,0.999999936543,0.000210964338545,-0.000283512831823,4.50468059986e-05,1793240028547427328
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.19022696,745,715,680.19022696,660,635,879.19022696,787.19022696,804,652,631,652,0.417233541283,-0.00538471055363,0.0797963357603,0.999999926423,0.000206813766155,-0.000320272591656,4.25126463021e-05,1793240028564093952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.765942611,745,715,680.765942611,660,635,879.765942611,787.765942611,804,652,631,652,0.416422587973,-0.00538510426738,0.0798125932687,0.999999928291,0.000215558370079,-0.000308072214136,4.52074667178e-05,1793240028580760576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.650905591,745,715,680.650905591,660.349094409,635,879.650905591,787.650905591,804,652,631.349094409,652.349094409,0.415622886277,-0.00539366784786,0.0798068217516,0.999999924805,0.0002110384479,-0.000322108113815,4.58101146232e-05,1793240028597427200
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.062659601,745,715,680.062659601,660.937340399,635,879.062659601,787.062659601,804,652,631.937340399,652.937340399,0.41483089269,-0.00540782829983,0.0797859589683,0.999999916799,0.000197431492055,-0.00035411751061,4.49794928385e-05,1793240028614093824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.51720875,745,715,680.51720875,660.48279125,635,879.51720875,787,804,652,632,653,0.414092751499,-0.00542341914195,0.0797939578684,0.999999928251,0.000177664340463,-0.000331528361233,4.49716334024e-05,1793240028630760448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.904585556,745,714.904585556,680.904585556,660,635,880,787,804,652,631.904585556,653,0.413360825633,-0.00543477359278,0.0798052305499,0.999999939312,0.000162878587442,-0.000304653509086,4.50944208386e-05,1793240028647427072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.329715897,745,714.329715897,680.329715897,660,635,880,787,804,652,631.329715897,653,0.412627870298,-0.0054239833785,0.0798156637378,0.999999941592,0.000176814627426,-0.000288951449896,4.53808136989e-05,1793240028664093696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.245124408,744.754875592,714,680,660,635,879.754875592,787,804,651.754875592,631,652.754875592,0.411901668795,-0.00541708111726,0.0798156152578,0.999999938434,0.0001874851792,-0.000293109913585,4.54761761364e-05,1793240028680760576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.819925186,744.180074814,714,680,660,635,879.180074814,787,804,651.180074814,631,652.180074814,0.411184550816,-0.00541540790063,0.079801469616,0.99999992772,0.00019376386075,-0.000323979488797,4.53146150575e-05,1793240028697426944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.407499092,714,680,660.407499092,635,879,787,804,651.407499092,631,652.407499092,0.410520574345,-0.00541388400995,0.0797980625136,0.999999924619,0.000196317200422,-0.000331915969267,4.53141981815e-05,1793240028714093568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.999121918,745,714,680,660.999121918,635,879,787,804.000878082,651.999121918,631,653,0.409880918281,-0.00541242778057,0.0797995925933,0.999999925302,0.000197179580646,-0.000329325429292,4.53893208591e-05,1793240028730760448
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.420286176,745,714,680,660.420286176,635,879,787,804.579713824,651.420286176,631,653,0.409292070896,-0.00541066786708,0.0798262909683,0.99999993783,0.000203669090627,-0.000284021163872,4.67974458838e-05,1793240028747427072
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.157431475,745,714.157431475,680,660,635,879,786.842568525,804.842568525,651.157431475,631,652.842568525,0.408700639265,-0.00540936734796,0.079844388357,0.999999944881,0.000207713541747,-0.00025457384734,4.78037584763e-05,1793240028764093696
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.732185393,745,714.732185393,680,660,635,879,786.267814607,804.267814607,651.732185393,631,652.267814607,0.408102357132,-0.00540928460007,0.0798396860885,0.999999942104,0.000205276585224,-0.00026716043356,4.7744939315e-05,1793240028780760576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.693755238,660,635,879,786.306244762,804,652,631,652,0.407519414691,-0.00540721406792,0.0798184124792,0.999999930408,0.000207152590519,-0.000306724705929,4.68112654682e-05,1793240028797427200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.12030192,660,635,879,786.87969808,804,652,631,652,0.406949856668,-0.0054034091291,0.079782679834,0.999999907956,0.000212791795361,-0.000369827888725,4.51142522053e-05,1793240028814093824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.531761704,745,714.531761704,679.468238296,660.468238296,635,879,787,804,652,631,652.468238296,0.406465457786,-0.00540162622872,0.0797786033764,0.999999908197,0.000213007647164,-0.000369173093508,4.41008578653e-05,1793240028830760192
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.059270072,680,661,635,879,787,804,652,631,652.940729928,0.406007435558,-0.00540058622901,0.079784177445,0.999999915334,0.000212079497919,-0.000349958905039,4.33922437052e-05,1793240028847427328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.637059521,680,661,635,879,787,804,652,631,652.362940479,0.405582383799,-0.00540134921754,0.079800656341,0.999999926127,0.000213738974047,-0.000316458323562,4.3762257689e-05,1793240028864094208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.786890092,661,635,879,787,804,652,631,652.213109908,0.405164176407,-0.0054015970206,0.079814997607,0.999999933629,0.000213182818782,-0.000292133750608,4.41824571162e-05,1793240028880760832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.213777527,661,635,879,787,804,652,631,652.786222473,0.404757531122,-0.00540097453022,0.0798257278123,0.999999937053,0.000208883838232,-0.000283310044263,4.46874339195e-05,1793240028897427200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.370766286,745,715,679.370766286,661,635,879,787,804.370766286,652,631,652.629233714,0.404380223923,-0.00539994082272,0.0798322854659,0.999999936251,0.000217109703815,-0.000279732666122,4.59452616681e-05,1793240028914093824
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.962110896,745,715,679.962110896,661,635,879,787,804.962110896,652,631,652.037889104,0.404020370661,-0.00539866247158,0.0798363607631,0.999999932772,0.000232786919485,-0.000279276461598,4.76509796938e-05,1793240028930760448
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.458928903,661.541071097,635,879.541071097,787,804.458928903,652,631,652.541071097,0.403690178861,-0.0053992782208,0.0798366158549,0.999999935443,0.000217921335458,-0.000282011838969,4.57538459434e-05,1793240028947427328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.881579235,745,715,679.118420765,661.763158471,635,879.881579235,787,804,652,631,653,0.403372153642,-0.00539998287713,0.0798364747531,0.999999937385,0.000205227610193,-0.00028488811529,4.4164137084e-05,1793240028964093952
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.307166285,745,715,679.692833715,660.61433257,635,879.307166285,787,804,652,631,653,0.403093158037,-0.00540053057732,0.0798358151066,0.999999935853,0.000208948235495,-0.000287465608135,4.47079472055e-05,1793240028980760576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.732588234,660,635,879,787,804,652,631,653,0.402829827744,-0.00540041442784,0.0798357129316,0.999999934408,0.000212988939978,-0.000289530955053,4.4619983212e-05,1793240028997427200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.157820456,660,635,879,787,804,652,631,653,0.402584502761,-0.00539953526707,0.0798362514997,0.999999933067,0.000217397534781,-0.000291007654828,4.38058747232e-05,1793240029014094080
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.431545394,660,635.431545394,879,787,804,652,631,653,0.40237485815,-0.00539911898024,0.0798378192719,0.99999993464,0.000215036921927,-0.0002873142132,4.39254797281e-05,1793240029030760448
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.025651598,745,714.974348402,679.974348402,660,635.974348402,879,787,804,652,631,653,0.402180322061,-0.00539886932291,0.0798399393147,0.999999937249,0.000210414161144,-0.000281518624038,4.44524951348e-05,1793240029047427072
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.602873881,745,714.397126119,679.397126119,660,635.397126119,879,787,804,652,631,653,0.402020254165,-0.00539843528616,0.0798455578457,0.999999939256,0.000212244112443,-0.000272601403171,4.61403527492e-05,1793240029064093952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.820164822,745,714,679,660,635,878.820164822,787,803.820164822,652,631,653,0.401868076639,-0.00539857962251,0.079850692527,0.999999941247,0.000212684241088,-0.000264596600798,4.75413247494e-05,1793240029080760576
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.243779098,745,714,679,660,635,878.243779098,787,803.243779098,652,631,653,0.401733298015,-0.00539999931654,0.0798547602812,0.999999943333,0.000210059702539,-0.000258603753336,4.83096914536e-05,1793240029097426944
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.331333078,745,714,679.331333078,660,635,878.662666156,787,803.331333078,652,631,653,0.401606756636,-0.00540041883331,0.079852828912,0.999999943295,0.000207764141984,-0.000260841593415,4.69585542959e-05,1793240029114093568
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.905511886,745,714,679.905511886,660,635,879.811023771,787,803.905511886,652,631,653,0.401486252611,-0.00540010528494,0.0798465005734,0.999999941661,0.000205709700754,-0.000269111994807,4.40539578874e-05,1793240029130760192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,635,879.503616561,787,804,652,631,653,0.401386921788,-0.00540196590176,0.0798419677139,0.999999937414,0.000215851630059,-0.000277481000528,3.98105664633e-05,1793240029147427072
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.912411013,745,714.087588987,679.912411013,660,635,879,787,804,652,631,652.912411013,0.401295451378,-0.00540385002736,0.0798375186787,0.999999932899,0.000226120872738,-0.000285956044229,3.60627555569e-05,1793240029164093696
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.337636441,745,714.662363559,679.337636441,660,635,879,787,804,652,631,652.337636441,0.401224504126,-0.0054034828503,0.079831568722,0.999999930817,0.000223735646245,-0.000294912860625,3.65382637531e-05,1793240029180760320
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.237756554,635,879,787,803.762243446,652,631,652.237756554,0.401163937751,-0.00540246903033,0.0798281435633,0.999999929597,0.000223020322584,-0.000299482001811,3.71393361428e-05,1793240029197426944
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.814030021,635,879,787,803.185969979,652,631,652.814030021,0.401118151636,-0.00540053452253,0.0798283132034,0.999999929696,0.000224682600641,-0.000297803986542,3.79191863476e-05,1793240029214093568
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.601807288,635,878.601807288,786.601807288,803.398192712,652,631,652.601807288,0.401081418203,-0.00540130265744,0.0798287180321,0.999999930604,0.000223045108388,-0.000295882815083,3.86825943964e-05,1793240029230760192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.013885593,635,878.013885593,786.013885593,803.986114407,652,631,652.013885593,0.401048998152,-0.00540335853483,0.0798292349224,0.999999931886,0.000219835357117,-0.000293845785756,3.94381681415e-05,1793240029247426816
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.568697142,635,878.568697142,786.568697142,804,652,631,652.568697142,0.401026845409,-0.00540182133232,0.0798293638905,0.999999931091,0.00022126885923,-0.000295436250161,3.96964162512e-05,1793240029264093696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.851611224,787,804,652,631,652.851611224,0.401007862711,-0.00540105529375,0.0798292611855,0.999999930606,0.000222178297643,-0.0002963674067,3.98832293164e-05,1793240029280760320
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.279800822,787,804,652,631,652.279800822,0.400997216936,-0.005402737749,0.0798285241863,0.999999931162,0.000221271846545,-0.000295166871041,3.99005323803e-05,1793240029297426944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.699816382,679.300183618,660.699816382,635,878.300183618,787,804,652,631,652,0.400989518792,-0.00540288457918,0.079828843951,0.999999931568,0.000221792899829,-0.000293401579848,3.98314802399e-05,1793240029314093824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.111999588,679.888000412,660.111999588,635,878.888000412,787,804,652,631,652,0.400984645039,-0.00540155998775,0.0798301762971,0.999999931828,0.000223681774552,-0.000291095144964,3.96796833402e-05,1793240029330760448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.469803651,679.530196349,660,635,879,787,804,652.469803651,631,652.469803651,0.400980704981,-0.00540203303323,0.0798318218152,0.999999932372,0.000223316444744,-0.000289487650292,3.97930655274e-05,1793240029347426816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.049761391,878.950238609,787,804,652.950238609,631,652.950238609,0.400977290145,-0.00540290316742,0.0798333898294,0.999999932974,0.00022237016952,-0.0002881131641,3.99401528368e-05,1793240029364093440
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.625177165,878.374822835,787,804,652.374822835,631,652.374822835,0.400977101884,-0.00540349816949,0.0798333604389,0.999999933495,0.00022089210038,-0.000287462164413,3.97839231641e-05,1793240029380760320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.800466524,878.199533476,787,804,652,631.199533476,652.199533476,0.40097717462,-0.00540315933992,0.0798338254945,0.999999933829,0.000220837839607,-0.000286369238776,3.9574931093e-05,1793240029397427200
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.22808993,878.77191007,787,804,652,631.77191007,652.77191007,0.400977735051,-0.00540107557657,0.0798352144592,0.999999933809,0.000223444070582,-0.000284450541722,3.92673485721e-05,1793240029414093568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.357514155,745,715,679,660.357514155,635,879,787,804,652,631.642485845,652.642485845,0.400977446357,-0.00540184481209,0.079835736358,0.999999934101,0.000223346463635,-0.00028346413375,3.95330682996e-05,1793240029430760192
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.951881429,745,715,679,660.951881429,635,879,787,804,652,631.048118571,652.048118571,0.40097659512,-0.00540450415937,0.0798356838255,0.9999999346,0.000221457564025,-0.00028309536735,4.01786007653e-05,1793240029447427072
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.467906403,635,879,787,804,652,631,652,0.40097473706,-0.00540336729606,0.0798354128006,0.999999934412,0.000221213186397,-0.000284046276535,3.94851861032e-05,1793240029464093696
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.889651651,745,715,679,660,635,879,787,804,651.889651651,631,652,0.400973405184,-0.00540224872692,0.0798352853635,0.999999934232,0.000221361990292,-0.000284645174206,3.88852930483e-05,1793240029480760576
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.314390514,745,715,679,660,635,879,787,804,651.314390514,631,652,0.400974663855,-0.00540261612773,0.0798358439711,0.999999934346,0.000222556988005,-0.000283271225293,3.9176345234e-05,1793240029497427200
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5794416ee277c0cfa66c84e5523ea4aa5a677eb4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6d55eb805bb4df0d10310da3fa499a1da9c2b43
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cbf598131e8b3c4e4c99d9f4b3396c988621c4b04c966a3d2cc4c42f11541c
+size 26638069
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1113c8e40fb0cb48f120d2f8a06020e80daafebf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
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+2,0.033333333,BASELINE,765,745,715,679.820073363,661,635,879,787,804,652,631,652.179926637,0.400975093768,-0.00540520046938,0.0798388660463,0.999999936966,0.000217345572932,-0.000278093056745,3.86388022918e-05,1793240029970972672
+3,0.050000000,BASELINE,765,745,715,679.240807679,661,635,879,787,804,652,631,652.759192321,0.400972104018,-0.00540255364939,0.0798372331236,0.999999935384,0.000220255915121,-0.000281515561548,3.83116952125e-05,1793240029987639552
+4,0.066666667,BASELINE,765,745,715,679,661,635,879,787,804,651.664700519,631.335299481,652.664700519,0.400972415926,-0.00540221419368,0.0798373984662,0.99999993521,0.000221109209225,-0.000281464634679,3.83127466682e-05,1793240030004306176
+5,0.083333333,BASELINE,765,745,715,679,661,635,879,787,804,651.090840635,631.909159365,652.090840635,0.400975076912,-0.00540351639219,0.0798388432468,0.999999936043,0.000220498945199,-0.000278942414595,3.8547277875e-05,1793240030020972544
+6,0.100000000,BASELINE,765.480600684,745,715,679.480600684,661,635,879,787,804,651.480600684,631.519399316,652,0.400975177096,-0.00540343612867,0.0798390067347,0.999999935964,0.000221147354089,-0.000278716914743,3.85096505406e-05,1793240030037639168
+7,0.116666667,BASELINE,765.945825415,745,715,679.945825415,661,635,878.945825415,787,804,652,631,652,0.400974850615,-0.00540312238402,0.0798389823539,0.999999935779,0.000221962462827,-0.000278743289981,3.84362127713e-05,1793240030054306048
+8,0.133333333,BASELINE,765.346200164,745,715,679.346200164,661,635,878.346200164,787,804,652,631,652,0.400975077304,-0.00540307561492,0.0798394926234,0.999999936248,0.000222072616448,-0.000276956698165,3.85175661066e-05,1793240030070972672
+9,0.150000000,BASELINE,765,745,714.757270736,679,661,635,878.242729264,787,804,651.757270736,631,652,0.400975095336,-0.00540389099946,0.079839667773,0.999999936733,0.000220840310187,-0.000276174683636,3.86099545476e-05,1793240030087639040
+10,0.166666667,BASELINE,765,745,714.182952756,679,661,635,878.817047244,787,804,651.182952756,631,652,0.400974828325,-0.00540588415883,0.0798393851206,0.999999937238,0.000217774090106,-0.000276765006845,3.87174178697e-05,1793240030104305664
+11,0.183333333,BASELINE,765,745,714,679,661.388796021,635,878.611203979,787,804,651.388796021,631,652.388796021,0.400974138679,-0.00540557022627,0.0798388299436,0.999999936501,0.000219516675968,-0.000278066930536,3.85850912947e-05,1793240030120972288
+12,0.200000000,BASELINE,765,745,714,679,661.959343815,635,878.040656185,787,804,651.959343815,631,652.959343815,0.400973251461,-0.00540417778992,0.0798381473687,0.999999935171,0.000223507250117,-0.000279701508526,3.83406693457e-05,1793240030137638912
+13,0.216666667,BASELINE,765,745,714.552104307,679,661.447895693,635,878,787,803.447895693,652,631,652.447895693,0.400973817326,-0.00540439119638,0.0798386681394,0.99999993572,0.000222036323664,-0.000278909149786,3.83404789557e-05,1793240030154305536
+14,0.233333333,BASELINE,765,745,715,679,660.857376945,635,878.28524611,787,803.142623055,652,631,652,0.400974433286,-0.00540439652242,0.0798392540047,0.999999936249,0.000220901025963,-0.000277903899574,3.83944827861e-05,1793240030170972672
+15,0.250000000,BASELINE,765,745,715,679,660.278916585,635,879.44216683,787,803.721083415,652,631,652,0.400974861636,-0.00540338947149,0.0798397566505,0.999999936285,0.000222071884756,-0.000276817107557,3.85568337795e-05,1793240030187639296
+16,0.266666667,BASELINE,765.298977493,745,715,679,660.298977493,635,879.701022507,787,804,652,631,652,0.400975144845,-0.00540290382135,0.0798398833096,0.999999936163,0.000222940219027,-0.000276561400119,3.85306172048e-05,1793240030204305920
+17,0.283333333,BASELINE,765.876344248,745,715,679,660.876344248,635,879.123655752,787,804,652,631,652,0.400975292907,-0.00540290366729,0.0798396598733,0.999999935897,0.00022352686119,-0.000277079547065,3.83288182183e-05,1793240030220972544
+18,0.300000000,BASELINE,765.548520218,745,715,679,660.548520218,635,879,787,804,651.548520218,631,652.451479782,0.400974667625,-0.00540367232326,0.0798390700944,0.999999936051,0.000221830922802,-0.000277872790969,3.84096274178e-05,1793240030237638912
+19,0.316666667,BASELINE,765,745,715,679,660.0268023,635,879,787,804,651.0268023,631,652.9731977,0.40097392839,-0.00540462323269,0.0798384581345,0.999999936324,0.000219635913677,-0.000278613418476,3.85654167633e-05,1793240030254305536
+20,0.333333333,BASELINE,765,745,715,679,660.618894291,635,879,787,804,651.618894291,631,652.381105709,0.400975231148,-0.00540499877067,0.0798394841702,0.999999936773,0.000220035752803,-0.000276662989096,3.86781227019e-05,1793240030270972160
+21,0.350000000,BASELINE,765,745,714.806749727,679,661,635,879,787,804,652,631,652,0.400976433511,-0.00540522597982,0.0798402883885,0.999999937102,0.00022044374328,-0.000275140907644,3.87171304115e-05,1793240030287639040
+22,0.366666667,BASELINE,765,745,714.264430457,679,661,635,879,787,804,652,631,652,0.40097745453,-0.0054051852618,0.0798406919367,0.999999937217,0.000220866457546,-0.000274392553549,3.86230166048e-05,1793240030304305920
+23,0.383333333,BASELINE,765.273750554,745,714.273750554,679,661,635,879,787,804,652,631,652,0.400977110065,-0.00540518561883,0.0798406102772,0.999999937283,0.00022040256982,-0.000274517832538,3.86756741189e-05,1793240030320972800
+24,0.400000000,BASELINE,765.807993787,745,714.807993787,679,661,635,879,787,804,652,631,652,0.400975466246,-0.00540522506161,0.0798400669092,0.9999999373,0.000219095018729,-0.000275474434038,3.88679947343e-05,1793240030337639680
+25,0.416666667,BASELINE,766,745,715,679.421823619,660.578176381,635,879,787,804,651.578176381,631,652.421823619,0.400975730094,-0.00540451746472,0.0798400726599,0.999999936939,0.000220829115535,-0.000275418981821,3.87318980091e-05,1793240030354306304
+26,0.433333333,BASELINE,765.926799307,745,715,680,660.073200693,635,879,786.926799307,804,651.073200693,631,653,0.400976744297,-0.00540357874494,0.0798402706428,0.999999936415,0.00022374218739,-0.000275012399961,3.84466345833e-05,1793240030370972928
+27,0.450000000,BASELINE,765.326565627,745,715,680,660.673434373,635,879,786.326565627,804,651.673434373,631,653,0.400975455219,-0.00540399352828,0.0798396345867,0.999999936296,0.000222857424067,-0.000276165775632,3.84139860207e-05,1793240030387639296
+28,0.466666667,BASELINE,765.264040697,745,715,679.735959303,661,635,879,786.264040697,804,652,631.264040697,653,0.400974851964,-0.00540377507455,0.0798394831407,0.999999936194,0.000222743450624,-0.000276626812687,3.83956600341e-05,1793240030404305664
+29,0.483333333,BASELINE,765.843158749,745,715,679.156841251,661,635,879,786.843158749,804,652,631.843158749,653,0.400975067093,-0.00540280098476,0.0798399099757,0.999999936116,0.000223549253764,-0.000276261688321,3.83944250486e-05,1793240030420972288
+30,0.500000000,BASELINE,765.582373285,745,715,679,660.582373285,635,879,787,803.582373285,652,631.582373285,653,0.400975123321,-0.00540218707518,0.0798397776716,0.999999936555,0.000221840319756,-0.000276097100144,3.80524365653e-05,1793240030437639168
+31,0.516666667,BASELINE,765.009632458,745,715,679,660.009632458,635,879,787,803.009632458,652,631.009632458,653,0.400975120532,-0.00540170694306,0.0798394376933,0.99999993718,0.000219197366888,-0.00027600699474,3.75838860723e-05,1793240030454306304
+32,0.533333333,BASELINE,765,745,715,679.580266592,660.580266592,635,878.419733408,787,803.580266592,652,631,652.419733408,0.400974216669,-0.00540361539672,0.0798390119109,0.999999936539,0.000220453348342,-0.000277238976583,3.82338744838e-05,1793240030470972672
+33,0.550000000,BASELINE,765,745,714.833313313,680,661,635.166686687,878.166686687,787,804,651.833313313,631,652,0.400973840055,-0.0054049987295,0.0798388928094,0.999999936257,0.000220910649633,-0.000277835998321,3.8614784866e-05,1793240030487639296
+34,0.566666667,BASELINE,765,745,714.256182499,680,661,635.743817501,878.743817501,787,804,651.256182499,631,652,0.400974799674,-0.00540498841115,0.0798395324835,0.999999936922,0.000219237078612,-0.000276813826227,3.82860118249e-05,1793240030504305920
+35,0.583333333,BASELINE,765,745,714.305699341,679.694300659,661,635.694300659,879,787,803.694300659,651.305699341,631,652.305699341,0.400975319527,-0.00540506408024,0.0798400386611,0.999999937196,0.000218997727386,-0.000276014569111,3.82536711033e-05,1793240030520972544
+36,0.600000000,BASELINE,765,745,714.855409437,679.144590563,661,635.144590563,879,787,803.144590563,651.855409437,631,652.855409437,0.400975488355,-0.00540520838495,0.0798404382812,0.999999937161,0.000219903177446,-0.000275393243746,3.84579441175e-05,1793240030537639168
+37,0.616666667,BASELINE,765.455152479,745.455152479,715,679.455152479,661.455152479,635,879,787,803.455152479,652,631,652.544847521,0.400975129331,-0.0054048676766,0.079839992069,0.999999937127,0.000219257870103,-0.000276071122752,3.81551523039e-05,1793240030554305792
+38,0.633333333,BASELINE,765.931534134,745.931534134,715,679.931534134,661.931534134,635,879,787,804,652,631,652.068465866,0.40097455135,-0.00540457264489,0.0798393173738,0.999999937108,0.000218116797477,-0.000277094208788,3.77896589951e-05,1793240030570972416
+39,0.650000000,BASELINE,765.3503247,745.3503247,715,679.3503247,661.3503247,635,879,787,804,652,631,652.6496753,0.400973744489,-0.00540591607894,0.079839192387,0.999999937205,0.00021740793957,-0.000277229919743,3.83099255812e-05,1793240030587639296
+40,0.666666667,BASELINE,765,745,715,679.227804596,661,635,879,787,804,652,631.227804596,652.772195404,0.40097412068,-0.00540612636551,0.0798397115637,0.999999937242,0.000218387249504,-0.000276283101132,3.86177924876e-05,1793240030604305920
+41,0.683333333,BASELINE,765,745,715,679.80126032,661,635,879,787,804,652,631.80126032,652.19873968,0.400976291934,-0.00540461731136,0.079841208139,0.999999937175,0.000221928040365,-0.000273693745115,3.86033823306e-05,1793240030620972544
+42,0.700000000,BASELINE,765,745,715,680,661,635,879,786.623556287,804,652,632,652.376443713,0.400976234813,-0.00540441492742,0.0798406849206,0.999999936944,0.00022243602463,-0.000274115642474,3.86595517978e-05,1793240030637639424
+43,0.716666667,BASELINE,765,745,715,680,661,635,879,786.047456602,804,652,632,652.952543398,0.40097499582,-0.00540490556749,0.0798390904561,0.999999936629,0.000221335486904,-0.000276134630524,3.87531548655e-05,1793240030654306048
+44,0.733333333,BASELINE,765,745,715,679.455350202,661,635,879,786.544649798,804,652,632,652.455350202,0.400975427377,-0.00540474269586,0.0798402240292,0.999999936613,0.000222356415496,-0.000275400505012,3.85570703407e-05,1793240030670972672
+45,0.750000000,BASELINE,765,745,715,679.134651796,661,635.134651796,879,787,804,652,631.865348204,652.134651796,0.400975995051,-0.00540477280077,0.0798412562185,0.99999993681,0.000222556721855,-0.00027455090316,3.83554174571e-05,1793240030687639296
+46,0.766666667,BASELINE,765,745,715,679.712984876,661,635.712984876,879,787,804,652,631.287015124,652.712984876,0.400976517088,-0.00540563207507,0.0798411474006,0.999999937621,0.00021942553333,-0.000274135165266,3.82211053089e-05,1793240030704306176
+47,0.783333333,BASELINE,765,745,715,679.71278602,661,635.71278602,879,787,803.71278602,651.71278602,631,653,0.400976120481,-0.00540515465178,0.0798406464445,0.99999993764,0.000218740465125,-0.000274642969174,3.7995338478e-05,1793240030720972800
+48,0.800000000,BASELINE,765,745,715,679.142600207,661,635.142600207,879,787,803.142600207,651.142600207,631,653,0.400974818799,-0.00540336027404,0.0798397591418,0.999999936883,0.000220465387694,-0.000276060674135,3.76794677339e-05,1793240030737639424
+49,0.816666667,BASELINE,765,745.434204458,715,679,661,635,878.565795542,787.434204458,803.434204458,651,631,652.565795542,0.40097562944,-0.00540463493625,0.0798403013216,0.999999937174,0.000220463041712,-0.000274965516541,3.79617269289e-05,1793240030754306048
+50,0.833333333,BASELINE,765.013495485,745.986504515,715,679,661,635,878,787.986504515,803.986504515,651.013495485,631,652.013495485,0.400977084483,-0.0054068528274,0.0798412825611,0.999999937787,0.000219929703153,-0.000273094059711,3.84383363515e-05,1793240030770972928
+51,0.850000000,BASELINE,765.604730593,745.395269407,715,679,661,635,878,787.395269407,803.395269407,651.604730593,631,652.604730593,0.400975968318,-0.00540563314447,0.0798406509782,0.999999937258,0.000221325080687,-0.000273865798522,3.86954747537e-05,1793240030787639552
+52,0.866666667,BASELINE,765.808337617,745,715,679,661,635,878,787,803.191662383,651.808337617,631,653,0.400975064069,-0.00540459326394,0.0798401842873,0.999999936786,0.00022229456127,-0.000274791189551,3.87692605578e-05,1793240030804305920
+53,0.883333333,BASELINE,765.230085796,745,715,679,661,635,878,787,803.769914204,651.230085796,631,653,0.40097458726,-0.00540391605093,0.079840050189,0.999999936433,0.000222404993373,-0.000276026502195,3.84732180231e-05,1793240030820972544
+54,0.900000000,BASELINE,765.346349912,745,715,679.346349912,661.346349912,635,878.346349912,787,804,651.346349912,631.346349912,653,0.400973868071,-0.00540374187968,0.079839920229,0.99999993622,0.000222536653638,-0.00027671191437,3.83087950565e-05,1793240030837639168
+55,0.916666667,BASELINE,765.921585416,745,715,679.921585416,661.921585416,635,878.921585416,787,804,651.921585416,631.921585416,653,0.400972988704,-0.00540390014397,0.079839793004,0.999999936102,0.000222682342547,-0.000277033924365,3.82313529896e-05,1793240030854305792
+56,0.933333333,BASELINE,765.491248089,745,715,679.491248089,661.491248089,635,879,787,804,651.491248089,631.491248089,652.491248089,0.400973989589,-0.00540389757606,0.0798405684894,0.999999936307,0.000223195968094,-0.000275838902496,3.85112876505e-05,1793240030870972416
+57,0.950000000,BASELINE,765,745,715,679,661,635,879,787,804,651.095982936,631,652.095982936,0.400975127728,-0.00540411533861,0.0798412639741,0.999999936617,0.000223215889696,-0.000274662608904,3.87424295103e-05,1793240030887639040
+58,0.966666667,BASELINE,765,745,715,679,661,635,879,787,804,651.674079249,631,652.674079249,0.400975464661,-0.00540556730507,0.0798408419729,0.999999937206,0.000220464289585,-0.000274783057165,3.84451687898e-05,1793240030904305920
+59,0.983333333,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.40097536504,-0.00540632488534,0.0798404447215,0.999999937455,0.000218854187061,-0.000275180939802,3.83108250232e-05,1793240030920972544
+60,1.000000000,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.400974701201,-0.00540618501593,0.0798400794573,0.999999937273,0.000218719396993,-0.000275937388698,3.8387040989e-05,1793240030937639168
+61,1.016666667,BASELINE,765,745,715,679,661,635,878.59451338,787,804,651.59451338,631,652.59451338,0.400975929416,-0.00540550356974,0.0798406952946,0.999999937729,0.000218224678521,-0.000274684428291,3.83199326651e-05,1793240030954305792
+62,1.033333333,BASELINE,765,745,715,679,661,635,878.019919304,787,804,651.019919304,631,652.019919304,0.400977946709,-0.00540459625997,0.0798417202986,0.999999938447,0.000217579852571,-0.000272593447347,3.81930512023e-05,1793240030970972672
+63,1.050000000,BASELINE,765.567479812,745,715,679,660.432520188,635,878.567479812,787,804,651.567479812,631,652.567479812,0.400975735268,-0.00540377406744,0.079840375518,0.99999993742,0.000219005385007,-0.00027524252366,3.79304744603e-05,1793240030987639552
+64,1.066666667,BASELINE,766,745,715,679.151893628,660.151893628,635,879,787,804,652,631,652.848106372,0.400974229931,-0.00540289567989,0.079839463688,0.999999936595,0.000220571971414,-0.000277003391001,3.77826667614e-05,1793240031004306432
+65,1.083333333,BASELINE,766,745,715,679.726714851,660.726714851,635,879,787,804,652,631,652.273285149,0.400975113482,-0.00540185231386,0.0798399943094,0.999999936528,0.000222324285926,-0.00027581719403,3.79679865517e-05,1793240031020973312
+66,1.100000000,BASELINE,765.696351535,745,715,679.696351535,661,635.303648465,879,787,803.696351535,652,631,652,0.400975260883,-0.00540259707182,0.079839983992,0.999999936679,0.000222166362054,-0.000275374088018,3.81215042662e-05,1793240031037639936
+67,1.116666667,BASELINE,765.117503469,745,715,679.117503469,661,635.882496531,879,787,803.117503469,652,631,652,0.400974741105,-0.00540496242425,0.0798394834164,0.999999937029,0.000220277170189,-0.000275604452734,3.82461994354e-05,1793240031054306304
+68,1.133333333,BASELINE,765,745.455369088,715,679,661,635.544630912,879.455369088,787,803,652,631,652,0.400975961949,-0.00540580704965,0.0798406287017,0.999999937855,0.000218344371269,-0.000274142095953,3.82457530469e-05,1793240031070972672
+69,1.150000000,BASELINE,765.027911878,745.972088122,715,679,661,635,879.944176243,787,803.027911878,652,631,652.027911878,0.400977477045,-0.00540623214341,0.0798420668656,0.9999999387,0.000216654536591,-0.000272394251176,3.82286211098e-05,1793240031087639552
+70,1.166666667,BASELINE,765.62475417,745.37524583,715,679,661,635,878.750491661,787,803.62475417,652,631,652.62475417,0.400975953439,-0.00540600078321,0.0798409302647,0.999999937594,0.000220143454999,-0.000273615094791,3.85210622492e-05,1793240031104305920
+71,1.183333333,BASELINE,765.785501732,745,715,679,660.785501732,635,878.214498268,787,804,651.785501732,631,653,0.400974906694,-0.00540581539723,0.07984019872,0.999999936971,0.00022160726897,-0.000274705826565,3.85269498096e-05,1793240031120972544
+72,1.200000000,BASELINE,765.20777744,745,715,679,660.20777744,635,878.79222256,787,804,651.20777744,631,653,0.400974667454,-0.00540570786283,0.0798401530868,0.999999937184,0.000219641822103,-0.000275576230388,3.80475947253e-05,1793240031137639168
+73,1.216666667,BASELINE,765,745,715,679.368036645,660.368036645,635,879,787,804,651.368036645,631.368036645,652.631963355,0.400975396711,-0.00540599462545,0.0798409349642,0.999999937674,0.000218523554589,-0.000274679698975,3.80822766692e-05,1793240031154305792
+74,1.233333333,BASELINE,765,745,715,679.942777844,660.942777844,635,879,787,804,651.942777844,631.942777844,652.057222156,0.400976669916,-0.00540650284154,0.0798421816055,0.999999938319,0.000217881098048,-0.000272790783828,3.84056630306e-05,1793240031170972416
+75,1.250000000,BASELINE,765,745,715,679.484303466,661,635,879,787,803.484303466,652,631.484303466,652,0.400976029119,-0.00540507500084,0.0798413353233,0.99999993765,0.000219450617027,-0.000273990289849,3.83390059311e-05,1793240031187639040
+76,1.266666667,BASELINE,765,745,715,679,661,635,879,787,803.091993406,652,631,652,0.400975166817,-0.0054037263094,0.0798404045476,0.999999936942,0.000220986609292,-0.000275359669833,3.81763540095e-05,1793240031204305920
+77,1.283333333,BASELINE,765,745,715,679,661,635,879,787,803.687898763,652,631,652,0.400974250425,-0.00540398378453,0.0798402785625,0.999999936838,0.000220999225834,-0.000275789004702,3.77241090981e-05,1793240031220972800
+78,1.300000000,BASELINE,765,745,715,679.274549924,661,635,879,787,803.725450076,652,631,652.274549924,0.400974660124,-0.00540448488376,0.0798403732723,0.999999937014,0.000220601756531,-0.000275463343526,3.7768094569e-05,1793240031237639168
+79,1.316666667,BASELINE,765,745,715,679.851024145,661,635,879,787,803.148975855,652,631,652.851024145,0.400976528133,-0.00540525389794,0.0798407106817,0.999999937496,0.000219753313215,-0.000274307408369,3.83577877772e-05,1793240031254305792
+80,1.333333333,BASELINE,765.425473039,745,715,679.574526961,661,635,879,787,803.425473039,652,631,652.574526961,0.400977158372,-0.0054055111004,0.0798412760953,0.999999937693,0.000219837703355,-0.000273484327206,3.86105137448e-05,1793240031270972672
+81,1.350000000,BASELINE,765.999216187,745,715,679.000783813,661,635,879,787,803.999216187,652,631,652.000783813,0.40097735727,-0.00540558994524,0.0798419209645,0.999999937791,0.00022024717,-0.000272777239899,3.87458124143e-05,1793240031287639296
+82,1.366666667,BASELINE,766,745,715,679.592142852,661,635,878.407857148,787,803.407857148,651.407857148,631,652.592142852,0.400975712058,-0.00540518760828,0.0798408255444,0.999999937358,0.000219865406843,-0.000274716381227,3.83964934882e-05,1793240031304305920
+83,1.383333333,BASELINE,765.819590607,745,715,679.819590607,661,635,878.180409393,787,803.180409393,651.180409393,631,653,0.400974987279,-0.00540500767278,0.0798405888399,0.999999937309,0.000219577019422,-0.000275157629516,3.8155022346e-05,1793240031320972544
+84,1.400000000,BASELINE,765.241650335,745,715,679.241650335,661,635,878.758349665,787,803.758349665,651.758349665,631,653,0.400976296228,-0.00540531924781,0.0798422495553,0.999999938112,0.000219496769816,-0.000272290304183,3.81526538313e-05,1793240031337639168
+85,1.416666667,BASELINE,765.334009818,745,715,679.334009818,660.665990182,635,879,787,804,652,631,652.665990182,0.400977414028,-0.00540573555879,0.0798429887774,0.999999938436,0.000219334480508,-0.000271224369808,3.81722386351e-05,1793240031354306048
+86,1.433333333,BASELINE,765.908031495,745,715,679.908031495,660.091968505,635,879,787,804,652,631,652.091968505,0.400978394474,-0.00540622713064,0.0798430658353,0.999999938421,0.000219113239342,-0.000271452874181,3.82075985945e-05,1793240031370972672
+87,1.450000000,BASELINE,765.504523037,745,715,680,660.495476963,635,879,787,804,652,631,652.495476963,0.400976959646,-0.00540714126666,0.0798420252404,0.999999938252,0.000218548680883,-0.00027253531989,3.81733185226e-05,1793240031387639296
+88,1.466666667,BASELINE,765.083823029,745,715,679.916176971,661,635.083823029,879,787.083823029,804,652,631,652.916176971,0.400975725863,-0.00540786959624,0.07984118564,0.999999938206,0.000217893065286,-0.00027323402916,3.81359740305e-05,1793240031404305664
+89,1.483333333,BASELINE,765.662369076,745,715,679.337630924,661,635.662369076,879,787.662369076,804,652,631,652.337630924,0.400978398274,-0.00540702548513,0.0798427907979,0.999999939068,0.000217086610321,-0.000270706380237,3.81589588458e-05,1793240031420972288
+90,1.500000000,BASELINE,765.760237735,745,715,679.239762265,661,635.760237735,879,787.760237735,804,652,631,652.239762265,0.40097883168,-0.00540579747898,0.0798428716466,0.999999938894,0.000217874304803,-0.000270721965255,3.81070158736e-05,1793240031437638912
+91,1.516666667,BASELINE,765.184460269,745,715,679.815539731,661,635.184460269,879,787.184460269,804,652,631,652.815539731,0.400976127228,-0.0054040314626,0.0798408162494,0.999999937262,0.000220896122581,-0.000274301769664,3.7950065234e-05,1793240031454305792
+92,1.533333333,BASELINE,765,745,715,679.609993732,661,635,879,787,804,652,631,652.609993732,0.400974527012,-0.00540375500732,0.079839730584,0.999999936813,0.000220650820783,-0.000276137364893,3.78989631485e-05,1793240031470972416
+93,1.550000000,BASELINE,765,745,715,679.036145095,661,635,879,787,804,652,631,652.036145095,0.400973447314,-0.00540418070584,0.0798391020335,0.999999936925,0.00021886545425,-0.000277150769682,3.78977562704e-05,1793240031487639296
+94,1.566666667,BASELINE,765,745,714.443922186,679,661,635.556077814,879,787,804,652,631,652.556077814,0.400975337639,-0.00540409650971,0.079840817951,0.999999937447,0.000219668642665,-0.000274606958758,3.79861217129e-05,1793240031504305920
+95,1.583333333,BASELINE,765,745,714.145419428,679.145419428,661,635.854580572,879,787,803.854580572,652,631,653,0.400976698996,-0.00540409612261,0.0798419759768,0.999999937735,0.000220447040986,-0.000272920132271,3.80575650626e-05,1793240031520972544
+96,1.600000000,BASELINE,765,745,714.722540849,679.722540849,661,635.277459151,879,787,803.277459151,652,631,653,0.400975897331,-0.00540444628997,0.0798410099516,0.999999937264,0.000220635280392,-0.00027448727648,3.80608975323e-05,1793240031537639424
+97,1.616666667,BASELINE,765.299132471,745,715,679.700867529,661,635,879,787,803.299132471,652,631.299132471,653,0.400975575901,-0.0054046065998,0.0798405733114,0.999999936997,0.000221073633618,-0.000275109261392,3.80383387114e-05,1793240031554305792
+98,1.633333333,BASELINE,765.875233515,745,715,679.124766485,661,635,879,787,803.875233515,652,631.875233515,653,0.400975699124,-0.00540459111937,0.0798406268319,0.99999993692,0.000221743568738,-0.000274856117473,3.7991806987e-05,1793240031570972416
+99,1.650000000,BASELINE,765.538828119,745,715,679,661,635,879,787,804,652,631.538828119,652.538828119,0.400975611351,-0.00540495847398,0.0798408159839,0.99999993739,0.000220234077645,-0.000274365775238,3.7958892668e-05,1793240031587639040
+100,1.666666667,BASELINE,765.048950774,745,715,679,661,635,879,787,803.951049226,652,631,652,0.400975592562,-0.00540542016889,0.0798411223758,0.999999938,0.00021820837926,-0.000273763570146,3.79232437226e-05,1793240031604305920
+101,1.683333333,BASELINE,765.627225929,745,715,679,661,635,879,787,803.372774071,652,631,652,0.400976950449,-0.00540575761537,0.0798422910936,0.999999938543,0.00021711556533,-0.00027266079116,3.78173183847e-05,1793240031620972544
+102,1.700000000,BASELINE,766,745,715.205090813,679.205090813,661,635,879,787,803.205090813,651.794909187,631,652.205090813,0.400977220951,-0.00540587317926,0.0798425824791,0.999999938598,0.000216842549694,-0.000272684634604,3.77757251729e-05,1793240031637639168
+103,1.716666667,BASELINE,766,745,715.782211414,679.782211414,661,635,879,787,803.782211414,651.217788586,631,652.782211414,0.400975518963,-0.00540558625346,0.0798412824046,0.999999937765,0.000218056628506,-0.000274752144083,3.78508288972e-05,1793240031654306048
+104,1.733333333,BASELINE,766,745,715.643442743,679.643442743,661,635,879,787,804,651.356557257,631,653,0.400975841787,-0.00540546834165,0.0798413215009,0.999999937865,0.000218769785079,-0.000273786715809,3.80793297752e-05,1793240031670972928
+105,1.750000000,BASELINE,766,745,715.070778606,679.070778606,661,635,879,787,804,651.929221394,631,653,0.400977391834,-0.00540545286801,0.0798421722591,0.999999938527,0.000219179336273,-0.000270983045208,3.84008036108e-05,1793240031687639296
+106,1.766666667,BASELINE,766,745,715,679,661,635,879,787,804,651.482802521,631,653,0.400976689007,-0.00540509870687,0.0798417330812,0.999999938278,0.000219147335112,-0.000271933517294,3.83613308436e-05,1793240031704305920
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,880,787,804,652,631,653,0.400975699773,-0.00540502707774,0.0798411859362,0.999999937292,0.000220462983378,-0.000274529580184,3.80121663952e-05,1793240031746669824
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.421743931,880,787,804,652,631,653,0.400977697434,-0.00540443744053,0.0798424974775,0.999999937967,0.000220390216106,-0.000272103154222,3.81239911143e-05,1793240031763336448
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.845689236,745,715,680,661,635,880,787,804,652,631,653,0.400978893197,-0.00540411984453,0.079843246223,0.999999938355,0.000220366319383,-0.000270683750445,3.81994845695e-05,1793240031780003072
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.275566326,745,715,680,661,635,880,787,804,652,631,653,0.400977928135,-0.00540453530191,0.0798424784364,0.999999937981,0.00022047411124,-0.00027197790964,3.81770783282e-05,1793240031796669440
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.692293748,661,635,879.692293748,787,804,652,631,652.692293748,0.400976511282,-0.00540518383406,0.0798414243635,0.99999993773,0.000219617706654,-0.000273598053006,3.81030879954e-05,1793240031813336064
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.096719304,661,635,879.096719304,787,804,652,631,652.096719304,0.400974671767,-0.00540605041446,0.0798401024616,0.999999937591,0.000217859268113,-0.000275523164014,3.79808392387e-05,1793240031830002688
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481943337,745,715,679.481943337,661,635,878.518056663,787,804,652,631,652,0.400975027184,-0.00540575515579,0.0798403178535,0.999999937207,0.000219883874196,-0.000275272977661,3.8238245673e-05,1793240031846669312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.942645593,745,715,679.942645593,660.942645593,635,878,787,804,652,631,652,0.400975887787,-0.00540529460506,0.0798408487094,0.999999936892,0.000222069673139,-0.000274622455467,3.85061180601e-05,1793240031863335680
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366987504,745,715,679.366987504,660.366987504,635,878,787,804,652,631,652,0.40097746797,-0.00540537597901,0.0798415368922,0.999999937688,0.000219083917677,-0.000274165469783,3.82033800353e-05,1793240031880002304
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.213249301,745,715,679.213249301,660.213249301,635,878.213249301,787.213249301,804,652,631,652.213249301,0.400984817513,-0.00540556406936,0.0798449703342,0.999999939533,0.000217495146056,-0.000268667663977,3.80352522369e-05,1793240031896669184
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.801538598,745,715,679.801538598,660.801538598,635,878.801538598,787.801538598,804,652,631,652.801538598,0.401002313585,-0.00540593984103,0.0798532318434,0.999999943097,0.00021836324006,-0.000254304604444,3.81038624934e-05,1793240031913335808
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.614480095,661,635,879,787.614480095,804,652,631,652.614480095,0.40103735895,-0.00540640121747,0.0798682680579,0.999999949464,0.000218620371791,-0.000227577305754,3.85552035034e-05,1793240031930002688
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.032691933,661,635,879,787.032691933,804,652,631,652.032691933,0.401081338665,-0.00540690617535,0.0798867532769,0.99999995642,0.000218566462408,-0.000194555369058,3.9201392787e-05,1793240031946669568
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.542065276,661,635,879,787,804,652,631,652.542065276,0.401143521946,-0.00540859734421,0.0799019344977,0.99999996201,0.000219055260098,-0.000162759820492,3.87691673002e-05,1793240031963336192
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.883634243,745.116365757,715,680,661,635,878.883634243,787,804,652,631,652.883634243,0.401208433683,-0.00541000462763,0.0799156556416,0.999999966133,0.000218922283171,-0.000135505172084,3.80156751268e-05,1793240031980002560
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.309483562,745.690516438,715,680,661,635,878.309483562,787,804,652,631,652.309483562,0.401279815554,-0.00541001726412,0.0799244066918,0.999999968052,0.000216216120746,-0.000125827247857,3.62509030633e-05,1793240031996669184
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.727316025,715,680,661,635,878,787,804,652,631,652,0.401360017883,-0.00541061253399,0.0799304960924,0.999999969335,0.000215024317985,-0.000118009674264,3.41827346266e-05,1793240032013335808
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.135774161,715,680,661,635,878,787,804,652,631,652,0.401450534247,-0.00541188909527,0.0799334731426,0.99999996994,0.000215603303457,-0.000112367467364,3.17597954425e-05,1793240032030002688
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447332036,745,715,680,661,635,878.447332036,786.552667964,804,652,631.447332036,652.447332036,0.401558232317,-0.00541335338612,0.0799366833951,0.999999971318,0.000212653708764,-0.000106511569607,2.82257483345e-05,1793240032046669312
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972407963,745,715,679.972407963,661,635,879,786.055184074,804,652,631.972407963,652.972407963,0.401672435486,-0.00541481757685,0.0799400857034,0.999999972861,0.00020882885162,-0.000100374930953,2.43581626748e-05,1793240032063335936
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.398742006,745,715,679.398742006,661,635,879,787.202515989,804,652,631.398742006,652.398742006,0.401814081525,-0.00541517297444,0.0799459140771,0.999999974013,0.000208485408421,-8.99420226583e-05,2.04403630379e-05,1793240032080002816
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.174496917,745,715,679.174496917,661,635,879,787.825503083,803.825503083,652,631,652.174496917,0.401963702234,-0.00541604058334,0.0799517806438,0.999999975429,0.000206305472345,-7.94990002823e-05,1.61102073162e-05,1793240032096669696
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.746762328,745,715,679.746762328,661,635,879,787.253237672,803.253237672,652,631,652.746762328,0.402131501311,-0.00541807578603,0.0799577342713,0.999999977571,0.000199939221654,-6.90329241361e-05,1.08400798859e-05,1793240032113336064
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.331810053,652,631.331810053,652.668189947,0.402319376278,-0.00542091633223,0.0799626542731,0.999999979628,0.000192686611163,-5.99250337044e-05,5.07251496293e-06,1793240032130002432
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.92700418,652,631.92700418,652.07299582,0.402523187097,-0.00542439614396,0.0799667538046,0.99999998159,0.000184730425597,-5.18952423496e-05,-1.08990629461e-06,1793240032146669056
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493235795,745,715,679.493235795,661,635.506764205,878.493235795,787,804,652,631.493235795,652.506764205,0.402735330349,-0.00542538438073,0.0799611794954,0.999999982323,0.000176920318885,-6.30433114402e-05,-8.90938514613e-06,1793240032163335936
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084090137,745,715,679.084090137,661,635.915909863,878.084090137,787,804,652,631,652.915909863,0.402955441973,-0.0054262975327,0.0799547793393,0.999999982672,0.000169414305836,-7.53183326586e-05,-1.68169095718e-05,1793240032180002304
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.659799047,745,715,679.659799047,661,635.340200953,878.659799047,787,804,652,631,652.340200953,0.403215329877,-0.00542880791187,0.0799514567891,0.999999983256,0.000163566741566,-7.85091130061e-05,-2.38849786203e-05,1793240032196669184
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.758670463,745,715,679.758670463,661,635,878.758670463,787,804,652,631,652,0.403493196091,-0.00543180171003,0.0799500368295,0.999999987277,0.0001365006673,-7.80894760402e-05,-2.67650798011e-05,1793240032213336064
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.168730495,745,715,679.168730495,661,635,878.168730495,787,804,652,631,652,0.403797032694,-0.00543549382664,0.0799513652405,0.999999993993,7.87835835803e-05,-7.24544425578e-05,-2.3595488846e-05,1793240032230002944
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.413572357,745,715,679,661,635,878.413572357,787,804,652,631,652,0.404139269374,-0.00543594908808,0.0799554225548,0.999999993676,8.67798438637e-05,-6.77147235277e-05,-2.30854127053e-05,1793240032246669568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992815874,745,715,679,661,635,878.992815874,787,804,652,631,652,0.404496888566,-0.00543510771161,0.0799605730285,0.999999990382,0.000121099929725,-6.33336547684e-05,-2.36407001722e-05,1793240032263336192
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.434099236,745,715,679.565900764,661,635,879,787,804.565900764,652,631,652,0.404889595203,-0.00544147217792,0.0799612298414,0.999999992082,0.000109163847523,-5.60325673995e-05,-2.79225647273e-05,1793240032280002560
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.13972999,745,715,679.86027001,661,635,879,787,804.86027001,652,631,652,0.405290539156,-0.00544746576174,0.0799610146458,0.999999993365,9.84495673359e-05,-5.10630804465e-05,-3.11613835795e-05,1793240032296668928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.716126917,745,715,679.283873083,661,635,879,787,804.283873083,652,631,652,0.405715848245,-0.00545201750882,0.0799582507146,0.99999999373,9.33688760972e-05,-5.34946235835e-05,-3.09943512126e-05,1793240032313335552
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.700691233,745,715,679,661,635,879,787,803.700691233,651.700691233,631,652,0.406152390614,-0.00546168189651,0.0799519808764,0.999999993694,8.5975024504e-05,-6.56286567964e-05,-3.02215175737e-05,1793240032330002688
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.11092504,745,715,679,661,635,879,787,803.11092504,651.11092504,631,652,0.406599834114,-0.00547630773121,0.0799423088096,0.99999999287,7.63364181037e-05,-8.71782524201e-05,-2.88607977538e-05,1793240032346669312
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.470777929,745,715,679.470777929,661,635,879,787,803.941555859,651,631,652.470777929,0.407103260448,-0.00549465743728,0.0799412830658,0.999999994517,4.79400663822e-05,-8.85096397849e-05,-2.88680200219e-05,1793240032363335936
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.949880146,745,715,680,661,635.050119854,879,787,804.949880146,651.050119854,631,652.949880146,0.407620154255,-0.00551170641838,0.0799412882015,0.999999995592,1.90821866812e-05,-8.71526463752e-05,-2.92786891398e-05,1793240032380002816
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.375694574,745,715,680,661,635.624305426,879,787,804.375694574,651.624305426,631,652.375694574,0.408142264799,-0.00550613466114,0.079931129152,0.999999993369,3.08338707441e-05,-0.000106658274424,-3.05944393669e-05,1793240032396669696
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.203399266,745,715,680,661,635.796600734,879,787,804,652,631,652.203399266,0.408684331049,-0.00550393489308,0.0799266582368,0.999999992063,3.53689286897e-05,-0.000116574705264,-3.21327017285e-05,1793240032413336576
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.791783211,745,715,680,661,635.208216789,879,787,804,652,631,652.791783211,0.409264168497,-0.00550811746979,0.0799329535584,0.999999993206,2.62446913893e-05,-0.000108341148136,-3.40921246617e-05,1793240032430002944
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879.373633745,787,804,651.626366255,631.373633745,652.626366255,0.40991037686,-0.00551385696793,0.0799602788063,0.999999997304,1.65089393584e-05,-6.26829051907e-05,-3.44938289542e-05,1793240032446669568
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879.951905925,787,804,651.048094075,631.951905925,652.048094075,0.410592936418,-0.00552044918861,0.0799991221014,0.999999999394,6.43826220386e-06,3.47276123664e-06,-3.40423737591e-05,1793240032463336192
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469677028,745,715,680,661,635,879.469677028,787,804,651.530322972,632,652,0.411263952789,-0.00552218049149,0.0800012977332,0.999999999383,6.42348286611e-06,3.80309148244e-06,-3.4315322483e-05,1793240032480002560
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.109370424,635,879,787,804,652,631.890629576,652.109370424,0.411927205305,-0.00552391409273,0.0799939647922,0.999999999312,4.71204246359e-06,-1.00448450241e-05,-3.53867544504e-05,1793240032496669440
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.691083515,635,879,787,804,652,631.308916485,652.691083515,0.412561449772,-0.0055275619634,0.079959931931,0.99999999742,-8.26640181746e-06,-5.93369110201e-05,-3.96228324943e-05,1793240032513336064
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.726383631,635,879,787,804,652,631,653,0.413236935692,-0.00553063303274,0.079933964314,0.999999994505,-1.95708092811e-05,-9.31845447909e-05,-4.38531773508e-05,1793240032530002944
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.142922397,635,879,787,804,652,631,653,0.41395912377,-0.00553305092916,0.0799171298249,0.999999992425,-2.8979528801e-05,-0.000109542814629,-4.80770305323e-05,1793240032546669568
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436293564,745,715,680,661.436293564,635,879.436293564,787,804,651.563706436,631,652.563706436,0.414729292936,-0.00553661957771,0.0799326914034,0.999999995236,-3.04191142125e-05,-8.00252334552e-05,-4.68934224484e-05,1793240032563336192
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.985935651,635,879.985935651,787,804,651.014064349,631,652.014064349,0.415514832534,-0.00554058434278,0.0799581580295,0.999999997909,-2.94908645147e-05,-3.70182217563e-05,-4.40619481296e-05,1793240032580002560
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.410871751,635,879.410871751,787,804,651.589128249,631,652.589128249,0.416292560149,-0.00554545785632,0.0799594888707,0.999999997042,-3.72407316887e-05,-4.96112027191e-05,-4.54768152552e-05,1793240032596669184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.83158444,745,715,680,661,635,879,787,803.83158444,651.83158444,631,652.83158444,0.417077879064,-0.00555026825238,0.0799603824293,0.999999996365,-4.62156760701e-05,-5.38691664437e-05,-4.72556252841e-05,1793240032613335552
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.241728572,745,715,680,661,635,879,787,803.241728572,651.241728572,631,652.241728572,0.417882194274,-0.00555492070402,0.0799601817392,0.999999996361,-5.82562329119e-05,-3.72697202929e-05,-4.99451599318e-05,1793240032630002176
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.341774512,745,715,680,661,635,879.341774512,787,803.341774512,651.341774512,631,652.341774512,0.418721764107,-0.00555976930522,0.0799757713176,0.999999996526,-6.63429238492e-05,-2.98590284326e-06,-5.03835335912e-05,1793240032646669056
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.9208664,745,715,680,661,635,879.9208664,787,803.9208664,651.9208664,631,652.9208664,0.419585813597,-0.00556475410625,0.0800023251574,0.999999995268,-7.16841751724e-05,4.3577380152e-05,-4.92587723097e-05,1793240032663335936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.503056505,745,715,680,661.496943495,635,879.503056505,787,804,652,631,652.503056505,0.420410998895,-0.00556107825982,0.0799897753686,0.999999996205,-6.75704727601e-05,2.4540470135e-05,-4.92100658217e-05,1793240032680002560
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.072497368,715,680.072497368,661.927502632,635,879.072497368,787,804,651.927502632,631,652,0.421238713254,-0.00555277350047,0.0799743941877,0.9999999971,-5.79254721469e-05,2.43280374731e-07,-4.94524863618e-05,1793240032696669184
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.647731702,715,680.647731702,661.352268298,635,879.647731702,787,804,651.352268298,631,652,0.422126622626,-0.00552187525604,0.0799822988763,0.999999998451,-2.03011807282e-05,1.14714492102e-05,-5.0532661125e-05,1793240032713335808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.779615177,714.779615177,681,661.220384823,635,879.779615177,787,804,651.220384823,631.220384823,652,0.423009041757,-0.00550409237569,0.0799973688765,0.999999998238,2.03829461838e-06,3.12844393482e-05,-5.04117565142e-05,1793240032730002688
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.211040075,714.211040075,681,661.788959925,635,879.211040075,787,804,651.788959925,631.788959925,652,0.423882786885,-0.0055070307101,0.0800237594932,0.999999996739,2.28996690512e-07,6.46607578706e-05,-4.83932433989e-05,1793240032746669312
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.377731323,681,661.622268677,635,879,787,804,652,631.622268677,652.377731323,0.424707018874,-0.00551370808961,0.0800025742297,0.999999998567,-1.21531221727e-05,1.80766792922e-05,-4.89002786322e-05,1793240032763335680
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.978423833,681,661.021576167,635,879,787,804,652,631.021576167,652.978423833,0.425502024988,-0.00552259249252,0.0799533066372,0.999999995365,-3.07759959787e-05,-7.570514192e-05,-5.08980538098e-05,1793240032780002304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.447348221,681,661,635,879.552651779,787,804,651.447348221,631,653,0.426386861081,-0.00552384894153,0.0799352851551,0.999999995019,-2.88178499469e-05,-7.93582044317e-05,-5.3226893707e-05,1793240032796668928
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.128825906,745,714.128825906,681,661.128825906,635,880,787,804,651,631,652.871174094,0.427268928445,-0.00552543990663,0.0799222158583,0.99999999472,-2.81328370943e-05,-8.20395238357e-05,-5.51100810527e-05,1793240032813335808
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.715419123,745,714.715419123,681,661.715419123,635,880,787,804,651,631,652.284580877,0.428129264967,-0.00552922938714,0.0799226069314,0.999999993522,-3.46964384349e-05,-9.31998764618e-05,-5.53658665436e-05,1793240032830002432
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879.700380666,787,804,651,631,652.299619334,0.429005636312,-0.00552998007556,0.0799340380293,0.999999994253,-3.70348609334e-05,-8.42884537719e-05,-5.49384251976e-05,1793240032846669312
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879.118435374,787,804,651,631,652.881564626,0.429897116938,-0.00552786736415,0.0799558719456,0.999999996329,-3.53919723425e-05,-5.64637543495e-05,-5.38671913424e-05,1793240032863335936
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.538964708,681,662,635,879.461035292,787,804,651.461035292,631,652.538964708,0.430800412082,-0.00552574204229,0.0799928451803,0.99999999803,-3.41500615722e-05,2.46180833544e-07,-5.26596843087e-05,1793240032880002560
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681.039433328,661.960566672,635,880,787.039433328,804,652,631,652.039433328,0.43169997948,-0.00552378500672,0.0800298853697,0.999999996479,-3.29462205492e-05,5.74967892845e-05,-5.14910767493e-05,1793240032896668928
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681.611879118,661.388120882,635,880,787.611879118,804,652,631,652.611879118,0.432508353851,-0.00552414621951,0.0800155424561,0.999999997958,-3.08720689826e-05,2.22918743093e-05,-5.13189287035e-05,1793240032913335552
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809482505,745,714.190517495,681.809482505,661.190517495,635,880,787.809482505,804,651.809482505,631,652.809482505,0.433307793229,-0.00552424428216,0.0799848744974,0.999999997716,-3.17950599212e-05,-2.77748347974e-05,-5.2788520044e-05,1793240032930002176
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.217804693,745,714.782195307,681.217804693,661.782195307,635,880,787.217804693,804,651.217804693,631,652.217804693,0.434088418921,-0.00552378824669,0.0799198319485,0.999999991618,-3.90289387781e-05,-0.000109135065344,-5.77150152658e-05,1793240032946669056
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.365516638,714.634483362,681.365516638,662,635,880,787,804,651,631,652.365516638,0.434905234175,-0.00552601851079,0.0799077132253,0.999999990187,-4.46625011357e-05,-0.000118678884221,-5.9556263616e-05,1793240032963335424
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.943969756,714.056030244,681.943969756,662,635,880,787,804,651,631,652.943969756,0.435743132084,-0.00552981371373,0.0799264259703,0.999999993274,-4.93637779045e-05,-8.63851121819e-05,-5.96001610154e-05,1793240032980002048
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.520724456,745.479275544,714,681.479275544,662,635,880,787,804,651,631,653,0.436514921168,-0.00553257264609,0.0799417237151,0.999999993429,-5.01285845591e-05,-8.58966873241e-05,-5.70197510118e-05,1793240032996668928
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.673121877,633,880,785.673121877,804.326878123,651.673121877,631,653,0.443121012339,-0.00554438085642,0.0796983574214,0.999999888479,-7.67913770306e-05,-0.000460634313541,-7.04366477751e-05,1793240033163335680
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,682,658,632.22812106,880,785,804.77187894,651,631,653,0.446172781881,-0.00554941724737,0.0796737685076,0.999999865821,-8.55423461743e-05,-0.000506256018216,-6.88883271696e-05,1793240033263335936
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+200,3.333333333,POSE1_TO_POSE2_PRESS,765.031494828,745,713.031494828,682,657.031494828,632,880,785,805,651.968505172,631,653,0.447071391166,-0.00553585207,0.0796725764043,0.999999877198,-6.43869680001e-05,-0.000486471395356,-6.93035327893e-05,1793240033296669184
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,746,713,682.759598745,654,629,881,782,805,651.240401255,630,652.240401255,0.451226228445,-0.00556542857843,0.0796298081386,0.999999832469,-0.000109165412606,-0.00056524664838,-6.03397242864e-05,1793240033980002560
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.344123968,745.655876032,713,682.655876032,653.655876032,629,880.655876032,782,804.655876032,651,630,652.344123968,0.451227746993,-0.00556532523271,0.0796304276879,0.999999833262,-0.000109371869785,-0.000563800502438,-6.03565323192e-05,1793240033996669440
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.924041745,745.075958255,713,682.075958255,653.075958255,629,880.075958255,782,804.075958255,651,630,652.924041745,0.451229058689,-0.00556467937628,0.0796309243797,0.999999833963,-0.000109135347637,-0.00056258118382,-6.05500001965e-05,1793240034013336064
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,682,653,629.500027653,880,782,804,651,630,653,0.451229262924,-0.0055637314068,0.0796309868611,0.999999834306,-0.000106893745231,-0.000562414395671,-6.04368329731e-05,1793240034030002688
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.075316848,713.075316848,682,653,629.924683152,880,782,804.075316848,651,629.924683152,653,0.451229007338,-0.00556313617471,0.0796307610186,0.99999983426,-0.000105236388169,-0.000562827443835,-6.02496313705e-05,1793240034046669312
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.649915753,713.649915753,682,653,629.350084247,880,782,804.649915753,651,629.350084247,653,0.451226810083,-0.00556518112836,0.0796290576954,0.999999832021,-0.000109455433622,-0.000566032636506,-5.98780255778e-05,1793240034063335680
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.769660359,746,713.769660359,682.230339641,653.230339641,629,880,782,804.769660359,651,629.230339641,652.769660359,0.45122618547,-0.00556629588034,0.0796285980986,0.99999983112,-0.000111869242261,-0.000567168719352,-5.97048078996e-05,1793240034080002304
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.180153522,746,713.180153522,682.819846478,653.819846478,629,880,782,804.180153522,651,629.819846478,652.180153522,0.451228013067,-0.00556596017483,0.0796300778367,0.99999983234,-0.0001114681568,-0.000565078452379,-5.98409355433e-05,1793240034096669184
+249,4.150000000,POSE1_TO_POSE2_PRESS,764,746,713,682.597097716,653.597097716,629,880.402902284,782,804.402902284,651,630,652.402902284,0.451227965299,-0.00556499755442,0.0796299480638,0.999999832182,-0.000110607910322,-0.000565508159404,-6.00238309707e-05,1793240034113335808
+250,4.166666667,POSE1_TO_POSE2_PRESS,764,746,713,682.016881,653.016881,629,880.983119,782,804.983119,651,630,652.983119,0.451227092195,-0.00556375903323,0.0796291099564,0.999999831415,-0.000109545590369,-0.000567046889209,-6.02273085591e-05,1793240034130002688
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.556352242,746,713,682,653.556352242,629,881,782,805,651,630,653,0.45122730275,-0.0055632879936,0.0796287474181,0.999999830932,-0.000109340571731,-0.000567959387818,-6.00309372056e-05,1793240034146669568
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.867006238,713.132993762,682.132993762,653.867006238,629,880.867006238,781.867006238,805,651.132993762,630,653,0.451227456673,-0.00556273924055,0.0796285825254,0.999999830611,-0.000109180274589,-0.000568561948804,-5.99629757936e-05,1793240034163336192
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.277959719,713.722040281,682.722040281,653.277959719,629,880.277959719,781.277959719,805,651.722040281,630,653,0.451227305041,-0.00556184513353,0.0796290465168,0.999999830821,-0.00010908523886,-0.000568166043794,-6.03764362249e-05,1793240034180002560
+254,4.233333333,POSE1_TO_POSE2_PRESS,764.694160713,745,714,682.694160713,653,629,880,781,805,651.694160713,630,653,0.451227188651,-0.00556130778046,0.0796285832478,0.999999830784,-0.000107824755885,-0.000568462932118,-6.04659850191e-05,1793240034196669184
+255,4.250000000,POSE1_TO_POSE2_PRESS,764.115050455,745,714,682.115050455,653,629,880,781,805,651.115050455,630,653,0.451227103752,-0.00556108919126,0.0796272914608,0.99999983052,-0.000105522932199,-0.000569378839389,-6.02661149628e-05,1793240034213335808
+256,4.266666667,HOLD_POSE2,765,745,713,682,653,629,880,782,805,651,630,652,0.4512295865,-0.00556268649618,0.079629484592,0.999999832852,-0.000105084627675,-0.00056538141692,-5.99683225149e-05,1793240034245552384
+257,4.283333333,HOLD_POSE2,765,745,713,682,653,629,880,781.426562788,805,651,630,652,0.451229290396,-0.00556357667209,0.0796290889614,0.999999832041,-0.000106044593302,-0.000566635657068,-5.99686430528e-05,1793240034262219264
+258,4.300000000,HOLD_POSE2,765,745.151565335,713,682,653,629,880,781,805,651.151565335,630,652.151565335,0.45122906157,-0.00556393537189,0.0796288637869,0.999999831443,-0.000106908753915,-0.00056753656231,-5.98869165317e-05,1793240034278886400
+259,4.316666667,HOLD_POSE2,765,745.743317263,713,682,653,629,880,781,805,651.743317263,630,652.743317263,0.451229028133,-0.00556275052198,0.0796291336629,0.999999831471,-0.000107494671171,-0.000567411288027,-5.9566903233e-05,1793240034295553024
+260,4.333333333,HOLD_POSE2,765,745.672855399,713,682,653,629,880,781.327144601,805,652,630,653,0.451228807699,-0.00556269415876,0.0796287888944,0.999999831489,-0.000107529050492,-0.000567384640076,-5.94441733707e-05,1793240034312219904
+261,4.350000000,HOLD_POSE2,765,745.095098798,713,682,653,629,880,781.904901202,805,652,630,653,0.451228444015,-0.00556350228278,0.079627973272,0.999999831501,-0.00010714091929,-0.000567433545704,-5.94725742401e-05,1793240034328886528
+262,4.366666667,HOLD_POSE2,764.518965914,745,713,682.481034086,653,629,880,782,804.518965914,651.518965914,629.518965914,653,0.451229407932,-0.00556365929814,0.0796281845103,0.999999831479,-0.000108515273872,-0.000567184213693,-5.9732259077e-05,1793240034345552896
+263,4.383333333,HOLD_POSE2,764,745,713,683,653,629.057895483,880,781.942104517,804.057895483,651,629.057895483,653,0.451230464462,-0.00556349439267,0.079628598723,0.99999983151,-0.000109711853379,-0.000566871668808,-5.99941046405e-05,1793240034362219520
+264,4.400000000,HOLD_POSE2,764,745,713,683,653,629.644328246,880,781.355671754,804.644328246,651,629.644328246,653,0.45122997847,-0.00556156178992,0.0796290188744,0.999999832107,-0.000106115254501,-0.000566518493092,-5.98596577967e-05,1793240034378886144
+265,4.416666667,HOLD_POSE2,764.227943663,745,713,682.772056337,653.227943663,629.772056337,879.772056337,781.227943663,805,651,630,653,0.451229661727,-0.00556105557475,0.079629120697,0.999999832133,-0.000105405191095,-0.000566613029022,-5.97804018687e-05,1793240034395552512
+266,4.433333333,HOLD_POSE2,764.807216655,745,713,682.192783345,653.807216655,629.192783345,879.192783345,781.807216655,805,651,630,653,0.451229605846,-0.00556274784945,0.0796287318794,0.999999831287,-0.000109144142124,-0.000567397622474,-5.97862116543e-05,1793240034412219136
+267,4.450000000,HOLD_POSE2,765,745,713,682,653.613610089,629,879.386389911,782,805,651.386389911,630,653,0.451230298333,-0.00556259579271,0.0796285267954,0.999999831437,-0.000108199223423,-0.000567305085364,-5.98641908835e-05,1793240034428885760
+268,4.466666667,HOLD_POSE2,765,745,713,682,653.034486529,629,879.965513471,782,805,651.965513471,630,653,0.451231364112,-0.00556152377233,0.0796284133587,0.99999983208,-0.000104917962212,-0.000566775030236,-5.99781686727e-05,1793240034445552384
+269,4.483333333,HOLD_POSE2,764.461825838,745.538174162,713.538174162,682,653.538174162,629,880.538174162,781.461825838,805,652,630,653,0.451232313253,-0.00556375760386,0.0796295681291,0.999999832433,-0.000107719770507,-0.000565674660956,-5.95150072741e-05,1793240034462219776
+270,4.500000000,HOLD_POSE2,764.114197185,746,713.885802815,682,654,629,880.885802815,781.114197185,805,651.885802815,629.885802815,653,0.451232883099,-0.00556534318796,0.0796304015876,0.999999832602,-0.000109649140929,-0.000565042337569,-5.91644085753e-05,1793240034478886912
+271,4.516666667,HOLD_POSE2,764.705993952,746,713.294006048,682,654,629,880.294006048,781.705993952,805,651.294006048,629.294006048,653,0.451231897534,-0.00556334219317,0.0796295553969,0.99999983211,-0.00010631885248,-0.000566518522861,-5.94374115283e-05,1793240034495552768
+272,4.533333333,HOLD_POSE2,765,745.708950677,713,682,654,629,880,782,804.708950677,651,629.291049323,652.708950677,0.451231225417,-0.00556236221269,0.0796290218823,0.999999831821,-0.000105269247604,-0.000567210654114,-5.95721024948e-05,1793240034512219136
+273,4.550000000,HOLD_POSE2,765,745.130551058,713,682,654,629,880,782,804.130551058,651,629.869448942,652.130551058,0.451230862765,-0.00556239027028,0.0796287970698,0.99999983174,-0.000106471340656,-0.000567128696008,-5.95702393047e-05,1793240034528885760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,713,681,653,629,880,782,806,652,630,653,0.451232598758,-0.00556494678854,0.0796298029726,0.999999832139,-0.000109147154182,-0.000565970855154,-5.90436204391e-05,1793240034561637376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.411291989,746,713,681.588708011,653,629,880,781.411291989,805.411291989,651.411291989,630,653,0.451231528507,-0.00556566253358,0.0796282505451,0.999999831042,-0.000111052289599,-0.000567568075635,-5.87437967619e-05,1793240034578303744
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745.825287831,713,682,653,629,880,781.174712169,805,651.174712169,630,653,0.451230894207,-0.00556549123602,0.079627471497,0.999999830497,-0.000111585212975,-0.000568426634689,-5.86941668161e-05,1793240034594970368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745.245551723,713,682,653,629,880,781.754448277,805,651.754448277,630,653,0.451231270547,-0.005563263565,0.0796284853239,0.999999831243,-0.000108937026158,-0.000567572802972,-5.92245447836e-05,1793240034611636736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,629,880,782,805,651.66736979,630,653,0.45123160123,-0.00556183837393,0.0796288066379,0.999999831593,-0.000107784773816,-0.000567134779325,-5.96235179906e-05,1793240034628303360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,629,880,782,805,651.090329868,630,653,0.451231898365,-0.00556100282844,0.079628619108,0.999999831656,-0.000107731702954,-0.000567002282793,-5.99259376999e-05,1793240034644969984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.48487593,745.48487593,713,682,653,629,880,781.51512407,805,651,629.51512407,652.51512407,0.451231925532,-0.00556147675679,0.079628854564,0.999999831886,-0.000106425311694,-0.000566876831019,-5.95974623499e-05,1793240034661636608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,713.061352621,682,653,629,880.061352621,781.061352621,804.938647379,651.061352621,629.061352621,652.061352621,0.451232005439,-0.00556209892931,0.0796291684539,0.999999832188,-0.000105322350365,-0.000566587187687,-5.92545693716e-05,1793240034678303232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.651722837,682,653,629,880.651722837,781.651722837,804.348277163,651.651722837,629.651722837,652.651722837,0.451232972138,-0.00556190381352,0.0796294817458,0.999999832843,-0.000107979151986,-0.000564870516653,-5.97969728543e-05,1793240034694969856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.762951596,713.762951596,682,653,629,880.762951596,782,804.237048404,652,630,653,0.451228617647,-0.00556187769929,0.0796271652092,0.999999831166,-0.000108359991715,-0.000567747440499,-5.99119893711e-05,1793240034711636480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.184883354,713.184883354,682,653,629,880.184883354,782,804.815116646,652,630,653,0.451216608047,-0.00556209471214,0.0796210653792,0.999999826075,-0.0001054666132,-0.000577232748861,-5.9412163338e-05,1793240034728303360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.391745519,713.391745519,682.391745519,653,629,880.391745519,782,805,651.608254481,630,653,0.4511857159,-0.00556181412537,0.079605887308,0.999999811588,-0.000104522157371,-0.000601946733021,-5.96571887059e-05,1793240034744969984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.967697623,713.967697623,682.967697623,653,629,880.967697623,782,805,651.032302377,630,653,0.451145944801,-0.00556129955732,0.0795864404657,0.99999979186,-0.000104494123661,-0.000633821545729,-6.02524580196e-05,1793240034761636608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.458471914,653,629,881,782,805,651.541528086,630,653,0.451086025979,-0.00555935320254,0.0795664069029,0.999999770076,-0.000104047658083,-0.000667366876878,-6.03565037958e-05,1793240034778302976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.88125971,745.88125971,713.88125971,682,653,629.11874029,880.88125971,781.88125971,805,652,629.88125971,653,0.451022989657,-0.00555721909198,0.0795482147396,0.999999750006,-0.000103147305222,-0.000696931932696,-6.02917249905e-05,1793240034794969600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.290090934,745.290090934,713.290090934,682,653,629.709909066,880.290090934,781.290090934,805,652,629.290090934,653,0.450952312791,-0.00555467644132,0.0795374875952,0.999999740927,-0.000100540003293,-0.000710265881224,-5.96713758466e-05,1793240034811636224
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.874604827,745.874604827,713,682,653,629.125395173,880,781.874604827,805,651.125395173,629.874604827,652.125395173,0.450784941387,-0.00555140061267,0.0795327496177,0.999999737828,-9.72406515448e-05,-0.000715401727193,-5.55684420715e-05,1793240034844969472
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,713.778802572,682.221197428,653.442394856,630,880.221197428,782,805,651,630,652.778802572,0.450103332992,-0.00553952562999,0.0795242805097,0.99999972914,-8.53834195671e-05,-0.000729988052009,-3.93446070508e-05,1793240034928303104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.642377372,713.642377372,682,653.357622628,629.642377372,880.357622628,782,805,651.357622628,630,653,0.449904802342,-0.00553641835784,0.0795226955914,0.999999726687,-7.94592304491e-05,-0.000734266899199,-3.41073625232e-05,1793240034944969728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.064027775,713.064027775,682,653.935972225,629.064027775,880.935972225,782,805,651.935972225,630,653,0.449694581494,-0.00553314616948,0.0795236509343,0.999999726978,-7.21065809128e-05,-0.000734873203022,-2.83951272624e-05,1793240034961636352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.508670438,653.491329562,629.508670438,880.491329562,782,804.491329562,651.491329562,630,653,0.449463664689,-0.00552956228607,0.0795265756996,0.999999730373,-6.26105454359e-05,-0.000731340024131,-2.17908169621e-05,1793240034978302976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.083471043,713,682.916528957,653.083471043,630,880,782,804.083471043,651,630,653,0.449223990728,-0.00552597294471,0.079528741075,0.99999973265,-5.30975639972e-05,-0.000729144622451,-1.51278488212e-05,1793240034994969344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.675362763,713,682.324637237,653.675362763,630,880,782,804.675362763,651,630,653,0.448946669991,-0.00552258670487,0.0795247876775,0.999999726448,-4.51066147479e-05,-0.00073823642094,-8.78402294324e-06,1793240035011636224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.738970028,713,682,654.261029972,630,880.261029972,782,804.738970028,651,630,653,0.448648977345,-0.00551802008182,0.0795215081842,0.999999721569,-3.47353455963e-05,-0.000745419309657,-2.15530942483e-06,1793240035028303104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.160863845,713,682,654.839136155,630,880.839136155,782,804.160863845,651,630,653,0.448326538716,-0.00551201963345,0.0795190472907,0.999999718295,-2.14726740191e-05,-0.000750283422408,4.81946011858e-06,1793240035044970240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.415933795,713,682,654.584066205,630,880.584066205,782,804.415933795,651,630,653,0.447971266303,-0.00550543835519,0.0795154615089,0.999999713991,1.08292023818e-05,-0.000756185158847,9.17624529606e-06,1793240035061636864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.992226924,713,682,654.007773076,630,880.007773076,782,804.992226924,651,630,653,0.447603335145,-0.0054986331436,0.0795114420371,0.999999707955,5.0471463523e-05,-0.000762486940146,1.25236912276e-05,1793240035078303232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.435789141,713.564210859,682,654.564210859,630.564210859,880.564210859,782.564210859,805,651.564210859,630,653,0.447226987868,-0.00549194158426,0.0795236947141,0.999999722177,3.90932624576e-05,-0.000744348393854,7.97144763818e-06,1793240035094969600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.858933815,682,655,630.858933815,880.858933815,783,805,652,630,653,0.44684006258,-0.00548606949625,0.0795359669579,0.999999735431,2.93643321241e-05,-0.000726805260793,5.3944073279e-06,1793240035111636224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.266296033,682,655,630.266296033,880.266296033,783,805,652,630,653,0.446419644095,-0.00548281567182,0.0795475896456,0.999999745945,2.71479723054e-05,-0.000712237818901,9.48600496316e-06,1793240035128303104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.316780913,682.316780913,655.316780913,630.316780913,880,783,805,651.683219087,630,653,0.445964684699,-0.0054777013896,0.0795593801325,0.999999754786,3.91453257919e-05,-0.000699095736392,1.26994638209e-05,1793240035144969984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.892056247,682.892056247,655.892056247,630.892056247,880,783,805,651.107943753,630,653,0.445481539745,-0.00547106896644,0.0795713075455,0.999999761852,6.27411227017e-05,-0.000687116750645,1.51963585638e-05,1793240035161636864
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.532034545,682.532034545,656,631.467965455,880.467965455,783.467965455,804.532034545,651,630.467965455,652.532034545,0.444949584901,-0.00546420517913,0.0795776203065,0.999999767745,6.15692894507e-05,-0.000678566179482,1.63331474575e-05,1793240035178303488
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,656,632,880.954800588,784,804.045199412,651,630.954800588,652.045199412,0.444405540919,-0.00545717019951,0.0795827408428,0.999999773102,5.72765379218e-05,-0.000670984196993,1.72174323323e-05,1793240035194970112
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,656,632,880.3633249,784,804.6366751,651,630.3633249,652.6366751,0.443851645486,-0.00544871207286,0.0795891260745,0.99999977479,8.44057430944e-05,-0.000665537754509,1.88468361281e-05,1793240035211636480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.22245021,682,656.22245021,632,880,784.22245021,805,651,630,653,0.443282794077,-0.00543991170757,0.0795939374161,0.999999777647,9.74123789364e-05,-0.000659436981372,1.89750572087e-05,1793240035228303104
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.799147245,682,656.799147245,632,880,784.799147245,805,651,630,653,0.442690125654,-0.00543056633563,0.0795962423736,0.999999783251,8.7929147487e-05,-0.00065229420269,1.67126793783e-05,1793240035244969728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.376332397,632.376332397,880.376332397,784.623667603,805,651,630,653,0.44207903594,-0.0054241554565,0.0796135364209,0.999999800834,0.000101007558136,-0.000622822250811,1.48945412452e-05,1793240035261636352
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.953778383,632.953778383,880.953778383,784.046221617,805,651,630,653,0.44145810183,-0.00541931278276,0.0796388406997,0.999999822932,0.000126143003676,-0.000581417495547,1.33138066865e-05,1793240035278302976
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880.472716908,784.527283092,804.472716908,651,631.054566185,653,0.440752706031,-0.00542396020883,0.0796320857603,0.999999822641,0.000110839257291,-0.000585012742119,1.38936377342e-05,1793240035294969856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.104058422,714,682,658.104058422,633,880,785.104058422,804,651,631.895941578,653,0.440037589004,-0.00542672439801,0.0796215415882,0.999999818198,9.94296538723e-05,-0.000594562443471,1.46262586253e-05,1793240035311636480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.697839771,714,682,658.697839771,633,880,785.697839771,804,651,631.302160229,653,0.439311307837,-0.00541673956389,0.0796062922562,0.999999804013,0.000122906123085,-0.000613708254735,1.51932195341e-05,1793240035328303360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.282962376,745.717037624,714,682,659,633.282962376,880,786,804,651.282962376,631,653,0.438609220814,-0.00541037471357,0.0796297503365,0.999999825222,0.000132276893137,-0.000575979453666,1.75026868386e-05,1793240035344969984
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.859113382,745.140886618,714,682,659,633.859113382,880,786,804,651.859113382,631,653,0.43793220222,-0.00540776067194,0.0796933147122,0.999999876824,0.00012703218641,-0.000479320591658,2.16176346449e-05,1793240035361636352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.564727772,745.435272228,714,682,659.435272228,634,880,786,804.435272228,651.564727772,631,652.564727772,0.437228127818,-0.00541056574807,0.0797664724056,0.999999922935,0.000128655032154,-0.000369962955746,2.6553156023e-05,1793240035378302720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.988333037,714.011666963,682,660,634,879.988333037,786,804.988333037,651,631,652,0.43651369692,-0.00541519166076,0.0798415941177,0.999999957442,0.000132414351559,-0.000258027702892,3.17026364491e-05,1793240035394969600
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.400410866,714.599589134,682,660,634,879.400410866,786,804.400410866,651,631,652,0.435720283112,-0.00542311566834,0.0798603522303,0.999999966115,0.000131905305167,-0.000221796910449,3.43013094478e-05,1793240035411636224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.814980584,682,660,634,879.185019416,786,804.185019416,651,631,652,0.434904254506,-0.00542751406088,0.079865178431,0.999999968859,0.000131470357905,-0.00020907350448,3.58674656021e-05,1793240035428302848
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.234871509,682,660,634,879.765128491,786,804.765128491,651,631,652,0.434039934403,-0.00542438386989,0.0798402544865,0.999999960381,0.000131193641828,-0.000246547672348,3.52287896483e-05,1793240035444969728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786,805,651,631,652.341509154,0.433140492693,-0.00541742133236,0.0798023775699,0.999999940374,0.000139398774852,-0.000313982614375,3.51443491223e-05,1793240035461636352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786,805,651,631,652.915353287,0.432217157142,-0.00540785157892,0.0797556885084,0.999999906888,0.000153374265518,-0.000401800420501,3.54369650099e-05,1793240035478303232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.490236229,745,714,682,660,634.490236229,879.509763771,786,805,651.490236229,631,653,0.431308177665,-0.00540280205819,0.0797311323633,0.999999886452,0.000166305190493,-0.000445149267424,3.5775797285e-05,1793240035494969856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.932619463,745,714,682,660,635,879.067380537,786.067380537,804.932619463,651.932619463,631,653,0.430412779871,-0.00539943390462,0.0797210635744,0.999999876409,0.000177315742336,-0.000463046180842,3.64584203849e-05,1793240035511636480
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.339225075,745,714,682,660,635,879.660774925,786.660774925,804.339225075,651.339225075,631,653,0.429604017446,-0.0054030856415,0.0797941950189,0.999999925351,0.000174745665832,-0.000342317986467,3.97624567111e-05,1793240035528302848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.246829563,681.753170437,660,635,880,786.753170437,804,651.246829563,631,653,0.428766232936,-0.00541030524121,0.0798450724766,0.999999950845,0.00016881045649,-0.000260661357833,4.32378877647e-05,1793240035544969472
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.82308834,681.17691166,660,635,880,786.17691166,804,651.82308834,631,653,0.427889714204,-0.00542228666266,0.079866248829,0.99999995964,0.000158384000161,-0.00023115128777,4.69420705462e-05,1793240035561636352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.601427312,681,660,635,879.601427312,786.398572688,804,651.601427312,631,653,0.426974611865,-0.00542719703393,0.0798371201251,0.999999951363,0.00015421267987,-0.000267129867303,4.61889886334e-05,1793240035578303232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.026286072,681,660,635,879.026286072,786.973713928,804,651.026286072,631,653,0.426042416957,-0.00542897491416,0.0797857061725,0.999999932228,0.000152812398316,-0.000332120059303,4.34613285709e-05,1793240035594969856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.435850613,660,634.435850613,879,787,804,651,631,652.435850613,0.425095762573,-0.0054208657534,0.079765165635,0.999999916264,0.000165300613836,-0.000371877027028,4.30786464603e-05,1793240035611636736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.152273251,680.152273251,660.152273251,634.152273251,879,787,804,651,631,652,0.424154424613,-0.00541216402599,0.0797477904914,0.999999900437,0.00017837155112,-0.000406746015599,4.3202100803e-05,1793240035628303360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.731854816,680.731854816,660.731854816,634.731854816,879,787,804,651,631,652,0.423229948907,-0.00540312821861,0.079735148802,0.999999887727,0.000191211163147,-0.000431289623612,4.44307173207e-05,1793240035644969728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.690571079,681,660.690571079,635,879.309428921,786.690571079,804,651.309428921,631,652,0.422375602971,-0.00540028257252,0.0797588918588,0.999999905953,0.000196386865155,-0.000384006901217,4.54338520614e-05,1793240035661636352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.114725418,681,660.114725418,635,879.885274582,786.114725418,804,651.885274582,631,652,0.421581638459,-0.00540276662453,0.079813961999,0.999999942145,0.000194963976912,-0.00027488206578,4.62428476729e-05,1793240035678302976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.460790333,681,660,635,879.539209667,786.460790333,804,652,631,652.460790333,0.420765969425,-0.00539869363807,0.0798539076539,0.999999956826,0.000201569103442,-0.000208346089838,4.80572286554e-05,1793240035694969600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.963009013,879.036990987,787,804,651.963009013,631,653,0.41993905778,-0.00539306988258,0.0798852122413,0.999999963833,0.000209870969969,-0.000160625799491,4.98817990998e-05,1793240035711635968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.375392128,879.624607872,787,804,651.375392128,631,653,0.419025177779,-0.00538864595208,0.0798439037166,0.999999948335,0.000213698165084,-0.000235259112285,4.81346504113e-05,1793240035728303104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.790700287,681,660,634.209299713,880,787,804,651,631,652.790700287,0.418136585614,-0.00538595481982,0.0798148403314,0.99999993456,0.000214552531033,-0.000287562551669,4.64131164795e-05,1793240035744969984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.211182289,681,660,634.788817711,880,787,804,651,631,652.211182289,0.4172927235,-0.00538632873448,0.0798074366661,0.999999931808,0.000210148431926,-0.00030036797005,4.47368911182e-05,1793240035761636608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.366626788,680.633373212,660.366626788,634.633373212,879.633373212,787,804,651,631,652,0.416460093415,-0.00538255897357,0.0798056784108,0.999999926484,0.000218179251015,-0.000312092331434,4.50373307339e-05,1793240035778303232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.943456034,680.056543966,660.943456034,634.056543966,879.056543966,787,804,651,631,652,0.415633903172,-0.00537641347029,0.0798071569053,0.999999919468,0.000233339528533,-0.00032319687683,4.64710750699e-05,1793240035794969856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.480470975,680.519529025,660.480470975,634.519529025,879,787,804,651.519529025,631,652,0.414857449254,-0.00537683976851,0.0797935641198,0.99999991427,0.000231748618057,-0.000340178552635,4.5069108778e-05,1793240035811636480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.097751294,680.902248706,660,635,879,787,804,652,631,652.097751294,0.414094552183,-0.00537949179016,0.0797843746222,0.999999912564,0.000227913698256,-0.00034786776392,4.37571495297e-05,1793240035828303104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.687197968,680.312802032,660,635,879,787,804,652,631,652.687197968,0.413372658029,-0.00538974679613,0.0798055728358,0.999999927685,0.000221948491856,-0.000305602472707,4.44481049317e-05,1793240035844969472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.728956758,635,879,787,804,652,631,652.728956758,0.41264728247,-0.00540522228975,0.0798137864774,0.999999935607,0.000204353746995,-0.000291524629836,4.5155049409e-05,1793240035861636352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.151445023,635,879,787,804,652,631,652.151445023,0.411917970537,-0.0054266005861,0.0798073184668,0.999999936038,0.00017360948789,-0.000309318327358,4.58800727091e-05,1793240035878303232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.574889662,680,659.425110338,635,879,787,804,652,631,652.425110338,0.411215581492,-0.00542762795161,0.0797991569647,0.999999931266,0.000171814277687,-0.000325426688961,4.52194436122e-05,1793240035894969856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.001354737,745,714.001354737,680,660,635,879,787,804,652,631,653,0.410522961894,-0.00542143216003,0.0797904458557,0.999999924685,0.000180312665205,-0.000340845437614,4.40730314576e-05,1793240035911636736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.59014571,745,714.59014571,680,660,635,879,787,804,652,631,653,0.409916973947,-0.0054198167164,0.0798044318463,0.999999930578,0.000190408544629,-0.000316994545096,4.58517564409e-05,1793240035928303104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.824440097,745,715,680,660,635,879,787,804,652,631,652.824440097,0.409314508132,-0.00541878271372,0.0798214523257,0.999999937585,0.000197296189663,-0.000289219067323,4.75022436506e-05,1793240035944969472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.2467603,745,715,680,660,635,879,787,804,652,631,652.2467603,0.408720109639,-0.00541908050102,0.0798454233034,0.999999947568,0.000196835377016,-0.000252454323836,4.88590026544e-05,1793240035961636096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634.670502782,879.329497218,787,804,652,631,652.329497218,0.408128920879,-0.00541507120877,0.0798404587341,0.999999943812,0.000201722078036,-0.000263377676112,4.81329962864e-05,1793240035978302720
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634.479363507,879.520636493,786.520636493,804,652,631,652.520636493,0.406994396633,-0.00541087506837,0.0797900834046,0.999999916786,0.00020414135669,-0.000350346814187,4.4852466439e-05,1793240036011636224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.944272127,660,635,879,786.055727873,804,652,631,652,0.406466710877,-0.00541500179642,0.0797704129215,0.999999906601,0.000196265427169,-0.000382536778883,4.40837451913e-05,1793240036028303104
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.237426529,660,635,879,787,804,652,631,652.237426529,0.405597877198,-0.00540714390349,0.0798010814527,0.999999927733,0.000207850529766,-0.000315413308945,4.29690210625e-05,1793240036061636608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.817053361,660,635,879,787,804,652,631,652.817053361,0.405169856193,-0.00540690821212,0.0798164109594,0.999999934955,0.000205861641022,-0.000292869743711,4.40199334899e-05,1793240036078303232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,879,787,804,652,631,652.607484388,0.404774128872,-0.00540902389341,0.0798278182831,0.999999938705,0.000204547079527,-0.000280481925851,4.56220467856e-05,1793240036094969600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,879,787,804,652,631,652.033942766,0.40439329518,-0.00541222401461,0.0798374167193,0.999999940954,0.000203543513841,-0.00027277788004,4.74783709415e-05,1793240036111636224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.458288019,745.541711981,715,679.458288019,660,635,879,787,804,652,631,652,0.404033658488,-0.00540828723708,0.0798351028394,0.999999937147,0.000211292035005,-0.0002808372982,4.68165929271e-05,1793240036128302848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.120931286,745.879068714,715,679,660,635,879,787,804,652,631,652,0.403687579353,-0.00540527209167,0.079832832304,0.999999934419,0.00021496331179,-0.000287812921788,4.59954881388e-05,1793240036144969728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.71353529,745.28646471,715,679,660,635,879,787,804,652,631,652,0.403389178556,-0.00540760262717,0.07983365346,0.999999937766,0.000200584679652,-0.000286693887821,4.51707604035e-05,1793240036161636352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.298461175,745,715,679,660.298461175,635,878.701538825,787,804,652,631,652,0.403103804207,-0.00540799411624,0.0798350306386,0.999999937751,0.000199268733415,-0.000287680253898,4.50490895428e-05,1793240036178302976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.876202355,745,715,679,660.876202355,635,878.123797645,787,804,652,631,652,0.402830619155,-0.00540657117522,0.079836928106,0.999999934639,0.000210175975829,-0.000290636712601,4.55852923337e-05,1793240036194970112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.548698116,745.451301884,715,679.451301884,660.548698116,635,878.451301884,787,804,651.548698116,631,652.451301884,0.402600145925,-0.00540623184405,0.079837971251,0.999999936174,0.000207026869975,-0.000287790226644,4.43651332888e-05,1793240036211636736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.94740881,714.973704405,680,660.026295595,635,878.973704405,787,804,651.026295595,631,652.973704405,0.40238306316,-0.00540619458689,0.0798388667819,0.999999938887,0.000200310412906,-0.000283317829846,4.2801575924e-05,1793240036228303104
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.771157951,714.385578976,680,660.614421024,635,878.385578976,787,804,651.614421024,631,652.385578976,0.40220320558,-0.00540629741127,0.0798415863883,0.999999940551,0.000199278130095,-0.000277919107156,4.41350155441e-05,1793240036244969728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.199378282,714,679.800621718,660.800621718,635,878.199378282,787,804,652,631,652,0.402032450305,-0.00540564552961,0.079844577977,0.999999941726,0.000200124987205,-0.000272782632436,4.56827963595e-05,1793240036261636352
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.778304361,714,679.221695639,660.221695639,635,878.778304361,787,804,652,631,652,0.401879022716,-0.00540355694673,0.0798480873263,0.999999941994,0.000204549081692,-0.000268145388436,4.763860907e-05,1793240036278302976
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.934058167,745,714.934058167,679,660.934058167,635,878.065941833,787,804,652,631,652,0.401606678023,-0.00540916435894,0.0798476410741,0.999999945074,0.000193061602261,-0.000264978647933,4.86394503553e-05,1793240036311636480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.481340929,745,715,679.518659071,660.481340929,635,878.518659071,787,804,652,631,652.518659071,0.401493489851,-0.00540773537651,0.0798422694345,0.999999940723,0.000201301780699,-0.00027613179156,4.22324952681e-05,1793240036328303104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.897052457,660,635,879,787,804,652,631,652.897052457,0.401387451003,-0.00540632522568,0.0798368320421,0.999999935911,0.000210805592796,-0.000287104073317,3.62031162904e-05,1793240036344969984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.318360014,660,635,879,787,804,652,631,652.318360014,0.401303196279,-0.00540821283798,0.0798336305581,0.999999933872,0.000216386885245,-0.000290086078097,3.58270014807e-05,1793240036361636352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.260469706,660,635,879,787,804,652,631,652,0.401229171921,-0.0054089359478,0.0798300381599,0.99999993186,0.000219283572264,-0.000294800044002,3.5884036386e-05,1793240036378303232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.839467268,660,635,879,787,804,652,631,652,0.401167658261,-0.00540823498988,0.0798259677137,0.999999929886,0.000218897260622,-0.000301632021345,3.64707691884e-05,1793240036394970112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.584228234,660.415771766,635,879,787,804,652,631,652,0.401120982953,-0.00540851877823,0.0798259106202,0.999999930489,0.000216776404506,-0.000301078803582,3.71726434577e-05,1793240036411636992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.008956871,660.991043129,635,879,787,804,652,631,652,0.40107999998,-0.00540918033788,0.079827393141,0.999999932075,0.000213990137309,-0.000297692455233,3.79186886239e-05,1793240036428303360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.420666175,745,715,679.579333825,660.420666175,635,879,787,803.420666175,652,631,652.579333825,0.401051255904,-0.00540889295155,0.0798275669052,0.999999932121,0.000213271406832,-0.000297963869946,3.86039123095e-05,1793240036444969728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.164897133,745,715,679.835102867,660,635,879,787,803,652,631,652.835102867,0.401025867288,-0.0054084460036,0.0798275431273,0.999999932084,0.000213056846658,-0.000298191922254,3.89911546128e-05,1793240036461636608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.743108044,745,715,679.256891956,660,635,879,787,803,652,631,652.256891956,0.401008403938,-0.00540763673431,0.0798270760938,0.999999931899,0.000214024023583,-0.000298166282532,3.86339192191e-05,1793240036478303488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.678984137,679,660,635,879,787,803.321015863,652,631,652.321015863,0.400996780527,-0.00540797800943,0.0798277038451,0.999999932326,0.000214432404982,-0.000296416734844,3.87733968458e-05,1793240036494970112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.101318575,679,660,635,879,787,803.898681425,652,631,652.898681425,0.400989826102,-0.00540923913583,0.0798292068681,0.999999933236,0.000214394033786,-0.000293288936073,3.930999265e-05,1793240036511636736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.473548005,635,879,787,804,652,631,653,0.40098508179,-0.00540960924171,0.0798307380259,0.999999933901,0.000214079208997,-0.000291249716666,3.92727911263e-05,1793240036528303360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.048954427,660.951045573,635,879,787,804,652,631,652.951045573,0.400980902955,-0.00540972144697,0.0798321367768,0.999999934469,0.000213713224728,-0.00028958223335,3.91229428784e-05,1793240036544969728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.636858743,660.363141257,635,879,787,804,652,631,652.363141257,0.400977774273,-0.00540908082728,0.0798320119517,0.999999934567,0.000213431372064,-0.000289458199508,3.90765750997e-05,1793240036561636352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.222781876,745,714.222781876,680,660,635,879,787,804,652,631,652,0.400975574351,-0.00540864195812,0.0798321954653,0.999999934533,0.000213669054043,-0.000289405985158,3.90364301298e-05,1793240036578302976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.805504054,745,714.805504054,680,660,635,879,787,804,652,631,652,0.40097487499,-0.00540852904973,0.0798328771501,0.999999934285,0.000214746128629,-0.000289469806871,3.90063391209e-05,1793240036594969600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.618478226,745,715,680,660,635,879,787,803.618478226,652,631,652,0.400976109989,-0.00540849220992,0.079834222265,0.999999934913,0.000215588257985,-0.000286639270698,3.91634021363e-05,1793240036611636480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.045819362,745,715,680,660,635,879,787,803.045819362,652,631,652,0.400978314076,-0.00540849347939,0.079835899749,0.999999935964,0.00021631268302,-0.000282358701572,3.94142267091e-05,1793240036628303360
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.527389217,745,715,680,660.527389217,635,879,786.472610783,803,652,631,652.527389217,0.400977070868,-0.00540986417114,0.079835461669,0.999999936409,0.000212976765167,-0.000283356403814,3.91461474129e-05,1793240036644970240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.89589382,745,715,679.89589382,661,635,878.89589382,786.10410618,803,652,631,652.89589382,0.400975919383,-0.00541096861643,0.0798352309271,0.999999936797,0.000210137918616,-0.000284144258334,3.88547128184e-05,1793240036661636608
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.302926904,745,715,679.302926904,661,635,878.302926904,786.697073096,803,652,631,652.302926904,0.400976606466,-0.00541026355999,0.0798368377852,0.999999937227,0.000211291435267,-0.000281791097234,3.86655239796e-05,1793240036678303232
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.283597013,745,715,679,661,635,878.283597013,787,803.283597013,652,631,652,0.400977139868,-0.00540982996528,0.0798378293513,0.999999937395,0.000212208078329,-0.000280495913758,3.87217625495e-05,1793240036694969856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.863391729,745,715,679,661,635,878.863391729,787,803.863391729,652,631,652,0.40097751276,-0.00540967989371,0.0798381782871,0.999999937294,0.000212877323253,-0.000280305715335,3.90343332557e-05,1793240036711636480
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.439551155,661,635,879,787,804,652,631,652.439551155,0.40097642372,-0.00540925844749,0.0798374801847,0.999999936643,0.00021434577222,-0.000281514414475,3.89804715671e-05,1793240036728303360
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.98508417,745,714.98508417,680,660.98508417,635,879,787,804,652,631,652.98508417,0.400974913663,-0.00540880409413,0.0798364875277,0.999999935852,0.000215959455276,-0.000283108951376,3.88171147959e-05,1793240036744969728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.397203329,745,714.397203329,680,660.397203329,635,879,787,804,652,631,652.397203329,0.400974541009,-0.0054102988908,0.0798365775616,0.999999936383,0.000213689050212,-0.000282961070843,3.8786453677e-05,1793240036761636608
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.187704203,745,714.187704203,680,660.187704203,635,878.812295797,787,804,652,631,652,0.400974379687,-0.00541107914507,0.079836613345,0.999999936676,0.000212557067454,-0.00028278561009,3.8724896389e-05,1793240036778303488
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.766417951,745,714.766417951,680,660.766417951,635,878.233582049,787,804,652,631,652,0.400974658595,-0.00541037092487,0.0798365361184,0.999999936483,0.000213796550051,-0.000282552696565,3.85989788128e-05,1793240036794970368
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.078653903,745.921346097,715,680,661,635,878.921346097,787,803.078653903,652,631,652,0.400976424667,-0.00541083076367,0.0798378711646,0.999999937914,0.000211208458302,-0.000279449071735,3.83486884479e-05,1793240036828303360
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745.506139495,715,679.506139495,661,635,879,787,803,652,631,652,0.400976000512,-0.00541023899555,0.0798379903765,0.999999937353,0.000213846557783,-0.000279417003186,3.86081702875e-05,1793240036844969728
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa26941e5000036df6091df991f2d2573bbf09bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5efcb7a2cfb81269f455ad1e481c5f6762fd370c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6512e8de2217bee558517091ca1a3e6aaff8be174c1cc1e664296c0e23af71d4
+size 26316389
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..435f01505a5ee3c08c9be0ca117304b847e8c978
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+12,0.200000000,BASELINE,765.966883541,745,714,679.033116459,660,635.966883541,879,787.033116459,804,652,631,652.966883541,0.400924588413,-0.0154321281625,0.0599314446181,0.999999971959,-0.000103928687568,-0.000208051751849,-4.46760237404e-05,1793240038897649408
+13,0.216666667,BASELINE,766,745,714.551115539,679,660,636,879,787,803.448884461,652,631,652.448884461,0.400922683803,-0.0154323015661,0.0599297760718,0.99999997136,-0.000104976472323,-0.000210323638807,-4.4998141677e-05,1793240038914316032
+14,0.233333333,BASELINE,766,745,714.864870678,679,660,635.864870678,878.864870678,787,803.270258644,651.864870678,631,652,0.400921383931,-0.0154326486811,0.0599287363242,0.999999970926,-0.000105993991043,-0.000211819595616,-4.5224265963e-05,1793240038930982912
+15,0.250000000,BASELINE,766,745,714.283514302,679,660,635.283514302,878.283514302,787,804.432971396,651.283514302,631,652,0.400922570045,-0.0154334117052,0.0599301082559,0.999999971227,-0.000106355251464,-0.000210249232053,-4.50518369301e-05,1793240038947649792
+16,0.266666667,BASELINE,766,744.703293879,714.296706121,679,660.296706121,635,878,787,804.703293879,651.296706121,631,652,0.400923701867,-0.0154335732673,0.0599306033372,0.999999971486,-0.000106572228819,-0.000208934207196,-4.49098865356e-05,1793240038964316416
+17,0.283333333,BASELINE,766,744.124154799,714.875845201,679,660.875845201,635,878,787,804.124154799,651.875845201,631,652,0.400924782008,-0.0154331623011,0.0599302637492,0.999999971706,-0.000106651863878,-0.000207862237974,-4.47969486034e-05,1793240038980983040
+18,0.300000000,BASELINE,766,744.449867754,715,679,660.550132246,635,878.449867754,787,804,652,631,652.449867754,0.400923660972,-0.0154321341398,0.0599295842869,0.999999971715,-0.000104640940766,-0.000208843704326,-4.47770535202e-05,1793240038997649664
+19,0.316666667,BASELINE,766,745,715,679.02318774,660,635,879,787,804,652,631,653,0.400922033523,-0.0154310444071,0.0599288544634,0.999999971657,-0.000102181949687,-0.000210331806916,-4.47766236041e-05,1793240039014316032
+20,0.333333333,BASELINE,766,745,715,679.613471497,660,635,879,787,804,652,631,653,0.400922710815,-0.0154325678014,0.0599291611801,0.999999971572,-0.000102716399346,-0.000210506600504,-4.4631309717e-05,1793240039030982912
+21,0.350000000,BASELINE,765.799859899,745,715,679.799859899,660,635.200140101,879,787,804,652,631,652.799859899,0.400923074038,-0.0154334490297,0.0599292290041,0.999999971436,-0.000103571060122,-0.000210741180692,-4.46063537283e-05,1793240039047649536
+22,0.366666667,BASELINE,765.22004939,745,715,679.22004939,660,635.77995061,879,787,804,652,631,652.22004939,0.400922841463,-0.0154331120543,0.0599288436432,0.999999971201,-0.000105033168749,-0.000211089177426,-4.48097194782e-05,1793240039064316160
+23,0.383333333,BASELINE,765,745,715,679,660,636,879,787,804,652,631,652,0.400923025466,-0.0154329934535,0.0599291516677,0.999999971533,-0.000103737389039,-0.000210161939242,-4.47766494269e-05,1793240039080983040
+24,0.400000000,BASELINE,765,745,715,679,660,636,879,787,804,652,631,652,0.40092346427,-0.0154330084225,0.0599298838043,0.999999972203,-0.000100754735128,-0.000208454698128,-4.45989624132e-05,1793240039097649664
+25,0.416666667,BASELINE,765.515901711,745,715,679,660,635.484098289,879,787,804,652,631,652.515901711,0.400922543819,-0.0154324914812,0.0599292719333,0.999999971744,-0.000101984591965,-0.000209964987,-4.50032804468e-05,1793240039114316544
+26,0.433333333,BASELINE,766,745,715,679,660,635,879,787,804,652,631,652.896213918,0.400921561895,-0.0154321054306,0.0599285383321,0.999999971198,-0.000103523649065,-0.000211737467281,-4.53290269877e-05,1793240039130983424
+27,0.450000000,BASELINE,766,745,715,679,660,635,879,787,804,652,631,652.31661956,0.400921189459,-0.015432668242,0.0599281279719,0.999999971013,-0.000103717942825,-0.000212602116569,-4.49129202026e-05,1793240039147649792
+28,0.466666667,BASELINE,766,745,715,679,660,635,879,787,803.738174091,652,631,652.261825909,0.400921610243,-0.0154333527857,0.0599281844653,0.999999971016,-0.000104664638382,-0.000212172830874,-4.46676318186e-05,1793240039164316160
+29,0.483333333,BASELINE,766,745,715,679,660,635,879,787,803.161111912,652,631,652.838888088,0.400922986059,-0.0154341838939,0.0599288030469,0.999999971242,-0.000106517219587,-0.000210185657906,-4.46280074286e-05,1793240039180983040
+30,0.500000000,BASELINE,766,744.580639631,715,679,660,635.419360369,879.419360369,787,803.419360369,652,631,652.580639631,0.400922974819,-0.0154332391466,0.0599291974353,0.999999971492,-0.000104036834614,-0.000210192249873,-4.48536609863e-05,1793240039197649408
+31,0.516666667,BASELINE,766,744.001149616,715,679.001149616,660,636,879.998850384,787,804,652,631,652.001149616,0.400922425407,-0.0154316133906,0.0599295027964,0.999999971736,-9.98941058407e-05,-0.000210969875922,-4.51808324026e-05,1793240039214316288
+32,0.533333333,BASELINE,766,744.580990812,715,679.580990812,660,636,879.419009188,787,804,652,631,652.580990812,0.400921414331,-0.0154334315315,0.0599287059949,0.999999971318,-0.000103787120482,-0.000211133403366,-4.48871126654e-05,1793240039230982912
+33,0.550000000,BASELINE,766,745,715,680,660,635.838618433,879,787,804,652,631.161381567,653,0.400920747902,-0.0154344700418,0.0599281772299,0.999999971033,-0.000106056971337,-0.000211401288413,-4.46703782522e-05,1793240039247649280
+34,0.566666667,BASELINE,766,745,715,680,660,635.256796029,879,787,804,652,631.743203971,653,0.400920979368,-0.0154334774119,0.0599283467694,0.999999971125,-0.000104098058926,-0.000211941052065,-4.46542106231e-05,1793240039264316160
+35,0.583333333,BASELINE,766,745,715,679.679203058,660,635.320796942,879,787,804,652,631.679203058,653,0.400920797172,-0.015432879387,0.0599280489186,0.999999971048,-0.00010318003622,-0.000212735920786,-4.47294773142e-05,1793240039280983296
+36,0.600000000,BASELINE,766,745,715,679.104951606,660,635.895048394,879,787,804,652,631.104951606,653,0.400920288151,-0.0154325931308,0.059927381793,0.999999970839,-0.000103084397044,-0.000213732342391,-4.48769842209e-05,1793240039297649920
+37,0.616666667,BASELINE,766,745,715,679,660.471191379,636,879,787,804,652,631,653,0.400919890678,-0.0154338753186,0.059927266356,0.999999970684,-0.000104293808523,-0.000213900324385,-4.47285295511e-05,1793240039314316288
+38,0.633333333,BASELINE,766,745,715,679,660.951226843,636,879,787,804,652,631,652.951226843,0.400919761511,-0.0154352311019,0.0599273810479,0.999999970618,-0.000105488830032,-0.000213671358424,-4.45149399158e-05,1793240039330982912
+39,0.650000000,BASELINE,766,745,715,679,660.362397075,636,879,787,804,652,631,652.362397075,0.400922327032,-0.0154335179123,0.0599286777899,0.999999971402,-0.000103292863964,-0.000211098493292,-4.43130013332e-05,1793240039347649280
+40,0.666666667,BASELINE,766,745,715,678.776780679,660,636,879,787,804,652,631.223219321,652,0.400923584993,-0.0154327710069,0.059929378142,0.999999971776,-0.000102731213134,-0.000209593203082,-4.43183522974e-05,1793240039364316160
+41,0.683333333,BASELINE,766,745,715,678.196307199,660,636,879,787,804,652,631.803692801,652,0.400922750252,-0.015433570603,0.0599291239942,0.999999971506,-0.000104785222731,-0.000209796526691,-4.46554624265e-05,1793240039380982784
+42,0.700000000,BASELINE,766,745,715,678.380571337,660,636,878.619428663,787,804,652,631.619428663,652,0.400922232601,-0.0154331373049,0.0599285279056,0.999999971421,-0.000103955444082,-0.00021059019517,-4.47641264327e-05,1793240039397649664
+43,0.716666667,BASELINE,766,745,715,678.955612857,660,636,878.044387143,787,804,652,631.044387143,652,0.400921876981,-0.0154320740037,0.0599277570869,0.999999971426,-0.000101652062993,-0.000211685527125,-4.47560555225e-05,1793240039414316544
+44,0.733333333,BASELINE,766,745,715,679,660,636,878.529023451,787,803.470976549,652,631,652,0.40092206099,-0.0154340185052,0.0599283617175,0.999999971296,-0.000105273046141,-0.000210549081468,-4.46536866155e-05,1793240039430983168
+45,0.750000000,BASELINE,766,745,715,679,660,635.894172848,879,787,803.105827152,652,631,652,0.400922461985,-0.0154356272898,0.0599291028956,0.99999997126,-0.000108162828773,-0.000209268869154,-4.4575236703e-05,1793240039447649536
+46,0.766666667,BASELINE,766,745,715,679,660,635.301119444,879,787,803.698880556,652,631,652,0.400923654162,-0.0154345321193,0.0599299430437,0.999999971778,-0.000105404674927,-0.000208186226651,-4.46432240549e-05,1793240039464316160
+47,0.783333333,BASELINE,766,745,714.715168906,679,660,635.284831094,879,787,804,652,631,652,0.400923825399,-0.0154333046798,0.0599297917981,0.999999971944,-0.000103074491186,-0.000208526220971,-4.47687110647e-05,1793240039480982784
+48,0.800000000,BASELINE,766,745,714.136544652,679,660,635.863455348,879,787,804,652,631,652,0.400922943572,-0.0154319408094,0.0599286179653,0.99999997175,-0.000101185743079,-0.000210333614537,-4.49535069386e-05,1793240039497649408
+49,0.816666667,BASELINE,766,745,714.437583714,679,660,636,879,787,803.562416286,652,631,652.437583714,0.400923256704,-0.0154325448159,0.059929008948,0.999999971934,-0.000100930774725,-0.000209636731352,-4.4700798339e-05,1793240039514316032
+50,0.833333333,BASELINE,766,745,715,679,660,635.989347421,879,787,803.010652579,652,631,652.989347421,0.400923895092,-0.0154337217404,0.0599298530996,0.999999972221,-0.000101158033268,-0.000208232513637,-4.43246942118e-05,1793240039530982656
+51,0.850000000,BASELINE,766,745,715,679,660,635.398345153,879,787,803.601654847,652,631,652.398345153,0.400922145747,-0.0154329974301,0.0599290544674,0.999999971848,-0.000100165115558,-0.000210432601376,-4.45879634141e-05,1793240039547649536
+52,0.866666667,BASELINE,766,745,715,679.188753721,660,635,878.811246279,787.188753721,804,652,631,652,0.40092151106,-0.0154326350397,0.0599288141445,0.999999971724,-9.98516157985e-05,-0.000211141522921,-4.47341102473e-05,1793240039564316672
+53,0.883333333,BASELINE,766,745,715,679.767781758,660,635,878.232218242,787.767781758,804,652,631,652,0.400923181083,-0.0154330209683,0.0599297282032,0.999999972117,-0.000100942906292,-0.000208767252846,-4.46380904351e-05,1793240039580983296
+54,0.900000000,BASELINE,766,745,715,679.655537217,660,635.344462783,878.688925566,787.655537217,804,652,631.344462783,652.344462783,0.400923745964,-0.0154341818084,0.0599300226602,0.999999972111,-0.00010264563806,-0.000208013544774,-4.44107366316e-05,1793240039597649664
+55,0.916666667,BASELINE,766,745,715,679.080427737,660,635.919572263,879.839144527,787.080427737,804,652,631.919572263,652.919572263,0.40092357086,-0.0154358615165,0.0599299022419,0.999999971837,-0.000104757780956,-0.000208344938855,-4.40954437194e-05,1793240039614316032
+56,0.933333333,BASELINE,766,745,715,679,660,636,879.494646023,787,803.494646023,652,631.494646023,653,0.400923568808,-0.0154348220052,0.0599297063974,0.999999971758,-0.000104683479432,-0.000208688936048,-4.44396339448e-05,1793240039630982912
+57,0.950000000,BASELINE,766.09163411,745,715,679,660.09163411,636,879,787,803.183268219,652,631,653,0.400923675321,-0.0154335054106,0.0599294472702,0.999999971739,-0.000104038652786,-0.000209018366784,-4.48313686951e-05,1793240039647649536
+58,0.966666667,BASELINE,766.671327027,745,715,679,660.671327027,636,879,787,804.342654053,652,631,653,0.400924210205,-0.0154330677438,0.0599289164036,0.99999997187,-0.000102248473606,-0.000209259300261,-4.49052512479e-05,1793240039664316160
+59,0.983333333,BASELINE,766.750708846,745,715,679,660.750708846,635.750708846,879,787,804.501417692,652,631,652.750708846,0.400924103876,-0.0154329320444,0.0599288684227,0.999999971884,-0.00010209329457,-0.000209290426884,-4.48032975651e-05,1793240039680982784
+60,1.000000000,BASELINE,766.175008229,745,715,679,660.175008229,635.175008229,879,787,803.350016458,652,631,652.175008229,0.400923157972,-0.0154331917263,0.0599294527082,0.999999971745,-0.000104078903316,-0.000209046842863,-4.44711126544e-05,1793240039697649920
+61,1.016666667,BASELINE,766,745,714.599927339,678.599927339,660,635.400072661,879,787.400072661,803.800145321,652,631,652,0.400923054122,-0.0154337462365,0.0599293848844,0.999999971587,-0.000105423783486,-0.000209106817235,-4.45584818114e-05,1793240039714316544
+62,1.033333333,BASELINE,766,745,714.02511716,678.02511716,660,635.97488284,879,787.97488284,804.949765681,652,631,652,0.400923318052,-0.0154344295173,0.0599290322423,0.999999971422,-0.000106488816068,-0.00020929937514,-4.48290972938e-05,1793240039730983168
+63,1.050000000,BASELINE,766,745,714.565918466,678.565918466,660.565918466,635.434081534,879,787.434081534,804.434081534,652,631,652,0.400924644458,-0.0154360075787,0.0599296723975,0.99999997175,-0.00010647224317,-0.000207917208459,-4.39810451725e-05,1793240039747649792
+64,1.066666667,BASELINE,765.846744139,745,715,679,660.846744139,635,879,787,804,652,631,652,0.400925074816,-0.0154367827547,0.0599298237013,0.999999971859,-0.000106536554094,-0.000207449744343,-4.35514869704e-05,1793240039764316160
+65,1.083333333,BASELINE,765.271627528,745,715,679,660.271627528,635,879,787,804,652,631,652,0.400922905029,-0.0154352353194,0.0599285044937,0.999999971307,-0.000106959551843,-0.000209698206941,-4.44146018511e-05,1793240039780983040
+66,1.100000000,BASELINE,765.30560466,745,715,679,660,635,879,787.30560466,803.69439534,652,631.30560466,652.30560466,0.400923174439,-0.0154340483459,0.0599286262513,0.999999971471,-0.000105871049391,-0.000209404297879,-4.47068623687e-05,1793240039797649408
+67,1.116666667,BASELINE,765.884730292,745,715,679,660,635,879,787.884730292,803.115269708,652,631.884730292,652.884730292,0.400925626968,-0.0154331839914,0.0599300376954,0.999999972271,-0.000103429730485,-0.000206834926107,-4.4488199214e-05,1793240039814315776
+68,1.133333333,BASELINE,766,745,715,679,660,635.461169095,879,787.538830905,803.461169095,652,631.538830905,652.538830905,0.400924364282,-0.0154327747696,0.0599295318359,0.999999972255,-0.000101204394061,-0.000208034665485,-4.43744116618e-05,1793240039830983168
+69,1.150000000,BASELINE,766,745,715,679,660,636,879.037753693,787,804,652,631,652,0.400922339855,-0.015432508762,0.0599286017952,0.999999972047,-9.91342375462e-05,-0.000210039326786,-4.42989970381e-05,1793240039847650304
+70,1.166666667,BASELINE,766,745,715,679,660,636,879.626203527,787,804,652,631,652,0.400922671191,-0.0154326819889,0.059928434265,0.999999972083,-9.85447284977e-05,-0.000210122725998,-4.44031575307e-05,1793240039864316928
+71,1.183333333,BASELINE,766,745,715,679,660,635.787792563,879.787792563,787,804,652,631,652,0.400922422297,-0.0154327268563,0.0599278929989,0.999999971897,-9.89334269359e-05,-0.000210792745443,-4.45588259022e-05,1793240039880983552
+72,1.200000000,BASELINE,766,745,715,679,660,635.206047878,879.206047878,787,804,652,631,652,0.400921162995,-0.0154325481989,0.0599267009106,0.999999971318,-0.00010102557218,-0.000212484303207,-4.4804189921e-05,1793240039897649920
+73,1.216666667,BASELINE,766,745,715,679,660.370159273,635,879,787.370159273,804,652,631,652,0.400920690976,-0.0154327381621,0.0599266615333,0.999999971089,-0.000102701661488,-0.000212783860581,-4.46898636025e-05,1793240039914316288
+74,1.233333333,BASELINE,766,745,715,679,660.943329374,635,879,787.943329374,804,652,631,652,0.400920650735,-0.0154331302922,0.0599272543509,0.999999971052,-0.000104149568193,-0.000212319986613,-4.43782680435e-05,1793240039930982912
+75,1.250000000,BASELINE,766,745,715,679,660.482533235,635.517466765,879,787.482533235,804,652,631,652,0.400921993009,-0.015432589028,0.0599282537938,0.999999971588,-0.000101911004171,-0.000210845002739,-4.45235117733e-05,1793240039947649536
+76,1.266666667,BASELINE,766,745,715,679,660,636,879,787,804,652,631.094682306,652.094682306,0.400923231139,-0.0154320187423,0.0599291580402,0.999999972106,-9.96335284842e-05,-0.000209435953354,-4.46855242355e-05,1793240039964316416
+77,1.283333333,BASELINE,766,745,715,679,660,636,879,787,804,652,631.687535098,652.687535098,0.400923123199,-0.0154318346037,0.0599293266684,0.999999972242,-9.92794979616e-05,-0.00020895752602,-4.46720345677e-05,1793240039980983296
+78,1.300000000,BASELINE,766,745,715,679,660,636,879.272981928,787,803.727018072,652,631.727018072,652.727018072,0.400922391579,-0.0154325589808,0.0599285450024,0.999999971909,-0.000100590487947,-0.0002099200215,-4.46823622599e-05,1793240039997650176
+79,1.316666667,BASELINE,766,745,715,679,660,636,879.850175501,787,803.149824499,652,631.149824499,652.149824499,0.400920964929,-0.0154342958097,0.0599267043266,0.999999971042,-0.000103756980365,-0.00021248828447,-4.47192320691e-05,1793240040014316800
+80,1.333333333,BASELINE,765.573773544,745,715,679,660.426226456,635.573773544,879.573773544,787.426226456,803.852452911,652,631,652.426226456,0.400920636498,-0.015434477894,0.0599265012415,0.999999970995,-0.000103861403867,-0.000212663677863,-4.46901666779e-05,1793240040030983168
+81,1.350000000,BASELINE,765.001920581,745,715,679.001920581,660.998079419,635.001920581,879,788,804.998079419,652,631,653,0.400920697875,-0.0154341146835,0.0599268752864,0.999999971239,-0.000102893617186,-0.000211997594306,-4.4637994699e-05,1793240040047649280
+82,1.366666667,BASELINE,765.590972611,745,715,679.590972611,660.409027389,635.590972611,879,788,804.409027389,652,631,653,0.400922226699,-0.0154336775908,0.0599281765714,0.999999971609,-0.000102314608334,-0.000210536994631,-4.45884473061e-05,1793240040064315904
+83,1.383333333,BASELINE,765.822965252,745,715,679.822965252,660.177034748,635.822965252,879.177034748,788,804,652,631,652.822965252,0.400923511074,-0.0154333984315,0.0599291815642,0.999999971887,-0.00010219032206,-0.000209282165411,-4.45424700941e-05,1793240040080982784
+84,1.400000000,BASELINE,765.243696227,745,715,679.243696227,660.756303773,635.243696227,879.756303773,788,804,652,631,652.243696227,0.400924240045,-0.0154334781072,0.0599295133624,0.99999997196,-0.000103099194472,-0.000208494859548,-4.45046045523e-05,1793240040097649664
+85,1.416666667,BASELINE,765.333934019,745,715,678.666065981,660.666065981,635.333934019,879.666065981,787.666065981,804,652,631,652.333934019,0.400924071891,-0.0154331781271,0.0599295872233,0.999999972028,-0.000102858718566,-0.000208273612716,-4.45722449145e-05,1793240040114316288
+86,1.433333333,BASELINE,765.910374131,745,715,678.089625869,660.089625869,635.910374131,879.089625869,787.089625869,804,652,631,652.910374131,0.400923252236,-0.0154326024371,0.0599294737676,0.999999972092,-0.00010178357481,-0.000208463443439,-4.47165046804e-05,1793240040130982912
+87,1.450000000,BASELINE,765.505002165,745,715,678.494997835,660,636,879,787,804,652,631,652.505002165,0.400922367947,-0.0154318925256,0.0599284995866,0.999999971904,-0.00010044294529,-0.000209999367091,-4.47516767484e-05,1793240040147649536
+88,1.466666667,BASELINE,765,745,715,679,660.080187452,635.919812548,879,787,803.919812548,652,631,652,0.400921635402,-0.0154314154329,0.0599275196335,0.999999971678,-9.9548244462e-05,-0.000211497226532,-4.47573214676e-05,1793240040164315904
+89,1.483333333,BASELINE,765,745,715,679,660.659521199,635.340478801,879,787,803.340478801,652,631,652,0.400921921487,-0.0154325413983,0.0599274901575,0.99999997152,-0.000101733586711,-0.000211215498984,-4.47041825208e-05,1793240040180982528
+90,1.500000000,BASELINE,765,745,715,679,661,635,879,787,803.238462828,652,631,652,0.400922365699,-0.0154333381487,0.0599277935414,0.999999971562,-0.000102647486458,-0.000210622493397,-4.44739434357e-05,1793240040197649152
+91,1.516666667,BASELINE,765,745,715,679,661,635,879,787,803.816845461,652,631,652,0.400923035314,-0.0154336656152,0.0599285714047,0.999999971893,-0.00010174899249,-0.000209585772686,-4.39912547605e-05,1793240040214315776
+92,1.533333333,BASELINE,765.393577739,745,715,679,660.606422261,635.393577739,879,787,803.606422261,652,631,652,0.400922803966,-0.0154331309144,0.0599285496466,0.999999971918,-0.000101211040889,-0.000209718821984,-4.40322944499e-05,1793240040230982656
+93,1.550000000,BASELINE,765.969545268,745,715,679,660.030454732,635.969545268,879,787,803.030454732,652,631,652,0.400922155098,-0.0154321966723,0.0599281573321,0.999999971801,-0.000100840169916,-0.000210393960052,-4.43160376276e-05,1793240040247649536
+94,1.566666667,BASELINE,765.443614338,745,715,679,660,636,879,787,803.556385662,652,631.556385662,652.556385662,0.400922053877,-0.015432918245,0.0599280229228,0.999999971612,-0.000102240702734,-0.000210632818951,-4.42418680267e-05,1793240040264315904
+95,1.583333333,BASELINE,765.141890529,745,715,679,660.141890529,635.858109471,878.858109471,787,803.858109471,652,631.858109471,652.858109471,0.4009221313,-0.0154334929929,0.0599279946428,0.999999971519,-0.000103062795269,-0.000210698221279,-4.41207159373e-05,1793240040280982528
+96,1.600000000,BASELINE,765.721404316,745,715,679,660.721404316,635.278595684,878.278595684,787,803.278595684,652,631.278595684,652.278595684,0.400922665409,-0.0154333297917,0.0599282492827,0.999999971741,-0.00010179583414,-0.000210303764403,-4.39162863734e-05,1793240040297649152
+97,1.616666667,BASELINE,766,745,715,679.298235936,661,635.298235936,878.298235936,787,803,652,631,652.298235936,0.400923210124,-0.0154342470196,0.0599285032387,0.999999971761,-0.000102541166696,-0.000209843700308,-4.39108004461e-05,1793240040314316288
+98,1.633333333,BASELINE,766,745,715,679.872584321,661,635.872584321,878.872584321,787,803,652,631,652.872584321,0.400923764657,-0.0154361645293,0.0599287565616,0.999999971592,-0.000105149518738,-0.000209322895837,-4.40895002979e-05,1793240040330983936
+99,1.650000000,BASELINE,766,745,715,679.555377175,660.555377175,635.555377175,878.555377175,787,803.444622825,652,631,652.555377175,0.400923476264,-0.0154352517769,0.0599283953217,0.999999971514,-0.000105056158603,-0.000209678559095,-4.43900365697e-05,1793240040347650304
+100,1.666666667,BASELINE,766,745,715,679,660,635.016702604,878.016702604,787,803.983297396,652,631,652.016702604,0.400922974333,-0.0154335479885,0.0599278963481,0.999999971481,-0.000104110408694,-0.000210237166597,-4.47122152529e-05,1793240040364316160
+101,1.683333333,BASELINE,766,745,715,679,660,635.613069086,878.613069086,787,803.386930914,652,631,652.613069086,0.400923401492,-0.0154323939664,0.0599286978229,0.999999972099,-0.000100313265611,-0.000209167164999,-4.45800420029e-05,1793240040380982784
+102,1.700000000,BASELINE,765.797623764,745,715,679,660,636,879,787,803.202376236,652,631,652.797623764,0.400923324174,-0.0154326743858,0.0599288656696,0.999999972179,-9.99089039918e-05,-0.000208997397436,-4.44944281697e-05,1793240040397649664
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+105,1.750000000,BASELINE,765,744.068520281,715,678.068520281,660,635.068520281,879,787,804,652,631.931479719,652,0.400923750585,-0.0154346061717,0.0599274653816,0.999999971626,-0.000102727895673,-0.000210311714031,-4.43216536771e-05,1793240040447650816
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,787,804,652,632,652,0.400920915823,-0.0154351227619,0.0599263418305,0.99999997101,-0.000104189191027,-0.000212371180696,-4.49848014114e-05,1793240040506705920
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.425166927,745,715,679,661,636,879.425166927,787.574833073,804,652,632,652.574833073,0.400923269676,-0.0154350870509,0.0599280549689,0.999999971557,-0.000103906484663,-0.000209992910968,-4.46333690652e-05,1793240040523372288
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.149462768,745,715,679,660.850537232,636,879,787.850537232,804,652,631.850537232,652.850537232,0.400924699151,-0.0154345169641,0.0599292549324,0.999999971991,-0.0001031115712,-0.000208352646609,-4.44360539136e-05,1793240040540038912
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.723514848,745,715,679,660.276485152,636,879,787.276485152,804,652,631.276485152,652.276485152,0.40092350268,-0.0154324288387,0.0599289970848,0.999999972115,-0.000100861595241,-0.00020880888503,-4.46765501469e-05,1793240040556705792
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.693941835,879,787,804,652,631,652.306058165,0.400924021124,-0.015432081121,0.0599294049091,0.999999972326,-0.00010028853718,-0.000208096678661,-4.45635696433e-05,1793240040573372672
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.103508897,879,787,804,652,631,652.896491103,0.400926132987,-0.0154333505082,0.0599304312443,0.999999972619,-0.000101273592067,-0.000206298808619,-4.41221552564e-05,1793240040590039296
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.479173126,879,787,804,652,631,653,0.400931540315,-0.0154330883468,0.0599311619938,0.999999973112,-0.000101328322634,-0.000203846090027,-4.42081167468e-05,1793240040606705664
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.943015305,878.943015305,787,804,652,631,652.943015305,0.400939143734,-0.0154327995192,0.0599323773708,0.999999973876,-0.000101342254446,-0.000200035929934,-4.42991166235e-05,1793240040623372032
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.393082541,878.393082541,787,804,652,631,652.393082541,0.400959684459,-0.0154350963862,0.0599383285878,0.99999997654,-0.000102714033691,-0.000185687379803,-4.34639068605e-05,1793240040640038656
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.170690936,878.170690936,787,804,652,631,652,0.400983863841,-0.0154370201361,0.0599445270533,0.999999979313,-0.000103798683934,-0.000169601820235,-4.28357011917e-05,1793240040656705280
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.769150552,878.769150552,787,804,652,631,652,0.401017162063,-0.0154380088162,0.0599513451479,0.999999982537,-0.000104163759787,-0.000149163142254,-4.27262687658e-05,1793240040673371648
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660.364447314,635.635552686,879,787,804,652,631,652.364447314,0.401056383291,-0.0154398190777,0.0599558308476,0.999999985107,-0.000104581339429,-0.000130453173155,-4.27762103188e-05,1793240040690038528
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660.957757945,635.042242055,879,787,804,652,631,652.957757945,0.401099324014,-0.0154421452707,0.0599588518653,0.999999987198,-0.000105031890095,-0.000112828785722,-4.29262345208e-05,1793240040706705152
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.537728953,879,787,804,652,631,652.462271047,0.401152220278,-0.0154442959115,0.0599597776272,0.999999987883,-0.000104297761306,-0.000107167851156,-4.32581957147e-05,1793240040723371776
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.884031587,745,715,679,660.884031587,636,879,787,804,652,631.115968413,652,0.40120976777,-0.0154468245662,0.0599608252554,0.999999988375,-0.000104359470142,-0.000102229358942,-4.36838462691e-05,1793240040740038400
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.308600993,745,715,679,660.308600993,636,879,787,804,652,631.691399007,652,0.401282719729,-0.0154509042138,0.0599629920486,0.99999998853,-0.000107934046365,-9.65198132434e-05,-4.44254355441e-05,1793240040756706304
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,635.726974827,879,787.273025173,804,652,631.726974827,652,0.401368066286,-0.0154553637109,0.0599663077246,0.999999988972,-0.000110302409776,-8.87277580712e-05,-4.48997622717e-05,1793240040773373184
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,635.138183224,879,787.861816776,804,652,631.138183224,652,0.401467747773,-0.0154602625216,0.0599709521374,0.99999998971,-0.000111275731231,-7.85271832786e-05,-4.50649872717e-05,1793240040790038784
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.443620796,745,715,679,660.443620796,635,879,787.556379204,804.443620796,652,631,652,0.401578038253,-0.0154653725445,0.0599713055648,0.999999989853,-0.000111874424986,-7.53774133026e-05,-4.57803422793e-05,1793240040806705408
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660.976878317,635.023121683,879,787,804.976878317,652,631,652,0.401692841002,-0.0154706126936,0.0599703980111,0.999999989834,-0.000112491860715,-7.41709091176e-05,-4.66560619504e-05,1793240040823372032
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660.401208596,635.598791404,879,787,804.401208596,652,631,652,0.401837728777,-0.0154774146835,0.0599708021668,0.999999989823,-0.000116302586711,-6.77325791061e-05,-4.73325305074e-05,1793240040840038656
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.174158606,660.174158606,635.825841394,879,787.174158606,804,652,631,652.174158606,0.401991480483,-0.0154846026616,0.0599709038148,0.999999989606,-0.000120846671664,-6.22309296447e-05,-4.80858644934e-05,1793240040856705280
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.748830024,660.748830024,635.251169976,879,787.748830024,804,652,631,652.748830024,0.402165616562,-0.0154926782966,0.0599703097853,0.999999988991,-0.00012707726281,-5.88833667641e-05,-4.90159659337e-05,1793240040873372160
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.012031983,660.012031983,636,879,787,804,652,631,653,0.404621865302,-0.0155447734937,0.059936278486,0.999999981679,-0.000162823148688,-8.43949976903e-05,-5.48389454467e-05,1793240041023372288
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.212669324,660.212669324,635.212669324,879,787,803.212669324,652,631,652,0.40957434672,-0.0155580733722,0.0599837155122,0.999999986112,-0.000153704976819,-3.65347929117e-05,-5.30717885214e-05,1793240041190039040
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+158,2.633333333,POSE1_TO_POSE2_PRESS,766.415231618,745,715,679,661,636,880,787.415231618,804,652,631.415231618,652,0.416705189848,-0.0155727038172,0.0600309186591,0.999999986271,-0.000148102210101,5.41927327884e-05,-5.0870416188e-05,1793240041356705280
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+162,2.700000000,POSE1_TO_POSE2_PRESS,765.915796845,745,715,679.915796845,661.915796845,635.084203155,879,788,804,652,631.084203155,652.084203155,0.419851802478,-0.0155708679575,0.059966301042,0.99999998539,-0.00015114397711,-5.33095475651e-05,-5.94474812091e-05,1793240041423372032
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+252,4.200000000,HOLD_POSE2,765,745,715,681,660,632,880,784,805,652,630,653,0.449303775521,-0.0157026693042,0.0596256108263,0.999999768255,-0.000324641215911,-0.000593263686464,-7.83300990179e-05,1793240042947963136
+253,4.216666667,HOLD_POSE2,765,745.579483725,715,680.420516275,659.420516275,632,880,784,805,652,630,653,0.449303934201,-0.0157059197601,0.059626160103,0.999999767702,-0.00032718186648,-0.000592860763021,-7.78746258436e-05,1793240042964630272
+254,4.233333333,HOLD_POSE2,765.157752242,745.842247758,715,680,659,632,880,783.842247758,805,652,630,653,0.449304360054,-0.0157079461919,0.0596266961637,0.999999767329,-0.00032932570306,-0.000592351872117,-7.74909463621e-05,1793240042981297408
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+256,4.266666667,HOLD_POSE2,766,745,715,680,659,632,880,783,805,652,630,653,0.44930502168,-0.0157071082497,0.0596265729449,0.999999766396,-0.000332198489048,-0.000592365258118,-7.71772740967e-05,1793240043014629888
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+262,4.366666667,HOLD_POSE2,766,745,715,680.790722234,659,632,880,783.209277766,805.790722234,652,630,652.209277766,0.449306657362,-0.0157074287538,0.0596275560432,0.999999768328,-0.000329758539415,-0.00059049909676,-7.69079599676e-05,1793240043114629888
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.4364629,661,635.5635371,879,788,804,652,632,652.5635371,0.40215391069,-0.0153817926039,0.0598431788897,0.999999946515,0.000202657028625,-0.000255458124814,2.53344961877e-05,1793240044913976832
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.937905955,661,635,879,787.968952978,804,652,631.968952978,652.031047022,0.401963077846,-0.0153807292221,0.059835772847,0.999999942193,0.000204051521424,-0.000270899254164,2.4292864717e-05,1793240044930643712
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.792698906,661,635,879,787.396349453,804,652,631.396349453,652.603650547,0.401799620298,-0.0153818793991,0.0598298129725,0.99999993904,0.000201210017677,-0.000284399173981,2.35063973608e-05,1793240044947310592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.176904866,660.823095134,635.176904866,879,787,804,652,631.176904866,653,0.40164998907,-0.0153832574186,0.059825662712,0.999999937046,0.000197528556581,-0.000293877274722,2.2945790544e-05,1793240044963977216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.751622575,660.248377425,635.751622575,879,787,804,652,631.751622575,653,0.401531449649,-0.0153851477961,0.0598255818016,0.999999938004,0.000191958251222,-0.000294311352986,2.28930852091e-05,1793240044980643840
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.326777515,635.673222485,879,787,804,652,632,652.673222485,0.401430303466,-0.0153870516225,0.0598281919505,0.999999939551,0.000189452607897,-0.000290641178416,2.30783082856e-05,1793240044997310720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.902265292,635.097734708,879,787,804,652,632,652.097734708,0.401342395259,-0.015388965685,0.0598328502637,0.999999941527,0.00018927947728,-0.000283847258358,2.34446185946e-05,1793240045013977344
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.505526623,635,879,787,804,652,631.505526623,652,0.401272422498,-0.0153867077539,0.0598343622348,0.999999941887,0.000191884091558,-0.000280831988568,2.3255887462e-05,1793240045030643712
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.237574132,744.237574132,715,679.237574132,660.762425868,636,879,787,804,652,631.237574132,652,0.401110959366,-0.015383776679,0.0598384709081,0.999999943634,0.000195876752232,-0.000271676354049,2.35692656753e-05,1793240045080643584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.80732904,744.80732904,715,679.80732904,660.19267096,636,879,787,804,652,631.80732904,652,0.401073662716,-0.0153842077283,0.059838417071,0.999999942925,0.000198129857672,-0.000272626081637,2.38599043427e-05,1793240045097310464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.605324874,745,715,679.605324874,660.394675126,635.605324874,879,787,804.394675126,652,631.605324874,652.394675126,0.401044948768,-0.0153837450642,0.0598377305295,0.999999942315,0.000199459643252,-0.00027390653832,2.37024431354e-05,1793240045113977088
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.303610239,715,679,660,635,878.303610239,787.696389761,804.696389761,652,631,652.696389761,0.40098267245,-0.0153878104438,0.0598379746325,0.9999999432,0.000195723388468,-0.000273414031043,2.31903454742e-05,1793240045197310720
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,635,879,787.473406685,804,652,631.473406685,652.473406685,0.400978720558,-0.0153877867888,0.0598391542542,0.99999994322,0.000198749189145,-0.000271141227463,2.326263577e-05,1793240045230643968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.050894843,745,715,679,660.050894843,635.050894843,879,787.949105157,804,652,632,652.949105157,0.400978100912,-0.0153878340075,0.0598395027811,0.999999943088,0.00020084548492,-0.000270088822155,2.31681917703e-05,1793240045247310592
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.625551222,745,715,679,660.625551222,635.625551222,879,787.374448778,804,652,632,652.374448778,0.400976897119,-0.0153869854488,0.0598394083836,0.999999943094,0.000201144058033,-0.000269868085167,2.29023178252e-05,1793240045263977216
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.223153684,745,715,679,660.223153684,635.223153684,879,787,804,652,632,652,0.40097398078,-0.015388160511,0.0598386851001,0.999999943007,0.000199107568165,-0.00027170752167,2.27340610365e-05,1793240045297310464
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,635,879,787.956484511,804,652,631.043515489,652,0.400975554041,-0.0153865568998,0.0598408050024,0.999999943363,0.000201806449264,-0.000268409889076,2.24566112005e-05,1793240045330643456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.466093713,715,679,660,635,879,788,804,652,631.533906287,652.533906287,0.400975619533,-0.0153872692176,0.0598408219848,0.999999943701,0.000200401074998,-0.000268194572537,2.2565575321e-05,1793240045347310080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.109906475,715,679,660,635,879,788,804,651.890093525,631.890093525,653,0.400975251026,-0.0153879257782,0.0598408440669,0.999999943891,0.000199324372288,-0.000268279895731,2.26810571297e-05,1793240045363976704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.685146089,715,679,660,635,879,788,804,651.314853911,631.314853911,653,0.400973477405,-0.0153876709451,0.0598413622364,0.999999943425,0.000200804606196,-0.000268906360452,2.27296336446e-05,1793240045380643584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.740611484,715,678.740611484,660.259388516,635,878.740611484,788,804,651.259388516,631,653,0.400973213668,-0.0153876513943,0.0598419875042,0.999999943548,0.000200944693359,-0.000268347598754,2.26670368284e-05,1793240045397310720
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744.420446559,715,678.420446559,661,635,878.420446559,787.579553441,804,652,631.420446559,652.579553441,0.400975761142,-0.0153879534603,0.05984344605,0.999999945028,0.000198516399197,-0.000264640675257,2.23514527014e-05,1793240045430643712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.014233899,745,715,679,661,635.014233899,878.985766101,787,804,652,631.985766101,652.014233899,0.400976507171,-0.0153879241525,0.0598441240083,0.999999945583,0.000197826807784,-0.000263063436678,2.22682324926e-05,1793240045447310080
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.591142287,745,715,679,661,635.591142287,878.408857713,787,804,652,631.408857713,652.591142287,0.400977206124,-0.0153889912496,0.0598446144655,0.999999945592,0.00019864846824,-0.00026240812664,2.2299973855e-05,1793240045463976704
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.832996242,745,715,679,660.832996242,635.832996242,878.167003758,787,804,652,631.167003758,652.832996242,0.400977455465,-0.0153895311694,0.0598449389874,0.999999945598,0.000199096330843,-0.000262042303856,2.23063979844e-05,1793240045480643584
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.259681895,745,715,679,660.259681895,635.259681895,878.740318105,787,804,652,631.740318105,652.259681895,0.400976610925,-0.0153887884968,0.0598448597985,0.999999945603,0.000198634764613,-0.000262380787038,2.22512267327e-05,1793240045497310208
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.32408093,635.32408093,879,787,804,652,631.67591907,652,0.400976515126,-0.0153888994382,0.0598449786286,0.999999945521,0.000199103453718,-0.000262330079693,2.23373564195e-05,1793240045513976832
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.916494873,635.916494873,879,787,804,652,631.083505127,652,0.40097703927,-0.0153897171561,0.0598452614149,0.999999945367,0.00020034237705,-0.00026195712978,2.25404806716e-05,1793240045530643456
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744.502300215,715,679.497699785,661,635.502300215,879,787,804,652,631,652,0.400977973407,-0.0153902700491,0.0598454016725,0.999999945488,0.000200569927342,-0.000261291597178,2.28355915196e-05,1793240045547310336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,744,714.923638723,679.923638723,660.923638723,635,879,787,804,651.923638723,631,652,0.400978627553,-0.0153905843202,0.0598454466133,0.999999945612,0.000200532253383,-0.000260826067258,2.30657086612e-05,1793240045563977216
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,744,714.349567147,679.349567147,660.349567147,635,879,787,804,651.349567147,631,652,0.400977018279,-0.0153896265193,0.0598450227281,0.999999945455,0.000199847544238,-0.000261977036563,2.27738286101e-05,1793240045580643840
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,744.223237787,714.223237787,678.776762213,660.223237787,635,878.776762213,787.223237787,803.776762213,651,631,652.223237787,0.400976398703,-0.0153894806364,0.0598452398893,0.999999945604,0.000198861939446,-0.00026217111094,2.26116193155e-05,1793240045597310464
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,744.79407057,714.79407057,678.20592943,660.79407057,635,878.20592943,787.79407057,803.20592943,651,631,652.79407057,0.400977320148,-0.0153905989596,0.059846455199,0.999999946231,0.000197407821479,-0.000260875241098,2.2651315338e-05,1793240045613977088
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.381887289,660.618112711,635.381887289,878.381887289,787.618112711,803.381887289,651.381887289,631.381887289,653,0.400977472101,-0.0153915886569,0.0598463884362,0.999999946579,0.000195808254494,-0.000260762639381,2.24434683985e-05,1793240045630643712
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.979288678,660.020711322,635.979288678,878.979288678,787.020711322,803.979288678,651.979288678,631.979288678,653,0.4009771898,-0.0153925057655,0.059845598149,0.99999994677,0.000194126604963,-0.000261317802744,2.20959231722e-05,1793240045647310336
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,744.443210256,715,679,660.556789744,635.443210256,879,787,804,652,631.443210256,653,0.400977694517,-0.0153914992862,0.0598465715668,0.999999946428,0.000197000999598,-0.000260459644091,2.22491577985e-05,1793240045663976960
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b2f1962d4db3a22bcf9e2f1df1964cba1b2b500
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+376,6.266666667,pose2_to_pose3_retreat,0.575920959018,-0.00990915244291,1.05003238842,0.546491409314,-0.00123741695521,1.0497005275
+377,6.283333333,pose2_to_pose3_retreat,0.575866713708,-0.00990911643875,1.05003229396,0.546437163835,-0.00123738142482,1.04970043559
+378,6.300000000,pose2_to_pose3_retreat,0.57582124452,-0.00990915991491,1.05003221017,0.546391695924,-0.00123742070039,1.04970034831
+379,6.316666667,pose2_to_pose3_retreat,0.575782969645,-0.00990924792247,1.05003223183,0.54635342254,-0.00123750384977,1.04970036455
+380,6.333333333,pose2_to_pose3_retreat,0.575751603849,-0.00990937678681,1.05003224573,0.54632205809,-0.00123762819219,1.0497003773
+381,6.350000000,pose2_to_pose3_retreat,0.575726790283,-0.00990923316933,1.05003236357,0.546297242555,-0.00123749141315,1.04970049108
+382,6.366666667,pose2_to_pose3_retreat,0.575707752267,-0.00990928833533,1.05003247048,0.546278205103,-0.00123754468493,1.0497005975
+383,6.383333333,pose2_to_pose3_retreat,0.575693879246,-0.00990919813928,1.05003238171,0.546264331024,-0.00123745768475,1.04970051902
+384,6.400000000,pose2_to_pose3_retreat,0.575684002793,-0.00990915226488,1.05003227418,0.54625445412,-0.00123741316856,1.04970041613
+385,6.416666667,pose2_to_pose3_retreat,0.575677622028,-0.00990920823458,1.05003222745,0.546248074145,-0.00123746664022,1.04970036465
+386,6.433333333,pose2_to_pose3_retreat,0.57567340315,-0.00990918699538,1.05003214983,0.546243853703,-0.00123745072967,1.04970028663
+387,6.450000000,pose2_to_pose3_retreat,0.575670905837,-0.00990917007497,1.0500321004,0.546241355308,-0.00123743748458,1.04970023716
+388,6.466666667,pose2_to_pose3_retreat,0.575669435124,-0.00990916627325,1.05003221235,0.546239885281,-0.00123743129379,1.04970035063
+389,6.483333333,pose2_to_pose3_retreat,0.575668480466,-0.00990916462339,1.05003230374,0.546238931244,-0.00123742748885,1.04970044321
+390,6.500000000,pose2_to_pose3_retreat,0.575667710487,-0.00990916329269,1.05003237745,0.546238161766,-0.00123742441999,1.04970051788
+391,6.516666667,pose2_to_pose3_retreat,0.575667103394,-0.00990916241821,1.05003243498,0.546237555069,-0.00123742217345,1.04970057617
+392,6.533333333,pose2_to_pose3_retreat,0.575666762046,-0.00990918344874,1.05003239605,0.54623721401,-0.00123744223671,1.04970053679
+393,6.550000000,pose2_to_pose3_retreat,0.575666590815,-0.00990919399828,1.05003237652,0.546237042925,-0.00123745230103,1.04970051704
+394,6.566666667,pose2_to_pose3_retreat,0.575666549153,-0.00990919656509,1.05003237176,0.546237001299,-0.00123745474979,1.04970051223
+395,6.583333333,pose2_to_pose3_retreat,0.575666481687,-0.00990920072166,1.05003236407,0.54623693389,-0.00123745871518,1.04970050445
+396,6.600000000,pose2_to_pose3_retreat,0.575666349664,-0.00990920885566,1.05003234901,0.546236801979,-0.00123746647507,1.04970048921
+397,6.616666667,pose2_to_pose3_retreat,0.575666245339,-0.00990921528308,1.05003233711,0.546236697743,-0.00123747260687,1.04970047718
+398,6.633333333,pose2_to_pose3_retreat,0.57566622636,-0.0099092164524,1.05003233494,0.54623667878,-0.00123747372241,1.04970047499
+399,6.650000000,pose2_to_pose3_retreat,0.575666058003,-0.00990922682489,1.05003231574,0.546236510566,-0.00123748361783,1.04970045557
+400,6.666666667,pose2_to_pose3_retreat,0.575665558255,-0.00990925761441,1.05003225874,0.546236011242,-0.00123751299123,1.04970039791
+401,6.683333333,pose2_to_pose3_retreat,0.575665042449,-0.00990927631344,1.05003218795,0.54623549551,-0.00123753143094,1.04970032731
+402,6.700000000,pose2_to_pose3_retreat,0.575664884366,-0.00990926424178,1.05003214998,0.546235336954,-0.00123752091623,1.04970029057
+403,6.716666667,pose2_to_pose3_retreat,0.57566481942,-0.00990925928237,1.05003213438,0.546235271814,-0.00123751659646,1.04970027548
+404,6.733333333,pose2_to_pose3_retreat,0.575664773587,-0.00990925578244,1.05003212338,0.546235225844,-0.00123751354794,1.04970026483
+405,6.750000000,pose2_to_pose3_retreat,0.575664707496,-0.00990925073556,1.0500321075,0.546235159556,-0.00123750915198,1.04970024947
+406,6.766666667,pose2_to_pose3_retreat,0.575664606537,-0.00990924302603,1.05003208325,0.546235058295,-0.00123750243679,1.04970022601
+407,6.783333333,pose2_to_pose3_retreat,0.575664571449,-0.00990924034662,1.05003207483,0.546235023102,-0.00123750010296,1.04970021785
+408,6.800000000,pose2_to_pose3_retreat,0.575664561421,-0.00990923958084,1.05003207242,0.546235013043,-0.00123749943594,1.04970021552
+409,6.816666667,pose2_to_pose3_retreat,0.575664537227,-0.00990923773333,1.05003206661,0.546234988777,-0.00123749782672,1.0497002099
+410,6.833333333,pose2_to_pose3_retreat,0.5756645066,-0.00990924058718,1.05003207052,0.546234958105,-0.0012375008289,1.04970021393
+411,6.850000000,pose2_to_pose3_retreat,0.575664464118,-0.00990927099685,1.05003213339,0.546234915798,-0.00123753066331,1.04970027632
+412,6.866666667,pose2_to_pose3_retreat,0.575664444136,-0.00990928529985,1.05003216295,0.546234895899,-0.00123754469573,1.04970030567
+413,6.883333333,pose2_to_pose3_retreat,0.575664368191,-0.00990931552592,1.05003227052,0.546234820346,-0.00123757361491,1.04970041257
+414,6.900000000,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264538,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c578936310082333b3422aa835e8094f357bca6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d63ba65fa93631c4ba821d346c0446616e49ef671adf746db121f1078b1f60
+size 26443392
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979490b2a40705c1b78a3f482bae0cd4f896bb61
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+35,0.583333333,BASELINE,766,745,715,679,660.648854984,636,879,788,804.648854984,652,632,652,0.40097689391,-0.015392720073,0.0598476662285,0.999999946701,0.000198645735961,-0.000258153210418,2.22356555923e-05,1793240046376062208
+36,0.600000000,BASELINE,766,745,715,679,660.072751376,636,879,788,804.072751376,652,632,652,0.40097723055,-0.015392398802,0.0598479562121,0.999999946912,0.000198261831154,-0.000257599698947,2.25954442752e-05,1793240046392728832
+37,0.616666667,BASELINE,766,744.493497013,715,679,660.506502987,636,879,787.493497013,804,652.506502987,631.493497013,652.506502987,0.400976787497,-0.0153916362904,0.0598477653704,0.999999946642,0.000199164913543,-0.000257972838385,2.23611931701e-05,1793240046409395456
+38,0.633333333,BASELINE,766,744.087157679,715,679,661,635.912842321,879,787,804,652.912842321,631,653,0.400976471681,-0.0153909719595,0.0598476981487,0.999999946394,0.000200154455202,-0.000258187800766,2.21044196743e-05,1793240046426062080
+39,0.650000000,BASELINE,766,744.673221604,715,679,661,635.326778396,879,787,804,652.326778396,631,653,0.400977529262,-0.0153912346876,0.0598487363543,0.999999946683,0.000200574133466,-0.000256730676729,2.22101949851e-05,1793240046442728704
+40,0.666666667,BASELINE,766,745,715,679,660.743317614,635.256682386,879,787.256682386,804,652,631,652.743317614,0.400978227963,-0.0153910390115,0.0598489141152,0.999999946873,0.00020070367546,-0.00025589563234,2.21409603077e-05,1793240046459395072
+41,0.683333333,BASELINE,766,745,715,679,660.163137617,635.836862383,879,787.836862383,804,652,631,652.163137617,0.400978474365,-0.0153902656073,0.0598480074549,0.999999946939,0.000200467557779,-0.000255844596962,2.18511599903e-05,1793240046476061696
+42,0.700000000,BASELINE,766,745,715,679,660.826768202,636,879,788,804,652,631.413384101,652,0.400978094265,-0.0153908283327,0.0598480847103,0.999999946795,0.000200505680303,-0.000256380738501,2.18222700286e-05,1793240046492728320
+43,0.716666667,BASELINE,766,745,715,679,661.976949538,636,879,788,804,652,631.988474769,652,0.400977469091,-0.0153919137221,0.0598485468514,0.999999946568,0.000200651079437,-0.000257146570451,2.18954423395e-05,1793240046509394944
+44,0.733333333,BASELINE,766,745,715,679,661.440645121,636,879,788,804,652,632,652.559354879,0.40097778684,-0.015392754893,0.0598481405679,0.999999947074,0.00019833925302,-0.000256975963819,2.18566051288e-05,1793240046526061824
+45,0.750000000,BASELINE,766,744.864120399,715,679,661.135879601,635.864120399,879,787.864120399,804,652,632,653,0.400977862038,-0.0153934109959,0.059847728459,0.999999947431,0.00019646366665,-0.00025702628474,2.18319432648e-05,1793240046542728704
+46,0.766666667,BASELINE,766,744.268193294,715,679,661.731806706,635.268193294,879,787.268193294,804,652,632,653,0.400977050747,-0.0153934574234,0.0598473567564,0.999999947253,0.000196235195478,-0.000257889438527,2.18630303536e-05,1793240046559395072
+47,0.783333333,BASELINE,766,744.3192153,715,678.6807847,661.3615694,635.3192153,879,787.6384306,804,652,631.6807847,653,0.400976383109,-0.0153930826251,0.0598470433503,0.999999947061,0.000196439529088,-0.000258482624754,2.18214631641e-05,1793240046576061952
+48,0.800000000,BASELINE,766,744.899653033,715,678.100346967,660.200693934,635.899653033,879,788.799306066,804,652,631.100346967,653,0.400975833027,-0.0153923631266,0.0598467776499,0.999999946857,0.000196998038419,-0.000258854889387,2.17204410353e-05,1793240046592728576
+49,0.816666667,BASELINE,766,745,715.473883077,678.473883077,660.473883077,636,879,788.526116923,804,652,631.473883077,652.526116923,0.400976485592,-0.0153921282636,0.0598473358825,0.99999994696,0.000197441120725,-0.000258121423809,2.16857863082e-05,1793240046609395968
+50,0.833333333,BASELINE,766,744.953325726,715.953325726,679,661,636,879,788,804,652,631.953325726,652.046674274,0.400977317509,-0.0153919598061,0.0598480804825,0.999999947094,0.000197976668366,-0.00025719014767,2.16808949102e-05,1793240046626063872
+51,0.850000000,BASELINE,766,744.382122465,715.382122465,679,661,636,879,788,804,652,631.382122465,652.617877535,0.400977340044,-0.0153913992356,0.0598489841216,0.999999946866,0.000199822480401,-0.000256633160196,2.18545926527e-05,1793240046642729472
+52,0.866666667,BASELINE,766,744.196789991,715,678.803210009,661,635.803210009,878.803210009,788,804,652,631,652.803210009,0.400977264145,-0.0153911175539,0.059849336889,0.999999946736,0.00020059667886,-0.000256532612173,2.1886264529e-05,1793240046659395584
+53,0.883333333,BASELINE,766,744.791282293,715,678.208717707,661,635.208717707,878.208717707,788,804,652,631,652.208717707,0.400976989316,-0.015391399492,0.0598485763736,0.999999946809,0.000199205202052,-0.000257354504513,2.16309095247e-05,1793240046676061952
+54,0.900000000,BASELINE,766,745,715,678.376872823,661,635,878.753745646,787.623127177,804,652,631.376872823,652,0.400976888326,-0.0153919208653,0.0598480300432,0.999999946929,0.00019801223603,-0.000257810925052,2.16233716981e-05,1793240046692728832
+55,0.916666667,BASELINE,766,745,715,678.95764716,661,635,879.91529432,787.04235284,804,652,631.95764716,652,0.400976881389,-0.0153925717813,0.0598475995945,0.999999947073,0.000196926671404,-0.000258069612405,2.17499117299e-05,1793240046709395968
+56,0.933333333,BASELINE,766,744.470651043,715,679,661,635.529348957,879.470651043,787,804,652,631.470651043,652,0.400977666278,-0.0153939933368,0.0598481934941,0.999999947549,0.00019569307775,-0.000257135237549,2.20653105833e-05,1793240046726062848
+57,0.950000000,BASELINE,766.103737929,744.103737929,715,679,660.896262071,635.896262071,879,787.103737929,804,652,631.103737929,652.103737929,0.400978193929,-0.0153948428977,0.0598486145267,0.999999947839,0.000194998518928,-0.000256520335468,2.22345343996e-05,1793240046742729472
+58,0.966666667,BASELINE,766.694078988,744.694078988,715,679,660.305921012,635.305921012,879,787.694078988,804,652,631.694078988,652.694078988,0.400977222794,-0.015392725058,0.0598478467329,0.999999947142,0.000196887028321,-0.000257844194174,2.16484111217e-05,1793240046759395584
+59,0.983333333,BASELINE,766.720338916,745,715,678.720338916,660.279661084,635.279661084,879,787.720338916,804,652,631.720338916,652.720338916,0.400977589057,-0.0153915241227,0.0598479887656,0.99999994698,0.000198747519265,-0.000257050164621,2.15696527305e-05,1793240046776061952
+60,1.000000000,BASELINE,766.13987547,745,715,678.13987547,660.86012453,635.86012453,879,787.13987547,804,652,631.13987547,652.13987547,0.400979393818,-0.015391309406,0.0598491094038,0.999999947389,0.00020057787391,-0.00025397814294,2.20366139453e-05,1793240046792728576
+61,1.016666667,BASELINE,766,745,715,678.436845018,661,635.563154982,879,787,804,652,631,652.436845018,0.400979839007,-0.0153935949279,0.0598493161085,0.99999994791,0.000198806305672,-0.000253272519521,2.25722019602e-05,1793240046809395456
+62,1.033333333,BASELINE,766,744.987652855,715,679,660.987652855,635,879,787.012347145,804,652,631.012347145,652.987652855,0.400979856233,-0.0153965596201,0.0598492449737,0.999999948451,0.00019595849298,-0.000253307235686,2.3106528917e-05,1793240046826062336
+63,1.050000000,BASELINE,766,744.413517107,715,679,660.413517107,635,879,787.586482893,804,652,631.586482893,652.413517107,0.400980040239,-0.0153943104534,0.0598497339876,0.999999948538,0.000196171621609,-0.000252844568171,2.25921709594e-05,1793240046842729216
+64,1.066666667,BASELINE,766,744.165987704,715,679,660.165987704,635.165987704,879,788,804,652,631.834012296,652.165987704,0.400980349393,-0.0153927624746,0.0598499877322,0.999999948592,0.000196319093528,-0.000252548325328,2.22398630552e-05,1793240046859395584
+65,1.083333333,BASELINE,766,744.759315282,715,679,660.759315282,635.759315282,879,788,804,652,631.240684718,652.759315282,0.400980980742,-0.0153930197235,0.0598496357697,0.999999948561,0.000196297530441,-0.000252680547374,2.23047574664e-05,1793240046876062208
+66,1.100000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631,653,0.400980396557,-0.0153931208626,0.0598494537547,0.999999948283,0.000196416754437,-0.000253687019814,2.22840175416e-05,1793240046892728832
+67,1.116666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631,653,0.40097898275,-0.0153931154542,0.0598493877318,0.999999947835,0.000196632067989,-0.000255290182872,2.22048307364e-05,1793240046909395456
+68,1.133333333,BASELINE,766,745,715,679,660.505319279,635.505319279,878.505319279,788,804,652,631.494680721,653,0.40097797746,-0.0153932789891,0.0598485321447,0.999999947517,0.000196808274074,-0.000256415929977,2.19740448989e-05,1793240046926062080
+69,1.150000000,BASELINE,766,745,715,679,660.070310896,635,878.070310896,788,804,652,631.929689104,652.929689104,0.400977330033,-0.0153933704749,0.0598478121412,0.999999947266,0.000197114523245,-0.000257176989247,2.17908450714e-05,1793240046942728448
+70,1.166666667,BASELINE,766,745,715,679,660.656688606,635,878.656688606,788,804,652,631.343311394,652.343311394,0.400978827454,-0.0153927338921,0.0598490184684,0.999999947346,0.0001984213821,-0.000255824360377,2.21357053573e-05,1793240046959395072
+71,1.183333333,BASELINE,766,744.757852816,715,679,660.757852816,635.242147184,879,787.757852816,804,652,631,652.242147184,0.400979445935,-0.015392542624,0.0598496568299,0.999999947477,0.000198621995303,-0.000255152265236,2.22090135448e-05,1793240046976061696
+72,1.200000000,BASELINE,766,744.173692353,715,679,660.173692353,635.826307647,879,787.173692353,804,652,631,652.826307647,0.400978822984,-0.0153929803267,0.0598494929859,0.999999947679,0.000197260126332,-0.000255441368661,2.18987764422e-05,1793240046992728832
+73,1.216666667,BASELINE,766,744.403153214,715,678.596846786,660.403153214,635.596846786,879,787,804,652,631,652.596846786,0.400979630895,-0.0153933955529,0.0598503007998,0.999999948158,0.000196832756567,-0.000253886551745,2.19671818036e-05,1793240047009395456
+74,1.233333333,BASELINE,766,744.976903399,715,678.023096601,660.976903399,635.023096601,879,787,804,652,631,652.023096601,0.400981044284,-0.015393801268,0.0598515197772,0.999999948749,0.000196800826449,-0.000251551467625,2.21958122665e-05,1793240047026062080
+75,1.250000000,BASELINE,766,744.450614416,715,678,661,635.549385584,879,787,804,652,631.549385584,652,0.400978399524,-0.0153936129243,0.059849509767,0.999999947746,0.000197294946409,-0.000255122033752,2.22461801045e-05,1793240047042728704
+76,1.266666667,BASELINE,766,744.126303092,715,678,661,636,879,787.126303092,804,652,631.873696908,652,0.400976367828,-0.0153932727625,0.0598479047507,0.999999946955,0.000197645843614,-0.000257939202093,2.21932892994e-05,1793240047059395072
+77,1.283333333,BASELINE,766,744.719824382,715,678,661,636,879,787.719824382,804,652,631.280175618,652,0.400977233623,-0.0153924631714,0.0598482988854,0.999999947244,0.000197385312582,-0.000257053102872,2.17860848695e-05,1793240047076061696
+78,1.300000000,BASELINE,766,745,715,678.305592752,660.694407248,636,879,788,804,652,631.305592752,652,0.400977722829,-0.0153920606314,0.0598486641775,0.999999947186,0.000198340140119,-0.000256548513004,2.17066500907e-05,1793240047092728320
+79,1.316666667,BASELINE,766,745,715,678.884428876,660.115571124,636,879,788,804,652,631.884428876,652,0.40097787531,-0.015392022053,0.0598490036801,0.999999946817,0.000200381671046,-0.000256385046791,2.19202880076e-05,1793240047109395200
+80,1.333333333,BASELINE,766,745,715,679,660.460415524,635.539584476,879,788,804,652,631.539584476,652.460415524,0.400978949682,-0.0153924252956,0.0598498011248,0.999999947456,0.000199282899883,-0.000254741883592,2.19420427792e-05,1793240047126062080
+81,1.350000000,BASELINE,766,745,715,679,661,635.035870965,879,788,804,652,631.035870965,653,0.400980079616,-0.0153928801117,0.0598505759759,0.999999948244,0.00019755259159,-0.000252992173927,2.19073765005e-05,1793240047142728704
+82,1.366666667,BASELINE,766,745,715,679,661,635.61404178,879,788,804,652,631.61404178,653,0.400978572601,-0.0153924482819,0.0598492821186,0.999999947571,0.000198118369528,-0.000255212394275,2.17434236061e-05,1793240047159395328
+83,1.383333333,BASELINE,766,745,715,679,661,635.803983108,879,787.803983108,804,652,632,653,0.400977619077,-0.0153921752164,0.0598486629229,0.999999947166,0.000198632973713,-0.000256404777883,2.16882090916e-05,1793240047176061952
+84,1.400000000,BASELINE,766,745,715,679,661,635.214368951,879,787.214368951,804,652,632,653,0.400977776949,-0.0153922209458,0.0598493984312,0.999999947303,0.000199044822321,-0.000255533290128,2.18513386326e-05,1793240047192728576
+85,1.416666667,BASELINE,766,745,715,679,660.646488486,635.353511514,879,787.353511514,804,652,632,653,0.400977909087,-0.015392309086,0.0598495129099,0.999999947323,0.000199004506623,-0.000255482728465,2.1890597766e-05,1793240047209395200
+86,1.433333333,BASELINE,766,745,715,679,660.091024011,635.908975989,879,787.908975989,804,652,632,653,0.400978026525,-0.0153924214546,0.0598492726086,0.999999947276,0.000198705879883,-0.000255901142962,2.1859092588e-05,1793240047226061824
+87,1.450000000,BASELINE,766,745,715,679,660.496184978,636,879,787.503815022,804,652,632,653,0.400977336765,-0.0153925262095,0.0598489013087,0.99999994728,0.000198556264489,-0.000256006139422,2.18306409491e-05,1793240047242729216
+88,1.466666667,BASELINE,766,745,715,678.910238337,661,635.910238337,878.910238337,787.089761663,804,651.910238337,632,652.910238337,0.400976783381,-0.0153925571618,0.0598484956611,0.99999994728,0.000198552470429,-0.000256009907084,2.17909863026e-05,1793240047259396864
+89,1.483333333,BASELINE,766,745,715,678.315839705,661,635.315839705,878.315839705,787.684160295,804,651.315839705,632,652.315839705,0.400977886087,-0.0153921815875,0.0598480412497,0.999999947209,0.000199204293889,-0.000255789902937,2.1684984257e-05,1793240047276062976
+90,1.500000000,BASELINE,766,745,715,678.543082896,660.728458552,635.271541448,878.271541448,788,804,651.271541448,631.728458552,652,0.400978101251,-0.0153923040007,0.059847928767,0.999999947207,0.000199149982727,-0.000255848613098,2.16276979116e-05,1793240047292729344
+91,1.516666667,BASELINE,766,745,715,679.701931806,660.149034097,635.850965903,878.850965903,788,804,651.850965903,631.149034097,652,0.400977310091,-0.0153929910491,0.0598482039749,0.999999947281,0.000198295031865,-0.000256223339115,2.16256471054e-05,1793240047309396224
+92,1.533333333,BASELINE,766,745,715,679.573848689,660.426151311,636,879,788,804,652,631,652.426151311,0.400978093642,-0.0153928336089,0.0598486605031,0.999999947354,0.000199298380314,-0.00025512700741,2.19424008953e-05,1793240047326062592
+93,1.550000000,BASELINE,766,745,715,679.000131117,660.999868883,636,879,788,804,652,631,652.999868883,0.400979422479,-0.0153923837422,0.0598491798184,0.999999947424,0.000200945214409,-0.00025352128275,2.23695492818e-05,1793240047342728448
+94,1.566666667,BASELINE,766,745,715,679,661,635.424227834,879,788,804,652,631,652.424227834,0.40097775518,-0.0153922242483,0.0598483273464,0.999999947084,0.000199695925195,-0.000255877691937,2.19232230682e-05,1793240047359395328
+95,1.583333333,BASELINE,766,745,715,679,660.844009069,635.155990931,879,787.844009069,804,652,631.155990931,652.155990931,0.400976505408,-0.0153923746138,0.0598478242136,0.999999946905,0.000198425782405,-0.000257582973657,2.16362187352e-05,1793240047376061952
+96,1.600000000,BASELINE,766,745,715,679,660.251721442,635.748278558,879,787.251721442,804,652,631.748278558,652.748278558,0.400976425347,-0.0153933914505,0.0598482990376,0.999999947194,0.00019709916487,-0.000257464560664,2.17953859129e-05,1793240047392728576
+97,1.616666667,BASELINE,766,745,715,679,660.331851088,635.668148912,879,787,804,652,631.668148912,653,0.400976975912,-0.0153943033659,0.0598489346029,0.999999947563,0.000196024368406,-0.00025684277895,2.19179186687e-05,1793240047409395456
+98,1.633333333,BASELINE,766,745,715,679,660.908982027,635.091017973,879,787,804,652,631.091017973,653,0.400977992589,-0.0153951377313,0.0598496889762,0.999999947989,0.000195135699585,-0.000255848944208,2.20133739522e-05,1793240047426062336
+99,1.650000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652.516851559,0.400979064663,-0.0153938051967,0.0598499488222,0.999999947852,0.000197747342675,-0.00025438222625,2.19331316275e-05,1793240047442728960
+100,1.666666667,BASELINE,766,745,714.941760484,679,660.941760484,635,879,787.058239516,804,652,631,652,0.400979815233,-0.0153923360256,0.0598500288423,0.999999947587,0.000200564458234,-0.00025322556946,2.18373236676e-05,1793240047459395328
+101,1.683333333,BASELINE,766,745,714.353195063,679,660.353195063,635,879,787.646804937,804,652,631,652,0.400977543748,-0.0153933171338,0.0598493145272,0.999999947212,0.000199284691775,-0.000255698561523,2.18993338458e-05,1793240047476061952
+102,1.700000000,BASELINE,766,745,714.231756757,679,660.231756757,635.231756757,879,788,804,652,631.231756757,652,0.400976334449,-0.0153935107079,0.0598488409288,0.999999946967,0.000198570394848,-0.000257213159249,2.1844893889e-05,1793240047492728576
+103,1.716666667,BASELINE,766,745,714.811285979,679,660.811285979,635.811285979,879,788,804,652,631.811285979,652,0.400976719059,-0.0153925225139,0.0598487285482,0.999999946926,0.000198704637414,-0.000257289597337,2.16157097199e-05,1793240047509395200
+104,1.733333333,BASELINE,766,745,715,678.611337191,661,635.611337191,879,787.611337191,804,652,631.611337191,652.388662809,0.400977378188,-0.015393175104,0.0598486546967,0.999999947245,0.000197374556722,-0.000257069816546,2.16593025421e-05,1793240047526061824
+105,1.750000000,BASELINE,766,745,715,678.034999642,661,635.034999642,879,787.034999642,804,652,631.034999642,652.965000358,0.400978169873,-0.0153946199842,0.05984859945,0.999999947734,0.000195337394011,-0.000256706999688,2.18346119625e-05,1793240047542728704
+106,1.766666667,BASELINE,766,745,715,678.540159851,661,635.540159851,879,787,804,652,631,652.459840149,0.400978813483,-0.015394626703,0.0598496174447,0.999999948223,0.000195398988939,-0.000254746121773,2.18505761673e-05,1793240047559395328
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631,652,0.400975752416,-0.015393016914,0.0598482945744,0.999999946703,0.00019949606335,-0.000257550402558,2.15372144806e-05,1793240047602362880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.39102338,679,660.39102338,636,879,787.39102338,804,652,631,652.60897662,0.400979203042,-0.0153932166802,0.0598505589519,0.999999948172,0.000197761669986,-0.000253130383894,2.16875307665e-05,1793240047619029760
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.20532476,678.79467524,660.20532476,635.79467524,878.79467524,787.20532476,804,652,631,652.79467524,0.400980319823,-0.0153928901322,0.0598512542323,0.999999948623,0.000197218970846,-0.000251771709964,2.16807830209e-05,1793240047635696640
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.779016619,678.220983381,660.779016619,635.220983381,878.220983381,787.779016619,804,652,631,652.220983381,0.40097724952,-0.0153916193394,0.0598491344424,0.999999947264,0.000198814254898,-0.000255905303648,2.13922513513e-05,1793240047652362496
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.362262991,661,635.362262991,878,787.637737009,804,652,631,652,0.400976804111,-0.0153923658008,0.0598486526449,0.99999994714,0.000198938807901,-0.000256272815094,2.16199884699e-05,1793240047669028608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.951495541,661,635.951495541,878,787.048504459,804,652,631,652,0.400978003285,-0.0153943761376,0.0598491971029,0.999999947795,0.000198141899921,-0.000254280753149,2.21711848113e-05,1793240047685695232
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.531810359,787,804,652,631.531810359,652,0.400979804563,-0.0153939847012,0.0598505929217,0.999999948446,0.000197303747069,-0.000252358801978,2.22119101974e-05,1793240047702362112
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.889645406,715,679,661,636,879,787.110354594,804,652,631.889645406,652,0.400981248456,-0.0153938120847,0.0598517828398,0.999999948923,0.000196564157487,-0.0002510430431,2.22455863089e-05,1793240047719028992
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.31518333,715,679,661,636,879,787.68481667,804,652,631.31518333,652,0.400980962187,-0.0153954658101,0.0598517856446,0.999999948675,0.000196254645501,-0.000252250238315,2.24421918707e-05,1793240047735695616
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715,679.265501997,661,636,879,787.734498003,804,652,631,652.265501997,0.400983787266,-0.0153965705141,0.059852716717,0.999999949155,0.000195555947351,-0.000250872890334,2.26155506562e-05,1793240047752362240
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,679.853752362,661,636,879,787.146247638,804,652,631,652.853752362,0.400990394546,-0.015397007819,0.059854776206,0.999999950503,0.000194384148451,-0.000246353731245,2.27606502831e-05,1793240047769028864
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,715,679.564616843,660.564616843,636,879,787,804,652,631,652.564616843,0.401016525646,-0.0153978853951,0.0598660515098,0.999999955188,0.000194185441675,-0.000226618700141,2.36597537658e-05,1793240047785695488
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.985178726,744.014821274,715,679,660,635.985178726,879,787.014821274,804,652,631.014821274,652.014821274,0.40104972121,-0.0153989573209,0.0598804513005,0.999999960479,0.000194342740322,-0.000201633305446,2.48276705414e-05,1793240047802362368
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.405834795,744.594165205,715,679,660,635.405834795,879,787.594165205,804,652,631.594165205,652.594165205,0.401105942137,-0.0154018832156,0.059897715487,0.999999966291,0.000195796336988,-0.000168427981742,2.67319255914e-05,1793240047819028992
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.171450992,745,715,679,660.171450992,635,879,787.828549008,804,652,632,652.828549008,0.401167249922,-0.0154053383037,0.0599147183912,0.999999970925,0.000195298710746,-0.000138572716359,2.83809425696e-05,1793240047835695360
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.743922933,745,715,679,660.743922933,635,879,787.256077067,804,652,632,652.256077067,0.401240455796,-0.0154100311667,0.0599311101643,0.999999974679,0.000190237208036,-0.000116553173973,2.94329624785e-05,1793240047852361984
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.326073751,879.326073751,787.326073751,804.326073751,652,631.673926249,652.326073751,0.401320793573,-0.0154138644607,0.0599422706733,0.999999976834,0.000188557071219,-9.94058641269e-05,2.99320003837e-05,1793240047869028608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.916058222,879.916058222,787.916058222,804.916058222,652,631.083941778,652.916058222,0.401406903618,-0.0154170020544,0.0599491972107,0.999999977858,0.000189613673596,-8.62019407904e-05,2.9983477279e-05,1793240047885695488
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.502814685,715,678.502814685,661,636,879.502814685,787.502814685,804.502814685,652,631,652.502814685,0.401505407049,-0.0154213042935,0.0599513473841,0.999999978228,0.000189690427489,-8.19022950272e-05,2.92028163794e-05,1793240047902362112
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.076294066,715,678.076294066,661,635.923705934,879,787.076294066,804,652,631,652.076294066,0.401608416041,-0.0154260125666,0.0599520547299,0.999999978478,0.000189432473202,-7.97650162897e-05,2.82182220235e-05,1793240047919028736
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.651809909,715,678.651809909,661,635.348190091,879,787.651809909,804,652,631,652.651809909,0.401727454767,-0.0154321135601,0.0599485054056,0.999999978589,0.000188047930201,-8.21121559709e-05,2.68024222452e-05,1793240047935695360
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.227618008,879,788,804,652,631,653,0.401860666738,-0.0154389921295,0.0599466188963,0.999999979055,0.000185698077948,-8.22275524861e-05,2.53813717789e-05,1793240047952361984
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.803873697,879,788,804,652,631,653,0.402015587559,-0.0154470616948,0.0599472792856,0.99999998006,0.000181869682084,-7.8924635045e-05,2.3952279075e-05,1793240047969028608
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.6106455,715,679,661,635.6106455,879,787.6106455,804,652,631,653,0.402196423858,-0.0154568711436,0.0599501672131,0.999999981943,0.000174800956411,-7.10661288418e-05,2.25402338769e-05,1793240047985695232
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.02040498,715,679,661,635.02040498,879,787.02040498,804,652,631,653,0.402390631166,-0.0154675782797,0.0599542044306,0.999999984137,0.00016606039414,-6.08571830948e-05,2.11369841434e-05,1793240048002362112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.559495511,715,679,660.440504489,635,879,787,804,652,631,652.440504489,0.402617219807,-0.015477999511,0.0599559817753,0.999999985992,0.000158016754632,-5.17917232649e-05,1.90743031328e-05,1793240048019028480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.862603936,715,679,660.137396064,635,879.137396064,787.137396064,804,652,631,652.137396064,0.40285164731,-0.015488647703,0.059958005075,0.999999987737,0.000149625764585,-4.29785530117e-05,1.70357027978e-05,1793240048035695104
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.289866888,715,679,660.710133112,635,879.710133112,787.710133112,804,652,631,652.710133112,0.403107238413,-0.0155000474638,0.0599610640911,0.999999989471,0.000140055115775,-3.48350232428e-05,1.51482207637e-05,1793240048052361728
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.284474084,715,679,661,635.284474084,880,787.715525916,804,652,631.284474084,653,0.403374180782,-0.015510874052,0.0599571617662,0.999999991176,0.00012612851879,-3.98117730043e-05,1.24317428614e-05,1793240048069028608
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.860458618,715,679,661,635.860458618,880,787.139541382,804,652,631.860458618,653,0.403652755172,-0.0155211132895,0.0599461259136,0.999999992461,0.000107738231322,-5.82333282316e-05,8.86576428051e-06,1793240048085695232
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.553886518,787.446113482,804,652.446113482,631.553886518,652.553886518,0.40396267198,-0.015526186305,0.0599371564371,0.999999994487,7.51625157574e-05,-7.31293177886e-05,5.4443977453e-06,1793240048102361856
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714.965582556,679,660.965582556,636,879,787.965582556,804.034417444,652.965582556,631,652,0.404284880466,-0.015528578385,0.0599287955572,0.999999995351,4.14006510747e-05,-8.70649003531e-05,1.95905795549e-06,1793240048119028736
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714.384313075,679,660.384313075,636,879,787.384313075,804.615686925,652.384313075,631,652,0.404643168574,-0.0155146181872,0.0599196072882,0.999999992771,6.08547342798e-05,-0.000103650759759,-3.27737510067e-06,1793240048135695360
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714.195207463,679,660,636,879,787,805,652,631,652.195207463,0.405024183814,-0.0155060854099,0.0599167024915,0.999999991522,6.98851070627e-05,-0.000109600527246,-7.68186271252e-06,1793240048152361728
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714.771315292,679,660,636,879,787,805,652,631,652.771315292,0.405449545538,-0.0155081429386,0.059926058379,0.999999993736,5.85761162772e-05,-9.47965201808e-05,-1.04630084731e-05,1793240048169028352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660.353151809,635.646848191,879,787,804.646848191,652,631,652.646848191,0.405913053121,-0.0155166837011,0.0599457320343,0.99999999731,3.60136933129e-05,-6.27650366002e-05,-1.19825419478e-05,1793240048185694976
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660.938759185,635.061240815,879,787,804.061240815,652,631,652.061240815,0.406401669543,-0.0155294919313,0.0599721971681,0.999999999713,6.04390810591e-06,-1.93938875369e-05,-1.26716430076e-05,1793240048202361856
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.517659132,879,787,804,652,631.517659132,652.517659132,0.406920702105,-0.0155353664957,0.0599943504669,0.999999999785,-1.69230619715e-06,1.46665019962e-05,-1.45881076285e-05,1793240048219028480
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.903925292,715,679,661,636,879,787.096074708,804,652,632,652.903925292,0.407442223262,-0.0155393860556,0.0600115327902,0.999999999016,-1.14627634322e-05,3.93164224396e-05,-1.70389353943e-05,1793240048235695104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.324003741,715,679,661,636,879,787.675996259,804,652,632,652.324003741,0.407958387607,-0.0155381417246,0.0600062166365,0.999999998534,-4.45551572249e-05,2.20501352735e-05,-2.14589963625e-05,1793240048252361984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.253827206,715,679.253827206,661,636,879,788,804,652,632,652.253827206,0.408487698069,-0.015536696998,0.059997168032,0.999999997861,-5.98859300229e-05,2.88413966763e-07,-2.63121271502e-05,1793240048269028608
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.829011319,715,679.829011319,661,636,879,788,804,652,632,652.829011319,0.409033652087,-0.0155349985614,0.0599833939736,0.999999997738,-5.27296725186e-05,-2.71647324754e-05,-3.17135439803e-05,1793240048285695488
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.413415577,745,715,679.586584423,661,635.586584423,879,788,804,652,631.586584423,652.586584423,0.409642852144,-0.0155352511307,0.059983485777,0.999999997384,-5.83415065479e-05,-2.42639332181e-05,-3.52040506263e-05,1793240048302362112
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.998306011,745,715,679,661.001693989,635.001693989,879,787.998306011,804,652,631.001693989,652,0.410278912623,-0.0155363353136,0.0599894546986,0.999999996853,-6.92038680866e-05,-8.50338789189e-06,-3.78417299045e-05,1793240048319028736
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+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.840395767,635.840395767,879.159604233,787.159604233,804,652,631.840395767,652.159604233,0.411618006702,-0.015540814823,0.0600011850866,0.999999999612,-2.15541818738e-06,2.09238671726e-05,-1.82649837393e-05,1793240048352361984
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.263711946,635.263711946,879.736288054,787.736288054,804,652,631.263711946,652.736288054,0.412272763098,-0.015536936614,0.0599822474322,0.999999999536,-1.24653975756e-05,-1.11674816683e-05,-2.5471042963e-05,1793240048369028864
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.311064533,879.688935467,788,804,652,631,652.688935467,0.412919889478,-0.0155341659836,0.0599539666865,0.999999996915,-2.15164387435e-05,-6.83854361078e-05,-3.20918515211e-05,1793240048385696000
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.88423394,879.11576606,788,804,652,631,652.11576606,0.413560586833,-0.0155323286053,0.0599178133931,0.999999988063,-2.95066919415e-05,-0.00014677522503,-3.82195249659e-05,1793240048402363392
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.527288337,715,679,661,636,879.472711663,787.527288337,804,652,631,652,0.414333847758,-0.0155369041829,0.0599313879155,0.999999991438,-3.90989276831e-05,-0.000118737154134,-3.86962371431e-05,1793240048419029760
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.063045897,714.936954103,679,661,635.936954103,880,787,804,652,631,652,0.415142092161,-0.0155431321374,0.0599597251952,0.999999996306,-4.78038009577e-05,-6.09029437004e-05,-3.73315931032e-05,1793240048435695872
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.637026766,714.362973234,679,661,635.362973234,880,787,804,652,631,652,0.415961945644,-0.0155495975148,0.0600057048192,0.999999998206,-4.60314836673e-05,2.01082846831e-05,-3.26350664926e-05,1793240048452362496
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714.212770842,679,661,635.212770842,880,787.212770842,804.212770842,652,631.212770842,652.212770842,0.416764930002,-0.0155537017889,0.0600305761982,0.999999996636,-4.72713115125e-05,5.96723043568e-05,-3.05457752307e-05,1793240048469029120
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714.791547935,679,661,635.791547935,880,787.791547935,804.791547935,652,631.791547935,652.791547935,0.417538896212,-0.0155537445165,0.0600191373847,0.999999997626,-5.36926014551e-05,2.79392501338e-05,-3.29414244057e-05,1793240048485696256
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.622929269,651.622929269,631.622929269,652.622929269,0.4183211045,-0.0155524539175,0.0600021867984,0.999999997846,-5.50452680008e-05,1.20382975547e-06,-3.57408935317e-05,1793240048502362880
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.033609406,651.033609406,631.033609406,652.033609406,0.419107952141,-0.015550412803,0.0599821336938,0.999999997557,-5.35448597661e-05,-2.2718474255e-05,-3.87676685573e-05,1793240048519028992
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.546384296,661,636,879.453615704,787.453615704,804,651.546384296,631,652.546384296,0.419936247768,-0.0155520870572,0.0599585591681,0.999999995773,-6.02365334865e-05,-5.49030766258e-05,-4.25683777549e-05,1793240048535695360
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.12479117,745,715,679.87520883,661.12479117,636,879.12479117,787.12479117,804,651.87520883,631,652.87520883,0.4207561755,-0.0155531787614,0.059933595584,0.999999992371,-6.4810766974e-05,-9.45259385766e-05,-4.60713158652e-05,1793240048552361984
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.699510325,745,715,679.300489675,661.699510325,636,879.699510325,787.699510325,804,651.300489675,631,652.300489675,0.421536894985,-0.0155513599468,0.0599043917014,0.999999984367,-5.99643331872e-05,-0.000159165388133,-4.83318928644e-05,1793240048569028608
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.43911093,745,715,679,661.719555465,635.719555465,880,787.719555465,804,651,631,652,0.422366169114,-0.015552297234,0.0599032327627,0.999999983847,-5.99406505421e-05,-0.000162189117463,-4.90595222803e-05,1793240048585695232
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.263621948,745,715,679,661.131810974,635.131810974,880,787.131810974,804,651,631,652,0.423248647589,-0.0155562545477,0.0599328043533,0.999999991945,-6.52015459957e-05,-9.76968019887e-05,-4.8107409072e-05,1793240048602362368
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.449641625,745,715,679.449641625,661.449641625,635.449641625,880,787,804,651,631,652.449641625,0.424165742758,-0.015563098614,0.0599848804928,0.999999996491,-6.94383926889e-05,-1.73534007944e-05,-4.35264184012e-05,1793240048619028992
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.970816871,715,679.970816871,661.970816871,635.970816871,880,787,804,651,631,652.970816871,0.425090785207,-0.0155704528282,0.0600402266826,0.999999994558,-7.36116345935e-05,6.32464022846e-05,-3.82895866097e-05,1793240048635695360
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.393006114,715,679.393006114,661.393006114,635.393006114,880,787,804,651,631,652.393006114,0.425977093344,-0.0155717082005,0.0600347369992,0.999999993853,-8.21548093565e-05,6.25166062285e-05,-4.04460629544e-05,1793240048652361984
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744,715,679,661,635,880,787,804,651,631,652,0.426849294133,-0.0155725717667,0.0600230772934,0.999999993665,-8.99612819709e-05,5.220134955e-05,-4.30254780654e-05,1793240048669028864
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744,715,679,661,635,880,787,804,651,631,652,0.427691494145,-0.0155726021166,0.0599982964009,0.99999999406,-9.62010811419e-05,2.15016250493e-05,-4.65043158092e-05,1793240048685695488
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.333964332,715,679,661.333964332,635.333964332,879.666035668,787.333964332,804,651,631,652,0.42851362041,-0.015572108566,0.0599770904224,0.99999999408,-9.67847764013e-05,-8.7925654561e-06,-4.89333347152e-05,1793240048702362112
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.907651254,715,679,661.907651254,635.907651254,879.092348746,787.907651254,804,651,631,652,0.429321337526,-0.0155712389551,0.0599584505502,0.999999993614,-9.33084692766e-05,-3.8795658693e-05,-5.06087840868e-05,1793240048719028736
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.50169208,879,788,804,651,631,652.49830792,0.430124119553,-0.0155686275269,0.0599376974189,0.999999991146,-9.49594072166e-05,-7.6845061492e-05,-5.27830423222e-05,1793240048735695616
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.08848918,745,715,679,661.91151082,635,879.08848918,788,804.08848918,651,631.08848918,652.91151082,0.43094435477,-0.0155673735111,0.059927532039,0.999999989133,-9.7967885765e-05,-9.58916882603e-05,-5.42367024315e-05,1793240048752362496
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.658372,745,715,679,661.341628,635,879.658372,788,804.658372,651,631.658372,652.341628,0.431864688423,-0.0155753220108,0.0599771712156,0.999999993376,-0.00010301008334,-3.1622862928e-06,-5.12495811092e-05,1793240048769029120
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.767841274,745,715,679,661.232158726,635,879.767841274,788,805,651,631.767841274,652.232158726,0.432743047133,-0.0155804996355,0.0600121675872,0.999999991511,-0.000106521691469,5.67121565164e-05,-4.91473258173e-05,1793240048785695488
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.188211499,745,715,679,661.811788501,635,879.188211499,788,805,651,631.188211499,652.811788501,0.433558582249,-0.0155815301037,0.0600252481377,0.999999990754,-0.000107742474247,6.74127258224e-05,-4.83694460889e-05,1793240048802362112
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.397700393,662,635,879.795400785,787.602299607,805,651.397700393,631.397700393,652.602299607,0.434326153416,-0.0155810378952,0.0600075162206,0.999999991978,-0.000110312634038,3.66929710359e-05,-5.02849788416e-05,1793240048819028736
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.986632973,662,635,880.973265946,787.013367027,805,651.986632973,631.986632973,652.013367027,0.435070661316,-0.0155798135154,0.0599749682862,0.999999992027,-0.000113531634518,-1.39435342614e-05,-5.34956250716e-05,1793240048835695360
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.43635283,662.56364717,635,880.43635283,787.56364717,804.43635283,652,631.43635283,652,0.435817811923,-0.0155784231446,0.0599530726686,0.999999990837,-0.000109041531334,-5.70353116865e-05,-5.64087098307e-05,1793240048852362240
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.858706287,635,879.858706287,788,804.141293713,651.858706287,631,652.141293713,0.436563109846,-0.0155765573704,0.0599354399903,0.99999998826,-0.000107022954894,-9.2596760676e-05,-5.87473499069e-05,1793240048869028864
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.278233919,635,879.278233919,788,804.721766081,651.278233919,631,652.721766081,0.437302458317,-0.0155732258977,0.0599302887114,0.999999986285,-0.000113243041754,-0.000105296563116,-5.93219424086e-05,1793240048885695488
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.303803409,662,635,879.303803409,788,805,651.303803409,631.303803409,653,0.438010627847,-0.0155705330467,0.0599256581679,0.999999984518,-0.00011550197018,-0.000118523617302,-5.98029969038e-05,1793240048902362112
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.887281372,662,635,879.887281372,788,805,651.887281372,631.887281372,653,0.438690094709,-0.0155684280964,0.0599215070017,0.999999982934,-0.00011411434531,-0.000132236046829,-6.01979423917e-05,1793240048919028736
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.469805014,662,635.469805014,880,788,805,651.530194986,632,653,0.439403039363,-0.0155750793493,0.0599451478328,0.999999986485,-0.00012105509132,-9.47869827344e-05,-5.82340916482e-05,1793240048935695616
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.948318257,662,635.948318257,880,787.948318257,805,651.051681743,632,653,0.440115233004,-0.0155838296207,0.0599720922884,0.999999988608,-0.000130512595328,-5.11859207238e-05,-5.59447335354e-05,1793240048952361984
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.370699903,662,635.370699903,880,787.370699903,805,651.629300097,632,653,0.440738209827,-0.0155926046446,0.0599649365414,0.999999985448,-0.000145288436146,-6.96420181306e-05,-5.60904284305e-05,1793240048969028864
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.205523464,745.205523464,715,680,661.794476536,635,880,787,805.205523464,652,631.794476536,652.794476536,0.441330082823,-0.0155995707239,0.0599369104372,0.999999978956,-0.000158238584618,-0.000116823880131,-5.83104233322e-05,1793240048985695488
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.77924777,745.77924777,715,680,661.22075223,635,880,787,805.77924777,652,631.22075223,652.22075223,0.441866232576,-0.0156032960317,0.0598714945228,0.999999960625,-0.000167917957458,-0.000215468728606,-6.42465824683e-05,1793240049002361856
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.636792934,745.636792934,715,680,661,634.636792934,880.363207066,787,805.636792934,651.636792934,631,652.363207066,0.442387625086,-0.0156063383538,0.0598232153086,0.999999940879,-0.000178178425415,-0.000285848040076,-6.91735105759e-05,1793240049019028736
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.046432609,745.046432609,715,680,661,634.046432609,880.953567391,787,805.046432609,651.046432609,631,652.953567391,0.442899788238,-0.0156089535297,0.0597856535585,0.99999992217,-0.000188802315689,-0.000338549802237,-7.34692554748e-05,1793240049035695616
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.466378126,660.466378126,634,880.466378126,786.466378126,805,651,631.533621874,653,0.443419311924,-0.0156169250764,0.0597817771489,0.999999916255,-0.000200549212902,-0.000348982748537,-7.40291957827e-05,1793240049052362496
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.112001561,660.112001561,634.112001561,880,786.112001561,805,651,631.887998439,653,0.443934545386,-0.0156251974988,0.0597828623109,0.999999912977,-0.000212103888717,-0.000351485565718,-7.42656193532e-05,1793240049069029120
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.687094021,660.687094021,634.687094021,880,786.687094021,805,651,631.312905979,653,0.444429442142,-0.0156328233674,0.0597925724574,0.999999915992,-0.000222467414374,-0.000336118968587,-7.44829891666e-05,1793240049085695488
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.731836009,634.731836009,880,786.731836009,805,651,631,652.731836009,0.444881772799,-0.0156382810911,0.0597859398369,0.999999907974,-0.000233338632171,-0.000351911573163,-7.59206483171e-05,1793240049102361856
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.143632231,634.143632231,880,786.143632231,805,651,631,652.143632231,0.445283302992,-0.015641151246,0.0597598029726,0.999999884958,-0.000244815752988,-0.000404891066125,-7.88146592202e-05,1793240049119028480
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.437789304,633.562210696,880,786.437789304,805.437789304,651,631,652.437789304,0.445641562272,-0.0156459715522,0.0597287369861,0.999999860189,-0.000256653523099,-0.000455168166144,-8.10716897849e-05,1793240049135695360
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.983060705,745,715,680,660.983060705,633,880,786.983060705,805.983060705,651.016939295,630.983060705,652.983060705,0.445986945083,-0.0156514068909,0.059696921393,0.999999834242,-0.000267538342501,-0.000503078171532,-8.27711582497e-05,1793240049152361984
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.169609968,745.169609968,715,679.830390032,660,633,880,786,805,651.830390032,630.169609968,652.169609968,0.446739638089,-0.0156615470091,0.0596943969124,0.999999850215,-0.000227426208552,-0.000493443829092,-6.60334083119e-05,1793240049185695488
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+271,4.516666667,HOLD_POSE2,765.693019114,745.693019114,715,680,658.693019114,631.693019114,880,783,805,651.693019114,630,652,0.449794081167,-0.0157011842628,0.0596253780291,0.999999771016,-0.00031373583557,-0.00059505066638,-7.38361783532e-05,1793240050349826816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,659,632,880,783,805,652,630,653,0.449793939421,-0.0157026341448,0.0596245594871,0.999999768855,-0.000318754363747,-0.000595970830564,-7.41895052064e-05,1793240050387098368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.419549673,715,680,659,632,880,783,805,652,630,653,0.449794915559,-0.0157009511509,0.0596248492754,0.99999977027,-0.000316630346597,-0.000594698051171,-7.44205427626e-05,1793240050403765504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.159813446,680,659,631.840186554,880,783,805.159813446,651.840186554,630,653,0.449795530254,-0.0157002561572,0.0596251629228,0.999999771093,-0.000315806084939,-0.000593750160753,-7.44434321568e-05,1793240050420432384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.736341787,680,659,631.263658213,880,783,805.736341787,651.263658213,630,653,0.449795202479,-0.0157021373819,0.0596255387829,0.999999770378,-0.00031837094614,-0.000593649420787,-7.3923573528e-05,1793240050437098752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.311770599,715.688229401,680,659,631.311770599,880,783,805.688229401,651,630,652.688229401,0.449795141998,-0.0157030385692,0.0596257872049,0.999999770199,-0.000318597644451,-0.000593865528013,-7.36340889798e-05,1793240050453764864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.886272793,715.113727207,680,659,631.886272793,880,783,805.113727207,651,630,652.113727207,0.449795306767,-0.015703113871,0.0596259282338,0.999999770473,-0.000316853953907,-0.000594348644925,-7.35387425567e-05,1793240050470431488
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.124897783,745,715,680,659,632,880.124897783,783,805,651,630,652,0.449606330122,-0.01568916247,0.0595556642838,0.999999712879,-0.000312405132512,-0.000685746213083,-7.99808315093e-05,1793240050620431360
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.149610384,745.850389616,715,680,659,631.149610384,880.149610384,783,805,651.850389616,630,652,0.449377792778,-0.0156771344522,0.0595363711593,0.999999699885,-0.000306675251239,-0.000706886962715,-8.05720845363e-05,1793240050670431488
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.929071908,745,715,680,658.929071908,632,880.070928092,783.929071908,805,651.929071908,630,652.929071908,0.448337701272,-0.0156190015274,0.0595413036582,0.99999970642,-0.000276510425882,-0.00071080350242,-7.39001776168e-05,1793240050787097856
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.399845219,632,880,784,805,651,630,652.600154781,0.446712531671,-0.0155421841293,0.0595939090987,0.999999771484,-0.000219780534465,-0.000636564355581,-5.92760899461e-05,1793240050887098112
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.986775992,632,880,784,805,651,630,652.013224008,0.446355400614,-0.015529110984,0.0595990049251,0.999999777269,-0.000207626598856,-0.00063178605471,-5.65682521045e-05,1793240050903765248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.568642967,745,715,680,660,632.568642967,880,784.568642967,805,651.568642967,630.568642967,652.568642967,0.445950418277,-0.0155257079656,0.0595951108318,0.999999771714,-0.000206416905801,-0.000641012517498,-5.53830372198e-05,1793240050920431616
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.052826861,745,715,680,660,633.052826861,880,786,805,651,631,652.947173139,0.443211683902,-0.0154867938451,0.0596749907671,0.999999865969,-0.000105913221934,-0.000505767032767,-3.23244099447e-05,1793240051020431104
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,804.926451793,651.926451793,631.073548207,653,0.429301834721,-0.0154104512005,0.0598429432583,0.999999964525,0.000108037509871,-0.000243012241496,1.49365141167e-05,1793240051337097728
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.807016172,660.807016172,635,879,788,804,652,631.192983828,652.807016172,0.417069300819,-0.0153802811233,0.0597859665145,0.999999927659,0.000174918680866,-0.000337232068233,1.89716822892e-05,1793240051570430976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.2312724,660.2312724,635,879,788,804,652,631.7687276,652.2312724,0.416271799906,-0.0153789892536,0.0598247410825,0.999999940789,0.000183122767861,-0.000290384821315,2.37592245367e-05,1793240051587097600
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.944030869,635.944030869,879,788,804,652,632,652.944030869,0.414713086669,-0.0153770184956,0.0598335461371,0.999999936174,0.000190519735026,-0.000301146475698,2.57937027793e-05,1793240051620430848
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82b5560d96e4f68acc3e385412ab7259d0ee85aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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+412,6.866666667,pose2_to_pose3_retreat,0.575664786433,-0.00990918531539,1.05003242797,0.546235237465,-0.00123744749604,1.04970056266
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..635cea0f65e47c13eb11f53a9947e2c2ccde7e65
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:350fe644f9ae0dddf9df53e51c480b53d607f1d099338ae76b648ac636592876
+size 26444800
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea130e88b9776e19838bccd113c68f909030b692
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+52,0.866666667,BASELINE,766,744.810322036,715,679,661,635.810322036,879,788,804,652,631.810322036,652.810322036,0.400979082688,-0.0153845455646,0.0598485749281,0.999999947167,0.000202401373964,-0.000253671165321,1.87380892314e-05,1793240053810492672
+53,0.883333333,BASELINE,766,744.230185479,715,679,661,635.230185479,879,788,804,652,631.230185479,652.230185479,0.400979745491,-0.0153856096058,0.0598485966402,0.999999946941,0.000203087968532,-0.000253982483254,1.91577340048e-05,1793240053827159296
+54,0.900000000,BASELINE,766,744.346646823,715,678.653353177,661,635.346646823,879,787.653353177,804,652,631,652.346646823,0.400981318363,-0.0153862759782,0.0598494121339,0.999999947169,0.000203471922683,-0.000252750703579,1.94371054424e-05,1793240053843826176
+55,0.916666667,BASELINE,766,744.921305678,715,678.078694322,661,635.921305678,879,787.078694322,804,652,631,652.921305678,0.400983489844,-0.015386680778,0.0598507497489,0.999999947693,0.000203656810632,-0.000250503928804,1.9624210019e-05,1793240053860492800
+56,0.933333333,BASELINE,766,745,715,678.506526063,660.493473937,635.493473937,879,787.506526063,803.493473937,652,631,653,0.400983316134,-0.0153860889986,0.0598503827268,0.999999947599,0.000204376768712,-0.000250312470115,1.93874666085e-05,1793240053877159680
+57,0.950000000,BASELINE,766,745,715,679,660,635,879,787.907555518,803.092444482,652,631,652.907555518,0.400982836933,-0.015385306503,0.0598498897453,0.999999947393,0.00020516811626,-0.000250509505956,1.91151865888e-05,1793240053893826048
+58,0.966666667,BASELINE,766,745,715,679,660,635,879,787.326802005,803.673197995,652,631,652.326802005,0.400982709622,-0.0153843518621,0.059850160115,0.999999947115,0.0002058881027,-0.000251036039608,1.90104314215e-05,1793240053910492672
+59,0.983333333,BASELINE,766,745,715,679,660.252638365,635.252638365,879,787.252638365,804,652,631,652,0.400981702341,-0.0153847863489,0.0598497617674,0.999999946991,0.000205069121421,-0.000252202602117,1.89516817317e-05,1793240053927159552
+60,1.000000000,BASELINE,766,745,715,679,660.830388972,635.830388972,879,787.830388972,804,652,631,652,0.400979562654,-0.0153870084597,0.0598485028689,0.999999947057,0.000202269691832,-0.000254192797392,1.89521350071e-05,1793240053943826176
+61,1.016666667,BASELINE,766,745,715,679,661,635.59373045,879,787.59373045,804,652,631,652,0.4009799766,-0.0153866594215,0.059848587932,0.999999946865,0.00020370127773,-0.000253788952908,1.91579068209e-05,1793240053960492544
+62,1.033333333,BASELINE,766,745,715,679,661,635.018627037,879,787.018627037,804,652,631,652,0.400981451762,-0.0153852418881,0.0598492315067,0.999999946558,0.000206891151346,-0.000252390214687,1.94490030749e-05,1793240053977159168
+63,1.050000000,BASELINE,766,745,715,679,661.570410041,635.570410041,879,787,804,652,631,652.570410041,0.400981902252,-0.0153858741874,0.0598500482368,0.999999947464,0.000203522697848,-0.000251546835502,1.93673790037e-05,1793240053993826048
+64,1.066666667,BASELINE,766.15725517,745,715,679,661.84274483,636,879,787,804,652,631,653,0.400981946949,-0.0153864252497,0.0598504536203,0.999999948029,0.000201115988087,-0.000251240136107,1.92933271633e-05,1793240054010492672
+65,1.083333333,BASELINE,766.7369589,745,715,679,661.2630411,636,879,787,804,652,631,653,0.40098099367,-0.0153865737522,0.0598497383962,0.999999947602,0.000201882634182,-0.000252325228454,1.92731330419e-05,1793240054027159040
+66,1.100000000,BASELINE,766.686827153,745,715,678.686827153,661,635.686827153,879.313172847,787.313172847,804,652,631.313172847,652.686827153,0.40098102159,-0.0153861915816,0.0598496295868,0.999999947627,0.00020185016733,-0.000252258875659,1.91625150431e-05,1793240054043826432
+67,1.116666667,BASELINE,766.113512082,745,715,678.113512082,661,635.113512082,879.886487918,787.886487918,804,652,631.886487918,652.113512082,0.400981864559,-0.0153853685985,0.0598500245059,0.999999948029,0.000201153904005,-0.000251236055785,1.89767849502e-05,1793240054060494080
+68,1.133333333,BASELINE,766,745,715,678.472828224,661,635,879.527171776,787.527171776,804,652.472828224,632,652.472828224,0.400982264088,-0.0153854069497,0.0598506209078,0.9999999478,0.000203848091941,-0.000249953276496,1.92337137818e-05,1793240054077160448
+69,1.150000000,BASELINE,766,745,715,679,661,635,879,787.061307501,803.938692499,652.938692499,631.938692499,652.938692499,0.40098240847,-0.0153856226087,0.0598511418464,0.999999947429,0.000206903701725,-0.000248902854282,1.95205730598e-05,1793240054093826560
+70,1.166666667,BASELINE,766,745,715,679,661,635,879,787.640688831,803.359311169,652.359311169,631.359311169,652.359311169,0.400981321825,-0.0153855397081,0.0598506047621,0.999999947272,0.000205940438292,-0.000250358264521,1.91368979162e-05,1793240054110493184
+71,1.183333333,BASELINE,766,745,715,679,661,635,879,787.780760355,803.219239645,652,631.219239645,652,0.400980584503,-0.0153850561663,0.0598497622044,0.999999946911,0.000205720618717,-0.000251988999404,1.89346316357e-05,1793240054127159808
+72,1.200000000,BASELINE,766,745,715,679,661,635,879,787.203565444,803.796434556,652,631.796434556,652,0.400980417525,-0.0153839184924,0.0598484208966,0.999999946219,0.000206714628931,-0.000253905989217,1.90285537796e-05,1793240054143826944
+73,1.216666667,BASELINE,766,745,715,679,660.628470748,635,879,787.371529252,804,652,631.628470748,652.371529252,0.400980987051,-0.0153845638863,0.0598493931364,0.999999946571,0.000206422370599,-0.000252749347871,1.91244848141e-05,1793240054160493568
+74,1.233333333,BASELINE,766,745,715,679,660.054520354,635,879,787.945479646,804,652,631.054520354,652.945479646,0.400981957847,-0.015386180753,0.0598516258718,0.999999947485,0.000205429311534,-0.00024991809282,1.92215103514e-05,1793240054177159936
+75,1.250000000,BASELINE,766,745,715,679,660.535010151,635.535010151,879,787.464989849,804,652,631,652.464989849,0.400982345606,-0.0153858599724,0.0598514937109,0.999999947784,0.000204058943692,-0.000249850556657,1.9164038838e-05,1793240054193826560
+76,1.266666667,BASELINE,766.123401442,745,715,679,660.876598558,635.876598558,879,787,804,652,631.123401442,652,0.400982524919,-0.015385453922,0.0598510524778,0.999999947855,0.000203289549963,-0.000250192591154,1.91338206929e-05,1793240054210492928
+77,1.283333333,BASELINE,766.701567869,745,715,679,660.298432131,635.298432131,879,787,804,652,631.701567869,652,0.400982161582,-0.0153854831342,0.0598503870041,0.999999947332,0.000204880842299,-0.000250974959511,1.92637990859e-05,1793240054227159552
+78,1.300000000,BASELINE,766.721452869,744.721452869,715,679,660.278547131,635,879,787,804,652,631.721452869,652,0.40098263449,-0.0153861996594,0.0598507644916,0.99999994761,0.000204320588297,-0.000250318173483,1.93430551715e-05,1793240054243826176
+79,1.316666667,BASELINE,766.145740161,744.145740161,715,679,660.854259839,635,879,787,804,652,631.145740161,652,0.400983999537,-0.0153876494385,0.059852254653,0.999999948735,0.000201464975758,-0.000248126038104,1.93681985973e-05,1793240054260493056
+80,1.333333333,BASELINE,766,744.427754308,715,678.572245692,660.572245692,635,879.427754308,787.427754308,804.427754308,652,631,652,0.400983900707,-0.0153873059886,0.0598523180562,0.999999948608,0.000202144554064,-0.000248081800354,1.94212554995e-05,1793240054277159680
+81,1.350000000,BASELINE,766,745,715,678.00103232,660.00051616,635,879.99948384,787.99948384,804.99948384,652,631,652.00051616,0.400983305616,-0.015386355603,0.0598518970562,0.999999948056,0.000204020302295,-0.000248766051974,1.94835117267e-05,1793240054293826560
+82,1.366666667,BASELINE,766,745,715,679.190807162,660.595403581,635,879.404596419,787.404596419,804.404596419,652,631,652.595403581,0.400982622449,-0.0153864223673,0.0598505546031,0.999999947868,0.000203488092889,-0.000249973776337,1.92440503715e-05,1793240054310493440
+83,1.383333333,BASELINE,766,745,715,679.815962142,661,635,879.184037858,787.184037858,804,652,631.184037858,652.815962142,0.400982512077,-0.0153862017871,0.059849940928,0.999999947802,0.000203464263852,-0.000250273230877,1.90403505898e-05,1793240054327160064
+84,1.400000000,BASELINE,766,745,715,679.24062318,661,635,879.75937682,787.75937682,804,652,631.75937682,652.24062318,0.400983619582,-0.0153853702556,0.0598508767793,0.999999947995,0.000204521352531,-0.000248641523293,1.89126869832e-05,1793240054343826432
+85,1.416666667,BASELINE,766,745,715,679,661,635,879.665243681,787.665243681,804,652,631.665243681,652,0.400983182702,-0.01538575183,0.059850889055,0.999999948023,0.000203652176417,-0.00024923878395,1.89565842858e-05,1793240054360493056
+86,1.433333333,BASELINE,766,745,715,679,661,635,879.089835074,787.089835074,804,652,631.089835074,652,0.400981635584,-0.0153870054916,0.0598502373831,0.999999947926,0.000201398231665,-0.000251438423142,1.91238146684e-05,1793240054377159680
+87,1.450000000,BASELINE,766,745,715,679,661,635.496321453,879,787,804,652,631.496321453,652,0.4009809888,-0.0153867259462,0.0598496989685,0.99999994756,0.000202384176408,-0.000252099059324,1.91349334188e-05,1793240054393826304
+88,1.466666667,BASELINE,766.083189814,744.916810186,715,679,661,635.916810186,879,787.083189814,804,652,631.916810186,652,0.400980792572,-0.015386209514,0.059849405241,0.999999947277,0.000203609263186,-0.000252238648719,1.91146427877e-05,1793240054410492928
+89,1.483333333,BASELINE,766.662445618,744.337554382,715,679,661,635.337554382,879,787.662445618,804,652,631.337554382,652,0.400982289774,-0.0153859719688,0.0598504456501,0.999999947784,0.000202686073448,-0.000250969055467,1.90792807978e-05,1793240054427159808
+90,1.500000000,BASELINE,766.759167181,744.240832819,715,679,661,635,879,788,804,652,631,652,0.400983064925,-0.0153858122219,0.0598509716664,0.999999948109,0.000201962663976,-0.000250266623615,1.8983383293e-05,1793240054443826432
+91,1.516666667,BASELINE,766.181993097,744.818006903,715,679,661,635,879,788,804,652,631,652,0.400982831676,-0.0153857611262,0.0598507792942,0.999999948179,0.000201518262847,-0.000250356275704,1.88029433616e-05,1793240054460492800
+92,1.533333333,BASELINE,766,745,715,679,660.607280021,635.392719979,879,788,804.392719979,652,631.392719979,652,0.40098285278,-0.0153864477407,0.0598510589569,0.99999994853,0.00020084378928,-0.000249482887405,1.89635493858e-05,1793240054477159936
+93,1.550000000,BASELINE,766,745,715,679,660.033700265,635.966299735,879,788,804.966299735,652,631.966299735,652,0.400982991021,-0.0153874740938,0.0598515560064,0.999999949008,0.000200063360155,-0.000248165989031,1.92812176744e-05,1793240054493827328
+94,1.566666667,BASELINE,766,745,715,679,660.556941158,635.443058842,879,788,804.443058842,652.556941158,632,652.556941158,0.400982449239,-0.015387412723,0.0598515040128,0.999999948776,0.000199983901051,-0.000249172698956,1.91553156621e-05,1793240054510493440
+95,1.583333333,BASELINE,766,745,715,679,661,635.145485245,879,788,804,652.854514755,631.854514755,652.854514755,0.400982398285,-0.0153871655557,0.0598515381549,0.999999948612,0.000200320994411,-0.00024957044353,1.90326306214e-05,1793240054527159552
+96,1.600000000,BASELINE,766,745,715,679,661,635.724603754,879,788,804,652.275396246,631.275396246,652.275396246,0.400983936817,-0.0153865669791,0.0598519311845,0.999999948781,0.000201769245258,-0.000247720788778,1.90020622879e-05,1793240054543826432
+97,1.616666667,BASELINE,766,744.698777716,714.698777716,679,661,635.698777716,879,788,803.698777716,652,631,652.301222284,0.400983631221,-0.0153860838104,0.0598518755996,0.999999948473,0.000203066872088,-0.000247906197828,1.89963054166e-05,1793240054560493056
+98,1.633333333,BASELINE,766,744.124426046,714.124426046,679,661,635.124426046,879,788,803.124426046,652,631,652.875573954,0.400981653484,-0.0153857052864,0.0598514132391,0.999999947731,0.000204227922464,-0.000249936874615,1.90130460176e-05,1793240054577159680
+99,1.650000000,BASELINE,766,744.46084484,714.46084484,679,661,635.46084484,879,788,803.46084484,652,631,653,0.400982613978,-0.0153857176008,0.0598518374253,0.999999948214,0.000203404948597,-0.00024867184027,1.89802560211e-05,1793240054593826816
+100,1.666666667,BASELINE,766,745,715,679,660.951580722,636,879.048419278,787.951580722,804,652,631,652.951580722,0.400984124801,-0.0153859072284,0.0598523248105,0.999999948938,0.000202048114559,-0.000246865032392,1.89437368184e-05,1793240054610493952
+101,1.683333333,BASELINE,766,745,715,679,660.371864248,636,879.628135752,787.371864248,804,652,631,652.371864248,0.400982758181,-0.0153868564809,0.0598508154278,0.999999948619,0.000200853874122,-0.000249114323992,1.9016599124e-05,1793240054627160320
+102,1.700000000,BASELINE,766,745,715,679.20659197,660,636,879.79340803,787.20659197,804,652,631,652.20659197,0.400981816374,-0.015387223368,0.0598500316143,0.999999948292,0.000200588791949,-0.000250628511709,1.91318127107e-05,1793240054643826688
+103,1.716666667,BASELINE,766,745,715,679.782793431,660,636,879.217206569,787.782793431,804,652,631,652.782793431,0.40098163459,-0.0153865483567,0.0598505459023,0.999999947957,0.000201986048048,-0.00025082753979,1.93227961046e-05,1793240054660493312
+104,1.733333333,BASELINE,766,745,715,679.642984836,660,636,879,787.642984836,804,652,631,653,0.400982153382,-0.0153865046509,0.059850808414,0.999999947972,0.000202909336131,-0.00025002628815,1.92287903498e-05,1793240054677159680
+105,1.750000000,BASELINE,766,745,715,679.069960862,660,636,879,787.069960862,804,652,631,653,0.40098309605,-0.0153868429108,0.0598509185908,0.999999948199,0.000203545854271,-0.000248619826295,1.89623544963e-05,1793240054693826560
+106,1.766666667,BASELINE,766.520382715,745,715,679,660.520382715,636,879,787,804,652,631,652.479617285,0.400983957281,-0.015386710228,0.0598515602778,0.999999948644,0.000202585601506,-0.000247627609341,1.87448990434e-05,1793240054710493184
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,631,653,0.400984845086,-0.0153866174446,0.0598528685484,0.999999948945,0.000202883188103,-0.000246116823303,1.93451985872e-05,1793240054752788480
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.576492227,804,652,631,653,0.400983536516,-0.0153870409746,0.0598515825166,0.999999948657,0.000201642571985,-0.000248298162056,1.93257154851e-05,1793240054769455104
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.844342636,879,788,804,652,631,653,0.400982285426,-0.0153872746173,0.0598504230029,0.999999948292,0.000201003907788,-0.000250286718724,1.92557519755e-05,1793240054786121472
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.257777936,879,788,804,652,631,653,0.400981193461,-0.0153869825939,0.0598496137299,0.999999947723,0.000202031630905,-0.000251741595932,1.90460432063e-05,1793240054802787840
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.324864703,879,788,804,652,631,653,0.400981205351,-0.0153875613577,0.0598499147826,0.999999947817,0.000201598764768,-0.000251710427529,1.9129230222e-05,1793240054819454464
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.904432301,879,788,804,652,631,653,0.400982082694,-0.0153888228425,0.0598510863613,0.999999948428,0.000200020756272,-0.000250514158255,1.94420556316e-05,1793240054836120832
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.480485683,652.519514317,0.400982830117,-0.0153874730226,0.0598514378031,0.999999948575,0.000200523292636,-0.000249544561963,1.91827335087e-05,1793240054852787456
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.944246822,804,652,631.944246822,652,0.400983591299,-0.0153858390025,0.0598516467616,0.999999948629,0.000201301742489,-0.000248724954907,1.88664376138e-05,1793240054869454336
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.369835054,804,652,631.369835054,652,0.400984719114,-0.0153863577553,0.0598520367134,0.999999948681,0.000200825265123,-0.000248884293892,1.90710873565e-05,1793240054886120960
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.788984706,879,787,804,652,631.211015294,652,0.400992047384,-0.0153866764811,0.0598550668308,0.999999949943,0.000200640338802,-0.000243895526872,1.92958331629e-05,1793240054902787840
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.196494716,879,787,804,652,631.803505284,652,0.401010584877,-0.0153866335967,0.0598628698553,0.999999953254,0.000200982480208,-0.000229599983321,1.95569087273e-05,1793240054919454464
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.387071783,879.774143567,787.387071783,804,652,631.612928217,652,0.401049466635,-0.0153891239747,0.0598777748495,0.999999958956,0.000201722283137,-0.000202362326252,2.11058974582e-05,1793240054936120832
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.966210456,880.932420912,787.966210456,804,652,631.033789544,652,0.401098443318,-0.0153928713697,0.0598962038762,0.999999964963,0.000202659407488,-0.000168702728462,2.32939549299e-05,1793240054952787200
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.916773568,787.458386784,804,652,631,652.541613216,0.4011652278,-0.0153978583993,0.0599154871214,0.999999970027,0.000199641424263,-0.000139463409259,2.52790028579e-05,1793240054969454080
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.116039169,787.116039169,804.116039169,652,631,653,0.401235695758,-0.015402745801,0.0599331247226,0.999999973892,0.000196898718582,-0.000112780389434,2.69823938898e-05,1793240054986120704
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.687539813,787.687539813,804.687539813,652,631,653,0.401316290859,-0.0154069406849,0.0599440953257,0.999999975854,0.000196198357796,-9.50560170285e-05,2.76296343868e-05,1793240055002787584
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.731307639,879.731307639,787.731307639,804.731307639,652,631.268692361,652.731307639,0.401400535362,-0.0154109445016,0.0599507769625,0.999999977025,0.00019514665314,-8.42812455667e-05,2.76363877128e-05,1793240055019454208
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.138512793,879.138512793,787.138512793,804.138512793,652,631.861487207,652.138512793,0.401489181846,-0.0154147178485,0.0599522851556,0.999999977532,0.000193671150078,-8.18892328444e-05,2.68705716511e-05,1793240055036121088
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.556575774,715,679,661,635,879.443424226,787.443424226,804.443424226,652,631.556575774,652.443424226,0.401595053163,-0.0154208014441,0.0599503234183,0.999999977928,0.000190960194024,-8.37729259263e-05,2.56997567247e-05,1793240055052787712
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.021942031,715,679,661,635.021942031,879.978057969,788,804.978057969,652,631.021942031,652.978057969,0.401707296585,-0.0154275555618,0.059947407388,0.99999997828,0.000187957950117,-8.66991297909e-05,2.44140030137e-05,1793240055069454336
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.597718667,715,679,661,635.597718667,879.402281333,788,804.402281333,652,631.597718667,652.402281333,0.401847814041,-0.0154334544254,0.0599471089688,0.999999978775,0.000187111465391,-8.30331278804e-05,2.33439902208e-05,1793240055086120960
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.822787314,652,0.401998096081,-0.0154400096009,0.0599479930535,0.999999979521,0.000185557543866,-7.77039475422e-05,2.20958739487e-05,1793240055102787328
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.234673927,652,0.40217101911,-0.0154480865573,0.0599516189945,0.999999980816,0.000182363298153,-6.85183779973e-05,2.04347916545e-05,1793240055119454208
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.651712463,879,788,804,652,631.348287537,652,0.402368325645,-0.0154578654,0.0599547187627,0.999999982482,0.000176600553306,-5.90813294294e-05,1.89276548225e-05,1793240055136120832
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.072171674,879,788,804,652,631.927828326,652,0.402581822169,-0.0154687742488,0.0599574691671,0.99999998432,0.000169132396028,-4.94773048526e-05,1.75227333348e-05,1793240055152787456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660.495644122,635.504355878,879,788,804,652,631.495644122,652.504355878,0.402825033758,-0.0154809579131,0.0599597538513,0.999999986409,0.000158466628153,-4.2772470521e-05,1.5502916576e-05,1793240055169454336
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660.079903354,636,879,788,804,652,631.079903354,652.920096646,0.403073568618,-0.0154929233892,0.0599611135032,0.999999988197,0.000148244768433,-3.81181746785e-05,1.32971534315e-05,1793240055186120704
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660.652053841,636,879,788,804,652,631.652053841,652.347946159,0.403328857966,-0.0155024275744,0.0599571825838,0.999999988692,0.000143559732808,-4.35556752521e-05,1.04847036242e-05,1793240055202787328
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.767034706,715,679,660.767034706,635.767034706,879,788,804,652,631.767034706,652,0.403606361383,-0.0155117289766,0.0599512883467,0.999999989765,0.000133550381331,-5.08095511811e-05,7.32417562672e-06,1793240055219454208
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.172527009,715,679,660.172527009,635.172527009,879,788,804,652,631.172527009,652,0.403918339138,-0.0155207156761,0.0599423472072,0.999999991496,0.000115278142872,-6.08822874753e-05,3.62345992735e-06,1793240055236120576
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.410046954,715,679,660.410046954,635.410046954,879,788,804.410046954,652,631.410046954,652.410046954,0.404243528446,-0.0155157368304,0.0599303965873,0.99999999313,8.30561964898e-05,-8.27188662006e-05,-3.39064083282e-07,1793240055252787200
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.98774179,715,679,660.98774179,635.98774179,879,788,804.98774179,652,631.98774179,652.98774179,0.404574119297,-0.015505048165,0.0599172155404,0.999999992992,4.51309060658e-05,-0.000109365096795,-4.40862844803e-06,1793240055269453824
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.563313457,661,636,879,788,804.436686543,652,632,653,0.404975816992,-0.0154980846277,0.0599172841574,0.999999992063,6.08829942174e-05,-0.000109915287165,-9.23247070798e-06,1793240055286120448
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.857970422,661,636,879,788,804,652,631.857970422,653,0.405390408396,-0.0154960117725,0.059922125385,0.999999992398,6.70565053114e-05,-0.000102638158485,-1.31256598304e-05,1793240055302787072
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.269219488,661,636,879,788,804,652,631.269219488,653,0.405840705361,-0.0155090674287,0.0599410743075,0.999999996494,3.94427080024e-05,-7.25214072827e-05,-1.40402608256e-05,1793240055319453696
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.685108669,879,788,804,652,631,652.685108669,0.406324864366,-0.0155194559665,0.0599647241925,0.999999999161,1.91595911126e-05,-3.28845156061e-05,-1.51827098447e-05,1793240055336120576
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.104907289,879,788,804,652,631,652.104907289,0.406837553706,-0.015527597339,0.0599923348513,0.999999999742,5.05289772569e-06,1.47735241277e-05,-1.65171311154e-05,1793240055352787200
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.527637841,715,679,661,635,879.472362159,787.527637841,804,652,631.472362159,652.472362159,0.407355559159,-0.0155284918156,0.0600040884261,0.999999999373,-8.61194304761e-06,2.84476240513e-05,-1.92398471503e-05,1793240055369454592
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.048720507,744.048720507,715,679,661,635.048720507,879.951279493,787.048720507,804.048720507,652,631.951279493,652.951279493,0.407876336096,-0.0155276085948,0.0600104509617,0.999999999011,-2.21347401191e-05,3.13211758501e-05,-2.25035988172e-05,1793240055386121728
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.622235998,744.622235998,715,679,661,635.622235998,879.377764002,787.622235998,804.622235998,652,631.377764002,652.377764002,0.408414327491,-0.0155248063496,0.0599964439681,0.99999999898,-3.51780231181e-05,-1.34689695054e-06,-2.82944652418e-05,1793240055402787840
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.799086555,745,715,679,661,635.799086555,879,788,804.799086555,652,631,652.200913445,0.408964989884,-0.0155241156731,0.0599849243441,0.999999998021,-4.53645560368e-05,-2.76405769492e-05,-3.37176224984e-05,1793240055419453952
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.210447526,745,715,679,661,635.210447526,879,788,804.210447526,652,631,652.789552474,0.409540104917,-0.0155274999312,0.0599782048816,0.999999997143,-5.00380918912e-05,-4.16328624122e-05,-3.84311691541e-05,1793240055436120832
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787.626984444,804,652,631,653,0.410168795872,-0.0155320509295,0.0599825251667,0.999999996236,-7.07571540861e-05,-2.70213787305e-05,-4.23124401332e-05,1793240055452787712
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787.046401575,804,652,631,653,0.410827299532,-0.015537251169,0.0599929886027,0.999999993908,-0.000100404869865,3.50688797562e-06,-4.57305848344e-05,1793240055469454848
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,787.529961345,804,652,631,653,0.411497684638,-0.0155375553773,0.0599939901034,0.999999995878,-8.03039440087e-05,6.60913790424e-06,-4.1862781375e-05,1793240055486121728
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.892341719,745,715,679,661,635.107658281,879,787.892341719,804,652,631.107658281,653,0.412163093263,-0.0155362702484,0.0599880883248,0.99999999798,-5.15217354211e-05,-5.57386971823e-06,-3.67936735261e-05,1793240055502788352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.307101008,745,715,679,661,635.692898992,879,787.307101008,804,652,631.692898992,653,0.412801847142,-0.0155298213082,0.0599552090085,0.999999996756,-3.39871260746e-06,-7.4995380042e-05,-2.92030385231e-05,1793240055519454464
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.276043437,745,715,679,661,635.723956563,879,787.276043437,804,652,631.723956563,652.723956563,0.413481057282,-0.0155255353889,0.0599318831904,0.999999992206,1.33750919619e-05,-0.000120847317054,-2.83661388124e-05,1793240055536120832
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.856873413,745,715,679,661,635.143126587,879,787.856873413,804,652,631.143126587,652.143126587,0.414204936284,-0.0155236377149,0.0599191056271,0.999999989483,-4.46456202546e-06,-0.000140675501352,-3.49862082287e-05,1793240055552787712
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.434990039,745,715,679,661,635,879.434990039,788,804.434990039,652,631,652.434990039,0.415012666159,-0.0155329921598,0.0599578429687,0.999999996698,-2.2600665571e-05,-7.02150401426e-05,-3.40969887552e-05,1793240055569454080
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987836447,745,715,679,661.012163553,635,879.987836447,788,804.987836447,652,631,653,0.415846921704,-0.0155458240214,0.0600125509458,0.999999998312,-4.04661891178e-05,2.80877487663e-05,-3.08067119224e-05,1793240055586120448
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.413244278,745,715,679,661.586755722,635,879.413244278,788,804.413244278,652,631,653,0.416639883674,-0.0155493173465,0.0600268253711,0.999999997512,-4.13381957804e-05,4.86374135652e-05,-3.00336153281e-05,1793240055602787328
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.834357705,635.165642295,879.165642295,787.834357705,804,652,631,652.834357705,0.417431645772,-0.0155508634938,0.0600301921622,0.999999997272,-4.14020302891e-05,5.29738601701e-05,-3.05962726288e-05,1793240055619454208
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.244472337,635.755527663,879.755527663,787.244472337,804,652,631,652.244472337,0.418220334709,-0.0155474225288,0.0600056223182,0.999999998502,-3.93959741019e-05,1.57850086072e-05,-3.45800630585e-05,1793240055636121088
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.339552289,635.660447711,880,787.339552289,804,651.660447711,631,652.339552289,0.419021462062,-0.0155466008095,0.0599818587259,0.99999999805,-4.33851161485e-05,-2.33711656821e-05,-3.83632715472e-05,1793240055652787968
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.919428845,635.080571155,880,787.919428845,804,651.080571155,631,652.919428845,0.419831392895,-0.0155476329088,0.0599586657739,0.999999995743,-5.16174681112e-05,-6.39197465663e-05,-4.20045143476e-05,1793240055669454848
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.505968146,635,880,788,804.494031854,651,631,652.505968146,0.420621275107,-0.0155494112296,0.0599333195804,0.999999992273,-5.49889904289e-05,-0.000102308303054,-4.42981364469e-05,1793240055686121472
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.067821849,880,787.932178151,804.932178151,651,631,652,0.421414349275,-0.0155510051198,0.0599098258765,0.999999987786,-5.69488202885e-05,-0.000137973280737,-4.63517551461e-05,1793240055702788096
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.641894887,880,787.358105113,804.358105113,651,631,652,0.42225539789,-0.0155503235106,0.0599027535555,0.999999985212,-5.42260841039e-05,-0.000155910053296,-4.82371056208e-05,1793240055719454464
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.777995048,880,787.222004952,804,651,631,652,0.423139216751,-0.015551842353,0.0599230955808,0.999999989714,-5.26336075921e-05,-0.000124743247648,-4.73374676436e-05,1793240055736121088
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.187874655,880,787.812125345,804,651,631,652,0.424093954834,-0.0155570098537,0.0599888944477,0.999999997652,-5.29152597539e-05,-1.21558029368e-05,-4.18199269124e-05,1793240055752787968
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804.395623283,651,631,652,0.424999838823,-0.0155601662777,0.0600233386691,0.999999996491,-5.8974604399e-05,4.41924892936e-05,-3.98345781385e-05,1793240055769454592
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804.976028074,651,631,652,0.425882904753,-0.0155623833993,0.0600431382513,0.999999994168,-6.77325030122e-05,7.42734751374e-05,-3.94989905399e-05,1793240055786121472
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.551768262,880,788,804.448231738,651.551768262,631,652.551768262,0.426737474756,-0.0155637698768,0.060023768371,0.999999994914,-7.30810666765e-05,5.50236498096e-05,-4.24736105221e-05,1793240055802788096
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.12993088,661,635.87006912,880,788,804,651.87006912,631,652.87006912,0.427588742548,-0.0155650020357,0.0600026167062,0.999999995434,-7.81222053196e-05,3.09696957546e-05,-4.54998740783e-05,1793240055819454720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.717330047,661,635.282669953,880,788,804,651.282669953,631,652.282669953,0.428432706044,-0.0155658168561,0.0599811329976,0.999999995424,-8.25980840141e-05,-2.51623877288e-06,-4.82058628733e-05,1793240055836121088
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.300797316,635.300797316,880.300797316,787.699202684,804,651,631,652,0.429252955327,-0.0155641445908,0.0599563226556,0.999999994185,-8.29697635469e-05,-4.64745713611e-05,-5.085371159e-05,1793240055852787712
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.880617286,635.880617286,880.880617286,787.119382714,804,651,631,652,0.43005120702,-0.0155601652796,0.0599284264958,0.999999990394,-7.95343457821e-05,-0.000100147205084,-5.34476287552e-05,1793240055869454336
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.457824783,636,881,787,804,651,631,652,0.430924181933,-0.0155628262152,0.0599412917678,0.999999992772,-8.24816304206e-05,-6.9471903627e-05,-5.31718553734e-05,1793240055886121216
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.965668527,662.965668527,635.965668527,880.965668527,787.034331473,804.034331473,651,631,652.034331473,0.431814705724,-0.0155671933687,0.0599656402552,0.999999994727,-8.69612021318e-05,-1.66271494698e-05,-5.20354673355e-05,1793240055902787840
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.389532498,662.389532498,635.389532498,880.389532498,787.610467502,804.610467502,651,631,652.610467502,0.432676420047,-0.0155713163275,0.0600044216442,0.999999993953,-8.95055157504e-05,4.09460241375e-05,-4.90596152285e-05,1793240055919454720
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651,631.190859942,652.809140058,0.433516898148,-0.0155742233122,0.0600242731182,0.99999999233,-9.23038550449e-05,6.75575788224e-05,-4.75064714185e-05,1793240055936121600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651,631.780137694,652.219862306,0.434313046054,-0.0155745919664,0.0600046086319,0.999999993794,-9.56324707593e-05,2.95371408214e-05,-4.89232135905e-05,1793240055952788224
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651,631.636543624,652.363456376,0.435089592329,-0.0155747330253,0.0599777364237,0.999999993909,-9.59190285853e-05,-1.60360563096e-05,-5.21910327131e-05,1793240055969454848
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651,631.056771593,652.943228407,0.435854472397,-0.015574738628,0.0599465744499,0.99999999176,-9.43950668765e-05,-6.61043711683e-05,-5.65605435135e-05,1793240055986121216
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.517751587,662.517751587,635.517751587,879.482248413,788,805,651,631,652.482248413,0.436599044429,-0.0155713984581,0.0599395467894,0.999999990166,-0.000102243958117,-7.65859190925e-05,-5.7864354631e-05,1793240056002787584
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.90595761,662.90595761,635.90595761,879.09404239,788,804.90595761,651,631,652,0.437332517028,-0.0155678984677,0.0599339856827,0.999999988563,-0.000108434092709,-8.76592875895e-05,-5.85849507876e-05,1793240056019454208
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.317375228,662.317375228,635.317375228,879.682624772,788,804.317375228,651,631,652,0.438019213539,-0.0155654678978,0.0599223601408,0.99999998552,-0.000100551030573,-0.000124442172006,-5.79885921634e-05,1793240056036121344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.267210138,662,635,880,788,804.534420276,651,631,652,0.438740568633,-0.0155661343208,0.0599275603568,0.99999998576,-9.93862018165e-05,-0.000123856943966,-5.7119829464e-05,1793240056052787968
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.847118028,662,635,880,788,805.694236056,651,631,652,0.439502482249,-0.0155704249428,0.0599524506075,0.999999989645,-0.000106083262725,-7.95423665645e-05,-5.59322909341e-05,1793240056069454848
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.57603659,805.57603659,651,631,652,0.44019662933,-0.0155796042267,0.0599690435576,0.999999989731,-0.000118754342441,-5.83030925434e-05,-5.51019068031e-05,1793240056086121472
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.000287587,805.000287587,651,631,652,0.440866514984,-0.0155905337292,0.0599826659451,0.999999988573,-0.000133564215751,-4.53251377908e-05,-5.43993894947e-05,1793240056102788608
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765.741972923,745,715,679.741972923,662,635,880,787,805,651,631,653,0.442490589312,-0.0156030850065,0.0598172354221,0.99999993743,-0.000177272132057,-0.000297709172381,-7.13009577704e-05,1793240056152787712
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.674156588,634.674156588,880.325843412,787,805,651.325843412,631,653,0.443031445728,-0.0156067488675,0.0597875750175,0.999999921056,-0.000189030480446,-0.000341288718664,-7.53450113784e-05,1793240056169454336
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.093658625,634.093658625,880.906341375,787,805,651.906341375,631,653,0.443587948881,-0.0156110329349,0.0597764618739,0.999999912238,-0.000201076429799,-0.000359239843986,-7.77153205041e-05,1793240056186120960
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.48232188,715,680,661,634,880.51767812,786.51767812,805,651.51767812,631,653,0.444112729943,-0.0156197304761,0.0597816994478,0.99999991214,-0.000214471374214,-0.000351549266131,-7.83214004283e-05,1793240056202788096
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.355192886,745.355192886,715,680,660.355192886,634,880,786.644807114,805,651,631,653,0.445053065721,-0.0156350782872,0.0597720779047,0.999999896295,-0.000241296754122,-0.000377654649762,-8.10133843768e-05,1793240056236121344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.228608728,745,715,680,660,634,880,786.771391272,805.228608728,651,631,653,0.445466387397,-0.0156394318024,0.0597473058379,0.999999874637,-0.000255449457638,-0.000422323737195,-8.43466397535e-05,1793240056252787968
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.808630664,745,715,680,660,634,880,786.191369336,805.808630664,651,631,653,0.445853354056,-0.015641037206,0.0597084480762,0.999999842488,-0.000271043857743,-0.000483291275336,-8.93768592263e-05,1793240056269454336
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.613340188,880,786,805.613340188,651,631,652.613340188,0.446250968402,-0.0156465833491,0.0596924520407,0.999999828435,-0.000283878048125,-0.000504156971539,-9.1480442963e-05,1793240056286120704
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.036292219,880,786,805.036292219,651,631,652.036292219,0.446653825619,-0.0156540698806,0.0596877129304,0.999999824486,-0.000295353135351,-0.000505276852033,-9.21429755551e-05,1793240056302787072
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,784.709198083,805.709198083,651,630,652,0.447981361103,-0.0156866602524,0.0597100113103,0.999999864233,-0.000218033218575,-0.000469634289667,-5.8637707696e-05,1793240056369453824
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.081591142,632,880.918408858,784,805,651,630,652.918408858,0.449757718273,-0.0157095378728,0.0596270076037,0.999999776181,-0.000306030614916,-0.000590398484525,-7.35707789117e-05,1793240056536120576
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.474052936,745.525947064,715,680,659.474052936,632,880.474052936,783,805,651,630,652.474052936,0.450282927594,-0.0157128442006,0.0596301444868,0.999999775344,-0.00032042529792,-0.000584290572757,-7.24229990436e-05,1793240056836121600
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.103024472,745.896975528,715,680,659,632,880,783,805,651,630,652.103024472,0.450285676694,-0.0157137027288,0.0596313279431,0.999999776382,-0.000321343229491,-0.000582082524101,-7.17934860741e-05,1793240056852787712
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.693131911,745.306868089,715,680,659,632,880,783,805,651,630,652.693131911,0.450284128827,-0.0157125450423,0.059629706282,0.999999775288,-0.000320180354674,-0.000584611970224,-7.16730554662e-05,1793240056869454080
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.722068906,745,715,680,659,631.722068906,880,783,805,651.277931094,630,653,0.45028358735,-0.0157120881075,0.0596289334432,0.999999774485,-0.000320157727165,-0.000586001181651,-7.16298931935e-05,1793240056886120704
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.143020737,745,715,680,659,631.143020737,880,783,805,651.856979263,630,653,0.450284136222,-0.0157123903834,0.0596290802381,0.999999774003,-0.000321370470225,-0.000586155036351,-7.1670445235e-05,1793240056902787328
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.434509216,745.434509216,715,680,659,631.434509216,880,783,805,651.565490784,630,653,0.45028546955,-0.015712764383,0.0596297542015,0.999999774397,-0.000322164386537,-0.000585075920114,-7.14268786049e-05,1793240056919454208
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.988562734,745.988562734,715,680,659,631.988562734,880,783,805,651.011437266,630,652.988562734,0.450286996741,-0.0157131138481,0.0596305346125,0.999999775038,-0.000322768956833,-0.000583684203438,-7.11115412825e-05,1793240056936120576
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.416724571,745.416724571,715,680,659,631.416724571,880,783,805,651.583275429,630,652.416724571,0.45028541516,-0.0157111084551,0.0596280582365,0.999999773792,-0.000320827248218,-0.000586791686032,-7.18458666132e-05,1793240056952787456
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.161138824,745.161138824,715,680,659,631.161138824,880.161138824,783,805.161138824,651.838861176,630,652,0.450284812927,-0.0157097358005,0.0596266302864,0.999999773327,-0.000319237018094,-0.00058839359148,-7.22899109807e-05,1793240056969454336
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.75518943,745.75518943,715,680,659,631.75518943,880.75518943,783,805.75518943,651.24481057,630,652,0.450286841789,-0.0157100630463,0.0596280190129,0.999999774992,-0.000318591061963,-0.00058595064852,-7.195409328e-05,1793240056986120704
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.659681578,745.659681578,715,680,659,631.659681578,880.659681578,783,806,651,630,652,0.450286996754,-0.0157099801381,0.0596285829728,0.999999775657,-0.000317513833726,-0.000585476436302,-7.13322603867e-05,1793240057002787072
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.493726442,715,680,659,631.493726442,880,783,806,651.493726442,630,652.493726442,0.450285466838,-0.0157083960986,0.059627591569,0.999999774871,-0.000316671951059,-0.000587284454893,-7.12241545965e-05,1793240057036120576
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.06933746,745.93066254,715,680,659,632,880,783,805.93066254,652,630,652.93066254,0.450285397867,-0.0157074901989,0.0596267543145,0.999999774186,-0.00031750564705,-0.000587904875473,-7.20160748841e-05,1793240057052787456
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,714.756513865,680,658.756513865,631.756513865,880,783,805,651.756513865,630,652,0.45028757962,-0.0157111119041,0.0596288601448,0.999999774989,-0.000319156573343,-0.000585740412158,-7.12009295521e-05,1793240057086120960
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,714.17657262,680,658.17657262,631.17657262,880,783,805,651.17657262,630,652,0.450288110555,-0.0157106095814,0.0596286723005,0.999999774347,-0.000320374393118,-0.000586180794,-7.11185972882e-05,1793240057102787840
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,714.976740972,680.976740972,658.976740972,631.976740972,880,783,805.976740972,651,629.023259028,652,0.45028596332,-0.0157100853372,0.0596271893216,0.999999773982,-0.000319502602415,-0.000587251591331,-7.13413882257e-05,1793240057136120832
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.448295169,659,631.448295169,879.448295169,783,805.448295169,651,629,652,0.450286835163,-0.0157087267903,0.059626979845,0.999999774396,-0.000317920290202,-0.000587388539128,-7.14741465212e-05,1793240057152787456
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+254,4.233333333,HOLD_POSE2,765,745,715,680,659,631,880,783,805,651,630,653,0.450287967835,-0.0157078305816,0.0596284696391,0.999999776016,-0.000314307177495,-0.000586666563469,-7.07156338059e-05,1793240057222743808
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+261,4.350000000,HOLD_POSE2,765.945152369,745,715,680,658.054847631,632,880,783,805,651,629,652,0.450287318849,-0.0157066339148,0.0596259348986,0.999999773826,-0.000315336906243,-0.000589752772943,-7.14313852771e-05,1793240057339410432
+262,4.366666667,HOLD_POSE2,765.370737216,745,715,680,658.629262784,632,880,783,805,651,629,652,0.450289391093,-0.0157056560943,0.0596275844202,0.999999775693,-0.00031419478436,-0.000587199629489,-7.13656222891e-05,1793240057356077312
+263,4.383333333,HOLD_POSE2,765,745.208817734,715,680,659,632,880,783,805,651.208817734,629.208817734,652,0.450290750516,-0.0157051415612,0.059628419196,0.999999776603,-0.000314088178942,-0.000585726491126,-7.11802929753e-05,1793240057372743936
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+265,4.416666667,HOLD_POSE2,765.381275818,745.618724182,715,680,659,631.618724182,880,783,805.381275818,652,630,652,0.450290549293,-0.0157053287615,0.0596276500379,0.999999775758,-0.00031528768064,-0.000586557074262,-7.09136566276e-05,1793240057406077696
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+267,4.450000000,HOLD_POSE2,765.462521042,745,715,680,659,631,880,783,805.462521042,651.462521042,630,652,0.45028951732,-0.0157064522853,0.059627699563,0.999999775266,-0.000315905361694,-0.00058702950501,-7.11842549734e-05,1793240057439410688
+268,4.466666667,HOLD_POSE2,765,745,715,680,659,631,880,783,805,651,630,652,0.45028912583,-0.0157074287325,0.0596275868435,0.999999774753,-0.00031725953672,-0.000587196550288,-7.09952225418e-05,1793240057456077312
+269,4.483333333,HOLD_POSE2,765,745,715,680,659,631,880,783,805,651,630,652,0.450289633443,-0.0157056624707,0.0596275189801,0.999999776129,-0.00031297593243,-0.000587176221635,-7.07998801448e-05,1793240057472743680
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,631,881,783,806,651,630,652,0.450290644304,-0.0157048298254,0.0596275053386,0.999999775435,-0.000314423697696,-0.000587491691581,-7.15586816442e-05,1793240057538776064
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.84989026,745.15010974,715,680,659,631.15010974,880,783,805,651,629.84989026,652,0.450289031922,-0.015704521271,0.0596268579629,0.999999775266,-0.000312199481035,-0.000589058869718,-7.07814987919e-05,1793240057572109056
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.676064761,715,680,659,631.676064761,880,783,805,651,629.323935239,652.323935239,0.450291808936,-0.0157045529667,0.0596288236576,0.999999776227,-0.000316045026887,-0.000585317439964,-7.11681973728e-05,1793240057605441536
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.418435705,745,715,679,661.163128591,635,879.581564295,788,804,652,631,652.581564295,0.410298507663,-0.0153596337224,0.0597655042301,0.999999901784,0.000206372770481,-0.000391907699531,1.58175261191e-05,1793240058872107520
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.99410045,745,715,679,660.011799101,635,879.00589955,788,804,652,631,652.00589955,0.409681259313,-0.0153628474191,0.0598059940515,0.999999922977,0.000213646518219,-0.000328627833768,2.01259359988e-05,1793240058888774400
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.036346721,636,879.036346721,787.963653279,804,652,631,652,0.403846069158,-0.0153613228099,0.0597783734269,0.999999906851,0.000232450767114,-0.000363104390742,2.04672328194e-05,1793240059088774144
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.1707788,660.8292212,636,879,787.8292212,804,652,632,652,0.40111558782,-0.0153737183062,0.0598411897787,0.999999942669,0.000208888320649,-0.000266090307796,1.49525131631e-05,1793240059372107520
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.590081953,879,788,804,652,632,652,0.401080546894,-0.0153719554263,0.0598408959895,0.999999942175,0.000210267938132,-0.000266853372946,1.50776234209e-05,1793240059388774400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.014749308,879,788,804,652,632,652,0.401048750953,-0.0153689096729,0.0598395924997,0.999999941082,0.000212879119869,-0.000268882801252,1.48262237757e-05,1793240059405441024
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787.43813881,804,652,631.43813881,652.56186119,0.40102834098,-0.0153699843294,0.0598381246523,0.999999941019,0.000211452875602,-0.000270239543326,1.48548855837e-05,1793240059422107904
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.687707555,745,715,679,661,635.687707555,878.312292445,787.312292445,804,652,631,653,0.400994181768,-0.015370147163,0.0598398021584,0.999999941812,0.000212226210502,-0.000266675684841,1.48451022294e-05,1793240059472107776
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.10612598,745,715,679,661,635.10612598,878.89387402,787.89387402,804,652,631,653,0.400988560115,-0.0153700181471,0.0598410762157,0.999999942709,0.000210693651314,-0.000264512267278,1.4921379297e-05,1793240059488774400
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.469302332,879,787.530697668,804,652,631,652.530697668,0.400986433457,-0.0153710301315,0.0598424717007,0.999999943457,0.000209726508469,-0.000262420591041,1.53547900486e-05,1793240059505441024
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.956620265,661,635.956620265,879,787,804,652,631.043379735,652,0.400985058513,-0.0153721079512,0.0598437360049,0.999999944032,0.00020918366708,-0.000260631132739,1.58077532642e-05,1793240059522107392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.382266324,661,635.382266324,879,787,804,652,631.617733676,652,0.400983335947,-0.015370874267,0.0598430628859,0.999999942934,0.000212289556008,-0.000262344858639,1.55243131196e-05,1793240059538774016
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.790170258,661,635,879,787.790170258,804,652,632,652.790170258,0.400984097697,-0.0153710155014,0.0598453985654,0.99999994376,0.000211653193672,-0.000259701468212,1.54224281938e-05,1793240059572107520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.373378271,788,804,652,632,653,0.400984081472,-0.0153725898492,0.0598459955214,0.999999944339,0.000210363379293,-0.000258503277359,1.56565009622e-05,1793240059588774400
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.951686287,788,804,652,632,653,0.400983271495,-0.0153746324806,0.0598457751966,0.999999944597,0.000209477596336,-0.000258203797453,1.5983360561e-05,1793240059605441024
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787.895246092,804,652,631.895246092,652.104753908,0.40098347727,-0.0153737611307,0.0598466533425,0.99999994451,0.000211146171658,-0.000257209364989,1.55049619663e-05,1793240059638774272
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.276756199,879,787.276756199,804,652,631,652.723243801,0.400984538506,-0.0153735223805,0.0598479739827,0.999999945607,0.000209253889137,-0.000254470051009,1.56458125018e-05,1793240059672107776
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,744.417239259,715,679,660.417239259,635,879,787.417239259,804,652,631,652.417239259,0.400985509494,-0.015373000813,0.059849173771,0.999999945609,0.000211094518067,-0.000252948056264,1.54364769429e-05,1793240059738774272
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f24ac7f768a8b634d43a5d326b2966fb72067c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.587167211439,-0.00990920442788,1.05003220854,0.557737663439,-0.00123746318562,1.0497003458
+348,5.800000000,pose2_to_pose3_retreat,0.586489834824,-0.00990917287624,1.05003227398,0.557060285939,-0.00123743476964,1.04970040779
+349,5.816666667,pose2_to_pose3_retreat,0.585829158315,-0.00990924920604,1.05003235459,0.556399609631,-0.00123751046128,1.04970048719
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+355,5.916666667,pose2_to_pose3_retreat,0.582379153393,-0.00990918151131,1.05003229261,0.552949603471,-0.00123744713922,1.04970042064
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+362,6.033333333,pose2_to_pose3_retreat,0.5792719597,-0.00990924335874,1.05003233883,0.549842410686,-0.00123750572928,1.04970047195
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+364,6.066666667,pose2_to_pose3_retreat,0.578561604577,-0.00990929926654,1.05003221863,0.549132057179,-0.00123755604064,1.0497003545
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+368,6.133333333,pose2_to_pose3_retreat,0.577457523661,-0.00990930104849,1.05003238362,0.548027977275,-0.00123755474249,1.04970051058
+369,6.150000000,pose2_to_pose3_retreat,0.577248194633,-0.00990923014254,1.05003236599,0.547818648254,-0.00123748367578,1.04970049636
+370,6.166666667,pose2_to_pose3_retreat,0.577054656194,-0.00990930177656,1.05003235124,0.547625108901,-0.00123755834282,1.04970048344
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+377,6.283333333,pose2_to_pose3_retreat,0.576070985604,-0.00990917668961,1.05003218928,0.546641435839,-0.00123744164424,1.04970032252
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+380,6.333333333,pose2_to_pose3_retreat,0.575868582722,-0.00990899735289,1.05003221386,0.546439031367,-0.00123726748177,1.04970035257
+381,6.350000000,pose2_to_pose3_retreat,0.575821370932,-0.00990915583138,1.0500324434,0.546391821366,-0.00123742027989,1.04970057172
+382,6.366666667,pose2_to_pose3_retreat,0.575782807606,-0.00990917232789,1.0500325208,0.54635325849,-0.00123743547866,1.0497006431
+383,6.383333333,pose2_to_pose3_retreat,0.575751292083,-0.0099092433907,1.05003237298,0.546321744414,-0.00123750140036,1.04970050134
+384,6.400000000,pose2_to_pose3_retreat,0.575726145787,-0.00990928061689,1.0500322848,0.546296599161,-0.00123753490667,1.04970041796
+385,6.416666667,pose2_to_pose3_retreat,0.575706944524,-0.00990919615365,1.0500323743,0.546277396998,-0.00123745367927,1.0497005027
+386,6.433333333,pose2_to_pose3_retreat,0.57569257653,-0.00990913987504,1.05003239258,0.546263027639,-0.00123740217835,1.04970051721
+387,6.450000000,pose2_to_pose3_retreat,0.575682784981,-0.00990927629386,1.0500323748,0.546253236422,-0.00123753731006,1.04970050373
+388,6.466666667,pose2_to_pose3_retreat,0.575676123347,-0.00990919886963,1.05003239447,0.546246574248,-0.00123746190286,1.0497005186
+389,6.483333333,pose2_to_pose3_retreat,0.575672120962,-0.00990917686152,1.05003236672,0.54624257194,-0.00123743961846,1.04970049127
+390,6.500000000,pose2_to_pose3_retreat,0.575669418382,-0.00990927204676,1.05003226004,0.546239870468,-0.00123753068256,1.04970039406
+391,6.516666667,pose2_to_pose3_retreat,0.575667768273,-0.00990925790142,1.05003231191,0.546238220509,-0.00123751591812,1.04970044869
+392,6.533333333,pose2_to_pose3_retreat,0.575667165088,-0.0099092087094,1.05003240216,0.54623761706,-0.00123746765549,1.0497005381
+393,6.550000000,pose2_to_pose3_retreat,0.57566684717,-0.009909182782,1.05003244973,0.546237299002,-0.00123744221794,1.04970058523
+394,6.566666667,pose2_to_pose3_retreat,0.575666605619,-0.00990916308259,1.05003248587,0.546237057345,-0.00123742289071,1.04970062103
+395,6.583333333,pose2_to_pose3_retreat,0.575666598477,-0.0099091625001,1.05003248694,0.5462370502,-0.00123742231923,1.04970062209
+396,6.600000000,pose2_to_pose3_retreat,0.57566648905,-0.00990915357593,1.05003250331,0.546236940725,-0.00123741356367,1.04970063831
+397,6.616666667,pose2_to_pose3_retreat,0.575666479582,-0.00990915280373,1.05003250473,0.546236931252,-0.00123741280606,1.04970063971
+398,6.633333333,pose2_to_pose3_retreat,0.575666417804,-0.00990914776556,1.05003251397,0.546236869448,-0.00123740786307,1.04970064887
+399,6.650000000,pose2_to_pose3_retreat,0.575666243875,-0.00990913358094,1.05003253999,0.546236695442,-0.00123739394645,1.04970067465
+400,6.666666667,pose2_to_pose3_retreat,0.575666014746,-0.00990911489461,1.05003257427,0.546236466213,-0.00123737561316,1.04970070862
+401,6.683333333,pose2_to_pose3_retreat,0.575665756366,-0.0099090998666,1.05003257766,0.546236207592,-0.001237361423,1.04970071141
+402,6.700000000,pose2_to_pose3_retreat,0.575665602436,-0.0099090966535,1.05003254618,0.546236053398,-0.00123735912667,1.04970067936
+403,6.716666667,pose2_to_pose3_retreat,0.575665518315,-0.00990909489759,1.05003252897,0.546235969134,-0.00123735787176,1.04970066184
+404,6.733333333,pose2_to_pose3_retreat,0.575665503598,-0.0099090945904,1.05003252596,0.546235954392,-0.00123735765221,1.04970065878
+405,6.750000000,pose2_to_pose3_retreat,0.575665331168,-0.00990909099115,1.05003249069,0.546235781666,-0.0012373550799,1.04970062287
+406,6.766666667,pose2_to_pose3_retreat,0.575664977517,-0.00990908360914,1.05003241836,0.546235427409,-0.00123734980414,1.04970054923
+407,6.783333333,pose2_to_pose3_retreat,0.575664716619,-0.00990908209143,1.05003236199,0.546235166137,-0.00123734957992,1.04970049219
+408,6.800000000,pose2_to_pose3_retreat,0.575664638949,-0.00990911234489,1.0500323216,0.546235088928,-0.00123737818343,1.04970045407
+409,6.816666667,pose2_to_pose3_retreat,0.575664628338,-0.00990911647784,1.05003231609,0.54623507838,-0.00123738209099,1.04970044886
+410,6.833333333,pose2_to_pose3_retreat,0.575664568782,-0.00990913967572,1.05003228512,0.546235019177,-0.00123740402371,1.04970041962
+411,6.850000000,pose2_to_pose3_retreat,0.575664441094,-0.00990918941157,1.05003221874,0.546234892247,-0.0012374510471,1.04970035694
+412,6.866666667,pose2_to_pose3_retreat,0.575664391533,-0.00990924307365,1.05003224988,0.546234843183,-0.00123750295956,1.04970038969
+413,6.883333333,pose2_to_pose3_retreat,0.575664363313,-0.00990928315961,1.05003228339,0.546234815303,-0.001237541856,1.04970042417
+414,6.900000000,pose2_to_pose3_retreat,0.575664342236,-0.00990931309909,1.05003230842,0.54623479448,-0.00123757090706,1.04970044992
+415,6.916666667,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264534,1.04970046032
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264539,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..447b55c894626831dea3a1c6bcd719c15bec283d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687dcbb7e4d470e9f23b44311a1eb4a634dd6d7cdfc0f18425d3691bc1e7120c
+size 26582161
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac4cbe6829f8287ef8c30fc195338aa2c868a3db
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+15,0.250000000,BASELINE,765.29851742,745,715,679,661,635,879.70148258,787.29851742,804,652,631,652.29851742,0.400983105217,-0.0153766249886,0.0598510522596,0.999999946903,0.000208550134517,-0.00024992522685,1.54283789761e-05,1793240060345174528
+16,0.266666667,BASELINE,765.282532124,745,715,678.717467876,661,635,879.717467876,787.282532124,804.282532124,652,631,652.282532124,0.400983006476,-0.0153771280211,0.059851247836,0.99999994709,0.000208021544551,-0.000249604835944,1.56295087347e-05,1793240060361841408
+17,0.283333333,BASELINE,765.870391759,745,715,678.129608241,661,635,879.129608241,787.870391759,804.870391759,652,631,652.870391759,0.400983719671,-0.0153791162801,0.0598516240334,0.999999948006,0.000204769852806,-0.000248596301425,1.60226949551e-05,1793240060378508032
+18,0.300000000,BASELINE,766,745,715,678.451871692,660.548128308,635,879,788,804.548128308,652,631,653,0.400984184624,-0.0153789838387,0.05985223168,0.999999947807,0.000206404983785,-0.000248033950643,1.6193287597e-05,1793240060395174656
+19,0.316666667,BASELINE,766,745,715,678.968644213,660,635,879.031355787,787.968644213,804,652,631,653,0.400984589927,-0.0153783455116,0.0598528589056,0.99999994734,0.000209126212066,-0.000247629363219,1.62939256838e-05,1793240060411841280
+20,0.333333333,BASELINE,766,745,715,678.39248643,660,635,879.60751357,787.39248643,804,652,631,653,0.400985178713,-0.0153793389678,0.0598526889341,0.999999947809,0.000206703558232,-0.00024777326905,1.6272975864e-05,1793240060428507904
+21,0.350000000,BASELINE,766,744.816340694,715,678,660.367318612,635.183659306,880,787.183659306,804,652,631,652.816340694,0.400985097311,-0.0153792828628,0.0598522254386,0.999999947958,0.000205261299491,-0.000248382798846,1.60757953039e-05,1793240060445174528
+22,0.366666667,BASELINE,766,744.240220777,715,678,661.519558447,635.759779223,880,787.759779223,804,652,631,652.240220777,0.40098358379,-0.0153769839559,0.0598511347132,0.999999947433,0.000205914042218,-0.000249987318045,1.55020281989e-05,1793240060461841408
+23,0.383333333,BASELINE,766,744.340279893,715,678.340279893,661.659720107,636,879.659720107,788,804,652,631,652,0.400983579191,-0.0153763353816,0.0598511661376,0.999999947311,0.000206599402512,-0.000249913592217,1.54398614189e-05,1793240060478508032
+24,0.400000000,BASELINE,766,744.923913549,715,678.923913549,661.076086451,636,879.076086451,788,804,652,631,652,0.400984653709,-0.0153768670549,0.0598520000758,0.999999947477,0.000207308089576,-0.000248639656806,1.57435694593e-05,1793240060495174656
+25,0.416666667,BASELINE,766,744.49042649,715,678.49042649,661,636,879.50957351,787.49042649,804,652,631.50957351,652.50957351,0.400985038926,-0.0153773998376,0.0598522200244,0.99999994766,0.000207371312129,-0.000247851052968,1.57006745207e-05,1793240060511841536
+26,0.433333333,BASELINE,766,744.093596932,715,678.093596932,661,636,880,787.093596932,804,652,631.906403068,653,0.400985013565,-0.0153776868403,0.0598521583429,0.99999994774,0.000207351652663,-0.000247555459099,1.55400492037e-05,1793240060528507904
+27,0.450000000,BASELINE,766,744.667660301,715,678.667660301,661,636,880,787.667660301,804,652,631.332339699,653,0.400983411003,-0.015376711314,0.0598511234448,0.999999947274,0.000207403242271,-0.000249417177976,1.50417973731e-05,1793240060545174528
+28,0.466666667,BASELINE,766,745,715,679,661,635.757385074,879.757385074,787.757385074,804,652,631.242614926,652.757385074,0.400982589987,-0.0153761562129,0.0598508230242,0.999999947023,0.000207571092703,-0.000250291326755,1.49410962037e-05,1793240060561841664
+29,0.483333333,BASELINE,766,745,715,679,661,635.181205122,879.181205122,787.181205122,804,652,631.818794878,652.181205122,0.400982843501,-0.0153761791436,0.0598515324179,0.999999947069,0.000207898787156,-0.000249807690669,1.53869772529e-05,1793240060578509312
+30,0.500000000,BASELINE,766,745,715,679,660.597085705,635.402914295,879,787.402914295,804,652,631.597085705,652,0.400983523307,-0.0153774842756,0.0598517418685,0.999999947495,0.000206589324951,-0.000249170598756,1.56547824114e-05,1793240060595176192
+31,0.516666667,BASELINE,766,745,715,679,660.009323866,635.990676134,879,787.990676134,804,652,631.009323866,652,0.400984398686,-0.0153793776513,0.0598517219571,0.999999948092,0.000204528774001,-0.000248463104954,1.58408905525e-05,1793240060611843072
+32,0.533333333,BASELINE,766,744.429000976,715,679,660.570999024,635.429000976,879,788,804.570999024,652,631,652,0.400985680632,-0.0153785552741,0.0598529289558,0.999999947984,0.00020675006006,-0.000247052050995,1.58759642115e-05,1793240060628509952
+33,0.550000000,BASELINE,766,744,715,679,660.850406064,635,879,788,804.850406064,652,631,652,0.400985825161,-0.0153774522356,0.0598531936827,0.999999947575,0.000208812436125,-0.000246975892982,1.57925032126e-05,1793240060645176320
+34,0.566666667,BASELINE,766,744,715,679,660.276373775,635,879,788,804.276373775,652,631,652,0.400982723938,-0.0153756770879,0.0598507288182,0.999999946354,0.00021022811545,-0.000250719371782,1.537963483e-05,1793240060661842944
+35,0.583333333,BASELINE,766,744,715,679,660.30508867,635.30508867,879,787.69491133,804,652,631,652,0.400982759669,-0.015376212061,0.0598509478089,0.999999946631,0.000209294975017,-0.00025038918532,1.54562805655e-05,1793240060678509312
+36,0.600000000,BASELINE,766,744,715,679,660.893450031,635.893450031,879,787.106549969,804,652,631,652,0.400985708038,-0.0153788919648,0.0598536587398,0.999999948291,0.00020618097208,-0.000246276629668,1.59874366781e-05,1793240060695175424
+37,0.616666667,BASELINE,766,744.474916672,715,679,661,636,879,787.474916672,804,652,631,652.474916672,0.400984892364,-0.0153776097235,0.0598531948681,0.999999947873,0.000207443919537,-0.000246947086608,1.5419899197e-05,1793240060711841536
+38,0.633333333,BASELINE,766,745,715,679,661,635.945430963,879,787.945430963,804,652,631,653,0.400983419335,-0.0153757997499,0.0598521598175,0.99999994713,0.000209235489748,-0.000248484667312,1.47248943642e-05,1793240060728508160
+39,0.650000000,BASELINE,766,745,715,679,661,635.368549652,879,787.368549652,804,652,631,653,0.400983621735,-0.0153773252293,0.0598523777968,0.999999947697,0.000206822109892,-0.000248197775809,1.51354337365e-05,1793240060745175040
+40,0.666666667,BASELINE,766,744.792887617,715,678.792887617,661,635,878.792887617,787.207112383,804,652,631,652.792887617,0.400984081488,-0.0153786211904,0.0598525596008,0.999999948152,0.00020503829669,-0.000247820572139,1.54935520912e-05,1793240060761842176
+41,0.683333333,BASELINE,766,744.219382581,715,678.219382581,661,635,878.219382581,787.780617419,804,652,631,652.219382581,0.400984996515,-0.0153795111216,0.0598526774089,0.999999948418,0.000204368220022,-0.000247283601536,1.57589348955e-05,1793240060778508800
+42,0.700000000,BASELINE,766,744.365917613,715,678.365917613,661.365917613,635,878.365917613,788,804,652,631,652,0.400985377284,-0.0153788908291,0.0598529151958,0.999999948359,0.000205556331906,-0.000246530165708,1.58466010965e-05,1793240060795175680
+43,0.716666667,BASELINE,766,744.958525009,715,678.958525009,661.958525009,635,878.958525009,788,804,652,631,652,0.400985427075,-0.0153773349371,0.059853227311,0.999999948094,0.000207895611027,-0.000245642627434,1.5824169996e-05,1793240060811842048
+44,0.733333333,BASELINE,766,745,715,679,661.484537242,635.515462758,879,788,804,652,631,652.515462758,0.400984563185,-0.015376867429,0.0598524811178,0.999999947565,0.000208407589212,-0.000247365274077,1.56980816725e-05,1793240060828508672
+45,0.750000000,BASELINE,766,745,715,679,661,635.924487138,879,788,804,651.924487138,631.075512862,652.924487138,0.400983649207,-0.0153765759577,0.059851708434,0.999999947094,0.00020861734579,-0.000249099795203,1.55079483988e-05,1793240060845175296
+46,0.766666667,BASELINE,766,745,715,679,661,635.32414983,879,788,804,651.32414983,631.67585017,652.32414983,0.400982864984,-0.015376938712,0.0598513051595,0.999999947185,0.000207682348119,-0.000249551649532,1.49269097035e-05,1793240060861841664
+47,0.783333333,BASELINE,766.261276969,745,715,679,661,635.261276969,879,788,804,651.261276969,632,652.261276969,0.400982871774,-0.0153771285084,0.059851488785,0.999999947191,0.000207919780108,-0.000249334493972,1.48493476095e-05,1793240060878508544
+48,0.800000000,BASELINE,766.829203993,745,715,679,661,635.829203993,879,788,804,651.829203993,632,652.829203993,0.400983806944,-0.0153771153113,0.0598523612308,0.999999947095,0.000209533244548,-0.000248332149023,1.5362695263e-05,1793240060895175424
+49,0.816666667,BASELINE,766.57935462,745,715,679,661.42064538,636,879,787.57935462,804,652,632,652.57935462,0.40098431646,-0.0153770897509,0.059852745836,0.999999947298,0.000209471993766,-0.000247558241766,1.54892920908e-05,1793240060911842304
+50,0.833333333,BASELINE,766,745,715,679,661.978734419,636,879,787.021265581,804,652,631.978734419,652,0.40098465771,-0.0153771217044,0.0598529372811,0.999999947641,0.000208637514412,-0.000246877359885,1.54630319859e-05,1793240060928509184
+51,0.850000000,BASELINE,766,745,715,679,661.402491361,636,879,787.597508639,804,652,631.402491361,652,0.400985385163,-0.0153787933877,0.0598535631902,0.999999948298,0.000206420497562,-0.00024606025081,1.57884301964e-05,1793240060945175296
+52,0.866666667,BASELINE,766,745,715,679,661,635.82425084,879,787.82425084,804,652,631,652,0.400985380846,-0.0153797519483,0.0598536778621,0.999999948467,0.000205763088666,-0.000245908951766,1.60172288216e-05,1793240060961841664
+53,0.883333333,BASELINE,766,745,715,679,661,635.241383279,879,787.241383279,804,652,631,652,0.400983681404,-0.0153790585785,0.0598526082662,0.999999947511,0.000208718471548,-0.000247299984554,1.6022256977e-05,1793240060978508288
+54,0.900000000,BASELINE,766,745,715,679.339214068,661,635,879,787.339214068,804,652,631,652,0.40098353569,-0.0153781305422,0.0598524201407,0.999999947178,0.000209839887596,-0.000247709190864,1.58249866349e-05,1793240060995175168
+55,0.916666667,BASELINE,766,745,715,679.918206657,661,635,879,787.918206657,804,652,631,652,0.400984488253,-0.0153770366287,0.0598528550958,0.999999947291,0.000209664936729,-0.000247424378437,1.54847185847e-05,1793240061011841792
+56,0.933333333,BASELINE,766,745,715,679.499575229,660.499575229,635,879,788,804,652,631,652.500424771,0.400985470144,-0.0153768792722,0.0598535266004,0.999999947844,0.000208781037363,-0.000245942859515,1.52936139172e-05,1793240061028508672
+57,0.950000000,BASELINE,766,745,715,679,660.081765186,635,879,788,804,652,631,652.918234814,0.400986246266,-0.0153768098005,0.0598540659029,0.999999948342,0.00020792321618,-0.000244653235669,1.5122870049e-05,1793240061045175552
+58,0.966666667,BASELINE,766,745,715,679,660.65464636,635,879,788,804,652,631,652.34535364,0.400985757476,-0.0153763427849,0.0598535774085,0.999999948089,0.000207922547562,-0.00024569868662,1.49270326485e-05,1793240061061841664
+59,0.983333333,BASELINE,766.22855592,745,715,679,660.77144408,635.22855592,879.22855592,787.77144408,804.22855592,652,631.22855592,652,0.40098492387,-0.0153768646493,0.0598531541131,0.999999948033,0.000207233541219,-0.000246507928881,1.4935648791e-05,1793240061078508032
+60,1.000000000,BASELINE,766.80402651,745,715,679,660.19597349,635.80402651,879.80402651,787.19597349,804.80402651,652,631.80402651,652,0.400983566883,-0.0153788874897,0.0598528297801,0.999999948274,0.000205499738249,-0.000246958640837,1.52545956676e-05,1793240061095174912
+61,1.016666667,BASELINE,766.610308363,745,715,678.610308363,660.389691637,635.610308363,879.610308363,787.389691637,804.610308363,652,632,652.389691637,0.400984052409,-0.0153792307263,0.0598529716804,0.999999948327,0.000205479484868,-0.000246749044783,1.54592092894e-05,1793240061111841536
+62,1.033333333,BASELINE,766.01937878,745,715,678.01937878,660.98062122,635.01937878,879.01937878,787.98062122,804.01937878,652,632,652.98062122,0.400985489415,-0.0153787066102,0.059853354345,0.999999948282,0.000206344113805,-0.000246198463638,1.56047808519e-05,1793240061128508160
+63,1.050000000,BASELINE,766,745,715,678.56042759,661,635.56042759,879,787.43957241,804.56042759,652,631.43957241,652.43957241,0.400984891313,-0.0153783363196,0.0598533119105,0.999999948078,0.000207599463011,-0.000245962693406,1.57592911972e-05,1793240061145174784
+64,1.066666667,BASELINE,766,744.861507826,715,678.861507826,661,636,879,787,804.861507826,652,631,652.138492174,0.40098451338,-0.0153777850607,0.0598534721599,0.999999947868,0.000209054531307,-0.000245580757453,1.58465479328e-05,1793240061161841152
+65,1.083333333,BASELINE,766,744.287732379,715,678.287732379,661,636,879,787,804.287732379,652,631,652.712267621,0.400985044319,-0.015376648623,0.0598543147488,0.999999947655,0.000211095682583,-0.000244705872039,1.57214728435e-05,1793240061178508032
+66,1.100000000,BASELINE,766,744.293181442,715,678,661,636,879,787,804,652,631,652.706818558,0.400984326377,-0.0153764593327,0.0598541316599,0.999999947321,0.00021173278745,-0.00024552583832,1.56201653258e-05,1793240061195174656
+67,1.116666667,BASELINE,766,744.881275757,715,678,661,636,879,787,804,652,631,652.118724243,0.400982352179,-0.0153772227833,0.0598529168359,0.999999946863,0.000210957553957,-0.000248050665578,1.55427657503e-05,1793240061211841280
+68,1.133333333,BASELINE,766,745,715,678,661,635.53691524,879,787,804,652,631.46308476,652.46308476,0.400984214768,-0.0153774576638,0.0598534947649,0.999999947398,0.000210525713307,-0.000246246573979,1.56533389004e-05,1793240061228508160
+69,1.150000000,BASELINE,766,745,715,678.043150837,661,635,879,787.043150837,804,652,631.956849163,653,0.400986780719,-0.015377621407,0.0598544215613,0.999999948145,0.000210035179357,-0.000243609446146,1.57917287418e-05,1793240061245174784
+70,1.166666667,BASELINE,766,745,715,678.621318181,661,635,879,787.621318181,804,652,631.378681819,653,0.400986034592,-0.015378560832,0.0598540514662,0.999999948477,0.000207739977855,-0.000244220011441,1.56854930322e-05,1793240061261841408
+71,1.183333333,BASELINE,766,745,715,679,660.80318099,635,879.19681901,788,804,652,631,653,0.40098532315,-0.0153791760152,0.0598536301233,0.999999948662,0.000206164295514,-0.000244808677634,1.55390254909e-05,1793240061278508032
+72,1.200000000,BASELINE,766,745,715,679,660.232741887,635,879.767258113,788,804,652,631,653,0.40098467755,-0.0153791756929,0.0598531114968,0.999999948574,0.00020595447075,-0.00024535577303,1.5316186138e-05,1793240061295174656
+73,1.216666667,BASELINE,766,745,715,678.64920437,660,635,879.64920437,787.64920437,804,652,631.35079563,653,0.400984706221,-0.0153790401034,0.0598530029002,0.999999948501,0.000206225888298,-0.0002454334947,1.51947469483e-05,1793240061311842048
+74,1.233333333,BASELINE,766,745,715,678.056639422,660,635,879.056639422,787.056639422,804,652,631.943360578,653,0.400985199599,-0.0153788112873,0.0598531768973,0.999999948438,0.00020682897939,-0.000245187722671,1.51431930445e-05,1793240061328509696
+75,1.250000000,BASELINE,766,745,715,678.524331724,660.524331724,635,879,787.524331724,804,652,632,652.475668276,0.400985650657,-0.0153769053201,0.0598537033298,0.999999948224,0.000208639987434,-0.000244529299149,1.50755595433e-05,1793240061345176320
+76,1.266666667,BASELINE,766,745,715,679,660.896718227,635,879.103281773,788,804.103281773,652,631.896718227,652.103281773,0.40098609085,-0.0153755404889,0.0598542893541,0.999999948155,0.0002098252413,-0.00024379385151,1.5071459762e-05,1793240061361842944
+77,1.283333333,BASELINE,766,745,715,679,660.321405277,635,879.678594723,788,804.678594723,652,631.321405277,652.678594723,0.400986501825,-0.015377458915,0.0598549775,0.999999948838,0.000207567152673,-0.000242905695933,1.53654963756e-05,1793240061378509312
+78,1.300000000,BASELINE,766,745,715,679,660.253077784,635.253077784,879.746922216,788,804.746922216,652,631.253077784,653,0.400986527347,-0.0153785821849,0.0598552006484,0.999999949061,0.000207054605747,-0.000242414180153,1.55746354639e-05,1793240061395175680
+79,1.316666667,BASELINE,766,745,715,679,660.826510301,635.826510301,879.173489699,788,804.173489699,652,631.826510301,653,0.40098606495,-0.0153786989181,0.0598548351867,0.999999948704,0.000208751626876,-0.000242424745007,1.5676308266e-05,1793240061411842048
+80,1.333333333,BASELINE,766.412476621,745,715,679.412476621,661,636,879,788,804,652,631.587523379,653,0.400985264282,-0.0153786327035,0.0598541172856,0.999999948587,0.000207690021259,-0.000243827531943,1.5457073176e-05,1793240061428508416
+81,1.350000000,BASELINE,766.99619902,745,715,679.99619902,661,636,879.00380098,787.99619902,804,652,631.00380098,653,0.400984325656,-0.0153784938625,0.0598532560091,0.999999948571,0.00020543679212,-0.00024581558556,1.5101436893e-05,1793240061445175040
+82,1.366666667,BASELINE,766.41683781,745,715,679.41683781,661,636,879.58316219,787.41683781,804,652,631.58316219,653,0.400984716481,-0.0153793746857,0.0598538344777,0.999999949081,0.000203945386251,-0.000244978018988,1.51704352348e-05,1793240061461841664
+83,1.383333333,BASELINE,766,745,715,679,661,635.838637477,880,787.161362523,804,652,632,652.838637477,0.400984907544,-0.0153796001096,0.0598539417801,0.999999949252,0.000203346396544,-0.000244778154277,1.51590627868e-05,1793240061478508288
+84,1.400000000,BASELINE,766,745,715,679,661,635.26341442,880,787.73658558,804,652,632,652.26341442,0.400984586256,-0.0153781445739,0.0598528406417,0.999999948558,0.000205036264061,-0.000246213858946,1.49415563808e-05,1793240061495175424
+85,1.416666667,BASELINE,766,744.681917901,715,679,661,635.318082099,879.681917901,788,804,652,631.681917901,652.318082099,0.400984454528,-0.0153779155583,0.0598524960242,0.999999948577,0.000204821740047,-0.000246322923401,1.48154402811e-05,1793240061511842304
+86,1.433333333,BASELINE,766,744.095121628,715,679,661,635.904878372,879.095121628,788,804,652,631.095121628,652.904878372,0.400984482938,-0.0153787227007,0.0598527905118,0.999999949198,0.000202998395438,-0.000245311248714,1.47665302704e-05,1793240061528508928
+87,1.450000000,BASELINE,766,744.486209559,715,679,661,636,879,788,804,652,631,652.513790441,0.400984315158,-0.0153797087008,0.0598530059351,0.999999948857,0.000204279529141,-0.000245606505661,1.53048376325e-05,1793240061545175296
+88,1.466666667,BASELINE,766,745,715,678.934001427,661,635.934001427,878.934001427,787.934001427,804,652,631,652,0.400984227955,-0.0153805204401,0.0598532248709,0.999999948439,0.00020586092751,-0.000245949606345,1.58509884492e-05,1793240061561841408
+89,1.483333333,BASELINE,766,745,715,678.35795954,661,635.35795954,878.35795954,787.35795954,804,652,631,652,0.400985056793,-0.0153797180627,0.0598535891619,0.9999999489,0.000205121254712,-0.00024470843777,1.55797980204e-05,1793240061578508288
+90,1.500000000,BASELINE,766,745,715,678.218027869,660.781972131,635.218027869,878.218027869,787.218027869,804,652,631,652,0.400985273618,-0.0153792455665,0.0598535781489,0.999999949058,0.000204592404136,-0.000244518847212,1.53923826503e-05,1793240061595174912
+91,1.516666667,BASELINE,766,745,715,678.793925802,660.206074198,635.793925802,878.793925802,787.793925802,804,652,631,652,0.400984485888,-0.0153793145361,0.0598529511134,0.999999948719,0.000204409596376,-0.000246055312682,1.53424753498e-05,1793240061611841536
+92,1.533333333,BASELINE,766,745,715,679,660.757371185,636,879.378685592,788,804,652,631,652,0.400985065064,-0.0153796988259,0.0598533889511,0.99999994916,0.00020351399324,-0.000245002770997,1.5359754783e-05,1793240061628508416
+93,1.550000000,BASELINE,766,745,715,679,661.936766934,636,879.968383467,788,804,652,631,652,0.40098640591,-0.0153802588193,0.0598544201605,0.99999995003,0.000202221204182,-0.000242507575392,1.54144721978e-05,1793240061645175296
+94,1.566666667,BASELINE,766,745,715.545796363,679,661.454203637,636,879.454203637,788,804,652,631.545796363,652.545796363,0.400985963249,-0.0153795496808,0.0598547967278,0.999999949121,0.000206017590566,-0.000243034521241,1.57914802704e-05,1793240061661842176
+95,1.583333333,BASELINE,766,744.87833368,715.87833368,678.87833368,661,635.87833368,879,788,804.12166632,652,631.87833368,652.87833368,0.400985554341,-0.0153791862555,0.0598549545184,0.999999948397,0.000208745032811,-0.000243668290159,1.60425005113e-05,1793240061678508544
+96,1.600000000,BASELINE,766,744.305603599,715.305603599,678.305603599,661,635.305603599,879,788,804.694396401,652,631.305603599,652.305603599,0.400985645166,-0.015380371079,0.0598544387151,0.999999948784,0.000206440603066,-0.000244063348697,1.57587444302e-05,1793240061695174912
+97,1.616666667,BASELINE,766,744,715,678,660.723765504,635.276234496,879,787.723765504,804.723765504,652,631,652,0.400985465908,-0.01538085168,0.0598538801352,0.999999949021,0.000204504653983,-0.000244725612354,1.56509109202e-05,1793240061711841536
+98,1.633333333,BASELINE,766,744,715,678,660.131507506,635.868492494,879,787.131507506,804.131507506,652,631,652,0.400984977667,-0.0153805266216,0.0598532726171,0.999999949091,0.000202990261912,-0.000245693569521,1.57443400071e-05,1793240061728508160
+99,1.650000000,BASELINE,766,744.450712654,715,678.450712654,660.901425307,635.549287346,879.450712654,787.450712654,804,652,631,652.450712654,0.400986226238,-0.0153801289653,0.0598539716251,0.999999949399,0.000203201020413,-0.000244267785856,1.56367626064e-05,1793240061745174784
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.155713962,661,636,879,788,804,652,631.844286038,652,0.400994157657,-0.0153807277401,0.0598584595916,0.999999950353,0.000205555695874,-0.000238299644306,1.59177597666e-05,1793240062043810304
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.427266907,661,636,879,787.572733093,804.427266907,652,632,652,0.401011825114,-0.0153806425916,0.0598659247389,0.999999953155,0.000206299338535,-0.000225518877227,1.64776280459e-05,1793240062060477440
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.007946161,745,715,679,660.992053839,636,879,787.007946161,804.992053839,652,631.992053839,652.007946161,0.401034374498,-0.0153802431612,0.0598750769336,0.999999956286,0.000207813655865,-0.00020963836088,1.71153724898e-05,1793240062077144064
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.356656892,661,636,879.643343108,787,804,652,631,652.643343108,0.401670878658,-0.0154145721482,0.0599510755858,0.999999977277,0.000196722356895,-7.94686799538e-05,2.07678736137e-05,1793240062210477312
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+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.124873076,715,679,660.875126924,635.124873076,879,788,804,652,631,652,0.403522027715,-0.0155001902221,0.059954302703,0.999999988378,0.000145553657937,-4.51840250347e-05,4.0954679516e-06,1793240062360477440
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.455271051,715,679,661,635,879,788,804.455271051,652,631.455271051,652,0.403820253905,-0.0155054303596,0.0599444987348,0.999999988381,0.000139926618757,-6.04746323539e-05,7.10961169076e-07,1793240062377143808
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.031891515,879.031891515,788,804.968108485,652,631.968108485,652.031891515,0.404124140725,-0.0155083162772,0.0599329676998,0.999999988198,0.000131357797528,-7.96272614817e-05,-2.86315543928e-06,1793240062393810176
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.607855228,879.607855228,788,804.392144772,652,631.392144772,652.607855228,0.404461940236,-0.0154943029197,0.059920725712,0.999999991526,7.90783086655e-05,-0.000103113339944,-7.93515488822e-06,1793240062410477568
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.812774395,879.812774395,788,804,652,631,653,0.404816944257,-0.0154843373042,0.0599126690057,0.99999999163,4.90478531583e-05,-0.00011906739107,-1.25772462354e-05,1793240062427144448
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.226136586,879.226136586,788,804,652,631,653,0.405208650964,-0.0154830068207,0.0599135408472,0.999999990582,6.64817215023e-05,-0.000118953212221,-1.63022052568e-05,1793240062443810560
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.356170982,879,788,804,652,631,652.643829018,0.405660826915,-0.0154915524093,0.059930642517,0.999999994027,5.85954197286e-05,-9.04846396113e-05,-1.80394616502e-05,1793240062460476928
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.935762317,879,788,804,652,631,652.064237683,0.406150934293,-0.0155062930996,0.0599579248983,0.999999998244,3.48261822805e-05,-4.42298096423e-05,-1.8529864342e-05,1793240062477143552
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.487288384,879,787.487288384,804,652,631,652,0.406666023018,-0.0155139439192,0.0599841364541,0.999999999623,1.87573523584e-05,1.14187186138e-06,-2.0033988158e-05,1793240062493811200
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.088722572,745,715,679,661,635,879.088722572,787.088722572,804.088722572,652,631,652,0.407182522034,-0.0155193719321,0.0600063447265,0.999999999021,2.34267205808e-06,3.83392473119e-05,-2.19477121503e-05,1793240062510478848
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.66141166,745,715,679,661,635,879.66141166,787.66141166,804.66141166,652,631,652,0.407689728523,-0.0155174955481,0.0600074438697,0.999999998955,-2.11943249218e-05,3.15476747306e-05,-2.54064743601e-05,1793240062527145728
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.757381351,745,715,679,661,635,879.757381351,788,804.757381351,652,631,652.242618649,0.408204634573,-0.0155164645713,0.0600016217534,0.999999998818,-3.64000246275e-05,1.25632012726e-05,-2.96837753669e-05,1793240062543812352
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.16385465,745,715,679,661,635,879.16385465,788,804.16385465,652,631,652.83614535,0.408730676742,-0.0155166563371,0.0599857891711,0.999999998311,-3.95558689495e-05,-2.40563014752e-05,-3.51449581665e-05,1793240062560478208
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,788,804.419200295,652,631,653,0.409324119872,-0.0155185432461,0.0599813377353,0.999999997482,-4.72647295945e-05,-3.42346046661e-05,-4.03641442488e-05,1793240062577144576
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879,788,804.998261843,652,631,653,0.409943266221,-0.0155210765949,0.059981226479,0.999999996768,-5.67098744696e-05,-3.43296048329e-05,-4.54910452173e-05,1793240062593811200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.571527422,879,788,804.428472578,652,631,653,0.410597862098,-0.0155249574894,0.0599893864367,0.999999995125,-8.48628731668e-05,-1.12191648376e-05,-4.92184581786e-05,1793240062610478336
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.854199303,879.145800697,788,804,652,631,652.854199303,0.411256976535,-0.0155283897699,0.0599944294998,0.999999992796,-0.000107556813192,4.95661166177e-06,-5.30542441972e-05,1793240062627145216
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.27689215,879.72310785,788,804,652,631,652.27689215,0.411929147954,-0.0155304823407,0.0599901742133,0.999999991873,-0.000113927621701,4.02035335942e-07,-5.72232367037e-05,1793240062643811840
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.306354742,879.693645258,787.693645258,804,652,631,652.306354742,0.412577024922,-0.0155267282967,0.0599680792845,0.999999996084,-6.16088500424e-05,-4.25780380628e-05,-4.71583901345e-05,1793240062660478208
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.895076353,879.104923647,787.104923647,804,652,631,652.895076353,0.413202509795,-0.0155175854337,0.059929541574,0.999999991391,4.48040510558e-05,-0.000120974854953,-2.39742276859e-05,1793240062677144576
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.47762288,787,804.47762288,652,631,653,0.413947981822,-0.0155133184114,0.0599254701388,0.999999990413,4.66784295605e-05,-0.000127897813359,-2.52256773057e-05,1793240062693811456
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.94191549,879.94191549,787.05808451,804.94191549,652,631,653,0.414725633346,-0.0155119072608,0.0599339835514,0.999999993099,2.51912941216e-05,-0.000110464270469,-3.10622664749e-05,1793240062710477824
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.368074677,879.368074677,787.631925323,804.368074677,652,631,653,0.415557958461,-0.0155264650572,0.059987870557,0.999999999427,-2.42024987657e-06,-1.43980763169e-05,-3.055601113e-05,1793240062727144192
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.210507176,635.210507176,879,788,804,652,631,653,0.416365528975,-0.0155375860971,0.060024148984,0.999999998133,-2.31469624988e-05,4.76286625014e-05,-3.05044445438e-05,1793240062743810560
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.797569772,635.797569772,879,788,804,652,631,653,0.417128818389,-0.015542559463,0.060028929167,0.999999997824,-3.15580812063e-05,4.87655882754e-05,-3.12662260799e-05,1793240062760477184
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.619507934,635.619507934,879,788,804.380492066,652,631,653,0.417919015818,-0.0155421644054,0.0600159965495,0.999999998452,-3.32564838076e-05,2.90372382863e-05,-3.38657632184e-05,1793240062777143552
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.038764681,635.038764681,879,788,804.961235319,652,631,653,0.418723374785,-0.0155389439715,0.059993741768,0.999999998804,-3.14220151474e-05,-1.67240843345e-06,-3.7432502452e-05,1793240062793810432
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.536359804,635.536359804,879.536359804,788,804.463640196,651.463640196,631,653,0.419546708451,-0.0155390470346,0.0599691637575,0.999999997715,-3.57850273854e-05,-3.98219848706e-05,-4.12861357769e-05,1793240062810477568
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.888783142,635.888783142,880,788,804,651.111216858,631.111216858,653,0.420364280527,-0.0155395876475,0.059944039607,0.999999994887,-4.03905608953e-05,-8.11390367948e-05,-4.48463122507e-05,1793240062827144192
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.313365084,635.313365084,880,788,804,651.686634916,631.686634916,653,0.421152139899,-0.0155409623546,0.0599173295191,0.999999989011,-4.41581964077e-05,-0.000133455558358,-4.70959994991e-05,1793240062843811072
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.270056296,635.270056296,880,788,804.270056296,652,631.729943704,653,0.421970780008,-0.0155420754067,0.0599051302991,0.999999985699,-4.59947834346e-05,-0.000155297234551,-4.86850946472e-05,1793240062860477952
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.863048192,635.863048192,880,788,804.863048192,652,631.136951808,653,0.422826228085,-0.0155428755698,0.0599102832937,0.999999987842,-4.55222069735e-05,-0.000140696840438,-4.94842485914e-05,1793240062877144064
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.556698393,880,788,804.556698393,652,631,653,0.423755033785,-0.0155488957623,0.059963034585,0.999999996443,-4.69029670689e-05,-5.37297638588e-05,-4.50140538656e-05,1793240062893810432
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.019738217,662,635.019738217,880,788,804,651.980261783,631,652.980261783,0.424704035955,-0.0155562678757,0.0600280451356,0.999999996696,-4.90219040081e-05,5.16531215564e-05,-3.91947798527e-05,1793240062910477056
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.596419763,662,635.596419763,880,788,804,651.403580237,631,652.403580237,0.425601310469,-0.0155575540479,0.0600356403421,0.999999995605,-5.62651939167e-05,6.34596416015e-05,-3.99595574396e-05,1793240062927143936
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.824186166,662,635.824186166,880,788,804.175813834,651.175813834,631,652.175813834,0.426481674517,-0.0155587351284,0.0600342238175,0.999999995028,-6.29367262997e-05,6.5308180227e-05,-4.14471570435e-05,1793240062943810816
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.238467961,662,635.238467961,880,788,804.761532039,651.761532039,631,652.761532039,0.427322612297,-0.015559671191,0.0600117967278,0.999999995708,-6.82752237366e-05,4.39400006896e-05,-4.46199931828e-05,1793240062960477696
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651.656061096,631,653,0.428156279107,-0.0155600169922,0.0599882317971,0.999999996211,-7.18251166373e-05,1.18288175063e-05,-4.77422896867e-05,1793240062977144320
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,805,651.07592826,631,653,0.428984952671,-0.0155599574419,0.0599638854753,0.999999995577,-7.41467168539e-05,-2.76599317169e-05,-5.08298788147e-05,1793240062993810688
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.501486076,662,635.501486076,880,788,805,651,631,652.498513924,0.429800068961,-0.0155573308034,0.0599400727344,0.999999992984,-7.54006906176e-05,-7.47744007106e-05,-5.24872052193e-05,1793240063010477568
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.921947083,662,636,880.078052917,787.921947083,805,651,631,652,0.430629914067,-0.015555697228,0.0599250232298,0.999999990062,-7.66703989193e-05,-0.000105538937227,-5.34671626508e-05,1793240063027143680
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.348163068,662,636,880.651836932,787.348163068,805,651,631,652,0.431566271332,-0.0155628260569,0.0599651206272,0.999999995231,-7.90611519964e-05,-2.51679900958e-05,-5.15129495401e-05,1793240063043810560
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.232994023,661.767005977,635.767005977,881,787,805,651.232994023,631,652.232994023,0.432464409463,-0.0155678261218,0.0599998528251,0.999999994694,-8.19693526125e-05,3.79070305932e-05,-4.95672899791e-05,1793240063060477440
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.825528838,661.174471162,635.174471162,881,787,805,651.825528838,631,652.825528838,0.433303570525,-0.0155695412215,0.0600263058118,0.999999992436,-8.56760445865e-05,7.42921465846e-05,-4.76348297497e-05,1793240063077144064
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.407685507,635.407685507,880.592314493,787.407685507,805,651.592314493,631,653,0.434102500569,-0.0155690735689,0.0600143922705,0.999999993586,-8.90477284547e-05,4.97406120242e-05,-4.92443739406e-05,1793240063093810688
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.985511013,635.985511013,880.014488987,787.985511013,805,651.014488987,631,653,0.434884640893,-0.015567694985,0.0599864671675,0.999999994373,-9.22796025099e-05,-2.41707801596e-07,-5.23321081313e-05,1793240063110477568
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.439622509,880,788,805,651,631.560377491,653,0.435648919747,-0.0155663478411,0.0599576668456,0.999999993248,-8.74944907191e-05,-5.18659901676e-05,-5.61953045732e-05,1793240063127144448
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.864729916,662,635,880,788,805,651,632,653,0.436411877652,-0.015564364248,0.0599341489915,0.999999990187,-8.54117364881e-05,-9.38467778828e-05,-5.93627155759e-05,1793240063143811328
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.289504889,662,635,880,788,805,651,632,653,0.437172033387,-0.0155603080257,0.0599278851494,0.999999988441,-9.27888185465e-05,-0.000104325527785,-6.0202272245e-05,1793240063160477440
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.294026323,662,635,880,787.705973677,805,651,632,652.705973677,0.437905047728,-0.0155573133882,0.0599199963707,0.99999998626,-9.36855726703e-05,-0.000122832653353,-6.01311962444e-05,1793240063177143808
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.88597371,662,635,880,787.11402629,805,651,632,652.11402629,0.438610561107,-0.0155553943975,0.0599104611315,0.999999983207,-8.80161584309e-05,-0.00014947449964,-5.9137425044e-05,1793240063193810432
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.467302367,787,805,651,632,652,0.439355102589,-0.0155608260805,0.0599371599865,0.999999988538,-9.13711264508e-05,-0.000106366554919,-5.71152049164e-05,1793240063210477056
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.04570107,805,651,632,652.04570107,0.440100888911,-0.0155681427825,0.0599693441223,0.999999992301,-9.79755605333e-05,-5.25202454663e-05,-5.51359838465e-05,1793240063227143680
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.619517937,805,651,632,652.619517937,0.440753455656,-0.0155769760221,0.0599650146346,0.999999989294,-0.000117249342129,-6.68895384634e-05,-5.64891888312e-05,1793240063243810816
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.198726535,715,680,662,635,881,787.801273465,805,651,631.801273465,652.801273465,0.441373835885,-0.0155848054874,0.0599397705953,0.999999982853,-0.000135716501527,-0.000111051118211,-5.95140834956e-05,1793240063260477952
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.788546138,715,680,662,635,881,787.211453862,805,651,631.211453862,652.211453862,0.44193087329,-0.0155906595303,0.0598733667967,0.999999963326,-0.000152596234092,-0.000213843807637,-6.5828857002e-05,1793240063277145088
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.628300914,715,680,662,635,880.628300914,787,805,651,631.371699086,652,0.442487564346,-0.0155965461092,0.0598220815248,0.999999942196,-0.000167260419886,-0.000287325629601,-7.12498154081e-05,1793240063293811456
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.048873734,715,680,662,635,880.048873734,787,805,651,631.951126266,652,0.443044061806,-0.0156024508709,0.0597792454106,0.99999992146,-0.000180686422334,-0.000344426747182,-7.61712551831e-05,1793240063310477568
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.472991,661.472991,634.472991,880.527009,787,805,651,632,652,0.443595418673,-0.0156101608781,0.0597759349505,0.999999914553,-0.000200104500948,-0.000353295542728,-7.76805744659e-05,1793240063327144192
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+254,4.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,659.07288081,632,881,783.07288081,806,651.92711919,629.07288081,653,0.450765665656,-0.0157560599777,0.0596199795836,0.999999754908,-0.000361559765028,-0.000596771235764,-5.76396991319e-05,1793240064343810816
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,745.496636929,715,680,659,631.496636929,880.496636929,783,805.496636929,652,629.503363071,653,0.450766170779,-0.0157546683952,0.0596201791693,0.999999755082,-0.000361797299921,-0.000596318868398,-5.7822546543e-05,1793240064360477184
+256,4.266666667,HOLD_POSE2,765,745,715,680,659,631,881,783,805,651,629,653,0.45076864338,-0.0157521418669,0.0596219372361,0.999999757254,-0.000360197667742,-0.000593591203802,-5.8304549842e-05,1793240064403820288
+257,4.283333333,HOLD_POSE2,765.589638145,745,715,680,659,631,881,783,805,651.589638145,629.589638145,653,0.450767115546,-0.0157520300132,0.0596205138835,0.999999756742,-0.000358749906333,-0.000595336087032,-5.82220327079e-05,1793240064420486912
+258,4.300000000,HOLD_POSE2,766,745.175994331,715,680,659,631,880.824005669,783,805,652,629.824005669,653,0.450766242968,-0.0157519091396,0.0596194642419,0.999999756162,-0.000358199239897,-0.000596638828851,-5.82363120667e-05,1793240064437153536
+259,4.316666667,HOLD_POSE2,766,745.754838255,715,680,659,631,880.245161745,783,805,652,629.245161745,653,0.450766870266,-0.0157517676197,0.0596192700217,0.999999755435,-0.000359702016278,-0.000596929512929,-5.84721577947e-05,1793240064453820160
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+262,4.366666667,HOLD_POSE2,766,746,715,680.493198819,659,631,880,783.506801181,806,651.493198819,630,653,0.450767567065,-0.0157501117431,0.0596204172177,0.999999756907,-0.000357229876998,-0.000595984803141,-5.80871580216e-05,1793240064503819520
+263,4.383333333,HOLD_POSE2,765.919057663,746,715,681,659,631,880,783,806,652,630,652.919057663,0.450768788706,-0.01574976015,0.0596206244859,0.999999757233,-0.000357308177215,-0.000595404562721,-5.79566180848e-05,1793240064520485888
+264,4.400000000,HOLD_POSE2,765.339589286,746,715,681,659,631,880,783,806,652,630,652.339589286,0.45076827911,-0.0157524040821,0.0596204379524,0.999999755696,-0.000360039946653,-0.000596330634422,-5.80492715811e-05,1793240064537152512
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+267,4.450000000,HOLD_POSE2,765.398366722,745.601633278,715,680,659,631,880.203266556,783,805,651.398366722,630,653,0.450769591952,-0.0157523009384,0.0596206499147,0.999999756636,-0.000359222011227,-0.000595250782478,-5.80042569093e-05,1793240064587152384
+268,4.466666667,HOLD_POSE2,765.984010314,745.015989686,715,680,659,631,879.031979372,783,805,651.984010314,630,653,0.450769783397,-0.0157515150358,0.0596210692892,0.999999756163,-0.000360848223348,-0.000595025637932,-5.83689077968e-05,1793240064603819008
+269,4.483333333,HOLD_POSE2,766,745.563681485,715,680,659,631,879.563681485,782.436318515,805,652,630,652.436318515,0.450770203527,-0.0157518167419,0.0596209528733,0.999999756649,-0.000360417263528,-0.000594504867867,-5.80055209919e-05,1793240064620485888
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+271,4.516666667,HOLD_POSE2,766,745.280297551,715,680.719702449,659.719702449,631,880,782.719702449,805.719702449,652,630,652.719702449,0.450769893812,-0.0157518595571,0.0596209372656,0.999999756449,-0.000360631774408,-0.000594747993089,-5.76317109833e-05,1793240064653819136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,659,632,881,783,806,652,630,653,0.450769126851,-0.0157496446038,0.0596202101789,0.999999757084,-0.000355348551433,-0.000596822440331,-5.79784025022e-05,1793240064690800896
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715.251680534,680.748319466,659,631.251680534,880.748319466,782.748319466,806,652,630,653,0.45077085317,-0.0157527594948,0.0596205048063,0.999999756431,-0.000361692980529,-0.00059411220556,-5.78473279649e-05,1793240064740800768
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.67212157,658.67212157,631.32787843,880.67212157,783,806,652,630,652.67212157,0.450770979798,-0.015752668735,0.0596208120366,0.99999975648,-0.000361641109766,-0.000594058701163,-5.78719606136e-05,1793240064757467392
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.481733793,658.481733793,632,880,783,806,651.518266207,630,652.481733793,0.450770448028,-0.0157514758519,0.0596209567689,0.999999756983,-0.000359691507256,-0.00059442805893,-5.75397138072e-05,1793240064790800896
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.037670832,745.037670832,715,680,659,631.962329168,880,783,806,651,629.037670832,653,0.450709375707,-0.0157463658958,0.0595939246222,0.999999733363,-0.000356648660312,-0.000634373363125,-6.03750432932e-05,1793240064890800896
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.292753882,745,715,680,659,631,880.292753882,783,805,651,630,653,0.450541651587,-0.0157379143914,0.0595530183622,0.999999700199,-0.00035430417508,-0.000685618309643,-6.32237098567e-05,1793240064940800768
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.709804496,879.580391007,787.709804496,804.709804496,652,631,653,0.403351853298,-0.0153558478673,0.0597805217134,0.99999990595,0.000251773328546,-0.000352398894902,2.29228787208e-05,1793240066290800896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.294439483,715,679,661.294439483,635.705560517,879,787.705560517,804.705560517,652,631.294439483,653,0.403088714743,-0.0153569255702,0.0597959413107,0.999999913722,0.000257564067203,-0.000324883713876,2.58184063113e-05,1793240066307467520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.870016203,715,679,661.870016203,635.129983797,879,787.129983797,804.129983797,652,631.870016203,653,0.402852362498,-0.0153581168233,0.0598166098376,0.999999922251,0.000263373065934,-0.000292005114528,2.94351358033e-05,1793240066324134400
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.445777295,745.554222705,715,679,661.554222705,635.445777295,879,787.445777295,804.445777295,652,632,653,0.402637608208,-0.015357607052,0.0598338452444,0.999999929634,0.000265252282046,-0.000263328491688,3.21237641676e-05,1793240066340801024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.97796732,661,635.97796732,879,788,804.97796732,652,632,653,0.402429585719,-0.0153565207194,0.0598492967697,0.999999935869,0.000266011828362,-0.000237303333087,3.44396465951e-05,1793240066357467392
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.390404767,661,635.390404767,879,788,804.390404767,652,632,653,0.402232637936,-0.0153533718296,0.0598446656576,0.99999993293,0.000267456350329,-0.000247872887055,3.41371658416e-05,1793240066374134016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.610084394,745,715,678.194957803,661,635.194957803,879,788,804,652,632,653,0.402041341465,-0.0153508934154,0.0598390887084,0.999999930307,0.000265692645668,-0.000260163036806,3.32880728519e-05,1793240066390800640
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.448072046,745,715,678.775963977,661,635.775963977,879,788,804,652,632,653,0.40186123554,-0.0153497426532,0.0598316388472,0.999999928286,0.000257576126818,-0.000275860246663,3.13565981711e-05,1793240066407467264
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.708326095,745,715,679,660.645836953,635.645836953,879,788,804,652,631.645836953,653,0.40171215487,-0.0153553544176,0.0598286032256,0.99999993719,0.000212813620868,-0.000282647781231,2.10133446916e-05,1793240066424134144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.861200846,745,715,679,660.069399577,635.069399577,879,788,804,652,631.069399577,653,0.401582545772,-0.0153652103742,0.0598283379999,0.999999949182,0.00014505192626,-0.00028384356381,5.39082056717e-06,1793240066440800768
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.495731618,745,715,679,660,635,879,788,804,652,631.504268382,652.495731618,0.401479448309,-0.0153751932552,0.0598332304937,0.999999947247,0.000166345880275,-0.000278940699148,5.28749186752e-06,1793240066457467648
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.079949144,745,715,678.920050856,660.079949144,635.079949144,879.079949144,788,804.079949144,652,631.920050856,652.079949144,0.401383396018,-0.0153836933899,0.059838177094,0.999999943512,0.00019520643887,-0.000273531324998,7.18900157595e-06,1793240066474134528
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.67091849,745,715,678.32908151,660.67091849,635.67091849,879.67091849,788,804.67091849,652,631.32908151,652.67091849,0.401309181049,-0.0153826050459,0.0598389572305,0.999999944537,0.000194519740709,-0.000270219923328,8.32787866432e-06,1793240066490800896
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.743566452,745,715,678.512867096,661,636,880,787.743566452,804.743566452,652,631.256433548,653,0.40124198875,-0.0153806950952,0.0598398246412,0.999999945455,0.000193820070437,-0.000267284646046,9.08275193007e-06,1793240066507467520
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.164905146,745,715,679.670189707,661,636,880,787.164905146,804.164905146,652,631.835094854,653,0.40118362096,-0.0153777527348,0.0598408017185,0.999999946246,0.000193104099786,-0.000264821997134,9.35509586533e-06,1793240066524134144
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.411195107,745,715,679.588804893,661,635.588804893,879.588804893,787,804,652,632,653,0.401135423369,-0.0153767450895,0.0598410410777,0.999999946533,0.000192209518935,-0.000264374332415,9.79567236269e-06,1793240066540801024
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.986274623,745,715,679.013725377,661,635.013725377,879.013725377,787,804,652,632,653,0.401091279176,-0.0153765085372,0.0598409864147,0.999999946619,0.000191243751878,-0.000264729752444,1.03032990045e-05,1793240066557467648
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.4254424,745,715,679,661.5745576,635.5745576,879,787,804.5745576,652,632,653,0.401062832237,-0.0153759208693,0.0598403195714,0.999999946197,0.000191677858506,-0.000265991324922,1.06431577302e-05,1793240066574134272
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.839444032,636,879,787,804.839444032,652,631.839444032,653,0.401036819223,-0.0153750317776,0.0598390573239,0.999999945384,0.000192851528741,-0.000268187031348,1.07568620094e-05,1793240066590800640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.260244559,636,879,787,804.260244559,652,631.260244559,653,0.401016151825,-0.0153733791201,0.059836281612,0.999999943566,0.000195864335445,-0.000272760685328,1.029157304e-05,1793240066607467520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.317169856,804.317169856,652,631.317169856,653,0.401002816151,-0.0153736893375,0.0598362641937,0.999999943702,0.000195649973932,-0.000272411543643,1.04847410225e-05,1793240066624134400
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.477746917,745,715,679,661,635.522253083,879,788,804.522253083,652,632,653,0.400989693229,-0.0153743702629,0.0598397835804,0.999999945379,0.000195095595361,-0.000266561884491,1.1165993604e-05,1793240066657467648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.936598992,745,715,679,661,635,879,787.936598992,804,652,631.936598992,652.936598992,0.400984651432,-0.0153727134602,0.0598407819771,0.999999944966,0.000198207522375,-0.000265819275472,1.09984059734e-05,1793240066674134272
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.358560383,745,715,679,661,635,879,787.358560383,804,652,631.358560383,652.358560383,0.400982586285,-0.0153734110167,0.0598411951372,0.999999944928,0.000198459049577,-0.000265763904063,1.13113301613e-05,1793240066690800896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.219917931,787,804.219917931,652,631.219917931,652.219917931,0.400981598761,-0.015374446712,0.059841678072,0.999999945204,0.000198384628376,-0.000264765654472,1.16062927791e-05,1793240066707467520
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.799114552,787,804.799114552,652,631.799114552,652.799114552,0.400982371745,-0.0153760348225,0.0598422749971,0.99999994599,0.000197777707078,-0.000262227030085,1.18719116616e-05,1793240066724134144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.37681436,879.62318564,787.37681436,804.62318564,652,631.62318564,652.62318564,0.400982639029,-0.015376545966,0.0598432132232,0.999999946391,0.00019770163691,-0.000260742141509,1.20983325941e-05,1793240066740800768
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.953719334,879.046280666,787.953719334,804.046280666,652,631.046280666,652.046280666,0.400982637784,-0.0153764852335,0.059844332682,0.999999946588,0.000197907451794,-0.000259816792846,1.23039391789e-05,1793240066757467392
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631,652.537535702,0.400982661017,-0.0153773561786,0.0598447371849,0.999999947191,0.000195920872176,-0.000258999163366,1.2356672343e-05,1793240066774134016
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631,653,0.400982304742,-0.0153783019539,0.0598448235253,0.999999947591,0.000194296760579,-0.000258676147126,1.23787112449e-05,1793240066790800896
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631,653,0.400980501238,-0.0153792233452,0.0598439398315,0.999999947106,0.00019477228202,-0.000260193122727,1.23349165571e-05,1793240066807467520
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.716311869,879,788,804.283688131,652,631,653,0.400980005348,-0.0153792389189,0.0598440573268,0.999999947035,0.000195447056895,-0.000259952251572,1.24587986234e-05,1793240066824133888
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.141545503,879,788,804.858454497,652,631,653,0.400980851135,-0.0153783250785,0.0598452020924,0.999999947388,0.000196326275832,-0.000257907741759,1.2754725435e-05,1793240066840800512
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.56502041,661,635.43497959,879,787.56502041,804.56502041,652,631.43497959,653,0.400982190304,-0.0153784090641,0.0598467970165,0.999999948045,0.000195737704325,-0.000255786320866,1.30424314301e-05,1793240066857467392
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.012277492,660.987722508,635.987722508,879,787.012277492,804,652,631.987722508,653,0.400983620884,-0.0153787863784,0.0598484595536,0.999999948753,0.000194757177423,-0.000253745472431,1.33096216878e-05,1793240066874134016
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.598847271,660.401152729,635.401152729,879,787.598847271,804,652,631.401152729,653,0.400981786933,-0.0153776346123,0.0598464049696,0.999999947407,0.000197874846735,-0.000256648913241,1.27428072258e-05,1793240066890800640
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.81679951,660.18320049,635,879.18320049,788,804.18320049,652,631,652.81679951,0.400980775244,-0.015377165267,0.0598454652155,0.999999946753,0.000199569155063,-0.000257901693903,1.23997588506e-05,1793240066907467520
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.237241887,660.762758113,635,879.762758113,788,804.762758113,652,631,652.237241887,0.400981542536,-0.0153781723499,0.0598469374138,0.999999947622,0.000198183999405,-0.000255583245287,1.25408319466e-05,1793240066924134400
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.340317125,661,635,879.659682875,787.659682875,805.340317125,652,631,652,0.40098117286,-0.0153786362494,0.0598469620572,0.999999948016,0.000195965870878,-0.000255749319731,1.25670641588e-05,1793240066940801024
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.916490977,661,635,879.083509023,787.083509023,805.916490977,652,631,652,0.400980015211,-0.0153787236957,0.059845983473,0.999999948076,0.000193170450698,-0.000257637292565,1.25137059098e-05,1793240066957467648
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.50131144,879,787.50131144,804.99737712,652,631,652,0.400980837045,-0.0153787518641,0.0598468851768,0.999999948237,0.000194635195013,-0.000255890875406,1.27835906618e-05,1793240066974134272
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,744.913325711,715,678.913325711,661,635.913325711,879.086674289,788,804,652,631,652.086674289,0.400981905683,-0.0153787635073,0.0598479476408,0.999999948401,0.000196495836214,-0.000253804057288,1.30584554378e-05,1793240066990800640
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,744.333219145,715,678.333219145,661,635.333219145,879.666780855,788,804,652,631,652.666780855,0.400982469194,-0.0153787382766,0.0598481108605,0.999999948532,0.000196499316095,-0.000253286475051,1.30497474994e-05,1793240067007467520
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,744.245674608,715,678.245674608,661,635,879.754325392,788,804,652,631.245674608,653,0.400982468808,-0.0153785510296,0.0598478967863,0.999999948334,0.000196983703944,-0.00025369091392,1.30133680963e-05,1793240067024134144
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,744.822931533,715,678.822931533,661,635,879.177068467,788,804,652,631.822931533,653,0.40098170734,-0.0153781451124,0.059847173486,0.999999947692,0.000198117164074,-0.000255339786958,1.29396410457e-05,1793240067040800768
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.6004806,635.3995194,879,787.6004806,804,652,631.6004806,652.6004806,0.400980803903,-0.0153785668683,0.0598470904403,0.999999947458,0.000198833798334,-0.000255707804296,1.27830140375e-05,1793240067057467392
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.0241888,635.9758112,879,787.0241888,804,652,631.0241888,652.0241888,0.400979837649,-0.0153793548388,0.0598472906832,0.999999947405,0.00019936600266,-0.000255509090771,1.25897069016e-05,1793240067074134016
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.564600984,745,715,678.435399016,661.129201968,635.435399016,879,787.564600984,804,652,631.564600984,652,0.400981220683,-0.0153791225589,0.0598486234407,0.999999948119,0.000198493305086,-0.000253379422858,1.27067266472e-05,1793240067090800896
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.848645339,745,715,678.151354661,661.848645339,635,879,787.848645339,804,652,631.848645339,652,0.400982003583,-0.0153789749985,0.0598492390672,0.999999948566,0.00019760805826,-0.00025230107255,1.28076660474e-05,1793240067107467776
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.269199344,745,715,678.730800656,661.269199344,635,879,787.269199344,804,652,631.269199344,652,0.400980797946,-0.0153791934861,0.059847686022,0.999999948172,0.000196861410019,-0.000254435548034,1.28246686839e-05,1793240067124134144
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..353cac9ce03461583697f353d81f309b4d5ebf23
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+377,6.283333333,pose2_to_pose3_retreat,0.576212777176,-0.00990919521726,1.05003231069,0.546783227422,-0.00123746013261,1.04970044316
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+379,6.316666667,pose2_to_pose3_retreat,0.576030522459,-0.00990911155265,1.05003223728,0.546600971719,-0.00123737996066,1.04970036793
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+382,6.366666667,pose2_to_pose3_retreat,0.575847251424,-0.00990921910103,1.0500323663,0.546417702332,-0.00123748188486,1.0497004962
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+384,6.400000000,pose2_to_pose3_retreat,0.575768112549,-0.00990915175251,1.05003241354,0.546338563624,-0.00123741398082,1.04970054306
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+387,6.450000000,pose2_to_pose3_retreat,0.57570005625,-0.00990914081918,1.05003221505,0.546270507639,-0.00123740168395,1.04970035242
+388,6.466666667,pose2_to_pose3_retreat,0.575687843003,-0.00990913634336,1.05003228006,0.546258294714,-0.00123739601094,1.04970042017
+389,6.483333333,pose2_to_pose3_retreat,0.575679325396,-0.00990921113925,1.05003226855,0.546249777289,-0.00123747022192,1.04970040785
+390,6.500000000,pose2_to_pose3_retreat,0.575673975662,-0.00990924552132,1.0500322051,0.546244427063,-0.00123750633822,1.04970034281
+391,6.516666667,pose2_to_pose3_retreat,0.57567072485,-0.0099090921487,1.05003221209,0.546241173849,-0.00123736112669,1.04970034957
+392,6.533333333,pose2_to_pose3_retreat,0.575668771062,-0.00990904442637,1.05003224812,0.546239219316,-0.00123731592592,1.04970038571
+393,6.550000000,pose2_to_pose3_retreat,0.575667815228,-0.00990910632658,1.05003232677,0.54623826446,-0.00123737448955,1.04970046489
+394,6.566666667,pose2_to_pose3_retreat,0.575667542382,-0.00990912399623,1.05003234923,0.546237991893,-0.00123739120676,1.04970048749
+395,6.583333333,pose2_to_pose3_retreat,0.575667532256,-0.009909124652,1.05003235006,0.546237981777,-0.00123739182718,1.04970048833
+396,6.600000000,pose2_to_pose3_retreat,0.575667436597,-0.00990913084694,1.05003235793,0.546237886215,-0.0012373976882,1.04970049626
+397,6.616666667,pose2_to_pose3_retreat,0.575667183146,-0.00990914726054,1.05003237879,0.546237633023,-0.00123741321706,1.04970051725
+398,6.633333333,pose2_to_pose3_retreat,0.575666826286,-0.00990917037094,1.05003240816,0.546237276529,-0.00123743508175,1.04970054681
+399,6.650000000,pose2_to_pose3_retreat,0.575666584198,-0.00990918604868,1.05003242808,0.546237034688,-0.00123744991443,1.04970056687
+400,6.666666667,pose2_to_pose3_retreat,0.575666520417,-0.00990919017916,1.05003243333,0.546236970972,-0.00123745382226,1.04970057215
+401,6.683333333,pose2_to_pose3_retreat,0.575666342422,-0.00990919910796,1.05003244681,0.546236793146,-0.00123746217584,1.04970058565
+402,6.700000000,pose2_to_pose3_retreat,0.575666171091,-0.00990918821946,1.05003245108,0.546236621883,-0.00123745107941,1.0497005893
+403,6.716666667,pose2_to_pose3_retreat,0.575666068495,-0.00990918169924,1.05003245363,0.546236519328,-0.00123744443468,1.04970059149
+404,6.733333333,pose2_to_pose3_retreat,0.575665976359,-0.00990917584379,1.05003245592,0.546236427229,-0.00123743846742,1.04970059345
+405,6.750000000,pose2_to_pose3_retreat,0.575665840775,-0.0099091672271,1.0500324593,0.546236291699,-0.00123742968618,1.04970059634
+406,6.766666667,pose2_to_pose3_retreat,0.575665360285,-0.0099091366908,1.05003247126,0.546235811399,-0.00123739856676,1.04970060658
+407,6.783333333,pose2_to_pose3_retreat,0.575665233703,-0.00990912864623,1.05003247441,0.546235684868,-0.00123739036858,1.04970060928
+408,6.800000000,pose2_to_pose3_retreat,0.575665083061,-0.00990911907259,1.05003247816,0.546235534286,-0.00123738061212,1.04970061249
+409,6.816666667,pose2_to_pose3_retreat,0.575664959575,-0.00990911122476,1.05003248123,0.546235410849,-0.00123737261443,1.04970061512
+410,6.833333333,pose2_to_pose3_retreat,0.575664818404,-0.00990911662882,1.05003245026,0.546235269705,-0.00123737791386,1.04970058446
+411,6.850000000,pose2_to_pose3_retreat,0.575664675703,-0.00990914531319,1.05003236325,0.546235126985,-0.00123740660023,1.04970049907
+412,6.866666667,pose2_to_pose3_retreat,0.575664672908,-0.00990914587501,1.05003236154,0.54623512419,-0.00123740716208,1.0497004974
+413,6.883333333,pose2_to_pose3_retreat,0.575664498507,-0.00990918093159,1.0500322552,0.546234949766,-0.00123744222109,1.04970039304
+414,6.900000000,pose2_to_pose3_retreat,0.575664408575,-0.00990921886516,1.05003222963,0.546234860021,-0.00123747946936,1.04970036887
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+417,6.950000000,pose2_to_pose3_retreat,0.57566434866,-0.00990930397305,1.05003230079,0.546234800827,-0.00123756205179,1.04970044207
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea9b3998e7a1be800c392b78fa94bebdaf0088a0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f5a18ca7a8da7a3c0a94b38752edc6e45b75fb515bdd437660073c531407b9
+size 26640863
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3eea7d29759e2c4fa8b11bacce215f7779e3705
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
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+30,0.500000000,BASELINE,766.583607077,745,715,679,661,636,879,787.416392923,804,652,631,652.416392923,0.400980773575,-0.0153805254535,0.0598491984655,0.999999948662,0.000197764733764,-0.000251782404273,1.30999874601e-05,1793240067775945984
+31,0.516666667,BASELINE,766.010724465,745,715,679,661,636,879,787.989275535,804,652,631,652.989275535,0.400980428397,-0.0153793671188,0.0598486911453,0.999999948304,0.000199258383517,-0.000252025517201,1.31232275633e-05,1793240067792612608
+32,0.533333333,BASELINE,766,745,715,678.42131551,661,635.42131551,879,787.42131551,804,652,631.57868449,653,0.400981610529,-0.0153799644518,0.0598496983511,0.999999948826,0.0001988651305,-0.00025026808991,1.29426018846e-05,1793240067809279488
+33,0.550000000,BASELINE,766,745,715,678.165576244,661,635,879,787.165576244,804.165576244,652,631.834423756,652.834423756,0.400983071389,-0.0153805367606,0.0598508014554,0.999999949549,0.000197574499706,-0.000248397667506,1.28105416285e-05,1793240067825946112
+34,0.566666667,BASELINE,766,745,715,678.745381771,661,635,879,787.745381771,804.745381771,652,631.254618229,652.254618229,0.400985156662,-0.0153809626735,0.0598520721896,0.999999950733,0.000194128915334,-0.000246340039448,1.28097094362e-05,1793240067842612736
+35,0.583333333,BASELINE,766,745,715,679,661,635,879,787.676766066,804.676766066,652,631,652.323233934,0.400984810102,-0.0153808374029,0.0598517916618,0.99999995064,0.000194063432271,-0.000246763343482,1.29101394136e-05,1793240067859279360
+36,0.600000000,BASELINE,766,745,715,679,661,635,879,787.100443304,804.100443304,652,631,652.899556696,0.400982559441,-0.0153802805613,0.059850296512,0.999999949547,0.000196644533208,-0.000249129191465,1.30898566226e-05,1793240067875945984
+37,0.616666667,BASELINE,765.526726762,745,715,679,661,635,879,787.473273238,804,652,631,653,0.400982899761,-0.0153805115238,0.0598509304876,0.999999949607,0.000196629644349,-0.000248891274851,1.32651430602e-05,1793240067892612864
+38,0.633333333,BASELINE,765.048073855,745,715,679,661,635,878.951926145,787.951926145,804,652,631.048073855,653,0.40098373875,-0.0153809320052,0.0598519320475,0.999999949917,0.000196032900719,-0.000248108750613,1.34169464151e-05,1793240067909279488
+39,0.650000000,BASELINE,765.641409917,745,715,679,661,635,878.358590083,787.358590083,804,652,631.641409917,653,0.40098403098,-0.0153816160565,0.0598520057318,0.99999995029,0.000195051403534,-0.000247382549173,1.331300778e-05,1793240067925946112
+40,0.666666667,BASELINE,766,745,715,679,661,635,878.22895205,787,804,652,631.77104795,652.77104795,0.400983758087,-0.0153820906842,0.0598517879271,0.999999950355,0.00019469948031,-0.000247398216797,1.32449508349e-05,1793240067942612736
+41,0.683333333,BASELINE,766,745,715,679,661,635,878.807643533,787,804,652,631.192356467,652.192356467,0.400982621932,-0.0153822454033,0.0598511248536,0.999999949952,0.000195309273111,-0.000248547138641,1.32317055562e-05,1793240067959279360
+42,0.700000000,BASELINE,766,745,715,679,661,635,879,787.382345218,804,652,631,652.382345218,0.400983389005,-0.0153814461963,0.0598511945723,0.99999994974,0.00019691651747,-0.000248132746329,1.32180491041e-05,1793240067975946240
+43,0.716666667,BASELINE,766,745,715,679,661,635,879,787.955060361,804,652,631,652.955060361,0.400985103697,-0.0153801720289,0.0598516291487,0.999999949619,0.000199020393571,-0.000246939978874,1.32041879289e-05,1793240067992612864
+44,0.733333333,BASELINE,766,745,715,679,661,635,879,788,804,652,631,653,0.40098396028,-0.0153809021822,0.0598508946157,0.999999949454,0.000198196913819,-0.000248270711257,1.31105612515e-05,1793240068009279488
+45,0.750000000,BASELINE,766,745,715,679,661,635.125576762,879,788,804.125576762,652,631.125576762,653,0.400982732464,-0.0153815905444,0.0598501577842,0.999999949345,0.000197240578516,-0.000249467929551,1.30799056314e-05,1793240068025946112
+46,0.766666667,BASELINE,766,745,715,679,661,635.706216488,879,788,804.706216488,652,631.706216488,653,0.400982080711,-0.0153815090069,0.0598497733668,0.999999949464,0.000196706074775,-0.000249402665006,1.33020561044e-05,1793240068042612736
+47,0.783333333,BASELINE,766,744.714595277,715,679,661,636,879.285404723,788,804.714595277,652,631.714595277,653,0.400982249368,-0.0153815141615,0.0598499796519,0.999999949617,0.000196376184647,-0.000249053351577,1.32432597423e-05,1793240068059279360
+48,0.800000000,BASELINE,766,744.136893513,715,679,661,636,879.863106487,788,804.136893513,652,631.136893513,653,0.400983258248,-0.0153816081019,0.0598507909047,0.999999949804,0.00019625584934,-0.000248413129681,1.28967319097e-05,1793240068075945984
+49,0.816666667,BASELINE,766,744.438465292,715,679,661.438465292,636,879.561534708,788,804.438465292,652,631.438465292,653,0.400983740965,-0.0153813378353,0.059851545996,0.999999949729,0.000197610035478,-0.000247631302467,1.30738685996e-05,1793240068092612864
+50,0.833333333,BASELINE,766,745,715,678.986546916,661.986546916,635.986546916,879,787.986546916,804.986546916,652,632,652.986546916,0.400984022102,-0.0153809702195,0.0598522325675,0.999999949574,0.00019931954987,-0.000246866654684,1.34039900557e-05,1793240068109279488
+51,0.850000000,BASELINE,766,745,715,678.39626789,661.39626789,635.39626789,879,787.39626789,804.39626789,652,632,652.39626789,0.400982666217,-0.0153812781594,0.0598507290471,0.999999949648,0.000196630500306,-0.000248724144206,1.33207856438e-05,1793240068125946112
+52,0.866666667,BASELINE,766.190425977,745,715,678.190425977,661,635.190425977,879,787,804.190425977,652,631.809574023,652.190425977,0.400982173282,-0.0153810146772,0.0598499919857,0.999999949646,0.00019567965584,-0.000249484498538,1.32151926184e-05,1793240068142612736
+53,0.883333333,BASELINE,766.769797121,745,715,678.769797121,661,635.769797121,879,787,804.769797121,652,631.230202879,652.769797121,0.400983442925,-0.015379584065,0.0598508204174,0.999999949504,0.00019827909644,-0.000248003953506,1.30638708419e-05,1793240068159279360
+54,0.900000000,BASELINE,766.653416699,745,715,679,661,636,879,787.346583301,804.653416699,652,631.346583301,653,0.400983970465,-0.0153804920203,0.0598510155569,0.999999949815,0.000197214546012,-0.000247595053059,1.31224441973e-05,1793240068175945984
+55,0.916666667,BASELINE,766.078334782,745,715,679,661,636,879,787.921665218,804.078334782,652,631.921665218,653,0.400984008745,-0.0153829417681,0.0598507931737,0.999999950419,0.000193734365881,-0.000247892676339,1.33193991453e-05,1793240068192612608
+56,0.933333333,BASELINE,766,745,715,678.504288644,661,636,879,787.504288644,804,652.495711356,631.504288644,653,0.4009835969,-0.0153817528325,0.059850787803,0.999999950019,0.000195421079239,-0.000248183693674,1.33151184745e-05,1793240068209279488
+57,0.950000000,BASELINE,766,745,715,678.071496366,661,635.928503634,879,787,804,652.928503634,631,652.928503634,0.400983028971,-0.0153802687115,0.0598507510157,0.999999949497,0.000197523550706,-0.000248626208484,1.32794412009e-05,1793240068225946112
+58,0.966666667,BASELINE,766,745,715,678.661064741,661,635.338935259,879,787,804,652.338935259,631,652.338935259,0.400981844379,-0.0153808034977,0.0598502386041,0.999999949267,0.000196734541757,-0.000250174042141,1.32462084009e-05,1793240068242612736
+59,0.983333333,BASELINE,766,745,715,679,661,635.246895053,879,787.246895053,804,652,631.246895053,652.246895053,0.400981738456,-0.015381379879,0.0598500831528,0.999999949429,0.000195602229909,-0.000250412862715,1.32162307623e-05,1793240068259279616
+60,1.000000000,BASELINE,766,745,715,679,661,635.827670402,879,787.827670402,804,652,631.827670402,652.827670402,0.400983091233,-0.0153820125101,0.059850410425,0.999999950123,0.000194005663718,-0.000248881483296,1.3190655128e-05,1793240068275946240
+61,1.016666667,BASELINE,766.403637396,744.596362604,715,679,661,635.596362604,879,788,804,652,632,653,0.400982389518,-0.0153819573124,0.0598502023677,0.999999950047,0.000193961773996,-0.000249221665985,1.31421562509e-05,1793240068292612608
+62,1.033333333,BASELINE,766.977575635,744.022424365,715,679,661,635.022424365,879,788,804,652,632,653,0.40098082098,-0.0153816119091,0.0598497684465,0.999999949647,0.000194572982523,-0.000250351489688,1.30839857059e-05,1793240068309279232
+63,1.050000000,BASELINE,766.43629403,744.56370597,715,679,661,635.56370597,879,788,804.56370597,652,631.43629403,653,0.400981075202,-0.0153819766566,0.0598499093074,0.999999949282,0.000196027837727,-0.000250674453775,1.31247801067e-05,1793240068325946112
+64,1.066666667,BASELINE,766,745,715,679,661,635.851313639,879,788,805,652,631.148686361,653,0.400981428093,-0.0153822925352,0.0598501620067,0.999999949096,0.000197009521734,-0.000250644414219,1.31736220101e-05,1793240068342612736
+65,1.083333333,BASELINE,766,745,715,679,661,635.271109345,879,788,805,652,631.728890655,653,0.400981852254,-0.0153823827869,0.0598506714578,0.999999949431,0.000196518414554,-0.000249685098086,1.32341412763e-05,1793240068359279360
+66,1.100000000,BASELINE,766,745,715,679,661,635,879.30788185,788,804.69211815,652,631.69211815,653,0.400982194129,-0.0153824411636,0.0598509690306,0.999999949778,0.00019577572137,-0.000248879489029,1.32331617926e-05,1793240068375945984
+67,1.116666667,BASELINE,766,745,715,679,661,635,879.885808996,788,804.114191004,652,631.114191004,653,0.400982463829,-0.0153824715825,0.0598510807636,0.999999950133,0.000194812360388,-0.000248208697557,1.31782413277e-05,1793240068392612608
+68,1.133333333,BASELINE,766,745,715,679,661,635.460981363,879.539018637,788,804.460981363,652,631,653,0.40098263232,-0.0153828841668,0.0598508914809,0.999999950402,0.000194086832765,-0.000247694129084,1.31976537484e-05,1793240068409279232
+69,1.150000000,BASELINE,766.036417512,745,715,679,661,636,879,788,804.963582488,652,631.036417512,653,0.400982720988,-0.015383256997,0.0598506614873,0.999999950593,0.000193583040046,-0.000247313948859,1.32205388956e-05,1793240068425945856
+70,1.166666667,BASELINE,766.626167741,745,715,679,661,636,879,788,804.373832259,652,631.626167741,653,0.400981975481,-0.0153815959549,0.0598509391567,0.999999949945,0.000195558483234,-0.000248391186189,1.30180781829e-05,1793240068442612480
+71,1.183333333,BASELINE,766.78790138,745,715,679,661,635.78790138,879,788,804,652,632,653,0.400981791075,-0.0153805225059,0.0598512419981,0.999999949633,0.000196680953451,-0.000248765451892,1.29014552221e-05,1793240068459279360
+72,1.200000000,BASELINE,766.208583085,745,715,679,661,635.208583085,879,788,804,652,632,653,0.400982578138,-0.0153804663936,0.0598515884212,0.999999949911,0.000196326618259,-0.0002479226188,1.29334485247e-05,1793240068475945984
+73,1.216666667,BASELINE,766.368165413,745,715,679,661,635.368165413,879,788,804,652,631.631834587,653,0.400982891618,-0.0153802181973,0.0598515576067,0.999999949805,0.000197424446304,-0.000247478508347,1.29468308656e-05,1793240068492612608
+74,1.233333333,BASELINE,766.943468056,745,715,679,661,635.943468056,879,788,804,652,631.056531944,653,0.400982938651,-0.0153798619306,0.0598513145507,0.99999994948,0.000199339290473,-0.000247258727284,1.29497423049e-05,1793240068509279232
+75,1.250000000,BASELINE,766.481709803,745,715,679,661,636,879,788,804,652,631,652.481709803,0.400984352984,-0.0153805308994,0.0598521746389,0.999999950022,0.000198076051784,-0.000246076142683,1.29992882193e-05,1793240068525945856
+76,1.266666667,BASELINE,766,745,715,679,661,636,879.095907828,787.904092172,804,652,631,652.095907828,0.400985502317,-0.0153813541725,0.0598529468918,0.999999950542,0.000196612641188,-0.00024512709403,1.30840078153e-05,1793240068542612480
+77,1.283333333,BASELINE,766,745,715,679,661,636,879.688266887,787.311733113,804,652,631,652.688266887,0.400984508658,-0.0153823978614,0.0598526422175,0.999999950481,0.000195905767679,-0.000245930004765,1.33244926422e-05,1793240068559279104
+78,1.300000000,BASELINE,765.726023432,745,715,679,661,636,879.726023432,787.273976568,804,652,631,653,0.400983390196,-0.0153825261038,0.0598521454637,0.999999950331,0.000195482638471,-0.000246875818774,1.32669359007e-05,1793240068575945984
+79,1.316666667,BASELINE,765.147700246,745,715,679,661,636,879.147700246,787.852299754,804,652,631,653,0.400982133097,-0.0153816374232,0.0598514353389,0.999999950084,0.000195374706407,-0.000247980376702,1.28782999397e-05,1793240068592612608
+80,1.333333333,BASELINE,765.427174672,745,715,678.572825328,661,636,879,788,804.427174672,652,631.427174672,653,0.400982393931,-0.0153812610878,0.0598515111555,0.999999950019,0.000196122729222,-0.000247658433407,1.27383493505e-05,1793240068609279232
+81,1.350000000,BASELINE,766,745,715,678,661,636,879,788,804.999108047,652,632,653,0.400983173345,-0.0153810622057,0.0598518552236,0.999999950016,0.000197159970258,-0.000246850150429,1.26840319942e-05,1793240068625945856
+82,1.366666667,BASELINE,766,745,715,678,661,636,879,788,804.408840938,652,632,653,0.400982592367,-0.0153820018095,0.059851326865,0.999999950096,0.000195311246008,-0.000247983846656,1.28518201043e-05,1793240068642612736
+83,1.383333333,BASELINE,766,745,715,678.17816648,661,635.82183352,879,788,804,652,631.82183352,653,0.400982546008,-0.0153824340566,0.0598512398253,0.999999950109,0.000194871202582,-0.000248273119214,1.29837959779e-05,1793240068659279360
+84,1.400000000,BASELINE,766,745,715,678.757828348,661,635.242171652,879,788,804,652,631.242171652,653,0.400983704399,-0.0153817229838,0.0598521472904,0.999999949971,0.000197605599102,-0.000246659496402,1.30350695667e-05,1793240068675945984
+85,1.416666667,BASELINE,766,745,715,679,661,635.334864087,879,787.665135913,804,652,631.334864087,653,0.400983742636,-0.0153812186286,0.0598519117277,0.999999949811,0.000198197906288,-0.000246841028598,1.28638954884e-05,1793240068692612608
+86,1.433333333,BASELINE,766,745,715,679,661,635.91001537,879,787.08998463,804,652,631.91001537,653,0.400982977088,-0.0153808626071,0.0598508559668,0.999999949638,0.000197253122121,-0.000248310703693,1.25331004498e-05,1793240068709279488
+87,1.450000000,BASELINE,766.495652819,745,715.495652819,679,661,636,879,787.495652819,804,652,632,653,0.400982994217,-0.0153816715532,0.0598515424785,0.999999950073,0.000195648107942,-0.000247819736266,1.27292763851e-05,1793240068725946112
+88,1.466666667,BASELINE,766.917886066,745,715.917886066,679,661,636,879,788,804.082113934,652,631.917886066,653,0.400983094347,-0.0153823893113,0.0598523056252,0.999999950489,0.000194334018818,-0.000247160853955,1.29837655174e-05,1793240068742612480
+89,1.483333333,BASELINE,766.33821877,745,715.33821877,679,661,636,879,788,804.66178123,652,631.33821877,653,0.40098281782,-0.01538124531,0.0598515751105,0.999999950126,0.000195524718889,-0.000247687950929,1.29993668744e-05,1793240068759279104
+90,1.500000000,BASELINE,766,745,715,679,661,636,879.24075376,788,804.75924624,652,631.24075376,653,0.400982314011,-0.0153812611792,0.0598510584857,0.999999949892,0.000195831414594,-0.000248386270274,1.30854773534e-05,1793240068775945984
+91,1.516666667,BASELINE,766,745,715,679,661,636,879.818753019,788,804.181246981,652,631.818753019,653,0.400981491826,-0.0153829017838,0.0598508414759,0.999999949838,0.000194899805585,-0.000249324436187,1.32703563151e-05,1793240068792612608
+92,1.533333333,BASELINE,766.393415502,745,715,679,661,636,879.606584498,788,804,652,632,653,0.400981865443,-0.0153825970366,0.0598509487218,0.999999949864,0.00019552949132,-0.000248720494716,1.33189243731e-05,1793240068809279488
+93,1.550000000,BASELINE,766.966553707,745,715,679,661,636,879.033446293,788,804,652,632,653,0.400982785334,-0.015381403601,0.0598512040962,0.999999949926,0.000196872418089,-0.00024741207751,1.33052219878e-05,1793240068825946368
+94,1.566666667,BASELINE,766.448012404,745,715,679,661,636,879,787.448012404,804,652,632,653,0.400982383541,-0.015382318654,0.0598513045161,0.999999950073,0.00019535663721,-0.000248015982282,1.33428516682e-05,1793240068842612736
+95,1.583333333,BASELINE,766,745,715,679,661,636,879.13692551,787,804.13692551,652,632,653,0.400982088063,-0.0153826707991,0.0598514031338,0.999999950072,0.000194696821538,-0.000248544586885,1.32382176436e-05,1793240068859279360
+96,1.600000000,BASELINE,766,745,715,679,661,636,879.717785021,787,804.717785021,652,632,653,0.400982402838,-0.0153807742586,0.0598515270425,0.999999949577,0.000197386567699,-0.000248444821508,1.26620284173e-05,1793240068875945984
+97,1.616666667,BASELINE,766,745,715,679,661,635.703454163,879.703454163,787.296545837,804.703454163,652,632,653,0.40098257505,-0.015379540357,0.0598514707231,0.999999949143,0.000199518941821,-0.000248500430513,1.24200435064e-05,1793240068892612608
+98,1.633333333,BASELINE,766,745,715,679,661,635.126676619,879.126676619,787.873323381,804.126676619,652,632,653,0.400982612544,-0.0153789326401,0.0598512440905,0.99999994877,0.00020112460693,-0.00024870286616,1.24938770768e-05,1793240068909279232
+99,1.650000000,BASELINE,766,745,715,679,661,635.450028556,879,788,804.450028556,652.450028556,632,653,0.400982061624,-0.015379670139,0.0598509173082,0.999999948993,0.000199755081252,-0.000248908066085,1.2513700528e-05,1793240068925946112
+100,1.666666667,BASELINE,766,745,715,679,661,636,879,788,804.97272908,652.97272908,632,653,0.400981380357,-0.0153808294143,0.0598505818063,0.999999949391,0.000197490543971,-0.00024911678201,1.25354883278e-05,1793240068942612992
+101,1.683333333,BASELINE,766,745,715,679,661,636,879,788,804.38400765,652.38400765,632,653,0.400981424905,-0.015382877636,0.0598506470798,0.999999949995,0.000194038651577,-0.00024938186805,1.29106667788e-05,1793240068959279360
+102,1.700000000,BASELINE,766,745,715,679,661,635.799072593,879,788,804.200927407,652,632,653,0.40098175109,-0.0153833494577,0.0598509010366,0.999999950155,0.000193495519079,-0.000249154897449,1.31160906365e-05,1793240068975946496
+103,1.716666667,BASELINE,766,745,715,679,661,635.221240181,879,788,804.778759819,652,632,653,0.400982605578,-0.0153808642258,0.0598515089304,0.999999949479,0.000198408716591,-0.000248004913807,1.30030842451e-05,1793240068992613888
+104,1.733333333,BASELINE,766,745,715,679,661,635.355426121,879,788,804.644573879,652,631.644573879,653,0.400982146502,-0.0153801369929,0.0598512267326,0.99999994933,0.000198999713385,-0.000248138506349,1.29328873857e-05,1793240069009280512
+105,1.750000000,BASELINE,766,745,715,679,661,635.93136899,879,788,804.06863101,652,631.06863101,653,0.400980872454,-0.0153805004739,0.0598503922959,0.999999949513,0.000196909091078,-0.000249068466941,1.28892507994e-05,1793240069025946624
+106,1.766666667,BASELINE,766.50426079,745,715,679,661,636,879,788,804,652,631,653,0.400981480338,-0.0153814632384,0.0598509302469,0.999999949902,0.000196189984865,-0.000248080026,1.27107295045e-05,1793240069042613248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,805,653,632,652,0.400983514993,-0.0153814883591,0.0598515352996,0.999999950329,0.000195066533127,-0.000247230018558,1.29896830978e-05,1793240069085039616
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.57597997,745,715,678.57597997,660.42402003,636,879.42402003,788,804.42402003,652.42402003,631.42402003,652.57597997,0.40098212072,-0.0153815365954,0.059851078119,0.999999949644,0.000196651295045,-0.000248735570057,1.30743487626e-05,1793240069101706496
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,660.149399281,636,879,788,804,652,631.149399281,653,0.400981423569,-0.0153814897589,0.0598508449344,0.999999949267,0.000197635863177,-0.00024946822467,1.30813752683e-05,1793240069118373120
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,715,679,660.715673609,636,879,788,804,652,631.715673609,653,0.400982671629,-0.0153811776368,0.0598512367751,0.99999994976,0.00019694568591,-0.000248044233197,1.28717620082e-05,1793240069135039744
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.700679756,745,715,679,661,636,878.700679756,788,804,652,631.700679756,653,0.400983061878,-0.0153812357968,0.0598517798013,0.999999949946,0.000197133629447,-0.000247144730089,1.28799138171e-05,1793240069151706112
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.0995143,745,715,679,661,636,878.0995143,788,804,652,631.0995143,653,0.400982587081,-0.0153816673624,0.0598524752884,0.999999949822,0.000198207101366,-0.000246774139838,1.3107667702e-05,1793240069168372480
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.519073494,715,678.519073494,661,636,878.961853011,788,804,652,631.480926506,653,0.400982746865,-0.0153823208919,0.0598520415298,0.999999950001,0.000195516201918,-0.000248200079382,1.29357693298e-05,1793240069185039104
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.057024814,715,678.057024814,661,636,879.942975186,788,804,652,632,653,0.400983324587,-0.015382960357,0.0598516112649,0.99999995026,0.00019255759607,-0.000249477340839,1.2755783838e-05,1793240069201705984
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.631026445,715,678.631026445,661,636,879.368973555,788,804,652,632,653,0.400986550006,-0.0153830731333,0.0598532435296,0.999999950805,0.000193941928255,-0.000246175800128,1.32212241341e-05,1793240069218372352
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,653,0.400996025687,-0.0153829557429,0.0598575318037,0.999999952391,0.000195541430002,-0.000238309640695,1.38146292813e-05,1793240069235039232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,653,0.40101674949,-0.0153824241389,0.0598665998966,0.999999955691,0.000197528155931,-0.000222228883105,1.46383230233e-05,1793240069251706112
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.386528525,788,804,652,631.613471475,653,0.401056198737,-0.0153847913703,0.0598824884565,0.999999961701,0.000196809420869,-0.000193919379839,1.60830310179e-05,1793240069268372992
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.965849055,788,804,652,631.034150945,653,0.401104987828,-0.0153886044774,0.0599017789176,0.999999968157,0.000194741260815,-0.000159510443062,1.78374874498e-05,1793240069285039616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.456164873,788,804,652,631.543835127,653,0.401169667391,-0.0153925143281,0.0599182356625,0.999999972118,0.000192898182457,-0.000134857059343,1.9167212658e-05,1793240069301706240
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.879403404,804.120596596,652,632,653,0.401238813511,-0.0153964371096,0.0599333730975,0.999999975218,0.000191262900942,-0.000112120260573,2.02960640462e-05,1793240069318372864
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.306917266,804.693082734,652,632,653,0.40132096639,-0.0154003856369,0.0599442320869,0.999999977223,0.000190353424876,-9.4275203408e-05,2.07719152494e-05,1793240069335039744
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.273319619,805,652,631.726680381,653,0.401407552396,-0.0154043994988,0.05995147061,0.999999978274,0.000190475334083,-8.20497985413e-05,2.09657851044e-05,1793240069351706368
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.862513987,805,652,631.137486013,653,0.401499261751,-0.0154084888676,0.0599545249694,0.999999978479,0.000191789212582,-7.63190118366e-05,2.08337698497e-05,1793240069368373248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.55349622,652,631,653,0.401603949614,-0.0154152188156,0.0599529600118,0.999999979287,0.000187162899155,-7.74894444893e-05,1.98094170879e-05,1793240069385039872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.028432193,788,804,652,631.028432193,653,0.401714183738,-0.0154226541897,0.0599501477745,0.999999980217,0.000181016095383,-8.03535681121e-05,1.85133703056e-05,1793240069401707008
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.601223041,788,804,652,631.601223041,653,0.401854974778,-0.0154282078259,0.05995037393,0.99999998074,0.000180374103042,-7.54286580944e-05,1.72155203864e-05,1793240069418373376
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.171161161,636,879.828838839,788,804,652,632,652.828838839,0.402005943023,-0.015434234181,0.059951081432,0.999999981384,0.000178863750504,-7.06642083342e-05,1.56947190386e-05,1793240069435039744
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.734561781,636,879.265438219,788,804,652,632,652.265438219,0.402180233718,-0.015441343836,0.0599528920059,0.999999982335,0.000175363430645,-6.62674761123e-05,1.36629938544e-05,1793240069451706368
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.68025679,636,879,788,804,652,631.68025679,652.31974321,0.402373483158,-0.0154512214111,0.0599539476753,0.999999983826,0.000168961421948,-6.04781886701e-05,1.19474640965e-05,1793240069468372992
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.075671974,636,879,788,804,652,631.075671974,652.924328026,0.402583621919,-0.0154635647746,0.059954330842,0.99999998572,0.000159974458158,-5.34483500193e-05,1.05136151875e-05,1793240069485039616
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.50627032,715,678.49372968,661,635.49372968,879.50627032,788,804.50627032,652,631.50627032,653,0.402823950072,-0.0154743085436,0.0599584630526,0.999999987266,0.000152930725511,-4.48006751498e-05,8.57149007863e-06,1793240069501705984
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.915470083,715,678,661,635.084529917,879.915470083,788,805,652,632,652.915470083,0.403072357444,-0.0154847584592,0.0599620449343,0.999999988613,0.000145962210456,-3.77833138067e-05,6.45578454002e-06,1793240069518372608
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.339785514,715,678,661,635.660214486,879.339785514,788,805,652,632,652.339785514,0.403342612113,-0.0154948307119,0.059959312587,0.999999989632,0.000137815327078,-4.1583671952e-05,3.75403326862e-06,1793240069535039232
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.241015085,745.241015085,715,678.241015085,661,636,879.241015085,788,805,652,631.758984915,652.241015085,0.403624820561,-0.0155020825408,0.0599529140127,0.99999998977,0.000133963314403,-5.01416758915e-05,6.06761889657e-07,1793240069551706112
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.829184702,745.829184702,715,678.829184702,661,636,879.829184702,788,805,652,631.170815298,652.829184702,0.403924247038,-0.0155052718727,0.05994123466,0.999999988558,0.000136297569871,-6.55525215944e-05,-3.18222984079e-06,1793240069568372992
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.588909072,745.588909072,715,679,661,636,879.588909072,788,804.588909072,652,631,652.588909072,0.404247518626,-0.0154970954347,0.0599290842355,0.999999992118,8.99776254279e-05,-8.72131669784e-05,-7.83331258485e-06,1793240069585041920
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.00956635,745.00956635,715,679,661,636,879.00956635,788,804.00956635,652,631,652.00956635,0.404580549562,-0.0154842672005,0.0599167410104,0.999999993427,2.37444304504e-05,-0.000111431737231,-1.28372328613e-05,1793240069601711872
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.567260048,788,804.567260048,652,631,652.567260048,0.40496736108,-0.0154819066056,0.0599147278304,0.999999992397,4.0113379704e-05,-0.00011537472394,-1.69180239996e-05,1793240069618374912
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.143186784,745,715,679,661,635.856813216,879.856813216,788,804.856813216,652,631.143186784,652.856813216,0.40537366786,-0.0154839937226,0.059918795276,0.999999992554,5.05858485266e-05,-0.000109216689176,-2.01037071538e-05,1793240069635038976
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.716537553,745,715,679,661,635.283462447,879.283462447,788,804.283462447,652,631.716537553,652.283462447,0.405835829864,-0.0154989147406,0.0599406091885,0.999999996301,3.9177583131e-05,-7.37357016672e-05,-2.06468544894e-05,1793240069651705600
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.702094888,745,715,679,661,635,879.297905112,788,804,652,631.702094888,652.297905112,0.406323089362,-0.0155083517113,0.0599641421362,0.999999998851,2.58192918822e-05,-3.41028374003e-05,-2.16417615566e-05,1793240069668372224
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.112888174,745,715,679,661,635,879.887111826,788,804,652,631.112888174,652.887111826,0.406834890086,-0.0155124261985,0.0599893560167,0.999999999632,1.05541986444e-05,9.58987530567e-06,-2.30784144792e-05,1793240069685038848
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.468391071,880,788,804.468391071,652,631.468391071,652.531608929,0.407353133749,-0.0155128583167,0.0600011005586,0.999999999359,-3.25161513467e-06,2.42609890739e-05,-2.6121972244e-05,1793240069701705728
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.047617532,679,661,636,879.952382468,788,805,652,631.952382468,652.047617532,0.40787360218,-0.015512313389,0.0600080033378,0.999999998998,-1.67800061338e-05,2.90014674945e-05,-2.96824706406e-05,1793240069718372352
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.624909328,679,661,636,879.375090672,788,805,652,631.375090672,652.624909328,0.408401832789,-0.0155105026127,0.0599965577726,0.999999998913,-3.10695726914e-05,-2.12295126163e-07,-3.47569027103e-05,1793240069735039232
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.799236204,679,661,635.799236204,879,788,805,652,631.200763796,653,0.408948011959,-0.015510757776,0.0599859270023,0.999999997933,-4.29742362622e-05,-2.62061344943e-05,-3.99966605079e-05,1793240069751705600
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.226048066,679,661,635.226048066,879,788,805,652,631.773951934,653,0.409527486345,-0.0155148453347,0.0599768077081,0.999999996622,-5.04548148829e-05,-4.6226894189e-05,-4.55431034482e-05,1793240069768372224
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879.358550041,788,804.641449959,652,631.641449959,652.641449959,0.410161550593,-0.0155187913867,0.0599816913545,0.99999999551,-7.37693783267e-05,-3.21391334071e-05,-5.00424491944e-05,1793240069785039104
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,879.950577982,788,804.049422018,652,631.049422018,652.049422018,0.41083116223,-0.0155226452932,0.0599956933303,0.999999992774,-0.000107394595694,4.15915631463e-06,-5.38599538139e-05,1793240069801705472
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+153,2.550000000,POSE1_TO_POSE2_PRESS,765.682013962,745,715,679.317986038,661.317986038,635,879,788,805,651.682013962,631,652,0.412801417114,-0.0155216315402,0.0599546719659,0.999999996868,9.42460550825e-06,-7.28131797303e-05,-2.95699360809e-05,1793240069851706624
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.736657355,715,679,661,635.263342645,879.263342645,787.736657355,804.736657355,652,631,652,0.413482108803,-0.0155159049873,0.0599334931205,0.999999991115,6.4999338572e-05,-0.000115027725154,-1.77264310489e-05,1793240069868373760
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.148117504,715,679,661,635.851882496,879.851882496,787.148117504,804.148117504,652,631,652,0.414208744645,-0.0155080043597,0.0599195319726,0.999999988553,5.64419508735e-05,-0.00013794949363,-2.60452333367e-05,1793240069885040384
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.433915531,744,715,679.433915531,661,636,879.566084469,787.433915531,804,652,631,652,0.415021823592,-0.0155133028633,0.059956530657,0.99999999653,3.14896880328e-05,-7.13154253597e-05,-2.93727007794e-05,1793240069901706496
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.986348158,744.013651842,715,679.986348158,661.013651842,636,879.013651842,788,804,652,631,652,0.41586279701,-0.0155229989203,0.060009719806,0.999999999239,1.39859919527e-06,2.36477729972e-05,-3.09938087838e-05,1793240069918372864
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.411071117,744.588928883,715,679.411071117,661.588928883,636,879.588928883,788,804,652,631,652,0.416655350701,-0.0155309910795,0.0600239203474,0.999999998404,-1.32695030014e-05,4.5004894823e-05,-3.14739689366e-05,1793240069935039232
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.16359497,745,715,679,662,636,880,787.83640503,804.16359497,652,631,652.16359497,0.417444381847,-0.0155360210119,0.0600277416627,0.999999997911,-2.34470945858e-05,5.05367001458e-05,-3.27750118301e-05,1793240069951705600
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.736731563,745,715,679,662,636,880,787.263268437,804.736731563,652,631,652.736731563,0.418224594651,-0.015533635342,0.060005579751,0.999999998961,-2.23831965461e-05,1.64516025362e-05,-3.61310424203e-05,1793240069968372224
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.679383475,745.320616525,715,679,662,635.679383475,880,787.320616525,805,652,631,653,0.41903065748,-0.0155333652364,0.0599846743515,0.999999998736,-2.50477012827e-05,-1.82429897547e-05,-3.96000976181e-05,1793240069985039360
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.086366576,745.913633424,715,679,662,635.086366576,880,787.913633424,805,652,631,653,0.419858682819,-0.0155348925443,0.0599648365039,0.999999997163,-3.08799102564e-05,-5.34554156666e-05,-4.31651799522e-05,1793240070001706496
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.505710624,715,678.505710624,661.505710624,635,880,788,804.505710624,651.505710624,631,652.505710624,0.420656725877,-0.0155343008587,0.0599338288545,0.999999993151,-3.39428453689e-05,-0.000101907123283,-4.64866223461e-05,1793240070018373120
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.927593225,745,715,678.144813549,661.144813549,635,880,787.927593225,804,651.072406775,631.072406775,652.072406775,0.421456835325,-0.0155332942402,0.0599045328792,0.999999987256,-3.53533210059e-05,-0.000147591728938,-4.95365035564e-05,1793240070035040000
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.35247152,745,715,679.29505696,662.29505696,635,880,787.35247152,804,651.64752848,631.64752848,652.64752848,0.422306776171,-0.0155319146702,0.0599003407637,0.999999985747,-2.85684147076e-05,-0.000158395413154,-5.098931008e-05,1793240070051706624
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.227786293,745,715,679.772213707,662.544427415,635,880,787.227786293,804.227786293,652,631.772213707,652.772213707,0.423189316898,-0.0155343379272,0.0599230931232,0.999999990879,-2.70846951394e-05,-0.000122640405486,-4.96678089312e-05,1793240070068372992
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.81617503,745,715,679.18382497,661.367649941,635,880,787.81617503,804.81617503,652,631.18382497,652.18382497,0.424123465765,-0.0155427813385,0.0599885005665,0.999999998369,-3.39931425583e-05,-1.31795668098e-05,-4.39543746257e-05,1793240070085039360
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.398364037,661,635,880,788,804.601635963,651.601635963,631,652.398364037,0.425044889621,-0.0155465475538,0.0600253268715,0.999999997275,-4.0305936779e-05,4.57345977772e-05,-4.16327985713e-05,1793240070101705728
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.977735987,661,635,880,788,804.022264013,651.022264013,631,652.977735987,0.425960531455,-0.0155481885528,0.0600491665279,0.999999994756,-4.63480788749e-05,8.1681451683e-05,-4.0852409234e-05,1793240070118372608
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.444979137,661.555020863,635.555020863,880,788,804.555020863,651.555020863,631,653,0.426829934696,-0.0155489108773,0.0600265824518,0.999999995894,-5.27939022565e-05,5.87999206124e-05,-4.43471240063e-05,1793240070135039488
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631,653,0.427690359199,-0.0155496582216,0.0600024914043,0.999999996661,-5.84444273009e-05,3.12554279803e-05,-4.77999360471e-05,1793240070151706368
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631,653,0.428526785495,-0.0155506133221,0.059979572475,0.999999996832,-6.13641744506e-05,-4.06973394471e-06,-5.05367585428e-05,1793240070168372992
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.287576095,745,715.287576095,679,662,635.712423905,880.287576095,788,805,652,631.287576095,653,0.429342063209,-0.0155493806574,0.0599536448606,0.999999995434,-6.22992461808e-05,-4.93741375433e-05,-5.30463755062e-05,1793240070185039616
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.879251324,745,715.879251324,679,662,635.120748676,880.879251324,788,805,652,631.879251324,653,0.430134977171,-0.0155458345267,0.0599245356947,0.999999991065,-6.11356102493e-05,-0.000105231150139,-5.5315732319e-05,1793240070201705984
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.540457438,745,715.540457438,679,662,635,880.540457438,787.540457438,805,651.540457438,632,652.540457438,0.431043005068,-0.0155482478362,0.059942196803,0.999999994293,-6.27107812439e-05,-6.64000611608e-05,-5.54322257095e-05,1793240070218372608
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.036888807,745,715,679,662,635,880,787.036888807,805,651.036888807,632,652,0.431976421003,-0.0155520538916,0.0599722544429,0.999999996379,-6.49501858775e-05,-3.96262012478e-06,-5.48413682236e-05,1793240070235039232
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.613852856,745,715,679,662,635,880,787.613852856,805,651.613852856,632,652,0.432849400356,-0.0155538791545,0.0600082316154,0.999999995247,-6.66330341058e-05,4.8631825678e-05,-5.19762022336e-05,1793240070251705856
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.810227957,745,715,679.189772043,662,635.189772043,880,788,805,651.810227957,632,652,0.433696580034,-0.0155557643383,0.060024159531,0.999999993828,-7.06492837954e-05,6.91133072499e-05,-5.07550811161e-05,1793240070268372480
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.2364231,745,715,679.7635769,662,635.7635769,880,788,805,651.2364231,632,652,0.434491550276,-0.0155577707814,0.0599995147095,0.999999995149,-7.93875294688e-05,2.46092939654e-05,-5.28609364076e-05,1793240070285039104
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,805.347146723,651.347146723,632,652,0.435264508462,-0.0155583388919,0.0599702201678,0.999999994846,-8.01683759317e-05,-2.7309295383e-05,-5.59991319811e-05,1793240070301705472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,805.937559394,651.937559394,632,652,0.436022041468,-0.0155578990786,0.0599376672975,0.999999991804,-7.53730081987e-05,-8.44237077139e-05,-5.98607483586e-05,1793240070318372096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.482919566,880,788,805.482919566,652,632,652.517080434,0.436801019732,-0.0155531913188,0.0599294007045,0.999999990273,-8.02690597572e-05,-9.59252881616e-05,-6.17176388158e-05,1793240070335038720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.094912983,715,680,662,635,880,788,805,651.905087017,631.905087017,652.905087017,0.437573052329,-0.0155484187478,0.0599233274292,0.99999998886,-8.40979084478e-05,-0.000106125498487,-6.28035859578e-05,1793240070351705344
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.670716871,715,680,662,635,880,788,805,651.329283129,631.329283129,652.329283129,0.438297043491,-0.0155458751854,0.0599138144127,0.999999985793,-7.67124437408e-05,-0.00013706366343,-6.11846791425e-05,1793240070368372224
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.748122324,715,680,662,635,880,788,805,651,631.251877676,652,0.439031368212,-0.0155475572514,0.0599223328975,0.999999986698,-7.69617723429e-05,-0.000130885478675,-5.95849930788e-05,1793240070385038848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.159806219,715,680,662,635,880,788,805,651,631.840193781,652,0.43977949563,-0.0155548835806,0.0599549364473,0.999999991675,-8.74090591337e-05,-7.51301844002e-05,-5.80109806433e-05,1793240070401705728
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.578004895,805.421995105,651,632,652,0.440479106752,-0.0155644937555,0.0599662564443,0.999999991063,-0.000102578762099,-6.31293521017e-05,-5.80212517362e-05,1793240070418372352
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.001358461,805.998641539,651,631.998641539,652,0.441160398885,-0.015574941296,0.0599694666951,0.999999988849,-0.00011950802688,-6.76797968298e-05,-5.86372572473e-05,1793240070435038976
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787.577158207,805.422841793,651,631.422841793,652,0.441746279241,-0.0155793162687,0.0598997880967,0.999999974005,-0.000135763834063,-0.00017106074222,-6.55538990189e-05,1793240070451705600
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.152957125,715,680,661.847042875,635,880,787.847042875,805,651,631,652.152957125,0.442326075565,-0.0155836446887,0.0598375728397,0.999999951502,-0.000150439725185,-0.000263023634557,-7.19861120698e-05,1793240070468372480
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.728753886,715,680,661.271246114,635,880,787.271246114,805,651,631,652.728753886,0.442889053123,-0.0155878444178,0.0597959894701,0.999999931808,-0.000160748052004,-0.000323422117956,-7.70791577752e-05,1793240070485039104
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687663249,745.687663249,714.687663249,680,661,634.687663249,880.312336751,787,805.312336751,651.312336751,631,652.687663249,0.443449401406,-0.0155948903061,0.0597748906017,0.999999917718,-0.000177842826865,-0.000355702505466,-8.00783912193e-05,1793240070501705728
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.097145774,745.097145774,714.097145774,680,661,634.097145774,880.902854226,787,805.902854226,651.902854226,631,652.097145774,0.444007407909,-0.0156044711076,0.0597720361253,0.999999910643,-0.000200981907833,-0.000362939688375,-8.12127840624e-05,1793240070518372352
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.483286999,745,714.483286999,680,661,634,881,786.516713001,806,651.516713001,631.483286999,652.483286999,0.4445498179,-0.015611468379,0.0597751288677,0.999999909384,-0.000210027925086,-0.000361097574467,-8.20305064952e-05,1793240070535039232
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,881,786,805.938646769,651.061353231,631.938646769,653,0.445079538987,-0.0156178767528,0.0597750458443,0.999999906303,-0.000217481365874,-0.000364952319876,-8.3098925104e-05,1793240070551705600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,881,786,805.363768167,651.636231833,631.363768167,653,0.445528758265,-0.0156236138888,0.0597385803238,0.999999875585,-0.000234831246386,-0.000431452932035,-8.67875588863e-05,1793240070568372224
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.21626426,715,680,661,634,880.78373574,786,805.21626426,652,631,653,0.445968833073,-0.0156295240176,0.0597082189368,0.999999847848,-0.000251570994597,-0.000482638565388,-8.9861348639e-05,1793240070585038848
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.805177273,715,680,661,634,880.194822727,786,805.805177273,652,631,653,0.446393150836,-0.0156357322326,0.0596883756937,0.999999831321,-0.000267259412738,-0.000507434684961,-9.18756899694e-05,1793240070601705472
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,660.61208827,633.61208827,880.38791173,786,806,652,630.61208827,653,0.446822394631,-0.0156463447663,0.0596883206274,0.999999832055,-0.000274948364802,-0.000501993926933,-9.10771651951e-05,1793240070618372096
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,660.032408196,633.032408196,880.967591804,786,806,652,630.032408196,653,0.447254073701,-0.015659134623,0.0596980480578,0.999999841246,-0.000278682695996,-0.000481605244829,-8.88880699253e-05,1793240070635038976
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.30615928,715.30615928,680,660,633,880,785,806,651.30615928,630.69384072,653,0.448341123835,-0.0156807650159,0.0596938738697,0.999999855394,-0.000215705346677,-0.000489332676423,-5.68963684955e-05,1793240070685038848
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.028672641,715,680,659.028672641,632,880.971327359,784,805,651.971327359,630,652.971327359,0.449375216229,-0.0156944528105,0.0596148493504,0.999999780595,-0.000254203745512,-0.000608010925462,-6.71858508336e-05,1793240070751705600
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+270,4.500000000,HOLD_POSE2,766,745.457762614,715,680.457762614,659,631,881,782.457762614,806,652,630,653,0.451270964386,-0.0157613999067,0.0596281932332,0.99999976221,-0.000368382792007,-0.000580390192796,-5.49679776744e-05,1793240071829669120
+271,4.516666667,HOLD_POSE2,766,745.122683543,715.122683543,680,659,631,881,782,805.877316457,652,629.877316457,653,0.451270927272,-0.0157625021393,0.0596283624248,0.999999761826,-0.00036951750211,-0.000580353209474,-5.47230892679e-05,1793240071846336000
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.579753835,746,715,680.420246165,659,631.420246165,880,783,806,651,629.420246165,653,0.451271707002,-0.0157593026641,0.0596274548658,0.999999763556,-0.000364810576957,-0.000580320221156,-5.50395939586e-05,1793240071916953856
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e49e2a0f2bfa003486ee96857056ae6759a2a11
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,421 @@
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+401,6.683333333,pose2_to_pose3_retreat,0.57566765976,-0.00990908516801,1.05003252451,0.5462381202,-0.00123735177289,1.04970065295
+402,6.700000000,pose2_to_pose3_retreat,0.57566740258,-0.00990907596939,1.05003251687,0.546237862811,-0.00123734329449,1.04970064493
+403,6.716666667,pose2_to_pose3_retreat,0.575667265091,-0.00990907105179,1.05003251279,0.54623772521,-0.00123733876192,1.04970064064
+404,6.733333333,pose2_to_pose3_retreat,0.575667060263,-0.00990906372568,1.05003250671,0.546237520217,-0.00123733200941,1.04970063426
+405,6.750000000,pose2_to_pose3_retreat,0.575666749094,-0.00990905337042,1.05003249717,0.546237208806,-0.0012373224892,1.04970062428
+406,6.766666667,pose2_to_pose3_retreat,0.575666599722,-0.00990907135419,1.05003248369,0.546237059629,-0.00123733979567,1.0497006112
+407,6.783333333,pose2_to_pose3_retreat,0.575666346348,-0.00990910185928,1.05003246081,0.546236806587,-0.00123736915188,1.04970058901
+408,6.800000000,pose2_to_pose3_retreat,0.575666275252,-0.00990911041903,1.0500324544,0.546236735583,-0.00123737738925,1.04970058278
+409,6.816666667,pose2_to_pose3_retreat,0.575666107228,-0.00990913064839,1.05003243923,0.546236567779,-0.00123739685673,1.04970056807
+410,6.833333333,pose2_to_pose3_retreat,0.575665693966,-0.00990918040346,1.05003240192,0.546236155057,-0.00123744473793,1.04970053188
+411,6.850000000,pose2_to_pose3_retreat,0.575665205955,-0.009909239158,1.05003235787,0.546235667683,-0.00123750127966,1.04970048914
+412,6.866666667,pose2_to_pose3_retreat,0.57566506841,-0.0099092576217,1.05003232793,0.546235530377,-0.00123751888517,1.04970046052
+413,6.883333333,pose2_to_pose3_retreat,0.575665052821,-0.00990926019208,1.05003232015,0.54623551483,-0.00123752129944,1.04970045312
+414,6.900000000,pose2_to_pose3_retreat,0.57566498013,-0.00990927217768,1.05003228383,0.546235442334,-0.00123753255709,1.04970041859
+415,6.916666667,pose2_to_pose3_retreat,0.575664783912,-0.00990930453109,1.05003218581,0.546235246641,-0.0012375629455,1.04970032541
+416,6.933333333,pose2_to_pose3_retreat,0.575664604733,-0.00990933407486,1.05003209631,0.546235067943,-0.00123759069492,1.04970024032
+417,6.950000000,pose2_to_pose3_retreat,0.575664557497,-0.00990934186333,1.05003207271,0.546235020833,-0.00123759801035,1.04970021789
+418,6.966666667,pose2_to_pose3_retreat,0.575664478248,-0.00990933068217,1.05003210418,0.546234941473,-0.00123758723842,1.04970024875
+419,6.983333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234797055,-0.00123758150641,1.04970045957
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f30e43a3bb90780036009bce4a232876c6dd5401
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed9518d31fc668d09602fc060afabcc740b6e02efe1e52dc896c0ce0aac534c
+size 26229994
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd142c4b9b7a4f7c7792c18c669c3118cce9e70
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+47,0.783333333,BASELINE,766.737144718,745,715,679,663.737144718,636,879,788,804,652,631,653,0.400932319278,-0.0154195497461,0.0499309454687,0.999999970839,8.52637105637e-05,-0.00022329819553,-3.44939853283e-05,1793240076445645568
+48,0.800000000,BASELINE,766.162815022,745,715,679,663.162815022,636,879,788,804,652,631,653,0.400931952788,-0.0154183576592,0.0499307812735,0.999999970509,8.64917017838e-05,-0.000224277924707,-3.4651081731e-05,1793240076462312448
+49,0.816666667,BASELINE,766,745,715,679,663.422188802,636,879,788,804,652.422188802,631.422188802,653,0.400933184199,-0.0154191073266,0.0499315150396,0.999999970938,8.53617785936e-05,-0.000222813986962,-3.45049326958e-05,1793240076478979072
+50,0.833333333,BASELINE,766.011275028,745,715,679,663.988724972,635.988724972,879,788,804,652.988724972,631.988724972,653,0.400935023615,-0.0154205966507,0.0499325805407,0.999999971648,8.33374693914e-05,-0.000220420871326,-3.42424646578e-05,1793240076495645440
+51,0.850000000,BASELINE,766.593236596,745,715,679,663.406763404,635.406763404,879,788,804,652.406763404,631.406763404,653,0.400935638101,-0.0154206386527,0.0499324544724,0.999999971765,8.32627700525e-05,-0.000219933630255,-3.41652215216e-05,1793240076512312064
+52,0.866666667,BASELINE,766.827819813,745,715,678.827819813,663,635.172180187,879,788,804.172180187,652,631,653,0.400935493232,-0.0154206571594,0.049931976146,0.999999971684,8.33153789717e-05,-0.000220265220482,-3.42611530255e-05,1793240076528978688
+53,0.883333333,BASELINE,766.255883195,745,715,678.255883195,663,635.744116805,879,788,804.744116805,652,631,653,0.400933585343,-0.0154206211164,0.0499306799703,0.999999971143,8.36635636848e-05,-0.000222497918415,-3.47591498185e-05,1793240076545645312
+54,0.900000000,BASELINE,766,745,714.689701755,678,663,636,879,788,804.689701755,652.310298245,631.310298245,653,0.400932532776,-0.0154203339179,0.0499304847934,0.999999970834,8.48979200739e-05,-0.000223408839358,-3.48138706995e-05,1793240076562312192
+55,0.916666667,BASELINE,766,745,714.128179849,678,663,636,879,788,804.128179849,652.871820151,631.871820151,653,0.400932172695,-0.0154198433789,0.0499311810071,0.999999970713,8.68497387436e-05,-0.000223249623127,-3.45097065199e-05,1793240076578978816
+56,0.933333333,BASELINE,766,745,714.468841866,678.468841866,663,636,879,788,804,652.531158134,631.531158134,652.531158134,0.400932114028,-0.0154215739393,0.0499306681375,0.999999970925,8.36043214906e-05,-0.000223541449549,-3.45015994759e-05,1793240076595645696
+57,0.950000000,BASELINE,766,745,715,678.927141758,663,636,879,788,804,652,631.072858242,652.072858242,0.400932474556,-0.0154233799813,0.0499301611021,0.999999971237,7.97983117029e-05,-0.000223524120786,-3.45591695341e-05,1793240076612312576
+58,0.966666667,BASELINE,766,745,715,678.347511721,663,636,879,788,804,652,631.652488279,652.652488279,0.400935130703,-0.0154211413105,0.0499321822381,0.999999971685,8.27859446372e-05,-0.000220428452694,-3.44644488489e-05,1793240076628979456
+59,0.983333333,BASELINE,766,745,715,678.23045193,663,636,879,787.76954807,804.23045193,652,631.76954807,652.76954807,0.400936331618,-0.015419754856,0.0499332088857,0.999999971893,8.45376252502e-05,-0.000218823406563,-3.4409573313e-05,1793240076645646080
+60,1.000000000,BASELINE,766,745,715,678.805920871,663,636,879,787.194079129,804.805920871,652,631.194079129,652.194079129,0.400935353856,-0.0154196442814,0.0499327466533,0.999999971764,8.44389222716e-05,-0.00021945001814,-3.44143512209e-05,1793240076662312192
+61,1.016666667,BASELINE,766,745,714.610754323,679,663.389245677,636,879,787.389245677,804.610754323,652,631.389245677,652.389245677,0.400934446438,-0.015420433058,0.0499321656997,0.999999971538,8.4113461679e-05,-0.000220612109342,-3.43257284851e-05,1793240076678978560
+62,1.033333333,BASELINE,766,745,714.02343191,679,663.97656809,636,879,787.97656809,804.02343191,652,631.97656809,652.97656809,0.400933574816,-0.0154216794904,0.0499315243322,0.999999971263,8.36726101953e-05,-0.000222046691793,-3.41895766543e-05,1793240076695645184
+63,1.050000000,BASELINE,766,745,714.556326502,679,663.443673498,635.443673498,879,787.443673498,804,652.556326502,632,653,0.400932866577,-0.015421466258,0.0499312046572,0.999999971176,8.30015764826e-05,-0.000222681210156,-3.4235843779e-05,1793240076712312064
+64,1.066666667,BASELINE,765.864902475,745,715,679,663,635,879,787.135097525,804,653,631.864902475,653,0.40093259769,-0.0154211516801,0.0499310213758,0.999999971172,8.23145499946e-05,-0.000222931805352,-3.4373022813e-05,1793240076728978944
+65,1.083333333,BASELINE,765.288330968,745,715,679,663,635,879,787.711669032,804,653,631.288330968,653,0.400933742338,-0.0154207041325,0.0499312401206,0.999999971415,8.16065187297e-05,-0.000222036451293,-3.47825144913e-05,1793240076745645824
+66,1.100000000,BASELINE,765.286421778,745,715,679,663,635.286421778,879,788,804.286421778,653,631.286421778,653,0.40093396583,-0.0154196847519,0.049931317921,0.999999971291,8.34848907306e-05,-0.0002218768673,-3.49186323205e-05,1793240076762312704
+67,1.116666667,BASELINE,765.859355159,745,715,679,663,635.859355159,879,788,804.859355159,653,631.859355159,653,0.400933267877,-0.0154180933591,0.0499312547327,0.999999970785,8.79504771585e-05,-0.000222453284165,-3.47812905432e-05,1793240076778979840
+68,1.133333333,BASELINE,766,745,715,679,663,635.552799121,879,788,804.552799121,653,632,653,0.400932593684,-0.0154198176877,0.0499308446556,0.999999970924,8.4909003115e-05,-0.000223046588601,-3.45282963346e-05,1793240076795645952
+69,1.150000000,BASELINE,766,745,715,679,663,635.038867775,879.038867775,788,804,652.961132225,632,653,0.400932042895,-0.0154223254259,0.049930404541,0.999999971229,8.0008704649e-05,-0.00022353421789,-3.42527083951e-05,1793240076812312320
+70,1.166666667,BASELINE,766,745,715,679,663,635.616255627,879.616255627,788,804,652.383744373,632,653,0.400933094791,-0.015420740915,0.0499311119501,0.999999971206,8.31942076886e-05,-0.000222481572871,-3.41854157688e-05,1793240076828978944
+71,1.183333333,BASELINE,766.19263849,745,715,678.80736151,663,636,880,788,804,652.19263849,632,653,0.400933577284,-0.0154199055811,0.049931397283,0.999999971199,8.50104447452e-05,-0.000221832265743,-3.41479722484e-05,1793240076845645312
+72,1.200000000,BASELINE,766.767029862,745,715,678.232970138,663,636,880,788,804,652.767029862,632,653,0.400932931389,-0.0154205548955,0.0499308461853,0.999999971241,8.41131995409e-05,-0.000221982255618,-3.41696808737e-05,1793240076862312192
+73,1.216666667,BASELINE,766.649088568,745,715,678.350911432,663,636,880,787.649088568,804.350911432,652.649088568,632,653,0.400933041673,-0.0154206229956,0.0499309511072,0.999999971235,8.42644634625e-05,-0.000221924414011,-3.43497559033e-05,1793240076878978816
+74,1.233333333,BASELINE,766.058731359,745,715,678.941268641,663,636,880,787.058731359,804.941268641,652.058731359,632,653,0.400933667939,-0.0154202945017,0.0499315036667,0.999999971196,8.51311817052e-05,-0.000221724757776,-3.46378928613e-05,1793240076895645952
+75,1.250000000,BASELINE,766,745,715,678.47802413,663,636,879.47802413,787,804.47802413,652,631.47802413,653,0.400932150533,-0.0154208217896,0.049930643646,0.999999970962,8.31748720232e-05,-0.000223532841007,-3.4521283469e-05,1793240076912312832
+76,1.266666667,BASELINE,766,745,714.898818363,678.101181637,663,636,879.101181637,787.101181637,804,652,631,653,0.400930892714,-0.0154210455225,0.0499298254777,0.999999970744,8.16526936171e-05,-0.000225074558055,-3.44521415177e-05,1793240076928979456
+77,1.283333333,BASELINE,766,745,714.321660724,678.678339276,663,636,879.678339276,787.678339276,804,652,631,653,0.400931970094,-0.015419396535,0.0499299382995,0.999999970736,8.36398536051e-05,-0.000224319833014,-3.48166387248e-05,1793240076945645568
+78,1.300000000,BASELINE,766,745,714.254394805,678.745605195,663,635.745605195,879.745605195,788,804,652,631.254394805,653,0.400932673416,-0.0154183397528,0.0499301892352,0.999999970758,8.48414332789e-05,-0.000223758010651,-3.48909088962e-05,1793240076962311936
+79,1.316666667,BASELINE,766,745,714.829062775,678.170937225,663,635.170937225,879.170937225,788,804,652,631.829062775,653,0.400932905815,-0.0154180285338,0.0499306140511,0.999999970822,8.50539977414e-05,-0.000223439045316,-3.459979449e-05,1793240076978978560
+80,1.333333333,BASELINE,766,745,715,678,663,635.414828527,879,788,804,652,631.585171473,653,0.400932655847,-0.0154194586327,0.0499308154126,0.99999997105,8.36476850748e-05,-0.000222994834561,-3.4311649395e-05,1793240076995645440
+81,1.350000000,BASELINE,766,745,715,678.005167809,663,636,879.005167809,788,804,652,631,653,0.40093221178,-0.0154216023368,0.0499309184345,0.999999971339,8.15896855802e-05,-0.000222502733441,-3.40288843394e-05,1793240077012312064
+82,1.366666667,BASELINE,766,745,715,678.581659438,663,636,879.581659438,788,804,652,631,653,0.400932887801,-0.015421130472,0.0499306090564,0.999999971178,8.32613939571e-05,-0.000222578644529,-3.42019211046e-05,1793240077028979456
+83,1.383333333,BASELINE,766,745,715,679,663,636,879.841902991,788,804,652,631.158097009,653,0.400933443127,-0.0154209264369,0.0499304922981,0.999999971109,8.42447597534e-05,-0.000222501951262,-3.43112994634e-05,1793240077045646336
+84,1.400000000,BASELINE,766,745,715,679,663,636,879.265608288,788,804,652,631.734391712,653,0.400933679194,-0.0154214308641,0.0499308850566,0.999999971288,8.34073243587e-05,-0.000222021589466,-3.42522888512e-05,1793240077062312960
+85,1.416666667,BASELINE,766.309008826,745,715,678.690991174,663,635.690991174,879,787.690991174,804,652.309008826,632,653,0.400933633779,-0.0154216163034,0.0499310200681,0.999999971383,8.2437478092e-05,-0.000221958767965,-3.42412877863e-05,1793240077078979328
+86,1.433333333,BASELINE,766.88219172,745,715,678.11780828,663,635.11780828,879,787.11780828,804,652.88219172,632,653,0.400933347724,-0.0154215290376,0.0499309347294,0.999999971405,8.1354432783e-05,-0.000222252904965,-3.42713304636e-05,1793240077095645440
+87,1.450000000,BASELINE,766.526714327,745,715,678.473285673,662.526714327,635,879,787.473285673,804,652.526714327,632,653,0.40093449196,-0.0154208814239,0.0499314231689,0.999999971536,8.28860473134e-05,-0.000221120675593,-3.41019959007e-05,1793240077112312064
+88,1.466666667,BASELINE,766,745,715,679,662.066856473,635.066856473,879,787.933143527,804,652,631.933143527,653,0.400935695456,-0.0154200176127,0.0499319402644,0.99999997163,8.50100329976e-05,-0.000219915740492,-3.39245758611e-05,1793240077128978432
+89,1.483333333,BASELINE,766,745,715,679,662.643966049,635.643966049,879,787.356033951,804,652,631.356033951,653,0.400934527179,-0.0154186101535,0.0499315431602,0.999999971264,8.64924839747e-05,-0.000220972219148,-3.40791100612e-05,1793240077145645312
+90,1.500000000,BASELINE,766,745,715,679,663.219718776,635.780281224,879,787.219718776,803.780281224,652,631.219718776,653,0.400933502458,-0.0154182804009,0.0499312194005,0.999999971061,8.62739596005e-05,-0.000221959008348,-3.4200691793e-05,1793240077162311936
+91,1.516666667,BASELINE,766,745,715,679,663.793286294,635.206713706,879,787.793286294,803.206713706,652,631.793286294,653,0.400932708929,-0.0154196862539,0.0499310137593,0.999999971115,8.33160788976e-05,-0.000222833565223,-3.42692048113e-05,1793240077178978560
+92,1.533333333,BASELINE,766,745,715,679,663.624148057,635.375851943,879,788,803.375851943,652,632,653,0.400933535479,-0.0154205763442,0.0499316247171,0.99999997154,8.16087229879e-05,-0.000221545496344,-3.43237731514e-05,1793240077195645440
+93,1.550000000,BASELINE,766,745,715,679,663.036512112,635.963487888,879,788,803.963487888,652,632,653,0.400935274906,-0.0154211758141,0.0499326958097,0.999999972172,8.06060090152e-05,-0.000219038837234,-3.43704839897e-05,1793240077212312576
+94,1.566666667,BASELINE,766,745,715,679,663,635.456071151,879,788,804,652,632,653,0.400935301114,-0.0154196448511,0.0499321324106,0.999999971943,8.2873350714e-05,-0.000219168091889,-3.47929019409e-05,1793240077228979200
+95,1.583333333,BASELINE,766,745,715,679,663,635.12342309,879,788,804,652,632,653,0.400934770855,-0.0154185963382,0.0499313742455,0.999999971633,8.46072980088e-05,-0.000219871713218,-3.50961340622e-05,1793240077245645824
+96,1.600000000,BASELINE,766,745,715,679,663,635.701187156,879,788,804,652,632,653,0.400932609967,-0.0154198433711,0.049930297731,0.999999971247,8.35802364468e-05,-0.000222046831829,-3.48689965608e-05,1793240077262312192
+97,1.616666667,BASELINE,766,745,715,679,663,636,879.276326836,788,804,652.276326836,632,653,0.400932691529,-0.0154200204677,0.0499302688946,0.999999971307,8.30985516321e-05,-0.000221975291772,-3.47375820949e-05,1793240077278978816
+98,1.633333333,BASELINE,766,745,715,679,663,636,879.848655235,788,804,652.848655235,632,653,0.400935175208,-0.0154190514476,0.0499313623318,0.999999971847,8.32010749591e-05,-0.000219497128729,-3.47087062476e-05,1793240077295645440
+99,1.650000000,BASELINE,766,745,714.56458557,678.56458557,663,635.56458557,879.56458557,788,804.43541443,652.56458557,632,653,0.400934973197,-0.0154189383686,0.0499313954011,0.999999971703,8.39158804791e-05,-0.000219882047049,-3.46945485562e-05,1793240077312311808
+100,1.666666667,BASELINE,766.026690257,745,714.026690257,678.026690257,663,635.026690257,879,788,804.946619486,652,632,653,0.400933804929,-0.0154191532183,0.0499310420152,0.999999971329,8.47338197059e-05,-0.000221267656214,-3.46873059393e-05,1793240077328978688
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+102,1.700000000,BASELINE,766.818842186,745,715,678.818842186,663,636,879,788,803.181157814,652.181157814,632,653,0.400932586006,-0.0154200927331,0.0499307207168,0.999999971384,8.26524515184e-05,-0.00022180939526,-3.46684778545e-05,1793240077362312448
+103,1.716666667,BASELINE,766.24263212,745,715,678.24263212,663,636,879,788,803.75736788,652.75736788,632,653,0.400935055051,-0.0154196927282,0.0499321742263,0.999999971789,8.45886707298e-05,-0.000219267084048,-3.44677762263e-05,1793240077378979072
+104,1.733333333,BASELINE,766,745,715,678.340584166,663,636,879,788,804,653,632,653,0.400935194273,-0.0154193001826,0.0499324917677,0.9999999718,8.53596954785e-05,-0.000218898099592,-3.46030732674e-05,1793240077395645440
+105,1.750000000,BASELINE,766,745,715,678.928896575,663,636,879,788,804,653,632,653,0.400933638866,-0.0154189130624,0.0499319830484,0.999999971527,8.52832013527e-05,-0.000220109911849,-3.49827632118e-05,1793240077412312064
+106,1.766666667,BASELINE,766.50964897,745,715,679,663,636,880.019297941,788,804,652.49035103,632,653,0.400932705636,-0.0154198641166,0.0499312033001,0.999999971353,8.44753440181e-05,-0.000221260381765,-3.46740237434e-05,1793240077428978432
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,635,880,788,804,652,632,653,0.40093485032,-0.0154183658065,0.0499325122905,0.999999971608,8.50042889681e-05,-0.000219872345019,-3.48612078865e-05,1793240077472296704
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.425233138,745,715,678.425233138,663.425233138,635.574766862,879.425233138,788,804,652,632,652.425233138,0.40093564842,-0.0154191826507,0.0499328605429,0.999999972033,8.41355521512e-05,-0.000218273383858,-3.48090363931e-05,1793240077488963840
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844802925,745,714.844802925,678.155197075,663,636,879,788,804.155197075,652,632,652.155197075,0.400936101531,-0.0154200093507,0.0499328065859,0.999999972277,8.32517236326e-05,-0.000217505670867,-3.47271755822e-05,1793240077505630464
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.248267545,745,714.248267545,678.751732455,663,636,879,788,804.751732455,652,632,652.751732455,0.400935573589,-0.015420864078,0.0499316088546,0.999999972011,8.23249782158e-05,-0.000219101801393,-3.45608864091e-05,1793240077522296832
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.338740721,745,714.338740721,679,663,636,879.338740721,788,804.661259279,652,631.661259279,653,0.400936253831,-0.0154203848652,0.049931514877,0.999999972016,8.26106307914e-05,-0.000218970895568,-3.45696820267e-05,1793240077538963200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.918957417,745,714.918957417,679,663,636,879.918957417,788,804.081042583,652,631.081042583,653,0.400937795344,-0.0154189547349,0.0499322077252,0.999999972213,8.3760557982e-05,-0.000217608848065,-3.47032892515e-05,1793240077555629312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.508353554,679,663,635.508353554,879.508353554,788,804,652,631.491646446,653,0.400942876057,-0.0154197136274,0.0499339629213,0.999999972943,8.57027011122e-05,-0.000213536461869,-3.42275198291e-05,1793240077572295680
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.065289011,679,663,635.065289011,879,788,804,652,632,652.934710989,0.400949576497,-0.0154208476117,0.0499361064704,0.999999973911,8.72420491206e-05,-0.00020840145896,-3.37004978138e-05,1793240077588962304
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714.656455844,679,663,635.656455844,879,788,804,652,632,652.343544156,0.400964695018,-0.0154221402455,0.0499399888283,0.999999976215,8.45010620645e-05,-0.000198251780373,-3.35575338184e-05,1793240077605628928
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.242673158,631.757326842,652.242673158,0.400986039732,-0.0154236214618,0.0499445830776,0.999999979064,8.22044164425e-05,-0.000184415829518,-3.32469809361e-05,1793240077622295808
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.822023613,631.177976387,652.822023613,0.401016022474,-0.0154253643115,0.0499501649827,0.999999982534,8.05242367177e-05,-0.000165465658374,-3.27039203782e-05,1793240077638962688
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.600308063,663,636,879,788,804,652.600308063,631.399691937,653,0.401054302321,-0.0154264310008,0.0499558448411,0.999999985783,8.1380537755e-05,-0.000144103800756,-3.23193961697e-05,1793240077655629312
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.023385576,663,636,879,788,804,652.023385576,631.976614424,653,0.401096261254,-0.0154271978684,0.0499615681343,0.999999988611,8.33615595324e-05,-0.000121672556557,-3.20051697549e-05,1793240077672295936
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,878.449789444,788,804,652.550210556,632,652.449789444,0.401150201082,-0.0154293353755,0.049964605127,0.999999990955,8.28063141981e-05,-0.000101018715284,-3.20605316566e-05,1793240077688962560
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,878.126943003,788,804,652.873056997,632,652.126943003,0.401206998946,-0.0154317630613,0.049967170907,0.999999992489,8.24355510585e-05,-8.48703610474e-05,-3.19833369256e-05,1793240077705629184
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,878.715593917,788,804,652.284406083,632,652.715593917,0.401272350893,-0.0154350355527,0.0499684356034,0.999999992455,8.31254952285e-05,-8.48359176864e-05,-3.13672260199e-05,1793240077722295808
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.300994463,663,636,879,787.699005537,804,652,632,653,0.401350196898,-0.0154401008884,0.0499691147671,0.99999999274,8.11261503219e-05,-8.36593998066e-05,-3.06508213835e-05,1793240077738962432
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.88335655,663,636,879,787.11664345,804,652,632,653,0.401439722264,-0.0154468421627,0.0499692465787,0.999999993306,7.6612875802e-05,-8.1415278251e-05,-2.984066287e-05,1793240077755629056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787,804,652,632,652.540625428,0.401547521259,-0.015452744921,0.049971556288,0.999999993894,7.37716277357e-05,-7.69884884791e-05,-2.90354303541e-05,1793240077772295680
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.965682326,678.965682326,663,636,879,787.034317674,804,652,632,652,0.401661058674,-0.0154585706829,0.049974237527,0.999999994446,7.12973996313e-05,-7.230912667e-05,-2.82255142312e-05,1793240077788962304
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.382518536,678.382518536,663,636,879,787.617481464,804,652,632,652,0.401793174092,-0.0154665238062,0.049974136853,0.999999994699,6.79954607527e-05,-7.23332874999e-05,-2.73209609011e-05,1793240077805628928
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714.200108297,678.200108297,663,636,879,788,804,652.200108297,631.799891703,652.200108297,0.401936402194,-0.0154751037789,0.0499732191729,0.999999994941,6.34451306236e-05,-7.34199809161e-05,-2.65119704553e-05,1793240077822295552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714.781711384,678.781711384,663,636,879,788,804,652.781711384,631.218288616,652.781711384,0.402100815963,-0.0154848788023,0.0499707439184,0.999999995139,5.65148158012e-05,-7.65323306996e-05,-2.58851651746e-05,1793240077838961920
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.638400774,663,635.638400774,879,788,804,652.638400774,631,653,0.402290967293,-0.0154951386314,0.0499706831347,0.999999995581,5.05956755142e-05,-7.52834071624e-05,-2.47184919004e-05,1793240077855628544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.059543441,663,635.059543441,879,788,804,652.059543441,631,653,0.402496582426,-0.0155056897451,0.0499720730268,0.999999996155,4.52840742084e-05,-7.14141188298e-05,-2.3227452001e-05,1793240077872295168
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.516519926,745,715,678.516519926,663,635.516519926,879.516519926,788,804,652,631,653,0.402736051995,-0.015515938356,0.0499759710713,0.999999997187,4.09358588868e-05,-5.8994219151e-05,-2.16738505255e-05,1793240077888962048
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.811846667,744.905923333,715,678.905923333,662.905923333,635.905923333,879.905923333,787.905923333,804.094076667,652,631,653,0.402984750992,-0.015525770483,0.0499808155117,0.999999998088,3.74888386426e-05,-4.49928334449e-05,-1.98469725815e-05,1793240077905628672
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.637724052,744.318862026,715,678.318862026,662.318862026,635.318862026,879.318862026,787.318862026,804.681137974,652,631,653,0.403261473586,-0.0155336018912,0.049989112312,0.999999998745,3.81854621681e-05,-2.78415801716e-05,-1.66256480339e-05,1793240077922295296
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.260146691,715,678,662,635.260146691,879.260146691,787.260146691,804.739853309,652,631,653,0.403557026209,-0.0155366368021,0.0499959689445,0.999999998833,4.44351731439e-05,-1.29515302269e-05,-1.38731134638e-05,1793240077938962176
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.829581651,715,678,662,635.829581651,879.829581651,787.829581651,804.170418349,652,631,653,0.403874965825,-0.0155339691595,0.0500011133619,0.999999998291,5.72869469438e-05,-7.49824809697e-07,-1.16779232554e-05,1793240077955628800
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411512902,745,715,678.411512902,662.411512902,635.588487098,879.588487098,787.588487098,804,652,631,653,0.404232805739,-0.0155288924332,0.0500073277848,0.9999999975,6.89616133228e-05,1.21736287957e-05,-9.76852367939e-06,1793240077972295424
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.998781254,745,715,678.998781254,662.998781254,635.001218746,879.001218746,787.001218746,804,652,631,653,0.404607686895,-0.0155227867975,0.0500139992024,0.999999996435,8.01335416777e-05,2.54053377343e-05,-7.98118414822e-06,1793240077988962048
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879.571430466,787.571430466,804,652,631,653,0.4049970613,-0.0155260991824,0.0500127837077,0.999999996924,7.46293536299e-05,2.3540941066e-05,-5.40829303429e-06,1793240078005628672
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.85083306,663,635,879.85083306,787.85083306,804,652,631.14916694,653,0.405385524321,-0.0155288034195,0.0500062386593,0.999999997207,7.38886703015e-05,1.07849655459e-05,-3.23375694497e-06,1793240078022295552
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.257870826,663,635,879.257870826,787.257870826,804,652,631.742129174,653,0.405771186088,-0.01552964005,0.0499838861416,0.999999995588,8.7423346773e-05,-3.42817817646e-05,-2.24925096418e-06,1793240078038962176
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662.672901013,635.327098987,879,787.327098987,804,652,632,652.672901013,0.406196630031,-0.0155291768644,0.0499643631449,0.99999999247,0.000103047506521,-6.66270959691e-05,-1.52534231822e-06,1793240078055628544
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662.094081735,635.905918265,879,787.905918265,804,652,632,652.094081735,0.406652688543,-0.0155277134005,0.0499470176149,0.999999988789,0.000120279637697,-8.91825868868e-05,-1.00197725689e-06,1793240078072295424
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662.478128373,636,879,788,804,652,632,652.478128373,0.407167731383,-0.0155278887944,0.0499479426079,0.999999986809,0.000138242778644,-8.52193598505e-05,2.79279580857e-06,1793240078088962048
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.050881607,663,635.949118393,879.050881607,788,804,652,632,653,0.407698339232,-0.0155284164597,0.0499539232657,0.999999985094,0.000156129403465,-7.33660141889e-05,7.2853670216e-06,1793240078105628928
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,678.643059655,663,635.356940345,879.643059655,788,804,652,632,653,0.408272744047,-0.0155293078377,0.0499759633254,0.999999984661,0.000171692664047,-3.23300248111e-05,1.24466377765e-05,1793240078122295552
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,788,804.229445806,652,632,653,0.408858894147,-0.0155317183026,0.0499952608601,0.999999983299,0.000181974324856,-1.36467125621e-07,1.69254206866e-05,1793240078138962176
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,788,804.807043527,652,632,653,0.409462866039,-0.0155364337693,0.0500103969956,0.999999982646,0.000184241896235,1.86399348275e-05,2.03686234761e-05,1793240078155628800
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.616481952,635.383518048,879.616481952,788,804.616481952,652,632,652.616481952,0.410067586137,-0.0155405397508,0.0500093075903,0.999999984108,0.00017671178034,1.16416985033e-05,2.05388169507e-05,1793240078172295424
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.040570905,635.959429095,879.040570905,788,804.040570905,652,632,652.040570905,0.410672681557,-0.0155443399822,0.0500000785926,0.999999986292,0.000164266624617,-8.286464285e-06,1.90670952103e-05,1793240078188962304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.464793844,662,635.464793844,879,788,804,652,632,652,0.411303881203,-0.0155421237255,0.0499713116152,0.999999983243,0.000170079256792,-6.55326877471e-05,1.70871119861e-05,1793240078205629184
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.885887796,745,715,678.114112204,662.114112204,635.114112204,879.114112204,788,804.114112204,652,632,652.114112204,0.411954769582,-0.0155408861173,0.0499504950559,0.999999978985,0.000175654777728,-0.000104499487057,1.59719223829e-05,1793240078222296064
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.293834092,745,715,678.706165908,662.706165908,635.706165908,879.706165908,788,804.706165908,652,632,652.706165908,0.412679835153,-0.0155456571528,0.0499691792628,0.999999983095,0.0001744418976,-5.50603856162e-05,1.86401191096e-05,1793240078238962432
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.291452554,745,715,679,663.291452554,635.708547446,879.708547446,787.708547446,804.708547446,652,631.708547446,653,0.41341190561,-0.0155490118855,0.049985023176,0.99999998411,0.000175510323749,-2.30188766498e-05,2.11450419915e-05,1793240078255629056
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.870071727,745,715,679,663.870071727,635.129928273,879.129928273,787.129928273,804.129928273,652,631.129928273,653,0.414150878028,-0.0155509711434,0.0499980685653,0.999999983702,0.000178826508714,-8.11911519954e-06,2.348909239e-05,1793240078272295936
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.553510838,745,715,679,663.553510838,635,879,787.446489162,804.446489162,652,631,652.553510838,0.414872571308,-0.0155536633127,0.0499760099663,0.99999998327,0.00017632204991,-4.32833684033e-05,2.22908348067e-05,1793240078288962560
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.022723817,745,715,679,663,635.022723817,879.022723817,787.977276183,804.977276183,652,631,652.022723817,0.415591510273,-0.0155564422182,0.0499447777206,0.999999980775,0.000172339118208,-9.13501371726e-05,2.01312621987e-05,1793240078305628928
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.61026329,745,715,679,663,635.61026329,879.61026329,787.38973671,804.38973671,652,631,652.61026329,0.416366356674,-0.0155561018795,0.049938189359,0.999999979779,0.000173501857729,-9.97817417513e-05,1.95733319105e-05,1793240078322295552
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.804880918,879.804880918,787.195119082,804.195119082,652,631,653,0.417163287645,-0.0155569566171,0.0499444690863,0.999999980938,0.000173723512354,-8.6792669153e-05,2.02873440188e-05,1793240078338962432
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.225312896,879.225312896,787.774687104,804.774687104,652,631,653,0.418003732457,-0.0155601660491,0.0499761031928,0.999999984417,0.000172090918967,-3.15977974674e-05,2.35075021192e-05,1793240078355629056
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.648053508,663,635,879.351946492,788,804.648053508,652,631.351946492,653,0.418810502946,-0.0155611116672,0.0499853217614,0.999999984488,0.000172795516021,-2.32602302256e-05,2.49918944875e-05,1793240078372295936
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,678.072262476,663,635,879.927737524,788,804.072262476,652,631.927737524,653,0.419595855905,-0.0155606174574,0.0499802836281,0.999999983368,0.000174986610063,-4.47247856185e-05,2.53723073422e-05,1793240078388962816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.497143998,715,678.502856002,662.497143998,635,880,787.497143998,804,652,631.497143998,652.497143998,0.420436720203,-0.0155618486958,0.0499754551203,0.999999983555,0.000175619424898,-3.77919091531e-05,2.48994848691e-05,1793240078405629184
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.079558322,715,679,662.079558322,635.079558322,880,787.079558322,804,652,631,652.079558322,0.42128999491,-0.0155633967924,0.0499746285925,0.999999983877,0.000176443084287,-2.2359695917e-05,2.47595975014e-05,1793240078422295808
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.666987191,715,679,662.666987191,635.666987191,880,787.666987191,804,652,631,652.666987191,0.422171637173,-0.015565386861,0.0499991571653,0.99999998321,0.000179912606767,2.13134155599e-05,2.75267162346e-05,1793240078438962432
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.747504719,880,788,804.252495281,652,631.252495281,653,0.423032922482,-0.0155653356985,0.0500046059201,0.999999982423,0.000182836587009,3.01319143348e-05,2.85838620422e-05,1793240078455629056
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.164510714,880,788,804.835489286,652,631.835489286,653,0.423867562082,-0.0155626127069,0.0499850805267,0.999999982481,0.000185046491148,-6.67183933649e-06,2.74027728929e-05,1793240078472295680
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+169,2.816666667,POSE1_TO_POSE2_PRESS,766.983521561,745,715,678.016478439,662.016478439,635,880.983521561,788,805,652,631.016478439,653,0.425582620935,-0.0155682448126,0.0499923773772,0.999999983661,0.000178184994248,5.69701932939e-06,2.99123874689e-05,1793240078505629184
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715,678.559493885,662.559493885,635,881,788,805,652,631.559493885,652.440506115,0.426452898343,-0.0155695980195,0.0500090033187,0.999999982486,0.000182912186683,2.32649938004e-05,3.20988871015e-05,1793240078522295808
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766.270876614,745,714.270876614,678.270876614,663,635,879.541753228,788,805,652,631.270876614,652.729123386,0.428098811205,-0.015565648752,0.049974086749,0.999999979931,0.00019041161635,-5.4285238758e-05,3.05713500939e-05,1793240078555629056
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.313422588,678.313422588,663,635,879.313422588,788,805,652,631.313422588,653,0.428938742548,-0.0155624587567,0.049957764046,0.999999978093,0.000193217359856,-7.51224295088e-05,2.89275444393e-05,1793240078572295680
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.472034004,788,805,652,631.527965996,652.472034004,0.436187333821,-0.0155486356606,0.0499725135018,0.999999973252,0.000219176308356,-6.59017740485e-05,3.33806954399e-05,1793240078722295552
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+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,788,805,652,631.304511723,652.695488277,0.437666915403,-0.0155508680116,0.0499695319395,0.999999974872,0.000214657208273,-5.54392127534e-05,3.32457757571e-05,1793240078755628800
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765.905838156,745.905838156,715,679,660,632,880,785,805.905838156,652,630,652.094161844,0.449369200803,-0.0156945698229,0.0496859928575,0.999999888675,1.5530459565e-05,-0.000470916113333,2.54457974224e-05,1793240079422295808
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679.480762783,660.480762783,632.480762783,880,785,805.519237217,652,630,652,0.449376634695,-0.0156935808714,0.0496849344406,0.999999887955,1.64509772164e-05,-0.000472405506481,2.55259660547e-05,1793240079438962432
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715.056173791,680,661,633,880.056173791,785,805.056173791,652,630,652.056173791,0.449382566931,-0.0156922416674,0.0496838079859,0.999999887166,1.75767039619e-05,-0.000474026706436,2.56299137531e-05,1793240079455629056
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715.644819528,680,661,633,880.644819528,785,805.644819528,652,630,652.644819528,0.449382921761,-0.0156905675691,0.0496821338035,0.999999885972,1.71685070328e-05,-0.0004765800051,2.51422413144e-05,1793240079472295680
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.770097425,715.770097425,679.770097425,661,632.770097425,880.770097425,785,805.770097425,652,630,653,0.449383261077,-0.0156900223334,0.0496804465796,0.99999988487,1.59919784194e-05,-0.000478949011224,2.47438890386e-05,1793240079488962304
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.190434483,715.190434483,679.190434483,661,632.190434483,880.190434483,785,805.190434483,652,630,653,0.449383576791,-0.0156911944832,0.049678739515,0.999999883909,1.36465548222e-05,-0.000481037645273,2.44814232779e-05,1793240079505628928
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.387515747,661,632,880,785,805.387515747,652,630,652.612484253,0.449385417209,-0.0156909920112,0.0496789103829,0.999999884115,1.42287273543e-05,-0.000480593508122,2.44287392678e-05,1793240079522295808
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.964627995,661,632,880,785,805.964627995,652,630,652.035372005,0.449388003607,-0.0156901169895,0.0496800000508,0.999999884891,1.62432597734e-05,-0.000478910183692,2.44786933809e-05,1793240079538962432
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.538500377,715,680,661,632.538500377,880.538500377,785,806,652,630,652.538500377,0.449389080952,-0.0156894853041,0.0496803645567,0.999999884807,1.6633012676e-05,-0.000479077960997,2.43801834811e-05,1793240079555629312
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.884343415,745.884343415,715,679.884343415,661,632.884343415,880.884343415,785,805.884343415,651.884343415,630,652.884343415,0.449389472693,-0.0156892400711,0.0496803457343,0.99999988448,1.62869725449e-05,-0.000479772914721,2.43393035189e-05,1793240079572295936
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.292805295,745.292805295,715,679.292805295,661,632.292805295,880.292805295,785,805.292805295,651.292805295,630,652.292805295,0.449387448859,-0.0156905195647,0.0496789444851,0.99999988338,1.33499395588e-05,-0.000482139682608,2.45754339976e-05,1793240079588962304
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.292194875,745,715,679,661,632,880,785,805,651.292194875,630,652,0.44938708494,-0.0156914468486,0.0496780685323,0.999999882863,1.15273041952e-05,-0.000483257913968,2.45362568009e-05,1793240079605628672
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.87078689,745,715,679,661,632,880,785,805,651.87078689,630,652,0.449388348,-0.0156920289116,0.0496777074528,0.99999988293,1.07969542119e-05,-0.000483152382567,2.42272346156e-05,1793240079622295296
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.55332391,745.44667609,715,679,661,632,880,785,805,652,630,652,0.449388342388,-0.0156896480653,0.0496769833289,0.999999882674,1.35811221093e-05,-0.000483625849074,2.39483290264e-05,1793240079638962432
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.978362264,715,679,660.978362264,632,880.021637736,785,805,652,630,652,0.44938810356,-0.0156865747546,0.0496762642583,0.999999882374,1.71209692855e-05,-0.000484146212295,2.36969466148e-05,1793240079655629056
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.407219096,715,679,660.407219096,632,880.592780904,785,805,652,630,652,0.449391206144,-0.0156875515957,0.0496783245435,0.99999988363,1.41880929122e-05,-0.000481629589533,2.39246165423e-05,1793240079672295936
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.171635482,632,880.828364518,785,805,652,630,652.171635482,0.449393650366,-0.0156878719957,0.0496799016334,0.999999884597,1.24989871763e-05,-0.000479656913142,2.40465598771e-05,1793240079688962560
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.769646659,632,880.230353341,785,805,652,630,652.769646659,0.44939445909,-0.0156865616692,0.0496802783727,0.99999988488,1.38996481645e-05,-0.000479035504784,2.39058579174e-05,1793240079705629184
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.646809827,632,880.353190173,785,805,652,630,653,0.449394389271,-0.0156859651785,0.0496804530975,0.999999884838,1.45900744976e-05,-0.000479111743085,2.37114203928e-05,1793240079722295808
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.072330946,632,880.927669054,785,805,652,630,653,0.449393769007,-0.0156858159365,0.0496805012514,0.999999884594,1.48355084695e-05,-0.000479625086801,2.34833152501e-05,1793240079738962176
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.510913782,745,715,679.510913782,660.510913782,632,880.489086218,785,805.510913782,652,630,653,0.449393904514,-0.0156843953275,0.0496801409884,0.999999884801,1.67384138814e-05,-0.000479128968886,2.35241580715e-05,1793240079755629056
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.094650833,715,680,660.905349167,632,880.094650833,785,806,651.905349167,630,653,0.449394063533,-0.0156834153359,0.0496797826874,0.999999884963,1.8092338326e-05,-0.000478735729842,2.36502308558e-05,1793240079772295680
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.674439276,715,680,660.325560724,632,880.674439276,785,806,651.325560724,630,653,0.449393785082,-0.0156856324014,0.0496797359772,0.999999884578,1.54087209684e-05,-0.000479615087559,2.40145897545e-05,1793240079788962304
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.745903739,715,680,660.254096261,632,880.745903739,785,805.745903739,651,630,653,0.449393900122,-0.0156866706226,0.049679527279,0.999999884359,1.38826993038e-05,-0.000480113180721,2.40822450262e-05,1793240079805628928
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.166415018,715,680,660.833584982,632,880.166415018,785,805.166415018,651,630,653,0.449394519059,-0.015686199231,0.049679111141,0.999999884363,1.38390796877e-05,-0.000480123031441,2.37699454327e-05,1793240079822295808
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,714.015076397,679.015076397,660.015076397,632,880,785,805.984923603,651.984923603,630,652.015076397,0.449394219665,-0.0156846958862,0.049678672786,0.999999883385,1.52413238028e-05,-0.000482138418025,2.32375788569e-05,1793240079855628544
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745,714.553006396,679,660,632,880,785,806,652,630,652.553006396,0.449394781137,-0.0156855780193,0.0496789117893,0.999999883966,1.31898444945e-05,-0.000480983279647,2.34352716882e-05,1793240079872295424
+252,4.200000000,HOLD_POSE2,766,746,715,680,660,632,881,785,806,652,631,652,0.449396676937,-0.0156858027707,0.0496798505143,0.999999884679,1.28583180938e-05,-0.000479482043084,2.39711106664e-05,1793240079913180160
+253,4.216666667,HOLD_POSE2,766.57783129,745.42216871,715,680,660,632,880.42216871,785,805.42216871,652,630.42216871,652,0.449395705713,-0.0156863274482,0.0496793892983,0.99999988486,1.13877890512e-05,-0.000479153153002,2.37373777358e-05,1793240079929847040
+254,4.233333333,HOLD_POSE2,766.84540969,745.15459031,715,679.84540969,660,632.15459031,880,785,805,652,630.15459031,652,0.44939521321,-0.0156863118328,0.0496792257847,0.999999885015,1.13291902976e-05,-0.000478834794105,2.36275992332e-05,1793240079946513920
+255,4.250000000,HOLD_POSE2,766.271558623,745.728441377,715,679.271558623,660,632.728441377,880,785,805,652,630.728441377,652,0.449396019033,-0.0156848309019,0.0496798696624,0.999999885099,1.50998542751e-05,-0.000478544996518,2.38539945787e-05,1793240079963180800
+256,4.266666667,HOLD_POSE2,766,746,715,679.301115128,660.301115128,632.698884872,880,785,805,652,630.698884872,652.301115128,0.449396172201,-0.0156844268979,0.0496796444621,0.999999884908,1.53937529918e-05,-0.000478937422506,2.37737464928e-05,1793240079979847424
+257,4.283333333,HOLD_POSE2,766,746,715,679.872731226,660.872731226,632.127268774,880,785,805,652,630.127268774,652.872731226,0.449395739071,-0.0156849903304,0.0496786385423,0.999999884474,1.25643664492e-05,-0.000479942710907,2.34180311795e-05,1793240079996514048
+258,4.300000000,HOLD_POSE2,766,746,715,679.536768785,661,632,880,785,805.463231215,652,630,652.536768785,0.449396434534,-0.0156861162145,0.0496792289397,0.999999884737,1.14759839162e-05,-0.000479418527204,2.35105853539e-05,1793240080013180672
+259,4.316666667,HOLD_POSE2,765.942486192,745.942486192,715,679.057513808,660.942486192,632,880,785,806,652,630,652,0.44939741886,-0.0156870406953,0.0496802317229,0.999999885198,1.11836389636e-05,-0.000478453987804,2.3669668468e-05,1793240080029847040
+260,4.333333333,HOLD_POSE2,765.362962183,745.362962183,715,679.637037817,660.362962183,632,880,785,806,652,630,652,0.449398091084,-0.01568467504,0.0496808276437,0.999999885649,1.35904267975e-05,-0.000477468678388,2.32672650965e-05,1793240080046513664
+261,4.350000000,HOLD_POSE2,765.214295417,745,715,680,660,632,880,785,806,652,630,652,0.449398055614,-0.0156838903701,0.049680779655,0.999999885664,1.36360549497e-05,-0.0004774460142,2.3061570409e-05,1793240080063180544
+262,4.366666667,HOLD_POSE2,765.787754412,745,715,680,660,632,880,785,806,652,630,652,0.449396834034,-0.015685755465,0.0496796524604,0.999999884946,9.72433011119e-06,-0.000479036763541,2.31855636086e-05,1793240080079847168
+263,4.383333333,HOLD_POSE2,765.628753044,745,715,679.628753044,660.371246956,632,880,785,806,652,630,652.371246956,0.449395902473,-0.0156859214352,0.0496791588434,0.999999884461,9.45097787504e-06,-0.000480047389671,2.33090390516e-05,1793240080096513792
+264,4.400000000,HOLD_POSE2,765.039364826,745,715,679.039364826,660.960635174,632,880,785,806,652,630,652.960635174,0.449395141325,-0.0156850890156,0.0496790375107,0.999999884117,1.13154992134e-05,-0.000480717140945,2.34322102775e-05,1793240080113180672
+265,4.416666667,HOLD_POSE2,765.540379411,745,715,679,660.459620589,632,880,785,805.459620589,652,630,653,0.449395697944,-0.0156855628216,0.0496790476423,0.999999884288,1.12243822e-05,-0.000480366709958,2.3377019443e-05,1793240080129847296
+266,4.433333333,HOLD_POSE2,766,745.118920311,715,679,660,632,880,785,805.118920311,651.881079689,630,652.881079689,0.449396342384,-0.0156858221869,0.0496790491109,0.99999988444,1.14239192019e-05,-0.000480047355081,2.3330720339e-05,1793240080146513920
+267,4.450000000,HOLD_POSE2,766,745.695486706,715,679,660,632,880,785,805.695486706,651.304513294,630,652.304513294,0.449396961841,-0.0156848965458,0.0496789810331,0.999999884377,1.3280620965e-05,-0.000480128573694,2.33677647309e-05,1793240080163180544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633,880,785,806,652,630,653,0.449395289518,-0.0156832983547,0.0496782995437,0.99999988339,1.25603038983e-05,-0.000482250022961,2.23103205635e-05,1793240080200413952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.579814523,661,632.420185477,880,785,805.420185477,652,630,653,0.449395906224,-0.0156831721385,0.0496785952756,0.999999883642,1.41262946637e-05,-0.000481669234674,2.26090979356e-05,1793240080217080576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.159060193,745,715,679.840939807,661,632,880,785,805.159060193,652,630,653,0.449396446519,-0.0156834780304,0.049678992033,0.999999883907,1.45876835397e-05,-0.000481091765871,2.2892414514e-05,1793240080233747200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.736808617,745,715,679.263191383,661,632,880,785,805.736808617,652,630,653,0.449396785682,-0.0156849213447,0.049679654716,0.999999884207,1.21414702752e-05,-0.000480523034704,2.31350342853e-05,1793240080250413824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.313063221,679,660.686936779,632,880,785,805.686936779,652,630,653,0.449397743877,-0.0156850532212,0.0496803870522,0.999999884744,1.22068439844e-05,-0.000479400650236,2.31921780207e-05,1793240080267080448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.888067905,679,660.111932095,632,880,785,805.111932095,652,630,653,0.449399220018,-0.0156840878114,0.0496811776675,0.999999885476,1.43736744113e-05,-0.000477815021495,2.30941330743e-05,1793240080283746816
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.357774147,745.357774147,715,679.642225853,660.642225853,632,880.357774147,785,805,651.642225853,630,653,0.449396708704,-0.0156838042803,0.0496786834245,0.999999884275,1.07836564082e-05,-0.00048044062926,2.257724496e-05,1793240080333746944
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715.875619227,680,661,632,880.875619227,785,805.124380773,652,630,653,0.449221333396,-0.0156753915949,0.049620102211,0.999999828283,1.07953442727e-05,-0.000585668397109,1.7584683521e-05,1793240080433747456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.297867378,680,661,632,880.297867378,785,805.702132622,652,630,653,0.449147536492,-0.0156703467584,0.0496044339431,0.999999815774,1.50373656853e-05,-0.00060661501423,1.56317033649e-05,1793240080450414080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.721719243,715,679.721719243,661,632,880,785,805.721719243,652,630,653,0.449070687578,-0.0156647143566,0.049595887657,0.999999809195,1.8909683664e-05,-0.000617293499907,1.42008646938e-05,1793240080467080448
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.978150371,632,880,785,805.021849629,652,630,652.021849629,0.448794412026,-0.0156451101652,0.0495993514698,0.999999810462,2.71387374123e-05,-0.000614969009629,1.23724014134e-05,1793240080517080064
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.18269544,745.18269544,715,679.18269544,660.18269544,632.18269544,880,785,805.81730456,652,630,652.81730456,0.448529171446,-0.0156293966391,0.0496054548587,0.99999981517,3.56158428162e-05,-0.000606850463871,1.11441558961e-05,1793240080550413824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.756975801,745.756975801,715,679.756975801,660.756975801,632.756975801,880,785,805.243024199,652,630,652.243024199,0.448365774244,-0.0156203828174,0.0496065849988,0.999999815982,3.89967370895e-05,-0.000605307913556,1.08100270062e-05,1793240080567080704
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.237713069,715,680,661,633,880.237713069,786,805.237713069,652,631,652.237713069,0.446963047729,-0.0155372413258,0.0495912140929,0.999999799995,6.95310287383e-05,-0.000628630122912,-6.88202131453e-07,1793240080667080192
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.127992035,662,633.872007965,880.872007965,786.872007965,806,652,631,653,0.443910581657,-0.0154742876697,0.0497038208899,0.999999889861,2.72395477723e-05,-0.000468382847859,-1.23713248687e-05,1793240080800413696
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.311917209,635.688082791,881,787,805,651.688082791,632,653,0.437863997311,-0.0154063902316,0.0497746498959,0.999999937209,-7.91462669546e-07,-0.00035186936374,-4.20643162854e-05,1793240080967080448
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.173869459,715,679,662.173869459,635,880,788,805,651.173869459,632,652.173869459,0.433180570005,-0.0153930839012,0.049784104811,0.999999937104,-4.56810265719e-05,-0.000347967013457,-5.12276716928e-05,1793240081067080448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.749307946,715,679,662.749307946,635,880,788,805,651.749307946,632,652.749307946,0.432387989383,-0.0153954049357,0.0498084242989,0.999999950459,3.48166334795e-06,-0.000312871632769,-3.43598899678e-05,1793240081083747328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.676209485,715,679,663,635,880,788,805.323790515,652,632,652.676209485,0.431563703222,-0.0153930693382,0.0498178491401,0.999999954982,1.53177599853e-05,-0.000298159409997,-3.00505768863e-05,1793240081100413952
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.219681362,745,715,679,662.219681362,635,879,788,804,652,631,652.780318638,0.404883272632,-0.015385578809,0.0497811225061,0.999999921088,-9.08756009974e-05,-0.000382463180211,-5.73372658365e-05,1793240081700413952
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804.50563298,652,631.50563298,653,0.401324739494,-0.0154061945085,0.0498402029642,0.999999950154,-9.99924405262e-05,-0.000295754990019,-4.71371877074e-05,1793240081967080448
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d3afbc8f17801f7ab4aa99689c7878817610a19
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..572fc02102b856650ec3a1266f47327a72860688
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b937e82a036e4329f57423671ee7e41f3df46ddba0541bc8d02fce837b2d0c
+size 26226163
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d4ec0d5f323e61d6101cbd922fa14636a7b2804
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+11,0.183333333,BASELINE,766.604883515,745,714.604883515,679,662.604883515,635.604883515,879,788,804,652,631.395116485,652.395116485,0.400987168686,-0.0154017055447,0.0498580397665,0.99999996171,-8.06604634737e-05,-0.000260226610229,-4.85390207571e-05,1793240082940496896
+12,0.200000000,BASELINE,766.028885889,745,714.028885889,679,662.028885889,635.028885889,879,788,804,652,631.971114111,652.971114111,0.400986916638,-0.0154032354252,0.049857988545,0.999999961429,-8.27347960331e-05,-0.000260704881777,-4.82783045961e-05,1793240082957163520
+13,0.216666667,BASELINE,766,745,714.555268953,678.444731047,662,635.555268953,879.555268953,788,804,652,631.444731047,653,0.400987360758,-0.0154038441454,0.0498583319331,0.999999961703,-8.27663435045e-05,-0.000259687939878,-4.80249068706e-05,1793240082973830400
+14,0.233333333,BASELINE,766,745,715,678.138641958,662.138641958,636,880,788,804,652,631,652.861358042,0.400987695865,-0.0154037947288,0.0498585136312,0.999999961943,-8.24173889774e-05,-0.000258892472186,-4.79163573533e-05,1793240082990497024
+15,0.250000000,BASELINE,766,745,715,678.718159373,662.718159373,636,880,788,804,652,631,652.281840627,0.400987567433,-0.0154018071216,0.0498581149102,0.999999961984,-8.12014224786e-05,-0.000259052317573,-4.82671901251e-05,1793240083007163392
+16,0.266666667,BASELINE,766,745,715,678.702849083,663,636,880,788,804,652,631,652.297150917,0.400988179499,-0.0154012931241,0.0498583802877,0.999999962277,-8.02417663299e-05,-0.000258188273011,-4.84259644853e-05,1793240083023830016
+17,0.283333333,BASELINE,766,745,715,678.124355468,663,636,880,788,804,652,631,652.875644532,0.400989492669,-0.0154021743415,0.0498592744341,0.999999962808,-7.95247850754e-05,-0.000256354808709,-4.8402897784e-05,1793240083040496640
+18,0.300000000,BASELINE,766.451522402,745,715,678.451522402,663,635.548477598,879.548477598,788,804.451522402,652,631,653,0.40098865632,-0.0154018474544,0.0498590917515,0.999999962678,-7.85186562264e-05,-0.000257193490344,-4.82778899316e-05,1793240083057164032
+19,0.316666667,BASELINE,766.972692175,745,715,679,663,635,879,788,805,652,631.027307825,653,0.400987352043,-0.015401290578,0.0498586550394,0.999999962382,-7.7606539792e-05,-0.000258644533159,-4.81184425519e-05,1793240083073831168
+20,0.333333333,BASELINE,766.38408435,745,715,679,663,635,879,788,805,652,631.61591565,653,0.400988528029,-0.0154028060682,0.0498590576886,0.999999962446,-8.02542435649e-05,-0.000257642481641,-4.78248716337e-05,1793240083090497536
+21,0.350000000,BASELINE,766.201462133,745.201462133,715,679,663,635.201462133,879,788,805,652.201462133,631.798537867,653,0.400988887078,-0.0154033407021,0.0498590137,0.999999962349,-8.17196920968e-05,-0.000257561994131,-4.78110776614e-05,1793240083107163392
+22,0.366666667,BASELINE,766.781259511,745.781259511,715,679,663,635.781259511,879,788,805,652.781259511,631.218740489,653,0.400987711961,-0.0154020333397,0.049858130949,0.999999961959,-8.09649274314e-05,-0.000259212155269,-4.83226900499e-05,1793240083123829760
+23,0.383333333,BASELINE,766.641615859,745.641615859,715,679,663,636,879.358384141,788,804.641615859,652.641615859,631,653,0.400987230231,-0.0154011229826,0.0498577443534,0.999999961947,-7.88556804913e-05,-0.000259901855825,-4.83556785663e-05,1793240083140496384
+24,0.400000000,BASELINE,766.066110415,745.066110415,715,679,663,636,879.933889585,788,804.066110415,652.066110415,631,653,0.400987168579,-0.0154004531445,0.0498576583455,0.999999962158,-7.59258420445e-05,-0.00026000967685,-4.809870051e-05,1793240083157163008
+25,0.416666667,BASELINE,766,745,715,679,663,636,879.480367732,788,804,652,631.519632268,653,0.40098806364,-0.0154014445223,0.0498584445827,0.999999962311,-7.72547840983e-05,-0.000259001263328,-4.82396748607e-05,1793240083173829888
+26,0.433333333,BASELINE,766,745,715,679,662.894652362,636,878.894652362,787.894652362,804,652.105347638,631.894652362,652.894652362,0.400988752552,-0.0154024181525,0.049859051875,0.999999962396,-7.88839840737e-05,-0.000258163770977,-4.8342895429e-05,1793240083190496768
+27,0.450000000,BASELINE,766,745,715,679,662.315041032,636,878.315041032,787.315041032,804,652.684958968,631.315041032,652.315041032,0.400987954434,-0.0154023412943,0.0498583439541,0.99999996222,-7.93766548021e-05,-0.000258747924271,-4.80436427378e-05,1793240083207164160
+28,0.466666667,BASELINE,766,745,715,678.737022943,662,635.737022943,878.262977057,787.262977057,804.262977057,652.737022943,631,652,0.400987680098,-0.015402176219,0.0498583146301,0.999999962246,-7.92501795878e-05,-0.000258703376404,-4.79562442004e-05,1793240083223830784
+29,0.483333333,BASELINE,766,745,715,678.160902064,662,635.160902064,878.839097936,787.839097936,804.839097936,652.160902064,631,652,0.400988029464,-0.015401906098,0.0498590933554,0.999999962511,-7.83864471519e-05,-0.000257910193293,-4.81211141486e-05,1793240083240496896
+30,0.500000000,BASELINE,766,745,715,678.414854632,662,635,879.414854632,788,804.585145368,652,631,652.414854632,0.400987890237,-0.0154022525782,0.0498587812045,0.999999962482,-7.84300726079e-05,-0.000258002085119,-4.815250493e-05,1793240083257163264
+31,0.516666667,BASELINE,766,745,715,678.99047019,662,635,879.99047019,788,804.00952981,652,631,652.99047019,0.400987561674,-0.0154028379984,0.0498580463266,0.99999996234,-7.88253096694e-05,-0.000258436953649,-4.81321710001e-05,1793240083273829888
+32,0.533333333,BASELINE,766,745,714.433338202,678.433338202,662.566661798,635,879.433338202,788,804,652,631.566661798,653,0.400987950576,-0.0154026587025,0.0498585087604,0.999999962417,-7.90154197181e-05,-0.000258066867898,-4.82085857665e-05,1793240083290496512
+33,0.550000000,BASELINE,766,745,714.14734205,678.14734205,663,635,879.14734205,788,804,652.14734205,632,653,0.400988494343,-0.0154024896485,0.049859051596,0.999999962556,-7.90324738533e-05,-0.000257511633358,-4.82719496207e-05,1793240083307163392
+34,0.566666667,BASELINE,766,745,714.741607917,678.741607917,663,635,879.741607917,788,804,652.741607917,632,653,0.400989471214,-0.0154023907096,0.049859777171,0.99999996287,-7.85350822774e-05,-0.00025643590177,-4.82907866032e-05,1793240083323830016
+35,0.583333333,BASELINE,766,745,714.674234494,679,662.674234494,635.325765506,879.674234494,788,804.325765506,652.674234494,632,653,0.400989239247,-0.0154021987912,0.0498598053244,0.999999962798,-7.85940627214e-05,-0.000256698876187,-4.82901194082e-05,1793240083340496640
+36,0.600000000,BASELINE,766,745,714.097853275,679,662.097853275,635.902146725,879.097853275,788,804.902146725,652.097853275,632,653,0.400988077305,-0.0154019353424,0.0498592969424,0.999999962428,-7.90810674685e-05,-0.000257991734728,-4.82744473933e-05,1793240083357163520
+37,0.616666667,BASELINE,766,745,714.476035708,678.523964292,662.476035708,636,879,787.523964292,804.523964292,652.476035708,632,652.523964292,0.400988386447,-0.0154022868238,0.0498594311071,0.999999962597,-7.93129696503e-05,-0.000257271262627,-4.82352360851e-05,1793240083373830400
+38,0.633333333,BASELINE,766,745,715,678.050766177,663,636,879,787,804,652.949233823,632,652.050766177,0.400988905164,-0.0154027250719,0.0498596578443,0.999999962829,-7.94691281009e-05,-0.000256331037314,-4.81839943371e-05,1793240083390497280
+39,0.650000000,BASELINE,766,745,715,678.639823411,663,636,879,787,804,652.360176589,632,652.639823411,0.400988456386,-0.0154027500111,0.0498594729522,0.999999962561,-7.93752780438e-05,-0.000257426111455,-4.80562289458e-05,1793240083407163392
+40,0.666666667,BASELINE,766,744.775449478,715,678.775449478,662.775449478,636,879,787,804,652,631.775449478,652.775449478,0.400988442221,-0.0154027936654,0.0498593637172,0.999999962497,-7.8897051192e-05,-0.000257822896835,-4.80533998708e-05,1793240083423830016
+41,0.683333333,BASELINE,766,744.197536475,715,678.197536475,662.197536475,636,879,787,804,652,631.197536475,652.197536475,0.400989111981,-0.0154028667709,0.0498593735397,0.999999962753,-7.7813952281e-05,-0.000257120824544,-4.82471760321e-05,1793240083440496640
+42,0.700000000,BASELINE,766.379714222,744.379714222,715,678,662,636,879,787.379714222,804,652,631,652.379714222,0.400990116904,-0.0154024242779,0.0498597894156,0.999999962909,-7.84670883063e-05,-0.000256327398959,-4.81810609326e-05,1793240083457163264
+43,0.716666667,BASELINE,766.956620953,744.956620953,715,678,662,636,879,787.956620953,804,652,631,652.956620953,0.400991295882,-0.0154017140253,0.0498604161625,0.999999963011,-8.00218827788e-05,-0.000255486531965,-4.79799795637e-05,1793240083473829888
+44,0.733333333,BASELINE,766.467921979,745,715,678,662.532078021,635.467921979,879,788,804.532078021,652,631.532078021,653,0.4009897827,-0.0154038832302,0.0498596767808,0.999999962764,-7.97158102499e-05,-0.000256611686446,-4.76239881236e-05,1793240083490496768
+45,0.750000000,BASELINE,766,745,715,678.110535501,663,635.110535501,879,788,805,652,632,653,0.400988434589,-0.0154053732663,0.0498590733221,0.999999962568,-7.91032637736e-05,-0.000257598138833,-4.74371431541e-05,1793240083507163648
+46,0.766666667,BASELINE,766,745,715,678.702576397,663,635.702576397,879,788,805,652,632,653,0.40098875905,-0.0154028849208,0.0498595458132,0.999999962721,-7.78147609821e-05,-0.00025728406564,-4.80419856712e-05,1793240083523830272
+47,0.783333333,BASELINE,766,745,715,678.711862127,663,635.711862127,879.288137873,788,804.711862127,652,631.711862127,652.711862127,0.400988036932,-0.015401727412,0.0498590689837,0.999999962477,-7.74380176522e-05,-0.000258296142924,-4.82865751233e-05,1793240083540496896
+48,0.800000000,BASELINE,766,745,715,678.13284172,663,635.13284172,879.86715828,788,804.13284172,652,631.13284172,652.13284172,0.400986258266,-0.0154019134165,0.0498576337909,0.999999961831,-7.79817186044e-05,-0.000260647002909,-4.81674799882e-05,1793240083557163776
+49,0.816666667,BASELINE,766,745,715,678.441228522,663,635.441228522,879.558771478,787.558771478,804.441228522,652,631,652,0.400985796972,-0.0154017747813,0.0498577449065,0.999999961994,-7.61880900157e-05,-0.000260552931764,-4.8161546665e-05,1793240083573830144
+50,0.833333333,BASELINE,766,745,715,679,663,636,879,787,804.985735763,652,631,652,0.400985830063,-0.0154015691813,0.0498583525934,0.99999996241,-7.38144365688e-05,-0.000259633758415,-4.81826307492e-05,1793240083590496768
+51,0.850000000,BASELINE,766,745,715,679,663,636,879,787,804.394943201,652,631,652,0.400989992278,-0.0154025636132,0.0498604228219,0.999999963495,-7.61241099734e-05,-0.000254787282939,-4.79339467709e-05,1793240083607163392
+52,0.866666667,BASELINE,766,745,715,679,663,635.807787,879.192213,787.192213,804,652.192213,631,652.192213,0.400991946445,-0.0154029274298,0.0498613802875,0.999999963945,-7.71778620896e-05,-0.00025271061174,-4.78665877071e-05,1793240083623830016
+53,0.883333333,BASELINE,766,745,715,679,663,635.227963798,879.772036202,787.772036202,804,652.772036202,631,652.772036202,0.400989447938,-0.015402019569,0.0498600937934,0.999999963151,-7.56989658814e-05,-0.00025621943402,-4.81648823204e-05,1793240083640496896
+54,0.900000000,BASELINE,766,745,715,678.651894739,663,635.348105261,879.651894739,788,804,653,631,653,0.400988590933,-0.0154018873134,0.0498596909252,0.999999962829,-7.56368561804e-05,-0.000257518906295,-4.80202462812e-05,1793240083657163520
+55,0.916666667,BASELINE,766,745,715,678.07825795,663,635.92174205,879.07825795,788,804,653,631,653,0.400988797428,-0.0154022575594,0.0498598605432,0.999999962818,-7.64926586274e-05,-0.000257386977817,-4.75886429291e-05,1793240083673830144
+56,0.933333333,BASELINE,766.497992468,745,715,678.995984935,663,635.502007532,879,788,804,652.502007532,631,653,0.400988877549,-0.0154028111859,0.0498597811811,0.999999963024,-7.68508365297e-05,-0.000256461587123,-4.7680103339e-05,1793240083690496768
+57,0.950000000,BASELINE,766.926388449,745,714.926388449,679.852776899,663,635.073611551,879,788,804,652,631.073611551,652.926388449,0.400988931405,-0.0154032544284,0.0498596606189,0.999999963201,-7.71024847805e-05,-0.000255660957333,-4.78572947826e-05,1793240083707163648
+58,0.966666667,BASELINE,766.357791311,745,714.357791311,678.715582623,663,635.642208689,879,788,804,652,631.642208689,652.357791311,0.4009889429,-0.0154027606154,0.0498595275013,0.999999962961,-7.71664112729e-05,-0.000256542133146,-4.80553283008e-05,1793240083723830272
+59,0.983333333,BASELINE,766,745,714.223368343,678.223368343,663,636,879,788,804,652,631.776631657,652,0.40098911865,-0.0154025661082,0.049859769783,0.999999962919,-7.71992016575e-05,-0.000256695939106,-4.80479412488e-05,1793240083740496896
+60,1.000000000,BASELINE,766,745,714.825849892,678.825849892,663,636,879,788,804,652,631.174150108,652,0.400989573185,-0.0154028795996,0.0498606492134,0.999999963215,-7.71791461139e-05,-0.00025561521254,-4.7691902983e-05,1793240083757163520
+61,1.016666667,BASELINE,766,745,715,679,663,636,879,788,804,652,631.406031237,652.406031237,0.400989676567,-0.015403111449,0.0498607314314,0.999999963244,-7.7668164185e-05,-0.000255376216937,-4.75645321226e-05,1793240083773830144
+62,1.033333333,BASELINE,766,745,715,679,663,636,879,788,804,652,631.977145777,652.977145777,0.400989637178,-0.0154033101045,0.0498604895203,0.999999963165,-7.83641603071e-05,-0.000255479450553,-4.75301323831e-05,1793240083790497024
+63,1.050000000,BASELINE,766,745,714.434206242,679,663,636,878.434206242,788,803.434206242,652,631.434206242,653,0.400989836467,-0.0154022734139,0.0498603399945,0.999999963493,-7.55031401127e-05,-0.000255074700487,-4.74456910542e-05,1793240083807163648
+64,1.066666667,BASELINE,766,745,714.153063115,679,662.846936885,636,878.153063115,788,803.153063115,652,631,653,0.400989765395,-0.0154018833458,0.0498600650828,0.999999963575,-7.40481891031e-05,-0.000255181574886,-4.74265390831e-05,1793240083823830528
+65,1.083333333,BASELINE,766,745,714.734429595,679,662.265570405,636,878.734429595,788,803.734429595,652,631,653,0.400988909952,-0.015403446761,0.0498594285383,0.999999962939,-7.69426237399e-05,-0.000256779337099,-4.75959177453e-05,1793240083840496896
+66,1.100000000,BASELINE,766,745,715,679,662.312869684,636,879,787.687130316,804,652,631,653,0.400988712054,-0.0154036483387,0.0498596076017,0.999999962814,-7.79053145389e-05,-0.00025695528052,-4.7711867123e-05,1793240083857163520
+67,1.116666667,BASELINE,766,745,715,679,662.888848778,636,879,787.111151222,804,652,631,653,0.400989067122,-0.015402704672,0.0498604725549,0.999999963124,-7.72434950224e-05,-0.000255935537848,-4.77828848535e-05,1793240083873830144
+68,1.133333333,BASELINE,766,745,715,679,663,636,879,787.462923334,804,652,631,653,0.400989098436,-0.0154032172251,0.0498601264558,0.999999963086,-7.74873800722e-05,-0.000256030715526,-4.76632188144e-05,1793240083890496512
+69,1.150000000,BASELINE,766.037653984,745,715,679,663,636,879.037653984,788,804,652,631.037653984,653,0.400989097718,-0.015403980727,0.0498596078284,0.999999963002,-7.79340207173e-05,-0.000256251560664,-4.75029148386e-05,1793240083907163392
+70,1.166666667,BASELINE,766.628720282,745,715,679,663,636,879.628720282,788,804,652,631.628720282,653,0.40098976406,-0.0154033146595,0.0498608097073,0.99999996346,-7.81775504578e-05,-0.000254401023947,-4.74154952353e-05,1793240083923830272
+71,1.183333333,BASELINE,766.784691419,745,715,678.784691419,663,635.784691419,879.784691419,788,804,652.215308581,631.784691419,653,0.400990080934,-0.0154029567605,0.0498614227278,0.99999996368,-7.84973886121e-05,-0.000253411778551,-4.75541039443e-05,1793240083940497408
+72,1.200000000,BASELINE,766.205667592,745,715,678.205667592,663,635.205667592,879.205667592,788,804,652.794332408,631.205667592,653,0.400989807464,-0.0154031194426,0.049861041005,0.999999963501,-7.89461326459e-05,-0.000253877490123,-4.80745364504e-05,1793240083957164032
+73,1.216666667,BASELINE,766,745,715,678.370340358,663,635,879,788,804.370340358,652.629659642,631,652.629659642,0.400989958635,-0.0154032229842,0.0498610091693,0.999999963597,-7.73924833143e-05,-0.000254016025164,-4.78809034567e-05,1793240083973830400
+74,1.233333333,BASELINE,766,745,715,678.944686941,663,635,879,788,804.944686941,652.055313059,631,652.055313059,0.400990343724,-0.0154032939476,0.0498611700729,0.999999963837,-7.4735792644e-05,-0.00025397433124,-4.72939192754e-05,1793240083990496768
+75,1.250000000,BASELINE,766,745,715,679,663,635,879,788,804.467090379,652.532909621,631.532909621,652,0.400989391659,-0.0154035443239,0.0498605156457,0.999999963545,-7.52870430645e-05,-0.000254904839846,-4.76062329998e-05,1793240084007163392
+76,1.266666667,BASELINE,766,745,715,679,663,635.120515137,879.120515137,788,804,652.879484863,631.879484863,652,0.400988441082,-0.0154036244737,0.049859945378,0.999999963255,-7.6023523475e-05,-0.000255773402713,-4.78575243135e-05,1793240084023829760
+77,1.283333333,BASELINE,766,745,715,679,663,635.700136129,879.700136129,788,804,652.299863871,631.299863871,652,0.400988039033,-0.0154029833033,0.0498600267253,0.9999999632,-7.61632862927e-05,-0.000256011287742,-4.75112529969e-05,1793240084040496384
+78,1.300000000,BASELINE,766,745,715,679,663,635.722096385,879.722096385,787.722096385,804,652.277903615,631.277903615,652.277903615,0.40098856227,-0.0154027470385,0.0498604452761,0.999999963333,-7.61506418254e-05,-0.000255516100555,-4.73925291823e-05,1793240084057163008
+79,1.316666667,BASELINE,766,745,715,679,663,635.146315657,879.146315657,787.146315657,804,652.853684343,631.853684343,652.853684343,0.400990077293,-0.0154029447809,0.049861225266,0.999999963667,-7.59746362417e-05,-0.000254235153743,-4.75177071946e-05,1793240084073830144
+80,1.333333333,BASELINE,766,745,715,678.571325501,663,635,879,787.428674499,804.428674499,652.571325501,631.571325501,653,0.400989952189,-0.0154034344309,0.0498609155445,0.9999999636,-7.67970764929e-05,-0.000254247294393,-4.7539507808e-05,1793240084090497024
+81,1.350000000,BASELINE,766,745.003474015,715,678.003474015,662.996525985,635.003474015,879,788,804.996525985,652,631.003474015,652.996525985,0.400989285267,-0.0154040097492,0.049860244033,0.999999963401,-7.79395103814e-05,-0.000254686716899,-4.7527014132e-05,1793240084107164160
+82,1.366666667,BASELINE,766,745.591508676,715,678.591508676,662.408491324,635.591508676,879,788,804.408491324,652,631.591508676,652.408491324,0.40099147239,-0.0154022659365,0.0498611654546,0.999999964022,-7.56880469828e-05,-0.000252894290314,-4.7670275914e-05,1793240084123830528
+83,1.383333333,BASELINE,766,745.823044482,715,679,662,635.823044482,879,788,804.176955518,652,632,652,0.400992596255,-0.0154012025431,0.0498617215614,0.999999964384,-7.41380187748e-05,-0.00025191814991,-4.7680176674e-05,1793240084140496896
+84,1.400000000,BASELINE,766,745.243485253,715,679,662,635.243485253,879,788,804.756514747,652,632,652,0.400991301028,-0.0154016872183,0.049861446515,0.999999964172,-7.41838737394e-05,-0.000252799198189,-4.73866585974e-05,1793240084157163520
+85,1.416666667,BASELINE,766,745,715,679,662.334839967,635,879.334839967,788,804.665160033,652.334839967,632,652.334839967,0.400989797848,-0.0154018296061,0.0498605789749,0.999999963637,-7.46417006658e-05,-0.000254729558946,-4.76272996999e-05,1793240084173829888
+86,1.433333333,BASELINE,766,745,715,679,662.912271113,635,879.912271113,788,804.087728887,652.912271113,632,652.912271113,0.400988144007,-0.015401724007,0.0498592821739,0.999999962861,-7.53980008124e-05,-0.000257420145361,-4.82549385452e-05,1793240084190496512
+87,1.450000000,BASELINE,766,745,715,679,663,635.486038232,880,788,804,653,631.513961768,653,0.400988325069,-0.015402947115,0.049860009589,0.999999963067,-7.67132808857e-05,-0.00025628761869,-4.79274918919e-05,1793240084207163392
+88,1.466666667,BASELINE,766,745,715,679,663,635.939006063,879.939006063,787.939006063,804,652.939006063,631,653,0.400988783013,-0.0154042253915,0.0498609878262,0.999999963377,-7.80457629377e-05,-0.000254754949354,-4.7481652834e-05,1793240084223830016
+89,1.483333333,BASELINE,766,745,715,679,663,635.348018731,879.348018731,787.348018731,804,652.348018731,631,653,0.400988790539,-0.0154039146953,0.049860994507,0.999999963088,-7.86575750915e-05,-0.000255696622825,-4.74938142277e-05,1793240084240496896
+90,1.500000000,BASELINE,766.238612598,745,715,679,663,635.238612598,879.238612598,787.238612598,804.238612598,652,631,652.761387402,0.400989437484,-0.0154039378473,0.0498611646698,0.99999996316,-7.86404712792e-05,-0.000255410399643,-4.75501987255e-05,1793240084257163776
+91,1.516666667,BASELINE,766.819004508,745,715,679,663,635.819004508,879.819004508,787.819004508,804.819004508,652,631,652.180995492,0.400991000309,-0.0154044391903,0.0498615689978,0.999999963746,-7.7722532888e-05,-0.000253365385445,-4.76699266591e-05,1793240084273830144
+92,1.533333333,BASELINE,766.605046628,745,715,679,663,636,880,787.605046628,804.605046628,652,631.394953372,652,0.400990857986,-0.0154040484036,0.0498614909914,0.999999963844,-7.73284159322e-05,-0.000253113855903,-4.76059371034e-05,1793240084290497024
+93,1.550000000,BASELINE,766.03111118,745,715,679,663,636,880,787.03111118,804.03111118,652,631.96888882,652,0.400989942936,-0.0154032533281,0.0498611944042,0.999999963721,-7.71716804568e-05,-0.00025367508442,-4.74586918122e-05,1793240084307163648
+94,1.566666667,BASELINE,766,745,715,679,663,636,880,787.556764572,804,652,631.443235428,652.556764572,0.400989411229,-0.0154032009096,0.0498605950617,0.999999963561,-7.60830163734e-05,-0.000254625340129,-4.74898537573e-05,1793240084323830272
+95,1.583333333,BASELINE,766,745,715,678.856876461,663,636,879.856876461,788,804.143123539,652,631.143123539,652.856876461,0.400988931285,-0.0154030794293,0.049860008208,0.999999963409,-7.49519206267e-05,-0.000255544288212,-4.75430089793e-05,1793240084340496640
+96,1.600000000,BASELINE,766,745,715,678.277574758,663,636,879.277574758,788,804.722425242,652,631.722425242,652.277574758,0.40098854213,-0.0154026177612,0.0498595122959,0.999999963294,-7.38542882723e-05,-0.000256299874443,-4.7632028332e-05,1793240084357163264
+97,1.616666667,BASELINE,766,745,715,678,663,635.700111819,879.299888181,787.700111819,804.700111819,652,631.700111819,652.299888181,0.400988623357,-0.0154027101383,0.0498598441746,0.999999963506,-7.3495569494e-05,-0.00025556743635,-4.76539803266e-05,1793240084373830400
+98,1.633333333,BASELINE,766,745,715,678,663,635.124340494,879.875659506,787.124340494,804.124340494,652,631.124340494,652.875659506,0.400989137315,-0.0154033122111,0.0498609375823,0.999999964019,-7.38166168214e-05,-0.000253466085208,-4.76142334732e-05,1793240084390497280
+99,1.650000000,BASELINE,766,745,715,678.460458089,663,635.460458089,879.539541911,787.460458089,804.460458089,652,631,653,0.400989354598,-0.0154041384803,0.049861012644,0.999999963874,-7.50945747488e-05,-0.000253672343067,-4.75624960646e-05,1793240084407163904
+100,1.666666667,BASELINE,766,745,715,679,663,636,879,788,804.952860247,652,631,652.952860247,0.400989526143,-0.0154048834202,0.049860842602,0.999999963594,-7.65886952667e-05,-0.000254336723868,-4.7533692494e-05,1793240084423830528
+101,1.683333333,BASELINE,766,745,715,679,663,636,879,788,804.372997002,652,631,652.372997002,0.400990104267,-0.0154040114088,0.0498610724521,0.999999963847,-7.75470899231e-05,-0.000252995452109,-4.78013857177e-05,1793240084440496896
+102,1.700000000,BASELINE,766,745,715,679,663,635.79389842,879,788,804,652,631,652,0.400990267154,-0.0154035561844,0.0498613017905,0.999999964002,-7.7572496712e-05,-0.000252369015953,-4.78441908126e-05,1793240084457163264
+103,1.716666667,BASELINE,766,745,715,679,663,635.216178654,879,788,804,652,631,652,0.400989681334,-0.0154038524616,0.0498615302062,0.999999963979,-7.59156491497e-05,-0.000253031487629,-4.74815039924e-05,1793240084473829632
+104,1.733333333,BASELINE,766,745,715,679,663,635.359690686,879,788,804.359690686,652,631,652.359690686,0.400989241518,-0.0154032213518,0.0498610461781,0.999999963784,-7.49551742057e-05,-0.000254082434327,-4.74882022811e-05,1793240084490496512
+105,1.750000000,BASELINE,766,745,715,679,663,635.934453643,879,788,804.934453643,652,631,652.934453643,0.400988889003,-0.0154020357233,0.0498601361536,0.999999963487,-7.44110858655e-05,-0.000255365664574,-4.77157694573e-05,1793240084507163136
+106,1.766666667,BASELINE,766,745,715,679,663,636,879,788,804.477638685,652.522361315,631.522361315,653,0.400989718298,-0.0154019512993,0.0498607075334,0.999999963788,-7.29916915333e-05,-0.000254601881747,-4.76826683796e-05,1793240084523829760
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804,652,632,653,0.400989609263,-0.0154035398474,0.0498611397775,0.999999963411,-7.84546045518e-05,-0.000254397522,-4.80077074961e-05,1793240084566290688
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804.578838275,652,631.421161725,652.421161725,0.40098947855,-0.0154046300119,0.049860983052,0.999999963475,-7.77964440882e-05,-0.000254429553907,-4.75720813748e-05,1793240084582957568
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.156762573,663,636,879,788,804.843237427,652,631.156762573,652.156762573,0.400989571879,-0.0154049478817,0.0498609151203,0.999999963603,-7.65278882654e-05,-0.000254360866798,-4.7301439941e-05,1793240084599624448
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678.732245721,663,636,879,788,804.267754279,652,631.732245721,652.732245721,0.400990263637,-0.0154032029141,0.0498610843609,0.999999963899,-7.3628936148e-05,-0.000254023154229,-4.74714806593e-05,1793240084616291328
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.314530167,788,804,652,632,653,0.400990196013,-0.0154029513498,0.049861037516,0.999999963921,-7.34011017773e-05,-0.000254009225953,-4.74328870096e-05,1793240084632957696
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.902732373,788,804,652,632,653,0.400989467653,-0.0154039991926,0.0498608026554,0.999999963707,-7.54974015427e-05,-0.000254277021731,-4.72127610225e-05,1793240084649624320
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.515261483,880,788,804,652,631.515261483,653,0.40098934204,-0.0154047865806,0.0498605576807,0.999999963607,-7.64269094191e-05,-0.000254392277579,-4.7221326474e-05,1793240084666290944
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.064650953,880,788,804,652,631.064650953,653,0.400989678909,-0.0154052264212,0.0498605343391,0.999999963614,-7.68014890585e-05,-0.000254241255624,-4.72721123856e-05,1793240084682957568
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.637751955,880,788,804,652,631.637751955,653,0.400992713795,-0.0154033387967,0.0498622697996,0.999999964286,-7.46298866498e-05,-0.000252233765965,-4.72986000469e-05,1793240084699624448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.783725098,788,804,652,632,653,0.40100163933,-0.0154031132698,0.0498659435683,0.999999966037,-7.43502215626e-05,-0.00024533295021,-4.70185756637e-05,1793240084716291072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.19588724,788,804,652,632,653,0.401020685073,-0.0154057432471,0.0498729473742,0.999999969487,-7.73209284004e-05,-0.000230025339884,-4.62119597877e-05,1793240084732957696
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804.386594585,652.386594585,632,653,0.401059218131,-0.0154083203765,0.0498861255878,0.999999975363,-7.88750232879e-05,-0.00020260655757,-4.47673669971e-05,1793240084749624320
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804.966399648,652.966399648,632,653,0.401107490474,-0.0154108710941,0.0499023896195,0.999999981594,-7.97211305167e-05,-0.000169134907414,-4.30039289033e-05,1793240084766290944
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.455685817,663,635.455685817,879,788,804.455685817,652.455685817,631.455685817,652.455685817,0.401175809146,-0.0154133656149,0.0499189892588,0.999999987074,-7.71112641506e-05,-0.000134953332026,-4.11627024849e-05,1793240084782957568
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.121606959,663,635.121606959,879,788,804,652,631.121606959,652.121606959,0.401246804368,-0.0154163674134,0.049933766594,0.999999990706,-7.54207373263e-05,-0.000106522129432,-3.93973693488e-05,1793240084799623936
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.697013674,663,635.697013674,879,788,804,652,631.697013674,652.697013674,0.401323185854,-0.0154212751175,0.0499416666145,0.999999991271,-7.79542519395e-05,-9.97125093249e-05,-3.79331032241e-05,1793240084816290816
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.278913113,663,636,879,787.721086887,804,652.278913113,632,653,0.401408188458,-0.0154272319528,0.0499472273053,0.999999991828,-7.99634720949e-05,-9.28442486287e-05,-3.64597517466e-05,1793240084832957696
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.868033735,663,636,879,787.131966265,804,652.868033735,632,653,0.401502779473,-0.015434355633,0.0499501861903,0.999999992386,-8.13895711571e-05,-8.59107682063e-05,-3.49762956171e-05,1793240084849624064
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.550404788,663,635.550404788,879,787.449595212,804,653,631.550404788,653,0.401614052657,-0.0154409323872,0.0499528485555,0.999999992441,-8.44849847213e-05,-8.26081664269e-05,-3.40105882642e-05,1793240084866290944
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.971225786,745,715,678.971225786,663,635.028774214,879,788,804.028774214,652.971225786,631,652.971225786,0.401731122075,-0.0154474091113,0.0499551616774,0.999999992323,-8.78652117518e-05,-8.08203151382e-05,-3.31924645322e-05,1793240084882957824
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.395853153,745,715,678.395853153,663,635.604146847,879,788,804.604146847,652.395853153,631,652.395853153,0.401866819301,-0.0154549847713,0.0499524665281,0.999999991786,-8.75019544589e-05,-8.78965959798e-05,-3.23387348164e-05,1793240084899624192
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.179418732,745,715,678,663,636,879,788,804.820581268,652.179418732,631.179418732,652.179418732,0.402013179227,-0.0154633365191,0.0499499455336,0.999999991187,-8.84721646642e-05,-9.38627306702e-05,-3.14465364074e-05,1793240084916290816
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.754468386,745,715,678,663,636,879,788,804.245531614,652.754468386,631.754468386,652.754468386,0.402183051141,-0.0154733995939,0.0499478085633,0.999999990527,-9.23827645423e-05,-9.73809140892e-05,-3.04695119404e-05,1793240084932957696
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.337207756,663,636,879,788,804,652.662792244,631.662792244,652.662792244,0.402376419143,-0.0154841893104,0.0499494864494,0.999999990709,-9.48613141646e-05,-9.34689840954e-05,-2.91051912562e-05,1793240084949624320
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.925676975,663,636,879,788,804,652.074323025,631.074323025,652.074323025,0.402587294651,-0.0154955204658,0.0499540068749,0.999999991459,-9.62728097221e-05,-8.40207014719e-05,-2.74522869092e-05,1793240084966290944
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.492571935,879.507428065,788,804,652,631,652.507428065,0.402836560598,-0.0155081080655,0.0499604658751,0.999999992392,-9.87453183912e-05,-6.951554031e-05,-2.5169480158e-05,1793240084982957824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.087142616,879.912857384,788,804,652.087142616,631,652.912857384,0.403096068216,-0.0155201688288,0.0499671043866,0.99999999325,-9.99932012178e-05,-5.46575830549e-05,-2.26882778999e-05,1793240084999624448
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.660908024,879.339091976,788,804,652.660908024,631,652.339091976,0.403381777579,-0.0155282733883,0.0499731804489,0.999999994554,-9.35460313841e-05,-4.19116082772e-05,-1.96076699305e-05,1793240085016290560
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.235506766,745,715,679,662.764493234,635.764493234,879,788,804,652.764493234,631,652,0.403685388967,-0.0155285770618,0.0499785503725,0.99999999647,-7.66187661984e-05,-2.99989041712e-05,-1.69973206601e-05,1793240085032957184
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.8113096,745,715,679,662.1886904,635.1886904,879,788,804,652.1886904,631,652,0.404014867914,-0.0155176088255,0.0499828999591,0.999999998708,-4.45482623391e-05,-1.92902372762e-05,-1.50664730041e-05,1793240085049623808
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.599942775,745,715,678.599942775,662.400057225,635.400057225,879.400057225,788,804,652,631.400057225,652.400057225,0.40437471608,-0.0155089526656,0.0499883612762,0.99999999977,-1.51869911372e-05,-7.55407406769e-06,-1.31557710885e-05,1793240085066290432
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.00488548,745,715,678.00488548,662.99511452,635.99511452,879.99511452,788,804,652,631.99511452,652.99511452,0.404749367117,-0.0155014234823,0.0499943644846,0.999999999843,1.28537166621e-05,4.68292180786e-06,-1.12548888712e-05,1793240085082957056
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.430818481,880,787.430818481,804.569181519,652,632,652.430818481,0.405135554324,-0.0155106898764,0.049987341758,0.999999999658,2.15062246003e-05,-1.2235179686e-05,-8.52121661899e-06,1793240085099624192
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.143395462,745,715,678.143395462,662.856604538,635.143395462,880,787.143395462,804.856604538,652.143395462,631.856604538,652.143395462,0.405526712277,-0.0155185458706,0.0499773331071,0.999999998892,3.16086189569e-05,-3.43619999395e-05,-6.09468588721e-06,1793240085116291072
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.718574984,745,715,678.718574984,662.281425016,635.718574984,880,787.718574984,804.281425016,652.718574984,631.281425016,652.718574984,0.405932550225,-0.0155217362953,0.0499586581062,0.999999996353,4.65601037543e-05,-7.14462752913e-05,-4.61376078745e-06,1793240085132957440
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,715,679.301517925,662,636,880,788,804.301517925,652.698482075,631,652.698482075,0.406372935802,-0.015521815564,0.049942846184,0.999999992977,6.73126791509e-05,-9.74991221265e-05,-3.0933253011e-06,1793240085149624064
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,715,679.891898507,662,636,880,788,804.891898507,652.108101493,631,652.108101493,0.40684641903,-0.015518914258,0.0499297771697,0.999999989234,9.36228643563e-05,-0.000112983554396,-1.53503758104e-06,1793240085166290432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.525937828,745,715,679.525937828,662.474062172,635.525937828,879.525937828,788,804.525937828,652,631,652.474062172,0.407376424093,-0.0155189424936,0.0499374895037,0.999999988366,0.000117747146061,-9.69347093519e-05,2.75793888638e-06,1793240085182957312
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.053773211,879.053773211,788,804.053773211,652.053773211,631.053773211,653,0.407923661639,-0.0155198286434,0.0499509835661,0.999999987308,0.000141846568717,-7.21371298386e-05,7.79331071244e-06,1793240085199624192
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.627577415,879.627577415,788,804.627577415,652.627577415,631.627577415,653,0.408515030112,-0.0155226611988,0.0499753442336,0.999999984892,0.000170443953919,-3.10863743383e-05,1.40803084234e-05,1793240085216290560
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.793753706,788,804.793753706,652.793753706,631.793753706,653,0.409106976119,-0.0155263876646,0.049994333097,0.999999980906,0.000194412425877,-1.6146473625e-06,1.97501144599e-05,1793240085232957440
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.206088436,788,804.206088436,652.206088436,631.206088436,653,0.409699990145,-0.0155317672722,0.0500033876808,0.999999977672,0.000209820474595,6.44354712344e-06,2.42785245569e-05,1793240085249624576
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.376477079,788,804.376477079,652,631,652.623522921,0.410306075659,-0.0155330387641,0.0499936342639,0.999999973964,0.000225956503485,-1.75817973487e-05,2.65763422097e-05,1793240085266291200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.956288213,788,804.956288213,652,631,652.043711787,0.410919221023,-0.0155320914758,0.0499737227062,0.999999968481,0.000242485711276,-5.89353579116e-05,2.76694238946e-05,1793240085282957568
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.53289031,745,715,679,663,635.46710969,880,788,804.46710969,652,631,652,0.41156231366,-0.0155311778772,0.0499531489812,0.999999981385,0.000167429664655,-9.25439367781e-05,2.51417503811e-05,1793240085299623936
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,635.109337279,880,788,804,652,631.109337279,652.109337279,0.412229494722,-0.0155322725455,0.0499417634999,0.99999998945,9.50862212548e-05,-0.0001076620043,2.16294752659e-05,1793240085316290304
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,635.686239636,880,788,804,652,631.686239636,652.686239636,0.412989244252,-0.0155419435301,0.0499699011057,0.999999996612,6.62768111778e-05,-4.64085846086e-05,1.51691801262e-05,1793240085332956672
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.731411329,745,715,679,662.731411329,635.731411329,880,788,804.268588671,652,632,653,0.413728280261,-0.0155486743863,0.0499870503436,0.999999997701,6.49398077707e-05,-1.39960871571e-05,1.36293181578e-05,1793240085349623552
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.14256781,745,715,679,662.14256781,635.14256781,880,788,804.85743219,652,632,653,0.414442618362,-0.0155518995472,0.0499910974761,0.999999995069,9.63598467359e-05,-1.5972393305e-05,1.79563915266e-05,1793240085366290176
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.439154072,880,788,805,652,632,652.560845928,0.415179675063,-0.0155523635384,0.0499663013603,0.999999991201,0.000117893039789,-5.80746142878e-05,1.80820785476e-05,1793240085382957056
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678.981530551,662.018469449,635.981530551,880,788,804.981530551,652,632,652.018469449,0.415925624493,-0.0155519502696,0.049933695505,0.999999984488,0.000136035716078,-0.000110592476774,1.69467499247e-05,1793240085399623424
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678.406176574,662.593823426,635.406176574,880,788,804.406176574,652,632,652.593823426,0.416720873726,-0.0155516825317,0.0499434394502,0.999999984893,0.000147181674945,-9.06549637217e-05,1.82586686774e-05,1793240085416290304
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.169118968,745,715,678.338237935,662.830881032,635.169118968,880,788,804,652,632,653,0.417527923287,-0.0155526755234,0.0499585588645,0.999999986742,0.000149282864188,-6.19319967271e-05,1.98702581004e-05,1793240085432957184
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.74427418,745,715,679.48854836,662.25572582,635.74427418,880,788,804,652,632,653,0.418363304107,-0.0155566953901,0.0499865841948,0.999999991273,0.000129668544611,-1.21161115985e-05,2.22013241117e-05,1793240085449623552
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.673045806,745,715,679.673045806,662,636,880,788,804.326954194,652,632,653,0.419160332618,-0.0155580818798,0.0499884343888,0.999999991632,0.000126507056574,-1.41188059322e-05,2.30948450059e-05,1793240085466290432
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.084341683,745,715,679.084341683,662,636,880,788,804.915658317,652,632,653,0.419926657358,-0.0155573601651,0.0499693295357,0.999999988762,0.000136517223317,-5.76059358027e-05,2.28375093806e-05,1793240085482957056
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631.504288877,653,0.420808599633,-0.0155589446333,0.0499763497217,0.999999988715,0.000145051802954,-3.12010603619e-05,2.35898869734e-05,1793240085499623680
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.073662121,745,715,679,662.073662121,636,880.073662121,788,805,652,631.073662121,653,0.421704341784,-0.0155605696946,0.0499879452415,0.999999988018,0.000152762520807,4.69558687934e-06,2.45922561945e-05,1793240085516290304
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.647167607,745,715,679,662.647167607,636,880.647167607,788,805,652,631.647167607,653,0.42256253056,-0.01555985333,0.0500009426049,0.999999987073,0.000156557200788,2.56918454183e-05,2.61452308487e-05,1793240085532957184
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.773107131,745,715,679,663,635.773107131,880.773107131,788,805,652,632,653,0.423403431694,-0.0155593477382,0.0500007666587,0.999999987204,0.000155773927764,2.46964105783e-05,2.67518328051e-05,1793240085549624064
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.183437026,745,715,679,663,635.183437026,880.183437026,788,805,652,632,653,0.424216691887,-0.0155591791493,0.0499795280127,0.999999988697,0.000147671001988,-1.14613677021e-05,2.58452870818e-05,1793240085566290688
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,788,805,652,631.600549875,653,0.42508577985,-0.0155619315814,0.0499840462059,0.999999988704,0.000147775711634,-4.98963123141e-06,2.70004908468e-05,1793240085582957056
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,788,805,652,631.020725644,653,0.425980077128,-0.0155660030182,0.0500001950561,0.999999987873,0.000151586628882,2.07317211787e-05,2.90866900426e-05,1793240085599623680
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.556383035,745,715.556383035,679.556383035,663,635.556383035,880.556383035,788,805,652,631,653,0.426847401887,-0.0155668502306,0.0500054148596,0.999999986728,0.000159759810394,1.00693481204e-05,3.03264850553e-05,1793240085616290304
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.870678882,745,715.870678882,679.870678882,663,635.870678882,880.870678882,788,805,652,631.129321118,653,0.427694808757,-0.0155662732545,0.0500006785035,0.999999985524,0.000166957603186,-1.19337424984e-05,3.05622570569e-05,1793240085632956928
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.31127615,745,715.31127615,679.31127615,663,635.31127615,880.31127615,788,805,652,631.68872385,653,0.428479300151,-0.0155613573628,0.0499641784315,0.999999982851,0.000170373766925,-6.71670413872e-05,2.75633089888e-05,1793240085649623552
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.269554178,880.269554178,788,805,652,631.730445822,652.730445822,0.429313937445,-0.0155585016853,0.0499506904319,0.999999981824,0.000171571794768,-7.88621029918e-05,2.63633962377e-05,1793240085666290432
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.877265495,880.877265495,788,805,652,631.122734505,652.122734505,0.430211482976,-0.0155582305577,0.0499660712013,0.99999998453,0.000169987159449,-3.59382120393e-05,2.74203830605e-05,1793240085682957056
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.539961419,880.539961419,788,805,652,631.460038581,652.460038581,0.431042389489,-0.0155564213455,0.049961594069,0.999999982935,0.000175798176628,-4.9484826409e-05,2.78714890884e-05,1793240085699623680
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.036513843,788,805,652,631.963486157,653,0.43185787049,-0.0155542717824,0.0499521992056,0.999999979922,0.000183324812308,-7.58851978298e-05,2.81049355978e-05,1793240085716290560
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.61318619,788,805,652,631.38681381,653,0.432694638374,-0.0155528455642,0.0499443985674,0.999999978568,0.000188543382696,-8.10217244365e-05,2.73867691891e-05,1793240085732957440
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.193814041,663,635,880.806185959,788,805,652,631.193814041,653,0.433522199794,-0.0155523862939,0.0499479612431,0.999999978624,0.000192064071253,-7.13018777388e-05,2.79195251086e-05,1793240085749623808
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.782500863,663,635,880.217499137,788,805,652,631.782500863,653,0.434331004308,-0.0155538970632,0.0499746753018,0.999999980573,0.000192125530712,-3.13139594987e-05,3.10008845451e-05,1793240085766290432
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.363749726,745,715,679.636250274,663,635.363749726,880.363749726,788,805.363749726,652,632,653,0.435100930779,-0.0155517273482,0.0499829444171,0.999999980486,0.000192735082565,-2.8684840487e-05,3.25346335615e-05,1793240085782957056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.940640247,745,715,679.059359753,663,635.940640247,880.940640247,788,805.940640247,652,632,653,0.435848076437,-0.0155474010367,0.0499804056329,0.999999979548,0.000193665791697,-4.79462811393e-05,3.31615530834e-05,1793240085799623680
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.516984142,715,679,662.483015858,635.483015858,881,788,806,652,632,653,0.436582943857,-0.0155439299868,0.0499608491851,0.999999975973,0.000201418957522,-8.06094858199e-05,3.14173935985e-05,1793240085816290304
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.906593194,745.906593194,715,679,662.093406806,635.093406806,880.906593194,788,805.906593194,652,632,653,0.437327025848,-0.015541899197,0.0499481734149,0.99999997299,0.000208641243618,-9.78939669752e-05,3.0086669635e-05,1793240085832957184
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.329437893,745.329437893,715,679,662.670562107,635.670562107,880.329437893,788,805.329437893,652,632,653,0.438126123,-0.0155468193939,0.0499812410176,0.999999977245,0.00020906149645,-2.75720781781e-05,3.23055598745e-05,1793240085849623808
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.746161462,880,788,805.253838538,651.746161462,631.746161462,653,0.43886573517,-0.0155491638346,0.0499967821557,0.999999978144,0.000206368538025,3.79485721572e-06,3.33194493963e-05,1793240085866290176
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.154744626,880,788,805.845255374,651.154744626,631.154744626,653,0.439526238569,-0.0155480827928,0.0499890149543,0.999999979419,0.000199535340218,-1.66441642692e-05,3.27308159097e-05,1793240085882956800
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.689747832,787,805.689747832,652,632,653,0.443098210185,-0.0155735033221,0.0499078837084,0.999999971964,0.000189013448634,-0.00013895864621,3.22075657233e-05,1793240085982957312
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.092730285,787,805.092730285,652,632,653,0.443579530875,-0.0155758025549,0.0498758554843,0.999999962673,0.000189603798187,-0.000194408010526,3.01787874756e-05,1793240085999624192
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.365869261,715,679.365869261,662,635,880.634130739,787,806,652,631.634130739,653,0.444920104912,-0.0155857975367,0.0497873942631,0.999999927839,0.000189511206493,-0.000328264420238,2.54943414281e-05,1793240086049623808
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.800956243,662,634.199043757,880.199043757,787,805.199043757,652,631.199043757,653,0.445805337386,-0.0155993311696,0.0497913894001,0.999999937104,0.000180250434181,-0.000304307677193,2.64229166546e-05,1793240086082957056
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.615200095,634,880.384799905,786.615200095,805,652,631,652.615200095,0.446199794839,-0.0156075652577,0.0497891888796,0.999999946918,0.000114483363715,-0.0003045238673,1.79460514105e-05,1793240086099623680
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.885187026,715,679.885187026,661.114812974,633.885187026,880.114812974,786.885187026,806,652,631,652.885187026,0.447136247709,-0.0156233215991,0.0497112704876,0.999999908531,2.74167990728e-05,-0.000426824244292,2.69124589349e-06,1793240086149624064
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.310506435,715,679.310506435,661.689493565,633.310506435,880.689493565,786.310506435,806,652,631,652.310506435,0.447407253756,-0.0156257746555,0.0496863798343,0.999999893021,3.16220486307e-05,-0.000461469867417,1.95593264885e-06,1793240086166290688
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.273175056,715,679,662,633,881,786,805.726824944,652,631,652.273175056,0.447677962692,-0.0156288628865,0.049674756944,0.999999885448,3.65217078956e-05,-0.00047724608382,2.35916075401e-06,1793240086182957056
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.447903242,679,661.552096758,633.447903242,881,786,805.447903242,652,631,653,0.448194895701,-0.0156390125672,0.0496871885435,0.999999894735,4.26625810218e-05,-0.000456801798531,6.5399145625e-06,1793240086216290304
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.398869481,715.398869481,679,661,633.398869481,881,785.398869481,806,652,631,653,0.448624899645,-0.0156514992541,0.0497016240703,0.999999903736,3.84138238466e-05,-0.000436955419238,1.1053578501e-05,1793240086249623808
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.181334214,715,679,661,633,881,785,805.818665786,652,630.818665786,652.818665786,0.448806303914,-0.0156557719819,0.0497037507894,0.999999904328,3.67485725822e-05,-0.00043569667487,1.26989470901e-05,1793240086266290432
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.769369311,715,679,661,633,881,785,805.230630689,652,630.230630689,652.230630689,0.448963337464,-0.0156572396935,0.0496996737246,0.999999901994,3.82360503847e-05,-0.000440864499486,1.37617897805e-05,1793240086282957312
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.082578939,716,680,661,632.917421061,881,785,806,652,631,653,0.449427608747,-0.0156955366679,0.0496831519573,0.999999888989,7.28753155784e-06,-0.000470428561553,2.57952110143e-05,1793240086349623552
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.693383383,715.693383383,680,661,632,881,785,805,652,630,653,0.449898368254,-0.0157034580629,0.0496900864475,0.99999989198,-1.38451415218e-05,-0.000463717451379,2.85522933267e-05,1793240086816290560
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.084893341,715.084893341,680,661,632,881,785,805,652,630,653,0.449897578359,-0.0156997224769,0.0496890824083,0.999999891049,-8.66390276386e-06,-0.00046587897201,2.80108964091e-05,1793240086832957184
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.506313858,660.506313858,632,881,785,805.493686142,652,630,652.506313858,0.449898268035,-0.0157016287661,0.0496898801629,0.999999891428,-1.2779204205e-05,-0.000464965426803,2.80595498232e-05,1793240086849624064
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660.068093044,632,880.931906956,785,805.931906956,652,630,652,0.449899119953,-0.0157041593897,0.0496907126208,0.999999891909,-1.76141766841e-05,-0.0004637603067,2.82511120933e-05,1793240086866290688
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660.647583861,632,880.352416139,785,805.352416139,652,630,652,0.449899388699,-0.0157045089442,0.0496896117036,0.99999989175,-1.65338751877e-05,-0.000464109821535,2.87974678262e-05,1793240086882957568
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,632,880,785,805.231044502,652,630,652.231044502,0.44989982059,-0.0157043810611,0.0496889698797,0.999999891596,-1.5335134667e-05,-0.00046447139204,2.8954281484e-05,1793240086899624192
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,632,880,785,805.820666334,652,630,652.820666334,0.449900505682,-0.0157035122026,0.0496890405609,0.999999891453,-1.395257853e-05,-0.000464851672799,2.85065322225e-05,1793240086916290560
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.403387581,660.596612419,632,880.403387581,785,806,652,630,653,0.449902376227,-0.0157041363855,0.049690760891,0.999999892532,-1.49299057089e-05,-0.000462479918506,2.87176653805e-05,1793240086932956928
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.983092601,660.016907399,632,880.983092601,785,806,652,630,653,0.449904764922,-0.0157054131646,0.0496932022691,0.999999894133,-1.69387188274e-05,-0.000458905271985,2.92167907265e-05,1793240086949623296
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.55896691,715,680,660.55896691,632,881,785,805.44103309,652,630,653,0.449903352345,-0.0157038334043,0.0496919596167,0.999999893202,-1.48145400355e-05,-0.000461017032871,2.89841578955e-05,1793240086966290176
+252,4.200000000,HOLD_POSE2,766,745,715,680,661,632,881,785,806,652,630,652,0.449903122721,-0.0157033116346,0.0496904952945,0.999999892833,-1.48243644095e-05,-0.000461870361629,2.81089453485e-05,1793240087008210688
+253,4.216666667,HOLD_POSE2,766,745.591637906,715.591637906,679.408362094,661,632,881,784.408362094,806,652,630,652.591637906,0.449902416278,-0.0157020753123,0.0496902680549,0.99999989243,-1.45568089097e-05,-0.000462745024435,2.81883687985e-05,1793240087024877312
+254,4.233333333,HOLD_POSE2,766,745.821280525,716,679,660.821280525,632.178719475,880.821280525,784.178719475,805.821280525,652,630,653,0.449902271054,-0.0157019190747,0.0496904867464,0.999999892348,-1.49162906537e-05,-0.000462903795987,2.83193388801e-05,1793240087041544192
+255,4.250000000,HOLD_POSE2,766,745.244350948,716,679,660.244350948,632.755649052,880.244350948,784.755649052,805.244350948,652,630,653,0.449903376298,-0.0157041694051,0.0496916990303,0.999999892977,-1.66728924083e-05,-0.00046146746942,2.85651615374e-05,1793240087058210816
+256,4.266666667,HOLD_POSE2,765.66717805,745,715.66717805,679.33282195,660.33282195,632.66717805,880.33282195,785,805.33282195,651.66717805,630,652.66717805,0.449902953288,-0.0157042007757,0.0496915120811,0.999999892773,-1.66013385845e-05,-0.000461907393659,2.8641875335e-05,1793240087074877440
+257,4.283333333,HOLD_POSE2,765.089826415,745,715.089826415,679.910173585,660.910173585,632.089826415,880.910173585,785,805.910173585,651.089826415,630,652.089826415,0.449901407444,-0.0157026018404,0.0496902970927,0.999999891955,-1.51866090966e-05,-0.000463725829885,2.85943420954e-05,1793240087091544064
+258,4.300000000,HOLD_POSE2,765.496510535,745,715.496510535,680,661,632,881,785,806,651.496510535,630,652.496510535,0.449902076764,-0.015701854041,0.0496905729026,0.999999892175,-1.52805658297e-05,-0.000463270279905,2.8217794941e-05,1793240087108210944
+259,4.316666667,HOLD_POSE2,766,745,715.917097606,679.917097606,661,632,881,785,806,652,630,652.917097606,0.449903192464,-0.0157014779883,0.0496910826423,0.999999892585,-1.58787926139e-05,-0.000462387062512,2.78472376824e-05,1793240087124877312
+260,4.333333333,HOLD_POSE2,766,745,715.340242705,679.340242705,661,632,881,785,806,652,630,652.340242705,0.449904535982,-0.015702382511,0.0496913495861,0.999999892984,-1.78253394021e-05,-0.000461452092101,2.78735627039e-05,1793240087141544192
+261,4.350000000,HOLD_POSE2,765.763074987,745,715,679,660.763074987,632,881,785,805.763074987,652,630,652,0.449904834375,-0.0157029158952,0.0496912595744,0.999999893022,-1.92614573483e-05,-0.000461308848029,2.79157526698e-05,1793240087158211072
+262,4.366666667,HOLD_POSE2,765.185457493,745,715,679,660.185457493,632,881,785,805.185457493,652,630,652,0.449903629906,-0.0157029155911,0.0496906562693,0.999999892547,-1.99635907071e-05,-0.000462304087506,2.79807560427e-05,1793240087174877952
+263,4.383333333,HOLD_POSE2,765.39104222,745.39104222,715.39104222,679,660.39104222,632,881,785,805,652,630,652.39104222,0.449903236218,-0.015702719243,0.0496908950529,0.999999892411,-1.77103180816e-05,-0.000462671324135,2.82626697225e-05,1793240087191544576
+264,4.400000000,HOLD_POSE2,765.967013372,745.967013372,715.967013372,679,660.967013372,632,881,785,805,652,630,652.967013372,0.44990322596,-0.0157024301831,0.0496915320711,0.999999892426,-1.40593957419e-05,-0.000462741570164,2.86471631017e-05,1793240087208211200
+265,4.416666667,HOLD_POSE2,766,746,715.442333041,679.557666959,661,632.557666959,881,785,805.557666959,652,630,653,0.449903124327,-0.015701177958,0.0496908848903,0.999999892336,-1.46422029668e-05,-0.000462952251381,2.80822253481e-05,1793240087224877568
+266,4.433333333,HOLD_POSE2,766,746,715,679.854599392,661,632.854599392,880.854599392,785,805.854599392,652,630,653,0.449903274486,-0.0157004669822,0.049690538888,0.999999892353,-1.54388232652e-05,-0.000462908161621,2.77814833222e-05,1793240087241544192
+267,4.450000000,HOLD_POSE2,766,746,715,679.278165804,661,632.278165804,880.278165804,785,805.278165804,652,630,653,0.449904187529,-0.0157015339716,0.0496913169884,0.999999892705,-1.61068207574e-05,-0.000462083524559,2.8434921517e-05,1793240087258211072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,716,679,661,632,881,785,806,652,630,652,0.449903184405,-0.0157035841887,0.0496910122793,0.999999892005,-2.1952431014e-05,-0.000463359319063,2.83959330688e-05,1793240087295224064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.409698584,679.590301416,661,632,881,785,806,652,629.409698584,652,0.449903738345,-0.0157010007412,0.0496913866251,0.99999989233,-1.90846814541e-05,-0.000462816194273,2.78767990374e-05,1793240087311890944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.177407458,715,680,661,632,880.822592542,785,805.822592542,652,629,652.177407458,0.449903768404,-0.0156996052676,0.0496912306194,0.999999892316,-1.76147776317e-05,-0.000462921078247,2.76175014274e-05,1793240087328557824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.757264889,715,680,661,632,880.242735111,785,805.242735111,652,629,652.757264889,0.449902610038,-0.01570090472,0.0496898715081,0.999999891545,-1.93158953831e-05,-0.000464495974212,2.79476443257e-05,1793240087345224192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.336080275,680,660.663919725,632,880.336080275,785,805,652,629.336080275,652.663919725,0.449902233559,-0.0157013808704,0.0496895728871,0.999999891314,-2.00061005679e-05,-0.000464963356981,2.79295330164e-05,1793240087361890816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.914145335,680,660.085854665,632,880.914145335,785,805,652,629.914145335,652.085854665,0.449902420055,-0.0157012642262,0.0496900378413,0.999999891476,-1.99684275912e-05,-0.000464633307135,2.76606714196e-05,1793240087378557440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.512589778,716,680,660,632,880.512589778,785,805.487410222,652,629.512589778,652.487410222,0.449903615298,-0.0157015914678,0.0496905325601,0.999999892056,-1.86464041059e-05,-0.000463420003909,2.79739950194e-05,1793240087395223808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,660.061509031,632,880,785,805.938490969,652,629.061509031,652.938490969,0.449904814965,-0.015702116399,0.0496909629247,0.999999892646,-1.76482469025e-05,-0.000462163208704,2.83239330851e-05,1793240087411890688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,660.649923886,632,880,785,805.350076114,652,629.649923886,652.350076114,0.449904545269,-0.0157036715496,0.0496907975377,0.999999892723,-2.1343500584e-05,-0.000461853600053,2.81176241498e-05,1793240087428557312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.234498758,715.765501242,680,661,632,880.234498758,785,805.234498758,652,630,652.234498758,0.449901045395,-0.0157033834232,0.0496891860349,0.999999891498,-2.17211218587e-05,-0.00046449971383,2.77861944837e-05,1793240087445224192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.813433343,715.186566657,680,661,632,880.813433343,785,805.813433343,652,630,652.813433343,0.449892800979,-0.0157003878597,0.0496854504522,0.99999988833,-1.72257469894e-05,-0.000471487243805,2.7270985343e-05,1793240087461891072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.609630956,746,715,680,661,632,881,784.609630956,805.609630956,652,630,653,0.449871277635,-0.0156984394679,0.0496765416265,0.999999880598,-1.62467084593e-05,-0.000487687721907,2.64677744628e-05,1793240087478557440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.033645651,746,715,680,661,632,881,784.033645651,805.033645651,652,630,653,0.449843440304,-0.0156969889948,0.0496651729794,0.999999870362,-1.69396494394e-05,-0.000508268857696,2.55276218146e-05,1793240087495224064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.537851714,745.462148286,715.537851714,680,661,632,881,784.537851714,805.537851714,652,630,653,0.449789357966,-0.0156970768908,0.0496474114011,0.999999851443,-2.03030678763e-05,-0.000544170331679,2.40858857523e-05,1793240087511890432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.113906612,715.886093388,680,661,632,881,785,805.886093388,652,630,653,0.44973076692,-0.0156954807024,0.0496298728905,0.999999832698,-2.16365974219e-05,-0.000577607548151,2.24689475351e-05,1793240087528557312
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.710452347,715.289547653,680,661,632,881,785,805.289547653,652,630,653,0.449659970664,-0.0156863444179,0.0496149600163,0.99999982175,-1.36672169191e-05,-0.000596576190205,2.02414998242e-05,1793240087545223936
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,660.703477622,632,881,785,805,652,630,653,0.449583000195,-0.0156800861282,0.0496060212017,0.999999814882,-9.68117444128e-06,-0.000608102108987,1.8837275328e-05,1793240087561890560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,660.12728787,632,881,785,805,652,630,653,0.449500206473,-0.0156765422421,0.0496027168685,0.999999812145,-9.45204852329e-06,-0.000612608364762,1.82094803156e-05,1793240087578557184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,660.447924497,632,881,785,805,652,630,653,0.449404003443,-0.0156708308144,0.0496017183532,0.999999811548,-7.13577464646e-06,-0.000613635943499,1.74594216631e-05,1793240087595224064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715.023482762,680,660.976517238,632,880.976517238,785,805,652,630,653,0.449302447506,-0.0156643690735,0.0496011846278,0.999999811341,-4.18498162075e-06,-0.000614022496851,1.66463470184e-05,1793240087611890944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715.614088041,680,660.385911959,632,880.385911959,785,805,652,630,653,0.449163442535,-0.0156546301359,0.049596085627,0.999999805977,-2.02951364821e-07,-0.00062274986585,1.51486593642e-05,1793240087628557568
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.799225113,680,660,632,880.200774887,785,805.200774887,652,630,653,0.449016586251,-0.0156453119508,0.049592238928,0.99999980177,2.9936173338e-06,-0.000629492168966,1.37793633091e-05,1793240087645224192
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.219925826,680,660,632,880.780074174,785,805.780074174,652,630,653,0.448854927764,-0.0156367870187,0.049590753216,0.999999799886,4.70934119205e-06,-0.000632491991808,1.26521263493e-05,1793240087661891072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.356302493,680,660.356302493,632,881,785,806,651.643697507,630,653,0.448677746349,-0.0156253940209,0.0495916973194,0.999999799899,1.06735480985e-05,-0.000632416199532,1.1731159397e-05,1793240087678557696
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.930651525,680,660.930651525,632,881,785,806,651.069348475,630,653,0.448491065348,-0.0156122458512,0.0495941283977,0.999999801016,1.92377005787e-05,-0.000630458222429,1.09364234516e-05,1793240087695224064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.494216409,715.494216409,680,661.505783591,632.505783591,880.494216409,785.505783591,806,651.505783591,630,653,0.448271611065,-0.0155982549062,0.0495948293514,0.999999801212,2.61479284669e-05,-0.000629924589526,9.36190037274e-06,1793240087711890432
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.083594418,715,679.916405582,661.916405582,632.916405582,880,786,805.916405582,652,630.083594418,653,0.448040592992,-0.0155841316748,0.0495945283958,0.999999800744,3.23781667297e-05,-0.000630401604932,7.56178978236e-06,1793240087728557056
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.677089219,715,679.322910781,661.322910781,632.322910781,880,786,805.322910781,652,630.677089219,653,0.447766491177,-0.0155699074668,0.0495895653072,0.999999797192,3.58460587824e-05,-0.000635850190044,5.03883808356e-06,1793240087745223936
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.736080395,715,679,661,632.263919605,880,785.736080395,805.263919605,652,631,652.736080395,0.447476780436,-0.0155558962401,0.0495855523325,0.999999794348,3.90720144626e-05,-0.000640132974364,2.50401842988e-06,1793240087761890816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.157203252,715,679,661,632.842796748,880,785.157203252,805.842796748,652,631,652.157203252,0.447168442264,-0.0155421391831,0.0495826732093,0.999999792377,4.2009246845e-05,-0.000643024509903,-4.49641044169e-08,1793240087778557440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.417535876,715,679,661,633,880.417535876,785.417535876,805.582464124,652,631,652.417535876,0.446840769214,-0.0155326295148,0.0495858764964,0.999999796152,3.90697488463e-05,-0.00063730971494,-2.43233948379e-06,1793240087795224064
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.990732308,715,679,661,633,880.990732308,785.990732308,805.009267692,652,631,652.990732308,0.446505887982,-0.0155247033055,0.0495913473525,0.999999801978,3.39393609151e-05,-0.000628386414267,-4.7594664272e-06,1793240087811890688
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.144714577,745,715,680,661,633,880.855285423,786,805.144714577,651.855285423,631,652.144714577,0.445760403102,-0.0155250793446,0.0496150180203,0.999999826665,1.1586129219e-05,-0.000588634959934,-6.69614846208e-06,1793240087845223680
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d485b001050b7192113ff5f5318e5c7a8f2fbf3b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
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+363,6.050000000,pose2_to_pose3_retreat,0.577790966773,-0.00990929385975,1.04003227512,0.548361419205,-0.00123755128214,1.03970040897
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+366,6.100000000,pose2_to_pose3_retreat,0.577073072845,-0.00990917331059,1.04003253223,0.54764352411,-0.00123743494881,1.03970065985
+367,6.116666667,pose2_to_pose3_retreat,0.576871580694,-0.00990918518131,1.04003237973,0.547442031357,-0.00123744850133,1.03970051685
+368,6.133333333,pose2_to_pose3_retreat,0.57669101783,-0.00990920690983,1.04003236373,0.547261468893,-0.00123746889583,1.03970050003
+369,6.150000000,pose2_to_pose3_retreat,0.576532368823,-0.0099092039771,1.04003210535,0.547102819475,-0.00123746735466,1.0397002419
+370,6.166666667,pose2_to_pose3_retreat,0.576392973623,-0.0099091947733,1.04003215323,0.546963424202,-0.0012374587901,1.03970027951
+371,6.183333333,pose2_to_pose3_retreat,0.576272562602,-0.00990902548712,1.04003207346,0.546843011652,-0.00123729403655,1.03970021691
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+373,6.216666667,pose2_to_pose3_retreat,0.576078572101,-0.00990931567008,1.04003223128,0.546649024375,-0.00123757366833,1.03970036518
+374,6.233333333,pose2_to_pose3_retreat,0.576000663713,-0.00990931115654,1.04003235885,0.546571115798,-0.00123756976257,1.0397004938
+375,6.250000000,pose2_to_pose3_retreat,0.575932838391,-0.00990925639931,1.04003235478,0.546503290016,-0.00123751665245,1.03970048725
+376,6.266666667,pose2_to_pose3_retreat,0.575875108558,-0.00990919883259,1.04003219859,0.546445559767,-0.00123746060843,1.03970032811
+377,6.283333333,pose2_to_pose3_retreat,0.575825357339,-0.00990919399638,1.04003237335,0.546395809157,-0.00123745353954,1.03970050714
+378,6.300000000,pose2_to_pose3_retreat,0.575783653056,-0.00990908859288,1.0400325076,0.546354102746,-0.0012373556227,1.03970063443
+379,6.316666667,pose2_to_pose3_retreat,0.575750941272,-0.00990923295213,1.04003240813,0.546321393149,-0.00123749260462,1.03970053371
+380,6.333333333,pose2_to_pose3_retreat,0.575725639198,-0.00990910558274,1.04003245791,0.546296089659,-0.00123736973863,1.03970059142
+381,6.350000000,pose2_to_pose3_retreat,0.575706810811,-0.00990915877439,1.04003232885,0.546277261395,-0.00123742249517,1.03970046285
+382,6.366666667,pose2_to_pose3_retreat,0.575692606328,-0.00990920371243,1.04003229791,0.546263057481,-0.00123746554148,1.03970043089
+383,6.383333333,pose2_to_pose3_retreat,0.575682504296,-0.00990920682526,1.04003239174,0.546252955625,-0.00123746805635,1.03970052477
+384,6.400000000,pose2_to_pose3_retreat,0.575675478361,-0.00990924868023,1.0400324725,0.546245929523,-0.00123751048175,1.03970060552
+385,6.416666667,pose2_to_pose3_retreat,0.575671189282,-0.0099092478395,1.04003239574,0.546241640639,-0.00123750900411,1.03970052818
+386,6.433333333,pose2_to_pose3_retreat,0.575668787509,-0.00990924724592,1.04003231256,0.546239238975,-0.00123750787563,1.03970044928
+387,6.450000000,pose2_to_pose3_retreat,0.575667757594,-0.009909246914,1.04003225157,0.546238209108,-0.001237507202,1.03970039302
+388,6.466666667,pose2_to_pose3_retreat,0.575667660139,-0.00990924688259,1.0400322458,0.546238111658,-0.00123750713826,1.03970038769
+389,6.483333333,pose2_to_pose3_retreat,0.57566758535,-0.00990924685849,1.04003224137,0.546238036872,-0.00123750708935,1.03970038361
+390,6.500000000,pose2_to_pose3_retreat,0.575667529476,-0.00990924684049,1.04003223806,0.546237981001,-0.0012375070528,1.03970038055
+391,6.516666667,pose2_to_pose3_retreat,0.575667518174,-0.00990924683684,1.04003223739,0.5462379697,-0.00123750704541,1.03970037994
+392,6.533333333,pose2_to_pose3_retreat,0.575667426508,-0.0099092468073,1.04003223196,0.546237878038,-0.00123750698545,1.03970037493
+393,6.550000000,pose2_to_pose3_retreat,0.575667092445,-0.00990924669964,1.04003221218,0.546237543991,-0.00123750676696,1.03970035668
+394,6.566666667,pose2_to_pose3_retreat,0.575666750209,-0.00990924658934,1.04003219191,0.54623720177,-0.00123750654311,1.03970033798
+395,6.583333333,pose2_to_pose3_retreat,0.575666587968,-0.00990924653706,1.0400321823,0.546237039536,-0.001237506437,1.03970032912
+396,6.600000000,pose2_to_pose3_retreat,0.575666370698,-0.00990924064659,1.04003219767,0.546236822118,-0.00123750110851,1.03970034297
+397,6.616666667,pose2_to_pose3_retreat,0.575666094715,-0.00990922898915,1.04003223745,0.546236545832,-0.00123749061975,1.03970037903
+398,6.633333333,pose2_to_pose3_retreat,0.575666074099,-0.00990922811836,1.04003224042,0.546236525194,-0.00123748983626,1.03970038172
+399,6.650000000,pose2_to_pose3_retreat,0.575665943558,-0.00990922260432,1.04003225923,0.546236394509,-0.00123748487501,1.03970039877
+400,6.666666667,pose2_to_pose3_retreat,0.575665923824,-0.00990922177079,1.04003226208,0.546236374754,-0.00123748412504,1.03970040135
+401,6.683333333,pose2_to_pose3_retreat,0.575665814233,-0.00990921714169,1.04003227787,0.546236265042,-0.00123747996002,1.03970041567
+402,6.700000000,pose2_to_pose3_retreat,0.575665439513,-0.00990920131366,1.04003233188,0.546235889912,-0.00123746571878,1.03970046462
+403,6.716666667,pose2_to_pose3_retreat,0.575665137218,-0.00990918854483,1.04003237545,0.546235587285,-0.00123745423005,1.03970050411
+404,6.733333333,pose2_to_pose3_retreat,0.575664903298,-0.00990916760899,1.04003234645,0.546235353462,-0.001237432932,1.03970047597
+405,6.750000000,pose2_to_pose3_retreat,0.575664690605,-0.00990914297758,1.04003228833,0.546235141036,-0.00123740728655,1.03970042069
+406,6.766666667,pose2_to_pose3_retreat,0.575664591259,-0.00990913147271,1.04003226118,0.546235041815,-0.00123739530805,1.03970039486
+407,6.783333333,pose2_to_pose3_retreat,0.575664530447,-0.00990912443014,1.04003224457,0.546234981079,-0.00123738797556,1.03970037905
+408,6.800000000,pose2_to_pose3_retreat,0.575664480783,-0.0099091186787,1.040032231,0.546234931477,-0.00123738198734,1.03970036615
+409,6.816666667,pose2_to_pose3_retreat,0.575664458443,-0.00990911609163,1.04003222489,0.546234909166,-0.00123737929376,1.03970036034
+410,6.833333333,pose2_to_pose3_retreat,0.575664446489,-0.00990913219054,1.04003222102,0.546234897172,-0.00123739549291,1.03970035744
+411,6.850000000,pose2_to_pose3_retreat,0.57566443164,-0.00990915969508,1.04003221596,0.546234882248,-0.00123742318947,1.03970035394
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd31e68272daf84eec3792f1e65f65f90cb230b1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a284ce17f50df81ba221158a86a9dca3e85b8bbe8737e05bdede247d2562864e
+size 26352571
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87062f4c660d464b2353d1c79116a8a6cdb58164
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+29,0.483333333,BASELINE,766,745,714,678.165579185,662.834420815,635.834420815,879,787.165579185,804,652,631,652.165579185,0.400991080327,-0.0153951636986,0.0498584221952,0.999999965118,-4.79411348326e-05,-0.000255215112426,-4.82717577931e-05,1793240090334597888
+30,0.500000000,BASELINE,766,745,714.414606505,678.414606505,663,635.585393495,879,787,804,652,631,652.414606505,0.400990647016,-0.0153956502631,0.0498584656073,0.999999965003,-4.70513988816e-05,-0.000255936826052,-4.77123222845e-05,1793240090351264768
+31,0.516666667,BASELINE,766,745,714.990177694,678.990177694,663,635.009822306,879,787,804,652,631,652.990177694,0.400989505401,-0.0153966473025,0.0498580942684,0.999999964633,-4.60836023331e-05,-0.000257708301243,-4.68753504126e-05,1793240090367931648
+32,0.533333333,BASELINE,766,745,715,678.435009799,662.435009799,635,879,787.564990201,804,652,631,652.435009799,0.400989023257,-0.0153968100424,0.0498576192026,0.999999964461,-4.86103842446e-05,-0.000257810423162,-4.74177462975e-05,1793240090384598528
+33,0.550000000,BASELINE,766,745,715,678,662.139968851,635.139968851,879,788,804,652,631,652,0.400988683589,-0.0153969392469,0.0498571223894,0.999999964336,-5.0102610579e-05,-0.000257944710039,-4.77774496945e-05,1793240090401265152
+34,0.566666667,BASELINE,766,745,715,678,662.715505396,635.715505396,879,788,804,652,631,652,0.400988751664,-0.0153970091678,0.0498565635051,0.99999996436,-4.81866100825e-05,-0.000258269281533,-4.74941103732e-05,1793240090417931520
+35,0.583333333,BASELINE,766,745,715,678,662.700039904,635.700039904,879,788,804,652.299960096,631,652.299960096,0.400989691911,-0.0153973768472,0.0498572540868,0.999999964669,-4.80562844503e-05,-0.000257115618586,-4.73724690407e-05,1793240090434598144
+36,0.600000000,BASELINE,766,745,715,678,662.106867604,635.106867604,879,788,804,652.893132396,631,652.893132396,0.400991484708,-0.0153980355868,0.0498591660267,0.999999965253,-4.96714629726e-05,-0.000254516975547,-4.74088881107e-05,1793240090451264512
+37,0.616666667,BASELINE,766,745,715,678.471432796,662,635,879,787.528567204,804,652.528567204,631,653,0.400990283156,-0.0153977485218,0.0498584356627,0.999999964909,-4.94136509241e-05,-0.000255921248416,-4.73876747958e-05,1793240090467931136
+38,0.633333333,BASELINE,766,745,715,678.953553534,662.046446466,635.046446466,879,787,804,652,631.046446466,652.953553534,0.400988642848,-0.0153972490126,0.0498573036505,0.999999964428,-4.87818568903e-05,-0.000257917833645,-4.73627758958e-05,1793240090484597760
+39,0.650000000,BASELINE,766,745,715,678.378750615,662.621249385,635.621249385,879,787,804,652,631.621249385,652.378750615,0.400989496811,-0.0153966971808,0.0498582079793,0.999999964761,-4.85779665256e-05,-0.00025664568623,-4.74400228788e-05,1793240090501264384
+40,0.666666667,BASELINE,766,745,715,678.201952514,663,635.798047486,879,787.201952514,804,652,631.798047486,652.201952514,0.400989815281,-0.0153960010754,0.0498585044491,0.999999964933,-4.72943573266e-05,-0.000256174557045,-4.76559094624e-05,1793240090517931264
+41,0.683333333,BASELINE,766,745,715,678.794054139,663,635.205945861,879,787.794054139,804,652,631.205945861,652.794054139,0.400989099235,-0.0153950262498,0.0498576266048,0.999999964788,-4.39248551084e-05,-0.000257250903343,-4.81396318586e-05,1793240090534598144
+42,0.700000000,BASELINE,766,745,715,678.62404224,663,635.37595776,879.37595776,788,804.37595776,652,631,653,0.400988631188,-0.0153958262158,0.0498572393829,0.99999996455,-4.5194689864e-05,-0.000257961981652,-4.80925003289e-05,1793240090551264768
+43,0.716666667,BASELINE,766,745,715,678.04757747,663,635.95242253,879.95242253,788,804.95242253,652,631,653,0.400988295403,-0.0153975727195,0.0498571138213,0.999999964256,-4.89387909439e-05,-0.000258478254017,-4.77622520488e-05,1793240090567931392
+44,0.733333333,BASELINE,766,745,715,678.528893687,663,635.471106313,879.471106313,788,804.471106313,652,631.528893687,652.471106313,0.400988632333,-0.0153972890132,0.0498569632116,0.999999964272,-4.89822172215e-05,-0.00025841880048,-4.77214131966e-05,1793240090584598016
+45,0.750000000,BASELINE,766.107900427,745,715,679,663,635,879,788,804,652,631.892099573,652.107900427,0.400988932714,-0.0153969746873,0.0498569907909,0.999999964366,-4.86666822557e-05,-0.000258124605566,-4.7651845939e-05,1793240090601264384
+46,0.766666667,BASELINE,766.698241445,745,715,679,663,635,879,788,804,652,631.301758555,652.698241445,0.400988799108,-0.0153973400388,0.0498578251568,0.999999964689,-4.82346415291e-05,-0.000257012409233,-4.73374242738e-05,1793240090617931008
+47,0.783333333,BASELINE,767,745,715,679,663,635.283282569,879,788,804.283282569,652.283282569,631,652.716717431,0.400988895717,-0.0153973232598,0.0498581898247,0.999999964898,-4.67710952681e-05,-0.000256487480597,-4.72232114771e-05,1793240090634597888
+48,0.800000000,BASELINE,767,745,715,679,663,635.862781889,879,788,804.862781889,652.862781889,631,652.137218111,0.400989233053,-0.015396906903,0.0498580633491,0.999999964987,-4.42289467008e-05,-0.000256576633126,-4.7318348693e-05,1793240090651264512
+49,0.816666667,BASELINE,766.560794585,745,714.560794585,678.560794585,662.560794585,635.560794585,879,788,804.560794585,652.560794585,631.439205415,652.439205415,0.400990192278,-0.0153971866391,0.0498585508534,0.999999965091,-4.59494475394e-05,-0.000255853687034,-4.73933524524e-05,1793240090667931392
+50,0.833333333,BASELINE,766,745,714.014614149,678,662,635.014614149,879,788,804,652,631.985385851,652.985385851,0.400991282915,-0.0153976820583,0.0498591806875,0.999999965183,-4.89249056341e-05,-0.000254925745508,-4.74611573071e-05,1793240090684598016
+51,0.850000000,BASELINE,766,745,714.587711282,678,662,635.587711282,879,788,804,652,631.412288718,652.412288718,0.400990022149,-0.0153981667645,0.0498579701515,0.999999964941,-4.93195723867e-05,-0.000255792344293,-4.7492562988e-05,1793240090701264640
+52,0.866666667,BASELINE,766,745,715,678.166564239,662.166564239,635.833435761,879,788,804,652,631,652.166564239,0.40098874622,-0.0153980700219,0.0498569982888,0.999999964668,-4.89767034081e-05,-0.000256916251687,-4.75275099206e-05,1793240090717931264
+53,0.883333333,BASELINE,766,745,715,678.760174229,662.760174229,635.239825771,879,788,804,652,631,652.760174229,0.400987431414,-0.0153964825311,0.0498566383483,0.999999964313,-4.67429033065e-05,-0.000258699859747,-4.75715360898e-05,1793240090734597888
+54,0.900000000,BASELINE,766.345017248,745,715,679,662.654982752,635.345017248,879,787.654982752,804,652.345017248,631,653,0.40098784032,-0.0153962724714,0.0498569015457,0.999999964328,-4.6972147742e-05,-0.00025859107754,-4.7636589073e-05,1793240090751264768
+55,0.916666667,BASELINE,766.923917227,745,715,679,662.076082773,635.923917227,879,787.076082773,804,652.923917227,631,653,0.400989417707,-0.0153969961544,0.0498575871601,0.999999964592,-4.88710583038e-05,-0.000257199468372,-4.77158958598e-05,1793240090767931392
+56,0.933333333,BASELINE,767,745,715,678.501587194,662.498412806,636,879,787.498412806,804,652.501587194,631.498412806,653,0.400990542758,-0.0153965424253,0.0498585736296,0.999999965036,-4.79551680371e-05,-0.000255648735617,-4.76726411871e-05,1793240090784598016
+57,0.950000000,BASELINE,766.927715954,745,715,678.072284046,663,636,879,788,804,652,632,653,0.400991484481,-0.0153960007855,0.0498594901038,0.999999965444,-4.68216554133e-05,-0.0002542666944,-4.76316300261e-05,1793240090801264640
+58,0.966666667,BASELINE,766.353552654,745,715,678.646447346,663,636,879,788,804,652,632,653,0.400991628547,-0.0153960857462,0.0498596045138,0.999999965435,-4.71343577051e-05,-0.000254223078786,-4.77349577079e-05,1793240090817931264
+59,0.983333333,BASELINE,766,745,715,678.77282264,662.77282264,635.77282264,878.77282264,788,804.22717736,652,631.77282264,653,0.400990859933,-0.0153964442152,0.0498593651668,0.999999965289,-4.75070405311e-05,-0.00025473029255,-4.77288683719e-05,1793240090834597888
+60,1.000000000,BASELINE,766,745,715,678.181568655,662.181568655,635.181568655,878.181568655,788,804.818431345,652,631.181568655,653,0.400988628648,-0.0153972410111,0.0498585588852,0.99999996492,-4.79758487875e-05,-0.000256120270774,-4.7547426286e-05,1793240090851264768
+61,1.016666667,BASELINE,766.40199623,745,715,678.40199623,662,635.40199623,878.40199623,788,805,652,631.40199623,652.59800377,0.400987817074,-0.0153956448116,0.0498578869351,0.999999964717,-4.62186048912e-05,-0.000257202921214,-4.77154341303e-05,1793240090867931392
+62,1.033333333,BASELINE,766.982153345,745,715,678.982153345,662,635.982153345,878.982153345,788,805,652,631.982153345,652.017846655,0.400987634701,-0.0153929880593,0.0498572745195,0.999999964581,-4.34747959402e-05,-0.000258149366837,-4.80383148525e-05,1793240090884598016
+63,1.050000000,BASELINE,767,745,715,679,662,636,879,788,804.44336735,652.55663265,631.44336735,652,0.400988200105,-0.0153961212944,0.0498570660952,0.999999964333,-4.90049646258e-05,-0.000258164504023,-4.77860775822e-05,1793240090901264640
+64,1.066666667,BASELINE,766.865891273,745,715,679,662.268217454,635.865891273,879,788,804,652.865891273,631.134108727,652.134108727,0.400988897219,-0.015398776951,0.0498571872436,0.999999964245,-5.29055168602e-05,-0.000257788598265,-4.75035783611e-05,1793240090917931520
+65,1.083333333,BASELINE,766.2776572,745,715,679,663.444685601,635.2776572,879,788,804,652.2776572,631.7223428,652.7223428,0.400989959974,-0.0153991931413,0.0498583809884,0.999999964801,-5.0398554927e-05,-0.000256188614835,-4.7180414357e-05,1793240090934598144
+66,1.100000000,BASELINE,766.30600187,745,715,679,663.69399813,635,879,788,804,652,631.69399813,653,0.400989801071,-0.0153990305509,0.0498586530945,0.999999964913,-4.94261966103e-05,-0.00025594454759,-4.71463023008e-05,1793240090951264768
+67,1.116666667,BASELINE,766.885570833,745,715,679,663.114429167,635,879,788,804,652,631.114429167,653,0.400988550001,-0.0153983505279,0.049858101251,0.999999964635,-4.98257811908e-05,-0.000256912675801,-4.73706040464e-05,1793240090967931392
+68,1.133333333,BASELINE,767,745,715,678.538797467,663,635,879,788,804,652,631,653,0.400988566214,-0.0153980065304,0.0498578231966,0.999999964546,-5.0302016067e-05,-0.000257131851888,-4.75546295637e-05,1793240090984598016
+69,1.150000000,BASELINE,766.963286773,745,715,678,662.963286773,635,879,788,804,652,631.036713227,652.963286773,0.400988903807,-0.0153977517865,0.0498576792775,0.999999964528,-5.0675114366e-05,-0.000257101781251,-4.77002676765e-05,1793240091001264640
+70,1.166666667,BASELINE,766.375043487,745,715,678,662.375043487,635,879,788,804,652,631.624956513,652.375043487,0.400989385839,-0.0153975960112,0.0498585385763,0.999999964872,-4.92155485982e-05,-0.000256095286092,-4.74180748905e-05,1793240091017931008
+71,1.183333333,BASELINE,766,745,715,678.210063353,662,635.210063353,879,787.789936647,804,652,632,652.210063353,0.40098946468,-0.0153974780953,0.0498587701892,0.99999996498,-4.8590191559e-05,-0.000255818404077,-4.72925485545e-05,1793240091034597632
+72,1.200000000,BASELINE,766,745,715,678.789652915,662,635.789652915,879,787.210347085,804,652,632,652.789652915,0.400988834262,-0.0153974267784,0.0498578976287,0.999999964673,-4.94323058009e-05,-0.00025682499745,-4.74426169316e-05,1793240091051264256
+73,1.216666667,BASELINE,766.369200171,744.630799829,715,679,662.369200171,635.630799829,879,787,804,652,631.630799829,653,0.400988270416,-0.0153964932868,0.0498578136883,0.999999964748,-4.7061268292e-05,-0.000256958788403,-4.75576827165e-05,1793240091067930880
+74,1.233333333,BASELINE,766.948723294,744.051276706,715,679,662.948723294,635.051276706,879,787,804,652,631.051276706,653,0.400987744495,-0.0153950572451,0.0498581790028,0.999999965026,-4.28597885771e-05,-0.00025659536831,-4.76528084996e-05,1793240091084597760
+75,1.250000000,BASELINE,766.477732267,744,715,678.477732267,663.522267733,635.522267733,879,787.522267733,804,652.522267733,631,653,0.400987457156,-0.0153962852774,0.0498575755456,0.999999964543,-4.70039195397e-05,-0.000257714918134,-4.78337154248e-05,1793240091101264384
+76,1.266666667,BASELINE,766.09577102,744.09577102,715,678,663.808457959,635.90422898,879,788,804,652.90422898,631.09577102,653,0.400987705924,-0.0153973685137,0.0498572925755,0.999999964219,-5.07135172167e-05,-0.000258251332031,-4.7927861172e-05,1793240091117931264
+77,1.283333333,BASELINE,766.671979179,744.671979179,715,678,662.656041641,635.328020821,879,788,804,652.328020821,631.671979179,653,0.400990527911,-0.015396428102,0.0498590890795,0.999999965161,-4.81793597299e-05,-0.000255140298544,-4.75449965389e-05,1793240091134597888
+78,1.300000000,BASELINE,766.746007108,745,715,678,662.253992892,635,879,788,804,652,631.746007108,653,0.400991654369,-0.0153961549745,0.0498600289288,0.999999965569,-4.76177513302e-05,-0.000253671487383,-4.73933105011e-05,1793240091151264768
+79,1.316666667,BASELINE,766.156320437,745,715,678,662.843679563,635,879,788,804,652,631.156320437,653,0.400990539904,-0.0153967637738,0.0498598365665,0.999999965284,-4.96631942592e-05,-0.000254373145939,-4.75471653917e-05,1793240091167931392
+80,1.333333333,BASELINE,766,745,714.57741385,678.42258615,663,635,879,787.57741385,804,652,631.42258615,652.57741385,0.400990086775,-0.0153972320854,0.0498595202602,0.999999965214,-4.8661531043e-05,-0.000254875803954,-4.73637744367e-05,1793240091184597760
+81,1.350000000,BASELINE,766,745,714.002395721,678.997604279,663,635,879,787.002395721,804,652,631.997604279,652.002395721,0.400989872199,-0.0153976497214,0.0498591592457,0.999999965218,-4.65607396457e-05,-0.000255306680105,-4.7058734805e-05,1793240091201264384
+82,1.366666667,BASELINE,766,745,714.577525716,678.422474284,663,635.577525716,879,787.577525716,804.577525716,652,631.422474284,652.577525716,0.400988827504,-0.0153988492541,0.049858445656,0.999999964914,-4.84518560614e-05,-0.000256116861898,-4.72047464779e-05,1793240091217931008
+83,1.383333333,BASELINE,766,745,715,678,663,635.840671065,879,788,804.840671065,652.159328935,631.159328935,652.840671065,0.400987662158,-0.0153991044589,0.0498575797834,0.999999964559,-4.91766517798e-05,-0.000257332615426,-4.73757398057e-05,1793240091234597632
+84,1.400000000,BASELINE,766,745,715,678,663,635.253874075,879,788,804.253874075,652.746125925,631.746125925,652.253874075,0.400986182433,-0.0153968173236,0.049856309304,0.999999964071,-4.67274853059e-05,-0.000259632231271,-4.76086942057e-05,1793240091251264512
+85,1.416666667,BASELINE,766,745,715,678.329198836,662.670801164,635.329198836,879,788,804,652.670801164,631.670801164,652.329198836,0.400987560465,-0.0153964635144,0.0498574763217,0.999999964652,-4.55676080377e-05,-0.00025759446601,-4.75943667457e-05,1793240091267931136
+86,1.433333333,BASELINE,766,745,715,678.909431874,662.090568126,635.909431874,879,788,804,652.090568126,631.090568126,652.909431874,0.400991117712,-0.0153975839843,0.04986050208,0.999999966032,-4.53908926124e-05,-0.00025224918283,-4.73914717624e-05,1793240091284597760
+87,1.450000000,BASELINE,766,745,715,678.514549254,662.485450746,636,879,788,804,652,631.485450746,653,0.40099120071,-0.0153977109631,0.0498602650046,0.999999965849,-4.633231048e-05,-0.000252845556734,-4.71583142375e-05,1793240091301264640
+88,1.466666667,BASELINE,766,745,715,678.060795972,663,635.939204028,879,788,804,652,631.939204028,652.939204028,0.400990704143,-0.0153975810015,0.0498595434981,0.999999965439,-4.71264109996e-05,-0.000254354530751,-4.6960828906e-05,1793240091317931264
+89,1.483333333,BASELINE,766,745,715,678.637038258,663,635.362961742,879,788,804,652,631.362961742,652.362961742,0.400990741958,-0.0153968305574,0.0498598314226,0.999999965551,-4.49181209977e-05,-0.000254283445405,-4.71132389441e-05,1793240091334597888
+90,1.500000000,BASELINE,766,745,715,679,662.781190318,635.218809682,879,788,804.218809682,652,631.218809682,652,0.400990502756,-0.0153964595404,0.0498597958456,0.999999965514,-4.44860684696e-05,-0.000254459813354,-4.73639271248e-05,1793240091351264512
+91,1.516666667,BASELINE,766,745,715,679,662.190009443,635.809990557,879,788,804.809990557,652,631.809990557,652,0.400989792128,-0.0153967342341,0.0498592097324,0.999999965223,-4.70768242149e-05,-0.000255057298321,-4.77818654271e-05,1793240091367931136
+92,1.533333333,BASELINE,766,745,715,678.608811471,662,636,879,788,804.608811471,652,631.608811471,652,0.400990103826,-0.0153975253424,0.0498592552944,0.99999996525,-4.89837950049e-05,-0.000254609173206,-4.7698066908e-05,1793240091384598016
+93,1.550000000,BASELINE,766,745,715,678.032341717,662,636,879,788,804.032341717,652,631.032341717,652,0.400990899733,-0.0153985610437,0.0498596000409,0.999999965426,-5.05669004048e-05,-0.000253665808882,-4.7376627476e-05,1793240091401264640
+94,1.566666667,BASELINE,766,745,715,678,662.543984044,635.456015956,879,788,804,652,631,652.543984044,0.4009900621,-0.015397299053,0.0498592192048,0.999999965434,-4.86397607778e-05,-0.000254014018215,-4.73615378959e-05,1793240091417931264
+95,1.583333333,BASELINE,766,745.122980455,715,678.122980455,663,635,879,788,804.122980455,652.122980455,631.122980455,653,0.400989160786,-0.0153963421354,0.0498586900629,0.999999965346,-4.71634929466e-05,-0.000254639663955,-4.73492200962e-05,1793240091434598144
+96,1.600000000,BASELINE,766,745.712132891,715,678.712132891,663,635,879,788,804.712132891,652.712132891,631.712132891,653,0.400988386126,-0.0153970593162,0.0498577622279,0.999999964947,-4.81871854025e-05,-0.000256025966571,-4.72783867145e-05,1793240091451264768
+97,1.616666667,BASELINE,766,745.703467282,715,679,663.296532718,635.296532718,879,787.703467282,804.703467282,652.703467282,631.703467282,653,0.400988385887,-0.0153971848463,0.0498574692696,0.999999964928,-4.72123956816e-05,-0.000256276059687,-4.72941212046e-05,1793240091467931136
+98,1.633333333,BASELINE,766,745.123608434,715,679,663.876391566,635.876391566,879,787.123608434,804.123608434,652.123608434,631.123608434,653,0.400989125578,-0.0153967450759,0.0498577829127,0.99999996527,-4.43281295142e-05,-0.000255440546239,-4.73925681233e-05,1793240091484597504
+99,1.650000000,BASELINE,766,745,715,679,663.546557624,636,879,787.453442376,804,652.453442376,631.453442376,653,0.400989192355,-0.0153959829949,0.0498582798967,0.999999965302,-4.50257303059e-05,-0.000255143551349,-4.76522237526e-05,1793240091501264128
+100,1.666666667,BASELINE,766,745,715,679,662.970459569,635.970459569,879,788,804,652.970459569,631.970459569,652.970459569,0.400989077999,-0.0153952964593,0.0498587833691,0.999999965239,-4.67056153934e-05,-0.000255037550167,-4.79267796583e-05,1793240091517931008
+101,1.683333333,BASELINE,766,745,715,679,662.397890725,635.397890725,879,788,804,652.397890725,631.397890725,652.397890725,0.400988985225,-0.015397603824,0.0498584930353,0.999999964976,-4.86038208681e-05,-0.000255760546676,-4.76723820916e-05,1793240091534597632
+102,1.700000000,BASELINE,766,745,715,678.818954719,662.181045281,635.181045281,879,787.818954719,804,652,631,652,0.400989464857,-0.0153989071026,0.0498586095341,0.999999964997,-4.91108913016e-05,-0.00025561437271,-4.74965918979e-05,1793240091551264256
+103,1.716666667,BASELINE,766,745,715,678.225515348,662.774484652,635.774484652,879,787.225515348,804,652,631,652,0.400991248346,-0.0153979232228,0.0498596527366,0.999999965665,-4.64491637779e-05,-0.000253488358215,-4.74998575854e-05,1793240091567930880
+104,1.733333333,BASELINE,766,745,715,678,662.642419971,635.642419971,879,787.357580029,804.357580029,652,631.357580029,652.357580029,0.400990742767,-0.0153977144444,0.0498593694696,0.999999965647,-4.57716523291e-05,-0.000253700309378,-4.74096635429e-05,1793240091584597760
+105,1.750000000,BASELINE,766,745,715,678,662.065664788,635.065664788,879,787.934335212,804.934335212,652,631.934335212,652.934335212,0.400988834125,-0.0153979807567,0.0498582731562,0.99999996521,-4.63103463167e-05,-0.00025534529335,-4.72621842801e-05,1793240091601264384
+106,1.766666667,BASELINE,766,745,715,678.491359712,662.491359712,635,879.491359712,788,804.508640288,652,632,652.508640288,0.400988947519,-0.0153977646146,0.0498587559995,0.999999965193,-4.81068812071e-05,-0.000255072529464,-4.72975373654e-05,1793240091617931008
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,662,636,879,788,804,652,631,653,0.400991178026,-0.0153955857276,0.0498592209828,0.999999965559,-4.70350746454e-05,-0.000253752235423,-4.77540884975e-05,1793240091660546048
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.579575231,635.420424769,879,788,804,652,631.579575231,653,0.400990461237,-0.0153966648833,0.0498589249066,0.999999965587,-4.61236012861e-05,-0.000253846459879,-4.75487465445e-05,1793240091677212672
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.841978921,745,715,678.841978921,663,635.158021079,879,787.841978921,804,652,632,652.841978921,0.40098985611,-0.0153977496902,0.0498586191521,0.999999965538,-4.60760201188e-05,-0.000254079764285,-4.73712446816e-05,1793240091693879552
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.266516418,745,715,678.266516418,663,635.733483582,879,787.266516418,804,652,632,652.266516418,0.400989545962,-0.0153988494256,0.0498582878306,0.999999965285,-4.83105671104e-05,-0.0002546804737,-4.72672874365e-05,1793240091710546432
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.689808521,879,787.310191479,804,652,631.689808521,652.310191479,0.400989502394,-0.0153987378499,0.0498583435767,0.999999965276,-4.82428932574e-05,-0.000254712698342,-4.7344790785e-05,1793240091727213312
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.112026303,879,787.887973697,804,652,631.112026303,652.887973697,0.400989688794,-0.0153975813209,0.0498587332318,0.999999965479,-4.61891783267e-05,-0.000254254512119,-4.75788334961e-05,1793240091743879936
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.475053305,715,678,663,635.475053305,879,787.524946695,804.475053305,652.475053305,631,653,0.400989925034,-0.0153969498365,0.0498588603339,0.999999965592,-4.54542163839e-05,-0.00025393216691,-4.76220414185e-05,1793240091760546560
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.936676482,715,678,662.936676482,636,879,787.063323518,805,652.936676482,631,653,0.40099041656,-0.0153966516289,0.0498591314546,0.99999996574,-4.51687398613e-05,-0.000253416709426,-4.75414030552e-05,1793240091777213184
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.356933834,715,678,662.356933834,636,879,787.643066166,805,652.356933834,631,653,0.400992892252,-0.0153980414773,0.0498610920924,0.999999966332,-4.59621322447e-05,-0.000251059914349,-4.68250988214e-05,1793240091793879808
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662.220985756,636,879,788,804.779014244,652,631.220985756,653,0.400999115855,-0.0153987459652,0.0498639629308,0.999999967524,-4.60514160976e-05,-0.000246348132766,-4.63050958179e-05,1793240091810546176
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662.7959848,636,879,788,804.2040152,652,631.7959848,653,0.401011343512,-0.0153983525234,0.0498682918863,0.999999969635,-4.50127367805e-05,-0.000237863725811,-4.60995622182e-05,1793240091827212800
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662.630405372,636,879,788,804,652,631.630405372,652.630405372,0.401042241042,-0.015399841887,0.0498792423387,0.999999974704,-4.60262898968e-05,-0.000215523263564,-4.49872365326e-05,1793240091843879680
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662.057559464,636,879,788,804,652,631.057559464,652.057559464,0.401083405702,-0.0154023666623,0.0498938341532,0.999999980682,-4.81684276616e-05,-0.000185562935862,-4.33762383606e-05,1793240091860546304
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.53135497,662.53135497,635.46864503,879,787.46864503,804,652.53135497,631,652.53135497,0.401147212122,-0.015407554845,0.0499119372737,0.999999987129,-5.0248530898e-05,-0.000146720013465,-4.11168706267e-05,1793240091877212928
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.880039783,678.880039783,663,635.119960217,879.119960217,787.119960217,804,652.880039783,631,652.880039783,0.401215734677,-0.0154126155205,0.0499289394145,0.999999991588,-5.15575092932e-05,-0.000112484811658,-3.89000563317e-05,1793240091893879808
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714.299512709,678.299512709,663,635.700487291,879.700487291,787.700487291,804,652.299512709,631,652.299512709,0.401292653727,-0.0154160444057,0.0499402086496,0.999999993089,-4.99324904202e-05,-9.97496179056e-05,-3.71246830967e-05,1793240091910546432
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714,678,662.721586318,635.721586318,879.721586318,787.721586318,804,652,631.278413682,652.278413682,0.401374401638,-0.0154207894331,0.04994741741,0.999999993947,-5.08669314916e-05,-9.07867878156e-05,-3.57311333169e-05,1793240091927213056
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714,678,662.14643184,635.14643184,879.14643184,787.14643184,804,652,631.85356816,652.85356816,0.401461296275,-0.0154269372399,0.0499502984066,0.999999994225,-5.45293139657e-05,-8.58446452302e-05,-3.47445413633e-05,1793240091943879680
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.436990526,678,662,635,879.436990526,787.436990526,804,652.436990526,632,653,0.401561316326,-0.0154332023092,0.0499514473395,0.999999994293,-5.62135411224e-05,-8.42843839982e-05,-3.3904811381e-05,1793240091960546304
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.023037429,662.023037429,635,879.976962571,787.976962571,804,652.976962571,631.976962571,653,0.401666984047,-0.0154394982636,0.0499519508065,0.999999994286,-5.72234719969e-05,-8.40008262346e-05,-3.31213517792e-05,1793240091977213440
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.604253476,662.604253476,635,879.395746524,787.395746524,804,652.395746524,631.395746524,653,0.401800870003,-0.0154455721278,0.0499511489743,0.99999999402,-5.82661164558e-05,-8.66637600584e-05,-3.24859109196e-05,1793240091993880064
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.816181776,662.816181776,635,879,787,804,652,631,652.816181776,0.401944447695,-0.0154531449888,0.0499500273407,0.999999993634,-6.00657501591e-05,-9.00835368448e-05,-3.17587853297e-05,1793240092010546688
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.240140571,662.240140571,635,879,787,804,652,631,652.240140571,0.402108705155,-0.0154639163406,0.0499482233296,0.999999992986,-6.34806130092e-05,-9.51182304408e-05,-3.0836027106e-05,1793240092027213312
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.333380008,715,678,662,635.333380008,879.333380008,787.333380008,804,652,631,652.333380008,0.402292645591,-0.0154742772648,0.0499501544263,0.999999993127,-6.5718187499e-05,-9.25315264082e-05,-2.93975734798e-05,1793240092043879936
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.905098613,715,678,662,635.905098613,879.905098613,787.905098613,804,652,631,652.905098613,0.402490657712,-0.0154843447689,0.04995475581,0.999999993797,-6.71141004278e-05,-8.4496166213e-05,-2.75904410277e-05,1793240092060546304
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.504776904,715,678.495223096,662,636,879.504776904,788,804.495223096,652,631,653,0.402720809023,-0.0154958261457,0.0499601899442,0.999999994644,-6.88822138809e-05,-7.29919413466e-05,-2.53051686639e-05,1793240092077212928
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.087027424,745,715,679,662,636,879,788,804.912972576,652,631.087027424,652.912972576,0.402964455673,-0.0155074753698,0.0499660061727,0.999999995485,-6.98442848473e-05,-6.0258038518e-05,-2.28337211029e-05,1793240092093879296
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.667583678,745,715,679,662,636,879,788,804.332416322,652,631.667583678,652.332416322,0.403248358536,-0.0155184806214,0.0499730493221,0.999999996649,-6.58152225691e-05,-4.44659733858e-05,-1.98461556213e-05,1793240092110546176
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.755748157,745,715,678.755748157,662,635.755748157,879.244251843,788,804,652,631.755748157,652,0.403549282549,-0.0155217742882,0.0499796659214,0.999999998032,-5.25768867768e-05,-2.98048888761e-05,-1.68531404939e-05,1793240092127212800
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.184288639,745,715,678.184288639,662,635.184288639,879.815711361,788,804,652,631.184288639,652,0.403873008627,-0.0155147372659,0.0499857110999,0.999999999401,-2.70015102806e-05,-1.66589035605e-05,-1.38528250185e-05,1793240092143879936
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.399826435,745,715,678.399826435,662,635.399826435,879.600173565,788,804.399826435,652,631.399826435,652,0.404212633446,-0.0155041021226,0.0499900498449,0.999999999887,2.33016537223e-06,-8.13219325773e-06,-1.24421941221e-05,1793240092160546816
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.989965384,745,715,678.989965384,662,635.989965384,879.010034616,788,804.989965384,652,631.989965384,652,0.404559825862,-0.0154917543177,0.0499935763481,0.999999999369,3.34497929314e-05,-1.80420196432e-06,-1.17882337995e-05,1793240092177213440
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.430079231,745,715,679,662,636,879,788,805,652,631.430079231,652.569920769,0.404947633491,-0.0155011312239,0.0499925032003,0.999999999082,4.18799139908e-05,-3.69215358804e-06,-8.23703570029e-06,1793240092193880064
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.148590939,745,715,678.851409061,662,636,879,788,804.851409061,652,631,653,0.405338304715,-0.0155099147715,0.0499867358209,0.999999998565,5.1028898793e-05,-1.54554938853e-05,-5.18201059238e-06,1793240092210546432
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.724074743,745,715,678.275925257,662,636,879,788,804.275925257,652,631,653,0.405735184399,-0.0155159140032,0.0499677107798,0.999999996463,6.33707117719e-05,-5.5181934358e-05,-3.69644243934e-06,1793240092227212800
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.701108209,745,715,678.298891791,662.298891791,635.701108209,879,788,804.298891791,652,631,652.701108209,0.406165258477,-0.0155179529403,0.0499496055856,0.999999992929,8.24360999834e-05,-8.56804052476e-05,-2.40453070982e-06,1793240092243879680
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.126905248,745,715,678.873094752,662.873094752,635.126905248,879,788,804.873094752,652,631,652.126905248,0.406625908173,-0.0155163440253,0.0499323476662,0.999999988403,0.000107694618463,-0.000107678937984,-1.29099700069e-06,1793240092260546560
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,787.538334117,804.538334117,652,631,652.461665883,0.407120395565,-0.0155144303755,0.0499297029494,0.999999985017,0.00013319520902,-0.000110553860649,1.53831438457e-06,1793240092277213184
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.94712529,715,678.94712529,662.94712529,635,879,787.05287471,804,652,631.05287471,652.94712529,0.407631817052,-0.015512900439,0.0499334905252,0.99999998201,0.000158680665467,-0.000103803608395,5.11939058098e-06,1793240092293879808
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.370176661,715,678.370176661,662.370176661,635,879,787.629823339,804,652,631.629823339,652.370176661,0.408215928898,-0.0155160306584,0.0499599390528,0.999999981594,0.000183335409712,-5.54293937153e-05,1.13267727928e-05,1793240092310546432
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.20621846,715,678.20621846,662.20621846,635.20621846,879.20621846,788,804,652,632,652,0.408809858563,-0.0155204972855,0.0499831996307,0.999999978426,0.000206374502779,-1.60962102653e-05,1.72979833858e-05,1793240092327213312
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.781622617,715,678.781622617,662.781622617,635.781622617,879.781622617,788,804,652,632,652,0.409421364692,-0.0155273564364,0.0500007529324,0.999999974058,0.000226521151234,7.05112800367e-06,2.28463838574e-05,1793240092343880192
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.356972595,715,679,662.643027405,636,880,788,804,652,631.643027405,652,0.410031873412,-0.0155305725099,0.0499996001698,0.999999968185,0.000250845777089,-7.41052790072e-07,2.65567801653e-05,1793240092360546560
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.932289412,715,679,662.067710588,636,880,788,804,652,631.067710588,652,0.410641772041,-0.015531560275,0.0499870057411,0.999999960633,0.000277725884536,-2.74575589833e-05,2.9142951039e-05,1793240092377213184
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.52172664,745.47827336,715,679,662,636,880.52172664,788,804,652.52172664,631.52172664,652.52172664,0.411246865625,-0.015527217528,0.0499584187111,0.999999949386,0.000304920506591,-8.59362103514e-05,2.94308487076e-05,1793240092393879808
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.889650512,745,715,678.889650512,662,636,880.889650512,788,804.110349488,652.889650512,631.889650512,653,0.411876507504,-0.0155237912463,0.0499375833121,0.99999994576,0.000302745690605,-0.000126099697121,3.03849455899e-05,1793240092410546688
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.312442047,745,715,678.312442047,662,636,880.312442047,788,804.687557953,652.312442047,631.312442047,653,0.412612718141,-0.0155272505349,0.0499585683375,0.999999981349,0.000176139187328,-7.08518126872e-05,3.54545721978e-05,1793240092427213312
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.263857349,662.263857349,636,880,787.736142651,805,652,631,653,0.41335220802,-0.0155326649134,0.0499767729477,0.99999999624,7.41060241729e-05,-3.44516479098e-05,2.89981000099e-05,1793240092443879936
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678.839084059,662.839084059,636,880,787.160915941,805,652,631,653,0.414095567721,-0.0155403864293,0.0499916964842,0.999999999754,1.07103535781e-06,-2.02930494784e-05,8.94005971348e-06,1793240092460546560
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714.574790041,678.574790041,662.574790041,635.574790041,880,787.425209959,804.574790041,652,631.425209959,652.574790041,0.41482638483,-0.0155481149692,0.0499744341051,0.999999998914,1.02613238895e-06,-4.63427947678e-05,4.79783742226e-06,1793240092477213440
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.015247239,745,714.015247239,678.015247239,662,635,880,788,804,652,632,652.015247239,0.415553652388,-0.0155556420648,0.0499452892783,0.999999995739,2.95614489056e-05,-8.71830186141e-05,6.89550558363e-06,1793240092493880064
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.593405197,745,714.593405197,678.593405197,662,635,880,788,804,652,632,652.593405197,0.416329725407,-0.0155556313691,0.049938974216,0.999999992963,6.66356512278e-05,-9.75204962404e-05,1.11447155599e-05,1793240092510546688
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.830368362,745,715,678.830368362,662.169631638,635,880,787.830368362,804.169631638,652,631.830368362,652.830368362,0.417121311774,-0.0155549652121,0.0499440642684,0.999999990981,0.000100408915366,-8.7852523658e-05,1.54553394217e-05,1793240092527213056
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.258719543,745,715,678.258719543,662.741280457,635,880,787.258719543,804.741280457,652,631.258719543,652.258719543,0.417949663835,-0.0155527456494,0.0499761837841,0.999999991345,0.000126359144455,-3.07727891715e-05,1.9911510389e-05,1793240092543879424
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.316806298,745,715,678.316806298,662.683193702,635,880,787.316806298,805,652,631.316806298,652,0.418762565146,-0.015551272231,0.0499872537166,0.999999989657,0.000140918480432,-1.84786568063e-05,2.20764227542e-05,1793240092560546304
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.895537503,745,715,678.895537503,662.104462497,635,880,787.895537503,805,652,631.895537503,652,0.41956269225,-0.0155504156998,0.0499809205523,0.99999998815,0.00014606020394,-4.32117730335e-05,2.23469985598e-05,1793240092577213184
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.516345806,745,715,679,662,635.483654194,880,788,805,652,631.516345806,652,0.42040903408,-0.0155516530694,0.049975026201,0.999999987717,0.000150227215696,-3.90389821761e-05,2.17449655073e-05,1793240092593880064
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.071815432,745,715,679,662.071815432,636,880,788,805,652,631.071815432,652,0.421268776586,-0.0155536981485,0.0499728576021,0.999999987597,0.000154099021481,-2.44838119043e-05,2.14397349991e-05,1793240092610546688
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.645831746,745,715,679,662.645831746,636,880,788,805,652,631.645831746,652,0.422151045802,-0.0155581663253,0.0499960670745,0.999999987145,0.000157407783006,1.81519160525e-05,2.45540761689e-05,1793240092627213568
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.222139232,788,805,652,632,652.222139232,0.423014420208,-0.0155601501694,0.0500034562851,0.999999987278,0.000154227771972,3.12533781406e-05,2.60781698503e-05,1793240092643879936
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.802137814,788,805,652,632,652.802137814,0.423847355803,-0.0155581318319,0.0499853595524,0.999999989798,0.000140594552186,-3.22393097371e-06,2.5040425125e-05,1793240092660546304
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.611815462,635.611815462,880.611815462,788,804.611815462,652,631.611815462,653,0.424716249276,-0.0155578366148,0.0499826030663,0.999999989244,0.000144149511885,-8.89851891198e-06,2.55756638111e-05,1793240092677212928
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662.022637173,635.022637173,880.022637173,788,804.022637173,652,631.022637173,653,0.42560376093,-0.0155584335932,0.0499877894369,0.999999987375,0.000156604148548,3.40335570975e-07,2.69253601359e-05,1793240092693879552
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.443610447,745,715,678.443610447,662.556389553,635.556389553,880,788,804.556389553,652,631,653,0.426478300993,-0.0155620662106,0.0500034727677,0.999999985642,0.000166320093936,1.27824441268e-05,2.98207544977e-05,1793240092710546176
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.134616583,745,715,678.134616583,662.865383417,636,880,788,805,652,631.134616583,652.865383417,0.427335609492,-0.015563678375,0.0500068423028,0.999999984266,0.000174510358267,5.69352498054e-06,3.13286910462e-05,1793240092727213056
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.711548761,745,715,678.711548761,662.288451239,636,880,788,805,652,631.711548761,652.288451239,0.42813800245,-0.0155582533055,0.0499683737369,0.999999981578,0.000178047181504,-6.59898953531e-05,2.80748651891e-05,1793240092743879936
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679,662.287124112,635.712875888,880.287124112,788,805,652,631.712875888,652,0.428981818464,-0.0155568670894,0.0499531314309,0.999999981139,0.000172285823129,-8.55785012622e-05,2.67430231713e-05,1793240092760546560
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.861342741,635.138657259,880.861342741,788,805,652,631.138657259,652,0.429867053216,-0.0155595193107,0.0499611129931,0.999999985858,0.000157227241858,-5.30776583328e-05,2.733296716e-05,1793240092777213184
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.550581931,744.550581931,715,679,663,635.449418069,881,788,805,652,631,652,0.430725555215,-0.0155583404773,0.0499634055566,0.999999984852,0.000164213262143,-5.03828058283e-05,2.81209912435e-05,1793240092793879808
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.040796732,715,679,662.959203268,635.959203268,880.959203268,788,805,652,631.040796732,652.040796732,0.431572852308,-0.0155558637501,0.049962680616,0.999999982035,0.000178045081768,-5.8301210601e-05,2.8811581038e-05,1793240092810546688
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.617619125,715,679,662.382380875,635.382380875,880.382380875,788,805,652,631.617619125,652.617619125,0.432384742215,-0.0155523581142,0.0499461040795,0.999999978367,0.000189618144385,-8.09979378467e-05,2.73934836078e-05,1793240092827213312
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.193145546,745,715,679,662.193145546,635,880.193145546,788,805,652,632,653,0.433203453529,-0.0155496878444,0.0499427628127,0.999999976659,0.000197448103175,-8.33715841635e-05,2.72904286441e-05,1793240092843879936
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.766123461,745,715,679,662.766123461,635,880.766123461,788,805,652,632,653,0.434035579695,-0.0155486603716,0.0499654494996,0.999999978923,0.000197917024511,-4.57786695896e-05,2.97734837904e-05,1793240092860546560
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.659022178,745,715,679,662.659022178,635,880.659022178,788,805.340977822,652,632,653,0.434833103521,-0.015546239213,0.0499776434543,0.999999979415,0.000197828978919,-3.23671838233e-05,3.14057636321e-05,1793240092877212928
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.082873676,745,715,679,662.082873676,635,880.082873676,788,805.917126324,652,632,653,0.435606762238,-0.0155428568366,0.0499826006232,0.999999979364,0.000197356796162,-3.56335095588e-05,3.24512679183e-05,1793240092893879808
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.508298701,635,880,787.491701299,805.491701299,652,632,652.491701299,0.436356059466,-0.0155422866294,0.0499619546946,0.999999975546,0.000203039509628,-8.19918648769e-05,3.10027602532e-05,1793240092910546688
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.09927924,662.90072076,635,880,787.09927924,805,652,632,652.09927924,0.437109915283,-0.0155430350016,0.0499458574318,0.999999971296,0.000208237819621,-0.000114739300357,2.96522252946e-05,1793240092927213312
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.677166615,662.322833385,635,880,787.677166615,805,652,632,652.677166615,0.437905478448,-0.0155478623482,0.0499724253077,0.999999977181,0.000206115849863,-4.69691614072e-05,3.07939836652e-05,1793240092943879936
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.253867249,745.253867249,715,680,662.253867249,635,880.253867249,788,805,652,632,653,0.438659952135,-0.0155510212515,0.0499885278313,0.999999979299,0.000200649116651,-1.10902347732e-05,3.19120812665e-05,1793240092960546560
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.829065729,745.829065729,715,680,662.829065729,635,880.829065729,788,805,652,632,653,0.439362416955,-0.0155520683305,0.0499913838846,0.999999981103,0.000190948766511,-1.55774596654e-05,3.30002304157e-05,1793240092977213184
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.60366968,745.60366968,715,679.60366968,663,635,881,788,805,652,632,652.60366968,0.440009865018,-0.0155502521193,0.0499723052621,0.999999981167,0.00018638031925,-4.40029931451e-05,3.14869723257e-05,1793240092993879808
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.039759712,745.039759712,715,679.039759712,663,635,881,788,805,652,632,652.039759712,0.440634050503,-0.0155472252284,0.0499439520398,0.999999979251,0.000183981784346,-8.25503196363e-05,2.88737658672e-05,1793240093010546432
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.443775442,635,881,787.443775442,805.556224558,652,631.443775442,652.556224558,0.441277481809,-0.0155543488004,0.0499380483884,0.999999977801,0.000186768093822,-9.2702073256e-05,3.03717430393e-05,1793240093027213056
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,881,787,806,652,631,653,0.441908835304,-0.0155616773856,0.0499333924158,0.999999976426,0.000189880906526,-0.000100359339224,3.19706594254e-05,1793240093043879936
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,881,787,806,652,631,653,0.442501339787,-0.0155673847193,0.0499274300231,0.999999975142,0.00019280203537,-0.000107039401214,3.29643080746e-05,1793240093060546816
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.279034206,662,634.720965794,880.720965794,787,805.720965794,652,631,653,0.443053359247,-0.0155707522917,0.0499096943642,0.99999997113,0.000195638513842,-0.000135660877486,3.25881396637e-05,1793240093077213440
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.87870608,662,634.12129392,880.12129392,787,805.12129392,652,631,653,0.443558857409,-0.0155714312485,0.0498784300683,0.9999999619,0.000198377720151,-0.000189495189871,3.06379169861e-05,1793240093093879808
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.530801878,680,662,634,880,787,805.469198122,651.530801878,631,652.530801878,0.444021506268,-0.0155741520267,0.0498362037077,0.999999945577,0.000201108984247,-0.000259966044793,2.86090144831e-05,1793240093110546432
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.151547198,661,633,880,785,805,651.151547198,631,652.848452802,0.448192333851,-0.0156400413499,0.0496785554099,0.99999989106,4.31241543393e-06,-0.000466747532145,-2.85672293381e-06,1793240093293879552
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,633,880,785.436652084,805,651.436652084,630.563347916,653,0.448453683206,-0.0156455653448,0.0496888905397,0.999999897746,7.67432627151e-06,-0.000452159850817,7.12911966888e-08,1793240093310546176
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.029097227,661,633,880,786,805.029097227,652,630,653,0.448701929987,-0.0156502106197,0.0496995609071,0.999999903385,1.15462503014e-05,-0.000439417600017,2.96555161235e-06,1793240093327212800
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.605203031,661,633,880,786,805.605203031,652,630,653,0.448910951652,-0.0156541854917,0.0497007053722,0.999999903268,1.40336394289e-05,-0.000439592781719,5.10045374669e-06,1793240093343879424
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.818984449,661,633,880.181015551,785.818984449,805.818984449,652,630,652.818984449,0.449109883343,-0.0156581483717,0.0496998150799,0.999999901985,1.66668418668e-05,-0.000442377994987,7.37149358655e-06,1793240093360546048
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.243810624,661,633,880.756189376,785.243810624,805.243810624,652,630,652.243810624,0.449286844258,-0.0156620851389,0.0496944941378,0.999999898127,1.96175499757e-05,-0.000450846507445,9.93897067926e-06,1793240093377212928
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.331165634,661,633,881,785,805.331165634,652,630,652,0.449444177686,-0.0156741124954,0.0496891356872,0.999999894529,1.32336828948e-05,-0.000458846008338,1.50818467717e-05,1793240093393879808
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.905996586,661,633,881,785,805.905996586,652,630,652,0.449587069605,-0.0156920927526,0.0496837496379,0.999999890944,-1.83851294135e-08,-0.000466500420327,2.2119652278e-05,1793240093410546176
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.503982954,745.496017046,715.496017046,680,660.503982954,632.503982954,881,785,805.503982954,652,630,652,0.449711549035,-0.0157080077534,0.0496875244708,0.999999892301,-1.47329929218e-05,-0.000463157442614,2.57951481889e-05,1793240093427213056
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.086199024,746,715.913800976,679.913800976,660,632,881,785,805,652,630,652,0.449829623937,-0.0157201353542,0.0496929186951,0.999999894726,-2.60975939006e-05,-0.000457237824157,2.82787610901e-05,1793240093443879680
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.660481086,746,715.339518914,679.339518914,660,632,881,785,805,652,630,652,0.449931817186,-0.0157131038684,0.0496973413188,0.999999898716,-1.68744988922e-05,-0.000448902597236,2.77356594259e-05,1793240093460546560
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715.235446975,679,660.470893949,632,881,785,805.235446975,652,630,652,0.450023517077,-0.0157091989517,0.049700199236,0.999999900822,-1.31133137077e-05,-0.000444332793583,2.74202624261e-05,1793240093477213184
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715.811401791,679,661.622803582,632,881,785,805.811401791,652,630,652,0.450100041272,-0.0157098157384,0.0497007942452,0.99999990037,-1.72512457569e-05,-0.000445208616427,2.74341762304e-05,1793240093493880064
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.601648453,715.601648453,679,661.601648453,632,881,785,806,651.601648453,630,652.398351547,0.45015980565,-0.0157147827731,0.0497002638505,0.999999898891,-2.24310425384e-05,-0.000448238025485,2.82505110446e-05,1793240093510546432
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.00934544,715.00934544,679,661.00934544,632,881,785,806,651.00934544,630,652.99065456,0.45021140992,-0.0157218678791,0.0496991855132,0.999999896876,-2.81181076983e-05,-0.000452315983716,2.94575327568e-05,1793240093527213056
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.57047432,715.57047432,679.57047432,661,632,880.42952568,785,806,651,630,653,0.450250294907,-0.0157200168061,0.0496998975883,0.999999897223,-2.66767908908e-05,-0.000451646950882,2.92774869727e-05,1793240093543879936
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.850894309,745.850894309,715.850894309,680,660.850894309,632,880,785,806,651.149105691,630,653,0.450285485888,-0.0157188863901,0.0497000595954,0.999999897133,-2.61520034998e-05,-0.000451883808083,2.91654736297e-05,1793240093560546304
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.275091182,745.275091182,715.275091182,680,660.275091182,632,880,785,806,651.724908818,630,653,0.450310689197,-0.0157202282452,0.0496985653295,0.999999895681,-2.85770828985e-05,-0.000454930835636,2.93117830822e-05,1793240093577212928
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.29946659,632,880,785,806,652.29946659,630,653,0.450332833558,-0.0157199748484,0.049697923519,0.999999895395,-2.88817482904e-05,-0.000455539038927,2.93228096121e-05,1793240093593879808
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.872885178,632,880,785,806,652.872885178,630,653,0.450352179596,-0.0157182621154,0.0496980615346,0.999999896182,-2.72466595014e-05,-0.000453916206447,2.92100793588e-05,1793240093610546688
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,632,880,785,805.538999727,652.538999727,630,652.538999727,0.450363603608,-0.0157174833956,0.0496989124908,0.999999896513,-2.69999184563e-05,-0.000453215126934,2.90123002501e-05,1793240093627213824
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.052097862,745,715,680,661,632,880,785,805.052097862,651.947902138,630,652,0.450372315222,-0.0157170451371,0.0496998377143,0.999999896604,-2.74061204808e-05,-0.000453000580379,2.8822013645e-05,1793240093643881216
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.63102746,745,715,680,661,632,880,785,805.63102746,651.36897254,630,652,0.450376414884,-0.0157173596276,0.0496994605683,0.999999895582,-3.04164371076e-05,-0.000455051221871,2.89524486045e-05,1793240093660547328
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,632,880,785,805.791993553,651.208006447,629.791993553,652,0.450379794883,-0.0157174952652,0.0496989304452,0.999999894841,-3.24151662218e-05,-0.00045654357116,2.89048596084e-05,1793240093677213184
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,632,880,785,805.218442552,651.781557448,629.218442552,652,0.450381910164,-0.0157173165918,0.0496981314849,0.999999894611,-3.26361603132e-05,-0.000457054793648,2.85444164179e-05,1793240093693879552
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,632,880,785,805,652,629,652,0.450383179126,-0.0157138479024,0.0496965018369,0.999999893089,-3.22867447247e-05,-0.000460467329247,2.73905148316e-05,1793240093727213312
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.482181256,661,632,880.517818744,785,806.035637488,652,629.517818744,652.517818744,0.450381598996,-0.0157144579265,0.0496942669507,0.999999891747,-3.31380849175e-05,-0.000463299686891,2.75828565146e-05,1793240093743879936
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.110664116,715,679,661,632,880.889335884,785,806.889335884,652,630,652.889335884,0.450380614399,-0.0157149758944,0.0496925148914,0.999999890817,-3.3279509179e-05,-0.000465279795806,2.78169084538e-05,1793240093760546304
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.687958531,715,679,661,632,880.312041469,785,806.312041469,652,630,652.312041469,0.450383337206,-0.015713368451,0.0496937065763,0.999999891933,-2.9710139911e-05,-0.000463124662464,2.77010936538e-05,1793240093777213440
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.735236084,715.264763916,679,661,632,880.264763916,785,806,652,630,652,0.450385215002,-0.0157122691262,0.04969477743,0.999999892585,-2.82490661611e-05,-0.000461808900547,2.76618569234e-05,1793240093793880576
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.159005917,715.840994083,679,661,632,880.840994083,785,806,652,630,652,0.450386098736,-0.0157117675478,0.049695706139,0.999999892706,-2.92681747204e-05,-0.000461480568499,2.77127060356e-05,1793240093810546944
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.426627281,716,679.426627281,660.573372719,632,881,785,805.573372719,652,630,652,0.450386599688,-0.0157113616851,0.0496957829414,0.999999892682,-3.05717546863e-05,-0.000461459479857,2.74869973159e-05,1793240093827213312
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715.984409696,680,660,632,881,785,805.015590304,652,630,652,0.450386899915,-0.0157110106387,0.0496954810774,0.999999892572,-3.19679791772e-05,-0.000461623789468,2.71554351149e-05,1793240093843879936
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715.404626779,680,660,632,881,785,805.595373221,652,630,652,0.450385215298,-0.0157113232428,0.0496932249877,0.999999891334,-3.27935573944e-05,-0.000464260021744,2.68073655065e-05,1793240093860546304
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715.171885731,679.828114269,660.171885731,632,880.828114269,785,805.828114269,652,630,652,0.450384589954,-0.0157114108341,0.0496920035657,0.999999890768,-3.31436575744e-05,-0.000465462269255,2.66612552897e-05,1793240093877213184
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715.740843268,679.259156732,660.740843268,632,880.259156732,785,805.259156732,652,630,652,0.450386411625,-0.0157109786249,0.0496931723212,0.999999891764,-3.23953598279e-05,-0.000463351880282,2.69816898127e-05,1793240093893880064
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.68481781,715.68481781,679,660.68481781,632,880,785,805,651.68481781,630,652,0.450387123193,-0.0157110330264,0.049693826502,0.999999892101,-3.28124366957e-05,-0.00046258270842,2.71884205787e-05,1793240093910546944
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.105977243,715.105977243,679,660.105977243,632,880,785,805,651.105977243,630,652,0.45038690613,-0.0157114944909,0.0496940502272,0.999999891888,-3.42043808009e-05,-0.000462935500839,2.73000350786e-05,1793240093927213824
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.483983662,715,679,660.483983662,632,880.483983662,784.516016338,805.483983662,651.483983662,630,652,0.450387619616,-0.0157097518443,0.0496944159519,0.999999891988,-3.17714976003e-05,-0.000462911754962,2.69628511606e-05,1793240093943880192
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.230387661,745,715,680,661,632,880.769612339,785,805.230387661,652,630,652.769612339,0.450388648396,-0.0157102429577,0.0496949717542,0.999999892188,-3.13572666892e-05,-0.000462481637543,2.74062875088e-05,1793240093993879808
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.803564795,745,715,680,661,632,880.196435205,785,805.803564795,652,630,652.196435205,0.450388025988,-0.0157091147925,0.0496935469057,0.999999891381,-3.09770324586e-05,-0.000464265198205,2.71193615845e-05,1793240094010546432
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765.021343997,745.978656003,715,680,661,632,880,784.021343997,805.021343997,651.021343997,629.021343997,652,0.450387391882,-0.0157087038766,0.0496928490104,0.999999890962,-3.3656675209e-05,-0.000465015372596,2.65372736893e-05,1793240094043879680
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+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.135701155,715,679,660.135701155,632,880.864298845,785,806,652,630,652.135701155,0.450390222696,-0.015705922273,0.0496951486548,0.999999892255,-3.04872105398e-05,-0.000462451114984,2.64443630263e-05,1793240094077213696
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+260,4.333333333,HOLD_POSE2,766,745.48106167,716,680,660.51893833,631.48106167,880.48106167,784.51893833,805.51893833,652,629,653,0.450390506636,-0.015708238754,0.049693709796,0.999999891517,-3.59336124203e-05,-0.000463650137238,2.65189049295e-05,1793240094231154176
+261,4.350000000,HOLD_POSE2,766,746,715.941096102,679.941096102,660,632,881,784.058903898,805,652,629.058903898,652.941096102,0.45038972286,-0.0157094883751,0.0496936694983,0.99999989094,-3.75230250713e-05,-0.000464750934833,2.68215632721e-05,1793240094247820544
+262,4.366666667,HOLD_POSE2,766,746,715.348375042,679.348375042,660,632,881,784.651624958,805,652,629.651624958,652.348375042,0.450390362486,-0.0157065369899,0.049693492059,0.999999891113,-3.34548563313e-05,-0.000464733271416,2.60368291242e-05,1793240094264487168
+263,4.383333333,HOLD_POSE2,766,745.76187732,715,679,660,632,881,785,805.23812268,651.76187732,629.76187732,652,0.450390658081,-0.0157057331096,0.0496935107444,0.999999891202,-3.23450722181e-05,-0.000464631482943,2.58150498352e-05,1793240094281154048
+264,4.400000000,HOLD_POSE2,766,745.184252539,715,679,660,632,881,785,805.815747461,651.184252539,629.184252539,652,0.450390463174,-0.0157079910228,0.0496938090535,0.999999891185,-3.54531890454e-05,-0.000464409753641,2.63959004038e-05,1793240094297820416
+265,4.416666667,HOLD_POSE2,765.608584532,745,715.391415468,679,660,631.608584532,881,784.608584532,806,651.391415468,629.391415468,652,0.450389805204,-0.0157086670065,0.0496936146771,0.999999890901,-3.6648450884e-05,-0.000464916816417,2.66024806576e-05,1793240094314487040
+266,4.433333333,HOLD_POSE2,765.033833012,745,715.966166988,679,660,631.033833012,881,784.033833012,806,651.966166988,629.966166988,652,0.45038893034,-0.0157086020265,0.0496931895307,0.999999890494,-3.69477461495e-05,-0.000465765239886,2.66337555706e-05,1793240094331153664
+267,4.450000000,HOLD_POSE2,765.555591759,745,715.444408241,679,660,631,881,784,805.444408241,652,630,652,0.450391416576,-0.015708692767,0.0496943718734,0.999999891498,-3.56233259937e-05,-0.000463702452345,2.67479298368e-05,1793240094347820544
+268,4.466666667,HOLD_POSE2,766,745,715,679.143228555,660.143228555,631,881,784.143228555,805,652,630,652,0.450393011827,-0.0157087165235,0.0496952900684,0.999999892198,-3.50431802947e-05,-0.000462235525192,2.67392927902e-05,1793240094364486912
+269,4.483333333,HOLD_POSE2,766,745,715,679.722625776,660.722625776,631,881,784.722625776,805,652,630,652,0.450391253597,-0.0157085066357,0.0496950976811,0.999999891719,-3.70388200956e-05,-0.000463137656712,2.63408728868e-05,1793240094381153792
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,716,680,661,632,880,784,805,652,630,652,0.450392883681,-0.0157083785433,0.0496951048618,0.99999989222,-3.73999562138e-05,-0.000462006588189,2.66564845845e-05,1793240094418297088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.57574236,745.42425764,716,679.42425764,660.42425764,632,881.151484721,784.57574236,805,652,629.42425764,652.57574236,0.450392727408,-0.0157089626604,0.0496949882462,0.999999892053,-3.8341790594e-05,-0.000462309624626,2.63517015572e-05,1793240094434963712
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.155911052,716,679,660,632,881.844088948,785,805.155911052,652,629.155911052,652.844088948,0.450392555519,-0.0157086184434,0.0496948838543,0.999999891915,-3.84166533681e-05,-0.000462623455437,2.59744422877e-05,1793240094451630080
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.748476541,716,679,660,632,881.251523459,785,805.748476541,652,629.748476541,652.251523459,0.450392339893,-0.0157056742745,0.0496948136966,0.999999891858,-3.60634203833e-05,-0.000462967517725,2.53942013623e-05,1793240094468296704
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.666828374,715.666828374,679,660.333171626,632,880.666828374,785,806,651.666828374,629.666828374,652,0.450391993602,-0.0157055100238,0.0496940806231,0.999999891682,-3.62862528902e-05,-0.000463325980754,2.54483092416e-05,1793240094484963328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.087937861,715.087937861,679,660.912062139,632,880.087937861,785,806,651.087937861,629.087937861,652,0.450391550943,-0.0157073960029,0.0496928586396,0.999999891419,-3.84089710536e-05,-0.000463695064517,2.59702585635e-05,1793240094501629696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.51178756,745,715.48821244,679.48821244,660.51178756,632,880,784.51178756,806,651.48821244,629,652,0.450391772698,-0.0157065598396,0.049693399262,0.999999891523,-3.68669372304e-05,-0.000463596873907,2.59466848862e-05,1793240094518296832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.065268029,745,716,679.934731971,660.065268029,632,880,784,805.934731971,652,629,652,0.450391748339,-0.0157054986607,0.0496940307836,0.999999891577,-3.50966729924e-05,-0.000463622775306,2.58613313052e-05,1793240094534964224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.653510241,745,716,679.346489759,660.653510241,632,880,784,805.346489759,652,629,652,0.450388798363,-0.0157065413461,0.0496928609418,0.999999890726,-3.67573589694e-05,-0.000465313628501,2.60638940147e-05,1793240094551630592
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.181693021,745,715.181693021,679,660.181693021,632,880,784,805,652,629.818306979,652.818306979,0.450368377792,-0.0157044957897,0.049684206531,0.999999882838,-3.67378923105e-05,-0.0004820168066,2.51882977219e-05,1793240094584963584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.394985978,745,715,679,660,631.605014022,880,784,805,651.605014022,630,653,0.450337395121,-0.0157027509902,0.0496715409059,0.999999871758,-3.56210154301e-05,-0.000504613263507,2.41024334834e-05,1793240094601630464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.970168756,745,715,679,660,631.029831244,880,784,805,651.029831244,630,653,0.45029831859,-0.0157010701637,0.0496556725239,0.999999857404,-3.43171788127e-05,-0.000532439845541,2.28428711138e-05,1793240094618297088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.542075226,660.542075226,631.542075226,880.542075226,784.542075226,805,651.542075226,629.457924774,653,0.450236822306,-0.0156973914619,0.049636435862,0.99999983818,-3.2374444297e-05,-0.000567594201541,2.07020138835e-05,1793240094634963456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.117864231,715,680,660.882135769,631.882135769,880.882135769,784.882135769,805,652,629,652.882135769,0.450172351817,-0.0156931259937,0.0496187397251,0.999999820307,-3.05354515322e-05,-0.000598420654044,1.85833144829e-05,1793240094651630080
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.703962727,660,631.296037273,880,784.296037273,805,652,629,652,0.450022834712,-0.0156819661385,0.0496028711898,0.999999811125,-2.71394684466e-05,-0.000613806948597,1.59530109672e-05,1793240094684963840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.123771359,660,631.876228641,880,784.876228641,805,652,629,652,0.449938572315,-0.0156781580611,0.049603175301,0.999999813823,-2.42237576807e-05,-0.000609513062012,1.61573026822e-05,1793240094701630208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715.452420445,679,660.452420445,632,880,785,805,652,629,652,0.449833277347,-0.0156722943943,0.0496045969196,0.99999981474,-2.07964422718e-05,-0.000608146917064,1.5651498269e-05,1793240094718296832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.971865192,716,679.028134808,660.971865192,632,880.028134808,785,805.028134808,651.971865192,629.028134808,652.028134808,0.449720938777,-0.0156656951256,0.0496061399499,0.999999815034,-1.72162169253e-05,-0.000607793481319,1.49284657264e-05,1793240094734963456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.384073165,716,679.615926835,660.384073165,632,880.615926835,785,805.615926835,651.384073165,629.615926835,652.615926835,0.449581944547,-0.0156555517007,0.0496040699494,0.999999812672,-1.33540479075e-05,-0.000611791779542,1.37147926895e-05,1793240094751630080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.200891668,715.799108332,680,660.200891668,632,881,785,806,651.200891668,630,652.799108332,0.449430995025,-0.0156453504931,0.0496013660211,0.999999810231,-8.93169756795e-06,-0.000615876904486,1.24208779029e-05,1793240094768296704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.780526301,715.219473699,680,660.780526301,632,881,785,806,651.780526301,630,652.219473699,0.449257506094,-0.0156350403486,0.049597466943,0.999999807656,-3.45323251487e-06,-0.000620125724223,1.09756827226e-05,1793240094784963584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.641846307,746,715.358153693,679.641846307,660.641846307,632,881,785,805.641846307,652,630,652,0.449059334731,-0.0156233831321,0.0495931607994,0.999999802358,1.22675828676e-06,-0.000628643274508,9.53325168815e-06,1793240094801630464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.065442024,746,715.934557976,679.065442024,660.065442024,632,881,785,805.065442024,652,630,652,0.448846122448,-0.0156109050401,0.0495886065992,0.999999795305,5.42017784873e-06,-0.000639762090953,8.09250491979e-06,1793240094818297344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.511449424,745.488550576,716,679,660.511449424,632,881,785,805.511449424,652,630,652.511449424,0.448605385602,-0.0155965456302,0.0495889241544,0.999999793951,1.22466303488e-05,-0.000641796754827,6.73157129122e-06,1793240094834963712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.090309135,715.909690865,679.090309135,661,632.090309135,880.909690865,785,805.909690865,652,630,653,0.4483574884,-0.0155817001963,0.0495900158432,0.999999794015,1.92641345538e-05,-0.000641538801124,5.22291446669e-06,1793240094851630080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.679701648,715.320298352,679.679701648,661,632.679701648,880.320298352,785,805.320298352,652,630,653,0.448089502022,-0.0155655003926,0.049591937477,0.999999798033,2.5473812119e-05,-0.000635040697112,2.84138974799e-06,1793240094868296704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.735794423,715,679.735794423,661,633,880.264205577,785,805,652,630,652.735794423,0.447798410078,-0.0155509660578,0.0495918215741,0.999999800231,2.85846647502e-05,-0.000631443924068,2.80763130648e-07,1793240094884963328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.157109329,715,679.157109329,661,633,880.842890671,785,805,652,630,652.157109329,0.447479815979,-0.015538414104,0.0495892804251,0.999999800334,2.80070370688e-05,-0.000631300557613,-2.49304536413e-06,1793240094901629952
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.993246489,660.006753511,633,881,785.993246489,805.993246489,652,630.993246489,652.993246489,0.446773608967,-0.015526808631,0.049589502966,0.999999801219,1.19087966536e-05,-0.000630355982789,-8.50124691642e-06,1793240094934963456
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.261282485,680,661.738717515,633.738717515,880.261282485,786,805.738717515,651.738717515,631,653,0.445563181966,-0.0155203274702,0.0496276793488,0.999999838787,-1.81851215389e-05,-0.000567413748153,-1.16986637149e-05,1793240094984963584
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.436277771,635,881,787.563722229,805.563722229,652,631.436277771,652.436277771,0.436248064451,-0.0154260410327,0.0497988164055,0.99999994412,-7.61040535759e-05,-0.000322464054643,-4.45568674304e-05,1793240095234963200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.992518481,635,881,787,805,652,632,652.992518481,0.435494819878,-0.0154247642702,0.049833079957,0.999999957887,-9.75016048709e-05,-0.000269672193289,-4.46739140321e-05,1793240095251630080
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.994953873,745,715,679,662.005046127,635,879.994953873,788,804,652,631,652.005046127,0.409897224083,-0.0153985735838,0.0498160529584,0.999999944818,-9.09585570563e-05,-0.000315980126944,-4.74012835652e-05,1793240095768296960
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3c0e8792ba3559e5cb0024bee63f2658fa8f6fb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.57566860483,-0.00990927509305,1.04003238151,0.546239068972,-0.00123752937328,1.03970050947
+391,6.516666667,pose2_to_pose3_retreat,0.575667829827,-0.00990929762673,1.04003237807,0.546238293643,-0.00123755299745,1.03970050594
+392,6.533333333,pose2_to_pose3_retreat,0.575667231158,-0.00990931503339,1.04003237541,0.546237694723,-0.00123757124648,1.03970050321
+393,6.550000000,pose2_to_pose3_retreat,0.575667044083,-0.0099093169336,1.04003237168,0.546237507521,-0.00123757355362,1.03970049967
+394,6.566666667,pose2_to_pose3_retreat,0.575667000275,-0.00990931343683,1.04003236759,0.54623746363,-0.00123757031221,1.03970049585
+395,6.583333333,pose2_to_pose3_retreat,0.575666784324,-0.00990929619956,1.04003234742,0.546237247267,-0.00123755433372,1.03970047702
+396,6.600000000,pose2_to_pose3_retreat,0.575666613883,-0.00990928259487,1.0400323315,0.5462370765,-0.00123754172254,1.03970046215
+397,6.616666667,pose2_to_pose3_retreat,0.575666452445,-0.00990926970889,1.04003231642,0.546236914755,-0.00123752977758,1.03970044808
+398,6.633333333,pose2_to_pose3_retreat,0.575666307044,-0.00990925810294,1.04003230284,0.546236769077,-0.00123751901917,1.0397004354
+399,6.650000000,pose2_to_pose3_retreat,0.575666174728,-0.00990924754143,1.04003229048,0.546236636508,-0.00123750922893,1.03970042386
+400,6.666666667,pose2_to_pose3_retreat,0.575665848187,-0.00990922147685,1.04003225998,0.546236309345,-0.00123748506776,1.03970039538
+401,6.683333333,pose2_to_pose3_retreat,0.575665580215,-0.00990920008724,1.04003223495,0.546236040862,-0.00123746524016,1.03970037201
+402,6.700000000,pose2_to_pose3_retreat,0.575665535757,-0.00990919653855,1.0400322308,0.546235996319,-0.00123746195062,1.03970036813
+403,6.716666667,pose2_to_pose3_retreat,0.57566534133,-0.00990918101931,1.04003221264,0.546235801521,-0.0012374475647,1.03970035118
+404,6.733333333,pose2_to_pose3_retreat,0.575665074622,-0.00990919032037,1.04003221058,0.546235535661,-0.00123745405378,1.03970034998
+405,6.750000000,pose2_to_pose3_retreat,0.575664899797,-0.00990919802326,1.04003221042,0.546235361462,-0.00123745968416,1.03970035035
+406,6.766666667,pose2_to_pose3_retreat,0.575664820817,-0.00990920150314,1.04003221035,0.546235282765,-0.00123746222777,1.03970035052
+407,6.783333333,pose2_to_pose3_retreat,0.575664810023,-0.00990920197872,1.04003221034,0.54623527201,-0.00123746257539,1.03970035054
+408,6.800000000,pose2_to_pose3_retreat,0.575664739224,-0.00990920509817,1.04003221028,0.546235201464,-0.00123746485553,1.03970035069
+409,6.816666667,pose2_to_pose3_retreat,0.575664638796,-0.00990920952306,1.04003221019,0.546235101396,-0.00123746808988,1.0397003509
+410,6.833333333,pose2_to_pose3_retreat,0.575664520842,-0.00990921472017,1.04003221009,0.546234983865,-0.00123747188868,1.03970035115
+411,6.850000000,pose2_to_pose3_retreat,0.575664525752,-0.00990920824648,1.04003223681,0.546234988673,-0.00123746588104,1.03970037189
+412,6.866666667,pose2_to_pose3_retreat,0.575664537292,-0.00990920201574,1.04003226125,0.546235000095,-0.00123746016008,1.03970039084
+413,6.883333333,pose2_to_pose3_retreat,0.575664517561,-0.00990919176822,1.04003226274,0.546234980034,-0.00123745097282,1.0397003917
+414,6.900000000,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234887181,-0.00123743258967,1.03970035285
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72f4217b808d700443b37df6f1cb19e953fa9735
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77f96108e06824638f5c4343c47b65f6cf47abfa853af978ee6de40961b96e3
+size 26416226
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ebea638fbcce279805f464356178bedf815adc9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+42,0.700000000,BASELINE,766.373932802,745,715,678.626067198,662.373932802,635.626067198,879,788,804,652,631,652,0.400989060884,-0.0154409616444,0.049859340655,0.999999964299,-7.43563786007e-05,-0.000254535028246,-3.29526205688e-05,1793240097674206720
+43,0.716666667,BASELINE,766.956406233,745,715,678.043593767,662.956406233,635.043593767,879,788,804,652,631,652,0.400989894701,-0.0154408654303,0.0498599013159,0.99999996448,-7.47550017927e-05,-0.000253698591832,-3.2981562742e-05,1793240097690873344
+44,0.733333333,BASELINE,766.470683839,744.470683839,715,678.529316161,663,635.529316161,879.529316161,788,804,652,631,652,0.400989982468,-0.0154417014431,0.0498601922281,0.999999964649,-7.58200910523e-05,-0.000252736770953,-3.2837386286e-05,1793240097707540224
+45,0.750000000,BASELINE,766,744.10417061,715,679,662.89582939,635.89582939,879.89582939,788,804,652,631,652.10417061,0.400989950389,-0.0154420662681,0.0498603656453,0.99999996478,-7.62920425871e-05,-0.000252088801094,-3.27308927393e-05,1793240097724207104
+46,0.766666667,BASELINE,766,744.691635756,715,679,662.308364244,635.308364244,879.308364244,788,804,652,631,652.691635756,0.400989642294,-0.015439895158,0.0498600951917,0.999999964749,-7.3762023188e-05,-0.000252943987285,-3.2864201806e-05,1793240097740873984
+47,0.783333333,BASELINE,766,745,715,679,662.275437953,635.275437953,879,788,804.275437953,652,631.275437953,652.724562047,0.400989939527,-0.0154389798824,0.049860222127,0.99999996475,-7.29592784566e-05,-0.000253154605756,-3.30187672874e-05,1793240097757540608
+48,0.800000000,BASELINE,766,745,715,679,662.85519322,635.85519322,879,788,804.85519322,652,631.85519322,652.14480678,0.400990905556,-0.0154394521137,0.0498607881171,0.999999964789,-7.40649108835e-05,-0.000252653074416,-3.31968179116e-05,1793240097774207232
+49,0.816666667,BASELINE,766,745,715,678.566312082,662.566312082,636,879,788,805,652.433687918,631.566312082,652.433687918,0.40099101506,-0.0154395251162,0.0498608120873,0.999999964863,-7.47613577071e-05,-0.000252157941642,-3.31789106896e-05,1793240097790873856
+50,0.833333333,BASELINE,766,745,715,678.011697792,662,636,879,788,804.988302208,652.988302208,631,653,0.400990828988,-0.0154394558713,0.0498606484054,0.999999964943,-7.52927642906e-05,-0.000251692900504,-3.30995733503e-05,1793240097807540480
+51,0.850000000,BASELINE,766,745,715,678.586573098,662,636,879,788,804.413426902,652.413426902,631,653,0.400990141464,-0.0154389373144,0.0498601381661,0.999999964781,-7.4437114608e-05,-0.000252574027729,-3.320365684e-05,1793240097824207104
+52,0.866666667,BASELINE,766,745,715,679,662,635.834480141,879.165519859,788,804,652,631,652.834480141,0.400989455729,-0.0154385466778,0.0498595639813,0.999999964608,-7.34981855127e-05,-0.000253521744504,-3.33051212868e-05,1793240097840873728
+53,0.883333333,BASELINE,766,745,715,679,662,635.245107485,879.754892515,788,804,652,631,652.245107485,0.400988774576,-0.0154384836117,0.0498588260491,0.999999964404,-7.23459998118e-05,-0.000254639979538,-3.3399879048e-05,1793240097857540608
+54,0.900000000,BASELINE,766,745.338481482,715,678.661518518,662.338481482,635,879.661518518,788,804,652,631,652.338481482,0.40098915625,-0.0154384324476,0.0498590600433,0.999999964543,-7.21930927522e-05,-0.000254141238501,-3.33723038854e-05,1793240097874207232
+55,0.916666667,BASELINE,766,745.917952594,715,678.082047406,662.917952594,635,879.082047406,788,804,652,631,652.917952594,0.400990294627,-0.0154383897574,0.0498599860229,0.999999964925,-7.27516450177e-05,-0.00025249125433,-3.32576309966e-05,1793240097890873856
+56,0.933333333,BASELINE,766,746,715,678.494531503,663,635.494531503,879.494531503,788,804,652,631.494531503,652.505468497,0.400990321997,-0.0154405993747,0.0498603180816,0.999999964767,-7.46708110806e-05,-0.000252616717923,-3.27878026052e-05,1793240097907540480
+57,0.950000000,BASELINE,766.069757563,745.930242437,715,679,663,636,879.930242437,788,804,652.069757563,631.930242437,652,0.400989943346,-0.0154426101272,0.0498602840752,0.999999964511,-7.62412907022e-05,-0.000253213561972,-3.23868094533e-05,1793240097924207104
+58,0.966666667,BASELINE,766.638715949,745.361284051,715,679,663,636,879.361284051,788,804,652.638715949,631.361284051,652,0.400987970544,-0.0154405391747,0.0498583314777,0.999999964207,-7.37104473039e-05,-0.000255088004908,-3.28976359994e-05,1793240097940873728
+59,0.983333333,BASELINE,767,745,715,679,662.783193866,635.783193866,879,788,804,652.783193866,631.216806134,652.216806134,0.400987460903,-0.015439256607,0.0498577235885,0.999999964181,-7.26204749867e-05,-0.000255458001467,-3.32339933002e-05,1793240097957540352
+60,1.000000000,BASELINE,767,745,715,679,662.189217301,635.189217301,879,788,804,652.189217301,631.810782699,652.810782699,0.400989496674,-0.0154393455655,0.0498594550435,0.999999964648,-7.40371378157e-05,-0.000253210762945,-3.32668323344e-05,1793240097974206976
+61,1.016666667,BASELINE,766.605557446,745,715,679,662.394442554,635.394442554,879,788,804,652,631.605557446,652.605557446,0.400989846718,-0.0154396537291,0.0498598790859,0.999999964787,-7.39970707392e-05,-0.000252672883438,-3.32566697101e-05,1793240097990873600
+62,1.033333333,BASELINE,766.026720492,745,715,679,662.973279508,635.973279508,879,788,804,652,631.026720492,652.026720492,0.400989408717,-0.0154400643669,0.0498596919376,0.999999964775,-7.32760100231e-05,-0.000252934096931,-3.32264046257e-05,1793240098007540224
+63,1.050000000,BASELINE,766,745,715,679,663,636,879,788,804,652,631.549800691,652,0.400989478818,-0.0154396014868,0.049859980313,0.999999964772,-7.33292062953e-05,-0.000252934708197,-3.32214500448e-05,1793240098024207104
+64,1.066666667,BASELINE,766,745,715,679,663,635.871439715,879,788,804,652,631.871439715,652.128560285,0.400989877308,-0.0154393914866,0.0498603738018,0.999999964838,-7.36409682686e-05,-0.000252585551675,-3.31972669234e-05,1793240098040873984
+65,1.083333333,BASELINE,766,745,715,679,663,635.2842958,879,788,804,652,631.2842958,652.7157042,0.40099135947,-0.015440234326,0.0498610601462,0.99999996515,-7.47413895607e-05,-0.000251033737431,-3.31001247931e-05,1793240098057540608
+66,1.100000000,BASELINE,766,745,715,678.701179951,663,635,879,788,804,652,631,652.701179951,0.400991775827,-0.0154399191403,0.0498613745529,0.999999965357,-7.38271431725e-05,-0.000250492129976,-3.30138606492e-05,1793240098074206976
+67,1.116666667,BASELINE,766,745,715,678.121845445,663,635,879,788,804,652,631,652.121845445,0.400991191671,-0.0154385168697,0.0498613398066,0.99999996546,-7.10216467416e-05,-0.000250898844549,-3.29378081166e-05,1793240098090873600
+68,1.133333333,BASELINE,766,745,715,678,663,635.456054503,879,788,804,652.456054503,631.456054503,652.456054503,0.400990473242,-0.0154391012385,0.0498603094935,0.999999965009,-7.28968869509e-05,-0.000252127170156,-3.31761061765e-05,1793240098107539968
+69,1.150000000,BASELINE,766.033479101,745,715,678.033479101,663,635.966520899,879,788,804,652.966520899,631.966520899,653,0.400989786632,-0.0154400945059,0.0498590891102,0.999999964448,-7.57001303994e-05,-0.000253483046046,-3.34636564673e-05,1793240098124206848
+70,1.166666667,BASELINE,766.60939172,745,715,678.60939172,663,635.39060828,879,788,804,652.39060828,631.39060828,653,0.400990194974,-0.0154391400561,0.0498590852567,0.999999964664,-7.33406878242e-05,-0.000253360090334,-3.3192711668e-05,1793240098140873472
+71,1.183333333,BASELINE,766.810598195,745,715,678.810598195,663,635.189401805,879,787.810598195,804,652,631,652.810598195,0.400990756982,-0.0154390887243,0.0498594997446,0.999999964891,-7.25272503927e-05,-0.000252736452898,-3.29025223836e-05,1793240098157540352
+72,1.200000000,BASELINE,766.221950836,745,715,678.221950836,663,635.778049164,879,787.221950836,804,652,631,652.221950836,0.400991642907,-0.015440941101,0.0498607960666,0.999999965144,-7.4972681576e-05,-0.000251057413922,-3.25717670412e-05,1793240098174207232
+73,1.216666667,BASELINE,766,745,715,678,663,636,879,787.361277846,804.361277846,652,631.361277846,652,0.400991659873,-0.0154410530839,0.049861145252,0.99999996523,-7.51183697615e-05,-0.000250661973561,-3.2636815179e-05,1793240098190873600
+74,1.233333333,BASELINE,766,745,715,678,663,636,879,787.941226726,804.941226726,652,631.941226726,652,0.400991150885,-0.0154401116567,0.0498609211628,0.999999965217,-7.38720898697e-05,-0.000251043458423,-3.29414317371e-05,1793240098207540224
+75,1.250000000,BASELINE,766,745,715,678,662.483588676,636,879,788,804.483588676,652.516411324,632,652.516411324,0.400990592101,-0.0154410359498,0.0498604437714,0.999999965085,-7.43033030605e-05,-0.000251464518138,-3.27725424802e-05,1793240098224207104
+76,1.266666667,BASELINE,766,745.09319814,715,678.09319814,662.09319814,636,879,787.90680186,804.09319814,653,631.90680186,652.90680186,0.40099010593,-0.0154417663077,0.049860008762,0.999999964949,-7.47333729863e-05,-0.000251897287513,-3.26202029248e-05,1793240098240873472
+77,1.283333333,BASELINE,766,745.681347209,715,678.681347209,662.681347209,636,879,787.318652791,804.681347209,653,631.318652791,652.318652791,0.400990035202,-0.0154403493553,0.0498599505342,0.999999964867,-7.41527290578e-05,-0.000252368542632,-3.28393347827e-05,1793240098257540352
+78,1.300000000,BASELINE,766.265449138,745.734550862,715,678.734550862,663,635.734550862,879,787.265449138,804.734550862,652.734550862,631.265449138,652.265449138,0.400990296565,-0.0154394228271,0.0498601969137,0.999999964945,-7.34978938338e-05,-0.000252232366103,-3.29762450543e-05,1793240098274206720
+79,1.316666667,BASELINE,766.844765682,745.155234318,715,678.155234318,663,635.155234318,879,787.844765682,804.155234318,652.155234318,631.844765682,652.844765682,0.400990950594,-0.0154390761774,0.0498608034613,0.999999965213,-7.27553347671e-05,-0.000251377961571,-3.30159363997e-05,1793240098290873600
+80,1.333333333,BASELINE,766.578546771,745,715,678.421453229,663,635,879,788,804,652,632,653,0.400990588887,-0.0154392403757,0.0498607079744,0.999999965152,-7.26718710314e-05,-0.000251642506599,-3.30386611656e-05,1793240098307540480
+81,1.350000000,BASELINE,766.002821514,745,715,678.997178486,663,635,879,788,804,652,632,653,0.400989855372,-0.0154395915687,0.0498603555095,0.99999996497,-7.28296676313e-05,-0.000252316640582,-3.30551753556e-05,1793240098324207360
+82,1.366666667,BASELINE,766,745,715,679,663,635.573217587,879,788,804.573217587,652.573217587,631.426782413,653,0.400990145075,-0.0154408756497,0.0498607661685,0.999999964984,-7.4679250302e-05,-0.000251762790935,-3.27131055827e-05,1793240098340874240
+83,1.383333333,BASELINE,766,745,714.847069829,679,663,636,879.152930171,788,804.847069829,653,631,653,0.400990329442,-0.0154414202968,0.0498608220092,0.99999996494,-7.59418630877e-05,-0.000251572676688,-3.26307153739e-05,1793240098357540608
+84,1.400000000,BASELINE,766,745,714.256857736,679,663,636,879.743142264,788,804.256857736,653,631,653,0.40099019821,-0.015439837502,0.0498598525512,0.999999964732,-7.55022959985e-05,-0.000252439904247,-3.32958912416e-05,1793240098374207232
+85,1.416666667,BASELINE,766,745,714.327288953,679,662.672711047,635.672711047,879.672711047,787.672711047,804,653,631,652.672711047,0.400990916997,-0.0154395080202,0.0498602659949,0.999999964975,-7.4828654516e-05,-0.000251668095304,-3.33789216145e-05,1793240098390873856
+86,1.433333333,BASELINE,766,745,714.906762066,679,662.093237934,635.093237934,879.093237934,787.093237934,804,653,631,652.093237934,0.400992290747,-0.0154401442467,0.0498617449984,0.999999965561,-7.39746530038e-05,-0.000249633368517,-3.30133945783e-05,1793240098407540480
+87,1.450000000,BASELINE,766,745,715,679,662,635,879,787.481906031,804,652.518093969,631,652,0.400992193137,-0.015440290744,0.0498616098312,0.999999965693,-7.35058280961e-05,-0.000249255917269,-3.2906445408e-05,1793240098424207104
+88,1.466666667,BASELINE,766,745,715,679,662,635,879,788,803.943721526,652,631.056278474,652.056278474,0.40099178435,-0.0154403259118,0.0498611802296,0.9999999657,-7.31984371474e-05,-0.000249323792148,-3.28546602117e-05,1793240098440873728
+89,1.483333333,BASELINE,766,745,715,679,662,635,879,788,803.368808915,652,631.631191085,652.631191085,0.400991107973,-0.0154402005319,0.049860889695,0.999999965353,-7.36980886986e-05,-0.000250566970768,-3.28543013984e-05,1793240098457540608
+90,1.500000000,BASELINE,766.212255143,744.787744857,715,679,662,635.212255143,879,788,803.212255143,652,632,653,0.400990262886,-0.0154400640968,0.0498603069932,0.999999964939,-7.48177389989e-05,-0.000251861639899,-3.30270843592e-05,1793240098474207488
+91,1.516666667,BASELINE,766.804326746,744.195673254,715,679,662,635.804326746,879,788,803.804326746,652,632,653,0.400989115906,-0.0154399078788,0.0498592014777,0.999999964403,-7.70468357653e-05,-0.000253248447739,-3.35096930077e-05,1793240098490874112
+92,1.533333333,BASELINE,766.613270492,744.386729508,715,679,662,636,879,788,804,652,631.613270492,652.613270492,0.400988985549,-0.0154397765626,0.0498591649032,0.999999964333,-7.6837295223e-05,-0.000253581322211,-3.35679737597e-05,1793240098507540736
+93,1.550000000,BASELINE,766.035640487,744.964359513,715,679,662,636,879,788,804,652,631.035640487,652.035640487,0.400989357026,-0.0154396575386,0.0498596559878,0.999999964493,-7.54239753226e-05,-0.00025339394583,-3.34167944415e-05,1793240098524207360
+94,1.566666667,BASELINE,766,745,715,679,662,636,879.539439656,788,804,652,631,652,0.400988846323,-0.0154396446044,0.0498594616564,0.999999964534,-7.42646886473e-05,-0.000253604838224,-3.31830156001e-05,1793240098540873728
+95,1.583333333,BASELINE,766,745,715,678.88625272,662.11374728,636,879.88625272,788,804,652,631,652.11374728,0.400988530953,-0.0154394116643,0.0498593319237,0.999999964597,-7.31432622635e-05,-0.000253698609513,-3.30760771674e-05,1793240098557540352
+96,1.600000000,BASELINE,766,745,715,678.314380966,662.685619034,636,879.314380966,788,804,652,631,652.685619034,0.40098923594,-0.015438264539,0.0498596438965,0.99999996478,-7.21070403299e-05,-0.000253215187783,-3.35018727987e-05,1793240098574207232
+97,1.616666667,BASELINE,766,745,715,678.267980016,663,636,879.267980016,787.732019984,804.267980016,652,631,653,0.400989795064,-0.0154384745788,0.0498598805869,0.999999964852,-7.30503053889e-05,-0.000252656263919,-3.35246039837e-05,1793240098590874112
+98,1.633333333,BASELINE,766,745,715,678.863147688,663,636,879.863147688,787.136852312,804.863147688,652,631,653,0.400990176099,-0.0154403416364,0.0498600253622,0.999999964781,-7.64104063536e-05,-0.000252005156471,-3.30552174352e-05,1793240098607540736
+99,1.650000000,BASELINE,766,745,715,679,663,636,879.554838339,787.445161661,805,652.445161661,631.445161661,653,0.40099018251,-0.0154409515031,0.0498602498607,0.999999964872,-7.57971134372e-05,-0.000251843446285,-3.29501104551e-05,1793240098624207360
+100,1.666666667,BASELINE,766,745,715,679,663,635.977044704,879,788,805,652.977044704,631.977044704,652.977044704,0.400990126423,-0.0154411394945,0.0498605193551,0.999999965016,-7.40550879806e-05,-0.000251789013874,-3.29538008399e-05,1793240098640874240
+101,1.683333333,BASELINE,766,745,715,679,663,635.406235551,879,788,805,652.406235551,631.406235551,652.406235551,0.400991248474,-0.0154402181928,0.0498612945905,0.99999996529,-7.36905475541e-05,-0.000250807250255,-3.29580641457e-05,1793240098657540608
+102,1.700000000,BASELINE,766,745,715,679,663.171217223,635.171217223,879,788,804.828782777,652,631.171217223,652,0.400991957207,-0.0154400297096,0.0498617163138,0.999999965523,-7.34363149336e-05,-0.000249956804533,-3.28932093237e-05,1793240098674206976
+103,1.716666667,BASELINE,766,745,715,679,663.76506911,635.76506911,879,788,804.23493089,652,631.76506911,652,0.400991645701,-0.0154416501243,0.0498612654234,0.999999965661,-7.345436749e-05,-0.000249430505644,-3.26577424784e-05,1793240098690873600
+104,1.733333333,BASELINE,766,745,715,679,663.65093606,635.65093606,879,788,804,652,632,652.34906394,0.400990660451,-0.0154425698424,0.0498605537713,0.999999965392,-7.46652293682e-05,-0.000250139676648,-3.27150121657e-05,1793240098707540480
+105,1.750000000,BASELINE,766,745,715,679,663.073393085,635.073393085,879,788,804,652,632,652.926606915,0.400989234204,-0.0154430309212,0.0498596714381,0.999999964853,-7.66568419644e-05,-0.000251657521699,-3.29638918827e-05,1793240098724207104
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662,635,879,788,804,652,632,652,0.400991114732,-0.0154413538783,0.0498609392264,0.999999965385,-7.24637528134e-05,-0.000250857784009,-3.24033287622e-05,1793240098755350784
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.423671977,745,715,678.423671977,662,635,879.576328023,788,804,652,631.423671977,652.576328023,0.400989470388,-0.0154398249418,0.0498599242266,0.999999964874,-7.27762221319e-05,-0.000252733583675,-3.28742952185e-05,1793240098772017408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.157335313,662.157335313,635,879.842664687,788,804,652,631,653,0.400988439013,-0.0154392335743,0.0498592616554,0.999999964498,-7.37152941096e-05,-0.000253912713691,-3.3131359296e-05,1793240098788684288
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.751329278,662.751329278,635,879.248670722,788,804,652,631,653,0.400989108837,-0.0154412442774,0.0498595771922,0.9999999645,-7.63934002525e-05,-0.000253158350465,-3.2794772106e-05,1793240098805350656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.335632785,879.335632785,788,804.335632785,652,631.335632785,653,0.400990232428,-0.0154414008921,0.0498602216496,0.999999964747,-7.65661147645e-05,-0.000252146200552,-3.26405956843e-05,1793240098822017536
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.912958062,879.912958062,788,804.912958062,652,631.912958062,653,0.400991682781,-0.0154402223592,0.0498611029658,0.999999965173,-7.49346718028e-05,-0.00025094841594,-3.26177750827e-05,1793240098838683904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.515528288,635.515528288,879.515528288,788,804.515528288,652,631.515528288,652.515528288,0.400991526584,-0.0154395773309,0.0498613003177,0.999999965329,-7.37201327134e-05,-0.000250662058227,-3.27957683433e-05,1793240098855350528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.056963431,879.056963431,788,804,652,631.056963431,652.056963431,0.400991081177,-0.0154391624714,0.0498613349139,0.999999965403,-7.28350835999e-05,-0.000250601533126,-3.29917264755e-05,1793240098872016896
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.648309705,879.648309705,788,804,652,631.648309705,652.648309705,0.40099059831,-0.0154400183229,0.0498609817987,0.999999965155,-7.4346688929e-05,-0.000251141621482,-3.30217656698e-05,1793240098888683776
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.234900043,636,879.765099957,787.765099957,804,652,631.765099957,652.765099957,0.400991986306,-0.0154404848095,0.0498615245516,0.999999965313,-7.50450076222e-05,-0.000250325705901,-3.28462866586e-05,1793240098905350400
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.814511091,636,879.185488909,787.185488909,804,652,631.185488909,652.185488909,0.400996119755,-0.0154403799112,0.0498633819729,0.999999966064,-7.45498446885e-05,-0.000247519882246,-3.23692138841e-05,1793240098922017280
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.608202039,635.608202039,879,787.391797961,804,652,631,652,0.401011003656,-0.0154420417188,0.0498690714683,0.999999968697,-7.56567460853e-05,-0.000236377992491,-3.17355944194e-05,1793240098938684160
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.032008965,635.032008965,879,787.967991035,804,652,631,652,0.40103094713,-0.0154445350058,0.0498765644845,0.999999972024,-7.75176402029e-05,-0.000221312830744,-3.10282980434e-05,1793240098955350784
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.456104879,715,679,662,635,879,787.456104879,803.456104879,652,631.543895121,652.543895121,0.401081448557,-0.0154448375158,0.0498933696705,0.999999979614,-7.50851535967e-05,-0.000185083919078,-2.96346103421e-05,1793240098972017408
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.122780622,715,678.877219378,662.122780622,635.122780622,879.122780622,787.122780622,803.122780622,652,632,652.877219378,0.401137453551,-0.0154462463697,0.0499102474295,0.999999985744,-7.3672487115e-05,-0.000149322704579,-2.80620441257e-05,1793240098988683776
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.713083606,715,678.286916394,662.713083606,635.713083606,879.713083606,787.713083606,803.713083606,652,632,652.286916394,0.401207570772,-0.0154523586231,0.0499253158484,0.999999989481,-7.71046844908e-05,-0.000120082508608,-2.59620805393e-05,1793240099005350656
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.298051191,745,715,678.298051191,663,636,879.701948809,788,804,652,631.701948809,652,0.40128218314,-0.015457993902,0.0499368931867,0.999999991475,-7.85251770944e-05,-0.000101524563584,-2.39980217918e-05,1793240099022017024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.87797299,745,715,678.87797299,663,636,879.12202701,788,804,652,631.12202701,652,0.40136104662,-0.0154631781001,0.049945168967,0.999999992378,-7.80431760651e-05,-9.30689539586e-05,-2.21624900303e-05,1793240099038683648
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.548620406,745,715,679,663,635.548620406,879,788,804,652,631,652.451379594,0.401450993124,-0.0154682321719,0.0499482196943,0.999999992698,-7.97791293884e-05,-8.82470815389e-05,-2.12321676134e-05,1793240099055350784
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.976178748,635.023821252,879,788,804,652,631,652.976178748,0.401545075137,-0.0154733384394,0.0499499651578,0.999999992859,-8.20641979458e-05,-8.44186806018e-05,-2.05034693123e-05,1793240099072017664
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.385378305,635.614621695,879,788,804,652,631,652.385378305,0.401667288785,-0.0154805124284,0.0499537858776,0.999999993053,-8.33505567931e-05,-8.11875983201e-05,-1.88319896804e-05,1793240099088684288
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.201587571,636,879,788,804,652,631.201587571,652,0.401795819137,-0.0154879797215,0.0499550973078,0.999999992922,-8.49908798257e-05,-8.13814096257e-05,-1.76158959134e-05,1793240099105350400
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.781359617,636,879,788,804,652,631.781359617,652,0.401936199806,-0.0154959972612,0.0499517012334,0.999999992169,-8.72952503946e-05,-8.80004268487e-05,-1.7254120203e-05,1793240099122017024
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.641446132,636,879,787.641446132,804,652,631.641446132,652,0.402095519964,-0.0155056871003,0.0499497355584,0.999999991619,-8.95917369997e-05,-9.20014647399e-05,-1.64685951732e-05,1793240099138683392
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.065812502,636,879,787.065812502,804,652,631.065812502,652,0.402266306695,-0.0155163894029,0.0499486358919,0.999999991202,-9.18834506287e-05,-9.44174964474e-05,-1.54265189763e-05,1793240099155350272
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.491587536,879.508412464,787.508412464,804,652,631.508412464,652.508412464,0.40246988378,-0.0155280844251,0.0499500563607,0.999999991318,-9.51644013037e-05,-9.01082778053e-05,-1.375100289e-05,1793240099172017152
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.085195257,745,715,678.914804743,662,635,879.914804743,788,804,652.085195257,631.914804743,652.914804743,0.402685886948,-0.015539724144,0.0499529647326,0.999999991728,-9.76492722495e-05,-8.28666027542e-05,-1.18782637458e-05,1793240099188683776
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.678311786,745,715,678.321688214,662,635,879.321688214,788,804,652.678311786,631.321688214,652.321688214,0.402950736794,-0.0155502701496,0.0499628042334,0.999999993475,-9.4626709084e-05,-6.33178928023e-05,-9.31721237699e-06,1793240099205350656
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.735633716,745,715,678,662.264366284,635.264366284,879,788,804,652.735633716,631,652,0.403228368351,-0.0155586598764,0.0499713677149,0.999999995017,-8.82792177579e-05,-4.6201963644e-05,-6.17432660192e-06,1793240099222017536
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.157948947,745,715,678,662.842051053,635.842051053,879,788,804,652.157948947,631,652,0.403521148366,-0.0155644940497,0.0499784188986,0.999999996445,-7.79911278606e-05,-3.19692898411e-05,-2.34186940884e-06,1793240099238684160
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.416035236,745,715,678,663.416035236,636,879,788,804,652,631,652.416035236,0.403840795497,-0.0155564255265,0.0499842240053,0.999999998435,-5.22928796753e-05,-1.98666757289e-05,-1.63875651185e-07,1793240099255350528
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.988626853,745,715,678,663.988626853,636,879,788,804,652,631,652.988626853,0.404170552868,-0.0155431253409,0.0499895602061,0.999999999746,-2.07957030609e-05,-8.56561527668e-06,1.39153419065e-06,1793240099272017152
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.422801465,745,715,679.154397069,663.422801465,635.422801465,879.577198535,788,804.577198535,652,631.577198535,653,0.404533104276,-0.0155280430488,0.0499934976885,0.999999999935,1.12609282003e-05,9.37032328693e-07,-1.1538222826e-06,1793240099288683776
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.836618528,662.836618528,635.163381472,880,788,805,652,631.836618528,653,0.404906348199,-0.0155147005923,0.0499935523605,0.999999999079,4.27738845205e-05,1.76654877414e-06,-3.05984700865e-06,1793240099305350400
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.257340704,662.257340704,635.742659296,880,788,805,652,631.257340704,653,0.405305118728,-0.0155058789148,0.049983795283,0.999999997152,7.28740219818e-05,-1.93890868051e-05,-3.12687616244e-06,1793240099322017024
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.320532706,745,715,679,662.320532706,635.679467294,879.679467294,787.679467294,805,652.320532706,631,653,0.405708993117,-0.0155047244395,0.0499678561634,0.999999994241,9.43246851898e-05,-5.11513187118e-05,-2.03729942149e-06,1793240099338683904
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.897283559,745,715,679,662.897283559,635.102716441,879.102716441,787.102716441,805,652.897283559,631,653,0.406116947323,-0.0155096987493,0.049946975421,0.999999989898,0.000108861385474,-9.13919464999e-05,-2.318857993e-08,1793240099355350784
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.526453711,745,715,679.473546289,662.526453711,635,879.473546289,787.473546289,804.526453711,652.526453711,631.473546289,652.526453711,0.406578917348,-0.0155121925061,0.0499346840246,0.999999985935,0.000128534536913,-0.000107734047619,1.61671538246e-06,1793240099372017664
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.898275992,662,635,879.949137996,788,804.050862004,652,631.949137996,652,0.407057814897,-0.0155142950356,0.0499262695718,0.999999982159,0.000149192005538,-0.000115810683751,3.47650089916e-06,1793240099388684032
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.719096861,662,635,879.359548431,788,804.640451569,652,631.359548431,652,0.407592035286,-0.0155179468803,0.0499392058867,0.999999981612,0.000168486539397,-9.11900153621e-05,8.52411141173e-06,1793240099405350656
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,678.226132041,662,635.226132041,879.226132041,788,804.773867959,652,631,652.226132041,0.408156886799,-0.015519468862,0.0499574315188,0.999999979451,0.000193289776238,-5.95442416884e-05,1.38178330949e-05,1793240099422017536
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.805702662,662,635.805702662,879.805702662,788,804.194297338,652,631,652.805702662,0.408769613943,-0.015517661922,0.0499839242175,0.99999997397,0.000226702973271,-1.6918410026e-05,1.9496219911e-05,1793240099438683904
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.381293335,635.618706665,879.618706665,788,804,652,631.381293335,652.618706665,0.409374576273,-0.0155222970886,0.0499962319028,0.999999968407,0.000250166809289,1.71368098877e-07,2.45264792718e-05,1793240099455350272
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.954876862,635.045123138,879.045123138,788,804,652,631.954876862,652.045123138,0.409975622707,-0.0155301810767,0.0500013859376,0.999999963487,0.000268613078316,4.38304779638e-06,2.92298810647e-05,1793240099472016896
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.472614361,635,879,788,804,652,632,652,0.410568738699,-0.0155277908716,0.0499819372106,0.999999955098,0.000295776352257,-3.71155012106e-05,3.0708177117e-05,1793240099488683776
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879.103987499,788,804,652,631.896012501,652.103987499,0.411170991976,-0.0155249366721,0.0499608994951,0.999999944181,0.000323038608911,-7.9134738056e-05,3.1951064314e-05,1793240099505350656
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879.700406494,788,804,652,631.299593506,652.700406494,0.411819721198,-0.0155240395476,0.0499422851432,0.999999933626,0.000347244918508,-0.000105136992064,3.33832295865e-05,1793240099522017280
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.711609951,662.288390049,635.288390049,880,788,804.288390049,652,631,653,0.412536857704,-0.0155271842874,0.0499492153276,0.999999954648,0.000286121190297,-8.62531632779e-05,3.73907752497e-05,1793240099538683904
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.13214043,662.86785957,635.86785957,880,788,804.86785957,652,631,653,0.413323039515,-0.0155344085841,0.0499819282653,0.999999989146,0.000138871663976,-2.20646614558e-05,4.39977178889e-05,1793240099555350528
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678.442424691,662.557575309,636,880,788,805,652,631,653,0.414054699822,-0.0155440405968,0.0499865505322,0.999999998653,3.93894520648e-05,-1.99409123687e-05,2.73025961734e-05,1793240099572017408
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.984110694,880,788,805,652,631,653,0.414770123744,-0.0155542344233,0.0499821559019,0.999999998391,-4.28545385327e-05,-3.69074934298e-05,4.39157808136e-06,1793240099588684032
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.398150534,880,788,805,652,631,653,0.415480856362,-0.015559067357,0.0499519670439,0.999999996621,-1.2879945971e-05,-8.10149466805e-05,5.42894485769e-06,1793240099605350656
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.186196519,635,880,788,805,652,631,653,0.416224957759,-0.0155610659792,0.0499355136246,0.999999994363,2.21720288028e-05,-0.000103523635621,8.02575572999e-06,1793240099622017280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.7671238,635,880,788,805,652,631,653,0.417039799875,-0.0155570559498,0.0499481789045,0.999999994372,6.79878922438e-05,-8.02436213851e-05,1.39285389745e-05,1793240099638683904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.345867239,880,788,805,652,631,652.654132761,0.41788106161,-0.0155550762625,0.0499677045348,0.99999999354,0.000103147128879,-4.38712422994e-05,1.88612851195e-05,1793240099655350528
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.923149477,880,788,805,652,631,652.076850523,0.418740000317,-0.0155544550493,0.0499918203304,0.999999991128,0.00013117616154,1.26105661605e-06,2.31449925619e-05,1793240099672017408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.500959642,635.500959642,880.499040358,788,804.500959642,652,631.499040358,652,0.419536103453,-0.0155535602291,0.0499764056644,0.999999989003,0.000142806021019,-3.33010974904e-05,2.21871498942e-05,1793240099688684032
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.923481367,662,635,881,788,804.076518633,652,632,652.076518633,0.420334708785,-0.0155535647257,0.0499604322326,0.999999986124,0.000151162077943,-6.68034997057e-05,2.09391522741e-05,1793240099705350912
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.333927757,662,635,881,788,804.666072243,652,632,652.666072243,0.421214787714,-0.0155598805922,0.0499814142538,0.999999987742,0.000154453350255,-1.11446446606e-05,2.31426164226e-05,1793240099722017536
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.50280691,662.251403455,635.251403455,881,788,805,652,631.748596545,652.748596545,0.422088754917,-0.0155639902459,0.0499960672192,0.999999987681,0.000153063484803,2.41618700218e-05,2.50021276201e-05,1793240099738683904
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+167,2.783333333,POSE1_TO_POSE2_PRESS,766.405550189,745,715,679.594449811,663,635.594449811,881,787.594449811,805,652,631.405550189,652,0.423817374401,-0.0155629261434,0.0499919549157,0.999999989587,0.000141220130462,1.40096703121e-05,2.62091458178e-05,1793240099772016896
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.911689301,679.911689301,662.911689301,635,880.088310699,787.088310699,805.911689301,652,631.911689301,652.911689301,0.443209301997,-0.0155749490516,0.0499123269802,0.999999972219,0.000197007115883,-0.000124828558447,3.41659259803e-05,1793240100188684032
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.238050745,662,634,880.238050745,786.238050745,805,651.761949255,631,652,0.445170887155,-0.0155884373733,0.0497764374241,0.999999922469,0.00019933786386,-0.000338504186496,2.72307837962e-05,1793240100255350784
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1dbc3d7d9443c25f12de9ee332112540fee7c2e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdb06ee7e6fe77631dff47cc2229cc3864fec442
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d915205ac57b55947fa5568029a4b478b1aebdb070f9e06e3bb00416bc6ff2
+size 26607944
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e938d10be4de32d14a0858279a132712a0e02bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+53,0.883333333,BASELINE,766.752089251,745,715,679.752089251,663,635.752089251,879.752089251,788,804.752089251,652,631.247910749,652.247910749,0.400993014855,-0.0154410474393,0.0498650440286,0.999999967618,-5.47276455856e-05,-0.000246646015602,-3.05587276093e-05,1793240104980606208
+54,0.900000000,BASELINE,766.664047977,745,715,679.328095953,663,636,879.664047977,787.664047977,804.664047977,652,631,652,0.400994223647,-0.0154416923387,0.049866024313,0.999999967887,-5.56267633883e-05,-0.000245370660443,-3.04229888682e-05,1793240104997272576
+55,0.916666667,BASELINE,766.084322354,745,715,678.168644708,663,636,879.084322354,787.084322354,804.084322354,652,631,652,0.400995052538,-0.0154428300585,0.0498670959498,0.99999996804,-5.83520289231e-05,-0.00024413976407,-3.01636712633e-05,1793240105013939200
+56,0.933333333,BASELINE,766,745,715,678.492081858,662.507918142,635.507918142,879,787.492081858,804,652,631.492081858,652.492081858,0.400994807095,-0.0154420663851,0.0498663483985,0.999999967766,-5.72446509728e-05,-0.000245501353291,-3.03306442351e-05,1793240105030605824
+57,0.950000000,BASELINE,766,745,715,678.932007157,662.067992843,635.067992843,878.932007157,787.932007157,804,652,631.932007157,653,0.400994379902,-0.0154411939368,0.0498654616616,0.999999967483,-5.57587475112e-05,-0.000246964509571,-3.0560355675e-05,1793240105047272704
+58,0.966666667,BASELINE,766,745,715,678.355557241,662.644442759,635.644442759,878.355557241,787.355557241,804,652,631.355557241,653,0.400993961019,-0.0154419282354,0.0498658496228,0.999999967712,-5.63205491506e-05,-0.000245887365239,-3.07166302247e-05,1793240105063939328
+59,0.983333333,BASELINE,766,744.773712432,715,678,662.773712432,636,878.226287568,787.226287568,804,652,631,652.773712432,0.400994250209,-0.0154420974988,0.0498661672268,0.999999967953,-5.63831518953e-05,-0.000244891533772,-3.07253560273e-05,1793240105080605952
+60,1.000000000,BASELINE,766,744.183183708,715,678,662.183183708,636,878.816816292,787.816816292,804,652,631,652.183183708,0.400995679141,-0.0154413572601,0.0498663715813,0.999999968212,-5.56422250196e-05,-0.000244026586447,-3.04965817255e-05,1793240105097272576
+61,1.016666667,BASELINE,766.3997532,744.3997532,715,678.3997532,662.3997532,635.6002468,879,788,804,652,631.3997532,652,0.400994982794,-0.01544140677,0.0498654826859,0.999999967953,-5.57687868929e-05,-0.000245072982432,-3.03665191219e-05,1793240105113939200
+62,1.033333333,BASELINE,766.97927602,744.97927602,715,678.97927602,662.97927602,635.02072398,879,788,804,652,631.97927602,652,0.400993330706,-0.0154418114312,0.0498641021543,0.999999967458,-5.62854598165e-05,-0.000246978912455,-3.02808473324e-05,1793240105130605824
+63,1.050000000,BASELINE,766.447168394,745,715,678.447168394,663,635.552831606,879,787.447168394,804,652,631.447168394,652.552831606,0.400994578566,-0.0154437797014,0.0498653656305,0.999999967751,-5.95098942797e-05,-0.00024506386075,-2.99986007313e-05,1793240105147272704
+64,1.066666667,BASELINE,766,745,715,678.126725292,663,636,879,787.126725292,804,652.126725292,631.126725292,653,0.400995556632,-0.0154449065935,0.0498663086633,0.999999967978,-6.15566470998e-05,-0.000243642822029,-2.98985226497e-05,1793240105163939328
+65,1.083333333,BASELINE,766,745,715,678.70260164,663,636,879,787.70260164,804,652.70260164,631.70260164,653,0.400995197281,-0.0154428458688,0.0498657684081,0.999999967907,-5.90734317541e-05,-0.000244474960287,-3.04699413954e-05,1793240105180605696
+66,1.100000000,BASELINE,766,745,715,678.712715638,662.712715638,635.712715638,879.287284362,787.712715638,804,652.712715638,632,653,0.400995880532,-0.0154413764241,0.049866191733,0.999999968161,-5.630915485e-05,-0.000244062319905,-3.06847838191e-05,1793240105197272576
+67,1.116666667,BASELINE,766,745,715,678.118628257,662.118628257,635.118628257,879.881371743,787.118628257,804,652.118628257,632,653,0.400997677221,-0.0154405384323,0.0498676441054,0.999999968757,-5.32447206785e-05,-0.000242320328155,-3.05188233963e-05,1793240105213939200
+68,1.133333333,BASELINE,766.45980115,745,715,678.45980115,662,635,879.54019885,787.45980115,804,652,632,653,0.400996856483,-0.0154418108813,0.0498672190132,0.999999968536,-5.47737381096e-05,-0.000242934964872,-3.01583408079e-05,1793240105230605824
+69,1.150000000,BASELINE,766.96567026,745,715,678.96567026,662.03432974,635,879,788,804,652.03432974,632,652.96567026,0.400995405748,-0.0154434945486,0.0498663233911,0.999999968109,-5.73469330171e-05,-0.00024414473964,-2.97853303146e-05,1793240105247272704
+70,1.166666667,BASELINE,766.391049682,745,715,678.391049682,662.608950318,635,879,788,804,652.608950318,632,652.391049682,0.400994317877,-0.0154433629298,0.0498653947583,0.999999967723,-5.83163892812e-05,-0.000245467093151,-2.99789905117e-05,1793240105263939584
+71,1.183333333,BASELINE,766,745.18843976,715,678.18843976,663,635,879.18843976,788,804,653,632,652,0.400993695827,-0.0154432123459,0.0498649097834,0.999999967509,-5.88560321674e-05,-0.000246191975546,-3.01216696977e-05,1793240105280606208
+72,1.200000000,BASELINE,766,745.778301154,715,678.778301154,663,635,879.778301154,788,804,653,632,652,0.400994066089,-0.0154430213615,0.0498653699056,0.999999967665,-5.84800702227e-05,-0.000245644102203,-3.01557472069e-05,1793240105297272832
+73,1.216666667,BASELINE,766,745.637181138,715,679,662.637181138,635,879.637181138,788,804,652.637181138,631.637181138,652.362818862,0.400994435557,-0.0154422126891,0.0498655588069,0.999999967959,-5.64476807141e-05,-0.000244914427865,-3.0201591742e-05,1793240105313939456
+74,1.233333333,BASELINE,766,745.055881308,715,679,662.055881308,635,879.055881308,788,804,652.055881308,631.055881308,652.944118692,0.400994804548,-0.0154410320597,0.0498655843852,0.999999968329,-5.34178295823e-05,-0.000244075277281,-3.02545221008e-05,1793240105330606080
+75,1.250000000,BASELINE,766,745,715,678.481319873,662,635,879,788,804,652.518680127,631,652.481319873,0.400994944224,-0.0154404990395,0.0498658786571,0.999999968414,-5.24573032049e-05,-0.000243932209894,-3.02765409857e-05,1793240105347272704
+76,1.266666667,BASELINE,766,745,715,678.094668619,662,635,879.094668619,788,804,653,631,652,0.400995148051,-0.0154403521204,0.0498662412061,0.999999968495,-5.234707646e-05,-0.000243625629629,-3.02562417901e-05,1793240105363939328
+77,1.283333333,BASELINE,766,745,715,678.681808874,662,635,879.681808874,788,804,653,631,652,0.400995812467,-0.0154418554194,0.0498668102772,0.999999968706,-5.55152642989e-05,-0.000242083324653,-3.00329038519e-05,1793240105380605952
+78,1.300000000,BASELINE,766,745,715,679,662.265363552,635,880,788,804.265363552,652.734636448,631.265363552,652.265363552,0.400995910232,-0.015442872194,0.0498668889083,0.999999968696,-5.7051521693e-05,-0.000241772690097,-2.99694212035e-05,1793240105397272576
+79,1.316666667,BASELINE,766,745,715,679,662.844676129,635,880,788,804.844676129,652.155323871,631.844676129,652.844676129,0.400995337598,-0.0154433133661,0.0498663873047,0.999999968437,-5.66570578998e-05,-0.000242919232893,-3.00950618025e-05,1793240105413939456
+80,1.333333333,BASELINE,766,745,715,678.577852961,663,635.422147039,879.577852961,787.577852961,804.577852961,652.422147039,631.577852961,653,0.400994818088,-0.0154434223364,0.0498658922078,0.999999968164,-5.70033874247e-05,-0.000243962516709,-3.00727687747e-05,1793240105430605824
+81,1.350000000,BASELINE,766,745,715,678.001056679,663,635.998943321,879.001056679,787.001056679,804.001056679,652.998943321,631.001056679,653,0.400994318039,-0.015443409608,0.0498653994945,0.999999967885,-5.76210989608e-05,-0.00024496797275,-2.99962817883e-05,1793240105447272448
+82,1.366666667,BASELINE,766,745,715,678,663,635.424302496,879,787.575697504,804.575697504,653,631,653,0.400994436227,-0.0154443138221,0.0498657351611,0.999999967868,-5.87538411499e-05,-0.000244788396452,-2.98358116445e-05,1793240105463939328
+83,1.383333333,BASELINE,766,745.155768597,715,678.155768597,663,635.155768597,879,788,804.844231403,653,631,653,0.400994661619,-0.0154443270525,0.0498659638965,0.999999967911,-5.89260866521e-05,-0.000244567723158,-2.98694708628e-05,1793240105480605696
+84,1.400000000,BASELINE,766,745.745071644,715,678.745071644,663,635.745071644,879,788,804.254928356,653,631,653,0.400995182229,-0.0154418558179,0.0498658907903,0.999999968119,-5.64224515767e-05,-0.000244238722142,-3.04438589964e-05,1793240105497272320
+85,1.416666667,BASELINE,766,745.672687345,715,678.672687345,663,635.672687345,879,788,804,652.672687345,631.327312655,652.672687345,0.400995114985,-0.0154410345897,0.0498658802485,0.999999968166,-5.52516852146e-05,-0.000244322344218,-3.03682742761e-05,1793240105513939200
+86,1.433333333,BASELINE,766,745.095830488,715,678.095830488,663,635.095830488,879,788,804,652.095830488,631.904169512,652.095830488,0.400994599558,-0.0154414713316,0.0498659174059,0.999999968094,-5.5097102321e-05,-0.000244720551464,-2.97971481643e-05,1793240105530605824
+87,1.450000000,BASELINE,766,745,715,678.479337784,663,635,879,787.520662216,804,652,631.520662216,652.479337784,0.40099467439,-0.0154412512379,0.0498662329344,0.999999968174,-5.44954428516e-05,-0.000244489019703,-3.01237298551e-05,1793240105547272448
+88,1.466666667,BASELINE,766,745,715,678.945709837,662.945709837,635,879.054290163,787.054290163,804,652,631,652.945709837,0.400994907142,-0.0154410732565,0.0498665941018,0.999999968296,-5.40557831942e-05,-0.000244034812443,-3.05408143209e-05,1793240105563939328
+89,1.483333333,BASELINE,766,745,715,678.369599135,662.369599135,635,879.630400865,787.630400865,804,652,631,652.369599135,0.400995527518,-0.0154425577877,0.0498668608978,0.999999968539,-5.60293011736e-05,-0.000242646171922,-3.01088078715e-05,1793240105580605952
+90,1.500000000,BASELINE,766.211765992,745,715,678.211765992,662,635.211765992,879.788234008,788,804,652,631,652,0.400995531072,-0.0154427901932,0.0498666302048,0.999999968568,-5.62812882936e-05,-0.000242481468787,-2.99746909288e-05,1793240105597272576
+91,1.516666667,BASELINE,766.802535037,745,715,678.802535037,662,635.802535037,879.197464963,788,804,652,631,652,0.400994430686,-0.0154407816371,0.0498655091428,0.999999968218,-5.34522070694e-05,-0.000244507278076,-3.03737145577e-05,1793240105613939200
+92,1.533333333,BASELINE,766.614598632,745,715,679,662.385401368,636,879.385401368,788,804,652.385401368,631,652,0.400994703084,-0.0154404880476,0.0498656490845,0.999999968199,-5.32947396193e-05,-0.000244603542394,-3.05179485756e-05,1793240105630605568
+93,1.550000000,BASELINE,766.035699941,745,715,679,662.964300059,636,879.964300059,788,804,652.964300059,631,652,0.400995664713,-0.015441055486,0.0498664221344,0.999999968347,-5.44786011324e-05,-0.000243731045963,-3.05342611637e-05,1793240105647272192
+94,1.566666667,BASELINE,766,745,715,678.460648403,662.460648403,636,879.460648403,787.460648403,804,652.460648403,631,652,0.400994838878,-0.0154400358154,0.0498660693661,0.999999968329,-5.31781190252e-05,-0.000244068290905,-3.07320929484e-05,1793240105663939328
+95,1.583333333,BASELINE,766.116855346,745,715,678,662,636,879,787.116855346,804,652.116855346,631,652,0.400994286243,-0.015439476776,0.0498659397896,0.999999968356,-5.21168340966e-05,-0.000244180184229,-3.07869940801e-05,1793240105680606208
+96,1.600000000,BASELINE,766.705275388,745,715,678,662,636,879,787.705275388,804,652.705275388,631,652,0.400995310159,-0.015441197522,0.0498670094798,0.999999968616,-5.26797088693e-05,-0.000243061836931,-3.02169628201e-05,1793240105697272832
+97,1.616666667,BASELINE,767,745,715,678.289443183,662.289443183,636,878.710556817,788,804,652.710556817,631,652,0.400995445881,-0.0154421104109,0.049867220715,0.999999968627,-5.41236698223e-05,-0.000242725868332,-3.00028071649e-05,1793240105713939200
+98,1.633333333,BASELINE,767,745,715,678.869343794,662.869343794,636,878.130656206,788,804,652.130656206,631,652,0.400994690298,-0.0154422126119,0.0498665704868,0.999999968385,-5.64518043612e-05,-0.000243175020052,-3.01457741826e-05,1793240105730606080
+99,1.650000000,BASELINE,766.553994176,745,715,678.553994176,662.553994176,636,878.446005824,787.553994176,804,652.446005824,631.446005824,652.446005824,0.400994862304,-0.015442207838,0.0498665731333,0.999999968314,-5.72138039564e-05,-0.000243289118558,-3.01367754262e-05,1793240105747272704
+100,1.666666667,BASELINE,766,745,715,678.021733976,662.021733976,636,879.021733976,787,804,653,631.978266024,652.978266024,0.400995253049,-0.0154421490851,0.049866726742,0.999999968287,-5.74629865179e-05,-0.00024334725683,-3.00885625876e-05,1793240105763939584
+101,1.683333333,BASELINE,766,745,715,678.59766676,662.59766676,636,879.59766676,787,804,653,631.40233324,652.40233324,0.400994342381,-0.0154415072457,0.0498658879989,0.999999968082,-5.62503146562e-05,-0.000244463232154,-3.01674110333e-05,1793240105780605952
+102,1.700000000,BASELINE,766,745,715,679,662.828524594,635.828524594,880.171475406,787.171475406,804.171475406,653,631.171475406,652,0.400993996001,-0.0154412230815,0.0498655209024,0.999999968024,-5.5526440006e-05,-0.000244862521824,-3.01743955394e-05,1793240105797272576
+103,1.716666667,BASELINE,766,745,715,679,662.259638917,635.259638917,880.740361083,787.740361083,804.740361083,653,631.740361083,652,0.40099495741,-0.015441767863,0.0498662468908,0.999999968314,-5.59353987206e-05,-0.000243600825389,-3.0014828642e-05,1793240105813939200
+104,1.733333333,BASELINE,766,745,715,678.67342657,662.32657343,635,880.34685314,788,804.67342657,652.67342657,631.67342657,652,0.400995120494,-0.0154420097394,0.0498662172203,0.999999968294,-5.66863336827e-05,-0.000243508552416,-3.00492206875e-05,1793240105830605824
+105,1.750000000,BASELINE,766,745,715,678.072666946,662.927333054,635,879.145333891,788,804.072666946,652.072666946,631.072666946,652,0.400994613315,-0.0154419973012,0.0498655531098,0.999999968011,-5.77243868612e-05,-0.000244398109849,-3.02464577588e-05,1793240105847272704
+106,1.766666667,BASELINE,766.504961712,745,715,678.504961712,663,635.504961712,879,788,804,652.504961712,631.504961712,652.504961712,0.400995106325,-0.0154434567611,0.0498665164968,0.999999968171,-5.86018425392e-05,-0.00024357838722,-2.98993312003e-05,1793240105863939328
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,714,679,662,636,879,788,804,652,631,652,0.400993819761,-0.0154417511995,0.0498658588148,0.999999967898,-5.59285501388e-05,-0.000245230584883,-3.06173832783e-05,1793240105907240192
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.406136179,744.406136179,714.593863821,678.406136179,662,636,879,788,804,652,631,652,0.400994233933,-0.0154411904185,0.0498659049326,0.999999968285,-5.34473930502e-05,-0.000244210050028,-3.05781852201e-05,1793240105923906816
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.182363596,715,678.182363596,662.182363596,636,879.182363596,787.817636404,804,652.182363596,631.182363596,652.182363596,0.400994613611,-0.0154413413966,0.0498661716445,0.999999968527,-5.30443714277e-05,-0.00024332720745,-3.03955083655e-05,1793240105940573440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.759258725,715,678.759258725,662.759258725,636,879.759258725,787.240741275,804,652.759258725,631.759258725,652.759258725,0.400994918666,-0.0154430322182,0.0498669155974,0.999999968459,-5.71372574398e-05,-0.000242742252777,-2.99024246533e-05,1793240105957240320
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.666520889,787.333479111,804,652.666520889,632,652.666520889,0.400995447872,-0.0154436326787,0.0498672116576,0.999999968566,-5.73773132267e-05,-0.000242273648826,-2.9652457374e-05,1793240105973906944
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.094216093,787.905783907,804,652.094216093,632,652.094216093,0.400996137608,-0.015443452262,0.049867186953,0.999999968803,-5.48581110229e-05,-0.000241888371094,-2.95766013262e-05,1793240105990573824
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.49314849,745,715,679,662.50685151,635.50685151,879,788,804,652,631.50685151,652,0.400994802224,-0.0154435671037,0.0498664069527,0.999999968282,-5.59102302092e-05,-0.000243769408509,-2.97696389334e-05,1793240106007240448
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.918026319,745,715,679,662,635.081973681,879,788,804.081973681,652,631,652.081973681,0.400993574579,-0.0154435868517,0.0498657707417,0.999999967752,-5.7344697394e-05,-0.000245581576157,-2.99561587657e-05,1793240106023906816
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.338352026,745,715,679,662,635.661647974,879,788,804.661647974,652,631,652.661647974,0.400995424111,-0.0154426759674,0.0498669112499,0.999999968109,-5.68275155378e-05,-0.000244263971885,-2.97813766249e-05,1793240106040573440
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.760685378,662.239314622,635.760685378,879,788,804.760685378,652,631.239314622,653,0.401002345826,-0.0154426338337,0.0498696021387,0.999999969392,-5.61741146013e-05,-0.000239146338057,-2.94876107255e-05,1793240106057239808
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.185833649,662.814166351,635.185833649,879,788,804.185833649,652,631.814166351,653,0.401016379122,-0.0154438097539,0.0498744667775,0.999999971896,-5.53297243029e-05,-0.000228700776939,-2.90270206551e-05,1793240106073906688
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635,879,788,804.397347394,652.397347394,631.602652606,653,0.401048825636,-0.0154457523263,0.0498858525477,0.999999976967,-5.5789909164e-05,-0.000205360198389,-2.79383628267e-05,1793240106090573568
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635,879,788,804.984507396,652.984507396,631.015492604,653,0.401090068134,-0.0154480611281,0.049900353459,0.999999982567,-5.68732886678e-05,-0.000175859676824,-2.65496773538e-05,1793240106107239936
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.564046854,663,635.564046854,879,788,804.435953146,653,631.564046854,652.435953146,0.401154263953,-0.0154517198153,0.0499165446276,0.999999988237,-5.75773136169e-05,-0.000139967502595,-2.48882162969e-05,1793240106123906560
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804.14334237,652.85665763,631.85665763,652.14334237,0.401221577117,-0.0154556417985,0.0499308924932,0.999999991878,-5.85200970003e-05,-0.000110851950275,-2.30674432926e-05,1793240106140573440
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804.722524252,652.277475748,631.277475748,652.722524252,0.401296477361,-0.0154602531147,0.0499394964302,0.99999999268,-6.02200967182e-05,-0.000102867720478,-2.0784751178e-05,1793240106157240064
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.700885454,636,879.299114546,788,804.700885454,652,631.299114546,653,0.401379737488,-0.0154655333617,0.0499456069166,0.999999993415,-6.10022223658e-05,-9.52697044631e-05,-1.93124680778e-05,1793240106173906688
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.126678651,636,879.873321349,788,804.126678651,652,631.873321349,653,0.401470686101,-0.0154714288164,0.0499494242041,0.999999994096,-6.09401895296e-05,-8.80268853646e-05,-1.85855091029e-05,1793240106190573312
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.54103448,662.45896552,636,879.54103448,788,804.45896552,652,632,653,0.401574556054,-0.0154775269329,0.0499508736543,0.999999994095,-6.3392454359e-05,-8.65127476916e-05,-1.75290022113e-05,1793240106207239936
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.047059585,744.952940415,715,678.047059585,663,635.952940415,879,788,805,652.047059585,631.952940415,652.952940415,0.401684255706,-0.0154838334819,0.0499515695868,0.999999993899,-6.65088739512e-05,-8.66554186046e-05,-1.64218330205e-05,1793240106223906560
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.626247893,744.373752107,715,678.626247893,663,635.373752107,879,788,805,652.626247893,631.373752107,652.373752107,0.401818517021,-0.015491848223,0.0499513239336,0.999999993687,-6.9087621931e-05,-8.71964656566e-05,-1.5796597382e-05,1793240106240573440
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.79634538,744.20365462,715,679,662.79634538,635.20365462,879,788,804.79634538,652.79634538,631.20365462,652.20365462,0.401961865873,-0.0154996656888,0.0499496291727,0.999999993354,-7.08938603087e-05,-8.9628440606e-05,-1.52699382663e-05,1793240106257240576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.222179964,744.777820036,715,679,662.222179964,635.777820036,879,788,804.222179964,652.222179964,631.777820036,652.777820036,0.402121747754,-0.0155071242488,0.049945298036,0.999999992787,-7.12946643058e-05,-9.55005986818e-05,-1.4922620428e-05,1793240106273907456
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.353473121,636,879,788,804,652,632,653,0.402307377546,-0.0155174632906,0.0499450394735,0.999999992517,-7.35218611693e-05,-9.68134090478e-05,-1.36762257106e-05,1793240106290574080
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.930065308,636,879,788,804,652,632,653,0.402509259932,-0.015529620549,0.0499473515981,0.999999992437,-7.69019125452e-05,-9.52482716034e-05,-1.18623162584e-05,1793240106307240960
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804.517611923,652.517611923,632,653,0.402746706395,-0.0155409182983,0.0499557528488,0.999999993996,-7.66190573775e-05,-7.7780016793e-05,-9.34882851629e-06,1793240106323907072
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.894830699,663,636,879,788,805,652.894830699,631.894830699,652.894830699,0.402996016516,-0.0155517570257,0.0499644737204,0.999999995376,-7.54416669675e-05,-5.92637647951e-05,-6.73400743463e-06,1793240106340573184
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.314062312,663,636,879,788,805,652.314062312,631.314062312,652.314062312,0.4032767774,-0.0155610564707,0.049970839103,0.999999996308,-7.25054083359e-05,-4.593510227e-05,-4.09761674842e-06,1793240106357240064
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.263630483,745,715,678.263630483,662.736369517,636,879,788,805,652,631.263630483,652.263630483,0.403575933186,-0.0155620832288,0.0499775334667,0.999999997809,-5.78104199692e-05,-3.2212490912e-05,-1.19876818022e-06,1793240106373906688
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.837701549,745,715,678.837701549,662.162298451,636,879,788,805,652,631.837701549,652.837701549,0.403896750047,-0.015553368405,0.0499846152249,0.999999999407,-2.92688276389e-05,-1.80259821373e-05,2.00914000743e-06,1793240106390573312
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.589053986,745,715,679,662.410946014,636,879,788,804.589053986,652,631.589053986,653,0.404248758519,-0.0155373597308,0.0499904168294,0.99999999997,5.12878557949e-06,-5.79997389702e-06,9.30312678697e-07,1793240106407240192
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.016135337,745,715,679,662.983864663,636,879,788,804.016135337,652,631.016135337,653,0.404613061025,-0.0155184762164,0.0499957138666,0.999999999107,4.18345240088e-05,5.65331100879e-06,-1.83811342148e-06,1793240106423907328
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.577481205,745,715,678.422518795,662.422518795,636,879,788,804,652.577481205,631,652.422518795,0.404999093343,-0.0155086346439,0.0499940548894,0.999999997447,7.13927829434e-05,2.65831881544e-06,-1.61014524539e-06,1793240106440573952
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,715,678.167104107,662,636,879.167104107,788,804.167104107,652.832895893,631.167104107,652.167104107,0.405387698479,-0.0155026858619,0.0499869554307,0.999999995256,9.66851156109e-05,-1.18193522818e-05,-9.42854295282e-07,1793240106457240576
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,715,678.7454232,662,636,879.7454232,788,804.7454232,652.2545768,631.7454232,652.7454232,0.405781085191,-0.0155056717662,0.0499669639262,0.999999992297,0.000111989433744,-5.35235946704e-05,5.91851467612e-07,1793240106473907200
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662,636,880,788,804.679476737,652,631.679476737,653,0.406205684963,-0.0155099170458,0.0499494584216,0.999999988197,0.000128765534027,-8.37929480438e-05,1.97856750439e-06,1793240106490573568
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766.518427541,745,715,679,662,635.518427541,880,788,804,652.481572459,631,653,0.407164345221,-0.0155176340237,0.0499345454947,0.999999980636,0.000168545900004,-0.000101347780113,7.00436807253e-06,1793240106523906816
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+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.646973842,635,880,788,804.646973842,653,631,652.353026158,0.408268842693,-0.0155175816694,0.0499607520332,0.999999973658,0.00022280704749,-5.26938241363e-05,1.62831675341e-05,1793240106557240320
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.776147352,635.223852648,880,788,804.776147352,652.776147352,631.223852648,652.223852648,0.408857790098,-0.015518155716,0.0499796508755,0.999999968216,0.000250289672685,-2.15717222239e-05,2.14050651814e-05,1793240106573907200
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.19685114,635.80314886,880,788,804.19685114,652.19685114,631.80314886,652.80314886,0.409469313783,-0.0155220011961,0.0499969357186,0.999999962396,0.000272909849345,1.96255650948e-06,2.69056323951e-05,1793240106590573824
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.388017674,745,715,679,662,635.611982326,880,788,804.388017674,652,631.611982326,652.611982326,0.410078031562,-0.0155259559552,0.0499962597245,0.999999955468,0.000296813211802,-3.62996077445e-06,3.08679569196e-05,1793240106607240192
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.975754787,745,715,679,662,635.024245213,880,788,804.975754787,652,631.024245213,652.024245213,0.410685305073,-0.0155299669619,0.0499863389749,0.999999947486,0.000321377051432,-2.42145466904e-05,3.40385210236e-05,1793240106623906816
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.4444085,745,715,678.4444085,662,635.5555915,880,788,804.4444085,652,631,652,0.411304186164,-0.0155278264388,0.049957651903,0.999999935117,0.000348604673022,-8.36847762802e-05,3.51685446136e-05,1793240106640573184
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.129324384,744.870675616,715,678.129324384,662.129324384,635.870675616,880,788,804.129324384,652,631,652,0.411952279648,-0.0155262215113,0.0499400790877,0.999999936046,0.000335607114794,-0.000117879146319,3.71458630345e-05,1793240106657240064
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.684095282,744.315904718,715,678.684095282,662.684095282,635.315904718,880,788,804.684095282,652,631,652,0.412694831814,-0.0155272493017,0.0499617258736,0.999999979067,0.00018990120634,-6.34177519022e-05,4.21994138486e-05,1793240106673906688
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.74357928,744.25642072,715,679,663,635,880,788,804.74357928,652,631,652,0.413436141456,-0.0155325239351,0.049981696912,0.999999997378,5.96555951651e-05,-2.38025266954e-05,3.34379209853e-05,1793240106690573568
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.148037575,744.851962425,715,679,663,635,880,788,804.148037575,652,631,652,0.414175807942,-0.0155434150947,0.0499994517472,0.999999998715,-5.01435136523e-05,-3.82161911334e-06,6.40578727894e-06,1793240106707240448
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.443575079,745,715,679,662.556424921,635,880,788,804,652,631.443575079,652,0.414901481129,-0.0155529008013,0.0499763633967,0.999999997626,-5.53599425738e-05,-4.09871851488e-05,1.54688051829e-06,1793240106723907072
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.966713867,745,715,678.966713867,662,635.033286133,880,788,804.033286133,652,632,652,0.415626341782,-0.0155613262021,0.0499418405819,0.999999995275,-2.52784491746e-05,-9.37774945324e-05,4.14719466265e-06,1793240106740573696
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.386884155,745,715,678.386884155,662,635.613115845,880,788,804.613115845,652,632,652,0.416413869242,-0.015559975869,0.0499414171174,0.99999999553,1.63168329764e-05,-9.27163166756e-05,8.78613904725e-06,1793240106757240064
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678.191539329,662.191539329,635.808460671,880,788,805,652,632,652,0.417216504087,-0.0155586129269,0.0499500017581,0.999999995368,5.65886421398e-05,-7.65919689532e-05,1.39501856721e-05,1793240106773906688
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,678.767143084,662.767143084,635.232856916,880,788,805,652,632,652,0.418049431408,-0.0155572247018,0.0499766489699,0.999999994901,9.42066914625e-05,-3.02637581877e-05,2.01671389656e-05,1793240106790573312
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.650263273,635,880,787.650263273,805,652,632,652.349736727,0.418853442332,-0.0155561072533,0.0499843242752,0.999999992121,0.000120961965838,-2.42608877387e-05,2.31716787582e-05,1793240106807239936
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.062920832,635,880,787.062920832,805,652,632,652.937079168,0.419637807871,-0.0155551737662,0.0499791103598,0.999999988823,0.000140337237739,-4.56544307995e-05,2.39937543451e-05,1793240106823906560
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+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.096799464,635.096799464,880,788,804.096799464,652,631.096799464,652,0.421399104662,-0.015560082222,0.0499768091414,0.999999987461,0.000156105214721,-1.35798174858e-05,2.29230792558e-05,1793240106857240576
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.896467478,715.896467478,679.103532522,661,631,880.896467478,785,805,652,629.103532522,652.103532522,0.451275111084,-0.0157376508844,0.0496816654313,0.999999876265,-4.6564764781e-05,-0.000494322893099,3.07682601393e-05,1793240107857240064
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,716,679,661.071274909,631.928725091,881.857450182,784.071274909,805.928725091,652,629,653,0.451298632092,-0.0157393751437,0.0496794603823,0.999999872968,-4.64640814622e-05,-0.000500913988932,3.14608839994e-05,1793240107890573312
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,716,679,661.650808484,631.349191516,880.698383032,784.650808484,805.349191516,652,629,653,0.451307278543,-0.0157374423339,0.0496794180704,0.999999873371,-4.74379350044e-05,-0.000500060594109,3.0782669323e-05,1793240107907239936
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.228097738,745.771902262,716,679.228097738,661.543804525,631.228097738,880,785,805.228097738,651.771902262,629,653,0.451313928637,-0.0157367580998,0.0496790736285,0.999999873474,-4.91716149607e-05,-0.000499701251579,3.05253681792e-05,1793240107923906560
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.801984634,745.198015366,716,679.801984634,660.396030732,631.801984634,880,785,805.801984634,651.198015366,629,653,0.451317552314,-0.0157379666683,0.0496782711668,0.999999873122,-5.20571683453e-05,-0.000500090877185,3.09061590523e-05,1793240107940573184
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766.025293694,745.974706306,716,679.025293694,660.974706306,631.025293694,880.974706306,784.025293694,806,651.974706306,629,653,0.451321670865,-0.0157363961088,0.0496780282184,0.999999872106,-4.91472995331e-05,-0.000502431731653,3.05659722783e-05,1793240107973906688
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.133269904,745,715.866730096,680,660.133269904,631.133269904,881,784.866730096,805.866730096,652,629.866730096,652.866730096,0.451323076575,-0.0157324126147,0.0496765674326,0.999999871774,-4.80229683404e-05,-0.000503240923445,2.98911362337e-05,1793240108007240192
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.87752077,715.87752077,679.12247923,661,631.12247923,881,784,805.87752077,651.12247923,629,652.87752077,0.451325077004,-0.0157365147075,0.0496764907481,0.999999870911,-5.11143677545e-05,-0.000504626541061,3.02937268622e-05,1793240108057240064
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.038451853,745.961548147,715.961548147,680,661,631,880.961548147,785,806,652,630,652.961548147,0.451326740597,-0.0157313074139,0.04967759861,0.999999871927,-4.8590219712e-05,-0.000502921025675,2.92397308916e-05,1793240108090573312
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715.193445599,679.806554401,660.806554401,631.193445599,880,785,806,652,629.806554401,652,0.451326327749,-0.0157315691747,0.0496759252845,0.999999870914,-4.85320074023e-05,-0.000504904596554,2.97916677758e-05,1793240108123906560
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715.767480047,679.232519953,660.232519953,631.767480047,880,785,806,652,629.232519953,652,0.45132769463,-0.0157337366855,0.0496762379264,0.999999871445,-4.97184196497e-05,-0.000503718471129,3.01077070482e-05,1793240108140573184
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,716,679.348970256,660,631.651029744,880.348970256,785,806.348970256,651.651029744,629.348970256,652.348970256,0.451327754037,-0.0157320749088,0.0496759809414,0.999999871366,-4.83119315329e-05,-0.000504031964431,2.97593908937e-05,1793240108157240064
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+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.843056723,716,680,660.843056723,631,881,784.843056723,805.156943277,652,629.843056723,652.843056723,0.45132901868,-0.015731454705,0.0496770783272,0.999999870921,-5.16592322756e-05,-0.000504570950582,2.99524576587e-05,1793240108323906560
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+254,4.233333333,HOLD_POSE2,766,746,716,680,661,631,881,785,806,652,629,652,0.451330587271,-0.0157288353146,0.0496772149732,0.999999871622,-5.12890751713e-05,-0.000503255773619,2.92983541186e-05,1793240108376691712
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+256,4.266666667,HOLD_POSE2,766,745.158392732,716,679.158392732,660.158392732,632,880.158392732,784,805.841607268,651.841607268,629,652.158392732,0.451330265507,-0.0157300628707,0.0496764701852,0.99999987117,-5.04803650935e-05,-0.000504226827181,2.9448987942e-05,1793240108410025216
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+259,4.316666667,HOLD_POSE2,765.117224805,746,716,679.117224805,661,632,881,784,805.882775195,651.882775195,629.882775195,653,0.451331248971,-0.015730579525,0.049676616894,0.999999871107,-5.47758939608e-05,-0.000503883120819,2.97991930463e-05,1793240108460025344
+260,4.333333333,HOLD_POSE2,765.937944098,746,716,679.468972049,661,631.531027951,880.531027951,784.468972049,806,652,629.531027951,653,0.451332199666,-0.015728592009,0.0496771611563,0.999999871469,-5.311236827e-05,-0.000503365056736,2.94203206666e-05,1793240108476691968
+261,4.350000000,HOLD_POSE2,766.942186947,746,715.942186947,679.942186947,661,631,880.057813053,784.942186947,806,652,629,652.942186947,0.451333130538,-0.0157265172928,0.0496776988737,0.999999871871,-5.09926691443e-05,-0.000502808524388,2.90222163938e-05,1793240108493358592
+262,4.366666667,HOLD_POSE2,766.362617252,746,715.362617252,679.362617252,661,631,880.637382748,784.362617252,806,652,629,652.362617252,0.451333988843,-0.0157281739776,0.0496782598062,0.99999987259,-5.26277562507e-05,-0.000501190001377,2.93037330353e-05,1793240108510025216
+263,4.383333333,HOLD_POSE2,766,746,715.21585682,679.21585682,660.78414318,631.21585682,880.78414318,784,806,652,629,652.21585682,0.451333717981,-0.0157293835738,0.0496782081524,0.999999872488,-5.42287843197e-05,-0.000501209238273,2.95277738448e-05,1793240108526691840
+264,4.400000000,HOLD_POSE2,766,746,715.792499598,679.792499598,660.207500402,631.792499598,880.207500402,784,806,652,629,652.792499598,0.451331559815,-0.0157298459002,0.0496771326137,0.999999871014,-5.57728854973e-05,-0.000503965849001,2.96557487569e-05,1793240108543358464
+265,4.416666667,HOLD_POSE2,766,746,716,680,660.368367116,632,880.368367116,784.368367116,806,652,629,652.631632884,0.451330983062,-0.0157295241241,0.0496770854968,0.999999870622,-5.57889534806e-05,-0.000504751606334,2.94712121127e-05,1793240108560025088
+266,4.433333333,HOLD_POSE2,766,746,716,680,660.943798902,632,880.943798902,784.943798902,806,652,629,652.056201098,0.451331295245,-0.0157287615924,0.049677616471,0.999999870842,-5.49460912759e-05,-0.000504429517732,2.91110080565e-05,1793240108576691712
+267,4.450000000,HOLD_POSE2,766,746,716,679.467161979,661,631.467161979,881,784.467161979,805.467161979,652,629,652.532838021,0.451331865158,-0.0157273275948,0.0496774534139,0.999999870991,-5.39733261717e-05,-0.000504250186147,2.89285147728e-05,1793240108593358592
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..067d17b0bbb695cc57001519e57ea993cb2c6de3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d6c1e3f5b296e4cc0b286f3d54b1aaa6c5efd22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391e131422a6e024da6238987737ae0dcb3934c0a11760d390d83a0252dd3d46
+size 26344658
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3cf6f5d477aec6e523ea75b31649018b106a6f8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+54,0.900000000,BASELINE,766,745,715,678,661,635,879,788,804,652,631,652.339032676,0.401018312443,-0.0155018078335,0.0698510308854,0.999999986157,4.83085448208e-05,-0.000158900399357,1.01916258399e-05,1793240113671324672
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+56,0.933333333,BASELINE,766,745,715,678.492522902,661,635,879,788.492522902,804,652,631,653,0.401019494604,-0.0155017807897,0.0698508321601,0.999999986127,4.83129535968e-05,-0.000159098789315,1.0018950376e-05,1793240113704658176
+57,0.950000000,BASELINE,766,745,715,678.933122679,661,635.066877321,879.066877321,788.933122679,804,652,631,653,0.401018093007,-0.0155014365018,0.0698496242633,0.999999985852,4.84633583598e-05,-0.000160771188888,9.95516383631e-06,1793240113721325312
+58,0.966666667,BASELINE,766,745,715,678.359452008,661,635.640547992,879.640547992,788.359452008,804,652,631,653,0.401017327609,-0.0155003427835,0.0698484948464,0.999999985655,4.97549335314e-05,-0.000161609718207,9.81287055368e-06,1793240113737991680
+59,0.983333333,BASELINE,766,744.778839732,715,678,661,635.778839732,879.778839732,788,804,652,631,653,0.401017213566,-0.0155006545918,0.069848332385,0.999999985707,4.92409510406e-05,-0.000161444755705,9.81854638557e-06,1793240113754658048
+60,1.000000000,BASELINE,766,744.186579572,715,678,661,635.186579572,879.186579572,788,804,652,631,653,0.401018192475,-0.0155033248288,0.0698497924439,0.99999998617,4.56973004625e-05,-0.000159595965999,1.00725096594e-05,1793240113771324672
+61,1.016666667,BASELINE,766,744,715,678,661,635,879,788,804.396693807,652,631,653,0.401017613731,-0.0155030894949,0.0698498403691,0.999999986061,4.51768793133e-05,-0.000160441975904,9.77422910164e-06,1793240113787991296
+62,1.033333333,BASELINE,766,744,715,678,661,635,879,788,804.975833974,652,631,653,0.401016318595,-0.0155015178383,0.0698492388294,0.99999998569,4.6046894014e-05,-0.000162527370986,9.22196201451e-06,1793240113804657920
+63,1.050000000,BASELINE,766,744.550496223,715,678,661,635,879,788,804.449503777,652,631,652.449503777,0.4010163037,-0.0155010561175,0.0698494700849,0.999999985568,4.96540652418e-05,-0.000162178331091,9.85181837376e-06,1793240113821324800
+64,1.066666667,BASELINE,765.871958877,744.871958877,715,678,661,635,879,788,804,652,631,652.128041123,0.401016500593,-0.0155006080663,0.0698495304624,0.999999985456,5.26760035103e-05,-0.000161882609308,1.03670740448e-05,1793240113837991680
+65,1.083333333,BASELINE,765.283343486,744.283343486,715,678,661,635,879,788,804,652,631,652.716656514,0.401017258776,-0.0155000353336,0.0698488457352,0.999999985386,5.31640828633e-05,-0.00016215998946,1.02849424469e-05,1793240113854658304
+66,1.100000000,BASELINE,765,744.300510989,715,678,661,635,879,788,804.300510989,652,631,653,0.401017178526,-0.0155002443346,0.0698485610068,0.999999985436,5.22443067961e-05,-0.000162153723737,1.01954300236e-05,1793240113871324928
+67,1.116666667,BASELINE,765,744.879946503,715,678,661,635,879,788,804.879946503,652,631,653,0.40101632007,-0.0155011789152,0.0698486475443,0.999999985595,5.0017805095e-05,-0.000161884187124,1.00990669629e-05,1793240113887991552
+68,1.133333333,BASELINE,765.457405575,744.542594425,715,678,661,635.457405575,879.91481115,788,804.542594425,652,631,652.542594425,0.401017811949,-0.015501094099,0.0698500062958,0.999999985876,5.135160164e-05,-0.000159711639925,1.01641193456e-05,1793240113904658176
+69,1.150000000,BASELINE,766,744.03423367,715,678,661,635.96576633,880.93153266,788,804.03423367,652,631,652.03423367,0.401019690859,-0.0155007248239,0.069851515991,0.999999986139,5.34732823431e-05,-0.000157342786597,1.02465333043e-05,1793240113921324544
+70,1.166666667,BASELINE,766,744.609252969,715,678,661,635.390747031,879.781494062,788,804.609252969,652,631,652.609252969,0.401017980731,-0.0155000703701,0.0698501580273,0.999999985771,5.33430604832e-05,-0.00015972913088,9.93683279507e-06,1793240113937991424
+71,1.183333333,BASELINE,766,745,715,678,661,635,879,788,804.81074647,652,631.18925353,653,0.401016666284,-0.0154997914307,0.0698491957705,0.999999985533,5.28452029805e-05,-0.00016139070823,9.73588956219e-06,1793240113954658048
+72,1.200000000,BASELINE,766,745,715,678,661,635,879,788,804.220183094,652,631.779816906,653,0.401016190873,-0.0155003087651,0.069849072605,0.999999985579,5.15677784734e-05,-0.000161515426419,9.76556477438e-06,1793240113971324672
+73,1.216666667,BASELINE,766,745,715.362126812,678,660.637873188,635,879,788,804,652,631.637873188,653,0.401017053063,-0.0155009017102,0.0698498702025,0.999999985839,4.99963942329e-05,-0.000160382267833,9.97347257839e-06,1793240113987991552
+74,1.233333333,BASELINE,766,745,715.939530172,678,660.060469828,635,879,788,804,652,631.060469828,653,0.401018710428,-0.0155015396042,0.0698512151736,0.999999986222,4.82502573726e-05,-0.000158501328732,1.02873357971e-05,1793240114004658432
+75,1.250000000,BASELINE,766,745,715.48491045,678.51508955,660.51508955,635,879,788,804,652,631,653,0.401017530761,-0.0155001900581,0.0698502006313,0.999999985886,5.1003194916e-05,-0.000159765820282,1.00976524122e-05,1793240114021325568
+76,1.266666667,BASELINE,766,745,715,679,661,635,879,788,804,652,631,653,0.401016276546,-0.0154990188079,0.0698491686297,0.999999985545,5.34729564601e-05,-0.000161099868197,9.90727497538e-06,1793240114037992192
+77,1.283333333,BASELINE,766,745,715,679,661,635,879,788,804,652,631,653,0.401016402114,-0.0155000502074,0.0698495230047,0.999999985685,5.16022805423e-05,-0.000160833925854,1.00290233241e-05,1793240114054658560
+78,1.300000000,BASELINE,766,745,715,679,661,635.24692305,879.24692305,788,804,652,631,653,0.401016697424,-0.0155006069572,0.0698497342722,0.999999985763,5.09901311581e-05,-0.000160537727654,1.00936958393e-05,1793240114071325184
+79,1.316666667,BASELINE,766,745,715,679,661,635.838237763,879.838237763,788,804,652,631,653,0.401017229478,-0.0155005016975,0.0698497459428,0.999999985758,5.21332900999e-05,-0.000160199330642,1.00787628102e-05,1793240114087991808
+80,1.333333333,BASELINE,766,744.579566602,715.420433398,679,661,635.579566602,880,788,804.420433398,652,631,653,0.401018101668,-0.0155004344858,0.0698503087566,0.999999985919,5.23546300939e-05,-0.000159110642433,1.0216964703e-05,1793240114104658432
+81,1.350000000,BASELINE,766,744.000805011,715.999194989,679,661,635.000805011,880,788,804.999194989,652,631,653,0.401019101949,-0.0155003816022,0.0698510791217,0.999999986141,5.2228828566e-05,-0.000157739407063,1.04128346481e-05,1793240114121324800
+82,1.366666667,BASELINE,766,744.569031476,715.430968524,679,661,635,880,788,804.430968524,652,631.569031476,652.430968524,0.401017321683,-0.0155009401908,0.0698499608441,0.9999999859,5.01018082223e-05,-0.000159953555654,1.02764678561e-05,1793240114137991680
+83,1.383333333,BASELINE,766,745,715,678.855315108,661,635,879.855315108,788,804.144684892,652,632,652.144684892,0.401016302253,-0.0155011662804,0.0698493481949,0.999999985761,4.90232260691e-05,-0.000161155810261,1.01751892077e-05,1793240114154658560
+84,1.400000000,BASELINE,766,745,715,678.261568852,661,635,879.261568852,788,804.738431148,652,632,652.738431148,0.401017656269,-0.0155003577433,0.0698503130389,0.999999985964,5.12073531023e-05,-0.000159201930278,1.0184250564e-05,1793240114171325184
+85,1.416666667,BASELINE,766,745,715,678.324284982,661,635,879,788,804.675715018,652,631.675715018,653,0.401018553274,-0.0155001467374,0.0698508874544,0.999999986097,5.17366676963e-05,-0.000158185757048,1.03653941738e-05,1793240114187991808
+86,1.433333333,BASELINE,766,745,715,678.903923995,661,635,879,788,804.096076005,652,631.096076005,653,0.401019090413,-0.0155004062498,0.0698511544319,0.999999986177,5.09629214311e-05,-0.000157907969036,1.06820417358e-05,1793240114204658432
+87,1.450000000,BASELINE,766,745,715,678.52028467,660.52028467,635.47971533,879,788,803.52028467,652,631,652.52028467,0.401018300572,-0.0154999249896,0.0698513273527,0.999999986059,5.11932103318e-05,-0.000158600521214,1.03834093448e-05,1793240114221325056
+88,1.466666667,BASELINE,766,744.945361106,715,678,660.054638894,636,879,788,803.109277788,652,631,652,0.401017340995,-0.0154994622351,0.0698513724414,0.999999985896,5.15409355877e-05,-0.000159536203822,1.00196256215e-05,1793240114237991424
+89,1.483333333,BASELINE,766,744.371419309,715,678,660.628580691,636,879,788,804.257161382,652,631,652,0.401017273988,-0.0155005741962,0.0698503801902,0.999999985689,5.11088458642e-05,-0.000160950329775,1.0198485048e-05,1793240114254658048
+90,1.500000000,BASELINE,766,744.209333243,715,678,661,636,879,788,804.790666757,652,631,652,0.401017678536,-0.015501544883,0.0698501052226,0.999999985698,5.08068442299e-05,-0.000160982377663,1.03972467055e-05,1793240114271324672
+91,1.516666667,BASELINE,766,744.802576422,715,678,661,636,879,788,804.197423578,652,631,652,0.401018947899,-0.0155022564774,0.0698511457286,0.999999986098,5.07434197044e-05,-0.000158479741975,1.06325083469e-05,1793240114287991296
+92,1.533333333,BASELINE,766,745,715,678,661,635.613402241,879,788.386597759,804,652,631,652.386597759,0.401017636135,-0.0155021509118,0.0698502184946,0.999999985888,4.99527287558e-05,-0.000160054902824,1.0498822535e-05,1793240114304658176
+93,1.550000000,BASELINE,766,745,715,678,661,635.033980445,879,788.966019555,804,652,631,652.966019555,0.401015036978,-0.01550163777,0.0698483098075,0.999999985365,4.87992978604e-05,-0.000163663953125,1.01811161802e-05,1793240114321324800
+94,1.566666667,BASELINE,766,745,715,678,661.532708777,635.532708777,879.532708777,788.467291223,804,652,631,653,0.401017066003,-0.015500648447,0.0698499627865,0.999999985761,5.04880034276e-05,-0.000160696119002,1.02412010566e-05,1793240114337991424
+95,1.583333333,BASELINE,766,745,715,678.104223761,661.895776239,635.895776239,879.895776239,788,804,652,631,653,0.401018690187,-0.0154998307791,0.0698513554426,0.999999986066,5.20837519443e-05,-0.000158272554876,1.02788281038e-05,1793240114354658304
+96,1.600000000,BASELINE,766,745,715,678.702367522,661.297632478,635.297632478,879.297632478,788,804,652,631,653,0.401017029401,-0.0154999671761,0.0698504628841,0.999999985717,5.23998704055e-05,-0.000160370043956,1.00984887778e-05,1793240114371324928
+97,1.616666667,BASELINE,766,745,715,679,661,635.290916585,879,788,804.290916585,652,631,653,0.4010169771,-0.0155007122649,0.0698500826106,0.999999985713,5.17664095165e-05,-0.000160598279365,1.01649841344e-05,1793240114387991552
+98,1.633333333,BASELINE,766,745,715,679,661,635.869962827,879,788,804.869962827,652,631,653,0.401018517875,-0.0155020602143,0.0698502097146,0.999999986049,5.0192466051e-05,-0.000158975168078,1.04759495542e-05,1793240114404658176
+99,1.650000000,BASELINE,766,745,715,678.554670473,661,636,879,788,804.554670473,652.445329527,631.445329527,653,0.401017519396,-0.0155007801448,0.0698497016161,0.999999985846,5.04066658242e-05,-0.000160194560775,1.02855245122e-05,1793240114421324800
+100,1.666666667,BASELINE,766,744.9803778,715,678.0196222,661,636,879.0196222,788,804.0196222,652.9803778,631.9803778,653,0.40101588022,-0.015498834966,0.0698490604384,0.999999985502,5.11309546067e-05,-0.000162119558328,9.96875543917e-06,1793240114437991424
+101,1.683333333,BASELINE,766,744.406322117,715,678.593677883,661,636,879.593677883,788,804.593677883,652.406322117,631.406322117,653,0.401016916649,-0.0154996020024,0.0698498569299,0.999999985699,5.16355921924e-05,-0.000160721421574,1.01849760012e-05,1793240114454658048
+102,1.700000000,BASELINE,766,744.172747837,715,678.827252163,660.827252163,636,880,788,805,652,631.172747837,653,0.401017819816,-0.0154999744115,0.0698506129704,0.999999985898,5.17580334717e-05,-0.000159432197353,1.0278838683e-05,1793240114471324928
+103,1.716666667,BASELINE,766,744.763964405,715,678.236035595,660.236035595,636,880,788,805,652,631.763964405,653,0.401018400167,-0.0154993908654,0.0698512710211,0.999999986105,5.0954632679e-05,-0.000158406805812,1.00762985099e-05,1793240114487991552
+104,1.733333333,BASELINE,766,744.651160087,715.348839913,678.348839913,660.348839913,636,880,788,804.651160087,652,631.651160087,653,0.401018196845,-0.0154999298557,0.0698509836826,0.999999986073,5.04361164221e-05,-0.000158769292529,1.01035644174e-05,1793240114504658176
+105,1.750000000,BASELINE,766,744.070498473,715.929501527,678.929501527,660.929501527,636,880,788,804.070498473,652,631.070498473,653,0.401017472733,-0.0155012148279,0.0698500680855,0.999999985883,5.01069202145e-05,-0.000160054094184,1.02835480254e-05,1793240114521324800
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,744,715,679,661,636,880,788,805,652,632,653,0.401019433552,-0.0155018912072,0.0698523292713,0.999999986245,4.96063175279e-05,-0.000157909453257,1.07141613663e-05,1793240114552605440
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.408554117,744.591445883,715,678.408554117,661,635.408554117,879.408554117,788,804.408554117,652,631.408554117,653,0.401019170834,-0.0155008541957,0.0698509292865,0.99999998618,4.89613707934e-05,-0.000158557422571,1.00762209882e-05,1793240114569272576
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.358637907,744.820681046,715,678,661,635.179318954,879.179318954,788.179318954,804,652,631.179318954,652.820681046,0.401018765891,-0.01550014836,0.0698500911044,0.999999986085,4.87962239813e-05,-0.000159228433746,9.76118214528e-06,1793240114585939456
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766.66239949,744.33760051,715,678.33760051,661,635.66239949,880,788.66239949,804.33760051,652,632,652.33760051,0.40101806627,-0.0155012693668,0.0698510311018,0.999999985935,4.95278957058e-05,-0.000159901747966,1.03926399211e-05,1793240114619272448
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.085076894,744.914923106,715,678.914923106,661,635.085076894,880,788.085076894,804.914923106,652,632,652.914923106,0.401018618795,-0.0155031041762,0.0698516298375,0.999999986076,4.85848596343e-05,-0.000159304646247,1.04892280529e-05,1793240114635938816
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.489960232,678.510039768,661,635.489960232,879.510039768,788,805,652,632,653,0.401018344865,-0.0155020496326,0.0698510127066,0.999999985901,5.02171234973e-05,-0.000159903458144,1.03682630135e-05,1793240114652605440
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.933531701,678.066468299,661,636,879.066468299,788,804.933531701,652,632,653,0.401017772363,-0.0155006460825,0.0698501729334,0.999999985648,5.20216393182e-05,-0.000160915201524,1.02083286588e-05,1793240114669272064
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.342291847,678.657708153,661,636,879.657708153,788,804.342291847,652,632,653,0.401015970331,-0.0155004297331,0.0698492344793,0.999999985239,5.16720027803e-05,-0.000163555197184,1.00375884327e-05,1793240114685938688
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.756312183,715,679,661.243687817,636,879.756312183,788,804,652,631.756312183,653,0.401015653547,-0.0154994659267,0.0698493513493,0.999999984597,5.24855506067e-05,-0.000167190679155,9.95943945481e-06,1793240114702605056
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.177565082,715,679,661.822434918,636,879.177565082,788,804,652,631.177565082,653,0.401017378907,-0.0154974744019,0.0698509192402,0.999999983617,5.48984222435e-05,-0.000172194907753,1.00085991018e-05,1793240114719271680
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.396332085,715,678.603667915,661.603667915,636,879.396332085,788,804,652,631,653,0.401031219749,-0.0154986179119,0.0698574787593,0.999999983918,5.50298599602e-05,-0.000170362799121,1.05697574962e-05,1793240114735938560
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.968082697,715,678.031917303,661.031917303,636,879.968082697,788,804,652,631,653,0.401050422964,-0.0155011490033,0.0698662475978,0.999999984773,5.41515240265e-05,-0.000165504894485,1.13575290553e-05,1793240114752605440
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.545691026,678,661,636,879.454308974,788,804,652,631.545691026,653,0.401097826068,-0.0155051343975,0.0698835924356,0.999999988081,5.10295275331e-05,-0.000145156044904,1.27758493843e-05,1793240114769272320
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.873074841,678,661,635.873074841,879.126925159,788.126925159,804.126925159,652,632,653,0.401150052509,-0.0155088528951,0.0699000464031,0.999999990846,4.83390444487e-05,-0.000125602155869,1.39634956666e-05,1793240114785938944
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.279790842,678,661,635.279790842,879.720209158,788.720209158,804.720209158,652,632,653,0.40121387514,-0.0155112748083,0.0699113640198,0.999999992451,4.77214744451e-05,-0.000112334417101,1.41666006896e-05,1793240114802605312
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.304847957,661,635.304847957,879.695152043,788.695152043,804.695152043,652,632,653,0.401287322176,-0.0155140178537,0.069919269764,0.999999993542,4.82605876087e-05,-0.00010199558999,1.35888117856e-05,1793240114819271936
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.881770928,661,635.881770928,879.118229072,788.118229072,804.118229072,652,632,653,0.401369358933,-0.0155170475074,0.0699241304312,0.999999994239,4.98320337619e-05,-9.42708001754e-05,1.23140796159e-05,1793240114835938560
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.543736594,660.543736594,636,879.456263406,788,804.456263406,652,631.543736594,653,0.401463364698,-0.0155196246509,0.0699258243418,0.999999994088,5.14817983833e-05,-9.52209790899e-05,1.03508762242e-05,1793240114852605184
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678,660.030113111,636,879.969886889,788,804.969886889,652,631,653,0.401561878402,-0.0155219497979,0.0699267443758,0.999999993729,5.3252172041e-05,-9.81763076659e-05,8.18133047035e-06,1793240114869271808
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678,660.603668633,636,879.396331367,788,804.396331367,652,631,653,0.40168607094,-0.0155218321185,0.0699284288692,0.999999993669,5.68348381095e-05,-9.69657876834e-05,5.49045420845e-06,1793240114885938688
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.183715281,678.183715281,661,636,879.183715281,788.183715281,804.183715281,652,631.183715281,653,0.401818588666,-0.0155227779522,0.0699299199455,0.999999993686,5.85207700348e-05,-9.5900937177e-05,2.68771770738e-06,1793240114902605568
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.778278134,678.778278134,661,636,879.778278134,788.778278134,804.778278134,652,631.778278134,653,0.401969724223,-0.01552610215,0.0699309784772,0.999999993906,5.59649823521e-05,-9.51618515228e-05,-3.65174585246e-07,1793240114919272192
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,678.640038499,661,635.640038499,879.640038499,788.640038499,805,652,632,653,0.402143595546,-0.0155278907897,0.0699313294077,0.999999993977,5.49087411423e-05,-9.49390780298e-05,-4.2655589454e-06,1793240114935938560
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,678.066014277,661,635.066014277,879.066014277,788.066014277,805,652,632,653,0.40233098744,-0.0155287662606,0.0699312595404,0.999999993949,5.47442533794e-05,-9.50233461503e-05,-8.6699320992e-06,1793240114952605184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.499379704,678.500620296,661,635.500620296,879,788,805,652,632,653,0.402548389893,-0.0155298016076,0.0699359087554,0.99999999498,4.60747072731e-05,-8.8046033835e-05,-1.2848294994e-05,1793240114969271808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.929259926,661,635.929259926,879.070740074,788,805,652,631.929259926,653,0.402774106647,-0.015530122369,0.0699410143584,0.999999996004,3.57243687994e-05,-8.01468338147e-05,-1.70719765461e-05,1793240114985938432
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.325653308,661,635.325653308,879.674346692,788,805,652,631.325653308,653,0.403033076963,-0.0155249038488,0.0699449385156,0.999999996932,2.10382778747e-05,-7.22155570421e-05,-2.1858265258e-05,1793240115002605056
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.266413125,880,788,805,652,631,653,0.403311145743,-0.015520961671,0.0699504471083,0.999999997509,1.50835980444e-05,-6.37605758332e-05,-2.62589333652e-05,1793240115019271936
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.844958911,880,788,805,652,631,653,0.403611590487,-0.0155185148709,0.0699578120435,0.999999997861,1.9358740103e-05,-5.46920170121e-05,-3.02078036825e-05,1793240115035938816
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.578673445,715,678,661,635.578673445,880,788,805,651.578673445,631,653,0.403940764318,-0.0155194833685,0.0699611445093,0.999999998039,1.57152032655e-05,-5.19552814868e-05,-3.1233021151e-05,1793240115052605440
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.00310321,715,678,661,635.00310321,880,788,805,651.00310321,631,653,0.40428045559,-0.0155217021745,0.0699630007259,0.999999998144,9.1727126425e-06,-5.15365669763e-05,-3.11879167868e-05,1793240115069272064
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.585014993,715,678,661,635.585014993,880,788,804.414985007,651.585014993,631,653,0.404649812142,-0.0155245880914,0.0699690285893,0.999999998757,3.16939274543e-06,-3.87773820709e-05,-3.11669219585e-05,1793240115085938688
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.170107661,678.170107661,661,636,880,788,804,652,631,653,0.405029504358,-0.0155263298468,0.0699730317598,0.999999999031,-3.49481244703e-07,-3.04327248989e-05,-3.18223115447e-05,1793240115102605568
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.74778818,678.74778818,661,636,880,788,804,652,631,653,0.405433575168,-0.0155253215605,0.0699721296449,0.999999998878,2.07730082116e-06,-3.28254236866e-05,-3.40979847971e-05,1793240115119271936
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.675495626,679,661,636,880,788,804.324504374,652,631,653,0.405855340856,-0.0155243801388,0.0699666923658,0.999999998428,9.06299607038e-07,-4.27704674968e-05,-3.62406218145e-05,1793240115135938560
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.099526643,679,661,636,880,788,804.900473357,652,631,653,0.406290818685,-0.0155234905316,0.0699577407016,0.999999997548,-3.05269200808e-06,-5.8567967285e-05,-3.82801667594e-05,1793240115152605184
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.522658726,652,631.477341274,652.522658726,0.406772441071,-0.0155215902787,0.0699439487543,0.99999999636,-7.21501982947e-07,-7.50781331538e-05,-4.05356085916e-05,1793240115169272064
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.055724624,679,661,636,880,788,804,652,631.944275376,652.055724624,0.407269042604,-0.0155197927855,0.0699315536304,0.999999995205,2.40196517083e-06,-8.81158373359e-05,-4.26673775785e-05,1793240115185938688
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.646864715,679,661,636,880,788,804,652,631.353135285,652.646864715,0.407816950116,-0.0155210111167,0.0699422945274,0.999999996866,5.12689057108e-07,-6.63589080381e-05,-4.3177539522e-05,1793240115202605312
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.766676792,678.766676792,661.233323208,636,879.766676792,788,804.233323208,652,631.233323208,653,0.408385582769,-0.0155227148646,0.0699550539108,0.999999998252,-7.0911828182e-09,-4.03576927202e-05,-4.32019032791e-05,1793240115219272192
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.187164571,678.187164571,661.812835429,636,879.187164571,788,804.812835429,652,631.812835429,653,0.408984965934,-0.0155251388405,0.0699708081858,0.999999999063,1.50509297099e-06,-8.05909749465e-06,-4.25054728864e-05,1793240115235939328
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.388934492,678.388934492,661.611065508,635.611065508,879.388934492,788,804.611065508,652,631.611065508,653,0.409575325355,-0.0155223217592,0.0699682887796,0.999999998987,2.91499084163e-06,-1.03750747978e-05,-4.371041157e-05,1793240115252606208
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.963405335,678.963405335,661.036594665,635.036594665,879.963405335,788,804.036594665,652,631.036594665,653,0.410161380095,-0.0155170044968,0.0699570521413,0.999999998515,4.27609427276e-06,-2.92035032671e-05,-4.58223746855e-05,1793240115269273088
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.461883012,679,661,635.538116988,880,788,804.538116988,652,631,652.461883012,0.410804040616,-0.0155142649525,0.0699517381895,0.999999998035,8.47239063676e-06,-4.06198899483e-05,-4.69821805496e-05,1793240115285939456
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.884313731,880,788.115686269,804.884313731,652,631,652,0.411462185761,-0.0155127081857,0.0699528927335,0.999999998001,1.09474924186e-05,-3.99790491321e-05,-4.77427948797e-05,1793240115302605568
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.295115182,880,788.704884818,804.295115182,652,631,652,0.412167947174,-0.0155152747861,0.0699788739858,0.999999998842,5.58809097509e-06,7.94883802388e-06,-4.71346402017e-05,1793240115319271936
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.288867973,880,788.711132027,804.288867973,652,631.288867973,652.288867973,0.412888783665,-0.0155184801353,0.070004725662,0.999999997663,-2.95866086818e-06,5.0413001395e-05,-4.6083483908e-05,1793240115335938816
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.867617506,880,788.132382494,804.867617506,652,631.867617506,652.867617506,0.413624748215,-0.015522326475,0.0700304473107,0.999999995079,-1.47039476022e-05,8.73942754745e-05,-4.45877715401e-05,1793240115352605696
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.444849842,661,635.555150158,880,788,804.555150158,651.555150158,631.110300317,653,0.414333727934,-0.0155200214864,0.0700168649171,0.999999997187,-1.10086781081e-05,5.76660304401e-05,-4.66766890964e-05,1793240115369272064
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.977997512,661,635.022002488,880,788,804.022002488,651.022002488,630.022002488,653,0.415035558745,-0.0155158345035,0.0699907082254,0.999999998723,-2.90257268081e-06,7.17106785107e-06,-4.99319229894e-05,1793240115385938688
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.391341449,661,635.608658551,880,788,804.608658551,651.608658551,630.608658551,653,0.415759311923,-0.0155101680905,0.0699410030495,0.999999996093,8.79604843094e-07,-6.85294156952e-05,-5.58354790183e-05,1793240115402605312
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.807060538,880,787.807060538,804.807060538,652,631,653,0.416517907524,-0.0155074318049,0.0699152168946,0.999999992339,6.35345487555e-07,-0.000108635635678,-5.93314673332e-05,1793240115419271936
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.227538625,880,787.227538625,804.227538625,652,631,653,0.417346314977,-0.015510566459,0.0699373560024,0.999999995291,-7.67646971227e-06,-7.74235348581e-05,-5.80035414903e-05,1793240115435938816
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.349422613,635,880.349422613,787.349422613,804.349422613,651.650577387,631,653,0.418171909845,-0.0155123360052,0.0699630902243,0.999999997622,-1.11824230107e-05,-3.83766726767e-05,-5.61965791665e-05,1793240115452605440
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.924728488,635,880.924728488,787.924728488,804.924728488,651.075271512,631,653,0.418995686493,-0.0155132230811,0.0699911484967,0.999999998454,-1.15816401191e-05,5.73494768985e-06,-5.40799450522e-05,1793240115469272064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.499000407,745,715,679,662,635,881,788,804.499000407,651.500999593,631,653,0.419849816604,-0.0155170668997,0.0700123885029,0.999999997608,-2.192636702e-05,3.77356818804e-05,-5.36654403313e-05,1793240115485938688
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679.079289845,661.920710155,635,881,788,804,652,631,653,0.420707006045,-0.0155210208909,0.0700299846049,0.999999996014,-3.2741168157e-05,6.34477033899e-05,-5.36091561712e-05,1793240115502605568
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679.66965811,661.33034189,635,881,788,804,652,631,653,0.421554463015,-0.0155228161262,0.0700307088733,0.999999996026,-3.69359097721e-05,6.0375617309e-05,-5.42102978875e-05,1793240115519274240
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.254814925,745,715,679.745185075,661,635,881,788,804,651.745185075,631,653,0.422370398549,-0.0155217727762,0.0700051044557,0.999999997567,-3.63049138214e-05,1.631569188e-05,-5.72931923663e-05,1793240115535941376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.833351106,745,715,679.166648894,661,635,881,788,804,651.166648894,631,653,0.423146288824,-0.0155171232389,0.0699460516234,0.99999999436,-2.95432183306e-05,-7.98158890778e-05,-6.35289478737e-05,1793240115552605952
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.589621003,745,715,679,661,635,880.589621003,787.589621003,804,651,631,653,0.423952700574,-0.0155125782783,0.0698992687986,0.999999986619,-3.61843703653e-05,-0.000143117607436,-7.04938272072e-05,1793240115569272064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.013203399,745,715,679,661,635,880.013203399,787.013203399,804,651,631,653,0.424771461212,-0.0155080756295,0.0698574504005,0.999999977162,-4.82482909167e-05,-0.000193136416325,-7.77537083605e-05,1793240115585938688
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.573715854,661,635,880.573715854,787.573715854,804,651,631,653,0.425693728724,-0.0155127886335,0.0699134639562,0.999999990741,-4.1201166541e-05,-0.000108354939196,-7.12752744725e-05,1793240115602605312
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.158869635,635.158869635,881,788,804.158869635,651,631,653,0.426608370176,-0.0155167867082,0.0699662980218,0.999999996661,-3.68006295108e-05,-3.23055826181e-05,-6.54248191659e-05,1793240115619271936
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.73869312,635.73869312,881,788,804.73869312,651,631,653,0.427496375482,-0.0155183180055,0.0700046304886,0.999999997173,-4.05998135658e-05,1.22331353555e-05,-6.20916819252e-05,1793240115635938816
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.683905361,635.683905361,880.683905361,788,805,651,631,653,0.428379783138,-0.0155200612541,0.0700311778931,0.999999995939,-4.25345027873e-05,5.20532340725e-05,-6.00286679679e-05,1793240115652605440
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.108490819,635.108490819,880.108490819,788,805,651,631,653,0.429259418899,-0.0155219783846,0.070048056985,0.999999993465,-4.29395846816e-05,8.80022371296e-05,-5.90076466979e-05,1793240115669272064
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.464257264,745,715,680,661,635.464257264,880.464257264,788,805,651,631,653,0.43006934615,-0.0155197858654,0.0700295669767,0.999999995474,-4.26195428979e-05,5.8795644826e-05,-6.14730496107e-05,1793240115685938688
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.370369795,661.629630205,635.370369795,881,788,805,651,631,653,0.431601318427,-0.0155100577218,0.069928956163,0.999999990817,-3.48806754538e-05,-0.000110309025981,-7.05764219309e-05,1793240115719271680
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.217058299,662,635.217058299,881,788.217058299,805,651.217058299,631,652.782941701,0.432385214788,-0.0155067243178,0.069894298275,0.999999983247,-3.31637932123e-05,-0.000164159652412,-7.38766826058e-05,1793240115735938304
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.79687615,662,635.79687615,881,788.79687615,805,651.79687615,631,652.20312385,0.433239866403,-0.0155084749324,0.0699205121979,0.999999990737,-4.00190056098e-05,-0.000107540218862,-7.32077009686e-05,1793240115752605184
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.625304053,880.625304053,788.625304053,805,651.625304053,631,652.374695947,0.434087645061,-0.0155131258918,0.0699684074357,0.999999996167,-4.56664475962e-05,-2.80586034192e-05,-6.92272464763e-05,1793240115769272064
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.048561697,880.048561697,788.048561697,805,651.048561697,631,652.951438303,0.434931717581,-0.0155193407972,0.070027993836,0.999999994671,-5.06626257245e-05,6.37509290109e-05,-6.3461153952e-05,1793240115785938688
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.463961761,662,635.536038239,880,788,805,651,631,652.463961761,0.435683745053,-0.015519012846,0.0700337590701,0.999999994068,-4.79134239794e-05,7.47990817964e-05,-6.30417396531e-05,1793240115802605568
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.879836818,880.120163182,788,805.120163182,651,631,652.120163182,0.436426934308,-0.0155189060332,0.0700300934715,0.999999994193,-4.77974256053e-05,7.27733800972e-05,-6.35166090615e-05,1793240115819272192
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.300289675,880.699710325,788,805.699710325,651,631,652.699710325,0.437168688143,-0.0155219443965,0.0700092915137,0.999999994816,-6.04706073853e-05,4.91533195512e-05,-6.55310098124e-05,1793240115835938560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.721714818,745,715,679,662,635,881,788,805.721714818,651,631,653,0.437866317831,-0.0155232320342,0.0699772303144,0.999999995316,-6.79005051496e-05,7.24384078312e-06,-6.85959400681e-05,1793240115852605440
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.144185513,745,715,679,662,635,881,788,805.144185513,651,631,653,0.438516500129,-0.0155226370909,0.0699330618894,0.999999993446,-6.96922219906e-05,-5.4332515281e-05,-7.27905197757e-05,1793240115869272064
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.989645345,745.989645345,715,679.989645345,661,635,881,787.989645345,805,651,631.010354655,653,0.439679542974,-0.0155250446421,0.0698153751125,0.99999995916,-8.55840032164e-05,-0.000260294200538,-8.12552674974e-05,1793240115902605312
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.402592825,745.402592825,715,679.402592825,661,635,881,787.402592825,805,651,631.597407175,653,0.440288525237,-0.0155305837428,0.0698049914382,0.999999956,-9.32210416744e-05,-0.000269109292872,-8.30109692102e-05,1793240115919272192
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.182165226,745.182165226,715,679.182165226,661,635,881,787,805,651,631.817834774,653,0.440910496698,-0.0155384234437,0.0698098624952,0.999999957556,-0.000103404282086,-0.000259283851987,-8.3471216584e-05,1793240115935938816
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.660678732,715,679.660678732,661,635,880.660678732,787,805,651,631,653,0.442136770066,-0.0155614732174,0.0698558858447,0.999999967043,-0.000133034965481,-0.000204579719682,-7.97730419367e-05,1793240115969272064
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.084906949,715,679.084906949,661,635,880.084906949,787,805,651,631,653,0.442660899389,-0.0155698001745,0.0698426247664,0.999999959197,-0.000145635878865,-0.000232658564542,-7.91640230023e-05,1793240115985938944
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.489859448,660.510140552,634.510140552,880.979718897,787,805,651,631,653,0.44312747573,-0.0155755895161,0.0698058197368,0.99999994162,-0.000152670618247,-0.000295290236799,-7.90879599587e-05,1793240116002605568
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.244270905,745.244270905,715,680,661,634,881,786.755729095,805.755729095,651,631,653,0.444455890743,-0.0155910344836,0.0697064276756,0.999999880481,-0.000180092164548,-0.000446498635125,-8.51097029347e-05,1793240116052605440
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.601009615,745.601009615,715,680,660.601009615,634,881,786,805,651,630.601009615,653,0.445307333075,-0.0156113452448,0.0696946504074,0.99999987366,-0.000203665782818,-0.0004517096016,-8.46066371085e-05,1793240116085938688
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.441102252,715,680,658.558897748,632,881,783,805.558897748,651,630,653,0.449312447782,-0.0157133819234,0.0696443251181,0.999999798443,-0.000308447376724,-0.000551127848613,-6.5049815399e-05,1793240116719271936
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.391623983,715,680,658,632,881.608376017,783,805,651,630,653,0.449314601788,-0.0157142519443,0.069645594975,0.999999799042,-0.00030971355493,-0.000549389205977,-6.45344585055e-05,1793240116752605184
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.350755818,745.350755818,714.350755818,680,658,632,881,783,805.350755818,651,630,653,0.449315169154,-0.0157126047165,0.0696455638813,0.99999979901,-0.000309019897447,-0.000549795745984,-6.48974520334e-05,1793240116802605824
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.503516529,714.496483471,680,658.503516529,632,880.503516529,783,805.503516529,651,630,653,0.447297092424,-0.0156104770044,0.0695404956711,0.999999693967,-0.000236216261739,-0.000744670574883,-4.16236541648e-05,1793240117755002624
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.328490851,714.671509149,680,659,632,881,783.671509149,805.328490851,651,630,653,0.446730623358,-0.0155845450719,0.0695412991081,0.999999702222,-0.000197553796277,-0.000745296530943,-3.25658187859e-05,1793240117788335872
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.589676126,745.589676126,714,680.589676126,659,632,880.589676126,784,805,651,631,653,0.445735764122,-0.0155500405205,0.0695554195896,0.999999742011,-0.000105822194779,-0.000710283747899,-1.66582353251e-05,1793240117838336000
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.630742436,680.261484871,660,633.630742436,881,785.630742436,805.630742436,651,630.630742436,653,0.441443518258,-0.015487482757,0.0696836639139,0.999999870728,-1.18808036557e-06,-0.000508382775213,9.46833877433e-06,1793240117988336384
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.935545276,679.064454724,661,635,880.935545276,787,805.064454724,651.064454724,631,652.935545276,0.427714222562,-0.0153800128669,0.0697730223768,0.999999922982,0.000159957991588,-0.000358212953444,1.15037376061e-05,1793240118288336128
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.327588728,715,678.327588728,661,635,880,787,804.672411272,652,631,653,0.406562774603,-0.0153621518306,0.069810530563,0.999999928111,0.000218807156234,-0.000309224052673,1.68028511988e-05,1793240118755002880
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eee18c22f5f524abd44b51dbd5d5de03c41d105b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.575670273143,-0.00990937910638,1.06003227069,0.546240726216,-0.0012376345383,1.05970040081
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+391,6.516666667,pose2_to_pose3_retreat,0.575668937174,-0.00990927976185,1.06003231629,0.546239388648,-0.00123754064283,1.05970044582
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+394,6.566666667,pose2_to_pose3_retreat,0.575668003696,-0.0099092103472,1.06003234815,0.546238454053,-0.00123747503558,1.05970047726
+395,6.583333333,pose2_to_pose3_retreat,0.575667928005,-0.00990920471868,1.06003235073,0.546238378271,-0.00123746971579,1.05970047982
+396,6.600000000,pose2_to_pose3_retreat,0.575667797211,-0.00990919499271,1.0600323552,0.546238247322,-0.00123746052329,1.05970048422
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+401,6.683333333,pose2_to_pose3_retreat,0.575667143183,-0.0099091973118,1.06003234467,0.546237593391,-0.00123746262589,1.05970047068
+402,6.700000000,pose2_to_pose3_retreat,0.575667030633,-0.00990920034254,1.06003234117,0.546237480903,-0.00123746547042,1.05970046652
+403,6.716666667,pose2_to_pose3_retreat,0.575666728922,-0.00990920846706,1.06003233176,0.546237179358,-0.00123747309575,1.05970045534
+404,6.733333333,pose2_to_pose3_retreat,0.575666354806,-0.00990921854126,1.0600323201,0.54623680545,-0.00123748255099,1.05970044149
+405,6.750000000,pose2_to_pose3_retreat,0.575665955328,-0.00990922929845,1.06003230765,0.546236406192,-0.00123749264724,1.0597004267
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+407,6.783333333,pose2_to_pose3_retreat,0.575665661947,-0.00990923719864,1.06003229851,0.546236112973,-0.00123750006203,1.05970041584
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54fb779bdc660978d501620dad3e656229a50418
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdbbddaf5f28143e234972d89f4a4c01482b36e032c4c6cc18c41a3a9e552f7c
+size 26404686
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b902d64bb186d10a831cac9f38128277c097dffa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
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+19,0.316666667,BASELINE,765.027885304,745,715,678.972114696,661,635.972114696,880,787.972114696,804.027885304,651.027885304,631,653,0.400965511709,-0.015357873737,0.069825969926,0.999999933308,0.00023087216411,-0.000282862962568,8.3812468452e-06,1793240120182342656
+20,0.333333333,BASELINE,765.601917064,745,715,678.398082936,661,635.398082936,880,787.398082936,804.601917064,651.601917064,631,653,0.400965389916,-0.0153594830423,0.0698255100333,0.999999933499,0.000229658469025,-0.000283181656624,8.24628841489e-06,1793240120199009280
+21,0.350000000,BASELINE,765.823313589,744.823313589,715,678,661,635,879.823313589,787,804.823313589,652,631,652.823313589,0.40096531791,-0.0153601346599,0.0698252342703,0.999999933551,0.000229091457522,-0.000283457430696,8.13067236251e-06,1793240120215675904
+22,0.366666667,BASELINE,765.246875536,744.246875536,715,678,661,635,879.246875536,787,804.246875536,652,631,652.246875536,0.400965358545,-0.0153586195163,0.069825375099,0.999999933296,0.000229987562807,-0.000283636098596,8.05881830952e-06,1793240120232342528
+23,0.383333333,BASELINE,765.336516846,744.336516846,715,678.336516846,661,635.336516846,879,787,804,652,631,652.336516846,0.400965179436,-0.0153584337838,0.0698251077357,0.999999933062,0.000230736049852,-0.000283850177722,8.11001381163e-06,1793240120249009152
+24,0.400000000,BASELINE,765.925118781,744.925118781,715,678.925118781,661,635.925118781,879,787,804,652,631,652.925118781,0.400964835716,-0.0153592439144,0.0698245345953,0.999999932845,0.000231373956029,-0.000284090783449,8.25338584525e-06,1793240120265675776
+25,0.416666667,BASELINE,766,744.491296471,715,678.491296471,661,635.491296471,879.508703529,787,804,652,631.508703529,653,0.40096515767,-0.0153587179371,0.0698247018512,0.999999933037,0.000230709797906,-0.000283960958851,8.06467533212e-06,1793240120282342656
+26,0.433333333,BASELINE,766,744.0901724,715,678.0901724,661,635.0901724,879.9098276,787.0901724,804,652,631.9098276,653,0.400965382312,-0.0153581101308,0.0698248314583,0.999999933224,0.000229898712808,-0.000283966845056,7.837320686e-06,1793240120299009280
+27,0.450000000,BASELINE,766,744.664211924,715,678.664211924,661,635.664211924,879.335788076,787.664211924,804,652,631.335788076,653,0.400964564113,-0.0153581082857,0.0698241799297,0.999999933068,0.000229317642887,-0.000284990696,7.66234396804e-06,1793240120315675904
+28,0.466666667,BASELINE,766,745,715,678.761384028,661,635.761384028,879,788,803.761384028,652,631.238615972,652.761384028,0.400964768618,-0.0153582702005,0.0698244681285,0.999999933027,0.000230095037963,-0.000284501762292,7.8083799089e-06,1793240120332342528
+29,0.483333333,BASELINE,766,745,715,678.18646626,661,635.18646626,879,788,803.18646626,652,631.81353374,652.18646626,0.400966414505,-0.0153586629162,0.0698260807653,0.999999933141,0.000232787033387,-0.000281880732378,8.40684631685e-06,1793240120349009152
+30,0.500000000,BASELINE,766,744.601344248,715,678.398655752,661,635,879.398655752,787.601344248,803.398655752,652,631.601344248,652.398655752,0.400967064939,-0.0153597987427,0.0698264484059,0.999999933504,0.00023210928544,-0.000281150326008,8.4449779464e-06,1793240120365675776
+31,0.516666667,BASELINE,766,744.011323964,715,678.988676036,661,635,879.988676036,787.011323964,803.988676036,652,631.011323964,652.988676036,0.40096723753,-0.0153612912806,0.0698262184177,0.999999933986,0.000229813978008,-0.000281327465352,8.21413513171e-06,1793240120382342400
+32,0.533333333,BASELINE,765.431547055,744,715,679,661,635,879.431547055,787,804,652,631,653,0.400966729587,-0.0153604217976,0.0698260545981,0.999999934255,0.0002282101149,-0.000281691856258,7.77124629726e-06,1793240120399009024
+33,0.550000000,BASELINE,765.146692293,744.146692293,715,678.853307707,661,635,879.146692293,787.146692293,804.146692293,652,631,653,0.400966298959,-0.0153594875926,0.0698259895698,0.999999934216,0.000228111434343,-0.000281917093672,7.47480695612e-06,1793240120415675648
+34,0.566666667,BASELINE,765.721033468,744.721033468,715,678.278966532,661,635,879.721033468,787.721033468,804.721033468,652,631,653,0.400966132549,-0.0153584994496,0.0698262087712,0.99999993329,0.000232361335981,-0.000281725977827,7.61740519875e-06,1793240120432342528
+35,0.583333333,BASELINE,766,745,715,678,661,635,880,788,804.699010958,652,631,653,0.400965536913,-0.0153590689649,0.0698258743336,0.999999933109,0.000232023412914,-0.000282640746521,7.81795117266e-06,1793240120449009408
+36,0.600000000,BASELINE,766,745,715,678,661,635,880,788,804.113752799,652,631,653,0.400964535895,-0.0153611096106,0.0698250170117,0.999999933624,0.000227352519038,-0.00028459996791,8.07322590129e-06,1793240120465676032
+37,0.616666667,BASELINE,766,745,715,678,661,635,879.53078428,788,804,652,631,652.53078428,0.400964873762,-0.0153600873929,0.069824947757,0.99999993388,0.000227237782171,-0.000283797854218,7.84941690363e-06,1793240120482342656
+38,0.633333333,BASELINE,766,745,715,678,661,635.051190173,879.051190173,788,804,652,631,652.051190173,0.400965400508,-0.0153585500523,0.0698250788293,0.99999993399,0.000228300030077,-0.000282562013253,7.58534497053e-06,1793240120499009280
+39,0.650000000,BASELINE,766,745,715,678,661,635.628624476,879.628624476,788,804,652,631,652.628624476,0.400964548328,-0.0153593134852,0.0698253147824,0.999999933233,0.000230161987207,-0.000283715873765,8.09555713383e-06,1793240120515675904
+40,0.666666667,BASELINE,766,745,715,678,661,636,879.796551848,787.796551848,804,652,631.203448152,653,0.400964338531,-0.0153596065974,0.0698256218477,0.999999932934,0.000231038225941,-0.00028404937742,8.30888231343e-06,1793240120532342528
+41,0.683333333,BASELINE,766,745,715,678,661,636,879.226433282,787.226433282,804,652,631.773566718,653,0.400965286486,-0.0153590520604,0.069826057077,0.999999933469,0.000230137924606,-0.000282904368747,7.98713416864e-06,1793240120549009152
+42,0.700000000,BASELINE,765.64129196,744.64129196,715,678.35870804,661,635.64129196,879,787.35870804,804,652,631.64129196,653,0.400966293872,-0.0153588394651,0.0698263285743,0.999999933568,0.000230801831778,-0.000282016786333,7.84628030537e-06,1793240120565675776
+43,0.716666667,BASELINE,765.046253085,744.046253085,715,678.953746915,661,635.046253085,879,787.953746915,804,652,631.046253085,653,0.400967340412,-0.0153588521543,0.0698264921984,0.999999933378,0.000232496300507,-0.000281298806417,7.82460665707e-06,1793240120582342400
+44,0.733333333,BASELINE,765.533531166,744.533531166,715,679,661,635.533531166,879,788,804.533531166,652,631,653,0.40096523978,-0.0153576043403,0.0698254444829,0.999999933033,0.000231800094843,-0.000283098490485,7.62398966963e-06,1793240120599009280
+45,0.750000000,BASELINE,766,745,715,679,661,635.888352529,879,788,805,652,631,653,0.400963708012,-0.0153569492115,0.0698247643117,0.99999993292,0.000230763441297,-0.000284343210746,7.55124127717e-06,1793240120615675904
+46,0.766666667,BASELINE,766,745,715,679,661,635.311827976,879,788,805,652,631,653,0.400965649336,-0.0153592042575,0.0698260396218,0.99999993384,0.000229148205221,-0.000282393638197,8.07370898415e-06,1793240120632342528
+47,0.783333333,BASELINE,765.73040709,745,715,678.73040709,661,635.26959291,879.26959291,788,804.73040709,652,631,653,0.400966302994,-0.0153599402134,0.0698263831085,0.999999933852,0.000229760277108,-0.000281845263591,8.29746559342e-06,1793240120649009408
+48,0.800000000,BASELINE,765.143217962,745,715,678.143217962,661,635.856782038,879.856782038,788,804.143217962,652,631,653,0.400965439706,-0.0153588865928,0.0698256288531,0.999999932793,0.000232996247862,-0.000282947581879,8.1693231231e-06,1793240120665676032
+49,0.816666667,BASELINE,765.437914107,745,715,678.437914107,661,635.562085893,879.562085893,787.562085893,804,652,631,653,0.400965649202,-0.0153590520041,0.0698261045236,0.999999933403,0.000231041671267,-0.000282399984881,8.01929959649e-06,1793240120682342400
+50,0.833333333,BASELINE,766,745,715,679,661,635,879.017022073,787,804,651.982977927,631,653,0.400966224007,-0.0153596075808,0.0698269728293,0.999999934508,0.000227587045479,-0.000281293903918,7.87402225844e-06,1793240120699009024
+51,0.850000000,BASELINE,766,745,715,679,661,635,879.593822906,787,804,651.406177094,631,653,0.400967431735,-0.0153600620403,0.0698277056765,0.999999934537,0.000229865596872,-0.000279324649349,8.11694650675e-06,1793240120715675648
+52,0.866666667,BASELINE,766,744.829735916,715,678.829735916,661,635.170264084,879.829735916,787.170264084,804.170264084,651.170264084,631.170264084,653,0.400968126653,-0.015360478667,0.0698280190517,0.999999934506,0.000231309639016,-0.000278236630403,8.25267931732e-06,1793240120732342272
+53,0.883333333,BASELINE,766,744.254150946,715,678.254150946,661,635.745849054,879.254150946,787.745849054,804.745849054,651.745849054,631.745849054,653,0.400967600802,-0.0153608052311,0.0698273338557,0.999999934351,0.00023076709631,-0.000279246430407,8.13323834291e-06,1793240120749009152
+54,0.900000000,BASELINE,765.671996157,744.328003843,715,678,661,635.671996157,879.328003843,788,804.671996157,652,631.671996157,653,0.400966655844,-0.0153603729406,0.0698264478267,0.999999934084,0.000229918880364,-0.000280902042937,8.01236643671e-06,1793240120765675776
+55,0.916666667,BASELINE,765.084646782,744.915353218,715,678,661,635.084646782,879.915353218,788,804.084646782,652,631.084646782,653,0.400965379505,-0.01535934064,0.0698254030035,0.999999933724,0.000228828975232,-0.000283068285394,7.89036312937e-06,1793240120782342656
+56,0.933333333,BASELINE,765.495601792,745,715,678,661,635,879.504398208,787.504398208,804.495601792,652,631.495601792,653,0.400965551382,-0.0153596074501,0.0698258098132,0.999999933868,0.000228802612408,-0.000282579512934,7.8787546205e-06,1793240120799009280
+57,0.950000000,BASELINE,766,744.92576562,715,678.07423438,661,635,879,787.07423438,805,652,631.92576562,652.92576562,0.400965793914,-0.0153602753124,0.0698262937062,0.999999934073,0.000228608935694,-0.000282010047024,7.91074689944e-06,1793240120815676160
+58,0.966666667,BASELINE,766,744.349973215,715,678.650026785,661,635,879,787.650026785,805,652,631.349973215,652.349973215,0.400964866226,-0.0153621748914,0.0698256469296,0.999999934108,0.000226074859684,-0.000283915908066,8.11173144864e-06,1793240120832342528
+59,0.983333333,BASELINE,765.769566071,744.230433929,715,679,661,635,879,788,805,652,631,652.230433929,0.400964548937,-0.0153623961703,0.0698253163261,0.999999934071,0.00022543430377,-0.000284556480584,8.0296456124e-06,1793240120849009152
+60,1.000000000,BASELINE,765.182006942,744.817993058,715,679,661,635,879,788,805,652,631,652.817993058,0.400965177642,-0.0153600164296,0.0698254757255,0.99999993393,0.000227728314212,-0.000283236116395,7.508858924e-06,1793240120865675776
+61,1.016666667,BASELINE,765.40018396,744.59981604,715.40018396,679,661,635,879,788,804.59981604,652,631.40018396,653,0.400965927224,-0.0153599176391,0.0698260519002,0.999999934226,0.000227631427758,-0.000282264518672,7.63478886666e-06,1793240120882342400
+62,1.033333333,BASELINE,765.979965632,744.020034368,715.979965632,679,661,635,879,788,804.020034368,652,631.979965632,653,0.400966731055,-0.0153608425115,0.0698268151186,0.999999934718,0.000226461535614,-0.00028144944319,8.05095742751e-06,1793240120899009024
+63,1.050000000,BASELINE,766,744,716,678.441438028,661,635,879,788,804.558561972,652,631.441438028,653,0.400966572122,-0.0153606024985,0.0698270305257,0.999999934443,0.000228153378487,-0.000281060941338,8.0698434203e-06,1793240120915675904
+64,1.066666667,BASELINE,765.863955419,744.136044581,715.863955419,678,661,635.136044581,879,788,804.863955419,652,631.136044581,653,0.400966059956,-0.0153603945253,0.0698269335281,0.99999993411,0.00022943132734,-0.000281204194162,8.03450514222e-06,1793240120932342272
+65,1.083333333,BASELINE,765.28992186,744.71007814,715.28992186,678,661,635.71007814,879,788,804.28992186,652,631.71007814,653,0.400964521513,-0.0153604239326,0.0698258938833,0.99999993369,0.000229047006492,-0.000283010251508,7.87037330652e-06,1793240120949008896
+66,1.100000000,BASELINE,765.291740144,745,715,678,660.708259856,636,879,788,804,652,632,653,0.400964667959,-0.0153601437671,0.0698257921287,0.999999933421,0.000230172846302,-0.000283047020653,7.97742628273e-06,1793240120965675776
+67,1.116666667,BASELINE,765.881186561,745,715,678,660.118813439,636,879,788,804,652,632,653,0.400966533751,-0.015359547698,0.0698266474446,0.999999933299,0.000232839729801,-0.000281278319278,8.36120985022e-06,1793240120982342400
+68,1.133333333,BASELINE,766,745,715,678.461855071,660.461855071,636,879,787.538144929,804,652,631.538144929,653,0.400967170716,-0.0153596324336,0.0698272263733,0.999999933653,0.000232368383033,-0.000280412030162,8.21315651774e-06,1793240120999009024
+69,1.150000000,BASELINE,765.959795657,745,715,679,661,636,879.040204343,787.040204343,804,652,631,653,0.400967365433,-0.0153599452401,0.0698276364394,0.999999934084,0.00023109432928,-0.000279936019672,7.96091282574e-06,1793240121015675904
+70,1.166666667,BASELINE,765.382824977,745,715,679,661,636,879.617175023,787.617175023,804,652,631,653,0.400965797483,-0.0153610083525,0.0698267235951,0.999999933933,0.000229680806538,-0.000281629013027,8.11018985199e-06,1793240121032342528
+71,1.183333333,BASELINE,765,744.806952417,715,678.806952417,661,636,879.806952417,788,804,652,631,653,0.400965024036,-0.0153616964882,0.0698260828425,0.999999933917,0.000228472277883,-0.000282665768615,8.17330191635e-06,1793240121049009152
+72,1.200000000,BASELINE,765,744.233245075,715,678.233245075,661,636,879.233245075,788,804,652,631,653,0.400965817224,-0.0153616452284,0.0698259786123,0.999999934174,0.00022766796538,-0.000282408525865,8.0665101259e-06,1793240121065675776
+73,1.216666667,BASELINE,765.352270126,744.352270126,715,678,661,636,879,787.647729874,804,651.647729874,631,653,0.400965594786,-0.0153607247434,0.0698258576887,0.999999933895,0.000228613349792,-0.0002826344083,7.95176538169e-06,1793240121082342144
+74,1.233333333,BASELINE,765.945874661,744.945874661,715,678,661,636,879,787.054125339,804,651.054125339,631,653,0.400964676559,-0.0153592087667,0.0698257253287,0.999999933246,0.00023075742253,-0.000283191271784,7.83157220741e-06,1793240121099008768
+75,1.250000000,BASELINE,765.475509362,744.475509362,715,678,660.475509362,635.475509362,879,787.524490638,804,651,631,652.475509362,0.40096633799,-0.0153600442746,0.0698270805147,0.999999933901,0.000230662431999,-0.000280939736016,8.06806291743e-06,1793240121115675648
+76,1.266666667,BASELINE,765,744.101364895,715,678.101364895,660.101364895,635.101364895,879.101364895,788,804,651.101364895,631,652.101364895,0.40096779762,-0.0153607434111,0.0698281045378,0.999999934461,0.000230425283028,-0.000279131687365,8.25727038666e-06,1793240121132342272
+77,1.283333333,BASELINE,765,744.677125579,715,678.677125579,660.677125579,635.677125579,879.677125579,788,804,651.677125579,631,652.677125579,0.400967101532,-0.0153597001856,0.0698268802193,0.999999933984,0.000230574166952,-0.000280717869629,8.05770862283e-06,1793240121149008896
+78,1.300000000,BASELINE,765,745,715,679,661,635.742706774,880,787.742706774,804,652,631,653,0.400966097511,-0.0153598983931,0.0698260538022,0.999999933664,0.000230241230426,-0.000282125394084,8.08983090805e-06,1793240121165675776
+79,1.316666667,BASELINE,765,745,715,679,661,635.156912549,880,787.156912549,804,652,631,653,0.400964700333,-0.0153616816094,0.0698257354086,0.999999933546,0.000229293126125,-0.000283304815761,8.41775750532e-06,1793240121182342400
+80,1.333333333,BASELINE,765.424394189,745,715,678.575605811,661,635.424394189,879.575605811,787.424394189,804.424394189,651.575605811,631,652.575605811,0.400965100071,-0.0153620707635,0.0698257773687,0.999999933951,0.000227862859476,-0.000283037556929,8.1199698767e-06,1793240121199009280
+81,1.350000000,BASELINE,766,744.995954403,715,678,661,635.995954403,879,787.995954403,804.995954403,651.004045597,631,652,0.400966152472,-0.0153619393843,0.0698259491971,0.999999934537,0.000226283959365,-0.000282247483362,7.59780236809e-06,1793240121215675904
+82,1.366666667,BASELINE,766,744.418226506,715,678,661,635.418226506,879,787.418226506,804.418226506,651.581773494,631,652,0.400966529291,-0.0153603197035,0.0698258413449,0.999999933963,0.000228643345017,-0.000282375487202,7.72038116938e-06,1793240121232343296
+83,1.383333333,BASELINE,766,744.158205562,715,678,661,635,879,787.158205562,804,651.841794438,631.158205562,652.158205562,0.400966575243,-0.0153594619676,0.0698257620596,0.999999933629,0.000229923091443,-0.000282518290797,7.81943629427e-06,1793240121249010432
+84,1.400000000,BASELINE,766,744.731239977,715,678,661,635,879,787.731239977,804,651.268760023,631.731239977,652.731239977,0.400965753635,-0.0153606021177,0.069825757679,0.999999933933,0.000228371929674,-0.000282699900679,7.85681030385e-06,1793240121265676544
+85,1.416666667,BASELINE,765.685979004,745,715,678.314020996,661,635,879,788,804.314020996,651.314020996,631.685979004,653,0.400964684604,-0.0153599278792,0.0698253536101,0.999999933632,0.000228708725039,-0.000283496311015,7.60878282648e-06,1793240121282342912
+86,1.433333333,BASELINE,765.094589023,745,715,678.905410977,661,635,879,788,804.905410977,651.905410977,631.094589023,653,0.40096339703,-0.0153576510244,0.0698245965037,0.999999932795,0.0002307131184,-0.000284835763306,7.10866544881e-06,1793240121299009536
+87,1.450000000,BASELINE,765.48640908,745,715,679,661,635.48640908,879.48640908,788,804.51359092,652,631,653,0.400964676058,-0.0153585285987,0.0698252373025,0.999999933137,0.000230528185793,-0.000283777094215,7.36658836e-06,1793240121315676416
+88,1.466666667,BASELINE,765.935003124,745,715,679,661,636,880,788,804,652,631,653,0.400966242409,-0.0153598061897,0.0698260915104,0.999999933642,0.000230067130954,-0.000282355473186,7.75205681869e-06,1793240121332343296
+89,1.483333333,BASELINE,765.359804262,745,715,679,661,636,880,788,804,652,631,653,0.400966228253,-0.0153595093424,0.0698265316748,0.999999933686,0.000230710654881,-0.000281668902468,8.00578908068e-06,1793240121349009664
+90,1.500000000,BASELINE,765.220191398,745,715,679,661,635.779808602,879.779808602,788,804,652,631,652.779808602,0.40096553545,-0.0153596625591,0.0698263623066,0.99999993361,0.000230552015544,-0.00028206484784,8.07841154586e-06,1793240121365676288
+91,1.516666667,BASELINE,765.808199774,745,715,679,661,635.191800226,879.191800226,788,804,652,631,652.191800226,0.400963709008,-0.015360567582,0.0698251747494,0.999999933332,0.000229053408865,-0.000284269073714,7.84850055912e-06,1793240121382342912
+92,1.533333333,BASELINE,766,744.609540881,715,678.609540881,661,635,879,788,804,651.609540881,631,652,0.400963802294,-0.0153601903396,0.0698255479179,0.999999933391,0.000229285983202,-0.000283873737337,7.81349616419e-06,1793240121399009280
+93,1.550000000,BASELINE,766,744.03006453,715,678.03006453,661,635,879,788,804,651.03006453,631,652,0.400964824901,-0.015359192366,0.0698266766177,0.999999933613,0.000230356604277,-0.00028221997989,7.87284401909e-06,1793240121415675904
+94,1.566666667,BASELINE,765.453338309,744.546661691,715,678,660.453338309,635,879,788,804,651.546661691,631,652.546661691,0.400963976911,-0.0153597194807,0.0698253390107,0.999999933345,0.000229153970421,-0.000284142699007,7.77635321951e-06,1793240121432342528
+95,1.583333333,BASELINE,765.122931498,745,715,678,660.122931498,635,879.122931498,788,804,651.877068502,631,653,0.4009635772,-0.0153603748303,0.0698244909912,0.999999933237,0.000228230706082,-0.000285263832654,7.77997516603e-06,1793240121449009664
+96,1.600000000,BASELINE,765.698076107,745,715,678,660.698076107,635,879.698076107,788,804,651.301923893,631,653,0.400965203064,-0.0153611949066,0.0698259404162,0.999999933829,0.000228792722395,-0.000282716339665,8.18323942167e-06,1793240121465679616
+97,1.616666667,BASELINE,766,745,715,678,661,635.278975905,879.721024095,788,804,651.278975905,631,653,0.400965700255,-0.0153614434904,0.0698263775195,0.999999934222,0.000228338649533,-0.000281694219256,8.14122367097e-06,1793240121482346752
+98,1.633333333,BASELINE,766,745,715,678,661,635.866235468,879.133764532,788,804,651.866235468,631,653,0.400964950202,-0.0153610605435,0.0698256959518,0.999999934398,0.000226761742436,-0.000282357719266,7.60714909483e-06,1793240121499010304
+99,1.650000000,BASELINE,766,745,715,678.448661073,661,635.551338927,879,787.551338927,804,652,631,653,0.400965606285,-0.0153602003174,0.0698263131565,0.99999993431,0.000228135871027,-0.000281563242382,7.56039304126e-06,1793240121515676160
+100,1.666666667,BASELINE,766,745,715.029484978,678.970515022,661,635,879,787,804.029484978,652,631,653,0.400966585148,-0.0153592659933,0.0698272512737,0.999999934132,0.000230290351604,-0.00028043392438,7.65256718464e-06,1793240121532342784
+101,1.683333333,BASELINE,766,745,715.607040146,678.392959854,661,635,879,787,804.607040146,652,631,653,0.400965854289,-0.0153595711627,0.0698270336188,0.999999933842,0.000230770114985,-0.000281074362231,7.6553132867e-06,1793240121549009408
+102,1.700000000,BASELINE,766,744.817392421,715.817392421,678,661,635,879,787,805,652,631,653,0.400965236879,-0.0153598377182,0.0698267280983,0.999999933621,0.000230890110386,-0.000281760830719,7.70823412314e-06,1793240121565676032
+103,1.716666667,BASELINE,766,744.246056479,715.246056479,678,661,635,879,787,805,652,631,653,0.400964860977,-0.0153600220737,0.069826235533,0.999999933547,0.000230244244751,-0.000282545287465,7.86796510616e-06,1793240121582342912
+104,1.733333333,BASELINE,766,744.337010386,715,678.337010386,661.337010386,635.337010386,879,787,804.662989614,652,631,653,0.400964720558,-0.0153600393116,0.0698260225947,0.999999933424,0.000230377475001,-0.000282872609532,7.868574275e-06,1793240121599009536
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,632,652,0.400967107292,-0.0153609476481,0.0698283483548,0.999999934223,0.000231019282057,-0.000279486954532,8.41705163452e-06,1793240121675419648
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.411444083,879,788,804.588555917,652,632,652.588555917,0.400967139593,-0.0153596050025,0.0698280176845,0.999999933937,0.00023253073689,-0.000279261600698,8.30781408419e-06,1793240121692083456
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.330623859,678.330623859,661,635.330623859,879.669376141,787.669376141,804,652,631,653,0.400966307062,-0.0153599967588,0.0698271335149,0.99999993393,0.000230606192504,-0.000280881942485,8.12450183987e-06,1793240121742082048
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.517439262,715.517439262,678.517439262,661,636,879,787.482560738,804,652,631.482560738,652.517439262,0.400966075055,-0.0153602214867,0.0698272011685,0.999999934027,0.00022984885393,-0.000281164030886,7.83606945416e-06,1793240121775415808
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.058604524,715,678,661,636,879,788,804,651.941395476,632,652.058604524,0.400965910974,-0.0153609108159,0.0698265544585,0.999999933818,0.000230091438422,-0.000281706260455,8.02495020614e-06,1793240121792082176
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765.609895462,745,715,679,661.609895462,635.609895462,879.609895462,787.390104538,804,652,631,653,0.401027335192,-0.0153646498105,0.0698528624323,0.9999999461,0.000226422713761,-0.000237564775345,9.82608906277e-06,1793240121858748672
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034509943,745,715,679,661.034509943,635.034509943,879.034509943,787.965490057,804,652,631,653,0.401070704206,-0.0153670605504,0.0698709528706,0.999999953239,0.000225250757181,-0.000206545506142,1.10624853664e-05,1793240121875415808
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.538190873,745,715,679,661,635.538190873,879.538190873,788,804,651.461809127,631.538190873,653,0.401129331909,-0.0153695516412,0.0698870820144,0.999999957437,0.000226516866247,-0.000183486152754,1.22297241293e-05,1793240121892082688
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.023780108,660.976219892,635,879,788,804,652,631,652.976219892,0.40164814653,-0.0153917182087,0.0699196319661,0.999999966152,0.000220870457473,-0.000137430379421,4.94669020401e-06,1793240121992081920
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766.674782357,745,715,678,661,635.837391179,879.162608821,788,804.837391179,652,631.162608821,653,0.403879052623,-0.0154771217579,0.0699564346019,0.999999996121,5.29009328014e-05,-6.09742434087e-05,-3.52409878049e-05,1793240122158748160
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.587049703,745,715.412950297,678.412950297,661,636,879,788,805,652,631,653,0.4042174911,-0.0154842493357,0.0699586511078,0.999999996359,5.13001553817e-05,-6.05665219875e-05,-3.13214824278e-05,1793240122175415296
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.012426986,745,715.987573014,678.987573014,661,636,879,788,805,652,631,653,0.404565338837,-0.0154901700549,0.0699599553024,0.99999999631,5.36552364647e-05,-6.25685173565e-05,-2.4203923021e-05,1793240122192082176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.435775807,745,715.435775807,678.435775807,661,635.435775807,879,788,804.435775807,652,631.564224193,653,0.404960709724,-0.0154883411348,0.0699660280038,0.999999996832,5.52453528548e-05,-4.99001788703e-05,-2.81691426659e-05,1793240122208748288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.144910399,745,715,678.144910399,661,635,879,788,804,651.855089601,631.855089601,653,0.405365226466,-0.015483302414,0.0699699415669,0.999999996989,5.73430981452e-05,-4.11678161366e-05,-3.22473098879e-05,1793240122225415168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.737935591,745,715,678.737935591,661,635,879,788,804,651.262064409,631.262064409,653,0.405794776963,-0.0154688675658,0.0699668523513,0.999999996451,6.10629021965e-05,-4.56096862601e-05,-3.5917191279e-05,1793240122242081792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.678392299,744.678392299,715,678.678392299,661,635.321607701,879,788,804.321607701,651.321607701,631,653,0.406233036253,-0.0154655835118,0.0699567444013,0.999999995318,6.23459899326e-05,-6.32782555794e-05,-3.83840049288e-05,1793240122258748416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.10212617,744.10212617,715,678.10212617,661,635.89787383,879,788,804.89787383,651.89787383,631,653,0.406678191466,-0.0154711289828,0.069941078811,0.999999993122,6.16996144452e-05,-9.14201144597e-05,-3.98981945581e-05,1793240122275415040
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.472557629,715,678.472557629,661,635.527442371,879,788,804.527442371,652,631,653,0.407182834614,-0.0154774986064,0.0699355757023,0.999999993236,5.6362074244e-05,-9.29621707376e-05,-4.13441881813e-05,1793240122292081664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.04801424,745,715,678.95198576,661,635,879.04801424,787.95198576,804,652,631.04801424,653,0.40770433034,-0.0154835489095,0.0699336901197,0.999999994043,5.02514186411e-05,-8.69933446108e-05,-4.26765493889e-05,1793240122308748544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.635995171,745,715,678.364004829,661,635,879.635995171,787.364004829,804,652,631.635995171,653,0.408271252595,-0.0154840118071,0.0699478705742,0.999999996124,4.68097202431e-05,-6.09899814657e-05,-4.28961958747e-05,1793240122325415168
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635,879.779647361,787.220352639,804.220352639,652,631.779647361,653,0.408854182938,-0.015483105173,0.0699577594871,0.999999997106,4.69950824975e-05,-4.0967195186e-05,-4.35929225117e-05,1793240122342081792
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635,879.201178764,787.798821236,804.798821236,652,631.201178764,653,0.40946312951,-0.015479972783,0.069960673808,0.999999997106,5.30751250453e-05,-3.06640128357e-05,-4.50649973431e-05,1793240122358748672
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.624188038,745,715,678,661,635,879,787.624188038,804.624188038,652,631,652.624188038,0.410068757527,-0.015478288369,0.0699547992107,0.999999996731,5.25794129524e-05,-3.96338574779e-05,-4.69362854921e-05,1793240122375415296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.047985363,745,715,678,661,635,879,787.047985363,804.047985363,652,631,652.047985363,0.410672616003,-0.0154773760458,0.0699442381804,0.999999995885,4.85773722197e-05,-5.88804792032e-05,-4.90204423823e-05,1793240122392081664
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.538807445,745,715,678.538807445,661,635,879,787,804.538807445,652,631.538807445,652.538807445,0.411323785929,-0.0154804299285,0.069952062245,0.999999996693,4.2692673984e-05,-4.9038982997e-05,-4.8857099424e-05,1793240122408748288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.87518503,745,715,679,661,635,879.12481497,787.12481497,804.87518503,652,631.87518503,652.87518503,0.411999415793,-0.0154844498254,0.0699675197151,0.999999997814,3.73615963044e-05,-2.5857620584e-05,-4.80309489478e-05,1793240122425415168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.295544914,745,715,679,661,635,879.704455086,787.704455086,804.295544914,652,631.295544914,652.295544914,0.412748515651,-0.0154906769192,0.0700047071656,0.999999997703,3.46711361843e-05,3.63049609781e-05,-4.55335322473e-05,1793240122442082048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.282424682,744.717575318,715,679,661,635,879.717575318,788,804,652,631.282424682,652,0.413494889547,-0.0154943797863,0.0700257299154,0.999999996087,2.88426840517e-05,7.09283927453e-05,-4.43101529015e-05,1793240122458748672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.858656503,744.141343497,715,679,661,635,879.141343497,788,804,652,631.858656503,652,0.414238427709,-0.0154954566947,0.0700299364892,0.999999995862,1.97497703548e-05,7.69027823774e-05,-4.44121577904e-05,1793240122475415552
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.435369233,715,679,661.435369233,635.435369233,879.435369233,787.564630767,804,652,631.564630767,652.435369233,0.414931823068,-0.0154890095686,0.0699877506074,0.999999998513,2.27264399115e-05,5.59133250246e-07,-4.95687790885e-05,1793240122492082176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.98750385,745,715,679,661.98750385,635.98750385,880,787.01249615,804.01249615,652,631,652.98750385,0.415610855986,-0.0154803203568,0.0699314359608,0.999999992918,2.95179745728e-05,-0.000100625529562,-5.62797264644e-05,1793240122508749056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.398477343,745,715,679,661.398477343,635.398477343,880,787.601522657,804.601522657,652,631,652.398477343,0.416379143195,-0.0154810110878,0.0699189184065,0.999999991328,3.13322050857e-05,-0.00011353928489,-5.89085467351e-05,1793240122525415424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.18681344,745,715,679,661.18681344,635,880,788,805,651.81318656,631,652.18681344,0.417171143709,-0.0154837896419,0.06992222683,0.999999992416,2.88685209172e-05,-0.000103768658615,-5.97256529239e-05,1793240122542081792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.764292024,745,715,679,661.764292024,635,880,788,805,651.235707976,631,652.764292024,0.418012733553,-0.0154909342614,0.0699586306136,0.999999997153,1.74588412856e-05,-4.65603458884e-05,-5.6754093832e-05,1793240122558748416
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.34009805,661.65990195,635,879.65990195,788,805,651.34009805,631,653,0.418863240356,-0.0154962036542,0.0699852501518,0.999999998431,5.20435000181e-06,-8.43023891229e-06,-5.51430671042e-05,1793240122575415040
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.914750545,661.085249455,635,879.085249455,788,805,651.914750545,631,653,0.419719896858,-0.0155001797645,0.0700051218163,0.999999998351,-7.63277961469e-06,1.65422543524e-05,-5.44703550006e-05,1793240122592081664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.497168178,661,635,879.502831822,788,805,652,631,653,0.420563553252,-0.0155020425029,0.0700195174322,0.999999997723,-1.30540422343e-05,3.7970057405e-05,-5.42325435922e-05,1793240122608748544
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.091514305,635,880,788,805,651.908485695,631,653,0.421401790593,-0.0155034589735,0.0700277716505,0.999999997133,-1.63982766306e-05,4.99396944457e-05,-5.45137389569e-05,1793240122625415168
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.670930743,635,880,788,805,651.329069257,631,653,0.422223209325,-0.0155044588558,0.0700083689574,0.999999998136,-1.55559867544e-05,1.4775673958e-05,-5.71580968534e-05,1793240122642081792
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,804.750938331,651,631,652.750938331,0.423022525804,-0.0155022377358,0.0699637731329,0.999999996351,-1.60275360143e-05,-5.64391963802e-05,-6.2092867446e-05,1793240122658748416
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880,788,804.174497068,651,631,652.174497068,0.423792790044,-0.0154957827634,0.0698860621449,0.999999982062,-1.82260634255e-05,-0.000175041180985,-7.00382752925e-05,1793240122675415296
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.599726628,635,880,788,804.400273372,651.400273372,631,652.400273372,0.424665767309,-0.0154962022253,0.0698773461816,0.999999980845,-2.31904011789e-05,-0.000180025304869,-7.32308325383e-05,1793240122692081920
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.025681582,635,880,788,804.974318418,651.974318418,631,652.974318418,0.425583335589,-0.015499606103,0.0698985832044,0.999999987599,-2.9355466959e-05,-0.000135684217848,-7.43600226275e-05,1793240122708748544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.435354571,745,715,679,661,635,880,788,804.435354571,651.435354571,631,653,0.426475263895,-0.0155028366749,0.0699524474126,0.999999995633,-2.46024158852e-05,-6.10319755401e-05,-6.63661214573e-05,1793240122725415168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.15280954,745,715,679,661.15280954,635,880,788,804.15280954,651,631,653,0.42736472095,-0.015505440244,0.0699995746795,0.999999997914,-2.28494857896e-05,3.81780724115e-06,-6.02913343858e-05,1793240122742081792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.732795614,745,715,679,661.732795614,635,880,788,804.732795614,651,631,653,0.428250626435,-0.0155063137262,0.0700235973437,0.99999999698,-3.09127583492e-05,3.72965975566e-05,-6.07758068682e-05,1793240122758748416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690685657,744.690685657,715,679,662,635.309314343,880,788,804.690685657,651,631,652.690685657,0.429123829594,-0.0155071104891,0.0700361914523,0.999999995802,-3.45573824992e-05,5.88183780701e-05,-6.11779170978e-05,1793240122775415296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.117129054,744.117129054,715,679,662,635.882870946,880,788,804.117129054,651,631,652.117129054,0.429986181316,-0.0155078417118,0.0700390223288,0.999999995057,-3.44272261261e-05,7.01254761073e-05,-6.15096665963e-05,1793240122792082176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.456654722,744.456654722,715.456654722,679.456654722,661.543345278,636,880.456654722,788,804,651.456654722,631,652.456654722,0.430771949534,-0.0155044854857,0.069990763546,0.9999999973,-3.05178828962e-05,-1.2342147039e-05,-6.56916612262e-05,1793240122808748800
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.968558214,745,715.968558214,680,661.062883571,635.968558214,881,788,804.031441786,651.968558214,631,653,0.431538714549,-0.0155001760259,0.0699309138639,0.999999990467,-2.59213990895e-05,-0.000115696767967,-7.07722295665e-05,1793240122825415424
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.376935556,745,715.376935556,680,662.246128889,635.376935556,881,788,804.623064444,651.376935556,631,653,0.432317054937,-0.0154975714788,0.069898141664,0.999999983702,-2.63612705405e-05,-0.000162437746768,-7.42585619883e-05,1793240122842082048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.209952377,745,715,680,663,635,880.790047623,788,805,651,631,653,0.433134877356,-0.0154983818658,0.0699012238867,0.999999985628,-2.99720728445e-05,-0.000149213034252,-7.47134326298e-05,1793240122858748672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.78852744,745,715,680,663,635,880.21147256,788,805,651,631,653,0.434022020255,-0.0155051880031,0.0699672573012,0.999999996323,-3.91502187553e-05,-3.07039086093e-05,-6.98458316641e-05,1793240122875415296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634861128,745,715,680,662.634861128,635.365138872,880.365138872,788,805,651,631,653,0.434856564166,-0.0155099286661,0.0700093567058,0.999999996186,-4.35234134941e-05,3.7567035543e-05,-6.5749533991e-05,1793240122892081920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059380896,745,715,680,662.059380896,635.940619104,880.940619104,788,805,651,631,653,0.435660807928,-0.0155134794946,0.070037668716,0.999999994097,-4.51286747896e-05,7.68978399972e-05,-6.20975527396e-05,1793240122908748800
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.527624024,745,715,680,661.472375976,635.472375976,880.472375976,788,805,651,631,653,0.436419000072,-0.0155140827164,0.0700277297209,0.999999994728,-4.96020032391e-05,6.29113228803e-05,-6.42337428075e-05,1793240122925415424
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.114244726,635,880.114244726,788,805,651,631,652.885755274,0.437161887298,-0.0155145026264,0.0700099760039,0.999999995465,-5.4524024484e-05,4.00717029367e-05,-6.70181050291e-05,1793240122942082048
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.693898355,635,880.693898355,788,805,651,631,652.306101645,0.437864010734,-0.0155155573607,0.0699783157081,0.999999995754,-5.9929609603e-05,6.15721894487e-06,-6.9729961558e-05,1793240122958748672
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.728237461,745,715,680,661.728237461,635,880.728237461,788,804.728237461,651,631,652,0.438518291256,-0.0155162066576,0.0699325340283,0.999999993417,-6.27998617568e-05,-6.1965108287e-05,-7.33647688297e-05,1793240122975415040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.152375684,745,715,680,661.152375684,635,880.152375684,788,804.152375684,651,631,652,0.439119036045,-0.0155164022746,0.0698709506799,0.999999980808,-6.28331038804e-05,-0.000168365626589,-7.80323469372e-05,1793240122992081664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.423057405,744.576942595,715,680,661,635,880.423057405,788,804.423057405,651,631,652.423057405,0.439728952355,-0.0155196294662,0.0698278959721,0.999999966089,-7.35991830337e-05,-0.000236183665081,-8.13824601882e-05,1793240123008748544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998336293,744.001663707,715,680,661,635,880.998336293,788,804.998336293,651,631,652.998336293,0.440342168745,-0.0155239474572,0.0697915081019,0.999999950474,-8.822707464e-05,-0.000290119240847,-8.42585330446e-05,1793240123025415168
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.585866538,715,680,661,635,880.414133462,787.414133462,805,651,631.585866538,653,0.440995355715,-0.0155366523331,0.069817011208,0.999999958609,-0.000103393787935,-0.000255508941428,-8.25074200103e-05,1793240123042082048
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880.171769733,787,805,651.171769733,631.828230267,653,0.441632210848,-0.015548924493,0.0698393883465,0.99999996409,-0.000117850620022,-0.000226730813314,-8.07716042202e-05,1793240123058748672
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880.753703016,787,805,651.753703016,631.246296984,653,0.442229791008,-0.015560105301,0.0698538724489,0.999999965765,-0.000130608620687,-0.000212492383684,-7.91043628129e-05,1793240123075415552
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.667645301,745,714.667645301,680,661,634.667645301,881,787,805,651.667645301,631,653,0.44276586425,-0.0155747390706,0.0698387899217,0.999999957124,-0.000144854576132,-0.000243110265786,-7.52704316473e-05,1793240123092082176
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.09140176,745,714.09140176,680,661,634.09140176,881,787,805,651.09140176,631,653,0.443256802392,-0.0155919066952,0.0698020107813,0.999999937714,-0.000160192422749,-0.000306644649425,-6.9846537995e-05,1793240123108748800
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.518044904,634,880.518044904,786.518044904,805,651,631,653,0.4437220849,-0.0156132293631,0.0697617850542,0.999999910618,-0.000191816760686,-0.000370239904552,-6.99462339835e-05,1793240123125415168
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765.233647148,746,715,680,660.766352852,634,880,785.766352852,805.233647148,651,631,653,0.445083694835,-0.0156476523016,0.0696918620063,0.999999861276,-0.00024121071126,-0.000461971295897,-7.64672084279e-05,1793240123175415296
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.812303727,746,715,680,660.187696273,634,880,785.187696273,805.812303727,651,631,653,0.445521210509,-0.0156501409637,0.0696943984191,0.999999866129,-0.000246237826942,-0.000448762977055,-7.56372508471e-05,1793240123192082176
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.627183601,714.627183601,680,660,633.627183601,880.372816399,785,805.627183601,651,631,653,0.445915889715,-0.0156554702138,0.0696971441118,0.999999865565,-0.000249739017176,-0.000448278293522,-7.44812204587e-05,1793240123208748544
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.084582419,715,680.084582419,658.915417581,632,881,783,805,651,630,653,0.449326192577,-0.0157078686127,0.0696629462611,0.999999813286,-0.000301530391634,-0.000527011690104,-6.90317978583e-05,1793240123458748672
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+256,4.266666667,HOLD_POSE2,765.838126923,745.161873077,714.838126923,680.161873077,658,631,880.161873077,782,805.838126923,651,629.838126923,652.161873077,0.449787417761,-0.0157080159117,0.0696336179859,0.999999787925,-0.00030611016014,-0.000571109086858,-6.5435673946e-05,1793240124179017216
+257,4.283333333,HOLD_POSE2,765.245918532,745.754081468,714.245918532,680.754081468,658,631,880.754081468,782,805.245918532,651,629.245918532,652.754081468,0.449787983907,-0.0157073835646,0.0696324683762,0.999999787237,-0.000306532178343,-0.000572010008625,-6.60996730137e-05,1793240124195683840
+258,4.300000000,HOLD_POSE2,765,746,714.338527573,680.661472427,658,631,881,782,805,651,629.338527573,653,0.44978894603,-0.0157066971843,0.0696326768102,0.999999787745,-0.000306245656194,-0.00057127139437,-6.61311740723e-05,1793240124212350464
+259,4.316666667,HOLD_POSE2,765,746,714.917461239,680.082538761,658,631,881,782,805,651,629.917461239,653,0.449790189355,-0.0157059724321,0.0696338496621,0.999999789099,-0.000305455962545,-0.000569368459978,-6.57135052518e-05,1793240124229017344
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+261,4.350000000,HOLD_POSE2,765,746,715,681,658.066764051,632,880,782.066764051,805,651,630,653,0.449788178908,-0.0157073147713,0.0696329035365,0.999999787198,-0.000307317464875,-0.000571740925364,-6.53671383763e-05,1793240124262350592
+262,4.366666667,HOLD_POSE2,765,746,715,681,658.657358112,632,880,782.657358112,805,651,630,653,0.449788653009,-0.015708056791,0.0696331809162,0.999999787257,-0.000307345973395,-0.000571656334534,-6.5069059402e-05,1793240124279017216
+263,4.383333333,HOLD_POSE2,765,745.756965987,715,681,658.756965987,631.756965987,880.243034013,782.756965987,805,651,630,653,0.449788977245,-0.0157084615472,0.0696335274767,0.999999787275,-0.000307487181313,-0.000571555179809,-6.50140394648e-05,1793240124295683840
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+268,4.466666667,HOLD_POSE2,765,745,714,680,658,631,880.873750236,782,805,651,630,653,0.449785790669,-0.0157040625471,0.0696312078225,0.99999978664,-0.000302202790277,-0.000575386615867,-6.57602410517e-05,1793240124379017728
+269,4.483333333,HOLD_POSE2,765,745,714,680,658,631,880.284416745,782,805,651,630,653,0.449788179528,-0.0157055203038,0.0696327912243,0.999999787455,-0.000304570091039,-0.000572709688489,-6.5809314078e-05,1793240124395684352
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.283133241,658,631,881,782,805.716866759,651,630,653,0.449353554424,-0.0156810036795,0.0695461630413,0.999999703984,-0.000290364263585,-0.000709352488103,-6.73825462003e-05,1793240124727750912
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.633936454,680,660.366063546,634,880.633936454,786,805,651,631,652.633936454,0.440103238199,-0.015476721519,0.0697593235169,0.999999931064,2.36359754796e-05,-0.000370229905704,1.5585138034e-05,1793240125161084672
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.058726778,680,660.941273222,634,880.058726778,786,805,651,631,652.058726778,0.439436573189,-0.0154734687092,0.0697799740626,0.999999941201,3.51799287084e-05,-0.000340533687453,1.99217138167e-05,1793240125177751040
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.528428769,680.528428769,660.471571231,634,880.528428769,786.528428769,804.471571231,651,631,652,0.438710252426,-0.0154595802995,0.0697589091723,0.999999928009,5.09107581804e-05,-0.000375538885326,1.90140861857e-05,1793240125194417664
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.114886984,745,714.885113016,680.885113016,660.114886984,634,881,787,804.114886984,651.114886984,631,652.114886984,0.437979378777,-0.0154441300272,0.0697368591605,0.999999914287,6.55778567582e-05,-0.000408499372986,1.59559437157e-05,1793240125211084544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.693055673,745,714.306944327,680.306944327,660.693055673,634,881,787,804.693055673,651.693055673,631,652.693055673,0.437257498936,-0.0154272581422,0.069729963851,0.999999915812,7.4035707032e-05,-0.000403547920447,6.63040330084e-06,1793240125227751168
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.728636465,745,714.271363535,680,661,634.271363535,880.728636465,787.271363535,805,651.728636465,631,653,0.436523335658,-0.0154076128535,0.0697455908767,0.999999925416,9.57271791072e-05,-0.000374157677123,3.19932835675e-06,1793240125244418048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.150171025,745,714.849828975,680,661,634.849828975,880.150171025,787.849828975,805,651.150171025,631,653,0.435775271131,-0.015384828904,0.069786706411,0.999999940936,0.000132395131619,-0.00031711007114,6.43901426156e-06,1793240125261084928
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.575975432,680,661,635,880.424024568,787.575975432,805,651,631,653,0.434990311959,-0.0153768929821,0.0698177788157,0.999999950491,0.000147240499471,-0.000277919298437,9.94181990082e-06,1793240125277751552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.003276992,680,661,635,880.996723008,787.003276992,805,651,631,653,0.434192416625,-0.0153741631604,0.0698453298396,0.999999957973,0.000154434308073,-0.000244989592233,1.35368818612e-05,1793240125294417920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.589443864,745,714.589443864,680,661,635,881,787.589443864,804.410556136,651,631,653,0.433364184134,-0.0153802723646,0.069835847451,0.999999953818,0.000151131796022,-0.000263329933981,1.34058962708e-05,1793240125311084800
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.24815232,745,715,680,661,635,881,787.24815232,805.50369536,651,631,652.24815232,0.431700379129,-0.0153852262886,0.069832668583,0.999999954656,0.000147877330273,-0.000261919059623,1.47668493536e-05,1793240125344417792
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.329116985,745,715,680.329116985,661,635,881.329116985,787,805.670883015,651.329116985,631.329116985,652.329116985,0.430800991578,-0.0153819796512,0.0698015163009,0.999999938359,0.00015593357339,-0.000314298885879,1.35543359715e-05,1793240125361084672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.908078902,745,715,680.908078902,661,635,881.908078902,787,805.091921098,651.908078902,631.908078902,652.908078902,0.429851779132,-0.0153758689684,0.0697446623677,0.999999899374,0.000170642995591,-0.000414754512498,1.05698783845e-05,1793240125377751808
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.518520445,745,715,680.518520445,661,635,881.037040891,787,804.518520445,651.518520445,631.518520445,653,0.428964424366,-0.0153743989566,0.0697346139673,0.999999896222,0.000169186054443,-0.000422921850898,8.37110826498e-06,1793240125394418432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787,804,651,631,653,0.428094593328,-0.01537431278,0.0697400621769,0.999999904212,0.000165151451631,-0.000405275020085,7.2750764721e-06,1793240125411085056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787,804,651,631,653,0.427281103885,-0.0153791197224,0.069809689601,0.999999939109,0.000165677603482,-0.000306751886448,1.53727513115e-05,1793240125427751424
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.761196542,661,635,880,787.238803458,804,651,631,653,0.426448447018,-0.0153826611304,0.0698561370783,0.999999956891,0.00016620114037,-0.000241132774961,2.1196173726e-05,1793240125444417792
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.185276938,661,635,880,787.814723062,804,651,631,653,0.425588731598,-0.0153844159985,0.0698698616965,0.999999961185,0.000166720987588,-0.000221963889055,2.38090610062e-05,1793240125461084416
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.609259106,679.390740894,661,635,880.390740894,787.609259106,804.390740894,651.390740894,631,653,0.424698616279,-0.0153861667931,0.0698568237342,0.999999957074,0.000165136303235,-0.000240952876867,2.28837916247e-05,1793240125477751296
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.033194721,679.966805279,661,635,880.966805279,787.033194721,804.966805279,651.966805279,631,653,0.423794082722,-0.0153879156556,0.0698310926155,0.99999994793,0.000162553465821,-0.000278039665199,2.02804188545e-05,1793240125494418176
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.552583921,679.447416079,661,635,880.447416079,787,804.447416079,652,631,653,0.42283959218,-0.0153795546516,0.0697813669419,0.999999917472,0.000173648270173,-0.000366921789675,1.64813211126e-05,1793240125511084800
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.137067098,744.862932902,715,679,660.862932902,635,880,787,804,651.862932902,631.137067098,652.862932902,0.421895652546,-0.0153717540408,0.0697357231294,0.999999883321,0.000182611754324,-0.000447045899969,1.26887877868e-05,1793240125527751424
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.870518082,715,679,660,635,880,787,804.870518082,651.870518082,631.129481918,652,0.419409551384,-0.015380937864,0.0698046325733,0.999999931568,0.000174001701739,-0.000326027991175,1.71094813536e-05,1793240125577751296
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.222716493,715,679,661,635,880.777283507,788,804,652,631,653,0.415310595527,-0.0153698980168,0.0698043642451,0.999999930076,0.000205060533047,-0.000312094915831,1.98758817778e-05,1793240125661084672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.352757397,744.352757397,715,679,661,635,880.647242603,787.647242603,804,652,631,653,0.414495868633,-0.0153669021496,0.0697773773405,0.999999913836,0.000209879946564,-0.000357712673973,1.79135017418e-05,1793240125677751552
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.926521902,744.926521902,715,679,661,635,880.073478098,787.073478098,804,652,631,653,0.413682020141,-0.0153633845379,0.0697506984724,0.999999890208,0.00021753983643,-0.000414700774874,1.68175136341e-05,1793240125694418176
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.514183651,660.485816349,635,880,787.514183651,804.514183651,652,631.514183651,653,0.412964108987,-0.0153615723152,0.0697661090668,0.999999901051,0.00022250825327,-0.000384817077814,1.74581263149e-05,1793240125711084544
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.89801205,660.10198795,635,880.10198795,787.89801205,804.89801205,652,631.89801205,652.89801205,0.4122740322,-0.0153614168819,0.0697939776904,0.999999919352,0.000223695850957,-0.000333007430017,1.90271784967e-05,1793240125727751168
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.740748029,745,715,679,660.740748029,635,880.481496058,787,804,652,631,652.259251971,0.411001828234,-0.01537171464,0.0698811852982,0.99999996011,0.000206048326392,-0.000191403826865,2.62549411055e-05,1793240125761084416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.163131416,745,715,679,660.163131416,635,879.326262832,787,804,652,631,652.836868584,0.410330139097,-0.0153724667603,0.069877734558,0.999999955413,0.000217341113124,-0.000203118464601,2.605274633e-05,1793240125777751040
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.589561302,660,635,879.410438698,787.410438698,804,652,631,653,0.409670305203,-0.0153688535734,0.0698495206264,0.99999994439,0.000218371443052,-0.000251008320435,2.29899723068e-05,1793240125794417920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.017583745,660,635,879.982416255,787.982416255,804,652,631,653,0.409015137194,-0.0153635223061,0.0698115604944,0.999999927606,0.000215362715549,-0.000313135877458,1.88013425853e-05,1793240125811084800
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.633838029,715,678.633838029,661,635,879,787.633838029,804.366161971,651.633838029,631,653,0.404954640665,-0.0153610893946,0.0698127544904,0.999999923099,0.000225488107873,-0.000320454238759,1.63058735862e-05,1793240125944418304
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.565745189,745,715,679,661,635.565745189,879.565745189,787,804,652,631,653,0.402076194506,-0.0153468712498,0.0698119119747,0.999999918424,0.000252981500617,-0.000314564790944,1.41892740011e-05,1793240126111084544
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744.827307165,715,678.827307165,660.827307165,635.172692835,879,787,804,651.172692835,631,652.827307165,0.400963516477,-0.0153537559508,0.0698223713538,0.999999929801,0.000234606216825,-0.00029205871038,7.71904404074e-06,1793240126677751296
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,744.489340425,715,678.489340425,660.510659575,635,879,787,804,652,631,653,0.40096212671,-0.0153534020391,0.0698223158288,0.999999929458,0.000236121895571,-0.000292014048962,7.62667194717e-06,1793240126744418560
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5366a6c0d9c0b47f8797af08459192e896bee99c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575851265561,-0.00990928217159,1.0600323764,0.546421718816,-0.00123753684676,1.05970051001
+380,6.333333333,pose2_to_pose3_retreat,0.57580543344,-0.00990936337009,1.06003218616,0.546375888124,-0.0012376136843,1.05970030691
+381,6.350000000,pose2_to_pose3_retreat,0.575768373448,-0.00990918403879,1.06003239209,0.546338825114,-0.0012374445839,1.05970051318
+382,6.366666667,pose2_to_pose3_retreat,0.575739889025,-0.00990931910716,1.06003232903,0.546310340989,-0.0012375780896,1.05970046446
+383,6.383333333,pose2_to_pose3_retreat,0.575718653182,-0.00990921399519,1.0600322471,0.546289103087,-0.00123747999197,1.05970038187
+384,6.400000000,pose2_to_pose3_retreat,0.575702946419,-0.00990915355367,1.06003228812,0.546273395426,-0.00123742277225,1.05970041832
+385,6.416666667,pose2_to_pose3_retreat,0.575690962698,-0.00990917719437,1.06003239695,0.546261412346,-0.00123744440401,1.05970052284
+386,6.433333333,pose2_to_pose3_retreat,0.575682138378,-0.00990928762564,1.06003248229,0.546252590267,-0.00123754728228,1.05970060673
+387,6.450000000,pose2_to_pose3_retreat,0.575676522086,-0.00990926690908,1.06003227325,0.546246972512,-0.00123753139835,1.05970040119
+388,6.466666667,pose2_to_pose3_retreat,0.575672697981,-0.00990924206023,1.06003211434,0.546243147171,-0.0012375106785,1.05970024412
+389,6.483333333,pose2_to_pose3_retreat,0.575670386012,-0.0099092580966,1.06003220646,0.546240836118,-0.00123752389169,1.05970032865
+390,6.500000000,pose2_to_pose3_retreat,0.575669174901,-0.00990926649716,1.06003225471,0.546239625487,-0.00123753081334,1.05970037293
+391,6.516666667,pose2_to_pose3_retreat,0.575668425454,-0.0099092716955,1.06003228457,0.546238876337,-0.00123753509652,1.05970040033
+392,6.533333333,pose2_to_pose3_retreat,0.575667705182,-0.00990928961381,1.06003228209,0.546238156485,-0.001237551513,1.05970039989
+393,6.550000000,pose2_to_pose3_retreat,0.575667269008,-0.00990930258813,1.06003227547,0.546237720587,-0.00123756347559,1.05970039522
+394,6.566666667,pose2_to_pose3_retreat,0.575667129886,-0.0099093067264,1.06003227335,0.546237581554,-0.00123756729117,1.05970039374
+395,6.583333333,pose2_to_pose3_retreat,0.575666955014,-0.00990931192812,1.0600322707,0.546237406792,-0.00123757208726,1.05970039187
+396,6.600000000,pose2_to_pose3_retreat,0.575666735307,-0.00990931846344,1.06003226736,0.546237187225,-0.00123757811296,1.05970038952
+397,6.616666667,pose2_to_pose3_retreat,0.575666565095,-0.00990932352652,1.06003226477,0.546237017121,-0.00123758278122,1.0597003877
+398,6.633333333,pose2_to_pose3_retreat,0.575666523577,-0.00990932476152,1.06003226414,0.546236975629,-0.00123758391992,1.05970038725
+399,6.650000000,pose2_to_pose3_retreat,0.575666404184,-0.00990932831294,1.06003226233,0.546236856312,-0.00123758719441,1.05970038597
+400,6.666666667,pose2_to_pose3_retreat,0.575666204897,-0.00990933424087,1.0600322593,0.546236657152,-0.00123759266008,1.05970038384
+401,6.683333333,pose2_to_pose3_retreat,0.575665985203,-0.00990934077583,1.06003225596,0.546236437597,-0.00123759868545,1.05970038149
+402,6.700000000,pose2_to_pose3_retreat,0.575665827559,-0.00990933970182,1.06003225371,0.546236279993,-0.00123759745062,1.05970037991
+403,6.716666667,pose2_to_pose3_retreat,0.575665731544,-0.00990932231416,1.06003225274,0.546236183828,-0.00123758055977,1.05970037925
+404,6.733333333,pose2_to_pose3_retreat,0.575665682097,-0.00990931335978,1.06003225224,0.546236134304,-0.00123757186124,1.05970037891
+405,6.750000000,pose2_to_pose3_retreat,0.575665660585,-0.00990930946405,1.06003225202,0.546236112758,-0.00123756807682,1.05970037876
+406,6.766666667,pose2_to_pose3_retreat,0.575665521646,-0.0099092843032,1.06003225061,0.546235973602,-0.00123754363488,1.0597003778
+407,6.783333333,pose2_to_pose3_retreat,0.575665404947,-0.00990926317002,1.06003224943,0.546235856722,-0.00123752310553,1.05970037699
+408,6.800000000,pose2_to_pose3_retreat,0.575665340122,-0.00990925143069,1.06003224878,0.546235791795,-0.00123751170162,1.05970037654
+409,6.816666667,pose2_to_pose3_retreat,0.575665187898,-0.00990922386399,1.06003224724,0.546235639333,-0.00123748492257,1.05970037549
+410,6.833333333,pose2_to_pose3_retreat,0.575665104539,-0.00990920876836,1.0600322464,0.546235555845,-0.00123747025826,1.05970037491
+411,6.850000000,pose2_to_pose3_retreat,0.57566495425,-0.00990918155209,1.06003224488,0.546235405321,-0.00123744381963,1.05970037387
+412,6.866666667,pose2_to_pose3_retreat,0.575664781295,-0.00990915198249,1.060032244,0.546235232101,-0.00123741512833,1.05970037356
+413,6.883333333,pose2_to_pose3_retreat,0.575664647733,-0.00990921119507,1.06003228414,0.546235098558,-0.00123747424052,1.0597004146
+414,6.900000000,pose2_to_pose3_retreat,0.575664457613,-0.00990929548148,1.06003234127,0.546234908466,-0.00123755838403,1.05970047301
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b9f23b02c3a05d27e027ec9f104905f73bbc911
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12598790247cdb0277353abde3d3cb8e55865d59db4fbb1899134e2ffeaae0f
+size 26592739
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c50da84344565eb3beed7ef5cfeec455959a0890
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
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+36,0.600000000,BASELINE,766,744,715,678,661,635,879.89263184,788,804,651.89263184,631,652.89263184,0.400965111605,-0.0153543979078,0.0698268215982,0.999999931624,0.00023612635541,-0.000284500050224,7.47803444944e-06,1793240127588647424
+37,0.616666667,BASELINE,766,744,715,678,661,635,879.528617703,787.528617703,804,652,631,653,0.400964980706,-0.0153550251644,0.0698268781918,0.999999931775,0.000235088406879,-0.000284826458319,7.54812297459e-06,1793240127605314304
+38,0.633333333,BASELINE,765.952444143,744.047555857,715,678,660.952444143,635,879,787,804,652,631.047555857,652.952444143,0.400964543055,-0.015355849833,0.0698266359701,0.999999931874,0.000233518789429,-0.00028576787839,7.60536486425e-06,1793240127621980672
+39,0.650000000,BASELINE,765.373562201,744.626437799,715,678,660.373562201,635,879,787,804,652,631.626437799,652.373562201,0.400964188296,-0.0153549537557,0.0698258448778,0.99999993134,0.000235014522288,-0.000286414049516,7.40296050329e-06,1793240127638647296
+40,0.666666667,BASELINE,765.203527232,744.796472768,715,678,660.203527232,635,879.203527232,787.203527232,804,652,631.796472768,652.203527232,0.40096418136,-0.0153544273905,0.0698254460757,0.999999931193,0.000235416327261,-0.000286603154274,7.162026873e-06,1793240127655313920
+41,0.683333333,BASELINE,765.777355306,744.222644694,715,678,660.777355306,635,879.777355306,787.777355306,804,652,631.222644694,652.777355306,0.400964807258,-0.0153545736861,0.0698257610128,0.999999931752,0.000233827821495,-0.00028596066482,6.8509924591e-06,1793240127671980544
+42,0.700000000,BASELINE,766,744.361220191,715,678.361220191,661,635.361220191,879.638779809,787.638779809,804,652,631,652.638779809,0.400964161174,-0.0153542754827,0.0698252957154,0.999999931456,0.000234052229971,-0.000286810091737,6.89992433343e-06,1793240127688647168
+43,0.716666667,BASELINE,766,744.951448232,715,678.951448232,661,635.951448232,879.048551768,787.048551768,804,652,631,652.048551768,0.400962708676,-0.015353695474,0.0698243357618,0.999999930615,0.000235425997268,-0.000288605369903,7.17706911468e-06,1793240127705313792
+44,0.733333333,BASELINE,765.469060418,745,715,679,661,635.469060418,879,787.530939582,804,652,631.530939582,652.530939582,0.400961072456,-0.0153543138677,0.0698238504735,0.999999930863,0.000232603242422,-0.000290040304208,6.77617126749e-06,1793240127721980672
+45,0.750000000,BASELINE,765.10886176,745,715,679,660.89113824,635.10886176,879,787.89113824,804,652,632,653,0.400960249621,-0.0153547851208,0.0698236682852,0.999999931126,0.000230653686163,-0.000290699248566,6.45847979514e-06,1793240127738647552
+46,0.766666667,BASELINE,765.684183641,745,715,679,660.315816359,635.684183641,879,787.315816359,804,652,632,653,0.400962982606,-0.0153541656295,0.0698246025428,0.999999931064,0.000234057422411,-0.000288171560222,6.75773044762e-06,1793240127755314176
+47,0.783333333,BASELINE,765.734600717,745,715,678.734600717,660.265399283,636,879,787.265399283,804,652,631.734600717,653,0.400964327764,-0.0153550040618,0.0698251988985,0.999999931381,0.000234171201838,-0.000286970555979,7.02846920983e-06,1793240127771980800
+48,0.800000000,BASELINE,765.146212333,745,715,678.146212333,660.853787667,636,879,787.853787667,804,652,631.146212333,653,0.400963983946,-0.015357616777,0.0698253840297,0.999999932164,0.000230281126906,-0.000287384116826,7.26450923761e-06,1793240127788647424
+49,0.816666667,BASELINE,765,745,715,678,660.564526932,636,879.435473068,788,804.435473068,652,631.435473068,653,0.400963812627,-0.0153569158637,0.0698255853305,0.999999932502,0.000229646059626,-0.000286719316609,7.18063267346e-06,1793240127805314048
+50,0.833333333,BASELINE,765,745,715,678,660.014853522,635.985146478,879.985146478,787.985146478,804.985146478,652,631.985146478,652.985146478,0.400963677372,-0.0153551622139,0.0698257598999,0.999999932657,0.000230139088761,-0.000285783648156,6.99806905803e-06,1793240127821980672
+51,0.850000000,BASELINE,765,745,715,678,660.590891621,635.409108379,879.409108379,787.409108379,804.409108379,652,631.409108379,652.409108379,0.400962749639,-0.0153550318635,0.0698247225266,0.999999931429,0.000232588353038,-0.00028808615081,7.08368783869e-06,1793240127838647296
+52,0.866666667,BASELINE,765,745,715,678,661,635.16677656,879,787.16677656,804,652,631,652.16677656,0.40096210885,-0.0153550337717,0.0698240659805,0.99999993057,0.000234376348581,-0.000289614101619,7.15963171527e-06,1793240127855313920
+53,0.883333333,BASELINE,765,745,715,678,661,635.742286103,879,787.742286103,804,652,631,652.742286103,0.400962171297,-0.0153553598166,0.0698243427586,0.999999930638,0.000234543718509,-0.000289243794625,7.21186450663e-06,1793240127871980544
+54,0.900000000,BASELINE,765,745,715,678,660.673602574,636,879.326397426,787.673602574,804,652,631.326397426,653,0.400962846872,-0.0153553535609,0.0698248960837,0.999999930888,0.000234581249168,-0.00028834383832,7.26576314342e-06,1793240127888647168
+55,0.916666667,BASELINE,765,745,715,678,660.082515733,636,879.917484267,787.082515733,804,652,631.917484267,653,0.400964019657,-0.0153550778288,0.0698256736723,0.999999931286,0.000234513487687,-0.000287014367108,7.32101268187e-06,1793240127905313792
+56,0.933333333,BASELINE,765,745,715,678.497928077,660.497928077,636,879.502071923,787,804,652,631.502071923,653,0.400963691541,-0.0153548591094,0.0698255632155,0.99999993178,0.000233071984111,-0.000286474599088,7.00494137006e-06,1793240127921980416
+57,0.950000000,BASELINE,765.076050996,745,715,678.923949004,661,635.923949004,879,787.076050996,804,652,631,652.923949004,0.40096343324,-0.015354561227,0.0698254924608,0.999999932209,0.000231953532181,-0.000285892687558,6.68041160555e-06,1793240127938647040
+58,0.966666667,BASELINE,765.650282208,745,715,678.349717792,661,635.349717792,879,787.650282208,804,652,631,652.349717792,0.400965227479,-0.0153536841836,0.0698266256265,0.99999993212,0.00023441132936,-0.000284195384906,6.69512753246e-06,1793240127955313920
+59,0.983333333,BASELINE,765.775387845,745,715,678,661,635,879,787.775387845,804,652,631.224612155,652.224612155,0.400966169538,-0.0153539318866,0.0698270760625,0.999999932281,0.000234753814214,-0.000283339213561,6.88267019689e-06,1793240127971980544
+60,1.000000000,BASELINE,765.200904012,745,715,678,661,635,879,787.200904012,804,652,631.799095988,652.799095988,0.400965784179,-0.0153559315736,0.0698264630307,0.999999932838,0.000231801340326,-0.000283793247191,7.33941993476e-06,1793240127988647168
+61,1.016666667,BASELINE,765.386263869,745,715,678.386263869,661,635.386263869,879,787.386263869,804.386263869,652,631.613736131,653,0.400965499377,-0.0153563262772,0.069826174896,0.99999993267,0.000231778364636,-0.000284408327386,7.17751736597e-06,1793240128005314048
+62,1.033333333,BASELINE,765.980252951,745,715,678.980252951,661,635.980252951,879,787.980252951,804.980252951,652,631.019747049,653,0.400965268653,-0.0153558578518,0.0698260614848,0.999999932112,0.000233330816406,-0.000285110015273,6.6829155642e-06,1793240128021980672
+63,1.050000000,BASELINE,766,745,715,678.445780152,661,635.445780152,879,788,804.445780152,652,631.554219848,653,0.400965222667,-0.0153572091898,0.0698265944837,0.999999932626,0.00023211316329,-0.000284282915972,7.35221037934e-06,1793240128038647296
+64,1.066666667,BASELINE,766,745,715,678,661,635.128459175,879,788,804.128459175,652,631.871540825,653,0.400964954212,-0.0153581764868,0.0698268483903,0.999999932893,0.000231446551821,-0.000283874061475,7.86560464107e-06,1793240128055314176
+65,1.083333333,BASELINE,766,745,715,678,661,635.706058318,879,788,804.706058318,652,631.293941682,653,0.400963885715,-0.0153575822413,0.0698260487685,0.999999932172,0.000233039640425,-0.000285111353602,7.69397504486e-06,1793240128071980800
+66,1.100000000,BASELINE,766,745,715.289003071,678.289003071,661,635.710996929,879,788,805,652,631,652.710996929,0.400963796656,-0.0153568407369,0.0698255595693,0.999999931948,0.000233277661073,-0.000285707416081,7.52705795543e-06,1793240128088647168
+67,1.116666667,BASELINE,766,745,715.877487209,678.877487209,661,635.122512791,879,788,805,652,631,652.122512791,0.400964722543,-0.0153559466348,0.0698253920474,0.99999993224,0.000232111484791,-0.000285639000634,7.36502423847e-06,1793240128105313792
+68,1.133333333,BASELINE,765.540424563,745,715.540424563,679,661,635,879.459575437,788,804.540424563,652,631,652,0.400965393068,-0.0153545408538,0.0698258330957,0.999999932003,0.000233949382661,-0.000284974677217,7.14200917233e-06,1793240128121980672
+69,1.150000000,BASELINE,765.039736662,745,715,679,661,635.039736662,879.960263338,787.960263338,804,652,631,652.039736662,0.400965928215,-0.0153532888053,0.0698263930582,0.999999931699,0.000236175225029,-0.000284208112244,6.93336905856e-06,1793240128138647552
+70,1.166666667,BASELINE,765.616580356,745,715,679,661,635.616580356,879.383419644,787.383419644,804,652,631,652.616580356,0.400965541014,-0.0153559331089,0.0698263976124,0.999999932459,0.000232968932732,-0.000284177314964,7.1357454355e-06,1793240128155314176
+71,1.183333333,BASELINE,766,745,715,679,661,636,879,787.196331873,804,651.803668127,631,653,0.400964796495,-0.0153569913241,0.0698261563811,0.99999993252,0.000232044923936,-0.000284716217949,7.25253658547e-06,1793240128171980544
+72,1.200000000,BASELINE,766,745,715,679,661,636,879,787.781847596,804,651.218152404,631,653,0.400963343672,-0.0153549054759,0.0698254279356,0.999999931202,0.000235645029107,-0.000286384423777,7.19967427798e-06,1793240128188647424
+73,1.216666667,BASELINE,766,745,715,678.637001321,661,636,879,788,804,651.362998679,631,653,0.400963206921,-0.0153543994398,0.0698252701412,0.999999931133,0.000235759011256,-0.000286527942511,7.25881293529e-06,1793240128205314048
+74,1.233333333,BASELINE,766,745,715,678.05844214,661,636,879,788,804,651.94155786,631,653,0.400963851696,-0.015354831548,0.0698254512182,0.99999993181,0.000233802819179,-0.000285766052021,7.38446143637e-06,1793240128221980672
+75,1.250000000,BASELINE,766,745,715,678.519284122,661,635.480715878,879,788,804,652,631,653,0.400963731265,-0.0153553848345,0.0698253724009,0.999999931472,0.000234643387739,-0.000286260968456,7.34452317074e-06,1793240128238647296
+76,1.266666667,BASELINE,766,744.903434046,715.096565954,679,661,635.096565954,879.096565954,788,804,651.903434046,631,653,0.400963468688,-0.0153558802795,0.0698252371109,0.999999931152,0.000235321393795,-0.000286824337451,7.24694909351e-06,1793240128255313920
+77,1.283333333,BASELINE,766,744.327892427,715.672107573,679,661,635.672107573,879.672107573,788,804,651.327892427,631,653,0.400962927528,-0.0153560212888,0.069824966559,0.999999931491,0.000233634349578,-0.000287026777719,6.95578319996e-06,1793240128271980800
+78,1.300000000,BASELINE,766,744.253786278,715.746213722,678.746213722,661,635.746213722,880,788,804,651.253786278,631,653,0.400963547332,-0.0153558898396,0.0698255686297,0.999999931755,0.000233815636923,-0.000285956082188,6.96277341107e-06,1793240128288647424
+79,1.316666667,BASELINE,766,744.84359056,715.15640944,678.15640944,661,635.15640944,880,788,804,651.84359056,631,653,0.400965704277,-0.01535539765,0.0698273260699,0.999999931913,0.000236470631994,-0.000283199729893,7.36452816947e-06,1793240128305314048
+80,1.333333333,BASELINE,765.574716001,745,715.425283999,678.425283999,661,635,879.574716001,788,804,652,631,652.574716001,0.400965205765,-0.0153565964039,0.0698270802628,0.999999932187,0.000234360901805,-0.000283983593549,7.40197577514e-06,1793240128321980672
+81,1.350000000,BASELINE,765.004016073,744.995983927,715.995983927,678.995983927,661,635,879,788,804,652,631,652.004016073,0.400963757943,-0.0153583752994,0.0698261123142,0.999999932483,0.000230576203324,-0.000286033807848,7.30671825577e-06,1793240128338647296
+82,1.366666667,BASELINE,765.577886741,744.422113259,715.422113259,678.422113259,661,635,879,788,804,652,631,652.577886741,0.400963591016,-0.0153558818995,0.0698252603821,0.999999931767,0.000233118682152,-0.000286481914211,7.03707574361e-06,1793240128355313920
+83,1.383333333,BASELINE,766,744.152915445,715,678.152915445,660.847084555,635.152915445,879,788,804.152915445,652,631,653,0.400963377524,-0.0153543297964,0.0698246803642,0.999999931342,0.000234577635383,-0.000286781782234,6.81072075615e-06,1793240128371980800
+84,1.400000000,BASELINE,766,744.731165354,715,678.731165354,660.268834646,635.731165354,879,788,804.731165354,652,631,653,0.400963034511,-0.0153553959109,0.0698248566752,0.999999931738,0.000233022761638,-0.000286669325267,6.70477000164e-06,1793240128388647424
+85,1.416666667,BASELINE,765.684428416,745,715,678.684428416,660.315571584,636,879,788,805,652,631,653,0.400963385328,-0.0153556170436,0.069825406818,0.999999931882,0.000233233907505,-0.000285992040856,6.82999853907e-06,1793240128405314048
+86,1.433333333,BASELINE,765.094673319,745,715,678.094673319,660.905326681,636,879,788,805,652,631,653,0.400964338977,-0.0153551040161,0.0698262817633,0.999999931804,0.000234979454807,-0.000284824007664,7.15608658245e-06,1793240128421980672
+87,1.450000000,BASELINE,765,744.513397527,715,678,660.513397527,635.513397527,879,787.513397527,804.513397527,652,631,652.513397527,0.400964627901,-0.0153550664872,0.0698264443893,0.999999931906,0.00023499408465,-0.000284455282095,7.06940488463e-06,1793240128438647296
+88,1.466666667,BASELINE,765,744,715,678.065389015,660.065389015,635,879,787,804,652,631,652,0.400964843626,-0.0153552198414,0.0698264770205,0.999999932049,0.000234630931997,-0.000284256719395,6.97888808233e-06,1793240128455314176
+89,1.483333333,BASELINE,765,744,715,678.637451546,660.637451546,635,879,787,804,652,631,652,0.400965477124,-0.0153561477055,0.0698265578514,0.999999932234,0.000233905274574,-0.0002841923095,7.47027491234e-06,1793240128471980800
+90,1.500000000,BASELINE,765.214790068,744.214790068,715,679,661,635,879,787,804,652,631,652,0.400966105416,-0.015356582573,0.0698268810106,0.999999932269,0.000234342965373,-0.000283699523072,7.77997886335e-06,1793240128488647424
+91,1.516666667,BASELINE,765.801258235,744.801258235,715,679,661,635,879,787,804,652,631,652,0.400966724699,-0.015356164347,0.0698276235011,0.999999932041,0.000236793743076,-0.000282465463197,7.77529417049e-06,1793240128505314048
+92,1.533333333,BASELINE,766,745,715,678.6160124,661,635.3839876,879,787,804,652,631,652.3839876,0.400965878748,-0.0153570198992,0.069827304743,0.999999932143,0.000235490501858,-0.000283195572269,7.62609733152e-06,1793240128521980928
+93,1.550000000,BASELINE,766,745,715,678.035199426,661,635.964800574,879,787,804,652,631,652.964800574,0.400964281745,-0.0153585283681,0.0698264420073,0.999999932406,0.000232263015969,-0.000284932480111,7.40282607614e-06,1793240128538647296
+94,1.566666667,BASELINE,766,745,715,678,661,635.456419673,879,787.543580327,804,652,631,653,0.400964205829,-0.0153563426192,0.0698263721545,0.999999932276,0.000232525090394,-0.000285189710496,6.87739307477e-06,1793240128555314176
+95,1.583333333,BASELINE,766,745,715,678.121124985,661,635.121124985,879,788,804.121124985,652,631,653,0.400964386174,-0.015354824254,0.0698264398913,0.999999932207,0.000232892396665,-0.000285139743334,6.54458504571e-06,1793240128571981056
+96,1.600000000,BASELINE,766,745,715,678.694547597,661,635.694547597,879,788,804.694547597,652,631,653,0.400965157002,-0.0153566879378,0.0698268304002,0.999999932462,0.000232812010265,-0.000284299115381,7.00385690858e-06,1793240128588648704
+97,1.616666667,BASELINE,766,745,715,679,661,635.724126608,879,788,804.724126608,652,631,653,0.400965118701,-0.0153565305898,0.069826747265,0.999999932027,0.000234497599957,-0.00028443695184,7.23715760879e-06,1793240128605315584
+98,1.633333333,BASELINE,766,745,715,679,661,635.133792212,879,788,804.133792212,652,631,653,0.400964158095,-0.0153540695195,0.0698261242353,0.999999930796,0.000238196180496,-0.000285690114827,7.21287954979e-06,1793240128621981696
+99,1.650000000,BASELINE,765.55223974,745,715,679,661,635,879,788,804,652,631,653,0.400964473007,-0.0153560701374,0.0698266148895,0.999999932015,0.000234299227816,-0.000284642704619,7.27207259653e-06,1793240128638648064
+100,1.666666667,BASELINE,765,745,715,679,661,635,879,787.973455199,804,652,631,652.973455199,0.400965040861,-0.0153591412604,0.0698273237952,0.999999933785,0.000228511810448,-0.000283121944716,7.33126341512e-06,1793240128655314432
+101,1.683333333,BASELINE,765,745,715,679,661,635,879,787.39868417,804,652,631,652.39868417,0.400963112696,-0.0153573172937,0.0698257997202,0.99999993278,0.000229652361011,-0.000285749230183,6.88520465855e-06,1793240128671981056
+102,1.700000000,BASELINE,765,745,715,678.823224012,661,635,879.176775988,787.176775988,804,652,631,652.176775988,0.400961939042,-0.0153562008522,0.0698248186618,0.999999932031,0.000230766804586,-0.000287471067742,6.64305647316e-06,1793240128688648704
+103,1.716666667,BASELINE,765,745,715,678.246203653,661,635,879.753796347,787.753796347,804,652,631,652.753796347,0.400962473702,-0.015356686342,0.0698250670659,0.99999993188,0.000231822138314,-0.00028714285035,6.86258902721e-06,1793240128705318912
+104,1.733333333,BASELINE,765.338048844,745,715,678.338048844,661,635,879.661951156,787.661951156,804,651.661951156,631,652.661951156,0.400963112897,-0.0153565014992,0.0698252907402,0.999999931797,0.000232930683367,-0.000286532867687,6.90410921475e-06,1793240128721985024
+105,1.750000000,BASELINE,765.927683777,745,715,678.927683777,661,635,879.072316223,787.072316223,804,651.072316223,631,652.072316223,0.400963829892,-0.0153558177747,0.0698254960099,0.999999931764,0.000234078829993,-0.000285713186824,6.81314728329e-06,1793240128738648320
+106,1.766666667,BASELINE,765.491365517,745,715,678.491365517,660.491365517,635,879,787,804,651.508634483,631,652.508634483,0.400964999318,-0.0153568526222,0.0698266755994,0.999999932537,0.000232847896365,-0.000284003847352,7.08879646848e-06,1793240128755314688
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,678,661,635,879,787,804,651,631,652,0.400963688053,-0.0153569588842,0.069826668331,0.999999931946,0.000233989146027,-0.000285133020654,7.44508056107e-06,1793240128798626304
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,678.592427988,661,635.592427988,879,787,804,651.592427988,631,652.592427988,0.400964387462,-0.015355957935,0.0698267092585,0.99999993186,0.000234766602018,-0.000284801924894,7.18727156108e-06,1793240128815292928
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715,678.819364685,660.819364685,635.819364685,879.180635315,787,804,651.819364685,631,652.819364685,0.400964954834,-0.0153551269037,0.0698268619509,0.999999931931,0.000235054547523,-0.000284322170492,6.93720464108e-06,1793240128831959296
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715,678.240462997,660.240462997,635.240462997,879.759537003,787,804,651.240462997,631,652.240462997,0.400965231088,-0.0153546705088,0.0698272610633,0.999999932348,0.000234263216039,-0.000283514652112,6.70420747932e-06,1793240128848625920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.337616138,744,715,678,660.337616138,635,879.662383862,787,804,651.337616138,631,652,0.400964598769,-0.0153549818789,0.0698265265779,0.99999993242,0.000232856727703,-0.000284417618298,6.63869376377e-06,1793240128865292800
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.915110809,744,715,678,660.915110809,635,879.084889191,787,804,651.915110809,631,652,0.400963320903,-0.0153558387513,0.0698249866634,0.999999932243,0.000231013166338,-0.0002865358953,6.69217817553e-06,1793240128881959424
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.510957999,744,715,678,661,635,879.489042001,787,804,652,631,652.489042001,0.400963557035,-0.0153567420583,0.0698258523794,0.999999932601,0.000230536640018,-0.000285664201753,6.89136115686e-06,1793240128898626560
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,678.064308147,661,635,879.935691853,787,804,652,631,652.935691853,0.400964231279,-0.015357527015,0.0698271370262,0.999999933022,0.000230381507164,-0.000284304371238,7.10344370422e-06,1793240128915293184
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715,678.655544331,661,635,879.344455669,787,804,652,631,652.344455669,0.400966357534,-0.0153572766663,0.0698284575276,0.999999933218,0.000230929537569,-0.00028316671951,7.21549454504e-06,1793240128931959552
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715,679,660.758539357,635,879,787.241460643,804,652,631,652.241460643,0.400975627715,-0.015357349161,0.0698329050366,0.999999935043,0.000231723145623,-0.000275974104769,7.57540054477e-06,1793240128948625920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715,679,660.180048559,635,879,787.819951441,804,652,631,652.819951441,0.400994869369,-0.0153578722797,0.0698417172147,0.999999938968,0.000232859530254,-0.000260329987997,8.28126213866e-06,1793240128965292544
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.395563385,744,715,678.604436615,660,635,879,787.604436615,804,652,631,653,0.401031261202,-0.0153590913256,0.0698564731546,0.999999945173,0.000234205618036,-0.000233903425899,9.53830875886e-06,1793240128981959168
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.969874478,744,715,678.030125522,660,635,879,787.030125522,804,652,631,653,0.401075402882,-0.0153606248481,0.0698739149702,0.99999995165,0.000235646466677,-0.00020260447654,1.10444256554e-05,1793240128998625792
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.444319536,744,715,678,660.555680464,635.555680464,879,787,804,652,631,652.444319536,0.401135122473,-0.0153658241701,0.0698903410068,0.999999957596,0.000230806403037,-0.000177190706703,1.18322765594e-05,1793240129015292672
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.140414,744,715,678.140414,661,635.859586,879,787.140414,804,651.859586,631.140414,652,0.401197777929,-0.0153701480067,0.0699044570683,0.999999961876,0.000227391056863,-0.000156182420535,1.22052206732e-05,1793240129031959808
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.719805461,744,715,678.719805461,661,635.280194539,879,787.719805461,804,651.280194539,631.719805461,652,0.401266915769,-0.0153711003712,0.069911527239,0.999999962655,0.000229516847335,-0.000147928486522,1.14053480278e-05,1793240129048626688
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.701861525,744,715,678.701861525,660.701861525,635,879,788,804,651.298138475,631.701861525,652.298138475,0.401345505973,-0.0153738350774,0.0699155812601,0.999999963352,0.000229674841184,-0.000142980055487,1.00946759846e-05,1793240129065293056
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.12451977,744,715,678.12451977,660.12451977,635,879,788,804,651.87548023,631.12451977,652.87548023,0.401432948203,-0.0153782389262,0.069916810691,0.999999964017,0.000227990015825,-0.000141127190789,8.30564618012e-06,1793240129081959424
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.451474335,715,678,660.451474335,635,879,787.548525665,804,652,631,652.548525665,0.401540887928,-0.0153833573053,0.0699181305528,0.999999964663,0.000225961236167,-0.000139912197643,6.27897828597e-06,1793240129098625792
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.027749318,744.972250682,715,678.027749318,661,635,879,787,804,651.972250682,631,652.027749318,0.401655507855,-0.0153886600588,0.0699194192615,0.999999965323,0.000223797564199,-0.000138747246089,4.13685850801e-06,1793240129115292416
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.617211648,744.382788352,715,678.617211648,661,635,879,787,804,651.382788352,631,652.617211648,0.401791254301,-0.0153937176485,0.0699195739816,0.999999966501,0.000220817927395,-0.000135044620069,9.80498312841e-07,1793240129131959296
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.797045378,744,715,679,661.202954622,635,879,787.202954622,804,651.202954622,631,653,0.401939160799,-0.0153991867913,0.069921184409,0.999999968115,0.000216439534763,-0.000130071482077,-2.25628858166e-06,1793240129148626176
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.218191221,744,715,679,661.781808779,635,879,787.781808779,804,651.781808779,631,653,0.402109589354,-0.0154054181858,0.0699254910042,0.999999970512,0.000209470456617,-0.000122745183694,-5.64203629981e-06,1793240129165293056
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.358188568,715,678.641811432,661.283622863,635.358188568,879,787.641811432,804,651.641811432,631,653,0.402299166628,-0.015413594006,0.0699282457609,0.999999973223,0.000199255128081,-0.00011728618038,-9.7409116529e-06,1793240129181960192
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.933071488,715,678.066928512,660.133857024,635.933071488,879,787.066928512,804,651.066928512,631,653,0.402500328372,-0.0154229461516,0.069930061698,0.99999997602,0.000187075905572,-0.000112956839124,-1.42712101733e-05,1793240129198626816
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.508186911,745,715,678.508186911,660.508186911,635.491813089,879,787,804,651.508186911,631,653,0.402741526185,-0.0154336557977,0.0699345056021,0.999999980307,0.000168798044155,-0.00010265528063,-1.88223449694e-05,1793240129215293184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.914182555,745,715,679,661,635,879,787,804,651.914182555,631,653,0.402993465174,-0.015444480847,0.0699401685783,0.999999985242,0.000144496702308,-8.99604982549e-05,-2.33041861428e-05,1793240129231959552
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.32188893,745,715,679,661,635,879,787,804,651.32188893,631,653,0.403277663363,-0.0154549313598,0.0699509826879,0.999999993333,8.93885118117e-05,-6.77855584826e-05,-2.73608702917e-05,1793240129248626176
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.264183393,745,715,678.735816607,661,635,879.264183393,787.264183393,804.264183393,651.264183393,631,652.735816607,0.403570662777,-0.0154648888211,0.0699568046429,0.999999996341,5.49433630402e-05,-5.72878020214e-05,-3.19006230975e-05,1793240129265292544
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.842849863,745,715,678.157150137,661,635,879.842849863,787.842849863,804.842849863,651.842849863,631,652.157150137,0.403874139123,-0.0154742593547,0.0699566839523,0.999999996456,4.50954373152e-05,-6.06905291567e-05,-3.70154191482e-05,1793240129281959168
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.581620551,745,715,678,661,635,879.581620551,788,804.581620551,652,631,652.418379449,0.404212183367,-0.0154828085356,0.0699580158837,0.999999996894,2.91339260773e-05,-6.21758337078e-05,-3.86886180092e-05,1793240129298626304
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.007260474,745,715,678,661,635,879.007260474,788,804.007260474,652,631,652.992739526,0.404563115242,-0.0154910514987,0.0699598893831,0.999999997196,1.08931422173e-05,-6.29462828332e-05,-3.9078717169e-05,1793240129315293184
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.579605086,745,715,678.579605086,661,635,879,787.420394914,804.579605086,651.420394914,631,653,0.404958749674,-0.0154851983905,0.0699661192934,0.999999997141,4.44109063458e-05,-5.12887508425e-05,-3.33979649092e-05,1793240129331959808
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.834853712,745,715,679,661,635,879,787.165146288,804.834853712,651.165146288,631,653,0.405363772901,-0.0154761069158,0.0699698710342,0.99999999608,7.09210850231e-05,-4.32750839758e-05,-3.06238537064e-05,1793240129348626432
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.253057771,745,715,679,661,635,879,787.746942229,804.253057771,651.746942229,631,653,0.405791039268,-0.0154593006349,0.0699672298552,0.99999999532,7.80799113702e-05,-4.485600101e-05,-3.53790357322e-05,1793240129365293056
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.676919815,715,679,661,635.323080185,879,788,804,652,631,652.676919815,0.406222219526,-0.0154574863881,0.0699558540712,0.999999994387,7.55530922513e-05,-6.34500307743e-05,-3.86129829516e-05,1793240129381959424
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.10513723,715,679,661,635.89486277,879,788,804,652,631,652.10513723,0.406656412687,-0.0154672127879,0.0699377545158,0.999999992497,6.55704056674e-05,-9.5140505906e-05,-4.06759063487e-05,1793240129398626048
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,715,678.528902504,660.528902504,636,879,787.528902504,804,652,631,652,0.407160779964,-0.0154758190445,0.0699318693411,0.999999992622,5.65082626335e-05,-9.88103372635e-05,-4.24187367168e-05,1793240129415292672
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049495352,744,715,678,660.049495352,636,879,787.049495352,804,651.950504648,631,652.049495352,0.407686736873,-0.0154835065157,0.0699304315933,0.999999993502,4.78491793887e-05,-9.36844257158e-05,-4.39369844724e-05,1793240129431959296
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.640587266,744,715,678,660.640587266,636,879,787.640587266,804,651.359412734,631,652.640587266,0.408275931203,-0.015483901862,0.0699475463486,0.999999996303,4.13310449225e-05,-6.13933085745e-05,-4.3786912707e-05,1793240129448626944
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.772751695,744.227248305,715,678.227248305,661,635.772751695,879,788,804,651.227248305,631,652.772751695,0.408867889977,-0.0154818376823,0.0699591669585,0.999999997388,4.30617513571e-05,-3.75950670549e-05,-4.42320726526e-05,1793240129465294080
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.192964477,744.807035523,715,678.807035523,661,635.192964477,879,788,804,651.807035523,631,652.192964477,0.409464137304,-0.0154759579467,0.0699622642911,0.999999996938,5.75891979288e-05,-2.69721475582e-05,-4.56006381824e-05,1793240129481961216
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,678.041308978,661,635,879,787.041308978,804,652,630.041308978,652.958691022,0.410658555941,-0.0154702014428,0.0699440299454,0.999999995211,6.10729816485e-05,-5.86105937898e-05,-4.91241513354e-05,1793240129515293184
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+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.866020393,715,678.866020393,661,635,879,787,805,651,631,652.866020393,0.414229793826,-0.0154916123511,0.0700261153213,0.999999996159,2.37653852708e-05,7.09907830926e-05,-4.55780952341e-05,1793240129598626304
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.441992854,745,715,679,661,635.441992854,879,787,804.558007146,651,631,653,0.414920069552,-0.0154864557706,0.069987244497,0.999999998444,2.4059284592e-05,-1.25336764696e-06,-5.0324686953e-05,1793240129615293184
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.981870659,745,715,679,661,635.981870659,879.018129341,787,804,651.018129341,631,653,0.415603120813,-0.0154798944633,0.069936411401,0.999999993615,2.58608100013e-05,-9.44648625304e-05,-5.63695821066e-05,1793240129631960064
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.391902589,745,715,679,661,635.391902589,879.608097411,787,804,651.608097411,631,653,0.416400426545,-0.0154817019064,0.0699227926732,0.999999992014,2.45067449591e-05,-0.000109228218238,-5.86538048687e-05,1793240129648626432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.194377174,745,715,679,661,635.194377174,880,787.194377174,804,651.805622826,631,653,0.417210359316,-0.0154845816827,0.0699251618018,0.999999992878,2.25951760841e-05,-0.000101191469674,-5.91045099389e-05,1793240129665292800
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.773359027,745,715,679,661,635.773359027,880,787.773359027,804,651.226640973,631,653,0.41804527655,-0.0154895832326,0.0699591653267,0.99999999709,1.95805014769e-05,-4.80412602488e-05,-5.59273223061e-05,1793240129681959424
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.650572924,745,715,679,661,635.650572924,880,788,804.349427076,651.349427076,631,652.650572924,0.418883699533,-0.0154939830348,0.0699844790269,0.999999998404,9.65484593776e-06,-1.10948466709e-05,-5.45531464088e-05,1793240129698626048
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.076379181,745,715,679,661,635.076379181,880,788,804.923620819,651.923620819,631,652.076379181,0.419724377534,-0.0154979957667,0.0700042030535,0.999999998394,-4.7162524483e-06,1.54285798444e-05,-5.4338746091e-05,1793240129715292672
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.510376096,745,715,679,661,635,880,788,804.489623904,651.489623904,631,652,0.420570666044,-0.0155028029429,0.0700221848382,0.999999997551,-1.35108504932e-05,4.25751848137e-05,-5.38863236836e-05,1793240129731959296
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.902470144,745,715,679,661.097529856,635,880,788,804.097529856,651,631,652.097529856,0.421417435063,-0.0155068761476,0.0700329588069,0.999999996678,-1.94046561135e-05,5.803440925e-05,-5.38471846668e-05,1793240129748625920
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.322873185,745,715,679,661.677126815,635,880,788,804.677126815,651,631,652.677126815,0.422262324035,-0.015506719025,0.0700094274849,0.999999998199,-1.51895387447e-05,1.52530602479e-05,-5.6031315574e-05,1793240129765292800
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.745242252,679,661.745242252,635,880,787.745242252,805,651,631.254757748,653,0.423071769805,-0.0155040995254,0.0699615770694,0.999999996134,-1.68924315483e-05,-6.08496312733e-05,-6.11855330396e-05,1793240129781959680
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.170083849,679,661.170083849,635,880,787.170083849,805,651,631.829916151,653,0.423836639908,-0.0154983831731,0.0698831413062,0.99999998121,-2.60382154116e-05,-0.000178859513001,-7.00751329953e-05,1793240129798626304
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.40474457,745,714.40474457,679,661.40474457,635,880,787.40474457,804.59525543,651,631.59525543,653,0.424699474096,-0.015498397266,0.06987601064,0.999999980371,-2.78643160829e-05,-0.000182186544829,-7.27247767551e-05,1793240129815292928
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979434402,745,714.979434402,679,661.979434402,635,880,787.979434402,804.020565598,651,631.020565598,653,0.425603441668,-0.0155008174744,0.0698988197585,0.999999987565,-2.66170076105e-05,-0.000137360220465,-7.27543702119e-05,1793240129831959296
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.432105382,635.567894618,880.567894618,788,804.567894618,651,631,653,0.426501250441,-0.0155053619453,0.0699563696721,0.99999999601,-2.60736971495e-05,-5.57491661894e-05,-6.47516951848e-05,1793240129848625920
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.845621917,880.845621917,787.845621917,804.845621917,651,631,653,0.427403751699,-0.0155094543003,0.0700050789803,0.999999997796,-2.7818755693e-05,1.30958419292e-05,-5.88359195884e-05,1793240129865292800
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.265991471,880.265991471,787.265991471,804.265991471,651,631,653,0.428319808545,-0.0155120840775,0.0700258841207,0.999999996665,-3.57954203665e-05,4.30146381944e-05,-5.94899231497e-05,1793240129881959424
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688890671,745,715,679,661.311109329,635,880.311109329,787,804.311109329,651.311109329,631,653,0.429205010715,-0.0155131547881,0.0700358872862,0.999999995593,-3.93413178501e-05,6.05294680557e-05,-6.00161665688e-05,1793240129898626048
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113935246,745,715,679,661.886064754,635,880.886064754,787,804.886064754,651.886064754,631,653,0.430064045556,-0.0155129032828,0.0700367294945,0.999999995129,-3.91295628341e-05,6.75247207846e-05,-6.04340589625e-05,1793240129915292928
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.538676256,679.461323744,661.538676256,635,880.538676256,787.461323744,805,651.538676256,631,653,0.430834142651,-0.015508100013,0.0699851811199,0.999999997054,-3.48571531754e-05,-2.18219137144e-05,-6.48158865241e-05,1793240129931959552
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.037717964,679.962282036,661,635,880,788,805,651,631,653,0.431584535142,-0.0155024465793,0.0699230497957,0.999999988628,-2.99736237264e-05,-0.000130146835548,-7.00484841894e-05,1793240129948626176
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.629691001,679.370308999,661,635,880,788,805,651,631,653,0.432368360582,-0.0155008304762,0.0698956673524,0.999999982807,-3.08565964217e-05,-0.000167475855079,-7.33874388726e-05,1793240129965292544
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.783049658,679.216950342,661.216950342,635,880,788,804.783049658,651,631,653,0.433208421772,-0.0155023265835,0.0699043671807,0.999999986137,-3.47453778409e-05,-0.000145327804216,-7.34704647929e-05,1793240129981959168
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.203664864,679.796335136,661.796335136,635,880,788,804.203664864,651,631,653,0.434142429806,-0.0155090219094,0.0699733455836,0.999999996444,-4.36556245427e-05,-2.38181286983e-05,-6.81141778919e-05,1793240129998625792
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.372054938,680,662,635,880,788,804.372054938,651,631.372054938,652.627945062,0.434988596777,-0.0155131109628,0.0700127032228,0.999999996176,-4.45840292463e-05,3.95761277591e-05,-6.39845291575e-05,1793240130015292672
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.945788038,680,662,635,880,788,804.945788038,651,631.945788038,652.054211962,0.435787148078,-0.0155157872453,0.0700360044624,0.999999994767,-4.11857520994e-05,7.1468010703e-05,-6.05197993357e-05,1793240130031959808
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.533234901,745,715,680,662,635,880,788,805,651,631.466765099,652.533234901,0.436535674671,-0.0155194586237,0.0700262348383,0.999999994913,-5.16833009552e-05,6.01224728989e-05,-6.23505438436e-05,1793240130048626176
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.879900336,745,715,680,662,635,880,788,804.879900336,651,631,652.879900336,0.437272211655,-0.0155222513891,0.070008509087,0.999999995169,-6.26160922922e-05,3.89858232792e-05,-6.49752974494e-05,1793240130065292544
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.300730605,745,715,680,662,635,880,788,804.300730605,651,631,652.300730605,0.437982872674,-0.0155212888236,0.0699735626681,0.999999995223,-6.96699590751e-05,-2.33044292107e-06,-6.85228839534e-05,1793240130081959424
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.722860352,662,635,880.277139648,787.722860352,804.277139648,651,631,652,0.43865013676,-0.015520567776,0.0699225949975,0.999999991441,-7.24237561277e-05,-8.11715526324e-05,-7.26910652362e-05,1793240130098626048
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.146393647,662,635,880.853606353,787.146393647,804.853606353,651,631,652,0.439270529569,-0.0155201075818,0.0698543234387,0.999999974399,-7.05332248375e-05,-0.000200541688445,-7.75295243516e-05,1793240130115292672
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.429267352,745,715,679.858534705,661.570732648,635,880.570732648,787,805,651,631,652,0.439902924385,-0.0155240916112,0.069817918849,0.999999961298,-7.87008617186e-05,-0.000254388672591,-8.06036921265e-05,1793240130131959296
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.995226156,661,635,880,787,805,651,631,652.004773844,0.440539531122,-0.0155296544462,0.0697928245583,0.999999951763,-9.03219075522e-05,-0.000285346269842,-8.30325199133e-05,1793240130148626176
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.405040836,661,635,880,787,805,651,631,652.594959164,0.441191647685,-0.015543313839,0.0698245103364,0.999999961346,-0.000105582920761,-0.000244467837852,-7.99689447061e-05,1793240130165292800
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.818612426,680,661,634.818612426,880.181387574,787,805,651,631,653,0.441825244819,-0.0155617539559,0.0698476687308,0.999999965638,-0.000125971358388,-0.000217103638156,-7.56437563206e-05,1793240130181959680
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.240402899,680,661,634.240402899,880.759597101,787,805,651,631,653,0.442418327087,-0.0155906528746,0.0698521717573,0.999999961187,-0.000157577075691,-0.000219304543843,-6.85585339528e-05,1793240130198626560
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.663578699,745,714.336421301,680,660.663578699,634,881,786.663578699,804.663578699,651,631,653,0.442965135488,-0.0156149304911,0.0698289834872,0.999999946246,-0.000186431190423,-0.000261607633717,-6.56684400798e-05,1793240130215293184
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.087740414,745,714.912259586,680,660.087740414,634,881,786.087740414,804.087740414,651,631,653,0.443479012676,-0.015635919318,0.0697860884781,0.999999919822,-0.000213327101929,-0.000332449771491,-6.57638440501e-05,1793240130231959808
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.50200212,680,660,634,880.50200212,786,804.49799788,651,631,653,0.443955704959,-0.0156341002134,0.0697481764405,0.999999898008,-0.000216120661178,-0.00039037298971,-6.98915937804e-05,1793240130248626688
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.084336505,680,660,633.915663495,880,786,805.084336505,651,631,653,0.44442512703,-0.0156297277082,0.0697145733209,0.999999877069,-0.000215704896211,-0.000440244004683,-7.42848365234e-05,1793240130265293312
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.663752344,680,660,633.336247656,880,786,805.663752344,651,631,653,0.444891109951,-0.0156344338947,0.0697010065385,0.999999868311,-0.000221883293737,-0.000456478878522,-7.59815002402e-05,1793240130281960448
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,786,805.757679935,651,631,652.757679935,0.445349658795,-0.0156403766052,0.0696946328143,0.999999864353,-0.000230133596377,-0.000460953181021,-7.65099072599e-05,1793240130298627584
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,786,805.180285022,651,631,652.180285022,0.445797927924,-0.0156480291534,0.0696982054936,0.99999986718,-0.000241248883302,-0.000449165223192,-7.54228745179e-05,1793240130315294464
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.394257599,745,714.605742401,680,659.605742401,633,880,785.605742401,805,651,630.605742401,652,0.446203190389,-0.0156568239647,0.0696959812491,0.999999861877,-0.000248034400911,-0.000457471229453,-7.37860045709e-05,1793240130331961088
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.967505349,745,714.032494651,680,659.032494651,633,880,785.032494651,805,651,630.032494651,652,0.446588928174,-0.0156661373559,0.0696911252427,0.999999852683,-0.000252854234898,-0.000474899751683,-7.18995123257e-05,1793240130348627712
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.441986946,745,714,680,659,633,880,784.441986946,805,651,630.558013054,652.558013054,0.446913057015,-0.015672745303,0.0696764198105,0.999999831456,-0.000271538013136,-0.000507804643749,-7.40859678556e-05,1793240130365293824
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.146482699,680.146482699,659,632.853517301,880,784,805,651,631,653,0.447230045143,-0.0156785697831,0.069661375857,0.999999811169,-0.000288780475585,-0.000537024068186,-7.66341360682e-05,1793240130381959680
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.725864271,680.725864271,659,632.274135729,880,784,805,651,631,653,0.44753687146,-0.015682559346,0.0696470806082,0.999999799362,-0.000299301370777,-0.000552603462843,-7.952796544e-05,1793240130398626304
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.698306678,680.698306678,659,632.301693322,880,784,805,651.301693322,630.698306678,653,0.447838568771,-0.0156857274247,0.0696479461213,0.999999800308,-0.00030279944058,-0.000548842035938,-8.04309073026e-05,1793240130415293184
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+256,4.266666667,HOLD_POSE2,765,745,715,680,658,631,881,782,805,651,630,653,0.450243915044,-0.0157138758382,0.069613263789,0.999999760502,-0.00032632303895,-0.000606712658656,-6.64005571445e-05,1793240131297552896
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.057242229,715,680.057242229,658.942757771,631,881,781.057242229,805.942757771,651.942757771,629.942757771,653,0.450246564373,-0.0157089571636,0.0696130801225,0.99999976209,-0.000320747698046,-0.00060709413755,-6.61656464688e-05,1793240131729465600
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.197261046,745,715,679.197261046,660.802738954,635,880,787,805,651.802738954,631,653,0.426314315222,-0.015386023092,0.0698626818516,0.999999959113,0.000169303657004,-0.000229215484877,2.38849006297e-05,1793240132612798976
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.454258476,745,715,679.454258476,660.545741524,635,880,787,804.454258476,651.454258476,631,652.454258476,0.423630710997,-0.0153803613633,0.0698208275103,0.999999940686,0.000175890584744,-0.000295486209884,1.94683384641e-05,1793240132662799104
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.387534725,635,880,787.387534725,804,651.612465275,631,652.387534725,0.417670717627,-0.0153757496045,0.0698783643806,0.999999956514,0.000198052403318,-0.000216758019038,2.76170897425e-05,1793240132779465472
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.344602231,745,715,679.655397769,660.655397769,635,880,787.655397769,804.655397769,651.344602231,631.344602231,653,0.415140055469,-0.0153663143299,0.0697992009912,0.999999925452,0.000214814500375,-0.000320238492903,1.99443273825e-05,1793240132829465344
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.91994225,745,715,679.08005775,660.08005775,635,880,787.08005775,804.08005775,651.91994225,631.91994225,653,0.414316641805,-0.0153643119091,0.0697720983957,0.999999908112,0.000212432069707,-0.000371925084367,1.79257897021e-05,1793240132846131968
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.492842257,745,715,678.492842257,660.507157743,635,880,787.507157743,804.507157743,652,631.492842257,653,0.413555774153,-0.0153623813298,0.0697590060052,0.999999896261,0.000219597881974,-0.000398712824274,1.67925645301e-05,1793240132862798592
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.251999032,635,880,787.251999032,804.251999032,651.748000968,631,653,0.41152727848,-0.0153689218714,0.0698521063729,0.999999950079,0.00021509123789,-0.000230353562017,2.27069675265e-05,1793240132912798720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.825385701,635,880,787.825385701,804.825385701,651.174614299,631,653,0.410870054947,-0.0153696210809,0.0698832594017,0.999999958855,0.000218468434078,-0.000184125684131,2.56596201055e-05,1793240132929465344
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.999604372,745,715,679,661,635,879.000395628,787.000395628,805,651.999604372,631,653,0.409536616928,-0.0153679790172,0.069842001798,0.999999942804,0.000214795755384,-0.000260283480665,2.25086978494e-05,1793240132962798848
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,635,879.265526211,787.265526211,804,651,631,652.734473789,0.40772231647,-0.0153534904236,0.0697791431033,0.999999910278,0.000228419853871,-0.000356473706857,1.39907781271e-05,1793240133012798720
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,715,678.790850546,660.790850546,635,880,787,804,652,632,653,0.404516509217,-0.0153566842512,0.0698263517398,0.999999929544,0.000231250460532,-0.000295250536684,1.61851106683e-05,1793240133129465600
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.273536533,744,715,679,660.726463467,635,879.273536533,787.273536533,804,652,631.726463467,652.726463467,0.402684435241,-0.0153435021705,0.0698252757898,0.999999926731,0.00024559595127,-0.000293297466372,1.40155771474e-05,1793240133229465600
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ede3ab9ee0a662a0fede7747bac43c516546124b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
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+408,6.800000000,pose2_to_pose3_retreat,0.575665285997,-0.00990919074135,1.06003248916,0.546235736016,-0.00123745667858,1.05970061546
+409,6.816666667,pose2_to_pose3_retreat,0.575665222172,-0.00990918914569,1.0600324895,0.546235672115,-0.00123745534777,1.05970061574
+410,6.833333333,pose2_to_pose3_retreat,0.575664997202,-0.00990918352127,1.06003249072,0.546235446872,-0.00123745065692,1.05970061675
+411,6.850000000,pose2_to_pose3_retreat,0.57566493758,-0.00990918203068,1.06003249104,0.546235387178,-0.00123744941374,1.05970061702
+412,6.866666667,pose2_to_pose3_retreat,0.575664889853,-0.00990919336763,1.06003247789,0.546235339653,-0.00123746004589,1.05970060434
+413,6.883333333,pose2_to_pose3_retreat,0.575664676032,-0.00990924746186,1.06003241543,0.546235126807,-0.0012375107445,1.05970054415
+414,6.900000000,pose2_to_pose3_retreat,0.575664612553,-0.00990926352145,1.06003239689,0.546235063617,-0.00123752579599,1.05970052628
+415,6.916666667,pose2_to_pose3_retreat,0.575664496981,-0.0099092927598,1.06003236314,0.546234948572,-0.00123755319897,1.05970049374
+416,6.933333333,pose2_to_pose3_retreat,0.575664444464,-0.0099093476265,1.06003243996,0.546234896305,-0.00123760725897,1.05970056952
+417,6.950000000,pose2_to_pose3_retreat,0.575664436139,-0.00990938385118,1.06003251315,0.546234888026,-0.00123764337383,1.05970064148
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632647,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b99278b816dc0d36f13bc30a80146d160070fb2f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a44433ba9ba420a4b1777ef64448fd151770d482f4ef429bf4453d725a9a15
+size 26662486
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4a09dba846a6d2461a10992fd0fe2dab9aa1554
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
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+0,0.000000000,BASELINE,765,745,715,678,661,635,879,787,804,652,631,653,0.400964216433,-0.0153532369752,0.0698255605633,0.999999930487,0.000237649548869,-0.000287212587905,7.52457856988e-06,1793240134140615424
+1,0.016666667,BASELINE,765,745,715,678.574583116,661,635,879,787.574583116,804,652,631,653,0.400963975346,-0.0153526766198,0.0698249010017,0.999999929913,0.000238040364873,-0.000288897315753,6.98727359484e-06,1793240134157282304
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+22,0.366666667,BASELINE,766,744.77192982,715,678.22807018,661,635,879,787,804,652.22807018,631,652.77192982,0.400965972892,-0.0153532877857,0.0698266003358,0.999999931631,0.000235320782702,-0.000285165157856,6.53068180192e-06,1793240134507282176
+23,0.383333333,BASELINE,765.645404055,745,715,678,660.645404055,635.354595945,879,787.354595945,804,652,631,653,0.400965524515,-0.0153534119581,0.0698265962612,0.999999931241,0.000236064540529,-0.000285914274805,6.63968034841e-06,1793240134523948800
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+27,0.450000000,BASELINE,765.331250748,744.668749252,715,678,661,635,879,787.668749252,804,651.331250748,631.668749252,653,0.400966372581,-0.0153530274553,0.0698267842738,0.999999931393,0.000235893987037,-0.000285525093034,6.64146609433e-06,1793240134590615040
+28,0.466666667,BASELINE,765,744.748456791,715,678.251543209,661,635,879,787.748456791,804,651.251543209,632,653,0.400966159407,-0.0153531759985,0.0698267046529,0.999999931667,0.000235037530669,-0.000285267743388,6.70101413689e-06,1793240134607281664
+29,0.483333333,BASELINE,765,744.168128676,715,678.831871324,661,635,879,787.168128676,804,651.831871324,632,653,0.400966393238,-0.0153539466741,0.0698265335628,0.999999931936,0.00023479947776,-0.000284518721016,6.82927090092e-06,1793240134623948288
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+49,0.816666667,BASELINE,765.435426147,745,715,678.564573853,660.870852294,635,879,787.564573853,804,652,631,652.564573853,0.400967386624,-0.0153538316617,0.0698282652857,0.99999993199,0.000235930019198,-0.000283387176858,6.9710744688e-06,1793240134957282304
+50,0.833333333,BASELINE,765.987804741,744.987804741,715,678,661.975609483,635.012195259,879.012195259,787,804,652,631,652,0.400967033265,-0.0153557373432,0.0698284660165,0.99999993271,0.000232858388452,-0.000283388896268,6.95218046414e-06,1793240134973949696
+51,0.850000000,BASELINE,765.412559389,744.412559389,715,678,660.825118778,635.587440611,879.587440611,787,804,652,631,652,0.400967750368,-0.0153546910753,0.0698286931854,0.999999933066,0.000232301477311,-0.000282597819753,6.58033721709e-06,1793240134990616320
+52,0.866666667,BASELINE,765,744,715,678.166717753,660.166717753,635.833282247,879.833282247,787,804,652,631,652,0.400967564671,-0.0153541642082,0.0698284567445,0.99999993295,0.000232493249086,-0.000282851879625,6.39956885258e-06,1793240135007283200
+53,0.883333333,BASELINE,765,744,715,678.756219175,660.756219175,635.243780825,879.243780825,787,804,652,631,652,0.400965089543,-0.0153549545026,0.0698270446237,0.999999931634,0.000234583624409,-0.000285756326737,6.70335202705e-06,1793240135023949568
+54,0.900000000,BASELINE,765.339324925,744,715,678.660675075,660.660675075,635,879.339324925,787,804,652,631.339324925,652.339324925,0.400964906085,-0.0153554971635,0.0698272124129,0.999999931453,0.000235518465781,-0.000285614472419,7.03583413228e-06,1793240135040616448
+55,0.916666667,BASELINE,765.917920817,744,715,678.082079183,660.082079183,635,879.917920817,787,804,652,631.917920817,652.917920817,0.400966338574,-0.0153558652086,0.0698284942573,0.999999932074,0.000235638495938,-0.000283324554481,7.38855293704e-06,1793240135057283328
+56,0.933333333,BASELINE,765.50344273,744.49655727,715,678,660.49655727,635,880,787.49655727,804,652,631.50344273,653,0.400966083055,-0.0153553202489,0.0698284618196,0.99999993187,0.000236409687815,-0.000283408261105,7.11233468769e-06,1793240135073949440
+57,0.950000000,BASELINE,765,745,715,678.074161708,660.925838292,635,879.925838292,788,804.074161708,652,631,653,0.400965653692,-0.0153547291631,0.0698282823825,0.999999931621,0.000236990285218,-0.000283809521484,6.78305628474e-06,1793240135090615808
+58,0.966666667,BASELINE,765,745,715,678.644811983,660.355188017,635,879.355188017,788,804.644811983,652,631,653,0.400965928603,-0.0153548396982,0.069828573344,0.999999931984,0.000235574275433,-0.000283709818066,6.79460022957e-06,1793240135107282432
+59,0.983333333,BASELINE,765,745,715,678.775784629,660.224215371,635,879.224215371,787.775784629,805,652,631.224215371,652.775784629,0.400966304902,-0.0153546176317,0.06982872102,0.999999932016,0.000235573806742,-0.000283594192288,6.85534181297e-06,1793240135123949312
+60,1.000000000,BASELINE,765,745,715,678.1819517,660.8180483,635,879.8180483,787.1819517,805,652,631.8180483,652.1819517,0.400966848339,-0.0153538472737,0.0698286324908,0.999999931503,0.00023790684797,-0.000283452318588,6.99718538043e-06,1793240135140615936
+61,1.016666667,BASELINE,765,745,715,678,661,635.399884158,879.600115842,787,804.600115842,652,631.600115842,652,0.400966781247,-0.0153545019014,0.0698287045858,0.999999931818,0.000236634324808,-0.000283405886426,6.95093683047e-06,1793240135157282304
+62,1.033333333,BASELINE,765,745,715,678,661,635.976420183,879.023579817,787,804.023579817,652,631.023579817,652,0.400966444448,-0.0153557860275,0.0698288476379,0.999999932495,0.00023376901602,-0.000283401616298,6.82159714883e-06,1793240135173948928
+63,1.050000000,BASELINE,765.551369992,745,715,678,661.551369992,635.448630008,879,787,804,652,631,652.551369992,0.400966049447,-0.0153543996735,0.069827853864,0.999999932057,0.000234698535758,-0.000284183789959,6.42438768767e-06,1793240135190615808
+64,1.066666667,BASELINE,766,744.870122045,715,678.129877955,661.74024409,635,879,787.129877955,804,652,631.129877955,652.870122045,0.400965420313,-0.015353255936,0.0698270195917,0.999999931525,0.000235987099669,-0.000284994423544,6.20330391431e-06,1793240135207282432
+65,1.083333333,BASELINE,766,744.278730049,715,678.721269951,660.557460098,635,879,787.721269951,804,652,631.721269951,652.278730049,0.400963968026,-0.0153533789818,0.0698269243632,0.999999930824,0.000237976475793,-0.000285787017852,6.64866328933e-06,1793240135223948800
+66,1.100000000,BASELINE,765.695283436,744.304716564,715,678.695283436,660.304716564,635,879,788,804,652,631.695283436,652.304716564,0.400964223619,-0.0153534043795,0.0698273330665,0.999999930861,0.000238321747505,-0.000285366909217,6.8701572361e-06,1793240135240615680
+67,1.116666667,BASELINE,765.118919956,744.881080044,715,678.118919956,660.881080044,635,879,788,804,652,631.118919956,652.881080044,0.400966001743,-0.0153533427265,0.0698281910118,0.999999931554,0.000237201342664,-0.000283865707314,6.8920809352e-06,1793240135257282304
+68,1.133333333,BASELINE,765,744.540572662,715,678.459427338,661,635.459427338,879,788,804,652,631,652.540572662,0.400966797668,-0.0153533865295,0.0698284229453,0.999999931581,0.000237802598213,-0.000283272084874,6.6625321984e-06,1793240135273948672
+69,1.150000000,BASELINE,765.037862482,744.037862482,715,679,660.962137518,635.962137518,879.037862482,787.962137518,804,652,631,652.037862482,0.40096722855,-0.0153535041013,0.0698284376424,0.999999931445,0.000238661732113,-0.000283035227749,6.40757531946e-06,1793240135290615296
+70,1.166666667,BASELINE,765.61025639,744.61025639,715,679,660.38974361,635.38974361,879.61025639,787.38974361,804,652,631,652.61025639,0.400966110675,-0.0153542760816,0.0698276830048,0.999999931459,0.000236842798914,-0.000284504144734,6.71685051604e-06,1793240135307282176
+71,1.183333333,BASELINE,765.811344465,744.811344465,715,678.811344465,660.188655535,635.188655535,879.811344465,787,804,652,631,653,0.400965640528,-0.015354834313,0.0698274416677,0.999999931669,0.000235510064169,-0.000284869334414,6.83731519127e-06,1793240135323948544
+72,1.200000000,BASELINE,765.220131085,744.220131085,715,678.220131085,660.779868915,635.779868915,879.220131085,787,804,652,631,653,0.400966552519,-0.0153549364416,0.0698282956236,0.999999932305,0.000235214791366,-0.00028287936377,6.5548913674e-06,1793240135340615168
+73,1.216666667,BASELINE,765,744,715,678,661,635.635221851,879.364778149,787,804.364778149,652,631,652.635221851,0.400966583886,-0.0153542665534,0.069828076161,0.999999932009,0.000236613931939,-0.000282765151144,6.33606936026e-06,1793240135357282304
+74,1.233333333,BASELINE,765,744,715,678,661,635.054052357,879.945947643,787,804.945947643,652,631,652.054052357,0.400966092855,-0.0153531386943,0.069827219932,0.999999931155,0.000239018221521,-0.000283763663729,6.15497683018e-06,1793240135373949440
+75,1.250000000,BASELINE,765.5147136,744.5147136,715,678.5147136,661,635,880,787,804.4852864,652,631.5147136,652.5147136,0.400966149077,-0.015354528067,0.0698271655172,0.999999931381,0.000237352021172,-0.00028435154876,6.74046212402e-06,1793240135390615808
+76,1.266666667,BASELINE,765.916355105,744.916355105,715,679,661,635,879.916355105,787.083644895,804,652,632,653,0.400966235948,-0.0153559908002,0.0698272796605,0.999999931725,0.000235549985596,-0.00028462757132,7.29356763116e-06,1793240135407282176
+77,1.283333333,BASELINE,765.338939542,744.338939542,715,679,661,635,879.338939542,787.661060458,804,652,632,653,0.400966172471,-0.0153563628325,0.0698279034685,0.999999932133,0.000235410086783,-0.000283311180168,7.19149571435e-06,1793240135423948544
+78,1.300000000,BASELINE,765,744,715,678.754140541,660.754140541,635.245859459,879,788,804,652,631.754140541,652.754140541,0.40096665814,-0.0153563671209,0.0698285698498,0.999999932525,0.000235141216567,-0.000282149730384,7.11926132566e-06,1793240135440615424
+79,1.316666667,BASELINE,765,744,715,678.15884771,660.15884771,635.84115229,879,788,804,652,631.15884771,652.15884771,0.400967924297,-0.015355848745,0.069829296739,0.999999932896,0.000234689042808,-0.00028120849467,7.08943421427e-06,1793240135457282304
+80,1.333333333,BASELINE,765.421782357,744.421782357,715,678.421782357,660.421782357,635.578217643,879,787.578217643,804,652,631,652,0.400967676121,-0.0153553435574,0.0698289002765,0.999999932545,0.000235101768506,-0.000282113663243,6.94506960227e-06,1793240135473949184
+81,1.350000000,BASELINE,765.997075841,744.997075841,715,678.997075841,660.997075841,635.002924159,879,787.002924159,804,652,631,652,0.400966876793,-0.0153548431699,0.069828094961,0.999999931929,0.000235829281372,-0.000283690845624,6.75901813113e-06,1793240135490615808
+82,1.366666667,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652.574631654,0.400965310283,-0.015355098083,0.0698279175842,0.999999931332,0.000237450893234,-0.000284442799647,6.73386362872e-06,1793240135507282176
+83,1.383333333,BASELINE,766,745,715,679,661,635,879,787.155245353,804,652,631.155245353,653,0.400964090146,-0.0153549755147,0.0698276258943,0.999999930886,0.000238429598929,-0.000285191436983,6.66959331324e-06,1793240135523948800
+84,1.400000000,BASELINE,766,745,715,679,661,635,879,787.744373111,804,652,631.744373111,653,0.400963849008,-0.0153537871699,0.0698270057544,0.999999930871,0.000237598733431,-0.000285942587857,6.49370409601e-06,1793240135540615424
+85,1.416666667,BASELINE,765.672972538,744.672972538,715,679,661,635,879,787.672972538,804,652,631.672972538,653,0.400965141663,-0.015354296476,0.0698278375021,0.999999931744,0.000236090286103,-0.000284128813877,6.62359616799e-06,1793240135557282048
+86,1.433333333,BASELINE,765.09528006,744.09528006,715,679,661,635,879,787.09528006,804,652,631.09528006,653,0.400967609963,-0.0153561070236,0.0698297821148,0.999999933285,0.000234062475526,-0.000280349036965,6.98786817545e-06,1793240135573948416
+87,1.450000000,BASELINE,765,744.479600719,715,679,661,635,879,787.479600719,804,652,631,653,0.400967807599,-0.0153553338367,0.0698297613414,0.999999933053,0.000235286019649,-0.000280152780404,7.02753258242e-06,1793240135590615040
+88,1.466666667,BASELINE,765.055492224,744.944507776,715,678.944507776,661,635,879,788,804,652,631,653,0.400967458778,-0.0153541668682,0.0698293652191,0.999999932503,0.000236943204575,-0.000280721252695,6.95506630892e-06,1793240135607281664
+89,1.483333333,BASELINE,765.646496551,744.353503449,715,678.353503449,661,635,879,788,804,652,631,653,0.400966164388,-0.0153541243937,0.069829092906,0.999999932276,0.00023658806742,-0.000281839370439,6.41921339521e-06,1793240135623948544
+90,1.500000000,BASELINE,766,744.232868811,715,678.232868811,660.767131189,635,879,787.767131189,804.232868811,652,631,652.767131189,0.400965479081,-0.0153538537298,0.0698286013616,0.999999931814,0.000237296506165,-0.000282883845178,6.20485322817e-06,1793240135640615424
+91,1.516666667,BASELINE,766,744.812346512,715,678.812346512,660.187653488,635,879,787.187653488,804.812346512,652,631,652.187653488,0.400965700352,-0.0153532434222,0.0698277835068,0.999999931001,0.000239588003053,-0.00028381870737,6.46901250859e-06,1793240135657282048
+92,1.533333333,BASELINE,766,745,715,678.609036291,660,635,879.390963709,787.390963709,804.609036291,652,631,652.390963709,0.400965949609,-0.0153536500022,0.0698276058003,0.999999931286,0.000238312630652,-0.000283887178117,6.59307088797e-06,1793240135673948672
+93,1.550000000,BASELINE,766,745,715,678.030831158,660,635,879.969168842,787.969168842,804.030831158,652,631,652.969168842,0.40096621227,-0.0153545435929,0.0698277346753,0.99999993209,0.000235329003508,-0.000283540714346,6.65003177809e-06,1793240135690615296
+94,1.566666667,BASELINE,765.456849788,744.456849788,715,678,660,635,879.456849788,788,804,652,631,652.456849788,0.400966620205,-0.0153542978338,0.0698282203302,0.999999932015,0.000236634947645,-0.000282714794966,6.73348410591e-06,1793240135707281920
+95,1.583333333,BASELINE,765,744,715,678,660.120171952,635,879,787.879828048,804,651.879828048,631,652.120171952,0.400967116136,-0.01535389241,0.0698287215409,0.999999931922,0.000238055963436,-0.000281851516385,6.72954329233e-06,1793240135723948800
+96,1.600000000,BASELINE,765,744,715,678,660.710006187,635,879,787.289993813,804,651.289993813,631,652.710006187,0.400967924001,-0.0153531137868,0.0698292050076,0.999999931958,0.000238982425772,-0.000280947773137,6.37821639348e-06,1793240135740615936
+97,1.616666667,BASELINE,765.294270323,744,715,678.294270323,661,635,879.294270323,787,804.294270323,651.294270323,631,653,0.400968218676,-0.0153531938953,0.0698295621751,0.999999932063,0.000239234033281,-0.000280357012553,6.43248269463e-06,1793240135757282560
+98,1.633333333,BASELINE,765.873147245,744,715,678.873147245,661,635,879.873147245,787,804.873147245,651.873147245,631,653,0.400968017014,-0.015354104535,0.069829797191,0.999999932236,0.000238832947885,-0.000280068956453,6.8790226906e-06,1793240135773949184
+99,1.650000000,BASELINE,765.549784829,744,715,678.549784829,661,635.450215171,879.549784829,787.450215171,804.549784829,652,631,652.549784829,0.400967530907,-0.0153547348153,0.0698294392592,0.999999932295,0.000237597025137,-0.000280911499828,6.85843121973e-06,1793240135790615808
+100,1.666666667,BASELINE,765,744,715,678,661,636,879,787.973361581,804,652,631,652,0.40096694732,-0.0153552694716,0.0698289241414,0.999999932312,0.00023618970852,-0.000282038321652,6.72019428406e-06,1793240135807282176
+101,1.683333333,BASELINE,765,744,715,678,661,636,879,787.399751498,804,652,631,652,0.400966001172,-0.0153554561734,0.0698285982233,0.999999932212,0.000236073698572,-0.000282487451806,6.85806487601e-06,1793240135823948544
+102,1.700000000,BASELINE,765.17887825,744,715,678.17887825,661,636,879,787.17887825,804,651.82112175,631,652.17887825,0.400965705055,-0.0153559056707,0.0698285441328,0.999999932365,0.000235469834629,-0.000282445744516,6.88658364171e-06,1793240135840615168
+103,1.716666667,BASELINE,765.769049588,744,715,678.769049588,661,636,879,787.769049588,804,651.230950412,631,652.769049588,0.400966903547,-0.0153569594111,0.0698291150526,0.999999933102,0.000233744252565,-0.000281275459215,6.66367075573e-06,1793240135857281792
+104,1.733333333,BASELINE,765.64739367,744,715,679,661,635.64739367,879,788,804,651.35260633,631,652.64739367,0.400967627483,-0.0153562881976,0.0698294420332,0.999999933222,0.000234061421291,-0.000280583305347,6.68021738213e-06,1793240135873948928
+105,1.750000000,BASELINE,765.06808953,744,715,679,661,635.06808953,879,788,804,651.93191047,631,652.06808953,0.400968046319,-0.015354507976,0.0698296121803,0.999999932946,0.000235691916041,-0.000280198551825,6.8507173971e-06,1793240135890615552
+106,1.766666667,BASELINE,765.505989369,744.505989369,715,678.494010631,661,635.505989369,879,787.494010631,804.505989369,652,631,652.505989369,0.400968700833,-0.0153537709727,0.0698296793325,0.999999932454,0.000238027381233,-0.000279980728877,6.75403271298e-06,1793240135907282432
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,661,635,879,788,805,652,631,652,0.400964245911,-0.0153567029353,0.0698274219399,0.999999931694,0.000235202060381,-0.000285046235767,6.40415198323e-06,1793240135949886720
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421346937,744.578653063,715,679,661,635.578653063,879.578653063,788,804.421346937,652,631,652.578653063,0.400966691864,-0.0153558390014,0.0698287747888,0.999999931969,0.000237465983627,-0.00028218557331,6.59380979277e-06,1793240135966553600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.156416113,745,715,678.843583887,661,635.843583887,879.843583887,787.843583887,804,652,631,653,0.4009681964,-0.0153550401494,0.0698296354728,0.999999932237,0.000238556695849,-0.000280307807621,6.71042447361e-06,1793240135983220224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.731795375,745,715,678.268204625,661,635.268204625,879.268204625,787.268204625,804,652,631,653,0.400967179334,-0.0153544156203,0.0698291778853,0.999999932513,0.000236504943414,-0.000281062746582,6.63139196628e-06,1793240135999886592
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.30733005,661,635.30733005,879,787.30733005,804,651.69266995,631.30733005,652.69266995,0.400966392991,-0.015354499516,0.0698285084153,0.99999993243,0.000235764830763,-0.000281979318188,6.54588907573e-06,1793240136016552960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.883000387,661,635.883000387,879,787.883000387,804,651.116999613,631.883000387,652.116999613,0.400965808102,-0.0153552019613,0.0698276539434,0.999999932036,0.000236169955405,-0.000283037016691,6.45473667895e-06,1793240136033219584
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.527855661,745,715,678.527855661,661,635.527855661,879,788,804,651.472144339,631.527855661,652.472144339,0.400965911358,-0.015355237895,0.0698278494591,0.999999932101,0.000235894063193,-0.000283035235367,6.53408216291e-06,1793240136049886720
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.063047214,745,715,678.063047214,661,635,878.936952786,788,804,652,631,653,0.400966147733,-0.0153550851058,0.0698282693031,0.999999932231,0.000235639250193,-0.000282786876759,6.65364682408e-06,1793240136066553344
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.640265619,745,715,678.640265619,661,635,878.359734381,788,804,652,631,653,0.400966038187,-0.0153547797602,0.0698283343342,0.999999931931,0.000236973062181,-0.000282731629821,6.74652623551e-06,1793240136083220224
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.216735853,878.216735853,788,804,652,631,653,0.400969023467,-0.0153548981414,0.0698298259185,0.99999993251,0.000237030657055,-0.00028062341278,6.86259776618e-06,1793240136099886848
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.791968498,878.791968498,788,804,652,631,653,0.400977127817,-0.0153557173974,0.069833677125,0.999999934523,0.000234977296284,-0.000275119434548,7.01703073191e-06,1793240136116553472
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.635620432,745,715,678.635620432,661,636,879,787.635620432,804,652,631,652.635620432,0.400999884083,-0.0153565598916,0.0698439820816,0.999999939201,0.000234357094452,-0.000258094512151,7.8902408242e-06,1793240136133219840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.064807825,745,715,678.064807825,661,636,879,787.064807825,804,652,631,652.064807825,0.401030941143,-0.0153574155512,0.0698579433009,0.999999944946,0.000234548824117,-0.000234542594378,9.17066186963e-06,1793240136149886464
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,678.52697507,661,636,879,787.52697507,804,652,631,652.52697507,0.401087620025,-0.0153604762385,0.0698778292264,0.999999952899,0.000234240196867,-0.000198045541186,1.05972632965e-05,1793240136166553344
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.118470671,745,715,678.881529329,661,636,879,788,804,652,631.118470671,653,0.401148551564,-0.0153636708508,0.0698962936214,0.999999958866,0.000233857103163,-0.000165657236216,1.17179141245e-05,1793240136183220480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.698386128,745,715,678.301613872,661,636,879,788,804,652,631.698386128,653,0.401213265482,-0.0153662870958,0.0699062655234,0.999999960561,0.000233433572414,-0.000155730403397,1.15739598593e-05,1793240136199887104
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631.72436451,652.72436451,0.401283592675,-0.015369661973,0.0699119968234,0.999999961673,0.000233048946376,-0.000149086549244,1.07548286223e-05,1793240136216553728
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631.150004606,652.150004606,0.401360003344,-0.0153738590299,0.0699131323019,0.999999962223,0.000232706483988,-0.000146000676857,9.20396344585e-06,1793240136233220352
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.435313767,660.564686233,636,879,788,804,652,631,652.435313767,0.401452631949,-0.0153775453377,0.0699154551156,0.999999962957,0.000231933897293,-0.00014225566964,7.50713122387e-06,1793240136249886720
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.975904915,879,787.975904915,804,652,631,653,0.401552362358,-0.0153811093072,0.0699181474791,0.999999963755,0.000230932011648,-0.000138307110212,5.7022988532e-06,1793240136266553344
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635.396588104,879,787.396588104,804,652,631,653,0.401683637543,-0.0153860145031,0.0699196840254,0.999999964853,0.000228149941404,-0.000135037030208,2.59778564873e-06,1793240136283219712
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660.181851126,635.181851126,879.181851126,787.181851126,804,652,631,652.818148874,0.401822534106,-0.015392115823,0.0699217841498,0.999999966573,0.000222983395605,-0.000130886337915,-4.6093233205e-07,1793240136299886336
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660.75838561,635.75838561,879.75838561,787.75838561,804,652,631,652.24161439,0.401977971827,-0.0154008131681,0.0699251074441,0.999999969595,0.000212641667363,-0.000124824395764,-3.42025754804e-06,1793240136316553216
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.667279324,880,788,804.332720676,652,631,652,0.402148492179,-0.0154085899389,0.0699266666993,0.999999971681,0.000204109849203,-0.000122176843406,-7.11370349387e-06,1793240136333220352
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.09453088,880,788,804.90546912,652,631,652,0.402329893295,-0.0154157025998,0.0699269533607,0.999999973113,0.000196883715828,-0.000121992462753,-1.13367512195e-05,1793240136349887488
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.504501067,661,635.495498933,879.504501067,787.504501067,804.504501067,652,631.495498933,652.495498933,0.402544383382,-0.0154243166327,0.0699295646418,0.999999975724,0.000187162121663,-0.000115204933315,-1.58217884433e-05,1793240136366554368
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913330111,745,715,678.086669889,661,635.913330111,879,787.086669889,804,652,632,653,0.402772646743,-0.0154333366539,0.0699330613509,0.99999998008,0.000167810600095,-0.000106132035071,-2.03851232291e-05,1793240136383220992
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.335062446,745,715,678.664937554,661,635.335062446,879,787.664937554,804,652,632,653,0.403041933255,-0.0154429761095,0.0699389738677,0.99999999083,9.66353945017e-05,-9.14999244942e-05,-2.50988219374e-05,1793240136399887360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.240897911,745,715,678.759102089,660.759102089,635,879.240897911,788,804,652,631.759102089,653,0.403323481455,-0.0154536903803,0.0699461364073,0.999999995153,5.32928044268e-05,-7.73300877614e-05,-2.9554642035e-05,1793240136416553728
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.813679468,745,715,678.186320532,660.186320532,635,879.813679468,788,804,652,631.186320532,653,0.403621922495,-0.0154658854172,0.0699550210956,0.999999996232,4.82950511164e-05,-6.37971243865e-05,-3.36551841367e-05,1793240136433219840
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678,660.399137314,635.399137314,879.600862686,788,804,652,631,653,0.4039361297,-0.0154746604114,0.0699572320627,0.999999996644,3.7721852858e-05,-6.14976901768e-05,-3.88306468224e-05,1793240136449886720
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678,660.990706635,635.990706635,879.009293365,788,804,652,631,653,0.404257938079,-0.015481786535,0.0699562254963,0.999999996622,2.44606222775e-05,-6.46141633063e-05,-4.45243498934e-05,1793240136466553344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.42944808,744.42944808,715,678.57055192,661,636,879,788,804,652,631,653,0.404640600878,-0.0154861426493,0.0699647386706,0.999999996857,5.49939840132e-05,-4.90523191491e-05,-2.92390750901e-05,1793240136483220224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.148793381,715,679,661,635.851206619,879.148793381,787.851206619,804,652,631,653,0.40503230343,-0.0154842751693,0.0699713029745,0.999999995763,8.17334378724e-05,-3.73971268584e-05,-1.98641219838e-05,1793240136499887104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.722984413,715,679,661,635.277015587,879.722984413,787.277015587,804,652,631,653,0.405447073589,-0.0154647409391,0.0699718610998,0.999999994313,9.56277999269e-05,-3.77632879806e-05,-2.83439592779e-05,1793240136516554240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.701401536,661,635,879.701401536,787,804,651.701401536,631.298598464,653,0.405869457743,-0.0154565900648,0.0699657915648,0.999999993951,9.2242868301e-05,-4.9093973715e-05,-3.43449409962e-05,1793240136533220608
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.124460936,661,635,879.124460936,787,804,651.124460936,631.875539064,653,0.406298939423,-0.0154590503199,0.069953543977,0.999999994135,7.27508375066e-05,-7.06453725208e-05,-3.80352287417e-05,1793240136549886720
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.539278482,715,678.460721518,661,635.460721518,879,787.460721518,804,651,631.539278482,652.539278482,0.406759149242,-0.0154686589278,0.0699405283539,0.999999993696,6.00510251756e-05,-8.56243114597e-05,-4.08719023999e-05,1793240136566553344
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.04752914,715,678.95247086,661,635.95247086,879.04752914,788,804,651,631,652.04752914,0.407235329581,-0.0154795742403,0.0699292878532,0.99999999323,4.9465208228e-05,-9.60269468299e-05,-4.32644924172e-05,1793240136583220224
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.627151395,715,678.372848605,661,635.372848605,879.627151395,788,804,651,631,652.627151395,0.407795678449,-0.0154831058279,0.0699402850666,0.99999999535,4.16300128062e-05,-7.54364770202e-05,-4.33141193942e-05,1793240136599887104
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205111522,744.794888478,715,678.205111522,661,635,879.794888478,787.794888478,804,651.205111522,631,653,0.408372887256,-0.0154843392612,0.0699514668311,0.999999996855,3.98115383331e-05,-5.31028038414e-05,-4.34294975301e-05,1793240136616554240
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.78007451,744.21992549,715,678.78007451,661,635,879.21992549,787.21992549,804,651.78007451,631,653,0.408980497405,-0.0154814287256,0.0699629813726,0.999999997472,4.88422503432e-05,-2.76258354707e-05,-4.36634363567e-05,1793240136633220352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.636586693,744.363413307,715,679,661,635.363413307,879,787.363413307,804.363413307,652,631,653,0.409565896971,-0.0154779849515,0.069960831125,0.999999997229,5.14247875193e-05,-2.9326265769e-05,-4.51318225358e-05,1793240136649886464
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048059582,744.951940418,715,679,661,635.951940418,879,787.951940418,804.951940418,652,631,653,0.410137538324,-0.0154742108667,0.0699502163198,0.999999996482,5.00130480212e-05,-4.78615445904e-05,-4.73648783972e-05,1793240136666553088
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.468306903,879.531693097,787.468306903,804.468306903,651.468306903,631.531693097,653,0.410766567207,-0.015476648726,0.0699459048391,0.999999995978,4.76645503345e-05,-5.8783538837e-05,-4.8128001898e-05,1793240136683219712
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110413288,744.889586712,715,679,661,635,880.110413288,787.110413288,804,651.110413288,631.889586712,653,0.411417302567,-0.0154803296654,0.0699477945432,0.999999996176,4.37338399568e-05,-5.81624101248e-05,-4.84929457346e-05,1793240136699886080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.688065876,744.311934124,715,679,661,635,880.688065876,787.688065876,804,651.688065876,631.311934124,653,0.412138299083,-0.0154869334606,0.0699735540834,0.999999998235,3.34601295412e-05,-1.15587311224e-05,-4.77260283746e-05,1793240136716552960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735871774,744,715,679,661.264128226,635.264128226,880.471743548,788,804,652,631,653,0.412875272622,-0.0154928832781,0.069998851737,0.999999998237,2.15667995999e-05,3.02425911553e-05,-4.6321906585e-05,1793240136733219584
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.161676172,744,715,679,661.838323828,635.838323828,879.323352344,788,804,652,631,653,0.413631002122,-0.0154980653741,0.0700236071725,0.999999996789,7.7721525297e-06,6.64063010824e-05,-4.41697529683e-05,1793240136749886208
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.423826077,744.423826077,715,679,661.576173923,635.576173923,879,788,804,652,631,653,0.414336201706,-0.0154971556086,0.0700123610513,0.99999999808,1.11073630602e-05,4.01175630059e-05,-4.59151810846e-05,1793240136766552832
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.986454853,715,678.986454853,661,635,879.013545147,787.986454853,804.013545147,652,631,653,0.41502259292,-0.0154939295124,0.0699864762006,0.999999998512,2.07669446862e-05,-1.11331555917e-05,-4.9210608701e-05,1793240136783218944
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.405717245,715,678.405717245,661,635,879.594282755,787.405717245,804.594282755,652,631,653,0.41575067194,-0.0154936854634,0.0699384455444,0.999999995052,1.41279614238e-05,-8.27089687808e-05,-5.34458965787e-05,1793240136799885824
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.827420947,744.172579053,715,678.345158105,661,635,880,787.172579053,805,652,631,653,0.416509064516,-0.0154976952046,0.0699120825518,0.999999991005,5.71894258562e-06,-0.000122122555956,-5.51583587859e-05,1793240136816552704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.254783919,744.745216081,715,679.490432163,661,635,880,787.745216081,805,652,631,653,0.417337727338,-0.0155115657178,0.0699359476838,0.999999994892,-6.79322056698e-06,-8.69804223477e-05,-5.10226228771e-05,1793240136833220096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.361500801,661.319249599,635.319249599,879.680750401,788,805,652,631.319249599,653,0.418179278542,-0.0155292652675,0.0699608896703,0.999999997258,-2.71530686927e-05,-5.00106812371e-05,-4.73925424277e-05,1793240136849886976
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,678.211195031,661.894402485,635.894402485,879.105597515,788,805,652,631.894402485,653,0.419031160745,-0.015550034086,0.069986694838,0.99999999751,-5.38034436407e-05,-1.15759727869e-05,-4.41677841589e-05,1793240136866553600
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.482004349,745,715,678.482004349,662,636,879.482004349,787.517995651,804.517995651,651.517995651,631.517995651,653,0.419878048146,-0.0155540606166,0.0700064900747,0.999999996915,-6.24768386188e-05,1.8665526892e-05,-4.3808704473e-05,1793240136883219968
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.928920549,745,715,679,661.928920549,635.928920549,880.071079451,787.071079451,804,651,631,653,0.420723814914,-0.0155540294024,0.070022684635,0.999999995928,-6.61951301372e-05,4.27051594172e-05,-4.40242452684e-05,1793240136899886336
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.349334837,745,715,679,661.349334837,635.349334837,880.650665163,787.650665163,804,651,631,653,0.42156960012,-0.0155519049126,0.0700227889076,0.999999996402,-6.33868418072e-05,3.55580345073e-05,-4.37401673175e-05,1793240136916553216
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.227937529,635.227937529,880.772062471,788,804.227937529,651.227937529,631,652.772062471,0.422391289451,-0.0155491932464,0.0699997971137,0.999999997057,-6.10316629119e-05,-5.84179713905e-06,-4.61110105688e-05,1793240136933220096
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.801700192,635.801700192,880.198299808,788,804.801700192,651.801700192,631,652.198299808,0.423176420827,-0.0155455907202,0.0699417641385,0.999999991938,-5.93639375016e-05,-9.92095832602e-05,-5.25098803165e-05,1793240136949887232
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.3863754,745,715,679.3863754,662,635.6136246,880,788,804.6136246,651.6136246,631,652.3863754,0.424002098491,-0.0155454230775,0.0698952925844,0.999999983083,-6.98870046304e-05,-0.00015946011543,-5.93513097645e-05,1793240136966553856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976814006,745,715,679.976814006,662,635.023185994,880,788,804.023185994,651.023185994,631,652.976814006,0.424849190529,-0.0155470695601,0.0698549271696,0.999999973576,-8.68486087109e-05,-0.00020221984674,-6.64264757006e-05,1793240136983220736
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.442670592,635,880,788,804.557329408,651,631,653,0.425778109042,-0.0155509115691,0.0699103638798,0.999999987415,-8.15544371188e-05,-0.00012200211337,-6.02926589107e-05,1793240136999887360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86375605,745,715,679.86375605,661.13624395,635,880.13624395,788,805,651,631,653,0.426700964616,-0.0155542273065,0.0699644487979,0.999999994389,-7.76882563251e-05,-4.7211970423e-05,-5.43813166485e-05,1793240137016553728
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288691271,745,715,679.288691271,661.711308729,635,880.711308729,788,805,651,631,653,0.427593519938,-0.0155555589639,0.0700015674966,0.999999995376,-8.13513780884e-05,-6.09319072944e-06,-5.09254881279e-05,1793240137033220352
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.286346618,745,715,679,662,635,880.713653382,788,805,651,631,653,0.42849078681,-0.0155572876039,0.0700289914256,0.999999994704,-8.28963911616e-05,3.6478819039e-05,-4.8881763399e-05,1793240137049886976
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.861357367,745,715,679,662,635,880.138642633,788,805,651,631,653,0.429392803312,-0.0155594164395,0.0700466421193,0.999999992207,-8.23061526523e-05,8.05158179047e-05,-4.8261571356e-05,1793240137066554112
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.448874322,788,805,651,631,653,0.430226436375,-0.0155560374251,0.0700218536237,0.999999994672,-8.05685903873e-05,3.94618328739e-05,-5.10718954568e-05,1793240137083220736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.960580611,745,715,679.039419389,661.960580611,635,880.960580611,788,804.960580611,651,631,653,0.431034537644,-0.0155509227915,0.0699814969427,0.999999994937,-7.80695517859e-05,-3.16204428631e-05,-5.50648734664e-05,1793240137099887360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.382943659,745,715,679.617056341,661.382943659,635,880.382943659,788,804.382943659,651,631,653,0.431790685364,-0.0155460038441,0.0699126802749,0.999999985414,-7.01507221325e-05,-0.000143571098842,-6.03237076563e-05,1793240137116553728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.192958158,635,880,788,804.192958158,651,631,652.807041842,0.43258958352,-0.0155445768076,0.0698816521728,0.999999977603,-6.80462918637e-05,-0.000190254285166,-6.29887594069e-05,1793240137133220352
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.765447226,635,880,788,804.765447226,651,631,652.234552774,0.433472567978,-0.0155500180372,0.0699249506842,0.99999998928,-7.73782489667e-05,-0.000108562396883,-6.05520820866e-05,1793240137149886976
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.348200965,745,715,680,662,635,880,788,805,651,631,652.348200965,0.434345713481,-0.015556578208,0.06997336614,0.999999994242,-8.70839903673e-05,-2.79887019272e-05,-5.61226643289e-05,1793240137166553600
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.938079108,745,715,680,662,635,880,788,805,651,631,652.938079108,0.43521202997,-0.0155639150063,0.0700253331305,0.999999992683,-9.70491649306e-05,5.18088793168e-05,-5.0310137625e-05,1793240137183220480
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.48132198,661.48132198,635,880,787.48132198,805,651,631,652.48132198,0.436013600476,-0.0155649018015,0.0700291746928,0.999999992178,-9.609113849e-05,6.18517132539e-05,-5.08494763171e-05,1793240137199886848
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.097852372,661.097852372,635,880,787.097852372,805,651,631,652,0.436798490284,-0.0155650179794,0.0700234983874,0.999999992319,-9.56975713406e-05,5.88936634634e-05,-5.23013160009e-05,1793240137216553728
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.675378381,661.675378381,635,880,787.675378381,805,651,631,652,0.437538835301,-0.0155645171695,0.0699988339907,0.999999992544,-0.000104351037435,3.23090162354e-05,-5.4574386764e-05,1793240137233219840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.747807731,745,715,680,661.747807731,635,880.252192269,787.747807731,805,651,631,652.252192269,0.438238488291,-0.0155651510507,0.0699610787163,0.999999992105,-0.000109407407839,-2.1439616558e-05,-5.79634461646e-05,1793240137249886208
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.171907948,745,715,680,661.171907948,635,880.828092052,787.171907948,805,651,631,652.828092052,0.438885909981,-0.0155672413922,0.0699065203299,0.99999998594,-0.00010984663747,-0.000110055240961,-6.27849594435e-05,1793240137266552832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.413156496,715,680,661.413156496,635,880.586843504,787,805,651,631,653,0.439517493615,-0.0155706080233,0.0698505362086,0.999999970392,-0.000120361959792,-0.000200676824943,-6.67699345484e-05,1793240137283219200
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.997911431,715,680,661.997911431,634.997911431,880.002088569,787,805,651,631,652.997911431,0.44014254848,-0.0155745428086,0.0697942048109,0.999999945834,-0.000135155356523,-0.000291737540255,-7.03828461736e-05,1793240137299885824
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.417888607,715,680,661.417888607,634.417888607,880.582111393,787,805,651,631,652.417888607,0.440825890603,-0.0155854128303,0.0698096560768,0.99999995079,-0.000147309285449,-0.000268112363837,-6.95415250417e-05,1793240137316552704
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.160744767,745,714.839255233,680,661,634,880.839255233,787,805,651,631,652,0.441495842079,-0.015596033149,0.069826820849,0.999999955244,-0.000158522766974,-0.000244330200643,-6.84498596017e-05,1793240137333219328
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.689293185,745,714.310706815,680,661,634,880,787,805,651,631,652.310706815,0.442709731209,-0.015614320907,0.0698398859403,0.999999952297,-0.000178212984083,-0.000243456100719,-6.61382531825e-05,1793240137366552832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.114504613,745,714.885495387,680,661,634,880,787,805,651,631,652.885495387,0.443239746314,-0.0156212161898,0.069805788938,0.999999932395,-0.000190907965038,-0.000307140438378,-6.65513646863e-05,1793240137383219456
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.218195839,881.781804161,786,805,651,631,653,0.445240895431,-0.0156389322146,0.0696952521417,0.999999865323,-0.000229476962356,-0.000458999047812,-7.75461207523e-05,1793240137449887744
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.791904485,881.208095515,786,805,651,631,653,0.445709800609,-0.0156492306824,0.0696952655258,0.999999864758,-0.000245221265658,-0.000452222704248,-7.64568360812e-05,1793240137466554112
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.386421542,631,880.386421542,781,805,651,630,653,0.450665397301,-0.0157125289546,0.0695713280955,0.999999718535,-0.000332715650306,-0.000668904529211,-6.92583056367e-05,1793240138976910592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.965635328,631,880.965635328,781,805,651,630,653,0.450618463411,-0.0157073405269,0.0695526222385,0.99999969649,-0.000329674138545,-0.000702336949507,-7.11213431659e-05,1793240138993577472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.460293088,681,658,631,881,781,805,651,629.460293088,653,0.450552104754,-0.0157057805686,0.0695318127352,0.999999674424,-0.000328751756486,-0.000733447338654,-7.16204490438e-05,1793240139010244096
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.293757148,745.706242852,714,681,657.293757148,631,880.293757148,781,805,651,629.706242852,652.293757148,0.450412661241,-0.0156998475165,0.0695082641434,0.999999651001,-0.000326536170672,-0.000765634671255,-7.19460171447e-05,1793240139043577600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.290814633,745.709185367,714,681,657,631,880.290814633,781,805.290814633,651,629.709185367,652.290814633,0.450331776979,-0.0156963297828,0.0695073535288,0.999999650678,-0.00032559162875,-0.000766559335507,-7.08511628118e-05,1793240139060243968
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.352024201,715,680.352024201,658,631,880.647975799,781.352024201,805,651,629.352024201,652.352024201,0.449364551619,-0.0156487547853,0.0695291038633,0.999999677225,-0.00029723496702,-0.000744592879231,-5.2744969959e-05,1793240139176911104
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.033931332,745,715,679.966068668,660.966068668,635,880,787,805,651.966068668,631,653,0.419065331555,-0.0153785211572,0.0698319948641,0.99999994464,0.000181733305693,-0.000277921012408,2.12617043747e-05,1793240139943576832
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.057789226,679,660.942210774,635,880,787.942210774,804.057789226,651,631,652.942210774,0.414941221799,-0.0153655930791,0.0697930082807,0.999999924205,0.000208189272612,-0.000328473746713,1.87922077326e-05,1793240140026910208
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,635,879.316959364,787.683040636,804.316959364,652,631.683040636,653,0.412671863479,-0.0153605767146,0.0697801187448,0.999999912071,0.000221244490313,-0.00035579202927,1.79312882324e-05,1793240140076910336
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,635,879,787.73192724,804.26807276,652,631.73192724,653,0.412014717385,-0.0153637838457,0.069821704894,0.999999936603,0.000215553632392,-0.000282631137876,2.1223668846e-05,1793240140093576960
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.001765019,745,715,679,660.001765019,635,879.998234981,787.001765019,804,652,631,652.001765019,0.410020298884,-0.015370198602,0.0698704135322,0.99999995114,0.000223630056863,-0.000216858015977,2.61204955035e-05,1793240140143577088
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.84761521,661,635,879,787.84761521,804.15238479,652,631.15238479,652.84761521,0.408722373506,-0.0153591860812,0.0697958236629,0.999999916337,0.000224435139854,-0.000341584877739,1.65654867061e-05,1793240140176910080
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.253617074,661,635,879,787.253617074,804.746382926,652,631.746382926,652.253617074,0.408137112499,-0.0153568401756,0.0697775253869,0.99999990728,0.000228847270468,-0.000364485996524,1.48167154161e-05,1793240140193576704
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.229284799,744.770715201,715,679,660.229284799,635,879.770715201,788,804,652,630.770715201,653,0.405185719989,-0.0153572159306,0.0698059656097,0.999999917369,0.000233818301977,-0.00033217649192,1.580338829e-05,1793240140293577984
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.353099003,635,879,787.646900997,804,652,631,652.353099003,0.401568383706,-0.0153548024173,0.06980976103,0.999999920071,0.000238092452407,-0.000320694928945,1.79981087964e-05,1793240140526910720
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.91834515,744,715.08165485,679,660.08165485,635,879.91834515,787,804,651.08165485,631,652.08165485,0.401280941085,-0.0153563463605,0.0698104083512,0.999999924383,0.000231192366711,-0.000312705597936,3.01675705849e-07,1793240140576910336
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.259060132,715.740939868,679,660.740939868,635,879,787.259060132,804.259060132,652,631,653,0.401157980125,-0.0153552458166,0.0698141731439,0.99999992572,0.000231527084555,-0.000308123165203,3.88193115802e-06,1793240140610243840
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.571858274,715,679,660.428141726,635,879,787,804.428141726,652,631,652.428141726,0.40101712156,-0.0153502741618,0.0698110331674,0.999999923405,0.000237929139338,-0.000310718191392,5.76752917882e-06,1793240140676910592
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.740173853,745,715,678.259826147,660.740173853,635.740173853,879,787,804,652,631,652.740173853,0.4009885336,-0.0153502798936,0.0698161594422,0.999999925397,0.00023874501453,-0.000303585754185,6.54699817511e-06,1793240140710243584
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eac4666ad08f09ff9969910629dbf7d5650c1aeb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,421 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f5f8e4482d24ada7e612d24bfc073dfba144cf7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26853073
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d4bf33d2256ba900dfa76919f9932ea9ddbf672
--- /dev/null
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+2,0.033333333,BASELINE,766,744,715,678.148623114,660.851376886,635,879,787,804,652,631,652.851376886,0.400969278097,-0.0153542831621,0.069827735163,0.999999931579,0.000236842228008,-0.000284085815775,6.52835331599e-06,1793240141382977024
+3,0.050000000,BASELINE,766,744,715,678.721676641,660.278323359,635,879,787,804,652,631,652.278323359,0.400968142666,-0.0153551592061,0.0698269087785,0.999999931247,0.000237245789593,-0.000284909990183,6.81507187055e-06,1793240141399643392
+4,0.066666667,BASELINE,765.694630825,744.305369175,715,679,660,635,879,787,804.305369175,652,631,652.305369175,0.400967600337,-0.0153549225146,0.0698264547202,0.999999931043,0.000237509165438,-0.00028540553424,6.79079317173e-06,1793240141416310016
+5,0.083333333,BASELINE,765.100891564,744.899108436,715,679,660,635,879,787,804.899108436,652,631,652.899108436,0.400967618095,-0.0153536350306,0.0698263522616,0.999999930962,0.000237640159288,-0.000285590741873,6.47282959069e-06,1793240141432976896
+6,0.100000000,BASELINE,765.480213148,745,715,678.519786852,660.480213148,635,879,787,804.519786852,652,631,653,0.400966787622,-0.0153541113486,0.0698259832892,0.999999930352,0.000238312427991,-0.0002871522666,6.78249016982e-06,1793240141449643264
+7,0.116666667,BASELINE,765.941700579,744.941700579,715,678,661,635,879,787.058299421,804,651.941700579,631.058299421,653,0.400966044564,-0.0153548329005,0.069825703438,0.99999992984,0.000238768404664,-0.000288546814243,7.12598616583e-06,1793240141466309376
+8,0.133333333,BASELINE,765.367437607,744.367437607,715,678,661,635,879,787.632562393,804,651.367437607,631.632562393,653,0.400967611924,-0.0153545292729,0.0698266951846,0.999999931163,0.000236329494516,-0.000285970040928,6.63183905957e-06,1793240141482976512
+9,0.150000000,BASELINE,765.212252075,744.212252075,715,678,661,635,879.212252075,787.787747925,804.212252075,651.212252075,631.787747925,652.787747925,0.400968634934,-0.0153540483126,0.069827280616,0.999999931965,0.000235026702185,-0.000284238423389,6.34732453378e-06,1793240141499643136
+10,0.166666667,BASELINE,765.801582564,744.801582564,715,678,661,635,879.801582564,787.198417436,804.801582564,651.801582564,631.198417436,652.198417436,0.400968690874,-0.0153532523101,0.0698271442044,0.999999931862,0.000235742290889,-0.00028400827556,6.4352347893e-06,1793240141516309504
+11,0.183333333,BASELINE,766,744.615491089,715,678,661,635,879.615491089,787,804.615491089,652,631,652.384508911,0.400967681705,-0.0153540324102,0.0698268558481,0.999999931656,0.000235163562912,-0.00028520638536,6.63277530782e-06,1793240141532976384
+12,0.200000000,BASELINE,766,744.03581527,715,678,661,635,879.03581527,787,804.03581527,652,631,652.96418473,0.400966131913,-0.0153556124997,0.0698264903687,0.999999931394,0.000233927872888,-0.000287129442256,6.88596135758e-06,1793240141549643008
+13,0.216666667,BASELINE,765.458510338,744,715,678.541489662,660.458510338,635,879,787,804,652,631,653,0.400967570863,-0.0153558301543,0.0698267579516,0.999999931375,0.000235428030671,-0.000285968540316,6.76312832523e-06,1793240141566309376
+14,0.233333333,BASELINE,765.11780947,744.11780947,715,679,660.11780947,635,878.88219053,787,804,651.88219053,631,652.88219053,0.400968842365,-0.0153559252349,0.0698270014575,0.999999931368,0.000236719562067,-0.000284928722693,6.64121863957e-06,1793240141582976000
+15,0.250000000,BASELINE,765.690925582,744.690925582,715,679,660.690925582,635,878.309074418,787,804,651.309074418,631,652.309074418,0.400968706054,-0.0153558933478,0.0698269907909,0.999999931357,0.000236508500738,-0.000285141765492,6.61857796301e-06,1793240141599642624
+16,0.266666667,BASELINE,765.727390838,745,715,678.727390838,660.727390838,635,878.272609162,787,804,651,631,652.272609162,0.400968182244,-0.0153558343913,0.0698268082781,0.999999931158,0.000237185958043,-0.000285276025849,6.68455309657e-06,1793240141616309248
+17,0.283333333,BASELINE,765.135678632,745,715,678.135678632,660.135678632,635,878.864321368,787,804,651,631,652.864321368,0.400967204845,-0.0153557437485,0.0698264246103,0.999999930736,0.000238903472119,-0.000285318067291,6.85425759496e-06,1793240141632976128
+18,0.300000000,BASELINE,765,745,715,678,660,635,879,787,804,651,631,653,0.400967056245,-0.0153554078874,0.0698262841325,0.999999931123,0.000237118631159,-0.000285455494005,6.61702325624e-06,1793240141649642752
+19,0.316666667,BASELINE,765.02487608,744.97512392,715,678,660.02487608,635,879,787,804,651,631,653,0.400967278642,-0.0153550004065,0.0698263109578,0.999999931734,0.000234526226925,-0.0002854646696,6.29347600135e-06,1793240141666309376
+20,0.333333333,BASELINE,765.599427271,744.400572729,715,678,660.599427271,635,879,787,804,651,631,653,0.400970250145,-0.0153546224778,0.0698284358403,0.9999999321,0.000237114436391,-0.000282012864352,6.73798424775e-06,1793240141682976000
+21,0.350000000,BASELINE,765.822796704,744,715,678,661,635,879,787,804,651.177203296,631,652.822796704,0.400971134406,-0.0153547677603,0.0698290601026,0.999999932176,0.000238015516642,-0.00028097882809,6.94816342922e-06,1793240141699642624
+22,0.366666667,BASELINE,765.237595816,744,715,678,661,635,879,787,804,651.762404184,631,652.237595816,0.400967212948,-0.0153561176982,0.0698262292965,0.9999999316,0.000235032105269,-0.000285511528053,6.61881706555e-06,1793240141716309504
+23,0.383333333,BASELINE,765,744,715,678,660.655780564,635,879.344219436,787,804,652,631,652.344219436,0.400966811074,-0.0153558629736,0.0698262146123,0.999999931523,0.000235178958101,-0.000285662180994,6.53621086567e-06,1793240141732976128
+24,0.400000000,BASELINE,765,744,715,678,660.076279411,635,879.923720589,787,804,652,631,652.923720589,0.400968814915,-0.0153545114264,0.0698281248104,0.99999993179,0.000237465416535,-0.000282817606818,6.62225707718e-06,1793240141749642752
+25,0.416666667,BASELINE,765,744.502070016,715,678,660,635,879.497929984,787,804,652,631,653,0.400969037287,-0.0153542733036,0.0698277290108,0.999999931837,0.000236949117122,-0.000283092893566,6.34343012889e-06,1793240141766309120
+26,0.433333333,BASELINE,765,745,715,678,660,635,879,787,804,652,631,652.920132198,0.400968710717,-0.0153542828072,0.0698268903717,0.999999931734,0.000236219332134,-0.000284068707939,6.0447542682e-06,1793240141782976000
+27,0.450000000,BASELINE,765,745,715,678,660,635,879,787,804,652,631,652.344673867,0.400966653517,-0.0153547815926,0.0698254728452,0.999999930916,0.000236801078789,-0.000286456889268,5.96610820057e-06,1793240141799642624
+28,0.466666667,BASELINE,765,744.76371999,715,678,660,635,879,787,804,651.76371999,631,652.23628001,0.400966055509,-0.0153551076107,0.0698250531803,0.999999930618,0.00023718363154,-0.000287178120481,6.05402456658e-06,1793240141816309504
+29,0.483333333,BASELINE,765,744.174558613,715,678,660,635,879,787,804,651.174558613,631,652.825441387,0.400967636788,-0.0153551756029,0.0698261238098,0.999999931102,0.000237268690546,-0.000285409781502,6.39069993847e-06,1793240141832975872
+30,0.500000000,BASELINE,765.407999999,744.407999999,715,678,660.407999999,635,879.407999999,787.407999999,804,651.407999999,631.407999999,652.592000001,0.400968173333,-0.0153548879755,0.069826896299,0.999999931346,0.000237499111577,-0.000284361535112,6.40548131908e-06,1793240141849642496
+31,0.516666667,BASELINE,765.98777866,744.98777866,715,678,660.98777866,635,879.98777866,787.98777866,804,651.98777866,631.98777866,652.01222134,0.400968270018,-0.015354450623,0.0698275432632,0.999999931489,0.000237790733817,-0.000283616466564,6.28473690874e-06,1793240141866309376
+32,0.533333333,BASELINE,765.43605297,744.43605297,715,678.56394703,661,635,879.43605297,787.43605297,804,652,631.43605297,652,0.400968198759,-0.0153550634344,0.0698267722627,0.999999931828,0.000235124234309,-0.000284649463517,5.89323791354e-06,1793240141882975744
+33,0.550000000,BASELINE,765.142439287,744,715,678.857560713,661,635,879.142439287,787.142439287,804,651.857560713,631,652.142439287,0.400968202408,-0.0153552460847,0.0698264544483,0.999999932007,0.000233804142079,-0.00028511177935,5.69443332031e-06,1793240141899642624
+34,0.566666667,BASELINE,765.728409687,744,715,678.271590313,661,635,879.728409687,787.728409687,804,651.271590313,631,652.728409687,0.400968450566,-0.0153540188737,0.069827642852,0.99999993169,0.000236874872109,-0.000283677872901,6.11379986898e-06,1793240141916309504
+35,0.583333333,BASELINE,765.699670862,744,715,678.300329138,661,635,879.699670862,787.699670862,804.300329138,651.300329138,631.300329138,653,0.400968272767,-0.0153547040857,0.0698279147265,0.999999931828,0.000236502591178,-0.000283498457765,6.2394263486e-06,1793240141932976128
+36,0.600000000,BASELINE,765.139889845,744,715,678.860110155,661,635,879.139889845,787.139889845,804.860110155,651.860110155,631.860110155,653,0.400967726988,-0.015357041424,0.069827394819,0.999999932358,0.000233155921648,-0.000284402787231,6.11129323769e-06,1793240141949642752
+37,0.616666667,BASELINE,765.449221882,744.449221882,715,678.550778118,661,635,879,787,804.550778118,652,631.550778118,653,0.400967074149,-0.0153560268363,0.0698270099924,0.999999931497,0.000235837998337,-0.00028521471716,6.18141050323e-06,1793240141966309376
+38,0.633333333,BASELINE,765.953956439,745,715,678,661,635.046043561,879,787,804,652,631.046043561,653,0.400966454568,-0.015354089104,0.069826704094,0.999999930291,0.000240068197436,-0.000285910925759,6.31108823368e-06,1793240141982976000
+39,0.650000000,BASELINE,765.380740609,745,715,678,661,635.619259391,879,787,804,652,631.619259391,653,0.400966624142,-0.0153543676828,0.0698267866168,0.999999930619,0.000239027097593,-0.000285634646727,6.36648092201e-06,1793240141999642624
+40,0.666666667,BASELINE,765,744.801603358,715,678,661,636,879,787,804,652,631.801603358,653,0.400966753984,-0.0153548263792,0.0698268475349,0.999999931075,0.000237415542637,-0.000285383847915,6.30586430559e-06,1793240142016309760
+41,0.683333333,BASELINE,765,744.210752816,715,678,661,636,879,787,804,652,631.210752816,653,0.40096680523,-0.0153556413715,0.0698268657164,0.999999931781,0.000234675554665,-0.00028518345225,6.01576646247e-06,1793240142032976384
+42,0.700000000,BASELINE,765,744.373317584,715,678.373317584,660.626682416,636,879,787,804,652,631,653,0.400967278369,-0.0153551337714,0.0698272622808,0.999999931841,0.000234958299929,-0.000284739976553,5.93343923041e-06,1793240142049643008
+43,0.716666667,BASELINE,765,744.95362858,715,678.95362858,660.04637142,636,879,787,804,652,631,653,0.400967985434,-0.0153538928335,0.0698278686472,0.999999931543,0.000236917060267,-0.000284161720271,5.96631458447e-06,1793240142066309632
+44,0.733333333,BASELINE,765.52804601,744.47195399,715,678.47195399,660,635.47195399,879.52804601,787,804,652,631.52804601,653,0.400969161341,-0.0153539561812,0.06982817948,0.999999931415,0.000238856450815,-0.000282981595254,6.25119539061e-06,1793240142082976000
+45,0.750000000,BASELINE,765.897893015,744.102106985,715,678.102106985,660.102106985,635.102106985,879.897893015,787,804,652,631.897893015,653,0.400970018771,-0.0153542039534,0.0698283521215,0.999999931285,0.000240385592572,-0.00028213806353,6.5194905803e-06,1793240142099642880
+46,0.766666667,BASELINE,765.323112892,744.676887108,715,678.676887108,660.676887108,635.676887108,879.323112892,787,804,652,631.323112892,653,0.400969213421,-0.0153547810938,0.0698280038637,0.999999931101,0.000240023399462,-0.000283094660386,6.60969263926e-06,1793240142116309504
+47,0.783333333,BASELINE,765.260254001,745,715,678.739745999,660.739745999,636,879,787,804,652,631,653,0.400968895036,-0.0153551683856,0.0698280053971,0.999999931375,0.000238571302113,-0.00028335486293,6.60451517088e-06,1793240142132976384
+48,0.800000000,BASELINE,765.85464544,745,715,678.14535456,660.14535456,636,879,787,804,652,631,653,0.40096920186,-0.0153553119326,0.0698284560238,0.999999932232,0.000235719887861,-0.000282720972102,6.47688091966e-06,1793240142149642752
+49,0.816666667,BASELINE,765.564701427,744.564701427,715,678.435298573,660,635.564701427,879,787.435298573,804,652,631.435298573,652.564701427,0.400968577389,-0.0153546988023,0.0698280357582,0.999999931496,0.000237846058071,-0.000283543322954,6.32967835863e-06,1793240142166309376
+50,0.833333333,BASELINE,765,744.011024998,715,678.988975002,660.011024998,635,879,788,804,652,631.988975002,652.011024998,0.400967670686,-0.0153538735544,0.0698273440614,0.999999930275,0.000241449296716,-0.000284805978752,6.18096724359e-06,1793240142182975744
+51,0.850000000,BASELINE,765,744.563213083,715,678.436786917,660.563213083,635,879,788,804,652,631.436786917,652.563213083,0.400967708025,-0.0153546593291,0.0698271667374,0.999999931065,0.000238465802434,-0.000284542839486,6.26912883198e-06,1793240142199642880
+52,0.866666667,BASELINE,765,744.871852711,715,678,661.128147289,635.128147289,879.128147289,787.871852711,804,652,631,653,0.400967811517,-0.0153550612039,0.069827115389,0.999999931641,0.000236467932778,-0.000284184473327,6.34220565157e-06,1793240142216309760
+53,0.883333333,BASELINE,765,744.25867519,715,678,661.74132481,635.74132481,879.74132481,787.25867519,804,652,631,653,0.400968165402,-0.0153540100389,0.0698275408507,0.999999931434,0.000238200596719,-0.000283465678788,6.35818747001e-06,1793240142232976128
+54,0.900000000,BASELINE,765,744.334561258,715,678,661.665438742,635.665438742,880,787.334561258,804,652,631,652.665438742,0.400968385921,-0.0153545885447,0.0698279032489,0.999999931652,0.00023783684586,-0.000282999478151,6.43112307154e-06,1793240142249642752
+55,0.916666667,BASELINE,765,744.91324697,715,678,661.08675303,635.08675303,880,787.91324697,804,652,631,652.08675303,0.400968509126,-0.0153563561974,0.0698282196306,0.999999932179,0.000235943371727,-0.000282717591619,6.54561701434e-06,1793240142266309632
+56,0.933333333,BASELINE,765.490380471,745,715,678,661,635,879.509619529,787.509619529,804,651.509619529,631,652.490380471,0.400968708699,-0.0153559385161,0.0698282005868,0.999999931683,0.000237900221636,-0.000282834535126,6.44045553659e-06,1793240142282976256
+57,0.950000000,BASELINE,765.932941732,745,715,678,661,635,879,787,804,651.067058268,631,653,0.400968941726,-0.0153552629802,0.0698282562837,0.999999931185,0.000239955752492,-0.000282861910909,6.34108713963e-06,1793240142299642880
+58,0.966666667,BASELINE,765.357643404,745,715,678,661,635,879,787,804,651.642356596,631,653,0.400969326228,-0.0153555540217,0.069829326769,0.999999932077,0.000237612919847,-0.000281677376572,6.57921248671e-06,1793240142316309248
+59,0.983333333,BASELINE,765.223187105,745,715,678,661,635,879,787.223187105,804,652,631,653,0.400969155906,-0.0153556457268,0.0698296438859,0.999999932451,0.000236306301029,-0.000281451300072,6.52774564181e-06,1793240142332975872
+60,1.000000000,BASELINE,765.813108002,745,715,678,661,635,879,787.813108002,804,652,631,653,0.400968073914,-0.0153554098888,0.0698287230922,0.99999993198,0.000236702354703,-0.000282800130137,6.0004303622e-06,1793240142349642752
+61,1.016666667,BASELINE,765.603242253,744.603242253,715,678.396757747,661,635.396757747,879,788,804,652,631,653,0.400967844591,-0.0153555292897,0.0698283634895,0.999999931921,0.000236699996594,-0.000283010916751,5.9600168966e-06,1793240142366309120
+62,1.033333333,BASELINE,765.022500593,744.022500593,715,678.977499407,661,635.977499407,879,788,804,652,631,653,0.400968010665,-0.0153558134215,0.0698282641215,0.999999932054,0.00023651288754,-0.000282693971465,6.14538884879e-06,1793240142382975744
+63,1.050000000,BASELINE,765,744,715,678.451779161,660.451779161,635.451779161,879,787.451779161,804,652,631,652.451779161,0.400968249154,-0.0153562140911,0.0698280893772,0.999999932132,0.000236082259959,-0.000282776175713,6.28502560562e-06,1793240142399642880
+64,1.066666667,BASELINE,765.120041869,744,715,678,660,635,879,787.120041869,804,652,631,652,0.40096864732,-0.0153563529604,0.0698280449983,0.99999993219,0.000235944132594,-0.000282681439583,6.38881116916e-06,1793240142416309760
+65,1.083333333,BASELINE,765.697592994,744,715,678,660,635,879,787.697592994,804,652,631,652,0.400969642933,-0.0153554761416,0.0698285090533,0.999999932185,0.00023695820452,-0.000281851023747,6.3629846643e-06,1793240142432976128
+66,1.100000000,BASELINE,766,744.282548765,715,678,660.56509753,635,879.282548765,787.717451235,804,652,631,652,0.400969779585,-0.0153546793968,0.0698288409578,0.999999932231,0.000236868414942,-0.000281767854123,6.15297325094e-06,1793240142449642752
+67,1.116666667,BASELINE,766,744.875642837,715,678,661.751285674,635,879.875642837,787.124357163,804,652,631,652,0.400968972164,-0.0153539706605,0.0698290276175,0.999999932333,0.000235565386902,-0.000282505972182,5.74052683997e-06,1793240142466309376
+68,1.133333333,BASELINE,766,745,715,678.454291312,661.091417377,635,879.545708688,787,804,652,631,652.454291312,0.400968868652,-0.0153553993443,0.0698289294284,0.999999932494,0.000235143676631,-0.000282281605317,5.98515334313e-06,1793240142482976256
+69,1.150000000,BASELINE,766,745,715,678.970722188,660,635,879.029277812,787.029277812,804,652,631,653,0.400968981404,-0.0153572483676,0.0698287799303,0.999999932662,0.000234995086531,-0.000281800949027,6.36800873609e-06,1793240142499643392
+70,1.166666667,BASELINE,766,745,715,678.392540302,660,635,879.607459698,787.607459698,804,652,631,653,0.40096964749,-0.0153563465883,0.0698290853027,0.999999932666,0.0002355833767,-0.000281302677947,6.07416267032e-06,1793240142516310016
+71,1.183333333,BASELINE,766,744.81143575,715,678.18856425,660,635,879.81143575,787.81143575,804,652,631.18856425,652.81143575,0.400969674467,-0.0153561715329,0.0698291873716,0.999999932789,0.000234991234682,-0.000281366330176,5.91861366818e-06,1793240142532976640
+72,1.200000000,BASELINE,766,744.224151092,715,678.775848908,660,635,879.224151092,787.224151092,804,652,631.775848908,652.224151092,0.400968350043,-0.01535753314,0.0698288595537,0.999999933156,0.000231903060768,-0.000282618173024,6.05549470633e-06,1793240142549643264
+73,1.216666667,BASELINE,765.640792977,744.359207023,715,679,660.359207023,635,879,787.359207023,804,651.640792977,632,652.359207023,0.400966982032,-0.0153570926739,0.0698277947916,0.999999932487,0.000232870254369,-0.000284178223706,6.25922623006e-06,1793240142566309632
+74,1.233333333,BASELINE,765.059858629,744.940141371,715,679,660.940141371,635,879,787.940141371,804,651.059858629,632,652.940141371,0.400965587116,-0.015355539844,0.0698262751368,0.999999931173,0.000236340700404,-0.000285928521422,6.5042224713e-06,1793240142582976256
+75,1.250000000,BASELINE,765,745,715,679,661,635,879,788,804,651.516733643,631.483266357,653,0.400965752389,-0.0153567343965,0.0698264958487,0.999999931417,0.000235650162468,-0.000285643181775,6.59850289975e-06,1793240142599642624
+76,1.266666667,BASELINE,765,745,715,679,661,635,879,788,804,652,631,653,0.400966425275,-0.0153576198553,0.0698271207954,0.999999931812,0.000234983377689,-0.000284806490515,6.64099754591e-06,1793240142616309248
+77,1.283333333,BASELINE,765,745,715,679,661,635,879,788,804,652,631,653,0.400968807762,-0.0153552530715,0.0698288093984,0.99999993206,0.000236928731148,-0.00028231682634,6.50402635751e-06,1793240142632976128
+78,1.300000000,BASELINE,765.248837367,744.751162633,715,679,661,635,879,787.751162633,804,652,631,653,0.400969793487,-0.0153543762442,0.0698294791731,0.999999932343,0.000237319437145,-0.00028098596466,6.34681638019e-06,1793240142649643008
+79,1.316666667,BASELINE,765.843276166,744.156723834,715,679,661,635,879,787.156723834,804,652,631,653,0.400968839298,-0.015355568765,0.0698287339328,0.999999932684,0.000235550948015,-0.000281264523057,6.16149747506e-06,1793240142666309888
+80,1.333333333,BASELINE,765.578506764,744.421493236,715,678.578506764,661,635,879,787.421493236,804,652,631,653,0.400968406649,-0.0153563040304,0.069828468144,0.999999932458,0.000235941534695,-0.000281732864929,6.46842720674e-06,1793240142682976512
+81,1.350000000,BASELINE,765.006097838,744.993902162,715,678.006097838,661,635,879,787.993902162,804,652,631,653,0.400968160736,-0.0153568755756,0.0698283740229,0.999999932028,0.000237105178515,-0.000282269158813,6.95160659148e-06,1793240142699643136
+82,1.366666667,BASELINE,765.569269336,744.430730664,715,678,661,635.569269336,879,787.430730664,804,652,631,653,0.400969279149,-0.0153564573181,0.0698285772249,0.999999932368,0.000236801427632,-0.000281327473373,6.69318613384e-06,1793240142716309504
+83,1.383333333,BASELINE,766,744,715,678,660.851461158,635.851461158,879,787.148538842,804,652,631,653,0.400970192168,-0.0153564320391,0.0698287665221,0.999999932773,0.000235897190447,-0.000280650204855,6.42425863924e-06,1793240142732976128
+84,1.400000000,BASELINE,766,744,715,678,660.260667674,635.260667674,879,787.739332326,804,652,631,653,0.400970449916,-0.0153576085336,0.0698289048879,0.999999933351,0.00023325212866,-0.000280807585203,6.1478229008e-06,1793240142749642752
+85,1.416666667,BASELINE,765.676959292,744,715,678.323040708,660,635,879,788,804,652,631.323040708,652.676959292,0.400970266042,-0.0153576614595,0.0698290153321,0.999999932941,0.000234500251343,-0.000281228909204,6.2175532128e-06,1793240142766309376
+86,1.433333333,BASELINE,765.098845348,744,715,678.901154652,660,635,879,788,804,652,631.901154652,652.098845348,0.400969733462,-0.0153568272146,0.0698291037293,0.999999931738,0.000238822436171,-0.000281858643342,6.560616569e-06,1793240142782975744
+87,1.450000000,BASELINE,765,744,715,678.525091332,660.474908668,635,879,788,804,652,631.525091332,652.474908668,0.400969819379,-0.0153568909348,0.0698291235082,0.99999993238,0.000236589226843,-0.000281467817024,6.51081794722e-06,1793240142799642880
+88,1.466666667,BASELINE,765,744,715,678,661,635,879,787.951927068,804,652,631,653,0.400969987399,-0.015357007273,0.0698291690534,0.999999933261,0.000233562451688,-0.000280866654278,6.37953898802e-06,1793240142816309504
+89,1.483333333,BASELINE,765,744,715,678,661,635,879,787.375360807,804,652,631,653,0.400969655684,-0.0153556660801,0.0698296534426,0.999999932698,0.000236674842379,-0.000280267097387,6.2432505851e-06,1793240142832976384
+90,1.500000000,BASELINE,765.206248022,744,715,678.206248022,661,635,879,787,804,652,631,652.793751978,0.400969532142,-0.015355152956,0.0698299082651,0.99999993251,0.000237691087151,-0.00028007660032,6.25584807054e-06,1793240142849643008
+91,1.516666667,BASELINE,765.797263996,744,715,678.797263996,661,635,879,787,804,652,631,652.202736004,0.400969796957,-0.0153561846437,0.0698297348172,0.999999933032,0.000234796846701,-0.000280649228751,6.54620105052e-06,1793240142866309376
+92,1.533333333,BASELINE,765.617701607,744,715,678.617701607,660.617701607,635,879,787,804,652,631,652,0.400968365381,-0.0153564710227,0.069828779929,0.999999932477,0.00023489018994,-0.00028253978657,6.54818617157e-06,1793240142882976000
+93,1.550000000,BASELINE,765.035790369,744,715,678.035790369,660.035790369,635,879,787,804,652,631,652,0.400966048055,-0.0153563682472,0.0698274170206,0.999999931357,0.000236543466438,-0.000285118486581,6.39960325548e-06,1793240142899642624
+94,1.566666667,BASELINE,765,744,715,678,660,635,879.537728116,787,804.537728116,651.462271884,631,652.537728116,0.400968565276,-0.0153564935337,0.0698290959938,0.999999932116,0.000236855542995,-0.000282176440948,6.63002250625e-06,1793240142916309248
+95,1.583333333,BASELINE,765,744.111058023,715,678.111058023,660.111058023,635.111058023,879.888941977,787,804.888941977,651.111058023,631,653,0.40097073309,-0.0153567663615,0.0698305568896,0.999999932928,0.000236487875058,-0.000279590859436,6.82671352851e-06,1793240142932976128
+96,1.600000000,BASELINE,765,744.685897519,715,678.685897519,660.685897519,635.685897519,879.314102481,787,804.314102481,651.685897519,631,653,0.400970118659,-0.0153575929098,0.0698302745907,0.99999993348,0.000233648632522,-0.000280004791256,6.77882979876e-06,1793240142949643008
+97,1.616666667,BASELINE,765,745,715,679,661,636,879.269902083,787,804,652,631,653,0.400969826573,-0.0153575298682,0.069829723005,0.999999933401,0.000233454320157,-0.000280451909931,6.63572146495e-06,1793240142966309888
+98,1.633333333,BASELINE,765,745,715,679,661,636,879.864947509,787,804,652,631,653,0.400969922806,-0.0153563951629,0.0698288470173,0.999999932563,0.000236446279903,-0.000280939007838,6.37789876942e-06,1793240142982976512
+99,1.650000000,BASELINE,765,745,715,678.552863565,661,635.552863565,879.552863565,787,804,652,631,653,0.40096901048,-0.015356471747,0.0698288929845,0.999999932199,0.000237129658044,-0.00028165158738,6.59583260695e-06,1793240142999643136
+100,1.666666667,BASELINE,765.025265951,745,715,678.025265951,660.974734049,635.025265951,879,787.025265951,804,652,631,653,0.400967839468,-0.0153568087559,0.0698291749287,0.999999931961,0.000237214844071,-0.000282415419761,6.92111250995e-06,1793240143016309504
+101,1.683333333,BASELINE,765.597233601,745,715,678.597233601,660.402766399,635.597233601,879,787.597233601,804,652,631,653,0.400967478202,-0.0153550857094,0.06982870591,0.999999931409,0.000239022410894,-0.000282855812227,6.54674090572e-06,1793240143032976384
+102,1.700000000,BASELINE,766,744.824927362,715,679,660.175072638,636,879,787.824927362,804,652,631.175072638,653,0.400967518296,-0.0153547308467,0.0698285565773,0.999999931525,0.000238704094461,-0.000282717099535,6.35606082789e-06,1793240143049643264
+103,1.716666667,BASELINE,766,744.233112166,715,679,660.766887834,636,879,787.233112166,804,652,631.766887834,653,0.400968513786,-0.0153576328062,0.0698291682245,0.999999933221,0.000233325329504,-0.000281199886018,6.60263974649e-06,1793240143066309632
+104,1.733333333,BASELINE,766,744.350565385,715,679,661,636,879,787,804,652,632,652.649434615,0.400968964903,-0.01535720861,0.0698291781387,0.999999933257,0.000233712680402,-0.000280750825957,6.56393011178e-06,1793240143082976256
+105,1.750000000,BASELINE,766,744.928954541,715,679,661,636,879,787,804,652,632,652.071045459,0.400969062244,-0.0153546228277,0.0698287970018,0.999999932215,0.000237847286807,-0.000280995932251,6.33981852888e-06,1793240143099642880
+106,1.766666667,BASELINE,765.496045791,744.496045791,715,678.496045791,661,635.496045791,879,787.503954209,804,652,631.496045791,652.503954209,0.400968612946,-0.015354858976,0.0698287977829,0.999999932121,0.000237265413491,-0.000281820885898,6.36538898703e-06,1793240143116309760
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,660,635,880,787,804,651,631,652,0.400969597203,-0.0153562575078,0.0698293245258,0.999999932865,0.000235706106282,-0.000280482259577,6.52673217334e-06,1793240143159650304
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678,660.592819109,635,879.407180891,787.592819109,804.592819109,651,631,652,0.400969523986,-0.0153557634109,0.0698300304631,0.999999933013,0.000235435509049,-0.000280180537652,6.4854693011e-06,1793240143176316928
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.819054754,745,715,678,661,635,879,787.819054754,804.819054754,651.180945246,631.180945246,652.180945246,0.400969495498,-0.015356070677,0.0698303641353,0.999999933152,0.000234996127623,-0.0002800549087,6.47994707234e-06,1793240143192983808
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.241222122,745,715,678,661,635,879,787.241222122,804.241222122,651.758777878,631.758777878,652.758777878,0.40096956512,-0.0153581356616,0.0698298812771,0.999999933268,0.000234186532947,-0.000280315524049,6.55281877478e-06,1793240143209649920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.334974198,745,715,678.334974198,661,635,879,787.334974198,804,652,632,653,0.400969291604,-0.0153584232686,0.0698294107737,0.999999933216,0.000233720189175,-0.000280895062762,6.37129129072e-06,1793240143226316544
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.909997867,745,715,678.909997867,661,635,879,787.909997867,804,652,632,653,0.400968772189,-0.0153574371696,0.0698289491238,0.999999933043,0.000233499826181,-0.000281703148568,6.0074560589e-06,1793240143242983168
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.503297864,661,635,879,788,804,652,631.503297864,653,0.400969200256,-0.0153568496501,0.069829038598,0.99999993274,0.000234757334585,-0.00028172458328,6.28354201475e-06,1793240143259650560
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.915688501,745,715,678.084311499,661,635,879,787.915688501,804,652,631.084311499,652.915688501,0.400970075842,-0.0153564025595,0.0698294736955,0.999999932513,0.000236251269554,-0.000281274685947,6.64389960246e-06,1793240143276317696
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+122,2.033333333,POSE1_TO_POSE2_PRESS,765.275628112,744.275628112,715,678,661,635.724371888,879,788,804,651.275628112,631,653,0.401271959048,-0.015372784921,0.0699095840125,0.999999961611,0.000231246555758,-0.000152287451341,1.05924568736e-05,1793240143409650176
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.299828443,715,678,661,635.700171557,879,788,804,651.299828443,631.299828443,652.700171557,0.401350158661,-0.0153756866701,0.0699126910258,0.999999962119,0.000231215882452,-0.00014905239859,9.20176269804e-06,1793240143426317056
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.873130188,715,678,661,635.126869812,879,788,804,651.873130188,631.873130188,652.126869812,0.401436099369,-0.0153770945878,0.069914063687,0.999999961726,0.000233082033533,-0.000148893984039,7.21489955661e-06,1793240143442984192
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,678.455952744,661,635.455952744,879,787.544047256,804.455952744,651.544047256,631.544047256,652,0.401545039575,-0.0153817403497,0.0699162824452,0.999999963157,0.000229835380607,-0.000144348010179,5.01826376412e-06,1793240143459650560
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678.958864986,660.958864986,635.958864986,879,787.041135014,804.958864986,651.041135014,631,652,0.401662230904,-0.0153873698129,0.0699186508047,0.999999965071,0.00022498646178,-0.000138676847627,2.70322116402e-06,1793240143476316672
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,678.378220218,660.378220218,635.378220218,879,787.621779782,804.378220218,651.621779782,631,652,0.401801915225,-0.0153938327797,0.0699198276409,0.99999996714,0.000218179682529,-0.000134601789099,-3.82917276065e-07,1793240143492983296
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.798075329,715,678,660,635.201924671,879,787.798075329,804.201924671,652,631,652.201924671,0.401953188154,-0.0154008785371,0.0699223598393,0.999999969322,0.000211146499245,-0.000129465889119,-3.55447809643e-06,1793240143509649920
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.218864502,715,678,660,635.781135498,879,787.218864502,804.781135498,652,631,652.781135498,0.4021261138,-0.0154090132087,0.0699274244641,0.999999971747,0.000203690292111,-0.000122347860367,-6.88564601855e-06,1793240143526316544
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.354765815,715,678,660.354765815,635.645234185,879,787.354765815,804.645234185,651.645234185,631,653,0.402314785333,-0.0154163078162,0.0699295464555,0.999999973636,0.000196708639592,-0.000117965558798,-1.08427465812e-05,1793240143542983424
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.925006739,715,678,660.925006739,635.074993261,879,787.925006739,804.074993261,651.074993261,631,653,0.402513020506,-0.0154230921924,0.0699298811718,0.999999975191,0.000190015217922,-0.000115244862838,-1.51800219295e-05,1793240143559650816
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678,660.483399671,635.516600329,879,788,804,651.516600329,631,652.483399671,0.402754014128,-0.0154325203552,0.0699334894262,0.999999978787,0.000176048740889,-0.000104953474459,-2.04564544654e-05,1793240143576317184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.108528922,744.891471078,715,678,660.108528922,635.891471078,879,788,804,652,631,652,0.403008058087,-0.0154425166245,0.069938380126,0.999999984089,0.000150244856109,-9.2707312092e-05,-2.55521219697e-05,1793240143592983552
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.687883969,744.312116031,715,678,660.687883969,635.312116031,879,788,804,652,631,652,0.403290628773,-0.0154532407215,0.0699466839384,0.99999999358,7.78651158847e-05,-7.69542046066e-05,-2.92466318569e-05,1793240143609649920
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.2655804,715,678,661,635.2655804,879,787.7344196,804,651.7344196,631,652.2655804,0.40358658311,-0.0154640415031,0.0699529252318,0.999999996542,3.61889389258e-05,-6.68876412802e-05,-3.36534864535e-05,1793240143626316288
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.841339652,715,678,661,635.841339652,879,787.158660348,804,651.158660348,631,652.841339652,0.403898168573,-0.015474931846,0.0699567576505,0.999999996769,3.0372325515e-05,-6.34625548248e-05,-3.88923084841e-05,1793240143642982912
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.583892913,745,715,678,660.583892913,635.583892913,879,787,804,651.416107087,631,652.583892913,0.404235823652,-0.0154834971997,0.0699594968716,0.999999997108,7.57468181031e-06,-6.14307248186e-05,-4.41856405561e-05,1793240143659649536
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.009502768,745,715,678,660.009502768,635.009502768,879,787,804,651.990497232,631,652.009502768,0.404583395349,-0.0154911781502,0.069961820251,0.999999996744,-2.16823792652e-05,-5.99288759432e-05,-4.9499707561e-05,1793240143676316160
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.577679689,635,879.577679689,787,804,652,631,652.577679689,0.404986185252,-0.0154839249652,0.0699683898731,0.99999999723,4.93566793465e-05,-4.54967957533e-05,-3.21521062777e-05,1793240143692983552
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,678.163269249,661,635,879.836730751,787.163269249,804,651.836730751,631,653,0.405394811036,-0.0154740975042,0.0699719373022,0.999999994138,9.94824000606e-05,-3.67003334143e-05,-2.19375263375e-05,1793240143709650432
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678.744233034,661,635,879.255766966,787.744233034,804,651.255766966,631,653,0.405815990364,-0.0154583269512,0.0699675702559,0.999999994389,9.17887060752e-05,-4.28780515628e-05,-3.09467728863e-05,1793240143726317056
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.322607699,745,715,678.677392301,661,635,879,787.677392301,804,651.322607699,631,653,0.406250163292,-0.0154596378655,0.06995580815,0.999999994473,7.5237107484e-05,-6.35321733617e-05,-3.6830823705e-05,1793240143742983680
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.898946086,745,715,678.101053914,661,635,879,787.101053914,804,651.898946086,631,653,0.406694555721,-0.0154743833378,0.0699382298354,0.999999993285,5.17187733691e-05,-9.55719751936e-05,-4.02569116039e-05,1793240143759650048
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678.483504579,661,635,879,787.483504579,804,652,631,653,0.407187638294,-0.0154851816905,0.0699314600075,0.999999993349,4.31897729401e-05,-9.88473312195e-05,-4.08162327769e-05,1793240143776316928
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.931003338,745,715,679,661,635.068996662,878.931003338,788,804,652,631,653,0.407702246128,-0.0154950838298,0.0699294066021,0.999999994183,3.61328737881e-05,-9.31839126021e-05,-4.05615249014e-05,1793240143792983808
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.351534462,745,715,679,661,635.648465538,878.351534462,788,804,652,631,653,0.408299516778,-0.0155045643644,0.0699452453441,0.999999996893,1.63882955568e-05,-6.66349322728e-05,-3.87937961073e-05,1793240143809650176
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.77528437,878.22471563,788,804,652,631,653,0.408892566581,-0.0155127648415,0.0699559413952,0.99999999823,4.17505785381e-06,-4.58779786947e-05,-3.76441545741e-05,1793240143826316800
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.203998519,878.796001481,788,804,652,631,653,0.4094791067,-0.0155189911349,0.0699587060721,0.999999998713,3.57711644777e-06,-3.4053845544e-05,-3.74477652629e-05,1793240143842983424
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787.627961386,804,652,631.372038614,653,0.410077859433,-0.0155215674443,0.0699525358201,0.999999998241,1.96617392411e-06,-4.4805200324e-05,-3.88189103071e-05,1793240143859650048
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787.049285319,804,652,631.950714681,653,0.41068339527,-0.0155221164816,0.0699414029354,0.999999996838,-2.07409026431e-07,-6.8095418841e-05,-4.10606942916e-05,1793240143876316928
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.542057966,745,715,678.457942034,661.542057966,635,879,787,804,651.457942034,631.457942034,652.457942034,0.411346257107,-0.0155223975216,0.0699496625549,0.999999997651,-3.44192656866e-06,-5.5009816484e-05,-4.07382801209e-05,1793240143892983552
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.868394829,745,715,678.131605171,661.868394829,635,879,787.131605171,804,651.131605171,631,652.131605171,0.412036015233,-0.0155240474004,0.0699657600105,0.999999998768,-7.60191205096e-06,-2.85821578393e-05,-3.98735386977e-05,1793240143909649920
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288972167,745,715,678.711027833,661.288972167,635,879,787.711027833,804,651.711027833,631,652.711027833,0.412799133938,-0.015530439973,0.0700023842205,0.99999999867,-1.45749269215e-05,3.17215367453e-05,-3.79757098607e-05,1793240143926316544
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.713126165,715,678.713126165,661,635,879,787.713126165,804.286873835,651.713126165,631,653,0.413539872977,-0.0155331352654,0.0700218659811,0.999999997156,-1.85360012933e-05,6.30786288835e-05,-3.69582419959e-05,1793240143942983168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.140838549,715,678.140838549,661,635,879,787.140838549,804.859161451,651.140838549,631,653,0.414258346345,-0.0155321520958,0.0700242925438,0.999999996978,-1.95004654226e-05,6.56364506693e-05,-3.68166543514e-05,1793240143959649792
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.444942443,715,678.444942443,661,635,879.444942443,787.444942443,805,651,631,653,0.414939787615,-0.0155257021816,0.0699843879109,0.999999998969,-1.65963129494e-05,-7.08057147119e-06,-4.1670053924e-05,1793240143976316416
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.965576224,804.965576224,651.034423776,631,653,0.415616546511,-0.0155181901083,0.0699329493173,0.999999993803,-1.31390866581e-05,-9.96284499002e-05,-4.79162753463e-05,1793240143992983040
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.387223256,804.387223256,651.612776744,631,653,0.416410329151,-0.0155220919911,0.0699176044134,0.999999991636,-2.08968262465e-05,-0.000117260519412,-5.04066310221e-05,1793240144009649920
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.190102561,880,787.190102561,804.190102561,652,631,653,0.417225472192,-0.015526588411,0.0699195502588,0.999999992306,-2.63261402065e-05,-0.000110001759159,-5.09315452674e-05,1793240144026316544
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.765347362,880,787.765347362,804.765347362,652,631,653,0.418083890735,-0.0155322893455,0.0699565266584,0.999999997139,-2.70381312791e-05,-5.23149028529e-05,-4.7474532294e-05,1793240144042983168
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.339970638,745,715,678.660029362,661,636,880,787.660029362,804.660029362,651.660029362,631,653,0.418932966538,-0.0155349555473,0.0699836631656,0.999999998293,-3.315226333e-05,-1.38491051694e-05,-4.60870899135e-05,1793240144059649792
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.914165686,745,715,678.085834314,661,636,880,787.085834314,804.085834314,651.085834314,631,653,0.419775605578,-0.0155355309553,0.07000402043,0.999999997948,-4.29882264612e-05,1.13742490365e-05,-4.61254883663e-05,1793240144076316416
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.505197751,661,635.494802249,880,787,804,651.505197751,631,653,0.42062580127,-0.0155395249068,0.0700202227591,0.999999997146,-5.00075892487e-05,3.39524612931e-05,-4.53271240329e-05,1793240144092983040
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.90358968,715,679,661,635.09641032,880,787.09641032,804.09641032,651.90358968,631,653,0.421473670105,-0.0155431082039,0.070028905574,0.999999996427,-5.52310902588e-05,4.53681714539e-05,-4.51287055583e-05,1793240144109649920
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.32623915,715,679,661,635.67376085,880,787.67376085,804.67376085,651.32623915,631,653,0.422303305705,-0.0155416456706,0.0700037204352,0.999999997354,-5.39655048259e-05,3.41923347155e-06,-4.86567528003e-05,1793240144126316544
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.249641197,715,679,661,635.750358803,880,788,805,651,631,653,0.42311808665,-0.0155386298488,0.0699554888927,0.999999994316,-5.56336752924e-05,-7.29039579032e-05,-5.43860937e-05,1793240144142983168
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.823611589,715,679,661,635.176388411,880,788,805,651,631,653,0.423913568816,-0.0155335960233,0.069877315888,0.999999977354,-6.11133261648e-05,-0.000193885544848,-6.29753143724e-05,1793240144159650048
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.601743186,745,715,679,661.398256814,635.398256814,880,788,805,651,631.398256814,653,0.424793497086,-0.0155344212688,0.0698751180945,0.999999978254,-6.28635279249e-05,-0.000188080941747,-6.45472248762e-05,1793240144176316672
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.026798605,745,715,679,661.973201395,635.973201395,880,788,805,651,631.973201395,653,0.425710890062,-0.015537845908,0.0699066269239,0.999999988092,-6.2959148727e-05,-0.00012602727835,-6.30058853433e-05,1793240144192983296
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.56520469,661.43479531,635.43479531,880.56520469,788,805,651,631.43479531,653,0.426614118717,-0.0155410121718,0.0699606994534,0.999999995293,-6.01629229751e-05,-5.1801474469e-05,-5.57689269036e-05,1793240144209649920
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.154826494,745,715,680,661.154826494,635,881,788,804.845173506,651.154826494,631,653,0.427520152528,-0.0155441886021,0.0700073307909,0.999999996904,-5.93468901073e-05,1.2054135057e-05,-5.02472509977e-05,1793240144226316544
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.735602031,745,715,680,661.735602031,635,881,788,804.264397969,651.735602031,631,653,0.428435808793,-0.0155474277537,0.07003045552,0.999999995622,-6.43676006756e-05,4.57427291907e-05,-5.0210626422e-05,1793240144242983168
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.689382861,635.310617139,881.310617139,788,804.310617139,651.689382861,631,653,0.429330758309,-0.0155493870433,0.0700380763958,0.999999994554,-6.93609013504e-05,5.91042892088e-05,-5.0871947582e-05,1793240144259650048
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.119181794,635.880818206,881.880818206,788,804.880818206,651.119181794,631,653,0.430208403071,-0.0155502767471,0.0700327406413,0.99999999434,-7.43312952651e-05,5.54784676298e-05,-5.21165446913e-05,1793240144276317184
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532466011,744.532466011,715,680,661,635.532466011,881.532466011,788,804.532466011,651.467533989,631,653,0.43097726848,-0.0155451373931,0.0699751923153,0.99999999503,-6.85257854205e-05,-4.48620556803e-05,-5.68547406337e-05,1793240144292983808
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.057520746,744.057520746,715,680,661.057520746,635,880.942479254,788,804.057520746,651.942479254,631,653,0.43172697886,-0.0155390230108,0.0699094991882,0.99999998343,-6.13775752533e-05,-0.000159697174227,-6.22046661555e-05,1793240144309650432
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.637577605,744.637577605,715,680,661.637577605,635,880.362422395,788,804.637577605,651.362422395,631,653,0.432563806348,-0.0155385240948,0.069895153932,0.999999980455,-6.78997269303e-05,-0.000174039298197,-6.47252552277e-05,1793240144326316800
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.783709243,745,715,679.783709243,662,635,880,787.783709243,805,651,631,652.783709243,0.433428947194,-0.0155410021775,0.0699120460113,0.999999985618,-7.59359547598e-05,-0.000137269234895,-6.44634386695e-05,1793240144342983168
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.207233646,745,715,679.207233646,662,635,880,787.207233646,805,651,631,652.207233646,0.434341237862,-0.0155484377988,0.0699809570227,0.999999994367,-8.64935448197e-05,-1.53830292977e-05,-5.95681352525e-05,1793240144359649792
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.368681201,745,715,679.368681201,662,635,880.368681201,787.368681201,804.631318799,651,631,652,0.43520723912,-0.0155531444513,0.0700175591508,0.999999993586,-8.72776461478e-05,4.57436198299e-05,-5.58466231763e-05,1793240144376316416
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.809696579,715,681,658,631,881,781,805,651,629.190303421,653,0.451211124295,-0.0157248227597,0.0695970722965,0.999999744944,-0.000340899030923,-0.000623643030013,-7.04856952249e-05,1793240145376316672
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.234105447,715,681,658,631,881,781,805,651,629.765894553,653,0.451210822592,-0.0157247193758,0.0695963967691,0.999999744386,-0.000340308124689,-0.000624860853235,-7.04758912895e-05,1793240145392983040
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.349797458,715,681,658,631,881,780.650202542,805,651,630,653,0.451212353502,-0.0157240107927,0.0695975795335,0.99999974579,-0.000338839920173,-0.000623428256017,-7.03160149289e-05,1793240145409649664
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.498163839,715,681,657.498163839,631,881,780.501836161,805.501836161,651,630,653,0.451214953452,-0.0157230436989,0.0695994917134,0.999999747621,-0.000337629931342,-0.0006211563101,-7.02077214433e-05,1793240145442983168
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.065072638,715,681,657.065072638,631,881,780.934927362,805.934927362,651,630,653,0.451214276729,-0.0157233509565,0.0695984689024,0.999999746156,-0.00033890033058,-0.000622795979624,-7.04248221266e-05,1793240145459650048
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,715,681,658,631,881,780.246103504,805,651,629.753896496,652.753896496,0.451212038553,-0.015724624251,0.0695957006882,0.999999742465,-0.000342247167999,-0.000626842503737,-7.07466480619e-05,1793240145492983040
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+250,4.166666667,POSE1_TO_POSE2_PRESS,764.005202606,746,714.005202606,681,658,631,881,781,805.994797394,651,629.994797394,652.994797394,0.451215900104,-0.0157211774307,0.0695989450513,0.99999974778,-0.000336628644386,-0.000621365816916,-7.08972479085e-05,1793240145542982912
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.574682354,746,714,680.425317646,657.425317646,631,880.425317646,781,805.425317646,651,629.425317646,653,0.451213604871,-0.0157210115266,0.0695971810134,0.999999745659,-0.000336637592696,-0.000624806795151,-7.05303061467e-05,1793240145559649536
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+254,4.233333333,POSE1_TO_POSE2_PRESS,765.694064443,745.305935557,714.694064443,680.305935557,658,631,880,780.694064443,805.694064443,651,629.694064443,652.305935557,0.451213061348,-0.015722427847,0.0695955240592,0.999999743965,-0.000338097417489,-0.000626763481528,-7.02009878246e-05,1793240145609649408
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+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.602894003,714.397105997,680.602894003,658,631,880.397105997,780.397105997,805,651,629,653,0.451215019433,-0.0157201600966,0.0695974820124,0.999999746147,-0.000336255078178,-0.000624252446373,-7.03392717421e-05,1793240145642983168
+257,4.283333333,POSE1_TO_POSE2_PRESS,765,745.105936753,714.894063247,680.105936753,658,631,880.894063247,780.894063247,805,651,629,653,0.451215470327,-0.0157182464179,0.0695973400058,0.999999747336,-0.00033233224165,-0.000624435132712,-7.04508691986e-05,1793240145659649792
+258,4.300000000,HOLD_POSE2,765,745,715,680,658,631,880,781,805,651,629,653,0.451216811042,-0.0157199512202,0.0695974130232,0.999999748081,-0.000333338293388,-0.000622819377249,-6.94262511572e-05,1793240145686915072
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+262,4.366666667,HOLD_POSE2,765,745.683137431,714.316862569,681,657,631,880,780,805.683137431,651,630,652.316862569,0.451214218859,-0.0157217195215,0.0695965287497,0.999999744516,-0.00033728260832,-0.000626362097672,-6.98503856506e-05,1793240145753581568
+263,4.383333333,HOLD_POSE2,765,745.089259531,714.910740469,681,657,631,880,780,805.089259531,651,630,652.910740469,0.451216028692,-0.0157216522575,0.0695965916693,0.999999744574,-0.000338393671053,-0.000625718682006,-6.9403239663e-05,1793240145770247936
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+274,4.566666667,HOLD_POSE2,765,745,714.277779065,680.277779065,658,631,880.722220935,781,805,651.277779065,629.277779065,653,0.451217917563,-0.0157192082607,0.069597616567,0.999999746221,-0.000335271855832,-0.00062468818986,-7.01093037689e-05,1793240145953581312
+275,4.583333333,HOLD_POSE2,765,745,714.870778415,680.870778415,658,631,880.129221585,781,805,651.870778415,629.870778415,653,0.451217576267,-0.0157199792838,0.0695970914136,0.999999746048,-0.000334640901931,-0.000625336801593,-6.98102859114e-05,1793240145970247936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,657,630,881,781,806,651,629,653,0.451217440479,-0.0157183271753,0.0695964467428,0.999999746108,-0.000333333012472,-0.000626018105758,-6.9102216529e-05,1793240146002792192
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,745.48812026,714.51187974,681,658,631,881,781.51187974,805,651.48812026,629.51187974,653,0.449300032417,-0.0156255052332,0.0695254037296,0.999999675341,-0.000273426740987,-0.000756590196333,-4.61123171968e-05,1793240146419458816
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.092169864,745.092169864,715,680.907830136,658,631,880.907830136,782,805,651,630,653,0.449055902621,-0.0156146704584,0.0695316339354,0.999999684435,-0.000261924193475,-0.000748879507935,-4.12966060037e-05,1793240146436125184
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.576928475,715,678.576928475,660.576928475,635,880,787.423071525,804.423071525,652,632,652.576928475,0.409449487425,-0.0153613157502,0.0698349735441,0.999999936463,0.000225030420854,-0.000275689772036,2.07632337834e-05,1793240147369458688
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.184484132,744.184484132,715,678.184484132,660.815515868,635,879.184484132,787,804,652,631,652,0.404825272035,-0.0153582366505,0.0698139539263,0.999999923764,0.000225352404134,-0.00031849046863,1.58817886286e-05,1793240147519458816
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.771641255,715,678.228358745,660,635.771641255,879,787.771641255,804.771641255,652,631.771641255,653,0.401713166094,-0.0153460198866,0.0698094999926,0.999999914865,0.000255874599161,-0.000323117971923,1.98120199094e-05,1793240147719458560
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.853809892,745,715,678.853809892,661,635.853809892,879.146190108,787,804,652,631.853809892,652.853809892,0.401000525021,-0.0153505805715,0.0698112308883,0.999999924935,0.000232177825479,-0.000310174242335,3.79827135318e-06,1793240147902792704
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.679711385,635,880,787,804,652,631,652,0.400980613527,-0.0153482823308,0.0698148609554,0.99999992518,0.000238131254217,-0.000304819510854,4.41978750851e-06,1793240147936125696
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.376254072,879,787.623745928,804,652,631,652,0.400967156147,-0.0153518188027,0.0698178979238,0.999999927221,0.000236234615238,-0.000299541808784,5.0728701242e-06,1793240148002792704
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..244f876e76e353a9016676a6255f2143570b705a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,424 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.57567315184,-0.00990922930506,1.06003233758,0.546243602077,-0.00123749424049,1.05970047097
+395,6.583333333,pose2_to_pose3_retreat,0.575670811966,-0.00990922285204,1.06003232412,0.5462412615,-0.0012374900953,1.05970045951
+396,6.600000000,pose2_to_pose3_retreat,0.575669327094,-0.0099092360212,1.06003226066,0.546239777325,-0.001237500761,1.05970039966
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+407,6.783333333,pose2_to_pose3_retreat,0.575666331014,-0.00990933347399,1.06003233874,0.546236783224,-0.00123759175831,1.05970047086
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+410,6.833333333,pose2_to_pose3_retreat,0.575665812651,-0.00990938056278,1.06003244015,0.546236265447,-0.00123763713139,1.05970056505
+411,6.850000000,pose2_to_pose3_retreat,0.575665778424,-0.00990938367203,1.06003244685,0.546236231259,-0.00123764012735,1.05970057127
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a42fd49b83edb64c5ed219d0b49a08e224013d3d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a2d38547e60c702078dbfc3048e97e91194d1a17faa4c66340c87a54c9c228
+size 26355282
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fcc498d7706c3234a9a8165a13e9d078e267cde
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+10,0.166666667,BASELINE,765.817132009,745,715,678.817132009,660.817132009,636,879,788,804,652,631,653,0.401043407387,-0.0154885887759,0.079871487111,0.999999982934,0.000120739575119,-0.000134194802989,3.93206882555e-05,1793240149932432128
+11,0.183333333,BASELINE,765.607708534,745,715,678.215417069,661,635.607708534,879,787.607708534,804,651.607708534,631,653,0.401043900998,-0.0154884541604,0.0798720607995,0.999999983012,0.00012112788475,-0.00013320249618,3.95037359529e-05,1793240149949099008
+12,0.200000000,BASELINE,765.034402555,745,715,677.068805109,661,635.034402555,879,787.034402555,804,651.034402555,631,653,0.40104467784,-0.0154884985213,0.0798731382488,0.999999983096,0.000122070105662,-0.000131618215279,3.97853205431e-05,1793240149965765632
+13,0.216666667,BASELINE,765.555607413,744.444392587,715,677.555607413,660.444392587,635,879,787.555607413,804.555607413,651.555607413,631,653,0.401044660914,-0.0154875739228,0.0798723436149,0.999999982947,0.000122699635073,-0.000132265575381,3.94649986129e-05,1793240149982432256
+14,0.233333333,BASELINE,765.856247771,744.143752229,715,678,660,635,879,788,805,651.856247771,631,653,0.401044673289,-0.0154869651187,0.079871909067,0.999999982864,0.000122914062506,-0.000132757948647,3.92437266468e-05,1793240149999098624
+15,0.250000000,BASELINE,765.27698408,744.72301592,715,678,660,635,879,788,805,651.27698408,631,653,0.401044927953,-0.0154875004443,0.0798729275027,0.999999983031,0.000121931373672,-0.000132349166701,3.94389471046e-05,1793240150015765248
+16,0.266666667,BASELINE,765,745,715,678,660.300850463,635,879,787.699149537,804.699149537,651.300850463,631,652.699149537,0.401044994145,-0.0154874787531,0.0798732718193,0.99999998312,0.000121725413974,-0.000131867422515,3.94152076121e-05,1793240150032432128
+17,0.283333333,BASELINE,765,745,715,678,660.87737542,635,879,787.12262458,804.12262458,651.87737542,631,652.12262458,0.401044887637,-0.0154869466577,0.0798729984289,0.999999983139,0.000122231184704,-0.000131318821791,3.91908313102e-05,1793240150049099008
+18,0.300000000,BASELINE,765,745,715,678,660.538393516,635,879,787.461606484,804,651.538393516,631,652.461606484,0.401044790379,-0.0154872076925,0.0798729343878,0.999999983114,0.000122397808597,-0.00013136759463,3.91693953325e-05,1793240150065765376
+19,0.316666667,BASELINE,765.047385029,745,715,678.047385029,660,635.047385029,879.047385029,787.952614971,804,651,631,653,0.401044673403,-0.0154875582245,0.0798729369261,0.999999983068,0.000122540721905,-0.000131566784143,3.92084768642e-05,1793240150082432000
+20,0.333333333,BASELINE,765.627159662,745,715,678.627159662,660,635.627159662,879.627159662,787.372840338,804,651,631,653,0.401044306814,-0.015486506884,0.0798730520671,0.999999982943,0.000123446658756,-0.000131642740921,3.93115064993e-05,1793240150099098624
+21,0.350000000,BASELINE,765.79410567,745,715,678.79410567,660.20589433,635.79410567,879.79410567,787.20589433,804,651.20589433,631.20589433,652.79410567,0.401043481109,-0.0154857109665,0.0798726286163,0.999999982722,0.000124088047892,-0.000132726173564,3.92743998168e-05,1793240150115765248
+22,0.366666667,BASELINE,765.217244805,745,715,678.217244805,660.782755195,635.217244805,879.217244805,787.782755195,804,651.782755195,631.782755195,652.217244805,0.4010418282,-0.0154853752529,0.079871234767,0.999999982324,0.000124252792677,-0.000135624808357,3.89848049445e-05,1793240150132432128
+23,0.383333333,BASELINE,765,745,715,678,661,635,879,787.642120542,804,652,631.642120542,652.357879458,0.401041993096,-0.015487042069,0.0798711409383,0.999999982614,0.000122179601661,-0.000135368607278,3.89883584463e-05,1793240150149098752
+24,0.400000000,BASELINE,765,745,715,678,661,635,879,787.068045308,804,652,631.068045308,652.931954692,0.401043256131,-0.0154899186177,0.079871832455,0.99999998331,0.00011875446867,-0.000133206563117,3.9169003504e-05,1793240150165765376
+25,0.416666667,BASELINE,765,745,715,678.520585619,661,635,879,787,804.520585619,652,631.520585619,653,0.401044116891,-0.0154889068735,0.0798721030211,0.999999983162,0.00012041272461,-0.000132763462196,3.93813764282e-05,1793240150182432000
+26,0.433333333,BASELINE,765,745,715,678.890916325,660.890916325,635,879,787,804.890916325,652,631.890916325,653,0.40104491651,-0.0154876486591,0.0798725476015,0.999999982939,0.000122671004446,-0.000132321693655,3.95550242619e-05,1793240150199098624
+27,0.450000000,BASELINE,765,745,715,678.311431472,660.311431472,635,879,787,804.311431472,652,631.311431472,653,0.401045685737,-0.0154875822959,0.0798739866795,0.999999982893,0.000124569061493,-0.00013088890709,3.95432800456e-05,1793240150215765248
+28,0.466666667,BASELINE,765,745,715,678,660,635,879,787.265770335,804,652,631,653,0.401045737182,-0.0154879401298,0.0798743196816,0.999999983026,0.000124001650187,-0.000130435700154,3.94637970589e-05,1793240150232431872
+29,0.483333333,BASELINE,765,745,715,678,660,635,879,787.840319606,804,652,631,653,0.40104495469,-0.0154887908072,0.0798733676154,0.999999983363,0.000120569793071,-0.000131120594565,3.93056133955e-05,1793240150249098752
+30,0.500000000,BASELINE,765,745,715,678,660,635,879,788,804,652,631,653,0.401043813555,-0.0154884650884,0.0798726415914,0.999999983125,0.000120708005138,-0.000132855864451,3.911284911e-05,1793240150265765120
+31,0.516666667,BASELINE,765,745,715,678.014968512,660.014968512,635.014968512,879,788,804,652,631,652.985031488,0.40104260641,-0.0154876627383,0.0798720298192,0.999999982677,0.000122209454923,-0.000134896163984,3.89115119257e-05,1793240150282431744
+32,0.533333333,BASELINE,765,745,715,678.59394771,660.59394771,635.59394771,879,788,804,652,631,652.40605229,0.401044113274,-0.0154859619541,0.0798724448052,0.999999982772,0.000123301732336,-0.000133196623654,3.88886624331e-05,1793240150299098624
+33,0.550000000,BASELINE,765,745,715,679,661,635.827361524,879,787.827361524,804,651.827361524,631.172638476,652.172638476,0.401045126923,-0.0154852169148,0.079872895856,0.999999982852,0.000124051926022,-0.000131881723866,3.89197406116e-05,1793240150315765760
+34,0.566666667,BASELINE,765,745,715,679,661,635.249348114,879,787.249348114,804,651.249348114,631.750651886,652.750651886,0.401044982447,-0.0154867160742,0.0798734315907,0.999999982906,0.000123998867742,-0.000131470004414,3.90774471492e-05,1793240150332432384
+35,0.583333333,BASELINE,765.32564212,745,715,678.67435788,661,635,879,787.32564212,804,651,631.34871576,653,0.401044416619,-0.0154876306486,0.0798732701584,0.999999982788,0.000123961877294,-0.000132396978414,3.90910381553e-05,1793240150349099008
+36,0.600000000,BASELINE,765.898338823,745,715,678.101661177,661,635,879,787.898338823,804,651,630.203322353,653,0.401043531122,-0.0154881017167,0.0798725798071,0.999999982536,0.000123937077004,-0.000134339577598,3.89952931906e-05,1793240150365765632
+37,0.616666667,BASELINE,765.516615668,745,715,678,661,635,879,788,803.516615668,651.483384332,630.483384332,653,0.401043271924,-0.0154878164028,0.0798728526625,0.9999999828,0.000122697619089,-0.000133575526904,3.87624449588e-05,1793240150382432000
+38,0.633333333,BASELINE,765.070284247,745,715.070284247,678,660.929715753,635,879,788,803.070284247,652,631,653,0.401043140398,-0.0154875552941,0.0798732040505,0.999999983101,0.00012140245371,-0.000132561830162,3.85533103699e-05,1793240150399098880
+39,0.650000000,BASELINE,765.651292933,745,715.651292933,678,660.348707067,635,879,788,803.651292933,652,631,653,0.401042954378,-0.0154886563089,0.0798726154996,0.999999982881,0.000121607437964,-0.000133978914144,3.8731511703e-05,1793240150415765248
+40,0.666666667,BASELINE,765.770236479,745,715.770236479,678,660.229763521,635,879,787.770236479,804,652,631,653,0.40104327395,-0.0154890083757,0.0798727966474,0.999999982836,0.000121895261811,-0.000134008458863,3.88854770042e-05,1793240150432431872
+41,0.683333333,BASELINE,765.195575855,745,715.195575855,678,660.804424145,635,879,787.195575855,804,652,631,653,0.401044352467,-0.0154882361997,0.0798741331868,0.999999983054,0.000122307435825,-0.000131955173853,3.90030616843e-05,1793240150449098496
+42,0.700000000,BASELINE,765,745,715,678.380966621,660.619033379,635.380966621,879,787,804,652,631,653,0.40104353823,-0.0154872216918,0.079873265171,0.999999982806,0.000122981741686,-0.000133207460814,3.89673188981e-05,1793240150465765376
+43,0.716666667,BASELINE,765,745,715,678.958479957,660.041520043,635.958479957,879,787,804,652,631,653,0.401041747491,-0.015486082161,0.0798712597901,0.999999982313,0.000123791285503,-0.000136165144789,3.88524720393e-05,1793240150482432000
+44,0.733333333,BASELINE,765,745,715,679,660.547355478,635.452644522,879.547355478,787.547355478,804,651.452644522,631,653,0.401042760482,-0.0154867977434,0.0798719178103,0.999999982723,0.000121814949504,-0.000135034286537,3.84772123893e-05,1793240150499098624
+45,0.750000000,BASELINE,765,745,715,679,661,635,879.865299696,787.865299696,804,651.134700304,631,653,0.401043844389,-0.0154874422144,0.0798728294444,0.999999983069,0.000120586983782,-0.000133623830013,3.82838004738e-05,1793240150515765248
+46,0.766666667,BASELINE,765,745,715,679,661,635,879.285913935,787.285913935,804,651.714086065,631,653,0.401044445408,-0.0154873775162,0.0798738972191,0.999999982984,0.000122542044561,-0.000132335902971,3.87573172182e-05,1793240150532431872
+47,0.783333333,BASELINE,765,745,715,678.70997348,661,635,879,787.29002652,804,651.70997348,631,653,0.401043856941,-0.0154875751467,0.079873482345,0.999999982882,0.000122666547641,-0.000132957029135,3.88830307193e-05,1793240150549098752
+48,0.800000000,BASELINE,765,745,715,678.137389534,661,635,879,787.862610466,804,651.137389534,631,653,0.401042109619,-0.0154880283502,0.0798716230053,0.999999982759,0.000121007635866,-0.000135438044234,3.86698980591e-05,1793240150565765376
+49,0.816666667,BASELINE,765.448395959,745,715,678.448395959,661,635.448395959,879,788,804,651,631.448395959,653,0.401041967914,-0.0154876898049,0.079871567028,0.999999982576,0.000121822338478,-0.000136055210717,3.86844927295e-05,1793240150582432256
+50,0.833333333,BASELINE,765.962319785,745,715,678.962319785,660.962319785,635.962319785,879,788,804,651,631.962319785,653,0.401042363274,-0.0154871021253,0.0798720843662,0.999999982392,0.000123381822524,-0.000135976958669,3.87628367346e-05,1793240150599098624
+51,0.850000000,BASELINE,765.382656627,745,715,678.382656627,660.382656627,635.382656627,879,788,804,651,631.382656627,653,0.401043192701,-0.0154865262174,0.0798726592331,0.999999982484,0.000124421608606,-0.000134359540376,3.87240469879e-05,1793240150615765248
+52,0.866666667,BASELINE,765,745,715,678.196179173,660.196179173,635,879,788,804,651.196179173,631,653,0.401044043163,-0.015486755197,0.0798735553128,0.999999982784,0.000123841776964,-0.000132627456917,3.88001630205e-05,1793240150632432128
+53,0.883333333,BASELINE,765,745,715,678.773407914,660.773407914,635,879,788,804,651.773407914,631,653,0.401044934483,-0.0154885475537,0.0798750753014,0.999999983484,0.000120116072914,-0.000130672653114,3.9099466853e-05,1793240150649098752
+54,0.900000000,BASELINE,765,745,715,678.651948193,660.651948193,635,879.348051807,788,804,652,631,653,0.401044625144,-0.0154886223828,0.079874954619,0.999999983368,0.000120427349136,-0.000131293445953,3.90374186981e-05,1793240150665765376
+55,0.916666667,BASELINE,765,745,715,678.07897473,660.07897473,635,879.92102527,788,804,652,631,653,0.401043539903,-0.0154875872933,0.0798737736852,0.999999982721,0.000123347444861,-0.000133578667709,3.87418538937e-05,1793240150682432256
+56,0.933333333,BASELINE,765.50682192,745,715,678,660,635.50682192,879.49317808,788,804.50682192,652,631,653,0.401043123812,-0.0154861626258,0.0798732449722,0.999999982581,0.000124166515837,-0.000133948321725,3.84573981804e-05,1793240150699098880
+57,0.950000000,BASELINE,766,745,715,678.093484062,660,635.906515938,879.093484062,787.906515938,805,651.906515938,631,653,0.401042838358,-0.0154851465536,0.0798728785641,0.999999982524,0.000124588091315,-0.000134021451114,3.83088725503e-05,1793240150715765504
+58,0.966666667,BASELINE,766,745,715,678.673975166,660,635.326024834,879.673975166,787.326024834,805,651.326024834,631,653,0.401042676169,-0.0154865835224,0.0798728144929,0.999999982474,0.00012468871711,-0.000134145185242,3.88592253798e-05,1793240150732432128
+59,0.983333333,BASELINE,765.746818547,745,715,678.746818547,660.253181453,635,879.746818547,787,804.746818547,651,631,653,0.401043307176,-0.0154872338781,0.0798731468187,0.999999982578,0.000124508610427,-0.000133493732579,3.89992686818e-05,1793240150749099008
+60,1.000000000,BASELINE,765.169258301,745,715,678.169258301,660.830741699,635,879.169258301,787,804.169258301,651,631,653,0.401044954436,-0.0154868764169,0.0798739870125,0.999999982878,0.000123968826295,-0.000131849102303,3.86136190917e-05,1793240150765765888
+61,1.016666667,BASELINE,765,745,715,678,661,635,879,787.405414732,804.405414732,651,631,653,0.401045587743,-0.0154864956363,0.0798745169007,0.999999982806,0.000124850144312,-0.000131551621025,3.86668732248e-05,1793240150782432512
+62,1.033333333,BASELINE,765,745,715,678,661,635,879,787.978890859,804.978890859,651,631,653,0.401045800726,-0.0154861051888,0.0798749181541,0.999999982578,0.00012632056875,-0.000131812589556,3.89020713662e-05,1793240150799098880
+63,1.050000000,BASELINE,765,744.430065057,715,678,660.430065057,635,879,787.430065057,804.430065057,651,631,653,0.401042987615,-0.0154869211241,0.0798730271868,0.999999982493,0.00012426468044,-0.000134444541521,3.86929062249e-05,1793240150815765248
+64,1.066666667,BASELINE,765,744.157955878,715,678,660,635,879.157955878,787,804,651.157955878,631,653,0.401041310237,-0.015487383545,0.0798719144012,0.999999982457,0.00012297649524,-0.000135906575232,3.86181818042e-05,1793240150832432128
+65,1.083333333,BASELINE,765,744.736147638,715,678,660,635,879.736147638,787,804,651.736147638,631,653,0.401042962104,-0.0154867827988,0.0798731049939,0.999999982563,0.000124089282729,-0.00013401502176,3.89463112369e-05,1793240150849098752
+66,1.100000000,BASELINE,765,745,715,678.312372318,660,635,879.687627682,787.312372318,804,652,631,653,0.401043472144,-0.0154863858673,0.0798733117198,0.999999982611,0.000124099428331,-0.000133659718386,3.8893878475e-05,1793240150865765376
+67,1.116666667,BASELINE,765,745,715,678.886945827,660,635,879.113054173,787.886945827,804,652,631,653,0.40104302375,-0.0154861600154,0.0798726926009,0.999999982613,0.000123184030864,-0.000134593923121,3.8522006824e-05,1793240150882432000
+68,1.133333333,BASELINE,765,745,715,678.526921074,660.473078926,635,879,787.526921074,804,652,631,653,0.401043356709,-0.0154863270996,0.0798735863382,0.999999982537,0.000124999857881,-0.00013337412496,3.88925693884e-05,1793240150899098880
+69,1.150000000,BASELINE,765,744.938889473,715,678,660.938889473,635,879,787.061110527,804,652,631,653,0.401043855038,-0.0154865983611,0.0798746982244,0.99999998248,0.000126965350091,-0.00013179954083,3.93585011928e-05,1793240150915766016
+70,1.166666667,BASELINE,765,744.35878321,715,678,660.35878321,635,879,787.64121679,804,652,631,653,0.401044132298,-0.0154869369135,0.0798745154622,0.999999982812,0.000124519899961,-0.000131693016277,3.90898270373e-05,1793240150932432640
+71,1.183333333,BASELINE,765,744.219589636,715,678.219589636,660,635,879,788,804,652,631.219589636,653,0.401043786856,-0.015487184594,0.0798741052996,0.999999982891,0.000123368120358,-0.000132195918845,3.90300288074e-05,1793240150949099008
+72,1.200000000,BASELINE,765,744.795152556,715,678.795152556,660,635,879,788,804,652,631.795152556,653,0.401042431964,-0.0154872849639,0.0798733265015,0.999999982564,0.000124313489198,-0.000133686754062,3.93088359938e-05,1793240150965765632
+73,1.216666667,BASELINE,765,744.623448032,715,678.623448032,660.376551968,635,879.376551968,787.623448032,804,651.623448032,631.623448032,653,0.401042390391,-0.0154873315999,0.0798733469924,0.999999982521,0.000124555093897,-0.000133836555855,3.91502980583e-05,1793240150982432000
+74,1.233333333,BASELINE,765,744.038823568,715,678.038823568,660.961176432,635,879.961176432,787.038823568,804,651.038823568,631.038823568,653,0.401043074524,-0.0154873485439,0.0798738091489,0.999999982633,0.000124407817389,-0.000133245338528,3.87500949457e-05,1793240150999098624
+75,1.250000000,BASELINE,765,744,715,678,661,635.542974462,879.457025538,787.542974462,804,651,631,653,0.401043452147,-0.0154865334969,0.0798736234027,0.999999982426,0.000126112926244,-0.000133154812213,3.89090654685e-05,1793240151015765504
+76,1.266666667,BASELINE,765,744.123843339,715.123843339,678.123843339,660.876156661,635.876156661,879,788,804,651.123843339,631.123843339,653,0.401043591427,-0.0154861788974,0.0798735019891,0.999999982356,0.000126717649915,-0.000133068215081,3.90421869437e-05,1793240151032432384
+77,1.283333333,BASELINE,765,744.702040936,715.702040936,678.702040936,660.297959064,635.297959064,879,788,804,651.702040936,631.702040936,653,0.401042936269,-0.0154877307002,0.079873785678,0.999999982875,0.000122801891021,-0.000132865370174,3.89345488352e-05,1793240151049099008
+78,1.300000000,BASELINE,765,745,715.721819845,678.721819845,660,635,879,788,804,652,631.721819845,653,0.401042272358,-0.015488121349,0.0798736393255,0.999999982941,0.000121351990468,-0.000133762472982,3.87176166488e-05,1793240151065765632
+79,1.316666667,BASELINE,765,745,715.147869198,678.147869198,660,635,879,788,804,652,631.147869198,653,0.401041599143,-0.0154872774197,0.0798730357384,0.999999982532,0.000122523873634,-0.000135829077183,3.83844793329e-05,1793240151082432512
+80,1.333333333,BASELINE,765,745,715.427671628,678,660.427671628,635.427671628,879,788,804,652,631.427671628,653,0.401042517594,-0.0154867014869,0.0798733824719,0.999999982487,0.000123991919993,-0.000134772428256,3.85767279708e-05,1793240151099098880
+81,1.350000000,BASELINE,765,745,715.996117705,678,660.996117705,635.996117705,879,787.996117705,804,651.996117705,631.996117705,653,0.401043981334,-0.01548622147,0.0798740580624,0.999999982563,0.000125551298207,-0.000132640430949,3.89483280387e-05,1793240151115765248
+82,1.366666667,BASELINE,765,745,715.4019767,678,660.4019767,635.4019767,879,787.4019767,804,651.4019767,631.4019767,653,0.401044366963,-0.0154861837649,0.0798745897563,0.999999982699,0.000125369825254,-0.000131809797212,3.88667202176e-05,1793240151132431872
+83,1.383333333,BASELINE,765,745,715,678,660.186179489,635,879,787.372358979,804,651.186179489,631,653,0.40104433147,-0.015485979652,0.0798746917858,0.999999982689,0.0001256148162,-0.000131672041859,3.88082069243e-05,1793240151149098752
+84,1.400000000,BASELINE,765,745,715,678,660.761816518,635,879,788.523633037,804,651.761816518,631,653,0.401043415057,-0.0154854274405,0.0798738950264,0.999999982372,0.000126751900972,-0.000132983676459,3.87980036522e-05,1793240151165765632
+85,1.416666667,BASELINE,765.335399155,745,715,678,660.664600845,635.335399155,879.335399155,788.664600845,804,652,631,653,0.401043022395,-0.0154855868154,0.0798735683764,0.999999982329,0.000126494444239,-0.000133524142895,3.88968821931e-05,1793240151182432256
+86,1.433333333,BASELINE,765.907531715,745,715,678,660.092468285,635.907531715,879.907531715,788.092468285,804,652,631,653,0.401042999411,-0.0154862484465,0.0798735735418,0.999999982479,0.000125252683954,-0.000133520298804,3.90727535013e-05,1793240151199098880
+87,1.450000000,BASELINE,765.504687903,745,715,678,660.495312097,635.504687903,879.009375805,788,804.495312097,651.504687903,631.495312097,653,0.401041890958,-0.0154868953932,0.0798725626603,0.999999982537,0.000123356243221,-0.0001349548159,3.8675824541e-05,1793240151215765504
+88,1.466666667,BASELINE,765,745,715,678,660.915336252,635,878.084663748,787.915336252,804.915336252,651.084663748,631.915336252,653,0.401040718475,-0.0154874267177,0.0798715478815,0.999999982556,0.000121715717181,-0.000136410894914,3.82741256342e-05,1793240151232432128
+89,1.483333333,BASELINE,765,745,715,678,660.334455398,635,878.665544602,787.334455398,804.334455398,651.665544602,631.334455398,653,0.401040397159,-0.0154872969684,0.0798716582651,0.999999982481,0.000122314821673,-0.000136368183449,3.84916615274e-05,1793240151249098752
+90,1.500000000,BASELINE,765,745,715,678.243254943,660.243254943,635,879,787.243254943,804,652,631,653,0.401041206921,-0.0154871284691,0.0798723270236,0.999999982496,0.000123290740561,-0.000135313006583,3.87006849976e-05,1793240151265765632
+91,1.516666667,BASELINE,765,745,715,678.816662128,660.816662128,635,879,787.816662128,804,652,631,653,0.401043551812,-0.0154869073774,0.0798737536235,0.99999998263,0.000124778082172,-0.00013288368406,3.88981551573e-05,1793240151282432256
+92,1.533333333,BASELINE,765.391744901,745,715.391744901,679,660.608255099,635,879,788,804,652,631,653,0.40104346446,-0.0154867733781,0.0798737875694,0.999999982718,0.000124213494436,-0.000132752745057,3.88889400871e-05,1793240151299098624
+93,1.550000000,BASELINE,765.967615274,745,715.967615274,679,660.032384726,635,879,788,804,652,631,653,0.40104223392,-0.0154866803134,0.0798731669489,0.999999982784,0.000122684471915,-0.000133702077595,3.87825801436e-05,1793240151315765504
+94,1.566666667,BASELINE,765.442169863,745,715.442169863,678.442169863,660,635.557830137,879,788,804,652,631,653,0.401043865366,-0.0154861844309,0.0798740174727,0.999999982697,0.000124667335226,-0.000132494009473,3.8838312073e-05,1793240151332432128
+95,1.583333333,BASELINE,765,745,715,678,660,635.854455807,879,787.854455807,804,652,631,653,0.401044773321,-0.0154860237371,0.0798744298109,0.999999982612,0.000125881951845,-0.000131997783812,3.88216946174e-05,1793240151349099008
+96,1.600000000,BASELINE,765,745,715,678,660,635.276706201,879,787.276706201,804,652,631,653,0.401043026386,-0.0154869296918,0.0798732806045,0.999999982567,0.000124193773697,-0.000133997181689,3.85615477961e-05,1793240151365765632
+97,1.616666667,BASELINE,765,744.700533851,715,678,660,635,879,787.299466149,804,652,631,652.700533851,0.401042707453,-0.0154869544836,0.0798733011821,0.999999982546,0.000123855366245,-0.000134483463406,3.84898628259e-05,1793240151382432256
+98,1.633333333,BASELINE,765,744.125811281,715,678,660,635,879,787.874188719,804,652,631,652.125811281,0.40104370108,-0.0154861693485,0.079874396975,0.999999982551,0.000124757610134,-0.000133578953635,3.85914039089e-05,1793240151399098880
+99,1.650000000,BASELINE,765,744.460744071,715,678,660,635,879,787.539255929,804,651.539255929,631,652.460744071,0.401043789821,-0.0154864786437,0.0798745486713,0.999999982668,0.000124685599734,-0.000132802244391,3.8494805792e-05,1793240151415765504
+100,1.666666667,BASELINE,765,745,715,678.049748498,660.049748498,635,879.049748498,787.049748498,804,651.049748498,631,653,0.401043524144,-0.0154871042781,0.0798743615042,0.999999982806,0.000124202703591,-0.000132254829623,3.83571450703e-05,1793240151432432128
+101,1.683333333,BASELINE,765,745,715,678.629514277,660.629514277,635,879.629514277,787.629514277,804,651.629514277,631,653,0.401042184355,-0.0154878323565,0.0798733830456,0.999999982844,0.00012225124197,-0.00013376870909,3.83736214644e-05,1793240151449099008
+102,1.700000000,BASELINE,765,745,715,679,661.207386753,635,879.792613247,788,804.207386753,652,631.207386753,652.792613247,0.401041333072,-0.0154875963878,0.0798726454974,0.99999998266,0.000122680917423,-0.000134751731767,3.83688645192e-05,1793240151465765632
+103,1.716666667,BASELINE,765,745,715,679,661.781907479,635,879.218092521,788,804.781907479,652,631.781907479,652.218092521,0.401041346581,-0.0154856537794,0.0798723344295,0.999999982075,0.000127325887935,-0.000134794985667,3.83265184776e-05,1793240151482432512
+104,1.733333333,BASELINE,765,745,715,678.642903137,661.285806275,635.357096863,879,788,804.642903137,652,631.642903137,652.357096863,0.401041570734,-0.015485337688,0.0798727152598,0.999999982173,0.000126757785027,-0.000134573796412,3.84295137531e-05,1793240151499099136
+105,1.750000000,BASELINE,765,745,715,678.067304557,660.134609113,635.932695443,879,788,804.067304557,652,631.067304557,652.932695443,0.401041923776,-0.0154860168356,0.0798735194512,0.999999982686,0.000122999888372,-0.000134190798728,3.86214409946e-05,1793240151515765760
+106,1.766666667,BASELINE,765.522673827,745,715,678,660.522673827,635.477326173,879,788,804.522673827,652,631,653,0.401041214892,-0.0154874983431,0.0798724858254,0.999999982711,0.000121513375312,-0.000135347043499,3.86610213393e-05,1793240151532432384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,678,661,635,879,788,805,652,632,653,0.401042378256,-0.0154850425368,0.0798723492159,0.999999982441,0.00012445076254,-0.000134739572572,3.84016817248e-05,1793240151574686464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.573230341,715,678.573230341,660.426769659,635,879,788,804.426769659,652,632,653.573230341,0.401042429769,-0.0154870057705,0.079873514003,0.999999982586,0.000124137000079,-0.000133886297355,3.86383980112e-05,1793240151591353344
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.150792381,635.150792381,879,788,804,652,631.849207619,653.849207619,0.401042785214,-0.0154882063215,0.0798743775698,0.999999982727,0.000123922507005,-0.000132996573329,3.8742566517e-05,1793240151608019968
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.740976635,635.740976635,879,788,804,652,631.259023365,653.259023365,0.401044026281,-0.0154871845022,0.0798743634152,0.999999982861,0.000123997273576,-0.000132000641418,3.84605058973e-05,1793240151624686592
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.325437555,678.674562445,661,635.674562445,879,788,804,652,631,652.674562445,0.4010441197,-0.0154868411507,0.0798743077373,0.99999998291,0.000123711230509,-0.000131889674848,3.84717670399e-05,1793240151641353472
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.905421832,678.094578168,661,635.094578168,879,788,804,652,631,652.094578168,0.401043315464,-0.0154870284749,0.0798742195812,0.999999982894,0.000123142973819,-0.000132470899589,3.87124549889e-05,1793240151658020096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.518899655,678,661,635.481100345,879,788,804,652,631,652.481100345,0.401041449936,-0.0154861127199,0.0798731712193,0.999999982471,0.000124024223696,-0.000134910754067,3.84182620368e-05,1793240151674686464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678.056048597,660.943951403,635.943951403,879,787.943951403,804.056048597,652,631.056048597,653,0.401039876834,-0.0154851769624,0.0798722649829,0.999999982019,0.000125131257249,-0.000137302970979,3.8111351608e-05,1793240151691352832
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678.632005085,660.367994915,635.367994915,879,787.367994915,804.632005085,652,631.632005085,653,0.401042934421,-0.015486049335,0.079874412554,0.999999982118,0.000125712868498,-0.000135894067508,3.86532018453e-05,1793240151708019456
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.21338932,745,715.21338932,678.78661068,660.21338932,635,879,787.21338932,804.78661068,651.78661068,631.78661068,653,0.401046981908,-0.0154866653649,0.0798768762606,0.99999998219,0.000125684841909,-0.000135288012368,3.89968789365e-05,1793240151724686592
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.804378071,745,715.804378071,678.195621929,660.804378071,635,879,787.804378071,804.195621929,651.195621929,631.195621929,653,0.401052781055,-0.0154868277881,0.0798798993793,0.999999982218,0.000124578041025,-0.000136102623943,3.89898820611e-05,1793240151741353216
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,716,678,661,635.384829875,879,788,804,651.384829875,631,653,0.401071393657,-0.0154882701967,0.0798872268224,0.999999983006,0.00012284448228,-0.000131760640389,3.91914132954e-05,1793240151758020352
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,716,678,661,635.960068199,879,788,804,651.960068199,631,653,0.401096346179,-0.0154903459244,0.0798966839854,0.999999984128,0.000120800812391,-0.000124867245635,3.94961213242e-05,1793240151774686976
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.464197666,678,661,635.464197666,879.535802334,788,804,651.464197666,631,653,0.401149347351,-0.0154929705678,0.0799107334224,0.999999986123,0.000120300877945,-0.000108217812846,3.96288505042e-05,1793240151791353856
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.885965504,745,715.114034496,678,661,635,879.885965504,788,804,651.114034496,631,653,0.401207549524,-0.0154953543715,0.0799245118377,0.99999998779,0.000120471340502,-9.13166680008e-05,3.95987863597e-05,1793240151808020480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.297494083,745,715.702505917,678,661,635,879.297494083,788,804,651.702505917,631,653,0.401278685277,-0.0154965658107,0.0799357374449,0.999999988765,0.000122951862796,-7.63961119673e-05,3.89448002729e-05,1793240151824687104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.286585338,745,715.713414662,678,661,635,879,788,804,652,631,653,0.401358532141,-0.0154982436221,0.0799446522856,0.999999989631,0.000123478004777,-6.38196835873e-05,3.76639358651e-05,1793240151841353472
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.866174361,745,715.133825639,678,661,635,879,788,804,652,631,653,0.401447285206,-0.0155003982506,0.0799512046073,0.99999999048,0.000122005996141,-5.36398826886e-05,3.57421536545e-05,1793240151858019840
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.556260674,745,715,678.443739326,660.556260674,635.443739326,879,787.556260674,804,652,631.443739326,653,0.40154942179,-0.0155035761576,0.0799530117391,0.999999990849,0.000121381083492,-5.00757987198e-05,3.25640681631e-05,1793240151874686464
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678.979402014,660,635.979402014,879.020597986,787.020597986,804,651.979402014,631.979402014,653,0.401656573284,-0.015506917806,0.0799534575458,0.999999991071,0.000121082195234,-4.85585140448e-05,2.89721745336e-05,1793240151891353088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,678.405194438,660,635.405194438,879.594805562,787.594805562,804,651.405194438,631.405194438,653,0.401790519833,-0.0155064035943,0.0799556035969,0.999999990989,0.000122710701005,-4.86713167166e-05,2.43953804933e-05,1793240151908019712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,678.173835651,660,635,880,787.826164349,804,651.173835651,631.173835651,653,0.401933397153,-0.0155072057073,0.0799589961084,0.999999991277,0.000122522988846,-4.51743327346e-05,1.98148588621e-05,1793240151924686336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,678.764427216,660,635,880,787.235572784,804,651.764427216,631.764427216,653,0.402097685203,-0.0155111635948,0.0799653769005,0.999999992379,0.000117981051291,-3.30231979372e-05,1.52254013117e-05,1793240151941353216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,678.651617454,660.348382546,635,879.651617454,787,804,652,631.651617454,653,0.402271662671,-0.0155144595547,0.0799661802092,0.999999993378,0.000109525041204,-3.39671749771e-05,9.74701685427e-06,1793240151958020096
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,678.07206554,660.92793446,635,879.07206554,787,804,652,631.07206554,653,0.40245206957,-0.0155173162928,0.0799632825773,0.999999994194,9.84718463715e-05,-4.36004171192e-05,3.67878415876e-06,1793240151974686720
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678,660.495221712,635.504778288,879,787.504778288,804.504778288,652,631,653,0.402659428536,-0.0155145692894,0.0799570749142,0.999999995971,6.92536661525e-05,-5.69243713451e-05,-4.65304195534e-06,1793240151991353600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082561807,745,715,678,660.082561807,635.917438193,879.082561807,788,804.917438193,652,631,653,0.402877406392,-0.0155112164908,0.0799512072008,0.999999996719,4.05390035909e-05,-6.88845554273e-05,-1.31953411891e-05,1793240152008020224
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.668418178,745,715,678,660.668418178,635.331581822,879.668418178,788,804.331581822,652,631,653,0.403136785541,-0.0155090217026,0.0799502771637,0.999999996906,3.06184216419e-05,-6.93363453963e-05,-2.1061185047e-05,1793240152024686592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.74832021,745,715,678,661,635.25167979,879.74832021,788,804,652,631,653,0.403418116809,-0.0155059671312,0.0799517899737,0.999999997102,2.67258470226e-05,-6.65898495597e-05,-2.54569243353e-05,1793240152041352960
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.168442276,745,715,678,661,635.831557724,879.168442276,788,804,652,631,653,0.403728074295,-0.0155017913764,0.0799564883312,0.999999997428,3.06939788912e-05,-5.96726912132e-05,-2.53275406824e-05,1793240152058019584
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.59193609,715,678,660.59193609,635.59193609,879,788,804,652,631.40806391,653,0.404056609,-0.0155016312118,0.079957557115,0.999999997569,2.6983097516e-05,-5.82212021845e-05,-2.72740506317e-05,1793240152074686464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.016810316,715,678,660.016810316,635.016810316,879,788,804,652,631.983189684,653,0.404392749233,-0.0155031150348,0.0799571399469,0.999999997604,2.01284186166e-05,-5.90073650361e-05,-3.00704339661e-05,1793240152091353088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.561542252,715,678.561542252,660.561542252,635,879.561542252,788,804,652,631.438457748,653,0.404784329764,-0.0155082301889,0.0799572757206,0.999999997899,1.30970252482e-05,-5.46222605444e-05,-3.23598070993e-05,1793240152108019712
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.861389845,715,678.861389845,661,635,880,788,804,652,631,653,0.405184825287,-0.0155141078785,0.0799560371326,0.999999997963,5.0162725553e-06,-5.36316608534e-05,-3.42438660488e-05,1793240152124686592
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.288649943,715,678.288649943,661,635,880,788,804,652,631,653,0.405608014532,-0.0155220314018,0.0799504418726,0.999999997338,-6.3344283975e-06,-6.37603788293e-05,-3.49062845816e-05,1793240152141353216
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.295102219,715,678.295102219,660.704897781,635,879.704897781,788,804,652,631,653,0.406045845914,-0.0155310427463,0.0799442826406,0.999999996538,-9.62076243895e-06,-7.57006562326e-05,-3.31777217345e-05,1793240152158019840
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.890043472,715,678.890043472,660.109956528,635,879.109956528,788,804,652,631,653,0.406498554511,-0.0155411593742,0.0799375503833,0.999999995564,-4.71328625361e-06,-8.94815724221e-05,-2.9019798898e-05,1793240152174686720
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,635,879,788,804.468555154,651.531444846,631,653,0.406979408857,-0.0155447151246,0.0799363599722,0.999999994985,-1.74974713513e-05,-9.32443242955e-05,-3.2092751885e-05,1793240152191353344
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.95666513,660.04333487,635,879.04333487,788,805,651,631,653,0.407469658858,-0.0155463951015,0.0799358836689,0.999999994234,-3.24225169947e-05,-9.56516694419e-05,-3.64781730228e-05,1793240152208020224
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,678.381971123,660.618028877,635,879.618028877,788,805,651,631,653,0.407996870975,-0.0155433140995,0.0799287572488,0.999999993051,-2.44154790867e-05,-0.00010928984773,-3.68549073923e-05,1793240152224686848
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678.198731374,660.801268626,635,879.801268626,788,804.801268626,651.198731374,631,653,0.408550606497,-0.0155403362012,0.0799279660888,0.9999999928,-1.86001853485e-05,-0.000112506125213,-3.73644386694e-05,1793240152241353472
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.791342485,660.208657515,635,879.208657515,788,804.208657515,651.791342485,631,653,0.409156910597,-0.0155375626518,0.0799397312283,0.999999994607,-1.71288645764e-05,-9.50665010358e-05,-3.81371694962e-05,1793240152258020096
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.374124342,745,715,679,660.374124342,635.374124342,879,788,804.374124342,652,631,653,0.409805667485,-0.0155398117247,0.079967546535,0.999999997877,-2.38401655921e-05,-4.75931043994e-05,-3.75839197741e-05,1793240152274686720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951564526,745,715,679,660.951564526,635.951564526,879,788,804.951564526,652,631,653,0.41047749509,-0.0155447903144,0.0800040842177,0.999999998597,-3.49982679424e-05,1.62019823455e-05,-3.6310072974e-05,1793240152291353600
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.472800474,745,715,679,661,636,879.527199526,788,804.472800474,651.472800474,631,653,0.411112620005,-0.0155436072352,0.0800000326541,0.999999998851,-2.93895820661e-05,6.41445040815e-06,-3.73277024984e-05,1793240152308020224
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.89748162,880,788,804,651.10251838,631,653,0.41174772012,-0.0155416306167,0.0799871339789,0.999999998793,-2.43764617339e-05,-1.67959790594e-05,-3.92078017794e-05,1793240152324686592
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.322857675,880,788,804,651.677142325,631,653,0.412398181155,-0.0155385976891,0.0799506076643,0.999999996096,-2.91755137437e-05,-7.0794603487e-05,-4.40934675705e-05,1793240152341353216
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,652,631,653,0.413084374046,-0.0155375859197,0.0799257902094,0.99999999298,-3.54565691832e-05,-0.000102134922336,-4.84935640929e-05,1793240152358020096
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,652,631,653,0.413816388521,-0.0155391660247,0.0799159878512,0.99999999223,-4.36381035246e-05,-0.000104418895783,-5.22709814866e-05,1793240152374686976
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,652,631,653,0.41457990177,-0.0155423721595,0.0799356649489,0.999999995289,-4.6703077983e-05,-6.8172427176e-05,-5.092435e-05,1793240152391353600
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,651.991404973,631,653,0.415353097514,-0.015545996472,0.0799643972761,0.999999997484,-4.80469553059e-05,-2.05200975601e-05,-4.7984792324e-05,1793240152408020224
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,651.415461228,631,653,0.416093165808,-0.0155425207649,0.0799616913491,0.99999999688,-4.49830840595e-05,-4.23136892357e-05,-4.92577321696e-05,1793240152424686336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,651,631,653,0.416857407223,-0.0155401316855,0.0799607859505,0.999999996424,-4.47016765182e-05,-5.08813898044e-05,-5.06465153224e-05,1793240152441352960
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804,651,631,653,0.417684228581,-0.0155405556959,0.0799645418054,0.99999999698,-5.16235815127e-05,-2.52095681135e-05,-5.23351965088e-05,1793240152458019584
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804.336578326,651.336578326,631,653,0.418529096563,-0.0155408014236,0.0799802280621,0.999999997393,-4.8888220573e-05,1.07159824065e-05,-5.20436157073e-05,1793240152474686208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,788,804.916920177,651.916920177,631,653,0.419387034597,-0.015540918032,0.0800045547941,0.999999996506,-3.9158679913e-05,5.40676935115e-05,-5.03178496062e-05,1793240152491352832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.528849562,804.528849562,652,631,653,0.420190192182,-0.0155403772137,0.0799885537107,0.999999997232,-4.38090939075e-05,3.04282924694e-05,-5.18687716164e-05,1793240152508019712
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.022993298,804,652,631,653,0.420986355191,-0.0155398754324,0.0799670361626,0.999999997264,-5.06184466152e-05,-2.62012444061e-06,-5.38745640007e-05,1793240152524686592
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.624533853,804,652,631,653,0.421836811461,-0.0155431196093,0.0799762481246,0.999999997208,-5.12987957381e-05,9.2069904821e-06,-5.35508772525e-05,1793240152541353216
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.222718233,745,715,679.222718233,661,635,880,788,804,651.777281767,631,653,0.422700720235,-0.0155452932526,0.0799908907468,0.999999997034,-4.94194014651e-05,2.71504037228e-05,-5.24724293121e-05,1793240152558020096
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.815328748,745,715,679.815328748,661,635,880,788,804,651.184671252,631,653,0.423586971174,-0.0155456889451,0.0800145526561,0.99999999628,-4.32887643085e-05,5.52518176028e-05,-5.01404676785e-05,1793240152574686464
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.602379985,661,635,880.397620015,788,804,651.397620015,631,653,0.424409081363,-0.0155430429198,0.0799929084153,0.999999997835,-3.95990944505e-05,7.76226683777e-06,-5.19737376215e-05,1793240152591353088
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.024760204,661,635,880.975239796,788,804,651.975239796,631,653,0.425202155435,-0.0155390199303,0.0799507543998,0.99999999503,-3.70144333655e-05,-7.39467803492e-05,-5.56925782784e-05,1793240152608019712
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.449040465,745,715,679.550959535,661,635.550959535,880.449040465,788,804.550959535,651.449040465,631.550959535,653,0.426071702139,-0.0155391288347,0.0799344159449,0.999999994844,-3.93422815776e-05,-7.3105614655e-05,-5.84824322371e-05,1793240152624686592
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.129359418,635.870640582,880,787.870640582,805,651,631.870640582,653,0.426934596108,-0.0155404081314,0.0799233209687,0.999999994668,-4.35756249578e-05,-7.13414051163e-05,-6.06271163395e-05,1793240152641353216
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.717567811,635.282432189,880,787.282432189,805,651,631.282432189,653,0.427761743862,-0.0155451825228,0.0799267240352,0.999999993562,-5.37875283021e-05,-7.94169022284e-05,-6.0630904995e-05,1793240152658019840
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.301222998,804.698777002,651.301222998,631,653,0.428615426933,-0.0155471625535,0.0799359820891,0.99999999372,-5.81761584768e-05,-7.48565898444e-05,-5.97623105452e-05,1793240152674686464
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.880672553,804.119327447,651.880672553,631,653,0.429493619474,-0.0155465615547,0.0799506481395,0.999999994959,-5.71860843964e-05,-5.86251303671e-05,-5.80879338286e-05,1793240152691353344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.542612194,635,880,788,804,651.542612194,631,653,0.430375587685,-0.0155476501513,0.0799870513046,0.999999997036,-5.37965557451e-05,-3.40583732613e-06,-5.49738977494e-05,1793240152708019968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,880,787.966615429,804,651,631,653,0.431253803159,-0.0155489962304,0.0800264764526,0.999999995805,-4.92174878285e-05,5.74056790697e-05,-5.16844382928e-05,1793240152724686592
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,880,787.390771758,804,651,631,653,0.432055129632,-0.0155474062324,0.0800234062157,0.999999997038,-3.54210064159e-05,4.4791584897e-05,-5.16112072225e-05,1793240152741353216
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.189836956,661.189836956,635.189836956,880,787.189836956,804.189836956,651.189836956,631,653,0.43282992341,-0.0155454081929,0.0799997111003,0.999999998068,-3.04449049261e-05,5.53447636717e-06,-5.39158907627e-05,1793240152758019840
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.780506969,661.780506969,635.780506969,880,787.780506969,804.780506969,651.780506969,631,653,0.433548694625,-0.01554254859,0.079932467387,0.999999993105,-4.40926763582e-05,-8.99782824846e-05,-6.12414445746e-05,1793240152774686208
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.637842775,880.362157225,788,804.637842775,651.637842775,631,653,0.434334930665,-0.015545355065,0.0799135853038,0.999999990419,-5.65098346497e-05,-0.000108792839722,-6.42912094408e-05,1793240152791352832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.061526325,880.938473675,788,804.061526325,651.061526325,631,653,0.435161061529,-0.0155515121369,0.0799233015472,0.999999992191,-6.81992775161e-05,-8.22524291415e-05,-6.48125152082e-05,1793240152808019456
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.487316574,681,661.487316574,635,880.487316574,787.487316574,804.512683426,651,631,653,0.43592322109,-0.0155544300746,0.07995107354,0.99999999404,-7.20417977925e-05,-5.45421702749e-05,-6.12739689701e-05,1793240152824686336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,635,880,787.087108382,805,651,631,653,0.436670493907,-0.0155573179143,0.0799748860187,0.999999994878,-7.56781434487e-05,-3.39302409116e-05,-5.80183011229e-05,1793240152841353216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,635,880,787.664159932,805,651,631,653,0.437377039157,-0.0155622139024,0.0799642905371,0.999999993315,-8.34297754506e-05,-5.40294403696e-05,-5.90828355645e-05,1793240152858019840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.248288504,714.248288504,681,661,635,880.248288504,788,805,651,631,652.751711496,0.438058075373,-0.0155669408351,0.0799444975607,0.99999999069,-8.80603021863e-05,-8.49306964984e-05,-6.0428845384e-05,1793240152874686464
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.842270403,714.842270403,681,661,635,880.842270403,788,805,651,631,652.157729597,0.438703595167,-0.0155714323906,0.0799118988645,0.999999985601,-8.83452968316e-05,-0.000130871711451,-6.21667547112e-05,1793240152891352832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.576957974,715,681,661,634.576957974,881,787.576957974,805,651,631,652.423042026,0.439331170038,-0.0155764447708,0.0798692194758,0.99999997391,-9.97724879592e-05,-0.000194373986953,-6.66577151322e-05,1793240152908019456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.000962557,715,681,661,634.000962557,881,787.000962557,805,651,631,652.999037443,0.439952256866,-0.0155816454587,0.0798228953493,0.999999955851,-0.000115228206921,-0.000264225644883,-7.21440576243e-05,1793240152924686080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.426685277,680.426685277,661,634.573314723,880.426685277,787,805,651,631.573314723,653,0.440480263688,-0.0155834293208,0.0797526337074,0.999999918702,-0.000124678134032,-0.000375403758393,-7.82525722157e-05,1793240152941352960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.848744545,634.848744545,880,787,804.848744545,651,631.848744545,653,0.441013171342,-0.0155865087191,0.0796949849129,0.999999879127,-0.000134333083481,-0.000465583759786,-8.32655849111e-05,1793240152958019840
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.260204195,634.260204195,880,787,804.260204195,651,631.260204195,653,0.441560698052,-0.0155933500939,0.0796739161335,0.99999986348,-0.000144609829995,-0.000494857517314,-8.51084556375e-05,1793240152974686464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.324086731,660,634,880,787,804,651,631,653,0.442138157827,-0.0156051646923,0.0796900198889,0.999999873971,-0.000159570697933,-0.000468604440992,-8.36979723485e-05,1793240152991353600
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.946043822,680.946043822,659,633.053956178,880,786,805,651.053956178,630,653.053956178,0.439759698703,-0.0154673511734,0.0796305526244,0.999999828665,5.57479178018e-05,-0.000582640487992,9.62881489055e-06,1793240155048549376
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.472180718,681,659.527819282,633.527819282,880.527819282,786,805,651,630.527819282,653,0.43908546625,-0.0154587213644,0.0796261004515,0.999999828033,6.3749144594e-05,-0.000582906947359,9.46171026881e-06,1793240155065216000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.107652975,680.892347025,660,634.107652975,881,786,805,651.107652975,631,653,0.438419051558,-0.0154523255645,0.0796380523006,0.999999840364,7.14813923808e-05,-0.00056039745781,1.08136122162e-05,1793240155081882880
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.682001968,680.317998032,660,634.682001968,881,786,805,651.682001968,631,653,0.437785307487,-0.015453653266,0.0797128894129,0.999999893858,8.51753629511e-05,-0.00045243060066,1.83355532773e-05,1793240155098549248
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.262689275,660,635,881,786.262689275,805,651.737310725,631,653,0.437134246814,-0.0154504627783,0.0797797053535,0.999999931889,9.98925205845e-05,-0.000354435595882,2.48673000816e-05,1793240155115215616
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.851239205,660,635,881,786.851239205,805,651.148760795,631,653,0.436461705165,-0.0154416675699,0.0798365712053,0.999999956701,0.0001158789231,-0.000268810457778,3.01707323314e-05,1793240155131881984
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.566749479,881,787,805,651.433250521,631,653,0.435699315516,-0.0154205745966,0.0798558875507,0.999999961665,0.000141904469981,-0.000235881449126,2.98774236792e-05,1793240155148548864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.012979379,634,881,787,805,651.987020621,631.012979379,653,0.434905746165,-0.0153956083045,0.079861681226,0.99999996033,0.000171052992235,-0.000222069206717,2.76805963769e-05,1793240155165215232
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.165800245,745,715,681,661,634.165800245,880.834199755,787,805,651,631.834199755,653,0.433232095602,-0.015375278714,0.0797994560684,0.999999929457,0.000200725733586,-0.000316641794993,2.30825690602e-05,1793240155198549760
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.740739352,745,715,681,661,634.740739352,880.259260648,787,805,651,631.259260648,653,0.432341710123,-0.0153791270428,0.0797610121303,0.99999990212,0.000200935932746,-0.000393524842317,2.28563045351e-05,1793240155215216384
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.352991624,804.647008376,651,631,653,0.428147980156,-0.0153795894737,0.0798587093729,0.999999943496,0.000228433841428,-0.000243603764359,3.85200297742e-05,1793240155298548480
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.779246756,635,880,787,805,651,631,653,0.4272765189,-0.0153796313135,0.0798572551864,0.999999942794,0.000229398003911,-0.000245299963662,4.01959011047e-05,1793240155315215360
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.616965189,745,715,680,660.766069623,635,880,787.383034811,805,651,631,653,0.425448857766,-0.0153756995141,0.0797774828141,0.99999990619,0.000239650336053,-0.000359188086784,3.42294522345e-05,1793240155348548864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.025669937,745,715,680,661.948660125,635,880,787.974330063,805,651,631,653,0.424551035743,-0.0153785671959,0.0797544674135,0.99999989177,0.000238122941077,-0.000398180074429,3.47889935983e-05,1793240155365215488
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.131851471,745,715,680,660.868148529,635,879.131851471,787,805,651,631,653,0.422699107941,-0.0153688210284,0.0797389382809,0.999999871773,0.000256697043516,-0.000435165682963,3.45282998716e-05,1793240155398548480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.705564762,745,715,680,660.294435238,635,879.705564762,787,805,651,631,653,0.421903624002,-0.0153693834427,0.0797750526281,0.999999905305,0.000252073506349,-0.000352855457942,3.66267069199e-05,1793240155415215104
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.934789399,679,660,635.065210601,879.065210601,787.065210601,805,651.934789399,631,653,0.414488922212,-0.0153607918007,0.0797860076,0.999999903778,0.000257249370449,-0.000353345313533,3.76107811352e-05,1793240155565215232
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879.518606022,787,805,652,631,653,0.413754009277,-0.0153619348358,0.0797938412899,0.999999910952,0.000257525083568,-0.000332188952608,3.77784685007e-05,1793240155581881856
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651.754319064,631,653,0.411591644424,-0.015363571944,0.0798140102806,0.999999921739,0.000258407510941,-0.000296972980315,3.94278634874e-05,1793240155631881728
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651.178333202,631,653,0.410886168617,-0.0153587389837,0.0798005754511,0.999999912223,0.000260667833204,-0.000325760519277,3.85582974585e-05,1793240155648548352
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.832872195,636,879,787,804,652,631,653,0.400985532016,-0.0153463671416,0.0798406984079,0.999999919279,0.000290740662207,-0.000275104628038,3.50617299828e-05,1793240156548548608
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.081245057,715,678,660,635.081245057,879,787,804.918754943,652,631,653,0.400986083675,-0.0153450796651,0.0798410721689,0.999999919295,0.000291381906261,-0.000274444864056,3.44339441931e-05,1793240156598548480
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,744,715,678,660,635,879,787,804,651.928978378,631,653,0.400982184917,-0.0153467979649,0.0798398718572,0.999999919294,0.000288867562014,-0.000277105892063,3.43347094624e-05,1793240156631881984
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.448906818,745,715,678.551093182,660,635.551093182,879.448906818,787.551093182,804,652,631.551093182,653,0.400984205671,-0.0153461540457,0.0798410446973,0.999999919208,0.000291364751243,-0.000274775086781,3.4472871344e-05,1793240156731882240
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e49a75266232abee6170904d2a9bdbb93d9b09df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575667714487,-0.00990923910348,1.07003234312,0.54623816539,-0.00123750187895,1.06970047381
+391,6.516666667,pose2_to_pose3_retreat,0.57566746049,-0.00990922583856,1.07003234517,0.546237911261,-0.00123748908225,1.06970047539
+392,6.533333333,pose2_to_pose3_retreat,0.575667183886,-0.00990921139298,1.0700323474,0.546237634512,-0.00123747514656,1.0697004771
+393,6.550000000,pose2_to_pose3_retreat,0.575667096481,-0.00990920682824,1.07003234811,0.546237547061,-0.00123747074294,1.06970047764
+394,6.566666667,pose2_to_pose3_retreat,0.57566705032,-0.00990920441748,1.07003234848,0.546237500876,-0.00123746841728,1.06970047793
+395,6.583333333,pose2_to_pose3_retreat,0.575666930257,-0.00990919814724,1.07003234945,0.54623738075,-0.00123746236836,1.06970047867
+396,6.600000000,pose2_to_pose3_retreat,0.575666688899,-0.00990918554236,1.0700323514,0.546237139266,-0.00123745020841,1.06970048017
+397,6.616666667,pose2_to_pose3_retreat,0.575666360959,-0.00990916841579,1.07003235404,0.546236811155,-0.00123743368637,1.0697004822
+398,6.633333333,pose2_to_pose3_retreat,0.57566608302,-0.00990915390047,1.07003235628,0.546236533071,-0.0012374196834,1.06970048392
+399,6.650000000,pose2_to_pose3_retreat,0.575665903881,-0.00990915643933,1.07003235116,0.546236354131,-0.00123742156203,1.06970047845
+400,6.666666667,pose2_to_pose3_retreat,0.575665847894,-0.00990916257926,1.07003234661,0.546236298337,-0.00123742705042,1.06970047377
+401,6.683333333,pose2_to_pose3_retreat,0.575665722907,-0.00990917628611,1.07003233646,0.546236173782,-0.00123743930273,1.06970046334
+402,6.700000000,pose2_to_pose3_retreat,0.575665662722,-0.00990918288643,1.07003233156,0.546236113804,-0.00123744520265,1.06970045831
+403,6.716666667,pose2_to_pose3_retreat,0.575665622883,-0.00990918725541,1.07003232833,0.546236074103,-0.001237449108,1.06970045499
+404,6.733333333,pose2_to_pose3_retreat,0.575665508135,-0.0099091998394,1.070032319,0.546235959751,-0.00123746035662,1.06970044541
+405,6.750000000,pose2_to_pose3_retreat,0.575665351408,-0.00990921702705,1.07003230626,0.546235803565,-0.00123747572037,1.06970043233
+406,6.766666667,pose2_to_pose3_retreat,0.575664981053,-0.00990925764244,1.07003227617,0.546235434489,-0.00123751202577,1.06970040141
+407,6.783333333,pose2_to_pose3_retreat,0.575664968839,-0.00990925898188,1.07003227517,0.546235422318,-0.00123751322307,1.06970040039
+408,6.800000000,pose2_to_pose3_retreat,0.575664927069,-0.00990926356266,1.07003227178,0.546235380692,-0.00123751731775,1.0697003969
+409,6.816666667,pose2_to_pose3_retreat,0.575664589089,-0.00990927318594,1.07003223455,0.546235042425,-0.00123752772732,1.06970036457
+410,6.833333333,pose2_to_pose3_retreat,0.575664487685,-0.00990927172295,1.07003222183,0.546234940704,-0.00123752724841,1.06970035421
+411,6.850000000,pose2_to_pose3_retreat,0.575664285144,-0.00990925354578,1.07003219822,0.54623473721,-0.00123751215564,1.06970033459
+412,6.866666667,pose2_to_pose3_retreat,0.575664293302,-0.00990924208161,1.0700322006,0.546234745149,-0.00123750146174,1.06970033622
+413,6.883333333,pose2_to_pose3_retreat,0.575664332533,-0.00990918695174,1.07003221204,0.546234783329,-0.00123745003602,1.06970034409
+414,6.900000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd56194c853c03aabbc0e6e2719d37184fc0803c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19e4994481622adfb01542539589f6d50c3518b5ff8c963b4cf1816860cea6c
+size 26480358
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..327b8f64bb78ec4b81046eec19bd2bc5d10d9d21
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+42,0.700000000,BASELINE,765,744.387422353,715,679,660.387422353,635.387422353,879,787.387422353,803.387422353,652,631,653,0.400985754476,-0.0153503042368,0.079843694924,0.999999922256,0.000285002686747,-0.000270357979732,3.41887168601e-05,1793240157588846336
+43,0.716666667,BASELINE,765,744.977510968,715,679,660.977510968,635.977510968,879,787.977510968,803.977510968,652,631,653,0.400985452944,-0.0153519747368,0.0798430085513,0.999999922689,0.000282791972911,-0.000271053722624,3.4367486023e-05,1793240157605512960
+44,0.733333333,BASELINE,765,745,715,678.442374898,661,635.442374898,879,788,804,652,631,653,0.400985762113,-0.0153509123278,0.0798436959019,0.999999922314,0.000285244827365,-0.00026990038517,3.40823308993e-05,1793240157622179584
+45,0.750000000,BASELINE,765,745,715,678,661,635,879,787.863640027,804,652,631,652.863640027,0.400985763707,-0.0153499009672,0.0798440516235,0.99999992196,0.000287159799062,-0.000269215729587,3.37990185899e-05,1793240157638846208
+46,0.766666667,BASELINE,765,745,715,678,661,635,879,787.288074861,804,652,631,652.288074861,0.400984696693,-0.0153494027956,0.0798431638823,0.999999921799,0.000286747138825,-0.000270276637725,3.35808466327e-05,1793240157655513088
+47,0.783333333,BASELINE,765,745,715.286284511,678.286284511,661,635.286284511,879,787,804,652,631,652.286284511,0.400984087348,-0.0153490124179,0.0798426985882,0.99999992148,0.000286936719645,-0.000271257843424,3.35731263845e-05,1793240157672179712
+48,0.800000000,BASELINE,765,745,715.859435704,678.859435704,661,635.859435704,879,787,804,652,631,652.859435704,0.400983936601,-0.0153487300531,0.0798426566002,0.999999921,0.000287729766154,-0.000272159184734,3.37762857822e-05,1793240157688846592
+49,0.816666667,BASELINE,765,745,715.552400521,678.552400521,661,635.552400521,879.447599479,787.447599479,804,652,631.447599479,653,0.400984783282,-0.0153490688486,0.0798425889868,0.999999921608,0.000286622318788,-0.00027108914532,3.37916482636e-05,1793240157705513216
+50,0.833333333,BASELINE,765,744.9603913,715,678.0396087,661,635,879.9603913,787.9603913,804,652,631.9603913,653,0.400985817957,-0.0153495892625,0.0798425146914,0.99999992247,0.000285050125342,-0.000269567649787,3.37548352603e-05,1793240157722179584
+51,0.850000000,BASELINE,765,744.382418419,715,678.617581581,661,635,879.382418419,787.382418419,804,652,631.382418419,653,0.400985002641,-0.0153498348351,0.0798424627508,0.99999992204,0.000285554774672,-0.000270616713327,3.38382716892e-05,1793240157738846208
+52,0.866666667,BASELINE,765,744,715,678.805784646,661,635.194215354,879,787.194215354,804,652,631.194215354,653,0.400984888254,-0.0153499718285,0.079842635745,0.999999921871,0.000285919506136,-0.000270853371811,3.38464532828e-05,1793240157755513088
+53,0.883333333,BASELINE,765,744,715,678.231769612,661,635.768230388,879,787.768230388,804,652,631.768230388,653,0.400986144574,-0.0153498964885,0.0798432486123,0.999999922215,0.000286010619858,-0.000269501323808,3.37074695638e-05,1793240157772179712
+54,0.900000000,BASELINE,765,744.339884104,715,678,660.660115896,635.660115896,879,788,804,652,631.660115896,653,0.400985213829,-0.0153495876558,0.0798429545209,0.999999921588,0.000287342247386,-0.000270415431326,3.36793031375e-05,1793240157788846080
+55,0.916666667,BASELINE,765,744.909938706,715,678,660.090061294,635.090061294,879,788,804,652,631.090061294,653,0.400982801996,-0.0153491207011,0.0798420462344,0.999999920295,0.000289513954441,-0.000272864185959,3.37261825072e-05,1793240157805512704
+56,0.933333333,BASELINE,765,745,715,678,660.505296186,635,879,788,804,652,631,653,0.400984233799,-0.0153493604448,0.0798430040265,0.99999992142,0.000287734693584,-0.000270597330079,3.38470764453e-05,1793240157822179328
+57,0.950000000,BASELINE,765,745,715,678,661,635,879,787.898499156,804,652,631,653,0.400985594568,-0.0153498433754,0.0798437915127,0.99999992259,0.000285515855358,-0.000268606475428,3.39430573867e-05,1793240157838846208
+58,0.966666667,BASELINE,765,745,715,678,661,635,879,787.320601367,804,652,631,653,0.400983237053,-0.0153508453571,0.0798421363052,0.999999921887,0.000284713261464,-0.000272063833629,3.38569276893e-05,1793240157855512832
+59,0.983333333,BASELINE,765,745,715,678,661,635,879,787,804,651.744263508,631,653,0.400981728626,-0.0153512302721,0.0798408211337,0.999999921154,0.000285076950344,-0.000274377953081,3.37588825941e-05,1793240157872179456
+60,1.000000000,BASELINE,765,745,715,678,661,635,879,787,804,651.169869305,631,653,0.400981278196,-0.0153508462977,0.0798399296601,0.999999920394,0.000286893873248,-0.000275267552631,3.36459904339e-05,1793240157888845824
+61,1.016666667,BASELINE,765,744.594122825,715,678,661,635,879,787,804,651,631.405877175,653,0.40098231206,-0.0153508287233,0.0798406874721,0.999999921327,0.000285248333811,-0.000273609999263,3.34213559774e-05,1793240157905512704
+62,1.033333333,BASELINE,765,744.017808527,715,678,661,635,879,787,804,651,631.982191473,653,0.400983969213,-0.0153509650085,0.0798421378569,0.999999922958,0.000282148827016,-0.000270882837985,3.31497983774e-05,1793240157922179584
+63,1.050000000,BASELINE,765,744,715,678,661,635,879,787.574753212,804,651,631.425246788,653,0.400984813432,-0.0153516745863,0.079843439559,0.999999923646,0.000281331718929,-0.00026916990859,3.32912669928e-05,1793240157938846208
+64,1.066666667,BASELINE,765,744.162824463,715,678,661,635.162824463,879,787.837175537,804,651.162824463,631,652.837175537,0.400985479949,-0.015351771182,0.079844478856,0.999999923866,0.000281790928033,-0.000267840609429,3.35014094244e-05,1793240157955512832
+65,1.083333333,BASELINE,765,744.73820526,715,678,661,635.73820526,879,787.26179474,804,651.73820526,631,652.26179474,0.400985761891,-0.0153502683177,0.0798448652964,0.999999922977,0.000285299606991,-0.000267401392121,3.38521851909e-05,1793240157972179456
+66,1.100000000,BASELINE,765,744.687244388,715,678,661,636,879,787.312755612,804,651.687244388,631.312755612,652.312755612,0.400985792844,-0.0153507777996,0.0798448759398,0.999999923074,0.000284788626719,-0.000267559912418,3.40544115978e-05,1793240157988846080
+67,1.116666667,BASELINE,765,744.113387353,715,678,661,636,879,787.886612647,804,651.113387353,631.886612647,652.886612647,0.40098561426,-0.0153529672722,0.0798445728521,0.999999923989,0.000280921867192,-0.000268217449004,3.41326227895e-05,1793240158005512704
+68,1.133333333,BASELINE,765,744.47259284,715,678,661,636,879,787.52740716,804,651.47259284,631.52740716,653,0.400986000859,-0.0153522808065,0.0798446882003,0.999999923527,0.000283057977027,-0.000267708050429,3.40066466479e-05,1793240158022179328
+69,1.150000000,BASELINE,765,745,715,678.060612621,661,635.939387379,879,787,804,652,631,653.060612621,0.400986408871,-0.0153509877666,0.0798447900811,0.999999922755,0.000286348366193,-0.000267112983671,3.38434356432e-05,1793240158038846208
+70,1.166666667,BASELINE,765,745,715,678.640530055,661,635.359469945,879,787,804,652,631,653.640530055,0.400985807973,-0.0153505652383,0.0798438937998,0.999999922306,0.000286863842525,-0.0002682458419,3.37919874262e-05,1793240158055512832
+71,1.183333333,BASELINE,765,745,715,679,661,635.218395166,879,787.218395166,804,652,631,653.781604834,0.400984956399,-0.0153500402125,0.0798432093738,0.999999921831,0.000287349085497,-0.000269501475909,3.37167252658e-05,1793240158072179712
+72,1.200000000,BASELINE,765,745,715,679,661,635.792913773,879,787.792913773,804,652,631,653.207086227,0.400983696064,-0.0153493480502,0.0798428704071,0.999999921316,0.000287785028884,-0.000270957312942,3.3602631178e-05,1793240158088846336
+73,1.216666667,BASELINE,765,745,715,678.631278268,661,635.631278268,879,787.631278268,804,652,631,653,0.400982347698,-0.0153501142824,0.0798421553669,0.999999921416,0.000285905682753,-0.00027260996836,3.33207775072e-05,1793240158105512704
+74,1.233333333,BASELINE,765,745,715,678.054743658,661,635.054743658,879,787.054743658,804,652,631,653,0.400980949718,-0.015351702471,0.0798412283703,0.999999921851,0.000282721431206,-0.000274373551229,3.29443739465e-05,1793240158122179328
+75,1.250000000,BASELINE,765,745,715,678.534871551,661,635,879,787,804,652,631,653,0.400983186529,-0.0153509728306,0.0798422385161,0.999999921986,0.000285312928945,-0.00027112118911,3.34395263167e-05,1793240158138845952
+76,1.266666667,BASELINE,765,745,715,678.876906818,661,635,879,787,804,652,631.123093182,653,0.400985317955,-0.0153501533284,0.0798434540324,0.999999922265,0.000287270682695,-0.000267957541103,3.38260177468e-05,1793240158155512576
+77,1.283333333,BASELINE,765,745,715,678.298907053,661,635,879,787,804,652,631.701092947,653,0.400985650612,-0.0153499004143,0.07984467744,0.999999923266,0.000284646943313,-0.000267066562454,3.34730134251e-05,1793240158172179200
+78,1.300000000,BASELINE,765,744.723701118,715,678.276298882,661,635.276298882,879,787,804,651.723701118,631.723701118,653,0.400985592013,-0.0153497608641,0.0798448259671,0.999999923272,0.000284522891888,-0.000267178655834,3.34365703058e-05,1793240158188845824
+79,1.316666667,BASELINE,765,744.151487399,715,678.848512601,661,635.848512601,879,787,804,651.151487399,631.151487399,653,0.400985114381,-0.0153497427264,0.0798438233021,0.999999922215,0.000287075994984,-0.000268365034818,3.3739162807e-05,1793240158205512704
+80,1.333333333,BASELINE,765,744.434655039,715,679,660.565344961,635.565344961,879,787,804,651.434655039,631,653,0.40098444448,-0.0153496441147,0.07984309395,0.999999921724,0.000287646755651,-0.000269574117592,3.37731620325e-05,1793240158222179584
+81,1.350000000,BASELINE,765,745,715,678.974714036,660.025285964,635.025285964,879,787.025285964,804,651.974714036,631.025285964,653,0.40098380312,-0.0153495619312,0.0798425504125,0.999999921488,0.000287463801063,-0.000270651821469,3.37158254532e-05,1793240158238846208
+82,1.366666667,BASELINE,765,745,715,678.395620055,660.604379945,635.604379945,879,787.604379945,804,651.395620055,631.604379945,653,0.400985303101,-0.0153504741719,0.0798439212042,0.999999922323,0.000286405873632,-0.000268673047476,3.37761963364e-05,1793240158255512832
+83,1.383333333,BASELINE,765,745,715,678,661,635.817437457,879,788.182562543,804,651.182562543,631.817437457,653,0.400986039409,-0.015351247708,0.0798445310715,0.999999922833,0.000285549653727,-0.000267670996196,3.38879804012e-05,1793240158272179456
+84,1.400000000,BASELINE,765,745,715,678,661,635.241219941,879,788.758780059,804,651.758780059,631.241219941,653,0.400985129027,-0.0153517221586,0.0798435001768,0.999999922649,0.000285128370436,-0.00026877502692,3.41106254153e-05,1793240158288846080
+85,1.416666667,BASELINE,765,745,715,678,660.665889396,635.334110604,879.334110604,788.665889396,804,651.665889396,631,653,0.400984210548,-0.0153519664064,0.0798430214892,0.999999922309,0.000285385271988,-0.000269756840002,3.41699618375e-05,1793240158305513216
+86,1.433333333,BASELINE,765,745,715,678,660.091197563,635.908802437,879.908802437,788.091197563,804,651.091197563,631,653,0.400983286238,-0.0153520448933,0.0798429404265,0.999999921857,0.000286130510482,-0.000270650648415,3.41117055058e-05,1793240158322180096
+87,1.450000000,BASELINE,765,745,715,678.498219667,660.498219667,635.501780333,879.501780333,788,804,651.498219667,631.498219667,653,0.40098383489,-0.0153519000808,0.0798430238436,0.999999922289,0.000284997393441,-0.000270276574026,3.38857188348e-05,1793240158338846720
+88,1.466666667,BASELINE,765,745,715,678.911554789,661,635,879,788,804.088445211,652,631.911554789,653,0.400984767451,-0.015351477151,0.0798432495586,0.999999922749,0.000284129954197,-0.000269516723497,3.36652556542e-05,1793240158355513088
+89,1.483333333,BASELINE,765,745,715,678.332257973,661,635,879,788,804.667742027,652,631.332257973,653,0.400986288703,-0.0153497444832,0.0798440928163,0.999999922438,0.000286703249776,-0.000267943131836,3.3651028408e-05,1793240158372179712
+90,1.500000000,BASELINE,765,745,715,678.245362884,661,635.245362884,879,788,805,652,631,653,0.4009868203,-0.0153491388507,0.0798442069748,0.999999922168,0.000287899941414,-0.000267669108155,3.36332851685e-05,1793240158388846592
+91,1.516666667,BASELINE,765,745,715,678.820729592,661,635.820729592,879,788,805,652,631,653,0.400986020849,-0.0153500490385,0.0798433405222,0.999999921961,0.000287245152469,-0.00026914295452,3.36108130522e-05,1793240158405513216
+92,1.533333333,BASELINE,765,745,715,679,661,636,879.403698235,788,805,651.596301765,631.403698235,653,0.400985763033,-0.0153501756775,0.0798432621128,0.999999921951,0.000287317511039,-0.000269103685181,3.36099688918e-05,1793240158422180096
+93,1.550000000,BASELINE,765,745,715,679,661,636,879.99010751,788,805,651.00989249,631.99010751,653,0.400985750358,-0.0153499476878,0.0798435403663,0.99999992203,0.000287718971512,-0.000268379590223,3.36189133935e-05,1793240158438846976
+94,1.566666667,BASELINE,765,744.429573219,715.570426781,679,661,635.429573219,879.429573219,787.429573219,805,651.570426781,631.429573219,653,0.400984320248,-0.0153493110402,0.0798435650362,0.999999921641,0.000288280511191,-0.000269225255087,3.3611265223e-05,1793240158455513344
+95,1.583333333,BASELINE,765.149401571,744.149401571,715.850598429,678.850598429,661,635,879,787.149401571,804.850598429,651.850598429,631,653,0.400983625295,-0.0153494837355,0.0798437702374,0.999999921758,0.000287662712894,-0.000269445693225,3.36666493032e-05,1793240158472179968
+96,1.600000000,BASELINE,765.724840529,744.724840529,715.275159471,678.275159471,661,635,879,787.724840529,804.275159471,651.275159471,631,653,0.400985096092,-0.0153519843695,0.0798445026547,0.99999992333,0.000283674051137,-0.000267806408545,3.39025896791e-05,1793240158488846592
+97,1.616666667,BASELINE,765.700522029,745,715,678.299477971,661,635,879,787.700522029,804.299477971,651.299477971,631.299477971,653,0.400985380559,-0.0153526178924,0.0798442629972,0.999999923411,0.000283263877754,-0.000267930902117,3.39498484346e-05,1793240158505512960
+98,1.633333333,BASELINE,765.126619086,745,715,678.873380914,661,635,879,787.126619086,804.873380914,651.873380914,631.873380914,653,0.40098457794,-0.0153515404984,0.0798431325844,0.999999922131,0.000286132832513,-0.000269671624171,3.38242098235e-05,1793240158522179584
+99,1.650000000,BASELINE,765,744.537372394,715,678.537372394,661,635,879.462627606,787,804.537372394,652,631.537372394,653,0.40098505228,-0.0153505006362,0.0798436866836,0.999999921927,0.000287722680443,-0.000268732382366,3.38285258454e-05,1793240158538846208
+100,1.666666667,BASELINE,765,744,715,678.054645416,661,635.054645416,879.945354584,787.054645416,804,652,631,653,0.400985668989,-0.0153497004321,0.0798445085117,0.999999922008,0.000288665665664,-0.000267409445773,3.38863579384e-05,1793240158555512832
+101,1.683333333,BASELINE,765,744,715,678.63163256,661,635.63163256,879.36836744,787.63163256,804,652,631,653,0.400984191196,-0.0153510894991,0.0798433313171,0.999999921905,0.000286886630315,-0.000269670668397,3.41040881933e-05,1793240158572179968
+102,1.700000000,BASELINE,765,744.207086068,715,678.792913932,661,635.792913932,879.207086068,788,804,652,631,653,0.400983479596,-0.0153519431351,0.0798426829643,0.999999922012,0.000285503277176,-0.000270750822474,3.40283210435e-05,1793240158588847104
+103,1.716666667,BASELINE,765,744.779831521,715,678.220168479,661,635.220168479,879.779831521,788,804,652,631,653,0.400984120893,-0.0153518513412,0.0798429684067,0.999999922499,0.000284818594661,-0.000269745520735,3.34343148558e-05,1793240158605513728
+104,1.733333333,BASELINE,765,745,715,678.354711735,661,635,879.645288265,788,804.354711735,652,631,653,0.400984822528,-0.0153519762211,0.0798433654221,0.999999922882,0.000284138454927,-0.000269060708399,3.32798233645e-05,1793240158622180096
+105,1.750000000,BASELINE,765,745,715,678.930925068,661,635,879.069074932,788,804.930925068,652,631,653,0.400985561841,-0.0153522364041,0.0798438321097,0.999999923201,0.000283461151891,-0.000268576027248,3.33997890666e-05,1793240158638846464
+106,1.766666667,BASELINE,765,745,715,679,661,635.521277859,879,787.478722141,804.478722141,651.478722141,631,653,0.400983875761,-0.015351238269,0.079842660479,0.999999922101,0.000285750897823,-0.000270219106517,3.35418483791e-05,1793240158655513344
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804,651,631,653,0.400985316128,-0.0153521614622,0.0798431311515,0.999999923142,0.000283063201226,-0.000269173937024,3.37175081176e-05,1793240158697890816
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.423254276,715.576745724,678.576745724,661,635,879.576745724,788,804,651.576745724,631,653,0.400984533056,-0.0153507599082,0.0798430359855,0.999999922491,0.000285140316249,-0.000269454391584,3.32849120453e-05,1793240158714557440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.156516244,715.843483756,679,661,635,879.843483756,788,804,652,631,653,0.400984076438,-0.0153495913436,0.0798431662867,0.999999921863,0.000287351279942,-0.000269458499862,3.3108086191e-05,1793240158731223808
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.744627804,715.255372196,679,661,635,879.255372196,788,804,652,631,653,0.400984520023,-0.0153490652493,0.0798439183162,0.999999921304,0.000289931333332,-0.000268700580192,3.36365495164e-05,1793240158747890688
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.67182838,635,879,788,804,651.67182838,631,653,0.4009850134,-0.0153498825267,0.0798441409935,0.999999921832,0.000288663724915,-0.000268089995403,3.37242813662e-05,1793240158764557312
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.091790269,635,879,788,804,651.091790269,631,653,0.400985544994,-0.0153517308204,0.0798439574014,0.999999923183,0.000284443097204,-0.00026759248783,3.34737587983e-05,1793240158781223936
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.465876369,635.465876369,879,788,804,651.465876369,631,653,0.400986694066,-0.0153515969781,0.0798448599611,0.999999923463,0.000284085664014,-0.00026690719085,3.36073667411e-05,1793240158797890304
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.020898301,635.979101699,879,788,804,652,631.020898301,653,0.40098799988,-0.015351095766,0.0798459537783,0.99999992354,0.000284491006081,-0.000266161552815,3.38014165355e-05,1793240158814556672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.619040867,635.380959133,879,788,804,652,631.619040867,653,0.400990428673,-0.0153507401325,0.0798466902229,0.999999923523,0.000285904460549,-0.000264724359144,3.36702379542e-05,1793240158831223296
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.56985985,635,878.784929925,787.784929925,804,652,631.784929925,653,0.400999246025,-0.0153508405787,0.079850664377,0.999999924957,0.000286966630463,-0.000258046732683,3.38691852071e-05,1793240158847890176
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.385215597,635,878.192607799,787.192607799,804,652,631.192607799,653,0.401019269478,-0.0153517410293,0.0798603177618,0.999999928772,0.000287412615815,-0.000242176920839,3.4647202561e-05,1793240158864557056
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.389778892,635.389778892,878,787.389778892,804,652,631.389778892,653,0.401056279185,-0.0153535902296,0.0798749456112,0.999999935022,0.000286788311773,-0.000215488055572,3.5689920262e-05,1793240158881223936
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.967378109,635.967378109,878,787.967378109,804,652,631.967378109,653,0.401101473955,-0.015355896598,0.0798919704758,0.999999941671,0.000285648273872,-0.0001835858789,3.68601875106e-05,1793240158897890304
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,678.459387506,660.459387506,635.459387506,879.081224987,788,804,652,631.459387506,653,0.401166687892,-0.0153579588058,0.0799092239272,0.999999946819,0.000285894757366,-0.000152556487376,3.67682218046e-05,1793240158914557184
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660,635,879.886040279,787.886040279,804,651.886040279,631,652.886040279,0.401235286071,-0.0153603452857,0.079925296726,0.999999950661,0.000285985733571,-0.000124719090294,3.65386006768e-05,1793240158931224064
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660,635,879.311179785,787.311179785,804,651.311179785,631,652.311179785,0.40131272501,-0.015364102368,0.0799365391368,0.999999952702,0.000285112103641,-0.000109580147425,3.60578244586e-05,1793240158947890432
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.727725866,715,678.272274134,660,635,879,787.272274134,804,651,631,652.272274134,0.401398331733,-0.015367673552,0.0799439549737,0.999999954479,0.000283457437982,-9.75196405508e-05,3.44102573349e-05,1793240158964556800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.134130548,715,678.865869452,660,635,879,787.865869452,804,651,631,652.865869452,0.401493577568,-0.01537102535,0.0799468549226,0.999999956092,0.000280881042092,-8.90921153905e-05,3.13857153947e-05,1793240158981223168
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.445668065,744,715,679,660.445668065,635.445668065,879,787.554331935,804,651.445668065,631.445668065,653,0.4016039739,-0.0153749684307,0.0799483090448,0.999999957125,0.000278845527417,-8.49478167028e-05,2.79088049e-05,1793240158997890304
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,715,679,660.97856207,635.97856207,879,787.02143793,804,652,631.97856207,653,0.401719867124,-0.0153791533483,0.0799495028719,0.999999958044,0.000276809948504,-8.18386960602e-05,2.42866914469e-05,1793240159014556928
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,715,679,660.40282062,635.40282062,879,787.59717938,804,652,631.40282062,653,0.401863530999,-0.0153851281596,0.0799548797648,0.99999996048,0.000270690057656,-7.31649329328e-05,2.03247228105e-05,1793240159031223552
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822753948,744,715,679,660.177246052,635,879,788,804.177246052,651.822753948,631,653,0.402014204031,-0.0153906820296,0.0799593935481,0.999999962742,0.000264464355308,-6.57311969057e-05,1.5958848072e-05,1793240159047890432
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.232611719,744,715,679,660.767388281,635,879,788,804.767388281,651.232611719,631,653,0.402181204933,-0.0153952553128,0.0799618967093,0.999999964791,0.000257992165084,-6.11861157273e-05,1.06520712087e-05,1793240159064556800
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.347548487,715,679,661,635.347548487,879,788,805,651.347548487,631,653,0.402362695237,-0.0154016066946,0.0799590728738,0.999999967675,0.000245326230957,-6.67115249733e-05,3.89669340271e-06,1793240159081223424
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.92121438,715,679,661,635.92121438,879,788,805,651.92121438,631,653,0.40255361246,-0.0154091149197,0.0799527832583,0.999999970753,0.000228630604256,-7.87888632061e-05,-3.8011545414e-06,1793240159097890048
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.499605851,715,679,661,635.499605851,879,788,804.499605851,652,631,653,0.402776621635,-0.0154159324273,0.0799499803962,0.999999981374,0.000173211097915,-8.43370801857e-05,-1.17152853426e-05,1793240159114556928
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.079382055,715,679,661,635.079382055,879,788,804,652,631.079382055,653,0.403012016626,-0.015423092857,0.0799487181914,0.999999989065,0.000118308471603,-8.65744965029e-05,-1.9428383584e-05,1793240159131223552
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.65172749,715,679,661,635.65172749,879,788,804,652,631.65172749,653,0.403292600312,-0.0154330657126,0.0799535763308,0.999999991378,0.000104899713192,-7.4706774949e-05,-2.56792448808e-05,1793240159147890176
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.766614379,661,635.766614379,879,788,804.233385621,652,631.766614379,653,0.403586531076,-0.0154432305771,0.0799581043419,0.999999992686,9.78477482472e-05,-6.57104053405e-05,-2.712682834e-05,1793240159164557056
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.170481725,661,635.170481725,879,788,804.829518275,652,631.170481725,653,0.403901206947,-0.0154536938769,0.0799621192402,0.999999992838,0.000100676032776,-6.11769266511e-05,-2.11087639325e-05,1793240159181223936
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.413403519,744.586596481,715,678.413403519,660.586596481,635,879,787.586596481,804.586596481,652,631.413403519,653,0.404249253632,-0.0154620879998,0.0799601244664,0.999999994077,8.52032372738e-05,-6.33822717515e-05,-2.38711851054e-05,1793240159197890304
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992383415,744.007616585,715,678.992383415,660.007616585,635,879,787.007616585,804.007616585,652,631.992383415,653,0.404610665989,-0.0154696533757,0.0799557226986,0.999999995267,6.24004930539e-05,-6.82866506469e-05,-3.01503665123e-05,1793240159214556928
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.432626846,744.567373154,715,679,660,635.567373154,879.567373154,787.567373154,804,652,631.432626846,653,0.405009197281,-0.0154805666921,0.0799565011419,0.999999996286,5.20525595563e-05,-6.15685053717e-05,-3.04581273961e-05,1793240159231223552
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.854272485,745,715,679,660,635.854272485,879.854272485,788,804,651.854272485,631,653,0.405412697512,-0.0154916018993,0.0799557547919,0.999999996955,4.0394355477e-05,-5.92166615671e-05,-3.08604855424e-05,1793240159247890176
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.265527957,745,715,679,660,635.265527957,879.265527957,788,804,651.265527957,631,653,0.405829799171,-0.0155028719803,0.0799501630842,0.999999996708,2.42481468873e-05,-7.06095432437e-05,-3.17924167174e-05,1793240159264557056
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.317973474,744.682026526,715,678.682026526,660.317973474,635,879,787.682026526,804,651,631,653,0.406275575921,-0.0155080547218,0.0799435492705,0.999999995817,2.53641783418e-05,-8.2322886276e-05,-3.07583403748e-05,1793240159281223680
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.897167674,744.102832326,715,678.102832326,660.897167674,635,879,787.102832326,804,651,631,653,0.406744909803,-0.0155082366095,0.0799360957785,0.999999994332,4.06614377408e-05,-9.42994951106e-05,-2.81091548443e-05,1793240159297890816
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.47290611,715,678.47290611,661,635,879,787.47290611,804.47290611,651.47290611,631,653,0.40725235461,-0.0155032728784,0.0799347143323,0.999999993858,3.98185266317e-05,-9.88426369963e-05,-3.0469485178e-05,1793240159314557440
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.047755021,879,788,804.952244979,652,631.047755021,653,0.40777025322,-0.0154984298357,0.0799342908713,0.999999993601,3.46201284718e-05,-0.000102294783914,-3.3699997767e-05,1793240159331223552
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.621024914,879,788,804.378975086,652,631.621024914,653,0.408312656692,-0.0155071384107,0.0799299851882,0.999999993,1.9833541961e-05,-0.000111399545945,-3.46061341308e-05,1793240159347890176
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,787.805604368,804,652,632,653,0.408881392267,-0.0155134850317,0.079933920813,0.999999993621,1.13230179739e-05,-0.000106705551115,-3.52633968486e-05,1793240159364557056
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,787.232037023,804,652,632,653,0.409501488986,-0.0155152246241,0.0799539312377,0.999999996439,1.5054052752e-05,-7.50968651591e-05,-3.54352275754e-05,1793240159381223936
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.643951549,879,787.356048451,804,652,631.643951549,653,0.410149990941,-0.0155168100314,0.0799804467387,0.999999998856,1.09951919393e-05,-3.08800898197e-05,-3.48475264608e-05,1793240159397890560
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.046002426,879,787.953997574,804,652,631.046002426,653,0.410817791495,-0.0155182906847,0.0800113818126,0.999999999189,1.6438462719e-06,2.19026681464e-05,-3.37437964553e-05,1793240159414556928
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.527922981,787.472077019,804,652,631,653,0.411466397833,-0.0155182848114,0.0799950576657,0.999999999298,1.94881978021e-06,-9.4542334213e-06,-3.61967331407e-05,1793240159431223808
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.899311473,635,880,787,804,651.899311473,631,653,0.412117042147,-0.0155182738735,0.0799723128602,0.999999998058,1.74431293008e-06,-4.83427813335e-05,-3.92965504937e-05,1793240159447890432
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.322563135,635,880,787,804,651.322563135,631,653,0.412784885623,-0.0155188247741,0.0799378339906,0.999999994997,-4.67423336832e-06,-8.9684988879e-05,-4.405329857e-05,1793240159464557056
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.262926025,635,880,787.262926025,804,651,631,653,0.413481838508,-0.0155194508558,0.0799214563491,0.999999993209,-8.62957420346e-06,-0.000106111913479,-4.74095467225e-05,1793240159481223680
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.859507442,635,880,787.859507442,804,651,631,653,0.414215731574,-0.0155201723432,0.0799280493172,0.999999994622,-9.4590869571e-06,-9.09211350466e-05,-4.89885491186e-05,1793240159497890304
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,678.560600533,661,635,879.560600533,787.560600533,804,651,631,653,0.414987428436,-0.0155215407869,0.0799514841881,0.999999997591,-1.00832376586e-05,-4.98851904911e-05,-4.72056966622e-05,1793240159514556928
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,678.014174362,661,635,879.028348723,787,804,651,631,653,0.415770219468,-0.0155230256289,0.0799789593272,0.999999998946,-1.07656404732e-05,-3.10321011039e-06,-4.45330943147e-05,1793240159531223808
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,678.589894726,661,635,880.179789452,787,804,651,631,653,0.416531190447,-0.0155212266727,0.0799609671632,0.999999997761,-1.62619639191e-05,-4.408270058e-05,-4.76377644334e-05,1793240159547890432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.165237198,635,880.669525604,787.165237198,804,651,631,652.834762802,0.417316663995,-0.0155201104949,0.0799542057095,0.99999999683,-2.01997277931e-05,-5.86821615619e-05,-4.98924149921e-05,1793240159564556800
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.739643878,635,879.520712244,787.739643878,804,651,631,652.260356122,0.418162812109,-0.015520685051,0.0799752543625,0.999999998511,-2.02781000204e-05,-7.95793323932e-06,-5.0042200046e-05,1793240159581223680
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.324373123,661.675626877,635,879.324373123,787.675626877,804,651,631,652.324373123,0.418993886556,-0.0155235379308,0.0799896241966,0.999999998292,-1.98036497844e-05,2.38768603724e-05,-4.95257904884e-05,1793240159597890304
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.917660016,661.082339984,635,879.917660016,787.082339984,804,651,631,652.917660016,0.419812464497,-0.0155282796002,0.0799984571148,0.999999997846,-1.88708953484e-05,4.00518180173e-05,-4.84570883033e-05,1793240159614556928
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.505153725,745,715,679.505153725,661.494846275,635,880,787,804.494846275,651,631,653,0.420627369456,-0.01552845043,0.0799808273516,0.999999998237,-2.71434926113e-05,1.25631294227e-05,-5.13062601863e-05,1793240159631223552
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.069630068,745,715,679.069630068,661.930369932,635,880,787.069630068,805,651,631,653,0.421451735505,-0.0155282512822,0.0799647115928,0.999999997855,-3.47988721829e-05,-1.3394842137e-05,-5.38570627414e-05,1793240159647890688
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.227960665,880,787.772039335,805,651,631,653,0.423223931105,-0.0155317860972,0.0800088635937,0.999999997621,-2.10651794063e-05,4.55350796197e-05,-4.73283029051e-05,1793240159681223424
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.117673201,714,680.117673201,657,631,880.117673201,781,805,651,629.117673201,653,0.449548886618,-0.0157416593214,0.0795507506142,0.999999703776,-0.000347810218711,-0.000683051708765,-7.01179153739e-05,1793240161717135872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.70431929,714,680.70431929,657,631,880.70431929,781,805,651,629.70431929,653,0.449475860651,-0.015738772886,0.0795429230024,0.999999697861,-0.000346664972627,-0.00069238751664,-6.85643753702e-05,1793240161733802496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.71258561,657,631,881,781,805.28741439,651,630,653,0.449395251401,-0.0157339758072,0.0795392603026,0.999999696808,-0.000343822349856,-0.000695496032654,-6.6752268139e-05,1793240161750469376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.133099079,657,631,881,781,805.866900921,651,630,653,0.449306935978,-0.015727237122,0.0795398300108,0.999999700738,-0.000339254843307,-0.000692276338665,-6.46774035139e-05,1793240161767136000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.553872828,745.553872828,714,680,657,631,880.553872828,781.446127172,806,651,630,653,0.449192589305,-0.0157230578306,0.0795391735884,0.999999700259,-0.00033622148952,-0.000694712086463,-6.17399034849e-05,1793240161783802624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.025009951,631,880.025009951,782,805.974990049,651,630,653,0.449069352771,-0.0157194872732,0.0795380453595,0.999999698355,-0.000333634940418,-0.000698963472895,-5.85424128027e-05,1793240161800469504
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.59806695,631,880.59806695,782,805.40193305,651,630,653,0.448921395091,-0.0157125333478,0.0795345896935,0.999999694499,-0.000330815394023,-0.000706049524138,-5.52840206778e-05,1793240161817135872
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.176366112,745.176366112,714,680,657.823633888,631,880.823633888,782,805,651,630,653,0.448765836695,-0.0157057289045,0.0795324051033,0.99999969248,-0.000326765661624,-0.000711046338552,-5.17507992318e-05,1793240161833802240
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.648988817,714,680.702022367,657.351011183,631,880,782,805,651,630,653,0.448395595686,-0.0156907009613,0.0795350376518,0.99999969786,-0.000309488787315,-0.000711823385839,-4.24720853924e-05,1793240161867135744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.069242323,714,681.861515355,657.930757677,631,880,782,805,651,630,653,0.448183504294,-0.0156807440459,0.0795375410054,0.999999701125,-0.000296936441865,-0.000712900302657,-3.67717813014e-05,1793240161883802368
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.079735524,657.920264476,631.920264476,880.079735524,782,805,651,630.079735524,653,0.447673924529,-0.0156606254815,0.0795299309885,0.99999969903,-0.000260543386532,-0.000730378807868,-2.4574559797e-05,1793240161917135872
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.655067017,657.344932983,631.344932983,880.655067017,782,805,651,630.655067017,653,0.447393948014,-0.015646457779,0.079532051609,0.999999714651,-0.000207109895678,-0.000726273684797,-1.81515746859e-05,1793240161933802496
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.237614404,714,681,657,631,880.762385596,782.237614404,805.237614404,651,630.762385596,653,0.447102828962,-0.0156329834694,0.0795360793623,0.99999972698,-0.000166758125787,-0.000719789383277,-1.1624063009e-05,1793240161950469120
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.830964773,714,681,657,631,880.169035227,782.830964773,805.830964773,651,630.169035227,653,0.446795028274,-0.015620547249,0.0795429623117,0.999999737463,-0.000145991193661,-0.000709743181727,-4.94006353663e-06,1793240161967135744
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.588219385,745.588219385,714,680.588219385,657.411780615,631.411780615,880,783,805.588219385,651,630,653,0.446447208828,-0.0156089581892,0.0795485968105,0.999999743104,-0.000130530939825,-0.000704807709959,-6.04622115553e-07,1793240161983802368
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.012396961,745.012396961,714,680.012396961,657.987603039,631.987603039,880,783,805.012396961,651,630,653,0.446083447044,-0.0155977066145,0.0795537339616,0.999999746792,-0.000117184717778,-0.000701908209341,2.79521970893e-06,1793240162000468992
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.561988406,745,714,680,658,632,880,783.561988406,805.561988406,651,630,653,0.445665109605,-0.0155851621544,0.0795641042189,0.999999754073,-0.000113281092614,-0.000692111606245,-1.84708515624e-06,1793240162017135616
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.727528286,658,632,880,784,805.272471714,651,630,653,0.44480136059,-0.0155607745736,0.079582625272,0.999999775134,-8.89492513611e-05,-0.000664688657387,-2.96894045879e-06,1793240162050469120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.311344063,714,680.688655937,658,632,880,784,805,651,630.311344063,653,0.444333048853,-0.0155494143537,0.0795895692523,0.999999782944,-7.00212061597e-05,-0.000655139257212,-1.16666199338e-06,1793240162067135744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.891583358,714,680.108416642,658,632,880,784,805,651,630.891583358,653,0.443839834099,-0.0155385722547,0.0795951645091,0.999999786739,-4.97614723067e-05,-0.000651187519632,4.09977823197e-07,1793240162083802368
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785,805,651,631,653,0.441051036695,-0.015484682061,0.0796635049109,0.999999854104,2.43745991341e-05,-0.0005395239342,1.0609100576e-05,1793240162167135744
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.524560633,786,805,651,631,653,0.439036623142,-0.0154603700278,0.0796325733975,0.99999983382,6.22036140538e-05,-0.000573040065035,1.07375486552e-05,1793240162217136128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.099085042,681,660,634,880.900914958,786,805.099085042,651,631,653,0.438352332496,-0.0154558541666,0.0796449851092,0.999999846286,6.95386315593e-05,-0.000549930677889,1.29737846329e-05,1793240162233803008
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.67721384,681,660,634,880.32278616,786,805.67721384,651,631,653,0.437685146005,-0.0154559349843,0.0797248783031,0.999999902277,8.19825683161e-05,-0.000433939092388,2.05465212676e-05,1793240162250470144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,880,786.261679876,805.738320124,651,631,653,0.43700755523,-0.0154529364981,0.0797943242902,0.999999940459,9.64714890455e-05,-0.000330176952645,2.75555619509e-05,1793240162267136768
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.435167969,880,787,805,651,631,653,0.435549423857,-0.0154411860516,0.0798630483142,0.99999996702,0.000123116014858,-0.000222505462884,3.59799598581e-05,1793240162300469248
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.012367544,634.987632456,880,787,805,651,631,653,0.43475593224,-0.0154367976462,0.0798606425353,0.999999965191,0.000130364444975,-0.000226458123656,3.66150821795e-05,1793240162317135616
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.58651955,634.41348045,880,787,805,651,631,653,0.433913561072,-0.0154236629975,0.0798308520969,0.999999953499,0.000143434025366,-0.000267303693642,3.12705281929e-05,1793240162333802496
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,634.751567229,880,787,805,651,631,652.248432771,0.432133204033,-0.0153825038179,0.0797517497773,0.99999989548,0.000193070542578,-0.000413818438005,2.27696820588e-05,1793240162367136000
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.916630064,787,805,651,631.916630064,652.916630064,0.430362835573,-0.0153612638838,0.0797138380537,0.999999861592,0.000217600168132,-0.000478498655489,2.2489987529e-05,1793240162400469248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.507227488,635,880.507227488,787,805,651,631.507227488,653,0.429576382639,-0.0153671949143,0.0797767937221,0.999999904279,0.00022344820956,-0.000375171819249,2.75491014051e-05,1793240162417135872
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.778869759,660,635.778869759,879.778869759,787,805,651.778869759,631,653.221130241,0.415789294484,-0.0153601555484,0.0798111062981,0.999999917536,0.000255223393911,-0.000313653124767,3.75570898844e-05,1793240162683802880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.362784927,715,680,660,635.637215073,880,787,804.637215073,652,631,653,0.414987849084,-0.0153573218029,0.079802267044,0.999999910892,0.000258007914038,-0.000332082602446,3.70024998503e-05,1793240162700469760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.940458564,715,680,660,635.059541436,880,787,804.059541436,652,631,653,0.414201894053,-0.0153541065004,0.0797823965585,0.999999900057,0.000260181730334,-0.000361928733607,3.46304658847e-05,1793240162717136384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.969633664,715,679.484816832,660,635,879.484816832,787,804.515183168,651.484816832,631,652.484816832,0.413489818053,-0.0153588393187,0.0797961805984,0.999999913023,0.000254922931568,-0.000328124071277,3.61039707872e-05,1793240162733802752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.092084569,715.092084569,679.092084569,660,635,879.184169138,787,804.907915431,651.092084569,631.092084569,652.092084569,0.412786443816,-0.0153632980193,0.0798114389181,0.999999924758,0.00025046841311,-0.000293815099583,3.76996000318e-05,1793240162750469376
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.682602818,715.682602818,679.682602818,660,635,880.365205636,787,804.317397182,651.682602818,631.682602818,652.682602818,0.412084216638,-0.0153613291486,0.0798137436506,0.999999922867,0.000254990471496,-0.000296368016123,3.75642879561e-05,1793240162767136256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715.731973807,679.731973807,660,635,880.463947613,787.268026193,804.268026193,651.731973807,632,653,0.411374685015,-0.0153592320874,0.0798091514872,0.999999918369,0.000258985273188,-0.000307896648244,3.72624607566e-05,1793240162783802880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715.152471283,679.152471283,660,635,879.304942566,787.847528717,804.847528717,651.152471283,632,653,0.41065666486,-0.0153569860548,0.0797965443612,0.999999910503,0.000262367343394,-0.000329856062656,3.67671244088e-05,1793240162800469504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.578398123,715,679,660,635,879.421601877,787.578398123,804.578398123,651.421601877,631.578398123,653,0.41001197038,-0.0153550508177,0.0797997088675,0.999999910402,0.000266194209913,-0.000327024092365,3.73122483324e-05,1793240162817136128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.006263467,715,679,660,635,879.993736533,787.006263467,804.006263467,651.993736533,631.006263467,653,0.409393456744,-0.0153532265499,0.0798085046278,0.999999913051,0.000270179891042,-0.00031534037004,3.82288681311e-05,1793240162833803008
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.570101704,715,679,660,635,879.429898296,787,804.570101704,651.429898296,631,653,0.408823791272,-0.0153510761192,0.0798324450245,0.999999925172,0.00026989662232,-0.000274224054318,4.0151415444e-05,1793240162850469632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.150045119,635,879.300090239,787.150045119,804.849954881,651.150045119,631,653,0.408253354146,-0.0153487310889,0.0798456840274,0.999999930229,0.000272145360538,-0.000252566256861,4.1110341304e-05,1793240162867136256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.740350508,635,880.480701016,787.740350508,804.259649492,651.740350508,631,653,0.40767906623,-0.0153458256598,0.0798270312952,0.999999917731,0.000281962124145,-0.000288959261947,3.92091531278e-05,1793240162883802880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880.675870968,788,804.324129032,652,631,653,0.407111514786,-0.0153443133712,0.0798025128158,0.999999903872,0.000283137063326,-0.000332700114768,3.74300733188e-05,1793240162900469760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880.097217739,788,804.902782261,652,631,653,0.40654925323,-0.0153438950544,0.0797733882256,0.999999887808,0.000277525958963,-0.000382210904967,3.57468798839e-05,1793240162917136384
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.477617307,635,879.522382693,788,804.522382693,652,631.477617307,653,0.406083240341,-0.0153459819584,0.0797741881942,0.99999989121,0.000276765103736,-0.000373822608925,3.5189150081e-05,1793240162933803008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.05182851,745,715.05182851,679,661.89634298,635,879,787.94817149,804,651.94817149,632,653,0.405640546723,-0.0153483029716,0.0797821216786,0.999999898877,0.000277143845297,-0.000352440797157,3.49787268459e-05,1793240162950469376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.627527342,745,715.627527342,679,660.744945315,635,879,787.372472658,804,651.372472658,632,653,0.40523710642,-0.0153478769192,0.0798010802906,0.999999909862,0.000279141559137,-0.000317900936147,3.59816219226e-05,1793240162967135744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.790433075,745,715.790433075,679,660,635,879,787.209566925,804.209566925,651.209566925,631.790433075,653,0.404843371345,-0.0153469096445,0.0798169446088,0.999999917497,0.000279267478265,-0.000292643948652,3.70800252486e-05,1793240162983802368
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.19677224,745,715.19677224,679,660,635,879,787.80322776,804.80322776,651.80322776,631.19677224,653,0.404467424044,-0.0153449504185,0.0798271377088,0.999999920745,0.000275962775439,-0.000284400600598,3.83534758877e-05,1793240163000469248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.386249391,635,879,788,804.613750609,652,631,653,0.404100655896,-0.0153398694455,0.0798307611039,0.999999917354,0.000287317897061,-0.000284894142335,3.96935764347e-05,1793240163017135872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.963996293,635,879,788,804.036003707,652,631,653,0.403738438622,-0.0153332407501,0.0798311273242,0.999999910388,0.000305941171918,-0.000289719321551,4.10667212573e-05,1793240163033802496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.460412317,635,879,787.460412317,804,651.460412317,631,653,0.403429980736,-0.0153320706874,0.0798324394596,0.999999912709,0.000297835995872,-0.000290517030186,3.841845832e-05,1793240163050469376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.882254417,745,715,678.882254417,660,635,879,787,804.117745583,651.117745583,631,653,0.403136002066,-0.0153312725859,0.0798343009922,0.999999915115,0.000290440779373,-0.000289983181559,3.63867519516e-05,1793240163067136256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.293250953,745,715,678.293250953,660,635,879,787,804.706749047,651.706749047,631,653,0.402885674512,-0.0153305112493,0.079838109794,0.999999915692,0.000292996600345,-0.000285191260965,3.78923741352e-05,1793240163083802624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.290019244,745,715,678.290019244,660,635,879.290019244,787.290019244,804.709980756,652,631.290019244,653,0.402646813233,-0.0153322714084,0.0798401060063,0.999999916202,0.000292475266841,-0.000283897224238,3.81707264769e-05,1793240163100469504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.867604635,745,715,678.867604635,660,635,879.867604635,787.867604635,804.132395365,652,631.867604635,653,0.402419321257,-0.0153365317356,0.0798403049606,0.999999916656,0.000288902806505,-0.000286071485184,3.72321896214e-05,1793240163117136128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.445150013,880,787.554849987,804.445150013,652,631.554849987,653,0.402218597901,-0.0153461457544,0.0798374378688,0.999999918526,0.000278902918475,-0.000289470791136,3.69847746164e-05,1793240163133803008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.977476857,660,635.977476857,879.977476857,787,805,651.977476857,631.022523143,653,0.402027628537,-0.0153567894706,0.0798338695996,0.999999920603,0.000267726598821,-0.000292828410808,3.6997169922e-05,1793240163150469632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.40402573,660,635.40402573,879.40402573,787,805,651.40402573,631.59597427,653,0.401880523035,-0.0153536755962,0.0798354536013,0.999999920611,0.000274529387384,-0.000286254978558,3.83372122429e-05,1793240163167136256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.175368376,660,635,879,787,804.824631624,651.175368376,631.824631624,653,0.401743265133,-0.0153507184704,0.0798383797684,0.999999920785,0.000280249296631,-0.000279890382185,3.93819802701e-05,1793240163183802880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.768934513,660,635,879,787,804.231065487,651.768934513,631.231065487,653,0.401629490645,-0.0153481351406,0.079844506573,0.999999921512,0.000283386882429,-0.000274023793894,3.97226128979e-05,1793240163200469248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651.647529776,631,653,0.401521426021,-0.0153481496416,0.0798474826223,0.999999924121,0.000278063208911,-0.000270188488086,3.79168780302e-05,1793240163217135872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651.070387611,631,653,0.401417000973,-0.0153498200545,0.0798484503145,0.999999927842,0.00026734615088,-0.00026764796389,3.47430033699e-05,1793240163233802752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.503036122,635,879,787,804.503036122,651,631,653,0.401330920962,-0.0153457064745,0.0798449813196,0.999999923036,0.000279624122559,-0.000273187411141,3.32837564343e-05,1793240163250469376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.078047057,745,715,678.921952943,660.921952943,635.078047057,879.078047057,787,805,651.078047057,631,652.921952943,0.401250703213,-0.0153416614716,0.0798410235698,0.99999991752,0.000292884738396,-0.000279527058166,3.23028383722e-05,1793240163267136256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.66682453,745,715,678.33317547,660.33317547,635.66682453,879.66682453,787,805,651.66682453,631,652.33317547,0.401192172877,-0.0153433225122,0.0798379001351,0.999999916662,0.000291674633132,-0.000283758933772,3.28935571114e-05,1793240163283802880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.746883227,745,715,678,660.506233545,635.746883227,879.746883227,787,805,651.746883227,631,652.253116773,0.401141152209,-0.0153443965464,0.0798361914106,0.999999916434,0.000290489186545,-0.00028570700608,3.34590003056e-05,1793240163300469504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.1638305,745,715,678,661.672339,635.1638305,879.1638305,787,805,651.1638305,631,652.8361695,0.401099920343,-0.0153447054217,0.0798363267512,0.999999917044,0.000289335882451,-0.000284678156404,3.39914969673e-05,1793240163317136128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.412241841,661.175516318,635,879,787.412241841,804.587758159,651,631.412241841,653,0.40106848792,-0.0153424162145,0.0798378212903,0.999999916756,0.000291365107336,-0.000283564512325,3.44440289756e-05,1793240163333802496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.985586259,660.028827482,635,879,787.985586259,804.014413741,651,631.985586259,653,0.401040885084,-0.0153391116864,0.0798398469992,0.999999916107,0.000294638052726,-0.00028241773093,3.48653110823e-05,1793240163350469120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.438770609,660,635,879,788,804,651,631.438770609,653,0.401022849279,-0.0153412039245,0.0798378053586,0.999999916374,0.000291496866854,-0.00028475294585,3.458818681e-05,1793240163367136000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.140341926,660,635.140341926,879,788,804,651,631,653,0.401007776185,-0.0153431841777,0.0798363214679,0.999999916791,0.000288936604855,-0.000285921792736,3.43787633707e-05,1793240163383802880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.730381406,660,635.730381406,879,788,804,651,631,653,0.401001405961,-0.0153443596477,0.0798369608717,0.99999991765,0.000288767814434,-0.00028306552003,3.44439849245e-05,1793240163400469504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.685416847,879,788,804,651,631,653,0.400995415138,-0.0153440655781,0.0798374168417,0.999999917702,0.000289685004946,-0.000281947120344,3.44213300957e-05,1793240163417136128
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.106127204,879,788,804,651,631,653,0.400989743561,-0.0153425349624,0.079837718461,0.999999917076,0.000291515995806,-0.000282291056333,3.43247315538e-05,1793240163433803008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.530177625,745,715.469822375,678.530177625,660,635,878.530177625,788,804.469822375,651.469822375,631,653,0.400988156211,-0.0153425146167,0.0798389302845,0.99999991747,0.000291880831975,-0.000280488529199,3.45122008127e-05,1793240163450469376
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.044884667,745,715.955115333,678,660.044884667,635,878.089769333,788,804.955115333,652,631.044884667,653,0.400987549435,-0.0153429337996,0.0798402785725,0.999999918089,0.000291874563834,-0.000278254437627,3.4730908798e-05,1793240163467136000
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.618320774,745,715.381679226,678,660.618320774,635,879.236641548,788,804.381679226,652,631.618320774,653,0.4009877023,-0.0153445398054,0.0798408297802,0.999999918698,0.000291370704577,-0.000276607637683,3.45671894544e-05,1793240163483802624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.198909386,661,635,880,787.801090614,804,652,631.801090614,653,0.400987315889,-0.0153454605421,0.0798411440252,0.999999919238,0.000290432401802,-0.000275666505341,3.43772046221e-05,1793240163500469248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.793734542,661,635,880,787.206265458,804,652,631.206265458,653,0.400985856086,-0.0153450172969,0.0798409866118,0.99999991964,0.00028862936842,-0.00027612995706,3.41349401088e-05,1793240163517135872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.376525629,879.623474371,787,804,652,631,653,0.400985707627,-0.0153436526601,0.0798414816796,0.999999919596,0.000289331853106,-0.000275574984509,3.39596419123e-05,1793240163533802752
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.952928456,879.047071544,787,804,652,631,653,0.400986255291,-0.0153417989061,0.0798423231147,0.999999919312,0.000291364382591,-0.000274479385293,3.38198925381e-05,1793240163550469632
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.472918407,879,787,804,651.472918407,631,653,0.400984629777,-0.0153433072883,0.0798419126426,0.999999919268,0.000290313274143,-0.000275751547067,3.38103195108e-05,1793240163567136512
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.898730876,787.101269124,804,651,631,653,0.400983588772,-0.0153449269916,0.0798417115994,0.999999919374,0.000289205759303,-0.00027652784397,3.3837451952e-05,1793240163583803136
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.32344611,787.67655389,804,651,631,653,0.400986188278,-0.0153456682966,0.0798430119376,0.999999920091,0.000289117761948,-0.000273997557074,3.39822086442e-05,1793240163600469760
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.741796,635,878.516408,787.741796,804,651.258204,631,653,0.400986663252,-0.0153458344481,0.0798433165587,0.999999920388,0.000288771539655,-0.000273283102694,3.3927929632e-05,1793240163617136384
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2c1432f90c74308809ea5689df2967c430f094e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575719953827,-0.00990927182871,1.07003230187,0.546290406625,-0.00123752772351,1.06970044408
+385,6.416666667,pose2_to_pose3_retreat,0.575703520301,-0.00990919260699,1.07003240406,0.546273971548,-0.00123745391261,1.06970054239
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+388,6.466666667,pose2_to_pose3_retreat,0.575677715802,-0.00990922595822,1.07003263033,0.546248166965,-0.00123748774608,1.06970076361
+389,6.483333333,pose2_to_pose3_retreat,0.575674534284,-0.00990919737275,1.07003265305,0.546244985284,-0.00123745979732,1.06970078423
+390,6.500000000,pose2_to_pose3_retreat,0.575672456385,-0.00990918042929,1.07003246606,0.546242907524,-0.00123744231888,1.06970059885
+391,6.516666667,pose2_to_pose3_retreat,0.575671228288,-0.00990917041523,1.07003235555,0.54624167951,-0.00123743198863,1.06970048929
+392,6.533333333,pose2_to_pose3_retreat,0.575670638827,-0.00990916560868,1.0700323025,0.546241090088,-0.00123742703032,1.0697004367
+393,6.550000000,pose2_to_pose3_retreat,0.575670267545,-0.00990916258121,1.07003226909,0.546240718832,-0.00123742390725,1.06970040358
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+395,6.583333333,pose2_to_pose3_retreat,0.575669605424,-0.00990915718218,1.07003220951,0.546240056755,-0.00123741833775,1.06970034451
+396,6.600000000,pose2_to_pose3_retreat,0.575669072697,-0.00990915837832,1.07003221956,0.54623952403,-0.00123741953188,1.06970035448
+397,6.616666667,pose2_to_pose3_retreat,0.575669025722,-0.00990915857563,1.07003222141,0.546239477055,-0.00123741973124,1.06970035631
+398,6.633333333,pose2_to_pose3_retreat,0.57566889059,-0.00990915914321,1.07003222672,0.546239341921,-0.00123742030476,1.06970036158
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+400,6.666666667,pose2_to_pose3_retreat,0.575668558433,-0.00990916053833,1.07003223978,0.546239009761,-0.00123742171446,1.06970037454
+401,6.683333333,pose2_to_pose3_retreat,0.575668095447,-0.00990916248296,1.07003225799,0.54623854677,-0.00123742367941,1.0697003926
+402,6.700000000,pose2_to_pose3_retreat,0.575667983428,-0.00990916295346,1.0700322624,0.546238434751,-0.00123742415483,1.06970039697
+403,6.716666667,pose2_to_pose3_retreat,0.575667952409,-0.00990916308375,1.07003226362,0.546238403731,-0.00123742428647,1.06970039818
+404,6.733333333,pose2_to_pose3_retreat,0.575667696389,-0.00990916415908,1.07003227369,0.546238147709,-0.00123742537304,1.06970040817
+405,6.750000000,pose2_to_pose3_retreat,0.575667666951,-0.00990916428273,1.07003227484,0.546238118271,-0.00123742549798,1.06970040932
+406,6.766666667,pose2_to_pose3_retreat,0.575667305802,-0.00990916579963,1.07003228905,0.546237757118,-0.00123742703073,1.06970042341
+407,6.783333333,pose2_to_pose3_retreat,0.575666923984,-0.00990916740333,1.07003230406,0.546237375297,-0.0012374286512,1.06970043831
+408,6.800000000,pose2_to_pose3_retreat,0.57566661423,-0.00990916870436,1.07003231624,0.54623706554,-0.00123742996582,1.06970045039
+409,6.816666667,pose2_to_pose3_retreat,0.575666475089,-0.00990916928878,1.07003232172,0.546236926397,-0.00123743055634,1.06970045582
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+411,6.850000000,pose2_to_pose3_retreat,0.575665625655,-0.00990911140615,1.0700323405,0.546236077043,-0.00123737247972,1.06970047256
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c61e448b7d39d339df4f48499090b49a55c344a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f0695f5c9146c98c26cb4717bb376aeff5b9318be5e6cd54f1c27d93947784
+size 26541346
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed34b6070e3cc82525de46426484d3ba766468c7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
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+8,0.133333333,BASELINE,765.362050854,744.362050854,715,678.637949146,661,635,879,787.637949146,804,651.362050854,631.362050854,653.637949146,0.400988046867,-0.0153469042132,0.0798464855893,0.999999923038,0.000286460815511,-0.000265997114528,3.33069171568e-05,1793240164173324544
+9,0.150000000,BASELINE,765,744.212764487,715,678.787235513,660.787235513,635,879,787.787235513,804,651,631,653.787235513,0.400987880348,-0.0153471418248,0.0798466444038,0.999999923044,0.000286546790447,-0.000265870590861,3.34176118132e-05,1793240164189991168
+10,0.166666667,BASELINE,765,744.786425068,715,678.213574932,660.213574932,635,879,787.213574932,804,651,631,653.213574932,0.400986542079,-0.0153481112667,0.0798465225452,0.999999923139,0.000285135953561,-0.000267010389848,3.3545923209e-05,1793240164206657792
+11,0.183333333,BASELINE,765,745,715,678.373216462,660.373216462,635,879,787,804,651.373216462,631,653,0.40098645036,-0.0153481606294,0.0798467006188,0.999999922606,0.000286956028278,-0.000267051991239,3.35907338886e-05,1793240164223324416
+12,0.200000000,BASELINE,765,745,715,678.967796093,660.967796093,635,879,787,804,651.967796093,631,653,0.400987097997,-0.0153476642723,0.0798470565889,0.999999921689,0.000290692429994,-0.000266442226772,3.35860184068e-05,1793240164239991040
+13,0.216666667,BASELINE,765,745,715,678.454179394,661,635,879,787,804,652,631,653,0.400986476718,-0.0153473001527,0.0798464249803,0.999999921539,0.000290642425427,-0.000267056323223,3.36116030657e-05,1793240164256657920
+14,0.233333333,BASELINE,765,745,715,678,661,635,879,787,804.121970523,652,631,653,0.400985889265,-0.0153470334678,0.0798458581982,0.999999921534,0.00029008049834,-0.000267694814471,3.35350866228e-05,1793240164273324544
+15,0.250000000,BASELINE,765,745,715,678,661,635,879,787,804.694696313,652,631,653,0.400985695352,-0.0153470988786,0.079845739986,0.999999921902,0.000288428006085,-0.000268164459397,3.30748322334e-05,1793240164289991168
+16,0.266666667,BASELINE,765,744.724818663,715,678.275181337,661,635,878.724818663,787,804.724818663,651.724818663,631,653,0.400985833502,-0.0153473288772,0.0798460211561,0.99999992213,0.000287864400808,-0.000267910975713,3.31202768327e-05,1793240164306657792
+17,0.283333333,BASELINE,765,744.135475309,715,678.864524691,661,635,878.135475309,787,804.135475309,651.135475309,631,653,0.400986350755,-0.0153477467783,0.0798467582827,0.999999922202,0.000288543928369,-0.000266831928957,3.37430549949e-05,1793240164323324416
+18,0.300000000,BASELINE,765,744.446788707,715,679,661,635,878.446788707,787.446788707,804,651.446788707,631,652.553211293,0.400986325654,-0.0153473931044,0.0798462882646,0.999999922672,0.000287025958945,-0.000266759422622,3.33421401295e-05,1793240164339991296
+19,0.316666667,BASELINE,765,745,715,679,661,635,879,788,804,652,631,652,0.400986152923,-0.015346828033,0.0798455196686,0.99999992321,0.000285010167458,-0.000266986577978,3.26811798465e-05,1793240164356657664
+20,0.333333333,BASELINE,765,745,715,679,661,635,879,788,804,652,631,652,0.400986272986,-0.0153466512899,0.0798460189857,0.999999922793,0.000286241202302,-0.000267197693713,3.29549272525e-05,1793240164373324288
+21,0.350000000,BASELINE,765,744.820175795,715,679,660.820175795,635,879,788,804.179824205,652,631,652.179824205,0.400986378975,-0.0153474662363,0.0798463505055,0.999999922695,0.000286403482407,-0.000267350635869,3.32675431131e-05,1793240164389990912
+22,0.366666667,BASELINE,765,744.247207355,715,679,660.247207355,635,879,788,804.752792645,652,631,652.752792645,0.400986454196,-0.0153504492832,0.079846315175,0.999999923295,0.000284229176098,-0.000267376394855,3.36651358674e-05,1793240164406657536
+23,0.383333333,BASELINE,765,744.336642575,715,678.663357425,660.336642575,635,879,787.663357425,805,652,631.336642575,653,0.400986537652,-0.0153507322881,0.0798465619768,0.999999923688,0.000283274581233,-0.000266947185286,3.34356471425e-05,1793240164423324416
+24,0.400000000,BASELINE,765,744.928750104,715,678.071249896,660.928750104,635,879,787.071249896,805,652,631.928750104,653,0.400986627357,-0.0153489663365,0.079847022878,0.999999923926,0.000283245577704,-0.000266172717784,3.27302907195e-05,1793240164439991040
+25,0.416666667,BASELINE,765.507827338,745,715,678.507827338,661,635,879,787,805,652,631.492172662,653,0.400987367598,-0.0153495062806,0.0798474370311,0.999999924507,0.000282160533043,-0.000265114835354,3.29525092439e-05,1793240164456657664
+26,0.433333333,BASELINE,765.914914593,745,715,678.914914593,661.085085407,635,879,787.085085407,804.914914593,651.914914593,631,653,0.400987933734,-0.0153500924787,0.0798477607351,0.999999924981,0.000281201550967,-0.000264310922031,3.32245916554e-05,1793240164473324544
+27,0.450000000,BASELINE,765.337868523,745,715,678.337868523,661.662131477,635,879,787.662131477,804.337868523,651.337868523,631,653,0.400986978678,-0.0153491223029,0.0798475984408,0.999999924581,0.000281806716915,-0.000265199610855,3.30513343546e-05,1793240164489991168
+28,0.466666667,BASELINE,765,745,715,678.242448343,661.515103314,635,879,787.757551657,804,651.242448343,631,653,0.400986820184,-0.0153483882611,0.079847340579,0.999999924041,0.000283266051135,-0.000265691066952,3.29659706625e-05,1793240164506657792
+29,0.483333333,BASELINE,765,745,715,678.827385586,660.345228828,635,879,787.172614414,804,651.827385586,631,653,0.400987786937,-0.0153479877884,0.0798469477161,0.999999923299,0.000285932005862,-0.00026562138161,3.30047678018e-05,1793240164523324672
+30,0.500000000,BASELINE,765,745,715,679,660,635,878.591522189,787.408477811,804,652,631,653,0.400986847449,-0.0153473482008,0.0798465276195,0.999999922554,0.000287547549927,-0.000266676134359,3.30514466966e-05,1793240164539991296
+31,0.516666667,BASELINE,765,745,715,679,660,635,878.012039653,787.987960347,804,652,631,653,0.400985109935,-0.0153466085103,0.0798460961219,0.999999921806,0.0002887233511,-0.000268201620701,3.31014252002e-05,1793240164556657920
+32,0.533333333,BASELINE,765,745,715,678.434763382,660,635,878.565236618,788,804,651.434763382,631,653,0.400985819126,-0.0153479147807,0.079846633929,0.999999922375,0.000287508465539,-0.000267371825512,3.31981831882e-05,1793240164573324544
+33,0.550000000,BASELINE,765,744.858087827,715,678.141912173,660.141912173,635.141912173,879,787.858087827,804,651,631,653,0.400986375872,-0.0153484903655,0.0798470283818,0.999999922769,0.000286734800941,-0.000266729565236,3.31756453965e-05,1793240164589991168
+34,0.566666667,BASELINE,765,744.283102728,715,678.716897272,660.716897272,635.716897272,879,787.283102728,804,651,631,653,0.400986308979,-0.0153467036455,0.0798469225988,0.999999922551,0.000287462403817,-0.000266812107,3.27860241101e-05,1793240164606658048
+35,0.583333333,BASELINE,765,744.299641064,715,679,661,635.700358936,879,787,804,651.299641064,631.299641064,653,0.400986833989,-0.0153468063489,0.079847025162,0.999999922645,0.000287471307944,-0.000266449754447,3.27812379496e-05,1793240164623324672
+36,0.600000000,BASELINE,765,744.889910243,715,679,661,635.110089757,879,787,804,651.889910243,631.889910243,653,0.400987933098,-0.0153487416433,0.0798473298043,0.999999923042,0.00028678313126,-0.000265655889632,3.31497113537e-05,1793240164639991040
+37,0.616666667,BASELINE,765,745,715,679,661,635.470834619,879,787,804,652,631.529165381,653,0.400988110628,-0.01534813374,0.0798478356761,0.999999923152,0.000286973779872,-0.000265042097742,3.30952954278e-05,1793240164656657664
+38,0.633333333,BASELINE,765,745,715,679,660.951314358,635.951314358,879,787.048685642,804,651.951314358,631,653,0.400988115288,-0.0153472269421,0.0798483490544,0.999999923259,0.000287120357331,-0.000264493180095,3.29709156009e-05,1793240164673324288
+39,0.650000000,BASELINE,765,745,715,679,660.383390953,635.383390953,879,787.616609047,804,651.383390953,631,653,0.400988529681,-0.0153493509472,0.0798484504501,0.999999924039,0.00028464803569,-0.000264195844437,3.31343984514e-05,1793240164689990912
+40,0.666666667,BASELINE,765,745,715,679,660.376899731,635.188449865,879,788,804,651.188449865,631,653,0.400988304422,-0.0153500786882,0.0798481078135,0.999999924302,0.000283333289965,-0.000264616170753,3.31242428232e-05,1793240164706657536
+41,0.683333333,BASELINE,765,745,715,679,661.536859204,635.768429602,879,788,804,651.768429602,631,653,0.400986750204,-0.015347905503,0.0798468426406,0.999999923497,0.000284423563614,-0.000266527536099,3.27533299569e-05,1793240164723324416
+42,0.700000000,BASELINE,765,745,715,679,661.644261973,636,879,787.644261973,804,651.644261973,631,652.644261973,0.40098655682,-0.0153477274521,0.079846734941,0.999999923456,0.000284317870322,-0.000266799049729,3.27151647937e-05,1793240164739991552
+43,0.716666667,BASELINE,765,745,715,679,661.052082558,636,879,787.052082558,804,651.052082558,631,652.052082558,0.400987267915,-0.0153488754679,0.0798473965564,0.999999923923,0.000283417277188,-0.000265980635333,3.28981605091e-05,1793240164756658176
+44,0.733333333,BASELINE,764.471785855,745,715,678.471785855,661,635.471785855,879,787.528214145,804,651.528214145,631.528214145,652.528214145,0.400986795169,-0.0153484567335,0.0798471726022,0.999999923399,0.00028492294909,-0.000266323319106,3.30720872906e-05,1793240164773324544
+45,0.750000000,BASELINE,764.1071322,744.8928678,715,678,661,635,879,787.8928678,804,651.8928678,631.8928678,653,0.400986397087,-0.0153480178357,0.0798469977407,0.999999922985,0.000286069413175,-0.000266634384001,3.31802001348e-05,1793240164789991168
+46,0.766666667,BASELINE,764.685027223,744.314972777,715,678,661,635,879,787.314972777,804,651.314972777,631.314972777,653,0.400986828736,-0.0153481542358,0.079847413857,0.99999992349,0.000284617798791,-0.000266314500851,3.3002954683e-05,1793240164806658048
+47,0.783333333,BASELINE,765,744,715,678,661,635,879.267820934,787.267820934,804,651.267820934,631,653,0.400987033536,-0.0153485809448,0.0798476934394,0.999999923928,0.00028348871519,-0.000265886118506,3.29165273139e-05,1793240164823324928
+48,0.800000000,BASELINE,765,744,715,678,661,635,879.856483201,787.856483201,804,651.856483201,631,653,0.400986966579,-0.0153493554352,0.0798478094584,0.999999924285,0.000282746013465,-0.000265327757384,3.29388972214e-05,1793240164839991296
+49,0.816666667,BASELINE,765,744,715,678.437243003,661,635,879.562756997,787.562756997,804.437243003,652,631,653,0.400986837482,-0.0153479598315,0.0798473623172,0.999999923587,0.000285173359238,-0.000265380421594,3.27825861489e-05,1793240164856657920
+50,0.833333333,BASELINE,765,744.015364572,715,678.984635428,660.984635428,635,879.015364572,787.015364572,804.984635428,652,631,653,0.400986664642,-0.0153459567943,0.0798467349156,0.999999922586,0.000288424665704,-0.000265665491907,3.2580658315e-05,1793240164873324288
+51,0.850000000,BASELINE,765,744.590194096,715,678.409805904,660.409805904,635,879.590194096,787.590194096,804.409805904,652,631,653,0.400985628516,-0.015347311507,0.079846155028,0.999999923293,0.000284463500013,-0.000267239896167,3.28153451143e-05,1793240164889991168
+52,0.866666667,BASELINE,765,745,715,678.164670489,660,635,879.835329511,787.835329511,804.164670489,652,631,653,0.400985330689,-0.015348292578,0.0798460257104,0.999999923799,0.000282274635517,-0.000267633969108,3.30900646709e-05,1793240164906657792
+53,0.883333333,BASELINE,765,745,715,678.738269911,660,635,879.261730089,787.261730089,804.738269911,652,631,653,0.40098686629,-0.0153483457781,0.0798470153006,0.999999923835,0.000284486955974,-0.000265096905784,3.34641982187e-05,1793240164923324416
+54,0.900000000,BASELINE,765.322322392,745,715,679,660.322322392,635.322322392,879,787.322322392,804.677677608,651.677677608,631,653,0.400987355837,-0.0153485526177,0.0798472799964,0.999999923855,0.000285154231941,-0.000264304698754,3.34684537902e-05,1793240164939991040
+55,0.916666667,BASELINE,765.915147363,745,715,679,660.915147363,635.915147363,879,787.915147363,804.084852637,651.084852637,631,653,0.400986967502,-0.0153488883961,0.079846936339,0.999999923867,0.000284524860317,-0.000264976827368,3.31622966981e-05,1793240164956657664
+56,0.933333333,BASELINE,766,745,715,678.505479347,661,635.505479347,879,787.505479347,804,651.494520653,631,653,0.400986712195,-0.0153500587541,0.0798468021427,0.99999992409,0.000282650160127,-0.000266143979908,3.3105714203e-05,1793240164973324288
+57,0.950000000,BASELINE,766,744.928420902,715,678,661,635,879,787.071579098,804,652,631,653,0.400986446529,-0.0153509604608,0.0798466375631,0.999999924185,0.000281244445026,-0.000267283632808,3.30449390978e-05,1793240164989990656
+58,0.966666667,BASELINE,766,744.351841441,715,678,661,635,879,787.648158559,804,652,631,653,0.400985950997,-0.0153489832404,0.0798460117743,0.999999923147,0.000284615108775,-0.000267645884093,3.26604601105e-05,1793240165006657536
+59,0.983333333,BASELINE,766,744,715,678,661,635,879,788,804,652,631,653,0.400986265772,-0.0153472580811,0.0798461761121,0.999999922784,0.000286682928223,-0.000266823698655,3.24018851233e-05,1793240165023324416
+60,1.000000000,BASELINE,766,744,715,678,661,635,879,788,804,652,631,653,0.400987849132,-0.0153459275389,0.0798475774431,0.999999923489,0.000286711063345,-0.000264147202951,3.23404207228e-05,1793240165039991040
+61,1.016666667,BASELINE,765.598955908,744.401044092,715,678,660.598955908,635,879,788,804,652,631,653,0.400986743176,-0.0153465894172,0.0798471906534,0.999999923518,0.000285866576264,-0.00026493523789,3.24663537959e-05,1793240165056657664
+62,1.033333333,BASELINE,765.019491963,744.980508037,715,678,660.019491963,635,879,788,804,652,631,653,0.400984440774,-0.0153481377002,0.0798460083495,0.999999923243,0.000284633869708,-0.000267264602389,3.26756578294e-05,1793240165073324544
+63,1.050000000,BASELINE,765,744.444256295,715,678,660.555743705,635,879,788,804,651.444256295,631,653,0.400985907939,-0.015348796862,0.0798474057178,0.999999923714,0.000284466611054,-0.000265626632324,3.30562902371e-05,1793240165089991168
+64,1.066666667,BASELINE,765,744.131028238,715,678.131028238,660.868971762,635.131028238,878.868971762,787.868971762,804,651,631,653,0.400986929353,-0.0153493834137,0.0798482751771,0.999999924109,0.00028411177357,-0.000264497218244,3.32269753022e-05,1793240165106657792
+65,1.083333333,BASELINE,765,744.706978436,715,678.706978436,660.293021564,635.706978436,878.293021564,787.293021564,804,651,631,653,0.400985991617,-0.0153498285013,0.0798470471478,0.999999924162,0.000282994056618,-0.000265563595514,3.26645086004e-05,1793240165123324160
+66,1.100000000,BASELINE,765.28878131,745,715,679,660.28878131,635.71121869,878.28878131,787,804,651.28878131,631,653,0.400985662162,-0.0153492916156,0.0798467325046,0.999999923781,0.00028403387051,-0.000265907096131,3.25032696328e-05,1793240165139990784
+67,1.116666667,BASELINE,765.876645604,745,715,679,660.876645604,635.123354396,878.876645604,787,804,651.876645604,631,653,0.400985962686,-0.0153477377267,0.0798473638307,0.999999922945,0.000287308180755,-0.000265501932899,3.27575714021e-05,1793240165156657408
+68,1.133333333,BASELINE,765.541992307,745,715,678.541992307,660.541992307,635,879,787.458007693,804,651.541992307,631,653,0.400985989499,-0.0153481584905,0.0798474631909,0.999999923315,0.000285812886296,-0.000265689201733,3.30306368422e-05,1793240165173324288
+69,1.150000000,BASELINE,765,745,715,678.037496765,660.037496765,635,879,788,804,651.037496765,631,653,0.400985975155,-0.015348965849,0.0798474231473,0.99999992393,0.000283392133192,-0.000265934257531,3.32785958999e-05,1793240165189991168
+70,1.166666667,BASELINE,765,745,715,678.614878717,660.614878717,635,879,788,804,651.614878717,631,653,0.400986414771,-0.0153477892744,0.0798474099441,0.999999923543,0.000285883305418,-0.00026474614395,3.30933245218e-05,1793240165206658048
+71,1.183333333,BASELINE,765,745,715,679,661,635.189419007,879,787.810580993,804,652,631.189419007,652.810580993,0.400987024683,-0.0153471581471,0.0798475663285,0.999999923442,0.000287173326999,-0.000263751961383,3.28952707275e-05,1793240165223324416
+72,1.200000000,BASELINE,765,745,715,679,661,635.75826721,879,787.24173279,804,652,631.75826721,652.24173279,0.400987975719,-0.0153476196161,0.0798480624172,0.999999923929,0.00028605729892,-0.000263146245898,3.26716121736e-05,1793240165239991040
+73,1.216666667,BASELINE,765,745,715,679,661,635.656724864,879,787,804,652,631.656724864,652.343275136,0.400987672625,-0.0153479778435,0.0798480955729,0.999999923976,0.000285371298305,-0.000263709980261,3.26725424888e-05,1793240165256657408
+74,1.233333333,BASELINE,765,745,715,679,661,635.05977521,879,787,804,652,631.05977521,652.94022479,0.400986442751,-0.015348259777,0.0798477866288,0.999999923698,0.000285003080778,-0.000265137918308,3.28394401918e-05,1793240165273324288
+75,1.250000000,BASELINE,765.520256669,745,715,679,661,635,880.040513338,787.520256669,804,651.479743331,631,653,0.400986840582,-0.0153486987804,0.0798480029744,0.999999923905,0.000284803580929,-0.000264553730429,3.29751683602e-05,1793240165289990912
+76,1.266666667,BASELINE,765.902529426,745,715,679,661,635,880.805058852,787.902529426,804.097470574,651.097470574,631,653,0.400987261622,-0.0153488645396,0.0798482013974,0.999999924011,0.000284992457559,-0.000263939623849,3.30769674077e-05,1793240165306657280
+77,1.283333333,BASELINE,765.329875811,745,715,679,661,635,879.659751622,787.329875811,804.670124189,651.670124189,631,653,0.400986912792,-0.0153476129846,0.0798480274793,0.999999923355,0.000286983197324,-0.000264271221129,3.30302663331e-05,1793240165323324160
+78,1.300000000,BASELINE,765,745,715,678.749010472,661,635.250989528,879,787.250989528,804.749010472,651.749010472,631,653,0.400987236379,-0.0153474655073,0.0798483134887,0.99999992342,0.000287511125814,-0.000263438577254,3.3119691549e-05,1793240165339990784
+79,1.316666667,BASELINE,765,745,715,678.156987452,661,635.843012548,879,787.843012548,804.156987452,651.156987452,631,653,0.400988473617,-0.0153488182023,0.0798492244275,0.999999924463,0.000286051450745,-0.000261024013854,3.33940791638e-05,1793240165356657408
+80,1.333333333,BASELINE,765,745,715,678.425502215,661,636,879,787.574497785,804,651.425502215,631,653,0.400987680344,-0.0153491084727,0.0798487091606,0.999999924328,0.00028534163426,-0.000262321370781,3.33510337592e-05,1793240165373324288
+81,1.350000000,BASELINE,765,745,715,678.995476482,661,636,879,787.004523518,804,652,631,653,0.400986169992,-0.0153490104303,0.0798476914798,0.999999923771,0.000284899276476,-0.000264930469677,3.31926902548e-05,1793240165389990912
+82,1.366666667,BASELINE,765,745,715,678.420013602,661,636,879,787.579986398,804,652,631,653,0.400986635458,-0.0153482907899,0.0798482197468,0.999999924254,0.000284061091046,-0.00026403755783,3.29398325259e-05,1793240165406657536
+83,1.383333333,BASELINE,765,744.844769574,715,678.155230426,661.155230426,635.844769574,879,787.844769574,804,652,631,653,0.40098695527,-0.0153480971511,0.0798483659212,0.9999999245,0.000283662542796,-0.000263549522993,3.28128417427e-05,1793240165423324160
+84,1.400000000,BASELINE,765,744.270116742,715,678.729883258,661.729883258,635.270116742,879,787.270116742,804,652,631,653,0.400986881533,-0.0153493247342,0.0798474797063,0.999999924109,0.000284451865119,-0.00026415543902,3.3025935116e-05,1793240165439990784
+85,1.416666667,BASELINE,765,744,715,679,661.685546964,635,879.314453036,787.314453036,804,652,631,653,0.40098721018,-0.0153494280136,0.0798473962829,0.999999924003,0.000284777811924,-0.000264201532025,3.30758687988e-05,1793240165456657664
+86,1.433333333,BASELINE,765,744,715,679,661.09218111,635,879.90781889,787.90781889,804,652,631,653,0.400987895733,-0.0153485340606,0.0798480249176,0.999999924149,0.000284692754951,-0.000263751074481,3.29810834687e-05,1793240165473324032
+87,1.450000000,BASELINE,765,744,715,679,660.514636429,635,879.514636429,787.514636429,804,651.514636429,631,653,0.400987912677,-0.0153480047621,0.0798482604586,0.999999923987,0.00028610980218,-0.000262842053708,3.2884989378e-05,1793240165489990656
+88,1.466666667,BASELINE,765,744.060179046,715,679,660.060179046,635,879,787,804,651.060179046,631,652.939820954,0.40098771273,-0.0153475428014,0.0798483296472,0.999999923732,0.000287643785753,-0.00026214926763,3.27878702058e-05,1793240165506657792
+89,1.483333333,BASELINE,765,744.636544723,715,679,660.636544723,635,879,787,804,651.636544723,631,652.363455277,0.400986707206,-0.0153470831411,0.0798475921014,0.999999923191,0.000287811025808,-0.00026403468147,3.2684023121e-05,1793240165523324416
+90,1.500000000,BASELINE,765,745,715,678.782652644,661,635,879,787.217347356,804,651.782652644,631,652.217347356,0.400985901408,-0.0153471838426,0.0798471491505,0.999999923069,0.000287104703954,-0.000265267211277,3.26534697747e-05,1793240165539990784
+91,1.516666667,BASELINE,765,745,715,678.19427583,661,635,879,787.80572417,804,651.19427583,631,652.80572417,0.400985436559,-0.0153482411272,0.0798472090967,0.999999923663,0.000284907141479,-0.000265385215211,3.27480347595e-05,1793240165556657408
+92,1.533333333,BASELINE,765,745,715,678,661,635,879,788,804,651.388367255,631,653,0.400986295113,-0.0153488092623,0.0798479408682,0.999999924031,0.000284574363728,-0.00026431113322,3.30843964986e-05,1793240165573324288
+93,1.550000000,BASELINE,765,745,715,678,661,635,879,788,804,651.968183896,631,653,0.40098780605,-0.0153491362665,0.0798490038225,0.999999924287,0.000285160849402,-0.000262649400979,3.35399542895e-05,1793240165589990912
+94,1.566666667,BASELINE,765,745,715,678.543047843,661,635.543047843,879,787.456952157,804,652,631,653,0.400986570719,-0.0153486347143,0.079848425122,0.999999924115,0.000284534973119,-0.00026401475861,3.32557053043e-05,1793240165606657536
+95,1.583333333,BASELINE,765,744.882403086,715,679,661,635.882403086,879.117596914,787.117596914,804,652,631,653,0.400985678254,-0.0153481335904,0.0798479987861,0.99999992386,0.00028444974414,-0.000265103940646,3.29982384643e-05,1793240165623324416
+96,1.600000000,BASELINE,765,744.307960023,715,679,661,635.307960023,879.692039977,787.692039977,804,652,631,653,0.400986737188,-0.0153478210094,0.0798485346361,0.999999923382,0.000286738294111,-0.000264437467135,3.30116784465e-05,1793240165639991040
+97,1.616666667,BASELINE,765,744.275449059,715,678.724550941,661,635,879.724550941,788,804,652,631,653,0.400986276509,-0.015348001893,0.0798478878256,0.999999923126,0.000287082587893,-0.000265058374559,3.27817855934e-05,1793240165656657664
+98,1.633333333,BASELINE,765,744.869219648,715,678.130780352,661,635,879.130780352,788,804,652,631,653,0.400984059697,-0.0153487530471,0.0798458742784,0.999999923126,0.000285180010166,-0.000267167038306,3.22706861865e-05,1793240165673324288
+99,1.650000000,BASELINE,765,745,715,678,661,635,879,787.548887957,804,651.548887957,631,653,0.400986045845,-0.015348666207,0.0798473408116,0.999999923436,0.000286176193258,-0.000264894194997,3.25779985804e-05,1793240165689990656
+100,1.666666667,BASELINE,765,745,715.02940511,678,661,635,879,787,804,651,631,653,0.400989060529,-0.0153483962826,0.0798496492635,0.999999923841,0.000287779738797,-0.00026154415241,3.30952244544e-05,1793240165706657536
+101,1.683333333,BASELINE,765,745,715.603179234,678,661,635,879,787,804,651,631,653,0.400989137832,-0.0153491190671,0.0798493456467,0.999999924599,0.000285468815311,-0.000261164297575,3.32188249577e-05,1793240165723324160
+102,1.700000000,BASELINE,765,745,716,678,661,635.177595784,878.822404216,787,804,651.177595784,631,653,0.400988608638,-0.0153498430826,0.0798488660505,0.999999924986,0.000283610357353,-0.000261706294745,3.32256723532e-05,1793240165739991040
+103,1.716666667,BASELINE,765,745,716,678,661,635.753452905,878.246547095,787,804,651.753452905,631,653,0.400986719364,-0.0153505698588,0.0798479918179,0.999999924547,0.000282766560769,-0.00026431555958,3.29706990524e-05,1793240165756657920
+104,1.733333333,BASELINE,765,744.662282952,715.662282952,678,661,635.662282952,878.337717048,787.337717048,804,651.662282952,631,653,0.40098616834,-0.015350500773,0.0798474102148,0.999999924208,0.000283072484428,-0.000265303037549,3.26713453099e-05,1793240165773324288
+105,1.750000000,BASELINE,765,744.071724598,715.071724598,678,661,635.071724598,878.928275402,787.928275402,804,651.071724598,631,653,0.400986619232,-0.0153498358431,0.0798470476969,0.999999923948,0.00028423917819,-0.000265076319729,3.23387648826e-05,1793240165789990912
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,715,679,660,635,879,788,804,652,632,653,0.400988416591,-0.0153483281515,0.0798488039504,0.999999924116,0.000285624603733,-0.000262875686257,3.29167665241e-05,1793240165820846592
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.575369747,744.424630253,715,679,660.575369747,635,879,787.424630253,804,651.424630253,632,652.424630253,0.400986455115,-0.015350263699,0.0798475283067,0.999999924782,0.000281827958329,-0.000264456968042,3.27409541352e-05,1793240165837513216
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.845657144,744.154342856,715,679,661,635,879,787.154342856,804,651.154342856,631.845657144,652.154342856,0.400985441514,-0.0153511745027,0.0798468757829,0.999999925119,0.000279985067369,-0.000265153627378,3.2610261723e-05,1793240165854179584
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.256533301,744.743466699,715,679,661,635,879,787.743466699,804,651.743466699,631.256533301,652.743466699,0.400987098062,-0.0153491986222,0.0798479785762,0.999999924562,0.000283645865892,-0.000263358321909,3.26066714163e-05,1793240165870846464
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.325996484,745,715,678.674003516,661,635.325996484,879,787.674003516,804,652,631,653,0.400987026021,-0.0153490772828,0.0798480818789,0.999999924385,0.000284252084078,-0.000263374567469,3.26162881112e-05,1793240165887513344
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.903440115,745,715,678.096559885,661,635.903440115,879,787.096559885,804,652,631,653,0.400985620687,-0.0153503863853,0.0798474142559,0.999999924507,0.000282502247473,-0.000264788096111,3.26360916123e-05,1793240165904179968
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,678.481296293,661,635.518703707,879.481296293,787.481296293,804,652,631,653,0.400986367384,-0.0153492043815,0.0798480188823,0.999999924521,0.000283365056179,-0.000263819658114,3.25723885912e-05,1793240165920846592
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,678.941018361,661,635,879.941018361,788,804,652,631,653,0.400987462039,-0.0153477155611,0.0798488046877,0.999999924463,0.000284715257244,-0.000262586159841,3.25451588452e-05,1793240165937513216
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678.365554304,661,635,879.365554304,788,804,652,631,653,0.400987819712,-0.0153479201867,0.0798489400083,0.99999992399,0.000285739550357,-0.000263219852471,3.29841436505e-05,1793240165954180096
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804.215832639,651.784167361,631,653,0.400990119496,-0.0153487716372,0.0798500774147,0.999999924376,0.000285527775911,-0.000261949986075,3.3237605499e-05,1793240165970846976
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804.807534125,651.192465875,631,653,0.40099580143,-0.0153507495221,0.0798529599367,0.999999926241,0.000283163410859,-0.000257365104144,3.31679822469e-05,1793240165987513856
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.389491498,661,635,879,788,804.610508502,651,631,653,0.401015174186,-0.0153515024095,0.0798613734865,0.999999929849,0.000283333028221,-0.000242670136362,3.36955015937e-05,1793240166004180480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.966751422,661,635,879,788,804.033248578,651,631,653,0.401041147097,-0.0153516647428,0.0798724534681,0.999999933983,0.00028472424291,-0.000223101236536,3.45108950527e-05,1793240166020846848
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.541656759,745,715.541656759,679,661,635.541656759,879,788,804,651,631,653,0.401092419167,-0.0153533523129,0.0798897571802,0.999999940974,0.000284281592781,-0.000189681059219,3.54511278343e-05,1793240166037513216
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.884143143,678.884143143,661,636,879,787.884143143,804,651.115856857,631,653,0.401148739536,-0.015355571612,0.0799069699857,0.999999946807,0.000283537879988,-0.00015711596297,3.61505309463e-05,1793240166054180096
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.312152866,678.312152866,661,636,879,787.312152866,804,651.687847134,631,653,0.401218847761,-0.0153595173465,0.0799223273268,0.999999950967,0.000282050139562,-0.000131250269696,3.58717386342e-05,1793240166070846976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.728697541,745,715,678,661,635.728697541,879,787.271302459,804,651.728697541,631,653,0.401293890798,-0.015362477319,0.0799336261377,0.999999953327,0.000281732652178,-0.000112920661901,3.49656678754e-05,1793240166087513600
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.131468843,745,715,678,661,635.131468843,879,787.868531157,804,651.131468843,631,653,0.401374862214,-0.0153642530567,0.0799400492768,0.99999995408,0.000282821035727,-0.000103644449552,3.33060230556e-05,1793240166104180480
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.448126416,879,787.551873584,804,651,631.448126416,653,0.401468917035,-0.0153676319107,0.0799432390154,0.99999995536,0.00028124406075,-9.61279398858e-05,3.06904313009e-05,1793240166120846848
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,678.022836207,661,635.977163793,879,787.022836207,804,651,632,653,0.40156760883,-0.0153715051894,0.0799455056166,0.999999956747,0.000278880980433,-8.9222894892e-05,2.77740425701e-05,1793240166137513728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678.599775575,661,635.400224425,879,787.599775575,804,651,632,653,0.401689204961,-0.0153763955601,0.0799475185692,0.999999958083,0.000275698704717,-8.51023604865e-05,2.41063281806e-05,1793240166154180096
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,678.819634847,660.819634847,635,879,788,804,651,631.819634847,653,0.401820669647,-0.0153816923373,0.079950404229,0.9999999598,0.000271508409073,-7.92329334111e-05,2.01204661009e-05,1793240166170846464
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,678.230778346,660.230778346,635,879,788,804,651,631.230778346,653,0.401974484639,-0.0153879095445,0.0799552663974,0.999999962351,0.000265035148363,-6.94026113775e-05,1.54140630126e-05,1793240166187513344
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.352490885,744.647509115,715,678,660.352490885,635.352490885,879,788,804,651.352490885,631,653,0.402140890966,-0.015393396012,0.079957441008,0.999999964796,0.000256671009558,-6.6543403568e-05,1.00207555057e-05,1793240166204180224
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.932159224,744.067840776,715,678,660.932159224,635.932159224,879,788,804,651.932159224,631,653,0.40231541232,-0.0153984115244,0.0799578835105,0.999999967141,0.000247088214838,-6.81770201543e-05,4.18474332693e-06,1793240166220847104
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.507091076,715,678.507091076,661,635.492908924,879.507091076,788,804,651.492908924,631,653,0.402508717695,-0.0154041239466,0.0799541352293,0.999999970216,0.000231806150483,-7.6320292708e-05,-3.05497879503e-06,1793240166237513728
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.91656646,744.91656646,715,678.91656646,661,635,879.91656646,787.91656646,804,651,631.08343354,653,0.402711140331,-0.015410306515,0.079950113456,0.9999999746,0.000208811282455,-8.41753402107e-05,-1.05916966234e-05,1793240166254180352
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.327879597,744.327879597,715,678.327879597,661,635,879.327879597,787.327879597,804,651,631.672120403,653,0.402953697652,-0.015418776791,0.0799477992841,0.999999985883,0.000143684153215,-8.5059881457e-05,-1.88002394466e-05,1793240166270846976
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.256712119,715,678.256712119,661,635.256712119,879,787.256712119,804,651.256712119,631.743287881,653,0.403217840232,-0.0154278766374,0.0799482816126,0.999999990963,0.000103589761732,-8.17361771337e-05,-2.57441902692e-05,1793240166287513344
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.836155495,715,678.836155495,661,635.836155495,879,787.836155495,804,651.836155495,631.163844505,653,0.403509119177,-0.0154377679616,0.079952279623,0.999999992334,9.49658287474e-05,-7.31219851042e-05,-3.10983311756e-05,1793240166304179968
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.587220366,879,788,804,651.587220366,631,652.587220366,0.403824862418,-0.015447061027,0.0799559586576,0.999999992772,9.52311854836e-05,-6.79964419657e-05,-2.76413484453e-05,1793240166320846592
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.011707689,879,788,804,651.011707689,631,652.011707689,0.404150250385,-0.0154561182364,0.07995951194,0.999999992821,9.90010301691e-05,-6.42462538304e-05,-2.07106938109e-05,1793240166337513216
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,678.436246341,661,635,879,788,804,651.563753659,631,652.563753659,0.404514542729,-0.0154667255307,0.0799578610487,0.999999994772,7.57461824319e-05,-6.33243920236e-05,-2.66169856679e-05,1793240166354180096
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,678.142375415,661,635,879,787.857624585,804,652,631,653,0.4048894803,-0.01547787197,0.0799557043117,0.999999996011,5.49285106378e-05,-6.32638305692e-05,-3.09716580129e-05,1793240166370846976
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,678.730903982,661,635,879,787.269096018,804,652,631,653,0.405295244526,-0.0154906070267,0.0799523010811,0.999999996455,4.35066119262e-05,-6.57182301286e-05,-2.96287937171e-05,1793240166387513344
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678.685356982,661,635,879,787.314643018,804.314643018,651.685356982,631,653,0.405720893368,-0.0155069285322,0.0799471149419,0.999999996573,2.18039828484e-05,-7.41490947163e-05,-2.96647089183e-05,1793240166404180224
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.105652673,661,635,879,787.894347327,804.894347327,651.105652673,631,653,0.406163293435,-0.0155262713323,0.0799404268461,0.999999995649,-8.55933126223e-06,-8.76146478845e-05,-3.08621341485e-05,1793240166420846848
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661.472173357,635,879,788,804.527826643,651,631.472173357,653,0.406634368481,-0.0155158098606,0.0799362316361,0.999999994933,1.43733407372e-05,-9.47578482542e-05,-3.07800962659e-05,1793240166437513728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,678.049163809,661.950836191,635,879.049163809,787.950836191,804.049163809,651,631.950836191,653,0.407113891216,-0.0154996185826,0.0799326513946,0.999999993376,4.65671875255e-05,-0.000100713043624,-3.05860476137e-05,1793240166454180096
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.621715752,661.378284248,635,879.621715752,787.378284248,804.621715752,651,631.378284248,653,0.407615311097,-0.0154931439398,0.0799297032451,0.999999992242,5.09011044856e-05,-0.000109021692474,-3.22352693718e-05,1793240166470846976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.599698179,787,805,651.200150911,631,653,0.408141536478,-0.0154937734233,0.0799277296979,0.999999991841,4.41169385265e-05,-0.000114981190919,-3.39121729831e-05,1793240166487513600
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878.419915961,787,805,651.790042019,631,653,0.408716063888,-0.0155082362871,0.0799276539275,0.999999992471,1.56832887756e-05,-0.000116366348681,-3.56429794643e-05,1793240166504180480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.371631905,878.743263811,787.371631905,805,652,631,653,0.409334996978,-0.0155156911402,0.079946650315,0.999999995701,8.17751064248e-06,-8.52697139509e-05,-3.54966911058e-05,1793240166520846848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.948634365,879.89726873,787.948634365,805,652,631,653,0.409978469435,-0.0155192732386,0.0799761863241,0.99999999868,1.22368561533e-05,-3.62230493761e-05,-3.43130858611e-05,1793240166537513472
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.47389918,879.47389918,787.47389918,805,652,631,653,0.410639665149,-0.0155168910523,0.0799964190576,0.999999999353,1.2138890513e-05,-2.44041840513e-06,-3.37727080479e-05,1793240166554180352
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.102745849,744.897254151,715,679,660.897254151,635.102745849,879.102745849,787.102745849,804.897254151,652,631,653,0.411296261306,-0.0155140469244,0.0800070484914,0.999999999238,1.1571354074e-05,1.50771116476e-05,-3.41135714472e-05,1793240166570846976
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.675426318,744.324573682,715,679,660.324573682,635.675426318,879.675426318,787.675426318,804.324573682,652,631,653,0.411923898577,-0.0155117557318,0.0799779128631,0.999999998601,1.07142296373e-05,-3.49757217428e-05,-3.81975276233e-05,1793240166587513600
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.740862706,744.259137294,715,679,660.259137294,635.740862706,879.740862706,787.740862706,804,651.740862706,631,653,0.412586915773,-0.01551091137,0.0799493238851,0.999999996129,7.033507987e-06,-7.6547204579e-05,-4.28042535898e-05,1793240166604180224
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.14272152,744.85727848,715,679,660.85727848,635.14272152,879.14272152,787.14272152,804,651.14272152,631,653,0.413296217139,-0.0155119597546,0.079921450032,0.999999993116,-3.41048895699e-07,-0.000107023375817,-4.80948686062e-05,1793240166620846848
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.43856405,787.43856405,804,651,631,653,0.414042466002,-0.015514830181,0.0799293343385,0.999999994826,-5.54865171919e-06,-8.92384518437e-05,-4.85225640551e-05,1793240166637513472
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.014488477,661,635,879.985511523,788,804.014488477,651,631,653,0.414800507227,-0.0155182416525,0.0799483777224,0.999999997227,-9.9509162755e-06,-5.65653841897e-05,-4.74124147316e-05,1793240166654180352
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.587375224,661,635,879.412624776,788,804.587375224,651,631,653,0.415566781971,-0.0155204986515,0.0799656105057,0.999999998363,-9.48747908778e-06,-3.299333468e-05,-4.57672958209e-05,1793240166670846976
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.834782702,661,635,879.165217298,787.834782702,805,651.165217298,631,653,0.416327380841,-0.0155208060863,0.0799719641942,0.999999998581,-1.01904443191e-05,-2.54071393065e-05,-4.57028371488e-05,1793240166687513344
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.244182237,661,635,879.755817763,787.244182237,805,651.755817763,631,653,0.417073366051,-0.0155160939994,0.0799503075951,0.999999996929,-1.38965331264e-05,-5.89795490689e-05,-4.97080872161e-05,1793240166704179968
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.339980625,745,715,679.339980625,661,635.339980625,880,787.339980625,804.660019375,651.660019375,631.339980625,653,0.41790543829,-0.0155148496588,0.0799596671473,0.999999997962,-1.33831903068e-05,-3.63637499412e-05,-5.07364615746e-05,1793240166720846592
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.919605743,745,715,679.919605743,661,635.919605743,880,787.919605743,804.080394257,651.080394257,631.919605743,653,0.418798191257,-0.0155160496529,0.0799908892694,0.999999998383,-9.8956673573e-06,2.58578219258e-05,-4.96665046767e-05,1793240166737513472
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.504811455,745,715,679.504811455,661,635.504811455,880,788,804.495188545,651,631.504811455,653,0.419622707189,-0.0155205830771,0.0799912448904,0.999999998199,-1.80293185295e-05,2.90177681903e-05,-4.93513690265e-05,1793240166754180096
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.071689672,635.071689672,880,788,805,651,631,653,0.420435542547,-0.0155250862487,0.0799855932383,0.999999998183,-2.72284422922e-05,2.07020702253e-05,-4.96469251635e-05,1793240166770846464
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.659488119,635.659488119,880,788,805,651,631,653,0.421243396076,-0.0155255070667,0.0799724785447,0.9999999981,-3.06253062218e-05,-1.75706046825e-06,-5.34638884646e-05,1793240166787513088
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.756219682,635.756219682,880,788,805,651,631,653,0.422087523991,-0.0155272514327,0.0799773763417,0.99999999813,-2.95635618307e-05,2.71020609933e-06,-5.34699269682e-05,1793240166804180480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.17675548,635.17675548,880,788,805,651,631,653,0.422981601611,-0.0155308183154,0.0800070772169,0.999999997608,-2.23623437762e-05,4.42549401508e-05,-4.82283477728e-05,1793240166820847872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.400069108,745,715,679,661,635,880,788,804.599930892,651,631,653,0.423845582428,-0.0155281843784,0.0800064614922,0.999999998195,-1.41666740186e-05,3.35762840946e-05,-4.77599095708e-05,1793240166837514240
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.975735091,745,715,679,661,635,880,788,804.024264909,651,631,653,0.424696353211,-0.0155228288001,0.0799925393142,0.999999998765,-5.53452356853e-06,-2.40746360722e-08,-4.93864813184e-05,1793240166854180096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.441858213,745,715,679.558141787,661,635,880,788,804,651,631,653,0.425506110811,-0.0155249125709,0.0799538726585,0.999999996913,-9.20972600616e-06,-5.64701407113e-05,-5.38566369618e-05,1793240166870846720
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.141194136,635.141194136,880,787.858805864,804,651.141194136,631,653,0.426333118199,-0.0155273359617,0.0799245462386,0.999999993604,-1.51066568864e-05,-9.61920564563e-05,-5.75327096924e-05,1793240166887513344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.725341399,635.725341399,880,787.274658601,804,651.725341399,631,653,0.427219903521,-0.0155297977658,0.0799279380338,0.99999999473,-2.62744848118e-05,-8.02931328515e-05,-5.83250209934e-05,1793240166904179968
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.694815644,880.305184356,787,804,651.694815644,631,653,0.428087389597,-0.0155319251007,0.0799327708539,0.999999994968,-3.02641594724e-05,-7.60746749307e-05,-5.79768511276e-05,1793240166920846592
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.118792616,880.881207384,787,804,651.118792616,631,653,0.428937748332,-0.0155337556075,0.0799388825249,0.999999994628,-2.78835151994e-05,-8.22221549153e-05,-5.66165506975e-05,1793240166937513728
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.542535483,635,881,787.457464517,804,651.457464517,631.457464517,653,0.429843266078,-0.015534225801,0.079969864067,0.999999997411,-2.9722617193e-05,-3.61264278791e-05,-5.46792929182e-05,1793240166954180352
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.033663846,635,881,788,804.033663846,651.966336154,631.966336154,653,0.430759188391,-0.0155345128356,0.0800064459038,0.999999997847,-3.26311659816e-05,2.18213893973e-05,-5.25791587049e-05,1793240166970846976
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.607957386,635,881,788,804.607957386,651.392042614,631.392042614,653,0.431612055424,-0.0155375342338,0.0800291983465,0.999999996761,-3.51080029822e-05,5.21277439311e-05,-5.02706128124e-05,1793240166987513600
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.812045762,635,880.812045762,788,805,651,631,653,0.432426318694,-0.0155375947669,0.0800254233225,0.999999997111,-3.76994298563e-05,4.22201434467e-05,-5.07278223626e-05,1793240167004180224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.21978032,635,880.21978032,788,805,651,631,653,0.433157540985,-0.015531286139,0.0799645846682,0.999999996078,-4.05373530424e-05,-5.41922986156e-05,-5.71344896307e-05,1793240167020846592
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.363933482,661.363933482,635,880.363933482,787.636066518,805,651,631,653,0.433936971776,-0.0155312392745,0.079926119953,0.999999991698,-4.43565906603e-05,-0.000104275148426,-6.1343868431e-05,1793240167037513216
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.942601458,661.942601458,635,880.942601458,787.057398542,805,651,631,653,0.434744847358,-0.0155348870871,0.0799008567104,0.99999998868,-4.87548408062e-05,-0.000127021784279,-6.42567638965e-05,1793240167054180096
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.483278672,662,635,880.483278672,787.516721328,805,651,631,653,0.435565581055,-0.0155405459555,0.0799325551872,0.99999999313,-5.29881022087e-05,-8.47057451048e-05,-6.13031977559e-05,1793240167070846976
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.907006598,679.907006598,661.907006598,635,880,788,805,651,631,653,0.436373798926,-0.015546335418,0.0799654741346,0.999999995681,-5.76514478121e-05,-4.3844928445e-05,-5.82482732522e-05,1793240167087513600
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.316542178,679.316542178,661.316542178,635,880,788,805,651,631,653,0.437107488874,-0.0155516388791,0.0799713685629,0.999999995013,-6.47127294298e-05,-4.90942234541e-05,-5.81067857013e-05,1793240167104180480
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.268216996,679.536433992,661,635,880,787.731783004,805,651,631,653,0.437822079258,-0.01555730794,0.0799622274054,0.999999993365,-7.23612736151e-05,-6.73392213745e-05,-5.91571081264e-05,1793240167120846848
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.846383198,680.692766395,661,635,880,787.153616802,805,651,631,653,0.438514598303,-0.0155633994843,0.0799357112566,0.999999989788,-8.06884527201e-05,-0.000100601939035,-6.15846756559e-05,1793240167137513472
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.578498057,880,787,805,651,631,653,0.439167403749,-0.0155676993675,0.0798945741584,0.999999980603,-8.96962016773e-05,-0.000162605740604,-6.56346934667e-05,1793240167154180096
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.004481941,880,787,805,651,631,653,0.439805839481,-0.0155713509654,0.0798481466862,0.999999965021,-9.8950204943e-05,-0.000235009075478,-7.02717705544e-05,1793240167170846720
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.54500588,745,714.45499412,681,661,634,880.54500588,787.54500588,804.45499412,651,631.54500588,653,0.44036161327,-0.0155738418673,0.079771923626,0.999999928188,-0.000110054394692,-0.000354451076602,-7.6654362157e-05,1793240167187513600
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.271207088,745,714,680.271207088,660.271207088,634,880.271207088,787.271207088,804.728792912,651,631.271207088,653,0.441521353277,-0.0155827373139,0.079669984465,0.99999985832,-0.000130909177573,-0.000508660963075,-8.65231937009e-05,1793240167220846848
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.642523078,745.642523078,714.357476922,681.642523078,658.642523078,633,880.357476922,784.642523078,805,651,631,653,0.442533384008,-0.0155033288399,0.0796163646761,0.999999808685,-6.39633515698e-06,-0.000618523550706,4.09349423309e-06,1793240169285992448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.771679452,714,681.771679452,659,633.228320548,880,785,805,651,631,653,0.4419545837,-0.0154935396981,0.0796331769072,0.999999826042,8.94001528361e-06,-0.00058973623937,6.83388246128e-06,1793240169302659072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.192209201,714,681.192209201,659,633.807790799,880,785,805,651,631,653,0.441345720594,-0.0154871592873,0.0796621071633,0.999999853767,2.09007094099e-05,-0.000540306138772,9.89688755592e-06,1793240169319325440
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.616114111,659.383885889,634,880.383885889,785.383885889,804.616114111,651,631,653,0.440691614121,-0.0154807412156,0.0796640266833,0.999999858137,2.96732783038e-05,-0.000531717151039,1.10396782877e-05,1793240169335991808
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.041694232,659.958305768,634,880.958305768,785.958305768,804.041694232,651,631,653,0.440015052037,-0.0154743044519,0.0796525399703,0.999999851616,3.68634854351e-05,-0.000543398824789,1.12294094068e-05,1793240169352658176
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.53500329,680,660,634,880.46499671,786,804,651,631,653,0.439300339938,-0.0154657658194,0.0796347991938,0.99999983657,5.35623732904e-05,-0.000569094764363,1.10742232413e-05,1793240169369324800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.885219636,680.114780364,660,634,880,786,804.114780364,651,631,653,0.438594668349,-0.0154579031108,0.0796317904199,0.999999833528,7.01169777729e-05,-0.000572611143901,1.19744288384e-05,1793240169385991424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.293384244,680.706615756,660,634,880,786,804.706615756,651,631,653,0.437938981399,-0.0154535334287,0.0796920458215,0.999999881501,8.29788039292e-05,-0.00047938515788,1.73732973688e-05,1793240169402658304
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.290052121,681,660,634,880,786.290052121,805,651,631,653,0.437258653442,-0.0154512329999,0.0797607941575,0.999999924728,9.53196754577e-05,-0.000375326534361,2.42611073422e-05,1793240169419325440
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.865232119,681,660,634,880,786.865232119,805,651,631,653,0.436554102734,-0.015450966694,0.0798378912496,0.999999959767,0.000107148437813,-0.000260619167939,3.26125813968e-05,1793240169435992576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.559226397,745,714.559226397,681,660,634,880.440773603,787,804.559226397,651,631,653,0.435789589986,-0.0154485127876,0.0798655166036,0.99999996943,0.000113026492474,-0.000216908529097,3.6266802889e-05,1793240169452659200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.016800041,745,714.016800041,680.983199959,660.016800041,634.016800041,880.983199959,786.983199959,804,651,631,652.983199959,0.435005420746,-0.0154453463705,0.0798767255966,0.999999973028,0.000117147419476,-0.000196851114613,3.8353211422e-05,1793240169469325312
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.605572355,745,714.605572355,680.394427645,660.605572355,634.605572355,880.394427645,786.394427645,804,651,631,652.394427645,0.434176722366,-0.0154407126973,0.0798444304383,0.999999962347,0.00012344091168,-0.000242432065848,3.59988545229e-05,1793240169485991680
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.807961046,680.192038954,660.807961046,635,880,786,804.192038954,651,631,652.192038954,0.433316245019,-0.0154345767483,0.0798085468511,0.999999945449,0.000132212037694,-0.00030081860445,3.36058278199e-05,1793240169502658048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.226173995,680.773826005,660.226173995,635,880,786,804.773826005,651,631,652.773826005,0.432391271477,-0.0154253918914,0.0797653804549,0.999999914668,0.000146011586007,-0.000385194415584,3.11343198372e-05,1793240169519324928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.649530851,660,634.649530851,879.649530851,786.350469149,805.350469149,651,631.350469149,653,0.431470873302,-0.0154189781056,0.0797334743103,0.999999887847,0.000156805590452,-0.000445839041493,3.07549583928e-05,1793240169535991552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.076159312,660,634.076159312,879.076159312,786.923840688,805.923840688,651,631.923840688,653,0.43055338515,-0.0154143267531,0.0797087298162,0.999999865039,0.000165688034288,-0.000491390359355,3.17062262303e-05,1793240169552658176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.509223351,660,634.509223351,880.018446701,787,805.490776649,651,631.490776649,653,0.429768701892,-0.0154170408955,0.0797652027382,0.999999907372,0.000171628363984,-0.000393113426473,3.55192627285e-05,1793240169569325056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.095271466,680.904728534,660,635,880.904728534,787,804.904728534,651,631,653,0.428989682653,-0.0154206068407,0.0798282000862,0.999999942987,0.000176662129223,-0.000284975033385,4.00820901778e-05,1793240169585991936
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.675343688,680.324656312,660,635,880.324656312,787,804.324656312,651,631,653,0.42813597255,-0.0154227663416,0.0798610938155,0.99999995434,0.000179375932411,-0.000238760657905,4.62297515812e-05,1793240169602658304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.254236869,635,880,787,804.254236869,651,631,653,0.427244664256,-0.0154197168768,0.0798577713324,0.999999951641,0.000187717414719,-0.000243453279518,4.70124076421e-05,1793240169619324928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.831631463,635,880,787,804.831631463,651,631,653,0.426305565192,-0.0154100463527,0.0798084148194,0.999999929574,0.00020321217893,-0.000312853225682,4.09756644355e-05,1793240169635991552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.407183543,745,715,680.407183543,660.592816457,635,880,786.592816457,805,651,631,653,0.425367207635,-0.0153942842488,0.079777846479,0.999999910957,0.000219532730207,-0.000358558900314,3.64129552872e-05,1793240169652658176
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.98197715,745,715,680.98197715,660.01802285,635,880,786.01802285,805,651,631,653,0.424429155363,-0.0153760146519,0.0797550119678,0.99999989376,0.00023619320151,-0.00039451123364,3.24570071325e-05,1793240169669324800
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.428529487,745,715,681,660,635,880,786.571470513,805,651,631,653,0.423515782564,-0.0153632824696,0.0797380684791,0.999999873122,0.000257158662956,-0.000431932352898,3.25431191353e-05,1793240169685991424
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.84161336,680.84161336,660,635,880,787,805,651,631.15838664,653,0.422633436905,-0.015355634215,0.0797368646719,0.99999986846,0.000269274123279,-0.00043527951946,3.32195891384e-05,1793240169702658304
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.262801414,680.262801414,660,635,880,787,805,651,631.737198586,653,0.421831329913,-0.0153610050611,0.0797769344709,0.999999905652,0.000257528021882,-0.000348053758965,3.51158073136e-05,1793240169719325952
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.314385361,680,660,635,880,787,804.685614639,651,631.685614639,653,0.421025610021,-0.0153660485929,0.0798232525517,0.999999933096,0.000250880221726,-0.000263414869837,3.84624723961e-05,1793240169735992832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.890220577,680,660,635,880,787,804.109779423,651,631.109779423,653,0.4202168856,-0.0153708199225,0.0798747668405,0.999999951838,0.000248472282676,-0.000180927284845,4.30153612465e-05,1793240169752659200
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.534806226,680,660.465193774,635,880,787.465193774,804.465193774,651.465193774,631,653,0.41932816398,-0.015368698755,0.0798591128766,0.999999944958,0.000250584489348,-0.000213383663497,4.19464913837e-05,1793240169769325312
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.040568267,680,660.959431733,635,880,787.959431733,804.959431733,652,631,653,0.41842617547,-0.0153651175884,0.0798284246785,0.999999930431,0.000253484892921,-0.00027078900465,3.94467587867e-05,1793240169785991680
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.624029644,680,660.375970356,635,880,787.375970356,804.375970356,652,631,653,0.417598813052,-0.0153637247966,0.0798082715905,0.999999922522,0.000252684808097,-0.000299742596278,3.55197138846e-05,1793240169802658048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880,787,804,652,631,653,0.416776038963,-0.0153607993067,0.0798007153818,0.999999917708,0.000253592823261,-0.000314838781475,3.39247976338e-05,1793240169819324928
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880,787,804,652,631,653,0.415961578713,-0.0153550965918,0.0798159845165,0.999999919695,0.0002575958888,-0.000304825570197,3.65556610666e-05,1793240169835991808
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880,787,804,652,631,653,0.415154645398,-0.0153530911308,0.0798047678621,0.999999912714,0.000259929453592,-0.000325113135159,3.62016796869e-05,1793240169852658432
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880,787,804,652,631,653,0.414351770574,-0.0153530791897,0.0797792703539,0.999999899831,0.000261362841009,-0.000361738553283,3.42383018659e-05,1793240169869325312
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.465690879,660,635,879.465690879,787,804,652,631,653,0.413632983703,-0.0153557186369,0.0797939270871,0.999999911536,0.000260118764622,-0.000328681491491,3.51279996541e-05,1793240169885991936
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.120653808,660,635,879.120653808,787.120653808,804,651.879346192,631,652.879346192,0.412921088855,-0.0153578374276,0.0798101126772,0.999999922061,0.000258952033299,-0.000295837926438,3.60736650455e-05,1793240169902658560
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.700100831,660,635,879.700100831,787.700100831,804,651.299899169,631,652.299899169,0.412203175912,-0.0153569602859,0.0798167233255,0.999999923581,0.000259105510254,-0.000290510962201,3.61387523003e-05,1793240169919324928
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.7216783,660.2783217,635,879.7216783,787.7216783,804,651,631,652.2783217,0.411493861536,-0.015354658179,0.0798134028539,0.999999920041,0.000262094418205,-0.000299860288083,3.61602310075e-05,1793240169935991552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.144772887,660.855227113,635,879.144772887,787.144772887,804,651,631,652.855227113,0.410793771754,-0.0153508273685,0.0797994282697,0.999999910604,0.000268125178375,-0.000324954348446,3.61349264135e-05,1793240169952658176
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.569937349,635,879,787,804,651,631,653,0.410141934857,-0.0153500201158,0.0797989870778,0.999999909278,0.00026997686538,-0.000327474151364,3.62949028704e-05,1793240169969324800
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.99569439,679,660.00430561,635,879.00430561,787,804,651.00430561,631,653,0.409506709803,-0.0153502174061,0.0798032298559,0.999999910876,0.000270427588214,-0.00032215315919,3.65341728359e-05,1793240169985991680
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.178762863,679,661,635,880,787.178762863,804,651.821237137,631,653,0.408354004645,-0.0153471645634,0.0798424061426,0.999999929145,0.000273379468413,-0.000255602502539,4.05000949808e-05,1793240170019325184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.762230592,679,661,635,880,787.762230592,804,651.237769408,631,653,0.407768743755,-0.0153424098042,0.0798344174064,0.999999921587,0.000281191455424,-0.000276078429756,3.9218946577e-05,1793240170035992064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.662964142,635,879.662964142,788,804,651,631,653,0.407206439446,-0.0153397133118,0.0798112845393,0.999999908377,0.000283422401689,-0.000318694595692,3.67656730019e-05,1793240170052658688
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.062952985,745,714.937047015,679,660.062952985,635,879,787,804.062952985,651.937047015,631,653,0.405724241388,-0.0153452062608,0.0797789570026,0.999999897132,0.000277550180302,-0.00035723004543,3.29864540725e-05,1793240170102658304
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.393246966,635,879.606753034,787.393246966,804.606753034,651.606753034,631.393246966,652.393246966,0.404168836194,-0.0153366132997,0.079830843392,0.999999917114,0.000291289024454,-0.000281875301681,3.83285020991e-05,1793240170169325568
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.696714606,714.303285394,678.303285394,661,635,879,787,804,652,631,653,0.402686676115,-0.0153235279895,0.0798441657156,0.999999915836,0.000301443068133,-0.000275734029692,3.78280634867e-05,1793240170252658432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.122188191,714.877811809,678.877811809,661,635,879,787,804,652,631,653,0.402454380594,-0.0153255091147,0.079841208065,0.999999914146,0.000300061777066,-0.000283481807844,3.61703476557e-05,1793240170269325056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.450836464,715,679,661,635,879.450836464,787,804,652,631,653,0.402256787666,-0.0153366224928,0.0798381531397,0.999999916141,0.000289360967474,-0.000287545434238,3.61474956447e-05,1793240170285991936
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.616618491,661,635,879.383381509,787,804.616618491,651.383381509,631.616618491,653,0.401916915843,-0.0153560633704,0.0798400049807,0.999999924051,0.000268837741705,-0.000279532186557,3.85427465267e-05,1793240170319325696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.204685942,745,715,679.590628116,660.795314058,635,879,787.204685942,804.795314058,651.204685942,631.795314058,653,0.401773984761,-0.0153574933459,0.0798444273054,0.999999926504,0.000268158721808,-0.000271079395162,3.99754452687e-05,1793240170335991808
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.43806215,715,678,660,635,879,787.56193785,804,651.56193785,631,653,0.400987835609,-0.0153439025445,0.0798447638073,0.999999921524,0.000288649178084,-0.00026934225427,3.29789915178e-05,1793240170802658304
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.993178707,715,678,660.006821293,635,879,787,804,651.006821293,631,653,0.400987674748,-0.0153447855609,0.0798454110645,0.999999922037,0.00028691994193,-0.000269293985726,3.29254639696e-05,1793240170819324672
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.398770924,715,678,660.601229076,635,879,787,804,651.601229076,631,653,0.400987173805,-0.0153439124552,0.0798451490412,0.999999921743,0.000287467181846,-0.00026983470954,3.26587515619e-05,1793240170835991552
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.80877312,744.19122688,715,678,661,635,879,787,804.19122688,652,631,653,0.400986894517,-0.0153435203136,0.0798451377654,0.999999921565,0.000288253343306,-0.00026966761234,3.25634395645e-05,1793240170852658432
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.227764307,744.772235693,715,678,661,635,879,787,804.772235693,652,631,653,0.400987067032,-0.0153441085315,0.0798456375935,0.999999921621,0.000289526503738,-0.000268057748058,3.28174967873e-05,1793240170869324800
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.350354233,745,715,678.350354233,661,635,879,787,804.649645767,652,631,653,0.400988137109,-0.0153447056052,0.0798464663764,0.999999922208,0.000289033627112,-0.000266383705024,3.29035066358e-05,1793240170885991424
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.926609164,745,715,678.926609164,661,635,879,787,804.073390836,652,631,653,0.400989785914,-0.0153453083888,0.0798475072621,0.999999923135,0.000287402048604,-0.000264668281004,3.28811632252e-05,1793240170902658304
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,744.489371332,715,678.489371332,660.489371332,635,879,787,804,652,631,653,0.400987865389,-0.0153451438288,0.0798464454574,0.999999922668,0.000287210447244,-0.000266636263428,3.28427088542e-05,1793240170919325440
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,744.094901459,715,678.094901459,660.094901459,635,878.905098541,787,804,651.905098541,631,653,0.400985705028,-0.0153448481143,0.0798452838021,0.999999922037,0.000287402773431,-0.000268795948575,3.27768317247e-05,1793240170935992576
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,744.674678325,715,678.674678325,660.674678325,635,878.325321675,787,804,651.325321675,631,653,0.400984980844,-0.0153444544867,0.0798451799056,0.999999921627,0.000288482929754,-0.000269188473174,3.2582858354e-05,1793240170952659456
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,744.169846967,715,679,660.169846967,635,879.660306065,787.830153033,804,651.830153033,631,653,0.400987496729,-0.0153455076276,0.0798462052699,0.999999922511,0.000287498973096,-0.000266924800956,3.27673619412e-05,1793240170985991936
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,744.977651362,715,678.022348638,660.977651362,635,879.022348638,787.022348638,804,652,631,653,0.400988866472,-0.0153454979549,0.0798472676549,0.999999923818,0.000284449993628,-0.000265309152375,3.25985181985e-05,1793240171019325440
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.431126536,635,879,787.568873464,804,651.431126536,631,652.431126536,0.400987149559,-0.0153453057147,0.0798462629076,0.999999922959,0.000285938304668,-0.000266934052193,3.26798102285e-05,1793240171035992320
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..289200c21121a3437e7246530a907ec973207ffa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+376,6.266666667,pose2_to_pose3_retreat,0.576259163634,-0.00990934625953,1.07003225344,0.546829616128,-0.00123760369576,1.06970038187
+377,6.283333333,pose2_to_pose3_retreat,0.576158732752,-0.00990919971789,1.07003236096,0.546729183149,-0.00123746437194,1.0697004868
+378,6.300000000,pose2_to_pose3_retreat,0.576069778692,-0.0099091816631,1.07003212339,0.546640229621,-0.00123744417253,1.06970025875
+379,6.316666667,pose2_to_pose3_retreat,0.575991704964,-0.00990922622606,1.07003206551,0.546562156185,-0.00123748758743,1.06970020503
+380,6.333333333,pose2_to_pose3_retreat,0.575923711555,-0.00990919873272,1.0700322113,0.546494162169,-0.00123746217241,1.06970035012
+381,6.350000000,pose2_to_pose3_retreat,0.575866275319,-0.00990917899939,1.07003229996,0.546436725906,-0.00123744244805,1.06970044098
+382,6.366666667,pose2_to_pose3_retreat,0.575818207554,-0.00990922536822,1.07003224681,0.546388658656,-0.0012374869818,1.06970038999
+383,6.383333333,pose2_to_pose3_retreat,0.575779261045,-0.00990926497646,1.07003226199,0.546349712209,-0.00123752669486,1.06970039696
+384,6.400000000,pose2_to_pose3_retreat,0.575748590312,-0.00990921223896,1.07003251482,0.546319041494,-0.00123747453043,1.06970063314
+385,6.416666667,pose2_to_pose3_retreat,0.575724663346,-0.0099092065886,1.07003246906,0.546295114223,-0.00123746943163,1.06970060009
+386,6.433333333,pose2_to_pose3_retreat,0.57570680846,-0.00990914476775,1.07003232832,0.546277259222,-0.00123740762153,1.06970046926
+387,6.450000000,pose2_to_pose3_retreat,0.575693414133,-0.00990919120411,1.07003237397,0.546263865338,-0.00123745263148,1.06970051287
+388,6.466666667,pose2_to_pose3_retreat,0.575684113383,-0.00990927970415,1.07003242882,0.546254565581,-0.00123753801629,1.0697005611
+389,6.483333333,pose2_to_pose3_retreat,0.575677712275,-0.00990936415858,1.07003237861,0.546248165992,-0.0012376175616,1.06970050449
+390,6.500000000,pose2_to_pose3_retreat,0.575673726517,-0.00990933925132,1.07003228665,0.546244179127,-0.0012375962486,1.06970041673
+391,6.516666667,pose2_to_pose3_retreat,0.575671098733,-0.00990930546181,1.07003221242,0.546241550154,-0.00123756631941,1.0697003471
+392,6.533333333,pose2_to_pose3_retreat,0.575669557678,-0.00990925338613,1.07003219449,0.546240008564,-0.00123751601724,1.0697003303
+393,6.550000000,pose2_to_pose3_retreat,0.575668816182,-0.00990921777118,1.07003219424,0.546239266863,-0.00123748109515,1.06970033008
+394,6.566666667,pose2_to_pose3_retreat,0.57566828831,-0.00990919241686,1.07003219406,0.546238738846,-0.00123745623407,1.06970032992
+395,6.583333333,pose2_to_pose3_retreat,0.575667817885,-0.0099091698218,1.0700321939,0.546238268292,-0.00123743407859,1.06970032978
+396,6.600000000,pose2_to_pose3_retreat,0.575667478741,-0.00990915353233,1.07003219379,0.546237929054,-0.00123741810601,1.06970032968
+397,6.616666667,pose2_to_pose3_retreat,0.575667284411,-0.00990914419839,1.07003219373,0.54623773467,-0.00123740895366,1.06970032962
+398,6.633333333,pose2_to_pose3_retreat,0.575667241044,-0.00990914211545,1.07003219371,0.546237691292,-0.00123740691124,1.06970032961
+399,6.650000000,pose2_to_pose3_retreat,0.575667157158,-0.0099091380863,1.07003219368,0.546237607383,-0.00123740296047,1.06970032958
+400,6.666666667,pose2_to_pose3_retreat,0.575667016514,-0.00990913133098,1.07003219364,0.546237466699,-0.00123739633657,1.06970032954
+401,6.683333333,pose2_to_pose3_retreat,0.575666983719,-0.00990912975582,1.07003219362,0.546237433896,-0.00123739479205,1.06970032953
+402,6.700000000,pose2_to_pose3_retreat,0.575666906616,-0.00990912821826,1.07003219559,0.5462373568,-0.00123739322948,1.06970033143
+403,6.716666667,pose2_to_pose3_retreat,0.575666666918,-0.00990913919598,1.07003221622,0.546237117342,-0.00123740342323,1.06970035128
+404,6.733333333,pose2_to_pose3_retreat,0.575666395335,-0.00990915163396,1.07003223958,0.546236846031,-0.00123741497294,1.06970037377
+405,6.750000000,pose2_to_pose3_retreat,0.575666256037,-0.00990915801354,1.07003225157,0.546236706872,-0.00123742089693,1.06970038531
+406,6.766666667,pose2_to_pose3_retreat,0.575666217387,-0.00990915978363,1.0700322549,0.546236668261,-0.00123742254061,1.06970038851
+407,6.783333333,pose2_to_pose3_retreat,0.575665946753,-0.00990917217818,1.07003227818,0.546236397897,-0.00123743405,1.06970041093
+408,6.800000000,pose2_to_pose3_retreat,0.575665858097,-0.00990917623844,1.07003228581,0.54623630933,-0.0012374378203,1.06970041827
+409,6.816666667,pose2_to_pose3_retreat,0.575665705614,-0.00990918322187,1.07003229893,0.546236156999,-0.00123744430501,1.0697004309
+410,6.833333333,pose2_to_pose3_retreat,0.575665438182,-0.00990919546978,1.07003232194,0.546235889834,-0.00123745567823,1.06970045305
+411,6.850000000,pose2_to_pose3_retreat,0.575665108836,-0.00990921067592,1.07003234197,0.546235560824,-0.00123746975167,1.06970047292
+412,6.866666667,pose2_to_pose3_retreat,0.575664867283,-0.00990922222525,1.0700323298,0.546235319537,-0.00123748029085,1.06970046353
+413,6.883333333,pose2_to_pose3_retreat,0.575664809401,-0.00990922499272,1.07003232689,0.54623526172,-0.00123748281626,1.06970046128
+414,6.900000000,pose2_to_pose3_retreat,0.575664475807,-0.00990924094274,1.07003231009,0.546234928494,-0.00123749737123,1.06970044832
+415,6.916666667,pose2_to_pose3_retreat,0.575664395394,-0.00990916837284,1.07003233124,0.546234845735,-0.00123743296422,1.06970046428
+416,6.933333333,pose2_to_pose3_retreat,0.57566436792,-0.00990913686002,1.07003224242,0.546234817668,-0.00123740361373,1.06970037154
+417,6.950000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385427,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9974b45e6d8ad8c3c8d774d2576e1862b09f58f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a096abae08303e775d65116fefc0d588d25338416d31cab5c55575d02503de3
+size 26607160
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6fb5319a40332e25f05d96160e681bde6ef39ef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+27,0.450000000,BASELINE,765,744.329239818,715,678,660.329239818,635.329239818,879,787.329239818,804,651,631,652.329239818,0.400986937383,-0.0153456390666,0.0798476793593,0.999999923914,0.000285315777504,-0.00026408244668,3.20612328754e-05,1793240171641921792
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+30,0.500000000,BASELINE,765,745,715,678.414212562,660.414212562,635,878.414212562,787.585787438,804.585787438,651.414212562,631,653,0.400985632059,-0.0153479160009,0.0798471398846,0.999999923762,0.000284355147001,-0.000265681928661,3.21123467094e-05,1793240171691921664
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+33,0.550000000,BASELINE,765,744.144649755,715,678.855350245,660.144649755,635,879.855350245,787,804,652,631.855350245,653,0.400986425071,-0.0153467689157,0.0798470391662,0.999999923926,0.000283186711002,-0.000266326630079,3.19876801193e-05,1793240171741921536
+34,0.566666667,BASELINE,765,744.734116624,715,678.265883376,660.734116624,635,879.265883376,787,804,652,631.265883376,653,0.400986754139,-0.0153449519671,0.0798473489378,0.999999923778,0.000285013771169,-0.000264931403722,3.19864214765e-05,1793240171758588416
+35,0.583333333,BASELINE,765,745,715,678.31806543,661,635,879,787,804,652,631,653,0.400986988511,-0.0153454423984,0.0798480662759,0.999999924052,0.000285233997097,-0.000263643724386,3.20933947353e-05,1793240171775255296
+36,0.600000000,BASELINE,765,745,715,678.897480196,661,635,879,787,804,652,631,653,0.400987145071,-0.0153478287673,0.0798491185049,0.999999924674,0.000284133912933,-0.000262444414585,3.22893004364e-05,1793240171791921920
+37,0.616666667,BASELINE,765,744.525811547,715,678.525811547,661,635,879.474188453,787,804.474188453,651.525811547,631,653,0.400987044562,-0.0153473859542,0.0798492259733,0.999999924548,0.000284768184353,-0.000262253015811,3.21564566493e-05,1793240171808588288
+38,0.633333333,BASELINE,765,744,715,678,661,635,879.949781056,787,804.949781056,651,631,652.949781056,0.400986852418,-0.0153463398711,0.0798490400531,0.999999924225,0.000285786861602,-0.000262396433979,3.1996255603e-05,1793240171825254912
+39,0.650000000,BASELINE,765,744,715,678,661,635,879.374752769,787,804.374752769,651,631,652.374752769,0.400986280172,-0.0153453453011,0.0798479105639,0.999999923527,0.000286926401314,-0.000263774493953,3.22887165483e-05,1793240171841921280
+40,0.666666667,BASELINE,765,744.206062674,715,678.206062674,661,635,878.793937326,787,803.793937326,651.206062674,631,652.206062674,0.400986471427,-0.0153450336438,0.0798475073877,0.999999923441,0.000287090928881,-0.00026389414222,3.24951836325e-05,1793240171858587904
+41,0.683333333,BASELINE,765,744.797706929,715,678.797706929,661,635,878.202293071,787,803.202293071,651.797706929,631,652.797706929,0.400988091335,-0.0153459998432,0.0798484632782,0.999999924502,0.000285431027345,-0.000261659068084,3.25407401937e-05,1793240171875254528
+42,0.700000000,BASELINE,765,745,715,678.621729288,661,635,878.756541424,787,803.378270712,652,631,653,0.400987781282,-0.0153469428874,0.0798486177006,0.999999924938,0.000283840629625,-0.000261744764265,3.23903554618e-05,1793240171891921152
+43,0.716666667,BASELINE,765,745,715,678.046922543,661,635,879.906154914,787,803.953077457,652,631,653,0.400986468489,-0.015347873901,0.0798483557084,0.999999925047,0.000282286343674,-0.000263036250383,3.21381665888e-05,1793240171908588032
+44,0.733333333,BASELINE,765,745,715,678,660.471292445,635,879.471292445,787,804,651.471292445,631.528707555,653,0.400988190738,-0.0153472860007,0.0798494986478,0.999999925109,0.000283468037409,-0.000261517906204,3.21999041094e-05,1793240171925255168
+45,0.750000000,BASELINE,765,744.896285847,715,678.103714153,660.103714153,635,879,787,803.896285847,651.103714153,631.896285847,652.896285847,0.400989294212,-0.0153466526951,0.0798501814145,0.999999924966,0.000284779327114,-0.000260635571857,3.22138433439e-05,1793240171941922304
+46,0.766666667,BASELINE,765,744.32442414,715,678.67557586,660.67557586,635,879,787,803.32442414,651.67557586,631.32442414,652.32442414,0.400986386911,-0.0153464238634,0.0798482233488,0.999999923932,0.000285577847444,-0.000263751448416,3.18860744358e-05,1793240171958588672
+47,0.783333333,BASELINE,764.741917971,744.258082029,715,679,660.741917971,635,878.741917971,787,803.258082029,651.741917971,631,652.258082029,0.400984932983,-0.0153465543332,0.0798468965116,0.99999992322,0.000286753420016,-0.000265166428184,3.19384498127e-05,1793240171975254784
+48,0.800000000,BASELINE,764.14545539,744.85454461,715,679,660.14545539,635,878.14545539,787,803.85454461,651.14545539,631,652.85454461,0.400985384623,-0.015347155896,0.0798463973004,0.999999922937,0.000288423359341,-0.000264351301943,3.24892458727e-05,1793240171991921152
+49,0.816666667,BASELINE,764,744.562833271,715,679,660,635,878.437166729,787,804,651,631,653,0.400987232246,-0.0153463116458,0.0798478417874,0.999999923636,0.000287281586614,-0.000262963744616,3.23707053463e-05,1793240172008588032
+50,0.833333333,BASELINE,764,744.015151757,715,678.984848243,660.015151757,635,879,787,803.984848243,651.015151757,631,653,0.400989422215,-0.0153450369248,0.0798498383232,0.999999924613,0.000285277182714,-0.000261464053297,3.20446156905e-05,1793240172025254656
+51,0.850000000,BASELINE,764,744.58677081,715,678.41322919,660.58677081,635,879,787,803.41322919,651.58677081,631,653,0.400987650299,-0.0153450778025,0.0798490870899,0.999999924418,0.000284895365691,-0.000262626354708,3.20240946162e-05,1793240172041921280
+52,0.866666667,BASELINE,764.164079644,745,715,678.164079644,660.835920356,635.164079644,878.835920356,787,803.164079644,652,631,653,0.400986364822,-0.0153455963315,0.0798483336046,0.999999924276,0.000284458956698,-0.000263632985464,3.20599198111e-05,1793240172058587904
+53,0.883333333,BASELINE,764.756232725,745,715,678.756232725,660.243767275,635.756232725,878.243767275,787,803.756232725,652,631,653,0.400986348435,-0.0153473610227,0.0798475742444,0.999999924277,0.000283880120724,-0.00026423348124,3.22427488672e-05,1793240172075254784
+54,0.900000000,BASELINE,765,745,715,679,660.341043688,635.658956312,878.682087376,787,804,652,631,653,0.400986967966,-0.0153473099168,0.0798479711639,0.999999924425,0.000284313409299,-0.000263216905937,3.21428022301e-05,1793240172091921664
+55,0.916666667,BASELINE,765,745,715,679,660.92071731,635.07928269,879.84143462,787,804,652,631,653,0.400988032452,-0.0153459882888,0.0798491771381,0.999999924672,0.000285454886388,-0.000261068858077,3.18449960517e-05,1793240172108588288
+56,0.933333333,BASELINE,765,745,715,679,661,635,879.008005208,787,804,651.504002604,631,653,0.400987300985,-0.0153466231795,0.0798483594081,0.999999924132,0.000285883459933,-0.000262663954613,3.18383165623e-05,1793240172125254656
+57,0.950000000,BASELINE,765,745,715,678.927803937,661,635,878.072196063,787,804,651.072196063,631,653,0.400986580137,-0.0153474608569,0.0798475363654,0.999999923616,0.000286172916648,-0.00026430434331,3.1876920701e-05,1793240172141921024
+58,0.966666667,BASELINE,765,745,715,678.340075426,661,635,878.659924574,787,804,651.659924574,631,653,0.400987967041,-0.0153475329962,0.079848964981,0.999999924183,0.000286275548045,-0.000262033202592,3.19095057491e-05,1793240172158587648
+59,0.983333333,BASELINE,765,745,715,678,661,635,879,787,804,652,631,653,0.400988453308,-0.0153473370411,0.0798496192673,0.999999924389,0.000286535412951,-0.000260948671696,3.20122316952e-05,1793240172175254528
+60,1.000000000,BASELINE,765,745,715,678,661,635,879,787,804,652,631,653,0.400987702826,-0.0153467729405,0.0798492102504,0.999999924104,0.000287011189841,-0.000261493584907,3.22112746435e-05,1793240172191921408
+61,1.016666667,BASELINE,765,744.598708711,715,678.401291289,660.598708711,635,878.598708711,787.401291289,804,652,631.401291289,652.598708711,0.400987621721,-0.0153473673649,0.0798488354914,0.999999924625,0.000285223967018,-0.000261450662651,3.22530765607e-05,1793240172208588288
+62,1.033333333,BASELINE,765,744.022025305,715,678.977974695,660.022025305,635,878.022025305,787.977974695,804,652,631.977974695,652.022025305,0.40098783318,-0.0153484681451,0.0798484757055,0.999999925493,0.000282447656379,-0.000261150815502,3.22261532325e-05,1793240172225255168
+63,1.050000000,BASELINE,765,744.552718861,715,678.447281139,660.552718861,635,878.552718861,788,804.552718861,652,631.447281139,652.552718861,0.400987358678,-0.0153476984776,0.0798484527375,0.999999924933,0.000283314564276,-0.000262387963968,3.1932458965e-05,1793240172241921792
+64,1.066666667,BASELINE,765,745,715,678.131068963,660.868931037,635,879,788,804.868931037,651.868931037,631,653,0.400987038965,-0.0153471016861,0.0798485396971,0.999999924409,0.000284414747774,-0.00026321609774,3.17443865774e-05,1793240172258587904
+65,1.083333333,BASELINE,765,745,715,678.722350684,660.277649316,635,879,788,804.277649316,651.277649316,631,653,0.400987358391,-0.0153473726967,0.0798489656749,0.999999924216,0.000285826041655,-0.000262393785529,3.19643722999e-05,1793240172275254528
+66,1.100000000,BASELINE,765,745,715,679,660.306879744,635,879,788,804,651.306879744,631,653,0.400987495872,-0.0153471877119,0.0798489686519,0.999999924008,0.000286825725298,-0.000262075256893,3.21087386949e-05,1793240172291921152
+67,1.116666667,BASELINE,765,745,715,679,660.885430847,635,879,788,804,651.885430847,631,653,0.400987472283,-0.0153465990483,0.0798485971591,0.99999992379,0.000287461022769,-0.000262202712666,3.2186161574e-05,1793240172308587776
+68,1.133333333,BASELINE,765,745,715,678.538598291,661,635,879,788,804,652,631,653,0.400987911208,-0.0153456361443,0.0798490236415,0.999999923922,0.000287206614012,-0.000262020446795,3.18484916326e-05,1793240172325254400
+69,1.150000000,BASELINE,765,745,715,678.03673433,661,635.03673433,879.03673433,788,804.03673433,651.96326567,631.03673433,653,0.400988454782,-0.015344732611,0.0798496407657,0.999999924154,0.000286717583827,-0.000261717171769,3.14550393126e-05,1793240172341921024
+70,1.166666667,BASELINE,765,745,715,678.612049996,661,635.612049996,879.612049996,788,804.612049996,651.387950004,631.612049996,653,0.400988858237,-0.0153460544098,0.079850164072,0.999999924597,0.000286009658614,-0.000260761006623,3.17464974856e-05,1793240172358587648
+71,1.183333333,BASELINE,765.193076373,745,715,678.806923627,661,635.806923627,879.806923627,788,804.806923627,651.193076373,631.806923627,653,0.400988486098,-0.0153470691972,0.0798500026062,0.999999924666,0.000285622517272,-0.000260901765521,3.19028562694e-05,1793240172375254272
+72,1.200000000,BASELINE,765.785927176,745,715,678.214072824,661,635.214072824,879.214072824,788,804.214072824,651.785927176,631.214072824,653,0.400986508051,-0.0153474483017,0.0798484232852,0.999999923959,0.000285899575091,-0.000263313761148,3.17794849646e-05,1793240172391920896
+73,1.216666667,BASELINE,765.631815452,745,715,678.368184548,660.631815452,635,879,787.631815452,804,652,631.368184548,653,0.400986501465,-0.0153466202505,0.0798483627386,0.9999999238,0.000286380267249,-0.000263386735081,3.18372968139e-05,1793240172408587776
+74,1.233333333,BASELINE,765.055545173,745,715,678.944454827,660.055545173,635,879,787.055545173,804,652,631.944454827,653,0.400987609083,-0.0153451099547,0.0798491605533,0.999999923952,0.000286976046788,-0.000262137771153,3.19975073982e-05,1793240172425254144
+75,1.250000000,BASELINE,765,744.483667122,715,679,660.516332878,635,879,787,804,652,632,653,0.400988650905,-0.0153472507821,0.0798497465655,0.999999925045,0.000283982952251,-0.000261212598527,3.2108697359e-05,1793240172441920768
+76,1.266666667,BASELINE,765,744.090745559,715,678.909254441,661,635.090745559,879.090745559,787,804,651.909254441,631.909254441,653,0.40098942908,-0.0153490712666,0.0798501680773,0.999999925828,0.000281832142044,-0.000260534765056,3.21763703004e-05,1793240172458587648
+77,1.283333333,BASELINE,765,744.681712606,715,678.318287394,661,635.681712606,879.681712606,787,804,651.318287394,631.318287394,653,0.400988792627,-0.0153469790608,0.0798498073442,0.999999924396,0.000286434545448,-0.000261029964014,3.20329860553e-05,1793240172475254272
+78,1.300000000,BASELINE,765,744.732477366,715,678.267522634,661,635.732477366,879.732477366,787,804,651.267522634,631,653,0.400987514611,-0.0153457977885,0.0798490228667,0.99999992344,0.000288655613334,-0.000262260956192,3.18976076049e-05,1793240172491920896
+79,1.316666667,BASELINE,765,744.152686946,715,678.847313054,661,635.152686946,879.152686946,787,804,651.847313054,631,653,0.400985487726,-0.0153456798103,0.0798477437703,0.999999923055,0.000288097049303,-0.000264350808455,3.17715739888e-05,1793240172508587776
+80,1.333333333,BASELINE,765,744.425309936,715,678.574690064,660.574690064,635,879,787,804,651.574690064,631,652.574690064,0.400985709975,-0.0153460657646,0.0798478045109,0.99999992349,0.000286445838457,-0.000264522763708,3.15818645289e-05,1793240172525254656
+81,1.350000000,BASELINE,765,745,715,678.002657742,660.002657742,635,879,787.002657742,804,651.002657742,631,652.002657742,0.400986734311,-0.015346633305,0.0798483458652,0.999999924213,0.000284414645122,-0.000264005499071,3.1372999065e-05,1793240172541921024
+82,1.366666667,BASELINE,765,745,715,678.578292942,660.578292942,635,879,787.578292942,804,651.578292942,631,652.578292942,0.400987335246,-0.0153475098205,0.0798492386193,0.99999992446,0.000284675670363,-0.000262715760561,3.19419209475e-05,1793240172558587648
+83,1.383333333,BASELINE,765,744.842361161,715,678.842361161,660.842361161,635.157638839,879,787.842361161,804,652,631,652.842361161,0.40098792849,-0.0153479007439,0.0798499680723,0.999999924599,0.000285067277337,-0.000261703963965,3.24087893547e-05,1793240172575254272
+84,1.400000000,BASELINE,765,744.252849173,715,678.252849173,660.252849173,635.747150827,879,787.252849173,804,652,631,652.252849173,0.400988500661,-0.0153469613212,0.07985025014,0.999999924444,0.000285816630873,-0.000261453626946,3.25960684434e-05,1793240172591920896
+85,1.416666667,BASELINE,765,744,715,678,660.330812211,635.669187789,879,787,804,652,631,652.330812211,0.40098882883,-0.0153464210828,0.0798502206461,0.999999924638,0.000286001485241,-0.000260532710884,3.24156979009e-05,1793240172608587520
+86,1.433333333,BASELINE,765,744,715,678,660.910079491,635.089920509,879,787,804,652,631,652.910079491,0.400988973741,-0.0153461806502,0.079849957155,0.999999925091,0.000285762374927,-0.000259108159373,3.19592056958e-05,1793240172625254144
+87,1.450000000,BASELINE,765.484678979,744.484678979,715,678.484678979,661,635,879,787,804,651.515321021,631,653,0.400987859638,-0.0153467411349,0.0798491402676,0.999999924614,0.000285366799495,-0.000261394869876,3.18013163605e-05,1793240172641921024
+88,1.466666667,BASELINE,765.941342674,744.941342674,715,679,661,635,879,787,804,651.058657326,631,653,0.400986756545,-0.0153474088273,0.079848394363,0.999999924085,0.00028491726025,-0.000263907673366,3.17045587965e-05,1793240172658587648
+89,1.483333333,BASELINE,765.365277333,744.365277333,715,679,661,635,879,787,804,651.634722667,631,653,0.400987791305,-0.0153477239858,0.0798491715808,0.999999924674,0.00028424532618,-0.000262399272474,3.16630342661e-05,1793240172675254272
+90,1.500000000,BASELINE,765,744,715,679,661,635,879,787,804,651.78291558,631,653,0.400987976075,-0.0153478193685,0.0798494215115,0.999999924791,0.000284391756642,-0.000261783425497,3.1766370849e-05,1793240172691920896
+91,1.516666667,BASELINE,765,744,715,679,661,635,879,787,804,651.189642752,631,653,0.400986687886,-0.0153475338988,0.0798487576996,0.999999924089,0.000285956341682,-0.000262714296934,3.21207391376e-05,1793240172708587776
+92,1.533333333,BASELINE,765,744.392268616,715,678.607731384,661,635,879,787,804,651.392268616,631,653,0.400987195772,-0.0153468679746,0.0798490520408,0.999999924093,0.000286295513835,-0.000262322988955,3.21948184602e-05,1793240172725254400
+93,1.550000000,BASELINE,765,744.968841932,715,678.031158068,661,635,879,787,804,651.968841932,631,653,0.400988547531,-0.0153460232965,0.0798497965635,0.999999924427,0.000286058934341,-0.000261310464187,3.21372059783e-05,1793240172741921024
+94,1.566666667,BASELINE,765,745,715,678,660.458659485,635,879,787.541340515,804,651.458659485,631,652.458659485,0.400990225534,-0.015347089426,0.0798505380847,0.999999925614,0.000283993932585,-0.000259031563948,3.19651218246e-05,1793240172758587648
+95,1.583333333,BASELINE,764.882835222,745,715,678,660.117164778,635,879,787.882835222,804,651.117164778,631.117164778,652.117164778,0.400991254625,-0.015347864821,0.0798509758566,0.99999992635,0.000282734174616,-0.000257578406581,3.18675709009e-05,1793240172775254272
+96,1.600000000,BASELINE,764.292644322,745,715,678,660.707355678,635,879,787.292644322,804,651.707355678,631.707355678,652.707355678,0.400989588641,-0.0153470257365,0.0798501880023,0.999999925095,0.000285147108579,-0.000259751071997,3.20973324196e-05,1793240172791920896
+97,1.616666667,BASELINE,764.29227074,745,715,678.29227074,661,635,879,787,804,652,631.70772926,653,0.400988561582,-0.01534687214,0.0798498559557,0.999999924809,0.00028516483855,-0.000260841504291,3.20237058614e-05,1793240172808587520
+98,1.633333333,BASELINE,764.871996852,745,715,678.871996852,661,635,879,787,804,652,631.128003148,653,0.400988162921,-0.0153473927377,0.0798499722069,0.999999925478,0.000282826827068,-0.000260867533889,3.16516897461e-05,1793240172825254400
+99,1.650000000,BASELINE,765,745,715,679,661,635,879,787,804,651.551428974,631,653,0.400987420952,-0.0153475203203,0.0798494303017,0.999999925411,0.000282240287835,-0.000261774421446,3.15075280692e-05,1793240172841921536
+100,1.666666667,BASELINE,765,745,715,678.975287414,660.975287414,635,879,787,804,651,631,653,0.400986629058,-0.0153474813963,0.0798487495306,0.999999925133,0.00028225342673,-0.000262827142617,3.14383985595e-05,1793240172858589184
+101,1.683333333,BASELINE,765,745,715,678.388674171,660.388674171,635,879,787,804,651,631,653,0.400986913928,-0.0153461887462,0.079849151823,0.999999924801,0.000284616924408,-0.000261520355503,3.16072356793e-05,1793240172875255296
+102,1.700000000,BASELINE,765.195653186,745,715,678,660.195653186,635,879,787.195653186,804,651.195653186,631,653,0.400987315438,-0.0153461003299,0.0798495483251,0.999999924674,0.000285819165353,-0.000260660669676,3.18529836431e-05,1793240172891921664
+103,1.716666667,BASELINE,765.775491895,745,715,678,660.775491895,635,879,787.775491895,804,651.775491895,631,653,0.400987945981,-0.0153483765526,0.0798499334571,0.999999924964,0.000284741156791,-0.000260678914211,3.22497540856e-05,1793240172908588032
+104,1.733333333,BASELINE,765.645969963,744.645969963,715,678.354030037,661,635,879,788,804,651.645969963,631,653,0.400987859741,-0.0153477185491,0.0798498922394,0.999999924725,0.000285292561206,-0.000261005663252,3.21544641673e-05,1793240172925254656
+105,1.750000000,BASELINE,765.068253501,744.068253501,715,678.931746499,661,635,879,788,804,651.068253501,631,653,0.400987320615,-0.0153452066167,0.0798495816415,0.99999992415,0.000286873475797,-0.000261527334372,3.17482763083e-05,1793240172941921536
+106,1.766666667,BASELINE,765,744.506278967,715,679,661,635,879,788,804,651.506278967,631,653,0.400987568092,-0.0153456711901,0.0798489530961,0.999999923939,0.000287210432019,-0.000261961002337,3.1766791078e-05,1793240172958588416
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,678,661,635,879,788,804,652,631,653,0.400988842217,-0.0153466502925,0.0798503489399,0.999999925146,0.000285308370206,-0.000259376562895,3.21126184751e-05,1793240173001169408
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.579887834,715,678,661,635,879,787.420112166,804,651.420112166,631,653,0.400988909888,-0.0153468778511,0.079850372227,0.999999925395,0.000284692974906,-0.000259166576001,3.15207970273e-05,1793240173017835776
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.841738913,635,879,787.158261087,804,651.158261087,631,653,0.400988792369,-0.0153468575693,0.0798502112736,0.99999992533,0.00028490539515,-0.000259219340734,3.12269983692e-05,1793240173034502144
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660.267347956,635,879,787.732652044,804,651.732652044,631,653,0.400988187909,-0.0153461856192,0.0798495658806,0.999999924438,0.000287294463863,-0.000259962981512,3.17168172547e-05,1793240173051168512
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,678,660.30787506,635,879,787.69212494,804,652,631,653,0.400987889105,-0.0153459605015,0.0798495164157,0.9999999243,0.000287579815266,-0.000260144368896,3.19874894388e-05,1793240173067835136
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.883822532,635,879,787.116177468,804,652,631,653,0.400987856442,-0.015346124449,0.0798499858363,0.999999924821,0.000286033421623,-0.000259836191987,3.20673465771e-05,1793240173084502016
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660.527544189,635,879,787,804,652,631,653,0.400986841491,-0.0153476943991,0.0798492099576,0.999999924571,0.000285189435175,-0.000261752416203,3.18050379973e-05,1793240173101168640
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678.062773439,660.062773439,635,879.062773439,787,804,652,631,653,0.400986345196,-0.0153491419911,0.0798485335982,0.999999924217,0.000284836252302,-0.000263511528655,3.15486365216e-05,1793240173117835776
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678.640609683,660.640609683,635,879.640609683,787,804,652,631,653,0.400992141119,-0.0153466705351,0.0798512557046,0.99999992465,0.000287053853188,-0.00025936963555,3.20501211651e-05,1793240173134502144
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.216964891,879.783035109,787,804,652,631,653,0.401003448122,-0.0153457983821,0.0798562005487,0.999999926402,0.000288327505732,-0.000251010641247,3.25183609407e-05,1793240173151168768
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.790883421,879.209116579,787,804,652,631,653,0.401023822029,-0.0153475574245,0.0798648022713,0.999999930191,0.000288048161156,-0.000235713614131,3.29319057465e-05,1793240173167835392
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.373382792,745,715,678.626617208,660.626617208,635.626617208,879,787,804,651.626617208,631,653,0.401060346194,-0.0153501671365,0.0798794032402,0.999999936748,0.000285586400937,-0.000209283067997,3.385015744e-05,1793240173184502016
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.960801041,745,715,678.039198959,660.039198959,635.039198959,879,787,804,651.039198959,631,653,0.401106128225,-0.0153532644807,0.0798974431777,0.999999944088,0.000281873607103,-0.000176470416212,3.50577239486e-05,1793240173201168896
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.456829013,745,715,678,660,635,878.456829013,787.543170987,804,651.543170987,631,653,0.401173172843,-0.0153543325297,0.0799142388701,0.999999948273,0.000284755493922,-0.000145367143178,3.51647265324e-05,1793240173217835264
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,678.123614461,660,635,878.123614461,788,804,652,631,653,0.40124418262,-0.0153559464033,0.0799295456994,0.999999951243,0.000286984215406,-0.00011804686822,3.49075010866e-05,1793240173234502144
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,678.698344973,660,635,878.698344973,788,804,652,631,653,0.401324114545,-0.0153600817201,0.0799397437796,0.999999953375,0.000285108480307,-0.000104086135893,3.36082497339e-05,1793240173251168768
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273369686,744.726630314,715,678.726630314,660.273369686,635,879,787.726630314,804,651.726630314,631,653,0.401409320554,-0.0153642065735,0.0799459627139,0.999999955319,0.000281871218793,-9.44227674427e-05,3.15481175753e-05,1793240173267835392
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.848719358,744.151280642,715,678.151280642,660.848719358,635,879,787.151280642,804,651.151280642,631,653,0.401500352618,-0.015368319868,0.0799477860527,0.999999957183,0.000277129936507,-8.95065168301e-05,2.86474725007e-05,1793240173284502272
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.565448542,744.434551458,715,678,661,635,879,787.434551458,804,651.434551458,631,653,0.40160583644,-0.0153711994054,0.079948506329,0.999999957413,0.000277182359375,-8.7723328856e-05,2.54708597042e-05,1793240173301168896
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678.047420935,661.023710468,635,879.023710468,788,804,652,631.023710468,653.023710468,0.40171784624,-0.0153737724752,0.0799488816341,0.999999957182,0.000278565683908,-8.68778418541e-05,2.21385420721e-05,1793240173317835264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.206399034,661.603199517,635,879.603199517,788,804,652,631.603199517,653.603199517,0.401861981355,-0.0153794785183,0.079950394508,0.999999959764,0.000271060829193,-8.18137029711e-05,1.74641005577e-05,1793240173334501888
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.818781469,661.818781469,635.181218531,879.818781469,788,804,651.818781469,631.818781469,653.818781469,0.402016470704,-0.0153856573673,0.0799528838774,0.999999962332,0.000263620847363,-7.53749453878e-05,1.2581667386e-05,1793240173351168768
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.243955455,661.243955455,635.756044545,879.243955455,788,804,651.243955455,631.243955455,653.243955455,0.402193449481,-0.015392863152,0.0799574941997,0.999999964949,0.000256321770738,-6.59505103154e-05,7.24747598672e-06,1793240173367835392
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,678.661499821,661,635.661499821,879,788,804.338500179,651,631.338500179,653,0.402374677004,-0.0153991938001,0.0799564212514,0.999999967226,0.000246722330978,-6.83725212244e-05,9.13628993771e-07,1793240173384502016
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,678.073418703,661,635.073418703,879,788,804.926581297,651,631.926581297,653,0.402559037207,-0.0154048791985,0.0799511579485,0.999999969106,0.000235426800349,-7.95290822629e-05,-6.15727867434e-06,1793240173401168896
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678.507112299,661,635.507112299,879,788,804.492887701,651.507112299,631.492887701,653,0.402776361849,-0.0154118106118,0.0799466167076,0.999999981743,0.000168548704379,-8.89502755373e-05,-1.39047495131e-05,1793240173417835520
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.913939627,715,678.913939627,661,635.913939627,879,787.913939627,804,651.913939627,631,653,0.403007152478,-0.0154190380821,0.079943316142,0.999999989825,0.000103984456054,-9.52435360326e-05,-2.15985564558e-05,1793240173434502144
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.337871643,715,678.337871643,661,635.337871643,879,787.337871643,804,651.337871643,631,653,0.403287840373,-0.0154269391716,0.0799464932026,0.999999991195,9.77410186198e-05,-8.51366193335e-05,-2.84372862587e-05,1793240173451168512
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.238010469,715,678.238010469,661,635,879,787,804,651.238010469,631,653,0.403588571583,-0.0154360046208,0.0799515047512,0.999999991507,0.000103003416739,-7.46241811504e-05,-2.84041539013e-05,1793240173467835136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.813628895,715,678.813628895,661,635,879,787,804,651.813628895,631,653,0.403917733386,-0.0154467216651,0.0799591184446,0.999999990047,0.000124586364642,-6.3536528186e-05,-1.8623570313e-05,1793240173484501760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.61293431,715,679,661,635,879,787.38706569,804,652,631,653,0.404261786599,-0.0154571325719,0.0799606531463,0.999999992099,0.000107929354264,-6.10851437286e-05,-2.05516775447e-05,1793240173501168640
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.040542093,715,679,661,635,879,787.959457907,804,652,631,653,0.404612969791,-0.0154673969,0.0799592772347,0.999999994974,7.29631030914e-05,-6.27687931681e-05,-2.80858903002e-05,1793240173517835264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.556299191,744.556299191,715,678.443700809,661,635,879.556299191,788,804,652,631,653,0.405001094484,-0.0154945555303,0.0799546120223,0.999999996586,4.29132346789e-05,-6.54651230028e-05,-2.64733045539e-05,1793240173534502656
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.851418821,745,715,678.148581179,661,635,880,787.851418821,804.148581179,652,631.148581179,653,0.405401031252,-0.015519548907,0.0799490082387,0.99999999703,1.41185255175e-05,-7.12787916244e-05,-2.56883973084e-05,1793240173551169792
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.277522859,745,715,678.722477141,661,635,880,787.277522859,804.722477141,652,631.722477141,653,0.405826719302,-0.0155346578117,0.0799414355287,0.999999995817,-1.21560515108e-05,-8.57948950022e-05,-2.92685987142e-05,1793240173567836416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.697325608,715,679,661,635,879.697325608,787.302674392,804.697325608,652,631.697325608,653,0.406276965671,-0.0155357410985,0.0799377425916,0.999999995288,-1.03956732635e-05,-9.18227759581e-05,-2.97534832574e-05,1793240173584503040
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.11122778,715,679,661,635,879.11122778,787.88877222,804.11122778,652,631.11122778,653,0.406750208431,-0.0155236908386,0.0799376826616,0.99999999543,1.7616553856e-05,-8.99023114058e-05,-2.73399223612e-05,1793240173601169152
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.46924071,715,679,661.46924071,635,879.46924071,788,804,651.53075929,631,653,0.407246125251,-0.0155026495698,0.0799352335323,0.999999994121,3.87085256226e-05,-9.65843803852e-05,-3.05010823743e-05,1793240173617835776
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.951586898,635.048413102,879.951586898,787.951586898,804,651.048413102,631,653,0.40775064554,-0.0154820641194,0.0799319317203,0.999999992275,5.54818864098e-05,-0.000105690438785,-3.46565457471e-05,1793240173634502144
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.372167862,635.627832138,879.372167862,787.372167862,804,651.627832138,631,653,0.408291279878,-0.0154895766497,0.0799254154937,0.999999991349,4.26663319814e-05,-0.000119282911275,-3.53959423855e-05,1793240173651168768
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.794948117,879,787,804.205051883,651.794948117,631,653,0.408862899046,-0.0154989762111,0.0799294573134,0.999999992381,2.99070206852e-05,-0.000114264994567,-3.58708848535e-05,1793240173667835648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.221677745,879,787,804.778322255,651.221677745,631,653,0.409490158669,-0.0155117643763,0.0799524585683,0.999999996333,1.7248707804e-05,-7.5827782035e-05,-3.58709381047e-05,1793240173684502784
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,678.637944143,661,635,879,787.362055857,805,651,631,653,0.410144402078,-0.0155186358335,0.0799787226907,0.999999998861,6.07270567164e-06,-3.1758554845e-05,-3.51015222165e-05,1793240173701169408
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,678.047613539,661,635,879,787.952386461,805,651,631,653,0.410815658632,-0.0155217768297,0.0800070440371,0.999999999293,-4.16870507547e-06,1.58616332962e-05,-3.38469591174e-05,1793240173717835776
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.532013249,745,715,678.532013249,661,635,879,788,805,651.532013249,631,653,0.411458927556,-0.0155166034182,0.0799931713207,0.999999999261,3.12244594132e-06,-1.25927563032e-05,-3.61870320665e-05,1793240173734502656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890067052,745,715,679,661,635,879,787.890067052,804.890067052,652,631,653,0.412103809486,-0.0155107991851,0.0799724874034,0.999999997965,1.07937052125e-05,-4.90701690789e-05,-3.9311604239e-05,1793240173751169536
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.315394327,745,715,679,661,635,879,787.315394327,804.315394327,652,631,653,0.412765890377,-0.0155054118526,0.0799386583814,0.999999994758,1.35693041238e-05,-9.12498748236e-05,-4.44194380792e-05,1793240173767835648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.26589019,787.26589019,804,651.73410981,631,653,0.413468350034,-0.0155039386309,0.0799218600257,0.99999999284,1.30754956884e-05,-0.000109068918083,-4.74649986921e-05,1793240173784502016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.855217575,787.855217575,804,651.144782425,631,653,0.41421992778,-0.015507226656,0.0799257783038,0.999999994082,8.60467765965e-06,-9.72548906275e-05,-4.80019460028e-05,1793240173801168640
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787.563413798,804,651,631,653,0.414995488597,-0.0155137548126,0.0799483618217,0.999999997188,3.3438176519e-06,-5.86746229024e-05,-4.65810296764e-05,1793240173817835776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.98465382,787,804,651.01534618,631,653,0.415778029035,-0.0155210003719,0.0799758229774,0.999999998908,-2.11437844398e-06,-1.35824165565e-05,-4.465795252e-05,1793240173834502656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879.406500835,787,804,651.593499165,631,653,0.416530082301,-0.0155158550533,0.0799592245493,0.999999997629,-5.3732374685e-06,-4.93737471399e-05,-4.77038249833e-05,1793240173851169024
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.170270057,745,715,679,661,635,879.170270057,787.170270057,804.170270057,652,631,653,0.417309324157,-0.0155118593741,0.0799539562241,0.999999996971,-7.47565300495e-06,-5.93327161622e-05,-4.98238220596e-05,1793240173867835392
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.743767891,745,715,679,661,635,879.743767891,787.743767891,804.743767891,652,631,653,0.418152953067,-0.0155105862323,0.0799755194655,0.999999998706,-6.8394180818e-06,-8.11636009231e-06,-4.97511922896e-05,1793240173884501760
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.681397602,745,715,679,661,635,880,787.681397602,804.681397602,651.681397602,631,653,0.418992104085,-0.0155130209246,0.0799883764975,0.999999998539,-7.72922610787e-06,1.99307737875e-05,-4.96546525509e-05,1793240173901168384
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.10548359,745,715,679,661,635,880,787.10548359,804.10548359,651.10548359,631,653,0.419827638599,-0.0155184501608,0.0799942021665,0.999999998296,-9.85150630044e-06,2.92658364786e-05,-4.95388025735e-05,1793240173917835264
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880.483705333,787,804.483705333,651.483705333,631,653,0.420659123164,-0.0155213993509,0.0799793353232,0.999999998416,-2.01682175938e-05,7.65043755201e-06,-5.1993044663e-05,1793240173934501888
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880.925940592,787,804.925940592,651.925940592,631,653,0.421496535627,-0.0155234101163,0.0799656103675,0.999999998022,-2.93729918056e-05,-1.2912195771e-05,-5.40992967952e-05,1793240173951168512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880.34791359,787,804.34791359,651.34791359,631,653,0.422380466107,-0.0155228191637,0.0799912295368,0.999999998364,-1.85076544982e-05,2.09149266957e-05,-4.99159320026e-05,1793240173967835392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.227603892,661,635,879.772396108,787.227603892,804,651.227603892,631,653,0.423248413722,-0.0155232903899,0.0800081962102,0.999999998003,-1.1585413412e-05,4.00610750813e-05,-4.74919731996e-05,1793240173984502528
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.799327262,661,635,879.200672738,787.799327262,804,651.799327262,631,653,0.424092196616,-0.0155253675483,0.0800120809833,0.99999999812,-1.06248271617e-05,3.70107315194e-05,-4.77280995905e-05,1793240174001168896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.384647553,635.384647553,879.384647553,787.615352447,804.384647553,651.615352447,631,653,0.424926397524,-0.0155251700031,0.0799816670461,0.999999998509,-1.0118038228e-05,-1.71744898516e-05,-5.08438109767e-05,1793240174017835264
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.977321337,635.977321337,879.977321337,787.022678663,804.977321337,651.022678663,631,653,0.425755416224,-0.015523742246,0.0799327035785,0.999999993508,-9.85667330656e-06,-9.90146272396e-05,-5.55168677655e-05,1793240174034501632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.557372026,680,662,636,880,787.557372026,805,651.557372026,631.557372026,653,0.426652786637,-0.0155246286672,0.0799296550322,0.999999994719,-1.77979109275e-05,-8.30523980569e-05,-5.78580673638e-05,1793240174051168512
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.863838758,680,662,635.863838758,880,788,804.863838758,652,631.863838758,653,0.427540517429,-0.0155256210507,0.0799299486001,0.999999995491,-2.27755892686e-05,-7.0785269873e-05,-5.90616039904e-05,1793240174067835136
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.287503973,680,662,635.287503973,880,788,804.287503973,652,631.287503973,653,0.428388294248,-0.0155266583272,0.0799351406567,0.999999994787,-1.71178194756e-05,-8.30430130337e-05,-5.68873040497e-05,1793240174084501760
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.287375424,661.712624576,635,880,788,804,651.712624576,631,653,0.429253189116,-0.0155280630917,0.0799505383805,0.999999996064,-1.88547975068e-05,-6.67975790086e-05,-5.52641505944e-05,1793240174101168384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.860806086,661.139193914,635,880,788,804,651.139193914,631,653,0.430135123343,-0.0155298336557,0.0799760948871,0.999999997895,-2.79525526232e-05,-2.21799089412e-05,-5.41896117401e-05,1793240174117835264
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.448936602,745,715,680.551063398,661.448936602,635.448936602,880,787.551063398,804.448936602,651,631,653,0.431032987623,-0.0155345870756,0.0800101403909,0.999999997797,-3.10592876185e-05,2.73261952743e-05,-5.19134206891e-05,1793240174134501888
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.959412373,745,715,680,662,635.959412373,880,787.040587627,804.959412373,651,631,653,0.431926210397,-0.015539356473,0.0800409631565,0.999999995857,-3.23887129572e-05,6.89749735861e-05,-4.97859232444e-05,1793240174151168768
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.383477823,745,715,680,662,635.383477823,880,787.616522177,804.383477823,651,631,653,0.432690858877,-0.015531725083,0.0799933867664,0.999999997776,-3.56056462258e-05,-1.36819939133e-05,-5.47002735336e-05,1793240174167835392
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,788,804.192232405,651,631,653,0.433465123561,-0.0155273606874,0.0799475147662,0.999999994013,-3.87597917435e-05,-8.33362946054e-05,-5.93926357436e-05,1793240174184501760
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,788,804.767495766,651,631,653,0.434258549061,-0.0155295059107,0.079905038824,0.999999989027,-4.17888310287e-05,-0.00012708226314,-6.36426790323e-05,1793240174201168384
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880.34161581,788,805,651,631,653,0.435068174015,-0.0155351382455,0.0799113258016,0.99999999062,-4.83509604976e-05,-0.000111238781374,-6.36205277004e-05,1793240174217835008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880.914960273,788,805,651,631,653,0.435888787515,-0.0155431359966,0.0799506901902,0.999999995004,-5.73096948984e-05,-5.49739152933e-05,-6.07004132339e-05,1793240174234501632
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.505529342,661.494470658,635,880.494470658,787.494470658,805,651,631.505529342,653,0.436672054123,-0.0155478970454,0.0799649394193,0.999999995135,-6.01431824184e-05,-5.07179312764e-05,-5.94981507892e-05,1793240174251168768
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096083146,745,715,681,661,635,880.096083146,787,805,651,631.903916854,653,0.437438902412,-0.0155522016866,0.0799699979838,0.999999994546,-6.32061780952e-05,-5.84515241014e-05,-5.91370066358e-05,1793240174267835392
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.671593066,745,715,681,661,635,880.671593066,787,805,651,631.328406934,653,0.438156281505,-0.0155570415925,0.0799510222026,0.999999992199,-7.27370227343e-05,-8.08153119646e-05,-6.14800304279e-05,1793240174284502016
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.751869097,745,715,681,661,635,880.751869097,787,805,651,631,653,0.438849283482,-0.0155615091611,0.0799218290202,0.999999987089,-8.1659687151e-05,-0.000122607331204,-6.42011246712e-05,1793240174301168640
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.173965177,745,715,681,661,635,880.173965177,787,805,651,631,653,0.439509887523,-0.0155654818823,0.079879056623,0.999999975605,-8.97740618006e-05,-0.000190220019709,-6.74246849251e-05,1793240174317835520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.589310818,680.589310818,661,635,880,787,805,651,631,653,0.440102599396,-0.0155700635521,0.0798121330831,0.999999948849,-9.96748944987e-05,-0.00029513215582,-7.25520723014e-05,1793240174334502144
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.001749183,680.001749183,661,635,880,787,805,651,631,653,0.44066607205,-0.0155749074796,0.0797348083115,0.999999904258,-0.000110345104755,-0.000416108133104,-7.84993847334e-05,1793240174351168512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.422504424,635,880.577495576,787,805,651,631,653,0.441277883232,-0.0155793448763,0.0796878428117,0.99999987239,-0.000120567365764,-0.000483258773978,-8.45241441585e-05,1793240174367835392
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.843655694,880.843655694,786.843655694,805,651,631,653,0.441898914476,-0.0155861784807,0.079665404738,0.999999854814,-0.000135041364028,-0.000514224264588,-8.78049739769e-05,1793240174384502528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.265807575,880.265807575,786.265807575,805,651,631,653,0.442544413996,-0.0155994755278,0.0797088481345,0.999999883158,-0.000160981643239,-0.000448068003304,-8.36875557276e-05,1793240174401169152
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.316905978,660,634,880.316905978,786,805,651.316905978,631,653,0.443150648208,-0.0156115853881,0.0797445500271,0.999999903889,-0.000175254578079,-0.00039373627596,-8.04966853303e-05,1793240174417835520
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.903764051,660,634,880.903764051,786,805,651.903764051,631,653,0.443723434757,-0.0156226839585,0.0797736574211,0.999999919757,-0.00017958884123,-0.000349477123543,-7.80950826438e-05,1793240174434502144
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.515234492,745.484765508,714,681,659.515234492,633.515234492,881,786,805,651.515234492,631,653,0.444235006063,-0.015631549334,0.0797610932001,0.999999910094,-0.00019117652887,-0.000370460745537,-7.7601986345e-05,1793240174451169280
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.064182657,745.935817343,714,680.935817343,659,633,881,785.935817343,805,651,631,653,0.444730864897,-0.0156395474708,0.079739936737,0.999999894149,-0.000203512624638,-0.000405247810394,-7.78346632052e-05,1793240174467836160
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.640127144,745.359872856,714,680.359872856,659,633,881,785.359872856,805,651,631,653,0.445197181446,-0.0156441234079,0.079715444795,0.999999874204,-0.00021047171947,-0.000448056377311,-8.08693797188e-05,1793240174484503296
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880.784283919,785,805,651,630.784283919,653,0.445654792872,-0.0156504096354,0.0796987834564,0.999999859947,-0.000220558320839,-0.000473916179169,-8.2847754771e-05,1793240174501169920
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880.209287215,785,805,651,630.209287215,653,0.446097905648,-0.0156595443945,0.0796951641893,0.999999857558,-0.000235853863747,-0.000471547378296,-8.30667661277e-05,1793240174517835776
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.376329261,659,632.623670739,880,785,805,651,630,653,0.446517445972,-0.0156699244973,0.0796948195685,0.999999858544,-0.000250274806272,-0.00046198212926,-8.27407942514e-05,1793240174534502400
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.968023248,659,632.031976752,880,785,805,651,630,653,0.446923496357,-0.0156810172831,0.0796963489532,0.999999861244,-0.000264195236163,-0.00044829851536,-8.21029407978e-05,1793240174551169280
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.452695747,632,880.547304253,784.452695747,805,651.547304253,630,653,0.447284434386,-0.015687496049,0.079689183402,0.999999856286,-0.000268750978705,-0.000456784744535,-8.09203528318e-05,1793240174567835904
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.125058739,632,880.874941261,783.874941261,805,651.874941261,630,653,0.447630998088,-0.0156928949078,0.0796800014066,0.999999848505,-0.000273800293248,-0.000470689309583,-8.0471505826e-05,1793240174584502528
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.69987385,632,880.30012615,783.30012615,805,651.30012615,630,653,0.447935135443,-0.0156953580326,0.0796653540164,0.999999831895,-0.000282548747963,-0.000499525135651,-8.27733774259e-05,1793240174601169152
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.720030392,632,880.279969608,783,805.279969608,651,630,653,0.448222563514,-0.0156959345622,0.0796530762675,0.999999819654,-0.000287967381093,-0.000520246712054,-8.43259685244e-05,1793240174617835520
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.134165016,632,880.865834984,783,805.865834984,651,630,653,0.448491734948,-0.015694449791,0.0796433875979,0.999999812839,-0.000289747839222,-0.000532102629606,-8.50598930535e-05,1793240174634502144
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.169141685,680,660.169141685,635,880,787,804,651,631,653,0.42427023895,-0.0154121761828,0.0797469377934,0.999999895473,0.000202301573982,-0.000408051601393,4.02684794453e-05,1793240176854899968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.746347577,680,660.746347577,635,880,787,804,651,631,653,0.423336365241,-0.0154082043587,0.0797319390645,0.999999879492,0.000208603369169,-0.000442576325948,4.03262177228e-05,1793240176871566592
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.319575129,745,715,680,660.680424871,635,880,787,804,651,631,653,0.422476369572,-0.0154063963353,0.0797458298554,0.999999892016,0.000210175243489,-0.000412408686324,4.1390658136e-05,1793240176888233216
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.520140129,745,715,680,660,635,880,787,804.479859871,651.479859871,631,653,0.420878467179,-0.0154086434797,0.0798353820868,0.99999994887,0.000202825192338,-0.000242594194835,4.76516359022e-05,1793240176921566464
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.0728699,635,880,787,805,652,631,652.9271301,0.420069503845,-0.0154109132055,0.079881902372,0.999999964639,0.000198322190242,-0.000169439453692,5.17780800242e-05,1793240176938233600
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.652115451,635,880,787,805,652,631,652.347884549,0.419158808191,-0.0154084446748,0.0798558358245,0.999999953927,0.000203890277542,-0.000219329142374,4.96950472436e-05,1793240176954900224
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.770792983,635,880.229207017,787,805,651.770792983,631,652.229207017,0.418269758467,-0.0154068037364,0.0798296468629,0.999999942509,0.000206037645012,-0.000265242760375,4.66480591999e-05,1793240176971566848
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.196940157,635,880.803059843,787,805,651.196940157,631,652.803059843,0.417413256383,-0.0154064072023,0.0798032738301,0.999999931932,0.000203041468071,-0.000305177790538,4.21516251701e-05,1793240176988233728
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880.04525893,787,804.04525893,651.95474107,631,653,0.415779624306,-0.0153998557309,0.0798191377375,0.999999932203,0.000204468510584,-0.000303033301305,4.4253790163e-05,1793240177021566720
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.457629976,660,635,880,787,804,651.457629976,631,653,0.414991964277,-0.0153962921777,0.0798003027843,0.999999921863,0.000210079061808,-0.000332090737641,4.3095149149e-05,1793240177038233088
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.707986349,635,879.292013651,787,804.707986349,651,631,653,0.413476785481,-0.015397025379,0.0797984773246,0.999999925291,0.000213367051909,-0.000319417544638,4.31829055357e-05,1793240177071566848
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.714944284,635,879.285055716,787,805,651.285055716,631,653,0.412752883235,-0.0153989051411,0.079808345292,0.999999931375,0.000213106838306,-0.000299837225781,4.39587126408e-05,1793240177088233472
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,880,787,804.553676833,651.553676833,631,653,0.411347840317,-0.0153960703616,0.0798059751814,0.99999992737,0.000216183566589,-0.000310856032344,4.35141701031e-05,1793240177121566464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.035678468,745,715,679,660,635,880,787,804,651,631,653,0.410657247064,-0.0153911708459,0.0797920572679,0.99999991847,0.000219385084743,-0.0003363807979,4.21667419145e-05,1793240177138233088
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.805937629,745,715,679,660,635,879.805937629,787,804.194062371,651.194062371,631,653,0.409388839751,-0.0153907085279,0.0798107468878,0.999999925883,0.00022705044247,-0.000307757237488,4.43542991744e-05,1793240177171566336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.233617273,745,715,679,660,635,879.233617273,787,804.766382727,651.766382727,631,653,0.408804273927,-0.0153897040321,0.0798344310503,0.999999938388,0.000225368346928,-0.000265219482452,4.57400993979e-05,1793240177188233472
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804.062048166,651.062048166,631,653,0.40766620094,-0.0153859773369,0.0798356273062,0.999999933293,0.000237364270917,-0.000273738188007,4.62616633703e-05,1793240177221567744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.481162222,660.518837778,635,879,787,804,651.518837778,631,653,0.40710134697,-0.0153850237337,0.0798016124194,0.999999916502,0.000233480199015,-0.000332605027467,4.30828293346e-05,1793240177238234112
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.2511365,660,635,879,787,804.2511365,651.2511365,631,653,0.405641452137,-0.0153853713914,0.0797842239062,0.999999911821,0.000232850920041,-0.000347160679977,4.02154591687e-05,1793240177288233472
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.412493942,879,787,805,651.587506058,631,653,0.404840006624,-0.0153818955817,0.0798221404619,0.999999931231,0.000234843271095,-0.000283804974275,4.29113959204e-05,1793240177321566464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.996720081,879,787,805,651.003279919,631,653,0.404456942378,-0.0153784571663,0.0798291054335,0.999999931852,0.000234927252822,-0.000281530374094,4.29728865992e-05,1793240177338233344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.417613867,879,787,805,651.582386133,631,653,0.404102052817,-0.015374710541,0.0798331080116,0.999999929278,0.000246272205353,-0.000280611274522,4.52985852664e-05,1793240177354900480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804.839590796,651.839590796,631.160409204,652.839590796,0.40375758154,-0.0153706917071,0.0798364396265,0.999999927254,0.000254563913275,-0.000280256861055,4.63101736897e-05,1793240177371567360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804.264368573,651.264368573,631.735631427,652.264368573,0.403440051534,-0.0153659689495,0.0798380361531,0.999999926951,0.000254960031794,-0.000281362707493,4.39235159914e-05,1793240177388233984
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651.882716105,631.117283895,652.882716105,0.402883721327,-0.0153611945668,0.0798433657856,0.999999927808,0.000259944160103,-0.000273534670248,4.46216379233e-05,1793240177421566976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.527013732,660.472986268,635,879,787,804.472986268,652,631,653,0.402641934121,-0.0153606636472,0.0798406780765,0.999999925498,0.00026123996368,-0.00028079739896,4.37009518424e-05,1793240177438233344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.065600831,661,635,879.065600831,787,805,652,631,653,0.402411069014,-0.0153621093165,0.0798366673372,0.999999923062,0.000260210936769,-0.000290460544199,4.24050734696e-05,1793240177454899712
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.641948829,661,635,879.641948829,787,805,652,631,653,0.402215886237,-0.0153766210847,0.0798337185898,0.999999926109,0.000244731206773,-0.000293418563678,4.23674304928e-05,1793240177471566592
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.209728832,660.209728832,635,879.209728832,787,804.209728832,652,631,653,0.401888335104,-0.0153999072852,0.0798390944062,0.999999936236,0.000216937510884,-0.000279940291145,4.58301451686e-05,1793240177504900608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.625949936,715,678.374050064,660,635,879,787.374050064,804,652,631,652.625949936,0.401755126575,-0.0153971957119,0.0798462063591,0.999999938128,0.000221019791623,-0.000269591687736,4.70600478325e-05,1793240177521567232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.036052423,715,678.963947577,660,635,879,787.963947577,804,652,631,652.036052423,0.401631390719,-0.0153869465852,0.0798544056455,0.999999937525,0.000235065452012,-0.000259681574775,4.75406269642e-05,1793240177538233856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.543997583,715,679,660,635,879,787.456002417,804,652,631,652.543997583,0.401526077059,-0.0153891066742,0.0798564826898,0.999999940975,0.000225062342478,-0.000255805206779,4.42758340053e-05,1793240177554900224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.122902216,879,787,804,651.877097784,631,653,0.401425068199,-0.015391213286,0.079856534317,0.999999942707,0.000218524456707,-0.000255275838629,4.08258464e-05,1793240177571566592
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.724254729,660,635.724254729,879.275745271,787,804,651,631,653,0.401258428976,-0.015388147692,0.0798457892132,0.999999933568,0.000238415016719,-0.000273335800977,3.62043875957e-05,1793240177604899840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.149795345,660,635.149795345,879.850204655,787,804,651,631,653,0.401194785516,-0.0153851678387,0.0798422766715,0.999999931454,0.000241692104917,-0.00027806898799,3.68154427256e-05,1793240177621566464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.436951394,635,879.563048606,787.436951394,804,651,631,653,0.401147186845,-0.0153848907915,0.0798416460281,0.999999931778,0.00024100504506,-0.00027741158445,3.74643822684e-05,1793240177638233344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.972487321,635,879,787.972487321,804.027512679,651.027512679,631,653,0.401105673017,-0.0153854821873,0.0798419638168,0.99999993284,0.000239106153168,-0.000275126805464,3.81118985141e-05,1793240177654900224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.392363909,635,879,787.392363909,804.607636091,651.607636091,631,653,0.401072700165,-0.0153843674945,0.0798409132822,0.999999931493,0.000240952747007,-0.000278347373578,3.84624164186e-05,1793240177671566848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.185569349,635,878.814430651,787,804.628861302,652,631,653,0.401043913264,-0.0153832053725,0.0798399408276,0.999999930372,0.000242679573279,-0.000280823042035,3.8750283895e-05,1793240177688233472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.75892574,635,878.24107426,787,803.48214852,652,631,653,0.40102387381,-0.0153819441372,0.0798391315382,0.999999929748,0.00024415611925,-0.000281742082156,3.89072297927e-05,1793240177704900096
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.092977262,745,715,678,660.092977262,635,878.907022738,787,803.907022738,651.092977262,631,653,0.400998514302,-0.0153839853247,0.079836058987,0.999999929843,0.000240308276786,-0.000284677807899,3.90433554724e-05,1793240177738233088
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db6939a830de57594aef79f65bd2dfa4b034d83e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,744.425990922,715,678,661,635,878.425990922,787.574009078,804,651,631,653,0.400984272295,-0.0153837999724,0.0798453271736,0.999999934178,0.000241736003811,-0.000267962110856,3.74768489195e-05,1793240178388908800
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+4,0.066666667,BASELINE,764,745,715,678,660.686466919,635,879,787,804,651.686466919,631,653,0.400986348588,-0.0153851569064,0.0798466458767,0.999999935203,0.000240674001627,-0.000264985568369,3.81116163798e-05,1793240178438908672
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+6,0.100000000,BASELINE,764.484337612,744.515662388,715,678,660.484337612,635,879,787,804,651.484337612,631,653,0.40098596164,-0.0153853255351,0.0798463580551,0.999999934915,0.000240502064669,-0.000266234051187,3.80632314042e-05,1793240178472241920
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+9,0.150000000,BASELINE,765,745,715,678.217255436,660,635,879,787,804.217255436,651,631.217255436,653,0.400985736734,-0.0153858211139,0.0798461695508,0.999999935148,0.000239076581369,-0.000266661635917,3.79300178841e-05,1793240178522241792
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+18,0.300000000,BASELINE,765,743.869912602,714.434956301,678.434956301,661,635.434956301,879,787,804,651.434956301,631,652,0.400985056192,-0.0153854494717,0.0798460250004,0.999999934588,0.000241000532861,-0.000267018333863,3.80085045218e-05,1793240178672241664
+19,0.316666667,BASELINE,765,745,715,678.970319703,661,635.970319703,879,787,804,651.970319703,631,652.029680297,0.400985829244,-0.0153863097196,0.0798468774088,0.999999934414,0.000242715914374,-0.000266083369413,3.82070247638e-05,1793240178688908288
+20,0.333333333,BASELINE,765,745,715,678.395952337,661,635.395952337,879,787,804,651.395952337,631,652.604047663,0.400984997396,-0.0153858453885,0.0798455802059,0.999999934572,0.00024026693498,-0.000267777707246,3.7718544655e-05,1793240178705575168
+21,0.350000000,BASELINE,765,744.821208744,715,678,661,635,879,787,804,651.178791256,631.178791256,653,0.400984626198,-0.0153854588146,0.0798451020881,0.999999934783,0.000238818599318,-0.000268321008897,3.74549718863e-05,1793240178722241536
+22,0.366666667,BASELINE,765,744.24563028,715,678,661,635,879,787,804,651.75436972,631.75436972,653,0.400985277314,-0.0153852448056,0.0798464417471,0.999999935127,0.000239590968976,-0.000266309842926,3.76905307285e-05,1793240178738908160
+23,0.383333333,BASELINE,765,744.338294939,715,678.338294939,661,635,879,787,804,652,631.661705061,653,0.400984847436,-0.0153858763816,0.0798462641383,0.999999935342,0.000238594770664,-0.000266388900236,3.77621053332e-05,1793240178755575040
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+27,0.450000000,BASELINE,765,744.337403107,715,678,660,635,879,787,804,651.662596893,631,653,0.40098472816,-0.0153866694229,0.0798459933977,0.99999993534,0.000238456579278,-0.000266533713712,3.76499943123e-05,1793240178822241792
+28,0.466666667,BASELINE,765,744.242955568,715,678.242955568,660.242955568,635,879,787,803.757044432,651.757044432,631,653,0.400985208858,-0.0153859613226,0.0798461246423,0.999999935315,0.000239132251675,-0.000266041698229,3.752614736e-05,1793240178838908672
+29,0.483333333,BASELINE,765,744.830849833,715,678.830849833,660.830849833,635,879,787,803.169150167,651.169150167,631,653,0.400986016426,-0.0153849700702,0.0798470458368,0.999999935331,0.000240703072391,-0.000264527865618,3.77396257096e-05,1793240178855575552
+30,0.500000000,BASELINE,765,745,715,679,661,635,879,787,803.412991241,651,631,652.587008759,0.400986164493,-0.0153854242958,0.0798470762888,0.999999935473,0.000239956938009,-0.000264670516618,3.77468735446e-05,1793240178872241920
+31,0.516666667,BASELINE,765,745,715,679,661,635,879,787,803.99280879,651,631,652.00719121,0.400986046156,-0.0153864624169,0.0798467469285,0.999999935663,0.000238274878014,-0.000265482298176,3.76708153092e-05,1793240178888908288
+32,0.533333333,BASELINE,765,745,715,679,660.430250838,635,879,787,803.430250838,651.569749162,631,652.569749162,0.400986527557,-0.015386518755,0.0798472767889,0.99999993613,0.000237487820669,-0.000264458590756,3.74333525538e-05,1793240178905575168
+33,0.550000000,BASELINE,765,744.85534518,715,679,660,635,879,787,803.14465482,652,631.14465482,653,0.400986269599,-0.0153867185745,0.0798473056513,0.999999936289,0.000236968074993,-0.000264337405286,3.73228279043e-05,1793240178922241792
+34,0.566666667,BASELINE,765,744.286303049,715,679,660,635,879,787,803.713696951,652,631.713696951,653,0.400983820416,-0.0153873755107,0.0798458330324,0.999999935535,0.000237199591607,-0.000266931658384,3.75906601321e-05,1793240178938908416
+35,0.583333333,BASELINE,765,744.288002157,715,678.711997843,660,635.288002157,879,787,804,652,631.711997843,653,0.400983431075,-0.0153873771138,0.0798455223568,0.999999935278,0.000237727983893,-0.000267401236743,3.77693887262e-05,1793240178955575040
+36,0.600000000,BASELINE,765,744.86763685,715,678.13236315,660,635.86763685,879,787,804,652,631.13236315,653,0.400985127541,-0.0153867151233,0.0798463882709,0.999999935525,0.000238556994113,-0.000265719358327,3.78578905329e-05,1793240178972241664
+37,0.616666667,BASELINE,765,745,715,678,660,635.542054883,878.542054883,787,804,651.542054883,631,653,0.400987069075,-0.0153860322755,0.0798477771651,0.999999935891,0.000239701747022,-0.000263303682685,3.78507742468e-05,1793240178988908288
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+39,0.650000000,BASELINE,765,744.37063619,715,678.62936381,660,635,878.62936381,787,804,651,631,653,0.400986533928,-0.0153852518439,0.079847377839,0.99999993551,0.000240662845178,-0.000263957464454,3.72605798745e-05,1793240179022242304
+40,0.666666667,BASELINE,765,744,715,678.793665049,660,635,879,787.206334951,804,651.206334951,631,653,0.400985440751,-0.0153853354453,0.0798464645063,0.999999935082,0.00024083404015,-0.000265436616255,3.71148907145e-05,1793240179038908928
+41,0.683333333,BASELINE,765,744,715,678.220634963,660,635,879,787.779365037,804,651.779365037,631,653,0.400986288664,-0.0153858147479,0.0798468870606,0.999999935119,0.000241587236003,-0.000264542263498,3.7622647796e-05,1793240179055575296
+42,0.700000000,BASELINE,765,744.362929337,715,678,660,635,879,788,804,651.637070663,631,653,0.400985352777,-0.0153852612277,0.0798464214666,0.999999934715,0.000242163467869,-0.000265519128399,3.77776006185e-05,1793240179072241920
+43,0.716666667,BASELINE,765,744.953089099,715,678,660,635,879,788,804,651.046910901,631,653,0.400983300049,-0.015384061056,0.0798453998019,0.999999934032,0.000242628902374,-0.000267667564592,3.77116623196e-05,1793240179088908544
+44,0.733333333,BASELINE,765,745,715,678,660.533267908,635,879,787.466732092,803.466732092,651.533267908,631,653,0.400985219048,-0.0153853149577,0.0798463661671,0.999999934936,0.000240969420503,-0.000265798844213,3.75806188714e-05,1793240179105575424
+45,0.750000000,BASELINE,765,745,715,678.111718831,660.888281169,635,879,787,803.111718831,652,631,653,0.400986745064,-0.015386537295,0.079847189448,0.999999935705,0.000239485414575,-0.000264255516212,3.7499813415e-05,1793240179122242048
+46,0.766666667,BASELINE,765,745,715,678.686579483,660.313420517,635,879,787,803.686579483,652,631,653,0.400985220124,-0.0153867502617,0.0798467078767,0.999999935369,0.000239489546834,-0.00026549921047,3.76505812673e-05,1793240179138908416
+47,0.783333333,BASELINE,765,744.73466911,715,678.73466911,660,635,879,787,804.26533089,652,631,653,0.40098425407,-0.0153865663565,0.0798463912383,0.999999935213,0.000238951115165,-0.000266586718192,3.75322465527e-05,1793240179155575040
+48,0.800000000,BASELINE,765,744.1512533,715,678.1512533,660,635,879,787,804.8487467,652,631,653,0.400983958021,-0.0153859066721,0.0798462723252,0.999999935272,0.000237762245074,-0.000267486985979,3.70913053607e-05,1793240179172241664
+49,0.816666667,BASELINE,765,744.432709908,715,678,660,635,879,787,805,651.567290092,631,653,0.400984689393,-0.0153860804389,0.0798466177401,0.999999935491,0.000238044591007,-0.000266416144832,3.70771735818e-05,1793240179188908288
+50,0.833333333,BASELINE,765,745,715,678.016688238,660.016688238,635,879,787,804.983311762,651,631,653,0.400985728518,-0.0153865039997,0.0798470995957,0.999999935736,0.000238876795399,-0.000264730387214,3.72109615006e-05,1793240179205574912
+51,0.850000000,BASELINE,765,745,715,678.59473198,660.59473198,635,879,787,804.40526802,651,631,653,0.400985023964,-0.0153855179017,0.079846704509,0.999999935029,0.000240884475364,-0.000265565957825,3.72956364476e-05,1793240179222241536
+52,0.866666667,BASELINE,765,744.828347605,715,679,661,635,879,787,804,651,631,653,0.400984651351,-0.015385021952,0.0798465920082,0.999999934685,0.000241921792342,-0.000265897978896,3.74554524921e-05,1793240179238908416
+53,0.883333333,BASELINE,765,744.254062134,715,679,661,635,879,787,804,651,631,653,0.400985057351,-0.0153856757092,0.0798471423491,0.999999935196,0.000240682996281,-0.000265048858808,3.7791521774e-05,1793240179255575040
+54,0.900000000,BASELINE,765,744,715,678.670967585,660.670967585,635,878.670967585,787,804,651.329032415,631.329032415,652.670967585,0.400985187172,-0.0153870424863,0.0798472067574,0.999999935602,0.000239097369835,-0.000264933895377,3.79306777963e-05,1793240179272242432
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+56,0.933333333,BASELINE,765,744.500078686,715,678,660.500078686,635,878.500078686,787,804,652,632,652.500078686,0.400985511199,-0.0153870566048,0.0798470056832,0.999999935847,0.000238149679249,-0.000264905897333,3.76300272452e-05,1793240179305576192
+57,0.950000000,BASELINE,765,745,715,678.079213089,661,635,879,787.079213089,804,652,631.920786911,653,0.400985999606,-0.0153849524068,0.0798472028324,0.999999935707,0.000239433566382,-0.000264308110489,3.7407972178e-05,1793240179322242048
+58,0.966666667,BASELINE,765,745,715,678.655963562,661,635,879,787.655963562,804,652,631.344036438,653,0.400986458129,-0.0153855229886,0.0798474440629,0.999999935562,0.000240278769867,-0.000264028716976,3.78382331137e-05,1793240179338908672
+59,0.983333333,BASELINE,765,745,715,679,660.768605715,635,879,787.768605715,804,651.768605715,631,653,0.400986296462,-0.015386116612,0.0798475028862,0.999999935515,0.000240360531183,-0.000264116646055,3.79238468481e-05,1793240179355575296
+60,1.000000000,BASELINE,765,745,715,679,660.195125982,635,879,787.195125982,804,651.195125982,631,653,0.400985217925,-0.0153867442991,0.0798472920449,0.999999935616,0.000239313645661,-0.000264747612332,3.74999459347e-05,1793240179372241920
+61,1.016666667,BASELINE,765,745,715,679,660.388237539,635,879,787,804,651,631,653,0.400985443772,-0.0153864162524,0.0798476127744,0.999999935845,0.000238749765802,-0.000264420146369,3.72965796358e-05,1793240179388908800
+62,1.033333333,BASELINE,765,745,715,679,660.976698329,635,879,787,804,651,631,653,0.40098634232,-0.0153855953112,0.0798482076473,0.99999993614,0.00023843498341,-0.000263598394271,3.72069482613e-05,1793240179405575680
+63,1.050000000,BASELINE,765,745,715,678.442820467,661,635,878.442820467,787,804.557179533,651.557179533,631,652.442820467,0.400987184185,-0.015386836802,0.0798487539244,0.999999936681,0.000237427504112,-0.000262430304888,3.73800450951e-05,1793240179422242560
+64,1.066666667,BASELINE,765,745,715,678.13579012,660.86420988,635,878.13579012,787,804.86420988,651.86420988,631,652.271580239,0.400987737781,-0.0153876126906,0.0798490581985,0.999999937009,0.0002368500025,-0.000261681417277,3.74955564374e-05,1793240179438909184
+65,1.083333333,BASELINE,765,745,715,678.709429797,660.290570203,635,878.709429797,787,804.290570203,651.290570203,631,653.418859594,0.400987369399,-0.0153866130734,0.0798485886044,0.99999993663,0.000237751036818,-0.000262330272219,3.73904572759e-05,1793240179455575552
+66,1.100000000,BASELINE,765,744.709335933,715,678.709335933,660.290664067,635,878.709335933,787,804,651.290664067,631,653.418671866,0.400986210746,-0.0153862795859,0.0798477259875,0.999999936037,0.000238490579574,-0.00026389923156,3.74832655928e-05,1793240179472241920
+67,1.116666667,BASELINE,765,744.120305866,715,678.120305866,660.879694134,635,878.120305866,787,804,651.879694134,631,652.240611733,0.400984240881,-0.0153866298792,0.0798464599336,0.999999935223,0.000239064351554,-0.000266412675918,3.77792254903e-05,1793240179488908800
+68,1.133333333,BASELINE,765,744,715,678,660.538868738,635,878.461131262,787,804,652,631,652.461131262,0.400984788794,-0.0153853076208,0.0798464092052,0.999999935169,0.000239947526593,-0.000265869315825,3.74172471593e-05,1793240179505575168
+69,1.150000000,BASELINE,765,744,715,678,660,635,879,787,804,651.95959144,631,652.95959144,0.400985931489,-0.0153837809801,0.0798467366555,0.99999993533,0.000240800100063,-0.000264556814776,3.69377121263e-05,1793240179522241792
+70,1.166666667,BASELINE,765,744,715,678,660,635,879,787,804,651.38311359,631,652.38311359,0.400986391659,-0.0153852379956,0.0798479429294,0.999999935761,0.000240193188032,-0.000263449129445,3.71389222385e-05,1793240179538908672
+71,1.183333333,BASELINE,765,744.192311122,715,678,660,635,878.807688878,787.192311122,804,651,631,652.192311122,0.400986382295,-0.01538639863,0.079848287703,0.99999993602,0.000239293083928,-0.000263267147005,3.72740592651e-05,1793240179555575552
+72,1.200000000,BASELINE,765,744.765649347,715,678,660,635,878.234350653,787.765649347,804,651,631,652.765649347,0.40098544264,-0.0153869720431,0.0798469255817,0.999999935937,0.00023781207662,-0.000264919264692,3.7278285353e-05,1793240179572242176
+73,1.216666667,BASELINE,765,745,715,678.350550191,660.350550191,635,878.350550191,788,803.649449809,651.350550191,631,652.649449809,0.400985493625,-0.0153861001679,0.0798469072972,0.999999935496,0.000239510087925,-0.000265027876395,3.74472105917e-05,1793240179588908800
+74,1.233333333,BASELINE,765,745,715,678.94344453,660.94344453,635,878.94344453,788,803.05655547,651.94344453,631,652.05655547,0.400986229465,-0.0153842291285,0.079847818041,0.999999934799,0.000243405834693,-0.000264069423559,3.77299964876e-05,1793240179605575168
+75,1.250000000,BASELINE,765,745,715,678.476064878,660.476064878,635,879,787.476064878,803.523935122,651.476064878,631,652.523935122,0.400985679958,-0.0153851402594,0.0798476311828,0.999999935425,0.00024043800488,-0.000264481496397,3.72725868791e-05,1793240179622242048
+76,1.266666667,BASELINE,765,745,715,678.10222305,660,635,879,787,804,651.10222305,631,653,0.400985106995,-0.0153860982181,0.079847315711,0.999999935985,0.000237638255837,-0.00026494816667,3.68889034615e-05,1793240179638908672
+77,1.283333333,BASELINE,765,745,715,678.676380282,660,635,879,787,804,651.676380282,631,653,0.400985051472,-0.0153859179531,0.0798469408013,0.999999935645,0.00023895580986,-0.000264999698878,3.7205934099e-05,1793240179655575296
+78,1.300000000,BASELINE,765,745,715,679,660,635,879,787,804,652,631,653,0.400985733062,-0.0153860917778,0.079847212192,0.999999935774,0.00023946569507,-0.000264013088762,3.74956060328e-05,1793240179672241920
+79,1.316666667,BASELINE,765,745,715,679,660,635,879,787,804,652,631,653,0.400987366782,-0.0153867229807,0.0798483184099,0.999999936503,0.000238932313194,-0.000261685508685,3.77499386644e-05,1793240179688908288
+80,1.333333333,BASELINE,765,744.587941006,715,678.587941006,660,635,879,787,804,652,631,653,0.400987109019,-0.0153862711277,0.0798485285448,0.999999936628,0.000238606041953,-0.000261526126157,3.76167018302e-05,1793240179705575168
+81,1.350000000,BASELINE,765,744,715,678,660.001712797,635,879,787.001712797,804,652,631,653,0.40098604142,-0.0153853567393,0.079848353137,0.999999936493,0.000238370509454,-0.000262299279148,3.73170908252e-05,1793240179722242048
+82,1.366666667,BASELINE,765,744,715,678,660.573308325,635,879,787.573308325,804,652,631,653,0.400986847195,-0.0153859054831,0.0798484376804,0.999999936428,0.000238616802261,-0.000262330721022,3.72559849925e-05,1793240179738908672
+83,1.383333333,BASELINE,765,744,715,678,660.854502102,635.145497898,878.854502102,787.854502102,804,652,631,653,0.400987245088,-0.0153864863781,0.07984836208,0.999999936306,0.0002389442949,-0.000262499640685,3.72562711391e-05,1793240179755575040
+84,1.400000000,BASELINE,765,744,715,678,660.280563136,635.719436864,878.280563136,787.280563136,804,652,631,653,0.400986441913,-0.0153871619474,0.079847814912,0.999999936013,0.000239510893066,-0.000263073384968,3.74373354505e-05,1793240179772241920
+85,1.416666667,BASELINE,765,744.305205662,715,678,660.305205662,635.694794338,878,787.305205662,804,652,631.305205662,652.694794338,0.400985460292,-0.0153869291733,0.0798473973421,0.999999935736,0.00023973756066,-0.000263912047096,3.74794073123e-05,1793240179788908288
+86,1.433333333,BASELINE,765,744.902287607,715,678,660.902287607,635.097712393,878,787.902287607,804,652,631.902287607,652.097712393,0.400984308019,-0.0153858277262,0.0798471037105,0.999999935474,0.00023963914358,-0.000265004057165,3.73885569904e-05,1793240179805574912
+87,1.450000000,BASELINE,764.516075312,744.516075312,715,678.483924688,661,635,878.483924688,787.516075312,804,651.516075312,631.516075312,652.483924688,0.400985038695,-0.0153859070695,0.0798472745019,0.999999935672,0.000239173826263,-0.000264693017469,3.72827927016e-05,1793240179822241536
+88,1.466666667,BASELINE,764.06221123,744.06221123,715,679,661,635,879,787,804,651.06221123,631,653,0.400985960247,-0.0153861822138,0.079847510202,0.99999993589,0.000238839974335,-0.000264179816958,3.7203034161e-05,1793240179838908416
+89,1.483333333,BASELINE,764.637787692,744.637787692,715,679,661,635,879,787,804,651.637787692,631,653,0.400985416541,-0.0153861665088,0.0798475316348,0.99999993554,0.000240183395711,-0.00026426386143,3.73619554968e-05,1793240179855575040
+90,1.500000000,BASELINE,765.21251688,745,715,678.78748312,661,635,879,787,804,651.78748312,631,653,0.400985402158,-0.0153862804976,0.0798475627963,0.999999935536,0.000240319596257,-0.00026415054409,3.74151770387e-05,1793240179872241664
+91,1.516666667,BASELINE,765.785807655,745,715,678.214192345,661,635,879,787,804,651.214192345,631,653,0.400986286369,-0.0153866146577,0.0798476104737,0.999999936117,0.000238406388818,-0.000263702180468,3.72889599878e-05,1793240179888908288
+92,1.533333333,BASELINE,765.627179353,744.627179353,715,678.372820647,660.627179353,635,879,787,804,651,631,653,0.400986393444,-0.0153865203239,0.0798476329157,0.999999936246,0.000237862047681,-0.000263700731881,3.72995233122e-05,1793240179905575168
+93,1.550000000,BASELINE,765.031981379,744.031981379,715,678.968018621,660.031981379,635,879,787,804,651,631,653,0.400986036978,-0.0153861704052,0.0798476403053,0.999999936108,0.000238134197699,-0.000263965855857,3.73916723803e-05,1793240179922241792
+94,1.566666667,BASELINE,765,744,715,678.453255094,660,635,879,787.546744906,804,651,631,653,0.400986187692,-0.0153862484285,0.0798479727571,0.999999936334,0.000237865586787,-0.000263345607721,3.74439214592e-05,1793240179938908416
+95,1.583333333,BASELINE,764.876455665,744.123544335,715,678.123544335,660.123544335,635,879.123544335,787.876455665,804,651.123544335,631,653,0.400986255857,-0.0153863139835,0.0798482127122,0.999999936447,0.000237861762032,-0.000262914072759,3.74576134157e-05,1793240179955575040
+96,1.600000000,BASELINE,764.303264832,744.696735168,715,678.696735168,660.696735168,635,879.696735168,787.303264832,804,651.696735168,631,653,0.400985918758,-0.0153862457184,0.0798480488409,0.999999936081,0.000238933398363,-0.000263352346511,3.73392205793e-05,1793240179972241920
+97,1.616666667,BASELINE,764.278285527,745,715,679,661,635,879.721714473,787,804,652,631.278285527,652.721714473,0.400985988952,-0.0153867061924,0.0798478189431,0.999999936008,0.000239076112633,-0.00026350131325,3.733718961e-05,1793240179988908544
+98,1.633333333,BASELINE,764.86922787,745,715,679,661,635,879.13077213,787,804,652,631.86922787,652.13077213,0.400986516743,-0.0153877607106,0.0798475148637,0.999999936264,0.0002381751728,-0.000263325240389,3.74658924702e-05,1793240180005575168
+99,1.650000000,BASELINE,765,744.548886918,715,679,661,635,879,787.451113082,804,651.548886918,631.548886918,652,0.400987158024,-0.0153875770634,0.0798481367289,0.999999936323,0.00023898117996,-0.000262353020576,3.75752553941e-05,1793240180022241792
+100,1.666666667,BASELINE,765,744,715,679,660.969880442,635.030119558,879.030119558,788,804,651.030119558,631,652,0.400987682996,-0.0153871174928,0.079848892625,0.99999993631,0.000240098897742,-0.000261368524972,3.76614202586e-05,1793240180038908672
+101,1.683333333,BASELINE,765,744,715,679,660.396373846,635.603626154,879.603626154,788,804,651.603626154,631,652,0.40098552778,-0.0153880279709,0.0798473193223,0.999999936044,0.0002380887907,-0.00026424435101,3.74282233894e-05,1793240180055575296
+102,1.700000000,BASELINE,765,744.177837919,715,678.822162081,660,635.822162081,879.822162081,788,804,651.822162081,631,652.177837919,0.400984428795,-0.0153884409206,0.0798465817864,0.999999935826,0.000237435885924,-0.000265647307413,3.74654485569e-05,1793240180072241920
+103,1.716666667,BASELINE,765,744.753627578,715,678.246372422,660,635.246372422,879.246372422,788,804,651.246372422,631,652.753627578,0.400985693362,-0.0153877405402,0.0798477144643,0.999999935734,0.000239820022171,-0.000263754391327,3.81078029723e-05,1793240180088908544
+104,1.733333333,BASELINE,765,744.662285623,715,678,660.337714377,635,878.662285623,787.662285623,804,651,631.337714377,652.662285623,0.400986113449,-0.0153867323744,0.0798481224443,0.999999935728,0.000240894857297,-0.000262799888786,3.80772138958e-05,1793240180105574912
+105,1.750000000,BASELINE,765,744.071993302,715,678,660.928006698,635,878.071993302,787.071993302,804,651,631.928006698,652.071993302,0.400985901945,-0.0153854940146,0.0798479884201,0.999999935792,0.000240990461084,-0.000262547229324,3.75433277333e-05,1793240180122241792
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660,635,879,787,804,652,631,653,0.400985766677,-0.0153852907106,0.0798479231227,0.999999935706,0.000241033042155,-0.000262869911373,3.72951725974e-05,1793240180154749440
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.393430172,715,678.606569828,660,635,878.393430172,787,803.393430172,651.393430172,631,653,0.40098732378,-0.0153858900475,0.0798484276893,0.999999936363,0.000239495367922,-0.000261764050838,3.73629359106e-05,1793240180171416320
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,678.791997255,660.208002745,635,878.208002745,787,803.208002745,651.208002745,631,652.791997255,0.40098758434,-0.0153860817934,0.0798484736312,0.999999936498,0.000239129298175,-0.000261570094868,3.74511589329e-05,1793240180188082944
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715,678.200046357,660.799953643,635,878.799953643,787,803.799953643,651.799953643,631,652.200046357,0.40098545164,-0.0153855211751,0.0798476730066,0.999999935671,0.000240925869718,-0.00026305940531,3.75771481392e-05,1793240180204749568
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715,678.383501996,660.616498004,635,879,787.383501996,804,652,631,652.383501996,0.400985503814,-0.0153856699032,0.0798478127781,0.99999993551,0.000241404753752,-0.000263237038391,3.75559460612e-05,1793240180221415936
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,715,678.962761262,660.037238738,635,879,787.962761262,804,652,631,652.962761262,0.400986671249,-0.0153861807146,0.0798484325716,0.99999993569,0.000241211028634,-0.000262745130199,3.74596106923e-05,1793240180238082304
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.538186252,715,679,660.538186252,635,879,788,804.538186252,651.461813748,631,653,0.400986950761,-0.015386118956,0.0798488606773,0.999999936092,0.000240245053002,-0.000262111341901,3.7373095089e-05,1793240180254749440
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.886553852,715,678.886553852,661,635,879,787.886553852,804.886553852,651,631,652.886553852,0.400986829398,-0.0153862240185,0.0798489071864,0.999999936391,0.000239065762753,-0.000262053301748,3.7321122244e-05,1793240180271416320
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.310893337,715,678.310893337,661,635,879,787.310893337,804.310893337,651,631,652.310893337,0.400985323291,-0.0153871690354,0.079847452611,0.999999936212,0.000237233531285,-0.000264380750975,3.7407138442e-05,1793240180288082688
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.272268352,715,678.272268352,661,635,879,787.272268352,804,651,631,652.272268352,0.400987947256,-0.0153871248226,0.0798484378051,0.999999936627,0.000237160353476,-0.000262852018513,3.75507618872e-05,1793240180304749312
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.864237983,715,678.864237983,661,635,879,787.864237983,804,651,631,652.864237983,0.400995420807,-0.0153859190425,0.0798522878103,0.999999937718,0.000239152681024,-0.000256795303797,3.77620285551e-05,1793240180321415936
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.554960642,661,635,879,787.554960642,804.445039358,651,631,653,0.401015741788,-0.015387746629,0.0798614905868,0.999999941502,0.000239085280906,-0.000241555103138,3.85287502734e-05,1793240180338082304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.977518523,635,879,787,804.977518523,651,631,653,0.401040981516,-0.0153903736746,0.0798725504213,0.999999945924,0.000238529965096,-0.00022293362442,3.94488469295e-05,1793240180354749440
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660.400957732,635,879,787,804.400957732,651,631,653,0.401093221043,-0.0153904563777,0.0798901201429,0.999999952408,0.000241056269766,-0.000188332166138,4.00751132818e-05,1793240180371416320
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.825354338,744.825354338,715,678.174645662,660,635,879,787,804,651.174645662,631,652.825354338,0.401150338331,-0.015391564766,0.0799076135728,0.999999957689,0.000242304354,-0.000155762654971,4.05969830634e-05,1793240180388083200
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.251936875,744.251936875,715,678.748063125,660,635,879,787,804,651.748063125,631,652.251936875,0.401218593116,-0.015395015121,0.0799249328078,0.999999962041,0.000240633853834,-0.000127832721314,4.08804823409e-05,1793240180404749568
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.3313167,744.3313167,714.6686833,679,660.3313167,635,879.3313167,787,804,652,631,652,0.401295619214,-0.0153980680928,0.0799378714039,0.999999964648,0.00023966584198,-0.00010786059028,4.03669113532e-05,1793240180421416192
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.922278571,744.922278571,714.077721429,679,660.922278571,635,879.922278571,787,804,652,631,652,0.401379519183,-0.0154008096447,0.0799473769945,0.999999966181,0.000239248354004,-9.41248053176e-05,3.92286949798e-05,1793240180438083072
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.503239045,679,660.496760955,635,879.496760955,787,804,652,631,653.006478089,0.401470229486,-0.0154049742783,0.0799484303127,0.999999967427,0.000235959801184,-9.03656793676e-05,3.60928705878e-05,1793240180454749696
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.082089277,635,879,787,804,651.917910723,631,653.917910723,0.401565877431,-0.015409329725,0.0799483930685,0.999999968575,0.000232456414127,-8.80323757552e-05,3.26200015947e-05,1793240180471416320
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.657360606,635,879,787,804,651.342639394,631,653.342639394,0.401684994134,-0.0154135368478,0.0799494936474,0.99999996944,0.000230274393579,-8.51885775961e-05,2.89396130947e-05,1793240180488082944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787,804,651,631,653,0.40181608448,-0.0154178706272,0.0799520105678,0.999999970848,0.000226597726274,-7.96327180191e-05,2.48242276752e-05,1793240180504749312
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787,804,651,631,653,0.401964810575,-0.0154223909563,0.0799566135919,0.999999972984,0.000220719621121,-7.0082312758e-05,2.00681435289e-05,1793240180521415936
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878.604664794,787.395335206,804,651,631,652.604664794,0.402132761639,-0.0154286768646,0.0799593570123,0.999999975182,0.000212645774975,-6.47920662024e-05,1.47978472098e-05,1793240180538082816
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878.013272406,787.986727594,804,651,631,652.013272406,0.402310246886,-0.0154358383707,0.0799611782064,0.999999977356,0.000203483002269,-6.16145441386e-05,9.2725390496e-06,1793240180554749696
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878.564639654,787.435360346,804,651.564639654,631,652.564639654,0.402502163363,-0.0154424444774,0.0799554617274,0.999999979371,0.000189130259275,-7.40609229248e-05,1.79287841904e-06,1793240180571416320
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787.141601953,804,652,631,653,0.402704523484,-0.0154488879369,0.0799502211206,0.99999998354,0.000160610102067,-8.41998632001e-05,-5.8348971985e-06,1793240180588082944
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787.716604687,804,652,631,653,0.402937834452,-0.0154548726104,0.0799469666637,0.999999992223,8.90924521242e-05,-8.61785880569e-05,-1.37786831386e-05,1793240180604749568
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,678.70077738,661,635,879,787.70077738,804,652,631.29922262,653,0.403194214103,-0.0154622985632,0.0799465177599,0.999999994906,5.23339060735e-05,-8.37934115612e-05,-2.0689236793e-05,1793240180621416192
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.11075874,661,635,879,787.11075874,804,652,631.88924126,653,0.403473012771,-0.0154711252061,0.0799487954005,0.999999995451,4.93555951405e-05,-7.71672285286e-05,-2.65956552574e-05,1793240180638082560
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.529363496,745,715,678.470636504,661,635,879,787,804.470636504,651.529363496,631.529363496,653,0.403796577436,-0.0154818043378,0.0799540458219,0.999999995393,6.22221166112e-05,-7.03948068008e-05,-1.96528727113e-05,1793240180654749440
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.04967009,745,715,679,661,635,879,787.04967009,804.95032991,651.04967009,631.04967009,653,0.404132690672,-0.0154923613105,0.0799593132678,0.999999995046,7.51743519966e-05,-6.4255295164e-05,-1.12761602655e-05,1793240180671416064
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.624802597,745,715,679,661,635,879,787.624802597,804.375197403,651.624802597,631.624802597,653,0.404492109421,-0.0154970968856,0.0799574927904,0.999999996428,5.0294996953e-05,-6.51689041315e-05,-1.91443003044e-05,1793240180688082688
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.204331619,879.204331619,788,804,651.795668381,631.795668381,653,0.404861617705,-0.0155038880027,0.0799543622995,0.999999997036,3.020810904e-05,-6.63195213514e-05,-2.48441139763e-05,1793240180704749568
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.792111057,879.792111057,788,804,651.207888943,631.207888943,653,0.405250059929,-0.0155145365403,0.0799487734433,0.999999997161,1.91147467278e-05,-6.79149071763e-05,-2.64748550519e-05,1793240180721416192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678.62531798,661,635.62531798,879.62531798,787.62531798,804,651.37468202,631,653,0.405669608624,-0.0155217323273,0.0799432109879,0.999999996536,7.96877554828e-06,-7.77080823552e-05,-2.87444891933e-05,1793240180738083072
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.045597217,661,635.045597217,879.045597217,787.045597217,804,651.954402783,631,653,0.406106179875,-0.0155270386526,0.0799376629794,0.999999995272,-3.20598602395e-06,-9.19873667659e-05,-3.13637474906e-05,1793240180754749952
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.527968242,879,787,804,652,631,653,0.406583199127,-0.015513086651,0.0799327905113,0.999999994375,1.86429907493e-05,-9.94331952572e-05,-3.18788232536e-05,1793240180771416320
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,678.101962298,661,636,879.101962298,787,804,652,631,653,0.407068713307,-0.0154975318873,0.0799284807718,0.999999992956,4.20445635989e-05,-0.000106129378732,-3.25068038409e-05,1793240180788082944
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.680415089,661,636,879.680415089,787,804,652,631,653,0.407577789711,-0.0154821700678,0.0799265312731,0.999999991356,5.95271401748e-05,-0.000112048483454,-3.45018613964e-05,1793240180804749568
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.736669655,715,679,661,635.736669655,879.736669655,787,804.263330345,652,631,653,0.408098964156,-0.0154799075425,0.0799219698815,0.99999999026,5.89639409516e-05,-0.000121219539487,-3.61674095046e-05,1793240180821415936
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.148245306,715,679,661,635.148245306,879.148245306,787,804.851754694,652,631,653,0.408635074185,-0.0154938167282,0.0799141839825,0.999999989615,3.61223606527e-05,-0.000134405285779,-3.74261621917e-05,1793240180838082560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.43473843,715,679,661,635,879,787,804.56526157,651.56526157,631,653,0.409256158377,-0.0155033024465,0.0799364211253,0.999999994075,2.6355469634e-05,-9.89288142723e-05,-3.69868963407e-05,1793240180854749440
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.015736481,879,787.015736481,804.015736481,651,631,653,0.409906677873,-0.0155110604352,0.0799685521818,0.999999998008,2.10203126827e-05,-4.7410428637e-05,-3.59865542367e-05,1793240180871416320
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.591278895,879,787.591278895,804.591278895,651,631,653,0.410586274285,-0.0155103527211,0.0799929506067,0.999999999201,1.66949690354e-05,-8.22713078655e-06,-3.53700341283e-05,1793240180888082944
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.834014807,879,788,804.834014807,651,631,652.834014807,0.411252156497,-0.0155079735791,0.0800029853945,0.999999999204,1.57870289499e-05,7.47533378344e-06,-3.58808786918e-05,1793240180904749312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.261357124,879,788,804.261357124,651,631,652.261357124,0.411884438096,-0.0155014993506,0.0799778285089,0.999999998373,2.32519087979e-05,-3.43514894249e-05,-3.91538264221e-05,1793240180921415936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.678139857,679,661,635,879,788,804,651,631,652.321860143,0.412533836029,-0.0154986195764,0.0799472600328,0.999999995829,2.28655430116e-05,-7.68168931665e-05,-4.37877562097e-05,1793240180938082816
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.086057065,679,661,635,879,788,804,651,631,652.913942935,0.413197604316,-0.0154987575811,0.0799121481695,0.999999991467,1.58875436138e-05,-0.000119818431613,-4.95643198272e-05,1793240180954749440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.494313542,714.494313542,679,661,635,879,788,804,651,631,653,0.413945267188,-0.0155030770281,0.0799214283775,0.999999993649,1.05945374222e-05,-0.000100555316162,-4.97842396556e-05,1793240180971415808
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.927728953,715,679,661,635,879.072271047,787.927728953,804,651,631,653,0.414711300692,-0.0155079995219,0.0799389947674,0.999999996329,5.75312537328e-06,-7.00794029521e-05,-4.89622376122e-05,1793240180988082688
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.352701778,715,679,661,635,879.647298222,787.352701778,804,651,631,653,0.415505878147,-0.0155121702357,0.0799616857806,0.99999999825,2.05979287802e-06,-3.52640998655e-05,-4.74659144179e-05,1793240181004749312
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.227607469,661,635,880,787.227607469,804,651,631,653,0.416278544691,-0.0155129020779,0.0799678556865,0.999999998466,-8.17168195144e-07,-2.83177645238e-05,-4.759223455e-05,1793240181021416192
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.816296272,661,635,880,787.816296272,804,651,631,653,0.417016451255,-0.0155081784208,0.0799478161548,0.999999996582,-2.39902004119e-06,-6.5583355e-05,-5.02927507162e-05,1793240181038082816
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.39871554,680,661,635.39871554,880,787.60128446,804,651,631,652.60128446,0.417841393862,-0.0155071637332,0.0799598824541,0.99999999797,-3.77299785672e-06,-3.80029013353e-05,-5.10146256091e-05,1793240181054749440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.978290893,680,661,635.978290893,880,787.021709107,804,651,631,652.021709107,0.418705816531,-0.015507831457,0.0799865121555,0.999999998515,-5.05268268648e-06,1.89921163129e-05,-5.08389765068e-05,1793240181071416064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.450795058,679.450795058,661,635.450795058,880,787,804,651,631,652,0.419534210075,-0.0155118397997,0.0799883390084,0.9999999984,-7.28033265087e-06,2.40947795548e-05,-5.06527698332e-05,1793240181088082944
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787,804,651,631,652.121719897,0.420367043263,-0.0155154024674,0.0799858915181,0.999999998411,-1.11088417822e-05,2.09434510051e-05,-5.11483799925e-05,1793240181104749568
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,880,787,804,651,631,652.701528147,0.421221861285,-0.0155167986078,0.079970990156,0.999999998298,-2.08232921786e-05,-5.67165922327e-06,-5.42115289066e-05,1793240181121416192
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.285708734,661.285708734,635,880,787.285708734,804,651.285708734,631,653,0.422083674914,-0.0155190125523,0.0799758261571,0.999999998283,-2.28542314574e-05,-7.64370993961e-07,-5.39523187785e-05,1793240181138082816
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.874528038,661.874528038,635,880,787.874528038,804,651.874528038,631,653,0.422952910342,-0.0155220941117,0.0800016016753,0.999999997895,-1.67336765178e-05,3.75852663202e-05,-5.01683930162e-05,1793240181154749440
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.544398417,635.455601583,879.544398417,787.544398417,804,651.544398417,631,653,0.423798532792,-0.0155194386995,0.0800004096514,0.999999998367,-5.61833172779e-06,2.72205218495e-05,-4.99312394809e-05,1793240181171416320
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.965431861,879.034568139,787.034568139,804.034568139,651,631,652.965431861,0.424638014379,-0.0155154641021,0.0799897990073,0.999999998687,5.80092048369e-06,9.31389135289e-07,-5.09071076664e-05,1793240181188083200
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635.386613949,879.613386051,787.613386051,804.613386051,651,631,652.386613949,0.425481486449,-0.0155151792577,0.079945874206,0.999999996101,7.09892371589e-07,-6.83836221058e-05,-5.58595819675e-05,1793240181204749568
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,880,787.811138213,805,651,631,652.188861787,0.426345078452,-0.0155169807988,0.0799183166661,0.999999992373,-6.55825129182e-06,-0.000108172880322,-5.92442274197e-05,1793240181221416192
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,635,880,787.242385222,805,651,631,652.757614778,0.427249141198,-0.0155229790571,0.0799236815041,0.999999994143,-1.82056132503e-05,-8.85717516904e-05,-5.94752208047e-05,1793240181238082816
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.341915358,635,880,787.341915358,804.658084642,651,631,653,0.428123222485,-0.0155249619606,0.0799313133985,0.999999994782,-1.87283061492e-05,-8.15812795293e-05,-5.85575544914e-05,1793240181254749184
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.93776272,635,880,787.93776272,804.06223728,651,631,653,0.428975037252,-0.01552396276,0.0799406289788,0.999999994803,-1.09889844923e-05,-8.39564280625e-05,-5.67868072933e-05,1793240181271415808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.513631016,745,715,680,661.486368984,635,880,788,804,651,631,653,0.429865259608,-0.0155258018259,0.0799671334374,0.999999997556,-1.73873856164e-05,-3.87988204115e-05,-5.55031626358e-05,1793240181288082432
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.915785485,745,715,680,661.084214515,635,880.084214515,787.915785485,804.084214515,651,631,653,0.430756583094,-0.0155284918093,0.0799948707927,0.999999998181,-2.505406793e-05,8.73422818562e-06,-5.41683921587e-05,1793240181304749568
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.361687417,745,715,680,661.638312583,635,880.638312583,787.361687417,804.638312583,651,631,653,0.431629055476,-0.0155340825047,0.0800183011443,0.999999997423,-3.05967972408e-05,3.85882155739e-05,-5.22313676177e-05,1793240181321415936
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.214914708,662,635,880.785085292,787.214914708,805,651,631,653,0.43246768014,-0.0155346101083,0.0800127542258,0.999999997698,-3.46417664095e-05,2.37110617748e-05,-5.33018414818e-05,1793240181338082560
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.833819353,662,635,880.166180647,787.833819353,805,651,631,653,0.433242679074,-0.0155256202719,0.0799527367464,0.999999994724,-3.58712937472e-05,-7.52502854003e-05,-6.00257160543e-05,1793240181354749184
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.592770814,662,635,880,788,805,651,631,653,0.434055205355,-0.0155242396761,0.0799212473117,0.999999991054,-3.62424668348e-05,-0.00011186223847,-6.3760029218e-05,1793240181371415808
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.03606072,662,635,880,788,805,651,631,653,0.434881506687,-0.0155256521916,0.0799002296203,0.999999989251,-3.62985653251e-05,-0.000125587702267,-6.63969690078e-05,1793240181388082432
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.554138295,662,635,880,788,804.445861705,651,631.554138295,653,0.435688243387,-0.015531921172,0.0799313265736,0.999999993354,-4.29153708258e-05,-8.59708113378e-05,-6.37066374221e-05,1793240181404749056
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.143491665,745,715,680.856508335,662,635,880,787.856508335,804,651,631.856508335,653,0.436487254971,-0.0155390306638,0.079959849611,0.999999995474,-5.01777279379e-05,-5.31731042684e-05,-6.0889198993e-05,1793240181421415936
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.286976101,714,680.713023899,659.713023899,633.713023899,880.286976101,785.713023899,805,651,630.286976101,653,0.439223370157,-0.0154563761218,0.0796351627603,0.999999835421,6.89546795404e-05,-0.00056946895127,1.03858580598e-05,1793240183763759616
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.662405144,635,879.662405144,787,804,651.337594856,631,653.337594856,0.408039461131,-0.0153482598706,0.0798487826937,0.999999930011,0.000274204615423,-0.000251249784944,4.07784010153e-05,1793240184413759488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.087525828,635,879.087525828,787,804,651.912474172,631,653.912474172,0.407461782921,-0.0153464469112,0.0798317847973,0.999999919432,0.0002797660546,-0.000285194098947,3.91432276243e-05,1793240184430426112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.502595495,745,715,678.502595495,660.497404505,635,879.497404505,787,804,652,631,653.502595495,0.406919440271,-0.015345991664,0.0797997666758,0.999999903683,0.000276711790482,-0.00033871534157,3.65497665848e-05,1793240184447092736
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.08311278,745,715,678.08311278,661,635,879.91688722,787,804.08311278,652,631,653,0.406394630595,-0.0153458336727,0.0797719734774,0.999999888665,0.000273085578262,-0.000383308446738,3.41936307306e-05,1793240184463759104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.662685477,745,715,678.662685477,661,635,879.337314523,787,804.662685477,652,631,653,0.405936644028,-0.0153459947689,0.0797855304483,0.999999899016,0.000275285645225,-0.000353569227389,3.42831434304e-05,1793240184480425984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.760259849,745,714.760259849,679,660.760259849,635,879.239740151,787,805,652,631.239740151,653,0.405505203631,-0.0153453436634,0.079801116206,0.999999909052,0.000278635992303,-0.000320990646394,3.49672078736e-05,1793240184497092608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.18671126,745,714.18671126,679,660.18671126,635,879.81328874,787,805,652,631.81328874,653,0.405110725523,-0.0153435616679,0.0798195267965,0.999999918665,0.000283587961654,-0.000284458608823,3.64791119018e-05,1793240184513759488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.388539394,679,660,635,880,787,804.611460606,652,631.611460606,653,0.404722188493,-0.0153420088231,0.0798289551132,0.999999920837,0.000285635373768,-0.000274442400548,3.76771131052e-05,1793240184530426368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.964611619,679,660,635,880,787,804.035388381,652,631.035388381,653,0.404336518956,-0.0153405665803,0.0798340480378,0.999999919845,0.000286280869798,-0.000277224347158,3.8723605792e-05,1793240184547092992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.556698246,745,715,679,660.556698246,635,880,787.556698246,804,652,631.556698246,653,0.403989819939,-0.0153330999663,0.079838447928,0.99999991671,0.000297532243611,-0.000276638233744,3.90542360743e-05,1793240184563759104
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.708095181,745,715,679,660.854047591,635,879.854047591,787.854047591,804,652,631.854047591,653,0.403653950222,-0.0153264265452,0.079841933441,0.999999914263,0.000306359355772,-0.000275863226593,3.89463327211e-05,1793240184580425728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.552549303,745,715,679,660.276274651,635,879.276274651,787.276274651,804,652,631.276274651,653,0.403342573914,-0.0153232664917,0.0798428478466,0.999999914622,0.00030596016562,-0.000275181563457,3.76795907585e-05,1793240184597092352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.299658405,745,715,678.700341595,660,635,879.299658405,787,804,651.700341595,631,653,0.403057770885,-0.0153213418439,0.0798416139194,0.999999914031,0.000305841587522,-0.000277529947913,3.70866671504e-05,1793240184613759232
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.873905469,745,715,678.126094531,660,635,879.873905469,787,804,651.126094531,631,653,0.402797318003,-0.0153205492466,0.0798384113911,0.999999912553,0.000305980145191,-0.000282654882954,3.71111896039e-05,1793240184630425856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.444184591,745,715,678,660.444184591,635,879.555815409,787,804.444184591,651.444184591,631,653,0.402565592992,-0.015322900069,0.079835746155,0.999999911118,0.000304641337865,-0.000289252397958,3.59390944323e-05,1793240184647092480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.985875147,745,715,678,661,635,879,787,805,652,631,653,0.402342837115,-0.0153264691837,0.0798332983386,0.999999909823,0.000302484646139,-0.000296084058449,3.45078307479e-05,1793240184663759360
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.383553994,745,715,678,661,635,879,787,805,652,631,653,0.402156981091,-0.0153439404217,0.0798336091194,0.999999915498,0.000283579060211,-0.00029541224835,3.63046232215e-05,1793240184680425984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635,879,787,804.790693902,652,631,653,0.401985637344,-0.0153574236038,0.0798366347603,0.999999921335,0.000268429874996,-0.000289464104233,3.85565923337e-05,1793240184697092864
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.640289563,635,879.359710437,787,804,652,631,653,0.40171124496,-0.0153646731011,0.0798508444635,0.999999929731,0.000261264869582,-0.000265326399005,4.33762957376e-05,1793240184730425856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.067425954,635,879.932574046,787,804,652,631,653,0.401593067886,-0.0153620344479,0.0798564620612,0.999999929126,0.000268566020235,-0.000260097099347,4.43873176781e-05,1793240184747092480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.520513041,745,715,678.520513041,660,635,879.479486959,787,804,652,631.520513041,653,0.401493648589,-0.0153640206098,0.079856534032,0.999999934648,0.000251082191086,-0.000257344013961,3.78944139861e-05,1793240184763759104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.892682263,745,715,679,660,635.107317737,879,787,804,651.892682263,631.892682263,653,0.401398875905,-0.0153663726406,0.0798550456674,0.999999938352,0.000237059403218,-0.000257071337524,3.18206515951e-05,1793240184780425728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.319530498,745,715,679,660,635.680469502,879,787,804,651.319530498,631.319530498,653,0.401313410966,-0.0153676347811,0.0798499955742,0.999999932222,0.000252411795104,-0.000266131507944,3.19114328168e-05,1793240184797092608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.743220642,660.256779358,635.743220642,879,787,804,651,631,653,0.401239506915,-0.0153702904053,0.0798460749347,0.999999929126,0.000257423972777,-0.000272787622582,3.26801588576e-05,1793240184813759488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.162932028,660.837067972,635.162932028,879,787,804,651,631,653,0.401180168116,-0.0153747016411,0.0798435772632,0.999999930107,0.000249408797924,-0.000276414932944,3.4303008944e-05,1793240184830426368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.413757973,745,715,678.413757973,660.586242027,635,879,787,804,651,631.413757973,653,0.401135237259,-0.0153749381024,0.0798428143322,0.999999930452,0.000248632293594,-0.000275738774429,3.53119808223e-05,1793240184847092736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.989043097,745,715,678.989043097,660.010956903,635,879,787,804,651,631.989043097,653,0.401095931127,-0.0153735447717,0.0798427286273,0.999999930559,0.000250681697097,-0.000273382582797,3.608130049e-05,1793240184863759104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.420663224,745,715,678.420663224,660.579336776,635,879,787,804,651.579336776,631.420663224,653,0.401064946098,-0.0153735577102,0.0798407326782,0.999999929081,0.000250928396916,-0.000278443153889,3.66471991278e-05,1793240184880425728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635,879,787.166411767,804,652,631,653,0.401038159141,-0.0153732505205,0.0798393767215,0.999999928037,0.000251175968708,-0.000281910526877,3.69332192407e-05,1793240184897092608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635,879,787.744796988,804,652,631,653,0.401021365087,-0.0153720832185,0.0798396969663,0.999999928201,0.00025151234857,-0.000281077238112,3.6536142158e-05,1793240184913759232
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635,879,787.679080443,804,652,631,653,0.40100913413,-0.0153722817732,0.0798393110438,0.999999928225,0.000252429158626,-0.000280156580881,3.66181878748e-05,1793240184930425856
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635,879,787.104744533,804,652,631,653,0.401000506452,-0.0153735588859,0.0798383674915,0.999999928137,0.000253804309447,-0.000279166932448,3.70785761905e-05,1793240184947092736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.514897059,745,715,678.485102941,661,635,879,787,804,651.514897059,631,653,0.400994005687,-0.015374542361,0.0798381537979,0.999999928273,0.000252028113638,-0.000280280476114,3.71339614075e-05,1793240184963759360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.07586258,745,715,679,661,635,879,787,804,651.07586258,631,653,0.400988446494,-0.0153751872764,0.079838152262,0.999999928423,0.000249952272844,-0.000281610472175,3.70578534246e-05,1793240184980425984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.649892101,745,715,679,661,635,879,787,804,651.649892101,631,653,0.400985954954,-0.0153740390733,0.0798384748543,0.999999928385,0.000250524633886,-0.000281281231874,3.67114903052e-05,1793240184997092608
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.775470558,635,879,787,804.224529442,652,631,653,0.400984912857,-0.015373232113,0.0798392020383,0.999999928391,0.000252138531042,-0.000279826976041,3.66168053675e-05,1793240185013758976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.199882905,635,879,787,804.800117095,652,631,653,0.400986137006,-0.0153729586957,0.0798405618129,0.999999928451,0.000255380899692,-0.000276613726233,3.69156264916e-05,1793240185030425600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.626181447,715,679,660.373818553,635,879.373818553,787,804.626181447,652,631.373818553,653,0.40098672357,-0.0153733296815,0.0798413925164,0.999999928993,0.000255505154089,-0.000274541570257,3.68504585949e-05,1793240185047092480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.053483504,715,679,660.946516496,635,879.946516496,787,804.053483504,652,631.946516496,653,0.400986970927,-0.0153740435034,0.0798419417428,0.999999929795,0.000253970505536,-0.00027307650048,3.65916408176e-05,1793240185063759104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.541204956,715,678.458795044,661,635,880,787,804.541204956,652,632,653,0.400985343292,-0.0153752512291,0.079841353578,0.99999992981,0.000251458595554,-0.000275321555505,3.66990510531e-05,1793240185080425984
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.865768948,715,678,661,635,879.865768948,787,804.865768948,652,632,653,0.400984115997,-0.0153759962909,0.0798409740508,0.999999929813,0.000249704953623,-0.000276895090252,3.67503566957e-05,1793240185097092608
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.285785604,715,678,661,635,879.285785604,787,804.285785604,652,632,653,0.400984859523,-0.0153750359969,0.07984167643,0.999999930079,0.000250803647275,-0.000274969532266,3.64900758514e-05,1793240185113759232
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.290208642,744.290208642,715,678,661,635,879,787,804,652,631.709791358,653,0.4009854759,-0.0153754235783,0.0798423781865,0.999999930253,0.000251795759762,-0.000273396752025,3.66937960186e-05,1793240185130425856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.86232792,744.86232792,715,678,661,635,879,787,804,652,631.13767208,653,0.400985968763,-0.0153771204951,0.0798430793381,0.999999930341,0.000252684338714,-0.000272166662241,3.73482498727e-05,1793240185147092480
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.551324222,744.551324222,715,678,661,635,879,787,804,652,631,653,0.400986293195,-0.015375627475,0.0798433539666,0.999999930344,0.000253307809674,-0.000271593728341,3.7209640775e-05,1793240185163759104
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.038768498,715,678.038768498,660.961231502,635,879,787,804,651.961231502,631,653,0.400986463427,-0.0153734738993,0.0798434728495,0.999999930359,0.000253597670591,-0.000271316366012,3.6849740159e-05,1793240185180425728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.618206409,715,678.618206409,660.381793591,635,879,787,804,651.381793591,631,653,0.400985227521,-0.0153762056986,0.0798433046572,0.999999930905,0.000250406586339,-0.000272256850582,3.69085345857e-05,1793240185197092352
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.80323782,660.39352436,635,879,787,804,651,631,653,0.400984596039,-0.0153778216938,0.079843198003,0.99999993121,0.000248710736524,-0.000272693738506,3.68892618812e-05,1793240185213759232
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.226386134,661.547227732,635,879,787,804,651,631,653,0.400985132137,-0.0153772822674,0.0798432102234,0.999999931065,0.000249903261692,-0.000272157818487,3.67191853078e-05,1793240185230426112
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.346598494,661.306803012,635,879,787,804,651.346598494,631,653,0.400985194966,-0.0153763283826,0.0798432059011,0.999999930833,0.000250927918334,-0.000272106984364,3.64202606787e-05,1793240185247092736
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,744.493868194,715,678.493868194,660,635,879,787,804,651.493868194,631,653,0.400984765975,-0.0153744805735,0.0798433363094,0.999999930593,0.000252321915762,-0.000271721676201,3.62639208348e-05,1793240185280425728
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.675499628,660,635,879,787,804,651,631,653,0.400985695056,-0.0153756215113,0.0798443975014,0.99999993163,0.00025076417738,-0.000269290961346,3.66086365032e-05,1793240185313759232
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.828491087,744,715,678.171508913,660,635.828491087,879,787,804,651.828491087,631,653.828491087,0.400986738689,-0.0153786116508,0.0798456875711,0.999999933139,0.000246737195919,-0.000267364158516,3.68791330453e-05,1793240185347092480
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfa556709de5b14f0261a55b79a238ff9112ae7e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.582153161128,-0.00990915668756,1.07003231299,0.552723611204,-0.00123742187309,1.06970045282
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+386,6.433333333,pose2_to_pose3_retreat,0.575767405912,-0.0099092656162,1.07003241154,0.546337858165,-0.00123752364993,1.06970054651
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+389,6.483333333,pose2_to_pose3_retreat,0.57570056295,-0.00990922653505,1.07003215592,0.546271014756,-0.00123748620181,1.06970028827
+390,6.500000000,pose2_to_pose3_retreat,0.575688465136,-0.00990925586881,1.07003216708,0.546258916839,-0.00123751596431,1.06970029737
+391,6.516666667,pose2_to_pose3_retreat,0.575680220046,-0.00990920673286,1.07003236158,0.546250671308,-0.00123746843829,1.06970048867
+392,6.533333333,pose2_to_pose3_retreat,0.575674373009,-0.00990929117978,1.07003243877,0.546244825839,-0.00123754746943,1.06970056803
+393,6.550000000,pose2_to_pose3_retreat,0.575670553765,-0.0099092874391,1.07003235293,0.546241006353,-0.00123754445621,1.06970048445
+394,6.566666667,pose2_to_pose3_retreat,0.575668384877,-0.00990925093398,1.07003222785,0.546238836596,-0.00123751083385,1.06970036109
+395,6.583333333,pose2_to_pose3_retreat,0.575667374708,-0.00990921855478,1.07003225683,0.546237826053,-0.0012374797847,1.06970038854
+396,6.600000000,pose2_to_pose3_retreat,0.575667176614,-0.00990921096499,1.07003226955,0.546237627888,-0.00123747245471,1.06970040078
+397,6.616666667,pose2_to_pose3_retreat,0.575667094499,-0.00990920781882,1.07003227482,0.546237545743,-0.00123746941624,1.06970040585
+398,6.633333333,pose2_to_pose3_retreat,0.575666987521,-0.00990920372006,1.07003228169,0.546237438727,-0.00123746545778,1.06970041245
+399,6.650000000,pose2_to_pose3_retreat,0.57566681602,-0.00990919714914,1.07003229271,0.546237267164,-0.00123745911179,1.06970042304
+400,6.666666667,pose2_to_pose3_retreat,0.575666648521,-0.00990919073158,1.07003230346,0.546237099605,-0.0012374529139,1.06970043338
+401,6.683333333,pose2_to_pose3_retreat,0.575666513981,-0.00990918557681,1.0700323121,0.546236965017,-0.00123744793558,1.06970044169
+402,6.700000000,pose2_to_pose3_retreat,0.575666386457,-0.00990918069085,1.07003232029,0.546236837448,-0.00123744321687,1.06970044957
+403,6.716666667,pose2_to_pose3_retreat,0.575666071316,-0.00990916861651,1.07003234052,0.546236522194,-0.00123743155584,1.06970046903
+404,6.733333333,pose2_to_pose3_retreat,0.575666021913,-0.00990916672366,1.07003234369,0.546236472773,-0.00123742972779,1.06970047208
+405,6.750000000,pose2_to_pose3_retreat,0.575665903792,-0.00990916219797,1.07003235128,0.54623635461,-0.00123742535702,1.06970047937
+406,6.766666667,pose2_to_pose3_retreat,0.575665792993,-0.00990915906548,1.07003235596,0.54623624382,-0.00123742219627,1.06970048398
+407,6.783333333,pose2_to_pose3_retreat,0.575665651812,-0.00990915824343,1.07003235499,0.546236102789,-0.00123742084381,1.06970048352
+408,6.800000000,pose2_to_pose3_retreat,0.575665457524,-0.00990915711216,1.07003235365,0.546235908709,-0.0012374189826,1.06970048287
+409,6.816666667,pose2_to_pose3_retreat,0.575665398191,-0.00990915676668,1.07003235325,0.546235849439,-0.00123741841421,1.06970048268
+410,6.833333333,pose2_to_pose3_retreat,0.57566537556,-0.00990915663491,1.07003235309,0.546235826832,-0.00123741819742,1.0697004826
+411,6.850000000,pose2_to_pose3_retreat,0.575665303195,-0.00990915621356,1.07003235259,0.546235754544,-0.00123741750419,1.06970048236
+412,6.866666667,pose2_to_pose3_retreat,0.575665151763,-0.00990915533182,1.07003235155,0.546235603274,-0.00123741605353,1.06970048186
+413,6.883333333,pose2_to_pose3_retreat,0.575664922089,-0.00990915399451,1.07003234998,0.546235373845,-0.00123741385334,1.0697004811
+414,6.900000000,pose2_to_pose3_retreat,0.57566470334,-0.00990915272082,1.07003234847,0.546235155329,-0.00123741175781,1.06970048038
+415,6.916666667,pose2_to_pose3_retreat,0.575664581118,-0.00990918366338,1.07003230742,0.546235033213,-0.0012374422866,1.06970044081
+416,6.933333333,pose2_to_pose3_retreat,0.575664545807,-0.00990919344688,1.07003229449,0.546234997932,-0.00123745195176,1.06970042833
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+419,6.983333333,pose2_to_pose3_retreat,0.575664336703,-0.00990918109183,1.07003221326,0.546234787387,-0.00123744456987,1.06970034493
+420,7.000000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385425,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46c6911b768a4484aebac0529f546099a141400d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3735fdc5db42d4aa16ded7ed69024959edaa52fd9e6ac226ad0c37b8e652d3ef
+size 26345587
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf248cc43db675a8e4257392ba37d0f5b686c694
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+18,0.300000000,BASELINE,765.496273939,746,714,679.503726061,665.503726061,635.503726061,879,787,804,653,631,653,0.400926269024,0.00441886700158,0.0599374244365,0.99999997265,-0.00011314695493,-0.000201301593662,-3.70835962116e-05,1793240187549166336
+19,0.316666667,BASELINE,766,746,714,679.087663537,665,635,879,787,804,653,631,653,0.400925495927,0.00441955571826,0.0599369859148,0.999999972204,-0.000114410655011,-0.000202777473066,-3.71883163467e-05,1793240187565832960
+20,0.333333333,BASELINE,766,746,714,679.664389648,665,635,879,787,804,653,631,653,0.400925120893,0.00441747663234,0.0599373928739,0.999999972422,-0.000113861395827,-0.000202135525734,-3.65078597558e-05,1793240187582499328
+21,0.350000000,BASELINE,765.758809534,745.758809534,714,680,665.241190466,635,879,787,804,653,631,653,0.400925344499,0.0044169580575,0.0599377239764,0.999999972582,-0.000113719723087,-0.000201471205223,-3.62475168391e-05,1793240187599165952
+22,0.366666667,BASELINE,765.18190478,745.18190478,714,680,665.81809522,635,879,787,804,653,631,653,0.400926401355,0.00441861156647,0.0599379494937,0.999999972661,-0.000114145372125,-0.000200775743418,-3.65719324311e-05,1793240187615832832
+23,0.383333333,BASELINE,765.403158005,745.403158005,714,680,666,635,879,787,804,653,631,653,0.400926799711,0.00441900557731,0.0599382119312,0.999999972763,-0.000113972807599,-0.000200333745074,-3.67488958069e-05,1793240187632499456
+24,0.400000000,BASELINE,765.991977767,745.991977767,714,680,666,635,879,787,804,653,631,653,0.400926894814,0.00441881956599,0.0599384913713,0.999999972875,-0.000113524754642,-0.000200008471305,-3.68579547243e-05,1793240187649166080
+25,0.416666667,BASELINE,766,745.428471841,714,678.856943682,665.428471841,635.571528159,879,787,804,653,631,653,0.400925266317,0.00441857283761,0.0599374550866,0.999999972632,-0.00011222499898,-0.000201977537114,-3.66832624224e-05,1793240187665832704
+26,0.433333333,BASELINE,765.85264212,745,714,678.14735788,665.14735788,635.85264212,879,787,804,653,631.14735788,653,0.400923961429,0.00441843244573,0.0599365659512,0.999999972384,-0.000111778744502,-0.000203470997025,-3.65605128512e-05,1793240187682499072
+27,0.450000000,BASELINE,765.287009949,745,714,678.712990051,665.712990051,635.287009949,879,787,804,653,631.712990051,653,0.400923642678,0.00441859626969,0.059936146083,0.999999972145,-0.000113788539062,-0.000203524500365,-3.65963272098e-05,1793240187699165696
+28,0.466666667,BASELINE,765.287875217,745,713.712124783,679.287875217,665.712124783,635,879,787,804,653,631.712124783,653,0.40092443425,0.00441883825621,0.0599366599336,0.999999972396,-0.000113976561951,-0.000202164095258,-3.67058518213e-05,1793240187715832576
+29,0.483333333,BASELINE,765.872291895,745,713.127708105,679.872291895,665.127708105,635,879,787,804,653,631.127708105,653,0.400926369572,0.00441916075833,0.0599381356119,0.999999973146,-0.00011228797012,-0.000199347217153,-3.68913056696e-05,1793240187732499456
+30,0.500000000,BASELINE,766,745.463191939,713.463191939,680,665,635,879.463191939,787,804,653,631,653,0.400926399088,0.00441924447114,0.0599380439689,0.999999973148,-0.000111341227645,-0.000199895901969,-3.67387379427e-05,1793240187749166336
+31,0.516666667,BASELINE,765.94537995,745.94537995,714,679.94537995,665.05462005,635,879.94537995,787,803.94537995,653,631,653,0.400925828298,0.00441924695938,0.0599374570229,0.999999972925,-0.000110766491343,-0.000201362975052,-3.65122539265e-05,1793240187765833216
+32,0.533333333,BASELINE,765.366289204,745.366289204,714,679.366289204,665.633710796,635,879.366289204,787,803.366289204,653,631,653,0.400924610404,0.00441911067141,0.0599363223943,0.999999972562,-0.000111771934846,-0.000202611940746,-3.64836101149e-05,1793240187782499584
+33,0.550000000,BASELINE,765.211431321,745.211431321,714,679,665.788568679,635,879,787,803.211431321,653,631,653,0.40092397311,0.00441906335746,0.0599356081184,0.999999972305,-0.00011264614841,-0.000203377215338,-3.65895612533e-05,1793240187799165952
+34,0.566666667,BASELINE,765.786793262,745.786793262,714,679,665.213206738,635,879,787,803.786793262,653,631,653,0.400924335187,0.00441916919194,0.0599356173835,0.999999972233,-0.000113294479569,-0.000203309926292,-3.69271867914e-05,1793240187815832576
+35,0.583333333,BASELINE,765.64090441,746,714,679,665,635,879.35909559,787,804,653,631.35909559,653,0.400924482791,0.00441944515527,0.059935793271,0.999999972374,-0.000112954640338,-0.000202809565688,-3.69052877106e-05,1793240187832499200
+36,0.600000000,BASELINE,765.070403273,746,714,679,665,635,879.929596727,787,804,653,631.929596727,653,0.400924504133,0.0044198212763,0.0599360672519,0.999999972639,-0.000112033048823,-0.000202054248646,-3.66717305378e-05,1793240187849165824
+37,0.616666667,BASELINE,765.523911732,745.476088268,714,679.523911732,665.523911732,635.523911732,879.476088268,787,803.476088268,653,631.476088268,653,0.40092332716,0.00441802834838,0.059935716545,0.999999972154,-0.000114404117979,-0.000203153824046,-3.65074880366e-05,1793240187865832704
+38,0.633333333,BASELINE,765.88238378,745,714,679.88238378,666,635.88238378,879,787,803.11761622,653,631,652.88238378,0.400922441648,0.00441652994689,0.059935470491,0.999999971756,-0.000116428066881,-0.000203979940634,-3.64079726665e-05,1793240187882499584
+39,0.650000000,BASELINE,765.304197742,745,714,679.304197742,666,635.304197742,879,787,803.695802258,653,631,652.304197742,0.400923358056,0.0044173806084,0.0599359786173,0.999999972142,-0.000115277586515,-0.000202712677822,-3.65237090234e-05,1793240187899166464
+40,0.666666667,BASELINE,765,745,714,679,665.728486931,635,879.271513069,787,804,653,631,652.271513069,0.400924842906,0.00441828287887,0.0599367040874,0.999999972604,-0.000113841614641,-0.000201229638876,-3.65998068478e-05,1793240187915833344
+41,0.683333333,BASELINE,765,745,714,679,665.155524296,635,879.844475704,787,804,653,631,652.844475704,0.400926958872,0.00441924244855,0.0599376708652,0.999999973146,-0.000112088673596,-0.000199507032822,-3.66318956661e-05,1793240187932499712
+42,0.700000000,BASELINE,765.428241814,745,714,679.428241814,665.428241814,635,879.571758186,786.571758186,804,653,631,653,0.400926246214,0.00441938188967,0.0599373864869,0.999999972878,-0.000112766049416,-0.000200456107432,-3.66754057125e-05,1793240187949166080
+43,0.716666667,BASELINE,766,745.01580083,714,680,665.98419917,635,879,786.01580083,804,653,631,653,0.40092455807,0.00441922076973,0.0599366605509,0.999999972331,-0.000114243692614,-0.00020233123186,-3.67203069768e-05,1793240187965832704
+44,0.733333333,BASELINE,766,745.595082324,714,680,665.404917676,635,879,786.595082324,804,653,631,653,0.400925664676,0.00441923770185,0.0599368112931,0.999999972711,-0.000111970048546,-0.000201733815678,-3.66630749389e-05,1793240187982499328
+45,0.750000000,BASELINE,765.826132798,746,714,680,665.173867202,635.173867202,879,787,804,653,631.173867202,653,0.400926621983,0.00441922431211,0.059937171025,0.999999972977,-0.000111199575485,-0.000200845025397,-3.66189826028e-05,1793240187999165952
+46,0.766666667,BASELINE,765.248501271,746,714,680,665.751498729,635.751498729,879,787,804,653,631.751498729,653,0.400927232576,0.00441914050719,0.0599380160846,0.999999972985,-0.000113919852123,-0.000199279589662,-3.66054040401e-05,1793240188015832832
+47,0.783333333,BASELINE,765,746,714,679.67356918,665.67356918,636,879,787,803.67356918,653,631.67356918,653,0.400928012142,0.0044199190901,0.0599384681075,0.999999973241,-0.000113276157077,-0.000198356009583,-3.66122830737e-05,1793240188032499712
+48,0.800000000,BASELINE,765,746,714,679.100675167,665.100675167,636,879,787,803.100675167,653,631.100675167,653,0.400928919288,0.00442134879676,0.0599386233782,0.999999973683,-0.000110092582037,-0.000197917045941,-3.66346080875e-05,1793240188049166336
+49,0.816666667,BASELINE,765,746,714,679,665,635.512035769,879,787,803.487964231,653,631,653,0.400927036235,0.00441974778068,0.0599374799156,0.999999973145,-0.000111554634095,-0.000199819261343,-3.65818413299e-05,1793240188065832704
+50,0.833333333,BASELINE,765.078254908,746,714,679.078254908,665.078254908,635,879,787,803.921745092,653,631.078254908,653,0.400924900183,0.00441803991547,0.0599362133881,0.999999972486,-0.000113443155862,-0.000202044649785,-3.65648019115e-05,1793240188082499584
+51,0.850000000,BASELINE,765.657624013,746,714,679.657624013,665.657624013,635,879,787,803.342375987,653,631.657624013,653,0.400924953276,0.00441978544651,0.0599359318626,0.999999972446,-0.000111720300735,-0.000203143278942,-3.6879063688e-05,1793240188099166208
+52,0.866666667,BASELINE,765.765231966,746,714,679.765231966,666,635.234768034,879,787,803.234768034,653,631.765231966,653,0.400925582224,0.0044205576752,0.0599363916678,0.999999972609,-0.000111240623336,-0.000202590229932,-3.69357826825e-05,1793240188115832832
+53,0.883333333,BASELINE,765.191302482,746,714,679.191302482,666,635.808697518,879,787,803.808697518,653,631.191302482,653,0.400927043091,0.00441992380677,0.0599379224483,0.999999973065,-0.000112556922916,-0.000199651057193,-3.66204382995e-05,1793240188132499456
+54,0.900000000,BASELINE,765.380978114,746,714,679.380978114,666,636,879,787,804,653,631,653,0.400927452285,0.0044191115054,0.0599384196771,0.999999973002,-0.000114048051548,-0.000199146028123,-3.64768659951e-05,1793240188149166080
+55,0.916666667,BASELINE,765.952434297,746,714,679.952434297,666,636,879,787,804,653,631,653,0.400927335671,0.00441820999272,0.0599384001599,0.99999997268,-0.000115626589623,-0.000199858000764,-3.64191747849e-05,1793240188165832704
+56,0.933333333,BASELINE,766,745.452356633,714,679.452356633,665.452356633,635.452356633,879,787,803.452356633,653,631,653,0.400927392059,0.00441906875997,0.0599381162703,0.999999972839,-0.000114720448149,-0.000199585109851,-3.64198386083e-05,1793240188182499328
+57,0.950000000,BASELINE,766,745.139571125,714.139571125,679,665.139571125,635,879,787.139571125,803.139571125,653,631,653,0.400927097781,0.0044199180705,0.0599375969459,0.999999972978,-0.000113231463673,-0.000199736285505,-3.64315156201e-05,1793240188199166208
+58,0.966666667,BASELINE,766,745.714535158,714.714535158,679,665.714535158,635,879,787.714535158,803.714535158,653,631,653,0.400925660602,0.00442023931655,0.0599364180595,0.999999972917,-0.000110628033088,-0.000201489282134,-3.64610204406e-05,1793240188215832832
+59,0.983333333,BASELINE,766,746,715,679.288696797,665.711303203,635,879.288696797,787.422606406,804,653,631,653,0.400925525495,0.00442006387149,0.0599361683594,0.99999997294,-0.000109999728671,-0.000201713710511,-3.6493167498e-05,1793240188232499456
+60,1.000000000,BASELINE,766,746,715,679.86206729,665.13793271,635,879.86206729,786.275865419,804,653,631,653,0.400926674314,0.00441939865693,0.0599368348969,0.999999973051,-0.000111319025978,-0.000200430872031,-3.65279199753e-05,1793240188249166080
+61,1.016666667,BASELINE,766,745.548582423,714.548582423,680,665.451417577,635,879.548582423,786.451417577,804,653,631,653,0.400927354352,0.00442026065771,0.0599372787301,0.999999973252,-0.000110989810777,-0.000199559423783,-3.67953345858e-05,1793240188265832704
+62,1.033333333,BASELINE,765.956247445,745.043752555,714,680,666,635,879,787,804,653,631.043752555,653,0.40092789919,0.00442147788472,0.0599376470275,0.999999973462,-0.000110302825938,-0.000198828499735,-3.71020069273e-05,1793240188282499584
+63,1.050000000,BASELINE,765.388776038,745.611223962,714,680,666,635,879,787,804,653,631.611223962,653,0.400928603176,0.0044211564083,0.0599379555903,0.999999973445,-0.000111584024886,-0.000198219776802,-3.69964062419e-05,1793240188299166208
+64,1.066666667,BASELINE,765.1847735,745.8152265,714,680,666,635,879,787,804,653,632,653,0.400928874378,0.00442064284926,0.0599379803832,0.999999973335,-0.000112894534384,-0.000198071689251,-3.67880841212e-05,1793240188315833088
+65,1.083333333,BASELINE,765.771546801,745.228453199,714,680,666,635,879,787,804,653,632,653,0.400928204003,0.00441971138849,0.0599373877963,0.999999973025,-0.000114268812883,-0.000198925776457,-3.63562775974e-05,1793240188332499712
+66,1.100000000,BASELINE,766,745.348829324,714,679.651170676,666,635.348829324,879,787,804,653,631.651170676,653,0.4009274401,0.00441973727176,0.0599369324401,0.999999972921,-0.000113913326534,-0.00019966512445,-3.62670384601e-05,1793240188349166336
+67,1.116666667,BASELINE,766,745.920060816,714,679.079939184,666,635.920060816,879,787,804,653,631.079939184,653,0.400926616567,0.00442037352631,0.0599365645776,0.999999972948,-0.00011245499864,-0.000200331318442,-3.63962091006e-05,1793240188365832960
+68,1.133333333,BASELINE,765.486244978,745.486244978,714,679,665.486244978,635.486244978,879,787,804,653,631.513755022,653,0.400926820051,0.00442045813532,0.0599369062458,0.999999973091,-0.00011162928084,-0.000200087042656,-3.63500161146e-05,1793240188382499584
+69,1.150000000,BASELINE,765.107123815,745.107123815,714,679.107123815,665.107123815,635,879,787,804,653,631.892876185,653,0.400926802395,0.00442026458733,0.059937060978,0.999999973127,-0.000111234990726,-0.000200144303609,-3.62755406598e-05,1793240188399166208
+70,1.166666667,BASELINE,765.683072436,745.683072436,714,679.683072436,665.683072436,635,879,787,804,653,631.316927564,653,0.400925085584,0.00441924652178,0.0599358923289,0.999999972605,-0.000112278348666,-0.000202169583454,-3.62021650734e-05,1793240188415832832
+71,1.183333333,BASELINE,765.74155381,746,714,680,666,635,879,787,803.74155381,653,631,653,0.400925202792,0.00441868246723,0.0599359019696,0.999999972501,-0.000113280483016,-0.000202144244961,-3.61010292951e-05,1793240188432499456
+72,1.200000000,BASELINE,765.166883363,746,714,680,666,635,879,787,803.166883363,653,631,653,0.40092756403,0.00441867392198,0.0599373533179,0.999999972907,-0.000114232177997,-0.000199609853459,-3.59659272645e-05,1793240188449166080
+73,1.216666667,BASELINE,765,745.582773162,714,679.582773162,665.582773162,635,879,787,803.417226838,653,631,653,0.400927426503,0.00441903379682,0.0599373955646,0.999999973091,-0.00011285718566,-0.000199463656539,-3.59840413654e-05,1793240188465832960
+74,1.233333333,BASELINE,765.005125373,745,714,679.005125373,665,635,879,787,804,653,631,653,0.40092629309,0.00441954465074,0.0599368787084,0.999999973184,-0.000110561125829,-0.00020026790571,-3.60647172799e-05,1793240188482499584
+75,1.250000000,BASELINE,765.584644641,745,714,679.584644641,665,635,879,787,804,653,631,653,0.400928153385,0.00442007863146,0.0599383297449,0.99999997349,-0.000111751431201,-0.000198057283757,-3.61296399121e-05,1793240188499166208
+76,1.266666667,BASELINE,766,745.165162881,714,679.834837119,665.165162881,635,879,787,804,653,631.165162881,652.834837119,0.400929086109,0.00442058002382,0.059939020361,0.999999973588,-0.000112670017098,-0.000197023896011,-3.6201477517e-05,1793240188515832832
+77,1.283333333,BASELINE,766,745.748208612,714,679.251791388,665.748208612,635,879,787,804,653,631.748208612,652.251791388,0.40092767196,0.00442099896353,0.0599377870181,0.999999973174,-0.000112901118491,-0.00019896905893,-3.62908108687e-05,1793240188532499712
+78,1.300000000,BASELINE,765.678934364,745.678934364,714,679.321065636,665.678934364,635.321065636,879,787,804,652.678934364,631.678934364,652.321065636,0.400926396293,0.00442047694819,0.059936577346,0.999999972733,-0.000113638860146,-0.000200751765695,-3.63257415772e-05,1793240188549166080
+79,1.316666667,BASELINE,765.113821955,745.113821955,714,679.886178045,665.113821955,635.886178045,879,787,804,652.113821955,631.113821955,652.886178045,0.400925225888,0.00441923969887,0.0599353856663,0.99999997227,-0.000114761706601,-0.00020241098703,-3.63193200219e-05,1793240188565832704
+80,1.333333333,BASELINE,765.474760028,745.474760028,714.474760028,679.525239972,665,635.525239972,879,787,804,652.474760028,631.474760028,652.525239972,0.400926423269,0.0044191342916,0.0599361139102,0.999999972622,-0.000114132164706,-0.000201057786578,-3.61230233473e-05,1793240188582499072
+81,1.350000000,BASELINE,766,746,714.932491057,679,665,635,879.067508943,787,804,653,631.932491057,652.067508943,0.40092794061,0.00441937666928,0.0599371814303,0.9999999731,-0.00011315656926,-0.0001992591813,-3.59355804272e-05,1793240188599165952
+82,1.366666667,BASELINE,766,746,714.353031952,679,665,635,879.646968048,787,804,653,631.353031952,652.646968048,0.400927355593,0.00442009163246,0.0599371496836,0.999999973002,-0.00011290840886,-0.000199844594221,-3.61784448689e-05,1793240188615833088
+83,1.383333333,BASELINE,765.776231863,745.776231863,714,679.223768137,665,635,879.776231863,787,804,653,631,653,0.400927110027,0.00442033245005,0.0599372442492,0.999999972996,-0.000112754856437,-0.000199936072869,-3.6326917623e-05,1793240188632499968
+84,1.400000000,BASELINE,765.203577466,745.203577466,714,679.796422534,665,635,879.203577466,787,804,653,631,653,0.400927393713,0.00441983400755,0.0599375357536,0.999999973132,-0.000112748811228,-0.000199257438027,-3.63282203867e-05,1793240188649166336
+85,1.416666667,BASELINE,765.380594558,745,714,680,665,635,879,787,804,653,631,653,0.400926946163,0.00441908680648,0.059937013693,0.999999972845,-0.000113768641377,-0.000200130939105,-3.62422645019e-05,1793240188665832960
+86,1.433333333,BASELINE,765.971119502,745,714,680,665,635,879,787,804,653,631,653,0.400926095273,0.00441820239386,0.0599360428818,0.999999972321,-0.000115354329355,-0.000201860575669,-3.61081780239e-05,1793240188682499584
+87,1.450000000,BASELINE,765.4491028,745.5508972,714,679.4491028,665.5508972,635,879.5508972,787,803.4491028,653,631,653,0.400927262362,0.00441761616332,0.0599370833615,0.999999972537,-0.000116137407563,-0.000200372402566,-3.5907739494e-05,1793240188699165952
+88,1.466666667,BASELINE,765.129511807,746,714,679.129511807,665.870488193,635,879.870488193,787,803.129511807,653,631,653,0.400928205354,0.00441734969042,0.0599378753124,0.999999972761,-0.000116382020036,-0.000199134555985,-3.57612244893e-05,1793240188715832576
+89,1.483333333,BASELINE,765.706019474,746,714,679.706019474,665.293980526,635,879.293980526,787,803.706019474,653,631,653,0.400928016758,0.00441813390624,0.0599374525395,0.99999997289,-0.000114910619999,-0.000199331765125,-3.58125964887e-05,1793240188732499200
+90,1.500000000,BASELINE,766,746,714,680,665,635,879,787,804,653,631,653,0.40092779621,0.00441887767829,0.0599373346564,0.999999973026,-0.000113716148378,-0.00019932476099,-3.58757535147e-05,1793240188749166080
+91,1.516666667,BASELINE,766,746,714,680,665,635,879,787,804,653,631,653,0.400927542418,0.00441957936696,0.0599375340231,0.999999973169,-0.000112809831646,-0.000199105264978,-3.59511733164e-05,1793240188765832960
+92,1.533333333,BASELINE,766,745.55927235,714,679.55927235,665,635.44072765,879,787,804,653,631,653,0.400927803689,0.00442014559452,0.0599373111025,0.999999973253,-0.000112508119504,-0.000198819846134,-3.61521722241e-05,1793240188782500096
+93,1.550000000,BASELINE,765.97128216,745.02871784,714,679.02871784,665.02871784,635.97128216,879,787,803.97128216,653,631,653,0.400928187723,0.00442068449388,0.059936963832,0.999999973313,-0.00011233778836,-0.000198570671659,-3.63879087764e-05,1793240188799166976
+94,1.566666667,BASELINE,765.389831879,745.610168121,714,679.610168121,665.610168121,635.389831879,879,787,803.389831879,653,631,653,0.400927614533,0.00442157058003,0.0599369452384,0.999999973307,-0.000110798906014,-0.00019944402758,-3.6482765798e-05,1793240188815833344
+95,1.583333333,BASELINE,765,746,714,680,666,635,879,787,803,653,631,653,0.400927349798,0.00442190187579,0.0599369856346,0.99999997327,-0.000110243315105,-0.000199926297332,-3.65512578253e-05,1793240188832499456
+96,1.600000000,BASELINE,765,746,714,680,666,635,879,787,803,653,631,653,0.400927712586,0.00442110449595,0.0599371460406,0.999999973172,-0.000111688150018,-0.000199612934378,-3.65661124431e-05,1793240188849166336
+97,1.616666667,BASELINE,765.338981329,746,714,679.661018671,665.661018671,635,879,787,803.677962658,653,631,653,0.40092699016,0.00442123756465,0.0599364950258,0.999999973007,-0.000111912921239,-0.000200304193479,-3.65932280803e-05,1793240188865832960
+98,1.633333333,BASELINE,765.911184032,746,714,679.088815968,665.088815968,635,879,787,804.822368064,653,631,653,0.400925521098,0.00442201078808,0.059935285748,0.999999972797,-0.000111298280563,-0.000201686639153,-3.66287793783e-05,1793240188882499584
+99,1.650000000,BASELINE,766,745.49677941,714.50322059,679,665.50322059,635,879,787,804.49677941,653,631,653,0.400925146112,0.00442175117912,0.0599350350704,0.999999972562,-0.000111940409847,-0.00020251905976,-3.64906917907e-05,1793240188899166208
+100,1.666666667,BASELINE,766,745,714.904407657,679.095592343,666,635,879,787,804,653,631,653,0.400925438689,0.00442121167499,0.0599352570804,0.999999972477,-0.000112705018463,-0.000202542050331,-3.63369452129e-05,1793240188915832832
+101,1.683333333,BASELINE,766,745,714.328657017,679.671342983,666,635,879,787,804,653,631,653,0.400928074692,0.00442021947108,0.0599369686916,0.999999973165,-0.000112924957113,-0.000199006912781,-3.62647963007e-05,1793240188932499456
+102,1.700000000,BASELINE,766,745,714,679.753515205,666,635,879,787,804,653,631,652.753515205,0.400929506002,0.00442046824658,0.0599378073082,0.999999973619,-0.000111844453156,-0.000197327583041,-3.62516613996e-05,1793240188949166080
+103,1.716666667,BASELINE,766,745,714,679.179183232,666,635,879,787,804,653,631,652.179183232,0.400929334962,0.00442236763752,0.0599374847625,0.999999973771,-0.000109034242342,-0.000198116646609,-3.63170205019e-05,1793240188965832704
+104,1.733333333,BASELINE,765.594438181,745.405561819,714,679,665.594438181,635.405561819,879,787,804,653,631.405561819,652,0.400928335304,0.00442176512806,0.0599367423321,0.99999997352,-0.000110042677592,-0.000198813065079,-3.63896583721e-05,1793240188982499328
+105,1.750000000,BASELINE,765.004971187,745.995028813,714,679,665.004971187,635.995028813,879,787,804,653,631.995028813,652,0.400926959903,0.00442002811248,0.0599358095016,0.999999973082,-0.000112782707483,-0.000199467472974,-3.64655968619e-05,1793240188999165952
+106,1.766666667,BASELINE,765,746,714,679,665,635.423291235,879,787,804,653,631.423291235,652.576708765,0.400927978988,0.00441945377077,0.0599368134736,0.999999973394,-0.000111961021548,-0.000198458750707,-3.59421755626e-05,1793240189015832576
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,666,636,879,787,804,653,631,653,0.400928069586,0.00441855780032,0.0599362092827,0.999999972659,-0.000115177346648,-0.000200319516038,-3.58806571084e-05,1793240189057505280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.597234256,714,679.597234256,666,635.402765744,879,787,803.402765744,653,631,653,0.400927515958,0.00441880924289,0.0599366563051,0.999999972585,-0.000114801475639,-0.000200910119479,-3.58545887462e-05,1793240189074172416
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,803.188823091,653,631,653,0.400926764333,0.00441934730368,0.0599365985185,0.999999972573,-0.000113859698168,-0.000201487769776,-3.59525553077e-05,1793240189090839040
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,803.768719742,653,631,653,0.400925602635,0.00442047898263,0.0599354952167,0.999999972688,-0.000111745865589,-0.000202038592788,-3.63074119461e-05,1793240189107505152
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.347474388,746,714,680,666,635,879,787,804,653,631,653,0.400925157529,0.004420964481,0.0599353897999,0.999999972606,-0.000111827370237,-0.00020237594757,-3.64149369657e-05,1793240189124171520
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.925471367,746,714,680,666,635,879,787,804,653,631,653,0.400925187827,0.00442102128809,0.0599359464032,0.999999972396,-0.000113365312784,-0.000202571682531,-3.63583764159e-05,1793240189140838144
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.500221013,745.500221013,714,679.500221013,665.500221013,635,879.499778987,787,804,653,631,653,0.400929723149,0.00442039091224,0.0599374445053,0.999999973277,-0.000112566968685,-0.000198662081792,-3.61789379987e-05,1793240189157504768
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.075258294,745,714,679.075258294,665.075258294,635,879.924741706,787,804,653,631,653,0.400935630495,0.00441971307077,0.0599392587396,0.999999974357,-0.00011150599965,-0.000193798505301,-3.5979224425e-05,1793240189174171648
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.662422211,745,714,679.662422211,665.662422211,635,879.337577789,787,804,653,631,653,0.400946334216,0.00441940429376,0.0599422753042,0.999999975793,-0.000111011068285,-0.000186579666302,-3.57653253628e-05,1793240189190838528
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.753085322,745.246914678,714,680,665.753085322,635,879,787,803.753085322,653,631,652.753085322,0.400963112059,0.00441994613297,0.0599464434548,0.999999977833,-0.000110562182743,-0.000175523141198,-3.60674183034e-05,1793240189207505152
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.172206174,745.827793826,714,680,665.172206174,635,879,787,803.172206174,653,631,652.172206174,0.400988105457,0.00442163847323,0.0599521691828,0.999999980559,-0.000110175576508,-0.000159275953961,-3.70674162871e-05,1793240189224172032
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.59534175,714,680,665,635,879,787,803,653,631,652.40465825,0.401020823952,0.00442190404651,0.0599568228017,0.999999982886,-0.000111966502735,-0.0001422857468,-3.80420498595e-05,1793240189240838656
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.020168996,714,680,665,635,879,787,803,653,631,652.979831004,0.401056797643,0.00442156841022,0.0599610246566,0.999999984854,-0.000114674995436,-0.000124982445206,-3.90059954788e-05,1793240189257504768
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.445134744,665,635,879.554865256,787,803.554865256,653,631.554865256,653,0.401107555505,0.00442259509443,0.0599653562227,0.999999987078,-0.000113285586557,-0.000106812251702,-4.00112525365e-05,1793240189274171648
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.133565596,665.133565596,635.133565596,879.866434404,787,803.866434404,653,631.866434404,653,0.401160764788,0.00442322050172,0.0599685922986,0.999999988535,-0.00011244845226,-9.28152968458e-05,-4.08663828426e-05,1793240189290838016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.724846639,665.724846639,635.724846639,879.275153361,787,803.275153361,653,631.275153361,653,0.401220533709,0.00442230111909,0.059968058091,0.999999988306,-0.000114014235099,-9.32275512671e-05,-4.12018999482e-05,1793240189307504896
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.690609651,665.690609651,635.690609651,879,787,803,653,631,653,0.401291943585,0.00442174041297,0.0599686960858,0.999999988411,-0.000115635242014,-8.97638895894e-05,-4.18219488286e-05,1793240189324171520
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.111930062,665.111930062,635.111930062,879,787,803,653,631,653,0.401373485587,0.00442149189415,0.05997035435,0.99999998877,-0.000117304315132,-8.29266821134e-05,-4.2689650356e-05,1793240189340838400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.463790156,745,714,679.463790156,665.463790156,635,879,787,803,653,631,653,0.401475191412,0.00442142289753,0.0599725608602,0.999999988995,-0.00011887264443,-7.73581384831e-05,-4.35357309571e-05,1793240189357505024
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,879,787,803.039719632,652.960280368,631.039719632,652.960280368,0.401583533896,0.00442149819195,0.0599751308858,0.999999989208,-0.000120336690196,-7.16503234454e-05,-4.43870692985e-05,1793240189374171648
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,879,787,803.628348536,652.371651464,631.628348536,652.371651464,0.401716768579,0.00442297258618,0.0599809076383,0.999999989898,-0.000120693449304,-5.98134259136e-05,-4.53827203003e-05,1793240189390838272
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714,679.786462391,666,635,879,787,804,652.213537609,631.786462391,652.213537609,0.401858998837,0.00442405311206,0.0599840410304,0.999999990328,-0.000120585838601,-5.13754580125e-05,-4.65153873142e-05,1793240189407504896
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714,679.207165318,666,635,879,787,804,652.792834682,631.207165318,652.792834682,0.40201663722,0.0044244589975,0.0599826467228,0.999999990503,-0.000119682828639,-4.87593729334e-05,-4.78827431175e-05,1793240189424171520
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.629419847,745.370580153,714,679,666,635,879,786.629419847,804,653,631,653,0.402192924199,0.00442474571004,0.0599813016552,0.999999990648,-0.00011878552722,-4.70238775797e-05,-4.88207493159e-05,1793240189440838144
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.052538097,745.947461903,714,679,666,635,879,786.052538097,804,653,631,653,0.402379592848,0.00442496607919,0.0599799839993,0.999999990777,-0.000117891403657,-4.57786053947e-05,-4.95197371497e-05,1793240189457504768
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,879,786.522258701,804,653,631,653,0.402607397438,0.00442548818611,0.0599817467453,0.999999991201,-0.000117507889451,-3.53220934881e-05,-5.04261398166e-05,1793240189474171392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.900378876,714,679.099621124,666,635,879.099621124,787,804,652.900378876,631,653,0.402844129806,0.00442600389648,0.0599838770085,0.999999991565,-0.000116773699619,-2.45360787022e-05,-5.13041341251e-05,1793240189490838016
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.309329556,714,679.690670444,666,635,879.690670444,787,804,652.309329556,631,653,0.40310457034,0.00442633891223,0.0599862976649,0.999999992008,-0.000114057256311,-1.66774992381e-05,-5.1939471592e-05,1793240189507505152
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.27521847,745.27521847,714,679.72478153,666,635,880,786.72478153,804,652.27521847,631.27521847,653,0.403382296582,0.00442645911355,0.0599859655756,0.999999992272,-0.000111770124277,-1.50027084034e-05,-5.23360645135e-05,1793240189524171776
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.852628011,745.852628011,714,679.147371989,666,635,880,786.147371989,804,652.852628011,631.852628011,653,0.403679002589,0.0044263434477,0.0599826109595,0.999999992376,-0.000109954378049,-2.01177447444e-05,-5.24705148534e-05,1793240189540838400
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.570895843,745.570895843,714,679,666,635,879.570895843,786.429104157,803.570895843,653,631.570895843,653,0.403995931398,0.00442781525064,0.0599740455729,0.999999992678,-0.000104826603812,-2.93616549017e-05,-5.2852367398e-05,1793240189557505024
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.005371882,714,679,666,635,879.005371882,787,803.005371882,653,631,653,0.404319940373,0.00442983172832,0.0599636749146,0.999999992913,-9.8587563462e-05,-4.01469408127e-05,-5.33192165728e-05,1793240189574171648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.593735949,714,679,666,635,879.593735949,787,803.593735949,653,631,653,0.404660218164,0.0044319194157,0.0599511810838,0.999999991957,-9.49261706015e-05,-6.46531351646e-05,-5.38091810515e-05,1793240189590838528
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.820546794,714,679.179453206,666,635,879.820546794,787,803.820546794,653,631,653,0.40502507743,0.00443330360776,0.0599419008637,0.999999990896,-9.2307317836e-05,-8.20618822079e-05,-5.43467306451e-05,1793240189607505152
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.240734631,714,679.759265369,666,635,879.240734631,787,803.240734631,653,631,653,0.405444777764,0.00443311830598,0.0599397901904,0.999999990757,-9.20143659669e-05,-8.36362664123e-05,-5.49904423236e-05,1793240189624172288
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.663293381,666,635,879,787,803.336706619,653,631,653,0.405908687844,0.00443387374802,0.0599524551623,0.999999992447,-9.01267246704e-05,-6.24402961619e-05,-5.55417448936e-05,1793240189640838912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.087535348,666,635,879,787,803.912464652,653,631,653,0.406403985537,0.00443529708942,0.0599756103908,0.999999994322,-8.71069024618e-05,-2.50780698903e-05,-5.60274398237e-05,1793240189657505280
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.486804701,745.486804701,714,679,665.513195299,635.486804701,879,787,804,652.513195299,631,652.513195299,0.406930817688,0.0044357210749,0.0600020818567,0.999999994351,-8.72312007179e-05,2.27259718512e-05,-5.63232183377e-05,1793240189674171904
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,665.062794711,635.937205289,879.062794711,787,804,652.062794711,631,652.062794711,0.40746120502,0.00443590839358,0.0600263008785,0.999999992342,-8.78950032937e-05,6.62890079198e-05,-5.65438501854e-05,1793240189690838528
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,665.654833946,635.345166054,879.654833946,787,804,652.654833946,631,652.654833946,0.407973903976,0.00443561119044,0.060026524702,0.999999992804,-8.83547002801e-05,5.83293231849e-05,-5.64181206273e-05,1793240189707505408
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.759744577,746,714,679.240255423,666,635,879.759744577,786.759744577,804,653,631,652.759744577,0.408500832463,0.00443671644751,0.0600195981366,0.999999993203,-9.46406800275e-05,3.79247562663e-05,-5.65530744871e-05,1793240189724172288
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.183575759,746,714,679.816424241,666,635,879.183575759,786.183575759,804,653,631,652.183575759,0.409047655956,0.00443978255593,0.060002674247,0.999999992424,-0.000109072683536,1.20363552496e-07,-5.70525031106e-05,1793240189740839168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.606913379,714,679.606913379,665.606913379,635,879.393086621,786.393086621,804,653,631,652.393086621,0.409653289903,0.00444111359375,0.0599964059396,0.99999999182,-0.000113656672486,-1.16770101676e-05,-5.74978223107e-05,1793240189757505536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.030020227,714,679.030020227,665.030020227,635,879.969979773,786.969979773,804,653,631,652.969979773,0.410286423487,0.00444163331588,0.059995120162,0.999999991802,-0.000113635748846,-1.13135518907e-05,-5.79178400656e-05,1793240189774171904
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.555855249,714,679.555855249,665.555855249,635,880,787,804,653,631,653,0.410938279835,0.00444186305531,0.0600028707105,0.999999992104,-0.000110626752003,9.03535114845e-06,-5.89321159485e-05,1793240189790838528
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.859305618,714,680,665.859305618,635,880,786.859305618,804,653,631,652.859305618,0.411595753209,0.0044423780663,0.0600074155676,0.999999992236,-0.000106995878335,2.24369277789e-05,-5.98039595403e-05,1793240189807505152
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.279242763,714,680,665.279242763,635,880,786.279242763,804,653,631,652.279242763,0.412267558032,0.00444383365055,0.0600004004345,0.999999992939,-0.000101935209818,1.07169429671e-05,-6.01291352822e-05,1793240189824171520
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.294544252,745,714,679.705455748,665.294544252,635,880,786.294544252,804,653,631.294544252,652.294544252,0.412923649079,0.00444464864596,0.0599771850898,0.999999992952,-9.60712710382e-05,-3.57911010841e-05,-5.98823716531e-05,1793240189840838400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.862505648,745,714,679.137494352,665.862505648,635,880,786.862505648,804,653,631.862505648,652.862505648,0.413565153549,0.00444486900095,0.0599389315435,0.999999987686,-8.94616780281e-05,-0.000114591923364,-5.91046925512e-05,1793240189857505024
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.556408072,745,714,679,666,635,879.556408072,786.556408072,804,652.556408072,631.556408072,652.556408072,0.4143232713,0.00444574485145,0.0599372790629,0.999999988024,-8.37562497627e-05,-0.000115956924959,-5.90880147107e-05,1793240189874171648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.029077164,714,679.029077164,666,635,879,786.029077164,804,652,631,652.029077164,0.415120201146,0.00444677085807,0.0599495277175,0.999999991183,-7.8763088771e-05,-8.89541938993e-05,-5.9310770088e-05,1793240189890838272
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.61854814,714,679.61854814,666,635,879,786.61854814,804,652,631,652.61854814,0.415947292725,0.00444665565585,0.0600043782635,0.999999994843,-8.19313129992e-05,8.08843197118e-06,-5.94634453308e-05,1793240189907504896
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.204459876,746,714,679.795540124,665.795540124,635,879.204459876,786.795540124,804,652,631,652.795540124,0.416757235164,0.00444616943974,0.0600399243962,0.999999992543,-8.31973331272e-05,6.70160782226e-05,-5.91657349885e-05,1793240189924171776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.783844878,746,714,679.216155122,665.216155122,635,879.783844878,786.216155122,804,652,631,652.216155122,0.417535730582,0.00444500288268,0.0600400713576,0.999999993466,-8.0975216986e-05,5.60509666185e-05,-5.80421379027e-05,1793240189940838144
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,679,665.360412069,635,880,786.360412069,804.360412069,652,631,652,0.418326968484,0.00444574386254,0.0600257846227,0.999999994324,-8.18660008696e-05,3.43610102008e-05,-5.88931515021e-05,1793240189957505280
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679,665.935302386,635,880,786.935302386,804.935302386,652,631,652,0.419125789306,0.0044476200019,0.0600029085143,0.999999994545,-8.4609245886e-05,6.28878755623e-06,-6.09192396215e-05,1793240189974172672
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.489775073,745.489775073,714,679,666,635,879.489775073,787,804.489775073,652,631,652.510224927,0.419945144337,0.00444871194173,0.0599803914128,0.999999994076,-8.44790802671e-05,-2.91974541091e-05,-6.21142851599e-05,1793240189990838784
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,879.087264049,787,804,652,631,653,0.420758909385,0.00444956014548,0.0599565502674,0.999999992091,-8.36823064897e-05,-6.9603473215e-05,-6.30072084723e-05,1793240190007505152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,879.6764536,787,804,652,631,653,0.421525544262,0.00444957841216,0.0599248316377,0.999999985907,-8.11471632676e-05,-0.000132899374182,-6.27685360238e-05,1793240190024171776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,880,787,804,652,631,652.738573405,0.422344127902,0.0044494897659,0.059914313677,0.999999983376,-8.03842112854e-05,-0.000150980197915,-6.31744217616e-05,1793240190040838400
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,880,787,804,652,631,652.158735987,0.423225983891,0.00444927090248,0.0599296175781,0.999999988088,-8.17797422345e-05,-0.00011399023714,-6.43653628242e-05,1793240190057505024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.417413446,714,679,666,635,880,787,804,652,631,652.417413446,0.424142025994,0.00444868982146,0.0599798724734,0.999999993916,-8.37295234169e-05,-3.19777142475e-05,-6.4298147539e-05,1793240190074171904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.992172642,714,679,666,635,880,787,804,652,631,652.992172642,0.425070954644,0.00444797220101,0.0600433022918,0.999999992034,-8.58882307867e-05,6.70062504504e-05,-6.37566643433e-05,1793240190090838784
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.580136837,746,714,679,666,635,880.580136837,786.419863163,804.580136837,652,631,652.419863163,0.425933444791,0.00444754842607,0.0600480042025,0.999999991776,-8.18977707261e-05,7.60884172515e-05,-6.28517895416e-05,1793240190107505408
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.83413392,745.83413392,714,679.16586608,666,635,880.83413392,786.16586608,804.83413392,652,631,652.16586608,0.426792549067,0.00444693908419,0.0600443153936,0.999999991906,-8.09121987333e-05,7.53700478209e-05,-6.29254805971e-05,1793240190124172032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.254435735,745.254435735,714,679.745564265,666,635,880.254435735,786.745564265,804.254435735,652,631,652.745564265,0.427645494226,0.00444585663496,0.0600217149279,0.999999992598,-8.76355746202e-05,5.32964066391e-05,-6.54531890201e-05,1793240190140838656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.323255319,745,714,680,666,635,880,787,804,652,631,653,0.428470564243,0.00444613645393,0.0599987300494,0.99999999351,-8.92703729934e-05,2.24795794161e-05,-6.71248463244e-05,1793240190157505024
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.899376272,745,714,680,666,635,880,787,804,652,631,653,0.429273828963,0.00444748190373,0.0599754444659,0.999999993786,-8.6924644425e-05,-1.51765813783e-05,-6.81268596899e-05,1793240190174171648
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.474385916,714,680,666,635,880,787,804,652,631,652.525614084,0.430067202245,0.00444709304262,0.0599498130911,0.999999991922,-8.82069944772e-05,-6.1440990066e-05,-6.78312464903e-05,1793240190190838272
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.050594657,635,880,787,804.050594657,652,631,652.050594657,0.430867739349,0.00444611395887,0.0599291967211,0.999999988734,-9.04933675381e-05,-9.90169675901e-05,-6.73743601168e-05,1793240190207504896
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.642137901,635,880,787,804.642137901,652,631,652.642137901,0.431767250229,0.00444274834144,0.0599675074005,0.999999992844,-9.53057517393e-05,-2.4220990951e-05,-6.8129155385e-05,1793240190224171776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.771231851,746,714.228768149,680,667,635,880.228768149,787,805,652,631,652.771231851,0.432639358594,0.00444038036724,0.0600021218301,0.999999992183,-9.7993152272e-05,3.68348913922e-05,-6.83695912946e-05,1793240190240838400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.192125335,746,714.807874665,680,667,635,880.807874665,787,805,652,631,652.192125335,0.433469502543,0.00443954019566,0.0600310757829,0.999999990001,-9.74263278619e-05,7.68490349094e-05,-6.78223314409e-05,1793240190257504768
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714.616071891,680,666.616071891,635.383928109,880.616071891,787,804.616071891,652,631,652,0.434245511008,0.0044385250955,0.0600232164797,0.999999991239,-9.70415789859e-05,5.95153835976e-05,-6.75537152731e-05,1793240190274171648
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714.041534247,680,666.041534247,635.958465753,880.041534247,787,804.041534247,652,631,652,0.434994642674,0.00443742314825,0.0599970804259,0.999999992953,-9.67472254205e-05,1.3710158439e-05,-6.7423437829e-05,1793240190290838784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.532100365,746,714,679.467899635,666.532100365,635.467899635,880.532100365,787,804.532100365,652,631.532100365,652.532100365,0.435726669825,0.00443660936962,0.0599694308399,0.999999992328,-9.70524944018e-05,-3.65366416914e-05,-6.77546279181e-05,1793240190307505408
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.890354937,745.890354937,714,679.109645063,666.890354937,635,880.890354937,786.890354937,804.890354937,652,631.890354937,652.890354937,0.436457098011,0.00443588810981,0.0599465705029,0.999999989887,-9.78023566527e-05,-7.75792171617e-05,-6.81383968174e-05,1793240190324171776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.295184184,745.295184184,714,679.704815816,666.295184184,635,880.295184184,786.295184184,804.295184184,652,631.295184184,652.295184184,0.437186347852,0.00443547710148,0.0599454399853,0.999999989703,-0.000100314041091,-7.63314003733e-05,-6.85957578608e-05,1793240190340838400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.289372636,745.289372636,714,680,666,635,880.289372636,786.289372636,804.289372636,652,631,652.289372636,0.437884657557,0.00443363730089,0.0599393823678,0.999999988149,-0.000102037280297,-9.31562883515e-05,-6.79127145579e-05,1793240190357505024
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.863485402,745.863485402,714,680,666,635,880.863485402,786.863485402,804.863485402,652,631,652.863485402,0.438552522398,0.00443039158129,0.0599284765275,0.99999998435,-0.000102984696082,-0.000127764559046,-6.61075233083e-05,1793240190374171648
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635,880.560324081,786.560324081,804.560324081,652,631,653,0.439237279931,0.0044312463359,0.0599402481136,0.999999986737,-0.000100000256383,-0.000110473238816,-6.57406547064e-05,1793240190390838528
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,680,665.983164553,635,880,786,804.016835447,652,631,653,0.439925991761,0.00443349320166,0.0599589319635,0.999999990254,-9.56193458161e-05,-7.75884461815e-05,-6.57924478517e-05,1793240190407505152
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,680,665.395121157,635,880,786,804.604878843,652,631,653,0.440570064792,0.00443957108778,0.0599721103806,0.999999992135,-8.54747457984e-05,-6.49694238044e-05,-6.48249431672e-05,1793240190424171776
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.809772882,746,714,680,665,635,880,786.190227118,805,652,631,653,0.441174439105,0.00444574475414,0.0599634696086,0.999999991484,-7.58514002044e-05,-8.44517723199e-05,-6.43955200384e-05,1793240190440838400
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.22994434,746,714,680,665,635,880,786.77005566,805,652,631,653,0.441697507163,0.00445211458777,0.0599101412715,0.999999981223,-6.72956260983e-05,-0.000169680474495,-6.50681335468e-05,1793240190457505024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680,664.652574333,634.652574333,880.347425667,787,805,652,631,652.652574333,0.442199680403,0.00445695458506,0.0598567655093,0.999999964628,-5.98960132294e-05,-0.000250577649893,-6.6080398722e-05,1793240190474171648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664.076820113,634.076820113,880.923179887,787,805,652,631,652.076820113,0.442688121511,0.00446078917175,0.0598033585823,0.999999942318,-5.32562313028e-05,-0.000328628135221,-6.73158832233e-05,1793240190490838528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.497503255,746,714.497503255,680,664,634,881,787,805,652,631,652,0.443182950794,0.00446794421675,0.0597880252819,0.999999935228,-4.52644296072e-05,-0.000350551948531,-6.78886464492e-05,1793240190507505152
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.92607418,746,714.92607418,680,663.92607418,633.92607418,880.92607418,787,805,652,631,652,0.44367897637,0.00447571333585,0.0597811906127,0.999999932321,-3.6496605033e-05,-0.000359653804466,-6.83799000745e-05,1793240190524172544
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.747146803,713.747146803,679.747146803,663,633,880.252853197,786.747146803,805,652,631,652,0.444638671275,0.00449347871429,0.0597970829388,0.999999941988,-1.13143607046e-05,-0.000333150249097,-7.00445959252e-05,1793240190557506048
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+256,4.266666667,HOLD_POSE2,766,746,714,680.37199021,659,630,881,785.62800979,805,652,631,653,0.449328954882,0.00462591392103,0.0596623452741,0.999999839716,0.000151488047978,-0.000539943733375,-7.79713023774e-05,1793240191566653184
+257,4.283333333,HOLD_POSE2,766,746,714,680.969033035,659,630,881,785.030966965,805,652,631,653,0.449328509423,0.00462599827673,0.0596611550122,0.999999839149,0.00015275904435,-0.00054060464625,-7.81814797962e-05,1793240191583319808
+258,4.300000000,HOLD_POSE2,765.453284061,745.453284061,714,681,659,630.546715939,881,785,805,652,631,653,0.449329262646,0.00462579909917,0.0596617339425,0.999999840075,0.000152243273506,-0.000539032337628,-7.82049017665e-05,1793240191599986432
+259,4.316666667,HOLD_POSE2,765,745,714,681,659,630.877659685,881,785,805,652.122340315,631,653,0.449329720722,0.0046256521317,0.0596621634744,0.999999840707,0.000151725543809,-0.000538001348336,-7.82280431455e-05,1793240191616652800
+260,4.333333333,HOLD_POSE2,765,745,714,681,659,630.305708406,881,785,805,652.694291594,631,653,0.449328853122,0.00462575404342,0.0596616882691,0.999999839969,0.000151559834175,-0.000539408729251,-7.8287699407e-05,1793240191633319424
+261,4.350000000,HOLD_POSE2,765,745.268100502,714,680.731899498,659,630,880.731899498,785.268100502,805,652.731899498,631,653,0.449328820927,0.00462618893657,0.0596619781522,0.999999839748,0.000152449550122,-0.000539566679531,-7.83049542674e-05,1793240191649986048
+262,4.366666667,HOLD_POSE2,765,745.844042356,714,680.155957644,659,630,880.155957644,785.844042356,805,652.155957644,631,653,0.449329747972,0.00462700616937,0.0596631465335,0.999999840116,0.000154551138629,-0.000538289994512,-7.82735225132e-05,1793240191666652672
+263,4.383333333,HOLD_POSE2,765.43291065,746,714,680,659,630,880,786,805,652,631,652.56708935,0.449329384585,0.00462666327335,0.0596626314652,0.999999839894,0.000154698378474,-0.000538702961215,-7.79671709402e-05,1793240191683319552
+264,4.400000000,HOLD_POSE2,765.974201221,745.974201221,714,680.025798779,659,630,880,786,805,652,631,652.025798779,0.449328605005,0.00462588187192,0.0596615285408,0.999999839467,0.000154132185464,-0.000539714624039,-7.75735805839e-05,1793240191699986432
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+266,4.433333333,HOLD_POSE2,765.177027104,745.177027104,714,681,659,630,880.354054209,786,805.177027104,652,631,653,0.449330236844,0.00462475661785,0.0596616270653,0.999999839689,0.000153552750475,-0.000539473121834,-7.75405738002e-05,1793240191733319680
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+268,4.466666667,HOLD_POSE2,765.66557023,746,714,680.66557023,659,630,882,786,806,652,631,652.66557023,0.449331663787,0.00462804778253,0.0596631428181,0.999999840854,0.000154104160024,-0.00053702464187,-7.84129977507e-05,1793240191766652672
+269,4.483333333,HOLD_POSE2,765.070224167,746,714,680.070224167,659,630,882,786,806,652,631,652.070224167,0.449328597625,0.00462998734068,0.0596607228672,0.999999838827,0.000155630557648,-0.000540238984236,-7.91655004805e-05,1793240191783319296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,630,880,785,805,652,630,653,0.449330668752,0.00462446990884,0.0596628265441,0.999999840818,0.000150106251388,-0.000538380238976,-7.73219500971e-05,1793240191814217984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.582916257,745.582916257,714,680.582916257,659,630,880.582916257,785,805,652,630.582916257,652.417083743,0.449331711048,0.00462684841082,0.0596626994012,0.99999984074,0.000152104323986,-0.00053785333077,-7.80874107944e-05,1793240191830884864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.838105872,746,714,681,659,630.161894128,881,785.161894128,805,652,631,652.161894128,0.449332370973,0.00462840830721,0.0596626672605,0.999999840699,0.000153401813374,-0.000537495039447,-7.85487902806e-05,1793240191847551744
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.686509152,659,631,880.686509152,786,805,652,631,652.686509152,0.449330456614,0.00462800414786,0.059661740745,0.999999839694,0.00015312193585,-0.000539496487308,-7.81600349468e-05,1793240191880884480
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,630.35961264,881,785.35961264,805.35961264,652,631,653,0.449330899581,0.00462761046293,0.0596625374675,0.999999840779,0.000153415446437,-0.000537390105826,-7.8217723433e-05,1793240191947550976
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.447061549,745.552938451,714,680.447061549,659,630.447061549,880,785,805,652,631,652.552938451,0.448772061169,0.00463053207184,0.0595664163157,0.999999764588,0.00016263856189,-0.00066203907677,-7.79481421861e-05,1793240192114217472
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.248088604,746,714,680,659.248088604,630.248088604,881,786,805,652,631,653,0.448213616424,0.00463400670239,0.0595791691494,0.999999771702,0.000175428264007,-0.00064847410353,-7.28198388896e-05,1793240192180884992
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.085175638,659.085175638,631,881,786,805,652,631,653,0.447344810917,0.00463410574341,0.0595967062596,0.999999782738,0.000194394109663,-0.000626522956474,-6.48441238665e-05,1793240192247551744
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,634,881,786.10817082,805,652,631,652.10817082,0.438239767821,0.0046125583823,0.0598440810593,0.999999913504,0.000332145184035,-0.000249631467705,1.88525842207e-05,1793240192564217600
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,634,881,786.672953237,805,652,631,652.672953237,0.43746254423,0.00461806129557,0.0598203451733,0.999999897645,0.000345763522005,-0.000290983971655,2.20258247577e-05,1793240192580884224
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.253179535,745.746820465,714,680,664.746820465,634,880.746820465,787,804.746820465,652,631,653,0.436674558882,0.00462085146415,0.0597877703501,0.999999877765,0.000353989742386,-0.000344336208408,2.435004706e-05,1793240192597551104
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.854651664,745.145348336,714,680,664.145348336,634,880.145348336,787,804.145348336,652,631,653,0.435871768749,0.00461990978019,0.0597430360244,0.999999850955,0.000354798166298,-0.000414196175267,2.5506297162e-05,1793240192614217728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.560922356,745.439077644,714,679.560922356,664.439077644,634,880,787,804,652,631,652.560922356,0.435099443742,0.00461871006982,0.0597406466704,0.999999866516,0.000326015196416,-0.000400454961543,1.78226764382e-05,1793240192630884096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.982103851,713.982103851,679.017896149,665,634,880,787,804,652,631,652.017896149,0.434335776031,0.00461744027413,0.0597521400375,0.999999893266,0.000289220581078,-0.000360219268382,7.78106091005e-06,1793240192647550720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.40873314,713.40873314,679.59126686,665,634,880,787,804,652,631,652.59126686,0.433539493912,0.00461654720375,0.0597757099633,0.999999903337,0.000296437135211,-0.000324510817233,1.19836483519e-05,1793240192664218112
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.169189138,745,713.169189138,680,665,634.169189138,880,787,804.169189138,652,631,653,0.432730594999,0.00461585921007,0.0597943169565,0.999999909392,0.000302636213152,-0.000298943264426,1.6132659458e-05,1793240192680885504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.75841121,745,713.75841121,680,665,634.75841121,880,787,804.75841121,652,631,653,0.431890373384,0.00461568034466,0.0598006028547,0.999999908318,0.000306309281178,-0.000298551747407,2.01486604755e-05,1793240192697551872
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.657862365,745.342137635,714,680.342137635,665,635,880.342137635,787,805,652,631,653,0.431058297888,0.00461240488534,0.0598167830059,0.999999916557,0.000302149054738,-0.000274013910047,2.25461394596e-05,1793240192714217984
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.077955181,745.922044819,714,680.922044819,665,635,880.922044819,787,805,652,631,653,0.430231883597,0.00460697743903,0.0598398391967,0.999999929851,0.000292545056838,-0.000232695516437,2.38188216287e-05,1793240192730884608
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.502365196,665,635,880.502365196,787,804.502365196,652,631,653,0.42932756765,0.00460331137265,0.0598162322181,0.999999919784,0.000280857450137,-0.000284601553596,2.35308924459e-05,1793240192747551744
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,635,880,787,804,652,631,653,0.427529574373,0.00459327193902,0.0597556998906,0.999999896033,0.000256980666453,-0.000376030009552,2.22594899731e-05,1793240192780885248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.228472951,745.771527049,714,680.228472951,665,635,879.771527049,787,804.228472951,652,631,653,0.426657990435,0.004588576152,0.0597512655303,0.999999899378,0.000246273736228,-0.000374297593237,2.22490228614e-05,1793240192797551616
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.817380305,745.182619695,714,680.817380305,665,635,879.182619695,787,804.817380305,652,631,653,0.425808332331,0.00458638311509,0.0597868634316,0.999999919374,0.000237420412992,-0.000323014733286,2.33539276175e-05,1793240192814218240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.39971976,714,681,665,635,879.39971976,787,805,652,631,653,0.424937938743,0.00458581095468,0.0598131232276,0.999999929484,0.000232110589569,-0.000294120270771,2.54782330723e-05,1793240192830884608
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.979107017,714,681,665,635,879.979107017,787,805,652,631,653,0.424058224946,0.00458596735188,0.0598351856958,0.999999935632,0.000228393512025,-0.00027528903012,2.80607424204e-05,1793240192847551488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.44330966,665,634.44330966,879.44330966,787,804.44330966,652,631,652.44330966,0.423208958897,0.00458649836507,0.0598446419987,0.999999942753,0.000225428171725,-0.000250754762496,2.82688530493e-05,1793240192864218112
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.132567483,634,879.132567483,787,804.132567483,652,631,652.132567483,0.422350876928,0.00458700931665,0.0598486846937,0.99999994683,0.000221149056285,-0.000237964174252,2.84017137414e-05,1793240192880884992
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.70303166,634,879.70303166,787,804.70303166,652,631,652.70303166,0.421459911811,0.00458740770906,0.0598364029232,0.999999942002,0.000212437388485,-0.0002646700188,2.85794157036e-05,1793240192897551616
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.714836351,745.714836351,714,680,665.714836351,634,880,787,804.714836351,652.285163649,631,653,0.420545472291,0.00458749544336,0.0598001539155,0.999999923672,0.000205988595159,-0.000330760449564,2.86683695321e-05,1793240192914218240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.12003521,745.12003521,714,680,665.12003521,634,880,787,804.12003521,652.87996479,631,653,0.419605543763,0.00458724585765,0.059737880711,0.999999882557,0.000201996883792,-0.000439615599035,2.86609582758e-05,1793240192930884864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.462159747,745.462159747,714,680,665,634.462159747,879.537840253,787,804,652.537840253,631.462159747,653,0.418770040904,0.00458690192522,0.0597365538831,0.999999891006,0.000194426629635,-0.000423602908005,2.73121524795e-05,1793240192947551488
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.385764537,745.385764537,714,680,665,635,879.614235463,787,804,652.614235463,631.385764537,653,0.417193500617,0.00458694653107,0.0597950406879,0.999999931144,0.000184254595184,-0.00032089749252,2.80363905043e-05,1793240192980884736
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.3662605,714,680,665,635,880,787,804.6337395,652.6337395,631.6337395,653,0.414843938626,0.00457945848579,0.0598500047333,0.999999948089,0.000181985787226,-0.000263743769478,3.37964501055e-05,1793240193030884864
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.945987378,714,680,665,635,880,787,804.054012622,652.054012622,631.054012622,653,0.414082518733,0.0045804715166,0.0598472805506,0.999999945046,0.000202265946897,-0.000260567241232,3.31936531901e-05,1793240193047551744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.484206226,714,680,665,635,879.484206226,787,803.484206226,652.515793774,631,653,0.413317503832,0.00458064797733,0.059831317867,0.999999928871,0.000238038834298,-0.00029073646469,3.2673583459e-05,1793240193064218368
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.086051916,714,680,665,634.913948084,879,787,803.086051916,653,631.086051916,653,0.412554312186,0.00458048573699,0.0598097590257,0.999999909082,0.00026820140087,-0.000329963564778,3.2056101017e-05,1793240193080884736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.664731124,714,680,665,634.335268876,879,787,803.664731124,653,631.664731124,653,0.411803672747,0.00457887655752,0.0597639499767,0.999999885892,0.000257133811908,-0.000401431916702,3.08322959798e-05,1793240193097551360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.749519155,714,680,665,634.250480845,879,787,804,653,632,653,0.411097499997,0.0045768804249,0.0597478785983,0.999999880424,0.000245374432519,-0.000421947518914,3.00466288293e-05,1793240193114217984
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.154030687,714,680,665,634.845969313,879,787,804,653,632,653,0.410452574893,0.00457435131039,0.059772767334,0.999999903191,0.000232662195861,-0.000372281754033,2.98644448135e-05,1793240193130884608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879,787,804,652.574387069,631.574387069,653,0.409850251654,0.0045727726999,0.059809690533,0.999999924966,0.000222558907453,-0.000315557828655,3.09486271572e-05,1793240193147551488
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879,787,804,652.000271889,631.000271889,653,0.409262792744,0.00457152573323,0.059850812725,0.999999943847,0.000213365915643,-0.000256371208489,3.24746621743e-05,1793240193164218112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.577819071,745,714,680,665,635,879,787,804,652.577819071,631,653,0.408673522633,0.0045682704683,0.0598595951592,0.999999948668,0.000206370943875,-0.00024286258915,3.30523936237e-05,1793240193180885248
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.841759423,665,635,879,787,804,652.841759423,631,653,0.408093993169,0.0045658900737,0.0598617108333,0.999999950752,0.000200108484937,-0.000239481182604,3.3191423185e-05,1793240193197551872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.255032192,665,635,879,787,804,652.255032192,631,653,0.407540841793,0.0045658812444,0.0598458156288,0.999999945603,0.000195826715754,-0.000263463816475,3.21437447456e-05,1793240193214218496
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.6724006,745,714,679.3275994,665,635,879,787,804,652.3275994,631,653,0.407002966512,0.00456412766842,0.0598345690531,0.9999999433,0.000190353610013,-0.000276001701635,3.14491253751e-05,1793240193230884864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.092918079,745,714,679.907081921,665,635,879,787,804,652.907081921,631,653,0.406476836679,0.00456103259964,0.0598268966947,0.99999994347,0.000183964515205,-0.000279739999635,3.10259645111e-05,1793240193247551744
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.485747357,745.485747357,714,679.514252643,665,635,879.485747357,787,803.514252643,653,631,653,0.406006979552,0.00455995986387,0.0598299814575,0.999999945307,0.000183028287064,-0.000273760929082,3.06768837373e-05,1793240193264218368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.936016957,745.936016957,714,679.063983043,665,635,879.936016957,787,803,653,631,652.936016957,0.405551309287,0.00455901847705,0.0598340361347,0.999999947128,0.000182412310377,-0.000267485601955,3.03357433492e-05,1793240193280884992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.359971805,745.359971805,714,679.640028195,665,635,879.359971805,787,803,653,631,652.359971805,0.405123174385,0.00455603749218,0.0598294126769,0.999999946606,0.000176025546564,-0.000273690668266,2.99449316428e-05,1793240193297551104
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.808475541,745.808475541,714,680,665,635,879,787.808475541,803.808475541,653,631,652.808475541,0.404300220032,0.00455295043477,0.0597956457555,0.999999928976,0.000173628300453,-0.000333292531246,2.8575610318e-05,1793240193330884352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.609667365,714,680,665,635,879,787.609667365,804,653,631,653,0.403932409925,0.00455116145938,0.0597823353643,0.99999992209,0.00017238300079,-0.000354031735955,2.76855306739e-05,1793240193347550976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.030749269,714,680,665,635,879,787.030749269,804,653,631,653,0.403582039744,0.00454893829194,0.0597734430616,0.999999918506,0.000169976045865,-0.000365212169124,2.67607220023e-05,1793240193364217600
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635,879.544255898,787,804,653,631,652.455744102,0.403317736329,0.00454691087233,0.0597933427614,0.999999930527,0.000171130439688,-0.000330060815704,2.6834070248e-05,1793240193380884224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.88056966,745,714,679.88056966,665,635,879.88056966,787,803.88056966,653,631,652.11943034,0.403064779436,0.00454478489552,0.0598151373963,0.999999942351,0.00017128228526,-0.000291938811364,2.70669248866e-05,1793240193397550848
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.870596033,745,714,679.870596033,665,635,879,787,803.870596033,653,631,653,0.402394800086,0.00453751383464,0.059853417176,0.999999959208,0.000164003723949,-0.000232096791249,2.85912667575e-05,1793240193447550976
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.030461241,745.030461241,714,679,665,635,879.030461241,787,804,653,631,653,0.40198355638,0.00453398923587,0.0598401111665,0.99999995258,0.000157721385593,-0.000262966893816,2.85177290336e-05,1793240193480884224
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.758189801,745.241810199,714,679,665,635.758189801,879.241810199,787,804,653,631,653,0.400973168506,0.00452139914759,0.0598461310218,0.999999957355,0.000133749848745,-0.000258326374019,2.58411865435e-05,1793240194047550720
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.340963277,714,679.340963277,665,635.659036723,879.340963277,787.340963277,804,653,631,653,0.400973393489,0.00452153592234,0.059846491268,0.999999957478,0.000133706167673,-0.000257890164112,2.5689301782e-05,1793240194064217600
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.92076477,714,679.92076477,665,635.07923523,879.92076477,787.92076477,804,653,631,653,0.400972852991,0.00452130238365,0.0598464900534,0.999999957361,0.000134132397193,-0.000258145116469,2.54613086424e-05,1793240194080884224
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,880,787.503245782,804,653,631,653,0.400972708993,0.00452131926547,0.0598466401686,0.999999957188,0.000135578025957,-0.000258075356017,2.52909387858e-05,1793240194097550848
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.073684467,665,635,879.926315533,787,803.926315533,653,631,652.926315533,0.400972691695,0.00452110806422,0.0598467925805,0.999999957119,0.000136459290149,-0.000257888996096,2.51927227033e-05,1793240194114217728
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.661386761,665,635,879.338613239,787,803.338613239,653,631,652.338613239,0.40097312042,0.00451902924952,0.0598467939112,0.999999957837,0.000132277934917,-0.000257247803446,2.55342172448e-05,1793240194130884352
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.754489129,714,680.754489129,665,635,879,787,803.245510871,653,631,652.245510871,0.400972771745,0.00451867669649,0.059847039818,0.999999958136,0.000130903229444,-0.000256774564374,2.56629802971e-05,1793240194147550720
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.404045209,714,680,665,635,879,787.404045209,804,653,631,653,0.400970792935,0.00451966272773,0.0598474803805,0.999999957881,0.000132707876023,-0.000256849433719,2.56084332586e-05,1793240194180884224
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.983325756,714,680,665,635,879,787.983325756,804,653,631,653,0.400970580504,0.00451735253984,0.0598470319372,0.999999957989,0.000130737479083,-0.000257414142455,2.58298083766e-05,1793240194197550848
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.44210328,665,635,879,788,804,653,631.55789672,653,0.400970368001,0.00451944013023,0.0598463294914,0.999999957521,0.000133145168528,-0.000258033924401,2.54817807418e-05,1793240194214217472
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45c5bb1efb18f709c01e9e28aaafa40e8edca580
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+284,4.733333333,pose2_to_pose3_retreat,0.618006048029,0.0100906817415,1.05003224269,0.588576498729,0.018762424144,1.04970038866
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+286,4.766666667,pose2_to_pose3_retreat,0.617871497812,0.0100906847667,1.05003230932,0.58844194897,0.0187624278879,1.04970043964
+287,4.783333333,pose2_to_pose3_retreat,0.617791186439,0.0100908190737,1.05003223923,0.588361636958,0.0187625597438,1.04970037147
+288,4.800000000,pose2_to_pose3_retreat,0.617699795399,0.010090841524,1.05003219638,0.58827024621,0.0187625831174,1.04970033113
+289,4.816666667,pose2_to_pose3_retreat,0.617597235051,0.0100907401398,1.05003209535,0.588167684635,0.0187624773727,1.04970022972
+290,4.833333333,pose2_to_pose3_retreat,0.617481561867,0.0100906070693,1.05003209847,0.588052013834,0.0187623522907,1.04970023362
+291,4.850000000,pose2_to_pose3_retreat,0.617352422435,0.0100907594093,1.05003220218,0.58792287207,0.0187624965008,1.04970033682
+292,4.866666667,pose2_to_pose3_retreat,0.617208535404,0.0100907886329,1.05003214689,0.587778985868,0.0187625281982,1.04970027986
+293,4.883333333,pose2_to_pose3_retreat,0.617046281774,0.0100908305872,1.05003216754,0.587616731798,0.0187625684935,1.04970030288
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+296,4.933333333,pose2_to_pose3_retreat,0.61644070453,0.0100907551253,1.05003238117,0.587011155454,0.0187624949205,1.0497005074
+297,4.950000000,pose2_to_pose3_retreat,0.616195874983,0.0100908453391,1.05003234747,0.586766326967,0.0187625887681,1.0497004855
+298,4.966666667,pose2_to_pose3_retreat,0.615930895301,0.0100908670175,1.05003246974,0.586501344006,0.0187625985396,1.0497005973
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+302,5.033333333,pose2_to_pose3_retreat,0.614653447943,0.0100907085657,1.0500322336,0.585223899361,0.0187624479854,1.04970036521
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+384,6.400000000,pose2_to_pose3_retreat,0.575684537714,0.0100908267194,1.05003226069,0.54625498772,0.0187625607456,1.04970038718
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+388,6.466666667,pose2_to_pose3_retreat,0.575669973087,0.0100907737725,1.05003237329,0.546240425326,0.0187625152838,1.04970049739
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+400,6.666666667,pose2_to_pose3_retreat,0.575666327552,0.0100907725111,1.05003233749,0.546236779997,0.0187625152567,1.04970047561
+401,6.683333333,pose2_to_pose3_retreat,0.575666271972,0.0100907715366,1.05003234231,0.546236724437,0.0187625143466,1.04970048037
+402,6.700000000,pose2_to_pose3_retreat,0.575666068722,0.0100907679729,1.05003235993,0.546236521259,0.0187625110186,1.04970049776
+403,6.716666667,pose2_to_pose3_retreat,0.575665823438,0.0100907636723,1.0500323812,0.546236276062,0.0187625070023,1.04970051875
+404,6.733333333,pose2_to_pose3_retreat,0.575665654597,0.0100907607119,1.05003239584,0.546236107281,0.0187625042377,1.0497005332
+405,6.750000000,pose2_to_pose3_retreat,0.575665503833,0.0100907580685,1.05003240891,0.54623595657,0.0187625017691,1.0497005461
+406,6.766666667,pose2_to_pose3_retreat,0.575665402108,0.0100907562849,1.05003241773,0.546235854881,0.0187625001034,1.04970055481
+407,6.783333333,pose2_to_pose3_retreat,0.575665396291,0.0100907561829,1.05003241824,0.546235849066,0.0187625000082,1.04970055531
+408,6.800000000,pose2_to_pose3_retreat,0.575665321084,0.0100907548642,1.05003242476,0.546235773886,0.0187624987768,1.04970056174
+409,6.816666667,pose2_to_pose3_retreat,0.575665141248,0.0100907517111,1.05003244035,0.546235594113,0.0187624958321,1.04970057713
+410,6.833333333,pose2_to_pose3_retreat,0.575664915434,0.01009074966,1.05003246039,0.546235368356,0.0187624939485,1.04970059654
+411,6.850000000,pose2_to_pose3_retreat,0.57566473636,0.0100907709656,1.05003248176,0.546235189042,0.018762514252,1.04970061297
+412,6.866666667,pose2_to_pose3_retreat,0.575664502896,0.0100907987423,1.05003250962,0.546234955266,0.0187625407224,1.04970063439
+413,6.883333333,pose2_to_pose3_retreat,0.575664428554,0.0100907889845,1.05003237843,0.546234881121,0.0187625318506,1.04970050882
+414,6.900000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f7834ad77d1124508758ded1c4a3bbb938d90fa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc8a24bd8db296b1541bb0fba856e6fdae5278fa8adbf04ae0e915e4bfa68b0
+size 26336913
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59b9607e04847a02ad60b960315eefe89c529ff4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+50,0.833333333,BASELINE,765.984678918,746,714,679.984678918,665,635,879.984678918,787.015321082,804,653,631,653,0.400972758651,0.00451685346855,0.0598493225061,0.999999959343,0.000127669651312,-0.000253719399139,2.52998610937e-05,1793240195175457792
+51,0.850000000,BASELINE,765.394505845,746,714,679.394505845,665,635,879.394505845,787.605494155,804,653,631,653,0.400974512214,0.0045187292634,0.0598508565156,0.999999959786,0.000129516832145,-0.000251048871389,2.50729925819e-05,1793240195192124672
+52,0.866666667,BASELINE,765.191017834,746,714,679.191017834,665.191017834,635,879,787.808982166,804,653,631,653,0.400975317858,0.00451951425374,0.059851605853,0.999999960107,0.000129891551221,-0.000249599045109,2.47986209575e-05,1793240195208791296
+53,0.883333333,BASELINE,765.767167331,746,714,679.767167331,665.767167331,635,879,787.232832669,804,653,631,653,0.4009742123,0.00451809995533,0.0598507731283,0.999999960197,0.000127297481173,-0.000250610406932,2.44284731965e-05,1793240195225458176
+54,0.900000000,BASELINE,766,746,714,679.656710609,666,635.343289391,879,787,804.343289391,653,631,653,0.400972745532,0.00451729737233,0.0598500043129,0.99999995968,0.000127913187262,-0.00025233157474,2.46351059977e-05,1793240195242125056
+55,0.916666667,BASELINE,766,746,714,679.08060718,666,635.91939282,879,787,804.91939282,653,631,653,0.400971033796,0.00451690964619,0.0598492788399,0.999999958746,0.000130705718492,-0.000254534122943,2.52329032793e-05,1793240195258791424
+56,0.933333333,BASELINE,766,746,714,679.507266662,666,635.492733338,879,787,804.492733338,653,631.507266662,653,0.400972242991,0.00451801011313,0.0598498086231,0.999999958944,0.000131433082053,-0.000253402539168,2.50008416927e-05,1793240195275458048
+57,0.950000000,BASELINE,766,746,714,679.90463218,666,635,879,787,804,653,632,653,0.400973466775,0.0045191467314,0.0598503304878,0.99999995924,0.000131561296318,-0.000252193482701,2.47050713679e-05,1793240195292124416
+58,0.966666667,BASELINE,766,746,714,679.325098343,666,635,879,787,804,653,632,653,0.400972352242,0.00451923778924,0.0598497754389,0.999999959105,0.000130353347983,-0.000253344760382,2.47712406912e-05,1793240195308791040
+59,0.983333333,BASELINE,766,746,714,679,665.747435252,635,879,787,804,653,631.747435252,653,0.400971943115,0.00451887462179,0.059849449572,0.999999959215,0.000129324234921,-0.000253431933823,2.48455136978e-05,1793240195325457920
+60,1.000000000,BASELINE,766,746,714,679,665.172162381,635,879,787,804,653,631.172162381,653,0.400972435302,0.00451793107965,0.0598494165367,0.999999959638,0.000128523623874,-0.00025215947554,2.4930140987e-05,1793240195342124544
+61,1.016666667,BASELINE,766,745.588375726,714,679,665,635,879,787,804,653,631,652.588375726,0.400973184338,0.00451711036994,0.0598503637726,0.99999995986,0.000128160732972,-0.000251448936323,2.50718774607e-05,1793240195358791168
+62,1.033333333,BASELINE,766,745.000952999,714,679,665,635,879,787,804,653,631,652.000952999,0.40097404307,0.00451634212014,0.0598517296675,0.999999959996,0.000127984785722,-0.000250978384251,2.52380043914e-05,1793240195375457536
+63,1.050000000,BASELINE,766,745,714.578524717,679,665,635,879,787,804,653,631,652.578524717,0.400973084876,0.00451832370525,0.0598506462054,0.999999959288,0.000130987644334,-0.000252286615803,2.48354880923e-05,1793240195392124416
+64,1.066666667,BASELINE,766,745,714.842183639,679,665,635,879,787,804,653,631,653,0.40097242977,0.00451992275404,0.0598499939507,0.999999958841,0.000132926009792,-0.000253070106107,2.45732724062e-05,1793240195408790784
+65,1.083333333,BASELINE,766,745,714.263353983,679,665,635,879,787,804,653,631,653,0.400972591101,0.00452048937403,0.0598505026637,0.999999959117,0.000132010802058,-0.000252446011144,2.46878076263e-05,1793240195425457408
+66,1.100000000,BASELINE,766,745.314117976,714,679,665,635,879,787,804,653,631,653,0.400972298684,0.00452018103302,0.0598502640937,0.999999959097,0.000131307357839,-0.000252885422367,2.47616002667e-05,1793240195442124032
+67,1.116666667,BASELINE,766,745.890456522,714,679,665,635,879,787,804,653,631,653,0.400971627487,0.00451914228876,0.0598494017038,0.999999958829,0.000130780690399,-0.000254212631261,2.48013816589e-05,1793240195458790912
+68,1.133333333,BASELINE,765.534857885,745.534857885,714,679,665,635,879.465142115,787.465142115,804,653,631,653,0.400971165624,0.00451936579813,0.0598487457086,0.999999958638,0.000130566569208,-0.00025508357804,2.4652872893e-05,1793240195475457536
+69,1.150000000,BASELINE,765,745.040692572,714,679.040692572,665,635,880,787.959307428,804,653,631,653,0.400970819226,0.00451986166657,0.0598482363553,0.999999958495,0.000130443164584,-0.000255724241268,2.44715247512e-05,1793240195492124160
+70,1.166666667,BASELINE,765,745.633231643,714,679.633231643,665,635,880,787.366768357,804,653,631,653,0.400971372507,0.0045200340171,0.0598490588224,0.999999958744,0.000130555332862,-0.000254693983768,2.44440568378e-05,1793240195508790784
+71,1.183333333,BASELINE,765,746,714,679.781110772,665,635,879.781110772,787,804,652.781110772,631,653,0.400971855612,0.00451966058076,0.0598494147109,0.999999958914,0.000130480259413,-0.000254058750796,2.45110017119e-05,1793240195525457664
+72,1.200000000,BASELINE,765,746,714,679.206632187,665,635,879.206632187,787,804,652.206632187,631,653,0.400972224716,0.00451840050419,0.0598490126346,0.999999958956,0.000130101008545,-0.00025406524188,2.47313217965e-05,1793240195542124544
+73,1.216666667,BASELINE,765,745.631128647,714,679,665,635,879,787,804,652.368871353,631,653,0.400972866721,0.00451848567244,0.0598490977947,0.999999958975,0.000131364424586,-0.000253332849893,2.48251912026e-05,1793240195558791168
+74,1.233333333,BASELINE,765,745.055049387,714,679,665,635,879,787,804,652.944950613,631,653,0.400973662024,0.0045193265117,0.0598494566526,0.999999958975,0.000133550583955,-0.000252185401511,2.48480288383e-05,1793240195575457792
+75,1.250000000,BASELINE,765.531945928,745.531945928,714,679.531945928,665,635,879,787,804,653,631,652.468054072,0.400973101458,0.00451870397475,0.059849497385,0.999999959012,0.000131873506754,-0.000252921929108,2.48034037733e-05,1793240195592124416
+76,1.266666667,BASELINE,765.88162164,746,714,679.88162164,665,635,879,787,804,653,631,652.11837836,0.400972563479,0.00451819533621,0.0598496871945,0.999999959051,0.000130448236527,-0.00025350446253,2.4818714231e-05,1793240195608791040
+77,1.283333333,BASELINE,765.301877983,746,714,679.301877983,665,635,879,787,804,653,631,652.698122017,0.400972671848,0.00451873318808,0.0598505890106,0.999999959095,0.000131595146876,-0.000252711043654,2.50953957316e-05,1793240195625457408
+78,1.300000000,BASELINE,765.275815117,745.724184883,714,679,665,635,879,787,804,653,631,653,0.400972778533,0.00451905577182,0.0598510118396,0.99999995916,0.000131623391972,-0.000252428793844,2.51834561086e-05,1793240195642124288
+79,1.316666667,BASELINE,765.851280421,745.148719579,714,679,665,635,879,787,804,653,631,653,0.400972883387,0.00451914448462,0.0598509142889,0.99999995925,0.000130436300227,-0.000252701886766,2.50665953028e-05,1793240195658791168
+80,1.333333333,BASELINE,766,745,714,679,665.426984526,635,879,787,804,653,631,652.573015474,0.400973329786,0.00451875924247,0.0598509572405,0.999999959498,0.000130213835445,-0.000251844514216,2.49575907118e-05,1793240195675458304
+81,1.350000000,BASELINE,766,745,714,679.002846722,665.997153278,635.002846722,879.002846722,787,804.002846722,653,631,652.002846722,0.400973897566,0.00451821393111,0.0598510516829,0.999999959799,0.000130329531451,-0.000250594888276,2.4851690943e-05,1793240195692125696
+82,1.366666667,BASELINE,766,745,714,679.594176771,665.405823229,635.594176771,879.594176771,787,804.594176771,653,631,652.594176771,0.400974951992,0.00451872346473,0.0598516683568,0.999999959955,0.000130856861729,-0.000249698855578,2.48216511391e-05,1793240195708791808
+83,1.383333333,BASELINE,765.81843765,745.18156235,714,680,665,635.81843765,879.81843765,787,804.81843765,653,631,653,0.400975451965,0.00451895196123,0.0598519527271,0.99999995999,0.000131046889941,-0.000249459853884,2.48448254505e-05,1793240195725458176
+84,1.400000000,BASELINE,765.239681063,745.760318937,714,680,665,635.239681063,879.239681063,787,804.239681063,653,631,653,0.400974738995,0.00451856564793,0.059851510135,0.999999959758,0.000130499020576,-0.00025065820359,2.49844134284e-05,1793240195742124800
+85,1.416666667,BASELINE,765,745.663440812,714,679.663440812,665,635,879.336559188,787,804,653,631,653,0.400973700414,0.00451891146978,0.0598505577433,0.999999959408,0.000130124991706,-0.00025225822342,2.4840545144e-05,1793240195758791424
+86,1.433333333,BASELINE,765,745.088979311,714,679.088979311,665,635,879.911020689,787,804,653,631,653,0.40097243167,0.00451977481323,0.0598492449915,0.999999958972,0.000129873844837,-0.000254142170212,2.44963111999e-05,1793240195775458048
+87,1.450000000,BASELINE,765.497993743,745,714,679.497993743,665.497993743,635,879.502006257,787,804,653,631,653,0.400972673981,0.00451947976728,0.0598502783075,0.999999959191,0.00013039835892,-0.000253000036297,2.46183210629e-05,1793240195792124672
+88,1.466666667,BASELINE,765.914156661,745,714,680,666,635,879,787,804.085843339,653,631,653,0.400973056058,0.0045187512977,0.0598513447,0.999999959471,0.000130599287079,-0.000251766788343,2.48249282277e-05,1793240195808791040
+89,1.483333333,BASELINE,765.334456641,745,714,680,666,635,879,787,804.665543359,653,631,653,0.400972648936,0.00451675076119,0.0598501276608,0.999999959424,0.000128120759891,-0.000253200095169,2.50266108697e-05,1793240195825457408
+90,1.500000000,BASELINE,765,745.243571794,714,680,665.756428206,635,879.243571794,787,805,653,631,653,0.400973332022,0.00451620902448,0.0598499390233,0.999999959635,0.000127421436171,-0.000252728726842,2.49547314084e-05,1793240195842124544
+91,1.516666667,BASELINE,765,745.819320519,714,680,665.180679481,635,879.819320519,787,805,653,631,653,0.400975501903,0.00451765676147,0.0598511528939,0.999999960195,0.000129148544448,-0.000249659811555,2.45097749904e-05,1793240195858791936
+92,1.533333333,BASELINE,765.394795519,745.605204481,714,679.605204481,665,635,879.605204481,787,804.605204481,653,631,652.605204481,0.400974913937,0.00451835337958,0.0598512316426,0.999999959991,0.000130461759047,-0.000249783622552,2.46105680968e-05,1793240195875458560
+93,1.550000000,BASELINE,765.970145384,745.029854616,714,679.029854616,665,635,879.029854616,787,804.029854616,653,631,652.029854616,0.400973064706,0.00451870648384,0.0598507912589,0.999999959438,0.000131585685169,-0.000251367583103,2.49609522665e-05,1793240195892124672
+94,1.566666667,BASELINE,766,745,714,679,665,635,879,787.560269616,804,653,631,652.560269616,0.400972007335,0.00451926000559,0.0598502797916,0.999999959175,0.000130773700473,-0.000252863498316,2.46627337245e-05,1793240195908791296
+95,1.583333333,BASELINE,765.852648953,745,714,679.147351047,665.147351047,635,879.147351047,787.852648953,804,653,631,653,0.400971288481,0.00451972094501,0.0598496870103,0.999999958949,0.000130414736744,-0.000253964449202,2.44246429128e-05,1793240195925457920
+96,1.600000000,BASELINE,765.276768094,745,714,679.723231906,665.723231906,635,879.723231906,787.276768094,804,653,631,653,0.40097142807,0.0045198807349,0.0598488690637,0.99999995879,0.000131681388914,-0.000253930769574,2.44646519476e-05,1793240195942125056
+97,1.616666667,BASELINE,765,745,714,679.700850261,666,635,879.700850261,787,804,653,631,653,0.400971824331,0.00451906658301,0.0598488623559,0.999999959048,0.000130614609451,-0.000253470778423,2.44275718871e-05,1793240195958791936
+98,1.633333333,BASELINE,765,745,714,679.124898251,666,635,879.124898251,787,804,653,631,653,0.400972458087,0.00451735124596,0.0598496062849,0.999999959683,0.000127388713292,-0.000252616322624,2.43191615377e-05,1793240195975458304
+99,1.650000000,BASELINE,765.459653491,745.459653491,714,679.459653491,665.540346509,635,879,787,803.540346509,653,631,652.540346509,0.400972517395,0.00451765901163,0.0598498023835,0.999999959488,0.000129268242697,-0.000252414377185,2.45030957636e-05,1793240195992124928
+100,1.666666667,BASELINE,766,745.953985099,714,679.953985099,665.046014901,635,878.953985099,787,803.046014901,653,631,652.046014901,0.400972417681,0.00451849423232,0.0598498580834,0.999999959078,0.000132344499836,-0.000252420548488,2.47472347965e-05,1793240196008791296
+101,1.683333333,BASELINE,766,745.374253764,714,679.374253764,665.625746236,635,878.374253764,787,803.625746236,653,631,652.625746236,0.400972318495,0.00451894960822,0.0598500448194,0.999999958922,0.000132904041706,-0.000252744926432,2.47507415802e-05,1793240196025457920
+102,1.700000000,BASELINE,766,745,714,679.205120975,665.794879025,635,878.205120975,787.205120975,804,653,631,653,0.400972605754,0.00451907960829,0.0598503719611,0.999999959054,0.000132423305535,-0.000252475981784,2.4750336519e-05,1793240196042124544
+103,1.716666667,BASELINE,766,745,714,679.783846151,665.216153849,635,878.783846151,787.783846151,804,653,631,653,0.400973596877,0.00451861697376,0.0598509548353,0.999999959705,0.000130047822811,-0.000251126368417,2.47428064831e-05,1793240196058791168
+104,1.733333333,BASELINE,765.641067064,745.358932936,714,680,665.358932936,635,879,787.641067064,804,653,631,652.641067064,0.400973418567,0.00451899346961,0.0598509989804,0.999999959713,0.000129703274542,-0.000251273898645,2.47294773599e-05,1793240196075457792
+105,1.750000000,BASELINE,765.06814932,745.93185068,714,680,665.93185068,635,879,787.06814932,804,653,631,652.06814932,0.400972543077,0.00451987022922,0.0598507219517,0.999999959339,0.000130569506874,-0.000252313979835,2.4712690998e-05,1793240196092124928
+106,1.766666667,BASELINE,765,745.480168762,714,680,665.480168762,635,879,787,804,653,631,652.519831238,0.400973479041,0.00451999739395,0.0598506312155,0.999999959379,0.000131729366884,-0.000251550119127,2.47203409571e-05,1793240196108791552
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635,879,787,804,652,631,653,0.400972927319,0.00451880960864,0.0598499281427,0.999999959177,0.0001307161249,-0.000252861596976,2.48876333987e-05,1793240196151182592
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.576418456,665.423581544,635,879,787,803.423581544,652,631,653,0.400972554217,0.00451757680879,0.0598503053684,0.999999959255,0.000129947603174,-0.00025294706341,2.49277451163e-05,1793240196167849472
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,803.152313949,652.152313949,631,653,0.400972259374,0.0045171085772,0.0598504662085,0.999999959326,0.0001292579811,-0.000253026225754,2.4878415415e-05,1793240196184516096
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,803.7267602,652.7267602,631,653,0.40097218142,0.00451875931712,0.0598500273443,0.999999959378,0.000128787026227,-0.00025308791657,2.45812022422e-05,1793240196201182720
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.689171083,665,635,879,787,804,653,631,652.689171083,0.400972818707,0.00451888134999,0.0598503677129,0.99999995952,0.000128944583624,-0.000252442177178,2.46305013344e-05,1793240196217849344
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.096373369,665,635,879,787,804,653,631,652.096373369,0.400974104826,0.00451761661448,0.0598514149634,0.999999959741,0.000129672296648,-0.000251154691686,2.49941394294e-05,1793240196234515968
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.516161245,745,714,679.483838755,665,635,879,787,804,653,631,652,0.400974798023,0.00451873833121,0.0598518934956,0.999999960064,0.000130366576256,-0.000249502189644,2.50031816975e-05,1793240196251182848
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.938772743,665,635,879,787.061227257,804,653,631,652.061227257,0.400975127817,0.00452006621928,0.059852092391,0.999999960268,0.000131005425986,-0.000248354155798,2.49369880809e-05,1793240196267849728
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.364570608,665,635,879,787.635429392,804,653,631,652.635429392,0.400973377328,0.00451923987918,0.059850873454,0.999999959322,0.000131234252132,-0.000252026363982,2.48172040471e-05,1793240196284516096
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.208902771,714,679,665.208902771,635,879,787.791097229,804,653,631,652.791097229,0.400976193069,0.0045184066251,0.0598519614322,0.99999995962,0.000130501751125,-0.000251227486075,2.47852046377e-05,1793240196301182208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.781108711,714,679,665.781108711,635,879,787.218891289,804,653,631,652.218891289,0.400986949949,0.00451756134698,0.0598570613705,0.999999962045,0.000128097404388,-0.000242652934277,2.49058716311e-05,1793240196317849088
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.632846489,714,679,665.632846489,635,879,787.367153511,804,653,631,652,0.40101176517,0.00451756633749,0.0598678195881,0.999999966385,0.000128579141709,-0.000223737190009,2.52619008551e-05,1793240196334515712
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.038227954,714,679,665.038227954,635,879,787.961772046,804,653,631,652,0.401045290049,0.00451809810041,0.0598820833172,0.999999971423,0.000130848913341,-0.000198414697924,2.57637455867e-05,1793240196351182336
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.541503004,745,714,678.458496996,665,635.541503004,879,787.458496996,803.458496996,653,631,652,0.401102225827,0.00451692434024,0.0598995931203,0.999999977572,0.000128279992253,-0.00016656086156,2.56638776901e-05,1793240196367849216
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714,678.237876176,665,635.881061912,879,787,803.118938088,653,631,652.118938088,0.401164552413,0.00451627353228,0.0599168426719,0.999999982374,0.000126533468967,-0.000136346021022,2.5525342021e-05,1793240196384516096
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679.383036042,665,635.308481979,879,787,803.691518021,653,631,652.691518021,0.401241305141,0.00451806425826,0.0599322489512,0.999999984824,0.000129191659782,-0.000114094042133,2.53970057714e-05,1793240196401182720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.727156996,745,714,679.727156996,665,635,879,787,804,653,631,653,0.401319670243,0.00451800609369,0.0599421535515,0.999999986618,0.000128118521533,-9.85988354645e-05,2.50569825846e-05,1793240196417849600
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.135617315,745,714,679.135617315,665,635,879,787,804,653,631,653,0.401399918688,0.0045157883161,0.0599456318659,0.999999988034,0.00012268697135,-9.09959375676e-05,2.44696966209e-05,1793240196434516224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446425466,745,714,679,665,635,879,787,803.553574534,653,631,653,0.401496875945,0.00451599868623,0.0599470570825,0.999999988563,0.000120700213712,-8.80315851273e-05,2.35899837915e-05,1793240196451182592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974520841,745,714.025479159,679,665,635,879,787,803,653,631,653,0.401600184405,0.00451690642704,0.0599480300534,0.99999998887,0.000119699017063,-8.61474167021e-05,2.26124458037e-05,1793240196467848960
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399010961,745,714.600989039,679,665,635,879,787,803,653,631,653,0.40173330625,0.00451727666283,0.0599524238361,0.9999999898,0.000117853387309,-7.77959860483e-05,2.14008835051e-05,1793240196484515584
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180096389,745,714.819903611,679,665,635,879,787,803,652.819903611,631,653,0.40187281037,0.00451684390073,0.0599550708971,0.999999990577,0.000115530735717,-7.13230188516e-05,2.02835254284e-05,1793240196501182208
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.767336454,745,714.232663546,679,665,635,879,787,803,652.232663546,631,653,0.402026742872,0.00451459580228,0.0599537691459,0.999999991139,0.000112129681727,-6.90966927443e-05,1.93791348832e-05,1793240196517848832
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.650046176,745,714,679,665,635,879,787,803.349953824,652.349953824,631,652.650046176,0.40220348486,0.0045138631138,0.0599545176612,0.999999991875,0.000108618022323,-6.43652924918e-05,1.76030835721e-05,1793240196534515968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.070462036,745,714,679,665,635,879,787,803.929537964,652.929537964,631,652.070462036,0.402395193837,0.00451412479649,0.0599566115062,0.999999992686,0.00010503378627,-5.79901295309e-05,1.52550717481e-05,1793240196551182848
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.506761128,665,635,879.506761128,787,804,653,631,652.506761128,0.402616573605,0.00451405936186,0.059958110979,0.999999993472,0.000101271656977,-5.12771414811e-05,1.30422114565e-05,1793240196567849472
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.916635391,665,635,880,787,804,653,631,653,0.402847729625,0.00451378093852,0.0599594493924,0.999999994232,9.70331415652e-05,-4.47786781381e-05,1.07870132537e-05,1793240196584515840
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.341758737,665,635,880,787,804,653,631,653,0.403112314742,0.00451251367324,0.0599603232133,0.999999995112,9.01310439749e-05,-3.98206974638e-05,8.17191019944e-06,1793240196601182208
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.239413175,714,679.239413175,665,635,879.760586825,787,804,653,631.239413175,652.760586825,0.403389983331,0.004511251475,0.0599611895841,0.999999995887,8.30546344729e-05,-3.5997219976e-05,5.63981113791e-06,1793240196617848832
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.829814113,714,679.829814113,665,635,879.170185887,787,804,653,631.829814113,652.170185887,0.403686832712,0.0045099967053,0.0599620450327,0.999999996555,7.57226782677e-05,-3.38369625971e-05,3.22939887742e-06,1793240196634515712
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.587328613,714,679.587328613,665,635,879,787,804,653,631.587328613,652.412671387,0.403996831227,0.00451023271884,0.0599515775359,0.99999999632,7.01125452715e-05,-4.9447592124e-05,-1.91453005186e-07,1793240196651182080
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.007526515,714,679.007526515,665,635,879,787,804,653,631.007526515,652.992473485,0.404312155096,0.00451107249528,0.059936524279,0.999999995256,6.51997458124e-05,-7.22553791857e-05,-4.02152993693e-06,1793240196667848704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.565993617,745,714,679.565993617,665,635.565993617,879,787,803.434006383,652.434006383,631,652.434006383,0.404661817364,0.00450965742772,0.0599254884405,0.999999994027,5.59019835196e-05,-9.36435835547e-05,-7.2149762639e-06,1793240196684516096
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714,679.856677819,665,635.856677819,879,787,803.143322181,652.143322181,631,652.143322181,0.405028875888,0.00450818345312,0.0599171139282,0.999999992747,4.68387394285e-05,-0.0001104752408,-1.04014541067e-05,1793240196701182976
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714,679.267237719,665,635.267237719,879,787,803.732762281,652.732762281,631,652.732762281,0.405448677808,0.00450661842776,0.0599168588442,0.999999992754,3.868499124e-05,-0.00011318187738,-1.35923028923e-05,1793240196717849600
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,787,804,653,631,652.683096944,0.405908630182,0.0045033838088,0.0599309724654,0.999999995501,2.83275918179e-05,-8.90225649505e-05,-1.64606638186e-05,1793240196734516224
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,787,804,653,631,652.103351418,0.406401883776,0.00449876441254,0.0599570036299,0.999999998781,1.61424617239e-05,-4.25803737566e-05,-1.90615505064e-05,1793240196751182848
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.473718432,714,679.473718432,665.473718432,635,879,787,804,653,631,652.473718432,0.406929985879,0.00449065372892,0.0599847735767,0.999999999769,-1.82135289761e-07,3.85596691573e-06,-2.11305467375e-05,1793240196767849472
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.949946884,746,714,680,666,635,879,787.050053116,804,653,631,652.949946884,0.40746430195,0.00448153440094,0.0600105775893,0.999999998533,-1.79070289485e-05,4.56459775448e-05,-2.30212141318e-05,1793240196784516096
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.375233298,746,714,680,666,635,879,787.624766702,804,653,631,652.375233298,0.407984506896,0.0044697816942,0.0600118205006,0.999999998119,-4.08966520344e-05,3.87461483777e-05,-2.42521650948e-05,1793240196801182976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.796208516,714,680,666,635,879,787.796208516,803.796208516,652.796208516,631,652.203791484,0.40851495206,0.00446339271121,0.0600060650596,0.999999997846,-5.66197809216e-05,1.99364646074e-05,-2.65544923451e-05,1793240196817849600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.209074178,714,680,666,635,879,787.209074178,803.209074178,652.209074178,631,652.790925822,0.4090646596,0.00446709318476,0.0599871453375,0.999999997576,-5.86742379434e-05,-2.12763024627e-05,-3.08721365306e-05,1793240196834516480
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.626968979,665.626968979,635,879,787,803.373031021,652,631,652.626968979,0.409661160061,0.00446777449432,0.0599821514455,0.999999996905,-6.2812610168e-05,-3.23714975199e-05,-3.45822354679e-05,1793240196851183104
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.047645005,665.047645005,635,879,787,803.952354995,652,631,652.047645005,0.41028353784,0.00446678615104,0.0599848587919,0.999999996601,-6.81034254437e-05,-2.68111250425e-05,-3.79563506864e-05,1793240196867849472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.530741633,665.530741633,635,879,787,803.469258367,652,631,652.530741633,0.410956502253,0.00446654135698,0.0599945884213,0.999999999199,-2.78492929076e-05,-6.35420485291e-07,-2.87284059582e-05,1793240196884516096
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.108154014,714,679.891845986,665.891845986,635,879,787,803.108154014,652.108154014,631,652.891845986,0.411630712835,0.00446755609516,0.0600010455496,0.999999999566,9.13482697373e-06,1.8408576265e-05,-2.11192866138e-05,1793240196901182720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.681735112,714,679.318264888,665.318264888,635,879,787,803.681735112,652.681735112,631,652.318264888,0.412290777957,0.0044737043317,0.0599907118401,0.999999999573,1.4483104751e-05,-1.18783711684e-06,-2.53363807784e-05,1793240196917849088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.263149912,746,714,679,665.263149912,635,879.263149912,787,804,652.736850088,631,652.263149912,0.412951055341,0.00447467130924,0.0599676616242,0.999999998356,1.29343411701e-05,-4.80560728595e-05,-2.84763697561e-05,1793240196934515712
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.854329906,746,714,679,665.854329906,635,879.854329906,787,804,652.145670094,631,652.854329906,0.413611597408,0.00446917957818,0.0599287596187,0.999999991228,2.78805666986e-06,-0.000128920059272,-3.02736914171e-05,1793240196951182336
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.564632368,745.564632368,714,679.435367632,666,635,879.564632368,787,804,652.435367632,631,653,0.414355496895,0.00446967009509,0.0599273224102,0.999999991145,2.23454241498e-06,-0.000128849727277,-3.32173706181e-05,1793240196967848960
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.013039261,680,666.013039261,635,879,787,804,652.986960739,631,653,0.415128230564,0.00447207645123,0.0599391283784,0.99999999425,4.94966898727e-06,-0.00010072411077,-3.64577388966e-05,1793240196984515840
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.588562491,680,666.588562491,635,879,787,804,652.411437509,631,653,0.415969058519,0.00447274869933,0.0599937773443,0.999999999243,1.33613828022e-05,-3.92844773528e-06,-3.63273389115e-05,1793240197001182720
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.832845508,679.832845508,666.832845508,635,879,787,804,652,631,653,0.416787208598,0.00447259921593,0.0600320735702,0.999999997335,1.94740839178e-05,6.03344018455e-05,-3.62125889114e-05,1793240197017849600
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.246558737,679.246558737,666.246558737,635,879,787,804,652,631,653,0.417548494888,0.00447038927816,0.0600293660416,0.999999998225,1.98221151456e-05,4.30226972657e-05,-3.61370812745e-05,1793240197034515712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,879,787,804,652,631,652.662524656,0.418350022051,0.00447052875017,0.0600151658685,0.999999998852,2.25244940606e-05,1.96972288557e-05,-3.7433661684e-05,1793240197051182080
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,666,635,879,787,804,652,631,652.080125496,0.419180754123,0.00447237331396,0.0599926248719,0.999999998816,2.69355483436e-05,-7.99274721925e-06,-3.97260393847e-05,1793240197067848960
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.497028605,714,679,666,635,879,787,804,652,631,652.497028605,0.419991932339,0.00447120364611,0.0599717479987,0.999999998388,-1.08439428691e-05,-3.74016144857e-05,-4.13337081002e-05,1793240197084515840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,879,787,804,652,631,652.926839533,0.420795986755,0.00446999157305,0.0599494372595,0.999999995097,-5.25749822514e-05,-7.2256214081e-05,-4.26667453514e-05,1793240197101182720
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,879,787,804,652,631,652.35198015,0.42157258015,0.0044717861218,0.0599154733088,0.999999986086,-7.52494975585e-05,-0.000142574606063,-4.28655299777e-05,1793240197117849344
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.770773163,714,679.229226837,666.229226837,635,879.229226837,787,804,652,631,652,0.422389516813,0.00447264421425,0.0599026443676,0.999999981226,-8.72229226729e-05,-0.000167408237974,-4.37538686112e-05,1793240197134515968
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.179541684,714,679.820458316,666.820458316,635,879.820458316,787,804,652,631,652,0.42327016538,0.00447202341591,0.059923192715,0.999999988319,-8.22967409213e-05,-0.000120410439345,-4.57311801367e-05,1793240197151182592
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.597985074,666.597985074,635,880,787,804,652,631,652.402014926,0.424201535298,0.00447010350419,0.0599738899404,0.999999995551,-7.39872857662e-05,-3.74780039305e-05,-4.49292153463e-05,1793240197167848960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.020647799,666.020647799,635,880,787,804,652,631,652.979352201,0.425155025205,0.00446761703741,0.0600377353633,0.99999999515,-6.42023541665e-05,6.11258494857e-05,-4.29151825199e-05,1793240197184515584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.554712327,666,635,880,787,805.109424654,652,631,653,0.426014876707,0.0044681022566,0.0600406747823,0.999999994998,-5.96753176039e-05,6.64656130958e-05,-4.50020743726e-05,1793240197201182208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129613054,745.129613054,714,679.870386946,666,635,880,787,805.740773892,652,631,652.870386946,0.426868966401,0.00446765195546,0.0600357092041,0.999999995392,-5.62562876361e-05,6.19650072506e-05,-4.7028704507e-05,1793240197217849088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.703191354,745.703191354,714,679.296808646,666,635,880,787,804.593617292,652,631,652.296808646,0.42771521644,0.00446361966378,0.0600114044023,0.999999996632,-5.5964532453e-05,3.56068872817e-05,-4.83279131924e-05,1793240197234515968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.714218065,714,679,666,635,880,787,804,652,631,652.285781935,0.428539017431,0.00446353424981,0.0599878936104,0.999999997384,-5.2046258672e-05,4.96854586904e-06,-4.99767719809e-05,1793240197251182848
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.468984828,714,680.468984828,659,630,880,785.531015172,805,652.468984828,631,652.468984828,0.449803574631,0.00463153095907,0.0596505773073,0.999999833585,0.000148173467279,-0.000552327906769,-7.62102291192e-05,1793240198234515456
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.105101389,745.105101389,714,680,659,630,880.105101389,786,805,652,631,652,0.449803955293,0.00463176385845,0.0596496486585,0.999999832783,0.00014892484293,-0.000553588531843,-7.61249037337e-05,1793240198251182336
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.743464639,746,714,680,659,630,881,786,805,652,630.743464639,652.256535361,0.449808426321,0.00463343387665,0.0596526371601,0.999999835004,0.000150242728157,-0.000549212155101,-7.60617871567e-05,1793240198284515584
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.146043684,746,714,680,659,630,881,786,805,652,630.146043684,652.853956316,0.449806922843,0.00463424287862,0.0596521110215,0.999999833686,0.000152382116709,-0.000550989857083,-7.62709308423e-05,1793240198301182464
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.227795365,714,681,659,629.772204635,880.772204635,785,805,652,631,652.227795365,0.449808088755,0.00463244531256,0.0596486329477,0.999999832504,0.000147578097111,-0.00055449058778,-7.58513008109e-05,1793240198484516096
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.820563031,714,681,658.820563031,629.179436969,880.179436969,785,805,652,631,652,0.448949434645,0.00463963780324,0.0595627855066,0.999999758347,0.00016567206415,-0.000671316683407,-7.20533153404e-05,1793240199258337536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.247069722,714,681,658.247069722,629.752930278,880.752930278,785,805,652,631,652,0.448788486788,0.00463897328367,0.0595595741384,0.999999754326,0.000167290177039,-0.0006770304839,-7.06562610191e-05,1793240199275004160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.33519333,714,681,658.33519333,630,881,785.33519333,805.33519333,652,631,652,0.44861074878,0.00463938139316,0.0595595580776,0.999999752762,0.000171369341251,-0.000678480557895,-6.90872934552e-05,1793240199291671040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.924094253,714,681,658.924094253,630,881,785.924094253,805.924094253,652,631,652,0.448420302301,0.00464060137476,0.0595619605422,0.999999753046,0.000177311273632,-0.000676703420923,-6.73882047316e-05,1793240199308337664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.505111939,746,714,681,659,630,881,786,805.494888061,652,631,652.505111939,0.448206856898,0.00464124116344,0.0595677491511,0.999999757423,0.000181585072617,-0.000669197782455,-6.5996435525e-05,1793240199325004544
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.91547676,746,714,681,659,630.08452324,881,786,805.08452324,652,631,653,0.447984036572,0.00464187796927,0.0595743343126,0.999999762795,0.000185833714468,-0.000660091202503,-6.44658845692e-05,1793240199341671168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.338627734,746,714,681,659,630.661372266,881,786,805.661372266,652,631,653,0.447726431586,0.00464299744729,0.0595826407976,0.999999770731,0.00019137352538,-0.00064659673234,-6.18620985934e-05,1793240199358337792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.76316394,714,681,659,631,880.76316394,785.76316394,805.76316394,652,631,652.76316394,0.447453128336,0.00464317496899,0.0595908238857,0.999999777662,0.000196445537511,-0.000634506185551,-5.90534838316e-05,1793240199375004416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.189669264,714,681,659,631,880.189669264,785.189669264,805.189669264,652,631,652.189669264,0.447157510275,0.00464201351502,0.0595988315665,0.999999783319,0.000200852580962,-0.00062441129397,-5.59537084402e-05,1793240199391671040
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.396175819,714,680.603824181,659.396175819,631,880.396175819,785.396175819,805,652,631,652,0.446818360666,0.00464124285171,0.0596015861512,0.999999782775,0.000206064981228,-0.00062388702309,-5.24518391233e-05,1793240199408337664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.9881239,714,680.0118761,659.9881239,631,880.9881239,785.9881239,805,652,631,652,0.446457699732,0.00464066529959,0.059601744892,0.999999779159,0.000211675352456,-0.000628092122578,-4.87512731736e-05,1793240199425004288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.567646557,660,631,881,786,805,651.432353443,631,652,0.446060797204,0.00464101946732,0.0595959433708,0.999999769836,0.000220392736743,-0.000640074827767,-4.53810481174e-05,1793240199441670912
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.146129494,745.853870506,714,681,660.146129494,631.146129494,881,786,804.853870506,651.146129494,631,652,0.445652108462,0.00464132862127,0.059589945121,0.999999760905,0.000228888766492,-0.00065118253731,-4.19707749802e-05,1793240199458337792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.722301194,745.277698806,714,681,660.722301194,631.722301194,881,786,804.277698806,651.722301194,631,652,0.445210917924,0.00464144916763,0.0595837270352,0.999999753982,0.000236546172923,-0.000659246624449,-3.84227421893e-05,1793240199475004416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,661,632,881,786,804,652,631,652.296654113,0.444769155577,0.00463974009092,0.0595874217233,0.999999759783,0.000242908317477,-0.000648261822368,-3.44387263738e-05,1793240199491671296
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.541589665,745,714,680.541589665,661,632,880.541589665,786,804,651.541589665,631,652.541589665,0.443849483379,0.00463374595719,0.0596280334296,0.999999801979,0.0002549900066,-0.000574804499365,-2.49432708007e-05,1793240199525004544
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.050831145,745.050831145,714,680.050831145,661.050831145,632.050831145,880.050831145,786,804.050831145,651.050831145,631,652.050831145,0.443357277652,0.00463152074843,0.0596590843762,0.999999826385,0.000262576339508,-0.00052716248688,-1.95979156209e-05,1793240199541670912
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.796855245,746,714,680.796855245,662.203144755,633,881,786.203144755,805,652,631,653,0.442256275194,0.00463033500401,0.0596925200221,0.999999843654,0.000281592746741,-0.000483035906066,-8.53908233657e-06,1793240199575004160
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.360051579,746,714,680.360051579,663.360051579,633.360051579,881,786.639948421,804.639948421,652,631,652.639948421,0.441032747358,0.0046300073247,0.0596951880174,0.999999835129,0.00030123256445,-0.000488874929551,1.48375070844e-06,1793240199608337920
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.831731128,680,665,634,880,786.831731128,804,652,631,652.831731128,0.433727479588,0.00463479979572,0.0597709137794,0.999999880993,0.000356746003292,-0.0003312055112,3.23991536386e-05,1793240199775004416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.25744532,680,665,634,880,786.25744532,804,652,631,652.25744532,0.432910191191,0.00463286734419,0.0597860346224,0.999999910045,0.000286250211547,-0.000312720821422,1.3318425352e-05,1793240199791671040
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.316378843,745,713.316378843,680,665,634,880,786.316378843,804,652,631,652,0.432085202078,0.0046296277866,0.05980049987,0.9999999234,0.000258834712265,-0.000293483547667,8.48289489889e-06,1793240199808337408
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.518937548,745,714,680,665,634.481062452,880,787,804.481062452,652,631,652,0.43041624409,0.00462888697699,0.0598331430146,0.999999930364,0.000277913855064,-0.000248321753318,1.92800513301e-05,1793240199841670656
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.349098819,634.349098819,880,787,805,652,631,652,0.428593372875,0.00463484543896,0.0597953466835,0.999999904869,0.000286073123693,-0.000328456453442,2.32687868839e-05,1793240199875004160
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.799205281,634.799205281,879.200794719,787,804.200794719,652,631,652,0.426818958093,0.00463142772197,0.0597577873562,0.999999898036,0.000270079385969,-0.000361290372214,2.12964294246e-05,1793240199908337920
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.38507814,714,680,665.38507814,635,879.770156281,787,804.38507814,652,631,652.38507814,0.425962641162,0.00462943170821,0.0597745360449,0.999999908265,0.00026363223765,-0.000336902922113,2.15741647204e-05,1793240199925004544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.977888104,714,680,665.977888104,635,880.955776209,787,804.977888104,652,631,652.977888104,0.425104266544,0.00462793510878,0.0598034185206,0.999999918646,0.000259340785666,-0.000308094399824,2.29736960332e-05,1793240199941671168
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.442271282,635,880.442271282,787,804.442271282,652,631,652.442271282,0.424225578449,0.00460396559774,0.0598243536572,0.999999932396,0.000229879010326,-0.000285777080848,2.63576102693e-05,1793240199958337536
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.864279742,714,680,664.864279742,635,879.864279742,787,804,652,631,652,0.423349175425,0.00458210248218,0.059842407647,0.999999944773,0.000201618416903,-0.000262605392432,2.90140426624e-05,1793240199975004160
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.290633194,714,680,664.290633194,635,879.290633194,787,804,652,631,652,0.422482685221,0.0045698455793,0.059852158656,0.999999955493,0.000180380427295,-0.000235865402951,2.90750359441e-05,1793240199991671296
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.856865355,635,879,787,804,652,631.856865355,652,0.420655800181,0.004578038216,0.0598020161144,0.999999926659,0.000184814001789,-0.000334137961756,2.96193244731e-05,1793240200025004800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.553711341,634.553711341,879,787,804,652.446288659,631.553711341,652,0.419771935323,0.00457762281215,0.0597608179748,0.999999904686,0.000177129449148,-0.000398014714492,2.89380429086e-05,1793240200041671168
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.768314794,714,679.231685206,665,634.768314794,879.231685206,787.231685206,804.231685206,652.231685206,631,652.231685206,0.416513920821,0.00457303208739,0.0598289883696,0.999999949346,0.000148336131054,-0.000279927621937,3.0748324366e-05,1793240200108337664
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.100285696,714,679.100285696,665,634.100285696,879,787,804,652,631,652.899714304,0.413451336141,0.00457143257261,0.0598449394226,0.999999939392,0.000218604992508,-0.000268946199776,3.31157416116e-05,1793240200175004416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.670046545,714,679.670046545,665,634.670046545,879,787,804,652,631,652.329953455,0.412669691583,0.00456697002797,0.0598103505076,0.999999914131,0.000248222815975,-0.000330192153793,3.31151398227e-05,1793240200191671296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.756672336,714,680,664.756672336,635,879,787,804,652.243327664,631,652.243327664,0.411910556692,0.00456415807755,0.0597783742783,0.999999893028,0.000259806185055,-0.000381313692277,3.23049830079e-05,1793240200208337920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.178547689,714,680,664.178547689,635,879,787,804,652.821452311,631,652.821452311,0.411182393141,0.00456361719672,0.0597499928725,0.999999881565,0.000246575765298,-0.000418504941741,3.03809514121e-05,1793240200225004800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.40849562,745,714,680,664.40849562,635,879.40849562,787,804,653,631,652.59150438,0.410543957793,0.00456181761591,0.0597676508468,0.999999898107,0.000232345767628,-0.000385866846916,3.01301394928e-05,1793240200241671168
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.99952421,745,714,680,664.99952421,635,879.99952421,787,804,653,631,652.00047579,0.409945616704,0.00455945559512,0.059805881144,0.999999923991,0.000217669114754,-0.000322026075216,3.06269920186e-05,1793240200258337792
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.42071167,745.57928833,714,680,665,635,880,787,804,652.42071167,631.57928833,652.57928833,0.409358490832,0.0045572888165,0.0598410677405,0.999999940509,0.000210351184606,-0.000271374993156,3.30231581761e-05,1793240200275004416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.157654127,745.842345873,714,680,665,635,879.842345873,787,804,652,631.842345873,653,0.40877142959,0.00455580965264,0.0598647968661,0.99999995097,0.000202068319853,-0.000236722932407,3.45034655274e-05,1793240200291671040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.732345122,745.267654878,714,680,665,635,879.267654878,787,804,652,631.267654878,653,0.408184515283,0.00455614899512,0.059858224445,0.999999951298,0.000191217264503,-0.000244364395608,3.35570369647e-05,1793240200308337664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.686085816,745,714,679.686085816,665,635,879,787.313914184,804,652.313914184,631,653,0.407613905678,0.00455445623916,0.0598462499912,0.99999994847,0.000180690993744,-0.000263286218753,3.30267274884e-05,1793240200325004544
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.098520923,745,714,679.098520923,665,635,879,787.901479077,804,652.901479077,631,653,0.407057509525,0.00455099202711,0.0598295663844,0.99999994229,0.000170447850374,-0.000292041552064,3.28591645872e-05,1793240200341671680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.48241488,714,679.48241488,665,635,879,787.51758512,804,652.51758512,631,653,0.406559734697,0.00454946137332,0.0598282752036,0.999999945325,0.000160792612788,-0.000287230482604,3.15449953192e-05,1793240200358338304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.061892672,745.938107328,714,679.938107328,665,635,879,787,804.061892672,652.061892672,631,653,0.406078562843,0.00454814529783,0.0598306743137,0.999999950149,0.000151177918669,-0.000275567808277,3.01725893694e-05,1793240200375004928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.640347757,745.359652243,714,679.359652243,665,635,879,787,804.640347757,652.640347757,631,653,0.405637396722,0.00454536908094,0.0598379925464,0.999999954988,0.000140913115008,-0.000263158607587,3.02420074861e-05,1793240200391671552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.7848113,745,714.2151887,679.2151887,665,635,879,787,805,653,631.2151887,653,0.405202816007,0.00454296263452,0.0598370138653,0.999999955861,0.00013355556151,-0.000263669199506,3.03150989821e-05,1793240200408338176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.215911078,745,714.784088922,679.784088922,665,635,879,787,805,653,631.784088922,653,0.404779059946,0.00454116399015,0.0598223973203,0.999999950229,0.000130976735216,-0.00028541640725,3.03942285051e-05,1793240200425004800
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.630904182,680,665,635,879.369095818,787,804.630904182,653,631.630904182,653,0.404367214275,0.0045407620456,0.0598010421262,0.999999939213,0.000128308329862,-0.000322768053711,3.05365744154e-05,1793240200441671168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.03604534,680,665,635,879.96395466,787,804.03604534,653,631.03604534,653,0.403962653734,0.00454121441337,0.0597755651344,0.999999923317,0.000125585131674,-0.000369664392073,3.07175875418e-05,1793240200458337792
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.541911342,714,680,665,635,879.458088658,787,804,653,631.541911342,653,0.403655902213,0.0045386489747,0.0597824349894,0.999999929967,0.000123793424972,-0.00035180670756,3.12077659024e-05,1793240200475004672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.118769792,746,714,679.881230208,665,635,879.118769792,787,804,653,631.881230208,653,0.403364882131,0.00453621701956,0.0597933650544,0.999999938153,0.000122576800651,-0.000328102013745,3.19189492523e-05,1793240200491671296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.695597616,746,714,679.304402384,665,635,879.695597616,787,804,653,631.304402384,653,0.403110201334,0.00453505060546,0.0598119071836,0.999999947446,0.000123346362769,-0.000297956034544,3.34055692504e-05,1793240200508338176
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,664.727923912,635,879.727923912,787,804,653,631,653,0.402871617125,0.00453319028319,0.0598310962903,0.999999956443,0.000123587843899,-0.000265866800097,3.39816349106e-05,1793240200525004544
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,664.151835831,635,879.151835831,787,804,653,631,653,0.402651018913,0.00453055460288,0.0598510083148,0.999999965023,0.000123239258591,-0.000231606215657,3.35402665653e-05,1793240200541671168
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.563878359,745.563878359,714,679,664.436121641,635,879,787,804,652.563878359,631,653,0.402430059045,0.00452765937095,0.059853768652,0.999999963478,0.000137262462204,-0.000231366998428,2.59258253901e-05,1793240200558337792
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.027565114,745.027565114,714,679,665,635,878.972434886,787,804,652.027565114,631,653,0.40221058409,0.00452462624219,0.0598501441993,0.999999958113,0.000155490789587,-0.000243577071425,1.63538177973e-05,1793240200575004416
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.60384157,745.60384157,714,679,665,635,878.39615843,787,804,652.60384157,631,653,0.40202324426,0.00452069722687,0.0598416156082,0.999999953682,0.000155039281234,-0.000261228806493,1.89166656409e-05,1793240200591671040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,878.359551065,787,804,653,631,653,0.401850614034,0.00451850322911,0.059835754401,0.999999950156,0.00015562927553,-0.000273917821067,2.08733753016e-05,1793240200608337664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,879.509912254,787,804,653,631,653,0.401710336686,0.00452012529471,0.0598357599388,0.999999949203,0.000158509990044,-0.000275691639524,2.1496921538e-05,1793240200625004288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.66304201,714,679.33695799,665,635,879.66304201,787,804,653,631.33695799,653,0.401587031833,0.00452014153516,0.0598371370501,0.999999949947,0.000159116206246,-0.000272577052425,2.21471563148e-05,1793240200641670656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.075977001,714,679.924022999,665,635,879.075977001,787,804,653,631.924022999,653,0.401476324796,0.00451896585231,0.0598395322115,0.999999951918,0.000158034176705,-0.000265834047194,2.28172007213e-05,1793240200658337280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.50669678,714,679.49330322,665,635,879,787,803.49330322,653,631.49330322,653,0.401386887679,0.00451800519099,0.0598427484116,0.999999953446,0.000156738435709,-0.000260736546656,2.36128215629e-05,1793240200675004160
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.912275931,714,679,665,635,879,787,803,653,631,653,0.401303342155,0.00451702619889,0.0598450831748,0.99999995461,0.000155060271075,-0.00025718623913,2.43193437986e-05,1793240200691670784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.336773766,714,679,665,635,879,787,803,653,631,653,0.401234974528,0.00451576754593,0.0598418381636,0.999999954207,0.000151432341512,-0.000260878734799,2.44266451488e-05,1793240200708337920
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.237182319,714,679,665,635,879.237182319,787,803.237182319,653,631,653,0.401172624531,0.00451460773004,0.0598386026074,0.999999953114,0.000148925338153,-0.000266428020603,2.46968665197e-05,1793240200725004544
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.808957318,714,679,665,635,879.808957318,787,803.808957318,653,631,653,0.401118763599,0.0045135873435,0.0598353803897,0.999999951029,0.000147999623628,-0.000274596676753,2.51969188695e-05,1793240200741671168
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.60320677,714,679,665,634.60320677,880,787,803.60320677,652.60320677,631,652.60320677,0.401076945944,0.00451341292845,0.0598336370147,0.999999949899,0.000149040197055,-0.000278106873479,2.53963753959e-05,1793240200758337792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.00731188,714,679,665,634.00731188,880,787,803.00731188,652.00731188,631,652.00731188,0.401041171329,0.00451366300233,0.0598326356889,0.999999949267,0.000151067408302,-0.000279279562835,2.54449998801e-05,1793240200775004416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.430377545,745,714,679,665,634.569622455,879.430377545,787,803.569622455,652,631,652.569622455,0.40102042319,0.00451134718997,0.0598325148569,0.999999949786,0.000147705360989,-0.000279188786877,2.57650748097e-05,1793240200791671296
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.291678914,714,679,665,635,879.145839457,787,804,652.145839457,631,653,0.401002810858,0.0045097422719,0.0598331280952,0.999999950545,0.000144652295568,-0.000278044142573,2.60071806061e-05,1793240200808337664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,746.441278528,714,679,665,635,879.720639264,787,804,652.720639264,631,653,0.400993872878,0.00451032207743,0.0598358682954,0.999999951984,0.000142704966252,-0.000273845901909,2.6010035577e-05,1793240200825004288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,746.697909389,714,679,665,635,879.697909389,787,804,653,631,653,0.400986414278,0.00451057260651,0.0598380652096,0.999999952797,0.000142388635623,-0.000271026559012,2.6014720244e-05,1793240200841670912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,746.110168422,714,679,665,635,879.110168422,787,804,653,631,653,0.400980354547,0.00451051177896,0.0598397484046,0.999999953031,0.000143614541894,-0.000269511071567,2.60211350327e-05,1793240200858337536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.455120029,746,714,679,665,635,879,787,804,652.544879971,631,652.544879971,0.40097670368,0.00450964324992,0.0598403877115,0.999999953748,0.000140407172404,-0.000268555050759,2.58351058185e-05,1793240200875004416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.983763831,714,679.016236169,665,635,879,787,804,652.016236169,631,652.016236169,0.400973729552,0.00450859869815,0.0598408190245,0.999999954561,0.000136295550445,-0.000267667919174,2.5615361185e-05,1793240200891671040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.386612237,714,679.613387763,665,635,879,787,804,652.613387763,631,652.613387763,0.40097508653,0.0045079227125,0.0598424244094,0.999999955348,0.000136421381478,-0.000264627926783,2.57776782427e-05,1793240200908337920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.202083913,714,680,665.202083913,635,879,787,804,653,631.202083913,653,0.40097598679,0.0045079221761,0.0598438638574,0.999999955967,0.000136820699442,-0.000262069386439,2.57937225592e-05,1793240200925004800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.775253345,714,680,665.775253345,635,879,787,804,653,631.775253345,653,0.40097604838,0.00450916196326,0.0598449985965,0.999999956287,0.000137722219864,-0.000260394933883,2.55411670801e-05,1793240200941671680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.64007415,635,879,787,804,652.64007415,631.64007415,653,0.40097527579,0.00450974587614,0.0598450257314,0.999999956005,0.000139105774651,-0.000260739558217,2.5586847279e-05,1793240200958338304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.047981725,635,879,787,804,652.047981725,631.047981725,653,0.40097396512,0.00450990672382,0.0598443384171,0.999999955331,0.000140800260857,-0.000262386568006,2.58249014346e-05,1793240200975004672
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.468072652,746,714,680,665,635,879,787,804,652.531927348,631.531927348,653,0.400974477466,0.00450869506783,0.0598450122813,0.999999956055,0.000138605770147,-0.000260782505213,2.58941236565e-05,1793240200991671040
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.11001082,745.88998918,714,679.88998918,665,635.11001082,879,787.11001082,804,653,632,652.88998918,0.40097467353,0.00450778245179,0.0598454111348,0.999999956627,0.000136559870931,-0.000259674169459,2.58091518754e-05,1793240201008337920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.684919499,745.315080501,714,679.315080501,665,635.684919499,879,787.684919499,804,653,632,652.315080501,0.400972853653,0.00450864503238,0.059844140559,0.999999956067,0.000136591168746,-0.000261872280243,2.51354838621e-05,1793240201025004544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635.734328039,879,787.734328039,804,653,631.734328039,652.265671961,0.400971994132,0.00450861330205,0.0598437868188,0.999999955879,0.00013643058931,-0.000262690921355,2.4952955395e-05,1793240201041671424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635.146489041,879,787.146489041,804,653,631.146489041,652.853510959,0.400972299186,0.00450749708595,0.0598445448792,0.999999956146,0.000136037329977,-0.000261836749202,2.53660070885e-05,1793240201058338048
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,879,787,803.564661057,653,631,653,0.400972157458,0.00450811356429,0.0598450680022,0.999999956238,0.000137292513284,-0.00026081801296,2.54644931196e-05,1793240201075004928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,879.015109223,787,803.015109223,653,631,652.984890777,0.400971901248,0.00450925936658,0.0598455170525,0.999999956279,0.000138986403684,-0.000259762538672,2.54496053411e-05,1793240201091671808
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,879.592551767,787,803.592551767,653,631,652.407448233,0.400972903347,0.00450870145085,0.0598461114664,0.999999956712,0.000136644775723,-0.000259372615779,2.51010253387e-05,1793240201108338176
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.168844384,714,679,665,635,879.831155616,787,804,653,631,652.168844384,0.40097350719,0.00450790878719,0.0598465667746,0.999999957035,0.000134725605952,-0.000259135403509,2.50582089918e-05,1793240201125004544
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5134f2963ae3f51d08a8d8a2b5033f4cad74f457
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.586755957815,0.0100907654509,1.05003217352,0.557326409849,0.0187625067514,1.04970030914
+347,5.783333333,pose2_to_pose3_retreat,0.586080645448,0.0100907253353,1.0500322387,0.556651098554,0.0187624701629,1.04970037141
+348,5.800000000,pose2_to_pose3_retreat,0.585426266383,0.0100907178549,1.05003233685,0.555996718901,0.0187624606518,1.04970046853
+349,5.816666667,pose2_to_pose3_retreat,0.584800663379,0.0100907680015,1.05003247151,0.555371115073,0.0187625080359,1.04970060414
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+352,5.866666667,pose2_to_pose3_retreat,0.583114784163,0.0100907306056,1.05003240113,0.553685236953,0.0187624739408,1.04970052269
+353,5.883333333,pose2_to_pose3_retreat,0.582592161205,0.0100907016554,1.05003246426,0.553162614765,0.0187624478473,1.04970059345
+354,5.900000000,pose2_to_pose3_retreat,0.58207704354,0.0100907478459,1.05003239663,0.55264749672,0.0187624928635,1.04970052815
+355,5.916666667,pose2_to_pose3_retreat,0.581577867871,0.0100907776248,1.05003229186,0.552148320796,0.0187625217404,1.04970042247
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+359,5.983333333,pose2_to_pose3_retreat,0.579807691046,0.0100908476527,1.05003248933,0.550378141796,0.0187625841494,1.04970061355
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+361,6.016666667,pose2_to_pose3_retreat,0.57904011572,0.0100909612514,1.05003233542,0.549610564808,0.0187626926354,1.04970047342
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+363,6.050000000,pose2_to_pose3_retreat,0.5783601213,0.0100908367816,1.05003233529,0.548930572314,0.0187625747501,1.04970047521
+364,6.066666667,pose2_to_pose3_retreat,0.578063255405,0.010090746165,1.05003228974,0.548633706846,0.0187624850778,1.04970041603
+365,6.083333333,pose2_to_pose3_retreat,0.577797265845,0.0100907952271,1.05003238563,0.548367717572,0.018762535421,1.04970051998
+366,6.100000000,pose2_to_pose3_retreat,0.577564125423,0.0100909094573,1.0500323158,0.548134575324,0.0187626437582,1.04970045815
+367,6.116666667,pose2_to_pose3_retreat,0.577346357557,0.0100909142095,1.05003223788,0.547916806755,0.018762646036,1.04970037792
+368,6.133333333,pose2_to_pose3_retreat,0.577141371681,0.0100907361946,1.05003234068,0.547711824157,0.0187624788309,1.04970047238
+369,6.150000000,pose2_to_pose3_retreat,0.576948419171,0.0100907342731,1.05003221689,0.547518872812,0.018762481116,1.04970035526
+370,6.166666667,pose2_to_pose3_retreat,0.576767466428,0.0100906634072,1.05003234601,0.547337918942,0.0187624061766,1.04970047792
+371,6.183333333,pose2_to_pose3_retreat,0.576600850843,0.0100906570478,1.05003229235,0.547171303071,0.0187623985552,1.04970041684
+372,6.200000000,pose2_to_pose3_retreat,0.576451641375,0.0100907223262,1.05003231111,0.547022093914,0.0187624653222,1.04970044671
+373,6.216666667,pose2_to_pose3_retreat,0.576321892387,0.0100908095921,1.05003234689,0.546892343062,0.0187625461953,1.04970048089
+374,6.233333333,pose2_to_pose3_retreat,0.576209656149,0.0100907730515,1.05003236467,0.546780107701,0.0187625125195,1.04970049583
+375,6.250000000,pose2_to_pose3_retreat,0.576113279961,0.0100906694962,1.05003236734,0.54668373384,0.0187624168123,1.04970049761
+376,6.266666667,pose2_to_pose3_retreat,0.576029721397,0.0100906491177,1.0500323319,0.546600175509,0.0187623971882,1.04970046151
+377,6.283333333,pose2_to_pose3_retreat,0.575957116957,0.0100907669607,1.05003223449,0.546527569021,0.0187625081953,1.04970036698
+378,6.300000000,pose2_to_pose3_retreat,0.575894670962,0.010090731444,1.05003223127,0.546465124004,0.0187624760147,1.0497003641
+379,6.316666667,pose2_to_pose3_retreat,0.575840597193,0.010090880475,1.05003246265,0.546411046513,0.0187626122826,1.04970059194
+380,6.333333333,pose2_to_pose3_retreat,0.575795266113,0.010090857829,1.05003223466,0.546365715512,0.0187625903388,1.04970037526
+381,6.350000000,pose2_to_pose3_retreat,0.575758417345,0.0100907165898,1.05003221994,0.546328868994,0.0187624564427,1.04970035288
+382,6.366666667,pose2_to_pose3_retreat,0.575729505963,0.0100907318417,1.05003230986,0.546299958935,0.0187624762829,1.0497004454
+383,6.383333333,pose2_to_pose3_retreat,0.575708435346,0.0100907928315,1.05003243313,0.546278887261,0.0187625335724,1.04970056571
+384,6.400000000,pose2_to_pose3_retreat,0.57569336917,0.0100908527005,1.05003242945,0.546263819524,0.0187625879862,1.04970055792
+385,6.416666667,pose2_to_pose3_retreat,0.575683446856,0.0100908641735,1.05003237895,0.546253896508,0.0187625970104,1.04970050568
+386,6.433333333,pose2_to_pose3_retreat,0.575676489446,0.0100908080212,1.05003238006,0.546246939287,0.0187625414574,1.04970050574
+387,6.450000000,pose2_to_pose3_retreat,0.575671984409,0.010090725543,1.05003224769,0.546242437217,0.0187624694888,1.04970038493
+388,6.466666667,pose2_to_pose3_retreat,0.575669218463,0.0100907399664,1.05003221567,0.546239671369,0.0187624842147,1.04970035213
+389,6.483333333,pose2_to_pose3_retreat,0.575667809026,0.0100908076649,1.05003224567,0.546238260373,0.0187625463254,1.0497003744
+390,6.500000000,pose2_to_pose3_retreat,0.57566722698,0.0100908356218,1.05003225805,0.546237677683,0.0187625719748,1.04970038359
+391,6.516666667,pose2_to_pose3_retreat,0.575667033978,0.0100908448921,1.05003226216,0.546237484468,0.0187625804799,1.04970038664
+392,6.533333333,pose2_to_pose3_retreat,0.575667002138,0.0100908464215,1.05003226284,0.546237452592,0.0187625818831,1.04970038714
+393,6.550000000,pose2_to_pose3_retreat,0.575666919813,0.0100908503758,1.05003226459,0.546237370176,0.0187625855109,1.04970038844
+394,6.566666667,pose2_to_pose3_retreat,0.575666739964,0.0100908397455,1.05003228135,0.546237190602,0.0187625758554,1.04970040634
+395,6.583333333,pose2_to_pose3_retreat,0.575666301769,0.0100908083102,1.05003232588,0.546236753211,0.01876254728,1.04970045429
+396,6.600000000,pose2_to_pose3_retreat,0.575665851651,0.0100907760196,1.05003237163,0.546236303919,0.0187625179271,1.04970050354
+397,6.616666667,pose2_to_pose3_retreat,0.575665623148,0.0100907596272,1.05003239485,0.546236075836,0.018762503026,1.04970052854
+398,6.633333333,pose2_to_pose3_retreat,0.575665304931,0.010090736799,1.05003242719,0.546235758204,0.0187624822746,1.04970056336
+399,6.650000000,pose2_to_pose3_retreat,0.575664971353,0.0100907320129,1.05003242362,0.546235424859,0.018762478333,1.04970056115
+400,6.666666667,pose2_to_pose3_retreat,0.575664967129,0.0100907327731,1.05003242197,0.546235420621,0.0187624790467,1.04970055946
+401,6.683333333,pose2_to_pose3_retreat,0.575664838514,0.0100907559178,1.05003237168,0.546235291602,0.0187625007775,1.04970050808
+402,6.700000000,pose2_to_pose3_retreat,0.575664765642,0.0100907690315,1.05003234319,0.546235218501,0.0187625130901,1.04970047896
+403,6.716666667,pose2_to_pose3_retreat,0.575664685337,0.0100907834827,1.05003231179,0.546235137943,0.0187625266585,1.04970044688
+404,6.733333333,pose2_to_pose3_retreat,0.57566456732,0.0100908047204,1.05003226565,0.546235019555,0.0187625465987,1.04970039973
+405,6.750000000,pose2_to_pose3_retreat,0.575664548775,0.0100908080578,1.0500322584,0.546235000951,0.0187625497322,1.04970039232
+406,6.766666667,pose2_to_pose3_retreat,0.57566450017,0.0100908168044,1.0500322394,0.546234952194,0.0187625579445,1.0497003729
+407,6.783333333,pose2_to_pose3_retreat,0.575664491704,0.0100908183278,1.05003223609,0.546234943702,0.0187625593749,1.04970036951
+408,6.800000000,pose2_to_pose3_retreat,0.575664484046,0.010090819706,1.05003223309,0.546234936019,0.0187625606689,1.04970036645
+409,6.816666667,pose2_to_pose3_retreat,0.575664482699,0.0100908189971,1.05003223559,0.546234934686,0.0187625600047,1.04970036892
+410,6.833333333,pose2_to_pose3_retreat,0.575664481146,0.0100908181315,1.05003223862,0.54623493315,0.0187625591937,1.04970037191
+411,6.850000000,pose2_to_pose3_retreat,0.575664471747,0.0100908128912,1.05003225699,0.546234923851,0.0187625542841,1.04970039003
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+413,6.883333333,pose2_to_pose3_retreat,0.57566442319,0.0100907860912,1.05003235123,0.546234875808,0.0187625291805,1.04970048299
+414,6.900000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164433,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a3396282c0c96850c92ba8148cf68295b0ec9a8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9248a1dd1a7a6fbe9afa3c682cec07b87dc468971ba687dbeac87733eb632ac
+size 26465429
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de90d40232de50b0b44d0bdc1e83dfcb3ef7b8f7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+21,0.350000000,BASELINE,766,745.79455259,714,679.20544741,665,635,879,787,804,653,631,653,0.40097808211,0.00450769716472,0.0598522290043,0.999999959904,0.000133479254604,-0.000248521643785,2.47396885037e-05,1793240201815264256
+22,0.366666667,BASELINE,766,745.214868242,714,679.785131758,665,635,879,787,804,653,631,653,0.400975905683,0.00450637047784,0.0598511120272,0.999999959441,0.000132771531596,-0.000250698100284,2.52960235075e-05,1793240201831930880
+23,0.383333333,BASELINE,766,745.361514465,714,680,665,635.361514465,879,787,804,653,631,653,0.400975193151,0.00450687730762,0.059850463641,0.999999959074,0.000133176111437,-0.000251963421844,2.50976027358e-05,1793240201848597504
+24,0.400000000,BASELINE,766,745.935952638,714,680,665,635.935952638,879,787,804,653,631,653,0.40097534282,0.00450846403643,0.0598500912438,0.999999958765,0.000134235812012,-0.000252692106083,2.44546482202e-05,1793240201865264384
+25,0.416666667,BASELINE,766,746,714,680,665,635.477794202,879,787,804,653,631,653,0.400974899361,0.00450873233772,0.059850048237,0.999999958768,0.000134421440941,-0.000252592099531,2.43389465048e-05,1793240201881930752
+26,0.433333333,BASELINE,766,746,714,679.891625994,665,635,879,787,804,653,631,653,0.400974561511,0.00450849866041,0.0598500974039,0.999999958872,0.000134115399039,-0.000252339514935,2.43692067861e-05,1793240201898597632
+27,0.450000000,BASELINE,766,746,714,679.312270121,665,635,879,787,804,653,631,653,0.400975006095,0.00450680244571,0.0598503675139,0.999999959241,0.000132149285517,-0.000251875771127,2.47462635813e-05,1793240201915264256
+28,0.466666667,BASELINE,766,746,714,679.265985706,665.265985706,635,879.265985706,787,804,653,631,653,0.400975274416,0.00450667401468,0.0598507665149,0.999999959354,0.000132417635299,-0.000251267044741,2.49382002737e-05,1793240201931930880
+29,0.483333333,BASELINE,766,746,714,679.842955353,665.842955353,635,879.842955353,787,804,653,631,653,0.400975336654,0.00450837859784,0.0598513162121,0.999999959164,0.000135298464689,-0.000250488808319,2.4913699076e-05,1793240201948597504
+30,0.500000000,BASELINE,765.581446115,745.581446115,714,680,665.581446115,635,879.581446115,787.418553885,804,653,631,653,0.40097428487,0.00450813178089,0.0598504282939,0.9999999591,0.000133989109627,-0.000251461736972,2.47692277487e-05,1793240201965264384
+31,0.516666667,BASELINE,765.006360368,745.006360368,714,680,665.006360368,635,879.006360368,787.993639632,804,653,631,653,0.400972816461,0.00450715517426,0.0598490027326,0.999999959075,0.000131112698508,-0.000253089570872,2.4579889683e-05,1793240201981931008
+32,0.533333333,BASELINE,765.584032269,745.584032269,714,680,665,635,879,787.415967731,804,653,631,653,0.400974229084,0.00450806904228,0.0598500754773,0.999999959234,0.000133054033166,-0.000251423314357,2.48035005611e-05,1793240201998597632
+33,0.550000000,BASELINE,765.828744928,745.828744928,714,679.828744928,665,635,879.171255072,787,804,653,631,653,0.400975122591,0.00450851454795,0.0598506696985,0.999999959229,0.000134451125088,-0.00025068133906,2.4979695507e-05,1793240202015264256
+34,0.566666667,BASELINE,765.249482043,745.249482043,714,679.249482043,665,635,879.750517957,787,804,653,631,653,0.400974702563,0.00450779382998,0.0598500572922,0.999999958842,0.000134423216344,-0.0002522291929,2.50319212648e-05,1793240202031930880
+35,0.583333333,BASELINE,765.327043186,745,714,679,665,635,879.672956814,787,804,653,631,653,0.400975348064,0.00450686283298,0.059850651232,0.999999959119,0.000133533070608,-0.000251604661714,2.50240772256e-05,1793240202048597504
+36,0.600000000,BASELINE,765.901497416,745,714,679,665,635,879.098502584,787,804,653,631,653,0.400976799648,0.00450577275797,0.0598521577833,0.999999959893,0.000131990635005,-0.000249336702327,2.49707898626e-05,1793240202065264128
+37,0.616666667,BASELINE,765.512808544,745,714,679,665,635,879,787,804,652.512808544,631,653,0.400974969247,0.00450706735959,0.0598508269774,0.999999959356,0.000132150556149,-0.0002514279816,2.46713199789e-05,1793240202081931008
+38,0.633333333,BASELINE,765,745,714,679,665,635,879,787,804,652.074118464,631,653,0.400972815927,0.00450873709485,0.0598491955149,0.999999958644,0.00013273945428,-0.000253965256706,2.435300558e-05,1793240202098597376
+39,0.650000000,BASELINE,765,745,714,679,665,635,879,787,804,652.653591994,631,653,0.400973092057,0.00450959957443,0.0598495178818,0.999999958644,0.000133851026584,-0.000253392143199,2.4253591125e-05,1793240202115264000
+40,0.666666667,BASELINE,765.232331639,745,714,679,665,635,879,787,804,653,631,653,0.400973347492,0.0045090144298,0.059849980978,0.99999995884,0.000133384148627,-0.000252855143032,2.43444268838e-05,1793240202131930880
+41,0.683333333,BASELINE,765.809980469,745,714,679,665,635,879,787,804,653,631,653,0.400973572169,0.00450627766459,0.0598506532418,0.999999959324,0.000130571201812,-0.00025237181857,2.47180337313e-05,1793240202148597504
+42,0.700000000,BASELINE,766,745,714,679,665,635,879,787,804,653,631,653,0.400973959338,0.0045056503428,0.0598506212768,0.999999959453,0.000130008424878,-0.000252145760649,2.47844464627e-05,1793240202165264128
+43,0.716666667,BASELINE,766,745,714,679,665,635,879,787,804,653,631,653,0.400974426162,0.00450605709004,0.0598502440923,0.99999995941,0.000130548702387,-0.000252045817211,2.47002697492e-05,1793240202181930752
+44,0.733333333,BASELINE,765.452133508,745,714,679,665,635,879,787.547866492,804,653,631,653,0.400975003366,0.0045070426571,0.0598507293876,0.999999959305,0.000132502265018,-0.000251435631298,2.47525998163e-05,1793240202198597632
+45,0.750000000,BASELINE,765.136678697,745.136678697,714,679.136678697,665,635,879,787.863321303,804,653,631,653,0.400975595817,0.00450749419731,0.0598511536875,0.999999959269,0.000133827821298,-0.000250872313174,2.48196158943e-05,1793240202215264256
+46,0.766666667,BASELINE,765.715981307,745.715981307,714,679.715981307,665,635,879,787.284018693,804,653,631,653,0.400976209011,0.00450606619256,0.0598511567427,0.99999995948,0.000132753037698,-0.000250593123072,2.48987835136e-05,1793240202231930880
+47,0.783333333,BASELINE,766,745.707359838,714,680,665.292640162,635,879,787,803.707359838,653,631,653,0.400976268626,0.00450586504279,0.0598511802006,0.999999959727,0.000131724245103,-0.000250163606767,2.47647824843e-05,1793240202248597504
+48,0.800000000,BASELINE,766,745.133243808,714,680,665.866756192,635,879,787,803.133243808,653,631,653,0.400975795781,0.00450684394302,0.0598512232827,0.999999960008,0.000130739688818,-0.000249589499209,2.44257452521e-05,1793240202265264384
+49,0.816666667,BASELINE,765.558360671,745,714,680,666,635,879,787,803.441639329,653,631,653,0.400975416336,0.00450630205524,0.0598511092768,0.999999960077,0.000129268909841,-0.00025006210809,2.45893625503e-05,1793240202281930752
+50,0.833333333,BASELINE,765,745.017292375,714,679.982707625,665.982707625,635,879.017292375,787,804,653,631,652.982707625,0.400975016413,0.0045053697411,0.0598509177797,0.999999960056,0.000127755928,-0.000250891581826,2.48938099845e-05,1793240202298597632
+51,0.850000000,BASELINE,765,745.610878532,714,679.389121468,665.389121468,635,879.610878532,787,804,653,631,652.389121468,0.400972993235,0.00450674354777,0.0598497259962,0.999999959254,0.000129733794074,-0.00025307138328,2.48288009037e-05,1793240202315264256
+52,0.866666667,BASELINE,765.198525715,745.801474285,714,679,665,635,879.801474285,787,804.198525715,652.801474285,631.198525715,652.198525715,0.400972358896,0.00450735103928,0.0598495437816,0.999999958869,0.000131505664421,-0.000253671354391,2.48777432395e-05,1793240202331931136
+53,0.883333333,BASELINE,765.774870265,745.225129735,714,679,665,635,879.225129735,787,804.774870265,652.225129735,631.774870265,652.774870265,0.400974367686,0.00450650013877,0.0598512829006,0.999999959288,0.00013288549946,-0.00025126471407,2.51435491303e-05,1793240202348597760
+54,0.900000000,BASELINE,766,745.350271809,714,679,665.350271809,635,879.350271809,787.350271809,804.649728191,652.350271809,631.649728191,653,0.400974809728,0.00450627584694,0.0598513157429,0.999999959387,0.000132326598759,-0.000251168485351,2.51068737335e-05,1793240202365264128
+55,0.916666667,BASELINE,766,745.92506886,714,679,665.92506886,635,879.92506886,787.92506886,804.07493114,652.92506886,631.07493114,653,0.400974247478,0.00450645321313,0.0598502548567,0.999999959281,0.00013052496279,-0.000252553237242,2.48763069464e-05,1793240202381930752
+56,0.933333333,BASELINE,766,746,714,679,666,635,879.48892526,787.48892526,803.48892526,653,631,653,0.400973971958,0.00450684404315,0.0598500199374,0.999999959184,0.000130817280765,-0.000252802935795,2.46788954042e-05,1793240202398597376
+57,0.950000000,BASELINE,766,746,714,679,665.902605942,635,879,787.097394058,803.097394058,653,631.097394058,653,0.400973831746,0.00450716883623,0.0598500564907,0.999999959139,0.000131336009364,-0.00025272321254,2.45677663266e-05,1793240202415264256
+58,0.966666667,BASELINE,766,746,714,679,665.323053263,635,879,787.676946737,803.676946737,653,631.676946737,653,0.400974148605,0.00450700829397,0.0598508240392,0.99999995934,0.00013142166822,-0.000251854985586,2.4859182204e-05,1793240202431930880
+59,0.983333333,BASELINE,766,745.744737299,714,679,665,635,879,787.744737299,804,653,631.744737299,653,0.400975237496,0.0045069725518,0.0598516990959,0.99999995969,0.000131444811301,-0.000250440964198,2.4937805757e-05,1793240202448597504
+60,1.000000000,BASELINE,766,745.167978861,714,679,665,635,879,787.167978861,804,653,631.167978861,653,0.400977298739,0.00450709399159,0.0598527095562,0.999999960226,0.000131389217644,-0.000248339530931,2.47484237835e-05,1793240202465264128
+61,1.016666667,BASELINE,766,745,714,679,665,635,879.407489539,787,804,653,631,653,0.400976003236,0.00450709498051,0.0598519003176,0.999999959961,0.000130722036946,-0.000249760033978,2.46767827828e-05,1793240202481931008
+62,1.033333333,BASELINE,766,745,714,679,665,635,879.982427793,787,804,653,631,653,0.400973328353,0.00450704647283,0.0598503433143,0.999999959361,0.000129803538228,-0.000252627798129,2.46535248136e-05,1793240202498597632
+63,1.050000000,BASELINE,765.427334243,745.572665757,714,679,665.572665757,635,879.427334243,787,804.572665757,653,631,653,0.400974362721,0.00450688808767,0.0598508694368,0.999999959542,0.00013050407123,-0.000251548895569,2.46544222216e-05,1793240202515264256
+64,1.066666667,BASELINE,765.160111882,745.839888118,714,679,665.839888118,635,879.160111882,787,805,652.839888118,631,653,0.400974645523,0.00450648265383,0.0598510928787,0.999999959633,0.000130610352118,-0.000251127448948,2.46796154237e-05,1793240202531930880
+65,1.083333333,BASELINE,765.738994353,745.261005647,714,679,665.261005647,635,879.738994353,787,805,652.261005647,631,653,0.400972656753,0.0045054401277,0.0598503528906,0.999999959428,0.000129028870277,-0.000252751008473,2.47663621362e-05,1793240202548597504
+66,1.100000000,BASELINE,766,745,714.315184634,679.315184634,665,635,879.684815366,787,804.684815366,652.315184634,631,653,0.400973141139,0.00450470193885,0.05985069305,0.999999959671,0.000128586571003,-0.00025198581714,2.50484423878e-05,1793240202565264128
+67,1.116666667,BASELINE,766,745,714.889164357,679.889164357,665,635,879.110835643,787,804.110835643,652.889164357,631,653,0.400975656209,0.00450421363848,0.059851920108,0.999999960279,0.000129079643711,-0.000249259245246,2.54909091355e-05,1793240202581930752
+68,1.133333333,BASELINE,766,745.464059298,714.535940702,680,665,635,879,787.464059298,804,653,631,653,0.400974784168,0.00450655492245,0.0598512473314,0.999999959565,0.000131979799426,-0.000250646988879,2.50522814251e-05,1793240202598597376
+69,1.150000000,BASELINE,766,745.95955017,714,679.95955017,665,635,879.04044983,787.95955017,803.95955017,653,631,653,0.400973381485,0.00450930728267,0.0598502782102,0.99999995864,0.000135156455901,-0.000252695759716,2.44595655825e-05,1793240202615264256
+70,1.166666667,BASELINE,766,745.365695131,714,679.365695131,665,635,879.634304869,787.365695131,803.365695131,653,631,653,0.400975808653,0.00450841938864,0.0598514749372,0.999999959357,0.000134234998586,-0.000250317606181,2.4643506067e-05,1793240202631930880
+71,1.183333333,BASELINE,766,745.221994416,714,679,665,635,879.778005584,787,803.221994416,653,631,653,0.40097636039,0.00450727173312,0.0598517422179,0.999999959659,0.000132836681382,-0.000249845807448,2.47601410144e-05,1793240202648597504
+72,1.200000000,BASELINE,766,745.799801988,714,679,665,635,879.200198012,787,803.799801988,653,631,653,0.400973906184,0.00450570773116,0.05985051978,0.999999959295,0.000130674051915,-0.000252429518165,2.4768898522e-05,1793240202665264128
+73,1.216666667,BASELINE,766,745.624945844,714,679,665,635,879,787,804,653,631,653,0.400973156329,0.00450573849913,0.0598503647968,0.999999959288,0.000130387848358,-0.000252597473081,2.48413038389e-05,1793240202681931008
+74,1.233333333,BASELINE,766,745.051048514,714,679,665,635,879,787,804,653,631,653,0.400973310073,0.00450661476938,0.0598507757482,0.999999959473,0.000131096473221,-0.000251484662,2.49474534353e-05,1793240202698597888
+75,1.250000000,BASELINE,766,745,714,679,665.538088428,635,879,787,804,653,631.538088428,653,0.400973592228,0.00450742900135,0.0598505781721,0.999999959732,0.00013026648229,-0.000250911088135,2.47116550766e-05,1793240202715264512
+76,1.266666667,BASELINE,766,745.123637262,714,679.123637262,665.876362738,635,879.123637262,787,804,653,631.876362738,653,0.400973901316,0.00450789605157,0.0598504344097,0.999999959895,0.000129602733679,-0.000250622330731,2.45090439462e-05,1793240202731931136
+77,1.283333333,BASELINE,766,745.690969786,714,679.690969786,665.309030214,635,879.690969786,787,804,653,631.309030214,653,0.400974262066,0.00450713891275,0.0598506969855,0.999999959697,0.000130074680556,-0.000251166750822,2.45453439292e-05,1793240202748597760
+78,1.300000000,BASELINE,765.732990277,745.732990277,714,679.732990277,665,635,879.732990277,787,804,653,631,653,0.400975442685,0.00450741391422,0.059851279222,0.999999959598,0.000131887104542,-0.000250614226854,2.45347915509e-05,1793240202765264128
+79,1.316666667,BASELINE,765.146532923,745.146532923,714,679.146532923,665,635,879.146532923,787,804,653,631,653,0.400977604186,0.00450892375756,0.0598522438972,0.999999959609,0.000135303261239,-0.000248749330489,2.4468185496e-05,1793240202781931008
+80,1.333333333,BASELINE,765.431500479,745.431500479,714,679,665.431500479,635,879,787,804,653,631,653,0.400977060016,0.00450896776344,0.0598522422351,0.999999959578,0.000135218113191,-0.00024892147832,2.44734201575e-05,1793240202798597376
+81,1.350000000,BASELINE,766,745.993069571,714,679,665.993069571,635,879,787,804,653,631,653,0.40097565412,0.00450851728847,0.0598519390267,0.999999959545,0.000133947777717,-0.00024973359207,2.45020979965e-05,1793240202815264000
+82,1.366666667,BASELINE,766,745.400536778,714,679,665.400536778,635,879,787,804,653,631,653,0.400977585568,0.00450754039276,0.059853353459,0.999999960534,0.00013107624393,-0.000247288654226,2.44897098757e-05,1793240202831930880
+83,1.383333333,BASELINE,766,745,714,679,665,635,879,787,804,653,631,653,0.400978314588,0.00450706031576,0.0598539098962,0.999999960921,0.00012982738417,-0.000246373662792,2.45426320259e-05,1793240202848597760
+84,1.400000000,BASELINE,766,745,714,679,665,635,879,787,804,653,631,653,0.400976535135,0.00450761668834,0.0598526764078,0.999999960073,0.000131963702499,-0.000248650403678,2.47318026932e-05,1793240202865264384
+85,1.416666667,BASELINE,766,745.335730397,714,679,665.335730397,635,878.664269603,787,804.335730397,652.664269603,631,653,0.400976056068,0.00450771332453,0.0598522087134,0.999999959755,0.000132882082848,-0.000249431683602,2.48124312375e-05,1793240202881931008
+86,1.433333333,BASELINE,766,745.907167206,714,679,665.907167206,635,878.092832794,787,804.907167206,652.092832794,631,653,0.400976489964,0.00450748719332,0.0598522786605,0.999999959814,0.00013294538472,-0.00024916304434,2.4816855546e-05,1793240202898597632
+87,1.450000000,BASELINE,766,746,714,679.495852328,666,635,878.495852328,787,804.504147672,652.495852328,631,653,0.400975205231,0.00450768954121,0.0598515706542,0.999999959669,0.000131439765484,-0.000250568932894,2.45125623233e-05,1793240202915264000
+88,1.466666667,BASELINE,766,746,714,680,665.913980373,635,879,787,804,653,631.086019627,653,0.400973931821,0.00450783956861,0.0598507910303,0.999999959529,0.000129818928847,-0.000251994313478,2.42293354163e-05,1793240202931930880
+89,1.483333333,BASELINE,766,746,714,680,665.334502627,635,879,787,804,653,631.665497373,653,0.400974635677,0.00450721268709,0.0598504661944,0.999999959677,0.000129282876297,-0.00025166826562,2.44104668142e-05,1793240202948597504
+90,1.500000000,BASELINE,766,746,714,680,665,635,879.243921446,787.243921446,804,653,631.756078554,653.243921446,0.40097451354,0.00450671244256,0.059850161525,0.999999959625,0.000129097237595,-0.00025196494677,2.44576797262e-05,1793240202965264128
+91,1.516666667,BASELINE,766,746,714,680,665,635,879.820906727,787.820906727,804,653,631.179093273,653.820906727,0.400973263544,0.00450638511522,0.059849884392,0.9999999593,0.000129390073393,-0.00025311193658,2.43220329147e-05,1793240202981930752
+92,1.533333333,BASELINE,766,745.596092633,714,680,665,635,880,787.596092633,804,653,631,653.596092633,0.400973046497,0.0045063369572,0.0598502993013,0.999999959319,0.000129676248837,-0.000252881493992,2.44416693499e-05,1793240202998597376
+93,1.550000000,BASELINE,766,745.010384396,714,680,665,635,880,787.010384396,804,653,631,653.010384396,0.400973294387,0.00450641445475,0.0598510257025,0.999999959491,0.000129959426445,-0.000252031061803,2.46762101301e-05,1793240203015264000
+94,1.566666667,BASELINE,766,745,714,680,665,635,879.430858405,787,804,653,631,653,0.400975219159,0.0045067362842,0.0598519161025,0.999999959848,0.000130571162281,-0.00025031064426,2.44781898916e-05,1793240203031930880
+95,1.583333333,BASELINE,766,745,714,680,665.148058673,635,879.148058673,787.148058673,804,653,631,653,0.400976326644,0.00450683155731,0.0598523497624,0.999999960066,0.000130883965643,-0.00024928815283,2.43632464525e-05,1793240203048597504
+96,1.600000000,BASELINE,766,745,714,680,665.72553349,635,879.72553349,787.72553349,804,653,631,653,0.400974975958,0.004506256956,0.0598514501491,0.999999959875,0.000130312572229,-0.00025033540691,2.45118958881e-05,1793240203065264128
+97,1.616666667,BASELINE,766,745,714,679.697389191,665.697389191,635,880,787.697389191,804,653,631,653,0.400975078918,0.0045068768371,0.059851678355,0.99999995996,0.000130664749501,-0.000249814806379,2.44831543197e-05,1793240203081930752
+98,1.633333333,BASELINE,766,745,714,679.12067196,665.12067196,635,880,787.12067196,804,653,631,653,0.400976498598,0.00450857868651,0.0598529281454,0.999999960291,0.000131853501865,-0.00024787403505,2.42937310625e-05,1793240203098597376
+99,1.650000000,BASELINE,766,745.465327,714,679,665.465327,635,880,787,804.465327,653,631,653,0.400975450808,0.00450844962504,0.0598520110277,0.999999959846,0.000132578581792,-0.000249272763691,2.43664886825e-05,1793240203115264256
+100,1.666666667,BASELINE,766,745.947063549,714,679.052936451,665.947063549,635,879.947063549,787,804.947063549,652.947063549,631,653,0.400974082814,0.00450779684391,0.0598508056121,0.999999959315,0.000132996994086,-0.000251158040835,2.45095768209e-05,1793240203131930624
+101,1.683333333,BASELINE,766,745.367859601,714,679.632140399,665.367859601,635,879.367859601,787,804.367859601,652.367859601,631,653,0.40097602236,0.00450675384824,0.0598524342922,0.999999960014,0.000131586395074,-0.00024909554401,2.46621699274e-05,1793240203148597248
+102,1.700000000,BASELINE,766,745,714,680,665.210369543,635,879,787,804,652.210369543,631,653,0.400977361696,0.00450671114541,0.0598532268468,0.999999960314,0.000131804773717,-0.000247765035265,2.47422028174e-05,1793240203165264128
+103,1.716666667,BASELINE,766,745,714,680,665.786901914,635,879,787,804,652.786901914,631,653,0.400977656321,0.004508409522,0.0598525640669,0.999999959922,0.000134858501457,-0.000247708602913,2.46959395863e-05,1793240203181930752
+104,1.733333333,BASELINE,766,745.359998553,714,679.640001447,665.640001447,635,879,787,804,653,631.359998553,653,0.400977074331,0.00450863816503,0.0598521016156,0.999999959812,0.000134736440247,-0.000248219235003,2.46886140683e-05,1793240203198597632
+105,1.750000000,BASELINE,766,745.93108072,714,679.06891928,665.06891928,635,879,787,804,653,631.93108072,653,0.400975978341,0.00450800503622,0.0598517566261,0.999999959867,0.000132752269027,-0.000249062362902,2.47041195076e-05,1793240203215264256
+106,1.766666667,BASELINE,765.479913672,745.479913672,714,679.520086328,665,635,879,787,804.520086328,653,631.479913672,653,0.400977116961,0.00450755054166,0.0598527964021,0.99999996043,0.000132163505997,-0.000247109964589,2.46979317982e-05,1793240203231930880
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,787,804,653,631,653,0.400975827793,0.00450722648072,0.059851425254,0.999999960332,0.000129237143909,-0.000249115474849,2.39683106401e-05,1793240203274246400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.422691907,745,714,679,665,635.577308093,879.577308093,787,804,653,631,653,0.400976742707,0.00450758581182,0.059852111341,0.999999960461,0.000130430149149,-0.000247946510968,2.42647924314e-05,1793240203290913024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.153875312,745.153875312,714,679,665.153875312,635.846124688,880,787.153875312,804,653,631,653,0.400977340361,0.00450789523369,0.0598526277356,0.999999960473,0.000131571333809,-0.000247270447831,2.44959469023e-05,1793240203307579392
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.728417249,745.728417249,714,679,665.728417249,635.271582751,880,787.728417249,804,653,631,653,0.400977070689,0.00450806821307,0.0598526802228,0.999999960174,0.000132570850864,-0.000247941883843,2.45485086366e-05,1793240203324246016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.68831174,745.68831174,714,679,665.68831174,635,879.68831174,787.68831174,804,653,631,653,0.40097675191,0.00450767674511,0.0598524662644,0.999999960012,0.000132427328316,-0.000248670403098,2.45298917525e-05,1793240203340912896
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.097215732,745.097215732,714,679,665.097215732,635,879.097215732,787.097215732,804,653,631,653,0.400976389112,0.00450677928773,0.0598520134551,0.999999959974,0.000131259146893,-0.000249450093637,2.44474679781e-05,1793240203357579520
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483820973,745,714,679,665,635,879,787,804,653,631,653,0.400975594842,0.0045068705038,0.0598519545273,0.999999959679,0.000131448915807,-0.000250509172016,2.46505285644e-05,1793240203374246400
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.062279293,665,635,879,787,804,653,631,653,0.400974835029,0.00450714932008,0.0598520134562,0.999999959388,0.000131853722988,-0.000251437665224,2.48629839278e-05,1793240203390912768
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679.635825993,665,635,879,787,804,653,631,653,0.400975055298,0.00450737058163,0.0598524034223,0.999999959545,0.000131829500654,-0.000250842681991,2.46912442485e-05,1793240203407579392
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631.215120257,653,0.400980200341,0.00450759585257,0.0598549943172,0.999999960585,0.000131858556252,-0.000246646400582,2.46949481469e-05,1793240203424246272
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631.804411531,653,0.400993911327,0.00450782809726,0.0598614134139,0.999999963086,0.000131980281207,-0.000236186174467,2.5003811152e-05,1793240203440912896
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.61259704,745,714,679.61259704,665,635,879,787,803.61259704,652.61259704,631.61259704,653,0.401025706679,0.00450772646978,0.0598738488931,0.999999968244,0.000132192912463,-0.000213104260008,2.49845030778e-05,1793240203457579520
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.032735272,745,714,679.032735272,665,635,879,787,803.032735272,652.032735272,631.032735272,653,0.401066486207,0.0045074589772,0.0598892732654,0.999999974038,0.000132450705189,-0.000183751986889,2.48021621493e-05,1793240203474246144
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.544060486,745,714,679,665.544060486,635,879.544060486,787,803.544060486,652.544060486,631,652.455939514,0.401130133045,0.00450709403242,0.059908212943,0.999999979716,0.000130253906384,-0.000151620396949,2.47458479405e-05,1793240203490913024
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635,879.877699029,787,804.122300971,653,631.122300971,652.122300971,0.401196554317,0.00450682565085,0.0599256558926,0.999999983923,0.000128521963301,-0.000122576060285,2.4718666194e-05,1793240203507579648
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635,879.29330664,787,804.70669336,653,631.70669336,652.70669336,0.401268288876,0.00450694414543,0.0599366490656,0.99999998576,0.000129101278781,-0.000105824621785,2.4773066326e-05,1793240203524246272
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.710661019,745,714,679,666,635,879,787,804.710661019,653,631.710661019,653,0.401346398452,0.00450577210038,0.0599420711028,0.999999986753,0.000127448326387,-9.81355427706e-05,2.49187301647e-05,1793240203540913152
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.129775528,745,714,679,666,635,879,787,804.129775528,653,631.129775528,653,0.401430931682,0.00450329966945,0.0599418794982,0.999999987094,0.000123546074898,-9.95779660348e-05,2.51563540136e-05,1793240203557580032
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448488064,745,714,679,666,635,879,787,804,653,631,653,0.401541321896,0.00450364466552,0.0599458168321,0.999999988289,0.000120372114496,-9.14729098026e-05,2.37810445208e-05,1793240203574246400
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974043587,745,714,679,665.974043587,635,879,787.025956413,803.974043587,653,631,653,0.401660027074,0.00450473673853,0.0599508605866,0.999999989597,0.000117495160453,-8.07370378447e-05,2.19654204082e-05,1793240203590913024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.397444314,745,714,679,665.397444314,635,879,787.602555686,803.397444314,653,631,653,0.401797324662,0.00450448294883,0.0599541776302,0.999999990379,0.000116474256662,-7.24579231412e-05,2.06524606822e-05,1793240203607579648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,665,635,879,787.817303978,803.182696022,653,631,652.817303978,0.401941367006,0.00450401524748,0.0599566041546,0.999999991084,0.000114628401516,-6.57032112212e-05,1.93513023323e-05,1793240203624246528
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,665,635,879,787.22930809,803.77069191,653,631,652.22930809,0.402100372157,0.00450307299636,0.0599570551168,0.999999991739,0.000110952442783,-6.23302940363e-05,1.80763247855e-05,1793240203640913152
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.353534185,745.353534185,714,679,665,635,879,787,803.646465815,653,631,652.353534185,0.402282726347,0.00450300256423,0.0599570640216,0.999999992341,0.000107227980611,-5.96213509706e-05,1.62861099793e-05,1793240203657579520
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.933081826,745.933081826,714,679,665,635,879,787,803.066918174,653,631,652.933081826,0.40248000753,0.00450348948356,0.0599567903204,0.999999992903,0.000103472509955,-5.73368844475e-05,1.41665052486e-05,1793240203674246144
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.49143517,714,679,665,635,879,787,803.50856483,652.49143517,631,652.49143517,0.402716967542,0.00450236312722,0.0599570002215,0.999999993768,9.83641116652e-05,-5.14481820109e-05,1.18621130847e-05,1793240203690913024
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.916437597,745,714,679,665,635,879,787,804.083562403,652.083562403,631,652.083562403,0.402963906456,0.00450121766366,0.059958043196,0.999999994658,9.29218998708e-05,-4.42719151006e-05,9.44845644269e-06,1793240203707579648
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.341174037,745,714,679,665,635,879,787,804.658825963,652.658825963,631,652.658825963,0.403239085495,0.00450119896234,0.0599636167074,0.999999995712,8.65546624241e-05,-3.22878052745e-05,6.53380002908e-06,1793240203724246272
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.23954548,745,714,679,665,635,879,787,804.520909039,652.76045452,631,652.76045452,0.40351797299,0.004501285245,0.059963890722,0.999999996209,8.1508757374e-05,-3.03902849963e-05,3.78514024992e-06,1793240203740913152
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.828216755,745,714,679,665,635,879,787,803.343566489,652.171783245,631,652.171783245,0.403802265364,0.00450152453669,0.0599564409792,0.999999995994,7.83886299102e-05,-4.31934752557e-05,1.27841260388e-06,1793240203757579776
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.589453903,745,714,679,665,635,879,787,803.410546097,652.410546097,631,652.410546097,0.404119843782,0.00450035491536,0.0599460829373,0.999999995751,7.09735981467e-05,-5.87948239448e-05,-1.96011024302e-06,1793240203774246400
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.009737838,745,714,679,665,635,879,787,803.990262162,652.990262162,631,652.990262162,0.404451138068,0.00449860473615,0.0599345264994,0.999999995222,6.17888045893e-05,-7.55491837998e-05,-5.5001771688e-06,1793240203790913024
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.566538744,665.566538744,635,879,787,804,652.433461256,631,653,0.40481947739,0.00449853193754,0.0599217603953,0.99999999335,5.41612733452e-05,-0.000101414263412,-9.07897681899e-06,1793240203807579392
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145270929,745,714,679.854729071,665.854729071,635,879,787,804,652.145270929,631,653,0.405202994312,0.0044981276743,0.0599138396861,0.999999991867,4.63910555588e-05,-0.000118132236216,-1.2606054717e-05,1793240203824246528
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.73163754,745,714,679.26836246,665.26836246,635,879,787,804,652.73163754,631,653,0.405630674203,0.00449662994903,0.0599206941224,0.999999993464,3.81068077087e-05,-0.000106603623225,-1.59740765473e-05,1793240203840915200
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,787,804,652.685809834,631,652.685809834,0.40609849588,0.00449469428069,0.0599396316369,0.999999996609,2.79177369307e-05,-7.5034833129e-05,-1.92734680435e-05,1793240203857581568
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,635,879,787,804,652.106475751,631,652.106475751,0.406600193109,0.00449238903365,0.0599687660173,0.999999999264,1.61211921696e-05,-2.65542103821e-05,-2.25149429936e-05,1793240203874246656
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.52728257,745,714,679,665.47271743,635,879,787,804,652,631,652.47271743,0.407134736617,0.00449065179601,0.0599942621266,0.999999999554,5.21761748496e-06,1.35765625269e-05,-2.60749529639e-05,1793240203890912768
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051369194,745,714,679.051369194,666,635,879,787,804,652,631,653,0.407675980146,0.00448893277295,0.0600161042054,0.999999998463,-5.52084931619e-06,4.65270477653e-05,-2.96296641894e-05,1793240203907579648
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.624840995,745,714,679.624840995,666,635,879,787,804,652,631,653,0.408210148747,0.00448609892206,0.0600091343243,0.999999999009,-1.6624876215e-05,2.56086487094e-05,-3.24015190303e-05,1793240203924246528
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.801736145,745,714,679.801736145,665.801736145,635,879,787,804,652,631,653,0.408751457036,0.00448063019532,0.0599986389263,0.999999998944,-3.00524521721e-05,1.4649815161e-07,-3.47708104225e-05,1793240203940913408
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.228405903,745,714,679.228405903,665.228405903,635,879,787,804,652,631,653,0.409306271825,0.00447017693255,0.0599814741193,0.999999997617,-4.78756100536e-05,-3.39113099961e-05,-3.63785507376e-05,1793240203957580032
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.358922346,714,679.358922346,665,635,879,787,804,652.358922346,631,652.641077654,0.409907879294,0.00446132471244,0.0599783472068,0.999999996369,-6.58497079557e-05,-3.7467746586e-05,-3.90120253797e-05,1793240203974246400
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.955519928,714,679.955519928,665,635,879,787,804,652.955519928,631,652.044480072,0.410540472446,0.00445353268919,0.0599845160659,0.999999995366,-8.39237563157e-05,-2.08264404745e-05,-4.23247322604e-05,1793240203990913024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714,680,665.533030072,635,879,787,804,652.466969928,631,652,0.411221836406,0.00445301716625,0.059996236019,0.999999994576,-9.28512352283e-05,3.5781687145e-06,-4.70521852756e-05,1793240204007579648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.891566384,714,680,666,635,879,787,804.108433616,652,631,652.108433616,0.411905489266,0.00445319163658,0.0600028593666,0.999999995256,-8.34352363385e-05,1.82731596023e-05,-4.68331435105e-05,1793240204024246528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.318600031,714,680,666,635,879,787,804.681399969,652,631,652.681399969,0.412582115239,0.00445381069843,0.0599857328405,0.999999999624,1.40797059539e-06,-1.130751225e-05,-2.49348987057e-05,1793240204040913152
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.261918188,714,680,666,635,879,787,804.738081812,652.261918188,631,653,0.413245404602,0.00445874133847,0.0599590241003,0.99999999666,4.8316504573e-05,-6.39444060291e-05,-1.60089345633e-05,1793240204057580032
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.851895384,714,680,666,635,879,787,804.148104616,652.851895384,631,653,0.413891989623,0.00446907233691,0.0599203133978,0.99999998801,4.7710933887e-05,-0.000145459791904,-2.33310699134e-05,1793240204074246400
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.434538987,745.565461013,714,679.565461013,666,635,879,787,804,653,631,652.565461013,0.41465668177,0.00446691026515,0.0599327924935,0.999999991651,3.63332336983e-05,-0.000120777366338,-2.81295500327e-05,1793240204090913024
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985379577,745,714,679,666,635,879,787,804,652.985379577,631,652,0.415461710619,0.00446074786666,0.0599627798369,0.999999997442,2.18568681004e-05,-6.01093299097e-05,-3.20086620313e-05,1793240204107579392
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.409295624,745,714,679,666,635,879,787,804,652.409295624,631,652,0.416295549284,0.00446176818968,0.0600062354599,0.999999998967,2.70381309854e-05,1.55652995907e-05,-3.30651061256e-05,1793240204124246016
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.169795541,745,714,679,665.830204459,635,879.169795541,787,804,652,631,652,0.417114052707,0.00446246908436,0.0600335952735,0.999999997028,3.24751055948e-05,6.11089727305e-05,-3.39948170432e-05,1793240204140912896
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.756266314,745,714,679,665.243733686,635,879.756266314,787,804,652,631,652,0.417894923673,0.0044623861075,0.0600214562554,0.999999998123,3.853959222e-05,3.27118115528e-05,-3.46135273216e-05,1793240204157579776
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.66137889,745.33862111,714,679,665.33862111,635,879.66137889,786.66137889,804,652,631,652,0.418694070286,0.00446174108417,0.060003435684,0.999999998488,4.11911272222e-05,3.29666229187e-06,-3.62860573737e-05,1793240204174246144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.081951152,745.918048848,714,679,665.918048848,635,879.081951152,786.081951152,804,652,631,652,0.419506213386,0.00446069636775,0.0599812325119,0.999999998033,4.14155794378e-05,-2.68424166342e-05,-3.87079995771e-05,1793240204190912768
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.504029516,714,679,666,635,879.495970484,786.495970484,804,652,631,652.495970484,0.420312018937,0.00446202793382,0.0599579954191,0.999999996439,4.54205312878e-05,-5.83513441779e-05,-4.06605030437e-05,1793240204207579648
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.073028162,665.926971838,635,879.926971838,787,804,652,631,652.926971838,0.421115155793,0.00446329821016,0.059933854666,0.999999994019,3.58467643761e-05,-9.43291620992e-05,-4.21866043209e-05,1793240204224246272
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.645870585,665.354129415,635,879.354129415,787,804,652,631,652.354129415,0.421907172693,0.00446146985007,0.0599046948586,0.999999983935,-7.09238847657e-05,-0.000159348185204,-4.13236252165e-05,1793240204240912896
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226124105,745,714,679.773875895,665.226124105,635,879.226124105,787,803.773875895,652,631,652,0.422757106926,0.00446036040012,0.0599046040762,0.999999976539,-0.000134455237092,-0.000164699518363,-4.14522819972e-05,1793240204257579520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.818377404,745,714,679.181622596,665.818377404,635,879.818377404,787,803.181622596,652,631,652,0.423700818222,0.00446041497433,0.0599515804459,0.999999988182,-0.000127975633132,-7.34398320241e-05,-4.31865480197e-05,1793240204274246144
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.597964153,745.402035847,714,679,666,635,880,787,803.402035847,652,631,652,0.4246252857,0.00445935444539,0.0600003816713,0.99999999182,-0.000120293770351,4.99846548623e-06,-4.31738796582e-05,1793240204290913024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018107261,745.981892739,714,679,666,635,880,787,803.981892739,652,631,652,0.425541241552,0.00445780070469,0.0600499900304,0.999999989797,-0.00011208014688,7.77658383758e-05,-4.23885394684e-05,1793240204307579648
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.557684098,745.442315902,714,679.557684098,666,635,880,787,804,652,631,652,0.426400065904,0.00445567233186,0.0600421692039,0.999999990093,-0.000110868776848,7.45995072701e-05,-4.42299018926e-05,1793240204324246016
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666,634.866831534,880,787,804,652,631,652,0.427255309515,0.00445422849335,0.0600290482867,0.999999991141,-0.000108375778748,6.20073793164e-05,-4.61206298089e-05,1793240204340913152
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,666,634.291930822,880,787,804,652,631,652,0.428104784051,0.00445511676018,0.0600044869253,0.999999993419,-0.000100882804504,2.62679974018e-05,-4.78942548355e-05,1793240204357579776
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.710383601,745.289616399,714,680,666,634.289616399,880,787,804,652,631.289616399,652.289616399,0.428929979919,0.00445612102631,0.0599781676725,0.999999994559,-9.09117942299e-05,-1.45256496653e-05,-4.90489327144e-05,1793240204374246400
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.12197943,745.87802057,714,680,666,634.87802057,880,787,804,652,631.87802057,652.87802057,0.429730128227,0.00445724496507,0.0599500348621,0.999999993867,-7.83842755929e-05,-6.05336146436e-05,-4.95650629098e-05,1793240204390913024
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460684945,745.539315055,714,680,666,635,880,787,804,652,631.539315055,652.539315055,0.430567323417,0.00445601429859,0.0599378637668,0.999999992616,-7.59628874557e-05,-8.01648533763e-05,-5.07079744145e-05,1793240204407579648
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880,787,804,652,631,652,0.431417887995,0.00445402037614,0.059934226013,0.99999999214,-7.60488389601e-05,-8.50887322933e-05,-5.19329580595e-05,1793240204424246272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880,787,804,652,631,652,0.432315888727,0.00445012583118,0.0599867647996,0.999999995819,-7.43870502436e-05,1.06290689265e-05,-5.2103188136e-05,1793240204440912896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714.192662266,680,666,635,880,787.192662266,804.385324532,652,631,652,0.433185140209,0.00444709974222,0.0600224367211,0.999999993556,-7.15377323067e-05,7.11293410831e-05,-5.20764493545e-05,1793240204457579520
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714.780289488,680,666,635,880,787.780289488,805.560578977,652,631,652,0.433995454805,0.00444585402028,0.0600235309391,0.999999994705,-6.62539352609e-05,5.94323600961e-05,-5.16459177844e-05,1793240204474246400
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.362764517,714.637235483,679.637235483,666,635,880.362764517,787.637235483,805.637235483,652,631,652.362764517,0.43477987792,0.00444340953143,0.0600034208641,0.999999996197,-6.52472686222e-05,2.45127997389e-05,-5.24166730506e-05,1793240204490913024
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.942162751,714.057837249,679.057837249,666,635,880.942162751,787.057837249,805.057837249,652,631,652.942162751,0.435548839254,0.00444024916962,0.0599706481261,0.999999996022,-6.67947953739e-05,-2.42746921005e-05,-5.39048061058e-05,1793240204507579648
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.480432486,745.480432486,714,679.519567514,666.519567514,635,880.480432486,787,804.480432486,652,631,652.480432486,0.436297787724,0.0044405814228,0.0599509039066,0.999999994693,-6.26434174871e-05,-6.07906192789e-05,-5.47162715977e-05,1793240204524246272
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.098165184,714,680,666.901834816,635,880,787,804.098165184,652,631,652.098165184,0.437035209639,0.00444037583003,0.0599345163841,0.999999992372,-5.88519831511e-05,-9.35265477019e-05,-5.51777080791e-05,1793240204540912896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.683784109,714,680,666.316215891,635,880,787,804.683784109,652,631,652.683784109,0.43772641487,0.00443557626276,0.0599276228369,0.999999990202,-5.99860242858e-05,-0.000114249713386,-5.42736333699e-05,1793240204557579776
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.266735612,745.733264388,714,680,666,634.733264388,880.266735612,787,804.733264388,651.733264388,631,652.733264388,0.438438836784,0.00443340331338,0.0599254514156,0.999999989262,-5.82232618084e-05,-0.00012314250382,-5.40638897852e-05,1793240204574246656
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.846556146,745.153443854,714,680,666,634.153443854,880.846556146,787,804.153443854,651.153443854,631,652.153443854,0.439176162049,0.00443431339646,0.0599288226607,0.999999990118,-5.30603326171e-05,-0.000118149212578,-5.46691278469e-05,1793240204590913024
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.425463302,714,680,665.574536698,634.425463302,880.574536698,787,804.425463302,651.425463302,631.425463302,652,0.439892563312,0.00443509151587,0.0599488670868,0.999999993475,-4.75381252406e-05,-8.85098855528e-05,-5.4361351281e-05,1793240204607579648
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.995990786,745.995990786,714,680,665,634.995990786,880.004009214,787,804.995990786,652,631.995990786,652,0.440600594678,0.0044358393545,0.0599745364079,0.9999999964,-4.18481647354e-05,-5.06154971227e-05,-5.37299674653e-05,1793240204624246272
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.422076782,745.422076782,714,680,665,634.422076782,880.577923218,787,804.422076782,652,631.422076782,652,0.441189241745,0.00443903358193,0.0599468390338,0.999999993074,-3.06917220191e-05,-0.000100074840056,-5.38046822674e-05,1793240204640912896
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664.848134991,634,880.848134991,786.848134991,804,652,631,652.151865009,0.441759724628,0.0044422344333,0.0599096565682,0.999999985194,-2.03744093806e-05,-0.000162126161245,-5.39542872428e-05,1793240204657579520
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664.27411583,634,880.27411583,786.27411583,804,652,631,652.72588417,0.442279714874,0.00444545369863,0.059846107451,0.999999964861,-1.23897069438e-05,-0.000259180658176,-5.43120718513e-05,1793240204674246144
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.311204271,714,680.311204271,664,634,880,786,804.311204271,652,631,653,0.442812219172,0.00444845865864,0.0598010934523,0.999999945398,-5.96364285943e-06,-0.000325720606106,-5.54532175852e-05,1793240204690912768
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.906853553,714,680.906853553,664,634,880,786,804.906853553,652,631,653,0.443356161455,0.00445126774043,0.0597730208124,0.999999931975,-9.62196343242e-07,-0.000364369829453,-5.73103664948e-05,1793240204707579392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680.513458339,663.513458339,633.513458339,880,786.486541661,805,651.513458339,631,652.513458339,0.443891959961,0.00445688113645,0.0597772624675,0.999999934264,3.01265531773e-06,-0.000357718386009,-5.91588302431e-05,1793240204724246016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.937072014,714,680.062927986,663,633,880,786.937072014,805,651.062927986,631,652,0.444419803699,0.00446338151176,0.0597865674796,0.999999938879,-1.78055329469e-06,-0.000344282944007,-6.08887931991e-05,1793240204740912640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.363470322,714,680.636529678,663,633,880,786.363470322,805,651.636529678,631,652,0.444895343334,0.00447286144709,0.0597883530789,0.999999936049,-7.61841149761e-05,-0.00034393863285,-6.16701623232e-05,1793240204757579520
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.784423654,662.784423654,632.784423654,880.215576346,786,805,652,631,652,0.445336686114,0.0044919670669,0.0597782634424,0.999999925311,-0.000108877566963,-0.000365366249317,-6.34873944245e-05,1793240204774246400
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.195958715,662.195958715,632.195958715,880.804041285,786,805,652,631,652,0.445718877564,0.00452772250837,0.0597476328697,0.999999905259,-6.9423837904e-05,-0.000424453395246,-6.70963886268e-05,1793240204790913024
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.611872706,632,880.611872706,786,805,652,631,652,0.446107228536,0.00456284716529,0.0597230456309,0.999999889963,-3.33243203201e-05,-0.000461927610995,-7.47397144275e-05,1793240204807579392
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.029972824,632,880.029972824,786,805,652,631,652,0.446498654684,0.00459765690618,0.0597014755243,0.999999877067,1.10061039697e-06,-0.000488611574706,-8.4397180959e-05,1793240204824246272
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,632,880,786,804.455956628,652,631,652,0.4468746202,0.00460296379922,0.0597102359588,0.999999885041,5.975105167e-06,-0.000471633054544,-8.62821154504e-05,1793240204840912896
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,631.880547133,880,786,804.119452867,652,631,652,0.44724074709,0.00460483275128,0.0597215736911,0.99999989424,8.58488029952e-06,-0.000451513291412,-8.70703169849e-05,1793240204857579776
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,631.298077346,880,786,804.701922654,652,631,652,0.447571992548,0.00459958600446,0.0597365169188,0.999999904563,8.63655246875e-06,-0.000428408431617,-8.52435164222e-05,1793240204874246144
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.28511291,714,680,660.71488709,631.28511291,880.28511291,786,805,652,631,652,0.447882017818,0.00459939038684,0.0597425320574,0.999999908579,3.87658837624e-05,-0.000419015977723,-7.59244258935e-05,1793240204890912768
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.869058271,714,680,660.130941729,631.869058271,880.869058271,786,805,652,631,652,0.448169801772,0.00460448895742,0.0597391894893,0.999999903346,0.00010042020121,-0.000423995766494,-5.87525187608e-05,1793240204907579648
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.449299812,746,714,680,660,631.550700188,880.550700188,786,805,652,631,652,0.448416957344,0.00461104127161,0.0597273503029,0.999999894212,0.000115569782807,-0.000441450079924,-5.78022401551e-05,1793240204924246272
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.971837653,746,714,680,660,631,880,786,805,652,631,652.028162347,0.448649876701,0.00461756699264,0.0597127672533,0.999999884122,0.00011694889404,-0.000462929338764,-6.14453090059e-05,1793240204940912896
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.398940406,746,714,680,660,631,880,786,805,652,631,652.601059594,0.448834584728,0.00461545039142,0.0596926155143,0.999999870444,0.000111980305936,-0.000492516190192,-6.3240164978e-05,1793240204957579776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.820720331,713.820720331,680,659.820720331,631,880,786,805,652,631,652.820720331,0.449014037886,0.004614682181,0.0596765496687,0.999999858706,0.000108601730819,-0.000516300528182,-6.50239146425e-05,1793240204974246144
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.230293339,713.230293339,680,659.230293339,631,880,786,805,652,631,652.230293339,0.449181439874,0.00461700627501,0.0596698541249,0.999999853096,0.00010886957999,-0.000526777788683,-6.67821937454e-05,1793240204990913024
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.353376328,680.353376328,659.353376328,631,880,786,805,652,631,652,0.449341711067,0.00461703543775,0.0596692328684,0.999999853152,0.00010658366859,-0.000526996406227,-6.79014983165e-05,1793240205007579648
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.932724971,680.932724971,659.932724971,631,880,786,805,652,631,652,0.449497422373,0.00461559706911,0.0596724959145,0.999999856835,0.000102664712946,-0.000520654966545,-6.8612200269e-05,1793240205024246272
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.491484851,659.491484851,631,880.508515149,786,805,652,630.491484851,652,0.449629737871,0.00461969421368,0.0596726239193,0.999999857153,0.000107254408615,-0.000518986823541,-6.95974184496e-05,1793240205040912896
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713.914388872,680,659,630.914388872,880.914388872,785.914388872,805,652,630,652,0.449754035966,0.00462390662145,0.059672239144,0.999999856873,0.00011212779289,-0.00051836694847,-7.05529131955e-05,1793240205057579520
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713.326896972,680,659,630.326896972,880.326896972,785.326896972,805,652,630,652,0.449849352416,0.00462453140462,0.059671262825,0.999999855834,0.000112111069008,-0.000520293090396,-7.11227330443e-05,1793240205074246144
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713.836242292,680,659,630,880,785,805,652,630.836242292,652,0.450004074719,0.0046235468917,0.0596656055922,0.999999851573,0.000110048010993,-0.000528731771151,-7.20174804159e-05,1793240205107579392
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.413911115,714,680.413911115,659,630,880,785.413911115,805,652,631,652,0.450063952848,0.00462501942342,0.0596641332427,0.999999849972,0.000112245766113,-0.00053121176954,-7.26036275272e-05,1793240205124246272
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.990942261,714,680.990942261,659,630,880,785.990942261,805,652,631,652,0.450119668508,0.00462743595049,0.0596634767628,0.999999848741,0.000115870317399,-0.000532657955714,-7.3263064584e-05,1793240205140913152
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,680.435234531,659,630,880,786,805,652,631,652.564765469,0.450162762654,0.0046281778147,0.0596625526208,0.999999848862,0.000117060099213,-0.000532215463054,-7.29326095094e-05,1793240205157579776
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.858038584,714,680.141961416,659,630,880,785.858038584,805,652,631,652.858038584,0.450202363354,0.00462873072106,0.0596621990995,0.999999849161,0.000117931491122,-0.000531504886879,-7.26105881871e-05,1793240205174246144
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.270086111,714,680.729913889,659,630,880,785.270086111,805,652,631,652.270086111,0.450231621261,0.00462877389304,0.0596636516704,0.999999849954,0.000117924602434,-0.000530046715004,-7.23646574327e-05,1793240205190912768
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.315230352,745,714,680.684769648,659,630,880,785.315230352,805,652,630.684769648,652.315230352,0.45025228003,0.00462896104884,0.0596625380366,0.999999848861,0.000119029478615,-0.000531874181098,-7.22441636225e-05,1793240205207579648
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.952686684,745,714,680.952686684,658,629,880,785.047313316,805,652,630,653,0.450289108808,0.00463166035398,0.0596613440443,0.999999847807,0.000126369446384,-0.000532158536407,-7.22726799546e-05,1793240205257579520
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.375772405,745,714,680.375772405,658,629,880,785.624227595,805,652,630,653,0.450294809747,0.00463033785651,0.0596600324446,0.999999846651,0.000122810707536,-0.000535170189219,-7.21635877745e-05,1793240205274246144
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.20509082,629.20509082,880.20509082,785.79490918,805,652,630.20509082,653,0.450299108857,0.00462978855808,0.0596590167576,0.999999845755,0.000120985808496,-0.000537265506661,-7.21023263396e-05,1793240205290913024
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.793331413,629.793331413,880.793331413,785.206668587,805,652,630.793331413,653,0.450300789076,0.00463068374677,0.0596585538936,0.999999845375,0.000122400061608,-0.000537648930211,-7.21304221025e-05,1793240205307579648
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.955696609,714,680.955696609,658.044303391,630,881,785,805,652,631,653,0.450301185457,0.00463037265895,0.0596561873256,0.999999843262,0.000124270316693,-0.0005411879003,-7.17467655328e-05,1793240205340912896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.467923929,714,680.467923929,658,629.467923929,880.467923929,785,804.467923929,652,631,652.467923929,0.450303811064,0.00462990128227,0.0596570924051,0.99999984427,0.00012318764051,-0.000539551743905,-7.18983604569e-05,1793240205357579520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.110156763,714,680.110156763,658,629,880.110156763,785,804.110156763,652,631,652,0.450306040508,0.00462948047279,0.0596577558926,0.999999845078,0.000122494590561,-0.000538201720634,-7.19580853133e-05,1793240205374246144
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.696776484,714,680.696776484,658,629,880.696776484,785,804.696776484,652,631,652,0.450305574537,0.00462931128349,0.0596565719825,0.999999844252,0.000124172482898,-0.000539414014064,-7.14807470839e-05,1793240205390913024
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.72002015,714,681,658,629,880.72002015,785,805,652,631,652.27997985,0.450305382034,0.00462975613454,0.059656131761,0.999999843609,0.000125959111837,-0.000540229416126,-7.11868384335e-05,1793240205407579648
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.140472086,714,681,658,629,880.140472086,785,805,652,631,652.859527914,0.450305482133,0.00463085798634,0.0596564872592,0.999999843164,0.000127862085177,-0.000540620159072,-7.10891926748e-05,1793240205424246272
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.437240856,745,714,681,658,629,880.874481712,785,805,652,630.562759144,652.562759144,0.450305173102,0.0046310909123,0.0596557645433,0.999999842858,0.000127063137337,-0.000541330814267,-7.14141811188e-05,1793240205440912896
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.985682705,745.014317295,714,681,658,629.014317295,881.985682705,785.014317295,805,652,630.014317295,652.014317295,0.450304832994,0.00463100821203,0.05965477549,0.99999984266,0.000125406295725,-0.000542023874025,-7.18529663111e-05,1793240205457579520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.410539863,745.589460137,714,681,658,629.589460137,881.410539863,785.589460137,805,652,630.589460137,652.589460137,0.450308402745,0.00462945135328,0.0596568657548,0.999999845027,0.000124004951629,-0.000538018590948,-7.14528945967e-05,1793240205474246144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.831221113,714,681,658.168778887,629.831221113,881,786,805,652,631,653,0.450310336213,0.00462818827891,0.0596578482371,0.999999846138,0.000123186729122,-0.000536202678337,-7.09608504568e-05,1793240205490912768
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.241487176,714,681,658.758512824,629.241487176,881,786,805,652,631,653,0.450308188594,0.00462765793856,0.059656067775,0.99999984415,0.00012382288279,-0.000539847321916,-7.02394159397e-05,1793240205507579392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.34229471,713.65770529,681,659,629,881,786,805,652,631,653,0.450306890793,0.0046291011255,0.0596550428747,0.999999842773,0.000126169853922,-0.000541819733968,-7.04798925376e-05,1793240205524246272
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.9219492,713.0780508,681,659,629,881,786,805,652,631,653,0.450306182288,0.00463191282909,0.0596545419089,0.999999841815,0.000129703168969,-0.000542632558837,-7.13873938163e-05,1793240205540912896
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.502893954,713.497106046,681,658.502893954,629,881,785.502893954,805,652,631,652.502893954,0.450306453565,0.00463049602535,0.0596543099425,0.999999841828,0.000129735867765,-0.000542643449131,-7.10684123277e-05,1793240205557579776
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.246317328,714,680.753682672,658,629.246317328,881,785.753682672,805,652,631,653,0.450308919512,0.00462957223183,0.0596554366412,0.999999843204,0.000128079361094,-0.000540581690978,-7.04155737465e-05,1793240205607579648
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.826007362,714,680.173992638,658,629.826007362,881,785.173992638,805,652,631,653,0.450310995919,0.00463011290383,0.0596572311888,0.999999844448,0.000128556279322,-0.000538139952569,-7.05814065078e-05,1793240205624246272
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680.403407537,658.403407537,630,880.596592463,785,805,652.403407537,631,653,0.450310440384,0.00463063574405,0.0596566425764,0.999999843699,0.000128739651113,-0.000539459768275,-7.07833465285e-05,1793240205640912896
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680.97982562,658.97982562,630,880.02017438,785,805,652.97982562,631,653,0.450308756079,0.00463115093666,0.0596550318912,0.99999984209,0.000128797128772,-0.00054239281261,-7.10007719624e-05,1793240205657579776
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681,658.443779982,630,880.556220018,785,805,652.443779982,631,653,0.450308283313,0.00463310345299,0.0596545672142,0.999999841593,0.00013174900826,-0.000542619848994,-7.08541175857e-05,1793240205674246400
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629.865098594,881,785,805,652.134901406,631,652.865098594,0.45030809318,0.00463391842198,0.059654272036,0.999999841326,0.00013315862498,-0.000542790877453,-7.06740646612e-05,1793240205690913280
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+260,4.333333333,HOLD_POSE2,765,745,714,681,658,629,880.482565053,785.482565053,805.482565053,652,630.482565053,652.482565053,0.450308621335,0.00463138277469,0.0596541297677,0.999999841058,0.000130399268368,-0.00054392382777,-7.0894849734e-05,1793240205844267264
+261,4.350000000,HOLD_POSE2,765.060593486,745,714,681,658,629,880.939406514,786,805.939406514,652,631,652.939406514,0.450309168376,0.00463048884796,0.0596539243529,0.999999841346,0.000129433258765,-0.000543609485135,-7.10257319188e-05,1793240205860933888
+262,4.366666667,HOLD_POSE2,765.635272775,745,714,681,658,629,880.364727225,786,805.364727225,652,631,652.364727225,0.450309960964,0.00462921543164,0.0596552828664,0.9999998424,0.000127744866602,-0.000542126061685,-7.05699056305e-05,1793240205877600512
+263,4.383333333,HOLD_POSE2,765.789991608,745,714,681,658,629.210008392,880,786,804.789991608,652,631,652,0.450310886094,0.00462875842676,0.0596560777471,0.999999843096,0.000126673931291,-0.000541124684643,-7.03206335234e-05,1793240205894267136
+264,4.400000000,HOLD_POSE2,765.215158198,745,714,681,658,629.784841802,880,786,804.215158198,652,631,652,0.450312041475,0.00462971968591,0.0596558934891,0.999999843177,0.000126675637611,-0.000540960715193,-7.04301858526e-05,1793240205910933760
+265,4.416666667,HOLD_POSE2,765,745.369914508,714,681,658,629.630085492,880.369914508,785.630085492,804.369914508,652,631,652,0.450312176981,0.00463108831285,0.0596554518381,0.999999842725,0.000128128868978,-0.000541454678568,-7.04252835165e-05,1793240205927600640
+266,4.433333333,HOLD_POSE2,765,745.961112432,714,681,658,629.038887568,880.961112432,785.038887568,804.961112432,652,631,652,0.450311702397,0.00463270062791,0.0596548562144,0.999999841949,0.000130450404813,-0.000542342218327,-7.03519142371e-05,1793240205944267264
+267,4.450000000,HOLD_POSE2,765,746,714,681,658,629,880.459706938,785,805,652,631,652,0.45031074394,0.00463114114508,0.0596540140984,0.999999841737,0.000130755740917,-0.000542691330926,-7.01050966178e-05,1793240205960933888
+268,4.466666667,HOLD_POSE2,765,745.881761336,713.881761336,681,658,629,880,785,805,652,631,652,0.450310271343,0.00462952529464,0.0596535646452,0.999999841838,0.000130356534504,-0.0005426259245,-6.99180075738e-05,1793240205977600768
+269,4.483333333,HOLD_POSE2,765,745.305322645,713.305322645,681,658,629,880,785,805,652,631,652,0.45031181358,0.00462855643074,0.0596547040992,0.999999842991,0.000127777194826,-0.000541101078174,-7.00097047112e-05,1793240205994268416
+270,4.500000000,HOLD_POSE2,765,745.276354918,713.276354918,680.723645082,658,629,880,785.276354918,805,652,631,652,0.450313239621,0.00462821125956,0.059655914168,0.999999843932,0.000126985854307,-0.000539537034913,-7.00772606727e-05,1793240206010935040
+271,4.516666667,HOLD_POSE2,765,745.863932302,713.863932302,680.136067698,658,629,880,785.863932302,805,652,631,652,0.450314534803,0.00462856847212,0.0596572037611,0.999999844639,0.000128208103977,-0.000537928849354,-7.01176295744e-05,1793240206027601152
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,629,880,786,805,652,631,652,0.450309673028,0.00463124514596,0.0596538821055,0.999999841189,0.000128637551648,-0.000544167665383,-7.03960879583e-05,1793240206060258048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,658.427721364,629,880.572278636,785.427721364,805,652,631,652,0.450311937745,0.00463102399117,0.0596551524317,0.999999842262,0.000130091062198,-0.00054186603035,-7.02337340156e-05,1793240206076924160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.145255476,746,714,680.854744524,658,629,881,785.145255476,805,652,631,652.145255476,0.450313013635,0.00463096726303,0.0596555952691,0.999999842664,0.0001309745726,-0.000540915144558,-7.02035272353e-05,1793240206093590272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.720298324,746,714,680.279701676,658,629,881,785.720298324,805,652,631,652.720298324,0.450310571979,0.0046313970466,0.0596535897017,0.999999841091,0.000130171545442,-0.000543960905956,-7.05643224195e-05,1793240206110256896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.693620195,746,714,680.306379805,658,629,881,785.693620195,805,652,631,652.693620195,0.450309507271,0.00463127569462,0.0596528654762,0.999999840558,0.000130120355736,-0.000544947639652,-7.06062068521e-05,1793240206126923520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.097084659,746,714,680.902915341,658,629,881,785.097084659,805,652,631,652.097084659,0.450309746598,0.00463063239196,0.0596533547403,0.999999841014,0.00013078119064,-0.000543984379464,-7.03460681503e-05,1793240206143589888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.481270581,746,714,681,658,629,881,785.481270581,804.518729419,652,631,652,0.450309837781,0.00463048586936,0.0596535806169,0.999999841241,0.000130039797729,-0.000543735171403,-7.04192858625e-05,1793240206160256512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,658,629,881,785.943915429,804.056084571,652,631,652.056084571,0.45030920232,0.00463035656634,0.0596533521603,0.999999841123,0.000129049116663,-0.000544174994852,-7.05214557877e-05,1793240206176923136
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,658,629,881,785.369169037,804.630830963,652,631,652.630830963,0.450302113262,0.00462949348396,0.0596493955692,0.999999838216,0.000128273733041,-0.000549703283005,-7.02921222248e-05,1793240206193590016
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.794961363,658,629.205038637,880.794961363,785,805,652.205038637,631,653,0.450288515886,0.0046293319298,0.0596432000999,0.999999832918,0.000128366867897,-0.000559257622632,-7.01227035029e-05,1793240206210256640
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.221721164,658,629.778278836,880.221721164,785,805,652.778278836,631,653,0.45026323109,0.00463043015675,0.0596329841282,0.999999823181,0.000130019659406,-0.000576041810864,-7.00608778733e-05,1793240206226923264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.634728537,713.634728537,680,658,629.634728537,880.365271463,785.365271463,805,653,631,652.634728537,0.450222740755,0.00463181082231,0.0596171647316,0.999999809521,0.00013151215415,-0.000598931558035,-7.03120279665e-05,1793240206243590144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.039061486,713.039061486,680,658,629.039061486,880.960938514,785.960938514,805,653,631,652.039061486,0.4501726595,0.00463336963659,0.0595978109643,0.999999792932,0.000132903541546,-0.000625672398116,-7.07605879839e-05,1793240206260257024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.461802753,745,713.538197247,680.538197247,658,629,880.461802753,786,805,652.461802753,631,652.538197247,0.450106986444,0.00463123959214,0.0595825979407,0.99999978162,0.000132437313301,-0.00064358905239,-7.07992835394e-05,1793240206276923648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.113801156,714,681,658,629,880,785.886198844,805,652,631,653,0.450037276409,0.00462983175297,0.0595693384517,0.999999771299,0.00013277112595,-0.000659367427514,-7.07719002965e-05,1793240206293590272
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.687937022,714,681,658,629,880,785.312062978,805,652,631,653,0.449955662583,0.00463239246824,0.0595628057037,0.99999976436,0.000136868499463,-0.000669001271682,-7.05935737046e-05,1793240206310256640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.729297563,657.729297563,629,880,785,805,652,630.729297563,653,0.449867602623,0.0046329778628,0.0595585495687,0.999999759688,0.00013872583414,-0.00067562652846,-7.00523262577e-05,1793240206326923264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.136256561,657.136256561,629,880,785,805,652,630.136256561,653,0.44977186694,0.00463121114669,0.0595570043081,0.999999757808,0.000137915845323,-0.000678669313289,-6.90789313029e-05,1793240206343589888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.444105481,745.555894519,714,680.444105481,657.444105481,629.444105481,880.444105481,785,805,652,630.444105481,653,0.44965265223,0.00463258584289,0.0595553927836,0.9999997566,0.000140206984929,-0.000679997784787,-6.88839661003e-05,1793240206360257024
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.979336148,745.020663852,713.979336148,681,658,629.979336148,881,785,805,651.979336148,631,653,0.449525294789,0.00463480374344,0.059553788828,0.999999755548,0.000143357845327,-0.00068088980044,-6.88555945306e-05,1793240206376923904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.403357944,745.596642056,713.403357944,681,658,629.403357944,881,785,805,651.403357944,631,653,0.44936732677,0.00463449918308,0.059552919468,0.999999753487,0.000144753031093,-0.00068379507174,-6.70640887481e-05,1793240206393590272
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.172107878,746,713.172107878,681,658.172107878,629.172107878,880.827892122,785,805,651.172107878,630.827892122,653,0.44920074967,0.00463419527747,0.0595520257626,0.999999751051,0.000147342161944,-0.000686968592868,-6.52875173794e-05,1793240206410256640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.746376346,746,713.746376346,681,658.746376346,629.746376346,880.253623654,785,805,651.746376346,630.253623654,653,0.449014055949,0.00463389290188,0.05955107517,0.999999747738,0.000152721157117,-0.000690768926904,-6.35458431695e-05,1793240206426923264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.667510239,745.667510239,714,681,658.667510239,630,880.332489761,785.332489761,805,652,630.332489761,652.667510239,0.448809938708,0.00463440877891,0.0595501305215,0.999999744912,0.000157883231283,-0.00069385313312,-6.17715267757e-05,1793240206443589888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.072027644,745.072027644,714,681,658.072027644,630,880.927972356,785.927972356,805,652,630.927972356,652.072027644,0.448592039789,0.00463557187756,0.0595491905747,0.999999742472,0.000162873725796,-0.000696370896785,-5.99713908719e-05,1793240206460256768
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.504617783,714,681,658.504617783,630,881,785.495382217,805,652,631,652,0.448348591506,0.0046368792898,0.0595542796114,0.999999746361,0.000169311286033,-0.000689381732016,-5.80047891365e-05,1793240206476923392
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,630,881,785,805,652,631,652,0.448096254896,0.00463794869525,0.0595612147956,0.999999752133,0.000175718112508,-0.000679512026769,-5.58559746456e-05,1793240206493589760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,630,881,785,805,652,631,652,0.447810086833,0.00463739436228,0.0595745511089,0.99999976466,0.000180677601828,-0.000659741226525,-5.27040237553e-05,1793240206510256896
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,630.234188861,881,785.234188861,805,652,631,652.234188861,0.447509189546,0.0046376159211,0.059586474226,0.99999977585,0.000186204885637,-0.000641203833817,-4.98502924948e-05,1793240206526923776
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,630.824548161,881,785.824548161,805,652,631,652.824548161,0.447185891062,0.00463901750925,0.0595962480569,0.999999785301,0.000192595709899,-0.000624542293041,-4.74501142516e-05,1793240206543590400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.593038797,714,681,659.406961203,631,881,786,805.406961203,652,630.593038797,653,0.446822926045,0.00463869843807,0.0596017946539,0.999999787162,0.000198434128449,-0.000619984040418,-4.38220178954e-05,1793240206560257024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.013986001,714,681,659.986013999,631,881,786,805.986013999,652,630.013986001,653,0.446443187259,0.00463765175204,0.0596055536812,0.99999978586,0.000204038951165,-0.00062054390297,-3.96746721472e-05,1793240206576923648
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.560933209,714,680.439066791,660,631,881,786,805.439066791,652,630.560933209,652.439066791,0.446009307773,0.00463867029449,0.0595955601873,0.999999772994,0.000213722452168,-0.000637981832057,-3.62451977843e-05,1793240206593590016
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.134987462,745.865012538,714,680.134987462,660,631.134987462,881,786.134987462,805,652.134987462,631,652.134987462,0.445562635078,0.00463856950989,0.059586257524,0.999999760809,0.000222603257078,-0.000654043678372,-3.25121580267e-05,1793240206610256384
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.706574913,745.293425087,714,680.706574913,660,631.706574913,881,786.706574913,805,652.706574913,631,652.706574913,0.445078918635,0.00463468307217,0.0595802902147,0.999999752845,0.000228561325306,-0.000664303595046,-2.77398062362e-05,1793240206626923264
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.290482994,632,880.709517006,786.709517006,805,652.709517006,631,653,0.444601495023,0.00463284021735,0.0595855627564,0.999999759382,0.000235856415118,-0.000651960722705,-2.35475060542e-05,1793240206643590144
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.887387809,632,880.112612191,786.112612191,805,652.112612191,631,653,0.44413070947,0.00463315307651,0.0596026918801,0.999999780306,0.000244561889523,-0.000615774845062,-1.99670843516e-05,1793240206660257024
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.467578758,714,681,661.467578758,632.467578758,880,786.467578758,805,652,631,652.532421242,0.443634784149,0.00463263635933,0.0596357267845,0.999999810245,0.000252218564978,-0.000561843038236,-1.50865875525e-05,1793240206676923648
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.956187141,746,714,681,662.043812859,633,880.043812859,786.956187141,805,652,631,652,0.443126867934,0.00463167867799,0.0596708725843,0.999999837762,0.000259661151207,-0.000506908338577,-9.8311436461e-06,1793240206693590272
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.741679119,680,664.741679119,634,880.258320881,787,804.258320881,652,631.741679119,652.258320881,0.437190053148,0.00462901645387,0.059827019103,0.999999901467,0.000340611564935,-0.000282676190002,3.38091958558e-05,1793240206843590400
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.149295918,680,664.149295918,634,880.850704082,787,804.850704082,652,631.149295918,652.850704082,0.436336468089,0.00463379042753,0.0597697264692,0.99999986418,0.000356279461812,-0.000378524764584,3.77275803795e-05,1793240206860256768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.567994035,714.432005965,680,664.432005965,634,881,787,805,652,631,652.567994035,0.435534807775,0.004633946536,0.0597537476256,0.99999985845,0.000363893690486,-0.000386057419728,4.05198287549e-05,1793240206876923392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.009542379,714.990457621,680.009542379,665,634,880.990457621,787,804.990457621,652,631.009542379,652,0.43475014455,0.00463261998493,0.0597519401096,0.999999865444,0.000367251789311,-0.000363918060509,4.24441412977e-05,1793240206893590016
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.585201517,714.414798483,680.585201517,665,634,880.414798483,787,804.414798483,652,631.585201517,652,0.43393589361,0.00463564240729,0.0597650155176,0.999999900779,0.000279099270906,-0.000346855033925,1.53880027176e-05,1793240206910256640
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745.835271773,714,680.835271773,665,634.164728227,880,787,804.164728227,652,631.835271773,652,0.433111406874,0.00463519784214,0.0597789225923,0.999999922493,0.00021704720643,-0.000328483779078,-1.57373443963e-06,1793240206926923264
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745.245772102,714,680.245772102,665,634.754227898,880,787,804.754227898,652,631.245772102,652,0.432260525962,0.00462581323464,0.0597949742185,0.999999928219,0.000222298296339,-0.000306739108766,7.49415233316e-06,1793240206943589888
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.661993078,745.338006922,714,680,665,635,880,787,805,652.338006922,631.338006922,652.338006922,0.431419513978,0.00462536185431,0.0598146426219,0.99999993414,0.000236125713106,-0.000275253794865,1.41627970761e-05,1793240206960256768
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.082304456,745.917695544,714,680,665,635,880,787,805,652.917695544,631.917695544,652.917695544,0.430585558511,0.00463129791024,0.0598368970925,0.999999938989,0.000256085374361,-0.000236803726845,1.91159354409e-05,1793240206976923136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.492828118,745.507171882,714,680,665,634.507171882,880,787,804.507171882,652.507171882,631.507171882,653,0.42968245975,0.0046359226269,0.0598272696723,0.999999928985,0.000268674410304,-0.000263327186507,2.24103140044e-05,1793240206993589760
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.932875224,745.067124776,714,680,665,634.067124776,880,787,804,652,631.067124776,652.932875224,0.42876771798,0.00463931307645,0.0598085590503,0.999999914807,0.000277210789178,-0.000304821417516,2.49890746269e-05,1793240207010256896
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.359197721,745.640802279,714,680,665,634.640802279,880,787,804,652,631.640802279,652.359197721,0.427851455725,0.00463502673381,0.0597611149479,0.99999989326,0.00026436807172,-0.000378156313803,2.42388351363e-05,1793240207026923520
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,635,880,787,804.222207459,652,631.777792541,652.222207459,0.42695373071,0.00463384198398,0.0597421491407,0.999999885687,0.000254697958419,-0.000403996820708,2.32881292057e-05,1793240207043590144
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,635,880,787,804.816554576,652,631.183445424,652.816554576,0.426087050601,0.00463785159416,0.0597708770582,0.999999907069,0.000250341130751,-0.000350296600781,2.20016941789e-05,1793240207060256768
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.39832347,746,714,680,665,635,880,787.39832347,804.60167653,652,631.39832347,653,0.425215511007,0.00463837767673,0.0598003343336,0.999999919557,0.000250153905362,-0.000312606562258,2.42256368454e-05,1793240207076923392
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.974476831,746,714,680,665,635,880,787.974476831,804.025523169,652,631.974476831,653,0.424341801968,0.00463734855234,0.059830117226,0.999999928119,0.000251828182212,-0.000282064207316,2.80167734229e-05,1793240207093590016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.450370307,745.450370307,714,680,665,635,880,788,804,652,631.450370307,653,0.423475942847,0.00463657669971,0.0598396625818,0.99999993474,0.000247349301609,-0.000261739983936,2.88182728005e-05,1793240207110256640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787.875536332,804,652,631,653,0.42260943021,0.00463630876286,0.0598459962387,0.999999939294,0.000243409965511,-0.000247581417538,2.94530311855e-05,1793240207126923520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787.301686307,804,652,631,653,0.421739244273,0.00463781719853,0.0598441207464,0.999999937908,0.000242448492833,-0.000253974359119,2.99861033399e-05,1793240207143590144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.281573475,745,714,680,665,635,880,787.281573475,804.281573475,652.281573475,631.281573475,652.718426525,0.420823006396,0.00463850277903,0.0598128060068,0.999999922372,0.000239245619432,-0.000311610797257,3.02534463623e-05,1793240207160256768
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.875263683,745,714,680,665,635,880,787.875263683,804.875263683,652.875263683,631.875263683,652.124736317,0.41985572122,0.00463827624628,0.0597488586419,0.999999881509,0.000233558210484,-0.000426049289927,3.02262353578e-05,1793240207176924160
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,634.544710614,880,787.544710614,805,652.544710614,631.544710614,652,0.419003971452,0.00463609783251,0.0597347305196,0.999999881504,0.000225171010207,-0.000430674273444,2.84508491866e-05,1793240207193590528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.968410587,745.031589413,714,680,665,634.031589413,880,787,804.968410587,652.031589413,631,652.031589413,0.418185007624,0.00463362760008,0.0597363017972,0.99999989447,0.000216792656542,-0.000404180418966,2.64514569606e-05,1793240207210256640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.393677241,745.606322759,714,680,665,634.606322759,880,787,804.393677241,652.606322759,631,652.606322759,0.417401375797,0.00463506655232,0.0597799646219,0.999999915729,0.000220913554985,-0.000344851240241,2.85955865124e-05,1793240207226923520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.180754056,745.819245944,714,680,665,635,880,787,804,652.819245944,631,653,0.416619740158,0.00463528532332,0.059816346357,0.999999929565,0.000225718773731,-0.00029829303935,3.07084196414e-05,1793240207243590400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.754528709,745.245471291,714,680,665,635,880,787,804,652.245471291,631,653,0.415842444759,0.00463285100696,0.0598368965434,0.999999933488,0.000232011938968,-0.000279503264623,3.27532043247e-05,1793240207260257024
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.658565153,745,714.341434847,680,665,635,880,787.341434847,804,652.341434847,631,653,0.415063948398,0.00463098235773,0.0598468383419,0.999999927297,0.000269353035827,-0.00026784405427,3.33844424763e-05,1793240207276923648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.061840684,745,714.938159316,680,665,635,880,787.938159316,804,652.938159316,631,653,0.414284554127,0.00462953665593,0.0598488482852,0.999999910842,0.000329908559798,-0.00026151634198,3.29587766933e-05,1793240207293590016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.516051548,745.516051548,714.483948452,680,665,635,879.483948452,787.483948452,804.516051548,652.483948452,631,653,0.413515426717,0.00462922192502,0.0598393280545,0.999999905423,0.000330879432489,-0.000280264352105,3.35433063629e-05,1793240207310256640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.908745427,745.908745427,714,680,665,634.908745427,879,787,804.908745427,652,631,653,0.412749450503,0.00462865421368,0.0598229270741,0.999999899228,0.00032334585456,-0.0003095849073,3.38804956952e-05,1793240207326923264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.336242097,745.336242097,714,680,665,634.336242097,879,787,804.336242097,652,631,653,0.411993832856,0.0046260627862,0.0597772692886,0.999999880302,0.000307292302617,-0.000379372688437,3.2297352006e-05,1793240207343589888
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,634.244175325,879,787,804,652.244175325,631,653,0.411282662946,0.00462434119584,0.0597527771762,0.999999871289,0.000293102371024,-0.00041297174025,3.11006981381e-05,1793240207360256512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,634.835855869,879,787,804,652.835855869,631,653,0.410634750191,0.00462385753972,0.0597584076112,0.999999881858,0.000281564707996,-0.000395067745234,3.04540888146e-05,1793240207376923392
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.41791606,714,680,665,635,879,787,804,653,631.41791606,653,0.410016120539,0.00462247861364,0.0597946634451,0.999999904597,0.000273068620562,-0.00033948831658,3.14104311054e-05,1793240207393590016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.996282756,714,680,665,635,879,787,804,653,631.996282756,653,0.409408733503,0.00462075596626,0.0598426772978,0.999999927847,0.000265740284047,-0.000269444144702,3.29821948968e-05,1793240207410256896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.426689224,714,680,665,635,879.573310776,787,804,653,631.426689224,653,0.408819332937,0.00461837870715,0.0598564807886,0.999999934362,0.00025922152375,-0.000250862506082,3.38876405668e-05,1793240207426923776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.148525752,745.148525752,714.148525752,680,665,635,880,787,804,653,631,653,0.408236424126,0.00461643071129,0.0598621927486,0.999999938039,0.000251848648807,-0.000243559160946,3.42584875722e-05,1793240207443590400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.71861939,745.71861939,714.71861939,680,665,635,880,787,804,653,631,653,0.407671610801,0.0046157131327,0.0598455662436,0.99999993443,0.000242036633011,-0.000267322666079,3.31241912426e-05,1793240207460257024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.697790951,679.697790951,665.302209049,635,879.697790951,787,804,653,631,653,0.407131516542,0.00461454170581,0.0598327311872,0.999999931999,0.00023381123648,-0.000283392587508,3.19886272596e-05,1793240207476923392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.101048064,679.101048064,665.898951936,635,879.101048064,787,804,653,631,653,0.406615513594,0.00461292795705,0.0598235912887,0.999999931108,0.000227132164477,-0.000291964318077,3.0851827899e-05,1793240207493590272
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.520725283,714,679,665.520725283,635,879.479274717,787,804,653,631,653,0.406137954082,0.00461242959417,0.0598292392253,0.999999935687,0.000221904334889,-0.00028009888891,3.04938729855e-05,1793240207510256896
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.05551523,714,679,665,635,879.94448477,787,804,653,631,653,0.405672200461,0.00461200525383,0.0598364456298,0.999999940512,0.000216984477664,-0.000266413100306,3.0304084451e-05,1793240207526923264
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.624951591,714,679,665,635,879.375048409,787,804,653,631,653,0.40524319038,0.00461016130288,0.0598301729205,0.999999939375,0.00021217695446,-0.000274442931754,3.02012949438e-05,1793240207543589888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.796077831,714,679.203922169,665,635,879.203922169,787,804.203922169,653,631.203922169,653,0.404819465091,0.00460797584944,0.0598189102393,0.999999935101,0.000208265790411,-0.000292391799655,3.05111888772e-05,1793240207560257024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.198712185,714,679.801287815,665,635,879.801287815,787,804.801287815,653,631.801287815,653,0.404405936227,0.00460513150793,0.059798020004,0.999999923987,0.00020608404472,-0.000329478262935,3.16173062243e-05,1793240207576923648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.386280768,714,679.613719232,665.386280768,635,879.613719232,787,804.613719232,652.613719232,631.613719232,653,0.404032876131,0.00460432941582,0.0597842593703,0.999999916489,0.000205663621121,-0.000351702797126,3.20778804543e-05,1793240207593590016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.965106499,714,679.034893501,665.965106499,635,879.034893501,787,804.034893501,652.034893501,631.034893501,653,0.403679988002,0.0046045453002,0.0597740525459,0.99999991107,0.000206121143489,-0.000366519278663,3.22166782866e-05,1793240207610256640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.460994681,635,879.539005319,787,804,652.539005319,631,653,0.403400359776,0.0046025137168,0.0597922414552,0.999999922643,0.000205269048441,-0.000333835390287,3.36423002857e-05,1793240207626923264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714.112786492,679,665,635,879.887213508,787,804,653,631,653,0.403133008239,0.00460048371733,0.0598120346404,0.999999933727,0.000204821609122,-0.000298928360308,3.51658558265e-05,1793240207643589888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.687380266,679,665,635,879.312619734,787,804,653,631,653,0.402896680979,0.00459905053549,0.0598309379958,0.999999942279,0.000206375035584,-0.000267395328715,3.675239881e-05,1793240207660256512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,635,879.271281116,787.271281116,804,653,631,653,0.402669065249,0.00459752782588,0.0598449862566,0.999999947689,0.000206822444789,-0.000245742181459,3.8163781202e-05,1793240207676923136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,635,879.866288283,787.866288283,804,653,631,653,0.402451845205,0.00459589828079,0.0598532408192,0.999999950198,0.000205950018025,-0.000235878931504,3.9366140333e-05,1793240207693589760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.555509192,746,714.555509192,679.444490808,665,635,879.555509192,787.555509192,804,653,631,653,0.402247974151,0.00459560216293,0.0598509482872,0.999999948513,0.000204719934711,-0.00024393205033,3.95104916729e-05,1793240207710256640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.017918009,746,714,680,665,635,879,787,804.017918009,653,631,653,0.402048870237,0.00459557132719,0.0598455053918,0.999999945833,0.00020165425641,-0.000257213734506,3.88655599304e-05,1793240207726923264
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.834179165,714,680,665,635,879,787.165820835,804.834179165,653,631.165820835,653,0.401721258361,0.00458701125382,0.0598315714664,0.999999952185,0.000127046651935,-0.000281643733808,1.29030469831e-05,1793240207760256512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.274370189,714,680,665,635,879,787.725629811,804.274370189,653,631.725629811,653,0.401599526953,0.00458002409658,0.0598325418407,0.99999993962,0.000203314265791,-0.000281393908767,1.54879136577e-05,1793240207776923136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.687535103,745,714,680,665,635,879.312464897,787.687535103,804,653,631.687535103,653,0.401490308324,0.0045784010652,0.0598347842353,0.999999931995,0.000243349766263,-0.000276593916417,1.69046015901e-05,1793240207793589760
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.644110276,746,714,680,665,635,879.355889724,787.355889724,804,653,631,652.355889724,0.400978037998,0.00457592083724,0.0598477687084,0.999999936019,0.000248440860927,-0.000256377102352,2.25640520818e-05,1793240208110256640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.05045885,746,714,680,665,635,879.94954115,787.94954115,804,653,631,652.94954115,0.400977614628,0.00457630201174,0.0598482229643,0.999999935694,0.000250093656224,-0.000256060691295,2.23010096032e-05,1793240208126923264
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,879,787.41068372,804,653,631,652.58931628,0.400977121391,0.00457404082841,0.0598494070146,0.999999937078,0.000245357834142,-0.000255239029244,2.22652754266e-05,1793240208260256512
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.168170809,665,635,879,787.168170809,804,653,631,653,0.40097661972,0.00457437475991,0.0598495138653,0.999999937146,0.000245112750086,-0.000255213812447,2.22080920193e-05,1793240208276923136
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.755262976,665,635,879,787.755262976,804,653,631,653,0.400978200643,0.00457467254227,0.0598505208862,0.999999937856,0.00024488667193,-0.000252636730035,2.22152558348e-05,1793240208293589760
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.662055274,665,635,879,787.662055274,804,653,631,653,0.400978207508,0.0045741343304,0.0598506287741,0.999999937944,0.00024466855495,-0.000252498507616,2.22021964029e-05,1793240208310256640
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.082526394,665,635,879,787.082526394,804,653,631,653,0.400977089138,0.00457299849725,0.059850093905,0.99999993759,0.000244456129129,-0.000254103735889,2.21746801212e-05,1793240208326923264
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.494335541,679,665,635,879,787,804.494335541,653,631,653,0.400977837731,0.00457346444995,0.0598510006026,0.999999938075,0.000243661171895,-0.000252941645727,2.23426426575e-05,1793240208343589888
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.930031792,746,714.930031792,679.069968208,665,635,879,787,804.930031792,653,631,653,0.400978649601,0.00457402142092,0.0598518989997,0.9999999386,0.0002429086175,-0.000251572815284,2.24988129873e-05,1793240208360256512
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.36001979,746,714.36001979,679.63998021,665,635,879,787,804.36001979,653,631,653,0.400977698163,0.0045733280322,0.0598510273644,0.999999938435,0.000243150396231,-0.000252010450763,2.23387324515e-05,1793240208376923392
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.219700895,746,714,680,665,635,879.219700895,787,804,653,631,653,0.400977229881,0.00457291057162,0.0598508775928,0.99999993844,0.000242960544659,-0.000252172230211,2.2349211815e-05,1793240208393589760
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.599383358,714,679.599383358,665,635,879.599383358,787,804,653,631,653,0.400977665494,0.00457450508394,0.0598517513782,0.999999938447,0.000243368214895,-0.000251753140871,2.23335944184e-05,1793240208426923264
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.020102932,714,679.020102932,665,635,879.020102932,787,804,653,631,653,0.400977614163,0.00457670550692,0.059850956747,0.99999993789,0.000245716932913,-0.000251735847088,2.17379522477e-05,1793240208443589888
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.445895041,745,714,679.554104959,665,635,878.445895041,787,804,653,631.554104959,653,0.400976709604,0.00457472082862,0.0598507866025,0.999999937992,0.000243860810405,-0.000253101042835,2.21021221229e-05,1793240208460256512
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..810b499225ed5ddbbf84e61a7df2de8102078c21
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.5756670885,0.0100907951719,1.05003231823,0.546237541523,0.018762539984,1.04970045916
+397,6.616666667,pose2_to_pose3_retreat,0.575666867427,0.0100907993477,1.05003231887,0.546237320247,0.0187625434706,1.04970045979
+398,6.633333333,pose2_to_pose3_retreat,0.575666771376,0.010090801162,1.05003231914,0.546237224108,0.0187625449854,1.04970046007
+399,6.650000000,pose2_to_pose3_retreat,0.575666570778,0.0100908049511,1.05003231972,0.546237023325,0.018762548149,1.04970046064
+400,6.666666667,pose2_to_pose3_retreat,0.575666282495,0.0100908103964,1.05003232055,0.546236734778,0.0187625526956,1.04970046146
+401,6.683333333,pose2_to_pose3_retreat,0.575666062009,0.0100908145611,1.05003232118,0.546236514089,0.0187625561729,1.04970046209
+402,6.700000000,pose2_to_pose3_retreat,0.575665676435,0.0100908218441,1.05003232229,0.54623612816,0.0187625622538,1.04970046319
+403,6.716666667,pose2_to_pose3_retreat,0.575665388785,0.0100908272775,1.05003232311,0.546235840246,0.0187625667904,1.04970046401
+404,6.733333333,pose2_to_pose3_retreat,0.575665165674,0.0100908422931,1.05003235257,0.546235616802,0.018762580601,1.04970049147
+405,6.750000000,pose2_to_pose3_retreat,0.575665033769,0.0100908563506,1.0500323838,0.54623548464,0.0187625937019,1.04970052057
+406,6.766666667,pose2_to_pose3_retreat,0.575664907001,0.0100908698607,1.05003241382,0.546235357623,0.0187626062927,1.04970054854
+407,6.783333333,pose2_to_pose3_retreat,0.575664840714,0.010090876925,1.05003242952,0.546235291208,0.0187626128763,1.04970056316
+408,6.800000000,pose2_to_pose3_retreat,0.57566465288,0.0100908969431,1.050032474,0.546235103006,0.0187626315322,1.04970060459
+409,6.816666667,pose2_to_pose3_retreat,0.575664606383,0.0100909018985,1.05003248501,0.546235056418,0.0187626361503,1.04970061485
+410,6.833333333,pose2_to_pose3_retreat,0.575664546605,0.0100908791844,1.05003246442,0.546234997075,0.018762614914,1.04970059429
+411,6.850000000,pose2_to_pose3_retreat,0.575664523681,0.0100908594314,1.05003244333,0.546234974528,0.0187625964535,1.04970057359
+412,6.866666667,pose2_to_pose3_retreat,0.575664515797,0.0100908526379,1.05003243608,0.546234966774,0.0187625901045,1.04970056647
+413,6.883333333,pose2_to_pose3_retreat,0.575664468401,0.0100908117975,1.05003239248,0.546234920157,0.0187625519363,1.04970052367
+414,6.900000000,pose2_to_pose3_retreat,0.575664422622,0.0100907739915,1.05003235016,0.546234875108,0.0187625166411,1.04970048213
+415,6.916666667,pose2_to_pose3_retreat,0.575664368857,0.010090820495,1.05003228897,0.546234821051,0.0187625622011,1.04970042223
+416,6.933333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1bb8f05300a59d72516b6f15f379ee0ec531b7f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f33adaf44ad4b0c743d8c4c479e46ef9cd12ac1ff7f489a583aab7efb0f98a3
+size 26475130
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab2c874466bd6a503b7983f334c19c0e7c6fc6ef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+1,0.016666667,BASELINE,766,746,714,679.579535772,665,635,879.420464228,787.420464228,803.420464228,653,631,653,0.40097882873,0.00457432444341,0.0598529398542,0.999999938504,0.000245584510484,-0.000249336921754,2.26255643822e-05,1793240208633233152
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+20,0.333333333,BASELINE,766,745.607721727,714,679,665,635,880,787.392278273,804,653,631.392278273,653,0.400977698448,0.00457330647015,0.0598525693575,0.999999939541,0.000241566198524,-0.000249123360824,2.24090067438e-05,1793240208949899264
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+27,0.450000000,BASELINE,765.332241017,745,714,679.332241017,665,635,879,787,804,653,631,652.667758983,0.400978332129,0.00457149530396,0.059853895792,0.999999940892,0.000237609060209,-0.000247514979575,2.22477411686e-05,1793240209066565888
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+29,0.483333333,BASELINE,765,745.818049359,714,679,665,635,879,787.818049359,803.181950641,653,631,653,0.400979998568,0.00457192763427,0.0598542041389,0.999999941271,0.000237807338191,-0.000245810172048,2.19758591271e-05,1793240209099899136
+30,0.500000000,BASELINE,765.401558362,745.598441638,714,679.401558362,665,635,879,787.598441638,803.401558362,653,631,652.598441638,0.400979818773,0.00457243457384,0.0598539683252,0.999999940748,0.000239633753297,-0.000246171716866,2.1896783157e-05,1793240209116565760
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+41,0.683333333,BASELINE,766,745.217217817,714,679.782782183,665,635,879,787,804.217217817,653,631,653,0.400979494684,0.00457296052836,0.0598539757173,0.999999940958,0.000238973890826,-0.000245976094423,2.17106214301e-05,1793240209299900672
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+47,0.783333333,BASELINE,765.265182133,745.265182133,714,680,665,635,879,787.265182133,804,653,631,653,0.400979861096,0.00457197309254,0.0598546845813,0.999999941267,0.00023825205935,-0.000245372081172,2.22316109804e-05,1793240209399899136
+48,0.800000000,BASELINE,765.839915478,745.839915478,714,680,665,635,879,787.839915478,804,653,631,653,0.400979280813,0.00457254942949,0.0598538155764,0.999999941275,0.000237131932923,-0.000246475572799,2.16510324907e-05,1793240209416565760
+49,0.816666667,BASELINE,766,745.573645909,714,680,665,635,879,787.573645909,804,653,631,653,0.400979109831,0.00457250218537,0.0598538026139,0.99999994131,0.000237365383202,-0.000246103298036,2.16969615737e-05,1793240209433232640
+50,0.833333333,BASELINE,766,745,714,679.983053554,665,635,879,787,804,653,631.016946446,653,0.400979089795,0.00457225495547,0.0598541050523,0.999999941335,0.000238154651099,-0.000245211958252,2.1968295464e-05,1793240209449899520
+51,0.850000000,BASELINE,766,745,714,679.404565968,665,635,879,787,804,653,631.595434032,653,0.400978835335,0.00457335841469,0.0598539073467,0.999999940696,0.000240045329746,-0.000246000220034,2.16937916749e-05,1793240209466566400
+52,0.866666667,BASELINE,766,745,714,679.172839549,665.172839549,635,879,787.172839549,804,653,631.827160451,653,0.400978385408,0.00457370313085,0.0598537975388,0.999999940391,0.000240610547571,-0.000246691042632,2.16297332698e-05,1793240209483233024
+53,0.883333333,BASELINE,766,745,714,679.747727986,665.747727986,635,879,787.747727986,804,653,631.252272014,653,0.400977480794,0.00457228290482,0.0598538921931,0.99999994087,0.000238092558609,-0.000247155208058,2.20552001853e-05,1793240209499899648
+54,0.900000000,BASELINE,766,745.31089979,714,680,665.68910021,635,879.31089979,787.68910021,804,653,631.31089979,653,0.400977741181,0.00457220991313,0.0598540271381,0.999999940782,0.000238653920097,-0.000246964959758,2.21271355389e-05,1793240209516566272
+55,0.916666667,BASELINE,766,745.864909669,714,680,665.135090331,635,879.864909669,787.135090331,804,653,631.864909669,653,0.400978912547,0.00457319040006,0.0598541935888,0.999999940246,0.000241623199586,-0.000246262988414,2.19226245946e-05,1793240209533232896
+56,0.933333333,BASELINE,766,745.536020115,714,679.536020115,665,635,879.536020115,787,804,653,631.536020115,653,0.400979009751,0.00457391329396,0.0598539493223,0.999999939845,0.000243418861892,-0.000246127372486,2.18829612385e-05,1793240209549899264
+57,0.950000000,BASELINE,766,745,714,679,665,635,879.0703969,787,804,653,631,653,0.400978761861,0.00457434026173,0.0598536684475,0.999999939633,0.00024419065188,-0.000246222251818,2.19113939098e-05,1793240209566565888
+58,0.966666667,BASELINE,766,745,714,679,665,635,879.627178388,787,804,653,631,653,0.400978522907,0.00457329654682,0.0598540497279,0.999999940419,0.000240503174343,-0.000246647809898,2.20430296045e-05,1793240209583232512
+59,0.983333333,BASELINE,765.801989617,745,714,679,665,635,879.801989617,787,804,653,631,653,0.400978894519,0.00457277678207,0.0598545441657,0.999999941029,0.000238509888646,-0.00024610072888,2.21033702706e-05,1793240209599899136
+60,1.000000000,BASELINE,765.202682105,745,714,679,665,635,879.202682105,787,804,653,631,653,0.400980503532,0.00457331887907,0.0598552679337,0.999999941303,0.000239950130925,-0.000243582451932,2.20192211122e-05,1793240209616565760
+61,1.016666667,BASELINE,765.388804008,745.388804008,714,679,665,635,879,787,804.388804008,653,631,653,0.400980586131,0.00457286684258,0.0598551104127,0.999999941412,0.000239347012495,-0.000243741459558,2.18877353265e-05,1793240209633232640
+62,1.033333333,BASELINE,765.976293223,745.976293223,714,679,665,635,879,787,804.976293223,653,631,653,0.400979888708,0.00457190678759,0.0598545025386,0.999999941435,0.000237699703244,-0.000245268603531,2.17320597551e-05,1793240209649899520
+63,1.050000000,BASELINE,766,745.443702198,714,679,665,635,879,787,804.443702198,653,631,652.443702198,0.400978971356,0.00457256698901,0.0598539215428,0.999999940559,0.000240191660387,-0.000246387898558,2.19697734657e-05,1793240209666565888
+64,1.066666667,BASELINE,766,745,714,679,665,635,879,787,804,653,631,652.135396653,0.400978550722,0.0045730607401,0.0598536099931,0.999999940026,0.000241748979471,-0.000247012312072,2.21476964776e-05,1793240209683232768
+65,1.083333333,BASELINE,766,745,714,679,665,635,879,787,804,653,631,652.712567145,0.40097978096,0.00457278909635,0.0598541739073,0.999999940754,0.000239688844118,-0.000246077976889,2.20765607862e-05,1793240209699899392
+66,1.100000000,BASELINE,766,745.289222276,714.289222276,679,665,635,879,787,804,653,631,652.710777724,0.400980559197,0.00457260488182,0.0598549951753,0.999999941252,0.000238763116111,-0.000244953352705,2.20539704003e-05,1793240209716566016
+67,1.116666667,BASELINE,766,745.865366112,714.865366112,679,665,635,879,787,804,653,631,652.134633888,0.400980889029,0.00457250740106,0.0598560717499,0.999999941524,0.000238962771549,-0.000243639953293,2.20795391543e-05,1793240209733232640
+68,1.133333333,BASELINE,766,745.548668177,714.548668177,679,665,635,879,787,804,653,631,652,0.400979542973,0.00457244982598,0.059855425419,0.999999941218,0.000239079403262,-0.000244776748563,2.21004369314e-05,1793240209749899264
+69,1.150000000,BASELINE,766,745.039633225,714,679,665,635,879.039633225,787,804,653,631,652.039633225,0.400977861418,0.00457243921433,0.0598544012137,0.999999940774,0.000239197378885,-0.000246471667134,2.21134518036e-05,1793240209766565888
+70,1.166666667,BASELINE,766,745.618955065,714,679,665,635,879.618955065,787,804,653,631,652.618955065,0.400978570283,0.00457290240351,0.0598553856352,0.999999940876,0.00023967840115,-0.000245592436289,2.2038520246e-05,1793240209783232512
+71,1.183333333,BASELINE,766,746,714,679.197198325,665.197198325,635,880,787,804,653,631.197198325,653,0.400978876378,0.0045728748161,0.0598555245564,0.999999940898,0.000239673072376,-0.000245520247638,2.19294173238e-05,1793240209799898880
+72,1.200000000,BASELINE,766,746,714,679.77336889,665.77336889,635,880,787,804,653,631.77336889,653,0.400978408437,0.00457190406305,0.0598540386103,0.999999940762,0.000238733082888,-0.000246999018199,2.17546444665e-05,1793240209816565760
+73,1.216666667,BASELINE,766,745.644133112,714,679.644133112,665.644133112,635,879.644133112,787.355866888,804,653,631.644133112,653,0.400978006598,0.00457267290412,0.0598535804757,0.999999940252,0.000240295669632,-0.0002475480742,2.17555388885e-05,1793240209833232384
+74,1.233333333,BASELINE,766,745.057532628,714,679.057532628,665.057532628,635,879.057532628,787.942467372,804,653,631.057532628,653,0.400977647616,0.00457456964677,0.0598537887439,0.999999939493,0.000243480853063,-0.000247494330608,2.18703308043e-05,1793240209849899264
+75,1.250000000,BASELINE,765.477161154,745,714,679,665,635,879,788,803.477161154,653,631,653,0.400979147883,0.00457364981671,0.0598549846038,0.999999940289,0.000242206812016,-0.000245502504761,2.20488441751e-05,1793240209866565888
+76,1.266666667,BASELINE,765.097414284,745.097414284,714,679.097414284,665.097414284,635,879.097414284,787.902585716,803.097414284,653,631,653,0.400980231704,0.00457275137516,0.0598557753067,0.999999940989,0.0002407118347,-0.000244106762893,2.21906835131e-05,1793240209883232256
+77,1.283333333,BASELINE,765.648168762,745.648168762,714,679.648168762,665.648168762,635,879.648168762,787.351831238,803.648168762,653,631,653,0.400978436595,0.00457337783278,0.059854180733,0.999999940475,0.000240445326414,-0.000246465828907,2.2129604583e-05,1793240209899899136
+78,1.300000000,BASELINE,766,745.7844831,714,680,665.7844831,635,879.7844831,787.2155169,804.2155169,653,631.2155169,653,0.40097741684,0.00457332061919,0.0598534231398,0.999999940171,0.00024047582101,-0.000247672542427,2.20959606014e-05,1793240209916566016
+79,1.316666667,BASELINE,766,745.187786175,714,680,665.187786175,635,879.187786175,787.812213825,804.812213825,653,631.812213825,653,0.400977768434,0.00457205421123,0.0598541458962,0.999999940242,0.000241031618135,-0.000246841115063,2.21108402195e-05,1793240209933232640
+80,1.333333333,BASELINE,765.591159399,745,714,679.591159399,665,635,879,787.591159399,804.591159399,653,631.591159399,653,0.4009779362,0.00457211188695,0.0598543758864,0.999999940623,0.000239646496649,-0.000246677975058,2.17656548897e-05,1793240209949899520
+81,1.350000000,BASELINE,765.005233792,745.005233792,714,679.005233792,665,635,879,787,804,653,631,653,0.400978016591,0.00457277685464,0.0598543774837,0.999999941131,0.000237412304593,-0.000246821507839,2.12623401446e-05,1793240209966566144
+82,1.366666667,BASELINE,765.579719228,745.579719228,714,679.579719228,665,635,879,787,804,653,631,653,0.400977775769,0.00457335765918,0.0598541509486,0.999999940532,0.00023977533542,-0.000246940215312,2.15448607023e-05,1793240209983232768
+83,1.383333333,BASELINE,766,746,714,680,665,635,879.154776297,787.154776297,804,653,631,653,0.400977951282,0.00457362998467,0.0598542719892,0.999999940161,0.00024163827482,-0.000246602596466,2.17971179889e-05,1793240209999899136
+84,1.400000000,BASELINE,766,746,714,680,665,635,879.731391464,787.731391464,804,653,631,653,0.400979261507,0.00457306155842,0.0598553403386,0.999999940426,0.000242138228253,-0.000245021271844,2.19668935614e-05,1793240210016566016
+85,1.416666667,BASELINE,765.694173417,746,714,680,665,635,879.694173417,788,804,653,631,653,0.400980019878,0.00457228390365,0.0598559544545,0.999999940746,0.000241787623071,-0.000244034665458,2.22050545521e-05,1793240210033232640
+86,1.433333333,BASELINE,765.121639525,746,714,680,665,635,879.121639525,788,804,653,631,653,0.400980296986,0.0045713237835,0.0598561724392,0.999999941117,0.000240695256962,-0.000243566705059,2.25028535496e-05,1793240210049899264
+87,1.450000000,BASELINE,765.471109882,746,714,679.528890118,665,635,879.471109882,788,803.528890118,653,631,652.528890118,0.400978304667,0.00457115394318,0.0598546905735,0.999999940909,0.00023900198809,-0.000246098207635,2.2250977375e-05,1793240210066565888
+88,1.466666667,BASELINE,766,745.933571559,714,679,665,635,879.933571559,787.933571559,803.066428441,653,631,652.066428441,0.400976272573,0.00457143825163,0.0598531702649,0.99999994061,0.000237616930325,-0.000248675237235,2.190302818e-05,1793240210083232768
+89,1.483333333,BASELINE,766,745.360262794,714,679,665,635,879.360262794,787.360262794,803.639737206,653,631,652.639737206,0.400978608594,0.00457356113667,0.0598548557644,0.999999940885,0.000239820628032,-0.000245425259375,2.19535039243e-05,1793240210099899392
+90,1.500000000,BASELINE,765.785921526,745,714,679,665,635,879,787,804,652.785921526,631,652.785921526,0.400980279909,0.00457402777152,0.0598560044237,0.999999941226,0.000240491696051,-0.000243366661499,2.20069537037e-05,1793240210116565760
+91,1.516666667,BASELINE,765.209834347,745,714,679,665,635,879,787,804,652.209834347,631,652.209834347,0.400980827199,0.00457169367157,0.0598562452811,0.999999941696,0.000238571072676,-0.000243322698682,2.20654325999e-05,1793240210133232384
+92,1.533333333,BASELINE,765.374966382,745.374966382,714,679,665,635,879,787.374966382,804,652.374966382,631,652.374966382,0.400980173964,0.00457087221799,0.0598557424992,0.999999941626,0.000237901181614,-0.000244237549087,2.23527304979e-05,1793240210149899008
+93,1.550000000,BASELINE,765.964759352,745.964759352,714,679,665,635,879,787.964759352,804,652.964759352,631,652.964759352,0.40097883292,0.00457091739298,0.0598548136699,0.999999941246,0.000237947862758,-0.000245701724931,2.27711239018e-05,1793240210166565632
+94,1.566666667,BASELINE,766,746,714.544939133,679,665,635,879.544939133,788,804,653,631,653,0.40097865444,0.00457271026141,0.0598547320875,0.999999940644,0.000240181426045,-0.000246017600497,2.236250424e-05,1793240210183232512
+95,1.583333333,BASELINE,766,745.876121757,714.876121757,679,665.123878243,635,879.876121757,787.876121757,804,653,631,653,0.400978231916,0.00457421077298,0.0598545773403,0.999999940091,0.000242063571359,-0.000246458608151,2.19312247243e-05,1793240210199898880
+96,1.600000000,BASELINE,766,745.299484227,714.299484227,679,665.700515773,635,879.299484227,787.299484227,804,653,631,653,0.400976647429,0.00457423683915,0.0598539584038,0.999999939789,0.000242153404754,-0.000247623661585,2.16092079165e-05,1793240210216565504
+97,1.616666667,BASELINE,766,745.276028664,714,679,665.723971336,635,879.276028664,787,804,653,631.276028664,652.723971336,0.400976784328,0.00457398376213,0.0598540532867,0.999999940088,0.000241111851162,-0.000247439112988,2.15036015477e-05,1793240210233232384
+98,1.633333333,BASELINE,766,745.850326266,714,679,665.149673734,635,879.850326266,787,804,653,631.850326266,652.149673734,0.400978781311,0.00457342905068,0.0598549195031,0.999999941034,0.000238847752089,-0.000245796221709,2.16318423304e-05,1793240210249899008
+99,1.650000000,BASELINE,766,746,714.437148238,679.437148238,665,635,879.562851762,787,804,653,631.562851762,652.437148238,0.400978522544,0.00457195158039,0.059854310696,0.999999940838,0.000239089533663,-0.000246327554724,2.19862552633e-05,1793240210266565888
+100,1.666666667,BASELINE,765.972205043,745.972205043,714.972205043,680,665.027794957,635,879,787,804,653,631,653,0.400977551472,0.00457029199282,0.05985326453,0.999999940288,0.000240103376627,-0.000247536778736,2.23795209373e-05,1793240210283232512
+101,1.683333333,BASELINE,765.39325563,745.39325563,714.39325563,680,665.60674437,635,879,787,804,653,631,653,0.400978222551,0.00457147080544,0.0598538555787,0.999999940717,0.000238911705038,-0.000246991280454,2.19623703355e-05,1793240210299899136
+102,1.700000000,BASELINE,765.184199999,745.184199999,714,680,665.815800001,635,879.184199999,787,804,653,631,653,0.4009785142,0.00457217166987,0.0598542029002,0.999999940868,0.000238606302378,-0.000246686956379,2.18082506344e-05,1793240210316565760
+103,1.716666667,BASELINE,765.758492074,745.758492074,714,680,665.241507926,635,879.758492074,787,804,653,631,653,0.400978002305,0.0045718603528,0.059854034065,0.999999940432,0.000240177808063,-0.000246893382363,2.22111682888e-05,1793240210333232384
+104,1.733333333,BASELINE,766,746,714,680,665,635,879.658761696,787,804,653,631,653,0.400978033747,0.00457237164699,0.0598540443063,0.999999940025,0.000241928104658,-0.000246833548511,2.22458949022e-05,1793240210349899008
+105,1.750000000,BASELINE,766,746,714,680,665,635,879.069880062,787,804,653,631,653,0.400978459501,0.00457347992626,0.0598541845067,0.999999939636,0.000243808153489,-0.000246580484697,2.20134180963e-05,1793240210366565632
+106,1.766666667,BASELINE,766,746,714,679.489098927,665,635,879,787,804,653,631,653,0.400978052529,0.00457257600465,0.0598539622805,0.999999940293,0.000241404454496,-0.000246259545663,2.22195123557e-05,1793240210383232512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,665,635,879,787,804,653,631,653,0.400977760291,0.00457267428058,0.059853848692,0.999999940171,0.00024104992302,-0.00024712096491,2.20169363657e-05,1793240210426301696
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.426131505,714,679,665,635,879,787,804,653,631,653,0.400977801258,0.00457372222533,0.0598541601853,0.999999940216,0.000241193914701,-0.000246812903065,2.18241059969e-05,1793240210442968320
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.84723145,745.15276855,714,679.15276855,665,635,879.15276855,787,804,652.84723145,631,652.84723145,0.400978471594,0.00457431529147,0.0598547554031,0.999999940526,0.000241006846609,-0.000245747393469,2.17415140398e-05,1793240210459634944
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.253818258,745.746181742,714,679.746181742,665,635,879.746181742,787,804,652.253818258,631,652.253818258,0.400980957279,0.00457359630886,0.0598561689944,0.999999941589,0.00023986487183,-0.000242497106291,2.19768930167e-05,1793240210476301568
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.685390597,714,679.685390597,665,635,879.685390597,787,804,652.314609403,631,652.314609403,0.400980981567,0.00457277824549,0.0598560432314,0.999999941806,0.00023874894577,-0.000242682874059,2.21892809824e-05,1793240210492968192
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.135637524,714,679.135637524,665,635,879.135637524,787,804,652.864362476,631,652.864362476,0.40097916617,0.00457188612774,0.0598547669324,0.999999941391,0.000237652488971,-0.00024543679976,2.23844851157e-05,1793240210509634816
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.454447023,745,714,679.454447023,665,635,879,787,804,653,631,652.545552977,0.400979030152,0.00457331109994,0.0598547985438,0.999999941088,0.000238977550533,-0.000245436725127,2.17827258516e-05,1793240210526301440
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631,652.056667258,0.400979600733,0.00457522304563,0.0598553127128,0.999999940886,0.000240823737611,-0.000244517827294,2.10468069136e-05,1793240210542968320
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631,652.648737374,0.400981650372,0.00457456550381,0.059856338695,0.999999941313,0.000240099946238,-0.000243440290059,2.15096180592e-05,1793240210559634944
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631,653,0.40099068612,0.00457365460919,0.0598604161481,0.999999942914,0.0002397826711,-0.000237051054422,2.19846138105e-05,1793240210576301824
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,665,635,879,787,804,653,631,653,0.401009912409,0.00457237415238,0.0598689447394,0.999999946088,0.000240058375635,-0.000222913717408,2.2477383035e-05,1793240210592968448
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.609111593,745,714,679.609111593,665,635,879,787,804,652.609111593,631,653,0.401048716833,0.00457178579861,0.0598827972974,0.999999951551,0.000240416432383,-0.000196443062483,2.25480947435e-05,1793240210609635072
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034076879,745,714,679.034076879,665,635,879,787,804,652.034076879,631,653,0.401096744457,0.00457152349231,0.0598991579602,0.999999957279,0.00024081328483,-0.000164162218627,2.24199765006e-05,1793240210626301696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.541669746,745,714,679,665,635,879,787,804,652,631,653,0.40116354763,0.00457237874584,0.0599159449445,0.999999961334,0.000239649535069,-0.000139267651577,2.24666420516e-05,1793240210642968064
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.120148621,714,679.120148621,665.120148621,635,879,787,804,652.120148621,631,653,0.401234463731,0.00457295247469,0.0599313493257,0.999999964673,0.000238156749987,-0.000115894788207,2.24322644803e-05,1793240210659634432
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.709113849,714,679.709113849,665.709113849,635,879,787,804,652.709113849,631,653,0.401316813367,0.00457215300693,0.0599412540433,0.999999967295,0.00023576367306,-9.66440222429e-05,2.20386972075e-05,1793240210676301056
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679.706961421,665.706961421,635,879.293038579,787,804,652.706961421,631,653,0.401403116673,0.00457158094649,0.0599467762695,0.999999968742,0.000233183562425,-8.76404392851e-05,2.14630353456e-05,1793240210692967936
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679.127955592,665.127955592,635,879.872044408,787,804,652.127955592,631,653,0.401493278237,0.00457123080583,0.059948021758,0.99999996931,0.000230420931609,-8.86367652144e-05,2.07096730581e-05,1793240210709634560
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.572440271,746,714.427559729,679.427559729,665.427559729,635,880,787,804,652.427559729,631,653,0.401606743249,0.00457055727397,0.0599503465402,0.999999970446,0.000227663633653,-8.30258858956e-05,1.95995735713e-05,1793240210726301184
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023588833,746,714.976411167,679.976411167,665.976411167,635,880,787,804,652.976411167,631,653,0.401726819067,0.00456979200132,0.0599529775003,0.999999971686,0.000224907848575,-7.55406503909e-05,1.83882735819e-05,1793240210742967808
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,746,714.419077949,680,666,635,879.419077949,787,804,653,631,653,0.401869421294,0.00457085907752,0.0599520439883,0.9999999718,0.000224952314911,-7.42674888845e-05,1.67517303632e-05,1793240210759634432
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,746,714,679.817602401,666,635,879.182397599,787,804,653,631,653,0.402022375351,0.00457091848623,0.0599513286534,0.999999972443,0.000222944008045,-7.19698389733e-05,1.5173464232e-05,1793240210776301056
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,746,714,679.228469478,666,635,879.771530522,787,804,653,631,653,0.402196157455,0.00456854736102,0.0599514567984,0.999999974332,0.000216077717381,-6.67655448526e-05,1.37677379623e-05,1793240210792967680
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.646108832,714,679,665.646108832,635,880,787,804,653.353891168,631,653,0.402393779723,0.00456914488914,0.0599534401428,0.999999975709,0.00021192992665,-5.94288336758e-05,1.16436471929e-05,1793240210809634304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.068038165,714,679,665.068038165,635,880,787,804,653.931961835,631,653,0.402606504041,0.00457162297036,0.0599565987008,0.999999976726,0.000209504223871,-5.07412993794e-05,9.06449379934e-06,1793240210826301184
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502753688,745,714.502753688,679,665,635,879.497246312,787,804,653.497246312,631,653,0.402850489686,0.00456913706163,0.0599616027731,0.999999978415,0.000203954086616,-3.89928225134e-05,7.23939561384e-06,1793240210842968576
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.075767764,714.924232236,679,665,635,879,787,804,653,631,652.924232236,0.403101280296,0.00456646566258,0.059965942742,0.999999979978,0.00019799570537,-2.85277498813e-05,5.35635237775e-06,1793240210859635712
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.670660515,714.329339485,679,665,635,879,787,804,653,631,652.329339485,0.403370122845,0.00456706041497,0.0599640458059,0.999999981107,0.000192095933061,-2.96536278608e-05,2.38709606135e-06,1793240210876301824
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679,665.25852327,635,879.25852327,787,803.74147673,653,631,652,0.403658646672,0.00456749169955,0.0599576047255,0.999999982068,0.000185301815939,-3.90832089101e-05,-7.92134978428e-07,1793240210892968448
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679,665.837667382,635,879.837667382,787,803.162332618,653,631,652,0.403971579225,0.00456772025113,0.0599455279924,0.999999982527,0.000177398531706,-5.88110514902e-05,-4.23177672106e-06,1793240210909635072
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.600256295,714,679.399743705,666,635.399743705,880,787.399743705,803,653,631,652.399743705,0.404301342067,0.00456734752003,0.0599339446206,0.999999982466,0.000169653935363,-7.89155430908e-05,-7.59554809518e-06,1793240210926301696
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.044827255,714,679.955172745,666,635.955172745,880,787.955172745,803,653,631,652.955172745,0.404637659674,0.00456674061164,0.0599225533948,0.999999981906,0.000161971142195,-9.91667250188e-05,-1.09297706943e-05,1793240210942968320
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.452578274,745,714,679.452578274,665.452578274,635.452578274,879.452578274,787.452578274,803.547421726,653,631,653,0.405016950645,0.00456461358152,0.059915603176,0.999999982211,0.00015158240614,-0.000111369149828,-1.40653561705e-05,1793240210959634944
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.142382789,745.142382789,714,679.142382789,665,635,879.142382789,787,804,653,631,652.857617211,0.405419886416,0.00456289314081,0.0599142093771,0.999999983362,0.000141183790456,-0.000114187351054,-1.74629501904e-05,1793240210976301312
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.735695449,745.735695449,714,679.735695449,665,635,879.735695449,787,804,653,631,652.264304551,0.405885757353,0.00456288303808,0.0599291781122,0.999999987109,0.000131506255333,-8.95233754168e-05,-2.17455607853e-05,1793240210992967936
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.679443684,714,679.679443684,665.320556316,635,879.679443684,787,803.679443684,652.679443684,631.320556316,652,0.406380794255,0.00456179766262,0.0599524465093,0.999999991017,0.000121572922968,-5.04733270352e-05,-2.52814100444e-05,1793240211009634560
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.101372394,714,679.101372394,665.898627606,635,879.101372394,787,803.101372394,652.101372394,631.898627606,652,0.406899261325,0.00455984848004,0.0599823823393,0.999999993393,0.000111434097788,1.33598646239e-07,-2.82173581937e-05,1793240211026301440
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.456235682,714,679,665.543764318,635,879,787,803.456235682,652.456235682,631.543764318,652,0.407427916041,0.00455910297101,0.0600002363728,0.999999994004,0.000102267210621,2.35696259594e-05,-3.12826875946e-05,1793240211042967808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.989471377,746,714,679.010528623,665.010528623,635,879,787,803.989471377,653,631,652.010528623,0.407958565668,0.00455858088435,0.06001507354,0.999999994243,9.32574791737e-05,4.04480497328e-05,-3.43752252103e-05,1793240211059634688
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.37580152,746,714,679.62419848,665.62419848,635,879,787,803.37580152,653,631,652.62419848,0.408479390179,0.00455619443885,0.0600042689155,0.999999995905,8.14102480691e-05,1.26678149672e-05,-3.74502813068e-05,1793240211076301312
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.224591252,745.775408748,714,680,665.775408748,635,879,787,803.224591252,652.775408748,631,653,0.409027754161,0.00455364632298,0.0599920237494,0.999999996607,6.96932326167e-05,-1.57040696936e-05,-4.10246217125e-05,1793240211092968192
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.804007897,745.195992103,714,680,665.195992103,635,879,787,803.804007897,652.195992103,631,653,0.409619626948,0.00455084278877,0.0599775027128,0.999999996264,5.81819419595e-05,-4.50106836715e-05,-4.53877671644e-05,1793240211109634816
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.618470961,745.381529039,714,679.618470961,665.381529039,635,879,787,804,652.381529039,631,653,0.410256750222,0.00454266823145,0.0599802818081,0.999999997405,4.01449916676e-05,-3.50566840573e-05,-4.84681688031e-05,1793240211126301440
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.041918747,745.958081253,714,679.041918747,665.958081253,635,879,787,804,652.958081253,631,653,0.410917003811,0.00453174821088,0.0599919040752,0.999999998516,1.87723719638e-05,-5.03414671074e-06,-5.08928802766e-05,1793240211142967808
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,879,787.530554341,804,652.469445659,631,653,0.411593436604,0.0045195000721,0.0599968604428,0.999999998538,-4.22017195549e-06,6.33356037252e-06,-5.35266698188e-05,1793240211159634688
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,714,679,665.897238996,635,879,787.897238996,804,652,631,653,0.412264801493,0.00451072532304,0.0599954990991,0.999999998695,-2.69955815538e-06,4.49438421886e-06,-5.08151216817e-05,1793240211176301312
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679,665.324788409,635,879,787.324788409,804,652,631,653,0.412907204134,0.00451830235654,0.0599676502751,0.99999999221,0.000111443857211,-5.10240998708e-05,-2.35967164943e-05,1793240211192967936
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.740897264,714,679.259102736,665.259102736,635,879.259102736,787,804,652,631,652.740897264,0.413585152759,0.00452758446343,0.0599417994166,0.999999979009,0.000178397797983,-0.000100153338759,-1.12323508199e-05,1793240211209634560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.142002691,714,679.857997309,665.857997309,635,879.857997309,787,804,652,631,652.142002691,0.414309717096,0.00453910263429,0.0599185687211,0.999999973075,0.000183466658635,-0.000140903618968,-1.8347827539e-05,1793240211226301440
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.438557503,714,680,666,635,880,787,804,652,631,652.438557503,0.415119278589,0.00453173727605,0.0599517979543,0.999999983923,0.000158940042313,-7.97406058514e-05,-2.31083699371e-05,1793240211242968064
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714,679.986575832,666,635,880,787,804,652,631,652.986575832,0.415954410185,0.00451891587627,0.0600018886249,0.999999991635,0.000125927609894,1.16750923232e-05,-2.71277548385e-05,1793240211259634688
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,714,679.4115059,666,635,880,787,804,652,631,652.4115059,0.416754100914,0.00452337320229,0.0600232617769,0.999999991046,0.000122725140183,4.35917079695e-05,-3.07605573973e-05,1793240211276301568
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.168338262,745.831661738,714,679,666,635,880,787,804,652,631,652,0.417549610384,0.00452663831213,0.060033952294,0.999999993374,9.27304444275e-05,5.93833073353e-05,-3.35579764122e-05,1793240211292968192
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.760193731,745.239806269,714,679,666,635,880,787,804,652,631,652,0.418334600301,0.00452690396064,0.0600177666877,0.999999998804,-4.67001337162e-06,3.46064573668e-05,-3.42536785437e-05,1793240211309634816
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.656498252,745.343501748,714,679.343501748,665.656498252,635,880,787,804,652,631,652.343501748,0.419146647883,0.00452638055595,0.0599973896715,0.9999999984,-4.34800390652e-05,1.16475317248e-06,-3.61576064392e-05,1793240211326301696
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.079012551,745.920987449,714,679.920987449,665.079012551,635,880,787,804,652,631,652.920987449,0.419977126369,0.00452531966987,0.0599741575827,0.999999997617,-4.2379868065e-05,-3.8179210551e-05,-3.88845446277e-05,1793240211342968320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.496501321,746,714,679.503498679,665.496501321,635.496501321,880,787,804,652,631,652.503498679,0.420775328385,0.00452750777296,0.0599449741359,0.999999995529,-3.17155311832e-05,-7.94080616395e-05,-4.03860803936e-05,1793240211359634688
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.92648268,745.92648268,714,679,665.92648268,635.92648268,879.92648268,787,804,652,631,652,0.421570797648,0.00452953448106,0.0599170541292,0.999999991731,-2.05366765961e-05,-0.000119957042308,-4.15562393713e-05,1793240211376301568
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.336724209,745.336724209,714,679,665.336724209,635.336724209,879.336724209,787,804,652,631,652,0.422383002573,0.00452681155768,0.0599046302549,0.999999987192,-1.63903255977e-05,-0.000153633943579,-4.17634011943e-05,1793240211392967936
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.248667273,745,714,679,665.248667273,635,879.248667273,786.751332727,804,652,631,652,0.423259883772,0.00452495435862,0.0599249351779,0.999999991266,-1.11593467834e-05,-0.000124847425319,-4.19193009996e-05,1793240211409634816
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.828247482,745,714,679,665.828247482,635,879.828247482,786.171752518,804,652,631,652,0.424222832766,0.00452424921822,0.0599887938099,0.999999999024,-4.48500334476e-06,-1.29379753044e-05,-4.20069837914e-05,1793240211426301696
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.595358047,745.404641953,714,679.404641953,666,635,880,786.404641953,804,652,631.404641953,652,0.425147659243,0.0045243236845,0.0600275638173,0.999999997872,2.40966191836e-06,4.95827853162e-05,-4.23290638423e-05,1793240211442968320
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.020305253,745.979694747,714,679.979694747,666,635,880,786.979694747,804,652,631.979694747,652,0.426056430753,0.00452472647425,0.0600557680019,0.999999994874,9.39711306682e-06,9.13039952496e-05,-4.27498579884e-05,1793240211459634944
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.551698229,745.448301771,714,680,666,635,880,787,804,652,631.448301771,652,0.426912765675,0.00452127417896,0.0600360800855,0.999999996268,1.12320531355e-05,7.33125885384e-05,-4.43119367669e-05,1793240211476301568
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.128043243,714.128043243,680,666,635,880,787,804.128043243,652,631,652.128043243,0.427762076211,0.00451874757902,0.0600150674052,0.999999997568,1.30390077168e-05,5.07957834852e-05,-4.5970513212e-05,1793240211492968192
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.720541244,714.720541244,680,666,635,880,787,804.720541244,652,631,652.720541244,0.428592868957,0.00452009061874,0.0599956080047,0.999999998541,1.54285482971e-05,1.97919190685e-05,-4.78275899291e-05,1793240211509634816
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.693552628,746,714.693552628,679.693552628,666,635,880,787,804.693552628,652,631,652.693552628,0.429406651769,0.0045196512448,0.05996806694,0.99999999825,1.88420135666e-05,-2.80291233462e-05,-4.85787670482e-05,1793240211526301440
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113531277,746,714.113531277,679.113531277,666,635,880,787,804.113531277,652,631,652.113531277,0.430205249302,0.0045176206612,0.0599333111529,0.999999994435,2.31695643315e-05,-9.08633203234e-05,-4.83426770329e-05,1793240211542968064
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.537993716,714,679.462006284,666,635,880,787,804,652,631,652,0.431092747435,0.00451654616128,0.0599424891267,0.999999996232,2.3872545927e-05,-6.69996182963e-05,-4.97649103672e-05,1793240211559634944
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.037199836,714,680,666,635,880.037199836,787,804,652,631,652,0.431999071949,0.00451559087408,0.0599640477786,0.999999998188,2.36757523588e-05,-2.03767124836e-05,-5.1466967504e-05,1793240211576301568
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.623420817,714,680,666,635,880.623420817,787,804,652,631,652,0.432863928534,0.00451296087952,0.0600105245383,0.999999997125,2.32184472604e-05,5.07343797249e-05,-5.1342368886e-05,1793240211592968448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.207897522,746,714,680,666,635,880.792102478,787,804,652,631,652,0.433703155238,0.00451058772799,0.0600341895522,0.999999994932,2.31844565532e-05,8.35878208282e-05,-5.11070873058e-05,1793240211609634816
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.789241082,746,714,680,666,635,880.210758918,787,804,652,631,652,0.434496343169,0.00450867594277,0.0600168778661,0.999999997292,2.39108649921e-05,4.77191071042e-05,-5.06729863873e-05,1793240211626301440
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.633265218,714,680,666,635,880,787,804.366734782,652,631.366734782,652,0.43527372523,0.00450778544239,0.0599897259861,0.999999998388,2.4113645059e-05,9.95437071661e-07,-5.13876949865e-05,1793240211642968064
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.057961046,714,680,666,635,880,787,804.942038954,652,631.942038954,652,0.436042118131,0.0045074757672,0.0599569777927,0.999999996973,2.4018627132e-05,-5.19016611361e-05,-5.27557544239e-05,1793240211659634688
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.518613711,714,680,666,635,880.518613711,787,804.481386289,652,632,652.518613711,0.436813382443,0.00450667465411,0.0599477938507,0.999999996018,2.44616112757e-05,-6.67455654187e-05,-5.39446282739e-05,1793240211676301312
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902367977,745.902367977,714,680,666,635,881,787.097632023,804.097632023,652,631.902367977,652.902367977,0.437572487845,0.00450571916832,0.0599405766714,0.999999994893,2.52691038496e-05,-8.10996891199e-05,-5.4760634645e-05,1793240211692968192
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.31172944,745.31172944,714,680,666,635,881,787.68827056,804.68827056,652,631.31172944,652.31172944,0.438268570638,0.00450426218275,0.0599299596632,0.999999991616,2.7612862538e-05,-0.000114508861548,-5.37951672827e-05,1793240211709634816
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,666,635,880.726812888,787.726812888,805,652,631.273187112,652.273187112,0.438984321771,0.00450346880905,0.0599330023335,0.99999999137,3.02475457877e-05,-0.000116073822468,-5.35880853093e-05,1793240211726301440
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,666,635,880.148291688,787.148291688,805,652,631.851708312,652.851708312,0.439722055647,0.00450341713709,0.0599513120697,0.999999994612,3.32073876528e-05,-8.20473390381e-05,-5.42286309147e-05,1793240211742968064
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.4286924,714,680,666,634.5713076,880,787,805,652,631.5713076,653,0.440417191529,0.0045045148545,0.0599645931473,0.999999995629,3.82610898072e-05,-6.6641096808e-05,-5.32634290806e-05,1793240211759634688
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.994910822,714,680,665.994910822,634.005089178,880,787,804.994910822,652,631,652.994910822,0.441096689808,0.00450600524043,0.059975550026,0.99999999598,4.40195563834e-05,-5.85094769875e-05,-5.17613983544e-05,1793240211776301312
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.424901744,714,680,665.424901744,634.575098256,880,787,804.424901744,652,631,652.424901744,0.441670183072,0.00450710671008,0.0599209123689,0.999999986916,4.78966476458e-05,-0.000145462975904,-5.21065790302e-05,1793240211792967936
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664.847917382,634.847917382,880,787,804.152082618,652,631,652.152082618,0.442234883909,0.00450861655258,0.0598666161281,0.999999971805,3.371538122e-05,-0.000229023713668,-5.29221322945e-05,1793240211809634816
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664.250507926,634.250507926,880,787,804.749492074,652,631,652.749492074,0.442773838986,0.00451132218877,0.0598133196059,0.999999952127,-3.33441906302e-05,-0.000302649823408,-5.51150267518e-05,1793240211826301440
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.334233943,714,680,663.665766057,634,880,786.665766057,805,652,631,652.665766057,0.443314393134,0.00451486713024,0.0597850514496,0.999999937619,-5.86421916364e-05,-0.000343593893779,-5.71601522231e-05,1793240211842968064
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.909828135,714,680,663.090171865,634,880,786.090171865,805,652,631,652.090171865,0.443856101985,0.0045190181588,0.0597748570224,0.99999993167,-5.37829190403e-05,-0.000360937290625,-5.90985694606e-05,1793240211859634688
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633.51536945,880.48463055,786,805,652,631,652,0.444391028778,0.00452037528679,0.0597819432727,0.999999935745,-5.1631240918e-05,-0.000349558005382,-6.0439699238e-05,1793240211876301312
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680,662.93920347,633,881,786,805,652,631,652,0.444916244953,0.00452174899877,0.0597895418586,0.999999939639,-4.95270291839e-05,-0.000338302524107,-6.18083650575e-05,1793240211892968192
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,680,662.349905501,633,881,786,805,652,631,652,0.445367998864,0.0045277784648,0.05977368932,0.999999926856,-4.34632176204e-05,-0.000374504645437,-6.43809001937e-05,1793240211909634816
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,680.235157893,661.764842107,633,881,786,805,652,631,652,0.445797619191,0.0045385696879,0.0597509800741,0.999999910321,-3.44841680472e-05,-0.000416476750906,-6.86693492948e-05,1793240211926301696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,714,680.814031813,661.185968187,633,881,786,805,652,631,652,0.446194888161,0.00455632088193,0.0597182487961,0.999999887937,-2.1244092439e-05,-0.000466882488819,-7.54658454975e-05,1793240211942968320
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,681.390547212,661.390547212,632.609452788,881,786,805,652,631,652.390547212,0.446600577946,0.00457829980848,0.0597093214167,0.999999884088,9.2993852697e-07,-0.000474484624812,-8.1775481002e-05,1793240211959634944
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,681.965946338,661.965946338,632.034053662,881,786,805,652,631,652.965946338,0.447010253465,0.00460227978646,0.0597116607803,0.999999889125,2.73325471097e-05,-0.000461827171872,-8.78546785669e-05,1793240211976301568
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.553663518,746,714,681.446336482,661.446336482,632,881,786,805,652,631,653,0.447379811652,0.00460645471795,0.0597237763517,0.999999897692,3.25240832644e-05,-0.000442436997034,-8.83606872616e-05,1793240211992968192
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.859930389,746,714,680.859930389,661,631.859930389,880.859930389,786,804.859930389,652,631,653,0.447741512258,0.00460765380217,0.0597345766528,0.999999904727,4.07223258908e-05,-0.000425914152538,-8.65197894141e-05,1793240212009635072
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.280073605,746,714,680.280073605,661,631.280073605,880.280073605,786,804.280073605,652,631,653,0.448086465466,0.00460342107835,0.0597393164097,0.999999906886,6.25503416679e-05,-0.000419723854243,-7.84108889439e-05,1793240212026301696
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.701579509,714,680.298420491,660.701579509,631,880,786,804.298420491,652,631,652.701579509,0.448388137161,0.00460725524281,0.0597336092431,0.999999901147,9.86322881861e-05,-0.000427993890687,-6.92799222157e-05,1793240212042968320
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.124358544,714,680.875641456,660.124358544,631,880,786,804.875641456,652,631,652.124358544,0.448649372919,0.00461862592841,0.0597181419984,0.999999886143,0.000148031021936,-0.000449773549131,-5.91940865732e-05,1793240212059634944
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.450380928,745.450380928,714,681,660,631,880.450380928,786,805.450380928,652,631,652.450380928,0.448870514777,0.00462208126343,0.0596952308692,0.999999867825,0.000155715152222,-0.000486439090701,-5.89870659047e-05,1793240212076301568
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.974979699,746,714,681,659.974979699,631,881,786,805.974979699,652,631,653,0.449080621046,0.00462328010414,0.0596709895508,0.999999848382,0.000151921630167,-0.00052571575457,-6.14749579319e-05,1793240212092968448
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.38726629,746,714,681,659.38726629,631,881,786,805.38726629,652,631,653,0.449290152107,0.00462261468312,0.0596628044184,0.999999845687,0.000147620078953,-0.000531783958452,-6.35610788691e-05,1793240212109635072
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714,681,659,630.802236877,881,786,805,652,631,653,0.449491268158,0.00462279030411,0.0596587029938,0.99999984465,0.00014406086492,-0.000534445398764,-6.56860765094e-05,1793240212126301952
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714,681,659,630.222393044,881,786,805,652,631,653,0.449676126282,0.00462459082835,0.059662491342,0.999999846894,0.000141935855685,-0.00053052493058,-6.78861841668e-05,1793240212142968576
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,681,659,630,880.644289289,786,805,652,631,653,0.449841100135,0.00462546052619,0.0596657915213,0.999999848977,0.000141566186443,-0.000526553555123,-6.88899723491e-05,1793240212159634944
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,681,659,630,880.067268091,786,805,652,631,653,0.449993702722,0.00462575109732,0.0596687879797,0.999999850957,0.000142288626778,-0.000522550506598,-6.91494535414e-05,1793240212176301568
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.492843099,714,681,659,630,880,786,805,652,631,652.492843099,0.450115680933,0.00462542959613,0.0596651803044,0.999999848729,0.000141675994454,-0.000526864459034,-6.98832142643e-05,1793240212192968448
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.083687605,745,714,681,659,630,880.083687605,786,805,652,631,652,0.450231337469,0.00462525424806,0.0596615457555,0.999999846613,0.000140845701225,-0.000530990064343,-7.06060451449e-05,1793240212209635072
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.675071389,745,714,681,659,630,880.675071389,786,805,652,631,652,0.450333159753,0.00462645554548,0.0596630351566,0.99999984869,0.000139763755029,-0.000527314823117,-7.08828822346e-05,1793240212226301696
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.739486623,745,714,681,659,630,881,785.739486623,805,652,631,652,0.450423338557,0.00462736764804,0.0596645420193,0.999999850462,0.000139652455171,-0.000523952312918,-7.10483789595e-05,1793240212242968576
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.16129039,745,714,681,659,630,881,785.16129039,805,652,631,652,0.450499318722,0.00462792709203,0.0596660701756,0.999999851867,0.000140724809377,-0.000520971162579,-7.10781017385e-05,1793240212259635200
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,629.583666021,881,785,805,652,631,652.416333979,0.450559989567,0.00462987461103,0.0596649446022,0.999999850667,0.000143437264734,-0.00052247002175,-7.15275204038e-05,1793240212276301824
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,629.006262907,881,785,805,652,631,652.993737093,0.450614737619,0.00463235914129,0.0596627923675,0.999999848444,0.000146784233911,-0.000525702083891,-7.21393088411e-05,1793240212292968448
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.567360707,714,681,658.432639293,629,881,785.567360707,805,652,631,653,0.450655007985,0.00463325577164,0.0596611721144,0.999999847004,0.00014712485347,-0.000528312681429,-7.23267670902e-05,1793240212309635072
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629,881,786,805.144762918,652,631,652.855237082,0.450692104754,0.00463359618844,0.0596603356222,0.999999846248,0.000147063739177,-0.000529754175638,-7.2369945477e-05,1793240212326301696
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629,881,786,805.733891051,652,631,652.266108949,0.450719947142,0.00463228269724,0.0596618870615,0.999999847574,0.000145870654086,-0.000527627900623,-7.19845244226e-05,1793240212342968320
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.682471205,714,681,658,629,881,785.682471205,805.682471205,652,631,652,0.450742757159,0.00463227908487,0.059662776322,0.999999848369,0.00014543307562,-0.000526249261784,-7.19252849519e-05,1793240212359635200
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.103356479,714,681,658,629,881,785.103356479,805.103356479,652,631,652,0.45076142142,0.00463335457411,0.059663120068,0.999999848728,0.000145617896966,-0.00052548653884,-7.21347596934e-05,1793240212376301824
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.527324457,658,629,880.527324457,785,805,652,631,652.472675543,0.450773252381,0.00463409866837,0.0596623050661,0.9999998482,0.000147943348818,-0.000525852343953,-7.20564230785e-05,1793240212392968448
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.049137768,745.049137768,713.950862232,680.049137768,658,629,880.049137768,785,805,652,631,653,0.45078302887,0.00463454246389,0.059661061691,0.99999984738,0.000150368849303,-0.000526743413852,-7.19018982338e-05,1793240212409635072
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.637674377,745.637674377,713.362325623,680.637674377,658,629,880.637674377,785,805,652,631,653,0.450786548692,0.00463248009755,0.0596578792888,0.999999845542,0.000148787708122,-0.000530709184199,-7.15973971113e-05,1793240212426301696
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.777107642,746,713.222892358,680.777107642,658,629.222892358,881,785,805,652.222892358,631,653,0.450789048587,0.00463196676107,0.0596559073242,0.999999843979,0.000148503591598,-0.000533751170947,-7.14069826728e-05,1793240212442968320
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.197205195,746,713.802794805,680.197205195,658,629.802794805,881,785,805,652.802794805,631,653,0.450789914849,0.00463393452949,0.059655874136,0.999999842876,0.000150296939358,-0.000535313519184,-7.1399302637e-05,1793240212459634944
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680.378996892,658,629.621003108,881,785.378996892,805,653,630.621003108,653,0.450791199091,0.00463492370267,0.0596552642366,0.999999842273,0.000151572133746,-0.000536082943217,-7.13815251927e-05,1793240212476301568
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680.953292154,658,629.046707846,881,785.953292154,805,653,630.046707846,653,0.45079269872,0.00463540860239,0.0596543571562,0.999999841928,0.000152580321907,-0.000536443770702,-7.13585445203e-05,1793240212492968192
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.47265039,714,681,658,629,881,785.47265039,805,652.47265039,630.52734961,653,0.450794621682,0.00463449652271,0.0596552583066,0.999999842817,0.000150941830082,-0.000535273697457,-7.11632935789e-05,1793240212509634816
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.894963824,658,629,881,785,805,652,631,653,0.450795999282,0.00463356738393,0.0596559468287,0.999999843443,0.000149579668582,-0.000534515637839,-7.09497475551e-05,1793240212526301696
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.30026078,658,629,881,785,805,652,631,653,0.45079465975,0.00463313528145,0.0596548978054,0.999999842345,0.000150598070705,-0.000536310175782,-7.07220116407e-05,1793240212542968320
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.286562922,714,680,658,629,881,785,805,652,630.713437078,653,0.450794693754,0.00463286580258,0.0596544546143,0.999999841801,0.000151553043183,-0.000537093778188,-7.04307047273e-05,1793240212559635200
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.865351647,714,680,658,629,881,785,805,652,630.134648353,653,0.450796128435,0.00463276216092,0.0596546292274,0.999999841823,0.000152443332685,-0.00053684646779,-7.00745705362e-05,1793240212576301824
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.558704441,713.558704441,680.441295559,658,629,881,785.441295559,805,652,630.441295559,653,0.450796479878,0.00463297351484,0.0596540832795,0.999999841575,0.000151835025812,-0.000537438094321,-7.04045465456e-05,1793240212592968448
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.016749686,745,713.016749686,681,658,629,880.983250314,786,804.983250314,652.016749686,630.983250314,653,0.450796533117,0.00463326590122,0.0596533648555,0.999999841274,0.000150796449133,-0.000538222527107,-7.09197642489e-05,1793240212609635072
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.604918612,745,713.604918612,681,658,629,880.395081388,786,804.395081388,652.604918612,630.395081388,653,0.450797616521,0.0046330648605,0.0596542148274,0.999999842032,0.000150578476987,-0.00053690781557,-7.06583932615e-05,1793240212626301696
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.809737653,745.190262347,714,681,658,629,880.190262347,786,804.190262347,652.809737653,630.190262347,652.809737653,0.450798003929,0.00463273917302,0.0596546134897,0.999999842394,0.000150187298781,-0.000536382909025,-7.03487033373e-05,1793240212642968576
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.23017465,745.76982535,714,681,658,629,880.76982535,786,804.76982535,652.23017465,630.76982535,652.23017465,0.450796967241,0.00463215844262,0.0596540887161,0.999999841949,0.000149441719234,-0.000537474042766,-6.99401468155e-05,1793240212659635200
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.346111395,745.653888605,714,681,658,629,880.653888605,786,805,652,631,652.346111395,0.450795938901,0.00463198412125,0.0596531490564,0.999999841347,0.000149213757817,-0.000538664106314,-6.98692521654e-05,1793240212676301568
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.920238579,745.079761421,714,681,658,629,880.079761421,786,805,652,631,652.920238579,0.45079491606,0.00463207753936,0.0596519360726,0.999999840643,0.000149326799665,-0.000539919344091,-7.00208068332e-05,1793240212692967936
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.496796679,714,681,658,629,880.496796679,786,805,652,631,652.503203321,0.450796339299,0.00463349698552,0.0596522709648,0.999999840543,0.000150697325537,-0.000539689946199,-7.02790298015e-05,1793240212709634816
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.924840809,746,714,681,658,629,881,786,805,652,630.924840809,652.075159191,0.450797865604,0.00463509908984,0.0596527300963,0.99999984049,0.000152324508124,-0.000539298053091,-7.05304859534e-05,1793240212726301952
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.336842577,746,714,681,658,629,881,786,805,652,630.336842577,652.663157423,0.4507974023,0.00463648772829,0.0596523329189,0.999999840106,0.000154318603775,-0.000539431813966,-7.06183395328e-05,1793240212742968576
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.751884615,714,680.751884615,658,629,881,785.751884615,805,652,630.248115385,653,0.450796687295,0.0046371095696,0.0596518944702,0.999999839493,0.000155545581438,-0.000540225596878,-7.05341992403e-05,1793240212759634944
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.17100409,714,680.17100409,658,629,881,785.17100409,805,652,630.82899591,653,0.450795634717,0.00463670300506,0.0596514006697,0.999999838576,0.00015574372304,-0.00054190458217,-7.02193857816e-05,1793240212776301568
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.403382641,714,680.403382641,658,628.596617359,881,785,805,652,631,653,0.450797517141,0.00463581311665,0.0596528129461,0.999999839716,0.00015523361477,-0.000539951384164,-7.01705897917e-05,1793240212792968192
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.975060068,714,680.975060068,658,628.024939932,881,785,805,652,631,653,0.450800624075,0.00463472158128,0.0596550204545,0.999999841703,0.000154428018407,-0.000536482807221,-7.02327786485e-05,1793240212809635072
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681,657.449071638,628.550928362,880.449071638,785,805,652,631,653,0.450799907362,0.00463447601876,0.05965396663,0.9999998414,0.000152874329356,-0.00053754269115,-6.98350828858e-05,1793240212826301696
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.869185927,714,681,657.130814073,629,880.130814073,785.130814073,805,652,631,652.869185927,0.450799358936,0.00463413266653,0.0596531518424,0.999999841117,0.000151761879745,-0.00053842843259,-6.94888829884e-05,1793240212842968576
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.275769347,714,681,657.724230653,629,880.724230653,785.724230653,805,652,631,652.275769347,0.450800022434,0.00463330703045,0.0596537084655,0.999999841285,0.000152330478323,-0.000537967847111,-6.93989752519e-05,1793240212859635200
+254,4.233333333,HOLD_POSE2,765,746,715,681,658,629,881,785,805,652,631,652,0.450797799362,0.00463396652419,0.0596529205879,0.999999839717,0.000156014247062,-0.000539824510579,-6.93872195326e-05,1793240212896169728
+255,4.250000000,HOLD_POSE2,765,746,714.425811183,681,658,629,880.425811183,785,805,652,631,652,0.450799724256,0.0046332767288,0.0596530543711,0.999999841014,0.000151838264986,-0.000538616983011,-6.93408391018e-05,1793240212912836352
+256,4.266666667,HOLD_POSE2,765.148121144,746,714,681.148121144,658,629,880,785,805.148121144,652,631,652.148121144,0.450801363755,0.00463239679584,0.0596534263129,0.999999842102,0.000149261183379,-0.000537324554079,-6.92805608577e-05,1793240212929503232
+257,4.283333333,HOLD_POSE2,765.721317537,746,714,681.721317537,658,629,880,785,805.721317537,652,631,652.721317537,0.450802184231,0.00463097120954,0.0596544817176,0.999999842631,0.000151272595033,-0.000535788476567,-6.91803989249e-05,1793240212946169600
+258,4.300000000,HOLD_POSE2,765.69423307,746,714,681.69423307,658,629,880,785.30576693,805.69423307,652,631,653,0.450801725107,0.00463135180415,0.059654132454,0.99999984213,0.000152705029838,-0.000536309543701,-6.92341576277e-05,1793240212962836224
+259,4.316666667,HOLD_POSE2,765.099135611,746,714,681.099135611,658,629,880,785.900864389,805.099135611,652,631,653,0.450800055165,0.00463344148909,0.0596524540297,0.999999840654,0.000153589610384,-0.000538777174433,-6.94335630182e-05,1793240212979503104
+260,4.333333333,HOLD_POSE2,765.480977445,746,714,681,658,629,880.480977445,786,805,652,631,652.519022555,0.450799354822,0.00463368452011,0.0596523201646,0.999999840641,0.00015183732912,-0.000539281949668,-6.95571524247e-05,1793240212996169984
+261,4.350000000,HOLD_POSE2,765.942468107,746,714,680.942468107,658,629,880.942468107,785.942468107,805,652,631,652.057531893,0.450799006921,0.00463370945072,0.0596524834632,0.999999840854,0.000150167658169,-0.000539342549715,-6.96576374209e-05,1793240213012836608
+262,4.366666667,HOLD_POSE2,765.370947409,746,714,680.370947409,658,629,880.370947409,785.370947409,805,652,631,652.629052591,0.450800076238,0.00463508358254,0.0596525433838,0.999999840494,0.000153944864394,-0.000538940113011,-6.96870982635e-05,1793240213029503232
+263,4.383333333,HOLD_POSE2,765,745.792302595,714,680.207697405,657.792302595,629,880.207697405,785,805,652,631,653,0.450800780071,0.00463511742388,0.0596527175049,0.99999984029,0.000155740879611,-0.000538819773457,-6.95500477598e-05,1793240213046169856
+264,4.400000000,HOLD_POSE2,765,745.200482251,714,680.799517749,657.200482251,629,880.799517749,785,805,652,631,653,0.450800807966,0.00463267248436,0.0596531028322,0.999999840394,0.00015387280956,-0.000539221154425,-6.91050452701e-05,1793240213062836480
+265,4.416666667,HOLD_POSE2,765,745,714,681,657,629,880.617516445,785.382483555,805,652,631,652.617516445,0.4508012285,0.00463276174003,0.0596529831273,0.999999840466,0.00015466989163,-0.000538867568776,-6.90381185506e-05,1793240213079503104
+266,4.433333333,HOLD_POSE2,765,745,714,681,657,629,880.03908676,785.96091324,805,652,631,652.03908676,0.450801850185,0.00463414926238,0.0596526046947,0.999999840519,0.00015683232959,-0.00053812721415,-6.91648798133e-05,1793240213096169984
+267,4.450000000,HOLD_POSE2,765,745.537473123,714,681,657,629,880.537473123,786,805.537473123,652,631,652,0.450800283544,0.00463313131306,0.0596515110691,0.999999839801,0.000153108913946,-0.000540514264435,-6.92773891695e-05,1793240213112836352
+268,4.466666667,HOLD_POSE2,765,746,714,681,657,628.883881495,880.883881495,785.883881495,805.883881495,652.116118505,630.883881495,652.116118505,0.450798997644,0.00463237809893,0.0596506439536,0.999999839185,0.000149848290704,-0.000542556350472,-6.9344318047e-05,1793240213129502976
+269,4.483333333,HOLD_POSE2,765,746,714,681,657,628.296216646,880.296216646,785.296216646,805.296216646,652.703783354,630.296216646,652.703783354,0.450799495827,0.00463340787515,0.0596509071538,0.999999839291,0.000150199218945,-0.000542277180237,-6.92303432319e-05,1793240213146169600
+270,4.500000000,HOLD_POSE2,765,746,714,680.712761369,657.287238631,628.287238631,880.287238631,785,805,652.712761369,630,653,0.450800113501,0.00463361216394,0.059651522584,0.999999839722,0.000150454541272,-0.000541433371287,-6.90620500987e-05,1793240213162836480
+271,4.516666667,HOLD_POSE2,765,746,714,680.133584573,657.866415427,628.866415427,880.866415427,785,805,652.133584573,630,653,0.45080085262,0.00463297745937,0.0596524960072,0.99999984048,0.000150612693451,-0.00054001568554,-6.8838549948e-05,1793240213179503360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,629,881,785,806,652,630,653,0.450800239271,0.00463609056328,0.0596513317542,0.999999838905,0.000155289602878,-0.000541448974811,-7.00530434162e-05,1793240213212286976
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,658.412794632,629,881,785.587205368,806,652,630.587205368,653,0.450799691056,0.0046360542469,0.0596516746918,0.99999983897,0.00015514713911,-0.000541429116174,-6.95916852777e-05,1793240213228953600
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,881,785.827889242,805.827889242,652,631,653,0.450799232817,0.00463555664932,0.0596516928574,0.999999838938,0.000154477268722,-0.000541724593557,-6.92410662094e-05,1793240213245620224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,881,785.248427317,805.248427317,652,631,653,0.450798987536,0.00463396729288,0.0596509423537,0.999999838674,0.000152559134076,-0.000542766407169,-6.91525439094e-05,1793240213262287104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,881,785,805,652,631,652.670884532,0.450799062792,0.0046339010207,0.0596510024137,0.999999838801,0.000152066335807,-0.000542648779756,-6.932720015e-05,1793240213278953984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,881,785,805,652,631,652.094782015,0.450799378597,0.00463497775807,0.059651670767,0.999999839223,0.000152643191503,-0.000541661041495,-6.96993606088e-05,1793240213295620864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.519107959,629,880.519107959,785.480892041,805,652,631,652.480892041,0.45080019432,0.00463499900513,0.0596523612213,0.999999839811,0.000153916775863,-0.000540243466457,-6.94536464366e-05,1793240213312287232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.056245532,629,880,785.943754468,805,652,631,652.943754468,0.450800362568,0.00463494681978,0.0596526232248,0.99999984006,0.000155350549931,-0.000539407730264,-6.91717967044e-05,1793240213328953856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.629428288,629,880,785.370571712,805,652,631,652.370571712,0.450793675272,0.0046361300111,0.0596489074551,0.999999836901,0.000156995612851,-0.000544697452782,-6.96760921888e-05,1793240213345620224
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.788880374,714,681.211119626,657.788880374,629,880.211119626,785.211119626,805,652,631,652.211119626,0.450781404399,0.00463603064222,0.0596430141725,0.999999832037,0.000156484496105,-0.000553671747172,-6.98995216725e-05,1793240213362286848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.19162707,714,681.80837293,657.19162707,629,880.80837293,785.80837293,805,652,631,652.80837293,0.450758921275,0.0046335854956,0.0596331382616,0.999999823921,0.000152029768609,-0.00056938505099,-6.96092526547e-05,1793240213378953472
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,658,629,881,785,804.538525475,652,630.538525475,653,0.450613674804,0.00463652818611,0.0595910810325,0.999999788294,0.000157330213607,-0.000627447114572,-7.04939304121e-05,1793240213428954624
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,658,629,880.881050932,785.118949068,805,652,631,653,0.450548072963,0.00463729001355,0.05957886311,0.99999977921,0.000157657197792,-0.000641672015397,-7.05781553359e-05,1793240213445620480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,658,629,880.291024904,785.708975096,805,652,631,653,0.450468156545,0.00463715197771,0.0595731190986,0.999999773794,0.000159060147968,-0.000649759870604,-7.01732256125e-05,1793240213462287104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.706993401,745.706993401,714,681,658,629,880,785.706993401,805,652.293006599,631,652.706993401,0.450378495947,0.00463720633926,0.0595688813702,0.999999769275,0.000161027800046,-0.000656282551122,-6.93815622232e-05,1793240213478953984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.128796546,745.128796546,714,681,658,629,880,785.128796546,805,652.871203454,631,652.128796546,0.450279351112,0.00463744796576,0.0595661097429,0.999999765653,0.000163545089765,-0.000661281809609,-6.82134818317e-05,1793240213495620352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.44556041,745,714,681,658,629,880.44556041,785.44556041,805,652.55443959,631,652.44556041,0.45016090451,0.00463821109386,0.0595639681898,0.999999762215,0.000166296020924,-0.000665834947845,-6.76669899066e-05,1793240213512286976
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.981095299,745.018904701,714,681,658,629,880.981095299,785.981095299,805,652,631,652.981095299,0.450035830239,0.00463904677993,0.0595619264581,0.999999758701,0.000169055277364,-0.000670444107622,-6.72511949456e-05,1793240213528953600
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.405162695,745.594837305,714,681,658,629,880.405162695,785.405162695,805,652,631,652.405162695,0.449878466641,0.00463761652899,0.0595575052581,0.999999751874,0.000170086836278,-0.000680471244831,-6.54373392663e-05,1793240213545620224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,880,785.176139287,805,652,631,652.176139287,0.449711356513,0.00463708069056,0.0595528102573,0.999999745808,0.000172267796653,-0.000688936817396,-6.38219932519e-05,1793240213562287104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,880,785.77018038,805,652,631,652.77018038,0.44952112214,0.0046386669036,0.0595474656473,0.999999741732,0.000177175785916,-0.000693697475949,-6.26776244755e-05,1793240213578953728
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.92965223,746,714,681,658,629,880,785.07034777,805,652,631,653,0.449093996917,0.00464095658659,0.0595427924895,0.999999733586,0.000187641037776,-0.000702856413048,-6.00901639315e-05,1793240213612287232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.494219945,746,714,681,658.505780055,629.505780055,880,785,805,652.505780055,631,653,0.44884642711,0.00464144120824,0.0595446605128,0.99999973335,0.000192427880715,-0.000702084128616,-5.78786729156e-05,1793240213628953600
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.329100178,714,681.670899822,659,630,880,785.670899822,805,652.329100178,631,652.329100178,0.448310233141,0.00464200058202,0.0595501698696,0.999999735297,0.000203027687091,-0.000696718460559,-5.26143633689e-05,1793240213662286848
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.834059912,714,681.165940088,659,630,880,786,805,652,631,652,0.44769009033,0.00464160209661,0.0595745278828,0.999999759262,0.000215334746618,-0.000657982208628,-4.65365340954e-05,1793240213695620608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.589407623,713.589407623,680.589407623,659,630,880,785.589407623,805,652,630.589407623,652,0.447338998479,0.00464035856277,0.0595892135042,0.999999771725,0.000220882215839,-0.000637138700691,-4.25948470333e-05,1793240213712286976
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.561700189,680.561700189,659.561700189,630.561700189,880,785.561700189,805,652,631.123400379,652,0.446551927234,0.0046411256554,0.0596040818933,0.999999777433,0.000235782820101,-0.000623148405084,-3.50185848216e-05,1793240213745620480
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.732882413,745,714,681,660,631,880.732882413,786,805,652,631.267117587,652,0.44564757333,0.00464137365873,0.059591266455,0.999999757884,0.000250930649655,-0.000648444581836,-2.80263495262e-05,1793240213778953728
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.682437029,745,714,680.682437029,660,631.317562971,881,786,805,652,631,652,0.445162551194,0.0046408095136,0.0595841605088,0.999999750059,0.000258164287157,-0.000657755850269,-2.43155406086e-05,1793240213795620096
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.040893095,745.040893095,714,680.959106905,661.040893095,632,881,786,805,652,631.040893095,653,0.443628635681,0.00464049123524,0.0596289851131,0.999999791575,0.000286030861722,-0.000578719503852,-1.09229642467e-05,1793240213845620736
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.955016,633.955016,881,786.044984,805,652,631.955016,652,0.440529313196,0.00463259420139,0.0597023467783,0.999999831017,0.000322833731727,-0.000483258807645,1.43182833304e-05,1793240213928954112
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.470559957,745.470559957,714,680.470559957,664.529440043,634,880.470559957,786.529440043,805,652,631.470559957,652,0.439870025947,0.00463045598383,0.0597346619098,0.999999853404,0.00032820447805,-0.00043024054608,1.91660051938e-05,1793240213945620736
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.697921331,745.697921331,714,680,665,634,880,787,805,652,631,652.697921331,0.438548198122,0.00462910535352,0.0598249537831,0.999999899753,0.000344641919906,-0.000284345648061,2.93746285905e-05,1793240213978954240
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.716388532,714,680,665,634,880,787,804.716388532,652,631.283611468,652.716388532,0.43780395574,0.00463125707172,0.0598383640799,0.999999900202,0.000357894419331,-0.000265199933427,3.4310156434e-05,1793240213995621120
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.136420768,714,680,665,634,880,787,804.136420768,652,631.863579232,652.136420768,0.43697572543,0.00463531291707,0.0598112723393,0.999999880205,0.000374306904974,-0.000313010663068,3.88515135942e-05,1793240214012287744
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.559569634,745.440430366,714,680,664.559569634,634,880.440430366,787,804,652,631.559569634,652,0.436133429917,0.00463799761857,0.0597742421187,0.99999985924,0.000385210125125,-0.000362482387531,4.17032357789e-05,1793240214028954368
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.983791009,714,680,664.016208991,634,880.983791009,787,804,652,631,652.016208991,0.435288365456,0.00464018817571,0.0597358306716,0.999999838477,0.000391331574703,-0.000409934063046,4.31153697978e-05,1793240214045620736
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.411916999,714,680,664.588083001,634,880.411916999,787,804,652,631,652.588083001,0.434496677024,0.00463989592675,0.0597548584546,0.999999888715,0.000291616524922,-0.000370622763155,1.29917847521e-05,1793240214062287360
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.341775137,745.341775137,714,679.658224863,664.658224863,634,880,787.341775137,804.658224863,652,631,652,0.432013152363,0.0046314416884,0.0597966144582,0.999999923273,0.000245987408167,-0.000304720157726,9.43478989532e-06,1793240214112287744
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.921574936,745.921574936,714,679.078425064,664.078425064,634,880,787.921574936,804.078425064,652,631,652,0.431163413185,0.00463752266435,0.0598138068252,0.999999926466,0.000267090978321,-0.000274781040328,1.50338490476e-05,1793240214128955136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.496839436,746,714,679.496839436,664.496839436,634,880,787.503160564,804,652,631.496839436,652.496839436,0.430278025295,0.00463927630205,0.0598294662899,0.999999928439,0.000276990363534,-0.00025688644612,2.01789542889e-05,1793240214145621504
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.753721181,714,680,664.246278819,634.753721181,879.753721181,787,804,652,631,653,0.427532813539,0.0046415477486,0.0597539389687,0.999999882749,0.000277210004085,-0.000396341138508,2.38907606034e-05,1793240214195620352
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.174187404,714,680,664.825812596,634.174187404,879.174187404,787,804,652,631,653,0.426656160288,0.0046385242527,0.059745317743,0.999999892099,0.000261196505506,-0.000383585465961,2.09696812255e-05,1793240214212286976
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.402936147,634,879,787,804,652,631,652.597063853,0.425780583885,0.00463774139421,0.0597686049648,0.999999904765,0.000256663376431,-0.00035226796378,2.23677001508e-05,1793240214228953600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.979023929,634,879,787,804,652,631,652.020976071,0.424905470282,0.00463792139326,0.0598056040367,0.999999917655,0.000257063646932,-0.000312973984326,2.56217426665e-05,1793240214245620480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,664.892519947,634,879.553740026,787,804.553740026,652,631,652,0.424009857909,0.00463668196125,0.0598228022675,0.999999925361,0.000252487312019,-0.000291195229534,2.70651502807e-05,1793240214262287104
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.390549562,714.390549562,680.218900876,664.609450438,634.609450438,879.390549562,787,805,652.609450438,631,653,0.417881336381,0.00457272440644,0.0597576183371,0.99999991669,0.000128776881247,-0.000386373907791,2.74297929231e-05,1793240214378953728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.188557073,745.188557073,714.188557073,680.622885855,665,634.811442927,879,787,804.811442927,652.811442927,631.188557073,653,0.417089710615,0.00457461588219,0.0597972318124,0.999999938908,0.000125697347948,-0.000324914256243,2.85627799333e-05,1793240214395620352
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.78075835,745.78075835,714.78075835,679.438483299,665,634.21924165,879,787,804.21924165,652.21924165,631.78075835,653,0.416320611709,0.00456626360758,0.0598348074744,0.999999955544,0.000110725675004,-0.000275030033917,3.17965180171e-05,1793240214412286976
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.635003036,746,714.635003036,679.364996964,664.635003036,634,879.364996964,787,804,652,631.635003036,653,0.415537846496,0.00456603010967,0.0598439377748,0.999999958108,0.000103712080922,-0.00026828007194,3.24649835789e-05,1793240214428953856
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.055445252,746,714.055445252,679.944554748,664.055445252,634,879.944554748,787,804,652,631.055445252,653,0.414747047689,0.0045705691763,0.0598363466734,0.999999953209,0.000101376586798,-0.000286886275444,3.16254721162e-05,1793240214445620736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.520199882,745.479800118,714.520199882,679.479800118,664.520199882,634.520199882,880,787,804.520199882,652,631,653,0.413992601138,0.00456811635957,0.059842394297,0.999999956786,9.71537609767e-05,-0.00027552589512,3.2783763723e-05,1793240214462287360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.902348504,679.097651496,665,635,879.902348504,787,804.902348504,652.097651496,631.097651496,653,0.413234418298,0.00456518422171,0.0598409499601,0.999999954672,0.000112925510582,-0.00027706104084,3.3766578614e-05,1793240214478953984
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.313733403,679.686266597,665,635,879.313733403,787,804.313733403,652.686266597,631.686266597,653,0.412438115614,0.0045635610088,0.0597945840949,0.999999908386,0.000230228053534,-0.000359369676248,3.28045636192e-05,1793240214495620352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.729654685,745.270345315,714,680,665,635,879,787,804,653,631.729654685,653,0.411694178503,0.00456291165598,0.0597631575837,0.999999875743,0.00028641332093,-0.000406812032835,3.13854136891e-05,1793240214512286976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.150753561,745.849246439,714,680,665,635,879,787,804,653,631.150753561,653,0.411010008347,0.00456337380834,0.0597487819515,0.999999876456,0.000272843018638,-0.00041446012612,2.9444518207e-05,1793240214528953600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,635,879.426359629,787.426359629,804,652.573640371,631,653,0.410382866264,0.00456080102265,0.0597738671485,0.99999989695,0.000258722789462,-0.000371852782466,2.98104789019e-05,1793240214545620736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.002890954,745.997109046,714,680,665,635,879.997109046,787.997109046,804,652.002890954,631,652.997109046,0.409775887489,0.00455717494572,0.0598128043386,0.999999921087,0.000244442914896,-0.000311630848373,3.0990311742e-05,1793240214562287872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.589032232,745.410967768,714,680,665,635,879.410967768,787.410967768,804,652.589032232,631,652.410967768,0.409185734685,0.00455664182183,0.0598431819929,0.999999935555,0.000237020420691,-0.000267686938908,3.24955637925e-05,1793240214578955008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.173365224,714,680.173365224,665,635,879,787,804,653,631,652.173365224,0.408596985183,0.00455619690938,0.05986151166,0.999999944324,0.000228262627078,-0.000241124445385,3.32702467326e-05,1793240214595621888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.753455981,714,680.753455981,665,635,879,787,804,653,631,652.753455981,0.4080115278,0.00455595894633,0.0598515760106,0.99999994347,0.000216372137905,-0.000255339820354,3.23309698002e-05,1793240214612288512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.667491036,746,714,680.667491036,665,635,879,787.332508964,804,653,631,653,0.407448248074,0.00455373654283,0.0598378301761,0.999999940632,0.000204039247345,-0.000275873253396,3.16052984989e-05,1793240214628955136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.089205167,746,714,680.089205167,665,635,879,787.910794833,804,653,631,653,0.406901361192,0.00455004732287,0.0598212680106,0.999999935882,0.000191379352556,-0.000301076733284,3.10375157081e-05,1793240214645621504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.484783192,746,714,679.515216808,665,635,879.484783192,788,804,653,631,653,0.406422048597,0.00454854947117,0.0598248542832,0.999999940564,0.000182566813418,-0.00029083592876,3.09217259806e-05,1793240214662287616
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.059787858,679,665,635,879.940212142,788,804,653,631,653,0.405957776962,0.00454722007733,0.0598320522912,0.999999946649,0.00017424318126,-0.000274562511051,3.09433446814e-05,1793240214678953984
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,714.650786716,679,665,635,879.349213284,788,804,653,631,653,0.405517635413,0.00454383618902,0.0598386886845,0.999999951697,0.000164028605759,-0.000262129123244,3.14533486168e-05,1793240214695621120
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.762962233,714.762962233,679.237037767,665,635,879.237037767,787.762962233,804,652.762962233,631,653,0.405081355658,0.00454224764722,0.0598344625228,0.999999951056,0.000157828836317,-0.000268277905319,3.16999629152e-05,1793240214712287744
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.183568536,714.183568536,679.816431464,665,635,879.816431464,787.183568536,804,652.183568536,631,653,0.404650653568,0.00454325214195,0.0598145474678,0.99999994173,0.00015742769075,-0.000301265095303,3.15661609645e-05,1793240214728954624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.607194738,745.392805262,714,680,665,635,879.607194738,787,804,652.392805262,631,653,0.404251106064,0.00454242907137,0.0597920553531,0.999999929892,0.000155379044479,-0.000339184998283,3.20494345504e-05,1793240214745621248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.032221402,745.967778598,714,680,665,635,879.032221402,787,804,652.967778598,631,653,0.403866006829,0.00454075844589,0.0597683680948,0.999999915854,0.000152566350125,-0.000379392507641,3.28188841503e-05,1793240214762287872
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.54022262,746,714,679.45977738,665,635,880.080445241,787.54022262,804,653,631,653,0.403577095523,0.00453905441552,0.0597810848922,0.99999992566,0.000151548827697,-0.000352938020201,3.38899637815e-05,1793240214778954240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,880.767199017,787.883599509,804,653,631,653,0.403300298239,0.00453767983039,0.0597978282153,0.999999936466,0.000150887467826,-0.000321046896609,3.50662831685e-05,1793240214795620608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,879.5831004,787.2915502,804,653,631,653,0.403049668225,0.00453765956479,0.0598221938911,0.999999947816,0.000151246007115,-0.000283111568036,3.6599472798e-05,1793240214812287232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.706278108,714,679.293721892,664.706278108,635,879,787,804.293721892,652.706278108,631,653,0.402812563651,0.00453683627807,0.0598411946587,0.999999955696,0.000151837490358,-0.000253186069831,3.80832551043e-05,1793240214828953856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.12758144,714,679.87241856,664.12758144,635,879,787,804.87241856,652.12758144,631,653,0.402588581739,0.00453523388442,0.0598549902849,0.999999960879,0.000152654980502,-0.000231031869577,3.9519101383e-05,1793240214845620736
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.447295976,714,679.552704024,664.447295976,635,879,787,804.105408048,652.447295976,631.447295976,653,0.402369670573,0.00453397130011,0.0598507843283,0.999999958587,0.000152483015212,-0.000240712595665,4.04059601164e-05,1793240214862287360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.021693676,665,635,879.021693676,787,803.021693676,653,631.978306324,653,0.402153888121,0.00453281803995,0.0598416989852,0.999999954061,0.000151962138264,-0.000259028163769,4.11166435689e-05,1793240214878953984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.611824335,665,635,879.611824335,787,803.611824335,653,631.388175665,653,0.401982510035,0.00453201122133,0.0598381608558,0.999999952125,0.000149631156412,-0.000267687914227,4.12793141302e-05,1793240214895620864
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.396894917,635,879.801552542,787,804,652.801552542,631,653,0.401821128212,0.0045307851084,0.0598358711734,0.999999953327,0.000131104463687,-0.000273468443289,3.70490849839e-05,1793240214912287744
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.55665743,635,879.221671285,787,804,652.221671285,631,653,0.401678960122,0.00452875307435,0.0598359811182,0.999999958926,8.14481633606e-05,-0.000273714849373,2.43753088557e-05,1793240214928953856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.355842213,679.644157787,666.288315573,635,879.355842213,787,804,652.355842213,631,653,0.401557457038,0.00452341598949,0.059836086849,0.9999999614,4.55735450586e-05,-0.000273538670854,1.72940751666e-05,1793240214945620480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.931890526,679.068109474,665.136218948,635,879.931890526,787,804,652.931890526,631,653,0.40144874208,0.00451603363741,0.059836189972,0.999999962448,1.8227450425e-05,-0.000273100984156,1.36736774193e-05,1793240214962287104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,714.493386024,679.506613976,665,635,879.493386024,787.506613976,804,653,631,653,0.401364448992,0.00451702880169,0.0598389534386,0.999999963633,2.18319972242e-05,-0.000268456335401,1.37338415751e-05,1793240214978953728
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879.0831889,787.9168111,804.0831889,653,631,653,0.40128580852,0.00451852303185,0.0598414203751,0.999999964594,2.82873903607e-05,-0.0002642103052,1.43340951894e-05,1793240214995620352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879.67209952,787.32790048,804.67209952,653,631,653,0.401221623674,0.00451622217487,0.0598399160449,0.999999964195,2.68439495523e-05,-0.000265816896587,1.52174161375e-05,1793240215012286976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.742952318,665,635,880,787.257047682,804.742952318,653,631,653,0.401162699556,0.00451494647446,0.0598386227724,0.999999963306,2.76827227497e-05,-0.000269002568001,1.61189027665e-05,1793240215028953600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.162982127,665,635,880,787.837017873,804.162982127,653,631,653,0.401110384362,0.0045149586525,0.0598375946464,0.999999961777,3.13885838262e-05,-0.000274171997656,1.70432104279e-05,1793240215045620224
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,880,787.585417358,804,653,631,653,0.40107298434,0.0045141587724,0.0598376678385,0.999999961309,3.3128776751e-05,-0.000275631028413,1.76745813579e-05,1793240215062286592
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,665,635,880,787.008792775,804,653,631,653,0.401041413998,0.00451304149484,0.059838171487,0.999999961264,3.4100677211e-05,-0.000275639828914,1.81914563085e-05,1793240215078953216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.565403094,665,635,879.434596906,787,804,653,631,653,0.401025866647,0.00451229688753,0.0598400477759,0.999999962686,3.48980582713e-05,-0.000270297421325,1.86744440754e-05,1793240215095620096
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.856152687,745.856152687,714,680,665,635,879,787.143847313,804,653,631,653,0.401011385649,0.00451197705446,0.0598415624102,0.999999963733,3.63690978437e-05,-0.00026617568506,1.8997856565e-05,1793240215112286720
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.264362014,745.264362014,714,680,665,635,879,787.735637986,804,653,631,653,0.400999452669,0.00451296200668,0.0598418846557,0.999999963617,3.99463384383e-05,-0.000266113179813,1.88259824583e-05,1793240215128953344
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.320378093,745,714.320378093,680,665,635,879.320378093,787.679621907,804,653,631,653,0.400990649672,0.00451258541991,0.0598424061314,0.99999996375,4.15309599467e-05,-0.00026537177096,1.8779480368e-05,1793240215145619968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.899425718,745,714.899425718,680,665,635,879.899425718,787.100574282,804,653,631,653,0.400984373784,0.00451110954257,0.0598430884634,0.999999964092,4.15067644496e-05,-0.000264082223253,1.88342021619e-05,1793240215162286592
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.473645297,714.526354703,680,665,635,879.526354703,787,804,653,631.473645297,653,0.400981160743,0.00451124734593,0.0598441366468,0.999999964179,4.53195683639e-05,-0.000263110890378,1.89797060576e-05,1793240215178953216
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879,787,804,653,631.951753393,653,0.400978670986,0.00451161943869,0.0598451793556,0.999999963881,5.53020144762e-05,-0.000262321443901,1.91555320318e-05,1793240215195620096
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879,787,804,653,631.361461238,653,0.400977074173,0.00451081295158,0.0598452965787,0.999999957393,0.000125538455639,-0.000262823988568,1.94576364455e-05,1793240215212286720
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.77618339,714,679.77618339,665,635,879,787,804,653,631,653,0.400976274329,0.00451005428405,0.059845741865,0.999999951266,0.000168165333757,-0.000262296599973,1.97192383884e-05,1793240215228953344
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.198826175,714,679.198826175,665,635,879,787,804,653,631,653,0.400976733379,0.00450937115236,0.0598467053599,0.99999995199,0.000167180156371,-0.000260142330925,1.99168627526e-05,1793240215245619968
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.379474873,714,679.379474873,665,635,879,787,804,653,631,652.620525127,0.400977340442,0.0045095302269,0.0598478010021,0.99999995235,0.000167591148473,-0.00025849408169,1.98274482659e-05,1793240215262286592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.958271658,714,679.958271658,665,635,879,787,804,653,631,652.041728342,0.400978025249,0.00451013167635,0.0598489660557,0.999999952519,0.000168735488692,-0.000257111623075,1.95872645479e-05,1793240215278953216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879,787,804,653,631,652,0.400978818426,0.00450909917605,0.0598497756238,0.999999953291,0.000166697432782,-0.000255401947135,1.99827100315e-05,1793240215295619840
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.891232936,714,680,665,635,879,787,804,653,631,652.108767064,0.400979440927,0.00450846795921,0.0598502986435,0.999999953909,0.000165073921376,-0.000254012433521,2.02554023738e-05,1793240215312286720
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d56dc4cf6e6d5e5ff35fc067568c44d63d6c2c59
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+210,3.500000000,pose1_to_pose2_press,0.620159175668,0.0100907266167,1.05003222359,0.590729626453,0.0187624721239,1.04970036255
+211,3.516666667,pose1_to_pose2_press,0.620309253135,0.0100909154252,1.05003235611,0.590879701384,0.0187626523175,1.04970048773
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+213,3.550000000,pose1_to_pose2_press,0.620562655106,0.0100906923801,1.0500323684,0.591133104382,0.0187624330309,1.04970049885
+214,3.566666667,pose1_to_pose2_press,0.620667947857,0.0100906958737,1.05003207037,0.591238396721,0.0187624354452,1.04970020164
+215,3.583333333,pose1_to_pose2_press,0.620759359539,0.0100907536039,1.05003214941,0.591329808708,0.0187624944976,1.04970028518
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+218,3.633333333,pose1_to_pose2_press,0.620966178589,0.0100908496854,1.05003221753,0.591536627914,0.0187625919227,1.04970035178
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+221,3.683333333,pose1_to_pose2_press,0.62108600283,0.010090846988,1.05003246031,0.591656452372,0.0187625897833,1.0497005936
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+223,3.716666667,pose1_to_pose2_press,0.621132301059,0.0100907767895,1.05003253088,0.59170275042,0.0187625189433,1.04970066368
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+226,3.766666667,pose1_to_pose2_press,0.621167179551,0.0100907814696,1.05003213559,0.591737627169,0.0187625178045,1.04970026614
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+229,3.816666667,pose1_to_pose2_press,0.621176331667,0.0100907956955,1.05003228873,0.591746779009,0.0187625310453,1.04970042581
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+231,3.850000000,pose1_to_pose2_press,0.621178662787,0.0100907614841,1.05003222406,0.591749110988,0.0187624998355,1.0497003634
+232,3.866666667,pose1_to_pose2_press,0.62117939902,0.0100907506792,1.05003220363,0.591749847493,0.0187624899785,1.04970034368
+233,3.883333333,pose1_to_pose2_press,0.621179929217,0.0100907637003,1.05003220871,0.591750377897,0.0187625036357,1.04970034697
+234,3.900000000,pose1_to_pose2_press,0.621180448951,0.0100907775427,1.0500322147,0.591750897835,0.0187625180992,1.04970035109
+235,3.916666667,pose1_to_pose2_press,0.621180730539,0.0100907850424,1.05003221795,0.591751179533,0.0187625259354,1.04970035333
+236,3.933333333,pose1_to_pose2_press,0.621180811436,0.0100907871969,1.05003221889,0.591751260461,0.0187625281866,1.04970035397
+237,3.950000000,pose1_to_pose2_press,0.6211812595,0.0100907991305,1.05003222406,0.591751708701,0.0187625406556,1.04970035753
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+240,4.000000000,pose1_to_pose2_press,0.621181970209,0.0100908180592,1.05003223226,0.591752419688,0.0187625604336,1.04970036317
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+242,4.033333333,pose1_to_pose2_press,0.621182397796,0.0100908213703,1.05003223742,0.591752847448,0.0187625642778,1.04970036689
+243,4.050000000,pose1_to_pose2_press,0.621182415122,0.0100908191636,1.05003223769,0.591752864782,0.0187625620992,1.04970036714
+244,4.066666667,pose1_to_pose2_press,0.621182469615,0.0100908122233,1.05003223855,0.5917529193,0.0187625552469,1.04970036791
+245,4.083333333,pose1_to_pose2_press,0.621182563354,0.0100908002845,1.05003224003,0.591753013084,0.0187625434597,1.04970036923
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+272,4.533333333,pose2_to_pose3_retreat,0.62118422441,0.0100908073819,1.05003210725,0.591754672777,0.0187625461518,1.04970024041
+273,4.550000000,pose2_to_pose3_retreat,0.621184182115,0.0100908728243,1.05003223091,0.591754629494,0.0187626079456,1.04970035598
+274,4.566666667,pose2_to_pose3_retreat,0.621184141788,0.0100908627329,1.05003224321,0.591754589207,0.0187625979831,1.04970036789
+275,4.583333333,pose2_to_pose3_retreat,0.621184112047,0.0100908255105,1.05003220888,0.5917545599,0.018762562338,1.0497003363
+276,4.600000000,pose2_to_pose3_retreat,0.621184094656,0.0100908037453,1.05003218881,0.591754542763,0.0187625414951,1.04970031783
+277,4.616666667,pose2_to_pose3_retreat,0.621184055617,0.0100907548858,1.05003214376,0.591754504293,0.018762494706,1.04970027636
+278,4.633333333,pose2_to_pose3_retreat,0.621183490706,0.0100906593678,1.05003220313,0.59175394053,0.0187624032019,1.04970033838
+279,4.650000000,pose2_to_pose3_retreat,0.621181100135,0.0100907372547,1.05003225747,0.591751549294,0.0187624787454,1.049700392
+280,4.666666667,pose2_to_pose3_retreat,0.621174954693,0.0100908329466,1.0500323199,0.591745402659,0.0187625703255,1.04970045684
+281,4.683333333,pose2_to_pose3_retreat,0.621161960625,0.0100907670349,1.05003229502,0.591732409866,0.0187625085647,1.04970042605
+282,4.700000000,pose2_to_pose3_retreat,0.621140599224,0.0100908150681,1.05003244692,0.591711049479,0.0187625602371,1.0497005811
+283,4.716666667,pose2_to_pose3_retreat,0.621109406424,0.0100908204426,1.05003233185,0.591679854775,0.0187625588088,1.04970046237
+284,4.733333333,pose2_to_pose3_retreat,0.621068471864,0.010090774842,1.05003224944,0.591638922131,0.0187625197142,1.04970037817
+285,4.750000000,pose2_to_pose3_retreat,0.621016954367,0.0100908516535,1.05003237178,0.591587403386,0.0187625920484,1.04970050438
+286,4.766666667,pose2_to_pose3_retreat,0.620955834656,0.0100908992533,1.0500322918,0.591526282695,0.0187626364043,1.04970042583
+287,4.783333333,pose2_to_pose3_retreat,0.620884951239,0.0100908461347,1.05003227126,0.591455399668,0.0187625848234,1.04970040838
+288,4.800000000,pose2_to_pose3_retreat,0.620803594901,0.0100908365292,1.05003233801,0.591374044146,0.0187625775929,1.04970047168
+289,4.816666667,pose2_to_pose3_retreat,0.62071125128,0.0100908359469,1.05003249257,0.591281699755,0.0187625739456,1.04970061891
+290,4.833333333,pose2_to_pose3_retreat,0.620604675922,0.0100908078431,1.05003243497,0.591175123215,0.0187625417663,1.04970056593
+291,4.850000000,pose2_to_pose3_retreat,0.620484001014,0.010090920903,1.05003233879,0.591054447531,0.0187626519258,1.04970046867
+292,4.866666667,pose2_to_pose3_retreat,0.620346509967,0.0100907237898,1.0500322297,0.590916960907,0.0187624701419,1.04970037194
+293,4.883333333,pose2_to_pose3_retreat,0.620192686059,0.0100906161798,1.05003246595,0.590763138669,0.0187623673821,1.04970059485
+294,4.900000000,pose2_to_pose3_retreat,0.620021498795,0.010090724694,1.05003221713,0.590591950239,0.0187624720697,1.04970035528
+295,4.916666667,pose2_to_pose3_retreat,0.619833945245,0.0100907566316,1.0500323539,0.590404395133,0.0187624981085,1.04970048437
+296,4.933333333,pose2_to_pose3_retreat,0.619630036231,0.010090875123,1.05003232283,0.590200486342,0.0187626174446,1.04970046349
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+298,4.966666667,pose2_to_pose3_retreat,0.619172464791,0.0100907862943,1.05003242732,0.589742915271,0.0187625287434,1.04970055627
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+300,5.000000000,pose2_to_pose3_retreat,0.618641596379,0.0100907698445,1.05003230435,0.589212046885,0.0187625116659,1.04970043797
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+304,5.066666667,pose2_to_pose3_retreat,0.617307070278,0.0100907502855,1.05003227186,0.587877521973,0.0187624942771,1.04970040704
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+307,5.116666667,pose2_to_pose3_retreat,0.616047859065,0.0100906798455,1.05003228227,0.58661831172,0.0187624251449,1.04970041531
+308,5.133333333,pose2_to_pose3_retreat,0.615593188722,0.0100908351326,1.05003234047,0.586163638986,0.0187625717273,1.04970047413
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+310,5.166666667,pose2_to_pose3_retreat,0.614642052394,0.0100907247819,1.05003218939,0.585212505747,0.0187624709865,1.0497003327
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+316,5.266666667,pose2_to_pose3_retreat,0.611227173574,0.0100908665075,1.05003234091,0.581797624352,0.0187626034123,1.04970047405
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+320,5.333333333,pose2_to_pose3_retreat,0.608550220697,0.0100906775014,1.05003226639,0.579120673317,0.0187624205468,1.04970039807
+321,5.350000000,pose2_to_pose3_retreat,0.607808692359,0.0100908035349,1.05003248511,0.578379143215,0.018762540414,1.04970061194
+322,5.366666667,pose2_to_pose3_retreat,0.60705626762,0.0100908770026,1.05003251418,0.577626719156,0.0187626162228,1.04970063954
+323,5.383333333,pose2_to_pose3_retreat,0.606302547676,0.0100908520571,1.05003241376,0.576872998195,0.0187625876136,1.04970053536
+324,5.400000000,pose2_to_pose3_retreat,0.605548334909,0.0100907859504,1.05003240331,0.576118786806,0.0187625262007,1.04970052485
+325,5.416666667,pose2_to_pose3_retreat,0.604793251101,0.0100908775064,1.05003239577,0.575363700938,0.0187626108057,1.04970051914
+326,5.433333333,pose2_to_pose3_retreat,0.604021002988,0.0100908541839,1.05003237897,0.574591453217,0.0187625889899,1.04970050721
+327,5.450000000,pose2_to_pose3_retreat,0.60323188108,0.0100907612814,1.05003242054,0.573802332505,0.018762500318,1.04970055244
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+388,6.466666667,pose2_to_pose3_retreat,0.575680299539,0.010090764696,1.05003224792,0.546250751052,0.0187625040101,1.04970037896
+389,6.483333333,pose2_to_pose3_retreat,0.57567501067,0.0100907917713,1.05003206964,0.546245462764,0.018762533236,1.04970020542
+390,6.500000000,pose2_to_pose3_retreat,0.575671464091,0.0100908129153,1.0500320263,0.546241916472,0.0187625554177,1.04970016371
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+392,6.533333333,pose2_to_pose3_retreat,0.575668154937,0.0100908377982,1.05003222435,0.546238607101,0.018762579401,1.04970035729
+393,6.550000000,pose2_to_pose3_retreat,0.575667623293,0.010090834227,1.05003227019,0.546238075463,0.0187625758395,1.04970040289
+394,6.566666667,pose2_to_pose3_retreat,0.575667537707,0.0100908328311,1.05003227909,0.546237989882,0.0187625744619,1.0497004118
+395,6.583333333,pose2_to_pose3_retreat,0.575667306524,0.0100908290604,1.05003230313,0.546237758713,0.0187625707406,1.04970043587
+396,6.600000000,pose2_to_pose3_retreat,0.575666886822,0.0100908222149,1.05003234677,0.546237339038,0.0187625639849,1.04970047958
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+398,6.633333333,pose2_to_pose3_retreat,0.575666256757,0.0100908119384,1.05003241229,0.546236709012,0.018762553843,1.0497005452
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+402,6.700000000,pose2_to_pose3_retreat,0.575665647589,0.0100907941608,1.05003247221,0.546236100048,0.0187625367326,1.04970060453
+403,6.716666667,pose2_to_pose3_retreat,0.57566554449,0.0100907784871,1.05003247683,0.546235997252,0.0187625220388,1.04970060794
+404,6.733333333,pose2_to_pose3_retreat,0.575665302659,0.0100907417222,1.05003248766,0.54623575613,0.0187624875728,1.04970061595
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+409,6.816666667,pose2_to_pose3_retreat,0.575664892058,0.0100906792997,1.05003250605,0.546235346733,0.0187624290534,1.04970062955
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+411,6.850000000,pose2_to_pose3_retreat,0.575664611224,0.0100907979062,1.050032392,0.546235063877,0.0187625408995,1.04970051818
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diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc08e924b5fd667cc1b8c57e08323289cebeb5fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481123041610f400b5b0ce2b9a8bd5b1f3bcf2cb6e16c789e635d04b80e6852f
+size 26597935
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..744315e845c7e1e5b6f956ab1e8ec571d6a9cd76
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+12,0.200000000,BASELINE,765.033040551,745.966959449,714,679,665,635.033040551,879.966959449,787.033040551,804,653,631,653,0.400976896989,0.00450674876524,0.0598527479884,0.999999954927,0.000163798900543,-0.000250806157029,2.02999613315e-05,1793240215968358912
+13,0.216666667,BASELINE,765.543540572,746,714,679.543540572,665,635,880,787,804,653,631,653,0.400978057365,0.00450761201728,0.0598533363114,0.999999955153,0.000163906681418,-0.000249850857907,2.00775860874e-05,1793240215985025536
+14,0.233333333,BASELINE,765.880377516,746,714,679.880377516,665,635,879.880377516,787,804.119622484,653,631,653,0.400979205327,0.00450806342241,0.0598538900033,0.999999955435,0.000163728050663,-0.000248851477144,1.99024947945e-05,1793240216001692416
+15,0.250000000,BASELINE,765.305521187,746,714,679.305521187,665,635,879.305521187,787,804.694478813,653,631,653,0.400979737655,0.00450628899586,0.059854039627,0.999999955877,0.00016203275072,-0.000248172830292,2.00308215818e-05,1793240216018359040
+16,0.266666667,BASELINE,765.27688291,746,714,679,665,635,879.27688291,787,804.72311709,653,631,653,0.400979331542,0.00450696614783,0.0598538477331,0.999999955684,0.000162749681955,-0.000248486925355,1.99835685696e-05,1793240216035025664
+17,0.283333333,BASELINE,765.867848804,746,714,679,665,635,879.867848804,787,804.132151196,653,631,653,0.400977860906,0.00451042425558,0.0598532684377,0.999999954762,0.000166202935186,-0.00024992714032,1.97371460608e-05,1793240216051692288
+18,0.300000000,BASELINE,766,746,714,679,665,635,879.550241619,787,804,653,631,653,0.400977902603,0.00451069640262,0.0598535135794,0.999999954654,0.000167060960674,-0.000249782029543,1.97991103295e-05,1793240216068359168
+19,0.316666667,BASELINE,766,746,714,679.028770948,665.028770948,635.028770948,879.028770948,787,804,653,631.028770948,653,0.400978307641,0.00451005962564,0.0598539259054,0.999999954764,0.000167147710245,-0.000249269071161,1.99417116977e-05,1793240216085025792
+20,0.333333333,BASELINE,766,746,714,679.602320114,665.602320114,635.602320114,879.602320114,787,804,653,631.602320114,653,0.400977344603,0.00450958795994,0.0598530075529,0.999999954534,0.000166784199167,-0.000250436966307,1.99292971628e-05,1793240216101692416
+21,0.350000000,BASELINE,765.819381992,746,714,680,665.819381992,635.819381992,880,787.180618008,804,653,632,653,0.400977013673,0.00450933975036,0.059852486392,0.999999954409,0.000166709025474,-0.000250979265595,1.99733184641e-05,1793240216118358784
+22,0.366666667,BASELINE,765.230346242,746,714,680,665.230346242,635.230346242,880,787.769653758,804,653,632,653,0.400978112081,0.00450959682513,0.0598528633705,0.999999954528,0.000167285847201,-0.000250106952469,2.0144953825e-05,1793240216135025408
+23,0.383333333,BASELINE,765.705463043,746,714,680,665.352731521,635,879.647268479,787.647268479,804,653,631.647268479,653,0.400978777165,0.0045090310595,0.0598533780131,0.999999954924,0.000166218904775,-0.00024922572524,2.02325679825e-05,1793240216151692288
+24,0.400000000,BASELINE,766.863966385,746,714,680,665.931983193,635,879.068016807,787.068016807,804,653,631.068016807,653,0.400979163973,0.0045079368752,0.0598539810622,0.999999955495,0.000164096355863,-0.00024833877339,2.02662247007e-05,1793240216168358912
+25,0.416666667,BASELINE,766.491172278,746,714,679.491172278,665.491172278,635,879,787,804,653,631,653,0.400978738761,0.00450888459894,0.0598541227029,0.999999955295,0.000165255072186,-0.000248375562258,2.02807911379e-05,1793240216185025792
+26,0.433333333,BASELINE,766,745.914921959,714,679,665,635,879,787,804,653,631.085078041,653,0.400978550049,0.0045097788539,0.0598543617189,0.99999995517,0.000166267183027,-0.000248205105994,2.02406247159e-05,1793240216201692160
+27,0.450000000,BASELINE,766,745.340247926,714,679,665,635,879,787,804,653,631.659752074,653,0.400980344016,0.00450880207817,0.0598555143642,0.999999956075,0.000163923409472,-0.000246134783531,1.99001047902e-05,1793240216218358784
+28,0.466666667,BASELINE,766,745.241114609,714,679,665,635,879.241114609,787,804.241114609,653,631.758885391,653,0.400980176544,0.0045080369383,0.0598552747685,0.999999956255,0.000162317079744,-0.000246480908529,1.97817070798e-05,1793240216235025664
+29,0.483333333,BASELINE,766,745.832184854,714,679,665,635,879.832184854,787,804.832184854,653,631.167815146,653,0.400977162224,0.00450757896847,0.0598530144633,0.99999995538,0.000161781081917,-0.000250334284463,1.99856993163e-05,1793240216251692288
+30,0.500000000,BASELINE,766,746,714,679,665,635,879.585116071,787,804.585116071,653,631,653,0.400977167411,0.00450841779803,0.0598529109372,0.999999955218,0.000163194121804,-0.000250054037956,2.01047936221e-05,1793240216268358912
+31,0.516666667,BASELINE,766,746,714,679,665,635,879.00573607,787,804.00573607,653,631,653,0.400978369793,0.00450977079168,0.0598536625461,0.999999955335,0.00016537992976,-0.000248134863921,2.01902269997e-05,1793240216285025536
+32,0.533333333,BASELINE,766,745.43167949,714,679,665,635,879,787,804,653,631,653,0.400975930233,0.00451120636476,0.0598523433803,0.999999953891,0.000169573135093,-0.000251106562784,2.02054730758e-05,1793240216301692160
+33,0.550000000,BASELINE,766,745,714,679.142657001,665,635,879,787,804,653,631,653,0.40097463342,0.00451194233392,0.0598516562897,0.999999953149,0.000171498264129,-0.00025275417653,2.01376429001e-05,1793240216318358784
+34,0.566666667,BASELINE,766,745,714,679.718003827,665,635,879,787,804,653,631,653,0.40097691311,0.00451055384495,0.0598529491374,0.999999954636,0.000166483257844,-0.000250237401708,1.98199646615e-05,1793240216335025408
+35,0.583333333,BASELINE,766,745,714,680,665,635,879,787,804,653,631,653,0.400977695091,0.00450924735498,0.0598536851302,0.999999955405,0.000163387621749,-0.00024919902837,1.98827328934e-05,1793240216351692288
+36,0.600000000,BASELINE,766,745,714,680,665,635,879,787,804,653,631,653,0.400977037334,0.00450801968999,0.059853885822,0.999999955504,0.000162137064227,-0.000249581833306,2.031122202e-05,1793240216368358912
+37,0.616666667,BASELINE,766,745,714,679.528874805,665,635,879.471125195,787,804,653,631,653,0.400977446681,0.00450858024144,0.0598537416143,0.999999955507,0.000162535201766,-0.000249328110628,2.01034915069e-05,1793240216385025536
+38,0.633333333,BASELINE,766,745,714,679,665,635,879.950176236,787,804,653,631,653,0.400978033417,0.00450951290736,0.0598535410747,0.999999955459,0.000163388819302,-0.000248990676736,1.97580776272e-05,1793240216401692160
+39,0.650000000,BASELINE,766,745,714,679,665,635,879.374590716,787,804,653,631,653,0.400977913835,0.00451005182038,0.0598535793985,0.999999955109,0.000165065486715,-0.00024930778446,1.94969239544e-05,1793240216418358784
+40,0.666666667,BASELINE,766,745.205302199,714,679,665,635,879,787,804,653,631,653,0.400978166322,0.00451047090496,0.0598537500615,0.999999955026,0.000165918798734,-0.000249083508976,1.93753612882e-05,1793240216435025664
+41,0.683333333,BASELINE,766,745.793222697,714,679,665,635,879,787,804,653,631,653,0.400979112227,0.00451066666724,0.0598541673628,0.999999955443,0.000165237636876,-0.00024785026658,1.95139520788e-05,1793240216451692288
+42,0.700000000,BASELINE,766,746,714.375667837,679,665,635,879.375667837,787,804,653,631,653,0.4009789279,0.00451107698004,0.059854085724,0.999999955299,0.000165908654534,-0.000247987116756,1.94398954437e-05,1793240216468358912
+43,0.716666667,BASELINE,766,746,714.955142475,679,665,635,879.955142475,787,804,653,631,653,0.400978130401,0.0045116036905,0.0598537334009,0.99999995485,0.000167313254794,-0.000248867267718,1.92504736138e-05,1793240216485025536
+44,0.733333333,BASELINE,766,746,714.468533138,680.062933724,665,635,879.468533138,787,804,653,631.531466862,653,0.400977334463,0.00451064510043,0.0598536094085,0.999999954701,0.000166937858216,-0.000249691971352,1.95673999044e-05,1793240216501691904
+45,0.750000000,BASELINE,766,745.892498576,714,680.784997153,665,635,879,787,804,653,631.892498576,653,0.400977014532,0.00450962574741,0.0598537286779,0.999999954768,0.000166268327881,-0.000249844216897,1.98931533467e-05,1793240216518358784
+46,0.766666667,BASELINE,766,745.316575291,714,679.633150581,665,635,879,787,804,653,631.316575291,653,0.400978768162,0.00450888466633,0.0598548244459,0.999999955665,0.000164967933131,-0.000247086595591,2.00722449242e-05,1793240216535025408
+47,0.783333333,BASELINE,766,745,714,679.265528389,665.265528389,635,879.265528389,787,804.265528389,653,631,653,0.400979703935,0.00450827636587,0.0598551436047,0.999999956173,0.000163554908155,-0.000245968976679,2.00939601866e-05,1793240216551692288
+48,0.800000000,BASELINE,766,745,714,679.855176297,665.855176297,635,879.855176297,787,804.855176297,653,631,653,0.400979641385,0.0045078301451,0.0598545147889,0.999999956211,0.000162004399947,-0.000246853240471,1.99235727163e-05,1793240216568359168
+49,0.816666667,BASELINE,766,745.43438492,714,680,666,635,880,787.43438492,804.56561508,653,631,653,0.400979412517,0.00450706468718,0.0598544569953,0.999999956264,0.000161534496907,-0.000246957830567,1.97702213448e-05,1793240216585025536
+50,0.833333333,BASELINE,766,745.989757989,714.010242011,680,665.989757989,635,879.989757989,787.989757989,804,653,631.010242011,653,0.400979131618,0.00450625548168,0.0598545723382,0.999999956311,0.00016145880297,-0.000246828296977,1.96250163554e-05,1793240216601692160
+51,0.850000000,BASELINE,766,745.411277993,714.588722007,680,665.411277993,635,879.411277993,787.411277993,804,653,631.588722007,653,0.400978968199,0.00450878557484,0.0598539789637,0.999999955702,0.000163735003431,-0.000247792777229,1.96240534916e-05,1793240216618358784
+52,0.866666667,BASELINE,766,745.169908388,714.830091612,680,665.169908388,635,879,787.169908388,804,653,631.830091612,653,0.400978833398,0.00451015745537,0.0598536241055,0.999999955315,0.000165333530827,-0.000248287896293,1.97179983633e-05,1793240216635025920
+53,0.883333333,BASELINE,766,745.757751809,714.242248191,680,665.757751809,635,879,787.757751809,804,653,631.242248191,653,0.400978768994,0.00450868040259,0.0598538559421,0.999999955483,0.0001652651403,-0.000247628496178,2.00453941435e-05,1793240216651692544
+54,0.900000000,BASELINE,765.659278497,746,714.340721503,680,665.659278497,635,879,788,804,652.659278497,631,653,0.400978897922,0.00450849377018,0.0598543906106,0.999999955587,0.000165663873799,-0.000246932494756,2.0161575356e-05,1793240216668359168
+55,0.916666667,BASELINE,765.079725112,746,714.920274888,680,665.079725112,635,879,788,804,652.079725112,631,653,0.400979162368,0.00450921166988,0.0598551375518,0.999999955645,0.000166390042198,-0.000246210837339,2.01297037542e-05,1793240216685025536
+56,0.933333333,BASELINE,765.497637494,745.502362506,714.502362506,680,665,635,879.497637494,788,804,652.497637494,631.497637494,653,0.400978227122,0.00450786115265,0.0598542627829,0.999999955728,0.000163528573261,-0.000247780096542,2.02094393425e-05,1793240216701692160
+57,0.950000000,BASELINE,766,745,714,680,665,635,879.925604023,787.925604023,804,653,631.925604023,653,0.400977237262,0.00450664130271,0.0598533124778,0.999999955774,0.000160831123015,-0.000249351105868,2.02482345888e-05,1793240216718358784
+58,0.966666667,BASELINE,766,745,714,680,665,635,879.350559706,787.350559706,804,653,631.350559706,653,0.40097716761,0.0045085209988,0.0598535945792,0.999999955633,0.00016308837446,-0.000248474844223,1.9891723356e-05,1793240216735025408
+59,0.983333333,BASELINE,766.230512824,745,714,679.769487176,665,635.230512824,879,787,804,653,631,653,0.400977602939,0.00450908584903,0.059853745762,0.999999955681,0.000163654526338,-0.000247913552454,1.98459444087e-05,1793240216751692032
+60,1.000000000,BASELINE,766.820999224,745,714,679.179000776,665,635.820999224,879,787,804,653,631,653,0.400978826856,0.00450759740914,0.0598536924997,0.999999956027,0.000161579822642,-0.000247844124003,2.02854113451e-05,1793240216768358912
+61,1.016666667,BASELINE,766.597225145,745,714,679.402774855,665,635.597225145,879,787,804,653,631.402774855,653,0.400978942692,0.00450722692763,0.0598543662094,0.999999956012,0.000162163032877,-0.000247513678941,2.04135248124e-05,1793240216785025536
+62,1.033333333,BASELINE,766.01923883,745,714,679.98076117,665,635.01923883,879,787,804,653,631.98076117,653,0.4009785765,0.00450734277031,0.05985535616,0.999999955838,0.000163902464826,-0.000247069688807,2.04061960937e-05,1793240216801692160
+63,1.050000000,BASELINE,766,745,714,680,665,635,879.556002402,787.556002402,804,653,631.443997598,653,0.400980007443,0.00450750152786,0.05985519085,0.999999956302,0.000162910090157,-0.000245856358993,2.02477758238e-05,1793240216818358784
+64,1.066666667,BASELINE,766,745.133540944,714,679.866459056,665,635,880,787.866459056,804,653,631.133540944,653,0.400980891534,0.00450773272161,0.0598549161667,0.999999956526,0.00016233678478,-0.000245335772959,2.01298545373e-05,1793240216835025664
+65,1.083333333,BASELINE,766,745.719176845,714,679.280823155,665,635,880,787.280823155,804,653,631.719176845,653,0.400979714806,0.00450820414134,0.0598544058724,0.999999955864,0.0001635006542,-0.000247250110211,2.01666525685e-05,1793240216851692288
+66,1.100000000,BASELINE,766,745.698604146,714,679.301395854,665,635,879.698604146,787,804,653,631.698604146,653,0.400979047884,0.00450847874935,0.0598541091056,0.999999955717,0.000163454566633,-0.00024789158501,1.99528970338e-05,1793240216868358912
+67,1.116666667,BASELINE,766,745.119533143,714,679.880466857,665,635,879.119533143,787,804,653,631.119533143,653,0.400978850643,0.00450857203527,0.0598540090612,0.999999956047,0.00016229374905,-0.000247360375119,1.95083072044e-05,1793240216885025536
+68,1.133333333,BASELINE,766,745.459077595,714,680,665,635,879.459077595,787,804,653,631,653,0.400978770188,0.00450745691705,0.0598544616239,0.999999956156,0.000162231064321,-0.00024693112231,1.98370051955e-05,1793240216901692416
+69,1.150000000,BASELINE,766,746,714,679.962690911,665,635,879.962690911,787,804,653,631,653,0.400978812105,0.00450622067482,0.0598550401899,0.999999956209,0.000162539577738,-0.000246474511563,2.03102785623e-05,1793240216918359040
+70,1.166666667,BASELINE,766,746,714,679.388196702,665,635,879.388196702,787,804,653,631,653,0.400980178562,0.00450776619123,0.0598553633518,0.999999956268,0.000164079949932,-0.000245242144306,1.99690553605e-05,1793240216935025664
+71,1.183333333,BASELINE,766,746,714.191150892,679,665,635,879.191150892,787.191150892,804,653,631.191150892,653,0.400980344509,0.00450904475286,0.0598553737803,0.999999956092,0.000165523487633,-0.000245007696907,1.97043210213e-05,1793240216951692288
+72,1.200000000,BASELINE,766,746,714.780611819,679,665,635,879.780611819,787.780611819,804,653,631.780611819,653,0.400978008896,0.00450976704868,0.0598547325516,0.999999955434,0.000166765247069,-0.000246852661455,1.95989700317e-05,1793240216968358912
+73,1.216666667,BASELINE,766,746,714.636288268,679,665,635,880,787.636288268,804,653,631.636288268,653,0.40097740709,0.0045091689159,0.0598540474384,0.999999955405,0.000165756110507,-0.00024764468934,1.96690952872e-05,1793240216985025536
+74,1.233333333,BASELINE,766,746,714.056959355,679,665,635,880,787.056959355,804,653,631.056959355,653,0.400977833126,0.00450778800082,0.0598533363094,0.999999955746,0.000163412587855,-0.00024781251059,1.98432471446e-05,1793240217001692416
+75,1.250000000,BASELINE,766,746,714,679,665,635,879.479512644,787.520487356,804,653,631.520487356,653,0.400976784999,0.00450853070512,0.0598532429539,0.999999955366,0.00016432302684,-0.000248747115675,1.97739221019e-05,1793240217018358784
+76,1.266666667,BASELINE,765.900925021,746,714,679,665,635,879,787.900925021,804,653,631.900925021,653,0.40097623406,0.00450915829978,0.0598534105164,0.99999995516,0.000164997307576,-0.000249131736865,1.9732306868e-05,1793240217035025408
+77,1.283333333,BASELINE,765.315732449,746,714,679,665,635,879,787.315732449,804,653,631.315732449,653,0.400978911303,0.00450808493718,0.0598545277718,0.999999956195,0.000162771950389,-0.000246407588068,1.99569149215e-05,1793240217051692288
+78,1.300000000,BASELINE,765.266831423,745.733168577,714,679.266831423,665,635,879,787,804,653,631,653,0.400980092016,0.00450795398024,0.0598551775738,0.999999956518,0.000162675486144,-0.000245152433787,2.00337662291e-05,1793240217068358912
+79,1.316666667,BASELINE,765.846315148,745.153684852,714,679.846315148,665,635,879,787,804,653,631,653,0.400979519212,0.00450892726102,0.05985527965,0.999999956012,0.000165073493173,-0.000245618533184,1.99374876621e-05,1793240217085025536
+80,1.333333333,BASELINE,766,745,714,679.574449454,665.425550546,635,879,787,804,653,631,653,0.400980178834,0.00450801114013,0.0598554506057,0.999999956497,0.000163356640124,-0.00024478132829,2.00912119777e-05,1793240217101692160
+81,1.350000000,BASELINE,766,745,714,679.004659652,666,635,879.004659652,787,804,653,631.004659652,653,0.400981257323,0.00450643644934,0.0598556380532,0.999999957316,0.000160195959968,-0.000243500982823,2.03300471819e-05,1793240217118358784
+82,1.366666667,BASELINE,766,745,714,679.579278307,666,635,879.579278307,787,804,653,631.579278307,653,0.400979160777,0.00450772125572,0.0598548018139,0.999999956515,0.00016209457442,-0.000245555639366,1.99421968402e-05,1793240217135025408
+83,1.383333333,BASELINE,766,745.153272977,714,680,666,635,880,787,804,653,631.846727023,653,0.400978039394,0.00450877731189,0.0598546267821,0.999999956042,0.000163482204731,-0.000246581118264,1.96764172716e-05,1793240217151692032
+84,1.400000000,BASELINE,766,745.725561929,714,680,666,635,880,787,804,653,631.274438071,653,0.400979583898,0.00450920801356,0.059856259352,0.999999956482,0.000163472912652,-0.000244793043114,1.97443533522e-05,1793240217168358912
+85,1.416666667,BASELINE,766,746,714,679.690007254,665.690007254,635,880,787,804,653,631.309992746,653,0.400980070781,0.00450925434271,0.0598563715107,0.999999956545,0.000163498264188,-0.000244522304377,1.96599007024e-05,1793240217185025536
+86,1.433333333,BASELINE,766,746,714,679.09438903,665.09438903,635,880,787,804,653,631.90561097,653,0.400979583179,0.00450894651327,0.0598550827714,0.999999956264,0.000163555536148,-0.000245649630529,1.94350379755e-05,1793240217201692416
+87,1.450000000,BASELINE,766,745.515116494,714,679.484883506,665,635,879.515116494,787,804,653,631.515116494,653,0.400978714622,0.00450778770022,0.0598550548161,0.99999995637,0.000162300617997,-0.00024602369712,1.97771594583e-05,1793240217218359296
+88,1.466666667,BASELINE,766,745,714,680,665,635,879.061073218,787,804,653,631,652.938926782,0.400977920841,0.00450662815564,0.0598552051977,0.999999956487,0.000161121135913,-0.000246289419723,2.02108114951e-05,1793240217235025664
+89,1.483333333,BASELINE,766,745,714,680,665,635,879.637223453,787,804,653,631,652.362776547,0.400978362734,0.00450681397786,0.0598548572468,0.999999956096,0.00016266189041,-0.000246837725385,2.0515923407e-05,1793240217251692288
+90,1.500000000,BASELINE,766,745,714,680,665.217425249,635,879.782574751,787,804,653,631,652.217425249,0.400978877549,0.00450735266786,0.0598547703431,0.999999955912,0.000163929980968,-0.000246734986184,2.05921617847e-05,1793240217268358912
+91,1.516666667,BASELINE,766,745,714,680,665.804515426,635,879.195484574,787,804,653,631,652.804515426,0.400979516344,0.00450849130127,0.0598551272702,0.999999956084,0.000164734489996,-0.000245525344886,2.02792709088e-05,1793240217285025536
+92,1.533333333,BASELINE,766,745.388150758,714,680,665.611849242,635,879.388150758,787,804,653,631,653,0.400979298796,0.00450856148794,0.0598550583199,0.999999956111,0.000164639225976,-0.000245491768487,2.01366645569e-05,1793240217301692160
+93,1.550000000,BASELINE,766,745.970061529,714,680,665.029938471,635,879.970061529,787,804,653,631,653,0.400978653773,0.00450809831945,0.0598547767769,0.999999956066,0.000164094806554,-0.000246045268897,2.00790620852e-05,1793240217318358784
+94,1.566666667,BASELINE,766,746,714,680,665.544383469,635,880,787,804,653,631,653,0.400980224568,0.004507699352,0.0598557493468,0.999999956479,0.000163894109983,-0.000244509939256,1.9902055083e-05,1793240217335025664
+95,1.583333333,BASELINE,766,746,714,679.879319403,665.879319403,635,879.879319403,787.120680597,804,653,631.120680597,653,0.400981126554,0.00450764771338,0.0598561901366,0.99999995664,0.000163934712244,-0.000243833151661,1.97899532169e-05,1793240217351692288
+96,1.600000000,BASELINE,766,746,714,679.293829185,665.293829185,635,879.293829185,787.706170815,804,653,631.706170815,653,0.400978989681,0.00450892042353,0.0598543207481,0.999999955736,0.000164832887884,-0.000246899465516,1.99527821626e-05,1793240217368358912
+97,1.616666667,BASELINE,766,746,714,679.289087534,665.289087534,635,879,787.710912466,804,653,631.710912466,653,0.400978304626,0.00450881664545,0.0598538623054,0.999999955546,0.000164815842097,-0.000247668544603,2.0076116533e-05,1793240217385025536
+98,1.633333333,BASELINE,766,746,714,679.869411588,665.869411588,635,879,787.130588412,804,653,631.130588412,653,0.400979082184,0.00450732614667,0.0598548252971,0.999999956081,0.00016387677136,-0.000246123311811,2.01596627281e-05,1793240217401692160
+99,1.650000000,BASELINE,766,746,714,680,665.551049279,635,879.448950721,787,804,653,631,653,0.400979561417,0.00450807451071,0.0598558570037,0.999999956209,0.00016475459541,-0.000245013193784,2.01723358951e-05,1793240217418359040
+100,1.666666667,BASELINE,765.971958273,746,714,679.971958273,665.028041727,635,879.971958273,787,804,653,631,652.971958273,0.400979872501,0.00450933445772,0.0598568001143,0.999999956221,0.000165959204457,-0.000244151338173,2.01597110421e-05,1793240217435025408
+101,1.683333333,BASELINE,765.397160781,746,714,679.397160781,665.602839219,635,879.397160781,787,804,653,631,652.397160781,0.40097859399,0.00450789376505,0.0598556267537,0.999999956298,0.000163248991527,-0.000245666659322,2.00550787858e-05,1793240217451692288
+102,1.700000000,BASELINE,765.181979423,746,714,679,665.818020577,635,879,787,804,653,631,652.181979423,0.400978238708,0.00450709455158,0.059855056297,0.999999956396,0.000161849303888,-0.00024619647517,2.00255925706e-05,1793240217468359168
+103,1.716666667,BASELINE,765.770828996,746,714,679,665.229171004,635,879,787,804,653,631,652.770828996,0.400979947587,0.00450772955946,0.0598558338153,0.999999956555,0.000163379693068,-0.000244522895049,2.01641181187e-05,1793240217485025792
+104,1.733333333,BASELINE,766,746,714,679,665.354154017,635,879,787,804,653,631,653,0.400979671687,0.00450805934809,0.0598553765618,0.999999956358,0.000163722868226,-0.000245103321655,2.00854620122e-05,1793240217501692160
+105,1.750000000,BASELINE,766,746,714,679,665.933959101,635,879,787,804,653,631,653,0.400978131177,0.00450819466476,0.0598541325671,0.999999955933,0.000163309603971,-0.00024711990015,1.98684275037e-05,1793240217518358784
+106,1.766666667,BASELINE,766,746,714,679.510281947,665.489718053,635,879.510281947,787,804,653,631,652.489718053,0.400978860805,0.00450721481074,0.0598546347918,0.999999956516,0.000160897331822,-0.00024634295956,1.98850987578e-05,1793240217535025408
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,665,636,880,788,804,653,632,653,0.400981338638,0.00450703102275,0.0598568096555,0.999999957141,0.000162144814141,-0.000242915699394,2.04629107819e-05,1793240217578292992
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.590500459,714,679,665,635.409499541,879.409499541,788,803.409499541,653,632,653,0.400979089938,0.00450658494528,0.0598555957977,0.999999956851,0.000160460842157,-0.00024524740048,2.009290417e-05,1793240217594959360
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679,665.355237899,635,879,787.82238105,803.17761895,653,631.82238105,653,0.400977730173,0.00450685897103,0.0598547578964,0.999999956526,0.000160198696141,-0.000246761899388,1.98450751407e-05,1793240217611625984
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.514172266,635,879,787.242913867,803.757086133,653,631.242913867,653,0.400978381549,0.00450876217086,0.0598547705656,0.99999995613,0.000163153313857,-0.000246427546185,1.98736627495e-05,1793240217628292608
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.332589503,635,879.333705248,787.333705248,804,653,631,653,0.400978209687,0.00450808655539,0.0598545102572,0.999999956004,0.000163100818741,-0.000246950001423,2.01640712576e-05,1793240217644958976
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,665.183462639,635,879.908268681,787.908268681,804,653,631,653,0.400977443639,0.00450554963024,0.0598540529219,0.999999956072,0.0001608778819,-0.000248090874663,2.0643454036e-05,1793240217661625600
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.505621609,714.494378391,679,665,634.505621609,880,788,804,653,631,653,0.400977420498,0.00450695151353,0.0598538932896,0.999999955783,0.00016301482152,-0.000247889307684,2.02891285777e-05,1793240217678292224
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.918544013,679,665,634.081455987,879.918544013,787.918544013,804,653,631,653,0.400978035192,0.00450865973255,0.0598540811129,0.999999955557,0.000165426722866,-0.000247235705609,1.98856860007e-05,1793240217694959104
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714.338962186,679,665,634.661037814,879.338962186,787.338962186,804,653,631,653,0.400981687293,0.00450766510636,0.0598560478466,0.999999956169,0.000164454714479,-0.00024537745341,2.01504947054e-05,1793240217711625728
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.239666913,714,679.239666913,665,635,878.760333087,787.239666913,804,653,631,653,0.400992530769,0.00450636338218,0.0598611067056,0.999999958457,0.000162204817688,-0.0002373943115,2.04828569065e-05,1793240217728292352
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.81695385,714,679.81695385,665,635,878.18304615,787.81695385,804,653,631,653,0.401013504773,0.00450462904755,0.0598705214574,0.999999962902,0.000158154752926,-0.000220783005797,2.09103820412e-05,1793240217744958976
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,714,679.607443976,665.392556024,635,878.392556024,787.607443976,804,652.607443976,631,652.607443976,0.401054229577,0.00450578036461,0.059885178294,0.999999968346,0.000160174908172,-0.000192926133259,2.0774016137e-05,1793240217761625856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,714,679.032623988,665.967376012,635,878.967376012,787.032623988,804,652.032623988,631,652.032623988,0.40110412469,0.00450827149107,0.0599022690343,0.999999973402,0.000165013469203,-0.000159847936622,2.03758353528e-05,1793240217778292480
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.44327416,745.44327416,714,679,665.44327416,635,879,787,804,652.55672584,631.55672584,652.55672584,0.401168765315,0.00450889534857,0.0599183473796,0.999999977148,0.0001638017233,-0.000135842144692,2.05008775693e-05,1793240217794958848
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.144252571,745.144252571,714.144252571,679,665,635,879,787,804,653,631.855747429,653,0.401237548476,0.00450914055506,0.0599323551046,0.99999998009,0.000162347763849,-0.000114221562349,2.04114147656e-05,1793240217811625728
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.723642864,745.723642864,714.723642864,679,665,635,879,787,804,653,631.276357136,653,0.401316151254,0.00450858247631,0.0599403005622,0.999999981989,0.000161261316429,-9.81492875232e-05,1.95799312989e-05,1793240217828292352
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.699538906,714.699538906,679.300461094,665,635,879.300461094,787,804,653,631,653,0.401403217453,0.00450764635633,0.0599453506002,0.999999983256,0.000158493901016,-8.94979656543e-05,1.89419096945e-05,1793240217844958976
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.125066356,714.125066356,679.874933644,665,635,879.874933644,787,804,653,631,653,0.401498002031,0.00450636547417,0.0599477601024,0.999999984103,0.000154193493572,-8.76143300878e-05,1.84803195278e-05,1793240217861625600
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.549786068,665,635,880,787,804,653,631,653,0.401612795477,0.0045051399719,0.059950538012,0.999999985192,0.00015025208223,-8.20415451881e-05,1.75861921596e-05,1793240217878292480
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.026475738,714.026475738,679.026475738,665,635.026475738,880,787,804,653,631.026475738,653,0.401733910239,0.00450401029136,0.0599532680734,0.999999986252,0.000146596733369,-7.56990079713e-05,1.65612495586e-05,1793240217894958848
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.618914073,714.618914073,679.618914073,665,635.618914073,880,787,804,653,631.618914073,653,0.401871121623,0.00450459950537,0.0599527836582,0.999999986289,0.000146920787441,-7.48483468154e-05,1.53130619666e-05,1793240217911625728
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.794871465,880,787,804,653,631.794871465,653,0.402022434641,0.0045053372453,0.0599530960035,0.999999986664,0.000146245411999,-7.13944343144e-05,1.36676048431e-05,1793240217928292352
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.219879225,880,787,804,653,631.219879225,653,0.402199174059,0.00450634278966,0.0599548449736,0.999999987601,0.000143767982489,-6.32466445361e-05,1.13058380493e-05,1793240217944958976
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.644463786,714.644463786,679.644463786,665,635,879.644463786,787,804,653,631,653,0.402399457799,0.00450613964248,0.0599570035665,0.999999988651,0.000139949211975,-5.50153030556e-05,9.29314245649e-06,1793240217961625600
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.068786256,714.068786256,679.068786256,665,635,879.068786256,787,804,653,631,653,0.402614319755,0.00450518809641,0.0599594157901,0.999999989727,0.000135299908167,-4.67322271436e-05,7.49658493702e-06,1793240217978292224
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.517743149,714,679,665,635,879,787,803.482256851,653,631,653,0.402849706779,0.00450554873807,0.0599584681186,0.999999990627,0.000129467173035,-4.42493149858e-05,5.08383154688e-06,1793240217994959104
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714,679,665,635,879,787,803.104633708,653,631,653,0.403095181897,0.00450590421591,0.0599575779501,0.999999991482,0.000123438878439,-4.23314232794e-05,2.56581353188e-06,1793240218011625728
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714,679,665,635,879,787,803.686455544,653,631,653,0.403373961934,0.00450542406016,0.0599590293917,0.99999999235,0.000117251120839,-3.94007474308e-05,-5.09208609317e-08,1793240218028292352
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.26509573,746,714.26509573,679.26509573,665,635,879,786.73490427,804,653,631,653,0.403665970248,0.00450462879525,0.0599565905195,0.999999993073,0.000109715607589,-4.25207772676e-05,-2.87248816901e-06,1793240218044958976
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.840017384,746,714.840017384,679.840017384,665,635,879,786.159982616,804,653,631,653,0.403973438858,0.00450346525216,0.059949604912,0.999999993532,0.000100604929231,-5.27124620396e-05,-5.93345015012e-06,1793240218061625856
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.586103284,746,714.586103284,680,665,635,879,786.413896716,804,653,631,653,0.404302196703,0.00450303919275,0.0599369658605,0.99999999295,9.19019886734e-05,-7.46078967521e-05,-9.37424982341e-06,1793240218078292480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.01262584,746,714.01262584,680,665,635,879,786.98737416,804,653,631,653,0.404639162751,0.00450289747528,0.0599221470849,0.99999999134,8.33562543831e-05,-0.000101015792532,-1.29614984568e-05,1793240218094959104
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679.42113005,665,635,879.57886995,787,804,652.42113005,631.57886995,653,0.405017380219,0.00450115702899,0.0599153842519,0.999999990681,7.46778024438e-05,-0.00011312502235,-1.62445574259e-05,1793240218111625728
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679.167012857,665,635,879.832987143,787,804,652,631.832987143,653,0.405417096049,0.00449941853385,0.0599140347682,0.999999990959,6.50011788575e-05,-0.000116059988863,-1.96521204917e-05,1793240218128292352
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.745887018,665,635,879.254112982,787,804,652,631.254112982,653,0.405867537673,0.00449777360467,0.0599255876225,0.999999993608,5.28703877588e-05,-9.71645987807e-05,-2.33836030394e-05,1793240218144959232
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.677169646,745.677169646,714,679.677169646,665,635,879.322830354,787,804,652.322830354,631,653,0.40635866848,0.00449708040247,0.0599493488268,0.999999997064,4.37024100029e-05,-5.70501593692e-05,-2.65901563325e-05,1793240218161625856
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.101737046,745.101737046,714,679.101737046,665,635,879.898262954,787,804,652.898262954,631,653,0.406881637045,0.00449713188957,0.0599826625934,0.999999998889,3.68527175282e-05,-3.32633591388e-07,-2.93859731562e-05,1793240218178292480
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.48435669,665.48435669,635,880,787,804,653,631,652.51564331,0.407414664421,0.00449431513076,0.0600019289162,0.999999998792,2.54967646367e-05,2.6822188818e-05,-3.23456820183e-05,1793240218194959104
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.071576537,745.071576537,714,680,665.928423463,635,879.928423463,787,803.928423463,652.928423463,631,652.071576537,0.407949083277,0.00449119359848,0.0600146775931,0.999999998437,1.37183424276e-05,4.10170177062e-05,-3.54390218294e-05,1793240218211626240
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.650547986,745.650547986,714,680,665.349452014,635,879.349452014,787,803.349452014,652.349452014,631,652.650547986,0.40847805191,0.00449027845666,0.0600026108328,0.999999999179,5.80584400358e-06,8.3494848174e-06,-3.9230127624e-05,1793240218228292608
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.771530416,746,714,679.771530416,665,635,879,787,803.228469584,652.228469584,631,653,0.409025140498,0.00448856453838,0.059990543493,0.999999998858,-3.31673007122e-06,-2.03194806528e-05,-4.31294968075e-05,1793240218244958976
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.19520729,746,714,679.19520729,665,635,879,787,803.80479271,652.80479271,631,653,0.409599817368,0.00448563445293,0.0599784752718,0.999999997864,-1.42816893886e-05,-4.29004747557e-05,-4.71937008853e-05,1793240218261625600
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.618848359,714,679.381151641,665.381151641,635,879,787,803.618848359,652.618848359,631,653,0.410231808393,0.0044747234186,0.0599807254988,0.999999997585,-3.50338535426e-05,-3.36911538734e-05,-4.96786885132e-05,1793240218278292480
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.042471106,714,679.957528894,665.957528894,635,879,787,803.042471106,652.042471106,631,653,0.410893155671,0.00445972454776,0.0599903096257,0.999999996799,-6.0799016989e-05,-8.198854553e-06,-5.1354802381e-05,1793240218294959360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.546926118,745.546926118,714,679.453073882,666,635,879,787,803,652.546926118,631,653,0.4115767764,0.00444939614859,0.0599947102,0.99999999503,-8.33159024174e-05,3.96060871486e-06,-5.46158402264e-05,1793240218311629568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.865661641,745.865661641,714,679.134338359,665.865661641,635,878.865661641,787,803.134338359,652.865661641,631,652.865661641,0.412254840974,0.00444413457222,0.0599915958937,0.999999996278,-7.00978635202e-05,3.95327754694e-07,-5.03001373838e-05,1793240218328298240
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288213174,745.288213174,714,679.711786826,665.288213174,635,878.288213174,787,803.711786826,652.288213174,631,652.288213174,0.412908734397,0.00445436026023,0.0599650541213,0.999999996652,6.0138205444e-05,-5.15390965161e-05,-2.05769727789e-05,1793240218344961024
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.288130558,680,665,635,878.288130558,787,804,652,631,652,0.413583640531,0.00446466184431,0.0599404239984,0.999999987015,0.000126707114806,-9.91473345269e-05,-9.20411354102e-06,1793240218361625856
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.863373527,680,665,635,878.863373527,787,804,652,631,652,0.414279485201,0.0044750390575,0.0599176987668,0.999999981296,0.000129833857278,-0.000142444680468,-1.61167131991e-05,1793240218378292480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.437713642,745,714.562286358,679.562286358,665,635,879.437713642,787,804,652,631,652,0.415083168128,0.00446963237308,0.0599480332218,0.999999989768,0.000111444185946,-8.71935648375e-05,-2.1028461488e-05,1793240218394958848
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987872686,745.012127314,714,679.012127314,665.012127314,635,879.987872686,787.012127314,804,652.012127314,631,652.012127314,0.415920039621,0.00445957857838,0.0599944588995,0.999999995911,8.67851166998e-05,-2.15603864332e-06,-2.53294730233e-05,1793240218411625728
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.396511585,745.603488415,714,679.603488415,665.603488415,635,879.396511585,787.603488415,804,652.603488415,631,652.603488415,0.416737692943,0.00446239592838,0.0600200334381,0.99999999534,8.27995921347e-05,3.93766035736e-05,-3.02283377209e-05,1793240218428292352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.190817952,746,714,680,665.809182048,635,879,787.809182048,804,652.809182048,631,653,0.417548794371,0.00446350594176,0.0600315253058,0.999999994513,8.03357839574e-05,5.81184282284e-05,-3.38085097067e-05,1793240218444958720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.769943369,746,714,680,665.230056631,635,879,787.230056631,804,652.230056631,631,653,0.418346562889,0.0044611415882,0.0600143594583,0.999999995655,8.09686127056e-05,3.04817809833e-05,-3.47051906532e-05,1793240218461625600
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,680,665.346249964,635,879.346249964,787,804,652,631,652.653750036,0.419145492336,0.00446048539175,0.0599929360095,0.999999995965,8.20377123728e-05,-5.86503281664e-06,-3.61388909573e-05,1793240218478292224
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,680,665.920698769,635,879.920698769,787,804,652,631,652.079301231,0.419945186872,0.00446095497015,0.0599687065548,0.999999994654,8.33943398071e-05,-4.79523512813e-05,-3.79265181414e-05,1793240218494958848
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.492440043,714,679.492440043,666,635,879.492440043,787,804,652,631,652,0.420757421887,0.00446304945607,0.0599422098986,0.999999994836,-3.75175533649e-05,-8.55692359394e-05,-3.99814895608e-05,1793240218511625728
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.905245637,745.094754363,714,679.094754363,666,635,879.094754363,787,804,652,631.094754363,652.094754363,0.421574353451,0.00446456190389,0.0599172323154,0.999999979864,-0.00015341351812,-0.000122468741345,-4.16959441368e-05,1793240218528292352
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.3265034,745.6734966,714,679.6734966,666,635,879.6734966,787,804,652,631.6734966,652.6734966,0.42240501508,0.00446177214945,0.0599018685746,0.999999976123,-0.000143667072501,-0.000159361044111,-4.14524027845e-05,1793240218544958976
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.748889134,714,680,666,635,880,787.251110866,804,652,631.748889134,653,0.423291403586,0.00445986133821,0.059921297465,0.999999981587,-0.000134493745058,-0.000130480473396,-4.13709953701e-05,1793240218561625600
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.172734862,714,680,666,635,880,787.827265138,804,652,631.172734862,653,0.424249926296,0.0044590882499,0.0599857626975,0.999999991058,-0.000126062271925,-1.64620578303e-05,-4.14994573172e-05,1793240218578292224
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.411510759,745.411510759,714,679.588489241,666,635,880,787.588489241,804,652,631,653,0.425151249598,0.00445969850048,0.0600255846488,0.999999990965,-0.000118572936046,4.76816972295e-05,-4.16705954832e-05,1793240218594959104
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.999220873,745.999220873,714,679.000779127,666,635,880,787.000779127,804,652,631,653,0.426028081383,0.00446090106472,0.0600548549152,0.999999988817,-0.000111487002229,9.04702736254e-05,-4.18600066922e-05,1793240218611625728
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.42131673,714.57868327,679.57868327,666,635,880,787,804,652,631,652.42131673,0.426925176743,0.00445595137894,0.0600350356336,0.999999989951,-0.000112473919659,7.40451061064e-05,-4.43274967392e-05,1793240218628292352
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.15798421,715,679.84201579,666,635,880,787,804,652,631,652.15798421,0.427807319812,0.00445257446043,0.0600137239888,0.999999991516,-0.000110495180116,5.10344406358e-05,-4.64251175376e-05,1793240218644958976
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.736884113,715,679.263115887,666,635,880,787,804,652,631,652.736884113,0.428649553927,0.00445340960863,0.0599886098739,0.999999993755,-0.00010058651975,1.06875256162e-05,-4.75292423915e-05,1793240218661625856
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.686886742,714.686886742,679,666,635,880,787,804,652,631,652.686886742,0.429467498752,0.00445406662011,0.0599601384575,0.999999993896,-9.10080870973e-05,-4.02093724234e-05,-4.80454961904e-05,1793240218678292480
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.112882942,714.112882942,679,666,635,880,787,804,652,631,652.112882942,0.430265205345,0.00445457520543,0.0599288696896,0.999999990517,-8.17048053391e-05,-9.98966683994e-05,-4.80719270941e-05,1793240218694959104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.537638423,745,714,679.924723154,666,635,880,787,804,652,631.462361577,652.462361577,0.4311387943,0.00445239741162,0.0599404493763,0.999999993176,-7.84853725908e-05,-7.11574778293e-05,-4.92440418654e-05,1793240218711625728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.039051579,714,680.960948421,666.039051579,634.960948421,880,787,804,652,631.960948421,652.960948421,0.432031858842,0.00444966265001,0.0599639595354,0.999999995573,-7.68139347906e-05,-1.97734360561e-05,-5.06312714722e-05,1793240218728292352
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.631933341,714,680.368066659,666.631933341,634.368066659,880,787,804,652,631.368066659,652.368066659,0.43293767906,0.00444835546799,0.060007907648,0.999999994762,-7.59744371397e-05,4.57633629333e-05,-5.10917063697e-05,1793240218744959232
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.781106233,714,680,666.781106233,634.218893767,880,787,804,652,631,652.218893767,0.433803707887,0.00444550233197,0.0600280296791,0.999999993163,-7.56227338511e-05,7.31089909465e-05,-5.10831996273e-05,1793240218761626112
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.20384011,714,680,666.20384011,634.79615989,880,787,804,652,631,652.79615989,0.434604590485,0.00444011816355,0.0600091437133,0.999999995122,-7.60696465664e-05,3.79281353554e-05,-5.03069430689e-05,1793240218778292736
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.370187621,745,714.370187621,680,666,635,880,787,804.370187621,652,631,653,0.435384070612,0.00443935561189,0.0599829237625,0.99999999598,-7.32257116231e-05,-8.51186963331e-06,-5.10529546799e-05,1793240218794959104
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.942447595,745,714.942447595,680,666,635,880,787,804.942447595,652,631,653,0.436151867838,0.00444111583797,0.0599527004495,0.999999994397,-6.85854189676e-05,-6.10978446365e-05,-5.26299186923e-05,1793240218811625728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.468930688,745.531069312,714.468930688,680,666,635,880.531069312,787,804.468930688,652,631,653,0.436901338869,0.00444129284598,0.0599434018411,0.999999993666,-6.58804630208e-05,-7.35858052552e-05,-5.39628789505e-05,1793240218828292608
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.880730328,714,680,666,635,880.880730328,787,804.119269672,652,631,653,0.437646082448,0.00444060526943,0.0599348413336,0.999999992581,-6.32200437529e-05,-8.85894983516e-05,-5.47083141258e-05,1793240218844958976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.301215729,714,680,666,635,880.301215729,787,804.698784271,652,631,653,0.438380490838,0.00443726451129,0.0599201004371,0.999999988258,-5.98964238035e-05,-0.000130602590133,-5.32918553817e-05,1793240218861625856
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.276433077,745.276433077,714,680,666,635,880,787,805,652,631,652.723566923,0.439123441755,0.00443566558834,0.0599234329949,0.999999988305,-5.70711972664e-05,-0.000131607865817,-5.30274698586e-05,1793240218878292480
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.852062412,745.852062412,714,680,666,635,880,787,805,652,631,652.147937588,0.439875638595,0.00443595193407,0.059946327286,0.999999993149,-5.47854051084e-05,-8.82284896658e-05,-5.40100263691e-05,1793240218894959104
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.563617939,745.563617939,714,680,665.563617939,634.563617939,880,787,804.563617939,652,631,652,0.440564392097,0.00443650729448,0.0599599173615,0.999999994961,-4.51650945528e-05,-7.2449919771e-05,-5.28148590488e-05,1793240218911625728
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.023391573,745.023391573,714,680,664.976608427,634,880,787,804.023391573,652,631,652,0.441227690268,0.00443726571528,0.0599674628091,0.999999995688,-3.30309827962e-05,-7.02669785499e-05,-5.09555778311e-05,1793240218928292608
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.602885211,745.602885211,714,680,664.397114789,634,880,787,804.602885211,652,631,652,0.441807531636,0.00444063944176,0.0599078163877,0.999999984956,-2.14482461721e-05,-0.000164333243696,-5.12158535199e-05,1793240218944959232
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.818169036,745.818169036,714,680,664,634,880,787,805,652,631,652,0.442384579235,0.00444419237911,0.0598504079542,0.999999966939,-1.19562751696e-05,-0.000251454331156,-5.24317353555e-05,1793240218961625856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.240416146,745.240416146,714,680,664,634,880,787,805,652,631,652,0.442955543744,0.00444813553403,0.0597978725434,0.999999946112,-7.01677195548e-06,-0.000323452886971,-5.5728371478e-05,1793240218978292736
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335092584,745,714,680,663.664907416,633.664907416,880.335092584,786.664907416,804.664907416,652,631,652,0.443522091543,0.00445323269279,0.0597751996987,0.999999934665,-3.3649773477e-07,-0.00035686414944,-5.76015123328e-05,1793240218994959104
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.909001889,745,714,680,663.090998111,633.090998111,880.909001889,786.090998111,804.090998111,652,631,652,0.444085491568,0.0044591522969,0.0597738095729,0.99999993246,7.58440412959e-06,-0.000362774677692,-5.84601440379e-05,1793240219011625728
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.505665501,745,714,680,663,633.494334499,880.505665501,786,804.494334499,652,631,652,0.444619293387,0.00447072778878,0.0597825863398,0.999999937455,1.93775921208e-05,-0.000348238847486,-5.86892767281e-05,1793240219028292352
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.081138968,745.081138968,714,680.081138968,662.918861032,633.918861032,880.081138968,786,804.918861032,652,631,652.081138968,0.44513731016,0.00448726857603,0.0597882890815,0.999999939839,3.62079920173e-05,-0.000339821796733,-5.94381608284e-05,1793240219044958976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.663736504,745.663736504,714,680.663736504,662.336263496,633.336263496,880.663736504,786,804.336263496,652,631,652.663736504,0.445592241108,0.00452790934288,0.059763153402,0.999999917534,7.96599864862e-05,-0.000393031786056,-6.4132339367e-05,1793240219061625600
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.757148536,745.757148536,714,680.757148536,662,632.757148536,880.757148536,786,804,652,631,653,0.446037368968,0.0045636809444,0.0597378175847,0.999999894751,0.000116190641147,-0.000438158605309,-7.08171211593e-05,1793240219078292224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.182787588,745.182787588,714,680.182787588,662,632.182787588,880.182787588,786,804,652,631,653,0.446469114881,0.0045928057863,0.0597122085669,0.999999875008,0.000143273172443,-0.000472251320781,-8.02192175302e-05,1793240219094959104
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.398891348,714,680.398891348,661.601108652,632,880,786.398891348,804.398891348,652,631,652.601108652,0.446884247382,0.00460476629715,0.059705318017,0.99999987003,0.000155162365017,-0.000478336958225,-8.40124765294e-05,1793240219111625728
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.983986394,714,680.983986394,661.016013606,632,880,786.983986394,804.983986394,652,631,652.016013606,0.447291624728,0.00460871444847,0.0597071653027,0.999999872493,0.000159959263203,-0.000471348809493,-8.51875140103e-05,1793240219128292352
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.14312964,745.14312964,714,680.85687036,660,631.85687036,880,786,805,652,631,652,0.448075533922,0.00460128644535,0.0597375485058,0.999999893265,0.000168888075054,-0.000422782804773,-7.87493055226e-05,1793240219161625600
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.722913504,745.722913504,714,680.277086496,660,631.277086496,880,786,805,652,631,652,0.448410235295,0.00460671497134,0.0597365942301,0.999999883301,0.00022637229335,-0.000422129460352,-6.29374916937e-05,1793240219178292224
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.698897035,746,714,680.301102965,660,631,880,785.698897035,805,652,631,652,0.448705205592,0.00461290880984,0.0597201329104,0.999999864572,0.000261045347058,-0.000446799850801,-5.55030746805e-05,1793240219194958848
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.122167113,746,714,680.877832887,660,631,880,785.122167113,805,652,631,652,0.448963806399,0.00461980320823,0.0596894765814,0.999999838339,0.000274837261619,-0.000494651361603,-5.57372526778e-05,1793240219211625472
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.461719517,785.461719517,805,652,631,652.461719517,0.449201484992,0.0046225375164,0.0596689927051,0.999999824214,0.000274049329701,-0.000522570347496,-5.82235895114e-05,1793240219228292352
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.95298104,714,681,659.95298104,631,881,786,805,652,631,652.95298104,0.449433123147,0.00462385218533,0.0596527309298,0.999999814373,0.000269109422645,-0.000543226051783,-6.11484632979e-05,1793240219244958976
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.373464225,714,681,659.373464225,631,881,786,805,652,631,652.373464225,0.449660033761,0.0046217513605,0.0596533230386,0.999999816828,0.000261524705454,-0.000542292940575,-6.21848946953e-05,1793240219261625600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.204070508,745,714,681,659,630.795929492,881,785.795929492,805,652,631,652.204070508,0.449875256684,0.00462110563003,0.0596552669885,0.999999820016,0.000256038037791,-0.000538874737889,-6.34475454042e-05,1793240219278292224
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.778012715,745,714,681,659,630.221987285,881,785.221987285,805,652,631,652.778012715,0.450069295988,0.00462309721485,0.0596596611097,0.999999824576,0.000254354023043,-0.00053095238127,-6.51202117457e-05,1793240219294959104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.645503422,745.354496578,714,681,659,630,881,785.354496578,805,652,631,653,0.450247626845,0.00462551221145,0.0596642969856,0.999999828753,0.000253341690574,-0.000523319780911,-6.66900036396e-05,1793240219311625472
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067416413,745.932583587,714,681,659,630,881,785.932583587,805,652,631,653,0.450416049983,0.00462819426533,0.059669085343,0.999999832672,0.000252753005833,-0.000515869936758,-6.81949100428e-05,1793240219328292352
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.521534208,746,714,681,659,630,881,785.478465792,805,652,631,653,0.450552680363,0.0046301179396,0.0596726796776,0.999999836192,0.000251457569173,-0.000509566002327,-6.87557641739e-05,1793240219344958976
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,714,680.89021115,659,629.89021115,881,785.10978885,805,652.10978885,631,653,0.450678667163,0.00463142136743,0.059674541461,0.999999843109,0.000229770106472,-0.000506164492111,-6.91754021492e-05,1793240219361625600
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,714,680.311062918,659,629.311062918,881,785.688937082,805,652.688937082,631,653,0.450777094754,0.00463050118901,0.0596696702827,0.999999857858,0.000121303369401,-0.000514524429315,-6.95241299875e-05,1793240219378292224
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.733944686,746,714,680.266055314,659,629,881,785.733944686,805,652.733944686,631,653,0.450864719823,0.00463039846461,0.0596650141245,0.999999859016,6.50268328275e-05,-0.000522358779756,-6.98638090759e-05,1793240219394958848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.159181922,746,714,680.840818078,659,629,881,785.159181922,805,652.159181922,631,653,0.450939810582,0.00463124424282,0.0596606074572,0.999999854905,6.93072737361e-05,-0.000529583289945,-7.01929894917e-05,1793240219411625728
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.414487463,745.585512537,713.585512537,680.585512537,658.585512537,629,880.585512537,785.414487463,805,652,631,653,0.45100491255,0.00463237495421,0.0596575550383,0.999999853078,7.080480183e-05,-0.000532777335789,-7.05578561488e-05,1793240219428292352
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.987738033,745.012261967,713.012261967,680.012261967,658.012261967,629,880.012261967,785.987738033,805,652,631,653,0.451066188464,0.00463361480489,0.0596550213436,0.99999985214,7.12363774818e-05,-0.000534427573526,-7.09363918704e-05,1793240219444958976
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,657.070809823,629,880.070809823,785,805,652,630.070809823,652.929190177,0.451254042584,0.00463822551565,0.0596540606864,0.999999850681,8.17792499642e-05,-0.000535602710964,-7.12710911607e-05,1793240219561625856
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629,881,785.233114573,805.233114573,652,631,652,0.451265707923,0.0046385051137,0.059654744329,0.999999850525,8.21881505481e-05,-0.000535940053972,-7.04484594778e-05,1793240219594959360
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629,881,786,805.026029369,652,631,652,0.451275079544,0.00464017166777,0.0596545923414,0.999999850185,8.48734677854e-05,-0.00053609438824,-7.09120097981e-05,1793240219644958976
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629,880.446445013,786,805,652,631,652.553554987,0.451275008332,0.00463938518387,0.059653735438,0.99999984964,8.43764171875e-05,-0.000537256028141,-7.04019923521e-05,1793240219661625600
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+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.171204016,714,680.828795984,657.171204016,629,880,785.171204016,805,652,631,652.828795984,0.451281218878,0.0046409227847,0.0596518699843,0.99999984799,9.31793122996e-05,-0.000539058357041,-6.89517097286e-05,1793240219928292352
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.411675494,714,681,657,629,880,785,805,652,631,652.588324506,0.451281173412,0.00464167229959,0.0596515167744,0.999999847457,9.36582603045e-05,-0.00053995567347,-6.90113131033e-05,1793240219944958720
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.997913637,714,681,657,629,880,785,805,652,631,652.002086363,0.451280739583,0.00464260149731,0.0596506649404,0.999999846509,9.42624230033e-05,-0.000541621907853,-6.88672217837e-05,1793240219961625344
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681,657,628.422574143,880.577425857,785.577425857,805,652,631,652.577425857,0.45128048154,0.00464170356492,0.0596506156129,0.999999846561,9.50939741591e-05,-0.000541431818301,-6.84629185433e-05,1793240219978292480
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.156605662,746,714,681,657.156605662,628.156605662,880.843394338,786,805,652,631,653,0.451280792441,0.00464118748782,0.0596508676689,0.999999846983,9.5601176653e-05,-0.00054060138576,-6.81526838748e-05,1793240219994959104
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.734954923,746,714,681,657.734954923,628.734954923,880.265045077,786,805,652,631,653,0.45128263383,0.0046417173323,0.0596519236407,0.99999984839,9.52327116001e-05,-0.000538064345914,-6.80982814632e-05,1793240220011625472
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,746,714,681,658,629,880,785.688866348,805,652,631,653,0.451283721947,0.00464058408096,0.0596526492577,0.999999849274,9.2747655214e-05,-0.000536846455904,-6.8165948102e-05,1793240220028292096
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,746,714,681,658,629,880,785.114523847,805,652,631,653,0.451284172821,0.00463804390517,0.0596530954053,0.999999849704,8.84720321062e-05,-0.000536744523446,-6.83368811496e-05,1793240220044958976
+256,4.266666667,HOLD_POSE2,766,746,714,681,658,629,881,785,805,652,631,653,0.451280420106,0.00464188437663,0.059649520491,0.999999845811,9.39891900642e-05,-0.000542995996255,-6.85451842473e-05,1793240220076563456
+257,4.283333333,HOLD_POSE2,765.421699368,746,714,681,657.421699368,629,881,785,805,652,631,653,0.451280503682,0.00464078068933,0.0596502132084,0.999999846288,9.36272185628e-05,-0.000542225164392,-6.8194262552e-05,1793240220093230080
+258,4.300000000,HOLD_POSE2,765,746,714,681,657.156641036,629,880.843358964,785.156641036,805,652,631,653,0.451280509754,0.00464015012037,0.0596505972839,0.999999846547,9.32411304927e-05,-0.000541834418105,-6.80279973103e-05,1793240220109896448
+259,4.316666667,HOLD_POSE2,765,746,714,681,657.735088667,629,880.264911333,785.735088667,805,652,631,653,0.451280307123,0.00464079357515,0.0596501502411,0.999999846223,9.27901006895e-05,-0.000542467174865,-6.83589791506e-05,1793240220126563328
+260,4.333333333,HOLD_POSE2,765,745.68266482,714,681,658,628.68266482,880,785.68266482,805,652,631,653,0.451280240006,0.00464052011742,0.059649767742,0.999999846118,9.27050757983e-05,-0.000542709540941,-6.80959918278e-05,1793240220143229952
+261,4.350000000,HOLD_POSE2,765,745.097208614,714,681,658,628.097208614,880,785.097208614,805,652,631,653,0.451280287387,0.00463947194716,0.0596494397768,0.999999846196,9.29292937132e-05,-0.000542622060313,-6.73311514547e-05,1793240220159896576
+262,4.366666667,HOLD_POSE2,765.483375587,745.483375587,714,681.483375587,657.516624413,628.483375587,880.483375587,785,805,652.483375587,631,652.516624413,0.451282662011,0.004639629999,0.0596508725282,0.99999984733,9.27104377172e-05,-0.000540513541864,-6.77491944869e-05,1793240220176562944
+263,4.383333333,HOLD_POSE2,765.937188739,746,714,681.937188739,657,629,881,785.062811261,804.937188739,652.937188739,631,652.062811261,0.45128516865,0.00464014168409,0.0596524747522,0.999999848503,9.27748975866e-05,-0.000538256812027,-6.83145983665e-05,1793240220193229824
+264,4.400000000,HOLD_POSE2,765.359217256,746,714,681.359217256,657,629,881,785.640782744,804.359217256,652.359217256,631,652.640782744,0.451284957802,0.00464158408441,0.059652591803,0.999999848313,9.58865459411e-05,-0.000538084721717,-6.81570401636e-05,1793240220209896448
+265,4.416666667,HOLD_POSE2,765,745.782312694,714,681,657.217687306,629,881,786,804.217687306,652.217687306,631,653,0.451284389232,0.00464212450051,0.0596520750588,0.999999847849,9.70246867441e-05,-0.000538738731876,-6.81782726057e-05,1793240220226563072
+266,4.433333333,HOLD_POSE2,765,745.207160186,714,681,657.792839814,629,881,786,804.792839814,652.792839814,631,653,0.451283233248,0.00464118376455,0.0596505175572,0.999999846944,9.49221225371e-05,-0.000540749284962,-6.84930979023e-05,1793240220243229696
+267,4.450000000,HOLD_POSE2,765,745.375072144,714,681.375072144,657.624927856,629,881.375072144,785.624927856,805,652.624927856,631,653,0.451281759647,0.00464021446489,0.0596493388211,0.999999846198,9.21998459981e-05,-0.000542590934268,-6.85493821904e-05,1793240220259896576
+268,4.466666667,HOLD_POSE2,765,745.961290095,714,681.961290095,657.038709905,629,881.961290095,785.038709905,805,652.038709905,631,653,0.451280107245,0.00463922908527,0.0596483733099,0.999999845533,8.9128703951e-05,-0.000544337499851,-6.84601215756e-05,1793240220276563200
+269,4.483333333,HOLD_POSE2,765,746,714,681.455910603,657,628.455910603,880.911821206,785.544089397,805,652,631,652.455910603,0.45128104101,0.00464042561675,0.0596482562439,0.999999845403,9.29517117212e-05,-0.000543982436092,-6.81018080045e-05,1793240220293229824
+270,4.500000000,HOLD_POSE2,765,746,714,681,657,628.125038573,880.125038573,785.874961427,805,652,631,652.125038573,0.451282403853,0.00464147785909,0.0596485331416,0.999999845574,9.62520562659e-05,-0.000543126199844,-6.78409704421e-05,1793240220309896704
+271,4.516666667,HOLD_POSE2,765,746,714,681,657,628.700197829,880.700197829,785.299802171,805,652,631,652.700197829,0.451284653092,0.00464145534871,0.0596500123074,0.999999846747,9.59162130041e-05,-0.000541000715494,-6.79995107529e-05,1793240220326563328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,658,629,880,785,804,652,631,652,0.451282470499,0.00464168473985,0.059650131463,0.999999846036,9.3610478438e-05,-0.000542652068756,-6.85148150455e-05,1793240220364436736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.407461393,629,880.592538607,785,804.592538607,652,631,652.592538607,0.451283522179,0.00464094477551,0.0596503668353,0.99999984639,9.39544602481e-05,-0.000542003090234,-6.80074592623e-05,1793240220381103360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,657,628.818677117,880.818677117,785,805,652.181322883,631,653,0.451284594594,0.0046405999924,0.0596509088426,0.999999846949,9.43245829542e-05,-0.00054095478763,-6.76252978123e-05,1793240220397769728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,657,628.238158171,880.238158171,785,805,652.761841829,631,653,0.45128571266,0.00464112523055,0.0596521259301,0.999999847956,9.47522568885e-05,-0.000539027342684,-6.75187610732e-05,1793240220414436352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.338904263,628,880,785,805,652.661095737,631,653,0.451285767256,0.00464004287174,0.0596520193375,0.999999847914,9.34654803626e-05,-0.000539333786169,-6.74855593289e-05,1793240220431103232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.913562192,628,880,785,805,652.086437808,631,653,0.451285082063,0.00463784221219,0.0596509919466,0.999999847137,9.09860720684e-05,-0.000541194200742,-6.75033719798e-05,1793240220447769856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.487947268,657.512052732,628,880.487947268,785,805,652,631,652.512052732,0.451284408935,0.00463950739927,0.0596509673471,0.999999846752,9.36648615554e-05,-0.000541416866168,-6.77535790693e-05,1793240220464436736
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,681.935668948,657.064331052,628,881,785,804.935668948,652,631,652.064331052,0.451283754507,0.00464153828331,0.0596510745605,0.999999846482,9.67121776294e-05,-0.000541353240762,-6.79651572229e-05,1793240220481103616
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.342456105,657.657543895,628,881,785,804.342456105,652,631,652.657543895,0.45128323626,0.0046409487354,0.0596508058311,0.999999846668,9.52812479592e-05,-0.000541319766085,-6.75208963067e-05,1793240220497770240
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.756141132,714,680.756141132,657.756141132,628,881,785,804.243858868,652,631,653,0.451278500477,0.00464088104729,0.0596483984135,0.99999984501,9.46210366021e-05,-0.000544491225115,-6.75052771287e-05,1793240220514436608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.179246562,714,680.179246562,657.179246562,628,881,785,804.820753438,652,631,653,0.451268004843,0.00464152605814,0.0596430702101,0.999999840795,9.50133879186e-05,-0.000552039631154,-6.80750498684e-05,1793240220531103488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.395911818,745.395911818,714,680.395911818,657,628.395911818,880.604088182,785,805,652,631,653,0.451245879147,0.00464169949,0.059633827052,0.999999832372,9.52402370935e-05,-0.000567048016949,-6.81292708915e-05,1793240220547769856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.970287632,745.970287632,714,680.970287632,657,628.970287632,880.029712368,785,805,652,631,653,0.451218511002,0.00464166034966,0.059622819161,0.999999821784,9.53924833677e-05,-0.000585419116183,-6.79510982289e-05,1793240220564436480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.442268728,745.442268728,714,680.442268728,657,629,880,785,805,652,630.442268728,652.442268728,0.451167211758,0.00464264112655,0.0596052065374,0.999999807447,9.75949315947e-05,-0.000609041098419,-6.81873395321e-05,1793240220581103104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.143742193,714,680.143742193,657,629,880.143742193,785.143742193,805,652,630.143742193,652.143742193,0.451111518995,0.00464344840852,0.0595889610449,0.999999794102,9.93345685336e-05,-0.00063026672034,-6.85003591645e-05,1793240220597769984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.723248747,714,680.723248747,657,629,880.723248747,785.723248747,805,652,630.723248747,652.723248747,0.451046464633,0.00464356105756,0.0595779523745,0.999999785732,9.93321045476e-05,-0.000643359239489,-6.89776029897e-05,1793240220614436608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.300171206,746,714,681,657,629,881,785.699828794,805,652,631,652.699828794,0.450972355061,0.00464414481741,0.0595707765211,0.999999779398,0.000100603680962,-0.00065295558342,-6.87915965437e-05,1793240220631103232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.874731489,746,714,681,657,629,881,785.125268511,805,652,631,652.125268511,0.450889968049,0.00464515922369,0.0595671042793,0.999999775004,0.000103039868654,-0.000659356042835,-6.79993073077e-05,1793240220647769856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,657.450344386,629,880.549655614,785,805,652,631,652.450344386,0.45079061585,0.00464536351643,0.0595645608768,0.999999773145,0.000105878103189,-0.000661791781422,-6.73213380967e-05,1793240220664436480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.972999746,746,714,681,658,629,880,785,805,651.972999746,631,652.972999746,0.450685564319,0.00464531528845,0.0595626032874,0.999999772153,0.000108807139277,-0.000662881642136,-6.66492116422e-05,1793240220681103360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.380650435,746,714,681,658,629,880,785,805,651.380650435,631,652.380650435,0.450560218743,0.0046447090389,0.0595663216982,0.999999774568,0.000111290299123,-0.000658936571361,-6.54320269667e-05,1793240220697769984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.206827906,658,629,880.206827906,785,805,651.206827906,631,652.206827906,0.450421139297,0.00464463810293,0.0595674126817,0.999999773962,0.000113803291359,-0.000659539454974,-6.42835413571e-05,1793240220714436352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,681.785547818,658,629,880.785547818,785,805,651.785547818,631,652.785547818,0.450257365343,0.00464552970076,0.0595637793544,0.999999767902,0.000116369924189,-0.00066831990027,-6.32585819227e-05,1793240220731103232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.637940465,658.362059535,629,881,785,805,652,631,653,0.450070710667,0.00464600610082,0.0595575112738,0.999999760182,0.000119381693476,-0.000679371284676,-6.19503961108e-05,1793240220747769856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.062728705,658.937271295,629,881,785,805,652,631,653,0.449870585603,0.00464623806511,0.059549692057,0.999999751383,0.00012265552439,-0.000691759620488,-6.04754687422e-05,1793240220764436480
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714.524298077,681,658.475701923,629,881,785,805,652,631,653,0.449638012614,0.0046461261508,0.0595417247881,0.999999741977,0.000126550841471,-0.000704704389274,-5.84962686387e-05,1793240220781102848
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.249418857,745.750581143,714,681,659,630.750581143,880.249418857,785.750581143,805,652,631,653,0.446735462723,0.00464999238901,0.0596100749268,0.999999796345,0.000187303237562,-0.000609304300409,-3.12515941991e-05,1793240220931102976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659.327444946,631,880.327444946,786,805,652,631,653,0.446278028395,0.0046504673658,0.0596098097104,0.99999979056,0.000195514351649,-0.000616382250594,-2.69671068147e-05,1793240220947769856
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659.903764917,631,880.903764917,786,805,652,631,653,0.445792294368,0.00465097645452,0.0595987795307,0.999999773775,0.000203081290564,-0.000640850445118,-2.27772230589e-05,1793240220964436480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.487196438,746,714,681,660,631.487196438,881,786.487196438,805,652,631,653,0.44526653209,0.0046502950146,0.0595864614902,0.999999759672,0.000213084464762,-0.000659472062741,-1.86652167667e-05,1793240220981103104
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.928549404,714,681,660.071450596,632,880.928549404,786.928549404,805,652,631.071450596,653,0.444733789346,0.00464927524386,0.0595774697899,0.999999750112,0.000223061704146,-0.00067067525045,-1.46022527034e-05,1793240220997769728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.348585819,714,681,660.651414181,632,880.348585819,786.348585819,805,652,631.651414181,653,0.444208471991,0.00464754602118,0.0595939889067,0.999999770481,0.000229378763003,-0.00063742248193,-1.07772172108e-05,1793240221014436352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,661.230701096,632.230701096,880.230701096,786,805,652,632,652.769298904,0.443675497121,0.00464434684877,0.0596221305167,0.999999799719,0.000235488378871,-0.000587425353942,-6.15172900718e-06,1793240221031102976
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,661.808968526,632.808968526,880.808968526,786,805,652,632,652.191031474,0.443130985736,0.00463893310077,0.0596677821739,0.999999839715,0.00024128546728,-0.000512201750448,-3.20306497969e-07,1793240221047769856
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.615404032,745.384595968,714,681,662.384595968,633,881,786,804.615404032,652,631.615404032,652.384595968,0.442537973637,0.00463640134059,0.0596932768089,0.999999857014,0.000246674300174,-0.000474449979729,4.53366300559e-06,1793240221064436480
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.041078967,745.958921033,714,681,662.958921033,633,881,786,804.041078967,652,631.041078967,652.958921033,0.441921035157,0.00463529132439,0.0597088275689,0.999999864647,0.000251861732432,-0.000455183837372,8.90543467815e-06,1793240221081103104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.546602286,746,714,681,663,633,881,786.546602286,805.093204573,652,631,652.453397714,0.441227526919,0.0046327943701,0.0597066295118,0.999999857818,0.000257710306039,-0.000466654933358,1.35115934324e-05,1793240221097769984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.866992906,663.133007094,633.133007094,880.866992906,787,805.866992906,652,631,652,0.440531999475,0.00463024201593,0.0597097714804,0.999999855663,0.000263670513634,-0.000467781437183,1.82343200228e-05,1793240221114436864
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.28831286,663.71168714,633.71168714,880.28831286,787,805.28831286,652,631,652,0.439849471048,0.00462786203744,0.0597353879654,0.999999872453,0.000269834118557,-0.000426311731293,2.32871331656e-05,1793240221131103232
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.710519317,746,714,680.289480683,664.289480683,634,880.289480683,787,805,652,631,652,0.439167466866,0.00462683190565,0.0597765217316,0.999999895926,0.00027935509563,-0.000359596678385,2.82494906324e-05,1793240221147769856
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.133605936,746,714,680.866394064,664.866394064,634,880.866394064,787,805,652,631,652,0.438485983139,0.00462714207055,0.059833063002,0.999999920896,0.000292209691807,-0.000267814874482,3.31220328301e-05,1793240221164436480
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.442112872,745.557887128,714,681,665,634,880.557887128,787,805,652,631,652.442112872,0.437703582781,0.00463189596475,0.0598320839769,0.999999913945,0.00030912064448,-0.000274094784279,3.77805199565e-05,1793240221181103104
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.982035253,745,713.982035253,680.982035253,664.982035253,634,880.017964747,787,804.982035253,652,631,653,0.436889310556,0.00463784381391,0.0598129710364,0.999999897382,0.000326894395088,-0.000310785222946,4.22838124673e-05,1793240221197769728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.390437312,745,713.390437312,680.390437312,664.390437312,634,880.609562688,787,804.390437312,652,631,653,0.436028507747,0.00463915159539,0.0597683707847,0.999999873288,0.000333181798411,-0.000374817035027,4.38915501506e-05,1793240221214436352
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.196684634,745.196684634,713.196684634,680.196684634,664.393369268,634,880.803315366,787,804.196684634,652,631.196684634,652.803315366,0.435185026773,0.00463831694757,0.0597434446721,0.999999871926,0.000302750961693,-0.000404052968346,3.50930752824e-05,1793240221231102976
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.775118981,745.775118981,713.775118981,680.775118981,665.550237962,634,880.224881019,787,804.775118981,652,631.775118981,652.224881019,0.434375166197,0.0046333240095,0.0597567045497,0.999999912883,0.000201052850442,-0.000365752778365,6.0969438227e-06,1793240221247769600
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.648785454,714,680.648785454,665.648785454,634,880,787,805,652,631.648785454,652.351214546,0.433546788219,0.00462769994599,0.0597743815568,0.999999930043,0.000167783893498,-0.000334309406279,-1.72211304298e-08,1793240221264436480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.074177516,714,680.074177516,665.074177516,634,880,787,805,652,631.074177516,652.925822484,0.432706632101,0.00462167444925,0.0597948681212,0.999999936921,0.000178039963386,-0.000307227382389,8.42291001011e-06,1793240221281103360
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.499601564,745.500398436,714,680,665,634,880,787,804.499601564,652,631,653,0.431858880445,0.00462871572331,0.0598079948677,0.999999939126,0.000199104403683,-0.00028622532314,1.34649925914e-05,1793240221297769984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.922932646,714,680,665,634,880,787,804,652,631,653,0.431005500516,0.00463578245328,0.0598210496231,0.999999940664,0.000218792225071,-0.000265472911394,1.80660209238e-05,1793240221314436608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.33228478,714,680,665,634,880,787,804,652,631,653,0.430122116739,0.00463011153221,0.0598408946097,0.999999946943,0.000218629732564,-0.000240378416432,2.30844149506e-05,1793240221331103232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.253037917,745,714,680,665,634,880,787,804,652,631,653,0.429202631262,0.00462739565613,0.0598291422862,0.999999939831,0.000217632834694,-0.000268904617822,2.57605423797e-05,1793240221347769856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.83151191,745,714,680,665,634,880,787,804,652,631,653,0.428236714695,0.00462848030948,0.0597767521642,0.999999909321,0.000215562793487,-0.000366393241844,2.54242441357e-05,1793240221364436480
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.593387822,745,714,680,664.593387822,634,880,787,804.406612178,652,631.406612178,652.593387822,0.427338623159,0.00461781780756,0.0597584246491,0.99999990844,0.000193632031984,-0.000380929001743,2.28148416931e-05,1793240221381103616
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.019674057,745,714,680,664.019674057,634,880,787,804.980325943,652,631.980325943,652.019674057,0.426468405097,0.00460232768751,0.0597540955268,0.999999921146,0.000163539297246,-0.000361374396949,1.92712830261e-05,1793240221397771264
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.569345551,745.569345551,714,680,664.569345551,634,880,787,805,652.569345551,631.430654449,652.569345551,0.425603410061,0.00457882797103,0.0597863607992,0.999999937774,0.000134088622489,-0.000325422685292,2.39211654843e-05,1793240221414437632
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.844101398,746,714,680,664.844101398,634.155898602,880,787,804.844101398,653,631,653,0.424726537021,0.00456384797977,0.0598154131491,0.999999949721,0.000115140971754,-0.000294177860386,2.75716424995e-05,1793240221431104000
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.265705894,746,714,680,664.265705894,634.734294106,880,787,804.265705894,653,631,653,0.423816971109,0.00457272788983,0.0598322365645,0.999999953415,0.000124595517168,-0.000277267035378,2.77251575081e-05,1793240221447770368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.688967341,714,680,664.311032659,635,879.688967341,787,804,652.688967341,631,653,0.422938709704,0.00457539730362,0.0598471505765,0.999999954009,0.000164259245723,-0.000253347070083,2.85583869654e-05,1793240221464436992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.113636801,714,680,664.886363199,635,879.113636801,787,804,652.113636801,631,653,0.422087049134,0.0045727893901,0.0598604420852,0.999999948225,0.000229593020623,-0.000223471135516,2.99691990273e-05,1793240221481104128
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.472591706,714,680,665,635,879.472591706,787.472591706,804,652,631,653,0.421171846882,0.0045716753755,0.0598257466771,0.999999926417,0.000249450452765,-0.000289859021002,3.03738086254e-05,1793240221497771008
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.939527609,634.939527609,880,787.939527609,804,652,631,653,0.420245428286,0.00457141674129,0.0597802160661,0.999999896148,0.00025667613202,-0.000375369669229,3.03264958266e-05,1793240221514437632
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.36048115,634.36048115,880,787.36048115,804,652,631,653,0.419356940835,0.0045753402086,0.0597430535989,0.999999879042,0.000251564850728,-0.000421684963129,2.85275289112e-05,1793240221531104000
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.217902352,745.782097648,714,680,664.217902352,634.217902352,880,787.217902352,804.217902352,652.217902352,631,653,0.418495609779,0.00457670866063,0.0597331383034,0.999999878439,0.00024264824797,-0.000428348479055,2.75991966729e-05,1793240221547770368
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.795192528,745.204807472,714,680,664.795192528,634.795192528,880,787.795192528,804.795192528,652.795192528,631,653,0.417679067806,0.0045738631093,0.0597681619466,0.99999990543,0.000227455502062,-0.000369614056732,2.81068078256e-05,1793240221564436992
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.629350865,745,714,680.370649135,665,635,879.629350865,787.629350865,804.629350865,653,631,653,0.416890052506,0.00457258952991,0.0598064571436,0.999999926413,0.000219286621507,-0.000313369114177,2.97997656517e-05,1793240221581103616
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.054902471,745,714,680.945097529,665,635,879.054902471,787.054902471,804.054902471,653,631,653,0.416116172634,0.00457218029029,0.0598465511833,0.999999942966,0.000214979772908,-0.000258493000719,3.21444793491e-05,1793240221597770240
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.534512748,745.534512748,714.534512748,680.465487252,665,635,879,787,804,652.465487252,631.534512748,653,0.415346088772,0.00457048957548,0.0598480075509,0.999999943331,0.000207468826948,-0.000263069505689,3.29974807857e-05,1793240221614437120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.876931208,680,665,635,879.123068792,787,804,652.123068792,631.876931208,653,0.414578088558,0.00456878180579,0.0598466934296,0.999999943109,0.000199800662139,-0.00026969433114,3.3572613941e-05,1793240221631104256
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.29742749,680,665,635,879.70257251,787,804,652.70257251,631.29742749,653,0.413816328418,0.0045675130208,0.0598502471054,0.999999946885,0.000192805161686,-0.000260615175585,3.37018289031e-05,1793240221647771136
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.72041891,714,680.27958109,665,635,879.72041891,787.27958109,804,653,631.27958109,653,0.413031565084,0.0045671414165,0.0598301103615,0.99999993883,0.00018569762623,-0.000294537412256,3.32377341454e-05,1793240221664437504
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.146041295,714,680.853958705,665,635,879.146041295,787.853958705,804,653,631.853958705,653,0.412222546718,0.00456771581957,0.0597849939115,0.999999913693,0.000178471958152,-0.00037380127345,3.21480402492e-05,1793240221681103616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.43865052,714,680.56134948,665,635,879.43865052,788,804,653,632,652.56134948,0.411513398434,0.00456632736768,0.0597595602077,0.999999901553,0.000173511360434,-0.000407221202118,3.0962777261e-05,1793240221697770496
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.973525224,714,680,665.026474776,635,879.973525224,788,804,653,632,652.026474776,0.410841380672,0.00456425868981,0.0597435280867,0.999999896269,0.000170483447959,-0.000421315326446,2.98394314805e-05,1793240221714437120
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.393731416,714,680,665.606268584,635,879.393731416,788,804,653,632,652.606268584,0.410233731688,0.00456196031659,0.0597837322721,0.999999917007,0.000191707927689,-0.000358177905843,3.06911546932e-05,1793240221731103744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.185143706,714,680,665.814856294,635,879,787.814856294,804,653,631.814856294,653,0.409631991796,0.00456031049661,0.0598211735643,0.999999933483,0.0002044436569,-0.000300388871483,3.16866544954e-05,1793240221747770624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.762074881,714,680,665.237925119,635,879,787.237925119,804,653,631.237925119,653,0.409042756175,0.00456003309679,0.0598527682328,0.999999947375,0.000199216122999,-0.0002539176885,3.29864040777e-05,1793240221764438016
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.337712207,665,635,879,787,804,652.662287793,631.337712207,652.662287793,0.408451253807,0.00455789242373,0.0598611216727,0.999999952442,0.000189396847479,-0.000241164826497,3.29295420467e-05,1793240221781104640
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.912441435,665,635,879,787,804,652.087558565,631.912441435,652.087558565,0.4078581606,0.00455444404706,0.0598531636875,0.999999952169,0.000176354944126,-0.000252076542943,3.19205673774e-05,1793240221797771008
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.502403321,714.497596679,680.502403321,665,635,879.497596679,787.497596679,804,652.497596679,631.502403321,652.497596679,0.407316719712,0.0045538815672,0.0598385137531,0.999999947307,0.000172201174413,-0.000273393055223,3.14356481268e-05,1793240221814437888
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.337189968,745,714.337189968,679.337189968,665,635,880,787.337189968,804,653,631,653,0.406320277404,0.004549923589,0.0598320581053,0.99999994793,0.000163321164808,-0.000276535304983,3.15357831229e-05,1793240221847771136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.242369711,745.242369711,714,679.242369711,665,635,879.757630289,787,804,653,631,653,0.405858144803,0.00454738342612,0.0598372009668,0.999999951637,0.000158281606592,-0.000265813568429,3.18841017682e-05,1793240221864437760
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.822292855,745.822292855,714,679.822292855,665,635,879.177707145,787,804,653,631,653,0.405410919792,0.00454607771933,0.0598408497134,0.99999995364,0.000154369401776,-0.000260489539843,3.21885913741e-05,1793240221881104128
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664.603902849,635,879.396097151,787,804,653,631,653,0.404973997824,0.00454571429617,0.0598291374535,0.999999949197,0.000151122674429,-0.000278805283421,3.21865494521e-05,1793240221897770752
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,664.032801934,635,879.967198066,787,804,653,631,653,0.40454162791,0.00454576719293,0.0598106383893,0.999999941211,0.000148169968094,-0.000307565557638,3.20490756814e-05,1793240221914437888
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.854637428,679,665,635,879.145362572,787,804.854637428,653,631,653,0.403801826921,0.0045445168267,0.0597762839289,0.999999921702,0.000146293200017,-0.00036620424129,3.29875895549e-05,1793240221947771136
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.274927695,679,665,635,879.725072305,787,804.274927695,653,631,653,0.403507853142,0.00454228416067,0.0597879584612,0.999999930341,0.000143865484826,-0.000342691027915,3.43895838986e-05,1793240221964437248
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,880,787,804,653.871939666,631,653,0.402997709503,0.00453990573121,0.059829407317,0.999999952032,0.000144312332945,-0.000271534997632,3.71316349682e-05,1793240221997770240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.448498809,714.448498809,679,665,635,879.551501191,787,804,653.551501191,631.448498809,653,0.402766125779,0.00453865085905,0.0598462293953,0.99999995914,0.000143474638171,-0.00024424241088,3.84774526581e-05,1793240222014436864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.02720784,746,715,679,665,635,879,787,804,653,631.97279216,653,0.402538360624,0.00453722068761,0.059860023523,0.999999964396,0.000142050678491,-0.000222366512545,3.97840474326e-05,1793240222031103232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.620136307,746,715,679,665,635,879,787,804,653,631.379863693,653,0.402321560668,0.0045344874695,0.0598511836625,0.999999960416,0.000139757037725,-0.000240845338626,4.03686645311e-05,1793240222047770368
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.914172094,714,679.914172094,665,635,879.914172094,787.914172094,804.085827906,653,631,653.085827906,0.401434780089,0.00451560172726,0.0598438539497,0.999999966101,7.57172237267e-06,-0.000259958300584,1.2723059493e-05,1793240222147770112
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.842439443,714,679,665,635,879,787,803.315121114,653,631.842439443,653.157560557,0.401212569593,0.00451768073312,0.0598454629843,0.999999966188,1.93300114496e-05,-0.000258911085847,1.46867076432e-05,1793240222197771008
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,714.418074062,679,665,635,879,787.418074062,803.418074062,653,632,653,0.401156407124,0.00451606687493,0.0598421459483,0.999999964579,1.85813122633e-05,-0.000265073262681,1.52896032412e-05,1793240222214437888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714.994349915,679,665,635,879,787.994349915,803.994349915,653,632,653,0.401103700782,0.00451287025665,0.0598381850371,0.999999962424,1.51603142714e-05,-0.000273247425196,1.60869102649e-05,1793240222231104512
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.416829048,714.416829048,679.583170952,665,635,879.583170952,787.416829048,804.583170952,653,631.416829048,653,0.401070418421,0.00451410739535,0.0598389072705,0.999999962446,2.06186718365e-05,-0.000272766532154,1.67803760608e-05,1793240222247770880
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.83114628,665,635,880,787,804.83114628,653,631.16885372,653,0.401041313701,0.00451472595758,0.0598396062696,0.999999962589,2.37991896315e-05,-0.000271947680361,1.73295969326e-05,1793240222264437504
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.253364648,665,635,880,787,804.253364648,653,631.746635352,653,0.401021860573,0.00451374013943,0.0598401367008,0.999999963031,2.12503393111e-05,-0.000270517907936,1.75319771378e-05,1793240222281104128
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.324314211,665,635,880,787.324314211,804,653,632,653,0.401007911304,0.00451492806148,0.0598415831131,0.999999963645,2.32720705472e-05,-0.00026807253098,1.74781378393e-05,1793240222297770496
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.901912868,665,635,880,787.901912868,804,653,632,653,0.400998260461,0.00451781364132,0.0598437448926,0.999999964367,2.88633558934e-05,-0.000264833982237,1.72241950431e-05,1793240222314436864
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.487140245,714,679.512859755,665,635,880,787.512859755,804,653,631.512859755,653,0.400991723838,0.00451607765421,0.0598450547937,0.999999965091,2.68384052512e-05,-0.000262275592952,1.756852223e-05,1793240222331103488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.926711797,714,679,665.073288203,635,879.926711797,787.073288203,804,653,631,653,0.400986401369,0.0045135018134,0.0598462486005,0.999999965761,2.36862463775e-05,-0.000259977956276,1.80951487289e-05,1793240222347770112
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.345002868,714,679,665.654997132,635,879.345002868,787.654997132,804,653,631,653,0.400985082548,0.00451165797374,0.0598478458994,0.999999966125,2.35222582728e-05,-0.00025852404193,1.90374529323e-05,1793240222364437248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.236173954,714,679.236173954,665.763826046,635,879,787.763826046,804,653,631,653,0.400983718969,0.00451124706995,0.0598487421495,0.999999966376,2.43048385539e-05,-0.000257456926545,1.93106450814e-05,1793240222381103872
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.816575187,714,679.816575187,665.183424813,635,879,787.183424813,804,653,631,653,0.400982290155,0.00451292469301,0.0598486166095,0.999999966464,2.64670572615e-05,-0.000256953576858,1.86085957555e-05,1793240222397770240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.609916355,714,680,665,635,879,787,804,653,631.390083645,653,0.400982126157,0.0045127684287,0.059849130112,0.999999966799,2.65250242082e-05,-0.000255651480348,1.8476402086e-05,1793240222414436864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.039592753,714,680,665,635,879,787,804,653,631.960407247,653,0.400982546574,0.00451176480819,0.059849938887,0.999999967246,2.56107118076e-05,-0.000253980319179,1.86075128851e-05,1793240222431103488
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.45211327,745,714,680,665,635,879,787,803.45211327,653,632,653,0.400981189556,0.00451174413122,0.0598495646866,0.99999996702,2.42843665927e-05,-0.000255017284962,1.83282422929e-05,1793240222447770112
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.134448993,745.134448993,714,679.865551007,665.134448993,635,879.134448993,787,803.134448993,653,631.865551007,653,0.400980125313,0.0045115874627,0.0598493179686,0.999999966868,2.37501972258e-05,-0.000255670421198,1.82423467595e-05,1793240222464436736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.713741858,745.713741858,714,679.286258142,665.713741858,635,879.713741858,787,803.713741858,653,631.286258142,653,0.400980468476,0.00451073823019,0.0598497850342,0.999999967129,2.59387566392e-05,-0.000254385164858,1.8897553462e-05,1793240222481103616
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.708613203,714,679.291386797,665.708613203,635,880,787.291386797,804,653,631.291386797,653,0.400981064899,0.00451053568096,0.05985030297,0.999999967399,2.61801542209e-05,-0.000253286147534,1.90499443618e-05,1793240222497770240
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.132578011,714,679.867421989,665.132578011,635,880,787.867421989,804,653,631.867421989,653,0.400981908725,0.00451096486016,0.0598508705998,0.999999967679,2.45194188978e-05,-0.000252369062246,1.87111472944e-05,1793240222514436864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.441607336,714,679.558392664,665,635,879.558392664,787.558392664,804,653,631.558392664,653,0.400981376839,0.0045104929132,0.0598516903064,0.99999996781,2.47768914947e-05,-0.000251811691232,1.88744018558e-05,1793240222531103488
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.984257526,714,679.015742474,665,635,879,787,804.015742474,653,631,653,0.400980480806,0.0045097978783,0.0598525598913,0.999999967896,2.5609216704e-05,-0.000251364588878,1.91717167046e-05,1793240222547770112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.391696947,714,679.608303053,665,635,879,787,804.608303053,653,631,653,0.400981312158,0.00451079993339,0.0598524957322,0.999999967966,2.64919725601e-05,-0.000251017398502,1.88814814357e-05,1793240222564436736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.195865764,745.195865764,714.195865764,680,665,635,879.195865764,787,804.804134236,653,631,653.195865764,0.400981948716,0.00451155823641,0.059852555809,0.999999968052,2.72125435195e-05,-0.000250609165065,1.87146531511e-05,1793240222581103360
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.773682276,745.773682276,714.773682276,680,665,635,879.773682276,787,804.226317724,653,631,653.773682276,0.400982205414,0.00451184120726,0.0598528581537,0.999999968172,2.76168435216e-05,-0.000250081893785,1.87884763836e-05,1793240222597769984
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.65058881,746,714.65058881,680,665,635,879.65058881,787,804,653,631,653.65058881,0.40098229166,0.0045121281981,0.0598530162318,0.999999968222,2.71865779093e-05,-0.0002499310649,1.87241783708e-05,1793240222614436608
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.07620405,746,714.07620405,680,665,635,879.07620405,787,804,653,631,653.07620405,0.400982268158,0.00451241777727,0.0598530814218,0.999999968228,2.62189648461e-05,-0.000250022614047,1.8570948945e-05,1793240222631103488
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,635,879.511659751,787,804,653,631,653,0.400982047682,0.0045104790165,0.0598526799869,0.99999996818,2.43771215344e-05,-0.000250390629903,1.87053465675e-05,1793240222647770112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.900151679,714,680,665,635,879.900151679,787.099848321,804,653,631,653,0.400981970111,0.00450869875199,0.0598524642443,0.999999968192,2.2986215897e-05,-0.00025046301548,1.88584478593e-05,1793240222664436736
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.320313615,714,680,665,635,879.320313615,787.679686385,804,653,631,653,0.400982724353,0.0045093189751,0.0598534842834,0.999999968545,2.44059013006e-05,-0.000248910956037,1.88899603438e-05,1793240222681103360
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.257163712,714,680,665,635,879.257163712,787.742836288,804,653,631,653,0.400982794495,0.00450997764656,0.0598536509318,0.999999968572,2.62550623043e-05,-0.000248608206514,1.89648457315e-05,1793240222697769984
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.831727416,714,680,665,635,879.831727416,787.168272584,804,653,631,653,0.400982020297,0.00451068377236,0.0598527642972,0.999999968196,2.86342965453e-05,-0.000249847396571,1.9093263401e-05,1793240222714436608
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.592645918,714,680,665,635,879.592645918,787,804,653,631,653,0.400982221438,0.00451069322978,0.0598532718585,0.999999968326,2.73406844616e-05,-0.000249470300969,1.91205098993e-05,1793240222731103232
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.016579044,714,680,665,635,879.016579044,787,804,653,631,653,0.400982826533,0.00451041414981,0.0598543568506,0.99999996866,2.4525898913e-05,-0.000248423792416,1.91058545856e-05,1793240222747769856
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.42859451,665.57140549,635,879.57140549,787,804,653,631,653,0.400981283779,0.00451088892059,0.0598532338778,0.99999996853,2.41315207813e-05,-0.000249023321716,1.85674053938e-05,1793240222764436480
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745.157297386,714,679,665.842702614,635,879.842702614,787,804,653,631.157297386,653,0.400980427178,0.00451119869904,0.0598526920461,0.999999968514,2.44501378217e-05,-0.00024907867565,1.82838577019e-05,1793240222781103360
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745.736627145,714,679,665.263372855,635,879.263372855,787,804,653,631.736627145,653,0.400981582306,0.00451100586465,0.0598538849724,0.999999968835,2.64893028294e-05,-0.000247543127152,1.87258605169e-05,1793240222797769728
diff --git a/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd93c70c1f66bf9f872b61d721bf61b75c12928e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+250,4.166666667,pose1_to_pose2_press,0.622182831677,0.010090742502,1.05003242204,0.592753281615,0.0187624886624,1.04970055729
+251,4.183333333,pose1_to_pose2_press,0.622183026405,0.010090723722,1.05003243878,0.592753476519,0.0187624704676,1.04970057314
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+253,4.216666667,pose1_to_pose2_press,0.622183789199,0.0100907841649,1.05003241875,0.592754237665,0.0187625252059,1.04970054976
+254,4.233333333,pose1_to_pose2_press,0.622184200299,0.0100908271055,1.05003237256,0.592754647391,0.0187625633294,1.04970050078
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+257,4.283333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754808915,0.0187624001126,1.04970050836
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+268,4.466666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754808915,0.0187624001122,1.04970050836
+269,4.483333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754808915,0.018762400112,1.04970050836
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+271,4.516666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754808915,0.0187624001119,1.04970050836
+272,4.533333333,pose2_to_pose3_retreat,0.622184360065,0.010090658147,1.05003238456,0.592754808914,0.0187624001125,1.04970050836
+273,4.550000000,pose2_to_pose3_retreat,0.622184112483,0.0100907933145,1.05003235454,0.592754561884,0.0187625374516,1.04970048599
+274,4.566666667,pose2_to_pose3_retreat,0.622183924433,0.0100908771645,1.05003237264,0.592754372076,0.0187626153197,1.04970050287
+275,4.583333333,pose2_to_pose3_retreat,0.622183588754,0.0100908388502,1.05003240106,0.59275403727,0.018762579988,1.04970053225
+276,4.600000000,pose2_to_pose3_retreat,0.622183474774,0.0100908258405,1.05003241071,0.592753923587,0.0187625679911,1.04970054222
+277,4.616666667,pose2_to_pose3_retreat,0.622183366793,0.0100908135155,1.05003241986,0.592753815887,0.0187625566257,1.04970055167
+278,4.633333333,pose2_to_pose3_retreat,0.622183048487,0.0100907771842,1.05003244681,0.592753498409,0.0187625231226,1.04970057952
+279,4.650000000,pose2_to_pose3_retreat,0.622182032183,0.0100906770413,1.05003247104,0.592752482852,0.0187624255094,1.04970060427
+280,4.666666667,pose2_to_pose3_retreat,0.622179539413,0.0100905552895,1.05003244068,0.592749989995,0.0187623034378,1.04970057331
+281,4.683333333,pose2_to_pose3_retreat,0.622173539484,0.0100907378325,1.05003226627,0.592743988474,0.0187624806472,1.04970039973
+282,4.700000000,pose2_to_pose3_retreat,0.622162710553,0.0100907572559,1.0500322316,0.592733159154,0.0187624989211,1.0497003713
+283,4.716666667,pose2_to_pose3_retreat,0.622142766724,0.0100907914996,1.05003210655,0.592713215596,0.0187625339035,1.04970024344
+284,4.733333333,pose2_to_pose3_retreat,0.622113564896,0.0100907871397,1.05003207613,0.59268401321,0.0187625275837,1.04970021549
+285,4.750000000,pose2_to_pose3_retreat,0.622074140888,0.0100907692252,1.05003210224,0.592644591056,0.0187625159075,1.04970023685
+286,4.766666667,pose2_to_pose3_retreat,0.622025036054,0.0100908304946,1.05003212782,0.592595485201,0.0187625738708,1.04970026747
+287,4.783333333,pose2_to_pose3_retreat,0.621965817625,0.0100908229548,1.05003237181,0.592536265575,0.0187625619812,1.04970050697
+288,4.800000000,pose2_to_pose3_retreat,0.621897597695,0.010090728288,1.05003239392,0.592468046293,0.0187624692154,1.04970052716
+289,4.816666667,pose2_to_pose3_retreat,0.62182004376,0.0100907451278,1.05003204668,0.592390492183,0.0187624855065,1.04970018548
+290,4.833333333,pose2_to_pose3_retreat,0.621731290936,0.0100907739971,1.05003206241,0.592301740157,0.0187625167713,1.04970019661
+291,4.850000000,pose2_to_pose3_retreat,0.621630572552,0.0100907396746,1.05003226205,0.592201022183,0.0187624833824,1.04970038856
+292,4.866666667,pose2_to_pose3_retreat,0.621514744156,0.0100907731429,1.05003225968,0.59208519271,0.0187625129236,1.04970038502
+293,4.883333333,pose2_to_pose3_retreat,0.621382733259,0.0100907128026,1.05003220254,0.591953183149,0.0187624574531,1.04970034312
+294,4.900000000,pose2_to_pose3_retreat,0.621233196276,0.0100908632204,1.0500324902,0.591803643538,0.018762598076,1.04970061553
+295,4.916666667,pose2_to_pose3_retreat,0.621063599651,0.0100906192657,1.05003239003,0.591634050586,0.0187623665054,1.04970051763
+296,4.933333333,pose2_to_pose3_retreat,0.62087497236,0.0100907347318,1.0500322492,0.591445423315,0.0187624819702,1.04970038441
+297,4.950000000,pose2_to_pose3_retreat,0.62066819795,0.0100907172987,1.05003201675,0.591238648502,0.0187624629925,1.04970015791
+298,4.966666667,pose2_to_pose3_retreat,0.62044453024,0.010090740129,1.05003220873,0.591014980826,0.0187624853988,1.04970034603
+299,4.983333333,pose2_to_pose3_retreat,0.620202994856,0.0100906806484,1.05003228689,0.590773445608,0.0187624259303,1.0497004202
+300,5.000000000,pose2_to_pose3_retreat,0.619945052466,0.0100907370082,1.05003222295,0.590515502455,0.0187624793512,1.04970035729
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+302,5.033333333,pose2_to_pose3_retreat,0.619376513808,0.010090860068,1.05003242284,0.589946962267,0.0187625962781,1.04970055676
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+304,5.066666667,pose2_to_pose3_retreat,0.618724930067,0.0100907291065,1.05003212396,0.589295380219,0.0187624699146,1.04970025471
+305,5.083333333,pose2_to_pose3_retreat,0.618362313307,0.0100907806691,1.0500320979,0.588932763314,0.0187625206295,1.04970023277
+306,5.100000000,pose2_to_pose3_retreat,0.617970636959,0.0100908406989,1.05003209517,0.588541087333,0.0187625814684,1.04970023461
+307,5.116666667,pose2_to_pose3_retreat,0.617550045911,0.0100907594091,1.05003208264,0.58812049881,0.0187625081731,1.0497002235
+308,5.133333333,pose2_to_pose3_retreat,0.617102103476,0.0100908030556,1.0500320725,0.587672555599,0.0187625485744,1.04970021479
+309,5.150000000,pose2_to_pose3_retreat,0.616634638342,0.0100908060932,1.0500321627,0.587205089299,0.0187625467645,1.04970029955
+310,5.166666667,pose2_to_pose3_retreat,0.616153117341,0.0100907223721,1.05003229309,0.586723568235,0.0187624618589,1.04970042337
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+315,5.250000000,pose2_to_pose3_retreat,0.613501088719,0.0100908019261,1.05003202859,0.584071538675,0.0187625356855,1.04970016825
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+319,5.316666667,pose2_to_pose3_retreat,0.610980595078,0.0100907599407,1.05003225942,0.5815510486,0.0187625041879,1.04970039692
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+321,5.350000000,pose2_to_pose3_retreat,0.609598043756,0.010090649016,1.05003197759,0.580168497314,0.0187623928249,1.04970011989
+322,5.366666667,pose2_to_pose3_retreat,0.60886043849,0.0100907242533,1.05003217444,0.579430890456,0.0187624648855,1.04970030158
+323,5.383333333,pose2_to_pose3_retreat,0.608098950685,0.0100908619042,1.05003242128,0.578669400036,0.0187625932169,1.04970053855
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+327,5.450000000,pose2_to_pose3_retreat,0.605007159368,0.0100907971542,1.05003225601,0.575577609837,0.0187625329441,1.04970038916
+328,5.466666667,pose2_to_pose3_retreat,0.604219157768,0.0100908424905,1.05003242343,0.574789609297,0.0187625820102,1.04970055856
+329,5.483333333,pose2_to_pose3_retreat,0.60341424004,0.0100908861553,1.05003232935,0.573984690915,0.0187626234705,1.04970046509
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+331,5.516666667,pose2_to_pose3_retreat,0.601748586093,0.0100908920203,1.05003227526,0.57231903621,0.0187626266636,1.04970040897
+332,5.533333333,pose2_to_pose3_retreat,0.600907862454,0.0100908513972,1.05003234492,0.571478312952,0.0187625873605,1.04970047932
+333,5.550000000,pose2_to_pose3_retreat,0.600070662562,0.010090776008,1.05003233849,0.570641114049,0.0187625153965,1.04970047463
+334,5.566666667,pose2_to_pose3_retreat,0.599241271819,0.0100907651525,1.05003236739,0.56981172318,0.0187625038827,1.04970049718
+335,5.583333333,pose2_to_pose3_retreat,0.59842227223,0.0100906862057,1.05003231419,0.568992725353,0.0187624312975,1.04970045269
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+337,5.616666667,pose2_to_pose3_retreat,0.596795333527,0.0100909343102,1.05003224818,0.567365784501,0.0187626717725,1.04970037747
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+339,5.650000000,pose2_to_pose3_retreat,0.59514391262,0.0100907660006,1.05003238519,0.565714363506,0.0187625032405,1.04970051638
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+341,5.683333333,pose2_to_pose3_retreat,0.593494365945,0.010090735076,1.05003233981,0.564064816109,0.0187624696369,1.04970046492
+342,5.700000000,pose2_to_pose3_retreat,0.59267763249,0.0100907462844,1.05003230431,0.563248083475,0.0187624838139,1.04970043414
+343,5.716666667,pose2_to_pose3_retreat,0.591884357399,0.0100907453671,1.05003230105,0.562454809452,0.0187624865669,1.04970043204
+344,5.733333333,pose2_to_pose3_retreat,0.591119398085,0.0100907464275,1.05003232053,0.561689850111,0.0187624874646,1.04970045064
+345,5.750000000,pose2_to_pose3_retreat,0.590376258902,0.0100906826751,1.05003224157,0.560946712305,0.0187624285855,1.04970037814
+346,5.766666667,pose2_to_pose3_retreat,0.589650511868,0.0100907661285,1.05003235146,0.560220963679,0.0187625065238,1.04970048387
+347,5.783333333,pose2_to_pose3_retreat,0.588935034763,0.0100907152862,1.05003238272,0.559505487143,0.0187624572288,1.04970050677
+348,5.800000000,pose2_to_pose3_retreat,0.588220259525,0.0100908478081,1.05003240451,0.558790711054,0.0187625867338,1.04970052409
+349,5.816666667,pose2_to_pose3_retreat,0.587499050076,0.0100908983517,1.05003261528,0.558069500109,0.0187626322813,1.04970073567
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+351,5.850000000,pose2_to_pose3_retreat,0.586097191757,0.0100907493677,1.0500323458,0.556667644776,0.0187624939732,1.04970048065
+352,5.866666667,pose2_to_pose3_retreat,0.585433789107,0.0100907960627,1.05003236315,0.556004240898,0.0187625363418,1.0497004938
+353,5.883333333,pose2_to_pose3_retreat,0.584804237193,0.0100908023119,1.05003231517,0.555374688398,0.0187625403945,1.04970044041
+354,5.900000000,pose2_to_pose3_retreat,0.584215400875,0.0100907582212,1.05003218948,0.554785853193,0.0187625002654,1.04970031946
+355,5.916666667,pose2_to_pose3_retreat,0.583648474331,0.0100907626457,1.05003223815,0.554218926919,0.0187625057865,1.04970037293
+356,5.933333333,pose2_to_pose3_retreat,0.583096269977,0.0100908720624,1.05003242103,0.553666720482,0.0187626080424,1.04970055335
+357,5.950000000,pose2_to_pose3_retreat,0.582556318053,0.0100909179316,1.05003227478,0.553126767647,0.018762650882,1.04970040883
+358,5.966666667,pose2_to_pose3_retreat,0.582030941408,0.010090787085,1.05003250017,0.55260139237,0.0187625242581,1.04970062316
+359,5.983333333,pose2_to_pose3_retreat,0.581527064416,0.0100908174048,1.05003220347,0.552097515477,0.0187625556036,1.04970034453
+360,6.000000000,pose2_to_pose3_retreat,0.581047397244,0.0100907239483,1.05003236555,0.5516178485,0.0187624622949,1.04970049319
+361,6.016666667,pose2_to_pose3_retreat,0.580594687908,0.0100908942227,1.05003261488,0.551165137409,0.0187626261911,1.04970073154
+362,6.033333333,pose2_to_pose3_retreat,0.580161352962,0.0100907667386,1.050032311,0.550731804585,0.0187625059772,1.04970042941
+363,6.050000000,pose2_to_pose3_retreat,0.579744930598,0.0100907551511,1.05003226897,0.550315382123,0.0187624945707,1.04970040077
+364,6.066666667,pose2_to_pose3_retreat,0.579345482882,0.0100908153961,1.05003232781,0.549915933638,0.0187625524131,1.04970046508
+365,6.083333333,pose2_to_pose3_retreat,0.578965514689,0.0100908664392,1.05003226,0.549535966203,0.0187626060772,1.0497003985
+366,6.100000000,pose2_to_pose3_retreat,0.578613896041,0.0100908932187,1.05003226325,0.54918434654,0.0187626294592,1.04970040301
+367,6.116666667,pose2_to_pose3_retreat,0.578293734155,0.0100908068781,1.05003239658,0.548864183962,0.0187625405872,1.04970053151
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